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index 3305ef34d33d4df191437bcdfaf3dc7fcb638fe6..acc1eebb92e099f0838ecd8c7feca33c2b8a266d 100644
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/fem_node.csv
new file mode 100644
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--- /dev/null
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..53b78cac5952180ff80723b0051074318b800a65
--- /dev/null
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+47,0.783333333,BASELINE,765,745,714,680,660.738506405,634,879,787,806,653.738506405,631,652,0.400939658744,-0.00543940038085,0.0499279290801,0.999999975944,5.48858870032e-05,-0.000210517613722,-2.79517838779e-05,1793244746370475264
+48,0.800000000,BASELINE,765,745,714,680,660.151942427,634,879,787,806,653.151942427,631,652,0.400936919417,-0.00543936861474,0.0499265663364,0.999999975387,5.50092337239e-05,-0.000213077314382,-2.82321426293e-05,1793244746387142400
+49,0.816666667,BASELINE,765,745,714,679.568578483,660.431421517,634,879,787,805.568578483,653,631,652,0.400935925196,-0.00543873647185,0.0499257231306,0.999999975112,5.65017524307e-05,-0.000213976367439,-2.82357729028e-05,1793244746403809024
+50,0.833333333,BASELINE,765,745,713.98650106,679,660.98650106,634.01349894,879,787,805.01349894,653,631,652,0.400935631643,-0.00543793667317,0.0499251445024,0.999999974962,5.84150612316e-05,-0.000214176887083,-2.81358057845e-05,1793244746420475392
+51,0.850000000,BASELINE,765,745,713.411403129,679,660.411403129,634.588596871,879,787,805.588596871,653,631,652,0.400939106685,-0.00543889394905,0.049928016799,0.999999975999,5.79208632207e-05,-0.000209469235529,-2.7750693376e-05,1793244746437142016
+52,0.866666667,BASELINE,765,745,713.163515447,679.163515447,660,634.836484553,879,787,805.836484553,653,631,652,0.400941377488,-0.00543948332951,0.0499297907175,0.999999976656,5.7347756457e-05,-0.000206499710418,-2.75265998053e-05,1793244746453808640
+53,0.883333333,BASELINE,765,745,713.737983225,679.737983225,660,634.262016775,879,787,805.262016775,653,631,652,0.400940621758,-0.00543914810317,0.0499288041564,0.999999976405,5.65763336847e-05,-0.000207898501443,-2.77071840333e-05,1793244746470475008
+54,0.900000000,BASELINE,765,745,714,680,660,634,879,787.322406774,805,653,631,652,0.400940504233,-0.00543910378415,0.0499283868648,0.99999997639,5.57748080548e-05,-0.000208172445247,-2.78139303071e-05,1793244746487141376
+55,0.916666667,BASELINE,765,745,714,680,660,634,879,787.915179054,805,653,631,652,0.400940921897,-0.0054393034157,0.0499284469543,0.999999976574,5.49480386568e-05,-0.000207503108898,-2.78587571659e-05,1793244746503808000
+56,0.933333333,BASELINE,764.505943429,745.494056571,714,680,660,634.494056571,879,787.505943429,805.494056571,653,631,652,0.400938729417,-0.00543990239512,0.0499270174242,0.999999975983,5.4325650754e-05,-0.00021049994999,-2.780573575e-05,1793244746520474880
+57,0.950000000,BASELINE,764.070427825,745.929572175,714,680,660.070427825,634.929572175,879,787,806,653,631,652,0.400936586307,-0.00544034989649,0.0499255907523,0.999999975347,5.41737948148e-05,-0.000213544538417,-2.77468780726e-05,1793244746537142016
+58,0.966666667,BASELINE,764.645465932,745.354534068,714,680,660.645465932,634.354534068,879,787,806,653,631,652,0.400937919829,-0.00543923427045,0.0499259668076,0.999999975394,5.71487354476e-05,-0.000212544850751,-2.77632741413e-05,1793244746553808896
+59,0.983333333,BASELINE,765,745,714,680,661,634.220139126,879,787,806,653,631,652,0.400938881544,-0.00543888567363,0.0499266476704,0.999999975561,5.89163297213e-05,-0.000211285157127,-2.76624399281e-05,1793244746570475520
+60,1.000000000,BASELINE,765,745,714,680,661,634.79422569,879,787,806,653,631,652,0.400939245455,-0.00543977033319,0.0499278186133,0.999999975932,5.87427104746e-05,-0.000209607416616,-2.73731187429e-05,1793244746587142144
+61,1.016666667,BASELINE,765,745.38197688,714,679.61802312,661,635,879,787,806,653,631,652,0.400939288585,-0.0054405325553,0.0499280225601,0.999999976087,5.65934829643e-05,-0.000209449656426,-2.74559391963e-05,1793244746603808512
+62,1.033333333,BASELINE,765,745.977362394,714,679.022637606,661,635,879,787,806,653,631,652,0.400939152495,-0.00544122637215,0.0499276862508,0.999999976113,5.33404926841e-05,-0.000210141101987,-2.77466733999e-05,1793244746620474880
+63,1.050000000,BASELINE,765,745.446948987,714,679,660.446948987,635,879,787,806,653,631,652,0.400938754597,-0.00544099203789,0.0499272352102,0.999999976002,5.35243166207e-05,-0.000210618111165,-2.777120346e-05,1793244746637141504
+64,1.066666667,BASELINE,765,745,714,679.128251342,660.128251342,634.871748658,879,787,806,653,631,652,0.40093841599,-0.00544070858119,0.0499269473731,0.999999975929,5.36968035429e-05,-0.000210920369045,-2.77668475614e-05,1793244746653808128
+65,1.083333333,BASELINE,765,745,714,679.704465338,660.704465338,634.295534662,879,787,806,653,631,652,0.400938320626,-0.00544038168159,0.0499272454197,0.999999976008,5.33552283279e-05,-0.00021064185055,-2.76983477193e-05,1793244746670475264
+66,1.100000000,BASELINE,764.712502988,745,714,680,661,634,879.287497012,787,806,653,631,652,0.400937912484,-0.00543976764626,0.0499269132323,0.999999975879,5.4218448733e-05,-0.000211030972834,-2.77304227856e-05,1793244746687142144
+67,1.116666667,BASELINE,764.122292839,745,714,680,661,634,879.877707161,787,806,653,631,652,0.400937175008,-0.00543885127822,0.0499259174551,0.999999975526,5.63502300358e-05,-0.000212123071607,-2.78683958122e-05,1793244746703809280
+68,1.133333333,BASELINE,764.457136594,745.457136594,714,679.542863406,660.542863406,634,879.542863406,787,806,653,631,652,0.400939028744,-0.00543882567293,0.0499270453335,0.999999975897,5.64790408874e-05,-0.000210349776986,-2.77308594012e-05,1793244746720475392
+69,1.150000000,BASELINE,765,745.966355923,714,679,660,634,879,786.966355923,806,653,631,652,0.400941279655,-0.00543899769751,0.0499285570994,0.999999976395,5.61209832376e-05,-0.000208088770182,-2.75460084576e-05,1793244746737141504
+70,1.166666667,BASELINE,765,745.391527648,714,679,660,634,879,786.391527648,806,653,631,652,0.400939025741,-0.00543860389546,0.0499273159475,0.999999975971,5.63519663181e-05,-0.000210028909171,-2.77583333474e-05,1793244746753808384
+71,1.183333333,BASELINE,765,745,714,679.182963122,660,634,879,786.182963122,806,653,631,652,0.400937625985,-0.00543863183864,0.0499264275552,0.999999975712,5.61157765628e-05,-0.000211301145566,-2.79230100351e-05,1793244746770475008
+72,1.200000000,BASELINE,765,745,714,679.756733093,660,634,879,786.756733093,806,653,631,652,0.400938050699,-0.00543956062405,0.0499262926524,0.999999975811,5.48817117508e-05,-0.000211146751079,-2.79859108231e-05,1793244746787141632
+73,1.216666667,BASELINE,765,745,714,680,660,634,878.658418789,787,805.658418789,653,630.658418789,652,0.400938340074,-0.00544022220543,0.0499262820685,0.999999975869,5.39725803855e-05,-0.000211105922477,-2.79744735237e-05,1793244746803808256
+74,1.233333333,BASELINE,765,745,714,680,660,634,878.065416632,787,805.065416632,653,630.065416632,652,0.400938529834,-0.00544068711115,0.0499263629897,0.999999975898,5.33026164489e-05,-0.000211148684087,-2.79083196503e-05,1793244746820475136
+75,1.250000000,BASELINE,764.485804901,745,714,680,660,634,878.514195099,787,805,653,630.514195099,652,0.400938523629,-0.00544012561182,0.0499263478043,0.999999975831,5.48260274352e-05,-0.000211057879382,-2.80365616802e-05,1793244746837141760
+76,1.266666667,BASELINE,764,745,714,679.907998656,660.092001344,634,879,787,805.092001344,653.092001344,630.907998656,652,0.400938578401,-0.00543940838103,0.0499264178065,0.999999975806,5.61388579771e-05,-0.000210815444393,-2.81563161657e-05,1793244746853808384
+77,1.283333333,BASELINE,764,745,714,679.330957795,660.669042205,634,879,787,805.669042205,653.669042205,630.330957795,652,0.400939082748,-0.0054385410804,0.0499269997501,0.999999976077,5.4907680638e-05,-0.000209860912909,-2.81042469993e-05,1793244746870475008
+78,1.300000000,BASELINE,764.245155604,745,713.754844396,679.245155604,660.754844396,634.245155604,879,787,806,653.509688791,630.245155604,652,0.400939157637,-0.00543876077666,0.0499270905711,0.999999976138,5.44597907163e-05,-0.000209712855407,-2.79105554558e-05,1793244746887141888
+79,1.316666667,BASELINE,764.82002161,745,713.17997839,679.82002161,660.17997839,634.82002161,879,787,806,652.35995678,630.82002161,652,0.400938654946,-0.00544044237791,0.0499265208797,0.999999975918,5.50653461521e-05,-0.000210649426911,-2.75263956181e-05,1793244746903808256
+80,1.333333333,BASELINE,764.591856011,745,713.408143989,679.591856011,660,634.591856011,879,787,806,652.408143989,631,652,0.400939149005,-0.00544031732568,0.0499264331191,0.999999975905,5.55699648366e-05,-0.000210552565912,-2.77428088467e-05,1793244746920474624
+81,1.350000000,BASELINE,764.002232417,745,714,679,660.002232417,634.002232417,879,787,806,652.997767583,631,652.002232417,0.400940098453,-0.00543937565569,0.0499265698852,0.999999975987,5.60198870049e-05,-0.000209977968388,-2.82292477509e-05,1793244746937141248
+82,1.366666667,BASELINE,764.57686611,745,714,679,660.57686611,634.57686611,879,787,806,652.42313389,631,652.57686611,0.400941329812,-0.00544017827839,0.0499279570108,0.999999976578,5.42410165982e-05,-0.000207678350865,-2.77674382014e-05,1793244746953808128
+83,1.383333333,BASELINE,765,745,714,679,660.848352569,635,879.151647431,787,806,652.151647431,631,652.848352569,0.400941739997,-0.00544085322947,0.0499286073391,0.999999976908,5.27478501456e-05,-0.000206511205349,-2.74752957691e-05,1793244746970475264
+84,1.400000000,BASELINE,765,745,714,679,660.273158794,635,879.726841206,787,806,652.726841206,631,652.273158794,0.400939856669,-0.00544117159809,0.0499271998166,0.999999976525,5.20526451403e-05,-0.000208507016786,-2.76570279719e-05,1793244746987141888
+85,1.416666667,BASELINE,765,745,714,679,660,634.69017575,879.69017575,787,805.69017575,653,631,652,0.400939298761,-0.0054405431055,0.0499268580414,0.999999976249,5.34613727253e-05,-0.00020945319695,-2.78013528643e-05,1793244747003808512
+86,1.433333333,BASELINE,765,745,714,679,660,634.10014817,879.10014817,787,805.10014817,653,631,652,0.400939939554,-0.0054390582769,0.0499274801221,0.999999976064,5.67728852963e-05,-0.000209450096299,-2.79118467821e-05,1793244747020475136
+87,1.450000000,BASELINE,765,745,714,679,660,634,879,787,805.481365456,653,631,652,0.400940634596,-0.00543871974377,0.0499273284843,0.999999976168,5.74740723144e-05,-0.000208776024072,-2.77909553687e-05,1793244747037141760
+88,1.466666667,BASELINE,764.939557824,745,714,679.060442176,660.060442176,634,879,787,805.939557824,653,631,652,0.400941107721,-0.00543880130144,0.0499270439092,0.999999976314,5.73611290428e-05,-0.000208130106934,-2.76164180742e-05,1793244747053808128
+89,1.483333333,BASELINE,764.366388275,745,714,679.633611725,660.633611725,634,879,787,805.366388275,653,631,652,0.400939604264,-0.0054404585538,0.0499269734205,0.999999976303,5.48688047429e-05,-0.000208886629454,-2.73880753865e-05,1793244747070475008
+90,1.500000000,BASELINE,764,745,714,679.79249445,660.79249445,634.20750555,879,787,805,653,630.79249445,652,0.400938341693,-0.00544099530239,0.0499266922118,0.999999976094,5.43226422477e-05,-0.00021003549474,-2.73241507523e-05,1793244747087141632
+91,1.516666667,BASELINE,764,745,714,679.217317369,660.217317369,634.782682631,879,787,805,653,630.217317369,652,0.40093750594,-0.00543954667095,0.0499260376362,0.999999975537,5.72248132795e-05,-0.000211879537813,-2.75515525067e-05,1793244747103808256
+92,1.533333333,BASELINE,764.370625297,745,713.629374703,679,660,634.629374703,879,787,805.370625297,653,630,652.370625297,0.400937874253,-0.00544005283759,0.0499262924763,0.99999997564,5.64869990964e-05,-0.000211603271002,-2.74562501968e-05,1793244747120475136
+93,1.550000000,BASELINE,764.966320175,745,713.033679825,679,660,634.033679825,879,787,805.966320175,653,630,652.966320175,0.400938973758,-0.0054417460941,0.0499270995771,0.99999997614,5.35387318053e-05,-0.000210039404039,-2.71649794501e-05,1793244747137142016
+94,1.566666667,BASELINE,765,745,713.543593436,679.543593436,660,634.543593436,879,787,805.456406564,653,630,652.456406564,0.400939027716,-0.00544169215504,0.04992683142,0.999999976268,5.30411567413e-05,-0.000209512174136,-2.74772732575e-05,1793244747153808640
+95,1.583333333,BASELINE,765,745,714,679.880623488,660.119376512,635,879,787,805.119376512,653,630.119376512,652,0.400939214497,-0.00544101089596,0.0499266821795,0.999999976333,5.37546056593e-05,-0.000208987130498,-2.77158976275e-05,1793244747170475008
+96,1.600000000,BASELINE,765,745,714,679.306312158,660.693687842,635,879,787,805.693687842,653,630.693687842,652,0.400940146229,-0.00543833798697,0.0499272316856,0.999999976228,5.8523493397e-05,-0.000208233674461,-2.75359332649e-05,1793244747187141376
+97,1.616666667,BASELINE,765,745,713.725157239,679,660.725157239,634.725157239,879,787,806,652.725157239,630.725157239,652,0.400940109231,-0.00543711050681,0.049927379068,0.999999976011,6.06164597727e-05,-0.000208690164782,-2.74148727775e-05,1793244747203808256
+98,1.633333333,BASELINE,765,745,713.136180412,679,660.136180412,634.136180412,879,787,806,652.136180412,630.136180412,652,0.400938965012,-0.005437535093,0.0499270668395,0.999999975685,5.96509568835e-05,-0.000210529574489,-2.73611370287e-05,1793244747220474880
+99,1.650000000,BASELINE,765,745,713.445974059,679,660,634,879,787,806,652.445974059,630.445974059,652,0.40093968261,-0.00543839408396,0.049927168868,0.999999975966,5.70487966995e-05,-0.000209895504169,-2.75282814059e-05,1793244747237141504
+100,1.666666667,BASELINE,765,745,713.974084784,679,660,634,879.025915216,787,806,652.974084784,631,652,0.400940880732,-0.0054393066889,0.0499273758595,0.999999976394,5.41576856893e-05,-0.000208586385225,-2.77570818936e-05,1793244747253808384
+101,1.683333333,BASELINE,765,745,713.397573867,679,660,634,879.602426133,787,806,652.397573867,631,652,0.400940391417,-0.0054385826039,0.0499271658658,0.99999997628,5.55854831934e-05,-0.000208740285577,-2.788444304e-05,1793244747270475008
+102,1.700000000,BASELINE,765,745.18169192,713.18169192,679,660.18169192,634.18169192,879.636616159,787,806,652.18169192,631,652,0.400940010212,-0.00543860999381,0.049926959682,0.999999976191,5.58491394528e-05,-0.00020909105962,-2.7907623914e-05,1793244747287141888
+103,1.716666667,BASELINE,765,745.767078576,713.767078576,679,660.767078576,634.767078576,878.465842847,787,806,652.767078576,631,652,0.400939869215,-0.00544030705882,0.0499267619634,0.999999976159,5.35262320068e-05,-0.000209879260204,-2.76993303746e-05,1793244747303808512
+104,1.733333333,BASELINE,765,745.651214778,713.651214778,679,661,634.651214778,878,786.651214778,806,653,630.651214778,652,0.400940965627,-0.00544075746716,0.0499279819845,0.999999976501,5.36648461036e-05,-0.000208230555636,-2.75373346094e-05,1793244747320475136
+105,1.750000000,BASELINE,765,745.071939954,713.071939954,679,661,634.071939954,878,786.071939954,806,653,630.071939954,652,0.400942879764,-0.00544038404089,0.0499301388981,0.999999977082,5.54301203969e-05,-0.000204971458095,-2.74059340289e-05,1793244747337141504
+106,1.766666667,BASELINE,765,745,713,679,660.493085914,634,878.506914086,786,806,653,630.506914086,652,0.400942180925,-0.00544006578843,0.0499292329631,0.999999976746,5.62176299948e-05,-0.000206386045526,-2.74120564776e-05,1793244747353808128
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878,787,805,653,631,652,0.400940939529,-0.00543944309035,0.04992776264,0.999999976216,5.70020768435e-05,-0.000208707446921,-2.7584796887e-05,1793244747397142528
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.590632377,745,714,679.590632377,660,634,878.590632377,787,806.181264754,653,631,652,0.400939911095,-0.00543994924954,0.049927722664,0.999999976163,5.54004688483e-05,-0.000209395864444,-2.75515563188e-05,1793244747413808896
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.822049826,745,714,679.822049826,660,634,879,787,806.822049826,653,631,652,0.400939401082,-0.00544056441889,0.049927696568,0.999999976165,5.43729618364e-05,-0.00020966203728,-2.74952536752e-05,1793244747430475264
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.242217552,745,714,679.242217552,660,634,879,787,806.242217552,653,631,652,0.400940061869,-0.00544142577655,0.0499277018188,0.999999976297,5.46420023298e-05,-0.000208974614204,-2.73868677081e-05,1793244747447142144
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.335177659,745,714,679.335177659,660,634,879,787,806,653,631,652,0.400940960073,-0.00544120908176,0.0499276766133,0.999999976381,5.4446227498e-05,-0.000208611994936,-2.74648270164e-05,1793244747463809024
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.910824396,745,714,679.910824396,660,634,879,787,806,653,631,652,0.400942028609,-0.00544021895149,0.0499276295574,0.999999976431,5.39169766291e-05,-0.000208482402193,-2.76764774504e-05,1793244747480475392
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.51727844,660.48272156,634,878.51727844,787,805.51727844,653,630.51727844,652,0.400945866161,-0.00544032939638,0.0499286174434,0.999999976959,5.49935992757e-05,-0.000205658325794,-2.76131348626e-05,1793244747497141760
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745.056227015,714,679,660.943772985,634,878.056227015,787,805.056227015,653,630,652,0.40095125966,-0.00544075527868,0.0499301465291,0.999999977743,5.59356948667e-05,-0.000201572719378,-2.74629762593e-05,1793244747513808384
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.651750831,714,679,660.348249169,634,878.651750831,787,805.651750831,653,630,652,0.400966708373,-0.00544227160614,0.0499350468386,0.999999980171,5.27640155381e-05,-0.000190124730745,-2.69636256165e-05,1793244747530475008
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.7596609,746,714,679.2403391,660,634,879,787,806,653,630.2403391,652,0.400988930641,-0.00544277977799,0.0499402395951,0.999999982946,5.19943068833e-05,-0.00017519239803,-2.67019547744e-05,1793244747547141632
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.180840355,746,714,679.819159645,660,634,879,787,806,653,630.819159645,652,0.40102069244,-0.0054418681143,0.0499458442188,0.999999986083,5.46074126109e-05,-0.000155352892123,-2.6775020192e-05,1793244747563808512
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.395721954,745.604278046,714,679.604278046,660,634.395721954,879,787,806,653,630.604278046,652.395721954,0.401061800658,-0.00544272071594,0.0499515632156,0.999999989344,5.49532749839e-05,-0.000132494197541,-2.71657017737e-05,1793244747580475392
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.971258182,745.028741818,714,679.028741818,660,634.971258182,879,787,806,653,630.028741818,652.971258182,0.401107155851,-0.00544437499172,0.0499573341835,0.999999992283,5.4268912396e-05,-0.000108263595442,-2.77007067058e-05,1793244747597142016
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.441655041,745,714,679,660,634.441655041,879,787,806,653,630,652.441655041,0.401161948011,-0.00544612299073,0.0499612584333,0.999999994339,5.16392103791e-05,-8.88700478141e-05,-2.75297906383e-05,1793244747613808640
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.143818794,745,714,679,660,634,879,787,806,653,630.143818794,652,0.401219580447,-0.00544787321169,0.0499640649041,0.999999995544,4.98281426019e-05,-7.54166340648e-05,-2.72300517503e-05,1793244747630475008
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.722578717,745,714,679,660,634,879,787,806,653,630.722578717,652,0.401284302385,-0.00544961525394,0.0499637845208,0.999999995221,5.08020559153e-05,-7.91586190788e-05,-2.66529406168e-05,1793244747647141888
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.299705089,660.299705089,634,879,787,806,653,630.700294911,652,0.401362254151,-0.00545256175556,0.0499645515971,0.999999995274,4.93103405249e-05,-7.96008731083e-05,-2.61427540478e-05,1793244747663808768
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.875327531,660.875327531,634,879,787,806,653,630.124672469,652,0.401452385683,-0.00545661711793,0.0499662829958,0.999999995668,4.55486945032e-05,-7.70052971576e-05,-2.56941802433e-05,1793244747680475392
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.550557079,660.550557079,634.449442921,879,787,806,653,630.449442921,652,0.401560344549,-0.00546041165184,0.049966850205,0.999999995947,4.27204594936e-05,-7.51775021585e-05,-2.50736163126e-05,1793244747697142016
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.976308302,879,787,806,653,631,652,0.401674254374,-0.00546413477326,0.0499671547003,0.999999996184,4.03010966012e-05,-7.35744947924e-05,-2.43754469721e-05,1793244747713808640
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.388973575,879,787,806,653,631,652,0.401812485588,-0.00546787449699,0.0499688663027,0.999999996265,4.14697435931e-05,-7.22693963439e-05,-2.29622244359e-05,1793244747730475520
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,786.802980247,806,653,631,652,0.401962916491,-0.00547282296625,0.0499702314493,0.999999996372,4.06521174265e-05,-7.1672965616e-05,-2.1603919101e-05,1793244747747142144
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,786.219617387,806,653,631,652,0.402137270185,-0.00548014170757,0.0499709172181,0.999999996521,3.59395367788e-05,-7.24661870151e-05,-2.03533030441e-05,1793244747763808512
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.641168223,745.358831777,713.641168223,679,660.358831777,634,879,786.358831777,806,653,630.641168223,652,0.402333197621,-0.005487051856,0.0499694347421,0.999999996588,3.18023834482e-05,-7.38311313953e-05,-1.90392604577e-05,1793244747780474880
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.065685731,745.934314269,713.065685731,679,660.934314269,634,879,786.934314269,806,653,630.065685731,652,0.402542150584,-0.00549371531032,0.049966643152,0.999999996598,2.80126535771e-05,-7.55412632093e-05,-1.76869229177e-05,1793244747797141504
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745.47820387,713.52179613,679,660.47820387,634,879,786.47820387,806,653,630.52179613,652,0.40277388409,-0.00550195022352,0.0499653831841,0.999999996452,2.48190486456e-05,-7.88756415824e-05,-1.60591012476e-05,1793244747813808384
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.107959138,745,714,679,660,634.107959138,879,786,805.892040862,653,631,652,0.403019787657,-0.00551092477484,0.0499662234435,0.999999996646,2.08153527656e-05,-7.79292814366e-05,-1.4234066316e-05,1793244747830475008
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.681760181,745,714,679,660,634.681760181,879,786,805.318239819,653,631,652,0.403314169528,-0.00552221716759,0.0499752746087,0.999999998188,1.2984697834e-05,-5.76085700322e-05,-1.17112204007e-05,1793244747847142144
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.741116607,745.258883393,714,679.258883393,660,635,878.741116607,786.258883393,805.258883393,653,631,652,0.40362984422,-0.00553296234417,0.0499840158675,0.999999999185,7.82268938127e-06,-3.85249676236e-05,-9.16376728315e-06,1793244747863809024
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.159856472,745.840143528,714,679.840143528,660,635,878.159856472,786.840143528,805.840143528,653,631,652,0.403972033958,-0.00554302609451,0.0499923712123,0.99999999974,5.98383607396e-06,-2.09818869235e-05,-6.58567199272e-06,1793244747880475904
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.416092397,745.583907603,714,679.583907603,660,634.583907603,878.416092397,787,806,653,631,652,0.404342410914,-0.00555343197595,0.0499979724078,0.999999999952,3.81828189302e-06,-8.18503064032e-06,-3.69520710194e-06,1793244747897142528
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.990026461,745.009973539,714,679.009973539,660,634.009973539,878.990026461,787,806,653,631,652,0.40472348048,-0.00556396764216,0.0500025288364,0.999999999995,1.52879611998e-06,2.81137904251e-06,-6.86247101686e-07,1793244747913808896
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,630.417570997,652,0.405137854379,-0.00556600105425,0.0500070226716,0.999999999865,7.76979001825e-06,1.43123240263e-05,2.35527449919e-06,1793244747930475520
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,786.829746515,806,652.829746515,630,652,0.405552060888,-0.00556487507882,0.0500046265012,0.999999999759,1.83861665886e-05,1.08700530821e-05,5.05192304214e-06,1793244747947142144
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,786.253614688,806,652.253614688,630,652,0.405964464171,-0.00555657568888,0.0499858074372,0.999999998815,3.90736563003e-05,-2.8217593939e-05,6.92503305527e-06,1793244747963808512
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.678110528,745,714,679,660,634,879,786,806,652.321889472,630,652,0.406411777733,-0.00554964195814,0.0499673547387,0.999999996417,5.76720151537e-05,-6.13809760741e-05,8.44802133148e-06,1793244747980475136
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.103099879,745,714,679,660,634,879,786,806,652.896900121,630,652,0.406886543403,-0.00554378212701,0.0499491901337,0.999999993129,7.46275661633e-05,-8.98857542751e-05,9.69568789252e-06,1793244747997142016
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.473633009,745,714,679.473633009,660,634,879,786.473633009,806,653,630.473633009,652,0.407423455046,-0.0055491299642,0.0499456144733,0.999999991878,8.42251180515e-05,-9.46820999031e-05,1.36146621438e-05,1793244748013808896
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.94790487,659.94790487,634,879,787,806,653,631,652,0.407978842182,-0.00555654962734,0.0499473788721,0.999999991527,9.2187548757e-05,-9.01055999822e-05,1.81414554766e-05,1793244748030475520
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.355407487,659.355407487,634,879,787,806,653,631,652,0.408585041181,-0.00556006112978,0.0499714747091,0.999999993868,9.98637292654e-05,-4.20316007496e-05,2.2919389301e-05,1793244748047142400
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.231856728,659.231856728,634,879.231856728,787,806,653,631,652,0.409203709671,-0.00556198622635,0.0499926699427,0.999999993816,0.00010779805449,-3.53023768909e-06,2.71032797424e-05,1793244748063809024
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.811276173,659.811276173,634,879.811276173,787,806,653,631,652,0.409841070403,-0.00556153323543,0.0500095170519,0.999999992584,0.000116119348982,2.06213493072e-05,3.03966746289e-05,1793244748080475392
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.614131325,660,634,880,787,806,652.614131325,630.614131325,652,0.410467031209,-0.00556216443125,0.050004878383,0.999999993485,0.000110028824307,3.80786324695e-06,3.01621748026e-05,1793244748097142016
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.041870472,660,634,880,787,806,652.041870472,630.041870472,652,0.411087485313,-0.00556331933874,0.0499898611022,0.999999994362,9.69767330077e-05,-3.27936230338e-05,2.82235407252e-05,1793244748113808896
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.466904588,634,879.466904588,787,806,652.533095412,630,652,0.411758364342,-0.00556266745837,0.0499608099634,0.999999990888,0.000101273442761,-8.47412404071e-05,2.80438218856e-05,1793244748130475776
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.111719279,634,879.111719279,787,806,653,630.111719279,652,0.412452433293,-0.0055624746426,0.0499415112864,0.999999987312,0.000105444240312,-0.000115984228082,2.83823794138e-05,1793244748147142656
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.705196158,634,879.705196158,787,806,653,630.705196158,652,0.413229336431,-0.00556487647591,0.0499690447145,0.999999992828,0.000103166230328,-5.27202758764e-05,3.03570899366e-05,1793244748163809280
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.289884493,660.289884493,634.289884493,880,787,806,653,630.710115507,652,0.413994230667,-0.00556745130344,0.0499836339198,0.999999994171,0.000100043403935,-2.50207446078e-05,3.19810013024e-05,1793244748180476160
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.865898204,660.865898204,634.865898204,880,787,806,653,630.134101796,652,0.414747271662,-0.00557019688447,0.0499854465901,0.999999994305,9.608670524e-05,-3.24249116638e-05,3.32586582228e-05,1793244748197142784
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.117351285,634.558675642,880,787,806,653,630.441324358,652,0.415509961155,-0.00557192132768,0.0499627535512,0.999999992707,9.41997023747e-05,-6.83333839287e-05,3.23023917291e-05,1793244748213809152
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.983056332,659.016943668,634.016943668,880,787,806,652.983056332,630.983056332,652,0.416277721515,-0.00557328695289,0.0499338235453,0.999999989051,9.2981717851e-05,-0.00011093489959,3.0753774246e-05,1793244748230475776
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.394913413,659.605086587,634.605086587,880,787,806,652.394913413,630.394913413,652,0.417117725884,-0.00557300255185,0.0499453303263,0.999999991313,9.31443018082e-05,-8.7568790773e-05,3.20892351389e-05,1793244748247142144
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.808587414,879.808587414,787,806,652,630,652,0.417969349524,-0.00557355267875,0.049961454359,0.999999993497,9.23375538654e-05,-5.78742822298e-05,3.36085325566e-05,1793244748263808768
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.225974788,879.225974788,787,806,652,630,652,0.418844720034,-0.00557580837462,0.0499870149127,0.999999995244,8.95497309302e-05,-1.52460893022e-05,3.55035463291e-05,1793244748280475392
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.352122918,659.647877082,634,879,787,806,652,630.352122918,652,0.419684288343,-0.00557533364547,0.0499825166436,0.999999995005,8.91838292565e-05,-2.74130325413e-05,3.58525225591e-05,1793244748297142272
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.927359832,659.072640168,634,879,787,806,652,630.927359832,652,0.42050117144,-0.00557312884981,0.0499589723424,0.999999992538,9.0352518239e-05,-7.42995631058e-05,3.52218901482e-05,1793244748313809152
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.501794926,634,879,787,806,652,631,652,0.42142527067,-0.0055740619063,0.0499780036474,0.999999995311,8.69073261507e-05,-2.40414401872e-05,3.53086542308e-05,1793244748330475776
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.07844539,634,879.07844539,787,806.07844539,652,631,652,0.422359140919,-0.00557517186467,0.0499997848308,0.99999999537,8.37972882471e-05,3.11032750923e-05,3.56406164005e-05,1793244748347142400
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.670354831,634,879.670354831,787,806.670354831,652,631,652,0.423255538433,-0.00557447126586,0.0499992879973,0.999999995167,8.7245823243e-05,2.63324630974e-05,3.6898851984e-05,1793244748363808768
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.489506312,634,879.744753156,787,806.744753156,652,631,652,0.424149916672,-0.00557601729045,0.0499931624062,0.999999995433,8.66075833936e-05,1.46441125342e-05,3.76546321881e-05,1793244748380475136
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.337362817,634,879.168681408,787,806.168681408,652,631,652,0.425041756963,-0.00558038714117,0.049979961916,0.999999996003,8.08325943048e-05,-5.73903234513e-06,3.77788662569e-05,1793244748397141760
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.401633317,634,879.401633317,787,806,652,631,652,0.4259448669,-0.00558178102532,0.0499909313294,0.999999996041,7.96818737135e-05,3.28782109236e-06,3.94611946953e-05,1793244748413808640
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.969564294,634,879.969564294,787,806,652,631,652,0.426852643019,-0.00558194269998,0.0500119083756,0.999999995591,8.0445847755e-05,2.4491986909e-05,4.17886574589e-05,1793244748430475520
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,652,631,652,0.427730401844,-0.00557735591082,0.0499893909592,0.999999995016,8.41760534289e-05,-3.39821593932e-05,4.15674614136e-05,1793244748447142144
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.845951233,806,652,631,652,0.428619274095,-0.00557528331922,0.0499687088049,0.999999992444,8.55553515999e-05,-7.80893048877e-05,4.11564197896e-05,1793244748463808768
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.2891405,806,652,631,652,0.429541646422,-0.0055804871161,0.049959264177,0.999999993294,8.03490392377e-05,-7.28376697866e-05,4.06263461975e-05,1793244748480475648
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.288096686,634,880,786.288096686,806,652,630.711903314,652,0.430453902775,-0.00558396438383,0.0499579167769,0.999999994202,7.62237082822e-05,-6.42959973312e-05,4.0637025805e-05,1793244748497142528
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.887398724,634,880,786.887398724,806,652,630.112601276,652,0.431355231678,-0.00558557663458,0.049965316096,0.999999995104,7.32660662033e-05,-5.2200389034e-05,4.12318332674e-05,1793244748513808896
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.067716933,634,880,787,806,652,630.466141533,652,0.432217491254,-0.00558433252498,0.0499528835355,0.999999993636,7.46005762258e-05,-7.38786617701e-05,4.12872385965e-05,1793244748530475264
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.041467032,634,879.958532968,787,806,652,631,651.958532968,0.433074653021,-0.00558271897538,0.0499384435114,0.999999991353,7.65693535057e-05,-9.8624080633e-05,4.12950246089e-05,1793244748547142144
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.634608532,634,879.365391468,787,806,652,631,651.365391468,0.433984246402,-0.00558498215157,0.0499583378364,0.99999999457,7.37653568627e-05,-6.02203313087e-05,4.23295385275e-05,1793244748563808768
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.221216059,660,634,879.221216059,787,806,652.221216059,631,651.221216059,0.43486689304,-0.00558559392511,0.049974710398,0.99999999575,7.36662174213e-05,-3.40872152904e-05,4.37087358712e-05,1793244748580475392
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.797340875,660,634,879.797340875,787,806,652.797340875,631,651.797340875,0.43570630772,-0.00558355626538,0.0499854328095,0.999999995542,7.79066247976e-05,-2.76405268684e-05,4.56409275153e-05,1793244748597142272
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.372665404,745,714,680.627334596,660,634,880,787,806,652.627334596,631,651.627334596,0.436511115144,-0.00558253432205,0.0499715301899,0.999999993927,7.90976808282e-05,-6.15773660191e-05,4.57947153445e-05,1793244748613809152
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.947555626,745,714,680.052444374,660,634,880,787,806,652.052444374,631,651.052444374,0.437297143083,-0.00558206355172,0.0499442649328,0.999999989002,7.86340227757e-05,-0.000117428103094,4.49834619557e-05,1793244748630476032
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.477073995,745,714,680.522926005,660,634,880,787,806,652,631,651,0.438140058964,-0.00558609474079,0.0499678353728,0.999999994446,7.33989291031e-05,-6.03208181933e-05,4.56301282898e-05,1793244748647142400
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.100998155,745,714,680.899001845,660,634,880,787,806,652,631,651,0.438973680743,-0.00558996063582,0.0499901416955,0.999999996554,6.84979522229e-05,-7.2997897834e-06,4.63403619482e-05,1793244748663808768
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.691942887,745,714,680.308057113,660,634,880,787,806,652,631,651,0.439734514265,-0.00559083240961,0.0499815607982,0.999999996207,6.75412886834e-05,-2.91073682342e-05,4.66490164089e-05,1793244748680475392
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.723245204,745,714,680.276754796,660,633.723245204,880,786.723245204,806.276754796,652,631,651.276754796,0.440469865429,-0.00559150344303,0.049965638267,0.999999995092,6.64791995785e-05,-5.6998905336e-05,4.63472305201e-05,1793244748697142016
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.145111813,745,714,680.854888187,660,633.145111813,880,786.145111813,806.854888187,652,631,651.854888187,0.441177466933,-0.00559195587545,0.0499417208928,0.999999992651,6.53023048738e-05,-9.15157097679e-05,4.5380691321e-05,1793244748713808640
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.568280143,680.568280143,659.568280143,633,880,786.431719857,807,652,631,652,0.441876923868,-0.00559131644375,0.0499365504711,0.999999992226,6.63825985591e-05,-9.55862958842e-05,4.47732396529e-05,1793244748730475520
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.008275603,745,713.008275603,680.008275603,659,633,880.008275603,786.991724397,807,652,631,651.991724397,0.442572591793,-0.00559038783748,0.049937528916,0.999999992669,6.81215202024e-05,-8.97713356814e-05,4.43020241632e-05,1793244748747142400
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.596053196,745,713.596053196,680.596053196,659,633,880.596053196,786.403946804,807,652,631,651.403946804,0.443194053706,-0.00559483192791,0.0499291583261,0.999999991367,6.30127478653e-05,-0.000106184079437,4.49442654179e-05,1793244748763808768
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680.818637375,659,633,880.637274749,786,807,652,631,651.181362625,0.443794562773,-0.00559605588808,0.049905078294,0.99999998603,6.01900554277e-05,-0.000149543487608,4.42069474568e-05,1793244748780475392
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680.238751336,659,633,879.477502672,786,807,652,631,651.761248664,0.444349030499,-0.00559020398494,0.0498464785762,0.999999965455,6.23907580572e-05,-0.000252115079608,4.04382073582e-05,1793244748797141760
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.661286976,745,714,680.338713024,659.338713024,633,879.338713024,786,807,652,631,652,0.444908855436,-0.00559115928173,0.0498112885441,0.999999952262,5.80005750631e-05,-0.000301084936554,3.82096378949e-05,1793244748813808128
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.085517521,745,714,680.914482479,659.914482479,633,879.914482479,786,807,652,631,652,0.445472429712,-0.00559687876096,0.0497924823454,0.999999949272,4.89976029146e-05,-0.000312540329228,3.70589942052e-05,1793244748830474752
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.499443708,714,680.500556292,659.500556292,632.500556292,880,786,806.500556292,652,631,652,0.446015607893,-0.00559624399956,0.0497977822311,0.999999954786,4.89970323825e-05,-0.000294342137545,3.72954984929e-05,1793244748847141632
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,714,680.084980058,659,632,880.084980058,786,806.084980058,652,630.915019942,652,0.446545913622,-0.00559374973808,0.0498042176987,0.999999959467,5.14665299333e-05,-0.00027750589803,3.75187376674e-05,1793244748863808256
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,714,680.664532118,659,632,880.664532118,786,806.664532118,652,630.335467882,652,0.447022009443,-0.00558688422312,0.0497927897834,0.999999952981,5.91723086666e-05,-0.000298700118113,3.6256553974e-05,1793244748880474880
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.759014336,745.759014336,714,681,659,631.759014336,880.759014336,786,807,652,630,652,0.44747096798,-0.00558513297392,0.0497700006373,0.999999941902,6.10750956496e-05,-0.000333531885934,3.49512773931e-05,1793244748897141760
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.186819417,745.186819417,714,681,659,631.186819417,880.186819417,786,807,652,630,652,0.447882629155,-0.00559041074153,0.0497315966846,0.999999922997,5.50022847802e-05,-0.000387107015485,3.35867742569e-05,1793244748913808640
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.389737636,745.389737636,714,681,659,631,880,785.610262364,806.610262364,652,630,652,0.448281669766,-0.00559572466145,0.0497141997437,0.999999912839,4.74975156588e-05,-0.00041349231989,3.30273282303e-05,1793244748930475264
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.968409384,745.968409384,714,681,659,631,880,785.031590616,806.031590616,652,630,652,0.44867459231,-0.00560105610748,0.0497069864224,0.999999907653,3.92985719695e-05,-0.000426696748253,3.28581517015e-05,1793244748947141888
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.441437276,714,680.441437276,658.441437276,631,880,785.558562724,806.558562724,652,630,651.441437276,0.44903345654,-0.00560333135177,0.0497191586285,0.99999991439,3.72649293289e-05,-0.000410688740068,3.41382864498e-05,1793244748963809024
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.145281909,658.145281909,631,880.145281909,785.854718091,806.854718091,652,630,651.145281909,0.449386451918,-0.00560376739959,0.0497307191495,0.999999920473,3.72538093821e-05,-0.000395504465679,3.52397486255e-05,1793244748980475648
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680.719893551,658.719893551,631,880.719893551,785.280106449,806.280106449,652,630,651.719893551,0.449727915821,-0.00559928986392,0.049737164069,0.999999923308,4.21674866767e-05,-0.000387739310684,3.5565893726e-05,1793244748997142016
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.297165691,714,681,658.702834309,630.702834309,880.702834309,785.297165691,806.297165691,652,630,652,0.450044751338,-0.00559587780685,0.0497399312488,0.999999924477,4.64310397263e-05,-0.000384192148512,3.58725372764e-05,1793244749013808896
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.876968218,714,681,658.123031782,630.123031782,880.123031782,785.876968218,806.876968218,652,630,652,0.450338162565,-0.00559347913589,0.0497392004985,0.999999924112,5.00762537398e-05,-0.000384656755963,3.61606327176e-05,1793244749030475776
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.546602655,714.453397345,681,658,630,880,785.546602655,807,652,630,652,0.450582964775,-0.00559690141128,0.049735545193,0.999999919738,4.57607669933e-05,-0.000396330390979,3.67582214472e-05,1793244749047142656
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.970262142,681,658,630,880,785,807,652,630,652,0.450812488386,-0.00560160186869,0.0497309750034,0.999999914113,3.97156702674e-05,-0.000410852047827,3.73786693696e-05,1793244749063809280
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.378421595,681,658,630,880,785,807,652,630,652,0.451000698171,-0.00560082649167,0.0497240014069,0.999999909359,4.15075910394e-05,-0.000422138758944,3.68554904606e-05,1793244749080475648
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681,657.793017364,630,880.206982636,785,807,652,630,652,0.45118127756,-0.00560055551481,0.0497160859255,0.999999903396,4.20488782147e-05,-0.00043602198862,3.63894875001e-05,1793244749097142272
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,657.219025682,630,880.780974318,785,807,652,630,652,0.451348327173,-0.00560117890978,0.0497065003519,0.999999895247,4.03726176225e-05,-0.000454509206163,3.60248655149e-05,1793244749113808640
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,657.35765293,630,880.64234707,785,807.35765293,652,630,652,0.451497325289,-0.00560099754764,0.0497001519847,0.999999888316,4.03485900215e-05,-0.000469497319977,3.62300436172e-05,1793244749130475520
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681,657.935989522,630,880.064010478,785,807.935989522,652,630,652,0.451635185052,-0.00560031962387,0.0496958010798,0.999999882149,4.13440445441e-05,-0.000482326373103,3.67868071439e-05,1793244749147142144
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.524482053,681,658,629.475517947,880,785,807.475517947,652.524482053,630,652,0.451751970198,-0.00560095430256,0.0496945692323,0.999999881477,3.8688120127e-05,-0.000483960485316,3.64800188955e-05,1793244749163808768
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.88777699,745.11222301,714.88777699,681,658,629.11222301,880,785,807,653,630,652,0.451861588001,-0.00560187990909,0.0496934013579,0.999999881241,3.56921857541e-05,-0.000484708917259,3.60706819529e-05,1793244749180475392
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.308425507,745.691574493,714.308425507,681,658,629.691574493,880,785,807,653,630,652,0.451952289345,-0.00560333651727,0.0496908839614,0.999999879951,3.31725345233e-05,-0.000487570179203,3.56818438602e-05,1793244749197142272
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.268807216,745.731192784,714.268807216,681,657.731192784,629.731192784,880.268807216,785,807,652.731192784,630,651.731192784,0.45203193879,-0.00560327829725,0.0496880663802,0.999999878051,3.26379039527e-05,-0.000491520125824,3.52297634122e-05,1793244749213809152
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.843627883,745.156372117,714.843627883,681,657.156372117,629.156372117,880.843627883,785,807,652.156372117,630,651.156372117,0.452099006613,-0.00560149557804,0.0496849070654,0.999999875447,3.43630455411e-05,-0.000496709444331,3.47056871092e-05,1793244749230475776
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714.580183933,681,657.419816067,629,880.580183933,785,807,652,630,651.419816067,0.452153302318,-0.00560115038886,0.0496823196434,0.999999873443,3.41858081348e-05,-0.000500740382071,3.47003592019e-05,1793244749247142400
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714.003484728,681,657.996515272,629,880.003484728,785,807,652,630,651.996515272,0.452202825146,-0.00560134239741,0.0496799459348,0.999999871658,3.32976612951e-05,-0.000504338438666,3.48888849543e-05,1793244749263808768
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,629,880,785,807.586651847,652,629.413348153,652,0.452236021798,-0.00560261543288,0.0496783416598,0.999999869499,3.09446185053e-05,-0.000508751968875,3.48704413944e-05,1793244749280475392
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.173609402,714.173609402,681.173609402,658,629.173609402,880,785,807.826390598,652,629.173609402,652,0.452266603336,-0.00560279257748,0.0496767270804,0.999999868144,2.99734401238e-05,-0.000511475041388,3.47459968521e-05,1793244749297142272
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.752946546,714.752946546,681.752946546,658,629.752946546,880,785,807.247053454,652,629.752946546,652,0.45229130526,-0.00560039325018,0.0496750774883,0.999999868719,3.22525119381e-05,-0.000510235902934,3.43767669367e-05,1793244749313808896
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714.671074168,681.671074168,657.671074168,629.671074168,880.328925832,785,807,652,630,652,0.452308014858,-0.0055996663541,0.0496732512187,0.999999867749,3.30493121161e-05,-0.000512103225675,3.40507083673e-05,1793244749330475776
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714.097591396,681.097591396,657.097591396,629.097591396,880.902408604,785,807,652,630,652,0.45231878215,-0.00560018291335,0.0496712935889,0.999999865622,3.27440409364e-05,-0.000516280207702,3.37567477315e-05,1793244749347142656
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714,681,657.477387295,629,880.522612705,785,807,652,629.522612705,652,0.452326331753,-0.00560015226912,0.0496703841832,0.999999864904,3.27084147554e-05,-0.000517680064682,3.35993198639e-05,1793244749363809280
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.054324186,745.945675814,714,681,657.945675814,629,880.108648372,785,807,652.054324186,629.054324186,652,0.452332953578,-0.00559985407464,0.049669746095,0.999999864469,3.2855030055e-05,-0.000518520126178,3.34658836532e-05,1793244749380475904
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.647646751,745.352353249,714,681,657.352353249,629,881.295293502,785,807,652.647646751,629.647646751,652,0.452336917087,-0.00559801466567,0.0496696671787,0.999999863941,3.42611809845e-05,-0.000519456545626,3.32926881876e-05,1793244749397142272
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.765766588,745,714,681,657.234233412,629,881.531533175,785,807,653,629.765766588,652,0.452340304942,-0.00559713297058,0.04966938239,0.999999863643,3.531433974e-05,-0.000519967959249,3.31626618581e-05,1793244749413808896
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.189029421,745,714,681,657.810970579,629,880.378058841,785,807,653,629.189029421,652,0.452342851054,-0.00559765167617,0.0496687965682,0.999999863684,3.58513417126e-05,-0.000519857915401,3.30957588615e-05,1793244749430475264
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.386475249,714,681,658,629,880,785,806.613524751,652.613524751,629.386475249,652,0.452344107375,-0.00559695360863,0.0496690133461,0.999999863639,3.62624335384e-05,-0.000519933529976,3.27932384303e-05,1793244749447142144
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.961378991,714,681,658,629,880,785,806.038621009,652.038621009,629.961378991,652,0.45234473485,-0.00559566229551,0.0496696214365,0.999999863554,3.66121370475e-05,-0.000520099663512,3.23758412064e-05,1793244749463808768
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.465495361,714,681,658,629,880,785,806.534504639,652,629.465495361,652,0.452343476593,-0.00559741285737,0.0496682722454,0.999999862364,3.48751705988e-05,-0.00052247986786,3.27077239385e-05,1793244749480475648
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714.111936228,681,657.888063772,629,880.111936228,785,807,652,629.111936228,652,0.452342678934,-0.00559871383229,0.0496668520576,0.999999861313,3.33447582319e-05,-0.000524570308721,3.29823005591e-05,1793244749497142272
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714.708567277,681,657.291432723,629,880.708567277,785,807,652,629.708567277,652,0.452344463751,-0.00559711948232,0.0496657348006,0.999999861243,3.33594464871e-05,-0.000524715615644,3.27750828579e-05,1793244749513808896
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714.705993127,681,657,629,881,785,807,652,629.705993127,652,0.452344903906,-0.00559654966808,0.0496650915623,0.999999861014,3.31423921879e-05,-0.000525186185358,3.24611839852e-05,1793244749530475776
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.13124014,681,657,629,881,785,807,652,629.13124014,652,0.452344060047,-0.00559695817917,0.0496649009625,0.999999860631,3.27040477512e-05,-0.00052596734737,3.20454156177e-05,1793244749547142400
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714.443658009,681.443658009,657,629,881,785,807,652,629.443658009,652,0.452344997516,-0.00559660073562,0.0496657457056,0.999999860717,3.41992203921e-05,-0.000525691281775,3.23384335965e-05,1793244749563809024
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714.980935315,681.980935315,657.019064685,629,880.980935315,785,807,652,630,652,0.452346409275,-0.00559599541855,0.049666814973,0.99999986092,3.62413284403e-05,-0.00052513753673,3.28084129545e-05,1793244749580475648
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714.391601261,681.391601261,657.608398739,629,880.391601261,785,807,652,630,652,0.45234624098,-0.0055947553771,0.0496654360788,0.999999860628,3.75292682798e-05,-0.000525635669373,3.22979865092e-05,1793244749597142272
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714.194326802,681,658,629,880,785,807.194326802,652.194326802,629.805673198,652,0.452346367877,-0.00559447464834,0.0496647483562,0.999999860576,3.72416945268e-05,-0.000525775202753,3.19718767204e-05,1793244749613808896
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714.773509414,681,658,629,880,785,807.773509414,652.773509414,629.226490586,652,0.452347079386,-0.0055960937969,0.049665429469,0.999999860995,3.38338842966e-05,-0.000525204545802,3.2010798113e-05,1793244749630475520
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.35064311,658,629,880,785,807.64935689,652.64935689,629,652,0.45234726259,-0.00559576640848,0.049666111063,0.999999861442,3.37995388344e-05,-0.000524360028119,3.19373304917e-05,1793244749647142144
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681.926461018,658,629,880,785,807.073538982,652.073538982,629,652,0.452347106527,-0.00559418899953,0.0496667929659,0.999999861907,3.59315536117e-05,-0.000523339643509,3.17916892749e-05,1793244749663809024
+244,4.066666667,HOLD_POSE2,765,746,715,681,657,629,880,785,806,652,629,652,0.452346393695,-0.00559657537407,0.0496648156241,0.999999860499,3.26052128421e-05,-0.000526184050186,3.26987645709e-05,1793244749694319104
+245,4.083333333,HOLD_POSE2,765,746,714.420574075,681,657,629,880,785,806.579425925,652.579425925,629,652,0.452347272142,-0.00559637680002,0.0496650287954,0.999999860755,3.25720511026e-05,-0.000525712570915,3.24787591381e-05,1793244749710985216
+246,4.100000000,HOLD_POSE2,764.841557822,745.841557822,714,681,657,629,880.158442178,785,807,652.841557822,629,652,0.452347921179,-0.00559623922853,0.0496650582106,0.999999860841,3.29378526104e-05,-0.000525540357216,3.2242553721e-05,1793244749727651584
+247,4.116666667,HOLD_POSE2,764.263626087,745.263626087,714,681,657,629,880.736373913,785,807,652.263626087,629,652,0.452347962835,-0.0055962631666,0.0496646011157,0.999999860476,3.43599442844e-05,-0.000526160475243,3.19634573773e-05,1793244749744318208
+248,4.133333333,HOLD_POSE2,764.31109978,745,714,681,657,629,880.68890022,785,806.68890022,652,629.31109978,652,0.452346965125,-0.00559531777347,0.0496639985243,0.999999859721,3.53941098966e-05,-0.000527535419094,3.18189743981e-05,1793244749760984832
+249,4.150000000,HOLD_POSE2,764.883136669,745,714,681,657,629,880.116863331,785,806.116863331,652,629.883136669,652,0.45234509564,-0.00559355934705,0.0496632738968,0.999999858635,3.61028997358e-05,-0.000529543478326,3.1787399333e-05,1793244749777651712
+250,4.166666667,HOLD_POSE2,764.528559157,745,714,681,657,629,880,785,806,652,629.528559157,652,0.452345301006,-0.00559344065707,0.0496631269691,0.999999858836,3.61809448363e-05,-0.000529148874296,3.19466076892e-05,1793244749794318592
+251,4.183333333,HOLD_POSE2,764.062256056,745,714.062256056,681,657,628.937743944,880,785,806.062256056,652,629,652,0.452345976413,-0.00559376391412,0.0496631686472,0.999999859331,3.590555078e-05,-0.00052822287,3.20814483631e-05,1793244749810985216
+252,4.200000000,HOLD_POSE2,764.639299514,745,714.639299514,681,657,628.360700486,880,785,806.639299514,652,629,652,0.45234613365,-0.00559426043403,0.0496635434325,0.999999859527,3.40466768346e-05,-0.000528003609815,3.16097648646e-05,1793244749827651584
+253,4.216666667,HOLD_POSE2,765,745.216588362,714.783411638,681,657,628.216588362,880,785,807,652,629,652,0.452346142614,-0.00559438514052,0.0496636043018,0.999999859517,3.3102131745e-05,-0.000528098098621,3.13347725591e-05,1793244749844318208
+254,4.233333333,HOLD_POSE2,765,745.794286281,714.205713719,681,657,628.794286281,880,785,807,652,629,652,0.452345904366,-0.00559388993656,0.0496631417905,0.99999985917,3.36820126465e-05,-0.000528715689242,3.13877160629e-05,1793244749860984832
+255,4.250000000,HOLD_POSE2,765,745.621689998,714,681,657,629,880,785,806.621689998,652,629,651.621689998,0.452346353874,-0.00559513749053,0.0496632351154,0.999999859344,3.30972744373e-05,-0.000528408401432,3.16361716154e-05,1793244749877651200
+256,4.266666667,HOLD_POSE2,765,745.034167944,714,681,657,629,880,785,806.034167944,652,629,651.034167944,0.452347183723,-0.0055973488201,0.0496636358273,0.999999859805,3.18684815326e-05,-0.000527589639722,3.19927487572e-05,1793244749894317824
+257,4.283333333,HOLD_POSE2,765,745,714,681,657,628.454572089,880.545427911,785,806.545427911,652.545427911,629.545427911,651.545427911,0.452346532215,-0.00559577111849,0.049663323225,0.999999859413,3.36548565937e-05,-0.000528227101573,3.18956389333e-05,1793244749910984704
+258,4.300000000,HOLD_POSE2,765,745.123649341,714,681,657,628,881,785,807,652.876350659,629.876350659,652,0.452345771012,-0.00559411972885,0.0496628892493,0.999999858937,3.50487034593e-05,-0.000529046915727,3.1719086367e-05,1793244749927651840
+259,4.316666667,HOLD_POSE2,765,745.69864051,714,681,657,628,881,785,807,652.30135949,629.30135949,652,0.452344943281,-0.005593053364,0.0496621730107,0.999999858361,3.43301733511e-05,-0.000530204133727,3.13548090838e-05,1793244749944318720
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,806,652,629,652,0.452348003905,-0.00559514172567,0.0496638939757,0.999999859941,3.42941744894e-05,-0.000527181604277,3.19722995023e-05,1793244749982246656
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.595795772,681.595795772,657.595795772,629,880,785,806.595795772,652,629,652,0.452347574172,-0.00559532007668,0.0496636236876,0.999999859405,3.49390214629e-05,-0.000528160273725,3.18836938879e-05,1793244749998914560
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.813390757,681.813390757,658,628.813390757,880,785,807,652,629,652,0.452347736736,-0.0055955463377,0.0496636594345,0.999999859228,3.52824315524e-05,-0.000528474188742,3.18430334892e-05,1793244750015581696
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.23308843,681.23308843,658,628.23308843,880,785,807,652,629,652,0.452349148884,-0.00559587367542,0.0496643408294,0.999999859811,3.49898946116e-05,-0.000527385658823,3.1903524011e-05,1793244750032247808
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.655443041,628.344556959,880,785,807,652,629.344556959,652,0.452347981392,-0.0055951421578,0.049663236582,0.999999859109,3.47036391157e-05,-0.000528752397435,3.16050099808e-05,1793244750048914176
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.079581318,628.920418682,880,785,807,652,629.920418682,652,0.452345082162,-0.00559369981928,0.0496609336139,0.999999857537,3.44216004379e-05,-0.000531767384073,3.10654923602e-05,1793244750065580544
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.495333966,681,657,629,880,785,807,652,630,652,0.452346786325,-0.00559336669272,0.0496626962864,0.999999858333,3.48016064069e-05,-0.000530228139582,3.13290444051e-05,1793244750082247168
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.072159845,714.927840155,681,657,629,880.072159845,785,807,652,629.927840155,652,0.452348760471,-0.00559312745988,0.0496646475146,0.99999985934,3.5220943079e-05,-0.000528280598214,3.1603971097e-05,1793244750098913536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.663833673,714.336166327,681,657,629,880.663833673,785,807,652,629.336166327,652,0.45234736384,-0.0055922836531,0.0496632625551,0.999999859164,3.51591247507e-05,-0.000528651287606,3.10336632012e-05,1793244750115580160
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.750499309,714,680.750499309,657,629,881,785,807,652,629,651.750499309,0.452341103957,-0.00559207382404,0.0496598018883,0.999999856663,3.49666430739e-05,-0.000533405374241,3.04944146831e-05,1793244750132246528
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.172735383,714,680.172735383,657,629,881,785,807,652,629,651.172735383,0.452328445585,-0.00559269810727,0.0496536102538,0.999999851023,3.46022501574e-05,-0.000543926611821,2.99960304304e-05,1793244750148913152
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.387315217,680.774630435,657,628.612684783,880.612684783,785,806.612684783,652,629,651.387315217,0.452299596693,-0.00559143604403,0.049641092458,0.999999839165,3.47107851875e-05,-0.000565328526539,2.94735457227e-05,1793244750165580032
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.939811538,681.879623076,657,628.060188462,880.060188462,785,806.060188462,652,629,651.939811538,0.452263842912,-0.00558936949711,0.0496258766982,0.999999824108,3.50210131467e-05,-0.000591370802404,2.89407826621e-05,1793244750182246656
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.474704841,681.474704841,657,628.525295159,880,785,806.525295159,652,629,652,0.452206256713,-0.00558709329717,0.0496048969089,0.999999803072,3.55099182522e-05,-0.000625980557798,2.72745589654e-05,1793244750198913536
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807,652,629,651.883232011,0.452143860943,-0.00558497567291,0.0495842172781,0.999999782291,3.63919602969e-05,-0.000658357462267,2.56752693519e-05,1793244750215580416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807,652,629,651.283670595,0.452072615425,-0.00558361967885,0.049567692357,0.999999769656,3.88091619698e-05,-0.000677171559039,2.49256824707e-05,1793244750232247296
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.304867495,628.695132505,880.304867495,785,807,652,629,651.304867495,0.451992372676,-0.00558126163572,0.0495571108631,0.99999976018,4.05031301075e-05,-0.000690952366886,2.4183580378e-05,1793244750248914176
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.883506581,628.116493419,880.883506581,785,807,652,629,651.883506581,0.4519040504,-0.0055780037507,0.0495518665793,0.999999753713,4.15476330144e-05,-0.000700213270674,2.34481996889e-05,1793244750265580800
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.540888591,628.459111409,880.540888591,785,807.459111409,652,629.459111409,652,0.4518080374,-0.00557363627173,0.0495545583863,0.999999755068,4.5944350656e-05,-0.000698013743931,2.30013857504e-05,1793244750282247168
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807.965218217,652,629.965218217,652,0.451708610176,-0.00556898619559,0.0495591802966,0.999999758364,5.10542271231e-05,-0.000692930709474,2.26323250332e-05,1793244750298913280
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807.376318536,652,629.376318536,652,0.451585674473,-0.00556428990254,0.0495626813911,0.999999761663,5.40637809941e-05,-0.000687932619358,2.23431432422e-05,1793244750315579904
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807,652,629,651.790416307,0.451451018718,-0.00555961614896,0.0495662834994,0.999999765113,5.6735905099e-05,-0.000682700785585,2.17857115309e-05,1793244750332246528
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807,652,629,651.209820332,0.451295615739,-0.00555498229606,0.0495700644252,0.999999768853,5.88106990772e-05,-0.000677055171279,2.07534145919e-05,1793244750348913152
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880.367695642,785,806.632304358,652,629.367695642,651.367695642,0.451117585818,-0.00554759642903,0.0495716497214,0.999999771207,6.37533189494e-05,-0.000673147986427,1.98167206116e-05,1793244750365580288
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880.943468713,785,806.056531287,652,629.943468713,651.943468713,0.450926751392,-0.00553865320827,0.0495719925202,0.999999772748,7.03188297093e-05,-0.000670224570989,1.89341278488e-05,1793244750382247168
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880.484869726,785,806,652,629.484869726,652,0.450714392738,-0.00553103416392,0.0495765131243,0.999999779576,7.52252584692e-05,-0.000659459661771,1.74077880983e-05,1793244750398913536
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.909753182,745,714,680.909753182,657,629,880,785,806.090246818,652,629.090246818,651.909753182,0.450494901028,-0.0055234756669,0.0495821963271,0.999999787312,8.01744433633e-05,-0.000647065353355,1.59693839363e-05,1793244750415580160
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.3127211,745,714,680.3127211,657,629,880,785,806.6872789,652,629.6872789,651.3127211,0.450248512703,-0.00551544759815,0.0495918539324,0.999999797502,8.63780590354e-05,-0.000630315206211,1.54183597114e-05,1793244750432246784
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.274227901,745.274227901,714,680.274227901,657.274227901,629.274227901,880,785,806.725772099,652,629.725772099,651.274227901,0.449976600892,-0.00550696896607,0.0495979321073,0.999999804731,9.26512384658e-05,-0.000617853785699,1.45354332376e-05,1793244750448913152
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.850086222,745.850086222,714,680.850086222,657.850086222,629.850086222,880,785,806.149913778,652,629.149913778,651.850086222,0.449676615146,-0.00549799474809,0.0496000731728,0.999999808894,9.90009325321e-05,-0.000610109648577,1.32874388611e-05,1793244750465580032
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.573412616,714,681,657.573412616,630,880,785,806,652,629.426587384,652,0.449330057576,-0.00548616032136,0.0495981885559,0.999999805323,0.000106199390945,-0.000614775426926,1.13008672799e-05,1793244750482246656
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.996637999,745,714.003362001,680.996637999,657.003362001,630.003362001,880,785,806.003362001,652,630,652,0.448967041714,-0.0054733512316,0.049594905652,0.99999979897,0.000113675644535,-0.00062374384467,9.05607919422e-06,1793244750498913024
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.411695993,745,714.588304007,680.411695993,657.588304007,630.588304007,880,785,806.588304007,652,630,652,0.448592425012,-0.00546607849989,0.0495948361904,0.999999799968,0.00011753087306,-0.000621449860082,7.11059199305e-06,1793244750515580160
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.172267336,745,714.827732664,680.172267336,658,630.827732664,880,785,807,652,630,651.827732664,0.448201876913,-0.00545819597818,0.0495945332222,0.999999800781,0.000121353395995,-0.000619426441557,4.75453278574e-06,1793244750532247040
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.753904888,745,714.246095112,680.753904888,658,630.246095112,880,785,807,652,630,651.246095112,0.447773470038,-0.00544886437341,0.0495936753565,0.999999801184,0.000125098197935,-0.000618045987336,1.42280455836e-06,1793244750548913664
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.33291255,880,785,807,652,630,651.33291255,0.447320996523,-0.00544738491614,0.0495923286864,0.999999802077,0.000118781973719,-0.000617846269406,-1.62820408263e-06,1793244750565580288
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.909991448,880,785,807,652,630,651.909991448,0.446850871889,-0.00545166441824,0.049590623515,0.999999803189,0.000105086742984,-0.000618512532619,-4.47332634129e-06,1793244750582247168
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631,880.483970537,785,806.516029463,652,630,652,0.44634288416,-0.00545806519669,0.0495945371572,0.999999807785,9.11636968595e-05,-0.000613260256769,-5.62578746716e-06,1793244750598913792
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631.059382969,880.940617031,785.059382969,806,652,630.059382969,651.940617031,0.445828585248,-0.0054632237752,0.0496023539656,0.999999815464,7.86307575513e-05,-0.000602365092838,-6.69935860088e-06,1793244750615580416
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631.652838674,880.347161326,785.652838674,806,652,630.652838674,651.347161326,0.445320453526,-0.00545368482374,0.0496359362328,0.999999845276,7.89786453903e-05,-0.000550556072562,-9.87661715057e-06,1793244750632247040
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,879.183514334,786,806,652,630.183514334,651.816485666,0.444211398042,-0.00544547000397,0.0497000012581,0.999999887038,7.40149766775e-05,-0.000469368325093,-1.17716888972e-05,1793244750665580288
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.608296605,658.391703395,632.391703395,879.391703395,786,806.391703395,652,630,651.608296605,0.443582677558,-0.00544285946467,0.049704894691,0.999999888496,6.85712661348e-05,-0.000467020754443,-1.4074926936e-05,1793244750682247424
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.033916892,658.966083108,632.966083108,879.966083108,786,806.966083108,652,630,651.033916892,0.442928301405,-0.00543989981258,0.0496974302285,0.999999882541,6.22918129594e-05,-0.000480347602874,-1.74403052088e-05,1793244750698914048
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,880,786,807,652,630.552407096,651.552407096,0.442285699374,-0.00543525479586,0.0497104465855,0.999999897291,5.55832878014e-05,-0.000449339330627,-2.05814575839e-05,1793244750715580416
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,880.13760461,786,806.86239539,652,631,651.86239539,0.44164035234,-0.00543222516373,0.0497340476322,0.999999917325,4.77547723182e-05,-0.000403149879254,-2.32422430807e-05,1793244750732247040
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,880.716781802,786,806.283218198,652,631,651.283218198,0.440983825649,-0.00543471869565,0.0497874904424,0.99999994874,3.64186212706e-05,-0.000317172365954,-2.44066876394e-05,1793244750748913664
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.295822195,745,714,680.295822195,659.295822195,633,881,786,806,652,631,651.295822195,0.440285815378,-0.00543910351361,0.0498196618538,0.999999963705,2.29868312712e-05,-0.00026722098055,-2.55891717991e-05,1793244750765580288
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.551008543,745,714,680.551008543,660,633.448991457,880.551008543,786.448991457,806,652,631,652,0.438737758255,-0.00544137170113,0.049804861779,0.999999955468,2.5421576349e-07,-0.000296790654503,-3.12903018388e-05,1793244750798913792
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.977398024,633.977398024,880.022601976,787,806,652,631,652,0.437908027674,-0.00543476612899,0.049769386959,0.99999993594,-4.72740534777e-06,-0.000356034340844,-3.65780344663e-05,1793244750815580160
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.387863474,633.387863474,880.612136526,787,806,652,631,652,0.437095288744,-0.00543106482292,0.0497778943888,0.999999937195,-8.06599562436e-06,-0.000352202437402,-3.87212911525e-05,1793244750832246784
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.780911828,633,881,786.219088172,806,652,631,652,0.435420156544,-0.00541940843313,0.0497972656656,0.999999945436,-6.49875926397e-06,-0.000327495089296,-4.2817016862e-05,1793244750865580288
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.067500172,633.932499828,881,786.932499828,806,652,631,652,0.433718623059,-0.00541507158382,0.0497810862444,0.99999993579,7.50150129587e-05,-0.000349762000617,-2.14219639919e-05,1793244750898913536
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.50351406,633.49648594,879.99297188,786.49648594,806,652,631,652,0.432872443747,-0.00541479821832,0.0497979449361,0.999999943586,7.03343011921e-05,-0.000327693357386,-2.23163513283e-05,1793244750915579904
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.077103861,745,714,680.077103861,660,633.077103861,879.077103861,786.077103861,806,652,630.922896139,652,0.432019476138,-0.00541449385424,0.0498154061943,0.999999951808,5.88602474249e-05,-0.000303773126858,-2.53254691938e-05,1793244750932246784
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.670964424,745,714,680.670964424,660,633.670964424,879.670964424,786.670964424,806,652,630.329035576,652,0.431116705737,-0.00541326377717,0.0498108406916,0.999999952456,5.02652809948e-05,-0.00030280244885,-2.95334597114e-05,1793244750948913664
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.741090323,745,714,680.741090323,660,633.741090323,879.741090323,787,806,652,630.258909677,651.741090323,0.430198264624,-0.00541096418939,0.0497963091108,0.999999946739,4.24161870395e-05,-0.000321842593437,-3.37757081738e-05,1793244750965580288
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.160494551,745,714,680.160494551,660,633.160494551,879.160494551,787,806,652,630.839505449,651.160494551,0.429260353082,-0.00540733577233,0.0497693950308,0.999999931761,3.54938119739e-05,-0.000365745475076,-3.80605214398e-05,1793244750982246912
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633.415153106,879.415153106,787,806.415153106,652,631,651.415153106,0.428363164496,-0.00540567955009,0.0497812107841,0.999999935235,3.35756908394e-05,-0.00035629437942,-3.81719993873e-05,1793244750998913536
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633.988910362,879.988910362,787,806.988910362,652,631,651.988910362,0.42748153367,-0.0054047767809,0.0498078227965,0.999999945475,3.35693839063e-05,-0.000326460048841,-3.66891055294e-05,1793244751015580160
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.575994674,745,714,680,659.424005326,634,879.424005326,787,806.424005326,652,631,652,0.426535079807,-0.0053998581008,0.0497857272472,0.999999934046,4.80752476886e-05,-0.000358163831041,-3.62668344678e-05,1793244751032246528
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.837966126,745,714,679.837966126,659,634,879,787,806,652,631,651.837966126,0.425613705466,-0.00539721872366,0.0497762770199,0.999999931753,5.59653210099e-05,-0.000363362212603,-3.64602551689e-05,1793244751048913408
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.892387534,745,714,679.892387534,660.784775068,634,879,787,806,652,631,651.892387534,0.423011993679,-0.00539882737891,0.0498378966812,0.999999970928,4.51317176241e-05,-0.000233590632715,-3.92698984815e-05,1793244751098913280
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.533622423,745,714,680,660.067244846,634,879,787,806.466377577,652,631,652,0.422101345816,-0.00539729631635,0.04981881286,0.999999960847,4.57761902624e-05,-0.000273126432038,-4.01537829891e-05,1793244751115579648
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.438767243,634,879,787,805.561232757,652.438767243,630,652,0.412259216634,-0.00538994137871,0.0497837805555,0.999999934644,6.05843608047e-05,-0.000353411003271,-4.62898474651e-05,1793244751315580416
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879,787,805.013878314,653,630.013878314,652.013878314,0.411579570352,-0.00539347035111,0.0498096436918,0.99999994681,5.7078555627e-05,-0.000318026492534,-4.45178215869e-05,1793244751332246784
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879,787,805.605584989,653,630.605584989,652.605584989,0.410911705129,-0.00539458157896,0.0498206592536,0.999999950775,5.939418106e-05,-0.00030504833622,-4.32122833519e-05,1793244751348913408
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.192013941,714,680,659.807986059,634,879,787,806,653,631,652.807986059,0.410243459964,-0.00539507594506,0.0498197384752,0.999999949387,6.11688722604e-05,-0.000309246739584,-4.30206777389e-05,1793244751365580288
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.767892055,714,680,659.232107945,634,879,787,806,653,631,652.232107945,0.409574455122,-0.0053943371138,0.0497949551955,0.999999936595,6.18621565688e-05,-0.000347783615066,-4.50559873697e-05,1793244751382247168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.658584478,713.658584478,680,659.341415522,634,879,787,805.658584478,653,631,652,0.408968819725,-0.00539541818988,0.0497937724439,0.999999936828,6.34060503564e-05,-0.00034679214638,-4.53784387821e-05,1793244751398913792
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.086650863,713.086650863,680,659.913349137,634,879,787,805.086650863,653,631,652,0.408405970366,-0.00539772803722,0.0498085243786,0.999999945945,6.55242615075e-05,-0.00031911179361,-4.45443966411e-05,1793244751415580416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.487720139,679.512279861,660,634,879,787,805,653,630.512279861,652,0.407865213948,-0.00540036229108,0.0498233268684,0.99999995215,6.15431869886e-05,-0.000299999111596,-4.37449554896e-05,1793244751432247296
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.065156547,660.065156547,634,879,787,805.065156547,653,630.065156547,652,0.407328239064,-0.00540246789423,0.0498344201919,0.999999955883,5.76101135891e-05,-0.000288186792062,-4.31755556407e-05,1793244751448913920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.664142194,660.664142194,634,879,787,805.664142194,653,630.664142194,652,0.406789926034,-0.00539976766736,0.0498150502722,0.999999944653,6.29931151172e-05,-0.000323652646953,-4.44402708655e-05,1793244751465580544
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.496288444,634,879,787,805.748144222,653,630.748144222,652,0.406266700579,-0.00539974060574,0.0497948381527,0.999999932903,6.45116159005e-05,-0.000357667271362,-4.58928892883e-05,1793244751482246912
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.349636804,634,879,787,805.174818402,653,630.174818402,652,0.405762733026,-0.00540312558653,0.0497735510462,0.999999921018,6.10974472072e-05,-0.000389829534981,-4.75853482688e-05,1793244751498913536
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.401147241,634,879,787,805,653,630,652,0.405319444699,-0.00540563277316,0.0497732593098,0.999999920427,5.96068726271e-05,-0.000391618370968,-4.7208761472e-05,1793244751515580160
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.97827098,634,879,787,805,653,630,652,0.404902775277,-0.00540775488668,0.0497821778847,0.999999924976,5.89601459074e-05,-0.000380082901752,-4.59245195059e-05,1793244751532246784
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.434341179,679.434341179,660,634,879,787,805.565658821,653,630,652,0.40456134093,-0.00540579046719,0.0498062163824,0.999999939221,6.45825140172e-05,-0.000339659325479,-4.49195869973e-05,1793244751548913408
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,679,660,634,879,787,806,653,630.151380344,652,0.404226333659,-0.00540507493266,0.0498297408335,0.999999951265,6.89515900194e-05,-0.000301341081047,-4.36851717604e-05,1793244751565580288
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,660,634,879,787,806,653,630.731248769,652,0.403901186815,-0.0054083469621,0.0498501358686,0.9999999597,6.90789298959e-05,-0.000272181145876,-4.17702655231e-05,1793244751582246912
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745.303360374,713.303360374,679,659.696639626,634,879,787,806,653,630.696639626,652,0.403581198991,-0.00541076289685,0.0498566595234,0.999999960914,6.81335235754e-05,-0.00026807435522,-4.08101302082e-05,1793244751598913280
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.868771398,713.868771398,679,659.131228602,634,879,787,806,653,630.131228602,652,0.403265667683,-0.00541243931436,0.0498512007145,0.999999956191,6.62614509544e-05,-0.000285609130021,-4.0674751197e-05,1793244751615579648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.553178114,714,679.446821886,659.446821886,634,879,787,806,653,630,652.446821886,0.402972464262,-0.00541346672329,0.0498388513145,0.999999949196,6.3066716416e-05,-0.000309717818141,-4.13089014357e-05,1793244751632246272
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.970691199,660,634,879,787,806,653,630.029308801,652.970691199,0.402688788832,-0.00541414645492,0.0498247352467,0.999999941153,5.99796349393e-05,-0.00033514202307,-4.2144882124e-05,1793244751648912896
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.376323388,660,634,879,787,806,653,630.623676612,652.376323388,0.402458701523,-0.00541190497638,0.0498167108275,0.999999936458,6.66753254117e-05,-0.000347621933972,-4.23879343063e-05,1793244751665580032
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.211924223,660,634,879,787,806,653,631,652,0.402243123778,-0.00541003547358,0.0498103813335,0.999999933175,7.38992564342e-05,-0.000355536962922,-4.22232544102e-05,1793244751682246912
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.789608906,660,634,879,787,806,653,631,652,0.402052588144,-0.00540880796471,0.0498069771154,0.999999932564,8.20348782529e-05,-0.000355573451322,-4.13548688489e-05,1793244751698913536
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.634804608,660,634,878.634804608,787,806,653,630.634804608,652,0.401888377533,-0.00540754545556,0.0498089630776,0.999999934861,8.70382265986e-05,-0.00034789470757,-4.08932821907e-05,1793244751715580160
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.060419946,660,634,878.060419946,787,806,653,630.060419946,652,0.401739246264,-0.00540626289762,0.0498140366137,0.999999938721,9.02473635762e-05,-0.000335796565796,-4.06647158167e-05,1793244751732247040
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879.056073748,787,806,653,630.528036874,652,0.401623675791,-0.00540773289619,0.0498222256548,0.99999994382,8.88943095075e-05,-0.00032068870116,-4.02097332266e-05,1793244751748913408
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.116075208,879.883924792,787,805.883924792,653,631,652,0.401515508177,-0.005410470146,0.0498296788055,0.999999948445,8.5704847059e-05,-0.000306884349338,-3.98297489536e-05,1793244751765579776
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.695833701,879.304166299,787,805.304166299,653,631,652,0.401421152399,-0.005416977056,0.0498327292685,0.999999951306,7.73219301248e-05,-0.000299700478194,-3.98556841043e-05,1793244751782246400
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.273708967,660,634.726291033,879.273708967,787,805.273708967,653,631,651.726291033,0.401335854801,-0.00542248514179,0.049834236237,0.999999953109,6.98512493704e-05,-0.000295468367518,-4.00134073307e-05,1793244751798913024
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.849505714,660,634.150494286,879.849505714,787,805.849505714,653,631,651.150494286,0.401260554563,-0.00542689084247,0.0498340396777,0.999999953815,6.33873881714e-05,-0.000294494063469,-4.03165827427e-05,1793244751815579648
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.575204757,745,714,679.575204757,660,634,879.575204757,787,805.575204757,653,630.575204757,651.424795243,0.401196994763,-0.00542852361282,0.0498346891351,0.999999954137,6.08453394119e-05,-0.000293950449741,-4.02194982046e-05,1793244751832246528
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.000094721,745,714,679.000094721,660,634,879.000094721,787,805.000094721,653,630.000094721,651.999905279,0.401137589347,-0.00542917517517,0.0498356379575,0.999999954331,5.96910333231e-05,-0.000293559236815,-3.99807807381e-05,1793244751848913408
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.590974594,745,714,679,660,634,879,787,805,653,630,652,0.401104639403,-0.00542730983285,0.0498380651174,0.999999956262,6.2979502247e-05,-0.000286141679643,-4.04029157807e-05,1793244751865580032
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.822017799,634,878.822017799,787,805,653,630,652,0.401074284773,-0.00542629144801,0.049840172418,0.999999957823,6.50992687189e-05,-0.000280126280061,-4.05590361822e-05,1793244751882246400
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.244142091,634,878.244142091,787,805,653,630,652,0.401049751553,-0.00542717695378,0.0498415605061,0.999999958672,6.45915294217e-05,-0.000277263874124,-4.01172256167e-05,1793244751898912768
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.667600258,745.332399742,714,679.332399742,659.332399742,634,877.667600258,787,805.332399742,653,630.332399742,652,0.401028998712,-0.00542807781444,0.049841954905,0.999999958969,6.38863675342e-05,-0.00027642434905,-3.96368334743e-05,1793244751915579648
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.092034157,745.907965843,714,679.907965843,659.907965843,634,877.092034157,787,805.907965843,653,630.907965843,652,0.401011011398,-0.00542898990804,0.0498416223726,0.999999958865,6.30367814979e-05,-0.00027706465808,-3.91282170115e-05,1793244751932246272
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.98863122,745.50568439,714,680,660,634,877.98863122,787,806,653,631,652,0.401000693178,-0.00542883505507,0.0498412400961,0.999999958825,6.30525037452e-05,-0.000277174150507,-3.93489132434e-05,1793244751948912896
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.918317396,745,714,679.918317396,660,634,879,787,806,653,631,652,0.400992371407,-0.00542865656537,0.0498409251561,0.999999958862,6.31227047528e-05,-0.000276986222178,-3.96348656675e-05,1793244751965579776
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.33727936,745,714,679.33727936,660,634,879,787,806,653,631,652,0.400987330883,-0.00542957507566,0.0498410797505,0.99999995929,6.25190807371e-05,-0.000275597711456,-3.9471124097e-05,1793244751982246912
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787,806,653,631,652,0.400984478018,-0.00543001232408,0.0498417476371,0.999999959887,6.20315768343e-05,-0.000273531321627,-3.94826960046e-05,1793244751998913792
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787,806,653,631,652,0.400984652128,-0.00542978366925,0.049843125746,0.999999960714,6.17047438166e-05,-0.000270526977131,-3.973684231e-05,1793244752015580416
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787,805.605718676,653,631,652,0.400983707473,-0.005429217488,0.0498444914343,0.999999960915,6.40025897309e-05,-0.000269298192184,-3.93991157678e-05,1793244752032246784
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787,805.033830243,653,631,652,0.40098225886,-0.00542849926533,0.0498458515277,0.999999960825,6.74827428292e-05,-0.00026886922202,-3.879477546e-05,1793244752048913152
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787,805.555037655,653,631,652,0.400982745984,-0.00543056564514,0.0498466038184,0.99999996159,6.28204431715e-05,-0.000267173364471,-3.86181929004e-05,1793244752065579776
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787,806,653,630.85737737,652,0.4009828992,-0.00543195813585,0.0498468742673,0.999999962033,5.98435798276e-05,-0.000266210181625,-3.85388925964e-05,1793244752082246400
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787,806,653,630.277006843,652,0.400981654001,-0.00543074490441,0.0498457831047,0.999999961386,6.36111105737e-05,-0.00026774026186,-3.86756296629e-05,1793244752098913024
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.300811123,660,634,878.699188877,787,806,652.699188877,630,652,0.400980903426,-0.00543097109079,0.0498457233717,0.999999961279,6.47963695493e-05,-0.000267901875894,-3.83718839791e-05,1793244752115579904
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.876298364,660,634,878.123701636,787,806,652.123701636,630,652,0.400980604503,-0.00543251163566,0.0498466054557,0.999999961672,6.36237095434e-05,-0.000266813918678,-3.76659254844e-05,1793244752132247040
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,878,787,806,652.450760502,630.450760502,652,0.400982684224,-0.00543116130929,0.0498483000027,0.999999962417,6.50907226538e-05,-0.000263622842017,-3.78343120676e-05,1793244752148913664
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.97430153,660,634,878,787,806,653,630.97430153,652,0.400985156767,-0.00542914450918,0.0498500357828,0.999999963171,6.70915245328e-05,-0.000260181815341,-3.82283064922e-05,1793244752165580544
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.382703862,660,634,878,787,806,653,630.382703862,652,0.400981937698,-0.00542988171445,0.0498477808738,0.999999962332,6.49310771845e-05,-0.000263917271391,-3.83185664347e-05,1793244752182246656
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.20419632,660,634,878.20419632,787,806,653,630.20419632,652,0.40098072309,-0.00543039146493,0.0498470030873,0.999999962061,6.41799822189e-05,-0.000265127345397,-3.82816364234e-05,1793244752198913024
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.782490436,660,634,878.782490436,787,806,653,630.782490436,652,0.400983180756,-0.00543048450691,0.049848931463,0.999999962853,6.60108909239e-05,-0.000261710793896,-3.80116880969e-05,1793244752215579648
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.933200625,634,879,787,806,653,631,652,0.400983602424,-0.00543061532853,0.0498502426241,0.999999963087,6.66765404837e-05,-0.000260651770319,-3.7950748995e-05,1793244752248913152
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.47990012,660.47990012,634,879,787,806,653,631,652,0.400981314089,-0.00543033073679,0.0498485154406,0.999999962486,6.53438963323e-05,-0.000263254231593,-3.81524466367e-05,1793244752265580032
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2383ac2a9e88edc9d6f71dcb455eea09a6e36f4b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+349,5.816666667,pose2_to_pose3_retreat,0.580382194405,-0.000122185489109,1.04005104971,0.550953829306,0.00855350582277,1.03971753485
+350,5.833333333,pose2_to_pose3_retreat,0.579967682695,-0.000122181739985,1.04005124859,0.550539316563,0.00855350616191,1.03971773651
+351,5.850000000,pose2_to_pose3_retreat,0.579572863848,-0.000122274739479,1.04005104705,0.550144499288,0.00855341875172,1.03971754167
+352,5.866666667,pose2_to_pose3_retreat,0.579210235737,-0.000122159128379,1.04005092786,0.549781868457,0.00855352507336,1.03971742065
+353,5.883333333,pose2_to_pose3_retreat,0.578878312459,-0.000122151315553,1.04005096002,0.549449944961,0.00855353210949,1.0397174517
+354,5.900000000,pose2_to_pose3_retreat,0.578575503588,-0.000122180005635,1.04005099639,0.549147136759,0.00855350589193,1.03971749334
+355,5.916666667,pose2_to_pose3_retreat,0.578292804764,-0.000122149340865,1.04005094802,0.548864437621,0.00855353576919,1.03971745223
+356,5.933333333,pose2_to_pose3_retreat,0.578026797656,-0.000122210263005,1.04005090145,0.548598433357,0.00855348406188,1.03971739456
+357,5.950000000,pose2_to_pose3_retreat,0.57776867535,-0.000122225985767,1.0400506988,0.548340309755,0.00855346396947,1.03971719261
+358,5.966666667,pose2_to_pose3_retreat,0.577519005546,-0.00012211335195,1.04005090344,0.548090637891,0.00855356959003,1.03971739641
+359,5.983333333,pose2_to_pose3_retreat,0.577284902941,-0.000122148950131,1.04005108703,0.547856535474,0.00855353459122,1.03971757896
+360,6.000000000,pose2_to_pose3_retreat,0.577067874124,-0.000122163427164,1.04005108772,0.547639506466,0.0085535193871,1.03971757768
+361,6.016666667,pose2_to_pose3_retreat,0.576871257126,-0.000122221613224,1.04005088238,0.547442890099,0.00855346328111,1.03971737072
+362,6.033333333,pose2_to_pose3_retreat,0.576695726731,-0.000122254187109,1.04005078765,0.547267361102,0.00855343554547,1.03971727845
+363,6.050000000,pose2_to_pose3_retreat,0.5765421788,-0.000122117749068,1.04005097785,0.54711381248,0.00855356980211,1.03971747293
+364,6.066666667,pose2_to_pose3_retreat,0.576407300231,-0.000122224786904,1.04005088718,0.54697893351,0.0085534612829,1.03971737924
+365,6.083333333,pose2_to_pose3_retreat,0.576289901725,-0.000122047302622,1.04005078822,0.546861533065,0.00855363217805,1.03971727995
+366,6.100000000,pose2_to_pose3_retreat,0.576188198679,-0.000122195363869,1.04005097609,0.546759832616,0.00855349278088,1.03971746404
+367,6.116666667,pose2_to_pose3_retreat,0.576099452181,-0.000122229160775,1.04005088628,0.54667108663,0.00855346076551,1.03971737679
+368,6.133333333,pose2_to_pose3_retreat,0.576022706041,-0.000122202815304,1.04005090896,0.546594339615,0.00855348423295,1.03971740219
+369,6.150000000,pose2_to_pose3_retreat,0.575954422207,-0.000122185625741,1.04005111964,0.546526055241,0.00855349957554,1.03971761131
+370,6.166666667,pose2_to_pose3_retreat,0.575894190741,-0.0001221854978,1.04005103794,0.546465825362,0.00855350488348,1.03971752427
+371,6.183333333,pose2_to_pose3_retreat,0.575843755541,-0.000122150788084,1.04005093205,0.546415389505,0.00855353743274,1.03971742008
+372,6.200000000,pose2_to_pose3_retreat,0.575802490434,-0.000122138707513,1.04005088565,0.546374122914,0.00855354472365,1.03971737996
+373,6.216666667,pose2_to_pose3_retreat,0.575769376865,-0.000122186278111,1.04005095655,0.546341009618,0.00855349804594,1.03971745004
+374,6.233333333,pose2_to_pose3_retreat,0.57574313662,-0.000122225455832,1.04005088527,0.54631476993,0.00855346067904,1.03971737667
+375,6.250000000,pose2_to_pose3_retreat,0.575723524598,-0.000122218269471,1.04005067708,0.546295157938,0.00855346797072,1.03971716871
+376,6.266666667,pose2_to_pose3_retreat,0.575707654286,-0.000122142368903,1.04005086549,0.546279288137,0.00855354560589,1.03971735717
+377,6.283333333,pose2_to_pose3_retreat,0.575695300698,-0.000122176410928,1.04005106946,0.546266936307,0.00855351741154,1.03971755815
+378,6.300000000,pose2_to_pose3_retreat,0.575686037194,-0.00012214682893,1.04005107693,0.546257672216,0.00855354517379,1.03971757024
+379,6.316666667,pose2_to_pose3_retreat,0.575679614759,-0.000122105049554,1.04005101168,0.546251248113,0.00855358149091,1.03971751011
+380,6.333333333,pose2_to_pose3_retreat,0.575676054771,-0.000122183451161,1.04005111911,0.546247688463,0.00855350394502,1.03971760973
+381,6.350000000,pose2_to_pose3_retreat,0.575673809154,-0.000122230690772,1.04005106092,0.546245443147,0.00855345769877,1.03971755076
+382,6.366666667,pose2_to_pose3_retreat,0.575672498034,-0.000122257064698,1.04005095832,0.546244132251,0.00855343215198,1.03971744996
+383,6.383333333,pose2_to_pose3_retreat,0.575671903589,-0.000122269022297,1.04005091179,0.546243537907,0.00855342056939,1.03971740426
+384,6.400000000,pose2_to_pose3_retreat,0.575671698891,-0.000122273139918,1.04005089577,0.546243333244,0.00855341658091,1.03971738852
+385,6.416666667,pose2_to_pose3_retreat,0.575671376759,-0.000122263518576,1.04005089321,0.546243011177,0.00855342643809,1.03971738636
+386,6.433333333,pose2_to_pose3_retreat,0.575671082125,-0.000122252779294,1.04005089358,0.546242716604,0.008553437397,1.03971738711
+387,6.450000000,pose2_to_pose3_retreat,0.575670908295,-0.000122246443236,1.04005089381,0.546242542809,0.00855344386264,1.03971738755
+388,6.466666667,pose2_to_pose3_retreat,0.575670901805,-0.0001222462067,1.04005089382,0.546242536321,0.00855344410402,1.03971738756
+389,6.483333333,pose2_to_pose3_retreat,0.575670664593,-0.000122237560394,1.04005089412,0.546242299157,0.00855345292715,1.03971738816
+390,6.500000000,pose2_to_pose3_retreat,0.575670634783,-0.000122236473856,1.04005089416,0.546242269354,0.00855345403591,1.03971738824
+391,6.516666667,pose2_to_pose3_retreat,0.575670615835,-0.000122235783183,1.04005089418,0.546242250409,0.00855345474071,1.03971738829
+392,6.533333333,pose2_to_pose3_retreat,0.575670345136,-0.000122225916335,1.04005089453,0.546241979767,0.00855346480935,1.03971738897
+393,6.550000000,pose2_to_pose3_retreat,0.575670216129,-0.000122221214044,1.0400508947,0.546241850785,0.00855346960781,1.0397173893
+394,6.566666667,pose2_to_pose3_retreat,0.575670075489,-0.000122223096014,1.0400508916,0.546241709763,0.00855346643086,1.03971738632
+395,6.583333333,pose2_to_pose3_retreat,0.575670020005,-0.000122224175994,1.04005089022,0.546241654107,0.00855346477258,1.03971738499
+396,6.600000000,pose2_to_pose3_retreat,0.575669942563,-0.000122225683362,1.0400508883,0.546241576427,0.00855346245805,1.03971738312
+397,6.616666667,pose2_to_pose3_retreat,0.575669941269,-0.000122225708555,1.04005088827,0.546241575129,0.00855346241937,1.03971738309
+398,6.633333333,pose2_to_pose3_retreat,0.57566992699,-0.000122225986487,1.04005088791,0.546241560806,0.00855346199261,1.03971738275
+399,6.650000000,pose2_to_pose3_retreat,0.575669787472,-0.000122228702142,1.04005088444,0.546241420858,0.00855345782279,1.03971737939
+400,6.666666667,pose2_to_pose3_retreat,0.575669697976,-0.000122230444132,1.04005088222,0.546241331087,0.008553455148,1.03971737724
+401,6.683333333,pose2_to_pose3_retreat,0.575669489326,-0.000122275250046,1.04005079499,0.546241123699,0.0085534144221,1.03971728473
+402,6.700000000,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343059,1.03971728237
+403,6.716666667,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343057,1.03971728237
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6c9e8bea53c6ffd94d4a1028dea8c16fa35246e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d672f2c502125bd613d451ddb2506a090171699ec8903278a3713d6363243f5
+size 25566042
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c14558ab3d259a9bb53d06bda3fe652ba8fb0123
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+27,0.450000000,BASELINE,764,745,714,679.335101987,660,634,878.335101987,787,806,653,631,652,0.400983565045,-0.00543371701517,0.0498514000458,0.999999964381,6.4267693528e-05,-0.000256447437406,-3.66424288816e-05,1793244752930158336
+28,0.466666667,BASELINE,764.241207156,745,714,679,660,634,878.241207156,787,805.758792844,652.758792844,630.758792844,652,0.400983686881,-0.00543369721749,0.0498513811646,0.999999964423,6.38693797802e-05,-0.000256384414671,-3.66395107466e-05,1793244752946824960
+29,0.483333333,BASELINE,764.815692736,745,714,679,660,634,878.815692736,787,805.184307264,652.184307264,630.184307264,652,0.400984277463,-0.00543368028563,0.0498523031857,0.999999964707,6.33524427584e-05,-0.000255407446022,-3.66061704973e-05,1793244752963491584
+30,0.500000000,BASELINE,765,745,714,679,660,634,879,787,805.400612064,652.400612064,630.400612064,652,0.400984398052,-0.0054330852817,0.0498531020443,0.99999996483,6.46884312559e-05,-0.000254580871634,-3.66680238263e-05,1793244752980158464
+31,0.516666667,BASELINE,765,745,714,679,660,634,879,787,805.990459931,652.990459931,630.990459931,652,0.400984296631,-0.00543221721576,0.049853842725,0.999999964872,6.68996801002e-05,-0.000253825338516,-3.67748434333e-05,1793244752996825088
+32,0.533333333,BASELINE,765,745,714,679,661.139416618,634,879,787,805.430291691,652.430291691,630.430291691,652,0.400985505754,-0.00543158518997,0.0498535634257,0.999999964953,6.73831708332e-05,-0.000253348798526,-3.69717153318e-05,1793244753013491968
+33,0.550000000,BASELINE,765,745,713.852016059,679,661.704032117,634,879,787,805,652.147983941,630,652,0.400986178806,-0.00543172345481,0.0498533285949,0.99999996501,6.70985311433e-05,-0.000253198062175,-3.7001766604e-05,1793244753030158848
+34,0.566666667,BASELINE,765,745,713.276049843,679,660.552099685,634,879,787,805,652.723950157,630,652,0.400985239182,-0.00543407824392,0.0498532708654,0.999999964989,6.46745383469e-05,-0.000253976313308,-3.65450767241e-05,1793244753046825472
+35,0.583333333,BASELINE,765,745,713.299573552,679,660,634,879.299573552,786.700426448,805.299573552,653,630,652,0.400984860295,-0.00543442361347,0.0498532922606,0.999999965115,6.30574661046e-05,-0.000253874517938,-3.66308421959e-05,1793244753063492096
+36,0.600000000,BASELINE,765,745,713.874881472,679,660,634,879.874881472,786.125118528,805.874881472,653,630,652,0.400984997521,-0.00543291946742,0.0498533864841,0.999999965379,6.21831017697e-05,-0.00025296270767,-3.72158959632e-05,1793244753080158464
+37,0.616666667,BASELINE,765,745,714,679,660,634,879.540948972,786.459051028,806,653,630,652,0.40098401173,-0.00543359513149,0.0498527092352,0.999999964944,6.42821393697e-05,-0.00025422412021,-3.67504382411e-05,1793244753096825088
+38,0.633333333,BASELINE,765,744.954926581,713.954926581,679,660,634,879,787,806,653,630,652,0.400982900797,-0.00543470417117,0.0498519373989,0.999999964369,6.70236606628e-05,-0.000255870062112,-3.60563917972e-05,1793244753113491712
+39,0.650000000,BASELINE,765,744.376127244,713.376127244,679,660,634,879,787,806,653,630,652,0.400984003819,-0.00543377123003,0.0498525844222,0.999999964572,6.75876165747e-05,-0.000254917301347,-3.61127707511e-05,1793244753130158336
+40,0.666666667,BASELINE,765,744.202084241,713.202084241,679.202084241,660,634,879,787,806,652.797915759,630.202084241,652.202084241,0.400984253263,-0.00543238807986,0.0498528152343,0.999999964622,6.846770172e-05,-0.00025444017963,-3.64472202906e-05,1793244753146824960
+41,0.683333333,BASELINE,765,744.779204727,713.779204727,679.779204727,660,634,879,787,806,652.220795273,630.779204727,652.779204727,0.400982918601,-0.00543016941329,0.0498522736245,0.999999964386,6.99344724658e-05,-0.000254845768483,-3.72977246571e-05,1793244753163492096
+42,0.700000000,BASELINE,765,745,714,679.635939279,660,634,878.635939279,786.635939279,805.635939279,652.364060721,630.635939279,652.635939279,0.400983460262,-0.00543073759819,0.0498522940703,0.999999964661,6.84316082282e-05,-0.000254169185232,-3.73154576072e-05,1793244753180158720
+43,0.716666667,BASELINE,765,745,714,679.046290036,660,634,878.046290036,786.046290036,805.046290036,652.953709964,630.046290036,652.046290036,0.400985164578,-0.00543303264264,0.0498526627913,0.999999965244,6.50886235185e-05,-0.000252822039086,-3.68171676153e-05,1793244753196825088
+44,0.733333333,BASELINE,764.467122837,745,713.467122837,679,660,634,878,786.532877163,805,653,630,652,0.400983807787,-0.00543341962224,0.0498523503868,0.999999964809,6.48087368303e-05,-0.000254628519794,-3.66821055681e-05,1793244753213491456
+45,0.750000000,BASELINE,764.110169772,745,713.110169772,679,660,634,878.220339544,787,805,653,630,652,0.400982403899,-0.00543375364345,0.0498520629401,0.999999964361,6.49555917837e-05,-0.000256366522298,-3.655074515e-05,1793244753230158080
+46,0.766666667,BASELINE,764.683336971,745,713.683336971,679,660,634,879.366673941,787,805,653,630,652,0.400981898042,-0.00543454824277,0.0498521242425,0.999999964232,6.57991893074e-05,-0.000256687653292,-3.63048954975e-05,1793244753246824960
+47,0.783333333,BASELINE,765,745,714,679.257495003,660,634,879.742504997,787,805.257495003,653,630,652,0.400982005632,-0.00543406915343,0.0498520540495,0.999999964256,6.70276592992e-05,-0.000256271945407,-3.63387153809e-05,1793244753263491584
+48,0.800000000,BASELINE,765,745,714,679.832876331,660,634,879.167123669,787,805.832876331,653,630,652,0.400982870545,-0.00543201765232,0.049851821521,0.999999964465,6.87312675338e-05,-0.000254946584946,-3.67177967686e-05,1793244753280158208
+49,0.816666667,BASELINE,765,745,714,679.578422276,660,634,878.578422276,787,806,653,630,651.578422276,0.400982696752,-0.00543176710634,0.0498520141201,0.999999964424,6.83061216178e-05,-0.00025520509649,-3.68199625371e-05,1793244753296824832
+50,0.833333333,BASELINE,765,745,714,679,660,634,878.015311031,787,805.984688969,653,630,651.015311031,0.400982154812,-0.00543226383256,0.0498523969713,0.999999964297,6.70457134834e-05,-0.000256040043838,-3.67974155143e-05,1793244753313491712
+51,0.850000000,BASELINE,765,745,714,679,660,634,878.593575025,787,805.406424975,653,630,651.593575025,0.400983710663,-0.00543312956955,0.0498533762929,0.99999996477,6.71148630452e-05,-0.000254230087499,-3.63573671672e-05,1793244753330158336
+52,0.866666667,BASELINE,765,745,714,679,660,634,879,787,805.171052029,653,630.171052029,652,0.400984876486,-0.00543355900362,0.0498540965629,0.999999965148,6.70077446301e-05,-0.000252797684888,-3.61478125085e-05,1793244753346824960
+53,0.883333333,BASELINE,765,745,714,679,660,634,879,787,805.746667652,653,630.746667652,652,0.400985119831,-0.00543295651606,0.0498542041372,0.999999965307,6.64837261217e-05,-0.00025225825334,-3.64834098714e-05,1793244753363491584
+54,0.900000000,BASELINE,765,745,713.67842468,679.32157532,660,634,879.32157532,787,806,653,630.67842468,652,0.40098514341,-0.0054328428464,0.0498540414865,0.999999965269,6.63284439247e-05,-0.000252442548187,-3.65505782248e-05,1793244753380157952
+55,0.916666667,BASELINE,765,745,713.104073529,679.895926471,660,634,879.895926471,787,806,653,630.104073529,652,0.400984994239,-0.00543311341445,0.0498536664241,0.999999965075,6.6463008707e-05,-0.000253195731678,-3.64067466454e-05,1793244753396824576
+56,0.933333333,BASELINE,765,745,713.485295373,679.514704627,660,634,879.514704627,787,806,652.514704627,630,652,0.400985486066,-0.00543299980988,0.0498538177122,0.999999965188,6.7615945109e-05,-0.00025244446314,-3.63971753677e-05,1793244753413491712
+57,0.950000000,BASELINE,765,745,714,679,660.076222449,634,879,787,805.923777551,652.076222449,630,652,0.400986130241,-0.00543303494621,0.0498540899488,0.999999965383,6.85771155157e-05,-0.000251410241895,-3.63939859677e-05,1793244753430158592
+58,0.966666667,BASELINE,765,745,714,679,660.655498662,634,879,787,805.344501338,652.655498662,630,652,0.400986843669,-0.00543461284917,0.0498543916596,0.999999965687,6.67852796512e-05,-0.000250705919459,-3.62368213911e-05,1793244753446825472
+59,0.983333333,BASELINE,765,745,714,679,660.767624389,634,879,787,805,653,630.232375611,652,0.400986748742,-0.00543559724919,0.04985435458,0.99999996568,6.54966335435e-05,-0.000251103662281,-3.60169166662e-05,1793244753463492096
+60,1.000000000,BASELINE,765,745,714,679,660.194267959,634,879,787,805,653,630.805732041,652,0.400985467659,-0.00543571076149,0.0498538203701,0.999999965219,6.4946352329e-05,-0.000253118541629,-3.57049489557e-05,1793244753480158976
+61,1.016666667,BASELINE,765,745,714,679,660,634,879,787,805.389765684,652.610234316,631,652,0.400984824286,-0.00543574897431,0.0498540213288,0.999999965174,6.47726759088e-05,-0.000253317065851,-3.58722166569e-05,1793244753496825344
+62,1.033333333,BASELINE,765,745,714,679,660,634,879,787,805.979270943,652.020729057,631,652,0.400984507716,-0.0054357485991,0.0498545990325,0.999999965343,6.47919946589e-05,-0.000252584779423,-3.62850736671e-05,1793244753513491712
+63,1.050000000,BASELINE,765,745,714,679.559510412,660,634,879,787,805.440489588,652.559510412,630.440489588,652,0.400984725117,-0.00543540421802,0.0498543399423,0.999999965311,6.37840664051e-05,-0.000252991284485,-3.61362698717e-05,1793244753530158336
+64,1.066666667,BASELINE,765,745,714,679.861403429,660,634,879,787,805,652.861403429,630.138596571,652,0.400984974184,-0.00543465243184,0.0498541664468,0.999999965273,6.38522145133e-05,-0.00025313770848,-3.60257195687e-05,1793244753546824960
+65,1.083333333,BASELINE,765,745,714,679.284894346,660,634,879,787,805,652.284894346,630.715105654,652,0.400985261815,-0.00543265301346,0.0498543597571,0.999999965239,6.74386451425e-05,-0.000252331240502,-3.6100712369e-05,1793244753563491584
+66,1.100000000,BASELINE,765,745,714,679,660,634.289680112,878.710319888,787,805.289680112,652.289680112,631,652.289680112,0.400985320514,-0.00543266458006,0.0498542207412,0.999999965331,6.75880972279e-05,-0.00025191298026,-3.61922065843e-05,1793244753580158464
+67,1.116666667,BASELINE,765,745,714,679,660,634.862364497,878.137635503,787,805.862364497,652.862364497,631,652.862364497,0.400985155559,-0.00543464078751,0.049853757058,0.999999965549,6.4379777638e-05,-0.00025187398134,-3.62998219257e-05,1793244753596825344
+68,1.133333333,BASELINE,765,745,713.550156577,679,660,634.550156577,878.899686846,787,806,653,631,652.550156577,0.400984584566,-0.00543526302075,0.0498534248991,0.999999965455,6.36734472362e-05,-0.0002524200324,-3.63315301619e-05,1793244753613492224
+69,1.150000000,BASELINE,765,745,713.04102059,679,660,634,879.95897941,787,805.95897941,653,631,652,0.400984018998,-0.00543534318531,0.0498531954051,0.999999965288,6.38139875246e-05,-0.000253041518362,-3.63457101378e-05,1793244753630158848
+70,1.166666667,BASELINE,765,745,713.619331214,679,660,634,879.380668786,787,805.380668786,653,631,652,0.400985207042,-0.00543393390804,0.0498537656093,0.999999965435,6.46791333732e-05,-0.00025222672121,-3.64448481871e-05,1793244753646825216
+71,1.183333333,BASELINE,765,745.196715881,714,679,660,634,879.196715881,787,805.196715881,653,631,652.196715881,0.400985609056,-0.0054335717491,0.0498540740659,0.999999965461,6.50629074998e-05,-0.000252035565715,-3.63586581432e-05,1793244753663491840
+72,1.200000000,BASELINE,765,745.772317205,714,679,660,634,879.772317205,787,805.772317205,653,631,652.772317205,0.400984497135,-0.00543522639651,0.0498538783827,0.999999965258,6.45195337687e-05,-0.000253045577688,-3.59155161703e-05,1793244753680158464
+73,1.216666667,BASELINE,765,745.653819699,714,679,660,634,879.653819699,787,805.653819699,653,631,652.653819699,0.400984389236,-0.0054348808195,0.0498537445167,0.999999965223,6.52271293513e-05,-0.000252979643038,-3.60558344952e-05,1793244753696825088
+74,1.233333333,BASELINE,765,745.08109416,714,679,660,634,879.08109416,787,805.08109416,653,631,652.08109416,0.400984938384,-0.00543322626748,0.0498536511048,0.999999965298,6.67533768112e-05,-0.000252209593785,-3.65779774397e-05,1793244753713491712
+75,1.250000000,BASELINE,765,745,714,679.509920527,660,634,879,787,805.509920527,653,630.490079473,652,0.400984797029,-0.00543358348286,0.0498533191145,0.999999965282,6.57810420079e-05,-0.000252506213419,-3.67304445762e-05,1793244753730158592
+76,1.266666667,BASELINE,765,745,714,680,660,634.101167873,878.898832127,787,806,653,630,652,0.400984504851,-0.00543417501167,0.0498530002005,0.999999965243,6.46733843178e-05,-0.000252946017802,-3.67453184231e-05,1793244753746825728
+77,1.283333333,BASELINE,765,745,714,680,660,634.679289537,878.320710463,787,806,653,630,652,0.400984038588,-0.0054343067571,0.0498529284643,0.99999996517,6.48707699948e-05,-0.000253231369564,-3.63989896794e-05,1793244753763492096
+78,1.300000000,BASELINE,765,745,714,679.744034137,660,635,878.255965863,787,806,653,630,652,0.400983846477,-0.00543432436415,0.0498527205182,0.999999965086,6.52566329985e-05,-0.000253501223677,-3.614843743e-05,1793244753780158720
+79,1.316666667,BASELINE,765,745,714,679.169158614,660,635,878.830841386,787,806,653,630,652,0.400983995934,-0.00543419976537,0.049852342867,0.999999964986,6.58773212087e-05,-0.000253751769138,-3.60172138111e-05,1793244753796825344
+80,1.333333333,BASELINE,765,745,714,679,660,634.584203984,879,787,806,653,630.415796016,652,0.400984644017,-0.00543403788788,0.0498534533717,0.999999965387,6.50691266116e-05,-0.000252361378118,-3.61254516192e-05,1793244753813491968
+81,1.350000000,BASELINE,765,745,713.995132034,679,660,634,879,787,806,653,631,652,0.400985500403,-0.00543386633481,0.0498551706746,0.999999965987,6.367825111e-05,-0.000250300738105,-3.6330293843e-05,1793244753830158592
+82,1.366666667,BASELINE,765,745,713.416096157,679,660,634,879,787,806,653,631,652,0.400986404842,-0.00543438682195,0.0498552756471,0.999999966089,6.38294437136e-05,-0.000249881845126,-3.61534482788e-05,1793244753846825216
+83,1.383333333,BASELINE,765,745,713.161732245,679,660,634,879.161732245,787,806,652.838267755,631,652,0.400986689676,-0.00543454533657,0.0498551804121,0.999999966039,6.46297095765e-05,-0.00024989372361,-3.60253242286e-05,1793244753863491840
+84,1.400000000,BASELINE,765,745,713.736477264,679,660,634,879.736477264,787,806,652.263522736,631,652,0.400985392237,-0.00543377948845,0.0498545739108,0.999999965599,6.70875023745e-05,-0.000251005655472,-3.60216194092e-05,1793244753880158976
+85,1.416666667,BASELINE,765,745,714,679,660,634,879.363759357,787,806,652.318120321,631,652,0.400985732498,-0.00543366474439,0.0498545680968,0.999999965669,6.68531195028e-05,-0.000250780350357,-3.60944069655e-05,1793244753896826112
+86,1.433333333,BASELINE,765,745,714,679,660,634,878.188791696,787,806,652.905604152,631,652,0.400987459456,-0.00543410131276,0.0498550709055,0.999999966168,6.43391779762e-05,-0.000249422760251,-3.62319632695e-05,1793244753913492736
+87,1.450000000,BASELINE,765,745,714,679,660,634.486072534,878.486072534,787,806,653,631,652,0.400986689213,-0.00543398584044,0.049854721398,0.99999996603,6.37990952476e-05,-0.000250088720691,-3.64134786257e-05,1793244753930158848
+88,1.466666667,BASELINE,765,745,714,679,660,634.934693374,879,787,805.934693374,653,631,652,0.400985669054,-0.0054338346952,0.0498544028796,0.999999965835,6.36965896494e-05,-0.000250873529886,-3.65524952394e-05,1793244753946824960
+89,1.483333333,BASELINE,765,745,714,679,660,634.354602147,879,787,805.354602147,653,631,652,0.400986447258,-0.00543423539914,0.0498556148032,0.999999966154,6.40647154789e-05,-0.000249541583007,-3.62901768308e-05,1793244753963491584
+90,1.500000000,BASELINE,765,745,714,679,660,634,879,787,805.222759413,653,630.777240587,652,0.400986669131,-0.0054347436016,0.0498558860675,0.999999966157,6.43113583877e-05,-0.000249496976457,-3.60793870326e-05,1793244753980158720
+91,1.516666667,BASELINE,765,745,714,679,660,634,879,787,805.79582827,653,630.20417173,652,0.400986016123,-0.00543542085522,0.0498546780594,0.999999965662,6.43669583167e-05,-0.000251476829821,-3.59496306873e-05,1793244753996825856
+92,1.533333333,BASELINE,765,745,714,679,660,634,879,787,805.621373186,653,630.378626814,652,0.40098596288,-0.00543532940685,0.0498545459474,0.999999965681,6.49528333322e-05,-0.000251236766001,-3.60468802436e-05,1793244754013492224
+93,1.550000000,BASELINE,765,745,714,679,660,634,879,787,805.033189544,653,630.966810456,652,0.400986241587,-0.00543481250861,0.0498550093066,0.999999965983,6.58321972488e-05,-0.000249768055086,-3.62697696927e-05,1793244754030158336
+94,1.566666667,BASELINE,765,745,713.45195524,679.54804476,660.54804476,634,878.45195524,787,805,653,631,652,0.400986562324,-0.0054351539797,0.0498549066662,0.999999965838,6.50745488334e-05,-0.000250580677564,-3.60231806348e-05,1793244754046824960
+95,1.583333333,BASELINE,765,745,713.127510927,679.872489073,660.872489073,634,878.127510927,787,805.127510927,653,630.872489073,652,0.400986807875,-0.00543547170583,0.0498549276444,0.999999965799,6.42013208186e-05,-0.000250995932001,-3.57919904157e-05,1793244754063491328
+96,1.600000000,BASELINE,765,745,713.702233511,679.297766489,660.297766489,634,878.702233511,787,805.702233511,653,630.297766489,652,0.400986780915,-0.00543552611944,0.0498555008948,0.999999966226,6.32660718495e-05,-0.000249539036913,-3.57132753987e-05,1793244754080157952
+97,1.616666667,BASELINE,764.722659792,745,714,679,660,634,879,787,805.722659792,653,630,652,0.400986090185,-0.00543476892468,0.0498551913656,0.999999966081,6.46479639987e-05,-0.00024973973801,-3.58969590626e-05,1793244754096824576
+98,1.633333333,BASELINE,764.147140154,745,714,679,660,634,879,787,805.147140154,653,630,652,0.40098468581,-0.00543313913765,0.0498539327249,0.999999965309,6.85211062888e-05,-0.000251722586428,-3.63627579332e-05,1793244754113491456
+99,1.650000000,BASELINE,764.436481808,745,714,679,660,634,879,787,805.436481808,653,630,652,0.400985544839,-0.00543332478095,0.0498546331969,0.999999965599,6.76093386775e-05,-0.000250824324114,-3.63132180124e-05,1793244754130158336
+100,1.666666667,BASELINE,765,745,714,679,660,634,878.977331898,787,805.977331898,653,630,652,0.400987093064,-0.00543411149653,0.0498559300271,0.999999966218,6.51275328294e-05,-0.000249037205515,-3.60991379024e-05,1793244754146824960
+101,1.683333333,BASELINE,765,745,714,679,660,634,878.396529221,787,805.396529221,653,630,652,0.40098646863,-0.00543434438213,0.0498553418081,0.999999966085,6.44551179257e-05,-0.000249730757684,-3.61920653427e-05,1793244754163491584
+102,1.700000000,BASELINE,765.181862657,745,714,679,660,634,878.181862657,787,805,653,630,652,0.400986026322,-0.00543464924258,0.0498549345598,0.999999965987,6.39725648528e-05,-0.000250237146308,-3.62576005238e-05,1793244754180158208
+103,1.716666667,BASELINE,765.755066778,745,714,679,660,634,878.755066778,787,805,653,630,652,0.400985975921,-0.00543510898218,0.0498549167338,0.999999965966,6.3898566365e-05,-0.000250340786659,-3.62641916148e-05,1793244754196824832
+104,1.733333333,BASELINE,765.662333838,745,714,679,660,634,879,787,805,653,630.337666162,652,0.400985589245,-0.00543471038831,0.0498547498654,0.999999965778,6.55501273762e-05,-0.000250664749513,-3.6246487987e-05,1793244754213491456
+105,1.750000000,BASELINE,765.072724291,745,714,679,660,634,879,787,805,653,630.927275709,652,0.400984951663,-0.00543367136478,0.0498544717918,0.99999996546,6.84891828088e-05,-0.000251153101953,-3.62106573027e-05,1793244754230158080
+106,1.766666667,BASELINE,765,745,714,679,660,634,879,787,805.509304789,653,631,652.509304789,0.400984338322,-0.00543407037959,0.0498536773889,0.999999965304,6.65644343238e-05,-0.000252280984144,-3.62680897215e-05,1793244754246824704
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879,787,806,653,630,652,0.400988834791,-0.00543274376699,0.0498566887179,0.999999966465,6.80621275568e-05,-0.000247260040925,-3.60650072889e-05,1793244754289737984
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879,787,806,653,630.571470173,652,0.400988987534,-0.00543317313476,0.0498567575682,0.999999966504,6.80364315929e-05,-0.000247117883871,-3.59975701591e-05,1793244754306404608
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.852068499,634,879.147931501,787,805.852068499,653,630.852068499,652,0.400988674397,-0.00543387354334,0.0498565440115,0.999999966471,6.74602461586e-05,-0.000247414810352,-3.59451722999e-05,1793244754323071232
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.260643729,634,879.739356271,787,805.260643729,653,630.260643729,652,0.400986964562,-0.00543538652257,0.0498554838091,0.999999966219,6.52337132808e-05,-0.000249028093281,-3.59378616111e-05,1793244754339738112
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.324186208,660,634,879.351627585,787.324186208,805.324186208,653,630,652,0.400985680643,-0.00543511829592,0.0498546321461,0.999999965858,6.52342391151e-05,-0.000250444334303,-3.61278479672e-05,1793244754356404480
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.903819616,660,634,878.192360768,787.903819616,805.903819616,653,630,652,0.400984732331,-0.0054334465423,0.0498539448047,0.999999965413,6.69896081349e-05,-0.000251705313213,-3.64732973778e-05,1793244754373071104
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,713.517957754,680,660,634.482042246,878.482042246,787.517957754,805.517957754,653,630.482042246,652,0.400985277659,-0.00543371882719,0.0498549782745,0.999999965663,6.7385550264e-05,-0.000250647790543,-3.61805624105e-05,1793244754389737728
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713.059529425,679.940470575,660.059529425,634.940470575,879,787,805,653,631,652.059529425,0.400986241591,-0.00543446518682,0.0498562829558,0.99999996607,6.72558939477e-05,-0.000249108867511,-3.58086476686e-05,1793244754406404352
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,713.633089625,679.366910375,660.633089625,634.366910375,879,787,805,653,631,652.633089625,0.400988254254,-0.00543596553493,0.0498569733964,0.999999966648,6.49230616206e-05,-0.000247395977732,-3.58493394642e-05,1793244754423070976
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.787409386,634,879,787,805.212590614,653,630.787409386,652.787409386,0.400992519065,-0.00543633859249,0.0498583100918,0.999999967414,6.38416188627e-05,-0.00024455994225,-3.58733906043e-05,1793244754439737856
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.197360485,634,879,787,805.802639515,653,630.197360485,652.197360485,0.401000782604,-0.00543471012615,0.0498607942236,0.99999996851,6.49820400254e-05,-0.000239729742463,-3.58678959704e-05,1793244754456404480
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,713.614454066,679.385545934,660,634,879,787,806,653,630,652,0.40102937733,-0.00543523360987,0.0498710518196,0.999999973426,6.46690240297e-05,-0.000218464707293,-3.51941966872e-05,1793244754473071104
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,713.035137321,679.964862679,660,634,879,787,806,653,630,652,0.40106819027,-0.00543683863802,0.0498852162665,0.999999979542,6.36255278224e-05,-0.000188939718302,-3.41846656512e-05,1793244754489737984
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,713.539155747,679.460844253,660,634,879,787,806,653,630.539155747,652,0.401131955998,-0.00543812654672,0.0499048505558,0.999999986431,6.37721039346e-05,-0.000148257296913,-3.30340942275e-05,1793244754506404864
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.115950814,660,634,879,787,805.884049186,653,631,652,0.401198810068,-0.00543952859814,0.0499233530053,0.999999991153,6.40115108394e-05,-0.000112186064312,-3.1808863095e-05,1793244754523071232
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.704260087,660,634,879,787,805.295739913,653,631,652,0.401271681776,-0.00544147905829,0.0499358057953,0.999999992686,6.43160521755e-05,-9.78346715129e-05,-3.03165838339e-05,1793244754539738112
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,787,805,653,631,652,0.401350468293,-0.0054447522036,0.049943644704,0.999999993743,6.30930347599e-05,-8.77368323159e-05,-2.88916197654e-05,1793244754556404480
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,787,805,653,631,652,0.401435233713,-0.00544936236763,0.0499468197309,0.999999994444,6.03259047303e-05,-8.19386425137e-05,-2.75347004643e-05,1793244754573071104
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.55438872,660,634,879,787,805.44561128,653,630.55438872,652,0.4015323295,-0.00545260559596,0.0499456454763,0.999999994281,5.97051346809e-05,-8.45438109574e-05,-2.69545785582e-05,1793244754589737728
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,630,652,0.401633873816,-0.00545553133688,0.0499432952026,0.999999993875,5.95719879588e-05,-8.94154757058e-05,-2.65726838214e-05,1793244754606404608
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,630,652,0.401765098461,-0.00546066445792,0.0499427781576,0.999999994026,5.5631863052e-05,-9.05661019494e-05,-2.54936448873e-05,1793244754623071232
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.17651982,660.17651982,634,879,787,805.82348018,653,630.17651982,652,0.401907338885,-0.00546640791649,0.0499432670383,0.999999994242,5.16244703551e-05,-9.09110556648e-05,-2.42012007625e-05,1793244754639737856
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.77009473,660.77009473,634,879,787,805.22990527,653,630.77009473,652,0.402075605753,-0.00547359339012,0.0499461325721,0.999999994631,4.74581477692e-05,-8.93524845675e-05,-2.24045543682e-05,1793244754656404480
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.647576036,660.647576036,634,879,787,805.352423964,653,631,652,0.402257327429,-0.00547902949256,0.0499452387775,0.999999994403,4.56485733757e-05,-9.30727226976e-05,-2.11365295078e-05,1793244754673071104
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.072356057,660.072356057,634,879,787,805.927643943,653,631,652,0.402447555007,-0.00548335967507,0.049941968404,0.999999993756,4.53288918866e-05,-0.00010013012779,-2.02026893835e-05,1793244754689737984
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.50055421,879,787,806,653,630.49944579,652,0.402671072364,-0.00549316398103,0.049942930384,0.999999994058,3.90978016254e-05,-0.000100039778066,-1.8620885874e-05,1793244754706404608
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.924209954,745,713.924209954,679,659.924209954,634.924209954,879.075790046,787,806,653,630,652,0.402907023477,-0.00550347112879,0.0499452861881,0.999999994588,3.25457315207e-05,-9.73736863724e-05,-1.68422921715e-05,1793244754723071232
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.330822009,745,713.330822009,679,659.330822009,634.330822009,879.669177991,787,806,653,630,652,0.403195176706,-0.00551183315148,0.0499530019478,0.999999995919,2.96104941068e-05,-8.41407483093e-05,-1.43564754591e-05,1793244754739738112
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.255132837,745,713.255132837,679,659.255132837,634,879.489734327,787,806,653,630.255132837,652,0.403500126521,-0.00552080631803,0.0499612395006,0.999999997304,2.59314863192e-05,-6.76388561108e-05,-1.20019134591e-05,1793244754756404992
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.831722256,745,713.831722256,679,659.831722256,634,878.336555488,787,806,653,630.831722256,652,0.403826239306,-0.00553054949947,0.04997013449,0.999999998619,2.13153594936e-05,-4.70182207583e-05,-9.81272699244e-06,1793244754773071616
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,878.408393938,787,805.591606062,653,630.591606062,652,0.404181095734,-0.00554132317716,0.0499774279221,0.999999999324,1.74473393394e-05,-3.16416173067e-05,-6.86902988268e-06,1793244754789738240
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,878.985099509,787,805.014900491,653,630.014900491,652,0.404547798289,-0.00555252155362,0.0499840613031,0.999999999727,1.38876369392e-05,-1.84262403021e-05,-3.61437591376e-06,1793244754806404864
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805.558623304,652.441376696,630.558623304,652,0.404951197949,-0.00555923045132,0.0499898806527,0.99999999984,1.75065618217e-05,-3.61153677382e-06,-6.66920619027e-07,1793244754823071488
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.136921382,714,679.136921382,660.136921382,634,879,787,805.863078618,652.136921382,631,652,0.40535851523,-0.0055621591889,0.0499897737476,0.999999999671,2.55035687662e-05,-1.2531154088e-06,2.2636278991e-06,1793244754839738112
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.731457873,714,679.731457873,660.731457873,634,879,787,805.268542127,652.731457873,631,652,0.40577567286,-0.00555285193209,0.0499699324239,0.999999998032,4.7496553295e-05,-4.0667530628e-05,5.16490140317e-06,1793244754856404992
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.68275856,713.68275856,679.68275856,660.36551712,634,879.31724144,787,805,653,631,652,0.406216030017,-0.00554110679629,0.0499513335023,0.999999994539,7.1620317958e-05,-7.58309761493e-05,6.42053148525e-06,1793244754873071616
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.104185265,713.104185265,679.104185265,659.20837053,634,879.895814735,787,805,653,631,652,0.406675498139,-0.00552735342423,0.0499337580236,0.99999998945,9.74993434795e-05,-0.000107492633128,6.3205412281e-06,1793244754889737984
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,713.470036716,679.470036716,659.470036716,634,879.529963284,787,805.470036716,653,630.529963284,652,0.407174683324,-0.00552917712366,0.0499231868992,0.999999986077,0.000106549031365,-0.000128114051802,8.94190603626e-06,1793244754906404864
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.955483769,659.955483769,634,879,787,805.955483769,653,630,652,0.407689473648,-0.00553445659459,0.0499167158593,0.999999983718,0.000112172881362,-0.000140818932868,1.22904884788e-05,1793244754923071488
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.366156426,659.366156426,634,879,787,805.366156426,653,630,652,0.408288495301,-0.00554016110743,0.0499415971831,0.999999988794,0.000121103905461,-8.63115923045e-05,1.72246017463e-05,1793244754939737856
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.219399437,659.438798874,634,879.219399437,787,805.219399437,653,630.219399437,651.780600563,0.408910500466,-0.00554348974604,0.0499673116623,0.999999990317,0.000132187034511,-3.73069819361e-05,2.23881052607e-05,1793244754956404992
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.798767399,660.597534798,634,879.798767399,787,805.798767399,653,630.798767399,651.201232601,0.409570214629,-0.00554292028887,0.0499943930974,0.999999988831,0.000146801120666,2.66929875632e-06,2.79279689656e-05,1793244754973071872
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.62380261,660.62380261,634,879.62380261,787,806,653,630.62380261,651.37619739,0.410206590748,-0.00554315752377,0.0499991635558,0.999999987224,0.000156634814433,3.33775737965e-06,3.17197072857e-05,1793244754989738496
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.047403969,660.047403969,634,879.047403969,787,806,653,630.047403969,651.952596031,0.410830547021,-0.00554382405661,0.0499920607639,0.999999985823,0.000163924522729,-1.69122587671e-05,3.45811442238e-05,1793244755006405120
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.471852056,679,659.471852056,634,879,787,806,653,630,652,0.411461199745,-0.00553999256183,0.0499582437243,0.999999980334,0.000174334227271,-8.77344365608e-05,3.52535047971e-05,1793244755023071488
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.106186144,679,659.106186144,634,879.106186144,787,806,653,630,652,0.412114430961,-0.00553759155539,0.0499319037542,0.999999974814,0.000172272260525,-0.000139947368868,3.32997253317e-05,1793244755039737856
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.695890987,679,659.695890987,634,879.695890987,787,806,653,630,652,0.412867740721,-0.00554353968106,0.0499505112712,0.99999998974,0.000112147426579,-8.67873104241e-05,2.02810586607e-05,1793244755056404992
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.280584246,745,714,679,660.280584246,634,879.719415754,787,806,652.719415754,630,652,0.413643666556,-0.00554828065583,0.0499676820452,0.99999999489,8.67875256947e-05,-4.92341657926e-05,1.62263205341e-05,1793244755073071616
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.859941126,745,714,679,660.859941126,634,879.140058874,787,806,652.140058874,630,652,0.414443674608,-0.00555173622895,0.0499833229441,0.999999994518,9.84461274566e-05,-2.82996199133e-05,2.17165805597e-05,1793244755089738496
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.563174212,745,714,678.563174212,660.126348424,634,879,787,805.563174212,652,630.436825788,652,0.415202952863,-0.0055505199174,0.0499630507433,0.999999991892,0.000108137632647,-6.2978762837e-05,2.35605282825e-05,1793244755106404864
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.012811334,714,678.025622667,659.012811334,634,879,787,805.012811334,652,631,651.987188666,0.41595080783,-0.00554779341993,0.0499321194369,0.999999986357,0.000117068407344,-0.000113999159662,2.42095022707e-05,1793244755123071232
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.58396462,714,679.167929241,659.58396462,634,879,787,805.58396462,652,631,651.41603538,0.416766755363,-0.00554416583279,0.0499356553289,0.999999987049,0.000120177884564,-0.000104452189529,2.34446491084e-05,1793244755139738112
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.838472229,714,680,660,634,879,787,805.838472229,652,630.838472229,651,0.417596029154,-0.00554011458881,0.0499456529194,0.999999988642,0.000123435288811,-8.34528265391e-05,2.27182293286e-05,1793244755156404736
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.24371748,714,680,660,634,879,787,805.24371748,652,630.24371748,651,0.418461044703,-0.00553492707246,0.0499729811651,0.999999991176,0.000127089441674,-3.17374731797e-05,2.20948901521e-05,1793244755173071616
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.659016192,659.659016192,634,879.340983808,787,805,652,630,651,0.419312929203,-0.00553111547917,0.0499743511734,0.999999990727,0.000129450779587,-3.61587990288e-05,2.19213191901e-05,1793244755189738240
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.081294823,659.081294823,634,879.918705177,787,805,652,630,651,0.420155697067,-0.0055282591592,0.0499576989472,0.999999988023,0.000130914544334,-7.95545889318e-05,2.20600124311e-05,1793244755206405120
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.494257456,659,634,880,787,805,652,630.494257456,651.494257456,0.421067149608,-0.00552928285161,0.0499681051805,0.999999990397,0.00013040021073,-4.13764185647e-05,2.21141822749e-05,1793244755223071744
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.071064336,745,714,680,659.213193008,634,879.928935664,787,805.071064336,652,631,652,0.421984713517,-0.00553090946222,0.0499820509257,0.999999991381,0.000129292228715,5.21337560831e-06,2.2221221116e-05,1793244755239738368
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.659592965,745,714,680,660.978778894,634,879.340407035,787,805.659592965,652,631,652,0.422864875326,-0.00553229961758,0.0499895044915,0.999999991649,0.000126220284129,1.57814231804e-05,2.2814021913e-05,1793244755256404992
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.755757546,745,714,680,661.511515092,634,879.488484908,787,806,652,631,652,0.423751241921,-0.00553406551202,0.0499868553918,0.999999991977,0.000124134097109,9.26134622129e-06,2.34524713995e-05,1793244755273071616
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.176429907,745,714,680,660.352859814,634,880.647140186,787,806,652,631,652,0.424646121216,-0.00553634689687,0.0499703460758,0.99999999188,0.000123400306565,-2.07025543738e-05,2.41535480711e-05,1793244755289738240
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.599955643,786.599955643,806,652,631,652,0.425581932976,-0.00553829997054,0.0499783234547,0.999999992366,0.000120368465983,-1.11501470097e-05,2.56057271389e-05,1793244755306404864
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.024730914,786.024730914,806,652,631,652,0.426535669107,-0.00554010927581,0.0499970236164,0.999999992735,0.000116330303839,1.57065471327e-05,2.73868156758e-05,1793244755323071488
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.550276734,806,652,631,651.449723266,0.427405332257,-0.00553913507804,0.0499871537321,0.999999992171,0.000118793400446,-2.69240331066e-05,2.86665532302e-05,1793244755339738112
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.12886459,714,680,660,634,880,787,806.12886459,652,631,651.12886459,0.428273703237,-0.00553777476329,0.0499729919107,0.999999989964,0.000121006929031,-6.76729076956e-05,2.91619503865e-05,1793244755356404992
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.720340011,714,680,660,634,880,787,806.720340011,652,631,651.720340011,0.429150994376,-0.00553547724017,0.0499480301345,0.999999988192,0.000121276036833,-9.04600130368e-05,2.69225009401e-05,1793244755373071872
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.694912061,714,680,660.305087939,634,879.694912061,787,807,652,631,652,0.430064234972,-0.0055366971471,0.0499445635998,0.999999989122,0.000118724828399,-8.34328541595e-05,2.64528622094e-05,1793244755389738496
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.116197897,714,680,660.883802103,634,879.116197897,787,807,652,631,652,0.431009717746,-0.00554107175478,0.0499603756449,0.999999991929,0.000113644144326,-4.96659788975e-05,2.75705253542e-05,1793244755406405120
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.53979708,745,714,679.53979708,660.53979708,634,879.920405841,787,806.53979708,652,631,652,0.431905354814,-0.00554203394115,0.0499474194387,0.999999990463,0.000112447581183,-7.52186746705e-05,2.77746058579e-05,1793244755423071744
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.036754761,745,714,679.036754761,660,634,880.963245239,787,806,652,631,652,0.432788425552,-0.00554226191484,0.0499294584249,0.999999987156,0.00011211701281,-0.000111110135137,2.77909771642e-05,1793244755439738112
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.624278016,745,714,679.624278016,660,634,880.375721984,787,806,652,631,652,0.433670841938,-0.00554433437815,0.0499448035394,0.999999990441,0.000110140912924,-7.86089696019e-05,2.84338706418e-05,1793244755456404736
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.208750122,634,880,787,805.791249878,652,631,652,0.434548629689,-0.00554466424364,0.0499613313055,0.999999992146,0.000111257396448,-4.95190054648e-05,2.96329439388e-05,1793244755473071360
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.787809778,634,880,787,805.212190222,652,631,652,0.435418206678,-0.00554190285098,0.0499799570231,0.999999992198,0.000117859927459,-2.64802918947e-05,3.18186452554e-05,1793244755489738240
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.633002459,660.266004918,633.633002459,880,787,805.733995082,652,631,651.633002459,0.43624169782,-0.00553950014396,0.0499697821041,0.999999990363,0.000121529176744,-5.85853339986e-05,3.27388750086e-05,1793244755506405120
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.053740636,659.107481271,633.053740636,880,787,806.892518729,652,631,651.053740636,0.437038533746,-0.00553730489396,0.0499429494525,0.999999984318,0.000123501871813,-0.000122584459479,3.2927180242e-05,1793244755523071744
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.519123281,659.519123281,633.519123281,880.519123281,787,807,652,631,651.519123281,0.437911877887,-0.00554234210073,0.0499608644202,0.999999989974,0.000117633156963,-7.15896321738e-05,3.30015098031e-05,1793244755539738368
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.188424356,634,880.905787822,787,806.905787822,652,631,652,0.43877444282,-0.00554696433811,0.0499800037996,0.999999993086,0.000111174806225,-1.97771377181e-05,3.28331580846e-05,1793244755556404992
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.368921085,634,880.315539458,787,806.315539458,652,631,652,0.439539060823,-0.0055455076428,0.049981496938,0.999999993578,0.000105833917536,-2.55742661538e-05,3.14484330819e-05,1793244755573071616
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.730164733,714,680,661.460329467,634,880.269835267,787,806.269835267,652,631,652,0.440281934634,-0.00554457289422,0.0499694982311,0.999999993123,0.000102428163528,-4.85804030191e-05,3.00548712737e-05,1793244755589738240
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.150388069,714,680,660.300776138,634,880.849611931,787,806.849611931,652,631,652,0.44099983232,-0.00554423767042,0.0499420023601,0.999999990292,0.000101245167202,-9.13533556619e-05,2.86511592854e-05,1793244755606404864
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.425093119,714,680,660,633.574906881,880.574906881,787,806.574906881,652,631,652,0.441717599715,-0.00554671104125,0.0499357978158,0.9999999897,9.99363410585e-05,-9.87285066444e-05,2.94220354469e-05,1793244755623071488
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.999069917,714,680,660,633.000930083,880.000930083,787,806.000930083,652,631,652,0.442435321535,-0.00555016808806,0.0499370502968,0.999999990271,9.85834444982e-05,-9.3706013058e-05,3.09545344684e-05,1793244755639738368
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880.586967172,787,806.586967172,652,631,652,0.443097767092,-0.00554893382594,0.0499314220156,0.999999988638,0.000104405205288,-0.000104163079309,3.11899716981e-05,1793244755656404992
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.172423909,714,680,660,633,880.827576091,786.827576091,807,652,631,652,0.443729258804,-0.00554800930164,0.0499107990913,0.999999983703,0.000108353289756,-0.000141028750328,3.10655424758e-05,1793244755673071872
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.752063601,714,680,660,633,880.247936399,786.247936399,807,652,631,652,0.444287858436,-0.00554783427154,0.0498547894979,0.999999964882,0.000107848787303,-0.000240204631642,3.00961837067e-05,1793244755689738240
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.66965214,714,680,659.66965214,633,880,786,807,652,631,652,0.444855722916,-0.00554949710927,0.0498145412281,0.999999949643,0.000107365210318,-0.000297212682268,2.9162909068e-05,1793244755706404608
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.092381054,714,680,659.092381054,633,880,786,807,652,631,652,0.445430512507,-0.00555253368757,0.0497860739882,0.999999941819,0.000106897274913,-0.000322701780972,2.82566062274e-05,1793244755723071488
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713.515735737,680,659,632.515735737,880,786,806.515735737,652,630.515735737,651.515735737,0.446009930867,-0.00555238432664,0.0497910135327,0.999999947126,0.000107542907265,-0.000305506721717,2.9133301328e-05,1793244755739738112
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713.060378453,680,658.939621547,632,880.060378453,786,806.060378453,652,630,651.060378453,0.44658106127,-0.00555131213502,0.0497994048364,0.999999952785,0.000109087472954,-0.000285685595028,3.02226658879e-05,1793244755756404736
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.632998129,680,658.367001871,632,880.632998129,786,806.632998129,652,630,651.632998129,0.447074396326,-0.00554756034899,0.0497830836604,0.999999943909,0.000116458545087,-0.000312577357937,3.0234357146e-05,1793244755773071616
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,632,880.786294326,786,807,652,630,652,0.447541200568,-0.00554559566275,0.0497591249441,0.999999931357,0.000119886480885,-0.000349352132419,2.94301139094e-05,1793244755789738752
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,632,880.191151017,786,807,652,630,652,0.447960650606,-0.00554682072429,0.0497215341847,0.999999911357,0.00011627641547,-0.000403766831059,2.71695306317e-05,1793244755806405632
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,631.608719295,880.391280705,785.608719295,807,652,630,652,0.448374664934,-0.00554890491689,0.0497024207006,0.999999903005,8.44349618348e-05,-0.000431922009079,1.74399602373e-05,1793244755823072000
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,631.032302075,880.967697925,785.032302075,807,652,630,652,0.448786107366,-0.00555139561196,0.0496920498327,0.999999899025,3.92356786027e-05,-0.000447652361688,4.1763992554e-06,1793244755839738112
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.45820852,745,714,680.54179148,658.54179148,631,880.45820852,785,806.45820852,652,630,651.45820852,0.449187806765,-0.00555752228114,0.0497081668865,0.999999909501,3.70992596283e-05,-0.000423760043597,6.98836627799e-06,1793244755856404736
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.119317491,745,714,681,658.880682509,631,880.119317491,785.119317491,806.119317491,652,630,651.119317491,0.449580171172,-0.00556177230262,0.0497237989745,0.999999918693,3.94519748958e-05,-0.000401183798138,1.04378471418e-05,1793244755873071360
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.710977849,745,714,681,658.289022151,631,880.710977849,785.710977849,806.710977849,652,630,651.710977849,0.449937870956,-0.00555773872647,0.0497312862113,0.999999921422,4.94554976365e-05,-0.000393129353614,1.26330925795e-05,1793244755889737984
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.296239778,714.296239778,681,658,630.703760222,880.703760222,786,807,652,630,652,0.450266339424,-0.00555548024207,0.0497341454128,0.999999921569,5.6348555321e-05,-0.000391766721655,1.43315597565e-05,1793244755906404864
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.875391114,714.875391114,681,658,630.124608886,880.124608886,786,807,652,630,652,0.45056689171,-0.00555491698593,0.0497325848003,0.99999991934,6.02710912828e-05,-0.000396794829292,1.55555992522e-05,1793244755923071744
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714.549664957,681,658,630,880.450335043,786,807,652,630,652,0.450822879244,-0.00555846761181,0.0497253288275,0.999999912766,5.96551445471e-05,-0.000413071990669,1.6780425211e-05,1793244755939738368
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.975263579,714.024736421,681,658,630,880.975263579,786,806.975263579,652.024736421,630,652,0.451065386352,-0.0055629073517,0.0497165108145,0.99999990467,5.79641421009e-05,-0.000432408202235,1.79819223805e-05,1793244755956404736
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.386944144,714.613055856,681,658,630,880.386944144,786,806.386944144,652.613055856,630,652,0.451279109168,-0.00556190931997,0.0497076767041,0.999999896237,6.01265206761e-05,-0.00045117983063,1.86469956875e-05,1793244755973071360
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.80134753,681,658,630,880.19865247,785.80134753,806.19865247,652.80134753,630,652,0.45148108999,-0.00556057523198,0.0496993294487,0.999999887748,6.24787618321e-05,-0.000469292677838,1.90832348966e-05,1793244755989737984
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714.220982904,681,658,630,880.779017096,785.220982904,806.779017096,652.220982904,630,652,0.451660508461,-0.00555859540954,0.0496919176895,0.999999879527,6.51958250821e-05,-0.000486139670241,1.90797676636e-05,1793244756006404608
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.357739299,745,714.357739299,681,658,630,881,785.357739299,807,652,630,652,0.451823903884,-0.00555514566171,0.0496858698435,0.999999873534,6.95050114799e-05,-0.000497727880312,1.9172961021e-05,1793244756023071232
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.935451636,745,714.935451636,681,658,630,881,785.935451636,807,652,630,652,0.451977446791,-0.0055507920601,0.0496806606637,0.999999868957,7.47931908533e-05,-0.000506082479379,1.93255907443e-05,1793244756039737856
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.49079651,745,714.49079651,681,657.49079651,629.49079651,881,786,807,652,630,652,0.452110353834,-0.00555049158374,0.0496774109547,0.999999867602,7.54911407921e-05,-0.000508662757975,1.89686637937e-05,1793244756056404480
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.915026482,745,714.084973518,681,657.084973518,629.084973518,881,785.915026482,807,652,630,652,0.452238139615,-0.00555109391613,0.0496754748345,0.999999867414,7.5237900558e-05,-0.000509078934954,1.87234100132e-05,1793244756073071360
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.324278586,745,714.675721414,681,657.675721414,629.675721414,881,785.324278586,807,652,630,652,0.452350892855,-0.00555403535746,0.0496798903417,0.999999871693,7.27597032136e-05,-0.000500937253031,1.95243507574e-05,1793244756089737984
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.261327963,745,714.738672037,681,658,629.738672037,880.738672037,785.261327963,807,652,630,652,0.452447942507,-0.00555699426545,0.0496811387908,0.999999873239,7.01438182887e-05,-0.00049819795372,2.00203356463e-05,1793244756106404608
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.840677739,745,714.159322261,681,658,629.159322261,880.159322261,785.840677739,807,652,630,652,0.452525881748,-0.00555997442923,0.0496785331034,0.99999987151,6.73603752745e-05,-0.000502033058579,2.014520592e-05,1793244756123071232
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.416949952,714.416949952,681,658,629,880.416949952,785.583050048,807,652,629.583050048,652,0.45258913631,-0.00555906549213,0.0496765002149,0.999999869296,6.87899950404e-05,-0.000506228957652,2.02180019435e-05,1793244756139737600
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.992054789,714.992054789,681,658,629,880.992054789,785.007945211,807,652,629.007945211,652,0.452646820768,-0.0055566813652,0.0496746845969,0.999999866879,7.18176878685e-05,-0.000510561710867,2.02710454802e-05,1793244756156404480
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.435899143,714.435899143,681,658,629,880.435899143,785,807,652,629,652,0.452686510549,-0.00555599375869,0.049672085953,0.999999865817,7.05192821379e-05,-0.000512838974442,1.97150448451e-05,1793244756173071104
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,628.858208332,880,785,807,652,629,651.858208332,0.452724122389,-0.0055560420383,0.0496702545139,0.999999865251,6.87382332595e-05,-0.000514198481899,1.92915393728e-05,1793244756189737728
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,628.262302044,880,785,807,652,629,651.262302044,0.452755886566,-0.00555837101675,0.0496709153249,0.999999866225,6.56055223709e-05,-0.000512710922536,1.93197000404e-05,1793244756206404608
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,657.676951023,628.323048977,880,785,807,652,629,651.323048977,0.452778816841,-0.00555867993739,0.0496697909408,0.999999865581,6.52136262711e-05,-0.000514017616994,1.92741354483e-05,1793244756223070976
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,681,657.099899198,628.900100802,880,785,807,652,629,651.900100802,0.452794801312,-0.00555740055287,0.049667262916,0.999999863659,6.69767428756e-05,-0.000517521341693,1.9170603098e-05,1793244756239737856
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681,657,629,880,784.525493836,807,652,629,652,0.452803933414,-0.00555544947408,0.0496647949925,0.999999861142,6.79037127376e-05,-0.000522250324382,1.89525935674e-05,1793244756256404992
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714.048280635,681,657,629,880,784.048280635,807,652,629,652,0.452811624707,-0.00555360118617,0.0496626439389,0.999999858823,6.85976794812e-05,-0.000526589279631,1.87512187227e-05,1793244756273072384
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714.621220791,681,657,629,880,784.621220791,807,652,629,652,0.452819249048,-0.00555439811465,0.0496637995293,0.999999860226,6.86619874212e-05,-0.000523902219109,1.89910630273e-05,1793244756289739264
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,715,681,657,629,880.2013483,785,806.7986517,652,629,652,0.452824154618,-0.00555483550158,0.0496636488984,0.999999860449,6.86140137648e-05,-0.000523475639085,1.91514373363e-05,1793244756306405632
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,657,629,880.795497233,785,806.204502767,652,629,652,0.452823756269,-0.00555457147632,0.0496609500234,0.999999858374,6.83469953838e-05,-0.000527458920993,1.91567774706e-05,1793244756323071744
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714.620543872,681,657,628.620543872,880.620543872,785,806.379456128,652,629,652,0.452824035963,-0.00555296062824,0.0496600208988,0.99999985707,6.94789121574e-05,-0.000529788232298,1.88756158833e-05,1793244756339738368
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.041933156,681,657,628.041933156,880.041933156,785,806.958066844,652,629,652,0.452824671522,-0.00555064291073,0.0496600206138,0.999999856172,7.13450491366e-05,-0.000531249469918,1.84440861032e-05,1793244756356404736
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.531120683,745,714,681,657,628,880.531120683,785,807,652,629,652,0.452825259002,-0.00555088069738,0.0496586788664,0.999999855414,7.14636725863e-05,-0.000532650510806,1.86538195421e-05,1793244756373072128
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.892980242,745,714,681,657,628,881,785,807,652,629,652,0.452825886761,-0.00555147845734,0.0496574602357,0.999999854842,7.12374545322e-05,-0.000533747973319,1.88493331571e-05,1793244756389738752
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.30225921,745,714,681,657,628,881,785,807,652,629,652,0.452826713547,-0.00555280072976,0.0496572717955,0.999999855061,7.00697750086e-05,-0.000533494599066,1.87541156644e-05,1793244756406405120
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,657,628.282994627,880.717005373,785.282994627,807,652,629,652,0.452827556029,-0.00555214215605,0.0496573669008,0.999999855115,7.07077193289e-05,-0.000533319082193,1.8456393379e-05,1793244756423071488
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,657,628.862519839,880.137480161,785.862519839,807,652,629,652,0.452828414956,-0.00554940799022,0.049657759114,0.999999854993,7.32376524148e-05,-0.000533225146675,1.79464802518e-05,1793244756439738112
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,657,629,880,785.560390829,807,652,629,652,0.452827557852,-0.0055495965947,0.0496569378978,0.999999854376,7.29471558745e-05,-0.000534420962605,1.78965041292e-05,1793244756456404736
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.016213919,714,681,657,628.983786081,880,785,806.983786081,652,629,652,0.452826211663,-0.00555061490316,0.0496557638066,0.999999853617,7.18561639334e-05,-0.000535985308688,1.79807354345e-05,1793244756473071360
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.602416962,714,681,657,628.397583038,880,785,806.397583038,652,629,652,0.45282643394,-0.00554884530056,0.0496554514433,0.99999985328,7.34609668195e-05,-0.000536403815686,1.77542978307e-05,1793244756489737984
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.814405463,714,681,657,628.185594537,880,785,806.185594537,652,629,652,0.452826662633,-0.00554791236935,0.0496552259938,0.999999853127,7.402910089e-05,-0.00053661244977,1.76754938986e-05,1793244756506404864
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.237605164,714,681,657,628.762394836,880,785,806.762394836,652,629,652,0.452826904851,-0.00554874301748,0.0496551837456,0.999999853367,7.24120907183e-05,-0.000536378702851,1.7907879869e-05,1793244756523071744
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.66193056,657,628.66193056,880,785,807,652,629,652,0.452826792271,-0.00554896887818,0.049654839967,0.999999853253,7.16367679553e-05,-0.000536690242152,1.80362942538e-05,1793244756539738368
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.087044527,657,628.087044527,880,785,807,652,629,652,0.452826431154,-0.00554877108712,0.0496542849672,0.999999852893,7.14510446768e-05,-0.000537383752765,1.80918768557e-05,1793244756556404736
+244,4.066666667,HOLD_POSE2,765,745,715,681,658,628,880,785,807,652,629,652,0.452829036249,-0.00554849600956,0.0496560322624,0.999999854216,7.34519196449e-05,-0.000534642665407,1.81885476047e-05,1793244756587656704
+245,4.083333333,HOLD_POSE2,765,745,714.411110958,681,658,628.588889042,880,785,807,652,629,652,0.452830307372,-0.00554819463903,0.0496566922287,0.999999854432,7.36832649136e-05,-0.000534207302608,1.81317910648e-05,1793244756604324096
+246,4.100000000,HOLD_POSE2,765,745,714,680.825337544,657.825337544,629,880,785,806.825337544,652,629,652,0.452831087404,-0.00554816031193,0.0496568786499,0.999999854485,7.34441500185e-05,-0.000534142071859,1.81372188471e-05,1793244756620990976
+247,4.116666667,HOLD_POSE2,765,745,714,680.246768888,657.246768888,629,880,785,806.246768888,652,629,652,0.452830731788,-0.00554874352155,0.0496559700006,0.999999854156,7.21170980096e-05,-0.000534932769837,1.8286447603e-05,1793244756637657344
+248,4.133333333,HOLD_POSE2,765,745,714,680,657,628.669258587,880,785,806,652,629,652,0.452830457011,-0.00554912451434,0.0496558750422,0.999999854072,7.13384062281e-05,-0.000535194427717,1.82433288357e-05,1793244756654323968
+249,4.150000000,HOLD_POSE2,765,745,714,680,657,628.09253545,880,785,806,652,629,652,0.452830242356,-0.00554935511273,0.0496563852489,0.999999854173,7.09675455067e-05,-0.000535062623496,1.80571557767e-05,1793244756670990592
+250,4.166666667,HOLD_POSE2,764.517288446,745,714,680.482711554,657,628,880,785,806.482711554,652,629,652,0.452830663683,-0.0055483451773,0.0496566659048,0.999999854177,7.42819198696e-05,-0.00053460530458,1.80618270215e-05,1793244756687657216
+251,4.183333333,HOLD_POSE2,764.059273194,745,714,681,657.059273194,628,880,785,807,652,629,652,0.452831163084,-0.00554734335559,0.0496569142207,0.999999854176,7.76944173109e-05,-0.000534119297826,1.81102521448e-05,1793244756704323840
+252,4.200000000,HOLD_POSE2,764.650155764,745,714,681,657.650155764,628,880,785,807,652,629,652,0.45283127259,-0.00554854066663,0.0496572659514,0.999999854428,7.5670208032e-05,-0.000533933950833,1.8223976415e-05,1793244756720990208
+253,4.216666667,HOLD_POSE2,765,745,714,681,658,628.236281641,880,785,807,652,629,652,0.452831386221,-0.00554908578725,0.049657440398,0.999999854398,7.40836938507e-05,-0.00053421048902,1.82961090095e-05,1793244756737656576
+254,4.233333333,HOLD_POSE2,765,745,714,681,658,628.815503579,880,785,807,652,629,652,0.45283150584,-0.00554868431548,0.0496573575335,0.999999853961,7.31324525899e-05,-0.000535157409568,1.83078752386e-05,1793244756754323456
+255,4.250000000,HOLD_POSE2,765,745.392599467,714,681,658,628.607400533,880.392599467,785,807,652,629,652,0.452830526459,-0.00554907630823,0.0496561944594,0.999999853443,7.16360630169e-05,-0.000536329356466,1.82667190959e-05,1793244756770990080
+256,4.266666667,HOLD_POSE2,765,745.968701681,714,681,658,628.031298319,880.968701681,785,807,652,629,652,0.452829033399,-0.00554983916981,0.0496545264906,0.999999852882,6.98848686007e-05,-0.000537606481768,1.8200826801e-05,1793244756787656960
+257,4.283333333,HOLD_POSE2,764.445466992,745.445466992,714,681,657.445466992,628.554533008,880.445466992,785,807,652,629,652,0.452830395323,-0.00554849511498,0.0496555078951,0.99999985338,7.24258833298e-05,-0.00053634729613,1.80385621873e-05,1793244756804323840
+258,4.300000000,HOLD_POSE2,764.139252877,745,714,681,657,629,880.139252877,785,807,652,629,652,0.4528317583,-0.00554759750675,0.0496564618395,0.999999854007,7.39214195985e-05,-0.000534981457523,1.78021897145e-05,1793244756820990720
+259,4.316666667,HOLD_POSE2,764.718692702,745,714,681,657,629,880.718692702,785,807,652,629,652,0.452832606143,-0.00554849375766,0.0496568478565,0.999999854867,7.13326730344e-05,-0.000533739073848,1.73490588076e-05,1793244756837657344
+260,4.333333333,HOLD_POSE2,765,745.296895725,714.296895725,681,657,628.703104275,881,785,806.703104275,652.296895725,629.296895725,652,0.452832233809,-0.00554789984563,0.049656467057,0.999999854699,7.19037959871e-05,-0.000533979103068,1.7278680917e-05,1793244756854323712
+261,4.350000000,HOLD_POSE2,765,745.873931712,714.873931712,681,657,628.126068288,881,785,806.126068288,652.873931712,629.873931712,652,0.452830710159,-0.00554589986873,0.0496553627167,0.999999853556,7.54564597404e-05,-0.000535617884516,1.75694552054e-05,1793244756870990592
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.334567135,715,681,657,628.334567135,880.66913427,785,807,652,629,652,0.452830269583,-0.00554693723234,0.0496552080066,0.999999852627,7.31513990029e-05,-0.00053765685335,1.7908914821e-05,1793244756970391040
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.503349263,714.503349263,681,657,629,881.006698527,785,807,652,629,652,0.452830037683,-0.00554715690801,0.0496546837561,0.999999852891,7.47983490295e-05,-0.000536929616783,1.81855130156e-05,1793244757003724288
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.916553739,745,714,681,657,629,880,785,807,652,629,652,0.452829913166,-0.00554632793402,0.0496552420098,0.99999985318,7.4640823638e-05,-0.000536425695273,1.7763518514e-05,1793244757020390656
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.337437921,745,714,681,657,629,880,785,807,652,629,652,0.452825139601,-0.00554627863374,0.04965210465,0.999999850399,7.4666174058e-05,-0.000541604925157,1.70381401295e-05,1793244757037057536
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.240161542,745,714,681,657.240161542,628.759838458,880,785,807,652,629,652,0.452814611301,-0.00554587413984,0.0496469197856,0.99999984577,7.54991645872e-05,-0.000549988935309,1.65082903009e-05,1793244757053724160
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.815643775,745,714,681,657.815643775,628.184356225,880,785,807,652,629,652,0.452796048068,-0.00554497371405,0.0496388761346,0.999999838469,7.74598062655e-05,-0.000562847554569,1.62514433207e-05,1793244757070390528
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.609678491,745,714,681,657.609678491,628,880,785,807,652,629,651.609678491,0.452757908461,-0.00554295846836,0.0496233050745,0.999999822973,7.75479630582e-05,-0.000589742959283,1.56358951656e-05,1793244757087056896
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.035379905,745,714,681,657.035379905,628,880,785,807,652,629,651.035379905,0.452710541575,-0.00554041775501,0.049604185988,0.999999802721,7.67535288414e-05,-0.000623254568664,1.48512740637e-05,1793244757103723776
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.555711875,745,714,681,657,628,880,785,807,652,629,651.555711875,0.452646599446,-0.00553884004873,0.0495853648559,0.999999786038,7.93612567459e-05,-0.000649186994885,1.34811116356e-05,1793244757120390656
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.144662603,628,880,785,807,652,629.144662603,652,0.452578186305,-0.00553741302149,0.049568797252,0.999999770846,8.10062503184e-05,-0.000672009230259,1.22156557196e-05,1793244757137057280
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.72387041,628,880,785,807,652,629.72387041,652,0.452499611569,-0.00553624870432,0.0495589401541,0.999999760835,7.9088417806e-05,-0.000686983549143,1.13801925931e-05,1793244757153723904
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.698236134,658,628,880,785,807,652,630,652,0.452414414285,-0.00553384702932,0.0495539211191,0.999999755641,7.95887352378e-05,-0.000694458367599,1.05744494015e-05,1793244757170390272
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.461982812,714,680.461982812,657.538017188,628,880,785,807,652,629.538017188,652,0.452214617163,-0.00552424815047,0.0495553534518,0.999999755333,8.72647459544e-05,-0.000693999742096,9.15681332898e-06,1793244757203723520
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.953138249,714.046861751,681,657.046861751,628,880.046861751,785,807,652,629,652,0.452098712693,-0.00551770520629,0.0495578875159,0.999999755642,9.26898576663e-05,-0.000692857255302,8.55321072929e-06,1793244757220390400
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.373569078,714.626430922,681,657.626430922,628,880.626430922,785,807,652,629,652,0.451952009778,-0.00551349726657,0.0495579401019,0.999999752747,9.63715918505e-05,-0.000696531202252,7.92760930862e-06,1793244757237057280
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.794859129,681,657.794859129,628.205140871,880.794859129,785.205140871,806.794859129,652,629,652,0.45179402777,-0.00550822940334,0.0495574998588,0.999999749775,0.000100251158015,-0.000700247410237,7.28046708197e-06,1793244757253723904
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.217707391,681,657.217707391,628.782292609,880.217707391,785.782292609,806.217707391,652,629,652,0.451615591809,-0.00550103943178,0.049556165899,0.999999746683,0.000104489480406,-0.000704040255732,6.59426194258e-06,1793244757270390784
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.356350966,629,880,785.643649034,806.356350966,652,629,651.643649034,0.451421598832,-0.00549446590212,0.0495553332989,0.999999745532,0.000109244389303,-0.000704957947072,5.96207649672e-06,1793244757287057408
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.928535788,629,880,785.071464212,806.928535788,652,629,651.071464212,0.451218183299,-0.00548826573692,0.0495548043611,0.999999745549,0.000114312183565,-0.000704134221842,5.36260951168e-06,1793244757303723776
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,629,880,785,806.481350515,652,629,651,0.450988165236,-0.00547837051329,0.049561115428,0.999999753668,0.000122406140771,-0.000691133811655,3.84475125309e-06,1793244757320390400
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.108830613,680.891169387,658,629,880,785,806,652,629,651.108830613,0.450748642908,-0.00546830162569,0.0495692915285,0.999999764084,0.000130033616384,-0.000674476512285,2.29115732294e-06,1793244757337057024
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.688239135,680.311760865,658,629,880,785,806,652,629,651.688239135,0.450484441671,-0.00545976213606,0.0495813107975,0.999999780112,0.0001337765299,-0.00064952155483,1.14980650016e-06,1793244757353723648
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.734777155,680.265222845,658,629.265222845,880,785.265222845,806.265222845,652,629,652,0.450198212571,-0.00545119051858,0.0495900652139,0.999999791291,0.000137921727451,-0.000631185162109,-2.20716991098e-07,1793244757370390528
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.160617945,680.839382055,658,629.839382055,880,785.839382055,806.839382055,652,629,652,0.449886325034,-0.0054425814785,0.0495950166704,0.999999797294,0.000142535512561,-0.000620558195091,-1.85818488223e-06,1793244757387057664
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.585756434,745.414243566,714,681,658,630,880,786,806.585756434,652,629.414243566,651.585756434,0.449538647809,-0.00543483930386,0.0495978816353,0.99999980058,0.00014532131502,-0.000614579501164,-3.67213674897e-06,1793244757403724288
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.010622166,745.989377834,714,681,658,630,880,786,806.010622166,652,629.989377834,651.010622166,0.449177070006,-0.00542743381684,0.0495999362142,0.999999802824,0.000147397135523,-0.000610406179949,-5.55463431534e-06,1793244757420390912
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.582038287,745.417961713,714.582038287,681,658,630,880,786,806.582038287,652,630,651.582038287,0.448759174661,-0.00541891917918,0.0495966125185,0.999999797976,0.000151868400598,-0.000617189184808,-7.85262166927e-06,1793244757437057280
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.82898765,681,658,630,880,786,807,652,630,651.82898765,0.448330875533,-0.005413159792,0.0495935928945,0.999999794971,0.00015262181222,-0.000621815410829,-1.04783583665e-05,1793244757453723648
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.249604145,681,658,630,880,786,807,652,630,651.249604145,0.447880263142,-0.00541402967985,0.0495915410461,0.999999796784,0.000144389491903,-0.000620799025068,-1.3868078727e-05,1793244757470390272
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.327161518,880,786,806.672838482,652,630,651,0.447408303188,-0.00541844365309,0.0495898048974,0.999999798105,0.0001314804335,-0.000621480368178,-1.62810249503e-05,1793244757487056896
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.901945843,880,786,806.098054157,652,630,651,0.44692018559,-0.0054255400824,0.049588307696,0.99999979888,0.000115031633281,-0.000623446692239,-1.7954668338e-05,1793244757503723520
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.486993903,745,714,680.513006097,658,631,880,786,806.486993903,652,630,651.486993903,0.446408341548,-0.00542115042092,0.0495882425853,0.999999799508,0.000113214515668,-0.000622676947878,-2.09869572797e-05,1793244757520390400
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.926846968,745,714,680.073153032,658.073153032,631,879.926846968,786,807,652,630,652,0.445887539351,-0.00541455119233,0.0495931580067,0.999999804339,0.000114068754406,-0.000614603074294,-2.39575700696e-05,1793244757537057280
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.347605665,745,714,680.652394335,658.652394335,631,879.347605665,786,807,652,630,652,0.445338523845,-0.00540900974969,0.0496304920294,0.999999836622,0.000112583964782,-0.000559890943077,-2.45682212472e-05,1793244757553723904
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.769626126,658.769626126,631.230373874,879.230373874,786,806.769626126,652,630,652,0.444772121203,-0.00540577038947,0.0496657358217,0.999999862925,0.000108528950249,-0.000511600699435,-2.52290085048e-05,1793244757570390784
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.193540096,658.193540096,631.806459904,879.806459904,786,806.193540096,652,630,652,0.444179626467,-0.00540598566555,0.0496978428932,0.999999882761,0.00010061691022,-0.000472947510697,-2.59650328439e-05,1793244757587057920
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.381988411,658.381988411,632,880.381988411,786,806,652,630.381988411,651.618011589,0.443534492542,-0.00540347889612,0.0497029476062,0.999999884191,9.32645542505e-05,-0.00047127141389,-2.86820044711e-05,1793244757603724544
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.957234836,658.957234836,632,880.957234836,786,806,652,630.957234836,651.042765164,0.442862727081,-0.00539959497206,0.0496943911128,0.99999987654,8.61953574733e-05,-0.000488303004524,-3.24011895666e-05,1793244757620391168
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.453880688,659,632.546119312,880.453880688,786.546119312,806,652,631,651.546119312,0.442219455902,-0.00539516030143,0.0497102244273,0.999999893825,8.10679482049e-05,-0.000452211216899,-3.58269189734e-05,1793244757637057792
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.267134279,633,880.13356714,786.86643286,806,652,631,652,0.441566586698,-0.00539227946446,0.0497360353682,0.99999991611,7.44303696374e-05,-0.000400931789899,-3.86419254248e-05,1793244757653724672
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.425141863,633,880.712570932,786.287429068,806,652,631,652,0.440874077069,-0.00539472806106,0.0497885884438,0.999999948226,6.22364034344e-05,-0.000313231161595,-3.94988132629e-05,1793244757670391296
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.289239387,660.710760613,633,881,786.289239387,806,652,631,651.710760613,0.440146654607,-0.00539693752642,0.0498172004489,0.999999961873,5.12017476879e-05,-0.000268225032324,-4.10715435609e-05,1793244757687058176
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.863605779,660.136394221,633,881,786.863605779,806,652,631,651.136394221,0.439384815618,-0.00539891126078,0.0498222117823,0.999999963013,4.13099182991e-05,-0.000265306366275,-4.33499388551e-05,1793244757703724800
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.561171344,659.561171344,633,880.561171344,787,806,652,630.561171344,651,0.438560681166,-0.00539657530114,0.0497963043204,0.999999950139,3.25844839855e-05,-0.000310506597643,-4.73939348467e-05,1793244757720391680
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.985267686,680,659,633,880,786.985267686,806,652,630.014732314,651.014732314,0.437718162216,-0.00539296262941,0.0497620137341,0.99999993036,2.42456244775e-05,-0.000368777506185,-5.19187582436e-05,1793244757737058304
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713.393134766,680,659,633,880,786.393134766,806,652,630.606865234,651.606865234,0.43691544887,-0.00539191401793,0.0497765444442,0.999999936459,1.68212571436e-05,-0.000352009604689,-5.37385233133e-05,1793244757753724416
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,659.19400596,633,880,786.19400596,806,652,631,651.80599404,0.436083007889,-0.00538922314955,0.0497864327658,0.999999939638,1.01238991074e-05,-0.000342735213818,-5.61587007855e-05,1793244757770390784
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,659.771284224,633,880,786.771284224,806,652,631,651.228715776,0.435191837941,-0.00538328788818,0.0497871497244,0.999999937558,4.86279909309e-06,-0.00034826477696,-5.97650347486e-05,1793244757787057408
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.34784759,745,713.34784759,680,659.65215241,633,880,787,806,652,631,651.34784759,0.434320993647,-0.00537965918735,0.0497807572211,0.999999934742,-3.06519006091e-06,-0.000355581294721,-6.37875964554e-05,1793244757803724032
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.90259823,633.09740177,879.90259823,786.90259823,806,652,631,651.09740177,0.431787491689,-0.00538625594828,0.049816922804,0.999999952458,4.1389109756e-05,-0.000302099511995,-4.58988919783e-05,1793244757853724416
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.32346159,633.67653841,879.32346159,786.32346159,806,652,631,651.67653841,0.430865239965,-0.00537581432579,0.0498025044413,0.999999945234,9.57471497062e-05,-0.000314617381241,-3.71410695967e-05,1793244757870391040
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,713.745008245,680,659.745008245,633.745008245,879.254991755,786.254991755,805.745008245,652,631,651.745008245,0.429928953752,-0.0053679205223,0.04978514885,0.9999999357,0.000119630029526,-0.00033622369195,-3.52557417111e-05,1793244757887057152
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.686646286,745,714,679.686646286,660.313353714,634,880,787,806.313353714,652,631,651.686646286,0.423610211112,-0.00536818922206,0.0498260394382,0.999999964194,7.82804445961e-05,-0.000251481046779,-4.73518599655e-05,1793244758003724288
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.112252539,745,714,679.112252539,660.887747461,634,880,787,806.887747461,652,631,651.112252539,0.422691212668,-0.00536291811509,0.0498339800841,0.999999965549,8.28738952922e-05,-0.00024435659438,-4.82028500775e-05,1793244758020390656
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.02664013,745,714,680,660,634,880,787,805.97335987,653,630.97335987,652,0.411351240766,-0.00536163835615,0.0498165117798,0.999999945386,9.55468078031e-05,-0.000312221322825,-5.11601299052e-05,1793244758253723904
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e95ef7bca05d58877466aa48373c75653080e47
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4361acf5fcab406a8d7ff5270997d00703f1c4e0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da5b9c1a11806334de5005619796b0f453c64088afaf28a0654d2a028e9d06ca
+size 25695024
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e05fb07f98f16701c7552332c01126f8c9c3c375
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+10,0.166666667,BASELINE,765,745,713.213861513,679.213861513,660,634,878.213861513,787,805.213861513,652,630.213861513,652,0.400984823689,-0.00540046932035,0.0498531465928,0.999999960608,0.000110929158353,-0.000254275638464,-4.26866915137e-05,1793244759568416256
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+12,0.200000000,BASELINE,765,745,713.960610976,679,660,634,878.960610976,787,805,652.960610976,630,652,0.400984276656,-0.00540107331211,0.0498519983843,0.999999960315,0.000110057346633,-0.000255716160821,-4.32003952756e-05,1793244759601748992
+13,0.216666667,BASELINE,765,745,713.459827498,679,660,634,879,787,805.540172502,652.459827498,630.540172502,652,0.400985237448,-0.00540087391606,0.0498529920907,0.999999960521,0.000111734992781,-0.000254222780152,-4.2939645179e-05,1793244759618415616
+14,0.233333333,BASELINE,765,745,713.117707099,679,660,634,879,787,805.882292901,652.117707099,631,652,0.400986054851,-0.00540066444732,0.0498538722245,0.999999960724,0.000113007609163,-0.000252887769397,-4.27730025473e-05,1793244759635082496
+15,0.250000000,BASELINE,765,745,713.690523161,679,660,634,879,787,805.309476839,652.690523161,631,652,0.400985902762,-0.00540058920887,0.0498538023703,0.999999960813,0.000112041334818,-0.000252901895486,-4.31465517437e-05,1793244759651749632
+16,0.266666667,BASELINE,765,745,714,679,660.263987786,634,879,787,805,653,630.736012214,652,0.400985100501,-0.00540087529257,0.0498533055658,0.999999960734,0.000110953407369,-0.000253674455983,-4.32608301313e-05,1793244759668416256
+17,0.283333333,BASELINE,765,745,714,679,660.838214571,634,879,787,805,653,630.161785429,652,0.400983534155,-0.00540158600281,0.0498523070084,0.999999960454,0.000109722512993,-0.000255338330184,-4.30704128987e-05,1793244759685082880
+18,0.300000000,BASELINE,765,745,714,679,660.572699594,634,878.572699594,787,805.427300406,653,630,652,0.400983580789,-0.00540240452225,0.0498524780876,0.999999960555,0.000108842232809,-0.000255359505733,-4.28306878269e-05,1793244759701749504
+19,0.316666667,BASELINE,765,745,714,679,660,634,878.02154173,787,806,653,630.02154173,652,0.400984243178,-0.00540323273684,0.0498530779997,0.99999996081,0.000108045818988,-0.000254737824044,-4.25958449265e-05,1793244759718416128
+20,0.333333333,BASELINE,765,745,714,679,660,634,878.598429237,787,806,653,630.598429237,652,0.400984468416,-0.0054032206683,0.0498529052286,0.999999961175,0.000105865880823,-0.000254155132806,-4.2985491567e-05,1793244759735083008
+21,0.350000000,BASELINE,765,745,714,679,660,634,878.825606016,787,806,653,630.825606016,652,0.400984244368,-0.00540317836993,0.0498525295004,0.999999961226,0.000104983442894,-0.000254274246303,-4.32515999516e-05,1793244759751749632
+22,0.366666667,BASELINE,765,745,714,679,660,634,878.251754968,787,806,653,630.251754968,652,0.400982991209,-0.0054030668288,0.0498516888899,0.999999960565,0.000107072986421,-0.000256000874391,-4.32347384935e-05,1793244759768416256
+23,0.383333333,BASELINE,765,745,714,679,660,634,878.662998802,787,806,652.668500599,630.331499401,652,0.400982872661,-0.00540257133412,0.0498516829695,0.999999960425,0.000107455406587,-0.000256378372606,-4.32818963852e-05,1793244759785082880
+24,0.400000000,BASELINE,765,745,714,679,660,634,879.844207213,787,806,652.077896394,630.922103606,652,0.400983640942,-0.00540177573569,0.0498523294549,0.999999960696,0.000106503514264,-0.000255701371267,-4.337909274e-05,1793244759801749760
+25,0.416666667,BASELINE,765,745,714,679.502999092,660.502999092,634,879.497000908,787,805.497000908,652,630.497000908,652,0.400983381524,-0.00539980846991,0.0498521021905,0.999999960249,0.000110608187354,-0.000255666622693,-4.36120139379e-05,1793244759818416384
+26,0.433333333,BASELINE,765,745,714,679.918280496,660.918280496,634,879,787,805,652.081719504,630,652,0.40098321573,-0.00539836678628,0.0498519100553,0.999999959894,0.000113980900037,-0.000255548141286,-4.37733388833e-05,1793244759835083008
+27,0.450000000,BASELINE,765,745,714,679.34378102,660.34378102,634,879,787,805,652.65621898,630,652,0.400984556043,-0.0054011678784,0.0498527302541,0.99999996085,0.000108307132339,-0.000254336328381,-4.33785819316e-05,1793244759851749376
+28,0.466666667,BASELINE,765,745,714,679.23178947,660,634,879,787,805.23178947,653,630.23178947,652,0.40098466264,-0.00540226286419,0.0498530037148,0.999999961133,0.00010620544249,-0.000254147926981,-4.31700968202e-05,1793244759868416000
+29,0.483333333,BASELINE,765,745,714,679.808955784,660,634,879,787,805.808955784,653,630.808955784,652,0.400982930943,-0.00540081567386,0.0498524625111,0.999999960442,0.000109426311317,-0.000255484455314,-4.32391652412e-05,1793244759885082368
+30,0.500000000,BASELINE,765,745,714,679.605490248,660,634,879,787,806,653,631,652,0.400983941469,-0.00540066055943,0.049853416208,0.999999960843,0.000109936795272,-0.000253729638627,-4.2993183046e-05,1793244759901748992
+31,0.516666667,BASELINE,765,745,714,679.015786281,660,634,879,787,806,653,631,652,0.400986308784,-0.00540114473404,0.0498551095468,0.999999961779,0.000109106243976,-0.000250445296557,-4.25913211591e-05,1793244759918415616
+32,0.533333333,BASELINE,765,745,714,679,660,634,879,787,806,653,630.436111616,652,0.400984879818,-0.00540076172239,0.0498540583299,0.999999961202,0.000108813970964,-0.000252785176049,-4.30816563997e-05,1793244759935082240
+33,0.550000000,BASELINE,765,745,714,679,660,634,879,787,805.857333586,653,630,652,0.400983885256,-0.00540080224769,0.0498532769388,0.999999960795,0.000108454609811,-0.000254490902869,-4.33901809855e-05,1793244759951748864
+34,0.566666667,BASELINE,765,745,714,679,660,634,879,787,805.280445047,653,630,652,0.400984530673,-0.0054022044573,0.0498535465644,0.999999961051,0.000107845994264,-0.000253795660178,-4.30706499861e-05,1793244759968415488
+35,0.583333333,BASELINE,765,745,714,679,660,634,879,786.704954257,805.295045743,653,630,652,0.400985244957,-0.00540339470034,0.0498537632545,0.999999961276,0.000107916599247,-0.000252947479352,-4.26589076517e-05,1793244759985082368
+36,0.600000000,BASELINE,765,745,714,679,660,634,879,786.130785715,805.869214285,653,630,652,0.400986024393,-0.00540438441633,0.0498539298659,0.99999996147,0.000108629768706,-0.000251954614032,-4.21599303804e-05,1793244760001748992
+37,0.616666667,BASELINE,764.544147159,745,714,679,660,634,879,786.455852841,805.544147159,652.544147159,630,652,0.400985219241,-0.00540261293039,0.0498536810482,0.999999961113,0.000110180137992,-0.000252671895381,-4.23246269106e-05,1793244760018415872
+38,0.633333333,BASELINE,764.045324959,745,714,679,660,634.045324959,879,786.954675041,805.045324959,652.045324959,630,652,0.400984132227,-0.00540027812939,0.0498533757326,0.999999960646,0.000111817633769,-0.00025374153618,-4.26549499582e-05,1793244760035082240
+39,0.650000000,BASELINE,764.624841466,745,714,679,660,634.624841466,879,786.375158534,805.624841466,652.624841466,630,652,0.400985232025,-0.00540090349189,0.0498538487779,0.999999960858,0.00011157147038,-0.000253018712402,-4.26300610338e-05,1793244760051749120
+40,0.666666667,BASELINE,765,745,714,679.202670605,660.202670605,634.797329395,879,786.202670605,806,653,630.202670605,652,0.400985704563,-0.00540153376076,0.0498540361936,0.999999960987,0.00011101617991,-0.000252756800819,-4.26170689568e-05,1793244760068416000
+41,0.683333333,BASELINE,765,745,714,679.777402053,660.777402053,634.222597947,879,786.777402053,806,653,630.777402053,652,0.400985025584,-0.00540217303666,0.0498536992532,0.999999960962,0.000109893396783,-0.000253341027678,-4.26259170054e-05,1793244760085082368
+42,0.700000000,BASELINE,765,745,714,679.638366951,660.638366951,634,879,787,806.361633049,653,630.638366951,652,0.400984325566,-0.00540236975241,0.0498534392008,0.999999960895,0.000108796879469,-0.000254068311772,-4.26869746512e-05,1793244760101748992
+43,0.716666667,BASELINE,765,745,714,679.048130926,660.048130926,634,879,787,806.951869074,653,630.048130926,652,0.400983612248,-0.00540228670785,0.0498532277524,0.9999999608,0.000107716965886,-0.000254886028148,-4.27810361091e-05,1793244760118415616
+44,0.733333333,BASELINE,765,745,714,679.531812082,660.531812082,634,879,787,806.468187918,653,630.531812082,652,0.400983950177,-0.00540177714232,0.0498536385062,0.999999960813,0.000109180295232,-0.000254229960077,-4.26818606937e-05,1793244760135083264
+45,0.750000000,BASELINE,765,744.89017327,714,679.89017327,660.89017327,634,879,787,806,653,630.89017327,652,0.4009843875,-0.00540103423044,0.0498540530665,0.999999960812,0.000110932141644,-0.000253473877634,-4.26665756664e-05,1793244760151750400
+46,0.766666667,BASELINE,765,744.316443947,714,679.316443947,660.316443947,634,879,787,806,653,630.316443947,652,0.400984850409,-0.00539946563119,0.049854250364,0.999999960727,0.000112948891161,-0.000252848044776,-4.30781079907e-05,1793244760168417024
+47,0.783333333,BASELINE,765,744.263860754,714,679.263860754,660,634,878.736139246,787,806,653,630,651.736139246,0.400985549981,-0.00539886196778,0.0498544040052,0.999999960805,0.000113157838368,-0.000252425165956,-4.32145032249e-05,1793244760185083392
+48,0.800000000,BASELINE,765,744.852252815,714,679.852252815,660,634,878.147747185,787,806,653,630,651.147747185,0.40098654063,-0.00539944511156,0.049854503952,0.999999961083,0.000111143308366,-0.000252251907118,-4.30124980602e-05,1793244760201750016
+49,0.816666667,BASELINE,765,745,714,679.566150875,660,634,878.433849125,787,805.566150875,653,630.433849125,651.433849125,0.400985026224,-0.00540064725269,0.0498535628811,0.999999960809,0.000110192070434,-0.000253779048846,-4.28507208106e-05,1793244760218416640
+50,0.833333333,BASELINE,765,745,714,679,660,634,879,787,805.01315948,653,631,652,0.400982773842,-0.00540201929346,0.0498523427483,0.999999960375,0.000109609772059,-0.000255756067366,-4.27101574309e-05,1793244760235083264
+51,0.850000000,BASELINE,765,745,714,679,660,634,879,787,805.592155005,653,631,652,0.400984905718,-0.00540177250488,0.0498541320155,0.999999961184,0.00010956152198,-0.00025256195825,-4.29017794348e-05,1793244760251749632
+52,0.866666667,BASELINE,765,745,714,679,660,634,879,787,806,653,630.830393223,652,0.400986343824,-0.00540170524618,0.0498552926191,0.999999961735,0.000109456692566,-0.000250414205894,-4.29212070325e-05,1793244760268416000
+53,0.883333333,BASELINE,765,745,714,679,660,634,879,787,806,653,630.256620185,652,0.400986128707,-0.00540206580013,0.0498549551422,0.999999961691,0.000109217036833,-0.000250759880619,-4.25303021418e-05,1793244760285082624
+54,0.900000000,BASELINE,765,744.674864451,713.674864451,679,660,634,878.674864451,787,805.674864451,653,630.325135549,652,0.400985709406,-0.00540185288746,0.0498544639509,0.99999996147,0.000110451407778,-0.000251100430782,-4.25264419917e-05,1793244760301749504
+55,0.916666667,BASELINE,765,744.08664965,713.08664965,679,660,634,878.08664965,787,805.08664965,653,630.91335035,652,0.400985124893,-0.00540117596162,0.0498538483836,0.999999961102,0.000112878468487,-0.000251436834453,-4.28357541411e-05,1793244760318416384
+56,0.933333333,BASELINE,765,744.494436991,713,679,660,634,878.494436991,787,805,653,630.505563009,652,0.40098609356,-0.00540094402541,0.0498547264203,0.999999961411,0.000111199236021,-0.000250928026412,-4.2997873064e-05,1793244760335083264
+57,0.950000000,BASELINE,765,745,713.073869319,679.073869319,660,634,879,787,805.073869319,653,630,652,0.400987084164,-0.00540089523526,0.0498556499755,0.999999961739,0.00010937688648,-0.000250411926243,-4.30376891014e-05,1793244760351749888
+58,0.966666667,BASELINE,765,745,713.650423768,679.650423768,660,634,879,787,805.650423768,653,630,652,0.400986398079,-0.00540156962099,0.0498551273578,0.999999961434,0.000111408107514,-0.000250839860964,-4.24182717e-05,1793244760368416256
+59,0.983333333,BASELINE,765,745,714,679.77457575,660.22542425,634.22542425,879,787,805.77457575,653,630,652,0.400986358221,-0.00540126484322,0.0498550042149,0.999999961288,0.000113101577093,-0.000250702297802,-4.2187969148e-05,1793244760385082624
+60,1.000000000,BASELINE,765,745,714,679.201968493,660.798031507,634.798031507,879,787,805.201968493,653,630,652,0.400987313637,-0.00539945202488,0.0498554963157,0.999999961392,0.000114274865297,-0.000249693793555,-4.25569545733e-05,1793244760401749248
+61,1.016666667,BASELINE,764.61645095,745,714,679,661,634.61645095,879,787,805,653,630.38354905,652,0.400986926364,-0.00539975923491,0.0498552741387,0.999999961435,0.000112643331138,-0.00025022190488,-4.27816314249e-05,1793244760418416128
+62,1.033333333,BASELINE,764.023898369,745,714,679,661,634.023898369,879,787,805,653,630.976101631,652,0.400985807434,-0.00540122169082,0.0498546627374,0.999999961437,0.000109483393232,-0.000251587348755,-4.29276716327e-05,1793244760435082752
+63,1.050000000,BASELINE,764.554011332,745.554011332,714,679.554011332,661,634.554011332,879,787,805,653,631,652.554011332,0.400985344514,-0.00540155141096,0.0498543089517,0.999999961396,0.000110017851714,-0.000251580166394,-4.25730439756e-05,1793244760451749632
+64,1.066666667,BASELINE,765,746,714,680,660.869105246,634.869105246,879,787,805.130894754,653,630.869105246,652.869105246,0.400985194995,-0.00540163495676,0.0498540241785,0.999999961349,0.000110717759381,-0.000251486210467,-4.24068771198e-05,1793244760468416512
+65,1.083333333,BASELINE,765,746,714,680,660.293617482,634.293617482,879,787,805.706382518,653,630.293617482,652.293617482,0.40098601632,-0.0054010440467,0.0498539370377,0.999999961293,0.000111452270512,-0.000251293457471,-4.29522980672e-05,1793244760485083136
+66,1.100000000,BASELINE,764.711887323,745.711887323,714,679.711887323,660,634.288112677,879,787,805.711887323,653,630,652,0.400986165972,-0.00539986043161,0.049854141062,0.999999961184,0.000112671490084,-0.00025113379003,-4.32232539127e-05,1793244760501749760
+67,1.116666667,BASELINE,764.123654647,745.123654647,714,679.123654647,660,634.876345353,879,787,805.123654647,653,630,652,0.400985615959,-0.00539805941006,0.049854648386,0.999999961021,0.000114395618656,-0.000251008587021,-4.32083060728e-05,1793244760518416384
+68,1.133333333,BASELINE,764.457525612,745,714,679,660,634.542474388,879,787,805.457525612,653,630,652,0.400985194986,-0.00539967424957,0.0498540405218,0.999999961256,0.000110965310129,-0.000251625432138,-4.31290324579e-05,1793244760535082752
+69,1.150000000,BASELINE,765,745,713.963345754,679.036654246,660,634,879,787,806,653,630,652,0.400984840894,-0.00540203543199,0.0498531977087,0.999999961546,0.000106549019655,-0.000252398182586,-4.30223974717e-05,1793244760551749376
+70,1.166666667,BASELINE,765,745,713.386788313,679.613211687,660,634,879,787,806,653,630,652,0.400984966027,-0.00540199801823,0.0498532663015,0.99999996138,0.000107817653157,-0.000252558146272,-4.27649302637e-05,1793244760568416000
+71,1.183333333,BASELINE,764.810513755,745,713.189486245,679.810513755,660,634,879,787,806,653,630.189486245,652,0.400985485441,-0.00540185980614,0.0498538941578,0.999999961504,0.000108641946031,-0.000251733812501,-4.26551900291e-05,1793244760585082880
+72,1.200000000,BASELINE,764.234815664,745,713.765184336,679.234815664,660,634,879,787,806,653,630.765184336,652,0.400986808476,-0.00540151614636,0.0498556619079,0.999999962213,0.000108560581759,-0.00024890327858,-4.28465476306e-05,1793244760601749504
+73,1.216666667,BASELINE,764.348354546,745,714,679.348354546,660,634,878.651645454,787,806,653,630.651645454,652,0.400986996328,-0.00540222756928,0.0498562639977,0.999999962371,0.000108994615249,-0.000248107503167,-4.26732101056e-05,1793244760618416384
+74,1.233333333,BASELINE,764.936671862,745,714,679.936671862,660,634,878.063328138,787,806,653,630.063328138,652,0.400986402213,-0.00540366578214,0.0498560631265,0.999999962152,0.000109783678633,-0.000248713363974,-4.22486536482e-05,1793244760635083008
+75,1.250000000,BASELINE,765,745,714,679.483065793,660.516934207,634.516934207,879.033868415,787,806,653,630.516934207,652,0.400986225089,-0.00540210356121,0.0498551680066,0.999999961848,0.000110388330843,-0.000249652515348,-4.23413551621e-05,1793244760651749632
+76,1.266666667,BASELINE,765,745,714,679.095866071,660.904133929,634.904133929,879.904133929,787,806,653,630.904133929,652,0.400985870147,-0.00540054941448,0.049854234717,0.999999961509,0.000110988483432,-0.000250717773168,-4.24831151441e-05,1793244760668416256
+77,1.283333333,BASELINE,765,745,714,679.67299653,660.32700347,634.32700347,879.32700347,787,806,653,630.32700347,652,0.400984370008,-0.00540085277772,0.0498535302255,0.999999961052,0.000111677721198,-0.000252214276153,-4.25579206901e-05,1793244760685082624
+78,1.300000000,BASELINE,765,745,714,679.752161422,660,634,879,787,806,653,630,652,0.400983856336,-0.00540172704716,0.0498533657497,0.999999961019,0.000110755854772,-0.000252738176052,-4.26374307738e-05,1793244760701749248
+79,1.316666667,BASELINE,765,745,714,679.180311173,660,634,879,787,806,653,630,652,0.400984632319,-0.0054033476906,0.0498539072634,0.999999961535,0.000107727711836,-0.000251990543551,-4.27230913273e-05,1793244760718415872
+80,1.333333333,BASELINE,764.594436815,745,714,679,660.405563185,634.405563185,879,787,805.594436815,653,630,652,0.400984193502,-0.00540230633171,0.0498535238351,0.999999961194,0.000108456458031,-0.000253010627865,-4.28364032153e-05,1793244760735082752
+81,1.350000000,BASELINE,764.002104037,745,714,679,660.997895963,634.997895963,879,787,805.002104037,653,630,652,0.400983195248,-0.00540003907005,0.0498527144533,0.999999960453,0.000110915323172,-0.000254844779476,-4.29624490785e-05,1793244760751749888
+82,1.366666667,BASELINE,764.57760286,745,713.42239714,679,660.42239714,634.42239714,879,787,805.57760286,653,630.57760286,652,0.400985096187,-0.00540114267275,0.0498541789971,0.999999961275,0.000110017033705,-0.000252031056277,-4.27352174166e-05,1793244760768416768
+83,1.383333333,BASELINE,765,745,713,679.156042226,660,634.156042226,879,787,806,653,630.843957774,652,0.400986493318,-0.0054016780731,0.0498552554193,0.999999961859,0.000110088419641,-0.000249709493325,-4.25278308474e-05,1793244760785083392
+84,1.400000000,BASELINE,765,745,713,679.731198148,660,634.731198148,879,787,806,653,630.268801852,652,0.400986509509,-0.00540065506459,0.049855267614,0.999999961801,0.000112796399375,-0.000248754324337,-4.23771286557e-05,1793244760801750016
+85,1.416666667,BASELINE,764.687349603,745,713.312650397,679.687349603,660,635,879,787,806,653,630.312650397,652,0.400986184513,-0.00540005757298,0.0498552079947,0.999999961724,0.000112968702603,-0.000248977374942,-4.24391702243e-05,1793244760818416384
+86,1.433333333,BASELINE,764.100372852,745,713.899627148,679.100372852,660,635,879,787,806,653,630.899627148,652,0.400985560151,-0.00539983343933,0.049855085364,0.999999961629,0.000110916147171,-0.000250234221464,-4.26878778697e-05,1793244760835082752
+87,1.450000000,BASELINE,764.4833381,745.4833381,714,679,660.4833381,634.5166619,879,787,806,653,631,652,0.400985904307,-0.00540083363063,0.0498546459458,0.999999961562,0.000110235093484,-0.000250800613999,-4.26994690231e-05,1793244760851749376
+88,1.466666667,BASELINE,765,745.934543392,714,679.065456608,660.934543392,634,878.934543392,787,806,653,631,652,0.400986064893,-0.00540177015592,0.049854096953,0.999999961438,0.000110043003285,-0.00025137979129,-4.26976547681e-05,1793244760868416256
+89,1.483333333,BASELINE,765,745.359576755,714,679.640423245,660.359576755,634,878.359576755,787,806,653,631,652,0.400983241518,-0.00540024532144,0.0498532036753,0.999999960819,0.000111454877239,-0.000253167083772,-4.29722101602e-05,1793244760885082880
+90,1.500000000,BASELINE,764.785254612,745,714,679.785254612,660,634,878.214745388,787,805.785254612,653,630.785254612,652.214745388,0.400982171041,-0.00540033202692,0.0498528726318,0.999999960718,0.000110971200494,-0.000253781430956,-4.29411195221e-05,1793244760901749504
+91,1.516666667,BASELINE,764.212008459,745,714,679.212008459,660,634,878.787991541,787,805.212008459,653,630.212008459,652.787991541,0.400984026892,-0.0054031090735,0.0498534801946,0.99999996148,0.000107323048776,-0.000252437636785,-4.23997765215e-05,1793244760918415872
+92,1.533333333,BASELINE,764.373955964,745,714,679.373955964,660.373955964,634,879,787,805,653,630.373955964,652.626044036,0.400984642681,-0.00540341576412,0.049853978518,0.999999961523,0.000107303030656,-0.000252292489332,-4.22833886127e-05,1793244760935082496
+93,1.550000000,BASELINE,764.967384729,745,714,679.967384729,660.967384729,634,879,787,805,653,630.967384729,652.032615271,0.400984530685,-0.00540227261602,0.0498544127295,0.999999961148,0.000109412344822,-0.000252850821241,-4.2416404573e-05,1793244760951749120
+94,1.566666667,BASELINE,765,745,714,679.45389466,660.45389466,634,879,787,805.54610534,653,631,652,0.400986551629,-0.0054021435266,0.0498561271106,0.999999961972,0.00010941417161,-0.000249587547963,-4.23108348468e-05,1793244760968415488
+95,1.583333333,BASELINE,765.123157112,745.123157112,714,679,660,634,878.876842888,787,805.876842888,653,631,652,0.400987515496,-0.00540232526299,0.0498569050854,0.999999962429,0.000109204065246,-0.000247848696062,-4.22749841667e-05,1793244760985082368
+96,1.600000000,BASELINE,765.697230724,745.697230724,714,679,660,634,878.302769276,787,805.302769276,653,631,652,0.400984154904,-0.00540342910466,0.0498539819984,0.999999961311,0.00010866675534,-0.000252504962851,-4.25451988937e-05,1793244761001748992
+97,1.616666667,BASELINE,765.728374332,745.728374332,714,679,660.271625668,634,878.543251335,787,805.271625668,653,631,652,0.400983162331,-0.00540346087264,0.0498530672061,0.999999961,0.000108244418302,-0.000253884540011,-4.27278134485e-05,1793244761018415616
+98,1.633333333,BASELINE,765.153620825,745.153620825,714,679,660.846379175,634,879.69275835,787,805.846379175,653,631,652,0.400984812413,-0.0054022962316,0.0498543936236,0.999999961604,0.000107950388309,-0.000251607408538,-4.28126682612e-05,1793244761035082240
+99,1.650000000,BASELINE,765,745,714,679,660.564597606,634,879.564597606,787,806,653,631,652,0.400985146598,-0.00540179087469,0.0498546680273,0.999999961672,0.000108828696624,-0.00025097055441,-4.27225681036e-05,1793244761051748864
+100,1.666666667,BASELINE,765,745,714,679.028715632,660,634.028715632,879,787,805.971284368,653,631,652,0.400984974652,-0.00540151264796,0.0498545522805,0.99999996153,0.000110188217173,-0.00025097060882,-4.25792072313e-05,1793244761068415488
+101,1.683333333,BASELINE,765,745,714,679.604588855,660,634.604588855,879,787,805.395411145,653,631,652,0.400984305062,-0.00540097978754,0.0498543146457,0.999999961077,0.000112568413629,-0.000251705551104,-4.26370483536e-05,1793244761085082112
+102,1.700000000,BASELINE,765,745,713.819878698,680,660,634.819878698,879,787.180121302,805.180121302,653,631,652,0.40098442919,-0.00540088835764,0.0498545870811,0.999999960988,0.000113736449949,-0.000251527124163,-4.26911220712e-05,1793244761101748992
+103,1.716666667,BASELINE,765,745,713.245093006,680,660,634.245093006,879,787.754906994,805.754906994,653,631,652,0.400986292433,-0.00540176414771,0.0498559771332,0.9999999617,0.000112248517803,-0.000249347410741,-4.27369410086e-05,1793244761118415616
+104,1.733333333,BASELINE,765,745,713,680,660,634,878.663113868,787.663113868,806,653,631,652,0.400986643523,-0.00540244401968,0.049856101924,0.999999961992,0.000110659867618,-0.000248894597679,-4.26818142434e-05,1793244761135082240
+105,1.750000000,BASELINE,765,745,713,680,660,634,878.075787074,787.075787074,806,653,631,652,0.400985870481,-0.00540297824652,0.0498552861216,0.999999961973,0.000108996343632,-0.000249725559617,-4.25516445941e-05,1793244761151749120
+106,1.766666667,BASELINE,765,745,713.507194374,679.492805626,660.507194374,634.507194374,878.507194374,787,806,653,631,652,0.400986690365,-0.00540281088639,0.0498559917131,0.999999962208,0.000109317363907,-0.000248652993857,-4.24815866147e-05,1793244761168415488
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,714,679,660,635,879,787,806,653,631,653,0.400983125199,-0.00540004593282,0.0498539436283,0.999999961012,0.000111828701107,-0.000252247671566,-4.29113331068e-05,1793244761211556096
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.424658099,714,679.575341901,660,635,879,787,806,653,630.424658099,652.424658099,0.400984967551,-0.00540059427134,0.0498549955787,0.999999961526,0.000110983524461,-0.000250556353024,-4.30345441313e-05,1793244761228222720
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.154361732,714,679.845638268,660,634.845638268,879,787,806,653,630,652,0.400986418776,-0.00540126977992,0.0498558102277,0.999999961942,0.000110299000672,-0.000249208250114,-4.29477694705e-05,1793244761244889344
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.743746866,714,679.256253134,660,634.256253134,879,787,806,653,630,652,0.400986767726,-0.00540230368021,0.0498559561129,0.999999962092,0.000110067229786,-0.000248827399715,-4.22692115883e-05,1793244761261555968
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,746,714,679,660,634,879,787,806,653,630,652,0.400986721045,-0.00540288545477,0.0498560248146,0.999999962262,0.000108819850369,-0.000248707385735,-4.21670418048e-05,1793244761278222592
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,746,714,679,660,634,879,787,806,653,630,652,0.400986370033,-0.00540311944334,0.0498560341449,0.999999962447,0.000106791240601,-0.000248788013385,-4.25082435687e-05,1793244761294888960
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745.515589618,714,679,660,634,879,787,806,653,630,652,0.400984453344,-0.00540259383182,0.0498542832579,0.999999961488,0.000108772765922,-0.000251778547063,-4.2418388093e-05,1793244761311556096
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,878.94124168,787,806,653,630.05875832,652,0.40098330403,-0.00540221370406,0.0498528366641,0.999999960636,0.000110838550869,-0.000254278662518,-4.2242611027e-05,1793244761328223744
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,878.368077925,787,806,653,630.631922075,652,0.40099142148,-0.00540434374921,0.0498569194182,0.999999962691,0.000107114064676,-0.000247748450366,-4.20163249941e-05,1793244761344890624
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,878.21304264,787,806,653,630.78695736,652,0.401005081134,-0.00540549542465,0.0498628363301,0.999999965514,0.000105111749267,-0.000237027754385,-4.17382642204e-05,1793244761361557248
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,878.808443631,787,806,653,630.191556369,652,0.40102868766,-0.00540489117049,0.0498720450968,0.999999969571,0.000106200300862,-0.000218786186745,-4.13672807306e-05,1793244761378223360
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.390429564,634,879,787,806,653,630,652.390429564,0.401075029813,-0.00540591630747,0.0498882837942,0.999999976406,0.000106218929302,-0.00018512375864,-4.04278245732e-05,1793244761394889984
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.966052359,634,879,787,806,653,630,652.966052359,0.401132156203,-0.00540771431673,0.0499078570133,0.999999983252,0.000105730058925,-0.000144146721341,-3.92187235617e-05,1793244761411556608
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.540841834,879.540841834,787,806,653,630,652.459158166,0.401203048925,-0.00541071063244,0.0499266919296,0.999999987331,0.000106135451449,-0.000112589514763,-3.73705242693e-05,1793244761428223232
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,713.880951478,679,661,634.880951478,879.880951478,787,805.880951478,653,630.119048522,652,0.401275826708,-0.00541362107885,0.049943076516,0.999999990012,0.0001061704448,-8.62252689796e-05,-3.56329417782e-05,1793244761444889600
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,713.288961661,679,661,634.288961661,879.288961661,787,805.288961661,653,630.711038339,652,0.401352665791,-0.00541589204809,0.0499499105582,0.99999999089,0.000104511314261,-7.81456763123e-05,-3.44939224586e-05,1793244761461556224
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.704162694,745,713.295837306,679,660.704162694,634,879,787,805,653,630.704162694,652,0.401439121375,-0.00541848618694,0.0499523351957,0.9999999913,0.000102867703122,-7.53673124325e-05,-3.37284846877e-05,1793244761478222848
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.126220813,745,713.873779187,679,660.126220813,634,879,787,805,653,630.126220813,652,0.401534747059,-0.00542138849377,0.049950555112,0.999999991306,0.000101238891077,-7.76440954308e-05,-3.33192869252e-05,1793244761494889728
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,678.550783998,660,634,879,787,805.449216002,653,630,652,0.401646172314,-0.00542543124951,0.049948198634,0.999999991298,9.80718510387e-05,-8.19378033854e-05,-3.27395042945e-05,1793244761511556352
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.02455363,745,714,678.02455363,660,634,879.02455363,787,805.97544637,653,630,652,0.401763325704,-0.00542977944527,0.0499459125648,0.999999991258,9.47148461471e-05,-8.65083178025e-05,-3.20778319243e-05,1793244761528222464
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.613706218,745,714,678.613706218,660,634,879.613706218,787,805.386293782,653,630,652,0.401910679838,-0.00543382350513,0.0499489489469,0.99999999127,9.68730740385e-05,-8.44847692248e-05,-3.06291817594e-05,1793244761544889088
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.199412387,634,879.800587613,787,805.199412387,653,630,652,0.402067860062,-0.00543810474289,0.0499499327683,0.999999991153,9.70489319414e-05,-8.60893817439e-05,-2.93907420792e-05,1793244761561555456
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.778555648,634,879.221444352,787,805.778555648,653,630,652,0.402243751595,-0.00544283762602,0.0499470080021,0.999999990751,9.34498631844e-05,-9.46029172554e-05,-2.85525957048e-05,1793244761578222080
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.645399277,634,879,787.354600723,806,652.645399277,630.354600723,652,0.402448363919,-0.00545020806993,0.0499464613775,0.99999999107,8.93476096951e-05,-9.55804947521e-05,-2.72443169886e-05,1793244761594888960
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.071272172,634,879,787.928727828,806,652.071272172,630.928727828,652,0.402670756742,-0.00545921137667,0.0499473870135,0.999999991842,8.49338440175e-05,-9.18927086632e-05,-2.56449884412e-05,1793244761611555584
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.504090642,714,679.504090642,660,634,879,787.495909358,806,652.504090642,631,652,0.402922184862,-0.00546793101868,0.0499511478619,0.999999992555,8.07723935218e-05,-8.84464492235e-05,-2.33166752745e-05,1793244761628222464
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.918047468,745.918047468,714,680,660,634,879,786.918047468,806,653,630.918047468,652,0.40318389229,-0.00547679547198,0.0499557935573,0.999999993388,7.65487677953e-05,-8.32384991721e-05,-2.08911691089e-05,1793244761644889088
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.325712374,745.325712374,714,680,660,634,879,786.325712374,806,653,630.325712374,652,0.403483987804,-0.00548681217183,0.0499634472619,0.999999995023,7.17152090728e-05,-6.68459269313e-05,-1.85038361822e-05,1793244761661555712
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.26064324,745,714,679.73935676,660,634.26064324,879.26064324,786.26064324,806,653,630.26064324,652,0.403809783531,-0.00549644909742,0.0499729738117,0.999999996471,6.77417110585e-05,-4.70282206717e-05,-1.60583200731e-05,1793244761678222336
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.83969415,745,714,679.16030585,660,634.83969415,879.83969415,786.83969415,806,653,630.83969415,652,0.4041669752,-0.00550562208159,0.049984788271,0.999999997542,6.48188829156e-05,-2.30262942951e-05,-1.35417262153e-05,1793244761694888960
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.584275583,879.584275583,787,805.584275583,653,630.584275583,652,0.404550929212,-0.00551494364496,0.0499915273599,0.999999997911,6.30740483872e-05,-9.35420665744e-06,-1.05671903759e-05,1793244761711555584
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.009401706,879.009401706,787,805.009401706,653,630.009401706,652,0.404945128494,-0.00552432208786,0.0499963234726,0.999999998064,6.17801786572e-05,3.63365853149e-07,-7.4173432195e-06,1793244761728222208
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805.577292165,653,630,652,0.405347998864,-0.00552637509276,0.0499897159076,0.999999997305,7.25430935274e-05,-1.06779378439e-05,-3.60940494875e-06,1793244761744889856
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.162040544,660,634,879,787,805.837959456,653,630,652,0.4057563508,-0.0055217735262,0.049978044376,0.999999995436,8.99670757283e-05,-3.21331803519e-05,-1.01884398176e-06,1793244761761556992
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.741273956,660,634,879,787,805.258726044,653,630,652,0.406178444443,-0.00550035254035,0.0499538232048,0.999999989147,0.000124024667628,-7.95117464507e-05,-1.59073839954e-06,1793244761778223360
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.317943775,714,679.682056225,660.317943775,634,879,787.317943775,805.317943775,653,630.317943775,652,0.406638485704,-0.00548960412096,0.049934806815,0.999999982683,0.000147776338581,-0.000113115607364,-6.09762560598e-07,1793244761794889984
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.892544225,714,679.107455775,660.892544225,634,879,787.892544225,805.892544225,653,630.892544225,652,0.407129159815,-0.0054874710131,0.0499199919262,0.999999977486,0.000163208670175,-0.000135599991741,1.62475093479e-06,1793244761811557120
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.532626728,714,679,660.065253456,634,879,787.532626728,805.532626728,653,631,652,0.407695300887,-0.00549706128842,0.0499281602318,0.999999979693,0.000165078671656,-0.000115431956165,6.1488055508e-06,1793244761828223488
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.043517433,634,879.043517433,787,805.043517433,652.956482567,631,652,0.40828134242,-0.00550859963152,0.0499427169291,0.999999982854,0.000164589385963,-8.41194507191e-05,1.11920707603e-05,1793244761844889344
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.635576373,634,879.635576373,787,805.635576373,652.364423627,631,652,0.408899414508,-0.0055107015051,0.0499711599425,0.999999984138,0.000173685164059,-3.60008975028e-05,1.61414935671e-05,1793244761861556224
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,713.777332227,679.222667773,660,634,879.777332227,787,806,652,630.777332227,652,0.409524802946,-0.00551272247468,0.049992697765,0.999999983003,0.000183163623334,-2.15703836802e-06,2.09853927235e-05,1793244761878222848
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,713.198193448,679.801806552,660,634,879.198193448,787,806,652,630.198193448,652,0.410161904166,-0.00551461392414,0.0500031809983,0.999999980958,0.000193254720606,8.83432104755e-06,2.56603577924e-05,1793244761894889216
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,713.378399948,680,659.621600052,634,879,787,806,652,630.378399948,652,0.41078515677,-0.0055129268898,0.0499874835489,0.999999977961,0.000205928493024,-2.89656043698e-05,2.88458387676e-05,1793244761911555840
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,713.953669047,680,659.046330953,634,879,787,806,652,630.953669047,652,0.411401204372,-0.00550937808698,0.0499581651439,0.999999971078,0.000219945946073,-9.21500441392e-05,3.12563895078e-05,1793244761928222464
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,787,806,652.528487058,631,652,0.412114466902,-0.00550852319787,0.0499464737755,0.999999966902,0.000233444395664,-0.000102796688496,3.36679484517e-05,1793244761944889344
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.893769102,679.893769102,659.212461796,634,879,787,806,652.893769102,630.893769102,652,0.412847536078,-0.00550850420418,0.0499436199903,0.999999967776,0.000232213842635,-9.71479500374e-05,3.29608117063e-05,1793244761961555968
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.302485626,679.302485626,660.395028749,634,879,787,806,652.302485626,630.302485626,652,0.413632161631,-0.00551122450002,0.0499740688938,0.999999985674,0.000163937914293,-3.81065623628e-05,1.80132387975e-05,1793244761978222336
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.28299275,679,660.71700725,634,879,787,806,652.28299275,630.28299275,652,0.41439940254,-0.00551941640066,0.0499824644425,0.999999993157,0.000114204370825,-2.34577201739e-05,9.69694496739e-06,1793244761994889216
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713.862390958,679,660.137609042,634,879,787,806,652.862390958,630.862390958,652,0.415148434939,-0.00553333923832,0.0499677614008,0.999999994917,8.38920385454e-05,-5.53054430574e-05,8.32622421082e-06,1793244762011555840
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,652.561530918,631,651.561530918,0.415926156443,-0.00553423295054,0.0499481903352,0.999999991957,9.2986177946e-05,-8.56423276919e-05,1.02157557116e-05,1793244762028222208
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.013776352,634.013776352,879,787,805.986223648,652,631,651.013776352,0.416714403687,-0.0055310038298,0.0499281188838,0.999999986903,0.000114240505835,-0.000113885707762,1.31371260296e-05,1793244762044889088
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.600026058,634.600026058,879,787,805.399973942,652,631,651.600026058,0.417568709392,-0.00552509422254,0.0499502634024,0.999999988523,0.000130749810829,-7.46896233818e-05,1.67371507318e-05,1793244762061555712
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.185033069,745,714,679,660.814966931,634.814966931,879.370066139,787,805.185033069,652,631,652,0.418423341832,-0.0055216709579,0.0499677395533,0.999999988834,0.000140546209392,-4.68043161699e-05,1.97036298615e-05,1793244762078222336
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.767371716,745,714,679,660.232628284,634.232628284,880.534743431,787,805.767371716,652,631,652,0.419278675788,-0.00552358640307,0.0499751917188,0.999999989601,0.000135928561435,-4.3205669442e-05,2.13097509744e-05,1793244762094888960
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.654550153,745,714,679,660,634,881,787,806,652,630.654550153,652,0.420135889308,-0.00552544138525,0.0499695535928,0.999999989789,0.000133023652855,-4.76310087885e-05,2.14237567818e-05,1793244762111556096
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.079306151,745,714,679,660,634,881,787,806,652,630.079306151,652,0.420994353084,-0.00552725614721,0.0499552077698,0.999999989528,0.000131258063229,-5.73939251066e-05,2.05452034627e-05,1793244762128223488
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.494966529,660,634,880.505033471,787,806,652,630.494966529,652,0.421924964843,-0.00553038635558,0.0499777473275,0.999999991413,0.000128554030863,-1.23451164914e-05,2.22677856588e-05,1793244762144889856
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.928740117,660,634,880,787,806,652,631,652,0.422860679644,-0.00553338326718,0.0500009392765,0.999999991314,0.000125695543188,3.1502797384e-05,2.40787196488e-05,1793244762161555712
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.336539554,660,634,880,787,806,652,631,652,0.423749356813,-0.00553386793373,0.0499857806438,0.99999999218,0.00012280498437,2.49549505731e-06,2.349475759e-05,1793244762178222336
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787,806,652,631,652,0.42465279708,-0.00553562231132,0.0499777782389,0.999999992508,0.000119555293668,-1.13664006827e-05,2.36837857116e-05,1793244762194889216
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787,806,652,631,652,0.425575670892,-0.00553904807443,0.0499791959399,0.999999992968,0.000115832859035,-5.29162855706e-06,2.48903402091e-05,1793244762211556096
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.401955602,745,714,679.401955602,660,634,880,787,805.598044398,652.401955602,631,651.598044398,0.426491351617,-0.00553801153733,0.0499905643838,0.999999992631,0.000118460504999,2.51642968244e-06,2.64358680031e-05,1793244762228222976
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.977011651,745,714,679.977011651,660,634,880,787,805.022988349,652.977011651,631,651.022988349,0.427403934613,-0.00553505332969,0.0500062180722,0.999999991877,0.000123822785988,1.10709197431e-05,2.81273731102e-05,1793244762244889856
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.434099025,745,714,680,659.434099025,634,879.434099025,787,806.13180195,652.434099025,631,651.565900975,0.428273949134,-0.00553419462097,0.0499709751152,0.999999990217,0.000124900260634,-5.65355548563e-05,2.77508171906e-05,1793244762261556480
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.152645607,634,879.152645607,787,806.847354393,652,631,652,0.429165462239,-0.00553434613703,0.0499461572267,0.999999986973,0.000124346886365,-9.9227629563e-05,2.7322668934e-05,1793244762278223104
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.73178843,634,879.73178843,787,806.26821157,652,631,652,0.430121995727,-0.00553707599082,0.0499563889145,0.999999990455,0.000119735379318,-6.3447048078e-05,2.69909785475e-05,1793244762294889472
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.309470169,745.309470169,714,680,660.618940339,634,880,787,806,652,631,652,0.431040071055,-0.00553961135915,0.0499572841226,0.999999991207,0.000116006632225,-5.81671421083e-05,2.72991627137e-05,1793244762311556096
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.885891536,745.885891536,714,680,661.771783073,634,880,787,806,652,631,652,0.431924972047,-0.0055419789628,0.0499501256155,0.999999990078,0.000113039360523,-7.9197340435e-05,2.81593073083e-05,1793244762328222720
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.53970847,714,680,661.53970847,634,880,787,806,652,631,652,0.432806755463,-0.00554115034031,0.0499438640449,0.999999989821,0.000111979774226,-8.40288360883e-05,2.75226183362e-05,1793244762344889344
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.964817664,634,880,787,806,652,631,652,0.433689884312,-0.00553979403063,0.049939863508,0.999999990034,0.000111377523237,-8.25200824868e-05,2.67741187558e-05,1793244762361556224
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.374305301,634,880,787,806,652,631,652,0.434606394654,-0.00554256072024,0.0499680575288,0.999999992465,0.000110561849105,-4.40432671016e-05,3.00922843825e-05,1793244762378223104
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,880,787,806.211862595,652,631,652,0.435485762017,-0.00554265792655,0.0499807954428,0.999999992434,0.000113315013899,-3.51479775548e-05,3.249015874e-05,1793244762394889984
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,880,787,806.790509289,652,631,652,0.436300826273,-0.00553813362837,0.0499667751968,0.999999988973,0.000122246680198,-7.74652769912e-05,3.32947925133e-05,1793244762411556352
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.632630277,745,714,680,660,634,880,787,807,652,631,652,0.437138588211,-0.00553730977221,0.0499615842803,0.999999988658,0.000120859607515,-8.38433263107e-05,3.2348888731e-05,1793244762428222976
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.056783556,745,714,680,660,634,880,787,807,652,631,652,0.437989230706,-0.00553858586358,0.0499614038813,0.999999990645,0.000113616799393,-6.98263690588e-05,3.04095802009e-05,1793244762444889344
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.529189252,787,806.470810748,652,631,651.470810748,0.438809849692,-0.00554376777317,0.049978238819,0.999999993338,0.000104834695482,-3.67898042325e-05,3.131371398e-05,1793244762461555968
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.885351682,787,806.114648318,652,631,651.114648318,0.439616871776,-0.00554871977566,0.0499880422168,0.999999994627,9.71520701189e-05,-1.65884231039e-05,3.21140791476e-05,1793244762478222592
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.306458555,787,806.693541445,652,631,651.693541445,0.44038213571,-0.00555101062647,0.0499618354256,0.999999993425,9.46034314452e-05,-5.67857424519e-05,3.12346735126e-05,1793244762494889472
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,807,652,631,652,0.441129122924,-0.00555034483403,0.0499441692883,0.999999991277,9.64832407626e-05,-8.48480395878e-05,3.06293229229e-05,1793244762511556096
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,807,652,631,652,0.441855550812,-0.00554635314746,0.049936110436,0.999999989274,0.000103344560544,-9.92597872596e-05,3.03322537966e-05,1793244762528222976
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.421180703,714,680.421180703,660,633.578819297,880.421180703,786.578819297,806.578819297,652,631,652,0.442564298784,-0.00554665445363,0.0499327266686,0.999999988756,0.000105784857838,-0.000101632660295,3.11173403625e-05,1793244762544889856
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.999632257,714,680.999632257,659.999632257,633,881.000367743,786.000367743,806.000367743,652,630.999632257,652,0.44326633944,-0.00554856425145,0.0499310717298,0.999999988846,0.0001065681357,-9.95379759934e-05,3.23074083385e-05,1793244762561556736
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.411036828,714,680.411036828,659.411036828,633,881.588963172,786.588963172,806.588963172,652,630.411036828,652,0.443848434954,-0.00554732557926,0.0498894789247,0.999999978109,0.000109701163567,-0.000175291595161,3.1937616081e-05,1793244762578223104
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.17479395,745,713.82520605,680,659,633,881.82520605,786.82520605,807,652,630.17479395,652,0.444436208009,-0.00554662522209,0.0498473804075,0.999999962889,0.000112584789605,-0.000246113019167,3.12399937654e-05,1793244762594889728
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.754224851,745,713.245775149,680,659,633,881.245775149,786.245775149,807,652,630.754224851,652,0.445037124328,-0.00554717102991,0.04980411119,0.999999946286,0.000114891067778,-0.000305516739498,2.97834657896e-05,1793244762611556352
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.66917606,745,713.33082394,680.33082394,659,632.66917606,881,786.33082394,807,652,631,652,0.445639437863,-0.0055482748769,0.0497899105698,0.999999942858,0.000116847676151,-0.000315801959804,2.99928600835e-05,1793244762628222720
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.094662953,745,713.905337047,680.905337047,659,632.094662953,881,786.905337047,807,652,631,652,0.446242780569,-0.00554978978267,0.0497971222543,0.999999950457,0.000118546713272,-0.000289905858666,3.14293942549e-05,1793244762644889600
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.523717751,659,632,881,786.523717751,807,652,631,652,0.446778791226,-0.00554893817178,0.0497919588824,0.999999948048,0.000122063900078,-0.000296592434554,3.22168847508e-05,1793244762661556480
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,631.951288755,881,786,807.048711245,652,631,652,0.447295533485,-0.00554755193172,0.0497818509639,0.999999942469,0.00012598636963,-0.000313238932507,3.27160640097e-05,1793244762678223360
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,631.354233204,881,786,807.645766796,652,631,652,0.44774489797,-0.0055454027788,0.0497435639322,0.999999922681,0.000130433477163,-0.000369646857989,3.14110728367e-05,1793244762694889728
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.235207535,659,631,881,786,807.764792465,652,630.764792465,652,0.44819636532,-0.00554610842057,0.0497154967908,0.999999906469,0.000132022606734,-0.000410685445283,3.11381678293e-05,1793244762711556096
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.813539612,659,631,881,786,807.186460388,652,630.186460388,652,0.448650900324,-0.00555097868298,0.0497023385936,0.999999898948,0.00012944247208,-0.00042930299079,3.23708869698e-05,1793244762728222720
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.390074066,714,680.609925934,659,631,880.609925934,786,807,652,630,652,0.449083097813,-0.00555345270463,0.0497067253337,0.999999901742,0.000127982321331,-0.00042305660073,3.40567918055e-05,1793244762744889344
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.965753227,714,680.034246773,659,631,880.034246773,786,807,652,630,652,0.449504666702,-0.0055547865471,0.0497194603071,0.999999909278,0.000127055081225,-0.000404979451096,3.59583316226e-05,1793244762761556224
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.138343739,714,680,658,630.861656261,880.861656261,785.138343739,807,652,630,651.138343739,0.450259292535,-0.00554996288655,0.049741756178,0.99999992854,2.28018682105e-05,-0.000377355693522,1.61841157252e-06,1793244762794889472
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.717528137,714,680,658,630.282471863,880.282471863,785.717528137,807,652,630,651.717528137,0.450585606861,-0.00555741016475,0.0497374938952,0.999999924109,2.23842337632e-05,-0.000388914107602,5.24118012885e-06,1793244762811556352
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.704244053,714.295755947,680.295755947,658,630,880.295755947,785.704244053,807,652,630,652,0.450889499345,-0.00556183403229,0.049731084667,0.999999917903,2.37121786078e-05,-0.000404441844813,7.64405190631e-06,1793244762828222976
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.126926956,714.873073044,680.873073044,658,630,880.873073044,785.126926956,807,652,630,652,0.451172046104,-0.00556337959722,0.0497226315361,0.999999909823,2.67019237487e-05,-0.000423748396862,8.88557558894e-06,1793244762844889600
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.553067912,681,658,630,880.553067912,785.446932088,807,652,629.553067912,651.553067912,0.451408418426,-0.00556415353965,0.0497081090397,0.999999896898,2.99860626691e-05,-0.00045299245398,1.00913151852e-05,1793244762861556224
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880.020465648,785.979534352,807,652,629,651,0.451630898466,-0.0055645024466,0.0496920606453,0.99999988196,3.3489899915e-05,-0.000484593785215,1.12578923765e-05,1793244762878222592
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880.612113935,785.387886065,807,652,629,651,0.451828829373,-0.00555905792657,0.0496811627407,0.999999872181,4.08098825304e-05,-0.000503823780533,1.16129256251e-05,1793244762894889216
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,629.801956784,880.801956784,785,807,652,629.198043216,651.198043216,0.452024714825,-0.00555458365216,0.0496748595705,0.999999866778,4.70222028805e-05,-0.000513896979061,1.19880644957e-05,1793244762911556096
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,629.226914392,880.226914392,785,807,652,629.773085608,651.773085608,0.452216706486,-0.00555195635804,0.0496773030333,0.999999870325,5.112595354e-05,-0.000506539107268,1.24014768124e-05,1793244762928222720
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.35129424,714,681,657.64870576,629,880.35129424,785,807,652,629.64870576,652,0.452392235662,-0.00555285836395,0.0496809833829,0.9999998745,5.35954191931e-05,-0.000497936841434,1.36449367897e-05,1793244762944889344
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.931566726,714,681,657.068433274,629,880.931566726,785,807,652,629.068433274,652,0.452557034393,-0.00555606081416,0.049685469952,0.999999879041,5.49996366048e-05,-0.000488523462309,1.5429432883e-05,1793244762961555968
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.482691959,714.517308041,681,657,629,881,785,807,652,629.517308041,652,0.452679820915,-0.0055577696419,0.0496838146067,0.999999878582,5.56590963348e-05,-0.000489367233771,1.60326613883e-05,1793244762978222848
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.102540444,714.897459556,681,657,629,880.897459556,785,807,652,629.897459556,652,0.452792304228,-0.00555908822168,0.0496807394043,0.999999876736,5.6082011784e-05,-0.0004930650228,1.6417450686e-05,1793244762994889472
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.68200525,714.31799475,681,657,629,880.31799475,785,807,652,629.31799475,652,0.452882991909,-0.00555952053976,0.0496748796954,0.999999871467,5.58678699331e-05,-0.000503658647061,1.65208360962e-05,1793244763011556096
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714.260960569,681,657.260960569,629,880,785,807,652,629,652,0.45296516227,-0.00556004238143,0.049670338667,0.99999986741,5.50822452e-05,-0.000511732125606,1.66044189112e-05,1793244763028222720
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714.839296223,681,657.839296223,629,880,785,807,652,629,652,0.453036974029,-0.00556067309987,0.0496674013922,0.999999864914,5.36015942987e-05,-0.000516740652153,1.66639181966e-05,1793244763044889088
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.585393624,745.585393624,714.585393624,681,658,628.585393624,880,785,807.414606376,652,629,652,0.453096872096,-0.00556008571046,0.0496650864875,0.999999863885,5.42245722455e-05,-0.00051867044352,1.64811413405e-05,1793244763061555712
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.011247691,745.011247691,714.011247691,681,658,628.011247691,880,785,807.988752309,652,629,652,0.453152185801,-0.00555902959599,0.0496630110693,0.999999863424,5.56570216584e-05,-0.000519415544721,1.62051371939e-05,1793244763078222336
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.577757408,745,714,681,657.422242592,628,880.577757408,785,807.422242592,652,629,651.422242592,0.453187363165,-0.00555844679844,0.0496606511516,0.999999859886,5.7822934322e-05,-0.000525947497752,1.62484593253e-05,1793244763094889216
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.164173792,680.835826208,657,628,881.164173792,785,807,652,629.164173792,651.164173792,0.453219589882,-0.00555779560403,0.0496584468335,0.99999985713,5.93094288127e-05,-0.000531000029297,1.6190428855e-05,1793244763111556096
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.743296667,680.256703333,657,628,881.743296667,785,807,652,629.743296667,651.743296667,0.453245375798,-0.00555694763243,0.0496566501623,0.999999856608,5.90416515482e-05,-0.000532021065362,1.58601025802e-05,1793244763128222976
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.320532764,715,680.320532764,657,628,881.679467236,785,807,652,629.679467236,652,0.4532656529,-0.0055568090947,0.0496553605424,0.999999856089,5.88046253422e-05,-0.000533019008664,1.59350730423e-05,1793244763144889600
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.896266712,715,680.896266712,657,628,881.103733288,785,807,652,629.103733288,652,0.453281544009,-0.00555723539261,0.0496544746254,0.999999855573,5.85920824282e-05,-0.000533998566124,1.63327318751e-05,1793244763161556480
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.470295101,745.529704899,715,681,657,628,880.529704899,785,807,652,629,652,0.453292234153,-0.00555655279211,0.0496542145111,0.999999854904,5.88505719899e-05,-0.000535227804647,1.61106405972e-05,1793244763178222848
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.954618428,745.045381572,715,681.045381572,657,628.045381572,880.045381572,785,807,652,629,652,0.45330132718,-0.00555556882329,0.0496540390851,0.999999854192,5.92450280242e-05,-0.000536523588441,1.57545006126e-05,1793244763194889472
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.362260786,745.637739214,715,681.637739214,657,628.637739214,880.637739214,785,807,652,629,652,0.453304947237,-0.00555388986748,0.0496532267099,0.999999853379,6.0030549833e-05,-0.000537960053349,1.54243463694e-05,1793244763211556096
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.77528315,714.77528315,681.77528315,657,628.77528315,880.77528315,785,807,652,629.22471685,652,0.453307885896,-0.00555239714525,0.0496522695276,0.999999852719,6.16214661066e-05,-0.000539008399661,1.52997174865e-05,1793244763228222720
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.954286751,714,681,657.954286751,628,880,785,807,652,629.045713249,651.045713249,0.45330910902,-0.00555040989001,0.0496482230736,0.999999850048,6.32583062872e-05,-0.000543768769609,1.47752169738e-05,1793244763278223360
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.458930842,714.541069158,681,657.458930842,628,881.082138316,785,807,652,629,651.541069158,0.453308789625,-0.00555019800446,0.0496472349667,0.999999849106,6.29412164036e-05,-0.000545537297155,1.46513264262e-05,1793244763294889472
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+234,3.900000000,POSE1_TO_POSE2_PRESS,764.29031427,745.70968573,715,681,657.70968573,628,881.29031427,785,807,652,629.70968573,652,0.453312615698,-0.00554823028387,0.0496482936591,0.999999850109,6.52778729606e-05,-0.000543414319371,1.48886587997e-05,1793244763328222464
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.287890405,745.712109595,715,681,657.712109595,628.287890405,880.712109595,785.287890405,807,652.287890405,629.712109595,652,0.453313442385,-0.00554705158304,0.0496483566924,0.999999850203,6.70562993858e-05,-0.000543024390172,1.48803660903e-05,1793244763344889344
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.862251017,745.137748983,715,681,657.137748983,628.862251017,880.137748983,785.862251017,807,652.862251017,629.137748983,652,0.45331179037,-0.00554617183045,0.0496470159264,0.999999848996,6.85506313231e-05,-0.000545064899886,1.46105994615e-05,1793244763361555968
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714.012317884,681.012317884,657.987682116,628.012317884,881,785,807,652,629.987682116,652,0.45331106329,-0.00554779541782,0.0496459135987,0.999999847671,6.83858118658e-05,-0.000547503710692,1.48673561484e-05,1793244763394889472
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714.605750641,681.605750641,657.394249359,628.605750641,881,785,807,652,629.394249359,652,0.453311575706,-0.00554655237058,0.0496456962257,0.9999998478,6.60195188055e-05,-0.000547575301179,1.42454532071e-05,1793244763411556096
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.229185506,745.229185506,715,681.229185506,657,628.229185506,881,785,807,652,629.770814494,652,0.453311617815,-0.00554639427179,0.0496453063909,0.999999847715,6.56083862327e-05,-0.000547777888703,1.43125393329e-05,1793244763444888832
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.346178571,745,714.653821429,681,657,628,880.653821429,785,807,652,629.653821429,652,0.453311676611,-0.00554589198471,0.049645165158,0.999999847586,6.63205535318e-05,-0.000547931640302,1.41832543033e-05,1793244763461555712
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+251,4.183333333,HOLD_POSE2,765,745,714.933358391,680.933358391,657.066641609,628,881,785,807,652,629.066641609,652,0.453315935442,-0.00554530227054,0.0496461995548,0.999999848566,6.85192667413e-05,-0.000545850922798,1.47961273845e-05,1793244763625603584
+252,4.200000000,HOLD_POSE2,765,745,714.355033373,680.355033373,657.644966627,628,881,785,807,652,629.644966627,652,0.453315666104,-0.00554437254516,0.0496459968762,0.999999847883,6.98440701618e-05,-0.000546942157567,1.45151714541e-05,1793244763642270208
+253,4.216666667,HOLD_POSE2,765,745,714,680.221669773,657.778330227,628,881,785,807,652,629.778330227,652,0.453314831408,-0.00554390927786,0.0496456735755,0.999999847201,7.02841099408e-05,-0.000548134453868,1.43920240807e-05,1793244763658936832
+254,4.233333333,HOLD_POSE2,765,745,714,680.795794089,657.204205911,628,881,785,807,652,629.204205911,652,0.453313097795,-0.00554418767818,0.0496451584859,0.999999846524,6.93173769837e-05,-0.000549487437725,1.45197920577e-05,1793244763675603712
+255,4.250000000,HOLD_POSE2,765,745,714,681,657,628,880.620486404,785,807.379513596,652,629,652,0.453313324784,-0.0055428041683,0.0496451708413,0.999999846602,6.98370931718e-05,-0.000549290118581,1.41075196739e-05,1793244763692270592
+256,4.266666667,HOLD_POSE2,765,745,714,681,657,628,880.031470014,785,807.968529986,652,629,652,0.453314634083,-0.00554050323458,0.049645474362,0.999999847095,7.11773734162e-05,-0.000548236986187,1.33971289577e-05,1793244763708937216
+257,4.283333333,HOLD_POSE2,765,745,714.548551555,681,657,628,880,785,807.451448445,652,629,652,0.453312778334,-0.00554302795993,0.0496438874523,0.99999984604,6.78572272891e-05,-0.000550573597665,1.35626582418e-05,1793244763725603840
+258,4.300000000,HOLD_POSE2,765,745.127361774,715,681,657,628,880.127361774,785,807,652,629.127361774,652,0.453311401825,-0.00554494884758,0.0496427450806,0.999999845269,6.54272380514e-05,-0.000552260916748,1.37637891489e-05,1793244763742270464
+259,4.316666667,HOLD_POSE2,765,745.70369169,715,681,657,628,880.70369169,785,807,652,629.70369169,652,0.453312344459,-0.00554378095141,0.0496435459104,0.999999845862,6.70624711241e-05,-0.000550984924919,1.39161371211e-05,1793244763758937088
+260,4.333333333,HOLD_POSE2,765,745.720924622,715,681,657,628,881,785,807,652,629.720924622,652,0.453314024169,-0.00554290533716,0.0496448137138,0.999999846779,6.86173962682e-05,-0.000549124339206,1.3987831316e-05,1793244763775603456
+261,4.350000000,HOLD_POSE2,765,745.146542231,715,681,657,628,881,785,807,652,629.146542231,652,0.453316483825,-0.00554233900464,0.0496465756509,0.999999848036,7.00873425006e-05,-0.000546645158426,1.39741807244e-05,1793244763792270336
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,628,881,786,807,652,629,652,0.453313953795,-0.00554396635616,0.049643259923,0.999999846266,6.64954915579e-05,-0.000550319003454,1.39977234329e-05,1793244763824766208
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.420631661,681,657,628,881,785.420631661,807,652,629,652,0.45331444711,-0.00554415870813,0.0496442292978,0.99999984671,6.62188852975e-05,-0.000549540113854,1.41741572293e-05,1793244763841432832
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.157489129,681,657,628,881,785.157489129,807,652,629,652,0.453314806791,-0.00554375745011,0.0496448984484,0.9999998469,6.66550584127e-05,-0.00054914188536,1.41417140202e-05,1793244763858099456
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.732304201,681,657,628,881,785.732304201,807,652,629,652,0.453314812356,-0.00554178320197,0.0496447720439,0.999999846415,6.89800051617e-05,-0.000549752359674,1.35557736426e-05,1793244763874766080
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.314010507,714.685989493,680.685989493,657,628,881,785.685989493,807,652,629,651.685989493,0.453315065783,-0.00554144950343,0.0496445310054,0.999999846423,6.97769237068e-05,-0.00054963836263,1.35047640331e-05,1793244763891432960
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.901723419,714.098276581,680.098276581,657,628,881,785.098276581,807,652,629,651.098276581,0.453315535256,-0.00554254576472,0.049644190048,0.999999846864,6.92419599533e-05,-0.000548892891294,1.39200185922e-05,1793244763908099328
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.517809772,714.482190228,680,657.482190228,628,880.517809772,785,807,652,629,651.482190228,0.453315273575,-0.00554232357648,0.0496440343462,0.999999846696,6.86675306023e-05,-0.000549275254908,1.37645548193e-05,1793244763924766208
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.06113668,715,680.06113668,657.93886332,628,880.06113668,785,807,652,629,652,0.453314317004,-0.00554181400315,0.0496437637819,0.999999846238,6.83217287187e-05,-0.000550158526672,1.35071451353e-05,1793244763941432832
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.639530056,715,680.639530056,657.360469944,628,880.639530056,785,807,652,629,652,0.453308723338,-0.00554111282587,0.0496422066804,0.999999844357,6.99773128172e-05,-0.000553363776324,1.33567773924e-05,1793244763958099456
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.783661794,715,680.783661794,657,627.783661794,881,785,806.783661794,652,629,652,0.453297067772,-0.00554114984284,0.0496369214437,0.999999839527,7.02991361343e-05,-0.000561987411234,1.31711773588e-05,1793244763974766080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.209475846,715,680.209475846,657,627.209475846,881,785,806.209475846,652,629,652,0.453275385142,-0.00554240791629,0.049625469452,0.999999829623,6.84147688185e-05,-0.000579573664801,1.29272991633e-05,1793244763991432960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.373843333,714.626156667,680.373843333,657,627.373843333,880.626156667,785,806.373843333,652,629,652,0.453238843494,-0.0055412484418,0.0496097539137,0.999999813925,6.7740343032e-05,-0.000606150640131,1.19416922545e-05,1793244764008099584
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.962408353,714.037591647,680.962408353,657,627.962408353,880.037591647,785,806.962408353,652,629,652,0.453193767376,-0.00553870041792,0.0495915895518,0.999999794196,6.77608623713e-05,-0.000637891552429,1.0530063966e-05,1793244764024766208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.457568656,714,681,657.542431344,628,880.542431344,784.457568656,807,652,629,651.457568656,0.453126516877,-0.0055368055706,0.0495698573557,0.999999772568,6.91389908472e-05,-0.000670818195484,9.35215526195e-06,1793244764041432832
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.878870255,745,714.121129745,681,657.878870255,628,881,784.121129745,807,652,629,651.121129745,0.453056084165,-0.00553465034629,0.0495507410471,0.999999753025,7.12498719055e-05,-0.000699146176462,8.23778908868e-06,1793244764058099456
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.302956741,745,714.697043259,681,657.302956741,628,881,784.697043259,807,652,629,651.697043259,0.452979383993,-0.00553135021231,0.0495423600717,0.999999745121,7.57641181239e-05,-0.000709904671644,7.30212406849e-06,1793244764074766336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.272028506,745,715,681,657.272028506,628,881,785,807,652,629,652,0.452898414893,-0.00552719896713,0.0495385959792,0.999999742206,7.89116358273e-05,-0.000713666858208,6.30072704257e-06,1793244764091432960
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.845983427,745,715,681,657.845983427,628,881,785,807,652,629,652,0.452812707681,-0.00552210306763,0.0495399561989,0.999999744931,8.05422113546e-05,-0.00070966379041,5.22637364262e-06,1793244764108099584
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,657.567488078,628,880.567488078,785,807,652,629,652,0.452710979595,-0.00551893507441,0.0495437206763,0.999999747741,8.23320949599e-05,-0.000705488037305,5.13154502589e-06,1793244764124766208
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,657.023193499,628,880,785,807,652.023193499,629,652,0.452601842056,-0.00551640619102,0.0495482019767,0.999999750339,8.42751073216e-05,-0.000701562523339,5.38158548454e-06,1793244764141432832
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,657.602876743,628,880,785,807,652.602876743,629,652,0.452455907349,-0.00551224650223,0.049548725277,0.999999747445,8.84903132415e-05,-0.000705160679339,5.28656811108e-06,1793244764158099456
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.819191039,681,658,628,880,785,807,652.819191039,629,652,0.452300870327,-0.00550701936609,0.0495498355903,0.999999745573,9.29576131166e-05,-0.000707240431362,4.80066431198e-06,1793244764174766336
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.245067909,681,658,628,880,785,807,652.245067909,629,652,0.452126033038,-0.0054994702097,0.0495522228342,0.999999745964,9.79732930328e-05,-0.000706017195114,3.46446434197e-06,1793244764191433216
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.336722994,714.336722994,681,657.663277006,628.336722994,880,785,807,652,629.336722994,651.663277006,0.45193519221,-0.00549268493643,0.0495544430322,0.999999746114,0.000101742986288,-0.000705274639705,2.70167445637e-06,1793244764208099840
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.924224628,714.924224628,681,657.075775372,628.924224628,880,785,807,652,629.924224628,651.075775372,0.451732432529,-0.00548646857382,0.0495565388209,0.999999746093,0.000104584716,-0.000704890077206,2.36593872526e-06,1793244764224766208
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.49248867,657.50751133,629,880.50751133,785,807,652,630,651.50751133,0.451490493899,-0.00547977625491,0.0495536050272,0.999999741695,0.000108600918874,-0.000710501976243,1.41087691849e-06,1793244764241432832
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714.91110744,680.08889256,658,629,881,785,807,652,629.91110744,652,0.451239375153,-0.00547218262163,0.0495510602416,0.999999738567,0.000113701262776,-0.000714099687863,1.82489506639e-07,1793244764258099456
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714.336724045,680.663275955,658,629,881,785,807,652,629.336724045,652,0.450969804048,-0.00546005133792,0.0495547076378,0.999999746043,0.000123772857738,-0.000701847278714,-2.03780837251e-06,1793244764274766336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.762295668,714.237704332,681,658,629,881,785,807,652,629.237704332,652,0.450686814452,-0.00544900506811,0.049563539469,0.999999759384,0.000131810837651,-0.000681059324582,-4.06936637225e-06,1793244764291433216
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.187803593,714.812196407,681,658,629,881,785,807,652,629.812196407,652,0.450384813092,-0.00543949608437,0.0495797167876,0.999999780536,0.000136967520556,-0.000648177914657,-5.83351102912e-06,1793244764308099584
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,629,880.601303859,785.398696141,807,652,630,652,0.450054104348,-0.00543173018787,0.0495896600348,0.999999792145,0.000140560277482,-0.000629205866414,-7.2836721097e-06,1793244764324766208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,629,880.008972365,785.991027635,807,652,630,652,0.449709453256,-0.00542481085944,0.0495965755708,0.999999799344,0.000143393480011,-0.000616989199839,-8.58134026551e-06,1793244764341433088
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.567850518,714.432149482,681,658,629.567850518,880,785.432149482,807,652,630,651.432149482,0.449310121577,-0.005422263284,0.0496001444355,0.999999803467,0.000139392295176,-0.000611166095967,-1.05970422456e-05,1793244764358100224
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.856133581,714,681,658,630,880.143866419,785,807,652,630,651.143866419,0.448898251886,-0.0054206536039,0.049602610333,0.999999806508,0.000134699346252,-0.00060719008082,-1.26223662514e-05,1793244764374767360
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.281818589,714,681,658,630,880.718181411,785,807,652,630,651.718181411,0.448451384836,-0.00542164892709,0.0496019301589,0.999999806565,0.000128251147229,-0.000608446337027,-1.46434361441e-05,1793244764391433472
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.300533866,714.300533866,681,658,630,880.699466134,785.300533866,807,652,630,651.699466134,0.447979204387,-0.00542242409959,0.0495982125893,0.999999805937,0.000120496298987,-0.000610990097391,-1.72610768826e-05,1793244764408100352
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.890630441,714.890630441,681,658,630,880.109369559,785.890630441,807,652,630,651.109369559,0.447482634567,-0.00542298715825,0.0495915685061,0.999999804603,0.000111482500727,-0.000614774360968,-2.04535105498e-05,1793244764424767488
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.528107825,715,681,658,630,880.471892175,786,806.528107825,652,630.471892175,651,0.446955631751,-0.00541807891262,0.04958784434,0.999999800958,0.000108937368049,-0.000621016539722,-2.3556525809e-05,1793244764441433856
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.949303506,681,658.050696494,630.101392988,881,786,806.050696494,652,630.949303506,651.050696494,0.446420491207,-0.00541211912039,0.0495861947351,0.999999798342,0.00010760905936,-0.000625322802118,-2.65906439902e-05,1793244764458100224
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.375118744,681,658.624881256,631.249762511,881,786,806.624881256,652,630.375118744,651.624881256,0.445872815056,-0.00540815452538,0.0495991073153,0.999999811878,0.000103649151983,-0.000603864712426,-2.91234032061e-05,1793244764474767360
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.799713447,632,880.799713447,786,807,652,630,652,0.445315132692,-0.00540523609635,0.0496234932163,0.999999832633,9.88057267428e-05,-0.000569236302579,-3.06948638934e-05,1793244764491434240
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.222008213,632,880.222008213,786,807,652,630,652,0.444738594715,-0.00540428905594,0.0496694993675,0.999999865334,9.22974062522e-05,-0.000509789827308,-3.04548596743e-05,1793244764508100352
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.363151923,680.636848077,658.726303847,632,880.363151923,786,807,652,630.363151923,652,0.44411655136,-0.00540359501739,0.0496971599108,0.999999883486,8.52083281766e-05,-0.000474111362609,-3.14020595196e-05,1793244764524766720
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.952965014,680.047034986,659.905930028,632,880.952965014,786,807,652,630.952965014,652,0.443466105858,-0.00540305888993,0.0497133700465,0.999999893704,7.77567707723e-05,-0.000453267697584,-3.30902524795e-05,1793244764541433088
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.532245546,745,714.467754454,679.467754454,659.467754454,632,881,786,807,652,630.467754454,652,0.44277757158,-0.00539773448558,0.0497093297628,0.99999989309,7.36141802406e-05,-0.000454991605504,-3.72006211053e-05,1793244764558099968
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.890031456,745,714,679.219937088,659,632.109968544,880.890031456,786.109968544,807,652,630.109968544,652,0.442091781191,-0.00539348544734,0.0497129536956,0.999999898567,6.80600659931e-05,-0.000443355742408,-4.0863459001e-05,1793244764574766848
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.315035407,745,714,680.369929186,659,632.684964593,880.315035407,786.684964593,807,652,630.684964593,652,0.441431551607,-0.00539553848615,0.0497564082136,0.99999993027,5.53244424535e-05,-0.000366955209519,-4.1746213739e-05,1793244764591433728
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.265823653,633,880.265823653,787,807,652,631,652,0.440737790383,-0.00539597274167,0.0497975948063,0.999999953742,4.56741296736e-05,-0.000297630068782,-4.29638379047e-05,1793244764608100352
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.853787928,633,880.853787928,787,807,652,631,652,0.440003393474,-0.00539444526138,0.0498360330006,0.99999997016,3.97627750819e-05,-0.00023687929233,-4.45872766312e-05,1793244764624766464
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.434893105,745,714.434893105,680.565106895,660,633,881,787.434893105,807,652,631,652,0.439190570326,-0.00539378247808,0.0498212767499,0.999999963435,3.06705200207e-05,-0.000264329336757,-4.81547919954e-05,1793244764641433088
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.986284199,680.013715801,660,633,881,787.986284199,806.986284199,652,631,652,0.438351565623,-0.0053933746691,0.0497893887517,0.999999947131,2.05049415134e-05,-0.00032027628046,-5.23525551444e-05,1793244764658099712
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,714.407963983,680.592036017,660,633,881,787.407963983,806.407963983,652,631,652,0.437503343134,-0.00539168150053,0.0497770398946,0.999999937983,9.49537119136e-06,-0.000347573143352,-5.60066821979e-05,1793244764674766592
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.830779773,745,714,680.830779773,660,633,881,787,806,652,631,652,0.436659720404,-0.00538962813794,0.0497753985678,0.999999934967,-5.66901819508e-08,-0.00035576194026,-5.91596364183e-05,1793244764691433472
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.325763324,745.325763324,714,680,659.674236676,633,881,787,806.325763324,652,631,651.674236676,0.43495508734,-0.00538277198575,0.0497961540962,0.999999944919,-1.25448234057e-05,-0.00032531062177,-6.46293963899e-05,1793244764724766976
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.913978292,745.913978292,714,680,659.086021708,633,881,787,806.913978292,652,631,651.086021708,0.43405130411,-0.00537800657852,0.0497709581392,0.999999929534,-1.92652022436e-05,-0.000368434423068,-6.94066267932e-05,1793244764741433600
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,634,880,787,806.073560855,652,631,652,0.432323751804,-0.00538102771332,0.0498002944389,0.999999945057,-5.39049904428e-06,-0.000325161079688,-6.42458896568e-05,1793244764774766592
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,634,880,787,806.648247055,652,631,652,0.431433660271,-0.00537737708785,0.0498091113853,0.999999948358,7.9181603837e-05,-0.000308643895984,-4.18741256086e-05,1793244764791433216
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.77640142,745,714,680,660,634,880,787,806.77640142,652,630.77640142,652,0.430523136311,-0.00537061278645,0.0498011022961,0.999999940051,0.000128570470697,-0.00031999055886,-3.12082332321e-05,1793244764808099584
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.133902427,659.866097573,633.133902427,880,786.133902427,807,652,631,652,0.425860797968,-0.00536162797034,0.0497657735395,0.99999992041,9.03317649703e-05,-0.00038571005451,-4.74098911622e-05,1793244764891433984
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.867423259,633.710858914,879.710858914,787,806.710858914,652,631,652,0.424155845863,-0.00536584794848,0.0498129401792,0.999999959305,8.31537127937e-05,-0.000268532731639,-4.86419907384e-05,1793244764924766720
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.630553954,633.123148682,879.123148682,787,806.123148682,652,631,652,0.423295110899,-0.00536452990264,0.0498398096475,0.999999968826,8.29500830838e-05,-0.000230575067567,-4.79905156417e-05,1793244764941433344
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.626939795,633.457686735,879.457686735,787,806,652,631,652,0.422354730095,-0.00536080555519,0.049823060947,0.999999959832,8.66828533064e-05,-0.000265347155917,-4.91297169357e-05,1793244764958099712
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.036315934,745,714,680,659,634,880,787,806,652.036315934,631,652,0.421398895081,-0.00535684602193,0.0497967050897,0.999999944613,9.10961514593e-05,-0.000316086648139,-5.06403005452e-05,1793244764974766592
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.816138243,745,714,680,659.367723514,634,879.816138243,787,805.816138243,653,630.816138243,652,0.419648896672,-0.00535932555337,0.0497996591633,0.999999941691,9.05640181052e-05,-0.000325365902357,-5.05313424933e-05,1793244765008100096
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.238050953,745,714,680,660.523898093,634,879.238050953,787,805.238050953,653,630.238050953,652,0.418759169131,-0.00535659237951,0.0497955193113,0.999999934796,9.39153630756e-05,-0.000345050454698,-5.02728013151e-05,1793244765024766720
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.304882417,634,879,787,805.347558792,652.652441208,630.347558792,652,0.417908652437,-0.00535521820776,0.0497849190076,0.999999928234,9.5436224774e-05,-0.000363033246698,-5.12959171581e-05,1793244765041433344
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.123130431,634,879,787,805.938434784,652.061565216,630.938434784,652,0.417085586328,-0.0053547954395,0.0497697959039,0.999999921874,9.56756107964e-05,-0.000379824677732,-5.32162889804e-05,1793244765058100224
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.517687455,714,680,660.03537491,634,879,787,806,652.517687455,631,652,0.416289180181,-0.00535747878663,0.0497917570548,0.999999937587,9.32975631068e-05,-0.000336711141195,-5.24098582227e-05,1793244765074766592
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.0951704,745.9048296,714,679.9048296,660.9048296,634,879,787,806,652.9048296,631,652,0.41549761537,-0.00535935535229,0.0498131433493,0.99999995056,9.20302911669e-05,-0.000296226696027,-5.15681977242e-05,1793244765091433216
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.755184405,745,714,679,659.755184405,634,879,787,806,652.244815595,630.755184405,652,0.413933994605,-0.00535405730126,0.0497973541703,0.999999940414,0.000100478887893,-0.000325983228484,-5.30207552031e-05,1793244765124766464
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.406179596,659,634,879,787,806,653,630.406179596,652,0.412441067222,-0.0053584344304,0.0497780422334,0.999999929265,9.8652745673e-05,-0.000358910854022,-5.40340614194e-05,1793244765158099712
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.00205345,634,879,787,806,652.99794655,630.99794655,652,0.411756035646,-0.00536024397267,0.0497978198492,0.999999939491,9.95270128494e-05,-0.000329081451897,-5.30794629659e-05,1793244765174766592
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.577442882,634,879,787,806,652.422557118,630.422557118,652,0.411065202651,-0.0053622235376,0.0498133358809,0.999999946293,9.67484371113e-05,-0.000308839851038,-5.16822581604e-05,1793244765191433472
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.152583765,745,714,679.847416235,659.69483247,634,879,787,805.847416235,652,630,652,0.41038056245,-0.00536276242278,0.049816934004,0.999999946574,9.67686435304e-05,-0.000308015784787,-5.11363953735e-05,1793244765208100096
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.727037579,745,714,679.272962421,658.545924841,634,879,787,805.272962421,652,630,652,0.409713044192,-0.00535931805605,0.0497875809925,0.999999928019,0.000104527040567,-0.000360878134944,-5.29443586625e-05,1793244765224766464
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.380316906,745,714,679,658.619683094,634,879,787,805.309841547,652,630,652,0.40910664032,-0.00536026751128,0.0497827371729,0.999999925993,0.000106969952389,-0.000365709103519,-5.31854642807e-05,1793244765241433344
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.199589022,745,714,679,659.800410978,634,879,787,805.900205489,652,630,652,0.408555567848,-0.00536519501766,0.0498000833334,0.999999939695,0.000104600363175,-0.000327053718316,-5.20079780641e-05,1793244765258099968
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879,787,805.364890935,653,630.364890935,652,0.406905306374,-0.00536424291087,0.0498119381151,0.999999940054,0.000105824991865,-0.000325485192014,-5.2459876616e-05,1793244765308100096
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.790190344,745,714,679.790190344,660,634,879,787,805,653,630,652,0.406374526915,-0.00536248514372,0.0497951000053,0.999999929625,0.000106892950051,-0.000355518900816,-5.41344048441e-05,1793244765324766720
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.215184158,745,714,679.215184158,660,634,879,787,805,653,630,652,0.405877043892,-0.00536562722131,0.0497734760903,0.999999917107,0.000101193765161,-0.000390402724797,-5.59611808685e-05,1793244765341433344
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d7d5f557fa99e3a5d0f6d56fddc4d500cbda7947
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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+404,6.733333333,pose2_to_pose3_retreat,0.575669457844,-0.000122267144035,1.04005087592,0.546241092147,0.00855342256633,1.03971737281
+405,6.750000000,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b42fc031e5b15c87a501d98c271f6fd487aea150
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8e5cd02f1406b28e01690947720f85c1689aee9621b5a0e38cc2e1f7c183e3d
+size 31406482
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..939534090cac9105fcb1adf42f6bc1d8114aebd9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/franka_data.csv
@@ -0,0 +1,497 @@
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+1,0.016666667,BASELINE,765,745,714,679,660,634.574594685,879,787,806,653,630.425405315,652,0.400985513951,-0.00539647102247,0.049850904524,0.9999999579,0.00012750784765,-0.000257343570613,-4.14305207897e-05,1793244766340189952
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+30,0.500000000,BASELINE,764.40653496,745,714,679,660.59346504,634,879,787,806,653,630.59346504,652,0.400986145824,-0.00539737735553,0.0498530767026,0.999999959089,0.000126339133365,-0.000253345624078,-4.09522358313e-05,1793244766823523584
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+41,0.683333333,BASELINE,765,745,714,680,660,634,878.213104452,787,806,653,630.213104452,652,0.400985487617,-0.00539731662079,0.0498520026836,0.999999958652,0.00012706484752,-0.00025465854279,-4.12139309505e-05,1793244767006856704
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+57,0.950000000,BASELINE,765,745,714,679.068200758,660,634,879,787,806,653,631,652,0.400988157106,-0.00539885331204,0.0498547243433,0.999999959828,0.000127803089875,-0.000249732231195,-4.05367862903e-05,1793244767273523968
+58,0.966666667,BASELINE,765,745,714,679.642485413,660,634,879,787,806,653,631,652,0.400986539427,-0.00539895693154,0.0498534508681,0.999999959449,0.000125888963825,-0.000252174726098,-4.07624826085e-05,1793244767290190592
+59,0.983333333,BASELINE,765,745,714,679.776674758,660,634,879,787,806,653,631,652,0.40098567026,-0.00539914073539,0.0498527158484,0.99999995933,0.000124368552169,-0.000253361525175,-4.09862915115e-05,1793244767306856960
+60,1.000000000,BASELINE,765,745,714,679.185023516,660,634,879,787,806,653,631,652,0.400986035599,-0.00539945678577,0.0498528688927,0.999999959653,0.000123497485746,-0.000252477329805,-4.12069875737e-05,1793244767323523840
+61,1.016666667,BASELINE,765,745,714,679,660,634,879,787,806,653,630.602925998,652,0.40098640324,-0.00539921421237,0.049852801995,0.999999959658,0.000124049470253,-0.000252187393959,-4.11962869246e-05,1793244767340190720
+62,1.033333333,BASELINE,765,745,714,679,660,634,879,787,806,653,630.025175646,652,0.400986771928,-0.00539871745431,0.0498526350195,0.999999959518,0.000125248970507,-0.000252167857744,-4.1080296283e-05,1793244767356857856
+63,1.050000000,BASELINE,765,745,714,679.550794824,660,634,878.449205176,787,806,653,630.550794824,652,0.400986338776,-0.00539822734157,0.0498533136995,0.999999959446,0.00012619045223,-0.000251978329252,-4.1130824796e-05,1793244767373524736
+64,1.066666667,BASELINE,765,745,714,680,660,634.129269342,878.129269342,787,805.870730658,653,630.870730658,652,0.400986118332,-0.00539770743183,0.0498540386618,0.999999959493,0.000126645821316,-0.000251546645176,-4.12192532984e-05,1793244767390191104
+65,1.083333333,BASELINE,765,745,714,680,660,634.71691039,878.71691039,787,805.28308961,653,630.28308961,652,0.400986781661,-0.00539708079238,0.049854791117,0.999999959956,0.000125419183665,-0.00025028377253,-4.14151685904e-05,1793244767406857728
+66,1.100000000,BASELINE,765,745,714,680,660,634.69972269,879,787,805.30027731,653,630.30027731,652,0.40098762454,-0.00539751071759,0.0498550925332,0.999999960273,0.00012466463622,-0.000249416677196,-4.12706902015e-05,1793244767423524352
+67,1.116666667,BASELINE,765,745,714,680,660,634.120328732,879,787,805.879671268,653,630.879671268,652,0.400988634314,-0.00539892275095,0.0498549746951,0.999999960456,0.000124348910668,-0.000248917468663,-4.08098057976e-05,1793244767440190976
+68,1.133333333,BASELINE,765.456798405,745,714,680,660,634,879,787,806,653,631,652,0.40098844262,-0.0053985455277,0.0498546207905,0.999999960264,0.000124848649372,-0.00024940490911,-4.1000712251e-05,1793244767456857600
+69,1.150000000,BASELINE,765.966768849,745.033231151,714,679.966768849,660.033231151,634.033231151,879,787,805.966768849,653,630.966768849,652,0.40098794873,-0.00539773208021,0.0498542538014,0.999999959987,0.000125549956498,-0.000250108374869,-4.1328606214e-05,1793244767473524480
+70,1.166666667,BASELINE,765.391970073,745.608029927,714,679.391970073,660.608029927,634.608029927,879,787,805.391970073,653,630.391970073,652,0.400987662278,-0.0053974526873,0.0498546819851,0.999999959931,0.000126052789883,-0.000250117718259,-4.11047186829e-05,1793244767490190848
+71,1.183333333,BASELINE,765,745.812065721,714,679,661,635,879,787,805,653,630.187934279,652,0.400986808256,-0.00539759164108,0.0498545137649,0.999999959716,0.000126177916364,-0.000250939786891,-4.09553265526e-05,1793244767506857472
+72,1.200000000,BASELINE,765,745.221215311,714,679,661,635,879,787,805,653,630.778784689,652,0.400984737409,-0.0053986274968,0.0498530669023,0.999999959154,0.000125493269416,-0.000253504273728,-4.09656465873e-05,1793244767523524096
+73,1.216666667,BASELINE,765,745.362408382,714,679.362408382,661,634.637591618,879,787,805,653,631,652,0.400985256648,-0.00539755991394,0.0498532540934,0.999999959086,0.000127556068459,-0.000252736177529,-4.10079169142e-05,1793244767540190720
+74,1.233333333,BASELINE,765,745.941707071,714,679.941707071,661,634.058292929,879,787,805,653,631,652,0.400987325975,-0.00539523348751,0.0498544192157,0.999999959298,0.000131263129741,-0.000249973632391,-4.10693085103e-05,1793244767556857344
+75,1.250000000,BASELINE,765,745.482969532,714,679.482969532,660.482969532,634,879,787,805.517030468,653,631,652,0.400986055634,-0.00539629503211,0.0498536153512,0.999999959349,0.000128285651396,-0.000251292441749,-4.11870966504e-05,1793244767573523712
+76,1.266666667,BASELINE,765,745.093880447,714,679.093880447,660.093880447,634,879,787.093880447,806,653,631,652,0.400984931184,-0.00539770492028,0.0498528656207,0.999999959448,0.000124974775727,-0.000252552716687,-4.12541970299e-05,1793244767590190336
+77,1.283333333,BASELINE,765,745.681089629,714,679.681089629,660.681089629,634,879,787.681089629,806,653,631,652,0.400986536902,-0.00539895337455,0.0498535580069,0.999999959963,0.000123842066233,-0.000251105800881,-4.10217823483e-05,1793244767606856704
+78,1.300000000,BASELINE,765,746,714,680,661,634,879,787.735343611,806,653,630.735343611,652,0.40098679214,-0.00539940204958,0.0498535412649,0.999999959907,0.000124004638544,-0.000251289677059,-4.07724781306e-05,1793244767623523584
+79,1.316666667,BASELINE,765,746,714,680,661,634,879,787.156106414,806,653,630.156106414,652,0.400985442148,-0.00539890007601,0.0498526816255,0.99999995917,0.000125706832921,-0.000253411975685,-4.05030983747e-05,1793244767640190208
+80,1.333333333,BASELINE,764.578383941,745.578383941,714,680,661,634,879,787,806,653,630,652,0.400985969169,-0.00539836886111,0.0498530304172,0.999999959227,0.00012660234374,-0.000252735116174,-4.05435580819e-05,1793244767656857344
+81,1.350000000,BASELINE,764.001220251,745.001220251,714,680,661,634,879,787,806,653,630,652,0.400987188681,-0.00539782685811,0.0498538250377,0.999999959575,0.000127200243367,-0.000251025557988,-4.06983274418e-05,1793244767673524480
+82,1.366666667,BASELINE,764.57288162,745,714,679.42711838,660.42711838,634.57288162,879,787,806,653,630.57288162,652,0.400986595374,-0.00539702601887,0.0498540258199,0.999999959467,0.000128036810323,-0.000251000096086,-4.08856158361e-05,1793244767690190848
+83,1.383333333,BASELINE,765,745,714,679.151193101,660,634.848806899,878.848806899,787,806,653,631,652,0.400986125752,-0.00539685646185,0.0498540439616,0.999999959414,0.000128339701936,-0.000251042737988,-4.09725292313e-05,1793244767706856960
+84,1.400000000,BASELINE,765,745,714,679.741756791,660,634.258243209,878.258243209,787,806,653,631,652,0.400986026726,-0.0053985230188,0.0498535350022,0.999999959524,0.000127090251596,-0.000251272922129,-4.07675504213e-05,1793244767723523584
+85,1.416666667,BASELINE,765,745,714,679.674194582,660,634,878.651610835,787.325805418,805.674194582,652.674194582,630.674194582,652,0.400986363551,-0.00539812976777,0.0498536629012,0.999999959609,0.000127183481983,-0.00025085449236,-4.09735883083e-05,1793244767740190464
+86,1.433333333,BASELINE,765,745,714,679.095208787,660,634,879.809582426,787.904791213,805.095208787,652.095208787,630.095208787,652,0.400987039072,-0.0053961358589,0.0498542856971,0.999999959673,0.000128320097225,-0.000249932030702,-4.14990234823e-05,1793244767756857344
+87,1.450000000,BASELINE,765.479672891,745,714,679,660.479672891,634,880,787.520327109,805.479672891,652.479672891,630.479672891,652,0.400986969504,-0.00539747642414,0.04985406807,0.999999959827,0.00012633095542,-0.000250396049499,-4.10787890663e-05,1793244767773523968
+88,1.466666667,BASELINE,765.946509217,745,714,679,660.946509217,634,879.893018434,787,806,653,630.946509217,652,0.400986748056,-0.00539915122803,0.0498536808913,0.999999959949,0.000124084706343,-0.000251113339725,-4.0571943743e-05,1793244767790190592
+89,1.483333333,BASELINE,765.37517045,745,714,679,660.37517045,634,878.750340901,787,806,653,630.37517045,652,0.400986475821,-0.0053977087665,0.0498532534993,0.999999959646,0.000125304775893,-0.000251640957125,-4.10283623296e-05,1793244767806857472
+90,1.500000000,BASELINE,765,745,714,679,660.204868901,634.204868901,878.204868901,787,806,653,630.204868901,652,0.400985603428,-0.00539688190312,0.0498526758061,0.999999959254,0.000126524764565,-0.00025253830688,-4.13157718917e-05,1793244767823524096
+91,1.516666667,BASELINE,765,745,714,679,660.801547988,634.801547988,878.801547988,787,806,653,630.801547988,652,0.400983583235,-0.00539723236661,0.049851810663,0.999999958694,0.00012774459842,-0.000254142766839,-4.12799529518e-05,1793244767840190464
+92,1.533333333,BASELINE,765,745,714,679,660.613505829,635,879,787,806,653,630.613505829,652,0.400984016289,-0.00539733812781,0.0498525139015,0.999999958985,0.000126850515854,-0.000253444219881,-4.12810848162e-05,1793244767856857088
+93,1.550000000,BASELINE,765,745,714,679,660.034406557,635,879,787,806,653,630.034406557,652,0.400985671892,-0.00539732194435,0.0498539987255,0.999999959696,0.000124902986493,-0.000251597995005,-4.13006307025e-05,1793244767873523712
+94,1.566666667,BASELINE,765,745,714,679.540485074,660,635,879.540485074,787,806,653,630.540485074,652,0.400986196208,-0.00539853791517,0.0498542843459,0.999999959747,0.000126191956846,-0.00025082966627,-4.08194233338e-05,1793244767890190080
+95,1.583333333,BASELINE,765,745,714,680,660,634.882264272,879.882264272,787,806,652.882264272,631,652,0.400986442061,-0.00539944741258,0.0498543129987,0.999999959712,0.000127331135407,-0.000250452159581,-4.0463994763e-05,1793244767906856960
+96,1.600000000,BASELINE,765,745,714,680,660,634.294535387,879.294535387,787,806,652.294535387,631,652,0.400985861578,-0.00539882279135,0.0498536182432,0.999999959507,0.00012705624601,-0.000251362987928,-4.07369355753e-05,1793244767923523840
+97,1.616666667,BASELINE,765,745.288807721,714,679.711192279,660,634,879,787,805.711192279,652.288807721,630.711192279,652,0.400984510061,-0.0053984595422,0.0498524833217,0.99999995918,0.000126344056871,-0.000252989451758,-4.09009674339e-05,1793244767940190976
+98,1.633333333,BASELINE,765,745.867744947,714,679.132255053,660,634,879,787,805.132255053,652.867744947,630.132255053,652,0.400982383981,-0.0053983588614,0.0498509062198,0.999999958727,0.000125192566619,-0.000255334826257,-4.09555918797e-05,1793244767956858368
+99,1.650000000,BASELINE,765,745.554746597,714,679,660,634,879.445253403,787,805.445253403,653,630.445253403,652,0.400984539817,-0.00539807639587,0.0498525238622,0.999999959385,0.000125148094833,-0.000252764677182,-4.09622731785e-05,1793244767973524480
+100,1.666666667,BASELINE,765,745,714,679.022184149,660.022184149,634,880,787,806,653,631,652.022184149,0.400987772742,-0.00539775866778,0.0498549633172,0.999999960303,0.000125447083131,-0.000248957420113,-4.09573503647e-05,1793244767990190336
+101,1.683333333,BASELINE,765,745,714,679.595274017,660.595274017,634,880,787,806,653,631,652.595274017,0.400986269587,-0.00539790186633,0.0498543210257,0.999999959811,0.000126135720946,-0.000250571162261,-4.10167717457e-05,1793244768006856960
+102,1.700000000,BASELINE,765,745,714,680,661,634.173896208,879.826103792,787,806,653,631,652.826103792,0.400985407173,-0.00539809947267,0.0498539558034,0.999999959544,0.000126403037132,-0.000251490699877,-4.10660647767e-05,1793244768023523840
+103,1.716666667,BASELINE,765,745,714,680,661,634.765817337,879.234182663,787,806,653,631,652.234182663,0.400986085021,-0.00539842786856,0.0498542566214,0.999999959825,0.000125657548262,-0.000250741455646,-4.10910105019e-05,1793244768040190464
+104,1.733333333,BASELINE,765,745,714,679.649922349,660.649922349,634.649922349,879,787,806,653,631,652.350077651,0.400986908484,-0.00539840014387,0.0498551385449,0.999999960182,0.000125883050691,-0.000249217580089,-4.0979106177e-05,1793244768056857088
+105,1.750000000,BASELINE,765,745,714,679.070676899,660.070676899,634.070676899,879,787,806,653,631,652.929323101,0.40098782727,-0.0053981392956,0.0498564008715,0.999999960586,0.000126744183281,-0.000247186615369,-4.07776170872e-05,1793244768073523712
+106,1.766666667,BASELINE,765,745,714,679,660,634,879,787,806.504446748,653,631,652.495553252,0.40098704551,-0.0053983115373,0.0498547682486,0.999999960287,0.000125007600645,-0.000249238272898,-4.09827882197e-05,1793244768090190848
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,879,787,806,653,631,652,0.400984910425,-0.00539669052968,0.0498537639641,0.999999959418,0.000126263439806,-0.000251953970621,-4.17291734526e-05,1793244768132951808
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.420594943,745,714,680,660.841189886,634,879,787.579405057,806,653,631,652.579405057,0.400984844257,-0.00539818856365,0.0498531220498,0.99999995925,0.000126571682481,-0.000252607689993,-4.08452013612e-05,1793244768149618432
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.158531184,745,714,679.841468816,660.158531184,634,878.841468816,787.841468816,806,653,631,652.841468816,0.400985072174,-0.00539902762968,0.0498528606765,0.999999959294,0.000126590374171,-0.000252510271452,-4.03182229317e-05,1793244768166284800
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.736918714,745,714,679.263081286,660.736918714,634,878.263081286,787.263081286,806,653,631,652.263081286,0.40098607895,-0.00539812147555,0.0498536071331,0.999999959896,0.000125842214795,-0.000250423528223,-4.07367116374e-05,1793244768182950656
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,878.313231653,787,806,653,631,652,0.400986306429,-0.00539857370772,0.049853930338,0.999999960177,0.000124937485212,-0.000249749889097,-4.07687571174e-05,1793244768199616768
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,878.887813586,787,806,653,631,652,0.400985883687,-0.00540015933317,0.0498539003954,0.999999960191,0.000123902118596,-0.000250255298099,-4.04783669418e-05,1793244768216283648
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879,787,806,653,631,652,0.400986008319,-0.00539839257725,0.049854157795,0.999999959949,0.000125926134691,-0.000250156538941,-4.08132277576e-05,1793244768232950528
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.938879702,634,879,787,806,653,631,652,0.400986265556,-0.00539626194516,0.0498543796668,0.99999995968,0.000128072034369,-0.000250073098154,-4.12359291879e-05,1793244768249617408
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.359780062,634,879,787,806,653,631,652,0.400986521116,-0.00539794053332,0.0498537096319,0.999999959756,0.000124960334448,-0.00025136173378,-4.11174516619e-05,1793244768266284032
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.21670934,660,634,879,787,806,653,631,652,0.40099311397,-0.005398596606,0.0498562466925,0.999999961056,0.000123804327062,-0.000246760585741,-4.0863674016e-05,1793244768282950400
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.788916752,660,634,879,787,806,653,631,652,0.401010102757,-0.00539757530605,0.0498640447923,0.999999964237,0.00012585651085,-0.000232497617029,-4.03879450197e-05,1793244768299617024
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.63554132,660,634,878.63554132,787,806,653,630.63554132,652,0.401043426882,-0.00539854017431,0.0498772907294,0.999999970003,0.000125519692362,-0.00020656326936,-3.96209643831e-05,1793244768316283648
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.058050255,660,634,878.058050255,787,806,653,630.058050255,652,0.401086299295,-0.00540066599203,0.0498937210221,0.999999976486,0.000123786460941,-0.000173806797898,-3.86837420637e-05,1793244768332950272
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.467252311,745,714,679,660,634,878.532747689,787,806,653,630.532747689,652,0.401152533661,-0.00540306585998,0.0499134991112,0.999999982929,0.000123581474918,-0.000132191961001,-3.73608572325e-05,1793244768349617152
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.121950476,745,714,679,660.121950476,634,879,787,806,653,631,652,0.401222563832,-0.00540553112359,0.0499319936551,0.999999987119,0.000123330295463,-9.62489192957e-05,-3.58782038558e-05,1793244768366283776
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.69963486,745,714,679,660.69963486,634,879,787,806,653,631,652,0.401297022353,-0.00540812632143,0.0499442933904,0.999999988319,0.000122268242598,-8.52011513733e-05,-3.39595545181e-05,1793244768382950656
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.72428654,634,879,787,806,653,631,652,0.401376783189,-0.00541146310849,0.0499519037302,0.999999989246,0.000120766969217,-7.65115082375e-05,-3.26878146238e-05,1793244768399617280
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.1499472,634,879,787,806,653,631,652,0.401462286969,-0.00541560311237,0.0499544349742,0.999999989952,0.000118789975164,-7.03759561182e-05,-3.21167439439e-05,1793244768416283648
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805.562119126,653,630.562119126,652,0.401564696493,-0.00541964618545,0.049953849638,0.999999990104,0.000116602100599,-7.22290650829e-05,-3.12964823893e-05,1793244768432950272
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.029698888,660,634,879,787,805.029698888,653,630,652,0.401674406585,-0.00542369369942,0.049952243229,0.999999990053,0.000114337440464,-7.67901087308e-05,-3.03922463159e-05,1793244768449616896
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.607204765,660,634,879,787,805.607204765,653,630,652,0.40180860095,-0.00542845484219,0.0499521140073,0.999999990148,0.000112030783461,-7.92366266457e-05,-2.95630857423e-05,1793244768466283776
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.184211431,878.815788569,787,806,653,630.184211431,652,0.401953669225,-0.00543337867081,0.0499524887958,0.999999990335,0.000109657332121,-8.05541654387e-05,-2.8558894113e-05,1793244768482950400
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.76015643,878.23984357,787,806,653,630.76015643,652,0.402121861319,-0.00543864845731,0.0499539353835,0.999999990733,0.000107141840035,-7.94708810384e-05,-2.71824914876e-05,1793244768499617024
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745.343157117,714,679.656842883,660,635,878.343157117,787,806,653,631,652,0.40230432435,-0.0054446184936,0.0499526781273,0.999999990849,0.000104200218853,-8.23321172635e-05,-2.5821123552e-05,1793244768516283648
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745.931192836,714,679.068807164,660,635,878.931192836,787,806,653,631,652,0.402496971208,-0.00545108823213,0.0499494913949,0.999999990732,0.000100954509597,-8.8008182656e-05,-2.44704843023e-05,1793244768532950784
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.488681071,714,679.511318929,660,634.488681071,879,787,806,653,631,652,0.402729576232,-0.00545808773506,0.0499481917239,0.999999990568,9.8689765731e-05,-9.27415666409e-05,-2.2886315468e-05,1793244768549617408
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.91024572,660,634,879,787,806,653,631,652,0.402974869768,-0.00546569745095,0.0499480648391,0.99999999064,9.62293978963e-05,-9.49337330481e-05,-2.11675474239e-05,1793244768566283776
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.335283868,660,634,879,787,806,653,631,652,0.403260131422,-0.00547622643711,0.0499529261165,0.999999992055,9.20087444159e-05,-8.40635185187e-05,-1.88884390093e-05,1793244768582950656
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,630.759866211,652,0.403566638285,-0.00548625450003,0.0499613893535,0.999999993808,8.74200307598e-05,-6.68959271e-05,-1.63045932063e-05,1793244768599617280
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,630.183810964,652,0.403902864903,-0.00549558182436,0.0499748913459,0.999999995686,8.23164405524e-05,-4.09189803607e-05,-1.32944525593e-05,1793244768616283648
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.402090902,714,679.402090902,660,634,879,787.402090902,806,653,630.402090902,652,0.404257366825,-0.00550496854647,0.0499844212883,0.999999996537,7.92819287994e-05,-2.30512229206e-05,-1.04378355067e-05,1793244768632950016
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.99260701,714,679.99260701,660,634,879,787.99260701,806,653,630.99260701,652,0.404620432791,-0.00551438310292,0.0499920898743,0.999999996949,7.7217015196e-05,-8.98354142627e-06,-7.65316176153e-06,1793244768649616896
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,746,714,679.428051673,660,634,879,787.428051673,806,653,631,652,0.405045357012,-0.0055207798265,0.0499966417261,0.999999996762,8.02967049118e-05,3.72975533083e-06,-3.86814963833e-06,1793244768666284032
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.850088153,714,679.149911847,660,634,879,787,806,653,631,652,0.405466227932,-0.00552165736669,0.0499946225626,0.999999995925,9.02411286216e-05,2.36959146993e-06,-6.8690345354e-07,1793244768682950656
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.275625429,714,679.724374571,660,634,879,787,806,653,631,652,0.405873398804,-0.00550701291396,0.0499741061662,0.999999992114,0.000119441786058,-3.87980354829e-05,7.48557776788e-07,1793244768699617024
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.298610611,714,679.701389389,660,634,879.298610611,787,806,653,631,652,0.406307731402,-0.00549619304133,0.0499532586675,0.999999986679,0.000143828777365,-7.71501893798e-05,2.02761962092e-06,1793244768716283904
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.872637641,714,679.127362359,660,634,879.872637641,787,806,653,631,652,0.406767116021,-0.00548890067778,0.049932105782,0.99999998021,0.000163776001244,-0.000112905563196,3.16243036419e-06,1793244768732950784
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,746,714,679.461803126,660,634.461803126,880,787,806,652.538196874,630.538196874,652,0.407269737489,-0.00549462346887,0.0499234271069,0.999999977709,0.000167648471782,-0.000128215066439,6.02951553801e-06,1793244768749617408
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.946371167,714,679.946371167,660,634.946371167,880,787,806,652,630.053628833,652,0.407795155481,-0.0055037000546,0.0499212844992,0.999999977231,0.00016772552576,-0.000131587521398,9.55054025804e-06,1793244768766284032
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.370669735,714,679.370669735,660,634.370669735,880,787,806,652,630.629330265,652,0.408422478329,-0.00550929779268,0.049948143784,0.999999981647,0.000175475186458,-7.550788071e-05,1.4629128474e-05,1793244768782951424
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.205154874,634,879.794845126,787,806,652.205154874,631,652,0.409054164002,-0.00551347051715,0.0499732366949,0.999999982538,0.000183717556543,-2.80055961703e-05,1.96741034226e-05,1793244768799618304
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.781202137,634,879.218797863,787,806,652.781202137,631,652,0.409693737037,-0.00551506700858,0.0499951362378,0.999999981092,0.000192850679097,3.98997974189e-06,2.46583098641e-05,1793244768816284416
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.634631549,634,879,787,805.634631549,653,631,652,0.410316529461,-0.00551410944586,0.0499985428516,0.999999978104,0.000207277365394,1.68048435975e-06,2.87335893135e-05,1793244768832951296
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.045492733,634,879,787,805.045492733,653,631,652,0.410929044555,-0.00551158764943,0.0499906234468,0.999999973945,0.000224946101045,-2.16391960425e-05,3.22521950985e-05,1793244768849618176
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.534741571,659.465258429,634,879,787,805,652.465258429,630.465258429,652,0.411569269844,-0.00550816022646,0.0499557817216,0.999999966865,0.000238173508782,-9.13835908622e-05,3.45395694398e-05,1793244768866284288
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.113874052,634,879,787,805.113874052,652,630.113874052,652,0.412243261742,-0.00550583906178,0.0499307995936,0.999999958571,0.000250085357649,-0.000137670796925,3.69130509407e-05,1793244768882950400
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.69155361,634,879,787,805.69155361,652,630.69155361,652,0.41304533938,-0.00550833231798,0.0499551512262,0.999999963241,0.000258152710942,-7.25946762985e-05,4.00568839707e-05,1793244768899616768
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.267774858,634,879,786.732225142,806,652,631,652,0.413829450565,-0.00551605171813,0.0499723494042,0.999999976748,0.000209996663572,-3.73438090656e-05,3.17794643726e-05,1793244768916283392
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.84232547,634,879,786.15767453,806,652,631,652,0.414592978619,-0.00552975844043,0.0499813522439,0.999999994542,9.74283842372e-05,-3.62621779469e-05,1.0417308695e-05,1793244768932950016
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.572777761,634,879.427222239,786.427222239,806.427222239,652,631,652,0.415335768345,-0.0055356631988,0.0499603162679,0.999999994498,7.44823880611e-05,-7.35812193515e-05,6.52139427623e-06,1793244768949617152
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.015784119,745,714,680,659.984215881,634,880,787,806.984215881,652,630.984215881,652,0.416073613074,-0.00553831913293,0.0499289791986,0.999999988648,8.58310444262e-05,-0.00012349293189,9.2652530077e-06,1793244768966284288
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.595483327,745,714,680,659.404516673,634,880,787,806.404516673,652,630.404516673,652,0.416915025427,-0.00553033218628,0.0499355285168,0.999999988263,0.000111360598516,-0.000104396128687,1.32073247213e-05,1793244768982951168
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.826201738,745,714,679.826201738,659.347596525,634,880,787,806,652,630.173798262,652,0.417772433595,-0.00552451941043,0.0499485799728,0.999999988322,0.000131287149657,-7.63568116476e-05,1.70050762072e-05,1793244768999617792
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.251083282,745,714,679.251083282,660.497833437,634,880,787,806,652,630.748916718,652,0.418666777891,-0.00552372704571,0.0499766456134,0.999999989848,0.000138275720518,-2.76682019867e-05,2.04695754407e-05,1793244769016284160
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.320326634,660.359346733,634,880,787,805.679673366,652,631,652,0.419514393222,-0.00552392078172,0.0499773800304,0.99999998969,0.000138064311389,-3.30685334534e-05,2.15383875411e-05,1793244769032950528
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.888862907,659.222274186,634,880,787,805.111137093,652,631,652,0.420325799909,-0.00552487861192,0.0499569364595,0.999999987806,0.000132273895169,-8.03804510528e-05,2.07508672863e-05,1793244769049616896
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.477761517,634,880,787,805.477761517,652.477761517,631,651.522238483,0.421230051746,-0.00552717149903,0.0499698079643,0.999999990533,0.000129491654303,-4.14527653661e-05,2.11463955774e-05,1793244769066283776
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.139199889,634,880,787,806,652.930400056,631,651.069599944,0.42215487589,-0.00552980243461,0.049988869516,0.999999991554,0.000127534971265,1.21618370433e-05,2.18943274893e-05,1793244769082950656
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661.293590951,634,880,787,806,652.353204524,631,651.646795476,0.423065209352,-0.00553253300266,0.0499940398312,0.99999999156,0.000126268527284,2.00690619537e-05,2.31159503326e-05,1793244769099617280
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.776601903,661.553203807,634,880.223398097,787,806.223398097,652,631,652,0.42397962539,-0.00553413946417,0.0499910676379,0.999999991805,0.000124869495395,1.52869488313e-05,2.37625637169e-05,1793244769116284160
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.200934136,660.401868272,634,880.799065864,787,806.799065864,652,631,652,0.424900479258,-0.00553397335665,0.0499752557714,0.999999992082,0.000123261389425,-9.50459467819e-06,2.35024623363e-05,1793244769132950784
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.376127851,714,679.376127851,660.376127851,634,881,787,806.623872149,652,631,651.623872149,0.425832015558,-0.00553503522226,0.0499828181305,0.999999992201,0.0001222472369,-5.21720808007e-06,2.50127777948e-05,1793244769149617408
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.953937391,714,679.953937391,660.953937391,634,881,787,806.046062609,652,631,651.046062609,0.426769279777,-0.00553675553339,0.0500029138706,0.999999992128,0.000121551565353,1.46624519695e-05,2.74723998859e-05,1793244769166283776
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.544959248,746,714,680,661,634,881,787,806,652,631,651.544959248,0.427625963572,-0.00553420733301,0.0499858777153,0.999999991354,0.000123413984648,-3.588675108e-05,2.77908762293e-05,1793244769182950400
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.865842042,746,714,680,660.865842042,634,880.865842042,787,806,652,631,652,0.42849480965,-0.00553257945904,0.0499662688402,0.999999988621,0.000124300632401,-8.08763202991e-05,2.77002152815e-05,1793244769199616768
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.286491319,746,714,680,660.286491319,634,880.286491319,787,806,652,631,652,0.429427178815,-0.00553523263699,0.0499487964753,0.999999988493,0.000121213914053,-8.71712971262e-05,2.68673548494e-05,1793244769216283392
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.290196651,745.709803349,714,680,660.290196651,634,880,787,806.290196651,652,631,652,0.430369252206,-0.00553881871952,0.049946556391,0.999999989695,0.000117069351816,-7.85892041625e-05,2.699518187e-05,1793244769232950016
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.864279735,745.135720265,714,680,660.864279735,634,880,787,806.864279735,652,631,652,0.431320818753,-0.00554331742081,0.0499592173682,0.999999991809,0.000111889948245,-5.54535373324e-05,2.80628065916e-05,1793244769249616896
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.549964583,745.450035417,714,679.549964583,661,634,880,787.450035417,807,652,631,652,0.432205649955,-0.00554340631158,0.0499484957484,0.999999990755,0.000110221674039,-7.47174040296e-05,2.75562401231e-05,1793244769266284032
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.03881672,746,714,679.03881672,660.96118328,634,880,787.96118328,806.96118328,652,631,651.96118328,0.433073389426,-0.00554225899955,0.0499332919649,0.999999988393,0.000109852433754,-0.000102132635557,2.67630675032e-05,1793244769282950912
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.619386665,746,714,679.619386665,660.380613335,634,880,787.380613335,806.380613335,652,631,651.380613335,0.433990953497,-0.00554291358355,0.0499565703845,0.999999991458,0.000112441500783,-6.0101619984e-05,2.87720480933e-05,1793244769299617280
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.802905303,714,680,660,634,880.197094697,787,806.197094697,652,631,651.197094697,0.434887884625,-0.00554248093686,0.0499739044318,0.999999992268,0.000115686551203,-3.3755737649e-05,3.06818170838e-05,1793244769316283648
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.230644764,714,680,660,634,880.769355236,787,806.769355236,652,631,651.769355236,0.435745541514,-0.00553997876828,0.0499799234885,0.999999991559,0.000120180253741,-3.72661876765e-05,3.24027391957e-05,1793244769332950272
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.655743305,745.344256695,714,680.344256695,660.344256695,634,880.655743305,787,807,652,631,652,0.436595608427,-0.00553880966485,0.0499685589861,0.999999990247,0.000119400278395,-6.48741457294e-05,3.22639925282e-05,1793244769349616896
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.079058841,745.920941159,714,680.920941159,660.920941159,634,880.079058841,787,807,652,631,652,0.437440550851,-0.00553854059158,0.049945457829,0.999999986991,0.000115059735133,-0.000108751736335,3.08696748726e-05,1793244769366283520
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,746,714,680.486926687,660.486926687,634,880.513073313,787,807,652,631,652,0.43830956182,-0.00554251382919,0.0499667814304,0.999999992274,0.00010574386621,-5.78414525537e-05,3.04143576689e-05,1793244769382950400
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.895715877,714,680,660.104284123,634,880.895715877,787,807,652,631,652,0.439164335956,-0.00554619805499,0.0499880110277,0.999999994719,9.7909252222e-05,-7.92396245871e-06,3.02043243921e-05,1793244769399617024
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.319772127,714,680,660.680227873,634,880.319772127,787,807,652,631,652,0.439937424756,-0.00554552680759,0.0499768939586,0.999999994034,0.000100349138461,-3.06067333452e-05,3.04289490517e-05,1793244769416283904
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.255664931,745,714,680,660.744335069,633.744335069,880.255664931,787,807,652,631,652,0.440697665938,-0.00554670882594,0.0499618487562,0.999999992752,0.000101347462403,-5.72407156241e-05,3.07985371599e-05,1793244769432950784
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.830469456,745,714,680,660.169530544,633.169530544,880.830469456,787,807,652,631,652,0.44144186973,-0.00555020422569,0.0499419001725,0.999999990511,0.000100546323056,-8.880688611e-05,3.13490791824e-05,1793244769449617152
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.588270249,745.411729751,714,680,660,633,880.588270249,787,807,652,631,652,0.442172679813,-0.0055508305915,0.049936006999,0.999999989841,0.000102043455128,-9.42232220066e-05,3.20569709561e-05,1793244769466283520
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.004309386,745.995690614,714,680,660,633,880.004309386,787,807,652,631,652,0.442897887223,-0.00555025680895,0.0499359933575,0.999999990067,0.000104501979533,-8.87007953094e-05,3.28306839272e-05,1793244769482950144
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.836696071,714,680,659.836696071,633,881,786,807,652,631,652,0.444183993062,-0.00554763881565,0.0498758648741,0.999999973433,0.00011016868324,-0.000199884110035,3.22941680306e-05,1793244769516283904
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.262281556,714,680,659.262281556,633,881,786,807,652,631,652,0.444762151431,-0.00554630292274,0.0498184572643,0.999999950495,0.000115565018594,-0.000291075925185,3.0478640503e-05,1793244769532951296
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680.31242779,659,633,880.68757221,786,806.68757221,652,630.68757221,652,0.445367575884,-0.00554609300631,0.049790948059,0.999999940109,0.000118173480977,-0.000323913947306,2.99480614253e-05,1793244769549617920
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680.887384847,659,633,880.112615153,786,806.112615153,652,630.112615153,652,0.445995911661,-0.00554682923428,0.0497885621222,0.999999945176,0.000118439327911,-0.000307717984086,3.04972091329e-05,1793244769566284544
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632.52580874,880,786,806.47419126,652,630,652,0.446586720859,-0.0055477674101,0.0497916609924,0.999999948522,0.000120556158595,-0.00029563929364,3.19222972269e-05,1793244769582951168
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.356891802,659,632,880.643108198,786,807.643108198,652,630.643108198,652,0.447637543758,-0.00554533492837,0.0497535510611,0.999999929131,0.000130111171734,-0.000351843630306,3.18464353992e-05,1793244769616283904
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.22124061,659,632,881,786,807.77875939,652.22124061,630.77875939,652,0.448109961587,-0.00554490908154,0.0497229398146,0.999999911031,0.000132549404858,-0.000399240766659,3.12167193397e-05,1793244769632950528
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.79599328,659,632,881,786,807.20400672,652.79599328,630.20400672,652,0.448570021252,-0.00554857890314,0.049704059271,0.999999900041,0.000128409083666,-0.000427105448065,3.17963878519e-05,1793244769649617152
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.621728874,631.621728874,880.621728874,786,806.621728874,652.621728874,630.378271126,652,0.44902922562,-0.00555119267962,0.0497055409035,0.999999900909,0.000127534239728,-0.000425225553726,3.3163872039e-05,1793244769666284032
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.03531017,631.03531017,880.03531017,786,806.03531017,652.03531017,630.96468983,652,0.449487959394,-0.00555322535674,0.0497182270312,0.999999908323,0.000128456257868,-0.000406978403104,3.49648599621e-05,1793244769682950912
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.123786519,681,658.123786519,630,880.876213481,786,807,652,630,652,0.450310386382,-0.00555107668587,0.049739570466,0.999999920203,0.000112848146557,-0.000382010101534,3.04684027166e-05,1793244769716284160
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.701143909,681,658.701143909,630,880.298856091,786,807,652,630,652,0.450664075735,-0.00555662238951,0.0497372218764,0.999999921301,4.93561017652e-05,-0.000393425518299,1.33605983255e-05,1793244769732951040
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.722438014,681,658.722438014,630,880,786,807,652,629.722438014,652,0.45098882739,-0.00556116388238,0.0497292933508,0.999999915229,1.64052359173e-05,-0.000411395117955,5.13060869616e-06,1793244769749617408
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.147027937,681,658.147027937,630,880,786,807,652,629.147027937,652,0.451282526361,-0.00556462776963,0.0497153770697,0.999999904626,1.62277087463e-05,-0.000436397925054,6.42728560072e-06,1793244769766284032
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.438579004,681,658,630,880.438579004,786,807,652,629.438579004,652,0.451543982339,-0.00556446163409,0.0496974603071,0.999999888512,1.98423629507e-05,-0.000471731395783,7.14900295226e-06,1793244769782950656
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.607943924,745,715,681,658,630,881,786,807,652,630,652,0.452030303776,-0.00556048851874,0.049670949788,0.999999864456,3.1278053935e-05,-0.000519645465205,8.82074990744e-06,1793244769816283904
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.813597167,745.186402833,715,681,658,630,881,785.813597167,807,652,629.813597167,652,0.452261278574,-0.00555874090566,0.0496678181808,0.999999863119,3.69189954765e-05,-0.000521822885722,1.00156213667e-05,1793244769832950272
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.239704407,745.760295593,715,681,658,630,881,785.239704407,807,652,629.239704407,652,0.452480599793,-0.00555857712153,0.0496743130922,0.999999870595,4.08832187717e-05,-0.000506960311264,1.13673772779e-05,1793244769849617152
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.656320451,715,681,657.656320451,629.656320451,881,785,807,652,629,652,0.452674122246,-0.00555894888122,0.0496788750518,0.999999875284,4.36225783622e-05,-0.000497368686976,1.24131006096e-05,1793244769866284032
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+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,681,657.511366787,629,880.488633213,785,807,652,629.511366787,652,0.452996121963,-0.00555841774872,0.0496782611319,0.999999875223,4.87721900002e-05,-0.000496972884022,1.39089117941e-05,1793244769899617280
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.087126011,715,681,657.912873989,628.912873989,880.087126011,785,807,652,629.912873989,652,0.453133265569,-0.00555740111068,0.049672916235,0.999999871014,5.14314004068e-05,-0.000505089420127,1.45160556696e-05,1793244769916283648
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.662134359,715,681,657.337865641,628.337865641,880.662134359,785,807,652,629.337865641,652,0.453235126798,-0.00555934208107,0.049663782527,0.999999863253,4.95559651636e-05,-0.000520400922173,1.48841461405e-05,1793244769932950016
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,715,681,657,628,881,785,807,652,629.238797287,652,0.45333148293,-0.00556028762557,0.0496566017823,0.999999857671,4.90770459977e-05,-0.000531060200802,1.50102553321e-05,1793244769949616896
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,715,680.595475703,657.404524297,628.404524297,881,785,807,652,629.595475703,652,0.453492158253,-0.005558276779,0.0496481433714,0.999999852131,5.32932809429e-05,-0.000541000471875,1.46814656535e-05,1793244769982950656
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,715,680.005240158,657.994759842,628.994759842,881,785,807,652,629.005240158,652,0.453556814558,-0.00555624945173,0.0496442384957,0.999999848267,5.65472574358e-05,-0.000547771856247,1.46211417236e-05,1793244769999617792
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714.876992644,681,658,628,880.876992644,785,807,652.876992644,629,652,0.453744836526,-0.00555407642509,0.0496402723034,0.999999847683,5.87371042766e-05,-0.000548615827221,1.4307176199e-05,1793244770082950144
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,657,628,880.175461849,785,807,652,629,652,0.453793629807,-0.00554667018875,0.0496307721883,0.999999838918,6.41198511451e-05,-0.000563797974293,1.35450814716e-05,1793244770349616896
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,657,628,880.750101134,785,807,652,629,652,0.453793168898,-0.00554659348668,0.0496300420009,0.999999837862,6.41409317225e-05,-0.000565667373881,1.35351218672e-05,1793244770366283520
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.667245066,745.332754934,715,681,657,628,880.667245066,785,807,652,629,652,0.453793279165,-0.0055463252863,0.0496300545298,0.999999837683,6.33974244622e-05,-0.000566068378783,1.34436273242e-05,1793244770382950144
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.078423848,745.921576152,715,681,657,628,880.078423848,785,807,652,629,652,0.453793828971,-0.00554590972146,0.0496306386044,0.999999838181,6.20655407542e-05,-0.000565339403752,1.32893888625e-05,1793244770399617024
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.496446391,746,714.503553609,681,657,628,880,785,807,652,629,652,0.453793953413,-0.00554664977326,0.0496301553899,0.999999838049,6.12467293018e-05,-0.000565669883251,1.30096656367e-05,1793244770416283904
+245,4.083333333,HOLD_POSE2,764,745,715,681,657,628,880,785,807,652,629,652,0.453798241152,-0.0055447705123,0.0496328377454,0.999999839971,6.66732200099e-05,-0.000561640347249,1.31355257569e-05,1793244770459555328
+246,4.100000000,HOLD_POSE2,764.572007886,745.572007886,715,681,657,628,880,785,807,652,629,652,0.453797093399,-0.00554450357567,0.0496318833912,0.999999839318,6.60045956503e-05,-0.000562887896072,1.2833711826e-05,1793244770476221696
+247,4.116666667,HOLD_POSE2,765,745.850412598,715,681,657.149587402,628,880,785,807,652.149587402,629,652,0.453796395701,-0.00554416670822,0.0496311688763,0.999999838705,6.59354000347e-05,-0.000563985788464,1.271490736e-05,1793244770492887808
+248,4.133333333,HOLD_POSE2,765,745.25627494,715,681,657.74372506,628,880,785,807,652.74372506,629,652,0.453797035495,-0.00554362201726,0.0496311671259,0.999999838217,6.76476123112e-05,-0.000564638925754,1.31399781992e-05,1793244770509553920
+249,4.150000000,HOLD_POSE2,765,745.32928701,715,681,658,628,880,785,807.32928701,653,629.32928701,652,0.45379783722,-0.00554450418046,0.0496313170166,0.99999983871,6.65968199191e-05,-0.00056388648438,1.3324076669e-05,1793244770526220288
+250,4.166666667,HOLD_POSE2,765,745.908344096,715,681,658,628,880,785,807.908344096,653,629.908344096,652,0.453798761773,-0.00554646863804,0.0496315819296,0.999999839938,6.34502390455e-05,-0.00056206788645,1.33253932678e-05,1793244770542886912
+251,4.183333333,HOLD_POSE2,764.516963701,745.516963701,715.483036299,681,657.516963701,628,880.483036299,785,808,653,630,652,0.453797151262,-0.00554554662012,0.0496307972853,0.999999838809,6.3950269816e-05,-0.000564026197571,1.29338700538e-05,1793244770559553792
+252,4.200000000,HOLD_POSE2,764.058267811,745,715.941732189,681,657,628,881,785,807.941732189,652.941732189,629.941732189,652,0.453795383313,-0.00554431179035,0.0496299590727,0.999999837466,6.49779563078e-05,-0.000566292944018,1.25543991238e-05,1793244770576220672
+253,4.216666667,HOLD_POSE2,764.645855077,745,715.354144923,681,657,628,881,785,807.354144923,652.354144923,629.354144923,652,0.453796515801,-0.00554516625225,0.0496304271862,0.99999983827,6.45695095903e-05,-0.000564909517656,1.29555006691e-05,1793244770592887552
+254,4.233333333,HOLD_POSE2,765,745.230650108,715,681,657,628,881,785,806.769349892,651.769349892,629,652,0.453797221279,-0.00554543599689,0.0496309756498,0.99999983875,6.47045018664e-05,-0.000564036773061,1.32521595504e-05,1793244770609554176
+255,4.250000000,HOLD_POSE2,765,745.811209113,715,681,657,628,881,785,806.188790887,651.188790887,629,652,0.453797278957,-0.00554481869325,0.0496316460089,0.999999838741,6.56639210141e-05,-0.000563938760911,1.33903731308e-05,1793244770626220800
+256,4.266666667,HOLD_POSE2,765,745.610676301,714.610676301,681,657,628,880.610676301,784.610676301,806,651.389323699,629,652,0.453796896197,-0.00554372321172,0.0496307785997,0.999999838106,6.65062198179e-05,-0.000564968206063,1.32241431998e-05,1793244770642887680
+257,4.283333333,HOLD_POSE2,765,745.033739614,714.033739614,681,657,628,880.033739614,784.033739614,806,651.966260386,629,652,0.453796301193,-0.00554239729881,0.0496291701484,0.999999837168,6.72920790461e-05,-0.000566540966789,1.29112035975e-05,1793244770659554048
+258,4.300000000,HOLD_POSE2,765,745,714.540232193,681,657,628,880,784.540232193,807.080464387,652,629,652,0.45379575028,-0.00554238672753,0.0496288464984,0.999999836704,6.85540369941e-05,-0.000567204952865,1.30427022231e-05,1793244770676220672
+259,4.316666667,HOLD_POSE2,765,745,715,681,657,628,880.117392703,785,808,652,629,652,0.453795367607,-0.00554267386971,0.0496286377478,0.999999836367,6.93319701292e-05,-0.000567701346958,1.32192721964e-05,1793244770692887296
+260,4.333333333,HOLD_POSE2,765,745,715,681,657,628,880.708153937,785,808,652,629,652,0.453795652285,-0.00554383205451,0.049628570518,0.999999836425,6.80389015274e-05,-0.000567749564667,1.34662710272e-05,1793244770709554176
+261,4.350000000,HOLD_POSE2,765,745,714.707413967,681,657,628,881,785,807.414827933,652,629,652,0.453796679814,-0.00554455354684,0.0496294090605,0.999999837201,6.64932082327e-05,-0.000566568270163,1.33397288006e-05,1793244770726221056
+262,4.366666667,HOLD_POSE2,765,745,714.129161363,681,657,628,881,785,806.258322726,652,629,652,0.453798432624,-0.00554484867413,0.0496311319546,0.999999838671,6.47008647266e-05,-0.000564186540576,1.28484794971e-05,1793244770742887680
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,657,628,881,786,807,652,629,652,0.453794383163,-0.00554297051595,0.0496278170286,0.999999835925,6.85837392664e-05,-0.000568582132628,1.27120935797e-05,1793244770775538176
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,657,627.412969212,881,785.412969212,807,652,629,652,0.453796584795,-0.00554370839648,0.0496291659304,0.99999983705,6.61178515712e-05,-0.000566884932761,1.30120273942e-05,1793244770792204544
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,657,627.171364479,881,785,807,652,629,652,0.453798280795,-0.0055443743485,0.0496300262259,0.999999837824,6.32165945756e-05,-0.000565851603603,1.29682619445e-05,1793244770808870912
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,657,627.7492993,881,785,807,652,629,652,0.453798777157,-0.00554486964688,0.0496297272799,0.999999837769,5.92824027987e-05,-0.000566393338803,1.21090537749e-05,1793244770825537280
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,657.658162062,628,881,785,807,652,629,652,0.453793910599,-0.00554473483045,0.0496288642012,0.999999836593,5.75652049468e-05,-0.000568656875596,1.1425094847e-05,1793244770842204160
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,658.820555364,628,881,785,807,652,629,652,0.4537849354,-0.00554411727031,0.0496275689293,0.999999834556,5.75464911228e-05,-0.000572239519307,1.08753979519e-05,1793244770858871040
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,658.020083434,628,881,785,807,652,629,652,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770875537664
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.930784003,715,681,657,628,880.930784003,784.930784003,807,652,629.069215997,651.930784003,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770892204544
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.352600748,715,681,657,628,880.352600748,784.352600748,807,652,629.647399252,651.352600748,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770908870912
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.772075041,681,657.455849918,628,880.227924959,784.227924959,807.227924959,652.227924959,630,651.227924959,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770925537536
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.18788798,681,658.62422404,628,880.81211202,784.81211202,807.81211202,652.81211202,630,651.81211202,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770942203904
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.606987269,628,881,785,807.606987269,652.606987269,629.606987269,652,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770958870528
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.027644587,628,881,785,807.027644587,652.027644587,629.027644587,652,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770975536896
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.550290894,745,714.550290894,680.449709106,657.449709106,628,881,785,807,652,629,651.449709106,0.453317942965,-0.00552860026554,0.0495938957647,0.999999798421,6.54689584768e-05,-0.000631518278095,7.44818825984e-06,1793244770992203776
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.991424226,745.004287887,715,680.004287887,657,628,881,785,807,652,629,651.004287887,0.452936165007,-0.00551587307688,0.0495659078522,0.999999765738,7.20358992986e-05,-0.00068067117778,4.65680895531e-06,1793244771008870400
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.95275537,745.023622315,715,680.023622315,657,628,881,785,807,652,629,651.023622315,0.45293041875,-0.00551531268045,0.0495630539865,0.999999762133,7.24425093132e-05,-0.000685906464453,4.38652756934e-06,1793244771025537280
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.914086515,745.042956743,715,680.042956743,657,628,881,785,807,652,629,651.042956743,0.452924672492,-0.00551475228402,0.0495602001209,0.9999997585,7.28491193263e-05,-0.000691141751115,4.11624618288e-06,1793244771042203904
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.875417661,745.062291169,715,680.062291169,657,628,881,785,807,652,629,651.062291169,0.452918926235,-0.00551419188762,0.0495573462554,0.999999754839,7.32557293137e-05,-0.00069637703745,3.84596481216e-06,1793244771058870528
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.836748805,745.081625597,715,680.081625597,657,628,881,785,807,652,629,651.081625597,0.452913179978,-0.00551363149119,0.0495544923897,0.999999751151,7.36623393239e-05,-0.000701612324086,3.57568342479e-06,1793244771075537152
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.79807995,745.100960025,715,680.100960025,657,628,881,785,807,652,629,651.100960025,0.452907433721,-0.00551307109476,0.049551638524,0.999999747435,7.40689493324e-05,-0.00070684761071,3.305402037e-06,1793244771092203776
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.759411096,745.120294452,715,680.120294452,657,628,881,785,807,652,629,651.120294452,0.452901687464,-0.00551251069837,0.0495487846585,0.999999743691,7.44755593151e-05,-0.000712082897005,3.03512066502e-06,1793244771108870400
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.72074224,745.13962888,715,680.13962888,657,628,881,785,807,652,629,651.13962888,0.452895941206,-0.00551195030194,0.0495459307928,0.99999973992,7.48821693204e-05,-0.000717318183601,2.76483927645e-06,1793244771125537280
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.682073385,745.158963308,715,680.158963308,657,628,881,785,807,652,629,651.158963308,0.452890194949,-0.00551138990551,0.0495430769271,0.999999736121,7.52887793242e-05,-0.000722553470181,2.49455788752e-06,1793244771142203904
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.643404531,745.178297734,715,680.178297734,657,628,881,785,807,652,629,651.178297734,0.452884448692,-0.00551082950911,0.0495402230616,0.999999732294,7.5695389302e-05,-0.000727788756435,2.22427651449e-06,1793244771158870528
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.604735675,745.197632162,715,680.197632162,657,628,881,785,807,652,629,651.197632162,0.452878702435,-0.00551026911268,0.049537369196,0.99999972844,7.61019993022e-05,-0.000733024042985,1.95399512491e-06,1793244771175537152
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.566066819,745.21696659,715,680.21696659,657,628,881,785,807,652,629,651.21696659,0.452872956177,-0.00550970871625,0.0495345153303,0.999999724558,7.65086093009e-05,-0.000738259329521,1.68371373505e-06,1793244771192203776
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.527397966,745.236301017,715,680.236301017,657,628,881,785,807,652,629,651.236301017,0.45286720992,-0.00550914831986,0.0495316614648,0.999999720649,7.69152192733e-05,-0.000743494615727,1.41343236115e-06,1793244771208870400
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.48872911,745.255635445,715,680.255635445,657,628,881,785,807,652,629,651.255635445,0.452861463663,-0.00550858792343,0.0495288075991,0.999999716712,7.73218292683e-05,-0.000748729902229,1.14315097078e-06,1793244771225537280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.450060254,745.274969873,715,680.274969873,657,628,881,785,807,652,629,651.274969873,0.452855717406,-0.005508027527,0.0495259537334,0.999999712747,7.77284392615e-05,-0.000753965188714,8.728695802e-07,1793244771242203904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.411391401,745.2943043,715,680.2943043,657,628,881,785,807,652,629,651.2943043,0.452849971149,-0.0055074671306,0.0495230998679,0.999999708755,7.81350492283e-05,-0.000759200474869,6.02588205633e-07,1793244771258870528
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.372722545,745.313638727,715,680.313638727,657,628,881,785,807,652,629,651.313638727,0.452844224892,-0.00550690673417,0.0495202460022,0.999999704734,7.85416592176e-05,-0.000764435761319,3.32306814674e-07,1793244771275537152
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.334053689,745.332973155,715,680.332973155,657,628,881,785,807,652,629,651.332973155,0.452838478634,-0.00550634633775,0.0495173921366,0.999999700687,7.8948269205e-05,-0.000769671047751,6.20254235612e-08,1793244771292203776
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.295384836,745.352307582,715,680.352307582,657,628,881,785,807,652,629,651.352307582,0.452832732377,-0.00550578594135,0.0495145382711,0.999999696611,7.9354879166e-05,-0.000774906333849,-2.08255951465e-07,1793244771308870400
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.25671598,745.37164201,715,680.37164201,657,628,881,785,807,652,629,651.37164201,0.45282698612,-0.00550522554492,0.0495116844054,0.999999692508,7.97614891495e-05,-0.000780141620244,-4.78537342817e-07,1793244771325537280
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.218047124,745.390976438,715,680.390976438,657,628,881,785,807,652,629,651.390976438,0.452821239863,-0.00550466514849,0.0495088305397,0.999999688378,8.01680991307e-05,-0.000785376906618,-7.48818734255e-07,1793244771342203904
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.179378271,745.410310865,715,680.410310865,657,628,881,785,807,652,629,651.410310865,0.452815493606,-0.0055041047521,0.0495059766742,0.999999684219,8.05747090855e-05,-0.000790612192657,-1.01910010954e-06,1793244771358870528
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.140709415,745.429645293,715,680.429645293,657,628,881,785,807,652,629,651.429645293,0.452809747348,-0.00550354435567,0.0495031228085,0.999999680034,8.09813190626e-05,-0.000795847478992,-1.28938150108e-06,1793244771375537152
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.102040559,745.44897972,715,680.44897972,657,628,881,785,807,652,629,651.44897972,0.452804001091,-0.00550298395924,0.0495002689428,0.99999967582,8.13879290376e-05,-0.000801082765304,-1.55966289264e-06,1793244771392203776
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.063371706,745.468314147,715,680.468314147,657,628,881,785,807,652,629,651.468314147,0.452798254834,-0.00550242356284,0.0494974150773,0.999999671579,8.1794538986e-05,-0.000806318051281,-1.82994426799e-06,1793244771408870400
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.02470285,745.487648575,715,680.487648575,657,628,881,785,807,652,629,651.487648575,0.452792508577,-0.00550186316641,0.0494945612117,0.99999966731,8.22011489565e-05,-0.000811553337551,-2.10022565952e-06,1793244771425537280
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.947365141,745.52631743,715,680.52631743,657,628,881,785,807,652,629,651.52631743,0.452781016062,-0.00550074237359,0.0494888534805,0.999999658689,8.30143688663e-05,-0.000822023909708,-2.64078842619e-06,1793244771458870528
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.908696285,745.545651858,715,680.545651858,657,628,881,785,807,652,629,651.545651858,0.452775269805,-0.00550018197716,0.0494859996148,0.999999654337,8.342097883e-05,-0.000827259195911,-2.91106981751e-06,1793244771475537152
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.870027429,745.564986286,715,680.564986286,657,628,881,785,807,652,629,651.564986286,0.452769523548,-0.00549962158073,0.0494831457491,0.999999649958,8.38275887913e-05,-0.000832494482088,-3.18135120871e-06,1793244771492203776
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.831358575,745.584320712,715,680.584320712,657,628,881,785,807,652,629,651.584320712,0.452763777291,-0.00549906118433,0.0494802918836,0.999999645551,8.42341987258e-05,-0.000837729767928,-3.45163258356e-06,1793244771508870400
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.79268972,745.60365514,715,680.60365514,657,628,881,785,807,652,629,651.60365514,0.452758031034,-0.0054985007879,0.0494774380179,0.999999641116,8.46408086823e-05,-0.000842965054057,-3.72191397446e-06,1793244771525537280
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.71535201,745.642323995,715,680.642323995,657,628,881,785,807,652,629,651.642323995,0.452746538519,-0.00549737999508,0.0494717302867,0.999999632163,8.54540285634e-05,-0.000853435625927,-4.26247673949e-06,1793244771558870528
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.676683155,745.661658423,715,680.661658423,657,628,881,785,807,652,629,651.661658423,0.452740792262,-0.00549681959865,0.0494688764211,0.999999627646,8.58606385124e-05,-0.00085867091198,-4.53275812978e-06,1793244771575537152
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.638014299,745.680992851,715,680.680992851,657,628,881,785,807,652,629,651.680992851,0.452735046005,-0.00549625920222,0.0494660225554,0.9999996231,8.62672484588e-05,-0.000863906198008,-4.80303951981e-06,1793244771592203776
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764.599345445,745.700327277,715,680.700327277,657,628,881,785,807,652,629,651.700327277,0.452729299748,-0.00549569880582,0.0494631686899,0.999999618527,8.66738583783e-05,-0.000869141483695,-5.07332089336e-06,1793244771608870400
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.48333888,745.75833056,715,680.75833056,657,628,881,785,807,652,629,651.75833056,0.452712060976,-0.00549401761657,0.049454607093,0.999999604643,8.78936881695e-05,-0.000884847341219,-5.88416504458e-06,1793244771658870528
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764.444670024,745.777664988,715,680.777664988,657,628,881,785,807,652,629,651.777664988,0.452706314719,-0.00549345722014,0.0494517532273,0.999999599959,8.83002981025e-05,-0.000890082627109,-6.15444643303e-06,1793244771675537152
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.367332315,745.816333842,715,680.816333842,657,628,881,785,807,652,629,651.816333842,0.452694822204,-0.00549233642731,0.0494460454962,0.999999590509,8.91135179361e-05,-0.000900553198489,-6.69500919253e-06,1793244771708870400
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.328663459,745.83566827,715,680.83566827,657,628,881,785,807,652,629,651.83566827,0.452689075947,-0.00549177603088,0.0494431916305,0.999999585742,8.95201278608e-05,-0.000905788484291,-6.96529057976e-06,1793244771725537024
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.25132575,745.874337125,715,680.874337125,657,628,881,785,807,652,629,651.874337125,0.452677583433,-0.00549065523806,0.0494374838993,0.999999576126,9.03333476772e-05,-0.000916259055492,-7.50585333662e-06,1793244771758870528
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.212656894,745.893671553,715,680.893671553,657,628,881,785,807,652,629,651.893671553,0.452671837175,-0.00549009484163,0.0494346300336,0.999999571277,9.07399575932e-05,-0.000921494341202,-7.77613472242e-06,1793244771775537152
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.135319185,745.932340408,715,680.932340408,657,628,881,785,807,652,629,651.932340408,0.452660344661,-0.00548897404881,0.0494289223024,0.999999561495,9.1553177392e-05,-0.000931964912216,-8.31669747624e-06,1793244771808870400
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.057981473,745.971009263,715,680.971009263,657,628,881,785,807,652,629,651.971009263,0.452648852147,-0.00548785325595,0.0494232145711,0.999999551603,9.2366397203e-05,-0.000942435483414,-8.85726024402e-06,1793244771842203904
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.01931262,745.99034369,715,680.99034369,657,628,881,785,807,652,629,651.99034369,0.45264310589,-0.00548729285955,0.0494203607056,0.999999546615,9.27730070794e-05,-0.00094767076865,-9.12754161078e-06,1793244771858870528
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.531887499,657.468112501,628,880,785,807.468112501,652,629.468112501,651.531887499,0.452641678669,-0.00548535553546,0.0494204927405,0.999999546349,9.40408252857e-05,-0.000947817618562,-1.00180833689e-05,1793244771908870144
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.953172965,680.046827035,658,628,880.046827035,785,807.953172965,652,629.953172965,651.046827035,0.452642279947,-0.00548785411385,0.049419794002,0.99999954589,9.14545552463e-05,-0.000948562472942,-9.23108782392e-06,1793244771925536768
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.124873196,714.124873196,681,657.875126804,628,881,785,807,652.124873196,629.124873196,652,0.452641033417,-0.00548858224298,0.0494209361264,0.999999546419,9.07882838921e-05,-0.000948070019715,-9.05043173576e-06,1793244771958870016
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.503296506,714.503296506,681,657.496703494,628,881,785,807,652.503296506,629.503296506,652,0.452641350442,-0.00548645236586,0.0494211825166,0.999999546436,9.43709758586e-05,-0.000947699868743,-9.34459553886e-06,1793244771975536896
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.559973361,746,715,680.559973361,657.559973361,628,880.559973361,785,807,652,629.440026639,652,0.452642836117,-0.00548614923134,0.0494216503695,0.999999548802,9.47097701263e-05,-0.000945161152816,-9.77502710763e-06,1793244772025537024
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745.94746633,715,680.05253367,657.05253367,628,880.05253367,785,807,652,629.94746633,652,0.452643667043,-0.0054864738403,0.0494222947722,0.999999549801,9.4345300957e-05,-0.000944147862019,-9.07599108444e-06,1793244772042203648
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.351546931,715,680.648453069,657.648453069,628,880.648453069,785,807,652,629.351546931,652,0.452641578562,-0.00548515382104,0.0494206407956,0.999999546385,9.39501225343e-05,-0.000947788421439,-9.9695918637e-06,1793244772058870272
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.830160667,715,681,657.169839333,628,880.169839333,785,807,652,629,652,0.452639034055,-0.00548453568554,0.0494193986365,0.999999543568,9.56342377227e-05,-0.000950587614127,-1.00440624237e-05,1793244772092203520
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,746,714.579626834,681,657,628,880.420373166,785,807,652,629,652,0.452639727978,-0.00548637474015,0.0494197491817,0.999999544465,9.51315053678e-05,-0.000949699153362,-9.51185099131e-06,1793244772108870144
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.98906347,714,681,657,628,881,785,807,652,629,652,0.452641066063,-0.00548889734078,0.0494203162092,0.999999545939,9.38442545691e-05,-0.000948280549488,-8.90087134914e-06,1793244772125536768
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.411373901,714,681,657,628,881,785,807,652,629,652,0.452641649356,-0.00549059491244,0.049420766354,0.99999954669,9.1032686324e-05,-0.000947764702351,-8.64497358249e-06,1793244772142203136
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.165380167,714.165380167,681,657,628,881,785,807,652,629,652,0.452641853405,-0.00549037526438,0.0494209338901,0.999999546855,9.01619042821e-05,-0.000947673157666,-8.77652218278e-06,1793244772158869760
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.739820439,714.739820439,681,657,628,881,785,807,652,629,652,0.452641119413,-0.00548541346344,0.049420402407,0.999999545574,9.40915654928e-05,-0.000948631105127,-9.86640118454e-06,1793244772175536640
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.025291668,715,681,657.025291668,628,881,785,807,652,629,651.974708332,0.45202090229,-0.00546861560065,0.0490626424384,0.999998821553,9.57395220676e-05,-0.00153195217303,-2.91542748181e-05,1793244772325536512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.553044711,745.553044711,715,681,657.553044711,628,880.446955289,785,806.446955289,652,629,652,0.452008242826,-0.00547265538212,0.0490572529128,0.9999988125,9.22842123879e-05,-0.0015380759644,-2.83751998098e-05,1793244772342203648
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.870039438,746,715,681,657.870039438,628,880.129960562,785,806.129960562,652,629,652,0.451994349171,-0.00547491917282,0.0490515960174,0.999998805288,9.05927185109e-05,-0.00154286315804,-2.80729971234e-05,1793244772358870784
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.296235964,746,715,681,657.296235964,628,880.703764036,785,806.703764036,652,629,652,0.451976554809,-0.00547056597582,0.0490449026839,0.999998803642,9.49494448053e-05,-0.0015436400024,-2.95661093261e-05,1793244772375537408
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,657.285499122,628,881,785,807.285499122,652,629,652,0.451944578406,-0.0054681692371,0.0490332925323,0.999998786484,9.662126841e-05,-0.00155458791831,-3.08487262835e-05,1793244772392203776
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,657.875699246,628,881,785,807.875699246,652,629,652,0.45189746612,-0.00546786054289,0.0490164348716,0.999998752433,9.54276099285e-05,-0.00157639098322,-3.19066905696e-05,1793244772408870144
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,657.542528031,628,881,785,807.542528031,652,629,652,0.451848732437,-0.00546532224472,0.0490140841505,0.999998744965,9.69947749226e-05,-0.00158101325753,-3.25243244711e-05,1793244772425536768
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,657.036786546,628,880.963213454,785,807,652,629,652,0.451799148007,-0.00546230982496,0.0490156997582,0.999998745414,9.9217478385e-05,-0.00158058087607,-3.3013795335e-05,1793244772442203392
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,657.613025544,628,880.386974456,785,807,652,629,652,0.451743431472,-0.00546106785203,0.0490187218959,0.99999875687,0.000100251748147,-0.00157324354293,-3.33465915218e-05,1793244772458870016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745.811868265,715,681,658,628,880.188131735,785,807,652,629,652,0.451676410555,-0.00545932336763,0.0490200260968,0.999998760561,0.00010122640235,-0.00157082687234,-3.36542835444e-05,1793244772475536384
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745.239078308,715,681,658,628,880.760921692,785,807,652,629,652,0.451586276459,-0.00545655143755,0.0490178177664,0.999998748429,0.000102079165173,-0.00157847109599,-3.39106470099e-05,1793244772492203264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745.345518108,715,681,658,628,880.654481892,785.345518108,807,652,629,651.654481892,0.451484719821,-0.00545222744062,0.0490159131653,0.99999873928,0.000105878987455,-0.00158399475733,-3.44811601955e-05,1793244772508870144
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745.93857299,715,681,658,628,880.06142701,785.93857299,807,652,629,651.06142701,0.451374979814,-0.00544679150858,0.0490142261624,0.999998732258,0.000111790148048,-0.00158799920196,-3.52767371772e-05,1793244772525536512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745.481843839,715,680.481843839,657.481843839,628,880,785.481843839,807,652,629,651.518156161,0.451248465999,-0.00544614260292,0.0490173461365,0.999998735829,0.000110698650029,-0.00158582019565,-3.55153592255e-05,1793244772542203136
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,657,628,880.095853723,785,807,652,629,651.904146277,0.451115453873,-0.00544551456241,0.049020747091,0.999998740475,0.000109447268022,-0.00158296886383,-3.57768887664e-05,1793244772558869760
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,657,628,880.67190321,785,807,652,629,651.32809679,0.450959596701,-0.00544222011153,0.0490227731802,0.999998744404,0.000111448360621,-0.00158032864935,-3.64755670156e-05,1793244772575536640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745.252776673,714.747223327,680,657,628.252776673,880.747223327,785,807,652,629,651.252776673,0.4507924751,-0.00543815210347,0.0490271217603,0.999998754304,0.000114486248686,-0.00157381727518,-3.71821668627e-05,1793244772592203264
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745.840033297,714.159966703,680,657,628.840033297,880.159966703,785,807,652,629,651.840033297,0.450610448153,-0.0054330605068,0.049034543514,0.999998772004,0.000118896048406,-0.00156218349282,-3.78992487064e-05,1793244772608869888
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.421608939,657.421608939,628.578391061,880.421608939,785,807,652,629.421608939,652,0.450412496702,-0.00542920158107,0.0490441756712,0.99999880255,0.000119843586502,-0.00154241430321,-3.86529037597e-05,1793244772625536512
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745.998947274,714,681,658,628.001052726,881,785,807,652,630,652,0.450208525241,-0.00542581321965,0.0490546393063,0.999998837497,0.000119485484793,-0.00151959646087,-3.94203585022e-05,1793244772642203136
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745.422250239,714,681,658,628.577749761,881,785,807,652,630,652,0.449972687505,-0.00542739152898,0.0490672672474,0.999998874944,0.000113957123061,-0.00149516071107,-4.02466633755e-05,1793244772658869760
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.15389818,681,658,629,881,785.15389818,807,652,630,652,0.449724057789,-0.00543057035743,0.0490777429863,0.999998906112,0.000106716040087,-0.0014746853706,-4.11034535706e-05,1793244772675536640
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.728546613,681,658,629,881,785.728546613,807,652,630,652,0.44944045545,-0.00543812492825,0.0490823347055,0.999998921455,9.47924603191e-05,-0.00146503760559,-4.20435890942e-05,1793244772692203264
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.311418174,745,715,681,658,629.311418174,881,785.688581826,807,652,629.688581826,652,0.44913158248,-0.00544251799449,0.0490853889262,0.999998932244,8.57738257773e-05,-0.00145817592487,-4.33136509741e-05,1793244772708869888
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.901652047,745,715,681,658,629.901652047,881,785.098347953,807,652,629.098347953,652,0.448800084439,-0.00544408053603,0.0490870666102,0.999998939064,7.93560153957e-05,-0.00145380865135,-4.48790992175e-05,1793244772725536512
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.517197084,745,714.517197084,680.517197084,658,630,881,785,807,652,629.482802916,652,0.448443746502,-0.00543821401018,0.0490913153301,0.999998950149,8.18670852822e-05,-0.00144597185171,-4.65194663228e-05,1793244772742203136
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,630,880.938289261,785,807,652,630,652,0.448078451927,-0.00543130402163,0.049096576879,0.999998962505,8.58273946937e-05,-0.00143711849957,-4.80914874256e-05,1793244772758869760
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,630,880.362935086,785,807,652,630,652,0.447679945656,-0.00542807221876,0.0491059899336,0.999998978881,8.69909933598e-05,-0.00142557790363,-4.89699591162e-05,1793244772775536384
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,630,880.216677759,785,806.783322241,652,630,651.783322241,0.447270973305,-0.00542484510396,0.0491119186741,0.999998993039,8.70451438478e-05,-0.00141556166769,-5.02977613554e-05,1793244772792203264
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,630,880.803566851,785,806.196433149,652,630,651.196433149,0.446844118843,-0.0054216259993,0.0491118941837,0.999999003554,8.52037130738e-05,-0.00140814992398,-5.23932808337e-05,1793244772808870144
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.385359247,658,630.385359247,880.614640753,785.385359247,806.385359247,652,630,651.385359247,0.446376753874,-0.00541741125838,0.0491140632538,0.999999011274,8.48931003641e-05,-0.00140258635869,-5.47320013361e-05,1793244772825536512
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.964587546,658,630.964587546,880.035412454,785.964587546,806.964587546,652,630,651.964587546,0.445889008628,-0.00541269562635,0.0491173358746,0.999999017586,8.5352621678e-05,-0.00139795258732,-5.71930729377e-05,1793244772842203136
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.458489502,658.541510498,631,880.541510498,786,807,652,630,652,0.44539430733,-0.00541302201703,0.0491317075741,0.999999056191,7.96376734713e-05,-0.00137035273418,-5.83841092842e-05,1793244772858870272
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745.118050031,714,680.118050031,659,631.118050031,880.881949969,786,807,652,630,652,0.444892759649,-0.00541418328205,0.0491518114794,0.99999910079,7.2843900376e-05,-0.00133776540836,-5.9128145119e-05,1793244772875537152
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745.693685112,714,680.693685112,659,631.693685112,880.306314888,786,807,652,630,652,0.444366429959,-0.00541730801677,0.0491913329935,0.999999162109,6.34269020734e-05,-0.00129164258383,-5.84600912644e-05,1793244772892204032
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745.724648506,714,681,659,632,880.550702988,786,807,652,630.275351494,652,0.443818508874,-0.0054148553498,0.0492207115075,0.999999208984,6.03765199348e-05,-0.00125496462866,-5.87388483449e-05,1793244772908870656
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745.136122267,714,681,659,632,881.727755465,786,807,652,630.863877733,652,0.443246030456,-0.00540605914999,0.0492385537482,0.999999240854,6.45672936491e-05,-0.00122902891928,-6.0094473641e-05,1793244772925537280
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.444921045,745,714,680.555078955,659,632,881.11015791,786,806.555078955,652,631,652,0.442619978993,-0.00539996324792,0.0492457019357,0.999999255117,6.35970859586e-05,-0.00121728280657,-6.27940370062e-05,1793244772942204160
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.976492435,745,714,680,659,632.023507565,880,786.023507565,806,651.976492435,631,652,0.441979904911,-0.00539510072444,0.0492514909366,0.999999268138,6.0655017323e-05,-0.00120653158088,-6.57787786725e-05,1793244772958871296
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.402710335,745,714,680,659,632.597289665,880,786.597289665,806,651.402710335,631,652,0.441388912386,-0.00540009068066,0.0493007846936,0.999999370453,4.7905032842e-05,-0.00111912784762,-6.59733699064e-05,1793244772975537664
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.171345981,659.342691962,632.828654019,880.171345981,787,806,651.171345981,631,652,0.440779385516,-0.0054057208265,0.049348754562,0.999999459626,3.42179336853e-05,-0.00103692239687,-6.60908104032e-05,1793244772992204032
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.746047781,660.492095563,632.253952219,880.746047781,787,806,651.746047781,631,652,0.440126228036,-0.00541285800597,0.0493936079365,0.999999530152,1.83248275843e-05,-0.000966953946235,-6.60266355403e-05,1793244773008870656
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.331788031,714,681,660.336423939,632.331788031,880.668211969,786.668211969,806.331788031,652,631,652,0.439421279728,-0.005410138789,0.0494052224257,0.999999545864,1.24567942086e-05,-0.000950488409144,-6.8475226355e-05,1793244773025537024
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745.9262679,714,681,659.1474642,632.9262679,880.0737321,786.0737321,806.9262679,652,631,652,0.438675326271,-0.00539961580947,0.049390520159,0.999999520574,1.45260726335e-05,-0.000976383594276,-7.29132894498e-05,1793244773042203648
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.495245074,659.504754926,633.504754926,880,787.009509852,807,652,631,652,0.437868468666,-0.00539350961381,0.0493628215983,0.999999474924,2.4570078092e-05,-0.001021814138,-7.37766299042e-05,1793244773058870528
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.080189426,745.919810574,714,680,660,633.919810574,880.080189426,787.919810574,807,652,631,652,0.437061942297,-0.00538855352748,0.0493415454073,0.999999436855,4.69811718318e-05,-0.00105789278041,-7.03257077198e-05,1793244773075537152
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.650803693,745.349196307,714,680,660,633.349196307,880.650803693,787.349196307,807,652,631,652,0.43631018099,-0.0053868066746,0.0493708012732,0.999999469454,0.000138121679196,-0.00101986045514,-4.35849639132e-05,1793244773092203776
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.769330139,745,714,680,660,633,880.769330139,787,806.769330139,652,631,652,0.435538376289,-0.00538171091447,0.0493923676937,0.999999489362,0.000193263510779,-0.000991507267979,-2.89378584308e-05,1793244773108870656
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.174872788,745,714,680,660,633,880.174872788,787,806.174872788,652,631,652,0.434734961202,-0.00537133362072,0.0494018071594,0.99999950243,0.000191632150936,-0.000978418975268,-3.33635241896e-05,1793244773125537024
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.408982003,745,714,680,659.591017997,633,880,787,806,652,631,652,0.433934031544,-0.00537006912292,0.0494111155823,0.999999526141,0.000179364583956,-0.000956090695778,-3.7892125715e-05,1793244773142203904
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.988417865,745,714,680,659.011582135,633,880,787,806,652,631,652,0.433134137802,-0.00537260261988,0.0494203693891,0.999999553501,0.000162664101679,-0.00092991141212,-4.24636280962e-05,1793244773158870528
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.437798334,745,714,680.562201666,660.124403332,633,880,787,806,652,631,652,0.432314412997,-0.00538104140587,0.0494557994792,0.999999598237,0.000141601448629,-0.000884092261377,-4.30817569455e-05,1793244773175537152
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.727707506,660.727707506,633,880,787,806,652,631,652,0.431486810813,-0.00538595006568,0.0494823347394,0.999999630833,0.000125675225764,-0.000848866559461,-4.4335047758e-05,1793244773192203264
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.578039367,659.578039367,633,880,787,806,652,631,652,0.430635129645,-0.00537909592064,0.0494784889243,0.999999630385,0.000126586196607,-0.000849065619264,-4.7894763929e-05,1793244773208869888
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.294685117,659.294685117,633,880,787,806,652,631,651.705314883,0.429769415751,-0.00537343780655,0.0494612878563,0.99999960947,0.000131085853473,-0.000872563294823,-5.0093989177e-05,1793244773225536768
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.887360096,659.887360096,633,880,787,806,652,631,651.112639904,0.428889511814,-0.00536898913671,0.0494305817632,0.999999566162,0.000139214441379,-0.000919620866789,-5.09174659871e-05,1793244773242203648
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,745.469322223,714,680,660,633.469322223,880,786.530677777,806,652,631,651.469322223,0.428031154903,-0.00537060309095,0.0494509817572,0.999999590388,0.000138669007419,-0.000893045480804,-4.96402496207e-05,1793244773258870528
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765,745.951725703,714,680,659.951725703,633.951725703,880,786.048274297,806,652,631,652,0.427173958783,-0.00537298282073,0.0494803002421,0.999999625287,0.000136487251735,-0.000853507634861,-4.81803316334e-05,1793244773275537152
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,745.378174272,714,680,659.378174272,633.378174272,880,786.621825728,806,652,631,652,0.42627437927,-0.00536821568181,0.0494761754672,0.999999618536,0.000138647400418,-0.000860926799844,-5.00959986916e-05,1793244773292203520
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633.19584701,880,787,806,652,630.80415299,652,0.425413407836,-0.0053658938205,0.0494873604549,0.999999640728,0.000137904934519,-0.000834785793504,-5.15550652688e-05,1793244773308870144
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633.770777842,880,787,806,652,630.229222158,652,0.424627166505,-0.00536830506697,0.0495281792023,0.999999713455,0.00013154413264,-0.000743685313673,-5.21303305358e-05,1793244773325537024
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,765.952776599,745,714,680,661.858329796,634,879.047223401,787,806,652,630,652,0.423004519441,-0.00537155093937,0.0495997834184,0.999999790598,0.000130719915859,-0.000631950120723,-4.85231141877e-05,1793244773358870016
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765.470371359,745.529628641,714,680,660.411114078,633.470371359,879.529628641,786.470371359,806.529628641,652,630,652,0.422126122321,-0.005370806482,0.049581258567,0.999999769946,0.000130179209991,-0.000663814995654,-5.01166756504e-05,1793244773375536896
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,765,745.318149359,714,680,659,633,880.681850641,786,807,652,630.681850641,652,0.420395591566,-0.00536753488949,0.0495701307754,0.999999756754,0.000133866842308,-0.000682529067983,-5.22164328456e-05,1793244773408870656
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+424,7.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.130818989,633.565409495,879,787,805,652.434590505,630.434590505,652,0.417951624795,-0.00536478479845,0.0496013519584,0.999999766837,0.00013762046054,-0.00066696279368,-5.04612003416e-05,1793244773458870272
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+426,7.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.170302381,633.585151191,879.585151191,787,805.585151191,653,631,652,0.416418718352,-0.00536996604281,0.0496216230934,0.999999795838,0.000129742193037,-0.000623629188191,-5.07629082952e-05,1793244773492203776
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+430,7.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.164521255,634,879,787,805.082260628,652.082260628,630.917739372,652,0.413418242565,-0.00536689113385,0.049634937391,0.999999811611,0.000132297589624,-0.000597011352441,-5.34111388525e-05,1793244773558870528
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+432,7.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.147043282,633.073521641,879,787,806,653,630.073521641,652,0.412051684734,-0.00536821540826,0.0496465102307,0.999999826821,0.000132147611529,-0.000570921465972,-5.42491169258e-05,1793244773592203520
+433,7.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.296418704,633.648209352,879,787,806,653,630.648209352,652,0.411419428353,-0.00537155176195,0.0496863947637,0.999999856848,0.000130312624016,-0.000516460978282,-5.0895232279e-05,1793244773608870144
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+445,7.416666667,POSE2_TO_POSE3_RETREAT,765.389032204,745,713.610967796,679.389032204,659.610967796,634,879.389032204,787,806,653,630,652,0.40506089533,-0.00538354454238,0.049720597007,0.999999881367,9.59801609459e-05,-0.000473967946589,-5.83827049438e-05,1793244773808871680
+446,7.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.191055447,660,634,879,787,805.808944553,653,630.191055447,652,0.404695510353,-0.00538404839932,0.0497398971749,0.999999895458,9.21322967976e-05,-0.000444035603377,-5.85570639305e-05,1793244773825538816
+447,7.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.780792174,660,634,879,787,805.219207826,653,630.780792174,652,0.404369189049,-0.00538704180872,0.0497726193838,0.999999918565,8.63702502758e-05,-0.000390023807184,-5.73661553982e-05,1793244773842204672
+448,7.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.636171336,660,634,878.636171336,787,805.363828664,653,630.636171336,652,0.404057148472,-0.00538931609564,0.0498003016784,0.999999934546,8.16310225603e-05,-0.00034799497301,-5.60636466781e-05,1793244773858871296
+449,7.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.057098703,660,634,878.057098703,787,805.942901297,653,630.057098703,652,0.403753556457,-0.0053911649442,0.0498250023224,0.9999999465,7.74969021585e-05,-0.000313055350631,-5.46951142856e-05,1793244773875537920
+450,7.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.519891539,659.480108461,633.480108461,878.519891539,787,806,653,630.519891539,652,0.403451741424,-0.00539253766774,0.0498219143986,0.999999942746,7.49328480727e-05,-0.000325367083796,-5.50379865739e-05,1793244773892204288
+451,7.516666667,POSE2_TO_POSE3_RETREAT,765,745.09803715,714,680,659.09803715,633.09803715,879,787,806,653,630.90196285,652,0.40315599181,-0.00539287429896,0.0498146640359,0.999999936508,7.58890790666e-05,-0.000343776459642,-5.51597302336e-05,1793244773908870912
+452,7.533333333,POSE2_TO_POSE3_RETREAT,765,745.683053537,714,680,659.683053537,633.683053537,879,787,806,653,630.316946463,652,0.402889405234,-0.00538832306966,0.0498018371452,0.999999926942,9.34784663947e-05,-0.000366799558813,-5.32531341718e-05,1793244773925537280
+453,7.550000000,POSE2_TO_POSE3_RETREAT,765,745.734724473,714,680,660.530551053,634,879,787,806,653,630,652,0.402637142491,-0.00538125454766,0.0497920317567,0.999999916949,0.000129682188584,-0.000383408581593,-4.77798362669e-05,1793244773942203904
+454,7.566666667,POSE2_TO_POSE3_RETREAT,765,745.155806412,714,680,661.688387175,634,879,787,806,653,630,652,0.402401815226,-0.00537120976168,0.0497857987739,0.99999990462,0.000187894148413,-0.000392434063754,-3.80895289203e-05,1793244773958870784
+455,7.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.575800239,661.151600478,634,879,787,805.575800239,653,630.424199761,652,0.402205583479,-0.0053712623931,0.0497857987966,0.999999904383,0.000195086508512,-0.000389662704221,-3.6570807243e-05,1793244773975537408
+456,7.600000000,POSE2_TO_POSE3_RETREAT,765,745.004557154,714,679,660,634,879,787,805.004557154,653,630.995442846,652,0.402024077066,-0.00537508464473,0.0497881498578,0.999999909313,0.00018346474394,-0.000382446850731,-3.80538414631e-05,1793244773992204032
+457,7.616666667,POSE2_TO_POSE3_RETREAT,765,745.578733119,714,679,660,634,879,787,805.578733119,653,630.421266881,652,0.401883670902,-0.00538532568309,0.0497974755789,0.99999991929,0.000168506336373,-0.000362677614007,-3.86188509035e-05,1793244774008870656
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+463,7.716666667,POSE2_TO_POSE3_RETREAT,765.939548812,745.939548812,714,679,660,634,879,787,806,653,630,652,0.401273971983,-0.00539332905476,0.0498280885141,0.999999942436,0.000143900777982,-0.000304488453437,-4.1330320569e-05,1793244774108870144
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+472,7.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787,806,653,630.727161363,652,0.401001980816,-0.00540165502533,0.0498394326681,0.999999952759,0.000131013518751,-0.000274918424885,-4.16929875293e-05,1793244774258870272
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..272a47fe1dac8737ec3b87306af8ad3b9d427eef
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,497 @@
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+474,7.900000000,pose2_to_pose3_retreat,0.575675699644,-0.000122118385562,1.04005096843,0.546247333773,0.00855357101257,1.0397174726
+475,7.916666667,pose2_to_pose3_retreat,0.575674208024,-0.000122025613683,1.04005096287,0.546245840617,0.00855365864769,1.03971746894
+476,7.933333333,pose2_to_pose3_retreat,0.575673026217,-0.000122017210254,1.04005094412,0.546244658034,0.00855366432044,1.03971744766
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+479,7.983333333,pose2_to_pose3_retreat,0.575671787943,-0.000122067327317,1.04005091151,0.546243419345,0.00855361255433,1.03971740873
+480,8.000000000,pose2_to_pose3_retreat,0.575671644943,-0.000122073115013,1.04005090774,0.546243276297,0.0085536065762,1.03971740424
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+483,8.050000000,pose2_to_pose3_retreat,0.575671363676,-0.000122084498818,1.04005090033,0.546242994936,0.00855359481782,1.03971739539
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a3e889e3ab3e1b3ea54b87cb4cb8ca5061b90490
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea06cc6bc7787f13e226112f1b8c492bcb177eef879f47efdfd7e0b39e49f84
+size 25829171
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4f6fd6e9af33e97859c59b28192c03aaaa1e951
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+24,0.400000000,BASELINE,765,745,714,679.9258505,660,634,879,787,806,653,630.0741495,652,0.40099093375,-0.00540860097717,0.049852930515,0.999999960339,0.00012202686561,-0.000250538951589,-4.07710267652e-05,1793244775167988992
+25,0.416666667,BASELINE,765,745,714,680,660,634.515213683,879.515213683,787.515213683,806,653,630,652,0.400991649582,-0.00540870914557,0.049853525892,0.999999960617,0.000121500670469,-0.000249743160664,-4.04052848839e-05,1793244775184655872
+26,0.433333333,BASELINE,765,745,714,679.89561902,660,635,879.89561902,787.89561902,806,653,630.10438098,652,0.400991920377,-0.00540886391406,0.0498538314283,0.99999996076,0.000121147966885,-0.000249399331897,-4.00305240713e-05,1793244775201322496
+27,0.450000000,BASELINE,765,745,714,679.317882712,660,635,879.317882712,787.317882712,806,653,630.682117288,652,0.400989696644,-0.0054087336064,0.0498525287325,0.999999960087,0.000122393887406,-0.000251465464386,-4.01266167434e-05,1793244775217989120
+28,0.466666667,BASELINE,765,745,714,679.249562269,660.249562269,634.750437731,879,787,806,653,631,652,0.400989052696,-0.00540831313631,0.049851926873,0.999999959864,0.000123052910129,-0.000251978388472,-4.04701465467e-05,1793244775234655488
+29,0.483333333,BASELINE,765,745,714,679.804417686,660.804417686,634.195582314,879,787,806,653,631,652,0.400990341322,-0.00540753770631,0.0498521823569,0.999999960193,0.000122993972177,-0.000250591250041,-4.11163697804e-05,1793244775251322112
+30,0.500000000,BASELINE,765,745,714,680,661,634,879,787,806,653,630.613760482,652,0.400989976069,-0.00540734960286,0.0498519517216,0.999999959885,0.000123713403431,-0.000251466533859,-4.10931587648e-05,1793244775267988736
+31,0.516666667,BASELINE,765,745,714,680,661,634,879,787,806,653,630.017258601,652,0.400988710471,-0.00540748123023,0.049851456451,0.999999959227,0.000124856565921,-0.00025357344273,-4.07055188669e-05,1793244775284655616
+32,0.533333333,BASELINE,765,745.57587481,714,679.42412519,660.42412519,634,879,787,806,653,630.57587481,652,0.400989352337,-0.00540999386308,0.0498520718712,0.999999959973,0.000122604541246,-0.000251802552243,-4.02260070078e-05,1793244775301322496
+33,0.550000000,BASELINE,765,745.8349264,713.8349264,679.1650736,660,634,879,787,806,653,630.8349264,652,0.400989865419,-0.00541144646709,0.0498526316329,0.999999960483,0.000121222389253,-0.000250492772022,-3.98987852228e-05,1793244775317989120
+34,0.566666667,BASELINE,765,745.255355461,713.255355461,679.744644539,660,634,879,787,806,653,630.255355461,652,0.400989912417,-0.00541005921923,0.0498529685406,0.999999960318,0.000122278485844,-0.000250630950639,-3.99608350102e-05,1793244775334656000
+35,0.583333333,BASELINE,765,745,713.321290402,680,660,634,879,787,806,653,630.321290402,652,0.400990107191,-0.00540861112259,0.0498535082075,0.999999960292,0.000123468255448,-0.000250119971353,-4.01383152366e-05,1793244775351322368
+36,0.600000000,BASELINE,765,745,713.895632507,680,660,634,879,787,806,653,630.895632507,652,0.400990418354,-0.00540711510065,0.0498542075699,0.999999960376,0.000124763307436,-0.000249097708482,-4.04067096989e-05,1793244775367988736
+37,0.616666667,BASELINE,765,745,714,680,660,634,879.469595392,787,805.530404608,653,631,652,0.400990051847,-0.00540822741075,0.0498541410614,0.999999960489,0.000123036289153,-0.000249509507693,-4.03688772355e-05,1793244775384655616
+38,0.633333333,BASELINE,765,745.045108994,714,680,660,634,879.954891006,787,805.045108994,653,631,652.045108994,0.400989499598,-0.00540994273708,0.0498538234217,0.999999960586,0.000120601033125,-0.00025032332923,-4.0258888673e-05,1793244775401322240
+39,0.650000000,BASELINE,765,745.640570016,714,680,660,634,879.359429984,787,805.640570016,653,631,652.640570016,0.400988517257,-0.00541194822488,0.0498525168833,0.999999960476,0.000117712830401,-0.00025215661804,-4.00982419213e-05,1793244775417989120
+40,0.666666667,BASELINE,765,746,714,679.772047709,660.227952291,634,879,787,806,653,631,652.772047709,0.400988409333,-0.00541223383447,0.0498518291066,0.999999960412,0.000117286180232,-0.000252592251906,-4.02218378986e-05,1793244775434656000
+41,0.683333333,BASELINE,765,746,714,679.19696785,660.80303215,634,879,787,806,653,631,652.19696785,0.400989632979,-0.00540990039968,0.0498520835852,0.99999996042,0.000120608002105,-0.000250899525566,-4.07782809805e-05,1793244775451322624
+42,0.700000000,BASELINE,765,746,714,679.377711439,660.622288561,634,879,787,806,653,630.622288561,652,0.400989366188,-0.00540951709488,0.0498520228937,0.99999996027,0.000120814664537,-0.00025139072611,-4.08195541514e-05,1793244775467989504
+43,0.716666667,BASELINE,765,746,714,679.952182044,660.047817956,634,879,787,806,653,630.047817956,652,0.400988322991,-0.00541014966076,0.0498517980224,0.999999960039,0.000119398563803,-0.000253019587858,-4.05924626456e-05,1793244775484656128
+44,0.733333333,BASELINE,765,746,714,679.457178144,660,634,879,787,805.457178144,653,630.542821856,652,0.400987808769,-0.00541037773219,0.0498516419519,0.99999996012,0.000118154023412,-0.000253268012441,-4.0681110777e-05,1793244775501322752
+45,0.750000000,BASELINE,765,745.868491583,714,679,660,634,879.131508417,787,805,653,631,652.131508417,0.400987807087,-0.00541051163774,0.0498516169709,0.999999960272,0.000117384066764,-0.000253015648607,-4.07441985581e-05,1793244775517989376
+46,0.766666667,BASELINE,765,745.291397599,714,679,660,634,879.708602401,787,805,653,631,652.708602401,0.400989379296,-0.00541045092328,0.0498520149896,0.999999960569,0.000118169347602,-0.000251491159267,-4.06235465577e-05,1793244775534656000
+47,0.783333333,BASELINE,765,745,714,679,660,634,879.714081482,787,805.285918518,653,630.714081482,652.714081482,0.400988924264,-0.00541030245952,0.0498515206001,0.999999960309,0.000118826932634,-0.000252207213478,-4.066471809e-05,1793244775551322624
+48,0.800000000,BASELINE,765,745,714,679,660,634,879.136538728,787,805.863461272,653,630.136538728,652.136538728,0.400986401537,-0.00541006449535,0.0498501159938,0.999999959476,0.000119354273693,-0.000255208522775,-4.08709424502e-05,1793244775567989504
+49,0.816666667,BASELINE,765,745,714,679,660,634,879,787,806,653,630,652,0.400986396619,-0.00540984848221,0.049850498666,0.999999959374,0.000120702648252,-0.000255043409496,-4.04472660156e-05,1793244775584656128
+50,0.833333333,BASELINE,765,745,714,679,660,634,879,787,806,653,630,652,0.400987190032,-0.00540967353688,0.0498513923601,0.999999959499,0.000122211632783,-0.000253922445391,-3.98777078351e-05,1793244775601323008
+51,0.850000000,BASELINE,765,745,714,679,660,634,879,787,806,653,630,652,0.400988289864,-0.00541005731042,0.0498515958762,0.999999959674,0.000122194862199,-0.000253200920184,-4.01092812103e-05,1793244775617989632
+52,0.866666667,BASELINE,765,745,714,679.191946249,660.191946249,634,879,787,806,653,630,652,0.400988997894,-0.00540996407329,0.0498519207254,0.999999959856,0.000122101776456,-0.000252475307287,-4.04500646378e-05,1793244775634656256
+53,0.883333333,BASELINE,765,745,714,679.768741658,660.768741658,634,879,787,806,653,630,652,0.400988920367,-0.00540891443738,0.0498524888458,0.999999960048,0.000121855680042,-0.00025174149868,-4.10098124596e-05,1793244775651322624
+54,0.900000000,BASELINE,765,745.344702642,714,680,660.655297358,634,879,787,806,653,630,652,0.400989250448,-0.00540950758549,0.0498528807859,0.99999996035,0.000120731725443,-0.000251085591398,-4.09969808959e-05,1793244775667989248
+55,0.916666667,BASELINE,765,745.920105145,714,680,660.079894855,634,879,787,806,653,630,652,0.400989853329,-0.00541120020314,0.0498531548135,0.999999960722,0.00011902024486,-0.000250481821328,-4.06009379023e-05,1793244775684655872
+56,0.933333333,BASELINE,765,746,713.492774942,679.492774942,660,634.507225058,879,787,806,653,630.507225058,652.507225058,0.400988956071,-0.00541046624082,0.049852221707,0.99999996044,0.000119202767804,-0.000251523026747,-4.05819175648e-05,1793244775701322496
+57,0.950000000,BASELINE,765,745.905490891,713.094509109,679,660,634.905490891,879,787,806.094509109,653,631,653,0.400988310723,-0.0054092879898,0.049851507556,0.999999960165,0.000119737088427,-0.000252346512583,-4.06610563703e-05,1793244775717989120
+58,0.966666667,BASELINE,765,745.32704085,713.67295915,679,660,634.32704085,879,787,806.67295915,653,631,653,0.400990193869,-0.00540783819077,0.0498529112326,0.999999960477,0.000120509062947,-0.000250697002278,-4.093154395e-05,1793244775734656256
+59,0.983333333,BASELINE,765,745,714,679,660,634,879,787,806.749643384,653,630.749643384,652.749643384,0.400990952835,-0.00540759044541,0.04985357783,0.999999960532,0.000121464271291,-0.00025001520541,-4.09241611917e-05,1793244775751322880
+60,1.000000000,BASELINE,765,745,714,679,660,634,879,787,806.17361506,653,630.17361506,652.17361506,0.400990249434,-0.0054089063688,0.0498532856119,0.999999960257,0.000122657836027,-0.000250592240184,-4.05553160549e-05,1793244775767989504
+61,1.016666667,BASELINE,765,745,714,679,660.400471375,634,879.400471375,787,806,653,630,652,0.400989730169,-0.0054092034805,0.0498528452972,0.999999960217,0.000121616317139,-0.000251248751803,-4.06061140853e-05,1793244775784656128
+62,1.033333333,BASELINE,765,745,714,679,660.973719979,634,879.973719979,787,806,653,630,652,0.400989290348,-0.00540906104144,0.0498523410886,0.999999960276,0.000119610505659,-0.00025193955245,-4.08379607406e-05,1793244775801322496
+63,1.050000000,BASELINE,765,745,714,679.56538312,661.56538312,634,879.43461688,787,806,653,630.56538312,652,0.400987795318,-0.00541036174856,0.0498516790636,0.999999960173,0.000117685720571,-0.000253300036747,-4.05270588735e-05,1793244775817989120
+64,1.066666667,BASELINE,765,745,714,680,661.69122464,634,879,787,806,653,631,652,0.400986999952,-0.00541150572475,0.0498513351594,0.999999960157,0.000116370958108,-0.000254011417383,-4.02845006507e-05,1793244775834655744
+65,1.083333333,BASELINE,765,745,714,680,660.532717703,634,879,787,806,653,631,652,0.400988269539,-0.00541202757146,0.0498518875713,0.99999996041,0.000116724228582,-0.000252847956308,-4.03017832098e-05,1793244775851322368
+66,1.100000000,BASELINE,765,745,714,679.690170694,660.309829306,634,879,787,806,653,631,652,0.400988847165,-0.00541178815617,0.0498521649686,0.999999960447,0.000118032752773,-0.000252091811539,-4.0293441772e-05,1793244775867988992
+67,1.116666667,BASELINE,765,745,714,679.116591984,660.883408016,634,879,787,806,653,631,652,0.400988835742,-0.00541090069886,0.0498522082532,0.999999960299,0.000120154458894,-0.00025168240431,-4.02632873094e-05,1793244775884656384
+68,1.133333333,BASELINE,765,745,714.468945413,679,661,634,879.468945413,787,806,653,631,652,0.400989461611,-0.00541105681985,0.0498522174065,0.999999960588,0.000118800361197,-0.000251181638682,-4.02212155037e-05,1793244775901323264
+69,1.150000000,BASELINE,765,745,714.943080149,679.056919851,660.943080149,634,879.943080149,787,806,653,630.943080149,652,0.40099023263,-0.00541156376209,0.0498523041802,0.999999960993,0.000116656390257,-0.000250586719788,-4.0149256571e-05,1793244775917990144
+70,1.166666667,BASELINE,765,745,714.360773553,679.639226447,660.360773553,634,879.360773553,787,806,653,630.360773553,652,0.400990842639,-0.00541285131816,0.0498531877901,0.999999961463,0.000115406982722,-0.000249337883138,-3.98294954853e-05,1793244775934656256
+71,1.183333333,BASELINE,765,745,714,679.781760793,660,634,879,787,806,653,630.218239207,652,0.40099126127,-0.00541303780355,0.0498537918217,0.99999996169,0.000115964794188,-0.000248176614523,-3.97579291305e-05,1793244775951322368
+72,1.200000000,BASELINE,765,745,714,679.208112058,660,634,879,787,806,653,630.791887942,652,0.400991368238,-0.00541143116031,0.0498539405513,0.999999961517,0.000119465719391,-0.000247157953052,-4.00905557816e-05,1793244775967988992
+73,1.216666667,BASELINE,765,745,714,679.366065834,660,634,879,787,805.633934166,653,631,652,0.400989679794,-0.00541027672864,0.0498529732901,0.999999960938,0.000120412779694,-0.000248963561455,-4.05226825936e-05,1793244775984655616
+74,1.233333333,BASELINE,765,745,714,679.940544959,660,634,879,787,805.059455041,653,631,652,0.400986969163,-0.00540937975594,0.0498513706588,0.999999960123,0.000119905840698,-0.000252377119428,-4.1011458092e-05,1793244776001322496
+75,1.250000000,BASELINE,765,745,714,679.467805476,660,634,879,787,805.532194524,653,630.467805476,652,0.400988580736,-0.0054091403825,0.0498520106739,0.999999960332,0.000120567768231,-0.000251264081667,-4.0817063314e-05,1793244776017989376
+76,1.266666667,BASELINE,765,745,714,679.122157979,660.122157979,634,879.122157979,787,806,653,630.122157979,652,0.400989987098,-0.00540938933326,0.0498525519724,0.999999960534,0.000120901569729,-0.000250342535757,-4.05509794486e-05,1793244776034656256
+77,1.283333333,BASELINE,765,745,714,679.698483197,660.698483197,634,879.698483197,787,806,653,630.698483197,652,0.400988775442,-0.00541117157028,0.0498517637224,0.999999960275,0.000119513769724,-0.000252075725637,-4.03115786067e-05,1793244776051322880
+78,1.300000000,BASELINE,765.275525197,745,714,679.724474803,660.724474803,634,879.724474803,787,806,653,631,652,0.400988158074,-0.00541100803663,0.0498513561618,0.99999996013,0.000119234768622,-0.000252766517295,-4.03954298567e-05,1793244776067989760
+79,1.316666667,BASELINE,765.853353602,745,714,679.146646398,660.146646398,634,879.146646398,787,806,653,631,652,0.400988192751,-0.00540870962472,0.0498513662894,0.999999960115,0.000120172329551,-0.000252313601,-4.0833949755e-05,1793244776084656384
+80,1.333333333,BASELINE,765.561805626,745,714,679,660,634.438194374,879,787,806,653,631,652,0.400988070416,-0.00540945637745,0.049851199379,0.999999960309,0.000118314459867,-0.000252427810327,-4.08009143229e-05,1793244776101322752
+81,1.350000000,BASELINE,765,745,714,679,660,634.974929647,879,787,806,653,630.974929647,652,0.40098790142,-0.00541115863607,0.0498509955644,0.999999960543,0.000115763450843,-0.0002527146637,-4.06051048842e-05,1793244776117989120
+82,1.366666667,BASELINE,765,745,714,679,660,634.39578383,879,787,806,653,630.39578383,652,0.400987881347,-0.00541108919072,0.0498513068543,0.999999960225,0.000118905523389,-0.000252554257448,-4.03563309329e-05,1793244776134655744
+83,1.383333333,BASELINE,765,745,713.817588567,679,660.182411433,634,879,787,806,653,630.182411433,652,0.400987876465,-0.0054108123823,0.0498516037274,0.999999960059,0.000120900394037,-0.000252273137785,-4.02837579954e-05,1793244776151322368
+84,1.400000000,BASELINE,765,745,713.24144495,679,660.75855505,634,879,787,806,653,630.75855505,652,0.400987904369,-0.00541008798397,0.0498518694821,0.999999960241,0.000120419048181,-0.000251731460117,-4.05915121053e-05,1793244776167988736
+85,1.416666667,BASELINE,765,745,713.33343914,679,660.66656086,634,879,787,806.33343914,653,631,652,0.400988310675,-0.00541022327235,0.0498522778129,0.999999960474,0.000119563592703,-0.00025121412399,-4.05888197086e-05,1793244776184655360
+86,1.433333333,BASELINE,765,745,713.907414598,679,660.092585402,634,879,787,806.907414598,653,631,652,0.400988989952,-0.00541097872154,0.0498527889954,0.999999960743,0.000118438262063,-0.000250714347395,-4.03621774006e-05,1793244776201322240
+87,1.450000000,BASELINE,765,745,714,679,660,634,879.495792997,787,806.504207003,653,631,652,0.400988758262,-0.00541033878922,0.0498527001462,0.99999996063,0.000119631348735,-0.000250578574588,-4.04865817564e-05,1793244776217988864
+88,1.466666667,BASELINE,765,745,714,679.085213821,660,634,879.829572358,787,806,653,630.914786179,652,0.400988465148,-0.00540993321557,0.0498525084739,0.999999960558,0.000120328394422,-0.000250509817438,-4.06140884408e-05,1793244776234655488
+89,1.483333333,BASELINE,765,745,714,679.664615157,660,634,878.670769686,787,806,653,630.335384843,652,0.400988831898,-0.00541244317339,0.0498523897607,0.999999961152,0.000115562767088,-0.000250423703145,-4.03680324305e-05,1793244776251322112
+90,1.500000000,BASELINE,765,745,714,680,660,634,878.241450749,787,806,653,630,652,0.400989149561,-0.00541327709002,0.0498525484566,0.999999961395,0.000113829577737,-0.000250256032676,-4.0297128951e-05,1793244776267988736
+91,1.516666667,BASELINE,765,745,714,680,660,634,878.814759845,787,806,653,630,652,0.400989399754,-0.00541180739687,0.0498530884333,0.999999961178,0.000116264277511,-0.000249976268561,-4.04669612512e-05,1793244776284655360
+92,1.533333333,BASELINE,765,745,714,679.601802879,660,634,878.601802879,787,806,653,630,652,0.400989928087,-0.00541082955286,0.049853340006,0.99999996111,0.000118127273559,-0.00024937558046,-4.04606955537e-05,1793244776301322240
+93,1.550000000,BASELINE,765,745,714,679.013530983,660,634,878.013530983,787,806,653,630,652,0.400990589186,-0.00541008648718,0.0498534539124,0.999999961113,0.000119717373683,-0.000248621702993,-4.03703715353e-05,1793244776317988864
+94,1.566666667,BASELINE,765,745,714,679.56626041,660,634,878.56626041,787,806,653,630.56626041,652,0.400989372808,-0.00541103097317,0.049853107219,0.999999960895,0.000119415207957,-0.000249665945032,-4.02151088901e-05,1793244776334655488
+95,1.583333333,BASELINE,765,745,714,680,660.145389188,634,879,787,806,653,630.854610812,652,0.400988549169,-0.00541183278033,0.0498528209142,0.9999999608,0.000118702373254,-0.00025039267788,-4.01623969474e-05,1793244776351322112
+96,1.600000000,BASELINE,765,745,714,680,660.723141337,634,879,787,806,653,630.276858663,652,0.400989024914,-0.00541209213575,0.0498527464425,0.999999961088,0.000116900759741,-0.000250049301852,-4.04191999826e-05,1793244776367988736
+97,1.616666667,BASELINE,765,745,714,679.700853766,660.700853766,634,878.700853766,787,806,653,630.299146234,652,0.400988922276,-0.00541180669492,0.0498525635712,0.999999961031,0.000117070761292,-0.000250211833887,-4.03329784e-05,1793244776384655360
+98,1.633333333,BASELINE,765,745,714,679.126456588,660.126456588,634,878.126456588,787,806,653,630.873543412,652,0.400988287454,-0.00541101997523,0.0498522809591,0.999999960655,0.000119054888765,-0.00025083986293,-3.99311324059e-05,1793244776401322240
+99,1.650000000,BASELINE,765,745.459658297,714,679,660.459658297,634,878.459658297,787,806,652.540341703,631,652,0.400988898481,-0.00541079911333,0.0498525434874,0.999999960727,0.000119621325243,-0.000250284649205,-3.99319656678e-05,1793244776417988608
+100,1.666666667,BASELINE,765,745.951777633,714,679,661,634,879,787,806,652.048222367,631,652,0.400989654878,-0.00541074847885,0.0498528715222,0.999999960871,0.000119777458984,-0.000249616399885,-4.00338446782e-05,1793244776434655232
+101,1.683333333,BASELINE,765,745.372668153,714,679,661,634,879,787,806,652.627331847,631,652,0.400988139631,-0.00541081324259,0.0498522264563,0.999999960425,0.000119822629325,-0.000251381190088,-3.99966422248e-05,1793244776451321856
+102,1.700000000,BASELINE,765,745,714,679.20563433,660.79436567,634,879,787,806,653,631,652,0.400987326195,-0.00541081731002,0.0498520732503,0.999999960217,0.000120041704398,-0.000252104328567,-4.00024994159e-05,1793244776467988480
+103,1.716666667,BASELINE,765,745,714,679.782479962,660.217520038,634,879,787,806,653,631,652,0.40098777967,-0.00541071180838,0.0498528079505,0.99999996044,0.000120574712463,-0.000250947076107,-4.00860879247e-05,1793244776484655104
+104,1.733333333,BASELINE,765,745,714,679.641144796,660,634,879,787,806,653,630.641144796,652,0.400989633545,-0.00541088178504,0.0498534868022,0.999999961001,0.000119470165613,-0.000249225423163,-4.01483821067e-05,1793244776501321984
+105,1.750000000,BASELINE,765,745,714,679.065054251,660,634,879,787,806,653,630.065054251,652,0.40099233516,-0.00541121852429,0.0498541318456,0.999999961759,0.000117374314254,-0.000247162106589,-4.01977856365e-05,1793244776517988608
+106,1.766666667,BASELINE,765,745,714,679.52216338,660.52216338,634,879,787,805.47783662,653,630.52216338,652,0.400991087973,-0.00541004689182,0.0498533589471,0.999999961128,0.000119270673462,-0.000248782195189,-4.03113931328e-05,1793244776534655232
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,631,652,0.400989993821,-0.00541211357362,0.049853514219,0.999999961046,0.000119440410787,-0.000249106629514,-3.98481694549e-05,1793244776577004288
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.575696023,634,879,787,805.424303977,653,631,652,0.40099041485,-0.00541113104457,0.0498536986981,0.999999960973,0.000120662949839,-0.000248740676795,-4.02780192871e-05,1793244776593670912
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.848424299,634,879,787,805,653,630.848424299,652,0.400990677557,-0.00541005598229,0.0498537364682,0.999999960938,0.000121725041312,-0.000248317086352,-4.05687743072e-05,1793244776610337792
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.272029764,634,879,787,805,653,630.272029764,652,0.400990496536,-0.00540872157841,0.0498533630592,0.999999961012,0.00012233744915,-0.000247731955479,-4.04696905842e-05,1793244776627004416
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.31195019,660,634.31195019,879,786.68804981,805.31195019,653,630.31195019,652,0.400990472265,-0.005408744671,0.0498535343205,0.999999961112,0.000121879565389,-0.000247575732258,-4.03425042866e-05,1793244776643671040
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.902709672,660,634.902709672,879,786.097290328,805.902709672,653,630.902709672,652,0.400990588093,-0.0054099810427,0.0498541923875,0.999999961233,0.000120465095406,-0.000247802850523,-4.01902009757e-05,1793244776660337664
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.516417923,660,634.516417923,879,786.483582077,805.516417923,653,630.516417923,652,0.400990676551,-0.00541155324666,0.0498544855287,0.999999961454,0.000119377381215,-0.000247470283277,-4.00054342605e-05,1793244776677004032
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805.061841292,653,630,652,0.400990823453,-0.00541287400786,0.0498546798842,0.999999961617,0.000118711069664,-0.000247156228611,-3.98377166054e-05,1793244776693670912
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805.634615428,653,630,652,0.400991497803,-0.00541157031091,0.0498546524993,0.999999961157,0.00012099413417,-0.000247906797683,-3.98637380021e-05,1793244776710337536
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.786304773,745,714,679,660,634,879,787,806,653,630.213695227,652,0.400995729343,-0.00541000082071,0.0498561330291,0.999999961455,0.000123354793855,-0.000245515233836,-3.99418048524e-05,1793244776727004160
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.196115545,745,714,679,660,634,879,787,806,653,630.803884455,652,0.401006228039,-0.00540796304891,0.0498602702436,0.999999963052,0.000125852162568,-0.000237587775589,-4.01115667783e-05,1793244776743671040
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.386970121,745,714,679.386970121,660.386970121,634,879.386970121,787,806,653,631,652,0.401036681866,-0.00540989699955,0.0498721396522,0.999999968516,0.00012373890843,-0.000214735483553,-3.92987042896e-05,1793244776760337664
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.966520664,745,714,679.966520664,660.966520664,634,879.966520664,787,806,653,631,652,0.401077066611,-0.00541380752635,0.0498878570823,0.999999975146,0.000119331121461,-0.000184455664215,-3.79968267052e-05,1793244776777004288
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.459396093,661,634.540603907,879.459396093,787,806,653,630.459396093,652,0.401141896963,-0.00541591483479,0.0499080463021,0.999999982118,0.000119167404903,-0.000142254729535,-3.64259439032e-05,1793244776793670912
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.882786744,745.117213256,714,679.117213256,660.882786744,634.882786744,879,787,806,653,630.117213256,652,0.401209213368,-0.00541827529583,0.0499269436353,0.999999986761,0.000118833621364,-0.000105582501858,-3.47783609307e-05,1793244776810337792
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.294682261,745.705317739,714,679.705317739,660.294682261,634.294682261,879,787,806,653,630.705317739,652,0.401280496184,-0.00542209690983,0.0499395495443,0.999999988218,0.000116771281978,-9.40574462526e-05,-3.28889003531e-05,1793244776827004160
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.288993328,745.711006672,714,679.711006672,660,634,879,787,806,653,630.711006672,652,0.401359166935,-0.00542525760034,0.0499477779321,0.999999989388,0.00011466332155,-8.41404742843e-05,-3.15778671023e-05,1793244776843670784
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.868220968,745.131779032,714,679.131779032,660,634,879,787,806,653,630.131779032,652,0.40144525734,-0.00542775452902,0.0499516100002,0.999999990319,0.000112509544307,-7.58384920181e-05,-3.08477451531e-05,1793244776860337664
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.447388673,879,787,805.552611327,653,630,652.447388673,0.401549721389,-0.00543134992274,0.049952074004,0.999999990557,0.000110687161142,-7.56300541584e-05,-3.0242929711e-05,1793244776877004544
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.026339396,714,679.026339396,660,634.973660604,879,787,805.026339396,652.973660604,630,652.973660604,0.401660492102,-0.00543525697294,0.0499514816131,0.999999990583,0.000109004756144,-7.79255707939e-05,-2.9655634088e-05,1793244776893670912
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.601139663,714,679.601139663,660,634.398860337,879,787,805.601139663,652.398860337,630,652.398860337,0.401789907683,-0.00543891717416,0.0499495470052,0.999999990313,0.000108204793188,-8.27262353485e-05,-2.86646988005e-05,1793244776910337536
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.820064611,714,679.820064611,660,634,879,787,806,652.179935389,630,652,0.401929719774,-0.00544312976344,0.0499492648802,0.999999990306,0.000106639000859,-8.51517769768e-05,-2.76597169069e-05,1793244776927004160
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.232211161,714,679.232211161,660,634,879,787,806,652.767788839,630,652,0.402093100996,-0.00544859462985,0.0499527289755,0.999999990929,0.000103337054152,-8.21928544206e-05,-2.66228911388e-05,1793244776943670784
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.350401593,660,634.350401593,879,787,806,653,630.350401593,652.350401593,0.402274231461,-0.00545467111174,0.049951361659,0.999999990997,0.000100113943863,-8.56524096206e-05,-2.54168898054e-05,1793244776960337408
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.929592573,660,634.929592573,879,787,806,653,630.929592573,652.929592573,0.402466951039,-0.00546114693918,0.049946839746,0.999999990658,9.69423082799e-05,-9.33028118785e-05,-2.41004277575e-05,1793244776977004032
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.495019293,660,634.495019293,879,787,805.495019293,652.495019293,631,652.495019293,0.402695692481,-0.00546951951955,0.0499455588092,0.999999990526,9.35727846814e-05,-9.84614946849e-05,-2.22897823e-05,1793244776993671680
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.920231763,744.920231763,714,679.079768237,660,634,879,787,805.079768237,652.079768237,630.920231763,652,0.40293663326,-0.00547821261147,0.0499459724168,0.99999999071,8.9961126119e-05,-0.00010036416522,-2.03512356023e-05,1793244777010339328
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.345904956,744.345904956,714,679.654095044,660,634,879,787,805.654095044,652.654095044,630.345904956,652,0.403222303589,-0.00548726549973,0.0499541114353,0.999999992677,8.50180253654e-05,-8.42175711335e-05,-1.80437031816e-05,1793244777027005440
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.235474427,744.235474427,714,679.529051146,660,634,879,787,805.764525573,653,630.235474427,652,0.403521922204,-0.00549713498559,0.0499628029278,0.999999994409,8.06471261707e-05,-6.66487628068e-05,-1.53739463763e-05,1793244777043671808
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.827533669,744.827533669,714,678.344932662,660,634,879,787,805.172466331,653,630.827533669,652,0.403842663039,-0.00550824106509,0.049972331045,0.99999999585,7.71427264136e-05,-4.6926260855e-05,-1.21556642643e-05,1793244777060338432
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,678.411828542,660,634,879,787,805,653,631,652,0.40419993436,-0.00551600900418,0.0499807192037,0.999999996431,7.79542311852e-05,-3.12828917223e-05,-9.04034084398e-06,1793244777077005312
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,678.992931992,660,634,879,787,805,653,631,652,0.404572220889,-0.00552240485884,0.0499886388022,0.999999996589,8.05397129993e-05,-1.73161791722e-05,-5.96733686932e-06,1793244777093672192
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879.567384301,787,805.567384301,653,630.432615699,652,0.404990781575,-0.00552720357637,0.0499939129986,0.999999996539,8.30972062413e-05,-2.80077689403e-06,-3.08257064465e-06,1793244777110338048
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.144728609,679,660,634,879.855271391,786.855271391,806,653,630.144728609,652,0.405404807046,-0.00552958721719,0.0499930572336,0.999999996031,8.90940955496e-05,-6.62290123468e-07,-4.85437380262e-07,1793244777127004672
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.731148717,679,660,634,879.268851283,786.268851283,806,653,630.731148717,652,0.405803252747,-0.00552466039611,0.049973593088,0.999999993765,0.000105588592485,-3.63170416186e-05,1.24095315288e-06,1793244777143671040
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.686485134,679,660,634,879,786.313514866,806,653,630.686485134,652,0.406230014517,-0.00551747950038,0.0499523854043,0.999999989287,0.000125623738045,-7.50815880795e-05,2.86092650444e-06,1793244777160337408
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.107550971,679,660,634,879,786.892449029,806,653,630.107550971,652,0.406680748498,-0.00550839032169,0.0499297016523,0.999999982157,0.000148656371486,-0.000116478867149,4.39080806903e-06,1793244777177004288
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879.471232174,787,806,653,630,652,0.407190284096,-0.00550681953669,0.0499212478465,0.999999978116,0.000162277328815,-0.000131854259323,6.89735174991e-06,1793244777193670912
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.049490834,880,787,806,653,630.049490834,652,0.407721849348,-0.00550786182017,0.0499189087482,0.999999975842,0.000172751463543,-0.000135560128837,9.86018301246e-06,1793244777210337536
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.622565681,880,787,806,653,630.622565681,652,0.408344540259,-0.00551840091411,0.0499469113768,0.999999981888,0.000172652000677,-7.86210080538e-05,1.52928011963e-05,1793244777227004160
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.79858086,879.79858086,787,805.79858086,652.79858086,630.79858086,652,0.408967779965,-0.00552643640083,0.0499725614378,0.99999998398,0.000175170585559,-3.05566086159e-05,2.05161099724e-05,1793244777243670784
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.2085792,879.2085792,787,805.2085792,652.2085792,630.2085792,652,0.409592078384,-0.0055296418693,0.0499936728687,0.999999982982,0.000182739970204,3.86466976187e-07,2.53356138849e-05,1793244777260337408
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.37637941,714.37637941,679,660,634,879,787,805.37637941,652.37637941,630,652,0.410218480883,-0.00552817022478,0.0499956459383,0.999999980189,0.000196871133402,-2.74143816294e-06,2.9255255637e-05,1793244777277004032
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.958580232,714.958580232,679,660,634,879,787,805.958580232,652.958580232,630,652,0.41084603397,-0.00552414092164,0.0499871532793,0.999999976141,0.00021459057581,-2.45009091021e-05,3.26828115885e-05,1793244777293670912
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.466804485,714.466804485,679,660,634,879.533195515,787,806,653,630.533195515,652,0.411482667148,-0.00552231182707,0.04995593359,0.999999969454,0.000227534862628,-9.01114359287e-05,3.46271679398e-05,1793244777310337280
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.107466943,660,634,880,787,806,652.892533057,630.892533057,652,0.412148105201,-0.00552156284409,0.0499327093813,0.999999961895,0.000237289307821,-0.00013626356087,3.65482832341e-05,1793244777327003904
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.682770554,660,634,880,787,806,652.317229446,630.317229446,652,0.412935911976,-0.00552478230269,0.0499518698579,0.99999996824,0.000234749574565,-8.30859694419e-05,3.88627673801e-05,1793244777343670784
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.265538814,745.265538814,714,680,660.531077629,634,880,787,806,652,630.265538814,652,0.413714346617,-0.00553144254793,0.0499691447251,0.999999980309,0.000190469696443,-4.58802387508e-05,3.15838099271e-05,1793244777360337408
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.857482838,745.857482838,714,680,661.714965675,634,880,787,806,652,630.857482838,652,0.414481260961,-0.00554233227202,0.0499841017689,0.99999999502,9.48820610954e-05,-2.83074066216e-05,1.25124172603e-05,1793244777377004032
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.560631293,745.560631293,714,679.560631293,661.121262587,634,880,787,806,652,631,652,0.415230247292,-0.0055461426689,0.0499605496149,0.999999994129,8.3153560764e-05,-6.87255397771e-05,1.02570777769e-05,1793244777393670912
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.017885123,714,679,659.982114877,634,880,787,806.017885123,652,631,652,0.415976228575,-0.00554754729013,0.0499260500919,0.999999987252,9.81220985305e-05,-0.000125260509474,1.33588801719e-05,1793244777410337280
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.590818859,714,679,659.409181141,634,880,787,806.590818859,652,631,652,0.416805385172,-0.00554395978565,0.0499307848009,0.999999986894,0.000116336146995,-0.000111267438726,1.72249134858e-05,1793244777427005184
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.831339055,714,679,659.33732189,634,880,787,806.831339055,652.168660945,631,652,0.417649630743,-0.00554067133411,0.0499426295597,0.999999987411,0.000131359213206,-8.65382606879e-05,2.0839549932e-05,1793244777443672320
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.241232132,714,679,660.517535736,634,880,787,806.241232132,652.758767868,631,652,0.418531580233,-0.00553813014925,0.0499722407422,0.999999989526,0.000138408727287,-3.49819525697e-05,2.38260015874e-05,1793244777460338176
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.342549905,660.657450095,634,880,787,805.657450095,652.657450095,631,652,0.41938447,-0.00553738363265,0.0499746303186,0.999999988755,0.000142653247834,-3.84175317091e-05,2.57889562669e-05,1793244777477004544
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.921958527,660.078041473,634,880,787,805.078041473,652.078041473,631,652,0.420217266164,-0.00553787805307,0.0499581973088,0.999999985938,0.000144958234127,-7.98776684672e-05,2.70442061112e-05,1793244777493671424
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.49833149,714,679.50166851,660,634,880,787,805.49833149,652,631,652,0.42113301672,-0.00554244062187,0.0499687170708,0.999999989752,0.00013455496915,-4.13761285654e-05,2.60681149942e-05,1793244777510338304
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.926038892,714,679,660.147922217,634,880,787,806,652,631,651.926038892,0.422059743085,-0.00554732401895,0.0499829052531,0.999999992042,0.000123528767652,4.87336049143e-06,2.51441093937e-05,1793244777527005184
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.352239784,714,679,661.295520432,634,880,787,806,652,631,651.352239784,0.422973380904,-0.0055500961173,0.0499935320586,0.999999992049,0.000121661150079,1.93686381884e-05,2.69193659203e-05,1793244777543671552
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.228370834,714,679,661.543258332,634,880,787,806,652,631,651.228370834,0.423883405237,-0.00555055871208,0.0499929968205,0.99999999196,0.000122512502665,1.70385059856e-05,2.79285429876e-05,1793244777560337920
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.81981063,714,679,660.360378739,634,880,787,806,652,631,651.81981063,0.424787684913,-0.00554734960783,0.0499747159221,0.999999991391,0.000127686533329,-1.20410297458e-05,2.77197903911e-05,1793244777577004544
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.401603585,746,714,679,660,634,880,787,806,652,631,651.598396415,0.425718338749,-0.00554844728326,0.0499812795083,0.999999991627,0.000125950372159,-6.60342813633e-06,2.8978818046e-05,1793244777593671424
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.979169741,746,714,679,660,634,880,787,806,652,631,651.020830259,0.426660548365,-0.00555143197398,0.0499987287041,0.999999992083,0.00012118651079,1.39578555501e-05,3.08809534822e-05,1793244777610338048
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.445621042,746,714,679.554378958,660.554378958,634,880,787,806,652,630.445621042,651.554378958,0.427534342287,-0.00554951825861,0.0499863858759,0.999999991191,0.000124692802257,-3.22919835123e-05,3.20390678317e-05,1793244777627004672
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.86741515,714,679.86741515,660.86741515,634,880,786.86741515,806.13258485,652,630.13258485,652,0.428419007366,-0.00554806464987,0.049970908335,0.999999988726,0.000126661634606,-7.38256795328e-05,3.24736552658e-05,1793244777643671296
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.27859401,714,679.27859401,660.27859401,634,880,786.27859401,806.72140599,652,630.72140599,652,0.42934988942,-0.00554882497039,0.0499484796404,0.999999987961,0.000122275165888,-9.05288884847e-05,3.05143136508e-05,1793244777660337920
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.305296446,714,679.305296446,660.305296446,634,880,786.305296446,806.694703554,652,631,652,0.430288726266,-0.005550069833,0.0499457586039,0.999999989053,0.000118863499095,-8.28239182107e-05,3.01038895057e-05,1793244777677004800
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.884758955,714,679.884758955,660.884758955,634,880,786.884758955,806.115241045,652,631,652,0.431234706721,-0.00555174983,0.0499607356815,0.999999991336,0.000116327236075,-5.31996141644e-05,3.10844433383e-05,1793244777693671168
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.462107201,745.537892799,714,680,660.537892799,634,880,787,806.462107201,652,631.462107201,652,0.432136092697,-0.00555328128956,0.0499490461946,0.999999989977,0.000116391865559,-7.4188234221e-05,3.15375704425e-05,1793244777710338048
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.961455621,745,714,679.961455621,660,634,880,787,806.961455621,652,631.961455621,652,0.433027698179,-0.0055547590741,0.0499334273886,0.999999987384,0.000116971894919,-0.000102633082699,3.18846565502e-05,1793244777727004416
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.390355176,745,714,679.390355176,660,634,880,787,806.390355176,652,631.390355176,652,0.433937124889,-0.00555600471991,0.0499549830433,0.99999999094,0.000115752149872,-6.04991737732e-05,3.2575647079e-05,1793244777743671040
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.187834311,660.187834311,634,880.187834311,786.812165689,806,652,631,652,0.43483954107,-0.00555623196313,0.0499719056968,0.999999992315,0.000114882114163,-3.24433703134e-05,3.34568837243e-05,1793244777760337920
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.7813341,660.7813341,634,880.7813341,786.2186659,806,652,631,652,0.435726816794,-0.00555425976403,0.0499788224689,0.999999992205,0.00011476734532,-3.47920221525e-05,3.4748994856e-05,1793244777777004800
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.365841642,745,714,680,660.634158358,634,880.634158358,786.365841642,806.365841642,652,631,652,0.436577066533,-0.0055531611915,0.0499653866796,0.999999990282,0.000116569134598,-6.77090386006e-05,3.55342766425e-05,1793244777793671680
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.945103364,745,714,680,660.054896636,634,880.054896636,786.945103364,806.945103364,652,631,652,0.437405716466,-0.00555257226434,0.0499400778694,0.999999985196,0.000119488981133,-0.000118458641659,3.60238905676e-05,1793244777810338816
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.479538109,745,714,680,660,634,880.520461891,787,807,652,631,651.479538109,0.438292940268,-0.00555597865695,0.0499646225003,0.999999990879,0.000114768393374,-6.10730957004e-05,3.66043059686e-05,1793244777827004928
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.097566582,634,881,787,806.902433418,652,631,651,0.439166608878,-0.00555964460963,0.0499878446321,0.999999993391,0.000108694558092,-7.25179995102e-06,3.67569026032e-05,1793244777843671552
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.685501224,634,881,787,806.314498776,652,631,651,0.439941328979,-0.00556251285584,0.0499781880977,0.999999994015,9.98395568713e-05,-2.82427547639e-05,3.4711511975e-05,1793244777860338176
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.730824416,633.730824416,881,786.730824416,806,652,631,651.269175584,0.440714810987,-0.0055640284994,0.0499624878877,0.999999993302,9.53226714524e-05,-5.63684656408e-05,3.3640506264e-05,1793244777877004800
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.152050163,633.152050163,881,786.152050163,806,652,631,651.847949837,0.44148686892,-0.00556398841479,0.0499398364019,0.999999990547,9.57953731877e-05,-9.27003836324e-05,3.36902125573e-05,1793244777893671424
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.425793908,714,680,660.425793908,633,881,786,806.425793908,652,631,652,0.442238689183,-0.00556367057286,0.0499350868337,0.999999990284,9.69511901676e-05,-9.42294708882e-05,3.39472691452e-05,1793244777910337792
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,746,714,680,660.996716831,633,880.996716831,786.003283169,806.996716831,652,631,652,0.44298273708,-0.00556325557277,0.049936539182,0.999999991068,9.83563203834e-05,-8.37578873966e-05,3.42779539594e-05,1793244777927004672
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680,660.423293528,633,880.423293528,786.576706472,806.423293528,652,631,652,0.443629303872,-0.00556315528021,0.0499072739629,0.999999984129,0.000100787014743,-0.000142793846962,3.45643941024e-05,1793244777943671808
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714,680,659.84523782,633,880.15476218,787,806.15476218,652,631,652,0.444261921641,-0.00556290465504,0.0498711640245,0.999999972336,0.000103494166924,-0.000208416407316,3.43354779616e-05,1793244777960338688
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,746,714,680,659.254120833,633,880.745879167,787,806.745879167,652,631,652,0.444855210036,-0.00556223016433,0.0498157552681,0.999999950934,0.000106980797973,-0.000292610023541,3.26535055186e-05,1793244777977005568
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.669789191,714,680.330210809,659,632.669789191,881,786.669789191,807,652,631,652,0.445485547642,-0.0055623372481,0.0497898023757,0.99999994236,0.000107898488,-0.000320383015537,3.15173812805e-05,1793244777993672192
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.090574253,714,680.909425747,659,632.090574253,881,786.090574253,807,652,631,652,0.446143823143,-0.00556303369867,0.0497860614544,0.999999947115,0.000106879000791,-0.000305610550658,3.07928684311e-05,1793244778010338816
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.514685542,659,632,881,786,807,652,631,652,0.446734703379,-0.00556454910126,0.0497843392435,0.999999947557,0.000107322838948,-0.000303893847056,3.18703103325e-05,1793244778027005440
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680.061826015,659,632,881,786.061826015,807,652,631,652,0.447303359999,-0.00556564303415,0.0497795102377,0.999999945499,0.000108739505044,-0.000309976914835,3.30395540562e-05,1793244778043672576
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.648866278,659,632,881,786.648866278,807,652,631,652,0.447789349261,-0.0055618670147,0.0497451101597,0.999999927306,0.000116116173912,-0.000361761242899,3.21512334174e-05,1793244778060338944
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.232519917,714,680.767480083,658.767480083,631.767480083,881,786.767480083,807,652,631,652,0.448276390854,-0.0055594790914,0.0497190077496,0.999999911649,0.000120676939934,-0.00040142662466,3.15679974481e-05,1793244778077005568
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.811132702,714,680.188867298,658.188867298,631.188867298,881,786.188867298,807,652,631,652,0.448764998738,-0.00555915727177,0.0497052559564,0.999999902692,0.000121046392042,-0.000423053630372,3.14388630871e-05,1793244778093672704
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.610417268,714.389582732,680.389582732,658.389582732,631,881,786,807,652,630.610417268,652,0.449249700401,-0.00556260305217,0.0497103637122,0.999999905092,0.000120345361847,-0.000417382254885,3.35434386658e-05,1793244778110339328
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.032046056,714.967953944,680.967953944,658.967953944,631,881,786,807,652,630.032046056,652,0.449732509188,-0.00556787457949,0.0497246106439,0.999999912836,0.000119125585042,-0.000398482317783,3.67304510762e-05,1793244778127005696
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.545002205,745,714.454997795,680.454997795,658.454997795,631,880.454997795,786,807,652,630,652,0.450167580694,-0.00556923476657,0.0497366409679,0.999999919069,0.000120570551376,-0.000381915726836,3.82881301731e-05,1793244778143672064
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,714,680,658.124061336,630.875938664,880,786,807,652,630,652,0.450582165547,-0.00556985144714,0.0497446014597,0.99999992215,0.000123040025505,-0.000372806389866,3.97077608779e-05,1793244778160338432
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658.710911304,630.289088696,880,786,807,652,630,652,0.450930774182,-0.00556855045521,0.0497378651926,0.99999991443,0.000128748167556,-0.000391004438573,4.09689436135e-05,1793244778177004800
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.706276884,745.293723116,714,680,658.706276884,630,880.293723116,785.706276884,807,652,630,652,0.451255470793,-0.00556757116063,0.0497242406449,0.999999901443,0.000131667267504,-0.000421944898688,4.17202624548e-05,1793244778193671168
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.127385647,745.872614353,714,680,658.127385647,630,880.872614353,785.127385647,807,652,630,652,0.451556951824,-0.00556690419373,0.0497039284454,0.999999882191,0.000131878558633,-0.000465256632542,4.19765675995e-05,1793244778210338048
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714.449437915,680.449437915,658,629.550562085,881,785.449437915,807,652,630,652,0.451836713482,-0.00556591319408,0.0496833072564,0.999999864761,0.000132560342478,-0.000501219022402,4.10424549275e-05,1793244778227004928
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.025223757,746,715,681,658,629,881,786,807,652,630,652,0.452109783906,-0.00556496455779,0.0496636771886,0.999999848295,0.000133127623645,-0.000533012464873,3.98141491927e-05,1793244778243671808
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.591267957,746,715,681,658,629,881,786,807,652,630,652,0.452370773887,-0.00556688438143,0.0496671668088,0.999999855842,0.000128393742193,-0.000519877809025,3.94791960676e-05,1793244778260338432
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.833104478,746,715,680.833104478,658,629,881,785.833104478,807,652,630,652,0.452623495678,-0.00556879728189,0.0496720977224,0.999999865869,0.000104921301281,-0.000506127069113,3.29984953138e-05,1793244778277005312
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.232577292,746,715,680.232577292,658,629,881,785.232577292,807,652,630,652,0.452854734829,-0.00557069219411,0.0496807734365,0.999999878977,3.27619177674e-05,-0.000490775606178,1.05497759866e-05,1793244778293671424
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.645305482,715,680.354694518,658,629,881,785,807,652,630,652,0.453057825153,-0.00557655627556,0.0496827351106,0.999999881706,6.67326142989e-07,-0.000486391239559,3.26659889152e-06,1793244778310337792
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.066412199,715,680.933587801,658,629,881,785,807,652,630,652,0.453243122916,-0.00558492922833,0.0496804529099,0.999999880435,-6.10272876722e-06,-0.000488939061702,5.56940320226e-06,1793244778327004416
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680.490896949,657.490896949,629,880.490896949,785.509103051,807.509103051,652,629.490896949,652,0.453393519407,-0.00558225438238,0.0496709755725,0.999999872865,-1.10380146206e-07,-0.000504219260919,5.75714635422e-06,1793244778343671040
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680.084273786,657.084273786,628.915726214,880.084273786,785.915726214,807.915726214,652,629.084273786,652,0.45353499664,-0.00557888918907,0.0496606292223,0.999999864424,6.34003014115e-06,-0.000520652128655,5.7373401574e-06,1793244778360337664
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680.659988503,657.659988503,628.340011497,880.659988503,785.340011497,807.340011497,652,629.659988503,652,0.453650836311,-0.00557984705729,0.0496506525941,0.999999857288,5.81708577901e-06,-0.000534184923535,6.1055635537e-06,1793244778377004800
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.241971573,745.241971573,715,681,658,628,880.758028427,785,807,652,630,652,0.453757933288,-0.00557922498122,0.0496434338423,0.999999851969,6.86570558303e-06,-0.000544035916987,6.25978372799e-06,1793244778393671680
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.832996963,745.832996963,715,681,658,628,880.167003037,785,807,652,630,652,0.453852418567,-0.00557632377133,0.0496401934399,0.999999849462,1.01813705314e-05,-0.000548575761692,6.10529554545e-06,1793244778410338304
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.58467239,746,715,681,657.58467239,628,880,785,807.41532761,652,629.58467239,652,0.453938795867,-0.00557372692187,0.0496426935547,0.999999851623,1.52143346113e-05,-0.000544501468621,6.41452435406e-06,1793244778427005184
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.005766218,746,715,681,657.005766218,628,880,785,807.994233782,652,629.005766218,652,0.454021979803,-0.00557124994616,0.049647454597,0.999999855554,2.09236642422e-05,-0.000537034460286,6.90639009231e-06,1793244778443671808
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714.434106465,681,657.565893535,628,880.565893535,785,807.434106465,652.565893535,629,652,0.454080263745,-0.0055712863987,0.0496474743446,0.999999855434,2.20758587977e-05,-0.000537199701049,7.81588570007e-06,1793244778460338176
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.857798982,714.142201018,681.142201018,657.857798982,628,881.142201018,785.142201018,807,652.857798982,629,651.857798982,0.454132785168,-0.00557145665645,0.0496465458333,0.999999854419,2.29823529113e-05,-0.000539035792523,8.63176619585e-06,1793244778477004544
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.266585791,714.733414209,681.733414209,657.266585791,628,881.733414209,785.733414209,807,652.266585791,629,651.266585791,0.454167901937,-0.00557196957002,0.0496427737317,0.999999850681,2.32577958427e-05,-0.000545905282447,9.13878145742e-06,1793244778493671424
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681.682105921,657.317894079,628,881.364211843,785.682105921,807,652,629,651.317894079,0.454197569892,-0.00557224520481,0.04963889924,0.999999847652,2.309925256e-05,-0.000551431877972,9.23159685107e-06,1793244778510338048
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681.103155428,657.896844572,628,880.206310857,785.103155428,807,652,629,651.896844572,0.454222763256,-0.00557232598499,0.0496349406644,0.999999845217,2.25843173758e-05,-0.000555855681784,8.98426902764e-06,1793244778527005184
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.473292744,715,681,657.526707256,628,880.473292744,785,807,652,629,652,0.454239444397,-0.00556880656048,0.0496326581674,0.999999843037,2.6751027757e-05,-0.000559587465947,8.44079602012e-06,1793244778543671808
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,715,681,657,627.950808855,881,785,807,652,629,652,0.454253978899,-0.00556497036872,0.0496310053205,0.99999984109,3.13881441318e-05,-0.000562825044032,7.94262328995e-06,1793244778560338688
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,715,681,657,627.374987705,881,785,807,652,629,652,0.454265289539,-0.0055660993076,0.0496322030552,0.999999841372,3.019483956e-05,-0.000562377994557,8.61680313677e-06,1793244778577005056
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.79428038,715,681,657,627.20571962,880.79428038,785,807.20571962,652,629,652,0.454274478103,-0.00556685604795,0.0496327779306,0.99999984164,2.9536042585e-05,-0.000561929703488,9.09859968489e-06,1793244778593671424
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.204449833,715,681,657,627.795550167,880.204449833,785,807.795550167,652,629,652,0.454279704414,-0.00556691783497,0.0496321898294,0.999999841882,2.98752555382e-05,-0.000561479094199,9.22118627775e-06,1793244778610338048
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.378385334,745.378385334,715,681,657,628,880.378385334,785,807.621614666,652,629.378385334,652,0.454282119953,-0.00556553383712,0.0496310057694,0.999999840906,3.15377952564e-05,-0.000563128078037,8.95522645548e-06,1793244778627004416
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.957509337,745.957509337,715,681,657,628,880.957509337,785,807.042490663,652,629.957509337,652,0.454283044339,-0.00556338283035,0.0496295055451,0.999999839273,3.39023781664e-05,-0.000565890925157,8.48313736698e-06,1793244778643671040
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.467314265,745.467314265,715,681,657,628,881,785,807,652,629.467314265,652,0.454284292474,-0.00556430998591,0.0496286959273,0.999999838965,3.2601422602e-05,-0.000566508913775,8.64722747429e-06,1793244778660338176
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.109897999,715,681,657,628,881,785,807.109897999,652,629,652,0.454285594,-0.00556528438276,0.0496280630482,0.999999838773,3.12147053656e-05,-0.000566923452479,8.75438291938e-06,1793244778677005056
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.697314301,715,681,657,628,881,785,807.697314301,652,629,652,0.454287016126,-0.00556540501922,0.0496279605168,0.99999983864,3.07164577829e-05,-0.000567191909188,8.39527654057e-06,1793244778693671936
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,715,681,657,628,881,785.280928658,808,652,629,652,0.454287712614,-0.00556476669163,0.0496273172321,0.999999838203,3.11331997403e-05,-0.000567943081812,8.12054765497e-06,1793244778710338560
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,715,681,657,628,881,785.86050139,808,652,629,652,0.454287637704,-0.00556332153957,0.0496260990939,0.999999837441,3.25226305978e-05,-0.000569207410543,7.93551707957e-06,1793244778727004928
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714.561018766,681,657,628,881,785.561018766,807.561018766,652,629,652,0.454286662433,-0.00556283429182,0.0496254844995,0.999999836576,3.27977230511e-05,-0.000570708594485,8.01197677345e-06,1793244778743671296
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714.016760495,681,657,628,880.983239505,785,807,652,629,651.983239505,0.454285479217,-0.00556269770022,0.0496250829185,0.99999983573,3.2728896824e-05,-0.000572190680622,8.18775345618e-06,1793244778760337920
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714.58293187,681,657,628,880.41706813,785,807,652,629,651.41706813,0.454286835114,-0.00556410213823,0.0496253925579,0.999999836633,3.29653915874e-05,-0.000570585595792,8.90202496638e-06,1793244778777004544
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,715,681,657.157491775,628,880.157491775,785,807,652,629,651.157491775,0.454287670751,-0.00556513605391,0.0496255901336,0.999999837066,3.30758131095e-05,-0.000569811268328,9.43612542267e-06,1793244778793671424
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,715,681,657.755515848,628,880.755515848,785,807,652,629,651.755515848,0.454287051128,-0.00556513355317,0.0496254742475,0.99999983619,3.28335855047e-05,-0.000571360715984,9.46625559077e-06,1793244778810338304
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,715,681,657.658217119,627.658217119,881,785,807,652.341782881,629.341782881,652,0.45428822495,-0.00556444166455,0.0496261198509,0.999999836596,3.30726285471e-05,-0.000570641211948,9.09944916117e-06,1793244778827005184
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,715,681,657.080080479,627.080080479,881,785,807,652.919919521,629.919919521,652,0.454290638996,-0.00556327304224,0.0496272920485,0.999999837886,3.36444855949e-05,-0.000568352655415,8.45814841849e-06,1793244778843671808
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,715,681,657,627.497483355,881,785,807,652.502516645,629.502516645,652,0.454289203491,-0.0055638573958,0.0496261285842,0.999999836779,3.21942303729e-05,-0.000570377831783,8.62175696208e-06,1793244778860338432
+245,4.083333333,HOLD_POSE2,765,746,715,681,657,628,881,785,807,652,629,652,0.454290165612,-0.00555954558344,0.0496260667387,0.999999837007,3.93168631869e-05,-0.000569538255249,8.1883052877e-06,1793244778903990272
+246,4.100000000,HOLD_POSE2,765,745.405449618,715,681,657.594550382,627.405449618,881,785,807,652,629,652,0.454290020664,-0.00556101976703,0.049625699512,0.999999836239,3.7134224144e-05,-0.000571030884276,8.11812776031e-06,1793244778920657920
+247,4.116666667,HOLD_POSE2,765,745.183066975,714.816933025,681,657.816933025,627.183066975,880.816933025,785,807,652,629,652,0.454290133984,-0.00556209336162,0.0496254752667,0.999999835817,3.58900991651e-05,-0.000571850005882,8.13277392556e-06,1793244778937324800
+248,4.133333333,HOLD_POSE2,765,745.758646672,714.241353328,681,657.241353328,627.758646672,880.241353328,785,807,652,629,652,0.454290801058,-0.00556230805621,0.049625557587,0.999999836144,3.66582357292e-05,-0.000571225064859,8.32929001024e-06,1793244778953991424
+249,4.150000000,HOLD_POSE2,765,745.664621397,714.335378603,681,657,627.664621397,880.335378603,785,807,652,629,652,0.454291012946,-0.00556277204818,0.049625194614,0.9999998363,3.63871766217e-05,-0.000570964336439,8.72079461861e-06,1793244778970657792
+250,4.166666667,HOLD_POSE2,765,745.087057443,714.912942557,681,657,627.087057443,880.912942557,785,807,652,629,652,0.454290896134,-0.00556341606406,0.0496245100835,0.99999983633,3.53656880526e-05,-0.000570966615166,9.25310534811e-06,1793244778987324416
+251,4.183333333,HOLD_POSE2,765,745,714.500832395,681,657,627.499167605,881,785,807,652,629,652,0.454291803694,-0.00556137927357,0.0496250930912,0.999999836477,3.63464075605e-05,-0.000570656790196,8.74971101776e-06,1793244779003990784
+252,4.200000000,HOLD_POSE2,765,745.085791858,714.085791858,681,657,628,881,785,807,652,629,652,0.454292768448,-0.00555940982309,0.0496259444373,0.999999836698,3.76116895839e-05,-0.000570194682349,8.21130663487e-06,1793244779020657408
+253,4.216666667,HOLD_POSE2,765,745.665859665,714.665859665,681,657,628,881,785,807,652,629,652,0.454293015247,-0.00556056959959,0.0496270456501,0.999999837244,3.84690748548e-05,-0.000569174362894,8.53025764327e-06,1793244779037323520
+254,4.233333333,HOLD_POSE2,765,746,715,681,657,628,880.756297324,785,807,652.243702676,629,652,0.454291747048,-0.0055613618403,0.0496262284632,0.999999836516,3.73900807801e-05,-0.00057052431238,8.47987875075e-06,1793244779053989888
+255,4.250000000,HOLD_POSE2,765,746,715,681,657,628,880.181477178,785,807,652.818522822,629,652,0.454288420428,-0.00556165471206,0.0496228047569,0.999999834034,3.36801387842e-05,-0.000575094733169,7.92769334914e-06,1793244779070656512
+256,4.266666667,HOLD_POSE2,765,746,715,681,657,627.605024941,880.394975059,785,807,652.605024941,629,652,0.454288747751,-0.00556160292306,0.0496229327761,0.999999834151,3.46211424968e-05,-0.000574836411264,7.93591100573e-06,1793244779087323136
+257,4.283333333,HOLD_POSE2,765,746,715,681,657,627.027819655,880.972180345,785,807,652.027819655,629,652,0.454290760899,-0.00556139211745,0.0496246994598,0.999999835463,3.77079595925e-05,-0.000572350245595,8.20268260264e-06,1793244779103989760
+258,4.300000000,HOLD_POSE2,765,746,715,681,657.559934298,627,881,785,807,652,629,652,0.454291978508,-0.00556267779907,0.0496251946132,0.999999836125,3.54725623898e-05,-0.00057132096771,9.17946831965e-06,1793244779120656896
+259,4.316666667,HOLD_POSE2,764.85408281,746,714.85408281,681,657.85408281,627,881.14591719,784.85408281,807,652,629,652,0.454292643551,-0.00556344423615,0.0496255049238,0.999999836499,3.35200460362e-05,-0.000570775957781,9.68580545204e-06,1793244779137323776
+260,4.333333333,HOLD_POSE2,764.274943875,746,714.274943875,681,657.274943875,627,881.725056125,784.274943875,807,652,629,652,0.454291787656,-0.00556244407553,0.0496254576082,0.999999836133,3.32075384151e-05,-0.000571449687606,8.68865716733e-06,1793244779153990400
+261,4.350000000,HOLD_POSE2,764.301743104,746,714.301743104,681,657,627,881.396513792,784.301743104,807,652,629,651.698256896,0.454291636024,-0.00556114949301,0.0496250036481,0.999999835779,3.50426550811e-05,-0.000571967662903,8.15218989385e-06,1793244779170657024
+262,4.366666667,HOLD_POSE2,764.876213873,746,714.876213873,681,657,627,880.247572255,784.876213873,807,652,629,651.123786127,0.454292120933,-0.00555958880008,0.0496241821461,0.999999835425,3.88188817623e-05,-0.000572344860891,8.03210487585e-06,1793244779187323392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,627,880,784,807,652,629,652,0.454290697606,-0.00556145816789,0.0496237956189,0.999999835105,3.53382560621e-05,-0.000573119984551,8.60346379175e-06,1793244779219945728
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,746,714.236461088,681,657,627,881,785,807,652,629,652,0.454293886883,-0.0055592084046,0.0496264151703,0.999999836751,3.95602090364e-05,-0.000569965808691,8.42263300134e-06,1793244779269945856
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,714.337272123,680.662727877,657,627,881,785,807,652.337272123,629.337272123,652,0.454293772488,-0.00555927425244,0.0496264412744,0.999999836767,3.96878394334e-05,-0.000569930042971,8.45259871683e-06,1793244779286612224
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,714.909014326,680.090985674,657,627,881,785,807,652.909014326,629.909014326,652,0.454293795937,-0.00555923445176,0.0496260648685,0.999999836451,3.98735431529e-05,-0.00057046727041,8.68407898522e-06,1793244779303278592
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.496195429,657,627,880.503804571,785,807,652.503804571,629.503804571,652,0.454292085347,-0.00555883472613,0.0496250294569,0.999999835732,4.05674019323e-05,-0.000571676085231,8.7868047514e-06,1793244779319944960
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.36155806,715,681,657,627,880.63844194,785,807,652,629,652,0.45428649763,-0.00555888313154,0.0496223594279,0.999999833504,3.93344559178e-05,-0.000575653770557,8.24240778285e-06,1793244779353278208
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,627.211220794,881,784.788779206,807,652,629,652,0.454277609585,-0.00555838566231,0.0496181512182,0.999999829508,3.91469792114e-05,-0.000582573907002,7.64428054056e-06,1793244779369944832
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,628,881,784.404912246,807,652,629,652,0.45422572467,-0.00555475171687,0.0495945341172,0.999999805793,4.30083173854e-05,-0.000621712448181,6.12923139708e-06,1793244779403278336
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,628,881,784.991974484,807,652,629,652,0.454186825859,-0.00555354961521,0.049577927505,0.99999978798,4.37731686853e-05,-0.000649689008496,5.29672698562e-06,1793244779419945472
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.462865245,715,681.07426951,657,627.537134755,881,784.537134755,807,652,629,652,0.453704623995,-0.00553804747851,0.0495117152202,0.99999972322,5.08999298304e-05,-0.000742272776446,-6.91151776847e-07,1793244779519944704
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.05264808,657,627.05264808,880.94735192,784,807,652,629,651.94735192,0.453596933412,-0.00553622601724,0.0495144678398,0.99999972592,5.16974071202e-05,-0.000738570670234,-6.87420059171e-07,1793244779536611328
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714.789615793,681,657,627.789615793,880.210384207,784.210384207,807,652,629,651.210384207,0.4533055056,-0.00552342248205,0.0495133047689,0.999999721365,6.10902274686e-05,-0.000743997483859,-2.25862928319e-06,1793244779569945344
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.064412178,746,714.935587822,680.064412178,657,627.935587822,881,785,807,652,629,652,0.45275344861,-0.00550329853621,0.0495259641378,0.999999726232,7.63932739168e-05,-0.000735994103293,-3.42959361592e-06,1793244779619944960
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.312282825,715,681,657,628,881,785,807.687717175,652,629,652,0.45202626239,-0.0054761100938,0.0495443839874,0.999999733261,9.54998137354e-05,-0.000724097141309,-6.44143707221e-06,1793244779669944832
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.736894969,745.263105031,715,681,657,628,881,785,807.736894969,652.263105031,629.263105031,652,0.451731817591,-0.00546580366577,0.0495457284332,0.999999733244,0.000103012523775,-0.000723076093718,-7.88168848462e-06,1793244779686611456
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,659.771626689,633,881,786.385813345,807,652,631,652,0.438800560207,-0.00540929399504,0.0498061788666,0.999999954974,-1.06724826786e-05,-0.000294665818918,-5.57729696812e-05,1793244780069945088
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,633,879.162507039,786.162507039,806.837492961,652,631,652,0.427104191652,-0.00537788441151,0.0497862816468,0.999999931522,8.5956059113e-05,-0.000357313938779,-4.35193044679e-05,1793244780286611712
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,633,879.733843573,786.733843573,806.266156427,652,631,652,0.426165854438,-0.005373492544,0.0497698021971,0.999999922779,9.76053632774e-05,-0.00037817055725,-4.36222377568e-05,1793244780303278336
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.692285207,745,714,680,659.307714793,633,880,787,806,652,630.692285207,652,0.425274284621,-0.00537125346032,0.0497774590609,0.999999932219,9.97441728314e-05,-0.000351611117289,-4.45225917284e-05,1793244780319945216
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.947626561,633,880,787,806,652.473813281,630,652,0.423520256882,-0.00536865413286,0.0498252659542,0.999999962932,9.39030811275e-05,-0.000251319039191,-4.6436991408e-05,1793244780353278464
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.803571678,633,879.934523893,787,806,652.934523893,630.065476107,652,0.422601268161,-0.00536624133801,0.049836339456,0.999999966079,9.59070234789e-05,-0.000237649738878,-4.65498721841e-05,1793244780369945088
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.21884442,745.21884442,714,679.78115558,659.21884442,633.21884442,879.21884442,787,806,652,631,652,0.420751124238,-0.00536639603076,0.0497893309968,0.999999938311,9.9331138511e-05,-0.000333469563668,-4.80647018601e-05,1793244780403278080
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.794125711,745.794125711,714,679.205874289,659.794125711,633.794125711,879.794125711,787,806,652,631,652,0.419882877157,-0.00536712875806,0.0498048485448,0.999999942911,9.79846134632e-05,-0.000319849674066,-4.7673936121e-05,1793244780419944704
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.633840307,745.633840307,714,679.366159693,660.366159693,634,879.633840307,787,806,652.366159693,631,652,0.419008824579,-0.00536562890979,0.049801615,0.999999937175,0.000100964631849,-0.000336432350359,-4.76481828855e-05,1793244780436611328
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.935539489,633.467769744,879,787,806,652.467769744,630.467769744,652,0.41728887499,-0.0053642190546,0.0497813165481,0.99999992544,0.000103687313149,-0.000368742292707,-4.89688927125e-05,1793244780469944832
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.723753854,660.723753854,634,880,787,806.276246146,653,630.723753854,652,0.414925958644,-0.00536859566726,0.0498192470358,0.99999995246,9.98607843622e-05,-0.000287627273658,-4.877813429e-05,1793244780519944960
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.152472022,660.152472022,634,880,787,806.847527978,653,630.152472022,652,0.414134004956,-0.00536776370489,0.0498027514845,0.999999942978,0.000102658236421,-0.000317864120833,-4.967115555e-05,1793244780536611584
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.436063797,659.563936203,634,879.563936203,787,806.563936203,653,630,652,0.413368238315,-0.00536583977461,0.049785249179,0.999999933559,0.000103480549924,-0.000345725423016,-5.14462477386e-05,1793244780553278208
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.030071366,714,680,659.030071366,634,879,787,806,652.969928634,630,652,0.412614783253,-0.00536370905314,0.0497697179753,0.999999924919,0.000103713150209,-0.000369539141772,-5.33430874723e-05,1793244780569944576
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.813149295,714,680,660,634,879.186850705,787,805.813149295,652,630,652,0.411216796653,-0.00536619373462,0.0498143051874,0.99999994351,0.000109232748445,-0.000313907132492,-5.01038923313e-05,1793244780603278080
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.239029606,714,680,660,634,879.760970394,787,805.239029606,652,630,652,0.410537003843,-0.0053668683534,0.0498115740733,0.999999941389,0.000112841295806,-0.000319493665455,-4.91250457375e-05,1793244780619944704
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.656449775,634,879.656449775,787,805,652.343550225,630,652,0.409890512755,-0.00536675689152,0.0498011600438,0.999999935373,0.000116613105495,-0.000336470045701,-4.94307937758e-05,1793244780636611584
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.067835112,634,879.067835112,787,805,652.932164888,630,652,0.409267776802,-0.00536608469523,0.049785265566,0.99999992609,0.000120501374711,-0.000361571137178,-5.06528808315e-05,1793244780653278208
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633.667490622,878.667490622,787,805.667490622,652,630,652,0.40758158463,-0.00537319605375,0.0498253682207,0.999999948522,0.00010808333177,-0.000297879334401,-5.04086450488e-05,1793244780703278080
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.242153129,714,680,660,633.757846871,879,787,806,652.242153129,630.242153129,652,0.40703926983,-0.00537440640152,0.04982349543,0.999999945694,0.000105923582565,-0.000307876565478,-5.10313581989e-05,1793244780719944960
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.005482875,746,714,679.005482875,659.005482875,633.994517125,879,787,805.005482875,653,631,652,0.405540075221,-0.00537236157451,0.0497640288427,0.999999911332,0.000105450796835,-0.0004036563253,-5.72544937857e-05,1793244780769945088
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879,787,806,652.152621374,630.847378626,652,0.404722943739,-0.00537965523966,0.0497837613969,0.999999923584,9.3176796139e-05,-0.000375433536143,-5.65746228811e-05,1793244780803278336
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4fc3df9924935b15e9f41830f41e289766ff7500
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52e9b086c6c6947cda0b50efa604ff998a5fa6db
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10dd89bf1fbdeae75256d0c32e64f0041c20ec17c0f25890669ce38ccb0dbfcd
+size 25593335
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ad35d0ecaeae4887f6022056bc2ee2b70771a9c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+8,0.133333333,BASELINE,765,745,714.63214669,680,658,634,879,786,805,652,630,652,0.401022949453,-0.0054981765159,0.0698515248132,0.999999987261,3.19911413508e-05,-0.000155606115231,1.55041559012e-05,1793244783316043520
+9,0.150000000,BASELINE,765,745,714.787334115,680,658,634,879,786,805,652,630,652,0.401023716242,-0.00549825642756,0.0698518135936,0.999999987424,3.13274812999e-05,-0.000154699943686,1.54128234525e-05,1793244783332710144
+10,0.166666667,BASELINE,765,745,714.196400034,680,658,634,879,786,805,652,630,652,0.401025061171,-0.00549878252151,0.0698532392728,0.999999987649,3.36533227932e-05,-0.000152712783414,1.5754584505e-05,1793244783349376768
+11,0.183333333,BASELINE,765,745,714,680,658.386313262,634,879,786,805,652.386313262,630,652,0.401024497913,-0.0054991104548,0.0698529246429,0.999999987591,3.37656314639e-05,-0.000153049023587,1.59534881359e-05,1793244783366043648
+12,0.200000000,BASELINE,765,745,714,680,658.964934282,634,879,786,805,652.964934282,630,652,0.401022984753,-0.00549933974325,0.0698517436827,0.999999987392,3.27760378748e-05,-0.000154541858444,1.60812769966e-05,1793244783382710784
+13,0.216666667,BASELINE,765,745,714.540207638,680,659,634,879.540207638,786.540207638,805,652.459792362,630.540207638,652,0.401022323966,-0.0054979103626,0.0698515332507,0.999999987285,3.26769979498e-05,-0.00015529153858,1.56899268149e-05,1793244783399377408
+14,0.233333333,BASELINE,765.115079698,745,714.884920302,679.884920302,658.884920302,634,880,787,805,652,630.884920302,652,0.401021974929,-0.00549655069151,0.0698517200945,0.999999987222,3.30625063419e-05,-0.000155650190404,1.53422780449e-05,1793244783416043776
+15,0.250000000,BASELINE,765.689212637,745,714.310787363,679.310787363,658.310787363,634,880,787,805,652,630.310787363,652,0.401022650121,-0.00549589592963,0.0698532419191,0.999999987308,3.51517063431e-05,-0.000154640271087,1.53025482275e-05,1793244783432710144
+16,0.266666667,BASELINE,765.728007451,745,714,679,658,634,879.728007451,787,805,652,630.271992549,652,0.401021992258,-0.00549639240898,0.0698532979486,0.999999987195,3.56707894959e-05,-0.000155218009272,1.56224161719e-05,1793244783449376768
+17,0.283333333,BASELINE,765.135022849,745,714,679,658,634,879.135022849,787,805,652,630.864977151,652,0.401019761192,-0.0054982475259,0.0698516241195,0.999999986847,3.43368988475e-05,-0.000157669421799,1.63666634808e-05,1793244783466043392
+18,0.300000000,BASELINE,765.445998829,745,714,679,658,634.445998829,879,786.554001171,805,652.445998829,631,651.554001171,0.401020518811,-0.00549785893017,0.0698515061301,0.99999998701,3.33066697569e-05,-0.00015691324663,1.57574883935e-05,1793244783482709760
+19,0.316666667,BASELINE,765.976599919,745,714,679,658,634.976599919,879,786.023400081,805.023400081,653,631,651.023400081,0.401022046665,-0.00549688257861,0.0698518196249,0.999999987299,3.24113816107e-05,-0.000155344815598,1.48050965055e-05,1793244783499376384
+20,0.333333333,BASELINE,765.401399607,745,714,679,658,634.401399607,879,786.598600393,805.598600393,653,631,651.598600393,0.401020958619,-0.00549764575191,0.0698514909846,0.999999987042,3.25869377206e-05,-0.000156923311361,1.51689693488e-05,1793244783516043264
+21,0.350000000,BASELINE,764.821930113,745,714,679.178069887,658,634,879,787,805.821930113,652.821930113,630.821930113,652,0.401020525012,-0.00549778028502,0.0698515320719,0.999999986899,3.32555977461e-05,-0.000157669362262,1.53952204669e-05,1793244783532710144
+22,0.366666667,BASELINE,764.232600852,745,714,679.767399148,658,634,879,787,805.232600852,652.232600852,630.232600852,652,0.401021602859,-0.00549646294891,0.0698524270596,0.999999987023,3.50631005393e-05,-0.000156492848954,1.53036287735e-05,1793244783549376512
+23,0.383333333,BASELINE,764.350827138,745,714,679.649172862,658,634,879,786.649172862,805,652,630,652,0.401022583965,-0.00549682805827,0.0698526036903,0.999999987196,3.40770728546e-05,-0.00015559739704,1.53846511975e-05,1793244783566043136
+24,0.400000000,BASELINE,764.930407327,745,714,679.069592673,658,634,879,786.069592673,805,652,630,652,0.401023501993,-0.00549829018792,0.0698523119243,0.999999987395,3.12695539307e-05,-0.000154885208061,1.55782247857e-05,1793244783582709760
+25,0.416666667,BASELINE,765,745,714,679,658,634,879,786,805,652,630,652,0.401022964961,-0.00549897454449,0.0698523024377,0.999999987342,3.1266393181e-05,-0.000155233848464,1.55114938534e-05,1793244783599376384
+26,0.433333333,BASELINE,765,745,714.08166008,679.08166008,658,634,879,786,805,652,630,652,0.401022416151,-0.00549915432198,0.0698524732329,0.999999987267,3.20028699246e-05,-0.00015557795252,1.54230949013e-05,1793244783616043008
+27,0.450000000,BASELINE,765,745,714.669666215,679.669666215,658,634,879,786,805,652,630,652,0.401023025499,-0.00549686348241,0.069853523046,0.999999987258,3.49527082194e-05,-0.000154996319567,1.54205937209e-05,1793244783632709888
+28,0.466666667,BASELINE,765,745,714.746285283,680,658,634,879.253714717,786,805,652,630,652,0.401021817214,-0.0054959684555,0.0698531112767,0.999999987003,3.61028402497e-05,-0.000156376437637,1.54083099801e-05,1793244783649376256
+29,0.483333333,BASELINE,765,745,714.167310469,680,658,634,879.832689531,786,805,652,630,652,0.40101827874,-0.00549686284862,0.0698508257712,0.999999986428,3.49457640685e-05,-0.000160271503773,1.53834850805e-05,1793244783666042880
+30,0.500000000,BASELINE,765,745,714,680,658,634,879.588549704,786.411450296,805,652.411450296,630,651.588549704,0.401019176774,-0.0054977997492,0.0698510636278,0.999999986651,3.35830502735e-05,-0.000159156401813,1.54770245547e-05,1793244783682709760
+31,0.516666667,BASELINE,765,745,714,680,658,634,879.009875947,786.990124053,805,652.990124053,630,651.009875947,0.401021877912,-0.00549875392582,0.0698523270405,0.999999987193,3.21367603524e-05,-0.000156005044939,1.5618670205e-05,1793244783699376384
+32,0.533333333,BASELINE,765,745,714,679.435826368,658,634,879,786.435826368,805,652.435826368,630.564173632,651,0.40102352915,-0.00549724373321,0.0698540158145,0.99999998744,3.42891518093e-05,-0.000153955869473,1.55600609842e-05,1793244783716043008
+33,0.550000000,BASELINE,765,745,714.141774351,679,658,634,879,786,805.141774351,652,630.858225649,651.141774351,0.401024391523,-0.00549625490042,0.0698549597095,0.999999987566,3.56454184866e-05,-0.000152833364925,1.54980681348e-05,1793244783732709632
+34,0.566666667,BASELINE,765,745,714.730831732,679,658,634,879,786,805.730831732,652,630.269168268,651.730831732,0.401022822622,-0.00549704589585,0.0698535302899,0.999999987346,3.42928672564e-05,-0.000154574033945,1.54363698553e-05,1793244783749376256
+35,0.583333333,BASELINE,765,745,715,679.314511911,658,634,879,786.314511911,805.685488089,652.314511911,630.314511911,652,0.40102210473,-0.0054978117878,0.0698532362563,0.999999987289,3.42117679355e-05,-0.000154947604651,1.55501116837e-05,1793244783766043136
+36,0.600000000,BASELINE,765,745,715,679.893667548,658,634,879,786.893667548,805.106332452,652.893667548,630.893667548,652,0.401022102913,-0.00549855655671,0.0698538975847,0.999999987371,3.5200522295e-05,-0.000154170840761,1.58114762903e-05,1793244783782709760
+37,0.616666667,BASELINE,765.471348645,745,714.528651355,680,658,634,879,787,805,652.528651355,630.528651355,652,0.401022377071,-0.00549772060641,0.0698541856463,0.999999987408,3.49356250371e-05,-0.000153999396029,1.57276903681e-05,1793244783799376384
+38,0.633333333,BASELINE,765.951749057,745,714.048250943,680,658.048250943,634,879,787,805.048250943,652,630,652,0.401022552416,-0.00549664224997,0.0698542808075,0.999999987407,3.4526886207e-05,-0.000154112887985,1.5576007799e-05,1793244783816043008
+39,0.650000000,BASELINE,765.379700923,745,714.620299077,680,658.620299077,634,879,787,805.620299077,652,630,652,0.401020981329,-0.00549679144588,0.069853193166,0.999999987102,3.5617210467e-05,-0.000155841786954,1.55298826177e-05,1793244783832709632
+40,0.666666667,BASELINE,765,745,715,680,658.800689833,634,879,787,805.800689833,652.199310167,630,652,0.401020645816,-0.00549715008741,0.0698528568567,0.999999987028,3.56398320628e-05,-0.000156310610496,1.55249172372e-05,1793244783849376256
+41,0.683333333,BASELINE,765,745,715,680,658.207933632,634,879,787,805.207933632,652.792066368,630,652,0.401022749374,-0.00549792218274,0.0698540037065,0.999999987412,3.35547669376e-05,-0.00015429199595,1.56012029098e-05,1793244783866042880
+42,0.700000000,BASELINE,765,745,714.623367152,679.623367152,658,634,879,786.623367152,805,653,630.376632848,652,0.401022972328,-0.00549826978794,0.0698536798007,0.999999987389,3.28610655168e-05,-0.000154586071537,1.56754652713e-05,1793244783882709504
+43,0.716666667,BASELINE,765,745,714.043225895,679.043225895,658,634,879,786.043225895,805,653,630.956774105,652,0.401022179123,-0.00549838802568,0.0698525611922,0.999999987146,3.29191685137e-05,-0.000156129777675,1.57486343619e-05,1793244783899376384
+44,0.733333333,BASELINE,765,745,714,679.530883261,658,634,879,786.530883261,805,652.469116739,631,652,0.401022839822,-0.00549875152275,0.0698535025591,0.999999987294,3.45375063707e-05,-0.000154830600758,1.57119480035e-05,1793244783916043008
+45,0.750000000,BASELINE,765,745,714,679.892948685,658,634,879,786.892948685,805.107051315,652,631,652,0.401023391666,-0.00549876218863,0.069854361513,0.99999998742,3.59873152706e-05,-0.000153689785683,1.5643554599e-05,1793244783932709632
+46,0.766666667,BASELINE,765,745,714,679.305358753,658,634,879,786.305358753,805.694641247,652,631,652,0.401022929448,-0.00549710040985,0.0698541060744,0.999999987326,3.61167692845e-05,-0.000154287221089,1.54725331506e-05,1793244783949376256
+47,0.783333333,BASELINE,765,745,714.278193257,679,658,634,879,786,805.721806743,652,630.721806743,652,0.401023082066,-0.00549678550773,0.0698541020569,0.99999998734,3.59536964386e-05,-0.000154231403915,1.54679279069e-05,1793244783966042880
+48,0.800000000,BASELINE,765,745,714.857376528,679,658,634,879,786,805.142623472,652,630.142623472,652,0.401023899902,-0.00549792785288,0.0698543700633,0.999999987472,3.54741254138e-05,-0.000153468802956,1.56433759486e-05,1793244783982709760
+49,0.816666667,BASELINE,765,745,714.564344028,679.435655972,658,634,879,786.435655972,805,652.435655972,630.435655972,652,0.401022888018,-0.00549876824398,0.0698539811741,0.999999987414,3.43423439859e-05,-0.000154087260564,1.57893388621e-05,1793244783999376384
+50,0.833333333,BASELINE,765.013545485,745,714,680,658,634,879.013545485,786.986454515,805,653,630.986454515,652,0.401021346833,-0.00549944499751,0.0698534039999,0.999999987297,3.30795159129e-05,-0.000155108333921,1.59093903063e-05,1793244784016042752
+51,0.850000000,BASELINE,765.587520345,745,714,680,658,634,879.587520345,786.412479655,805,653,630.412479655,652,0.401022638389,-0.0054974328802,0.0698539158591,0.999999987386,3.52105669004e-05,-0.000154119708843,1.53559281884e-05,1793244784032709632
+52,0.866666667,BASELINE,765.834141743,745,714.165858257,680,658,634,880,786.165858257,805,653,630.165858257,652,0.40102312939,-0.00549661805117,0.0698539881273,0.999999987357,3.62558968253e-05,-0.000154095764084,1.50254582206e-05,1793244784049376768
+53,0.883333333,BASELINE,765.244660065,745,714.755339935,680,658,634,880,786.755339935,805,653,630.755339935,652,0.401021575667,-0.00549886125121,0.0698529376234,0.999999987036,3.45281547401e-05,-0.000156535737564,1.52645390503e-05,1793244784066044160
+54,0.900000000,BASELINE,765,745,715,679.661168413,658,634,879.661168413,787,805,652.661168413,630.661168413,652,0.401020701462,-0.00549909653137,0.069852423805,0.999999986902,3.34415191999e-05,-0.000157631515661,1.51591874502e-05,1793244784082711040
+55,0.916666667,BASELINE,765,745,715,679.081926868,658,634,879.081926868,787,805,652.081926868,630.081926868,652,0.401020309393,-0.00549790713926,0.0698522907793,0.999999986906,3.2809765757e-05,-0.000157773551531,1.48094519354e-05,1793244784099377408
+56,0.933333333,BASELINE,765,745,714.509516086,679,658,634,879.490483914,787,805,652.490483914,630.490483914,652,0.401021906701,-0.00549748491225,0.0698540094453,0.999999987285,3.40687840637e-05,-0.000155037834051,1.5256905985e-05,1793244784116044032
+57,0.950000000,BASELINE,765,745,714.063996942,679.063996942,658,634.063996942,880,786.936003058,805,652.936003058,630.936003058,652,0.40102340441,-0.00549721778218,0.0698556111289,0.999999987607,3.55592639948e-05,-0.000152554272056,1.57664999994e-05,1793244784132710400
+58,0.966666667,BASELINE,765,745,714.655883849,679.655883849,658,634.655883849,880,786.344116151,805,652.344116151,630.344116151,652,0.401021377244,-0.00549718751568,0.0698537316455,0.999999987037,3.63896737001e-05,-0.000156061165388,1.57053856917e-05,1793244784149377024
+59,0.983333333,BASELINE,764.757549452,745,715,679.757549452,658,634.757549452,880,786.242450548,805,652.242450548,630.242450548,652,0.401020529777,-0.00549714599561,0.0698528584339,0.999999986836,3.63988476643e-05,-0.000157353295669,1.55637921746e-05,1793244784166043392
+60,1.000000000,BASELINE,764.178371636,745,715,679.178371636,658,634.178371636,880,786.821628364,805,652.821628364,630.821628364,652,0.401021320733,-0.00549708884604,0.0698533827821,0.99999998716,3.52674490789e-05,-0.000155569454382,1.53104251569e-05,1793244784182709760
+61,1.016666667,BASELINE,764.399624005,745,714.600375995,678.600375995,658,634,879.600375995,787,805,652.600375995,630.600375995,652,0.401021979394,-0.00549675259944,0.06985374332,0.999999987302,3.53545300669e-05,-0.000154632339334,1.53394947086e-05,1793244784199376640
+62,1.033333333,BASELINE,764.977093505,745,714.022906495,678.022906495,658,634,879.022906495,787,805,652.022906495,630.022906495,652,0.401022579179,-0.00549629214571,0.0698540309571,0.999999987363,3.59838735997e-05,-0.000154072044716,1.54942576043e-05,1793244784216043264
+63,1.050000000,BASELINE,765,745,714,679.106043083,658,634,879,786.446978459,805,652.553021541,630,652,0.40102095637,-0.00549579444893,0.0698537712483,0.999999987089,3.7839166304e-05,-0.00015540300678,1.54738645027e-05,1793244784232709888
+64,1.066666667,BASELINE,765,745,714,679.868312266,658,634,879.131687734,786.131687734,805,652.868312266,630.131687734,652,0.401020024556,-0.00549551260066,0.0698535941181,0.999999986906,3.8702990697e-05,-0.000156373537585,1.54217843388e-05,1793244784249377024
+65,1.083333333,BASELINE,765,745,714,679.279929318,658,634,879.720070682,786.720070682,805,652.279929318,630.720070682,652,0.401021807504,-0.00549598465361,0.0698537817779,0.999999987096,3.59527718043e-05,-0.00015582316789,1.52849036913e-05,1793244784266044416
+66,1.100000000,BASELINE,764.696192876,745,714,679.303807124,658.303807124,634,879.696192876,786.696192876,805,652.303807124,630.696192876,652,0.401022583169,-0.00549666162585,0.0698539166396,0.999999987269,3.41096646339e-05,-0.00015514379528,1.51598527283e-05,1793244784282711040
+67,1.116666667,BASELINE,764.116673286,745,714,679.883326714,658.883326714,634,879.116673286,786.116673286,805,652.883326714,630.116673286,652,0.401022444699,-0.00549752456737,0.0698540035857,0.999999987428,3.30897839004e-05,-0.000154347349369,1.50455375035e-05,1793244784299377152
+68,1.133333333,BASELINE,764.459455849,745,714,680,659,634,879,786,805.459455849,652.540544151,630,652,0.401022688133,-0.00549827277311,0.0698546424718,0.999999987489,3.32792760396e-05,-0.000153872543808,1.54333714931e-05,1793244784316043520
+69,1.150000000,BASELINE,765,745,714,680,658.965279199,634,879,786.034720801,805.965279199,652.034720801,630,652,0.401023036549,-0.00549886103859,0.0698553674731,0.999999987524,3.37901567418e-05,-0.000153487845785,1.58938837056e-05,1793244784332709888
+70,1.166666667,BASELINE,765,745,714,680,658.39016317,634,879,786.60983683,805.39016317,652.60983683,630,652,0.401023520594,-0.0054974101381,0.0698552673229,0.999999987541,3.45583488622e-05,-0.000153243677941,1.55154564415e-05,1793244784349376512
+71,1.183333333,BASELINE,765,745,714,679.809833696,658,634,879,786.809833696,805,652.809833696,630,652,0.401023564198,-0.00549626355908,0.0698549736088,0.999999987501,3.52084881615e-05,-0.000153390230533,1.51790952677e-05,1793244784366043136
+72,1.200000000,BASELINE,765,745,714,679.218506206,658,634,879,786.218506206,805,652.218506206,630,652,0.401022678681,-0.00549575895451,0.0698542715661,0.999999987341,3.56095918477e-05,-0.000154361018866,1.49314736281e-05,1793244784382709760
+73,1.216666667,BASELINE,765,745,714,679,658,634,879,786,805,652,630,652,0.401021948824,-0.00549614567499,0.0698538143853,0.99999998724,3.60742518243e-05,-0.000154890455403,1.50565913247e-05,1793244784399376896
+74,1.233333333,BASELINE,765,745,714,679,658,634,879,786,805,652,630,652,0.401021310199,-0.00549705479064,0.0698535007151,0.999999987175,3.65761613716e-05,-0.000155161220783,1.54001671785e-05,1793244784416044288
+75,1.250000000,BASELINE,764.482807519,745,714,679.517192481,658,634,879,786.517192481,805,652,630.517192481,652,0.40102092756,-0.00549672344764,0.0698533416892,0.999999987119,3.54873336315e-05,-0.000155776020685,1.5353191438e-05,1793244784432710656
+76,1.266666667,BASELINE,764,745,714.094463466,680.094463466,658.094463466,634,879,786.905536534,805,652.094463466,630.905536534,652,0.401020864699,-0.00549611694395,0.0698533735269,0.9999999871,3.50160127085e-05,-0.000156020434399,1.52444996712e-05,1793244784449377280
+77,1.283333333,BASELINE,764,745,714.682667499,680.682667499,658.682667499,634,879,786.317332501,805,652.682667499,630.317332501,652,0.401022323235,-0.00549479916562,0.0698543123444,0.99999998726,3.87044715543e-05,-0.000154127307044,1.5042101903e-05,1793244784466043904
+78,1.300000000,BASELINE,764.266775387,745,714.733224613,680.466449226,658.733224613,634,879,786.266775387,805.266775387,652.733224613,630.266775387,652,0.401023007558,-0.0054940232833,0.0698549302711,0.999999987316,4.00297146548e-05,-0.000153439102469,1.49179938818e-05,1793244784482710272
+79,1.316666667,BASELINE,764.8460845,745,714.1539155,679.307831,658.1539155,634,879,786.8460845,805.8460845,652.1539155,630.8460845,652,0.401022784872,-0.00549388224516,0.0698551722666,0.999999987262,3.85863939019e-05,-0.000154162493793,1.48856041802e-05,1793244784499376896
+80,1.333333333,BASELINE,764.577220243,745,714,679,658,634,879.422779757,786.577220243,805.577220243,652,630.577220243,652,0.401022351248,-0.00549559628445,0.0698548162099,0.999999987327,3.55757495495e-05,-0.000154452220133,1.50170572569e-05,1793244784516043520
+81,1.350000000,BASELINE,764.001470683,745,714,679,658,634,879.998529317,786.001470683,805.001470683,652,630.001470683,652,0.401021841301,-0.00549798152623,0.0698542437667,0.999999987424,3.19980174177e-05,-0.000154585038243,1.52077917823e-05,1793244784532710400
+82,1.366666667,BASELINE,764.575524571,745,714,679.575524571,658,634,879.424475429,786,805,652,630,652,0.401021241315,-0.00549666384268,0.0698527902412,0.999999987048,3.51652859304e-05,-0.000156318544271,1.52601594156e-05,1793244784549377024
+83,1.383333333,BASELINE,765,745,714,679.844207129,658,634,879,786.155792871,805,652,630,652,0.401021060992,-0.00549599246913,0.0698520856023,0.999999986865,3.68770913054e-05,-0.000157091371104,1.52692466949e-05,1793244784566043904
+84,1.400000000,BASELINE,765,745,714,679.254838606,658,634,879,786.745161394,805,652,630,652,0.401022049245,-0.00549714618415,0.0698534714138,0.99999998725,3.44902328782e-05,-0.000155179194621,1.51588697804e-05,1793244784582710528
+85,1.416666667,BASELINE,765,745,714.328687812,679.328687812,658,634,879,787,805,652,630,652,0.401022148349,-0.00549750567345,0.0698539124081,0.99999998736,3.36727870973e-05,-0.000154648926282,1.51545984042e-05,1793244784599376896
+86,1.433333333,BASELINE,765,745,714.90776379,679.90776379,658,634,879,787,805,652,630,652,0.401021570116,-0.00549726013653,0.0698536336584,0.999999987265,3.40508903675e-05,-0.000155171369575,1.52311562296e-05,1793244784616043520
+87,1.450000000,BASELINE,765,745,715,680,658.483786691,634.483786691,879,787,805,652,630,652,0.401021810902,-0.00549739485412,0.0698539738946,0.999999987314,3.51243586043e-05,-0.000154621791118,1.52064443531e-05,1793244784632710144
+88,1.466666667,BASELINE,765,745.060425084,714.939574916,680,659,634.939574916,879,787,805,652.060425084,630,652,0.40102217995,-0.00549747017703,0.0698543627119,0.999999987372,3.62474718102e-05,-0.000153986371169,1.51696718971e-05,1793244784649376768
+89,1.483333333,BASELINE,765,745.647468821,714.352531179,680,659,634.352531179,879,787,805,652.647468821,630,652,0.401022314493,-0.00549639999289,0.069854152869,0.999999987297,3.66550798883e-05,-0.000154372923355,1.51950031765e-05,1793244784666043392
+90,1.500000000,BASELINE,765,745.768750059,714,679.768750059,658.768750059,634,879,787,805,652.768750059,630.231249941,652,0.401022380694,-0.0054959431725,0.0698540277612,0.999999987245,3.6714556083e-05,-0.00015469101598,1.52248585599e-05,1793244784682710528
+91,1.516666667,BASELINE,765,745.189873525,714,679.189873525,658.189873525,634,879,787,805,652.189873525,630.810126475,652,0.401022344161,-0.00549640839161,0.0698540300315,0.999999987229,3.62507028058e-05,-0.000154906196695,1.52615148027e-05,1793244784699377408
+92,1.533333333,BASELINE,765,745,714,679.389057931,658,634,879,787,805,652,631,652,0.401021814813,-0.00549669344331,0.069853956541,0.999999987231,3.57339739314e-05,-0.000155015368461,1.51780655367e-05,1793244784716044032
+93,1.550000000,BASELINE,765,745,714,679.968016247,658,634,879,787,805,652,631,652,0.401021044922,-0.00549689055479,0.0698538460713,0.999999987244,3.51914362723e-05,-0.000155072796952,1.5035992402e-05,1793244784732710656
+94,1.566666667,BASELINE,764.458607598,745,714,679.458607598,658,634,879,787,805,652.541392402,631,652,0.401022292833,-0.0054975467529,0.0698544724008,0.999999987364,3.56170137049e-05,-0.000154176007578,1.52751812975e-05,1793244784749377024
+95,1.583333333,BASELINE,764.11785733,745,714.11785733,679.11785733,658.11785733,634,879,786.88214267,805,652.88214267,630.88214267,652,0.401023080295,-0.00549799264721,0.069854771491,0.999999987417,3.59633504524e-05,-0.000153732937176,1.54215906257e-05,1793244784766043648
+96,1.600000000,BASELINE,764.70800821,745,714.70800821,679.70800821,658.70800821,634,879,786.29199179,805,652.29199179,630.29199179,652,0.401021549765,-0.00549748820911,0.0698535865746,0.999999987182,3.57652904587e-05,-0.000155331666049,1.51068623912e-05,1793244784782710272
+97,1.616666667,BASELINE,765,745,714.707638629,680,659.292361371,634.292361371,879.292361371,786.292361371,805,652,630.292361371,652,0.401020355168,-0.0054967784412,0.0698528765359,0.999999986955,3.6402925922e-05,-0.000156652132517,1.49892431307e-05,1793244784799376640
+98,1.633333333,BASELINE,765,745,714.1289633,680,659.8710367,634.8710367,879.8710367,786.8710367,805,652,630.8710367,652,0.401019489555,-0.0054958675907,0.0698526315523,0.999999986735,3.78589707309e-05,-0.000157700092264,1.50646557199e-05,1793244784816043264
+99,1.650000000,BASELINE,765,745,714,680,659.107283009,634.553641504,879.553641504,786.553641504,805,652,630.553641504,652,0.401020646869,-0.00549599732649,0.0698536640923,0.999999987042,3.6863978221e-05,-0.000155971041568,1.51463920663e-05,1793244784832709888
+100,1.666666667,BASELINE,765,745,714,680,658,634,879.042471848,786,805,652,630.021235924,652,0.401022287558,-0.005496429651,0.0698549745315,0.999999987467,3.52945553082e-05,-0.000153584215839,1.52330780525e-05,1793244784849376768
+101,1.683333333,BASELINE,765,745,714,680,658,634,880.219874865,786,805,652,630.609937433,652,0.401021343281,-0.00549697370631,0.0698539212948,0.999999987194,3.71575731023e-05,-0.000154900637092,1.54035690842e-05,1793244784866043392
+102,1.700000000,BASELINE,765,745,714.195517657,679.804482343,658,634,880.804482343,786.195517657,805,652,630.804482343,652,0.401020823908,-0.00549724913987,0.0698533722904,0.999999987043,3.78971425688e-05,-0.000155695901968,1.54101218952e-05,1793244784882709760
+103,1.716666667,BASELINE,765,745,714.774968623,679.225031377,658,634,880.225031377,786.774968623,805,652,630.225031377,652,0.401021138912,-0.00549699708732,0.069853813435,0.999999987137,3.64306234264e-05,-0.000155467784479,1.50947531552e-05,1793244784899376384
+104,1.733333333,BASELINE,764.647671485,745.352328515,714.647671485,679.352328515,658.352328515,634,880,787,805,652.352328515,630,652,0.401021960447,-0.00549658344195,0.0698543263301,0.999999987222,3.59529065864e-05,-0.000155051466256,1.49411714416e-05,1793244784916043520
+105,1.750000000,BASELINE,764.071639219,745.928360781,714.071639219,679.928360781,658.928360781,634,880,787,805,652.928360781,630,652,0.401023103593,-0.00549606719652,0.0698548847819,0.9999999873,3.61030093041e-05,-0.000154515653823,1.48903130449e-05,1793244784932710400
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,879,787,805,652,630,652,0.401021551441,-0.00549706793761,0.0698548861471,0.999999987346,3.7589757232e-05,-0.000153847619349,1.50511440285e-05,1793244784963841024
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714.40716457,680,658.40716457,634,879,786.40716457,805,652.59283543,630.59283543,652,0.40102284285,-0.00549619764944,0.0698551110767,0.999999987389,3.74389764208e-05,-0.00015360121527,1.5092711046e-05,1793244784980507904
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.181037275,680,658.181037275,634,879,786.181037275,805,652.818962725,631,652,0.401023790778,-0.00549576532817,0.0698552703632,0.999999987456,3.69714730865e-05,-0.000153273699745,1.51341558004e-05,1793244784997174784
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.75907807,680,658.75907807,634,879,786.75907807,805,652.24092193,631,652,0.401023985471,-0.00549629344102,0.0698552856988,0.999999987575,3.5809416867e-05,-0.000152768311798,1.51753324473e-05,1793244785013841408
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.665081538,680,658.665081538,634,879,787,805,652,631,652,0.401023578905,-0.00549601601507,0.0698550529568,0.99999998752,3.57101052949e-05,-0.000153152449703,1.51189554548e-05,1793244785030508032
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714.090813698,680,658.090813698,634,879,787,805,652,631,652,0.401022742651,-0.00549516291104,0.0698546429261,0.999999987342,3.63702839361e-05,-0.000154172287024,1.49928617805e-05,1793244785047174656
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,805,652,631,651.513490241,0.40102372269,-0.00549580769301,0.0698558233239,0.999999987529,3.60162720868e-05,-0.000153015713741,1.51674521537e-05,1793244785063841280
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.065885688,745,714,680,658,634,879.065885688,787,805,652.065885688,631,651.065885688,0.401024590139,-0.00549678328851,0.0698569526712,0.999999987705,3.53386815161e-05,-0.000152004636925,1.53713894881e-05,1793244785080507648
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.657049018,745,714,680,658,634,879.657049018,787,805,652.657049018,631,651.657049018,0.401021839878,-0.0054981530908,0.0698552932012,0.999999987241,3.36001848905e-05,-0.000155412917541,1.53589948254e-05,1793244785097174272
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.758448527,745,714,680,658.241551473,634,879.758448527,786.758448527,805.241551473,652.758448527,631,652,0.401021677678,-0.00549818442338,0.0698550033152,0.999999986641,3.40971195728e-05,-0.000159113358821,1.54390044484e-05,1793244785113841152
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.183149345,745,714,680,658.816850655,634,879.183149345,786.183149345,805.816850655,652.183149345,631,652,0.401025091358,-0.00549636641418,0.0698566057611,0.999999985848,3.76827131882e-05,-0.000163217473416,1.56466875588e-05,1793244785130508288
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.607722807,634,879.392277193,786.392277193,805.607722807,652,631,652,0.401042699036,-0.00549616613535,0.0698646797215,0.999999986474,3.82419843919e-05,-0.000159156727115,1.60738240539e-05,1793244785147174656
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.032236738,634,879.967763262,786.967763262,805.032236738,652,631,652,0.401066935868,-0.00549672140005,0.0698757761339,0.99999998772,3.73878443361e-05,-0.000151282670054,1.66034539271e-05,1793244785163841280
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.558255343,634,879.441744657,786.441744657,805,652.558255343,630.441744657,652,0.401115272856,-0.00549948381046,0.0698917547297,0.999999990454,3.49969029007e-05,-0.000132532164321,1.73782528671e-05,1793244785180507904
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.146561271,680,658.853438729,634,879,786.146561271,805,652.853438729,630,652,0.401169486858,-0.00550175438328,0.0699067305334,0.999999992785,3.36945182479e-05,-0.000113908780805,1.78666167789e-05,1793244785197174528
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.72578488,680,658.27421512,634,879,786.72578488,805,652.27421512,630,652,0.401236828521,-0.00550218636176,0.0699178907511,0.999999994444,3.58748678167e-05,-9.75659934033e-05,1.74664499288e-05,1793244785213840896
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.696901023,680,658,634,879,787,805,652.303098977,630.303098977,652,0.401312107004,-0.00550334623183,0.0699251528752,0.999999995397,3.50799274174e-05,-8.77720375675e-05,1.64928532851e-05,1793244785230507520
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.121303689,680,658,634,879,787,805,652.878696311,630.878696311,652,0.401394521009,-0.00550516050613,0.0699289104532,0.999999995871,3.16100797236e-05,-8.38657497101e-05,1.50037198694e-05,1793244785247174144
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.451733648,679.548266352,658.451733648,634,879.451733648,787,805.451733648,652.548266352,631,652,0.401484708625,-0.00550627081974,0.0699253597782,0.999999995219,3.04447047578e-05,-9.20532863072e-05,1.27226115516e-05,1793244785263841024
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.024987746,659,634,880,787,805.975012254,652,631,652,0.401578541189,-0.00550725009364,0.0699200757026,0.999999994191,2.98285364065e-05,-0.000103072410299,1.02214401357e-05,1793244785280507904
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.618734686,659,634,880,787,805.381265314,652,631,652,0.401708092747,-0.00550952516048,0.0699197540965,0.999999994071,2.77072720591e-05,-0.000105040242404,7.52467600543e-06,1793244785297174528
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,879.793042687,787,805,652.206957313,630.793042687,652,0.401848280218,-0.00551149113304,0.0699200544542,0.999999993979,2.58377058665e-05,-0.000106547111537,4.6176031633e-06,1793244785313841408
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,879.214732645,787,805,652.785267355,630.214732645,652,0.402007552167,-0.00551290248371,0.0699214708292,0.999999993952,2.44197731208e-05,-0.000107226854056,1.33316431641e-06,1793244785330508032
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.639306174,680,658.639306174,634,879,786.639306174,805.360693826,653,630,652,0.402188867718,-0.00551526515306,0.0699246310567,0.999999994296,2.19077368345e-05,-0.0001045074607,-2.36815858233e-06,1793244785347174656
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.065582717,680,658.065582717,634,879,786.065582717,805.934417283,653,630,652,0.402383202473,-0.00551818968153,0.0699288212223,0.999999994826,1.87495111596e-05,-9.97805014023e-05,-6.31569797415e-06,1793244785363841024
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.50886922,805.49113078,652.49113078,630,652,0.402603846122,-0.00551954022563,0.0699290727557,0.999999994688,1.43485992367e-05,-0.000101439499909,-1.12786111719e-05,1793244785380507648
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.086387454,714,680,658.086387454,634,879,787,805,652.086387454,630,652,0.402835833327,-0.00552106113414,0.0699295707735,0.999999994597,9.15650513349e-06,-0.000102238395399,-1.64179503089e-05,1793244785397174272
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.681406063,714,680,658.681406063,634,879,787,805,652.681406063,630,652,0.403114616914,-0.00552478118704,0.0699345130152,0.999999995426,2.50414858048e-07,-9.31204832028e-05,-2.18244656276e-05,1793244785413841152
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.732281885,714,680,658.732281885,634,879,786.732281885,805,652.732281885,630,652,0.403409632804,-0.0055270517374,0.0699403130002,0.999999996154,-1.13054050056e-05,-8.2894889094e-05,-2.63313331667e-05,1793244785430508288
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.156004632,714,680,658.156004632,634,879,786.156004632,805,652.156004632,630,652,0.403723357255,-0.00552765166,0.0699471015789,0.999999996672,-2.59151763632e-05,-7.13926341475e-05,-2.98013092273e-05,1793244785447175168
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.420989135,805,652.420989135,630,652,0.404062379263,-0.00553046409423,0.0699504470462,0.999999996729,-3.18347087762e-05,-6.82011973947e-05,-2.9621622937e-05,1793244785463841536
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.99824886,805,652.99824886,630,652,0.404410791683,-0.00553409780973,0.0699525144352,0.999999996691,-3.45284361094e-05,-6.80947251987e-05,-2.80871869214e-05,1793244785480507904
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714.583055443,680,658,634.583055443,879,787,805,652.416944557,630.583055443,652,0.404795491362,-0.00553460328889,0.0699592352522,0.999999997498,-2.63495726816e-05,-5.87020630417e-05,-2.93897263741e-05,1793244785497174528
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.832668932,679.832668932,658.167331068,634.832668932,879,787,805.167331068,652,631,652,0.405197788425,-0.00553527960302,0.0699649597189,0.999999997976,-2.32474734574e-05,-5.05037526268e-05,-3.09249120829e-05,1793244785513840896
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.249769067,679.249769067,658.750230933,634.249769067,879,787,805.750230933,652,631,652,0.405643514541,-0.00553640382718,0.0699681745713,0.999999997888,-3.28357443697e-05,-4.53418046092e-05,-3.30164391509e-05,1793244785530507776
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.328372677,679.328372677,659,634,879.328372677,786.671627323,806,652,631,652,0.406094525196,-0.00553363118305,0.0699640592868,0.999999997396,-3.66946299773e-05,-5.16837151535e-05,-3.44987422723e-05,1793244785547174656
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.902947018,679.902947018,659,634,879.902947018,786.097052982,806,652,631,652,0.406549498048,-0.00552793681162,0.0699544481376,0.999999996491,-3.62578358046e-05,-6.66507919914e-05,-3.5524272071e-05,1793244785563841536
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.52149679,680,659,634,880,786,805.52149679,652.47850321,630.52149679,651.52149679,0.407040772905,-0.00552003247641,0.0699389126331,0.999999995038,-2.07220448977e-05,-9.00478286586e-05,-3.72288526295e-05,1793244785580508672
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.055571312,680,659,634,879.944428688,786,805,653,630,651.055571312,0.40754698128,-0.00551247174865,0.0699248013904,0.999999993158,-4.41919587237e-06,-0.000110193509264,-3.89988103046e-05,1793244785597175552
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.645253184,680,659,634,879.354746816,786,805,653,630,651.645253184,0.408125806736,-0.00551253051456,0.0699359518738,0.999999995732,-1.0238684759e-05,-8.2622275647e-05,-4.00706518835e-05,1793244785613842688
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.768982836,680,659,634,879,786.231017164,805,652.768982836,630,652,0.408731700606,-0.00551465026448,0.069948602066,0.999999997568,-1.64299775192e-05,-5.38588121085e-05,-4.1155533682e-05,1793244785630509056
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.189134821,680,659,634,879,786.810865179,805,652.189134821,630,652,0.409378467156,-0.00551988205504,0.069963516785,0.999999998567,-2.3182685625e-05,-2.3295109226e-05,-4.2260105872e-05,1793244785647175168
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.387564351,745,714,680,659,634,879,786.612435649,805.387564351,652,630,652,0.410002897919,-0.00552286253348,0.0699608042181,0.999999998479,-2.33080389406e-05,-2.57330026658e-05,-4.28564100622e-05,1793244785663841792
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.962739229,745,714,680,659,634,879,786.037260771,805.962739229,652,630,652,0.410616516449,-0.00552475320605,0.069949558708,0.999999997888,-2.02252499394e-05,-4.41461713794e-05,-4.32066739788e-05,1793244785680508416
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.450321989,745,714,680,659,634,879.549678011,786.549678011,805.450321989,652,630,652,0.411271715789,-0.00552356995832,0.069949079205,0.999999997465,-2.42055334335e-05,-5.0061784444e-05,-4.44704717849e-05,1793244785697174784
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.135464272,680,658.864535728,634,879.864535728,786.864535728,805,652,630,652,0.4119549905,-0.00552260032241,0.0699569289703,0.999999997775,-2.76753051572e-05,-4.05441322204e-05,-4.51596200155e-05,1793244785713841408
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.714803852,680,658.285196148,634,879.285196148,786.285196148,805,652,630,652,0.412720821802,-0.00552302832634,0.069989627622,0.999999998515,-2.78691535631e-05,1.67070342437e-05,-4.37584676387e-05,1793244785730508288
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.706437789,680,658.293562211,634,879.293562211,786,805.293562211,652.293562211,630,652,0.413498081845,-0.00552416587757,0.0700153146237,0.999999997044,-2.90872880725e-05,5.65571825642e-05,-4.32117183627e-05,1793244785747175168
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.128242906,680,658.871757094,634,879.871757094,786,805.871757094,652.871757094,630,652,0.414286423083,-0.00552599139323,0.0700342032587,0.999999995401,-3.12985521602e-05,7.95356214873e-05,-4.34933829843e-05,1793244785763841536
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.446818088,680.446818088,659,634,879.553181912,786,806,652.553181912,630,652,0.415012226369,-0.00552359202629,0.0700010237905,0.999999998255,-3.20639323777e-05,1.87443483427e-05,-4.59411935393e-05,1793244785780508416
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680.978474743,659,634,879.021525257,786,806,652,630,652,0.415722918089,-0.00552017763872,0.0699538046161,0.999999996202,-3.27911969518e-05,-6.41646768017e-05,-4.90317709694e-05,1793244785797174784
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680.389548745,659,634,879.610451255,786,806,652,630,652,0.416505116218,-0.00552174874195,0.06992768546,0.999999992592,-4.33765572212e-05,-0.000100737501586,-5.27914652951e-05,1793244785813840896
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.804020098,880,786,806,652,630.195979902,652,0.417318460682,-0.00552340351992,0.0699214094226,0.999999991541,-4.77901092343e-05,-0.000108094202527,-5.43091859845e-05,1793244785830507520
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.225129323,880,786,806,652,630.774870677,652,0.418192659657,-0.00552522178377,0.0699539034128,0.999999996167,-4.01450134925e-05,-5.83676424721e-05,-5.14464773006e-05,1793244785847174144
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.648906516,680.351093484,659,633.351093484,880,786,806,652,630.648906516,651.648906516,0.419080476705,-0.00552773427417,0.0699797576356,0.999999997578,-4.36907479531e-05,-1.97984171701e-05,-5.04289240841e-05,1793244785863841280
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.074381592,680.925618408,659,633.925618408,880,786,806,652,630.074381592,651.074381592,0.419976960088,-0.00553068856147,0.0700013863935,0.999999997175,-5.43581851107e-05,1.16704198867e-05,-5.05856045247e-05,1793244785880508416
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.500361384,681,659,634,880,786.500361384,806,652,630.500361384,651.500361384,0.420874824705,-0.00553613388808,0.0700219871034,0.999999995969,-6.31603302603e-05,4.02451521831e-05,-4.95332193782e-05,1793244785897175040
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,634,880,786.922434109,806,652,631,652,0.421764822632,-0.0055416589743,0.0700360852663,0.99999999453,-7.15548472188e-05,5.87574636775e-05,-4.86470796921e-05,1793244785913841664
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,634,880,786.329077029,806,652,631,652,0.422601142911,-0.00554525092451,0.0700079600118,0.999999995532,-7.90834281449e-05,1.32196394171e-05,-5.0062130745e-05,1793244785930507776
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.74196308,681.25803692,659,634,880,786.25803692,806,652,631,652,0.423425517774,-0.00554599143207,0.0699531343526,0.999999992456,-8.38561784561e-05,-7.18947881254e-05,-5.37310833228e-05,1793244785947174144
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.162622895,681.837377105,659,634,880,786.837377105,806,652,631,652,0.424235018515,-0.00554318137134,0.0698650617915,0.999999973281,-8.51974145751e-05,-0.000206289347107,-6.02065560713e-05,1793244785963841024
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.411634777,714,681.588365223,659,634,880,787,806,652,631,652,0.425163485375,-0.00554532809618,0.0698641124694,0.999999974857,-8.67498798285e-05,-0.000197608316571,-6.09292663362e-05,1793244785980507648
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.983908977,714,681.016091023,659,634,880,787,806,652,631,652,0.426138378411,-0.00554940919413,0.0698971627748,0.999999985473,-8.83847767109e-05,-0.000133092394115,-5.94069753745e-05,1793244785997174528
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.426508709,714.573491291,681,659.573491291,634,880.573491291,786.426508709,806,652,631,652,0.427079777798,-0.00555257437265,0.0699570190503,0.999999992331,-9.67607101246e-05,-5.35710517959e-05,-5.5721404504e-05,1793244786013841408
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.160614815,745,714.839385185,681,659.839385185,634,880.839385185,786,806,652,631,652,0.428021591094,-0.00555564363968,0.0700087912755,0.999999993229,-0.000102342084513,1.69159818814e-05,-5.27453794834e-05,1793244786030508288
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.74002153,745,714.25997847,681,659.25997847,634,880.25997847,786,806,652,631,652,0.428967010204,-0.00555853191731,0.0700374627672,0.99999999168,-0.000100128325794,6.27147339761e-05,-5.17826356908e-05,1793244786047175168
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.68261287,745,714,680.68261287,659,634,880,786,806,652,630.68261287,651.68261287,0.429883165964,-0.00555882944028,0.0700426006614,0.999999991117,-9.90482205318e-05,7.18461689654e-05,-5.28552800965e-05,1793244786063841536
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.106908535,745,714,680.106908535,659,634,880,786,806,652,630.106908535,651.106908535,0.430775504622,-0.00555701838202,0.070028584869,0.999999992258,-9.8890781091e-05,5.11345551428e-05,-5.55845002523e-05,1793244786080507904
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.469813206,659,634,880,786.469813206,806,652,630.469813206,651.469813206,0.431588359784,-0.00555449342491,0.0699566390774,0.999999991202,-9.54222567838e-05,-7.17325584229e-05,-5.78382768043e-05,1793244786097174528
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.047731424,745.047731424,714,681,659.047731424,634,880,787,806.047731424,652,631,652,0.432391378359,-0.00555221011174,0.0698799598869,0.999999973522,-9.17735694291e-05,-0.000202366807196,-5.98506542246e-05,1793244786113840896
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.636582994,745.636582994,714,681,659.636582994,634,880,787,806.636582994,652,631,652,0.433288373169,-0.0055545119349,0.0698993881659,0.999999981384,-9.46427248389e-05,-0.000156948280642,-6.03555398624e-05,1793244786130507776
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.778264085,745.778264085,714,681,660,634,880.221735915,786.778264085,807,652,631,652,0.43419412578,-0.0055568258417,0.0699360167161,0.999999989345,-9.88396482005e-05,-8.9250486403e-05,-5.97931065302e-05,1793244786147174656
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.199073569,745.199073569,714,681,660,634,880.800926431,786.199073569,807,652,631,652,0.435113996749,-0.00555915922857,0.0700003733714,0.999999992712,-0.000105177031139,1.43631335528e-05,-5.75100763105e-05,1793244786163841536
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.623659743,745,714,681,660,634,880.623659743,786.376340257,807,652,631,652,0.435991714771,-0.00556154833777,0.0700305191013,0.999999990823,-0.000105549588846,6.40871663241e-05,-5.57386908376e-05,1793244786180508160
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.050223867,745,714,681,660,634,880.050223867,786.949776133,807,652,631,652,0.436847356542,-0.00556396662954,0.0700427479998,0.999999989583,-0.000102798268894,8.55883247947e-05,-5.42352625123e-05,1793244786197174784
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.537607106,745,714,681.537607106,660,634,880.537607106,786.462392894,806.462392894,652,631,652,0.437643857231,-0.00556620662738,0.0700179799925,0.999999991064,-0.000105665512952,5.99350811553e-05,-5.58155197787e-05,1793244786213841408
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.124653701,745,714,682,660,634,880.875346299,786.124653701,806.124653701,652,631,652,0.438412618379,-0.00556704875764,0.0699802488499,0.99999999247,-0.000107541855483,1.13341805441e-05,-5.80143018791e-05,1793244786230508032
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.70380224,745,714,682,660,634,880.29619776,786.70380224,806.70380224,652,631,652,0.439100938283,-0.00556285658029,0.0699082019071,0.999999987271,-0.00010383886726,-0.000104431655491,-6.13890015032e-05,1793244786247174400
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.719127319,745.280872681,714,682,660.280872681,633.719127319,880.280872681,786.719127319,807,651.719127319,631,652,0.439778481331,-0.00555795363356,0.0698458719764,0.999999971672,-9.9917002145e-05,-0.000206266049009,-6.42373707077e-05,1793244786263841280
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.144232303,745.855767697,714,682,660.855767697,633.144232303,880.855767697,786.144232303,807,651.144232303,631,652,0.440444742935,-0.00555230664151,0.0697937139849,0.999999950125,-9.57660137031e-05,-0.000293516762854,-6.65347682966e-05,1793244786280508160
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.992496962,633,880,786,806,651.007503038,630.992496962,652,0.441946806834,-0.0055588732888,0.0698471770212,0.999999971756,-9.83827252473e-05,-0.000206746641199,-6.37617904936e-05,1793244786313841152
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+247,4.116666667,HOLD_POSE2,764.725429978,745.725429978,713.725429978,683,653.725429978,629,880.274570022,782.725429978,807,652,629.274570022,652,0.452206072628,-0.00557359809028,0.0695381598417,0.999999746019,-0.00011514613395,-0.000700275989258,-6.57032829554e-05,1793244787339617024
+248,4.133333333,HOLD_POSE2,765,746,714,682.692248377,654,629,880,782.692248377,806.692248377,651.692248377,629.307751623,652,0.45220549272,-0.00557301708699,0.0695376944294,0.999999745365,-0.000114207275785,-0.000701361965326,-6.57113354265e-05,1793244787356283904
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+250,4.166666667,HOLD_POSE2,765,745.520370964,714,682,654,629,880,782.479629036,806.479629036,651.479629036,630,652,0.452207577542,-0.00557275423182,0.0695385484309,0.999999746409,-0.000112850197115,-0.000700128798395,-6.53132502735e-05,1793244787389617152
+251,4.183333333,HOLD_POSE2,765,745.060902071,714,682.060902071,654,629,880.060902071,782.939097929,807,652,629.939097929,652,0.452208907673,-0.00557245130369,0.0695385248909,0.999999747262,-0.000112088188102,-0.000699065012765,-6.49680385472e-05,1793244787406284032
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+253,4.216666667,HOLD_POSE2,765,746,714,683,654.208310048,629.208310048,880.791689952,782,806.791689952,652,629,652,0.452207110848,-0.00557337488727,0.0695378234557,0.999999745985,-0.000117592211528,-0.000699925125578,-6.56333466168e-05,1793244787439616512
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+256,4.266666667,HOLD_POSE2,764.041834762,745.041834762,713.041834762,682.041834762,654.041834762,629.041834762,880,782.958165238,806.958165238,652,629,652,0.452208694163,-0.00557181194697,0.0695378986524,0.999999746057,-0.000113800350038,-0.000700493964167,-6.51372011111e-05,1793244787489617152
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745.840072225,714,683,654.840072225,629.840072225,880,782.840072225,807,652,630,652,0.452212879947,-0.00557279059406,0.0695399432019,0.999999748839,-0.000114968879727,-0.00069634863918,-6.48323462547e-05,1793244787610245120
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+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.888505075,657.111494925,632.111494925,881,785,806.111494925,652,630.888505075,652,0.441622479129,-0.00542598768769,0.0696804368389,0.999999865146,0.00012121515123,-0.000504815616858,1.32976182708e-05,1793244788326911232
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.312997724,657.687002276,632.687002276,881,785,806.687002276,652,630.312997724,652,0.440954771463,-0.00542144146655,0.069719677668,0.999999900307,0.000117247064989,-0.000430600593431,1.48830275289e-05,1793244788343577856
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,633,880.73678188,785,807,651.73678188,630,652,0.440259983224,-0.00541834559867,0.0697500815801,0.999999922072,0.00011890090098,-0.000376080275797,1.68241068435e-05,1793244788360244736
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,633,880.159721205,785,807,651.159721205,630,652,0.43953290595,-0.00541697902821,0.0697699489862,0.999999932191,0.000127257916964,-0.000345042515936,1.91892620976e-05,1793244788376911616
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.426326166,658.426326166,633,880,785.426326166,807,651.426326166,630.426326166,652,0.438754140807,-0.00541559100693,0.0697510749627,0.999999921751,0.000124730902781,-0.000375030842088,1.70905306328e-05,1793244788393578240
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.984424647,659,633,880,786,806.984424647,651.984424647,631,652,0.437955510396,-0.00541437112084,0.0697183098397,0.999999901879,0.000117949930481,-0.000426790420596,1.34058890664e-05,1793244788410244864
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.403790768,659,633,880,786,806.403790768,651.403790768,631,652,0.437153843326,-0.00541954884455,0.0697194925847,0.99999990542,0.000107958288401,-0.000421076240978,1.41645856215e-05,1793244788426911232
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.824877604,633,879.824877604,786,806,651.175122396,630.824877604,652,0.436350259124,-0.00542253830799,0.0697357173858,0.999999917024,0.000103855940013,-0.000393592246146,1.58382727141e-05,1793244788443577600
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.249893432,633,879.249893432,786,806,651.750106568,630.249893432,652,0.43554229753,-0.0054205312563,0.0697862881264,0.999999943346,0.000113200777897,-0.000316400633059,1.96011827341e-05,1793244788460243968
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.899245763,714,682,658.899245763,633,879.899245763,786,806,652,630.899245763,652,0.433873283361,-0.00541679825466,0.0698388840427,0.999999959679,0.000118045421949,-0.000257078064045,2.48493268939e-05,1793244788493577728
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.511307105,714,681.511307105,659,633.488692895,880,786,806.488692895,652,631,652,0.433027581043,-0.00541540200896,0.0698436577554,0.999999960672,0.000125662052388,-0.000249440523158,2.53997655086e-05,1793244788510244864
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.079074023,659,633.920925977,880.079074023,786,806.920925977,652,631,652,0.432168121642,-0.00541407173533,0.0698410048685,0.999999959302,0.00013312840838,-0.000251040866054,2.55219404484e-05,1793244788526912000
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.769525151,633,880.769525151,786,806,652,631,652,0.43027271728,-0.00540973556636,0.0697708847481,0.999999925361,0.000131635145847,-0.000362471456411,2.37730356106e-05,1793244788560245248
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.195830606,633,880.195830606,786,806,652,631,652,0.429297688046,-0.00540487839615,0.0697139926047,0.999999889045,0.000139830405185,-0.000449383347227,2.02957790424e-05,1793244788576911104
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.388682632,745,714,681.611317368,658.388682632,633,880,786,806.388682632,652,631,652,0.428418916232,-0.005406460909,0.0697327089049,0.999999901273,0.000138864628122,-0.000421542692871,2.17459065951e-05,1793244788593577472
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.978802698,745,714,681.021197302,658.978802698,633,880,786,806.978802698,652,631,652,0.427590030544,-0.00541138083196,0.0697906098017,0.999999934949,0.000133151080269,-0.000334230740225,2.57496848021e-05,1793244788610244096
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.441486072,745,714,681,659,633,880,786,806.441486072,652,631,652,0.426732533472,-0.00540939539436,0.0698382721548,0.999999956217,0.000138100949507,-0.000260132497289,2.87099280716e-05,1793244788626910976
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.863445884,633.136554116,880,786,806,652,630.863445884,652,0.42585984091,-0.00540709248989,0.0698695045312,0.999999966967,0.000142072494833,-0.000211994753265,3.06417150513e-05,1793244788643577344
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,880,786,806,652,631,652,0.42209780855,-0.00539674441708,0.0697283213323,0.999999885437,0.000155657125513,-0.000452005909351,2.42450393335e-05,1793244788710244608
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.806607481,714,681,658.386785038,634,879.806607481,786,805.806607481,652,631,652,0.419538836176,-0.00539964102579,0.0697837688047,0.999999927939,0.000141611095463,-0.000351356122088,2.48264318108e-05,1793244788760244224
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.230087356,714,681,659.539825289,634,879.230087356,786,805.230087356,652,631,652,0.418760595052,-0.00539917582029,0.0698555404731,0.999999959477,0.000152707619123,-0.000238341968086,3.03085608511e-05,1793244788776910848
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.477379632,658,634,879.522620368,786,805.522620368,652,631,652,0.416238437168,-0.0053936741796,0.0698233364813,0.999999944452,0.000167927212609,-0.000286376148638,2.97611110827e-05,1793244788826911488
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.101265682,745,714,680.101265682,658.101265682,634,879.898734318,786,806,652,631,652,0.41540618687,-0.00538977202126,0.0697911085667,0.999999934987,0.00016686055003,-0.000318544675528,2.66964002723e-05,1793244788843578112
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.675932468,745,714,680.675932468,658.675932468,634,879.324067532,786,806,652,631,652,0.414574315784,-0.00538659618478,0.0697644664353,0.999999912905,0.000172711692038,-0.000379081366724,2.56477892366e-05,1793244788860244480
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.748329923,745,714,681,659,634,879,786,806,652,631,652,0.413782034958,-0.00538468579213,0.0697519877343,0.999999900826,0.000176825439593,-0.00040794462889,2.57201366757e-05,1793244788876911104
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.584761071,658.584761071,634,879.415238929,786,806,652,631,652,0.412376459779,-0.00538485881213,0.0698028507083,0.999999934435,0.000177186985626,-0.000314550422069,2.81583409896e-05,1793244788910244352
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.005503317,745,714.005503317,680.005503317,658,634,879.994496683,786,806,652,631,652,0.411743885057,-0.00538557917312,0.0698639009161,0.999999963356,0.000174415978556,-0.000205027820965,2.8827919766e-05,1793244788926910976
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.583800276,745,714.583800276,680.583800276,658,634,879.416199724,786,806,652,631,652,0.411070859535,-0.00538310471521,0.0698723969092,0.999999962692,0.000187974518789,-0.000195850936265,3.0410678554e-05,1793244788943578112
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.838588461,745,714.838588461,680.838588461,658.161411539,634,879,786,805.838588461,652,631,652,0.410396543025,-0.00538062188847,0.0698681569143,0.999999958736,0.000196278099806,-0.000207498631311,3.07905957753e-05,1793244788960245504
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.262737667,745,714.262737667,680.262737667,658.737262333,634,879,786,805.262737667,652,631,652,0.409718911641,-0.00537811757348,0.0698312160781,0.999999944189,0.000191089082939,-0.000272615384496,2.80821047957e-05,1793244788976912128
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.680670442,634,879,786,805.319329558,652,631,652,0.409064701377,-0.00537693107021,0.0697967719623,0.999999926986,0.000189393829969,-0.000330916806589,2.554692314e-05,1793244788993578496
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.093386957,634,879,786,805.906613043,652,631,652,0.408430144146,-0.00537685036145,0.0697644228818,0.999999908026,0.000190630243856,-0.00038349938461,2.31571679555e-05,1793244789010244608
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.358076575,714,680,658,634,879,786.358076575,806,652,630.358076575,652,0.406833355145,-0.0053763992998,0.0698031591533,0.999999929658,0.000192990753965,-0.000320670155116,2.46797222635e-05,1793244789060244480
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.625211288,786,805,652,630,652,0.405414191753,-0.00536875684343,0.0697990841227,0.999999921873,0.000201189504866,-0.000339385651745,2.43592651286e-05,1793244789110244608
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.030520042,786,805,652,630,652,0.404993763848,-0.00537018494119,0.0698041439432,0.999999925512,0.000202182739809,-0.000327893279347,2.41641933793e-05,1793244789126910976
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.546518419,786,805.546518419,652,630.546518419,652,0.404636796354,-0.00537034837423,0.0698233652376,0.999999936559,0.000201319487069,-0.000292838916791,2.44528171256e-05,1793244789143577600
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.401925979386,-0.005356726189,0.0698001207083,0.99999992501,0.000209441666111,-0.000325146773477,1.98429289268e-05,1793244789310244352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.401772684137,-0.00535753922231,0.0698036536348,0.999999926721,0.000206883259221,-0.000321499917108,1.98731414584e-05,1793244789326910720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,651.4871016,0.401638370797,-0.00535843888167,0.0698030062073,0.999999926609,0.000208975279003,-0.000320554231718,1.88784187281e-05,1793244789343577344
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.089911901,652,631,651.089911901,0.401511380664,-0.00535902143291,0.0698017385488,0.999999925901,0.000212576636333,-0.000320456424575,1.77783964673e-05,1793244789360244224
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.665139265,652,631,651.665139265,0.401411044839,-0.00535783358538,0.0697999582913,0.999999923203,0.00022117089041,-0.000323103196981,1.68051345457e-05,1793244789376911360
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.184311307,745,714,680,658,634,879,786,805.184311307,652,631,652,0.401243929891,-0.0053589941412,0.0697992907704,0.99999992465,0.000215032705836,-0.000322850388289,1.50883551557e-05,1793244789410244352
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.403281827,745,714,679.596718173,658,634,879,786,805,652,631,652,0.40118138717,-0.00535834101442,0.0698002276335,0.999999925565,0.000213615265383,-0.000320940339312,1.53548187499e-05,1793244789426911232
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,879.946698733,786,805.053301267,652.946698733,631,652,0.400982677283,-0.00535748457389,0.0698207490546,0.99999993568,0.000213409500403,-0.000287780413525,1.66787236662e-05,1793244789560244480
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.78345379,657.21654621,634.78345379,879,786.78345379,806,652,631,652,0.400976288094,-0.0053600765419,0.0698235960144,0.99999993832,0.000208230387404,-0.000282365389557,1.64540643974e-05,1793244789610244096
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.36810116,680,657.36810116,634.63189884,879,786.63189884,805.63189884,652,631,652,0.400974833181,-0.00535948466037,0.0698243923762,0.999999938455,0.000209158627522,-0.000281203840202,1.63624681346e-05,1793244789626910976
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.959015693,680,657.959015693,634.040984307,879,786.040984307,805.040984307,652,631,652,0.4009732819,-0.00535737507036,0.0698252434599,0.999999937971,0.000212751818131,-0.000280244931508,1.60685364697e-05,1793244789643577600
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.460500231,680,658,634.539499769,879.539499769,786,805,652,631,652,0.40097505309,-0.00535720362828,0.0698266364103,0.999999938622,0.00021280933176,-0.000277856300989,1.62378664408e-05,1793244789660244224
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.882097752,879.882097752,786,805,652,631,652,0.400976196378,-0.00535767955658,0.069827632114,0.999999939263,0.000211989341959,-0.000276161457378,1.63853796561e-05,1793244789676911104
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.308733807,879.308733807,786,805,652,631,652,0.400973957516,-0.00536009831543,0.0698269372332,0.999999939549,0.000208797433888,-0.000277558359625,1.63152412638e-05,1793244789693577728
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.271464039,879,786,805,652,631,652,0.400973346942,-0.00536048128004,0.0698269986335,0.999999939564,0.000208647061938,-0.000277622292304,1.62810693223e-05,1793244789710244096
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.859634812,879,786,805,652,631,652,0.400974636029,-0.00535848916151,0.0698279423582,0.999999939262,0.000212045133682,-0.000276131100446,1.62888580571e-05,1793244789726910976
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.556945311,879,786,805,652,631,652,0.400974678408,-0.00535835500067,0.0698283675614,0.999999939692,0.000210958495154,-0.000275415306813,1.60679912797e-05,1793244789743577600
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.975367839,658,634,879,786,805,652,630.975367839,652,0.400974333913,-0.00535881426404,0.0698285923085,0.999999940318,0.000208528437658,-0.000275009394271,1.57834430573e-05,1793244789760244224
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.40166338,658,634,879,786,805,652,630.40166338,652,0.400974076537,-0.00535951973495,0.0698279716747,0.999999940238,0.000207487515668,-0.000276093215708,1.56770184162e-05,1793244789776910848
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.827444903,744.827444903,714,679.172555097,658,634,878.827444903,786,805.172555097,652,630.172555097,651.827444903,0.400974547413,-0.00536001545867,0.0698280965941,0.999999940357,0.000207233065682,-0.000275854515188,1.56603710228e-05,1793244789793577216
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.252026382,744.252026382,714,679.747973618,658,634,878.252026382,786,805.747973618,652,630.747973618,651.252026382,0.400976718537,-0.00536002148677,0.0698299621525,0.999999940937,0.000208814787557,-0.000272528129969,1.58533260754e-05,1793244789810244096
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.333576388,744.333576388,714,680,658,634,878.333576388,786,805.666423612,652,631.333576388,651,0.400977172575,-0.00536030142,0.0698311545676,0.999999941135,0.000209781338873,-0.000271028339597,1.62709466844e-05,1793244789826910976
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.927115933,744.927115933,714,680,658,634,878.927115933,786,805.072884067,652,631.927115933,651,0.40097628845,-0.00536079481332,0.0698318223877,0.999999941044,0.000210268474646,-0.000270952053506,1.68636539201e-05,1793244789843577600
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.495166328,658,634,879,786,805,652,631.495166328,651.504833672,0.400974591564,-0.0053609094129,0.0698306735127,0.999999940742,0.000209640949366,-0.000272569663708,1.652406447e-05,1793244789860244480
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.077095857,658,634,879,786,805,652,630.922904143,651.922904143,0.40097302102,-0.00536076378883,0.0698294608949,0.999999940429,0.000209047122438,-0.000274197582501,1.60554911504e-05,1793244789876911104
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.629383062,658,634,879,786,805,652,630.370616938,651.370616938,0.40097293046,-0.00535934106944,0.0698294228684,0.999999940252,0.000209622751058,-0.0002744275133,1.55963106726e-05,1793244789893577728
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,630.197023289,651.197023289,0.400973517649,-0.0053587762167,0.0698298515869,0.99999994045,0.000209638903708,-0.000273702688301,1.54075408961e-05,1793244789910244096
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,630.795984604,651.795984604,0.40097548748,-0.00535996145744,0.0698312324902,0.999999941408,0.000208513695627,-0.000271030110552,1.57704232984e-05,1793244789926910720
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.609154414,786,805,652,630.609154414,651.609154414,0.400976244681,-0.00536043304761,0.0698317810522,0.999999941947,0.000207249339501,-0.00027001022511,1.57566903504e-05,1793244789943577600
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.016411557,786,805,652,630.016411557,651.016411557,0.400976375479,-0.00536053599059,0.0698318996554,0.999999942271,0.000205913104388,-0.00026984406334,1.55484109565e-05,1793244789960244480
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e662941ae2abbe10d004ea4827cc758c2d575422
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+1,0.016666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+2,0.033333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+3,0.050000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+4,0.066666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+6,0.100000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+7,0.116666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+8,0.133333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+11,0.183333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+12,0.200000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+13,0.216666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+14,0.233333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+15,0.250000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+16,0.266666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+17,0.283333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+18,0.300000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+19,0.316666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+21,0.350000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+24,0.400000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+27,0.450000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+384,6.400000000,pose2_to_pose3_retreat,0.575673326497,-0.000122237290211,1.06005114603,0.546244960788,0.0085534519402,1.05971763155
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+390,6.500000000,pose2_to_pose3_retreat,0.575672425712,-0.000122194498022,1.06005114729,0.546244060081,0.0085534949908,1.0597176326
+391,6.516666667,pose2_to_pose3_retreat,0.575672282049,-0.000122187673257,1.06005114749,0.54624391643,0.00855350185677,1.05971763277
+392,6.533333333,pose2_to_pose3_retreat,0.575672032831,-0.000122175834048,1.06005114784,0.546243667234,0.00855351376747,1.05971763306
+393,6.550000000,pose2_to_pose3_retreat,0.575671734348,-0.000122161654527,1.06005114826,0.546243368778,0.00855352803262,1.05971763341
+394,6.566666667,pose2_to_pose3_retreat,0.575671500445,-0.000122150542842,1.06005114859,0.546243134895,0.0085535392114,1.05971763369
+395,6.583333333,pose2_to_pose3_retreat,0.57567143881,-0.000122147614876,1.06005114868,0.546243073266,0.00855354215705,1.05971763376
+396,6.600000000,pose2_to_pose3_retreat,0.575671256144,-0.000122138937221,1.06005114893,0.546242890615,0.0085535508871,1.05971763397
+397,6.616666667,pose2_to_pose3_retreat,0.575670830737,-0.000122141173135,1.06005108039,0.546242465112,0.00855354833977,1.05971756577
+398,6.633333333,pose2_to_pose3_retreat,0.575670463593,-0.000122180205633,1.06005090693,0.546242097666,0.008553508322,1.05971739334
+399,6.650000000,pose2_to_pose3_retreat,0.575670383134,-0.00012218875953,1.06005086892,0.546242017141,0.00855349955219,1.05971735556
+400,6.666666667,pose2_to_pose3_retreat,0.575670217076,-0.000122206413864,1.06005079046,0.546241850946,0.00855348145222,1.05971727757
+401,6.683333333,pose2_to_pose3_retreat,0.575669889922,-0.000122228914359,1.06005066882,0.5462415234,0.00855345766619,1.05971715711
+402,6.700000000,pose2_to_pose3_retreat,0.575669606425,-0.00012218071438,1.06005074489,0.546241238885,0.00855350250537,1.05971723566
+403,6.716666667,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6a8b698f001605aab6dce6d8dc5f79552e17710
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ede9f37a92ac750999aa313ae3955ed5fcc4944eb8f281b0681ccfcd056ceff
+size 25660072
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42465935c0758b1fd73b043337ea09cc20e8e6c6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,765,745,714,680,658.573573301,634,879,786,805,652,631,652,0.400974416029,-0.00536155353377,0.0698311390592,0.99999994152,0.000207575824906,-0.000271353579361,1.54957976864e-05,1793244790092158976
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+21,0.350000000,BASELINE,765,745,714,679.82053025,658,634,879,786,805.17946975,652,631,652,0.400975974729,-0.00536078854528,0.069832542406,0.999999942235,0.000208849565819,-0.000267743741888,1.50224554896e-05,1793244790425492480
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+27,0.450000000,BASELINE,765,745,714.655639391,680,658,634.344360609,879,786,805,652,630.344360609,652,0.400976359138,-0.00536226493968,0.0698340028857,0.999999942886,0.000207293543321,-0.0002665098501,1.51549849111e-05,1793244790525492224
+28,0.466666667,BASELINE,765,745,714.76263108,680,658,634,879,786,805,652,630.23736892,652,0.400976809645,-0.00536386847283,0.0698345473809,0.999999943415,0.000205546259187,-0.000265862857333,1.54287974118e-05,1793244790542158848
+29,0.483333333,BASELINE,765,745,714.172398393,680,658,634,879,786,805,652,630.827601607,652,0.400977142813,-0.00536435077793,0.0698341438169,0.999999943709,0.000204115438267,-0.000265857857342,1.54747672949e-05,1793244790558825472
+30,0.500000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.40097704959,-0.00536281277094,0.0698341601315,0.999999943264,0.000206266690191,-0.000265875606322,1.53405020569e-05,1793244790575492352
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+33,0.550000000,BASELINE,765,745,714,679.863618292,658,634,879,786.863618292,805.863618292,652,630.136381708,651.863618292,0.400975946262,-0.00536048330718,0.0698333281408,0.999999942293,0.000209402737692,-0.000267065765668,1.5521644327e-05,1793244790625492480
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+39,0.650000000,BASELINE,765,745,714,680.37562943,658,634,879,786,805.62437057,652,631,652,0.400975904674,-0.00536161868157,0.0698333906802,0.999999942528,0.0002082422727,-0.000267107811121,1.52454605777e-05,1793244790725492224
+40,0.666666667,BASELINE,765,745,714,679.796114612,658,634,878.796114612,786,805.592229224,652,631,652,0.400975005719,-0.00536198021882,0.0698329190742,0.999999942042,0.000209471498364,-0.000267953144774,1.54373834452e-05,1793244790742158848
+41,0.683333333,BASELINE,765,745,714,679.207779975,658,634,878.207779975,786,804.41555995,652,631,652,0.400974916806,-0.00536193062479,0.0698327538688,0.999999942166,0.000208707462004,-0.000268095277202,1.5314167549e-05,1793244790758825472
+42,0.700000000,BASELINE,765,745,714,679.374518532,658,634.374518532,878.374518532,786,804.374518532,652,630.625481468,652,0.400975562838,-0.00536314938002,0.06983333779,0.999999942995,0.000205687253842,-0.00026733578587,1.53341990081e-05,1793244790775492352
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+51,0.850000000,BASELINE,765,745,714,680,658.412557632,634,878.587442368,786,804.412557632,652.412557632,631,652,0.400976892994,-0.00536215623912,0.069833861263,0.999999943011,0.000207135048935,-0.000266169946157,1.50302496656e-05,1793244790925492224
+52,0.866666667,BASELINE,765,745,714,679.835443334,658,634,879,786,804.164556666,652,630.835443334,652,0.400976918594,-0.0053622616643,0.0698337888335,0.999999943212,0.000206349955088,-0.000266032652269,1.49327809879e-05,1793244790942159104
+53,0.883333333,BASELINE,765,745,714,679.245692097,658,634,879,786,804.754307903,652,630.245692097,652,0.400975534653,-0.00536222412414,0.06983282047,0.999999943339,0.000204746949069,-0.000266785693366,1.50377168605e-05,1793244790958825472
+54,0.900000000,BASELINE,765,745,714,679.675698228,658,634,879,786,805,652,630.337849114,652,0.400975815711,-0.0053626936658,0.0698333510895,0.999999943506,0.000204493090314,-0.00026634038062,1.53053569048e-05,1793244790975492352
+55,0.916666667,BASELINE,765,745,714,680.833911461,658,634,879,786,805,652,630.916955731,652,0.400977285742,-0.00536352531376,0.0698349521304,0.9999999437,0.000205202655493,-0.000265039325312,1.56891837287e-05,1793244790992159232
+56,0.933333333,BASELINE,764.504916073,745,714,680.504916073,658,634,878.504916073,786,805,652,631,651.504916073,0.40097687526,-0.00536190055567,0.069835034574,0.999999943405,0.00020639967946,-0.000265236944997,1.54730272831e-05,1793244791008825856
+57,0.950000000,BASELINE,764.072737137,745,714,680,658,634,878.072737137,786,805,652,631,651.072737137,0.400976068796,-0.00536012708952,0.0698346796305,0.999999942966,0.0002075847775,-0.000265982745296,1.51491273763e-05,1793244791025492480
+58,0.966666667,BASELINE,764.648239083,745,714,680,658,634,878.648239083,786,805,652,631,651.648239083,0.400974701265,-0.00536016812322,0.0698330586482,0.999999942111,0.000208123388907,-0.000268783451399,1.47747548636e-05,1793244791042159104
+59,0.983333333,BASELINE,765,745,713.778220262,679.778220262,658,634.221779738,879,786,805,652,631,652,0.40097461786,-0.00536073624426,0.069832628734,0.999999942043,0.000207654993555,-0.000269402692077,1.47089441639e-05,1793244791058825728
+60,1.000000000,BASELINE,765,745,713.207763022,679.207763022,658,634.792236978,879,786,805,652,631,652,0.400976553334,-0.00536213304108,0.0698340713923,0.999999943213,0.000205603403149,-0.000266592278497,1.51282478891e-05,1793244791075492352
+61,1.016666667,BASELINE,765,745,713.374740616,679,658,634.625259384,879,786,805,652,631,652,0.400977802177,-0.0053625034544,0.0698348406951,0.999999943395,0.000206990771013,-0.000264822461663,1.53167194643e-05,1793244791092158976
+62,1.033333333,BASELINE,765,745,713.964144786,679,658,634.035855214,879,786,805,652,631,652,0.400978657697,-0.00536228592194,0.0698352242779,0.999999943003,0.000210348085597,-0.00026364873249,1.5372962888e-05,1793244791108825600
+63,1.050000000,BASELINE,765,745,714,679.546690561,658,634,879,786,805,652,631,652,0.400977956762,-0.00536081195523,0.0698351643379,0.999999942504,0.000211992701268,-0.000264238745062,1.51236118118e-05,1793244791125492480
+64,1.066666667,BASELINE,765.130142659,745,714,680,658,634,879,786,805,652,631,652,0.400977505577,-0.00536005122002,0.0698350472461,0.999999942341,0.000212160932302,-0.000264729011404,1.49533099862e-05,1793244791142159360
+65,1.083333333,BASELINE,765.718348311,745,714,680,658,634,879,786,805,652,631,652,0.400978288284,-0.00536208729032,0.0698348301127,0.999999943381,0.000207523199284,-0.000264466098467,1.51309079918e-05,1793244791158825984
+66,1.100000000,BASELINE,765.698071906,745,714,679.698071906,658,634,879,786,805,652,631,652,0.400978565298,-0.00536325647412,0.0698348284691,0.999999944152,0.00020435261735,-0.000264029616487,1.5011854278e-05,1793244791175492608
+67,1.116666667,BASELINE,765.118742254,745,714,679.118742254,658,634,879,786,805,652,631,652,0.400978377698,-0.00536362919113,0.0698350248107,0.999999944685,0.000202530005625,-0.00026343366502,1.46202467539e-05,1793244791192159232
+68,1.133333333,BASELINE,765,745,714,679.458427239,658,634,879,786,805,652,630.541572761,651.541572761,0.40097660573,-0.00536292631389,0.069834129667,0.999999943825,0.000203966288781,-0.0002655746622,1.47578126469e-05,1793244791208825856
+69,1.150000000,BASELINE,765,745,714,680,658,634,878.965222547,786,805,652,630.034777453,651.034777453,0.400974572122,-0.00536199207812,0.0698330064192,0.999999942649,0.00020619180841,-0.000268255582146,1.50134878605e-05,1793244791225492480
+70,1.166666667,BASELINE,765,745,714,680,658,634,878.39292827,786,805,652,630.60707173,651.60707173,0.400974807747,-0.00536176782971,0.0698327067772,0.99999994232,0.000207630209073,-0.000268375775187,1.49860906009e-05,1793244791242159104
+71,1.183333333,BASELINE,765,744.814144054,714,679.814144054,658,634,878.185855946,786,804.814144054,652,631,652,0.400975429896,-0.00536172488327,0.06983274294,0.9999999424,0.000208044124264,-0.000267755885789,1.49689523505e-05,1793244791258825728
+72,1.200000000,BASELINE,765,744.221142536,714,679.221142536,658,634,878.778857464,786,804.221142536,652,631,652,0.400976898788,-0.00536207910621,0.069833514734,0.999999943377,0.000206213749302,-0.000265514733859,1.49742880066e-05,1793244791275492352
+73,1.216666667,BASELINE,765,744.360124046,714,679.360124046,658,634,879,786,804.360124046,652,631,652,0.400976894358,-0.00536306898966,0.069833951679,0.999999943966,0.000204114036762,-0.000264920909242,1.49182662198e-05,1793244791292159232
+74,1.233333333,BASELINE,765,744.934411892,714,679.934411892,658,634,879,786,804.934411892,652,631,652,0.400976013751,-0.00536443689691,0.0698341894911,0.999999944324,0.000201854150748,-0.000265306741299,1.48257554974e-05,1793244791308826112
+75,1.250000000,BASELINE,765,745,714,680,658,634,879,786,805.513929943,652,631,652,0.400976443241,-0.0053637536798,0.0698340253015,0.99999994376,0.00020472568594,-0.000265220111553,1.50502849269e-05,1793244791325492480
+76,1.266666667,BASELINE,765,745,714,680,658,634,878.904743608,786,805.904743608,652,630.904743608,652,0.400976934234,-0.0053627889749,0.0698339047734,0.999999943107,0.000207957513751,-0.0002651573055,1.52280251034e-05,1793244791342159360
+77,1.283333333,BASELINE,765,745,714,680,658,634,878.317560659,786,805.317560659,652,630.317560659,652,0.400976870529,-0.00536173632061,0.0698342773923,0.999999942661,0.000209633273557,-0.00026553211451,1.49530365555e-05,1793244791358825728
+78,1.300000000,BASELINE,765.265742217,745,714,680,658,634,878.265742217,786.265742217,805,652,630.265742217,652,0.400976070797,-0.00536100622029,0.0698336801701,0.999999942278,0.000209854541977,-0.00026680715474,1.47740506607e-05,1793244791375492608
+79,1.316666667,BASELINE,765.84447511,745,714,680,658,634,878.84447511,786.84447511,805,652,630.84447511,652,0.400974404176,-0.00536065602349,0.0698319406707,0.999999941965,0.000208362713102,-0.000269142485552,1.47081365271e-05,1793244791392159232
+80,1.333333333,BASELINE,766,745,714,680,658,634,879,786.576938024,805,652,631,652,0.40097410508,-0.00536121916309,0.0698319713472,0.999999942134,0.00020730425045,-0.000269329256105,1.481546653e-05,1793244791408825856
+81,1.350000000,BASELINE,765.9984181,745,714,680,658,634,878.9984181,786,805.0015819,652,631,652,0.400974304789,-0.00536211437594,0.0698326493859,0.999999942477,0.000206408291622,-0.000268730720332,1.49857474022e-05,1793244791425492736
+82,1.366666667,BASELINE,765.424717216,745,714,680,658,634,878.424717216,786,805.575282784,652,631,652,0.400973149182,-0.00536171873608,0.0698321843913,0.999999942167,0.000206686284901,-0.000269676152394,1.48975434631e-05,1793244791442159360
+83,1.383333333,BASELINE,765,744.846775045,714,680,658,634,878,786,805.846775045,652,631,652,0.400972719795,-0.00536125484333,0.0698320687728,0.999999941972,0.00020729773537,-0.000269935357877,1.48062547429e-05,1793244791458825728
+84,1.400000000,BASELINE,765,744.256741831,714,680,658,634,878,786,805.256741831,652,631,652,0.400974360695,-0.00536059637758,0.0698329491427,0.999999942105,0.000208859793812,-0.00026823829323,1.47061720173e-05,1793244791475492352
+85,1.416666667,BASELINE,765,744.327081943,714,680,658,634,878.327081943,786,805,652,631,652,0.400975028177,-0.00536100873138,0.0698336540835,0.999999942576,0.000208109230574,-0.000267051591661,1.48678697294e-05,1793244791492158976
+86,1.433333333,BASELINE,765,744.906122412,714,680,658,634,878.906122412,786,805,652,631,652,0.400974945814,-0.00536224596142,0.0698342238873,0.999999943306,0.000205577203106,-0.000266258034274,1.52312227658e-05,1793244791508825600
+87,1.450000000,BASELINE,765,745,714,679.518105361,658,634,879,786,805,652,631,652,0.400975937684,-0.00536254273552,0.0698345268795,0.999999943679,0.000204783439801,-0.000265474604129,1.51210967174e-05,1793244791525492224
+88,1.466666667,BASELINE,765,745,714,679.056928442,658,634,879,786,805,652,631,651.943071558,0.400977017782,-0.0053625392505,0.0698346929264,0.999999943883,0.000204658572986,-0.000264810666551,1.49437205288e-05,1793244791542158848
+89,1.483333333,BASELINE,765,745,714,679.630999093,658,634,879,786,805,652,631,651.369000907,0.400977011116,-0.00536146126784,0.069834083939,0.999999943179,0.000207554592376,-0.000265214407261,1.49876929594e-05,1793244791558825728
+90,1.500000000,BASELINE,765,745,714.211846376,680,658,634.211846376,879.211846376,786,805,652,631,651.211846376,0.400977033386,-0.00536085591738,0.0698340399149,0.999999942941,0.000208969008054,-0.000264999439227,1.50198654509e-05,1793244791575492608
+91,1.516666667,BASELINE,765,745,714.804887415,680,658,634.804887415,879.804887415,786,805,652,631,651.804887415,0.400977107725,-0.00536110101763,0.0698350124814,0.999999943553,0.000207717437649,-0.000263671171629,1.50308052225e-05,1793244791592159232
+92,1.533333333,BASELINE,765,744.61292258,714.61292258,680,658,634.61292258,879.61292258,786,805.38707742,652,631,652,0.400976089657,-0.00536122917856,0.0698345774683,0.999999943364,0.000206978052371,-0.00026497314544,1.48757101692e-05,1793244791608826112
+93,1.550000000,BASELINE,765,744.036053009,714.036053009,680,658,634.036053009,879.036053009,786,805.963946991,652,631,652,0.40097453596,-0.00536130000171,0.0698334522896,0.999999942778,0.000206489802055,-0.000267564781472,1.46392047714e-05,1793244791625492992
+94,1.566666667,BASELINE,765,744.540124682,714,680,658,634,878.459875318,786,805.459875318,652,630.459875318,651.459875318,0.400975257069,-0.00536306707235,0.0698335522971,0.999999943319,0.000204591251638,-0.000266981088758,1.50359186718e-05,1793244791642159360
+95,1.583333333,BASELINE,765,745,714,680,658,634,878.118809572,786,805,652,630.118809572,651.118809572,0.400976032457,-0.00536428496966,0.0698337437176,0.999999943839,0.000203073216465,-0.000266175301033,1.52834894695e-05,1793244791658825984
+96,1.600000000,BASELINE,765,745,714,680,658,634,878.707594824,786,805,652,630.707594824,651.707594824,0.400976422679,-0.00536288319359,0.069833973656,0.999999943999,0.000203432287673,-0.000265328315143,1.47741122166e-05,1793244791675492608
+97,1.616666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400976437189,-0.00536339510749,0.0698340901923,0.999999943961,0.000203621183116,-0.000265324313934,1.48191136392e-05,1793244791692158976
+98,1.633333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400976081024,-0.00536579504577,0.0698340948474,0.999999943728,0.000203642185106,-0.000266151991667,1.54110586531e-05,1793244791708825856
+99,1.650000000,BASELINE,765,745,714,680,658.445780138,634,879,786,805.445780138,652,631,652,0.400975780178,-0.00536482216427,0.0698340583103,0.999999943399,0.000204959065052,-0.000266373700478,1.5461402929e-05,1793244791725492480
+100,1.666666667,BASELINE,765,745,714,680,658.977718864,634,879,786,805.977718864,652,631,652,0.40097550212,-0.00536296507727,0.0698340179198,0.999999943076,0.000206519117414,-0.000266387018415,1.53407128373e-05,1793244791742159360
+101,1.683333333,BASELINE,765,745,714,680,658.403463114,634,879,786,805.403463114,652,631,652,0.400975386482,-0.00536372225856,0.0698341815152,0.999999943658,0.000204682886749,-0.000265642947411,1.49201461012e-05,1793244791758826240
+102,1.700000000,BASELINE,765.175942725,745,714,680,658,634,879,786,805,652.175942725,631,652,0.400975390409,-0.00536387062248,0.0698341910981,0.999999943958,0.000203853500317,-0.000265168821195,1.45709368347e-05,1793244791775492864
+103,1.716666667,BASELINE,765.767514524,745,714,680,658,634,879,786,805,652.767514524,631,652,0.400975676785,-0.00536258077847,0.0698338368572,0.999999943601,0.000205402579841,-0.000265332385001,1.43902952055e-05,1793244791792159232
+104,1.733333333,BASELINE,765.650502405,745,714,680,658,634,879,786,805,652.650502405,631,652,0.40097549728,-0.00536200967162,0.0698338333858,0.999999943302,0.000206489978537,-0.00026560250884,1.45980855857e-05,1793244791808825856
+105,1.750000000,BASELINE,765.074727365,745,714,680,658,634,879,786,805,652.074727365,631,652,0.400975016147,-0.00536190390118,0.0698340570152,0.999999943042,0.00020727846844,-0.00026594162353,1.50573609465e-05,1793244791825492480
+106,1.766666667,BASELINE,765,745,714.50139126,680,658,634.50139126,879,786,805,652.50139126,631,652,0.400975242571,-0.0053622125775,0.0698343519575,0.999999943026,0.00020770272969,-0.000265661579468,1.51896443636e-05,1793244791842159360
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,657,634,879,786,805,652,631,652,0.400972793136,-0.00536204199281,0.0698326102474,0.999999942277,0.000206495448065,-0.000269418752072,1.48160504514e-05,1793244791885588224
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.594778195,714,680,657.594778195,634,879.594778195,786,805,652,631,652,0.400975144496,-0.00536206241779,0.0698341676496,0.999999942802,0.000207297893984,-0.00026682403254,1.51215373195e-05,1793244791902254848
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.815966716,786,805,652,630.815966716,651.815966716,0.400976340452,-0.00536205735093,0.069834928831,0.999999943026,0.000208048545434,-0.000265389401478,1.52375648937e-05,1793244791918921728
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.23851847,786,805,652,630.23851847,651.23851847,0.400975066455,-0.00536199778919,0.0698339879009,0.999999942619,0.000208688474025,-0.000266434735254,1.49485781741e-05,1793244791935588864
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.338876132,651.338876132,0.400975303149,-0.00536283284815,0.0698343146436,0.999999943134,0.000206885974127,-0.000265909911112,1.48711820544e-05,1793244791952255744
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.916232948,651.916232948,0.400976602977,-0.00536429748746,0.0698355334982,0.999999944288,0.000203364639607,-0.000264280103999,1.49426907169e-05,1793244791968921856
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.498306321,658,634,879,786,805,652,630.498306321,651.498306321,0.400976247449,-0.00536310046612,0.0698350050978,0.999999943643,0.000205684866452,-0.000264929238445,1.48461442725e-05,1793244791985588224
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.912613585,714,679.087386415,658,634,879,786,805,652,630.087386415,651.087386415,0.400975871108,-0.00536177322387,0.0698344323899,0.999999942909,0.000208197941602,-0.000265737780485,1.4791505367e-05,1793244792002255104
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.333356191,714,679.666643809,658,634,879,786,805,652,630.666643809,651.666643809,0.400976958894,-0.00536225554425,0.0698352793434,0.99999994344,0.000206216382875,-0.000265266632867,1.51332846291e-05,1793244792018921728
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.245078689,714,680,658,634,879,786,805,652,631,651.754921311,0.400982373613,-0.00536253104095,0.0698377871977,0.99999994436,0.000206189825613,-0.000261780789333,1.53898334977e-05,1793244792035588352
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.822398481,714,680,658,634,879,786,805,652,631,651.177601519,0.400993654141,-0.00536252615696,0.0698425466531,0.999999945767,0.000208813567652,-0.000254208071133,1.55308396939e-05,1793244792052255232
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.398799697,634,879,786,805.398799697,652,631,651.398799697,0.401024351759,-0.00536341175249,0.0698553125224,0.999999951354,0.00020786567187,-0.000232015268327,1.5906477011e-05,1793244792068921856
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.974792825,634,879,786,805.974792825,652,631,651.974792825,0.401063676718,-0.00536469300308,0.0698716357767,0.999999958115,0.000205330837259,-0.000203326514574,1.6386364893e-05,1793244792085588224
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,806,652,630.437726011,652,0.401120458439,-0.00536590434133,0.0698885196703,0.999999962922,0.000205518616637,-0.000177871363001,1.67397604853e-05,1793244792102254848
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.851666412,634,879,786,805.703332823,652,630.148333588,652,0.401180944228,-0.00536726590158,0.06990279946,0.99999996659,0.00020504147897,-0.00015650946448,1.68042994918e-05,1793244792118921216
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.271278685,634,879,786,804.54255737,652,630.728721315,652,0.401249891906,-0.00536907433621,0.0699094194949,0.999999968664,0.000202264692156,-0.000146639009384,1.6044342194e-05,1793244792135588096
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.304913822,680,658,634.304913822,879,786.304913822,804.304913822,652,631,652,0.40132910863,-0.00537065180653,0.0699131336014,0.999999969809,0.000200893726898,-0.000140742402273,1.46405763464e-05,1793244792152255232
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.877424507,680,658,634.877424507,879,786.877424507,804.877424507,652,631,652,0.401417337615,-0.00537202657907,0.069914297422,0.9999999702,0.000200756531537,-0.000138333303319,1.26717946734e-05,1793244792168922112
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.545929991,680,658,635,879,786.545929991,805,652,631,652,0.401516248452,-0.0053741727974,0.0699114336348,0.999999969645,0.000198573575543,-0.00014550922057,1.03136437666e-05,1793244792185588736
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.96861342,878.96861342,786,805,652,631,652,0.401619900014,-0.00537649773901,0.0699077390196,0.999999968829,0.000195832094278,-0.000154697886091,7.81751390738e-06,1793244792202255104
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.39910415,878.39910415,786,805,652,631,652,0.401754938528,-0.0053782836237,0.0699086120028,0.99999996955,0.000193070033637,-0.000153625443581,4.77440001776e-06,1793244792218921472
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.179608576,658,634,878.179608576,786,805,652,630.820391424,652,0.401901312008,-0.00538043581367,0.0699106844564,0.999999970645,0.000189999574621,-0.000150359059621,1.57631184558e-06,1793244792235587840
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.779876543,658,634,878.779876543,786,805,652,630.220123457,652,0.402074232976,-0.00538344592322,0.0699155661772,0.999999972586,0.000186206819333,-0.000141954268188,-1.98473956607e-06,1793244792252254464
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.363614569,745,714,680.636385431,658,634,879,786.363614569,805,652,630.363614569,651.636385431,0.402271054559,-0.00538750653574,0.0699198938626,0.999999974825,0.000180110797776,-0.000133694131588,-6.07004063128e-06,1793244792268921088
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.937780955,745,714,680.062219045,658,634,879,786.937780955,805,652,630.937780955,651.062219045,0.402481715861,-0.00539217544459,0.0699239007329,0.999999977159,0.000172681064446,-0.000125517756882,-1.04589099482e-05,1793244792285588224
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.487679215,745,714,680,658,634.512320785,879,786.487679215,805,652,631,651.512320785,0.402718683402,-0.00539589861674,0.0699253699146,0.999999978867,0.000166357495074,-0.000119769486293,-1.56747938829e-05,1793244792302254848
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.090134586,744.909865414,714,680,658,634.909865414,879,786.090134586,805,652,631,652,0.402964482893,-0.00539995772255,0.0699269045607,0.99999998051,0.000159590345084,-0.000114329125774,-2.09721009324e-05,1793244792318921728
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.686066059,744.313933941,714,680,658,634.313933941,879,786.686066059,805,652,631,652,0.403241902839,-0.00540654693634,0.0699305372622,0.999999982535,0.000149579606308,-0.000108960662473,-2.61623000768e-05,1793244792335588352
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.727784321,744,714,680,658,634,879,786.727784321,805.272215679,652,630.727784321,652,0.403543252098,-0.00541245684204,0.069936547404,0.999999984586,0.000141594486626,-9.91177182893e-05,-3.09121090431e-05,1793244792352254720
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.15252439,744,714,680,658,634,879,786.15252439,805.84747561,652,630.15252439,652,0.403871240663,-0.00541761050725,0.0699452042321,0.999999986599,0.000135864389083,-8.42935561723e-05,-3.5171653093e-05,1793244792368921344
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.422976026,744.422976026,714,680,658,634,879,786,805.577023974,652,630.422976026,652,0.404227626184,-0.00542439186267,0.0699489730625,0.999999991364,9.8742549386e-05,-8.01754337906e-05,-3.30865287343e-05,1793244792385588224
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.998563196,744.998563196,714,680,658,634,879,786,805.001436804,652,630.998563196,652,0.404594257413,-0.00543176049397,0.069950978287,0.999999995129,5.02944655367e-05,-7.99200860089e-05,-2.8712226935e-05,1793244792402254848
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.410507814,745,714,680,658,634,879.589492186,786.589492186,805,652,631,652,0.404994287206,-0.0054428199808,0.0699568322632,0.999999995043,6.56385475217e-05,-6.97884859216e-05,-2.71315014205e-05,1793244792418921216
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.823571221,786.823571221,805.176428779,652,631,652,0.40540679811,-0.005457335885,0.0699620155912,0.999999995578,6.72264143566e-05,-6.02404707054e-05,-2.63710614648e-05,1793244792435587840
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.24580391,786.24580391,805.75419609,652,631,652,0.405847510749,-0.00547969340283,0.0699656514246,0.999999997577,3.71586244172e-05,-5.20762121609e-05,-2.74606968176e-05,1793244792452254720
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.329466737,805.670533263,652,631,651.670533263,0.406298845354,-0.00549048910498,0.0699581570223,0.999999997303,1.83822161475e-05,-6.50737210097e-05,-2.86687182373e-05,1793244792468921088
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.902888777,805.097111223,652,631,651.097111223,0.406758045093,-0.00549272380487,0.0699424211815,0.999999995126,7.96656510734e-06,-9.37405661292e-05,-2.9964399323e-05,1793244792485587968
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.489673065,634,879.489673065,786.510326935,805,652,631,651.489673065,0.407275065057,-0.00549512012799,0.0699315498845,0.999999993883,1.2481183984e-05,-0.000105236664421,-3.16879358588e-05,1793244792502254336
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.077497019,745,714,680,658.922502981,634,879.922502981,786,805,652,631,651.922502981,0.40781366465,-0.00549886083847,0.0699249060414,0.999999993445,1.54342443333e-05,-0.00010841178775,-3.34503534629e-05,1793244792518921216
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.654463604,745,714,680,658.345536396,634,879.345536396,786,805,652,631,651.345536396,0.408415368422,-0.00551105377211,0.0699391160818,0.999999996085,-1.12956822992e-05,-8.05208522368e-05,-3.49011490186e-05,1793244792535587584
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.767949549,745,714,680,658.232050451,634,879,786,805.232050451,652,630.767949549,651.232050451,0.409024950214,-0.00551965222132,0.0699501149288,0.999999997422,-2.69259135008e-05,-5.56934837524e-05,-3.64547732165e-05,1793244792552254464
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.189436657,745,714,680,658.810563343,634,879,786,805.810563343,652,630.189436657,651.810563343,0.40964629423,-0.00552288393232,0.0699563193094,0.999999998306,-2.59837660384e-05,-3.54401694148e-05,-3.81619254688e-05,1793244792568921344
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.606833638,634,879.393166362,786,805.606833638,652,630,652,0.41027552828,-0.00552866927463,0.0699530032902,0.999999997917,-3.13894052107e-05,-4.08279492896e-05,-3.89176864272e-05,1793244792585588480
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.0222392,634,879.9777608,786,805.0222392,652,630,652,0.410908603877,-0.00553569794989,0.0699450519,0.999999996713,-3.98857070232e-05,-5.87000768057e-05,-3.92102261019e-05,1793244792602256128
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.557537291,634,879.442462709,786,805,652,630.557537291,652,0.41160794175,-0.00554173014287,0.0699521480194,0.999999996875,-4.71131552323e-05,-4.94271733413e-05,-3.9831365506e-05,1793244792618922752
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805.137411147,652,631,652,0.412327236112,-0.00554434569292,0.0699663008352,0.999999997505,-5.10644351935e-05,-2.81757661237e-05,-3.98507046056e-05,1793244792635589120
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805.718213859,652,631,652,0.413102469432,-0.00553606374343,0.0700013036874,0.999999997888,-4.46062485793e-05,2.82633979777e-05,-3.788625217e-05,1793244792652255232
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.296016973,786,806,652,631,652,0.413862935002,-0.00551877106964,0.0700192021817,0.999999997396,-2.42423051322e-05,5.61705766487e-05,-3.82779914463e-05,1793244792668921344
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.870993403,786,806,652,631,652,0.41460948388,-0.00549298689949,0.0700209819343,0.999999997486,9.22609834819e-06,5.71898875353e-05,-4.08901503966e-05,1793244792685587968
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.556507961,785.556507961,806,652,630.556507961,652,0.415332500662,-0.00549275810463,0.0699775070076,0.999999998788,5.75018655698e-06,-2.0930499263e-05,-4.41992252729e-05,1793244792702254592
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714.015904265,680,659,634,879,785.015904265,806,652,630.015904265,652,0.416052239834,-0.00550003030247,0.0699223248274,0.999999991705,-8.59377327921e-06,-0.000119353419225,-4.76549516592e-05,1793244792718921216
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.611284647,680,659,634,879,785.611284647,806,652,630.611284647,652,0.416900581376,-0.00551125711051,0.069917556506,0.999999990745,-2.95358683207e-05,-0.000123395848688,-4.91087000812e-05,1793244792735588096
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.799806022,680,659,634,879,786,805.799806022,652,631,651.799806022,0.417756617157,-0.00551860200795,0.0699262628933,0.999999992246,-4.13795395414e-05,-0.000106589572825,-4.93482905612e-05,1793244792752254976
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.223068097,680,659,634,879,786,805.223068097,652,631,651.223068097,0.418627124947,-0.0055186454366,0.0699603137994,0.999999996951,-3.61100252023e-05,-5.05690609409e-05,-4.73041766974e-05,1793244792768921600
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.351963414,659.351963414,634,879.351963414,786,805.351963414,652,630.648036586,651.351963414,0.419505181146,-0.00552130272305,0.0699880292613,0.999999998091,-3.95222492403e-05,-9.62209953598e-06,-4.65222856965e-05,1793244792785588224
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.925918626,659.925918626,634,879.925918626,786,805.925918626,652,630.074081374,651.925918626,0.420387998275,-0.00552560863254,0.0700117488049,0.999999997507,-4.84102548889e-05,2.18176085529e-05,-4.65365091435e-05,1793244792802254848
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.485067258,786,806,652,630.514932742,652,0.421300075038,-0.00552327505894,0.070027040595,0.999999996684,-5.14630491685e-05,4.23214810778e-05,-4.68312036097e-05,1793244792818921216
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.896057079,714,680.896057079,659.896057079,634,879.103942921,786,806,652,631,652,0.422200246292,-0.00551977479213,0.0700289035932,0.999999996624,-5.16222815769e-05,4.25640629696e-05,-4.770054974e-05,1793244792835588096
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.317260536,714,680.317260536,659.317260536,634,879.682739464,786,806,652,631,652,0.423026218143,-0.00551543978295,0.0699751243071,0.999999996899,-4.25132067936e-05,-4.2351211267e-05,-5.10052488966e-05,1793244792852254720
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.260267949,714,680.260267949,659,634,879.739732051,786,806,652,630.739732051,652,0.423861622894,-0.00551435058116,0.0699168125307,0.999999989147,-4.34009253271e-05,-0.000129260882367,-5.58070659135e-05,1793244792868921344
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.83625827,714,680.83625827,659,634,879.16374173,786,806,652,630.16374173,652,0.424708470491,-0.00551719875953,0.0698530025342,0.999999972569,-5.64154193982e-05,-0.000218589900867,-6.24249871685e-05,1793244792885588224
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.419599761,634,879.419599761,785.580400239,806,652,630,652,0.425626698533,-0.00552061159422,0.0698724283942,0.999999979889,-5.51999307986e-05,-0.000182943206261,-6.08817281862e-05,1793244792902255104
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,785.005786766,806,652,630.005786766,652,0.426573671229,-0.00552423466831,0.0699249304638,0.999999992459,-4.85488195039e-05,-9.78482705452e-05,-5.61286351976e-05,1793244792918921984
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,785.584618528,806,652,630.584618528,652,0.427559560459,-0.00552646768381,0.0699789792403,0.999999996007,-6.33279531481e-05,-3.16747668182e-05,-5.45165965717e-05,1793244792935588608
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.836678933,634,880,786,806,652,631,652,0.428536617,-0.00552846929046,0.0700252611418,0.999999995527,-7.21631696569e-05,3.03459384668e-05,-5.30753649053e-05,1793244792952254976
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.258304825,634,880,786,806,652,631,652,0.429491226689,-0.00552988281026,0.0700518048326,0.999999993127,-6.58929194801e-05,8.18130002465e-05,-5.20682109672e-05,1793244792968921600
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.318355859,634,879.681644141,786,806,652,631,652,0.430383956006,-0.0055306850569,0.0700389523364,0.999999994668,-6.33038720882e-05,6.18839669815e-05,-5.31653468385e-05,1793244792985588224
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.893633735,634,879.106366265,786,806,652,631,652,0.431226746098,-0.00553099398905,0.0699943060222,0.999999996284,-6.36856576503e-05,-1.56636997893e-05,-5.59607028892e-05,1793244793002255104
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.957546594,786,806,651.521226703,631,652,0.432017649671,-0.00552970835815,0.0699273527128,0.999999987935,-6.66839092755e-05,-0.000126974086676,-5.96787375609e-05,1793244793018921728
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.934780718,786.065219282,806,651.065219282,631,652,0.432819584538,-0.00552861865983,0.0698694534426,0.999999971166,-7.00166682002e-05,-0.000220896147994,-6.30080322097e-05,1793244793035588608
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.355667461,786.644332539,806,651.644332539,631,652,0.433801179359,-0.00553192285697,0.0699227658123,0.99999998866,-7.13086242842e-05,-0.000117461287422,-6.1625107796e-05,1793244793052255488
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.222847032,786.777152968,806,651.777152968,631,652,0.434751111663,-0.00553534640613,0.0699734235566,0.999999995199,-7.32098442421e-05,-2.67780518707e-05,-5.9376017555e-05,1793244793068921856
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.800408539,786.199591461,806,651.199591461,631,652,0.435650645635,-0.00553895993314,0.0700198558367,0.999999994601,-7.60808546496e-05,4.36079302983e-05,-5.57482171733e-05,1793244793085588224
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.377659171,660,634,880.622340829,786,806,651.377659171,631,652,0.436515162378,-0.00554347247237,0.0700347150249,0.999999992905,-8.06834917421e-05,6.8106444297e-05,-5.51433360361e-05,1793244793102254592
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.954745607,660,634,880.045254393,786,806,651.954745607,631,652,0.437361187816,-0.00554845974512,0.0700329016764,0.999999992372,-8.6200534165e-05,6.83735493623e-05,-5.6134742453e-05,1793244793118921216
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,652,631,652,0.438121063506,-0.00554733616227,0.0699966093904,0.999999994292,-8.58885463139e-05,2.53267084002e-05,-5.82940912494e-05,1793244793135587840
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.874198771,634,880,786,806,652,631,651.874198771,0.438858635659,-0.005545286179,0.0699475734877,0.999999993719,-8.38829778205e-05,-4.28920255149e-05,-6.07065946128e-05,1793244793152254720
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.293692821,634,880,786,806,652,631,651.293692821,0.439542088596,-0.00554176720858,0.0698630805372,0.999999977148,-7.75487935728e-05,-0.000188772133281,-6.36749038389e-05,1793244793168921856
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633.71592807,880,786,806.28407193,651.71592807,631,651.28407193,0.440247742555,-0.00553961499788,0.0698124221861,0.999999958135,-7.64316585199e-05,-0.00027118157767,-6.59485742181e-05,1793244793185588992
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633.140970304,880,786,806.859029696,651.140970304,631,651.859029696,0.440976130021,-0.00553886233098,0.0697964100148,0.999999952824,-8.06567132836e-05,-0.000288597911202,-6.75109446224e-05,1793244793202255616
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,786,806.566199097,651,631,651.566199097,0.441726158715,-0.0055419919532,0.0698287082549,0.999999965789,-8.19340420215e-05,-0.000239443437405,-6.61561922881e-05,1793244793218922240
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,786,806.008773709,651.008773709,631,651.008773709,0.442481422336,-0.00554633508351,0.0698758660925,0.999999980104,-8.23170341028e-05,-0.000170106167064,-6.38783069636e-05,1793244793235588352
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,786,806.601185188,651.601185188,631,651.601185188,0.443117296173,-0.00554751448091,0.0698676202792,0.999999974893,-8.69015724476e-05,-0.000196634133401,-6.32251402489e-05,1793244793252254976
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,785.811480814,807,652,630.811480814,652,0.443740209948,-0.00554814472639,0.0698462823356,0.99999996515,-8.76458925349e-05,-0.000240938814497,-6.2985224179e-05,1793244793268921600
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,785.234606472,807,652,630.234606472,652,0.444336425727,-0.0055476437027,0.0697979742109,0.999999942941,-8.04792487799e-05,-0.000321864063555,-6.35966164738e-05,1793244793285588480
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682.341790002,658.658209998,632.658209998,880.341790002,785,807,652,630,652,0.444911036733,-0.00554919632775,0.0697589632451,0.99999992233,-7.91366041043e-05,-0.000380669633227,-6.45535332992e-05,1793244793302255360
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682.917858887,658.082141113,632.082141113,880.917858887,785,807,652,630,652,0.44547083878,-0.0055521566199,0.0697263249907,0.999999904473,-8.17860018699e-05,-0.000424313333797,-6.57472888973e-05,1793244793318921984
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,880.494510879,785,807,652,630.505489121,652,0.44600226989,-0.00555527397977,0.0697139789774,0.999999898513,-8.55553548487e-05,-0.000437177780848,-6.73021516237e-05,1793244793335588864
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,880,785,807,652,630.906727616,652,0.446522545692,-0.00555777645686,0.069705065274,0.999999893417,-8.98556430919e-05,-0.000447663386439,-6.84741241675e-05,1793244793352255488
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,880,785,807,652,630.328151945,652,0.447009328417,-0.00555694374447,0.0696964516437,0.999999881546,-9.59493514157e-05,-0.00047240440974,-6.73414307631e-05,1793244793368922112
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657.750628872,631.750628872,880.249371128,784.750628872,806.750628872,651.750628872,630,652,0.447481186577,-0.00555655857148,0.069682435966,0.999999867864,-9.63617901324e-05,-0.000500571694663,-6.64440880847e-05,1793244793385588480
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,683,657.174485156,631.174485156,880.825514844,784.174485156,806.174485156,651.174485156,630,652,0.447933487747,-0.00555675984821,0.0696613415181,0.999999851675,-8.93295686773e-05,-0.000533228704953,-6.58551459292e-05,1793244793402255104
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880.590998425,784,806.409001575,651,630,652,0.44836184098,-0.00555634286348,0.0696571693954,0.999999847455,-9.12008477307e-05,-0.000540806505568,-6.55791335229e-05,1793244793418921728
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.691447361,714,683,656,630.691447361,880.308552639,784,807,652,630,652,0.450207598364,-0.0055599139556,0.0696654685996,0.999999854819,-9.28391619115e-05,-0.000526709316204,-6.57332743455e-05,1793244793502255616
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.117988776,714,683,656,630.117988776,880.882011224,784,807,652,630,652,0.450473194338,-0.0055659671958,0.0696371756834,0.999999829077,-0.000100644958416,-0.000571931788136,-6.78980442753e-05,1793244793518921984
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713.531564165,683.468435835,656,630,881,783.531564165,807,651.531564165,630,652,0.450707464543,-0.0055693532637,0.0696101643687,0.9999998057,-0.000104354299111,-0.000610732079974,-6.86697797174e-05,1793244793535588608
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.05701124,713.05701124,683.94298876,656,630.05701124,880.94298876,783,807.05701124,651.05701124,630,652,0.450932630624,-0.00557183501164,0.0695852714226,0.999999783605,-0.000107817581667,-0.000645358190964,-6.83965475936e-05,1793244793552254976
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.634556861,713.634556861,683.365443139,656,630.634556861,880.365443139,783,807.634556861,651.634556861,630,652,0.451148764668,-0.00557236840058,0.0695766887294,0.999999775173,-0.000118723246018,-0.000657062261357,-6.1877184894e-05,1793244793568921600
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.787691683,714,683,655.787691683,630.787691683,880,783,807.787691683,652,630,652,0.45135856343,-0.00557332575792,0.0695727315015,0.999999771796,-0.000124037035149,-0.000661543655811,-5.81698395467e-05,1793244793585588480
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.209585645,714,683,655.209585645,630.209585645,880,783,807.209585645,652,630,652,0.451557446762,-0.00557501359375,0.069576743744,0.999999777491,-0.000119716272627,-0.000653580702127,-5.93074748564e-05,1793244793602255104
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,683,655,630,880,783,806.63412678,651.63412678,630,651.63412678,0.451729722922,-0.00557850935219,0.0695746818071,0.999999776612,-0.000121289768247,-0.000654509145062,-6.06865522671e-05,1793244793618921728
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,683,655,630,880,783,806.060173367,651.060173367,630,651.060173367,0.451886867012,-0.00558303331638,0.0695691653503,0.999999771974,-0.00012621545846,-0.000660494321191,-6.22029432478e-05,1793244793635587840
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,683,655,629.881856712,880.881856712,783,807,652,629.118143288,651.881856712,0.452133490079,-0.00558304090221,0.06955846527,0.999999764884,-0.000124409609478,-0.000671173735604,-6.54161695679e-05,1793244793668921088
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765.295458675,745,714,683.295458675,654,629,880,782.295458675,807,652,630,652,0.452687580481,-0.0055812817144,0.0695358442317,0.999999737578,-0.000126159570011,-0.000710575147951,-6.33327574813e-05,1793244794018921216
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.870461747,745,714,683.870461747,654,629,880,782.870461747,807,652,630,652,0.452688077629,-0.00558235350288,0.0695358064522,0.999999737376,-0.000128105491045,-0.000710520692148,-6.32182421261e-05,1793244794035587840
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.542272547,745,714,683.542272547,654,629,880,782.542272547,807,652,630,652,0.452687782617,-0.00558179488179,0.0695354984726,0.999999737026,-0.000128908477733,-0.000710898711115,-6.28768900377e-05,1793244794052254464
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.04763553,714,683,654,629,880.04763553,782,807,652,629.95236447,652,0.452687340132,-0.00558086518012,0.0695350960618,0.999999736657,-0.00012919158154,-0.000711397960385,-6.25137144548e-05,1793244794068921344
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.627230775,714,683,654,629,880.627230775,782,807,652,629.372769225,652,0.452687823216,-0.00558108606434,0.0695345165518,0.999999736562,-0.000127380539267,-0.000711846616284,-6.26434531312e-05,1793244794085587968
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714,683.205346377,654,629,880.794653623,782,807,651.794653623,629,652,0.452688555008,-0.00558146467075,0.0695343766189,0.999999736476,-0.000127112383366,-0.000712027156567,-6.25129211451e-05,1793244794102254336
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,683.780795136,654,629,880.219204864,782,807,651.219204864,629,652,0.452689735054,-0.00558212754491,0.06953502895,0.999999736406,-0.000129625021317,-0.000711724463427,-6.19132949637e-05,1793244794118921216
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,683.645053115,654.354946885,629,880,782,807,651.354946885,629.354946885,652,0.452690134589,-0.00558251901315,0.0695350931742,0.999999736431,-0.000129442437086,-0.000711748055892,-6.16159075283e-05,1793244794135588352
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,683.071699466,654.928300534,629,880,782,807,651.928300534,629.928300534,652,0.452690053858,-0.00558274347921,0.069534795523,0.999999736515,-0.000127601422221,-0.000711972419205,-6.15044943813e-05,1793244794152255744
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,683.518292948,654.481707052,629,880,782.518292948,807,652,630,652,0.452691177813,-0.00558174298825,0.0695357756542,0.999999737561,-0.00012719620412,-0.000710560153329,-6.16769995291e-05,1793244794168922112
+245,4.083333333,HOLD_POSE2,765,746,714,684,655,629,879,782,807,652,630,652,0.452689831289,-0.00558119613604,0.0695341414624,0.999999735487,-0.000128196311397,-0.00071323661186,-6.23310767864e-05,1793244794211448064
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+251,4.183333333,HOLD_POSE2,765,745.485673808,714,683.514326192,654,629,880.514326192,782,806.971347617,652,629.485673808,652,0.452690475108,-0.00557975640324,0.06953389735,0.999999735406,-0.000125738088598,-0.000713836243605,-6.176537606e-05,1793244794311446528
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+257,4.283333333,HOLD_POSE2,765,745.968737102,713.968737102,683,654,629,880.031262898,782,807,652,630,651.968737102,0.452692962361,-0.00557979117912,0.0695350351935,0.999999736335,-0.000127032334271,-0.000712306950531,-6.17375588666e-05,1793244794411446528
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.579932488,745.420067512,714,683.579932488,654.420067512,629,880,782,807,652,630,652,0.452693774191,-0.00558151636979,0.0695352204222,0.999999736456,-0.000129845526795,-0.000711665398073,-6.13251128075e-05,1793244794515280128
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.841393701,745.158606299,714,684,654.158606299,629,880,782,807,652,630,652,0.452693275035,-0.00558074728319,0.0695353704469,0.999999736155,-0.000130311866333,-0.000711980383222,-6.15876364321e-05,1793244794531947008
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.489198854,714,683,654,629,880.489198854,782.489198854,807.021602292,652,630,652,0.452695553917,-0.00557653000032,0.0695361202248,0.999999738481,-0.000122081554352,-0.000710155210213,-6.17586236415e-05,1793244794598613504
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,714,683.06787418,654,629,880.93212582,782.93212582,806.135748361,652,630,652,0.452694810001,-0.00557576022614,0.0695356022134,0.999999738135,-0.000120407047903,-0.000710903490662,-6.20312439746e-05,1793244794615279872
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,714,683.643087753,654,629,880.356912247,782.356912247,807.286175505,652,630,652,0.45269325431,-0.00557723481607,0.0695348389963,0.999999737453,-0.000123273014622,-0.000711429159368,-6.13675684398e-05,1793244794631946496
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.189971717,746,714,684,654,629,880,782,807.189971717,651.189971717,629.189971717,652,0.452678361771,-0.00557886501459,0.0695266713132,0.999999728631,-0.000125846191013,-0.000723281219176,-6.13537167037e-05,1793244794665283328
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,713.873864329,683,654,629,880.126135671,782,807,651.126135671,630,652,0.452507149431,-0.00557495692414,0.0694618777677,0.999999652917,-0.000121204471307,-0.000821886963978,-6.30716475333e-05,1793244794731946752
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,713.29901944,683,654,629,880.70098056,782,807,651.70098056,630,652,0.452436733536,-0.00557138826537,0.0694479969573,0.999999640773,-0.000119150773379,-0.000836797252583,-6.34628123762e-05,1793244794748613376
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.275813844,713.275813844,683,655.724186156,630,880.275813844,783,807,651.724186156,630,652,0.448182184774,-0.00548277857044,0.0695424580384,0.999999730441,3.82194159246e-05,-0.000733183661903,9.92794071863e-06,1793244795065280256
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.304005412,683,656,630,880,783.304005412,807,652,630,652,0.447730583158,-0.00547661345869,0.0695445581651,0.99999973097,7.11403061811e-05,-0.000729918125136,1.47802597e-05,1793244795081946880
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,630.473092029,880.473092029,784,807,651.526907971,630.473092029,652,0.446724869327,-0.00546044651933,0.0695268170585,0.999999712269,8.56028213977e-05,-0.000753677582269,1.01947528099e-05,1793244795115280384
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.224797212,745,714,680,657.775202788,634,879.775202788,786,805,652,631,652,0.406504959591,-0.00539818086947,0.0698088026311,0.999999936757,0.0001651914381,-0.000313927516328,2.54538231854e-05,1793244795998613760
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.812707915,745,714,680,657.187292085,634,879.187292085,786,805,652,631,652,0.406022704521,-0.00538931692971,0.0698041414626,0.999999930785,0.000175015674022,-0.000327403693179,2.46298845971e-05,1793244796015280128
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.394661252,634,879,786,805,652,630.605338748,652,0.405576720355,-0.0053826173823,0.0698025059998,0.999999927221,0.000186262461262,-0.000332066872016,2.44250117775e-05,1793244796031946752
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.973829529,634,879,786,805,652,630.026170471,652,0.40514769306,-0.00537692970337,0.0698022850761,0.999999924748,0.000198174302515,-0.000332609910952,2.45095566624e-05,1793244796048613376
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.448280278,658,634,879,786,805,652,630.551719722,652,0.404776753604,-0.00537875901838,0.0698184788137,0.999999935733,0.000194209721686,-0.000300349434351,2.46142342621e-05,1793244796065280000
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.129204863,658,634,879.129204863,786,805,652,631,651.870795137,0.404413536219,-0.00537888520975,0.0698342739853,0.999999944986,0.000191732843373,-0.000269556076243,2.4615885826e-05,1793244796081946624
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.705497852,658,634,879.705497852,786,805,652,631,651.294502148,0.404067527104,-0.00537188710822,0.0698460019709,0.999999949247,0.000197003758094,-0.00024921122297,2.42577391816e-05,1793244796098613248
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.712778436,785.712778436,805.287221564,652,631,651.287221564,0.403735285691,-0.0053692548595,0.0698457873336,0.999999948426,0.000201811017213,-0.000248735795137,2.34742980239e-05,1793244796115280128
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.125379062,785.125379062,805.874620938,652,631,651.874620938,0.403417433048,-0.00537118540277,0.0698330913544,0.999999942319,0.00020613370543,-0.000269026081636,2.2246377813e-05,1793244796131946752
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,785.455546131,806,652,631,652,0.40312586484,-0.00536837963681,0.0698236839267,0.999999937344,0.000206923584973,-0.000286424361236,2.13258377176e-05,1793244796148613376
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.034525863,634,879,786,805.965474137,652,630.965474137,651.965474137,0.402843736672,-0.0053644509049,0.0698152493948,0.999999932562,0.000206752843888,-0.000302831352623,2.05479747797e-05,1793244796165280256
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.610548458,634,879,786,805.389451542,652,630.389451542,651.389451542,0.402597794113,-0.00536306816338,0.0698080770482,0.999999928526,0.000206552026884,-0.000315999949345,2.06995809389e-05,1793244796181946880
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.813450098,680,658.813450098,634,879.186549902,786,805,652,630.186549902,651,0.402364971315,-0.00536135098587,0.0698019669984,0.999999925033,0.000206732986601,-0.000326738681926,2.09068512697e-05,1793244796198613504
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.237492879,680,658.237492879,634,879.762507121,786,805,652,630.762507121,651,0.402159534951,-0.00535893570138,0.0697980744049,0.999999922956,0.00020771087338,-0.00033240527478,2.12303158905e-05,1793244796215280128
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.653371825,713.346628175,679.653371825,657.653371825,634,879.653371825,786,805,652,631,651,0.401981550238,-0.00535705228629,0.0697983587594,0.999999923235,0.000207204754463,-0.000331854837315,2.1657510977e-05,1793244796231946752
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.06352233,713.93647767,679.06352233,657.06352233,634,879.06352233,786,805,652,631,651,0.40182282772,-0.00535554207194,0.0698015739853,0.999999925161,0.000205657341687,-0.000326942047824,2.21574914686e-05,1793244796248613376
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.515782212,714,679,657.515782212,634,879,786,805,652,630.484217788,651,0.401687357613,-0.00535467598868,0.0698018573443,0.999999925295,0.000208364812662,-0.000324942859902,2.01613401439e-05,1793244796265280000
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.093154501,658,634,879,786,805,652,630.093154501,651.093154501,0.401558572,-0.00535429046932,0.0698014357281,0.999999924807,0.000212509245886,-0.000323911173955,1.75198779301e-05,1793244796281946624
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.667122581,658,634,879,786,805,652,630.667122581,651.667122581,0.401449803344,-0.00535598411023,0.0697992017739,0.999999922244,0.000221419988067,-0.000326058226116,1.31025967862e-05,1793244796298613504
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.247643159,680,658,634,878.752356841,786,805,652,631,652,0.40135207233,-0.00535627348757,0.0697978606111,0.999999921246,0.000225016726182,-0.000326739291588,1.07932676004e-05,1793244796315280128
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714.837210832,680,658,634,878.162789168,786,805,652,631,652,0.401269581156,-0.00535462397763,0.0697977521386,0.999999922512,0.00022127634103,-0.000325396247808,1.13944186293e-05,1793244796331946752
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714.581155682,680,658,634,878.418844318,786,805,652,631,652,0.401201964302,-0.00535370565735,0.0697983335532,0.999999922484,0.000221273884198,-0.000325454316071,1.22351682904e-05,1793244796348613376
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.002548602,680,658,634,878.997451398,786,805,652,631,652,0.401140021067,-0.00535306623997,0.0697991781164,0.999999921963,0.00022269721199,-0.000326046820478,1.31673097449e-05,1793244796365280000
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.424151467,634,878.424151467,786,805,652,631,652,0.401100708763,-0.00535383517904,0.0698035623126,0.999999924737,0.000221064087252,-0.000318536546211,1.3858300971e-05,1793244796381946880
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.153471975,634,878.153471975,785.846528025,805,652,630.846528025,652,0.40106518012,-0.00535388460369,0.0698077137287,0.999999927208,0.000220040882766,-0.000311380228911,1.44096984461e-05,1793244796398613504
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.728970324,634,878.728970324,785.271029676,805,652,630.271029676,652,0.401039780688,-0.00535193833058,0.0698111819684,0.99999992893,0.000220732058255,-0.000305295822837,1.45801664208e-05,1793244796415280128
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.688847039,634,878.688847039,785.311152961,805,652,630.311152961,652,0.401018931463,-0.00535240607745,0.069814000586,0.999999930388,0.000220250407746,-0.000300820306067,1.48806070635e-05,1793244796431946752
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.100714165,634,878.100714165,785.899285835,805,652,630.899285835,652,0.401002132706,-0.00535502271911,0.0698162409282,0.999999931627,0.000218724739476,-0.000297776978162,1.52967458638e-05,1793244796448613632
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.519914979,745,714,680,657.960170043,634,878.480085021,786,805,652.480085021,631,652,0.40099215083,-0.00535398507553,0.0698179123979,0.999999932428,0.000219624047968,-0.000294421527125,1.50341413978e-05,1793244796465280000
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.059020048,745,714,680,658.940979952,634,879,786,805,652.940979952,631,652,0.400983890939,-0.00535249890149,0.0698193393979,0.99999993311,0.000220760589957,-0.000291255607079,1.46881677058e-05,1793244796481946624
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.634900688,745,714,680,658.365099312,634,879,786,805,652.365099312,631,652,0.400978375851,-0.00535369726225,0.0698196548687,0.99999993364,0.000219586642868,-0.000290314270238,1.48402945735e-05,1793244796498613248
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,630.785399676,652,0.400974214088,-0.00535473778004,0.0698201355183,0.999999934308,0.000218263460287,-0.000289006995185,1.48331182143e-05,1793244796515279872
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,630.199085103,652,0.40097239645,-0.00535550489423,0.0698209022781,0.999999935215,0.000216681783487,-0.000287065870036,1.45500089943e-05,1793244796531946752
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.382562206,745,714,680,658,634,879,786,805,652,630.382562206,652,0.400972252511,-0.00535563806605,0.0698228097455,0.999999936124,0.000216026320312,-0.000284375891654,1.46568873598e-05,1793244796548613376
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.961809932,745,714,680,658,634,879,786,805,652,630.961809932,652,0.400972969066,-0.00535544531102,0.0698253036814,0.999999937028,0.000215847048519,-0.000281300907744,1.496426884e-05,1793244796565280000
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.459222361,745,714,679.459222361,658,634,879,786,805,652,631,652,0.400972882795,-0.00535520975563,0.0698261400111,0.999999937165,0.000216448049242,-0.000280359590946,1.47839691422e-05,1793244796581946624
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.881330018,745,714,679,658,634,879,786,805.118669982,652,631,652,0.400972980292,-0.00535500079448,0.0698268298337,0.999999937247,0.000217383984652,-0.000279347766216,1.46638895497e-05,1793244796598613504
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.307486696,745,714,679,658,634,879,786,805.692513304,652,631,652,0.400974000001,-0.00535490542639,0.0698274064808,0.999999937322,0.00021939335686,-0.000277487843547,1.49068235303e-05,1793244796615280128
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.273584596,745,714,679,658,634,878.726415404,786,805.726415404,652,630.726415404,652,0.400973964206,-0.00535531552684,0.069827449768,0.999999937599,0.00021889988143,-0.000276879633961,1.49186081645e-05,1793244796631946752
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.863000057,745,714,679,658,634,878.136999943,786,805.136999943,652,630.136999943,652,0.400972709919,-0.00535630914903,0.0698268773351,0.999999938105,0.000215517074959,-0.000277716423715,1.46635499618e-05,1793244796648613632
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.444404371,658,634,878.444404371,786,805,652,630.444404371,652,0.400972164968,-0.00535615669775,0.0698271464816,0.999999938091,0.000215601617041,-0.000277705026624,1.46009884453e-05,1793244796665280256
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.976798458,786,805,652,631,652,0.400971853248,-0.00535569966178,0.069827655986,0.99999993793,0.000216682434293,-0.000277444721422,1.46012856709e-05,1793244796681946880
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.402306328,786,805,652,631,652,0.400971979466,-0.00535625170385,0.0698278212354,0.999999937991,0.000216487212003,-0.000277373050263,1.47101019503e-05,1793244796698613504
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,805,652,630.82370051,652,0.400972013125,-0.00535661354797,0.0698279286213,0.999999937925,0.000216759382608,-0.00027738927278,1.48699127947e-05,1793244796715279872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,805,652,630.235483232,652,0.400971830523,-0.00535653100101,0.0698279008108,0.999999937562,0.0002181236009,-0.000277610855896,1.51488707071e-05,1793244796731946752
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.347425005,786,805,652,630.347425005,652,0.400971913141,-0.00535688012179,0.0698281774794,0.99999993772,0.000217744765383,-0.000277343990457,1.51025864486e-05,1793244796748613632
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.926788934,786,805,652,630.926788934,652,0.400972172821,-0.00535751742146,0.0698286574163,0.999999938223,0.000216202277169,-0.000276751039578,1.4839172387e-05,1793244796765280000
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.494057027,786,805,652,631,652,0.400971663409,-0.00535677411739,0.0698282372557,0.999999938156,0.000216231812295,-0.000276970561418,1.48203568067e-05,1793244796781946624
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.915682408,657.915682408,634,878,785.915682408,805,652,631,652,0.40097112064,-0.00535597543928,0.0698278666093,0.999999938045,0.000216423180959,-0.000277223251779,1.47787025915e-05,1793244796798613248
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.341658483,657.341658483,634,878,785.341658483,805,652,631,652,0.400971030225,-0.0053560149519,0.0698285396763,0.999999938157,0.000216233858269,-0.00027698605137,1.43989258854e-05,1793244796815279872
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,657,634,878.238073607,785.238073607,805,652,630.761926393,652,0.400970778884,-0.0053563627975,0.06982886417,0.999999938301,0.000215468461925,-0.00027706811602,1.43281274262e-05,1793244796831947008
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,657,634,878.826198781,785.826198781,805,652,630.173801219,652,0.400970290925,-0.00535716400055,0.0698286761391,0.999999938488,0.000213856035561,-0.000277619612066,1.47116351273e-05,1793244796848614656
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.407516846,657.407516846,634,879,786,805,652,630.407516846,652,0.400971432383,-0.00535608981258,0.0698298755269,0.999999938501,0.000216190964811,-0.000275755465883,1.47554348512e-05,1793244796865281280
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.98597942,657.98597942,634,879,786,805,652,630.98597942,652,0.400973257353,-0.00535422893296,0.0698316569111,0.999999938421,0.000220181736325,-0.000272878002733,1.46567333815e-05,1793244796881947904
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..399cb6a8f2fb4f866fcf4185e9cfede057d20eab
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+1,0.016666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+2,0.033333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+3,0.050000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+4,0.066666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+5,0.083333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+6,0.100000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+7,0.116666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+8,0.133333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+9,0.150000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+365,6.083333333,pose2_to_pose3_retreat,0.576515300211,-0.000122017833038,1.06005079424,0.547086931223,0.00855366039414,1.05971728221
+366,6.100000000,pose2_to_pose3_retreat,0.576381390639,-0.000122406456054,1.06005091594,0.546953027142,0.00855329018907,1.05971739849
+367,6.116666667,pose2_to_pose3_retreat,0.576263715284,-0.000122262967804,1.06005089906,0.546835349791,0.00855342707967,1.0597173863
+368,6.133333333,pose2_to_pose3_retreat,0.576159453061,-0.000122131082084,1.06005077447,0.546731085816,0.00855355331779,1.05971726939
+369,6.150000000,pose2_to_pose3_retreat,0.576068025602,-0.000122197173568,1.06005064247,0.546639659442,0.00855349106146,1.05971714287
+370,6.166666667,pose2_to_pose3_retreat,0.575988032892,-0.000122286859348,1.06005058958,0.546559667243,0.00855340323512,1.05971709311
+371,6.183333333,pose2_to_pose3_retreat,0.575919285138,-0.000122191387169,1.06005072849,0.546490917795,0.00855349279527,1.05971722696
+372,6.200000000,pose2_to_pose3_retreat,0.575862136672,-0.000122089589905,1.06005091133,0.546433768264,0.00855359090097,1.05971740765
+373,6.216666667,pose2_to_pose3_retreat,0.575815365001,-0.000122221890604,1.06005088708,0.54638699851,0.00855346539011,1.05971739075
+374,6.233333333,pose2_to_pose3_retreat,0.5757782011,-0.000122346846612,1.06005076896,0.546349836878,0.00855334773049,1.05971726224
+375,6.250000000,pose2_to_pose3_retreat,0.575748742297,-0.000122249180775,1.06005103265,0.546320376487,0.0085534395154,1.05971751307
+376,6.266666667,pose2_to_pose3_retreat,0.575726757751,-0.000122104056298,1.06005091687,0.546298390529,0.00855358019936,1.05971740639
+377,6.283333333,pose2_to_pose3_retreat,0.575709669621,-0.000122078099343,1.06005080313,0.546281301218,0.00855360229087,1.05971729633
+378,6.300000000,pose2_to_pose3_retreat,0.575697020298,-0.000122105445949,1.06005083867,0.546268651947,0.00855357507722,1.05971733091
+379,6.316666667,pose2_to_pose3_retreat,0.575687574114,-0.000122133067845,1.06005099889,0.546259207063,0.00855355176638,1.0597174886
+380,6.333333333,pose2_to_pose3_retreat,0.575680945426,-0.000122113152658,1.06005089207,0.546252579443,0.00855357540232,1.05971738448
+381,6.350000000,pose2_to_pose3_retreat,0.575676719276,-0.000122131417939,1.06005080923,0.546248353197,0.00855355681813,1.05971730166
+382,6.366666667,pose2_to_pose3_retreat,0.575673962833,-0.000122159527672,1.06005077923,0.546245596647,0.00855352833631,1.05971727122
+383,6.383333333,pose2_to_pose3_retreat,0.575672503754,-0.000122199800298,1.06005089284,0.546244138492,0.00855349120699,1.0597173851
+384,6.400000000,pose2_to_pose3_retreat,0.575671769924,-0.000122220055046,1.06005094998,0.546243405126,0.00855347253314,1.05971744238
+385,6.416666667,pose2_to_pose3_retreat,0.575671605099,-0.000122224604467,1.06005096281,0.546243240405,0.0085534683388,1.05971745525
+386,6.433333333,pose2_to_pose3_retreat,0.575671390876,-0.0001222305173,1.06005097949,0.546243026319,0.00855346288747,1.05971747197
+387,6.450000000,pose2_to_pose3_retreat,0.575671188453,-0.000122224678736,1.06005099065,0.546242823842,0.00855346853331,1.05971748283
+388,6.466666667,pose2_to_pose3_retreat,0.575671162092,-0.000122221811066,1.06005099125,0.54624279744,0.00855347125991,1.05971748334
+389,6.483333333,pose2_to_pose3_retreat,0.575671089073,-0.000122213867732,1.06005099293,0.546242724309,0.00855347881248,1.05971748474
+390,6.500000000,pose2_to_pose3_retreat,0.575670974426,-0.000122201396084,1.06005099556,0.546242609486,0.0085534906706,1.05971748694
+391,6.516666667,pose2_to_pose3_retreat,0.575670768891,-0.000122179037238,1.06005100027,0.546242403636,0.00855351192953,1.05971749088
+392,6.533333333,pose2_to_pose3_retreat,0.575670570421,-0.000122157446957,1.06005100482,0.546242204861,0.0085535324577,1.05971749469
+393,6.550000000,pose2_to_pose3_retreat,0.575670480966,-0.000122147715732,1.06005100687,0.546242115269,0.0085535417102,1.05971749641
+394,6.566666667,pose2_to_pose3_retreat,0.57567045535,-0.000122144929064,1.06005100746,0.546242089613,0.00855354435979,1.0597174969
+395,6.583333333,pose2_to_pose3_retreat,0.575670422842,-0.000122141392731,1.06005100821,0.546242057055,0.00855354772215,1.05971749752
+396,6.600000000,pose2_to_pose3_retreat,0.575670390691,-0.000122137895306,1.06005100894,0.546242024855,0.00855355104753,1.05971749814
+397,6.616666667,pose2_to_pose3_retreat,0.575670299905,-0.000122128019242,1.06005101103,0.54624193393,0.00855356043775,1.05971749988
+398,6.633333333,pose2_to_pose3_retreat,0.575670218496,-0.0001221191633,1.06005101289,0.546241852396,0.00855356885803,1.05971750144
+399,6.650000000,pose2_to_pose3_retreat,0.575670103116,-0.000122106611834,1.06005101554,0.546241736839,0.00855358079204,1.05971750365
+400,6.666666667,pose2_to_pose3_retreat,0.575669928414,-0.000122098529441,1.06005100835,0.546241561821,0.00855358787012,1.05971749817
+401,6.683333333,pose2_to_pose3_retreat,0.575669907683,-0.00012209808252,1.06005100698,0.546241541051,0.00855358819461,1.05971749711
+402,6.700000000,pose2_to_pose3_retreat,0.575669715948,-0.000122093949033,1.06005099424,0.546241348949,0.00855359119576,1.05971748726
+403,6.716666667,pose2_to_pose3_retreat,0.5756695477,-0.000122100604025,1.06005094719,0.546241180302,0.00855358326333,1.05971744222
+404,6.733333333,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0417a0938749feac0f5d97e64e0f5d4f666a3eb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a4010e574ab3d9e64b54c0dc296ec9e3a88c7cadb57dae2b56a30c1a9498ef3
+size 25661755
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61e8d7610e0f6e5a7fb6549eeac7b53fc2928751
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+38,0.633333333,BASELINE,765.044255496,745,714,679.955744504,658.044255496,634,879,786,805,652,630.044255496,651.955744504,0.400972265986,-0.00535488781083,0.0698339687222,0.999999939613,0.000220436178686,-0.000268291188199,1.42260854197e-05,1793244797659520000
+39,0.650000000,BASELINE,765.634580978,745,714,679.365419022,658.634580978,634,879,786,805,652,630.634580978,651.365419022,0.400973005542,-0.00535747886562,0.0698346276578,0.999999940762,0.000216201015447,-0.000267454760716,1.41583695322e-05,1793244797676186624
+40,0.666666667,BASELINE,765.779047218,745,714,679,658.779047218,634,879,786,805,652,631,651,0.400973646087,-0.00535846469359,0.0698350127571,0.999999941412,0.000213998506591,-0.000266802399078,1.40723368884e-05,1793244797692853248
+41,0.683333333,BASELINE,765.199099227,745,714,679,658.199099227,634,879,786,805,652,631,651,0.400974125765,-0.0053568424133,0.0698349529381,0.999999941271,0.000215098573231,-0.000266449100291,1.39565439188e-05,1793244797709519616
+42,0.700000000,BASELINE,765,745,714,679.376101045,658,634,879,786,805,652,631,651.376101045,0.400973585035,-0.00535605749183,0.0698344105904,0.999999940546,0.000216911827878,-0.000267689149933,1.41012668337e-05,1793244797726186240
+43,0.716666667,BASELINE,765,745,714,679.948819298,658,634,879,786,805,652,631,651.948819298,0.40097251086,-0.00535571032288,0.0698336159876,0.999999939509,0.000219097921214,-0.000269762166475,1.43821816249e-05,1793244797742853120
+44,0.733333333,BASELINE,765.520946378,744.479053622,714,680,658,634,879,786,805,652,631,652,0.400973158042,-0.00535546940657,0.0698339027637,0.999999939923,0.000218748303744,-0.00026851332275,1.43061276041e-05,1793244797759520000
+45,0.750000000,BASELINE,765.902905879,744.097094121,714,680,658,634,879,786,805.097094121,652,631,652,0.400973981228,-0.00535548474851,0.0698343219566,0.999999940459,0.000218095505224,-0.000267046456355,1.42649306462e-05,1793244797776186624
+46,0.766666667,BASELINE,765.305752103,744.694247897,714,680,658,634,879,786,805.694247897,652,631,652,0.400974840877,-0.00535676618445,0.069834876582,0.9999999409,0.000217162837104,-0.00026613564123,1.45836745309e-05,1793244797792852992
+47,0.783333333,BASELINE,765,745,714,680,658,634,878.738235969,786,805.738235969,652,631,652,0.400974071895,-0.00535731448336,0.0698342319692,0.999999940643,0.000217209938437,-0.000267057196377,1.46454106142e-05,1793244797809519872
+48,0.800000000,BASELINE,765,745,714,680,658,634,878.201816954,786,805.201816954,652,631,652,0.400971594077,-0.00535709354099,0.06983232906,0.999999939648,0.000218285059291,-0.000269901359441,1.44374822092e-05,1793244797826186496
+49,0.816666667,BASELINE,765,745,714,680,658,634,878.388030734,786,805.388030734,652,631,652,0.400970957806,-0.00535672960633,0.0698321556188,0.999999939609,0.00021778310792,-0.000270464282969,1.41965294456e-05,1793244797842853120
+50,0.833333333,BASELINE,765,745,714,680,658,634,879,786,805.990429088,652,630.990429088,652,0.400971441299,-0.00535629359981,0.0698330192869,0.999999940143,0.000216357868027,-0.000269647026485,1.39389605058e-05,1793244797859519744
+51,0.850000000,BASELINE,765,745,714,680,658,634,879,786,805.401185878,652,630.401185878,652,0.40097247154,-0.00535671609564,0.0698335178462,0.999999940375,0.000216624274852,-0.000268573048501,1.38814181619e-05,1793244797876186624
+52,0.866666667,BASELINE,765,745,714,680,658,634,878.814453213,786,805.185546787,652,630.185546787,652,0.400972918316,-0.00535651854426,0.0698336526777,0.999999940245,0.000217555104546,-0.000268303472217,1.39181438188e-05,1793244797892852992
+53,0.883333333,BASELINE,765,745,714,680,658,634,878.233076369,786,805.766923631,652,630.766923631,652,0.400972120378,-0.00535499823579,0.0698330115625,0.999999939339,0.000219903358608,-0.000269749939556,1.41559729772e-05,1793244797909519616
+54,0.900000000,BASELINE,765,745,714,680,658,634,878.34336081,786,806,652,631,652,0.400971861199,-0.00535503346576,0.0698331372928,0.999999939378,0.000219621409041,-0.000269829785086,1.42501493725e-05,1793244797926186496
+55,0.916666667,BASELINE,765,745,714,680,658,634,878.916492432,786,806,652,631,652,0.400971962547,-0.00535610963384,0.0698337761821,0.999999940049,0.00021757937492,-0.000268995112084,1.42481959404e-05,1793244797942853120
+56,0.933333333,BASELINE,765,745,714,679.508671435,658,634,879,786,805.508671435,652,631,652,0.400971913054,-0.00535656431464,0.0698340584299,0.999999940382,0.000216549276164,-0.000268584653813,1.42933837764e-05,1793244797959519744
+57,0.950000000,BASELINE,765,745,714,679.068661502,658,634.068661502,879,786,805,652,631,652,0.400971778038,-0.00535694101848,0.0698341249781,0.999999940606,0.000215668940549,-0.000268458886627,1.43231072531e-05,1793244797976186368
+58,0.966666667,BASELINE,765,745,714,679.662880269,658,634.662880269,879,786,805,652,631,652,0.400971185317,-0.00535753219983,0.069833006081,0.999999940431,0.000214613880534,-0.000269958433584,1.41729195841e-05,1793244797992852736
+59,0.983333333,BASELINE,765,745,714,679.753232106,658,634.753232106,879,786,805,652,631,652,0.40097139006,-0.00535726470532,0.0698328670095,0.999999940413,0.000214620741142,-0.000270029874078,1.39780734018e-05,1793244798009519616
+60,1.000000000,BASELINE,765,745,714,679.182891056,658,634.182891056,879,786,805,652,631,652,0.400972640472,-0.00535587127651,0.0698340127295,0.9999999406,0.000216020039656,-0.000268228717391,1.37246689487e-05,1793244798026186496
+61,1.016666667,BASELINE,765.395615859,745,714,679.395615859,658,634,879,786,805,652,631,652,0.400972955653,-0.00535671468341,0.0698347057963,0.99999994065,0.000216832935094,-0.000267366629636,1.41184745665e-05,1793244798042853376
+62,1.033333333,BASELINE,765.977977336,745,714,679.977977336,658,634,879,786,805,652,631,652,0.400972829368,-0.00535861396129,0.0698351851938,0.999999940635,0.000217369026065,-0.000266947817971,1.48177877815e-05,1793244798059520000
+63,1.050000000,BASELINE,765.433647937,745,714,680,658.566352063,634,879,786,805,652,631,652,0.400972511697,-0.00535768707463,0.0698345180875,0.999999940531,0.000216713187115,-0.000267896936554,1.43272839555e-05,1793244798076186368
+64,1.066666667,BASELINE,765,745,714,680,658.84747338,634,879,786,805.15252662,652,631,652,0.40097259771,-0.00535684230215,0.0698340851464,0.999999940505,0.000216391216283,-0.000268269640183,1.39953320066e-05,1793244798092852992
+65,1.083333333,BASELINE,765,745,714,680,658.268117159,634,879,786,805.731882841,652,631,652,0.400973834438,-0.00535653814935,0.0698344335882,0.999999940713,0.000217134632844,-0.000266878857599,1.42379311226e-05,1793244798109519616
+66,1.100000000,BASELINE,765,745,714,680,658,634,879,786,805.690115087,652,631,652,0.400974248419,-0.0053564486795,0.0698346338232,0.9999999407,0.00021807753811,-0.000266152985513,1.43212262756e-05,1793244798126186240
+67,1.116666667,BASELINE,765,745,714,680,658,634,879,786,805.113279578,652,631,652,0.400973953642,-0.00535654414845,0.0698347063855,0.999999940498,0.000219192293036,-0.00026599990116,1.42672888941e-05,1793244798142853120
+68,1.133333333,BASELINE,765,745,714,680,658.460885187,634,879,786,805,652,631,652,0.400973167719,-0.00535645078604,0.0698346556442,0.999999940441,0.000218319132584,-0.000266927462704,1.43228567033e-05,1793244798159519744
+69,1.150000000,BASELINE,765,745,714,680,659,634,879,786,805,652,631,652,0.400972387102,-0.00535632066704,0.0698345938332,0.999999940432,0.000217053137748,-0.00026798432915,1.44000233922e-05,1793244798176186624
+70,1.166666667,BASELINE,765,745,714,680,659,634,879,786,805,652,631,652,0.400973570784,-0.00535633769248,0.0698348307828,0.999999940673,0.000217244031087,-0.000266928868479,1.4396300818e-05,1793244798192853248
+71,1.183333333,BASELINE,765,745,714,680,658.786961829,634,879,786,805,652,631,652,0.400974136416,-0.0053564368205,0.0698348074094,0.99999994087,0.0002170853756,-0.000266327209239,1.42518350706e-05,1793244798209519872
+72,1.200000000,BASELINE,765,745,714,680,658.209135346,634,879,786,805,652,631,652,0.400973643752,-0.00535667653397,0.0698343382813,0.999999940993,0.000216328182687,-0.000266502600516,1.38663727716e-05,1793244798226186496
+73,1.216666667,BASELINE,765,745,714,679.632119245,658,634,879,786,805,652,631,652,0.400972431344,-0.00535701670298,0.0698337019327,0.999999940538,0.000216274155413,-0.000268246726412,1.38981825316e-05,1793244798242853120
+74,1.233333333,BASELINE,765,745,714,679.055562857,658,634,879,786,805,652,631,652,0.400970810673,-0.0053574138541,0.0698329707305,0.99999993975,0.000216618989862,-0.00027088069686,1.41666845309e-05,1793244798259519744
+75,1.250000000,BASELINE,765,745,714,679,658,634,879,786,805,652,630.469755664,652,0.400972748706,-0.00535743589511,0.0698348939756,0.999999940609,0.000216525797488,-0.000267759761495,1.42360985397e-05,1793244798276186368
+76,1.266666667,BASELINE,765,745,714,679.115496543,658,634,879,786,805,652,630.230993086,652,0.40097429934,-0.00535717200586,0.0698363329645,0.99999994129,0.000216508754409,-0.000265217157382,1.42840804295e-05,1793244798292852992
+77,1.283333333,BASELINE,765,745,714,679.694561355,658,634,879,786,805,652,631.389122709,652,0.400972771762,-0.0053559210456,0.0698346920521,0.999999940589,0.000216984850074,-0.00026745920186,1.43312603555e-05,1793244798309519872
+78,1.300000000,BASELINE,765,745,714,680,658,634.270976227,879,786,805,652,631.458047547,652,0.400972514007,-0.00535581887509,0.0698340270279,0.9999999404,0.000216987924108,-0.000268164430206,1.42924799966e-05,1793244798326186496
+79,1.316666667,BASELINE,765,745,714,680,658,634.844433031,879,786,805,652,630.311133938,652,0.400973673707,-0.00535699905547,0.0698344513513,0.999999940786,0.000216462981844,-0.000267154168312,1.41577453988e-05,1793244798342853376
+80,1.333333333,BASELINE,765,745,714,680,658,634.579488978,879,786,805,652,630.420511022,652,0.400973805407,-0.0053576628003,0.0698347797603,0.99999994096,0.000216062051849,-0.000266825019071,1.41666791415e-05,1793244798359520000
+81,1.350000000,BASELINE,765,745,714,680,658,634.002435156,879,786,805,652,630.997564844,652,0.400973554416,-0.00535813429281,0.0698350724635,0.999999941056,0.000215707287613,-0.000266749426196,1.42290959999e-05,1793244798376186368
+82,1.366666667,BASELINE,765,745,714,680,658,634,878.411825709,786,805,652,631,652,0.400972549718,-0.00535780300582,0.0698340014967,0.999999940367,0.000216873809684,-0.000268380916158,1.42824249197e-05,1793244798392852992
+83,1.383333333,BASELINE,765,744.825021061,714,680,658,634,878,786,805,652,631,652,0.400972046442,-0.00535780938835,0.0698334555584,0.999999940003,0.000217541870384,-0.000269187322848,1.43830150176e-05,1793244798409519616
+84,1.400000000,BASELINE,765,744.247110067,714,680,658,634,878,786,805,652,631,652,0.400972705167,-0.00535860117206,0.0698341319348,0.999999940406,0.00021704725557,-0.000268077113704,1.45925243016e-05,1793244798426186496
+85,1.416666667,BASELINE,765,744.328977773,714,680,658,634,878,786,805.328977773,652,631,652,0.400973170187,-0.00535806762885,0.0698345672277,0.999999940401,0.000218114594281,-0.000267227848917,1.45885136443e-05,1793244798442853120
+86,1.433333333,BASELINE,765,744.903703672,714,680,658,634,878,786,805.903703672,652,631,652,0.400973490506,-0.00535654405942,0.0698348224299,0.999999940088,0.000220348720515,-0.000266573511003,1.44250024558e-05,1793244798459519744
+87,1.450000000,BASELINE,765,745,714,679.520572998,658,634,878.479427002,786,805.520572998,652,631,652,0.400973061266,-0.00535553935492,0.0698344435564,0.999999939886,0.000220575538824,-0.000267143272704,1.44688931453e-05,1793244798476186624
+88,1.466666667,BASELINE,765,745,714,679,658,634,879,786,805,652,631,652,0.400972508804,-0.00535478993565,0.0698339830745,0.999999939743,0.000220282460813,-0.000267915593425,1.4537220821e-05,1793244798492852992
+89,1.483333333,BASELINE,765,745,714,679,658,634,879,786,805,652,631,652,0.400972216348,-0.00535545925196,0.0698339553663,0.999999939951,0.000218899599242,-0.000268275764872,1.4442767934e-05,1793244798509519616
+90,1.500000000,BASELINE,765,745,714.235020621,679.235020621,658,634,879,786.235020621,805,652,631,652,0.400972229524,-0.00535656998347,0.0698339786785,0.999999940356,0.000216958573999,-0.000268341617419,1.44573444634e-05,1793244798526186240
+91,1.516666667,BASELINE,765,745,714.812758611,679.812758611,658,634,879,786.812758611,805,652,631,652,0.400972688384,-0.00535832440592,0.0698340763909,0.999999941045,0.000214203610147,-0.000267978281212,1.46309124744e-05,1793244798542852864
+92,1.533333333,BASELINE,765,745,714.612594618,679.612594618,658.774810765,634,879,786.612594618,805,652,630.612594618,652,0.400972553757,-0.0053579745606,0.0698337099969,0.999999940912,0.000214718721696,-0.000268083622657,1.42388776359e-05,1793244798559519488
+93,1.550000000,BASELINE,765,745,714.039430021,679.039430021,659.921139958,634,879,786.039430021,805,652,630.039430021,652,0.400972134556,-0.00535661572809,0.0698331210657,0.999999940383,0.000216801820092,-0.000268413692988,1.35756386792e-05,1793244798576186368
+94,1.566666667,BASELINE,765,744.465358246,714,679.534641754,659.465358246,634,879,786,805,652,630.534641754,652,0.400972513917,-0.00535770860941,0.0698341888976,0.999999940933,0.000215336467431,-0.000267517710576,1.40834394258e-05,1793244798592852992
+95,1.583333333,BASELINE,765,744.113093844,714,680,658.886906156,634,879,786,805,652,631,651.886906156,0.400972853631,-0.00535848452617,0.0698351106164,0.999999941282,0.000214644575719,-0.000266740580741,1.4594828198e-05,1793244798609519616
+96,1.600000000,BASELINE,765,744.70999821,714,680,658.29000179,634,879,786,805,652,631,651.29000179,0.400972771362,-0.00535712965035,0.069834883671,0.999999940439,0.000218382957615,-0.000266859374827,1.47514746327e-05,1793244798626186496
+97,1.616666667,BASELINE,765,745,714,680,658,634,878.703507871,786,805,652,630.703507871,651.296492129,0.400972685845,-0.00535693292939,0.0698348324586,0.999999940103,0.000219897322435,-0.000266871646754,1.47598714165e-05,1793244798642853376
+98,1.633333333,BASELINE,765,745,714,680,658,634,878.126851142,786,805,652,630.126851142,651.873148858,0.400972597262,-0.00535783058493,0.0698349473019,0.999999940258,0.000219310144377,-0.000266783262588,1.4628182502e-05,1793244798659520000
+99,1.650000000,BASELINE,765,745.446261054,714,680,658,634,878,786,805,652,630.446261054,652,0.400972322016,-0.00535733695349,0.0698348837354,0.999999940379,0.000218425617596,-0.000267082615196,1.41221360341e-05,1793244798676186624
+100,1.666666667,BASELINE,765,745.980880554,714,679.980880554,658,634,878.019119446,786,805.019119446,652.019119446,630.980880554,652,0.400972029673,-0.00535650004579,0.0698347702896,0.999999940491,0.000217477477211,-0.000267465447556,1.35431616081e-05,1793244798692853248
+101,1.683333333,BASELINE,765,745.385545188,714,679.385545188,658,634,878.614454812,786,805.614454812,652.614454812,630.385545188,652,0.400972808552,-0.0053571424497,0.0698346699447,0.999999940665,0.00021713940404,-0.000267068703631,1.39480569969e-05,1793244798709519872
+102,1.700000000,BASELINE,765,745,714,679.202651908,658,634,878.797348092,786,805.594696184,652.797348092,630.202651908,652,0.400973474928,-0.0053576921851,0.0698347157191,0.999999940907,0.000216687396848,-0.000266516038572,1.42266126148e-05,1793244798726186240
+103,1.716666667,BASELINE,765,745,714,679.777730472,658,634,878.222269528,786,804.444539056,652.222269528,630.777730472,652,0.400973934548,-0.00535807161747,0.0698350300264,0.999999941272,0.000216026005695,-0.000265676827101,1.42729853342e-05,1793244798742853120
+104,1.733333333,BASELINE,765,745,714,680,658,634,878.353785069,786.353785069,804.353785069,652,631,652,0.400974922073,-0.00535756864748,0.0698360154504,0.999999941561,0.000216175114873,-0.000264467628726,1.42342441919e-05,1793244798759519744
+105,1.750000000,BASELINE,765,745,714,680,658,634,878.930454622,786.930454622,804.930454622,652,631,652,0.400976242176,-0.00535650976429,0.0698374236777,0.9999999418,0.000216834838945,-0.000263025338635,1.41418813474e-05,1793244798776186624
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.400973227652,-0.00535880571958,0.0698347900242,0.999999941298,0.000213736211561,-0.000267442258709,1.40118364177e-05,1793244798807172864
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.407439146,652,0.400972822375,-0.00535678032667,0.0698348669376,0.999999940609,0.000216794629787,-0.000267552737301,1.40270547387e-05,1793244798823839744
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,651.819367992,630.180632008,651.819367992,0.400972640913,-0.00535601409459,0.0698349280333,0.999999940404,0.000217990544557,-0.000267350258283,1.40202107725e-05,1793244798840506368
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,651.241178224,630.758821776,651.241178224,0.400972952053,-0.00535801918249,0.0698349543157,0.999999941271,0.000215087226818,-0.000266458982616,1.39648093385e-05,1793244798857172736
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.33342082,680,658,634,879,786,805,651.33342082,631,651.33342082,0.400972767236,-0.00535836882542,0.0698349107692,0.999999941525,0.000213832193182,-0.000266520991223,1.38969796845e-05,1793244798873839360
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714.905450169,680,658,634,879,786,805,651.905450169,631,651.905450169,0.400972227495,-0.0053575337693,0.0698348172505,0.999999941343,0.000213756734073,-0.000267265206113,1.38202559301e-05,1793244798890505984
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.505602716,658,634,878.505602716,786,805,652,631,652,0.400973115416,-0.00535747955437,0.0698356618479,0.9999999414,0.000215040986941,-0.000266013478867,1.3966568695e-05,1793244798907172608
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.91520496,679.08479504,658,634,878.08479504,786,805,652,631,652,0.400974070835,-0.00535750301543,0.0698364289318,0.999999941434,0.000216428387471,-0.000264748254368,1.41247252923e-05,1793244798923839232
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.335884464,679.664115536,658,634,878.664115536,786,805,652,631,652,0.400973771169,-0.00535707773188,0.0698356605764,0.999999941089,0.000216847087704,-0.000265709320288,1.40943823185e-05,1793244798940505856
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.24124975,786,805,652,631,652,0.400976474361,-0.00535696085826,0.0698364418866,0.99999994149,0.000216657120261,-0.000264352701006,1.40824448288e-05,1793244798957172480
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.815367362,786,805,652,631,652,0.400983320792,-0.00535726951776,0.0698393613705,0.999999942906,0.000215627334677,-0.000259798221674,1.40959025765e-05,1793244798973839360
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.60108882,658,634,879.20217764,786,805.39891118,652,631,652,0.401004832234,-0.0053570874747,0.0698489193972,0.999999946715,0.000216468038369,-0.000243923601314,1.45896048307e-05,1793244798990506240
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.013076523,658,634,878.026153046,786,805.986923477,652,631,652,0.401033295523,-0.00535667281748,0.0698616243799,0.999999951284,0.00021819543454,-0.000222682745015,1.5310963705e-05,1793244799007172864
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.56634086,658,634,878.56634086,786,805.43365914,652,631,652,0.401086119651,-0.00536010799515,0.0698785328112,0.999999958519,0.000214577110865,-0.000191491163433,1.5791729586e-05,1793244799023839488
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.145281427,680,658,634,879,786,805,652,631,652,0.401142276315,-0.00536280765363,0.0698940765603,0.999999963795,0.000211767296433,-0.000165256381421,1.5982294054e-05,1793244799040506112
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.723383996,680,658,634,879,786,805,652,631,652,0.401206710567,-0.00536305519714,0.0699052698398,0.999999965539,0.000211728409458,-0.000154463103658,1.53245957001e-05,1793244799057172480
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.700191006,680,658,634,879,786,805,652,630.700191006,652,0.40127871263,-0.00536426723863,0.0699123285757,0.99999996723,0.000210413099814,-0.000145125453096,1.43315727015e-05,1793244799073839360
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.125305226,680,658,634,879,786,805,652,630.125305226,652,0.401357658209,-0.00536636421354,0.0699155938391,0.999999968897,0.000207926663718,-0.000137123351018,1.30308871064e-05,1793244799090506240
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.460050819,680,658,634,879,786,805,652,630.460050819,652,0.401449167439,-0.00536823093951,0.0699134043343,0.999999968526,0.000207433396928,-0.000140713161302,1.0918467907e-05,1793244799107172608
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.952469018,680,658,634.047530982,879,786,805,652,631,652,0.401546382007,-0.00536997496355,0.0699098777535,0.99999996761,0.000207381143797,-0.000147307238633,8.53109655515e-06,1793244799123839232
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.373861591,680,658,634.626138409,879,786,805,652,631,652,0.401668218554,-0.00537106503967,0.0699083987205,0.9999999673,0.000206049392619,-0.000151369648151,5.59948467015e-06,1793244799140505856
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.795054327,714,679.795054327,658,634.795054327,878.795054327,786,805,652,631,652,0.401804111726,-0.00537285346178,0.0699090960418,0.999999967878,0.000203362806482,-0.000151263147588,2.47610494293e-06,1793244799157172736
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.215882226,714,679.215882226,658,634.215882226,878.215882226,786,805,652,631,652,0.401965671982,-0.00537591704862,0.0699137673397,0.999999970055,0.000198202320748,-0.000143544305698,-9.9743845213e-07,1793244799173839360
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.35918373,714.35918373,679.35918373,658,634,878.35918373,786,805,652,631,652,0.402145489029,-0.00537947355189,0.0699185668533,0.999999972113,0.000193550995306,-0.000135243526679,-4.54043323674e-06,1793244799190506240
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.931809697,714.931809697,679.931809697,658,634,878.931809697,786,805,652,631,652,0.402336155051,-0.00538332296732,0.0699234425586,0.999999974055,0.000189202234043,-0.000126596935144,-8.12469932038e-06,1793244799207173120
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.521985852,634,878.478014148,786,805,652,631,652,0.402559247819,-0.00538626020237,0.0699238396084,0.999999975372,0.000183217814932,-0.000124558253582,-1.31144630195e-05,1793244799223839744
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.887862452,680,658.887862452,634,878.112137548,786,805,652,631,651.887862452,0.402794151792,-0.00538925805942,0.0699242230987,0.999999976696,0.000176851832218,-0.00012244918159,-1.84004119759e-05,1793244799240506368
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.307714208,680,658.307714208,634,878.692285792,786,805,652,631,651.307714208,0.40306005571,-0.00539302356427,0.0699270767885,0.999999978525,0.000169816189791,-0.000116318248002,-2.41295432513e-05,1793244799257172992
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.730758525,651.269241475,0.403351315588,-0.00539857800219,0.0699348798602,0.999999981412,0.000161639456398,-0.00010092243814,-2.93956322674e-05,1793244799273839616
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.157408876,651.842591124,0.403671215002,-0.00540615303932,0.0699482732574,0.999999985022,0.000152173861403,-7.50619532594e-05,-3.41387148144e-05,1793244799290506496
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.424938475,745,714,679.575061525,658,634,879.424938475,786,805,652,630.424938475,652,0.40399736112,-0.00541139548201,0.0699524252058,0.999999986751,0.000141288725574,-7.0694880674e-05,-3.92124220478e-05,1793244799307172864
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.989372958,745,714,679.010627042,658.010627042,634,879.989372958,786,805,652,631,652,0.404327226909,-0.00541572922985,0.0699531602941,0.999999987858,0.000129739473224,-7.42361451624e-05,-4.405721095e-05,1793244799323839488
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.407119695,745,714,679.592880305,658.592880305,634,879.407119695,786,805,652,631,652,0.404730014082,-0.00541866733105,0.0699582243501,0.999999991199,0.00011136403524,-6.56401420942e-05,-2.98582666381e-05,1793244799340506368
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.173004728,745,714,679.826995272,658.826995272,634,879,786,805,652,630.826995272,652,0.405137982911,-0.00542091961518,0.0699620273594,0.999999992977,0.000100187964093,-5.9233330395e-05,-2.23395055655e-05,1793244799357172992
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.74818032,745,714,679.25181968,658.25181968,634,879,786,805,652,630.25181968,652,0.405557997082,-0.00542157763239,0.0699628989088,0.999999992271,0.000105747713338,-5.79155657846e-05,-3.03496577928e-05,1793244799373839616
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.67154164,745,714,679.32845836,658.32845836,634,879,786,805,652,630.32845836,651.67154164,0.405992367694,-0.00542912879801,0.069961154722,0.999999992983,9.63957180269e-05,-5.9000780514e-05,-3.54994409064e-05,1793244799390506240
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.087289906,745,714,679.912710094,658.912710094,634,879,786,805,652,630.912710094,651.087289906,0.406437918711,-0.00544204813785,0.0699573734796,0.999999994498,7.54309105264e-05,-6.19573622488e-05,-3.84216564672e-05,1793244799407172864
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.505024062,634,879,786,805,652,631,651.494975938,0.406925177015,-0.00545022271272,0.0699405046104,0.999999993383,6.19203523498e-05,-8.8280969674e-05,-4.00767140664e-05,1793244799423839488
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.076578612,634.076578612,879,786,805.076578612,651.923421388,631,652,0.407432183622,-0.00546004205723,0.0699245586231,0.999999991663,4.79145073812e-05,-0.000112752881585,-4.08004117707e-05,1793244799440506368
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.656116903,634.656116903,879,786,805.656116903,651.343883097,631,652,0.408020780288,-0.00548613777145,0.0699297722945,0.999999994265,2.20562211008e-05,-9.81061703086e-05,-3.68688755727e-05,1793244799457172992
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.232536465,745,714,680,658.767463535,634.767463535,879,786,806,651.232536465,631,652,0.408622590917,-0.00550825546433,0.0699388120142,0.999999996438,-3.86546919604e-06,-7.66979838988e-05,-3.50090155729e-05,1793244799473839616
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.804404948,745,714,680,658.195595052,634.195595052,879,786,806,651.804404948,631,652,0.409243684167,-0.00552456817363,0.0699534349467,0.999999997868,-2.98796811055e-05,-4.54230233292e-05,-3.61722776247e-05,1793244799490506496
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.611576316,745,714,680,658,634,879,786.388423684,806,651.611576316,631,652,0.409850096347,-0.00552721092714,0.0699523641009,0.999999997827,-3.1223516179e-05,-4.4258380086e-05,-3.75710777722e-05,1793244799507173376
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.021241635,745,714,680,658,634,879,786.978758365,806,651.021241635,631,652,0.410448876972,-0.00552274774266,0.0699431352907,0.999999997315,-1.97431571132e-05,-5.87457294241e-05,-3.90923156703e-05,1793244799523840000
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.55882392,634,879,786.44117608,805.44117608,651,631,652,0.411120020458,-0.00553613272645,0.0699433617344,0.999999996197,-4.34193037974e-05,-6.4438323025e-05,-3.95961050919e-05,1793244799540506624
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.137666677,658.862333323,634,879.137666677,786,805.137666677,651.137666677,631,651.862333323,0.411817692988,-0.00554877705386,0.0699508321569,0.999999995552,-6.47798388196e-05,-5.57143253298e-05,-3.99536589132e-05,1793244799557172992
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.71383531,658.28616469,634,879.71383531,786,805.71383531,651.71383531,631,651.28616469,0.412591263598,-0.00555694022854,0.0699802522791,0.999999996418,-7.45848041544e-05,-2.11557898822e-06,-3.99663815862e-05,1793244799573839616
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.713577795,714,680.713577795,658.286422205,634,879.713577795,786,806,652,631,651.286422205,0.413356405829,-0.00555692501496,0.0700058835533,0.99999999585,-7.30215181457e-05,3.82991547576e-05,-3.87438739408e-05,1793244799590506496
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.144525153,714,680.144525153,658.855474847,634,879.144525153,786,806,652,631,651.855474847,0.41411323135,-0.00554883968278,0.0700277761414,0.999999995368,-6.02404794045e-05,6.57044173779e-05,-3.63024884979e-05,1793244799607172864
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.445127627,714,680.445127627,659,634,879,786,805.554872373,652,631,652,0.41483078942,-0.00552235157599,0.0700002286664,0.999999998749,-2.87438617822e-05,1.29166238764e-05,-3.88382242317e-05,1793244799623839488
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.959482724,659,634,879,786,805,652,631,652,0.415541640279,-0.00549183222847,0.0699565819071,0.999999996959,5.94202473169e-06,-6.4704128566e-05,-4.31201807586e-05,1793244799640506112
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.381036016,659,634,879,786,805,652,631,652,0.416340925604,-0.00549096943029,0.0699226532219,0.999999992841,-1.62093703862e-06,-0.00010956136965,-4.80901507687e-05,1793244799657172992
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.196979328,745,714,680.196979328,659,634,879,786,805.196979328,652,631,652,0.417170434741,-0.00549564429796,0.0699108777615,0.99999999094,-1.13799236564e-05,-0.000124271271054,-5.04744398758e-05,1793244799673839616
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.774162032,745,714,680.774162032,659,634,879,786,805.774162032,652,631,652,0.418058280892,-0.00551100779617,0.0699418617692,0.999999995269,-2.53776087165e-05,-8.07917120333e-05,-4.78679278717e-05,1793244799690506240
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.643591497,745,714,681,659,634,879,786,806,652,630.643591497,652,0.418927414752,-0.00552066141934,0.0699691300823,0.999999997292,-3.81402519622e-05,-4.23302929701e-05,-4.65789839201e-05,1793244799707172864
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.058090152,745,714,681,659,634,879,786,806,652,630.058090152,652,0.41978452066,-0.00552664483907,0.069994010014,0.999999997655,-5.01090324513e-05,-7.09444382926e-06,-4.61369486153e-05,1793244799723839232
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634.521863034,879,786,805.478136966,652,630.521863034,652,0.420688655729,-0.00553127873692,0.07001708669,0.999999996913,-5.65263374779e-05,2.9158173557e-05,-4.61338249049e-05,1793244799740506112
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.100897715,680.899102285,659,634.899102285,879.100897715,786,805.100897715,652,631,652,0.421591497218,-0.00553338244405,0.0700324854758,0.999999995736,-5.98785567718e-05,5.27379932763e-05,-4.64838357637e-05,1793244799757172736
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.678479838,680.321520162,659,634.321520162,879.678479838,786,805.678479838,652,631,652,0.422463754966,-0.00552423467081,0.0700125489225,0.999999997375,-5.1638743244e-05,1.59169448966e-05,-4.8273815669e-05,1793244799773839360
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.746056286,680.253943714,659,634,879.746056286,786,806,652,631,652,0.423313345561,-0.00551528129171,0.0699628254855,0.999999995582,-4.57110033309e-05,-6.34517558992e-05,-5.21607985086e-05,1793244799790506240
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.173252076,680.826747924,659,634,879.173252076,786,806,652,631,652,0.424134474614,-0.00550657199938,0.0698757006059,0.999999978111,-4.26863812432e-05,-0.000196244762905,-5.86808503111e-05,1793244799807173120
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.412341724,745,714,680.587658276,659.412341724,634,879,786,806,652,631,652,0.4250366571,-0.00551154993593,0.069863413689,0.999999975347,-5.09061602243e-05,-0.000207284923637,-6.12249512482e-05,1793244799823839488
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.996588107,745,714,680.003411893,659.996588107,634,879,786,806,652,631,652,0.425974147826,-0.00552244212101,0.0698838341787,0.999999982373,-6.39780476795e-05,-0.000165276342013,-6.20104852746e-05,1793244799840506112
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.417226816,745,714,680.582773184,659.417226816,634,879,786,806,652,631,652,0.42693902838,-0.00552983189817,0.0699475522517,0.999999992488,-7.30594112218e-05,-8.025577176e-05,-5.69667343156e-05,1793244799857172736
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.161358311,745,714,681.161358311,659,634,879,786,806,652,631,652,0.427903978657,-0.00553461185999,0.0700020748616,0.999999995574,-7.75511501251e-05,-4.53745565679e-06,-5.30712760874e-05,1793244799873839360
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.737946075,745,714,681.737946075,659,634,879,786,806,652,631,652,0.4288691083,-0.00553267588469,0.0700329344346,0.999999995059,-7.02322346496e-05,4.72430112456e-05,-5.21307641592e-05,1793244799890505984
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.689711308,745,714,681.689711308,659.310288692,634,879.310288692,786,806,652,631,651.689711308,0.429808329147,-0.0055307925032,0.0700429500126,0.999999994345,-6.58195208765e-05,6.48929898088e-05,-5.25960251253e-05,1793244799907172864
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.120905563,745,714,681.120905563,659.879094437,634,879.879094437,786,806,652,631,651.120905563,0.43072596403,-0.00552895294033,0.0700355994129,0.999999995029,-6.38281097908e-05,5.41071463915e-05,-5.42325060351e-05,1793244799923839488
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,806,652,631,651,0.43152976635,-0.00552796352797,0.0699655350577,0.999999994126,-6.35846626616e-05,-6.68538950373e-05,-5.68758896486e-05,1793244799940506368
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.936945786,681.063054214,659.936945786,634,879.936945786,786,806,651.936945786,631,651.063054214,0.432318344411,-0.00552754904771,0.0698889081356,0.999999976554,-6.39297188404e-05,-0.000198133668932,-5.95602544298e-05,1793244799957172736
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.357584092,681.642415908,659.357584092,634,879.357584092,786,806,651.357584092,631,651.642415908,0.433233869866,-0.00552996316771,0.0698971637372,0.999999981536,-6.52300355683e-05,-0.00017038155185,-6.03545941186e-05,1793244799973839360
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.220331992,682,659.220331992,634,879.220331992,786,806,651,631,652,0.434159697072,-0.00553227553238,0.0699270392931,0.999999989464,-6.8814947072e-05,-0.000112950603409,-5.9813912984e-05,1793244799990505984
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713.795917334,682,659.795917334,634,879.795917334,786,806,651,631,652,0.435102134501,-0.00553442383173,0.0699917738878,0.999999995445,-7.60834357302e-05,-7.66684288195e-06,-5.71207043093e-05,1793244800007172608
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,631,652,0.436002726448,-0.00553829049653,0.0700241282117,0.999999994485,-7.65825342837e-05,4.56699292283e-05,-5.54848918168e-05,1793244800023839232
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,631,652,0.436880330787,-0.00554310113431,0.070038694636,0.999999993345,-7.33629113044e-05,7.04699475555e-05,-5.44299535551e-05,1793244800040505856
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633.453776855,880,786,806,651.546223145,631,652,0.437698974094,-0.00554593123237,0.0700134050589,0.999999993994,-8.26410893437e-05,4.46599518837e-05,-5.64633848896e-05,1793244800057172736
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.125952101,714,682,660,633.125952101,880,786.125952101,806,651.874047899,630.874047899,652,0.438487162651,-0.00554676153574,0.0699754607643,0.999999994405,-8.77845620261e-05,-5.13355317351e-06,-5.87989008321e-05,1793244800073839616
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.702121297,714,682,660,633.702121297,880,786.702121297,806,651.297878703,630.297878703,652,0.43917980261,-0.00554089071955,0.0699012807641,0.999999986921,-7.53267250054e-05,-0.000129229600891,-6.15169268627e-05,1793244800090506240
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,746,714,682.277559464,659.722440536,633.722440536,880,786.722440536,806,651.277559464,630.277559464,652,0.439878306945,-0.00553763770012,0.0698390166296,0.999999968748,-7.21994256486e-05,-0.000230633981881,-6.40294838129e-05,1793244800107172864
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,714,682.85221511,659.14778489,633.14778489,880,786.14778489,806,651.85221511,630.85221511,652,0.44058308839,-0.00553718673802,0.0697895070936,0.999999947321,-7.90594185868e-05,-0.000307749479499,-6.63221095557e-05,1793244800123839488
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,714,682.559939611,659,633,880,786,806.440060389,652,631,652,0.441357008375,-0.00554125835889,0.0698097520066,0.999999956581,-8.25635742034e-05,-0.000275142031495,-6.5707464076e-05,1793244800140506112
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.968302212,714,682,659,633,880.031697788,786,807,652,631,652,0.442149251702,-0.0055465379605,0.0698524999137,0.999999972742,-8.47845020715e-05,-0.000207891084633,-6.41002951884e-05,1793244800157172992
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.390015767,714,682,659,633,880.609984233,786,807,652,631,652,0.442844708532,-0.00554564841109,0.0698668583175,0.999999974768,-8.49117070924e-05,-0.000198288846179,-6.27343565319e-05,1793244800173839616
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.187360721,745,714,682.187360721,659,633,881,785.812639279,807,651.812639279,631,652,0.443510660599,-0.00554513225268,0.0698629345585,0.999999971486,-8.39154668867e-05,-0.000214809941723,-6.19862886753e-05,1793244800190506240
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.762852274,745,714,682.762852274,659,633,881,785.237147726,807,651.237147726,631,652,0.444115491615,-0.00554538959966,0.0698211380239,0.999999954058,-8.05919311062e-05,-0.000285447347621,-6.25181829311e-05,1793244800207173120
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.654866369,745.345133631,714,683,658.654866369,632.654866369,880.654866369,785,807,651.345133631,631,652,0.444707496369,-0.00554572488267,0.0697780711971,0.999999933045,-7.67865594601e-05,-0.000352111879709,-6.34869126295e-05,1793244800223840000
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.067826022,745.932173978,714,683,658.067826022,632.067826022,880.067826022,785,807,651.932173978,631,652,0.445290511066,-0.00554611479161,0.0697341140154,0.99999990874,-7.26434656364e-05,-0.000415991790559,-6.47618234378e-05,1793244800240506368
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.491241941,714,682.491241941,658.508758059,632,880.508758059,785,807,651.491241941,631,652,0.445856707689,-0.00555228705731,0.0697174418596,0.999999901053,-7.89336094414e-05,-0.00043272089675,-6.64509835807e-05,1793244800257173248
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682.084993451,658.915006549,632,880.915006549,785,807,651.084993451,630.915006549,652,0.446413352085,-0.00555874780735,0.0697050785373,0.999999894585,-8.78625990123e-05,-0.000445547241147,-6.78111970051e-05,1793244800273839872
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682.667179433,658.332820567,632,880.332820567,785,807,651.667179433,630.332820567,652,0.446926969927,-0.005562477434,0.0696970705788,0.999999881134,-0.000104255495565,-0.000471574441204,-6.69305901024e-05,1793244800290506240
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.754764311,683,657.754764311,631.754764311,880,785,806.754764311,651.754764311,630.245235689,652,0.447417196746,-0.00556471887918,0.0696833401431,0.999999866016,-0.000107912430062,-0.000501967270017,-6.59711525374e-05,1793244800307173120
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.182219921,683,657.182219921,631.182219921,880,785,806.182219921,651.182219921,630.817780079,652,0.447876204229,-0.00556497409298,0.0696619720899,0.999999848599,-9.4571057624e-05,-0.000538186770131,-6.49065021239e-05,1793244800323839488
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713.403340682,683,657,631,880.403340682,784.596659318,806,651.403340682,630.596659318,652,0.448341443567,-0.00556351028043,0.0696585308879,0.999999846052,-9.41689849639e-05,-0.000543105211132,-6.3757524965e-05,1793244800340506368
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.994977852,683,657,631,880.994977852,784.005022148,806,651.994977852,630.005022148,652,0.448809592238,-0.0055612439537,0.0696634586965,0.999999850798,-9.98075235595e-05,-0.000533410997257,-6.25691804437e-05,1793244800357173248
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.572910623,714,683,656.427089377,631,880.427089377,784,806.572910623,651.427089377,630,652,0.449233425791,-0.00555517724249,0.0696733257778,0.999999858399,-9.38874069594e-05,-0.00052000537716,-6.31014557104e-05,1793244800373839616
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.273071917,714,683,656,630.273071917,880,784,807,651.726928083,630,652,0.450010222675,-0.00555683672566,0.069680444729,0.999999867606,-9.34652502041e-05,-0.000501775974574,-6.5370576457e-05,1793244800407173376
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.893044039,714,683,656,630,880,783.106955961,807,651.106955961,630,652,0.450591373581,-0.00556696485877,0.0696278216829,0.999999818532,-0.000107731990059,-0.000588566013825,-7.01394872143e-05,1793244800440506112
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.894073809,714,683.894073809,654,629,880,782.105926191,807,652,629.105926191,652,0.453123178353,-0.00558625653938,0.0695410002249,0.999999739164,-0.000128642157509,-0.000707811779417,-6.42370325187e-05,1793244800757172992
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.513837843,713.513837843,683.513837843,654.486162157,629,880,782,807,652,629.486162157,652,0.453136578991,-0.00558376668215,0.0695375659259,0.999999735406,-0.00012868696528,-0.000713066577081,-6.45304423573e-05,1793244800773839872
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.078856243,713.078856243,683,654.921143757,629,880,782,807,652,630,652.078856243,0.453148300165,-0.00558102159897,0.0695346995887,0.999999732409,-0.000128403677498,-0.000717276745647,-6.48708999933e-05,1793244800790506496
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.652685893,713.652685893,683,654.347314107,629,880,782,807,652,630,652.652685893,0.453159856967,-0.00558213866849,0.0695359333004,0.999999734075,-0.00012776464748,-0.00071512671975,-6.41919674834e-05,1793244800807173120
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,683.228021983,654,629,880,782,807,652,630,652.771978017,0.453169330515,-0.00558284487023,0.069537540402,0.999999735847,-0.000127960070025,-0.000712658194929,-6.36406435279e-05,1793244800823839744
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,683.80566785,654,629,880,782,807,652,630,652.19433215,0.45317560983,-0.00558292109233,0.0695397200188,0.999999737783,-0.000129434950582,-0.000709701318945,-6.32849805651e-05,1793244800840506368
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.618470079,714,683.618470079,654,629,880,782,807,652,630,652,0.453177937927,-0.00558146993397,0.0695391903505,0.999999737683,-0.000126886772197,-0.000710320467115,-6.30828095185e-05,1793244800857173248
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.043512373,714,683.043512373,654,629,880,782,807,652,630,652,0.453178262838,-0.00557924442528,0.0695372871306,0.999999736531,-0.000122298986021,-0.000712752585705,-6.29584557109e-05,1793244800873839872
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.54840755,714,683,654,629,880.54840755,782,807,652,629.45159245,652,0.453180699187,-0.00558160289862,0.0695376470311,0.999999736577,-0.000125875233887,-0.000712080552735,-6.27964978102e-05,1793244800890506240
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714,683,654,629,880.862786582,782,807,652,629.137213418,652,0.453182616256,-0.00558338835699,0.0695377279643,0.9999997365,-0.00012873395221,-0.000711691936531,-6.26310602689e-05,1793244800907173120
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714,683,654,629,880.28832958,782,807,652,629.71167042,652,0.453182327709,-0.00558215186817,0.0695363294844,0.999999735766,-0.000127176163068,-0.000713016341092,-6.24643456248e-05,1793244800923839744
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.712250507,714,683,654,629,880.287749493,782,807,652,629.712250507,652,0.453181836429,-0.00558131279477,0.0695352525217,0.99999973485,-0.000127000792278,-0.000714314108571,-6.26518814614e-05,1793244800940506624
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.134536808,714,683,654,629,880.865463192,782,807,652,629.134536808,652,0.453181140855,-0.0055808741954,0.0695344995508,0.999999733752,-0.000128218479665,-0.000715585034114,-6.31963943059e-05,1793244800957173248
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,683.453748331,654,629,881,782,807,652,629,652,0.45318119275,-0.00558014281749,0.0695348719838,0.999999733687,-0.000127079932845,-0.000715899348718,-6.29664897753e-05,1793244800973839872
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.043919717,714,683.956080283,654,629,881,782,806.956080283,652,629.043919717,652,0.453181503562,-0.00557959407756,0.0695355161751,0.999999733901,-0.000125535087141,-0.000715917988818,-6.24543011504e-05,1793244800990506240
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.618118346,714,683.381881654,654,629,881,782,806.381881654,652,629.618118346,652,0.453182200776,-0.00558232359501,0.0695353165926,0.999999733723,-0.000127720950478,-0.000715872967689,-6.13723313278e-05,1793244801007172864
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.806365313,713.806365313,683,653.806365313,629,880.806365313,782,806.193634687,652,629.806365313,652,0.45318293957,-0.00558295093335,0.0695349684366,0.999999733674,-0.000128360938323,-0.000715863711519,-6.09518186146e-05,1793244801023839488
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.228232438,713.228232438,683,653.228232438,629,880.228232438,782,806.771767562,652,629.228232438,652,0.453183760931,-0.00557940399849,0.0695343252598,0.999999733884,-0.000125931298731,-0.000715925473425,-6.18447537943e-05,1793244801040506368
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.644279085,745.355720915,713,683,653.355720915,629,880,782,807,651.644279085,629.355720915,652,0.453184540818,-0.00557844034414,0.0695342233075,0.999999734501,-0.000124289818663,-0.000715338529059,-6.19795072752e-05,1793244801057172736
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.056529185,745.943470815,713,683,653.943470815,629,880,782,807,651.056529185,629.943470815,652,0.453185293652,-0.0055791617074,0.0695344743841,0.999999735384,-0.00012316243794,-0.000714328447754,-6.16197153531e-05,1793244801073839360
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.525239777,745.474760223,713.525239777,683,654.525239777,629,880.525239777,782,807,651.525239777,630,652,0.453184292603,-0.00557899491617,0.0695333016547,0.999999733562,-0.000125066053549,-0.000716519610738,-6.19158936786e-05,1793244801090506240
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.104993715,714,683,654.895006285,629,880.895006285,782,807,652,630,652,0.453183284379,-0.0055790394542,0.0695322580599,0.999999731818,-0.000127226617864,-0.000718548603233,-6.21663940151e-05,1793244801107173120
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.678594652,714,683,654.321405348,629,880.321405348,782,807,652,630,652,0.453183077132,-0.00558044902021,0.0695324670483,0.99999973175,-0.000129094436418,-0.000718333381569,-6.19014747159e-05,1793244801123839744
+246,4.100000000,HOLD_POSE2,765,746,714,683,654,629,881,782,806,652,629,652,0.453185408135,-0.00557780693341,0.0695331785297,0.999999734072,-0.000124378070075,-0.000715905471261,-6.21673158243e-05,1793244801162346752
+247,4.116666667,HOLD_POSE2,765,745.405662145,714,683,653.405662145,629,881,782,806.594337855,651.405662145,629,652,0.453185271556,-0.00557899730214,0.0695340955065,0.999999733776,-0.000126037624565,-0.000716080307634,-6.15727647595e-05,1793244801179013120
+248,4.133333333,HOLD_POSE2,765,745,714,683,653,629,880.815598482,782,807,651.184401518,629.184401518,652,0.453184922545,-0.00558016323844,0.06953436003,0.999999733163,-0.000127246106903,-0.000716759770376,-6.11409256054e-05,1793244801195679488
+249,4.150000000,HOLD_POSE2,765,745,714,683,653,629,880.234724436,782,807,651.765275564,629.765275564,652,0.453184116796,-0.00558127664401,0.0695332217461,0.999999731871,-0.000127484761763,-0.000718524205208,-6.10589251229e-05,1793244801212346112
+250,4.166666667,HOLD_POSE2,765,745.341672102,713.658327898,683,653.341672102,629,880,782,807,652,630,652,0.453183992311,-0.00558087203336,0.0695328316492,0.99999973194,-0.000126734769037,-0.000718548751105,-6.12029601397e-05,1793244801229012736
+251,4.183333333,HOLD_POSE2,765,745.915032403,713.084967597,683,653.915032403,629,880,782,807,652,630,652,0.453184329793,-0.0055794380543,0.0695329488987,0.99999973293,-0.000125314373369,-0.000717393476447,-6.15002700621e-05,1793244801245679616
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+253,4.216666667,HOLD_POSE2,765,745.934331665,713.065668335,683.934331665,653.065668335,629,880,782,807,651.934331665,629,652,0.453186798829,-0.00557979204453,0.0695341132086,0.999999734388,-0.000127403266692,-0.000714987778548,-6.15158304446e-05,1793244801279013632
+254,4.233333333,HOLD_POSE2,765,745.341110546,713.658889454,683.341110546,653.658889454,629,880,782,807,651.341110546,629,652,0.45318381725,-0.00558010620304,0.0695318970858,0.999999731613,-0.000126152993625,-0.000719099637285,-6.12777838181e-05,1793244801295680000
+255,4.250000000,HOLD_POSE2,765,745,713.7549737,683,654,629,880,782,807,651.2450263,629.2450263,652,0.453183309438,-0.00557953679203,0.0695317138892,0.999999731048,-0.000125426176436,-0.000720018012562,-6.12002111624e-05,1793244801312346368
+256,4.266666667,HOLD_POSE2,765,745,713.178422064,683,654,629,880,782,807,651.821577936,629.821577936,652,0.453186148679,-0.00557777189427,0.0695342812812,0.999999733486,-0.000125407605304,-0.000716615542442,-6.13397629225e-05,1793244801329012992
+257,4.283333333,HOLD_POSE2,764.603053304,745.396946696,713.396946696,683,653.603053304,629,880,782,806.603053304,652,629.603053304,652,0.4531861587,-0.00557823935783,0.069534138341,0.999999733307,-0.000125124177021,-0.000716941711686,-6.10251321866e-05,1793244801345679616
+258,4.300000000,HOLD_POSE2,764.028214601,745.971785399,713.971785399,683,653.028214601,629,880,782,806.028214601,652,629.028214601,652,0.453184900804,-0.00557970725591,0.0695327807633,0.999999731955,-0.000124722052774,-0.000718938873611,-6.05069591818e-05,1793244801362346240
+259,4.316666667,HOLD_POSE2,764.563668932,745.436331068,714,683,654.127337864,628.436331068,880,782,806.563668932,652,629.563668932,652,0.453186201675,-0.00557960105159,0.069533246322,0.999999732475,-0.000127415053001,-0.000717684027629,-6.11902902319e-05,1793244801379013120
+260,4.333333333,HOLD_POSE2,765,745.152104134,714,683,654.695791732,628.152104134,880,782,807,652,630,652.152104134,0.453187210318,-0.00557935169962,0.0695336499544,0.999999732911,-0.000129067376472,-0.000716739624964,-6.16820539245e-05,1793244801395679744
+261,4.350000000,HOLD_POSE2,765,745.728467195,714,683,653.543065611,628.728467195,880,782,807,652,630,652.728467195,0.453187035474,-0.00557892969588,0.0695336183788,0.999999732862,-0.000127371367798,-0.000717129325976,-6.14665036497e-05,1793244801412346624
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,629,881,782,807,651,629,652,0.453184568507,-0.00557953389193,0.0695316390645,0.999999731092,-0.000126297375046,-0.000719820940212,-6.10116142278e-05,1793244801450334720
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.384943816,745,713.615056184,683.615056184,653.384943816,629,881,782,807,651.615056184,629,652,0.45318659644,-0.00557833369088,0.0695330311962,0.999999732728,-0.000126131008438,-0.000717559150351,-6.11879299353e-05,1793244801467002112
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.21646326,745,713.78353674,683.78353674,653,629,881,782,807,652,629.21646326,652.21646326,0.453187629844,-0.00557794594342,0.0695336572406,0.999999733452,-0.000126350775967,-0.000716510207107,-6.11909621024e-05,1793244801483668992
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.795037499,745,713.204962501,683.204962501,653,629,881,782,807,652,629.795037499,652.795037499,0.453186999546,-0.00557891731032,0.0695330017345,0.999999732657,-0.000127216488699,-0.000717490176284,-6.09041165965e-05,1793244801500334848
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.373293927,653.373293927,629,881,782,807,652,629.626706073,652.626706073,0.453186896026,-0.00557866604201,0.0695327071352,0.999999732365,-0.000126691035234,-0.000717984407682,-6.09683232518e-05,1793244801517001472
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.951375968,653.951375968,629,881,782,807,652,629.048624032,652.048624032,0.453187081494,-0.00557774403902,0.0695326105284,0.999999732348,-0.000125402391417,-0.00071821216449,-6.12251162622e-05,1793244801533668096
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.526087385,683.473912615,653.473912615,629,880.473912615,782,807,651.473912615,629.526087385,652,0.453187264901,-0.00557871941808,0.0695330517841,0.999999732685,-0.000126650054468,-0.000717559242838,-6.08207534002e-05,1793244801550334720
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.10321619,713.89678381,683,653.10321619,629,880,782,807.10321619,651.10321619,629.89678381,652,0.453187321771,-0.00557941035916,0.0695333056522,0.999999733025,-0.000127304502868,-0.000716994907059,-6.05148054672e-05,1793244801567001600
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.69320536,713.30679464,683,653.69320536,629,880,782,807.69320536,651.69320536,629.30679464,652,0.453186782773,-0.00557793810085,0.0695324428372,0.999999733237,-0.0001240628202,-0.000717229777476,-6.09593406631e-05,1793244801583667968
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,713.277163819,683.277163819,653.722836181,629,880,782,807.445672362,651.722836181,629,652,0.45318253379,-0.00557659128214,0.0695300805113,0.999999731282,-0.000123081605503,-0.000720077795564,-6.14473912262e-05,1793244801600334592
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,713.854588959,683.854588959,653.145411041,629,880,782,806.290822083,651.145411041,629,652,0.453174265648,-0.00557538035668,0.0695260937124,0.999999726961,-0.000124549235528,-0.000725756728475,-6.19825834883e-05,1793244801617001472
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.569356014,714,684,653.430643986,629,880.430643986,782,806.430643986,651.430643986,629.430643986,652,0.453148263304,-0.00557447066171,0.0695144515358,0.999999713687,-0.000123870969997,-0.000743931369506,-6.2026415602e-05,1793244801633668096
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,653.163106166,628.163106166,880.836893834,782,806.836893834,652,629.836893834,652,0.453007468605,-0.00557467112853,0.0694663290707,0.999999658093,-0.000123809888272,-0.000815217794212,-6.24915480861e-05,1793244801683667968
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,653.75383618,628.75383618,880.24616382,782,806.24616382,652,629.24616382,652,0.452935930801,-0.00557168804428,0.0694509124129,0.999999643698,-0.000119475526898,-0.000833317645854,-6.25442891248e-05,1793244801700334592
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.337351379,653.662648621,628.662648621,880.337351379,782,806.337351379,652,629,652,0.452856651967,-0.0055684120408,0.0694419877821,0.999999634328,-0.000117259649481,-0.000844823355562,-6.21927163389e-05,1793244801717001216
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,745.818598859,714,683.818598859,653.181401141,629,880,782,807,652,630,652,0.452137627218,-0.00555169181909,0.0694350672792,0.999999624689,-0.000102208507951,-0.000858853087112,-5.04692756262e-05,1793244801817001216
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.97150725,745.02849275,713.02849275,684,653.97150725,629,880,782,807,652,630,652,0.45176950989,-0.00554264497528,0.0694365494573,0.999999625077,-9.04133376843e-05,-0.00086007316068,-4.40999676529e-05,1793244801850334976
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.123926092,713,683.876073908,654,629,880.876073908,782,807,652,630,652,0.451303266021,-0.00553089387374,0.0694344405004,0.999999616275,-7.92574945189e-05,-0.000871674613904,-3.67741486703e-05,1793244801883668224
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.715005365,713,683.284994635,654,629,880.284994635,782,807,652,630,652,0.451044302218,-0.00552641329031,0.0694372665335,0.999999616845,-7.14713220924e-05,-0.000871864325681,-3.24579218579e-05,1793244801900334592
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.453108993,745,713,683,654.546891007,629,880.453108993,783,806.453108993,652,630,652,0.45013911846,-0.00550665102357,0.0694648167341,0.99999964615,-3.27696936057e-05,-0.000840488608963,-1.43025307428e-05,1793244801950334720
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,629,880.96940865,783,807,652,630,652,0.449801947422,-0.00550086544581,0.0694735706918,0.999999651881,-1.83407833378e-05,-0.000834170742439,-7.7665467459e-06,1793244801967001344
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.779528072,683,654.779528072,629.779528072,880,783,806.220471928,652,630,652,0.44867244034,-0.00548295489099,0.0695301319918,0.999999722343,4.49959257194e-05,-0.00074376246591,1.0285921676e-05,1793244802017001472
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.059225806,745,714,683,655,630.940774194,880,783,806.940774194,651.059225806,630,652,0.447745219472,-0.00547242471569,0.069548501296,0.999999735608,0.000108418994669,-0.000718782144585,1.95256463553e-05,1793244802050334720
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.706644579,633.293355421,880,786,806,652,631,652,0.432129835053,-0.00541091559478,0.0698427845478,0.999999961833,0.000137672533752,-0.000238090651069,2.63214560224e-05,1793244802417001728
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.140106013,658,634,879.140106013,786.859893987,805.140106013,652.859893987,631,652,0.413620268122,-0.00538294539076,0.0697390445001,0.99999988963,0.000181905285147,-0.000432337267138,2.71067188732e-05,1793244802767001856
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.444963711,658,634,879,786.555036289,805.444963711,652.555036289,631,652,0.412926249742,-0.00537878887059,0.069764047943,0.999999908518,0.000189385342331,-0.000382577471136,2.70666528843e-05,1793244802783668480
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.961910593,658,634,879.038089407,786,805.961910593,652,631,652,0.412276404331,-0.00537591054913,0.0698067741135,0.999999936593,0.000195325618591,-0.000296513535258,2.72295616863e-05,1793244802800335616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.38974292,658,634,879.61025708,786,805.38974292,652,631,652,0.411638930305,-0.00537322953036,0.069852785584,0.999999954834,0.000197878359825,-0.000224239801362,2.98752798598e-05,1793244802817002240
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.190372323,634,879.809627677,786,805.190372323,652,631,652,0.410981277398,-0.0053691804465,0.0698781434848,0.99999996151,0.000202662503439,-0.000186862467934,3.14758411897e-05,1793244802833668608
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.787467332,634,879.212532668,786,805.787467332,652,631,652,0.410280513019,-0.00536220854703,0.069859375887,0.99999995191,0.000212213949152,-0.000224039855692,3.08434684033e-05,1793244802850335488
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.628631425,634,879,786,805.628631425,652,631,652,0.409601442367,-0.00535624982239,0.0698238231687,0.999999934387,0.000219650270644,-0.000286632001766,2.8672693766e-05,1793244802867002112
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.052021898,634,879,786,805.052021898,652,631,652,0.408934361035,-0.00535085104045,0.0697789939691,0.999999908169,0.000225917643809,-0.000363269891752,2.56517042388e-05,1793244802883668736
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.408353457642,-0.00535122362919,0.0697684251056,0.999999904935,0.000224930498551,-0.000372783525411,2.38277623266e-05,1793244802900335360
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.898762023,634,879,786,805,652,631,652,0.407789079749,-0.00535608388349,0.0697669302654,0.999999907578,0.000219548135715,-0.000368943506841,2.28578980743e-05,1793244802917001984
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.307680291,634,879,786,805,652,631,652,0.407263310852,-0.00537988863201,0.0697929014853,0.999999925049,0.000196380241404,-0.000332699190561,2.54461480911e-05,1793244802933668608
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.277321641,634,879,786,805,652,631,652,0.406751421789,-0.00539378412468,0.0698074177411,0.999999934228,0.000178965959981,-0.000314350822496,2.64479089892e-05,1793244802950335232
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.85572288,634,879,786,805,652,631,652,0.40625460167,-0.00539692144068,0.0698094976922,0.999999935842,0.000167798201361,-0.000315431539274,2.57272671858e-05,1793244802967001856
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.405785877817,-0.00538946290879,0.0698043339447,0.999999929973,0.000177948951722,-0.000328262780729,2.513167115e-05,1793244802983668736
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.008248603,652,631,652,0.405327766707,-0.00537867674488,0.0697971162729,0.999999921439,0.000194925235579,-0.00034426975038,2.45946624073e-05,1793244803000335616
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.579030089,652,631,652,0.404956624123,-0.00538110726131,0.0698140031087,0.99999993261,0.000194205924373,-0.000310530110345,2.52190238762e-05,1793244803017002240
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.156589224,657.843410776,634,879,786,805.843410776,652,631,652,0.404589938805,-0.00538131187961,0.0698297261193,0.999999941578,0.000194582440695,-0.000279872522006,2.55490862889e-05,1793244803033668864
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.753193662,657.246806338,634,879,786,805.246806338,652,631,652,0.404235778306,-0.00537526173191,0.0698421787884,0.999999946827,0.000198038229138,-0.000257875482009,2.50521695118e-05,1793244803050335232
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.660336315,657.339663685,634,879,785.660336315,805,652,631,652,0.403895618173,-0.00537174807227,0.0698441861135,0.999999946925,0.000202983269027,-0.00025369132331,2.42475075189e-05,1793244803067001856
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.081016846,657.918983154,634,879,785.081016846,805,652,631,652,0.40356533627,-0.00537002407747,0.0698388235388,0.999999943552,0.000208979076719,-0.000262075362764,2.32257104221e-05,1793244803083668480
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,785.490699905,805,652,631,652,0.403263664928,-0.00536919837447,0.0698279108891,0.999999939321,0.000205631780321,-0.000280331163095,2.20774369703e-05,1793244803100335104
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.062048155,652,630.937951845,652,0.402971276885,-0.00536802540683,0.0698167410598,0.999999934597,0.000201900817486,-0.00029933389111,2.10184249767e-05,1793244803117001472
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.640618724,652,630.359381276,652,0.402717445048,-0.00536274582677,0.0698109420811,0.999999929808,0.000207621439399,-0.000311193508304,2.08736532112e-05,1793244803133668096
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.77501824,745,714,680,657.77501824,634,879,786.22498176,805.77501824,652,630.22498176,652,0.402477317848,-0.00535943200187,0.0698057344841,0.999999926339,0.000209686527985,-0.000320798279169,2.10135586738e-05,1793244803150334976
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.181157973,745,714,680,657.181157973,634,879,786.818842027,805.181157973,652,630.818842027,652,0.402259660698,-0.00535934121578,0.0698014965129,0.99999992523,0.000205758029403,-0.000326706018797,2.1620218929e-05,1793244803167001856
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.402052822,745,714,680,657.402052822,634,879,786.597947178,805,651.597947178,631,652,0.402069450389,-0.00535797259262,0.0697996466943,0.999999923593,0.000207068823046,-0.000330780583366,2.27991501605e-05,1793244803183668480
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.980589023,745,714,680,657.980589023,634,879,786.019410977,805,651.019410977,631,652,0.401891288007,-0.00535604305558,0.0697988451685,0.999999921719,0.000210679433543,-0.000334050465801,2.42292830518e-05,1793244803200334848
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,651.551668745,631,652,0.401748275762,-0.00535433796959,0.069798455329,0.999999921316,0.000214846282068,-0.000332574889384,2.45765538595e-05,1793244803217001472
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.401612934638,-0.00535282228935,0.0697981818598,0.999999920106,0.000223532410351,-0.000330565235968,2.33996357043e-05,1793244803233667840
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.401501204518,-0.00535197134313,0.0697982820127,0.999999915405,0.000248689141547,-0.000327203774099,1.67815415353e-05,1793244803250334464
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.306578953,658,634,878.693421047,786,805,652,630.693421047,652,0.401399678392,-0.0053547701096,0.06979840487,0.99999991661,0.000246256851526,-0.000325562933597,1.21081703713e-05,1793244803267001344
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.886385635,658,634,878.113614365,786,805,652,630.113614365,652,0.401307246223,-0.00536082155444,0.0697985479619,0.999999922965,0.000219236813342,-0.000325455536651,9.16796571124e-06,1793244803283668224
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.540862563,658,634,878,786,805,652,630,652,0.401235864188,-0.00536009779791,0.0697991194485,0.999999923985,0.000216165447046,-0.000324360701123,9.60456169062e-06,1793244803300334848
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.968756645,634,878.031243355,786,805.031243355,652,630.031243355,652,0.401170517963,-0.00535771744411,0.0697997984949,0.999999923795,0.000218865367736,-0.000323094521093,1.08264857385e-05,1793244803317001728
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.377406804,634,878.622593196,786,805.622593196,652,630.622593196,652,0.401121409202,-0.00535523969503,0.0698005341382,0.999999923461,0.000220396905068,-0.000323070719223,1.13739498766e-05,1793244803333668352
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.790546706,714,680,657.209453294,634,879,786,805.790546706,652,631,652,0.401079860508,-0.00535404953836,0.0698026865167,0.999999924208,0.000221569837082,-0.000319913587916,1.21241943025e-05,1793244803350334976
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.211606811,714,680,657.788393189,634,879,786,805.211606811,652,631,652,0.401051648173,-0.0053551307625,0.0698073380904,0.999999926814,0.000222110170324,-0.000311229099063,1.32321537377e-05,1793244803367001344
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744.364191375,714,680,658,634,879,785.635808625,805,652,630.635808625,652,0.401029098111,-0.00535496990129,0.0698109156284,0.999999928708,0.000222057089185,-0.000305099743044,1.37760175893e-05,1793244803383667968
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.938179795,714,680,658,634,879,785.061820205,805,652,630.061820205,652,0.401009809871,-0.00535409352122,0.0698138744549,0.999999930202,0.000221662164243,-0.000300442302776,1.3994927154e-05,1793244803400334592
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.488471042,658,634,879,785.511528958,805,652,630.511528958,652,0.400995564177,-0.0053553150724,0.0698157099744,0.999999931163,0.000219736593322,-0.000298629615954,1.44986147629e-05,1793244803417001728
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.08798592,658,634,879,786,805,652,631,652,0.400983110152,-0.00535602298405,0.0698171785505,0.999999931857,0.000218600033121,-0.000297118570584,1.48642304315e-05,1793244803433668608
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.682789141,658,634,879,786,805,652,631,652,0.400977470563,-0.00535231358783,0.0698173144631,0.999999931397,0.000223072557404,-0.000295367159003,1.42365242559e-05,1793244803450335232
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.269799252,680,658,634,879,785.730200748,805,652,631,652,0.400974649616,-0.00535247552825,0.0698187846373,0.999999932272,0.000223196029778,-0.000292304190314,1.40312260118e-05,1793244803467001600
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.847903972,680,658,634,879,785.152096028,805,652,631,652,0.400975049596,-0.00535706132938,0.0698217795013,0.999999934661,0.000218349745763,-0.000287742476923,1.43086225271e-05,1793244803483668224
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.575486239,680,658,634,879,785.424513761,805,652,631,652,0.400974149958,-0.00535666276057,0.0698232907631,0.99999993541,0.00021762393836,-0.000285681626418,1.433238054e-05,1793244803500334848
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.400972788273,-0.00535448747757,0.0698242731904,0.999999935582,0.000218369397095,-0.000284511527749,1.42659632226e-05,1793244803517001472
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.400973329217,-0.00535507702919,0.0698260845415,0.999999936299,0.00021926153609,-0.000281272544019,1.45704329473e-05,1793244803533668352
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.400973668095,-0.00535562035539,0.0698273166938,0.999999936721,0.000220161620495,-0.000279049437845,1.47533041669e-05,1793244803550334976
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.400973430189,-0.00535603173413,0.0698268955611,0.999999936331,0.000221084384397,-0.000279726087205,1.45890804836e-05,1793244803567001344
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.670342724,786,805,652,631,652,0.400973547974,-0.0053570732939,0.0698271883434,0.999999936738,0.000219367276681,-0.000279623521821,1.46115656872e-05,1793244803583668224
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.091942488,786,805,652,631,652,0.400973934147,-0.00535859035694,0.0698280198104,0.999999937735,0.000215658253431,-0.000278932999871,1.47749320993e-05,1793244803600335360
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.516168666,634,878.483831334,786,805,652,631,652,0.400973650001,-0.00535858230828,0.0698282739141,0.999999937766,0.000216074848486,-0.000278507334084,1.46052529288e-05,1793244803617002240
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.060460454,634,879,786,805,652,630.939539546,652,0.400973150625,-0.00535819333388,0.0698283540209,0.999999937598,0.000217189499931,-0.000278254147021,1.44074040777e-05,1793244803633668864
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.648893688,634,879,786,805,652,630.351106312,652,0.400971878096,-0.00535699508558,0.0698278676229,0.999999937282,0.000217590685039,-0.000279069994713,1.45132488096e-05,1793244803650335488
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.766338732,714,680,658,634,879,786,805.233661268,652,630.233661268,652,0.400971359908,-0.00535608767716,0.0698279415129,0.999999937163,0.000218143749588,-0.00027906652669,1.44736255192e-05,1793244803667001600
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.186994232,714,680,658,634,879,786,805.813005768,652,630.813005768,652,0.400971957709,-0.00535561054326,0.0698288443045,0.999999937335,0.00021892150765,-0.000277850946282,1.42187938716e-05,1793244803683667968
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.390585143,714,680,658,634,879,786,805.609414857,652,631,652,0.400972532596,-0.00535591734922,0.0698293018722,0.999999937821,0.000217995849155,-0.000276826529815,1.42561790588e-05,1793244803700334592
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.967323243,714,680,658,634,879,786,805.032676757,652,631,652,0.400973096563,-0.0053565977811,0.0698295472463,0.999999938453,0.000216258341968,-0.000275893222152,1.44328348548e-05,1793244803717001216
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.45867956,658,634,879,786,805,652,631,652,0.400972622791,-0.00535660583702,0.0698294323881,0.999999938106,0.000217574796428,-0.00027612167677,1.43503593059e-05,1793244803733668352
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41e89a45121c1b9745c614197dcc6fe19f783497
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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+263,4.383333333,pose2_to_pose3_retreat,0.619962512732,-0.000122177054229,1.06005117438,0.590534146193,0.00855351292485,1.05971766813
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+265,4.416666667,pose2_to_pose3_retreat,0.619962089845,-0.000122123176619,1.06005077853,0.590533721619,0.00855356092811,1.05971726847
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+268,4.466666667,pose2_to_pose3_retreat,0.619961956069,-0.00012210320391,1.06005080059,0.590533587713,0.00855358050962,1.05971729169
+269,4.483333333,pose2_to_pose3_retreat,0.619961467038,-0.000122030191961,1.06005088124,0.590533098211,0.0085536520915,1.0597173766
+270,4.500000000,pose2_to_pose3_retreat,0.619959927464,-0.000121988960864,1.0600509672,0.590531558189,0.00855369196123,1.05971746656
+271,4.516666667,pose2_to_pose3_retreat,0.619954581115,-0.000122144358848,1.06005109237,0.59052621359,0.00855354223675,1.0597175851
+272,4.533333333,pose2_to_pose3_retreat,0.619943974093,-0.000122068128757,1.06005085227,0.590515604367,0.00855361106148,1.05971734749
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+274,4.566666667,pose2_to_pose3_retreat,0.619896842169,-0.00012213282791,1.06005088137,0.590468474242,0.00855355235446,1.0597173705
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+277,4.616666667,pose2_to_pose3_retreat,0.619753283283,-0.000122098553062,1.06005114362,0.590324915222,0.00855358557034,1.05971762536
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+286,4.766666667,pose2_to_pose3_retreat,0.618757640404,-0.000122075724218,1.06005084512,0.589329271794,0.00855360658252,1.05971734131
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+331,5.516666667,pose2_to_pose3_retreat,0.593496309552,-0.000122179424398,1.06005099705,0.564067943609,0.00855350928282,1.0597174891
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+333,5.550000000,pose2_to_pose3_retreat,0.592003109779,-0.000122262601435,1.06005067515,0.562574743587,0.00855342538983,1.05971717046
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+335,5.583333333,pose2_to_pose3_retreat,0.590613900807,-0.000122265013696,1.06005100917,0.561185535466,0.00855342568913,1.05971749983
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+337,5.616666667,pose2_to_pose3_retreat,0.589214429989,-0.000122154076865,1.06005084262,0.559786063732,0.00855353386396,1.05971734238
+338,5.633333333,pose2_to_pose3_retreat,0.588503235568,-0.000122187371344,1.06005085719,0.5590748704,0.00855350421001,1.05971735597
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+342,5.700000000,pose2_to_pose3_retreat,0.585835023461,-0.000122122019883,1.06005099528,0.556406656092,0.00855356193042,1.05971748978
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+376,6.266666667,pose2_to_pose3_retreat,0.575762482598,-0.000122169286624,1.06005093546,0.546334117294,0.00855352163494,1.05971742931
+377,6.283333333,pose2_to_pose3_retreat,0.575736353642,-0.000122179737289,1.06005093771,0.54630798796,0.00855350987406,1.05971743085
+378,6.300000000,pose2_to_pose3_retreat,0.575716176553,-0.000122202623327,1.06005105759,0.546287810399,0.00855348522522,1.05971754659
+379,6.316666667,pose2_to_pose3_retreat,0.575700872464,-0.00012218404313,1.06005109828,0.546272505902,0.00855350240944,1.05971758717
+380,6.333333333,pose2_to_pose3_retreat,0.575689258977,-0.000122128058592,1.06005097781,0.546260892874,0.00855356026339,1.05971747488
+381,6.350000000,pose2_to_pose3_retreat,0.575681079169,-0.00012223978246,1.0600509786,0.546252713071,0.00855344851381,1.05971747393
+382,6.366666667,pose2_to_pose3_retreat,0.575675883729,-0.000122185495892,1.06005074822,0.546247515297,0.00855349504815,1.05971724819
+383,6.383333333,pose2_to_pose3_retreat,0.575673000346,-0.000122247314392,1.06005097153,0.546244633917,0.00855343981155,1.05971746584
+384,6.400000000,pose2_to_pose3_retreat,0.575671692528,-0.000122281365865,1.06005112197,0.546243327419,0.0085534100822,1.05971761215
+385,6.416666667,pose2_to_pose3_retreat,0.575671239074,-0.000122261810892,1.06005112601,0.546242873833,0.00855342913352,1.05971761476
+386,6.433333333,pose2_to_pose3_retreat,0.575671131603,-0.000122257176259,1.06005112697,0.54624276633,0.00855343364878,1.05971761538
+387,6.450000000,pose2_to_pose3_retreat,0.575670954287,-0.0001222495296,1.06005112855,0.546242588963,0.00855344109849,1.0597176164
+388,6.466666667,pose2_to_pose3_retreat,0.575670888373,-0.000122246687099,1.06005112914,0.54624252303,0.00855344386778,1.05971761678
+389,6.483333333,pose2_to_pose3_retreat,0.575670762906,-0.000122241276409,1.06005113026,0.546242397527,0.00855344913911,1.0597176175
+390,6.500000000,pose2_to_pose3_retreat,0.575670727782,-0.000122239761703,1.06005113057,0.546242362392,0.00855345061481,1.05971761771
+391,6.516666667,pose2_to_pose3_retreat,0.575670671122,-0.000122237318268,1.06005113107,0.546242305716,0.00855345299531,1.05971761803
+392,6.533333333,pose2_to_pose3_retreat,0.575670501177,-0.000122229989458,1.06005113259,0.546242135721,0.00855346013536,1.05971761901
+393,6.550000000,pose2_to_pose3_retreat,0.575670262864,-0.0001222215216,1.0600511014,0.546241897371,0.00855346849423,1.05971758832
+394,6.566666667,pose2_to_pose3_retreat,0.575670049548,-0.00012221673512,1.06005102204,0.54624168407,0.00855347342354,1.05971751136
+395,6.583333333,pose2_to_pose3_retreat,0.575669928948,-0.000122214029021,1.06005097718,0.546241563478,0.00855347621039,1.05971746785
+396,6.600000000,pose2_to_pose3_retreat,0.575669923113,-0.000122213898095,1.060050975,0.546241557643,0.00855347634523,1.05971746575
+397,6.616666667,pose2_to_pose3_retreat,0.575669842739,-0.000122212094615,1.0600509451,0.546241477275,0.00855347820253,1.05971743675
+398,6.633333333,pose2_to_pose3_retreat,0.575669729035,-0.000122209543277,1.0600509028,0.546241363579,0.00855348083,1.05971739573
+399,6.650000000,pose2_to_pose3_retreat,0.575669613296,-0.000122194491514,1.06005084064,0.546241247267,0.00855349396176,1.0597173342
+400,6.666666667,pose2_to_pose3_retreat,0.575669572384,-0.000122169468509,1.06005078843,0.546241205232,0.00855351514618,1.05971728117
+401,6.683333333,pose2_to_pose3_retreat,0.575669562274,-0.000122163285218,1.06005077553,0.546241194845,0.00855352038094,1.05971726807
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+403,6.716666667,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750765,1.05971725023
+404,6.733333333,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750761,1.05971725023
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a74d0f59658d5a62fe21a0dbdc362ba547424322
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00a141d15a933a1fb8789ae35796cf802f09ec537cce5ea31f09ebe66beefd99
+size 25791015
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbc8842d1b4985c41665f726e60f685301cb9bd1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+26,0.433333333,BASELINE,765,745,714,680,658,634.91091273,879,786.08908727,805.08908727,652,630.08908727,652,0.400973241187,-0.00535584961706,0.0698318234427,0.999999938706,0.000220844459931,-0.000271353726517,1.35206200345e-05,1793244804409608448
+27,0.450000000,BASELINE,765,745,714,680,658,634.335152907,879,786.664847093,805.664847093,652,630.664847093,652,0.400973088279,-0.00535646108775,0.0698324750088,0.99999993929,0.000218567763108,-0.000271028421113,1.38326560497e-05,1793244804426276096
+28,0.466666667,BASELINE,765,745,714,680,658,634,879,786.759466422,805.759466422,652,631,652,0.40097337471,-0.00535704839394,0.0698328640803,0.999999939594,0.000217708531839,-0.000270588372615,1.40074626657e-05,1793244804442943232
+29,0.483333333,BASELINE,765,745,714,680,658,634,879,786.183882129,805.183882129,652,631,652,0.400974273119,-0.00535760204022,0.0698328875103,0.999999939513,0.00021882375622,-0.000269988493,1.39911158745e-05,1793244804459609600
+30,0.500000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400975187271,-0.00535714659754,0.069833487165,0.99999993998,0.000218576505018,-0.000268472771702,1.3628712235e-05,1793244804476276224
+31,0.516666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400976108812,-0.0053562174444,0.0698343573248,0.999999940701,0.000217689648207,-0.000266527114314,1.31038543898e-05,1793244804492942592
+32,0.533333333,BASELINE,765,745,714,680,658,634.569399276,879,786,805,652,631,652,0.400974495577,-0.00535756272346,0.0698328598923,0.999999940234,0.000216586092635,-0.000269139088945,1.36668151251e-05,1793244804509608960
+33,0.550000000,BASELINE,765,745,714,680,658,634.850302261,879,786,805.149697739,652,631,652,0.400973563363,-0.00535859149117,0.0698320610253,0.999999939974,0.000215762758588,-0.000270736848618,1.41179979544e-05,1793244804526275328
+34,0.566666667,BASELINE,765,745,714,680,658,634.273552765,879,786,805.726447235,652,631,652,0.400974728151,-0.00535857895364,0.0698333990402,0.9999999404,0.000215752013282,-0.000269164014316,1.41841234088e-05,1793244804542941952
+35,0.583333333,BASELINE,765,745,714,680,658,634,879,786,805.698466416,652,631,652,0.400974771345,-0.00535865004905,0.0698339577527,0.999999940542,0.00021563430905,-0.000268732536673,1.4165526929e-05,1793244804559608320
+36,0.600000000,BASELINE,765,745,714,680,658,634,879,786,805.124880541,652,631,652,0.400973802605,-0.00535879660053,0.0698338133564,0.999999940429,0.00021542010339,-0.000269330823728,1.40704918857e-05,1793244804576275200
+37,0.616666667,BASELINE,765,745,714,680,658,634,879,786,805.463283893,652,631,652,0.400973742252,-0.00535826788684,0.0698330243335,0.999999939712,0.000217629982192,-0.000270225978998,1.38505412506e-05,1793244804592942080
+38,0.633333333,BASELINE,765,745,714,680,658.054057955,634,879,786.054057955,805.945942045,652,631,652,0.400974019168,-0.00535767979489,0.0698322376994,0.999999938984,0.000220035154417,-0.000270980011361,1.36244014683e-05,1793244804609608704
+39,0.650000000,BASELINE,765,745,714,680,658.630833039,634,879,786.630833039,805.369166961,652,631,652,0.400975112713,-0.00535833479163,0.0698332089624,0.999999939853,0.00021780511554,-0.000269570524732,1.36745838611e-05,1793244804626275584
+40,0.666666667,BASELINE,765,745,714,679.792667758,658.792667758,634,879,786.792667758,805,652,631,652,0.400974982785,-0.00535871582548,0.0698333080487,0.99999994004,0.000216953948946,-0.000269554528763,1.38288176545e-05,1793244804642942720
+41,0.683333333,BASELINE,765,745,714,679.216659158,658.216659158,634,879,786.216659158,805,652,631,652,0.400972677289,-0.0053586097009,0.0698318562378,0.99999993902,0.00021855468098,-0.000272016425643,1.41680747249e-05,1793244804659609600
+42,0.700000000,BASELINE,765.352736312,745,714,679.352736312,658,634,879,786.352736312,805,652,631,651.647263688,0.400973280398,-0.00535772470413,0.0698327328049,0.999999939381,0.000218923925001,-0.000270392136119,1.41045451104e-05,1793244804676276224
+43,0.716666667,BASELINE,765.91814457,745,714,679.91814457,658,634,879,786.91814457,805,652,631,651.08185543,0.400975637163,-0.00535637010936,0.0698350131986,0.999999940564,0.000218550679625,-0.000266304201051,1.37981671437e-05,1793244804692942592
+44,0.733333333,BASELINE,765.485154044,745,714,680,658,634,879,786.485154044,805.514845956,652,631,651.514845956,0.400974772253,-0.0053577571793,0.0698340359027,0.999999940637,0.000215803757258,-0.000268269301976,1.36606499111e-05,1793244804709608704
+45,0.750000000,BASELINE,765,744.88795535,714,680,658,634,879,786,805.88795535,652,630.88795535,652,0.400973810426,-0.00535911846301,0.0698329362534,0.999999940499,0.000213711742631,-0.000270448618275,1.36487348245e-05,1793244804726275584
+46,0.766666667,BASELINE,765,744.310686908,714,680,658,634,879,786,805.310686908,652,630.310686908,652,0.400974710599,-0.00535844564746,0.0698336183072,0.999999940321,0.000216007373896,-0.000269262892461,1.403964906e-05,1793244804742942464
+47,0.783333333,BASELINE,764.735553474,744.264446526,714,680,658,634,879,786,805,652,630.264446526,652,0.400975117577,-0.00535832349804,0.0698338226312,0.999999940315,0.000216748795435,-0.000268680293193,1.41587115252e-05,1793244804759609088
+48,0.800000000,BASELINE,764.162908207,744.837091793,714,680,658,634,879,786,805,652,630.837091793,652,0.400974949762,-0.0053588431214,0.0698334701859,0.999999940517,0.000215678866259,-0.000268800606555,1.39609448696e-05,1793244804776275456
+49,0.816666667,BASELINE,764.424071255,745,714,680.424071255,658,634,878.575928745,786,805,652,631,652,0.400975046836,-0.00535798113125,0.069833648438,0.99999994034,0.000216605014551,-0.000268723669887,1.38025223066e-05,1793244804792942080
+50,0.833333333,BASELINE,765,745,714,680.983628688,658,634,878.016371312,786.016371312,805.016371312,652,631,652,0.400975208185,-0.00535665040574,0.0698340003109,0.999999940012,0.000218273914414,-0.000268597497728,1.36710092138e-05,1793244804809608704
+51,0.850000000,BASELINE,765,745,714,680.404344099,658,634,878.595655901,786.595655901,805.595655901,652,631,652,0.400973958323,-0.00535809046081,0.0698330668995,0.99999993979,0.000218193594062,-0.000269474982767,1.3926887032e-05,1793244804826275328
+52,0.866666667,BASELINE,765,744.826303232,714,680,658,634,879.173696768,786.826303232,805.826303232,652,631,651.826303232,0.400973107689,-0.00535869767412,0.0698325190727,0.999999939735,0.000217979625107,-0.000269846309388,1.40388038435e-05,1793244804842941952
+53,0.883333333,BASELINE,765,744.251137043,714,680,658,634,879.748862957,786.251137043,805.251137043,652,631,651.251137043,0.400973179803,-0.0053573799206,0.069832862457,0.999999940067,0.000217456751001,-0.000269047740108,1.38179801823e-05,1793244804859608320
+54,0.900000000,BASELINE,765,744.324560737,714,680,658,634,879.350878525,786,805,652,630.675439263,651.324560737,0.400973233958,-0.00535680902496,0.0698327054894,0.999999939766,0.000218204029185,-0.000269566125605,1.3719519085e-05,1793244804876275200
+55,0.916666667,BASELINE,765,744.900670498,714,680,658,634,878.198659003,786,805,652,630.099329502,651.900670498,0.400973274194,-0.00535681697749,0.0698321607268,0.999999938971,0.000219935731975,-0.00027110520973,1.37158944335e-05,1793244804892942080
+56,0.933333333,BASELINE,764.51150275,745,714,680,657.51150275,634,878.48849725,786,805,652,630.48849725,652,0.40097272742,-0.00535762011965,0.0698319513018,0.999999938917,0.000219292085369,-0.000271819167146,1.38365035307e-05,1793244804909608448
+57,0.950000000,BASELINE,764.077193691,745,714,680,657.077193691,634,879,786,805,652,631,652,0.400972417214,-0.00535825206583,0.0698320125261,0.999999939116,0.000218267292907,-0.00027190793526,1.39248445253e-05,1793244804926275072
+58,0.966666667,BASELINE,764.655685413,745,714,680,657.655685413,634,879,786,805,652,631,652,0.400974437464,-0.00535669642689,0.0698333776679,0.999999939954,0.000217981001901,-0.000269053041684,1.36355563487e-05,1793244804942941696
+59,0.983333333,BASELINE,765,745,714,680,658,634,879,786,805.232236268,652,631,652,0.400974764302,-0.00535586737371,0.0698335467172,0.999999939983,0.000218356746347,-0.000268647560086,1.354798637e-05,1793244804959608576
+60,1.000000000,BASELINE,765,745,714,680,658,634,879,786,805.805933519,652,631,652,0.400972601287,-0.00535610663185,0.0698319571312,0.999999938821,0.000219705892871,-0.000271843490659,1.37570060871e-05,1793244804976276224
+61,1.016666667,BASELINE,765,745,714,680,658,634,879,786,805.610421541,652,631,652,0.40097270173,-0.00535627676619,0.0698325272823,0.99999993897,0.000219658970077,-0.000271323454229,1.38949869573e-05,1793244804992942592
+62,1.033333333,BASELINE,765,745,714,680,658,634,879,786,805.021691398,652,631,652,0.400973959248,-0.00535641156456,0.0698342014867,0.999999939789,0.000218898379519,-0.000268903823129,1.39966529065e-05,1793244805009608448
+63,1.050000000,BASELINE,765,745,714,680,658,634,879,785.4413838,805.5586162,652,631,652,0.400975736463,-0.00535723019765,0.0698349426295,0.999999940297,0.00021853577465,-0.00026729780285,1.41652013924e-05,1793244805026275584
+64,1.066666667,BASELINE,765,745,714,679.862362423,657.862362423,634,879,785.137637577,805.862362423,652,631,652,0.400976671517,-0.00535780642044,0.0698351967679,0.999999940465,0.000218552072093,-0.000266650313239,1.42514427779e-05,1793244805042942464
+65,1.083333333,BASELINE,765,745,714,679.28641107,657.28641107,634,879,785.71358893,805.28641107,652,631,652,0.400974861357,-0.00535752736987,0.0698340136831,0.999999939592,0.000219726519893,-0.00026895619771,1.4067425348e-05,1793244805059608576
+66,1.100000000,BASELINE,765,745,714,679.287130073,657.287130073,634,879,786,805,652,630.712869927,652,0.400974642108,-0.00535746033033,0.0698338997257,0.999999939674,0.0002193899156,-0.000268937609746,1.38907664299e-05,1793244805076274944
+67,1.116666667,BASELINE,765,745,714,679.85828702,657.85828702,634,879,786,805,652,630.14171298,652,0.400975996577,-0.00535760301051,0.0698348433411,0.999999940697,0.000217558590054,-0.000266619671271,1.37213865062e-05,1793244805092941824
+68,1.133333333,BASELINE,764.551226481,745,714,679.551226481,658,634,879,786,805,652,630.448773519,652,0.400975367701,-0.00535685828338,0.0698343795695,0.999999940442,0.000217480840701,-0.000267658864407,1.33099849091e-05,1793244805109608448
+69,1.150000000,BASELINE,764.088311909,745,714,679.044155954,658,634,879,786,805,652,631,652,0.400974176665,-0.00535597011077,0.0698335183579,0.999999939804,0.00021801580289,-0.00026962079957,1.28950522937e-05,1793244805126275072
+70,1.166666667,BASELINE,765.243260382,745,714,679.621630191,658,634,879,786,805,652,631,652,0.400974100746,-0.0053568863004,0.0698334662099,0.999999939664,0.000218961971926,-0.000269347279163,1.34020885615e-05,1793244805142941696
+71,1.183333333,BASELINE,765.802197589,745,714,680,658,634,879,785.802197589,805,652,631,652,0.400974189876,-0.00535735845793,0.0698336133171,0.999999939534,0.000219919326921,-0.000269030681843,1.37473261603e-05,1793244805159608320
+72,1.200000000,BASELINE,765.228499568,745,714,680,658,634,879,785.228499568,805,652,631,652,0.400974592657,-0.00535698679515,0.0698341390808,0.999999939425,0.000220897939418,-0.000268632222875,1.37850882756e-05,1793244805176274944
+73,1.216666667,BASELINE,765.353432791,745,714,680,658,634,878.646567209,785.353432791,805,652,631,652,0.400975421985,-0.00535667599258,0.0698349358778,0.999999939904,0.000219961557338,-0.000267620245944,1.37248910096e-05,1793244805192941824
+74,1.233333333,BASELINE,765.940815728,745,714,680,658,634,878.059184272,785.940815728,805,652,631,652,0.400976533661,-0.00535640547564,0.0698359120816,0.999999940767,0.000217757569953,-0.00026620215896,1.35998508291e-05,1793244805209608448
+75,1.250000000,BASELINE,765.476179492,745,714,680,658,634,878.523820508,786,805.523820508,652,631,652,0.40097680188,-0.00535602347822,0.0698361138801,0.999999940815,0.00021840413492,-0.000265496443625,1.34394514922e-05,1793244805226275072
+76,1.266666667,BASELINE,765,744.894969469,714,680,658,634,878.894969469,786,805.894969469,652,631,652,0.40097679845,-0.0053556538166,0.0698360526968,0.999999940604,0.000219609423775,-0.000265304444826,1.33400826509e-05,1793244805242941696
+77,1.283333333,BASELINE,765,744.319599776,714,680,658,634,878.319599776,786,805.319599776,652,631,652,0.400976001767,-0.0053553953337,0.0698352024233,0.999999939632,0.000221886423037,-0.000267055482917,1.35317577641e-05,1793244805259608320
+78,1.300000000,BASELINE,765,744.255816669,714,679.744183331,658.255816669,634,878.255816669,786,805,652,631,652,0.400975449308,-0.00535568301628,0.0698345411819,0.999999939441,0.000221819068888,-0.000267828751406,1.34783173752e-05,1793244805276274944
+79,1.316666667,BASELINE,765,744.831291491,714,679.168708509,658.831291491,634,878.831291491,786,805,652,631,652,0.40097520202,-0.00535665316513,0.0698341161477,0.999999940226,0.000218822305461,-0.000267380238452,1.31185905643e-05,1793244805292941568
+80,1.333333333,BASELINE,765,745,714,679.417540273,658.582459727,634,879,786,805,652,631,652,0.400975776141,-0.00535711480171,0.0698345810356,0.999999940429,0.000218941987084,-0.000266507049946,1.34340798587e-05,1793244805309608192
+81,1.350000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400976662987,-0.00535734726673,0.069835387808,0.999999940384,0.00022033744317,-0.000265493113707,1.40191808603e-05,1793244805326275072
+82,1.366666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400975577768,-0.005356291511,0.0698342749047,0.999999939945,0.000220548750144,-0.000266975351598,1.38680416118e-05,1793244805342941696
+83,1.383333333,BASELINE,765,744.837854382,714,680,658,634.162145618,879,786,805,652,631,652,0.400974759625,-0.00535569761071,0.0698335916431,0.999999939691,0.000220586071858,-0.000267900041675,1.37280445906e-05,1793244805359608320
+84,1.400000000,BASELINE,765,744.262937433,714,680,658,634.737062567,879,786,805,652,631,652,0.400974621374,-0.00535627944771,0.0698340021126,0.999999939915,0.000220180482311,-0.000267405392116,1.3616412115e-05,1793244805376274944
+85,1.416666667,BASELINE,765,744.319433129,714,680,658,634.680566871,879,786,805,652,631,652,0.400975608196,-0.00535724442463,0.069835126736,0.999999940657,0.00021862413219,-0.000265906330641,1.35389336738e-05,1793244805392941568
+86,1.433333333,BASELINE,765,744.908085588,714,680,658,634.091914412,879,786,805,652,631,652,0.400977543232,-0.00535853231316,0.0698368532507,0.999999941828,0.000216097917158,-0.000263560747407,1.34902403759e-05,1793244805409608192
+87,1.450000000,BASELINE,765,744.511440985,714,680,658,634,879,786,805,652,631,652,0.400976947262,-0.00535845444737,0.0698364111908,0.999999941438,0.000216885597888,-0.000264390415474,1.35058338573e-05,1793244805426275072
+88,1.466666667,BASELINE,765,744.067445555,714,680,658,634,879,786,805,652,631,652,0.400976160292,-0.00535822189071,0.0698357400231,0.999999940879,0.000218091399447,-0.000265504358369,1.35915901185e-05,1793244805442941696
+89,1.483333333,BASELINE,765,744.64577557,714,680,658,634,879,786,805,652,631,652,0.400977474002,-0.0053587318341,0.0698363729028,0.999999941245,0.000217819597585,-0.00026432117011,1.4118708539e-05,1793244805459608320
+90,1.500000000,BASELINE,764.777874377,745,714,680,658,634,878.777874377,786,805,652,630.777874377,652,0.400977177934,-0.00535820429757,0.0698361324737,0.999999940934,0.000218857367152,-0.00026462441983,1.43655385555e-05,1793244805476275200
+91,1.516666667,BASELINE,764.204653933,745,714,680,658,634,878.204653933,786,805,652,630.204653933,652,0.400974337429,-0.00535603690592,0.0698345116807,0.999999939547,0.000221965063389,-0.000267277154011,1.41693408083e-05,1793244805492942592
+92,1.533333333,BASELINE,764.37899621,745,714,680,658,634,878.37899621,786,805,652,630.37899621,652,0.400974162313,-0.00535542594912,0.0698342615915,0.999999939278,0.000222731902592,-0.000267657105793,1.39428812301e-05,1793244805509609472
+93,1.550000000,BASELINE,764.968437707,745,714,680,658,634,878.968437707,786,805,652,630.968437707,652,0.400975467206,-0.00535567923396,0.0698347726132,0.999999939636,0.000222198934019,-0.00026677504957,1.36996181418e-05,1793244805526275840
+94,1.566666667,BASELINE,765,745,714,679.451253263,658,634,878.451253263,786,805,652,630.451253263,652,0.400975695382,-0.00535755121403,0.0698351355096,0.999999940435,0.000219483010828,-0.000266023368704,1.37602867176e-05,1793244805542942208
+95,1.583333333,BASELINE,765,745,714,679.127717988,658.127717988,634,878,785.872282012,805,652,630.127717988,652,0.400975928666,-0.00535882395135,0.0698354140954,0.999999941057,0.000217313635423,-0.000265464253702,1.37776710111e-05,1793244805559608576
+96,1.600000000,BASELINE,765,745,714,679.703806801,658.703806801,634,878,785.296193199,805,652,630.703806801,652,0.400976393735,-0.00535767147024,0.0698354261183,0.999999940996,0.000217496556396,-0.000265555271742,1.35827345404e-05,1793244805576275200
+97,1.616666667,BASELINE,765,745,714,680,658.714499933,634,878.285500067,785.285500067,805,652,631,652,0.40097647621,-0.00535713777461,0.0698355095639,0.999999941057,0.000217356377524,-0.000265447100161,1.34180578096e-05,1793244805592941824
+98,1.633333333,BASELINE,765,745,714,680,658.126875916,634,878.873124084,785.873124084,805,652,631,652,0.400976153813,-0.00535725889471,0.0698356685909,0.999999941248,0.000216874285583,-0.000265128140686,1.32854027718e-05,1793244805609608192
+99,1.650000000,BASELINE,765,745,714,680,658.453755962,634,878.546244038,786,805,652,631,652,0.40097616443,-0.00535698304576,0.069835785315,0.999999940978,0.000218172113308,-0.000265070072504,1.3494308216e-05,1793244805626275328
+100,1.666666667,BASELINE,765,745,714,680,658.967630812,634,878.032369188,786.032369188,805,652,631,652,0.400976167688,-0.00535665447845,0.0698357893367,0.999999940569,0.000219846481416,-0.000265215025568,1.3773135637e-05,1793244805642942464
+101,1.683333333,BASELINE,765,745,714,680,658.390586275,634,878.609413725,786.609413725,805,652,631,652,0.400974504022,-0.00535727822934,0.0698340929313,0.999999939997,0.000219609390586,-0.000267567336754,1.36458724821e-05,1793244805659609344
+102,1.700000000,BASELINE,765,745,714,680,658,634,878.81482568,786.81482568,805.18517432,652,631,652,0.400973883199,-0.00535751749545,0.0698332830381,0.999999939811,0.000219245522295,-0.000268563975115,1.35567893683e-05,1793244805676275712
+103,1.716666667,BASELINE,765,745,714,680,658,634,878.241754715,786.241754715,805.758245285,652,631,652,0.400975446888,-0.00535695135629,0.0698343301795,0.999999940442,0.00021861608507,-0.000266720797482,1.35476844767e-05,1793244805692942080
+104,1.733333333,BASELINE,765,745,714.342042318,680,658,634,878.342042318,786,805.657957682,652,631,652,0.400975778185,-0.00535696537596,0.0698349659677,0.999999940564,0.000219052047782,-0.000265897012022,1.37027150423e-05,1793244805709608704
+105,1.750000000,BASELINE,765,745,714.933666006,680,658,634,878.933666006,786,805.066333994,652,631,652,0.40097521023,-0.00535740272574,0.0698353015998,0.999999940315,0.000220265411241,-0.000265817056246,1.39775119345e-05,1793244805726275328
+106,1.766666667,BASELINE,765,745,714.487045016,679.487045016,658,634,879,786,805,652,631,652,0.400974184351,-0.00535729352731,0.0698344821142,0.99999994006,0.000219543475233,-0.000267374442953,1.38199902265e-05,1793244805742941952
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.400974569985,-0.00535713290798,0.0698342707676,0.999999939774,0.000220876927086,-0.000267372750843,1.3334992864e-05,1793244805785773568
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.400975590162,-0.00535769857728,0.0698349106355,0.999999940369,0.000218923475677,-0.000266747987245,1.33829623123e-05,1793244805802441216
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,651.835948525,0.400976250247,-0.00535790876518,0.069835334517,0.999999940821,0.000217468607039,-0.000266244361704,1.33858128911e-05,1793244805819108352
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,651.255566134,0.400975996488,-0.00535721681016,0.069835210267,0.999999940916,0.000217279044631,-0.000266048160998,1.32741605157e-05,1793244805835774464
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.675930948,658,634,879,786.324069052,805,652,630.675930948,651,0.400976685968,-0.00535714647841,0.0698359917221,0.999999941158,0.00021767723386,-0.00026480485739,1.33809390644e-05,1793244805852440832
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.0968837,658,634,879,786.9031163,805,652,630.0968837,651,0.400978117593,-0.00535756524117,0.069837485788,0.999999941512,0.000218537867294,-0.000262737691077,1.36595795201e-05,1793244805869107200
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.480006624,679.960013248,658.480006624,634.480006624,878.519993376,787,805,652,630.480006624,651.480006624,0.400977209132,-0.00535821824827,0.0698366692513,0.999999941398,0.000217166610186,-0.000264300217121,1.37386935938e-05,1793244805885773824
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.942677806,680.942677806,658.942677806,634.942677806,878.057322194,786.942677806,805.057322194,652,631,652,0.400976259952,-0.00535879787556,0.06983564128,0.999999941238,0.00021559150512,-0.000266187298716,1.37614026928e-05,1793244805902440448
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.357454596,680.357454596,658.357454596,634.357454596,878.642545404,786.357454596,805.642545404,652,631,652,0.400979266072,-0.0053582682553,0.06983694187,0.999999941581,0.000216269174066,-0.00026434663263,1.3633878759e-05,1793244805919107328
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.77342676,658,634,879,786,805.77342676,652,631,652,0.400990183793,-0.00535810130006,0.0698419901186,0.999999943435,0.000217087777459,-0.000256541906433,1.37765020899e-05,1793244805935774208
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.191274968,658,634,879,786,805.191274968,652,631,652,0.401013517786,-0.00535850350255,0.0698529198518,0.999999947457,0.000218127559857,-0.000239377328958,1.43430880007e-05,1793244805952441088
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.386158253,658,634,879,786.386158253,805,652,631,652,0.401055831257,-0.00536013725193,0.0698686075875,0.999999953799,0.00021781453659,-0.000211493656193,1.51292274084e-05,1793244805969107456
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.961282499,658,634,879,786.961282499,805,652,631,652,0.40110743231,-0.00536237365707,0.069886623646,0.999999960455,0.000216839519704,-0.000178364607649,1.60228050465e-05,1793244805985773824
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.463172693,805,652,631,652,0.401168079876,-0.00536286448129,0.0698993769208,0.999999962974,0.000215805255762,-0.000165031230735,1.56770077146e-05,1793244806002440192
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.885351402,658,634,879.114648598,786,805,652,631,652,0.401231796781,-0.00536343940637,0.0699098407118,0.999999965026,0.000214664155279,-0.000153757310439,1.50458232202e-05,1793244806019106816
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.298274399,658,634,879.701725601,786,805,652,631,652,0.401305470749,-0.0053648800658,0.0699124356056,0.999999966677,0.000213100438679,-0.000145081949604,1.3607277399e-05,1793244806035773440
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.286649755,658,634,879.713350245,786,805,652,631,652,0.401388896557,-0.00536574822632,0.0699131724147,0.999999967348,0.000212300924507,-0.000141760228319,1.16754564115e-05,1793244806052440064
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.869350418,658,634,879.130649582,786,805,652,631,652,0.40148239403,-0.00536602511181,0.0699119901998,0.99999996706,0.00021229067615,-0.00014396772858,9.23418256955e-06,1793244806069106944
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.554547449,786,805,652,631,651.554547449,0.401597096808,-0.00536901733101,0.0699106126324,0.999999966931,0.000210820496203,-0.000147119060474,6.99068635477e-06,1793244806085773824
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.020094907,745,714,680,658,634,878.020094907,786,805,652,631,651.020094907,0.40171887393,-0.00537274228823,0.0699093574795,0.999999966888,0.000208848165423,-0.000150278565355,4.77426361561e-06,1793244806102440960
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.607362354,745,714,680,658,634,878.607362354,786,805,652,631,651.607362354,0.401867342927,-0.00537499859248,0.0699131509972,0.999999968412,0.000204611971575,-0.000145969575998,1.70863682451e-06,1793244806119107328
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.808034538,744.808034538,714,680,658,634,878.808034538,786,805.191965462,652,631,652,0.402027859561,-0.00537709618252,0.0699167748172,0.999999969994,0.000200212847148,-0.000141152424604,-1.76919513758e-06,1793244806135773952
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.22880642,744.22880642,714,680,658,634,878.22880642,786,805.77119358,652,631,652,0.402212680552,-0.00537887358926,0.0699200562963,0.99999997172,0.000195485034277,-0.000135310130058,-6.07859125851e-06,1793244806152440576
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.349364594,714,680,658,634,878.698729188,786,805.650635406,652,631,652,0.402416784528,-0.00538276731864,0.0699218587283,0.999999973471,0.00018867654258,-0.000131704829392,-1.06486505119e-05,1793244806169107200
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.926845433,714,680,658,634,879.853690866,786,805.073154567,652,631,652,0.402633479273,-0.00538804289281,0.0699226954226,0.999999975197,0.000180509479303,-0.000129560164548,-1.53889091654e-05,1793244806185774080
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.498387815,786,805,652,631,652,0.402895903476,-0.00539338381499,0.0699268783435,0.999999978284,0.000169801248455,-0.000118991096534,-2.09878880008e-05,1793244806202440704
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.403168868166,-0.00539831535434,0.0699320449742,0.999999981153,0.000160128995874,-0.000106508952634,-2.66107251254e-05,1793244806219107328
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.40346746064,-0.00540049957681,0.0699404801328,0.99999998275,0.000159669426479,-8.94939883097e-05,-3.1573055745e-05,1793244806235774464
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.40378111387,-0.0054043987277,0.0699462617804,0.999999984191,0.000154712769703,-7.94995852481e-05,-3.69093390618e-05,1793244806252441344
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.404114407585,-0.0054105342904,0.0699485830241,0.999999985641,0.000143891530016,-7.86605899497e-05,-4.27332880889e-05,1793244806269107712
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.411710426,634,878.588289574,786,805,652,631,652,0.404480644629,-0.00541820162692,0.069952141648,0.999999993576,6.90822932264e-05,-7.5848445659e-05,-4.81921895161e-05,1793244806285774080
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.986463294,634,878.013536706,786,805,652,631,652,0.404859927634,-0.00542647556475,0.0699561902897,0.999999995476,-3.10669854405e-05,-7.22549092294e-05,-5.35065270084e-05,1793244806302440704
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.560081844,745,714,680,658.439918156,634,878.560081844,786,805.560081844,652,631,652,0.405286968221,-0.00542610005184,0.0699599556526,0.999999995843,5.44399180353e-05,-6.28075452227e-05,-3.74962789476e-05,1793244806319107072
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.861713062,745,714,680,658,634,879,786,805.861713062,652,631,652,0.405719426649,-0.0054268271766,0.0699622142785,0.999999990927,0.000119341785638,-5.65448047473e-05,-2.65696673321e-05,1793244806335773440
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.268323723,745,714,680,658,634,879,786,805.268323723,652,631,652,0.406165924111,-0.00543186967561,0.0699595367179,0.999999992374,0.000101695072929,-6.12273422721e-05,-3.40660551234e-05,1793244806352440064
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.31550806,745,714,680,658.31550806,634,878.68449194,786,805,652,631,652,0.406627917602,-0.00544053210273,0.0699484029324,0.999999992851,7.91176740448e-05,-8.08086306349e-05,-3.88371754036e-05,1793244806369106944
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.89145067,745,714,680,658.89145067,634,878.10854933,786,805,652,631,652,0.407102702261,-0.00545218258198,0.069930288998,0.999999991419,5.24702628809e-05,-0.000112688018833,-4.13587380171e-05,1793244806385774080
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.06713413,744.533567065,714,680,658.533567065,634,878.466432935,786,805,652,630.533567065,652,0.407645595474,-0.00546958936551,0.0699250876754,0.999999992138,3.91119735118e-05,-0.000112452985398,-3.93643815721e-05,1793244806402441216
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+146,2.433333333,POSE1_TO_POSE2_PRESS,764.616587689,744,714,679.383412311,658.616587689,634,879,785.383412311,805,651.383412311,630,652,0.408848266267,-0.00551461815783,0.0699431601502,0.999999997053,-1.74427388001e-05,-6.56366760858e-05,-3.57871426651e-05,1793244806435774208
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.396709403,714,679.198354701,658.801645299,634,879,785.198354701,805,651.198354701,630.198354701,652,0.409475969446,-0.00552957146933,0.0699538750138,0.999999997597,-4.0781258089e-05,-4.30180973969e-05,-3.59556112233e-05,1793244806452441088
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.585868043,714,679.792934021,658.207065979,634,879,785.792934021,805,651.792934021,630.792934021,652,0.410082587265,-0.00552289626433,0.069948495831,0.999999997808,-2.30980025746e-05,-4.91692157833e-05,-3.7862654746e-05,1793244806469108224
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.624679398,714,679.624679398,658.375320602,634,879,786,805.375320602,652,631,652,0.410719278879,-0.00552866543001,0.0699455383371,0.99999999717,-3.2096686193e-05,-5.56913009941e-05,-3.90853981122e-05,1793244806485774848
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.04880797,714,679.04880797,658.95119203,634,879,786,805.95119203,652,631,652,0.411372040266,-0.00554108418774,0.0699438748614,0.999999995723,-5.53527409804e-05,-6.24116103922e-05,-3.99424887836e-05,1793244806502441472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.474868548,634,879,786,805.474868548,652,630.474868548,651.474868548,0.412107108399,-0.00555215444757,0.0699659444519,0.999999996835,-6.4727505999e-05,-2.38832216076e-05,-3.9626246764e-05,1793244806519107840
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.898126754,679.101873246,658.101873246,634,879,786,805,651.898126754,630.101873246,651.101873246,0.412854644602,-0.00556154860166,0.0699902678726,0.999999996477,-7.2266490997e-05,1.70685132652e-05,-3.91507908938e-05,1793244806535774720
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.307069343,679.692930657,658.692930657,634,879,786,805,651.307069343,630.692930657,651.692930657,0.413625451346,-0.00556349391593,0.0700148604944,0.999999995058,-7.71628846196e-05,4.95360337574e-05,-3.84325565358e-05,1793244806552441344
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.278375602,680,658.721624398,634,879,786,805,651,630.721624398,652,0.414377124081,-0.0055498848793,0.0700140157741,0.999999996293,-6.51680346205e-05,4.01528413093e-05,-3.94210888556e-05,1793244806569107456
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713.857751997,680,658.142248003,634,879,786,805,651,630.142248003,652,0.415108107774,-0.00551945730011,0.0699856662752,0.999999998393,-3.49090925752e-05,-1.44825092069e-05,-4.22551064676e-05,1793244806585773824
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.434858032,658.434858032,634,879,785.565141968,805,651,630,652,0.415861713961,-0.00549833719008,0.0699447988897,0.999999995665,-9.82703827236e-06,-8.02901858697e-05,-4.61136696519e-05,1793244806602440448
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.988816981,659,634,879,785.011183019,805,651.011183019,630,652,0.416624780275,-0.00548088237126,0.0699012156334,0.999999987765,1.27342327571e-05,-0.000147607954888,-5.0195779081e-05,1793244806619106816
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.414616789,659,634,879,785.585383211,805,651.585383211,630,652,0.417493496133,-0.00549547274644,0.0699259832711,0.999999992966,-6.80089556829e-06,-0.000107913770513,-4.87471339081e-05,1793244806635773440
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.164278448,634,879,785.835721552,805,651.835721552,630,652,0.418365992284,-0.0055085050356,0.0699521097307,0.99999999626,-2.4992967686e-05,-6.78198435955e-05,-4.74901674516e-05,1793244806652440320
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.755371941,634,879,785.244628059,805,651.244628059,630,652,0.419248310036,-0.00551748923015,0.0699817665707,0.999999997764,-3.96956180683e-05,-2.66873405208e-05,-4.6731205455e-05,1793244806669107712
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.66120986,634,879,785.33879014,805,651,630.33879014,652,0.420149302698,-0.00552520670654,0.0700071299269,0.9999999976,-4.98929888082e-05,1.37218280028e-05,-4.6071790989e-05,1793244806685774592
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.083210962,634,879,785.916789038,805,651,630.916789038,652,0.421063481072,-0.00553202979385,0.0700294617919,0.999999995909,-5.69093266938e-05,5.36202716326e-05,-4.54826638301e-05,1793244806702441216
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805.49215577,651.49215577,630.50784423,652,0.42194039759,-0.00553110620266,0.0700241813546,0.999999996355,-5.93581375755e-05,3.98140601781e-05,-4.6712373961e-05,1793244806719107584
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.06875919,659,634,879,786,806,652,630.06875919,652,0.422804050944,-0.00552731895974,0.0700054113996,0.999999997056,-5.90663126554e-05,3.6293827603e-06,-4.88441108223e-05,1793244806735773952
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.658076239,659,634,879,786,806,652,630.658076239,652,0.423614734008,-0.00551171489985,0.0699196720681,0.999999988575,-4.38412652615e-05,-0.000133599551183,-5.54890951527e-05,1793244806752440576
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.756899183,659,634,879,785.756899183,806,651.756899183,630.756899183,652,0.424478002853,-0.00550433009393,0.0698688441762,0.999999975713,-3.83119382512e-05,-0.000208499587172,-6.02880876487e-05,1793244806769107200
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.177807175,659,634,879,785.177807175,806,651.177807175,630.177807175,652,0.425413950957,-0.00550830516922,0.0698662675956,0.999999977524,-4.6183127025e-05,-0.000197254477789,-6.25357251519e-05,1793244806785773824
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713.601223794,680,659.398776206,634,879,785.398776206,806,651,630.398776206,652,0.426376562919,-0.00551868899501,0.0699107457623,0.999999988121,-5.67066729608e-05,-0.000130526335265,-5.92098041312e-05,1793244806802440448
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.025752007,680,659.974247993,634,879,785.974247993,806,651,630.974247993,652,0.427350989436,-0.00553191250325,0.0699760736332,0.999999995465,-6.84054631394e-05,-3.9213960472e-05,-5.34142689054e-05,1793244806819107072
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.547221848,680.547221848,660,634,879,786,805.452778152,651,631,652,0.428303482058,-0.00553413585094,0.0700118817677,0.999999996135,-6.9974658839e-05,1.14538704626e-05,-5.19751463027e-05,1793244806835774208
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,786,805.124164464,651.124164464,631,651.875835536,0.429254128162,-0.00553471332115,0.0700400634354,0.999999994773,-7.05439985595e-05,5.32740625434e-05,-5.13795924329e-05,1793244806852440832
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,786,805.716513206,651.716513206,631,651.283486794,0.430201685998,-0.00553102778547,0.0700447025144,0.999999993821,-6.91324954764e-05,6.89121053543e-05,-5.31953484774e-05,1793244806869107200
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681.303166121,659.696833879,634,879,786,806,651.696833879,631,651.303166121,0.431072652865,-0.00552654353304,0.0700036567279,0.999999996387,-6.41909093864e-05,-1.26768831429e-07,-5.57240276375e-05,1793244806885773568
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681.884591127,659.115408873,634,879,786,806,651.115408873,631,651.884591127,0.431873321199,-0.00552132618429,0.0699206794096,0.999999985909,-5.60092605139e-05,-0.000146885755369,-5.8907057254e-05,1793244806902440192
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.539530666,659,634,879.460469334,786,806,651.460469334,631,651.539530666,0.432754508583,-0.00552410326045,0.0698978213871,0.99999998126,-5.95953944491e-05,-0.000174004092873,-6.0425379935e-05,1793244806919106560
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.03564724,659.03564724,634,880,786,806,651.96435276,631,651.03564724,0.433657763619,-0.00552880763272,0.0698945455187,0.999999982352,-6.61757470266e-05,-0.000164794439198,-6.13157655692e-05,1793244806935773184
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681.621212232,659.621212232,634,880,786,806,651.378787768,631,651.621212232,0.434593831878,-0.00553270174773,0.0699636764239,0.999999994165,-7.398910793e-05,-5.2241750437e-05,-5.88790415333e-05,1793244806952440064
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,631,652,0.435523849197,-0.00553652054223,0.0700154054868,0.999999994869,-7.75543846621e-05,3.23263546877e-05,-5.65893162072e-05,1793244806969106944
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,631,652,0.436442782175,-0.00554020136044,0.0700352567433,0.999999993668,-7.33377492564e-05,6.56305111003e-05,-5.45688732779e-05,1793244806985773824
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.363305946,714,682,659.636694054,634,880,786,806,651,631,652,0.437302315505,-0.00554302571971,0.0700274774609,0.99999999334,-7.95547946807e-05,6.25421827565e-05,-5.5494369783e-05,1793244807002440448
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.939704094,714,682,659.060295906,634,880,786,806,651,631,652,0.438127008716,-0.00554534773432,0.0700034918575,0.999999993361,-9.18915750936e-05,3.81083313732e-05,-5.8147767437e-05,1793244807019107072
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.483455497,714,682,659.516544503,634,880,786,806,651,631,652,0.438857403001,-0.00554247441503,0.0699378300946,0.999999992503,-8.25562975761e-05,-6.69601358844e-05,-6.07804878689e-05,1793244807035773440
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.904325217,633.904325217,880,786,806.095674783,651,631,652,0.439571664679,-0.00553855046877,0.0698687701273,0.999999979254,-7.24095009193e-05,-0.000179501775721,-6.34641429853e-05,1793244807052440064
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.313614145,633.313614145,880,786,806.686385855,651,631,652,0.440259456794,-0.00553233095983,0.069807320288,0.999999955509,-7.11644000887e-05,-0.000281967679025,-6.642384453e-05,1793244807069106688
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,785.731030451,807,651.268969549,630.731030451,652,0.441006798701,-0.00553252817895,0.0697927095544,0.999999948285,-7.33271115701e-05,-0.000305893032786,-6.69563331417e-05,1793244807085773568
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,785.157645242,807,651.842354758,630.157645242,652,0.441821538116,-0.00553998775407,0.069831110615,0.999999965733,-7.93467338954e-05,-0.000240927377404,-6.47417391307e-05,1793244807102440448
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682.418937401,658.581062599,633,880,785,807,652,630.418937401,652,0.442564521661,-0.0055433556834,0.0698565839499,0.99999997261,-8.1563234207e-05,-0.000210054374431,-6.3281718343e-05,1793244807119107072
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682.996732534,658.003267466,633,880,785,807,652,630.996732534,652,0.443280296019,-0.0055451720938,0.0698771551972,0.999999976229,-8.23376214564e-05,-0.000192109028903,-6.21078255851e-05,1793244807135773696
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.569493743,745,714,683,658,632.430506257,880,785.569493743,807,652,630.430506257,652,0.443906402255,-0.00554460374541,0.0698376480138,0.999999961367,-8.27880635068e-05,-0.00025795424544,-6.2219722609e-05,1793244807152440320
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,713.851674142,683,658,632,880.148325858,785.851674142,807,651.851674142,630,652,0.444523754008,-0.00554412020257,0.0697973689642,0.99999994245,-8.11511358216e-05,-0.000323399541344,-6.26671268836e-05,1793244807169106944
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,713.254379143,683,658,632,880.745620857,785.254379143,807,651.254379143,630,652,0.445116150489,-0.0055439344114,0.0697557877674,0.999999920694,-7.32015036278e-05,-0.000386191901051,-6.41079477738e-05,1793244807185773824
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.339966972,745,713.330016514,683,658,632,880.669983486,785,806.669983486,651,630,652,0.445708414351,-0.00554715532302,0.0697283783316,0.999999905436,-7.52722066318e-05,-0.000423184798499,-6.61521456314e-05,1793244807202440448
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.190313505,745,713.904843248,683,658,632,880.095156752,785,806.095156752,651,630,652,0.4463005798,-0.00555290336776,0.069711481681,0.999999896793,-8.47761154214e-05,-0.000441039341456,-6.864393581e-05,1793244807219106816
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.481226229,745.481226229,714,683,657.518773771,632,880.481226229,785,806,651.481226229,630,652,0.446836770701,-0.00555815322332,0.069702327404,0.999999885481,-9.79926019039e-05,-0.000463509012824,-6.77842223723e-05,1793244807235774208
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.941099484,745.941099484,714,682.941099484,657,631.941099484,880.941099484,784.941099484,806,651.941099484,630,652,0.447356527382,-0.00556278014012,0.0696931982184,0.9999998727,-0.000109173520265,-0.000488132317756,-6.63983992354e-05,1793244807252441088
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.354624171,745.354624171,714,682.354624171,657,631.354624171,880.354624171,784.354624171,806,651.354624171,630,652,0.447828542919,-0.00556271259452,0.0696705363854,0.999999856036,-9.55248920324e-05,-0.000523845223682,-6.62554594879e-05,1793244807269107968
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.230233222,745,714,682.230233222,657,631,880,784.230233222,806,651,630,652,0.448307450644,-0.00556317042956,0.0696599718258,0.999999847415,-9.16131560159e-05,-0.00054081238423,-6.55615584361e-05,1793244807285774592
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.812615897,745,714,682.812615897,657,631,880,784.812615897,806,651,630,652,0.448796900159,-0.00556443185193,0.0696679104548,0.99999985271,-0.000102594325402,-0.000529107294566,-6.40249436662e-05,1793244807302440960
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.610104816,683,657,631,880.389895184,784.610104816,806.389895184,651,630,652,0.449265872665,-0.00556286150257,0.0696799625289,0.999999862721,-0.00010391015536,-0.00050961259156,-6.36789154864e-05,1793244807319107584
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713.035246484,683,657,631,880.964753516,784.035246484,806.964753516,651,630,652,0.449725131085,-0.00555994778354,0.0696939659891,0.999999874591,-0.000100640826749,-0.000486422557237,-6.38976918757e-05,1793244807335773952
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.535070642,713.535070642,683,656.464929358,631,881,783.464929358,807,651,630,652,0.45008930916,-0.00555865031389,0.0696813385685,0.99999986511,-9.81654595815e-05,-0.000505767041484,-6.59099858007e-05,1793244807352440576
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.890481883,713.890481883,683,655.890481883,630.890481883,880.890481883,783,807,651.109518117,630,652,0.450435275469,-0.00555817805738,0.069662901498,0.999999850443,-9.73894389236e-05,-0.000533838400805,-6.81563257383e-05,1793244807369107456
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.296449026,713.296449026,683,655.296449026,630.296449026,880.296449026,783,807,651.703550974,630,652,0.45072814748,-0.00556088954272,0.0696264577541,0.999999819082,-0.000103901996307,-0.00058822671479,-7.09198241664e-05,1793244807385774080
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.290878587,713.290878587,683,655.290878587,630,880.290878587,783,806.709121413,652,630.290878587,652,0.451018072868,-0.00556430025406,0.0695975004865,0.999999792226,-0.000111202658568,-0.000630922859974,-7.15362365952e-05,1793244807402440704
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.87152649,713.87152649,683,655.87152649,630,880.87152649,783,806.12847351,652,630.87152649,652,0.451305062852,-0.00556840752473,0.0695760011478,0.999999771331,-0.000119288420019,-0.000661971422212,-7.0013750908e-05,1793244807419107328
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.552830475,714,683,655.552830475,630,881,783,806.447169525,651.552830475,630.552830475,652,0.451581325781,-0.00557097441614,0.069569351159,0.999999769312,-0.000113947111296,-0.000666530117401,-6.42571804246e-05,1793244807435773952
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,683,655,630,880.978123524,783,807,651,630,652,0.451852911243,-0.00557302542183,0.069567024196,0.999999772676,-0.0001050979849,-0.000663537673876,-5.76169034847e-05,1793244807452440320
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,683,655,630,880.390857981,783,807,651,630,652,0.452082379011,-0.00557305467387,0.0695673843496,0.999999775081,-0.000104186578453,-0.000659905913793,-5.92287527641e-05,1793244807469106944
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,713.806165952,683,654.806165952,629.806165952,880,782.806165952,807,651,630,651.806165952,0.452296368186,-0.00557394330089,0.0695654499132,0.999999773844,-0.000105609549353,-0.000661443666719,-6.04216558496e-05,1793244807485773568
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.514206428,713.514206428,683.485793572,653,629,880.514206428,782,806.514206428,651.485793572,629,652,0.453687334131,-0.00557522065618,0.0695401992985,0.999999740949,-0.000123184220664,-0.000706556485285,-6.08686936035e-05,1793244808528105984
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.638585333,683.361414667,653,629,880,782,806.638585333,652,629.638585333,652,0.453684868178,-0.00557467273224,0.0695388045126,0.999999740652,-0.000120303061868,-0.000707502168175,-6.05333917565e-05,1793244808561439232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.784950629,745,714,683,653,629,880.215049371,782,807,652,630,652,0.45367687746,-0.00557454461069,0.0695348024474,0.999999736595,-0.000120806525757,-0.000713118011417,-6.065032905e-05,1793244808578106112
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.37901055,745.37901055,713.62098945,683.37901055,653,628.62098945,881,782,807,652,630,652,0.453632182237,-0.00557387351443,0.0695162043153,0.99999971441,-0.000122946998318,-0.000743150089261,-6.15722615911e-05,1793244808611439104
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.967364267,745.967364267,713.032635733,683.967364267,653,628.032635733,881,782,807,652,630,652,0.453598030182,-0.00557242153817,0.0695036669796,0.999999698778,-0.000121017428321,-0.000764172191649,-6.19575102653e-05,1793244808628105472
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.873367855,746,713.126632145,683,653.873367855,629,880.873367855,782,806.873367855,651.873367855,629.126632145,652,0.453472072136,-0.00557048747368,0.0694693193066,0.999999663607,-0.000119129366082,-0.00080918483732,-6.1759132374e-05,1793244808661438720
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.299095528,746,713.700904472,683,653.299095528,629,880.299095528,782,806.299095528,651.299095528,629.700904472,652,0.453392489684,-0.00556719142814,0.0694576206154,0.999999648942,-0.000119041707156,-0.000827098026437,-6.20786907908e-05,1793244808678105344
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.549101906,745,713.450898094,683,653,629,880.450898094,782,806.549101906,652,629.549101906,652,0.453117080765,-0.0055607291578,0.0694482276307,0.999999639855,-0.000111319176649,-0.000839369915003,-5.79331724613e-05,1793244808728106496
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.607234278,653.607234278,629,881,782,806.607234278,652,629,652,0.452853988854,-0.00555626734332,0.0694415837788,0.999999632237,-0.000108573034133,-0.00084900490565,-5.41180992294e-05,1793244808761439488
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,684,653.816026281,629,880.816026281,782,807,652,629.183973719,652,0.452693660407,-0.00555212373962,0.0694356710711,0.999999624804,-0.000104923449135,-0.000858300865171,-5.19824930116e-05,1793244808778105856
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.342551263,713.657448737,683.657448737,653.342551263,629,880.342551263,782,807,652,630,652,0.452320334794,-0.00554188536401,0.0694292282713,0.999999614122,-9.24284044516e-05,-0.000872417996533,-4.58319288634e-05,1793244808811439104
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.931934479,713.068065521,683.068065521,653.931934479,629,880.931934479,782,807,652,630,652,0.452122079698,-0.00553562833484,0.0694287142299,0.999999612978,-8.37278805855e-05,-0.000874788781845,-4.21683986472e-05,1793244808828105472
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.48744601,713.51255399,683.51255399,654,629,881,782,806.48744601,652,630,652,0.45188754717,-0.00553187885939,0.0694292143634,0.999999612297,-7.90687429097e-05,-0.000876172251522,-3.84193759482e-05,1793244808844772608
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.817602948,654,629,880.908801474,782.091198526,806.091198526,651.908801474,629.908801474,652,0.451641637258,-0.00552799798513,0.069429949699,0.999999611704,-7.39416987521e-05,-0.000877460712335,-3.44482922334e-05,1793244808861439488
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.669113775,654,629,880.334556888,782.665443112,806.665443112,651.334556888,629.334556888,652,0.451360553069,-0.00552168703082,0.0694312294613,0.999999611292,-6.35414868205e-05,-0.000878928726624,-2.93601516862e-05,1793244808878106112
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.760095588,682.239904412,654,629,880,782.760095588,807,651.239904412,629.239904412,652,0.451062816614,-0.00551478951293,0.0694348068004,0.999999613803,-5.19115823198e-05,-0.000876996625369,-2.39990904022e-05,1793244808894772736
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.783071055,683,656,631,880.216928945,784.783071055,806.216928945,652,630.216928945,652,0.445155270095,-0.00548730726591,0.0695498878239,0.999999749191,2.2410586923e-05,-0.000707791496211,1.21205003476e-05,1793244809111439104
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744.983513432,713.983513432,681.983513432,658.016486568,633,879.016486568,785.016486568,806,652,630.983513432,652,0.428265628095,-0.00540423592409,0.0697235547893,0.999999898938,0.000138690597873,-0.000427129679459,2.11975330396e-05,1793244809461438720
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.561307354,633.561307354,879,785.561307354,806,651.438692646,631,652,0.427411973718,-0.0054074815464,0.0697953155294,0.999999938834,0.000142318971124,-0.000318440249608,2.59627583159e-05,1793244809478105344
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.861853075,659,634,879.138146925,786,806,651,631,652,0.426546265612,-0.00540970492582,0.0698526390208,0.999999961714,0.000145018567127,-0.000233730606507,3.02092880892e-05,1793244809494771968
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.286796273,659,634,879.713203727,786,806,651,631,652,0.425636936864,-0.00540848881745,0.0698578736484,0.999999961829,0.000143889241899,-0.000233668430149,3.2209254504e-05,1793244809511438592
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.711065157,634,879.711065157,786,806,651.288934843,631,652,0.424722323621,-0.00540596190038,0.0698477683163,0.999999957867,0.000144063567918,-0.00025000495537,3.17620781162e-05,1793244809528105472
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.134663187,634,879.134663187,786,806,651.865336813,631,652,0.423802452783,-0.00540213083325,0.0698224009473,0.999999949045,0.000145534922922,-0.000282656880756,2.88801896419e-05,1793244809544772096
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879.454670152,786,806,652,631,652,0.422798170573,-0.00539748461311,0.069760960044,0.999999909453,0.000155767711794,-0.000395100512592,2.6953653087e-05,1793244809561438720
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.953546388,658.046453612,634,879.953546388,785.953546388,806,651.953546388,631,651.953546388,0.421781195243,-0.00539341195343,0.0696943893193,0.999999850736,0.000166757857665,-0.000519687390741,2.53925901603e-05,1793244809578105344
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.19576938,659,634,879,785.19576938,806,651,631,651.19576938,0.420079373484,-0.00540391847875,0.069724159305,0.999999888431,0.000145979770745,-0.000448551231497,2.5100694114e-05,1793244809611439104
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.769671823,659,634,879,785.769671823,806,651,631,651.769671823,0.419314796617,-0.00540905451366,0.0698106451783,0.999999942765,0.000137464660294,-0.000307901955399,2.77303227395e-05,1793244809628106752
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.646814861,634,879.353185139,786,806,651.353185139,631,652,0.418526479889,-0.00540818289059,0.0698608174634,0.999999962253,0.00014418504648,-0.000231742854909,3.16353421905e-05,1793244809644773632
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.056858563,634,879.943141437,786,806,651.943141437,631,652,0.417722248282,-0.00540328380404,0.0698866455413,0.999999966594,0.00016111913182,-0.000198817219375,3.63953687078e-05,1793244809661440256
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.475593177,658,634,879.475593177,786,805.475593177,651.475593177,631,652,0.416846272025,-0.00539763266703,0.0698502205687,0.999999954713,0.000169467540147,-0.000246472991192,3.32556383672e-05,1793244809678106880
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.104023988,651.104023988,631,652,0.415971990657,-0.00539310708135,0.0698103626737,0.999999939413,0.000174373663276,-0.000299804607114,2.97660113845e-05,1793244809694773504
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744.7452723,714,680,658,634,879,786,805.7452723,652,631,652,0.414321742725,-0.00539103256045,0.0697608676014,0.999999911249,0.000169124676208,-0.000384881094979,2.76726106717e-05,1793244809728107264
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.173377096,714,680,658,634,879,786,805.173377096,652,631,652,0.413520065534,-0.00538306223963,0.0697380396404,0.999999888331,0.000180255866734,-0.000436001863113,2.73448452378e-05,1793244809744774144
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.415886265,713.584113735,680.415886265,658,634,879,786,805,652,631,652,0.412826730836,-0.00537693056087,0.0697645390447,0.999999907234,0.000190258408798,-0.000385463746972,2.74087966282e-05,1793244809761441024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.012237009,680.987762991,658.012237009,634,879,786,805,652,631,652,0.412180321653,-0.00537171983748,0.069812391265,0.999999937293,0.000199534706606,-0.000291260328915,2.76916514617e-05,1793244809778107392
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.587037529,680.412962471,658.587037529,634,879,786,805,652,631,652,0.411524289563,-0.00537207389268,0.0698553115494,0.999999955103,0.000197997389672,-0.000222887090767,3.02034938944e-05,1793244809794774016
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.837771234,714,680,658.837771234,634,879,785.837771234,805,652,631,651.837771234,0.410860094521,-0.00537059323815,0.069879728418,0.999999962148,0.000199768713442,-0.000186501973123,3.18463485994e-05,1793244809811440640
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.261582881,714,680,658.261582881,634,879,785.261582881,805,652,631,651.261582881,0.410175069909,-0.00536443094981,0.0698569300792,0.999999950613,0.000209982706192,-0.000231741017677,3.12718057408e-05,1793244809828107008
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.320900952,714,680,658,634,879,785.320900952,805,652,631,651.320900952,0.409513290392,-0.00535770873472,0.0698227511317,0.999999932856,0.000219514995121,-0.000291995845102,2.8960633565e-05,1793244809844773376
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.908619211,714,680,658,634,879,785.908619211,805,652,631,651.908619211,0.408870838355,-0.00535052096155,0.0697791096294,0.999999907065,0.000228480471222,-0.000364735738586,2.52055181172e-05,1793244809861439232
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.510537093,634,879.489462907,786,805.489462907,652,631,651.510537093,0.408285185617,-0.00535011263664,0.0697694458359,0.999999904653,0.000227398957886,-0.000372046857733,2.37716246026e-05,1793244809878106112
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.6462627,633.3537373,879.3537373,785.3537373,805.3537373,652,631,651.6462627,0.407187521964,-0.00537368636813,0.069792999164,0.99999992341,0.000203400955539,-0.000333450076539,2.48844068734e-05,1793244809911440128
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.222722902,745,714,680,658,633.222722902,879,785.222722902,805,652,631,652,0.406671782014,-0.00538987184581,0.0698062362887,0.999999931775,0.00018386199102,-0.000319315919883,2.61066732979e-05,1793244809928107008
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.797582424,745,714,680,658,633.797582424,879,785.797582424,805,652,631,652,0.406175553461,-0.0053993885279,0.069802885449,0.999999931318,0.000163686462445,-0.000331470394732,2.64367133799e-05,1793244809944773632
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.617904902,745,714,680,658,634,878.617904902,786,805,652,631,652,0.405718264912,-0.00539338923188,0.0697991995961,0.999999926376,0.000173194492273,-0.000341439249676,2.59181031194e-05,1793244809961439744
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.028145804,745,714,680,658,634,878.028145804,786,805,652,631,652,0.405282139733,-0.00537895719293,0.0697953316673,0.999999918594,0.000198835170092,-0.000350220247994,2.49382618263e-05,1793244809978105856
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.55146929,786,805,652,631,652,0.40491021164,-0.00538045632263,0.0698150390393,0.999999932193,0.000194673670319,-0.000311578388599,2.5216606611e-05,1793244809994772224
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.870889124,634,879,786,805,651.870889124,631,652,0.404544827414,-0.0053813804699,0.0698334905616,0.999999943432,0.00019095742112,-0.000275727148422,2.54148693721e-05,1793244810011439104
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.298280136,634,879,786,805,651.298280136,631,652,0.404190869902,-0.00537758700373,0.0698435697521,0.9999999477,0.000193901038509,-0.000257625535772,2.51214533584e-05,1793244810028105984
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634,879,786,805,651.872931556,631,652,0.403536357154,-0.00537254185522,0.0698394566745,0.999999944772,0.00020491552665,-0.000260596704708,2.35777600751e-05,1793244810061439232
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634,879,785.545435928,805,652,630.545435928,652,0.403240093263,-0.00537135985156,0.069831169915,0.999999941284,0.000202940345092,-0.000275171304987,2.29634381577e-05,1793244810078105856
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.033595584,634,878.966404416,785,805,652,630.033595584,652,0.402951601033,-0.0053701066608,0.0698222576862,0.999999937376,0.000199279582376,-0.000291602596547,2.24361712378e-05,1793244810094772224
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.608520015,634,878.391479985,785,805,652,630.608520015,652,0.402692888973,-0.00536375849389,0.0698119156303,0.999999930409,0.000205530951561,-0.000310581513163,2.18702632778e-05,1793244810111438848
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.183713244,785.183713244,805,652,630.816286756,652,0.40244894847,-0.00536002495878,0.0698037741358,0.999999925013,0.000208862965041,-0.000325378617507,2.18816600497e-05,1793244810128105472
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.759480029,785.759480029,805,652,630.240519971,652,0.402236531265,-0.0053618711837,0.0698003287542,0.999999923658,0.000205964922158,-0.000331251516488,2.31250549931e-05,1793244810144772096
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.655572552,634,879,786,805,652,630.344427448,652,0.402049311727,-0.00536021709093,0.0697989090686,0.999999922278,0.000208506907901,-0.000333737318727,2.42471924534e-05,1793244810161438720
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.064038505,634,879,786,805,652,630.935961495,652,0.401880170024,-0.00535605172463,0.0697989427012,0.999999920869,0.000214951796513,-0.000333793077256,2.52823348712e-05,1793244810178105600
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.001150157,658,634,879.001150157,785.998849843,805.998849843,652,631,651.001150157,0.401168824529,-0.00536266283044,0.0698008653485,0.999999927121,0.000206195931474,-0.000321183222057,9.06487851036e-06,1793244810294772224
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.275544338,634,879,785.724455662,804.724455662,652,631,652,0.401051611712,-0.00535870724973,0.0698090052106,0.999999929642,0.000210401114259,-0.000310325978971,1.20881271644e-05,1793244810344772608
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.482208005,714,680,657.517791995,634,878.482208005,786,805,652,631,652,0.400996514102,-0.00535771500262,0.069815421055,0.999999932393,0.00021420884234,-0.000298591779415,1.3072315014e-05,1793244810394772224
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6855308f6e6c7af08f400815b064e931d54ab5ce
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b9197a1175b246514aedc0d7c939b416f1d5f6b4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bf0e36a9ae14eb8518ce884ca4c19e8b192924d9bcc158b192870d229566223
+size 25846254
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7c12dd45e717b5c9e54148bb99ef812e2af2bdbf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+5,0.083333333,BASELINE,765,745,714,680,658,634,879,786,804.090454516,652,631,652,0.40097419511,-0.00536167744373,0.0698306038443,0.999999940402,0.00021037119102,-0.00027343209139,1.32158847592e-05,1793244811039128832
+6,0.100000000,BASELINE,765,745,714,680.483246793,658,634,879,786,804.483246793,652,631,652,0.400974082918,-0.00536053563697,0.0698301106505,0.999999939409,0.000214009063493,-0.000274242292355,1.31807195403e-05,1793244811055795456
+7,0.116666667,BASELINE,765.058189172,745,714.058189172,680.941810828,658,634,879,786,805,652,631,652,0.400973991834,-0.00535887777413,0.0698296813487,0.999999938324,0.000217905888626,-0.000275133742314,1.30491155869e-05,1793244811072462592
+8,0.133333333,BASELINE,765.650299632,745,714.650299632,680.349700368,658,634,879,786,805,652,631,652,0.400974886789,-0.00535833667668,0.0698309378881,0.99999993904,0.000216231994011,-0.000273840594585,1.32444555275e-05,1793244811089129216
+9,0.150000000,BASELINE,765.762691989,745,714.762691989,680,658.237308011,634.237308011,879,786,805,652.237308011,631,652,0.400975223293,-0.00535858833776,0.0698314768485,0.999999939477,0.000214891204453,-0.000273290603681,1.33825933801e-05,1793244811105795584
+10,0.166666667,BASELINE,765.18304391,745,714.18304391,680,658.81695609,634.81695609,879,786,805,652.81695609,631,652,0.400974754175,-0.00535998363077,0.0698309806307,0.999999939518,0.000214030951735,-0.000273812689453,1.34382115966e-05,1793244811122462208
+11,0.183333333,BASELINE,765,745,714,680,658.606118168,634.606118168,879,786,805,652.606118168,631,652,0.400973745868,-0.00536000152007,0.0698300179055,0.999999939235,0.000213794951274,-0.000275033191657,1.33417805142e-05,1793244811139128576
+12,0.200000000,BASELINE,765,745,714,680,658.03044881,634.03044881,879,786,805,652.03044881,631,652,0.400972488711,-0.00535938369899,0.0698288398739,0.999999938801,0.000213847060685,-0.000276576032702,1.31751744156e-05,1793244811155795200
+13,0.216666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400972795239,-0.00535941590619,0.0698292086349,0.999999939035,0.000213246590545,-0.000276216358385,1.26457682096e-05,1793244811172462080
+14,0.233333333,BASELINE,765,745,714,680,658,634,879,786,805.119361888,652,631,652,0.400973272064,-0.00535955314405,0.0698298417045,0.999999939337,0.000212761869974,-0.00027551414134,1.22962850547e-05,1793244811189129216
+15,0.250000000,BASELINE,765,745,714,680,658,634,879,786,805.711752817,652,631,652,0.400974077696,-0.00535996275245,0.0698311798889,0.999999939756,0.000212880291463,-0.000273875497697,1.27401284265e-05,1793244811205795840
+16,0.266666667,BASELINE,765,745,714,680,658,634,879,786,806,652,631,652,0.400974109444,-0.00535992315227,0.0698314806867,0.999999939652,0.000213947716901,-0.000273412507536,1.29594443251e-05,1793244811222462720
+17,0.283333333,BASELINE,765,745,714,680,658,634,879,786,806,652,631,652,0.400973407758,-0.00535945782216,0.0698307983186,0.999999939051,0.000215914544952,-0.000274063723402,1.29659680391e-05,1793244811239129088
+18,0.300000000,BASELINE,765,744.547682129,714,679.547682129,658,634,879,786,805.547682129,652,631,652,0.400974508793,-0.0053592439703,0.0698312827506,0.999999939452,0.000215737315438,-0.000272738174726,1.29071684415e-05,1793244811255796224
+19,0.316666667,BASELINE,765.024430319,744.024430319,714,679.024430319,658,634.024430319,879,786,805,652,631,652,0.400976010226,-0.00535917448405,0.0698320176428,0.999999940084,0.000214977152684,-0.000271019351493,1.28469445587e-05,1793244811272463360
+20,0.333333333,BASELINE,765.615271875,744.615271875,714,679.615271875,658,634.615271875,879,786,805,652,631,652,0.400975800029,-0.00536091831825,0.0698314430961,0.999999940006,0.000213778395557,-0.000272238808087,1.31521048894e-05,1793244811289129472
+21,0.350000000,BASELINE,765.797689005,745,714,680,658,634.797689005,879,786,805,652,631,652,0.400975486065,-0.00536188970211,0.0698311624673,0.999999939953,0.000213016821159,-0.000273020299958,1.32989846903e-05,1793244811305795840
+22,0.366666667,BASELINE,765.217747518,745,714,680,658,634.217747518,879,786,805,652,631,652,0.400974978413,-0.00536141924223,0.0698314304611,0.999999939954,0.000213071285242,-0.00027298429369,1.31504205318e-05,1793244811322462720
+23,0.383333333,BASELINE,765,745,714,680,658,634,879,786,804.640106408,652,631,652,0.400974034321,-0.00535999354813,0.0698307820202,0.99999993949,0.000213953394487,-0.000274011160776,1.27379978885e-05,1793244811339129088
+24,0.400000000,BASELINE,765,745,714,680,658,634,879,786,804.063848209,652,631,652,0.400972827845,-0.00535799357626,0.0698295826275,0.999999938743,0.000215333076142,-0.000275677017217,1.21669460172e-05,1793244811355795712
+25,0.416666667,BASELINE,765,745,714,680,658,634,879,786,804.510196979,652,631,652,0.400973914217,-0.00535894006047,0.0698298967232,0.999999938792,0.000215893505844,-0.000275041460506,1.25757464436e-05,1793244811372462592
+26,0.433333333,BASELINE,764.913394469,745,714,680,658,634,879,786,805,652,631,652,0.400974843088,-0.00536002205708,0.0698302429868,0.999999938956,0.000215899729684,-0.000274418087119,1.30231890006e-05,1793244811389129216
+27,0.450000000,BASELINE,764.321590873,745,714,680,658,634,879,786,805,652,631,652,0.400973186643,-0.00535975289857,0.0698296768109,0.999999939213,0.000213268568269,-0.000275538573958,1.29838342648e-05,1793244811405795584
+28,0.466666667,BASELINE,764.263789073,745,714,679.736210927,658,634,879,786,805.263789073,652,630.736210927,652,0.400972556838,-0.0053595612593,0.0698295640602,0.999999939254,0.000212516324629,-0.000275971678667,1.29764627656e-05,1793244811422462208
+29,0.483333333,BASELINE,764.841523944,745,714,679.158476056,658,634,879,786,805.841523944,652,630.158476056,652,0.400973148876,-0.00535946187877,0.0698299909487,0.999999939043,0.000214000255429,-0.00027558670268,1.30071557826e-05,1793244811439128832
+30,0.500000000,BASELINE,765,745,714,679.41693433,658,634,879,785.58306567,805.58306567,652,630.41693433,652,0.400974996147,-0.00535882057488,0.0698308596354,0.999999939276,0.000215755840892,-0.000273350776332,1.33202937904e-05,1793244811455795456
+31,0.516666667,BASELINE,765,745,714,679.991466067,658,634,879,785.008533933,805.008533933,652,630.991466067,652,0.400977317884,-0.00535797442887,0.0698318953178,0.999999939665,0.000217614109327,-0.000270415207486,1.37401934508e-05,1793244811472462080
+32,0.533333333,BASELINE,765,744.431952931,714,680,658,634,879,785.568047069,805,652,631,652,0.40097504849,-0.00535853087727,0.0698308714131,0.999999938961,0.000217627427046,-0.000273013177662,1.33886465966e-05,1793244811489128960
+33,0.550000000,BASELINE,765,744.148460536,714,680,658,634,879,786,805,652,631,652,0.400973543571,-0.00535903197327,0.0698301715533,0.999999938548,0.000217438140126,-0.000274689474134,1.30630474104e-05,1793244811505795840
+34,0.566666667,BASELINE,765,744.740225406,714,680,658,634,879,786,805,652,631,652,0.400974528082,-0.00535930463878,0.0698305320214,0.999999939068,0.000216726937663,-0.00027336451377,1.28496603511e-05,1793244811522462720
+35,0.583333333,BASELINE,765,744.675387156,714,680,658,634,879,786,805,652,631,652,0.400974040442,-0.00535970904316,0.0698304712555,0.999999939264,0.000215203880354,-0.000273849076414,1.28944763405e-05,1793244811539129344
+36,0.600000000,BASELINE,765,744.096772322,714,680,658,634,879,786,805,652,631,652,0.40097240088,-0.00536021653018,0.069830080884,0.999999939201,0.000213045565461,-0.000275749548521,1.31413301782e-05,1793244811555795712
+37,0.616666667,BASELINE,765.478164547,744.478164547,714,680,658.478164547,634,879,786,805,652,631,652,0.400972636452,-0.00535941677715,0.0698302156269,0.999999939045,0.000214791428622,-0.000274955555459,1.31940988429e-05,1793244811572462336
+38,0.633333333,BASELINE,765.94638902,745,714,680,659,634.05361098,879,785.94638902,805,652,631,652,0.400973200674,-0.00535848790253,0.0698304175041,0.999999938908,0.000216908571816,-0.00027378929472,1.31898719856e-05,1793244811589129216
+39,0.650000000,BASELINE,765.358502518,745,714,680,659,634.641497482,879,785.358502518,805,652,631,652,0.400973287046,-0.00535888868203,0.0698302374063,0.9999999392,0.000214911565715,-0.000274306090018,1.30061032471e-05,1793244811605795584
+40,0.666666667,BASELINE,765,745,714,680,658.773562893,634.773562893,879,785.226437107,805,652,631,652,0.400973949646,-0.00536003439036,0.0698307317521,0.999999939927,0.000212622578876,-0.000273437624206,1.30242123031e-05,1793244811622462464
+41,0.683333333,BASELINE,765,745,714,680,658.193228958,634.193228958,879,785.806771042,805,652,631,652,0.400975512826,-0.00536234434224,0.0698322801809,0.999999941327,0.000209877257687,-0.000270404144324,1.33578346372e-05,1793244811639129088
+42,0.700000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400976524908,-0.00536179540084,0.0698327371859,0.999999941414,0.000210711939727,-0.000269443895022,1.31613704159e-05,1793244811655795968
+43,0.716666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400977261904,-0.00535981940223,0.0698326493912,0.999999940844,0.000213333631249,-0.000269518528268,1.27003059607e-05,1793244811672462848
+44,0.733333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400976716897,-0.00535968810903,0.0698325306448,0.99999994068,0.00021377590854,-0.000269755789605,1.30969003657e-05,1793244811689129216
+45,0.750000000,BASELINE,765,745,714,680,658,634,879,786,805.130137368,652,631,652,0.400975897718,-0.00535958384315,0.0698321414877,0.999999940401,0.000214198647228,-0.000270437909264,1.34101581871e-05,1793244811705795584
+46,0.766666667,BASELINE,765,745,714,680,658,634,879,786,805.708909833,652,631,652,0.400974463296,-0.00535909799639,0.0698308280836,0.999999939617,0.000215114924184,-0.000272611777764,1.32153939553e-05,1793244811722462208
+47,0.783333333,BASELINE,765,745,714.287609323,679.712390677,658,634,878.712390677,786,805.712390677,652,631,652,0.400973674,-0.00535904575834,0.0698300180271,0.999999939343,0.000214890802986,-0.000273806255854,1.29242295492e-05,1793244811739128832
+48,0.800000000,BASELINE,765,745,714.866235044,679.133764956,658,634,878.133764956,786,805.133764956,652,631,652,0.400973537473,-0.00535943226555,0.0698297172808,0.999999939587,0.00021351277437,-0.000274009741749,1.25355229703e-05,1793244811755795456
+49,0.816666667,BASELINE,764.557838909,745,714.557838909,679.442161091,657.557838909,634,878.442161091,786,805,652,630.557838909,652,0.400974105649,-0.00535874753536,0.0698304534289,0.999999939625,0.000214741328514,-0.000272914988441,1.24105401596e-05,1793244811772462080
+50,0.833333333,BASELINE,764.017673352,745,714,680,657.017673352,634,878.982326648,786,805,652.017673352,630.017673352,652,0.400974846342,-0.00535782111249,0.0698314697518,0.999999939607,0.000216634743959,-0.000271483539377,1.23721906895e-05,1793244811789129216
+51,0.850000000,BASELINE,764.60603787,745,714,680,657.60603787,634,878.39396213,786,805,652.60603787,630.60603787,652,0.400974315392,-0.00535949144238,0.0698314654045,0.999999939942,0.000214688410478,-0.000271785184581,1.25706758595e-05,1793244811805795840
+52,0.866666667,BASELINE,765,745,714,680,658.191408069,634,878.191408069,786,805,652.808591931,631,652,0.400974081587,-0.00536055227423,0.0698313826318,0.999999940306,0.000212991062931,-0.000271772558914,1.27267388561e-05,1793244811822462720
+53,0.883333333,BASELINE,765,745,714,680,658.770710161,634,878.770710161,786,805,652.229289839,631,652,0.400974449956,-0.00536037794047,0.0698311409277,0.999999940735,0.000211798292743,-0.000271123054164,1.27968320715e-05,1793244811839129088
+54,0.900000000,BASELINE,764.650663843,745,714,680,658.650663843,634,879,786,805,652,631,651.650663843,0.40097551019,-0.00536037780912,0.0698316030369,0.999999940917,0.000211967822799,-0.000270318275266,1.28176290661e-05,1793244811855795712
+55,0.916666667,BASELINE,764.072480774,745,714,680,658.072480774,634,879,786,805,652,631,651.072480774,0.400977023658,-0.00536049179617,0.0698325262078,0.999999940936,0.000213029783298,-0.000269411777722,1.28061325556e-05,1793244811872462080
+56,0.933333333,BASELINE,764.50222352,745,714,680,658.50222352,634,879.50222352,786,805,652,631,651.50222352,0.400976968106,-0.00536049528747,0.069833091741,0.999999940798,0.000214052243337,-0.000269105435685,1.29212527421e-05,1793244811889128960
+57,0.950000000,BASELINE,765,744.92157704,714,680,658.92157704,634,879.92157704,785.92157704,805,652,631,651.92157704,0.400976565502,-0.0053603567373,0.0698334398121,0.999999940606,0.000215027099966,-0.000269036809565,1.30471610231e-05,1793244811905795840
+58,0.966666667,BASELINE,765,744.33239276,714,680,658.33239276,634,879.33239276,785.33239276,805,652,631,651.33239276,0.400975367219,-0.00535939622946,0.0698327054176,0.999999940206,0.000215728792328,-0.000269956174702,1.31251375695e-05,1793244811922462464
+59,0.983333333,BASELINE,765,744.252250413,714,680,658,634,879,785.252250413,805,652,631,651.252250413,0.400975247862,-0.00535925284909,0.0698323211379,0.999999940271,0.000215021296524,-0.000270281718811,1.30940724706e-05,1793244811939129344
+60,1.000000000,BASELINE,765,744.831015622,714,680,658,634,879,785.831015622,805,652,631,651.831015622,0.400976525073,-0.00536016716444,0.0698323900493,0.999999940934,0.000212489737251,-0.000269838616723,1.29218630722e-05,1793244811955796224
+61,1.016666667,BASELINE,765,745,714,680,658,634.407350655,879,786,805,652,631,652,0.400976411792,-0.00536083656955,0.0698326719849,0.999999941141,0.000211614988684,-0.000269754922563,1.30203702744e-05,1793244811972462848
+62,1.033333333,BASELINE,765,745,714,680,658,634.982683505,879,786,805,652,631,652,0.400975725103,-0.00536140497917,0.0698330417669,0.999999941161,0.00021142347152,-0.000269819440127,1.32305148883e-05,1793244811989129472
+63,1.050000000,BASELINE,765,745,714,680,658,634.430500551,879,786,805,652,631,651.430500551,0.400975557321,-0.00536119113473,0.0698323879632,0.99999994089,0.000212196011881,-0.000270228380449,1.30261799907e-05,1793244812005795840
+64,1.066666667,BASELINE,765,745,714,680,658,634,879,785.845678958,805,652,631,651.154321042,0.400975410408,-0.00536080793289,0.0698319427689,0.999999940642,0.000212974073724,-0.000270539308206,1.29418077948e-05,1793244812022462208
+65,1.083333333,BASELINE,765,745,714,680,658,634,879,785.267316612,805,652,631,651.732683388,0.400975276591,-0.00536002607584,0.0698321580701,0.999999940483,0.000213685102229,-0.000270551549396,1.32224101789e-05,1793244812039129088
+66,1.100000000,BASELINE,765,745,714,680,658.310789907,634,878.689210093,785.310789907,805,652,631,652,0.40097483633,-0.00536026813486,0.0698320811958,0.999999940606,0.000212573787962,-0.00027096743787,1.33096242751e-05,1793244812055795712
+67,1.116666667,BASELINE,765,745,714,680,658.888676535,634,878.111323465,785.888676535,805,652,631,652,0.400974132708,-0.00536139016015,0.0698317532223,0.999999940966,0.000209896329558,-0.000271730225851,1.32306380512e-05,1793244812072462336
+68,1.133333333,BASELINE,765,745,714,680,658.536320823,634,878,786,805,652,631,652,0.400975192642,-0.00536045088322,0.069832251241,0.999999940806,0.000212160351609,-0.000270573437042,1.29116023146e-05,1793244812089129984
+69,1.150000000,BASELINE,765,745,714,680,657.960988048,634,878,786,805,652,631,652,0.400976526271,-0.00535906350626,0.0698328581684,0.999999940488,0.000215475453289,-0.000269138915122,1.25751113201e-05,1793244812105797632
+70,1.166666667,BASELINE,765,745,714,680,657.371282057,634,878,786,805,652,631,652,0.400975783522,-0.00535829347122,0.0698322204041,0.99999993986,0.000216984074008,-0.000270249290863,1.28007398987e-05,1793244812122464000
+71,1.183333333,BASELINE,765,744.78518249,714,680,657.21481751,634,878,786,805.21481751,652,631,651.78518249,0.400974917822,-0.00535825433203,0.0698318998682,0.999999939707,0.000216575049559,-0.00027113550253,1.28843635044e-05,1793244812139130112
+72,1.200000000,BASELINE,765,744.205213113,714,680,657.794786887,634,878,786,805.794786887,652,631,651.205213113,0.400973843125,-0.00535945758672,0.0698321185646,0.99999994036,0.000212906366886,-0.000271640674999,1.27266037454e-05,1793244812155796480
+73,1.216666667,BASELINE,765,744.371945546,714,680,658,634,878.743891091,786,805.628054454,652.371945546,631,651.371945546,0.400973364001,-0.00536003408021,0.0698317013222,0.999999940304,0.000211990125694,-0.000272558197657,1.27909933345e-05,1793244812172462848
+74,1.233333333,BASELINE,765,744.947565045,714,680,658,634,879.89513009,786,805.052434955,652.947565045,631,651.947565045,0.400973211007,-0.00536026736497,0.0698309358455,0.999999939864,0.000212581096319,-0.000273701519451,1.29770298693e-05,1793244812189129472
+75,1.250000000,BASELINE,765,745,714,679.477126408,658,634,878.954252816,786,805,652.477126408,631,652,0.400974059824,-0.00536115564191,0.0698315166294,0.999999940203,0.000212507478667,-0.000272519754356,1.29188671744e-05,1793244812205796096
+76,1.266666667,BASELINE,765,745,714,679.100775354,658,634,878.100775354,786,805,652,631,652,0.400974843617,-0.00536195047437,0.0698322109975,0.999999940591,0.000212308274533,-0.00027125112091,1.29115953327e-05,1793244812222463232
+77,1.283333333,BASELINE,765,745,714,679.691434593,658,634,878.691434593,786,805,652,631,652,0.400974823239,-0.005361971949,0.0698328016201,0.99999994084,0.000211822361524,-0.000270692983522,1.32706846422e-05,1793244812239129856
+78,1.300000000,BASELINE,765,745,714,680,658.276502246,634,879,786,805,652,631,652,0.400975232514,-0.00536169090788,0.0698333002371,0.999999941184,0.000211297982948,-0.00026982421147,1.34273150519e-05,1793244812255796480
+79,1.316666667,BASELINE,765,745,714,680,658.855453563,634,879,786,805,652,631,652,0.400976111763,-0.0053610789631,0.0698336982148,0.99999994163,0.00021073152925,-0.000268615654993,1.33624879011e-05,1793244812272463104
+80,1.333333333,BASELINE,765,745,714,680,658.570759133,634,879,786,805.429240867,652,631,652,0.400976620183,-0.0053606936405,0.0698338223532,0.999999941506,0.000211691748046,-0.000268326838956,1.32468216358e-05,1793244812289129728
+81,1.350000000,BASELINE,765.001353362,745.001353362,714,680,657.998646638,634,879,786.001353362,805.998646638,652,631.001353362,652,0.400977004767,-0.0053603827144,0.0698338555676,0.999999941192,0.000213157395138,-0.000268343069014,1.31138945915e-05,1793244812305796352
+82,1.366666667,BASELINE,765.592398134,745.592398134,714,680,657.407601866,634,879,786.592398134,805.407601866,652,631.592398134,652,0.400977195956,-0.00535963124184,0.0698339736849,0.999999941233,0.000213505058067,-0.000267926297588,1.28309645755e-05,1793244812322462976
+83,1.383333333,BASELINE,765.820122217,745.820122217,714,679.820122217,657.179877783,634,879.179877783,786.820122217,805.179877783,652,631.640244434,652,0.400976381232,-0.00535941786307,0.0698333788964,0.999999940938,0.000213859677226,-0.000268747447716,1.2788368679e-05,1793244812339129344
+84,1.400000000,BASELINE,765.240563995,745.240563995,714,679.240563995,657.759436005,634,879.759436005,786.240563995,805.759436005,652,630.481127991,652,0.400973331414,-0.00536040010465,0.0698312000627,0.999999939886,0.000214229752877,-0.000272319204427,1.32797844585e-05,1793244812355795968
+85,1.416666667,BASELINE,765,745,714,679.336359415,658,634,879.32728117,786,805.663640585,652,630.336359415,652,0.400973156531,-0.00535992818869,0.0698311665931,0.999999939653,0.000214878077958,-0.000272664154376,1.32683735403e-05,1793244812372462848
+86,1.433333333,BASELINE,765,745,714,679.911413023,658,634,878.177173955,786,805.088586977,652,630.911413023,652,0.400975021816,-0.00535842434389,0.0698326555603,0.999999940004,0.000215723860021,-0.000270719232027,1.29001365094e-05,1793244812389129728
+87,1.450000000,BASELINE,765,745,714,680,658,634,878.485950145,786,805,652,630.514049855,651.514049855,0.400975464435,-0.00535969632626,0.0698329411447,0.999999940817,0.000213618706881,-0.000269383351405,1.2850035831e-05,1793244812405796352
+88,1.466666667,BASELINE,765,745,714,679.937681326,657.937681326,634,879,786,805,652,630,651.062318674,0.400975746305,-0.0053612368503,0.0698330219081,0.9999999416,0.000211325070564,-0.000268283507673,1.28970235279e-05,1793244812422462720
+89,1.483333333,BASELINE,765,745,714,679.344923818,657.344923818,634,879,786,805,652,630,651.655076182,0.400976865083,-0.00536076057038,0.0698332245472,0.999999941461,0.000212001092115,-0.000268248723293,1.32772859826e-05,1793244812439129088
+90,1.500000000,BASELINE,765,745,714,679.24219752,657.24219752,634,879,786,805,652,630.24219752,652,0.400976929269,-0.00536063999893,0.0698330613332,0.999999941246,0.000212705322853,-0.000268489462151,1.33491800904e-05,1793244812455795456
+91,1.516666667,BASELINE,765,745,714,679.821474639,657.821474639,634,879,786,805,652,630.821474639,652,0.400975525722,-0.00536101448655,0.0698323889416,0.999999940924,0.000213448813812,-0.000269113661843,1.29919009899e-05,1793244812472462336
+92,1.533333333,BASELINE,765,745,714,679.602315856,658,634,878.602315856,786,805,652,631,651.602315856,0.400975324226,-0.00536063696697,0.0698325685981,0.99999994077,0.000213708460311,-0.000269482035727,1.29516713418e-05,1793244812489128960
+93,1.550000000,BASELINE,765,745,714,679.02747285,658,634,878.02747285,786,805,652,631,651.02747285,0.400975658214,-0.00535992444604,0.0698331278219,0.999999940691,0.000213752565635,-0.00026973644533,1.30526796804e-05,1793244812505795584
+94,1.566666667,BASELINE,765,745,714,679.559309984,658,634,878,786,805,652,631,651.559309984,0.400976446522,-0.00535986309249,0.0698337783592,0.999999940872,0.000214247330479,-0.000268663216186,1.32094714388e-05,1793244812522462464
+95,1.583333333,BASELINE,765,745,714,679.855280127,658.144719873,634,878.144719873,786,805,652,631,652,0.400976448231,-0.00536006717133,0.0698338202482,0.999999940879,0.00021436689942,-0.0002685424038,1.31685728637e-05,1793244812539129600
+96,1.600000000,BASELINE,765,745,714,679.275794992,658.724205008,634,878.724205008,786,805,652,631,652,0.40097401835,-0.00536097047383,0.0698320198767,0.999999940323,0.000213291359296,-0.000271483011136,1.25253648744e-05,1793244812555796224
+97,1.616666667,BASELINE,765,745,714,679,658.697687363,634,879,786,805,652,631,652,0.400973567388,-0.00536126797551,0.0698314949833,0.999999940108,0.000213424953027,-0.000272177209383,1.24107409323e-05,1793244812572462592
+98,1.633333333,BASELINE,765,745,714,679,658.120830746,634,879,786,805,652,631,652,0.400974913573,-0.00536101532158,0.0698321284103,0.999999940205,0.000214656616772,-0.000270831340255,1.27761484632e-05,1793244812589128960
+99,1.650000000,BASELINE,765,745,714,679,658,634,879,786,805,652,630.542348279,652,0.400974180147,-0.00536028574083,0.0698323447269,0.999999940283,0.000214168866133,-0.000270920458398,1.29603916233e-05,1793244812605795584
+100,1.666666667,BASELINE,765,745,714,679.036993578,658,634,879,786,805,652,630.036993578,651.963006422,0.400973040154,-0.00535942589976,0.0698324252319,0.999999940359,0.000213340586425,-0.000271289737376,1.30553575247e-05,1793244812622462208
+101,1.683333333,BASELINE,765,745,714,679.622692703,658,634,879,786,805,652,630.622692703,651.377307297,0.400974042827,-0.00535850833711,0.0698321305949,0.999999940479,0.000214218854512,-0.000270174879664,1.25381124199e-05,1793244812639128832
+102,1.700000000,BASELINE,765,744.793778427,714,679.793778427,658,634,878.793778427,786,804.793778427,652,631,651.206221573,0.400975031375,-0.00535789355607,0.0698323526606,0.999999940574,0.000214965152468,-0.000269242646475,1.22674141366e-05,1793244812655795456
+103,1.716666667,BASELINE,765,744.214179009,714,679.214179009,658,634,878.214179009,786,804.214179009,652,631,651.785820991,0.400975994349,-0.00535782698131,0.0698335102507,0.999999940624,0.000215472509648,-0.000268641067226,1.2443105293e-05,1793244812672462848
+104,1.733333333,BASELINE,765,744.362872248,714,679.362872248,658,634,878,786,804.362872248,652,631,652,0.400975912758,-0.00535825209799,0.0698333133345,0.999999940539,0.000215185272142,-0.000269182081094,1.26039186804e-05,1793244812689129728
+105,1.750000000,BASELINE,765,744.93843004,714,679.93843004,658,634,878,786,804.93843004,652,631,652,0.400975218929,-0.00535896540332,0.0698323225194,0.999999940372,0.000214432309337,-0.000270392787999,1.27560119732e-05,1793244812705796096
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,879,786,805,652,631,652,0.400972867792,-0.00535783438115,0.069830653281,0.999999939467,0.000215845678781,-0.000272625543161,1.22925203842e-05,1793244812736720640
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744.594555515,714,680,658.594555515,634,879,786,805,652,631,652,0.400974639224,-0.00535900779168,0.0698328154751,0.999999940096,0.000216126320906,-0.000270071157934,1.26038199331e-05,1793244812753387776
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.81648045,634,879,786,805,652,631,652,0.400976038746,-0.00535976997494,0.06983405881,0.999999940537,0.000216249213863,-0.00026832137045,1.28543541776e-05,1793244812770054912
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.239504158,634,879,786,805,652,631,652,0.400976640911,-0.00535965050769,0.0698333321573,0.999999940589,0.000216033900547,-0.000268296599834,1.29746107049e-05,1793244812786721280
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.663802673,658,634,879,786,805,652,631,652,0.400976553706,-0.0053596757236,0.0698328783274,0.999999940858,0.000214100433743,-0.000268845557643,1.29078814421e-05,1793244812803387648
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.089005954,658,634,879,786,805,652,631,652,0.400975977254,-0.00535980362123,0.06983261812,0.999999941273,0.000210947592657,-0.000269801690769,1.27084482735e-05,1793244812820054272
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,713.502161003,679.497838997,658,634,878.502161003,786,805,652,631,652,0.400975829809,-0.00535975107443,0.0698333130679,0.999999941022,0.000212641813048,-0.000269398922994,1.27693355587e-05,1793244812836721152
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,713.08555562,680,658,634,878,786,805,652,630.91444438,652,0.400975618827,-0.00535980066225,0.0698338142568,0.99999994065,0.000214726714929,-0.000269124290025,1.28513355262e-05,1793244812853387776
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713.665552493,680,658,634,878,786,805,652,630.334447507,652,0.400974586397,-0.00536063156857,0.0698321843084,0.999999940305,0.000213937106178,-0.000271029048275,1.27797081947e-05,1793244812870054144
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.243696012,786,805,652,630.243696012,652,0.400975848165,-0.00536091334288,0.0698323725221,0.999999940543,0.000213130974885,-0.000270783897985,1.28318998828e-05,1793244812886721024
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.819315148,786,805,652,630.819315148,652,0.400980234716,-0.00536044717869,0.069835037141,0.999999941571,0.000212302339338,-0.000267610491335,1.30527377333e-05,1793244812903387648
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.605012725,658,634.394987275,879,786,805,652,631,652,0.401002130053,-0.00536127475222,0.0698451111932,0.999999946049,0.000211313256923,-0.000251131706015,1.3476765262e-05,1793244812920054272
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.029316303,658,634.970683697,879,786,805,652,631,652,0.401032035768,-0.00536269421881,0.0698585751075,0.999999951678,0.000210250768902,-0.000228565626464,1.39937533515e-05,1793244812936720640
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.546084369,745,714,679.546084369,658,635,879,786,805.546084369,652,630.453915631,652,0.401085157724,-0.00536335206532,0.0698767838395,0.999999958094,0.000211878021565,-0.000196754945252,1.43782275834e-05,1793244812953387264
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.874420328,745,714,680,658,634.874420328,878.874420328,786,805.874420328,652,630.125579672,652,0.4011419535,-0.00536404180251,0.0698938428425,0.999999962982,0.00021301472271,-0.000168659521199,1.46441871866e-05,1793244812970054144
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.279564416,745,714,680,658,634.279564416,878.279564416,786,805.279564416,652,630.720435584,652,0.401207822962,-0.0053650034196,0.0699056540947,0.999999965255,0.000211778988222,-0.000156301142723,1.44938415165e-05,1793244812986720768
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.303738418,786,805,652,631,652,0.401280877262,-0.00536591897291,0.0699135703046,0.999999967142,0.000210900661227,-0.000145094281666,1.35974230091e-05,1793244813003387648
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.87679727,786,805,652,631,652,0.401360302251,-0.00536679368208,0.0699180328366,0.999999968706,0.000210339242328,-0.000134908455085,1.20394725882e-05,1793244813020054528
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.450501416,879,786,805,652,630.549498584,652,0.401448779209,-0.00536959518155,0.0699149514502,0.999999968743,0.000207292644183,-0.000139449571132,9.83188649545e-06,1793244813036720896
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.974804382,879,786,805,652,630.025195618,652,0.401541085833,-0.00537285619523,0.0699099538932,0.999999968298,0.000203687109035,-0.000147851282075,7.43487044998e-06,1793244813053387264
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.381780197,879,786,805,652,630.618219803,652,0.401663830473,-0.00537458068355,0.0699083344439,0.999999967813,0.000202823907818,-0.000152361034463,4.77838038867e-06,1793244813070053888
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.793954817,786,805,652,631,652,0.401800206506,-0.00537636538945,0.0699089536788,0.999999968149,0.000201645189638,-0.000151784789344,1.82458618315e-06,1793244813086720768
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.215525273,786,805,652,631,652,0.401961218472,-0.00537825892605,0.0699136188761,0.999999969935,0.000199896239424,-0.000142016647568,-1.66652392811e-06,1793244813103387648
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.359985326,786,805,652,630.640014674,652,0.402139683138,-0.00538084511521,0.0699175700249,0.999999971755,0.000195375740608,-0.000135231240283,-5.48622512133e-06,1793244813120054272
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.933762447,786,805,652,630.066237553,652,0.402328512809,-0.00538384266419,0.0699210971076,0.999999973577,0.000189209245774,-0.000130217249162,-9.50107370648e-06,1793244813136721152
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.477088269,714,679.477088269,658,634,878.477088269,785.477088269,804.477088269,652,630,652,0.402548918518,-0.00538720195769,0.0699216559585,0.999999975196,0.000181668058947,-0.000128022644231,-1.46366126777e-05,1793244813153387776
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.111391967,714,679.111391967,658,634,878.111391967,785.222783934,804.111391967,652,630,652,0.402780858702,-0.00539084502557,0.0699223615821,0.999999976824,0.000173867776102,-0.000125398017934,-1.99206418151e-05,1793244813170054400
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.688683203,714,679.688683203,658,634,878.688683203,786.377366406,804.688683203,652,630,652,0.403043806395,-0.005395477529,0.0699253012922,0.999999978816,0.000165734190553,-0.000119435858448,-2.52140081368e-05,1793244813186720768
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,657.733902653,634,879,786.733902653,805,651.733902653,630.266097347,652,0.403329462969,-0.0054007126285,0.0699307618657,0.999999981169,0.000157830274569,-0.000108763348986,-3.03783656381e-05,1793244813203387648
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,657.156344683,634,879,786.156344683,805,651.156344683,630.843655317,652,0.403641699734,-0.00540665305211,0.06993917305,0.999999983809,0.000150195181822,-9.25774871228e-05,-3.53917210584e-05,1793244813220054272
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,657.427637277,634,879,786,805,651.427637277,630.572362723,652,0.40397222224,-0.00541191777307,0.069945999373,0.999999986426,0.000137237173488,-8.16006774015e-05,-4.06907824841e-05,1793244813236720896
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.986183702,714.013816298,680,658,634,879,785.986183702,805,652,630.013816298,652,0.404310921677,-0.00541697203494,0.0699521891101,0.999999989038,0.00012050171038,-7.26487021891e-05,-4.61068015156e-05,1793244813253387520
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.407662678,714.592337322,680,658,634,879,785.407662678,805,652,630.592337322,652,0.404706421113,-0.00542367534497,0.0699564038285,0.999999995922,3.0126051034e-05,-6.74305806884e-05,-5.19687472284e-05,1793244813270054400
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.169807563,714.830192437,679.830192437,658,634,879,785.169807563,805,652,630.830192437,652,0.405109301029,-0.00542829364068,0.0699592773808,0.999999996731,-5.48283158531e-06,-6.28234773316e-05,-5.06049869935e-05,1793244813286721024
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.744770585,714.255229415,679.255229415,658,634,879,785.744770585,805,652,630.255229415,652,0.405529790479,-0.0054279371574,0.0699589509529,0.999999993695,8.95800913868e-05,-5.96742453656e-05,-3.20009212641e-05,1793244813303387392
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,879,786,805,652,630.321473936,651.678526064,0.405968806999,-0.00543100596024,0.06995611913,0.999999990448,0.000119593107374,-6.33962384401e-05,-2.79746985057e-05,1793244813320054016
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,879,786,805,652,630.89956658,651.10043342,0.406422612918,-0.00543680902045,0.0699512873589,0.999999991961,9.76796135075e-05,-7.26032325301e-05,-3.55853339317e-05,1793244813336720640
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.513490232,745,714,679.486509768,658,634,879,786,805.486509768,652,631,651.486509768,0.406897385741,-0.00544675868641,0.0699361836226,0.999999992237,6.80633278172e-05,-9.67356123902e-05,-3.91917455763e-05,1793244813353387264
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.074186206,745,714,679.925813794,658,634,879,786,805.925813794,651.925813794,630.925813794,652,0.407391019267,-0.00545968066881,0.0699219353714,0.999999991458,3.84814373952e-05,-0.000117947314442,-4.11245350051e-05,1793244813370054144
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.654174394,745,714,679.345825606,658,634,879,786,805.345825606,651.345825606,630.345825606,652,0.407983187978,-0.0054869234971,0.0699282453465,0.99999999431,2.01764943279e-05,-9.78493185394e-05,-3.73868760478e-05,1793244813386721536
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.230386827,658,634,878.769613173,786,805,651.230386827,630.230386827,652,0.40858428987,-0.0055092506498,0.0699376077498,0.999999996583,-2.99866519296e-06,-7.46001137403e-05,-3.54845906375e-05,1793244813403388672
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.801022961,658,634,878.198977039,786,805,651.801022961,630.801022961,652,0.409198584793,-0.00552431803161,0.0699514781649,0.999999997694,-3.33664560646e-05,-4.66970127934e-05,-3.62928969463e-05,1793244813420055808
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.377350622,634,878.377350622,786,805,652,631,652,0.409816082761,-0.00552649607675,0.0699515201551,0.999999997798,-3.32124547853e-05,-4.33009148359e-05,-3.77553059936e-05,1793244813436722432
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.956725366,634,878.956725366,786,805,652,631,652,0.41043529554,-0.00552177349168,0.0699441587507,0.999999997672,-1.67178454088e-05,-5.302525665e-05,-3.95679053369e-05,1793244813453389056
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.452308414,714.547691586,680,659,634,879,785.452308414,805.547691586,652,631,652,0.41108701997,-0.00553544526177,0.0699421253106,0.999999996403,-4.22049935622e-05,-6.20462243117e-05,-3.95348150432e-05,1793244813470054912
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.136386898,714.863613102,680,659,634,879,785.136386898,806,652,630.863613102,652,0.411769788662,-0.00554890803548,0.0699478631671,0.999999995472,-6.58366932898e-05,-5.6229504542e-05,-3.94969325933e-05,1793244813486721024
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.714692165,714.285307835,680,659,634,879,785.714692165,806,652,630.285307835,652,0.412544642808,-0.00555688255189,0.0699773879032,0.999999996573,-7.24760124451e-05,-2.5199441113e-06,-3.99262653047e-05,1793244813503387648
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.291908579,786,806,651.708091421,630.291908579,652,0.41331511781,-0.00556275449419,0.0700032063124,0.999999995374,-7.87902699186e-05,3.86732276549e-05,-3.93479400534e-05,1793244813520054016
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.868064783,786,806,651.131935217,630.868064783,652,0.414081328688,-0.00556657904404,0.0700254156685,0.999999993401,-8.47879976377e-05,6.76785016923e-05,-3.7788402285e-05,1793244813536720640
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786,805.558204513,651.441795487,631,652,0.414807880553,-0.00553745629954,0.0699996077889,0.999999997587,-5.33667049243e-05,1.79179946135e-05,-4.07115944162e-05,1793244813553387264
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786,805.015271567,651.984728433,631,652,0.415524238908,-0.00549926505206,0.0699596229372,0.999999997427,-1.15707590869e-05,-5.46976831323e-05,-4.49383007925e-05,1793244813570053888
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786,805.606308981,651.393691019,631,652,0.416300369829,-0.00548810444252,0.0699228169377,0.999999993114,2.36629549642e-06,-0.000107009324715,-4.81141820487e-05,1793244813586720512
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.193558353,659,634,880,785.806441647,806,651,631,652,0.417115964033,-0.00548653581614,0.0699084838995,0.999999990635,4.58893348754e-06,-0.000127493302887,-4.95461918381e-05,1793244813603387136
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.773250831,659,634,880,785.226749169,806,651,631,652,0.418010284425,-0.00550410246408,0.0699389827048,0.999999995166,-1.65577955343e-05,-8.44835212152e-05,-4.7499311243e-05,1793244813620053760
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.650086992,659,634,879.650086992,785.349913008,806,651,630.650086992,652,0.418894550877,-0.00551502632328,0.0699678721761,0.999999997426,-3.27164842729e-05,-4.34822994744e-05,-4.67595972293e-05,1793244813636720384
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.075371661,659,634,879.075371661,785.924628339,806,651,630.075371661,652,0.419772358121,-0.00552168250871,0.0699957277265,0.999999997852,-4.56705955731e-05,-3.77148279936e-06,-4.68596751004e-05,1793244813653387264
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.51010227,659,634,879,786,806,651.51010227,630.51010227,652,0.420660248058,-0.00552892454166,0.0700171953943,0.999999996899,-5.59912540469e-05,3.03885902592e-05,-4.62971920751e-05,1793244813670053632
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.903751294,659,634,879.096248706,786,806,652,630.903751294,651.903751294,0.421549013149,-0.00553412128883,0.0700313372168,0.999999995555,-6.3377017258e-05,5.24959463153e-05,-4.60168165083e-05,1793244813686720512
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.322400272,659,634,879.677599728,786,806,652,630.322400272,651.322400272,0.422434518283,-0.00552856391663,0.0700134157371,0.99999999702,-5.79740580022e-05,1.80792674195e-05,-4.76623378806e-05,1793244813703387136
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.743795156,786,806,651.743795156,630.256204844,651.256204844,0.423294616015,-0.00551869135091,0.0699638859618,0.999999995528,-5.01900288893e-05,-6.09573968241e-05,-5.20444606292e-05,1793244813720053760
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.168608686,786,806,651.168608686,630.831391314,651.831391314,0.424123080999,-0.00550344625743,0.0698750030423,0.999999978313,-3.94415051461e-05,-0.000195547095746,-5.98337221554e-05,1793244813736720384
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.406168827,659,634,879,786,806,651.406168827,631,652,0.425042433129,-0.00550495407305,0.0698656344685,0.999999977112,-4.16812673176e-05,-0.000200473684374,-6.20479538422e-05,1793244813753387264
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.980776711,659,634,879,786,806,651.980776711,631,652,0.425999476297,-0.00551340935577,0.0698892406643,0.99999998537,-4.93072993615e-05,-0.000151628704621,-6.19502087894e-05,1793244813770053888
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.573493519,634,879,786,805.426506481,651.426506481,631,652,0.42695566727,-0.00552359203222,0.0699483972303,0.999999993623,-6.44328032068e-05,-7.24650334857e-05,-5.78943386827e-05,1793244813786720512
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.162135856,786,805.162135856,651,630.837864144,652,0.427917379776,-0.00553159790639,0.0700012845515,0.99999999572,-7.48739897308e-05,-5.35791705539e-09,-5.435630119e-05,1793244813803387136
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.738759726,786,805.738759726,651,630.261240274,652,0.428893283015,-0.00553388610272,0.070034999367,0.999999994596,-7.26764880057e-05,5.26333246138e-05,-5.24922968197e-05,1793244813820053760
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.31434039,745,714,681,660,634.31434039,880,786,806,651.31434039,630,652,0.429846783741,-0.00553112513529,0.0700447476935,0.999999993993,-6.76804702889e-05,6.82558878865e-05,-5.26707937408e-05,1793244813836720896
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.889056909,745,714,681,660,634.889056909,880,786,806,651.889056909,630,652,0.430781727847,-0.00552418181715,0.0700346439667,0.999999995275,-6.03663708977e-05,5.32170567053e-05,-5.4541146537e-05,1793244813853389056
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.526474295,745,714,681,660,634.526474295,880,786,806.473525705,651.526474295,630.473525705,652,0.431584932922,-0.00552193436242,0.0699624512988,0.999999994182,-5.82613287932e-05,-7.01922112838e-05,-5.7577099843e-05,1793244813870055168
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.059941644,659.940058356,634,880,786,806.940058356,651.059941644,631,652,0.432374373042,-0.00552156250082,0.069886027688,0.999999976502,-5.81092867256e-05,-0.000199867986735,-6.05971689093e-05,1793244813886721024
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.64299051,659.35700949,634,880,786,806.35700949,651.64299051,631,652,0.433318710927,-0.00552775553988,0.0699023005543,0.9999999836,-6.41263142319e-05,-0.00015799221544,-6.10452654084e-05,1793244813903387648
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.445389222,634,879.777305389,786,806,651.777305389,631,652,0.434267287572,-0.0055329297507,0.0699374067042,0.99999999145,-7.04263469175e-05,-9.2405217442e-05,-6.0007006778e-05,1793244813920054272
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.594232069,634,879.202883965,786,806,651.202883965,631,652,0.435222559116,-0.0055364948117,0.0700022583936,0.999999995363,-7.71733622989e-05,1.06316125273e-05,-5.66211789642e-05,1793244813936720640
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.626996855,634,879.373003145,786,806,651.373003145,631,652,0.436147920251,-0.00553886595249,0.0700308465722,0.999999993832,-7.68824804231e-05,5.7913434879e-05,-5.54214114963e-05,1793244813953387264
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660.050309418,634,879.949690582,786,806,651.949690582,631,652,0.437056948275,-0.00554058513397,0.0700396324807,0.999999993025,-7.27484428423e-05,7.47493436432e-05,-5.54153774139e-05,1793244813970054144
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,652,631,652,0.437866928424,-0.0055387282782,0.0700097540965,0.999999994521,-7.53974548298e-05,4.43090713782e-05,-5.75304047502e-05,1793244813986721024
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.874709791,634,880,786,806.125290209,652,631,652,0.438646934127,-0.00553678020481,0.0699664517014,0.999999995165,-7.69349689849e-05,-1.26224057942e-05,-5.99327618182e-05,1793244814003387648
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.294659972,634,880,786,806.705340028,652,631,652,0.439352503703,-0.00553574160511,0.0698878378599,0.999999984294,-7.20850293411e-05,-0.000149307124114,-6.26422081733e-05,1793244814020054272
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633.718166053,880,786,807,651.718166053,631,651.718166053,0.440075753439,-0.00553639480845,0.0698279910428,0.999999964608,-7.34742521996e-05,-0.000247324500351,-6.49295552632e-05,1793244814036720896
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633.145343574,880,786,807,651.145343574,631,651.145343574,0.44081725758,-0.00553879476837,0.0697875208491,0.999999947825,-8.13053004047e-05,-0.000305418527909,-6.6781092965e-05,1793244814053387520
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,786,806.571164422,651,631,651.428835578,0.441620946397,-0.00553956016371,0.0698158046599,0.999999960164,-8.07450673817e-05,-0.000262294717,-6.59803693196e-05,1793244814070054144
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.996400535,633,880,785.996400535,806,651,631,652,0.442444968287,-0.00553977619299,0.0698671551412,0.999999977774,-7.73456473221e-05,-0.000185305274791,-6.42817881449e-05,1793244814086720512
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.401357156,633,880,785.401357156,806,651,631,652,0.443135913413,-0.00554104198452,0.0698675985465,0.999999975403,-7.62242585257e-05,-0.000198461626013,-6.32267261614e-05,1793244814103387136
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682.186964393,658,632.813035607,880,785,806,651.186964393,631,652,0.443805944496,-0.00554146834415,0.0698534842605,0.999999968233,-7.60617182191e-05,-0.000231968494283,-6.27669603192e-05,1793244814120054016
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682.761357052,658,632.238642948,880,785,806,651.761357052,631,652,0.444432637552,-0.00554015523031,0.0698092034761,0.999999947625,-7.78861066173e-05,-0.000307645776479,-6.35407687993e-05,1793244814136721152
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,880,785,806.335705087,652,630.664294913,652,0.445048296414,-0.00554050643843,0.0697688543943,0.99999992803,-7.41635683521e-05,-0.000366337042909,-6.50897996083e-05,1793244814153388032
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,880,785,806.91002137,652,630.08997863,652,0.445656112396,-0.00554204060712,0.0697312998759,0.999999910266,-6.64984064607e-05,-0.000412955048911,-6.71898400426e-05,1793244814170054656
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682.50255664,657.50255664,631.50255664,880,785,806.50255664,652,630,651.50255664,0.446246100549,-0.00555003629492,0.0697165728915,0.999999899938,-8.96429775856e-05,-0.000432942555704,-6.8186279519e-05,1793244814186721280
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713.914111465,682.085888535,657,631,880,785,806,651.914111465,630,651.085888535,0.446823044299,-0.00555770693711,0.0697046429274,0.999999888946,-0.000112296347467,-0.000452511909325,-6.87804610321e-05,1793244814203387904
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.244467632,682.755532368,657,631,880,784.755532368,806,651.244467632,630,652,0.447859474354,-0.00555646007735,0.0696689339844,0.999999853663,-8.95484188595e-05,-0.000529239449723,-6.75257223661e-05,1793244814236720896
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.819938619,682.180061381,657,631,880,784.180061381,806,651.819938619,630,652,0.448367668279,-0.0055576438724,0.0696599302801,0.999999848067,-8.46629568632e-05,-0.000540614983737,-6.65789550609e-05,1793244814253387776
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682.396270545,656.603729455,631,880,784,806.396270545,652,630,652,0.448870183096,-0.00556201865444,0.069667766552,0.999999854122,-9.85096435957e-05,-0.000527033304881,-6.5478681224e-05,1793244814270054912
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682.972994575,656.027005425,631,880,784,806.972994575,652,630,652,0.449370111808,-0.00556784654666,0.0696832714032,0.99999986458,-0.000120886566449,-0.000502086623275,-6.43085035169e-05,1793244814286722048
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.206738811,713.206738811,683,654.793261189,629,880,782.206738811,807,652,630,652,0.452357834569,-0.00557172933326,0.069557813168,0.999999768493,-0.000105819102564,-0.000668981947578,-6.54233817634e-05,1793244814436721408
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+251,4.183333333,HOLD_POSE2,764.086139414,745,713.913860586,683.086139414,653,628,880,781.913860586,806.086139414,651,629,652,0.454156872569,-0.00557647970212,0.0695282031684,0.999999724021,-0.000129329161441,-0.000728875034886,-6.30301224904e-05,1793244815175102976
+252,4.200000000,HOLD_POSE2,764.488493535,745,714,683.488493535,653,628,880.488493535,781.511506465,806.488493535,651,629,652,0.454156630452,-0.00557759189992,0.0695276525725,0.99999972333,-0.000131280842701,-0.000729483086048,-6.2926429858e-05,1793244815191769856
+253,4.216666667,HOLD_POSE2,765,745.064279674,713.935720326,683.935720326,653,628,880.935720326,781,807,651.064279674,629.064279674,652,0.454156659337,-0.0055784877643,0.0695272050361,0.999999722927,-0.000132634070986,-0.000729803183266,-6.27758181114e-05,1793244815208436480
+254,4.233333333,HOLD_POSE2,765,745.654384947,713.345615053,683.345615053,653,628,880.345615053,781,807,651.654384947,629.654384947,652,0.454159635905,-0.00557688365165,0.0695293574388,0.999999725903,-0.000129332485578,-0.000726332760545,-6.25179523994e-05,1793244815225103104
+255,4.250000000,HOLD_POSE2,765,745.758639247,713.241360753,683,653,628,880.241360753,781,807,651.758639247,630,652,0.454160760129,-0.00557528585567,0.069529961153,0.999999726774,-0.000127475705458,-0.000725449125655,-6.26481136683e-05,1793244815241769984
+256,4.266666667,HOLD_POSE2,765,745.176087352,713.823912648,683,653,628,880.823912648,781,807,651.176087352,630,652,0.454159265854,-0.00557369698917,0.0695283756179,0.999999724692,-0.000127661323821,-0.000728222212751,-6.33267956601e-05,1793244815258437120
+257,4.283333333,HOLD_POSE2,765,745.389116405,714,683,653,628,880.610883595,781,806.610883595,651,630,652,0.454158169714,-0.00557550618388,0.0695274830012,0.999999723066,-0.00013069668093,-0.000729927996274,-6.31769881981e-05,1793244815275103488
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+259,4.316666667,HOLD_POSE2,765,745.467536335,714,683.532463665,653,628,880.532463665,781,806.532463665,651.532463665,630,652,0.454159099566,-0.00557748255614,0.0695280594914,0.999999723766,-0.000132209629771,-0.000728753492034,-6.25120944404e-05,1793244815308436480
+260,4.333333333,HOLD_POSE2,765,745.122791716,714,683.877208284,653,628.122791716,881,781.122791716,807,652,630,652,0.454160874579,-0.00557608461026,0.0695291309285,0.999999725852,-0.000129373825341,-0.000726405510927,-6.2390118077e-05,1793244815325103104
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+262,4.366666667,HOLD_POSE2,764.694499003,746,714,683.305500997,653,628.694499003,880.694499003,782,807,652,629.694499003,652,0.45416139285,-0.00557693269495,0.0695294424524,0.999999726555,-0.000130106988764,-0.000725323364424,-6.21861503255e-05,1793244815358436352
+263,4.383333333,HOLD_POSE2,764.118694836,746,714,683.881305164,653,628.118694836,880.118694836,782,807,652,629.118694836,652,0.454161425091,-0.00557822579806,0.0695300911277,0.999999726574,-0.000132261643021,-0.00072490975604,-6.21714094051e-05,1793244815375102720
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.588845579,745.588845579,714,683.411154421,653.588845579,628.411154421,880.588845579,781,806.411154421,652,630,652,0.454157486743,-0.00557567857582,0.0695255204433,0.999999722073,-0.000128644831325,-0.000731697336056,-6.26343698481e-05,1793244815424258816
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,653.824553657,628,880.824553657,781,806.175446343,652,630,652,0.45415756301,-0.00557573504275,0.0695256975251,0.999999721958,-0.000129107867763,-0.000731783547199,-6.25171654313e-05,1793244815440925184
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,653.243146986,628,880.243146986,781,806.756853014,652,630,652,0.454159998703,-0.00557535354878,0.0695275870996,0.999999724075,-0.000129476738626,-0.000728831658385,-6.23705912777e-05,1793244815457591808
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.665805221,714,683.334194779,653,628,880,781.334194779,807,652,630,652,0.454160495038,-0.00557511835562,0.0695278282144,0.999999724499,-0.000128174783038,-0.000728483374318,-6.23376699557e-05,1793244815474258432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.091385415,714,683.908614585,653,628,880,781.908614585,807,652,630,652,0.45415959733,-0.00557498832605,0.0695268843875,0.999999723702,-0.000125671808282,-0.000730006606851,-6.23864442764e-05,1793244815490925056
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.054227393,745.945772607,714,683.054227393,653,628,880.054227393,781,806.054227393,652,630,652,0.454158339495,-0.00557554786475,0.0695257843107,0.999999723209,-0.000128095825618,-0.00073020476869,-6.30454935141e-05,1793244815524257792
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.646709407,745.353290593,714,683.646709407,653,628,880.646709407,781,806.646709407,652,630,652,0.454156454427,-0.00557492618535,0.0695260638946,0.999999723401,-0.000126536141338,-0.000730278026715,-6.22992583906e-05,1793244815540924160
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,653,628,881,781,807,652,630,652,0.454129638607,-0.00557490350647,0.0695141282744,0.999999709357,-0.00012782897082,-0.00074897812249,-6.30689826422e-05,1793244815574257408
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.609407478,745,714,684,653,628,881,781.390592522,807,652,630,652,0.454095344608,-0.00557441712932,0.0695003723136,0.999999691362,-0.000127498019462,-0.000772659183747,-6.33901278734e-05,1793244815590924544
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.124475716,714,683,653,628,880.124475716,781.124475716,807,652,629.124475716,652,0.453699829726,-0.00556337169372,0.0694494773958,0.999999638834,-0.000120082663243,-0.000839195546198,-6.05228414119e-05,1793244815690924544
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.45689893,714,683.45689893,653,628,880,781,807,651.54310107,629,652,0.453596435221,-0.00556068300092,0.0694511427789,0.999999642443,-0.000116586118084,-0.000835502374121,-5.87992782785e-05,1793244815707590912
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.781102587,745.218897413,713,683,653,628,881,781.218897413,807,652,630,652,0.452999082282,-0.00554713709795,0.0694388029327,0.999999626593,-0.000103678874214,-0.000856517546123,-4.94255273174e-05,1793244815774257664
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.067143391,745.932856609,713.932856609,683.932856609,653.932856609,628,880.067143391,781.932856609,807,652,630,652,0.452580252025,-0.00553611739644,0.0694242098243,0.999999606974,-8.84508762972e-05,-0.000881128137039,-4.29209677844e-05,1793244815807590912
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,653,629,880.320299915,782,807,651.679700085,630,652,0.451815121078,-0.00551784066731,0.0694279596448,0.999999608513,-6.31362629819e-05,-0.000882079529471,-3.04011359739e-05,1793244815857590784
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.712129337,682.287870663,657,632,879.712129337,785,806.287870663,652,631,652,0.441575919345,-0.00540845745866,0.0696987987742,0.999999880801,0.000122639300096,-0.000472415915844,1.34772519517e-05,1793244816190924288
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.249492246,713.750507754,682.750507754,658,633,879.750507754,786,806,651.249492246,631,651.249492246,0.431552238716,-0.00541350342209,0.0698291513518,0.999999954933,0.000134475343191,-0.000266994680518,2.76398218925e-05,1793244816390925056
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.783673665,745,714,680,658,634,878.216326335,786,805.783673665,652,631,652,0.402312108886,-0.00536400655876,0.0698001609868,0.999999923299,0.000206679467082,-0.000331864253107,2.35032271817e-05,1793244817124257792
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.639298926,634,878,785.639298926,805.639298926,652,631,652,0.402115606314,-0.00536286584736,0.0697960253257,0.999999921017,0.000207612429621,-0.000338009486121,2.4762563897e-05,1793244817140924416
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.0634114,634,878,785.0634114,805.0634114,652,631,652,0.401934757263,-0.00536116259933,0.0697947757508,0.999999920079,0.000208325405111,-0.000340235829924,2.61252382917e-05,1793244817157591040
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.522582108,634,878.522582108,785,805,652,630.477417892,652,0.401789569731,-0.00535823098001,0.0697977826558,0.999999919801,0.000216111438854,-0.00033604471913,2.77083401952e-05,1793244817174257664
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,785.108400477,805,652,630.108400477,652,0.40165272582,-0.00535579461836,0.0698008181065,0.999999918292,0.000229933401154,-0.000331199310472,2.92064433281e-05,1793244817190924288
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.733074614,714,679.733074614,658,634,879,786,805,652,630.733074614,652,0.401424694108,-0.00535612206694,0.0698013219249,0.999999908321,0.000276269911286,-0.000326092144347,2.64149543495e-05,1793244817224258304
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.050916059,745,714,679.949083941,657.949083941,634,878.949083941,786,805.050916059,652,631,652,0.400989215332,-0.00536015660649,0.0698160066101,0.999999933794,0.000207833805524,-0.000298452328489,1.19661230941e-05,1793244817390925056
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.768814949,745,714,679.231185051,657.231185051,634,878.231185051,786,805.768814949,652,631,652,0.400978170254,-0.00536418299187,0.0698180960203,0.999999935414,0.000204059078274,-0.00029558833633,1.26046733888e-05,1793244817424257792
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.190169977,745,714,679.809830023,657.809830023,634,878.809830023,786,805.190169977,652,631,652,0.400975384862,-0.00536131501457,0.069819212807,0.999999934991,0.000208798481475,-0.000293703243319,1.2622396457e-05,1793244817440924416
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.613959139,634,879,786,805,652,631,652,0.400974027898,-0.00536259538075,0.0698206903333,0.999999935924,0.000207346192255,-0.000291530853197,1.29739792692e-05,1793244817457591040
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.0389399,634,879,786,805,652,631,652,0.40097337019,-0.00536590648341,0.0698223444521,0.999999937509,0.000202862886973,-0.000289217822724,1.3488996265e-05,1793244817474257408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634,878.465130348,786,805,652,631,652,0.400974090982,-0.00536584468489,0.0698235917946,0.999999937791,0.000204568496517,-0.000287024644867,1.36868659877e-05,1793244817490924288
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634,878,786,805,652,630.294365958,651.294365958,0.400974482179,-0.00536328624408,0.0698260895178,0.999999938726,0.000206550734061,-0.000282329857499,1.31831172134e-05,1793244817524258048
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.709128316,657.290871684,634,878.290871684,786,805,652,630.290871684,651.290871684,0.400974294798,-0.00536274251701,0.0698263162867,0.999999939083,0.000205886835703,-0.000281560280086,1.29605357175e-05,1793244817540924672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.131859555,657.868140445,634,878.868140445,786,805,652,630.868140445,651.868140445,0.400974150053,-0.00536357566621,0.069825515834,0.99999993914,0.000204374697007,-0.000282453600928,1.3053206277e-05,1793244817557591552
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.451071601,657.548928399,634,879.451071601,786,805,652,631,652,0.400973675807,-0.00536391286942,0.0698256527852,0.999999939034,0.000204055815672,-0.000283060967466,1.3031316477e-05,1793244817574257920
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.03534267,634,879.96465733,786,805,652,631,652,0.400973174626,-0.00536405264978,0.0698260577998,0.999999938877,0.000204301825989,-0.000283438641226,1.29941160412e-05,1793244817590924288
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.614438884,634,879.385561116,786,805,652,631,652,0.400973759812,-0.00536341390425,0.0698263174706,0.999999938676,0.000207803927865,-0.000281584871617,1.32431410993e-05,1793244817607590912
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.400974061727,-0.0053630328412,0.0698268119655,0.999999938705,0.000209704246097,-0.000280066629818,1.33289364774e-05,1793244817624257792
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.40097379931,-0.00536316513383,0.0698277742775,0.999999939215,0.000208413486939,-0.000279216827436,1.3089545284e-05,1793244817640924672
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.350285685,652,631,651.649714315,0.400974485419,-0.00536355774868,0.0698285678066,0.999999939758,0.000207244193841,-0.000278144300756,1.30231398581e-05,1793244817657591552
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.925655134,652,631,651.074344866,0.400975781024,-0.00536411763929,0.0698292528803,0.99999994032,0.000206152951478,-0.000276928657716,1.30678902477e-05,1793244817674258432
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.488784477,652,631,651.511215523,0.400975027327,-0.00536506053832,0.0698291440919,0.999999940414,0.000205223128859,-0.000277272873265,1.32511882178e-05,1793244817690925056
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.902991358,785.902991358,805,652,631,652,0.40097399343,-0.00536532079212,0.0698288853676,0.999999940229,0.000205246060867,-0.000277916044092,1.33632310314e-05,1793244817707591424
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.323561162,785.323561162,805,652,631,652,0.400973078318,-0.00536190363901,0.069828466822,0.999999938998,0.000209887903589,-0.000278894863798,1.30186868791e-05,1793244817724257792
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.255438844,745,714,680,658,634.255438844,878.255438844,785.255438844,805,652,631,652,0.400973666959,-0.0053606821964,0.0698288366664,0.999999938663,0.00021179640088,-0.000278659553063,1.28557282452e-05,1793244817740924416
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.833894927,745,714,680,658,634.833894927,878.833894927,785.833894927,805,652,631,652,0.400976157183,-0.00536223735668,0.0698302034758,0.999999939481,0.000210248424896,-0.000276888904068,1.292239499e-05,1793244817757591040
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.592320315,745,714,680,658,634.592320315,878.592320315,786,805,652,631,652,0.400976762355,-0.00536261268915,0.0698307435871,0.999999939839,0.000210065410534,-0.000275724607067,1.30351864836e-05,1793244817774257920
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.020417315,745,714,680,658,634.020417315,878.020417315,786,805,652,631,652,0.400976608181,-0.00536251275813,0.0698309506842,0.999999940014,0.000210432236074,-0.000274804563536,1.31665581461e-05,1793244817790924800
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf0d35be568e4a7c5fc73262fba967c36f57210f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+1,0.016666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+2,0.033333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+3,0.050000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+4,0.066666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+6,0.100000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+7,0.116666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+8,0.133333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+9,0.150000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+11,0.183333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+12,0.200000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+14,0.233333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+15,0.250000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+16,0.266666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+17,0.283333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+18,0.300000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+21,0.350000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+389,6.483333333,pose2_to_pose3_retreat,0.575671710659,-0.00012216126519,1.06005107527,0.546243342905,0.00855352122449,1.05971756597
+390,6.500000000,pose2_to_pose3_retreat,0.575671676062,-0.000122159805432,1.06005108005,0.546243308316,0.00855352272191,1.05971757096
+391,6.516666667,pose2_to_pose3_retreat,0.57567157497,-0.000122155540121,1.06005109403,0.546243207249,0.00855352709726,1.05971758553
+392,6.533333333,pose2_to_pose3_retreat,0.575671521151,-0.000122153269402,1.06005110147,0.546243153445,0.00855352942656,1.05971759329
+393,6.550000000,pose2_to_pose3_retreat,0.575671321753,-0.000122144856316,1.06005112904,0.546242954097,0.00855353805669,1.05971762204
+394,6.566666667,pose2_to_pose3_retreat,0.575671228114,-0.000122140905469,1.06005114199,0.546242860482,0.00855354210946,1.05971763555
+395,6.583333333,pose2_to_pose3_retreat,0.575671197902,-0.000122139630732,1.06005114617,0.546242830277,0.00855354341708,1.0597176399
+396,6.600000000,pose2_to_pose3_retreat,0.575671152435,-0.000122137712411,1.06005115246,0.546242784823,0.0085535453849,1.05971764646
+397,6.616666667,pose2_to_pose3_retreat,0.575671047487,-0.000122133284394,1.06005116697,0.546242679901,0.00855354992715,1.05971766159
+398,6.633333333,pose2_to_pose3_retreat,0.575670714119,-0.000122122150256,1.0600512002,0.54624234666,0.00855356156148,1.05971769663
+399,6.650000000,pose2_to_pose3_retreat,0.575670574499,-0.000122132361598,1.06005114881,0.546242207308,0.00855355225643,1.05971764518
+400,6.666666667,pose2_to_pose3_retreat,0.575670566976,-0.000122132911811,1.06005114604,0.546242199799,0.00855355175505,1.05971764241
+401,6.683333333,pose2_to_pose3_retreat,0.575670487557,-0.00012213872026,1.06005111681,0.546242120532,0.00855354646212,1.05971761315
+402,6.700000000,pose2_to_pose3_retreat,0.575670397402,-0.000122145313929,1.06005108363,0.54624203055,0.00855354045366,1.05971757993
+403,6.716666667,pose2_to_pose3_retreat,0.575670355967,-0.000122148344338,1.06005106838,0.546241989194,0.00855353769221,1.05971756466
+404,6.733333333,pose2_to_pose3_retreat,0.575670164849,-0.000122162322053,1.06005099804,0.546241798443,0.00855352495506,1.05971749424
+405,6.750000000,pose2_to_pose3_retreat,0.575669876828,-0.000122183386984,1.06005089204,0.546241510974,0.00855350575971,1.05971738812
+406,6.766666667,pose2_to_pose3_retreat,0.57566962103,-0.00012217683438,1.06005079047,0.546241253922,0.00855350792707,1.05971728321
+407,6.783333333,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.0085535275076,1.05971725023
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a0210ff778338131d68d80af3f96c0b72c922cc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d24ca582b255b39ca723c372d17abe7a9a0680486fd0f095f086d65124c8fc7
+size 25647046
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fce70d08be207e7b6875c773b41706b496a84bbf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+1,0.016666667,BASELINE,764.424274723,745,714,680,657.424274723,634,879,786,805,652,630.575725277,652,0.40102780451,-0.00550320679239,0.079861208604,0.999999981709,0.000108848615527,-0.000150562464066,4.54403941409e-05,1793244819072203264
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+49,0.816666667,BASELINE,765,745,714,679.54633261,658,634,878,786,805,652,630.54633261,652,0.401026218629,-0.00549877830649,0.0798624702235,0.99999998068,0.000116255812475,-0.000152097717868,4.46136529466e-05,1793244819872203264
+50,0.833333333,BASELINE,765,745,714.046549395,679,658,634,878.046549395,786.046549395,805,652,630.046549395,652,0.401026411129,-0.00550076022002,0.0798628260358,0.999999980842,0.00011546312707,-0.000151560338879,4.48750729089e-05,1793244819888869632
+51,0.850000000,BASELINE,765,745,714.623770074,679,658,634,878.623770074,786.623770074,805,652,630.623770074,652,0.401028058737,-0.00550075140331,0.0798636699009,0.999999981201,0.000113727736941,-0.000150511019214,4.48411959871e-05,1793244819905536768
+52,0.866666667,BASELINE,764.800266797,745,714.800266797,679.199733203,658,634,878.800266797,786.800266797,804.800266797,652,630.800266797,652,0.401028907568,-0.00550118706294,0.0798641795833,0.9999999815,0.000112075960817,-0.000149750579323,4.4872973895e-05,1793244819922203392
+53,0.883333333,BASELINE,764.226657682,745,714.226657682,679.773342318,658,634,878.226657682,786.226657682,804.226657682,652,630.226657682,652,0.401028261188,-0.00550245472744,0.0798640637168,0.999999981692,0.000110580699902,-0.000149530886787,4.50276495458e-05,1793244819938870016
+54,0.900000000,BASELINE,764,745,714,680,658,634,878.356512202,786,804.356512202,652,630.356512202,652,0.401027648577,-0.00550152034717,0.0798638984542,0.999999981466,0.000112354971385,-0.000149711494182,4.50685257819e-05,1793244819955536640
+55,0.916666667,BASELINE,764,745,714,680,658,634,878.945927955,786,804.945927955,652,630.945927955,652,0.401027058029,-0.00549914740727,0.0798637009218,0.999999980954,0.00011626517461,-0.00015015361094,4.50350587277e-05,1793244819972203008
+56,0.933333333,BASELINE,764.526344021,745,714.526344021,679.473655979,658,634,879,786,805,652,631,652,0.401027464662,-0.00550018412094,0.0798636777127,0.99999998099,0.000114713137081,-0.000151128167575,4.49644805306e-05,1793244819988869888
+57,0.950000000,BASELINE,765,745,714.894757563,679.105242437,658,634,879,786,805,652,631,652,0.401027561712,-0.00550107576164,0.0798634537018,0.999999980983,0.000113459335915,-0.00015214402691,4.48712932752e-05,1793244820005536512
+58,0.966666667,BASELINE,765,745,714.318582834,679.681417166,658,634,879,786,805,652,631,652,0.401025822761,-0.00549977718422,0.0798622523667,0.999999980552,0.000116008822748,-0.00015310405891,4.46937094872e-05,1793244820022203136
+59,0.983333333,BASELINE,765,745,714.256528796,680,658,634,879,786,805,652,631,652,0.401025814763,-0.00549872486341,0.0798622844057,0.999999980495,0.00011767026503,-0.000152229326231,4.46128275932e-05,1793244820038869760
+60,1.000000000,BASELINE,765,745,714.830325691,680,658,634,879,786,805,652,631,652,0.40102794756,-0.00549797710615,0.0798638418495,0.9999999809,0.000118233397399,-0.000149085404753,4.46515440464e-05,1793244820055536384
+61,1.016666667,BASELINE,764.583280354,745,714.583280354,680,658,634,879,786,805,652,631,652,0.40102804094,-0.00549862062002,0.0798638740685,0.999999981038,0.000116785315317,-0.000149332317795,4.45642856696e-05,1793244820072203008
+62,1.033333333,BASELINE,764.008215009,744.991784991,714,679.991784991,658,634,878.991784991,786,805,652,631,652,0.401027267745,-0.00549984173259,0.0798632676775,0.999999981054,0.000114541015988,-0.000150990518617,4.4431410572e-05,1793244820088869632
+63,1.050000000,BASELINE,764.586691994,744.413308006,714,679.413308006,658,634,878.413308006,786,805,652,631,652,0.401025778965,-0.0055006089781,0.0798627840514,0.99999998079,0.000115643184175,-0.000151789136947,4.48035361448e-05,1793244820105536256
+64,1.066666667,BASELINE,765,744.163414644,714,679.163414644,658,634,878,786,805,652,631,652,0.401024841854,-0.00550107513955,0.0798624618674,0.99999998067,0.000115889374574,-0.000152324185923,4.50196300139e-05,1793244820122202880
+65,1.083333333,BASELINE,765,744.735747327,714,679.735747327,658,634,878,786,805,652,631,652,0.401025285205,-0.00550078788802,0.0798625436654,0.999999980915,0.000113993622472,-0.000152199696265,4.48452804035e-05,1793244820138869760
+66,1.100000000,BASELINE,765,745,714,680,658,634,878.308301951,786,805,652,631,652,0.401025650954,-0.00550048079458,0.0798626330888,0.999999980937,0.000114041571836,-0.000152062760659,4.46858829706e-05,1793244820155536640
+67,1.116666667,BASELINE,765,745,714,680,658,634,878.881046911,786,805,652,631,652,0.401025950139,-0.00550015668195,0.0798627290529,0.999999980769,0.000115756712389,-0.000151915149666,4.45393106323e-05,1793244820172203008
+68,1.133333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.401025962676,-0.00550041229961,0.0798624346196,0.999999980823,0.000115115650508,-0.000152023656158,4.46260977582e-05,1793244820188869888
+69,1.150000000,BASELINE,765,745,714.07384441,679.92615559,658,634,879,786,805,652,631,652,0.401026161709,-0.00550059537545,0.0798623070878,0.999999980957,0.000114120374221,-0.000151860677565,4.47367021807e-05,1793244820205536512
+70,1.166666667,BASELINE,765,745,714.648703872,679.351296128,658,634,879,786,805,652,631,652,0.401028135878,-0.00549925522736,0.0798640062577,0.999999981243,0.000114912335823,-0.000149400240268,4.45938724936e-05,1793244820222203136
+71,1.183333333,BASELINE,764.777147933,745,714.777147933,679.222852067,658,634,878.777147933,786,805,652,631,652,0.401028500255,-0.00549895343605,0.0798645635668,0.999999981332,0.000114918434046,-0.000148824587565,4.45114140792e-05,1793244820238869760
+72,1.200000000,BASELINE,764.204117301,745,714.204117301,679.795882699,658,634,878.204117301,786,805,652,631,652,0.401026335083,-0.00550028326631,0.0798633266132,0.999999981114,0.000113689666078,-0.000151210590501,4.45238200342e-05,1793244820255536640
+73,1.216666667,BASELINE,764.381290424,745,714,679.618709576,658,634,878,786,805.381290424,652,631,652,0.401025543708,-0.00550078816335,0.079862878768,0.999999980983,0.000113586600463,-0.000152114882655,4.46544347752e-05,1793244820272203264
+74,1.233333333,BASELINE,764.973546275,745,714,679.026453725,658,634,878,786,805.973546275,652,631,652,0.401025512446,-0.00550083663032,0.0798628675313,0.999999980902,0.000114106378466,-0.000152199354051,4.48504536422e-05,1793244820288869888
+75,1.250000000,BASELINE,765,745,714.551747526,679.551747526,658,634,878.551747526,786,805.448252474,652,631,652,0.401025446391,-0.00549992125101,0.0798627155413,0.999999980822,0.000114704532588,-0.000152332590234,4.46454770963e-05,1793244820305536512
+76,1.266666667,BASELINE,765,745.128590013,714.871409987,680,658,634,879,786,805,652,631,652,0.401025608104,-0.00549939776579,0.0798626340576,0.999999980793,0.000115078284562,-0.000152279630279,4.4526888679e-05,1793244820322202880
+77,1.283333333,BASELINE,765,745.70299986,714.29700014,680,658,634,879,786,805,652,631,652,0.401026565128,-0.00550038920849,0.0798628198335,0.999999980937,0.000114661332786,-0.00015157322621,4.47728068123e-05,1793244820338869504
+78,1.300000000,BASELINE,765,745.722535837,714,680,658,634,879,786,805,652,631,652,0.401026483877,-0.00550096141808,0.0798629080604,0.99999998103,0.000114095249154,-0.000151383752768,4.4786131981e-05,1793244820355536128
+79,1.316666667,BASELINE,765,745.148013269,714,680,658,634,879,786,805,652,631,652,0.40102529103,-0.00550108478868,0.0798628918497,0.999999981068,0.00011336950215,-0.00015174771512,4.45504386875e-05,1793244820372202752
+80,1.333333333,BASELINE,764.558000265,745,714,680,658,634,879.441999735,786,805,652,631,652,0.401025252409,-0.00550106216904,0.0798623654385,0.999999981032,0.000113005028517,-0.000152256605315,4.45311615308e-05,1793244820388869632
+81,1.350000000,BASELINE,764.035996677,745,714.035996677,680,658,634,879.964003323,786,805,652,631,652,0.401025567391,-0.0055010626788,0.0798617355377,0.999999980984,0.000112675159893,-0.000152805363383,4.45825502718e-05,1793244820405536000
+82,1.366666667,BASELINE,764.609221577,745,714.609221577,680,658,634,879.390778423,786,805,652,631,652,0.401025181645,-0.00550216450369,0.0798622035847,0.999999981113,0.000110990617621,-0.000153198503769,4.45677063033e-05,1793244820422202880
+83,1.383333333,BASELINE,765,745,714.81647847,679.81647847,658,634,878.81647847,786,805,652,630.81647847,652,0.401025408023,-0.00550274531363,0.0798628401517,0.999999981174,0.000110769887554,-0.000152922283941,4.46945469702e-05,1793244820438869760
+84,1.400000000,BASELINE,765,745,714.239875771,679.239875771,658,634,878.239875771,786,805,652,630.239875771,652,0.401026945499,-0.00550221017207,0.0798638376682,0.999999981087,0.000113684467849,-0.000151212374662,4.51248591776e-05,1793244820455536640
+85,1.416666667,BASELINE,765,745,714.345528142,679.345528142,658.345528142,634,878.345528142,786,805,652,630.345528142,652,0.401027471047,-0.00550132967497,0.0798637992164,0.999999981055,0.000114302522271,-0.000150972309313,4.50875711974e-05,1793244820472203008
+86,1.433333333,BASELINE,765,745,714.937201781,679.937201781,658.937201781,634,878.937201781,786,805,652,630.937201781,652,0.401027275721,-0.00550020315536,0.079863022767,0.999999981065,0.000113284589649,-0.000151779323659,4.47171766602e-05,1793244820488869632
+87,1.450000000,BASELINE,765,745,714.483827365,679.483827365,658.483827365,634,878.483827365,786,805,651.483827365,631,652,0.401026757018,-0.0055005428928,0.0798633179264,0.999999981118,0.000112930163714,-0.000151631237064,4.49317404226e-05,1793244820505536256
+88,1.466666667,BASELINE,765,745,714,679.093212823,658.093212823,634,878.093212823,786,805,651.093212823,630.906787177,652,0.401026144524,-0.00550106844173,0.0798636453751,0.999999981149,0.000112710933454,-0.000151525169624,4.51403803653e-05,1793244820522203136
+89,1.483333333,BASELINE,765,745,714,679.668070665,658.668070665,634,878.668070665,786,805,651.668070665,630.331929335,652,0.401025245806,-0.00550165449477,0.0798634821894,0.999999981043,0.00011278318987,-0.000152222217614,4.49595136555e-05,1793244820538869504
+90,1.500000000,BASELINE,765,745,714,679.756807327,658.756807327,634,878.756807327,786,805,652,630,652,0.401025302733,-0.00550103595889,0.0798635418823,0.999999980919,0.000114282407908,-0.000151973013918,4.47807789599e-05,1793244820555536128
+91,1.516666667,BASELINE,765,745,714,679.181324417,658.181324417,634,878.181324417,786,805,652,630,652,0.401026665419,-0.00549877151346,0.0798639061092,0.99999998076,0.000117731377993,-0.000150430883893,4.46049573906e-05,1793244820572202752
+92,1.533333333,BASELINE,765,745,714,679.405474657,658,634,878,786,805.405474657,652,630.405474657,652,0.401027057819,-0.0054986667278,0.0798638397696,0.999999980735,0.000117769049421,-0.000150635751927,4.43791874674e-05,1793244820588869632
+93,1.550000000,BASELINE,765,745,714,679.997479551,658,634,878,786,805.997479551,652,630.997479551,652,0.401027003857,-0.00549955544879,0.0798635753568,0.999999980773,0.000116237423706,-0.000151644290178,4.4130439821e-05,1793244820605536512
+94,1.566666667,BASELINE,765,745,714,679.423005363,658.576994637,634,878,786,806,652,631,652.576994637,0.40102604359,-0.00549970471659,0.0798630745138,0.999999980712,0.000115920513885,-0.000152193233085,4.4445372089e-05,1793244820622203136
+95,1.583333333,BASELINE,765,745,714,679.299122815,659,634,878,786,805.850438593,652,631,652.850438593,0.401025599509,-0.00549959397185,0.0798629026507,0.999999980733,0.000115690192598,-0.000152193901689,4.45667455506e-05,1793244820638869760
+96,1.600000000,BASELINE,765,745,714,680.406973544,659,634,878,786,805.296513228,652,631,652.296513228,0.401026561496,-0.00549878878843,0.0798636229718,0.999999980976,0.000115679935504,-0.000150717533246,4.41582847454e-05,1793244820655536384
+97,1.616666667,BASELINE,765,745,714,680.723252845,658.723252845,634,878,786,804.723252845,652,631,652,0.40102647707,-0.00549894695992,0.0798637330465,0.999999981087,0.0001146680263,-0.000150820154551,4.39315926066e-05,1793244820672203008
+98,1.633333333,BASELINE,765,745,714,680.127720474,658.127720474,634,878,786,804.127720474,652,631,652,0.401025187281,-0.00550021482055,0.0798631401778,0.999999981042,0.000112502313426,-0.000152741615188,4.39142799289e-05,1793244820688869632
+99,1.650000000,BASELINE,765,745,714,680,658,634,878.466516659,786,804.466516659,652,631,652,0.401025799842,-0.00550026350901,0.0798631990806,0.999999981067,0.000113221334725,-0.000151935782882,4.43052296145e-05,1793244820705536256
+100,1.666666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.401026907145,-0.00549993727807,0.0798634782797,0.999999981105,0.000114710235278,-0.000150427926172,4.47443633086e-05,1793244820722203136
+101,1.683333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.401027796893,-0.00549923950884,0.0798641315495,0.999999981127,0.000116042788367,-0.000149296087448,4.46245913291e-05,1793244820738870272
+102,1.700000000,BASELINE,765,745,714.155894796,680,658,634,879,786,805,652,631,651.844105204,0.401027866129,-0.00549904255501,0.0798642763044,0.999999981056,0.000116615458604,-0.000149340220419,4.45770367756e-05,1793244820755536896
+103,1.716666667,BASELINE,765,745,714.767695506,680,658,634,879,786,805,652,631,651.232304494,0.401025535823,-0.00550031020886,0.0798629339352,0.999999980713,0.000114965892225,-0.000152823419326,4.47406782067e-05,1793244820772203008
+104,1.733333333,BASELINE,765,745,714.632223937,680,658,634.367776063,878.632223937,786,805,652,631,651.367776063,0.401024430873,-0.00550043188372,0.0798626600935,0.999999980479,0.000115348588029,-0.000154010181864,4.49066800611e-05,1793244820788869632
+105,1.750000000,BASELINE,765,745,714.039317688,680,658,634.960682312,878.039317688,786,805,652,631,651.960682312,0.401024076011,-0.00549985205991,0.0798630403393,0.999999980317,0.000116975311247,-0.000153791205759,4.50741268394e-05,1793244820805536512
+106,1.766666667,BASELINE,765,745,714,679.457964931,658,634.457964931,879.084070139,786,805,652,630.457964931,652,0.401024811307,-0.00549947507383,0.0798633968333,0.999999980585,0.000116705529839,-0.000152245334635,4.5078427218e-05,1793244820822203136
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,786,806,652,631,652,0.401026310915,-0.00550035273034,0.0798632032758,0.999999980736,0.000116336650548,-0.000151715527206,4.44651827416e-05,1793244820864567040
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.587666134,786,805.412333866,652,631,652,0.401026193784,-0.00550082675768,0.0798634526239,0.999999980972,0.000113799706233,-0.000152093595502,4.44277161707e-05,1793244820881233664
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.173469541,745,714,680,658,634,878.826530459,786,805,651.826530459,631,652,0.401026315504,-0.00550144114987,0.0798637491743,0.999999981219,0.000111868326613,-0.00015187750026,4.45097551109e-05,1793244820897900288
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.754892438,745,714,680,658,634,878.245107562,786,805,651.245107562,631,652,0.401026998933,-0.00550238564225,0.0798641567316,0.999999981503,0.000111361070549,-0.00015026409345,4.4872838624e-05,1793244820914566912
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.664932775,658,634,878.335067225,786,805,651.335067225,630.664932775,652,0.401027055394,-0.00550184650594,0.0798642642091,0.999999981332,0.000112828339371,-0.00015028249374,4.49447173787e-05,1793244820931233536
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.08566765,658,634,878.91433235,786,805,651.91433235,630.08566765,652,0.401026654919,-0.00550022609695,0.0798641529876,0.999999980824,0.00011573464731,-0.00015149015956,4.48043652948e-05,1793244820947900160
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.511909355,745,714,679.488090645,658,634,878.511909355,786,805,652,630.488090645,652,0.401025789266,-0.00550049402116,0.0798635557826,0.999999980545,0.000116078886963,-0.000153012986527,4.49697926623e-05,1793244820964566784
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.062723334,745,714,679.937276666,658,634,878,786.062723334,805,652,631,652,0.401025261137,-0.00550103005547,0.0798631666384,0.999999980362,0.000115754352145,-0.000154396690621,4.51591502656e-05,1793244820981233408
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.652741494,745,714,679.347258506,658,634,878,786.652741494,805,652,631,652,0.401028249176,-0.00550106484424,0.0798652356649,0.999999980655,0.000113545815803,-0.000154150999812,4.51035360629e-05,1793244820997900032
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.237450974,658,634,878.237450974,786.762549026,805,652,631,652,0.401036393589,-0.00550090107889,0.0798691501315,0.999999980924,0.000113211704352,-0.000152645534463,4.5097530324e-05,1793244821014566656
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.81456654,658,634,878.81456654,786.18543346,805,652,631,652,0.401051913996,-0.00550045328944,0.0798757044299,0.999999981152,0.000115558886633,-0.000149338009552,4.51624876108e-05,1793244821031233280
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.401085367478,-0.00550138238964,0.0798876512724,0.99999998294,0.000115481556707,-0.000136905686509,4.51772951725e-05,1793244821047900160
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.401127310992,-0.00550296334875,0.0799021511,0.999999985234,0.000114256393536,-0.000120153422721,4.51683604154e-05,1793244821064566784
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.453453965,745,714.546546035,679.453453965,658,634,879,786,805.546546035,652,631,652,0.401191028833,-0.00550357889159,0.0799164563259,0.999999987483,0.00011419142104,-9.9910591864e-05,4.48569258877e-05,1793244821081233408
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714.874336767,679,658,634,879,786,806,652,631,652,0.401259023824,-0.00550434061652,0.0799295013947,0.999999989274,0.000113597242517,-8.12217183859e-05,4.41657717861e-05,1793244821097900032
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714.284733248,679,658,634,879,786,806,652,631,652,0.401338436786,-0.00550583592344,0.0799379331337,0.999999990594,0.000110816266309,-6.89709669937e-05,4.21334701707e-05,1793244821114566656
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.298557216,745,714,679.298557216,658,634,879,786,805.701442784,652,631,652,0.401427015039,-0.00550751274874,0.0799424152188,0.99999999124,0.000109225882565,-6.33521540102e-05,3.96989978781e-05,1793244821131233536
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.875951575,745,714,679.875951575,658,634,879,786,805.124048425,652,631,652,0.4015241532,-0.00550935910282,0.0799432085292,0.999999991363,0.000108747451355,-6.3927232437e-05,3.68889189054e-05,1793244821147900160
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.451074135,745,714,680,658,633.548925865,879,786,805,652,630.548925865,652,0.401643978576,-0.00551013355109,0.0799474016534,0.999999991931,0.000107293678555,-5.9327941641e-05,3.32746982675e-05,1793244821164566528
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.974406912,745,714,680,658,633.025593088,879,786,805,652,630.025593088,652,0.401771330947,-0.00551059342812,0.0799525075039,0.99999999258,0.000105583359171,-5.3183463012e-05,2.94012261128e-05,1793244821181233152
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.399500984,745,714,680,658,633.600499016,879,786,805,652,630.600499016,652,0.401926996127,-0.00551059684187,0.0799572364588,0.999999993298,0.000104094858513,-4.42630813812e-05,2.46860612294e-05,1793244821197900288
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.817985445,786,805,652,631,652,0.402090421649,-0.00551118120673,0.0799620425552,0.999999993939,0.000101946775482,-3.65801572932e-05,1.97467303637e-05,1793244821214567168
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.221415986,786,805,652,631,652,0.40227152204,-0.0055130887412,0.0799670243479,0.999999994564,9.82964330984e-05,-3.17156578896e-05,1.42968414869e-05,1793244821231233792
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.361088697,786,805,652,631,652,0.402470845741,-0.00551588660694,0.0799663820209,0.999999995342,8.95030995786e-05,-3.53433527136e-05,7.4328213572e-06,1793244821247900160
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.93529239,786,805,652,631,652,0.402680924881,-0.00551920994748,0.0799624203318,0.999999996016,7.76743659598e-05,-4.39831506081e-05,-2.65821309449e-07,1793244821264566784
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.508759771,680,658,634,879,786,805,651.491240229,631,652,0.402909567351,-0.00552109565328,0.0799543610512,0.9999999962,6.16242915642e-05,-6.10443065649e-05,-8.73299981332e-06,1793244821281233664
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.91495067,680,658,634,879,786,805,651,631,652,0.403148435551,-0.00552286085946,0.0799473404044,0.999999996093,4.13060102309e-05,-7.62857087616e-05,-1.69568730093e-05,1793244821297900288
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.321222138,680,658,634,879,786,805,651,631,652,0.403434363042,-0.00552499739334,0.0799496443622,0.999999996975,-1.333831294e-06,-7.42462871195e-05,-2.31417598151e-05,1793244821314566912
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714.266207889,680,658,634,879,786,805,651.266207889,630.733792111,652,0.403746317931,-0.00552702088611,0.0799528516849,0.999999997141,-1.56984639649e-05,-6.93909298732e-05,-2.56342291302e-05,1793244821331233280
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714.8462134,680,658,634,879,786,805,651.8462134,630.1537866,652,0.404088953095,-0.00552891112942,0.0799571238662,0.999999997838,3.26684710403e-06,-6.12162351039e-05,-2.37741906346e-05,1793244821347899904
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.577991104,745,714.577991104,680,658,634.422008896,878.577991104,785.577991104,805,652,630,652,0.404461373342,-0.00552803561887,0.07995598134,0.999999997719,7.47491968084e-06,-6.18862871427e-05,-2.60054593342e-05,1793244821364566784
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.003714661,745,714.003714661,680,658,634.996285339,878.003714661,785.003714661,805,652,630,652,0.404844540515,-0.00552616218014,0.0799528851007,0.999999997377,6.35834461931e-06,-6.5747665206e-05,-2.97129370242e-05,1793244821381233664
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.573097596,745,714,680,658,634.426902404,878,785.573097596,805.573097596,652,630.573097596,652,0.405271325205,-0.0055301680531,0.0799552909206,0.999999997877,-5.97111747448e-06,-5.70024842905e-05,-3.09942464806e-05,1793244821397900288
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.153442516,786,805.846557484,652,631,652,0.405702380131,-0.00553376370835,0.0799546470353,0.999999997789,-1.75154922813e-05,-5.50912962726e-05,-3.28721268316e-05,1793244821414566912
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.743799279,786,805.256200721,652,631,652,0.40614478552,-0.00553608231191,0.0799452173806,0.999999996325,-2.66165305591e-05,-7.28730140741e-05,-3.64936675576e-05,1793244821431233536
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.328126053,658,634,879,786,805,652,631,652,0.406617308032,-0.00554565327697,0.079936178214,0.999999994852,-3.30924640499e-05,-8.93046351365e-05,-3.50107376792e-05,1793244821447899904
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680.907829636,658,634,879,786,805,652,631,652,0.407112921689,-0.00556078470045,0.0799274384374,0.999999993375,-3.75557043844e-05,-0.000104701125396,-2.96141594715e-05,1793244821464566784
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680.518780757,658.481219243,634,879,786,805.481219243,652,630.518780757,652,0.407645746453,-0.00556570646966,0.0799235226953,0.999999992101,-4.19942214152e-05,-0.000114528666201,-3.0277648809e-05,1793244821481233408
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.94493698,805.94493698,652,630.05506302,652,0.408188693771,-0.00556791386414,0.079920468341,0.999999990896,-4.52661228036e-05,-0.000123014637329,-3.20519405482e-05,1793244821497900288
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.355088445,805.355088445,652,630.644911555,652,0.408761629206,-0.0055625049831,0.0799169223732,0.999999990464,-3.72529662691e-05,-0.000128696353535,-3.34874624317e-05,1793244821514566912
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.769502186,634,879,785,805,652,630.769502186,652,0.409374309389,-0.00556045185041,0.0799276751509,0.99999999256,-3.64285377964e-05,-0.000111130241072,-3.46851165278e-05,1793244821531233280
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.190362904,634,879,785,805,652,630.190362904,652,0.410047105797,-0.00556347448432,0.0799600556206,0.999999996584,-4.6477482722e-05,-5.84004231366e-05,-3.55229814876e-05,1793244821547899904
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.387956345,634.387956345,879,785.387956345,805,652,630.387956345,652,0.410736894878,-0.00556276132535,0.079985854919,0.999999998129,-4.6751404699e-05,-1.6806163244e-05,-3.56888183455e-05,1793244821564566528
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.965874053,634.965874053,879,785.965874053,805,652,630.965874053,652,0.411435004338,-0.0055602189494,0.0800084317707,0.99999999829,-4.2239023251e-05,1.93356110821e-05,-3.5525599147e-05,1793244821581233408
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.539364693,659,634.460635307,879,786,805,652,631,652,0.412115361894,-0.00555521267591,0.0799811465684,0.999999998181,-3.84689476302e-05,-2.71877368184e-05,-3.76747210295e-05,1793244821597900288
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.884265429,659,634,879,786,805,652,631,652,0.412800506271,-0.00555028742341,0.0799515061802,0.999999995755,-3.63827981704e-05,-7.42753525373e-05,-4.06240083621e-05,1793244821614566656
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.294977906,659,634,879,786,805,652,631,652,0.413509795079,-0.00554632636136,0.079925032519,0.999999992842,-4.09961893614e-05,-0.000102445206981,-4.62535869776e-05,1793244821631233280
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.289887717,680,658.710112283,634,879,786,805,652,630.710112283,652,0.414260853405,-0.00554537308742,0.0799211474404,0.999999992952,-4.39153260313e-05,-9.92080215313e-05,-4.82297584942e-05,1793244821647899904
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.870321468,680,658.129678532,634,879,786,805,652,630.129678532,652,0.41505377619,-0.00554743443161,0.0799399022385,0.999999995819,-4.51363611787e-05,-6.44924761791e-05,-4.6544226922e-05,1793244821664566784
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714.554277857,680.445722143,658.445722143,634,879,786,805.445722143,652,630,652,0.415845873551,-0.00554667106317,0.0799521635374,0.999999996442,-4.39944937641e-05,-5.50198854423e-05,-4.63977271436e-05,1793244821681233408
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.019715187,786,806,652,630.019715187,652,0.416639620625,-0.00554518560011,0.0799619554512,0.999999996612,-4.24413550076e-05,-5.27903618846e-05,-4.67672662242e-05,1793244821697900288
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.594845724,786,806,652,630.594845724,652,0.417486534636,-0.00554625115363,0.0799548087346,0.999999996365,-4.84528361917e-05,-5.00221523895e-05,-4.92010264907e-05,1793244821714566912
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.174567842,681,659.174567842,634,879.825432158,786,806,651.825432158,630.825432158,652,0.418345734038,-0.00554797003249,0.0799592901452,0.999999996769,-5.43906476124e-05,-3.04975390675e-05,-5.07275233291e-05,1793244821731234048
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.765234386,681,659.765234386,634,879.234765614,786,806,651.234765614,630.234765614,652,0.419234216763,-0.00555124617305,0.0799914882797,0.999999996517,-6.01528598176e-05,2.89675226139e-05,-5.0091473069e-05,1793244821747901440
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.651211636,681,659.651211636,634,879,786,805.651211636,651.348788364,630.348788364,652,0.420095119803,-0.00555041401602,0.0799934235069,0.999999996353,-5.91293406809e-05,3.49758440367e-05,-5.07311714278e-05,1793244821764567808
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.072349397,681,659.072349397,634,879,786,805.072349397,651.927650603,630.927650603,652,0.420937830214,-0.00554687187182,0.0799753961851,0.999999997182,-5.36296987108e-05,5.72209417856e-06,-5.22124014514e-05,1793244821781234432
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,805.503146274,652,630.496853726,652,0.42182342216,-0.00554708837195,0.0799747620377,0.999999997035,-5.66357488534e-05,3.9250114615e-06,-5.20361488212e-05,1793244821797900800
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.078212584,714,681,659,633.921787416,879,785.921787416,806,651.921787416,630.078212584,652,0.422721481935,-0.00554774804067,0.0799799503819,0.999999996851,-5.9578863614e-05,1.02883149348e-05,-5.13985510488e-05,1793244821814567168
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.653606109,714,681,659,633.346393891,879,785.346393891,806,651.346393891,630.653606109,652,0.423659860568,-0.00554781201751,0.0800063582067,0.999999996353,-5.4398804397e-05,4.35950260323e-05,-4.93332613229e-05,1793244821831233536
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.762969255,745.762969255,714,681.237030745,659,633.237030745,879,785,806,651,630.762969255,652,0.424553894383,-0.00554653919395,0.0800043565972,0.999999997064,-5.27192465882e-05,2.62545936222e-05,-4.90272002518e-05,1793244821847900416
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.167396351,745.167396351,714,681.832603649,659,633.832603649,879,785,806,651,630.167396351,652,0.425380850597,-0.00554324427279,0.0799593817485,0.999999994802,-5.63346857996e-05,-6.76967233535e-05,-5.13822180681e-05,1793244821864567296
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.412207577,745,714,681.587792423,659,634,879,785.412207577,806,651,630.412207577,652,0.426271739176,-0.00554295181444,0.0799346034291,0.999999992703,-5.96997639644e-05,-8.9737073019e-05,-5.45669932224e-05,1793244821881233664
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.985568371,745,714,681.014431629,659,634,879,785.985568371,806,651,630.985568371,652,0.427187622166,-0.00554383317397,0.079917720978,0.999999992831,-6.29669629814e-05,-8.36637084998e-05,-5.80761633194e-05,1793244821897900544
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.561858099,714,681,659,634,879.561858099,785.438141901,806,651.561858099,631,652,0.428088217051,-0.00554600811686,0.079921412557,0.999999992149,-6.55234294525e-05,-9.03307042031e-05,-5.69968446002e-05,1793244821914567168
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.858125093,714,681.141874907,659,634,880,785.141874907,806,652,631,652,0.42899589548,-0.00554778540821,0.0799303840062,0.999999992293,-6.68991279886e-05,-8.83547013502e-05,-5.596979207e-05,1793244821931233792
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.266533907,714,681.733466093,659,634,880,785.733466093,806,652,631,652,0.42992727859,-0.00554819634708,0.0799544077534,0.999999994696,-6.45901880097e-05,-5.79393147145e-05,-5.54839577902e-05,1793244821947900416
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714.317302823,682,659.317302823,634,880,786,806,652,631,652,0.430865112132,-0.00554989428943,0.0799888085033,0.999999996322,-6.6332021343e-05,-7.01121797002e-06,-5.3915399552e-05,1793244821964567040
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714.894781182,682,659.894781182,634,880,786,806,652,631,652,0.431808234724,-0.00555264752278,0.0800317179764,0.999999994283,-7.13953255562e-05,6.073647343e-05,-5.14590511359e-05,1793244821981233664
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+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.799888947,634,879.200111053,786,806,651.799888947,631,652,0.436037527079,-0.00555031558574,0.0799388192203,0.999999992491,-8.25260159512e-05,-6.81049874496e-05,-5.97375715306e-05,1793244822064567296
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764.888914766,745.888914766,713,683.888914766,653.111085234,629,881,781.111085234,806.111085234,651.111085234,629.111085234,652,0.452174086503,-0.00558745522771,0.0795350619568,0.999999736257,-0.000145522974442,-0.000708299700933,-6.79774395167e-05,1793244822964566784
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+235,3.916666667,POSE1_TO_POSE2_PRESS,764.289691943,745,713,683,654,629,880.710308057,781.710308057,806.710308057,651.710308057,630,652,0.452174797419,-0.00558836871905,0.0795338299025,0.999999735251,-0.000146270965663,-0.000709591886093,-6.76942837687e-05,1793244822997900032
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+239,3.983333333,POSE1_TO_POSE2_PRESS,764.609151579,745,713,684,654,629,880.609151579,781,806.609151579,651.390848421,629.390848421,652,0.452177515787,-0.00558826485295,0.0795347314852,0.999999736258,-0.000144546111755,-0.00070857808586,-6.7130478716e-05,1793244823064566528
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.315224441,744.315224441,714,680,657.315224441,633.684775559,879,785,805,651.315224441,630.684775559,652,0.408456187977,-0.00539814874939,0.0798357663763,0.999999934466,0.000237466458609,-0.000268268343381,5.20595672008e-05,1793244824894338816
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c01fee75b42cba79c61dd1fe4b1faed5f81b76f5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+382,6.366666667,pose2_to_pose3_retreat,0.575675272229,-0.000122201876692,1.07005100314,0.546246904732,0.00855348151723,1.06971749459
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+384,6.400000000,pose2_to_pose3_retreat,0.575673586365,-0.00012219804361,1.07005111871,0.546245220075,0.00855348947113,1.06971761083
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+386,6.433333333,pose2_to_pose3_retreat,0.575673457558,-0.000122197750746,1.07005112754,0.54624509136,0.00855349007885,1.06971761971
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+396,6.600000000,pose2_to_pose3_retreat,0.57567096413,-0.000122177188988,1.07005121724,0.546242599092,0.00855351463601,1.06971771104
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1aaad3422319166543ef0a2f98b142c125a3b10b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27333aa073fb40b1fbb4f592e6a4d4a104e43d2f9be2f97fde687b378debbdbb
+size 25773377
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb5949e8b182a0d81e51c4b313fce9bb2125921d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+32,0.533333333,BASELINE,765,745,714,680,658,634,878.570063355,786,805,652,631,652,0.400967575714,-0.00539197776996,0.0798361243445,0.999999928396,0.000245935446063,-0.000284269490082,4.37551802992e-05,1793244826509707264
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+34,0.566666667,BASELINE,765,745,714,679.276885009,658,634,879,786,805,652,631,652,0.400966580849,-0.00539290514485,0.0798352773168,0.999999928006,0.000246705605791,-0.000284952962555,4.3886134509e-05,1793244826543040768
+35,0.583333333,BASELINE,765,745,714,679,658,634,879.304511924,785.695488076,805,651.695488076,631,652,0.400966540788,-0.00539333859824,0.0798352639586,0.999999928268,0.000246069390013,-0.000284615204532,4.3671688901e-05,1793244826559707648
+36,0.600000000,BASELINE,765,745,714,679,658,634,879.890989048,785.109010952,805,651.109010952,631,652,0.400967378672,-0.00539265533797,0.079835960079,0.99999992868,0.000245647262447,-0.000283612472626,4.31516298536e-05,1793244826576375040
+37,0.616666667,BASELINE,765,745,714,679.472695845,658,634,879.527304155,785.472695845,805,651.472695845,631,652,0.400967981707,-0.00539314194014,0.0798363103497,0.999999929078,0.000244655315983,-0.0002830361219,4.33323428441e-05,1793244826593041920
+38,0.633333333,BASELINE,764.947127037,745,714,680,658,634,879,786,805,651.947127037,630.947127037,652,0.40096843818,-0.00539373434674,0.0798365630193,0.999999929406,0.000243761511821,-0.000282605806871,4.36245046249e-05,1793244826609708800
+39,0.650000000,BASELINE,764.37130694,745,714,680,658,634,879,786,805,651.37130694,630.37130694,652,0.4009679754,-0.00539273150867,0.0798366313315,0.999999929066,0.000245125129749,-0.000282657047022,4.34365215559e-05,1793244826626374912
+40,0.666666667,BASELINE,764,745,714,680,658,633.793019328,878.793019328,785.793019328,805,651,630.206980672,652,0.400967585068,-0.00539236690787,0.0798362125616,0.999999928813,0.000245572583639,-0.000283182931277,4.33041282148e-05,1793244826643041024
+41,0.683333333,BASELINE,764,745,714,680,658,633.210251816,878.210251816,785.210251816,805,651,630.789748184,652,0.400967326274,-0.0053931610683,0.0798349094625,0.999999928718,0.00024435668218,-0.000284570562699,4.32726616435e-05,1793244826659707904
+42,0.700000000,BASELINE,764.372493291,745,714,680,658,633.372493291,878,785.372493291,805,651.372493291,630.627506709,652,0.400967446532,-0.00539346676885,0.0798350914525,0.999999928859,0.000244205773798,-0.000284193895419,4.33515537259e-05,1793244826676374528
+43,0.716666667,BASELINE,764.955225731,745,714,680,658,633.955225731,878,785.955225731,805,651.955225731,630.044774269,652,0.400967780732,-0.00539349677746,0.0798361116427,0.999999929132,0.000244655958804,-0.00028282143926,4.34927333999e-05,1793244826693040896
+44,0.733333333,BASELINE,765,745,714,680,658,634,878.534539098,786,805,652,630.534539098,652,0.400968348615,-0.00539289953256,0.0798368639729,0.999999929265,0.000244949635269,-0.000282112322297,4.33786698793e-05,1793244826709708032
+45,0.750000000,BASELINE,765,745,714.112812894,679.887187106,658,634,878.887187106,786,805,652,631,652,0.400968435527,-0.00539241018516,0.0798371376083,0.999999929231,0.000245026607991,-0.000282181768559,4.3281131752e-05,1793244826726375168
+46,0.766666667,BASELINE,765,745,714.687992138,679.312007862,658,634,878.312007862,786,805,652,631,652,0.400966471449,-0.00539257702733,0.0798355406735,0.999999928553,0.000244268803377,-0.000285215896618,4.33383919992e-05,1793244826743042048
+47,0.783333333,BASELINE,765,745,714.731325656,679.268674344,658,634,878,786,805,652,631,652,0.400965637258,-0.00539270666668,0.0798352889092,0.999999928306,0.0002443511557,-0.00028599245705,4.345356965e-05,1793244826759708416
+48,0.800000000,BASELINE,765,745,714.144119232,679.855880768,658,634,878,786,805,652,631,652,0.400966142626,-0.00539279219953,0.0798366319378,0.999999928576,0.000245429572273,-0.0002840925148,4.363741241e-05,1793244826776374528
+49,0.816666667,BASELINE,764.562920117,745,714,680,658,634,878.437079883,786,804.562920117,651.562920117,631,652,0.400966787617,-0.0053926238007,0.0798366386592,0.999999928831,0.000245204821311,-0.000283397982235,4.35780299595e-05,1793244826793040896
+50,0.833333333,BASELINE,764.016298803,745,714,680,658,633.983701197,879.016298803,786,804.016298803,651.016298803,631,652,0.400967452114,-0.00539238177399,0.0798362264738,0.999999929072,0.000244577476839,-0.000283107405598,4.34411449687e-05,1793244826809707520
+51,0.850000000,BASELINE,764.594613863,745,714,680,658,633.405386137,879.594613863,786,804.594613863,651.594613863,631,652,0.400967223193,-0.00539244892473,0.0798363571269,0.999999929016,0.000244683798823,-0.000283226561024,4.33597506803e-05,1793244826826374144
+52,0.866666667,BASELINE,765,745,714,680.170829106,658,633.170829106,879.829170894,786,804.829170894,651.829170894,631,652,0.400966993802,-0.00539226191097,0.0798364439023,0.999999928899,0.000245039746742,-0.000283341325421,4.33097033615e-05,1793244826843040768
+53,0.883333333,BASELINE,765,745,714,680.74212185,658,633.74212185,879.25787815,786,804.25787815,651.25787815,631,652,0.40096676331,-0.00539147907581,0.0798364278179,0.999999928637,0.000245980876614,-0.000283445796212,4.33331407236e-05,1793244826859707648
+54,0.900000000,BASELINE,764.675920219,745,714,680.675920219,658,634,879,786,804.324079781,651.324079781,631,652,0.4009666797,-0.00539211421416,0.0798363368955,0.999999928817,0.000245064447789,-0.000283599922161,4.33738678772e-05,1793244826876375040
+55,0.916666667,BASELINE,764.08518698,745,714,680.08518698,658,634,879,786,804.91481302,651.91481302,631,652,0.400966716944,-0.00539391606384,0.0798361843962,0.999999929355,0.000242619616102,-0.00028379490446,4.34288211024e-05,1793244826893041920
+56,0.933333333,BASELINE,764.496434558,745,714,680,658,634,879,786,805,651.503565442,631,652,0.400966552828,-0.00539457673002,0.0798358856047,0.999999929554,0.000241429022594,-0.000284106884677,4.34525020434e-05,1793244826909708288
+57,0.950000000,BASELINE,765,745,714,680,657.923958231,634,878.923958231,786,805,651.076041769,631,652,0.400966478437,-0.00539469692369,0.0798356444497,0.999999929633,0.000240878775204,-0.000284299439235,4.3410961699e-05,1793244826926374400
+58,0.966666667,BASELINE,765,745,714,680,657.347503231,634,878.347503231,786,805,651.652496769,631,652,0.400967217792,-0.00539252584124,0.079835944809,0.999999929307,0.000243151683896,-0.00028357634315,4.29748927605e-05,1793244826943041280
+59,0.983333333,BASELINE,765,745,714,680,657.454519032,634,878,785.772740484,805,652,630.772740484,652,0.400967621998,-0.00539178864499,0.0798361123993,0.99999992928,0.000243717163682,-0.000283221531423,4.27402711346e-05,1793244826959707904
+60,1.000000000,BASELINE,765,745,714,680,658.59890769,634,878,785.200546155,805,652,630.200546155,652,0.400967517515,-0.00539322780288,0.0798360784727,0.999999929711,0.000241691105811,-0.000283425702105,4.28114064581e-05,1793244826976374528
+61,1.016666667,BASELINE,765,745,714,680,658.614973822,634,878.385026178,785.770052356,805,651.614973822,630.385026178,652,0.400966480389,-0.00539332491851,0.0798357387326,0.999999929493,0.000241822067771,-0.000284091233085,4.27509330902e-05,1793244826993041152
+62,1.033333333,BASELINE,765,745,714,680,658.022182581,634,878.977817419,786.955634838,805,651.022182581,630.977817419,652,0.400964939996,-0.00539269785082,0.0798352339714,0.999999928925,0.00024311698541,-0.000285005719987,4.26194419805e-05,1793244827009708032
+63,1.050000000,BASELINE,765,745,714,680,658,634,879,786.445047629,805,651.554952371,631,652,0.400966304558,-0.00539328384487,0.0798357678768,0.999999929383,0.000242613251297,-0.000283817978853,4.267463568e-05,1793244827026374656
+64,1.066666667,BASELINE,764.868134841,745,714,679.868134841,658,634,878.868134841,786.131865159,805.131865159,651.868134841,631,652,0.400967357696,-0.00539401543981,0.0798361452903,0.999999929761,0.000242099761831,-0.000282904976727,4.27819071936e-05,1793244827043041280
+65,1.083333333,BASELINE,764.289913875,745,714,679.289913875,658,634,878.289913875,786.710086125,805.710086125,651.289913875,631,652,0.400966974417,-0.00539508025768,0.079835856309,0.999999929742,0.000241789936748,-0.000283198583491,4.30408930768e-05,1793244827059707648
+66,1.100000000,BASELINE,764.292533541,745,714,679.292533541,658,634,878.292533541,786.707466459,805.707466459,651.292533541,630.707466459,652,0.400967127011,-0.00539396748016,0.0798359200948,0.999999929279,0.000243485791968,-0.000283366878649,4.31228984092e-05,1793244827076374272
+67,1.116666667,BASELINE,764.879230927,745,714,679.879230927,658,634,878.879230927,786.120769073,805.120769073,651.879230927,630.120769073,652,0.400967818464,-0.00539066497134,0.0798363386137,0.99999992836,0.000247198505257,-0.000283409163811,4.3026936854e-05,1793244827093040896
+68,1.133333333,BASELINE,764.537825672,745,714,680,658.462174328,634,879,786,805.462174328,652,630.462174328,652,0.400966766373,-0.00539151835059,0.0798360052993,0.999999928351,0.000246424688062,-0.000284101685498,4.31227867717e-05,1793244827109707520
+69,1.150000000,BASELINE,764,745,714,679.956423916,658.956423916,634,879,786,805.956423916,652,631,652,0.400965486836,-0.00539333202213,0.0798355620207,0.999999928619,0.000244508626091,-0.000284797324845,4.32273497541e-05,1793244827126374144
+70,1.166666667,BASELINE,764,745,714,679.381950183,658.381950183,634,879,786,805.381950183,652,631,652,0.400966942247,-0.00539372125316,0.0798361532435,0.999999929416,0.000242844372669,-0.000283477560575,4.28323432585e-05,1793244827143041280
+71,1.183333333,BASELINE,764.19296217,745,714,679.19296217,658,634,879,786,805,652,631,652,0.400967883274,-0.00539417391783,0.079836683317,0.999999929964,0.000241882377597,-0.000282368820899,4.28198528928e-05,1793244827159708160
+72,1.200000000,BASELINE,764.768744808,745,714,679.768744808,658,634,879,786,805,652,631,652,0.400967803806,-0.0053947524295,0.0798370920754,0.999999930022,0.000242313602827,-0.000281678735763,4.3566241796e-05,1793244827176374784
+73,1.216666667,BASELINE,765,745,714,680,658,634,878.648471088,786,805,651.648471088,631,652,0.400968147695,-0.00539421135465,0.0798376586524,0.999999930007,0.000243208753386,-0.000280946068299,4.36414451294e-05,1793244827193041664
+74,1.233333333,BASELINE,765,745,714,680,658,634,878.060987465,786,805,651.060987465,631,652,0.400968775752,-0.0053929187862,0.0798383311608,0.999999929943,0.000244415301823,-0.000280184818587,4.32661324239e-05,1793244827209708544
+75,1.250000000,BASELINE,765,745,714,680,658,634,878,786,805.52121287,651.52121287,631,652,0.400967722026,-0.00539277605,0.079837416299,0.999999929415,0.000244697996708,-0.000281813290196,4.32956610513e-05,1793244827226374656
+76,1.266666667,BASELINE,765,745,714,680,658,634,878.101643911,786,805.898356089,652,631,651.898356089,0.40096680724,-0.00539290744532,0.0798366070053,0.999999929038,0.000244658992094,-0.000283179300314,4.33104362416e-05,1793244827243041024
+77,1.283333333,BASELINE,765,745,714,680,658,634,878.67668494,786,805.32331506,652,631,651.32331506,0.40096744687,-0.00539369525094,0.0798371457674,0.999999929627,0.000243620118697,-0.000282033671063,4.30380876865e-05,1793244827259707648
+78,1.300000000,BASELINE,765,745,714,680,658,634,879,786,805,651.743758079,631,651.256241921,0.400967952468,-0.00539331775179,0.0798375388149,0.999999929862,0.000243500311563,-0.00028132353751,4.29038741652e-05,1793244827276374528
+79,1.316666667,BASELINE,765,745,714,680,658,634,879,786,805,651.158400885,631,651.841599115,0.400968285917,-0.00539144354355,0.0798377447076,0.999999929644,0.00024456094658,-0.000281172751574,4.2947080305e-05,1793244827293041152
+80,1.333333333,BASELINE,765,745,714,680,658,634,879,786.422476114,805,651,630.577523886,652,0.400968913307,-0.00539200472705,0.0798380523493,0.999999929859,0.000244409620758,-0.000280544359207,4.29067347406e-05,1793244827309708032
+81,1.350000000,BASELINE,765,745,714,680,657.998306347,634,878.998306347,786.998306347,805,651,630.001693653,652,0.400969641387,-0.00539346390503,0.0798383920116,0.99999993023,0.000243814957223,-0.000279749488846,4.2836197608e-05,1793244827326374912
+82,1.366666667,BASELINE,765,745,714,680,657.41818494,634,878.41818494,786.41818494,805,651,630.58181506,652,0.400967513421,-0.00539303221606,0.0798367752727,0.999999929035,0.000245371938141,-0.00028261379149,4.30409783062e-05,1793244827343041280
+83,1.383333333,BASELINE,765,745,714,679.839985648,657.160014352,634,878.160014352,786,805,651.160014352,631,652,0.400966176637,-0.00539300692454,0.0798358752153,0.999999928355,0.000246169010588,-0.00028429987764,4.31758683642e-05,1793244827359707648
+84,1.400000000,BASELINE,765,745,714,679.266749905,657.733250095,634,878.733250095,786,805,651.733250095,631,652,0.400966883003,-0.00539403111455,0.0798368259174,0.999999929028,0.000245003694184,-0.000282943335718,4.31302727341e-05,1793244827376374272
+85,1.416666667,BASELINE,765,745,714,679,658,634,879,786,804.693437687,651.693437687,631,652,0.400967104822,-0.0053942464269,0.079837110773,0.999999929478,0.000243723888335,-0.00028246855203,4.30630980575e-05,1793244827393041152
+86,1.433333333,BASELINE,765,745,714,679,658,634,879,786,804.120058943,651.120058943,631,652,0.400966904914,-0.00539375773271,0.0798368161093,0.999999929734,0.000242344436699,-0.000282761206477,4.29771420661e-05,1793244827409707776
+87,1.450000000,BASELINE,764.528184132,745,714,679.471815868,658,634,879,786,804,651,631,652,0.400967165863,-0.00539294972193,0.0798367750179,0.999999929607,0.000243653695597,-0.000282090363896,4.29444426827e-05,1793244827426374656
+88,1.466666667,BASELINE,764.066158611,745,714,680,658,634,879.066158611,786,804.066158611,651.066158611,631,652,0.400967594079,-0.0053921715794,0.0798368795525,0.99999992944,0.000245382311909,-0.000281184429085,4.29194530802e-05,1793244827443041536
+89,1.483333333,BASELINE,764.641783816,745,714,680,658,634,879.641783816,786,804.641783816,651.641783816,631,652,0.40096837046,-0.00539227468216,0.0798375883517,0.999999929783,0.000244856699828,-0.000280433154718,4.2845218353e-05,1793244827459708416
+90,1.500000000,BASELINE,764.791022086,745,714,680,658,634,879.791022086,786,805,651.791022086,631,652,0.400968585552,-0.00539262226484,0.0798378136517,0.999999929875,0.000244322842625,-0.000280555174644,4.29564503554e-05,1793244827476375040
+91,1.516666667,BASELINE,764.237719641,745,714,680,658,634,879.237719641,786,805,651.237719641,631,652,0.400967875831,-0.00539337266728,0.0798372423094,0.999999929551,0.000243775400317,-0.000282116086646,4.33732684604e-05,1793244827493041152
+92,1.533333333,BASELINE,764.351446578,745,714,680,658,634,879,785.648553422,805,651.351446578,631,652,0.400967692635,-0.00539300072334,0.0798370430641,0.999999929261,0.000244500436972,-0.000282522135769,4.33493089068e-05,1793244827509707520
+93,1.550000000,BASELINE,764.967628033,745,714,680,658,634,879,785.032371967,805,651.967628033,631,652,0.400967906055,-0.00539178334735,0.0798371241089,0.999999928994,0.000246183996377,-0.000282058259156,4.29933239172e-05,1793244827526373888
+94,1.566666667,BASELINE,765,745,714,680,658,634,879,785.548687595,805,652,630.451312405,652,0.400967245967,-0.00539365441864,0.0798373844459,0.999999929593,0.000243746113346,-0.000282045268235,4.30481607793e-05,1793244827543040512
+95,1.583333333,BASELINE,765,745,714,680,657.87374224,634,879,786,805,652,630.12625776,651.87374224,0.400966500438,-0.00539502877623,0.0798373075577,0.999999929936,0.000241858987542,-0.000282449629097,4.30534423334e-05,1793244827559707136
+96,1.600000000,BASELINE,765,745,714,680,657.301617011,634,879,786,805,652,630.698382989,651.301617011,0.400965624227,-0.00539404427248,0.0798360046824,0.99999992923,0.000242723848324,-0.000284239538626,4.28032789514e-05,1793244827576373760
+97,1.616666667,BASELINE,765,745,714,680,657.278763087,634,879,786,805,652,631,651.278763087,0.400966257838,-0.00539264069835,0.079835985728,0.999999928859,0.000244538469957,-0.000284011120809,4.26599788883e-05,1793244827593040640
+98,1.633333333,BASELINE,765,745,714,680,657.86834734,634,879,786,805,652,631,651.86834734,0.400968574902,-0.00539076986031,0.0798373983467,0.999999928855,0.000247412075989,-0.000281532265543,4.26358315647e-05,1793244827609707520
+99,1.650000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400966955852,-0.00539191986611,0.0798366377071,0.999999928797,0.000246226291871,-0.000282721601958,4.29688226226e-05,1793244827626373888
+100,1.666666667,BASELINE,764.970388018,745,714,679.970388018,658,634,878.970388018,786,805,652,631,652,0.400964465036,-0.00539377937745,0.0798353974216,0.999999928736,0.000244069935321,-0.000284741174729,4.33725391564e-05,1793244827643040768
+101,1.683333333,BASELINE,764.393663663,745,714,679.393663663,658,634,878.393663663,786,805,652,631,652,0.400966775108,-0.00539270176282,0.0798368389952,0.999999928986,0.000245543724849,-0.000282615696224,4.31859512156e-05,1793244827659707392
+102,1.700000000,BASELINE,764,745,714,679.182819818,658,634,878,786,805,652,631,652,0.400967918754,-0.00539238458371,0.0798374280817,0.999999929153,0.000246122064435,-0.000281540023394,4.30399832786e-05,1793244827676374016
+103,1.716666667,BASELINE,764,745,714,679.758785238,658,634,878,786,805,652,631,652,0.400966554049,-0.00539370268634,0.0798361839342,0.999999929153,0.000244774779959,-0.000282721909611,4.29813668139e-05,1793244827693040640
+104,1.733333333,BASELINE,764,745,714,679.657785517,658,634,878.342214483,786,805,652,631,652,0.400966704525,-0.0053940541381,0.0798361958043,0.999999929507,0.000243409097447,-0.000282654755352,4.29480449397e-05,1793244827709707264
+105,1.750000000,BASELINE,764,745,714,679.068977925,658,634,878.931022075,786,805,652,631,652,0.400967946811,-0.00539370904018,0.0798371127361,0.999999930115,0.000242030157527,-0.000281687566907,4.29329498501e-05,1793244827726373888
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,652,631,651,0.400965600112,-0.00539351154808,0.079835998807,0.999999929177,0.000242705285545,-0.000284332602683,4.35419621027e-05,1793244827757107968
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.424272178,634,878.424272178,786,804.424272178,651.424272178,631,651.575727822,0.400965746427,-0.00539545624674,0.0798358243987,0.99999992938,0.000241483466586,-0.000284636623468,4.36850391079e-05,1793244827773774592
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,804.150754675,651.150754675,630.849245325,652,0.400965882518,-0.00539586872981,0.0798356928093,0.999999929305,0.000241830412143,-0.000284609563805,4.36601783046e-05,1793244827790441216
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,804.723818034,651.723818034,630.276181966,652,0.400965989968,-0.00539198902169,0.0798356811681,0.999999928439,0.000246571933446,-0.000283655049393,4.316487378e-05,1793244827807107840
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.692972308,745,714,680,658.307027692,634,878.307027692,786,805,652,630.307027692,652,0.400965575475,-0.00539154993773,0.0798355723585,0.999999928549,0.000245998186658,-0.000283802425082,4.29373954607e-05,1793244827823774720
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.100323814,745,714,680,658.899676186,634,878.899676186,786,805,652,630.899676186,652,0.400964675432,-0.00539431158753,0.0798353731554,0.999999929557,0.000240479767918,-0.000284974863847,4.29590697305e-05,1793244827840441344
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.481298525,745,714,680,658.518701475,634,879,786,805,652,630.518701475,652,0.400965881684,-0.00539419963836,0.0798362221023,0.999999930113,0.000240334524995,-0.000283144377554,4.29159492338e-05,1793244827857107712
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.939886517,786,805.060113483,652,630.060113483,652,0.400967307058,-0.00539348742646,0.0798371225248,0.999999930416,0.000241397896311,-0.000281172929376,4.28481556625e-05,1793244827873774592
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.365863397,786,805.634136603,652,630.634136603,652,0.400966936372,-0.00539264960376,0.0798366370535,0.99999992935,0.000243433215271,-0.000283227725244,4.2682309648e-05,1793244827890441216
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.213223588,680,658,634,878.213223588,786,805.786776412,652,631,652,0.400970676316,-0.00539240680654,0.079838417499,0.999999929675,0.000244827827034,-0.000280858693621,4.2741874361e-05,1793244827907107840
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.801210804,680,658,634,878.801210804,786,805.198789196,652,631,652,0.400981641139,-0.00539320983135,0.0798441805397,0.999999932388,0.000245096326034,-0.000270714304155,4.31976229408e-05,1793244827923774464
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.616015347,680,658,634,879,786,805.383984653,652,631,652,0.401004525482,-0.00539492742457,0.0798535681498,0.999999937395,0.000242411393529,-0.000254093095201,4.34094019477e-05,1793244827940441344
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714.035904258,680,658,634,879,786,805.964095742,652,631,652,0.401033497917,-0.00539711214863,0.0798648070686,0.999999943264,0.000238217947572,-0.000234163743862,4.34965695368e-05,1793244827957108224
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.46036474,745,714,680,658,634,879,786,805.46036474,652,631,652,0.401091797609,-0.00539611741908,0.0798847408433,0.999999951319,0.000240500140306,-0.000193987579038,4.34851938464e-05,1793244827973775360
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.22946031,745,714,680,658,634,878.885269845,786,805,652,631,652,0.401155109375,-0.00539579973792,0.0799044868292,0.999999957636,0.000242325301537,-0.000155329076459,4.33458678665e-05,1793244827990441984
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.378504177,745,714,680,658,634,878.310747911,786,805,652,631,652,0.401230753319,-0.00539903604642,0.0799211812982,0.999999961936,0.000240606693414,-0.000128106043748,4.27198245131e-05,1793244828007108096
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.727522332,745,714,680,658,634,878,786,805,652,631,652,0.401308805894,-0.00539972907506,0.0799324749094,0.999999963981,0.000240900279968,-0.000110878479856,4.13676555852e-05,1793244828023774720
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.134043163,745,714,680,658,634,878,786,805,652,631,652,0.401389696035,-0.00539742590694,0.0799374058571,0.999999964014,0.000243564400541,-0.000105426416595,3.91600500169e-05,1793244828040441856
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,805,652,631,652,0.401487839044,-0.00540009254286,0.0799391995187,0.999999965278,0.000240663856283,-0.000101008990596,3.63668866438e-05,1793244828057108736
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.975389717,745,714,680,658,634,878,786,805,651.975389717,631,652,0.401592202737,-0.00540411873357,0.0799402018934,0.999999966877,0.00023610474195,-9.68953743548e-05,3.33560082502e-05,1793244828073775360
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.400630224,745,714,680,658,634,878,786,805,651.400630224,631,652,0.401723102454,-0.00540612375217,0.0799439769996,0.999999968637,0.000230762185497,-9.28253085937e-05,2.92972625229e-05,1793244828090441728
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.173026907,745,714,679.826973093,658,634,878.173026907,786,805,651.173026907,631,652,0.401865641066,-0.00540773236899,0.0799486211343,0.999999970325,0.000226636973596,-8.58620811615e-05,2.47560864292e-05,1793244828107108096
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.744147686,745,714,679.255852314,658,634,878.744147686,786,805,651.744147686,631,652,0.402034957999,-0.00540842895906,0.0799552646966,0.999999971825,0.000225312583483,-7.22423755617e-05,1.91049530581e-05,1793244828123774720
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.329763751,679,658,634,879,786,805,652,630.670236249,652,0.40221676042,-0.00540838974698,0.0799606434381,0.999999973336,0.000222110068345,-6.18006655575e-05,1.32416262923e-05,1793244828140441344
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.927143358,679,658,634,879,786,805,652,630.072856642,652,0.40240869531,-0.00540775340349,0.0799649957301,0.999999974892,0.000217383383017,-5.39380186496e-05,7.20609588424e-06,1793244828157107968
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.493349508,679.506650492,658,634,878.493349508,786,805,651.493349508,630.506650492,652,0.402615588065,-0.00541035410635,0.0799596320188,0.999999976247,0.000207929725873,-6.53585696245e-05,-4.02678264578e-07,1793244828173775104
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.083341242,634,878.083341242,786,805.083341242,651.083341242,631,652,0.402830367507,-0.00541339413495,0.0799530649103,0.999999977295,0.000197815453619,-7.87956760989e-05,-8.34431661388e-06,1793244828190442240
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.658063647,634,878.658063647,786,805.658063647,651.658063647,631,652,0.403079397155,-0.0054163734212,0.0799473595781,0.999999978344,0.000187677386549,-8.83302431489e-05,-1.69601051761e-05,1793244828207108608
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.238914097,680,658.761085903,634,879,786,805.761085903,652,630.761085903,652,0.403352531182,-0.00541896241982,0.0799449936588,0.999999983637,0.000154148242508,-9.14528087966e-05,-2.45194040127e-05,1793244828223774976
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714.828765916,680,658.171234084,634,879,786,805.171234084,652,630.171234084,652,0.403661071793,-0.00542097812997,0.0799475329588,0.999999992188,8.62602585585e-05,-8.51568705234e-05,-3.05268386405e-05,1793244828240441344
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.59112107,745,714.59112107,680,658,634,879,786,805,651.59112107,630.40887893,652,0.403997782108,-0.00542138350324,0.0799506385965,0.999999991725,9.72301310039e-05,-7.94323592782e-05,-2.80657281297e-05,1793244828257107968
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.014991693,745,714.014991693,680,658,634,879,786,805,651.014991693,630.985008307,652,0.40434601513,-0.00542113017398,0.0799539758926,0.999999987157,0.000140456525876,-7.39415883166e-05,-2.21405897163e-05,1793244828273774592
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.562765445,745,714,680,658,634,879,785.437234555,805,651.562765445,631,652,0.404738856645,-0.00542575727606,0.0799554188058,0.999999988778,0.000131018236547,-6.7620802312e-05,-2.65657656365e-05,1793244828290441216
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.13918602,634,879,785.13918602,805.13918602,652,631,652,0.405140864812,-0.00543011098878,0.0799556493329,0.99999999028,0.000120206424313,-6.35717345902e-05,-3.0814889138e-05,1793244828307108096
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.711313801,634,879,785.711313801,805.711313801,652,631,652,0.405567678932,-0.00543320873884,0.0799522661292,0.999999991217,0.000109498812307,-6.66578838537e-05,-3.36562570846e-05,1793244828323774976
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.294576368,714,680,659,634,879,786,805.705423632,652,631,652.294576368,0.406018746937,-0.0054346190445,0.0799473159923,0.999999990601,0.000109457869272,-7.51718310562e-05,-3.41375973805e-05,1793244828340441856
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.88917982,714,680,659,634,879,786,805.11082018,652,631,652.88917982,0.406494517662,-0.00543431068236,0.0799407699277,0.999999988268,0.000120280965476,-8.92140102631e-05,-3.22152414006e-05,1793244828357108480
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.530470059,714,680,658.530470059,634.469529941,879,786,805,651.530470059,630.530470059,652.530470059,0.406993606699,-0.0054372445985,0.0799346409849,0.999999988167,0.000113387039399,-9.78230311039e-05,-3.52153484148e-05,1793244828373775360
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.953640059,745,714,680,658,634.953640059,879.046359941,786,805,651.046359941,630.046359941,652,0.407499693983,-0.00544095089782,0.0799282699885,0.99999998828,0.000102924997921,-0.000106399786907,-3.90543757433e-05,1793244828390441984
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.379712754,745,714,680,658,634.379712754,879.620287246,786,805,651.620287246,630.620287246,652,0.408024634852,-0.00544499489413,0.0799180571218,0.999999986118,9.80427073333e-05,-0.000128772383266,-3.96084220575e-05,1793244828407108608
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.199578791,745,714,680,658,634,879.800421209,786,805.199578791,652,631,652,0.408582103179,-0.00545145513106,0.0799135011782,0.999999985337,9.13514957736e-05,-0.000139326642852,-3.96207957584e-05,1793244828423775232
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.789358035,745,714,680,658,634,879.210641965,786,805.789358035,652,631,652,0.409203166555,-0.00546263940767,0.0799200051979,0.99999998793,8.11236273197e-05,-0.000126774636657,-3.85741345879e-05,1793244828440441856
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.372652894,634,879,786,806,651.627347106,630.627347106,652,0.409872123689,-0.00548427107275,0.0799474267762,0.999999994571,5.3743220325e-05,-8.14944285726e-05,-3.64327319607e-05,1793244828457108736
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.952345126,634,879,786,806,651.047654874,630.047654874,652,0.410567689726,-0.00551170712115,0.0799864697787,0.999999999128,1.68331673049e-05,-1.80310121719e-05,-3.36831102773e-05,1793244828473775616
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.528856939,659,634,879,786,805.471143061,651.528856939,630.528856939,652,0.411244710783,-0.00551396361908,0.079992977429,0.999999999248,1.35790656972e-05,-1.07308365729e-05,-3.47087081865e-05,1793244828490442240
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.894776489,659,634,879,786,805,652,631,652,0.411918986834,-0.0055136359581,0.0799889804873,0.99999999906,1.33546578908e-05,-1.94346686492e-05,-3.63834379314e-05,1793244828507108864
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.317784057,659,634,879,786,805,652,631,652,0.41258840293,-0.00551183406645,0.0799509521127,0.999999996144,1.31980047053e-05,-7.73378285834e-05,-3.94524590734e-05,1793244828523775232
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.264620042,680,659,634,879.264620042,786,805,652,631,652,0.413299350724,-0.00551607959972,0.079924949753,0.99999999301,2.50607090152e-06,-0.000110274660083,-4.25723958758e-05,1793244828540441600
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.853658811,680,659,634,879.853658811,786,805,652,631,652,0.414061215615,-0.00552773915126,0.0799136910348,0.999999992391,-2.11019001396e-05,-0.000112603294618,-4.57547547505e-05,1793244828557108224
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.564661379,680,659,634,879.564661379,786,805.435338621,651.564661379,631,652,0.4148541816,-0.00553012094983,0.079930485758,0.999999995264,-2.3197681048e-05,-8.28126413299e-05,-4.55725833422e-05,1793244828573774848
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.014434148,659,634,879,786,806,651.014434148,631,652,0.415656725096,-0.0055296268115,0.079955742105,0.999999997875,-1.84884516002e-05,-4.40968923142e-05,-4.43204381151e-05,1793244828590441984
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.587659993,659,634,879,786,806,651.587659993,631,652,0.416432036459,-0.00553652617652,0.0799495666366,0.999999996159,-2.56335250307e-05,-7.09023021537e-05,-4.4703099228e-05,1793244828607108608
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.839207511,659,634,879.160792489,785.839207511,806,651.839207511,631,651.839207511,0.417230492525,-0.00554285841387,0.0799481423867,0.99999999521,-3.45203559621e-05,-7.93755252589e-05,-4.57019994465e-05,1793244828623774976
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.266314301,659,634,879.733685699,785.266314301,806,651.266314301,631,651.266314301,0.418088266918,-0.00554773713939,0.0799588952024,0.999999996854,-4.78711980091e-05,-4.08645409307e-05,-4.82802805382e-05,1793244828640441600
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.318474493,659.318474493,634,879.681525507,785.318474493,806,651,631,651.318474493,0.41897282442,-0.00555149669215,0.0799748957766,0.999999997052,-5.84765649355e-05,-3.81894182581e-06,-4.96154051124e-05,1793244828657108480
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.91359653,659.91359653,634,879.08640347,785.91359653,806,651,631,651.91359653,0.419880647417,-0.00555428405882,0.0799954548926,0.999999996022,-6.66970338939e-05,3.19537268629e-05,-4.9870643394e-05,1793244828673775360
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.505272685,634,879.494727315,786,805.505272685,651,631,652,0.420741002325,-0.00555516826337,0.0799801266004,0.999999996596,-6.49322805209e-05,7.64053283426e-06,-5.03298661916e-05,1793244828690441728
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.072680048,681.072680048,659,634,879.927319952,786,805.145360097,651,631,652,0.421600502922,-0.00555278888307,0.0799639138833,0.99999999683,-5.85763980364e-05,-1.8619563062e-05,-5.06147961337e-05,1793244828707108352
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.645119861,681.645119861,659,634,879.354880139,786,806.290239722,651,631,652,0.422509565944,-0.00553019123777,0.0799835320559,0.999999998184,-3.23127518982e-05,1.19064578409e-05,-4.94630300164e-05,1793244828723774720
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.775558748,681.775558748,659,634,879,786,806.775558748,651,630.775558748,652,0.423408492138,-0.00551301203708,0.0799987645918,0.999999998284,-1.00145962255e-05,3.17084351333e-05,-4.82223399923e-05,1793244828740441600
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.185012133,681.185012133,659,634,879,786,806.185012133,651,630.185012133,652,0.424290883426,-0.00550467132225,0.0800068433432,0.999999998308,5.81511216558e-06,3.40175106147e-05,-4.68365984778e-05,1793244828757108480
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,806,651,630,652,0.425167160116,-0.005510264326,0.0799737214728,0.999999998354,-2.99600022107e-06,-3.04335302402e-05,-4.85476013845e-05,1793244828773775360
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,806,651,630,652,0.426040647164,-0.00552221414233,0.0799218031399,0.999999990544,-2.30486974982e-05,-0.000125341732316,-5.16713942866e-05,1793244828790441984
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681.55234007,659.55234007,634,879.55234007,786,806,651.55234007,630.55234007,652,0.426974445132,-0.00552820602604,0.079918343117,0.99999999219,-3.73643666196e-05,-0.00010613594227,-5.4395970822e-05,1793244828807108608
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681.869400601,660,634,879.869400601,786,806,651.869400601,631,652,0.427895964759,-0.005532939751,0.0799183410388,0.999999993257,-4.81384559933e-05,-8.96028817233e-05,-5.60279357652e-05,1793244828823775488
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681.281580691,660,634,879.281580691,786,806,651.281580691,631,652,0.428765634321,-0.00553414441617,0.0799233227709,0.999999992506,-4.73569001133e-05,-9.91989844882e-05,-5.38934097944e-05,1793244828840442880
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.69821454,745,713.69821454,681.30178546,660,634,879.30178546,786,806.30178546,651.30178546,631,652,0.429682814994,-0.00553590299972,0.0799457507583,0.999999994779,-4.73274506803e-05,-7.37908309142e-05,-5.25083832987e-05,1793244828857109248
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.118943561,745,713.118943561,681.881056439,660,634,879.881056439,786,806.881056439,651.881056439,631,652,0.430643681107,-0.00553817089975,0.0799842202182,0.999999997375,-4.79895475701e-05,-1.61969834901e-05,-5.18125061299e-05,1793244828873774848
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.458617056,745,713.458617056,681.541382944,660,634,880,786,806.082765887,651.541382944,631,652,0.431594510331,-0.00553583602689,0.0800169825968,0.999999997185,-4.44998645583e-05,3.38969356319e-05,-5.00111644311e-05,1793244828890441472
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.035564113,660,634,880,786,805.035564113,651.035564113,630.964435887,652,0.432533324434,-0.00553221386796,0.0800421359823,0.999999995413,-3.99021929137e-05,7.24717835529e-05,-4.8275779429e-05,1793244828907108096
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.609910494,660,634,880,786,805.609910494,651.609910494,630.390089506,652,0.433329402425,-0.00552710735497,0.0799743564162,0.999999997469,-3.47710461037e-05,-3.41043941144e-05,-5.18669476123e-05,1793244828923774976
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651.810983555,630.189016445,652,0.43414245989,-0.00552534744779,0.0799234088535,0.999999991751,-3.52021119074e-05,-0.000110494245991,-5.52287881769e-05,1793244828940441600
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651.221801023,630.778198977,652,0.434991464691,-0.00553067262764,0.0799080962568,0.999999989626,-4.74089192114e-05,-0.000122976748977,-5.81051217207e-05,1793244828957108224
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682.361502183,660,634,880,786,806.361502183,651,630.638497817,652,0.435854416679,-0.00553349780396,0.0799239713105,0.999999991789,-5.50543256923e-05,-0.000100002478023,-5.82316393219e-05,1793244828973774848
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682.941255801,660,634,880,786,806.941255801,651,630.058744199,652,0.436725789018,-0.00553481364092,0.079958675434,0.999999995049,-5.99458551056e-05,-5.56217190908e-05,-5.6697997182e-05,1793244828990441472
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.482608276,660,634,880,785.482608276,806.482608276,651.517391724,630.517391724,652,0.437571863669,-0.00553912255699,0.0799709168211,0.999999995645,-6.15458140129e-05,-4.32435574977e-05,-5.52429435116e-05,1793244829007108096
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,785.092606544,806,651.907393456,631,652,0.438400277581,-0.00554364448617,0.07997489335,0.999999995492,-6.50148718836e-05,-4.2628717636e-05,-5.451505907e-05,1793244829023774720
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,785.66516158,806,651.33483842,631,652,0.439151944487,-0.00554752138731,0.0799491619844,0.999999991587,-8.00942655455e-05,-8.42785199149e-05,-5.7509924418e-05,1793244829040441344
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.752263458,633.752263458,880.247736542,786,806,651,631,652.247736542,0.439862457762,-0.00554913341666,0.0799016151965,0.999999982158,-8.54097065384e-05,-0.000157405734413,-6.01048858998e-05,1793244829057107968
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.155574864,633.155574864,880.844425136,786,806,651,631,652.844425136,0.440515003567,-0.0055475552354,0.0798233400558,0.99999995733,-7.69720219007e-05,-0.000274870801971,-6.21365576511e-05,1793244829073774848
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.426268903,714,682.426268903,659.426268903,633,880.573731097,785.573731097,806,651,631,652.573731097,0.441149457319,-0.00554243967219,0.079740075427,0.999999914432,-6.98840776952e-05,-0.00040233381975,-6.6174421776e-05,1793244829090441216
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.997128501,745.997128501,714,683,659.994257002,633,880.002871499,785,806.002871499,651,630.997128501,652,0.441778085454,-0.00553614111462,0.0796556328144,0.999999853762,-6.33814694046e-05,-0.000532384059627,-7.08896238192e-05,1793244829107107840
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.421652407,745.421652407,714,683,658.843304815,633,880.578347593,785,806.578347593,651,630.421652407,652,0.442517416824,-0.0055427230376,0.0796871964467,0.999999881575,-7.8674737109e-05,-0.000475203449637,-6.95789310539e-05,1793244829123774464
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,714,683,658,632.842432511,880.842432511,784.842432511,806.842432511,651,630.157567489,652,0.443237538035,-0.00554918179557,0.0797224651335,0.999999907031,-8.81564553321e-05,-0.000416592991311,-6.79470352053e-05,1793244829140441088
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,714,683,658,632.252950194,880.252950194,784.252950194,806.252950194,651,630.747049806,652,0.44390500164,-0.00555530294226,0.079767889907,0.999999931841,-8.17078962127e-05,-0.000354063105949,-6.54346762709e-05,1793244829157107968
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.330518141,745,713.669481859,683,658,632,880,784.330518141,806.330518141,651,630.669481859,652,0.444523967021,-0.00555709955418,0.0797791900444,0.999999936099,-8.69628620032e-05,-0.000340796020554,-6.40051998342e-05,1793244829173774848
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.909466105,745,713.090533895,683,658,632,880,784.909466105,806.909466105,651,630.090533895,652,0.445106479281,-0.0055556456833,0.0797648408234,0.999999926438,-0.00010101463631,-0.000364556706415,-6.33896587228e-05,1793244829190441472
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.531911465,745.468088535,713.468088535,683,658,632,880,784.531911465,807,651,630,652,0.445650633564,-0.00555272804564,0.0797405342075,0.999999911685,-9.52045210117e-05,-0.000404305730887,-6.40480514843e-05,1793244829207108608
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.024357345,745.975642655,714,683,657.975642655,631.975642655,880,784,806.975642655,651,630,652,0.446186891029,-0.00554956469241,0.0797147568275,0.999999894807,-8.58096802182e-05,-0.000445867933145,-6.49899695932e-05,1793244829223775488
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.613407549,745.386592451,714,683,657.386592451,631.386592451,880,784,806.386592451,651,630,652,0.446704910714,-0.00554699513349,0.079697672587,0.999999888511,-7.86621242868e-05,-0.000460758065941,-6.70304524055e-05,1793244829240441856
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880,784,806,651,630,652,0.447204482567,-0.00554521704197,0.0796815189104,0.999999881353,-7.7758013557e-05,-0.000475908666265,-6.89790151893e-05,1793244829257108224
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880,784,806,651,630,652,0.447668828288,-0.00554495025501,0.0796671421443,0.999999872743,-8.87757408071e-05,-0.000491556626815,-7.07520567735e-05,1793244829273774592
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.388010117,745,714,683.388010117,657,631,880,784,806,651,630,652,0.448088443059,-0.0055490646117,0.0796481200878,0.999999855642,-9.39481470182e-05,-0.000524237699516,-7.11698764457e-05,1793244829290441472
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.964980517,745,714,683.964980517,657,631,880,784,806,651,630,652,0.448486273974,-0.00555531257805,0.0796268357812,0.999999833117,-9.62738924422e-05,-0.000565213870297,-7.09277053611e-05,1793244829307108352
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.9196312,745,714,683.4598156,656.4598156,631,880.5401844,783.4598156,806,651.5401844,630,652,0.448862024944,-0.00556028346293,0.0796080143827,0.999999816949,-0.000103848552645,-0.000591743553815,-7.18055646062e-05,1793244829323775232
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.118150491,745,713.881849509,683,656,631,881,783,806,652,630,652,0.449236247088,-0.00556430396419,0.0795949517129,0.999999806253,-0.000111612393988,-0.000608100980554,-7.24533842831e-05,1793244829340442112
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.707590216,745,713.292409784,683,656,631,881,783,806,652,630,652,0.449610062172,-0.00556486266197,0.0796042251496,0.999999817721,-0.000118777943124,-0.00058760601805,-7.1894912132e-05,1793244829357108736
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,713,683.291921158,655.708078842,630.708078842,880.708078842,783,806.291921158,651.708078842,630,652,0.449959443848,-0.0055671512659,0.0796152589727,0.999999827035,-0.000119882329307,-0.000571475492504,-7.05284454153e-05,1793244829373775360
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,713,683.871222746,655.128777254,630.128777254,880.128777254,783,806.871222746,651.128777254,630,652,0.450284772145,-0.00557114286791,0.0796280257995,0.999999834449,-0.000115019831336,-0.000559641518037,-6.83665522462e-05,1793244829390441728
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.446768768,713,684,655.446768768,630,880,783,806.553231232,651,630,652,0.450572537495,-0.00557383760522,0.0796314092373,0.999999837056,-0.000115946760771,-0.000554671987704,-6.91593728499e-05,1793244829407108352
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,713,683.978770392,655.978770392,630,880.021229608,782.978770392,806,651,630,652,0.450847603141,-0.00557620629706,0.0796318223222,0.999999837892,-0.000118644283957,-0.000552386555522,-7.07702921101e-05,1793244829423774976
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,713,683.404613951,655.404613951,630,880.595386049,782.404613951,806,651,630,652,0.451071548578,-0.00557973786458,0.0796247287481,0.999999827871,-0.000124356573445,-0.000568905016721,-7.1691729732e-05,1793244829440441600
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.824798674,746,713,683.175201326,655,630,881,782,806.175201326,651.175201326,630,652,0.451281672462,-0.00558218618995,0.0796141898324,0.999999815531,-0.000128529012335,-0.000589316639321,-7.15791928814e-05,1793244829457108480
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.231478643,746,713,683.768521357,655,630,881,782,806.768521357,651.768521357,630,652,0.451458811116,-0.00558204935284,0.0795954285956,0.999999797703,-0.000129026590454,-0.000619019305715,-6.89990714545e-05,1793244829473775104
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,713,683.654247631,654,629.345752369,880,782.345752369,807,651.345752369,630,652,0.452131661307,-0.00558767572596,0.0795456277777,0.999999747054,-0.000142904802187,-0.000693323158478,-6.90862279038e-05,1793244829557108224
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,633.64624538,879.64624538,786,806,651,630.64624538,652,0.417721155724,-0.00541498296797,0.0798026491399,0.999999930796,0.000189857273584,-0.000316325016128,4.79577169935e-05,1793244831616271872
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,633.110512057,879,785.110512057,805,651.110512057,630.110512057,652,0.415272182157,-0.00542857645391,0.0798056500367,0.999999927474,0.000176064311155,-0.000334207057281,4.8570759835e-05,1793244831666271744
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.7470551,633.2529449,879,786,805,652,630.7470551,652,0.409610225558,-0.00540571034953,0.0798090750959,0.999999926571,0.00021429865302,-0.000314092899064,4.77361321906e-05,1793244831799604992
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.677153126,658,633,879,786,805,651.677153126,631,652,0.409011883391,-0.00540389406296,0.0798283325126,0.999999934831,0.000218258236546,-0.000283396554279,4.88563258577e-05,1793244831816271616
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.515700983,745,714,680,658,633.484299017,879.484299017,786,805,651.484299017,630.515700983,652,0.407839521508,-0.00539933570122,0.0798255388914,0.99999992852,0.000230432273445,-0.000295539538129,5.01662079255e-05,1793244831849604864
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.769002408,744.769002408,714,679.230997592,657.230997592,634,879,786,805,651,630.769002408,652,0.406244040806,-0.00539545176545,0.0797634727326,0.999999897356,0.000230827916295,-0.000387256425578,4.51462225149e-05,1793244831899604736
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.194482277,744.194482277,714,679.805517723,657.805517723,634,879,786,805,651,630.194482277,652,0.405807485833,-0.00539488320135,0.0797829607292,0.999999911207,0.00023366061614,-0.000347703552138,4.57315313367e-05,1793244831916271616
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.28746601,657.28746601,634,879,785.28746601,805,651.28746601,631,652,0.403872631621,-0.0053925641264,0.0798330510455,0.999999927799,0.000240503168734,-0.000289919891079,5.0074936366e-05,1793244831999604992
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.402711255481,-0.00539327739573,0.0798275106135,0.999999921691,0.000247356201703,-0.000305100444733,4.84419391878e-05,1793244832066271744
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.809187089,745.190812911,714,680,658,634,879,786,805,651.809187089,631,652,0.402291887745,-0.00539309929223,0.0798286068576,0.99999992548,0.000237713187252,-0.000300339159919,4.82482387782e-05,1793244832099605248
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.235076972,745.764923028,714,680,658,634,879,786,805,651.235076972,631,652,0.402116692993,-0.00539625646472,0.0798335958501,0.999999930197,0.000229514805376,-0.000290740998639,4.89725201027e-05,1793244832116272384
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.520307305,745,713.520307305,679.479692695,657,634,878.95938539,786,805.520307305,652,630.520307305,652,0.401676342139,-0.00539238666869,0.0798457809077,0.999999932991,0.000238039267065,-0.000273694342128,4.94716966729e-05,1793244832166272512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.100037351,657,634,878.100037351,786,805.899962649,651.899962649,630.899962649,652,0.401552748279,-0.00539315228844,0.0798446048951,0.999999930778,0.000244068256044,-0.000276664336514,4.8279614218e-05,1793244832182939136
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.679441662,657,634,878.679441662,786,805.320558338,651.320558338,630.320558338,652,0.401446993146,-0.00539377537637,0.0798393025594,0.99999992672,0.000250495923769,-0.000286187566255,4.36796135665e-05,1793244832199605504
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.829871757,634,879,785.170128243,805,651,630.829871757,652,0.401264988199,-0.00539585321351,0.0798304870768,0.999999924558,0.000243610571188,-0.000299609592285,4.20883676782e-05,1793244832232938752
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.418516164,634,879,785.581483836,805,652,631,652,0.40109805025,-0.0053946150349,0.0798231257414,0.999999922239,0.000243658323917,-0.000307057733502,4.32161762781e-05,1793244832282938880
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.0542461,658,634,878.9457539,785.0542461,804.0542461,651.9457539,630.0542461,651.0542461,0.400966239203,-0.00539347458381,0.0798281711761,0.999999924332,0.000245648025512,-0.0002984463334,4.38580061087e-05,1793244832466271744
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..87e6f98c1b9d87a09ebe4433bfc254e4f22cff7f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ea7f1fb75c3952b34b1bbfb55c95ba5cbeabf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bbbef3c86488ad2250143c087e0968d21b0141c0a4ee0d715fae7579c4df91f
+size 25842642
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9021ad3f837eca5874cbd166852b8895715fb3b7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+10,0.166666667,BASELINE,764.784970552,745,714,679.784970552,658,634,878.784970552,786,804.784970552,651,630.215029448,651.215029448,0.400965750282,-0.00539725185413,0.0798330052339,0.999999928681,0.000239253170104,-0.000289042072424,4.30284827087e-05,1793244833064684800
+11,0.183333333,BASELINE,765,745,714,680,658,634,879,786,805,651,630.370886145,651.370886145,0.40096660479,-0.00539647395127,0.0798334321232,0.99999992899,0.000239242658219,-0.000287986726152,4.29649250929e-05,1793244833081351680
+12,0.200000000,BASELINE,765,745,714,680,658,634,879,786,805,651,630.962950597,651.962950597,0.400967367785,-0.00539554654922,0.0798338786421,0.999999929139,0.000239527493991,-0.000287248075564,4.28510220038e-05,1793244833098018304
+13,0.216666667,BASELINE,764.45813487,745,714,680,658,634,879,786,805,651.54186513,631,652,0.400968382153,-0.00539513755828,0.079834623067,0.999999929351,0.000240374280978,-0.000285815020176,4.27620895717e-05,1793244833114684928
+14,0.233333333,BASELINE,764,745,714,680,658,634,878.880870743,786,805,652,630.880870743,652,0.400968734376,-0.0053950407374,0.0798349450407,0.999999929328,0.000241250121904,-0.000285161510462,4.27254027738e-05,1793244833131351552
+15,0.250000000,BASELINE,764,745,714,680,658,634,878.306558483,786,805,652,630.306558483,652,0.400966492489,-0.00539600446587,0.0798335768795,0.999999928401,0.000242093643932,-0.000287663695237,4.2881973143e-05,1793244833148018176
+16,0.266666667,BASELINE,764,745,714,680,657.72618973,634,878,785.72618973,805,652,630.27381027,652,0.400966109364,-0.00539675224105,0.0798335629853,0.999999928449,0.000241406321634,-0.000288057771471,4.29827890843e-05,1793244833164684800
+17,0.283333333,BASELINE,764,745,714,680,657.138886772,634,878,785.138886772,805,652,630.861113228,652,0.400967854385,-0.00539725276548,0.0798350996278,0.999999929613,0.000238966294748,-0.000286038217804,4.30197702831e-05,1793244833181351680
+18,0.300000000,BASELINE,764,745,714,680,657.443636682,634,878,785.443636682,805,652,631,652,0.400968138887,-0.00539754035606,0.0798351026817,0.99999992943,0.000240065540251,-0.000285746862998,4.30871478482e-05,1793244833198018304
+19,0.316666667,BASELINE,764.024497176,745,714,680,658,634,878.024497176,786,805,652,631,652,0.400968025513,-0.00539776275103,0.0798346993714,0.999999928905,0.000242037748383,-0.000285912951596,4.31559687326e-05,1793244833214684928
+20,0.333333333,BASELINE,764.601241088,745,714,680,658,634,878.601241088,786,805,652,631,652,0.40096914044,-0.00539800218511,0.0798358432101,0.999999930098,0.000238977238497,-0.000284324561928,4.30450911154e-05,1793244833231351808
+21,0.350000000,BASELINE,765,745,714,680,658,634,878.82287002,785.82287002,805,652,631,652,0.400969249706,-0.00539823408108,0.0798361299309,0.999999930582,0.000237292572157,-0.000284039273948,4.30131384763e-05,1793244833248018432
+22,0.366666667,BASELINE,765,745,714,680,658,634,878.248896801,785.248896801,805,652,631,652,0.400967105881,-0.00539844908859,0.0798344963589,0.999999929491,0.000238690355684,-0.000286673464273,4.31580099228e-05,1793244833264685056
+23,0.383333333,BASELINE,764.665691143,745,714,680,657.665691143,634,878,785.334308857,805,652,630.665691143,652,0.400966487795,-0.00539789772428,0.0798342738794,0.999999929172,0.000239418980942,-0.000287193528851,4.30705035728e-05,1793244833281351424
+24,0.400000000,BASELINE,764.07541655,745,714,680,657.07541655,634,878,785.92458345,805,652,630.07541655,652,0.4009670379,-0.00539675958246,0.079835131812,0.999999929446,0.000239635260996,-0.000286094899666,4.28050756763e-05,1793244833298018048
+25,0.416666667,BASELINE,764.504480699,745,714,680,657.504480699,633.495519301,878,786,805,652,630.504480699,652,0.400967027619,-0.00539692299701,0.0798348933635,0.999999929414,0.000240224322904,-0.000285706641997,4.28560252469e-05,1793244833314684928
+26,0.433333333,BASELINE,765,745,714,680,657.917421341,633.082578659,878,786,804.917421341,651.917421341,631,652,0.400966836939,-0.00539721381022,0.0798345034986,0.999999929315,0.000240677395177,-0.000285662798996,4.29178388069e-05,1793244833331351808
+27,0.450000000,BASELINE,765,745,714,680,657.340992937,633.659007063,878,786,804.340992937,651.340992937,631,652,0.400966058303,-0.00539712634404,0.0798341685439,0.999999929087,0.000239990642893,-0.000287056389651,4.27674749517e-05,1793244833348018432
+28,0.466666667,BASELINE,765,744.760410348,714,679.760410348,657.239589652,634,878.239589652,786,804.479179303,651,631,652,0.400966427909,-0.00539759197997,0.0798345179284,0.999999929166,0.000239842889513,-0.000286887308137,4.28745710605e-05,1793244833364685056
+29,0.483333333,BASELINE,765,744.173811082,714,679.173811082,657.826188918,634,878.826188918,786,805.652377835,651,631,652,0.400968460569,-0.0053988587012,0.0798358584755,0.999999929689,0.000240475795105,-0.000284454930675,4.33545592551e-05,1793244833381351680
+30,0.500000000,BASELINE,765,744.407647876,714,679.407647876,658,634,878.592352124,785.592352124,805.592352124,651,630.592352124,652,0.400967689081,-0.00539809880826,0.0798356485937,0.999999929348,0.000241162831003,-0.00028508761645,4.3249558223e-05,1793244833398018048
+31,0.516666667,BASELINE,765,744.986942412,714,679.986942412,658,634,878.013057588,785.013057588,805.013057588,651,630.013057588,652,0.400965736861,-0.00539648557696,0.079834785879,0.999999928641,0.000241872659316,-0.000287010896187,4.28982381076e-05,1793244833414684672
+32,0.533333333,BASELINE,764.434666266,745,714,679.434666266,658,634,878.565333734,785.565333734,805,651,630.565333734,652,0.400967076014,-0.00539645744359,0.0798350906542,0.999999928983,0.00024231802143,-0.000285432297484,4.29486382208e-05,1793244833431351296
+33,0.550000000,BASELINE,764.142640875,744.857359125,714,679.142640875,658,634,879,786,805,651.142640875,631,652,0.400967824319,-0.00539660174142,0.0798352036608,0.999999929205,0.000242284492605,-0.00028466984121,4.30311538368e-05,1793244833448018176
+34,0.566666667,BASELINE,764.716731552,744.283268448,714,679.716731552,658,634,879,786,805,651.716731552,631,652,0.40096655589,-0.00539715703435,0.0798346551858,0.999999928995,0.000240820895824,-0.000286620253716,4.31827896652e-05,1793244833464685056
+35,0.583333333,BASELINE,764.70225242,744.29774758,714,680,657.70225242,634,878.70225242,785.70225242,805,652,631,652,0.400966087477,-0.00539694053604,0.079834403298,0.999999928631,0.000241300023843,-0.000287485031073,4.31878815126e-05,1793244833481351680
+36,0.600000000,BASELINE,764.11449085,744.88550915,714,680,657.11449085,634,878.11449085,785.11449085,805,652,631,652,0.4009663983,-0.00539597229278,0.0798344402938,0.999999928117,0.000243671416842,-0.000287292371416,4.30502356783e-05,1793244833498018304
+37,0.616666667,BASELINE,764.468907637,745,714,680,657.468907637,634,878,785.468907637,805,651.531092363,631,652,0.400966341301,-0.00539686234805,0.079833922789,0.999999928771,0.000240725188609,-0.000287563648944,4.26158556212e-05,1793244833514684928
+38,0.633333333,BASELINE,765,745,714,680,658,634,878,786,805,651,631,652,0.400966271055,-0.00539799757898,0.0798334148996,0.999999929589,0.000237101749741,-0.000287793243321,4.21893516802e-05,1793244833531351552
+39,0.650000000,BASELINE,765,745,714,680,658,634,878,786,805,651,631,652,0.400966985604,-0.00539701496416,0.0798343967126,0.999999929323,0.000239791206045,-0.000286427858254,4.25883398549e-05,1793244833548018176
+40,0.666666667,BASELINE,765,745,714,680,658,634,878,786,805,651.200137832,630.799862168,652,0.400967196255,-0.00539607874077,0.0798349325217,0.999999928968,0.0002419022549,-0.000285852719148,4.28350901663e-05,1793244833564685056
+41,0.683333333,BASELINE,765,745,714,680,658,634,878,786,805,651.7750135,630.2249865,652,0.400966463408,-0.00539522938072,0.0798346332338,0.999999928462,0.000242930294188,-0.000286757235708,4.27967904634e-05,1793244833581351680
+42,0.700000000,BASELINE,764.641026108,745,714,680,658,634,878.358973892,786,805,652,630.358973892,652,0.4009659083,-0.00539550024897,0.0798342382297,0.999999928385,0.000242298282331,-0.000287567866758,4.27451982789e-05,1793244833598018304
+43,0.716666667,BASELINE,764.051224059,745,714,680,658,634,878.948775941,786,805,652,630.948775941,652,0.400965467483,-0.00539649144885,0.0798337816779,0.999999928581,0.000240598820803,-0.000288318127311,4.2685058736e-05,1793244833614685184
+44,0.733333333,BASELINE,764,745,713.470914536,679.470914536,657.470914536,634,879,786,805,652,630.470914536,652,0.400966537396,-0.00539703842414,0.0798348110854,0.999999929089,0.000240557592864,-0.000286576345425,4.27647388846e-05,1793244833631351552
+45,0.750000000,BASELINE,764.107773002,745,713.107773002,679.107773002,657.107773002,634,879,786,805,652,630.107773002,652,0.40096754269,-0.00539729015615,0.079835778952,0.999999929521,0.00024071611637,-0.000284918672349,4.28469029169e-05,1793244833648018432
+46,0.766666667,BASELINE,764.683338864,745,713.683338864,679.683338864,657.683338864,634,879,786,805,652,630.683338864,652,0.400967643822,-0.00539644376152,0.0798358662524,0.999999929512,0.000241057103652,-0.000284654861905,4.28821268512e-05,1793244833664685056
+47,0.783333333,BASELINE,764.73610566,744.73610566,714,680,658,634,878.73610566,786,805,651.73610566,630.73610566,652,0.400967509711,-0.00539587839669,0.0798356780387,0.99999992927,0.000241755294532,-0.000284908682836,4.29120136416e-05,1793244833681351424
+48,0.800000000,BASELINE,764.149447408,744.149447408,714,680,658,634,878.149447408,786,805,651.149447408,630.149447408,652,0.40096708788,-0.00539565675372,0.0798351528493,0.999999928741,0.000242890374067,-0.000285795608354,4.29353726827e-05,1793244833698018048
+49,0.816666667,BASELINE,764,744.431672633,714,680,658,633.568327367,878,786,805,651.431672633,630,651.568327367,0.400968220186,-0.00539600937184,0.0798360698649,0.999999928942,0.000243999311147,-0.000284121404825,4.30671313282e-05,1793244833714684928
+50,0.833333333,BASELINE,764.010863465,745,714,679.989136535,658,633.010863465,878,786,805,652,630.010863465,651,0.400969820953,-0.00539654922036,0.0798374267747,0.999999929377,0.000245033988112,-0.000281667871366,4.32264654834e-05,1793244833731351552
+51,0.850000000,BASELINE,764.588171838,745,714,679.411828162,658,633.588171838,878,786,805,652,630.588171838,651,0.400968148566,-0.00539661647757,0.0798360159606,0.999999929245,0.000242662526894,-0.000284225986594,4.28916151304e-05,1793244833748018432
+52,0.866666667,BASELINE,765,745,714,679.164588502,658,634,878,786,805,652,631,651.164588502,0.400966797984,-0.00539691335095,0.07983503306,0.999999929189,0.000240640208494,-0.000286172488505,4.26546260086e-05,1793244833764685056
+53,0.883333333,BASELINE,765,745,714,679.738785949,658,634,878,786,805,652,631,651.738785949,0.400966248278,-0.00539778166669,0.079835115101,0.999999929344,0.000239486796746,-0.000286596877355,4.26611826908e-05,1793244833781351680
+54,0.900000000,BASELINE,764.678154708,744.678154708,714,679.678154708,658,633.678154708,878,785.678154708,805,651.678154708,630.678154708,652,0.400967095975,-0.00539753627275,0.0798356258718,0.999999929637,0.000239820079367,-0.000285271319752,4.28099345759e-05,1793244833798018304
+55,0.916666667,BASELINE,764.087699311,744.087699311,714,679.087699311,658,633.087699311,878,785.087699311,805,651.087699311,630.087699311,652,0.400969109935,-0.0053963613835,0.0798364944577,0.999999930038,0.000241394148041,-0.00028248526755,4.30773617046e-05,1793244833814684672
+56,0.933333333,BASELINE,764,744,714,679.496054687,658,633.496054687,878.496054687,785.496054687,805,651,630,652,0.400967806446,-0.00539778821505,0.0798359401422,0.999999930047,0.00024022088668,-0.000283438934074,4.31443177973e-05,1793244833831351296
+57,0.950000000,BASELINE,764.077189535,744.077189535,714,680,658,634,878.922810465,785.922810465,805,651,630.077189535,652,0.400966139539,-0.00539905518884,0.0798351791901,0.999999929862,0.000239106277208,-0.000285030089623,4.31415946157e-05,1793244833848017920
+58,0.966666667,BASELINE,764.649030974,744.649030974,714,680,658,634,878.350969026,785.350969026,805,651,630.649030974,652,0.400965852123,-0.00539638943833,0.0798346846328,0.999999928884,0.000241438604687,-0.000286526038947,4.29164421246e-05,1793244833864684800
+59,0.983333333,BASELINE,765,745,714,680,658,634,878,785.221548626,805,651,631,652,0.400965968064,-0.00539483147236,0.0798346134122,0.999999928536,0.000242596346948,-0.000286785696135,4.27772699089e-05,1793244833881351424
+60,1.000000000,BASELINE,765,745,714,680,658,634,878,785.795140878,805,651,631,652,0.400966724944,-0.0053950337899,0.0798352148787,0.999999929195,0.000241887658509,-0.000285080869403,4.27747214251e-05,1793244833898018048
+61,1.016666667,BASELINE,765,745,714,680,658,634,878.383221963,786,805,651,631,652,0.40096654937,-0.00539627636648,0.0798350550729,0.99999992925,0.000241271072949,-0.000285399667066,4.28510827376e-05,1793244833914684672
+62,1.033333333,BASELINE,765,745,714,680,658,634,878.979352655,786,805,651,631,652,0.400965855747,-0.00539809688546,0.0798344723228,0.999999928968,0.000240705657531,-0.000286842740942,4.29712843987e-05,1793244833931351552
+63,1.050000000,BASELINE,765,745,714,680,657.444211128,634,879,786,805,651,631,652,0.400965226046,-0.00539679217203,0.0798341523688,0.999999928469,0.000241902943588,-0.000287604817798,4.27501372535e-05,1793244833948017920
+64,1.066666667,BASELINE,765,745,714,680,657.13131162,634,878.86868838,786,805,651,631,652,0.400964723455,-0.00539603514001,0.0798339034381,0.999999928248,0.000242170498598,-0.000288177151071,4.25704737669e-05,1793244833964684544
+65,1.083333333,BASELINE,765,745,714,680,657.706135637,634,878.293864363,786,805,651,631,652,0.400964642445,-0.00539750665127,0.0798338625465,0.999999928986,0.000239084228817,-0.000288191138463,4.25722886325e-05,1793244833981351424
+66,1.100000000,BASELINE,765,745,714,680,658,634,878,786,805,651.28906548,631,652,0.400965202604,-0.00539778725654,0.0798339886733,0.999999929294,0.000238634302149,-0.000287498222393,4.25415257306e-05,1793244833998018048
+67,1.116666667,BASELINE,765,745,714,680,658,634,878,786,805,651.880473418,631,652,0.400966433382,-0.00539682225661,0.0798342894897,0.999999929155,0.000240941807857,-0.000286065934293,4.24766887419e-05,1793244834014684672
+68,1.133333333,BASELINE,764.540165255,745,714,680,658,634,878,786,805,652,631,652,0.400966165073,-0.00539651127812,0.0798345178783,0.999999929353,0.000240556184573,-0.000285704312229,4.24150708236e-05,1793244834031351296
+69,1.150000000,BASELINE,764,745,714,680,658,634,878,786,805,651.963812945,631,652,0.400965603753,-0.00539639583265,0.0798347241692,0.999999929584,0.000239672294038,-0.000285645708644,4.23646991241e-05,1793244834048018176
+70,1.166666667,BASELINE,764,745,714,680,658,634,878,786,805,651.386828143,631,652,0.40096633818,-0.00539672679051,0.0798348743901,0.999999929012,0.000241536652129,-0.000286062653833,4.24702111879e-05,1793244834064684800
+71,1.183333333,BASELINE,764,744.806464406,714,679.806464406,658,634,878,785.806464406,805,651,631,652,0.400967134467,-0.00539735119846,0.0798353205048,0.999999929068,0.00024173280311,-0.000285681935197,4.25950220259e-05,1793244834081351168
+72,1.200000000,BASELINE,764,744.219226927,714,679.219226927,658,634,878,785.219226927,805,651,631,652,0.400968056593,-0.00539857256046,0.0798363685447,0.999999930399,0.000238535385987,-0.000283678560329,4.2759091624e-05,1793244834098017792
+73,1.216666667,BASELINE,764.363404517,744.363404517,714,679.363404517,658,634,878.363404517,785.363404517,805,651,631,652,0.400967738651,-0.00539849488795,0.079836330061,0.999999930774,0.000237493388474,-0.00028326075224,4.25787649554e-05,1793244834114684672
+74,1.233333333,BASELINE,764.943292074,744.943292074,714,679.943292074,658,634,878.943292074,785.943292074,805,651,631,652,0.400966681991,-0.00539764336991,0.0798356443262,0.999999930583,0.000237735392227,-0.000283787479358,4.21932786071e-05,1793244834131351296
+75,1.250000000,BASELINE,765,745,714,680,658,634,879,786,805,651.520483299,631,652,0.400967516822,-0.00539730004378,0.0798358544735,0.999999930569,0.000238340713056,-0.000283313331198,4.22967486968e-05,1793244834148018176
+76,1.266666667,BASELINE,765,745,714,680,658,634,878.902947601,786,805,652,631,652,0.40096835697,-0.00539685498478,0.0798361115073,0.999999930479,0.000239183824651,-0.00028289651801,4.24490222136e-05,1793244834164684800
+77,1.283333333,BASELINE,765,745,714,680,658,634,878.328002801,786,805,652,631,652,0.400968213762,-0.00539563775218,0.0798361212592,0.999999929924,0.000241003922545,-0.000283296217219,4.25806391968e-05,1793244834181351424
+78,1.300000000,BASELINE,765,745,714,680,658,634,878.253198599,786,805,652,630.746801401,652,0.400968395549,-0.00539579769537,0.0798363895687,0.999999929923,0.000241427545072,-0.000282924546537,4.26748981457e-05,1793244834198018304
+79,1.316666667,BASELINE,765,745,714,680,658,634,878.842710337,786,805,652,630.157289663,652,0.400969009012,-0.0053977868838,0.0798370013094,0.999999930659,0.000239996287473,-0.000281528297371,4.27195359652e-05,1793244834214684928
+80,1.333333333,BASELINE,765,745,714,679.575333549,657.575333549,634,878.575333549,786,805,651.575333549,630.424666451,652,0.400968612513,-0.00539827671045,0.0798370511002,0.999999930791,0.00023909314299,-0.000281818080105,4.27998390148e-05,1793244834231351552
+81,1.350000000,BASELINE,765,745,714,679.003859067,657,634,878.003859067,786,805,651.003859067,630.996140933,652,0.400967860483,-0.00539821303317,0.079836901921,0.999999930704,0.000238390076744,-0.000282706389348,4.28902838919e-05,1793244834248018176
+82,1.366666667,BASELINE,765,745,714,679.580974573,657,634,878.580974573,786,805,651.580974573,630.419025427,652,0.400968891735,-0.00539697996826,0.0798375740416,0.999999930985,0.000238859496744,-0.000281361076432,4.25592847058e-05,1793244834264684800
+83,1.383333333,BASELINE,765,744.839756226,714,679.839756226,657.160243774,634,879,786,805,652,630,652,0.400969554994,-0.00539638020382,0.0798378445408,0.999999931224,0.000238652254802,-0.000280728146787,4.23014079293e-05,1793244834281351424
+84,1.400000000,BASELINE,765,744.25477842,714,679.25477842,657.74522158,634,879,786,805,652,630,652,0.400969242871,-0.00539745903327,0.0798370505227,0.999999931349,0.0002366514871,-0.000281983423862,4.22373456351e-05,1793244834298018048
+85,1.416666667,BASELINE,764.672895166,744,714,679.327104834,658,634,878.672895166,786,805,651.672895166,630.327104834,651.672895166,0.400968198878,-0.00539749732134,0.0798362041961,0.999999930906,0.00023703703809,-0.000283199430288,4.24184648087e-05,1793244834314684672
+86,1.433333333,BASELINE,764.093399669,744,714,679.906600331,658,634,878.093399669,786,805,651.093399669,630.906600331,651.093399669,0.400966590181,-0.00539673273852,0.0798353175088,0.999999930024,0.000239263847697,-0.000284385135817,4.27887634374e-05,1793244834331351296
+87,1.450000000,BASELINE,764.48560242,744.48560242,714,680,658,634,878.48560242,786,805,651,630.51439758,651.48560242,0.400966477397,-0.00539617322042,0.079835382298,0.999999929752,0.000240650062773,-0.000284179421027,4.2718070689e-05,1793244834348018176
+88,1.466666667,BASELINE,764.936033434,745,714,680,658,634,878.936033434,786,805,651.063966566,630.063966566,652,0.400966697614,-0.00539570705764,0.079835616732,0.999999929576,0.00024189477473,-0.000283768378458,4.25601263784e-05,1793244834364684800
+89,1.483333333,BASELINE,764.362000231,745,714,680,658,634,878.362000231,786,805,651.637999769,630.637999769,652,0.400967281228,-0.00539567111911,0.0798357461146,0.999999929219,0.000243299052131,-0.000283851906225,4.23821006462e-05,1793244834381351424
+90,1.500000000,BASELINE,764.217014186,745,714,679.782985814,658,634,878,786,805,652,631,652,0.400967862179,-0.00539586057481,0.0798359774199,0.999999929306,0.00024329229785,-0.000283548860329,4.23878920326e-05,1793244834398018304
+91,1.516666667,BASELINE,764.804532885,745,714,679.195467115,658,634,878,786,805,652,631,652,0.400968438581,-0.00539643484213,0.0798363827364,0.99999993015,0.00024087651379,-0.00028258582399,4.27075111787e-05,1793244834414684672
+92,1.533333333,BASELINE,765,745,714,679.387441324,658,634,878,786,805,652,631,652,0.400967550879,-0.00539695017385,0.0798355960736,0.999999929972,0.00024016304352,-0.000283828160509,4.26585482501e-05,1793244834431351296
+93,1.550000000,BASELINE,765,745,714,679.968051254,658,634,878,786,805,652,631,652,0.400965933211,-0.00539743612181,0.0798342151198,0.999999929282,0.000240298304343,-0.000286170040988,4.24258194962e-05,1793244834448017664
+94,1.566666667,BASELINE,765,744.453820341,714,680,657.453820341,634,878.546179659,786,805.546179659,651.453820341,630.453820341,652,0.400966923263,-0.00539747548539,0.0798355194983,0.999999929979,0.000239545114852,-0.000284358210372,4.24390261608e-05,1793244834464684544
+95,1.583333333,BASELINE,765,744,714,679.877400565,657.24519887,634,879,786.122599435,805.877400565,651.122599435,630.122599435,652,0.400967855773,-0.00539748310548,0.0798365271559,0.999999930592,0.000238782462252,-0.000282837124558,4.24603302941e-05,1793244834481351424
+96,1.600000000,BASELINE,765,744,714,679.306697551,658.386604897,634,879,786.693302449,805.306697551,651.693302449,630.693302449,652,0.400968022951,-0.00539746975039,0.0798358787651,0.999999930616,0.00023817431335,-0.000283262764623,4.24588876187e-05,1793244834498018048
+97,1.616666667,BASELINE,765,744.274159136,714,679.274159136,658.725840864,634,879,786.451681729,805,652,631,652,0.400968403554,-0.00539679842874,0.0798358919831,0.999999930516,0.000238822295783,-0.00028308926161,4.23372269635e-05,1793244834514684928
+98,1.633333333,BASELINE,765,744.866811402,714,679.866811402,658.133188598,634,879,785.266377196,805,652,631,652,0.400969032097,-0.0053953627414,0.0798366737979,0.999999930267,0.000240929537303,-0.000282219728676,4.20759080016e-05,1793244834531351552
+99,1.650000000,BASELINE,765,745,714,680,658,634,878.550575228,785.449424772,805,652,631,652,0.40096935359,-0.00539479164283,0.0798374240503,0.99999993009,0.000242589863665,-0.000281384399798,4.23323132346e-05,1793244834548017920
+100,1.666666667,BASELINE,765,745,714,680,658,634,878,786,804.971104083,652,631,652,0.400969523405,-0.00539454451091,0.0798380859136,0.999999929934,0.000244001621597,-0.00028066262434,4.27146684914e-05,1793244834564684800
+101,1.683333333,BASELINE,765,745,714,680,658,634,878,786,804.396021148,652,631,652,0.400968508619,-0.00539568366193,0.0798372499955,0.999999929793,0.000243163728411,-0.000281899808767,4.26409775004e-05,1793244834581351424
+102,1.700000000,BASELINE,765,745,714,680,658,634,878,786,804.182663467,651.817336533,631,652,0.400967959534,-0.00539650296814,0.0798366444091,0.999999929791,0.000242283510423,-0.000282674691568,4.25627704392e-05,1793244834598018048
+103,1.716666667,BASELINE,765,745,714,680,658,634,878,786,804.769313644,651.230686356,631,652,0.400968440412,-0.00539661489113,0.0798365482345,0.9999999301,0.00024130968512,-0.000282427127208,4.24745754444e-05,1793244834614684672
+104,1.733333333,BASELINE,764.648496356,744.648496356,714,679.648496356,658,634,878,786,805,651,631,652,0.400968059746,-0.00539634753165,0.0798360361809,0.999999930039,0.000240869593011,-0.000283031197235,4.23947421491e-05,1793244834631351296
+105,1.750000000,BASELINE,764.069196767,744.069196767,714,679.069196767,658,634,878,786,805,651,631,652,0.400967120746,-0.00539583437386,0.0798352546121,0.999999929737,0.000240775392688,-0.000284187178618,4.232032774e-05,1793244834648018176
+106,1.766666667,BASELINE,764.509946384,744.509946384,714,679.509946384,658,634,878,786,805,651,631,652,0.400967164704,-0.00539682906679,0.0798355281686,0.999999930101,0.000239444902605,-0.000284021168608,4.23770663011e-05,1793244834664685056
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630,652,0.400967249166,-0.00539794697906,0.079835978649,0.999999930494,0.000237910576702,-0.000283906628885,4.25105273885e-05,1793244834707886080
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.409918029,658,634,878.409918029,786,805,652,630,652,0.400967752384,-0.00539722807651,0.0798358542088,0.999999930406,0.000238648299996,-0.000283623053556,4.23549634194e-05,1793244834724552704
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.176901391,658,634,878.176901391,786,805,651.823098609,630.176901391,652,0.400968090792,-0.00539688013024,0.079836021001,0.999999930377,0.000239230830366,-0.000283240839354,4.23080450271e-05,1793244834741219328
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.668141188,745,714,680,657.668141188,634,879,786,804.668141188,651,630.668141188,652,0.400967896041,-0.00539732453806,0.0798367481326,0.99999993034,0.000239775997324,-0.000282885719775,4.24558045351e-05,1793244834774552832
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764.491487109,744.508512891,714,679.508512891,657.491487109,634,878.508512891,785.508512891,804.491487109,651,630.491487109,652,0.400968726128,-0.00539699096751,0.0798368440621,0.999999930226,0.000241036061911,-0.000282208629597,4.25191174134e-05,1793244834807886080
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.079722672,714,679,658,634,878.159445345,785.079722672,805,651.079722672,631,652,0.40096972308,-0.0053970534824,0.0798378091605,0.999999930472,0.000241719164949,-0.000280705265171,4.28108722504e-05,1793244834824552704
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.659011938,714,679,658,634,879.318023876,785.659011938,805,651.659011938,631,652,0.400968565279,-0.00539607526869,0.0798372719151,0.99999993026,0.000240528063061,-0.000282541051469,4.23848683318e-05,1793244834841219072
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.237798274,658,634,879.524403453,786,804.762201726,652,630.762201726,651.762201726,0.400973258143,-0.00539605791665,0.0798394751794,0.999999931407,0.000239619271352,-0.000279242964421,4.23316910293e-05,1793244834857885696
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.815864911,658,634,878.368270177,786,804.184135089,652,630.184135089,651.184135089,0.400986322792,-0.00539741547304,0.0798455998713,0.999999934423,0.000239114440701,-0.000268598757069,4.28119957774e-05,1793244834874552320
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.608909142,658,634,878,785.608909142,804.391090858,651.608909142,630.391090858,651.391090858,0.401016749649,-0.00539883382209,0.0798575415268,0.999999940313,0.000238207717296,-0.000246526165054,4.30823639191e-05,1793244834891218944
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.035010967,658,634,878,785.035010967,804.964989033,651.035010967,630.964989033,651.964989033,0.401055292112,-0.00540028058752,0.0798722022019,0.999999946948,0.000237113137265,-0.000219111610363,4.3254601561e-05,1793244834907885312
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.460437846,744.460437846,714,679.539562154,658,634,878.539562154,785,805,651.539562154,630.460437846,652,0.401117917764,-0.00540113692292,0.079891872237,0.999999954862,0.000237015358495,-0.000179615614767,4.28732715824e-05,1793244834924552448
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744.117981056,714,679.882018944,658,633.882018944,879,785.117981056,805,651.882018944,630,652,0.401184630258,-0.00540197602473,0.0799107311091,0.999999960769,0.000236810596177,-0.000143478363405,4.23854748251e-05,1793244834941219328
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744.711731775,714,679.288268225,658,633.288268225,879,785.711731775,805,651.288268225,630,652,0.401261513706,-0.0054029003196,0.0799250064757,0.999999963612,0.000235913258384,-0.000124050812008,4.16133720915e-05,1793244834957885952
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.296750073,878.703249927,786,805,651,630.296750073,651.703249927,0.401344184817,-0.00540414837557,0.0799339138638,0.99999996542,0.000235255469858,-0.00011050745324,4.00459886046e-05,1793244834974552320
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+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679,657.552877578,634,878,786,804.552877578,651.447122422,631,651,0.401534999033,-0.00540609902868,0.0799388704732,0.999999967457,0.000232003159155,-0.000100486803293,3.40972751218e-05,1793244835007885568
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+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.516139648,714,679.516139648,658,634,879,786,805.516139648,651.516139648,631,652,0.402706692321,-0.00541575084485,0.0799560151437,0.999999977515,0.000200259222415,-6.96321693495e-05,-4.15811170366e-06,1793244835124552448
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.89618821,651.89618821,631,652,0.40292735282,-0.00541702657529,0.0799487462112,0.999999977677,0.000193726785244,-8.34666598281e-05,-1.21782988096e-05,1793244835141218816
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.314270958,651.314270958,631,652,0.403188091292,-0.0054198512435,0.0799436670982,0.999999978518,0.000184216048122,-9.2731956157e-05,-2.07323757914e-05,1793244835157885696
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.736137655,878.736137655,786,805,651.263862345,630.736137655,652,0.403478380196,-0.00542308809734,0.0799427996626,0.999999985224,0.000141301494201,-9.39273106522e-05,-2.76495196559e-05,1793244835174552320
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.162447508,878.162447508,786,805,651.837552492,630.162447508,652,0.403803367273,-0.00542680894036,0.0799468775889,0.999999994049,5.91640979161e-05,-8.56469189903e-05,-3.26445720712e-05,1793244835191218944
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.410734734,878.410734734,786,805,652,630,651.589265266,0.404154307016,-0.00542709989655,0.0799546959523,0.999999994001,7.55581399097e-05,-7.38094545675e-05,-2.89929871617e-05,1793244835207885568
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.983716333,878.983716333,786,805,652,630,651.016283667,0.404515498473,-0.00542603599187,0.0799639918488,0.999999989361,0.000130873695689,-6.05668889923e-05,-2.19258404965e-05,1793244835224552448
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.421714167,714,680,658,634,878.421714167,786,805,651.421714167,630.578285833,651.578285833,0.404912012445,-0.00542995085674,0.0799609574736,0.999999989941,0.000126800578624,-5.7806296637e-05,-2.64303002523e-05,1793244835241219072
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.831269975,744.168730025,714,680,658,634,878,786,805,651,630.831269975,651.831269975,0.405319426554,-0.00543372980098,0.0799555375933,0.999999990662,0.000118569601995,-6.05357163416e-05,-3.08681709352e-05,1793244835257885696
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.252388675,744.747611325,714,680,658,634,878,786,805,651,630.252388675,651.252388675,0.405750825293,-0.00543682434438,0.079945195707,0.999999991078,0.000104454321298,-7.58650399597e-05,-3.43214061945e-05,1793244835274552320
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.676729765,878.323270235,786,805,651,630,651,0.406213325003,-0.00543937754291,0.0799369937715,0.999999989855,0.000104430787337,-9.05854076511e-05,-3.43246628088e-05,1793244835291218944
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.103561798,878.896438202,786,805,651,630,651,0.406699866756,-0.0054415122657,0.0799304460821,0.999999987356,0.000115300601077,-0.000104835035501,-3.16609812747e-05,1793244835307885824
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.483790483,745,714,680,658,633.483790483,879,786,805,651,630.483790483,651,0.407202315767,-0.00544669428791,0.0799279190954,0.999999987863,0.000105706575104,-0.000109201603918,-3.42883900152e-05,1793244835324552448
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.927348632,714,680,658,634,879,786,805,651,630.927348632,651.072651368,0.407712021556,-0.0054532257792,0.0799246628643,0.999999988529,9.16403557097e-05,-0.000114608800602,-3.75457346468e-05,1793244835341219072
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.34974323,714,680,658,634,879,786,805,651,630.34974323,651.65025677,0.408247782896,-0.0054644658103,0.0799101753447,0.999999986144,7.78568533296e-05,-0.000142397098963,-3.70714043702e-05,1793244835357885696
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.227035279,714,680,658.227035279,634,879,785.772964721,805,651,630,652,0.40882410468,-0.00548126108557,0.0799087038125,0.99999998684,5.86236827553e-05,-0.000146995686494,-3.57213293153e-05,1793244835374552576
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.802544564,714,680,658.802544564,634,879,785.197455436,805,651,630,652,0.409462682221,-0.00550658304459,0.07992721038,0.999999992245,3.10258760083e-05,-0.000116000634987,-3.30270830621e-05,1793244835391219456
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.376984327,659,634,879,785.376984327,805,651.376984327,630.376984327,652,0.410148589488,-0.00551360978462,0.0799570711794,0.999999997119,2.04352447324e-05,-6.54522556752e-05,-3.25512641234e-05,1793244835407886080
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.950865468,659,634,879,785.950865468,805,651.950865468,630.950865468,652,0.410859216786,-0.00551108103292,0.0799928622301,0.999999999261,1.87273672497e-05,-4.69128302554e-06,-3.32341174137e-05,1793244835424552704
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.457086395,658.457086395,634,879,786,805,651.457086395,631,652,0.411523175096,-0.0055123274569,0.0799892105468,0.999999999132,1.57363150401e-05,-1.69174510131e-05,-3.46692287843e-05,1793244835441219328
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.133147529,658.133147529,634,879,785.866852471,805,651,631,652,0.412186989534,-0.00551540744773,0.0799730765846,0.999999998209,9.90041510811e-06,-4.60705106994e-05,-3.6893445722e-05,1793244835457886208
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.711624032,658.711624032,634,879,785.288375968,805,651,631,652,0.412864938118,-0.0055234377525,0.0799275464624,0.999999993187,-5.04858562155e-06,-0.000108980085656,-4.1521339645e-05,1793244835474552576
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.712263685,745,714,680.712263685,658.712263685,634,879,785,805,651.287736315,630.712263685,652,0.413589305532,-0.00552687891038,0.079906889196,0.999999990136,-1.61326312115e-05,-0.000132051626495,-4.50622702969e-05,1793244835491219200
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.138501496,745,714,680.138501496,658.138501496,634,879,785,805,651.861498504,630.138501496,652,0.41435981592,-0.00552575820243,0.0799109569237,0.999999991925,-2.33746986171e-05,-0.000115521957447,-4.75226997833e-05,1793244835507886080
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.442810721,745,714,680.442810721,658.442810721,634,879,785.442810721,805,651.557189279,630.442810721,652,0.415159542515,-0.00553210684286,0.0799334664353,0.999999995444,-3.07306314748e-05,-7.73822139503e-05,-4.66899280725e-05,1793244835524552704
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,785.973425382,805,651.026574618,630.973425382,652,0.415967631118,-0.00554054981727,0.079959761445,0.999999997616,-3.78889774081e-05,-3.62633916974e-05,-4.49227358856e-05,1793244835541219328
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,785.388626478,805,651.611373522,630.388626478,652,0.416756086724,-0.00554305990911,0.0799423065623,0.999999995192,-4.01357445589e-05,-7.70113768525e-05,-4.55394589525e-05,1793244835557885696
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.806774077,714,680.806774077,659,634,879,785,805.193225923,651.806774077,630.193225923,652,0.417576586953,-0.00554704871555,0.0799377127005,0.999999994218,-4.51472475465e-05,-8.58690310937e-05,-4.63979774229e-05,1793244835574552320
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.230758868,714,680.230758868,659,634,879,785,805.769241132,651.230758868,630.769241132,652,0.418460568978,-0.00555396692229,0.0799585971038,0.999999996815,-5.5635817091e-05,-3.15504958337e-05,-4.77355035116e-05,1793244835591218944
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.654440777,744.345559223,714,680.345559223,659,634,879,785,805.654440777,651,630.654440777,652,0.419340084093,-0.00555978995162,0.0799726486793,0.999999996561,-6.6813015828e-05,-1.57393223452e-06,-4.91121755946e-05,1793244835607885312
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.077920273,744.922079727,714,680.922079727,659,634,879,785,805.077920273,651,630.077920273,652,0.420216613626,-0.00556488099737,0.0799821333995,0.999999995573,-7.84504730338e-05,1.21331951878e-05,-5.05150116729e-05,1793244835624551936
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.509384864,744.490615136,713.490615136,681,659,634,879,785,805,651,630,652,0.421086726626,-0.00556918485,0.0799689448215,0.999999995328,-8.14082333583e-05,-1.1352868053e-05,-5.08801354224e-05,1793244835641218816
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.903492409,744.096507591,713.096507591,681.096507591,659,633.903492409,879,785.096507591,805,650.903492409,630,652,0.421965637362,-0.0055699164786,0.0799591043948,0.999999995091,-7.99035093389e-05,-2.91618035785e-05,-5.0821335066e-05,1793244835657885696
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.325684977,744.674315023,713.674315023,681.674315023,659,633.325684977,879,785.674315023,805,650.325684977,630,652,0.422893424558,-0.00555344634118,0.0799836330123,0.999999996745,-6.29084417901e-05,1.03299042011e-05,-4.9457130611e-05,1793244835674552576
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659.250660318,633.250660318,879,785.749339682,805.250660318,650.250660318,630,652,0.423796485127,-0.00553151181674,0.0799948976039,0.999999998,-3.44256926705e-05,2.18494299678e-05,-4.83558393133e-05,1793244835691219456
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,682,659.825116944,633.825116944,879,785.174883056,805.825116944,650.825116944,630,652,0.424667604628,-0.00550251854072,0.0799890280844,0.999999998824,8.89653918998e-06,-2.7647569636e-06,-4.75941720324e-05,1793244835707886080
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.401328044,745,714,682,659.598671956,633.598671956,879,785.401328044,805.598671956,651,630,652,0.425547989381,-0.0055023151197,0.0799565677647,0.999999997067,4.85259522536e-06,-5.77047726567e-05,-5.01329160835e-05,1793244835724552704
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.978306998,745,714,682,659.021693002,633.021693002,879,785.978306998,805.021693002,651,630,652,0.426432429244,-0.0055147122757,0.0799124693394,0.99999999041,-1.99223020438e-05,-0.000125917617934,-5.41161647112e-05,1793244835741219328
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.430561946,745,714,682,659,633,879.569438054,786,805.569438054,651,630,652,0.427368460179,-0.00552272344044,0.0799081894536,0.999999991423,-3.11445278503e-05,-0.000114563071114,-5.53036566098e-05,1793244835757885952
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.157475568,745,714,682,659,633.157475568,879.842524432,786,806,651,630,651.842524432,0.428300616141,-0.0055280951466,0.0799103881255,0.999999992507,-3.73177403167e-05,-0.000102579377577,-5.54138822706e-05,1793244835774552576
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.735768841,745,714,682,659,633.735768841,879.264231159,786,806,651,630,651.264231159,0.429217031165,-0.00552687137836,0.0799257423767,0.999999993379,-3.14134547448e-05,-9.7220949113e-05,-5.2937224206e-05,1793244835791219456
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.689430466,744.689430466,714,681.689430466,659,634,879.621139068,786,806,651,630,651.310569534,0.430149785833,-0.00552914714274,0.0799550115552,0.999999996077,-3.67839898746e-05,-6.1684437171e-05,-5.1844673333e-05,1793244835807886080
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.117568229,744.117568229,714,681.117568229,659,634,880.764863543,786,806,651,630,651.882431771,0.43109628755,-0.00553436718292,0.0799959878341,0.999999997319,-5.16404150275e-05,-7.58078059324e-07,-5.19166188483e-05,1793244835824552704
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,744,714,681.469177823,659,634,880.530822177,785.530822177,806,651,630,652,0.432018115027,-0.00553109877895,0.0800154882155,0.999999997201,-4.63305141659e-05,2.8020014938e-05,-5.16319327783e-05,1793244835841219328
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,744.117347883,714,682,659.058673941,634,879.941326059,785,806,651,630,651.941326059,0.432923490831,-0.00552575006203,0.0800207964238,0.999999997355,-3.65854923735e-05,3.58113787249e-05,-5.1672176135e-05,1793244835857885952
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745.276771502,714,682,659.638385751,634,879.361614249,785,806,651,630,651.361614249,0.433739476368,-0.00552143535534,0.0799494295942,0.999999995521,-3.38006952559e-05,-6.88828707148e-05,-5.54174564448e-05,1793244835874552320
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.216824383,745.783175617,714,682,660,634,879,785,806,651,630,651.216824383,0.434582651208,-0.00552108883133,0.0799090568754,0.999999989845,-3.47429429696e-05,-0.000125603452624,-5.76703240916e-05,1793244835891218688
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.793152127,745.206847873,714,682,660,634,879,785,806,651,630,651.793152127,0.435470907115,-0.00552732170972,0.0799200736011,0.999999992191,-4.18647777569e-05,-0.00010278182324,-5.74487141983e-05,1793244835907885568
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633.632827829,879.734344343,785,806,651,630,652,0.436327657919,-0.00553138513864,0.0799372550353,0.999999993877,-4.83838474516e-05,-8.22770707679e-05,-5.59989526105e-05,1793244835924552448
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633.06009975,880.8798005,785,806,651,630,652,0.437166771005,-0.005534234033,0.0799578876895,0.999999995072,-5.45654675945e-05,-6.3069388913e-05,-5.38616284766e-05,1793244835941219072
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,879.938702884,785.530648558,806,651,630,652,0.438013507676,-0.00553747121528,0.0799677450586,0.999999995758,-5.6364044071e-05,-4.80757788229e-05,-5.47303352557e-05,1793244835957885696
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682.121323174,659.878676826,633,879,785.878676826,806,651,630,652,0.438839749218,-0.00554004910168,0.0799655250648,0.999999995331,-5.93457320109e-05,-5.16644099968e-05,-5.60890075718e-05,1793244835974552320
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682.703689352,659.296310648,633,879,785.296310648,806,651,630,652,0.439584710255,-0.00553994859219,0.079922210216,0.999999988268,-6.87761250321e-05,-0.000123990391325,-5.7970360552e-05,1793244835991218944
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.719611782,745,714,683,659,633,879.280388218,785,806,651.280388218,630,651.719611782,0.440272633895,-0.00553890652326,0.079851409884,0.999999967926,-7.16353034571e-05,-0.000235123696021,-6.11071836995e-05,1793244836007885824
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.148783437,745,714,683,659,633,879.851216563,785,806,651.851216563,630,651.148783437,0.440901475302,-0.00553688914,0.0797521387175,0.999999920887,-6.76876878812e-05,-0.000386455558341,-6.55444846875e-05,1793244836024552192
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.426728397,745,713.573271603,683,658.573271603,633,880,785,806,651.573271603,630,651.426728397,0.441559562192,-0.00553820256893,0.0796879294388,0.999999881512,-6.67038241264e-05,-0.000477183042153,-6.94497386378e-05,1793244836041218816
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.00398257,683,658,632.99601743,879.99601743,784.99601743,806,651,630,652,0.442228591888,-0.0055407237832,0.0796368626234,0.999999846341,-6.68959795674e-05,-0.000545432105008,-7.31146543872e-05,1793244836057885440
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.594675485,683,658,632.405324515,879.405324515,784.405324515,806,651,630,652,0.442990851987,-0.00554819115467,0.0797010151111,0.999999892802,-8.64176503442e-05,-0.000449630066043,-6.90046211832e-05,1793244836074552064
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.818231471,682.818231471,658,632,879.181768529,784,806,651,630,652,0.443720168903,-0.00555419758229,0.0797527747857,0.999999923413,-9.49934169877e-05,-0.000373956992267,-6.56252146387e-05,1793244836091218944
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713.239009755,682.239009755,658,632,879.760990245,784,806,651,630,652,0.444377452743,-0.00555700952662,0.0797774364758,0.999999936207,-7.96349878909e-05,-0.000342297695152,-6.38433891794e-05,1793244836107886080
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+251,4.183333333,HOLD_POSE2,764.519346361,745,713,684,653.519346361,628.480653639,880.480653639,781,806,651,629.480653639,652,0.453146876706,-0.00557889860024,0.0795058024807,0.999999704471,-0.000141148876341,-0.000752620486227,-6.8530765494e-05,1793244837133763840
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+253,4.216666667,HOLD_POSE2,764,745,713,684,653,629,881,781,806,651,629.365266326,652,0.453147743042,-0.00557912830117,0.0795059138149,0.999999705021,-0.000140306244919,-0.000752028208226,-6.8744122691e-05,1793244837167097600
+254,4.233333333,HOLD_POSE2,764,745,713,684,653,629,880.784939622,781,806.215060378,651,629,652,0.453148581513,-0.00558061486033,0.0795064726334,0.99999970559,-0.000141358084491,-0.000751077871397,-6.86960239582e-05,1793244837183763968
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+256,4.266666667,HOLD_POSE2,764,745,713,684,653,628.615769718,880,781,807,651.384230282,629.384230282,652,0.453147934632,-0.00558094914808,0.0795066575444,0.999999704847,-0.000142472920775,-0.000751877173576,-6.84759846533e-05,1793244837217097216
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+260,4.333333333,HOLD_POSE2,764,745,713,683.307900689,653.384198622,628.307900689,880.692099311,781,806,651.692099311,629,651.307900689,0.453147457001,-0.00557915394056,0.0795059691452,0.999999703823,-0.000141006745099,-0.000753528132406,-6.83058997468e-05,1793244837283763968
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.280660433,745,713,683.280660433,652.280660433,628,880,781,806.280660433,651,629.719339567,652,0.453148090637,-0.00557921240456,0.0795063765882,0.999999704374,-0.000138262464946,-0.000753361786338,-6.76794394631e-05,1793244837399726592
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.902971386,745.902971386,713,683,652.902971386,628.902971386,880,781,806.902971386,651,629.097028614,652,0.453149990784,-0.00557677413003,0.0795080328018,0.999999706311,-0.0001389330311,-0.000750608729653,-6.82853834815e-05,1793244837433060352
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a244f6e5adf9b07dc270cab4fcb3000121ed9cc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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+391,6.516666667,pose2_to_pose3_retreat,0.575671328329,-0.000122034323578,1.07005089584,0.546242961384,0.00855365089208,1.06971738591
+392,6.533333333,pose2_to_pose3_retreat,0.575671137603,-0.000122022918759,1.07005088438,0.546242770491,0.00855366174212,1.06971737479
+393,6.550000000,pose2_to_pose3_retreat,0.575671081134,-0.000122019542084,1.07005088099,0.546242713972,0.00855366495454,1.06971737149
+394,6.566666667,pose2_to_pose3_retreat,0.575670964262,-0.000122012553484,1.07005087397,0.546242596997,0.00855367160319,1.06971736468
+395,6.583333333,pose2_to_pose3_retreat,0.575670826111,-0.000122020361245,1.07005090644,0.546242458795,0.00855366357795,1.06971739609
+396,6.600000000,pose2_to_pose3_retreat,0.575670671409,-0.000122031404699,1.07005094865,0.546242304045,0.00855365231735,1.06971743693
+397,6.616666667,pose2_to_pose3_retreat,0.575670502545,-0.000122043459142,1.07005099472,0.546242135128,0.00855364002588,1.0697174815
+398,6.633333333,pose2_to_pose3_retreat,0.575670496509,-0.00012204389006,1.07005099637,0.546242129089,0.00855363958649,1.06971748309
+399,6.650000000,pose2_to_pose3_retreat,0.575670407612,-0.000122050236017,1.07005102062,0.546242040164,0.00855363311575,1.06971750656
+400,6.666666667,pose2_to_pose3_retreat,0.57567037193,-0.000122052783182,1.07005103036,0.546242004471,0.0085536305185,1.06971751598
+401,6.683333333,pose2_to_pose3_retreat,0.575670283788,-0.000122059075208,1.0700510544,0.546241916302,0.00855362410275,1.06971753924
+402,6.700000000,pose2_to_pose3_retreat,0.575670242474,-0.000122062024449,1.07005106568,0.546241874975,0.00855362109552,1.06971755015
+403,6.716666667,pose2_to_pose3_retreat,0.575670135457,-0.000122069663874,1.07005109487,0.546241767925,0.00855361330588,1.06971757839
+404,6.733333333,pose2_to_pose3_retreat,0.575669878606,-0.000122095492181,1.07005112674,0.546241511419,0.00855358862787,1.06971760967
+405,6.750000000,pose2_to_pose3_retreat,0.575669615363,-0.000122148287998,1.07005102515,0.546241250029,0.00855354231901,1.06971751343
+406,6.766666667,pose2_to_pose3_retreat,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868054,1.06971749639
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7b4ef57fe3aba6bbe9c1ffaa063e7dd27af424c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:046dabc625c25f5136ac0e7e8d376d6ea3be398cfd4afb58f9b6bc82ac804b63
+size 25908639
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..774e2b2af76b212108f48513c675769b0158cc5e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+51,0.850000000,BASELINE,765,745,714,680,658,634,879,786,805,651.601442257,631,652,0.400967369885,-0.00539973488359,0.0798346152222,0.999999930089,0.000236692691799,-0.000286457884835,4.17181536595e-05,1793244840698639104
+52,0.866666667,BASELINE,765,745,714,679.813407358,658,634,878.813407358,786,805,652,630.813407358,652,0.400966779253,-0.00539976892347,0.079834160067,0.999999930172,0.00023572072971,-0.000286981142866,4.16314973214e-05,1793244840715305728
+53,0.883333333,BASELINE,765,745,714,679.234141529,658,634,878.234141529,786,805,652,630.234141529,652,0.400966919228,-0.00539879665662,0.0798341886067,0.999999929838,0.000237968636945,-0.000286238674576,4.19901571123e-05,1793244840731972352
+54,0.900000000,BASELINE,765,745,714,679,658,634,878.687884808,786,805,652,630.343942404,652,0.400967721967,-0.00539841610453,0.0798349170174,0.999999929899,0.000239018837211,-0.000285136021449,4.20685727821e-05,1793244840748638976
+55,0.916666667,BASELINE,765,745,714,679,658,634,879.842448964,786,805,652,630.921224482,652,0.400968974342,-0.0053984369875,0.0798361202392,0.99999993023,0.000239256481124,-0.000283789009381,4.19568633722e-05,1793244840765305856
+56,0.933333333,BASELINE,764.505865934,745,714,679.494134066,658,634,879.505865934,786,805,652,631,652,0.400968220617,-0.00540033748216,0.0798356784075,0.999999931079,0.00023530035243,-0.000284132236909,4.17802531865e-05,1793244840781972736
+57,0.950000000,BASELINE,764.068655722,744.931344278,714,680,658,634,879,786,805,652,631,652,0.400967319255,-0.00540198443622,0.0798350220429,0.999999931757,0.000231805600311,-0.000284639385036,4.1615024609e-05,1793244840798639616
+58,0.966666667,BASELINE,764.660735085,744.339264915,714,680,658,634,879,786,805,652,631,652,0.400967709173,-0.00539943396109,0.0798347119823,0.999999930648,0.000236880782916,-0.000284359929015,4.16147574787e-05,1793244840815305984
+59,0.983333333,BASELINE,765,744.247278125,714,680,658,634,879,786,805,652,631,652,0.400968003629,-0.00539790806805,0.0798347441749,0.999999929961,0.000240041462909,-0.000284114418001,4.16820454011e-05,1793244840831972352
+60,1.000000000,BASELINE,765,744.826391765,714,680,658,634,879,786,805,652,631,652,0.400968169978,-0.00539775711522,0.0798352356549,0.999999929869,0.000240632971937,-0.000283914459544,4.18399890003e-05,1793244840848638976
+61,1.016666667,BASELINE,764.597010068,745,714,680,658,634,878.597010068,786,805,651.597010068,631,652,0.400968412148,-0.00539844574337,0.0798356558189,0.999999929788,0.000240811960612,-0.000284011758584,4.20820882408e-05,1793244840865305600
+62,1.033333333,BASELINE,764.02148888,745,714,680,658,634,878.02148888,786,805,651.02148888,631,652,0.400968686777,-0.00539949381963,0.0798360454507,0.999999929712,0.000240814337755,-0.000284236321881,4.23602168547e-05,1793244840881972224
+63,1.050000000,BASELINE,764.552156906,745,714,680,658.552156906,634,878,786,805,651.552156906,631,652,0.400969028271,-0.00539903842993,0.079835817384,0.999999930069,0.000239279488971,-0.000284301599474,4.21838485859e-05,1793244840898638848
+64,1.066666667,BASELINE,765,744.870223071,714,680,658.870223071,633.870223071,878,786,805.129776929,652,631,652,0.400968818255,-0.0053987462585,0.0798355044169,0.99999993032,0.000237927901995,-0.000284582986663,4.19800763233e-05,1793244840915305472
+65,1.083333333,BASELINE,765,744.278187973,714,680,658.278187973,633.278187973,878,786,805.721812027,652,631,652,0.400966634558,-0.00539924317238,0.0798349743774,0.99999993014,0.00023744145848,-0.000285656150232,4.1741483475e-05,1793244840931972352
+66,1.100000000,BASELINE,765,744.306650757,714,680,658.306650757,633.306650757,878.306650757,786,805.693349243,652,631,652,0.400965921698,-0.00539952754704,0.0798348831462,0.999999930125,0.000237031401558,-0.000286060544955,4.16475994516e-05,1793244840948639232
+67,1.116666667,BASELINE,765,744.885110735,714,680,658.885110735,633.885110735,878.885110735,786,805.114889265,652,631,652,0.400966512558,-0.00539962353106,0.0798351808661,0.999999930259,0.000236689052241,-0.00028587215602,4.16819825078e-05,1793244840965305600
+68,1.133333333,BASELINE,765,745,714,680,658.538628941,634,878.538628941,786,805,651.538628941,631,652,0.400966558558,-0.00539895378131,0.0798349980946,0.999999930272,0.000236910489909,-0.000285659195641,4.15601350644e-05,1793244840981972480
+69,1.150000000,BASELINE,765,745,714,680,658,633.962164841,878.037835159,786,805,651.037835159,631,652,0.400966538436,-0.00539814288287,0.0798347469979,0.999999930268,0.000237277292195,-0.000285391708048,4.14053595459e-05,1793244840998639104
+70,1.166666667,BASELINE,765,745,714,680,658,633.374824159,878.625175841,786,805,651.625175841,631,652,0.400967519206,-0.00539803823242,0.0798352330886,0.999999930441,0.000237725981561,-0.000284420729658,4.13346963725e-05,1793244841015305728
+71,1.183333333,BASELINE,765,745,714,680,658,633.210766973,878.789233027,786,804.789233027,652,631,652,0.400968325839,-0.00539797454479,0.0798357274625,0.999999930488,0.000238715749843,-0.000283428277608,4.13124567269e-05,1793244841031972352
+72,1.200000000,BASELINE,765,745,714,680,658,633.793272446,878.206727554,786,804.206727554,652,631,652,0.400968825342,-0.00539798310498,0.0798362364458,0.999999930311,0.000240659841651,-0.000282397951409,4.13756236656e-05,1793244841048638976
+73,1.216666667,BASELINE,764.631332944,745,714,680,658,634,878.368667056,785.631332944,804.368667056,652,631,652,0.400968821754,-0.00539784845925,0.0798363275982,0.999999930082,0.000241538491555,-0.000282428240016,4.15978241942e-05,1793244841065305600
+74,1.233333333,BASELINE,764.059850284,745,714,680,658,634,878.940149716,785.059850284,804.940149716,652,631,652,0.400968541399,-0.00539763503134,0.0798361888883,0.999999929824,0.00024183100749,-0.000283042007001,4.19075142114e-05,1793244841081972480
+75,1.250000000,BASELINE,764,745,714,680,658,634,879,785.516657704,805,651.483342296,631,652,0.400969237602,-0.00539949858889,0.0798368387685,0.999999930787,0.000238939194283,-0.000282072557264,4.20531005605e-05,1793244841098639104
+76,1.266666667,BASELINE,764,745.095757873,714,680,658,634,879,785.904242127,805.095757873,651,631,652,0.400969572429,-0.00540094029427,0.0798371925016,0.999999931542,0.000236368411096,-0.000281556783342,4.20938496578e-05,1793244841115305984
+77,1.283333333,BASELINE,764,745.685191226,714,680,658,634,879,785.314808774,805.685191226,651,631,652,0.400967455251,-0.00539895457003,0.0798355438785,0.999999930535,0.00023737309079,-0.000284334722156,4.16930826537e-05,1793244841131972352
+78,1.300000000,BASELINE,764.270677724,745.729322276,714,680,658,634,879,785.270677724,805.729322276,651.270677724,631,652,0.400966838955,-0.00539791885058,0.0798349221445,0.999999929877,0.000239082305246,-0.000285222167513,4.16505119661e-05,1793244841148638976
+79,1.316666667,BASELINE,764.851639808,745.148360192,714,680,658,634,879,785.851639808,805.148360192,651.851639808,631,652,0.400967943157,-0.00539797214452,0.079835477558,0.99999992962,0.000241599144711,-0.000283942494735,4.20185503256e-05,1793244841165305600
+80,1.333333333,BASELINE,765,745,714,679.572935575,658,634,878.572935575,786,805,651.572935575,631,652,0.400968882029,-0.00539831088393,0.0798359395258,0.999999930048,0.000240801626711,-0.000283134850402,4.18828507577e-05,1793244841181972224
+81,1.350000000,BASELINE,764.999407344,744.999407344,714,679.000592656,658,634,878.000592656,785.999407344,804.999407344,651,631,652,0.400969762769,-0.00539874895875,0.0798363687338,0.999999930707,0.000238867945855,-0.000282489931833,4.15750351047e-05,1793244841198639104
+82,1.366666667,BASELINE,764.423319926,744.423319926,714,679.576680074,658,634,878.576680074,785.423319926,804.423319926,651,631,652,0.400969253314,-0.00540058754121,0.0798361058232,0.999999930991,0.000237411420098,-0.000282664911563,4.18888152124e-05,1793244841215305728
+83,1.383333333,BASELINE,764.157537843,744.157537843,714,680,658,634,878.842462157,785.157537843,804.157537843,651.157537843,631,652,0.400968607048,-0.00540171922844,0.0798357179778,0.999999930987,0.000236782419248,-0.00028319158568,4.1988729469e-05,1793244841231972352
+84,1.400000000,BASELINE,764.751614424,744.751614424,714,680,658,634,878.248385576,785.751614424,804.751614424,651.751614424,631,652,0.400967581675,-0.00540089210322,0.0798349839372,0.999999930186,0.000238446496823,-0.000284692808058,4.14960196539e-05,1793244841248639232
+85,1.416666667,BASELINE,765,744.665129915,714,680,658.334870085,634,878,786,805,652,631,652,0.40096692363,-0.00539985749794,0.0798346954206,0.999999929598,0.000240099684716,-0.000285364000531,4.15118319716e-05,1793244841265305856
+86,1.433333333,BASELINE,765,744.089649325,714,680,658.910350675,634,878,786,805,652,631,652,0.400966529517,-0.00539867381436,0.0798347270214,0.999999929164,0.000241745048066,-0.000285438800692,4.18930271114e-05,1793244841281972480
+87,1.450000000,BASELINE,764.515076084,744.484923916,714,680,658.515076084,634,878.484923916,786,805,651.515076084,631,652,0.400968180107,-0.00539862195624,0.0798355742246,0.99999992963,0.000241728860609,-0.000283800357401,4.20096078482e-05,1793244841298639360
+88,1.466666667,BASELINE,764.061130792,745,714,680,658,634,879,786,805,651.061130792,630.938869208,652,0.400969778511,-0.00539879879638,0.0798363590938,0.999999930201,0.000241200761617,-0.00028223063104,4.20332285583e-05,1793244841315305984
+89,1.483333333,BASELINE,764.652973798,745,714,680,658,634,879,786,805,651.652973798,630.347026202,652,0.40096764825,-0.00539914792346,0.0798352962169,0.999999930269,0.000238890251555,-0.000284002080657,4.16737192574e-05,1793244841331972608
+90,1.500000000,BASELINE,765,745,714,680,658,634,879,786,805,652,630,652,0.400966460665,-0.00539903370004,0.079834705477,0.999999930285,0.000237622477976,-0.000285044282554,4.14122054011e-05,1793244841348639232
+91,1.516666667,BASELINE,765,745,714,680,658,634,879,786,805,652,630,652,0.400966609318,-0.00539826268039,0.0798347839884,0.999999930238,0.000237832776452,-0.000285052780633,4.12895994503e-05,1793244841365305856
+92,1.533333333,BASELINE,764.60783045,745,714,680,658.39216955,634,878.60783045,786,805,651.60783045,630.39216955,652,0.400966612252,-0.00539854019097,0.0798348008596,0.999999930033,0.000238303199793,-0.000285371451827,4.13442767489e-05,1793244841381972480
+93,1.550000000,BASELINE,764.03327148,745,714,680,658.96672852,634,878.03327148,786,805,651.03327148,630.96672852,652,0.400966547414,-0.0053993053498,0.0798347890633,0.999999929754,0.0002388946015,-0.000285834377707,4.14814045717e-05,1793244841398639360
+94,1.566666667,BASELINE,764.555239375,745,714,680,658.444760625,634,878.555239375,786,805,651.555239375,631,652,0.400967904232,-0.00540046312398,0.0798357172662,0.999999930804,0.00023649765922,-0.000284108394644,4.17590955406e-05,1793244841415305984
+95,1.583333333,BASELINE,765,745,714,679.857913094,658,634,878.857913094,786,805,651.857913094,630.857913094,652,0.400968746653,-0.00540063738362,0.0798363321048,0.999999931429,0.000235325534974,-0.000282865746971,4.18514341261e-05,1793244841431972608
+96,1.600000000,BASELINE,765,745,714,679.278818812,658,634,878.278818812,786,805,651.278818812,630.278818812,652,0.400967738212,-0.00539771248808,0.0798358054413,0.999999930515,0.000238485451819,-0.00028352347708,4.13471230211e-05,1793244841448638976
+97,1.616666667,BASELINE,765,745,714,679,658,634,878,786,805,651,630.298805322,651.701194678,0.400968698604,-0.00539701911743,0.0798364416124,0.999999930416,0.00024016871411,-0.000282440949291,4.13896348058e-05,1793244841465305600
+98,1.633333333,BASELINE,765,745,714,679,658,634,878,786,805,651,630.875064323,651.124935677,0.400971487143,-0.00539839781443,0.0798381575256,0.999999931077,0.000240480838518,-0.000279742516646,4.19398953522e-05,1793244841481972224
+99,1.650000000,BASELINE,764.552617716,745,714,679.447382284,658,634,878.447382284,786,805,651,630.552617716,651,0.400969748196,-0.00539988108105,0.0798371291301,0.999999931184,0.000237864830554,-0.000281604927398,4.18470299309e-05,1793244841498638848
+100,1.666666667,BASELINE,764.019354421,745,714,680,658,634,878.980645579,786,805,651.019354421,630,651.019354421,0.400966867208,-0.00540133822399,0.0798354163799,0.999999931125,0.000234568581104,-0.000284600766859,4.15901663352e-05,1793244841515305472
+101,1.683333333,BASELINE,764.613454324,745,714,680,658,634,878.386545676,786,805,651.613454324,630,651.613454324,0.400967290172,-0.00540115999757,0.0798359405284,0.999999931222,0.000235142480497,-0.000283762653219,4.17500081074e-05,1793244841531972352
+102,1.700000000,BASELINE,765,745,714,680,657.797782223,634,878,785.797782223,805,651.797782223,630.202217777,652,0.400967513998,-0.00540070318821,0.0798359560383,0.999999931036,0.000236162832112,-0.000283568906521,4.17685410914e-05,1793244841548639232
+103,1.716666667,BASELINE,765,745,714,680,657.218957357,634,878,785.218957357,805,651.218957357,630.781042643,652,0.400967366951,-0.00539972755055,0.0798350242678,0.999999930321,0.000238014648998,-0.000284575218395,4.15239028743e-05,1793244841565305600
+104,1.733333333,BASELINE,764.641977028,745,714,679.641977028,657.358022972,634,878.358022972,785.358022972,805,651,631,652,0.400967476878,-0.00539883070066,0.0798349196456,0.999999929924,0.000239629941703,-0.000284631865149,4.1408477659e-05,1793244841581972224
+105,1.750000000,BASELINE,764.066118931,745,714,679.066118931,657.933881069,634,878.933881069,785.933881069,805,651,631,652,0.400967743159,-0.00539798178822,0.0798353182926,0.99999992972,0.000241101324059,-0.000284110698743,4.13716706441e-05,1793244841598638848
+106,1.766666667,BASELINE,764,745,714,679.503895043,658,634,878.496104957,786,805,651.503895043,631,652,0.400968045745,-0.00539791404573,0.0798362373079,0.999999929915,0.000241717953566,-0.000282834590449,4.17865172231e-05,1793244841615305472
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,786,806,651,630,652,0.400965998862,-0.00539746605129,0.0798349658956,0.999999930176,0.000237675282669,-0.000285421892927,4.11319090707e-05,1793244841657733376
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.576396408,745,714,679.423603592,657.423603592,634,879,786,805.423603592,651,630,652,0.400967843745,-0.00539810903565,0.0798358729388,0.999999930641,0.000237868195332,-0.000283628082202,4.11239831898e-05,1793244841674400000
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+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.308925241,714,679.691074759,658,634,878.617850482,786,805.382149518,651.691074759,631,651.691074759,0.400966742903,-0.00539806085798,0.0798345932027,0.999999929473,0.00024079580914,-0.00028525083503,4.12659875193e-05,1793244841724399872
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.900696232,714,679.099303768,658,634,879.801392463,786,804.198607537,651.099303768,631,651.099303768,0.400967310693,-0.00539791502202,0.0798355308038,0.999999929881,0.000239655711537,-0.000284758078451,4.14169270919e-05,1793244841741066496
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.517820572,745,714,679.482179428,658,634,879.517820572,786,804.482179428,651,631,651.482179428,0.400967188181,-0.00539759026041,0.0798351393086,0.999999929551,0.000240799810828,-0.000284923980782,4.16065099884e-05,1793244841757733120
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.061117168,744.938882832,714,679.938882832,658,634,878.938882832,786,805,651,631,652,0.400967429575,-0.00539746430467,0.0798349439808,0.999999929337,0.000242034935619,-0.000284601218351,4.18074570267e-05,1793244841774399744
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.636095111,744.363904889,714,679.363904889,658,634,878.363904889,786,805,651,631,652,0.400971900964,-0.00539931321781,0.0798386513306,0.999999931342,0.000240162770705,-0.000279053175144,4.2038435815e-05,1793244841791066624
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.7900323,744.2099677,714,679,658,634,878,786,805,651.2099677,631,652,0.400978823456,-0.00540087280211,0.0798424781631,0.999999933375,0.000238665665241,-0.00027296477916,4.21863778382e-05,1793244841807733504
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.21806548,744.78193452,714,679,658,634,878,786,805,651.78193452,631,652,0.400989971822,-0.0054019335629,0.0798465109918,0.999999935469,0.000237815188918,-0.000265944777464,4.21911585999e-05,1793244841824400128
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.368455024,745,714,679,658,634,878.368455024,786,805,651.631544976,631,652,0.401016434899,-0.00540101223431,0.0798567003721,0.999999940276,0.000237906442523,-0.000247130418161,4.21300149649e-05,1793244841841066752
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.963943215,745,714,679,658,634,878.963943215,786,805,651.036056785,631,652,0.401052334536,-0.00539886958979,0.0798706832725,0.999999946226,0.000238577967363,-0.000221048657163,4.20282502725e-05,1793244841857733376
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.457196342,745,714,679.542803658,658,634,878.457196342,786,804.457196342,651.542803658,631,652,0.401116051907,-0.00540083536186,0.0798909681641,0.999999954395,0.000238553745834,-0.000180361333094,4.20936367555e-05,1793244841874400000
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.119910444,786,804.119910444,651.880089556,631,652,0.401183284532,-0.00540257381321,0.0799099468514,0.999999960256,0.000238582613424,-0.000144258047437,4.19044227476e-05,1793244841891066624
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.694431922,786,804.694431922,651.305568078,631,652,0.401257046963,-0.00540244651798,0.0799224334618,0.999999962281,0.000238982766511,-0.000129102965983,4.07091092755e-05,1793244841907733248
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.268249701,745,714,680,658,634,878.731750299,786,805,651,631,652,0.40133816334,-0.00540367035225,0.0799308370069,0.999999964338,0.000237021788954,-0.000116776754797,3.88259315846e-05,1793244841924399872
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.841267946,745,714,680,658,634,878.158732054,786,805,651,631,652,0.401427634807,-0.00540642925542,0.0799346016275,0.999999966551,0.000232378242334,-0.000107664530131,3.61612456357e-05,1793244841941066752
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.430183249,786,805,651,631,652,0.401530766476,-0.00540883214207,0.0799374731361,0.999999967968,0.000229119539028,-0.000102338521499,3.31042973832e-05,1793244841957733376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.975552888,714,680,658,634,879,785.975552888,805,651,631,652,0.401640561254,-0.00541102080883,0.0799402024986,0.999999969097,0.000226472120421,-9.81084553301e-05,2.98599360688e-05,1793244841974399744
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.398081267,714,680,658,634,879,785.398081267,805,651,631,652,0.401782687707,-0.00541144923418,0.0799474571584,0.999999970523,0.00022564995729,-8.58539321213e-05,2.57758863088e-05,1793244841991066624
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.178275733,714,680,658,633.821724267,878.821724267,785.178275733,804.821724267,651.178275733,631,652,0.401932861291,-0.00541233408152,0.0799535736168,0.999999972029,0.000223231426552,-7.52224245385e-05,2.12267911703e-05,1793244842007733248
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.752159225,714,680,658,633.247840775,878.247840775,785.752159225,804.247840775,651.752159225,631,652,0.402100892066,-0.00541423176482,0.0799571643167,0.999999973949,0.00021727043171,-6.81925169097e-05,1.5645724604e-05,1793244842024399872
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.663837377,658,633.336162623,878.336162623,786,804.336162623,652,631,652,0.40228747021,-0.0054162119423,0.079960470053,0.999999975707,0.00021130853515,-6.19589903889e-05,9.78514709076e-06,1793244842041066752
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.07214129,658,633.92785871,878.92785871,786,804.92785871,652,631,652,0.402488147124,-0.00541825482779,0.0799635591752,0.999999977323,0.000205345952519,-5.6330830914e-05,3.71209920153e-06,1793244842057733376
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.5077681,658,634,879,786,805,651.4922319,631,652,0.402706851236,-0.00542037181448,0.0799596349688,0.999999978816,0.000195704477808,-6.36314381396e-05,-4.4452729448e-06,1793244842074400000
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.914564755,745,714,680,658,634,879,786,805,651,631,652,0.402932841563,-0.00542222176964,0.0799546687943,0.999999979882,0.000186366549741,-7.30599003069e-05,-1.2849839145e-05,1793244842091066624
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.34036217,745,714,680,658,634,879,786,805,651,631,652,0.403186195665,-0.00542248519921,0.0799493127237,0.999999979713,0.000181687547417,-8.43915308156e-05,-2.10128787702e-05,1793244842107733504
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.240063814,745,714,680,658,634,878.759936186,786,805,651,630.759936186,652,0.403467446157,-0.00542449066678,0.0799471156708,0.999999985046,0.000146123124854,-8.8105539648e-05,-2.81606425151e-05,1793244842124400128
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.829548119,745,714,680,658,634,878.170451881,786,805,651,630.170451881,652,0.403789300713,-0.00542903172587,0.0799495166685,0.999999994017,6.56039937851e-05,-8.07318576198e-05,-3.38306394307e-05,1793244842141066752
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,785.58830369,805,651,630.41169631,652,0.404136446738,-0.00542991118913,0.07995408701,0.999999993996,7.62387387368e-05,-7.31734394639e-05,-2.90008770321e-05,1793244842157733376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,785.00913966,805,651,630.99086034,652,0.40449388069,-0.00542930120706,0.079959539786,0.999999989972,0.000123952593176,-6.55398754528e-05,-1.99000760882e-05,1793244842174399744
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.5672772,634,878.5672772,785.5672772,805,651,631,652,0.404903258759,-0.00543338221653,0.0799614811628,0.999999990461,0.000124142615095,-5.52273497259e-05,-2.48282201203e-05,1793244842191066624
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.85662034,658.85662034,634,879,786,805.14337966,651.14337966,631,652,0.405316753943,-0.00543719168252,0.0799608741578,0.999999991068,0.000120066427054,-5.0768896719e-05,-2.94984678736e-05,1793244842207733248
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.281332377,658.281332377,634,879,786,805.718667623,651.718667623,631,652,0.40574014234,-0.00543995659491,0.0799527601576,0.999999991854,0.000105434330423,-6.40742956038e-05,-3.27142554922e-05,1793244842224399872
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.301353968,745,714,679.301353968,658,634,879,786,805.698646032,652,631,652,0.406193978313,-0.00544306155392,0.0799452393172,0.999999991362,0.000100507760147,-7.78993520516e-05,-3.32566941618e-05,1793244842241066496
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.891121059,745,714,679.891121059,658,634,879,786,805.108878941,652,631,652,0.406676954419,-0.00544649195749,0.0799382861638,0.999999989761,0.000104869936456,-9.22217523166e-05,-3.12405841377e-05,1793244842257733376
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.527671454,745,714,680,658,634,879,785.527671454,805,651.527671454,630.527671454,652,0.407183428728,-0.00545803913726,0.0799339313641,0.999999990527,8.87149577083e-05,-0.000100171412379,-3.22703207414e-05,1793244842274400000
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.948811155,785,805,651,630,651.948811155,0.407697269058,-0.00547220784416,0.0799292472217,0.999999991259,6.74518543212e-05,-0.000108602085251,-3.37319076839e-05,1793244842291066880
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.374135081,785,805,651,630,651.374135081,0.408232030697,-0.00549439205783,0.0799151787345,0.999999989266,4.14559689127e-05,-0.000136707479743,-3.25574243011e-05,1793244842307733504
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.199958757,785,805,651,630.199958757,651,0.408801293332,-0.00550896418906,0.0799127534813,0.999999988857,2.52713942892e-05,-0.000143618990195,-3.19530956109e-05,1793244842324400128
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.772966325,785,805,651,630.772966325,651,0.409434921987,-0.00550933499897,0.0799320501812,0.99999999294,2.73910849707e-05,-0.000110990579348,-3.24124640393e-05,1793244842341067008
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.358545155,658.358545155,634,879,785.358545155,805,651,631,651.358545155,0.410117199439,-0.00551101686335,0.0799628939704,0.999999997498,2.44537095292e-05,-5.79510893974e-05,-3.23577771389e-05,1793244842357733376
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.952373429,658.952373429,634,879,785.952373429,805,651,631,651.952373429,0.410831400992,-0.00551355906282,0.0800013151451,0.999999999288,1.8197805509e-05,8.48247902415e-06,-3.19657587161e-05,1793244842374399744
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.469050656,745,714,680.469050656,658.469050656,634,878.469050656,786,805,651,631,652,0.411501701769,-0.00552034842639,0.0799962816144,0.999999999388,6.66036541113e-06,-5.34218139052e-06,-3.39346504634e-05,1793244842391066880
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.107850764,745,714,680.107850764,658.107850764,634,878.107850764,786,805,651,630.892149236,652,0.412171172182,-0.00552567717438,0.0799815670935,0.999999998792,-2.95624328589e-06,-3.28231517473e-05,-3.64651605792e-05,1793244842407733760
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.683258313,745,714,680.683258313,658.683258313,634,878.683258313,786,805,651,630.316741687,652,0.412853637683,-0.00552306834475,0.0799413098219,0.9999999952,-2.24912957869e-06,-8.91685236765e-05,-4.05379531292e-05,1793244842424400128
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.735269467,634,879,786,805,651,630.264730533,652,0.413566685344,-0.00552523564753,0.0799184384523,0.999999992169,-1.0900467717e-05,-0.000116741917299,-4.37640079043e-05,1793244842441066752
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.146370853,634,879,786,805,651,630.853629147,652,0.414317181591,-0.00553325142409,0.0799168564784,0.999999992514,-3.10114260003e-05,-0.000109083428829,-4.59532151987e-05,1793244842457733376
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.564554763,658.435445237,633.564554763,879,785.564554763,805.435445237,651,630.564554763,652,0.415131745871,-0.00553866957628,0.0799388398046,0.999999995692,-3.63943462095e-05,-7.23312207174e-05,-4.53846735522e-05,1793244842474400000
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.985137034,745,714,680,659,633.014862966,878.985137034,785.014862966,806,651,630,651.985137034,0.415966006313,-0.00554314973437,0.0799674298928,0.999999997958,-3.68946597444e-05,-2.81329265221e-05,-4.39409590001e-05,1793244842491066624
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.407827301,745,714,680,659,633.592172699,878.407827301,785.592172699,806,651,630,651.407827301,0.416743693397,-0.00554464787684,0.0799510742972,0.999999996154,-3.69730959597e-05,-6.63160484056e-05,-4.38967398495e-05,1793244842507733248
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.168096062,744.831903938,714,680.168096062,659,634,878.168096062,785.831903938,805.831903938,651,630.168096062,651,0.417552138235,-0.00554862672389,0.0799453333798,0.999999995057,-4.2159787881e-05,-7.83371923215e-05,-4.44148600568e-05,1793244842524400128
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.740683357,744.259316643,714,680.740683357,659,634,878.740683357,785.259316643,805.259316643,651,630.740683357,651,0.418434595718,-0.00555857491509,0.0799651346698,0.999999996775,-5.96385265559e-05,-2.74045051435e-05,-4.62861431284e-05,1793244842541066496
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.323746785,714,681,659,634,879,785,805,651,630.676253215,651.323746785,0.419310440533,-0.00556442874441,0.0799804555031,0.999999996349,-7.02326015604e-05,7.29182453233e-06,-4.81233901915e-05,1793244842557733376
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.91548203,714,681,659,634,879,785,805,651,630.08451797,651.91548203,0.420180811523,-0.00556689337589,0.0799920675397,0.999999995524,-7.51277452926e-05,2.85481526556e-05,-4.99324631775e-05,1793244842574400512
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.496197493,745,714,681,659,634,879,785.496197493,805.496197493,651,630,652,0.421069639724,-0.00557142519847,0.0799796012557,0.999999995296,-8.25820165792e-05,5.52980340263e-06,-5.05824709476e-05,1793244842591066624
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.85035907,745,714,681,659.074820465,634,879,786,806,651,630.074820465,652,0.421965876977,-0.00557394418185,0.0799685711722,0.999999994762,-8.74678905131e-05,-1.57416086012e-05,-5.07692625315e-05,1793244842607733248
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.696552877,745,714,681,659.651723561,634,879,786,806,651,630.651723561,652,0.42289119386,-0.0055606445265,0.0799941024964,0.999999995889,-7.22569813333e-05,2.42166552454e-05,-4.91436803616e-05,1793244842624399872
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.232236243,745,714,681,660,634,879,786,806,651,631,652,0.423791581014,-0.00553945702123,0.0800078005339,0.999999997141,-4.2683666653e-05,4.03077935071e-05,-4.76528231583e-05,1793244842641066752
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.818247642,745,714,681,660,634,879,786,806,651,631,652,0.424653991813,-0.00550625362306,0.0800034724363,0.999999998686,8.7685017662e-06,2.00411496946e-05,-4.63671978773e-05,1793244842657733376
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.600366951,745,714,681,659.600366951,634,879,786,806,651,630.600366951,652,0.425531198483,-0.00550287967065,0.0799693183198,0.999999998028,9.2297428577e-06,-3.87661659364e-05,-4.85318230368e-05,1793244842674400000
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.021061396,745,714,681,659.021061396,634,879,786,806,651,630.021061396,652,0.426415057232,-0.00551291685144,0.0799217546131,0.999999991946,-1.32342193975e-05,-0.000114901123807,-5.2247658955e-05,1793244842691066880
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659.555911324,634,879,785.444088676,806,651,630.555911324,652,0.427366931021,-0.0055190759614,0.0799172552331,0.999999992621,-2.5935767595e-05,-0.000105565618277,-5.42280481429e-05,1793244842707733248
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.132824405,745,714,681,659.867175595,634,879,785,806,651,630.867175595,652,0.428313146293,-0.00552440223812,0.0799188807682,0.999999993428,-3.51861128573e-05,-9.41567043101e-05,-5.51400690081e-05,1793244842724400128
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.086536679,657.913463321,634,878.913463321,785.086536679,805,651,630,652,0.40948640006,-0.00540563981202,0.0798035773396,0.999999923517,0.000218124031385,-0.000321205253706,4.70583261525e-05,1793244845734009088
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.502033344,745,714,680,657.497966656,633.497966656,879,785,805,651,630,652,0.408905718682,-0.00540878249023,0.0798287809807,0.999999935683,0.0002171473398,-0.000281220431664,4.89557546357e-05,1793244845750675968
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.330817264,745.669182736,714,680,657.669182736,633,879.669182736,785,805,651,630.669182736,652,0.407727388757,-0.00540522187027,0.0798164339166,0.999999925016,0.00022569869406,-0.000310773114985,4.94890121883e-05,1793244845784009216
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.247463049,745.752536951,714,680,658,633,879.505073902,785,805,651,630.752536951,652,0.40715734837,-0.00540093065597,0.0797884059227,0.999999908088,0.000230340300298,-0.000358446318161,4.7793778476e-05,1793244845800675840
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633.97059999,878.97059999,785.97059999,805.97059999,651,630.97059999,652,0.405722636773,-0.00540402449342,0.0797826719627,0.999999914316,0.000218626080129,-0.000348738078607,4.41758566955e-05,1793244845850675456
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.632536773,745,714,680,658,634,878.367463227,785,805,651.367463227,631,652,0.40292570825,-0.00539828186298,0.0798264229038,0.999999926141,0.000228441524909,-0.000305580939203,4.63935861981e-05,1793244845984008960
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.788595197,745,714,680,658,634,878.211404803,785.211404803,805,651.211404803,631,652,0.402677909608,-0.00539706704105,0.079827405943,0.999999925831,0.000229831929353,-0.00030547789563,4.68790331798e-05,1793244846000675584
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.491611909,714,680,657,634,879,786,805,652,630.491611909,652,0.401009995986,-0.00539775666554,0.0798228466616,0.999999922983,0.000238521513576,-0.000308819230703,4.21015852323e-05,1793244846267342336
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745.766260669,714,679.766260669,658,634,878.766260669,785.766260669,805,651.766260669,631,652,0.400974714383,-0.00539943520619,0.0798213275084,0.999999923261,0.000237049157615,-0.000309043997719,4.21594731996e-05,1793244846317342464
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.387174478,658,634,878.387174478,785.387174478,805,651,631,652,0.400967020131,-0.00539958970015,0.0798237032219,0.999999924504,0.000235906234024,-0.000305899116593,4.2012790531e-05,1793244846350675712
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.962426819,658,634,878.962426819,785.962426819,805,651,631,652,0.400963032021,-0.005399894425,0.0798230897218,0.999999923807,0.000237679693013,-0.000306728555229,4.25683535733e-05,1793244846367342080
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633.443602366,878.443602366,786,805.556397634,651.556397634,631,652,0.400963635421,-0.00540090367975,0.079827368268,0.999999926465,0.000235746874744,-0.000299559426192,4.19266401875e-05,1793244846467341824
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,651,631,652,0.400963948967,-0.00540153819392,0.0798284553057,0.999999927412,0.000234597154383,-0.000297288222314,4.1956516629e-05,1793244846484008704
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1a7b604bdd039e9562e8e29b3e7b9c6b6cdceef2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.575670649961,-0.000122199034445,1.07005100607,0.546242283668,0.00855348826224,1.06971749278
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..63f9a9f4203326e1c5915e0282201f4b0a682bbf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23ae6ef511be06b5cadb18e46d70f278697859548909279cb0c95521ab210b62
+size 25968986
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d4956c037af38aea19f5f74632149881d4320c5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
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+24,0.400000000,BASELINE,765,745,713.93442038,680,658,634.93442038,878,785.06557962,805,651.06557962,631,652,0.400968306747,-0.00540113974696,0.0798343857197,0.999999930452,0.000235320543327,-0.000286412411735,4.10799337408e-05,1793244847227648768
+25,0.416666667,BASELINE,764.486090157,745,714,680,657.486090157,634.486090157,879.027819686,785.513909843,805,651.513909843,631,651.486090157,0.400967578023,-0.00540118496454,0.0798338428872,0.999999930139,0.00023556530619,-0.000287333741761,4.08683742491e-05,1793244847244315648
+26,0.433333333,BASELINE,764.091252682,745,714,680,657.182505365,634,879.908747318,786,804.908747318,651.908747318,631,651.091252682,0.400966887892,-0.0054013185176,0.0798333225856,0.999999929904,0.000235541561487,-0.000288200716723,4.06428570719e-05,1793244847260982528
+27,0.450000000,BASELINE,764.666609281,745,714,680,658.333218561,634,879.333390719,786,804.333390719,651.333390719,631,651.666609281,0.400967214542,-0.00540168764984,0.0798337439469,0.999999930409,0.000234256047004,-0.000287501705321,4.06131056849e-05,1793244847277649152
+28,0.466666667,BASELINE,765,745,714,680,658.757770154,634,878.757770154,786,804.242229846,651.242229846,630.757770154,652,0.400967440896,-0.00540238498491,0.079834148804,0.999999931012,0.000232254566274,-0.00028704345455,4.04953530654e-05,1793244847294315520
+29,0.483333333,BASELINE,765,745,714,680,658.181785919,634,878.181785919,786,804.818214081,651.818214081,630.181785919,652,0.400967529061,-0.00540353453151,0.0798345309209,0.999999931747,0.000229266597451,-0.00028691693386,4.02563486772e-05,1793244847310982144
+30,0.500000000,BASELINE,765,745,714,680,658,634,878.405236891,786,804.594763109,652,630.405236891,652,0.400968185391,-0.00540325152593,0.0798345373665,0.999999931553,0.000230556274407,-0.000286534144092,4.04361549052e-05,1793244847327648768
+31,0.516666667,BASELINE,765,745,714,680,658,634,878.997350163,786,804.002649837,652,630.997350163,652,0.400969103733,-0.00540230789396,0.0798343705698,0.999999930924,0.000233818602446,-0.000286033174961,4.08090970897e-05,1793244847344315392
+32,0.533333333,BASELINE,765,745,714,679.426110168,658,634,878.426110168,785.426110168,804.573889832,652,631,652,0.40096716081,-0.00540267175704,0.0798334029772,0.999999930805,0.000232230040338,-0.000287780860186,4.05111708627e-05,1793244847360982272
+33,0.550000000,BASELINE,765,745,714,679.149743438,657.850256562,634,878,785,805,652,631,652,0.400965843535,-0.00540257585269,0.0798328205046,0.999999930613,0.00023162608867,-0.00028896848323,4.02666172556e-05,1793244847377648896
+34,0.566666667,BASELINE,765,745,714,679.723851082,657.276148918,634,878,785,805,652,631,652,0.400966335759,-0.00540116033716,0.0798333396415,0.999999930216,0.000233874264131,-0.000288540275484,4.0181865151e-05,1793244847394315520
+35,0.583333333,BASELINE,764.69356662,745,714,679.69356662,657.30643338,633.69356662,878.30643338,785,804.69356662,651.69356662,631,652,0.400966421131,-0.00540125521082,0.0798335730735,0.999999930316,0.000233632732281,-0.000288371223127,4.03231336003e-05,1793244847410982144
+36,0.600000000,BASELINE,764.103129923,745,714,679.103129923,657.896870077,633.103129923,878.896870077,785,804.103129923,651.103129923,631,652,0.400966129432,-0.00540274991725,0.0798335417135,0.999999930873,0.000231083732971,-0.000288442356661,4.06738785234e-05,1793244847427648768
+37,0.616666667,BASELINE,764.478131706,745,714,679.478131706,657.521868294,633.478131706,878.521868294,785,804.478131706,651,631,652,0.400966635639,-0.00540397173847,0.0798337582658,0.999999931183,0.00023033501656,-0.000287948636748,4.08009503387e-05,1793244847444315648
+38,0.633333333,BASELINE,765,745,714,680,657.057097732,633.942902268,878.057097732,785.057097732,805,651.057097732,631,652,0.400967252434,-0.00540486106787,0.0798340000233,0.999999931405,0.000230072991301,-0.000287379576995,4.08502191612e-05,1793244847460982016
+39,0.650000000,BASELINE,765,745,714,680,657.632849779,633.367150221,878.632849779,785.632849779,805,651.632849779,631,652,0.400967339885,-0.00540325475904,0.0798339941514,0.999999931302,0.000230771040216,-0.000287212026421,4.06227417479e-05,1793244847477648896
+40,0.666666667,BASELINE,764.787651336,745,714,680,658,633.212348664,878.787651336,786,804.787651336,652,630.787651336,652,0.400966680486,-0.00540163369677,0.0798334314851,0.999999930835,0.000231997670028,-0.000287872739364,4.0452989381e-05,1793244847494315520
+41,0.683333333,BASELINE,764.201557851,745,714,680,658,633.798442149,878.201557851,786,804.201557851,652,630.201557851,652,0.400964706592,-0.00539998666777,0.0798318888317,0.999999929723,0.000234154629981,-0.000289991239679,4.03848361457e-05,1793244847510982144
+42,0.700000000,BASELINE,764,745,714,680,658,634,878,786,804.379965534,651.620034466,630,652,0.400966148271,-0.00540051069734,0.0798327741651,0.999999930142,0.000234101072764,-0.000288561125049,4.05491927208e-05,1793244847527649024
+43,0.716666667,BASELINE,764,745,714,680,658,634,878,786,804.95909344,651.04090656,630,652,0.400969380253,-0.00540217270694,0.0798349321498,0.999999931358,0.0002328888529,-0.000285270971719,4.08354214187e-05,1793244847544315648
+44,0.733333333,BASELINE,764.535133541,744.464866459,714,679.464866459,658,634,878,786,805,651.535133541,630,652,0.400965983582,-0.00540361923013,0.0798334006188,0.99999993104,0.000230465605624,-0.000288354579205,4.07193815506e-05,1793244847560982528
+45,0.750000000,BASELINE,764.888897339,744,714,679.111102661,658,633.888897339,878,786,805,652,630,652,0.400963389399,-0.00540462367928,0.0798321532458,0.999999930661,0.000229041652135,-0.000290805625943,4.06288329946e-05,1793244847577648896
+46,0.766666667,BASELINE,764.31224241,744,714,679.68775759,658,633.31224241,878,786,805,652,630,652,0.400966268937,-0.00540384433718,0.0798332715975,0.999999930574,0.000232190711745,-0.000288576172697,4.07732131294e-05,1793244847594315520
+47,0.783333333,BASELINE,764,744.270230767,714,680,658,633.270230767,878,786,805,651.729769233,630,652,0.400967494968,-0.00540268516497,0.0798337938914,0.999999930656,0.000233375539385,-0.000287357180564,4.06130347523e-05,1793244847610982144
+48,0.800000000,BASELINE,764,744.85957474,714,680,658,633.85957474,878,786,805,651.14042526,630,652,0.40096676839,-0.00540107745455,0.0798336123058,0.999999930949,0.000232240822672,-0.000287331433046,4.00932058466e-05,1793244847627648768
+49,0.816666667,BASELINE,764.439752511,745,713.560247489,680,658,634,878,786,805,651.439752511,630,652,0.400966852969,-0.00540092879513,0.0798335579488,0.999999930493,0.0002340690649,-0.000287412052027,4.02577568399e-05,1793244847644315648
+50,0.833333333,BASELINE,765,745,713.016989204,679.983010796,658,634,878.016989204,785.983010796,805,652,630,652,0.400967170788,-0.00540123402919,0.0798335449953,0.999999929826,0.000236706262865,-0.000287520917814,4.06202400373e-05,1793244847660982016
+51,0.850000000,BASELINE,765,745,713.591803264,679.408196736,658,634,878.591803264,785.408196736,805,652,630,652,0.400966815632,-0.00540145688314,0.0798335847555,0.99999993014,0.000235472957808,-0.000287464777579,4.04525474082e-05,1793244847677648896
+52,0.866666667,BASELINE,765,744.832935422,714,679.334129156,658,634,878.832935422,785,805,651.832935422,630,652,0.400967060608,-0.00540147836824,0.0798340588633,0.999999930605,0.000234258828363,-0.000286848242097,4.03826444867e-05,1793244847694315520
+53,0.883333333,BASELINE,765,744.256578415,714,680.48684317,658,634,878.256578415,785,805,651.256578415,630,652,0.40096877585,-0.00540100651869,0.0798355970813,0.99999993144,0.00023309167743,-0.000284858791215,4.05523171184e-05,1793244847710982144
+54,0.900000000,BASELINE,765,744.328483783,714,680.671516217,657.671516217,634,878,785.328483783,805.328483783,651,630.328483783,652,0.40096830767,-0.00540148051874,0.0798351137212,0.999999931183,0.000233233182534,-0.000285631357876,4.06291015586e-05,1793244847727649024
+55,0.916666667,BASELINE,765,744.920530672,714,680.079469328,657.079469328,634,878,785.920530672,805.920530672,651,630.920530672,652,0.400966087594,-0.00540271343317,0.0798330083224,0.999999930046,0.000234424704376,-0.000288620064251,4.06313559779e-05,1793244847744315648
+56,0.933333333,BASELINE,765,745,714,679.499510576,657.500489424,634,878,786,805.499510576,651,631,652,0.400965967994,-0.00540236709447,0.0798334683211,0.999999930036,0.00023462705756,-0.000288490293562,4.06401253272e-05,1793244847760982016
+57,0.950000000,BASELINE,764.921875157,745,714,679.078124843,658,633.921875157,878,786,805,651,630.921875157,652,0.400966244901,-0.00540187908844,0.0798342149869,0.999999930189,0.000234759814718,-0.000287851422189,4.06269634965e-05,1793244847777648896
+58,0.966666667,BASELINE,764.347095669,745,714,679.652904331,658,633.347095669,878,786,805,651,630.347095669,652,0.400966972225,-0.00540204700464,0.0798342555679,0.99999993027,0.000235425071491,-0.000287049703684,4.04679597508e-05,1793244847794315520
+59,0.983333333,BASELINE,764.233014548,745,714,679.766985452,658,633.233014548,878.233014548,785.766985452,804.766985452,651,630.233014548,652,0.400966978119,-0.00540211460306,0.0798339987444,0.999999930284,0.000235336253241,-0.000287079025998,4.04329324612e-05,1793244847810982144
+60,1.000000000,BASELINE,764.821251355,745,714,679.178748645,658,633.821251355,878.821251355,785.178748645,804.178748645,651,630.821251355,652,0.400965884221,-0.00540202927065,0.0798332885386,0.999999930195,0.00023409787496,-0.00028837523989,4.05869027762e-05,1793244847827649024
+61,1.016666667,BASELINE,765,745,714,679.803619098,658,634,878.598190451,785.401809549,804.401809549,651,630.598190451,652,0.400965982581,-0.00540287588439,0.0798334257279,0.999999930553,0.000232770907137,-0.000288188595291,4.07233613807e-05,1793244847844315648
+62,1.033333333,BASELINE,765,745,714,680.95803172,658,634,878.02098414,785.97901586,804.97901586,651,630.02098414,652,0.400966601382,-0.00540412930862,0.0798339328199,0.999999931105,0.000231405268533,-0.00028735465744,4.08521758139e-05,1793244847860982528
+63,1.050000000,BASELINE,764.441535908,745,714,680.441535908,658,634,878.558464092,786,805,651.558464092,630,652,0.400966934388,-0.00540236633325,0.0798337665549,0.999999930419,0.000234263492196,-0.000287458671223,4.06290768434e-05,1793244847877648896
+64,1.066666667,BASELINE,764,745,714,680,658,633.863141754,879,786,805,652,630.136858246,652,0.400967070227,-0.00540117611645,0.0798336166175,0.999999930026,0.000236022637028,-0.000287407069701,4.04785109901e-05,1793244847894315520
+65,1.083333333,BASELINE,764,745,714,680,658,633.288390883,879,786,805,652,630.711609117,652,0.400966609708,-0.0054021826086,0.0798336002023,0.999999930744,0.000233755303144,-0.000286744341156,4.06025017357e-05,1793244847910982144
+66,1.100000000,BASELINE,764,745,714,680,658,633.293468796,878.706531204,786,805,652,631,652,0.40096584375,-0.00540261031103,0.0798334095743,0.999999930675,0.00023350042399,-0.000287174372705,4.07184360335e-05,1793244847927648768
+67,1.116666667,BASELINE,764,745,714,680,658,633.882487664,878.117512336,786,805,652,631,652,0.400964770187,-0.00540245511891,0.079833043498,0.999999929815,0.000235272271992,-0.000288704914222,4.08262567398e-05,1793244847944315392
+68,1.133333333,BASELINE,764,745,713.533971158,680,658,633.533971158,878,785.533971158,804.533971158,651.533971158,630.533971158,652,0.400966223504,-0.00540164758816,0.0798335616962,0.999999929746,0.000236474041624,-0.000287986666754,4.06444207212e-05,1793244847960982016
+69,1.150000000,BASELINE,764.047321269,745,713.047321269,679.952678731,658,633.047321269,878,785.047321269,804.047321269,651,630,651.952678731,0.40096817087,-0.00540085488949,0.0798342817346,0.999999929943,0.000237204623396,-0.000286733012349,4.04113721958e-05,1793244847977648640
+70,1.166666667,BASELINE,764.618825911,745,713.618825911,679.381174089,658,633.618825911,878,785.618825911,804.618825911,651,630,651.381174089,0.400968614867,-0.00540202741367,0.0798347963454,0.999999930909,0.000234289627506,-0.000285756872356,4.04106983689e-05,1793244847994315520
+71,1.183333333,BASELINE,765,744.808126919,714,679.191873081,658,633.808126919,878.191873081,786,805,651,630,651,0.400967951954,-0.00540257552645,0.0798346520142,0.999999931366,0.000232315528182,-0.000285780393791,4.03331982021e-05,1793244848010982400
+72,1.200000000,BASELINE,765,744.231990432,714,679.768009568,658,633.231990432,878.768009568,786,805,651,630,651,0.40096507224,-0.00540187313336,0.0798331880227,0.999999930815,0.000232225757897,-0.00028780593276,4.01018382507e-05,1793244848027649024
+73,1.216666667,BASELINE,765,744.355221767,714,680,658,633.355221767,879,786,804.644778233,651.355221767,630.355221767,651.355221767,0.400966038253,-0.00540246553342,0.0798333605441,0.999999931149,0.000231672633582,-0.000287085228018,4.01444554475e-05,1793244848044315648
+74,1.233333333,BASELINE,765,744.949900119,714,680,658,633.949900119,879,786,804.050099881,651.949900119,630.949900119,651.949900119,0.400969596689,-0.00540393075937,0.0798346362465,0.999999932075,0.000230807160244,-0.000284513267969,4.03717618806e-05,1793244848060982016
+75,1.250000000,BASELINE,765,744.473163057,714,679.473163057,658,634,879,785.473163057,804.526836943,651.473163057,631,652,0.400970216984,-0.00540391596813,0.0798356182277,0.999999931978,0.000232163244326,-0.000283699004442,4.0722145232e-05,1793244848077648640
+76,1.266666667,BASELINE,764.897812756,744.102187244,714,679.102187244,658,634,879,785,805,651,631,652,0.400970197817,-0.00540350228863,0.0798362028505,0.999999931717,0.000233503871799,-0.000283490936312,4.09212436614e-05,1793244848094315520
+77,1.283333333,BASELINE,764.322250983,744.677749017,714,679.677749017,658,634,879,785,805,651,631,652,0.400968468542,-0.00540187153122,0.0798350719168,0.999999931138,0.000233826133174,-0.00028534194144,4.03670744665e-05,1793244848110982144
+78,1.300000000,BASELINE,764,744.740540588,714,679.740540588,658,633.740540588,879,785,805,651,631,651.740540588,0.400967689418,-0.00540161096629,0.079834626955,0.999999931043,0.000233325385479,-0.000286113006429,4.01455830402e-05,1793244848127649024
+79,1.316666667,BASELINE,764,744.151008228,714,679.151008228,658,633.151008228,879,785,805,651,631,651.151008228,0.400968119033,-0.00540309350059,0.0798350546568,0.999999931568,0.000231777641517,-0.000285510218534,4.03473098046e-05,1793244848144315904
+80,1.333333333,BASELINE,764.431366939,744,714,679,657.568633061,633.431366939,878.568633061,785,805,651,631,651.431366939,0.400967556128,-0.00540196439826,0.0798346744931,0.99999993101,0.000233320919691,-0.000286204596636,4.03470980527e-05,1793244848160982272
+81,1.350000000,BASELINE,764.988808974,744.011191026,714,679.011191026,657.011191026,633.988808974,878.011191026,785,805,651.011191026,631,652,0.400966670399,-0.00540000513731,0.0798340182993,0.999999930098,0.000235840533743,-0.000287333784666,4.02753472072e-05,1793244848177648640
+82,1.366666667,BASELINE,764.41334673,744.58665327,714,679.58665327,657.58665327,633.41334673,878.58665327,785,805,651.58665327,631,652,0.40096674047,-0.00540153370973,0.0798334711694,0.999999930404,0.000233919250176,-0.000287864138625,4.01027309032e-05,1793244848194315520
+83,1.383333333,BASELINE,764.165030454,745,714,680,658,633.165030454,878.834969546,785.165030454,805,652,631,652,0.400966751752,-0.00540257588628,0.0798332154776,0.999999930547,0.00023300900476,-0.000288107022709,4.00842721293e-05,1793244848210982400
+84,1.400000000,BASELINE,764.750839998,745,714,680,658,633.750839998,878.249160002,785.750839998,805,652,631,652,0.400966613141,-0.00540237789682,0.0798337028671,0.999999930283,0.000234676608682,-0.000287616943327,4.04588696537e-05,1793244848227649024
+85,1.416666667,BASELINE,765,745,714,680,658,634,878.333124743,786,805,652,630.666875257,652,0.400966805891,-0.00540203781311,0.0798342262527,0.999999930674,0.000234164096422,-0.000286687580429,4.03543301682e-05,1793244848244315648
+86,1.433333333,BASELINE,765,745,714,680,658,634,878.912800689,786,805,652,630.087199311,652,0.400967243887,-0.00540159256308,0.0798347762795,0.999999931547,0.000232038043549,-0.00028543309647,3.98951733315e-05,1793244848260982272
+87,1.450000000,BASELINE,764.511705012,745,714,680,658,634,878.511705012,786,805,651.511705012,630,652,0.400968228912,-0.00540184877775,0.0798353027075,0.999999931769,0.000231668650919,-0.000284931496274,4.007355291e-05,1793244848277648896
+88,1.466666667,BASELINE,764,745,714,680,658,634,878,786,805,651,630.063590159,652,0.400969226902,-0.00540218567996,0.0798357797621,0.999999931886,0.000231682365978,-0.000284471312614,4.03387945963e-05,1793244848294315776
+89,1.483333333,BASELINE,764,745,714,680,658,634,878,786,805,651,630.643278424,652,0.400969544002,-0.00540216940765,0.0798358900154,0.999999932087,0.000232280988917,-0.00028326533942,4.03928423973e-05,1793244848310982400
+90,1.500000000,BASELINE,764,745,714,680.225653452,658,634,878.225653452,785.774346548,804.774346548,651.225653452,630.774346548,652,0.40096967091,-0.00540269874173,0.0798359695133,0.99999993243,0.000231704338642,-0.000282536993837,4.03167140055e-05,1793244848327649024
+91,1.516666667,BASELINE,764,745,714,680.812326944,658,634,878.812326944,785.187673056,804.187673056,651.812326944,630.187673056,652,0.40096949353,-0.00540410098443,0.0798359998059,0.999999932998,0.000229247383903,-0.000282572798607,4.0032318402e-05,1793244848344315648
+92,1.533333333,BASELINE,764.395403091,745,714,680.604596909,658,634,879,785,804.395403091,651.604596909,630,652,0.400968770606,-0.00540283219695,0.0798355213498,0.999999932489,0.000230428295425,-0.000283442090132,3.98167183507e-05,1793244848360982272
+93,1.550000000,BASELINE,764.97678725,745,714,680.02321275,658,634,879,785,804.97678725,651.02321275,630,652,0.400967791081,-0.00540030706876,0.0798348035997,0.999999931467,0.000233320306785,-0.000284703418949,3.96334768229e-05,1793244848377648640
+94,1.566666667,BASELINE,764.449713766,745,714,680,658,633.449713766,879,785.550286234,805,651,630,652,0.400966936135,-0.00540136803239,0.0798342471419,0.999999930916,0.000233874206947,-0.000286142489249,3.99073676553e-05,1793244848394315520
+95,1.583333333,BASELINE,764.123862594,744.876137406,714,680,658,633,878.876137406,786,805,651,630.123862594,652,0.400966254257,-0.00540233661742,0.0798338602984,0.999999930563,0.000234152299474,-0.000287118289941,4.01246141822e-05,1793244848410982144
+96,1.600000000,BASELINE,764.698915482,744.301084518,714,680,658,633,878.301084518,786,805,651,630.698915482,652,0.400966183933,-0.00540242544789,0.0798340668694,0.999999930864,0.000233779912599,-0.000286379627996,4.00662742742e-05,1793244848427649024
+97,1.616666667,BASELINE,765,744.281443497,714,680,658,633.281443497,878.281443497,786,805,651,631,652,0.400966364301,-0.00540237580139,0.0798341659006,0.999999930881,0.000233929990983,-0.00028618863092,4.01345924391e-05,1793244848444315904
+98,1.633333333,BASELINE,765,744.872186458,714,680,658,633.872186458,878.872186458,786,805,651,631,652,0.400966820173,-0.0054021739721,0.0798341467481,0.999999930585,0.000234654245824,-0.000286599504068,4.03421047065e-05,1793244848460982272
+99,1.650000000,BASELINE,765,745,714,679.545479393,658,633.545479393,878.545479393,785.545479393,805,651.454520607,631,652,0.400968041524,-0.00540267684833,0.0798349047666,0.999999931263,0.000233413331265,-0.000285246641492,4.03263069903e-05,1793244848477648896
+100,1.666666667,BASELINE,765,744.965760085,713.965760085,679.034239915,658,633,878.034239915,785.034239915,805,652,631,652,0.400969270173,-0.0054032924114,0.0798357599476,0.999999932097,0.00023182930958,-0.000283620901547,4.02633857749e-05,1793244848494315520
+101,1.683333333,BASELINE,765,744.390671852,713.390671852,679.609328148,658,633,878.609328148,785.609328148,805,652,631,652,0.400967275681,-0.00540261460431,0.0798347605034,0.999999931226,0.000233396096193,-0.000285376817828,4.04300061711e-05,1793244848510982400
+102,1.700000000,BASELINE,764.815646936,744.184353064,713.184353064,679.815646936,658,633,879,786,805,652,630.815646936,652,0.400966129756,-0.00540232577694,0.0798340952091,0.999999930824,0.000233894624178,-0.000286380155786,4.04017073173e-05,1793244848527648768
+103,1.716666667,BASELINE,764.240756223,744.759243777,713.759243777,679.240756223,658,633,879,786,805,652,630.240756223,652,0.400966781452,-0.00540286097297,0.0798341377854,0.999999931422,0.000232130129026,-0.000285789214795,3.996048715e-05,1793244848544315392
+104,1.733333333,BASELINE,764.344649105,745,714,679.344649105,658,633.344649105,879,786,805,652,630.344649105,652,0.400967446022,-0.00540232191218,0.0798341862083,0.999999931405,0.000232676540575,-0.00028540757246,3.99163856015e-05,1793244848560982272
+105,1.750000000,BASELINE,764.937630663,745,714,679.937630663,658,633.937630663,879,786,805,652,630.937630663,652,0.400968119868,-0.00540100880958,0.0798342388439,0.999999930945,0.000234888045857,-0.000285176737498,4.01584226891e-05,1793244848577648896
+106,1.766666667,BASELINE,765,745,714,680,658,634,878.484024554,786,805,651.484024554,631,652,0.400968219754,-0.00540176347533,0.0798347491162,0.999999931677,0.000232445384321,-0.000284632209581,3.99902951896e-05,1793244848594315776
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805,652,631,652,0.400966950755,-0.00540256520176,0.0798341736012,0.999999930507,0.000234376595073,-0.000287055167835,4.0655599212e-05,1793244848637529856
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.595074483,744,713.404925517,679,658.595074483,634,879,786,804.404925517,651.404925517,631,652,0.40096574544,-0.00540213090355,0.0798333483748,0.999999930181,0.000234083092034,-0.000288452270286,4.04710045289e-05,1793244848654196736
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.815641604,744.184358396,713.184358396,679,658.815641604,634,878.815641604,786,804.184358396,651.184358396,631,652,0.400965457257,-0.00540172764409,0.0798333047382,0.999999930127,0.000234321641455,-0.000288454861199,4.04211945881e-05,1793244848670863616
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.2386887,744.7613113,713.7613113,679,658.2386887,634,878.2386887,786,804.7613113,651.7613113,631,652,0.400967122125,-0.00540139048213,0.0798349255107,0.999999930646,0.000235693206066,-0.00028548781507,4.06584111355e-05,1793244848687530240
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.337166429,745,714,679.337166429,658,634,878,786,805,651.662833571,631,652,0.400968208573,-0.00540142731025,0.079835839401,0.999999930986,0.000235875213688,-0.000284142583411,4.06566487392e-05,1793244848704196864
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.912246903,745,714,679.912246903,658,634,878,786,805,651.087753097,631,652,0.400968886872,-0.00540172803624,0.0798362544952,0.999999931205,0.000235217836608,-0.000283941749497,4.04862561149e-05,1793244848720863488
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.4990493,786,805,651.4990493,631,652,0.400967429402,-0.00540124890223,0.0798350832142,0.999999930723,0.000234796111052,-0.000286019034225,4.02289543786e-05,1793244848737530112
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.913467418,745,714,680,658,634,879,786,805,651.913467418,631,652,0.400966158954,-0.0054008369229,0.0798341278272,0.999999930309,0.000234480626704,-0.000287741396632,4.00835944145e-05,1793244848754196992
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.334127388,745,714,680,658,634,879,786,805,651.334127388,631,652,0.400968143857,-0.00540160714595,0.0798360288089,0.999999931029,0.000234528528815,-0.000285106228503,4.06648745527e-05,1793244848770863360
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.244553415,745,714,680,658,634,878.755446585,785.755446585,804.755446585,651,631,652,0.400973820052,-0.0054024835193,0.0798387626731,0.999999932575,0.000233679009313,-0.000280312094689,4.08641770898e-05,1793244848787529984
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.822335908,745,714,680,658,634,878.177664092,785.177664092,804.177664092,651,631,652,0.400984526012,-0.00540350453326,0.079842631425,0.999999935208,0.000231606660923,-0.000272576149182,4.05429959693e-05,1793244848804196864
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.60238395,745,714,680,658,634,878.39761605,785.39761605,804.39761605,651,631,652,0.401012213631,-0.00540370694091,0.0798540517328,0.999999940501,0.000231560741761,-0.000252439296229,4.06461185758e-05,1793244848820863488
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.028214875,745,714,680,658,634,878.971785125,785.971785125,804.971785125,651,631,652,0.4010474416,-0.00540354586379,0.07986882515,0.999999946436,0.000232414615478,-0.000226796080923,4.09376442584e-05,1793244848837530112
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.56083383,745,714,679.43916617,658,634,878.43916617,786,805,651.56083383,631,652,0.40110709755,-0.00540501130922,0.0798876952704,0.99999995463,0.000232030246521,-0.000187680588852,4.09536584509e-05,1793244848854196736
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878,786,804.853387499,652,631,652,0.401171624936,-0.0054064991094,0.0799053697842,0.999999960716,0.000231349913489,-0.000152942784062,4.06764810845e-05,1793244848870863104
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878,786,804.279382869,652,631,652,0.401246672984,-0.00540780703625,0.0799189417929,0.999999963924,0.000229993357042,-0.000132996064611,3.95861236956e-05,1793244848887530496
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.298018404,658,634,878,786,804.298018404,652,631,652,0.401327816772,-0.00540939757794,0.0799283280064,0.9999999662,0.000228103811723,-0.000118803728476,3.81453706912e-05,1793244848904197376
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.878640597,658,634,878,786,804.878640597,652,631,652,0.401414741002,-0.00541125611651,0.0799337449288,0.999999967809,0.000225708845819,-0.000110068138894,3.63723459026e-05,1793244848920863744
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.464303568,786,805,652,631,652,0.401515572686,-0.00541093753212,0.0799359476481,0.999999968416,0.00022580013564,-0.000105434443729,3.26386930722e-05,1793244848937530112
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.949559176,714,679.949559176,658,634,879,786,805,652,631,652,0.401623039779,-0.00541038632826,0.0799377405358,0.999999968941,0.000225939356856,-0.000101300894497,2.84021509072e-05,1793244848954196480
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.37237891,714,679.37237891,658,634,879,786,805,652,631,652,0.401761421404,-0.00541341365174,0.0799441231668,0.999999971419,0.000219718361774,-9.10711705024e-05,2.43243716408e-05,1793244848970863104
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.20575139,714,679.20575139,658,634,879,785.79424861,805,651.79424861,631,652,0.401912640561,-0.00541584356839,0.0799504239111,0.999999973587,0.000214567243738,-7.99254292601e-05,1.99674004229e-05,1793244848987529984
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.785609022,714,679.785609022,658,634,879,785.214390978,805,651.214390978,631,652,0.402087201472,-0.0054171872533,0.0799565757648,0.999999975297,0.000211361423992,-6.71141462243e-05,1.51027905452e-05,1793244849004196608
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.639587289,745,714,679.639587289,658,634,879,785.360412711,805,651,631,651.639587289,0.402272312601,-0.00541851445774,0.0799601616094,0.999999976899,0.000205963857226,-6.08205465585e-05,9.06409550568e-06,1793244849020863232
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.067748302,745,714,679.067748302,658,634,879,785.932251698,805,651,631,651.067748302,0.402463612745,-0.0054198319945,0.0799622421754,0.999999978439,0.000199280561612,-5.83503666611e-05,2.33665500101e-06,1793244849037529856
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,786,805,651,631,651.522084882,0.402673432888,-0.00542180030184,0.0799580981174,0.999999979723,0.000190041216282,-6.64181967985e-05,-5.20049056436e-06,1793244849054196736
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.111702925,745,714,679.111702925,658,634,878.888297075,786,805,651,630.888297075,651.888297075,0.402894250862,-0.00542398576793,0.0799532076799,0.999999980695,0.000180830566606,-7.57836171351e-05,-1.29242490261e-05,1793244849070863360
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.69031334,745,714,679.69031334,658,634,878.30968666,786,805,651,630.30968666,651.30968666,0.403150634857,-0.00542671335601,0.0799486942332,0.999999981202,0.000173175762929,-8.46529389923e-05,-2.09731684444e-05,1793244849087529984
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.268043132,785.731956868,805,651.268043132,630.268043132,651.268043132,0.403435623952,-0.00542938126656,0.0799470567938,0.999999986675,0.000134896469553,-8.74646262746e-05,-2.83456382928e-05,1793244849104196608
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+138,2.300000000,POSE1_TO_POSE2_PRESS,764.006260081,745,714,680,658,634,878.006260081,785.993739919,805,651.006260081,631,652,0.404444014375,-0.00543369647256,0.0799537152138,0.999999989782,0.000121032240228,-7.41439880959e-05,-1.70227284396e-05,1793244849154196736
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+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,785.679347201,805,651,631,652,0.40613220126,-0.00545932333633,0.0799450998439,0.999999992832,8.43853518579e-05,-7.9026733937e-05,-3.11438146415e-05,1793244849220863488
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,785.099525154,805,651,631,652,0.406611636998,-0.00547195055578,0.0799323142032,0.999999991778,7.19000543411e-05,-0.000102418110302,-2.80163807765e-05,1793244849237530112
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.48733983,633.51266017,879,785.48733983,805,651,631,651.51266017,0.407108837297,-0.00548990999707,0.0799297320165,0.999999992689,5.03065928121e-05,-0.000106214929179,-2.84589322205e-05,1793244849254196736
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.925473612,633,879,786,805,651,631,651.074526388,0.407614128361,-0.00550616430702,0.0799278485444,0.999999993173,2.99601787509e-05,-0.000108956350803,-2.97408463334e-05,1793244849270863360
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.345996133,633,879,786,805,651,631,651.654003867,0.408149297211,-0.00550337920775,0.0799163736975,0.999999990302,3.08508041113e-05,-0.000132057418477,-3.16976310955e-05,1793244849287529984
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.231859617,633.231859617,879,785.768140383,805,651,631,652,0.408718995194,-0.00550252430931,0.0799131211409,0.999999989195,3.16446441834e-05,-0.000139762996625,-3.27761541099e-05,1793244849304196608
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.807312091,633.807312091,879,785.192687909,805,651,631,652,0.40933986188,-0.00550452977641,0.0799220532002,0.999999991179,3.229505806e-05,-0.000124653991466,-3.25531805926e-05,1793244849320863488
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.382955345,659,634,879,785,805,651,630.617044655,652,0.410026735172,-0.00551142542807,0.0799541289039,0.99999999671,2.05074393252e-05,-7.14307760233e-05,-3.25081867518e-05,1793244849337530112
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.958694623,659,634,879,785,805,651,630.041305377,652,0.410746836897,-0.00552078285237,0.0799978553724,0.999999999467,2.45837805041e-06,9.79551981571e-07,-3.25527896962e-05,1793244849354196992
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.468962991,659,634,879,785,805,651.531037009,630,652,0.411408984489,-0.00551993081707,0.0799926629886,0.999999999319,5.50737252569e-06,-1.20410227303e-05,-3.44349815217e-05,1793244849370863360
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.892242386,680,659,634,879,785.107757614,804.892242386,652,630.107757614,652,0.412069625909,-0.0055195642975,0.0799784213868,0.999999998587,6.90958638827e-06,-3.78034077261e-05,-3.6742330073e-05,1793244849387529984
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.294416354,680,659,634,879,785.705583646,804.294416354,652,630.705583646,652,0.412743787936,-0.00552499443649,0.0799402198729,0.99999999498,-6.59345601439e-06,-9.14852913315e-05,-4.03373320897e-05,1793244849404196608
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.291640366,680.291640366,658.708359634,634,879,785.708359634,804.583280731,651.708359634,631,651.708359634,0.413462422617,-0.00553041990228,0.0799186664834,0.999999992074,-2.05633499955e-05,-0.00011630261603,-4.36207081083e-05,1793244849420863232
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713.866276693,680.866276693,658.133723307,634,879,785.133723307,805.732553386,651.133723307,631,651.133723307,0.414224211835,-0.00553584083403,0.0799132677529,0.999999991905,-3.49862593944e-05,-0.000113110952018,-4.66016954277e-05,1793244849437529856
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.561927382,658,634,879,785,805.561927382,651.438072618,631,651.438072618,0.41503367414,-0.00553932870045,0.0799345631351,0.999999995224,-3.87076680249e-05,-7.70437256815e-05,-4.60279391262e-05,1793244849454196736
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.009410541,744.990589459,714,680.009410541,658.009410541,634,878.990589459,785.009410541,805,651.990589459,631,652,0.415856733024,-0.00554223718797,0.0799632510047,0.999999997723,-3.91810573941e-05,-3.23510740763e-05,-4.44137516695e-05,1793244849470863360
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.605921261,744.394078739,714,680.605921261,658.605921261,634,878.394078739,785.605921261,805,651.394078739,631,652,0.416626013202,-0.00554557586145,0.0799480495457,0.999999995638,-3.95053282055e-05,-7.15890601593e-05,-4.51501581631e-05,1793244849487529984
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.803254946,744.196745054,714,681,659,633.803254946,878.196745054,785.803254946,805,651,631,652,0.417434009358,-0.00554985563213,0.0799437927022,0.999999994636,-4.41565770036e-05,-8.15465648674e-05,-4.61423934224e-05,1793244849504196608
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.223502054,744.776497946,714,681,659,633.223502054,878.776497946,785.223502054,805,651,631,652,0.418317374694,-0.00555596745683,0.0799608419786,0.999999996633,-5.72312471667e-05,-3.45031227767e-05,-4.76326560516e-05,1793244849520863488
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681.352372237,659,633.352372237,878.647627763,785.352372237,805,651,630.647627763,652,0.419200636623,-0.00556259746324,0.0799758817691,0.999999996407,-6.93276052409e-05,-1.36107714793e-06,-4.87564362293e-05,1793244849537530112
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681.925813179,659,633.925813179,878.074186821,785.925813179,805,651,630.074186821,652,0.420083833642,-0.00556955256244,0.0799896608625,0.999999995236,-8.08101966012e-05,2.30596107808e-05,-4.9650295306e-05,1793244849554196736
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.488154518,745,714,681.488154518,659,634,878.511845482,786,805,651,630,652,0.420952421182,-0.00556981825745,0.0799746780689,0.999999995524,-8.02098716615e-05,-2.93300398805e-06,-5.00991484701e-05,1793244849570863360
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633.901988096,879.098011904,785.901988096,805,651,630,652,0.421829139369,-0.00556380876937,0.0799624907551,0.999999995847,-7.17646526051e-05,-2.50893967046e-05,-5.02578354109e-05,1793244849587529984
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633.324321973,879.675678027,785.324321973,805,651,630,652,0.422756271353,-0.00553195410479,0.0799848997455,0.999999998182,-3.37145171619e-05,8.18867569742e-06,-4.93201051658e-05,1793244849604196864
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,713.746640667,681,659,633.253359333,879.493281334,785,805.253359333,651,630,652,0.423668219551,-0.00551138008726,0.0799979046171,0.999999998568,-6.50369869575e-06,2.28806798445e-05,-4.79300354135e-05,1793244849620863488
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,713.168939844,681,659,633.831060156,878.337879689,785,805.831060156,651,630,652,0.42456073014,-0.00550524714328,0.0799988706778,0.999999998826,6.83102186236e-06,1.37794736635e-05,-4.59608969097e-05,1793244849637530112
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.407846469,745,713.407846469,681.407846469,659.407846469,633.592153531,878.407846469,785.407846469,805.592153531,651,630.407846469,652,0.425442895579,-0.00551193910189,0.0799640584123,0.999999997618,-6.50849853179e-06,-4.85201910924e-05,-4.86582044775e-05,1793244849654196736
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.984254784,745,713.984254784,681.984254784,659.984254784,633.015745216,878.984254784,785.984254784,805.015745216,651,630.984254784,652,0.426320785343,-0.00552393155849,0.079914459061,0.999999989285,-3.08724115095e-05,-0.000132806634405,-5.32841414188e-05,1793244849670863104
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681.423525628,659.423525628,633.576474372,879,785.423525628,805.576474372,651,631,652,0.427273306085,-0.00552559612849,0.0799113804968,0.999999991397,-3.08599456155e-05,-0.000115165979868,-5.46903012432e-05,1793244849687529728
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681.164306997,659,633.835693003,879,785,805.835693003,651,631,652,0.428217794933,-0.00552728706991,0.0799143995373,0.999999993008,-3.2266330753e-05,-9.9477642141e-05,-5.52060621333e-05,1793244849704196352
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681.74004266,659,633.25995734,879,785,805.25995734,651,631,652,0.429136923546,-0.00552977031347,0.0799294157373,0.999999993206,-3.89397247817e-05,-9.58455710641e-05,-5.37186606651e-05,1793244849720863744
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.314969545,633.314969545,879,785.314969545,805.314969545,651,630.685030455,652,0.430082178235,-0.00553396669351,0.0799605961829,0.999999995972,-4.54573217659e-05,-5.73283881783e-05,-5.19878584305e-05,1793244849737530624
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.889230593,633.889230593,879,785.889230593,805.889230593,651,630.110769407,652,0.431048940577,-0.00553957337401,0.0800050834748,0.999999997354,-5.18466618975e-05,9.90716843985e-06,-5.00566819495e-05,1793244849754196992
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.522471074,659.522471074,634,879,785.522471074,806,651,630.477528926,652,0.431987165182,-0.0055303666741,0.0800239176795,0.999999997128,-4.0638053822e-05,3.99502703512e-05,-4.99604434493e-05,1793244849770863616
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.067684895,659.067684895,634,879,785.067684895,806,651,631,652,0.43290605623,-0.00551873785628,0.0800265673309,0.999999997309,-2.68348542216e-05,4.56631305343e-05,-5.07595384917e-05,1793244849787530496
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681.646534106,659.646534106,634,879,785.646534106,806,651,631,652,0.433730444446,-0.00551555319838,0.0799532898862,0.999999996041,-2.51990663381e-05,-6.52412157051e-05,-5.50084672445e-05,1793244849804196864
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.224547033,786,806,651,630.775452967,651.775452967,0.434586870246,-0.00551826311472,0.0799115939265,0.999999990113,-3.10102077468e-05,-0.000124269059182,-5.80434367146e-05,1793244849820863488
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.801248513,786,806,651,630.198751487,651.198751487,0.435493540336,-0.00553021742142,0.079919426824,0.999999991877,-4.85002801285e-05,-0.000101939617134,-5.91745697315e-05,1793244849837530624
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682.376696765,659.623303235,634,880,786,806,651,630.376696765,651,0.436371254351,-0.00553571530591,0.0799413031991,0.999999993872,-5.59821031109e-05,-7.65344444696e-05,-5.7138017148e-05,1793244849854196992
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.951485951,659.048514049,634,880,786,806,651,630.951485951,651,0.437233741267,-0.00553781796989,0.079970564576,0.999999995653,-5.82009162971e-05,-4.95118476936e-05,-5.34356829514e-05,1793244849870863360
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682.460195831,659,633.460195831,880,786,806,651,631,651.539804169,0.438090615378,-0.00554190410942,0.0799752279049,0.999999995974,-5.85982683636e-05,-4.08947256468e-05,-5.42750760636e-05,1793244849887530240
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.874031075,745,714,682.125968925,659,633.125968925,880,785.874031075,806,651,630.874031075,652,0.438924520522,-0.00554431922145,0.0799674992016,0.999999995321,-5.99248093614e-05,-5.15031988697e-05,-5.58055451521e-05,1793244849904196608
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.299963093,745,714,682.700036907,659,633.700036907,880,785.299963093,806,651,630.299963093,652,0.439678560524,-0.00554013970511,0.0799237554687,0.999999988432,-6.51539686232e-05,-0.000124465839036,-5.83050084379e-05,1793244849920863488
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,714,682.722953172,659,633.722953172,880,785.277046828,806,651,630.277046828,652,0.440385827817,-0.00553488889635,0.0798500271404,0.999999967409,-6.34751043451e-05,-0.000239364617157,-6.21058601511e-05,1793244849937530112
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,714,682.142723816,659,633.142723816,880,785.857276184,806,651,630.857276184,652,0.441041909966,-0.00552846573319,0.0797434855702,0.9999999162,-5.42365346698e-05,-0.000400155644557,-6.73308679895e-05,1793244849954196736
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.43228168,745,714,682.43228168,659,632.56771832,880.43228168,785.56771832,806,651,631,652,0.441730464422,-0.00552735037521,0.0796871181807,0.999999881749,-5.39950762423e-05,-0.000478081501315,-7.0888486027e-05,1793244849970863104
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658.994209622,632,880.988419245,784.994209622,806.005790378,651,630.994209622,652,0.44243051272,-0.00552803255503,0.0796481548432,0.999999856534,-5.67554387192e-05,-0.00052750384229,-7.38276233613e-05,1793244849987529728
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658.399622206,632,879.799244413,784.399622206,806.600377794,651,630.399622206,652,0.443222140276,-0.00553542763483,0.0797145525629,0.9999999041,-6.63050638163e-05,-0.000427336584257,-6.91868885485e-05,1793244850004196352
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,879.18922902,784,806.81077098,651,630,652,0.443975584993,-0.00554143555446,0.079765215669,0.999999932987,-7.17578580089e-05,-0.000352935295483,-6.56750576384e-05,1793244850020863232
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,879.766322824,784,806.233677176,651,630,652,0.444650766074,-0.00554460019816,0.0797836273788,0.999999940658,-6.88133361336e-05,-0.000331346783631,-6.44771536904e-05,1793244850037529856
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.658707115,745,713.658707115,683,657.658707115,631.658707115,880,784,806,651,630,652,0.445281802473,-0.00554731897726,0.0797759141594,0.999999934042,-7.65606137457e-05,-0.000349184446214,-6.42271308567e-05,1793244850054196480
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.085182186,745,713.085182186,683,657.085182186,631.085182186,880,784,806,651,630,652,0.445882800672,-0.00554973436853,0.0797504242845,0.99999991616,-9.15831045001e-05,-0.000393849569274,-6.462209176e-05,1793244850070863360
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713,683,657,631,880,784,806,651,630.498215764,652,0.446449567526,-0.00555361842432,0.0797256154785,0.999999905513,-8.93404133451e-05,-0.000420195203691,-6.65422344132e-05,1793244850087529984
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,744.917188903,713,683,656.917188903,631,880,784,806,651,630.917188903,652,0.447007766378,-0.00555759872317,0.0797010028975,0.999999894851,-8.7490763802e-05,-0.000444896073778,-6.86409085878e-05,1793244850104196864
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,744.335753384,713,683,656.335753384,631,880,784,806,651,630.335753384,652,0.447550328166,-0.00556061600026,0.0796768565121,0.999999877213,-0.000106141147506,-0.000478934212351,-7.02126791835e-05,1793244850120863488
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,744.485386192,713,683,656,631,880,783.757306904,806,651,630,652,0.448059869949,-0.00556245779334,0.0796523389407,0.999999857196,-0.000112671762857,-0.000517514604651,-7.13591121735e-05,1793244850137530112
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745.634109315,713,683,656,631,880,783.182945342,806,651,630,652,0.448524285992,-0.00556269314997,0.0796273141023,0.999999834054,-0.000102639297442,-0.000562302514515,-7.1924271518e-05,1793244850154196992
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.385991069,745.614008931,713,683.385991069,656,631,880,783,806,651.385991069,630,652,0.448974153579,-0.00556060811998,0.0796093483096,0.999999818922,-0.000104144620982,-0.000588226085797,-7.27979746975e-05,1793244850170863616
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.952391852,745.047608148,713,683.952391852,656,631,880,783,806,651.952391852,630,652,0.449417221353,-0.00555743855641,0.0795946818666,0.999999807897,-0.000111042631122,-0.000605332592181,-7.38158893328e-05,1793244850187530496
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.059149929,633,879,785,805,651.940850071,630.940850071,651.940850071,0.407970747494,-0.00540848012387,0.0798388174469,0.999999938835,0.000215014078356,-0.000271334622375,4.976960949e-05,1793244852774965504
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31c7283d17d9d1ef6d9c8dc15078afb7d17a7126
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6d166e6533eeb0572ddc36ac40b2944c8dff3d8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d701526e737057f1be966debe19d4ce433021836e13ae530299d03d0ec3bb90
+size 25557745
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ec23c05b6954a9edc6ff5cd78c5376dd9156096
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
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+62,1.033333333,BASELINE,765,744.03184411,714,680,657.96815589,634,878.03184411,786,804.03184411,652,630.03184411,651.03184411,0.400917642411,-0.0154352541929,0.0599247577376,0.999999971079,-9.43051071235e-05,-0.00021705665648,-4.28256061304e-05,1793244856333350144
+63,1.050000000,BASELINE,765,744,714,680,658,634,878.544159957,786.544159957,804.544159957,652,630.544159957,651.544159957,0.40091924278,-0.0154370124416,0.0599258068768,0.999999971374,-9.58926130995e-05,-0.000215053913975,-4.25359170338e-05,1793244856350016768
+64,1.066666667,BASELINE,765,744.122959095,714,680,658,634.122959095,878.877040905,786.877040905,805,652,631,652,0.400920345569,-0.0154382059535,0.0599265091241,0.999999971579,-9.67691602395e-05,-0.000213743485315,-4.23282103953e-05,1793244856366683392
+65,1.083333333,BASELINE,765,744.711874258,714,680,658,634.711874258,878.288125742,786.288125742,805,652,631,652,0.400919107791,-0.0154369709019,0.0599255472631,0.999999971354,-9.46783553873e-05,-0.000215686629213,-4.25087073513e-05,1793244856383349760
+66,1.100000000,BASELINE,765,745,714,679.702835327,658,635,878.297164673,786,805,652,631,652,0.400918430475,-0.0154357447654,0.0599247523226,0.999999971176,-9.35343603135e-05,-0.000216978958259,-4.26572650061e-05,1793244856400016640
+67,1.116666667,BASELINE,765,745,714,679.121017086,658,635,878.878982914,786,805,652,631,652,0.400918290024,-0.0154345271687,0.059924117275,0.999999971048,-9.32973129424e-05,-0.000217647872681,-4.27752280447e-05,1793244856416683264
+68,1.133333333,BASELINE,765,744.544680627,714,679.455319373,658,634.544680627,878.544680627,786,805,652,631,652,0.400918257714,-0.015434680267,0.0599242004538,0.999999971025,-9.39557774677e-05,-0.000217458398611,-4.28248836973e-05,1793244856433350144
+69,1.150000000,BASELINE,765.030192756,744.030192756,714,680,658,634,878.030192756,786,805,652,631,652,0.40091824707,-0.0154352032946,0.0599244556343,0.999999971033,-9.47372772648e-05,-0.000217078365123,-4.28560793684e-05,1793244856450016512
+70,1.166666667,BASELINE,765.604642927,744.604642927,714,680,658,634,878.604642927,786,805,652,631,652,0.400918115052,-0.0154359057337,0.0599244111966,0.999999971094,-9.34972044766e-05,-0.000217326962276,-4.28778856512e-05,1793244856466683136
+71,1.183333333,BASELINE,765.814768493,745,714,680,658,634,879,786,805,652,631,652,0.400918241875,-0.0154364352219,0.0599244320899,0.999999971128,-9.33825047276e-05,-0.0002172325655,-4.28336148241e-05,1793244856483349760
+72,1.200000000,BASELINE,765.22062895,745,714,680,658,634,879,786,805,652,631,652,0.400918940102,-0.0154365829122,0.0599245972044,0.999999971096,-9.57521233481e-05,-0.000216380992107,-4.26434753974e-05,1793244856500016384
+73,1.216666667,BASELINE,765,745,714,680,658,634,878.636533711,786,805,652,630.636533711,652,0.400918869975,-0.0154366103131,0.0599242534066,0.999999970995,-9.60808352955e-05,-0.000216709205169,-4.26205150447e-05,1793244856516683008
+74,1.233333333,BASELINE,765,745,714,680,658,634,878.058371575,786,805,652,630.058371575,652,0.40091834599,-0.0154365666602,0.0599236089996,0.999999970852,-9.52040042548e-05,-0.000217734306161,-4.26963056846e-05,1793244856533349632
+75,1.250000000,BASELINE,765,745,714,680,658,634,878,786,805,652,630.514586708,652,0.40091871598,-0.015438067046,0.0599247256001,0.99999997081,-9.85488716551e-05,-0.000216452241093,-4.26254015168e-05,1793244856550016512
+76,1.266666667,BASELINE,765,745,714,680,658,634,878.089797169,786,805.089797169,652,631,652,0.40091902666,-0.0154392471402,0.0599258053711,0.999999970809,-0.000101249894015,-0.00021522223941,-4.25337337187e-05,1793244856566683136
+77,1.283333333,BASELINE,765,745,714,680,658,634,878.680841276,786,805.680841276,652,631,652,0.400918445894,-0.0154376714932,0.0599255756757,0.999999971057,-9.77106170448e-05,-0.000215729097074,-4.24181188576e-05,1793244856583350016
+78,1.300000000,BASELINE,765,744.733523902,714,680,658,634,878.733523902,786,805.733523902,652,631,652,0.400919281433,-0.0154368496786,0.059926115519,0.999999971414,-9.59288567889e-05,-0.000214887749191,-4.23344607507e-05,1793244856600016640
+79,1.316666667,BASELINE,765,744.15423893,714,680,658,634,878.15423893,786,805.15423893,652,631,652,0.400921779533,-0.015436912767,0.0599275587022,0.999999971907,-9.62101967276e-05,-0.000212463780314,-4.2288315796e-05,1793244856616683264
+80,1.333333333,BASELINE,765,744,714,680,658,634,878.423979173,786,805,652,630.576020827,652,0.40092058848,-0.0154368486182,0.059926427611,0.999999971577,-9.5899406455e-05,-0.000214156265715,-4.22702055787e-05,1793244856633349888
+81,1.350000000,BASELINE,765,744,714,680,658,634,878.998203773,786,805.001796227,652,630.001796227,652,0.400918074231,-0.0154367358369,0.0599243739611,0.999999970945,-9.53699096068e-05,-0.000217321626963,-4.2262364592e-05,1793244856650016768
+82,1.366666667,BASELINE,765,744,714,680,658,634,878.424827499,786,805.575172501,652,630.575172501,652,0.400920494818,-0.0154358398672,0.0599260062743,0.99999997186,-9.36195003874e-05,-0.000213840782382,-4.22851047777e-05,1793244856666683392
+83,1.383333333,BASELINE,765,744.153050877,714,680,658,634.153050877,878,786,805.846949123,651.846949123,630.846949123,652,0.40092163247,-0.0154351352864,0.0599266835776,0.999999972337,-9.22068674537e-05,-0.000212195069782,-4.23895172704e-05,1793244856683350016
+84,1.400000000,BASELINE,765,744.743804741,714,680,658,634.743804741,878,786,805.256195259,651.256195259,630.256195259,652,0.40091910112,-0.0154349780493,0.0599246296935,0.999999971593,-9.17602245858e-05,-0.000215797563786,-4.27275005482e-05,1793244856700016384
+85,1.416666667,BASELINE,765,745,714,680,658,634.672109491,878.655781018,786,805,651.327890509,630.327890509,651.672109491,0.400917623905,-0.0154354317996,0.059923774548,0.999999971225,-9.12027221346e-05,-0.000217748650444,-4.26418975668e-05,1793244856716683008
+86,1.433333333,BASELINE,765,745,714,680,658,634.093129991,879.813740018,786,805,651.906870009,630.906870009,651.093129991,0.400916953918,-0.015436353426,0.0599238373619,0.999999971151,-9.05603266745e-05,-0.000218435137293,-4.22319245593e-05,1793244856733349632
+87,1.450000000,BASELINE,765,744.517297367,714,680,658,634,879.517297367,786,805,652,631,651.482702633,0.400917676866,-0.0154372098503,0.0599244989228,0.999999971149,-9.30637143137e-05,-0.000217405515432,-4.21437343252e-05,1793244856750016256
+88,1.466666667,BASELINE,765,744,714,679.942191388,658,634,878.942191388,786,805,652,630.942191388,652,0.400918632916,-0.0154379323253,0.0599251815155,0.999999971171,-9.57834524079e-05,-0.000216126320034,-4.21053128369e-05,1793244856766683136
+89,1.483333333,BASELINE,765,744,714,679.368187602,658,634,878.368187602,786,805,652,630.368187602,652,0.400919286228,-0.0154375703176,0.0599250270773,0.99999997137,-9.50506584401e-05,-0.000215555925601,-4.19605233256e-05,1793244856783349760
+90,1.500000000,BASELINE,765,744.212627579,714,679,658,634,878.212627579,786,805,652,630.212627579,652,0.40091982892,-0.0154373736327,0.0599251236244,0.999999971556,-9.46076433258e-05,-0.000214890198958,-4.19554765582e-05,1793244856800016384
+91,1.516666667,BASELINE,765,744.805627704,714,679,658,634,878.805627704,786,805,652,630.805627704,652,0.400920173724,-0.0154374726962,0.0599256691628,0.999999971718,-9.46830178638e-05,-0.000214053931213,-4.22004176181e-05,1793244856816683008
+92,1.533333333,BASELINE,765,744.612689037,714,679.387310963,658,634,879,786,805.387310963,652,631,652,0.400919374405,-0.0154365984509,0.0599250789651,0.99999997138,-9.41281968905e-05,-0.000215836858502,-4.23618775538e-05,1793244856833349632
+93,1.550000000,BASELINE,765,744.03652387,714,679.96347613,658,634,879,786,805.96347613,652,631,652,0.400918017209,-0.0154352496167,0.0599239349786,0.99999997079,-9.32660903475e-05,-0.000218896914544,-4.24826318176e-05,1793244856850016512
+94,1.566666667,BASELINE,765.538445738,744.538445738,714,680,658,634,879,786,805.461554262,652,631,652,0.40091999131,-0.0154360464998,0.0599253267041,0.999999971436,-9.446859027e-05,-0.000215423384663,-4.23889911475e-05,1793244856866683136
+95,1.583333333,BASELINE,765.883562315,744.883562315,714,680,658,634,878.883562315,786,805,652,631,652,0.400921538883,-0.0154366268669,0.059926362003,0.999999971971,-9.5269829791e-05,-0.000212573091123,-4.23614419154e-05,1793244856883350016
+96,1.600000000,BASELINE,765.292932177,744.292932177,714,680,658,634,878.292932177,786,805,652,631,652,0.400920431209,-0.0154357340408,0.0599252468265,0.999999971773,-9.3867861215e-05,-0.000214061804268,-4.26621445405e-05,1793244856900016384
+97,1.616666667,BASELINE,765,744,714,680,658,634,878,786,805,652,631,652,0.40091957976,-0.0154357405837,0.059924859544,0.999999971758,-9.28586870058e-05,-0.00021458491871,-4.25942017628e-05,1793244856916683008
+98,1.633333333,BASELINE,765,744,714,680,658,634,878,786,805,652,631,652,0.400918980437,-0.0154366320977,0.0599251885028,0.999999971926,-9.22360190402e-05,-0.000214157892535,-4.21635151732e-05,1793244856933349632
+99,1.650000000,BASELINE,765,744,714,680,658,634,878.447551874,786,805,652,631,652,0.400919172125,-0.0154360704665,0.0599245850916,0.999999971837,-9.15474333603e-05,-0.000214811022294,-4.24412691832e-05,1793244856950016512
+100,1.666666667,BASELINE,765,744.023341108,714,680,658,634.023341108,878.976658892,786,805,652,631,652,0.400919543269,-0.015435206811,0.059923748008,0.99999997167,-9.09499546013e-05,-0.00021575197884,-4.28833030667e-05,1793244856966683392
+101,1.683333333,BASELINE,765,744.59752536,714,680,658,634.59752536,878.40247464,786,805,652,631,652,0.400918797846,-0.0154370469107,0.0599237043903,0.999999971415,-9.29485462183e-05,-0.000216177630944,-4.24092489845e-05,1793244856983350016
+102,1.700000000,BASELINE,765.176140925,745,714,680,658,634.823859075,878.176140925,786,805,652,631,652,0.400918518742,-0.0154380348316,0.0599240094421,0.999999971297,-9.41129759028e-05,-0.000216276686338,-4.2116912153e-05,1793244857000016640
+103,1.716666667,BASELINE,765.765143077,745,714,680,658,634.234856923,878.765143077,786,805,652,631,652,0.400919332651,-0.0154370253087,0.0599251317491,0.999999971509,-9.33221917838e-05,-0.000215610223279,-4.22505071079e-05,1793244857016683264
+104,1.733333333,BASELINE,765.650389173,744.650389173,714,680,658,634,878.650389173,786,805,652,631,652,0.400920332838,-0.0154371978935,0.0599258357902,0.999999971662,-9.40452433975e-05,-0.00021461003199,-4.21106234763e-05,1793244857033349888
+105,1.750000000,BASELINE,765.068928426,744.068928426,714,680,658,634,878.068928426,786,805,652,631,652,0.400921456557,-0.0154381544116,0.0599262624517,0.999999971773,-9.57722189201e-05,-0.000213388523506,-4.178937823e-05,1793244857050016512
+106,1.766666667,BASELINE,765,744,714,680,658,634,878,786,805,652,630.496861873,652,0.40091987162,-0.0154378269916,0.0599249902169,0.999999971341,-9.49641284449e-05,-0.000215711223265,-4.20484035798e-05,1793244857066683136
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,713,680,658,634,879,786,805,652,631,652,0.40092079528,-0.0154377454859,0.0599253777059,0.999999971772,-9.44150119878e-05,-0.000213919568843,-4.21908920975e-05,1793244857110122240
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.405112621,713.594887379,680,658,634,879,786,805,652,631,651.405112621,0.400919926544,-0.0154376586999,0.059924970758,0.999999971418,-9.50571230487e-05,-0.000215306574022,-4.20910029277e-05,1793244857126788864
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.182837358,714,680,658,634,879,786,805.182837358,652,631,651.182837358,0.400919422957,-0.0154372521887,0.0599248338694,0.999999971283,-9.47260663782e-05,-0.000216095730897,-4.20039762172e-05,1793244857143455488
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.755978165,714,680,658,634,879,786,805.755978165,652,631,651.755978165,0.400919698856,-0.015436163159,0.0599252734773,0.999999971616,-9.23175858043e-05,-0.000215608659494,-4.19444070172e-05,1793244857160122624
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.669912692,744.669912692,714,679.669912692,658,634,879,786,805.669912692,652,631,652,0.40092011588,-0.0154359708552,0.0599252864659,0.999999971702,-9.17432354467e-05,-0.000215417159265,-4.21227944195e-05,1793244857176789248
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.095085622,744.095085622,714,679.095085622,658,634,879,786,805.095085622,652,631,652,0.40092063754,-0.0154364434196,0.059924983142,0.999999971609,-9.25287817944e-05,-0.000215444807204,-4.2477612246e-05,1793244857193455616
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.988623188,744.494311594,714,679.494311594,658,634,879.494311594,786,805,652,631,652,0.400926029445,-0.0154375087217,0.059926482057,0.999999972179,-9.50428622137e-05,-0.000211680168722,-4.2427946005e-05,1793244857210122496
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.914883087,745,714,680,658,634,879.914883087,786,805,652,631,652,0.400934200036,-0.0154386572435,0.0599288606191,0.999999973181,-9.71654374142e-05,-0.00020595021623,-4.22009539701e-05,1793244857226788864
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.332718742,745,714,680,658,634,879.332718742,786,805,652,631,652,0.400952960103,-0.0154396056906,0.0599342900147,0.99999997598,-9.50011513063e-05,-0.000193132899838,-4.14066093606e-05,1793244857243455488
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.75657944,714,679.75657944,658,634,879,786,805,652,631,651.75657944,0.400977854449,-0.0154407939676,0.0599405244654,0.999999979122,-9.39518871148e-05,-0.000176812024253,-4.08262750537e-05,1793244857260122368
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.188476584,714,679.188476584,658,634,879,786,805,652,631,651.188476584,0.401010930898,-0.0154423021376,0.0599478327244,0.999999982584,-9.43898757551e-05,-0.000155817987921,-4.05313947406e-05,1793244857276788992
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,679.386372806,658.386372806,634,879,786,805.386372806,652,631,651.386372806,0.401052118228,-0.0154442467821,0.0599523990063,0.999999985357,-9.46787729715e-05,-0.000136718921808,-4.03744377826e-05,1793244857293455872
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,679.964571762,658.964571762,634,879,786,805.964571762,652,631,651.964571762,0.401097332446,-0.0154464081273,0.0599556039536,0.999999987658,-9.48936493901e-05,-0.000118560667524,-4.02859569012e-05,1793244857310122752
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,713.439905855,680,658.439905855,634,879,786,805.439905855,652,631,652,0.401153795436,-0.015447752842,0.0599579474789,0.999999988486,-9.58528437628e-05,-0.000110374971526,-4.0715824717e-05,1793244857326789376
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.150829182,713.150829182,680,658,634,879,786,805,652,631,652,0.401215291407,-0.0154495402117,0.0599601114259,0.999999989099,-9.67931614678e-05,-0.000103609349582,-4.12108576565e-05,1793244857343456256
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.724955417,713.724955417,680,658,634,879,786,805,652,631,652,0.401288851665,-0.0154527194732,0.0599619291937,0.999999989468,-9.75441538157e-05,-9.9002280072e-05,-4.17938200586e-05,1793244857360122624
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.700715073,714,680,658,634,879,786,805.299284927,652,631,652,0.40137613102,-0.0154573592543,0.0599655674875,0.99999999014,-9.90906405379e-05,-9.01150356802e-05,-4.21927918497e-05,1793244857376789248
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.12619866,714,680,658,634,879,786,805.87380134,652,631,652,0.401476026866,-0.0154633421734,0.059970879992,0.999999990975,-0.000101368687932,-7.72916130535e-05,-4.24225602606e-05,1793244857393455616
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.459883378,714,680,658,634,879,786,805.540116622,652,631,652,0.401588711261,-0.0154686790145,0.0599696476197,0.999999990656,-0.000105129935972,-7.56979155514e-05,-4.36525326563e-05,1793244857410122496
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.951594436,714,679.951594436,658,634.048405564,879,786,805,652,631,652,0.401707966717,-0.0154741648251,0.059967038273,0.99999999009,-0.000109368553364,-7.63479226124e-05,-4.50568973165e-05,1793244857426789120
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.372020933,714,679.372020933,658,634.627979067,879,786,805,652,631,652,0.401859825619,-0.0154832809985,0.059969535539,0.999999990207,-0.000114264005572,-6.69311145843e-05,-4.52853768374e-05,1793244857443455744
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.206467175,744,714,679.206467175,658,634.793532825,879,786,805,651.793532825,631,652,0.40202328599,-0.0154917377532,0.0599715468215,0.999999990162,-0.000118986454746,-5.85082752377e-05,-4.57795191394e-05,1793244857460122624
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.783009736,744,714,679.783009736,658,634.216990264,879,786,805,651.216990264,631,652,0.40220754102,-0.0154990125535,0.0599726870182,0.999999989948,-0.000123398809731,-5.18670438185e-05,-4.67498400527e-05,1793244857476789248
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.644524655,744,714,680,658,634,879,786,805,651.355475345,631,652,0.4024099988,-0.015508379334,0.0599721438887,0.999999989497,-0.000128507527609,-4.745355178e-05,-4.73332400958e-05,1793244857493455616
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.074519437,744,714,680,658,634,879,786,805,651.925480563,631,652,0.402623441984,-0.0155190086281,0.0599705848695,0.999999988895,-0.000134036501899,-4.43845029642e-05,-4.76831329405e-05,1793244857510121984
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,879,786,805,652,631,652,0.402881826129,-0.0155289570499,0.0599722710286,0.999999984657,-0.000164516730241,-3.54345839136e-05,-4.86227758933e-05,1793244857526788608
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634.114734761,878.885265239,786,805,652,630.885265239,652,0.403151228176,-0.0155389823966,0.0599733392766,0.99999997991,-0.000192234494896,-2.78877674204e-05,-4.94870622309e-05,1793244857543455488
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634.691859959,878.308140041,786,805,652,630.308140041,652,0.403437794137,-0.0155497304438,0.059969950355,0.999999979569,-0.000193696086172,-2.95600261575e-05,-4.96902017311e-05,1793244857560122624
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.26749925,713.73250075,680,658,634.73250075,878.26749925,786,805,652,630.26749925,652,0.403735891917,-0.0155561968227,0.0599620835861,0.999999979857,-0.000190117972086,-4.009481896e-05,-5.03307789401e-05,1793244857576789504
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.841436303,713.158563697,680,658,634.158563697,878.841436303,786,805,652,630.841436303,652,0.404047200131,-0.0155577582712,0.0599490871517,0.99999998049,-0.000180766547273,-6.07822213496e-05,-5.14724694896e-05,1793244857593456384
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.582633065,744.582633065,713.417366935,680,658,634,879,786,805.417366935,652,631,652,0.404385558696,-0.0155519554892,0.0599366021559,0.99999998098,-0.000168820765973,-8.20892732533e-05,-5.29157789912e-05,1793244857610123008
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.005941423,744.005941423,713.994058577,680,658,634,879,786,805.994058577,652,631,652,0.404734243393,-0.0155433415026,0.0599243123958,0.999999980996,-0.000155884621053,-0.000103632868248,-5.44742277791e-05,1793244857626789120
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.174547478,744,714,680,658,634,879.587273739,786,805.412726261,652,631,652,0.405163013656,-0.0155464877411,0.0599268980648,0.999999980145,-0.000163683999698,-0.000100171411129,-5.36947294522e-05,1793244857643455744
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.824860664,744.175139336,714,680,658,634,879.824860664,786,805,652,630.824860664,652,0.405611535068,-0.0155508251143,0.0599371154359,0.999999980844,-0.000169021906367,-8.35833561694e-05,-5.25054680445e-05,1793244857660122368
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.249609376,744.750390624,714,680,658,634,879.249609376,786,805,652,630.249609376,652,0.406103274046,-0.015557603998,0.0599644139352,0.999999983868,-0.000168243367443,-3.76017903107e-05,-5.04356888284e-05,1793244857676788992
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.324116187,652,0.406617521721,-0.0155604128701,0.0599901294702,0.999999985648,-0.000162083012266,6.82097830213e-06,-4.8856355518e-05,1793244857693456128
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.89667232,652,0.407149022702,-0.0155601786689,0.060014631642,0.999999986091,-0.000151797413643,5.00489101694e-05,-4.76529561522e-05,1793244857710122752
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.516485654,714,679.516485654,658,634,879,786,805,652,630.516485654,652,0.407665114345,-0.0155595983276,0.0600165710917,0.999999984213,-0.000165843930179,4.30031416532e-05,-4.71306060172e-05,1793244857726789888
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,714,679.072677224,658,634,879,786,805,652,630,652,0.408186180808,-0.0155590553505,0.0600117161322,0.999999982339,-0.000180494837087,2.2923812175e-05,-4.70931091914e-05,1793244857743457024
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,714,679.656043188,658,634,879,786,805,652,630,652,0.408766048362,-0.0155593105258,0.0599940307447,0.999999985639,-0.000161742238604,-1.09485072247e-05,-4.94087565871e-05,1793244857760123136
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.235466981,714,680.235466981,658.235466981,634,879,786,805,652,630.235466981,652,0.409367304814,-0.0155600704873,0.059985420277,0.999999986864,-0.000151165341045,-2.88085181499e-05,-5.0894817665e-05,1793244857776789248
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.809227061,714,680.809227061,658.809227061,634,879,786,805,652,630.809227061,652,0.409999290454,-0.0155615556702,0.0599898476588,0.999999986807,-0.000152334394125,-2.36638007041e-05,-5.11890201708e-05,1793244857793455616
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.615024781,714,680.615024781,658.615024781,634,879,786,805,652,631,652,0.410670345846,-0.0155620384009,0.0599971829607,0.999999987201,-0.000151593033404,-4.46505163395e-06,-5.09717237853e-05,1793244857810122240
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.038286342,714,680.038286342,658.038286342,634,879,786,805,652,631,652,0.411360862581,-0.0155620217918,0.0600059667509,0.999999987254,-0.000149900060394,2.17342683071e-05,-5.0499640379e-05,1793244857826788864
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.552217162,744.552217162,714,680,658.552217162,634,879,786,805,652,631,652,0.412027961447,-0.0155605387987,0.0599922943862,0.999999988406,-0.000143272805142,-4.0525774701e-06,-5.14328961273e-05,1793244857843455488
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.859588219,745,714,680,658.859588219,634,879,786,805,652,631,652,0.412699719374,-0.0155586074642,0.0599711487923,0.999999988002,-0.000138250199044,-4.53910018056e-05,-5.31261340372e-05,1793244857860122112
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.281638367,745,714,680,658.281638367,634,879,786,805,652,631,652,0.413391183972,-0.0155556039558,0.0599316914116,0.99999998103,-0.000139321136153,-0.000123671270537,-5.68761773937e-05,1793244857876788992
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.706311358,714,680,658.293688642,634,879,786,805,652,631,652,0.414145813299,-0.0155562023457,0.059927325018,0.999999979682,-0.000140567435707,-0.000132493350501,-5.76444596929e-05,1793244857893455616
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.133477243,714,680,658.866522757,634,879,786,805,652,631,652,0.414960479582,-0.015560224271,0.0599563119362,0.999999985541,-0.000141980414314,-7.52967515515e-05,-5.5578635323e-05,1793244857910122240
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.453088063,714,680,659,634,879,786,805,652,631,652,0.41578953249,-0.0155668215907,0.0599981811309,0.999999988254,-0.00014427753159,-3.12064121497e-06,-5.16317750273e-05,1793244857926788864
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.042969383,745,714,680.042969383,659,634,879,786,805.042969383,652,630.957030617,652,0.416621763078,-0.0155737230448,0.0600397130339,0.999999985926,-0.000146643269371,6.61931745109e-05,-4.75577738544e-05,1793244857943455488
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.622174473,745,714,680.622174473,659,634,879,786,805.622174473,652,630.377825527,652,0.417439106346,-0.0155746558922,0.0600281953671,0.999999987141,-0.000146513344012,4.29954990928e-05,-4.90286623733e-05,1793244857960122112
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680.799725366,659,634,879.200274634,786,806,652,630.200274634,652,0.418268917197,-0.0155747292459,0.0600123453729,0.999999987693,-0.000147550143526,1.53436876479e-05,-5.10725838523e-05,1793244857976788992
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,680.223698292,659,634,879.776301708,786,806,652,630.776301708,652,0.419122119499,-0.0155731900299,0.059988367128,0.999999986951,-0.000150775935786,-2.06649095507e-05,-5.41916215924e-05,1793244857993455616
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634,879.649657,786.350343,806,651.649657,631,652,0.419958011256,-0.0155712693819,0.0599626097045,0.999999985577,-0.000149168839715,-5.74411665756e-05,-5.73995492474e-05,1793244858010122240
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634,879.076876531,786.923123469,806,651.076876531,631,652,0.420782912285,-0.0155691065577,0.0599357226575,0.999999983236,-0.000144493277818,-9.4704819707e-05,-6.06639141497e-05,1793244858026788864
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.486313776,744.486313776,714,680.513686224,659,634,879,786.486313776,806,651.513686224,631,652,0.421593438788,-0.0155693553673,0.0599039525023,0.999999974689,-0.000143721059703,-0.00016133206726,-6.27505544515e-05,1793244858043455232
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.104109485,714,681,659,634,879,786,806,651.895890515,630.895890515,652,0.422434433145,-0.015570640173,0.0598874905023,0.999999967715,-0.000143325440731,-0.000199978956257,-6.35374766563e-05,1793244858060122112
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.681370248,714,681,659,634,879,786,806,651.318629752,630.318629752,652,0.42342402338,-0.0155749342256,0.0599440405533,0.999999984058,-0.000141891307722,-9.07743299661e-05,-5.92472635598e-05,1793244858076788992
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,713.742094796,680.742094796,659,634,879.257905204,786.257905204,806,651.257905204,630.257905204,652,0.424401094955,-0.0155792909896,0.0599942317349,0.999999988166,-0.000143472022136,-3.26165942849e-06,-5.54333688755e-05,1793244858093455872
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,713.16645395,680.16645395,659,634,879.83354605,786.83354605,806,651.83354605,630.83354605,652,0.425362743849,-0.0155837250138,0.0600365888852,0.999999985917,-0.000148766987902,5.75268356086e-05,-5.2206291826e-05,1793244858110123008
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.593940798,713.406059202,680.406059202,659,634,880,786.593940798,806,652,631,652,0.426282521668,-0.015584760943,0.0600401940866,0.999999984117,-0.000154736691755,7.07298958851e-05,-5.30988210041e-05,1793244858126789632
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.022700002,713.977299998,680.977299998,659,634,880,786.022700002,806,652,631,652,0.427185266615,-0.0155844145543,0.0600280353065,0.999999983408,-0.000160980873416,6.45755831004e-05,-5.56671728728e-05,1793244858143455744
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714,681,659,634,879.427214451,786.572785549,806.572785549,651.427214451,631,652,0.428058785044,-0.0155849689227,0.0600043372576,0.999999985088,-0.000159877806405,2.94831242025e-05,-5.82630517052e-05,1793244858160122624
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.162172053,744,713.837827947,681,659,634,879.162172053,786.837827947,806.837827947,651,631,652,0.428918077542,-0.0155844700077,0.0599763342981,0.999999985573,-0.000157960576207,-1.53961705028e-05,-6.05429207129e-05,1793244858176789760
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.733633609,744,713.266366391,681,659,634,879.733633609,786.266366391,806.266366391,651,631,652,0.429744519066,-0.015581218742,0.0599386717895,0.999999982744,-0.000154755917591,-8.1953127277e-05,-6.20223696613e-05,1793244858193456640
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,744.309768269,713,681,659,634,880,786,806,651.309768269,631,652,0.430649414551,-0.0155813826842,0.0599341093376,0.999999983044,-0.000151187151926,-8.48943978909e-05,-6.20259054531e-05,1793244858210123008
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,744.889982798,713,681,659,634,880,786,806,651.889982798,631,652,0.431622805001,-0.0155845283077,0.0599584452208,0.999999986785,-0.000147300499273,-3.22953591037e-05,-6.07408805866e-05,1793244858226789376
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+177,2.950000000,POSE1_TO_POSE2_PRESS,765.358911729,745,714,681,659.641088271,634,880,786.358911729,806.641088271,651.641088271,631,652,0.434287313671,-0.0155899853181,0.0600146433268,0.999999984818,-0.000156819684785,4.94766971722e-05,-5.76529706555e-05,1793244858276788992
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+179,2.983333333,POSE1_TO_POSE2_PRESS,765.796712918,745,714,681,660,634,880,786.796712918,806.203287082,651.203287082,631,651.203287082,0.435933142256,-0.0155927628735,0.0599532430866,0.99999998319,-0.000161697094944,-5.95740249137e-05,-6.26545833726e-05,1793244858310122752
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+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.540501408,713.540501408,681,659.540501408,634,880.540501408,786,806.540501408,651,630,652,0.438315482507,-0.0155785989316,0.0599117277109,0.999999975674,-0.000154973046657,-0.00014205659828,-6.67516754183e-05,1793244858360122368
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+184,3.066666667,POSE1_TO_POSE2_PRESS,765.704626247,745,714,681.704626247,660,634,881,786,806.295373753,651,630.704626247,652,0.439925681626,-0.0155886744649,0.059972330359,0.999999982951,-0.000167197051488,-4.76362013722e-05,-6.22339038283e-05,1793244858393455616
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.721567367,744.721567367,713.721567367,681.721567367,659.721567367,634,881,786,806.278432633,651,631,652,0.440694441904,-0.0155972319417,0.0599977898143,0.999999982607,-0.000176438675581,-9.71162508124e-06,-5.96826697394e-05,1793244858410122240
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765.337324306,744.337324306,713.337324306,681.337324306,659.662675694,633,880.337324306,785.337324306,807,652,631,652,0.445071921074,-0.0156356711221,0.059822676596,0.999999925936,-0.000239871780826,-0.000291736167072,-7.40177618828e-05,1793244858526789632
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.913721198,744.913721198,713.913721198,681.913721198,659.086278802,633,880.913721198,785.913721198,807,652,631,652,0.445604137379,-0.015640797288,0.0598028988572,0.99999990893,-0.000250292569207,-0.000337346852063,-7.543261444e-05,1793244858543456256
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.335577126,745,714,682,658.335577126,633,880.335577126,785,807,651.335577126,630.335577126,652,0.447091858779,-0.0156594940588,0.0597485744098,0.99999987722,-0.000271533214152,-0.000406989352958,-7.86715373251e-05,1793244858593456128
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682.239447238,658.239447238,632.760552762,880,784.760552762,806.760552762,651,630,652,0.44757114399,-0.0156692750756,0.0597562736485,0.999999881074,-0.000280486217337,-0.000391417123945,-7.72846491181e-05,1793244858610122752
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682.818413438,658.818413438,632.181586562,880,784.181586562,806.181586562,651,630,652,0.448032438291,-0.0156782450578,0.0597698447637,0.999999886082,-0.000288435548343,-0.000372834694578,-7.5062563783e-05,1793244858626789376
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682.594415735,658.594415735,632,880,784,806.405584265,651,630,652,0.448431156277,-0.0156824913725,0.0597578666506,0.999999876413,-0.000294468409251,-0.000393425389914,-7.53603670439e-05,1793244858643456000
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,682.00349567,658.00349567,632,880,784,806.99650433,651,630,652,0.44880127943,-0.0156845791607,0.0597342135626,0.999999858886,-0.000299625520279,-0.000431916635487,-7.68096583974e-05,1793244858660122368
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.223563781,657,631,880,782.776436219,807,651.776436219,629,652,0.452337712336,-0.0157170867964,0.0596428822953,0.999999787829,-0.000338318051281,-0.000551834419627,-7.32188029448e-05,1793244859343456000
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657.35132962,631,880,782.64867038,807,652,629,652,0.452338476181,-0.015715904137,0.0596430006779,0.999999788313,-0.000337481520643,-0.000551437489352,-7.34605510705e-05,1793244859360122880
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657.926305932,631,880,782.073694068,807,652,629,652,0.452338689177,-0.0157147297555,0.0596429935515,0.999999788314,-0.000337100761276,-0.000551636764743,-7.36949876073e-05,1793244859376789504
+244,4.066666667,HOLD_POSE2,765,745,714,682,657,630,880,782,807,652,628,651,0.452339357626,-0.0157161027915,0.0596433248013,0.999999788893,-0.000336918172234,-0.000550808589254,-7.28706791489e-05,1793244859407021056
+245,4.083333333,HOLD_POSE2,765,745,714,682,657,630,880,782,807,652,628,651.576047456,0.452340144184,-0.0157148782177,0.0596437482443,0.999999789642,-0.000334738937904,-0.00055075294921,-7.30483906689e-05,1793244859423687680
+246,4.100000000,HOLD_POSE2,765,745,714,682,657,630,880,782,807,652,628.151885608,652,0.452340514581,-0.015714329564,0.0596439558358,0.999999789902,-0.000333631197865,-0.000550952359136,-7.30601975116e-05,1793244859440354304
+247,4.116666667,HOLD_POSE2,765,745,714,682,657,630,880,782,807,652,628.727140471,652,0.452339724965,-0.0157156649843,0.0596435617584,0.999999788804,-0.000335510163871,-0.000551862700891,-7.26095580829e-05,1793244859457020928
+248,4.133333333,HOLD_POSE2,765,745,714,682.308412116,657,630,880,782,807,652,629,652,0.452340162114,-0.0157160510219,0.0596434927953,0.999999788583,-0.00033690685027,-0.000551414470758,-7.25913742902e-05,1793244859473687552
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+250,4.166666667,HOLD_POSE2,765,745,714,682.52356508,657,630.47643492,880,782,807,651.52356508,628.52356508,652,0.452341831683,-0.0157154933153,0.059643986144,0.999999789853,-0.000335748855943,-0.000549810738352,-7.26339591541e-05,1793244859507021056
+251,4.183333333,HOLD_POSE2,764.943868478,745,714,682.056131522,657.056131522,631,880,782,807,651,628.056131522,652,0.452341618527,-0.0157153537536,0.0596441692597,0.999999790415,-0.000333348999273,-0.000550299084984,-7.22443120912e-05,1793244859523687424
+252,4.200000000,HOLD_POSE2,764.368378033,745,714,682.631621967,657.631621967,631,880,782,807,651,628.631621967,652,0.452341129574,-0.0157139562008,0.0596434684246,0.999999789513,-0.000334561004442,-0.000551140994038,-7.27105960495e-05,1793244859540354048
+253,4.216666667,HOLD_POSE2,764.414918733,745,714,682.792540634,657.792540634,631,880,782,807,651,629,652,0.452340988612,-0.0157137755126,0.0596430324488,0.999999788794,-0.000335626123319,-0.000551782395547,-7.28276215791e-05,1793244859557020928
+254,4.233333333,HOLD_POSE2,765.567827617,745,714,682.216086191,657.216086191,631,880,782,807,651,629,652,0.452341466598,-0.0157157591857,0.0596430675616,0.999999788403,-0.000336429984557,-0.000552067166665,-7.23234428084e-05,1793244859573687808
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+256,4.266666667,HOLD_POSE2,766,745,714,682,657.957311447,631,880,782,807,651,629,652,0.45234213989,-0.015714295074,0.0596431649887,0.999999788704,-0.00033616877543,-0.000551655823508,-7.2508165753e-05,1793244859607021056
+257,4.283333333,HOLD_POSE2,765.461116426,745,714,682,657.461116426,631,880,782,807,651.538883574,629,652,0.452342399032,-0.0157131103883,0.0596436277915,0.999999789926,-0.00033355148477,-0.000551025706868,-7.25360075056e-05,1793244859623687680
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+259,4.316666667,HOLD_POSE2,765,745,714,682,657.69216557,630.30783443,880,782,807,652,629,652,0.452342040583,-0.0157126739707,0.0596430834428,0.999999790068,-0.000332141174167,-0.000551607523133,-7.26274647966e-05,1793244859657021696
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745.823242683,714,682,657,630.176757317,880.823242683,782,807,652,629,652,0.452345152826,-0.0157114953914,0.0596462131515,0.99999979232,-0.000331531071895,-0.000547936563065,-7.21975326686e-05,1793244859728234496
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745.243579081,714,682,657,630.756420919,880.243579081,782,807,652,629,652,0.452342827817,-0.015711395987,0.0596443779123,0.999999790997,-0.000331974469379,-0.000550077536268,-7.21984286284e-05,1793244859744900608
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+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.544323776,682.544323776,658,630.455676224,880,782,806.455676224,651.455676224,629,652,0.452209934554,-0.0157042845704,0.0595918730071,0.999999744375,-0.000330278445296,-0.000629574827293,-7.61732643924e-05,1793244859911567360
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.859043881,745,713.859043881,683,657.859043881,630.140956119,880,782,806.140956119,651,629,652,0.452149517617,-0.0157000648054,0.0595737928126,0.99999972972,-0.000327881462853,-0.000653474069711,-7.76242539352e-05,1793244859928234752
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.281758484,745,713.281758484,683,657.281758484,630.718241516,880,782,806.718241516,651,629,652,0.452078200117,-0.0156980315527,0.0595598979307,0.999999718399,-0.000328010605819,-0.000670407448797,-7.85121903359e-05,1793244859944901376
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.295038962,745,713,682.704961038,657,631,880,782,807,651.295038962,629,652,0.451999969204,-0.0156940341783,0.0595504437106,0.999999710479,-0.000326057363672,-0.000683003617443,-7.89532039913e-05,1793244859961568000
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.871371156,745,713,682.128628844,657,631,880,782,807,651.871371156,629,652,0.451915146974,-0.0156881641901,0.0595452232647,0.99999970594,-0.000322118753823,-0.000691464643385,-7.89681167864e-05,1793244859978234112
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.457018542,682,657,630.542981458,880.457018542,782,807,652,629,652,0.451813081178,-0.0156820856894,0.0595436803534,0.999999705726,-0.000318388370484,-0.000693558538995,-7.84450734926e-05,1793244859994900480
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,630.626011863,880.373988137,782,807,652,629,652,0.451567801519,-0.0156683089869,0.0595436944073,0.999999707285,-0.000310746647729,-0.000694954295167,-7.68434338812e-05,1793244860028233728
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631,880,782,807,651.794873981,629,652,0.451422716033,-0.0156608118125,0.0595446375681,0.999999708265,-0.000306823752851,-0.000695395669952,-7.58506704964e-05,1793244860044900608
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631,880,782,807,651.219555456,629,652,0.451261277734,-0.015653375629,0.05954650724,0.999999710014,-0.000302949151902,-0.000694704043757,-7.47020526602e-05,1793244860061567232
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.071881682,745,714,682,657.928118318,631,880,782,807,651,629,652,0.450873490809,-0.0156341737484,0.0595417587893,0.999999703063,-0.000297765548151,-0.000707061738819,-7.26241831711e-05,1793244860094900736
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.30903804,745,714,683,657,631,880.69096196,783,807,651.69096196,629,652,0.450116619801,-0.015591862868,0.0595286988226,0.999999695638,-0.000268503608824,-0.000729226014881,-6.97122443134e-05,1793244860144900096
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.988207904,631,880,783,807,651.988207904,630,652,0.448840423149,-0.0155494250081,0.0595254300473,0.99999970644,-0.000247194651606,-0.000722456263377,-6.381401844e-05,1793244860211568128
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.384212908,633,880.615787092,785,807,651.615787092,631,652,0.443406202913,-0.0154809435935,0.0596457516079,0.999999853088,-5.73817877029e-05,-0.000538623473599,-2.03938904579e-05,1793244860394900992
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.449092404,681.449092404,659,633,880.550907596,785,807,651.550907596,631,652,0.44218629798,-0.015468097452,0.0597229112054,0.99999991154,-1.1699625683e-05,-0.000420421101963,-5.44347532103e-06,1793244860428233728
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.130499575,745,713,681.130499575,659,633,880.869500425,785.130499575,807,651.869500425,631,652,0.441506366993,-0.0154587198586,0.0597440650204,0.999999922833,1.80663367968e-05,-0.000392436783097,5.31751742419e-07,1793244860444900352
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.710820977,745,713,681.710820977,659,633,880.289179023,785.710820977,807,651.289179023,631,652,0.440747241473,-0.0154477305203,0.0597399546785,0.999999913335,4.11391339053e-05,-0.000414266857155,4.56573417515e-06,1793244860461566976
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.71220916,744.71220916,713,682,659,633,880,786,806.71220916,651,631,652,0.440003910017,-0.0154383745424,0.0597476158697,0.999999914048,6.51014882061e-05,-0.000409357161285,9.57511328692e-06,1793244860478233856
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,633.612771544,880,786,806,651.387228456,630.612771544,651.612771544,0.436942820103,-0.015412137279,0.0597989937198,0.999999933859,0.000144954339099,-0.000332320242084,2.88701183302e-05,1793244860544900608
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.352742417,744.352742417,713.352742417,680,658.352742417,634,878.647257583,786,806,652,631,652,0.400971422068,-0.0153884013696,0.0598392127059,0.999999942352,0.00020353388149,-0.000270869990554,2.23683743683e-05,1793244861944900352
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9475f3d923f18ec1ae6dc886105a36b036dce709
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d22701d333aeef5f2cd7483fbc59e82c468de96a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c62aa74b95c2f16749a44add017427bd9052e831ff4bceb5f521e97dc7f0accc
+size 25682894
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ccc3cf555e3389153978356cd6b454ff68d46b26
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+52,0.866666667,BASELINE,765,744.835501477,714,680,658.835501477,634,878.164498523,786.164498523,805.164498523,652,630.835501477,652,0.4009723251,-0.0153937751903,0.0598423080368,0.999999944912,0.000199697950583,-0.00026428205021,2.12730976674e-05,1793244863059641600
+53,0.883333333,BASELINE,765,744.258885826,714,680,658.258885826,634,878.741114174,786.741114174,805.741114174,652,630.258885826,652,0.40097231755,-0.0153933163841,0.0598420645143,0.999999944581,0.000201423837491,-0.00026421722794,2.13309165893e-05,1793244863076308224
+54,0.900000000,BASELINE,765.32555421,744,714,680,658,634,879,786.67444579,805.67444579,652,630.32555421,652,0.400972680441,-0.0153927525501,0.0598424737539,0.999999944736,0.000201187401569,-0.000263815479431,2.12781655143e-05,1793244863092974848
+55,0.916666667,BASELINE,765.916369516,744,714,680,658,634,879,786.083630484,805.083630484,652,630.916369516,652,0.400973345165,-0.0153921031396,0.0598434148631,0.999999945285,0.000199352067782,-0.000263139203918,2.11353221642e-05,1793244863109641728
+56,0.933333333,BASELINE,765.50343485,744.49656515,713.50343485,680.49656515,658,634,879,786,805.49656515,652,631,652,0.400973210926,-0.0153922044269,0.0598434485649,0.99999994536,0.000198828727704,-0.000263251405543,2.11298381666e-05,1793244863126308864
+57,0.950000000,BASELINE,765,745,713.074802488,680.925197512,658,634,879,786,805.925197512,652,630.925197512,652,0.400973042109,-0.0153923869268,0.0598434529588,0.999999945314,0.00019894068589,-0.00026333539485,2.11989527344e-05,1793244863142975488
+58,0.966666667,BASELINE,765,745,713.651648898,680.348351102,658,634,879,786,805.348351102,652,630.348351102,652,0.400973525425,-0.0153922837063,0.0598442648645,0.999999944976,0.000201864544421,-0.000262357438566,2.1616729035e-05,1793244863159642368
+59,0.983333333,BASELINE,765,744.774243383,714,680,658.225756617,634,878.774243383,786,805.225756617,652,630,652,0.400973479288,-0.015392435959,0.0598445315012,0.999999944717,0.000203336323336,-0.000262187978453,2.18487058408e-05,1793244863176308992
+60,1.000000000,BASELINE,765,744.204310831,714,680,658.795689169,634,878.204310831,786,805.795689169,652,630,652,0.400972625979,-0.015392977692,0.0598439668512,0.99999994459,0.000202594343176,-0.000263251106319,2.1797423173e-05,1793244863192975616
+61,1.016666667,BASELINE,765.38219142,744,714,680,658.61780858,634,878.38219142,786,805.61780858,652,630.38219142,652,0.400971916824,-0.0153934315618,0.0598434980772,0.999999944908,0.00020023665343,-0.000263872387877,2.14407909651e-05,1793244863209642496
+62,1.033333333,BASELINE,765.977952847,744,714,680,658.022047153,634,878.977952847,786,805.022047153,652,630.977952847,652,0.400971288222,-0.0153938363332,0.059843082879,0.999999945468,0.000196976099116,-0.000264246763986,2.09135282859e-05,1793244863226309120
+63,1.050000000,BASELINE,766,744.556402919,714,680,658,634,879,786,805.556402919,652,631,652,0.40097218762,-0.015394238432,0.0598432239419,0.999999945745,0.000196133779229,-0.000263819246108,2.10157904508e-05,1793244863242975744
+64,1.066666667,BASELINE,766,745,714,680,658,634,879,786,806,652,631,652,0.400972806796,-0.0153939176804,0.0598431892636,0.999999945668,0.000196666606722,-0.000263709783217,2.10418800739e-05,1793244863259642112
+65,1.083333333,BASELINE,766,745,714,680,658,634,879,786,806,652,631,652,0.400972305509,-0.0153912076737,0.0598425029548,0.999999944449,0.000201438181566,-0.000264753615478,2.07361855395e-05,1793244863276309248
+66,1.100000000,BASELINE,765.711678248,744.711678248,714,680,658,634.288321752,879,786,806,652,631,652,0.400972028311,-0.0153907677615,0.0598423778038,0.999999943922,0.000203234364609,-0.000265369372393,2.07693679778e-05,1793244863292976128
+67,1.116666667,BASELINE,765.121569827,744.121569827,714,680,658,634.878430173,879,786,806,652,631,652,0.400971985669,-0.0153927039596,0.0598428400172,0.999999944136,0.000201916201754,-0.000265537062354,2.11572533048e-05,1793244863309642752
+68,1.133333333,BASELINE,765,744,714,679.540186141,658,634.540186141,879.459813859,786,806,652,630.540186141,652,0.400971856557,-0.0153931614576,0.0598428944318,0.999999944475,0.00020068972041,-0.00026518029592,2.12888958796e-05,1793244863326309376
+69,1.150000000,BASELINE,765,744.038740132,714,679.038740132,658,634,879.922519736,786,806,652.038740132,630.038740132,652,0.400971773448,-0.0153932863731,0.0598428923225,0.99999994484,0.000199567643613,-0.000264645741613,2.13476650321e-05,1793244863342976000
+70,1.166666667,BASELINE,765,744.614979125,714,679.614979125,658,634,878.77004175,786,806,652.614979125,630.614979125,652,0.400972639909,-0.0153941201312,0.0598435740304,0.999999945135,0.000199564076868,-0.000263532493625,2.13178158583e-05,1793244863359642112
+71,1.183333333,BASELINE,765.19011426,745,714,679.80988574,658,634,878.19011426,786.19011426,806,652.80988574,631,652,0.400973023547,-0.0153944564434,0.0598438275544,0.999999945149,0.000199926499401,-0.00026319963577,2.13861568446e-05,1793244863376308224
+72,1.200000000,BASELINE,765.763026864,745,714,679.236973136,658,634,878.763026864,786.763026864,806,652.236973136,631,652,0.400972435013,-0.0153937911399,0.0598432189224,0.999999944596,0.000201025847663,-0.000264438106715,2.1652205407e-05,1793244863392974848
+73,1.216666667,BASELINE,765.652690974,745,714,679.347309026,658,634.347309026,878.652690974,786.652690974,805.652690974,652,631,652,0.400972288034,-0.0153931756929,0.0598429176873,0.999999944576,0.000201180034918,-0.000264401257296,2.15899924971e-05,1793244863409641728
+74,1.233333333,BASELINE,765.060388713,745,714,679.939611287,658,634.939611287,878.060388713,786.060388713,805.060388713,652,631,652,0.400972452528,-0.0153925954149,0.0598428332913,0.999999944933,0.000200667501586,-0.000263464791498,2.12962225585e-05,1793244863426308608
+75,1.250000000,BASELINE,765.51973313,745,714,679.48026687,658,635,878.51973313,786,805.51973313,652,630.48026687,652,0.400973730859,-0.0153931530717,0.0598437938285,0.999999945176,0.000201424686149,-0.000261929761713,2.1643792243e-05,1793244863442975488
+76,1.266666667,BASELINE,765.902202211,744.902202211,714,679.097797789,658,634.902202211,879,786,805.902202211,652,630.097797789,652,0.400974802643,-0.0153938170945,0.05984460427,0.999999945351,0.000202008502784,-0.000260786802826,2.19168447938e-05,1793244863459642368
+77,1.283333333,BASELINE,765.327426385,744.327426385,714,679.672573615,658,634.327426385,879,786,805.327426385,652,630.672573615,652,0.400974250313,-0.0153943697968,0.0598441040749,0.999999945268,0.000201043713472,-0.000261887478963,2.14713458377e-05,1793244863476308736
+78,1.300000000,BASELINE,765.253120579,744.253120579,714,680,658,634,878.746879421,786,805.253120579,652,630.746879421,652,0.400973589472,-0.0153943924418,0.0598438744119,0.999999945206,0.000200757109746,-0.000262366873792,2.11833333469e-05,1793244863492975104
+79,1.316666667,BASELINE,765.841306982,744.841306982,714,680,658,634,878.158693018,786,805.841306982,652,630.158693018,652,0.400972784991,-0.0153937134285,0.0598440028632,0.999999945174,0.000201368247455,-0.000262023853641,2.11037920189e-05,1793244863509641728
+80,1.333333333,BASELINE,766,744.575488971,714,679.575488971,658,634.424511029,878.424511029,786,806,652,630.424511029,652,0.400972772218,-0.0153933778859,0.0598439664619,0.999999945135,0.000201255163611,-0.000262258150779,2.11491303228e-05,1793244863526308864
+81,1.350000000,BASELINE,766,744,714,679.011628966,658,634.994185517,878.994185517,786,806,652,631,652,0.400973047033,-0.015393178727,0.0598438728186,0.999999945094,0.000200869393262,-0.000262700744032,2.12418418282e-05,1793244863542975488
+82,1.366666667,BASELINE,766,744,714,680.162535413,658,634.418732293,878.418732293,786,806,652,631,652,0.400972837985,-0.0153939078293,0.0598441386449,0.99999994528,0.000199984502022,-0.000262651903132,2.14552081877e-05,1793244863559642112
+83,1.383333333,BASELINE,765.843459147,744.156540853,714,680.843459147,658,634.156540853,878,786,806,652,631,652,0.400972867727,-0.0153941389804,0.059844414907,0.999999945327,0.000199951680698,-0.00026248744638,2.15584312126e-05,1793244863576308992
+84,1.400000000,BASELINE,765.268667012,744.731332988,714,680.268667012,658,634.731332988,878,786,806,652,631,652,0.400973535476,-0.0153930396882,0.0598447190523,0.999999945005,0.000202195449147,-0.000262014083178,2.13673695006e-05,1793244863592975872
+85,1.416666667,BASELINE,765.314025905,745,714,680,658,634.685974095,878.62805181,786.314025905,806,652,631,652,0.400974010155,-0.0153930458778,0.0598447770618,0.999999945229,0.000201974747559,-0.000261334673831,2.12635931156e-05,1793244863609642240
+86,1.433333333,BASELINE,765.903652813,745,714,680,658,634.096347187,879.807305626,786.903652813,806,652,631,652,0.400974315391,-0.0153940222801,0.0598446190531,0.999999945933,0.000199591133791,-0.000260474430629,2.1236421644e-05,1793244863626308352
+87,1.450000000,BASELINE,765.515492134,745,714,680,658.484507866,634,879.030984267,786.515492134,805.515492134,652,631,652,0.400973762694,-0.0153941486965,0.0598445624776,0.999999945948,0.000199081195663,-0.000260794883818,2.13763700956e-05,1793244863642975232
+88,1.466666667,BASELINE,765,745,714,680,658.936649213,634.063350787,878.063350787,786,805.063350787,652,631,652.063350787,0.400973232321,-0.0153941742548,0.0598445923372,0.999999945864,0.000199013749174,-0.000261155922525,2.15354668609e-05,1793244863659641600
+89,1.483333333,BASELINE,765,745,714,680,658.360226365,634.639773635,878.639773635,786,805.639773635,652,631,652.639773635,0.400974239885,-0.0153947275425,0.0598451617722,0.999999946059,0.000199566080398,-0.000259977945583,2.15852812166e-05,1793244863676308224
+90,1.500000000,BASELINE,765.219728555,744.780271445,714,680,658.219728555,634.780271445,879,786,806,652,631,652.780271445,0.400974093132,-0.015394337194,0.0598451103222,0.999999945716,0.000200903997608,-0.000260276453467,2.15026220801e-05,1793244863692975104
+91,1.516666667,BASELINE,765.805568554,744.194431446,714,680,658.805568554,634.194431446,879,786,806,652,631,652.194431446,0.400972023057,-0.0153923745602,0.0598440243542,0.999999944465,0.00020355085715,-0.000263035078634,2.11992357719e-05,1793244863709641728
+92,1.533333333,BASELINE,766,744.387073187,714,680,659,634,879,786,806,652,631,652,0.400971513009,-0.0153915790187,0.0598432455733,0.999999944117,0.000203953133332,-0.000264070591513,2.09005897361e-05,1793244863726308352
+93,1.550000000,BASELINE,766,744.966424287,714,680,659,634,879,786,806,652,631,652,0.400971777901,-0.0153913632281,0.059842619387,0.99999994422,0.000203240416988,-0.000264250151697,2.0604298395e-05,1793244863742974976
+94,1.566666667,BASELINE,765.455033865,744.455033865,714,679.455033865,658.455033865,634.544966135,879,786,806,652,631,652,0.400972300804,-0.0153920644637,0.0598427466161,0.999999944518,0.000202170530345,-0.000263932094476,2.07538998606e-05,1793244863759641344
+95,1.583333333,BASELINE,765,744.122601785,714,679.122601785,658,634.877398215,878.877398215,786.122601785,805.877398215,652,631,652,0.400973083208,-0.0153929877144,0.0598432590855,0.999999944979,0.000200947478452,-0.000263104910719,2.0940779695e-05,1793244863776307968
+96,1.600000000,BASELINE,765,744.697081082,714,679.697081082,658,634.302918918,878.302918918,786.697081082,805.302918918,652,631,652,0.400974763555,-0.0153945213238,0.0598450206153,0.999999945994,0.000199240886063,-0.000260514053704,2.11639543282e-05,1793244863792975104
+97,1.616666667,BASELINE,765,744.721673811,714,680,658.278326189,634,878.278326189,786.721673811,805.278326189,651.721673811,631,652,0.400975012205,-0.0153940335128,0.0598453397498,0.999999945991,0.000199774634555,-0.00026012258646,2.11011661873e-05,1793244863809641984
+98,1.633333333,BASELINE,765,744.132881647,714,680,658.867118353,634,878.867118353,786.132881647,805.867118353,651.132881647,631,652,0.400973663834,-0.0153912908573,0.059844049928,0.99999994485,0.000202807427957,-0.000262184484229,2.07193936354e-05,1793244863826308352
+99,1.650000000,BASELINE,765,744,714,680,658.551166614,634,879,786,806,651.448833386,631,652,0.400973330578,-0.0153914711965,0.0598437711038,0.999999944959,0.00020164524648,-0.000262659937198,2.07702309649e-05,1793244863842974976
+100,1.666666667,BASELINE,765,744,714,680,658.028258104,634,879.028258104,786,806,652.028258104,631,652,0.400973263512,-0.0153924722146,0.0598437554299,0.99999994539,0.000199455461336,-0.000262677509896,2.09506847794e-05,1793244863859641344
+101,1.683333333,BASELINE,765,744,714,680,658.603279471,634,879.603279471,786,806,652.603279471,631,652,0.400972622169,-0.0153928681972,0.0598431298915,0.999999945039,0.000201040294443,-0.000262782380547,2.11993656055e-05,1793244863876308224
+102,1.700000000,BASELINE,765,744,714,680,659,634,879.818879731,786.181120269,806,652.818879731,631,652,0.40097291552,-0.015393496702,0.0598433287964,0.999999945211,0.000201273477437,-0.000261929334278,2.14407066422e-05,1793244863892974848
+103,1.716666667,BASELINE,765,744,714,680,659,634,879.234765762,786.765234238,806,652.234765762,631,652,0.400975288572,-0.0153946425698,0.059845362093,0.999999946538,0.000198499230483,-0.000258944917016,2.16657165696e-05,1793244863909641728
+104,1.733333333,BASELINE,765,744,714,679.651557772,659,634,879,786.651557772,806,652,631,652,0.400975001969,-0.0153945229297,0.0598454186547,0.999999946351,0.000198739779856,-0.000259489272008,2.15835260672e-05,1793244863926308352
+105,1.750000000,BASELINE,765,744,714,679.068958551,659,634,879,786.068958551,806,652,631,652,0.400972928049,-0.0153935528545,0.0598441468291,0.999999945143,0.000201006305088,-0.000262405000292,2.12948935351e-05,1793244863942974976
+106,1.766666667,BASELINE,765,744,714,679.508943787,658.491056213,634,879,786.508943787,806,652,631,652,0.400972868326,-0.0153940252326,0.0598443346422,0.999999945196,0.000200745807183,-0.000262408618491,2.12438037886e-05,1793244863959641600
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,806,652,631,652,0.400973428982,-0.0153936295831,0.0598443324695,0.99999994551,0.000201046766006,-0.000260970383908,2.12995682264e-05,1793244864002757632
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.411568116,658,634,878.411568116,786.411568116,806,652,631,652,0.400972934247,-0.0153953558992,0.0598447988831,0.999999945952,0.00019830976855,-0.000261335943449,2.17267420776e-05,1793244864019424256
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.825721877,714,679.174278123,658,634.174278123,878.174278123,786.174278123,806,652,631,652,0.400972545008,-0.0153959811271,0.0598447363207,0.999999946092,0.000196908603312,-0.000261855392065,2.18083369835e-05,1793244864036090880
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.245892407,714,679.754107593,658,634.754107593,878.754107593,786.754107593,806,652,631,652,0.400972401264,-0.0153940440842,0.0598434428129,0.999999945539,0.000198615966287,-0.000262732946066,2.10857575625e-05,1793244864052757504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.332668462,634.667331538,879,786.667331538,806,652,631,652,0.400972889336,-0.0153938767897,0.05984378501,0.999999945676,0.000198412360541,-0.000262374232074,2.10012782564e-05,1793244864069424128
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.910295169,634.089704831,879,786.089704831,806,652,631,652,0.400973842641,-0.0153950126379,0.059845331648,0.999999946318,0.000196801625375,-0.000261105200176,2.13866598391e-05,1793244864086090752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.493569782,744,714,680,659,634,879,786,806,652,631,652,0.400973452361,-0.0153948446945,0.0598450736926,0.999999945805,0.000199201459512,-0.000261239847432,2.14843456216e-05,1793244864102757632
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,714,680,658.922777506,634,879.077222494,786,806,652,631,652,0.400973354954,-0.0153944341697,0.0598448126144,0.999999945263,0.000201853163478,-0.000261276616281,2.15451326459e-05,1793244864119424256
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,714,680,658.343418184,634,879.656581816,786,806,652,631,652,0.400976768168,-0.0153940049292,0.0598466885918,0.999999945954,0.000201348071426,-0.000258998857869,2.17099224045e-05,1793244864136090880
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.235818319,714,680,658,634,879.764181681,786,806,652,631,652,0.400985918536,-0.0153940796977,0.0598505786037,0.999999947703,0.000200489082835,-0.000252813328924,2.19747511163e-05,1793244864152757760
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.814876003,714,680,658,634,879.185123997,786,806,652,631,652,0.40100341947,-0.0153948880635,0.0598574000921,0.9999999509,0.000199114989148,-0.000240939943989,2.23851889693e-05,1793244864169424384
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.608743674,745,714,680,658,634.391256326,879,786.391256326,806,652,631,652,0.401043463472,-0.0153981801652,0.0598726473249,0.999999957582,0.000197831456602,-0.000212425452131,2.39410700676e-05,1793244864186091008
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.033621493,745,714,680,658,634.966378507,879,786.966378507,806,652,631,652,0.401094101298,-0.0154026394665,0.0598918541282,0.999999964833,0.000196590481761,-0.00017609068576,2.60352374335e-05,1793244864202757632
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.552988218,745,714,680,658,634.447011782,879,787,806,652,631,652,0.40115997535,-0.0154058532913,0.0599105407462,0.999999969383,0.000195676319239,-0.000148934220523,2.7640908608e-05,1793244864219424256
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744.86157829,714,679.86157829,658.13842171,634,878.86157829,787,805.86157829,652,631,652,0.401230973433,-0.0154094814907,0.0599276122623,0.999999972928,0.000194741733427,-0.000124004896388,2.90254197399e-05,1793244864236090624
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744.282164249,714,679.282164249,658.717835751,634,878.282164249,787,805.282164249,652,631,652,0.401315282126,-0.0154146761964,0.0599396411897,0.999999975355,0.000193677435691,-0.000104355382463,2.98019748176e-05,1793244864252757504
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.703704781,744.296295219,714,679.296295219,658.703704781,634,878.296295219,786.703704781,805.296295219,652,631,652,0.401407776056,-0.0154202087245,0.0599478190006,0.999999977024,0.000192203107164,-9.00316233444e-05,3.00870008961e-05,1793244864269424384
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.126151474,744.873848526,714,679.873848526,658.126151474,634,878.873848526,786.126151474,805.873848526,652,631,652,0.401508039814,-0.0154260619301,0.0599523411405,0.999999978177,0.000190339557217,-8.07633354815e-05,2.99054432803e-05,1793244864286091008
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.551533,714,680,658.448467,634,879,786,806,652,630.551533,652,0.401616578236,-0.0154300780384,0.0599497780606,0.999999978074,0.00019000692605,-8.32711899086e-05,2.8563744338e-05,1793244864302757632
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879,786,805.977093596,652,630.022906404,652,0.401728623079,-0.01543378636,0.0599453710131,0.999999977676,0.000189877534937,-8.87190975384e-05,2.68969864367e-05,1793244864319424512
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879,786,805.386772896,652,630.613227104,652,0.40187024286,-0.0154425880879,0.0599443355585,0.999999979067,0.000184184586499,-8.54729244567e-05,2.52094480822e-05,1793244864336091136
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.800170078,634,879,786,805,652,631,652,0.402027020639,-0.0154510878594,0.0599445039995,0.999999980493,0.000178637353541,-8.09231451705e-05,2.35270898642e-05,1793244864352757760
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.220631888,634,879,786,805,652,631,652,0.402212600978,-0.0154590138657,0.0599469600316,0.999999982003,0.000173367003557,-7.38963095181e-05,2.1854574913e-05,1793244864369424384
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.35649732,744,714,680,658.35649732,634,879,786,805.71299464,652.35649732,630.64350268,652,0.402423974178,-0.0154689644413,0.0599494999395,0.999999983853,0.000166568749864,-6.43110686885e-05,2.03321583398e-05,1793244864386091008
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.932145702,744,714,680,658.932145702,634,879,786,806.864291403,652.932145702,630.067854298,652,0.402651203147,-0.0154801595894,0.059952091409,0.999999985795,0.00015883124112,-5.31530882508e-05,1.89020121944e-05,1793244864402757376
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.516955305,714,680,658.483044695,634,878.483044695,786,805.966089391,652.483044695,630.516955305,652,0.402896580052,-0.0154911109368,0.0599548243059,0.999999987491,0.000150803656226,-4.47057738349e-05,1.6640493832e-05,1793244864419425024
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,714,680,658.101826302,634,878.101826302,786,805.101826302,652,630.898173698,652,0.403148981626,-0.0155018860691,0.0599554593739,0.999999988919,0.000142476010303,-4.08028521455e-05,1.40530223657e-05,1793244864436092160
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658.681243767,634,878.681243767,786,805.681243767,652,630.318756233,652,0.403422956766,-0.015511987511,0.0599461664549,0.999999989514,0.000132922801154,-5.65154039256e-05,1.04577999981e-05,1793244864452758528
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.740114669,745,714.259885331,680,658.740114669,634,879,786.259885331,806,652,630.259885331,652,0.403716155658,-0.0155199230525,0.0599365111513,0.99999999228,0.0001008554645,-7.2227252985e-05,7.20610230758e-06,1793244864469425152
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.162421971,745,714.837578029,680,658.162421971,634,879,786.837578029,806,652,630.837578029,652,0.404032862785,-0.0155252099671,0.0599264126972,0.999999995273,4.12561563115e-05,-8.79382415943e-05,4.37449267788e-06,1793244864486091776
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.584765148,714.584765148,680,658.415234852,634,879,786.584765148,806,652,631,652,0.40437815263,-0.0155174947358,0.0599141294878,0.999999993024,4.2492575554e-05,-0.000110210311767,-6.29226787327e-07,1793244864502758144
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.00712237,714.00712237,680,658.99287763,634,879,786.00712237,806,652,631,652,0.404734621829,-0.0155046940653,0.0599009917706,0.99999998858,6.75232520511e-05,-0.000135048571842,-6.48250842869e-06,1793244864519424256
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.579774168,744,714,680,658.420225832,634,879,786,806,652,631,652,0.405149591212,-0.0155073884374,0.059906987665,0.999999990129,6.05793759658e-05,-0.000126421795626,-9.44143828265e-06,1793244864536091136
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.83545118,744,714,680,658,634,879,786.16454882,806,652,631,652,0.405585470243,-0.0155125646162,0.0599185862164,0.999999992908,4.90335465123e-05,-0.000107885196398,-1.1841189417e-05,1793244864552757760
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.256313876,744,714,680,658,634,879,786.743686124,806,652,631,652,0.406072191983,-0.0155235064427,0.0599436990962,0.999999997414,2.68986077151e-05,-6.54329426319e-05,-1.29231019502e-05,1793244864569424384
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.321079018,634.321079018,879,787,806,652,630.678920982,652,0.406588761094,-0.0155308594012,0.0599708736089,0.999999999638,1.02817998726e-05,-2.0254643283e-05,-1.43971554429e-05,1793244864586091264
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.897086956,634.897086956,879,787,806,652,630.102913044,652,0.407129028344,-0.0155353628872,0.0599996850106,0.9999999995,-1.95374877394e-06,2.7088074414e-05,-1.61825594139e-05,1793244864602758144
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.455811744,714,680,658.544188256,634.544188256,879,786.544188256,806,652,630,652,0.407647527024,-0.0155358015932,0.0600000094744,0.99999999923,-2.84964760869e-05,1.83077728812e-05,-1.97957631611e-05,1793244864619425024
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.988109301,714,680,658,634,878.988109301,786,805.988109301,652,630,652,0.408162450198,-0.0155353370198,0.0599940000522,0.999999998066,-5.7381973973e-05,-2.81775001075e-06,-2.38275873474e-05,1793244864636091648
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.375786379,714,680,658,634,878.375786379,786,805.375786379,652,630,652,0.408735942443,-0.0155339099017,0.0599810686457,0.999999997982,-4.74113533796e-05,-3.08459632215e-05,-2.89206683866e-05,1793244864652758272
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.222594306,634,878.222594306,786,805,652,630.222594306,652,0.409331759261,-0.0155340710836,0.0599744404611,0.99999999731,-4.68646083473e-05,-4.58397050236e-05,-3.29038916419e-05,1793244864669424896
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.798824877,634,878.798824877,786,805,652,630.798824877,652,0.409963043164,-0.0155367556027,0.0599778262252,0.9999999967,-6.12896043384e-05,-4.0125539957e-05,-3.51238801111e-05,1793244864686091520
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.374937933,744,714,680,658.625062067,634,879,786,805,651.625062067,630.625062067,652,0.410635137267,-0.0155401570409,0.0599865110222,0.9999999986,-4.03107837182e-05,-1.93571211998e-05,-2.82867062328e-05,1793244864702758144
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.950987938,744,714,680,658.049012062,634,879,786,805,651.049012062,630.049012062,652,0.411329121437,-0.0155439430255,0.0599980381547,0.999999999817,-3.417930844e-07,9.4862129504e-06,-1.65913823326e-05,1793244864719424768
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.460261404,744.539738596,714,680,658.539738596,634.539738596,879,786,805.539738596,651.539738596,630.539738596,652,0.412008802949,-0.015539444206,0.0599828135178,0.999999999578,-5.54748608668e-06,-1.82070517874e-05,-2.19667358983e-05,1793244864736091648
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.872648966,634.872648966,879,786.127351034,806,652,631,651.872648966,0.412686640507,-0.0155345644542,0.0599605399571,0.99999999763,-1.47570945194e-05,-6.07569004373e-05,-2.88246431388e-05,1793244864752758272
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.293269026,634.293269026,879,786.706730974,806,652,631,651.293269026,0.413362653929,-0.0155310672784,0.0599220767826,0.99999998967,-2.32670335617e-05,-0.000137377925741,-3.53100692309e-05,1793244864769424896
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.283872387,634,879,786.716127613,806,652,631,651,0.414106579839,-0.0155319842719,0.0599160181037,0.999999987653,-3.05224905447e-05,-0.000149379129617,-3.80517679981e-05,1793244864786091264
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.858719339,634,879,786.141280661,806,652,631,651,0.414920117418,-0.0155374258718,0.0599431746409,0.999999994125,-3.64920807853e-05,-9.51438045179e-05,-3.69560763524e-05,1793244864802757632
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,713.557283087,680,659,634,879,786,806,652,630.557283087,651.442716913,0.415767495547,-0.0155449566287,0.0599843177375,0.999999998299,-4.13385718888e-05,-2.46855268685e-05,-3.29205839257e-05,1793244864819424512
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.029380492,745,713.029380492,680,659,634,879,786,806,652,630,652,0.416623873498,-0.0155527086814,0.060027236833,0.99999999749,-4.55423450548e-05,4.63163548762e-05,-2.83041122857e-05,1793244864836091136
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.610118585,745,713.610118585,680,659,634,879,786,806,652,630,652,0.417442206767,-0.0155518382639,0.0600179557726,0.999999998134,-4.455264125e-05,2.83151513754e-05,-3.07620072878e-05,1793244864852757504
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.809747964,745,714,680,659,634,879.190252036,786,806,651.809747964,630.190252036,652,0.418268378117,-0.0155506197048,0.0600044465959,0.999999998379,-4.56469960521e-05,5.52710799741e-06,-3.35686295937e-05,1793244864869424128
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.230849709,745,714,680,659,634,879.769150291,786,806,651.230849709,630.769150291,652,0.41911056102,-0.0155486899631,0.0599823002382,0.999999997646,-5.09986588104e-05,-2.70394746774e-05,-3.70876307078e-05,1793244864886091008
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.345404293,745,714,680,659.345404293,634,879.654595707,786,805.654595707,651,631,652,0.41994016011,-0.0155495129351,0.059956329127,0.999999995621,-5.35959073844e-05,-6.56040301149e-05,-3.97678806059e-05,1793244864902757632
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.919904423,745,714,680,659.919904423,634,879.080095577,786,805.080095577,651,631,652,0.420761412716,-0.0155521616957,0.0599278211776,0.999999991797,-5.4366239139e-05,-0.000108146851439,-4.18918129458e-05,1793244864919424256
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.493549436,745,714,680,659.493549436,634,879,786.506450564,805.506450564,651,630.493549436,652,0.421599225896,-0.0155512196245,0.0598970188881,0.999999982868,-5.62469866432e-05,-0.000170303528112,-4.57898694503e-05,1793244864936091136
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.093433523,745,714,680.093433523,659.093433523,634,879,786.906566477,806,651.093433523,630.093433523,652,0.422463723417,-0.0155507878924,0.0598804091579,0.999999975524,-5.90623498098e-05,-0.000207564721782,-4.87819310131e-05,1793244864952757760
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.672542796,745,714,680.672542796,659.672542796,634,879,786.327457204,806,651.672542796,630.672542796,652,0.423452982355,-0.0155560328311,0.059939505713,0.999999991906,-6.58008338418e-05,-9.88999018704e-05,-4.55705384277e-05,1793244864969424384
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659.748371704,634,879.251628296,786.251628296,806,652,631,652,0.424425714978,-0.0155604363479,0.0599920241953,0.9999999966,-7.0338704012e-05,-8.46209744273e-06,-4.21965452003e-05,1793244864986091008
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.169317058,634,879.830682942,786.830682942,806,652,631,652,0.425376943199,-0.0155637449819,0.0600359830986,0.999999994965,-7.20130703683e-05,5.82581771532e-05,-3.8610971061e-05,1793244865002757632
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680.594924338,659,634,879.594924338,787,806,651.594924338,631,652,0.426292844889,-0.0155669233039,0.0600389662602,0.99999999352,-8.01010271522e-05,7.06115164696e-05,-3.94748709921e-05,1793244865019424256
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680.022458114,659,634,879.022458114,787,806,651.022458114,631,652,0.427194148442,-0.0155700477765,0.0600250168975,0.999999993155,-9.0839290022e-05,6.04986494185e-05,-4.21774399318e-05,1793244865036090880
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.43248036,745,713.43248036,680,659,634,879,787,806.56751964,651.56751964,630.43248036,651.43248036,0.428092946636,-0.0155702228289,0.0599997298576,0.999999995121,-8.57501888281e-05,2.1271681855e-05,-4.41927438704e-05,1793244865052757504
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.150013867,744.849986133,713.150013867,680.150013867,659.150013867,634.150013867,879.300027734,787,806.849986133,652,630.150013867,651.150013867,0.428977163661,-0.0155686711643,0.0599708906964,0.999999995183,-8.22964183459e-05,-2.61792155162e-05,-4.66470905673e-05,1793244865069424384
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.710096944,744.289903056,713.710096944,680.710096944,659.710096944,634.710096944,880.420193888,787,806.289903056,652,630.710096944,651.710096944,0.429821802036,-0.0155627286518,0.0599336071404,0.9999999908,-8.50794947681e-05,-9.28609428233e-05,-5.03782894185e-05,1793244865086091008
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.713111268,744.286888732,714,681,659.713111268,634.713111268,880.713111268,787,806,651.713111268,631,652,0.430714788796,-0.0155624866383,0.0599273837058,0.999999989913,-8.75998658862e-05,-9.90216114149e-05,-5.19185585708e-05,1793244865102757888
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.045217636,745,714,682,657.954782364,631,880,782,807,651,628,652,0.45279997533,-0.0157133804518,0.0596308787056,0.999999779578,-0.000324291076865,-0.000574879907531,-7.20617024134e-05,1793244866069424896
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.5455939,745,714,682,657.4544061,631,880,782,807,651,628.5455939,652,0.452801563475,-0.0157140853801,0.0596311229193,0.999999779515,-0.00032570561538,-0.000574215200897,-7.18570302548e-05,1793244866086091520
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,631,880,782,807,651,628.865308019,652,0.452802556095,-0.0157138336981,0.059631054033,0.999999779367,-0.000326223290204,-0.000574187413236,-7.17838853643e-05,1793244866102758144
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657,631,880,782,807,651,628.286501786,652,0.452801523075,-0.0157107875141,0.0596300269779,0.999999779024,-0.000323460335604,-0.000576304830355,-7.21038541717e-05,1793244866119424768
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714.290121165,682,657,631,880.290121165,782,807,651,628.290121165,652,0.452802161788,-0.0157097319758,0.0596296879711,0.99999977914,-0.000322351957504,-0.000576710484379,-7.22054862602e-05,1793244866136091392
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.864604245,682,657,631,880.864604245,782,807,651,628.864604245,652,0.452804439049,-0.0157106275659,0.0596300233539,0.999999779716,-0.000322865310265,-0.000575438356099,-7.20931159121e-05,1793244866152758016
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.550177547,745.449822453,714.550177547,682,657.449822453,631,880.550177547,782,807.449822453,651,628.550177547,652,0.452805460218,-0.0157103121923,0.0596306397671,0.999999780271,-0.000323335726446,-0.000574214094968,-7.20485707881e-05,1793244866169424640
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.037736129,745.962263871,714,682,658,631,880,782,807.962263871,651.037736129,628.037736129,652,0.45280602823,-0.0157097050065,0.0596312533001,0.999999780763,-0.000323737026981,-0.000573136721142,-7.19908763396e-05,1793244866186091264
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.616830693,745.383169307,714,682,658,631,880,782,807.383169307,651.616830693,628.616830693,652,0.452805651834,-0.0157102684038,0.0596305823298,0.999999780462,-0.00032333673918,-0.000573954827674,-7.1444507371e-05,1793244866202758400
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682.195072033,658,631,880,781.804927967,807,651.804927967,629,652,0.452805217615,-0.0157104620106,0.0596300127008,0.999999779988,-0.000323132641224,-0.000574912393427,-7.13113116202e-05,1793244866219425280
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.771644697,658,631,880,781.228355303,807,651.228355303,629,652,0.452804670314,-0.0157099324215,0.0596296412643,0.999999779173,-0.000323312230021,-0.000576142698288,-7.19861550691e-05,1793244866236091648
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682.65285618,658,631,880.34714382,781.34714382,807,651.34714382,629,652,0.452803806293,-0.0157101911189,0.0596286769653,0.999999778052,-0.000323817443016,-0.000577796315954,-7.20414232618e-05,1793244866252758016
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682.078061092,658,631,880.921938908,781.921938908,807,651.921938908,629,652,0.452802734573,-0.0157109667617,0.0596273238767,0.999999776726,-0.000324536195056,-0.000579727535222,-7.16903840553e-05,1793244866269424384
+244,4.066666667,HOLD_POSE2,765,745,714,682,657,631,881,782,807,651,628,652,0.452807689449,-0.0157090532803,0.0596315066224,0.999999781652,-0.000320616176247,-0.000573494520612,-7.07476342987e-05,1793244866299921664
+245,4.083333333,HOLD_POSE2,765,745,714,681.420360469,657.579639531,630.420360469,881,782,807,651.579639531,628,651.420360469,0.452806398524,-0.015708713177,0.0596295085894,0.999999780005,-0.00032146493663,-0.000575829763675,-7.12096887803e-05,1793244866316588288
+246,4.100000000,HOLD_POSE2,765,745,714,681,657.842150399,630.157849601,880.842150399,782,807,652,628,651.157849601,0.452805889693,-0.0157083779286,0.0596283603664,0.999999779085,-0.000321993502272,-0.000577093188668,-7.15132431668e-05,1793244866333255168
+247,4.116666667,HOLD_POSE2,765,745,714,681,657.267712761,630.732287239,880.267712761,782,807,652,628,651.732287239,0.452807444923,-0.0157080554928,0.0596294549149,0.999999780097,-0.000321677027647,-0.000575527930515,-7.13984928679e-05,1793244866349921792
+248,4.133333333,HOLD_POSE2,765,745,714,681.306995835,657,631,880.306995835,782,807.306995835,652,628.306995835,652,0.45280758173,-0.0157078699832,0.0596296613557,0.999999780278,-0.000321318745438,-0.000575406625735,-7.14478468994e-05,1793244866366588416
+249,4.150000000,HOLD_POSE2,765,745,714,681.881940892,657,631,880.881940892,782,807.881940892,652,628.881940892,652,0.452806480523,-0.0157078039841,0.0596290926466,0.999999779735,-0.000320923973145,-0.000576545618875,-7.16404329382e-05,1793244866383255040
+250,4.166666667,HOLD_POSE2,764.528947459,745.471052541,714,682.471052541,657,631,880.528947459,782,807.528947459,652,629,652,0.452807155295,-0.0157081366741,0.0596295504142,0.999999780574,-0.000319796789783,-0.000575756320442,-7.13245997674e-05,1793244866399921408
+251,4.183333333,HOLD_POSE2,764.062031717,745.937968283,714,682.937968283,657.062031717,630.937968283,880.062031717,781.937968283,807,651.937968283,629,652,0.45280820903,-0.0157085120473,0.0596301826543,0.999999781648,-0.00031860190429,-0.000574597263801,-7.09529755047e-05,1793244866416587520
+252,4.200000000,HOLD_POSE2,764.638150524,745.361849476,714,682.361849476,657.638150524,630.361849476,880.638150524,781.361849476,807,651.361849476,629,652,0.452808600186,-0.0157083873717,0.0596300626508,0.999999781744,-0.000318414383859,-0.000574503243736,-7.12077542165e-05,1793244866433254144
+253,4.216666667,HOLD_POSE2,765,745,714,682,657.786292958,630.213707042,880.786292958,781,807,651.213707042,628.786292958,652,0.452808544727,-0.0157082966117,0.0596297184094,0.99999978149,-0.000318444646527,-0.00057491416996,-7.13258205175e-05,1793244866449920768
+254,4.233333333,HOLD_POSE2,765,745,714,682,657.21168607,630.78831393,880.21168607,781,807,651.78831393,628.21168607,652,0.452807735039,-0.0157082631274,0.0596289954839,0.999999780644,-0.000318842692539,-0.000576177829149,-7.12130123798e-05,1793244866466587392
+255,4.250000000,HOLD_POSE2,765,745,714,681.637881835,657.362118165,630.637881835,880,781.362118165,807.362118165,652,628.362118165,652,0.452807402143,-0.0157086358197,0.0596284980591,0.999999779841,-0.00031986812017,-0.000577039128219,-7.09100298166e-05,1793244866483254528
+256,4.266666667,HOLD_POSE2,765,745,714,681.06454572,657.93545428,630.06454572,880,781.93545428,807.93545428,652,628.93545428,652,0.452807347351,-0.0157092454287,0.0596281321653,0.999999779062,-0.000321259489871,-0.000577665736948,-7.04961214289e-05,1793244866499921664
+257,4.283333333,HOLD_POSE2,765,745,714,681.529887364,657.470112636,630,880,782,807.470112636,652,629,652,0.452806796342,-0.0157076643141,0.0596281046193,0.999999779709,-0.000319290655489,-0.000577621474822,-7.06389362614e-05,1793244866516588032
+258,4.300000000,HOLD_POSE2,765,745,714,682,657.122471822,630,880,782,807,652,628.877528178,652,0.452806650892,-0.0157061403455,0.0596283429587,0.99999978051,-0.000317603277103,-0.000577142095721,-7.08122550422e-05,1793244866533254400
+259,4.316666667,HOLD_POSE2,765,745,714,682,657.698305904,630,880,782,807,652,628.301694096,652,0.452808239758,-0.0157058567035,0.0596294066521,0.999999781235,-0.000318535769695,-0.000575367062486,-7.08370493935e-05,1793244866549920768
+260,4.333333333,HOLD_POSE2,765,745.273239482,714,682,658,630,880,781.726760518,807,651.726760518,628.273239482,652,0.452809496508,-0.0157062659028,0.0596302273052,0.99999978168,-0.000318938593724,-0.000574393204886,-7.06506939522e-05,1793244866566587136
+261,4.350000000,HOLD_POSE2,765,745.84718201,714,682,658,630,880,781.15281799,807,651.15281799,628.84718201,652,0.452810387762,-0.0157074375815,0.0596307804898,0.999999781819,-0.000318758511633,-0.000574301049963,-7.02319658476e-05,1793244866583254016
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631,880,782,807,651,629,652,0.45280888182,-0.0157054945791,0.0596294473921,0.99999978093,-0.000317828003489,-0.000576285586442,-7.08594112374e-05,1793244866616046592
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.418064786,745,714,682,657,631,880.581935214,782,807,651,629,652,0.452809806761,-0.0157057482676,0.0596304938563,0.999999782223,-0.000317155147398,-0.000574414221302,-7.08164662413e-05,1793244866632712704
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.161758662,745,714.161758662,682,657.161758662,630.838241338,880.838241338,782,807,651.161758662,628.838241338,651.838241338,0.452810000483,-0.0157058662423,0.0596307393045,0.999999782627,-0.000316986361488,-0.000573798706025,-7.08498037088e-05,1793244866649379328
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.736194716,745,714.736194716,682,657.736194716,630.263805284,880.263805284,782,807,651.736194716,628.263805284,651.263805284,0.452808328725,-0.015705637985,0.0596289412072,0.999999780768,-0.000318103555206,-0.000576387104371,-7.10777523721e-05,1793244866666045952
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.684172415,682,657.684172415,630.315827585,880.315827585,781.684172415,807,652,628.315827585,651.315827585,0.452808190428,-0.0157053165192,0.0596286551473,0.999999780217,-0.00031865647891,-0.000577022056597,-7.11968375644e-05,1793244866682712320
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.10012615,682,657.10012615,630.89987385,880.89987385,781.10012615,807,652,628.89987385,651.89987385,0.452809354433,-0.0157049158955,0.0596296531953,0.999999780782,-0.000318730192481,-0.000575998031551,-7.12234697159e-05,1793244866699378688
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.480972714,630.519027286,881,781.480972714,807,652,628.519027286,652,0.452809664869,-0.0157056834135,0.0596301279297,0.999999780669,-0.000319685486307,-0.000575674783028,-7.11512511557e-05,1793244866716045312
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,630,880.938867006,782,807,651.938867006,628.061132994,652,0.452809103579,-0.0157065827661,0.0596299904401,0.999999780194,-0.000320552058853,-0.000576030112663,-7.10436112564e-05,1793244866732711680
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,630,880.361482889,782,807,651.361482889,628.638517111,652,0.452802672229,-0.0157065543701,0.0596255972576,0.999999777854,-0.000319129049142,-0.000580891402566,-7.08095665516e-05,1793244866749378560
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.794093265,630.205906735,880.205906735,781.794093265,807,651.205906735,629,652,0.452790728254,-0.0157058432841,0.0596197546181,0.999999773283,-0.000318104218987,-0.000589237648639,-7.10152735125e-05,1793244866766045440
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.243437452,630.756562548,880.756562548,781.243437452,807,651.756562548,629,652,0.452769554508,-0.0157039891721,0.0596114851572,0.999999764873,-0.000317746059873,-0.000603418746657,-7.19572554889e-05,1793244866782712064
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,630.654399773,881,781,807,652,629,652,0.452734809986,-0.0157027761889,0.0595986742363,0.999999751477,-0.000317818641035,-0.00062505962034,-7.30559918367e-05,1793244866799378944
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,630.034948534,881,781,807,652,629,652,0.452689312079,-0.015702071231,0.0595822646959,0.999999733654,-0.000318232537351,-0.000652611565209,-7.42789392323e-05,1793244866816045568
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,630.549822808,880.450177192,781,807,652,629,652,0.45262714221,-0.0156976234625,0.0595666548555,0.999999723879,-0.000315734413985,-0.000668487883459,-7.53538522327e-05,1793244866832712192
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.130316542,714,682,657.130316542,631,880,781.130316542,807,651.869683458,628.869683458,652,0.452560069206,-0.0156927190263,0.059552165547,0.999999714309,-0.000312811187883,-0.00068388595625,-7.63632735931e-05,1793244866849378816
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.703323258,714,682,657.703323258,631,880,781.703323258,807,651.296676742,628.296676742,652,0.452479726386,-0.0156870234941,0.0595413202918,0.999999704248,-0.000309035347236,-0.000700030914724,-7.71802857757e-05,1793244866866045440
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.723188053,714,682,657.723188053,631,880,781.723188053,807,651.276811947,628.276811947,652,0.452394578581,-0.0156814243176,0.0595368379345,0.999999701392,-0.000305735798334,-0.000705514655148,-7.74009384574e-05,1793244866882712064
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631,880.437658435,781.437658435,807,652,629,652,0.452199021155,-0.0156717028226,0.0595425926964,0.999999710226,-0.000302798256539,-0.00069433933033,-7.58548723111e-05,1793244866916045312
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.97162278,745,714,682,657.02837722,630.97162278,881,782,807,651.97162278,628.97162278,652,0.452086613535,-0.0156676847877,0.0595460695352,0.999999713309,-0.000303253886562,-0.000689832826061,-7.44999507312e-05,1793244866932712192
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.39308832,745,714,682,657.60691168,630.39308832,881,782,807,651.39308832,628.39308832,652,0.451937196916,-0.0156590482105,0.0595437316435,0.999999712292,-0.000297473191501,-0.000693916595265,-7.35276977607e-05,1793244866949379328
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.09144021,745,714,682,657,631,881,782,807,652,629,652,0.450666368131,-0.0155927129255,0.0595364107439,0.999999708145,-0.000258318713126,-0.000715960568127,-6.61985062455e-05,1793244867049378816
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.758354158,745,714,682,657.241645842,631.241645842,881,782.241645842,807,651.758354158,629,652,0.450065354153,-0.0155701391833,0.0595311808245,0.999999706919,-0.000244028118506,-0.000722845626117,-6.40749906224e-05,1793244867082712320
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.18228125,745,714,682,657.81771875,631.81771875,881,782.81771875,807,651.18228125,629,652,0.449718889484,-0.0155609102503,0.0595263331108,0.999999702193,-0.000241049217963,-0.000730477239335,-6.25449397933e-05,1793244867099378944
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.597103878,881,783,807,651,629,652,0.449358816917,-0.0155570107548,0.0595223007526,0.999999699475,-0.000242395559814,-0.000733880928804,-6.0934394604e-05,1793244867116045568
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.007712178,881,783,807,651,629,652,0.448992445435,-0.0155555781895,0.0595186458123,0.999999697694,-0.00024574400237,-0.000735327565031,-5.92865896249e-05,1793244867132712192
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.571660756,658,631,881,783,806.428339244,651,629.571660756,651.428339244,0.448588358353,-0.0155556243063,0.0595252219476,0.999999706128,-0.0002428381729,-0.000725036278835,-5.56351467944e-05,1793244867149378816
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.849774029,658,631,881,783,806.150225971,651,629.849774029,651,0.448176579767,-0.0155532033078,0.0595347523252,0.999999720971,-0.000224587656876,-0.000710580860617,-5.18911372928e-05,1793244867166045440
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.273124607,658,631,881,783,806.726875393,651,629.273124607,651,0.447744387973,-0.0155437236373,0.0595522834121,0.999999751124,-0.000163015907814,-0.00068474711284,-4.79597799288e-05,1793244867182712064
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.873485896,880.126514104,783.873485896,807,651,629.873485896,651.873485896,0.446824663732,-0.0155227710504,0.0596164878152,0.999999818726,-0.00013054454482,-0.000586648661779,-3.67477255326e-05,1793244867216046080
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.538420295,658,632,880.461579705,784,807,651.461579705,630,652,0.446310779069,-0.0155130373702,0.0596358829183,0.999999832547,-0.000123913871456,-0.000564360978134,-3.2358637768e-05,1793244867232712704
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,881,784,807,651.947120166,630,652,0.445776424271,-0.0155036807682,0.0596473978702,0.999999838706,-0.000114281165364,-0.000555613858818,-2.8644403944e-05,1793244867249379840
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,881,784,807,651.368597942,630,652,0.445166777277,-0.0154951048203,0.0596291882087,0.999999824337,-8.73989286789e-05,-0.000585638489039,-2.67390082726e-05,1793244867266046464
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.208811226,658,632,881,784.417622451,807,651,630,652,0.444558407229,-0.015486713455,0.0596185712631,0.999999818294,-6.39743234643e-05,-0.000598940785001,-2.42627689549e-05,1793244867282712832
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.632469403,658.367530597,632.367530597,880.632469403,785.632469403,806.632469403,651,630,652,0.443348291514,-0.0154723573477,0.0596533724062,0.999999860773,-2.90376493811e-05,-0.00052669429801,-1.42734190011e-05,1793244867316045824
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.044521037,658.955478963,632.955478963,880.044521037,785.044521037,806.044521037,651,630,652,0.442745587119,-0.0154671350695,0.0597030736129,0.999999900263,-1.13166954935e-05,-0.0004464424653,-5.94412402515e-06,1793244867332712704
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.535470948,659,633,880.535470948,785.535470948,806.535470948,651,630,652,0.442066699505,-0.0154585886292,0.0597278849579,0.999999913991,2.05266791045e-05,-0.000414242175922,3.50966088461e-07,1793244867349379328
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.889637397,659.110362603,633,881,786,806.889637397,651,630,651.889637397,0.441368594382,-0.0154492887893,0.0597458364361,0.999999920982,5.09431235905e-05,-0.000394212756567,6.04775043471e-06,1793244867366046208
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.33274462,659.66725538,633,881,786,806.33274462,651,630,651.33274462,0.4406179878,-0.0154380425578,0.0597442830982,0.999999914409,7.09049106037e-05,-0.000407499072297,9.99806231362e-06,1793244867382712576
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,880.168530324,786,806.831469676,651,630,651,0.43914064409,-0.0154166407472,0.0597765060581,0.999999926618,0.000131003654273,-0.000359484902471,1.93141040152e-05,1793244867416045568
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.670044869,714,681,659,633.329955131,880,785.329955131,806,651.329955131,631,652,0.434125892853,-0.0153922232876,0.0597418491445,0.999999910046,0.000175835864005,-0.000385444345377,2.0570532527e-05,1793244867516045312
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,744.081273948,714,681,659,633.918726052,880,785.918726052,806,651.918726052,631,652,0.433265944276,-0.0153986268003,0.059766705151,0.999999936808,8.93484306114e-05,-0.000344091306276,-1.68971845704e-06,1793244867532712192
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.082682285,744,714,680,659.082682285,633.082682285,879.082682285,786,806,651,630.082682285,652,0.431497409178,-0.0154001786625,0.0597976021785,0.99999994491,0.00012431545704,-0.000307602467276,1.03574328795e-05,1793244867566045952
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.6580979,744,714,680,659.6580979,633.6580979,879.6580979,786,806,651,630.6580979,652,0.43063469161,-0.0153971775042,0.0598203723722,0.999999954997,0.000142047542929,-0.000263814082228,1.5193239555e-05,1793244867582712832
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.766520287,744,714,680,659.766520287,633.766520287,880,786,806,651,630.766520287,651.766520287,0.429739034677,-0.0153933764523,0.0598277765512,0.999999955477,0.000153180174732,-0.000255445061579,1.81364562585e-05,1793244867599379456
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.19118788,744,714,680,659.19118788,633.19118788,880,786,806,651,630.19118788,651.19118788,0.428795148968,-0.0153884042241,0.059812682361,0.999999943193,0.000154650123299,-0.000298935808854,1.83086107471e-05,1793244867616046080
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744,713.607045135,680,659,633.392954865,880,786,806,651.392954865,630,651.392954865,0.42784646526,-0.0153840104647,0.0597771598814,0.999999924587,0.000159947039496,-0.000353595631638,1.45639516227e-05,1793244867632712960
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744,713.018517539,680,659,633.981482461,880,786,806,651.981482461,630,651.981482461,0.426895393655,-0.0153799046082,0.05973147029,0.99999990037,0.000167148628171,-0.000413814274047,8.86990335073e-06,1793244867649380096
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.562730451,744,713.562730451,680.562730451,659,634,879.437269549,786,806,651.437269549,630,652,0.4260103483,-0.0153826641113,0.0597558398716,0.999999917703,0.000164002791694,-0.000370875098348,1.22190305812e-05,1793244867666046976
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.85873624,744.14126376,714,680.85873624,658.85873624,634,879,785.85873624,806,651,630,652,0.425126116368,-0.0153851328523,0.0597833390149,0.999999932122,0.000164241015919,-0.000329427823834,1.60722266659e-05,1793244867682713344
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.287741739,744.712258261,714,680.287741739,658.287741739,634,879,785.287741739,806,651,630,652,0.424237833914,-0.0153860386132,0.0598134348337,0.999999938519,0.000175796290059,-0.000302713546176,2.05651318795e-05,1793244867699379712
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.707140435,714,680,658.292859565,634,879,785,805.707140435,651,630,652,0.423364492892,-0.0153858244397,0.0598332192513,0.999999944845,0.000181942807387,-0.0002769044005,2.30452136216e-05,1793244867716045824
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744.116780117,714,680,658.883219883,634,879,785,805.116780117,651,630,652,0.422506330146,-0.0153844725831,0.0598425288526,0.999999951298,0.000182594850178,-0.000252014732875,2.34805727391e-05,1793244867732712192
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,744,713.535127632,680,659,634,879,785,805,651,630,652,0.42158696625,-0.0153796199738,0.0598344186577,0.999999946482,0.000189504825806,-0.000265713412136,2.28199869621e-05,1793244867749378816
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744,713,680.04420943,658.95579057,634,879,785.04420943,805.04420943,651.04420943,630,652,0.420651867101,-0.0153739779479,0.0598179871788,0.999999936505,0.000197401966732,-0.000295902655993,2.15231799446e-05,1793244867766045696
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.773572665,713.773572665,680.226427335,658,634,879,786,806,651.226427335,630,652,0.417999704906,-0.015373555086,0.0597300330132,0.999999894328,0.000186740927088,-0.000419882580881,1.30714815084e-05,1793244867816045568
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.357397445,744.642602555,714,680,658.357397445,634,879,786,805.642602555,651,630.357397445,652,0.417212577116,-0.0153742117729,0.0597631302949,0.999999914886,0.000187431486575,-0.000367190683326,1.63848521641e-05,1793244867832712192
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.894292172,634,879.894292172,785.105707828,805.894292172,652,630.894292172,651.894292172,0.41484614002,-0.0153677579903,0.0598435101192,0.999999939474,0.000206623699929,-0.00027878954759,2.5192756591e-05,1793244867882712064
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.309654118,786,806,652,630.690345882,652,0.408670188149,-0.0153711301901,0.0598476223062,0.999999941874,0.000210435409901,-0.000266996570473,2.61008961055e-05,1793244868032712704
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.876431851,786,806,652,630.123568149,652,0.408098776066,-0.0153690095643,0.0598532737878,0.999999942513,0.000215896672935,-0.000260045962166,2.71789248743e-05,1793244868049379584
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.466634006,744.533365994,714,680,658,634,878.533365994,786,806.466634006,652,630,652,0.407544690689,-0.0153665137949,0.0598402502397,0.999999937545,0.000219449290596,-0.000275838268588,2.57881131563e-05,1793244868066045952
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.93827938,744,714,680,658,634,878.06172062,786,806.876558761,652,630,652,0.406999497292,-0.0153645177488,0.0598233359314,0.999999931265,0.00022185730342,-0.00029611233028,2.38052508336e-05,1793244868082712320
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.357050138,744,714,680,658,634,878.642949862,786,805.714100276,652,630,652,0.406488487746,-0.0153676082786,0.0598174976307,0.999999930517,0.00021911010585,-0.00030073869475,2.26326981184e-05,1793244868099379712
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,805.443155645,652,630,652,0.406007047031,-0.0153700092633,0.0598180687549,0.999999933281,0.00021229381247,-0.000296455422914,2.1997917337e-05,1793244868116046848
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,806.59212533,652,630,652,0.405572700646,-0.015371312009,0.0598288481715,0.999999941316,0.000198996669991,-0.000277981771927,2.22196460719e-05,1793244868132713472
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,806.235784232,652,630.382107884,652,0.405150231117,-0.0153695571645,0.059826444908,0.999999940116,0.000201353948513,-0.000280582425032,2.22977455601e-05,1793244868149379840
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,805.05096877,652,630.974515615,652,0.404734298185,-0.0153661195212,0.0598167863238,0.999999933762,0.000212326913863,-0.000294781693206,2.22967961655e-05,1793244868166045952
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.552154538,744,714,680,658,634,879,786,805,652,630.447845462,652,0.404333403191,-0.0153640451673,0.0597941925334,0.999999917713,0.000231177218822,-0.000332699618678,2.10370714816e-05,1793244868182712320
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.871148117,744,714,680,658,634,879,786,805.128851883,652,630,652,0.403946028952,-0.0153623479952,0.0597735768461,0.999999902641,0.0002440875781,-0.000367074194523,1.98884473586e-05,1793244868199379200
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.295413692,744,714,680,658,634,879,786,805.704586308,652,630,652,0.403603202677,-0.0153617464202,0.0597618382137,0.999999897871,0.000235169000993,-0.000385461987914,1.93213865374e-05,1793244868216045824
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.286584521,744.286584521,714,680,658,634,879,786,806,652,630,652.286584521,0.40330806153,-0.0153617467032,0.0597663325794,0.99999990226,0.000234132242549,-0.000374504243411,2.02197201037e-05,1793244868232712448
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.87518374,744.87518374,714,680,658,634,879,786,806,652,630,652.87518374,0.403063172978,-0.0153623812493,0.0597879339546,0.999999915287,0.000241401672987,-0.000332620948087,2.26623472859e-05,1793244868249379072
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.543351055,744.543351055,713.543351055,680,658,634,879,786,805.543351055,652,630,652.543351055,0.402833266944,-0.0153634858349,0.0598056367803,0.999999924056,0.000242422271762,-0.000304178762259,2.43878696236e-05,1793244868266045696
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744,713.03595033,679.96404967,658,634.03595033,879,786,805.03595033,652,630.03595033,652,0.402608891106,-0.0153646657055,0.0598218929207,0.999999931833,0.000239364800399,-0.000279998986829,2.52836712245e-05,1793244868282712576
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744,713.611590863,679.388409137,658,634.611590863,879,786,805.611590863,652,630.611590863,652,0.402407003428,-0.0153650767322,0.0598321820153,0.999999944549,0.000200333152683,-0.000265502802695,1.66208313707e-05,1793244868299378944
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634.813093871,879,786,805.813093871,651.813093871,631,652,0.402208627125,-0.0153654436439,0.0598370249062,0.99999995095,0.000174721689271,-0.000259706869363,1.11232164831e-05,1793244868316045312
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634.238453443,879,786,805.238453443,651.238453443,631,652,0.402017535148,-0.0153657190398,0.0598305697182,0.999999947289,0.000176950226789,-0.000271959494265,1.21918201992e-05,1793244868332711936
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.346451854,714,679.346451854,658,634,878.653548146,786,805.346451854,651.346451854,630.653548146,652,0.401847859208,-0.0153648776795,0.0598244795866,0.999999942342,0.00018351830275,-0.000285436510104,1.27433567545e-05,1793244868349378560
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.938637961,714,679.938637961,658,634,878.061362039,786,805.938637961,651.938637961,630.061362039,652,0.401693373392,-0.015363244217,0.0598186483846,0.999999936326,0.000193164362829,-0.000299781973341,1.2928143721e-05,1793244868366045440
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.48238503,714,679.48238503,658,634,878,786.51761497,806,652,630,652,0.401572886483,-0.0153700197537,0.0598193378636,0.999999932848,0.000209979501754,-0.000300028995412,1.39957940029e-05,1793244868382712064
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.094930562,658,634,878,786.905069438,806,652,630,652,0.401461100449,-0.0153768919896,0.059821164869,0.99999993037,0.000223727818749,-0.000298290571405,1.51021775784e-05,1793244868399378688
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.671564003,658,634,878,786.328435997,806,652,630,652,0.401373522075,-0.0153793224098,0.0598249391281,0.999999932737,0.000217709082591,-0.000294747237256,1.58872404764e-05,1793244868416045568
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.252699984,744,714,680,658,634,878.252699984,786,806,652,630.252699984,652,0.401295701062,-0.0153794444479,0.0598280738915,0.999999934788,0.000214913239768,-0.000289767000973,1.64693563825e-05,1793244868432712192
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.839794075,744,714,680,658,634,878.839794075,786,806,652,630.839794075,652,0.401230791827,-0.0153765118383,0.0598303624197,0.999999936436,0.00021638220382,-0.000282885333821,1.6782915525e-05,1793244868449378816
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.578683096,744,714,680.421316904,658,634,879,786,805.578683096,652,630.578683096,652,0.401176660241,-0.0153753381,0.0598330660191,0.999999937766,0.000215941270088,-0.000278462070284,1.72309622917e-05,1793244868466045184
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,714,680.999255289,658,634,879,786,805.000744711,652,630.000744711,652,0.401126589177,-0.0153748260589,0.0598359200149,0.999999938973,0.000214782528726,-0.000274967970951,1.77290716016e-05,1793244868482711808
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,714,680.423058684,658,634,879,786,805.576941316,652,630.576941316,652,0.401088727214,-0.0153755615,0.0598346209263,0.999999938957,0.000212815293246,-0.000276539209539,1.791113007e-05,1793244868499378688
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.152344677,714,679.847655323,658,634.152344677,878.847655323,786,806,652,630.847655323,652,0.401053858045,-0.0153756714141,0.0598332233882,0.999999938515,0.000212107033577,-0.00027866932044,1.79970315984e-05,1793244868516045312
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.725556525,714,679.274443475,658,634.725556525,878.274443475,786,806,652,630.274443475,652,0.401027256769,-0.015374053248,0.0598315538741,0.999999936896,0.000214876818898,-0.000282343370883,1.78172900804e-05,1793244868532712192
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.301055448,658,634.698944552,878.301055448,786,806,652,630,652,0.401007961057,-0.0153735806917,0.0598308841906,0.999999936447,0.000215359630296,-0.000283571678015,1.76919905259e-05,1793244868549378816
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.878655306,658,634.121344694,878.878655306,786,806,652,630,652,0.400995376108,-0.015374160473,0.0598311329343,0.999999937084,0.000213741666705,-0.000282553367405,1.76167004119e-05,1793244868566045696
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.531042384,714,680,658,634,879,786,806,652,630,652,0.400986769979,-0.0153748046698,0.0598319752419,0.999999937125,0.000214424159159,-0.000281883549614,1.77315879693e-05,1793244868582712320
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634.060520854,879,786,806,652,630.060520854,652,0.40097968799,-0.0153753844242,0.0598328644022,0.999999937094,0.000215394321186,-0.000281244564711,1.78493706569e-05,1793244868599378688
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634.63413334,879,786,806,652,630.63413334,652,0.400976556196,-0.0153752725979,0.0598328124241,0.999999937807,0.000213616319932,-0.00028008120628,1.75628906192e-05,1793244868616045312
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.791049333,658,634.791049333,879.208950667,786,805.791049333,652,631,652,0.400974431099,-0.0153750379985,0.0598331736293,0.999999938357,0.000212842910669,-0.000278711249512,1.74285367542e-05,1793244868632711936
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.214110165,658,634.214110165,879.785889835,786,805.214110165,652,631,652,0.400974078921,-0.0153745871801,0.0598342625025,0.999999938624,0.00021383871482,-0.000276977447062,1.75620963001e-05,1793244868649378304
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.630230729,744.369769271,714,679.369769271,658,634,879.630230729,786,805.369769271,652,630.630230729,652,0.400972755908,-0.0153743695895,0.059834820168,0.999999938559,0.000214803565184,-0.000276464648516,1.75650988042e-05,1793244868666045184
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.042255772,744.957744228,714,679.957744228,658,634,879.042255772,786,805.957744228,652,630.042255772,652,0.400970859992,-0.0153742896296,0.0598350643607,0.999999938299,0.000215750149277,-0.000276672380418,1.74910578842e-05,1793244868682712320
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.535453663,744.464546337,714,680,658,634,879,786,805.464546337,652,630,652,0.400971155985,-0.0153745846764,0.0598350155136,0.999999938674,0.000214550272231,-0.000276256673686,1.73825047177e-05,1793244868699378944
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.112362572,714,680,658,634,879,786,805.112362572,652,630,652,0.400971566273,-0.0153749770527,0.0598349641613,0.999999939109,0.000213259835769,-0.000275689713279,1.72659563095e-05,1793244868716045568
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.689247956,714,680,658,634,879,786,805.689247956,652,630,652,0.400971747414,-0.0153756517593,0.0598349962586,0.999999939592,0.000212282122553,-0.000274697019139,1.71274022583e-05,1793244868732711936
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.26481609,744.73518391,714,680,658,634,879,786,805.73518391,652,630,652,0.400972853922,-0.0153759853461,0.0598359525248,0.999999939941,0.000213235581478,-0.000272668444909,1.73531347816e-05,1793244868749378560
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.838846204,744.161153796,714,680,658,634,879,786,805.161153796,652,630,652,0.40097504094,-0.0153759206225,0.059837987902,0.999999940118,0.000216443984479,-0.000269430319229,1.80042285907e-05,1793244868766044928
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.571132772,744,714,680,657.571132772,634,879,786,805,652,630,652,0.400974318801,-0.0153759501257,0.0598382536829,0.999999940047,0.000216123646835,-0.000269959310411,1.78671286613e-05,1793244868782711552
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.024057501,714,680,657.024057501,634,878.975942499,786,805,652,630.024057501,652,0.400972512989,-0.0153760991419,0.0598378290404,0.999999939914,0.000214374272755,-0.000271868139823,1.74453719289e-05,1793244868799378176
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.594877674,714,680,657.594877674,634,878.405122326,786,805,652,630.594877674,652,0.400971885069,-0.0153781284903,0.0598374108768,0.999999940575,0.000211449913073,-0.000271719194041,1.75461341919e-05,1793244868816045056
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.832085965,714,680,658,634,878,786,805.167914035,652,631,652,0.400971772007,-0.0153791285033,0.0598374324319,0.999999940979,0.000210190630647,-0.000271208722687,1.75654075322e-05,1793244868832712192
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.253631181,714,680,658,634,878,786,805.746368819,652,631,652,0.400972917743,-0.0153776118464,0.0598385290754,0.999999940764,0.000213002372382,-0.000269814340838,1.73854448503e-05,1793244868849378816
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,878.333101406,786,806,652,631,652,0.400973851207,-0.015377520794,0.0598392109664,0.999999941072,0.000212936789333,-0.000268726549663,1.73000772346e-05,1793244868866045440
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,878.926297499,786,806,652,631,652,0.400974618923,-0.0153785428927,0.0598395690072,0.99999994179,0.000210624512268,-0.000267878152937,1.72885720419e-05,1793244868882712064
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,657.495757035,634,878.495757035,786,806,652,631,652,0.400973449037,-0.015378190558,0.0598394694267,0.999999941472,0.000211336202725,-0.000268497269396,1.73562370076e-05,1793244868899378432
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,657.079794475,634.079794475,878.079794475,786,806,652,630.920205525,652,0.400972216073,-0.0153776275646,0.0598392889747,0.999999941005,0.000212592910904,-0.000269242092369,1.73853586163e-05,1793244868916045312
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,657.653919069,634.653919069,878.653919069,786,806,652,630.346080931,652,0.400972295329,-0.0153769675414,0.0598390097295,0.999999940525,0.000214568219445,-0.000269475854535,1.71061187369e-05,1793244868932711936
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.235062313,744,714,680,658,635,879,786,806,652,630.235062313,652,0.400972688382,-0.015377647831,0.0598391491804,0.999999940803,0.000214149800911,-0.000268780293681,1.70548842155e-05,1793244868949378560
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.826857209,744,714,680,658,635,879,786,806,652,630.826857209,652,0.400973557654,-0.0153803621907,0.059839924048,0.999999942221,0.00021009864192,-0.000266674384267,1.73496725396e-05,1793244868966045184
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e83d9171c53f043447eb2f0e64c7bbcb3fbeab65
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+1,0.016666667,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+2,0.033333333,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
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+369,6.150000000,pose2_to_pose3_retreat,0.576077681772,-0.0101222187278,1.0500508744,0.546649316729,-0.00144652696459,1.04971736822
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+373,6.216666667,pose2_to_pose3_retreat,0.575837249972,-0.0101222696037,1.05005094891,0.546408885103,-0.00144657737674,1.04971743822
+374,6.233333333,pose2_to_pose3_retreat,0.575798275166,-0.0101222124775,1.05005098668,0.546369910114,-0.00144652084626,1.0497174766
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+376,6.266666667,pose2_to_pose3_retreat,0.575738818551,-0.0101221639111,1.05005100628,0.54631045264,-0.00144647513356,1.04971749784
+377,6.283333333,pose2_to_pose3_retreat,0.575718187644,-0.0101222221959,1.05005107846,0.546289822605,-0.00144653018711,1.04971757716
+378,6.300000000,pose2_to_pose3_retreat,0.575702426052,-0.010122241837,1.05005113102,0.546274061422,-0.00144654870749,1.04971762283
+379,6.316666667,pose2_to_pose3_retreat,0.575691159267,-0.0101222203948,1.05005104808,0.546262793899,-0.00144652992495,1.04971753573
+380,6.333333333,pose2_to_pose3_retreat,0.575683586439,-0.0101221895257,1.05005090125,0.546255219932,-0.00144650278269,1.04971739233
+381,6.350000000,pose2_to_pose3_retreat,0.575678712908,-0.0101221697814,1.0500508607,0.546250346025,-0.00144648400233,1.04971736002
+382,6.366666667,pose2_to_pose3_retreat,0.575675734668,-0.0101221415482,1.05005084108,0.546247367716,-0.00144645586964,1.0497173439
+383,6.383333333,pose2_to_pose3_retreat,0.575673848138,-0.010122113172,1.05005083202,0.546245481247,-0.00144642724004,1.04971733603
+384,6.400000000,pose2_to_pose3_retreat,0.575672683339,-0.0101221135001,1.05005084646,0.546244316618,-0.00144642701203,1.04971734992
+385,6.416666667,pose2_to_pose3_retreat,0.575672016887,-0.0101221492398,1.05005089463,0.546243650527,-0.00144646163758,1.0497173952
+386,6.433333333,pose2_to_pose3_retreat,0.575671663332,-0.0101221681997,1.05005092019,0.546243297164,-0.00144648000652,1.04971741922
+387,6.450000000,pose2_to_pose3_retreat,0.575671375595,-0.0101221836301,1.05005094099,0.546243009583,-0.00144649495588,1.04971743876
+388,6.466666667,pose2_to_pose3_retreat,0.575671363499,-0.0101221842788,1.05005094186,0.546242997493,-0.00144649558434,1.04971743959
+389,6.483333333,pose2_to_pose3_retreat,0.575670847519,-0.0101222119491,1.05005097916,0.546242481793,-0.00144652239211,1.04971747464
+390,6.500000000,pose2_to_pose3_retreat,0.575670519099,-0.0101222139243,1.05005101086,0.546242153117,-0.00144652522716,1.04971750656
+391,6.516666667,pose2_to_pose3_retreat,0.575670431173,-0.0101222113377,1.05005102093,0.546242065036,-0.00144652315156,1.04971751702
+392,6.533333333,pose2_to_pose3_retreat,0.575670418388,-0.0101222109617,1.0500510224,0.546242052228,-0.00144652284977,1.04971751854
+393,6.550000000,pose2_to_pose3_retreat,0.575670317905,-0.0101222080058,1.05005103391,0.546241951568,-0.00144652047776,1.0497175305
+394,6.566666667,pose2_to_pose3_retreat,0.575670120712,-0.010122202205,1.0500510565,0.546241754028,-0.00144651582282,1.04971755396
+395,6.583333333,pose2_to_pose3_retreat,0.575670077284,-0.0101222009275,1.05005106147,0.546241710523,-0.00144651479765,1.04971755912
+396,6.600000000,pose2_to_pose3_retreat,0.575669881695,-0.0101221951738,1.05005108388,0.546241514589,-0.00144651018056,1.04971758239
+397,6.616666667,pose2_to_pose3_retreat,0.575669768399,-0.0101221685809,1.05005110257,0.546241401632,-0.00144648253176,1.04971759871
+398,6.633333333,pose2_to_pose3_retreat,0.57566973933,-0.0101221588655,1.05005110808,0.546241372717,-0.00144647233223,1.04971760325
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+400,6.666666667,pose2_to_pose3_retreat,0.575669622467,-0.0101221198073,1.05005113022,0.546241256471,-0.00144643132799,1.04971762151
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+402,6.700000000,pose2_to_pose3_retreat,0.575669594269,-0.0101221396219,1.05005113709,0.546241228733,-0.00144644963875,1.04971762691
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec59c36aea2c1af6ac753a8c16b69a01a32bd9a4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e6b3f959816a3437e942409a5d799b30a1c166ce73c536fd6ee940f5decac7a
+size 25807447
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e939a93796394f2df29b33a32760c362e787cd51
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+40,0.666666667,BASELINE,765,744.198753986,714,679.198753986,658,634,878.198753986,786,805.801246014,652,630.198753986,652,0.400973765951,-0.015380848371,0.0598433034185,0.99999994359,0.000208409809232,-0.000262837986506,1.73544618325e-05,1793244869781434624
+41,0.683333333,BASELINE,765,744.793998648,714,679.793998648,658,634,878.793998648,786,805.206001352,652,630.793998648,652,0.400975318903,-0.0153820553194,0.0598443832705,0.999999944557,0.000206368323102,-0.000260745832994,1.76121106389e-05,1793244869798101504
+42,0.700000000,BASELINE,765,744.622373937,714,680,658,634,879,786,805,652,630.622373937,652,0.400975608881,-0.0153818892978,0.0598443993788,0.999999944597,0.00020686062202,-0.000260202926587,1.76087508251e-05,1793244869814768128
+43,0.716666667,BASELINE,765,744.044894798,714,680,658,634,879,786,805,652,630.044894798,652,0.400975230448,-0.0153809966518,0.0598438525162,0.999999944146,0.000208693889712,-0.000260479936636,1.74672560051e-05,1793244869831434752
+44,0.733333333,BASELINE,765.528297803,744.528297803,714,680,658,634,879,786.528297803,805.528297803,652,630.528297803,652,0.400972826513,-0.0153810104497,0.0598426173317,0.999999943328,0.000208786478027,-0.000263543100348,1.72579104915e-05,1793244869848101632
+45,0.750000000,BASELINE,765.897848376,744.897848376,714,680,658,634,879,786.897848376,806,652,631,652,0.400971019854,-0.0153808271512,0.0598417752632,0.999999942613,0.000209221921514,-0.000265910288238,1.70761727671e-05,1793244869864768512
+46,0.766666667,BASELINE,765.319225145,744.319225145,714,680,658,634,879,786.319225145,806,652,631,652,0.400972795505,-0.0153793681225,0.0598430374676,0.999999942564,0.000211940976674,-0.000263935715725,1.70498857073e-05,1793244869881435648
+47,0.783333333,BASELINE,765,744.265198507,714,680,658,634.265198507,879,786,806,652,630.734801493,652,0.400973669666,-0.0153793613614,0.0598435381819,0.99999994266,0.000212985600091,-0.000262723304275,1.71265136586e-05,1793244869898102528
+48,0.800000000,BASELINE,765,744.856760458,714,680,658,634.856760458,879,786,806,652,630.143239542,652,0.40097343442,-0.0153811418163,0.0598431017778,0.999999942945,0.000211969604017,-0.000262448837171,1.73297927626e-05,1793244869914768896
+49,0.816666667,BASELINE,765,745,714,680,658,634.561123727,878.561123727,786,806,652,630.438876273,652,0.400973603486,-0.0153804986081,0.0598433449183,0.999999943347,0.000210071713398,-0.000262461476645,1.70131382132e-05,1793244869931435264
+50,0.833333333,BASELINE,765.017879671,744.982120329,714,680,658,634,878.017879671,786,806,652,630.982120329,652,0.400973876921,-0.0153791535314,0.0598437925659,0.999999943759,0.000208016569973,-0.00026255720192,1.65574186356e-05,1793244869948101888
+51,0.850000000,BASELINE,765.593938237,744.406061763,714,680,658,634,878.593938237,786,806,652,630.406061763,652,0.40097337581,-0.0153800716349,0.0598438466022,0.999999943416,0.000209848565204,-0.000262383039448,1.69462992663e-05,1793244869964768512
+52,0.866666667,BASELINE,765.83028786,744.16971214,714,679.83028786,658,634,878.83028786,786,806,652,630,652,0.400972844545,-0.0153810972497,0.0598437340915,0.999999943316,0.000210020025654,-0.000262607789122,1.72386351774e-05,1793244869981435136
+53,0.883333333,BASELINE,765.255193952,744.744806048,714,679.255193952,658,634,878.255193952,786,806,652,630,652,0.40097224125,-0.0153823796707,0.0598432237598,0.999999943795,0.000206225060689,-0.000263785397641,1.73003601658e-05,1793244869998101760
+54,0.900000000,BASELINE,765.328527134,745,714,679.328527134,658,634,878,786,806,652,630.328527134,652,0.40097210906,-0.0153832821885,0.0598432725108,0.999999944009,0.000205216599855,-0.000263739069422,1.75799597571e-05,1793244870014768384
+55,0.916666667,BASELINE,765.919130356,745,714,679.919130356,658,634,878,786,806,652,630.919130356,652,0.400972352685,-0.0153838816461,0.059843767259,0.999999944021,0.000206431018303,-0.000262716369587,1.80333645433e-05,1793244870031435008
+56,0.933333333,BASELINE,765.499947595,745,714,680,658.500052405,634,878,786,806,652,631,652,0.400972354727,-0.0153817545209,0.059843085211,0.999999943586,0.000207796616652,-0.00026334423737,1.72881060807e-05,1793244870048101632
+57,0.950000000,BASELINE,765,744.921347058,714,679.921347058,658.921347058,634,878.078652942,786,805.921347058,652,630.921347058,652,0.400972408947,-0.0153796745108,0.0598424596178,0.999999943178,0.000209052919868,-0.0002639470994,1.65393105641e-05,1793244870064768000
+58,0.966666667,BASELINE,765,744.34769088,714,679.34769088,658.34769088,634,878.65230912,786,805.34769088,652,630.34769088,652,0.400973032763,-0.0153806134344,0.059843364321,0.9999999434,0.000209470423523,-0.000262744543519,1.6965085186e-05,1793244870081434880
+59,0.983333333,BASELINE,765,744.231770706,714,679.231770706,658,634.231770706,879,786,805.231770706,652,630.231770706,652,0.400973111453,-0.0153816600032,0.0598439127096,0.999999943582,0.000209087975228,-0.000262332631674,1.72909769771e-05,1793244870098101504
+60,1.000000000,BASELINE,765,744.820165114,714,679.820165114,658,634.820165114,879,786,805.820165114,652,630.820165114,652,0.40097235136,-0.0153828722049,0.05984391284,0.999999943704,0.00020747464743,-0.000263137277199,1.74631799328e-05,1793244870114768128
+61,1.016666667,BASELINE,765.402203117,744.597796883,714,679.597796883,658,634.597796883,879,786,806,652.402203117,631,652,0.400972389342,-0.0153832992383,0.0598438066919,0.999999944041,0.000206120674583,-0.000262929809255,1.73242330569e-05,1793244870131434752
+62,1.033333333,BASELINE,765.981443198,744.018556802,714,679.018556802,658,634.018556802,879,786,806,652.981443198,631,652,0.400972778611,-0.0153833806657,0.0598436537634,0.999999944472,0.000204880861598,-0.000262276841245,1.70483279538e-05,1793244870148101120
+63,1.050000000,BASELINE,765.441589003,744.558410997,714,680.116821994,658,634.558410997,879,786,805.441589003,652.441589003,630.441589003,652,0.400974395181,-0.0153830114273,0.0598443934595,0.999999944629,0.000206333012739,-0.000260528311593,1.7161867264e-05,1793244870164768000
+64,1.066666667,BASELINE,765,745,714,680.866264353,658,634.866264353,879,786,805.133735647,652,630.133735647,652,0.40097522118,-0.015382665393,0.0598446681526,0.999999944616,0.000207435745022,-0.00025969599405,1.72358070273e-05,1793244870181434624
+65,1.083333333,BASELINE,765,745,714,680.29605702,658,634.29605702,879,786,805.70394298,652,630.70394298,652,0.400973334432,-0.0153824437696,0.0598433288008,0.999999944092,0.000207107302951,-0.000261972248782,1.71384392985e-05,1793244870198101504
+66,1.100000000,BASELINE,765,744.713933733,714,680,658,634,878.713933733,786,805.713933733,652,630.713933733,652,0.400972754615,-0.0153818882627,0.0598429079144,0.99999994377,0.000207642586492,-0.000262781167499,1.70206743635e-05,1793244870214767872
+67,1.116666667,BASELINE,765,744.118942356,714,680,658,634,878.118942356,786,805.118942356,652,630.118942356,652,0.400973586162,-0.0153809721924,0.0598434788856,0.99999994367,0.000209110613828,-0.000262005498888,1.68808823389e-05,1793244870231434496
+68,1.133333333,BASELINE,765.464227526,744.464227526,714,680,658,634.464227526,878.464227526,786,805.464227526,652,630.464227526,652,0.400972869443,-0.0153808544147,0.0598434205963,0.999999943341,0.000209829503207,-0.000262688605696,1.68527720399e-05,1793244870248101376
+69,1.150000000,BASELINE,765.956024018,745,714,680,658.043975982,634.956024018,879,786,806,652,630.956024018,652,0.400971990092,-0.0153808834068,0.0598432998519,0.99999994301,0.000210336920334,-0.00026354258803,1.68622148548e-05,1793244870264768000
+70,1.166666667,BASELINE,765.381915286,745,714,680,658.618084714,634.381915286,879,786,806,652,630.381915286,652,0.400973813559,-0.0153802772632,0.0598443215379,0.999999943351,0.0002105514262,-0.000262062661509,1.69879778436e-05,1793244870281434624
+71,1.183333333,BASELINE,765,745,714,680,658.807067122,634,879,786.192932878,805.807067122,652,630,652,0.400974938169,-0.0153801180845,0.0598448891035,0.999999943684,0.000210268400932,-0.000261008068849,1.71315166326e-05,1793244870298101504
+72,1.200000000,BASELINE,765,745,714,680,658.230749502,634,879,786.769250498,805.230749502,652,630,652,0.400974674055,-0.0153808470875,0.0598445542685,0.999999944002,0.000208996711411,-0.000260798674078,1.73103784575e-05,1793244870314768128
+73,1.216666667,BASELINE,765,745,714,679.643860898,658,634,879,787,805.356139102,652,630,651.643860898,0.400973846447,-0.0153819434635,0.0598439426075,0.99999994403,0.000207804130577,-0.000261645464586,1.73014063327e-05,1793244870331434752
+74,1.233333333,BASELINE,765,745,714,679.049913664,658,634,879,787,805.950086336,652,630,651.049913664,0.400972642572,-0.0153832851489,0.0598431460987,0.999999943861,0.000206664373808,-0.000263197511689,1.71670100578e-05,1793244870348101376
+75,1.250000000,BASELINE,765.525781521,745,714,679.525781521,658,634,879,786.474218479,806,652,630.525781521,651.525781521,0.400972545493,-0.01538299459,0.0598433091497,0.99999994375,0.000207611076854,-0.000262885892078,1.70146750551e-05,1793244870364768000
+76,1.266666667,BASELINE,765.899883273,744.899883273,714,680,658,634.100116727,879,786,806,652,630.899883273,652,0.400972631953,-0.0153825186351,0.0598435633183,0.99999994364,0.000208780719386,-0.000262382630301,1.68927887361e-05,1793244870381434624
+77,1.283333333,BASELINE,765.324053245,744.324053245,714,680,658,634.675946755,879,786,806,652,630.324053245,652,0.400973108016,-0.0153818733245,0.0598438321243,0.999999943521,0.000210100094959,-0.000261781221695,1.69234022933e-05,1793244870398101248
+78,1.300000000,BASELINE,765,744,714,680,658,634.742722253,879,786,805.742722253,652,630.257277747,652,0.400973531323,-0.0153816746964,0.0598440375944,0.999999943548,0.000210205797129,-0.000261586921496,1.70253407975e-05,1793244870414768128
+79,1.316666667,BASELINE,765,744,714,680,658,634.154311206,879,786,805.154311206,652,630.845688794,652,0.40097388673,-0.0153820509782,0.059844161547,0.999999943763,0.00020874942209,-0.000261916596511,1.72190791744e-05,1793244870431434752
+80,1.333333333,BASELINE,765.427741299,744,714,679.572258701,658,634,879,786,805.855482597,652,631,652,0.400974843048,-0.015381673742,0.0598450826243,0.999999944199,0.000208708508623,-0.000260278910632,1.72468767337e-05,1793244870448101376
+81,1.350000000,BASELINE,765.992501832,744.007498168,714,679.007498168,658,634,879,786,806.992501832,652,630.992501832,652,0.400975983102,-0.0153810504146,0.0598462650759,0.999999944702,0.000209144839127,-0.000257990358537,1.72149510169e-05,1793244870464768256
+82,1.366666667,BASELINE,765.415432945,744.584567055,714,679.584567055,658,634,879,786,806.415432945,652,630.415432945,652,0.400974854036,-0.0153820803747,0.0598457776784,0.999999944662,0.000207612567618,-0.000259384382168,1.71271460261e-05,1793244870481434880
+83,1.383333333,BASELINE,765,744.839114886,714,680,658,634.160885114,879,786,806,652,630.160885114,652,0.400973866008,-0.0153827394399,0.0598452407695,0.999999944522,0.000206862460819,-0.000260523739421,1.70511999086e-05,1793244870498101504
+84,1.400000000,BASELINE,765,744.264726463,714,680,658,634.735273537,879,786,806,652,630.735273537,652,0.400973240478,-0.0153824452396,0.0598445766072,0.999999944135,0.000208122655875,-0.000261008559165,1.70057331819e-05,1793244870514768128
+85,1.416666667,BASELINE,765.317994266,744,714,680,658,634.682005734,879,786,806,652,630.682005734,652,0.400972832475,-0.0153824471013,0.05984421689,0.999999944034,0.000208190839038,-0.00026133815123,1.70383146517e-05,1793244870531434752
+86,1.433333333,BASELINE,765.907838151,744,714,680,658,634.092161849,879,786,806,652,630.092161849,652,0.400972610435,-0.0153827020629,0.0598441174392,0.999999944179,0.000207239984944,-0.000261535040918,1.7137618625e-05,1793244870548101376
+87,1.450000000,BASELINE,765.512072061,744,714,680,658,634,879,786.487927939,806,652,630.487927939,652,0.400972105833,-0.015381662497,0.0598438745151,0.999999943723,0.000208854748833,-0.000262011922223,1.68535649672e-05,1793244870564768256
+88,1.466666667,BASELINE,765,744,714,679.93421557,658,634,879,786.93421557,806,652,630.93421557,652,0.400971652694,-0.0153807020767,0.0598436190183,0.999999943257,0.000210551230194,-0.000262448348391,1.65893228317e-05,1793244870581434880
+89,1.483333333,BASELINE,765,744,714,679.359661527,658,634,879,786.359661527,806,652,630.359661527,652,0.400972002245,-0.0153822077543,0.0598434717645,0.999999943605,0.000209205281772,-0.000262170900889,1.70273375422e-05,1793244870598102272
+90,1.500000000,BASELINE,765,744,714,679,658,634,879.220394037,786.220394037,806,652,630.220394037,652,0.400972126016,-0.0153826664395,0.0598434548789,0.999999943748,0.000208556360321,-0.000262135775048,1.71260993241e-05,1793244870614769408
+91,1.516666667,BASELINE,765,744,714,679,658,634,879.80965733,786.80965733,806,652,630.80965733,652,0.400971871901,-0.0153813727936,0.0598436561879,0.999999943551,0.000209074039627,-0.000262506218334,1.6657059967e-05,1793244870631436032
+92,1.533333333,BASELINE,765,744.392289699,714,679.392289699,658,634.392289699,879.215420603,787,806,652,631,652,0.400972440428,-0.015381493799,0.0598436291008,0.999999943393,0.000209523201354,-0.00026274310271,1.67290752971e-05,1793244870648102144
+93,1.550000000,BASELINE,765,744.971758212,714,679.971758212,658,634.971758212,878.056483576,787,806,652,631,652,0.400973401473,-0.0153822897972,0.0598434930357,0.999999943255,0.00020993967035,-0.000262916260239,1.70592517743e-05,1793244870664768256
+94,1.566666667,BASELINE,766.089660485,745,714,679.455169757,658.544830243,635,878.544830243,786.455169757,805.455169757,652,631,652,0.400971884972,-0.015381899922,0.0598427706722,0.999999943022,0.000209698930148,-0.000263997947211,1.69277385761e-05,1793244870681434880
+95,1.583333333,BASELINE,766.763174675,745,714,679.118412663,659,634.881587337,878.881587337,786,805.118412663,652,631,652,0.400970576595,-0.0153817619656,0.0598422304156,0.999999942906,0.000209113313332,-0.000264905442381,1.68511818938e-05,1793244870698101504
+96,1.600000000,BASELINE,765.609520306,745,714,679.695239847,659,634.304760153,878.304760153,786,805.695239847,652,631,652,0.400970565348,-0.015382834483,0.059842511444,0.999999943261,0.000207322919593,-0.000264958381246,1.70789540134e-05,1793244870714768384
+97,1.616666667,BASELINE,765,744.720554778,714,680,658.720554778,634,878.279445222,786,806,652,631,652,0.400971854829,-0.0153831487089,0.0598434762721,0.999999943758,0.000206818884138,-0.000263464369873,1.72046134655e-05,1793244870731435264
+98,1.633333333,BASELINE,765,744.128084643,714,680,658.128084643,634,878.871915357,786,806,652,631,652,0.400974601341,-0.0153826135225,0.0598452070691,0.999999944409,0.000207755783038,-0.000260237518114,1.72158898103e-05,1793244870748101632
+99,1.650000000,BASELINE,765,744.447337546,714,680,658,634,878.552662454,786,806,652,631,652,0.400974637802,-0.0153824962979,0.0598455447036,0.999999944381,0.000208786595755,-0.000259522765656,1.71329313762e-05,1793244870764768256
+100,1.666666667,BASELINE,765,744.981667194,714,680,658.018332806,634.018332806,878.018332806,786.018332806,806,652,630.981667194,652,0.400973919471,-0.0153824598172,0.0598454527901,0.99999994415,0.000209832425658,-0.000259578273404,1.70212423291e-05,1793244870781435392
+101,1.683333333,BASELINE,765,744.402250388,714,680,658.597749612,634.597749612,878.597749612,786.597749612,806,652,630.402250388,652,0.40097297715,-0.0153813663354,0.0598439746806,0.999999943371,0.000210545094559,-0.000262002175063,1.68257182788e-05,1793244870798102016
+102,1.700000000,BASELINE,765.181103232,744.181103232,714,680,658.818896768,634.818896768,878.818896768,786.818896768,806,652,630,652,0.400972314715,-0.0153809619466,0.0598431728274,0.999999942928,0.000210740738409,-0.000263541339541,1.67089780282e-05,1793244870814768384
+103,1.716666667,BASELINE,765.773395173,744.773395173,714,680,658.226604827,634.226604827,878.226604827,786.226604827,806,652,630,652,0.400972287752,-0.0153821221201,0.0598439063914,0.999999943256,0.000209762494418,-0.000263071738102,1.67711137343e-05,1793244870831435008
+104,1.733333333,BASELINE,765.643289479,745,714,680,658,634,878.356710521,786,805.643289479,652,630.356710521,652,0.400973673395,-0.0153821286664,0.0598449410735,0.999999943975,0.000208976263967,-0.000260953956545,1.67745909714e-05,1793244870848101376
+105,1.750000000,BASELINE,765.065536589,745,714,680,658,634,878.934463411,786,805.065536589,652,630.934463411,652,0.400975934385,-0.015381420346,0.0598461623491,0.999999944929,0.000208309018212,-0.000257814849191,1.67417193931e-05,1793244870864768000
+106,1.766666667,BASELINE,765,745,714,680,657.489918683,634,879,786,805.510081317,652,630.489918683,652,0.400976632254,-0.0153830242345,0.0598463788467,0.999999945369,0.000206660556591,-0.000257409730229,1.71542763973e-05,1793244870881434880
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634,879,786,805,652,630,652,0.400973262255,-0.0153831971515,0.0598450008955,0.999999943897,0.000210290016964,-0.000260127835421,1.78355794408e-05,1793244870924023296
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.419048993,744.419048993,714,680,658.580951007,634,879,786,805.580951007,652,630.580951007,652,0.400972718628,-0.0153844055775,0.0598448182539,0.999999944502,0.000206988061019,-0.000260463163453,1.7622976854e-05,1793244870940689920
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659.160922408,634,879,786.160922408,806,652,630.839077592,652,0.400972675654,-0.0153846790251,0.0598448257392,0.99999994488,0.000205009313268,-0.000260594588957,1.73637475871e-05,1793244870957356800
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659.738358431,634,879,786.738358431,806,652,630.261641569,652,0.400973928517,-0.0153825324791,0.0598453253278,0.999999944692,0.000206455409323,-0.000260198255974,1.69838349765e-05,1793244870974023424
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.315280122,744,714,680,659.369439757,634.315280122,878.684719878,786.684719878,805.684719878,652,630,652,0.400973881256,-0.0153816474407,0.0598450857133,0.999999944302,0.000208097660072,-0.000260404520671,1.67839634282e-05,1793244870990690048
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.891775644,744,714,680,658.216448712,634.891775644,878.108224356,786.108224356,805.108224356,652,630,652,0.40097275682,-0.0153818075846,0.0598442336554,0.999999943741,0.000209902428517,-0.000261110048692,1.67332592463e-05,1793244871007356416
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744,714,679.522879792,658,634.522879792,878,786,805.477120208,652,630.477120208,652,0.400972906169,-0.0153825023026,0.0598441926395,0.999999943853,0.000209474992536,-0.000261009743096,1.69890268048e-05,1793244871024023296
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.936388065,744,714,679.063611935,658,634.063611935,878.063611935,786,806,652,631,652,0.400973639633,-0.0153833038724,0.0598444584468,0.999999944166,0.000208468121213,-0.000260597056781,1.72949457449e-05,1793244871040689920
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.357174817,744,714,679.642825183,658,634.642825183,878.642825183,786,806,652,631,652,0.400976721429,-0.0153839701137,0.0598456918736,0.999999944852,0.000206946231113,-0.000259161947259,1.74332548232e-05,1793244871057357312
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.221000851,634.778999149,879,786,805.778999149,652,631,652,0.400987962085,-0.0153850119425,0.0598505558522,0.999999947082,0.000206004897998,-0.000251149874418,1.79343203803e-05,1793244871074023936
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.797507396,634.202492604,879,786,805.202492604,652,631,652,0.401012327223,-0.0153866579476,0.0598612599978,0.99999995156,0.000205997458733,-0.000232557987599,1.90189221062e-05,1793244871090690048
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.373522147,744,714,680,658.626477853,634.373522147,879,786.373522147,805.373522147,652.373522147,630.626477853,652,0.401056482268,-0.0153886167251,0.0598784471031,0.999999958185,0.000206572487183,-0.000201322456024,2.0644065884e-05,1793244871107356672
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.949270693,744,714,680,658.050729307,634.949270693,879,786.949270693,805.949270693,652.949270693,630.050729307,652,0.40111135165,-0.015390744839,0.0598991441098,0.999999964901,0.000207462865785,-0.000163241602184,2.25618613899e-05,1793244871124023552
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.46090594,744.53909406,714,680,658,635,879,787,806,652.46090594,630,652,0.401181645883,-0.0153955885605,0.0599171095363,0.999999969201,0.00020484830635,-0.000138031405806,2.4142679261e-05,1793244871140689920
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.872993329,879,787,805.872993329,652,630.127006671,652,0.401256699808,-0.0154004253316,0.0599334792399,0.999999972591,0.00020250701871,-0.000114721857924,2.54552092946e-05,1793244871157356288
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.296651973,879,787,805.296651973,652,630.703348027,652,0.4013433201,-0.0154043092025,0.0599451372403,0.999999974802,0.000202330673757,-9.37368263114e-05,2.59337624777e-05,1793244871174023168
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.279998632,744.720001368,714,680,658.279998632,634,879,787,805.279998632,652,630.720001368,652,0.401435435935,-0.0154088132883,0.0599522679797,0.999999976176,0.000201194235182,-8.058413653e-05,2.59656266979e-05,1793244871190690304
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.856977207,744.143022793,714,680,658.856977207,634,879,787,805.856977207,652,630.143022793,652,0.401533380601,-0.0154139752035,0.0599545968886,0.999999976998,0.000199039475465,-7.57388044477e-05,2.55237112162e-05,1793244871207357184
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.561034532,744.438965468,714,680,658.561034532,634.438965468,879,786.561034532,806,652,630,652,0.401643403446,-0.0154197726651,0.0599506652757,0.999999977186,0.000196724802063,-7.96854967169e-05,2.4035966159e-05,1793244871224023808
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.022502013,635,879,786.022502013,806,652,630.022502013,652,0.401758854753,-0.0154258152036,0.0599449191075,0.999999977159,0.000194357023473,-8.60968804851e-05,2.22357463644e-05,1793244871240689920
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.603487271,635,879,786.603487271,806,652,630.603487271,652,0.401910238063,-0.0154327416602,0.0599453475301,0.999999978004,0.000191979292434,-8.17621064611e-05,2.12349273524e-05,1793244871257356288
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.81600481,634.81600481,879,786.81600481,806,652,630.81600481,652,0.402074070185,-0.015440516575,0.0599466354196,0.999999979269,0.000187959084981,-7.57335622783e-05,1.99634330469e-05,1793244871274022912
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.23652298,634.23652298,879,786.23652298,806,652,630.23652298,652,0.40226466026,-0.0154501151986,0.0599497706819,0.99999998138,0.000180408473132,-6.60643611317e-05,1.81101385366e-05,1793244871290689536
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,806,652,630.340225463,652,0.402472592347,-0.0154602451993,0.0599515514943,0.999999983049,0.000173596694991,-5.92015021903e-05,1.61910261484e-05,1793244871307356672
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,806,652,630.915088871,652,0.402692484445,-0.0154707416673,0.0599523982049,0.999999984432,0.000167294455912,-5.4274048176e-05,1.42265219918e-05,1793244871324023552
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.50013337,744.49986663,714,680,658,634,879,786.50013337,805.49986663,652,630.49986663,652,0.402946044887,-0.0154817328053,0.0599528393931,0.999999985904,0.000160135947839,-4.90387307683e-05,1.19618364633e-05,1793244871340690432
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.914126903,744.085873097,714,680,658,634.085873097,879,786.914126903,805.085873097,652,630,652,0.403208692458,-0.0154924386469,0.0599516670624,0.999999987161,0.000152993677997,-4.67173665331e-05,9.39299504301e-06,1793244871357357312
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.334534238,744.665465762,714,680,658,634.665465762,879,786.334534238,805.665465762,652,630,652,0.40349003859,-0.0155010113181,0.0599416220143,0.999999987322,0.000146797952546,-6.14562645412e-05,5.37453696679e-06,1793244871374023680
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.755797814,879,786.244202186,806,652,630.244202186,652,0.40378680534,-0.0155057861251,0.0599312175825,0.999999987618,0.000136590694837,-7.81213435298e-05,1.95912472164e-06,1793244871390690048
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.178230297,879,786.821769703,806,652,630.821769703,652,0.404104623071,-0.0155053763906,0.0599203225494,0.999999987946,0.000120907213878,-9.74158901309e-05,-6.33057254012e-07,1793244871407356672
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.39716275,634,879.39716275,786.60283725,806,652,631,652,0.404449000945,-0.0154957252001,0.0599103975701,0.999999989089,9.24374019044e-05,-0.000115074046374,-6.01339469732e-06,1793244871424023040
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.971585282,634,879.971585282,786.028414718,806,652,631,652,0.404805233005,-0.0154819494071,0.0599009055408,0.999999989511,5.8260856058e-05,-0.000132001856044,-1.26381282971e-05,1793244871440689408
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.877520362,786,806,652,630.438760181,652,0.405238054948,-0.0154885329407,0.0599073611727,0.999999990476,5.81411798472e-05,-0.000124246717833,-1.52091040238e-05,1793244871457356288
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.148780019,786,806,652,630,652,0.405691097888,-0.015497426617,0.0599200989948,0.99999999287,5.44327867014e-05,-0.000104895305379,-1.71322853836e-05,1793244871474022912
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.727911447,786,806,652,630,652,0.406191101614,-0.015509937771,0.0599486076689,0.999999997669,3.52173228158e-05,-5.57167900523e-05,-1.77919106548e-05,1793244871490689792
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.304812674,658.695187326,634,879,786.304812674,806,652,630.304812674,652,0.406709747218,-0.0155183669612,0.0599742385673,0.99999999956,1.86498795031e-05,-1.32617846378e-05,-1.88980812322e-05,1793244871507356672
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680.879737655,658.120262345,634,879,786.879737655,806,652,630.879737655,652,0.407244912533,-0.0155231788862,0.0599973193038,0.999999999512,4.42899968088e-06,2.32351316006e-05,-2.03999617627e-05,1793244871524023808
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.535172104,714,680.535172104,658.464827896,634.464827896,879,786.535172104,806,652.464827896,630.535172104,652,0.407760861013,-0.0155218367028,0.0599975677695,0.999999999443,-1.90375016535e-05,1.26405962241e-05,-2.43400446906e-05,1793244871540690432
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.948147157,634.948147157,879,786,806,652.948147157,630.051852843,652,0.408278052277,-0.0155190049978,0.0599907885131,0.999999998635,-4.18730099599e-05,-1.14964091937e-05,-2.90454479517e-05,1793244871557356800
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.368793278,634.368793278,879,786,806,652.368793278,630.631206722,652,0.408859596609,-0.0155175801743,0.0599739544067,0.99999999774,-3.34107430875e-05,-4.66850004232e-05,-3.49756267137e-05,1793244871574023424
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.20995723,714,680,658.20995723,634,879,786,806,652,630.79004277,652,0.409466919207,-0.0155188073215,0.0599668592146,0.999999996481,-4.04311623272e-05,-6.16282633055e-05,-4.00781620129e-05,1793244871590690304
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.78765091,714,680,658.78765091,634,879,786,806,652,630.21234909,652,0.410119391956,-0.0155246793495,0.0599768215631,0.999999995418,-7.45692384242e-05,-4.11121824695e-05,-4.37310938057e-05,1793244871607357440
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,806.362564536,652,630,652,0.410792582706,-0.0155296771017,0.059984877173,0.999999994606,-9.01746523877e-05,-2.18886911618e-05,-4.66566188312e-05,1793244871624023808
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,806.935862292,652,630,652,0.411477815348,-0.0155341666988,0.0599918245297,0.999999994273,-9.50083343722e-05,-3.41649180973e-06,-4.91593534378e-05,1793244871640689920
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.525039421,744.474960579,714,680,659,634,879,786,806.474960579,651.474960579,630,652,0.412142463585,-0.0155259083356,0.0599730691756,0.999999998581,-2.06129329549e-05,-3.56728778624e-05,-3.37639023088e-05,1793244871657356288
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.113858553,714,680,659,634,879,786,806,651.113858553,630.113858553,652,0.412813551975,-0.0155173879677,0.059948999821,0.999999995654,4.29768974452e-05,-7.99257812561e-05,-2.13515368833e-05,1793244871674022656
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.693039569,714,680,659,634,879,786,806,651.693039569,630.693039569,652,0.41352155717,-0.015514359615,0.0599164449947,0.999999988488,2.1618018492e-05,-0.00014709099033,-3.03447673199e-05,1793244871690689280
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.729445175,714,680,659,634,879.54110965,786,806,652,630.729445175,652,0.414289503642,-0.0155174312694,0.0599159630168,0.999999988284,2.08193837658e-06,-0.000148970362672,-3.51405927143e-05,1793244871707356160
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.153808186,714,680,659,634,880.692383629,786,806,652,630.153808186,652,0.415125040994,-0.015527381394,0.0599516469174,0.999999996279,-1.53987258366e-05,-7.72323377643e-05,-3.52033548431e-05,1793244871724022784
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.570188729,744.429811271,714,680.429811271,659.429811271,634,880.140377458,786,806,652,630.429811271,652,0.415950701443,-0.0155357276472,0.0599902446229,0.999999998996,-2.8297663378e-05,-1.12494827901e-05,-3.28814498062e-05,1793244871740689408
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.0161465,744.9838535,714,681,659.9838535,634,879,786.0161465,806,652,630.9838535,652,0.416772956798,-0.0155432842751,0.0600285002427,0.999999997527,-3.90535537017e-05,5.03144652531e-05,-2.98251543301e-05,1793244871757356032
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.595685455,744.404314545,714,681,659.404314545,634,879,786.595685455,806,652,630.404314545,652,0.417602061379,-0.0155436942977,0.0600177485344,0.999999998471,-3.33245743497e-05,3.09123680297e-05,-3.14832689475e-05,1793244871774022656
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.825031649,744.174968351,714,680.825031649,659,634,879,786.825031649,806,652,630,652,0.418440909213,-0.0155430254118,0.0600022347328,0.999999998922,-3.12030303146e-05,5.03538980753e-06,-3.40049199237e-05,1793244871790689024
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.246339622,744.753660378,714,680.246339622,659,634,879,786.246339622,806,652,630,652,0.419302238674,-0.0155398670423,0.0599757328312,0.999999997918,-3.74053179418e-05,-3.57817906205e-05,-3.85191029803e-05,1793244871807355904
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.329752814,786,806,652,630,652,0.420139438055,-0.0155391469301,0.059945010924,0.999999994969,-4.07645005524e-05,-8.12315288534e-05,-4.24391862628e-05,1793244871824022784
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.903918408,786,806,652,630,652,0.420958752183,-0.0155402340544,0.0599111611499,0.999999989598,-4.20163734528e-05,-0.000130114916948,-4.59189225584e-05,1793244871840689408
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.490577701,745,714,680.490577701,659.490577701,634.490577701,880,786,806,652,630.490577701,652,0.421782990492,-0.0155402081822,0.0598863359346,0.999999981214,-4.3431649125e-05,-0.000182499796832,-4.87721194428e-05,1793244871857355776
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,680.92156909,659.92156909,634.92156909,880,786,806,652,631,652,0.422633386987,-0.0155407971675,0.0598755778725,0.999999975221,-4.57495385043e-05,-0.000211901747389,-5.06313200574e-05,1793244871874022400
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,680.342128842,659.342128842,634.342128842,880,786,806,652,631,652,0.423644557538,-0.0155467426617,0.0599430938306,0.999999993411,-5.36234645472e-05,-8.99956779626e-05,-4.69453101999e-05,1793244871890689024
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.764856015,744.764856015,714,680,659.235143985,634,879.764856015,786.235143985,806,651.764856015,630.764856015,652,0.424635004193,-0.0155522345561,0.0599984378084,0.999999997331,-5.89125358969e-05,4.75006637955e-06,-4.29472472598e-05,1793244871907355904
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.190707846,744.190707846,714,680,659.809292154,634,879.190707846,786.809292154,806,651.190707846,630.190707846,652,0.425595573612,-0.0155570725021,0.0600362336022,0.99999999561,-6.0475056081e-05,6.03391216959e-05,-3.84993013974e-05,1793244871924022784
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.392847978,744,714,680,660,634,879.392847978,786.607152022,806,651,630.392847978,652,0.426515297674,-0.0155584105478,0.0600367032459,0.999999994795,-6.41735552008e-05,6.89109912271e-05,-3.92802588043e-05,1793244871940689408
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.981082757,744,714,680,660,634,879.981082757,786.018917243,806,651,630.981082757,652,0.427414706839,-0.0155580078835,0.06001860836,0.999999995251,-6.89344043862e-05,5.40983981948e-05,-4.26618629232e-05,1793244871957356032
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.439221891,744,714,680.560778109,659.439221891,634,880,786.560778109,806,651,631,652,0.428294539997,-0.015560511544,0.0599912579552,0.999999996397,-7.06859923247e-05,1.32013703229e-05,-4.5111298156e-05,1793244871974022656
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744,714,680.859943412,659,634,880,787,806.140056588,651.140056588,631,652,0.429166251162,-0.015561190871,0.0599609930093,0.999999995613,-7.2009739429e-05,-3.60902418839e-05,-4.78204757305e-05,1793244871990689280
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744,714,680.281082052,659,634,880,787,806.718917948,651.718917948,631,652,0.430014553602,-0.0155558519003,0.0599225601963,0.999999990126,-7.23063171321e-05,-0.000108967015944,-5.14404831936e-05,1793244872007355904
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.295709093,744.295709093,714,680.295709093,659.295709093,634,880,787,806.704290907,652,631,652,0.430940300616,-0.0155559027164,0.0599249812634,0.999999990651,-7.37642933289e-05,-0.000102520719049,-5.24024043996e-05,1793244872024022528
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.870546071,744.870546071,714,680.870546071,659.870546071,634,880,787,806.129453929,652,631,652,0.431939149629,-0.0155610410997,0.0599659654255,0.99999999557,-7.63185451583e-05,-2.11992055782e-05,-5.08552851439e-05,1793244872040689152
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,880.455716114,787,806,651.544283886,630.544283886,652,0.432859453341,-0.0155623866092,0.0599977471402,0.999999995285,-7.87512554442e-05,2.88214088241e-05,-4.89641288794e-05,1793244872057355776
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,881,786.956736321,806,651,630,652,0.433753836837,-0.0155629642682,0.0600227656386,0.999999993542,-8.1479390586e-05,6.35560793519e-05,-4.73048357555e-05,1793244872074022656
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,881,786.376950762,806,651,630,652,0.434609894339,-0.015567691082,0.0599970823173,0.99999999463,-8.83092457244e-05,2.1550764836e-05,-4.9761010544e-05,1793244872090689280
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.79862231,745,714,681,660,634,880.79862231,786,806,651,630.20137769,652,0.43545425022,-0.0155699137977,0.0599701012068,0.999999993938,-9.34641544355e-05,-2.50796257309e-05,-5.25231351119e-05,1793244872107355904
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.223001662,745,714,681,660,634,880.223001662,786,806,651,630.776998338,652,0.4362768598,-0.0155674828653,0.0599407082634,0.999999990655,-9.55063218356e-05,-8.03053257951e-05,-5.58538412405e-05,1793244872124022528
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.352178225,745,714,681,660,634,880.352178225,786.352178225,806.352178225,651.352178225,631,652,0.437088165493,-0.015562022035,0.0599181487314,0.999999986174,-9.23635897264e-05,-0.000125296938682,-5.84992101238e-05,1793244872140689152
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.927079333,745,714,681,660,634,880.927079333,786.927079333,806.927079333,651.927079333,631,652,0.437892322384,-0.0155546450512,0.0598999107547,0.999999981046,-8.59418479226e-05,-0.000163816355307,-6.07111610779e-05,1793244872157355776
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.483782032,745,714,680.483782032,660,634,880.483782032,787,807,651.483782032,631,652,0.438704086878,-0.0155544697013,0.0599068986181,0.999999982209,-9.33641364225e-05,-0.000152096580504,-6.10920684463e-05,1793244872174022656
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.105009795,660,634,880,786.894990205,807,651,631,652,0.439522132271,-0.0155572465925,0.0599258324544,0.999999985606,-0.000102700508873,-0.000120886518844,-6.0226308779e-05,1793244872190689280
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680.682925624,660,634,880,786.317074376,807,651,631,652,0.440363486466,-0.0155686074538,0.0599820616634,0.999999991659,-0.000111600126249,-3.47693388507e-05,-5.49441142701e-05,1793244872207355904
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,806.740117121,651,631,652,0.441140515898,-0.0155774611126,0.0599994265578,0.999999991259,-0.000120756603413,-9.9819368661e-06,-5.29259987496e-05,1793244872224022528
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,806.164325134,651,631,652,0.441839353206,-0.015583267059,0.0599695486633,0.99999998823,-0.000130225314799,-5.97459528497e-05,-5.4875641551e-05,1793244872240689152
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.579729533,681,659.579729533,634,880,786,806,651,631,652,0.442496729128,-0.015587627396,0.0599157746093,0.999999978796,-0.000139070756564,-0.000139564524139,-5.99064169257e-05,1793244872257356288
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.991738271,713.008261729,681,659,633.991738271,880,786,806.008261729,651,630.991738271,652,0.443137616507,-0.0155914780621,0.0598530711624,0.999999960318,-0.00014783648864,-0.000230515019277,-6.61078973969e-05,1793244872274023680
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.412063016,713.587936984,681,659,633.412063016,880,786,806.587936984,651,630.412063016,652,0.443783317526,-0.0156000079036,0.0598328262792,0.99999994939,-0.000168304900153,-0.000261237812298,-6.81741294914e-05,1793244872290689792
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.166657047,744,713.833342953,681.166657047,659,633,880.166657047,786,807,651.166657047,630,652,0.44441761327,-0.0156090418973,0.0598179725586,0.999999939239,-0.000186033313739,-0.000286442364844,-6.97418632024e-05,1793244872307356160
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.743028958,744,713.256971042,681.743028958,659,633,880.743028958,786,807,651.743028958,630,652,0.445023870066,-0.0156193153163,0.0598163726357,0.999999933709,-0.000197025635974,-0.000298080710591,-7.00840736089e-05,1793244872324023296
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.682451742,744.317548258,713.317548258,682,659.317548258,633,881,785.682451742,807,652,630,652,0.44559005633,-0.0156257155536,0.0597962236179,0.999999918275,-0.000211009464291,-0.000337176127398,-7.23721842642e-05,1793244872340690432
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.109422976,744.890577024,713.890577024,682,659.890577024,633,881,785.109422976,807,652,630,652,0.446124004181,-0.0156289996579,0.0597611510978,0.999999891893,-0.000227400079817,-0.000398361874524,-7.62258506919e-05,1793244872357357312
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.4794905,745,714,682,659.5205095,633,881,785,807,651.5205095,630,652,0.446667178162,-0.0156373414997,0.0597450770719,0.999999881145,-0.000241733453382,-0.000416017280033,-7.87716783705e-05,1793244872374023936
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.929676663,745,714,681.929676663,658.929676663,632.929676663,880.929676663,784.929676663,807.070323337,651.070323337,630,652,0.447210333753,-0.0156472631849,0.0597369690966,0.999999876044,-0.000255662069938,-0.000419579776798,-8.06322945757e-05,1793244872390690560
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.35204419,745,714,681.35204419,658.35204419,632.35204419,880.35204419,784.35204419,807.64795581,651.64795581,630,652,0.447737647559,-0.0156599700779,0.0597539794787,0.999999882073,-0.000270173612494,-0.000395594929839,-7.97766584647e-05,1793244872407357184
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,880,784,807.775464183,651.775464183,630,652,0.44822667341,-0.0156699500156,0.0597586560669,0.999999879936,-0.000285555079628,-0.000390104118207,-8.00310465788e-05,1793244872424023808
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,880,784,807.200526668,651.200526668,630,652,0.448655948549,-0.0156756743737,0.0597440850237,0.999999865465,-0.000302294115337,-0.000413474367704,-8.2017694628e-05,1793244872440690176
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681.384120596,658.384120596,632,880.384120596,784,807,651.384120596,630,652,0.449048933881,-0.0156778977879,0.0597119420099,0.999999840014,-0.000313689815406,-0.000462814718927,-8.58659466349e-05,1793244872457356288
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681.973968254,658.973968254,632,880.973968254,784,807,651.973968254,630,652,0.449422483181,-0.0156782461693,0.0596703878101,0.9999998056,-0.000322223735781,-0.000526064121271,-9.0711235212e-05,1793244872474022656
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631.869109488,880,783.869109488,807.869109488,651.869109488,629,652,0.45012279484,-0.0156839039185,0.0596295470075,0.999999779861,-0.00030907261883,-0.000580249872457,-8.97883460091e-05,1793244872507357184
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631.29584413,880,783.29584413,807.29584413,651.29584413,629,652,0.450469391805,-0.0156906308979,0.0596414717116,0.999999810887,-0.000251824657401,-0.000556916253397,-6.82296909904e-05,1793244872524024064
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631,880.857660861,783,807.857660861,651.857660861,629.857660861,652,0.451089161895,-0.0156988764819,0.0596568451093,0.999999830423,-0.000237201726439,-0.000528520370653,-5.96275300595e-05,1793244872557357056
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+207,3.450000000,POSE1_TO_POSE2_PRESS,764.029876613,745,714,682,658,631,880.970123387,783,807,651.029876613,629,652,0.451618396788,-0.0157041178225,0.0596632844449,0.999999816298,-0.000305532894792,-0.000519804308991,-6.21012283052e-05,1793244872590689536
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.612316443,745,714,682,658,631,880.387683557,783,807,651.612316443,629,652,0.45183684541,-0.0157051842334,0.0596609724766,0.999999816003,-0.000303065672138,-0.000521643100209,-6.35095860248e-05,1793244872607356160
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+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631,880,783,807,652,629,652,0.452216645971,-0.0157032315174,0.0596504276476,0.99999981111,-0.000298331317959,-0.000533205117328,-6.68684714698e-05,1793244872640689664
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,713.946722887,680.053277113,658.946722887,633.053277113,879,786,805.053277113,652,630.946722887,652,0.417049156612,-0.0153690113399,0.0597806683566,0.999999920704,0.000196481361918,-0.000345949884906,1.750696704e-05,1793244874771021568
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.474931026,744.474931026,714,680,658.474931026,633.525068974,879,786,805.525068974,651.474931026,630.474931026,652,0.416268085781,-0.0153659635289,0.0598140377585,0.99999993343,0.000202456188747,-0.000302829739067,2.1099572767e-05,1793244874787688192
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,805.897255504,651.102744496,630,652,0.415488417289,-0.0153636096143,0.0598405812134,0.999999941377,0.000207956045154,-0.000270969949878,2.40056581548e-05,1793244874804354816
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,805.322262604,651.677737396,630,652,0.414708435117,-0.0153660563942,0.0598398071273,0.99999993854,0.000209417140467,-0.00028015888959,2.40045515203e-05,1793244874821021696
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744.251838302,714,680,658,634,879,786,805.251838302,652,630,652,0.413933245938,-0.015367958216,0.0598382571913,0.999999937305,0.000208171812831,-0.000285436032836,2.41167172752e-05,1793244874837688832
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744.824801759,714,680,658,634,879,786,805.824801759,652,630,652,0.41316416848,-0.015369165148,0.0598357179502,0.999999938182,0.000203475459243,-0.000285725148399,2.43733194159e-05,1793244874854355200
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,806,652,630,652,0.412387941903,-0.0153645478496,0.0598004593377,0.999999917171,0.000210415429484,-0.000347735061168,2.15404885115e-05,1793244874871021824
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.992432364,713.992432364,680,658,634,879,786,806,652,630.007567636,652,0.411610123925,-0.015357436678,0.0597513186961,0.99999988021,0.000222313303947,-0.000435724129139,1.73749569192e-05,1793244874887688448
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.415607995,713.415607995,680,658,634,879,786,806,652,630.584392005,652,0.410949468205,-0.0153556999265,0.0597420032988,0.999999881588,0.000221619762702,-0.000432981936751,1.5320201874e-05,1793244874904355072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744.160387327,713,680,658,634,879,786,806,652,630.839612673,651.839612673,0.410306888038,-0.015356308605,0.0597476139455,0.999999890257,0.000219615803793,-0.000413556726105,1.50400832078e-05,1793244874921021952
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.734245527,713,680,658,634,879,786,806,652,630.265754473,651.265754473,0.409710905646,-0.0153629636896,0.0597917032192,0.999999915221,0.000214233649987,-0.000351123488945,1.93348919534e-05,1793244874937688320
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.315127646,744.684872354,713.315127646,680,658,634,879,786,806,652,630,651.315127646,0.409127812096,-0.0153659948883,0.0598277572613,0.999999932626,0.000215137349263,-0.000296536306125,2.30436616715e-05,1793244874954354944
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.902068201,744.097931799,713.902068201,680,658,634,879,786,806,652,630,651.902068201,0.408555835834,-0.0153659003089,0.059856880523,0.999999944203,0.000221462902792,-0.000248716730533,2.62469439991e-05,1793244874971021568
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.513174614,744,714,679.513174614,658,634,879,786,806,652,630,652,0.407977511737,-0.0153634106562,0.0598508430061,0.999999942592,0.000220746317969,-0.000255823760033,2.53244951627e-05,1793244874987688192
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.069783388,714,679.069783388,658.069783388,634,879,785.930216612,805.930216612,652,630,652,0.407405223763,-0.0153607605486,0.0598378521523,0.999999938085,0.000219501996045,-0.000274033053273,2.35656218498e-05,1793244875004354816
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.642917754,714,679.642917754,658.642917754,634,879,785.357082246,805.357082246,652,630,652,0.406885644237,-0.0153604128224,0.0598254972698,0.999999931617,0.000224623646595,-0.000292980498063,2.17333121123e-05,1793244875021021952
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.782960827,714,679.782960827,658.782960827,634,879,785.217039173,805.217039173,652,630,652,0.406388838121,-0.01536037783,0.0598198614155,0.999999929518,0.000225010346126,-0.000299839955655,2.07560019139e-05,1793244875037689088
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.207208104,714,679.207208104,658.207208104,634,879,785.792791896,805.792791896,652,630,652,0.405929671024,-0.0153608597116,0.0598253304999,0.999999935002,0.000217571310098,-0.000286720876168,2.11918004896e-05,1793244875054355456
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.379407437,658.379407437,634,878.620592563,786,806,652,630.379407437,652,0.40548603612,-0.0153621578407,0.0598268378749,0.999999937388,0.000211764280809,-0.000282664854313,2.19173682856e-05,1793244875071022080
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.972130472,658.972130472,634,878.027869528,786,806,652,630.972130472,652,0.405051133895,-0.0153639148915,0.0598261178444,0.999999938097,0.000206874819817,-0.00028370438652,2.28058541079e-05,1793244875087688704
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.550915557,714,680,658.449084443,634,879.101831114,786,805.449084443,652,630.449084443,652,0.404638626464,-0.0153625106555,0.0598099810601,0.999999924021,0.00023842886515,-0.000307580060989,2.2452630137e-05,1793244875104355328
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.12804244,658,634,879.87195756,786,805.12804244,652,630.12804244,652,0.404238304471,-0.015360859073,0.0597925812462,0.999999909437,0.000262391310286,-0.000334367105162,2.18085654554e-05,1793244875121021952
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.701791198,658,634,879.298208802,786,805.701791198,652,630.701791198,652,0.40387655275,-0.0153588894364,0.0597734326928,0.99999990014,0.00025366890824,-0.000367366387041,2.03653653174e-05,1793244875137688320
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.716586039,714,680.716586039,658,634,879,786,806,652,630.716586039,652,0.403548917401,-0.0153574172666,0.0597665286089,0.999999897359,0.000251962833441,-0.000376007106878,2.03827202275e-05,1793244875154354944
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.126441505,714,680.126441505,658,634,879,786,806,652,630.126441505,652,0.403258205215,-0.0153564834906,0.0597728763544,0.999999902331,0.000257850323415,-0.000358285271605,2.19807908965e-05,1793244875171021824
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786.454376319,806,652,630,652,0.403012211482,-0.0153577049418,0.0597905349279,0.999999911889,0.000261005246929,-0.000327842358418,2.4843535025e-05,1793244875187688704
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.967485991,744,714,680,658,634,879,786.967485991,806,652,630,652,0.402779903044,-0.015359252466,0.0598110430661,0.99999992155,0.000263510376482,-0.00029441132436,2.79974109364e-05,1793244875204355072
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.391636663,744,714,680,658,634,879,786.391636663,806,652,630,652,0.402572519838,-0.0153564282826,0.0598276300735,0.999999927552,0.000267608320361,-0.000269012073333,3.02536410841e-05,1793244875221021952
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.366400826,744,714,679.816799587,658,634,879,786,806,652,630,652,0.402368626612,-0.0153537681011,0.0598381464515,0.999999931014,0.0002692827599,-0.000253887172652,3.16368082365e-05,1793244875237688576
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.511770737,744,714,679.244114631,658,634,879,786,806,652,630,652,0.402172153121,-0.0153514565883,0.0598357566536,0.999999930231,0.000265804822855,-0.000260605570375,3.11638409968e-05,1793244875254355200
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.658848535,744.341151465,713.658848535,679.341151465,658,634,879,786,806,652,630,652,0.401986250424,-0.0153515028959,0.0598295133639,0.999999936356,0.000227403751566,-0.000274059920228,2.15995526594e-05,1793244875271021568
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.06423509,744.93576491,713.06423509,679.93576491,658,634,879,786,806,652,630,652,0.401808201387,-0.01535330097,0.0598204070825,0.999999943909,0.000163056178378,-0.000292518814476,5.28077395982e-06,1793244875287687936
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.515051745,680,658,634,879,786,806,652,630.515051745,652,0.401675317486,-0.0153616090976,0.0598222491518,0.99999994465,0.000158012491123,-0.000292753312642,5.16262420278e-06,1793244875304355072
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.908019889,680,658.091980111,634,879,786,806,652,630.908019889,652,0.401552369584,-0.0153700387257,0.0598254986503,0.999999944203,0.000164676130344,-0.000290561964664,6.98195846359e-06,1793244875321022208
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.333724865,680,658.666275135,634,879,786,806,652,630.333724865,652,0.40145283976,-0.015374971112,0.0598291752723,0.999999939688,0.000195067058549,-0.000287224050186,8.67227925689e-06,1793244875337688832
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.759041881,713.240958119,680,659,634,879,786,806,652,630.240958119,652,0.401363323715,-0.015377471144,0.0598315577347,0.999999937352,0.000212165448616,-0.000283163708038,9.97167839036e-06,1793244875354355456
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.183820745,713.816179255,680,659,634,879,786,806,652,630.816179255,652,0.401287699035,-0.015376596954,0.0598321449068,0.999999939049,0.000210824101853,-0.000278101196981,1.07287813087e-05,1793244875371021824
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.610660773,658.610660773,634,879,786,805.610660773,652,630.610660773,652,0.401224272584,-0.015374881131,0.05983344826,0.999999939504,0.000211167419367,-0.00027616359176,1.15420414835e-05,1793244875387688192
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.038468841,658.038468841,634,879,786,805.038468841,652,630.038468841,652,0.401166575018,-0.0153727700361,0.0598350879667,0.999999939384,0.000212301937498,-0.000275693595002,1.2381675826e-05,1793244875404354816
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.558564807,714,679.558564807,658,634,879,786,805.558564807,652,630,652.558564807,0.401120397892,-0.0153710697226,0.0598355762751,0.999999939101,0.000212599820183,-0.000276465872372,1.28549070347e-05,1793244875421021440
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.849175835,786,805.849175835,652,630,652.849175835,0.401078807951,-0.0153697563549,0.0598353925837,0.99999993867,0.000213165881796,-0.000277571665481,1.32216876016e-05,1793244875437688064
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.275329115,786,805.275329115,652,630,652.275329115,0.401047754956,-0.0153694452287,0.0598335568691,0.999999937851,0.000214653246021,-0.000279361750715,1.33639721555e-05,1793244875454354688
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.100838021,714,680,658,634,878.899161979,786,805.899161979,652,630,652,0.401006762542,-0.0153677245545,0.0598321227034,0.999999936444,0.000217964031139,-0.000281833653156,1.3199153864e-05,1793244875487687936
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,806,652,630,652,0.400998071858,-0.0153686854007,0.0598339885996,0.999999937877,0.000216559208599,-0.000277783967211,1.35923421324e-05,1793244875504354816
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.056852242,634,879,786,806,652,630,652,0.400991397741,-0.0153698841465,0.0598362155744,0.999999939566,0.00021477834839,-0.00027302378776,1.4035474485e-05,1793244875521021440
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.633792223,634,879,786,806,652,630,652,0.400987239491,-0.015369509203,0.0598375531171,0.999999939881,0.000215410857664,-0.000271372960063,1.39079685943e-05,1793244875537688832
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.209010447,744.209010447,714,680,659,634,879,786,805.790989553,652.209010447,630.209010447,652,0.400983001416,-0.0153696501712,0.0598383218846,0.999999939965,0.000215677874763,-0.000270853203245,1.38480828977e-05,1793244875554355712
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.781236587,744.781236587,714,680,659,634,879,786,805.218763413,652.781236587,630.781236587,652,0.400978624626,-0.0153706876842,0.0598381022418,0.999999939651,0.000215309744175,-0.000272299007095,1.39057067206e-05,1793244875571021824
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.636176621,744.636176621,714,680,658.636176621,634.363823379,879,786,805.363823379,653,630.636176621,652,0.400977489943,-0.0153701661428,0.0598380189339,0.999999939633,0.000216265140786,-0.000271604356251,1.3927141706e-05,1793244875587688448
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.047177487,744.047177487,714,680,658.047177487,634.952822513,879,786,805.952822513,653,630.047177487,652,0.400978361848,-0.0153686796792,0.0598380200058,0.999999939794,0.000218039688272,-0.000269584945791,1.39261788741e-05,1793244875604355584
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,635,879,786,806,652.470288253,630.529711747,652,0.40097875245,-0.015370795172,0.0598398709045,0.999999941076,0.000214980492172,-0.000267257899022,1.42898723446e-05,1793244875621022464
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.893611477,658,634.893611477,879.106388523,786,805.893611477,652,630.893611477,652,0.400978742488,-0.0153724522181,0.0598414040779,0.999999941969,0.00021281436494,-0.000265631479276,1.45582400269e-05,1793244875637689088
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.313183245,658,634.313183245,879.686816755,786,805.313183245,652,630.313183245,652,0.400977134448,-0.0153706690924,0.059840803871,0.999999940751,0.00021650287093,-0.000267246226557,1.42603847783e-05,1793244875654355456
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.264282736,658,634,879.735717264,786,805.264282736,652,630.264282736,652,0.400975907535,-0.0153704762608,0.0598403680285,0.999999940476,0.000216839111238,-0.000268013709299,1.40635169324e-05,1793244875671022080
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.838277344,658,634,879.161722656,786,805.838277344,652,630.838277344,652,0.400975127263,-0.0153721470883,0.0598401248039,0.99999994131,0.000213246845407,-0.00026778828636,1.39849957773e-05,1793244875687688448
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,878.571742819,786.428257181,806,652,630.571742819,652,0.400975527934,-0.0153716862033,0.0598407304223,0.999999941532,0.00021355744488,-0.000266707645385,1.39816042354e-05,1793244875704355072
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f95aebf0c2a8e4a34658c52546dafb3967c01146
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95e8c3d7e803ca7965b2d36e39cc4cf7592736da
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64a1a88294b679557b3f00be3cfd826186456debe165399885f088483196d2a0
+size 25868655
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..887c19e36291a0d62571ce901bb781279d25bee4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+21,0.350000000,BASELINE,765,744,714,679.177069919,658,635,879,786,806.822930081,652,630,652,0.400976451112,-0.0153753939815,0.0598455828509,0.999999944076,0.000210180856192,-0.000259768798015,1.3834825996e-05,1793244876386424576
+22,0.366666667,BASELINE,765,744,714,679.752712078,658,635,879,786,806.247287922,652,630,652,0.400976831711,-0.0153739120779,0.0598455100098,0.999999944146,0.000210294843142,-0.000259413148535,1.37321900472e-05,1793244876403091712
+23,0.383333333,BASELINE,765,744.338167975,714,680,658,634.661832025,879,786,806,652,630,652,0.400977678399,-0.0153738165638,0.0598462016324,0.999999944556,0.000209981834075,-0.000258079355709,1.37806763325e-05,1793244876419758336
+24,0.400000000,BASELINE,765,744.931014792,714,680,658,634.068985208,879,786,806,652,630,652,0.400978876105,-0.0153747651583,0.0598474689827,0.999999945219,0.000209347248587,-0.000256008909962,1.39429747902e-05,1793244876436424704
+25,0.416666667,BASELINE,765,744.491228766,714,680,658,634,879,786,805.491228766,652.508771234,630,652,0.400977737595,-0.0153745231975,0.0598460899474,0.999999944562,0.00020966959255,-0.000258317884007,1.36361547854e-05,1793244876453091072
+26,0.433333333,BASELINE,765,744.08441584,714,679.91558416,658,634.08441584,879,786,805.08441584,652.91558416,630.08441584,652,0.400976651917,-0.01537412179,0.0598448965087,0.999999943893,0.00021029084744,-0.000260409055265,1.33447899507e-05,1793244876469757696
+27,0.450000000,BASELINE,765,744.659336418,714,679.340663582,658,634.659336418,879,786,805.659336418,652.340663582,630.659336418,652,0.400977660832,-0.0153737048834,0.059846806431,0.999999944203,0.000211916732539,-0.000257883661565,1.35021843992e-05,1793244876486424576
+28,0.466666667,BASELINE,765,745,714,679.241132422,658,634.758867578,879,786.241132422,805.758867578,652,631,652,0.400978171976,-0.015373361552,0.0598475997803,0.999999944309,0.000213022644682,-0.000256553103971,1.35900514676e-05,1793244876503091456
+29,0.483333333,BASELINE,765,745,714,679.832926842,658,634.167073158,879,786.832926842,805.167073158,652,631,652,0.400977959248,-0.015373125216,0.0598467693759,0.99999994413,0.000213372396468,-0.000256960113022,1.35768097263e-05,1793244876519758336
+30,0.500000000,BASELINE,765.414186165,744.585813835,714,680,658,634.414186165,879,786.585813835,805.414186165,652,631,652,0.400977284693,-0.0153753402376,0.0598463785121,0.999999944503,0.000210172286977,-0.0002581195896,1.40112048445e-05,1793244876536424704
+31,0.516666667,BASELINE,765.991301271,744.008698729,714,680,658,634.991301271,879,786.008698729,805.991301271,652,631,652,0.40097642847,-0.0153785195529,0.059846160551,0.999999945073,0.000205575764016,-0.000259575065272,1.46216874453e-05,1793244876553091328
+32,0.533333333,BASELINE,765.433717486,744.566282514,714,679.433717486,658,634.433717486,878.433717486,786,806,652,630.433717486,652,0.400977269783,-0.0153774539003,0.0598465275778,0.99999994502,0.000206924379671,-0.000258722842731,1.429269903e-05,1793244876569757952
+33,0.550000000,BASELINE,764.855155632,745,714,679.144844368,658,634,878,786.144844368,806,652,630.144844368,652,0.400977940758,-0.0153762567015,0.0598468130006,0.999999944888,0.000208414895235,-0.000258051632612,1.40302877005e-05,1793244876586424576
+34,0.566666667,BASELINE,764.265497627,745,714,679.734502373,658,634,878,786.734502373,806,652,630.734502373,652,0.40097800885,-0.0153748550263,0.059846820327,0.999999944545,0.00021006178098,-0.000258044761319,1.40164849634e-05,1793244876603091200
+35,0.583333333,BASELINE,764.317582485,744.682417515,714,680,658,634,878.317582485,786.682417515,806.317582485,652,631,652,0.400977536266,-0.0153743507586,0.0598466837337,0.999999944187,0.000211548340197,-0.000258214719241,1.41206525627e-05,1793244876619758080
+36,0.600000000,BASELINE,764.895275158,744.104724842,714,680,658,634,878.895275158,786.104724842,806.895275158,652,631,652,0.400976620851,-0.0153745814961,0.0598464292657,0.999999943815,0.000212903587054,-0.000258529505932,1.432144163e-05,1793244876636425728
+37,0.616666667,BASELINE,765,744,714,680,658,634,879,786,806.528546698,652,631,652,0.400976598554,-0.0153746812943,0.0598463215039,0.999999944013,0.00021189531091,-0.000258601692333,1.40948871587e-05,1793244876653092352
+38,0.633333333,BASELINE,765,744.047441856,714,680,658.047441856,634,879.047441856,786,806,652,630.952558144,652,0.4009768346,-0.0153747234617,0.0598463168702,0.999999944329,0.000210558273246,-0.000258487876366,1.38189965781e-05,1793244876669758976
+39,0.650000000,BASELINE,765,744.62505971,714,680,658.62505971,634,879.62505971,786,806,652,630.37494029,652,0.400977747734,-0.0153744455907,0.0598471017066,0.99999994456,0.000211395622759,-0.000256895731279,1.40491958675e-05,1793244876686424832
+40,0.666666667,BASELINE,765,745,714,680,658.792921483,634,879.792921483,786,806,652,630,652.207078517,0.400978559155,-0.0153738108986,0.0598478567044,0.999999944649,0.000212280049651,-0.00025580844163,1.41633325487e-05,1793244876703090944
+41,0.683333333,BASELINE,765,745,714,680,658.202761235,634,879.202761235,786,806,652,630,652.797238765,0.400979182412,-0.0153725161111,0.0598485565026,0.999999944483,0.000213251566574,-0.000255655101666,1.40627609713e-05,1793244876719757824
+42,0.700000000,BASELINE,765,745,714,680,658,634.380063958,879,786,806,652,630.380063958,652.619936042,0.40097852853,-0.0153733588901,0.0598478912392,0.999999944261,0.00021312773712,-0.000256627923172,1.40414035672e-05,1793244876736424448
+43,0.716666667,BASELINE,765,745,714,680,658,634.95905003,879,786,806,652,630.95905003,652.04094997,0.400977206204,-0.0153753204526,0.0598465115147,0.999999944007,0.000212430613033,-0.000258190167633,1.40615061636e-05,1793244876753090816
+44,0.733333333,BASELINE,765,745,714,680,658,634.466751929,879,786,806,652,631,652,0.400975924162,-0.0153763007771,0.0598456592233,0.999999944396,0.000209477200921,-0.000259093749898,1.40635710445e-05,1793244876769757952
+45,0.750000000,BASELINE,765,744.892906119,714,680,658,634,879,786,806,652,630.892906119,652,0.400974944913,-0.01537688177,0.0598450227518,0.999999944637,0.000207478150901,-0.000259772735706,1.40328992121e-05,1793244876786424832
+46,0.766666667,BASELINE,765,744.319007351,714,680,658,634,879,786,806,652,630.319007351,652,0.400975272125,-0.0153760476675,0.0598451520274,0.999999944053,0.000210387538562,-0.000259691253875,1.3865517386e-05,1793244876803091456
+47,0.783333333,BASELINE,765,744,714,680,658.263965922,634.263965922,878.736034078,786,805.736034078,652,630.263965922,652,0.400976179426,-0.0153756222731,0.059845745387,0.999999944022,0.000211804223566,-0.000258659524428,1.37795687846e-05,1793244876819758080
+48,0.800000000,BASELINE,765,744,714,680,658.858296402,634.858296402,878.141703598,786,805.141703598,652,630.858296402,652,0.400977812733,-0.0153757083939,0.0598469195675,0.999999944689,0.000211352728218,-0.000256438519741,1.37955372987e-05,1793244876836424704
+49,0.816666667,BASELINE,765,744,714,680,658.560718445,635,878.439281555,786,805,652,631,652,0.400978269018,-0.015376133205,0.0598471331975,0.999999944955,0.000210570589474,-0.000256041120018,1.38559190575e-05,1793244876853091328
+50,0.833333333,BASELINE,765,744,714.016014645,680,658,634.983985355,878.983985355,786,805.016014645,652,630.983985355,652,0.400978338275,-0.0153766505801,0.0598470419822,0.999999945083,0.000209736332706,-0.000256222705963,1.39344648209e-05,1793244876869758208
+51,0.850000000,BASELINE,765,744,714.590168154,680,658,634.409831846,878.409831846,786,805.590168154,652,630.409831846,652,0.400977761447,-0.0153766985171,0.0598468069488,0.99999994476,0.000210693325973,-0.000256685576325,1.41614646643e-05,1793244876886424832
+52,0.866666667,BASELINE,765.168140579,744.168140579,714.831859421,680,658,634,878.168140579,786.168140579,806,652,630,652,0.400977417994,-0.0153764795231,0.0598467494512,0.999999944586,0.000211248002138,-0.000256905981812,1.42184924273e-05,1793244876903091200
+53,0.883333333,BASELINE,765.755637663,744.755637663,714.244362337,680,658,634,878.755637663,786.755637663,806,652,630,652,0.400977656597,-0.0153755947814,0.0598471347424,0.999999944784,0.000210799266144,-0.000256521659826,1.38515957575e-05,1793244876919757824
+54,0.900000000,BASELINE,765.659783597,744.659783597,714,680,658,634,879,786.659783597,805.659783597,652,630.340216403,652,0.400977477692,-0.0153751308043,0.0598469985786,0.999999944538,0.000211223749491,-0.000257128257241,1.38864224296e-05,1793244876936424448
+55,0.916666667,BASELINE,765.077283172,744.077283172,714,680,658,634,879,786.077283172,805.077283172,652,630.922716828,652,0.400977001461,-0.0153749664734,0.0598464910624,0.999999943974,0.000212270093214,-0.000258440534749,1.42073351092e-05,1793244876953091072
+56,0.933333333,BASELINE,765,744,714,680,658,634,879,786,805.498680785,652,631,652,0.400977301932,-0.0153756946736,0.0598467453515,0.999999944612,0.000210433649423,-0.00025748419263,1.39818106513e-05,1793244876969757440
+57,0.950000000,BASELINE,765,744.073555892,714,680,658.073555892,634.073555892,879,786.073555892,806.073555892,652,630.926444108,652,0.400977986107,-0.0153762693699,0.0598472697327,0.999999945374,0.00020855908225,-0.000256060492169,1.37077959541e-05,1793244876986424064
+58,0.966666667,BASELINE,765,744.647825112,714,680,658.647825112,634.647825112,879,786.647825112,806.647825112,652,630.352174888,652,0.400980473467,-0.0153748697285,0.0598488394259,0.999999945765,0.000209426865308,-0.000253817695039,1.36727046117e-05,1793244877003091456
+59,0.983333333,BASELINE,765,744.77071842,714,680,658.77071842,635,878.77071842,786.77071842,806.77071842,652,630,652,0.400981369903,-0.0153745968639,0.0598495125388,0.999999945904,0.000210055853493,-0.000252739783841,1.38152534221e-05,1793244877019758592
+60,1.000000000,BASELINE,765,744.177865044,714,680,658.177865044,635,878.177865044,786.177865044,806.177865044,652,630,652,0.40097974361,-0.0153761107289,0.0598487639446,0.999999945651,0.000210306184791,-0.000253509031889,1.42394862123e-05,1793244877036424704
+61,1.016666667,BASELINE,765.402891092,744,714,680,658.402891092,634.597108908,878.402891092,786,806,652,630,652.402891092,0.400979660673,-0.0153753967112,0.0598488199803,0.999999945385,0.000211424447614,-0.000253627741852,1.42184800294e-05,1793244877053091072
+62,1.033333333,BASELINE,765.978462286,744,714,680,658.978462286,634.021537714,878.978462286,786,806,652,630,652.978462286,0.400980239223,-0.0153737278174,0.0598492208823,0.999999945113,0.000212914707985,-0.000253467629563,1.40066433137e-05,1793244877069757952
+63,1.050000000,BASELINE,765.444948284,744,714,680,658.444948284,634,879,786,806,652,630.555051716,652.444948284,0.40097891882,-0.0153735542133,0.0598480611387,0.999999944801,0.000212539426845,-0.000255030492333,1.36142952308e-05,1793244877086425088
+64,1.066666667,BASELINE,765,744,714,680,658.134579177,634.134579177,879,786,806,652,631,652,0.400977929006,-0.0153738730178,0.0598471655853,0.999999944559,0.000212069388058,-0.000256373402768,1.34308461987e-05,1793244877103091968
+65,1.083333333,BASELINE,765,744,714,680,658.723900442,634.723900442,879,786,806,652,631,652,0.400978305691,-0.0153756592514,0.0598473677293,0.999999944572,0.000211524214491,-0.000256746772126,1.39769769043e-05,1793244877119758848
+66,1.100000000,BASELINE,765,744,714,680,659,634.692105728,878.692105728,786,805.692105728,652,631,652,0.40097807065,-0.0153758550757,0.0598473378096,0.999999944617,0.000211129773518,-0.00025690123655,1.38704588679e-05,1793244877136425216
+67,1.116666667,BASELINE,765,744,714,680,659,634.112807971,878.112807971,786,805.112807971,652,631,652,0.400977296382,-0.0153746489816,0.0598471033297,0.999999944691,0.000210868200752,-0.000256862740037,1.31886422058e-05,1793244877153091584
+68,1.133333333,BASELINE,765,744.462608932,714,680.462608932,658.537391068,634.462608932,878.462608932,786,805.462608932,652,631,652,0.400978841189,-0.0153756969004,0.0598484096839,0.999999945429,0.000210098936967,-0.00025458275535,1.36840713201e-05,1793244877169758208
+69,1.150000000,BASELINE,765.036867565,744.963132435,714,680.963132435,658,634.963132435,879,786,805.963132435,652,631,652,0.400980739311,-0.0153771891136,0.0598499691898,0.99999994626,0.000209213124672,-0.000251994736335,1.4410615577e-05,1793244877186424576
+70,1.166666667,BASELINE,765.607940849,744.392059151,714,680.392059151,658,634.392059151,879,786,805.392059151,652,631,652,0.40097963093,-0.0153772210675,0.0598497977736,0.999999946225,0.000208417481831,-0.000252797478916,1.43609375279e-05,1793244877203091200
+71,1.183333333,BASELINE,765.625928526,744.187035737,714,680,658,634.187035737,879,786.187035737,805.187035737,652,631,652,0.400978736748,-0.015377123732,0.0598493409314,0.999999946043,0.00020817054111,-0.000253726158794,1.42392291931e-05,1793244877219757824
+72,1.200000000,BASELINE,764.432602265,744.783698868,714,680,658,634.783698868,879,786.783698868,805.783698868,652,631,652,0.400978311681,-0.0153767432396,0.0598482589772,0.999999945541,0.000209125314,-0.000254930654387,1.39597671563e-05,1793244877236424704
+73,1.216666667,BASELINE,764.368604667,744.631395333,714,680,658,634.631395333,879,786.631395333,805.631395333,652,630.631395333,652,0.400977902762,-0.0153770760388,0.0598477622965,0.999999945602,0.000208392532649,-0.000255296304012,1.38861724506e-05,1793244877253091328
+74,1.233333333,BASELINE,764.94682437,744.05317563,714,680,658,634.05317563,879,786.05317563,805.05317563,652,630.05317563,652,0.400977503025,-0.0153778144669,0.0598475984444,0.999999945981,0.000206700086934,-0.000255184925619,1.39296486829e-05,1793244877269757952
+75,1.250000000,BASELINE,765.523707136,744,714,680,658,634,879,786,805.523707136,652,630,652,0.400978474922,-0.0153775786706,0.0598485087007,0.999999946129,0.000207442508857,-0.000253986071723,1.41775627354e-05,1793244877286424576
+76,1.266666667,BASELINE,765.897776348,744,714,679.897776348,658,634,879,786,806,652,630,652,0.400979214181,-0.0153772790048,0.0598492289032,0.999999946144,0.000208400856816,-0.000253128172122,1.43680282614e-05,1793244877303091200
+77,1.283333333,BASELINE,765.310871632,744,714,679.310871632,658,634,879,786,806,652,630,652,0.400978191763,-0.0153771443315,0.0598485322029,0.999999945652,0.000209213770099,-0.000254409071059,1.41879376452e-05,1793244877319757824
+78,1.300000000,BASELINE,765,744,714,679,658,634,879,786,806,652,630.272436524,652,0.400977531251,-0.0153773087414,0.0598482809906,0.999999945553,0.000208941650026,-0.000255029747836,1.40215156541e-05,1793244877336424704
+79,1.316666667,BASELINE,765,744,714,679,658,634,879,786,806,652,630.851694155,652,0.400977278321,-0.0153778099824,0.0598485314921,0.999999945898,0.000207447553017,-0.000254906874837,1.38704874358e-05,1793244877353091328
+80,1.333333333,BASELINE,765,744,714,679.42899999,658,634,879,786,806,652,631,652.42899999,0.400977371033,-0.0153777102483,0.0598483901244,0.999999945486,0.000209275688519,-0.000255014998988,1.41023212642e-05,1793244877369757952
+81,1.350000000,BASELINE,765,744,714,680,658,634.005581724,879,786,806,652,631,652.994418276,0.400977579257,-0.0153773921967,0.0598481125017,0.999999944813,0.000212215684231,-0.000255203561141,1.44549739575e-05,1793244877386424832
+82,1.366666667,BASELINE,765,744,714,680,658,634.576846423,879,786,806,652,631,652.423153577,0.400977439338,-0.015375908617,0.0598476931084,0.999999944804,0.000211969531349,-0.000255487757803,1.36991475558e-05,1793244877403091456
+83,1.383333333,BASELINE,765,744,714,680,658,634.846053714,879,786.153946286,806,652.153946286,630.846053714,652,0.400977234711,-0.0153748137083,0.0598474584768,0.999999944766,0.000211850348951,-0.000255755233221,1.32778823136e-05,1793244877419757824
+84,1.400000000,BASELINE,765,744,714,680,658,634.252282646,879,786.747717354,806,652.747717354,630.252282646,652,0.400976845214,-0.0153748292328,0.0598477517095,0.999999944651,0.000212093921376,-0.000255974936083,1.3812458662e-05,1793244877436424448
+85,1.416666667,BASELINE,765,744.333060893,714,680,658,634,879,786.666939107,805.666939107,652.666939107,630.333060893,652,0.400976542887,-0.0153752515485,0.0598476194423,0.99999994471,0.000211435553415,-0.000256283094922,1.3897853541e-05,1793244877453091072
+86,1.433333333,BASELINE,765,744.912178361,714,680,658,634,879,786.087821639,805.087821639,652.087821639,630.912178361,652,0.400976304958,-0.0153759743906,0.0598471728268,0.999999944897,0.000210110855749,-0.000256656602681,1.36514050043e-05,1793244877469757696
+87,1.450000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400975976724,-0.0153760256693,0.0598465004308,0.99999994484,0.000209772470582,-0.000257157865411,1.35955988119e-05,1793244877486424320
+88,1.466666667,BASELINE,765,744.936274121,714,680,658,634,879,786.063725879,805.063725879,652,630.936274121,652,0.400975627073,-0.0153760734949,0.0598459398629,0.999999944745,0.000209628060649,-0.000257642873137,1.36212028594e-05,1793244877503090944
+89,1.483333333,BASELINE,765,744.348866632,714,680,658,634,879,786.651133368,805.651133368,652,630.348866632,652,0.400975234065,-0.0153770794435,0.0598466299293,0.999999944697,0.000209628831871,-0.000257806634831,1.4035767729e-05,1793244877519757824
+90,1.500000000,BASELINE,765,744,714,680,658,634,879,786.764595019,806,652,630,652,0.400975413605,-0.0153775326467,0.0598471918197,0.999999944805,0.000209630953507,-0.000257377360309,1.41904462667e-05,1793244877536424704
+91,1.516666667,BASELINE,765,744,714,680,658,634,879,786.184909683,806,652,630,652,0.400976430496,-0.0153771774582,0.0598475662525,0.99999994514,0.000209635050126,-0.000256080768873,1.39650403794e-05,1793244877553091328
+92,1.533333333,BASELINE,765,744,714,679.606411257,658,634,879,786,806,652,630,652,0.400977078944,-0.0153763623916,0.0598478651846,0.999999945161,0.00021030538601,-0.000255463257767,1.37099836134e-05,1793244877569757952
+93,1.550000000,BASELINE,765,744,714,679.028468721,658,634,879,786,806,652,630,652,0.400977554816,-0.0153753319218,0.0598481287527,0.999999945034,0.000211287782995,-0.000255163822301,1.3441038595e-05,1793244877586424320
+94,1.566666667,BASELINE,765,744,714,679.546755484,658,634,878.453244516,786,805.453244516,652,630.546755484,652,0.400975944536,-0.0153771412033,0.0598469629884,0.999999944775,0.000210263954926,-0.000256986797705,1.40291195907e-05,1793244877603090944
+95,1.583333333,BASELINE,765,744,714,679.878074401,658,634,878,786,805.121925599,652,630.878074401,652,0.400974913948,-0.0153782829294,0.0598461624287,0.999999944626,0.000209505347758,-0.000258165941242,1.43583096105e-05,1793244877619757568
+96,1.600000000,BASELINE,765,744,714,679.302581417,658,634,878,786,805.697418583,652,630.302581417,652,0.400976441911,-0.0153763939987,0.059846995929,0.999999944926,0.000210120047343,-0.000256540939107,1.35592348711e-05,1793244877636424704
+97,1.616666667,BASELINE,765,744.28071478,714,679.28071478,658,634,878.28071478,786.28071478,805.71928522,652,630,652,0.400976844067,-0.0153757798831,0.059847620435,0.999999945059,0.000210232581581,-0.000255944309495,1.33064889378e-05,1793244877653091328
+98,1.633333333,BASELINE,765,744.872662489,714,679.872662489,658,634,878.872662489,786.872662489,805.127337511,652,630,652,0.400975998023,-0.0153765791755,0.0598480132258,0.999999945008,0.000209788357097,-0.000256487852909,1.36594664662e-05,1793244877669758208
+99,1.650000000,BASELINE,764.547310262,745,714,679.547310262,658,634,879,787,805,652,630.452689738,652,0.400976473425,-0.0153776024573,0.0598479144918,0.999999945415,0.000208179312093,-0.00025619155375,1.4017840467e-05,1793244877686424832
+100,1.666666667,BASELINE,764.029287904,744.970712096,714,679.029287904,658,634,878.970712096,786.970712096,805.029287904,652,631,652,0.400977209764,-0.0153785568464,0.0598476682458,0.999999945879,0.000206478396553,-0.000255742279416,1.43305842938e-05,1793244877703091456
+101,1.683333333,BASELINE,764.602875581,744.397124419,714,679.602875581,658,634,878.397124419,786.397124419,805.602875581,652,631,652,0.400976064661,-0.0153770900079,0.0598471841567,0.999999945109,0.000209003145864,-0.000256727794182,1.37678292313e-05,1793244877719757824
+102,1.700000000,BASELINE,765,744,714,679.817932201,658,634,878.182067799,786,806,652,630.817932201,652,0.400975582541,-0.015376856721,0.0598469776133,0.999999944725,0.000210286867441,-0.000257184127196,1.36072258274e-05,1793244877736424192
+103,1.716666667,BASELINE,765,744,714,679.226127239,658,634,878.773872761,786,806,652,630.226127239,652,0.400976592444,-0.0153793994985,0.0598473956769,0.99999994522,0.00020877769951,-0.000256449555199,1.43516506322e-05,1793244877753090816
+104,1.733333333,BASELINE,765,744.357213077,714,679.357213077,658,634,879,786,806,652,630.357213077,652,0.400977844288,-0.0153777599758,0.059848167194,0.999999945534,0.000208954531792,-0.000255085436101,1.42007222282e-05,1793244877769757440
+105,1.750000000,BASELINE,765,744.935319095,714,679.935319095,658,634,879,786,806,652,630.935319095,652,0.400979245743,-0.0153735342084,0.0598491572792,0.999999945734,0.000210173950466,-0.000253332018445,1.34961265873e-05,1793244877786424320
+106,1.766666667,BASELINE,765,744.488816523,714,679.488816523,658,634,878.488816523,786.511183477,806,652,630.488816523,652,0.400978511588,-0.0153745381598,0.0598491603405,0.999999945527,0.000210770143545,-0.000253640469307,1.37582477335e-05,1793244877803091200
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,806,652,631,652,0.400975718806,-0.0153802497181,0.0598465773746,0.999999946017,0.000203748159303,-0.000257406784485,1.39370672426e-05,1793244877845599232
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679.578527807,658,634,879,786,806,652,630.421472193,652,0.400976310759,-0.0153776557638,0.0598473976752,0.999999945487,0.000207494112901,-0.000256480762705,1.38103890032e-05,1793244877862266112
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,879.156844388,786,806,652,630,652,0.40097702361,-0.0153761931929,0.0598481823015,0.999999945357,0.000209446769036,-0.000255396122713,1.38048078123e-05,1793244877878932736
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,879.734594254,786,806,652,630,652,0.4009780609,-0.0153777667868,0.0598488711934,0.999999946332,0.000206586957168,-0.000253885816836,1.41242009969e-05,1793244877895598848
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.30888879,714,680,658,634,879.69111121,786,806,652,630,652,0.400977930925,-0.0153774669782,0.0598489773802,0.99999994626,0.000207102250558,-0.000253753617352,1.40338595759e-05,1793244877912265472
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.880247222,714,680,658,634,879.119752778,786,806,652,630,652,0.400976809096,-0.0153755752981,0.0598485884296,0.999999945296,0.000210485445751,-0.000254792425459,1.35953575735e-05,1793244877928932352
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.469172737,786,806,652,630,652,0.400976271327,-0.0153761316887,0.0598483927113,0.999999945403,0.000209414328611,-0.000255246579031,1.37278097748e-05,1793244877945598976
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.938732952,745,714,680,658.061267048,634,879.877465904,786.061267048,806,652,630,652,0.400975845556,-0.0153771898,0.0598481892718,0.999999945697,0.00020737297068,-0.000255748011387,1.39428520014e-05,1793244877962265600
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.359237455,745,714,680,658.640762545,634,878.718474911,786.640762545,806,652,630,652,0.400975057099,-0.0153770008141,0.0598474871117,0.999999945188,0.000207115634303,-0.000257960705952,1.3575859018e-05,1793244877978932480
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.218026734,744.781973266,714,679.781973266,658.781973266,634,878.218026734,787,806,652,630.218026734,652,0.400979633494,-0.0153776108958,0.0598494345079,0.999999946051,0.000206607746785,-0.000254998857219,1.36821907628e-05,1793244877995599104
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.791651638,744.208348362,714,679.208348362,658.208348362,634,878.791651638,787,806,652,630.791651638,652,0.400992959879,-0.0153795242441,0.0598557032887,0.99999994907,0.000205691214311,-0.000243597409582,1.45605077237e-05,1793244878012265728
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.365728599,714,679.365728599,658,634,879,786.634271401,806,652,631,652,0.401020479158,-0.0153812833958,0.0598662950808,0.999999953697,0.000205430761509,-0.000223964630679,1.56529875723e-05,1793244878028932096
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.94006346,714,679.94006346,658,634,879,786.05993654,806,652,631,652,0.401056093857,-0.0153829545961,0.059879352656,0.999999958806,0.000205544526815,-0.000199636819204,1.68676228873e-05,1793244878045598720
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.468305198,744.468305198,714,680,658,634,879,786,806,652,630.468305198,652,0.401114989914,-0.0153857092205,0.0598986562761,0.999999965118,0.000204986486259,-0.000165549211213,1.84117009211e-05,1793244878062265344
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.122039447,744,714,679.877960553,658.122039447,634,879,786,806,652,630.122039447,652,0.401179777071,-0.015389209383,0.0599176150333,0.99999997003,0.000203904214072,-0.000134020986801,2.00146805536e-05,1793244878078931968
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.700047044,744,714,679.299952956,658.700047044,634,879,786,806,652,630.700047044,652,0.401256439523,-0.015395023397,0.0599325661681,0.99999997277,0.000201155751946,-0.000116304022142,2.16943120876e-05,1793244878095599104
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,714,679.275877534,658.724122466,634.275877534,879.275877534,786,806,652,630.724122466,652,0.401340581907,-0.0153985692966,0.0599431568099,0.99999997454,0.000201030183381,-0.000100071779017,2.22090705549e-05,1793244878112265984
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,714,679.849359423,658.150640577,634.849359423,879.849359423,786,806,652,630.150640577,652,0.401432793303,-0.0153996684556,0.0599490435459,0.999999975366,0.00020373407536,-8.54411882076e-05,2.14672159161e-05,1793244878128932352
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.435394762,714,680,658,634.564605238,879.129210476,786.435394762,806,652,630.435394762,652,0.401531217605,-0.0154047157035,0.0599493324008,0.999999975797,0.000202748521444,-8.28692567733e-05,2.07550517162e-05,1793244878145598720
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.974583464,714,680,658,634.025416536,878.025416536,786.974583464,806,652,630.974583464,652,0.401633022068,-0.0154112118917,0.0599476011006,0.999999976141,0.00020039137548,-8.46160163631e-05,2.00231388455e-05,1793244878162265600
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.395151349,714,680,658,634.604848651,878.604848651,786.395151349,806,652,630.395151349,652,0.401760259016,-0.0154186323453,0.0599453059992,0.999999976692,0.000196787466035,-8.68575309256e-05,1.86301935674e-05,1793244878178932224
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.183082589,714,680,658,634.816917411,879,786,805.816917411,652,630,652,0.401901797077,-0.0154267645779,0.0599439767821,0.999999977805,0.000191531694693,-8.61017632877e-05,1.71033348967e-05,1793244878195598592
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.758747215,714,680,658,634.241252785,879,786,805.241252785,652,630,652,0.402074000846,-0.0154364230696,0.059944718701,0.999999980073,0.000182733854017,-7.89189552213e-05,1.52893273499e-05,1793244878212265216
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.659365685,714,680,658,634,879,786,805.340634315,652,630.340634315,652,0.402262372406,-0.0154455113797,0.0599466268272,0.999999981858,0.000176704198662,-6.98201670761e-05,1.36198658634e-05,1793244878228932096
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.072989481,714,680,658,634,879,786,805.927010519,652,630.927010519,652,0.402462407821,-0.0154541883479,0.0599493762838,0.999999983259,0.000172671578685,-5.93391435082e-05,1.20546832367e-05,1793244878245598976
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,879,786,806,652,631,652,0.402690853943,-0.0154645012567,0.0599505651342,0.999999984441,0.000167458544752,-5.45097926506e-05,1.01749128913e-05,1793244878262265600
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.086044146,634.086044146,879,786,805.913955854,652,630.913955854,652,0.402929589337,-0.0154749795442,0.0599516447307,0.9999999856,0.00016187149236,-5.0310869393e-05,8.14425199181e-06,1793244878278932224
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.665046329,634.665046329,879,786,805.334953671,652,630.334953671,652,0.403204132174,-0.0154850727979,0.0599533695498,0.999999986938,0.00015510311405,-4.51203186225e-05,5.50535829914e-06,1793244878295598848
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.75806209,744,714,680,659,635,879,786,805.24193791,652,630,652,0.403490565133,-0.0154928425476,0.0599494403974,0.999999987258,0.000151583157797,-5.00019104672e-05,2.40643782307e-06,1793244878312265472
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.184067319,744,714,680,659,635,879,786,805.815932681,652,630,652,0.403793317127,-0.0154974233157,0.0599377512374,0.999999986007,0.000152521621979,-6.87073967511e-05,-1.32386370132e-06,1793244878328932096
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.400304509,744.400304509,714,680,658.599695491,634.599695491,878.599695491,786,806,652,630,652,0.40410774761,-0.0154912665136,0.0599238375293,0.999999990441,0.000102401774912,-9.27215836363e-05,-5.93259926952e-06,1793244878345598464
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.989574865,744.989574865,714,680,658.010425135,634.010425135,878.010425135,786,806,652,630,652,0.404427690977,-0.015480040985,0.0599088737118,0.999999992434,2.8179583188e-05,-0.00011924176953,-1.09560041078e-05,1793244878362265088
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.568917084,786.568917084,806,652,630.568917084,652,0.404805023619,-0.0154785713474,0.0599030460841,0.999999990429,3.84774477638e-05,-0.000132009834879,-1.53563754346e-05,1793244878378932224
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.852532923,658.147467077,634,879.147467077,786.852532923,806,652,630.852532923,652,0.40520431243,-0.0154805456001,0.0599025037719,0.999999989623,4.72188203216e-05,-0.00013477047139,-1.90153638207e-05,1793244878395599360
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.275768778,658.724231222,634,879.724231222,786.275768778,806,652,630.275768778,652,0.405664509686,-0.0154920339903,0.0599168687322,0.999999992731,4.69976177307e-05,-0.000109119122819,-2.05487489039e-05,1793244878412265984
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.700868212,714,679,659,634.299131788,879.700868212,786,806,652,630,652,0.406161870463,-0.0155009589313,0.0599397348811,0.999999996543,4.12681259743e-05,-6.87627492025e-05,-2.19651364423e-05,1793244878428932608
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.127674974,714,679,659,634.872325026,879.127674974,786,806,652,630,652,0.406693280126,-0.0155075352679,0.0599703897327,0.999999999153,3.04919965356e-05,-1.4933780602e-05,-2.32743321761e-05,1793244878445599232
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.460190471,714,679.460190471,659,634.539809529,879,786,806,652,630.460190471,652,0.407220402962,-0.0155110018875,0.0599894893679,0.999999999629,3.93087199964e-06,9.76254801831e-06,-2.51204886135e-05,1793244878462265856
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.948861441,714,680,659,634,879,786,806,652,630.948861441,652,0.407746867083,-0.0155130525616,0.0600028025295,0.999999999091,-2.45024161139e-05,2.1599728698e-05,-2.7422318526e-05,1793244878478932992
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.36950295,714,680,659,634,879,786,806,652,630.36950295,652,0.408279217017,-0.0155096827439,0.0599905507232,0.999999999048,-2.55484770172e-05,-1.31521080866e-05,-3.28414301167e-05,1793244878495599360
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879,786,806,652,630,652,0.408833464551,-0.0155072954794,0.0599789118212,0.999999997924,-2.81117813119e-05,-4.33903638565e-05,-3.84635141158e-05,1793244878512265728
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879,786,806,652,630,652,0.409426268229,-0.0155066382449,0.0599683520907,0.999999996299,-3.33465702233e-05,-6.56813347172e-05,-4.44429812813e-05,1793244878528932352
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.363943886,714,680,659,634,879.363943886,786,806,652,630,652,0.410073193026,-0.0155098133537,0.0599715284232,0.999999995867,-5.56483519385e-05,-5.25739499001e-05,-4.90433092928e-05,1793244878545599232
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.953011426,714,680,659,634,879.953011426,786,806,652,630,652,0.410753595336,-0.0155153590234,0.0599832014305,0.999999994535,-8.85072108318e-05,-1.75703117212e-05,-5.27905471197e-05,1793244878562266112
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.466282218,714,680,659,634,879.466282218,786,806,652,630,652,0.411444002696,-0.0155193414967,0.0599839597423,0.999999993564,-9.69333837339e-05,-1.57236517323e-05,-5.68245349803e-05,1793244878578932992
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.113176797,744,714,680,659,634,879,786,806,651.886823203,630.113176797,652,0.412128691319,-0.0155203907645,0.0599770304701,0.999999994653,-8.1949686272e-05,-2.98154904727e-05,-5.55792286047e-05,1793244878595599872
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.690492569,744,714,680,659,634,879,786,806,651.309507431,630.690492569,652,0.412786370528,-0.015509966623,0.0599424543548,0.99999999451,2.03526503716e-05,-9.74844603301e-05,-3.25815562993e-05,1793244878612265728
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.735108041,744.264891959,714,680.264891959,659,634,879,786,806,651.264891959,630.735108041,652,0.4134841995,-0.0155022576842,0.0599187780541,0.999999987337,6.86444885039e-05,-0.00014159235118,-2.37774338914e-05,1793244878628932096
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.164079055,744.835920945,714,680.835920945,659,634,879,786,806,651.835920945,630.164079055,652,0.414228429851,-0.0154976867182,0.059907698722,0.999999985465,5.4516123681e-05,-0.000158470589541,-3.13768690296e-05,1793244878645598720
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.423204301,745,714,680.576795699,659,634,879,786.423204301,806,652,630.423204301,652,0.415068930437,-0.0155088780614,0.0599439314273,0.99999999493,2.8513815692e-05,-9.07291719479e-05,-3.30937928152e-05,1793244878662265600
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.983376813,745,714,680,659.016623187,634,879.016623187,787,806,652,630.983376813,652,0.415946774965,-0.0155260646467,0.0599981150356,0.999999999433,-1.91972264565e-06,8.69753182523e-06,-3.24620535706e-05,1793244878678932224
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.40410829,745,714,680,659.59589171,634,879.59589171,787,806,652,630.40410829,652,0.416774816434,-0.0155310663805,0.060014222785,0.99999999893,-2.02952688175e-05,2.57846949309e-05,-3.26128630816e-05,1793244878695599104
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.825749228,634,879.825749228,786.825749228,805.825749228,652,630,652,0.417602598772,-0.0155332318534,0.0600197739172,0.999999998517,-2.94632616199e-05,3.09625573401e-05,-3.37599523802e-05,1793244878712265728
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.249488393,634,879.249488393,786.249488393,805.249488393,652,630,652,0.418429783227,-0.0155288538514,0.0600009701126,0.999999999119,-1.7388712749e-05,8.66473728579e-06,-3.72055365263e-05,1793244878728932096
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.325780304,659,634,879,786.325780304,805.325780304,652,630,652,0.419263578337,-0.0155260591204,0.0599770374636,0.999999998675,-1.54352047916e-05,-2.70981697824e-05,-4.0961191814e-05,1793244878745598976
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.900291484,659,634,879,786.900291484,805.900291484,652,630,652,0.420102420596,-0.0155244732054,0.0599491889802,0.99999999609,-2.12090379806e-05,-7.31415711152e-05,-4.4953583935e-05,1793244878762265600
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.511680614,714,680.511680614,659,634,879,786.511680614,806,651.511680614,630.488319386,652,0.420926035983,-0.0155250187543,0.0599134863645,0.999999988933,-2.33167882426e-05,-0.000138811365733,-4.81824533676e-05,1793244878778932224
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.07751743,744.07751743,714,680.07751743,659,634,879,786,806,651,630.92248257,652,0.421761049709,-0.0155262116938,0.0598828272521,0.999999979275,-2.48891942901e-05,-0.00019552677677,-5.09833557053e-05,1793244878795599104
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.655934588,744.655934588,714,680.655934588,659,634,879,786,806,651,630.344065412,652,0.422690378909,-0.0155286955871,0.059895415941,0.999999984184,-2.79770974815e-05,-0.000167748555328,-5.20549113383e-05,1793244878812265728
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,680.767669067,659,634,879,786,805.767669067,651.232330933,630,651.767669067,0.423639415408,-0.0155335113187,0.0599310534428,0.999999992443,-3.35548217032e-05,-0.000107148112871,-5.00810923144e-05,1793244878828932352
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680.19423951,659,634,879,786,805.19423951,651.80576049,630,651.19423951,0.424617385482,-0.0155417505587,0.0600005302562,0.999999998131,-4.27879979651e-05,1.64055625263e-06,-4.36361804876e-05,1793244878845599232
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.619915545,745,714,680,659.380084455,634,879.380084455,786,805.380084455,652,630,651.380084455,0.425567218385,-0.0155441594859,0.0600306209419,0.999999996694,-4.5845943789e-05,5.24974841301e-05,-4.18716545691e-05,1793244878862265856
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.045133455,745,714,680,659.954866545,634,879.954866545,786,805.954866545,652,630,651.954866545,0.42650263801,-0.0155435818445,0.0600405361446,0.999999995336,-4.57406376291e-05,7.36789667743e-05,-4.25046491497e-05,1793244878878932224
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.451181352,714,680,660,634,879.451181352,786,806.548818648,651.451181352,630.548818648,652,0.427428429099,-0.0155467572702,0.0600174737456,0.999999996538,-5.23536487328e-05,4.61442614952e-05,-4.53265121012e-05,1793244878895598848
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.139569711,714,680,660,634,879.139569711,786.139569711,807,651.139569711,631,652,0.428336486443,-0.0155478196099,0.0599900197242,0.999999997174,-5.68734110387e-05,9.15267610464e-06,-4.8300625079e-05,1793244878912265728
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.715215394,714,680,660,634,879.715215394,786.715215394,807,651.715215394,631,652,0.429191699432,-0.0155412805212,0.0599576245076,0.999999996297,-5.30642416498e-05,-4.44158313491e-05,-5.11676571285e-05,1793244878928932352
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.289125122,745,714,680,660,634,880.289125122,787,807,652,631,652,0.430061894943,-0.0155387169403,0.0599339273644,0.999999993757,-5.14714742711e-05,-8.33034116337e-05,-5.38170638083e-05,1793244878945598976
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.861335128,745,714,680,660,634,880.861335128,787,807,652,631,652,0.43094675992,-0.0155400458136,0.0599187465812,0.999999991251,-5.20488054054e-05,-0.000107816767251,-5.62533915407e-05,1793244878962265600
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.552578711,745,714,680.447421289,659.552578711,634,880.552578711,786.552578711,807,652,631,652,0.431921118362,-0.015546040907,0.0599577425005,0.999999995879,-6.2678698051e-05,-3.72526857364e-05,-5.40938908891e-05,1793244878978932480
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.037271647,634,880,786.037271647,806.962728353,652,631,652,0.432916687304,-0.0155530424193,0.060010447713,0.999999994294,-7.51246628047e-05,5.65710721406e-05,-5.06838860531e-05,1793244878995599104
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.617307047,634,880,786.617307047,806.382692953,652,631,652,0.433804303489,-0.0155529662773,0.0600104580582,0.999999995398,-6.7195896996e-05,4.62759518335e-05,-5.0469218568e-05,1793244879012265984
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.196083695,786.803916305,806,651.803916305,630.803916305,652,0.434679985306,-0.0155527381859,0.0599996849943,0.999999996414,-6.35216547945e-05,2.18047827947e-05,-5.15938281308e-05,1793244879028932608
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.772419431,786.227580569,806,651.227580569,630.227580569,652,0.435532523756,-0.0155522154292,0.0599680003838,0.999999995697,-6.80979251687e-05,-3.01570546023e-05,-5.53156082942e-05,1793244879045598976
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.650646573,660,634,880.650646573,786.349353427,806.349353427,651,630.349353427,652,0.436345675502,-0.0155501890504,0.0599431820043,0.999999993219,-7.13218045404e-05,-7.08746933133e-05,-5.87504617694e-05,1793244879062265344
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.073322217,660,634,880.073322217,786.926677783,806.926677783,651,630.926677783,652,0.437133125364,-0.0155471814815,0.0599228441926,0.99999998993,-7.36631795516e-05,-0.000104254915752,-6.19980807403e-05,1793244879078931968
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.51296589,660.51296589,634,880,787,806.48703411,651,631,652,0.43794991224,-0.0155417913558,0.0599028340796,0.999999983522,-7.58783694771e-05,-0.000151896609089,-6.42270777205e-05,1793244879095598848
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681.098946933,660.901053067,634,880,787,806,651.098946933,631,652,0.438780402192,-0.0155385443417,0.0598941666639,0.999999978727,-7.88300690407e-05,-0.000179070552574,-6.53156905949e-05,1793244879112265472
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681.677124853,660.322875147,634,880,787,806,651.677124853,631,652,0.439656589416,-0.0155473558501,0.0599402045863,0.999999989742,-8.54378265028e-05,-9.70640684007e-05,-6.15987926285e-05,1793244879128932096
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.745801975,714,681.745801975,660,634,880.254198025,787,806,652,631,652,0.440488883514,-0.0155562928688,0.0599743245158,0.99999999299,-9.45219599489e-05,-4.167561799e-05,-5.78735191026e-05,1793244879145598720
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.170125996,714,681.170125996,660,634,880.829874004,787,806,652,631,652,0.441265666994,-0.0155653886166,0.0599933720509,0.999999992639,-0.000106737904885,-1.99503432449e-05,-5.41376538763e-05,1793244879162265600
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.414148245,714,681,660,633.585851755,880.585851755,786.585851755,806.414148245,651.585851755,630.585851755,651.585851755,0.441958243887,-0.0155727029683,0.059958756988,0.999999989013,-0.000114990774659,-7.4260042691e-05,-5.68966555679e-05,1793244879178932224
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.997987232,714,681,659.997987232,633,880,786,807,651,630.002012768,651.002012768,0.442615563941,-0.015579263729,0.0599016721476,0.999999977793,-0.000121638708764,-0.000160394926721,-6.23780738844e-05,1793244879195598848
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.414941344,714,681,659.414941344,633,880,786,807,651,630.585058656,651.585058656,0.443292314008,-0.015584004162,0.0598565364381,0.999999961701,-0.000144900622052,-0.000226011671759,-6.72404120412e-05,1793244879212265472
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.165187514,714,681,659,633,880,785.834812486,807,651.165187514,631,652,0.443958200597,-0.0155911859741,0.0598230699424,0.999999945954,-0.000164954017059,-0.000275463326243,-7.07193191425e-05,1793244879228932096
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.738116227,714,681,659,633,880,785.261883773,807,651.738116227,631,652,0.444597272426,-0.0156043939741,0.0598184071838,0.999999941198,-0.000177087660621,-0.000285013836685,-7.07834308663e-05,1793244879245598464
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.312597888,785.312597888,807,652,630.687402112,652,0.445198502969,-0.0156171089131,0.0598011738397,0.999999927118,-0.00019381022846,-0.000321041617023,-7.16491569472e-05,1793244879262265344
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.888387016,785.888387016,807,652,630.111612984,652,0.44576787307,-0.0156294087194,0.0597733567137,0.999999902381,-0.000214396431737,-0.000379361886598,-7.31898006181e-05,1793244879278931968
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.521731652,633,880.521731652,785.521731652,807,652,630,652,0.446323367819,-0.0156350175431,0.0597484239829,0.999999885061,-0.000232100270841,-0.000412488075385,-7.65509348751e-05,1793244879295598592
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681.069438232,658.069438232,632.930561768,880.069438232,785,807,652,630,652,0.446877942213,-0.0156399148862,0.0597287061265,0.99999987202,-0.000248079558157,-0.000433627702058,-7.99022799736e-05,1793244879312265216
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.645292932,658.645292932,632.354707068,880.645292932,785,807,652,630,652,0.447450136853,-0.015651356958,0.0597419624077,0.999999879217,-0.00025653624152,-0.000411530151045,-7.99897428988e-05,1793244879328931840
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.21979144,745,714,681.78020856,659,632,880.78020856,784.78020856,807,651.78020856,630,652,0.447989100433,-0.015662748943,0.0597494798002,0.999999881115,-0.000268853159836,-0.000398832274491,-8.01313159312e-05,1793244879345598720
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.792114645,745,714,681.207885355,659,632,880.207885355,784.207885355,807,651.207885355,630,652,0.44847476341,-0.0156740605907,0.0597477923717,0.999999874998,-0.000287361653655,-0.000401210892059,-8.03596782317e-05,1793244879362265856
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.624440978,745,714,681.375559022,659,632,880.375559022,784,807,651,629.624440978,652,0.448899050706,-0.0156773540672,0.0597219628248,0.999999852527,-0.000303197777064,-0.000442815172988,-8.32537996193e-05,1793244879378932480
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.034652725,745,714,681.965347275,659,632,880.965347275,784,807,651,629.034652725,652,0.449288327666,-0.0156760737585,0.0596823619472,0.99999981733,-0.000317509507351,-0.00050679485361,-8.7668543301e-05,1793244879395599360
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,632,880.458134634,784,807.541865366,651.541865366,629.541865366,652,0.449667621553,-0.0156767864851,0.0596488330838,0.999999792147,-0.000317608656006,-0.00055367319447,-9.09729527058e-05,1793244879412265472
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.882862006,632,880.117137994,783.882862006,807.882862006,651.882862006,629.882862006,652,0.450046623144,-0.0156798693518,0.0596230935265,0.999999776039,-0.000306168311344,-0.00058841112075,-8.91965968857e-05,1793244879428931840
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.309214772,632,880.690785228,783.309214772,807.309214772,651.309214772,629.309214772,652,0.450426914307,-0.0156917042624,0.0596262332355,0.999999797439,-0.000253213855697,-0.000579995796089,-6.78896374432e-05,1793244879445598976
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631.732992577,881,783,807,651,629,652,0.450787744123,-0.0156981269471,0.0596328101114,0.999999812431,-0.000226143853472,-0.000566428166663,-5.61702757846e-05,1793244879462265856
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631.153759381,881,783,807,651,629,652,0.451125816743,-0.0156982208317,0.0596434062464,0.999999822637,-0.000229341903125,-0.000546835679306,-5.56621961705e-05,1793244879478932224
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.435975333,745,714,682,658,631,880.564024667,783,807,651,629,652,0.451430948153,-0.0157014855989,0.0596531577548,0.999999825887,-0.000248493399232,-0.000532249869036,-5.64590254963e-05,1793244879495598848
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.971247964,745,714,682,658,631,880,782.971247964,807,651,629,651.971247964,0.451722162998,-0.0157058568608,0.0596620841273,0.99999982592,-0.0002726983568,-0.000520059333347,-5.77335136867e-05,1793244879512265472
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.392867233,745,714,682,658,631,880,782.392867233,807,651,629,651.392867233,0.4519749135,-0.0157094747334,0.0596610719797,0.999999823407,-0.000283295348678,-0.000519069766384,-5.91243400989e-05,1793244879528932352
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681.81616327,658,631,880,782,807,651.18383673,629,651.18383673,0.452210668629,-0.0157115696824,0.0596566839448,0.999999818405,-0.000290942099489,-0.000524253497272,-6.08402624134e-05,1793244879545598976
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681.243010323,658,631,880,782,807,651.756989677,629,651.756989677,0.452410432142,-0.0157104394931,0.0596451466984,0.99999980811,-0.000292341040369,-0.000542510594949,-6.32446492959e-05,1793244879562265856
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.660132019,745,714,681.339867981,658.339867981,631,880,782,807,651.660132019,629,652,0.452592937595,-0.0157122287015,0.0596390330148,0.999999801264,-0.000297445616397,-0.000552114588,-6.45635012496e-05,1793244879578932736
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.070095046,745,714,681.929904954,658.929904954,631,880,782,807,651.070095046,629,652,0.452762739808,-0.0157161668112,0.0596369114898,0.999999797078,-0.000305277825287,-0.000555349232012,-6.50833162042e-05,1793244879595599360
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.510392129,745,714,682,658.489607871,631,880,782,807,651,629,651.489607871,0.452906078243,-0.0157184808006,0.0596335476954,0.999999790837,-0.000309028653488,-0.000564339328811,-6.59412311228e-05,1793244879612265728
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681.91060099,658,631,880.08939901,782,807,651,628.91060099,651.08939901,0.453041750434,-0.015720775246,0.0596297990165,0.999999784412,-0.000312223754545,-0.000573786472579,-6.6797839537e-05,1793244879628932096
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681.332647812,658,631,880.667352188,782,807,651,628.332647812,651.667352188,0.453155024484,-0.0157241594369,0.0596248622169,0.999999778928,-0.000315388783409,-0.000581491068484,-6.73982176866e-05,1793244879645598976
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681.243842426,657.756157574,631,880.756157574,782,807.243842426,651.243842426,628,652,0.453260594737,-0.0157276151305,0.0596214122054,0.999999774116,-0.000319174117109,-0.00058763432532,-6.76909842305e-05,1793244879662265344
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681.818348799,657.181651201,631,880.181651201,782,807.818348799,651.818348799,628,652,0.453355718202,-0.0157311677856,0.059619978362,0.999999770263,-0.000323800618631,-0.000591660318753,-6.75666122264e-05,1793244879678931968
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657.402608449,630.597391551,880,782,807.597391551,651.597391551,628,652,0.453434695372,-0.0157352774559,0.0596194972582,0.999999767719,-0.000329115079395,-0.000593080020953,-6.70870348841e-05,1793244879695598848
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657.991377872,630.008622128,880,782,807.008622128,651.008622128,628,652,0.453506206699,-0.0157396446828,0.059619456689,0.999999765765,-0.000334747643541,-0.000593294607445,-6.64432151587e-05,1793244879712265984
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.428657678,745,714,682,657.428657678,630,880,782,807,651.571342322,628,652,0.453562503489,-0.0157433244856,0.0596223107435,0.999999767703,-0.000338115302285,-0.000588203819884,-6.54820086994e-05,1793244879728932864
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.150128169,745,714,682,657,630.150128169,880.150128169,781.849871831,807,652,628,652,0.453613592498,-0.0157460112076,0.0596239899858,0.999999768529,-0.000340955276372,-0.000585236119909,-6.47254368525e-05,1793244879745599488
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.725943053,745,714,682,657,630.725943053,880.725943053,781.274056947,807,652,628,652,0.45365055605,-0.0157459110281,0.0596222160791,0.999999766126,-0.000342394451292,-0.000588511984919,-6.45624792617e-05,1793244879762265600
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657.307293574,631,880.692706426,781,807,651.692706426,628,652,0.453680939551,-0.0157475302339,0.0596207970983,0.999999764006,-0.000345514321177,-0.000590341639669,-6.40734473478e-05,1793244879778931968
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657.893671635,631,880.106328365,781,807,651.106328365,628,652,0.453705347044,-0.0157507109881,0.0596197004616,0.999999762135,-0.000350160600915,-0.000590857844457,-6.32882742243e-05,1793244879795598592
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764.05382751,745,714,682,658,630.94617249,881,781,807,652,628.05382751,652,0.453732648949,-0.0157582100101,0.0596144003251,0.999999754598,-0.000358113916251,-0.00059899193858,-6.13752546468e-05,1793244879828932096
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.633159156,745,714,682,658,630.366840844,881,781,807,652,628.633159156,652,0.453739829278,-0.0157596479804,0.0596144705982,0.999999752746,-0.000360939129135,-0.000600450016378,-6.07551268546e-05,1793244879845598976
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.786202308,745.213797692,714,681.786202308,658,630,881,781.213797692,807,652,628.786202308,652,0.453747245584,-0.0157595432873,0.0596151038753,0.999999752739,-0.000361417278709,-0.000600219032998,-6.02962299599e-05,1793244879862265600
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.203307615,745.796692385,714,681.203307615,658,630,881,781.796692385,807,652,628.203307615,652,0.453755069277,-0.0157567753641,0.0596167091138,0.99999975592,-0.000357843494602,-0.000597072080642,-6.01156796101e-05,1793244879878931968
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.377421367,745.622578633,714,681.377421367,658,630,880.622578633,781.622578633,807,651.622578633,628,652,0.453758405186,-0.0157547689622,0.0596163276624,0.999999756257,-0.000356766187378,-0.000597121327865,-6.04215077022e-05,1793244879895598592
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.956990371,745.043009629,714,681.956990371,658,630,880.043009629,781.043009629,807,651.043009629,628,652,0.453759337429,-0.0157531704326,0.0596148821358,0.999999755076,-0.000357025998269,-0.000598882466064,-6.0987841064e-05,1793244879912265216
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658,630.536440102,880,781.536440102,807.536440102,651.536440102,628,652,0.453759011522,-0.015754885229,0.0596135383244,0.99999975285,-0.000359221540324,-0.000601344016937,-6.03683644214e-05,1793244879928931840
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681.884599936,657.884599936,630.884599936,880,781.884599936,807.884599936,652,628,652,0.453758801936,-0.0157560930118,0.0596124105375,0.999999751286,-0.000360432443387,-0.000603275303472,-5.97902478467e-05,1793244879945598464
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681.307561118,657.307561118,630.307561118,880,781.307561118,807.307561118,652,628,652,0.453759461111,-0.0157542101205,0.0596121143047,0.99999975274,-0.000357083750781,-0.000602860761138,-5.97578267874e-05,1793244879962265088
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.26718971,657.26718971,630,880.26718971,781,807,652,628,652,0.453760195567,-0.0157529327895,0.0596121499049,0.999999754052,-0.000354165845399,-0.000602400421299,-5.97970812663e-05,1793244879978932224
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.839329276,657.839329276,630,880.839329276,781,807,652,628,652,0.453761015945,-0.0157523465983,0.0596125642339,0.99999975521,-0.000351739607109,-0.000601887811651,-5.99181407075e-05,1793244879995599616
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657.573815952,630,880.573815952,781,807,652,628.426184048,652,0.453761173832,-0.0157521895485,0.0596123029345,0.999999754268,-0.000352884642282,-0.000602799917695,-5.97354246952e-05,1793244880012266496
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657,630.018363427,880,781,807,651.981636573,628.981636573,652,0.453761107492,-0.0157522390558,0.0596118065494,0.999999752563,-0.000355400606743,-0.000604177485054,-5.94487045534e-05,1793244880028932864
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,630.597671474,880,781,807,651.402328526,628.402328526,652,0.453762093868,-0.0157534794447,0.0596121879037,0.999999752757,-0.000357196135297,-0.000602779479519,-5.96084070234e-05,1793244880045599488
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657,630.824190189,880,781,807,651,628,652,0.453763122217,-0.0157534773119,0.0596125915492,0.999999753304,-0.000357422787133,-0.00060171948931,-5.97863769338e-05,1793244880062266112
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657,630.24871099,880,781,807,651,628,652,0.453764245984,-0.015750650548,0.0596130458693,0.999999754655,-0.000354082903006,-0.00060142791124,-6.00058743047e-05,1793244880078932224
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,630,880,781,807,651,628,652,0.453763735507,-0.0157493834503,0.0596121626841,0.999999754162,-0.000352544146031,-0.000603157829761,-5.99031092212e-05,1793244880095598592
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657,630,880,781,807,651,628,652,0.453761981168,-0.0157493034514,0.0596102614921,0.999999752266,-0.000352376269412,-0.000606426356858,-5.95550625996e-05,1793244880112265216
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657.500349445,630,880,781,807,651.500349445,628,652,0.453763539906,-0.015751220045,0.0596114459225,0.999999752922,-0.000354276499577,-0.000604263528478,-5.92418496706e-05,1793244880128931840
+245,4.083333333,HOLD_POSE2,765,745,714,681,657,630,880,781,807,651,628,652,0.453764881952,-0.015749770173,0.059613172285,0.999999754976,-0.000352682891592,-0.000601830498292,-5.88444788843e-05,1793244880172260864
+246,4.100000000,HOLD_POSE2,765,745,714,681.573083241,657,630,880.573083241,781,807,651.573083241,628,652,0.453765310834,-0.0157499845815,0.0596125252348,0.999999754824,-0.000353311236063,-0.000601684427726,-5.91520442777e-05,1793244880188927488
+247,4.116666667,HOLD_POSE2,765,745,714,681.848763215,657.151236785,630.151236785,880.848763215,781,807,652,628,652,0.453765815994,-0.0157504672254,0.059612326693,0.99999975465,-0.000354204086319,-0.000601440641133,-5.92249775837e-05,1793244880205594112
+248,4.133333333,HOLD_POSE2,765,745,714,681.255800412,657.744199588,630.744199588,880.255800412,781,807,652,628,652,0.453766543946,-0.0157517333203,0.0596134381356,0.999999754413,-0.000355869494056,-0.000600911449663,-5.86126074624e-05,1793244880222260480
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+250,4.166666667,HOLD_POSE2,765,745,714,681.909852853,657.090147147,630.090147147,880.909852853,781,807,651.090147147,628,651.090147147,0.453765881096,-0.0157497881294,0.0596123052349,0.999999754441,-0.000352635596369,-0.000602740601194,-5.89111856632e-05,1793244880255592704
+251,4.183333333,HOLD_POSE2,765,745,713.515735627,682.484264373,657,630.484264373,880.515735627,781,807,651,628,651.484264373,0.453765472843,-0.0157483324777,0.0596116956756,0.999999754158,-0.000351644918367,-0.000603763071052,-5.91663377131e-05,1793244880272259840
+252,4.200000000,HOLD_POSE2,765,745,713.118293962,682.940853019,657.059146981,630.940853019,880,781,807,651.059146981,628,651.940853019,0.453765066114,-0.0157472634173,0.0596111627655,0.999999753726,-0.00035123366049,-0.000604697829325,-5.93564561006e-05,1793244880288926720
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+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,631,880,781,807,652,628,651,0.453768333976,-0.0157471076884,0.0596130402654,0.999999755519,-0.000349944355509,-0.000602593923498,-5.81576122355e-05,1793244880488154880
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.14802292,745.85197708,714,682,657,630,880.14802292,781,807,652,628.14802292,652,0.453765931041,-0.0157466095825,0.0596105721946,0.999999753824,-0.00035127846318,-0.000604563356827,-5.88030282567e-05,1793244880521488384
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.742398821,745.257601179,714,682,657,630,880.742398821,781,807,652,628.742398821,652,0.453767965019,-0.0157479970235,0.0596115794339,0.999999755306,-0.00035172095302,-0.000601870745209,-5.85810899889e-05,1793244880538155008
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.091674097,745,714,682,657,630,880.091674097,781,807,652,628.091674097,652,0.453768370115,-0.0157465876775,0.0596122451076,0.999999755655,-0.000350389692714,-0.000602108215382,-5.81592877398e-05,1793244880571488256
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.482458842,745,714,682,657,630.482458842,880,781,807,652,628,652,0.453768399421,-0.0157467046546,0.0596121378583,0.999999755549,-0.000349923679085,-0.000602542859505,-5.82900108591e-05,1793244880588154368
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.767591182,630,880.232408818,781,807,652,628,652,0.453759736821,-0.0157449354128,0.0596079030942,0.99999975249,-0.000349619932924,-0.000607707228821,-5.89742717704e-05,1793244880638154752
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.114159292,657.114159292,630,881,781,807,652,628.114159292,652,0.453550197199,-0.015731335383,0.0595337066333,0.9999996829,-0.000340400178513,-0.000717007755394,-6.50127776617e-05,1793244880721487616
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.708118816,657.708118816,630,881,781,807,652,628.708118816,652,0.453476085681,-0.0157304735367,0.0595227557624,0.999999669617,-0.00034256081403,-0.000734305737753,-6.490381611e-05,1793244880738154496
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.503907556,630,880.503907556,781,807,652,628.496092444,652,0.4520582513,-0.0156510195082,0.0595298424664,0.99999969264,-0.000301146151219,-0.000721686151256,-5.65737098511e-05,1793244880904821504
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.74562155,658,631,881,782,807,651.25437845,628.25437845,652,0.451269367821,-0.0156206496922,0.0595380855461,0.999999704323,-0.000283273485178,-0.000713048741077,-5.16888035533e-05,1793244880954821632
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.163287563,658,631,881,782,807,651.836712437,628.836712437,652,0.450955469303,-0.0156119493562,0.0595419556779,0.999999708977,-0.000278427236527,-0.000708574953399,-4.94501055746e-05,1793244880971488000
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,881,782.564675314,807,651.435324686,629,652,0.449845194892,-0.0155962340934,0.0595318539812,0.999999699715,-0.000271594849861,-0.000724425210989,-4.48822202751e-05,1793244881021487872
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+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.269142526,745.730857474,714,682,658,631,880.269142526,783,807,651,629,652,0.448995323518,-0.0155826712927,0.0595231197533,0.999999707305,-0.000214473881039,-0.000733273245546,-4.12510665582e-05,1793244881054821632
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.365767858,881,783.634232142,807,651.365767858,629.365767858,651.634232142,0.446570369058,-0.0155151113175,0.0596298617067,0.999999829178,-9.96630092709e-05,-0.000575419091742,-2.45920066102e-05,1793244881138154240
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.780944717,745,714,682,658.219055283,631.219055283,881,784,807,651,629.219055283,652,0.446004899365,-0.0155071780415,0.0596527392773,0.999999845606,-8.85459015767e-05,-0.000548250438756,-1.92219166897e-05,1793244881154820864
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.198228286,745,714,682,658.801771714,631.801771714,881,784,807,651,629.801771714,652,0.445379096723,-0.0154989167634,0.0596491486674,0.999999840036,-7.60519313845e-05,-0.00056024631294,-1.64035448782e-05,1793244881171487488
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.245547357,713.245547357,680,659,633.245547357,879.754452643,786,806.754452643,651,631,652,0.431284815221,-0.0153906895613,0.0598023031119,0.999999947248,0.000128262201196,-0.0002983163963,7.76971273334e-06,1793244881471487232
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.828689921,713.828689921,680,659,633.828689921,879.171310079,786,806.171310079,651,631,652,0.43040523828,-0.0153851274057,0.0598277338302,0.999999956282,0.000156000777952,-0.000250812538379,1.39185193727e-05,1793244881488153856
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744.594802285,714,680.405197715,659,634,879,786,806,651.405197715,630.594802285,651.594802285,0.429471009835,-0.015380910211,0.0598249217112,0.999999950734,0.000163795301548,-0.00026729777954,1.59753756246e-05,1793244881504820736
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744.021054391,714,680.978945609,659,634,879,786,806,651.978945609,630.021054391,651.021054391,0.428514048046,-0.0153772524803,0.0598103614118,0.99999993836,0.000163293691425,-0.000310400582144,1.63301020441e-05,1793244881521487360
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,744,713.447974149,680.447974149,658.447974149,634,879,786,806,651.447974149,630,651.552025851,0.42757914174,-0.0153739643214,0.0597697814184,0.99999991967,0.000168996844407,-0.000363295823608,1.07894422633e-05,1793244881538153984
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.129108907,744,713,680,658.129108907,633.870891093,879,786,806,651,630,651.870891093,0.426650913609,-0.0153724226132,0.0597426345199,0.999999906734,0.000172057726233,-0.000396077120984,7.12664555443e-06,1793244881554820608
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.720619029,744,713,680,658.720619029,633.279380971,879,786,806,651,630,651.279380971,0.42574359418,-0.0153770853646,0.059767147968,0.999999923174,0.000164808825105,-0.000355484675061,1.09937101157e-05,1793244881571487232
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,744,713.306356682,680.306356682,659,633.306356682,879,786,806,651.306356682,630,651.306356682,0.424836844348,-0.0153794853009,0.0597938067882,0.999999933539,0.000169336945683,-0.000322505615865,1.5400321127e-05,1793244881588153856
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,744,714,681,659,634,879,785.537152938,806,651.537152938,630,652,0.423053767818,-0.0153795927652,0.0598384052435,0.999999947176,0.00018545842815,-0.000266062268245,2.15471206909e-05,1793244881621487104
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.961607652,744,714,680.961607652,658.961607652,634,879,785.038392348,806,651.038392348,630,652,0.42218224528,-0.015378888357,0.0598495281641,0.999999954396,0.000183614228054,-0.000238785522923,2.18218459159e-05,1793244881638153728
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744,714,680.208380062,658.208380062,634,879.208380062,786,806,652,630,652,0.420361471815,-0.0153684876304,0.0598006668959,0.999999927058,0.000195095884323,-0.000327880849712,1.77814847163e-05,1793244881671487232
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744,714,680.787615084,658.787615084,634,879.787615084,786,806,652,630,652,0.419390845539,-0.0153611465131,0.0597350627936,0.999999882545,0.000203264691243,-0.000439827624726,1.20639515813e-05,1793244881688153856
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744,713.634451437,680.634451437,658.634451437,634,879.634451437,786,806,652,630,652,0.4185193892,-0.0153626410333,0.059720908434,0.999999878601,0.000198954152423,-0.00045067102638,1.05464175547e-05,1793244881704820736
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744,713.057271512,680.057271512,658.057271512,634,879.057271512,786,806,652,630,652,0.417705346546,-0.0153692508743,0.0597365404878,0.999999901174,0.000187418798192,-0.000402981448428,1.14604391702e-05,1793244881721487360
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.518545804,713.518545804,680,658.518545804,634,879,785.481454196,806,651.481454196,630,652,0.416920499082,-0.0153671923891,0.0597820756849,0.999999922784,0.000194503426262,-0.000341073386764,1.63957876168e-05,1793244881738153984
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.68497759,744.31502241,714,680,658.31502241,634,879,785.68497759,806,651.68497759,630,652,0.415368478875,-0.0153620871495,0.059834798993,0.999999937509,0.000207739896754,-0.000285129416902,2.29504510302e-05,1793244881771487232
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.729437864,744,714,680,658,634,879,786,805.729437864,651.729437864,630,651.729437864,0.414593422913,-0.0153628859658,0.0598419889796,0.999999939742,0.000206968784689,-0.000277711198554,2.35870161093e-05,1793244881788153856
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.147372601,744,714,680,658,634,879,786,805.147372601,651.147372601,630,651.147372601,0.413814814048,-0.015367162101,0.0598456975648,0.999999944781,0.00019977335211,-0.000264579719716,2.29217312685e-05,1793244881804820480
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,805.427602211,651.427602211,630,651.427602211,0.413040630152,-0.0153663248685,0.0598273779714,0.999999934296,0.000205590533759,-0.000297737098577,2.21933242678e-05,1793244881821487360
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744,713.999825488,680,658.000174512,634,879,785.999825488,805.999825488,652,630,651.999825488,0.412267956858,-0.015363752497,0.0598015853991,0.999999916418,0.000215818164911,-0.000346591975474,2.1442405924e-05,1793244881838154240
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,713.158195295,680,659,634,879,785.158195295,805.158195295,651.841804705,630,651.158195295,0.410825408148,-0.015350613934,0.059735291362,0.999999875603,0.000226088401564,-0.000444388096934,1.40091354555e-05,1793244881871487744
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744,713.751170355,680,659,634,879,785.751170355,805.751170355,651.248829645,630,651.751170355,0.41021306911,-0.0153517500054,0.0597579969073,0.999999894563,0.000223471571295,-0.000400890794465,1.48793689089e-05,1793244881888154368
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.665861862,634,878.665861862,785.665861862,805.665861862,651.334138138,630,652,0.409615931787,-0.0153560711463,0.0597950437723,0.999999917209,0.000220877057347,-0.00034126756164,1.82239055637e-05,1793244881904820992
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.090129739,634,878.090129739,785.090129739,805.090129739,651.909870261,630,652,0.409029785891,-0.0153626952077,0.0598424599299,0.999999939454,0.000218298678389,-0.000269984698204,2.33574530136e-05,1793244881921487616
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.486111172,634,878.486111172,785,805.486111172,652,630,652,0.408449290689,-0.0153624825037,0.0598517090681,0.999999942176,0.000219797327401,-0.000258382072447,2.40032177982e-05,1793244881938153984
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.063480586,714,680,658.936519414,634,879,785.063480586,806,652,630.063480586,652,0.407874652042,-0.0153611210586,0.0598519855318,0.999999941446,0.000221193268529,-0.000260039482707,2.36823696701e-05,1793244881954820864
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.649359658,714,680,658.350640342,634,879,785.649359658,806,652,630.649359658,652,0.407339577739,-0.0153607486867,0.0598367191912,0.999999937423,0.000215516810434,-0.000279662575367,2.2261577006e-05,1793244881971487488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.765947047,714,680,658,634,879,786,805.765947047,652,630.765947047,652,0.406819039901,-0.015360427222,0.0598252247809,0.99999993335,0.000217536255519,-0.000292453120729,2.11903037729e-05,1793244881988154368
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,805.969627424,652,630,652,0.405406399107,-0.0153606949068,0.0598308525858,0.999999939565,0.000210905246777,-0.000275503341115,2.20760857585e-05,1793244882038154240
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744,713.458353374,680,658.541646626,634,878.458353374,786,806,652,630,652,0.404991562233,-0.015359712165,0.0598227241275,0.999999934159,0.000222922766846,-0.000285449098647,2.25121990644e-05,1793244882054820608
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,713.117530955,680,658.882469045,634,878.117530955,786,805.882469045,652,630,652,0.404583254299,-0.0153587083272,0.0598109129817,0.999999926004,0.000236721567749,-0.000302399952254,2.25489099539e-05,1793244882071487232
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,713.70971763,680,658.29028237,634,878.70971763,786,805.29028237,652,630,652,0.404193605761,-0.0153579194353,0.059787841587,0.999999909372,0.000251754943528,-0.000342680585097,2.10892790182e-05,1793244882088154112
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.122305568,658,634,879.877694432,786,805.877694432,652,630,652,0.403496875031,-0.0153567468505,0.0597611118891,0.99999989301,0.00025547667241,-0.000385099263217,2.02571108709e-05,1793244882121487616
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.452579839,744.452579839,714,679.452579839,658,634,879.547420161,786,805.547420161,652.452579839,630,652,0.403224333767,-0.0153563698554,0.0597754083648,0.999999902503,0.000257780705543,-0.000357797012535,2.29087224401e-05,1793244882138154240
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.198325093,680,658,634,878.801674907,786,805.198325093,652,630.198325093,652,0.402545895815,-0.0153558104876,0.0598280497078,0.999999926177,0.000273040128272,-0.000268498524582,3.16805116618e-05,1793244882188154112
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.777289383,680,658,634,878.222710617,786,805.777289383,652,630.777289383,652,0.402343251257,-0.0153541658364,0.0598347849053,0.999999928416,0.000273910110022,-0.0002589142226,3.3241034385e-05,1793244882204820992
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.64463398,744.64463398,714,680,658,634,878.35536602,786,806,652,631,652,0.402147081162,-0.015351064041,0.0598323700782,0.999999926905,0.000273028393859,-0.000265574729307,3.34132809137e-05,1793244882221487616
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d7056f3a42ea03886be5859d94a0e773c9e3e8cd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95ef18925de72f2665aeb985110cebaca8065885
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c909af75223076fa2da355962924d1210e23708eab531ab089efbdad1af49785
+size 25873394
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..432520f31fe7385f84bc08c90498d9376a389298
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_05/franka_data.csv
@@ -0,0 +1,408 @@
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+4,0.066666667,BASELINE,765,745,714,679.314714003,658,634,879,786,806,652,631,652,0.40097893302,-0.0153735500289,0.0598447606393,0.99999994531,0.000204194290634,-0.00025992582532,1.10930754522e-05,1793244883082015744
+5,0.083333333,BASELINE,765,745,714,679.902485073,658,634,879,786,806,652,631,652,0.400977476008,-0.0153735084098,0.0598438300726,0.999999944629,0.000204652808606,-0.000262180311163,1.09607390685e-05,1793244883098682624
+6,0.100000000,BASELINE,765,745,714,680,658.482966269,634,879,786,806.482966269,652,631,652,0.400977927613,-0.0153734619678,0.0598437782484,0.999999944428,0.000206499662618,-0.000261493095711,1.10594572839e-05,1793244883115349248
+7,0.116666667,BASELINE,765,745,714,680,659,634,879,786.061555393,806.876889214,652,630.938444607,652,0.400978703855,-0.0153734677632,0.0598440310585,0.999999944436,0.000208045275316,-0.00026022966007,1.11780020295e-05,1793244883132015872
+8,0.133333333,BASELINE,765,745,714,680,659,634,879,786.63645783,805.727084339,652,630.36354217,652,0.400979021423,-0.0153739171969,0.0598453667415,0.999999945421,0.000204775691089,-0.000259040464144,1.10786195344e-05,1793244883148682496
+9,0.150000000,BASELINE,765,745,714,680,658.787799964,634.212200036,879,786.787799964,805.212200036,652,630,652,0.400979566074,-0.0153742711929,0.059846232558,0.999999946155,0.000202593603682,-0.000257921595584,1.10550132712e-05,1793244883165349120
+10,0.166666667,BASELINE,765,745,714,680,658.210613408,634.789386592,879,786.210613408,805.789386592,652,630,652,0.400980501309,-0.0153744610351,0.0598462901986,0.999999946474,0.00020228202375,-0.000256923691031,1.11617430155e-05,1793244883182015744
+11,0.183333333,BASELINE,765,744.625393905,714,680,658,634.625393905,879,786,806,652,630,652,0.400980550744,-0.0153742934985,0.0598457971045,0.999999946279,0.000202744882459,-0.000257321166061,1.10585266143e-05,1793244883198682368
+12,0.200000000,BASELINE,765,744.035559043,714,680,658,634.035559043,879,786,806,652,630,652,0.400980091245,-0.015373920631,0.0598449875875,0.999999945788,0.00020365269245,-0.000258520351994,1.08346863184e-05,1793244883215348992
+13,0.216666667,BASELINE,765,744.541094475,714,679.458905525,658,634,878.458905525,786,806,652,630.541094475,652,0.400979911291,-0.0153741181426,0.0598452160064,0.999999945595,0.000204801296533,-0.000258344693203,1.11218006007e-05,1793244883232015872
+14,0.233333333,BASELINE,765,744.882554949,714,679,658.117445051,634,878.117445051,786,806,652.117445051,631,652,0.400979757287,-0.0153742193478,0.0598453877072,0.999999945488,0.000205526352079,-0.00025817735724,1.13239355959e-05,1793244883248682752
+15,0.250000000,BASELINE,765,744.304073828,714,679,658.695926172,634,878.695926172,786,806,652.695926172,631,652,0.400979634752,-0.0153737988536,0.0598450753654,0.999999945641,0.000204528106753,-0.000258388933436,1.10638018142e-05,1793244883265349376
+16,0.266666667,BASELINE,765,744.271156548,714,679.271156548,659,634,879,786,806,652.728843452,630.728843452,652,0.400979360676,-0.0153735253274,0.0598451290086,0.999999945548,0.000204821350834,-0.000258524053285,1.08525288569e-05,1793244883282015744
+17,0.283333333,BASELINE,765,744.842784702,714,679.842784702,659,634,879,786,806,652.157215298,630.157215298,652,0.400978918675,-0.0153734146582,0.059845588204,0.999999945182,0.000206545708848,-0.000258574450987,1.06953991416e-05,1793244883298682368
+18,0.300000000,BASELINE,765,745,714,680,658.569109884,634,878.569109884,786,806.430890116,652,630,652,0.400979739711,-0.0153739206613,0.0598463806714,0.999999945621,0.00020624992073,-0.000257099929019,1.08844992405e-05,1793244883315348736
+19,0.316666667,BASELINE,765,745,714,680,658.024593452,634,878,786,806.975406548,652,630,652,0.400980958957,-0.0153746679656,0.0598472244818,0.999999946327,0.000205172045975,-0.00025519744824,1.1195618105e-05,1793244883332015360
+20,0.333333333,BASELINE,765,745,714,680,658.603576231,634,878,786,806.396423769,652,630,652,0.400980353503,-0.0153755810697,0.0598463756044,0.999999946237,0.000203740117579,-0.000256688644497,1.12964185057e-05,1793244883348682240
+21,0.350000000,BASELINE,765,744.819804206,714,680,658.819804206,634,878.180195794,786,806,652,630,652,0.400979637621,-0.0153760693878,0.0598457578673,0.999999946184,0.000202452221291,-0.000257906857941,1.13534687173e-05,1793244883365348864
+22,0.366666667,BASELINE,765,744.248316397,714,680,658.248316397,634,878.751683603,786,806,652,630,652,0.400978681945,-0.0153756352902,0.0598456420475,0.99999994622,0.000201477088392,-0.000258532293791,1.13155161455e-05,1793244883382015744
+23,0.383333333,BASELINE,765,744,714,680,658,634,879,786,806,652,630,652,0.400978601498,-0.0153754202498,0.0598459088243,0.99999994631,0.000201687653645,-0.000258019173976,1.13147506505e-05,1793244883398682368
+24,0.400000000,BASELINE,765,744,714,680,658,634,879,786,806,652,630,652,0.400979193555,-0.0153753735269,0.0598464695783,0.99999994644,0.000202809278234,-0.00025663121784,1.13425587285e-05,1793244883415349248
+25,0.416666667,BASELINE,765,744,714,680.506751499,658,634,879,786,806,652,630,652,0.400980780879,-0.0153752394046,0.059847204966,0.999999946906,0.000202061667445,-0.000255405423082,1.13013298819e-05,1793244883432015616
+26,0.433333333,BASELINE,765,744,714,680.915576237,658,634,879,786,806,652,630,652,0.400982157699,-0.0153750902728,0.059847854215,0.999999947294,0.00020145896479,-0.0002543606743,1.12740950471e-05,1793244883448682496
+27,0.450000000,BASELINE,765,744,714,680.339594098,658,634,879,786,806,652,630,652,0.400981494529,-0.0153749252597,0.059847859035,0.999999946966,0.000203229411638,-0.000254237385926,1.13848269569e-05,1793244883465349120
+28,0.466666667,BASELINE,765,744,714,680,658,634,879,786,806,652,630,652,0.400981300418,-0.0153750637421,0.0598479120534,0.999999946804,0.000204242227544,-0.000254056700522,1.14646126183e-05,1793244883482015744
+29,0.483333333,BASELINE,765,744,714,680,658,634,879,786,806,652,630,652,0.400981780153,-0.015375638225,0.0598480343134,0.999999946886,0.000204166633933,-0.000253793558797,1.14999410229e-05,1793244883498682368
+30,0.500000000,BASELINE,765,744,714,680,658,634,879,786,806,652,630,652,0.400981465905,-0.015375693493,0.0598477937847,0.999999947046,0.000202967704546,-0.000254128959476,1.13926971529e-05,1793244883515348992
+31,0.516666667,BASELINE,765,744,714,680,658,634,879,786,806,652,630,652,0.400980761814,-0.0153754938278,0.0598473751277,0.999999947242,0.000201217220676,-0.00025475824268,1.12154507243e-05,1793244883532015616
+32,0.533333333,BASELINE,765.566252532,744,714,680,658,634,879,786.566252532,806,652,630.566252532,652,0.40098110055,-0.0153756386612,0.0598475665266,0.999999947098,0.000201696960794,-0.000254934050863,1.14598956199e-05,1793244883548682496
+33,0.550000000,BASELINE,765.858940702,744,714,680,658.282118596,634.141059298,878.858940702,786.858940702,806,652,630.858940702,652,0.400981171442,-0.0153757625033,0.0598475638732,0.999999946914,0.000202040734201,-0.000255375543405,1.15845788817e-05,1793244883565349376
+34,0.566666667,BASELINE,765.288337531,744,714,680,659.423324938,634.711662469,878.288337531,786.288337531,806,652,630.288337531,652,0.400980370998,-0.0153758040191,0.0598469377131,0.999999946629,0.000201851320729,-0.000256650306338,1.13220433678e-05,1793244883582016256
+35,0.583333333,BASELINE,765,744,714,680,659.41090065,634.705450325,878.294549675,786,806,652,630,652,0.40098041473,-0.0153758033944,0.0598470559719,0.999999946702,0.000202199860866,-0.000256094503507,1.12825001505e-05,1793244883598682624
+36,0.600000000,BASELINE,765,744,714,680,658.220029535,634.110014767,878.889985233,786,806,652,630,652,0.400981320798,-0.0153757597226,0.0598479346633,0.999999947136,0.00020309792678,-0.000253668756833,1.14707460988e-05,1793244883615348992
+37,0.616666667,BASELINE,765,744,714,680,658,634,879,786,806,652,630.471703386,652,0.400980201951,-0.0153760290821,0.0598470145814,0.999999946966,0.000201956549999,-0.000255250378606,1.13405091867e-05,1793244883632015872
+38,0.633333333,BASELINE,765,744,714,680,658,634,879,786,805.95021855,652,630.95021855,652,0.400978755487,-0.0153762993244,0.0598458137048,0.999999946615,0.000200742236441,-0.000257581963789,1.11399502416e-05,1793244883648682752
+39,0.650000000,BASELINE,765,744,714,680,658,634,879,786,805.3777179,652,630.3777179,652,0.400978687771,-0.0153758338956,0.059845945057,0.999999945863,0.000203615453408,-0.000258251793959,1.0958903473e-05,1793244883665349632
+40,0.666666667,BASELINE,765,744,714,680,658,634.196365728,879,786.196365728,805.196365728,652,630,652,0.400978734323,-0.0153752144685,0.0598461638959,0.999999945512,0.0002053648469,-0.000258230753641,1.09020537402e-05,1793244883682016512
+41,0.683333333,BASELINE,765,744,714,680,658,634.773518991,879,786.773518991,805.773518991,652,630,652,0.400979002462,-0.0153742964117,0.0598465523869,0.999999945948,0.000204934949699,-0.000256869994424,1.10860438205e-05,1793244883698683136
+42,0.700000000,BASELINE,765,744.360061857,714,680,658,634.639938143,879,786.639938143,806,652,630.360061857,652,0.400979562399,-0.0153746431767,0.0598468484598,0.999999946373,0.000204214072059,-0.000255784286805,1.11685859081e-05,1793244883715349504
+43,0.716666667,BASELINE,765,744.952668958,714,680,658,634.047331042,879,786.047331042,806,652,630.952668958,652,0.400980310794,-0.0153758068245,0.0598470848446,0.99999994679,0.00020330526529,-0.000254876220772,1.11856080014e-05,1793244883732016128
+44,0.733333333,BASELINE,765,744.466879182,714,680,658.533120818,634,879,786.533120818,806,652,630.466879182,652,0.400980792584,-0.0153757600582,0.0598476550339,0.999999947169,0.000202189108401,-0.00025428929816,1.08623254412e-05,1793244883748682752
+45,0.750000000,BASELINE,765,744,714,680,658.888632347,634,879,786.888632347,806,652,630,652,0.400980990237,-0.0153758550922,0.0598480066946,0.999999947411,0.000201290832153,-0.000254058597399,1.06776800422e-05,1793244883765349632
+46,0.766666667,BASELINE,765,744,714,680,658.315157152,634,879,786.315157152,806,652,630,652,0.400980104916,-0.0153769744711,0.0598473313675,0.999999947101,0.000201371309743,-0.000255190331414,1.1190863279e-05,1793244883782016256
+47,0.783333333,BASELINE,765,744.258673524,714,679.741326476,658.258673524,634,879,786.258673524,805.741326476,652,630.258673524,652,0.400979782567,-0.0153771170999,0.0598470633885,0.999999946936,0.000201384798393,-0.000255815548158,1.1435890414e-05,1793244883798682624
+48,0.800000000,BASELINE,765,744.832937975,714,679.167062025,658.832937975,634,879,786.832937975,805.167062025,652,630.832937975,652,0.400980147065,-0.0153760680589,0.0598472923889,0.999999946949,0.000201316558156,-0.000255822795908,1.13537576054e-05,1793244883815349248
+49,0.816666667,BASELINE,765,745,714,679,658.578772237,634,879,787,805.421227763,652,631,652,0.400980489731,-0.0153761180024,0.0598476643739,0.999999947235,0.000200812254922,-0.000255099494757,1.13732959369e-05,1793244883832016128
+50,0.833333333,BASELINE,765,744.985201462,714,679.014798538,658.014798538,634,879.014798538,786.985201462,806,652,631,652,0.400980825821,-0.0153765941428,0.0598480804503,0.999999947615,0.000200184795506,-0.000254098489757,1.143175326e-05,1793244883848682752
+51,0.850000000,BASELINE,765,744.409561132,714,679.590438868,658.590438868,634,879.590438868,786.409561132,806,652,631,652,0.400981252159,-0.0153761349112,0.0598479443277,0.999999947359,0.000201670037354,-0.000253931885326,1.13843452214e-05,1793244883865349376
+52,0.866666667,BASELINE,765,744,714,680,659,634,879.833175056,786,806,652,630.833175056,652,0.400981453083,-0.0153756525731,0.0598478921462,0.999999947226,0.000202473176163,-0.000253821995642,1.13077441334e-05,1793244883882015744
+53,0.883333333,BASELINE,765,744,714,680,659,634,879.254949957,786,806,652,630.254949957,652,0.400981098126,-0.0153751132532,0.0598480469684,0.999999947397,0.00020159420855,-0.000253851967885,1.11591512665e-05,1793244883898682624
+54,0.900000000,BASELINE,765.328575817,744.328575817,714,680,658.671424183,634,879,786,806,652,630.328575817,652.328575817,0.40098105453,-0.0153748537037,0.0598481643953,0.999999947185,0.000202848972909,-0.000253687766556,1.11496035205e-05,1793244883915349248
+55,0.916666667,BASELINE,765.916281925,744.916281925,714,680,658.083718075,634,879,786,806,652,630.916281925,652.916281925,0.40098125649,-0.0153748147944,0.0598482523305,0.999999946664,0.000205786498356,-0.000253370430845,1.12497132813e-05,1793244883932015872
+56,0.933333333,BASELINE,765.503203564,744.503203564,714,679.503203564,658,634,879,786,805.503203564,652,631,652.503203564,0.400980110104,-0.0153765394214,0.05984777719,0.999999947,0.000203304440671,-0.000254040207501,1.14382433111e-05,1793244883948682496
+57,0.950000000,BASELINE,765,744.075761557,714,679.075761557,658,634,879,786,805.075761557,652,630.924238443,652,0.400979001243,-0.0153780766282,0.0598472440111,0.999999947358,0.000200535452836,-0.00025482378652,1.15522641757e-05,1793244883965349120
+58,0.966666667,BASELINE,765,744.652380933,714,679.652380933,658,634,879,786,805.652380933,652,630.347619067,652,0.400979621153,-0.0153764381636,0.0598469454869,0.99999994699,0.00020182113342,-0.000255275705128,1.10766072908e-05,1793244883982016000
+59,0.983333333,BASELINE,765,744.768486267,714,679.768486267,658,634,879,786,805.768486267,652,630.231513733,652,0.400979668586,-0.0153753094707,0.0598467219961,0.999999946656,0.000202959933391,-0.000255687333799,1.09259469555e-05,1793244883998682880
+60,1.000000000,BASELINE,765,744.185538041,714,679.185538041,658,634,879,786,805.185538041,652,630.814461959,652,0.400978847007,-0.0153749546039,0.059846612405,0.999999946376,0.000203875770913,-0.000256037802999,1.12686266037e-05,1793244884015349504
+61,1.016666667,BASELINE,765,744.3968149,714,679.3968149,658,634,879,786.3968149,805,652,631,652,0.400979483662,-0.0153753739134,0.0598470692346,0.999999946617,0.000203408895203,-0.000255460549904,1.1421991637e-05,1793244884032016128
+62,1.033333333,BASELINE,765,744.978889886,714,679.978889886,658,634,879,786.978889886,805,652,631,652,0.40098080112,-0.0153761546609,0.0598477905078,0.9999999471,0.000202296475197,-0.000254450173151,1.14869717577e-05,1793244884048682752
+63,1.050000000,BASELINE,765,744.442305142,714,680,658,634,879,786.442305142,805.557694858,652,630.442305142,652,0.400980747631,-0.0153750287239,0.0598479160952,0.999999947084,0.000202306032385,-0.000254515917166,1.11852323317e-05,1793244884065349120
+64,1.066666667,BASELINE,765,744.13598063,714,680,658,634,879,786.13598063,806,652,630,652.13598063,0.400980579962,-0.0153743080684,0.0598479819485,0.99999994707,0.000202394750795,-0.000254510186848,1.09700994696e-05,1793244884082015744
+65,1.083333333,BASELINE,765,744.712981577,714,680,658,634,879,786.712981577,806,652,630,652.712981577,0.400980209299,-0.0153751345556,0.059847926772,0.999999947121,0.000202603272601,-0.000254141306649,1.10806120731e-05,1793244884098682624
+66,1.100000000,BASELINE,765,744.70548504,714,680,658,634,879,786.70548504,806,652,630.29451496,652.70548504,0.40098013363,-0.015375616178,0.059847891045,0.999999947206,0.000202355016096,-0.000253998098517,1.12122948137e-05,1793244884115348992
+67,1.116666667,BASELINE,765,744.119465584,714,680,658,634,879,786.119465584,806,652,630.880534416,652.119465584,0.400980349939,-0.0153757564608,0.0598478745685,0.999999947325,0.000201654650352,-0.000254078255703,1.13649312885e-05,1793244884132015872
+68,1.133333333,BASELINE,765,744,714,680,658,634.46124593,879.46124593,786.46124593,806,652,631,652,0.400982179438,-0.0153754466622,0.0598488926659,0.999999947668,0.000202588462654,-0.000251974725259,1.13952120773e-05,1793244884148682240
+69,1.150000000,BASELINE,765,744,714,680,658.040310024,634.959689976,879.959689976,786.959689976,806,652,631,652,0.40098407972,-0.0153751347139,0.0598499846882,0.999999947994,0.000203774291254,-0.000249717362596,1.14036272936e-05,1793244884165348864
+70,1.166666667,BASELINE,765,744,714,680,658.61554807,634.38445193,879.38445193,786.38445193,806,652,631,652,0.400981437697,-0.0153763236148,0.0598485422398,0.999999947416,0.000202751526194,-0.000252838765025,1.15376433253e-05,1793244884182015744
+71,1.183333333,BASELINE,765,744.189545373,714,680,659,634.189545373,879,786,806,652,631,652,0.400979603752,-0.0153774359712,0.0598473960067,0.999999947062,0.000201549032916,-0.000255186480072,1.15684566005e-05,1793244884198682368
+72,1.200000000,BASELINE,765,744.761042569,714,680,659,634.761042569,879,786,806,652,631,652,0.400979398158,-0.0153783940835,0.0598468466749,0.999999947177,0.000199984370129,-0.000255975142571,1.13913066027e-05,1793244884215348992
+73,1.216666667,BASELINE,765,745,714,680,659,634.65357575,879,786.34642425,806,652,630.65357575,652,0.400980355464,-0.0153783247395,0.0598478279097,0.999999947634,0.000199576141749,-0.000254500859077,1.14655152284e-05,1793244884232015616
+74,1.233333333,BASELINE,765,745,714,680,659,634.058216948,879,786.941783052,806,652,630.058216948,652,0.400982148409,-0.015377517083,0.0598499089835,0.99999994833,0.000199998907485,-0.000251400461176,1.17203458805e-05,1793244884248682240
+75,1.250000000,BASELINE,765,744.481104348,714,680,658.481104348,634,879,786.481104348,806,652,630,652,0.400981027272,-0.0153765390056,0.0598484805603,0.999999947545,0.000201512902865,-0.000253337608863,1.11000821054e-05,1793244884265348864
+76,1.266666667,BASELINE,765,744,714,680,658.094459294,634,878.905540706,786,806,652,630.094459294,652,0.40097990471,-0.0153756309191,0.0598470176926,0.999999946757,0.000202985106676,-0.00025528591005,1.05950827054e-05,1793244884282015744
+77,1.283333333,BASELINE,765,744,714,680,658.672215915,634,878.327784085,786,806,652,630.672215915,652,0.400980390822,-0.0153751754435,0.0598473247354,0.999999946819,0.000203638358834,-0.00025449777471,1.11651008486e-05,1793244884298682624
+78,1.300000000,BASELINE,765.254814902,744,714,680,658.745185098,634,878,786,806,652,631,652,0.400979936976,-0.0153755100342,0.0598471813537,0.99999994689,0.00020296989117,-0.00025474337659,1.13522809662e-05,1793244884315349248
+79,1.316666667,BASELINE,765.843763543,744,714,680,658.156236457,634,878,786,806,652,631,652,0.40097825058,-0.0153768806234,0.0598464473392,0.999999946969,0.000200568278407,-0.000256344497683,1.10374531133e-05,1793244884332016128
+80,1.333333333,BASELINE,765.574433394,744,714,680,658.851133212,634,878.425566606,786,805.574433394,652,631,652,0.400979084818,-0.0153759667351,0.0598468432069,0.999999946711,0.000202802116693,-0.000255594139738,1.09522325536e-05,1793244884348682496
+81,1.350000000,BASELINE,765,744,714,680,659.990454063,634,879,786.004772969,805.004772969,652,631,652,0.400980815392,-0.0153742548799,0.0598476433821,0.999999946325,0.000206664302643,-0.000254007644254,1.09526508887e-05,1793244884365348864
+82,1.366666667,BASELINE,765,744,714,680,658.836057323,634,879,786.581971339,805.581971339,652,631,652,0.400980894208,-0.0153757660532,0.0598480056292,0.999999946656,0.000205088404046,-0.000253967679373,1.12812169558e-05,1793244884382015744
+83,1.383333333,BASELINE,765,744,714,679.840903524,658,634,879,786.840903524,806,652,630.840903524,652,0.400980531124,-0.0153763297126,0.0598478066667,0.999999946815,0.000203635232872,-0.000254508046042,1.12947142546e-05,1793244884398682368
+84,1.400000000,BASELINE,765,744,714,679.263970592,658,634,879,786.263970592,806,652,630.263970592,652,0.400979007473,-0.0153744049083,0.0598461337949,0.999999946526,0.000202504381455,-0.000256572542492,1.04807437839e-05,1793244884415348992
+85,1.416666667,BASELINE,765,744.318549539,714,679.318549539,658,634,879,786,806,652,630.318549539,652,0.400978952221,-0.0153742689485,0.0598463374429,0.999999946832,0.000201299450396,-0.000256338996827,1.02769378712e-05,1793244884432015616
+86,1.433333333,BASELINE,765,744.905782203,714,679.905782203,658,634,879,786,806,652,630.905782203,652,0.400980135501,-0.0153756418037,0.0598481238565,0.999999947637,0.000200032036346,-0.000254167149262,1.05877801239e-05,1793244884448682496
+87,1.450000000,BASELINE,765,745,714,680,658,634,878.513354963,786,806,652,630.513354963,652,0.400979946548,-0.0153755554266,0.0598477603189,0.999999947161,0.000201948450037,-0.000254506070872,1.09932468755e-05,1793244884465348864
+88,1.466666667,BASELINE,765,745,714,680,658.065992486,634,878.065992486,786,806,652,630.065992486,652,0.400979946565,-0.0153751773804,0.0598472940635,0.999999946643,0.000204171052141,-0.000254752820996,1.13442909034e-05,1793244884482015744
+89,1.483333333,BASELINE,765,745,714,680,658.643031649,634,878.643031649,786,806,652,630.643031649,652,0.400983440774,-0.0153747001956,0.0598492141211,0.999999947727,0.000204052962729,-0.000250570049902,1.11338477244e-05,1793244884498682368
+90,1.500000000,BASELINE,765,745,714,680,658.780439258,634,879,786,806,652.219560742,631,652,0.400984649123,-0.0153745370981,0.0598500522656,0.999999948081,0.000204197143099,-0.000249035581095,1.10726925541e-05,1793244884515349248
+91,1.516666667,BASELINE,765,745,714,680,658.204737587,634,879,786,806,652.795262413,631,652,0.400982149666,-0.0153748834695,0.0598491354807,0.999999947271,0.000204766741086,-0.000251796820707,1.12536916694e-05,1793244884532015872
+92,1.533333333,BASELINE,765,744.620386333,714,680,658,634,879,786,806,652.620386333,630.620386333,652,0.400979879538,-0.0153749474474,0.0598475964488,0.999999946587,0.000204472048278,-0.000254747678352,1.0970186521e-05,1793244884548682496
+93,1.550000000,BASELINE,765,744.031261261,714,680,658,634,879,786,806,652.031261261,630.031261261,652,0.400977735979,-0.0153748555705,0.0598457139944,0.999999945967,0.000203700347462,-0.000257803187755,1.04303182771e-05,1793244884565348864
+94,1.566666667,BASELINE,765,744,714,680,658,634,879,786,806,652,630,652,0.400978834339,-0.0153757599152,0.0598467251964,0.999999946861,0.000201455128827,-0.000256091522848,1.05017202954e-05,1793244884582015488
+95,1.583333333,BASELINE,765,744,714,680,658,634,879,786,806,652,630.125109227,652,0.400979881852,-0.0153765868141,0.0598477415365,0.999999947557,0.000200051610972,-0.000254461108559,1.06954258437e-05,1793244884598682112
+96,1.600000000,BASELINE,765,744,714,680,658,634,879,786,806,652,630.701085156,652,0.400980091425,-0.0153769334314,0.0598481920282,0.99999994726,0.000201978973093,-0.000254086219407,1.12064428798e-05,1793244884615348992
+97,1.616666667,BASELINE,765,744.28254872,714,680,658,634,879,786,806,652,631,652,0.400980017495,-0.0153765985258,0.0598481096289,0.999999946995,0.000203026492602,-0.000254278676294,1.14919717032e-05,1793244884632015872
+98,1.633333333,BASELINE,765,744.869932733,714,680,658,634,879,786,806,652,631,652,0.4009796377,-0.0153755283411,0.0598474523059,0.99999994677,0.000203124770106,-0.000255083229746,1.15342264681e-05,1793244884648683264
+99,1.650000000,BASELINE,765,744.548904949,714,680,658,634,879,786,806,652,630.548904949,652,0.400978722501,-0.0153758701595,0.0598466693117,0.999999946954,0.000201073572475,-0.000255994136822,1.13397455893e-05,1793244884665349888
+100,1.666666667,BASELINE,765,744.030431997,714,680,658,634,879,786,806,652,630.030431997,652,0.400977745419,-0.0153765475469,0.0598459190692,0.99999994722,0.000198644872959,-0.000256860481172,1.10758230982e-05,1793244884682016256
+101,1.683333333,BASELINE,765,744.608763859,714,680,658,634,879,786,806,652,630.608763859,652,0.400978395787,-0.015376036225,0.0598464020025,0.999999946991,0.000200426224239,-0.000256379919914,1.07738995206e-05,1793244884698682880
+102,1.700000000,BASELINE,765.185684007,744.814315993,714,680,658.185684007,634,879,786,806,652,630.814315993,652,0.400979307263,-0.0153760409162,0.059846945619,0.999999947019,0.000201268295074,-0.000255612386087,1.0714350394e-05,1793244884715349504
+103,1.716666667,BASELINE,765.759652047,744.240347953,714,680,658.759652047,634,879,786,806,652,630.240347953,652,0.40098076474,-0.0153771246431,0.0598476161303,0.999999947588,0.000200146235301,-0.000254244763658,1.11616307908e-05,1793244884732016384
+104,1.733333333,BASELINE,765.657729519,744.342270481,714,680,658.657729519,634,879,786.342270481,806,652,630.342270481,652,0.40098109931,-0.015376592652,0.0598476603999,0.999999947451,0.000201140837858,-0.000254000155168,1.11521275591e-05,1793244884748683264
+105,1.750000000,BASELINE,765.068879072,744.931120928,714,680,658.068879072,634,879,786.931120928,806,652,630.931120928,652,0.400980624911,-0.0153748966585,0.0598472535099,0.999999946801,0.000203660335236,-0.000254564593045,1.08135463564e-05,1793244884765349376
+106,1.766666667,BASELINE,765,745,714,680,658,634,879,786.488797339,806,652,630.488797339,652,0.400979315018,-0.0153748800138,0.0598470201247,0.999999946852,0.000202386147963,-0.000255384170764,1.07417219275e-05,1793244884782016000
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,635,879,786,806,652,630,652,0.400979562453,-0.0153777670202,0.0598470993662,0.999999946985,0.000202279198806,-0.000254899508755,1.18463581098e-05,1793244884825050368
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.412633154,744.412633154,714,680,658,634.412633154,879,786,806,652,630,652,0.400978863045,-0.0153770955411,0.0598467793063,0.999999946656,0.000202926464466,-0.0002556893162,1.147572495e-05,1793244884841716736
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.172393175,744.172393175,714,680,658,634,879,786,806,652,630.172393175,652,0.400978416923,-0.0153765520336,0.0598464495845,0.999999946468,0.000203360639624,-0.00025609301099,1.11661136368e-05,1793244884858383360
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.751892494,744.751892494,714,680,658,634,879,786,806,652,630.751892494,652,0.400978568934,-0.0153763107308,0.0598460970462,0.999999946614,0.00020329160211,-0.000255584901654,1.10006052203e-05,1793244884875049984
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.330316098,879,786.330316098,806,652,630.669683902,652,0.40097934484,-0.0153764277015,0.0598466466505,0.999999947052,0.000202215667209,-0.000254726040684,1.0933640001e-05,1793244884891716608
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.907934298,879,786.907934298,806,652,630.092065702,652,0.400980587846,-0.0153768129054,0.0598478716736,0.999999947705,0.000200385885195,-0.000253604577902,1.09404524241e-05,1793244884908383488
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.516534551,714,680,658,635,878.516534551,787,805.516534551,652,630.483465449,652,0.400980372211,-0.0153766776677,0.0598483287747,0.999999947491,0.000201445656483,-0.000253593922066,1.12600331822e-05,1793244884925050112
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,635,878.119972271,786.940013865,805.059986135,652,631,652,0.400979883604,-0.0153764394674,0.0598485608288,0.999999947105,0.00020293564377,-0.000253915278126,1.15744811372e-05,1793244884941716992
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,635,879.297434304,786.351282848,805.648717152,652,631,652,0.400979426743,-0.0153761635285,0.0598480926519,0.999999946662,0.000203388410322,-0.000255306634362,1.13209534698e-05,1793244884958383616
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,714,680.233313363,658,635,879.766686637,786,806.233313363,652,631,652,0.400986321843,-0.0153765547007,0.0598508522761,0.999999947712,0.000203666605873,-0.000250922696855,1.15488311042e-05,1793244884975050496
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,680.811792456,658,635,879.188207544,786,806.811792456,652,631,652,0.401004093493,-0.0153779328027,0.0598583871359,0.999999950857,0.00020368653957,-0.000237994741603,1.24889037668e-05,1793244884991718144
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,713.610721383,680.221442766,658,634.610721383,879,786,806.610721383,652,630.610721383,652,0.401041883672,-0.0153805140026,0.0598728412936,0.999999957164,0.000201913049115,-0.000211456167475,1.37561352066e-05,1793244885008384768
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,713.033714009,679.067428019,658,634.033714009,879,786,806.033714009,652,630.033714009,652,0.401089327743,-0.015383675394,0.0598906322682,0.999999964125,0.00019927468363,-0.000178353900998,1.51811383186e-05,1793244885025050624
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.539642548,713.539642548,679.539642548,658,634,879,786,806,652,630.539642548,652,0.401157235326,-0.015385804019,0.0599093158932,0.999999968159,0.000201111042381,-0.000151508595567,1.67560356071e-05,1793244885041717248
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.883384252,714,680,658.116615748,634.116615748,879,786,806,652,631,652,0.401229283263,-0.0153886359645,0.0599267322632,0.999999971433,0.000202218109097,-0.000126133423846,1.82275730061e-05,1793244885058383616
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.290722278,714,680,658.709277722,634.709277722,879,786,806,652,631,652,0.401313049082,-0.0153946006091,0.0599387493534,0.999999974441,0.000199214543958,-0.000105174584005,1.92392064098e-05,1793244885075050240
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.294647949,714,680,658.705352051,634.705352051,879,786.294647949,806,652.294647949,630.705352051,652,0.401403721854,-0.0153997594413,0.0599468637177,0.999999976136,0.000197951066696,-9.03627557086e-05,1.94553510994e-05,1793244885091716608
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.87299729,714,680,658.12700271,634.12700271,879,786.87299729,806,652.87299729,630.12700271,652,0.401501044972,-0.0154041423977,0.0599512203466,0.999999976829,0.000198363031,-8.14695707112e-05,1.8905560467e-05,1793244885108383232
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.448329313,745,714,680,658,634.448329313,879,786.551670687,806,652.551670687,630.448329313,652,0.401606678908,-0.0154086301337,0.0599478269174,0.999999976919,0.000196581955415,-8.495226473e-05,1.73642173939e-05,1793244885125050112
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.97662335,745,714,680,658,634.97662335,879,786,806,652,630.97662335,652,0.401716061109,-0.0154132831549,0.0599423587908,0.999999976836,0.00019413597137,-9.16412366741e-05,1.55533377603e-05,1793244885141716736
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.387928183,745,714,680,658,634.387928183,879,786,806,652,630.387928183,652,0.401859534583,-0.0154212202752,0.0599394555621,0.999999977551,0.000190533618409,-9.16527040817e-05,1.39715338992e-05,1793244885158383872
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.802391348,714,680,658,634,879,786,806,652,630.197608652,652,0.402015932671,-0.0154294943065,0.0599385382912,0.999999978661,0.000186053220671,-8.89214872472e-05,1.2448834324e-05,1793244885175051008
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.222957204,714,680,658,634,879,786,806,652,630.777042796,652,0.402197304079,-0.0154384193264,0.0599414583495,0.99999998049,0.000179876238315,-8.08907718825e-05,1.10403380437e-05,1793244885191717888
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.354866739,744,714,679.645133261,658,634,879,786,806,652,631,652,0.402399892787,-0.0154485766486,0.0599431927439,0.999999982382,0.000172231403623,-7.40746917523e-05,9.2050156426e-06,1793244885208384256
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.931683642,744,714,679.068316358,658,634,879,786,806,652,631,652,0.402615751799,-0.0154595047107,0.0599441855693,0.999999984268,0.000163668505191,-6.80183002089e-05,7.10273619428e-06,1793244885225050368
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.500063663,744.499936337,714,679.499936337,658,634,879,786,806,652,631,652,0.402863312865,-0.0154701022179,0.0599495291526,0.99999998603,0.000157843609755,-5.47440975736e-05,5.37378567892e-06,1793244885241716992
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.929170788,714,679.929170788,658,634,878.929170788,786,806,652,630.929170788,652,0.403118788221,-0.0154805745077,0.0599539742897,0.999999987461,0.000152245446257,-4.34279579742e-05,3.51467963161e-06,1793244885258383616
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.330000906,714,679.330000906,658,634,878.330000906,786,806,652,630.330000906,652,0.403401528871,-0.0154904440286,0.0599473574621,0.999999987946,0.000145594652091,-5.39510761451e-05,3.10562161264e-07,1793244885275050240
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.259493943,714,679.259493943,658,634.259493943,878.259493943,786,806,652,630,652,0.403695627553,-0.0154942350703,0.0599380463118,0.999999987107,0.000144886147891,-6.91679630223e-05,-3.19217070773e-06,1793244885291717376
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.837127177,714,679.837127177,658,634.837127177,878.837127177,786,806,652,630,652,0.404003651153,-0.0154905739026,0.0599254319251,0.999999984442,0.000151462885088,-9.01394045788e-05,-7.06100553741e-06,1793244885308384000
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.411865079,745,714,680,658.411865079,634.588134921,879,786,806,652,630.411865079,652,0.40433689661,-0.0154805775593,0.0599129194644,0.999999988399,0.000101861526797,-0.000112575738839,-1.23481420926e-05,1793244885325050624
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.985465997,745,714,680,658.985465997,634.014534003,879,786,806,652,630.985465997,652,0.404680046464,-0.0154680934476,0.0599004470293,0.999999990187,3.01995178345e-05,-0.000135587322708,-1.81922332636e-05,1793244885341716992
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.424458337,745,714,679.424458337,659,634,879,786,806,652,630.424458337,652,0.405087563358,-0.0154772440302,0.0599039297608,0.999999990533,3.48233415737e-05,-0.000131524964157,-2.05649744621e-05,1793244885358383616
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.837684252,714,679,658.837684252,634.162315748,878.837684252,786,805.837684252,652,630.162315748,652,0.405521382705,-0.0154873755762,0.0599143616818,0.999999992313,3.8304912388e-05,-0.000115768024629,-2.24686159411e-05,1793244885375050240
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.260444841,714,679,658.260444841,634.739555159,878.260444841,786,805.260444841,652,630.739555159,652,0.406018160759,-0.0154985769946,0.0599414973368,0.999999996569,3.3796979062e-05,-7.19157268607e-05,-2.3403798492e-05,1793244885391717120
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.316886354,744,714,679.316886354,658.316886354,634.683113646,878.316886354,785.683113646,805.316886354,652,631,652,0.406535767601,-0.0155057722435,0.0599680275069,0.999999999005,2.63148260846e-05,-2.64011907284e-05,-2.45204499773e-05,1793244885408383744
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.894293069,744,714,679.894293069,658.894293069,634.105706931,878.894293069,785.105706931,805.894293069,652,631,652,0.407070498375,-0.0155096739194,0.0599940598954,0.999999999324,1.63874906931e-05,2.04799187881e-05,-2.57862917931e-05,1793244885425050112
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.530003943,744.469996057,714,680,658.530003943,634,879,785.469996057,806,652,630.530003943,652,0.407593568353,-0.0155079944497,0.0599981358384,0.999999999346,-1.18834269217e-05,1.74477183611e-05,-2.93669464313e-05,1793244885441717248
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.953445684,652,630,652,0.408116145596,-0.0155052084727,0.0599962430226,0.99999999859,-4.10612133037e-05,1.92420118337e-06,-3.36106509795e-05,1793244885458384384
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.362418896,652,630,652,0.4086635225,-0.0155041091576,0.0599820891287,0.999999998265,-3.27681783966e-05,-2.88717828511e-05,-3.954206966e-05,1793244885475051520
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.222021327,634,879.222021327,786,805.222021327,652,630.222021327,652,0.409247451859,-0.0155042051731,0.0599736497481,0.999999997171,-3.69485382228e-05,-4.74453028991e-05,-4.51922135617e-05,1793244885491718912
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.796019636,634,879.796019636,786,805.796019636,652,630.796019636,652,0.409889328873,-0.0155061961817,0.0599742697552,0.999999995788,-6.09033405683e-05,-4.66421870737e-05,-5.03964439082e-05,1793244885508385792
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.62475649,714,680,659,634,879.62475649,786,806,652,630.62475649,652,0.410564362301,-0.0155114240573,0.0599818827342,0.999999994828,-8.13618900484e-05,-2.68328553955e-05,-5.48028228614e-05,1793244885525052160
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.04265193,714,680,659,634,879.04265193,786,806,652,630.04265193,652,0.411257673892,-0.0155184363253,0.059993350739,0.999999993278,-9.98930541345e-05,3.4540612449e-06,-5.8769368869e-05,1793244885541718016
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.542581011,744.542581011,714,680.542581011,659,634,879,786,806,652,630,652,0.411919590088,-0.0155168539498,0.0599831923897,0.999999993908,-9.22935613088e-05,-1.83939161197e-05,-5.76922143735e-05,1793244885558384128
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.873238666,745,714,680.873238666,659,634,879.126761334,786,805.873238666,652,630,652,0.412581517228,-0.0155125073438,0.059964689102,0.999999994983,-6.36382723915e-05,-5.68142427077e-05,-5.2507319227e-05,1793244885575050496
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.293701786,745,714,680.293701786,659,634,879.706298214,786,805.293701786,652,630,652,0.413252349704,-0.0155007144759,0.0599224862663,0.999999989121,3.28460875223e-05,-0.000139705445804,-3.40744871035e-05,1793244885591717120
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.714725449,714,680,659,634,879.714725449,786,805,652,630,652,0.414003831495,-0.0154941030444,0.0599116654885,0.999999984336,7.26731418871e-05,-0.000159024627311,-2.7519807628e-05,1793244885608384000
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.136325012,714,680,659,634,879.136325012,786,805,652,630,652,0.414838182315,-0.0154928156516,0.0599330904616,0.99999999159,5.42835789507e-05,-0.000113022167959,-3.31701897615e-05,1793244885625050880
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.439671453,714,680,659,634,879,786,805.439671453,652,630.439671453,652,0.415688873166,-0.0155053936473,0.0599758574157,0.999999998364,2.71370908812e-05,-3.76388702697e-05,-3.3452050675e-05,1793244885641717248
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.984729068,714,680,659,634,879,786,806,652,630.984729068,652,0.416543043552,-0.0155218390616,0.0600237309992,0.999999998506,-2.03682808664e-06,4.41511409795e-05,-3.21760051025e-05,1793244885658383360
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.396202123,714,680,659,634,879,786,806,652,630.396202123,652,0.417338680479,-0.0155229565523,0.0600162457292,0.999999999038,-5.94756817777e-06,2.63276621407e-05,-3.45641977104e-05,1793244885675050240
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.189366242,714,680,659,634,879,786,806,652,630.189366242,652,0.418152889916,-0.0155230208269,0.060004367079,0.99999999924,-9.66394789235e-06,5.11686867651e-06,-3.74140513812e-05,1793244885691716864
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.768839697,714,680,659,634,879,786,806,652,630.768839697,652,0.419005359928,-0.0155209154058,0.0599834377703,0.9999999988,-1.29799319054e-05,-2.30720199748e-05,-4.12149577913e-05,1793244885708383488
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.344753439,786,806,652,631,652,0.419858427673,-0.0155209433193,0.0599575698818,0.999999997073,-1.48253598562e-05,-6.03550868561e-05,-4.46150446306e-05,1793244885725050368
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.918304732,786,806,652,631,652,0.420711892074,-0.0155223870343,0.0599284244737,0.999999993363,-1.56948435982e-05,-0.000103673562858,-4.77491247626e-05,1793244885741716992
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.51160496,714,680.48839504,659.48839504,634,880,786,806,652,631,652,0.421534025355,-0.0155216510288,0.0598952494701,0.999999983891,-1.82223387985e-05,-0.000171092482845,-5.11185565524e-05,1793244885758383872
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.060944123,744.060944123,714,681,659.939055877,634,879.939055877,786,806,652,630.939055877,652,0.422368663,-0.0155211647507,0.0598708108733,0.999999973278,-2.11220438301e-05,-0.000223820096391,-5.3882273191e-05,1793244885775050752
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.660293165,744.660293165,714,681,659.339706835,634,879.339706835,786,806,652,630.339706835,652,0.423359742695,-0.0155260830957,0.0599294660912,0.999999992188,-2.48771027696e-05,-0.000111394774025,-5.09495126167e-05,1793244885791717120
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.750238411,745,714,680.750238411,659,634,879.499523178,786,806,652,630,652,0.424340638522,-0.0155309137214,0.0599841549974,0.999999998327,-2.85522641843e-05,-1.69339229593e-05,-4.73625439536e-05,1793244885808383488
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.173697365,745,714,680.173697365,659,634,880.652605269,786,806,652,630,652,0.425308210264,-0.015535629579,0.060033654526,0.999999997104,-3.21228911787e-05,5.40228472503e-05,-4.29196320425e-05,1793244885825050112
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.599059136,659.400940864,634,880.599059136,786,806,651.599059136,630.400940864,652,0.426260193989,-0.0155373115594,0.060038855489,0.999999995755,-3.97005957448e-05,7.06800895902e-05,-4.37878095265e-05,1793244885841716992
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.025241394,659.974758606,634,880.025241394,786,806,651.025241394,630.974758606,652,0.427205456447,-0.0155376853986,0.0600249558822,0.999999995654,-4.90060638185e-05,6.39245661546e-05,-4.6946012214e-05,1793244885858383616
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.565400202,745,714,679.565400202,660,634,880,786,806,651.565400202,631,652,0.428089440694,-0.0155383174845,0.0599984614952,0.999999997652,-4.18547456117e-05,2.34582456109e-05,-4.89260308245e-05,1793244885875050240
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.846901867,744.846901867,714,680.153098133,660,634,880,786.153098133,806,652,630.846901867,652,0.428960244101,-0.0155377867095,0.059968213451,0.999999997631,-3.76459684613e-05,-2.63535887047e-05,-5.12384616825e-05,1793244885891717120
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.269507408,744.269507408,714,680.730492592,660,634,880,786.730492592,806,652,630.269507408,652,0.429802332215,-0.0155340002487,0.059929168595,0.999999992775,-4.36907096411e-05,-9.77668129039e-05,-5.46223812473e-05,1793244885908383744
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744,713.693671887,680.693671887,660,634,880,786.693671887,806,652,630.306328113,652,0.430714015036,-0.0155337452678,0.0599242619444,0.999999992148,-4.68574157095e-05,-0.000101625793392,-5.63976486441e-05,1793244885925050368
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744,713.119201005,680.119201005,660,634,880,786.119201005,806,652,630.880798995,652,0.431686617189,-0.0155365815504,0.059949238002,0.999999996186,-4.75048479702e-05,-4.63515034677e-05,-5.67647903464e-05,1793244885941716992
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.468035762,713.468035762,680.468035762,660,634,880.468035762,786,806,652,631,651.531964238,0.432646392677,-0.0155398331107,0.059986868341,0.999999996991,-5.35242923438e-05,1.4179800312e-05,-5.43280795805e-05,1793244885958383616
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.942488268,745,714,681,660,634,880.942488268,786,806,652,631,651.057511732,0.433595736819,-0.0155429334438,0.0600219180913,0.999999994645,-5.99796641881e-05,6.66569806232e-05,-5.16610357289e-05,1793244885975050496
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.363025073,745,714,681,660,634,880.363025073,786,806,652,631,651.636974927,0.434480888778,-0.0155436745157,0.0600034782932,0.999999996342,-5.76262958406e-05,3.3546633822e-05,-5.35661325111e-05,1793244885991716864
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.414814189,744.792592905,714,681,660,634,880,786.207407095,806.207407095,652,631,652,0.435347665783,-0.0155442076287,0.0599791846536,0.999999996599,-5.93309333376e-05,-1.05398077742e-05,-5.63105359792e-05,1793244886008383232
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.525383772,744.237308114,714,681,660,634,880,786.762691886,806.762691886,652,631,652,0.436183623172,-0.0155443919386,0.0599450725385,0.999999993204,-6.78419418296e-05,-7.3036129142e-05,-6.04626836051e-05,1793244886025050112
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.656819178,744,714,681,660.343180822,634,880,786.656819178,806.656819178,652,630.656819178,652,0.43700164421,-0.0155401962381,0.0599199587046,0.999999988453,-6.79299038266e-05,-0.00012017345836,-6.3538761672e-05,1793244886041716736
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.057520257,744,714,681,660.942479743,634,880,786.057520257,806.057520257,652,630.057520257,652,0.437806279183,-0.0155327317072,0.0599015603492,0.999999983785,-6.17316905263e-05,-0.000155848267291,-6.58117617838e-05,1793244886058383616
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744,714,681,660.467564448,634,880,786,806.532435552,651.467564448,630.532435552,652,0.438646111632,-0.0155305850892,0.059905532987,0.999999984174,-6.60085735517e-05,-0.000151491739409,-6.59156649657e-05,1793244886075050240
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.119487586,744.119487586,714,681,660,634,880.119487586,786.119487586,807,651.119487586,631,652,0.439495789015,-0.0155316403519,0.0599216317447,0.99999998728,-7.12757330613e-05,-0.000127165058878,-6.47212463854e-05,1793244886091716864
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.699176295,744.699176295,714,681,660,634,880.699176295,786.699176295,807,651.699176295,631,652,0.440368991221,-0.0155428529875,0.059975286073,0.999999994447,-7.60735649662e-05,-4.22932895108e-05,-5.94133564236e-05,1793244886108383488
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.723445478,745,713.723445478,681,660,634,880.723445478,786.723445478,807,651.723445478,631,652,0.441169472564,-0.0155526031124,0.0599914220673,0.999999994688,-8.37014833082e-05,-1.82435246779e-05,-5.73108455372e-05,1793244886125050112
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.148559702,745,713.148559702,681,660,634,880.148559702,786.148559702,807,651.148559702,631,652,0.441891506731,-0.0155607755636,0.0599670854181,0.999999992037,-9.43823375945e-05,-5.98050765536e-05,-5.86661154737e-05,1793244886141716736
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.426413288,681,660,633.573586712,880.426413288,786,807,651,630.573586712,652,0.442573526913,-0.0155675697774,0.0599155348587,0.999999982675,-0.000107891239091,-0.000137577496845,-6.38826841369e-05,1793244886158383360
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,880.99854316,786,807,651,630,652,0.443241615685,-0.015573889308,0.0598545994942,0.999999964074,-0.000122412803743,-0.00022782733225,-7.04340760991e-05,1793244886175050240
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,880.407254628,786,807,651,630,652,0.44391456652,-0.0155824695583,0.0598334605863,0.999999952339,-0.000147941722341,-0.000261067174183,-7.26516787163e-05,1793244886191717120
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.819615008,633,880.180384992,785.819615008,807,651.180384992,630.180384992,652,0.444573549737,-0.0155922237505,0.059815202907,0.999999940062,-0.000168075806158,-0.000293505379736,-7.40348291925e-05,1793244886208384000
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.240050076,633,880.759949924,785.240050076,807,651.759949924,630.759949924,652,0.44520162368,-0.0156045757994,0.0598033211902,0.999999929215,-0.000176271486143,-0.00032416962459,-7.35713934183e-05,1793244886225050880
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.665406244,785,807,651.665406244,630.665406244,652,0.445789849508,-0.0156195108473,0.0597776566867,0.999999908814,-0.000201894848864,-0.000368926399107,-7.41907973422e-05,1793244886241717504
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.094241854,785,807,651.094241854,630.094241854,652,0.446349901152,-0.0156362721738,0.0597422472246,0.999999878644,-0.000239840251402,-0.000423647130307,-7.55758103176e-05,1793244886258383616
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764.648735372,745,714,681,659,632,880.351264628,785,807,652,630,652,0.448071190839,-0.0156732209243,0.059750619324,0.999999882024,-0.000275232042185,-0.000392729576186,-7.72129096528e-05,1793244886308383744
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.816232067,658.183767933,632,880,784.183767933,807,652,629.183767933,652,0.449028542858,-0.0156786506779,0.0597151077177,0.99999984517,-0.000309157282199,-0.00045528333104,-8.24495990786e-05,1793244886341716992
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+250,4.166666667,HOLD_POSE2,764,745,714,682,657.90068629,630,880.09931371,780.90068629,807.09931371,651.09931371,628,652,0.454264834627,-0.0157226239799,0.0596098795375,0.999999766203,-0.000327892515802,-0.000596345866136,-6.67222680059e-05,1793244887234430976
+251,4.183333333,HOLD_POSE2,764.4821752,745.4821752,714.4821752,682,658,630,880,780.5178248,807,651.4821752,628,652,0.454264338675,-0.0157240290872,0.0596096493528,0.999999765426,-0.000328950249558,-0.000597130887072,-6.61373668839e-05,1793244887251097344
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+254,4.233333333,HOLD_POSE2,764.78342535,745.78342535,714,682.21657465,657.78342535,630,881,780.21657465,807,652,628,652,0.45426317334,-0.0157249065273,0.0596084981647,0.999999763816,-0.000328947981071,-0.000599864784479,-6.57511839281e-05,1793244887301096704
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.267454481,630,880.732545519,780,807,651.732545519,627.732545519,652,0.454266590184,-0.0157229764233,0.059610645709,0.99999976497,-0.000330696858845,-0.000596971837859,-6.57581679272e-05,1793244887517191680
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,630,880.091468435,780.908531565,807.908531565,652,628,652,0.454264196203,-0.0157224528074,0.0596083755621,0.999999763216,-0.000330095948778,-0.000600198557121,-6.60814048989e-05,1793244887550525184
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,744.112272822,714,682,658.224545644,632.112272822,881,785,806.112272822,651.887727178,630,652,0.443191160742,-0.0154759354973,0.0596592718742,0.999999863478,7.95751772675e-06,-0.00052246978096,2.35743919989e-06,1793244888217191168
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,744.687417173,714,682,659.374834345,632.687417173,881,785,806.687417173,651.312582827,630,652,0.442525210192,-0.0154689119584,0.059705908805,0.999999898649,2.20400217807e-05,-0.000449569345403,1.0190825022e-05,1793244888233857792
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.729908722,633,880.729908722,785.270091278,807.270091278,651.270091278,630.270091278,652,0.441829056394,-0.0154607387475,0.0597393933855,0.99999991803,4.84220409386e-05,-0.000401644709108,1.66315743821e-05,1793244888250524672
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,880,786,807,651.597558813,630,652,0.438711061318,-0.015386372545,0.0598064899698,0.999999930559,0.000192847684242,-0.000317723296303,2.72810438167e-05,1793244888317191168
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.67007122,659.67007122,633,880.67007122,786,806.67007122,651.32992878,630.32992878,651.32992878,0.436124244316,-0.0153695675979,0.059773640895,0.999999900486,0.000238459843503,-0.000375419568456,3.50140499378e-05,1793244888367191040
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880,785.496314712,806.503685288,652,630.496314712,652,0.434372139055,-0.0153802981825,0.0597396428227,0.999999909435,0.000162283172854,-0.000393348701748,8.39682434976e-06,1793244888400524544
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.920001294,659,633.079998706,880,785.079998706,807,652,630,652,0.433500169599,-0.0153859034663,0.059755722608,0.999999935864,8.06653580869e-05,-0.000348725778092,-1.24837012283e-05,1793244888417191424
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.345193379,659,633.654806621,880,785.654806621,807,652,630,652,0.432581805636,-0.0153900526763,0.0597769514216,0.999999940283,0.000102064780445,-0.000330166261916,-2.58353896436e-06,1793244888433858048
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.765608355,714,680.234391645,659,634,880,786,806.765608355,652,630.234391645,652,0.431685386786,-0.0153907221049,0.0597976429506,0.99999994576,0.000124524342085,-0.000304856366887,5.94674173874e-06,1793244888450524416
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.178841527,714,680.821158473,659,634,880,786,806.178841527,652,630.821158473,652,0.430821959218,-0.0153861601676,0.0598175267504,0.999999952598,0.000148577678615,-0.000269398214823,1.24175978386e-05,1793244888467191040
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.987907506,744.987907506,714,681,659,633.012092494,880,786,806,651.012092494,630.012092494,652,0.428978406557,-0.0153752025565,0.0598350430128,0.999999952067,0.000171282310706,-0.000257257083931,1.86423858331e-05,1793244888500524288
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.43749595,745,714,680.43749595,659,633.56250405,880,786,806,651.56250405,630,652,0.4279942628,-0.0153726193036,0.0597842672913,0.999999925517,0.000170057150345,-0.000346262515862,1.21893080833e-05,1793244888517191168
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.715175407,744.284824593,714,680.715175407,659,634,879.715175407,786,806.284824593,651.284824593,630,651,0.425229491553,-0.0153800544931,0.0597830152717,0.99999993023,0.000166093357518,-0.000334328980437,1.33175931952e-05,1793244888567191296
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.481543893,744.518456107,714,680.518456107,658.518456107,634,879.481543893,785.518456107,806.518456107,652,630,651.518456107,0.41725684362,-0.0153635842497,0.0597624568188,0.999999912482,0.000199534997216,-0.000367451423095,1.41628591412e-05,1793244888717191424
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.908526488,659,634,879.091473512,786,806.908526488,652,630.091473512,652,0.416478592073,-0.0153633413838,0.0598075752332,0.999999931375,0.000204131381453,-0.00030857537391,1.89913679218e-05,1793244888733857792
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744.745771106,714,680,659,634,879.745771106,786,806,652,630.745771106,652,0.414899685994,-0.0153624198541,0.0598419323669,0.999999940304,0.000208019724609,-0.000274915706141,2.32816218555e-05,1793244888767191040
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.41605643,744,714,680.58394357,658.58394357,634,879,786,805.41605643,652,630,652,0.411829820545,-0.0153561133477,0.0597720706788,0.999999898816,0.000221652238542,-0.000391052296888,1.78123225769e-05,1793244888833857792
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.161904163,714,680.838095837,658.838095837,634,879,786,805.161904163,652,630,652,0.411102624974,-0.0153516859463,0.0597389272996,0.999999876726,0.000228511271517,-0.000440590647722,1.45026612562e-05,1793244888850524416
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.678115119,786,806,652,630,652,0.409848860506,-0.0153567797819,0.0597795482145,0.999999910762,0.000215868304302,-0.000362763876348,1.67210987823e-05,1793244888883857664
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d5852f6bab6df46a63ee40e588f988a4095ea6b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,408 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.575670702406,-0.0101222643744,1.05005087387,0.546242337401,-0.00144657244196,1.04971736757
+396,6.600000000,pose2_to_pose3_retreat,0.575670563501,-0.0101222677062,1.05005087403,0.546242198652,-0.00144657524526,1.04971736767
+397,6.616666667,pose2_to_pose3_retreat,0.575670548708,-0.010122268061,1.05005087405,0.546242183876,-0.00144657554381,1.04971736769
+398,6.633333333,pose2_to_pose3_retreat,0.575670482133,-0.0101222696579,1.05005087413,0.546242117376,-0.00144657688738,1.04971736774
+399,6.650000000,pose2_to_pose3_retreat,0.575670338034,-0.0101222614698,1.05005088903,0.546241973274,-0.00144656870554,1.04971738273
+400,6.666666667,pose2_to_pose3_retreat,0.575670236941,-0.0101222346336,1.05005092619,0.54624187188,-0.00144654287809,1.04971742018
+401,6.683333333,pose2_to_pose3_retreat,0.575670208632,-0.0101222271185,1.05005093659,0.546241843487,-0.0014465356455,1.04971743067
+402,6.700000000,pose2_to_pose3_retreat,0.575670166664,-0.0101222159778,1.05005095202,0.546241801394,-0.00144652492357,1.04971744622
+403,6.716666667,pose2_to_pose3_retreat,0.57566997865,-0.0101221660673,1.05005102112,0.54624161282,-0.00144647688915,1.04971751588
+404,6.733333333,pose2_to_pose3_retreat,0.575669715379,-0.0101221425476,1.05005111302,0.546241349349,-0.00144645409389,1.04971760668
+405,6.750000000,pose2_to_pose3_retreat,0.575669634713,-0.0101222161609,1.05005113271,0.546241269636,-0.00144652461307,1.04971762276
+406,6.766666667,pose2_to_pose3_retreat,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496246,1.04971762284
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6bda14eac625082d7f6da28b410d2b41e44792a9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78d6dba75cbfc497a18b29afb8b595ffad9d631b98d4a2616d2e16dac7e49ed9
+size 25475960
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ecf397bf26c32de2b0d8a329eeb9dd067eaf6050
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
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+49,0.816666667,BASELINE,765.433023406,745,714,680,659,634.566976594,878.433023406,786.433023406,806.433023406,653,631,652,0.400928854283,-0.0154352847128,0.049924946227,0.999999972421,5.79356455877e-05,-0.000225237900958,-3.2706538039e-05,1793244891931446272
+50,0.833333333,BASELINE,765.991505385,745,714,680,659,634,879,787,806.991505385,653,630.991505385,652,0.400930502446,-0.0154363110952,0.049925289158,0.999999972709,5.79593360312e-05,-0.000223963552249,-3.26132982291e-05,1793244891948112896
+51,0.850000000,BASELINE,765.417226686,745,714,680,659,634,879,787,806.417226686,653,630.417226686,652,0.400931183371,-0.0154367715421,0.0499264961109,0.999999973291,5.65865558046e-05,-0.00022174247552,-3.23419678645e-05,1793244891964779520
+52,0.866666667,BASELINE,765,745,714,680,659,634,879,786.83696298,806,653,630.16303702,652,0.400932154665,-0.0154374016627,0.0499276202962,0.999999973814,5.57175979754e-05,-0.000219631271202,-3.20836517144e-05,1793244891981446400
+53,0.883333333,BASELINE,765,745,714,680,659,634,879,786.24079945,806,653,630.75920055,652,0.400933897356,-0.0154384825408,0.0499285246002,0.999999974193,5.61871021091e-05,-0.00021781195566,-3.18599093323e-05,1793244891998113024
+54,0.900000000,BASELINE,765,744.658134895,714,679.658134895,659,634,879,786.341865105,806.341865105,653,630.658134895,652,0.400933850453,-0.0154394718465,0.0499286878948,0.999999974305,5.49149671524e-05,-0.00021764879701,-3.16739383211e-05,1793244892014779648
+55,0.916666667,BASELINE,765,744.08461745,714,679.08461745,659,634,879,786.91538255,806.91538255,653,630.08461745,652,0.400932590897,-0.0154403991016,0.0499283490716,0.999999974233,5.24626743745e-05,-0.00021860787236,-3.1513561702e-05,1793244892031446528
+56,0.933333333,BASELINE,765,744.48871682,714,679,659,634,879,786.51128318,806.51128318,653,630,652,0.400931706468,-0.0154383311402,0.0499271428802,0.999999973657,5.6357907235e-05,-0.000220230543868,-3.17514845476e-05,1793244892048113152
+57,0.950000000,BASELINE,765,745,714,679.06413676,659,634,879,786,806,653,630.06413676,652,0.400930954336,-0.0154360842724,0.0499258943787,0.999999973046,6.06182261212e-05,-0.000221824396838,-3.20408324958e-05,1793244892064779776
+58,0.966666667,BASELINE,765,745,714,679.657011815,659,634,879,786,806,653,630.657011815,652,0.400930757601,-0.0154366361952,0.049925534667,0.999999973058,5.88314123244e-05,-0.00022223382912,-3.21858172e-05,1793244892081446400
+59,0.983333333,BASELINE,765,745,713.75736138,680,658.75736138,634.24263862,879,786.24263862,806,653,630.75736138,652,0.400930508879,-0.0154369403299,0.049925382303,0.999999973069,5.79019562636e-05,-0.000222429671408,-3.21566553789e-05,1793244892098113024
+60,1.000000000,BASELINE,765,745,713.181683253,680,658.181683253,634.818316747,879,786.818316747,806,653,630.181683253,652,0.400930188801,-0.0154369043574,0.0499255145391,0.999999973085,5.81492870499e-05,-0.000222332345641,-3.18884645522e-05,1793244892114779648
+61,1.016666667,BASELINE,765,745,713.394888425,679.605111575,658.394888425,634.605111575,879,787,806,653,630.394888425,652,0.40093013716,-0.0154370070618,0.049925577789,0.999999973178,5.71489235984e-05,-0.000222162523671,-3.19542595291e-05,1793244892131446272
+62,1.033333333,BASELINE,765,745,713.971872113,679.028127887,658.971872113,634.028127887,879,787,806,653,630.971872113,652,0.400930209303,-0.0154371737144,0.0499256092273,0.999999973305,5.55732097393e-05,-0.000221959271465,-3.21740657033e-05,1793244892148112896
+63,1.050000000,BASELINE,765,745,714,679,658.453395593,634.546604407,878.453395593,786.453395593,806.546604407,653,630.453395593,652,0.400929134973,-0.0154365650949,0.0499248531122,0.999999972874,5.66366497705e-05,-0.000223572766182,-3.25367139707e-05,1793244892164779520
+64,1.066666667,BASELINE,765,745,714,679,658.125472332,634.874527668,878.125472332,786.125472332,806.874527668,653,630,652,0.400928599866,-0.0154361393363,0.049924446251,0.999999972633,5.74224476478e-05,-0.000224417615951,-3.27689150587e-05,1793244892181446144
+65,1.083333333,BASELINE,765,745,714,679,658.720239984,634.279760016,878.720239984,786.720239984,806.279760016,653,630,652,0.400930301331,-0.0154365461232,0.0499254966375,0.999999973216,5.6663926717e-05,-0.000222039322812,-3.24858337456e-05,1793244892198113024
+66,1.100000000,BASELINE,765,745,714,679.305280294,659,634,879,787,806,653,630.305280294,652,0.400930675573,-0.0154378913796,0.0499258046438,0.999999973366,5.59941471391e-05,-0.000221586939938,-3.2111497189e-05,1793244892214779648
+67,1.116666667,BASELINE,765,745,714,679.881681666,659,634,879,787,806,653,630.881681666,652,0.400929871102,-0.0154400700956,0.0499254533381,0.999999973134,5.54031792763e-05,-0.0002228449685,-3.16561163729e-05,1793244892231446272
+68,1.133333333,BASELINE,765,745,714,680,659,634,879,786.541853491,806.458146509,653,630.541853491,652,0.400931026261,-0.0154406796907,0.0499262346483,0.999999973513,5.36535107022e-05,-0.000221565607329,-3.16705750627e-05,1793244892248112896
+69,1.150000000,BASELINE,765.03541865,745,714,680,659,634.03541865,879,786,806.96458135,653,630,652,0.400932600914,-0.0154408092506,0.0499272491161,0.999999974009,5.1854636383e-05,-0.000219727963597,-3.1811125269e-05,1793244892264780032
+70,1.166666667,BASELINE,765.625066141,745,714,680,659,634.625066141,879,786,806.374933859,653,630,652,0.400932819513,-0.0154397691784,0.0499273343168,0.999999973961,5.39689261729e-05,-0.000219409740063,-3.20257933887e-05,1793244892281446400
+71,1.183333333,BASELINE,765.789453347,744.789453347,714,679.789453347,659,634.789453347,879,786.210546653,806,653,630.210546653,652,0.400932168825,-0.0154391123936,0.0499270467589,0.999999973738,5.55803221963e-05,-0.000220012602875,-3.20695401158e-05,1793244892298112768
+72,1.200000000,BASELINE,765.211249136,744.211249136,714,679.211249136,659,634.211249136,879,786.788750864,806,653,630.788750864,652,0.400930000182,-0.0154391249066,0.0499261082884,0.999999973217,5.63135631004e-05,-0.00022222387096,-3.18148231365e-05,1793244892314779648
+73,1.216666667,BASELINE,765,744.365925148,714,679.365925148,659,634,879,787,806,653,631,652,0.400930015815,-0.0154388334501,0.0499259045978,0.99999997321,5.6410246139e-05,-0.000222223552288,-3.18616866104e-05,1793244892331446528
+74,1.233333333,BASELINE,765,744.942506489,714,679.942506489,659,634,879,787,806,653,631,652,0.400931288895,-0.0154383670042,0.0499261239062,0.9999999735,5.6140474801e-05,-0.000220950064785,-3.20821642672e-05,1793244892348112896
+75,1.250000000,BASELINE,765,745,714,680,659,634,879,787,806.528079425,653,631,652,0.400932150584,-0.0154389637971,0.0499266666686,0.999999973694,5.60665740073e-05,-0.000220126059978,-3.18238223833e-05,1793244892364779520
+76,1.266666667,BASELINE,765,744.886762162,714,680,658.886762162,634,879,786.886762162,807,653,630.886762162,652,0.400932610227,-0.0154392376799,0.0499269496784,0.999999973776,5.59970373087e-05,-0.000219794522733,-3.16756924476e-05,1793244892381446144
+77,1.283333333,BASELINE,765,744.307409405,714,680,658.307409405,634,879,786.307409405,807,653,630.307409405,652,0.400931602504,-0.0154376976436,0.0499260160168,0.999999973438,5.58561649038e-05,-0.000221285179889,-3.21995208992e-05,1793244892398113024
+78,1.300000000,BASELINE,765,744.270869418,714,679.729130582,658.270869418,634,879,786.270869418,806.729130582,653,630,652,0.400931227767,-0.0154378326995,0.0499261365305,0.999999973464,5.50261989096e-05,-0.000221370048339,-3.22507315544e-05,1793244892414779648
+79,1.316666667,BASELINE,765,744.847934209,714,679.152065791,658.847934209,634,879,786.847934209,806.152065791,653,630,652,0.400931568567,-0.0154398613082,0.0499274487019,0.999999973898,5.34172698718e-05,-0.000219865789351,-3.17676870201e-05,1793244892431446016
+80,1.333333333,BASELINE,765,745,714,679,659,634,879,786.575678702,806,653,630.424321298,652,0.400932669397,-0.0154396106998,0.0499278122346,0.999999974248,5.34004990115e-05,-0.000218285751605,-3.16870777254e-05,1793244892448112640
+81,1.350000000,BASELINE,765,745,714,679,659,634,879,786.000476263,806.000476263,653,630.999523737,652,0.400934039685,-0.0154385458518,0.0499278357398,0.999999974565,5.39525296375e-05,-0.000216681855431,-3.17505301625e-05,1793244892464779776
+82,1.366666667,BASELINE,765,745,714,679,659,634,879,786.589371089,806.589371089,653,630.410628911,652,0.400932343242,-0.0154390506861,0.0499271155821,0.999999974062,5.34209629404e-05,-0.000219100159086,-3.18996149766e-05,1793244892481446144
+83,1.383333333,BASELINE,765,744.824865854,714,679.175134146,658.824865854,634,879.175134146,786.824865854,807,653,630,652,0.400931499403,-0.0154390526155,0.0499266584521,0.999999973688,5.38214282607e-05,-0.000220685817651,-3.2020704464e-05,1793244892498112768
+84,1.400000000,BASELINE,765,744.2463166,714,679.7536834,658.2463166,634,879.7536834,786.2463166,807,653,630,652,0.400932619509,-0.0154378961219,0.0499268071966,0.999999973619,5.63687951938e-05,-0.00022035350914,-3.20773077687e-05,1793244892514779648
+85,1.416666667,BASELINE,765,744.331166079,714,680,658.331166079,634.331166079,879.668833921,786.331166079,806.668833921,653,630.331166079,652,0.400933203743,-0.0154379668002,0.0499269289569,0.999999973684,5.69954344835e-05,-0.000219908396482,-3.20120579925e-05,1793244892531446528
+86,1.433333333,BASELINE,765,744.907857966,714,680,658.907857966,634.907857966,879.092142034,786.907857966,806.092142034,653,630.907857966,652,0.400933390683,-0.0154389473011,0.0499270307111,0.99999997385,5.61980503395e-05,-0.000219379651097,-3.18564666048e-05,1793244892548113408
+87,1.450000000,BASELINE,764.518186154,745,714,680,659.481813846,635,879,786.518186154,806.481813846,653,630.518186154,652,0.400931300217,-0.0154403979862,0.0499261471769,0.999999973399,5.43539234776e-05,-0.000221886445363,-3.18455235407e-05,1793244892564780032
+88,1.466666667,BASELINE,764.057155516,745,714,680,659.942844484,635,879,786,806.942844484,653,630.057155516,652,0.400929325355,-0.0154415494243,0.0499253393958,0.999999972948,5.28656795697e-05,-0.000224263937514,-3.18659468517e-05,1793244892581446656
+89,1.483333333,BASELINE,764.650374292,745,714,680,659.349625708,635,879,786,806.349625708,653,630.650374292,652,0.400932496535,-0.0154390556335,0.049926999383,0.999999973686,5.6582155517e-05,-0.000220014765338,-3.19225735909e-05,1793244892598113024
+90,1.500000000,BASELINE,765,745,714,679.76272605,659,635,879,786.23727395,806.23727395,653,631,652,0.400933571056,-0.0154378030006,0.0499274573458,0.999999973906,5.86160786178e-05,-0.000218483088326,-3.19078987559e-05,1793244892614779648
+91,1.516666667,BASELINE,765,745,714,679.184896182,659,635,879,786.815103818,806.815103818,653,631,652,0.400931636272,-0.0154383317843,0.0499261900599,0.999999973411,5.82350572918e-05,-0.000220851793747,-3.17908857844e-05,1793244892631446272
+92,1.533333333,BASELINE,765,745,714,679,659,635,879,786.609507223,806.609507223,653,630.609507223,652,0.400931082763,-0.015437651824,0.0499258725432,0.999999973326,5.67436888963e-05,-0.000221582923811,-3.20892797119e-05,1793244892648113152
+93,1.550000000,BASELINE,765,745,714,679,659,635,879,786.035266792,806.035266792,653,630.035266792,652,0.400931179216,-0.0154364030854,0.0499260019434,0.999999973431,5.47298430184e-05,-0.000221543487637,-3.25831447056e-05,1793244892664779776
+94,1.566666667,BASELINE,765,745,714,679.537228803,659,634.462771197,879,786.537228803,806,653,630,652,0.400932620328,-0.0154381312378,0.0499265333887,0.999999973681,5.56806880347e-05,-0.000220242116089,-3.20969070198e-05,1793244892681446656
+95,1.583333333,BASELINE,765,744.886290363,714,679.886290363,659,634,879,786.886290363,806.113709637,653,630,652,0.400933595845,-0.0154397026073,0.0499269623731,0.999999973867,5.6234007666e-05,-0.000219324088846,-3.16410065105e-05,1793244892698113792
+96,1.600000000,BASELINE,765,744.292501758,714,679.292501758,659,634,879,786.292501758,806.707498242,653,630,652,0.400932234154,-0.0154397896561,0.0499268477026,0.999999973745,5.42899687441e-05,-0.000220373149238,-3.15839491215e-05,1793244892714780160
+97,1.616666667,BASELINE,765,744.293550985,714,679,659,634,879.293550985,786.293550985,806.706449015,653,630,652,0.400931803235,-0.0154391697493,0.0499267217195,0.999999973642,5.4680266603e-05,-0.000220732940945,-3.16561900824e-05,1793244892731446784
+98,1.633333333,BASELINE,765,744.872093397,714,679,659,634,879.872093397,786.872093397,806.127906603,653,630,652,0.400932275948,-0.0154378635008,0.0499265847537,0.999999973556,5.73368351861e-05,-0.000220423562066,-3.18539592278e-05,1793244892748113408
+99,1.650000000,BASELINE,765,745,714,679,658.555584198,634,879.555584198,786.555584198,806,653,630,652,0.400932282503,-0.0154392712987,0.049926537644,0.999999973632,5.60736322442e-05,-0.000220437023818,-3.1612285311e-05,1793244892764779776
+100,1.666666667,BASELINE,765,745,714,679,658,634,879,786.015566361,806,653,630,652.015566361,0.400932143005,-0.0154413304268,0.0499265005202,0.999999973741,5.38098696253e-05,-0.00022055620796,-3.12652421114e-05,1793244892781446400
+101,1.683333333,BASELINE,765,745,714,679,658,634,879,786.608744114,806,653,630,652.608744114,0.40093149363,-0.0154389733902,0.0499258875617,0.999999973484,5.57024679529e-05,-0.000221198170763,-3.16365938149e-05,1793244892798113280
+102,1.700000000,BASELINE,765,745,714,679,658.197271829,634.197271829,878.802728171,786.802728171,806,652.802728171,630.197271829,652.802728171,0.40093150706,-0.0154375287625,0.0499258663128,0.999999973471,5.66195688443e-05,-0.00022098855085,-3.18789495912e-05,1793244892814780160
+103,1.716666667,BASELINE,765,745,714,679,658.776789283,634.776789283,878.223210717,786.223210717,806,652.223210717,630.776789283,652.223210717,0.400932804782,-0.015437852073,0.0499269915958,0.999999973935,5.56464876807e-05,-0.000219128853557,-3.18713551457e-05,1793244892831446784
+104,1.733333333,BASELINE,765,745,714,679,659,634.644904665,878.355095335,786,806,652.355095335,631,652,0.400933099962,-0.0154381977908,0.0499269325126,0.999999973935,5.54538504364e-05,-0.000219165692353,-3.19662934305e-05,1793244892848113408
+105,1.750000000,BASELINE,765,745,714,679,659,634.067357448,878.932642552,786,806,652.932642552,631,652,0.400932767093,-0.0154385575458,0.0499261314752,0.999999973644,5.57501274857e-05,-0.000220390628867,-3.2125464039e-05,1793244892864780032
+106,1.766666667,BASELINE,765,745,714,679.517689191,659,634,878.482310809,786.517689191,806,653,630.482310809,652,0.400932767128,-0.0154393668606,0.0499258392622,0.999999973671,5.41969331968e-05,-0.0002206767733,-3.19604789498e-05,1793244892881446912
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,786,806,653,631,652,0.400933227273,-0.0154391987695,0.0499263356492,0.99999997388,5.20514486101e-05,-0.000220256172531,-3.19004301907e-05,1793244892923904256
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,786.575291915,806,653,631,652.575291915,0.4009326902,-0.0154393963217,0.049926326774,0.99999997376,5.44195333032e-05,-0.000220249204464,-3.17677118159e-05,1793244892940570880
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,786.849828489,806,653,631,652.849828489,0.400932512862,-0.0154396992395,0.0499264028676,0.99999997373,5.57243979046e-05,-0.000220077899683,-3.16447158643e-05,1793244892957237504
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,786.276111668,806,653,631,652.276111668,0.40093335012,-0.0154402993311,0.049926718608,0.999999973965,5.40305459103e-05,-0.000219443097903,-3.15491411078e-05,1793244892973904128
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.692003538,745,714,679.307996462,659,634.307996462,879.307996462,786,806,653,630.692003538,652,0.400934756586,-0.015439396845,0.0499272852134,0.999999974153,5.50319123626e-05,-0.000218327304176,-3.15945203727e-05,1793244892990570752
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.09825461,745,714,679.90174539,659,634.90174539,879.90174539,786,806,653,630.09825461,652,0.400936691149,-0.0154371002997,0.049928084566,0.999999974289,5.85338443773e-05,-0.000216765256544,-3.17706737398e-05,1793244893007237376
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744.516595098,714,679.516595098,659,634.516595098,879.516595098,786.483404902,806.483404902,653,630,652,0.400940160404,-0.0154372053846,0.0499285553438,0.999999974764,5.82079446341e-05,-0.000214660542934,-3.17016946539e-05,1793244893023904000
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.062000099,744.062000099,714,679,659,634.062000099,879,787,806.937999901,652.937999901,630.062000099,652,0.400945581783,-0.0154378550068,0.0499294690625,0.999999975558,5.70857634529e-05,-0.000211257147483,-3.15676302626e-05,1793244893040570368
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.635096667,744.635096667,714,679,659,634.635096667,879,787,806.364903333,652.364903333,630.635096667,652,0.40096458677,-0.0154390676851,0.0499345712593,0.999999978352,5.56566183106e-05,-0.000198035165359,-3.12977423045e-05,1793244893057237248
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.791456137,879,787,806,652.208543863,630.791456137,652,0.400989476035,-0.0154404042435,0.0499407522909,0.999999981684,5.44010600805e-05,-0.000180879863306,-3.08885701865e-05,1793244893073904128
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.217394448,879,787,806,652.782605552,630.217394448,652,0.401024678757,-0.0154419579284,0.0499488242111,0.999999985817,5.34497502684e-05,-0.000156830576264,-3.02352727443e-05,1793244893090570496
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.368206316,879,787,806,653,630,652,0.401064822194,-0.0154440663966,0.0499537473878,0.999999989013,5.27047592449e-05,-0.000135303256295,-2.98201469217e-05,1793244893107237120
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.960840389,879,787,806,653,630,652,0.401107977079,-0.0154465130143,0.0499567513545,0.999999991558,5.20855227933e-05,-0.000115313114077,-2.95501905221e-05,1793244893123904000
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.460626562,879,786.460626562,806,653,630.539373438,652,0.401167965736,-0.0154510356923,0.0499612989549,0.999999993664,5.19318303629e-05,-9.57250020776e-05,-2.85095997729e-05,1793244893140570624
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.116453789,659.116453789,634,879.116453789,786.116453789,806.116453789,652.883546211,630.883546211,652,0.401230617082,-0.0154554239361,0.0499648590254,0.999999995029,5.12227364277e-05,-8.09595590637e-05,-2.76236343314e-05,1793244893157237504
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.691741514,659.691741514,634,879.691741514,786.691741514,806.691741514,652.308258486,630.308258486,652,0.401299066861,-0.0154587037647,0.0499640978627,0.999999994839,4.81955532322e-05,-8.50836018516e-05,-2.75617283736e-05,1793244893173904128
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.732476086,745,714,680,659.732476086,634,879.732476086,787,807,652.267523914,630.267523914,652,0.401379661624,-0.0154628377621,0.0499639369842,0.999999994871,4.60221959588e-05,-8.60053208326e-05,-2.72569988108e-05,1793244893190570752
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.156122667,745,714,680,659.156122667,634,879.156122667,787,807,652.843877333,630.843877333,652,0.401474276547,-0.0154679578114,0.0499644690735,0.999999995176,4.48344951901e-05,-8.32302781742e-05,-2.66719537743e-05,1793244893207237120
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.430030126,745,714,680,659,634,879,787,807,653,630.569969874,652,0.401587358603,-0.0154749514388,0.0499677308101,0.999999995815,4.09333280978e-05,-7.76362293499e-05,-2.58439120895e-05,1793244893223904000
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.980626277,659,634,879,786.980626277,806.980626277,653,630.019373723,652,0.401708249345,-0.0154826861624,0.0499718269604,0.999999996492,3.61411237531e-05,-7.1343094965e-05,-2.49068250572e-05,1793244893240570624
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.404215749,659,634,879,786.404215749,806.404215749,653,630.595784251,652,0.401856392682,-0.0154917156327,0.0499707564765,0.999999996306,3.47146558843e-05,-7.50620930043e-05,-2.34301143402e-05,1793244893257237760
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.171549595,659,634.171549595,879,786,806,653,630.828450405,652,0.402011827225,-0.0155005889216,0.049968497999,0.999999996065,3.21990334522e-05,-7.95884300826e-05,-2.23224430967e-05,1793244893273904640
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.745800335,659,634.745800335,879,786,806,653,630.254199665,652,0.402184377363,-0.0155090955838,0.0499634507866,0.999999995689,2.71266940889e-05,-8.60099407663e-05,-2.20810674211e-05,1793244893290571264
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.668876723,659,634.668876723,879,786,806,653,630,652,0.402378690764,-0.0155197289449,0.0499626712804,0.999999995864,2.03623161734e-05,-8.61559339278e-05,-2.08254636035e-05,1793244893307237888
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.074759651,659,634.074759651,879,786,806,653,630,652,0.402590289598,-0.0155320514319,0.0499652813882,0.999999996443,1.22540405288e-05,-8.13176144435e-05,-1.87643117173e-05,1793244893323904256
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.495269348,744.495269348,713.495269348,679,659,634,878.495269348,786,806,652.495269348,630.504730652,652,0.402849095037,-0.0155443500489,0.0499722671283,0.999999997617,5.90029000492e-06,-6.68107154879e-05,-1.63281367423e-05,1793244893340571136
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.081891086,744.081891086,713.081891086,679,658.918108914,634.081891086,878.081891086,786.081891086,806,652.081891086,630.918108914,652,0.403120725629,-0.0155558832435,0.0499795509491,0.999999998594,1.0549826057e-06,-5.1196834204e-05,-1.37434596932e-05,1793244893357238016
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.657698331,744.657698331,713.657698331,679,658.342301669,634.657698331,878.657698331,786.657698331,806,652.657698331,630.342301669,652,0.40342872513,-0.0155628206142,0.0499848337063,0.999999999241,3.78439371047e-06,-3.73005336949e-05,-1.0588702712e-05,1793244893373904384
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.231670897,658.231670897,635,879,787,806.231670897,652.768329103,630.231670897,652,0.40375050043,-0.0155628650612,0.0499907205859,0.999999999594,1.49289864684e-05,-2.29404642837e-05,-7.94548224238e-06,1793244893390570752
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.802953929,658.802953929,635,879,787,806.802953929,652.197046071,630.802953929,652,0.404092469998,-0.0155528049991,0.0499974930633,0.999999999213,3.84096032724e-05,-7.90054532453e-06,-6.05213606286e-06,1793244893407237376
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.608854232,659.391145768,635,879,786.608854232,806.608854232,652,630.608854232,652,0.404459275977,-0.0155489429478,0.0500039382405,0.99999999872,4.99207084646e-05,7.25103303901e-06,-3.79590725648e-06,1793244893423904256
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.011759459,659.988240541,635,879,786.011759459,806.011759459,652,630.011759459,652,0.404839158999,-0.0155483443199,0.0500102110851,0.999999998227,5.51295358205e-05,2.24614026731e-05,-1.34861082605e-06,1793244893440570880
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.432410136,634.432410136,879,786.567589864,806,652,630,652,0.405245077971,-0.0155552680456,0.0500010952206,0.999999999227,3.91687730235e-05,3.07132086478e-06,1.46265020377e-06,1793244893457237504
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.85497762,714,679,659,634.14502238,879,786.85497762,806,652,630.14502238,652,0.405657675438,-0.0155605704106,0.0499877340023,0.999999999219,3.15146924854e-05,-2.35548522568e-05,3.69712462371e-06,1793244893473904128
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.282147994,714,679,659,634.717852006,879,786.282147994,806,652,630.717852006,652,0.406088430973,-0.0155606440491,0.0499627612553,0.999999996347,4.96194333444e-05,-6.94764696726e-05,4.20854269706e-06,1793244893490570752
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.299729674,714,679,659,634.700270326,879,786.299729674,806,652.299729674,631,652,0.406543552051,-0.015560224376,0.0499442053574,0.999999992515,6.76575799243e-05,-0.000101803788478,5.2749969593e-06,1793244893507237376
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.890389827,714,679,659,634.109610173,879,786.890389827,806,652.890389827,631,652,0.407022323422,-0.0155593258735,0.0499318779253,0.999999988997,8.56310894431e-05,-0.00012093590338,6.88019322292e-06,1793244893523904000
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.471891557,745,714,679.471891557,659,634,879,787,806,653,630.528108443,652,0.40757664824,-0.015560346356,0.0499441552895,0.999999990019,0.000105527014065,-9.32169352177e-05,1.17043933874e-05,1793244893540570880
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.949170555,745,714,680,659,634.050829445,879,786.949170555,806.050829445,652.949170555,630.050829445,652.050829445,0.408152809823,-0.0155618015679,0.0499630461119,0.99999999051,0.000125515884079,-5.40940312944e-05,1.7314631581e-05,1793244893557237760
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.375142537,745,714,680,659,634.624857463,879,786.375142537,806.624857463,652.375142537,630.624857463,652.624857463,0.408776541398,-0.0155632308107,0.0499923032997,0.999999989621,0.000141952696986,-7.47114828427e-06,2.34659712364e-05,1793244893573904128
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.204076311,745,714,679.795923689,659,634.795923689,879,786.204076311,806.795923689,652.204076311,631,652.795923689,0.409400630315,-0.0155616791137,0.0500118227057,0.999999987228,0.000156028974555,2.16692932867e-05,2.70080204263e-05,1793244893590571008
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.793086192,745,714,679.206913808,659,634.206913808,879,786.793086192,806.206913808,652.793086192,631,652.206913808,0.410025393223,-0.0155545046974,0.0500129744751,0.999999985792,0.000165652754049,1.78339371434e-05,2.56283638926e-05,1793244893607237376
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.623997035,745,714,679.376002965,659.376002965,634,879,787,806,652.623997035,631,652,0.410640559693,-0.0155427789424,0.0499918181462,0.999999984424,0.000172885799861,-2.8757287221e-05,2.08457375475e-05,1793244893623904000
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.044379839,745,714,679.955620161,659.955620161,634,879,787,806,652.044379839,631,652,0.41125052945,-0.0155285885332,0.0499585814702,0.999999979059,0.000178824207537,-9.85017947801e-05,1.42203249478e-05,1793244893640570624
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.468130325,660,634,879.531869675,787,806.531869675,652,631,652,0.41194811582,-0.0155304169561,0.0499512502759,0.999999978627,0.000181331692524,-9.82724123176e-05,1.44076685904e-05,1793244893657237248
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.107355386,659.892644614,634,879.892644614,786.892644614,806.892644614,652.107355386,630.892644614,652,0.412668442805,-0.0155343649891,0.0499524994189,0.999999979633,0.000183021351966,-8.3601723027e-05,1.57428689296e-05,1793244893673903872
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.680737439,659.319262561,634,879.319262561,786.319262561,806.319262561,652.680737439,630.319262561,652,0.413455949514,-0.0155417484214,0.0499816712263,0.99999998268,0.000182395768278,-3.14279113744e-05,1.9608720608e-05,1793244893690570752
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.737347883,659.262652117,634,879.262652117,786,806,652.737347883,630,652,0.414226020461,-0.01554629861,0.0499891457364,0.999999982843,0.000183152644568,-1.76406568982e-05,2.14182339543e-05,1793244893707237632
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.144713178,659.855286822,634,879.855286822,786,806,652.144713178,630,652,0.414974186118,-0.0155472892582,0.0499693608838,0.999999981198,0.000185646372604,-5.20802883437e-05,2.06442703123e-05,1793244893723904256
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.438097522,659.561902478,634,879.561902478,786.438097522,806,652,630.438097522,652,0.415748644334,-0.0155479018417,0.0499479486089,0.999999979484,0.000182057450005,-8.6885732874e-05,1.83740870594e-05,1793244893740570880
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.017567657,745,714,680,659,634,879,787,806.017567657,652,631,652,0.416533473351,-0.01554842682,0.0499274887239,0.999999977151,0.000176681970026,-0.000119292301857,1.58162212846e-05,1793244893757237504
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.591758531,745,714,680,659,634,879,787,806.591758531,652,631,652,0.417377752943,-0.0155500461475,0.0499538640277,0.999999981564,0.000176965584946,-7.19469954789e-05,1.94593881031e-05,1793244893773903872
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.833819098,745,714,680.166180902,659.166180902,634.166180902,879.166180902,786.833819098,807,652.166180902,631,652,0.41822035337,-0.0155512706507,0.0499739229517,0.999999983034,0.00017863795424,-3.8895847933e-05,2.25110491244e-05,1793244893790570496
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.258827269,745,714,680.741172731,659.741172731,634.741172731,879.741172731,786.258827269,807,652.741172731,631,652,0.419058822941,-0.0155515238718,0.0499784433553,0.999999981991,0.000183726709475,-4.10088424455e-05,2.41075847304e-05,1793244893807237120
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.325912226,745,714,680.674087774,660,634.674087774,879.674087774,786.325912226,806.674087774,652.674087774,631,652,0.419916621817,-0.0155515990389,0.0499734000594,0.999999981351,0.000186263536759,-4.50955868816e-05,2.39009471871e-05,1793244893823903744
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.918631594,745,714,680.081368406,660,634.081368406,879.081368406,786.918631594,806.081368406,652.081368406,631,652,0.420790244533,-0.0155515284426,0.0499605274672,0.999999981032,0.000186711235043,-5.07981361209e-05,2.22181468617e-05,1793244893840570368
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.504000889,745,714,680,659.504000889,634,879.495999111,787,806.495999111,652,631,652,0.421713291202,-0.0155561568281,0.0499839694026,0.999999982337,0.000186270234132,-3.53858018807e-06,2.48527132151e-05,1793244893857237248
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.07099725,745,714,680,659.07099725,634,880,787,806.92900275,652,631,652,0.422635735241,-0.0155602861846,0.0500074983873,0.999999981431,0.000186224963271,4.1142543028e-05,2.76521785013e-05,1793244893873903872
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.64651724,745,714,680,659.64651724,634,880,787,806.35348276,652,631,652,0.423498009062,-0.0155555558344,0.0499905824134,0.999999981564,0.000189996762935,7.61251323318e-06,2.67414846633e-05,1793244893890570752
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,880,787,806,652,631,652,0.424384037878,-0.0155534071462,0.0499823278901,0.999999981189,0.000191994697756,-7.27711772918e-06,2.65738134326e-05,1793244893907237376
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,880,787,806,652,631,652,0.425307884737,-0.0155553684584,0.0499878623771,0.999999981319,0.000191168643957,7.50872558214e-06,2.75890326728e-05,1793244893923904000
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,880,787,806,652,631,652,0.42622776022,-0.015560065562,0.0499987883832,0.999999981526,0.000189334823584,1.46674797278e-05,2.97441393053e-05,1793244893940570624
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,880,787,806,652,631,652,0.427145457567,-0.0155662630965,0.0500126713404,0.999999981841,0.000186948298739,1.76431941257e-05,3.25244114111e-05,1793244893957237248
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714.551903151,680,660,634,880,787,806,652,631,652,0.427995149762,-0.0155609581048,0.0499757363236,0.999999979456,0.000193832304615,-5.12813786604e-05,2.97900513717e-05,1793244893973903872
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714.871236131,680,660,634,880.128763869,787,806.128763869,652,631,652,0.428861906839,-0.0155557489032,0.0499470154891,0.999999974751,0.000199300805493,-0.000100134704196,2.74015641913e-05,1793244893990570752
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714.294656386,680,660,634,880.705343614,787,806.705343614,652,631,652,0.429798741999,-0.0155526876945,0.0499548799892,0.999999977654,0.000198383763819,-6.78397722099e-05,2.70860479999e-05,1793244894007237632
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.712083711,745,714,680,660,634,880.712083711,787,807,652,631,652,0.430713217354,-0.0155505226502,0.0499569006631,0.999999978099,0.00019934834484,-5.76298474702e-05,2.72196415384e-05,1793244894023904000
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.123247473,745,714,680,660,634,880.123247473,787,807,652,631,652,0.431604322972,-0.0155492942455,0.0499528135757,0.999999976669,0.000202279531718,-7.05023952453e-05,2.7822628761e-05,1793244894040570624
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,807,652,631,652,0.432483993243,-0.0155499200619,0.04994435863,0.999999975264,0.000205598005447,-8.0288778397e-05,2.74815828099e-05,1793244894057237248
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.037623033,660,634,880,787,807,652,631,652,0.433361437561,-0.0155509570598,0.049937236286,0.999999974077,0.000209060523111,-8.60468869173e-05,2.71376751263e-05,1793244894073903616
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.612553289,660,634,880,787,807,652,631,652,0.434250322187,-0.0155508564707,0.0499656577896,0.999999975776,0.000213116055431,-4.59429522606e-05,3.03217764247e-05,1793244894090570496
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.18650514,745,714,680.81349486,660,634,880,787,806.81349486,652,631,652,0.435108000837,-0.0155487879627,0.0499811627705,0.999999975469,0.000216800571456,-3.17697144805e-05,3.24055657902e-05,1793244894107237120
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.758435158,745,714,680.241564842,660,634,880,787,806.241564842,652,631,652,0.435901190488,-0.0155426526234,0.049969974931,0.999999972809,0.000219718359546,-7.1183923899e-05,3.22154903482e-05,1793244894123903744
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.656251943,745,714,680,660,634,880,786.656251943,806,652,631,652,0.436724838415,-0.0155412008646,0.0499613938653,0.999999971112,0.000221795386987,-8.68583104101e-05,3.22228236859e-05,1793244894140570368
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.061153443,745,714,680,660,634,880,786.061153443,806,652,631,652,0.437570757551,-0.0155431737657,0.0499547188875,0.999999970927,0.000223257645689,-8.51740074767e-05,3.23745034303e-05,1793244894157236992
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.51858137,745,714,680.51858137,660,634,880.51858137,786.51858137,806.51858137,652,631,652,0.438404726154,-0.015545386238,0.0499757683984,0.99999997381,0.000222195299459,-4.32410551132e-05,3.3750678493e-05,1793244894173903872
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.096224854,634,880.903775146,787,807,652,631,652,0.439220288116,-0.015546765676,0.0499922487783,0.999999974882,0.000221198658972,-1.02123839788e-05,3.46687162216e-05,1793244894190570496
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.672214484,634,880.327785516,787,807,652,631,652,0.439950901125,-0.0155438549077,0.0499701163043,0.99999997384,0.00022197126763,-4.45628489648e-05,3.26033061995e-05,1793244894207237376
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.746694437,745,714,681,660.746694437,634,880.253305563,787,807,652,631,652,0.440671473261,-0.0155444068809,0.0499556783952,0.999999973025,0.000219924369244,-6.77210447793e-05,3.1577569753e-05,1793244894223904256
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.158866281,745,714,681,660.158866281,634,880.841133719,787,807,652,631,652,0.441378785075,-0.01554953185,0.0499514021511,0.999999973664,0.000214153949186,-7.60984062602e-05,3.19248562497e-05,1793244894240570880
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,881,786.576549345,807,652,631,652,0.44209846751,-0.0155566597547,0.0499573631963,0.999999976278,0.000206381110164,-6.1458058058e-05,3.27708285759e-05,1793244894257237248
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.003663796,681,660,634,881.003663796,786.003663796,807,652,631,652,0.442821866524,-0.0155644950401,0.0499668701664,0.999999979098,0.000197884734634,-3.87981548581e-05,3.37833001234e-05,1793244894273903616
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.574167316,681,660,634,881.574167316,786.574167316,807,652,631,652,0.443411446517,-0.0155670069067,0.0499384008011,0.999999976577,0.00019218269542,-9.42794080659e-05,3.19816155245e-05,1793244894290570496
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714.85279578,680.85279578,660,634,881.70559156,786.85279578,807.14720422,652,631,652,0.443991921388,-0.0155695443783,0.0499041761435,0.999999969992,0.000186201630261,-0.000156448912895,2.94640416606e-05,1793244894307237120
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714.272301826,680.272301826,660,634,880.544603651,786.272301826,807.727698174,652,631,652,0.444545595833,-0.0155721572178,0.0498530110066,0.999999955205,0.000179399262782,-0.000238305032305,2.4839276067e-05,1793244894323904000
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680.313412908,660,633.686587092,880.313412908,786.313412908,807.686587092,652,631,652,0.445105743508,-0.0155783201068,0.049826718501,0.999999948772,0.000169901036108,-0.000270334723045,2.25340485244e-05,1793244894340570624
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680.903740404,660,633.096259596,880.903740404,786.903740404,807.096259596,652,631,652,0.445671610544,-0.0155876196262,0.0498224021017,0.999999953897,0.000158020896135,-0.000258340489572,2.22782389305e-05,1793244894357236992
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,632.517791079,881,786.517791079,807,652,631,652,0.446226679864,-0.015595389903,0.0498279117219,0.999999959567,0.000146164716428,-0.000242927255153,2.20767006335e-05,1793244894373903872
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714.058312087,681,660,632.058312087,881,786,807,652,630.941687913,651.941687913,0.446767447041,-0.0156024404864,0.0498309126012,0.999999963278,0.000134946383681,-0.000234020795622,2.16072939426e-05,1793244894390570496
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714.633928624,681,660,632.633928624,881,786,807,652,630.366071376,651.366071376,0.447199998338,-0.0156057495955,0.0497946743471,0.999999949773,0.00012934517403,-0.000288747347383,1.8667741735e-05,1793244894407237376
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.208910818,745,714.791089182,680.791089182,660,632.791089182,881,785.791089182,807,652.208910818,630,651.208910818,0.447620170631,-0.0156093618623,0.0497611391923,0.999999933975,0.000123322177237,-0.000341443609738,1.60539557901e-05,1793244894423904256
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.782784767,745,714.217215233,680.217215233,660,632.217215233,881,785.217215233,807,652.782784767,630,651.782784767,0.448018717001,-0.0156135037394,0.0497323263029,0.999999916827,0.000116562327459,-0.000390592991048,1.40092775195e-05,1793244894440571136
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714,680.370593724,659.629406276,632,880.629406276,785,807,652.629406276,630,652,0.448419085918,-0.0156210702057,0.0497237843717,0.99999991207,0.000107584055864,-0.00040508018479,1.39539960858e-05,1793244894457237760
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,714,680.966889554,659.033110446,632,880.033110446,785,807,652.033110446,630,652,0.448820564858,-0.0156307223445,0.0497275880271,0.999999915773,9.72547018155e-05,-0.000398457126802,1.51103136519e-05,1793244894473904384
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.455440625,745,714,681,659.544559375,632,880.544559375,785.544559375,807,652,630,652,0.449197941628,-0.015634915818,0.0497406244269,0.999999923388,9.28320121399e-05,-0.000379915069425,1.64362890864e-05,1793244894490571008
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.120527692,681,659.879472308,632,880.879472308,785.879472308,807.120527692,652,629.879472308,652,0.449562981957,-0.0156392092085,0.0497525472889,0.999999930128,8.77849014741e-05,-0.000362932329384,1.78065954089e-05,1793244894507237632
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.694216017,681,659.305783983,632,880.305783983,785.305783983,807.694216017,652,629.305783983,652,0.44988696742,-0.0156450848742,0.0497582426257,0.99999993387,7.90844550182e-05,-0.000354446938454,1.93060757539e-05,1793244894523904256
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.724224599,681,659,632,880.275775401,785,807.724224599,652,629.275775401,652,0.450173268331,-0.0156493353888,0.0497572308868,0.999999932632,7.32965466789e-05,-0.000359114520043,2.00101323085e-05,1793244894540570624
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.133681284,681,659,632,880.866318716,785,807.133681284,652,629.866318716,652,0.450416556364,-0.015651730968,0.0497485637431,0.999999925552,7.08329873828e-05,-0.000378794803426,1.98062981931e-05,1793244894557237248
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.447939978,681,659.447939978,632,881,785,807,652,629.552060022,652,0.450654359456,-0.0156560130766,0.049740299795,0.999999918902,6.54046809364e-05,-0.000396879760449,2.01228530631e-05,1793244894573903872
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.026767796,715,681,659.973232204,632,881,785,807.026767796,652,629.026767796,652,0.450888603073,-0.0156615187872,0.0497321312489,0.999999912208,5.86126466162e-05,-0.000414380306345,2.09145052418e-05,1793244894590570752
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.601851644,715,681,659.398148356,632,881,785,807.601851644,652,629.601851644,652,0.451082809644,-0.015680781445,0.0497235002508,0.999999906508,4.16559474264e-05,-0.000429471786388,2.83190117589e-05,1793244894607237376
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.823225864,714.823225864,681,659,632,881.176774136,784.823225864,808,652,629.823225864,652,0.45126333777,-0.0156999748814,0.0497144173171,0.999999899559,2.36494178608e-05,-0.000446275803756,3.40749082712e-05,1793244894623904000
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.248666537,714.248666537,681,659,632,881.751333463,784.248666537,808,652,629.248666537,652,0.451413086011,-0.0157190125498,0.0497043174183,0.999999890329,3.28051460979e-06,-0.000466933448589,3.61210266739e-05,1793244894640570624
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.335679424,745,714,680.664320576,659,631.664320576,881.664320576,784.335679424,808,652,629,652,0.451552131095,-0.0157247167709,0.0496987658028,0.999999884164,-4.25035955394e-06,-0.000479934900695,3.62877421371e-05,1793244894657237504
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.92749296,745,714,680.07250704,659,631.07250704,881.07250704,784.92749296,808,652,629,652,0.451683009343,-0.0157202471482,0.0496966846714,0.999999880754,-1.98541003795e-06,-0.000487094435835,3.50204134204e-05,1793244894673904384
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.495948504,745,714.504051496,680.504051496,659,631,880.495948504,784.495948504,807.495948504,652,628.495948504,652,0.451801851652,-0.0157162414409,0.0496971288661,0.999999882378,2.1292261325e-06,-0.000483794763599,3.43733767194e-05,1793244894690571008
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.079309689,745,715,681,659,631,880.079309689,784,807.079309689,652,628.079309689,652,0.451915966817,-0.0157135343403,0.0496981016967,0.999999884626,5.18346129399e-06,-0.000479130627522,3.39710241824e-05,1793244894707237376
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.65981074,745,715,681,659,631,880.65981074,784,807.65981074,652,628.65981074,652,0.452010828953,-0.0157186243523,0.049700187015,0.999999886556,-9.54668584161e-08,-0.000475072397096,3.45676281331e-05,1793244894723904000
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.756969623,745,715,681,659,631,881,784.243030377,807.756969623,652,628.756969623,652,0.452092704903,-0.0157219495685,0.049700857087,0.999999887471,-4.49033016379e-06,-0.00047311052605,3.47090948249e-05,1793244894740570880
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.169901547,745,715,681,659,631,881,784.830098453,807.169901547,652,628.169901547,652,0.452156197396,-0.0157227765112,0.0496995237133,0.999999886993,-7.6336967828e-06,-0.000474116295211,3.42062618824e-05,1793244894757237248
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,681.411926103,659,631,880.588073897,784.588073897,807,652,628.411926103,652,0.452204674487,-0.0157214312352,0.0496960953693,0.999999884318,-6.53130080784e-06,-0.000479784116683,3.36082134074e-05,1793244894773903872
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,681.991619443,659,631,880.008380557,784.008380557,807,652,628.991619443,652,0.452247036178,-0.0157192012688,0.0496918137961,0.999999880694,-3.69971144329e-06,-0.000487350675848,3.2971386029e-05,1793244894790570496
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+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.529570115,715,681.529570115,659,631,880.529570115,784,807.529570115,652,628,651.529570115,0.452366669407,-0.0157200457215,0.0496881797308,0.999999878368,-1.2250835305e-05,-0.000492008614947,3.22794516194e-05,1793244894890571008
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.046857273,745,714.953142727,681,659.046857273,631,880.046857273,784,807,652,628.046857273,651.046857273,0.45237402137,-0.0157186295925,0.0496879770045,0.999999878246,-9.8070569929e-06,-0.000492316155182,3.2198654459e-05,1793244894907237632
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.62326323,745,714.37673677,681,659.62326323,631,880.62326323,784,807,652,628.62326323,651.62326323,0.452376578005,-0.0157161423863,0.0496870363113,0.999999877547,-6.89349307661e-06,-0.000493809432892,3.17909226295e-05,1793244894923904256
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.801084941,745,714.198915059,681.198915059,659.801084941,631,881,784,807.198915059,652,629,652,0.452378795545,-0.0157149963503,0.0496864031231,0.999999876983,-6.64849981467e-06,-0.000494961374266,3.16563330282e-05,1793244894940570880
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.226856039,745,714.773143961,681.773143961,659.226856039,631,881,784,807.773143961,652,629,652,0.45238037328,-0.0157163808406,0.049686350137,0.999999876676,-1.14385780533e-05,-0.000495469280587,3.20371094579e-05,1793244894957237504
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,715,682,659,631,880.638352193,784,808,652,629,652,0.452381169569,-0.0157164942262,0.0496855076499,0.99999987618,-1.26434688863e-05,-0.000496457649393,3.17946683143e-05,1793244894973904128
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,715,682,659,631,880.040525947,784,808,652,629,652,0.452381455527,-0.0157157775017,0.0496841495696,0.999999875566,-1.1507009875e-05,-0.000497759789974,3.11452274414e-05,1793244894990570496
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714.466029282,681.466029282,659,631,880.533970718,784,808,652,629,652,0.452380483698,-0.0157140171508,0.0496836009789,0.999999874905,-1.06437679634e-05,-0.000499144909648,3.05132712595e-05,1793244895007237376
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681.106985989,659,631,881,784,808,652,628.893014011,652,0.45238027674,-0.0157129566022,0.0496834741912,0.99999987464,-1.05101871296e-05,-0.000499704044436,3.00812945962e-05,1793244895023904512
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681.680939937,659,631,881,784,808,652,628.319060063,652,0.452383807483,-0.0157152817661,0.049684931541,0.999999876122,-1.3474682056e-05,-0.000496631617268,3.05166307188e-05,1793244895040571136
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714.264412546,681.735587454,659,631,880.735587454,784,807.735587454,651.735587454,628,652,0.452384336782,-0.0157166730062,0.0496847061491,0.999999875984,-1.48578067469e-05,-0.000496845905657,3.08934825067e-05,1793244895057237760
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.859800096,681.140199904,659,631,880.140199904,784,807.140199904,651.140199904,628,652,0.452381109065,-0.0157168952195,0.0496823744069,0.999999873824,-1.42614719884e-05,-0.000501174297555,3.11971273403e-05,1793244895073904128
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714.558146623,681,659,631,880.441853377,784,807,651,628,651.558146623,0.452381586516,-0.0157162748289,0.049682422042,0.999999873665,-1.43155856362e-05,-0.000501487165607,3.12360302244e-05,1793244895090570752
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714.019612857,681,659.019612857,631,881,784,807,651.019612857,628,651.019612857,0.452383187334,-0.0157153711443,0.0496831989996,0.999999874134,-1.45195669506e-05,-0.000500548675859,3.11885307987e-05,1793244895107237376
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714.592107942,681,659.592107942,631,881,784,807,651.592107942,628,651.592107942,0.452384285143,-0.0157137974388,0.049683876258,0.999999874831,-1.33007127742e-05,-0.000499199801937,3.10040130909e-05,1793244895123904000
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714.834761288,681,659.834761288,631,880.834761288,784,807,652,628,652,0.452384494929,-0.0157129326274,0.049684011913,0.999999875069,-1.24199662566e-05,-0.000498752973265,3.08599136757e-05,1793244895140570624
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714.260055306,681,659.260055306,631,880.260055306,784,807,652,628,652,0.452382504164,-0.0157138244805,0.0496828054559,0.999999874178,-1.23770623392e-05,-0.000500541444149,3.08159722055e-05,1793244895157237248
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,631,880.325696617,784.325696617,807.325696617,652,628.325696617,652,0.452382524401,-0.0157140377347,0.049682374934,0.999999873786,-1.20943779183e-05,-0.000501329914438,3.08096720271e-05,1793244895173903872
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,631,880.920577859,784.920577859,807.920577859,652,628.920577859,652,0.452384206707,-0.0157136901346,0.049682585714,0.99999987381,-1.1613517585e-05,-0.000501291895291,3.08344819594e-05,1793244895190570496
+244,4.066666667,HOLD_POSE2,765,745,715,681,659,631,880,784,808,652,628,652,0.452384723172,-0.0157135358666,0.0496840148009,0.999999874226,-1.4370366763e-05,-0.000500435779774,3.00966659614e-05,1793244895221724928
+245,4.083333333,HOLD_POSE2,765,745,715,681,659,631,880.5726011,784,808,652,628.5726011,652,0.452384047613,-0.0157136191334,0.0496828697549,0.999999874041,-1.57052095528e-05,-0.0005007579486,3.0200311741e-05,1793244895238391552
+246,4.100000000,HOLD_POSE2,765,745,715,681,659.145857269,631,881,784,808,652,628.854142731,652,0.452383636553,-0.0157131877963,0.0496821016447,0.999999873874,-1.56742521912e-05,-0.000501085905639,3.03043565403e-05,1793244895255057920
+247,4.116666667,HOLD_POSE2,765,745,715,681,659.721041754,631,881,784,808,652,628.278958246,652,0.452384004038,-0.0157112417358,0.0496824430353,0.999999873754,-1.16230966257e-05,-0.000501430900217,3.04095758684e-05,1793244895271724800
+248,4.133333333,HOLD_POSE2,765,745,714.69351573,681,660,631,881,784,807.69351573,652,628,652,0.45238452029,-0.0157105973841,0.0496824370302,0.999999873708,-1.01836743585e-05,-0.000501560623678,3.02932838946e-05,1793244895288391424
+249,4.150000000,HOLD_POSE2,765,745,714.098413194,681,660,631,881,784,807.098413194,652,628,652,0.452385176636,-0.0157111788603,0.04968210388,0.999999873743,-1.12037388841e-05,-0.000501487624886,2.99683932545e-05,1793244895305058304
+250,4.166666667,HOLD_POSE2,765,745.479442239,714.479442239,681,659.520557761,631,881,784,807,652,628,652,0.452385502892,-0.0157116858211,0.0496822020561,0.999999873797,-1.14491197184e-05,-0.000501353686368,3.03332500475e-05,1793244895321724928
+251,4.183333333,HOLD_POSE2,765,745.946217814,714.946217814,681,659,631,880.946217814,784,807,652,628,652,0.452385685051,-0.0157120856602,0.0496823406409,0.999999873784,-1.16054194202e-05,-0.000501351749487,3.07309044813e-05,1793244895338392064
+252,4.200000000,HOLD_POSE2,765,745.372826327,714.372826327,681,659,631,880.372826327,784,807,652,628,652,0.452385106931,-0.0157115932016,0.0496820439474,0.999999873095,-1.23840404186e-05,-0.000502741784646,3.01250546591e-05,1793244895355058432
+253,4.216666667,HOLD_POSE2,765,745,714,681,659,631,880.208901956,784,807,652,628.208901956,652,0.452384939974,-0.0157114160437,0.049682033331,0.999999872867,-1.34121976705e-05,-0.000503188637355,2.97737196808e-05,1793244895371724800
+254,4.233333333,HOLD_POSE2,765,745,714,681,659,631,880.806127266,784,807,652,628.806127266,652,0.452385537321,-0.0157118249915,0.0496825544974,0.999999873499,-1.49042124115e-05,-0.000501882228338,2.98954969413e-05,1793244895388391424
+255,4.250000000,HOLD_POSE2,765,745,714,681,659,631,881.388894517,784,807,652,629,652,0.452385873425,-0.0157113052846,0.0496822345551,0.999999873648,-1.50016600346e-05,-0.00050158203867,2.99004121661e-05,1793244895405058304
+256,4.266666667,HOLD_POSE2,765,745,714,681,659,631,881.964712504,784,807,652,629,652,0.452386083961,-0.0157103392166,0.0496815103311,0.999999873566,-1.44288043662e-05,-0.000501765491637,2.98491572674e-05,1793244895421725184
+257,4.283333333,HOLD_POSE2,765.540260476,745,714.540260476,681,659.540260476,631,881.459739524,784,807.540260476,652,629,652,0.452387242736,-0.0157113224285,0.0496823040906,0.999999874161,-1.5814594212e-05,-0.000500530878809,2.99549417465e-05,1793244895438391552
+258,4.300000000,HOLD_POSE2,765.885613812,745,715,681,659.885613812,631,881,784.114386188,807.885613812,652,629,652,0.452387982698,-0.0157119073892,0.049683039016,0.999999874641,-1.63398942388e-05,-0.000499549049517,3.00333025438e-05,1793244895455058176
+259,4.316666667,HOLD_POSE2,765.317064933,745,715,681,659.317064933,631,881,784.682935067,807.317064933,652,629,652,0.452386814007,-0.0157104058632,0.0496831468805,0.999999874498,-1.29409925309e-05,-0.000499938445545,2.99620745486e-05,1793244895471725056
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,631,881,785,807,652,629,652,0.452387163125,-0.0157100954419,0.0496824762002,0.999999874344,-1.47547741711e-05,-0.000500220147678,2.95744703355e-05,1793244895508713984
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765.573952346,745.573952346,714.573952346,681,659,631,881,784.426047654,807.573952346,652,628.426047654,652,0.452388476706,-0.015709140269,0.049683245363,0.999999874944,-1.2535307166e-05,-0.000499089087517,2.94132004196e-05,1793244895525381376
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.851519909,745.851519909,715,681,659,631,881,784,808,652,628,652,0.452388818754,-0.0157087515654,0.0496833977166,0.999999875031,-1.10771803943e-05,-0.000498949624577,2.94188324669e-05,1793244895542048768
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.275334564,745.275334564,715,681,659,631,881,784,808,652,628,652,0.452386362248,-0.0157099946083,0.049681773317,0.999999873648,-1.18121364724e-05,-0.000501666512949,2.99052349699e-05,1793244895558715136
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.309187012,745,715,681.309187012,659,631,881.309187012,784,807.690812988,652,628,652,0.452385876132,-0.015710761822,0.0496814974692,0.999999873407,-1.26526254728e-05,-0.000502112319923,3.01479675173e-05,1793244895575381248
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.901337757,745,715,681.901337757,659,631,881.901337757,784,807.098662243,652,628,652,0.452387193288,-0.0157110935633,0.0496824557978,0.999999874213,-1.35896967191e-05,-0.000500479664035,3.01676966179e-05,1793244895592047616
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.517915977,745,715,681.517915977,659,631,881.517915977,784,807,652.482084023,628.482084023,652,0.452386019499,-0.0157102187919,0.0496808801058,0.999999873341,-1.38324581099e-05,-0.00050222543056,2.99300055322e-05,1793244895608714496
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.060233918,715,681,659,631,881,784,807,652.939766082,629,652,0.452384746855,-0.015709155494,0.0496793287517,0.999999872437,-1.36425600587e-05,-0.000504042653994,2.96766887337e-05,1793244895625381376
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.635678404,715,681,659,631,881,784,807,652.364321596,629,652,0.452386888386,-0.0157085428751,0.0496823189613,0.999999874151,-1.09392398227e-05,-0.00050069369578,2.97299277502e-05,1793244895642048000
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.789697558,714.789697558,680.789697558,659,631,881,784,807,652,629,652,0.452384255662,-0.0157084969365,0.0496819551982,0.999999873559,-1.01118463352e-05,-0.000501895225323,2.96751851504e-05,1793244895658714624
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.216489376,714.216489376,680.216489376,659,631,881,784,807,652,629,652,0.452373384304,-0.0157094288826,0.0496758036943,0.999999868954,-1.25216222971e-05,-0.000510949246606,2.9434105439e-05,1793244895675380992
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.369104779,680.369104779,659,631,880.630895221,784,807.369104779,652,629,652,0.452349823253,-0.0157077558113,0.0496649706653,0.999999859885,-1.33993114424e-05,-0.000528452214436,2.80893692066e-05,1793244895692047616
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.962215926,680.962215926,659,631,880.037784074,784,807.962215926,652,629,652,0.45231856094,-0.0157045017785,0.0496512964602,0.999999847725,-1.33471911184e-05,-0.000551082772533,2.60748337331e-05,1793244895708713984
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.541481178,745,715,681,659,631,881.082962356,784,808,652,628.458518822,652,0.452257621231,-0.015700796065,0.0496280844628,0.999999825788,-1.07620790315e-05,-0.000589686719694,2.40320410018e-05,1793244895725380608
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.881056678,745.118943322,715,681.118943322,659,631,881.881056678,784.118943322,807.881056678,652,628,652,0.452193161627,-0.0156971495107,0.0496059899357,0.99999980436,-8.8750259131e-06,-0.000625070973691,2.20818588562e-05,1793244895742047232
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.306889779,745.693110221,715,681.693110221,659,631,881.306889779,784.693110221,807.306889779,652,628,652,0.452122958609,-0.01569384699,0.0495906558809,0.999999792386,-1.03192016153e-05,-0.000643973226988,2.04934766031e-05,1793244895758714368
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.274823841,745.725176159,715,681.725176159,659,631,880.725176159,784.725176159,807.274823841,652,628.274823841,652,0.452047126002,-0.0156891007079,0.0495803573869,0.999999783513,-9.15081041129e-06,-0.000657664570728,1.91581720429e-05,1793244895775381248
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.865202631,745.134797369,715,681.134797369,659,631,880.134797369,784.134797369,807.865202631,652,628.865202631,652,0.451964829457,-0.0156826966873,0.0495758407654,0.999999778463,-4.98264874651e-06,-0.000665372705149,1.81134534303e-05,1793244895792047872
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.553494493,745,714.553494493,681,659,631,880.446505507,784,807.553494493,652,628.553494493,652,0.451867052289,-0.015676771168,0.0495765146203,0.999999777961,-7.33331409635e-07,-0.000666154423072,1.77513188038e-05,1793244895808714496
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,631,881,784,807,652,628,652,0.45176334703,-0.0156709157376,0.0495786724115,0.999999778734,3.47552092372e-06,-0.00066498987391,1.75668674573e-05,1793244895825380864
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,631,881,784,807,652,628,652,0.451629950323,-0.0156634852808,0.0495796885094,0.999999777996,6.26384935363e-06,-0.000666097203252,1.68475032135e-05,1793244895842047488
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,631,881,784,807,652,628.175079408,652,0.451487777815,-0.0156549071484,0.0495798849854,0.999999776754,9.55900193924e-06,-0.000667941797078,1.59277257007e-05,1793244895858714112
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,631,881,784,807,652,628.75020028,652,0.451325553374,-0.0156437066768,0.0495782086953,0.999999774359,1.40122039635e-05,-0.000671470976999,1.45500211177e-05,1793244895875380480
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.334726748,681,659,631.334726748,881,784,807,652,628.665273252,652,0.451151988218,-0.015633199979,0.0495781253736,0.999999774781,1.80275041616e-05,-0.000670770304837,1.34410718034e-05,1793244895892047360
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.926475418,681,659,631.926475418,881,784,807,652,628.073524582,652,0.450969715011,-0.0156232259985,0.049579265222,0.99999977736,2.1706559311e-05,-0.000666821715974,1.25384876739e-05,1793244895908714240
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.493368244,745,715,681,659,632,880.493368244,784.506631756,807,652,628.506631756,652,0.450759097424,-0.0156091498402,0.049584928881,0.999999785231,2.93525238908e-05,-0.000654629609218,1.1721050821e-05,1793244895925380864
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.084461327,745.084461327,715,681,659.084461327,631.915538673,880,784.915538673,807.084461327,652,629,652,0.45053893021,-0.0155948902641,0.0495917622675,0.999999794341,3.65568802299e-05,-0.000640206148554,1.08490599453e-05,1793244895942047488
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.658338832,745.658338832,715,681,659.658338832,631.341661168,880,784.341661168,807.658338832,652,629,652,0.450286729522,-0.0155829403411,0.0496016545953,0.999999807263,3.79410378701e-05,-0.000619630133876,9.59095091683e-06,1793244895958714112
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.763827753,714.763827753,681.236172247,659.763827753,631.236172247,880.236172247,784.236172247,807.763827753,652,629,652,0.45002129636,-0.0155716471583,0.0496099558653,0.999999817292,3.86103959379e-05,-0.000603208325286,8.11459246981e-06,1793244895975380736
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.18017402,714.18017402,681.81982598,659.18017402,631.81982598,880.81982598,784.81982598,807.18017402,652,629,652,0.449736394202,-0.0155613202415,0.0496159162028,0.999999823485,3.82280655206e-05,-0.000592898623745,6.31712257019e-06,1793244895992047360
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.596147042,659,631.596147042,881,785,807.403852958,652,629,652,0.449412154895,-0.0155544916225,0.049621016764,0.999999829587,3.35505550336e-05,-0.000582824969569,3.97566824011e-06,1793244896008713984
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.011953408,659,631.011953408,881,785,807.988046592,652,629,652,0.449070349579,-0.0155492251697,0.0496257333917,0.999999835553,2.69550304248e-05,-0.000572856722646,1.39129752439e-06,1793244896025380864
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.56451973,681,659,631.56451973,881,785,807.43548027,652,629,652,0.448680209239,-0.0155505716079,0.0496234587175,0.999999832646,1.0679312453e-05,-0.00057844091432,3.99521446645e-09,1793244896042047744
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632,881,785,807,652,629.140497739,652,0.448276708937,-0.0155491168764,0.0496206716866,0.999999829872,-2.94194720946e-06,-0.000583305031713,-1.88400621094e-06,1793244896058714880
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632,881,785,807,652,629.715443287,652,0.447835019043,-0.0155385732114,0.04961675193,0.999999828879,-7.72980730254e-06,-0.000584937961355,-5.39759323827e-06,1793244896075381760
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.297141966,714.702858034,681,659.297141966,632,881.297141966,785,807,652,630,652,0.447381737363,-0.015526649681,0.049612871673,0.999999827025,-1.00409770608e-05,-0.000588018327628,-9.0945485383e-06,1793244896092048128
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.885458217,714.114541783,681,659.885458217,632,881.885458217,785,807,652,630,652,0.44691709665,-0.0155133739966,0.0496090301221,0.999999824328,-9.92519790703e-06,-0.000592517060993,-1.29711898337e-05,1793244896108714496
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.554038129,714,681,659.554038129,632,881.554038129,785.445961871,807,652,630,652,0.446418864468,-0.015501810886,0.0496098525132,0.999999825244,-1.56529181076e-05,-0.000590756815138,-1.65058993221e-05,1793244896125380864
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.000258604,714,681,659.000258604,632,881.000258604,785.999741396,807,652,630,652,0.445912511097,-0.0154906618155,0.0496118024791,0.999999826973,-2.27933877856e-05,-0.000587483371312,-1.99579416764e-05,1793244896142047488
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.401045688,659,632.598954312,881,786,807,652,630,652,0.44539838483,-0.0154848093261,0.0496418020871,0.999999854904,-3.19932102143e-05,-0.000537336165828,-2.09432564939e-05,1793244896158714112
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.771047315,680.771047315,659,633,881,786,807,652,630,652,0.444270682741,-0.0154732948014,0.0497109190474,0.999999898945,-5.24774850615e-05,-0.000445993840671,-2.10992659935e-05,1793244896192047872
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.642881786,681,659,633,881,786,807,652,630,652,0.443651451169,-0.0154644054307,0.049724135303,0.999999904263,-6.02315989805e-05,-0.000432773307811,-2.35138470162e-05,1793244896208714240
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.052462073,681,659,633,881,786,807,652,630,652,0.443012376347,-0.0154534394129,0.049721915367,0.999999900955,-6.60181696764e-05,-0.00043927459388,-2.77526127848e-05,1793244896225380864
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.528595814,681,659.528595814,633,880.471404186,786,807,652,630,652,0.442352796443,-0.0154433530037,0.0497210054476,0.999999905836,-2.08258346108e-05,-0.000432295853385,-3.18668207004e-05,1793244896242047744
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.891970955,681,660,633,880.108029045,786.108029045,807,652,630.108029045,652,0.441692726286,-0.0154351454536,0.0497295928446,0.999999915215,1.53504458345e-05,-0.00041001580413,-3.49619888471e-05,1793244896258714368
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.315623122,681,660,633,880.684376878,786.684376878,807,652,630.684376878,652,0.441039199831,-0.0154347111179,0.0497787984117,0.999999945893,-9.11102670592e-06,-0.000327101637255,-3.36921557202e-05,1793244896275380992
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.733907984,660,633.266092016,881.266092016,787,807,651.733907984,631,652,0.440346017801,-0.0154347064925,0.0498143707747,0.999999962321,-3.11853685997e-05,-0.000270707544059,-3.32166040736e-05,1793244896292047616
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.145695321,660,633.854304679,881.854304679,787,807,651.145695321,631,652,0.439604830189,-0.0154352220576,0.0498334393174,0.999999967803,-5.03699462788e-05,-0.000246417611812,-3.37025787436e-05,1793244896308714496
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.986780997,880.986780997,787,807.013219003,652,630.013219003,651.013219003,0.437959573119,-0.0154255093531,0.0497679001231,0.999999933658,-7.85014374795e-05,-0.000352810990957,-4.52318078159e-05,1793244896342047744
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.834210694,714,681,660,633.165789306,880,787,807.834210694,652,630.834210694,652,0.436330241638,-0.0154183212512,0.0497700244949,0.999999930831,-8.76260045356e-05,-0.000358088953725,-4.93127009107e-05,1793244896375380736
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,744.258571274,714,681,660,633.741428726,880,787,807.258571274,652,630.258571274,652,0.435504521825,-0.0154140623438,0.0497979709577,0.999999946005,-7.24618608277e-05,-0.000316988899946,-4.75071628451e-05,1793244896392047360
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.324876189,744.324876189,714,680.675123811,660,634,880.324876189,787,807,652,630.324876189,652,0.434645353394,-0.0154074873318,0.049797305242,0.999999946646,-4.04481274238e-05,-0.000321490295333,-4.14174648787e-05,1793244896408714496
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.914691138,744.914691138,714,680.085308862,660,634,880.914691138,787,807,652,630.914691138,652,0.433758907424,-0.0153990235206,0.0497733060973,0.999999933529,5.30656118386e-06,-0.000363179986451,-3.18340051623e-05,1793244896425382144
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.504011435,745,714,680,660,633.504011435,880.504011435,786.504011435,807,652,631,651.504011435,0.432902424812,-0.0154017728932,0.0497858060658,0.999999939723,-7.59972739428e-06,-0.000345658614422,-3.18770908617e-05,1793244896442048512
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.227729453,745,714,680,659.227729453,634,879.683188359,786.772270547,806,652,630.772270547,652,0.430281453648,-0.0154054923491,0.0498037210427,0.999999948676,-4.15846322479e-05,-0.000315261514849,-3.9106884484e-05,1793244896492048640
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.817743533,745,714,680,659.817743533,634,881.4532306,786.182256467,806,652,630.182256467,652,0.429330642492,-0.0154023167135,0.0497711168694,0.999999930485,-4.31718881631e-05,-0.000367707976846,-4.42340266995e-05,1793244896508715520
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,744.599736691,714,680,659.599736691,633.599736691,881.199473382,786.400263309,806,652,630.400263309,652,0.428417933984,-0.0154040568808,0.0497721755883,0.999999930031,-5.08400726809e-05,-0.000367892034448,-4.48082546152e-05,1793244896525381632
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,744.020566698,714,680,659.020566698,633.020566698,880.041133396,786.979433302,806,652,630.979433302,652,0.42752225637,-0.0154079942769,0.0497882806954,0.999999937772,-6.12262648443e-05,-0.000344716232559,-4.33474548446e-05,1793244896542047488
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,744.554360844,714,680,659.554360844,633.554360844,879.445639156,786.445639156,806.554360844,652,631,652,0.426587159706,-0.0154024260941,0.049777572443,0.999999930136,-5.33021625994e-05,-0.000367478965233,-4.29720366735e-05,1793244896558714112
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.871274585,745,714,680,659.871274585,633.871274585,879.128725415,786,806.871274585,652,630.871274585,651.871274585,0.425672770253,-0.015398713492,0.0497727119942,0.999999928496,-4.77577449405e-05,-0.00037268067013,-4.2845904528e-05,1793244896575380992
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.962147188,745,714,680,660,634,880.924294376,787,806.962147188,652,630,651.037852812,0.42122997309,-0.015407510784,0.0497965088599,0.999999946061,-7.65473050115e-05,-0.000316131551005,-4.55947318813e-05,1793244896658714624
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.80840133,714,680,659.80840133,634,879,787,806.19159867,652,630.19159867,651.80840133,0.419494515986,-0.015404771827,0.0498004933399,0.999999945201,-7.81765984604e-05,-0.00031831887918,-4.6462015438e-05,1793244896692047872
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.219505276,714,680,659.219505276,634,879,787,806.780494724,652,630.780494724,651.219505276,0.418637706477,-0.0153974523277,0.0498054729037,0.99999994348,-6.07214250363e-05,-0.00032740866773,-4.64325827153e-05,1793244896708714496
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.350996548,714,680,659,634,879,787,806.649003452,652,630.649003452,651.350996548,0.417787665407,-0.0153969642573,0.049794845275,0.999999936667,-5.97602626716e-05,-0.000347581535741,-4.77630394697e-05,1793244896725381120
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.096031434,659,634,879.096031434,786,806.096031434,652,630,651.903968566,0.41536420148,-0.01541287635,0.0498111416552,0.999999949143,-9.43955033251e-05,-0.00030103412703,-4.67090199559e-05,1793244896775380992
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744.424002068,714,680,659,634,879,786,806,652,630.575997932,652,0.412322158976,-0.0154007958626,0.0497761802449,0.999999928756,-9.02658358217e-05,-0.000362680573214,-5.29353967387e-05,1793244896842047488
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5966a051a791e58d363e0173db7e99f21c127fd9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
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+365,6.083333333,pose2_to_pose3_retreat,0.576300274238,-0.0101222488895,1.04005108752,0.546871908161,-0.0014465604829,1.03971758354
+366,6.100000000,pose2_to_pose3_retreat,0.576195287784,-0.0101221581154,1.04005096839,0.546766920191,-0.00144647470906,1.03971746811
+367,6.116666667,pose2_to_pose3_retreat,0.576103201181,-0.0101221857365,1.04005089351,0.546674833736,-0.00144650212093,1.03971738657
+368,6.133333333,pose2_to_pose3_retreat,0.576023316417,-0.0101222759457,1.04005097557,0.546594950752,-0.00144658654251,1.03971746311
+369,6.150000000,pose2_to_pose3_retreat,0.575954276179,-0.0101221986323,1.04005113084,0.546525910009,-0.00144651060814,1.03971762576
+370,6.166666667,pose2_to_pose3_retreat,0.575895517515,-0.0101222020629,1.04005112682,0.546467151689,-0.00144651283912,1.03971762251
+371,6.183333333,pose2_to_pose3_retreat,0.575845327224,-0.0101221521315,1.0400509799,0.546416960911,-0.00144646488295,1.03971746716
+372,6.200000000,pose2_to_pose3_retreat,0.57580291899,-0.010122239156,1.04005106554,0.546374552616,-0.00144655214249,1.03971755204
+373,6.216666667,pose2_to_pose3_retreat,0.575768204306,-0.0101221308788,1.0400510418,0.546339836575,-0.00144644841138,1.0397175298
+374,6.233333333,pose2_to_pose3_retreat,0.575740308434,-0.0101219911375,1.04005099982,0.546311939592,-0.00144631241837,1.03971748831
+375,6.250000000,pose2_to_pose3_retreat,0.575719388927,-0.0101221077433,1.0400511071,0.546291020969,-0.00144642596995,1.03971759705
+376,6.266666667,pose2_to_pose3_retreat,0.575703540928,-0.0101221979907,1.04005088442,0.546275172866,-0.00144651636193,1.03971737996
+377,6.283333333,pose2_to_pose3_retreat,0.575692073212,-0.0101222862358,1.04005100132,0.546263707028,-0.00144659851876,1.03971748965
+378,6.300000000,pose2_to_pose3_retreat,0.5756840842,-0.0101222032218,1.04005098375,0.546255717015,-0.00144651901243,1.03971746902
+379,6.316666667,pose2_to_pose3_retreat,0.575678650885,-0.0101221268094,1.04005090017,0.546250282769,-0.00144644570643,1.0397173865
+380,6.333333333,pose2_to_pose3_retreat,0.575675046775,-0.0101221661135,1.04005079553,0.546246679698,-0.00144648129433,1.03971728697
+381,6.350000000,pose2_to_pose3_retreat,0.575672889842,-0.0101220927431,1.04005084132,0.546244522231,-0.0014464096883,1.03971733403
+382,6.366666667,pose2_to_pose3_retreat,0.575671838321,-0.0101220369683,1.04005088603,0.546243470211,-0.00144635559706,1.03971737899
+383,6.383333333,pose2_to_pose3_retreat,0.575671356981,-0.0101220215548,1.04005090103,0.546242988739,-0.00144634062409,1.03971739408
+384,6.400000000,pose2_to_pose3_retreat,0.575671291334,-0.0101220232007,1.04005090105,0.546242923111,-0.00144634220785,1.0397173941
+385,6.416666667,pose2_to_pose3_retreat,0.575671248504,-0.0101220242746,1.04005090107,0.546242880293,-0.00144634324116,1.03971739411
+386,6.433333333,pose2_to_pose3_retreat,0.575671165207,-0.0101220263632,1.04005090109,0.546242797019,-0.00144634525076,1.03971739414
+387,6.450000000,pose2_to_pose3_retreat,0.575671059374,-0.0101220290168,1.04005090113,0.546242691215,-0.00144634780406,1.03971739417
+388,6.466666667,pose2_to_pose3_retreat,0.575670841719,-0.0101220344741,1.04005090119,0.546242473621,-0.00144635305512,1.03971739424
+389,6.483333333,pose2_to_pose3_retreat,0.575670546217,-0.0101220418833,1.04005090129,0.546242178202,-0.0014463601843,1.03971739434
+390,6.500000000,pose2_to_pose3_retreat,0.575670515506,-0.0101220426534,1.0400509013,0.5462421475,-0.00144636092522,1.03971739435
+391,6.516666667,pose2_to_pose3_retreat,0.5756702677,-0.0101220488667,1.04005090137,0.546241899763,-0.00144636690371,1.03971739443
+392,6.533333333,pose2_to_pose3_retreat,0.575669984628,-0.0101220568021,1.04005089828,0.54624161676,-0.00144637461075,1.03971739108
+393,6.550000000,pose2_to_pose3_retreat,0.575669847421,-0.0101220705025,1.04005085934,0.546241479483,-0.00144638866939,1.03971734905
+394,6.566666667,pose2_to_pose3_retreat,0.575669742881,-0.010122080941,1.04005082967,0.54624137489,-0.0014463993808,1.03971731703
+395,6.583333333,pose2_to_pose3_retreat,0.575669685996,-0.0101220866211,1.04005081353,0.546241317976,-0.00144640520939,1.0397172996
+396,6.600000000,pose2_to_pose3_retreat,0.575669649113,-0.0101220963886,1.0400508088,0.546241281184,-0.00144641468534,1.0397172944
+397,6.616666667,pose2_to_pose3_retreat,0.575669624907,-0.0101221062927,1.040050809,0.546241257101,-0.00144642417538,1.03971729449
+398,6.633333333,pose2_to_pose3_retreat,0.575669618713,-0.0101221088269,1.04005080904,0.546241250939,-0.00144642660361,1.03971729451
+399,6.650000000,pose2_to_pose3_retreat,0.575669513573,-0.0101221518458,1.04005080988,0.546241146334,-0.00144646782404,1.03971729489
+400,6.666666667,pose2_to_pose3_retreat,0.575669557655,-0.01012220103,1.04005083143,0.546241190996,-0.00144651527608,1.03971731031
+401,6.683333333,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211366,-0.00144652634691,1.03971731481
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbe7197858580b6bce41ee3967b08e7775d55c90
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6881b2a4263a78e26be38ff1fbc84b7447cfb69e07ee799eed2c1d8354f9ab20
+size 25601626
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a3532d80a44b9f14a984dcf8fa067a93b3b02cf5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+37,0.616666667,BASELINE,765,745,714,679.467496759,659,634.532503241,879,787,806,652.467496759,630,652,0.400978868903,-0.015443549223,0.0498496384961,0.999999955938,-0.000132418982605,-0.000262626014973,-4.01977417244e-05,1793244898624158464
+38,0.633333333,BASELINE,765,745,714,679.954975526,659,634,879,786.954975526,806,653,630,652,0.40097869029,-0.0154431812757,0.0498500885441,0.999999956039,-0.000132156973264,-0.000262369007119,-4.02269876596e-05,1793244898640825344
+39,0.650000000,BASELINE,765,745,714,679.367747669,659,634,879,786.367747669,806,653,630,652,0.400977218772,-0.0154440184347,0.049849191698,0.999999955383,-0.000133002837309,-0.000264449555159,-4.01382841086e-05,1793244898657491968
+40,0.666666667,BASELINE,765.21636623,745,714,679,659,634,879,786.21636623,806,653,630.21636623,652,0.400976102433,-0.0154449365182,0.0498484285317,0.999999954889,-0.000133613271219,-0.000266022585643,-4.00244363564e-05,1793244898674158336
+41,0.683333333,BASELINE,765.795262535,745,714,679,659,634,879,786.795262535,806,653,630.795262535,652,0.40097558121,-0.0154459901935,0.0498478893514,0.999999954674,-0.000133829232684,-0.000266745250507,-3.98684585179e-05,1793244898690824960
+42,0.700000000,BASELINE,765.627693914,744.627693914,714,679,659,634,879,787,806,653,630.627693914,652,0.40097602916,-0.0154452792537,0.0498481596887,0.999999954878,-0.000133135021205,-0.000266315178448,-3.99401627904e-05,1793244898707491840
+43,0.716666667,BASELINE,765.051664196,744.051664196,714,679,659,634,879,787,806,653,630.051664196,652,0.400977007437,-0.0154436027274,0.0498488729891,0.99999995531,-0.000131942768607,-0.000265254335713,-4.01364533375e-05,1793244898724158464
+44,0.733333333,BASELINE,765,744.525700482,714,679,659,634.525700482,879,787,806,653,630,652,0.400976736975,-0.0154432503178,0.0498485133171,0.999999955415,-0.000129309452181,-0.000266150839349,-4.01681092083e-05,1793244898740825344
+45,0.750000000,BASELINE,764.89499914,745,714,679,659,634.89499914,879,787,806,653,630,652,0.40097641511,-0.0154433634094,0.0498482396542,0.999999955479,-0.000127562490367,-0.000266758293769,-4.0124215051e-05,1793244898757491968
+46,0.766666667,BASELINE,764.307406846,745,714,679,659,634.307406846,879,787,806,653,630,652,0.400976422464,-0.015445016368,0.0498488471777,0.999999955535,-0.000130541845934,-0.000265150897421,-3.98076403212e-05,1793244898774158592
+47,0.783333333,BASELINE,764.275767382,744.724232618,714,679.275767382,659.275767382,634,879,786.724232618,806,653,630,652,0.400976756251,-0.01544516634,0.0498493008047,0.999999955712,-0.000131650903463,-0.00026393484743,-3.97863842158e-05,1793244898790824960
+48,0.800000000,BASELINE,764.854094382,744.145905618,714,679.854094382,659.854094382,634,879,786.145905618,806,653,630,652,0.400977448184,-0.0154436673026,0.0498495855835,0.999999956031,-0.000130707954147,-0.000263148164931,-4.00891384357e-05,1793244898807491840
+49,0.816666667,BASELINE,765,744.430373896,714,679.569626104,659.569626104,634.430373896,879,786.430373896,806.430373896,653,630,652,0.400977048844,-0.0154428951586,0.0498489671127,0.999999956074,-0.000128710634593,-0.000263960944049,-4.01238275977e-05,1793244898824158464
+50,0.833333333,BASELINE,765,745,714,679,659,635,878.994052924,787,806.994052924,653,630,652,0.400976308994,-0.0154423916552,0.0498480729485,0.999999956022,-0.000126417922804,-0.000265271990839,-4.00639860483e-05,1793244898840825088
+51,0.850000000,BASELINE,765,745,714,679,659,635,878.419955384,787,806.419955384,653,630,652,0.400978215674,-0.0154441213289,0.0498499566296,0.999999956293,-0.000129892465446,-0.000262626463441,-3.9614226048e-05,1793244898857491968
+52,0.866666667,BASELINE,765.159093773,745,714,679,659,634.840906227,878.159093773,787,806,653,630,652,0.400979378426,-0.015445402058,0.0498508701166,0.999999956342,-0.000132641831559,-0.000261097634885,-3.93624193538e-05,1793244898874158592
+53,0.883333333,BASELINE,765.751633419,745,714,679,659,634.248366581,878.751633419,787,806,653,630,652,0.400978514372,-0.0154454596519,0.0498491403411,0.999999955832,-0.00013341547731,-0.000262611216627,-3.96499301123e-05,1793244898890825472
+54,0.900000000,BASELINE,765.664532765,745,714,679.335467235,659,634,879.335467235,787,806,653,630,652,0.400977880184,-0.0154443952991,0.0498486972665,0.999999955732,-0.000131645872862,-0.000263838706361,-3.99416380764e-05,1793244898907492096
+55,0.916666667,BASELINE,765.086981385,745,714,679.913018615,659,634,879.913018615,787,806,653,630,652,0.400977411875,-0.0154425213128,0.0498491827176,0.999999955918,-0.000128040975738,-0.000264859742665,-4.02363748686e-05,1793244898924158720
+56,0.933333333,BASELINE,765,744.509814459,714,679.509814459,659,634,879.019628919,787,806,653,630,652,0.400977817041,-0.0154433047695,0.049849380615,0.999999955922,-0.00012981991023,-0.000264011107186,-4.00022704555e-05,1793244898940825344
+57,0.950000000,BASELINE,765,744.066974937,714,679,659,634,878,787,805.933025063,653,630,652,0.400978306813,-0.0154443147734,0.0498495111388,0.999999955904,-0.00013189166129,-0.000263095350782,-3.97160434193e-05,1793244898957491712
+58,0.966666667,BASELINE,765,744.64141998,714,679,659,634,878,787,805.35858002,653,630,652,0.40097826418,-0.0154434711704,0.0498495174887,0.999999956,-0.00012894914492,-0.000264182840773,-3.97453576151e-05,1793244898974158336
+59,0.983333333,BASELINE,765,745,714,679,659,634,878.222752585,787,805.222752585,653,630,652,0.400978285998,-0.0154429424503,0.0498493958377,0.999999956071,-0.000128094753957,-0.000264316409444,-3.98430337962e-05,1793244898990825216
+60,1.000000000,BASELINE,765,745,714,679,659,634,878.815526425,787,805.815526425,653,630,652,0.40097841488,-0.0154429367919,0.0498490615606,0.999999956106,-0.000130709012665,-0.000262865389881,-4.00542682049e-05,1793244899007492096
+61,1.016666667,BASELINE,765,745,714,679,659,634.383196113,879,786.616803887,806,653,630,651.616803887,0.400977075272,-0.0154431821512,0.0498487708784,0.999999955988,-0.000130008452448,-0.000263636892566,-4.02278668404e-05,1793244899024158720
+62,1.033333333,BASELINE,765,745,714,679,659,634.939523495,879,786.060476505,806,653,630,651.060476505,0.400975072189,-0.0154435409223,0.0498484998927,0.999999955795,-0.000127810228636,-0.000265412549826,-4.03844613e-05,1793244899040825344
+63,1.050000000,BASELINE,765,745,714,679.531542098,659,634.468457902,879,786.531542098,806,653,630.531542098,651.531542098,0.400975621875,-0.015444656144,0.0498482660795,0.999999955546,-0.000129546285663,-0.000265524791475,-4.02835123035e-05,1793244899057491968
+64,1.066666667,BASELINE,765,744.872889253,714,679.872889253,659,634,879,787,806.127110747,653,630.872889253,652,0.400976452115,-0.0154455765745,0.0498482830337,0.999999955379,-0.000131507636692,-0.000265202383281,-4.01919829502e-05,1793244899074158592
+65,1.083333333,BASELINE,765,744.280261579,714,679.280261579,659,634,879,787,806.719738421,653,630.280261579,652,0.400977169573,-0.0154454457374,0.0498492017682,0.999999955551,-0.000132536747122,-0.000264031160897,-4.02499885749e-05,1793244899090825216
+66,1.100000000,BASELINE,765,744.302020449,714,679,659,634,879,787,807,652.697979551,630,652,0.400977832145,-0.0154453594361,0.0498497717826,0.999999955741,-0.000132779793121,-0.000263201185584,-4.01468633093e-05,1793244899107491840
+67,1.116666667,BASELINE,765,744.875020112,714,679,659,634,879,787,807,652.124979888,630,652,0.400978445471,-0.0154453130934,0.0498500289179,0.99999995595,-0.000132317565226,-0.000262677384513,-3.98991679561e-05,1793244899124158720
+68,1.133333333,BASELINE,765,745,714,679,658.548618161,634,879,786.548618161,806.548618161,652.451381839,630,652,0.400977683638,-0.0154456871073,0.0498495510243,0.99999995583,-0.000131888796871,-0.00026335717556,-3.98560051323e-05,1793244899140825600
+69,1.150000000,BASELINE,765,745,714,679,658.029264889,634,879,786.029264889,806,653,630,652,0.400976555478,-0.0154460272172,0.0498489028694,0.999999955628,-0.000131434053987,-0.000264342820815,-3.98893216875e-05,1793244899157492224
+70,1.166666667,BASELINE,765,745,714,679,658.618307114,634,879,786.618307114,806,653,630,652,0.400975758036,-0.0154434758106,0.0498489200396,0.999999955651,-0.000130303933956,-0.000264756526795,-4.029415755e-05,1793244899174158848
+71,1.183333333,BASELINE,765,745,713.795738971,679.204261029,659,634,879,787,806,653,630.204261029,652,0.400975549407,-0.0154423217599,0.0498489544615,0.999999955774,-0.000129025728987,-0.000264893409397,-4.04333312442e-05,1793244899190825216
+72,1.200000000,BASELINE,765,745,713.21546998,679.78453002,659,634,879,787,806,653,630.78453002,652,0.400976424677,-0.0154437399908,0.0498490206407,0.999999956086,-0.000127474925984,-0.000264520709821,-4.00834685472e-05,1793244899207491840
+73,1.216666667,BASELINE,765,745,713.3617511,679.6382489,659,634,879,787,806,653,630.6382489,652,0.400977381362,-0.0154447687206,0.0498494168034,0.999999956167,-0.000129077705452,-0.000263457748405,-3.99296379323e-05,1793244899224158976
+74,1.233333333,BASELINE,765,745,713.937171885,679.062828115,659,634,879,787,806,653,630.062828115,652,0.400978386135,-0.0154455673899,0.0498500078721,0.999999956102,-0.000132543160685,-0.000261987081185,-3.9891594445e-05,1793244899240825600
+75,1.250000000,BASELINE,765,745,714,679,659,634.50998798,879.50998798,786.49001202,806,653,630,652,0.400979184091,-0.0154454442215,0.049850406832,0.999999956324,-0.000131945733516,-0.000261460864614,-3.97610160185e-05,1793244899257492224
+76,1.266666667,BASELINE,765,745.083346262,714,679,659,635,879.916653738,786.083346262,806,653,630.083346262,652,0.400979616452,-0.0154453510564,0.0498506348284,0.999999956482,-0.000131096212383,-0.000261304046882,-3.96217581334e-05,1793244899274158848
+77,1.283333333,BASELINE,765,745.661822047,714,679,659,635,879.338177953,786.661822047,806,653,630.661822047,652,0.400978027539,-0.015446107357,0.0498499870752,0.999999956053,-0.000131707437055,-0.000262654000531,-3.94983170807e-05,1793244899290825728
+78,1.300000000,BASELINE,765,745.753572744,714,679,659,634.753572744,879.246427256,787,806,653,630.753572744,652,0.40097679822,-0.0154455738663,0.0498496547633,0.999999955966,-0.000130552770365,-0.000263535940006,-3.96580110976e-05,1793244899307492352
+79,1.316666667,BASELINE,765,745.160341475,714,679,659,634.160341475,879.839658525,787,806,653,630.160341475,652,0.40097607497,-0.0154432252157,0.0498497663808,0.999999956353,-0.000126912915006,-0.000263759229845,-4.02161690777e-05,1793244899324158976
+80,1.333333333,BASELINE,765,745,714,679,659.421261725,634,879.578738275,787,806,652.578738275,630,652,0.400976344608,-0.015442434371,0.0498499816218,0.999999956398,-0.000126965898674,-0.000263571334942,-4.01789404847e-05,1793244899340825600
+81,1.350000000,BASELINE,765,745,714,679,659.99855796,634,879.00144204,787,806,652.00144204,630,652,0.400976982009,-0.0154422205343,0.0498502352449,0.999999956316,-0.000128386702314,-0.000263231138042,-3.99211819286e-05,1793244899357492224
+82,1.366666667,BASELINE,765,745,714,679,659.428578455,634,879,786.428578455,806,652,630,652,0.400977756211,-0.0154412356072,0.0498499820394,0.999999956759,-0.000125550996342,-0.000262867285442,-4.02569656493e-05,1793244899374158592
+83,1.383333333,BASELINE,765,745,714,678.850719042,659,634.149280958,879,786,806,652.149280958,630.149280958,652,0.400978160471,-0.0154411650537,0.0498496884487,0.999999956854,-0.000124890401753,-0.000262788680028,-4.04528778148e-05,1793244899390825216
+84,1.400000000,BASELINE,765,745,714,678.257985972,659,634.742014028,879,786,806,652.742014028,630.742014028,652,0.400977464769,-0.0154438164625,0.0498492786604,0.999999955915,-0.000130722828239,-0.000263557602148,-4.02288741199e-05,1793244899407491840
+85,1.416666667,BASELINE,765,744.674465339,714,678.325534661,659,635,879,786,806,652.674465339,630.674465339,652,0.400977443952,-0.0154449356825,0.049849275405,0.999999955675,-0.000132609358931,-0.000263559820807,-4.00097096617e-05,1793244899424158464
+86,1.433333333,BASELINE,765,744.098044665,714,678.901955335,659,635,879,786,806,652.098044665,630.098044665,652,0.400977943262,-0.0154448740611,0.0498495854602,0.999999955991,-0.000131454830419,-0.000262971149426,-3.97942747647e-05,1793244899440825088
+87,1.450000000,BASELINE,765,744.477942832,714,679,659,634.522057168,878.522057168,786.477942832,806,652,630.477942832,652,0.400978714688,-0.0154444137316,0.0498505120768,0.999999956624,-0.00012918802054,-0.000261694997473,-3.97163540924e-05,1793244899457491968
+88,1.466666667,BASELINE,765,745,714,679,659,634,878,786.946094768,806,652,630.946094768,652,0.400979410545,-0.0154440273497,0.0498514223889,0.999999957198,-0.000127273390524,-0.000260447061913,-3.96614079214e-05,1793244899474158848
+89,1.483333333,BASELINE,765,745,714,679,659,634,878,786.369514844,806,652,630.369514844,652,0.40097883291,-0.0154451503132,0.0498509493412,0.999999956621,-0.000130983953267,-0.000260838921431,-3.95559497988e-05,1793244899490825216
+90,1.500000000,BASELINE,765,745,714,679,659,634,878,786.212317291,806,652.212317291,630,652,0.400978260643,-0.0154456644352,0.0498505332922,0.999999956186,-0.000133068750023,-0.000261445645127,-3.95775899445e-05,1793244899507491840
+91,1.516666667,BASELINE,765,745,714,679,659,634,878,786.803522114,806,652.803522114,630,652,0.400977697955,-0.0154450920585,0.0498502189592,0.999999956025,-0.000132252310882,-0.000262435801324,-3.98260413472e-05,1793244899524158464
+92,1.533333333,BASELINE,765,745,714,679,659,634.384405743,878.384405743,787,806,652.615594257,630,652,0.40097731955,-0.0154447521251,0.0498497873631,0.999999956143,-0.000130075282896,-0.000263077936318,-3.98091658508e-05,1793244899540825344
+93,1.550000000,BASELINE,765,745,714,679,659,634.960151982,878.960151982,787,806,652.039848018,630,652,0.400977032873,-0.0154445278918,0.0498492973985,0.999999956392,-0.000127221012757,-0.000263546841548,-3.96602221608e-05,1793244899557492224
+94,1.566666667,BASELINE,765,744.461789074,714,679,659,634.461789074,879,786.461789074,806.538210926,652.538210926,630,652,0.400976944907,-0.0154433706756,0.0498495215181,0.999999956333,-0.00012806475605,-0.000263316276785,-3.996815994e-05,1793244899574158848
+95,1.583333333,BASELINE,765.118230406,744.118230406,714,679.118230406,659,634,878.881769594,786.118230406,806.881769594,653,630,652,0.400976849755,-0.0154427212131,0.0498497314998,0.999999956281,-0.000128794661006,-0.000263126849096,-4.01769756059e-05,1793244899590825472
+96,1.600000000,BASELINE,765.705343228,744.705343228,714,679.705343228,659,634,878.294656772,786.705343228,806.294656772,653,630,652,0.400976667506,-0.0154443605453,0.0498496748375,0.999999956351,-0.000127982597105,-0.000263306830514,-3.98579598066e-05,1793244899607491840
+97,1.616666667,BASELINE,765.710209178,745,714,680,659,634,878.289790822,787,806,653,630,652,0.400976800721,-0.0154456222711,0.0498497505957,0.999999956226,-0.000129040522553,-0.000263269949539,-3.98245718353e-05,1793244899624158464
+98,1.633333333,BASELINE,765.128446902,745,714,680,659,634,878.871553098,787,806,653,630,652,0.400977251774,-0.0154465035491,0.0498499597706,0.999999955899,-0.000131982508783,-0.000263014574305,-4.0078961016e-05,1793244899640825088
+99,1.650000000,BASELINE,764.551709511,745,714,679.551709511,659,634,879,786.551709511,806,653,630,652,0.400977079232,-0.0154461456707,0.0498498938117,0.999999955947,-0.000131769213983,-0.000262966046283,-3.98976774116e-05,1793244899657491712
+100,1.666666667,BASELINE,764.024093195,745,714,679,659,634,879.024093195,786.024093195,806,652.975906805,630,652,0.4009768118,-0.0154453678886,0.0498497827206,0.999999956125,-0.000130621064355,-0.000262904031635,-3.96259125254e-05,1793244899674158336
+101,1.683333333,BASELINE,764.611328466,745,714,679,659,634,879.611328466,786.611328466,806,652.388671534,630,652,0.400978456447,-0.0154429822734,0.0498504389108,0.999999956835,-0.000128519135505,-0.000261156863548,-4.01246919065e-05,1793244899690824960
+102,1.700000000,BASELINE,765,745,714,679,659,634,879.805787936,787,806,652.194212064,630,652,0.400979184659,-0.0154422372219,0.049850729817,0.999999957155,-0.000127435397978,-0.000260434202609,-4.03074652073e-05,1793244899707491840
+103,1.716666667,BASELINE,765,745,714,679,659,634,879.231422435,787,806,652.768577565,630,652,0.400978119024,-0.0154447034329,0.0498503057113,0.999999956721,-0.000128344682779,-0.000261716926643,-3.9871683685e-05,1793244899724158720
+104,1.733333333,BASELINE,765,745,714,679.348694517,659,634,879,787,805.651305483,653,630.348694517,652,0.400977562275,-0.015445664325,0.0498500849914,0.999999956557,-0.000129025028258,-0.00026202669561,-3.97628558639e-05,1793244899740825344
+105,1.750000000,BASELINE,765,745,714,679.932692683,659,634,879,787,805.067307317,653,630.932692683,652,0.400977348927,-0.0154456094083,0.0498500015188,0.999999956575,-0.000129550882561,-0.000261679901826,-3.9874660659e-05,1793244899757491968
+106,1.766666667,BASELINE,765,745,714,679.492633027,659,634.507366973,879,787,805.507366973,653,631,652,0.400976615326,-0.0154451586178,0.0498496716445,0.999999956266,-0.000129466082061,-0.000262903108032,-3.98501270361e-05,1793244899774158848
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,806,653,630,652,0.400978385389,-0.0154447021402,0.0498508958359,0.999999956714,-0.000130013077294,-0.000260944015159,-3.97197047746e-05,1793244899816793600
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,806,653,630,652,0.400976926539,-0.0154443388058,0.0498496699964,0.999999956306,-0.000128566961494,-0.000263183390401,-3.99239345576e-05,1793244899833459968
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.15738646,786.84261354,806,653,630,652,0.400976254588,-0.0154440821453,0.0498491062079,0.999999956184,-0.000127570643408,-0.000264116085218,-4.00031348862e-05,1793244899850126336
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.733707329,786.266292671,806,653,630,652,0.400977677218,-0.0154441094313,0.0498503046794,0.999999956838,-0.000127771605501,-0.000261570632605,-3.97495293725e-05,1793244899866793216
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.31035452,659.31035452,634,879.68964548,786.31035452,806,653,630,652,0.400977684434,-0.0154440137733,0.0498504364114,0.999999956917,-0.00012747090485,-0.000261401803503,-3.98365235535e-05,1793244899883460096
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.887281965,659.887281965,634,879.112718035,786.887281965,806,653,630,652,0.400976475907,-0.0154438125151,0.0498496518883,0.999999956503,-0.000126739310817,-0.000263274328684,-4.02160691744e-05,1793244899900126208
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.524161289,659.524161289,634.475838711,879,787,806,653,630,652,0.400976096337,-0.01544330008,0.0498497244887,0.999999956435,-0.000126457924916,-0.000263679840788,-4.01348842213e-05,1793244899916792576
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.934476122,879,786.934476122,806,652.934476122,630,652,0.4009762363,-0.0154429006601,0.0498500738717,0.999999956458,-0.000126528935472,-0.000263586764118,-3.99539143897e-05,1793244899933459200
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.358011088,879,786.358011088,806,652.358011088,630,652,0.400978857893,-0.0154439717023,0.0498509586374,0.999999956527,-0.000128495417529,-0.000262383495268,-3.98672075728e-05,1793244899950125824
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,786.21782725,806,652.21782725,630,652,0.400987280168,-0.0154454648722,0.049854179122,0.999999957919,-0.00013027843957,-0.000256194023938,-3.94338196614e-05,1793244899966792448
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,786.792638476,806,652.792638476,630,652,0.401005208831,-0.0154476498414,0.0498612274757,0.999999961339,-0.000131760799824,-0.000241832965428,-3.84322769645e-05,1793244899983459072
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.363302905,879,786.636697095,806,653,630,652,0.401042676946,-0.0154494231516,0.0498747196614,0.999999967651,-0.000132209545475,-0.000214131256785,-3.6970363462e-05,1793244900000125696
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.931627242,879,786.068372758,806,653,630,652,0.401091171693,-0.015450964152,0.0498918482723,0.999999974654,-0.000132074995102,-0.000178901065109,-3.5248650417e-05,1793244900016792320
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.474394212,878.474394212,786.525605788,806,653,630,652,0.401156671101,-0.0154538967092,0.0499097965078,0.999999980662,-0.0001309370349,-0.000142901831723,-3.33257302974e-05,1793244900033459200
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.119201264,634.119201264,878,787,806,653,630,652,0.401225770884,-0.0154572659538,0.0499259091379,0.999999984748,-0.000129816819057,-0.000112538221918,-3.13985618017e-05,1793244900050125824
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.697799204,634.697799204,878,787,806,653,630,652,0.401299783863,-0.0154615847368,0.0499345154329,0.999999985765,-0.00012929384908,-0.000104299392311,-2.9561068511e-05,1793244900066792192
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.726630824,635,878.273369176,787,806,653,630,652,0.401381591563,-0.0154668441904,0.049939699213,0.99999998633,-0.000129973264077,-9.82494735362e-05,-2.81821313951e-05,1793244900083458816
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.154371538,635,878.845628462,787,806,653,630,652,0.40147192167,-0.0154731321324,0.049941140962,0.999999986446,-0.000131967315171,-9.45928163048e-05,-2.73045600078e-05,1793244900100125440
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,806,653,630,652,0.401580759238,-0.0154806751913,0.0499426183346,0.999999985929,-0.000136071810729,-9.45735965517e-05,-2.61131205696e-05,1793244900116792064
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.97317923,879,787,806,653,630.02682077,652,0.401697537753,-0.0154886085648,0.0499439831783,0.999999985176,-0.000140750451395,-9.601417968e-05,-2.48574855417e-05,1793244900133459200
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.396795315,879,787,806,653,630.603204685,652,0.401836939994,-0.0154950392512,0.0499427726367,0.999999984741,-0.000141218924245,-9.98336839522e-05,-2.46622208219e-05,1793244900150126080
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.179502633,659,634,878.820497367,787,806,653,631,652,0.401986310538,-0.0155026003402,0.0499418613004,0.999999984333,-0.000141915088238,-0.000103034562107,-2.40432059476e-05,1793244900166792960
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.755610562,659,634,878.244389438,787,806,653,631,652,0.402157705705,-0.0155126590166,0.0499416110488,0.999999984008,-0.000143114328433,-0.000104868605248,-2.24879287613e-05,1793244900183459328
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.660998542,659,634,878.339001458,787,806,653,630.660998542,652.339001458,0.402351807873,-0.0155239006682,0.0499433791299,0.999999983792,-0.000146170976799,-0.000103013475797,-2.09199425833e-05,1793244900200125696
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.072241951,659,634,878.927758049,787,806,653,630.072241951,652.927758049,0.402562639163,-0.0155360138632,0.0499466341927,0.999999983628,-0.000150596047795,-9.84403942357e-05,-1.93425930504e-05,1793244900216792320
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.507143178,659,634,879,787,806,653,630.507143178,652.492856822,0.402812320086,-0.015548619804,0.0499515325488,0.999999984502,-0.000151099665903,-8.87817780428e-05,-1.6804583778e-05,1793244900233458944
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.91515556,745,714,679.91515556,659,634,878.91515556,786.91515556,806,652.91515556,630.91515556,652,0.403074077539,-0.0155605737527,0.0499572951863,0.999999985685,-0.00015010783255,-7.68152503952e-05,-1.40287315211e-05,1793244900250125568
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.339612098,745,714,679.339612098,659,634,878.339612098,786.339612098,806,652.339612098,630.339612098,652,0.403374254139,-0.0155683583153,0.0499667271389,0.999999988081,-0.000143639125484,-5.5614604885e-05,-1.0654394373e-05,1793244900266792192
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.235017302,745,714,679.235017302,659,634,878.235017302,786,806,652.235017302,630,652,0.403687699843,-0.0155684359393,0.0499747083989,0.999999991214,-0.000126505448149,-3.88646575611e-05,-7.60995398981e-06,1793244900283458816
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.808330919,745,714,679.808330919,659,634,878.808330919,786,806,652.808330919,630,652,0.404020245777,-0.0155574197884,0.0499806014552,0.999999995161,-9.40200498156e-05,-2.85212814856e-05,-5.04038463093e-06,1793244900300125696
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.604342514,714,680,659,634,879,786,806,652.604342514,630,652,0.404387860959,-0.0155492933597,0.0499858078096,0.999999997725,-6.5204722747e-05,-1.69617039986e-05,-3.39292940901e-06,1793244900316792576
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.009978399,714,680,659,634,879,786,806,652.009978399,630,652,0.404773088566,-0.0155426182041,0.0499906692894,0.999999999255,-3.82325754535e-05,-4.79132759812e-06,-2.20857732553e-06,1793244900333459200
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,679.431055267,659,634,879,786.568944733,806,652,630,652,0.405172855731,-0.0155306774638,0.0499825474104,0.999999999713,-6.59234441251e-06,-2.24054045888e-05,-5.34200672699e-06,1793244900350125568
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.146369857,714,679.146369857,659,634,879,787,806,652.146369857,630,652,0.405577838976,-0.0155201591032,0.0499714136698,0.999999998651,2.36581417433e-05,-4.56198033176e-05,-7.51218178263e-06,1793244900366792192
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.720190143,714,679.720190143,659,634,879,787,806,652.720190143,630,652,0.405997329888,-0.0155140571521,0.0499521316712,0.999999995244,4.96173144411e-05,-8.37038682215e-05,-6.65401566859e-06,1793244900383458816
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.707684127,659,634,879.292315873,786.707684127,806.292315873,652.707684127,630.292315873,652.292315873,0.406444280091,-0.015512826019,0.0499356660313,0.999999990956,7.21961012741e-05,-0.000113354998716,-5.19217668126e-06,1793244900400125440
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.137171038,659,634,879.862828962,786.137171038,806.862828962,652.137171038,630.862828962,652.862828962,0.40691736337,-0.0155162304461,0.0499218807197,0.999999986694,9.15577756666e-05,-0.000134980504338,-3.15582171625e-06,1793244900416792064
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.45399974,659,634,879.54600026,786,806.54600026,652.45399974,630.54600026,652.54600026,0.407470997146,-0.0155197787424,0.0499298355001,0.999999986811,0.000114255217558,-0.000115423800682,1.29372439476e-06,1793244900433458944
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.950241144,659,634,879,786.049758856,806,652.950241144,630.049758856,652,0.408053458365,-0.0155231591288,0.0499459075986,0.999999987109,0.00013831821339,-8.12753875782e-05,6.62742780723e-06,1793244900450125568
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.37507895,659,634,879,786.62492105,806,652.37507895,630.62492105,652,0.408671079438,-0.0155242856944,0.0499750270523,0.999999985721,0.000165650742851,-3.06992414669e-05,1.32311757583e-05,1793244900466792448
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.20030964,659,634,879,787,805.79969036,652,630.79969036,652,0.409291435501,-0.0155265583646,0.0499963138485,0.999999981621,0.000190724053203,3.9680891481e-06,1.91553887081e-05,1793244900483459328
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.7761226,659,634,879,787,805.2238774,652,630.2238774,652,0.409916918575,-0.0155309795389,0.0500029174309,0.999999977299,0.000211562198232,8.81252324502e-06,2.38057352828e-05,1793244900500125952
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.360997056,787,805.360997056,652,630,652,0.410522856253,-0.0155314961845,0.0499881449261,0.999999972163,0.000232741295231,-2.88449394373e-05,2.59611129422e-05,1793244900516792576
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.951635796,787,805.951635796,652,630,652,0.41111636046,-0.0155295290354,0.0499597744135,0.99999996298,0.000254137280987,-9.35392076383e-05,2.65293614227e-05,1793244900533459456
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786.468881956,806,652.531118044,630,651.468881956,0.411821595894,-0.0155311498915,0.0499452402396,0.999999978918,0.000173094889825,-0.000107216624985,2.65888204976e-05,1793244900550125824
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.891479162,786.108520838,806,652.891479162,630,651.108520838,0.412548295723,-0.0155345228326,0.0499393075686,0.99999998979,9.33615568578e-05,-0.000105269353443,2.49341287302e-05,1793244900566792448
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.318715641,786.681284359,806,652.318715641,630,651.681284359,0.413324188549,-0.0155440220828,0.0499648923045,0.999999996605,5.83123310895e-05,-5.59458461364e-05,1.61405718373e-05,1793244900583459328
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.256716931,745,714,679.743283069,659.256716931,634,879,787,806,652,630,652,0.414089520976,-0.0155495308213,0.0499755427321,0.999999997727,5.42487719043e-05,-3.79337197538e-05,1.279106683e-05,1793244900600126208
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.835498038,745,714,679.164501962,659.835498038,634,879,787,806,652,630,652,0.41484160496,-0.0155500332656,0.0499674573296,0.999999994149,8.90582700955e-05,-5.92032736765e-05,1.62713949056e-05,1793244900616792832
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.577166164,745,714,679,659.577166164,634,879,786.577166164,806,652,630.422833836,652,0.415598950817,-0.0155492453479,0.0499461034156,0.999999989107,0.000113242924277,-9.31982314483e-05,1.66085481573e-05,1793244900633459200
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.013273751,634,879,786.013273751,806.013273751,652,631,652,0.416361043266,-0.0155480555939,0.0499206604553,0.999999982552,0.000132945917164,-0.000130276319885,1.57881603708e-05,1793244900650125568
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.59125936,634,879,786.59125936,806.59125936,652,631,652,0.41723618455,-0.01555156862,0.049945402342,0.999999986326,0.000141470736712,-8.35492356514e-05,1.88201195232e-05,1793244900666792192
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679.169619715,660,634,879,786.830380285,807,652,631,652,0.418102664601,-0.0155547234197,0.0499659213499,0.999999988194,0.000144383556238,-4.79525140877e-05,2.15793706633e-05,1793244900683458816
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679.748885082,660,634,879,786.251114918,807,652,631,652,0.418948227004,-0.0155570130728,0.0499762417543,0.999999990006,0.000133742931344,-3.92365427959e-05,2.36800092853e-05,1793244900700125440
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.323984314,786.323984314,806.676015686,652,631,652,0.41979444244,-0.0155553818073,0.0499708983863,0.999999989389,0.000136093164292,-4.63880341937e-05,2.34346764245e-05,1793244900716792576
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.895895414,786.895895414,806.104104586,652,631,652,0.420641157568,-0.0155507500854,0.0499535684227,0.999999986605,0.000148384562986,-6.56819934995e-05,2.1394104795e-05,1793244900733459200
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.48593352,745,714,680,660,634,879.51406648,786.51406648,806,651.51406648,630.51406648,652,0.421556172987,-0.0155576629132,0.0499751319781,0.999999988103,0.000150809485901,-2.15590263545e-05,2.41959237287e-05,1793244900750125824
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,679.922261066,660,634,879.077738934,786,806,651.077738934,630.077738934,652,0.42248256094,-0.0155654281265,0.049999597959,0.999999987942,0.000150688226449,2.55972076599e-05,2.74680058229e-05,1793244900766792704
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,679.345019915,660,634,879.654980085,786,806,651.654980085,630.654980085,652,0.423384359452,-0.0155621628069,0.0499870996832,0.99999998864,0.000148314748347,1.56411846169e-06,2.68376233981e-05,1793244900783459584
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.768588991,745,714,679,660,634,880,786,806,652,631,652,0.424288405252,-0.0155605350006,0.0499790855334,0.999999988984,0.000145504716936,-1.22938456079e-05,2.66458685195e-05,1793244900800126208
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.193361765,745,714,679,660,634,880,786,806,652,631,652,0.425195790068,-0.01556134011,0.0499777336198,0.999999989483,0.000142046081272,-1.10342393927e-05,2.71057993427e-05,1793244900816792320
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,786.388979157,806,652,631,652,0.426096062626,-0.0155646113122,0.0499895369597,0.999999988651,0.000147757610556,-1.5166898204e-06,2.93807435535e-05,1793244900833459200
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,786.974922143,806,652,631,652,0.42699273376,-0.0155691312473,0.0500080016056,0.999999986895,0.000158112552804,1.21823591437e-05,3.25747395061e-05,1793244900850125824
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.557906575,745,714,679.557906575,660,634,880,787,806,652,631,652,0.427855052255,-0.0155646819186,0.0499726963173,0.999999984023,0.000165980164642,-5.9227580162e-05,2.99428819696e-05,1793244900866792192
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.86167954,744.86167954,714,680,660,634,880,787,806,652,631,652,0.42874149873,-0.0155608706762,0.0499457729468,0.999999979432,0.000169496095033,-0.000107844782292,2.78605435535e-05,1793244900883459072
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.288923749,744.288923749,714,680,660,634,880,787,806,652,631,652,0.429708550311,-0.0155603231131,0.0499527265104,0.999999984189,0.000159693620274,-7.29226589887e-05,2.83222740804e-05,1793244900900126208
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.285208569,714,680,660.285208569,634,880.285208569,786.714791431,806,652,631,652,0.430634195137,-0.0155587719241,0.0499550431584,0.999999985061,0.000159470483855,-6.02349978286e-05,2.86259682363e-05,1793244900916792832
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.860742074,714,680,660.860742074,634,880.860742074,786.139257926,806,652,631,652,0.43151769035,-0.015556199105,0.0499526397085,0.999999982843,0.000168998530585,-7.0180665768e-05,2.87687909981e-05,1793244900933459200
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.566974572,634,881.433025428,786.433025428,806.433025428,652,631,652,0.432394012627,-0.0155545276275,0.0499446983399,0.999999980314,0.000178826979623,-8.11500349805e-05,2.84048068952e-05,1793244900950125824
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.004464483,744.995535517,714,680,660,634,881.995535517,787,807,652,631,652,0.433268182936,-0.0155531494857,0.0499352490179,0.999999977564,0.000188711729742,-9.20924331829e-05,2.78988543854e-05,1793244900966792448
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.601534379,744.398465621,714,680,660,634,881.398465621,787,807,652,631,652,0.43416061047,-0.0155525186681,0.0499602763983,0.999999979286,0.000193341758012,-5.60809157979e-05,3.00215011998e-05,1793244900983458816
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,744.192039223,714,680,660.192039223,634,880.807960777,787,806.807960777,652,630.807960777,652,0.435035664477,-0.0155506742647,0.0499742806727,0.999999979338,0.000196131836252,-4.2944625879e-05,3.18089867191e-05,1793244901000125440
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,744.769372513,714,680,660.769372513,634,880.230627487,787,806.230627487,652,630.230627487,652,0.435875861616,-0.0155463950073,0.0499661689627,0.999999977535,0.000195230368546,-7.57035862514e-05,3.29240284811e-05,1793244901016792064
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880,787,806.344473046,652,630,652,0.436709156288,-0.015544385627,0.0499575135053,0.999999975947,0.000196903443403,-9.07513764555e-05,3.31407266248e-05,1793244901033459200
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880,787,806.918088321,652,630,652,0.437537859413,-0.015543886161,0.0499484963495,0.999999974986,0.000200289094847,-9.40177581335e-05,3.27598497784e-05,1793244901050126080
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.490232893,745,714,680,660.490232893,634,880.509767107,787,807,652,630.509767107,652,0.438369645607,-0.0155496785118,0.0499703163108,0.999999977396,0.000202830535758,-5.30489171938e-05,3.5417254108e-05,1793244901066792704
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,881,787,807,652,631,652,0.439188544486,-0.0155547949062,0.049989275522,0.99999997804,0.000205381682716,-1.80284563441e-05,3.75839399731e-05,1793244901083459072
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,881,787,807,652,631,652,0.439944549606,-0.0155518197065,0.0499706989823,0.999999976584,0.000208638418135,-4.55098601168e-05,3.50721288607e-05,1793244901100125696
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.256497741,680,660,634,881,787,806.743502259,652,631,652,0.44069784257,-0.0155520510857,0.0499570175008,0.999999976863,0.000202206872887,-6.57421326477e-05,3.26387439981e-05,1793244901116792320
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714.831092168,680,660,634,881,787,806.168907832,652,631,652,0.441447771984,-0.0155562591164,0.0499494066464,0.999999979694,0.000183760367924,-7.69843643894e-05,3.03026199605e-05,1793244901133458944
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.583912664,680,660,634,881,787,806.416087336,652,631,652,0.442162500756,-0.0155613644859,0.0499540660798,0.999999982684,0.000171111552219,-6.63310116309e-05,3.08756447697e-05,1793244901150125568
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.00531372,660.00531372,633.99468628,881,786.99468628,807,652,631,652,0.442861680697,-0.0155668221643,0.0499634371427,0.999999985385,0.000161009029109,-4.73329062123e-05,3.26335691343e-05,1793244901166792448
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.583840221,660.583840221,633.416159779,881,786.416159779,807,652,631,652,0.44346451986,-0.0155699822376,0.0499299700698,0.999999979636,0.000165191463072,-0.000111558320716,3.15515701814e-05,1793244901183459328
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.161245307,745,714,680.838754693,660.838754693,633,881,786,807,652,630.838754693,652,0.444058745565,-0.0155738518988,0.0498922635747,0.999999969711,0.000167250651868,-0.000178077294445,2.98968991471e-05,1793244901200125952
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.735776232,745,714,680.264223768,660.264223768,633,881,786,807,652,630.264223768,652,0.444630894361,-0.0155795402958,0.0498436910676,0.999999954846,0.000163867782142,-0.000250474872408,2.67744201626e-05,1793244901216792320
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680.317750541,660,633,881,786,807,652,630,652,0.445217498011,-0.0155860495398,0.0498204059102,0.999999948761,0.000161354197892,-0.000275284955991,2.56931218665e-05,1793244901233458688
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,680.906062791,660,633,881,786,807,652,630,652,0.445816409803,-0.0155932577272,0.0498186527049,0.99999995323,0.000159580803057,-0.000259574715609,2.63498707059e-05,1793244901250125312
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.513043977,745,714,681,660,633,881,786,807,652,630,652,0.446371426427,-0.0156001158272,0.0498193596323,0.999999954711,0.000158584361037,-0.000254332018035,2.72623569506e-05,1793244901266792192
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,881,786,807.065893086,652,630,652,0.446906352582,-0.0156065838073,0.0498160487088,0.999999953895,0.000157594392449,-0.000258068066902,2.78369965615e-05,1793244901283458560
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,881,786,807.640610364,652,630,652,0.447350546739,-0.0156105529657,0.0497781024054,0.999999937726,0.000155514414249,-0.000315779017707,2.54275608498e-05,1793244901300125440
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.214831744,745.214831744,714.214831744,680.785168256,660,632.785168256,881.214831744,786,807.785168256,652,630.214831744,652,0.447787247509,-0.015615268774,0.0497452228777,0.9999999208,0.000153162286844,-0.000366574344035,2.37612371359e-05,1793244901316792320
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.788225396,745.788225396,714.788225396,680.211774604,660,632.211774604,881.788225396,786,807.211774604,652,630.788225396,652,0.4482114415,-0.0156212307677,0.0497207999846,0.999999906076,0.000150355933376,-0.000405827239664,2.33351944058e-05,1793244901333459200
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.625341044,745.625341044,714.625341044,680.374658956,660,632,881.625341044,785.625341044,807.374658956,652,630.625341044,652,0.448640153941,-0.0156261609122,0.0497182406579,0.999999906148,0.0001398945548,-0.00040944935288,2.20384518868e-05,1793244901350125824
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.123592286,714.123592286,681,659.123592286,632,880.123592286,785,808,652,630,652,0.449831281189,-0.0156466549463,0.0497505276746,0.999999932926,-1.34113058505e-05,-0.000365954006427,6.75690758416e-06,1793244901400125696
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.129941462,715,681,659.129941462,632,881,785,807.129941462,652,629.129941462,652,0.450740938693,-0.0156598907138,0.0497396271912,0.999999920826,1.02876446094e-05,-0.000397590648127,1.28242489061e-05,1793244901450125568
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.54949182,681.45050818,659,632,881,785,807,652,629,652,0.450985113585,-0.0156609145679,0.0497290049154,0.999999913283,1.51817194888e-05,-0.000415979790526,1.28208456462e-05,1793244901466792192
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+210,3.500000000,POSE1_TO_POSE2_PRESS,764.757806049,745,715,681,659.757806049,631.757806049,881,784,807.242193951,652,629,652,0.451774772292,-0.0156667766655,0.0496886642344,0.999999879035,2.18395569849e-05,-0.000491203944487,1.3125399595e-05,1793244901533458944
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.65811165,631.65811165,881,784,807,652,629,652,0.451942042965,-0.0156671602352,0.0496900135119,0.999999880272,2.5301096466e-05,-0.000488483482812,1.41625329615e-05,1793244901550125568
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.068702338,631.068702338,881,784,807,652,629,652,0.452103659861,-0.0156674546874,0.0496958251043,0.999999884932,2.96966031432e-05,-0.000478546014273,1.57715873962e-05,1793244901566792192
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.48818665,681,659.51181335,631,881,784.51181335,807.51181335,652,629,652,0.452233975834,-0.0156725582852,0.0496984001692,0.999999887638,2.51819665979e-05,-0.000473059012025,1.74823500518e-05,1793244901583458560
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765.142875725,745,715,681,659.857124275,631,881,784,807.142875725,652,628.857124275,652,0.45278459314,-0.0157300595994,0.0496850949128,0.999999878418,-2.90331411847e-05,-0.000491059118391,3.43795662445e-05,1793244901716792576
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.717143481,745,715,681,659.282856519,631,881,784,807.717143481,652,628.282856519,652,0.452808342838,-0.0157312515124,0.0496837001631,0.999999877641,-3.23581143432e-05,-0.000492420261664,3.45469246145e-05,1793244901733459200
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681,659.300764676,631,881,784,808,652,628.300764676,652,0.452826893726,-0.0157310758926,0.0496822104206,0.999999876485,-3.33342697489e-05,-0.000494702734143,3.44663341578e-05,1793244901750125568
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,681,659.893464798,631,881,784,808,652,628.893464798,652,0.452840398422,-0.0157295728854,0.0496806284738,0.999999874962,-3.20305595372e-05,-0.00049787948951,3.41450736637e-05,1793244901766792192
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.526074157,745.473925843,715,681,659.526074157,631,881,784,807.526074157,652,629,652,0.452850242424,-0.015728685437,0.0496792263453,0.999999874278,-3.20184477623e-05,-0.000499272519638,3.38591126555e-05,1793244901783459072
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.051393613,745.948606387,715,681,659,631,881,784,807.051393613,652.051393613,628.948606387,652,0.452858925649,-0.0157278573967,0.049677995592,0.999999873827,-3.2163477813e-05,-0.000500181577419,3.36112144433e-05,1793244901800125952
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.625694653,745.374305347,715,681,659,631,881,784,807.625694653,652.625694653,628.374305347,652,0.452863960351,-0.0157262613629,0.0496781075849,0.99999987388,-3.10276210188e-05,-0.000500143407391,3.36718848557e-05,1793244901816792576
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.800570631,745,714.800570631,681,659,631,881,784,808,652.800570631,628,652,0.452866995078,-0.0157250720417,0.049677712307,0.999999873439,-3.13833127703e-05,-0.00050101028602,3.35385949048e-05,1793244901833458944
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.227895864,745,714.227895864,681,659,631,881,784,808,652.227895864,628,652,0.452866286715,-0.0157246439105,0.0496763676377,0.999999872066,-3.45305374318e-05,-0.000503571023727,3.30422951599e-05,1793244901850125568
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681.359020674,659,631,881,784,808,652,628.359020674,652,0.4528666361,-0.0157250483638,0.0496747587711,0.999999870905,-3.67298947535e-05,-0.000505739809777,3.26873486566e-05,1793244901866792192
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681.955350874,659,631,881,784,808,652,628.955350874,652,0.452867684647,-0.0157260031483,0.0496729752724,0.999999869887,-3.83027199243e-05,-0.000507649519108,3.24258354301e-05,1793244901883458560
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.535380347,714.535380347,681.464619653,659,631,880.464619653,784,807.464619653,652,628.464619653,652,0.452868046896,-0.015724801815,0.0496734865212,0.99999987017,-3.69509278485e-05,-0.000507183174117,3.2564799037e-05,1793244901900125696
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.88761113,715,681,659,631,880.11238887,784,807,652,628,652,0.452868370793,-0.0157236065227,0.0496739833815,0.999999870458,-3.54398412517e-05,-0.000506717739546,3.26360817965e-05,1793244901916792576
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.317532663,715,681,659,631,880.682467337,784,807,652,628,652,0.452868764703,-0.0157231464653,0.0496736653224,0.999999870348,-3.42439695424e-05,-0.000507039133925,3.22997500062e-05,1793244901933459456
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.743052832,659,631,881,784,807.256947168,652,628,652,0.452868870105,-0.0157234874836,0.0496735520776,0.999999870089,-3.45706367534e-05,-0.000507525084946,3.23365306759e-05,1793244901950126336
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.16303897,659,631,881,784,807.83696103,652,628,652,0.452868612758,-0.015724835716,0.0496736963515,0.99999986964,-3.68116335794e-05,-0.000508217937569,3.28424357886e-05,1793244901966792960
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.850705381,659,631,881,784,808,652,628.42535269,652,0.452868968236,-0.0157250441534,0.0496733394962,0.999999869612,-3.74918944397e-05,-0.000508215446141,3.2981561005e-05,1793244901983459584
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.016707857,715,681.983292143,659,631,881,784,808,652,628.983292143,652,0.452869545238,-0.0157247674972,0.0496727811172,0.999999869721,-3.75342173021e-05,-0.000507999034044,3.29663888694e-05,1793244902000126720
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.597521823,715,681.402478177,659,631,881,784,808,652,628.402478177,652,0.452869511387,-0.0157231596082,0.0496720343363,0.999999868881,-3.66418628609e-05,-0.000509739582474,3.25837126772e-05,1793244902016792832
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.824254356,715,681.175745644,659,631,881,784,808,652,628,652,0.452869866537,-0.0157221079815,0.0496717302588,0.999999868535,-3.63749177873e-05,-0.000510456005737,3.22744031569e-05,1793244902033459200
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.25187615,715,681.74812385,659,631,881,784,808,652,628,652,0.452871099605,-0.0157223117589,0.0496724252988,0.99999986931,-3.75194314726e-05,-0.000508861126162,3.21306716518e-05,1793244902050125568
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.329368417,715,681.670631583,659,631,880.670631583,784,808,652,628,652,0.452871627042,-0.015722620668,0.0496729283549,0.999999869825,-3.83197757499e-05,-0.000507791849616,3.20868723368e-05,1793244902066792448
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.917580852,715,681.082419148,659,631,880.082419148,784,808,652,628,652,0.452871599939,-0.0157230121978,0.0496732805347,0.999999870136,-3.88496441543e-05,-0.000507135634001,3.21216077278e-05,1793244902083459328
+244,4.066666667,HOLD_POSE2,765,745,715,681,659,631,881,784,807,652,628,652,0.452871038769,-0.0157227324897,0.0496712083855,0.99999986834,-3.76553056702e-05,-0.000510746346433,3.22384141069e-05,1793244902114627840
+245,4.083333333,HOLD_POSE2,765,745,715,681.579099252,659,631,881,784,807.579099252,652,628,652,0.452870670815,-0.0157206030907,0.0496716001661,0.999999868543,-3.5834026916e-05,-0.000510526358084,3.15101647587e-05,1793244902131294720
+246,4.100000000,HOLD_POSE2,765,745,715,681.84309871,659,631,881,784,807.84309871,652,628,652,0.452870473068,-0.0157191066053,0.0496717022154,0.999999868598,-3.47150155182e-05,-0.000510515409494,3.11836653018e-05,1793244902147961344
+247,4.116666667,HOLD_POSE2,765,745,715,681.268747896,659,631,881,784,807.268747896,652,628,652,0.45287072817,-0.0157192940406,0.0496710334096,0.99999986827,-3.54644470807e-05,-0.000511060629311,3.19260562012e-05,1793244902164628992
+248,4.133333333,HOLD_POSE2,765,745,714.686511323,681,659.313488677,631,881,784,807,652,628,652,0.452871114622,-0.0157196758663,0.0496709094252,0.99999986829,-3.6236210603e-05,-0.000510953803136,3.21360451508e-05,1793244902181295616
+249,4.150000000,HOLD_POSE2,765,745,714.097340033,681,659.902659967,631,881,784,807,652,628,652,0.452871616585,-0.0157202286392,0.0496712645582,0.999999868617,-3.70276128537e-05,-0.000510273566286,3.18778386405e-05,1793244902197961216
+250,4.166666667,HOLD_POSE2,765,745,714.486228029,681,659.513771971,631,880.513771971,784,807,652,628.486228029,652,0.45287223415,-0.0157208658957,0.049672140537,0.999999868968,-3.76381331384e-05,-0.000509531847672,3.2015032417e-05,1793244902214627840
+251,4.183333333,HOLD_POSE2,765,745.067613719,715,681,659.067613719,631,880.067613719,784,807.067613719,652,628.932386281,652,0.452872819606,-0.015721141138,0.0496730304792,0.999999869307,-3.8040585446e-05,-0.000508830371359,3.21085489385e-05,1793244902231294464
+252,4.200000000,HOLD_POSE2,765,745.640970391,715,681,659.640970391,631,880.640970391,784,807.640970391,652,628.359029609,652,0.452872993755,-0.0157185834885,0.0496732538206,0.999999869523,-3.71544851859e-05,-0.000508520918655,3.12900256882e-05,1793244902247960832
+253,4.216666667,HOLD_POSE2,765.214050158,745.785949842,715,681,659.785949842,631,881,784,807.785949842,652,628,652,0.452872944766,-0.0157170355612,0.0496730193602,0.999999869516,-3.65604340362e-05,-0.000508599263775,3.09393210872e-05,1793244902264627456
+254,4.233333333,HOLD_POSE2,765.786666013,745.213333987,715,681,659.213333987,631,881,784,807.213333987,652,628,652,0.452872521986,-0.0157171790685,0.0496720180139,0.999999869136,-3.6455608462e-05,-0.000509327227678,3.13722820477e-05,1793244902281294080
+255,4.250000000,HOLD_POSE2,765.62834942,745,715,681,659,631,880.62834942,784,807.37165058,652,628,652,0.452872619473,-0.0157171867951,0.0496719893654,0.999999868893,-3.70030243524e-05,-0.000509762707544,3.13978284148e-05,1793244902297960448
+256,4.266666667,HOLD_POSE2,765.036020515,745,715,681,659,631,880.036020515,784,807.963979485,652,628,652,0.452873025884,-0.015717113898,0.0496725382845,0.999999868732,-3.79377275441e-05,-0.000510024516588,3.11814605768e-05,1793244902314627072
+257,4.283333333,HOLD_POSE2,765,745,715,681,659,631,880.544896318,784,808,652,628,652,0.452871351523,-0.0157170714604,0.0496709208472,0.999999867534,-3.74863292544e-05,-0.000512395123315,3.12850325864e-05,1793244902331293440
+258,4.300000000,HOLD_POSE2,765.123685364,745,715,681.123685364,659,631,881,784,807.876314636,652,628,652,0.452870365551,-0.0157171108157,0.0496698198969,0.999999866793,-3.70477056189e-05,-0.000513864100283,3.13902516555e-05,1793244902347960320
+259,4.316666667,HOLD_POSE2,765.697420947,745,715,681.697420947,659,631,881,784,807.302579053,652,628,652,0.452872374631,-0.0157174406121,0.0496711086674,0.999999867978,-3.69821313635e-05,-0.000511555510152,3.14260857443e-05,1793244902364627200
+260,4.333333333,HOLD_POSE2,765.727469624,745,715,681.727469624,659,631,881,784,807,652,628,652,0.452873136123,-0.0157172808193,0.049671489328,0.999999868557,-3.60317277344e-05,-0.000510501107357,3.12332357799e-05,1793244902381293824
+261,4.350000000,HOLD_POSE2,765.15082718,745,715,681.15082718,659,631,881,784,807,652,628,652,0.452872505455,-0.0157165747022,0.0496708566441,0.999999868463,-3.40939578729e-05,-0.000510846231282,3.07852011193e-05,1793244902397960704
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,631,882,783,807,652,628,652,0.452873470723,-0.0157162925615,0.0496712249369,0.999999868684,-3.80096552669e-05,-0.000510116716169,3.11139602332e-05,1793244902430578176
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745.420975127,714.579024873,681,659,631,881.420975127,783.579024873,807.579024873,652,628,652,0.452873201404,-0.0157165622939,0.0496711202519,0.999999868366,-3.7418385425e-05,-0.000510784463344,3.1088758075e-05,1793244902447244288
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630.843295688,881,783.843295688,808,652,628,652,0.45287313565,-0.0157164150345,0.0496713030846,0.99999986825,-3.64576755765e-05,-0.000511085158035,3.10242211889e-05,1793244902463910400
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630.269199771,881,783.269199771,808,652,628,652,0.452873612103,-0.0157151570919,0.0496722517386,0.99999986867,-3.45129393368e-05,-0.000510408185926,3.08549138214e-05,1793244902480576768
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.685246239,681,659,630.314753761,880.685246239,783.314753761,808,652,628,652,0.452873334213,-0.0157154887536,0.049672061266,0.999999868632,-3.53132775365e-05,-0.000510431540628,3.0800948708e-05,1793244902497243136
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.092589232,681,659,630.907410768,880.092589232,783.907410768,808,652,628,652,0.452872390295,-0.0157172239133,0.0496708650324,0.999999868184,-3.85373044501e-05,-0.000511073229822,3.08488219017e-05,1793244902513910016
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.486941017,714.486941017,681,659,631,880.973882034,784,807.513058983,652,628,652,0.452871973407,-0.0157159066424,0.0496710169777,0.999999868163,-3.60424204345e-05,-0.000511300326186,3.07812622971e-05,1793244902530576896
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,631,881.936268197,784,807.063731803,652,628,652,0.452870589467,-0.0157142861188,0.0496707232502,0.999999867738,-3.29886528092e-05,-0.000512344248081,3.06548201913e-05,1793244902547243776
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,631,881.361952923,784,807.638047077,652,628,652,0.452860676287,-0.0157147639125,0.0496648592275,0.999999863483,-3.39405405924e-05,-0.000520547102348,3.02278711598e-05,1793244902563910144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.781855799,715,681,659,631,881,784,808,652,628.218144201,651.781855799,0.452843720518,-0.0157142547578,0.0496561092049,0.999999856248,-3.45839087672e-05,-0.000534265981768,2.94558351434e-05,1793244902580576512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.191904081,715,681,659,631,881,784,808,652,628.808095919,651.191904081,0.452814761278,-0.0157120634367,0.0496424402511,0.999999843663,-3.47014324195e-05,-0.000557386437751,2.80956288849e-05,1793244902597243136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.390201406,715,681,659.390201406,631,881,783.609798594,807.609798594,652,628.609798594,651.390201406,0.45276854011,-0.0157103923557,0.049624073903,0.999999825183,-3.53047141936e-05,-0.000589645989387,2.65460532165e-05,1793244902613909760
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.968524171,715,681,659.968524171,631,881,783.031475829,807.031475829,652,628.031475829,651.968524171,0.452713996732,-0.0157089720893,0.0496034428765,0.999999802904,-3.61421864849e-05,-0.000626311623761,2.49051798557e-05,1793244902630576384
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.455169651,715,681,659.455169651,631,881,783.544830349,807,652,628,652,0.452648995025,-0.0157046080383,0.0495861747207,0.999999789213,-3.40864090724e-05,-0.000647987645192,2.28866491223e-05,1793244902647243264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880.879654204,784,807.120345796,652,628,652,0.452580908015,-0.0156999779089,0.0495716939845,0.999999777589,-3.19153337147e-05,-0.000665851696345,2.10916103163e-05,1793244902663910144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880.306676053,784,807.693323947,652,628,652,0.452503480922,-0.0156949843143,0.0495669689944,0.999999773136,-2.99369535168e-05,-0.000672623573061,2.02189028677e-05,1793244902680577024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880.275546286,784,807.724453714,652,628,652,0.452417520522,-0.0156896757193,0.0495652082355,0.99999977115,-2.72824121668e-05,-0.000675696861649,1.97309291617e-05,1793244902697243648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880.868414283,784,807.131585717,652,628,652,0.45232173309,-0.0156840043672,0.0495668611138,0.999999772039,-2.38491973532e-05,-0.000674510820757,1.96860185288e-05,1793244902713910272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,881,784,807.450382902,652,628.450382902,652,0.452204602362,-0.0156756906542,0.0495682245035,0.999999770746,-2.04073903488e-05,-0.000676564628992,1.87674731233e-05,1793244902730576896
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,881,784.028969056,807.971030944,652,629,652,0.452080320444,-0.015666718078,0.0495695514071,0.999999769053,-1.69796544061e-05,-0.00067918695427,1.764321519e-05,1793244902747243264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,881,784.602418625,807.397581375,652,629,652,0.451936063182,-0.0156595291434,0.0495717446508,0.999999771857,-1.38624540383e-05,-0.000675124100032,1.73365719285e-05,1793244902763909888
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880.819218346,784.819218346,807,652,628.819218346,652,0.451778544427,-0.0156510371521,0.0495734027666,0.999999772831,-9.93095781707e-06,-0.000673762416641,1.68511617778e-05,1793244902780576512
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880.229747641,784.229747641,807,652,628.229747641,652,0.451591045727,-0.0156395993704,0.0495738511306,0.999999769678,-4.15860156129e-06,-0.000678507210439,1.5961617353e-05,1793244902797243136
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,880.707613889,784,807.353806945,652,628.353806945,652,0.451384062193,-0.0156261088998,0.0495733729149,0.999999767618,2.51724126432e-06,-0.000681573632399,1.46787373333e-05,1793244902813910016
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,881.867166169,784,807.933583085,652,628.933583085,652,0.451164634077,-0.0156113074179,0.0495723029121,0.999999766233,9.77012288818e-06,-0.000683568113349,1.31446418968e-05,1793244902830576640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.489128036,681,659,631,880.978256073,784,807.489128036,652,629,652,0.450922957824,-0.0156004096392,0.0495753384902,0.999999772357,1.16880440175e-05,-0.000674547953899,1.1617727852e-05,1793244902847243264
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,631,880.087592305,784,807,652,629,652,0.450675461692,-0.0155903356748,0.049580471066,0.999999781213,1.25854220189e-05,-0.000661295228791,1.01818230214e-05,1793244902863910144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,631,880.662938893,784,807,652,629,652,0.450411585954,-0.015582036734,0.0495943229034,0.999999799919,1.16434180806e-05,-0.000632408914995,9.24752510014e-06,1793244902880576512
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.243603054,681,659.243603054,631,881,784,807,652,629,652,0.450124639759,-0.01557598584,0.0496076326402,0.99999981613,7.68980825083e-06,-0.000606308090916,8.41350600514e-06,1793244902897243392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.831789027,681,659.831789027,631,881,784,807,652,629,652,0.449805059812,-0.0155731148679,0.0496201755605,0.999999829356,-5.23797174689e-07,-0.00058414741731,7.72133400567e-06,1793244902913910016
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.586008687,631.413991313,880.586008687,784.413991313,807.413991313,652,629,652,0.449448800317,-0.0155705263601,0.0496256733843,0.999999835404,-1.18280189612e-05,-0.000573602683228,5.64771162832e-06,1793244902930576640
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.006203039,631.993796961,880.006203039,784.993796961,807.993796961,652,629,652,0.449077849712,-0.0155680509867,0.0496283494626,0.999999838551,-2.43701131332e-05,-0.000567710436872,3.02078230563e-06,1793244902947243264
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.280303152,715,681,659.719696848,632,881,785,807,652,629.280303152,652,0.447771610942,-0.0155403627008,0.0496206484211,0.999999833077,-3.4241357485e-05,-0.000576746425061,-6.16438777073e-06,1793244902997243648
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.106648524,681,660,632,881,785,807.893351476,651.106648524,629.893351476,652,0.446771663972,-0.0155148391929,0.049612036653,0.999999828223,-4.27973307697e-05,-0.000584383058763,-1.48155410633e-05,1793244903030576384
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.474727797,681,659.525272203,632,881,785,807.525272203,651.474727797,630,651.525272203,0.446240301874,-0.015505282822,0.0496147645834,0.999999830585,-5.00349227252e-05,-0.000579655404451,-1.80537871194e-05,1793244903047242752
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.375832613,681,659.624167387,632.624167387,881,785.624167387,807,652,630,651.624167387,0.445167090294,-0.0154910234751,0.0496570393196,0.999999864727,-6.80613808697e-05,-0.000515223036886,-2.14233024416e-05,1793244903080576512
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.202294073,745,714,680.797705927,659.797705927,633,880.797705927,786,807,652,630,651.797705927,0.444610245942,-0.015484454401,0.0496917693557,0.999999888238,-7.67382273346e-05,-0.000466003083749,-2.18262316197e-05,1793244903097243136
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659.377821496,633,880,786,807,652,630.377821496,651.377821496,0.443351105109,-0.0154653769354,0.0497311928342,0.999999906663,-8.41121040828e-05,-0.000423071952899,-2.46772423381e-05,1793244903130576384
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,659.956005548,633,880,786,807,652,630.956005548,651.956005548,0.442647610383,-0.0154532606064,0.0497210301347,0.999999897683,-8.26777403081e-05,-0.000443797817911,-2.90193147581e-05,1793244903147243008
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,744.85699524,714,680.14300476,660,633.14300476,881.14300476,786.85699524,807,652,631,651.85699524,0.439132995708,-0.0154429680193,0.0498271235427,0.999999964008,-7.28359059159e-05,-0.000255806311274,-3.52402231109e-05,1793244903230576896
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.172944932,744.172944932,714,680,660,633.172944932,881.654110136,787,806.827055068,651.172944932,630,651.172944932,0.435764991227,-0.0154277451181,0.0497954255605,0.999999936875,-0.000131331413741,-0.000326064759562,-5.1797531485e-05,1793244903297243392
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,634,880.342080866,787,806.342080866,652,630,652,0.434047637406,-0.0154171201664,0.0497832660004,0.99999993233,-0.000100151639514,-0.000349430089102,-5.66438028236e-05,1793244903330576896
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.652092375,745,714,680.652092375,659.347907625,634,879.347907625,786.347907625,806,651.347907625,630.347907625,652,0.430484549786,-0.0154088693515,0.0497939804299,0.999999944982,-2.84992807819e-05,-0.000329319203845,-2.77798489772e-05,1793244903397243136
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.767336816,745,714,680.767336816,659.232663184,634,879.232663184,786,806.232663184,651,630,652,0.429576358464,-0.0154054634091,0.0497775229905,0.999999937615,-3.41697876389e-05,-0.000349892083477,-3.4333989305e-05,1793244903413910016
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.179272651,745,714,680.179272651,659.820727349,634,879.820727349,786,806.820727349,651,630,652,0.428682487719,-0.0154077171065,0.0497653224242,0.999999931822,-2.5392052037e-05,-0.000366283597462,-3.93316989838e-05,1793244903430576384
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,744.865127375,714,680,659,634.134872625,879,786.134872625,806,652,630,651.134872625,0.424983566858,-0.0154092445263,0.0497710824365,0.999999934525,-6.9289128145e-05,-0.000352730966954,-4.15826830145e-05,1793244903497242880
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,744.288365779,714,680,659,634.711634221,879,786.711634221,806,652,630,651.711634221,0.424139731988,-0.0154144029923,0.0498106528419,0.999999956844,-6.54277550367e-05,-0.000283585056271,-4.01383964701e-05,1793244903513909760
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,744.293883381,714,680,659,634.706116619,879.293883381,786.706116619,806.293883381,652,630,651.706116619,0.423278980185,-0.0154169451217,0.0498308505016,0.999999966626,-6.3346430927e-05,-0.000247279813146,-3.98475900423e-05,1793244903530576384
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.572278225,745,714,680,659,634,879.572278225,786.427721775,806,652.572278225,630,652,0.411773152695,-0.0154117449253,0.0497861339769,0.999999935051,-8.93738801936e-05,-0.000345695130259,-4.9046527122e-05,1793244903763909888
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.008615553,745,714,680,659,634,879.008615553,787,806.008615553,652,630.008615553,652,0.411105289748,-0.0154141888134,0.0498169404431,0.999999947657,-9.80617424541e-05,-0.000304914349643,-4.58014417054e-05,1793244903780576256
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.585144314,745,714,680,659,634,879.585144314,787,806.585144314,652,630.585144314,652,0.410423917256,-0.0154105609792,0.0498113184851,0.999999943296,-9.80832799848e-05,-0.000318838130599,-4.61576548758e-05,1793244903797242880
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.683284728,745,714,680,659,634,879.683284728,786,806,652.683284728,631,652,0.408536929947,-0.0154065916387,0.0497876868531,0.999999931434,-0.000102707268211,-0.000352353665388,-4.93003682191e-05,1793244903847243264
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,786.489707386,806,652.489707386,630.510292614,652,0.407480772187,-0.0154168441088,0.0498251544843,0.999999947715,-0.000123695159465,-0.000295396480955,-4.48434494224e-05,1793244903880576768
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.222682926,714,680,659.222682926,634,879,786.777317074,806,653,630.777317074,652,0.405913307752,-0.0154109637893,0.0497813593656,0.999999917024,-0.000139707665924,-0.000379375340927,-5.00831534957e-05,1793244903930576384
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.81192374,714,680,659.81192374,634,879,786.18807626,806,653,630.18807626,652,0.405442562435,-0.0154119654792,0.0497676480024,0.999999907154,-0.000151464721391,-0.00040004810014,-5.20688650781e-05,1793244903947243008
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.451062309,745,714,680.451062309,659,634,879,786.451062309,805.548937691,653,630,652,0.404297994714,-0.0154192423584,0.0498064523489,0.999999926758,-0.000174046905798,-0.000337372554089,-4.87070996596e-05,1793244903997242880
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,786.713999159,806,653,630,652,0.403663727756,-0.0154279449403,0.0498469836126,0.999999954831,-0.000105969701008,-0.000277469037101,-4.6035351055e-05,1793244904030576128
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.296649257,879,786.703350743,806,653,630,652,0.403361322189,-0.0154290375013,0.0498534327683,0.999999958183,-8.01205285536e-05,-0.000274000425889,-4.62490164608e-05,1793244904047242752
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.970490689,714,679.970490689,659,634,879,786.029509311,806,652.029509311,630.029509311,652,0.402535131198,-0.0154296325431,0.0498307255063,0.99999994034,-0.000112550697912,-0.000322828553731,-4.93326765739e-05,1793244904097242880
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.773280492,744.773280492,714,679,659,634,879,786.226719508,806,653,631,652,0.401931874843,-0.0154199859342,0.04981027709,0.999999936164,-4.35870975842e-05,-0.000352791234381,-3.62071011644e-05,1793244904147244032
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.644128442,745,714,679,659,634,879,786,806,653,630.644128442,652,0.40178109428,-0.0154194851936,0.0498112329845,0.999999937951,-4.80343453448e-05,-0.000347089656616,-3.63286086904e-05,1793244904163910400
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.661429134,659,634,879.661429134,787,806,652.661429134,630,652,0.401353356828,-0.0154252445626,0.0498286139327,0.999999949629,-7.78471351132e-05,-0.000305326503441,-3.81858867707e-05,1793244904230576384
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.758123276,714,680,659,634,879.758123276,786.758123276,806,653,630,652,0.401276362975,-0.0154294579522,0.0498305174659,0.99999995032,-8.71000393677e-05,-0.000300474695534,-3.85926394657e-05,1793244904247243264
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.165860858,714,680,659,634,879.165860858,786.165860858,806,653,630,652,0.401204824474,-0.0154373917013,0.0498297895437,0.999999948004,-0.000101494832178,-0.000303595931332,-3.89889218588e-05,1793244904263910400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.417331455,714,679.582668545,659,634,879,786.417331455,806,653,630,652,0.401149810804,-0.0154421964226,0.0498296679498,0.999999947205,-0.00010931128598,-0.000303502640012,-3.90871497949e-05,1793244904280577280
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,879,786.426132573,806,653,630,652,0.401068383265,-0.0154444686789,0.0498296196749,0.999999947482,-0.000112906589505,-0.000301252993329,-3.91747803562e-05,1793244904313910528
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.794049013,659,634.794049013,879,787,807,653,630,652.205950987,0.400976786645,-0.0154455501203,0.0498398299906,0.999999953661,-0.000111369281262,-0.000280762188305,-3.80458902393e-05,1793244904447244032
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.202550165,659,634.202550165,879,787,807,653,630,652.797449835,0.400977636975,-0.0154460053695,0.0498416736289,0.999999954645,-0.000111806963924,-0.000277095386239,-3.77791619368e-05,1793244904463910144
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.380300168,659,634,879,786.619699832,806.619699832,653,630,652.619699832,0.400977641324,-0.0154460558084,0.049842648219,0.999999954999,-0.000112635504411,-0.000275494497762,-3.7662767885e-05,1793244904480576512
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.958646654,659,634,879,786.041353346,806.041353346,653,630,652.041353346,0.400977205116,-0.015445895437,0.0498431702407,0.999999955028,-0.00011366758924,-0.000274969461093,-3.76246623812e-05,1793244904497243136
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,786.53610389,806,653,630,652,0.40097576922,-0.0154462202532,0.0498428789441,0.999999955097,-0.000112556875389,-0.000275139339144,-3.78886311079e-05,1793244904513909760
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.686316074,745,714,679.313683926,659,634,879,787,806,653,630,652,0.40097594756,-0.0154460711088,0.0498435874295,0.999999955381,-0.000112078359801,-0.000274306797939,-3.7849239907e-05,1793244904547243264
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..851b356c62371e21a69dcf98cfd352e6e61c0759
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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+352,5.866666667,pose2_to_pose3_retreat,0.579740593139,-0.0101222368139,1.04005097986,0.550312226431,-0.00144655090801,1.03971746673
+353,5.883333333,pose2_to_pose3_retreat,0.579357011792,-0.0101221629319,1.04005093499,0.549928644096,-0.0014464802197,1.0397174258
+354,5.900000000,pose2_to_pose3_retreat,0.579007144179,-0.0101220996779,1.04005101619,0.549578776439,-0.00144641709658,1.0397175073
+355,5.916666667,pose2_to_pose3_retreat,0.57868810997,-0.0101220813786,1.04005102469,0.549259744195,-0.00144639217823,1.03971751449
+356,5.933333333,pose2_to_pose3_retreat,0.578395643418,-0.0101220803072,1.0400509891,0.548967276517,-0.00144639467451,1.03971748566
+357,5.950000000,pose2_to_pose3_retreat,0.57812238169,-0.0101222176139,1.04005089353,0.548694015489,-0.00144652945184,1.03971739397
+358,5.966666667,pose2_to_pose3_retreat,0.577865528818,-0.0101221597409,1.04005093808,0.54843716181,-0.00144647444794,1.03971743505
+359,5.983333333,pose2_to_pose3_retreat,0.577618927353,-0.0101221067843,1.04005098238,0.548190559408,-0.00144642497975,1.03971747121
+360,6.000000000,pose2_to_pose3_retreat,0.57738286642,-0.0101222032157,1.04005095038,0.547954499036,-0.00144651961932,1.0397174363
+361,6.016666667,pose2_to_pose3_retreat,0.577162149013,-0.0101222129563,1.04005098892,0.547733782368,-0.00144652647983,1.03971748462
+362,6.033333333,pose2_to_pose3_retreat,0.576957453129,-0.010122108523,1.04005088771,0.54752908489,-0.00144642763278,1.03971737867
+363,6.050000000,pose2_to_pose3_retreat,0.576771761741,-0.0101222107757,1.04005071676,0.547343394593,-0.00144652666691,1.03971719539
+364,6.066666667,pose2_to_pose3_retreat,0.57660575465,-0.0101220967067,1.04005111514,0.547177388082,-0.00144641036461,1.0397176007
+365,6.083333333,pose2_to_pose3_retreat,0.576460904117,-0.0101222404751,1.04005104006,0.547032538924,-0.00144654917476,1.03971753326
+366,6.100000000,pose2_to_pose3_retreat,0.576333648754,-0.0101223026906,1.0400510428,0.546905283709,-0.00144661116553,1.03971752878
+367,6.116666667,pose2_to_pose3_retreat,0.576223141137,-0.0101223400027,1.04005092298,0.546794775656,-0.00144665000225,1.0397174078
+368,6.133333333,pose2_to_pose3_retreat,0.576128991627,-0.0101223657981,1.04005086631,0.54670062641,-0.00144667469206,1.03971735747
+369,6.150000000,pose2_to_pose3_retreat,0.576046961474,-0.0101223284837,1.04005100088,0.546618596959,-0.00144663483739,1.03971749739
+370,6.166666667,pose2_to_pose3_retreat,0.575975019486,-0.0101221455666,1.04005101555,0.546546653319,-0.00144645755949,1.03971750986
+371,6.183333333,pose2_to_pose3_retreat,0.57591241841,-0.0101221395332,1.04005081326,0.546484050381,-0.00144645794075,1.03971730491
+372,6.200000000,pose2_to_pose3_retreat,0.575858892785,-0.0101221756423,1.04005095345,0.546430526189,-0.00144648920436,1.03971744455
+373,6.216666667,pose2_to_pose3_retreat,0.575813218385,-0.0101221745961,1.04005101745,0.546384851292,-0.0014464898257,1.03971750903
+374,6.233333333,pose2_to_pose3_retreat,0.57577531268,-0.0101222061125,1.04005091486,0.546346945802,-0.00144652073931,1.03971740309
+375,6.250000000,pose2_to_pose3_retreat,0.575745520343,-0.0101222637988,1.04005079542,0.546317154027,-0.00144657653119,1.03971728336
+376,6.266666667,pose2_to_pose3_retreat,0.575722282549,-0.0101222691168,1.04005076345,0.546293915618,-0.00144658369814,1.0397172577
+377,6.283333333,pose2_to_pose3_retreat,0.575705458831,-0.0101222205396,1.04005076248,0.546277092726,-0.00144653228721,1.03971725761
+378,6.300000000,pose2_to_pose3_retreat,0.575693025934,-0.0101222636962,1.04005077829,0.546264660942,-0.00144657181468,1.03971726969
+379,6.316666667,pose2_to_pose3_retreat,0.575684670159,-0.0101222494171,1.04005094459,0.546256304785,-0.00144655878526,1.03971743698
+380,6.333333333,pose2_to_pose3_retreat,0.57567925448,-0.0101222148686,1.04005101934,0.546250888346,-0.00144652683929,1.03971751109
+381,6.350000000,pose2_to_pose3_retreat,0.575675841398,-0.0101221771925,1.04005102476,0.546247474488,-0.00144649186912,1.03971751474
+382,6.366666667,pose2_to_pose3_retreat,0.575673934587,-0.0101221644667,1.04005091803,0.546245567829,-0.00144647859509,1.03971740875
+383,6.383333333,pose2_to_pose3_retreat,0.575672742616,-0.0101221577355,1.04005083516,0.54624437604,-0.00144647121828,1.03971732661
+384,6.400000000,pose2_to_pose3_retreat,0.575672063113,-0.0101221538983,1.04005078793,0.546243696639,-0.00144646701301,1.03971727978
+385,6.416666667,pose2_to_pose3_retreat,0.575671698072,-0.0101221493666,1.04005077666,0.546243331193,-0.00144646383592,1.03971726913
+386,6.433333333,pose2_to_pose3_retreat,0.5756714678,-0.0101221456228,1.04005077461,0.546243100499,-0.00144646150287,1.0397172676
+387,6.450000000,pose2_to_pose3_retreat,0.575671273672,-0.0101221424666,1.04005077289,0.546242906015,-0.00144645953602,1.03971726631
+388,6.466666667,pose2_to_pose3_retreat,0.575671096917,-0.0101221395929,1.04005077131,0.546242728937,-0.00144645774519,1.03971726514
+389,6.483333333,pose2_to_pose3_retreat,0.57567084817,-0.0101221355487,1.0400507691,0.546242479734,-0.00144645522496,1.03971726349
+390,6.500000000,pose2_to_pose3_retreat,0.575670842961,-0.010122135464,1.04005076906,0.546242474515,-0.00144645517218,1.03971726346
+391,6.516666667,pose2_to_pose3_retreat,0.575670593195,-0.0101221314033,1.04005076683,0.546242224292,-0.00144645264162,1.0397172618
+392,6.533333333,pose2_to_pose3_retreat,0.575670337033,-0.0101221272385,1.04005076455,0.54624196766,-0.00144645004626,1.0397172601
+393,6.550000000,pose2_to_pose3_retreat,0.575670115925,-0.0101221373885,1.04005079198,0.546241747028,-0.00144645861024,1.03971728691
+394,6.566666667,pose2_to_pose3_retreat,0.575669982272,-0.0101221505042,1.04005082348,0.546241614108,-0.00144646927383,1.03971731748
+395,6.583333333,pose2_to_pose3_retreat,0.575669967187,-0.0101221519846,1.04005082703,0.546241599106,-0.00144647047741,1.03971732093
+396,6.600000000,pose2_to_pose3_retreat,0.575669871825,-0.0101221613427,1.04005084951,0.546241504267,-0.00144647808591,1.03971734274
+397,6.616666667,pose2_to_pose3_retreat,0.575669737605,-0.010122174514,1.04005088115,0.546241370784,-0.00144648879477,1.03971737344
+398,6.633333333,pose2_to_pose3_retreat,0.575669646344,-0.0101221777729,1.0400508962,0.546241279884,-0.00144649084015,1.03971738821
+399,6.650000000,pose2_to_pose3_retreat,0.575669626482,-0.0101221739248,1.04005089431,0.546241259988,-0.00144648709666,1.03971738654
+400,6.666666667,pose2_to_pose3_retreat,0.575669569015,-0.0101221627911,1.04005088883,0.546241202425,-0.00144647626575,1.03971738172
+401,6.683333333,pose2_to_pose3_retreat,0.575669530977,-0.0101221665564,1.04005087314,0.546241164334,-0.00144648033225,1.03971736283
+402,6.700000000,pose2_to_pose3_retreat,0.575669565701,-0.0101222005502,1.04005084691,0.546241199145,-0.00144651439005,1.03971732729
+403,6.716666667,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.00144652634691,1.03971731481
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e1bf38c48a3aa6fd42f9fa0b80510e46bb26401
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd1660e0d13c21fc1261dc89141143068f8c5b348546266c2ba0d745b50b8da1
+size 25734969
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b377312ca9f1b0e300612ff22e868baa92bbbd6e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+30,0.500000000,BASELINE,765.58564613,745,714,679,659,634,879,787,806,653,630.41435387,652,0.400976653427,-0.0154493666766,0.0498485555966,0.999999958506,-0.000107678725312,-0.000264670001465,-3.66486221646e-05,1793244905429352960
+31,0.516666667,BASELINE,765.007051243,745,714,679,659,634,879,787,806,653,630.992948757,652,0.400977139656,-0.0154502777424,0.0498487724606,0.99999995835,-0.000109898654857,-0.000264364597388,-3.65241015848e-05,1793244905446019840
+32,0.533333333,BASELINE,765,745,714,679.567266652,658.432733348,634,879,786.432733348,806.567266652,653,630.432733348,652,0.400977452105,-0.0154487147781,0.0498492013501,0.999999958766,-0.000107312806554,-0.000263852842657,-3.65224545189e-05,1793244905462686464
+33,0.550000000,BASELINE,765,745,714,679.855072853,658.144927147,634.144927147,878.855072853,786.144927147,806.855072853,653,630,652,0.400977647443,-0.0154480484275,0.0498495906336,0.99999995902,-0.000106115145996,-0.000263382831943,-3.64500508361e-05,1793244905479353088
+34,0.566666667,BASELINE,765,745,714,679.267031137,658.732968863,634.732968863,878.267031137,786.732968863,806.267031137,653,630,652,0.400977491273,-0.0154502167956,0.0498498508242,0.999999958771,-0.000109343146688,-0.000263048237352,-3.61566739817e-05,1793244905496019712
+35,0.583333333,BASELINE,765,744.68501673,714,679.31498327,659,634.68501673,878.31498327,787,806,653,630.31498327,652,0.400977872611,-0.0154517618057,0.0498501284576,0.999999958645,-0.000112229728755,-0.000262346231095,-3.59013794055e-05,1793244905512686336
+36,0.600000000,BASELINE,765,744.108016049,714,679.891983951,659,634.108016049,878.891983951,787,806,653,630.891983951,652,0.400978701075,-0.0154527882786,0.0498504206009,0.999999958621,-0.000114832303635,-0.000261338595066,-3.56777633685e-05,1793244905529352960
+37,0.616666667,BASELINE,765,744.47009057,714,680,659,634.47009057,879.47009057,787,806,653,630.52990943,652,0.400978111151,-0.015451635296,0.0498502401092,0.999999958639,-0.000112653090093,-0.000262184521098,-3.59198993445e-05,1793244905546019584
+38,0.633333333,BASELINE,765,745,714.049022255,679.950977745,659,634.950977745,879.950977745,786.950977745,806,653,630,652,0.400977309708,-0.01545007416,0.0498499913479,0.999999958672,-0.000109665060122,-0.000263275256237,-3.62625533145e-05,1793244905562686208
+39,0.650000000,BASELINE,765,745,714.634192138,679.365807862,659,634.365807862,879.365807862,786.365807862,806,653,630,652,0.400977767778,-0.0154495390764,0.0498501864811,0.999999958876,-0.000109876267423,-0.000262374382327,-3.65313454883e-05,1793244905579353344
+40,0.666666667,BASELINE,765,745,714.782735346,679,659,634,879,786.217264654,806,652.782735346,630,652,0.400978327301,-0.0154493781715,0.0498505339914,0.999999959109,-0.000109631437593,-0.000261580439684,-3.65972003654e-05,1793244905596019968
+41,0.683333333,BASELINE,765,745,714.203160431,679,659,634,879,786.796839569,806,652.203160431,630,652,0.400979056006,-0.0154498412466,0.0498511356057,0.999999959389,-0.00010862612081,-0.000260964815548,-3.63246372494e-05,1793244905612686592
+42,0.700000000,BASELINE,765,745,714,679,659,634,878.623007973,787,806,652.376992027,630,652,0.400978561109,-0.0154500278258,0.0498508354175,0.999999959329,-0.000109175114802,-0.000260960537986,-3.63558147253e-05,1793244905629353216
+43,0.716666667,BASELINE,765,745,714,679,659,634,878.042543819,787,806,652.957456181,630,652,0.400977405805,-0.0154500651733,0.0498500485037,0.999999959085,-0.000110563009649,-0.000261286219645,-3.65509286863e-05,1793244905646019584
+44,0.733333333,BASELINE,765,745,713.469056003,679,659,634,878,786.469056003,806,652.469056003,630,652,0.400978339511,-0.0154494764973,0.0498505885375,0.999999959144,-0.000110283352901,-0.000261142185916,-3.67975820758e-05,1793244905662686208
+45,0.750000000,BASELINE,765,745,713.106079082,679,659,634,878.106079082,786,806,652.106079082,630,652,0.400979061631,-0.0154491538862,0.0498510618815,0.99999995918,-0.000109958446966,-0.000261128740002,-3.69033567142e-05,1793244905679352832
+46,0.766666667,BASELINE,765,745,713.691143381,679,659,634,878.691143381,786,806,652.691143381,630,652,0.400978082345,-0.015450256218,0.0498507602205,0.999999958998,-0.000110024736289,-0.000261872688585,-3.63546074207e-05,1793244905696019712
+47,0.783333333,BASELINE,765,745,714,678.724800166,659,634,879,786.275199834,806,653,630.275199834,652,0.400977171371,-0.0154506996041,0.0498502997401,0.999999958798,-0.000110020958194,-0.000262657651886,-3.61924799072e-05,1793244905712686336
+48,0.800000000,BASELINE,765,745,714,678.141870616,659,634,879,786.858129384,806,653,630.858129384,652,0.400976336782,-0.0154504061541,0.0498496616673,0.999999958579,-0.000109938830398,-0.000263488478125,-3.64626745701e-05,1793244905729353216
+49,0.816666667,BASELINE,765,745,714,678.438544138,659.438544138,634,878.561455862,786.561455862,806,653,630.561455862,652,0.400976670024,-0.0154494108756,0.0498497219201,0.999999958798,-0.000108449027074,-0.000263259394864,-3.65664622288e-05,1793244905746020096
+50,0.833333333,BASELINE,765,745,714,679.017858149,659.982141851,634,878.017858149,786.017858149,806,653,630,651.982141851,0.400977392102,-0.0154482689537,0.0498500135924,0.999999959151,-0.000106614137202,-0.000262661382664,-3.66056704098e-05,1793244905762686976
+51,0.850000000,BASELINE,765,745,714,679.588145512,659.411854488,634,878.588145512,786.588145512,806,653,630,651.411854488,0.400978522317,-0.0154495741222,0.0498505155131,0.999999959385,-0.000108111024234,-0.000261197227451,-3.63029572619e-05,1793244905779353344
+52,0.866666667,BASELINE,765,745,714,679.835520669,659,634,879,787,806,652.835520669,630,651.164479331,0.400979048834,-0.0154504295625,0.0498506586874,0.999999959527,-0.000108820322693,-0.000260382394759,-3.61322556369e-05,1793244905796019712
+53,0.883333333,BASELINE,765,745,714,679.243468809,659,634,879,787,806,652.243468809,630,651.756531191,0.400978006009,-0.0154501159112,0.0498498692816,0.999999959438,-0.000107482243831,-0.000261255509637,-3.63047248128e-05,1793244905812686080
+54,0.900000000,BASELINE,765.323429618,744.676570382,714,679,659,634,879,786.676570382,806,652.323429618,630,652,0.400977450184,-0.0154497626568,0.0498499287107,0.999999959242,-0.00010808707112,-0.000261736246438,-3.64286550635e-05,1793244905829352704
+55,0.916666667,BASELINE,765.872759537,744.127240463,714,679,659,634,879,786.127240463,806,652.872759537,630,652,0.400977234506,-0.0154493817414,0.0498505810109,0.999999958971,-0.000110048926576,-0.000261942925661,-3.6518683162e-05,1793244905846019584
+56,0.933333333,BASELINE,765.532651485,744.467348515,714,679,659,634,879,786.467348515,806,653,630.467348515,652,0.400977596472,-0.0154491269387,0.0498505363423,0.999999959119,-0.000109713255088,-0.000261502944404,-3.66284862042e-05,1793244905862686208
+57,0.950000000,BASELINE,765,745,714.071663589,679,659,634,879,787,806,653,631,652,0.400977814983,-0.0154489419464,0.0498501655575,0.999999959278,-0.000108752563289,-0.000261281720991,-3.67247796955e-05,1793244905879353088
+58,0.966666667,BASELINE,765,745,714.648370636,679,659,634,879,787,806,653,631,652,0.400975795316,-0.0154489810144,0.0498489771846,0.999999958624,-0.000108268121758,-0.000263975988318,-3.66838543272e-05,1793244905896019968
+59,0.983333333,BASELINE,765,745,714.769345468,679,659,634,879,787,806,653,631,652,0.400975381963,-0.0154496759142,0.0498487615752,0.999999958396,-0.00010920285097,-0.000264470255052,-3.65846802151e-05,1793244905912686336
+60,1.000000000,BASELINE,765,745,714.178349006,679,659,634,879,787,806,653,631,652,0.400977478088,-0.0154513953924,0.0498500656735,0.999999958828,-0.000112354691214,-0.000261527553268,-3.63945065205e-05,1793244905929352960
+61,1.016666667,BASELINE,765,745,714,679,659,634,879,787,806,653,631,652,0.400978396713,-0.0154510722013,0.0498507237913,0.999999959299,-0.000110914711572,-0.000260358829505,-3.62327840917e-05,1793244905946019328
+62,1.033333333,BASELINE,765,745,714,679,659,634,879,787,806,653,631,652,0.400978806415,-0.0154498661549,0.049851102712,0.999999959783,-0.0001074901167,-0.000259956830995,-3.60833585002e-05,1793244905962685952
+63,1.050000000,BASELINE,765,745,714,679,659,634.556441522,879.556441522,787,806,653,630.443558478,652,0.400979871058,-0.0154503737664,0.0498519083425,0.999999960147,-0.000108124818615,-0.000258279360617,-3.61557265423e-05,1793244905979352576
+64,1.066666667,BASELINE,765,745,714,679,659,635,879.864527039,786.864527039,806,652.864527039,630,651.864527039,0.400980109855,-0.0154503356117,0.0498522001529,0.999999960266,-0.000108388149724,-0.000257688112691,-3.62825394096e-05,1793244905996019712
+65,1.083333333,BASELINE,765,745,714,679,659,635,879.275013565,786.275013565,806,652.275013565,630,651.275013565,0.400977504039,-0.0154482674278,0.0498507198634,0.999999959583,-0.000106930975024,-0.000260886878952,-3.65658256401e-05,1793244906012686848
+66,1.100000000,BASELINE,765,745,714,679,659,634.691679989,879,786,806,652,630,651.308320011,0.400976452522,-0.0154477299969,0.0498497775783,0.999999959109,-0.000106775968622,-0.000262754074326,-3.66323970284e-05,1793244906029353472
+67,1.116666667,BASELINE,765,745,714,679,659,634.113750438,879,786,806,652,630,651.886249562,0.400976760157,-0.0154485311285,0.0498493057498,0.999999958823,-0.000107759639588,-0.000263456881236,-3.65094627371e-05,1793244906046019840
+68,1.133333333,BASELINE,765,745,714,679,659,634,879,786.462766287,806,652,630,652,0.400977162045,-0.0154483928244,0.0498496492754,0.999999958941,-0.000108431454496,-0.000262685181661,-3.68349202582e-05,1793244906062686464
+69,1.150000000,BASELINE,765,745,714,679,659,634,879,787,806,652.079464546,630,652,0.400977540097,-0.0154480821032,0.049850147225,0.999999959159,-0.000108832445792,-0.000261633266765,-3.72222198057e-05,1793244906079353088
+70,1.166666667,BASELINE,765,745,714,679,659,634,879,787,806,653.255346801,630,652,0.400977270594,-0.0154485688595,0.0498500189774,0.999999959397,-0.000106551174363,-0.000261700655094,-3.69466888317e-05,1793244906096019712
+71,1.183333333,BASELINE,765,745,714,679,659.212036962,634.212036962,879,787,806,653.787963038,630,652,0.400977164722,-0.0154491200774,0.0498499213918,0.999999959415,-0.000106099136,-0.000261851445161,-3.66870935836e-05,1793244906112686080
+72,1.200000000,BASELINE,765,745,714,679,659.79022282,634.79022282,879,787,806,653.20977718,630,652,0.400977341411,-0.0154497826084,0.0498498767539,0.999999959056,-0.000108805846855,-0.000262146254722,-3.64550163625e-05,1793244906129352704
+73,1.216666667,BASELINE,765,745,714,679,659.631657118,634.631657118,879,787,806,653,630,652,0.400977355717,-0.0154507044998,0.0498501165334,0.999999958953,-0.000110266259862,-0.00026193532536,-3.64146898429e-05,1793244906146019584
+74,1.233333333,BASELINE,765,745,714,679,659.053574555,634.053574555,879,787,806,653,630,652,0.400977277558,-0.0154517740745,0.0498505182643,0.999999958998,-0.000111017012968,-0.000261436421039,-3.64835489168e-05,1793244906162686464
+75,1.250000000,BASELINE,765,745,714,679,659,634.521107166,879,787,806,652.478892834,630,652,0.400976990421,-0.0154512504028,0.0498498659723,0.999999958722,-0.000111085860794,-0.000262451338973,-3.653699147e-05,1793244906179353344
+76,1.266666667,BASELINE,765,744.90198013,714,679,659,634.90198013,879.09801987,786.90198013,806,652.09801987,630,652,0.400976830382,-0.0154505918512,0.0498494005171,0.999999958566,-0.000110823586428,-0.000263149571522,-3.65840473082e-05,1793244906196019968
+77,1.283333333,BASELINE,765,744.312130149,714,679,659,634.312130149,879.687869851,786.312130149,806,652.687869851,630,652,0.400977415186,-0.0154500730825,0.0498504127481,0.999999959176,-0.000109249341775,-0.00026148292717,-3.66069580119e-05,1793244906212686336
+78,1.300000000,BASELINE,765,744.27309174,714,679,659,634,880,786,806,652.72690826,630,652,0.400977354691,-0.0154497694151,0.0498505866165,0.999999959405,-0.000107401146431,-0.000261384568188,-3.65031803716e-05,1793244906229352704
+79,1.316666667,BASELINE,765,744.853112061,714,679,659,634,880,786,806,652.146887939,630,652,0.400976568943,-0.0154497075008,0.049849818247,0.999999959207,-0.000105245057236,-0.000263048809698,-3.62570173404e-05,1793244906246019072
+80,1.333333333,BASELINE,765,745,714,679,659,634,879.570889827,786,806,652.429110173,630,652,0.400976912646,-0.015450171388,0.0498503209419,0.999999959283,-0.000107045045618,-0.000262038928983,-3.6209246941e-05,1793244906262685696
+81,1.350000000,BASELINE,765,745,714,679,659,634,879,786.003746863,806,652.996253137,630.003746863,652,0.400977645545,-0.015450806299,0.0498512523998,0.999999959443,-0.000110164467727,-0.000260123837386,-3.62272264235e-05,1793244906279352320
+82,1.366666667,BASELINE,765,745,714,679,659,634,879,786.578777233,806,652.421222767,630.578777233,652,0.40097931833,-0.0154503295489,0.0498518343431,0.999999959911,-0.000109900757114,-0.000258462277336,-3.60117898627e-05,1793244906296019712
+83,1.383333333,BASELINE,764.841767616,744.841767616,714,678.841767616,659,634,878.841767616,786.841767616,806.158232384,652,630.841767616,651.841767616,0.400980463371,-0.0154500957218,0.0498521981161,0.999999960238,-0.000109427932236,-0.000257412718167,-3.58831438809e-05,1793244906312686848
+84,1.400000000,BASELINE,764.250194474,744.250194474,714,678.250194474,659,634,878.250194474,786.250194474,806.749805526,652,630.250194474,651.250194474,0.400980163117,-0.0154505271719,0.0498519644001,0.999999960187,-0.000108382419638,-0.000258039205713,-3.59921855763e-05,1793244906329353472
+85,1.416666667,BASELINE,764.334154525,744.334154525,714,678.66830905,659,634.334154525,878.334154525,786,807,652.334154525,630.334154525,651.334154525,0.400979333669,-0.0154507148406,0.0498516303643,0.99999995997,-0.000108315413305,-0.000258893148576,-3.60771790148e-05,1793244906346019840
+86,1.433333333,BASELINE,764.913208956,744.913208956,714,679.826417912,659,634.913208956,878.913208956,786,807,652.913208956,630.913208956,651.913208956,0.400978116379,-0.0154507238432,0.0498512228045,0.999999959632,-0.000108965548578,-0.000259913792077,-3.61445476191e-05,1793244906362686208
+87,1.450000000,BASELINE,765.487182733,744.512817267,714,679.512817267,659,635,879,786.487182733,806.512817267,653,631,652,0.400977882158,-0.0154507251266,0.0498509876182,0.999999959414,-0.000110391103332,-0.000260127315732,-3.63295279878e-05,1793244906379352576
+88,1.466666667,BASELINE,765.878948945,744.060525527,714,679,659,634.939474473,879.060525527,787,806,653,630.939474473,652,0.400977811937,-0.0154506705016,0.0498507514981,0.999999959242,-0.000111659456144,-0.000260215482518,-3.65490382221e-05,1793244906396019200
+89,1.483333333,BASELINE,764.727756624,744.636121688,714,679,659,634.363878312,879.636121688,787,806,653,630.363878312,652,0.400977662364,-0.015450151679,0.049850248804,0.999999959306,-0.000110426589186,-0.000260447864186,-3.68859326127e-05,1793244906412686080
+90,1.500000000,BASELINE,764.216221045,745,714,679,659,634,879.783778955,787,806,653,630,652,0.400977476444,-0.0154499679804,0.0498499943906,0.999999959395,-0.000109031220768,-0.000260691805808,-3.68992100615e-05,1793244906429352704
+91,1.516666667,BASELINE,764.804059961,745,714,679,659,634,879.195940039,787,806,653,630,652,0.400977228056,-0.0154503602575,0.049850166696,0.999999959527,-0.00010735656215,-0.000260955615427,-3.63562888942e-05,1793244906446019584
+92,1.533333333,BASELINE,765,745,714,679.38690732,659,634,878.61309268,786.61309268,806,653,630.38690732,652,0.400976769031,-0.0154503478131,0.0498500602371,0.999999959409,-0.000107289164692,-0.000261468938816,-3.61201173692e-05,1793244906462686464
+93,1.550000000,BASELINE,765,745,714,679.967259073,659,634,878.032740927,786.032740927,806,653,630.967259073,652,0.400976204693,-0.0154501330175,0.0498498144025,0.999999959166,-0.000108025359331,-0.000262107013163,-3.60373133006e-05,1793244906479353344
+94,1.566666667,BASELINE,765,744.45611165,714,679.45611165,659,634.54388835,878.54388835,786.54388835,806,653,631,652,0.400979745196,-0.0154497642765,0.0498519181829,0.999999960151,-0.000107608653383,-0.000258506623571,-3.59525279683e-05,1793244906496020224
+95,1.583333333,BASELINE,765.122924239,744.122924239,714,679.122924239,659,635,879,787,806.122924239,653,630.877075761,652,0.400982002113,-0.0154497874009,0.0498533205643,0.999999960733,-0.000107857617742,-0.000256150242846,-3.58935171129e-05,1793244906512686848
+96,1.600000000,BASELINE,765.711929097,744.711929097,714,679.711929097,659,635,879,787,806.711929097,653,630.288070903,652,0.400978461626,-0.0154513312243,0.0498515308692,0.999999959543,-0.000110891900419,-0.000259471495606,-3.59326821091e-05,1793244906529352960
+97,1.616666667,BASELINE,765.703962875,745,714.296037125,679.703962875,659,635,879,787,806.703962875,653,630,652,0.400977405294,-0.0154516662209,0.0498510625777,0.999999959258,-0.000111236474698,-0.000260399317453,-3.60971833517e-05,1793244906546019328
+98,1.633333333,BASELINE,765.124542403,745,714.875457597,679.124542403,659,635,879,787,806.124542403,653,630,652,0.400978726935,-0.0154508440606,0.0498518592078,0.999999959847,-0.000109006309001,-0.00025903601274,-3.63816634799e-05,1793244906562685696
+99,1.650000000,BASELINE,765,745,714.547180542,679,659,634.547180542,879,786.547180542,806,653,630,652,0.400977584873,-0.0154503850886,0.0498511129053,0.999999959662,-0.00010754950791,-0.000260381616147,-3.62004781106e-05,1793244906579352832
+100,1.666666667,BASELINE,765,745,714,679,659,634,879,786.030085148,806,653,630.030085148,652,0.400975907818,-0.0154500952486,0.0498500157191,0.999999959285,-0.000106453888945,-0.000262313620352,-3.59137221967e-05,1793244906596019968
+101,1.683333333,BASELINE,765,745,714,679,659,634,879,786.615987246,806,653,630.615987246,652,0.400976808948,-0.0154510929824,0.0498502405957,0.999999959347,-0.000108119149706,-0.000261376875292,-3.60320331092e-05,1793244906612687104
+102,1.700000000,BASELINE,765,745,714,679.19960249,659,634.19960249,879,787,806,653,630.80039751,652,0.400977606676,-0.015451443152,0.0498507906284,0.999999959536,-0.000108988336582,-0.000260294730499,-3.59963738919e-05,1793244906629353984
+103,1.716666667,BASELINE,765,745,714,679.778867851,659,634.778867851,879,787,806,653,630.221132149,652,0.400978207723,-0.0154505615926,0.0498519591391,0.999999959971,-0.000108343315221,-0.000258936021727,-3.5667848867e-05,1793244906646019840
+104,1.733333333,BASELINE,765,745,714,679.644839292,659,634.644839292,879,787,806.355160708,652.644839292,630.355160708,652,0.400978460089,-0.0154501637121,0.0498522225711,0.99999996013,-0.000107461860799,-0.000258669111338,-3.57992628518e-05,1793244906662686208
+105,1.750000000,BASELINE,765,745,714,679.070381775,659,634.070381775,879,787,806.929618225,652.070381775,630.929618225,652,0.40097849716,-0.0154500644827,0.0498519271551,0.99999996012,-0.000106434418838,-0.000259076340428,-3.62146698109e-05,1793244906679352832
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,806,653,631,652,0.400977513606,-0.0154493054743,0.0498514512331,0.999999959793,-0.000107757722713,-0.000259773605157,-3.63433732886e-05,1793244906710163712
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.58780278,634.41219722,879,787,806,653,631,652,0.400978043129,-0.0154495626072,0.0498510301962,0.999999959655,-0.000108337118135,-0.000260040149695,-3.64931250478e-05,1793244906726831104
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.172852869,745,714,679,659.827147131,634,879,786.827147131,806,653,631,652,0.400978464165,-0.0154496383197,0.0498509456252,0.999999959644,-0.000108566257832,-0.000259972307594,-3.65972319222e-05,1793244906743498496
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.75144171,745,714,679,659.24855829,634,879,786.24855829,806,653,631,652,0.400978630547,-0.0154492881858,0.0498516508378,0.99999995993,-0.000107973245553,-0.000259119562825,-3.65941970022e-05,1793244906760164864
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.671586132,745,714,679,659,634,879.328413868,786,806,653,630.671586132,652,0.400977975207,-0.0154493425899,0.0498514852236,0.999999959952,-0.000107457290663,-0.00025927293768,-3.64344573939e-05,1793244906776831488
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.095831595,745,714,679,659,634,879.904168405,786,806,653,630.095831595,652,0.400976700999,-0.0154497016665,0.0498506637574,0.999999959774,-0.000106999370587,-0.000260184058611,-3.61566976701e-05,1793244906793498112
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,880,786.478805751,806,653,630.478805751,652,0.400977902114,-0.0154512331933,0.0498509712004,0.999999959582,-0.000110133270165,-0.000259593044231,-3.62978922291e-05,1793244906810164224
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.054709235,745,714,679,659,634.054709235,880,787,806,653,630.945290765,652,0.400979226526,-0.015452760494,0.0498513136394,0.999999959347,-0.000113496092575,-0.000259020969738,-3.65063635679e-05,1793244906826830592
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.64519698,745,714,679,659,634.64519698,880,787,806,653,630.35480302,652,0.400976917861,-0.0154519536619,0.0498497912,0.999999958841,-0.000112076933903,-0.000261571830204,-3.65544172174e-05,1793244906843497216
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.768218099,745,714,679,659,635,879.768218099,786.768218099,806,653,630,652,0.400979024639,-0.0154519261465,0.0498506907346,0.999999959454,-0.000110511905951,-0.00025994765023,-3.61546520724e-05,1793244906860163840
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.187508597,745,714,679,659,635,879.187508597,786.187508597,806,653,630,652,0.400987778484,-0.015453071825,0.0498552363417,0.999999961712,-0.000108727284539,-0.000252038307788,-3.50807344643e-05,1793244906876830464
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,786.388616832,806,653,630.388616832,652,0.401010569237,-0.0154541793362,0.049863990663,0.999999965833,-0.000108998597414,-0.000235127896072,-3.41701901039e-05,1793244906893497600
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,786.962556272,806,653,630.962556272,652,0.401040053875,-0.0154552686463,0.0498747520257,0.999999970485,-0.000110250338815,-0.000213925076513,-3.33375546555e-05,1793244906910164480
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.527087355,659,634.472912645,879,787,805.472912645,653,631,652,0.401097886316,-0.0154587171475,0.0498940001915,0.99999997838,-0.000110314187595,-0.000173474345755,-3.12591529548e-05,1793244906926831104
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.902473067,659,634,879,787,805.097526933,653,630.902473067,652,0.40115964544,-0.0154623746668,0.0499127471257,0.999999984295,-0.000110234429531,-0.000135699205083,-2.90679969876e-05,1793244906943497472
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.297900972,659,634,879,787,805.702099028,653,630.297900972,652,0.401231533337,-0.0154662628305,0.0499258086592,0.999999986551,-0.000109839091013,-0.000118818745184,-2.6742662355e-05,1793244906960164096
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.293940961,879,786.706059039,806,653,630.293940961,652,0.401309623879,-0.0154708299555,0.0499351643061,0.999999987909,-0.000111783654687,-0.000105125836049,-2.51813663905e-05,1793244906976830464
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.873416753,879,786.126583247,806,653,630.873416753,652,0.401393739677,-0.0154760566246,0.0499409200468,0.999999988507,-0.000116001204004,-9.45293210456e-05,-2.43622592395e-05,1793244906993497088
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,786.448234971,806,653,630.551765029,652,0.401490960814,-0.0154804531856,0.0499428275444,0.999999988823,-0.000116160684059,-9.11091721989e-05,-2.36639191738e-05,1793244907010163968
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.022321509,679,659,634.977678491,879,787,806,653,630,652,0.401592688511,-0.0154847929199,0.049943681765,0.999999989046,-0.000115392607023,-8.98027318563e-05,-2.29830009382e-05,1793244907026830592
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.610870157,679,659,634.389129843,879,787,806,653,630,652,0.401715816367,-0.0154935766361,0.0499451017936,0.999999988415,-0.000119867136599,-9.12338253722e-05,-2.1887777512e-05,1793244907043497472
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.802787368,679,659,634,879.197212632,787,806,653,630,652,0.401850208119,-0.0155023847905,0.0499449337832,0.999999987711,-0.000123247732997,-9.46310661325e-05,-2.08048040601e-05,1793244907060164096
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.220749912,679,659,634,879.779250088,787,806,653,630,652,0.402006579313,-0.0155112406303,0.0499416670014,0.999999986867,-0.000124493715897,-0.00010186488788,-1.97457343481e-05,1793244907076830976
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.353910171,659,634,879.646089829,787,806,652.646089829,630.353910171,652,0.402182092133,-0.0155217133302,0.0499412382213,0.999999986548,-0.000126421502631,-0.000102849388977,-1.85106329707e-05,1793244907093497344
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.924062668,659,634,879.075937332,787,806,652.075937332,630.924062668,652,0.402369300675,-0.0155331739469,0.0499425434857,0.999999986561,-0.000128765877816,-0.00010001549914,-1.71679745462e-05,1793244907110163712
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,787,806,652.49869364,630.50130636,652,0.40258048298,-0.0155440535095,0.0499449532242,0.999999986587,-0.000130590530766,-9.76667862388e-05,-1.52498270848e-05,1793244907126830336
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.076193821,680,659,634.076193821,879,787,806,652.923806179,630,652,0.402804407473,-0.0155546679575,0.0499484040432,0.999999986918,-0.000131514039334,-9.3252844757e-05,-1.31437181464e-05,1793244907143496960
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.668467261,680,659,634.668467261,879,787,806,652.331532739,630,652,0.403089687955,-0.0155640914419,0.0499577569042,0.999999989134,-0.000126874762804,-7.4345661458e-05,-1.03634247898e-05,1793244907160163584
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.74455802,680,659,635,879.25544198,786.74455802,806,652.25544198,630,652,0.403393394467,-0.0155692749425,0.0499666386615,0.999999991675,-0.000115964477525,-5.61578534968e-05,-6.99458331541e-06,1793244907176830464
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714.16432068,680,659,635,879.83567932,786.16432068,806,652.83567932,630,652,0.403720529722,-0.0155690672883,0.0499749214082,0.999999994528,-9.70805831841e-05,-3.88847348997e-05,-2.87740103897e-06,1793244907193497344
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.586609139,879.586609139,786.413390861,806,652.586609139,630,652,0.4040653032,-0.0155587875681,0.0499801415242,0.999999997253,-6.84514875709e-05,-2.83835591188e-05,-1.59185081321e-06,1793244907210164224
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.009895506,879.009895506,786.990104494,806,652.009895506,630,652,0.404417045191,-0.0155445285684,0.0499841516537,0.999999999141,-3.59722509264e-05,-2.05578479725e-05,-1.42502399819e-06,1793244907226830592
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.561786631,745,714,679.438213369,659,634,879,786.438213369,806,652,630,652,0.404809614467,-0.0155282014694,0.0499867147986,0.999999999901,2.39445198675e-09,-1.32313150156e-05,-4.69741663958e-06,1793244907243496960
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.861080452,745,714,679,659,634,879,786,806,652.138919548,630,652,0.405203793372,-0.0155143456731,0.0499850074944,0.999999999278,3.39724408791e-05,-1.55843252107e-05,-6.89462009975e-06,1793244907260163584
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.265750919,745,714,679,659,634,879,786,806,652.734249081,630,652,0.405600918789,-0.0155087277836,0.0499693529368,0.99999999688,6.11560312793e-05,-4.97101344777e-05,-5.36210458674e-06,1793244907276830208
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.318600051,879.318600051,786.318600051,806,653,630,652,0.406034681106,-0.0155110448203,0.0499520346357,0.999999993615,7.90462830614e-05,-8.06652331273e-05,-3.73410106935e-06,1793244907293496832
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.894098678,879.894098678,786.894098678,806,653,630,652,0.406497985104,-0.0155197600702,0.0499333747971,0.99999999005,8.94429876425e-05,-0.000109063678502,-2.02910200718e-06,1793244907310163456
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.533313547,879.533313547,787,806,652.533313547,630.466686453,652,0.406991347021,-0.0155232471908,0.049924710505,0.999999986291,0.000109150241698,-0.000124515268915,6.4118553986e-07,1793244907326830592
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.040203709,745,714,679,659,634,879,787,806,652.040203709,631,652,0.407497623828,-0.0155254117911,0.049920467515,0.999999982554,0.000131451231451,-0.000132657538878,3.72062922043e-06,1793244907343497472
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.635623164,745,714,679,659,634,879,787,806,652.635623164,631,652,0.408088644791,-0.0155255946779,0.0499461530612,0.999999983849,0.00016057531582,-8.01790571437e-05,9.44427334808e-06,1793244907360163840
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.775640226,745,714,679,659,634,879.224359774,786.775640226,806,652.775640226,630.775640226,652,0.408697320341,-0.0155266314295,0.0499716741249,0.999999981533,0.000188676315942,-3.31627464726e-05,1.53663645382e-05,1793244907376830464
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.19744315,745,714,679,659,634,879.80255685,786.19744315,806,652.19744315,630.19744315,652,0.409333838867,-0.0155290148094,0.0499969357821,0.999999976605,0.000215163810903,5.23918293952e-06,2.16014258308e-05,1793244907393497088
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.627269754,714,679,659,634,880,786.372730246,806,652,630.372730246,652,0.409957330605,-0.0155312905577,0.0499991791159,0.999999970549,0.000241296163879,1.61005075076e-06,2.59750390598e-05,1793244907410164736
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.061257123,714,679,659,634,880,786.938742877,806,652,630.938742877,652,0.410574067174,-0.0155335104926,0.0499894861048,0.999999963575,0.000267244354091,-2.38146410838e-05,2.93833826261e-05,1793244907426833152
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.533346022,714,679,659,634,880,787,806,652.533346022,631,652,0.411194646961,-0.0155322819364,0.0499572840226,0.999999952847,0.000291524638638,-9.17467074349e-05,3.00204256256e-05,1793244907443498496
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.127197337,679,659,634,879.872802663,786.872802663,806.127197337,653,630.872802663,652,0.411845673855,-0.0155323217198,0.0499337758743,0.999999950383,0.000281812361723,-0.000137190466,3.15254915944e-05,1793244907460164096
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+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.716304694,679,659.567390612,634.283695306,879.283695306,786.283695306,806.716304694,652.716304694,630,652,0.413367587457,-0.0155410584523,0.0499675358816,0.999999995135,7.86287549587e-05,-4.76897359744e-05,3.56859519951e-05,1793244907493498368
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.139929933,679,660.720140134,634.860070067,879.860070067,786.860070067,806.139929933,652.139929933,630,652,0.414139180157,-0.0155403379209,0.0499838552821,0.999999997283,6.31335332183e-05,-2.73765286073e-05,2.6427731205e-05,1793244907510164480
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.565494314,634.565494314,879.565494314,787,806.434505686,652,630.434505686,652,0.414902538904,-0.0155468933508,0.0499629085588,0.999999997072,4.0584126024e-05,-6.28487975854e-05,1.60627603546e-05,1793244907526830848
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.00858713,745,714,679.00858713,659.99141287,634,879.00858713,787,806.99141287,652,630.99141287,652,0.415663848823,-0.015555762113,0.0499304835492,0.999999993189,1.65942100049e-05,-0.000115394748304,5.57938978944e-06,1793244907543497216
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.60085613,745,714,679.60085613,659.39914387,634,879.60085613,787,806.39914387,652,630.39914387,652,0.416465338914,-0.0155633098066,0.0499299861817,0.999999992408,4.84195368209e-05,-0.000112756525317,1.11671300542e-05,1793244907560163840
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634,880,787,806.188720533,652,630.188720533,652,0.417289011914,-0.0155669731872,0.0499404685964,0.999999992336,8.1034342211e-05,-9.21004348831e-05,1.67247193858e-05,1793244907576830720
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634,880,787,806.767481648,652,630.767481648,652,0.418158531675,-0.0155626086134,0.0499736436167,0.999999992523,0.000115280810537,-3.42056860064e-05,2.2219993531e-05,1793244907593497088
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.657134926,745,714,679.657134926,659.342865074,634,879.657134926,786.657134926,806.657134926,652,630.657134926,652,0.418996794086,-0.0155577303063,0.0499769899507,0.999999989545,0.000137850165497,-3.6301289268e-05,2.42990939617e-05,1793244907610163712
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.084019799,745,714,679.084019799,659.915980201,634,879.084019799,786.084019799,806.084019799,652,630.084019799,652,0.41981406568,-0.0155525070032,0.049960304915,0.999999984974,0.000152577787323,-7.868324282e-05,2.40840725771e-05,1793244907626830592
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.502788521,659.497211479,634,879,786.502788521,806,652,630.502788521,652,0.42071795495,-0.0155570336812,0.0499650010649,0.999999987322,0.000148756022363,-5.13893075922e-05,2.4206256246e-05,1793244907643497472
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.090340673,745,714,680,659.090340673,634,879.090340673,787,806,652,630.909659327,652,0.421636868678,-0.0155627088062,0.049974564072,0.999999989236,0.000143935563644,-1.42071236443e-05,2.46888367809e-05,1793244907660164864
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.66919487,745,714,680,659.66919487,634,879.66919487,787,806,652,630.33080513,652,0.422556564746,-0.015565537093,0.0499905828569,0.99999998818,0.000150945731111,1.17215630278e-05,2.68070100818e-05,1793244907676831232
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.753399556,745,714,679.753399556,660,634,879.753399556,787,806,652,630,652,0.423459456277,-0.0155662243922,0.0499925779263,0.999999988836,0.000146212952481,1.34159112834e-05,2.77315135317e-05,1793244907693497600
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.177925827,745,714,679.177925827,660,634,879.177925827,787,806,652,630,652,0.424339936934,-0.0155640564105,0.0499758705764,0.99999999157,0.000125819451708,-1.72093319551e-05,2.70641055958e-05,1793244907710163968
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.395288294,745,714,679,660,634,879.395288294,787,806,652,630.395288294,652,0.425257557408,-0.0155641185683,0.0499824177134,0.999999990783,0.000132604499873,-7.66665366522e-06,2.81426340715e-05,1793244907726830592
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.967491076,745,714,679,660,634,879.967491076,787,806,652,630.967491076,652,0.426191800055,-0.0155651788433,0.0499993725859,0.999999987869,0.000151553529527,1.98535060145e-05,3.00025705943e-05,1793244907743497472
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.439455347,745,714,679.560544653,660,634,880.560544653,787,806,652,631,652,0.427079203818,-0.0155668668119,0.0499902046902,0.999999985584,0.000165191629196,-2.35632662986e-05,3.14517790743e-05,1793244907760164352
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.150890124,744.849109876,714,680,660,634,880.849109876,787,806.150890124,652,631,652,0.427968382876,-0.0155668612801,0.0499754375734,0.999999981975,0.000175291655279,-6.57111657261e-05,3.17018432492e-05,1793244907776830976
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.729986061,744.270013939,714,680,660,634,880.270013939,787,806.729986061,652,631,652,0.42887060664,-0.0155619425237,0.0499492460819,0.999999979813,0.000176258963066,-9.21321252586e-05,2.8619108129e-05,1793244907793497856
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.693042284,744.306957716,714,680,660,634,880.306957716,787,807,652,631,652,0.429790802795,-0.0155583648011,0.049944567429,0.99999998139,0.000169833648419,-8.72594031725e-05,2.7617766937e-05,1793244907810164736
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.117926433,744.882073567,714,680,660,634,880.882073567,787,807,652,631,652,0.430726699576,-0.0155559586055,0.0499586823846,0.999999985764,0.0001569501417,-5.50485321639e-05,2.84347307803e-05,1793244907826831104
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.464137788,634,880.535862212,787,807,652,631,652,0.431617307496,-0.0155562359911,0.0499479502297,0.999999982849,0.000166309058709,-7.63627936837e-05,2.85020486755e-05,1793244907843497472
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.952054717,634,880.047945283,787,807,652,631,652,0.432499067636,-0.0155573015009,0.0499331178098,0.999999977567,0.000180876171566,-0.000106465824249,2.85537694465e-05,1793244907860163840
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.368794504,634,880.631205496,787,807,652,631,652,0.433412468207,-0.0155594380481,0.0499440628129,0.999999978326,0.000189537303554,-8.05491008281e-05,3.05902574499e-05,1793244907876830464
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.787954229,787,807,652,630.787954229,652,0.43431481598,-0.0155593644775,0.0499584580085,0.999999979192,0.000193632253406,-5.54630573625e-05,3.23554782027e-05,1793244907893497344
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.211275178,787,807,652,630.211275178,652,0.435198157547,-0.0155554903952,0.0499787861468,0.999999980902,0.000189875211507,-3.18054445183e-05,3.36542289468e-05,1793244907910163968
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.364940972,634,880.364940972,787,807,652,630.364940972,651.635059028,0.436026494229,-0.0155523839726,0.0499689247189,0.999999980175,0.000185734232522,-6.32391312193e-05,3.39633549614e-05,1793244907926830592
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.940889439,634,880.940889439,787,807,652,630.940889439,651.059110561,0.436823027243,-0.0155497214084,0.0499416077962,0.99999997498,0.000181371262215,-0.000126526401047,3.37002835033e-05,1793244907943497216
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.528373958,660.471626042,634,881,787,807,652,631,651.528373958,0.437707720587,-0.0155519156458,0.049961110866,0.999999977871,0.000194400536888,-7.21719228546e-05,3.54535198337e-05,1793244907960164352
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.884975345,660,634,881,787,807,652,631,652,0.43858228098,-0.0155537591661,0.0499808570897,0.999999977708,0.000206996307379,-1.95456839985e-05,3.6807167863e-05,1793244907976830976
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.306991014,660,634,881,787,807,652,631,652,0.439375475244,-0.0155519553953,0.0499800296432,0.999999976956,0.000209841225456,-2.80286297553e-05,3.56243706029e-05,1793244907993497344
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.730843719,714,680,660,633.730843719,881,787,807.269156281,652,631,652,0.440147265377,-0.0155519567572,0.0499706881717,0.999999977613,0.00020405545436,-4.46724980929e-05,3.37618538266e-05,1793244908010163968
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.156777521,714,680,660,633.156777521,881,787,807.843222479,652,631,652,0.440894808085,-0.0155540030386,0.0499517017065,0.999999979261,0.000188492527851,-7.0561352434e-05,3.11293263963e-05,1793244908026830592
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.417953794,744.417953794,714,680.417953794,660,633.417953794,880.582046206,787,807.582046206,651.582046206,631,652,0.441614445681,-0.0155592296923,0.049951341001,0.999999982776,0.000169668983767,-6.82691486949e-05,3.16176684816e-05,1793244908043497472
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.992935045,744.992935045,714,680.992935045,660,633.992935045,880.007064955,787,807.007064955,651.007064955,631,652,0.442323599241,-0.015565651229,0.0499579780907,0.999999986719,0.000149620407042,-5.53891740993e-05,3.32785375689e-05,1793244908060164608
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.414328848,745,714,680.414328848,660,634,880,787,807,651.585671152,630.414328848,652,0.443037390186,-0.0155689686318,0.0499511610313,0.999999984673,0.000158020499739,-6.76474980467e-05,3.32775000113e-05,1793244908076830976
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.174961092,745,714,680.174961092,660,633.825038908,880.174961092,787,807,652,630.174961092,652,0.443710217492,-0.015572379395,0.0499280168085,0.999999980125,0.000164610851073,-0.000107762847525,3.22545673996e-05,1793244908093497088
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.755745426,745,714,680.755745426,660,633.244254574,880.755745426,787,807,652,630.755745426,652,0.444287895737,-0.0155760962785,0.0498673898556,0.999999963351,0.000166182612385,-0.000211767362975,2.89092974488e-05,1793244908110163712
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680.667188904,660,633,881.332811096,786.667188904,807.332811096,652,631,652,0.444885208952,-0.0155818084637,0.0498328921717,0.999999952495,0.000166146231452,-0.000258195066632,2.71994931618e-05,1793244908126830336
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680.092822289,660,633,881.907177711,786.092822289,807.907177711,652,631,652,0.445496773267,-0.0155889688459,0.0498173592112,0.9999999515,0.000164942655795,-0.000262833303565,2.66767162268e-05,1793244908143497216
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,744.518249559,714,680,660,633,881.036499118,786,807.518249559,652,630.518249559,652,0.446086361539,-0.0155990431398,0.0498214089927,0.999999955415,0.000163320717117,-0.000248309380609,2.89479816129e-05,1793244908160163840
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.94191928,744.05808072,714,680.05808072,660,633,880.05808072,786,807.05808072,652,630,652,0.446663109964,-0.0156089652648,0.0498253306573,0.999999958388,0.000161700608151,-0.000236845056907,3.13348801646e-05,1793244908176830464
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.349793864,744.650206136,714,680.650206136,660,633,880.650206136,786,807.650206136,652,630,652,0.447160748018,-0.0156123236007,0.0497933658609,0.999999945299,0.00016083882972,-0.000287476354514,2.9832851601e-05,1793244908193497344
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.763297614,660,632.763297614,881,786,808,652,630,651.763297614,0.447639298457,-0.0156161090946,0.0497611984794,0.999999929591,0.000160334719038,-0.00033808808526,2.84224564302e-05,1793244908210163712
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.184926844,660,632.184926844,881,786,808,652,630,651.184926844,0.448090296809,-0.0156205111701,0.049728738679,0.999999911243,0.00016034688462,-0.00038867156809,2.71443297722e-05,1793244908226830592
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,881,785.609761347,807.609761347,652,630,651.390238653,0.448539121303,-0.0156262708052,0.0497203749289,0.999999906503,0.000156746415367,-0.000402060200088,2.78017097285e-05,1793244908243497216
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,881,785.036102345,807.036102345,652,630,651.963897655,0.448986924078,-0.015632668522,0.0497233368247,0.999999908912,0.000151447932121,-0.000397966477127,2.93688182812e-05,1793244908260163584
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680.552500486,660,632,881,785,807,652,629.447499514,652,0.449397954756,-0.0156364802688,0.0497347468841,0.999999919953,0.000107384386022,-0.000384144946673,3.15564883833e-05,1793244908276830208
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.719820539,680.280179461,659.280179461,632,881,785,807.719820539,652,629.719820539,652,0.45018182428,-0.0156466284634,0.0497498120659,0.999999930004,6.92442199224e-05,-0.000366184636826,3.3253861806e-05,1793244908310163712
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,632,881,785,807.7031899,652,630,652,0.45052360133,-0.0156528341882,0.0497484842723,0.999999929152,3.84728545015e-05,-0.000373666057519,2.42988984203e-05,1793244908326830336
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,632,881,785,807.1290352,652,630,652,0.450828011499,-0.0156592766819,0.0497414172706,0.999999922418,-1.90031816505e-05,-0.000393389416598,6.97223550339e-06,1793244908343496960
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765.068446349,745,714.931553651,681,659,631.068446349,881,784,808,652,629,652,0.452387226017,-0.0156722015334,0.0496947052896,0.999999887181,3.70690282616e-06,-0.000474889497568,1.01704352645e-05,1793244908460163328
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.482915519,784,807.482915519,652,628.482915519,652,0.452533963003,-0.0156726255389,0.049695167158,0.999999888284,6.47172768809e-06,-0.000472516499451,1.09073483213e-05,1793244908476829952
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.102534117,784,807,652,628,652,0.452671257823,-0.0156731566282,0.0496945080115,0.999999888283,8.87519276191e-06,-0.000472462309044,1.1565960736e-05,1793244908493496832
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.681513611,784,807,652,628,652,0.452788430115,-0.0156736650044,0.0496923253154,0.999999886227,1.18605006783e-05,-0.000476706478044,1.24625136893e-05,1793244908510163456
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,881,784,807.259438033,652,628,652,0.452893122441,-0.0156751812035,0.0496893820402,0.999999883834,1.29864321005e-05,-0.000481654683735,1.31492034155e-05,1793244908526830336
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,881,784,807.836072457,652,628,652,0.452982556395,-0.0156779295956,0.0496855088595,0.999999881027,1.18390362289e-05,-0.000487463664655,1.35793082777e-05,1793244908543497216
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680.588145909,659,631,881,784,808,652,628,652,0.453052214924,-0.0156787219877,0.0496797273885,0.999999876599,9.92851740471e-06,-0.000496516681653,1.32164872607e-05,1793244908560163584
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680.012703017,659,631,881,784,808,652,628,652,0.453114018635,-0.0156787374549,0.049673187943,0.999999871439,7.71488551037e-06,-0.000506858232403,1.25387153875e-05,1793244908576829952
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714.423357543,680.576642457,659,631,881,784,807.423357543,652,628,652,0.453162580552,-0.0156799427233,0.0496709426137,0.999999870136,4.87857333452e-06,-0.000509447035413,1.29934094434e-05,1793244908593496832
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714.163759727,681,659,631,880.836240273,784,807.163759727,652,628,652,0.453206723533,-0.015681137057,0.0496681461518,0.999999868502,2.41237668051e-06,-0.000512650677857,1.33670512923e-05,1793244908610163712
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.744405602,681,659,631,880.255594398,784,807.744405602,652,628,652,0.453240378092,-0.0156822351811,0.0496636998972,0.999999865817,9.24173187582e-07,-0.000517865045916,1.34692789002e-05,1793244908626830336
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.321889678,784,808,652,628,652,0.453269132709,-0.0156820456309,0.0496624247819,0.999999864981,6.59393897297e-07,-0.000519482064565,1.32511300826e-05,1793244908643496704
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.896887632,784,808,652,628,652,0.453294034408,-0.0156808435568,0.0496636431962,0.999999865615,1.35661730254e-06,-0.000518270416183,1.27810629019e-05,1793244908660163584
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.530040245,784,807.530040245,652,628.469959755,652,0.453308006495,-0.0156800916603,0.0496617145404,0.999999863783,6.74320838176e-07,-0.000521795564976,1.27953355707e-05,1793244908676830464
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.044332579,630.955667421,880.044332579,784,807.044332579,652,628.955667421,652,0.453319409959,-0.0156795048045,0.0496593227097,0.999999861617,-2.3655961751e-07,-0.000525927103579,1.29172378817e-05,1793244908693497344
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.640119875,630.359880125,880.640119875,784,807.640119875,652,628.359880125,652,0.453328569699,-0.0156797472798,0.0496597233868,0.999999862246,-2.411723197e-07,-0.000524726598639,1.30614792541e-05,1793244908710163968
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.772024646,630,881,784,807.772024646,652,628,652,0.453336345857,-0.0156799909367,0.0496602049562,0.999999862796,-8.64549860176e-09,-0.000523669925083,1.33386229849e-05,1793244908726830336
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.196269313,630,881,784,807.196269313,652,628,652,0.45334201134,-0.0156802363962,0.0496608099278,0.999999863227,5.85641386296e-07,-0.000522832668629,1.38185113399e-05,1793244908743496960
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,630.379151561,880.620848439,784,807,652,628,652,0.453343419955,-0.0156796995807,0.049659156852,0.999999861786,1.37216670722e-06,-0.000525580084759,1.38737601085e-05,1793244908760163584
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,630.954399435,880.045600565,784,807,652,628,652,0.453342626929,-0.0156787581742,0.0496563359193,0.999999859357,2.25811728539e-06,-0.000530181485297,1.3709386247e-05,1793244908776830208
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.541972545,784,807.541972545,652,628,652,0.453344802136,-0.0156811351497,0.0496570005267,0.999999859967,-1.8065547538e-06,-0.000529028465168,1.38112685315e-05,1793244908793497088
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.871099319,784,807.871099319,652,628,652,0.453346729965,-0.0156821324425,0.049657785041,0.999999860574,-4.19807772683e-06,-0.000527869246544,1.37264732905e-05,1793244908810163968
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,880.290154569,784,807.290154569,652,628,652,0.453346894055,-0.0156772893754,0.0496579376633,0.9999998603,7.72747239601e-07,-0.000528425733964,1.29066240896e-05,1793244908826830592
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.861633902,631,880.861633902,784,807,652,628,652,0.453346818454,-0.0156789468647,0.0496556357056,0.999999859352,-1.56687704307e-06,-0.000530206898269,1.31820245612e-05,1793244908860163840
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.562341775,630.562341775,880.562341775,784,807.437658225,652,628,652,0.453346466024,-0.0156780554812,0.0496553566958,0.999999859049,-2.06831248278e-06,-0.000530777358778,1.31544609149e-05,1793244908876830464
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,630.014590284,880.014590284,784,808,652,628,652,0.453346044568,-0.015676124444,0.0496554884952,0.999999858828,-1.77998217616e-06,-0.000531198380597,1.29876904264e-05,1793244908893497088
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,630.604648878,880.604648878,784,808,652,628,652,0.453345998763,-0.01567836443,0.0496554720584,0.999999858854,-4.30325419968e-06,-0.000531126046363,1.33904704814e-05,1793244908910163456
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,881,784,807.8086151,652,628,652,0.453345843199,-0.0156800580182,0.049655043135,0.999999858543,-6.1327902212e-06,-0.000531685898825,1.36894884371e-05,1793244908926830336
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,881,784,807.228625555,652,628,652,0.45334546477,-0.0156806421521,0.0496537766626,0.999999857557,-6.5537038156e-06,-0.000533529398475,1.37778187239e-05,1793244908943497216
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681.346637531,659,630.653362469,880.653362469,784,807.346637531,652,628,652,0.453345143027,-0.0156826574867,0.0496533157824,0.99999985697,-8.84317836762e-06,-0.000534585682307,1.41663527737e-05,1793244908960164096
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.918825182,659,630.081174818,880.081174818,784,807.918825182,652,628,652,0.453344858168,-0.0156856040749,0.0496533790848,0.999999856633,-1.23484882013e-05,-0.000535129740452,1.47502234132e-05,1793244908976830464
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.49394197,745,715,681.49394197,659,630.50605803,880.50605803,784,808,652,628,652,0.453345271424,-0.0157063433887,0.0496537799243,0.999999856474,-3.00043979258e-05,-0.000534444198598,2.28295672824e-05,1793244908993496832
+244,4.066666667,HOLD_POSE2,765,745,715,682,659,631,881,783,808,652,628,652,0.453342501128,-0.0157337578337,0.0496506326163,0.99999985274,-5.8572382135e-05,-0.000538582556037,3.19124674352e-05,1793244909036200192
+245,4.083333333,HOLD_POSE2,764.424552161,745,715,682,659,631,881,783.575447839,807.424552161,652,628,652,0.453344429111,-0.0157252819723,0.0496517387117,0.999999854397,-4.97279492233e-05,-0.000536494811402,3.0093583258e-05,1793244909052866816
+246,4.100000000,HOLD_POSE2,764.150209589,745,715,681.849790411,659.150209589,630.849790411,881,784,807,652,628,652,0.453345844443,-0.01572116275,0.0496525786124,0.999999855439,-4.55573114952e-05,-0.000534969345367,2.92234001056e-05,1793244909069533696
+247,4.116666667,HOLD_POSE2,764.723041125,745,715,681.276958875,659.723041125,630.276958875,881,784,807,652,628,652,0.45334581741,-0.0157293011402,0.0496526695618,0.999999854905,-5.45366206077e-05,-0.000535025876979,3.10224327714e-05,1793244909086200320
+248,4.133333333,HOLD_POSE2,765,745,715,681,659.693388881,630,880.693388881,784,807.306611119,652,628,652,0.453345639647,-0.0157304699776,0.0496518261956,0.99999985443,-5.66569139414e-05,-0.000535680623325,3.1256065355e-05,1793244909102867200
+249,4.150000000,HOLD_POSE2,765,745,715,681,659.099766924,630,880.099766924,784,807.900233076,652,628,652,0.453345320788,-0.0157251147938,0.0496501082405,0.99999985405,-5.23566572567e-05,-0.000536895343223,3.00243667974e-05,1793244909119534080
+250,4.166666667,HOLD_POSE2,765,745,715,681,659,630.481383437,880.481383437,784,808,652,628,652,0.453345916312,-0.0157239773632,0.0496510316198,0.999999854536,-5.02851983717e-05,-0.000536191922377,2.99453782349e-05,1793244909136200704
+251,4.183333333,HOLD_POSE2,765,745,715,681,659,631,881,784,808,652,628,652,0.45334644129,-0.0157241658024,0.0496522278322,0.999999854969,-4.91929744625e-05,-0.000535473905496,3.01565910773e-05,1793244909152867072
+252,4.200000000,HOLD_POSE2,765,745,715,681,659,631,881,784,808,652,628,652,0.453344760368,-0.015728448724,0.0496511706728,0.999999853426,-5.26719623325e-05,-0.000537978323485,3.08632655054e-05,1793244909169533696
+253,4.216666667,HOLD_POSE2,765,745,715,681,659,630.786491544,881,784,808,652,628,652,0.453343966839,-0.0157294472951,0.0496506784435,0.999999852735,-5.32453199005e-05,-0.000539194181045,3.10683499066e-05,1793244909186200320
+254,4.233333333,HOLD_POSE2,765,745,715,681,659,630.197445198,881,784,808,652,628,652,0.453344734135,-0.0157246690544,0.0496511798641,0.999999853553,-4.87079929835e-05,-0.000538143602273,3.03911925449e-05,1793244909202866944
+255,4.250000000,HOLD_POSE2,765,745,714.614805976,681,659,630.385194024,881,784,808,652,628,652,0.453345770295,-0.0157252139954,0.0496514606789,0.999999853907,-4.96191814843e-05,-0.000537394423646,3.05262292872e-05,1793244909219533824
+256,4.266666667,HOLD_POSE2,765,745,714.035397172,681,659,630.964602828,881,784,808,652,628,652,0.453346942017,-0.0157284428836,0.0496516302643,0.999999854022,-5.32775103754e-05,-0.000536797210836,3.10707741351e-05,1793244909236200448
+257,4.283333333,HOLD_POSE2,765,745,714.540174014,681,659,630.459825986,881,784,808,652,628,652,0.453346254418,-0.0157267701583,0.049651293244,0.99999985384,-5.1665621733e-05,-0.000537322783721,3.05883638085e-05,1793244909252867328
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+260,4.333333333,HOLD_POSE2,765,745,715,681.272963892,659,631,881,783.727036108,807.727036108,652,628,652,0.453346168994,-0.0157234273359,0.0496517899814,0.999999853988,-4.98830701942e-05,-0.00053726625421,2.9661473595e-05,1793244909302867200
+261,4.350000000,HOLD_POSE2,765,745,715,681.862119916,659,631,881,783.137880084,807.137880084,652,628,652,0.453342556341,-0.0157271423641,0.0496500212615,0.99999985158,-5.44596652128e-05,-0.000541238877206,3.05559975653e-05,1793244909319533824
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,716,681,659,631,880,784,807,652,628,652,0.453348563436,-0.0157239232776,0.0496535189492,0.999999855403,-4.88363307156e-05,-0.000534678689245,3.04647042672e-05,1793244909352185088
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715.426752585,681,659,630.426752585,880.573247415,784,807,652,628,652,0.453346883985,-0.0157261818201,0.0496521703762,0.999999854308,-5.25717277072e-05,-0.000536365000537,3.05557085297e-05,1793244909368851968
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630.147740549,881,783.852259451,807,652,628,652,0.453345565461,-0.0157275789407,0.049651193274,0.999999853452,-5.49418096832e-05,-0.000537717761104,3.06004893723e-05,1793244909385518592
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.119459083,745.059729541,714.059729541,681,659,631,881.059729541,783,807,652,628,652,0.45334449598,-0.0157284413965,0.0496502222784,0.999999852494,-5.81873450913e-05,-0.000539140933573,3.08819978514e-05,1793244909468851712
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.034904731,715,681,659,630.034904731,881,784.965095269,807.034904731,652,628,652,0.453209178028,-0.0157196409919,0.0495923054966,0.999999794581,-5.29599150863e-05,-0.000638288054889,2.49243027388e-05,1793244909552185088
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.883889862,659,631,881,784,807.883889862,652,627.116110138,652,0.453078754779,-0.0157104845857,0.0495604879777,0.999999768023,-4.95686397344e-05,-0.000679023659284,2.06059786242e-05,1793244909585518592
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.82175893,746,715,681,659.17824107,630.82175893,881,784,807.17824107,652,628,652,0.452303466356,-0.0156651905415,0.0495685016866,0.999999769116,-3.19445438221e-05,-0.000678549750652,1.78333603454e-05,1793244909702185728
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.234262142,746,715,681,659.765737858,630.234262142,881,784,807.765737858,652,628,652,0.452128315013,-0.0156528906682,0.0495679584763,0.99999976523,-2.57723198373e-05,-0.00068454131711,1.67119451756e-05,1793244909718852096
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,659.073354269,630.926645731,881,784,807.073354269,652,628.926645731,652,0.451715081772,-0.0156277059562,0.049568226091,0.999999760634,-1.47972134856e-05,-0.000691619685221,1.32549814246e-05,1793244909752185088
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,881,784,807.078643873,652,628,652,0.451197906925,-0.0156074118452,0.0495629633077,0.999999753265,-1.01385568913e-05,-0.000702321581195,1.05186442159e-05,1793244909785518336
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.408822259,745,715,681,659,631,881.591177741,785,807.591177741,652,629,652,0.450009447371,-0.0155838451396,0.0496013000599,0.999999808065,-3.08526377866e-05,-0.000618785046385,4.79678728799e-06,1793244909852185344
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.98871659,745,715,681,659,631,881.01128341,785,807.01128341,652,629,652,0.449662396652,-0.015582543921,0.049617856361,0.999999826034,-4.18040346404e-05,-0.000588361295631,3.9538907781e-06,1793244909868852224
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.288862138,714.288862138,681,659,631.711137862,881,785,807,652,629,651.288862138,0.448369361752,-0.0155591367328,0.0496219246724,0.999999830401,-5.762045859e-05,-0.00057953738558,-3.81604389326e-06,1793244909918851840
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.353800471,633,880.353800471,786.646199529,806,652,630,652,0.431244697865,-0.0154176318204,0.0498126736306,0.999999955132,-6.53421467675e-06,-0.000298930723048,-1.82804575965e-05,1793244910318851840
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.611238907,714,680,660,634,879,786,806.611238907,652,630,652,0.420336409087,-0.0154239539962,0.0498006093706,0.999999944961,-9.76479177111e-05,-0.000314546903928,-4.00318478273e-05,1793244910518851584
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.191332983,745,714,679.808667017,659.808667017,634,879,786,806.808667017,652,630,652,0.419459794335,-0.0154211271755,0.0498033666708,0.999999943014,-0.000102723641398,-0.000319045758931,-4.03720833204e-05,1793244910535518208
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.780432109,745,714,679.219567891,659.219567891,634,879,786,806.219567891,652,630,652,0.418562990943,-0.0154129735262,0.0497995052316,0.999999937333,-9.04293138084e-05,-0.000339744074338,-4.16089257293e-05,1793244910552185344
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.636627949,745,714,679.363372051,659.363372051,634,879.363372051,786,806,652,630,652,0.41770180967,-0.0154112313149,0.0497865101149,0.99999993054,-7.82257236946e-05,-0.000361833581698,-4.33232159517e-05,1793244910568851968
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.057347704,745,714,679.942652296,659.942652296,634,879.942652296,786,806,652,630,652,0.416861794381,-0.0154132986487,0.0497680879551,0.999999922774,-6.60760486359e-05,-0.000384749705325,-4.53211957514e-05,1793244910585518592
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.518020827,744.481979173,714,680,659.481979173,634,879.481979173,786.518020827,806.518020827,652,630.518020827,652,0.416091915082,-0.0154219928748,0.0497904892577,0.999999937949,-8.42810988722e-05,-0.000339334379971,-4.30282525526e-05,1793244910602185472
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.574674082,659,634,879.574674082,786.574674082,806,652,630,651.574674082,0.412253095102,-0.0154172629332,0.0497747087948,0.99999992707,-9.7311656361e-05,-0.000366297775425,-4.70716465215e-05,1793244910685518336
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.996053776,714,679,658.996053776,634,879,786.003946224,805.996053776,652,630,651.003946224,0.411562356661,-0.0154209262657,0.0497889610049,0.999999935038,-0.000102904163976,-0.000342409228728,-4.57164579903e-05,1793244910702185216
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.42457455,714,679,658.42457455,634,879,786.57542545,805.42457455,652,630,651.57542545,0.410900866649,-0.0154212967396,0.0498086663084,0.999999943005,-0.000107576580301,-0.000317022420638,-4.37398188587e-05,1793244910718852096
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.726271551,634,879,786.273728449,805.726271551,652,630,652,0.409582434715,-0.0154151598637,0.0497923806127,0.999999930681,-0.000103846651296,-0.000354721137879,-4.50177975915e-05,1793244910752185344
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.311109114,714,679,659,634,879.311109114,786,806,652,630,652,0.408964757159,-0.0154139414898,0.0497835317841,0.999999926593,-0.000105665394628,-0.000365390788792,-4.62391319222e-05,1793244910768851968
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.483229319,659,634,879.516770681,786,806,652,630,652,0.407843934397,-0.0154212942039,0.0498080656873,0.999999939635,-0.000125792639364,-0.00032080550165,-4.46094551565e-05,1793244910802185216
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.214036112,659,634,879,786.214036112,806,652.214036112,630,652,0.406289300129,-0.0154234008717,0.0498051297291,0.99999993122,-0.000147154491006,-0.000337398202097,-4.54687007278e-05,1793244910852185344
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.803480027,659,634,879,786.803480027,806,652.803480027,630,652,0.405790134614,-0.0154175759729,0.0497768310024,0.999999913122,-0.000148575350433,-0.000386391849312,-4.88094132684e-05,1793244910868852224
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.613236651,659,634,879,786.613236651,806,653,630,652,0.405331869416,-0.0154164682455,0.0497683398129,0.999999906144,-0.000155252751967,-0.000401325198948,-5.04697524289e-05,1793244910885519104
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.54135825,659,634,879,786.54135825,805.45864175,652.45864175,630,652,0.404542607788,-0.0154231771883,0.0497880188599,0.999999917385,-0.000175119771726,-0.000363390740476,-5.01020432491e-05,1793244910918852096
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.308565785,659,634,879,786.308565785,805.691434215,652,630,652,0.403884946041,-0.0154346891218,0.049832379322,0.999999935625,-0.000196335819822,-0.000296735525302,-4.63684467791e-05,1793244910952185088
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.725433303,659,634,879,786.274566697,806,652.274566697,630,651.725433303,0.40357811506,-0.0154371793204,0.0498477021902,0.999999945665,-0.000170037387259,-0.000278734449456,-4.54305573896e-05,1793244910968851712
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.023602126,659.976397874,634,879,787,806.023602126,652.023602126,631,652,0.402711000655,-0.0154367994822,0.0498340391157,0.999999943389,-0.000110434416501,-0.000313987302239,-4.93719890913e-05,1793244911018852096
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.598940675,659.401059325,634,879,787,806.598940675,652.598940675,631,652,0.402474416279,-0.0154365306401,0.0498221386995,0.999999936008,-0.000121202556124,-0.000332575248143,-5.18474782331e-05,1793244911035518464
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.231605484,659,634,879,786.231605484,806.231605484,653,630.231605484,652,0.402058797847,-0.0154388720054,0.0498069699369,0.999999924727,-0.000137895811925,-0.00035858265729,-5.43027082811e-05,1793244911068851456
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.351621549,658.648378451,634,879,786.351621549,806,653,630,652,0.401891821271,-0.0154391919645,0.0498059792692,0.999999925127,-0.000137546775345,-0.000357797303865,-5.2994865604e-05,1793244911085518080
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.93063045,658.06936955,634,879,786.93063045,806,653,630,652,0.401741294583,-0.0154384637196,0.0498077593461,0.9999999287,-0.000132412220423,-0.000350026888935,-5.04791359538e-05,1793244911102184960
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.494597157,658.505402843,634,879,787,806,653,630,652,0.401615808798,-0.0154313639296,0.0498107508854,0.999999937936,-7.88358618441e-05,-0.000341022157733,-4.02041353224e-05,1793244911118851328
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.079735304,745,714,679,659,634,879,786.920264696,806,653,630,652,0.401498283962,-0.0154243426009,0.0498143784596,0.9999999442,-2.7521742422e-05,-0.000331530995,-3.04986495911e-05,1793244911135518208
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.654917546,745,714,679,659,634,879,786.345082454,806,653,630,652,0.401409046748,-0.0154231976623,0.0498209335118,0.999999947815,-3.12349888637e-05,-0.000320061270079,-3.0894484382e-05,1793244911152185088
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.762960411,744.762960411,714,679,659,634,879.237039589,786.237039589,806,653,630,652,0.401328241387,-0.0154256862999,0.0498269463426,0.999999951009,-3.9206146489e-05,-0.000309000073681,-3.10381698647e-05,1793244911168851968
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.170430729,744.170430729,714,679,659,634,879.829569271,786.829569271,806,653,630,652,0.40126008135,-0.0154336242399,0.0498321459995,0.999999953525,-5.35629260099e-05,-0.000298551551324,-3.08037050672e-05,1793244911185518592
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.411374892,714,679,658.588625108,634,879.588625108,787,806,652.588625108,630,652,0.401197446626,-0.0154389828005,0.049831837374,0.999999952603,-6.45088159807e-05,-0.000299410031493,-3.14134402294e-05,1793244911202185216
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.988850449,714,679,658.011149551,634,879.011149551,787,806,652.011149551,630,652,0.401137042857,-0.0154432998861,0.0498293046715,0.999999950271,-7.40774921741e-05,-0.000304833935524,-3.23640376565e-05,1793244911218851840
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.436566896,714,679,659.126866207,634,879,786.436566896,806,652.563433104,630,652,0.401096936253,-0.0154453360903,0.0498296064542,0.999999950614,-7.93442879678e-05,-0.000302342944354,-3.26488455433e-05,1793244911235518464
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.728559483,714,679,659.271440517,634,878.271440517,786.728559483,806.728559483,653,630.728559483,652,0.40103579211,-0.0154455160205,0.0498314281779,0.999999951855,-8.45298707109e-05,-0.000296715259133,-3.32282318718e-05,1793244911268851712
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,878.892546752,787,806.107453248,653,631,652,0.401001642678,-0.0154450976662,0.0498343714779,0.999999953445,-8.56222970192e-05,-0.000290964578063,-3.34317119544e-05,1793244911302185216
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.049041275,745,714,679.049041275,658.950958725,634,879,786.049041275,806,653,630,652,0.400987759969,-0.0154433860666,0.0498375411122,0.999999955747,-8.38403141638e-05,-0.000283408896039,-3.39979869463e-05,1793244911335518720
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.623482893,745,714,679.623482893,658.376517107,634,879,786.623482893,806,653,630,652,0.400984297789,-0.0154435216953,0.0498391762861,0.999999956524,-8.52516661526e-05,-0.000280225076123,-3.4022267176e-05,1793244911352185344
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.207095925,658.792904075,634,879,787,806.792904075,652.207095925,630,652,0.400979042828,-0.0154437616479,0.0498405344884,0.999999957061,-8.72113481525e-05,-0.000277658876268,-3.43311605392e-05,1793244911385518592
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.892163975,658.892163975,634.892163975,879,787,806,653,630,652,0.400973887053,-0.0154419488407,0.0498403885799,0.999999957213,-8.35439439106e-05,-0.000278195547244,-3.46641412838e-05,1793244911452185600
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f9cfa0b5ac79954a9f859852837f5cd141289ee6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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+333,5.550000000,pose2_to_pose3_retreat,0.591082562769,-0.0101222758957,1.04005091902,0.561654196768,-0.00144658750808,1.03971740793
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+335,5.583333333,pose2_to_pose3_retreat,0.58964701813,-0.0101222945742,1.04005075188,0.560218651819,-0.00144660687287,1.03971725016
+336,5.600000000,pose2_to_pose3_retreat,0.588956198715,-0.0101222161135,1.0400509078,0.55952783155,-0.00144653169287,1.03971739608
+337,5.616666667,pose2_to_pose3_retreat,0.58828559098,-0.0101223848038,1.04005099753,0.558857227772,-0.00144668693978,1.03971748629
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+339,5.650000000,pose2_to_pose3_retreat,0.586977638845,-0.0101221534582,1.04005095755,0.557549271617,-0.00144646909178,1.03971744986
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+341,5.683333333,pose2_to_pose3_retreat,0.58570665994,-0.0101221519632,1.04005103818,0.556278291464,-0.00144647193774,1.03971752769
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+343,5.716666667,pose2_to_pose3_retreat,0.584506674592,-0.010122051009,1.04005089377,0.555078306794,-0.00144636860863,1.03971738517
+344,5.733333333,pose2_to_pose3_retreat,0.583940266191,-0.0101221271649,1.04005101255,0.554511899186,-0.00144644215575,1.03971750184
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+348,5.800000000,pose2_to_pose3_retreat,0.581860128038,-0.0101221902683,1.040050966,0.552431761107,-0.00144650484195,1.0397174595
+349,5.816666667,pose2_to_pose3_retreat,0.581395269478,-0.0101223133046,1.04005090814,0.551966904995,-0.00144661945663,1.03971740476
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+356,5.933333333,pose2_to_pose3_retreat,0.578650071262,-0.0101221332292,1.04005091325,0.549221703721,-0.00144645008982,1.03971740132
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+358,5.966666667,pose2_to_pose3_retreat,0.57808929682,-0.0101222700748,1.04005088844,0.548660931197,-0.0014465801785,1.03971738317
+359,5.983333333,pose2_to_pose3_retreat,0.577831572064,-0.010122164787,1.04005065513,0.548403205265,-0.00144647849019,1.03971715997
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+361,6.016666667,pose2_to_pose3_retreat,0.577348621469,-0.010122289452,1.04005095381,0.547920255954,-0.00144659937601,1.03971744355
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+363,6.050000000,pose2_to_pose3_retreat,0.576924519792,-0.0101222168787,1.04005097023,0.547496153678,-0.00144652897787,1.03971745608
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+365,6.083333333,pose2_to_pose3_retreat,0.576580530078,-0.0101222045069,1.04005107691,0.547152162804,-0.00144652087772,1.03971755422
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+367,6.116666667,pose2_to_pose3_retreat,0.576313521386,-0.0101220929868,1.04005105622,0.54688515328,-0.00144641189585,1.03971754094
+368,6.133333333,pose2_to_pose3_retreat,0.576206259253,-0.0101222290667,1.04005091413,0.546777893104,-0.0014465409788,1.03971740819
+369,6.150000000,pose2_to_pose3_retreat,0.576113373294,-0.0101223067319,1.04005090108,0.546685008377,-0.00144661464549,1.03971739254
+370,6.166666667,pose2_to_pose3_retreat,0.576034220172,-0.010122275936,1.04005089165,0.54660585446,-0.00144658650263,1.03971738416
+371,6.183333333,pose2_to_pose3_retreat,0.575965515445,-0.0101222265628,1.0400508782,0.546537148624,-0.0014465407553,1.0397173729
+372,6.200000000,pose2_to_pose3_retreat,0.575906292,-0.0101222329921,1.04005086884,0.546477925435,-0.00144654646533,1.03971735955
+373,6.216666667,pose2_to_pose3_retreat,0.57585546438,-0.0101221826696,1.04005071946,0.546427097811,-0.00144649648031,1.03971720165
+374,6.233333333,pose2_to_pose3_retreat,0.5758120273,-0.010122346155,1.04005086883,0.546383662668,-0.00144665317919,1.0397173566
+375,6.250000000,pose2_to_pose3_retreat,0.575775827428,-0.0101222823418,1.04005089763,0.546347460815,-0.00144659596342,1.03971738863
+376,6.266666667,pose2_to_pose3_retreat,0.575746790978,-0.0101222311634,1.04005089232,0.546318424093,-0.00144654565831,1.03971738455
+377,6.283333333,pose2_to_pose3_retreat,0.575725242647,-0.0101221727098,1.0400508594,0.546296875734,-0.00144648735932,1.03971735015
+378,6.300000000,pose2_to_pose3_retreat,0.575708980346,-0.0101220712397,1.04005080123,0.546280611985,-0.00144639091442,1.03971728893
+379,6.316666667,pose2_to_pose3_retreat,0.575697724659,-0.0101222057882,1.04005086443,0.546269358298,-0.00144651848751,1.03971735726
+380,6.333333333,pose2_to_pose3_retreat,0.575689885422,-0.0101222216794,1.04005080378,0.546261518919,-0.00144653494267,1.03971729445
+381,6.350000000,pose2_to_pose3_retreat,0.575684595418,-0.010122192522,1.04005070921,0.546256228034,-0.00144650894456,1.03971719549
+382,6.366666667,pose2_to_pose3_retreat,0.575681274945,-0.0101221436116,1.04005080182,0.546252906884,-0.00144646234478,1.03971728776
+383,6.383333333,pose2_to_pose3_retreat,0.575678932139,-0.0101220979789,1.04005092238,0.546250563555,-0.00144641846146,1.03971740897
+384,6.400000000,pose2_to_pose3_retreat,0.575677327297,-0.0101220667202,1.04005100497,0.546248958355,-0.00144638840103,1.03971749201
+385,6.416666667,pose2_to_pose3_retreat,0.575676018817,-0.010122057707,1.04005101197,0.546247649713,-0.00144637992073,1.03971749943
+386,6.433333333,pose2_to_pose3_retreat,0.575675003667,-0.0101220691453,1.04005094989,0.546246634582,-0.00144639127549,1.03971743774
+387,6.450000000,pose2_to_pose3_retreat,0.575674419392,-0.0101220757286,1.04005091416,0.546246050319,-0.00144639781078,1.03971740224
+388,6.466666667,pose2_to_pose3_retreat,0.575673971884,-0.0101220807709,1.0400508868,0.54624560282,-0.00144640281629,1.03971737504
+389,6.483333333,pose2_to_pose3_retreat,0.575673379632,-0.0101220874442,1.04005085058,0.546245010579,-0.00144640944081,1.03971733906
+390,6.500000000,pose2_to_pose3_retreat,0.575673163123,-0.0101220898837,1.04005083734,0.546244794074,-0.00144641186253,1.0397173259
+391,6.516666667,pose2_to_pose3_retreat,0.575672927729,-0.010122092536,1.04005082295,0.546244558685,-0.00144641449548,1.0397173116
+392,6.533333333,pose2_to_pose3_retreat,0.575672680293,-0.010122095324,1.04005080781,0.546244311254,-0.00144641726313,1.03971729656
+393,6.550000000,pose2_to_pose3_retreat,0.57567226997,-0.010122099634,1.04005077673,0.546243900982,-0.00144642134456,1.03971726692
+394,6.566666667,pose2_to_pose3_retreat,0.575671513359,-0.0101221071334,1.04005071086,0.546243144527,-0.00144642814426,1.03971720555
+395,6.583333333,pose2_to_pose3_retreat,0.57567085852,-0.0101221136241,1.04005065385,0.546242489821,-0.00144643402935,1.03971715243
+396,6.600000000,pose2_to_pose3_retreat,0.575670489154,-0.0101221172852,1.04005062169,0.546242120532,-0.00144643734886,1.03971712246
+397,6.616666667,pose2_to_pose3_retreat,0.575670464847,-0.0101221187234,1.04005062299,0.546242096249,-0.00144643870121,1.03971712378
+398,6.633333333,pose2_to_pose3_retreat,0.575670263421,-0.0101221516925,1.04005069376,0.546241895385,-0.00144646984477,1.03971719258
+399,6.650000000,pose2_to_pose3_retreat,0.575670177891,-0.0101221656921,1.04005072381,0.546241810092,-0.00144648306918,1.03971722179
+400,6.666666667,pose2_to_pose3_retreat,0.575670118635,-0.0101221753911,1.04005074463,0.546241751001,-0.00144649223114,1.03971724203
+401,6.683333333,pose2_to_pose3_retreat,0.57566992547,-0.0101222070081,1.04005081249,0.546241558374,-0.00144652209752,1.03971730801
+402,6.700000000,pose2_to_pose3_retreat,0.575669707312,-0.0101222338564,1.04005088402,0.546241340712,-0.00144654734761,1.03971737727
+403,6.716666667,pose2_to_pose3_retreat,0.575669634866,-0.0101222098144,1.04005088871,0.546241268022,-0.00144652418515,1.03971738071
+404,6.733333333,pose2_to_pose3_retreat,0.575669613384,-0.0101222026854,1.0400508901,0.546241246467,-0.001446517317,1.03971738174
+405,6.750000000,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..24149da37be48028a13808744ea5a78544befbb8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6a28b785ee2ca405af388e628ff51ba19e5ecc3db8de881147087d4f4b12c85
+size 25796666
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..284eefd509b660b8bc9ab59b9f4cc93c25cde11d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+19,0.316666667,BASELINE,765,745,714,679.031523157,659,634,879,787,806,653,630.031523157,652,0.400980064376,-0.0154024280277,0.0498496766723,0.999999963691,-4.23487966551e-05,-0.000261983447397,-4.67949124859e-05,1793244912168049408
+20,0.333333333,BASELINE,765,745,714,679.610274605,659,634,879,787,806,653,630.610274605,652,0.400979438555,-0.0154014137163,0.0498487329703,0.999999963419,-4.10207197374e-05,-0.000263146019915,-4.72659639644e-05,1793244912184716288
+21,0.350000000,BASELINE,765,745,714,680,659,634,879,787,806,653,631,652,0.40097856278,-0.0154014546915,0.0498479075713,0.999999963099,-4.11564530174e-05,-0.00026430735229,-4.7425138379e-05,1793244912201382912
+22,0.366666667,BASELINE,765,745,714,680,659,634,879,787,806,653,631,652,0.400977171662,-0.0154036714087,0.0498473260841,0.99999996268,-4.43102037926e-05,-0.000265466127646,-4.69412987809e-05,1793244912218049536
+23,0.383333333,BASELINE,765,745,714,679.636864442,659,634,879,787,806,653,631,652,0.400976816579,-0.0154039207656,0.0498473761748,0.999999962603,-4.49035117369e-05,-0.000265687514616,-4.67641713443e-05,1793244912234716160
+24,0.400000000,BASELINE,765,745,714,679.056978808,659,634,879,787,806,653,631,652,0.400977079889,-0.0154029958355,0.0498478032445,0.999999962735,-4.39685306979e-05,-0.000265349388864,-4.67701156743e-05,1793244912251382528
+25,0.416666667,BASELINE,765,745,714,679,659,634,879,787,806,653,630.482246318,652,0.400979465203,-0.0154012568285,0.0498488450273,0.999999963427,-4.01914507564e-05,-0.00026328281427,-4.70345769293e-05,1793244912268049408
+26,0.433333333,BASELINE,765,745,714,679,659,634,879,787,806,653,630,652,0.400981506913,-0.0153999761368,0.0498497138151,0.999999964013,-3.73734772185e-05,-0.000261426730012,-4.72529649332e-05,1793244912284716032
+27,0.450000000,BASELINE,765,745,714,679,659,634,879,787,806,653,630,652,0.400980533008,-0.0154015651776,0.049849323656,0.999999963809,-4.1211747082e-05,-0.000261662958188,-4.70818680541e-05,1793244912301382656
+28,0.466666667,BASELINE,765,745,714,679,659,634,879,786.73425697,806,653,630,652,0.400980301675,-0.0154018717537,0.0498490850523,0.999999963782,-4.27351476461e-05,-0.000261513959128,-4.71128663548e-05,1793244912318049280
+29,0.483333333,BASELINE,765,745,714,679,659,634,879,786.151716146,806,653,630,652,0.400980955579,-0.0154006494771,0.0498490271212,0.99999996398,-4.14989441221e-05,-0.000260905722656,-4.73847865353e-05,1793244912334716160
+30,0.500000000,BASELINE,765,745,714,679,659,634,878.574999354,786,806,653,630,652,0.400978944619,-0.0154011709761,0.0498483121642,0.999999963443,-4.06148901565e-05,-0.000263104443301,-4.73393410347e-05,1793244912351383040
+31,0.516666667,BASELINE,765,745,714,679,659,634,878.000333525,786,806,653,630,652,0.400975995221,-0.0154023065506,0.0498473658337,0.999999962637,-3.98548466836e-05,-0.000266291641877,-4.71821343022e-05,1793244912368049920
+32,0.533333333,BASELINE,765,744.425520674,714,679,659,634,879.148958651,786.574479326,806,653,630,652,0.400979622444,-0.0154026684486,0.0498491939776,0.999999963669,-4.20568558385e-05,-0.000262093645887,-4.69141710795e-05,1793244912384716288
+33,0.550000000,BASELINE,765,744,714,679.15357725,659,634,879.84642275,786.84642275,806,653,630.15357725,652,0.400981982369,-0.0154030895638,0.0498502722354,0.999999964284,-4.33155935781e-05,-0.000259563328675,-4.67282483211e-05,1793244912401382912
+34,0.566666667,BASELINE,765,744,714,679.744888376,659,634,879.255111624,786.255111624,806,653,630.744888376,652,0.400980719286,-0.0154036807437,0.0498492085362,0.99999996376,-4.18808668771e-05,-0.000261798540979,-4.67763449375e-05,1793244912418049536
+35,0.583333333,BASELINE,765,744.328542533,714,680,659,634,879,786.328542533,806.328542533,653,631,652,0.400980204177,-0.0154027739657,0.0498491513719,0.999999963734,-4.13734090748e-05,-0.000261956466005,-4.68975065124e-05,1793244912434715904
+36,0.600000000,BASELINE,765,744.906386564,714,680,659,634,879,786.906386564,806.906386564,653,631,652,0.400980256638,-0.0154007305215,0.0498498579769,0.999999964088,-4.15695724297e-05,-0.000260538124023,-4.70741105446e-05,1793244912451382272
+37,0.616666667,BASELINE,765,745,714,680,659,634,879.480444207,787,807,652.519555793,630.519555793,652,0.400978869665,-0.0154008810463,0.049849000213,0.999999963602,-4.08643840352e-05,-0.000262508550769,-4.70699641148e-05,1793244912468049152
+38,0.633333333,BASELINE,765,745,714,679.945701091,659,634,879.945701091,787,806.945701091,652.054298909,630,652,0.400977505017,-0.015401387385,0.0498479702627,0.999999963033,-4.00665782965e-05,-0.000264794447345,-4.70461237302e-05,1793244912484716288
+39,0.650000000,BASELINE,765,745,714,679.366733925,659,634,879.366733925,787,806.366733925,652.633266075,630,652,0.400979044963,-0.0154012334492,0.0498481988048,0.99999996329,-4.0057584105e-05,-0.000263798341829,-4.71696326705e-05,1793244912501382912
+40,0.666666667,BASELINE,765,745,714,679,659,634,879,787,806,652.784010218,630,652,0.400980188889,-0.0154013488709,0.0498485180375,0.999999963528,-4.05178142739e-05,-0.000262815254319,-4.72194005373e-05,1793244912518049536
+41,0.683333333,BASELINE,765,745,714,679,659,634,879,787,806,652.194795333,630,652,0.400980648501,-0.0154019297361,0.0498489939815,0.999999963732,-4.17888527553e-05,-0.000261854661668,-4.71417456105e-05,1793244912534716160
+42,0.700000000,BASELINE,765,745,714,679.387638679,659,634,879,787,806,652.387638679,630,652,0.400979888365,-0.0154030947088,0.0498489964884,0.999999963548,-4.3187880519e-05,-0.000262372702026,-4.69038394122e-05,1793244912551382784
+43,0.716666667,BASELINE,765,745,714,679.966723746,659,634,879,787,806,652.966723746,630,652,0.400978525821,-0.0154045481596,0.0498487651749,0.99999996317,-4.46501193926e-05,-0.000263621007381,-4.65867885676e-05,1793244912568049408
+44,0.733333333,BASELINE,765.541265807,745,714,679.458734193,659,634,879,787,806,653,630,652,0.400979900007,-0.0154028458344,0.0498500798306,0.999999963779,-4.13616479951e-05,-0.000261794354622,-4.68406071217e-05,1793244912584716032
+45,0.750000000,BASELINE,765.881150555,745,714,679,659,634,879,787,806,653,630.118849445,652,0.400981102795,-0.0154012727434,0.0498510919046,0.999999964298,-3.86938122716e-05,-0.000260170022948,-4.70993664753e-05,1793244912601382912
+46,0.766666667,BASELINE,765.290390221,745,714,679,659,634,879,787,806,653,630.709609779,652,0.400980962516,-0.0154009767443,0.0498505282825,0.999999964274,-3.96403576502e-05,-0.00026009342242,-4.72395486308e-05,1793244912618049280
+47,0.783333333,BASELINE,765,745,714,679.294397771,659,634,879,786.705602229,806,653,631,652,0.400980675471,-0.0154013086341,0.0498499261622,0.999999964181,-4.11055704119e-05,-0.000260223119792,-4.72365305393e-05,1793244912634715904
+48,0.800000000,BASELINE,765,745,714,679.873411922,659,634,879,786.126588078,806,653,631,652,0.400980246537,-0.0154022475509,0.0498492868226,0.99999996402,-4.3072217902e-05,-0.00026055226079,-4.70950700573e-05,1793244912651382272
+49,0.816666667,BASELINE,765,745,714,679.550481203,659,634,879.449518797,786.449518797,806,653,631,652,0.400979081307,-0.0154015292652,0.049849070939,0.999999963642,-4.26645702604e-05,-0.000262016031919,-4.73548880298e-05,1793244912668049152
+50,0.833333333,BASELINE,765,745,714,679,659.024833046,634.024833046,879.975166954,787,806,653,631,652,0.400977774741,-0.0154004847832,0.0498489657322,0.999999963225,-4.16748391135e-05,-0.000263702819223,-4.76958877116e-05,1793244912684716032
+51,0.850000000,BASELINE,765,745,714,679,659.600610114,634.600610114,879.399389886,787,806,653,631,652,0.400977903095,-0.0154024905596,0.0498486873549,0.999999963314,-4.25096856746e-05,-0.000263294115687,-4.73470089289e-05,1793244912701382656
+52,0.866666667,BASELINE,765.180999872,745,714,679,659.819000128,635,879,786.819000128,806,653,630.819000128,652,0.400978220104,-0.0154036893935,0.0498485967946,0.999999963454,-4.27961887856e-05,-0.000262764267933,-4.70616383931e-05,1793244912718049024
+53,0.883333333,BASELINE,765.771834014,745,714,679,659.228165986,635,879,786.228165986,806,653,630.228165986,652,0.400978964278,-0.015403061084,0.0498489315045,0.999999963712,-4.1841089107e-05,-0.000261960115858,-4.6920068289e-05,1793244912734715904
+54,0.900000000,BASELINE,765.645213672,745,714,679.354786328,659,634.645213672,879,786,806,653,630.354786328,652,0.40097908955,-0.0154028614847,0.0498493719522,0.9999999638,-4.23947397346e-05,-0.000261554459558,-4.68158007555e-05,1793244912751382528
+55,0.916666667,BASELINE,765.067220086,745,714,679.932779914,659,634.067220086,879,786,806,653,630.932779914,652,0.400978825452,-0.0154029316006,0.0498498789227,0.99999996378,-4.38975927568e-05,-0.000261399509536,-4.673500145e-05,1793244912768049152
+56,0.933333333,BASELINE,765,745,714,680,659,634,879,786.506951016,806,653,630.493048984,652,0.400979892694,-0.0154028210507,0.0498501672044,0.999999964134,-4.2064007545e-05,-0.000260366216653,-4.65974650437e-05,1793244912784716544
+57,0.950000000,BASELINE,765,745,714,679.919519501,659,634,879,787,806,653,630.080480499,652,0.400980858868,-0.015402792041,0.0498503114127,0.999999964438,-4.04159848967e-05,-0.000259479486495,-4.64794827919e-05,1793244912801383936
+58,0.966666667,BASELINE,765,745,714,679.346837674,659,634,879,787,806,653,630.653162326,652,0.40098013538,-0.015403407125,0.0498497505149,0.99999996416,-4.2588204754e-05,-0.000260196049849,-4.6526755266e-05,1793244912818050304
+59,0.983333333,BASELINE,765,745,714,679,659,634,879,787,806,652.764559883,630.764559883,652,0.400979180187,-0.0154029144973,0.049849151679,0.999999963934,-4.27025860238e-05,-0.000261000182649,-4.67619581447e-05,1793244912834716416
+60,1.000000000,BASELINE,765,745,714,679,659,634,879,787,806,652.167545102,630.167545102,652,0.400977869157,-0.015400720713,0.04984849458,0.99999996379,-3.96566638369e-05,-0.000261938799406,-4.72857731568e-05,1793244912851383040
+61,1.016666667,BASELINE,765,744.584491637,714,679,658.584491637,634.415508363,879,787,806,652,630,652,0.400978188838,-0.0154019512805,0.0498490573384,0.999999963866,-4.141224389e-05,-0.000261406447988,-4.71181644367e-05,1793244912868049664
+62,1.033333333,BASELINE,765,744.006884808,714,679,658.006884808,634.993115192,879,787,806,652,630,652,0.400979144694,-0.0154045177591,0.0498500959885,0.999999964018,-4.50409901547e-05,-0.000260300241188,-4.66808168859e-05,1793244912884716288
+63,1.050000000,BASELINE,765,744.566648486,714,679,658.566648486,634.433351514,879,787,806,652,630.566648486,652,0.4009814056,-0.0154032754357,0.0498507920719,0.999999964415,-4.39398223375e-05,-0.000258961708063,-4.66803736329e-05,1793244912901383168
+64,1.066666667,BASELINE,765,745,714,679.144147478,659,634.144147478,879,787,805.855852522,652.144147478,630.855852522,652,0.400982983727,-0.0154023151561,0.0498511807082,0.999999964728,-4.27979145392e-05,-0.000257947201286,-4.6632918501e-05,1793244912918049792
+65,1.083333333,BASELINE,765,745,714,679.734062076,659,634.734062076,879,787,805.265937924,652.734062076,630.265937924,652,0.400982401711,-0.0154023691667,0.0498506313628,0.999999964785,-4.17064708558e-05,-0.000257943392884,-4.64237832976e-05,1793244912934716416
+66,1.100000000,BASELINE,765,745,714,679.682154451,659,634.682154451,879,786.682154451,805.317845549,653,630,652,0.400981374825,-0.0154017555426,0.0498501419565,0.99999996468,-3.94112380596e-05,-0.000258713742666,-4.64171696178e-05,1793244912951383040
+67,1.116666667,BASELINE,765,745,714,679.103403773,659,634.103403773,879,786.103403773,805.896596227,653,630,652,0.400979982764,-0.015400593887,0.0498497017516,0.999999964432,-3.61278689224e-05,-0.000260119564117,-4.65767967672e-05,1793244912968049664
+68,1.133333333,BASELINE,765,745,714,679,659,634,879,786.47177934,806,653,630,652,0.400980360136,-0.015400467399,0.0498499877842,0.999999964486,-3.71253230456e-05,-0.000259766846022,-4.65917811385e-05,1793244912984716544
+69,1.150000000,BASELINE,765,745,714,679,659,634.047365659,879.047365659,787,806.047365659,653,630,652,0.400981054366,-0.0154005500169,0.0498503938166,0.999999964591,-3.88465434477e-05,-0.000259108623495,-4.66070806596e-05,1793244913001383168
+70,1.166666667,BASELINE,765,745,714,679,659,634.636438467,879.636438467,787,806.636438467,653,630,652,0.400980970314,-0.0154004487606,0.04985036547,0.99999996454,-3.81951573081e-05,-0.000259331444842,-4.69858360842e-05,1793244913018049536
+71,1.183333333,BASELINE,765,745,714,679.221672111,659,634.778327889,880,787,807,653,630.221672111,652,0.40098019469,-0.015400633472,0.0498500389432,0.999999964351,-3.81753455803e-05,-0.000260035305537,-4.71451991509e-05,1793244913034716160
+72,1.200000000,BASELINE,765,745,714,679.800716477,659,634.199283523,880,787,807,653,630.800716477,652,0.400978304137,-0.0154012792106,0.0498492317001,0.999999963936,-3.91737365867e-05,-0.000261514681581,-4.69508653611e-05,1793244913051383552
+73,1.216666667,BASELINE,765,745,714,680,659,634.378407634,879.621592366,786.621592366,806.621592366,653,630.621592366,652,0.400978007803,-0.0154020744876,0.0498487176895,0.999999963663,-4.1167179251e-05,-0.000262256485492,-4.69168302822e-05,1793244913068049920
+74,1.233333333,BASELINE,765,745,714,680,659,634.955388646,879.044611354,786.044611354,806.044611354,653,630.044611354,652,0.400978548054,-0.0154029482364,0.049848357556,0.999999963461,-4.36827856559e-05,-0.000262611240594,-4.69669136457e-05,1793244913084716032
+75,1.250000000,BASELINE,765,745,714,679.47023134,659,634.47023134,879,786,806.52976866,653,630,652,0.400978594701,-0.0154015257662,0.0498488892336,0.999999963667,-4.14949547223e-05,-0.000262146152017,-4.71602532365e-05,1793244913101382656
+76,1.266666667,BASELINE,765,745,714,679,659,634,879,786,806.893007417,653,630,652,0.400978664651,-0.0154006267244,0.0498494649121,0.999999963881,-3.99817065926e-05,-0.000261546028419,-4.72556928743e-05,1793244913118049280
+77,1.283333333,BASELINE,765,745,714,679,659,634,879,786,806.301930191,653,630,652,0.400979027179,-0.0154029665075,0.0498499015495,0.999999963997,-4.3303849441e-05,-0.000260645778683,-4.68538730052e-05,1793244913134715648
+78,1.300000000,BASELINE,765,745,714,679,659,634,879,786.283139813,806,652.716860187,630,652,0.400979804466,-0.0154038403121,0.0498504109625,0.999999964193,-4.41237264399e-05,-0.000259788530475,-4.66680931929e-05,1793244913151382528
+79,1.316666667,BASELINE,765,745,714,679,659,634,879,786.861936979,806,652.138063021,630,652,0.400981014845,-0.0154031833273,0.0498509963686,0.999999964479,-4.23307128203e-05,-0.00025897618494,-4.67079045412e-05,1793244913168049152
+80,1.333333333,BASELINE,764.562564517,745,714,679,659,634,878.562564517,787,806,652.437435483,630,652,0.400981479463,-0.0154026906066,0.049850953165,0.999999964515,-4.13240214782e-05,-0.00025896556481,-4.68946943622e-05,1793244913184715776
+81,1.350000000,BASELINE,764.011890851,744.988109149,714,679,659,634,878.011890851,787,806,653,630,652,0.400981674518,-0.0154022460668,0.0498507009434,0.999999964466,-4.05847871795e-05,-0.000259231954394,-4.71230853688e-05,1793244913201382912
+82,1.366666667,BASELINE,764.585880556,744.414119444,714,679,659,634,878.585880556,787,806,653,630,652,0.40098017034,-0.0154016466676,0.0498498766588,0.999999964067,-4.08446941113e-05,-0.0002607209593,-4.71415502574e-05,1793244913218049280
+83,1.383333333,BASELINE,765,744.165468961,714,679,659,634,879,787,806,653,630,652,0.400978808946,-0.0154014024012,0.0498490415107,0.999999963682,-4.14236220506e-05,-0.000262103401306,-4.71448589546e-05,1793244913234715904
+84,1.400000000,BASELINE,765,744.759560069,714,679,659,634,879,787,806,653,630,652,0.400977817411,-0.0154020780519,0.0498481782221,0.999999963334,-4.28289253866e-05,-0.00026320980867,-4.71089078492e-05,1793244913251382784
+85,1.416666667,BASELINE,765,745,714,679,659,634.342342407,879,786.657657593,806,652.657657593,630,652,0.400977867706,-0.0154022516579,0.0498484647673,0.999999963449,-4.24188878634e-05,-0.000262870125384,-4.69289185803e-05,1793244913268049152
+86,1.433333333,BASELINE,765,745,714,679,659,634.917436116,879,786.082563884,806,652.082563884,630,652,0.40097862632,-0.0154020839341,0.0498495330599,0.999999963877,-4.07746387129e-05,-0.00026154727583,-4.66510008372e-05,1793244913284716032
+87,1.450000000,BASELINE,765,745,714,679,659,635,879,786,806,652,630,652,0.400979191699,-0.0154018405104,0.0498497472922,0.999999964109,-3.88399783937e-05,-0.00026096441616,-4.65854852473e-05,1793244913301382656
+88,1.466666667,BASELINE,765,744.93056145,714,679,659,635,878.93056145,786.06943855,806,652.06943855,630,652,0.400979714773,-0.0154018110061,0.0498498353488,0.999999964269,-3.75894721459e-05,-0.000260541670181,-4.6542035993e-05,1793244913318049024
+89,1.483333333,BASELINE,765,744.342390276,714,679,659,635,878.342390276,786.657609724,806,652.657609724,630,652,0.400980163792,-0.0154034743586,0.0498500503451,0.999999964148,-4.18135346716e-05,-0.000260388362434,-4.63974443497e-05,1793244913334715904
+90,1.500000000,BASELINE,765,744,714,679,659.242962775,634.757037225,878.242962775,786.757037225,806,653,630,652,0.400980563799,-0.0154039250644,0.0498503463425,0.999999964207,-4.30887888999e-05,-0.000259939210458,-4.64860209511e-05,1793244913351382528
+91,1.516666667,BASELINE,765,744,714,679,659.824389931,634.175610069,878.824389931,786.175610069,806,653,630,652,0.40098089553,-0.0154026864671,0.0498507551802,0.999999964529,-4.02561436291e-05,-0.0002590779265,-4.68994174709e-05,1793244913368049152
+92,1.533333333,BASELINE,765,744.401457892,714,678.598542108,659.598542108,634,879,786,806,652.598542108,630,652,0.400980233313,-0.0154025395074,0.0498501343968,0.999999964316,-4.03403094605e-05,-0.000259903229283,-4.68110273297e-05,1793244913384715776
+93,1.550000000,BASELINE,765,744.976639539,714,678.023360461,659.023360461,634,879,786,806,652.023360461,630,652,0.400979140981,-0.0154028649343,0.0498490680634,0.999999963869,-4.16866731138e-05,-0.000261458372372,-4.65054979816e-05,1793244913401382400
+94,1.566666667,BASELINE,765,745,714,678.531454719,659,634,879.531454719,786.531454719,806,652.531454719,630,652,0.400980102994,-0.0154029309278,0.0498497567081,0.99999996418,-4.17730701885e-05,-0.000260220873095,-4.66952577618e-05,1793244913418050048
+95,1.583333333,BASELINE,765.094546454,745,714,679.094546454,659,634,879.905453546,786.905453546,806,652.905453546,630.094546454,652,0.400980652083,-0.0154029430622,0.0498502084971,0.999999964396,-4.1327664736e-05,-0.000259440312036,-4.68114387788e-05,1793244913434717440
+96,1.600000000,BASELINE,765.707773376,745,714,679.707773376,659,634,879.292226624,786.292226624,806,652.292226624,630.707773376,652,0.400978458782,-0.0154027199777,0.0498489533225,0.999999963918,-3.82574134845e-05,-0.000261815071119,-4.64089417302e-05,1793244913451383552
+97,1.616666667,BASELINE,765.69621961,745,714,679.69621961,659,634,879,786.30378039,806,652.30378039,630.69621961,652,0.400978329183,-0.0154040459299,0.0498489151389,0.999999963878,-3.92931278604e-05,-0.000261877829664,-4.60429261463e-05,1793244913468049920
+98,1.633333333,BASELINE,765.115888989,745,714,679.115888989,659,634,879,786.884111011,806,652.884111011,630.115888989,652,0.4009800783,-0.0154067820666,0.0498499848583,0.999999964227,-4.40667589621e-05,-0.000259835829807,-4.57101219383e-05,1793244913484716544
+99,1.650000000,BASELINE,765,744.539212797,714,679,659,634,879,787,806,652.539212797,630,652,0.400979907161,-0.015404721551,0.0498503147722,0.999999964246,-4.34765948944e-05,-0.000259764135571,-4.62656160587e-05,1793244913501383168
+100,1.666666667,BASELINE,764.963662803,744.036337197,714,679,659,634,879,787,806,652,630,652,0.400979248682,-0.0154016821261,0.0498504044326,0.99999996417,-4.16589868221e-05,-0.00026022316117,-4.69908528303e-05,1793244913518050304
+101,1.683333333,BASELINE,764.391274592,744.608725408,714,679,659,634,879,787,806,652,630,652,0.400978469353,-0.0154018581766,0.0498496730669,0.99999996391,-4.14780922581e-05,-0.000261258740751,-4.69503297146e-05,1793244913534716672
+102,1.700000000,BASELINE,764,745,714,679,659,634,879,786.811318686,806,652.188681314,630,651.811318686,0.400978755073,-0.0154025186917,0.0498496662124,0.999999963945,-4.19839635445e-05,-0.000261057655851,-4.68630403079e-05,1793244913551383040
+103,1.716666667,BASELINE,764,745,714,679,659,634,879,786.215013746,806,652.784986254,630,651.215013746,0.400981341703,-0.015404225835,0.0498512245782,0.999999964614,-4.39735111071e-05,-0.000258184903718,-4.66747178755e-05,1793244913568049408
+104,1.733333333,BASELINE,764.36922916,744.63077084,714,678.63077084,658.63077084,634.36922916,879,786,806,653,630,651.36922916,0.400982243566,-0.0154038820223,0.0498519564978,0.999999964912,-4.32983950763e-05,-0.000257137252298,-4.67030452318e-05,1793244913584716032
+105,1.750000000,BASELINE,764.946670224,744.053329776,714,678.053329776,658.053329776,634.946670224,879,786,806,653,630,651.946670224,0.400982195373,-0.0154023816557,0.0498522223764,0.999999965002,-4.11206495837e-05,-0.000257118792604,-4.68535434879e-05,1793244913601382912
+106,1.766666667,BASELINE,765,744.521292175,714,678.521292175,659.042584351,635,879,786.521292175,805.478707825,652.478707825,630,652,0.400981046098,-0.0154017327786,0.0498513738385,0.999999964542,-4.18917580347e-05,-0.000258712769021,-4.72082789521e-05,1793244913618049280
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,787,806,653,630,652,0.400979833208,-0.015402889407,0.0498499345352,0.99999996425,-4.09666877712e-05,-0.000260062031511,-4.6802026472e-05,1793244913660229632
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.420089911,634,878,786.420089911,805.420089911,652.420089911,630,652,0.400979277893,-0.0154032736216,0.049849365055,0.999999963906,-4.23078883071e-05,-0.000261138986926,-4.69496648326e-05,1793244913676896768
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.841611903,745,714,679,658.158388097,634,878.158388097,786.158388097,805,652.158388097,630,652,0.400978854366,-0.0154033077766,0.0498489404397,0.999999963722,-4.29734385153e-05,-0.000261713505244,-4.70668578079e-05,1793244913693563904
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.266898019,745,714,679,658.733101981,634,878.733101981,786.733101981,805,652.733101981,630,652,0.400978777243,-0.015402421794,0.0498488966044,0.999999963962,-4.18630307267e-05,-0.000260967359412,-4.71040246064e-05,1793244913710229760
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.314845478,745,714,679.314845478,659,634,879,787,805.314845478,653,630,652,0.400978955177,-0.0154019323652,0.0498492944726,0.999999964054,-4.14548921314e-05,-0.000260672748397,-4.7142177475e-05,1793244913726896128
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.90268411,745,714,679.90268411,659,634,879,787,805.90268411,653,630,652,0.400979354263,-0.0154017867764,0.0498500753287,0.999999964019,-4.16556703399e-05,-0.000260769649843,-4.71811853337e-05,1793244913743562496
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.516612043,714,679.516612043,659,634,879,786.516612043,806,652.516612043,630.483387957,652,0.400980298214,-0.0154010909457,0.0498505621795,0.999999964277,-4.15617198465e-05,-0.000259824571304,-4.70051546857e-05,1793244913760229376
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.062406475,714,679,659,634,879,786,806,652.062406475,630.937593525,652,0.400981256118,-0.015400449946,0.0498509439181,0.999999964545,-4.13489065934e-05,-0.000258860601523,-4.6816536629e-05,1793244913776896000
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.639200826,714,679,659,634,879,786,806,652.639200826,630.360799174,652,0.400981438035,-0.0154011606794,0.049850940039,0.99999996442,-4.06383190657e-05,-0.00025944482363,-4.68758092938e-05,1793244913793562880
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.785133436,714,679,659,634,878.785133436,786.214866564,806,653,630,652,0.400987031327,-0.0154020889316,0.0498532598389,0.999999965482,-4.07907663527e-05,-0.000255339147286,-4.66355387705e-05,1793244913810229504
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.211352996,714,679,659,634,878.211352996,786.788647004,806,653,630,652,0.401001663799,-0.0154033805278,0.0498594611205,0.999999968427,-4.23848301477e-05,-0.000243399447712,-4.5894910224e-05,1793244913826895872
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.373822854,714,679,659,634,878.373822854,786.626177146,806,653,630.373822854,652,0.401034987214,-0.0154061461795,0.0498721093177,0.999999974338,-4.29485805306e-05,-0.000218002738026,-4.41964917123e-05,1793244913843562752
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.965644103,714,679,659,634,878.965644103,786.034355897,806,653,630.965644103,652,0.401079210433,-0.015409771441,0.0498885170963,0.999999981132,-4.29114938493e-05,-0.000184758442099,-4.19395286594e-05,1793244913860229120
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.542721463,745,714,679,659,634,879,786,806.542721463,653,630.457278537,652,0.401144190809,-0.0154123876258,0.0499076586788,0.999999987744,-4.44078609188e-05,-0.000144636502842,-4.02605694661e-05,1793244913876895488
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.881293798,745,714,679,659,634,879,786.118706202,806.881293798,653,630,652,0.401212287945,-0.0154153917104,0.0499254110974,0.999999992137,-4.56517566793e-05,-0.000110281438835,-3.8471905838e-05,1793244913893562112
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.306016498,745,714,679,659,634,879,786.693983502,806.306016498,653,630,652,0.401287452636,-0.0154201269362,0.0499371724649,0.999999993336,-4.55611037728e-05,-9.97373444328e-05,-3.61242846733e-05,1793244913910228992
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.731075378,714,679,659,634,879,787,806,653,630,652,0.401369142604,-0.0154257092902,0.0499447157208,0.999999994134,-4.73803962197e-05,-9.10646930399e-05,-3.45641744562e-05,1793244913926895616
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.156516363,714,679,659,634,879,787,806,653,630,652,0.401458248584,-0.0154322544101,0.0499474650677,0.999999994534,-5.13703526565e-05,-8.45189481301e-05,-3.38990751457e-05,1793244913943562496
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.430932212,714,679.430932212,659,634,879,787,806,653,630,652,0.401560538236,-0.0154370474259,0.0499476114159,0.999999994494,-5.06406221098e-05,-8.56900483396e-05,-3.32334779528e-05,1793244913960229120
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.977316436,659,634,879,787,806,653,630,652,0.401668858795,-0.0154414449306,0.0499467712495,0.999999994277,-4.84143973824e-05,-8.96805146052e-05,-3.25430207121e-05,1793244913976896256
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.398392402,659,634,879,787,806,653,630,652,0.401804028322,-0.015452229905,0.0499456381821,0.999999993888,-5.28230212236e-05,-9.19583159478e-05,-3.12475225854e-05,1793244913993562624
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.822133869,745,714,679,659,634,879,786.822133869,806.177866131,653,630.177866131,652,0.40194730537,-0.0154625018918,0.0499438076383,0.999999993365,-5.7071572137e-05,-9.54228622981e-05,-3.01228396231e-05,1793244914010228992
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.251757569,745,714,679,659,634,879,786.251757569,806.748242431,653,630.748242431,652,0.402108473861,-0.01547164183,0.0499404379223,0.999999992558,-6.09668778568e-05,-0.000101506285158,-2.93751071213e-05,1793244914026895616
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.331304776,745,714,679,659,634,879,786,806.337390447,653,630.668695224,652,0.402294035738,-0.0154814697333,0.0499404499536,0.99999999234,-6.3610300799e-05,-0.000102342475773,-2.82641829136e-05,1793244914043562240
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.924391103,745,714,679,659,634,879,786,805.151217794,653,630.075608897,652,0.402498872148,-0.0154918412356,0.0499431340831,0.999999992606,-6.52645449e-05,-9.90325493693e-05,-2.68662815148e-05,1793244914060228864
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.495780743,744.495780743,714,679,659,634.504219257,879,786,805.504219257,653,630,652,0.402742946299,-0.0155024370057,0.049950162541,0.999999993826,-6.33841099605e-05,-8.80299560569e-05,-2.4116784592e-05,1793244914076895744
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.081735032,744.081735032,714,679,659,635,879,786,806,653,630.081735032,652,0.402998104154,-0.0155126183956,0.0499578661553,0.999999995126,-6.02006215244e-05,-7.53604814622e-05,-2.10914257197e-05,1793244914093562112
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.656985467,744.656985467,714,679,659,635,879,786,806,653,630.656985467,652,0.403285569337,-0.0155200999142,0.0499658137346,0.999999996714,-5.22676500467e-05,-5.94129660612e-05,-1.75928101458e-05,1793244914110228992
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.232614519,659,634.767385481,879,786,806,653,630.767385481,652,0.403590096648,-0.0155204131195,0.049972654159,0.999999998246,-3.56855427535e-05,-4.49248443609e-05,-1.47308347579e-05,1793244914126895616
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.808802758,659,634.191197242,879,786,806,653,630.191197242,652,0.403919824856,-0.0155101386618,0.0499778593053,0.999999999367,-6.32858515296e-06,-3.25922611216e-05,-1.28091828108e-05,1793244914143562496
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.395759593,634,879,786,806,652.604240407,630.395759593,652,0.404277905349,-0.0155031497685,0.0499839075933,0.999999999537,1.96357089941e-05,-2.06201677429e-05,-1.07644907804e-05,1793244914160229120
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.988064395,634,879,786,806,652.011935605,630.988064395,652,0.404650066366,-0.0154977925781,0.0499903746089,0.999999998959,4.39151113259e-05,-8.82710400881e-06,-8.65869368113e-06,1793244914176895744
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.562849607,745,714,679.437150393,659.437150393,634.562849607,879,786.562849607,806,652,630.437150393,652,0.405044212093,-0.0155096226412,0.0499834049633,0.999999998586,4.90579025043e-05,-1.97799239783e-05,-5.47598567789e-06,1793244914193562368
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.862126891,745,714,679,659,634.862126891,879,787,806,652,630,652,0.405441790788,-0.0155198172266,0.0499727847164,0.999999997661,5.63080241735e-05,-3.87358968289e-05,-2.73552270776e-06,1793244914210229248
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.285197294,745,714,679,659,634.285197294,879,787,806,652,630,652,0.405848861883,-0.0155236780278,0.0499514191211,0.999999994105,7.15222060156e-05,-8.16882346837e-05,-1.47391614982e-06,1793244914226895872
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.298419279,786.701580721,806,652,630,652,0.406293465923,-0.0155244087234,0.0499346455157,0.99999998946,9.2169961596e-05,-0.000112177091962,-2.44015907075e-08,1793244914243562496
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.888573105,786.111426895,806,652,630,652,0.406774762202,-0.0155220794297,0.0499223610348,0.999999984509,0.000118129578177,-0.000130481661606,1.60881189075e-06,1793244914260229632
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,880,786.468762347,806,652.468762347,630.468762347,652,0.407307405725,-0.015519895665,0.0499246781947,0.99999998156,0.000147776934826,-0.000122541392036,5.10539731843e-06,1793244914276896512
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.953180694,787,806,652.953180694,630.953180694,652,0.407857455444,-0.0155182674407,0.0499321598862,0.999999978561,0.000177854984622,-0.000105641297561,9.23959533802e-06,1793244914293563136
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.372992502,787,806,652.372992502,630.372992502,652,0.408469646841,-0.015522582087,0.0499597588631,0.999999977677,0.000203061204573,-5.62605398443e-05,1.56966432534e-05,1793244914310229760
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.204365317,679,659,634,879,787,806,652,630.204365317,652,0.40908429417,-0.0155266735311,0.0499814639431,0.99999997357,0.000228066039609,-1.95055796504e-05,2.15760999845e-05,1793244914326896384
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.776627885,679,659,634,879,787,806,652,630.776627885,652,0.409703362618,-0.0155303631673,0.0499925588626,0.999999967705,0.000252708342011,-5.47950953863e-06,2.64157801187e-05,1793244914343562752
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.640180991,679.359819009,659,634,879,787,806,652.359819009,631,652,0.410321417024,-0.0155327593976,0.0499841661511,0.999999960456,0.000277996909584,-3.02506152893e-05,2.9857714029e-05,1793244914360229376
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.049993038,679.950006962,659,634,879,787,806,652.950006962,631,652,0.41093882218,-0.0155343275431,0.0499632967637,0.999999950169,0.000303699237593,-7.98610552715e-05,3.24047607755e-05,1793244914376896256
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.530314198,745,714,679.469685802,659.530314198,634,879,787,806,652.469685802,630.469685802,652,0.411608219782,-0.0155334300353,0.0499421450811,0.999999937682,0.000332696012628,-0.000113178230913,3.37527091376e-05,1793244914393563136
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.891263765,745,714,679.108736235,659.891263765,634,879,787,806,652,630.108736235,652,0.412303856225,-0.0155334930404,0.0499312544037,0.999999937963,0.000327011464684,-0.000125837685637,3.60923337838e-05,1793244914410229504
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.316998047,745,714,679.683001953,659.316998047,634,879,787,806,652,630.683001953,652,0.413091227873,-0.0155386451946,0.0499644057446,0.999999982759,0.000171541387527,-5.65114422919e-05,4.31526962918e-05,1793244914426896128
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.741918268,659.258081732,634,879.258081732,786.741918268,806,652,630.741918268,652,0.413856223027,-0.0155435467178,0.0499789246369,0.999999997795,4.80015322043e-05,-2.96597366488e-05,3.50304289769e-05,1793244914443562496
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.16583535,659.83416465,634,879.83416465,786.16583535,806,652,630.16583535,652,0.41459364659,-0.0155481394208,0.0499704851447,0.999999997791,-3.61948024249e-05,-5.51439757764e-05,8.20054617823e-06,1793244914460229376
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.421364932,745,714,679.421364932,660,634.421364932,879.578635068,786.421364932,806.421364932,652,630,651.578635068,0.415363144255,-0.015554200659,0.0499467641008,0.999999995159,-3.75586391231e-05,-9.09280323104e-05,2.10417825399e-06,1793244914476896256
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.987271299,745,714,679.987271299,659.987271299,634.987271299,879.012728701,787,806.987271299,652,630.012728701,651.012728701,0.416146938901,-0.0155607510872,0.0499179365161,0.999999991633,-5.22886589694e-06,-0.000129175019472,4.49598706992e-06,1793244914493562624
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.410550482,745,714,679.410550482,659.410550482,634.410550482,879.589449518,787,806.410550482,652,630.589449518,651.589449518,0.416989736704,-0.0155626739607,0.0499365527081,0.999999995031,3.64072526376e-05,-9.20712377839e-05,1.16296615584e-05,1793244914510229248
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679.165581607,659.165581607,634,880,787,806,652,631,652,0.417835341387,-0.0155630294864,0.0499550820012,0.999999995218,7.58601237451e-05,-5.90388591981e-05,1.80110906228e-05,1793244914526895872
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679.740259112,659.740259112,634,880,787,806,652,631,652,0.418687880866,-0.0155595126278,0.0499733965956,0.999999993055,0.000109918929824,-3.60655373271e-05,2.25339764257e-05,1793244914543562496
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.323666602,745,714,679.676333398,659.676333398,634,880.323666602,787,806,652,630.676333398,652,0.419523788126,-0.0155571563997,0.049970223225,0.999999989559,0.000134970861474,-4.56166372235e-05,2.41634414251e-05,1793244914560229376
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.91427403,745,714,679.08572597,659.08572597,634,880.91427403,787,806,652,630.08572597,652,0.420345978085,-0.0155557573902,0.0499493278672,0.999999984722,0.000152594460846,-8.19919332001e-05,2.3406586022e-05,1793244914576896000
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,679.495491012,659.990982023,634,880.504508988,787,806,652,630.495491012,652,0.421296749085,-0.0155619839658,0.0499693929202,0.999999987477,0.000152716864924,-3.32483376385e-05,2.48540849842e-05,1793244914593562624
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,679.925489764,660.925489764,634,880,786.925489764,806,652,631,652,0.422258077207,-0.0155680850658,0.0499924203061,0.999999988324,0.000149104864544,2.0413716403e-05,2.6527862209e-05,1793244914610228992
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,679.350523033,660.350523033,634,880,786.350523033,806,652,631,652,0.423143673702,-0.0155646468508,0.049988631535,0.999999989728,0.000140369421637,1.00379299731e-05,2.72075235823e-05,1793244914626895616
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.775532525,745,714,679.224467475,659.775532525,634,880,786.224467475,806.224467475,652,631,652,0.424037420903,-0.0155634887197,0.0499828978757,0.999999990635,0.000134045283218,-5.37265565915e-07,2.7588480404e-05,1793244914643562240
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.200504794,745,714,679.799495206,659.200504794,634,880,786.799495206,806.799495206,652,631,652,0.424943897539,-0.0155658914908,0.0499741268026,0.999999990912,0.00013148697866,-1.14238882531e-05,2.75029379284e-05,1793244914660228608
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.614808779,659.385191221,634,880,787,806.614808779,651.614808779,630.614808779,652,0.425858975673,-0.0155700293084,0.0499832361897,0.999999989805,0.000139543688851,-5.94988512925e-06,2.97104253221e-05,1793244914676895488
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.023401422,659.976598578,634,880,787,806.023401422,651.023401422,630.023401422,652,0.426778658654,-0.0155750960012,0.0500019180682,0.999999987669,0.000153283257984,8.28295026612e-06,3.31455101615e-05,1793244914693562368
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.554474688,745,714,679,660,634,880.554474688,787,806,651.554474688,630.554474688,652,0.427660477394,-0.0155677927558,0.0499706958589,0.999999982852,0.000172033534373,-6.13414123876e-05,3.06285286493e-05,1793244914710229248
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679.131609485,660,634,881,787,806,652,630.868390515,652,0.428555543366,-0.0155619274147,0.0499445162194,0.999999977295,0.000178321324126,-0.000113158373152,2.83878638855e-05,1793244914726895616
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679.708122795,660,634,881,787,806,652,630.291877205,652,0.429500664836,-0.015562645691,0.049942333225,0.999999985226,0.000141782013924,-9.3098603373e-05,2.79102490475e-05,1793244914743562496
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,679.709861721,660.290138279,634,880.709861721,787,806,652,630,652,0.430418783974,-0.0155625497629,0.0499427209206,0.999999987351,0.000134064694373,-8.08376120553e-05,2.8089940864e-05,1793244914760229120
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679.122204124,660.877795876,634,880.122204124,787,806,652,630,652,0.431309213788,-0.0155616189174,0.0499457447038,0.999999984497,0.00015590259137,-7.65737993015e-05,2.89436610921e-05,1793244914776895488
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.541762308,745,714,679.458237692,660.541762308,634,880.916475384,787,806.458237692,652,630.458237692,651.541762308,0.432208648553,-0.0155600534847,0.0499394207742,0.999999980864,0.000173125785987,-8.6432342283e-05,2.8806173249e-05,1793244914793562112
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,881.926457762,787,806.963228881,652,630.963228881,651.036771119,0.433112739529,-0.0155583365396,0.0499327136192,0.99999997709,0.00018879294109,-9.6740430375e-05,2.86115740087e-05,1793244914810228736
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.769801515,787,806.384900758,652,630.384900758,651.615099242,0.434050585207,-0.015556841947,0.0499565077501,0.999999977885,0.000199387003299,-5.9061583688e-05,3.14086121818e-05,1793244914826895616
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806.192313318,652,630.192313318,652,0.434953910121,-0.0155543531593,0.0499702833145,0.999999978827,0.000198331539216,-4.35087161888e-05,3.34222993089e-05,1793244914843562496
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806.767310657,652,630.767310657,652,0.435788542382,-0.0155498860237,0.0499641229509,0.999999981681,0.000174094700271,-7.19842989857e-05,3.38771977695e-05,1793244914860229120
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.350598904,633.649401096,880.350598904,787,807,652,631,652,0.436616641123,-0.0155490532134,0.0499524519842,0.999999979424,0.000176145410745,-9.46915381397e-05,3.40480373414e-05,1793244914876895744
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.939522994,633.060477006,880.939522994,787,807,652,631,652,0.43744029855,-0.015550690894,0.0499370350978,0.999999973762,0.000196065502859,-0.000113477652169,3.40257833369e-05,1793244914893562112
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,633.51964648,881,787,807,652,631,652,0.438318308002,-0.0155563063987,0.0499624637379,0.99999997711,0.000201537124261,-6.24012764159e-05,3.56242218475e-05,1793244914910228992
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.098658804,745,714,680,660.901341196,634,881,787,807,652,631,652,0.43918647418,-0.0155606991625,0.0499838099337,0.999999978535,0.000203034980034,-1.93519790112e-05,3.65070432725e-05,1793244914926895616
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.677165311,745,714,680,660.322834689,634,881,787,807,652,631,652,0.439976512269,-0.0155569307464,0.0499625650003,0.999999979312,0.000193247861541,-5.42306950799e-05,3.30072072094e-05,1793244914943562240
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714,680.253933563,660,634,881,787,807,652,631,652,0.440752165852,-0.0155568082063,0.0499485970041,0.999999980638,0.000178479693415,-7.68605110986e-05,3.10171346706e-05,1793244914960228864
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,714,680.828506894,660,634,881,787,807,652,631,652,0.441509656181,-0.0155612892835,0.0499438175366,0.999999983601,0.000157421996877,-8.40237417999e-05,3.09334280895e-05,1793244914976895744
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.412791285,634,881.412791285,787,807,652,631,652,0.442239419995,-0.0155665953194,0.0499460947479,0.999999984522,0.000155646631822,-7.54372167441e-05,3.22506983431e-05,1793244914993562368
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.998809325,745,714,681,660.998809325,633.998809325,881.998809325,786.998809325,807,652,631,651.998809325,0.442957221039,-0.0155722437205,0.0499512953699,0.999999984464,0.000162072211141,-6.03162983008e-05,3.41571467509e-05,1793244915010228992
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.418524212,745,714,681,660.418524212,633.418524212,881.418524212,786.418524212,807,652,631,651.418524212,0.443594089777,-0.0155737000701,0.0499181224573,0.999999977545,0.000167111867851,-0.000126146754146,3.27190480569e-05,1793244915026895616
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680.839934622,660,633,881,786,807,652,630.839934622,651.160065378,0.444226501492,-0.0155761230902,0.0498811141389,0.99999996664,0.00017099186238,-0.000191140063147,3.07833180095e-05,1793244915043562240
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680.26573174,660,633,881,786,807,652,630.26573174,651.73426826,0.44484738168,-0.0155810471791,0.0498341824593,0.999999952601,0.000171871462667,-0.000253967435256,2.75600651932e-05,1793244915060228864
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680.3154563,660,633,881,786,807,652,630,652,0.445466379605,-0.0155888928525,0.0498160203348,0.999999948272,0.000171200358376,-0.00027094057744,2.71727981986e-05,1793244915076895488
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680.902661654,660,633,881,786,807,652,630,652,0.446083756021,-0.0155992553171,0.0498226416754,0.999999954405,0.000169193403751,-0.000248412702863,2.92285844624e-05,1793244915093562112
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.518364966,633,881,786,807.481635034,651.518364966,630,652,0.446643482433,-0.0156075953853,0.0498114799755,0.999999951085,0.000166308624275,-0.0002632210618,2.97585032774e-05,1793244915110228992
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714.059123022,681,659.059123022,633,880.940876978,785.940876978,807.940876978,651.059123022,630,652,0.447185495204,-0.0156150288713,0.0497943474213,0.999999944407,0.000163712196661,-0.000288958433371,2.97963870678e-05,1793244915126895616
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714.637932436,681,659.637932436,633,880.362067564,785.362067564,807.362067564,651.637932436,630,652,0.447672497398,-0.0156180258706,0.0497557912056,0.999999926258,0.000165183556179,-0.000345549887781,2.81743863303e-05,1793244915143562752
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.784857529,632.784857529,880,785.215142471,807.215142471,652,630,652,0.448157382865,-0.0156225382086,0.0497278301891,0.999999910574,0.000165539898054,-0.000388204825409,2.72912750098e-05,1793244915160229632
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.210319315,632.210319315,880,785.789680685,807.789680685,652,630,652,0.448638732287,-0.0156295819215,0.0497175684684,0.999999903104,0.000164033602222,-0.000407578791725,2.76424795744e-05,1793244915176896000
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.374398761,632,880.374398761,785.625601239,807.625601239,652,630,652,0.449097185381,-0.0156366498198,0.0497221193991,0.9999999057,0.000158642627494,-0.000403178602154,2.96599205536e-05,1793244915193562624
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.964995286,632,880.964995286,785.035004714,807.035004714,652,630,652,0.449542416964,-0.0156437316848,0.0497352239417,0.999999913934,0.000151008432323,-0.000385049951876,3.26395351153e-05,1793244915210229248
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.45651398,681,660,632,881,785,807.54348602,652,630,652,0.449961582593,-0.0156463309287,0.0497452551425,0.999999927088,9.459786286e-05,-0.000368462438389,3.33211976087e-05,1793244915226896128
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.120732919,681,660,631.879267081,881,785,808,652,629.879267081,652,0.450362838551,-0.0156492570525,0.0497513599115,0.999999933982,3.52660372441e-05,-0.000360410827269,2.993736477e-05,1793244915243563008
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.696168003,681,660,631.303831997,881,785,808,652,629.303831997,652,0.450702828624,-0.0156544779292,0.0497434062868,0.999999925872,-2.34938388594e-05,-0.000384141288229,1.17874081227e-05,1793244915260229376
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.277832458,745,715,681,660,631.277832458,881,785,808,652,629,652,0.451019978367,-0.0156619723262,0.0497312387511,0.999999913574,-5.56502811996e-05,-0.000412006616063,2.36611021063e-06,1793244915276896000
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.866465437,745,715,681,660,631.866465437,881,785,808,652,629,652,0.451311577488,-0.0156720100227,0.0497143572751,0.999999899523,-5.80464785028e-05,-0.000444497460681,2.70922936004e-06,1793244915293562368
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.552756454,745,715,681,659.552756454,632,880.552756454,784.552756454,808,652,629,652,0.45157516634,-0.0156729507281,0.0496971798973,0.999999885594,-4.8905186545e-05,-0.000475827530177,2.85072221847e-06,1793244915310228992
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.02572456,715,680.97427544,659,631.97427544,880.02572456,784,807.97427544,652,628.97427544,652,0.451830223366,-0.015671387126,0.0496806354237,0.999999871711,-3.66972934611e-05,-0.00050519630869,2.99363838727e-06,1793244915326895616
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.604370697,715,680.395629303,659,631.395629303,880.604370697,784,807.395629303,652,628.395629303,652,0.452078551236,-0.0156733683712,0.0496795607049,0.999999874634,-3.13399061466e-05,-0.000499729968166,4.43874888647e-06,1793244915343562496
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.825703538,715,680.174296462,659,631,881,784,807,652,628.174296462,652,0.452316566123,-0.0156755689798,0.0496819658796,0.999999879105,-2.62518085678e-05,-0.000490981835705,6.15980626201e-06,1793244915360229120
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.27462876,715,680.72537124,659,631,881,784,807,652,628.72537124,652,0.452532287308,-0.0156782437883,0.0496918935734,0.999999886849,-2.17458378582e-05,-0.00047513942316,8.47738042985e-06,1793244915376895744
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.308764621,715,681,659,631,881,784,807.308764621,652,628.691235379,652,0.452728249506,-0.0156803362879,0.0496966057078,0.999999890635,-1.76762971468e-05,-0.000467244458133,9.98478345809e-06,1793244915393562368
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.924264227,715,681,659,631,881,784,807.924264227,652,628.075735773,652,0.452904582627,-0.0156818503068,0.0496961365679,0.999999890686,-1.40403170682e-05,-0.00046724469704,1.06873412077e-05,1793244915410228992
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.49170181,715,681,659.50829819,631,881,784.50829819,807.49170181,652,628,652,0.453041269987,-0.0156847355474,0.0496879077204,0.999999884311,-1.20030115294e-05,-0.000480709302114,1.23836537372e-05,1793244915426895872
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.912658731,631,881,784.912658731,807.087341269,652,628,652,0.453169072768,-0.0156873642041,0.0496791946176,0.999999877386,-1.03795412113e-05,-0.000494901048744,1.39256135773e-05,1793244915443563008
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.336836028,631,881,784.336836028,807.663163972,652,628,652,0.453278297629,-0.0156874817894,0.049673862526,0.999999873556,-9.81601993236e-06,-0.000502593524578,1.38244726702e-05,1793244915460229376
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.236774277,631,881,784,808,652,628,652,0.45337684618,-0.0156951086341,0.0496679885492,0.999999869374,-1.43522416037e-05,-0.000510645398309,1.6940972871e-05,1793244915476895744
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.807266319,631,881,784,808,652,628,652,0.453460347166,-0.0157133192856,0.0496613508212,0.999999864571,-2.60762154709e-05,-0.000519203819205,2.45925265211e-05,1793244915493562368
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.605428915,631,881,784,808,652,628,652,0.453535667832,-0.0157340526285,0.0496591625259,0.999999862649,-4.48364924789e-05,-0.00052133012816,3.01196725969e-05,1793244915510228736
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.009546255,631,881,784,808,652,628,652,0.453606814868,-0.0157560730571,0.0496592443472,0.999999861855,-6.71867160895e-05,-0.000520174750206,3.45629381009e-05,1793244915526895616
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680.434136135,659.565863865,631,880.434136135,784,808,652,628,652,0.453657990235,-0.0157472013613,0.0496596280729,0.999999862175,-5.75950875563e-05,-0.000520823944661,3.27913576583e-05,1793244915543562496
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.14127093,745.14127093,715,680.14127093,659.85872907,631,880.14127093,783.85872907,808,652,628,652,0.453705088741,-0.0157397081637,0.049660006169,0.999999862545,-4.9427039769e-05,-0.000521039183912,3.13755483513e-05,1793244915560229120
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.717695188,745.717695188,715,680.717695188,659.282304812,631,880.717695188,783.282304812,808,652,628,652,0.453740630971,-0.0157380103783,0.0496603517835,0.999999863282,-4.72459154793e-05,-0.00051982722148,3.13672902788e-05,1793244915576895744
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.69870024,745.69870024,715,681,659,631,881,783.30129976,807.69870024,652,628,652,0.453769780242,-0.0157401212361,0.0496600660504,0.999999863159,-4.93983108459e-05,-0.000519828335798,3.19514219766e-05,1793244915593562624
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.108203715,745.108203715,715,681,659,631,881,783.891796285,807.108203715,652,628,652,0.453792793358,-0.0157458877463,0.0496591743303,0.999999862183,-5.57101512569e-05,-0.00052099379829,3.31041475739e-05,1793244915610229248
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.470721207,715,681.470721207,659,631,881,784,807,652,628,652,0.45380690331,-0.0157428792751,0.0496573874674,0.999999860958,-5.27119427122e-05,-0.000523697217093,3.23568224147e-05,1793244915626895872
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.9528173,715,681.9528173,659,631,881,783.9528173,807.0471827,652,628,652,0.453818518982,-0.0157383843534,0.0496554154195,0.99999985963,-4.81351672143e-05,-0.000526730571198,3.12702079407e-05,1793244915643562240
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.374862678,715,681.374862678,659,631,881,783.374862678,807.625137322,652,628,652,0.453824545669,-0.0157393142928,0.0496536193412,0.999999858064,-4.92974170024e-05,-0.000529593957497,3.11621941274e-05,1793244915660229120
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.201622918,715,681,659,631,881,783,807.798377082,652,628,652,0.453829984812,-0.0157397211115,0.0496529142426,0.999999857261,-5.00257309192e-05,-0.000531036450709,3.12500421465e-05,1793244915676895488
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.775396983,715,681,659,631,881,783,807.224603017,652,628,652,0.453834339479,-0.0157391623656,0.0496542228505,0.999999857876,-4.99530954794e-05,-0.000529856290549,3.16994076346e-05,1793244915693562112
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,715,681,659,631,881,783,807,652,628,652,0.453838356309,-0.0157336172131,0.0496520440513,0.999999856978,-4.65806708293e-05,-0.000531917532407,3.0639358679e-05,1793244915726895872
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.467398557,715,681,659.532601443,630.467398557,881,783.532601443,807,652,628,651.467398557,0.453838664557,-0.01573424563,0.0496512504281,0.999999856507,-4.77658604725e-05,-0.000532710533401,3.04094489169e-05,1793244915743562496
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.109268995,745.109268995,715,681,659.890731005,630,881,783.890731005,807,652,628,651.109268995,0.45383881035,-0.0157349584759,0.0496505594385,0.999999856026,-4.88943075298e-05,-0.000533514740899,3.03333426294e-05,1793244915760229376
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.684564584,745.684564584,715,681,659.315435416,630,881,783.315435416,807,652,628,651.684564584,0.453838664651,-0.0157346310394,0.0496499936163,0.999999855425,-4.86205455917e-05,-0.000534642436361,3.07218085401e-05,1793244915776895744
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.733552806,745.733552806,715,681,659,630,880.733552806,783.266447194,807.266447194,652,628,652,0.45383901816,-0.0157335533126,0.0496494465854,0.999999855139,-4.72588690513e-05,-0.000535301050972,3.0670789629e-05,1793244915793562112
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.143674355,745.143674355,715,681,659,630,880.143674355,783.856325645,807.856325645,652,628,652,0.45383997764,-0.0157315648336,0.0496489223644,0.999999855232,-4.45766096557e-05,-0.000535390264319,3.0086294977e-05,1793244915810228736
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,630.438112513,880.438112513,784,808,652,628,652,0.453840687352,-0.0157314706062,0.049649270089,0.999999855544,-4.4530841026e-05,-0.00053480854197,3.01554207589e-05,1793244915826895360
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,630.982870366,881,783.982870366,807.982870366,652,627.982870366,652,0.453841324267,-0.0157320030754,0.0496498725339,0.999999855901,-4.53946341678e-05,-0.000534051781292,3.04255478148e-05,1793244915843562240
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,630.409190848,881,783.409190848,807.409190848,652,627.409190848,652,0.453842208988,-0.0157330801493,0.0496496289413,0.999999855462,-4.82283787383e-05,-0.000534627060359,3.03883292394e-05,1793244915860229120
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,630.165444478,881,783.165444478,807.165444478,652,627.165444478,652,0.45384267125,-0.0157334469486,0.0496493273451,0.999999855034,-4.9545982698e-05,-0.000535311589374,3.03156973822e-05,1793244915876896000
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,630.74245749,881,783.74245749,807.74245749,652,627.74245749,652,0.453842082581,-0.0157320468305,0.0496488814556,0.999999854645,-4.70919539966e-05,-0.000536267894379,3.01549695536e-05,1793244915893562368
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.327412555,659.327412555,630.672587445,881,783.672587445,808,652,628,652,0.453842173579,-0.0157313215565,0.0496488420568,0.999999854733,-4.54743010468e-05,-0.00053624526056,3.01170682256e-05,1793244915910228992
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681.918770111,659.918770111,630.081229889,881,783.081229889,808,652,628,652,0.453842812493,-0.0157311403109,0.0496491303524,0.999999855209,-4.45308960251e-05,-0.000535433451069,3.01781840024e-05,1793244915926895616
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681.500750508,659.500750508,630.499249492,880.500750508,783,808,652,628,652,0.453841513468,-0.0157309920886,0.0496483776533,0.999999854348,-4.59825060954e-05,-0.000536943161447,2.96913734198e-05,1793244915943562496
+245,4.083333333,HOLD_POSE2,765,745,715,682,659,631,881,784,807,652,628,652,0.453837797849,-0.0157306844389,0.0496462446282,0.999999851688,-4.74318541728e-05,-0.000541720409132,3.02257030947e-05,1793244915987003136
+246,4.100000000,HOLD_POSE2,765,745,715,681.411575388,659,631,880.411575388,784,807.588424612,652,628,652,0.453840948831,-0.0157317440457,0.0496478305247,0.99999985317,-4.74615934037e-05,-0.000538974450316,3.02324926908e-05,1793244916003670016
+247,4.116666667,HOLD_POSE2,765.173733306,745,715,681,659,631,880.173733306,783.826266694,807.826266694,652,627.826266694,652,0.45384278705,-0.0157322439314,0.0496485350355,0.999999854106,-4.7360237002e-05,-0.000537246692242,3.01705944302e-05,1793244916020336896
+248,4.133333333,HOLD_POSE2,765.751790541,745,715,681,659,631,880.751790541,783.248209459,807.248209459,652,627.248209459,652,0.453841570117,-0.0157314411962,0.0496471883257,0.999999853787,-4.69537859639e-05,-0.000537888559416,2.99488411346e-05,1793244916037003520
+249,4.150000000,HOLD_POSE2,765.668540348,745.331459652,715,681,659.331459652,631,881,783.331459652,807,652,627.331459652,652,0.453841690671,-0.015730915967,0.0496472755228,0.999999853693,-4.7581778658e-05,-0.000538013767124,2.98658550132e-05,1793244916053670144
+250,4.166666667,HOLD_POSE2,765.08765834,745.91234166,715,681,659.91234166,631,881,783.91234166,807,652,627.91234166,652,0.45384281768,-0.0157305995601,0.0496484417303,0.999999853766,-4.89881870653e-05,-0.000537750190154,2.9887290772e-05,1793244916070336256
+251,4.183333333,HOLD_POSE2,765,745.512300599,715.487699401,681,659.512300599,630.512300599,881,783.512300599,807.487699401,652,627.512300599,652,0.453842363169,-0.0157301941816,0.0496479161043,0.999999853468,-4.86088343411e-05,-0.000538346225433,2.97286767473e-05,1793244916087002624
+252,4.200000000,HOLD_POSE2,765,745,715.936545187,680.936545187,659,630.063454813,880.936545187,783,807.936545187,652,627.063454813,652,0.453841674807,-0.0157297145368,0.049647148133,0.99999985313,-4.78348255925e-05,-0.000539054795766,2.95406237439e-05,1793244916103669504
+253,4.216666667,HOLD_POSE2,765,745,715.349405119,680.349405119,659,630.650594881,880.349405119,783,807.349405119,652,627.650594881,652,0.453841376196,-0.0157287524803,0.0496468616051,0.999999852998,-4.64230253495e-05,-0.000539431271565,2.93737016568e-05,1793244916120336128
+254,4.233333333,HOLD_POSE2,765.234742724,745,715,680.234742724,659,630.765257276,880,783.234742724,807.234742724,652,628,652,0.453841608475,-0.0157280620554,0.0496471548505,0.999999853208,-4.60376292145e-05,-0.000539086277079,2.91580468928e-05,1793244916137002752
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+262,4.366666667,HOLD_POSE2,765,745.874746283,715,681,659,630,881,784,808,652,627.874746283,652,0.45384352852,-0.0157302538447,0.0496481659006,0.999999853586,-5.18136698183e-05,-0.000537816489066,2.99588517393e-05,1793244916270336256
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,630,881,783,808,652,628,652,0.453843616344,-0.0157322345148,0.0496480964899,0.999999853469,-5.2000186304e-05,-0.000537998240412,3.02704717857e-05,1793244916302878976
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,630.574157287,881.574157287,783.574157287,808,652,627.425842713,652,0.453843314643,-0.0157317124168,0.0496476961191,0.999999853008,-5.13209085616e-05,-0.000538923752637,3.01982824837e-05,1793244916319545088
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.153188503,659,630.846811497,881.846811497,783.846811497,808,652,627.153188503,652,0.453843446125,-0.0157309769041,0.0496475660192,0.999999852933,-5.00691178433e-05,-0.000539186657096,3.00820658598e-05,1793244916336211456
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.746213948,659,630.253786052,881.253786052,783.253786052,808,652,627.746213948,652,0.453844821367,-0.0157296286319,0.0496482119246,0.999999853964,-4.71735198221e-05,-0.00053754707322,2.98394373654e-05,1793244916352878080
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630.328551908,881,783.328551908,808,652,628,652,0.453845127342,-0.0157281771544,0.049647990897,0.999999853922,-4.57776451143e-05,-0.000537766424749,2.94527049276e-05,1793244916369544704
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630.902894494,881,783.902894494,808,652,628,652,0.453844633393,-0.0157266484688,0.049647121314,0.999999853082,-4.55037181331e-05,-0.000539376451587,2.89581679082e-05,1793244916386211328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630.521691985,881,784,808,652,628,652,0.453843191319,-0.0157262774682,0.049646826651,0.99999985288,-4.48867463432e-05,-0.000539794350446,2.91237436023e-05,1793244916402877952
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.055636851,715,681,659,630,880.944363149,783.944363149,808,652,628,652,0.45384097374,-0.0157262901136,0.0496462507442,0.999999852472,-4.45995190782e-05,-0.000540559629621,2.93542956841e-05,1793244916419544576
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.649382712,715,681,659,630,880.350617288,783.350617288,808,652,628,652,0.453833121497,-0.0157277350261,0.0496418232785,0.9999998488,-4.81766181189e-05,-0.000547030771212,2.89142082077e-05,1793244916436211456
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.7638233,715,681,659,630.2361767,880.2361767,783,807.7638233,652,627.7638233,652,0.453817446685,-0.0157275745567,0.0496339552124,0.999999841774,-4.93229912436e-05,-0.000559664411168,2.81853489416e-05,1793244916452878336
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.187054704,715,681,659,630.812945296,880.812945296,783,807.187054704,652,627.187054704,652,0.4537904909,-0.015725098956,0.0496211254352,0.999999829644,-4.69639989903e-05,-0.000581185027873,2.70400501005e-05,1793244916469544960
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,881,783.389007129,807.389007129,652,627.389007129,652,0.453743622657,-0.0157231015668,0.0496010314069,0.999999808708,-4.59206389461e-05,-0.000616307712203,2.53074049278e-05,1793244916486211328
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,631,881,783.96472978,807.96472978,652,627.96472978,652,0.453687196837,-0.015721333709,0.0495774506846,0.999999782238,-4.55087553771e-05,-0.000657959113888,2.3292845308e-05,1793244916502877696
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630.46096179,880.46096179,784,808,652,628,652,0.453619160588,-0.0157167258517,0.0495582817952,0.999999765527,-4.37886279308e-05,-0.000683067195288,2.1178918291e-05,1793244916519544576
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630,880.117197495,783.882802505,807.882802505,652,627.882802505,652,0.453548939186,-0.0157114122683,0.0495419408933,0.999999751408,-4.16945734039e-05,-0.000703618911495,1.91087769128e-05,1793244916536211200
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630,880.711406157,783.288593843,807.288593843,652,627.288593843,652,0.453472907826,-0.0157039806346,0.0495359384419,0.999999747049,-3.84260756422e-05,-0.000710019793038,1.72432429402e-05,1793244916552877568
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630,880.703855949,783,807,652,627,652,0.453388417959,-0.0156984573526,0.0495334592617,0.999999744886,-3.60604659918e-05,-0.00071320246691,1.64301952661e-05,1793244916569544448
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630,880.12806139,783,807,652,627,652,0.453295940681,-0.0156947361384,0.049534307127,0.999999744834,-3.45474589042e-05,-0.000713346168665,1.66110164869e-05,1793244916586211072
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630,880.446978379,783.446978379,807,652,627,652,0.453183094154,-0.0156880836414,0.0495367476391,0.999999745921,-3.27669841158e-05,-0.000711913960779,1.62145243912e-05,1793244916602877952
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630.021848622,881,784,807,652,627,652,0.453063302074,-0.0156805081424,0.0495397511699,0.999999747445,-3.07677518371e-05,-0.000709872199884,1.56583498991e-05,1793244916619544576
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630.597895009,881,784,807,652,627,652,0.45291511329,-0.015670786948,0.0495454811498,0.999999751899,-2.51601486208e-05,-0.000703802201643,1.5240206411e-05,1793244916636211200
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.820458661,681,659,630.820458661,881,784,807.359082677,652,627.179541339,652,0.452757051051,-0.0156606317064,0.0495493541851,0.999999754098,-1.93055565329e-05,-0.000700867355914,1.47027640338e-05,1793244916652878080
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.225866876,681,659,630.225866876,881,784,808.548266249,652,627.774133124,652,0.452576164104,-0.0156494730679,0.0495489344714,0.999999751181,-1.28799945375e-05,-0.000705180125839,1.38895353282e-05,1793244916669544448
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.356047151,744.643952849,714.356047151,681,659,630.356047151,881,784,808.643952849,652,628,652,0.452378069274,-0.015637439045,0.0495524140942,0.999999750729,-8.32797959509e-06,-0.00070590878942,1.28856592367e-05,1793244916686211072
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.93019532,744.06980468,714.93019532,681,659,630.93019532,881,784,808.06980468,652,628,652,0.452169433529,-0.0156248687935,0.0495582823031,0.999999751799,-4.92362808913e-06,-0.000704441965447,1.17649996894e-05,1793244916702877952
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.495125227,744.504874773,715,680.495125227,659,631,880.495125227,784,807.495125227,652,628,652,0.451929674151,-0.0156155444112,0.0495628619245,0.999999755371,-2.39999959727e-06,-0.000699376795976,1.11083253464e-05,1793244916719544576
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.082078072,659.082078072,631,880.082078072,784,807,652,628,652,0.451678343911,-0.0156064737749,0.0495669167731,0.999999758687,-5.29247415883e-07,-0.000694635263224,1.03468601627e-05,1793244916736211200
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.674517664,659.674517664,631,880.674517664,784,807,652,628,652,0.451381851407,-0.0155961874844,0.0495688175629,0.999999758447,-1.96011620085e-06,-0.000695002891579,8.53449257776e-06,1793244916752878080
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.739829179,681,659.739829179,631,881,784,807,652,628,652,0.451073858544,-0.0155883403459,0.0495697741417,0.999999761125,-6.5380126097e-06,-0.000691135163625,6.20860271082e-06,1793244916769544704
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.162450282,681,659.162450282,631,881,784,807,652,628,652,0.450751844115,-0.0155834670953,0.0495695795099,0.99999976725,-1.49528594834e-05,-0.000682103562015,3.25661116989e-06,1793244916786211328
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,631,881,784,807,652,628.413063216,652,0.45041807215,-0.0155844552553,0.0495803695187,0.999999783851,-2.70985867087e-05,-0.000656930793258,2.54043744094e-06,1793244916802877952
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,631,881,784,807,652,628.987846371,652,0.450079696955,-0.0155877382384,0.0495954601655,0.999999803581,-4.07050047625e-05,-0.000625438534784,2.69961725171e-06,1793244916819544576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.564391368,680.435608632,659,631,881,784.564391368,807,651.435608632,629,652,0.449691650513,-0.0155805671063,0.0496127286819,0.999999821971,-4.59633365778e-05,-0.000594932145558,1.22132629057e-06,1793244916836211456
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.856108106,745,715,680.143891894,659,631,881.143891894,785,807,651.143891894,629,652,0.44928643193,-0.0155715286437,0.0496272354685,0.999999835747,-4.98590591807e-05,-0.000570981507667,-6.25130360618e-07,1793244916852878080
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.267592757,745,715,680.732407243,659,631,881.732407243,785,807,651.732407243,629,652,0.448831467269,-0.015557417957,0.0496330631861,0.999999837868,-5.01015617529e-05,-0.000567222229897,-3.49991410682e-06,1793244916869544704
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.632863985,745,715,680.683568007,659,631,881.683568007,785,807,652,629,651.683568007,0.448350797394,-0.0155471784047,0.0496323342813,0.999999838458,-5.61477276107e-05,-0.000565581515976,-7.00956639168e-06,1793244916886211328
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.793424877,745,715,680.103287561,659,631,881.103287561,785,807,652,629,651.103287561,0.447848693856,-0.015540166694,0.0496261383109,0.99999983768,-6.70331247264e-05,-0.000565707310063,-1.10485873433e-05,1793244916902877952
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.954798502,745,714.954798502,681,659,632,881,785,807,652,629.045201498,651.045201498,0.446772407627,-0.0155167354497,0.0496155928652,0.999999827173,-8.07300201982e-05,-0.000582027762113,-1.94993438373e-05,1793244916936211200
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.365976952,745,714.365976952,681,659,632,881,785,807,652,629.634023048,651.634023048,0.446180870077,-0.0155057246124,0.0496104871616,0.999999822399,-8.85526564568e-05,-0.000588911890444,-2.33091373074e-05,1793244916952877824
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.220011749,881.220011749,785.220011749,807,652,630,652,0.445592344652,-0.0154961255211,0.0496203933974,0.999999830408,-9.8022385614e-05,-0.000573502037316,-2.58956116217e-05,1793244916969544448
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.801348035,881.801348035,785.801348035,807,652,630,652,0.445008766069,-0.015488844936,0.0496549536898,0.999999857608,-0.000110197129122,-0.000521478853801,-2.64730328278e-05,1793244916986211072
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.37736331,745,714,680.62263669,659.37736331,633,881.62263669,786,807,652,630,652,0.44439839368,-0.0154822976196,0.0496959372011,0.999999883676,-0.000122364172826,-0.000465825084683,-2.60977423521e-05,1793244917002877696
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.950616424,745,714,680.049383576,659.950616424,633,881.049383576,786,807,652,630,652,0.443774112609,-0.0154761309442,0.0497402550128,0.999999907284,-0.000134527218939,-0.000408286674458,-2.52278978926e-05,1793244917019544320
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.694825087,745,714,680,660,633,881,786,807,651.305174913,631,651,0.441659612681,-0.0154489432232,0.049754401694,0.999999913416,-0.00016847156766,-0.000378879778452,-3.51590580203e-05,1793244917069544192
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,633,881.859831126,786,807,651.859831126,630.140168874,651.859831126,0.440229079324,-0.0154455327255,0.0498372978667,0.999999971324,-9.31795715223e-06,-0.000236662268023,-3.54546212377e-05,1793244917102877696
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.563113916,745,714,680,660,633,881.563113916,786,807.436886084,652,630,652,0.439424554077,-0.0154421298127,0.0498335915949,0.999999969107,-4.53628376962e-06,-0.000245425839993,-3.91387824724e-05,1793244917119544320
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.753547613,745,714,679,660,633.753547613,880,786.753547613,807,652,630.246452387,651.753547613,0.430703388534,-0.0154079719386,0.0498067603497,0.999999950656,-5.7159489247e-06,-0.000313320558147,-2.20206583965e-05,1793244917286210816
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.174302444,745,714,679,660,633.174302444,880,786.174302444,807,652,630.825697556,651.174302444,0.429723382351,-0.0154074249325,0.0497742446826,0.999999932484,-3.61061355338e-05,-0.000364376113952,-3.0956351762e-05,1793244917302877696
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.401112986,660,633,880,786,807,652,630.598887014,651.401112986,0.428799663435,-0.0154117197259,0.0497711862275,0.999999931608,-3.99190549244e-05,-0.000365971254809,-3.54348695343e-05,1793244917319544320
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.97487992,660,633,880,786,807,652,630.02512008,651.97487992,0.427900172711,-0.0154180986098,0.0497808072538,0.999999938803,-3.22921282308e-05,-0.000346276790686,-3.79948526415e-05,1793244917336211200
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.448317087,633.551682913,880,786,806.448317087,652,630,651.448317087,0.426944939402,-0.0154150196877,0.0497742933298,0.999999928959,-5.0183392686e-05,-0.000371507997824,-3.93241240812e-05,1793244917352877824
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.131415472,745,714,680,659,634,880,786.131415472,806,652,630,651,0.426008109627,-0.0154125293751,0.04976963487,0.999999922765,-6.73596995601e-05,-0.000385109939626,-4.02893789467e-05,1793244917369544192
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.720874383,745,714,680,659,634,880,786.720874383,806,652,630,651,0.425144320297,-0.015413599949,0.0497740184309,0.999999934549,-7.79717641022e-05,-0.000351009135035,-4.01822698626e-05,1793244917386210816
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.694790372,744.694790372,714,680,659.305209628,634,880,786.694790372,806,652,630,651.305209628,0.424267361004,-0.0154159626924,0.0497970539217,0.999999951016,-7.27719106371e-05,-0.000301898877575,-3.91027173275e-05,1793244917402877440
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.11506358,744.11506358,714,680,659.88493642,634,880,786.11506358,806,652,630,651.88493642,0.423378556191,-0.0154194876621,0.0498368656684,0.999999969257,-5.3350215096e-05,-0.000239288547607,-3.71485120234e-05,1793244917419544064
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.461234447,714,679.538765553,659.538765553,634,879.538765553,786.461234447,806,652,630,652,0.422463695127,-0.015420008181,0.0498294016718,0.999999965434,-5.76917286017e-05,-0.000253632874092,-3.83895718393e-05,1793244917436210688
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.962607357,714,679.037392643,659.037392643,634,879.037392643,786.962607357,806,652,630,652,0.421545240487,-0.0154196629993,0.0498105084538,0.999999955804,-6.81554104063e-05,-0.000286557091106,-4.03883062924e-05,1793244917452877312
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.208138257,714,680,659.791861743,634,879.791861743,786.208138257,806,652,630,652,0.419790422325,-0.0154146621752,0.0497912178449,0.999999941092,-9.19796199396e-05,-0.000327944865714,-4.25253767324e-05,1793244917486211328
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.788019635,714,680,659.211980365,634,879.211980365,786.788019635,806,652,630,652,0.41890871296,-0.0154104809708,0.0498052157916,0.99999994195,-9.45503097336e-05,-0.000324699542022,-4.15946637188e-05,1793244917502877952
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.942317627,634,879.942317627,786.057682373,806,652,630,652,0.417139331291,-0.0154038108393,0.0497691981116,0.999999921896,-4.15547421197e-05,-0.000390277909696,-4.65244865754e-05,1793244917536211456
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.519104334,880,786,806,652,630,652,0.416356821497,-0.0154116277012,0.0497851992,0.999999934384,-6.18701570528e-05,-0.000354052354757,-4.52963988317e-05,1793244917552877824
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.09781301,634.90218699,879.90218699,786.09781301,806,652,630,652,0.415589029711,-0.0154188092828,0.0498038968365,0.999999946301,-8.48457972435e-05,-0.000313484696407,-4.38813696347e-05,1793244917569544448
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.686018912,634.313981088,879.313981088,786.686018912,806,652,630,652,0.414837703389,-0.0154166955602,0.0498131676729,0.999999951601,-9.14426550597e-05,-0.000294106487385,-4.40107684725e-05,1793244917586211072
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.459322577,634,879,786.729661289,806,652,630,651.729661289,0.414062679053,-0.0154150632165,0.049805376988,0.999999946874,-9.72961181366e-05,-0.000307807348379,-4.5164081754e-05,1793244917602877440
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.299582055,634,879,786.149791028,806,652,630,651.149791028,0.413260521092,-0.0154139820406,0.0497780512566,0.999999929062,-0.000102298410883,-0.000359382977651,-4.74897532285e-05,1793244917619544320
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.573756848,745,714,680,659,634,879,786,806,652,630,651.426243152,0.412519128968,-0.015414471136,0.0497758552284,0.999999928223,-0.000102001740533,-0.000361698111219,-4.82124274531e-05,1793244917636211200
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.000942635,745,714,680,659,634,879,786,806,652.000942635,630,652,0.411798998284,-0.0154155052292,0.0497824453991,0.999999933701,-9.98641745547e-05,-0.000346820610341,-4.8372101115e-05,1793244917652877824
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.576443011,745,714,680,659,634,879,786,806,652.576443011,630,652,0.411138322979,-0.0154153766709,0.0498096668007,0.99999994582,-0.000100569867212,-0.000310097393315,-4.56685940368e-05,1793244917669544192
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.156120691,745,714,680,659,634,879.156120691,786,806,652.843879309,630,652,0.410477001101,-0.0154139519325,0.0498232582074,0.999999950447,-9.99487956351e-05,-0.000295260793832,-4.40261174879e-05,1793244917686210816
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.747443145,745,714,680,659,634,879.747443145,786,806,652.252556855,630,652,0.409813876686,-0.015408913965,0.0497988546707,0.999999936111,-9.56292387724e-05,-0.00034143528312,-4.53413672477e-05,1793244917702877440
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.089110954,745,714,680,659,634,880,786.910889046,806,652,630,652,0.408599652872,-0.0154112990812,0.049792420484,0.999999934502,-0.000109351834174,-0.000341840790591,-4.67233482018e-05,1793244917736211200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.516069588,659,634,879.516069588,786.516069588,806,652,630,652,0.408051314506,-0.0154146154713,0.0498113020111,0.999999942904,-0.000119334748093,-0.000312871475036,-4.54219213457e-05,1793244917752877824
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.648448247,745,714,679,659,634,879,786,806,652,630,652,0.406994901937,-0.0154176464939,0.0498262527573,0.999999945931,-0.000131647197489,-0.000298043316659,-4.44732773276e-05,1793244917786211328
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.765149864,745,714,679.234850136,659,634,879.234850136,786,806,652.234850136,630,652,0.406476963892,-0.0154163566321,0.0498131136003,0.999999937266,-0.000133626889551,-0.0003248216082,-4.58565449664e-05,1793244917802877952
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879.607918687,786.392081313,806,653,630,652,0.405491743158,-0.0154131540877,0.0497734582311,0.999999911472,-0.000140774852873,-0.000393264600516,-5.08137300029e-05,1793244917836211712
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879.032024038,786.967975962,806,653,630,652,0.405047548772,-0.0154145388918,0.0497657168755,0.999999906461,-0.000150337377212,-0.000402099694618,-5.2836861363e-05,1793244917852878080
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.134279309,659,634.865720691,879.865720691,786.865720691,806,652.865720691,630,651.865720691,0.404325916651,-0.0154199679832,0.0497988582044,0.999999925537,-0.000167199525059,-0.000344045442873,-5.10280789751e-05,1793244917886210816
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.719508225,659,634.280491775,879.280491775,786.280491775,806,652.280491775,630,651.280491775,0.404001752279,-0.0154250195981,0.049828016568,0.999999936845,-0.000177840196751,-0.000303948888906,-4.79312038248e-05,1793244917902877440
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.551285573,744.551285573,714,679,659,634,879,787,806,653,630,652,0.403106685755,-0.0154289598888,0.0498524221159,0.99999993985,-0.000201086654151,-0.000278470972074,-4.81545277484e-05,1793244917952878080
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.026648126,714,679,659,634,879,787,806,652.973351874,630,652,0.402824356954,-0.0154299573681,0.0498433272397,0.999999932919,-0.000208326381381,-0.000297044637517,-5.02566641413e-05,1793244917969544448
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.084567218,714,679.084567218,659,634,879,787,806,653,630,652,0.401547329011,-0.0154236045711,0.049820318572,0.999999946689,1.01944536859e-05,-0.000325200577496,-2.76042244519e-05,1793244918086211072
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.677439005,714,679.677439005,659,634,879,787,806,653,630,652,0.401447684527,-0.0154173946156,0.0498229989416,0.999999948663,1.19471543314e-05,-0.000318885369023,-2.90527807874e-05,1793244918102877696
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7590570247663f28e99f55dbbfc216e35fe1ba67
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..242a50bb50f149023c82784e63a8ee0a275d6656
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cddd30093dc5bc4af168858f986888d4daf7b261b225d6b19ae4e5d3846d204
+size 25861220
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..58c565fd75408bf11643cdbca9a256e2fa2bbd56
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+8,0.133333333,BASELINE,765,745,714.709007866,679,659,634,879.290992134,786.709007866,806.709007866,652.290992134,630.290992134,652,0.400985693305,-0.0154006380136,0.0498527366305,0.999999965995,-6.36176807492e-06,-0.000256859985271,-4.46297958406e-05,1793244918936834560
+9,0.150000000,BASELINE,765,745,714.705179454,679,659,634,879,787,807,652.294820546,630,652,0.400984445174,-0.0154001833129,0.0498520498251,0.999999965662,-5.47276337193e-06,-0.000258176909567,-4.46282116807e-05,1793244918953501440
+10,0.166666667,BASELINE,765,745,714.12758444,679,659,634,879,787,807,652.87241556,630,652,0.400982209744,-0.0153991846346,0.0498508024666,0.999999964899,-3.48674163626e-06,-0.000261134463472,-4.46969405399e-05,1793244918970168064
+11,0.183333333,BASELINE,765,745,714,679,659,634,879,787,806.551825135,652.551825135,630,652,0.400982951795,-0.0153998144057,0.0498512837882,0.999999965249,-4.92057802157e-06,-0.000259784324878,-4.46169763698e-05,1793244918986834688
+12,0.200000000,BASELINE,765,745,714,679.023917092,659,634,879,786.976082908,806,652.023917092,630.023917092,652,0.400984466822,-0.0154007918371,0.0498522368728,0.999999965877,-7.15955787136e-06,-0.000257322153343,-4.45035300262e-05,1793244919003501312
+13,0.216666667,BASELINE,765,745,714,679.611521939,659,634,879,786.388478061,806,652.611521939,630.611521939,652,0.40098430424,-0.0153990817965,0.0498527576473,0.999999965854,-5.52305586429e-06,-0.000257435060212,-4.45945263949e-05,1793244919020167936
+14,0.233333333,BASELINE,765,745,714,679.803385507,659,634,879,786,806,653,630.803385507,652,0.400984092827,-0.0153987607246,0.0498530276434,0.999999965725,-5.24752245083e-06,-0.000257951553313,-4.45428461622e-05,1793244919036834560
+15,0.250000000,BASELINE,765,745,714,679.223194105,659,634,879,786,806,653,630.223194105,652,0.400983786152,-0.0154011494034,0.0498528083941,0.999999965387,-7.62711411665e-06,-0.000259255406296,-4.42128169326e-05,1793244919053501184
+16,0.266666667,BASELINE,765,745,714,679,659,634,879,786,806,653,630,652,0.400984081372,-0.01540216963,0.0498528104514,0.999999965458,-8.84127654104e-06,-0.000258977265835,-4.40043636757e-05,1793244919070167808
+17,0.283333333,BASELINE,765,745,714,679,659,634,879,786,806,653,630,652,0.400984752895,-0.0154023343028,0.0498529508692,0.999999965787,-9.32681455276e-06,-0.000257710065836,-4.38719195186e-05,1793244919086834688
+18,0.300000000,BASELINE,765,745,714,679,659,634,879,786,806,653,630,652,0.400983922511,-0.0154018338363,0.0498522751459,0.999999965608,-9.2315981785e-06,-0.000258332416721,-4.43071822542e-05,1793244919103501312
+19,0.316666667,BASELINE,765,745,714,679,659,634,879,786.082517993,806.082517993,653,630.082517993,652,0.400983084811,-0.0154012794004,0.0498516766763,0.999999965427,-9.07239688233e-06,-0.000258964094942,-4.4734108603e-05,1793244919120167936
+20,0.333333333,BASELINE,765,745,714,679,659,634,879,786.677029635,806.677029635,653,630.677029635,652,0.400983248013,-0.0154008534687,0.0498521260967,0.999999965591,-8.92077154146e-06,-0.000258337302552,-4.47138214512e-05,1793244919136834560
+21,0.350000000,BASELINE,765,745,714,679,659,634,879,787,806.736837333,653,630.736837333,652,0.400983636636,-0.0154003376721,0.049852552424,0.999999965733,-7.89703201805e-06,-0.000257826732947,-4.46870656735e-05,1793244919153501184
+22,0.366666667,BASELINE,765,745,714,679,659,634,879,787,806.160669835,653,630.160669835,652,0.400984293371,-0.0153997149906,0.0498529512842,0.999999965845,-5.83600269919e-06,-0.000257454398388,-4.46526161339e-05,1793244919170167808
+23,0.383333333,BASELINE,765,744.585117665,714,679,659,634,879,786.585117665,806.414882335,653,630,652,0.400983752655,-0.0153998971383,0.0498527362699,0.999999965757,-4.75190050438e-06,-0.000257858390754,-4.44163910606e-05,1793244919186834432
+24,0.400000000,BASELINE,765,744.00980339,714,679,659,634,879,786.00980339,806.99019661,653,630,652,0.400982748893,-0.0154003905074,0.0498522838749,0.999999965592,-4.04556865377e-06,-0.000258562582987,-4.41021408732e-05,1793244919203501056
+25,0.416666667,BASELINE,765,744.565658013,714,678.434341987,659,634,879.565658013,786.565658013,806.434341987,653,630,652,0.400984203699,-0.0153996439258,0.049852655092,0.999999965877,-4.244683094e-06,-0.000257416736448,-4.43143005151e-05,1793244919220167936
+26,0.433333333,BASELINE,765,745,714,678.145567209,659,634.145567209,879.854432791,786.854432791,806,653,630.145567209,652,0.400985122234,-0.0153991722869,0.0498529688903,0.999999966077,-4.46345784383e-06,-0.000256607482898,-4.44915231838e-05,1793244919236834816
+27,0.450000000,BASELINE,765,745,714,678.739158017,659,634.739158017,879.260841983,786.260841983,806,653,630.739158017,652,0.400984259068,-0.0153996130171,0.0498530620224,0.99999996599,-4.69443291158e-06,-0.000256932895919,-4.4533131213e-05,1793244919253501440
+28,0.466666667,BASELINE,765,745,714,679,659,634.678147019,879,786.321852981,806,653,631,652,0.40098338716,-0.0154002880493,0.0498527060218,0.99999996581,-6.20140006042e-06,-0.000257599351045,-4.45440012015e-05,1793244919270167808
+29,0.483333333,BASELINE,765,745,714,679,659,634.103993347,879,786.896006653,806,653,631,652,0.400982508398,-0.015401146751,0.0498519979457,0.999999965551,-8.70861794088e-06,-0.000258533149204,-4.45307756237e-05,1793244919286834688
+30,0.500000000,BASELINE,765,745,714,679,659,634.472038449,879,786.527961551,806,653,630.527961551,652,0.400983289648,-0.015401497753,0.0498528020266,0.999999965801,-9.70524753283e-06,-0.000257504938349,-4.46713826613e-05,1793244919303501312
+31,0.516666667,BASELINE,765,745,714,679,659,634.950221433,879,786.049778567,806,653,630,652,0.400984245914,-0.0154017002884,0.0498537403118,0.99999996611,-1.0238442065e-05,-0.000256255775039,-4.48224287958e-05,1793244919320167936
+32,0.533333333,BASELINE,765,745,714,679,659,634.358402784,879,786.641597216,806,653,630,652,0.400983109777,-0.0154015089659,0.0498524979048,0.999999965848,-9.36354863415e-06,-0.000257326174525,-4.47166390277e-05,1793244919336834304
+33,0.550000000,BASELINE,765,745,714,679,659,634,879,787,806,653,630,652,0.400982728019,-0.015401548959,0.0498519653343,0.99999996575,-9.24358974212e-06,-0.000257737982653,-4.45645733014e-05,1793244919353500672
+34,0.566666667,BASELINE,765,745,714,679,659,634,879,787,806,653,630,652,0.400983504584,-0.0154019441297,0.0498525226957,0.999999965904,-1.02828092051e-05,-0.000257138544339,-4.43414523042e-05,1793244919370167552
+35,0.583333333,BASELINE,765,745,714,679,659,634,879,787,806,653,630,652,0.400983166864,-0.0154016896276,0.0498524739821,0.999999965723,-1.00237561663e-05,-0.000257829089382,-4.44665299002e-05,1793244919386834432
+36,0.600000000,BASELINE,765,745,714,679,659,634,879,787,806,653,630,652,0.400982261408,-0.0154011041131,0.0498521164694,0.99999996537,-9.10322542401e-06,-0.000259176888799,-4.47690167934e-05,1793244919403501312
+37,0.616666667,BASELINE,765,745,714,679,659,634,879,787,806,653,630,652,0.400982442419,-0.0153994908995,0.0498521858562,0.999999965485,-6.03474437812e-06,-0.000258818870406,-4.48029008789e-05,1793244919420167936
+38,0.633333333,BASELINE,765,745,714,679,659,634.107671131,879,787,806.107671131,653,630,652,0.400982827484,-0.0153983778407,0.0498524000883,0.999999965659,-3.68955044614e-06,-0.000258199564641,-4.4746722369e-05,1793244919436834560
+39,0.650000000,BASELINE,765,745,714,679,659,634.701606759,879,787,806.701606759,653,630,652,0.400983701656,-0.0153999326326,0.0498530985543,0.999999965955,-5.46580534849e-06,-0.000257079191941,-4.43907139201e-05,1793244919453501184
+40,0.666666667,BASELINE,765,745,714,679,659,634.713184307,879,787,806.713184307,652.713184307,630,652,0.400984075793,-0.0154004873334,0.0498532975594,0.999999966181,-6.35394381035e-06,-0.000256186524459,-4.43319264531e-05,1793244919470167808
+41,0.683333333,BASELINE,765,745,714,679,659,634.136786278,879,787,806.136786278,652.136786278,630,652,0.400983945072,-0.0154000322962,0.0498529922858,0.99999996634,-6.34539890041e-06,-0.000255523758718,-4.45732270009e-05,1793244919486834688
+42,0.700000000,BASELINE,765,745,714,679,659,634.438510262,879,787,806,652.438510262,630,652,0.400984993508,-0.0154007096783,0.0498536252805,0.999999966475,-6.41133519495e-06,-0.00025500364039,-4.45169329554e-05,1793244919503501312
+43,0.716666667,BASELINE,765,745,714,679,659,634.986195456,879,786.986195456,806,653,630,652,0.400986327265,-0.0154016965271,0.0498545071672,0.999999966589,-6.49370178015e-06,-0.000254578370802,-4.4382619005e-05,1793244919520167936
+44,0.733333333,BASELINE,765,745,714,679,659,634.396702103,879,786.396702103,806,653,630,652,0.400984259075,-0.0154008948098,0.0498535936406,0.99999996614,-6.29479440913e-06,-0.000256257578746,-4.48562234672e-05,1793244919536834560
+45,0.750000000,BASELINE,765,745,714,679,659,634,879.189115539,786.189115539,806,653,630.189115539,652,0.400982839699,-0.0154004560504,0.0498530566405,0.999999965813,-6.33644870693e-06,-0.000257498080001,-4.50508649335e-05,1793244919553501440
+46,0.766666667,BASELINE,765,745,714,679,659,634,879.767369681,786.767369681,806,653,630.767369681,652,0.400982755373,-0.0154007641408,0.0498532944104,0.999999965739,-6.87310112762e-06,-0.000257835864597,-4.46714907337e-05,1793244919570168064
+47,0.783333333,BASELINE,765,745,714,679.344914989,659,634.344914989,879.655085011,787,806,653,631,652,0.400983014125,-0.0154011447178,0.0498533516932,0.999999965864,-7.37468657959e-06,-0.000257385770158,-4.43865927529e-05,1793244919586834688
+48,0.800000000,BASELINE,765,745,714,679.921983257,659,634.921983257,879.078016743,787,806,653,631,652,0.400983503792,-0.0154015740836,0.0498532874949,0.999999966122,-7.8526694239e-06,-0.000256405374933,-4.41652842114e-05,1793244919603501056
+49,0.816666667,BASELINE,764.492912128,744.492912128,714,679.492912128,659,634.492912128,879.507087872,787,806,653,630.492912128,652,0.400984230424,-0.0154023110236,0.0498538158365,0.999999966312,-9.76774833719e-06,-0.000255591558958,-4.41906979614e-05,1793244919620167680
+50,0.833333333,BASELINE,764.092324949,744.092324949,714,679,659,634,879.907675051,787,806,652.907675051,630.092324949,652,0.400984691291,-0.0154028441382,0.049854210884,0.999999966395,-1.12376043846e-05,-0.000255200241018,-4.42396913056e-05,1793244919636834560
+51,0.850000000,BASELINE,764.671634244,744.671634244,714,679,659,634,879.328365756,787,806,652.328365756,630.671634244,652,0.400983554935,-0.0154020485177,0.0498534142451,0.999999965982,-9.17403830511e-06,-0.00025690010406,-4.42096145642e-05,1793244919653500928
+52,0.866666667,BASELINE,765,745,714,679,659,634,879,787,806,652.250565294,631,652,0.400983513782,-0.0154010259508,0.0498532908749,0.99999996589,-7.50291320261e-06,-0.000257303571433,-4.42642518869e-05,1793244919670167808
+53,0.883333333,BASELINE,765,745,714,679,659,634,879,787,806,652.829001368,631,652,0.400984905729,-0.0153997064192,0.0498540484931,0.999999966222,-6.34530678422e-06,-0.000256010673456,-4.44297396246e-05,1793244919686834432
+54,0.900000000,BASELINE,765,745,714,679,659,634,879,787,806,653,631,652,0.40098480519,-0.015400611822,0.0498539617455,0.999999966217,-6.75913791241e-06,-0.000256019350962,-4.44322028705e-05,1793244919703501056
+55,0.916666667,BASELINE,765,745,714,679,659,634,879,787,806,653,631,652,0.400984078264,-0.0154024510141,0.0498535206236,0.99999996607,-7.83249031506e-06,-0.000256574290543,-4.43662458838e-05,1793244919720167936
+56,0.933333333,BASELINE,765,745,714,679,659,634,879.564108397,787,806,653,630.435891603,652,0.400983565708,-0.0154027758533,0.0498529758695,0.999999965865,-8.79102859554e-06,-0.000257384461361,-4.41107760993e-05,1793244919736834560
+57,0.950000000,BASELINE,765,745,714,679,659,634.149140705,879.850859295,787,806,653,630,652,0.400983696157,-0.0154029264122,0.0498529385586,0.999999965916,-9.16427464965e-06,-0.000257202393355,-4.39399785534e-05,1793244919753501184
+58,0.966666667,BASELINE,765,745,714,679,659,634.730524762,879.269475238,787,806,653,630,652,0.400985665749,-0.0154027444554,0.0498543837432,0.999999966712,-7.85429698689e-06,-0.000254115505403,-4.40361786812e-05,1793244919770167552
+59,0.983333333,BASELINE,765.309413614,745,714,679,659,634.690586386,879,787,806,652.690586386,630,652,0.400986167557,-0.0154027206543,0.0498547281915,0.999999966909,-7.90689553168e-06,-0.000253339039426,-4.40276115636e-05,1793244919786834432
+60,1.000000000,BASELINE,765.886146784,745,714,679,659,634.113853216,879,787,806,652.113853216,630,652,0.400985401266,-0.0154028334927,0.0498541216528,0.999999966593,-9.13669897462e-06,-0.000254558674599,-4.39285302319e-05,1793244919803501056
+61,1.016666667,BASELINE,765.538020284,745,714,679,659,634,879,787,806,652.461979716,630,652,0.400985893603,-0.0154026203355,0.0498546042039,0.999999966611,-8.85037527599e-06,-0.000254516656478,-4.3825520021e-05,1793244919820167424
+62,1.033333333,BASELINE,765,745,714,679.038441965,659,634.038441965,879,787,806.038441965,653,630.038441965,652,0.400986525013,-0.0154022234256,0.049855205883,0.99999996667,-8.06916669535e-06,-0.000254323492648,-4.37576113977e-05,1793244919836834048
+63,1.050000000,BASELINE,765,745,714,679.627080988,659,634.627080988,879,787,806.627080988,653,630.627080988,652,0.400984716055,-0.0154003441994,0.0498536785617,0.999999966135,-5.54230806599e-06,-0.000256408569261,-4.4205922041e-05,1793244919853500928
+64,1.066666667,BASELINE,765,745,714,679.787488095,659,634.787488095,879,787,806.787488095,653,630.787488095,652,0.400983775286,-0.0153996726384,0.0498528060278,0.999999965822,-4.74966328602e-06,-0.000257604894225,-4.44176278192e-05,1793244919870167808
+65,1.083333333,BASELINE,765,745,714,679.20760312,659,634.20760312,879,787,806.20760312,653,630.20760312,652,0.400984335367,-0.0154010887897,0.0498530654364,0.999999965906,-6.95498465813e-06,-0.000257264818448,-4.42203105771e-05,1793244919886834432
+66,1.100000000,BASELINE,765,745,714,679,659.369883357,634.369883357,879,787,806,653,630,652.369883357,0.400984535004,-0.0154005474304,0.0498533459198,0.99999996609,-6.60264809897e-06,-0.000256531490969,-4.43678440875e-05,1793244919903501056
+67,1.116666667,BASELINE,765,745,714,679,659.946032292,634.946032292,879,787,806,653,630,652.946032292,0.400984533638,-0.0153989144646,0.0498536381555,0.999999966329,-4.82403266226e-06,-0.000255578866556,-4.47076837422e-05,1793244919920167680
+68,1.133333333,BASELINE,765,745,714,679,659.478047111,634.478047111,879.521952889,787,806,653,630.521952889,652.478047111,0.400984141851,-0.0154003180261,0.0498532267432,0.999999966163,-6.07677442105e-06,-0.000256203947193,-4.46872848219e-05,1793244919936834304
+69,1.150000000,BASELINE,765,745,714,679.100668319,659,634,879.899331681,787,806,653,631,652,0.400983918143,-0.015401872303,0.0498529456209,0.999999966018,-7.5030371615e-06,-0.000256756407057,-4.45408335083e-05,1793244919953500928
+70,1.166666667,BASELINE,765,745,714,679.693153044,659,634,879.306846956,787,806,653,631,652,0.400984712723,-0.0154026296965,0.0498536563182,0.999999966191,-8.24644436331e-06,-0.000256157461463,-4.39604433828e-05,1793244919970167552
+71,1.183333333,BASELINE,765,745,714,679.722693196,659,634,879,786.722693196,806,653,630.722693196,652,0.400984980337,-0.0154028061269,0.0498542314275,0.9999999664,-8.86057287136e-06,-0.000255354258432,-4.37694004869e-05,1793244919986834176
+72,1.200000000,BASELINE,765,745,714,679.147488919,659,634,879,786.147488919,806,653,630.147488919,652,0.400984681855,-0.0154023584562,0.0498546608813,0.999999966646,-9.33582353803e-06,-0.000254331631303,-4.39966146751e-05,1793244920003501056
+73,1.216666667,BASELINE,765,745,714,679,659,634.428693956,879,786.428693956,806.428693956,653,630,652,0.400983878169,-0.0154020068559,0.0498537759012,0.999999966414,-8.33420166347e-06,-0.000255284820052,-4.3966042065e-05,1793244920020167936
+74,1.233333333,BASELINE,765,745,714,679,659.005330832,634.994669168,879,787,806.994669168,653,630,652,0.400982911066,-0.0154016903748,0.0498524506322,0.999999966016,-6.8396385423e-06,-0.000256901257793,-4.3852265777e-05,1793244920036834560
+75,1.250000000,BASELINE,765,745,714,679,659.594741708,634.405258292,879,787,806.405258292,653,630,652,0.400983126339,-0.0154015920873,0.0498525460704,0.999999966085,-7.13408013078e-06,-0.000256537751712,-4.43617947042e-05,1793244920053501184
+76,1.266666667,BASELINE,765,744.819046607,714.180953393,679,659.819046607,634,879,787,806.180953393,653,630,652,0.40098365756,-0.0154021113306,0.0498529382205,0.999999966265,-8.16868839256e-06,-0.000255770690672,-4.45568175447e-05,1793244920070167552
+77,1.283333333,BASELINE,765,744.239875306,714.760124694,679,659.239875306,634,879,787,806.760124694,653,630,652,0.400984884077,-0.015403989553,0.0498539833347,0.999999966683,-1.08321559806e-05,-0.000254115540132,-4.40597176251e-05,1793244920086834176
+78,1.300000000,BASELINE,765.336561921,744,714.663438079,679,659,634,879,787,806.663438079,653,630,652,0.400985655504,-0.0154029838625,0.0498546117136,0.999999966871,-1.0050529492e-05,-0.000253411626193,-4.40440351826e-05,1793244920103500800
+79,1.316666667,BASELINE,765.911066189,744,714.088933811,679,659,634,879,787,806.088933811,653,630,652,0.400986105192,-0.015399939305,0.0498549454691,0.999999966892,-6.83329231808e-06,-0.000253380217013,-4.43687050043e-05,1793244920120167424
+80,1.333333333,BASELINE,765.514555478,744.485444522,714,679,659,634,879,787,806,653,630,652,0.400985506582,-0.015399758967,0.049854409907,0.999999966582,-6.63044189466e-06,-0.000254600431694,-4.43871374914e-05,1793244920136834560
+81,1.350000000,BASELINE,765,745,714,679,659,634.061687092,879,787,806,653,630,652,0.400984740885,-0.0154001553689,0.0498538181204,0.999999966236,-7.00888342856e-06,-0.000255949044964,-4.43661894982e-05,1793244920153501184
+82,1.366666667,BASELINE,765,745,714,679,659,634.654168868,879,787,806,653,630,652,0.400984189552,-0.015401000492,0.0498541125592,0.999999966103,-7.63855596318e-06,-0.000256429962909,-4.44890067153e-05,1793244920170168064
+83,1.383333333,BASELINE,765,745,714,679.24080673,659.24080673,634.75919327,879,786.75919327,806,653,630,652,0.400983622426,-0.0154019479249,0.0498541792201,0.999999965997,-8.84322625657e-06,-0.000256808962973,-4.44708790753e-05,1793244920186834688
+84,1.400000000,BASELINE,765,745,714,679.819250868,659.819250868,634.180749132,879,786.180749132,806,653,630,652,0.400983033154,-0.0154030388073,0.0498539265118,0.999999965926,-1.0854106474e-05,-0.000257045063072,-4.42551313266e-05,1793244920203501312
+85,1.416666667,BASELINE,765,745,714,679.605183232,659.605183232,634,879,786.394816768,806,653,630,652,0.400983079236,-0.0154030304649,0.0498541490056,0.999999965996,-1.02482645854e-05,-0.000256807186681,-4.42015983376e-05,1793244920220167680
+86,1.433333333,BASELINE,765,745,714,679.030925503,659.030925503,634,879,786.969074497,806,653,630,652,0.40098341408,-0.0154025225339,0.0498545874748,0.999999966128,-8.45314398239e-06,-0.000256353891873,-4.42217906306e-05,1793244920236834304
+87,1.450000000,BASELINE,765,745,714,679,659,634.557002509,879,787,806,653,630,652,0.400985347653,-0.015400701115,0.0498548342691,0.999999966624,-7.22123806874e-06,-0.000254355508885,-4.47563224567e-05,1793244920253500928
+88,1.466666667,BASELINE,765,745,714,679,659,634.856707732,878.713415463,787,806,653,630,652,0.400986892799,-0.0153996558787,0.0498552487839,0.999999967026,-6.55898116903e-06,-0.000252746263486,-4.49854825943e-05,1793244920270167552
+89,1.483333333,BASELINE,765,745,714,679,659,634.277764393,877.555528785,787,806,653,630,652,0.400986980352,-0.0154011977651,0.0498562063876,0.999999967095,-7.53116324056e-06,-0.000252587486968,-4.41972164599e-05,1793244920286834432
+90,1.500000000,BASELINE,765,745,714,679,659,634,877.300171135,787,806,652.699828865,630.300171135,652,0.400985435677,-0.0154022030144,0.0498555137747,0.999999966684,-8.56369418226e-06,-0.000254226560703,-4.39008540573e-05,1793244920303501056
+91,1.516666667,BASELINE,765,745,714,679,659,634,877.877177171,787,806,652.122822829,630.877177171,652,0.400982385669,-0.0154027133465,0.049853299238,0.999999965824,-9.65188223183e-06,-0.00025752371424,-4.40581533074e-05,1793244920320167680
+92,1.533333333,BASELINE,765,745,714,679.452010372,659,634,878.452010372,787,806,652,630.547989628,652,0.400981232708,-0.0154013618124,0.0498523319471,0.999999965477,-8.10031669524e-06,-0.000258865248306,-4.43743528133e-05,1793244920336834560
+93,1.550000000,BASELINE,765,745,714,679.973057394,659.026942606,634,879,786.973057394,806,652.026942606,630,652,0.400980747745,-0.015399640258,0.0498518163702,0.999999965315,-6.00993270775e-06,-0.000259490142128,-4.47100577913e-05,1793244920353501184
+94,1.566666667,BASELINE,765,745,714,679.383795559,659.616204441,634,879,786.383795559,806,652.616204441,630,652,0.400983497519,-0.0154007044873,0.0498536889922,0.999999966161,-7.5727890837e-06,-0.000256195660518,-4.45560189471e-05,1793244920370167808
+95,1.583333333,BASELINE,765,745,714,679.201997001,659.798002999,634,879,786,806,652.798002999,630,652,0.400984719711,-0.0154015263042,0.0498546668793,0.999999966568,-8.84015608908e-06,-0.000254582926596,-4.44276041844e-05,1793244920386834432
+96,1.600000000,BASELINE,765,745,714,679.781309316,659.218690684,634,879,786,806,652.218690684,630,652,0.400983088495,-0.0154018953128,0.0498539734686,0.999999966174,-9.55557128344e-06,-0.000256111571216,-4.43470532673e-05,1793244920403501312
+97,1.616666667,BASELINE,765,745,714,679.643934257,659,634.356065743,879,786.356065743,806.356065743,652.356065743,630,652,0.400984450449,-0.0154013638725,0.0498548326865,0.999999966622,-8.67742783926e-06,-0.00025437570647,-4.44308939996e-05,1793244920420167936
+98,1.633333333,BASELINE,765,745,714,679.071940676,659,634.928059324,879,786.928059324,806.928059324,652.928059324,630,652,0.400987627541,-0.0154002863757,0.0498566334603,0.999999967566,-6.83290756317e-06,-0.000250660155409,-4.46144262508e-05,1793244920436834560
+99,1.650000000,BASELINE,765,744.498065911,714,679,659.501934089,635,879.501934089,787,806.498065911,653,630.501934089,652,0.400986888354,-0.015399762826,0.0498562048384,0.999999967442,-5.36724938521e-06,-0.000251185356831,-4.46513993255e-05,1793244920453501440
+100,1.666666667,BASELINE,765,744.078897584,714,679.078897584,659.921102416,634.921102416,880,786.921102416,806,653,630.921102416,652,0.400985444625,-0.0153996956352,0.0498553862331,0.999999967097,-4.67997352083e-06,-0.00025257263673,-4.46307697516e-05,1793244920470168320
+101,1.683333333,BASELINE,765,744.674310133,714,679.674310133,659.325689867,634.325689867,880,786.325689867,806,653,630.325689867,652,0.40098307702,-0.0154020943367,0.0498541142797,0.999999966309,-8.73166717592e-06,-0.000255609527569,-4.43710712257e-05,1793244920486834688
+102,1.700000000,BASELINE,765,745,714,679.737988065,659,634.262011935,879.737988065,786.262011935,806,653,630,652,0.400982540648,-0.015403042322,0.0498537397075,0.999999966104,-1.07184855175e-05,-0.000256350476957,-4.42917024847e-05,1793244920503501056
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+104,1.733333333,BASELINE,765,744.584829517,714,679,659.415170483,634.584829517,879,787,806,653,630.415170483,652,0.400985180401,-0.015401175355,0.0498550494468,0.999999966906,-8.432539405e-06,-0.00025326530476,-4.44354360284e-05,1793244920536834816
+105,1.750000000,BASELINE,765,744.011442848,714,679,659.988557152,634.011442848,879,787,806,653,630.988557152,652,0.400985874764,-0.0154000132638,0.0498556089039,0.999999967096,-6.16801875648e-06,-0.000252584089427,-4.43900961556e-05,1793244920553501184
+106,1.766666667,BASELINE,764.419434358,744.580565642,714,679,659.419434358,634,879,786.419434358,806,653,630.419434358,652,0.400986698943,-0.0154009048301,0.0498560126523,0.9999999673,-6.35241317309e-06,-0.000251837156454,-4.40289257395e-05,1793244920570167808
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,880,787,806,653,630,652,0.400984928105,-0.0154024485251,0.0498551385167,0.999999966884,-8.83523442918e-06,-0.000253435853049,-4.38597584101e-05,1793244920610768896
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.426266471,787,806,653,630,652,0.400985104842,-0.0154018295246,0.0498549875866,0.999999966863,-8.62329140294e-06,-0.000253468004997,-4.41898268228e-05,1793244920627436032
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805.851646722,653,630,652,0.400985277374,-0.0154014055275,0.0498549643985,0.999999966843,-7.77808898209e-06,-0.000253562391633,-4.42650819605e-05,1793244920644103168
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805.274465142,653,630,652,0.400985437751,-0.0154015452046,0.0498553104602,0.99999996682,-5.10239410252e-06,-0.000253836673159,-4.36037768187e-05,1793244920660770048
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805.310369361,653,630.310369361,652,0.400985680784,-0.0154017115342,0.0498553671449,0.999999966891,-4.65671488705e-06,-0.000253555786164,-4.36498733222e-05,1793244920677436672
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805.902142537,653,630.902142537,652,0.400985998758,-0.0154019020288,0.049855161459,0.999999967051,-6.23293294323e-06,-0.000252771542321,-4.43373525097e-05,1793244920694102272
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.479871836,745,714,679.479871836,659.479871836,634,879,787,806,653,630.520128164,652.479871836,0.40098432457,-0.0154020858246,0.0498540224028,0.999999966623,-7.05985208783e-06,-0.00025448798367,-4.40506539702e-05,1793244920710768640
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.945050422,745,714,679.945050422,659.945050422,634.054949578,879,786.945050422,806.054949578,653,630,652.945050422,0.400982632451,-0.0154022637451,0.0498529500962,0.999999966166,-7.65492864573e-06,-0.000256328301114,-4.36521169099e-05,1793244920727435520
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.368730664,745,714,679.368730664,659.368730664,634.631269336,879,786.368730664,806.631269336,653,630,652.368730664,0.400984515164,-0.015402398514,0.0498542657151,0.999999966582,-7.45881527278e-06,-0.000254643064229,-4.40237453583e-05,1793244920744102400
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.212467566,634.787532434,879,786.212467566,806.787532434,653,630,652,0.400987540198,-0.0154021813701,0.0498557819817,0.999999967129,-6.86418039274e-06,-0.000252463227615,-4.42310769461e-05,1793244920760769280
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.802331131,634.197668869,879,786.802331131,806.197668869,653,630,652,0.400992594283,-0.0154013391404,0.0498576546491,0.999999967909,-5.56167079689e-06,-0.000249404857282,-4.41465758203e-05,1793244920777435648
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,630,652,0.401014413842,-0.0154023599766,0.0498662047895,0.999999971997,-6.16282921121e-06,-0.000232596385108,-4.32001687923e-05,1793244920794102272
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,630,652,0.401044683319,-0.0154043198113,0.0498781204242,0.999999977285,-7.72344974798e-06,-0.000208857763236,-4.18193550196e-05,1793244920810768896
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,678.459323655,659.459323655,634,878.459323655,787,806,652.459323655,630,652,0.401101751087,-0.0154076651777,0.049896941016,0.999999984957,-9.07003701207e-06,-0.000168597383593,-3.97205643453e-05,1793244920827435264
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,678.115928115,659,634,878.115928115,786.884071885,806,652.115928115,630,652,0.4011631944,-0.0154115546075,0.0499152624007,0.999999990631,-1.04029991511e-05,-0.000131236791768,-3.75174211791e-05,1793244920844101888
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,678.688789972,659,634,878.688789972,786.311210028,806,652.688789972,630,652,0.401235010961,-0.0154172331239,0.0499298452036,0.999999993316,-1.17371521577e-05,-0.000109543199412,-3.50871127104e-05,1793244920860768768
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.270550394,659,634.270550394,878.729449606,786.270550394,806,653,630.270550394,652,0.401311512075,-0.015421992405,0.0499402951833,0.999999994946,-1.24840155366e-05,-9.40005387147e-05,-3.34212644835e-05,1793244920877435904
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.862894779,659,634.862894779,878.137105221,786.862894779,806,653,630.862894779,652,0.401393585014,-0.0154256583426,0.0499458295617,0.999999995709,-1.2532353623e-05,-8.57738282066e-05,-3.26646692471e-05,1793244920894102784
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.554701556,714,679.554701556,659,634.554701556,878.445298444,787,806,653,630.554701556,652,0.401489982224,-0.0154315736864,0.0499473483454,0.999999995908,-1.40137556827e-05,-8.3511428018e-05,-3.18443761087e-05,1793244920910769408
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.024498519,714,679,659,634,879,787,806,652.975501481,630,652,0.40159163707,-0.0154381897168,0.0499475954447,0.999999995928,-1.59858296136e-05,-8.32309290531e-05,-3.10086714507e-05,1793244920927435520
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.598990436,714,679,659,634,879,787,806,652.401009564,630,652,0.401714475156,-0.0154453272389,0.0499464438989,0.999999995562,-1.92841046733e-05,-8.71175853771e-05,-3.02576592693e-05,1793244920944102144
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+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.494442461,659,634,879,787,806,653,630,652,0.402580155469,-0.0154935812054,0.0499468147256,0.999999995022,-2.93846483236e-05,-9.24049315136e-05,-2.35456516849e-05,1793244921027435520
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.916292117,787,806,653,630,652,0.402810988158,-0.0155060828026,0.0499505324626,0.999999995407,-3.28795028128e-05,-8.75983404501e-05,-2.07623381791e-05,1793244921044102656
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.342998896,787,806,653,630,652,0.403077691868,-0.0155147885981,0.0499543404637,0.999999996324,-2.85596113097e-05,-7.87448241226e-05,-1.83086704686e-05,1793244921060769024
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.236840015,878.473680031,786.763159985,806,653,630,652,0.403362453775,-0.0155191475401,0.0499607983897,0.999999997582,-1.90886791185e-05,-6.50599770025e-05,-1.54421121194e-05,1793244921077435136
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.826428002,879.652856004,786.173571998,806,653,630,652,0.403674111426,-0.0155170323065,0.0499712030963,0.999999998951,-1.94582083488e-06,-4.41793778729e-05,-1.19605972917e-05,1793244921094101760
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.591361927,786,806,653,630,652,0.404021225461,-0.0155080969707,0.0499789551439,0.999999999178,2.54670184909e-05,-2.9895132293e-05,-1.00882247459e-05,1793244921110768640
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.012230117,786,806,653,630,652,0.404383132753,-0.0154963161224,0.0499856004375,0.999999998158,5.71647431082e-05,-1.83630462651e-05,-8.88722555605e-06,1793244921127435264
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.434577955,878.434577955,786,806.565422045,653,630,652,0.404774100925,-0.0155044981512,0.0499884149447,0.999999997585,6.82641265738e-05,-1.18894419168e-05,-5.36671119097e-06,1793244921144101888
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878.283009343,786.141504672,806.716990657,652.858495328,630,651.858495328,0.405165211428,-0.0155127277405,0.0499855697996,0.999999996775,7.85267780266e-05,-1.66819284306e-05,-2.28755961667e-06,1793244921160768512
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.425831506,786.712915753,805.574168494,652.287084247,630,651.287084247,0.405554849544,-0.0155197933963,0.0499657811025,0.99999999463,8.75974216946e-05,-5.53704639032e-05,-7.01344199922e-07,1793244921177435392
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.294791574,679,659,634.294791574,879.705208426,787,805.294791574,652,630,651.294791574,0.405970519326,-0.0155224464123,0.0499473769337,0.999999990583,0.000104744648273,-8.86653072056e-05,6.86087670461e-07,1793244921194102016
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.887233693,679,659,634.887233693,879.112766307,787,805.887233693,652,630,651.887233693,0.406412473284,-0.0155206439944,0.0499303707182,0.999999984754,0.000130046787829,-0.000116514153449,1.87280832616e-06,1793244921210768384
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.531436036,679,659,634.531436036,879,787,806.468563964,652,630,652,0.406918070684,-0.0155199772536,0.0499227950643,0.999999979291,0.00015682458169,-0.000129623546897,4.61015224917e-06,1793244921227435008
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.95308816,714,679.04691184,659.04691184,634,879,786.95308816,806.95308816,652,630,652,0.407444164843,-0.0155197487428,0.0499196579027,0.999999974002,0.000183845982672,-0.000134667990507,7.85975989064e-06,1793244921244101888
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.378899977,714,679.621100023,659.621100023,634,879,786.378899977,806.378899977,652,630,652,0.408032470288,-0.0155214449813,0.0499414895125,0.999999974057,0.000209706313799,-8.80111207088e-05,1.2769813692e-05,1793244921260769280
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.199804514,714,679.800195486,659.800195486,634,879,786,806,652,630,652,0.408628523801,-0.0155237738408,0.0499641746958,0.999999971256,0.000234915687485,-4.4393619336e-05,1.82274874207e-05,1793244921277436416
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.787271551,714,679.212728449,659.212728449,634,879,786,806,652,630,652,0.40923961015,-0.0155273301174,0.0499885159886,0.999999966167,0.000258862066792,-6.67313111957e-06,2.47476580189e-05,1793244921294103040
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.371682899,634,879,786.371682899,806.371682899,652.371682899,630.371682899,652,0.409863531952,-0.015530096442,0.0499952605382,0.999999959155,0.000284307171052,-5.84357401129e-07,2.93176104986e-05,1793244921310770176
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.954359599,634,879,786.954359599,806.954359599,652.954359599,630.954359599,652,0.410494740054,-0.0155324143332,0.0499920159166,0.999999951148,0.000310603058007,-1.2452008877e-05,3.2780479445e-05,1793244921327436800
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.471279528,634.528720472,879,786.471279528,806.471279528,652.471279528,630.471279528,652,0.411123464576,-0.015532025827,0.0499577940176,0.999999938134,0.000339275938495,-8.63887058973e-05,3.40745739416e-05,1793244921344103680
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.102164862,659,634.897835138,879,786.102164862,806,652.102164862,630,652,0.411773141489,-0.0155317340713,0.0499301826658,0.999999933353,0.000333971954647,-0.00014309112602,3.58088069618e-05,1793244921360770304
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.674643469,659,634.325356531,879,786.674643469,806,652.674643469,630,652,0.41252024374,-0.0155329465285,0.0499451220706,0.999999979882,0.000171326249988,-9.61726390023e-05,4.04176974665e-05,1793244921377436416
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.742505077,659.514989846,634,879.257494923,787,806,652.742505077,630,652,0.413276878963,-0.0155360159773,0.0499629223238,0.999999993513,8.8063541661e-05,-5.67893628211e-05,4.46629420379e-05,1793244921394102528
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.145996833,660.708006333,634,879.854003167,787,806,652.145996833,630,652,0.414046065233,-0.0155415303092,0.0499844891222,0.999999992479,0.000109315081986,-2.73268096969e-05,4.84294185415e-05,1793244921410768640
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.130640298,634,880,786.565320149,806,652,630,652,0.414799973904,-0.0155479971307,0.0499681997502,0.999999996801,5.11411536002e-05,-5.43320419177e-05,2.88325413439e-05,1793244921427435264
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.010196241,745,714,679.010196241,659.020392481,634,880,786,806,652,630.010196241,652,0.415550325989,-0.0155548029787,0.0499400873268,0.999999994636,-3.07450955676e-05,-9.88820341105e-05,2.23491682234e-06,1793244921444101888
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.584068489,745,714,679.584068489,660.168136979,634,880,786,806,652,630.584068489,652,0.416377767509,-0.0155632868981,0.0499365736341,0.999999994802,-5.72383395222e-07,-0.000101710043966,7.18120676106e-06,1793244921460768768
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.841437448,745,714,679.841437448,660.841437448,634,880,786.158562552,806,652,630.841437448,652,0.417215606477,-0.0155678562672,0.0499417064343,0.999999995273,3.39144624042e-05,-9.02616742392e-05,1.25371626306e-05,1793244921477435648
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.265305895,745,714,679.265305895,660.265305895,634,880,786.734694105,806,652,630.265305895,652,0.418080826718,-0.0155621168029,0.0499696094753,0.99999999579,7.97624281618e-05,-4.12169520115e-05,1.89719592617e-05,1793244921494102016
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.679236388,634,879.679236388,787,806.320763612,652,630,652,0.418916459123,-0.0155581033229,0.0499751162256,0.999999992201,0.000116611802363,-3.84059295075e-05,2.29189108933e-05,1793244921510768640
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.084684352,634,879.084684352,787,806.915315648,652,630,652,0.419726836727,-0.0155555630604,0.0499615065757,0.999999986251,0.000145780408396,-7.50577767732e-05,2.47423571209e-05,1793244921527435264
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.494101676,745,714,679.494101676,659.494101676,634,879,787,806.505898324,652,630.494101676,652,0.420627891807,-0.0155584651482,0.0499627126104,0.999999986228,0.000155031943165,-5.39624781177e-05,2.44267477122e-05,1793244921544101632
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,879.069677554,787,806,652,631,652,0.421546170476,-0.0155621519014,0.0499679782699,0.999999986675,0.000159713394486,-2.37075164237e-05,2.40874874417e-05,1793244921560768512
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,879.640994243,787,806,652,631,652,0.42248002028,-0.0155649800533,0.049984754929,0.999999987592,0.000155308863741,3.44008870209e-06,2.61357529304e-05,1793244921577435136
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.779089902,745,714,680,660,634,880.220910098,787,806,652,631,652,0.423394594532,-0.0155662419839,0.049988667685,0.999999989089,0.000144979932483,7.93770422646e-06,2.71992923426e-05,1793244921594101760
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.184633251,745,714,680,660,634,880.815366749,787,806,652,631,652,0.424276575059,-0.0155648555228,0.049970828307,0.999999991545,0.000124633172383,-2.58645346598e-05,2.65977156604e-05,1793244921610768896
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.602058424,660,634,880.204116848,787,806,652,631,652,0.425197264507,-0.0155659610193,0.049977133569,0.999999990874,0.000131133971587,-1.67431735521e-05,2.78477004508e-05,1793244921627435776
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.02483662,660,634,879.04967324,787,806,652,631,652,0.426135393004,-0.01556818919,0.0499943164504,0.999999988274,0.000149730106615,1.17160855e-05,2.99318488234e-05,1793244921644102656
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.549514336,745,714,679.549514336,660,634,880.099028672,787,806,652,630.450485664,652,0.427031345844,-0.0155676842433,0.0499922657353,0.999999985454,0.000166502073971,-1.87475889071e-05,3.18997474658e-05,1793244921660769024
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.876193149,744.876193149,714,679.876193149,660,634,881,787,806.123806851,652,630.123806851,652,0.427930974747,-0.015566480936,0.0499831553969,0.999999982136,0.000178668924464,-5.23159601729e-05,3.26885798185e-05,1793244921677435648
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.301643482,744.301643482,714,679.301643482,660,634,881,787,806.698356518,652,630.698356518,652,0.428850890952,-0.0155631825088,0.0499514915703,0.99999998054,0.000174368561632,-8.75422083047e-05,2.92038225145e-05,1793244921694102016
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.280778905,714,679.280778905,660,634,881,787,807,652,630.719221095,652,0.429780843452,-0.0155623083582,0.0499428300935,0.99999998209,0.000164595561877,-8.91199560918e-05,2.80175218377e-05,1793244921710768384
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.871902978,714,679.871902978,660,634,881,787,807,652,630.128097022,652,0.430721889015,-0.0155641137627,0.0499595931361,0.99999998707,0.000148773652034,-5.3505984703e-05,2.93717075097e-05,1793244921727435008
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.544668374,714,680,660,634,881,787,807,651.544668374,630.455331626,652,0.431620865401,-0.015561910584,0.0499493351481,0.999999983274,0.000163913302339,-7.57040282832e-05,2.92153829364e-05,1793244921744101888
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.036130002,714,680,660,634,880.963869998,787,807,651.036130002,631,652,0.432510730645,-0.0155589107716,0.0499337642303,0.999999976216,0.000186644363663,-0.000109089598175,2.88204020153e-05,1793244921760769024
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.609473592,714,680,660,634,880.390526408,787,807,651.609473592,631,652,0.4334381738,-0.0155605552045,0.0499503469317,0.999999978004,0.000194890948128,-7.10115834714e-05,3.10903499446e-05,1793244921777435392
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,807,652,631,652,0.434354411846,-0.0155601282351,0.0499661857737,0.99999997947,0.000195585033113,-4.13669301035e-05,3.3101157086e-05,1793244921794102016
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,807,652,631,652,0.435246714179,-0.0155552764217,0.049980435617,0.999999982734,0.000180145782575,-2.97372680282e-05,3.45583988808e-05,1793244921810768640
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.361507245,745,714,680.361507245,660.361507245,634,880.361507245,787,807,652,631,652,0.436095779041,-0.0155523518598,0.0499675807855,0.999999980914,0.000179906602555,-6.78540855097e-05,3.46706989129e-05,1793244921827435264
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.940596301,745,714,680.940596301,660.940596301,634,880.940596301,787,807,652,631,652,0.436918820339,-0.0155505872607,0.0499384123542,0.999999972361,0.000188815950054,-0.000135912016119,3.3973513251e-05,1793244921844101632
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,681,661,634,881,787,807,652,630.483091554,652,0.437812119462,-0.015554103149,0.0499599106257,0.999999977117,0.000196838498886,-7.58953181842e-05,3.54997544603e-05,1793244921860768512
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,680.907711906,661,634,881.092288094,786.907711906,807,652,630.092288094,652,0.438697663344,-0.0155569572566,0.0499819132028,0.999999978888,0.000201575030436,-1.5906863481e-05,3.65865367387e-05,1793244921877435392
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680.335530635,661,634,881.664469365,786.335530635,807,652,630.664469365,652,0.439501119774,-0.0155532314674,0.0499764223311,0.999999980899,0.000189751556154,-3.21916267826e-05,3.40665727917e-05,1793244921894102272
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714,680.245157528,661,634,881.754842472,786.245157528,807.245157528,652,631,652,0.440293257441,-0.0155524133032,0.0499649975498,0.999999981933,0.000179428202938,-5.3941894354e-05,3.2099953069e-05,1793244921910768896
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,714,680.837906976,661,634,881.162093024,786.837906976,807.837906976,652,631,652,0.441069346948,-0.0155557176599,0.0499451594887,0.999999981381,0.000171231768711,-8.34413214328e-05,3.09178821012e-05,1793244921927436032
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.577532087,745,714.422467913,680.577532087,660.577532087,634,881,787,807.577532087,652,631,652,0.441846664035,-0.0155624978774,0.0499495036899,0.999999982647,0.000168833309282,-7.17126077952e-05,3.25468205745e-05,1793244921944102912
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.003884032,745,714.996115968,680.003884032,660,634,880.996115968,787,807,652,631,652,0.442623685466,-0.0155705523775,0.0499627262213,0.999999984149,0.000168654305843,-4.49184832373e-05,3.52148767074e-05,1793244921960769536
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.576107064,745,714.423892936,680.576107064,660,634,880.423892936,787,807,652,631,652,0.443289825618,-0.0155736342387,0.049943239599,0.999999980706,0.000173915723798,-8.4305728722e-05,3.51163297293e-05,1793244921977436160
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680.85062367,660,633.85062367,880.14937633,786.85062367,807,652,630.85062367,652,0.443942199966,-0.0155768377096,0.0499138383576,0.999999974211,0.000177450584738,-0.000137587311837,3.40533557801e-05,1793244921994102784
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680.274364375,660,633.274364375,880.725635625,786.274364375,807,652,630.274364375,652,0.444555234988,-0.0155803887133,0.0498561034258,0.999999957463,0.000176051346401,-0.00023057570398,3.02342727541e-05,1793244922010768896
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.688333059,745,714,680.311666941,660,633,881,786,807,652,630,652,0.445191154879,-0.0155870199891,0.0498239837681,0.999999947928,0.00017367174566,-0.000270491583212,2.85904423839e-05,1793244922027435520
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.093420893,745,714,680.906579107,660,633,881,786,807,652,630,652,0.445847872672,-0.0155964506389,0.0498151434647,0.999999950696,0.000170401185396,-0.000262174765351,2.89234981426e-05,1793244922044102400
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.485334113,745,714,680.514665887,660.485334113,633,881,786,807,652,630,652,0.446453154337,-0.0156048519899,0.0498122002646,0.999999950857,0.000168719667288,-0.000262513877398,3.00944948428e-05,1793244922060769536
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.939038405,745,714,680,660.939038405,633,881,786,807.060961595,652,630,652,0.447039213499,-0.0156127420108,0.0498065013182,0.999999949089,0.000167070751782,-0.000270085377016,3.10452149932e-05,1793244922077436672
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.364402409,745,714,680,660.364402409,633,881,786,807.635597591,652,630,652,0.447544038549,-0.0156179391372,0.0497683253228,0.999999933451,0.000163202257796,-0.000325011322694,2.88245390598e-05,1793244922094102784
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714.216266243,680,660.216266243,632.783733757,881,785.783733757,807.783733757,652,630,652,0.448040373278,-0.0156231550577,0.0497382363445,0.999999918431,0.000159910400311,-0.000369883318645,2.74532241405e-05,1793244922110769152
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714.807391365,680,660.807391365,632.192608635,881,785.192608635,807.192608635,652,630,652,0.448521991502,-0.0156284035538,0.049722164769,0.999999908264,0.000157618040156,-0.000397328585168,2.75541250762e-05,1793244922127435776
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680.389717204,660.610282796,632,881,785.389717204,807,652,630,652,0.44901570259,-0.015635569228,0.0497241111934,0.99999990902,0.00015310398969,-0.000397078052274,2.9136029443e-05,1793244922144102144
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680.967790278,660.032209722,632,881,785.967790278,807,652,630,652,0.449515258374,-0.0156436615021,0.0497347659722,0.999999915112,0.000147516164492,-0.000383441747928,3.14337238505e-05,1793244922160768512
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.119282256,681,660,631.880717744,881,785.880717744,807.880717744,652,629.119282256,652,0.45039523984,-0.0156528436236,0.0497554045957,0.999999932718,8.57688678391e-05,-0.000355129055331,3.30165149278e-05,1793244922194102016
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.708065449,681,660,631.291934551,881,785.291934551,807.291934551,652,629.708065449,652,0.450756774648,-0.0156569809981,0.0497471575251,0.999999927201,4.3302517916e-05,-0.000377856929303,3.07611488351e-05,1793244922210768640
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,631.292003921,881,785,807.292003921,652,629.707996079,652,0.451096397291,-0.0156620151271,0.0497313413535,0.999999914567,-3.26304700789e-06,-0.000412798643837,2.12721273949e-05,1793244922227435264
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,631.871177839,881,785,807.871177839,652,629.128822161,652,0.451414470488,-0.0156679311653,0.0497080813826,0.999999892853,-5.38599646619e-05,-0.000459752004942,4.66919890419e-06,1793244922244101888
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,631.551993421,881,785,808,652,629,652,0.451704920358,-0.015672396358,0.0496894344759,0.999999877453,-5.96550815772e-05,-0.000491460475909,1.5213104987e-06,1793244922260768768
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.975883141,631,881,784.975883141,808,652,628.975883141,652,0.451987403133,-0.0156764892266,0.0496730718441,0.99999986496,-5.26855438322e-05,-0.000517010463899,2.32205217807e-06,1793244922277435392
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.400860622,631,881,784.400860622,808,652,628.400860622,652,0.452268389749,-0.015681557209,0.0496787464221,0.999999873138,-4.68765528296e-05,-0.000501494948352,5.40355972013e-06,1793244922294102016
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.178562045,715,681,659,631,881,784.178562045,808,652,628,652,0.452535704261,-0.0156868294574,0.0496851150803,0.999999880552,-4.21447103518e-05,-0.000486870936527,8.77801411066e-06,1793244922310768640
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.768112256,715,681,659,631,881,784.768112256,808,652,628,652,0.452771550272,-0.0156925718546,0.0496930812707,0.999999886642,-3.9892092644e-05,-0.000474298860787,1.28267305637e-05,1793244922327435008
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.648705194,715,681,659.351294806,631,881.351294806,784.648705194,808,652,628,652,0.452985083938,-0.0157103264991,0.0496947427584,0.999999887487,-4.80945949157e-05,-0.000471507452674,1.98255449089e-05,1793244922344101888
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.06965101,715,681,659.93034899,631,881.93034899,784.06965101,808,652,628,652,0.453184151585,-0.0157358691954,0.0496923166398,0.999999884758,-6.30755963145e-05,-0.000475057266423,2.87370337002e-05,1793244922360768256
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680.493776061,659.493776061,631,881.493776061,784,808,652,628,652,0.453341880508,-0.0157477294483,0.0496821355445,0.999999877249,-7.0612943686e-05,-0.000489457712349,3.07612302387e-05,1793244922377435648
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.081374428,715,680.162748857,659.081374428,631,881,784.081374428,808,652,628,652,0.453490161198,-0.0157553442732,0.0496712699509,0.999999869345,-7.50876498006e-05,-0.00050466203561,3.14468569642e-05,1793244922394103040
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.65477315,715,681.309546301,659.65477315,631,881,784.65477315,808,652,628,652,0.453615489951,-0.0157486011492,0.0496626768683,0.999999864298,-6.71982328843e-05,-0.00051575639244,2.97328635079e-05,1793244922410768896
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,881,784,807.588554095,652,628,652,0.453932807899,-0.0157456433246,0.0496587749701,0.999999862338,-5.55158794692e-05,-0.000520878035327,3.04693336418e-05,1793244922460768512
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631,881,784,807.006896447,652,628,652,0.45401848224,-0.0157444064589,0.0496591571858,0.999999861498,-5.34363519415e-05,-0.00052267310516,3.09914236062e-05,1793244922477435136
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.566612463,715,681,659.566612463,630.433387537,881,784,807.566612463,652,628,652,0.454078241739,-0.0157439900504,0.049655533924,0.99999985893,-5.20328057229e-05,-0.000527735117777,3.04823227821e-05,1793244922494102016
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.859959036,714.859959036,681.140040964,659.859959036,630.140040964,881,784,808,652,628,652,0.454133074471,-0.0157441468915,0.0496522646477,0.999999856427,-5.15072635446e-05,-0.000532529725165,3.00830497979e-05,1793244922510768640
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714.895004053,681.104995947,659,630.104995947,881,783.104995947,808,652,628,652,0.454233281788,-0.0157429126407,0.0496423777269,0.999999849171,-4.74727266606e-05,-0.000546368652867,2.97695719875e-05,1793244922560768512
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.473942981,630.473942981,881,783.473942981,808,652,627.526057019,652,0.454253655356,-0.0157416368399,0.0496409643986,0.999999847686,-4.73865170036e-05,-0.000549098251211,2.95704683887e-05,1793244922577434880
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765.203670408,745,715,681,659,631,881,784,807.796329592,652.203670408,628,652,0.454284604455,-0.0157443047187,0.0496338078334,0.999999839672,-5.32257144579e-05,-0.000562978987838,2.96114399235e-05,1793244922627435008
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.795375787,745,715,681,659,631,881,784,807.204624213,652.795375787,628,652,0.454290070287,-0.0157436486871,0.0496330338372,0.999999839351,-5.17499806844e-05,-0.00056369211395,2.95016062965e-05,1793244922644101888
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.041749827,745,715,681,659,630.041749827,881,784,807,652.041749827,628,651.041749827,0.454301349543,-0.0157390343523,0.0496343165608,0.999999840356,-4.80527295801e-05,-0.000562242258864,2.93561585893e-05,1793244922677435392
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.465551854,745,715,681,659.534448146,630,881,783.465551854,807.534448146,652,628,651.534448146,0.45430132138,-0.0157376253628,0.0496330775111,0.99999983972,-4.74642155701e-05,-0.000563442776106,2.89648775964e-05,1793244922694102016
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.1123216,745,715,681,659.8876784,630,880.8876784,783.1123216,808,652,628,652,0.454300535976,-0.0157368393212,0.0496313378633,0.999999838585,-4.73641490978e-05,-0.000565478785272,2.86454564359e-05,1793244922710768384
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,630,880.860365097,783.139634903,807.139634903,652,628,652,0.454300064351,-0.0157363316734,0.0496282035427,0.999999836046,-4.493301114e-05,-0.000570139460524,2.88069869847e-05,1793244922760768512
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+250,4.166666667,HOLD_POSE2,765,745,715,681,659,630,881,783.267333706,808,652,627.732666294,652,0.454304132378,-0.0157316516264,0.0496270927152,0.999999834893,-4.53447125594e-05,-0.000572182619354,2.76462212412e-05,1793244923015855104
+251,4.183333333,HOLD_POSE2,765,745.314646972,715,681,659,630,881.314646972,783.314646972,808,652,628,652,0.454303695585,-0.0157327923896,0.0496263021824,0.999999834396,-4.62915274168e-05,-0.000572964807651,2.78466091949e-05,1793244923032521728
+252,4.200000000,HOLD_POSE2,765,745.900691203,715,681,659,630,881.900691203,783.900691203,808,652,628,652,0.454304322462,-0.015734333639,0.0496266246679,0.999999834661,-4.68653783426e-05,-0.000572446722556,2.80407467998e-05,1793244923049188608
+253,4.216666667,HOLD_POSE2,765,746,715,681,659,630.478264171,881.521735829,784,808,652,628,652,0.454304691807,-0.0157340242404,0.0496267972561,0.999999834801,-4.83575654568e-05,-0.000572085723359,2.78980163678e-05,1793244923065855232
+254,4.233333333,HOLD_POSE2,765,745.94588873,715,681,659.05411127,630.94588873,881,784,808,652,628,652.05411127,0.454304977536,-0.0157332398069,0.0496268897219,0.999999834893,-4.9507095749e-05,-0.000571833932054,2.77236231515e-05,1793244923082522112
+255,4.250000000,HOLD_POSE2,765,745.370017257,715,681,659.629982743,630.370017257,881,784,808,652,628,652.629982743,0.454304963653,-0.0157315157583,0.0496265045168,0.999999834795,-4.55459330679e-05,-0.000572326121883,2.79066578067e-05,1793244923099188736
+256,4.266666667,HOLD_POSE2,765,745,715,681.206900345,659.793099655,630,881,783.793099655,807.793099655,652,628,652.793099655,0.454305047863,-0.0157303089956,0.0496263033345,0.999999834719,-4.37639932787e-05,-0.00057259399976,2.79838624216e-05,1793244923115855104
+257,4.283333333,HOLD_POSE2,765,745,715,681.785698276,659.214301724,630,881,783.214301724,807.214301724,652,628,652.214301724,0.454305308393,-0.0157300320401,0.049626432928,0.999999834704,-4.58991461271e-05,-0.000572458683134,2.78708404783e-05,1793244923132521728
+258,4.300000000,HOLD_POSE2,765.371299749,745,715,682,659,630,881,783,807,652.371299749,628,652,0.454305687344,-0.0157314108837,0.0496266757052,0.999999834702,-4.76055899278e-05,-0.000572309074567,2.8133380098e-05,1793244923149188352
+259,4.316666667,HOLD_POSE2,765.960901349,745,715,682,659,630,881,783,807,652.960901349,628,652,0.454306135919,-0.0157337632371,0.0496269850276,0.999999834709,-4.90599788767e-05,-0.000572151063189,2.86167272477e-05,1793244923165854976
+260,4.333333333,HOLD_POSE2,765.45835067,745,715,681.45835067,659,630,881,783,807.54164933,652.45835067,628,652,0.454307358213,-0.0157316237575,0.049628487015,0.999999836009,-4.77850628917e-05,-0.000570030340826,2.76524147538e-05,1793244923182521856
+261,4.350000000,HOLD_POSE2,765,745.12037981,715,681,659,630,881,783,808,652,628,652,0.454308100158,-0.0157298900546,0.0496294413694,0.9999998368,-4.67140534202e-05,-0.000568764463058,2.69217214956e-05,1793244923199188480
+262,4.366666667,HOLD_POSE2,765,745.693883283,715,681,659,630,881,783,808,652,628,652,0.454306827169,-0.0157308845923,0.0496280155211,0.999999835354,-4.71402259677e-05,-0.000571241032226,2.74574164745e-05,1793244923215855360
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,630,882,783,808,652,627,652,0.45430838376,-0.0157330321048,0.0496291253758,0.99999983596,-4.71220404919e-05,-0.000570145198043,2.81741911079e-05,1793244923253676800
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.407837542,659,630,881.407837542,783,807.407837542,652,627,652,0.454307572328,-0.0157315303471,0.0496279058651,0.999999835333,-4.61530860128e-05,-0.000571341187231,2.77992746367e-05,1793244923270343424
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630,881,783,807.179710169,652,627,652,0.454306910079,-0.0157303953494,0.0496271437654,0.999999834813,-4.57214594815e-05,-0.000572303162711,2.74493753163e-05,1793244923287009792
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630,881,783,807.7570474,652,627,652,0.454306577917,-0.0157300718452,0.0496273937339,0.999999834531,-4.64787255983e-05,-0.000572747359252,2.71548289194e-05,1793244923303675904
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.666672606,659,630,881,783.333336303,808,652,627,652,0.454307275495,-0.0157304123004,0.0496278625777,0.99999983517,-4.65906516781e-05,-0.000571614613043,2.72967493159e-05,1793244923320342528
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.817726986,659,630,881,783.908863493,808,652,627,652,0.454308721246,-0.015731235166,0.0496284904489,0.999999836474,-4.62336954616e-05,-0.000569336113521,2.77557917445e-05,1793244923337009152
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.495429197,715,681.51371241,659,630,881,783.504570803,808,652,627,652,0.454308053267,-0.0157310851422,0.0496283415678,0.999999835865,-4.61257408443e-05,-0.000570410298819,2.78202701905e-05,1793244923353675776
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.917508413,715,680.082491587,659,630,881,783.082491587,808,652,627,652,0.454306809186,-0.0157307141061,0.0496277606145,0.999999834901,-4.58898409695e-05,-0.000572121285087,2.77462946638e-05,1793244923370342144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.339929687,715,680.660070313,659,630,881,783.660070313,808,652,627,652,0.454304494345,-0.0157301152081,0.0496254636112,0.99999983397,-4.46048849851e-05,-0.000573868307766,2.7286903631e-05,1793244923387009024
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630,881,783.763517225,808,652,627,652,0.454298289289,-0.0157286820306,0.0496219541874,0.99999983126,-4.42882330273e-05,-0.00057862821401,2.66062319868e-05,1793244923403675904
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630,881,783.188773018,808,652,627,652,0.454286519728,-0.0157260555122,0.0496167105356,0.999999825949,-4.53566288023e-05,-0.000587697703745,2.5609043897e-05,1793244923420342272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630,881.3859025,783,807.6140975,652,627,652,0.454255733812,-0.0157247362694,0.0496022753654,0.999999811338,-4.46685707127e-05,-0.000612149737182,2.45269145289e-05,1793244923437008640
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630,881.960544474,783,807.039455526,652,627,652,0.454215647266,-0.0157240563964,0.0495833447528,0.999999791348,-4.31214558467e-05,-0.000644125156289,2.34032414691e-05,1793244923453675264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,630,881.446238277,783,807.553761723,651.446238277,627.553761723,652,0.454155565743,-0.0157196670616,0.0495607481209,0.999999769793,-4.24260857662e-05,-0.000676887946391,2.09085060055e-05,1793244923470342144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.14417419,745,715,681,659,630,881,783.14417419,808,651.14417419,627.85582581,652,0.454091421646,-0.015715001744,0.0495401372619,0.999999749918,-4.09483393646e-05,-0.000705792960172,1.8535197282e-05,1793244923487009024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.722030603,745,715,681,659,630,881,783.722030603,808,651.722030603,627.277969397,652,0.454019491257,-0.015710328874,0.0495263126714,0.999999737871,-3.69282864692e-05,-0.000722919015957,1.68311942257e-05,1793244923503675648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.701659559,745.298340441,715,681,659,630,881,784,808,652,627.298340441,652,0.453941775614,-0.0157056365083,0.0495192730263,0.999999732107,-3.44985940694e-05,-0.000730987336634,1.59194562736e-05,1793244923520342784
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.126783296,745.873216704,715,681,659,630,881,784,808,652,627.873216704,652,0.453858697543,-0.0157009260722,0.0495185224404,0.999999732382,-3.35430287347e-05,-0.000730659918331,1.57420797491e-05,1793244923537009664
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.541065673,715,681,659,630,881,784,808,652,627.541065673,652,0.453760099814,-0.0156960033138,0.0495211156613,0.999999733663,-3.39650569711e-05,-0.000728896109375,1.51954246878e-05,1793244923553676288
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.046920361,715,681,659,630,881.046920361,784,808,652,627.046920361,652,0.453654576547,-0.0156907523886,0.0495247526342,0.999999735425,-3.41665468622e-05,-0.000726477547831,1.45940186592e-05,1793244923570342656
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.625846567,715,681,659,630,881.625846567,784,808,652,627.625846567,652,0.453520316898,-0.0156824617021,0.0495294968818,0.999999739421,-2.74479971769e-05,-0.000721243179391,1.45565048825e-05,1793244923587009536
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.797067072,715,681,659.202932928,630,881.797067072,784,807.797067072,652,628,652,0.453375134048,-0.0156730707739,0.0495322118918,0.999999741347,-2.16027068821e-05,-0.000718775793689,1.41763137673e-05,1793244923603676160
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.223342469,715,681,659.776657531,630,881.223342469,784,807.223342469,652,628,652,0.453209992737,-0.0156616695251,0.0495312191517,0.99999973958,-1.73530051597e-05,-0.000721364138961,1.31699950735e-05,1793244923620342528
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.650869749,630,881,784,807,651.650869749,628,652,0.453025450714,-0.015650506419,0.0495318770766,0.999999737652,-1.26788989658e-05,-0.000724148201496,1.20347134982e-05,1793244923637008640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.079194954,630,881,784,807,651.079194954,628,652,0.452828542164,-0.01563949511,0.0495335871774,0.999999735606,-7.73426609859e-06,-0.000727057019456,1.08172275876e-05,1793244923653675008
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.513445014,630.513445014,881,784,807,651.513445014,628,652,0.452606082065,-0.0156269032168,0.049538404262,0.999999738343,-8.06754211751e-07,-0.000723331543044,1.01944925171e-05,1793244923670341632
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.106499913,659.893500087,631,881,784,807,652,628,652,0.452370560798,-0.0156148660303,0.049543776296,0.99999974135,4.81947309319e-06,-0.000719154890213,9.60375628921e-06,1793244923687008512
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.686413009,659.313586991,631,881,784,807,652,628,652,0.452095244883,-0.0156064244636,0.0495493942397,0.999999742399,3.24382250419e-06,-0.000717715031548,8.73011790337e-06,1793244923703675392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.263590209,745,715,682,659,631,881,784,807,652,628,652,0.451807926842,-0.015597733464,0.0495563514333,0.999999746537,9.85772639825e-07,-0.000711945805731,7.57499405473e-06,1793244923720342272
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.837545979,745,715,682,659,631,881,784,807,652,628,652,0.451506476856,-0.0155887487691,0.049564885533,0.999999754223,-2.07577144849e-06,-0.000701078945701,6.0884338419e-06,1793244923737008384
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.588071154,745,715,681.588071154,659,631,880.588071154,784,807.411928846,652,628.411928846,652,0.451168397928,-0.0155845497905,0.0495642241379,0.999999754827,-1.15771971876e-05,-0.00070014304377,3.38724950065e-06,1793244923753675264
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.01351969,745,715,681.01351969,659,631,880.01351969,784,807.98648031,652,628.98648031,652,0.450815858512,-0.0155822401328,0.0495599325151,0.999999752527,-2.36209803941e-05,-0.00070312771814,2.06551908121e-07,1793244923770342400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.578701709,631,880.578701709,784,807.421298291,652,629,652,0.450458588731,-0.0155823573891,0.0495710938632,0.999999772959,-3.54693707921e-05,-0.000672921985715,-7.2459732234e-07,1793244923787009024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.833582035,631,881,784.166417965,807,652,629,652,0.450083303843,-0.0155796873723,0.0495845936947,0.999999792625,-4.52540319074e-05,-0.000642416994979,-1.83236074261e-06,1793244923803675648
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.257989676,631,881,784.742010324,807,652,629,652,0.449664005265,-0.0155700204504,0.0496029276029,0.999999810773,-4.99761455533e-05,-0.000613142746883,-3.5076535212e-06,1793244923820342272
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.682579786,681,659.317420214,631.317420214,881,785,807,652,629,652,0.449222785096,-0.0155591586957,0.0496179703297,0.999999825256,-5.36657202036e-05,-0.000588708830629,-5.47358189673e-06,1793244923837008640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.107318054,681,659.892681946,631.892681946,881,785,807,652,629,652,0.448763757898,-0.0155473263734,0.0496303396205,0.999999836944,-5.65165604377e-05,-0.000568206729327,-7.67559473873e-06,1793244923853675264
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.519244917,631.519244917,880.519244917,785,807.480755083,652,629,651.519244917,0.448264649219,-0.0155380774764,0.0496311381503,0.999999838649,-6.28629899723e-05,-0.000564473337678,-1.09174512841e-05,1793244923870341888
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.070276069,680.929723931,659.070276069,631.070276069,880.070276069,785,807.929723931,652,629,651.070276069,0.447747930964,-0.0155291327874,0.049628189605,0.999999837013,-7.02770192192e-05,-0.000566412170249,-1.45730485977e-05,1793244923887009024
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.649014609,680.350985391,659.649014609,631.649014609,880.649014609,785,807.350985391,652,629,651.649014609,0.447170311455,-0.0155181023711,0.0496173297814,0.999999827531,-7.96150575704e-05,-0.00058156607742,-1.94967156196e-05,1793244923903675648
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.226780619,659.773219381,632,881,785,807.226780619,652,629.226780619,652,0.446576917645,-0.0155066922691,0.0496089497944,0.999999819703,-8.8627718494e-05,-0.000593429196708,-2.41077770358e-05,1793244923920342272
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.80304785,659.19695215,632,881,785,807.80304785,652,629.80304785,652,0.445959214442,-0.0154946970426,0.0496043914296,0.999999814751,-9.7138946904e-05,-0.000600220954629,-2.82370885573e-05,1793244923937008640
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.622813031,681,659,632,881,785.377186969,807.622813031,652,630,652,0.445359844012,-0.0154868379777,0.0496283890214,0.999999834716,-0.000108457449878,-0.000563852381025,-2.9573909143e-05,1793244923953675264
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.049778911,681,659,632,881,785.950221089,807.049778911,652,630,652,0.444769992546,-0.0154811265361,0.04966721375,0.999999864668,-0.000121233576129,-0.000505073625297,-2.94607817722e-05,1793244923970341888
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.459331841,659.540668159,632.540668159,881,786,807,652,630.540668159,652,0.444138019885,-0.0154731068487,0.0497080588277,0.99999988929,-0.000133653999679,-0.00045020718448,-2.94944578623e-05,1793244923987008256
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.129152525,745,714,680,660.129152525,633,881,786,807,652,630.870847475,652,0.443479388283,-0.0154643996074,0.0497375017177,0.999999903771,-0.000145526796102,-0.000412744669579,-3.03525603624e-05,1793244924003675136
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.705115735,745,714,680,660.705115735,633,881,786,807,652,630.294884265,652,0.442742391537,-0.0154540734216,0.0497268331306,0.999999893046,-0.000155622111229,-0.000434204450842,-3.40144985437e-05,1793244924020341760
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,633.230697556,880.769302444,786.769302444,807,652,630,652,0.437236219246,-0.0154331785225,0.0497713359983,0.999999930998,-6.60347265722e-05,-0.000361322814713,-5.55794717586e-05,1793244924137008896
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.732272092,679.732272092,659.732272092,634,880,786.732272092,806.732272092,652,630.267727908,652,0.426333225034,-0.0154082898735,0.049764307766,0.99999991973,-5.38663951138e-05,-0.000394913756924,-4.10170324437e-05,1793244924337008896
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.255768209,714,679,659,634.744231791,879,787,806,652.255768209,630,652,0.400989593551,-0.0154376848105,0.0498558455854,0.999999952989,-0.000169390077168,-0.00025342588379,-3.32162882356e-05,1793244925587009024
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8e69325c313f9968893ba85adfa0594780e84d7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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+407,6.783333333,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211366,-0.00144652634691,1.03971731481
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6097c0a204afa674713ffd4e3b6d57a58d9a219e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25866e3ac05761b2510032c01a9ae4f02bd6cf460607996470af194d6c9046ed
+size 25632694
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..30973b2ce340d3c60bfd35e5a67e011f4d1a9df6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+55,0.916666667,BASELINE,765,745,714,679,658.916049267,634,880,786,805.083950733,652,630,652.083950733,0.401004123557,-0.0155007288001,0.0698399166032,0.999999982726,5.29470456966e-05,-0.000177891426225,1.00015049765e-05,1793244928133307392
+56,0.933333333,BASELINE,764.504022955,745,714,679.495977045,659,634,879.504022955,786.495977045,805.495977045,652,630,652,0.401004852573,-0.0155005395453,0.0698399053756,0.999999982876,5.28226101896e-05,-0.000177085796276,9.91376236127e-06,1793244928149974272
+57,0.950000000,BASELINE,764.073075138,745,714.073075138,679.926924862,659,634,879,787,805.926924862,652,630,652,0.401005752996,-0.0155004917601,0.0698400796424,0.999999983104,5.26192196573e-05,-0.000175861638006,9.79677756016e-06,1793244928166641152
+58,0.966666667,BASELINE,764.64824539,745,714.64824539,679.35175461,659,634,879,787,805.35175461,652,630,652,0.401005856429,-0.0155005448981,0.069840719284,0.99999998323,5.30026946357e-05,-0.00017503126147,9.70185152465e-06,1793244928183307776
+59,0.983333333,BASELINE,765,744.771577128,715,679,658.771577128,634,879,787,805.228422872,652,630,652.228422872,0.401005709116,-0.0155004966694,0.0698409062197,0.999999983241,5.32191893125e-05,-0.000174901962293,9.70627040714e-06,1793244928199974656
+60,1.000000000,BASELINE,765,744.183515971,715,679,658.183515971,634,879,787,805.816484029,652,630,652.816484029,0.401005167018,-0.0155002888448,0.0698403803967,0.999999983071,5.31727834529e-05,-0.000175876467772,9.86710196493e-06,1793244928216641280
+61,1.016666667,BASELINE,764.601786266,744,714.601786266,679,658,634,879.398213734,787,806,652,630,652.601786266,0.401004418735,-0.0154992652863,0.0698401100143,0.999999982842,5.53283288228e-05,-0.000176513759481,9.91281274904e-06,1793244928233307904
+62,1.033333333,BASELINE,764.022928766,744,714.022928766,679,658,634,879.977071234,787,806,652,630,652.022928766,0.401003576919,-0.0154978716821,0.0698399555086,0.999999982577,5.84827567784e-05,-0.000176998079094,9.90630068838e-06,1793244928249974272
+63,1.050000000,BASELINE,764.555450587,744,714,678.444549413,658.555450587,634,880,786.444549413,805.444549413,652,630,652,0.401004849921,-0.0155007595647,0.0698407080645,0.999999982913,5.43632597535e-05,-0.0001763983964,1.01568367948e-05,1793244928266640896
+64,1.066666667,BASELINE,765,744,714,678.131921015,658.868078985,634,880,786.131921015,805,652,630,652,0.401005571432,-0.0155028516367,0.06984107523,0.999999983127,5.10426830505e-05,-0.000176169097062,1.02746494733e-05,1793244928283307776
+65,1.083333333,BASELINE,765,744,714,678.702115025,658.297884975,634,880,786.702115025,805,652,630,652,0.401004170981,-0.0155017131762,0.0698400377487,0.99999998291,5.13730022676e-05,-0.000177318832232,9.91630192169e-06,1793244928299974400
+66,1.100000000,BASELINE,765,744,714,679,658,634,880,787,805,652,630,652,0.401004785469,-0.0155010888057,0.069839965615,0.999999983011,5.23160899545e-05,-0.000176480584124,9.74954867307e-06,1793244928316640768
+67,1.116666667,BASELINE,765,744,714,679,658,634,880,787,805,652,630,652,0.401007604144,-0.01550102681,0.0698409494967,0.999999983452,5.39294987378e-05,-0.000173467636619,9.79238473612e-06,1793244928333307648
+68,1.133333333,BASELINE,765,744,714,679.461187717,658,634,879.538812283,786.538812283,805,652,630,652,0.401006544194,-0.0155002119098,0.0698408357862,0.999999983304,5.47699592665e-05,-0.000174062845059,9.71590250401e-06,1793244928349974784
+69,1.150000000,BASELINE,765,744,714,679.959512963,658,634,879,786.040487037,805,652,630,652,0.401004703616,-0.0154992683951,0.0698404612586,0.999999983018,5.54721133599e-05,-0.000175481485587,9.61412351748e-06,1793244928366641920
+70,1.166666667,BASELINE,765,744,714,679.383351679,658,634,879,786.616648321,805,652,630,652,0.401005703616,-0.0154991795062,0.0698403625144,0.999999982923,5.69687136039e-05,-0.000175544195771,9.58276378894e-06,1793244928383308288
+71,1.183333333,BASELINE,765,744.196122171,714.196122171,679,658,634,879,787,805.196122171,652,630,652,0.401006154288,-0.0154990247288,0.0698404331644,0.999999982884,5.76947519789e-05,-0.000175530906663,9.63067602102e-06,1793244928399974656
+72,1.200000000,BASELINE,765,744.782182305,714.782182305,679,658,634,879,787,805.782182305,652,630,652,0.401005512764,-0.0154987389491,0.0698408406107,0.999999982957,5.68887286303e-05,-0.000175366512726,9.83619993686e-06,1793244928416641024
+73,1.216666667,BASELINE,764.636045516,745,714.636045516,679,658.363954484,634,879,787,806,652,630,652,0.40100563233,-0.0155000210736,0.0698407453013,0.999999983053,5.43357786549e-05,-0.000175628624901,9.84812603716e-06,1793244928433307648
+74,1.233333333,BASELINE,764.056809723,745,714.056809723,679,658.943190277,634,879,787,806,652,630,652,0.401006202086,-0.0155022306232,0.0698403526088,0.999999983152,5.07495109163e-05,-0.000176143018065,9.74553783011e-06,1793244928449974528
+75,1.250000000,BASELINE,764.520964633,745,714,679,658.479035367,634,879,787,805.479035367,652.520964633,630,652,0.401005505725,-0.0155015080637,0.0698405187874,0.999999983003,5.3448261095e-05,-0.0001761866218,9.74225304566e-06,1793244928466640896
+76,1.266666667,BASELINE,765,744.901717332,714,679.098282668,658.098282668,634,879.098282668,786.901717332,805,652.901717332,630,652,0.401004666335,-0.0155004838221,0.0698404324131,0.999999982795,5.61506920307e-05,-0.000176529695336,9.71255319101e-06,1793244928483307776
+77,1.283333333,BASELINE,765,744.325844487,714,679.674155513,658.674155513,634,879.674155513,786.325844487,805,652.325844487,630,652,0.401003800946,-0.0154995429743,0.0698388234781,0.999999982467,5.55499024954e-05,-0.000178576771222,9.50201962938e-06,1793244928499974656
+78,1.300000000,BASELINE,765,744,714,679.745369162,659,634,879.745369162,786.254630838,805,652,630,652,0.401002975676,-0.0154990746669,0.0698378712848,0.99999998226,5.54645156619e-05,-0.000179771074514,9.25319920566e-06,1793244928516641280
+79,1.316666667,BASELINE,765,744,714,679.158895795,659,634,879.158895795,786.841104205,805,652,630,652,0.40100220269,-0.0154992221882,0.0698377749771,0.999999982215,5.60508171049e-05,-0.000179854018874,8.95448221369e-06,1793244928533307904
+80,1.333333333,BASELINE,764.576820331,744.423179669,714,679,659,634,879,786.576820331,805.423179669,652,630,652,0.401003418438,-0.0155002712051,0.0698391438083,0.999999982487,5.53005896247e-05,-0.000178543693563,9.48400981365e-06,1793244928549974528
+81,1.350000000,BASELINE,764.003609336,744.996390664,714,679,659,634,879,786,805.996390664,652,630,652,0.401005359571,-0.0155016432548,0.0698410426267,0.999999982869,5.40634036447e-05,-0.00017673034283,1.03137887205e-05,1793244928566641408
+82,1.366666667,BASELINE,764.582206533,744.417793467,714,679,659,634,879,786,805.417793467,652,630,652,0.4010051235,-0.0155011068664,0.0698406337778,0.999999982761,5.43747747264e-05,-0.000177265112184,9.94242004595e-06,1793244928583308032
+83,1.383333333,BASELINE,765,744,714,679,658.840559574,634,879.159440426,786,805,652,630,652,0.401005166326,-0.0155011120182,0.0698402986441,0.999999982778,5.40492298968e-05,-0.000177278426522,9.7028922575e-06,1793244928599974400
+84,1.400000000,BASELINE,765,744,714,679,658.266867636,634,879.733132364,786,805,652,630,652,0.401005933768,-0.0155025241776,0.0698401550345,0.999999983119,5.20688765873e-05,-0.000175936918145,9.80590791984e-06,1793244928616641024
+85,1.416666667,BASELINE,765,744,714,679,658.314881076,634,879.685118924,786.314881076,805,652.314881076,630,652,0.401005336605,-0.0155026312842,0.0698399416999,0.999999983086,5.18251394931e-05,-0.000176203985168,9.72740694897e-06,1793244928633308160
+86,1.433333333,BASELINE,765,744,714,679,658.90363732,634,879.09636268,786.90363732,805,652.90363732,630,652,0.401003552545,-0.0155016032906,0.0698396677203,0.999999982727,5.30918650167e-05,-0.000177870148282,9.4910276422e-06,1793244928649975040
+87,1.450000000,BASELINE,765,744.484559615,714.484559615,679.484559615,659,634,879,787,805.484559615,652.515440385,630,652,0.401005186315,-0.0155008690773,0.0698404091305,0.999999983017,5.38718128928e-05,-0.000175989364274,9.55135688019e-06,1793244928666641664
+88,1.466666667,BASELINE,765,745,714.93651852,680,659,634,879,787,805.93651852,652,630.06348148,652,0.401007022642,-0.0155001888609,0.0698411875076,0.999999983342,5.46735297142e-05,-0.00017387493064,9.67370639957e-06,1793244928683308544
+89,1.483333333,BASELINE,765,745,714.361363229,680,659,634,879,787,805.361363229,652,630.638636771,652,0.401005100333,-0.0154994804599,0.0698406621671,0.999999982965,5.6418553254e-05,-0.000175472197683,9.82792323794e-06,1793244928699974656
+90,1.500000000,BASELINE,765,745,714,680,659,634,879.218224473,787,805,652,630.781775527,652,0.401003694421,-0.0154995675656,0.0698399992069,0.999999982607,5.72466491103e-05,-0.000177233211402,9.81241055784e-06,1793244928716641024
+91,1.516666667,BASELINE,765,745,714,680,659,634,879.805304019,787,805,652,630.194695981,652,0.401003161351,-0.0155009992806,0.0698391036343,0.999999982288,5.65249029047e-05,-0.00017927099865,9.51001164247e-06,1793244928733307648
+92,1.533333333,BASELINE,765,744.610712451,714,680,658.610712451,634,879.610712451,786.610712451,805,652,630,652,0.401003360863,-0.0155007740361,0.0698395797775,0.999999982446,5.51223971723e-05,-0.000178822951484,9.56781761325e-06,1793244928749974528
+93,1.550000000,BASELINE,765,744.028265076,714,680,658.028265076,634,879.028265076,786.028265076,805,652,630,652,0.401003923873,-0.0154997266282,0.0698407365498,0.999999982838,5.33821066383e-05,-0.000177141463191,9.8043529141e-06,1793244928766641408
+94,1.566666667,BASELINE,765,744.547334953,714,679.452665047,658.547334953,634,879,786.547334953,805,652,630,652,0.401003879144,-0.0155007699552,0.069840220809,0.999999982858,5.11867196854e-05,-0.000177685439013,9.54049439645e-06,1793244928783308288
+95,1.583333333,BASELINE,765,745,714,679,658.87788187,634,879,786.87788187,805.12211813,652,630,652,0.401004098882,-0.015501376903,0.0698400014213,0.999999982897,5.04100005287e-05,-0.000177697200145,9.36785239318e-06,1793244928799974912
+96,1.600000000,BASELINE,765,745,714,679,658.304825269,634,879,786.304825269,805.695174731,652,630,652,0.401005409664,-0.0154999786967,0.0698411913544,0.999999983074,5.49576235786e-05,-0.000175324547166,9.62628264448e-06,1793244928816641280
+97,1.616666667,BASELINE,765,745,714,679,658.277854481,634,879,786,805.444291038,652,630,652,0.401005891271,-0.0154994785993,0.0698415685846,0.99999998314,5.69143566487e-05,-0.000174321885619,9.57310223987e-06,1793244928833307904
+98,1.633333333,BASELINE,765,745,714,679,658.871470201,634,879,786,804.257059599,652,630,652,0.40100543058,-0.0154999991369,0.0698410222373,0.999999983103,5.59267330087e-05,-0.000174876119003,9.165799164e-06,1793244928849974528
+99,1.650000000,BASELINE,764.547426714,745,714,679.452573286,659,634,879,786,804.452573286,652.452573286,630,652,0.401004971672,-0.0154991111239,0.0698407698043,0.99999998288,5.65125804092e-05,-0.000175958544799,9.17362396424e-06,1793244928866641152
+100,1.666666667,BASELINE,764.030138349,744.969861651,714,679.969861651,658.969861651,634,879.030138349,786,805,652.969861651,630,652,0.401004542186,-0.0154979764121,0.0698405848017,0.999999982618,5.74290267554e-05,-0.000177143605459,9.28482593522e-06,1793244928883307776
+101,1.683333333,BASELINE,764.606253094,744.393746906,714,679.393746906,658.393746906,634,879.606253094,786,805,652.393746906,630,652,0.401004636772,-0.0154994243459,0.0698401498942,0.999999982603,5.64570785198e-05,-0.000177543626321,9.19048087272e-06,1793244928899974400
+102,1.700000000,BASELINE,765,744.185908889,714,679,658,634,880,786,805.185908889,652,630,652,0.401004856853,-0.0154997379105,0.0698400803376,0.999999982589,5.65790137328e-05,-0.000177583878934,9.17782596213e-06,1793244928916641280
+103,1.716666667,BASELINE,765,744.77321002,714,679,658,634,880,786,805.77321002,652,630,652,0.401005347887,-0.0154976022807,0.0698407996033,0.999999982575,5.90627314069e-05,-0.000176847362913,9.34154667127e-06,1793244928933307904
+104,1.733333333,BASELINE,765,744.644803933,714.355196067,679,658,634,879.644803933,786.355196067,806,652,630,652,0.40100531984,-0.0154973978925,0.069841213315,0.999999982644,5.88467637239e-05,-0.000176514634373,9.5310114349e-06,1793244928949974528
+105,1.750000000,BASELINE,765,744.066161438,714.933838562,679,658,634,879.066161438,786.933838562,806,652,630,652,0.40100496525,-0.015498408408,0.069841434809,0.999999982767,5.69324805943e-05,-0.000176435920035,9.73667126172e-06,1793244928966641408
+106,1.766666667,BASELINE,764.489257623,744,715,679,658.510742377,634,879,787,806,652.510742377,630,652,0.401004035829,-0.015498309638,0.0698402225994,0.999999982619,5.64952286347e-05,-0.000177432470227,9.41707496792e-06,1793244928983308032
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,879,787,805,652,630,652,0.401005674001,-0.0154982899204,0.0698399875123,0.999999982724,5.58962821767e-05,-0.000177043885139,9.09940239586e-06,1793244929026490368
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.419650369,714,679,658,634,879,787,805.580349631,652,630,652,0.401005837457,-0.0154988091083,0.0698408915055,0.999999982921,5.52288931497e-05,-0.000176130213711,9.2492216189e-06,1793244929043156992
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.163212454,714,679,658.163212454,634.163212454,879,787,805.836787546,652,630,652,0.401005900497,-0.015499692673,0.0698415195332,0.999999983108,5.41074133465e-05,-0.00017540589417,9.48838927781e-06,1793244929059823872
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.752638359,714,679,658.752638359,634.752638359,879,787,805.247361641,652,630,652,0.401005701309,-0.0155015277727,0.0698414269038,0.999999983265,5.18001194992e-05,-0.000175176048471,9.96088171978e-06,1793244929076490752
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.665262456,879.334737544,787,805,652,630,652,0.401005926041,-0.0155015516848,0.0698413815718,0.999999983264,5.21638122247e-05,-0.000175075365764,9.97016882982e-06,1793244929093157120
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.088461578,879.911538422,787,805,652,630,652,0.401006457327,-0.0155002658481,0.0698413704426,0.999999983146,5.44590121146e-05,-0.00017506808647,9.64449190896e-06,1793244929109823488
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.49612556,879.50387444,787,805,652.49612556,630,652,0.401004391426,-0.0154996080034,0.0698400162443,0.999999982516,5.54831805421e-05,-0.00017831853409,9.58656623803e-06,1793244929126489600
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.918814053,745,714.081185947,679.081185947,659,634.918814053,879,787,805,652.918814053,630,652,0.401002619848,-0.0154993103103,0.0698389152062,0.999999981861,5.58878682865e-05,-0.000181833289058,9.55675385117e-06,1793244929143155968
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764.238052099,744.761947901,714.761947901,679.761947901,658.761947901,634,879,786.761947901,805.238052099,652,630,652,0.401013879582,-0.015501285722,0.0698451806146,0.999999981709,5.32425158559e-05,-0.000183450425869,9.68104266055e-06,1793244929176489216
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.813125107,744.186874893,714.186874893,679.186874893,658.186874893,634,879,786.186874893,805.813125107,652,630,652,0.401029888786,-0.0155014061151,0.0698528639843,0.999999981981,5.4451807899e-05,-0.000181549859913,1.05748386039e-05,1793244929193155840
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.388156615,714,679,658,634,879,786,806,652,630,652,0.401067079611,-0.0155036231005,0.0698664240003,0.999999984267,5.40989967633e-05,-0.000168535670204,1.15947304715e-05,1793244929209822464
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.963168197,714,679,658,634,879,786,806,652,630,652,0.401114467074,-0.0155068493658,0.0698828129798,0.99999998724,5.29942038513e-05,-0.000150171485686,1.26753238147e-05,1793244929226489344
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.448241618,744.448241618,714,679,658,634,879.551758382,786.551758382,805.448241618,652,630,652,0.401178571521,-0.0155084930146,0.0698964860943,0.999999989824,5.42444110987e-05,-0.000131292009479,1.31316094867e-05,1793244929243156224
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.139238193,744.139238193,714,679,658,634,880,787,805,652,630,652,0.401247123928,-0.0155105653109,0.0699082014988,0.999999991758,5.51566801711e-05,-0.000115177207891,1.32729600043e-05,1793244929259822848
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.720246778,744.720246778,714,679,658,634,880,787,805,652,630,652,0.401326158819,-0.0155143412508,0.069914295263,0.999999992611,5.44853927831e-05,-0.000107945959901,1.2550654958e-05,1793244929276489216
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,879.701257064,787,805,652,630,652,0.40141438436,-0.0155173957401,0.0699175591771,0.999999992939,5.33987767941e-05,-0.000105594738715,1.09361069627e-05,1793244929293155840
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,879.125094043,787,805,652,630,652,0.401511144561,-0.0155197802722,0.0699181952221,0.999999992808,5.19264764252e-05,-0.000107775231676,8.49300011874e-06,1793244929309822720
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.549191245,714,679,658.450808755,634,879,786.549191245,805.450808755,652,630,652,0.401632103635,-0.0155218810702,0.0699188666655,0.999999992584,5.53617439717e-05,-0.000108315395141,5.91454952794e-06,1793244929326489088
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.02726962,714,679.02726962,659,634,879.02726962,786.02726962,806,652.02726962,630,652,0.401760914874,-0.0155238773752,0.0699195773156,0.999999992329,5.99283541925e-05,-0.000108352286363,3.26528065406e-06,1793244929343155712
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.616723445,714,679.616723445,659,634,879.616723445,786.616723445,806,652.616723445,630,652,0.401913251667,-0.0155253416755,0.0699208938592,0.999999992448,5.97602831299e-05,-0.000107392137236,-7.01575640929e-08,1793244929359822336
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.797373227,659,634,880,787,805.797373227,652.797373227,630,652,0.402077439645,-0.0155270346404,0.069922758651,0.999999992588,5.8683129459e-05,-0.00010661290193,-3.63406164262e-06,1793244929376488960
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.218070215,659,634,880,787,805.218070215,652.218070215,630,652,0.402263658553,-0.0155291526849,0.0699256426172,0.999999992772,5.59160223369e-05,-0.000106169979335,-7.62267556791e-06,1793244929393155584
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.642715089,714.357284911,679.357284911,659,634,879.642715089,787,805,652.357284911,630,652,0.402471930088,-0.0155304880397,0.0699266947309,0.999999992979,5.26915688935e-05,-0.000105444827957,-1.21367333289e-05,1793244929409822976
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.069743182,714.930256818,679.930256818,659,634,879.069743182,787,805,652.930256818,630,652,0.402693514448,-0.0155313508977,0.0699266409858,0.999999993181,4.91910227662e-05,-0.000104549299684,-1.69679932339e-05,1793244929426490368
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.505167504,714.494832496,680,659,634.505167504,879,787,805,652.494832496,630,652,0.402959729363,-0.0155244079313,0.0699306393453,0.999999994636,2.66109283757e-05,-9.76790945617e-05,-2.18841347491e-05,1793244929443156736
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.917067469,659,634.917067469,879,786.917067469,805,652,630,652,0.403237428407,-0.0155173080977,0.0699362337195,0.99999999571,6.0747720213e-06,-8.85259654838e-05,-2.65666206923e-05,1793244929459822848
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.32337798,659,634.32337798,879,786.32337798,805,652,630,652,0.403547760796,-0.0155159047738,0.0699481988312,0.999999996975,1.4411841805e-05,-7.04126263232e-05,-2.97376430265e-05,1793244929476489472
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.737765948,714.262234052,679,659,634,879,786.262234052,805,652,630,652,0.403867385375,-0.0155179338321,0.0699540009397,0.999999997382,1.44202531851e-05,-6.36463891163e-05,-3.12483488186e-05,1793244929493156096
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.161817143,714.838182857,679,659,634,879,786.838182857,805,652,630,652,0.404198126331,-0.0155240691037,0.0699524301491,0.999999997035,4.46495796417e-06,-7.04548709992e-05,-3.07727914237e-05,1793244929509822720
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.586768615,744.413231385,715,679.413231385,659,634,879.413231385,786.586768615,805,652,630,652,0.404573789956,-0.0155276909714,0.0699581172786,0.999999997643,1.85900909922e-06,-6.13294661237e-05,-3.07948582537e-05,1793244929526489600
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.012071873,744.987928127,715,679.987928127,659,634,879.987928127,786.012071873,805,652,630,652,0.404967006584,-0.0155303307556,0.0699666403559,0.99999999846,2.12473206024e-06,-4.59780801886e-05,-3.10113659668e-05,1793244929543156480
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.577850843,745,714.422149157,680,659,634,878.844298314,786,806.155701686,652,630,652,0.405389434122,-0.0155293442142,0.0699677480634,0.999999998424,-9.98916551923e-06,-4.4101288031e-05,-3.32629738946e-05,1793244929559822848
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.165862088,878.165862088,786.165862088,806.834137912,652,630,652,0.405820971155,-0.0155277201691,0.0699652279079,0.999999998081,-1.56008368103e-05,-4.83586077746e-05,-3.54549985652e-05,1793244929576489472
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.748252558,878.748252558,786.748252558,806.251747442,652,630,652,0.40627381076,-0.0155246905637,0.0699539966872,0.999999997028,-4.21645444483e-06,-6.72944290667e-05,-3.73877341748e-05,1793244929593156096
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.674330717,714,680,658.674330717,634.674330717,879.325669283,787,805.674330717,652,630,652,0.406750378682,-0.0155227182941,0.0699417290273,0.999999995686,-1.00102511134e-06,-8.39615385288e-05,-3.97085219778e-05,1793244929609826560
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.100700877,714,680,658.100700877,634.100700877,879.899299123,787,805.100700877,652,630,652,0.407245013098,-0.0155215510666,0.0699286722343,0.999999994206,-4.00533418749e-06,-9.89012809221e-05,-4.23247681195e-05,1793244929626499840
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.453552297,714.453552297,679.546447703,658.453552297,634,880,786.546447703,805,652,630,652,0.407805103668,-0.0155213928599,0.0699360054643,0.999999995779,-1.72102846597e-06,-8.11410688736e-05,-4.30824118967e-05,1793244929643162880
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.995840095,714.995840095,679,658.995840095,634,880,786,805.004159905,652,630,652,0.408379535362,-0.0155214601444,0.0699476850865,0.999999997465,1.65245226883e-06,-5.63938631814e-05,-4.34426654498e-05,1793244929659823616
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.373896809,714.373896809,679,658.373896809,634,880,786,805.626103191,652,630,652,0.40901390009,-0.0155231075742,0.069960068712,0.999999998658,-4.58622731722e-07,-2.80548203877e-05,-4.35597304235e-05,1793244929676490496
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.229494178,714,679.229494178,658.229494178,634,879.770505822,786,806,652.229494178,630,652,0.409637783631,-0.015523165979,0.0699623084277,0.999999998822,-1.91932194718e-06,-1.96080117361e-05,-4.43606893516e-05,1793244929693157120
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.804920029,714,679.804920029,658.804920029,634,879.195079971,786,806,652.804920029,630,652,0.410245868149,-0.0155208291419,0.06994925756,0.999999998084,-2.39966682774e-06,-4.11460780105e-05,-4.61925266507e-05,1793244929709823744
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.618784203,714,680,659,634,879.381215797,786,806,652.618784203,629.618784203,652,0.410891600196,-0.015519076826,0.0699458887236,0.999999997522,-3.32462126309e-06,-5.17936886047e-05,-4.75710504286e-05,1793244929726489856
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.042042271,714,680,659,634,879.957957729,786,806,652.042042271,629.042042271,652,0.411556641697,-0.0155176243119,0.0699474858155,0.999999997187,-4.47761656861e-06,-5.68555680509e-05,-4.8717068995e-05,1793244929743155712
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.543592676,714,680,659,634,879.456407324,786,806,652,629.543592676,652,0.412313785384,-0.0155204627766,0.0699806469816,0.999999998951,-3.36470735332e-08,1.04811226902e-06,-4.57957355055e-05,1793244929759822336
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.870860741,714,679.870860741,659,634,879,786.129139259,806,652,630,652,0.413077944579,-0.01552287782,0.0700118023752,0.99999999759,5.7171333289e-08,5.42670185119e-05,-4.3310798738e-05,1793244929776488960
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.288080988,714,679.288080988,659,634,879,786.711919012,806,652,630,652,0.413841308699,-0.0155226202833,0.0700271937618,0.999999996204,-1.6689667573e-05,7.36378997321e-05,-4.34822564585e-05,1793244929793155584
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.288932967,714,679.288932967,659.288932967,634,879.288932967,787,806,652,630.288932967,652,0.414571164752,-0.0155186939981,0.0700086951631,0.999999998101,-1.72540434464e-05,3.69622051482e-05,-4.61975085441e-05,1793244929809822208
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.860310668,714,679.860310668,659.860310668,634,879.860310668,787,806,652,630.860310668,652,0.41526826528,-0.0155111813494,0.0699570676093,0.999999997192,-1.99934901277e-06,-5.45014901258e-05,-5.13994316944e-05,1793244929826489088
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.561902083,806,652,630.561902083,652,0.416044187847,-0.0155074053969,0.0699269691104,0.999999993404,1.31910444096e-06,-0.00010001710207,-5.6448517469e-05,1793244929843155968
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.981715088,714,680,659.981715088,634,880,786.018284912,805.981715088,652,630,652,0.416848009155,-0.0155051818816,0.0699056360648,0.999999989936,3.91937941635e-07,-0.000128013725449,-6.11640215224e-05,1793244929859822336
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.391336806,714,680,659.391336806,634,880,786.608663194,805.391336806,652,630,652,0.417726698745,-0.0155136989963,0.0699405865202,0.999999995628,-1.2524414981e-05,-7.30752862383e-05,-5.69898977391e-05,1793244929876488960
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.195288352,714,680,659,634.195288352,880,787,805.195288352,652,630,652,0.418605846653,-0.0155188836926,0.0699721124624,0.999999997979,-2.22110837486e-05,-2.478397607e-05,-5.4177274436e-05,1793244929893155840
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.774534432,714,680,659,634.774534432,880,787,805.774534432,652,630,652,0.419485895611,-0.0155175164984,0.0699969054444,0.999999998159,-2.55478482845e-05,1.04383658209e-05,-5.40415067891e-05,1793244929909822720
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.649645551,880,786.649645551,806,652,630.350354449,652,0.420375625853,-0.015519660517,0.0700178868531,0.999999997296,-3.06425446272e-05,4.03933486412e-05,-5.3274363986e-05,1793244929926489344
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.076008999,880,786.076008999,806,652,630.923991001,652,0.421271525977,-0.0155240422437,0.0700364391318,0.999999995719,-3.68575768679e-05,6.69914239265e-05,-5.21048436121e-05,1793244929943155968
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.499202027,634,880,786,806,652,630.500797973,652,0.422121195175,-0.0155240126619,0.0700141258194,0.99999999728,-3.88816376613e-05,2.92993077401e-05,-5.54023382311e-05,1793244929959822592
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.92332477,745,714,680,659.92332477,634,880,786.07667523,806,651.92332477,630.07667523,652,0.422960454462,-0.0155223125791,0.0699781200035,0.999999996979,-4.00603223357e-05,-2.87271826063e-05,-6.00938703042e-05,1793244929976489472
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.332289766,745,714,680,659.332289766,634,880,786.667710234,806,651.332289766,630.667710234,652,0.423777250837,-0.0155139263061,0.0698921335328,0.999999984416,-3.98622260601e-05,-0.000157288072522,-6.95599151717e-05,1793244929993157120
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.252581108,745,714,680.252581108,659.252581108,634,880,787,806,651.252581108,630.747418892,652,0.424652385874,-0.0155100994186,0.0698570086529,0.999999975456,-3.95292389738e-05,-0.000204906856771,-7.44235623784e-05,1793244930009824000
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.829535869,745,714,680.829535869,659.829535869,634,880,787,806,651.829535869,630.170464131,652,0.42560244161,-0.0155121278552,0.0698872020273,0.999999985509,-3.90230208513e-05,-0.0001485769267,-7.33766489307e-05,1793244930026489600
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.595148366,660,634,880,787,806,652,630,652,0.426554277244,-0.0155153398609,0.0699381597258,0.999999993979,-3.98967266244e-05,-7.64163548118e-05,-6.79005789204e-05,1793244930043156224
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.020519958,660,634,880,787,806,652,630,652,0.427506859232,-0.0155190482027,0.0699978250567,0.999999997308,-4.13491109741e-05,2.38288130401e-06,-6.05671173454e-05,1793244930059823104
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.569839668,659.430160332,634,880,787,806,652,630.569839668,652,0.42844246594,-0.0155200361906,0.0700284632075,0.999999995981,-4.33710368908e-05,5.18534278251e-05,-5.88831861895e-05,1793244930076489472
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680.842507091,659.157492909,634,880.157492909,786.842507091,806,652,630.842507091,652,0.429373020437,-0.0155200115995,0.0700465704214,0.999999993939,-4.4405686987e-05,8.20560866888e-05,-5.84604069662e-05,1793244930093156096
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.26365323,659.73634677,634,880.73634677,786.26365323,806,652,630.26365323,652,0.43029173992,-0.0155175474517,0.0700340279535,0.999999995212,-4.27425229807e-05,6.3614708367e-05,-6.08520081219e-05,1793244930109822976
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714.312860794,680.312860794,660,633.687139206,881,786,806,652,630,652,0.431128722679,-0.0155138262959,0.0699823011469,0.999999996762,-4.02910092197e-05,-2.38279254481e-05,-6.54583230389e-05,1793244930126489600
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714.887417606,680.887417606,660,633.112582394,881,786,806,652,630,652,0.431897335766,-0.0155090537013,0.0698977981494,0.999999982444,-3.71800706458e-05,-0.000168987453805,-7.19171596523e-05,1793244930143156480
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.527494768,681,660,633.472505232,880.527494768,786.472505232,806,652,630,652,0.432760951318,-0.0155092878078,0.0698934756068,0.999999982637,-3.51714549763e-05,-0.000167783366178,-7.30626543074e-05,1793244930159822848
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.05931427,634,880,787,806,651.94068573,630.05931427,652,0.433652907708,-0.0155109905997,0.0699138499525,0.999999989108,-3.5122809808e-05,-0.000123742700924,-7.23780897251e-05,1793244930176489472
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.591240435,714,679,658,633.408759565,879,786.591240435,805.408759565,652,630,652,0.405625595974,-0.0153672285086,0.069807172628,0.9999999232,0.000216311990504,-0.00032638397553,1.68301072501e-05,1793244933145120000
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.01544252,714,679,658,633.98455748,879,786.01544252,805.98455748,652,630,652,0.405166258194,-0.0153645438342,0.0697986115547,0.999999917291,0.000218935019216,-0.000342376061771,1.62502199151e-05,1793244933161786880
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634,879,786,805.425759964,652,630,652,0.404794694977,-0.0153656261844,0.0698095546712,0.999999923924,0.000219568070367,-0.000321971478133,1.6649306628e-05,1793244933178453504
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.161196504,657.838803496,634,879,786,805.161196504,652,630,652,0.404438028188,-0.0153671745357,0.0698230436551,0.999999931868,0.000219459847612,-0.000296307565288,1.74233311295e-05,1793244933195119872
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.740097528,657.259902472,634,879,786,805.740097528,652,630,652,0.404113693953,-0.0153696614154,0.0698417368612,0.999999942449,0.00021757288752,-0.000259614418788,1.90990127541e-05,1793244933211786496
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.107139429,658.785721142,634,879,786,806,652,630,652,0.403474065866,-0.015368293537,0.0698485795754,0.999999947003,0.0002142062537,-0.000244495473673,1.81875475596e-05,1793244933245119488
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.693877744,714,679.693877744,658,634,878.693877744,786.306122256,805.693877744,652,630.693877744,652,0.400958860229,-0.0153603169255,0.0698145946697,0.999999928225,0.000233508013876,-0.000298251793624,8.34799495793e-06,1793244933745119488
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.11848412,714,679.11848412,658,634,878.11848412,786.88151588,805.11848412,652,630.11848412,652,0.400960002356,-0.0153608659829,0.0698152978692,0.999999929105,0.000232274512003,-0.000296262128364,8.24714231157e-06,1793244933761786368
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634,878.463178375,786.536821625,805,652,630.463178375,652,0.400959222667,-0.0153611629172,0.0698152204241,0.999999929172,0.000231837826637,-0.000296376877083,8.2769310902e-06,1793244933778452736
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.046500224,714,679,658,634,879,786,805,652,631,652,0.400958137419,-0.0153613573778,0.0698150120806,0.999999929012,0.000231759483725,-0.000296976564114,8.32413770065e-06,1793244933795119104
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744.630212208,714,679,658,634,879,786,805,652,631,652,0.400959279575,-0.0153611232938,0.0698156301778,0.999999928654,0.000233433885253,-0.00029687417454,8.18118813489e-06,1793244933811785728
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.788171128,714,679,658,634,879,786,805,652,630.788171128,652,0.400959319528,-0.0153607259909,0.0698156868936,0.999999928444,0.000234066517531,-0.000297082970802,8.10307827896e-06,1793244933828452608
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.210176454,714,679,658,634,879,786,805,652,630.210176454,652,0.400957454222,-0.0153600465493,0.0698147732099,0.999999928495,0.000232898355183,-0.000297829680577,8.13704986854e-06,1793244933845120000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634,879,786,805,652,630,652,0.400957717462,-0.0153600340519,0.0698153704515,0.999999929032,0.000232119127067,-0.00029663179313,8.09076308798e-06,1793244933861786624
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+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634,879,786,805,651.475356531,630,652,0.40095831005,-0.0153611241234,0.0698159725788,0.999999929359,0.000232159102344,-0.000295494156659,8.25664631242e-06,1793244933895119616
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.114453349,714,678.885546651,658,634,879,786.114453349,805,651.114453349,630.114453349,652,0.400957663809,-0.0153615855986,0.0698152698383,0.999999928879,0.000232967618163,-0.000296471856019,8.49458738569e-06,1793244933911786496
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.728733166,744.728733166,714,678.271266834,658,634,878.728733166,786.728733166,805,652,631,652,0.400960024398,-0.015360752081,0.0698171762509,0.999999929654,0.000233145482581,-0.000293707926075,8.38862325129e-06,1793244933945120000
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,744.420320895,714,679,658,634,878.420320895,786,805,652,630.579679105,652,0.400959819011,-0.0153622645882,0.0698173714762,0.999999930452,0.000230032199534,-0.000293451656872,8.22112255925e-06,1793244933978452992
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56206b42aa8b38f81e8c11d567746efdadd5e9b0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+375,6.250000000,pose2_to_pose3_retreat,0.575730771776,-0.0101222564046,1.06005074924,0.546302405907,-0.00144656743662,1.05971724223
+376,6.266666667,pose2_to_pose3_retreat,0.57571225599,-0.0101222638756,1.06005075439,0.546283891158,-0.00144657132668,1.05971724902
+377,6.283333333,pose2_to_pose3_retreat,0.575698548294,-0.0101221727774,1.06005097299,0.546270180976,-0.00144648885157,1.05971746277
+378,6.300000000,pose2_to_pose3_retreat,0.575688868436,-0.0101221670965,1.0600508851,0.546260500153,-0.00144648664013,1.0597173695
+379,6.316666667,pose2_to_pose3_retreat,0.575682104706,-0.0101221832748,1.06005079374,0.546253737112,-0.00144650041799,1.05971727966
+380,6.333333333,pose2_to_pose3_retreat,0.575677635356,-0.0101222015802,1.06005076208,0.546249269553,-0.00144651236396,1.0597172555
+381,6.350000000,pose2_to_pose3_retreat,0.575674875141,-0.0101221565421,1.06005081916,0.54624650862,-0.00144646973397,1.05971731327
+382,6.366666667,pose2_to_pose3_retreat,0.575673363281,-0.010122127083,1.06005085693,0.546244996211,-0.00144644213255,1.05971735109
+383,6.383333333,pose2_to_pose3_retreat,0.575672565148,-0.0101221377604,1.06005088598,0.546244198245,-0.00144645222953,1.05971738054
+384,6.400000000,pose2_to_pose3_retreat,0.575672177263,-0.0101221569913,1.06005090498,0.546243810685,-0.00144647034266,1.05971739994
+385,6.416666667,pose2_to_pose3_retreat,0.575671706141,-0.010122180349,1.06005092805,0.546243339958,-0.00144649234269,1.0597174235
+386,6.433333333,pose2_to_pose3_retreat,0.57567147338,-0.010122191889,1.06005093945,0.546243107392,-0.00144650321197,1.05971743514
+387,6.450000000,pose2_to_pose3_retreat,0.575671261958,-0.0101222023711,1.0600509498,0.546242896147,-0.00144651308476,1.05971744572
+388,6.466666667,pose2_to_pose3_retreat,0.575671255939,-0.0101222026695,1.0600509501,0.546242890133,-0.00144651336583,1.05971744602
+389,6.483333333,pose2_to_pose3_retreat,0.575671046906,-0.0101222130331,1.06005096034,0.546242681275,-0.00144652312707,1.05971745647
+390,6.500000000,pose2_to_pose3_retreat,0.575670985383,-0.0101222160834,1.06005096335,0.546242619804,-0.00144652600001,1.05971745955
+391,6.516666667,pose2_to_pose3_retreat,0.575670930044,-0.010122218827,1.06005096606,0.546242564511,-0.00144652858418,1.05971746232
+392,6.533333333,pose2_to_pose3_retreat,0.575670653048,-0.0101222258309,1.06005099414,0.546242287534,-0.00144653557179,1.05971748909
+393,6.550000000,pose2_to_pose3_retreat,0.575670519564,-0.010122221717,1.06005102383,0.546242153824,-0.00144653232027,1.05971751637
+394,6.566666667,pose2_to_pose3_retreat,0.5756704256,-0.010122218821,1.06005104473,0.5462420597,-0.00144653003141,1.05971753558
+395,6.583333333,pose2_to_pose3_retreat,0.575670339621,-0.0101222161712,1.06005106386,0.546241973575,-0.00144652793705,1.05971755315
+396,6.600000000,pose2_to_pose3_retreat,0.57567019279,-0.0101222116459,1.06005109652,0.546241826494,-0.00144652436038,1.05971758316
+397,6.616666667,pose2_to_pose3_retreat,0.575670034748,-0.0101222067751,1.06005113167,0.546241668184,-0.00144652051065,1.05971761546
+398,6.633333333,pose2_to_pose3_retreat,0.575669850316,-0.0101221972673,1.06005110219,0.546241483408,-0.00144651218533,1.05971758557
+399,6.650000000,pose2_to_pose3_retreat,0.575669802508,-0.0101221924957,1.06005105201,0.546241435493,-0.00144650771472,1.05971753704
+400,6.666666667,pose2_to_pose3_retreat,0.575669704371,-0.0101221827007,1.06005094899,0.546241337135,-0.00144649853755,1.05971743741
+401,6.683333333,pose2_to_pose3_retreat,0.575669574163,-0.0101221605839,1.06005086726,0.546241207479,-0.00144647436261,1.05971736057
+402,6.700000000,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641731,1.05971735668
+403,6.716666667,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641743,1.05971735668
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d35ae8437713d576e993a5002d378b17b19523f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb608acd4fc575f11f6a62870955b0b212a22b6eaa890661dbb9c209710500e8
+size 25632948
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5a689160bce6acf35ceba064024de94657c32bef
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+44,0.733333333,BASELINE,765,744,714,679.058340161,658.52917008,634,879,786.52917008,805,652,631,652,0.400959535201,-0.0153644846706,0.0698196700159,0.999999931939,0.000228421337611,-0.000289633552594,7.55831276123e-06,1793244934871638528
+45,0.750000000,BASELINE,765,744,714,679.894948919,658.894948919,634,879,786.894948919,805,652,631,652,0.400959889157,-0.0153656039452,0.0698196311321,0.999999932325,0.000226891944189,-0.000289501724432,7.64260982233e-06,1793244934888304896
+46,0.766666667,BASELINE,765,744,714,679.319624138,658.319624138,634,879,786.319624138,805,652,631,652,0.40095959487,-0.0153647965396,0.0698198019515,0.99999993249,0.000227351135467,-0.00028857760227,7.43126116884e-06,1793244934904971776
+47,0.783333333,BASELINE,765,744,714,678.745351875,658,634,879,786.254648125,805.254648125,652,630.745351875,652,0.40095934441,-0.0153652305404,0.0698201582905,0.999999932654,0.000226959567518,-0.000288313129795,7.50456874947e-06,1793244934921638400
+48,0.800000000,BASELINE,765,744,714,678.172395174,658,634,879,786.827604826,805.827604826,652,630.172395174,652,0.400959148734,-0.0153672162913,0.0698207465279,0.999999932819,0.00022550455588,-0.000288873215209,7.93369482651e-06,1793244934938304768
+49,0.816666667,BASELINE,764.585184201,744,714,678.414815799,658,634,878.585184201,786.585184201,805.585184201,652,630,652,0.4009591748,-0.0153660677029,0.0698208531758,0.999999932566,0.000226548084396,-0.000288930722975,7.877830393e-06,1793244934954971648
+50,0.833333333,BASELINE,764.007947236,744.007947236,714,679,658,634,878.007947236,786,805,651.992052764,630,651.992052764,0.400959307618,-0.0153636387775,0.0698207602785,0.999999932153,0.000228597881727,-0.000288754732567,7.62176509832e-06,1793244934971638528
+51,0.850000000,BASELINE,764.585712905,744.585712905,714,679,658,634,878.585712905,786,805,651.414287095,630,651.414287095,0.400960251919,-0.0153661307513,0.0698212211334,0.999999933215,0.00022569590939,-0.000287345718885,7.97738563984e-06,1793244934988305152
+52,0.866666667,BASELINE,765,744.837382814,714,679,658,634,879,786.162617186,805,651.162617186,630,651.162617186,0.400961000223,-0.0153676284849,0.0698215328644,0.999999933888,0.00022405946543,-0.000286277119046,8.19305126417e-06,1793244935004971776
+53,0.883333333,BASELINE,765,744.262661493,714,679,658,634,879,786.737338507,805,651.737338507,630,651.737338507,0.400961251832,-0.0153666066172,0.0698214666857,0.999999933595,0.000225630121035,-0.000286071195347,8.05404340652e-06,1793244935021638400
+54,0.900000000,BASELINE,764.679918634,744,714,678.679918634,658.320081366,634,879,787,805,652,630.320081366,652,0.400960987948,-0.0153662095899,0.0698210880676,0.99999993338,0.000226020281407,-0.000286516444484,7.98646078959e-06,1793244935038305024
+55,0.916666667,BASELINE,764.090424057,744,714,678.090424057,658.909575943,634,879,787,805,652,630.909575943,652,0.400960290172,-0.0153663384924,0.0698204464686,0.999999933231,0.00022541681619,-0.000287509787285,7.97899696679e-06,1793244935054971648
+56,0.933333333,BASELINE,764,744,714,678.491824475,658.508175525,634,878.508175525,786.508175525,805,652,631,652,0.400960518035,-0.0153666815531,0.069820518551,0.999999933321,0.000224939968861,-0.000287568167377,8.05672094159e-06,1793244935071638528
+57,0.950000000,BASELINE,764.071866001,744,714,679,658,634,878.071866001,786,805,652,631,652,0.400960920864,-0.0153668864512,0.0698207608666,0.999999933426,0.000224694135744,-0.000287395189971,8.07549224047e-06,1793244935088304896
+58,0.966666667,BASELINE,764.645662402,744,714,679,658,634,878.645662402,786,805,652,631,652,0.400961374367,-0.0153658553808,0.0698212890113,0.999999933331,0.000225901537216,-0.000286789493763,7.5747228555e-06,1793244935104971776
+59,0.983333333,BASELINE,764.780656761,744,713.780656761,679,658,634,879,786.219343239,805,652,630.780656761,652,0.4009615069,-0.0153649172377,0.0698215796465,0.999999933201,0.000227028723805,-0.000286361334118,7.35587408779e-06,1793244935121638400
+60,1.000000000,BASELINE,764.207162426,744,713.207162426,679,658,634,879,786.792837574,805,652,630.207162426,652,0.400961121194,-0.0153641291349,0.0698214867993,0.999999933012,0.000228026395817,-0.000286219824513,7.59221363257e-06,1793244935138305024
+61,1.016666667,BASELINE,764.381385188,744,713.381385188,679,658,634,879,786.618614812,805,652,630.381385188,652,0.400960957927,-0.0153650539186,0.0698213931127,0.999999933161,0.000226816503987,-0.000286660439567,7.57916353184e-06,1793244935154971392
+62,1.033333333,BASELINE,764.978445466,744,713.978445466,679,658,634,879,786.021554534,805,652,630.978445466,652,0.40096092045,-0.0153669473476,0.0698212989512,0.999999933496,0.000224358224523,-0.000287430248821,7.42508241769e-06,1793244935171637504
+63,1.050000000,BASELINE,764.44565136,744,714,679,658,634,879,786,805.55434864,652,631,652,0.400961297221,-0.0153657799329,0.0698216693747,0.999999933452,0.000226192617148,-0.000286140019652,7.56726381278e-06,1793244935188304384
+64,1.066666667,BASELINE,764,744.129346141,714,679,658,634,879,786,806,652,631,652,0.400961742641,-0.0153647876676,0.0698219858899,0.999999933328,0.000227997281032,-0.000285135907463,7.70687332814e-06,1793244935204971264
+65,1.083333333,BASELINE,764,744.703953687,714,679,658,634,879,786,806,652,631,652,0.400962370973,-0.0153647929684,0.0698220569321,0.999999932994,0.000229146156704,-0.000285382323649,7.79943256864e-06,1793244935221637888
+66,1.100000000,BASELINE,764.28692136,745,714,679,658,634,879,786,805.71307864,651.71307864,631,652,0.400962552687,-0.0153649186455,0.069822070757,0.999999933007,0.000229151492306,-0.000285332481318,7.78208783082e-06,1793244935238304512
+67,1.116666667,BASELINE,764.878773881,745,714,679,658,634,879,786,805.121226119,651.121226119,631,652,0.400962259748,-0.0153651722548,0.0698220237731,0.999999933389,0.000227941508767,-0.00028496778457,7.6479405334e-06,1793244935254971392
+68,1.133333333,BASELINE,764.53982064,745,714,679,658,634,879.920358721,786,805,651.920358721,631,652,0.400961406031,-0.0153641091769,0.0698215548646,0.999999932912,0.000228714136816,-0.000286029384043,7.34931133013e-06,1793244935271638016
+69,1.150000000,BASELINE,764,744.961468585,714,679,658,634,880.922937169,786,805,652.961468585,630.961468585,652,0.400960363204,-0.0153629152606,0.0698209636425,0.999999932245,0.000229870544214,-0.000287436808122,7.06380847041e-06,1793244935288304640
+70,1.166666667,BASELINE,764,744.38814738,714,679,658,634,879.77629476,786,805,652.38814738,630.38814738,652,0.400958700477,-0.0153646126849,0.0698201832136,0.999999932061,0.000229265513631,-0.00028854489055,7.54852975324e-06,1793244935304971520
+71,1.183333333,BASELINE,764,744,714,679,658,634,879,786,805,652,630,652,0.400958496653,-0.0153653452755,0.0698201742589,0.999999932161,0.000229005253305,-0.000288398663523,7.83415735801e-06,1793244935321638144
+72,1.200000000,BASELINE,764,744,714,679,658,634,879,786,805,652,630,652,0.400961350872,-0.0153640554544,0.0698217824104,0.999999932852,0.000229467674425,-0.000285623247267,7.70245981283e-06,1793244935338304768
+73,1.216666667,BASELINE,764.346638066,744,714,679,658,634,879,786,805.346638066,652,630.346638066,652,0.40096219001,-0.0153633230085,0.0698222839284,0.999999932832,0.00023060805236,-0.000284778532277,7.5989962588e-06,1793244935354971136
+74,1.233333333,BASELINE,764.941410218,744,714,679,658,634,879,786,805.941410218,652,630.941410218,652,0.400961586691,-0.015362989549,0.0698219932843,0.999999932303,0.000232233732409,-0.000285315872231,7.51574346361e-06,1793244935371637760
+75,1.250000000,BASELINE,764.479136359,744,714,679,658,634.520863641,879,786,805.479136359,652,630.479136359,652,0.40096169295,-0.0153641814334,0.0698224440744,0.999999932959,0.00023008735528,-0.000284747410408,7.77681406175e-06,1793244935388304640
+76,1.266666667,BASELINE,764.098068553,744.098068553,714,678.901931447,658,634.901931447,879,786,805,652,630,652,0.400961752425,-0.0153652864265,0.0698228252294,0.99999993359,0.000227901789203,-0.000284284037869,7.9405393654e-06,1793244935404971520
+77,1.283333333,BASELINE,764.672482458,744.672482458,714,678.327517542,658,634.327517542,879,786,805,652,630,652,0.400961208041,-0.0153651597674,0.0698224746215,0.999999933499,0.000227527944363,-0.000284918032152,7.44867788123e-06,1793244935421638144
+78,1.300000000,BASELINE,765,744.74680085,714,678.25319915,658,634,879,786.25319915,805.25319915,652,630.25319915,652,0.400960749482,-0.015364872464,0.0698220106738,0.99999993321,0.000227559922973,-0.000285905403466,7.33874549368e-06,1793244935438304768
+79,1.316666667,BASELINE,765,744.157723315,714,678.842276685,658,634,879,786.842276685,805.842276685,652,630.842276685,652,0.400960404773,-0.0153643720597,0.0698213963765,0.99999993266,0.000228130241983,-0.000287361542916,7.73545673987e-06,1793244935454971136
+80,1.333333333,BASELINE,765,744.424218739,714,679,658.424218739,634.424218739,879.424218739,786.575781261,805.575781261,652,630.575781261,652,0.400959755416,-0.0153651620977,0.0698208717731,0.999999932498,0.000227584349393,-0.00028835227356,7.83438117878e-06,1793244935471637760
+81,1.350000000,BASELINE,764.99647414,744.99647414,714,679,658.99647414,634.99647414,880,786,805,652,630,652,0.400959010664,-0.0153664243531,0.0698203885385,0.999999932487,0.000226618581786,-0.000289151742781,7.82493630162e-06,1793244935488304640
+82,1.366666667,BASELINE,764.421368172,744.421368172,714,679,658.421368172,634.421368172,880,786,805,652,630,652,0.400960859451,-0.015367746779,0.069821295005,0.999999933886,0.000223750334344,-0.000286532906442,7.89905883654e-06,1793244935504971520
+83,1.383333333,BASELINE,764.153778328,744,714,679,658.153778328,634,879.846221672,786.153778328,805,652,630,652,0.400962007533,-0.0153683116573,0.0698219513444,0.999999934768,0.000221952382356,-0.000284849236221,7.88071806774e-06,1793244935521638144
+84,1.400000000,BASELINE,764.72903605,744,714,679,658.72903605,634,879.27096395,786.72903605,805,652,630,652,0.400961235105,-0.0153668002312,0.0698219221295,0.999999934266,0.000223087921619,-0.000285728691531,7.6089516375e-06,1793244935538305024
+85,1.416666667,BASELINE,765,744.312574273,714,679,658.687425727,634,879,786.687425727,805,652,630,652,0.400960378223,-0.0153662335158,0.0698214664172,0.999999933819,0.000224000979451,-0.000286580722256,7.56151874139e-06,1793244935554971648
+86,1.433333333,BASELINE,765,744.903485985,714,679,658.096514015,634,879,786.096514015,805,652,630,652,0.400959446139,-0.0153665080354,0.0698206309226,0.99999993342,0.000224715924586,-0.000287408332209,7.71384773113e-06,1793244935571638016
+87,1.450000000,BASELINE,764.515795002,744.515795002,714,678.515795002,658,634,879,786,805,652,630,652,0.4009600608,-0.0153676211105,0.069821250092,0.999999933673,0.000224586304916,-0.000286618165275,8.1220873641e-06,1793244935588304384
+88,1.466666667,BASELINE,764.062505647,744,714,678.062505647,658,634,879,786,805,652,630.062505647,652,0.400960898328,-0.0153685318,0.0698220140355,0.999999933983,0.000224486092939,-0.000285601543088,8.48160982307e-06,1793244935604971008
+89,1.483333333,BASELINE,764.637293664,744,714,678.637293664,658,634,879,786,805,652,630.637293664,652,0.400961087732,-0.0153664421421,0.0698216371368,0.999999933732,0.00022597815411,-0.000285317292404,8.03241513155e-06,1793244935621637888
+90,1.500000000,BASELINE,765,744,714,679,658,634,879,786.211707864,805,652,631,651.788292136,0.400961300825,-0.0153652832765,0.0698214444972,0.999999933507,0.000227118983562,-0.000285206939862,7.74236212266e-06,1793244935638304768
+91,1.516666667,BASELINE,765,744,714,679,658,634,879,786.785482694,805,652,631,651.214517306,0.400961554429,-0.0153657162705,0.0698215669811,0.999999933331,0.000227659129444,-0.000285393991387,7.7244764061e-06,1793244935654971392
+92,1.533333333,BASELINE,764.628263286,744,714,678.628263286,658,634,879,787,805,652,631,651.371736714,0.400961434081,-0.0153663246357,0.0698216120582,0.999999933539,0.000226541915398,-0.000285552768091,7.73240230752e-06,1793244935671638016
+93,1.550000000,BASELINE,764.034557724,744,714,678.034557724,658,634,879,787,805,652,631,651.965442276,0.400961090442,-0.0153670377174,0.0698216109147,0.999999933974,0.000224435070136,-0.000285694661546,7.75574066151e-06,1793244935688304640
+94,1.566666667,BASELINE,764,744,714,678.543921726,658.543921726,634,879,786.456078274,805,652,630.456078274,652,0.400960776137,-0.0153668170306,0.0698214790503,0.999999933626,0.000225974097174,-0.000285696112193,7.84124119965e-06,1793244935704971264
+95,1.583333333,BASELINE,764,744,714,679,658.879193409,634,879,786,805.120806591,652,630,652,0.40096037717,-0.0153663956658,0.0698213105083,0.999999933265,0.000227412530518,-0.000285815606694,7.90156020841e-06,1793244935721637888
+96,1.600000000,BASELINE,764,744,714,679,658.304762423,634,879,786,805.695237577,652,630,652,0.400959653486,-0.0153654374644,0.0698210345803,0.999999933046,0.000227627130851,-0.000286410944571,7.85289735466e-06,1793244935738304256
+97,1.616666667,BASELINE,764,744,714,679,658,634,879,786,805.72313194,652,630,652,0.400959830376,-0.0153651831047,0.0698212203156,0.999999933254,0.000226868301018,-0.000286292736249,7.6850373492e-06,1793244935754970624
+98,1.633333333,BASELINE,764,744,714,679,658,634,879,786,805.133365072,652,630,652,0.400961025038,-0.0153657241825,0.0698219277937,0.999999933941,0.000225009361837,-0.000285368123012,7.38246824906e-06,1793244935771637504
+99,1.650000000,BASELINE,764,744.448043417,714,679,658,634,879,786,805,652,630.448043417,652.448043417,0.400960723061,-0.0153652221015,0.0698217733593,0.999999933827,0.000225090000763,-0.000285708617021,7.138970367e-06,1793244935788304128
+100,1.666666667,BASELINE,764.026789845,744.973210155,714,679,658,634,879,786,805.026789845,652,630.973210155,652.94642031,0.40095996738,-0.015364448184,0.0698213614001,0.999999933452,0.000225802693831,-0.000286462131249,6.92143305683e-06,1793244935804970752
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+102,1.700000000,BASELINE,764.820592209,744,714,679,658,634,879,786,805.820592209,652,630,651.179407791,0.400958260661,-0.0153647026239,0.0698205303159,0.999999932123,0.000228607169767,-0.000288868495774,6.95551616998e-06,1793244935838305536
+103,1.716666667,BASELINE,764.232895469,744,714,679,658,634,879,786,805.232895469,652,630,651.767104531,0.400958722501,-0.0153660904404,0.0698207376323,0.999999932967,0.000226430301455,-0.000287650746,7.28789173805e-06,1793244935854972160
+104,1.733333333,BASELINE,764.349722356,744.349722356,714,679,658,634,879,786.349722356,805,652,630,652,0.400958504037,-0.0153656921434,0.0698205949005,0.999999933064,0.000226108426541,-0.00028756601349,7.21956264136e-06,1793244935871638528
+105,1.750000000,BASELINE,764.929006381,744.929006381,714,679,658,634,879,786.929006381,805,652,630,652,0.400957839013,-0.0153641214217,0.0698202223931,0.999999932674,0.000227004189843,-0.000288225006075,6.8882065496e-06,1793244935888304896
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,786,806,652,630,652,0.400957935326,-0.0153665030818,0.0698206161332,0.999999932758,0.000225297138507,-0.000289263231168,7.20663424081e-06,1793244935919216384
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,678.424478996,658.424478996,634,879,786.575521004,805.424478996,652,630,652,0.400959348919,-0.0153658167429,0.0698211249504,0.999999932661,0.000227639663751,-0.000287760138383,7.25260710409e-06,1793244935935883520
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.845702398,744,714,678.154297602,658,634,879,787,805,652,630,652,0.400960706162,-0.0153654096701,0.0698216822435,0.999999932743,0.000229223828673,-0.00028621163666,7.33297332381e-06,1793244935952550656
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.257776348,744,714,678.742223652,658,634,879,787,805,652,630,652,0.400961905043,-0.0153657874293,0.0698223757707,0.999999933345,0.000228676745151,-0.000284535520124,7.50999651792e-06,1793244935969217536
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786.672775864,805,652,630.327224136,652,0.40096182498,-0.0153656546224,0.0698223031495,0.999999933474,0.000228227905512,-0.000284444521669,7.42938010401e-06,1793244935985884160
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786.090059656,805,652,630.909940344,652,0.400960746336,-0.0153651231727,0.0698216323303,0.999999933234,0.00022785577337,-0.000285591161551,7.14760224367e-06,1793244936002550528
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.484568447,744,714,679,658,634,879,786,805.484568447,652,630.515431553,652,0.400960381728,-0.0153652689506,0.0698214199886,0.999999933249,0.000227190437141,-0.000286069484575,7.14170567496e-06,1793244936019216896
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.942183615,786,806,652,630.057816385,652,0.400960090581,-0.0153657641025,0.0698212794009,0.999999933364,0.000226213363108,-0.000286439098942,7.20208076489e-06,1793244936035883264
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.368057157,786,806,652,630.631942843,652,0.400959289816,-0.0153682736679,0.0698210311377,0.999999933959,0.000222931065289,-0.000286928935087,7.40390452306e-06,1793244936052549888
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.212381051,786,805.787618949,652,630.787618949,652,0.400961465333,-0.0153692098806,0.0698222372643,0.999999934568,0.000222216692673,-0.000285350489754,7.62694017439e-06,1793244936069216512
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.804092515,786,805.195907485,652,630.195907485,652,0.400968956742,-0.0153673359525,0.0698260410533,0.999999935189,0.000226088850726,-0.000280077919747,7.88786202869e-06,1793244936085882880
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,805,652,630.387346332,652,0.400990106158,-0.0153682875325,0.0698355533288,0.999999939409,0.000225695793338,-0.00026489050635,8.71170171157e-06,1793244936102549760
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,805,652,630.966413995,652,0.401018015754,-0.0153706376285,0.0698478910827,0.999999945082,0.000223191620878,-0.000244795631497,9.81416379184e-06,1793244936119217152
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.458461808,744.541538192,714,679,658,634,879.541538192,786.541538192,805,652,630.458461808,652,0.401071568008,-0.0153731838949,0.0698652814874,0.999999952356,0.000222672881469,-0.000213510937589,1.08933265092e-05,1793244936135883776
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879.881024168,786.881024168,805,652,630,652,0.401128728257,-0.0153758121109,0.0698815172568,0.999999957861,0.000222521189283,-0.000186072495185,1.1790702437e-05,1793244936152550144
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879.293519821,786.293519821,805,652,630,652,0.401193879321,-0.0153787154817,0.0698919809517,0.999999959414,0.000223333529769,-0.000176493816608,1.1977849127e-05,1793244936169216768
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.290018859,744.709981141,714,678.709981141,658,634.290018859,879,786,805,652,630.290018859,652,0.401267043234,-0.0153812286708,0.0698994786132,0.999999961017,0.0002230222525,-0.000167630555743,1.12643382892e-05,1793244936185883392
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.869598107,744.130401893,714,678.130401893,658,634.869598107,879,786,805,652,630.869598107,652,0.401348207325,-0.0153833522949,0.0699040149296,0.999999962685,0.000221589133679,-0.000159481582214,9.65159369873e-06,1793244936202549760
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.552839448,744,714,678.447160552,658,634.552839448,879,786.447160552,805,652,631,652,0.401445158954,-0.0153884830457,0.0699058084283,0.99999996374,0.000219178487056,-0.000156265655489,7.84486396613e-06,1793244936219216384
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.024073561,744,714,679,658,634,879,786.975926439,805,651.975926439,630.975926439,652,0.401547808141,-0.0153943947018,0.0699068702504,0.999999964622,0.000216535495408,-0.000154382870238,5.93833659591e-06,1793244936235883008
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.599522479,744,714,679,658,634,879,786.400477521,805,651.400477521,630.400477521,652,0.401675977535,-0.015398196882,0.069909411614,0.999999965583,0.00021507075797,-0.000150232961533,3.03592313027e-06,1793244936252549632
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.821222899,744,714,679,658,634,879,786,805,651.178777101,630,652,0.401813979406,-0.0154030286338,0.0699117484781,0.999999966867,0.000211792473802,-0.000146324408113,-4.71906797129e-08,1793244936269216512
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.233257794,744,714,679,658,634,879,786,805,651.766742206,630,652,0.401974485993,-0.0154102168856,0.0699136172798,0.999999968892,0.000204363313904,-0.000142968273249,-3.54389404521e-06,1793244936285883392
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805,651.65065345,630,652,0.402152667366,-0.0154174496877,0.0699149017261,0.999999970506,0.000197975741518,-0.00014050177203,-7.30378265276e-06,1793244936302550528
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805,651.071574318,630,652,0.40234247181,-0.015424711787,0.0699158018969,0.999999971845,0.000192273123166,-0.000138620299392,-1.1236743948e-05,1793244936319217664
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.505742633,744,714,679,658,634,879,786,805,651.505742633,630,652,0.402569838438,-0.0154349869144,0.0699195364398,0.999999975525,0.000178681793565,-0.000129488577021,-1.59759387211e-05,1793244936335883776
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,805,652,630.082276546,652,0.40280824024,-0.0154456317424,0.0699243669833,0.999999980684,0.000155569261445,-0.000118319491368,-2.07329810397e-05,1793244936352549888
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,805,652,630.655620451,652,0.403080887651,-0.0154559469219,0.0699333531775,0.999999991195,8.2269755855e-05,-0.000101093286508,-2.49179030036e-05,1793244936369216256
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,805,652,630.763486304,652,0.40337091373,-0.0154661358873,0.0699413765272,0.999999995108,3.84158381468e-05,-8.63722841077e-05,-2.91044926792e-05,1793244936385882880
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,805,652,630.171238324,652,0.403687078608,-0.0154761350168,0.0699479516862,0.999999995847,3.88502914655e-05,-7.54192952473e-05,-3.32935906388e-05,1793244936402549760
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,805,652,630,652,0.404019487137,-0.0154831078673,0.0699487210178,0.999999995899,2.93371533828e-05,-7.71214783633e-05,-3.73426311848e-05,1793244936419216896
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,805,652,630,652,0.404358502479,-0.0154888498317,0.0699471289304,0.999999995496,1.57780065868e-05,-8.39709314412e-05,-4.13347057204e-05,1793244936435884288
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.437528287,744,714,679,658,634,879,786,805.562471713,651.437528287,630,652,0.404755483711,-0.0154848099203,0.0699580774558,0.999999996395,4.45593077182e-05,-6.40198371721e-05,-3.35410864483e-05,1793244936452550912
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805.859909054,651.140090946,630,652.140090946,0.405158099503,-0.015478563245,0.0699668810622,0.999999996195,6.70737278731e-05,-4.78320502689e-05,-2.86815047541e-05,1793244936469217280
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805.270063108,651.729936892,630,652.729936892,0.4055750531,-0.0154658649548,0.0699679868743,0.999999996162,6.6728332005e-05,-4.54607272268e-05,-3.40042839567e-05,1793244936485883392
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.315677063,744,714,679,658,634,878.684322937,786,805,652,630,652.684322937,0.406014303122,-0.0154645072321,0.0699592737873,0.999999995291,6.49695113801e-05,-6.16495499983e-05,-3.73691910511e-05,1793244936502549760
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.897949888,744,714,679,658,634,878.102050112,786,805,652,630,652.102050112,0.406472382977,-0.0154727268503,0.0699422684385,0.999999992941,6.2017024435e-05,-9.35127967284e-05,-3.90806355065e-05,1793244936519216384
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,878.473587648,786,805,652,630,652,0.406972116454,-0.0154785666918,0.0699312243761,0.99999999224,5.15321084623e-05,-0.000105827977539,-4.08128934602e-05,1793244936535883264
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786.047727738,805.047727738,652,630.047727738,652,0.407486995805,-0.0154834736348,0.0699232843455,0.999999992098,4.07238135808e-05,-0.000111101056306,-4.24528536649e-05,1793244936552550144
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786.620902959,805.620902959,652,630.620902959,652,0.408071170482,-0.015483677618,0.069935570799,0.99999999453,4.39777140765e-05,-8.45791018363e-05,-4.30279905565e-05,1793244936569217024
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.798923922,744.201076078,714,679.201076078,658,634,879,786.798923922,806,651.798923922,630.798923922,652,0.408661753331,-0.0154839082051,0.0699460355991,0.99999999621,4.43217256109e-05,-6.06622089888e-05,-4.40006438235e-05,1793244936585883904
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.205081698,744.794918302,714,679.794918302,658,634,879,786.205081698,806,651.205081698,630.205081698,652,0.409264853362,-0.0154841907581,0.0699529421243,0.999999997319,3.89817894701e-05,-4.18338396549e-05,-4.574977422e-05,1793244936602550784
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,679.621919901,658.378080099,634,879,786,806,651,630,652,0.409888784783,-0.0154840858713,0.0699495976183,0.999999997147,3.70445946983e-05,-4.63213117729e-05,-4.67821829314e-05,1793244936619217152
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679.044392337,658.955607663,634,879,786,806,651,630,652,0.410523705304,-0.0154837765997,0.0699408454162,0.999999996203,3.69024380853e-05,-6.31085206979e-05,-4.74365015325e-05,1793244936635883520
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.529318747,744.470681253,714,679.529318747,658.470681253,634,879,786,805.470681253,651,630,652,0.411197990557,-0.0154837495563,0.0699456193272,0.999999996477,3.50433802234e-05,-5.9156523427e-05,-4.81588292517e-05,1793244936652550400
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.105942732,714,680,658,634,879,786,805.105942732,651.105942732,630.105942732,652,0.411887400517,-0.0154846017322,0.06995665168,0.999999997289,3.35280311267e-05,-4.42773422043e-05,-4.83470433691e-05,1793244936669217024
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.697371258,714,680,658,634,879,786,805.697371258,651.697371258,630.697371258,652,0.412631099248,-0.0154893752664,0.0699912023513,0.999999998271,3.42428591202e-05,1.27624996324e-05,-4.60617149886e-05,1793244936685883392
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.717413231,745,714,679.717413231,658.282586769,634,879,786,806,652,631,652,0.413383545285,-0.0154924738398,0.070013958013,0.999999997431,2.75633172334e-05,4.85671640746e-05,-4.49323194614e-05,1793244936702550016
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.13870817,745,714,679.13870817,658.86129183,634,879,786,806,652,631,652,0.41414515758,-0.0154938172481,0.0700243538711,0.999999996971,1.31353299706e-05,6.21198224439e-05,-4.50142078717e-05,1793244936719217152
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.437230386,744.562769614,714.437230386,679.437230386,659,634,879,786,806,651.562769614,630.562769614,652,0.414878225457,-0.0154857928731,0.0699842072291,0.999999998494,2.13942908373e-05,-8.83577336064e-06,-4.9764497257e-05,1793244936735884032
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714.987826143,679.987826143,659,634,879.012173857,786.012173857,806,651,630,652,0.415603924211,-0.0154751639012,0.0699289620235,0.999999992288,3.63064661022e-05,-0.000104772905822,-5.5929217746e-05,1793244936752550912
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714.418507896,679.418507896,659,634,879.581492104,786.581492104,806,651,630,652,0.41640419776,-0.015480487827,0.069911924648,0.999999990046,2.83906915118e-05,-0.000124760988316,-5.94728263329e-05,1793244936769217280
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.158397437,714,679,659,634,880,786.841602563,806,651,630,652,0.417220093481,-0.015486123301,0.0699096762822,0.999999990264,1.90839396922e-05,-0.000124027265897,-6.10350320062e-05,1793244936785883648
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.756357358,714,679,659,634,880,786.243642642,806,651,630,652,0.418079341623,-0.0154926233398,0.0699484683154,0.999999996188,5.91714223423e-06,-6.57892779269e-05,-5.70987242549e-05,1793244936802550016
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.657069747,714,679.342930253,659,634,879.657069747,786,805.657069747,651.342930253,630,652,0.418958100833,-0.0154971256398,0.0699783310727,0.999999998255,-8.32790151953e-07,-2.19441515785e-05,-5.48521355968e-05,1793244936819216384
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.078327047,714,679.921672953,659,634,879.078327047,786,805.078327047,651.921672953,630,652,0.419850276593,-0.0155002542151,0.070002053704,0.999999998477,-3.17023098881e-06,1.20038696408e-05,-5.37674650327e-05,1793244936835882752
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.495286121,714,679.504713879,659,634,879.495286121,786,805.495286121,651.504713879,630.495286121,652,0.420764411753,-0.0155028073193,0.0700198831632,0.999999997835,-1.18770523612e-05,3.6835381503e-05,-5.32257213572e-05,1793244936852549632
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.929886604,714,679.070113396,659,634,880,786,806,651,630.929886604,652,0.421670840291,-0.0155048412407,0.0700304796362,0.99999999711,-2.03160713758e-05,5.01972901444e-05,-5.3362923859e-05,1793244936869216512
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.340110101,714,679.659889899,659,634,880,786,806,651,630.340110101,652,0.422494673319,-0.0155036947201,0.0699943037693,0.999999998077,-1.93809747739e-05,-1.08744520831e-05,-5.79024487422e-05,1793244936885883392
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.754693523,744.245306477,714,680,659.245306477,634,880.245306477,786,806,651,630.245306477,652,0.423315182282,-0.0155013747572,0.0699394990124,0.999999993082,-2.08381440498e-05,-9.6309619955e-05,-6.42418345989e-05,1793244936902550016
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.175216205,744.824783795,714,680,659.824783795,634,880.824783795,786,806,651,630.824783795,652,0.424131163127,-0.0154974562626,0.0698593168862,0.999999973908,-2.55541976656e-05,-0.000214934080277,-7.3033096672e-05,1793244936919216384
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.402044354,745,714,680,660,634,880.597955646,786,806,651.402044354,630.597955646,652,0.425051924005,-0.0154988206696,0.0698634320523,0.999999976683,-2.53325662348e-05,-0.000201492491037,-7.34439805456e-05,1793244936935883008
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+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714,680.869576729,659.869576729,634,879.869576729,787,806.130423271,651.869576729,630.869576729,652,0.427961778576,-0.0155074205444,0.0700096954064,0.999999997743,-2.99350915751e-05,7.9345277223e-06,-5.96272258499e-05,1793244936985882880
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.392268114,745,714,681.392268114,658,631.607731886,881,783.607731886,807,651,630,652,0.448123536517,-0.015658248634,0.0696704741949,0.999999832134,-0.000249721927684,-0.000517724305103,-7.30248731323e-05,1793244937452550400
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.419743593,714,679.419743593,658.419743593,634,879.580256407,785,805,651.419743593,630,652,0.410594292842,-0.0153792096078,0.0698750451071,0.999999958341,0.000207993921852,-0.000198343057915,2.67666329564e-05,1793244939928005632
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.731589044,658,634,879.268410956,786.463178089,805.731589044,651,630,652,0.409260436836,-0.0153720564204,0.0698177317918,0.999999931875,0.000215334282775,-0.000299113684688,2.02945548084e-05,1793244939961339136
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.314050846,714,679.685949154,658,634,879,786.685949154,805.685949154,651,630,652,0.408626777206,-0.0153677112819,0.0697854506037,0.999999914613,0.000217730152373,-0.000350842455534,1.66490168507e-05,1793244939978006016
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.785252228,713.214747772,679,657.429495543,634,880,786,805,652,631,651.214747772,0.405536098004,-0.0153627897874,0.0698001093414,0.99999991655,0.00022599036124,-0.000339904239334,1.71517986038e-05,1793244940078005504
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e3146076e3999b34cac1020a19f5cdf243fc5af
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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+358,5.966666667,pose2_to_pose3_retreat,0.577962955909,-0.0101222421111,1.06005107691,0.548534590273,-0.00144655253219,1.05971756427
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+360,6.000000000,pose2_to_pose3_retreat,0.577461510848,-0.0101221733729,1.06005094511,0.548033144174,-0.00144648715899,1.05971743646
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+370,6.166666667,pose2_to_pose3_retreat,0.575994569935,-0.0101222526129,1.06005105203,0.546566203407,-0.00144656602486,1.05971754135
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+374,6.233333333,pose2_to_pose3_retreat,0.575783898827,-0.0101222370382,1.06005070183,0.546355532758,-0.0014465487702,1.05971719439
+375,6.250000000,pose2_to_pose3_retreat,0.57575297847,-0.01012226103,1.06005089748,0.546324612468,-0.00144657270929,1.05971738558
+376,6.266666667,pose2_to_pose3_retreat,0.575729047727,-0.0101222418433,1.06005093751,0.546300681286,-0.00144655490614,1.05971742857
+377,6.283333333,pose2_to_pose3_retreat,0.575711439044,-0.0101222094831,1.06005092032,0.546283072671,-0.00144652223277,1.05971741334
+378,6.300000000,pose2_to_pose3_retreat,0.575697908182,-0.0101221967973,1.0600509902,0.546269542327,-0.00144650797647,1.05971747791
+379,6.316666667,pose2_to_pose3_retreat,0.575688182119,-0.0101222637378,1.06005082766,0.546259815739,-0.00144657691322,1.05971731003
+380,6.333333333,pose2_to_pose3_retreat,0.575681394217,-0.0101221985336,1.06005095689,0.546253027935,-0.0014465113202,1.05971744044
+381,6.350000000,pose2_to_pose3_retreat,0.575676815928,-0.0101221967453,1.06005097933,0.546248450268,-0.00144650728845,1.05971746635
+382,6.366666667,pose2_to_pose3_retreat,0.57567403071,-0.0101222542096,1.06005089068,0.546245665857,-0.00144656187679,1.05971738139
+383,6.383333333,pose2_to_pose3_retreat,0.575672526879,-0.0101222669371,1.06005101344,0.546244162253,-0.00144657401504,1.05971749936
+384,6.400000000,pose2_to_pose3_retreat,0.575671865053,-0.0101222704131,1.06005108727,0.546243500503,-0.00144657734363,1.0597175703
+385,6.416666667,pose2_to_pose3_retreat,0.575671568523,-0.0101222719705,1.06005112036,0.546243204008,-0.001446578835,1.05971760209
+386,6.433333333,pose2_to_pose3_retreat,0.575671559527,-0.0101222720178,1.06005112136,0.546243195012,-0.00144657888025,1.05971760306
+387,6.450000000,pose2_to_pose3_retreat,0.575671355155,-0.0101222730912,1.06005114416,0.546242990664,-0.00144657990812,1.05971762496
+388,6.466666667,pose2_to_pose3_retreat,0.57567121212,-0.0101222738424,1.06005116012,0.546242847646,-0.0014465806275,1.0597176403
+389,6.483333333,pose2_to_pose3_retreat,0.575671034766,-0.010122275484,1.06005115192,0.546242670283,-0.0014465823269,1.05971763128
+390,6.500000000,pose2_to_pose3_retreat,0.575670862162,-0.0101222772114,1.06005113883,0.546242497667,-0.00144658412826,1.05971761739
+391,6.516666667,pose2_to_pose3_retreat,0.575670787406,-0.0101222779595,1.06005113316,0.546242422906,-0.00144658490844,1.05971761137
+392,6.533333333,pose2_to_pose3_retreat,0.575670466378,-0.0101222811722,1.06005110881,0.546242101855,-0.00144658825883,1.05971758552
+393,6.550000000,pose2_to_pose3_retreat,0.575670166024,-0.010122284178,1.06005108603,0.546241801478,-0.00144659139345,1.05971756135
+394,6.566666667,pose2_to_pose3_retreat,0.575670018264,-0.0101222762764,1.06005106099,0.546241653475,-0.0014465842841,1.0597175371
+395,6.583333333,pose2_to_pose3_retreat,0.575669947616,-0.0101222576814,1.06005102717,0.546241582346,-0.00144656721935,1.05971750599
+396,6.600000000,pose2_to_pose3_retreat,0.575669775719,-0.0101222124367,1.06005094487,0.546241409277,-0.00144652569784,1.05971743029
+397,6.616666667,pose2_to_pose3_retreat,0.57566968818,-0.0101221893955,1.06005090296,0.54624132114,-0.00144650455272,1.05971739174
+398,6.633333333,pose2_to_pose3_retreat,0.57566963999,-0.0101221767116,1.06005087988,0.546241272622,-0.00144649291267,1.05971737052
+399,6.650000000,pose2_to_pose3_retreat,0.575669597688,-0.0101221663293,1.06005087149,0.546241230742,-0.00144648103182,1.05971736384
+400,6.666666667,pose2_to_pose3_retreat,0.575669576695,-0.0101221612022,1.06005086772,0.546241209982,-0.0014464750803,1.05971736092
+401,6.683333333,pose2_to_pose3_retreat,0.575669573207,-0.0101221603502,1.06005086709,0.546241206533,-0.00144647409136,1.05971736044
+402,6.700000000,pose2_to_pose3_retreat,0.575669551581,-0.0101221550687,1.06005086321,0.546241185148,-0.0014464679605,1.05971735743
+403,6.716666667,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641743,1.05971735668
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7940c8d9e0aea60bd45b277dd18ebbf8ba947179
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3891bb8d3c4e39ca782a8973cd6e61510c521a06e3b3cc91093806029e9789ad
+size 25678402
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a5af9379218db67bfcd39c77861283387017ff7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+32,0.533333333,BASELINE,765,744.42614189,714,679,658,634.57385811,879,786,805,652,631,652,0.400958728619,-0.015360097947,0.069819317807,0.999999930202,0.000234650371504,-0.000290673955132,6.63458947537e-06,1793244941593623040
+33,0.550000000,BASELINE,765,744.149247442,714,679,658,634.850752558,879,786,805,652,631,652,0.400958681623,-0.0153596669843,0.0698196535247,0.999999930225,0.000235111764279,-0.000290222235433,6.60749561868e-06,1793244941610289920
+34,0.566666667,BASELINE,765,744.723587192,714,679,658,634.276412808,879,786,805,652,631,652,0.40095852833,-0.0153592603844,0.0698193033336,0.999999930394,0.000234082795069,-0.000290479672117,6.26505300157e-06,1793244941626956032
+35,0.583333333,BASELINE,764.694658378,744.694658378,714,678.694658378,658,634,879,786,805,652,631,652,0.400958089408,-0.0153597102795,0.0698189756087,0.999999930411,0.000233177262656,-0.000291146400115,6.37304901547e-06,1793244941643622656
+36,0.600000000,BASELINE,764.106024637,744.106024637,714,678.106024637,658,634,879,786,805,652,631,652,0.400957385485,-0.01536095482,0.0698186687277,0.999999930286,0.000232386253235,-0.00029219286348,6.89895629232e-06,1793244941660289280
+37,0.616666667,BASELINE,764.477375187,744.477375187,714,678.477375187,658,634,879,786,805,651.522624813,630.522624813,652,0.400958019916,-0.0153610988853,0.0698189695844,0.999999930024,0.000234419808507,-0.000291459883798,7.13256106346e-06,1793244941676956416
+38,0.633333333,BASELINE,765,745,714,679,658,634,879.058805467,786,805,651.058805467,630.058805467,652,0.400958894431,-0.0153610359522,0.0698193909034,0.999999929821,0.000236574699184,-0.000290408832695,7.22664946108e-06,1793244941693623296
+39,0.650000000,BASELINE,765,745,714,679,658,634,879.63305126,786,805,651.63305126,630.63305126,652,0.400959296146,-0.0153612777448,0.0698196978205,0.999999930468,0.000234354062133,-0.000289996370706,6.66071759666e-06,1793244941710289920
+40,0.666666667,BASELINE,764.793449305,745,714,679,658.206550695,634,879.793449305,786,805,652,630.793449305,652,0.400959337253,-0.0153606366784,0.0698198352555,0.999999930669,0.000233590122318,-0.000289927625915,6.35478724596e-06,1793244941726956288
+41,0.683333333,BASELINE,764.221271079,745,714,679,658.778728921,634,879.221271079,786,805,652,630.221271079,652,0.400958740028,-0.0153584328111,0.0698196726799,0.999999930085,0.000235404768078,-0.000290467315175,6.50910089847e-06,1793244941743622912
+42,0.700000000,BASELINE,764,745,714,679,658.634572128,634,879,786,805.365427872,652,630,652,0.400958611471,-0.015359002994,0.06981930835,0.999999929982,0.000235353930882,-0.000290861221521,6.66947795785e-06,1793244941760289536
+43,0.716666667,BASELINE,764,745,714,679,658.038716885,634,879,786,805.961283115,652,630,652,0.40095877844,-0.0153613224062,0.0698188168002,0.999999930181,0.00023412677849,-0.000291163201705,6.83367840589e-06,1793244941776956160
+44,0.733333333,BASELINE,764.537981443,744.462018557,714,679,658,634,879,786,805.462018557,652,630,652,0.40096001074,-0.0153618157524,0.0698205179464,0.999999931503,0.000231689787493,-0.000288559756703,6.79508288179e-06,1793244941793622528
+45,0.750000000,BASELINE,765,744,714,679,658,634,879,786,805.113299649,652,630,652,0.400960955347,-0.0153618995771,0.0698217758663,0.999999932333,0.000230406314519,-0.000286706900227,6.74213538764e-06,1793244941810289152
+46,0.766666667,BASELINE,765,744,714,679,658,634,879,786,805.688418537,652,630,652,0.400960425531,-0.0153608314027,0.06982060606,0.999999930876,0.000234167377505,-0.000288736491019,6.68813142696e-06,1793244941826955776
+47,0.783333333,BASELINE,765,744,714,679.269021443,658,634,879,786,805.730978557,652,630,652,0.400959153106,-0.0153602046266,0.0698193437915,0.999999930075,0.000235379939871,-0.000290520652934,6.56076407312e-06,1793244941843622656
+48,0.800000000,BASELINE,765,744,714,679.856108207,658,634,879,786,805.143891793,652,630,652,0.400957002691,-0.0153600997177,0.0698179722041,0.999999930064,0.000233579398434,-0.000292014643396,6.3466588268e-06,1793244941860289536
+49,0.816666667,BASELINE,764.560563988,744,714,679.121127976,658,634,879.439436012,786,805,652,630.439436012,652,0.400958165207,-0.0153612971379,0.0698189162143,0.999999930785,0.000232082988343,-0.000290736207153,6.33314984349e-06,1793244941876956416
+50,0.833333333,BASELINE,764,744,714,678.021276412,658,634,879.978723588,786,805,652,630.978723588,652,0.400960323323,-0.0153628485827,0.069820540438,0.999999931703,0.000230738670354,-0.000288639594476,6.38506981632e-06,1793244941893623296
+51,0.850000000,BASELINE,764,744,714,678.596170714,658,634,879.403829286,786,805,652,630.403829286,652,0.400960399625,-0.0153626097895,0.0698203018733,0.999999931682,0.000230782531207,-0.00028867521807,6.44483528602e-06,1793244941910289920
+52,0.866666667,BASELINE,764.171131962,744,714,679,658,634,879,786.171131962,805,652,630,652,0.400960169681,-0.0153621522595,0.0698200794175,0.999999931581,0.000230976244525,-0.000288870766737,6.50850403436e-06,1793244941926956288
+53,0.883333333,BASELINE,764.746251212,744,714,679,658,634,879,786.746251212,805,652,630,652,0.400959216789,-0.0153611783626,0.0698198949899,0.999999931288,0.000231523711111,-0.000289443846843,6.58138715921e-06,1793244941943622912
+54,0.900000000,BASELINE,765,744,713.669200093,679,658,634,879.330799907,786.669200093,805,652,630.330799907,652,0.400959308484,-0.0153608369714,0.0698198859584,0.999999930921,0.000233315834229,-0.000289267586504,6.83005488419e-06,1793244941960289536
+55,0.916666667,BASELINE,765,744,713.077206092,679,658,634,879.922793908,786.077206092,805,652,630.922793908,652,0.400960224969,-0.0153609949962,0.0698200154167,0.999999930489,0.000236090717378,-0.000288499659405,7.21751919678e-06,1793244941976956160
+56,0.933333333,BASELINE,765,744.502172887,713.502172887,679,658,634,879.497827113,786,805,652,630.497827113,652,0.400959902584,-0.0153610424347,0.0698202263743,0.999999930492,0.000235793813872,-0.000288730862421,7.13839798095e-06,1793244941993622784
+57,0.950000000,BASELINE,765,745,714,679,658,634.079276025,879,786,805,651.920723975,630.079276025,652,0.400959197172,-0.0153609802391,0.0698201867142,0.999999930455,0.000235101841182,-0.000289429299428,6.9283221421e-06,1793244942010289664
+58,0.966666667,BASELINE,765,745,714,679,658,634.653979861,879,786,805,651.346020139,630.653979861,652,0.400957259216,-0.0153603365446,0.0698185044569,0.999999929745,0.000234819996162,-0.000292111221373,6.33717181038e-06,1793244942026956288
+59,0.983333333,BASELINE,765,745,714,679,658,634.765811696,879,786,805,651.234188304,630.765811696,652,0.400956689657,-0.0153602902437,0.0698177766291,0.999999929592,0.000234213933735,-0.00029312543156,6.16302185491e-06,1793244942043622912
+60,1.000000000,BASELINE,765,745,714,679,658,634.177274173,879,786,805,651.822725827,630.177274173,652,0.400958190612,-0.015361147856,0.0698184929437,0.999999930286,0.000233117299438,-0.000291616235352,6.61983311425e-06,1793244942060289536
+61,1.016666667,BASELINE,765,745,714,679,658,634,879,786,805,652,630.404699,652,0.400957512353,-0.0153615061402,0.0698181667939,0.999999930346,0.000232168724459,-0.000292167217067,6.67356975979e-06,1793244942076956160
+62,1.033333333,BASELINE,765,745,714,679,658,634,879,786,805,652,630.983842588,652,0.40095589475,-0.0153616491902,0.0698173912921,0.99999993013,0.000231283970179,-0.000293606233906,6.55356197731e-06,1793244942093622528
+63,1.050000000,BASELINE,765,744.438050631,714,679,658,634,879,786,805,652,630.438050631,652,0.400957359257,-0.0153607348387,0.069818986039,0.999999930339,0.000232989008084,-0.00029154224383,6.43177665518e-06,1793244942110289152
+64,1.066666667,BASELINE,765,744,714,679,658,634,879,786,805,652,630,652,0.400958524288,-0.0153599890412,0.0698202727336,0.99999993053,0.00023441901247,-0.000289735528856,6.41096611935e-06,1793244942126955520
+65,1.083333333,BASELINE,765,744,714,679,658,634,879,786,805,652,630,652,0.400958475738,-0.0153598654737,0.0698203829297,0.999999930648,0.000234756101283,-0.000289048165153,6.70619895616e-06,1793244942143622400
+66,1.100000000,BASELINE,764.70321402,744,714.29678598,679,658,634,879,786,805.29678598,651.70321402,630,652,0.40095899292,-0.0153599746507,0.0698201968062,0.99999993083,0.000234598712381,-0.000288541627236,6.80748102338e-06,1793244942160289280
+67,1.116666667,BASELINE,764.111003988,744,714.888996012,679,658,634,879,786,805.888996012,651.111003988,630,652,0.400960073239,-0.0153603155041,0.0698197157229,0.999999931077,0.000233949114862,-0.00028821508535,6.71570232919e-06,1793244942176956160
+68,1.133333333,BASELINE,764,744,714.530369628,679,658,634,879,786,805.530369628,651.469630372,630.469630372,652,0.400959143652,-0.0153594067069,0.0698194879161,0.999999930746,0.000234108602555,-0.000289242369793,6.25768097715e-06,1793244942193622528
+69,1.150000000,BASELINE,764,744,714,679,658.047392193,634,878.952607807,786,805.047392193,652,631,652,0.400957972785,-0.0153584252513,0.069819364173,0.999999930382,0.000234213492692,-0.000290426052328,5.77374124633e-06,1793244942210289152
+70,1.166666667,BASELINE,764,744,714,679,658.622899445,634,878.377100555,786,805.622899445,652,631,652,0.400959279833,-0.0153598464395,0.0698197490001,0.999999931143,0.000231630165163,-0.000289872452504,5.94243243078e-06,1793244942226955776
+71,1.183333333,BASELINE,764.197635575,744,714,679,658.802364425,634.197635575,878.197635575,786,805.802364425,652,630.802364425,652,0.400960128786,-0.0153610391378,0.0698202396174,0.999999931571,0.000230613255326,-0.000289200393323,6.18590868933e-06,1793244942243622400
+72,1.200000000,BASELINE,764.770906178,744,714,679,658.229093822,634.770906178,878.770906178,786,805.229093822,652,630.229093822,652,0.400960107066,-0.0153617975584,0.0698209313046,0.999999931374,0.000232573548679,-0.000288303184888,6.57152483918e-06,1793244942260289024
+73,1.216666667,BASELINE,765,744.35700369,714,679,658,634.64299631,879,786,805,652,630,652,0.400958844981,-0.0153624553112,0.0698206446811,0.999999931142,0.000232590724875,-0.00028908810285,6.76254826786e-06,1793244942276955904
+74,1.233333333,BASELINE,765,744.951639119,714,679,658,634.048360881,879,786,805,652,630,652,0.400956757276,-0.0153630460566,0.0698197068663,0.999999930885,0.000231314507285,-0.000290992691712,6.82404526144e-06,1793244942293622528
+75,1.250000000,BASELINE,765,744.472632858,714,679,658,634,879,786,805,652,630.527367142,652,0.400958122359,-0.0153623404235,0.069819764452,0.999999931147,0.000231691144674,-0.000289793943023,6.63718642085e-06,1793244942310289664
+76,1.266666667,BASELINE,765,744,714,679,658,634,879.101879746,786,805,651.898120254,630.898120254,652,0.400959424331,-0.0153615112573,0.0698199556561,0.999999931403,0.000232215906896,-0.000288491753564,6.52120012277e-06,1793244942326956544
+77,1.283333333,BASELINE,765,744,714,679,658,634,879.678528635,786,805,651.321471365,630.321471365,652,0.400959007753,-0.015360641238,0.0698203588805,0.999999931422,0.000232749057347,-0.000287987806166,6.83794600548e-06,1793244942343622912
+78,1.300000000,BASELINE,765,744,714,679,658,634,879.738590666,786,805,651.261409334,630,652,0.400958517449,-0.0153605198994,0.0698204484925,0.999999931358,0.000232672237944,-0.000288273102066,6.83967177279e-06,1793244942360289280
+79,1.316666667,BASELINE,765,744,714,679,658,634,879.147859207,786,805,651.852140793,630,652,0.400957934263,-0.0153613417449,0.0698201430172,0.999999931187,0.000231826981638,-0.00028955268262,6.44453680637e-06,1793244942376955904
+80,1.333333333,BASELINE,765,744,714,679,658.433060124,633.566939876,879,786,805,652,630.433060124,652,0.400958668232,-0.0153617926173,0.0698201536603,0.999999931465,0.000231304771414,-0.000289008650688,6.43718707533e-06,1793244942393622528
+81,1.350000000,BASELINE,765,744,714,679,658.989339954,633.010660046,879,786.010660046,805.010660046,652,631,652,0.400959788894,-0.0153621089739,0.0698202480712,0.99999993187,0.000230913521645,-0.000287915346781,6.55262903227e-06,1793244942410289152
+82,1.366666667,BASELINE,765,744,714,679,658.414046053,633.585953947,879,786.585953947,805.585953947,652,631,652,0.400958099298,-0.0153618606372,0.0698191892331,0.999999931084,0.000231746184838,-0.000289977151871,6.31446427412e-06,1793244942426956032
+83,1.383333333,BASELINE,765,744,714,679,657.840049013,634,878.840049013,786.840049013,805.840049013,652,630.840049013,652.159950987,0.400957003363,-0.0153616930863,0.0698185176808,0.999999930634,0.000232163862505,-0.000291192541314,6.253230408e-06,1793244942443622656
+84,1.400000000,BASELINE,765,744,714,679,657.269381876,634,878.269381876,786.269381876,805.269381876,652,630.269381876,652.730618124,0.400957431806,-0.0153617329747,0.0698188405866,0.99999993106,0.000231515956076,-0.000290234536834,6.64631300272e-06,1793244942460289536
+85,1.416666667,BASELINE,765,744,714,679.31520737,657.31520737,634,878.31520737,786.31520737,805.31520737,652,630,653,0.400957406134,-0.0153613284446,0.0698187128434,0.999999930826,0.000232039318306,-0.000290624789151,6.61251064415e-06,1793244942476956160
+86,1.433333333,BASELINE,765,744,714,679.912244463,657.912244463,634,878.912244463,786.912244463,805.912244463,652,630,653,0.400956974433,-0.0153605265561,0.0698181821711,0.999999929998,0.00023360992234,-0.000292220529962,6.19702661441e-06,1793244942493622784
+87,1.450000000,BASELINE,765,744,714,679.507598312,657.507598312,634,879.492401688,786.507598312,805.507598312,652,630.492401688,652.507598312,0.400957623138,-0.0153614731822,0.0698190199401,0.999999930886,0.000232079717831,-0.000290391605386,6.28035096516e-06,1793244942510289408
+88,1.466666667,BASELINE,765,744,714,679,657.069280133,634,879.930719867,786,805,651.930719867,630.930719867,652,0.400958406955,-0.0153625950204,0.0698199703038,0.999999931881,0.000230447643207,-0.000288254974905,6.46097335938e-06,1793244942526955776
+89,1.483333333,BASELINE,765,744,714,679,657.643460864,634,879.356539136,786,805,651.356539136,630.356539136,652,0.400958818687,-0.0153627980213,0.0698200227747,0.99999993155,0.000231967093325,-0.00028817646969,6.7242917662e-06,1793244942543622656
+90,1.500000000,BASELINE,765,744.223568998,714,679,658.223568998,634,879,786,805,651.223568998,630.223568998,652,0.400958869857,-0.0153627990346,0.0698199000838,0.999999931207,0.000232925142515,-0.000288593280065,6.81797657268e-06,1793244942560289536
+91,1.516666667,BASELINE,765,744.813387306,714,679,658.813387306,634,879,786,805,651.813387306,630.813387306,652,0.40095833036,-0.0153624691532,0.069819490444,0.999999930844,0.000232963508124,-0.000289821513299,6.63376866709e-06,1793244942576956160
+92,1.533333333,BASELINE,765,745,714,679,658.60679484,634,879,786,805.39320516,652,631,652,0.400958755394,-0.0153621066029,0.0698200328789,0.999999931272,0.000232131726557,-0.000289013691107,6.48884886283e-06,1793244942593623296
+93,1.550000000,BASELINE,765,745,714,679,658.031605372,634,879,786,805.968394628,652,631,652,0.400959626834,-0.0153617289325,0.0698210159556,0.999999932063,0.000230897221052,-0.00028726353618,6.36211247082e-06,1793244942610290432
+94,1.566666667,BASELINE,765,745,714,678.451887329,658,634,879,786.548112671,806,652,630.451887329,652,0.40095785507,-0.0153610747564,0.0698196441443,0.999999930593,0.000234411494042,-0.000289523730784,6.41403073965e-06,1793244942626957312
+95,1.583333333,BASELINE,765,745,714,678.12641456,658,634,879,787,805.87358544,652,630.12641456,652.12641456,0.400956595083,-0.0153609085389,0.0698186515109,0.999999929719,0.000236211226567,-0.00029107388653,6.48863667815e-06,1793244942643623680
+96,1.600000000,BASELINE,765,745,714,678.698791857,658,634,879,787,805.301208143,652,630.698791857,652.698791857,0.400957682689,-0.015362520447,0.0698194795545,0.999999931454,0.000230988397161,-0.000289296602731,6.60663513678e-06,1793244942660289792
+97,1.616666667,BASELINE,765.280790904,745,714,679,658,634,879,786.719209096,805.280790904,652,630.719209096,652.719209096,0.40095891163,-0.0153629842858,0.0698205121772,0.999999932498,0.000228699895367,-0.000287502798902,6.55429491947e-06,1793244942676955904
+98,1.633333333,BASELINE,765.873477523,745,714,679,658,634,879,786.126522477,805.873477523,652,630.126522477,652.126522477,0.400960297562,-0.0153621728772,0.0698217720416,0.999999932796,0.000229670773725,-0.00028569064514,6.31274663171e-06,1793244942693622528
+99,1.650000000,BASELINE,765.544598605,744.544598605,714,679,658,634,879,786,805.544598605,652,630,652,0.400959208253,-0.0153614773659,0.0698206782612,0.99999993158,0.000232700745195,-0.000287488168439,6.43748938274e-06,1793244942710289408
+100,1.666666667,BASELINE,764.965886707,744.034113293,714,679,658,634,879,786,805.034113293,652,630.034113293,652,0.400957653161,-0.0153608408812,0.0698191485227,0.99999993013,0.000235857696899,-0.000289944051585,6.63565209154e-06,1793244942726956032
+101,1.683333333,BASELINE,764.391778504,744.608221496,714,679,658,634,879,786,805.608221496,652,630.608221496,652,0.400959359364,-0.015360640823,0.069820829772,0.999999931752,0.000232178190737,-0.000287313149974,6.42231584081e-06,1793244942743622912
+102,1.700000000,BASELINE,764,745,714,679,658,634.186714137,879,786,805.813285863,652,631,652,0.400960665391,-0.0153607737498,0.069821956498,0.999999932685,0.00023013334694,-0.000285709549355,6.29404766847e-06,1793244942760289536
+103,1.716666667,BASELINE,764,745,714,679,658,634.774627702,879,786,805.225372298,652,631,652,0.400961111549,-0.0153616221737,0.0698218916991,0.999999932173,0.000231600961859,-0.00028631334793,6.34856838501e-06,1793244942776956416
+104,1.733333333,BASELINE,764.358323859,745,714,679,658,634.641676141,879,786,805,652,631,652.358323859,0.400960996736,-0.0153612743068,0.069821534627,0.999999931864,0.000232597036517,-0.000286587282894,6.26338783625e-06,1793244942793623040
+105,1.750000000,BASELINE,764.939398338,745,714,679,658,634.060601662,879,786,805,652,631,652.939398338,0.400960533199,-0.0153601827706,0.0698209958643,0.999999931681,0.000233299980165,-0.000286656159496,6.09136254953e-06,1793244942810289408
+106,1.766666667,BASELINE,765,744.484429067,714,679,658.515570933,634,879,786,805,652,631,652.484429067,0.400960009547,-0.0153615116621,0.0698208508956,0.999999931963,0.000231724008872,-0.00028694864451,6.27383604225e-06,1793244942826956032
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,787,805,652,630,652,0.400959898281,-0.0153629630975,0.0698203551438,0.999999931776,0.00023168641362,-0.000287626078877,6.33815698622e-06,1793244942869971456
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,787,805,652,630.591463829,652,0.400959527425,-0.0153636985327,0.0698204361674,0.999999931586,0.000231305221782,-0.000288582392216,6.73349560594e-06,1793244942886638336
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.178290922,714,679,658,634,879,786.821709078,805,652,631,652,0.400959300111,-0.0153639798143,0.0698204971894,0.99999993158,0.00023077251038,-0.0002890278515,6.83359368746e-06,1793244942903305216
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.754762811,714,679,658,634,879,786.245237189,805,652,631,652,0.400959393372,-0.0153632468254,0.0698205135412,0.999999931985,0.000229901406991,-0.000288332409581,6.27432477754e-06,1793244942919971840
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.321702463,658.321702463,634.321702463,879,786.321702463,805.321702463,652,631,652,0.400959606523,-0.0153624198259,0.0698208511264,0.999999932298,0.000229612264545,-0.000287480002452,6.08582681414e-06,1793244942936638208
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.881584673,658.881584673,634.881584673,879,786.881584673,805.881584673,652,631,652,0.400959908436,-0.0153615232235,0.0698214265441,0.999999932543,0.000229753990189,-0.000286511382596,6.17183760056e-06,1793244942953304576
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.521170394,744.521170394,714.478829606,679.042340789,658.521170394,634.521170394,879,786.521170394,805.521170394,652,631,652,0.400959149413,-0.0153618498819,0.0698212950795,0.999999931972,0.000231128269561,-0.000287396233207,6.31112997847e-06,1793244942969970944
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.082085999,744,714.917914001,678.164171998,658,634,879,786,805,652,630.917914001,652,0.400958815042,-0.0153624358883,0.0698212476564,0.999999931407,0.000232633624911,-0.000288141470587,6.4760592649e-06,1793244942986637568
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.661066122,744,714.338933878,679.322132244,658,634,879,786,805,652,630.338933878,652,0.40096277387,-0.0153626056131,0.069822856727,0.999999932227,0.000232931135416,-0.000285032110733,6.70966430044e-06,1793244943003304192
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.238077727,714,679.761922273,658,634,879,786,805,652,630,652,0.400973534256,-0.0153634844332,0.0698277190074,0.999999934687,0.000231866316891,-0.000277150863808,7.11903101514e-06,1793244943019971072
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.812309829,714,679.187690171,658,634,879,786,805,652,630,652,0.400993898114,-0.0153653644619,0.0698371746643,0.999999939316,0.000228877954814,-0.000262531940574,7.77656480151e-06,1793244943036637696
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.612116681,714,679,658,634,879,786.387883319,805,652,630,652,0.401035368389,-0.0153678213665,0.0698536448114,0.999999946694,0.000227914247457,-0.000233625592801,9.2909372312e-06,1793244943053304576
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.035891813,714,679,658,634,879,786.964108187,805,652,630,652,0.401087087149,-0.0153705583804,0.0698735209319,0.999999954401,0.000227933635778,-0.000197781807568,1.12213583246e-05,1793244943069971200
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879.554224001,786.445775999,805,652,630.554224001,652,0.401145933651,-0.0153725166065,0.069887650073,0.99999995746,0.000228283712088,-0.000181199748443,1.1510638694e-05,1793244943086637568
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.14188607,714,679,658,634,879.85811393,786.14188607,805.14188607,652,630.85811393,652,0.401208221125,-0.0153742569318,0.069898842878,0.999999959461,0.000229234105744,-0.000168528233931,1.12976969181e-05,1793244943103304192
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.719186745,714,679,658,634,879.280813255,786.719186745,805.719186745,652,630.280813255,652,0.40127961519,-0.0153754873232,0.069902196254,0.999999959612,0.000231959322122,-0.000163930867397,9.87809091813e-06,1793244943119971072
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.70488184,714.29511816,679,658,634,879,786.70488184,806,652,630.29511816,652,0.401363638202,-0.0153794380198,0.0699046333472,0.999999960607,0.000230499827098,-0.000159962428179,8.2952432279e-06,1793244943136637696
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.13024733,714.86975267,679,658,634,879,786.13024733,806,652,630.86975267,652,0.40145962251,-0.015385965209,0.0699062025977,0.999999962389,0.00022507685079,-0.000156589667481,6.55778391945e-06,1793244943153304320
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714.555191164,679,658.444808836,634,879,786.444808836,805.555191164,652,630.555191164,652,0.401573054572,-0.015391296985,0.069907450455,0.999999963507,0.000221503488841,-0.000154606346838,4.40626758066e-06,1793244943169970944
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.979377465,744,714,679,659,634,879,786.979377465,805,652,630.020622535,652.020622535,0.401692609667,-0.0153962457243,0.0699086966943,0.999999964454,0.000218466179803,-0.00015283760441,2.10501702714e-06,1793244943186637568
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.38595535,744,714,679,659,634,879,786.38595535,805,652,630.61404465,652.61404465,0.401840195668,-0.0154002871003,0.0699125143998,0.999999966214,0.000215260593952,-0.000145717685408,-9.84403097376e-07,1793244943203304192
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.201885208,744,714,679,659,634,879,786,805.201885208,652,631,652.798114792,0.401998623866,-0.0154057895349,0.0699151087037,0.999999968038,0.000210217097154,-0.000140399198509,-4.49871850534e-06,1793244943219971072
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.779342197,744,714,679,659,634,879,786,805.779342197,652,631,652.220657803,0.402177222038,-0.0154140100107,0.0699154270846,0.999999970027,0.000201754491927,-0.000138431958766,-8.8034762197e-06,1793244943236637952
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.646796545,634,879,786,805.646796545,652,631,652,0.40238248762,-0.0154234523581,0.0699181259204,0.999999972894,0.000191045341035,-0.000132443382533,-1.31164453385e-05,1793244943253304576
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.075158965,634,879,786,805.075158965,652,631,652,0.402604245335,-0.015433650357,0.0699222969177,0.999999976153,0.000178946842078,-0.000123967862364,-1.74344931106e-05,1793244943269971456
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.514154372,714,679.514154372,658,634,879,786,805,652,631,652,0.402850397151,-0.0154441288241,0.069926705681,0.999999979448,0.000166138962509,-0.000114064416259,-2.2163462438e-05,1793244943286637824
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.896081775,658,633.896081775,879,786,805,652,630.896081775,652,0.40311054537,-0.0154542314802,0.0699326594656,0.999999984413,0.000141887823292,-0.000101600369084,-2.68347030319e-05,1793244943303304448
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.316503541,658,633.316503541,879,786,805,652,630.316503541,652,0.40341785551,-0.0154624196153,0.0699455204518,0.999999994286,6.57495305801e-05,-7.84052423277e-05,-3.09569690198e-05,1793244943319970816
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.738785539,714,679,658.261214461,633.261214461,879,786,805,652,630,652,0.403732226704,-0.0154714990219,0.0699517342772,0.999999996741,2.14101677332e-05,-6.91310652109e-05,-3.57736781912e-05,1793244943336637440
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.163305605,714,679,658.836694395,633.836694395,879,786,805,652,630,652,0.404055092993,-0.0154816507112,0.0699499509446,0.99999999609,1.53279019116e-05,-7.66050967119e-05,-4.14258675177e-05,1793244943353304064
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.411727001,714,679,658.588272999,634,879,786.411727001,805.411727001,651.588272999,630,652,0.404424109365,-0.015485896172,0.06995424804,0.999999996498,1.22898104667e-05,-7.07894766825e-05,-4.29252704958e-05,1793244943369970688
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.986582359,714,679,658.013417641,634,879,786.986582359,805.986582359,651.013417641,630,652,0.404811410631,-0.0154878015546,0.0699609542322,0.999999997248,1.04578367249e-05,-5.9708428119e-05,-4.27793180067e-05,1793244943386637312
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.419826836,714,679.580173164,658,634,879,786.419826836,805.419826836,651.580173164,630.580173164,652,0.405220780589,-0.0154740931176,0.0699649785226,0.999999996808,4.8638473782e-05,-5.2779037703e-05,-3.51166596872e-05,1793244943403303936
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.831147339,744.168852661,714,679.831147339,658,634,879,786.168852661,805,652,631,652,0.405639609079,-0.0154641684588,0.0699660908434,0.999999995366,7.59685055934e-05,-5.0433232974e-05,-3.08655068759e-05,1793244943419970816
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.255382543,744.744617457,714,679.255382543,658,634,879,786.744617457,805,652,631,652,0.406079960297,-0.0154642614386,0.0699603401676,0.999999994843,7.48456032821e-05,-5.88941474456e-05,-3.52685306475e-05,1793244943436637440
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.319352979,745,714,679,658,634,879,787,805,651.680647021,630.680647021,652,0.406540712206,-0.0154689379172,0.0699468522343,0.999999994153,6.35832147513e-05,-7.83379300703e-05,-3.89150646957e-05,1793244943453304064
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.89326811,745,714,679,658,634,879,787,805,651.10673189,630.10673189,652,0.407017725928,-0.0154772679872,0.0699271967896,0.999999992466,4.42384545027e-05,-0.000106536360382,-4.19585872697e-05,1793244943469970688
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.518181473,744.518181473,714,679.481818527,658.481818527,634,879,786.518181473,805,651,630,652,0.407569334334,-0.0154795789065,0.0699298116312,0.999999993491,4.43782132621e-05,-9.57143578408e-05,-4.34405473273e-05,1793244943486637568
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.072050881,744,714,679.927949119,659,634,879,786,805,651,630,652,0.408143204402,-0.0154806854233,0.0699381250549,0.999999995047,4.77488365273e-05,-7.51733499769e-05,-4.44406377538e-05,1793244943503304192
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.650602746,744,714,679.349397254,659,634,879,786,805,651,630,652,0.408753769331,-0.0154829920793,0.069950731915,0.999999996903,4.25393796129e-05,-4.89771409581e-05,-4.45611802751e-05,1793244943519970816
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.772252373,744.227747627,714,679,659,634,879.227747627,786,805.227747627,651.227747627,630.227747627,652,0.409360260739,-0.0154837285375,0.0699555011386,0.99999999746,3.97924865975e-05,-3.78743441302e-05,-4.54004308113e-05,1793244943536637696
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.197252788,744.802747212,714,679,659,634,879.802747212,786,805.802747212,651.802747212,630.802747212,652,0.40996054112,-0.0154820708794,0.0699483201399,0.999999996808,4.0800320795e-05,-4.97848158158e-05,-4.73355117387e-05,1793244943553304320
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.377841235,744.622158765,714,679.377841235,659,634,879.622158765,786,806,652,630.622158765,652,0.410599437968,-0.0154803954456,0.0699449800463,0.999999996314,4.26627905763e-05,-5.65704529123e-05,-4.84956971331e-05,1793244943569970944
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.952984554,744.047015446,714,679.952984554,659,634,879.047015446,786,806,652,630.047015446,652,0.41125849964,-0.0154787107296,0.0699436456063,0.999999995935,4.49715360787e-05,-6.06799906665e-05,-4.92512455768e-05,1793244943586637568
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+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.711782359,659,634,879.711782359,786,805.711782359,651.711782359,631,652,0.414261502801,-0.0154929781141,0.0700215821066,0.999999997325,1.2096993344e-05,5.60409552258e-05,-4.54154897064e-05,1793244943653304320
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.136155429,659,634,879.136155429,786,805.136155429,651.136155429,631,652,0.414974195792,-0.0154880156388,0.0699893188181,0.999999998569,2.16170109741e-05,-4.05103831861e-06,-4.87673593481e-05,1793244943669970944
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.562978521,714,679.437021479,659,634,879,786.437021479,805.437021479,651.437021479,630.562978521,652,0.415727089084,-0.0154840154788,0.0699474372341,0.999999995908,2.39693141354e-05,-6.80158554411e-05,-5.46204641891e-05,1793244943686638336
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.00978929,714,680,659,634,879,787,806,652,630,652,0.416494134348,-0.0154805130615,0.0699037586599,0.999999989205,2.39401979974e-05,-0.000131477685024,-6.10771812703e-05,1793244943703305728
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.603431496,714,680,659,634,879,787,806,652,630,652,0.417362410552,-0.01548891528,0.0699306313066,0.999999993895,1.43239563192e-05,-9.3378293684e-05,-5.73165907356e-05,1793244943719971840
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.808415152,714,679.808415152,659,634,879.191584848,787,806,652,630,652,0.418231760316,-0.0154958566056,0.0699569112279,0.999999996922,4.16207673774e-06,-5.62222807061e-05,-5.45700821945e-05,1793244943736638208
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.231306975,714,679.231306975,659,634,879.768693025,787,806,652,630,652,0.419103270336,-0.0154998581977,0.0699819984152,0.999999998304,-7.09778123975e-06,-2.09646163803e-05,-5.38641960271e-05,1793244943753304576
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.655918087,744,714,679.344081913,659,634,880,786.655918087,806,652,630,652,0.419993954448,-0.0155045889134,0.0700075996287,0.999999998361,-1.29986798651e-05,1.92806454326e-05,-5.23268353193e-05,1793244943769971456
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.081679259,744,714,679.918320741,659,634,880,786.081679259,806,652,630,652,0.420897464105,-0.0155098073408,0.070033544674,0.999999996645,-1.53149619375e-05,6.28621173747e-05,-5.02333000048e-05,1793244943786638080
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.506276785,744,714,679.493723215,659,634,880,786,806,652,630,652,0.421787775433,-0.0155116993882,0.0700281078675,0.999999997107,-2.31682839458e-05,5.04388199069e-05,-5.2011436847e-05,1793244943803304704
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.094650092,714,679.094650092,659.094650092,634,880,786,806,652,630,652,0.422660924051,-0.015512453174,0.070004940779,0.999999997962,-3.02762734651e-05,9.81837941344e-06,-5.53383790452e-05,1793244943819971072
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.673520855,714,679.673520855,659.673520855,634,880,786,806,652,630,652,0.423457466408,-0.0155102056592,0.069917690104,0.999999989446,-2.88738604301e-05,-0.000127544224996,-6.33043226622e-05,1793244943836637696
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.747614736,634,880,786,806,651.747614736,630,652,0.424312971741,-0.0155103550108,0.0698689648308,0.999999977257,-3.38748540618e-05,-0.000199078792027,-6.86080482059e-05,1793244943853304320
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.168758468,634,880,786,806,651.168758468,630,652,0.425244748285,-0.01551360481,0.0698700737807,0.999999979207,-4.71589251514e-05,-0.00018546203276,-7.04680844909e-05,1793244943869970688
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.406433696,659.406433696,634,880.406433696,786,806,651,630.406433696,652,0.426205063194,-0.0155262710743,0.0699207879156,0.9999999906,-5.60585615029e-05,-0.000108544770754,-6.22460493453e-05,1793244943886637312
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.980118017,659.980118017,634,880.980118017,786,806,651,630.980118017,652,0.427177121806,-0.0155428122869,0.0699919149698,0.999999996746,-6.31539675642e-05,-5.57885951551e-06,-4.98751627355e-05,1793244943903303936
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.431730552,745,714,680.431730552,660,634,880.431730552,786.568269448,806,651.568269448,630.431730552,652,0.428139044951,-0.0155599971781,0.0700236531355,0.999999994682,-8.34201407501e-05,3.80223043481e-05,-4.7236254717e-05,1793244943919970816
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.154829677,745,714,680,660,634,880,787,806,651.845170323,630.154829677,652,0.429090917833,-0.0155714708635,0.0700457083798,0.999999991738,-9.74888556157e-05,7.00307320742e-05,-4.59874258499e-05,1793244943936637696
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.735583823,745,714,680,660,634,880,787,806,651.264416177,630.735583823,652,0.430016144151,-0.0155671698925,0.0700450167207,0.999999991634,-9.32080895332e-05,7.60113294755e-05,-4.76014624529e-05,1793244943953304064
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806.312522835,651.312522835,631,652.312522835,0.430861795271,-0.0155588551518,0.0699989378488,0.999999995157,-8.35580263648e-05,-3.43948309447e-06,-5.18851578328e-05,1793244943969970688
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806.886272876,651.886272876,631,652.886272876,0.431640932143,-0.0155471854378,0.0699149213497,0.999999983981,-6.94199490893e-05,-0.000154299505979,-5.84003291947e-05,1793244943986637312
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.470821366,660,634,880.470821366,787,806.529178634,651.529178634,631,652.529178634,0.432505772333,-0.0155467112623,0.0698916470183,0.999999979147,-7.08110060175e-05,-0.000181571096287,-6.10291884979e-05,1793244944003303936
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,881,786.942413993,806.057586007,651,631,652.057586007,0.433401979732,-0.0155493081029,0.0698913484514,0.999999981196,-7.71925859689e-05,-0.000166756469074,-6.19861522222e-05,1793244944019970816
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,881,786.359784101,806.640215899,651,631,652.640215899,0.434390999517,-0.0155546698301,0.0699636170215,0.999999992887,-9.40721344381e-05,-4.67925175372e-05,-5.64594391388e-05,1793244944036637696
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.779792757,714,680.779792757,660.220207243,634,881,786.220207243,806.779792757,651.220207243,631,652.779792757,0.435340001476,-0.0155596600498,0.0700162198134,0.999999992406,-0.000104099203667,4.04317655613e-05,-5.21259342941e-05,1793244944053304320
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.204061256,714,680.204061256,660.795938744,634,881,786.795938744,806.204061256,651.795938744,631,652.204061256,0.436224394873,-0.015564050472,0.0700370722473,0.999999990656,-0.000103062959969,7.47979218084e-05,-4.9718862502e-05,1793244944069971200
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.370479895,714,680.370479895,661,633.629520105,881,787,806.370479895,651.629520105,631,652,0.437069434032,-0.015566885519,0.0700315146078,0.999999990234,-0.000106165641763,7.55898353512e-05,-5.04667221248e-05,1793244944086637824
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.944367463,714,680.944367463,661,633.055632537,881,787,806.944367463,651.055632537,631,652,0.437892866152,-0.0155688666051,0.0700114568237,0.999999990699,-0.000111540752494,5.79481997466e-05,-5.29467602645e-05,1793244944103304448
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.465217908,745,714,681,660.465217908,633.534782092,880.465217908,786.465217908,807,651.534782092,631,652,0.438617522136,-0.0155680123853,0.0699519039066,0.999999991041,-0.000115309055443,-3.54427013666e-05,-5.80218317124e-05,1793244944119971072
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.123874549,745,714,681.123874549,660,634,880,786.123874549,807,651.876125451,631,652,0.439332433995,-0.0155670977272,0.0698893592919,0.999999981752,-0.000118164697532,-0.000136207808437,-6.30851386955e-05,1793244944136637440
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.701622278,745,714,681.701622278,660,634,880,786.701622278,807,651.298377722,631,652,0.440050493488,-0.0155670767857,0.0698313871061,0.999999963327,-0.000118308354048,-0.000234198680003,-6.70846831903e-05,1793244944153304064
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.72341347,745,714,681.72341347,660,633.72341347,880,786.72341347,806.72341347,651.27658653,630.72341347,652,0.440800676337,-0.0155738324223,0.0698193225829,0.999999957094,-0.00012535877751,-0.000256006922332,-6.75141467369e-05,1793244944169970688
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.151422113,745,714,681.151422113,660,633.151422113,880,786.151422113,806.151422113,651.848577887,630.151422113,652,0.441585168092,-0.0155878256993,0.0698562891756,0.999999968877,-0.000139785888692,-0.00019644924319,-6.41306294933e-05,1793244944186637568
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.434842869,745,714,681.434842869,660,633,880,786,806.434842869,652,630.434842869,652.434842869,0.442308758045,-0.0155991241058,0.0698830312263,0.999999972091,-0.000159533862507,-0.000162828894381,-6.20780085106e-05,1793244944203304192
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.974324031,633,880.025675969,786,807,651.974324031,631,652.974324031,0.443007374107,-0.0156093233116,0.069903421534,0.99999997166,-0.000180872257838,-0.000142424929656,-6.06708686896e-05,1793244944219970560
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.395786243,633,880.604213757,786,807,651.395786243,631,652.395786243,0.443640385454,-0.0156167461878,0.0698663100955,0.999999957853,-0.000195206029656,-0.000205520667325,-6.28446362689e-05,1793244944236637440
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681.818212715,659,633,881,785.818212715,807.181787285,651,631,652,0.444263292909,-0.0156230114461,0.0698263590937,0.999999940034,-0.000205645305749,-0.000270914448754,-6.51742030428e-05,1793244944253304320
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681.242727382,659,633,881,785.242727382,807.757272618,651,631,652,0.444864318411,-0.0156267696446,0.0697802584216,0.999999917902,-0.000207650247576,-0.000341285133113,-6.78411859548e-05,1793244944269970944
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681.33012643,659,632.66987357,880.66987357,785,807.66987357,651,630.66987357,652,0.445441057621,-0.0156327272906,0.0697486032322,0.999999900333,-0.000213873735916,-0.000385597491919,-7.00474102253e-05,1793244944286637568
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681.901060667,659,632.098939333,880.098939333,785,807.098939333,651,630.098939333,652,0.446000081373,-0.0156402893039,0.0697274851752,0.99999988809,-0.000223174406024,-0.000410901831907,-7.19175381529e-05,1793244944303304192
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.507380178,745,714,682,659,632,880.492619822,784.507380178,807,651.492619822,630,652,0.446528017312,-0.0156464910316,0.0697182731431,0.999999877693,-0.000232027238007,-0.0004308240434,-7.18829205044e-05,1793244944319971072
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713.91427066,682,659,632,880.91427066,784,807,651.91427066,630,652.08572934,0.447042835433,-0.0156519360734,0.069709000361,0.999999865895,-0.00024050375726,-0.000453003505682,-7.18034609042e-05,1793244944336637952
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713.337058751,682,659,632,880.337058751,784,807,651.337058751,630,652.662941249,0.447519809136,-0.0156546777769,0.0696850713628,0.999999844376,-0.00024736107701,-0.000494591604764,-7.37559322312e-05,1793244944353304576
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.23981137,745,713,682,659,632,880,784,807,651,630,652.76018863,0.44799648737,-0.0156591964623,0.0696711512783,0.999999831115,-0.000251617196013,-0.00051867077546,-7.37547442473e-05,1793244944369971456
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.816201738,745,713,682,659,632,880,784,807,651,630,652.183798262,0.448472750868,-0.0156662091692,0.0696712788621,0.999999831417,-0.000252222489096,-0.000518175889465,-7.10115649193e-05,1793244944386638080
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.609166541,745,713.390833459,682,658.609166541,632,880.390833459,783.609166541,807,651,630,652,0.448926134099,-0.0156754353636,0.0696818362754,0.999999837658,-0.000260798427579,-0.000501794887778,-6.97806816721e-05,1793244944403304704
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.035358109,745,713.964641891,682,658.035358109,632,880.964641891,783.035358109,807,651,630,652,0.449368805606,-0.0156856978384,0.0696972765812,0.999999846077,-0.000273105951874,-0.00047797654503,-6.92578038888e-05,1793244944419971328
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,745.147520159,714,682,658,631,880.147520159,782.852479841,807.147520159,652,629.852479841,652,0.450087847356,-0.0156960357128,0.069683320831,0.999999834773,-0.000285258424785,-0.000493800451821,-7.24086294607e-05,1793244944453304320
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0deb7e677e3088fb1c631daaaccf005f111e5cdf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2699144aaffc93871b0631cf68793f0d27e70aba
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:162db24aedd1ff8187d9ced2a02cd010fedff2d6d5ac7dbbbd8202df35f0016c
+size 25815405
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..888530fb86885e0281922ea577c410f814032421
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+17,0.283333333,BASELINE,764,744,713.874260651,678.125739349,658.874260651,634,879,786,805.874260651,652,630.125739349,652.125739349,0.400959541509,-0.0153606842751,0.0698197533837,0.999999930375,0.000234758041482,-0.000289995960528,6.34545003956e-06,1793244948294146304
+18,0.300000000,BASELINE,764.450082823,744,714,678.450082823,659,634,879,786,806,652,630,652,0.400959868765,-0.0153604643255,0.0698195972909,0.99999993059,0.000233921804044,-0.000289937392033,6.10098417265e-06,1793244948310812928
+19,0.316666667,BASELINE,765,744,714,679,658.975539725,634,879,786.024460275,806,652,630,652,0.400960523482,-0.0153599622732,0.0698196447692,0.999999930934,0.000233071643663,-0.00028944040583,5.83858771709e-06,1793244948327479808
+20,0.333333333,BASELINE,765,744,714,679,658.403629641,634,879,786.596370359,806,652,630,652,0.400959335666,-0.0153595253715,0.0698198646342,0.999999931026,0.000232542808245,-0.000289550394494,5.77188882693e-06,1793244948344146432
+21,0.350000000,BASELINE,765,744.175489452,714,679,658,634,879,786.824510548,806,651.824510548,630,652,0.400958806136,-0.0153593899738,0.069820034969,0.99999993102,0.000232467237986,-0.00028963117889,5.80646618589e-06,1793244948360813056
+22,0.366666667,BASELINE,765,744.771899654,714,679,658,634,879,786.228100346,806,651.228100346,630,652,0.400959855541,-0.0153599777492,0.0698200865031,0.999999930779,0.000233478848303,-0.000289641915288,6.08396000478e-06,1793244948377479680
+23,0.383333333,BASELINE,765,745,714,679,658,634,879,786,805.643039664,651.356960336,630.356960336,652.356960336,0.400960808771,-0.0153605329077,0.0698209108695,0.999999931284,0.000232676090401,-0.000288543363568,6.11986365759e-06,1793244948394146304
+24,0.400000000,BASELINE,765,745,714,679,658,634,879,786,805.06500787,651.93499213,630.93499213,652.93499213,0.400961702437,-0.0153610678661,0.0698222138638,0.999999932244,0.000230749664261,-0.000286757811314,6.00614654009e-06,1793244948410812928
+25,0.416666667,BASELINE,764.4913785,744.4913785,714,679,658.5086215,634,879,786,805,652,631,652.4913785,0.400961449154,-0.0153606189482,0.0698217054329,0.999999931609,0.000232745929388,-0.000287353134198,6.34521602397e-06,1793244948427479552
+26,0.433333333,BASELINE,764.084258808,744.084258808,714,679,658.915741192,634,879,786,805,652,630.915741192,652,0.400961045959,-0.0153602474838,0.0698211055779,0.999999930964,0.000234504877263,-0.000288157676484,6.65493416788e-06,1793244948444146176
+27,0.450000000,BASELINE,764.675329445,744.675329445,714,679,658.324670555,634,879,786,805,652,630.324670555,652,0.400960615235,-0.0153610917917,0.0698213364515,0.999999931514,0.000231846564742,-0.000288405997064,6.44299923295e-06,1793244948460813056
+28,0.466666667,BASELINE,765,744.739303246,714,679,658,634,878.739303246,786,805.260696754,652,630,652,0.400960052869,-0.0153617153221,0.0698213192249,0.999999931747,0.000230060925562,-0.000289024513218,6.47894755331e-06,1793244948477479936
+29,0.483333333,BASELINE,765,744.160886805,714,679,658,634,878.160886805,786,805.839113195,652,630,652,0.400959330065,-0.0153620697837,0.0698209996303,0.999999931601,0.00022933884217,-0.00029009419885,6.81699934174e-06,1793244948494146304
+30,0.500000000,BASELINE,765,744.414906158,714,679.414906158,658,634,878.829812316,786.414906158,806,652,630.414906158,652,0.400959975382,-0.0153619854444,0.0698211193295,0.999999931564,0.000230530935975,-0.0002892774882,6.83531373805e-06,1793244948510812928
+31,0.516666667,BASELINE,765,744.989688203,714,679.989688203,658,634,879.979376407,786.989688203,806,652,630.989688203,652,0.400961147877,-0.0153617320218,0.0698214083021,0.999999931563,0.000232460620142,-0.000287733892002,6.73042364234e-06,1793244948527479808
+32,0.533333333,BASELINE,765,745,714,679.422460399,658.577539601,634,879.422460399,786.422460399,805.422460399,652,631,652,0.400960300911,-0.0153615304476,0.0698209528753,0.999999931361,0.000232703023391,-0.000288244533639,6.56790843564e-06,1793244948544146176
+33,0.550000000,BASELINE,765,744.836921777,714,679,658.836921777,634,879,786,805,652,630.836921777,652,0.400959820139,-0.0153612214813,0.0698205981896,0.999999931326,0.000232322874672,-0.0002886760405,6.37750969685e-06,1793244948560812800
+34,0.566666667,BASELINE,765,744.257891251,714,679,658.257891251,634,879,786,805,652,630.257891251,652,0.400960367489,-0.0153606361817,0.0698205351428,0.999999931726,0.000230433444974,-0.00028880998615,6.11867544564e-06,1793244948577479424
+35,0.583333333,BASELINE,764.678913401,744,714.321086599,679,658,634,879,786,805,652,630.321086599,652,0.400960456557,-0.0153604586842,0.0698206146651,0.999999931601,0.000230946694264,-0.000288832597864,6.12129954215e-06,1793244948594146304
+36,0.600000000,BASELINE,764.09997779,744,714.90002221,679,658,634,879,786,805,652,630.90002221,652,0.4009601776,-0.0153606086727,0.0698208086778,0.999999931052,0.000233389417841,-0.000288765802733,6.33388807766e-06,1793244948610813440
+37,0.616666667,BASELINE,764.474656943,744.474656943,714.525343057,679,658,634,879,786.474656943,805,652,631,652,0.400959840247,-0.0153604689392,0.069820717631,0.999999930784,0.000233686004439,-0.00028945631392,6.11979817606e-06,1793244948627480064
+38,0.633333333,BASELINE,765,744.950338818,714,679.049661182,658,634,879,787,805,652,631,652,0.400959558581,-0.0153603808135,0.0698205944195,0.999999930638,0.000233517093762,-0.000290102346954,5.86832605441e-06,1793244948644146688
+39,0.650000000,BASELINE,765,744.361577193,714,679.638422807,658,634,879,787,805,652,631,652,0.400960013757,-0.015361509429,0.0698207679861,0.999999931169,0.00023315807979,-0.000288549492798,6.17789949622e-06,1793244948660813056
+40,0.666666667,BASELINE,765,744.223522711,714.223522711,679.552954578,658,634,879.223522711,786.776477289,805,652,630.776477289,652,0.40096097556,-0.0153621487238,0.0698214488435,0.999999931755,0.000232612686013,-0.00028694723617,6.45233863625e-06,1793244948677479680
+41,0.683333333,BASELINE,765,744.802794742,714.802794742,678.394410516,658,634,879.802794742,786.197205258,805,652,630.197205258,652,0.40096274369,-0.0153620092361,0.0698229370834,0.99999993243,0.000231770658025,-0.000285266352746,6.67085948488e-06,1793244948694146304
+42,0.700000000,BASELINE,765,745,714.61947816,678.38052184,658,634,879.61947816,786,805,652,630.38052184,652,0.400962237546,-0.015362193371,0.0698226933121,0.999999932511,0.00023070570839,-0.000285845477377,6.73624937528e-06,1793244948710812928
+43,0.716666667,BASELINE,765,745,714.042548504,678.957451496,658,634,879.042548504,786,805,652,630.957451496,652,0.400960557527,-0.0153625445448,0.0698215555566,0.999999932282,0.000229525696912,-0.000287591113945,6.72260012358e-06,1793244948727479552
+44,0.733333333,BASELINE,765,744.468393677,714,679,658.531606323,634.531606323,879.531606323,786,805,652,630.468393677,652,0.40095997578,-0.0153612882131,0.0698214158139,0.999999931196,0.000233378862512,-0.000288268236469,6.6014564549e-06,1793244948744146432
+45,0.750000000,BASELINE,764.891433359,744.108566641,714,679,658.891433359,634.891433359,879.782866717,786.108566641,805,652,630,652,0.400959699086,-0.015360247214,0.0698214450943,0.99999993045,0.000236414471675,-0.000288386323088,6.4656957065e-06,1793244948760813568
+46,0.766666667,BASELINE,764.301041734,744.698958266,714,679,658.301041734,634.301041734,878.602083468,786.698958266,805,652,630,652,0.400960388144,-0.015360729913,0.0698218718437,0.999999931579,0.000234043158232,-0.000286400953805,6.30304854405e-06,1793244948777480192
+47,0.783333333,BASELINE,764.283728671,744.716271329,714,679,658,634.283728671,878.283728671,786.716271329,805,652,630.283728671,652,0.400960416068,-0.0153611718279,0.0698216574417,0.999999931887,0.000233043672684,-0.000286143872601,6.19385429177e-06,1793244948794146816
+48,0.800000000,BASELINE,764.862650788,744.137349212,714,679,658,634.862650788,878.862650788,786.137349212,805,652,630.862650788,652,0.400959756142,-0.0153615713109,0.069820775981,0.999999931345,0.000233471446927,-0.0002876849151,6.14027283025e-06,1793244948810813184
+49,0.816666667,BASELINE,764.561091633,744,714,679,658,634.561091633,879,786,805,652,630.561091633,652,0.400959234329,-0.0153617022461,0.0698202129375,0.999999931169,0.000232800900944,-0.00028883598032,6.34636834233e-06,1793244948827479808
+50,0.833333333,BASELINE,764.014630846,744,714,679,658,634,879.014630846,786,805,652,630,652,0.400958763472,-0.0153617502093,0.0698197751314,0.999999931112,0.000231796163747,-0.000289831537634,6.62678915575e-06,1793244948844146176
+51,0.850000000,BASELINE,764.601848545,744,714,679,658,634,879.601848545,786,805,652,630,652,0.400958605571,-0.0153618200261,0.0698203624932,0.999999931377,0.000231082444893,-0.000289488375402,6.65494178298e-06,1793244948860812800
+52,0.866666667,BASELINE,765,744,714,679.186212833,658,634,879.813787167,786,805,652,630.186212833,652,0.400958876907,-0.0153620182922,0.0698210007707,0.99999993182,0.000230130449233,-0.000288716319133,6.54021127184e-06,1793244948877479424
+53,0.883333333,BASELINE,765,744,714,679.764568134,658,634,879.235431866,786,805,652,630.764568134,652,0.400960052168,-0.0153624870579,0.0698217462704,0.999999932638,0.000228676670502,-0.000287041062151,6.12458556345e-06,1793244948894146304
+54,0.900000000,BASELINE,764.656581637,744,714,679.656581637,658,634,879,786,805,652,630.656581637,652,0.400959662118,-0.015362200837,0.0698216747522,0.999999932345,0.000229554152256,-0.000287362942319,6.12971395534e-06,1793244948910813184
+55,0.916666667,BASELINE,764.077391643,744,714,679.077391643,658,634,879,786,805,652,630.077391643,652,0.400958197413,-0.0153613962848,0.0698210423157,0.999999931283,0.000232032145703,-0.000289055943997,6.42370833925e-06,1793244948927479808
+56,0.933333333,BASELINE,764,744.497615559,714,679,658,634,879.497615559,786,805,651.502384441,630.497615559,652,0.400957934311,-0.0153621118169,0.0698204058691,0.999999931206,0.000231413483353,-0.000289814725163,6.57811043344e-06,1793244948944146432
+57,0.950000000,BASELINE,764.073753464,744.926246536,714,679,658.073753464,634,879.926246536,786,805,651.073753464,630.926246536,652,0.400957916008,-0.0153628594739,0.0698199330732,0.999999931268,0.000230589764298,-0.000290253567656,6.66491422949e-06,1793244948960813056
+58,0.966666667,BASELINE,764.66228575,744.33771425,714,679,658.66228575,634,879.33771425,786,805,651.66228575,630.33771425,652,0.400958312843,-0.0153621950245,0.0698206068315,0.999999931249,0.000231668272511,-0.00028946498925,6.43016781032e-06,1793244948977479680
+59,0.983333333,BASELINE,764.752440239,744,714,679,659,634,879.247559761,786,805.247559761,652,630.247559761,652,0.400959264992,-0.0153612727313,0.0698214458702,0.999999931126,0.000233597697469,-0.000288339120147,6.38171804908e-06,1793244948994146560
+60,1.000000000,BASELINE,764.171553256,744,714,679,659,634,879.828446744,786,805.828446744,652,630.828446744,652,0.400960964845,-0.0153600032636,0.0698225074509,0.999999930856,0.000236672840741,-0.00028675910535,6.58410767782e-06,1793244949010813440
+61,1.016666667,BASELINE,764.404943192,744.404943192,714,679.404943192,658.595056808,634,880,786,805.595056808,652,631,652,0.400961767443,-0.015360362958,0.0698225469608,0.999999931564,0.000234982043322,-0.000285682246712,6.4087397167e-06,1793244949027480064
+62,1.033333333,BASELINE,764.979599516,744.979599516,714,679.979599516,658.020400484,634,880,786,805.020400484,652,631,652,0.400962193999,-0.0153614054401,0.069822158117,0.999999932673,0.000231293823013,-0.000284816262703,6.07505219322e-06,1793244949044146432
+63,1.050000000,BASELINE,765,744.447195591,714,679.447195591,658,634,879.447195591,786,805.552804409,652,631,652,0.400960300452,-0.0153617760965,0.0698217736107,0.999999932405,0.00023069144075,-0.00028624158909,6.16794869913e-06,1793244949060813056
+64,1.066666667,BASELINE,764.869020121,744,714,679,658,634,879,786,806,651.869020121,630.869020121,652,0.400959295391,-0.0153618229744,0.0698217323448,0.999999932196,0.000230724123897,-0.000286940119638,6.2878186621e-06,1793244949077479680
+65,1.083333333,BASELINE,764.273007403,744,714,679,658,634,879,786,806,651.273007403,630.273007403,652,0.400961748008,-0.0153608080989,0.0698229091576,0.999999932382,0.000232608294969,-0.000284758795243,6.44770955262e-06,1793244949094146048
+66,1.100000000,BASELINE,764.309773333,744,714,679,658,634.309773333,879,786,805.690226667,651.309773333,630,652,0.400961967303,-0.0153610326952,0.0698228949862,0.999999932298,0.000232707101515,-0.000284973256274,6.51210071489e-06,1793244949110812672
+67,1.116666667,BASELINE,764.881370233,744,714,679,658,634.881370233,879,786,805.118629767,651.881370233,630,652,0.400960298971,-0.0153623049057,0.0698218741826,0.999999931984,0.000231296899732,-0.000287212659593,6.49577452868e-06,1793244949127479296
+68,1.133333333,BASELINE,765,744.45921132,714,678.54078868,658.45921132,634.54078868,879,786,805,651.54078868,630.45921132,652,0.400960632797,-0.0153624653598,0.0698222054721,0.999999932186,0.000230734674874,-0.0002869653642,6.33214554029e-06,1793244949144146688
+69,1.150000000,BASELINE,765,745,714,678.039394847,658.960605153,634,879,786,805.039394847,651.039394847,630.960605153,652,0.400961370623,-0.0153623755605,0.0698227747398,0.999999932487,0.000230378804429,-0.000286204950885,6.14632243469e-06,1793244949160813568
+70,1.166666667,BASELINE,765,745,714,678.62946209,658.37053791,634,879,786,805.62946209,651.62946209,630.37053791,652,0.400960426124,-0.0153628576127,0.0698217207368,0.999999932284,0.00022980310638,-0.000287375438785,6.18951599484e-06,1793244949177479936
+71,1.183333333,BASELINE,764.784632895,744.784632895,714,679,658,634,878.784632895,786,805.784632895,652,630,652,0.400959585586,-0.0153629331394,0.0698210575997,0.999999931984,0.000229986549171,-0.000288268670311,6.23661457572e-06,1793244949194146304
+72,1.200000000,BASELINE,764.205753104,744.205753104,714,679,658,634,878.205753104,786,805.205753104,652,630,652,0.400958920522,-0.0153623225024,0.0698210541951,0.999999931523,0.000231451326484,-0.000288693928008,6.2903043492e-06,1793244949210813184
+73,1.216666667,BASELINE,764,744.370879581,714,679,658,634,878.741759162,786,805,652,630.370879581,652,0.400958981913,-0.015362525912,0.0698213675002,0.99999993174,0.000231108074022,-0.000288216608132,6.28017400702e-06,1793244949227479808
+74,1.233333333,BASELINE,764,744.94627311,714,679,658,634,879.892546221,786,805,652,630.94627311,652,0.400959443892,-0.015363178211,0.0698218554483,0.99999993233,0.000229767820484,-0.000287241580313,6.23485136598e-06,1793244949244146432
+75,1.250000000,BASELINE,764.520649414,745,714,679,658,634,879.479350586,786,805.520649414,652,631,652,0.400960257186,-0.0153610473221,0.0698219953311,0.999999931866,0.00023219279279,-0.000286911813953,5.99231827771e-06,1793244949260813312
+76,1.266666667,BASELINE,765,744.902046159,714,678.902046159,658,634,879.097953841,786.097953841,805.902046159,652,631,652,0.400960948357,-0.0153591679271,0.0698221232227,0.99999993149,0.000234264905708,-0.000286542924315,5.79586018778e-06,1793244949277479680
+77,1.283333333,BASELINE,765,744.309425671,714,678.309425671,658,634,879.690574329,786.690574329,805.309425671,652,631,652,0.40096084008,-0.015360006122,0.0698223715895,0.999999932136,0.000232596772347,-0.000285640859496,5.93465057577e-06,1793244949294146304
+78,1.300000000,BASELINE,765,744.275964851,714.275964851,678.275964851,658,634,879.448070298,787,805,652,631,652,0.400960712574,-0.0153614705156,0.0698224659749,0.999999932537,0.000231382597278,-0.000285218857849,6.16626696926e-06,1793244949310812928
+79,1.316666667,BASELINE,765,744.853455695,714.853455695,678.853455695,658,634,878.293088609,787,805,652,631,652,0.400960564057,-0.0153636191091,0.0698223921165,0.999999932672,0.000230664428331,-0.000285321385107,6.4993073334e-06,1793244949327480064
+80,1.333333333,BASELINE,765,745,714.571707071,678.571707071,658.428292929,634,878.856585858,786.571707071,805.428292929,652,631,652,0.40096036868,-0.0153631291426,0.0698222994298,0.999999932198,0.000231997024273,-0.000285900535424,6.56550587023e-06,1793244949344146688
+81,1.350000000,BASELINE,765,745,714,678.00229093,658.99770907,634,879.99770907,786,805.99770907,652,630.99770907,652,0.400960154741,-0.0153617447892,0.0698221979578,0.999999931516,0.000234011208618,-0.000286642352474,6.53838984126e-06,1793244949360813568
+82,1.366666667,BASELINE,765,745,714,678.592478319,658.407521681,634,879.407521681,786,805.407521681,652,630.407521681,652,0.400959266908,-0.015361094725,0.0698214849961,0.999999931738,0.000231976250375,-0.000287535567354,5.85062794876e-06,1793244949377479936
+83,1.383333333,BASELINE,765,745,714,679.179307055,658,634,879.179307055,786,805,652,630,652,0.400958851773,-0.0153606977547,0.0698209834248,0.999999931902,0.000230771537097,-0.000287942682836,5.43955950955e-06,1793244949394146304
+84,1.400000000,BASELINE,765,745,714,679.75864285,658,634,879.75864285,786,805,652,630,652,0.400959491215,-0.0153608654295,0.0698209534596,0.999999931946,0.000231419075401,-0.000287265325102,5.64578585248e-06,1793244949410813184
+85,1.416666667,BASELINE,765,744.66327092,714,679.66327092,658,634,879.66327092,786,805,652,630.33672908,652,0.400959674192,-0.0153614924932,0.0698211186509,0.999999932188,0.000230895532411,-0.000286840469473,5.73294917767e-06,1793244949427479808
+86,1.433333333,BASELINE,765,744.086077062,714,679.086077062,658,634,879.086077062,786,805,652,630.913922938,652,0.400959531199,-0.0153624476153,0.0698214232073,0.999999932572,0.000229535697483,-0.000286595930539,5.7350872767e-06,1793244949444146176
+87,1.450000000,BASELINE,765,744,714,678.511310342,658,634,879,786,805.488689658,652,631,652,0.400960854429,-0.0153628515442,0.0698225957229,0.999999932851,0.000230248681145,-0.000285035689282,6.11776069226e-06,1793244949460813056
+88,1.466666667,BASELINE,764.935315074,744.064684926,714,678.064684926,658,634,879,786,805.935315074,651.935315074,630.935315074,652,0.400962086439,-0.0153629108117,0.0698236686176,0.999999933003,0.0002313083086,-0.000283633497634,6.46541886769e-06,1793244949477479936
+89,1.483333333,BASELINE,764.345902879,744.654097121,714,678.654097121,658,634,879,786,805.345902879,651.345902879,630.345902879,652,0.400960493826,-0.0153609578464,0.069822699334,0.999999932294,0.000232232830003,-0.000285384054744,5.98799322864e-06,1793244949494146048
+90,1.500000000,BASELINE,764,745,714,679,658,634,879,786,805,651.239420423,630.239420423,652,0.400959586118,-0.0153598371331,0.0698220926665,0.999999931992,0.000232384361874,-0.000286323690846,5.65282119588e-06,1793244949510812416
+91,1.516666667,BASELINE,764,745,714,679,658,634,879,786,805,651.81893544,630.81893544,652,0.400959651315,-0.0153598986265,0.0698220010923,0.999999932273,0.000231437868874,-0.000286111420683,5.51971919283e-06,1793244949527478784
+92,1.533333333,BASELINE,764,744.604304208,714,679.395695792,658,634,879,786,805,652,630.604304208,652,0.400959794265,-0.0153605498781,0.0698222599563,0.999999932506,0.000230811081051,-0.000285800010586,5.74453278958e-06,1793244949544145664
+93,1.550000000,BASELINE,764,744.028795585,714,679.971204415,658,634,879,786,805,652,630.028795585,652,0.400959972548,-0.0153614691287,0.0698226780671,0.999999932716,0.000230329574175,-0.000285443549112,6.13199105973e-06,1793244949560812288
+94,1.566666667,BASELINE,764.556820092,744,714,679.443179908,658.556820092,634,879,786,805.556820092,652,630.556820092,652,0.400961398122,-0.0153619127317,0.069823385185,0.999999933168,0.000230117575107,-0.000284028041724,6.24060829327e-06,1793244949577479168
+95,1.583333333,BASELINE,765,744.141338594,714.141338594,679,658.858661406,634,879,786,805.858661406,652,631,652,0.400962272922,-0.0153620398696,0.0698238016873,0.99999993337,0.000230317611975,-0.000283150744398,6.2655931132e-06,1793244949594145792
+96,1.600000000,BASELINE,765,744.720805979,714.720805979,679,658.279194021,634,879,786,805.279194021,652,631,652,0.400961236758,-0.0153612636717,0.069823270138,0.999999932767,0.000231750896761,-0.000284114729371,6.07685630372e-06,1793244949610812416
+97,1.616666667,BASELINE,765,744.69988794,714.69988794,679,658,634,879,786,805,652,631,652,0.400961263676,-0.0153615213068,0.0698231095256,0.999999932533,0.000232398367086,-0.000284407879526,6.16408092289e-06,1793244949627479040
+98,1.633333333,BASELINE,765,744.120731874,714.120731874,679,658,634,879,786,805,652,631,652,0.400962279047,-0.0153627401993,0.0698232938102,0.999999932644,0.000232315187531,-0.000284077287828,6.50789431772e-06,1793244949644145920
+99,1.650000000,BASELINE,765,744,714,679,658.455168163,634,879,786,805,652,630.544831837,652,0.400960947305,-0.0153635937869,0.0698229828072,0.999999932682,0.000230430243347,-0.000285475354884,6.44848568958e-06,1793244949660812288
+100,1.666666667,BASELINE,765,744.030832422,714,679,658.969167578,634,879,786,805,652,630.030832422,652,0.400959051812,-0.0153642193405,0.0698225405423,0.999999932658,0.00022831943336,-0.000287254843937,6.28341361482e-06,1793244949677479168
+101,1.683333333,BASELINE,765,744.617709507,714,679,658.382290493,634,879,786,805,652,630.617709507,652,0.400958137255,-0.0153624674838,0.0698220834631,0.999999931985,0.0002306929152,-0.000287702629123,6.12790390348e-06,1793244949694146816
+102,1.700000000,BASELINE,765,745,714,679,658,634,879.203092013,786.203092013,805,652,630.796907987,652,0.400957873681,-0.0153613074428,0.0698216721306,0.999999931575,0.000232370317636,-0.000287782794889,5.98351298442e-06,1793244949710813952
+103,1.716666667,BASELINE,765,745,714,679,658,634,879.785681682,786.785681682,805,652,630.214318318,652,0.400958826533,-0.0153612532685,0.0698213462804,0.999999931662,0.000232747026104,-0.000287176027105,5.85989865376e-06,1793244949727479808
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+106,1.766666667,BASELINE,764.505700074,744,714,679,658,634,879,786,806,651.505700074,631,652,0.400960861801,-0.0153623180504,0.0698230559081,0.999999932768,0.000230668762652,-0.000284984943006,6.23388320191e-06,1793244949777480448
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,805,652,631,652,0.400959657659,-0.0153629824823,0.0698221481051,0.999999933296,0.000227621942837,-0.000285594130971,5.72650842605e-06,1793244949819911168
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,805.57890782,652,631,652,0.400959899669,-0.0153630358609,0.0698223063173,0.999999933234,0.000228381618934,-0.000285198757804,5.92174737203e-06,1793244949836577280
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.156594953,714,679,658.156594953,634,879,786,805.843405047,652,630.843405047,652,0.400960184835,-0.0153629607213,0.0698226370134,0.999999933176,0.000229203817549,-0.000284737199046,6.17618944696e-06,1793244949853243904
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.731025108,714,679,658.731025108,634,879,786,805.268974892,652,630.268974892,652,0.400960585149,-0.0153625426626,0.0698234279406,0.999999933128,0.000230192842325,-0.000284099040192,6.58860058491e-06,1793244949869910016
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.687293249,714,679,658.687293249,634,879,786,805.312706751,652,630.312706751,652,0.400961006069,-0.0153626616945,0.0698238141634,0.999999933033,0.000231214014077,-0.000283600489626,6.69117541689e-06,1793244949886576384
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.099226193,714,679,658.099226193,634,879,786,805.900773807,652,630.900773807,652,0.400961445134,-0.0153632536723,0.0698238440156,0.999999932897,0.000232263493445,-0.000283224874023,6.52091754856e-06,1793244949903243008
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.518357424,744,714,679,658,634,879,786,805.518357424,652,630.518357424,652,0.400961047163,-0.0153628921425,0.0698237374978,0.99999993297,0.000230603213561,-0.000284330050737,6.28707676064e-06,1793244949919909888
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879.060787726,786,805.060787726,652,630,652.060787726,0.400960939779,-0.0153624664652,0.0698238212559,0.999999933146,0.000228640626877,-0.000285297113856,6.09408388782e-06,1793244949936576768
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764.213439668,744,714,679,658,634,879.786560332,786,805.786560332,651.786560332,630.213439668,652.786560332,0.400976155268,-0.0153636374607,0.0698307821504,0.999999935989,0.000229451016029,-0.00027445921317,6.75336513754e-06,1793244949969909760
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+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.371858771,714,679,658,634,879,786,805.371858771,651.371858771,631,652,0.401043204363,-0.0153665485658,0.069857198497,0.999999947352,0.000229861760197,-0.000228873272583,8.71368580605e-06,1793244950003242752
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.962983977,714,679,658,634,879,786,805.962983977,651.962983977,631,652,0.401096919014,-0.0153707347243,0.069876861317,0.999999955416,0.000227109989715,-0.000193597309784,1.04799427155e-05,1793244950019909632
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.543256865,879.543256865,786,805.456743135,652,631,652,0.401158199892,-0.0153735230648,0.0698885630709,0.999999957511,0.000228642862748,-0.000180508967135,1.07845241174e-05,1793244950036576256
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.878168671,745,714.121831329,679,658,634.878168671,879.878168671,786,805,652,631,652,0.401222529998,-0.0153762691179,0.0698980897493,0.99999995914,0.000229473773198,-0.000170145598089,1.06379210038e-05,1793244950053243136
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+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714.72253314,679,658,634,878.72253314,786,805,652,630.72253314,652,0.401381247762,-0.0153814422807,0.0699035850713,0.999999961462,0.00022627906072,-0.000160684424739,7.39796064413e-06,1793244950086576896
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714.135460949,679,658,634,878.135460949,786,805,652,630.135460949,652,0.401478599728,-0.0153828994249,0.0699041761648,0.999999961156,0.000228711793253,-0.000159219629187,5.26587020203e-06,1793244950103243520
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.445551336,744.554448664,714,679,658,634,878.445551336,786,805.445551336,652,630.445551336,652,0.401595951091,-0.0153889484981,0.0699068258211,0.999999962522,0.000225012764816,-0.000155937257594,2.98375394223e-06,1793244950119909888
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.024676692,714,679,658,634,879,786,805.975323308,652,630.975323308,652,0.401720633422,-0.0153963847793,0.069910056749,0.999999964394,0.000219340033919,-0.000151991671108,6.19562614834e-07,1793244950136576512
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.602250493,714,679,658,634,879,786,805.397749507,652,630.397749507,652,0.401875163283,-0.0154040419206,0.0699124767105,0.999999967238,0.000210654221328,-0.000145401493334,-2.57531355871e-06,1793244950153243136
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.82178783,714,679,658,634,879,786,805.17821217,652,630.17821217,652,0.402038787418,-0.0154112098537,0.0699155266611,0.999999969796,0.000202836340419,-0.000138672896879,-5.95008775622e-06,1793244950169909760
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+137,2.283333333,POSE1_TO_POSE2_PRESS,764.601085419,744.601085419,714,679,659,634,879,786.398914581,805,652,631,652,0.404496416746,-0.015483088408,0.069955116658,0.999999996534,-3.2171861346e-06,-6.78818162335e-05,-4.80999579621e-05,1793244950319909632
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.006384942,744.006384942,714,679,659,634,879,786.993615058,805,652,631,652,0.404887033849,-0.0154804321672,0.0699593483678,0.999999996742,-1.42443651818e-05,-5.93262316905e-05,-5.28455516372e-05,1793244950336576256
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744,714,679.572004858,659,634,879,786.427995142,805.572004858,652,631,652.572004858,0.405302578188,-0.0154660947346,0.0699638816881,0.999999996356,5.42076769781e-05,-5.42932523654e-05,-3.7452378913e-05,1793244950353243136
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744.148835223,714,679.851164777,658.851164777,634,879.148835223,785.851164777,805.851164777,651.851164777,631,652.851164777,0.405726004977,-0.0154571793652,0.069964872717,0.999999993115,0.000100336224534,-5.41891312151e-05,-2.76967435477e-05,1793244950369910016
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744.721726755,714,679.278273245,658.278273245,634,879.721726755,785.278273245,805.278273245,651.278273245,631,652.278273245,0.406171119313,-0.0154640735616,0.0699557618415,0.999999993855,8.04037725387e-05,-6.80192231787e-05,-3.46261194736e-05,1793244950386576640
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.303497092,744.696502908,714,679.303497092,658,634,879.696502908,785.303497092,805,651.303497092,630.696502908,652,0.406632075467,-0.0154725224871,0.0699422199173,0.999999993727,5.78772075286e-05,-8.73230242978e-05,-3.96233074828e-05,1793244950403243264
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.893653719,744.106346281,714,679.893653719,658,634,879.106346281,785.893653719,805,651.893653719,630.106346281,652,0.40710799461,-0.0154824398886,0.069924492771,0.999999992294,3.29004446031e-05,-0.00011179686307,-4.27955032148e-05,1793244950419909888
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.474432534,634,879,786,805,652,630,652,0.407677989605,-0.0154837917227,0.0699311467541,0.999999993855,3.71585627007e-05,-9.50047626348e-05,-4.33970624581e-05,1793244950436576768
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.947615342,744,714,679.947615342,658.947615342,634,879,786,805.052384658,652,630,652,0.408269860962,-0.0154833718998,0.0699430963623,0.999999995585,4.6206850565e-05,-6.92786900563e-05,-4.3527706332e-05,1793244950453243392
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.37723098,744,714,679.37723098,658.37723098,634,879,786,805.62276902,652,630,652,0.408873574672,-0.0154840510622,0.0699544172006,0.999999997234,3.90782889888e-05,-4.49042236082e-05,-4.45892021271e-05,1793244950469910272
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.196321072,714,679,658.196321072,634,879.196321072,786,806,652,630.196321072,652.196321072,0.409479697617,-0.0154836216382,0.0699584226434,0.999999997768,3.4773210181e-05,-3.40713845742e-05,-4.57614907003e-05,1793244950486577152
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744.776059626,714,679,658.776059626,634,879.776059626,786,806,652,630.776059626,652.776059626,0.410090525793,-0.0154810271309,0.0699481410277,0.999999997007,3.59824286198e-05,-4.96855129456e-05,-4.71501589153e-05,1793244950503244544
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.363274234,745,714.363274234,679.363274234,659,634,879.636725766,786,806,652,631,652.636725766,0.410727360704,-0.0154812641939,0.0699446159244,0.999999996505,3.36027415436e-05,-5.94453269467e-05,-4.82352306043e-05,1793244950519910912
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.95519427,745,714.95519427,679.95519427,659,634,879.04480573,786,806,652,631,652.04480573,0.411380564304,-0.0154832834551,0.0699453433892,0.999999996227,2.89641874309e-05,-6.55204188092e-05,-4.91292177561e-05,1793244950536576512
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.467586119,714.467586119,679.467586119,659,634,879,786,806,651.467586119,631,652,0.412139177892,-0.0154875948747,0.0699739968586,0.999999998416,2.74255753925e-05,-1.39086213063e-05,-4.71492210425e-05,1793244950553243136
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,786,806,651,630.891868908,652,0.412904413681,-0.0154920077817,0.0700029588312,0.999999998019,2.41010954403e-05,3.65987635709e-05,-4.51865129822e-05,1793244950569909760
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,786,806,651,630.317439149,652,0.413660980095,-0.015496048842,0.0700233888744,0.999999997026,1.19805666893e-05,6.19709360291e-05,-4.43133311671e-05,1793244950586576640
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.736108298,744,714,679.263891702,659,634,879,786,806,651.263891702,630,652,0.414392320832,-0.0154958420612,0.070017074168,0.999999997891,9.83226320646e-06,4.53446923845e-05,-4.54361022866e-05,1793244950603243264
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.146253021,744,714,679.853746979,659,634,879,786,806,651.853746979,630,652,0.415092502479,-0.0154903882743,0.0699777238887,0.99999999833,2.00018224883e-05,-2.31587149558e-05,-4.90243086096e-05,1793244950619909888
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.435835095,744.435835095,714,679.564164905,659,634,879.435835095,786,805.564164905,652,630,652,0.415855976937,-0.0154870506154,0.0699377166035,0.999999994609,2.36393839094e-05,-8.5188354081e-05,-5.44701823418e-05,1793244950636576768
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.98471856,714,679.01528144,659,634,880,786,805,652,630,652,0.416642991803,-0.0154847209763,0.0698994021724,0.99999998776,2.46251005841e-05,-0.00014227102118,-6.02641176842e-05,1793244950653243136
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.408244917,714,679.591755083,659,634,880,786,805,652,630,652,0.417528176428,-0.0154937883703,0.0699312104181,0.999999993772,7.31195208312e-06,-9.60641940853e-05,-5.63482944226e-05,1793244950669909760
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,880,786,805,651.832780971,630,652,0.418409635166,-0.0155014638515,0.0699609898654,0.999999997197,-6.95064892328e-06,-5.21923840692e-05,-5.32226765798e-05,1793244950686576384
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,880,786,805,651.259767316,630,652,0.419282052148,-0.0155057615425,0.069985845975,0.999999998454,-1.38104084719e-05,-1.39870219507e-05,-5.20146705826e-05,1793244950703243008
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.32364929,714,679.67635071,659,634,880,786,805.64729858,651,630,652,0.420165305436,-0.015511850445,0.0700095699625,0.999999998279,-2.06433196995e-05,2.17989532583e-05,-5.04004822644e-05,1793244950719909888
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.915692773,714,679.084307227,659,634,880,786,806.831385546,651,630,652,0.421057544956,-0.015519424754,0.0700323551085,0.999999996905,-2.74539659467e-05,5.55785900099e-05,-4.84494572531e-05,1793244950736576256
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.504483176,714,679.495516824,659.495516824,634,879.504483176,786,806.504483176,651.495516824,630,652,0.421932702454,-0.0155319200767,0.0700184595438,0.999999997505,-4.4170737346e-05,2.81367326991e-05,-4.74158882536e-05,1793244950753242880
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.073003712,714,680,659.926996288,634,879.073003712,786,806,651.926996288,630,652,0.42279910816,-0.0155443095219,0.0699896375654,0.999999996729,-6.15875437571e-05,-2.16282891194e-05,-4.77646089807e-05,1793244950769909760
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.648369606,714,680,659.351630394,634,879.648369606,786,806,651.351630394,630,652,0.423624807655,-0.0155503475769,0.0699000139155,0.99999998375,-7.25026554133e-05,-0.000155053828218,-5.65770175063e-05,1793244950786576384
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786,806,651,630,652,0.42449729552,-0.0155537228478,0.0698539113485,0.999999970795,-7.95690111496e-05,-0.000219612739245,-6.20338305453e-05,1793244950803243008
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786,806,651,630,652,0.425443317739,-0.0155529131959,0.0698762080134,0.99999997934,-8.05865316558e-05,-0.000175938489658,-6.2216875751e-05,1793244950819909888
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.616947666,714,680,659.383052334,634,880,786,806,651,630.383052334,652,0.426402768609,-0.015551954277,0.0699285531801,0.999999990583,-7.6916418888e-05,-9.82819626882e-05,-5.70786429627e-05,1793244950836576256
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.022514754,714,680,659.977485246,634,880,786,806,651,630.977485246,652,0.427369629784,-0.0155509129879,0.0699974800735,0.999999996301,-7.06595189597e-05,-1.87292583022e-06,-4.90039577005e-05,1793244950853242880
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.446064392,744,714,680,659.446064392,634,880,786,806,651,630.446064392,652,0.428329258836,-0.0155549210679,0.0700258823656,0.999999995013,-7.77373228677e-05,4.0576103245e-05,-4.78054315548e-05,1793244950869909760
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.129641393,744.129641393,714,680,659.129641393,634,880,786,806,651.129641393,630,652,0.429283035682,-0.0155585664017,0.0700448010631,0.999999992897,-8.44781370799e-05,6.93517562847e-05,-4.75294175411e-05,1793244950886576384
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.705221055,744.705221055,714,680,659.705221055,634,880,786,806,651.705221055,630,652,0.430217661493,-0.0155602802108,0.0700365858593,0.999999993175,-8.82540708455e-05,5.84009138229e-05,-4.94955154738e-05,1793244950903243008
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.287764892,660,634,880,786,806,652,630.287764892,652,0.431075759252,-0.015557917056,0.0699918511385,0.999999994664,-8.67062008656e-05,-1.7402228923e-05,-5.33992215089e-05,1793244950919909632
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.877619543,660,634,880,786,806,652,630.877619543,652,0.431853519354,-0.0155512739872,0.0699087789681,0.999999982067,-7.95695078682e-05,-0.000161286003486,-5.93369883901e-05,1793244950936576512
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.459245191,786.459245191,806,651.540754809,631,652,0.432746577614,-0.0155520321638,0.0698979430547,0.999999981126,-7.68532741952e-05,-0.000167831306358,-6.06227973234e-05,1793244950953243392
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,881,787,806,651,631,652,0.433671772455,-0.0155546252207,0.0699097614115,0.999999986347,-7.62716510209e-05,-0.000133606635552,-6.03200902832e-05,1793244950969910272
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,881,787,806,651,631,652,0.434624238003,-0.0155557838927,0.0699738649521,0.99999999399,-8.93410196347e-05,-3.21166189377e-05,-5.48401484448e-05,1793244950986576640
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.809202904,714,680.809202904,660,634,881,786.809202904,806,651,631,652.190797096,0.435560719283,-0.0155580641885,0.0700208175889,0.99999999284,-9.93869052084e-05,4.29118666152e-05,-5.09997508907e-05,1793244951003243008
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.235025936,714,680.235025936,660,634,881,786.235025936,806,651,631,652.764974064,0.436465082604,-0.0155625982297,0.0700333079135,0.999999991288,-0.000103357531699,6.4769653221e-05,-5.0453786428e-05,1793244951019909376
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.350949412,714,680.350949412,660,633.649050588,881,786.350949412,806.350949412,651,631,652.649050588,0.437316413394,-0.0155661901469,0.0700226894653,0.99999999115,-0.000106954869704,5.99988148874e-05,-5.15875417411e-05,1793244951036576000
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.945100802,714,680.945100802,660,633.054899198,881,786.945100802,806.945100802,651,631,652.054899198,0.438130993489,-0.0155691291879,0.0699960570294,0.99999999179,-0.000110293524871,3.6774790702e-05,-5.38853143343e-05,1793244951053242624
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.479114463,745,714,681.520885537,660,633.520885537,881,786.479114463,806.479114463,651.520885537,630.479114463,652,0.438844311905,-0.0155650499651,0.069927172969,0.999999988933,-0.000110770639486,-7.95029621427e-05,-5.95258307661e-05,1793244951069909504
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.095500845,745,714,682,660,634,881,786,806,652,630.095500845,652,0.439553622385,-0.0155612851603,0.06985972877,0.999999972833,-0.000111269581894,-0.000194208747365,-6.50817541018e-05,1793244951086576384
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.673655961,745,714,682,660,634,881,786,806,652,630.673655961,652,0.440294778287,-0.0155627204449,0.0698213008709,0.999999959203,-0.000113351170284,-0.000253091836574,-6.84902423978e-05,1793244951103243264
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681.743303782,660,633.743303782,881,786,806,651.743303782,631,652,0.44106673764,-0.0155706016932,0.069821013214,0.999999958,-0.000122673496015,-0.000253466699263,-6.85983354924e-05,1793244951119909888
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681.153932487,660,633.153932487,881,786,806,651.153932487,631,652,0.441878617823,-0.0155868368294,0.0698701548351,0.999999972086,-0.000141379726165,-0.000178015630108,-6.44291575178e-05,1793244951136576512
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681.427990821,659.572009179,633,881,785.572009179,806.427990821,651,630.572009179,652,0.442611366052,-0.0155987580162,0.0698874837279,0.999999971898,-0.000162523970241,-0.000160646832772,-6.31126478302e-05,1793244951153243136
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681.992766696,659,633,881,785,807,651,630,652,0.443315061547,-0.0156091287198,0.0698929039893,0.999999967448,-0.000184405181454,-0.000164772156463,-6.28376642258e-05,1793244951169909760
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681.417289132,659,633,881,785,807,651,630,652,0.443934010248,-0.0156174997041,0.069846280447,0.999999948704,-0.000196474321893,-0.000244423592265,-6.51611058439e-05,1793244951186576384
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.8423853,714,681.1576147,659,633,881,785,806.8423853,651.1576147,630,652,0.444546881781,-0.0156252959995,0.0698009934194,0.999999925949,-0.000206695067573,-0.000317521120372,-6.75222750248e-05,1793244951203243264
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.268994804,714,681.731005196,659,633,881,785,806.268994804,651.731005196,630,652,0.445143722333,-0.0156315763103,0.0697592320075,0.999999905383,-0.000212039891196,-0.000373329950391,-6.99829680334e-05,1793244951219910400
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744.314369268,714,681.685630732,659,633,880.685630732,785,806.314369268,651.685630732,630,652,0.44573374482,-0.0156363145529,0.0697325624494,0.99999989004,-0.000218250876557,-0.000408747254665,-7.22015050833e-05,1793244951236577536
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744.906546965,714,681.093453035,659,633,880.093453035,785,806.906546965,651.093453035,630,652,0.446317742142,-0.0156396900677,0.0697192295796,0.999999881083,-0.000225227289946,-0.000426144545091,-7.42060486536e-05,1793244951253244160
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.512221076,745,714,681.487778924,658.512221076,632.512221076,880,784.512221076,807,651,630,652,0.446847790138,-0.0156445812209,0.0697026840964,0.999999861453,-0.000239796291709,-0.000462492151409,-7.54549083517e-05,1793244951269910784
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,714,681.93372204,658.06627796,632,880.06627796,783.93372204,807,651,630,652,0.447364546457,-0.0156497155181,0.0696858914273,0.99999984,-0.000253201942394,-0.000500066703963,-7.63078143409e-05,1793244951286577408
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d32cb7abc7ad7f2622b3b5013d4293e5200de12
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bcb596b12203bcd294af400245288225aa5f75c4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86656f2723ff6a8a5089b4fc5f920413c9fcb9b58be420304b011b3d1f19385b
+size 25879290
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6bf9d5617ceea09e47cce82f26dbdb137d95ad1a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+59,0.983333333,BASELINE,765,744.770415148,714,679,658,633.229584852,879,786.229584852,805,652,630,652,0.400960212397,-0.015363538135,0.0698232607263,0.999999932847,0.000228779268623,-0.000286225791919,6.43142534381e-06,1793244955973007360
+60,1.000000000,BASELINE,765,744.179283653,714,679,658,633.820716347,879,786.820716347,805,652,630,652,0.400959690968,-0.0153635017818,0.0698219852609,0.999999932444,0.000228229749606,-0.000288076141042,5.89978685801e-06,1793244955989673984
+61,1.016666667,BASELINE,765,744,714,679,658,634,879,786.596525621,805,651.596525621,630,652,0.400960720533,-0.0153631818839,0.0698227179847,0.999999932634,0.000229021147819,-0.000286781524151,6.1404244715e-06,1793244956006341120
+62,1.033333333,BASELINE,765,744,714,679,658,634,879,786.017412721,805,651.017412721,630,652,0.40096242527,-0.0153627385548,0.0698243249038,0.999999933075,0.000230396267687,-0.000284117855703,6.71724562549e-06,1793244956023008256
+63,1.050000000,BASELINE,765,744,714,679,658,634,879,786,805,651.557620121,630.557620121,652,0.40096218965,-0.015362826306,0.0698247150251,0.999999932957,0.000231064121865,-0.000283992616894,6.59750441203e-06,1793244956039674624
+64,1.066666667,BASELINE,765,744,714,679,658,634.135339574,879,786,805.135339574,652,630.864660426,652,0.400961505311,-0.0153626501737,0.0698246036163,0.999999932652,0.000231732939725,-0.000284525151468,6.40535308045e-06,1793244956056340992
+65,1.083333333,BASELINE,765,744,714,679,658,634.722449238,879,786,805.722449238,652,630.277550762,652,0.400959523912,-0.01536153823,0.0698229439898,0.999999931777,0.000232478161941,-0.000286990689944,6.04357325185e-06,1793244956073007616
+66,1.100000000,BASELINE,765,744.305581177,714,679,658,635,879,786,806,652,630.305581177,652,0.40095883583,-0.0153618020562,0.0698223477088,0.999999931842,0.00023118403887,-0.000287813609739,5.8326487271e-06,1793244956089674240
+67,1.116666667,BASELINE,765,744.885146654,714,679,658,635,879,786,806,652,630.885146654,652,0.400959307338,-0.0153632993987,0.0698227048241,0.999999932746,0.000228061437329,-0.00028716375633,5.75698119395e-06,1793244956106340864
+68,1.133333333,BASELINE,765,745,714,679,658,634.539395884,879,786,805.539395884,652,631,652,0.400960409011,-0.0153629283619,0.0698229867428,0.999999932921,0.000229188554077,-0.000285652900851,5.80773097891e-06,1793244956123007488
+69,1.150000000,BASELINE,765,744.964712592,714,679,657.964712592,634,878.964712592,786,805,652,630.964712592,652,0.400961610447,-0.0153621732818,0.0698232640702,0.999999932907,0.000231217239941,-0.000284058508883,5.88655786719e-06,1793244956139674368
+70,1.166666667,BASELINE,765,744.38631886,714,679,657.38631886,634,878.38631886,786,805,652,630.38631886,652,0.40096195027,-0.0153626144747,0.0698237567694,0.999999932855,0.00023095657651,-0.000284453546959,5.91664360761e-06,1793244956156342016
+71,1.183333333,BASELINE,764.804659841,744.195340159,714,679,657.195340159,634,878.195340159,786,805,652,630.195340159,652,0.400961901538,-0.0153626594338,0.0698239383926,0.99999993256,0.000231514290609,-0.000285033874421,6.06696770298e-06,1793244956173008896
+72,1.200000000,BASELINE,764.216433269,744.783566731,714,679,657.783566731,634,878.783566731,786,805,652,630.783566731,652,0.400961071305,-0.0153619074507,0.0698234943509,0.999999931773,0.000233718002163,-0.000285986873313,6.45912643944e-06,1793244956189674752
+73,1.216666667,BASELINE,764,744.633889559,714,678.633889559,658,634,879,786,805.366110441,652,631,652,0.400960079569,-0.0153621891602,0.0698228205288,0.999999931766,0.000232397986186,-0.000287081687525,6.51409083057e-06,1793244956206341376
+74,1.233333333,BASELINE,764,744.054654068,714,678.054654068,658,634,879,786,805.945345932,652,631,652,0.400958993817,-0.0153630726167,0.0698220129437,0.999999932206,0.000229026691214,-0.000288259057086,6.37276316743e-06,1793244956223008000
+75,1.250000000,BASELINE,764.522536987,744,714,678.522536987,658,634.522536987,879,786.522536987,805.477463013,652,631,652,0.400958876231,-0.0153636508371,0.0698222407954,0.999999932425,0.000228564629037,-0.000287869953529,6.26063952759e-06,1793244956239674368
+76,1.266666667,BASELINE,765,744,714,679,658,634.900720927,879,786.900720927,805.099279073,652,631,652,0.400958961107,-0.015364050163,0.0698225179953,0.999999932559,0.000228548007157,-0.000287420128569,6.16582538916e-06,1793244956256341248
+77,1.283333333,BASELINE,765,744,714,679,658,634.32511101,879,786.32511101,805.67488899,652,631,652,0.400959533413,-0.015363743751,0.069822514375,0.999999932394,0.000229214312358,-0.000287462007782,6.13946213983e-06,1793244956273007872
+78,1.300000000,BASELINE,765,744,714,679,658,634,879,786,805.743717929,652,630.743717929,652,0.400959709077,-0.015364159479,0.0698223972005,0.99999993249,0.000228724124351,-0.000287518770403,6.19891778117e-06,1793244956289674240
+79,1.316666667,BASELINE,765,744,714,679,658,634,879,786,805.15481919,652,630.15481919,652,0.400959369958,-0.0153655124392,0.0698221326492,0.99999993292,0.000226732977158,-0.000287594849508,6.3697538003e-06,1793244956306340864
+80,1.333333333,BASELINE,764.57277211,744,714,679,658,634,879,786,805,652,630,652,0.400959959004,-0.0153640566525,0.0698226475798,0.999999932954,0.000227665404817,-0.000286748230767,6.0184708662e-06,1793244956323007488
+81,1.350000000,BASELINE,764.006772753,744,714,679,658,634,879,786,805,652,630.006772753,652,0.400960858868,-0.0153616340815,0.0698234199516,0.999999932837,0.000229620549705,-0.000285603551727,5.48744186801e-06,1793244956339674368
+82,1.366666667,BASELINE,764.581408863,744,714,679,658,634,879,786,805,652,630.581408863,652,0.400960063286,-0.0153621449225,0.0698224676693,0.999999932356,0.000229898144643,-0.000287060593156,5.4991752983e-06,1793244956356340992
+83,1.383333333,BASELINE,764.840544342,744.159455658,714,679,658,634,879,786,805.159455658,652,631,652,0.400959452009,-0.0153626792639,0.0698217515857,0.99999993206,0.000229815657174,-0.000288153807097,5.58726255556e-06,1793244956373007616
+84,1.400000000,BASELINE,764.253348242,744.746651758,714,679,658,634,879,786,805.746651758,652,631,652,0.400959335135,-0.0153632766453,0.0698216691061,0.999999932265,0.000228767247273,-0.000288271052664,5.88016926256e-06,1793244956389674496
+85,1.416666667,BASELINE,764,744.670527472,714,679,658,634,878.670527472,786,806,652,631,652,0.40096065628,-0.0153632881416,0.0698229475257,0.999999932688,0.000229437096405,-0.000286259491051,6.16265273527e-06,1793244956406341120
+86,1.433333333,BASELINE,764,744.091027059,714,679,658,634,878.091027059,786,806,652,631,652,0.4009630687,-0.0153628550254,0.0698252586953,0.999999933263,0.000231410886402,-0.000282632434621,6.4372262767e-06,1793244956423007744
+87,1.450000000,BASELINE,764,744.487022705,714,679,658,633.512977295,878.487022705,786,805.512977295,652,630.512977295,652,0.400961660553,-0.0153619991258,0.0698240658491,0.99999993253,0.000232424759664,-0.0002843953533,6.12385765473e-06,1793244956439674368
+88,1.466666667,BASELINE,764.064324404,744.935675596,714,679,658,633.064324404,879,786,805,652,630,652,0.400959842379,-0.0153612535715,0.0698224590325,0.999999931726,0.000232950084311,-0.000286792383678,5.75932112697e-06,1793244956456340992
+89,1.483333333,BASELINE,764.637844341,744.362155659,714,679,658,633.637844341,879,786,805,652,630,652,0.400960414361,-0.0153620051888,0.0698227441803,0.999999932325,0.000231024059769,-0.000286258014119,5.85704402411e-06,1793244956473007616
+90,1.500000000,BASELINE,764.782542174,744,714,679,658,634,879,786.217457826,805,652,630,652,0.400961280001,-0.015362720222,0.0698232770711,0.999999932869,0.000229629897586,-0.000285475545017,5.98195239244e-06,1793244956489674496
+91,1.516666667,BASELINE,764.192487947,744,714,679,658,634,879,786.807512053,805,652,630,652,0.400962648802,-0.0153633725713,0.0698242344495,0.999999933323,0.000229147038752,-0.000284267977461,6.15344085767e-06,1793244956506341120
+92,1.533333333,BASELINE,764.388171372,744,714,679,658,634,878.611828628,786.611828628,805,652,630.388171372,652,0.4009617857,-0.0153631015224,0.0698241390054,0.99999993315,0.000229194194762,-0.000284839455578,5.99093676537e-06,1793244956523007744
+93,1.550000000,BASELINE,764.964282049,744,714,679,658,634,878.035717951,786.035717951,805,652,630.964282049,652,0.400959841987,-0.0153623833957,0.0698235338207,0.999999932673,0.000229497965793,-0.000286272286669,5.6667249124e-06,1793244956539674368
+94,1.566666667,BASELINE,764.457505375,744,714,678.457505375,658,634,878.542494625,786,805,652,630.457505375,652,0.400960077648,-0.0153622641315,0.0698230274079,0.999999932463,0.000229927006716,-0.00028665832687,5.84030974211e-06,1793244956556341248
+95,1.583333333,BASELINE,764,744,713.880592812,678.119407188,658,634,878.880592812,786,805,651.880592812,630,652,0.400960315862,-0.0153624374629,0.0698227375042,0.999999932448,0.000229925930577,-0.000286708328717,5.97949139804e-06,1793244956573007872
+96,1.600000000,BASELINE,764,744,713.309127694,678.690872306,658,634,878.309127694,786,805,651.309127694,630,652,0.400960018389,-0.0153635686638,0.0698232425556,0.999999933104,0.000228265148698,-0.000285748078472,5.86386375979e-06,1793244956589674496
+97,1.616666667,BASELINE,764,744.273286499,713.273286499,679,658,634,878.273286499,786,805,651.273286499,630,652,0.400960367358,-0.0153638976803,0.0698237585808,0.999999933357,0.000228121741152,-0.000284975595048,5.96939879561e-06,1793244956606341120
+98,1.633333333,BASELINE,764,744.868602599,713.868602599,679,658,634,878.868602599,786,805,651.868602599,630,652,0.400961478066,-0.0153632814357,0.069824287537,0.999999933135,0.000229766345387,-0.000284424368402,6.33554286299e-06,1793244956623007744
+99,1.650000000,BASELINE,764.449354856,744.550645144,714,679,658.449354856,634,879,786,805,652,630,652,0.400962019882,-0.0153640786492,0.0698243098928,0.999999933275,0.000229458894572,-0.000284178845838,6.40927970838e-06,1793244956639674624
+100,1.666666667,BASELINE,765,744,714,679,658.974109913,634,879,786,804.974109913,652,630,652,0.400962390116,-0.0153652091741,0.0698242123226,0.999999933515,0.000228611643295,-0.000284018498131,6.3870667176e-06,1793244956656341760
+101,1.683333333,BASELINE,765,744,714,679,658.399525464,634,879,786,804.399525464,652,630,652,0.400962538817,-0.0153649191697,0.0698246140719,0.999999933701,0.000228041753347,-0.000283828250221,6.08658115902e-06,1793244956673008128
+102,1.700000000,BASELINE,764.820251649,744.179748351,714,679,658,634,879,786,804.179748351,652,630,652,0.40096206233,-0.0153646799768,0.0698243415572,0.999999933499,0.000227810988255,-0.000284728326156,5.83781898593e-06,1793244956689674752
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+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,786,805.884820915,652,630.884820915,652,0.401134414426,-0.0153742053303,0.0698849957965,0.99999995741,0.000225424041087,-0.00018506753518,1.06897651634e-05,1793244957003726080
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,786,805.296443104,652,630.296443104,652,0.401197535551,-0.0153757103938,0.0698950858632,0.999999959183,0.00022606800308,-0.00017441450771,1.03298857149e-05,1793244957020392704
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.287365772,744.712634228,714,679,658,634,879.287365772,786,805,652,630.287365772,652,0.40127038952,-0.0153781582532,0.0699023168762,0.999999960836,0.000226071335246,-0.000164701974658,9.62054542384e-06,1793244957037059328
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.866535121,744.133464879,714,679,658,634,879.866535121,786,805,652,630.866535121,652,0.401353126634,-0.0153815634683,0.0699066446823,0.999999962396,0.000225424144272,-0.00015594446077,8.55634757071e-06,1793244957053726208
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.443786191,714,679.443786191,658,634,879.556213809,786,805.443786191,652,631,652,0.401451136248,-0.0153854015107,0.0699072661035,0.99999996269,0.0002245361749,-0.000155436265613,6.53782924371e-06,1793244957070393088
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.97962573,714,679.97962573,658,634,879.02037427,786,805.97962573,652,631,652,0.401554660719,-0.015389427301,0.0699068721912,0.999999962672,0.000223436142267,-0.000157211698595,4.21338313757e-06,1793244957087059456
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.40544484,714,679.40544484,658,634,879.59455516,786,805.40544484,652,631,652,0.401683778177,-0.0153950334056,0.0699090478294,0.999999964276,0.00021853168467,-0.000153914874655,1.34097132264e-06,1793244957103726080
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.173520889,634.173520889,879.826479111,786,805,652,630.826479111,652,0.401820637205,-0.015401125691,0.069911056348,0.999999966021,0.000213056589348,-0.000150209398246,-1.64374645067e-06,1793244957120392704
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.763983712,634.763983712,879.236016288,786,805,652,630.236016288,652,0.401976097922,-0.0154083861875,0.0699126633057,0.999999968138,0.000206210346874,-0.000145521998169,-4.89831641276e-06,1793244957137059328
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.651094174,744,714,679.348905826,659,634.651094174,879.348905826,786.348905826,805.348905826,652,630.348905826,652,0.402153922034,-0.015415600152,0.0699147010061,0.999999970146,0.000199502460139,-0.000140806760299,-8.98169386782e-06,1793244957153725952
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.06986141,744,714,679.93013859,659,634.06986141,879.93013859,786.93013859,805.93013859,652,630.93013859,652,0.402346637341,-0.0154227831327,0.0699170255266,0.999999972047,0.000192886700055,-0.000136072985524,-1.36169521063e-05,1793244957170392832
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.504740983,744,714,679.495259017,658.495259017,634,879.495259017,786.495259017,805.495259017,651.495259017,630.495259017,652,0.402576053912,-0.0154312968264,0.0699196736494,0.999999974679,0.00018272206455,-0.000130072411714,-1.83004270618e-05,1793244957187059712
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.080266707,634,879,786,805.080266707,651.080266707,630,652,0.40281564276,-0.0154405888386,0.0699236325547,0.999999978057,0.000169029819555,-0.00012161642146,-2.28949334773e-05,1793244957203726080
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.667342015,634,879,786,805.667342015,651.667342015,630,652,0.403087801532,-0.0154536473298,0.0699355886768,0.999999985498,0.000136125301098,-9.87495289765e-05,-2.68860977354e-05,1793244957220392704
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.25261273,714,679,659,634,878.74738727,786,805.74738727,652,630.25261273,652,0.403377293352,-0.0154648042907,0.0699459607094,0.999999992476,8.75101012457e-05,-8.00409251442e-05,-3.13476655849e-05,1793244957237059328
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.835523855,714,679,659,634,878.164476145,786,805.164476145,652,630.835523855,652,0.403689448615,-0.0154734749456,0.0699542614986,0.999999996939,1.83527363778e-05,-6.67694042993e-05,-3.64242993302e-05,1793244957253725952
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714.412442564,679,658.587557436,634,878.412442564,786,805,652,631,652,0.404017368236,-0.0154805897035,0.0699527257807,0.999999996643,-3.52150423181e-06,-7.00632980716e-05,-4.23491569476e-05,1793244957270392576
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714.987005793,679,658.012994207,634,878.987005793,786,805,652,631,652,0.404351484418,-0.0154870928778,0.0699473235822,0.999999995606,-6.80995160831e-06,-7.98686347094e-05,-4.86074296839e-05,1793244957287059456
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714.439187738,679,658.560812262,634,879,786,805,651.439187738,631,652,0.404755089339,-0.0154813408916,0.0699567229605,0.99999999652,-1.29671213044e-05,-6.38526851121e-05,-5.21110597084e-05,1793244957303726336
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.86072568,634,879,786,805.13927432,651.13927432,631,652,0.405163418384,-0.0154743101912,0.0699648061259,0.999999997466,-6.38911538858e-07,-5.01162293345e-05,-5.05551339546e-05,1793244957320392960
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.267015972,634,879,786,805.732984028,651.732984028,631,652,0.405581915187,-0.0154640324669,0.0699674771241,0.99999999581,7.22214625218e-05,-4.57670020355e-05,-3.26984601441e-05,1793244957337059328
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.681235432,714,679,658,634,879,786,805.681235432,652,630.681235432,652,0.406013940632,-0.015464197796,0.0699602557421,0.999999993635,9.11526024382e-05,-5.98122910747e-05,-2.9029715219e-05,1793244957353725952
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.101935561,714,679,658,634,879,786,805.101935561,652,630.101935561,652,0.406457023463,-0.0154728985271,0.0699449490382,0.999999993188,6.60058609505e-05,-8.88919385841e-05,-3.69571642766e-05,1793244957370392576
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.471803154,714,679,658,634,879,786,805,652,630.471803154,652,0.406953111347,-0.0154793557771,0.069931771789,0.999999992518,4.8660987647e-05,-0.000104538905353,-4.08292162482e-05,1793244957387059200
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,879,786,805,652,631,652,0.407467466706,-0.015484881953,0.0699212001021,0.999999991956,3.4687054867e-05,-0.000113959914332,-4.3563051596e-05,1793244957403726080
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,879,786,805,652,631,652,0.408064573608,-0.0154850253981,0.0699362418785,0.999999994754,4.10165577028e-05,-8.33970917339e-05,-4.30549686553e-05,1793244957420392704
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.801957697,745,714,679,658.198042303,634,879,786,805.198042303,652,631,652,0.408663646895,-0.0154851579553,0.0699481530378,0.999999996467,4.36230535633e-05,-5.72900983858e-05,-4.33764697291e-05,1793244957437059328
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.209691911,745,714,679,658.790308089,634,879,786,805.790308089,652,631,652,0.409266634438,-0.0154852688387,0.0699538323824,0.999999997416,3.88185225166e-05,-4.00528913442e-05,-4.53493428162e-05,1793244957453725952
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.37390717,744.62609283,714,679,659,634,879,786,806,652,631,652,0.40987695898,-0.0154842355555,0.0699504887936,0.999999997273,3.59423635606e-05,-4.47712987062e-05,-4.64444719253e-05,1793244957470392576
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.952755939,744.047244061,714,679,659,634,879,786,806,652,631,652,0.410491304972,-0.0154825751453,0.0699421996605,0.999999996418,3.41231613846e-05,-6.1523759722e-05,-4.70585022603e-05,1793244957487059200
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.528664397,714,679.528664397,659,634,878.471335603,786,806,652,631,652,0.411171855748,-0.01548565394,0.0699470095743,0.999999996976,2.85268276813e-05,-5.47715434065e-05,-4.72675126563e-05,1793244957503725824
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.104359684,786,806,652,630.895640316,652,0.411874660358,-0.0154896921927,0.0699584691559,0.999999997937,2.31506773995e-05,-3.72393170847e-05,-4.69466344061e-05,1793244957520392448
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.680272303,786,806,652,630.319727697,652,0.412651433964,-0.0154961626895,0.0699947153742,0.999999998617,2.02862001284e-05,1.95641033839e-05,-4.43940773009e-05,1793244957537060096
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.73758533,659,634,879,786,806,652,630,652.26241467,0.413411891009,-0.015500648973,0.0700187019561,0.999999997388,1.37174103921e-05,5.65079118495e-05,-4.29153191559e-05,1793244957553726976
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.147667941,659,634,879,786,806,652,630,652.852332059,0.414151984518,-0.0155026588894,0.0700273880865,0.999999996724,2.52550833245e-06,6.86662351097e-05,-4.27766995942e-05,1793244957570393088
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.565711202,714,679,659,634,879,786,806,652,630,652.565711202,0.41486581156,-0.0154967048349,0.0699875132516,0.99999999884,7.8740030856e-06,-3.7204567733e-06,-4.73733920948e-05,1793244957587059712
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,679.013386038,659,634,879,786,806.013386038,651.986613962,630.013386038,652,0.415573357132,-0.0154883320478,0.0699323306823,0.99999999315,1.84226620033e-05,-0.000102463901468,-5.34912410496e-05,1793244957603726592
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714,679.58409853,659,634,879,786,806.58409853,651.41590147,630.58409853,652,0.416384531792,-0.0154899704558,0.0699149052172,0.999999990656,1.5535512272e-05,-0.000123225830829,-5.71121385433e-05,1793244957620392960
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714,679.83945069,659,634,879,786,806.83945069,651.16054931,630.83945069,652,0.417213743484,-0.0154934893141,0.0699120826398,0.999999990634,9.2573424544e-06,-0.000123366958759,-5.85312352601e-05,1793244957637059328
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,714,679.247583976,659,634,879,786,806.247583976,651.752416024,630.247583976,652,0.418091411804,-0.0155020600219,0.0699484908749,0.999999996202,-6.13083823984e-06,-6.8110085914e-05,-5.40351708089e-05,1793244957653725696
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.336706349,714.336706349,679.336706349,659,634,879.336706349,786,806,651.663293651,630,652,0.418980438842,-0.0155066147512,0.0699788219114,0.999999998288,-1.42058166336e-05,-2.35199600332e-05,-5.16678735975e-05,1793244957670392320
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.915548243,714.915548243,679.915548243,659,634,879.915548243,786,806,651.084451757,630,652,0.419877634233,-0.0155082814707,0.0700047826521,0.999999998473,-1.70216532017e-05,1.33993885862e-05,-5.08314364143e-05,1793244957687059200
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.508706723,680,659,634,880,786,806,651.491293277,630,652,0.420777193493,-0.0155129120079,0.0700242417735,0.999999997595,-2.36316279862e-05,4.15896818508e-05,-5.02163982551e-05,1793244957703725824
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880.066281471,786,806,652,630,652,0.42167012528,-0.0155172212157,0.070035437397,0.999999996666,-3.02774193528e-05,5.67540364387e-05,-5.02943361875e-05,1793244957720392704
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880.639526737,786,806,652,630,652,0.422509276866,-0.0155152003282,0.06999192305,0.999999997814,-3.22399507196e-05,-1.63075875056e-05,-5.53833389582e-05,1793244957737059584
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.221338358,634,880.557323284,786,806,652,630.221338358,652,0.423351144768,-0.0155121665584,0.0699353554303,0.999999992017,-3.38701386666e-05,-0.000104756651611,-6.20135937222e-05,1793244957753726208
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.81766299,634,879.364674021,786,806,652,630.81766299,652,0.424197614722,-0.0155074167865,0.069856673254,0.99999997281,-3.49372784115e-05,-0.000219274768664,-7.12550023026e-05,1793244957770392832
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.400981059,634,879.400981059,786,806,651.599018941,631,652.400981059,0.42513533747,-0.0155084356625,0.0698642059291,0.999999976699,-3.45152752517e-05,-0.000200881107915,-7.11227861284e-05,1793244957787059456
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.978570473,634,879.978570473,786,806,651.021429527,631,652.978570473,0.426113251607,-0.0155119952859,0.0699097111336,0.999999989524,-3.34373929289e-05,-0.000123947691321,-6.68620440059e-05,1793244957803725824
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.448339783,634,880,786.551660217,806,651.551660217,631,652.448339783,0.427070892882,-0.0155156167744,0.0699640369834,0.999999995921,-3.6079253252e-05,-5.62156477745e-05,-6.07924893827e-05,1793244957820392960
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.128541901,660,634,880,786.871458099,806,652,631,652,0.428035363263,-0.0155197863731,0.0700135584014,0.999999997587,-4.03938549914e-05,9.17278522369e-06,-5.57606080075e-05,1793244957837059584
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680.719694369,660,634,880,786.280305631,806,652,631,652,0.42902722217,-0.0155259199917,0.0700445659423,0.999999994971,-5.02126825253e-05,6.74027315674e-05,-5.47140477386e-05,1793244957853726208
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.695101295,660,634,880.304898705,786,806,652,631,652,0.429960832574,-0.0155265088535,0.0700410779568,0.999999994936,-5.35974050177e-05,6.41739879325e-05,-5.60006762821e-05,1793244957870392832
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.115260709,660,634,880.884739291,786,806,652,631,652,0.430841917438,-0.0155220977401,0.0700064836885,0.999999996911,-5.11801838704e-05,5.52497379591e-06,-5.93912538368e-05,1793244957887059456
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.539597898,745,714,680.460402102,660,634,881,786,806,652,631,652,0.431663432661,-0.0155175634158,0.0699373688399,0.999999990534,-4.75440131142e-05,-0.000111473213699,-6.51536607333e-05,1793244957903726080
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.035041886,745,714,681.035041886,660,634,881,786,806.035041886,652,630.964958114,652,0.432479745694,-0.0155135645098,0.069867213955,0.999999970225,-4.40198573581e-05,-0.00022929755577,-7.09583589498e-05,1793244957920392960
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.609888441,745,714,681.609888441,660,634,881,786,806.609888441,652,630.390111559,652,0.433443584726,-0.0155182843788,0.0699129692513,0.999999987202,-4.68798619381e-05,-0.000136848367462,-6.83498420206e-05,1793244957937059328
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681.809690074,660.190309926,634,880.809690074,786.190309926,807,651.809690074,630.190309926,652,0.434402720907,-0.0155215128979,0.069960233202,0.999999995427,-5.02193171261e-05,-4.89445554468e-05,-6.50288006808e-05,1793244957953725952
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681.217495698,660.782504302,634,880.217495698,786.782504302,807,651.217495698,630.782504302,652,0.435351926085,-0.0155215920797,0.0700106830419,0.999999996268,-5.45712467961e-05,2.93606343449e-05,-6.02030956873e-05,1793244957970392576
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.6356184,714,681,660.6356184,634,880,787,807,651.3643816,631,652,0.436256857874,-0.0155252853387,0.0700308721215,0.999999994268,-6.30846655933e-05,6.35353851679e-05,-5.87126367742e-05,1793244957987058944
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.059729735,714,681,660.059729735,634,880,787,807,651.940270265,631,652,0.437136090903,-0.0155310764065,0.0700334961934,0.999999992912,-7.40136407743e-05,7.20944043972e-05,-5.91581380248e-05,1793244958003725568
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.611672177,714,680,658,634,879,786,805.611672177,652,631,652,0.405830996225,-0.0153636750133,0.0698087315882,0.999999921403,0.000225617647052,-0.000325519737932,1.808251727e-05,1793244960974716928
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,744.920743838,714,679.079256162,658,634,878.920743838,786,805,652,630.079256162,652,0.401632476757,-0.0153582984951,0.069799305513,0.999999913828,0.000249224181862,-0.000331284188345,2.19577082816e-05,1793244961224720640
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.377916169,745,714,679,658,634,879,786,805.377916169,652,630.377916169,652,0.400977214764,-0.0153583905707,0.0698118059417,0.999999927168,0.000230407099483,-0.000304210486662,5.72867284006e-06,1793244961441383680
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.797808699,744.202191301,714.797808699,679,658,634,879,786,805.797808699,652,630.797808699,652,0.400970222992,-0.0153568871444,0.0698134760375,0.999999928154,0.000230851597202,-0.000300621904773,5.1569786094e-06,1793244961474716928
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,744,714,679,658,634,879,786,805.136669206,652,630.136669206,652,0.400965138939,-0.0153615617714,0.0698177239168,0.999999930274,0.000227901990428,-0.000295766382106,5.89434548883e-06,1793244961591383040
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.013598397,744.986401603,714,679,658,634,878.986401603,786,805,652,630,652,0.40096451997,-0.0153623108536,0.0698172331314,0.99999993118,0.000226279957126,-0.000293944408238,5.78626135094e-06,1793244961624716032
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.589829978,744.410170022,714,679,658,634,878.410170022,786,805,652,630,652,0.40096572365,-0.0153607890864,0.0698182841816,0.999999931027,0.000228542398561,-0.000292714916769,5.64276348121e-06,1793244961641382912
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.922887334,744.077112666,714,679,658,634,879,786,805,652,630.077112666,652,0.400964630434,-0.0153602935469,0.0698191892747,0.999999930987,0.000229339148082,-0.000292236061237,5.17721526081e-06,1793244961708049664
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..193a286f7af7e1e25779310aab1ec309b1cc858c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+369,6.150000000,pose2_to_pose3_retreat,0.576506387031,-0.0101221842836,1.06005080873,0.547078019213,-0.0014465019059,1.05971730143
+370,6.166666667,pose2_to_pose3_retreat,0.5763716095,-0.0101222593147,1.06005085978,0.546943243464,-0.00144657083918,1.059717354
+371,6.183333333,pose2_to_pose3_retreat,0.576252043822,-0.0101222440839,1.06005093588,0.546823678229,-0.00144655421393,1.05971742716
+372,6.200000000,pose2_to_pose3_retreat,0.576148973711,-0.0101222878161,1.06005110278,0.546720609074,-0.00144659472862,1.05971759378
+373,6.216666667,pose2_to_pose3_retreat,0.576059425243,-0.0101222794983,1.06005099973,0.546631059225,-0.00144659102918,1.05971749369
+374,6.233333333,pose2_to_pose3_retreat,0.575982640893,-0.0101220834149,1.06005109581,0.546554271753,-0.00144640548911,1.05971759025
+375,6.250000000,pose2_to_pose3_retreat,0.575917444662,-0.0101222281521,1.06005090511,0.546489077997,-0.00144654171619,1.05971740239
+376,6.266666667,pose2_to_pose3_retreat,0.575862306574,-0.0101221522004,1.06005087394,0.546433938581,-0.00144647039537,1.05971736799
+377,6.283333333,pose2_to_pose3_retreat,0.575816445804,-0.0101221057498,1.06005107348,0.54638807845,-0.00144642168475,1.0597175699
+378,6.300000000,pose2_to_pose3_retreat,0.575778780149,-0.010122159622,1.06005110994,0.546350414247,-0.00144647066871,1.05971760553
+379,6.316666667,pose2_to_pose3_retreat,0.575749401044,-0.0101221825984,1.06005087932,0.546321034649,-0.00144649546031,1.05971737122
+380,6.333333333,pose2_to_pose3_retreat,0.575726246045,-0.0101221307251,1.06005070505,0.54629787815,-0.00144644870021,1.05971719635
+381,6.350000000,pose2_to_pose3_retreat,0.575708870589,-0.0101221932786,1.0600510157,0.546280504414,-0.00144650555752,1.0597175036
+382,6.366666667,pose2_to_pose3_retreat,0.575696197774,-0.0101222907493,1.0600508913,0.546267833551,-0.00144659611294,1.05971738628
+383,6.383333333,pose2_to_pose3_retreat,0.575687431835,-0.0101222381997,1.06005088374,0.546259066631,-0.00144654704097,1.05971737489
+384,6.400000000,pose2_to_pose3_retreat,0.575681633117,-0.0101221734459,1.06005089834,0.546253266803,-0.00144648619733,1.05971738579
+385,6.416666667,pose2_to_pose3_retreat,0.575677798065,-0.0101221469504,1.06005089711,0.546249431599,-0.00144646017531,1.05971738549
+386,6.433333333,pose2_to_pose3_retreat,0.575675576719,-0.0101221447956,1.06005086886,0.54624721036,-0.00144645762396,1.05971735804
+387,6.450000000,pose2_to_pose3_retreat,0.575674038232,-0.0101221596879,1.06005081511,0.54624567219,-0.00144647140832,1.05971730516
+388,6.466666667,pose2_to_pose3_retreat,0.575673000965,-0.0101221697284,1.06005077887,0.546244635138,-0.00144648070191,1.05971726951
+389,6.483333333,pose2_to_pose3_retreat,0.575672224657,-0.0101221655119,1.06005082818,0.546243858839,-0.00144647645991,1.05971731867
+390,6.500000000,pose2_to_pose3_retreat,0.575671728729,-0.0101221527446,1.06005092532,0.546243362787,-0.00144646413437,1.05971741521
+391,6.516666667,pose2_to_pose3_retreat,0.575671562596,-0.0101221484676,1.06005095786,0.546243196613,-0.0014464600054,1.05971744755
+392,6.533333333,pose2_to_pose3_retreat,0.575671409178,-0.0101221445179,1.06005098791,0.546243043157,-0.00144645619243,1.05971747741
+393,6.550000000,pose2_to_pose3_retreat,0.575671243881,-0.0101221402625,1.06005102029,0.546242877818,-0.00144645208422,1.05971750959
+394,6.566666667,pose2_to_pose3_retreat,0.575671077273,-0.0101221359733,1.06005105292,0.546242711169,-0.00144644794344,1.05971754202
+395,6.583333333,pose2_to_pose3_retreat,0.575670781832,-0.0101221283673,1.06005111079,0.546242415654,-0.00144644060071,1.05971759953
+396,6.600000000,pose2_to_pose3_retreat,0.575670645017,-0.0101221248451,1.06005113759,0.546242278805,-0.00144643720039,1.05971762617
+397,6.616666667,pose2_to_pose3_retreat,0.575670581032,-0.0101221325474,1.06005113132,0.546242214829,-0.00144644488107,1.05971761968
+398,6.633333333,pose2_to_pose3_retreat,0.575670569719,-0.0101221349746,1.06005112807,0.54624220352,-0.00144644729548,1.05971761638
+399,6.650000000,pose2_to_pose3_retreat,0.575670396194,-0.0101221722023,1.0600510782,0.546242030063,-0.00144648432708,1.05971756569
+400,6.666666667,pose2_to_pose3_retreat,0.575670106677,-0.0101222343149,1.060050995,0.546241740658,-0.00144654611252,1.05971748113
+401,6.683333333,pose2_to_pose3_retreat,0.575669938173,-0.0101222704654,1.06005094658,0.546241572219,-0.00144658207269,1.05971743191
+402,6.700000000,pose2_to_pose3_retreat,0.575669936871,-0.0101222707449,1.0600509462,0.546241570917,-0.00144658235066,1.05971743153
+403,6.716666667,pose2_to_pose3_retreat,0.575669769635,-0.0101222660842,1.06005090286,0.546241403351,-0.00144657877377,1.05971738914
+404,6.733333333,pose2_to_pose3_retreat,0.575669669902,-0.0101221981899,1.06005088458,0.546241302787,-0.00144651356996,1.05971737422
+405,6.750000000,pose2_to_pose3_retreat,0.575669629471,-0.0101221740918,1.06005087719,0.546241262172,-0.00144649004278,1.05971736825
+406,6.766666667,pose2_to_pose3_retreat,0.575669615502,-0.0101221706801,1.06005087469,0.546241248358,-0.0014464860824,1.05971736631
+407,6.783333333,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641743,1.05971735668
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d37e2d15f09b905e9d3c6805f6bad30ea261c1d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc9d402e709e58144f122631767059520ec494927910adc24694a2d19667f537
+size 25652717
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bba67d1b06ec47a169c9838cab2a4e69f4e6cf3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+35,0.583333333,BASELINE,764,744.677768101,714,678.677768101,658,634,879,786.322231899,805.322231899,652,630.322231899,652,0.401034455472,-0.0154966632113,0.0798661514513,0.999999981465,0.000118821303884,-0.000145855060261,4.09637514122e-05,1793244963672542464
+36,0.600000000,BASELINE,764,744.102996641,714,678.102996641,658,634,879,786.897003359,805.897003359,652,630.897003359,652,0.401032795749,-0.0154965931526,0.0798643410664,0.999999981269,0.00011727450493,-0.000148463375342,4.0833949996e-05,1793244963689209856
+37,0.616666667,BASELINE,764,744,714,678.470848857,658,634,879,786.529151143,805.529151143,652,631,652,0.401033727409,-0.0154958511495,0.0798654225847,0.999999981516,0.000116785858304,-0.00014716921172,4.08591945788e-05,1793244963705876224
+38,0.633333333,BASELINE,764,744.045967518,714,679,658,634,879,786,805,651.954032482,630.954032482,652,0.40103506217,-0.015494976612,0.0798669683518,0.999999981806,0.000116729624266,-0.00014522038859,4.09140388399e-05,1793244963722542592
+39,0.650000000,BASELINE,764,744.63863276,714,679,658,634,879,786,805,651.36136724,630.36136724,652,0.401034462613,-0.015494270514,0.0798665267325,0.999999981472,0.000119068661278,-0.00014561830938,4.09183426017e-05,1793244963739209216
+40,0.666666667,BASELINE,764,745,714,678.774790153,658,634,879,786,805,651,630,652,0.4010340632,-0.0154945177215,0.0798662033023,0.999999981347,0.000119799265294,-0.00014586372513,4.09566370376e-05,1793244963755875840
+41,0.683333333,BASELINE,764,745,714,678.197724897,658,634,879,786,805,651,630,652,0.401033976482,-0.0154962543207,0.0798660645245,0.999999981554,0.000118016942416,-0.000145870875418,4.10480366229e-05,1793244963772542720
+42,0.700000000,BASELINE,764.379613375,745,714,678.379613375,658.75922675,634,879,786.379613375,805,651.379613375,630,652,0.401034142419,-0.015496370451,0.0798660222022,0.999999981624,0.000117260731345,-0.000145983475801,4.11074049555e-05,1793244963789209088
+43,0.716666667,BASELINE,764.957093934,745,714,678.957093934,659.914187869,634,879,786.957093934,805,651.957093934,630,652,0.40103444005,-0.0154956419387,0.0798660301559,0.999999981624,0.000117039364112,-0.000146151040297,4.11500775254e-05,1793244963805875456
+44,0.733333333,BASELINE,764.456847874,744.456847874,714,678.456847874,658.913695748,633.456847874,879,786.456847874,805,652,630.543152126,652,0.401034268115,-0.015495235287,0.0798656524203,0.999999981296,0.000119268566628,-0.000146619785248,4.10532793961e-05,1793244963822542080
+45,0.750000000,BASELINE,764.128186605,744,714,678.128186605,658.128186605,633.128186605,879,786,805.128186605,651.871813395,631,652.128186605,0.401034072899,-0.0154950592861,0.0798654820553,0.999999981092,0.000120629780539,-0.000146920626377,4.09715247434e-05,1793244963839208704
+46,0.766666667,BASELINE,764.707199328,744,714,678.707199328,658.707199328,633.707199328,879,786,805.707199328,651.292800672,631,652.707199328,0.401033928352,-0.0154956036193,0.0798661498746,0.999999981431,0.000118246578084,-0.000146545941154,4.09820467961e-05,1793244963855875840
+47,0.783333333,BASELINE,764.714032537,744.285967463,714,679,659,634,879,786,805.714032537,651.285967463,630.714032537,652.714032537,0.40103407481,-0.0154955755235,0.0798663809566,0.999999981687,0.000116503364715,-0.000146266451261,4.07315761654e-05,1793244963872542720
+48,0.800000000,BASELINE,764.13551455,744.86448545,714,679,659,634,879,786,805.13551455,651.86448545,630.13551455,652.13551455,0.401034518972,-0.0154949618214,0.0798661652476,0.999999981861,0.000115414872889,-0.000146084348077,4.02141047199e-05,1793244963889209600
+49,0.816666667,BASELINE,764,744.559827158,714.440172842,678.559827158,658.559827158,634,879,786,805,652,630.440172842,652,0.401034085936,-0.0154957224161,0.0798658781795,0.999999981782,0.000115471405425,-0.000146580192309,4.02091994122e-05,1793244963905875968
+50,0.833333333,BASELINE,764,744.015321896,714.984678104,678,658.015321896,634,879.015321896,786.015321896,805.015321896,651.984678104,631,652,0.401033389277,-0.0154968151593,0.0798655698267,0.99999998162,0.000115932295383,-0.000147280274275,4.03588124416e-05,1793244963922542336
+51,0.850000000,BASELINE,764,744.602701266,714.397298734,678,658.602701266,634,879.602701266,786.602701266,805.602701266,651.397298734,631,652,0.401032868535,-0.0154946130666,0.0798652817857,0.99999998124,0.000118412873839,-0.000147862896317,4.04234711993e-05,1793244963939209216
+52,0.866666667,BASELINE,764,744.81239651,714,678.18760349,658.81239651,634,879.81239651,786.81239651,805.81239651,651.18760349,630.81239651,652,0.401032989366,-0.0154933710165,0.0798652249961,0.99999998108,0.00011969264691,-0.000147905715139,4.04554246929e-05,1793244963955875584
+53,0.883333333,BASELINE,764,744.232671951,714,678.767328049,658.232671951,634,879.232671951,786.232671951,805.232671951,651.767328049,630.232671951,652,0.401034451186,-0.0154941356081,0.0798656515588,0.999999981388,0.000118462545983,-0.000146820259519,4.04190189896e-05,1793244963972542208
+54,0.900000000,BASELINE,764,744.344324424,714,678.655675576,658,634,879,786,805,652,630.344324424,652.344324424,0.401034729378,-0.0154951727766,0.0798658456922,0.999999981476,0.000117929580594,-0.000146585533025,4.06644988013e-05,1793244963989209088
+55,0.916666667,BASELINE,764,744.919491739,714,678.080508261,658,634,879,786,805,652,630.919491739,652.919491739,0.40103421404,-0.0154963926868,0.0798658839997,0.999999981417,0.000117863990705,-0.000146921154646,4.10989610471e-05,1793244964005875712
+56,0.933333333,BASELINE,764,745,714,678.493847651,658,634,879,786,805,651.506152349,630.506152349,652.506152349,0.401033712006,-0.015495261018,0.0798656494271,0.999999981248,0.000118867969145,-0.000147270975674,4.10654969192e-05,1793244964022542336
+57,0.950000000,BASELINE,764,745,714,679,658,634,879,786,805,651.070204303,630,652,0.40103320184,-0.0154938735327,0.0798653682116,0.999999981048,0.000120122825191,-0.000147645543759,4.09419372297e-05,1793244964039209472
+58,0.966666667,BASELINE,764,745,714,679,658,634,879,786,805,651.662419301,630,652,0.401032615108,-0.0154934297359,0.0798650704133,0.999999980756,0.000121948733912,-0.000148186936867,4.07147389542e-05,1793244964055876096
+59,0.983333333,BASELINE,764,744.751372617,714,679,658,634,879,786.248627383,805,652,630.248627383,652,0.401032034733,-0.0154941171925,0.0798646876311,0.999999980747,0.000121121060404,-0.000148975458304,4.05325199506e-05,1793244964072542720
+60,1.000000000,BASELINE,764,744.173128104,714,679,658,634,879,786.826871896,805,652,630.826871896,652,0.401031462787,-0.0154963044053,0.0798641921819,0.999999981102,0.00011677540717,-0.000150091609579,4.04099320713e-05,1793244964089209344
+61,1.016666667,BASELINE,764,744,714,679,658,634,879.403187624,786.596812376,805.403187624,652,631,652,0.401031734118,-0.0154967301637,0.0798644401577,0.999999981171,0.000116981085597,-0.000149446324217,4.0481873269e-05,1793244964105875968
+62,1.033333333,BASELINE,764,744,714,679,658,634,879.978679043,786.021320957,805.978679043,652,631,652,0.401032365828,-0.0154964031575,0.0798650058391,0.999999981119,0.000119131793527,-0.000148048282009,4.06369472299e-05,1793244964122542336
+63,1.050000000,BASELINE,764.566042479,744,714,679,658,634,879.433957521,786.566042479,805.433957521,652,631,652.566042479,0.401033011981,-0.0154938546776,0.0798653496756,0.99999998106,0.00012048022006,-0.000147442629661,4.03098377618e-05,1793244964139208960
+64,1.066666667,BASELINE,764.847989222,744,714,679,658,634,879,786.847989222,805,651.847989222,631,652.847989222,0.40103390699,-0.0154922682195,0.0798659246015,0.999999981123,0.000121130548537,-0.000146536319255,4.01182190442e-05,1793244964155875840
+65,1.083333333,BASELINE,764.267244081,744,714,679,658,634,879,786.267244081,805,651.267244081,631,652.267244081,0.401035502313,-0.0154936361242,0.0798671753698,0.999999981529,0.000119899003711,-0.000144696042937,4.03610638995e-05,1793244964172542464
+66,1.100000000,BASELINE,764.311327771,744.311327771,714,679,658.311327771,634,879,786,805.311327771,651.311327771,631,652.311327771,0.401035262306,-0.0154942984901,0.079866949947,0.99999998154,0.000119208513357,-0.000145120448381,4.06104708014e-05,1793244964189209088
+67,1.116666667,BASELINE,764.888046971,744.888046971,714,679,658.888046971,634,879,786,805.888046971,651.888046971,631,652.888046971,0.401033457772,-0.0154943594191,0.0798654661446,0.999999981212,0.000118979245076,-0.000147475382406,4.08654715093e-05,1793244964205875968
+68,1.133333333,BASELINE,764.527331649,745,714,679,659,634,879,786.472668351,805.527331649,651.527331649,631,652.527331649,0.401031678973,-0.015494917696,0.0798647278383,0.999999980856,0.000119398056416,-0.000149517412631,4.09399289484e-05,1793244964222542592
+69,1.150000000,BASELINE,764,745,714,679,658.941514245,634.058485755,879.058485755,787,805,651.058485755,631,652.058485755,0.401030184543,-0.0154955733277,0.0798642852133,0.999999980567,0.000119829186199,-0.000151093323704,4.09597671437e-05,1793244964239209216
+70,1.166666667,BASELINE,764,745,714,679,658.361999692,634.638000308,879.638000308,787,805,651.638000308,631,652.638000308,0.401031168228,-0.0154960289915,0.0798648769349,0.999999980958,0.000118979331001,-0.000149188209322,4.08804528032e-05,1793244964255876096
+71,1.183333333,BASELINE,764.21676598,745,714,679,658,634.78323402,879.78323402,786.78323402,805,652,631,652.78323402,0.401032111215,-0.015495894983,0.0798655284681,0.999999981205,0.000118803913631,-0.000147671623816,4.0854675301e-05,1793244964272542464
+72,1.200000000,BASELINE,764.79428542,745,714,679,658,634.20571458,879.20571458,786.20571458,805,652,631,652.20571458,0.401032986472,-0.0154947796103,0.079866279543,0.999999981217,0.000119750931383,-0.000146801648396,4.09179966367e-05,1793244964289208832
+73,1.216666667,BASELINE,765,744.630062565,714,679,658,634,878.630062565,786,805,652,631,652,0.401033429338,-0.0154941601706,0.0798666783838,0.999999981354,0.000119517302395,-0.000146092860697,4.07889741958e-05,1793244964305875968
+74,1.233333333,BASELINE,765,744.055443806,714,679,658,634,878.055443806,786,805,652,631,652,0.401033632967,-0.0154938151239,0.0798668823383,0.99999998156,0.000118630437651,-0.000145473256014,4.05535305691e-05,1793244964322542848
+75,1.250000000,BASELINE,764.468085634,744,714,679,658,634,878.531914366,786,805.531914366,652,630.468085634,652,0.401033123801,-0.015494331638,0.0798667021604,0.999999981299,0.00011913184224,-0.000146816191258,4.06658815375e-05,1793244964339209216
+76,1.266666667,BASELINE,764,744.118655794,714,679,658,634,879.118655794,786,805.881344206,652,630,652.118655794,0.401032803179,-0.0154945071651,0.079866573239,0.999999981067,0.000119927959778,-0.000147727103616,4.07355036307e-05,1793244964355875584
+77,1.283333333,BASELINE,764,744.697725133,714,679,658,634,879.697725133,786,805.302274867,652,630,652.697725133,0.401033509517,-0.0154930025662,0.0798668023817,0.999999981144,0.000121292365133,-0.000146148424656,4.04952082079e-05,1793244964372542208
+78,1.300000000,BASELINE,764,744.723359578,714,679,658,634,879.723359578,786.276640422,805,652,630.276640422,652.723359578,0.401033718775,-0.0154930485624,0.079866713167,0.999999981266,0.000120994895234,-0.000145583538194,4.04103763363e-05,1793244964389209088
+79,1.316666667,BASELINE,764,744.144612557,714,679,658,634,879.144612557,786.855387443,805,652,630.855387443,652.144612557,0.401033385193,-0.0154947878942,0.0798662762885,0.999999981437,0.000118882565812,-0.000146125769156,4.04953192524e-05,1793244964405875712
+80,1.333333333,BASELINE,764,744.436405544,714,679,658,634,879,786.563594456,805,652,631,652,0.40103254674,-0.0154949868607,0.0798660865534,0.999999981447,0.00011721494452,-0.000147423803708,4.04136985419e-05,1793244964422542336
+81,1.350000000,BASELINE,764,745,714,679,658,634,879,786.018132136,805.018132136,652,630.981867864,652,0.401031586486,-0.0154946825109,0.0798659904008,0.999999981396,0.000115791740107,-0.00014892045609,4.02874515467e-05,1793244964439208960
+82,1.366666667,BASELINE,764,745,714,679,658,634,879,786.598368684,805.598368684,652,630.401631316,652,0.40103206391,-0.0154946815869,0.079866243239,0.999999981228,0.00011735333036,-0.000148769602242,4.04977757883e-05,1793244964455875840
+83,1.383333333,BASELINE,764,745,714,679,658,634,879.178271423,786.821728577,806,652,630,652.178271423,0.401032763931,-0.015494362315,0.0798665184823,0.999999981125,0.000118843369678,-0.000148244628567,4.06134163752e-05,1793244964472542720
+84,1.400000000,BASELINE,764,745,714,679,658,634,879.75742364,786.24257636,806,652,630,652.75742364,0.40103396451,-0.0154933271707,0.0798668441084,0.999999981172,0.00012017251197,-0.000146878367743,4.05161408895e-05,1793244964489209856
+85,1.416666667,BASELINE,764,744.66603811,714.33396189,679,658.33396189,634,879.66603811,786.33396189,805.66603811,652,630,653,0.401033148782,-0.0154937782789,0.0798663001897,0.999999981166,0.000119673090025,-0.000147325848438,4.05041914381e-05,1793244964505876736
+86,1.433333333,BASELINE,764,744.091383826,714.908616174,679,658.908616174,634,879.091383826,786.908616174,805.091383826,652,630,653,0.401030879865,-0.0154953005564,0.0798651295744,0.99999998112,0.00011785578858,-0.000149080525633,4.05537380133e-05,1793244964522543360
+87,1.450000000,BASELINE,764.493372701,744,714.506627299,679,658.506627299,634,879,786.506627299,805,651.506627299,630,652.506627299,0.401032271756,-0.0154956445178,0.079865807241,0.999999981208,0.000118731113238,-0.000147653437092,4.10577540163e-05,1793244964539209728
+88,1.466666667,BASELINE,764.920988499,744,714,679,658,634,879,786.079011501,805,651.079011501,630.079011501,652.079011501,0.401033879355,-0.0154957166232,0.0798665978543,0.999999981286,0.000119889394753,-0.000146047581332,4.15174266613e-05,1793244964555876352
+89,1.483333333,BASELINE,764.341856683,744,714,679,658,634,879,786.658143317,805,651.658143317,630.658143317,652.658143317,0.40103247065,-0.0154954783013,0.0798658911512,0.999999981177,0.000119615868354,-0.000147118482757,4.11524572503e-05,1793244964572542976
+90,1.500000000,BASELINE,764,744,714,679,658,634,879,786.763096774,805,652,630.763096774,653,0.4010318452,-0.0154950617241,0.0798655719293,0.999999981205,0.000118945046163,-0.000147596912749,4.07082910738e-05,1793244964589209600
+91,1.516666667,BASELINE,764,744,714,679,658,634,879,786.184872744,805,652,630.184872744,653,0.401032348233,-0.0154943883237,0.0798658109751,0.99999998143,0.000117701815925,-0.000147221733226,4.01500213596e-05,1793244964605876480
+92,1.533333333,BASELINE,764,744,714,678.609107917,658,634,879,786,805,651.609107917,630.390892083,653,0.401032772619,-0.015494970754,0.0798666370853,0.999999981646,0.000116448237036,-0.000146702076282,4.03244000474e-05,1793244964622543360
+93,1.550000000,BASELINE,764,744,714,678.03449885,658,634,879,786,805,651.03449885,630.96550115,653,0.401033160039,-0.0154961434174,0.0798677391123,0.999999981857,0.000115189794233,-0.000146114515764,4.08431191324e-05,1793244964639209984
+94,1.566666667,BASELINE,764,744.538941724,714,678.538941724,658,634,879,786,805,651,630.461058276,652.461058276,0.401032562848,-0.0154959627029,0.0798669426572,0.999999981662,0.000115546345227,-0.000147212199486,4.06722404118e-05,1793244964655876352
+95,1.583333333,BASELINE,764.117113575,744.882886425,714,679,658,634,879,786,805.117113575,651.117113575,630,652,0.401032288098,-0.0154953820551,0.0798663183495,0.999999981452,0.000116668418241,-0.000147805341204,4.04840884584e-05,1793244964672542976
+96,1.600000000,BASELINE,764.715015399,744.284984601,714,679,658,634,879,786,805.715015399,651.715015399,630,652,0.401033595262,-0.0154935144397,0.0798668985845,0.999999981281,0.000120509714683,-0.000145885271047,4.04058519498e-05,1793244964689209600
+97,1.616666667,BASELINE,764.699403766,744.300596234,714,679,658,634,879,786,806,651.699403766,630.300596234,652.300596234,0.40103407613,-0.0154933703267,0.0798669826605,0.999999981213,0.00012164305874,-0.000145373254807,4.05476388284e-05,1793244964705876224
+98,1.633333333,BASELINE,764.125044119,744.874955881,714,679,658,634,879,786,806,651.125044119,630.874955881,652.874955881,0.401033804462,-0.0154947958673,0.0798666148673,0.999999981248,0.000120310176428,-0.000146143602211,4.08898086405e-05,1793244964722542592
+99,1.650000000,BASELINE,764,744.552720821,714,679,658,634,879,786,806,651.447279179,630.552720821,652.552720821,0.40103270243,-0.0154950448142,0.0798660439685,0.99999998115,0.00011922717411,-0.000147755655681,4.06529295507e-05,1793244964739209472
+100,1.666666667,BASELINE,764,744,714,679,658,634,879,786.019823949,805.980176051,652,630,652,0.401031405638,-0.0154949821589,0.0798654426335,0.999999981024,0.000118191585197,-0.000149532962387,4.02741422195e-05,1793244964755876608
+101,1.683333333,BASELINE,764,744,714,679,658,634,879,786.615254642,805.384745358,652,630,652,0.401031163709,-0.0154953795149,0.0798655987829,0.999999981248,0.000116513489477,-0.000149306999104,4.04540223184e-05,1793244964772542976
+102,1.700000000,BASELINE,764.2042446,744.2042446,714,679,658,634,879,786.7957554,805,651.7957554,630,652,0.401031304607,-0.0154950445204,0.079865835736,0.9999999813,0.00011660271507,-0.00014886166382,4.05392670819e-05,1793244964789209600
+103,1.716666667,BASELINE,764.781472676,744.781472676,714,679,658,634,879,786.218527324,805,651.218527324,630,652,0.401032144611,-0.0154933721363,0.0798662202495,0.999999981037,0.000119919353687,-0.000148015720017,4.0451692489e-05,1793244964805875968
+104,1.733333333,BASELINE,764.644709398,745,714,679,658,634,879,786.355290602,805,651,630.355290602,652,0.401032175997,-0.0154939645974,0.0798658674898,0.99999998101,0.000120096407299,-0.000148050195049,4.04656166581e-05,1793244964822542592
+105,1.750000000,BASELINE,764.072968946,745,714,679,658,634,879,786.927031054,805,651,630.927031054,652,0.401031714756,-0.0154959368456,0.0798650655691,0.999999981129,0.000118360765813,-0.000148621038045,4.05413758118e-05,1793244964839208960
+106,1.766666667,BASELINE,764,744.483667002,714,679,658,634,879,787,805,651,631,652,0.401031729519,-0.0154948877878,0.0798652864986,0.999999981096,0.00011837779723,-0.000148859523778,4.0446870412e-05,1793244964855875584
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879,786,805,651,630,652,0.401031389551,-0.0154954880632,0.0798654349753,0.999999981116,0.000117352483482,-0.000149549217113,4.03976855987e-05,1793244964898288896
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.422536688,744,714,679.422536688,658.422536688,634,879,786,805,651.577463312,630.577463312,652,0.401032107477,-0.0154955050739,0.0798660553781,0.999999981306,0.0001169869549,-0.000148507802402,4.05967502099e-05,1793244964914955776
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805,651.845976217,631,652,0.401032639802,-0.0154959164088,0.0798664459363,0.999999981447,0.000116620932946,-0.00014779804327,4.07588502642e-05,1793244964931622656
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805,651.271877965,631,652,0.40103266593,-0.0154974031984,0.0798662096314,0.999999981458,0.000116253565322,-0.0001479928198,4.08201356299e-05,1793244964948289280
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744.310811294,714,678.689188706,658.310811294,634,879,786.310811294,805.310811294,651,630.689188706,652,0.401032356732,-0.0154971341001,0.0798661627241,0.999999981267,0.000117496979836,-0.000148322944224,4.07481442367e-05,1793244964964955392
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744.901229005,714,678.098770995,658.901229005,634,879,786.901229005,805.901229005,651,630.098770995,652,0.401031745876,-0.015495285402,0.0798662861993,0.999999980888,0.000120189456974,-0.000148774827853,4.05562568198e-05,1793244964981620992
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744.51710812,714,678.48289188,658.51710812,634,879,787,805.51710812,651.48289188,630.48289188,652,0.4010316695,-0.0154961074072,0.0798660335756,0.999999981008,0.000118181178043,-0.000149580578811,4.05438566761e-05,1793244964998287616
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.062159183,744.062159183,714,679,658,634,879,787,805.062159183,651.937840817,631,652,0.401031746055,-0.0154971724053,0.079865820362,0.999999981172,0.00011562583411,-0.000150470810788,4.05632045886e-05,1793244965014954240
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.636183113,744.636183113,714,679,658,634,879,787,805.636183113,651.363816887,631,652,0.401032197731,-0.0154958201206,0.0798665538772,0.999999980938,0.000116342226224,-0.00015147130328,4.05470555517e-05,1793244965031620864
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.790846161,744.790846161,714,679,658,634,879,786.790846161,805.790846161,651.209153839,631,652,0.401037142676,-0.0154952392669,0.0798691471863,0.999999980933,0.000116661988246,-0.000151233040022,4.06592979453e-05,1793244965048287744
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.219698335,744.219698335,714,679,658,634,879,786.219698335,805.219698335,651.780301665,631,652,0.401049864366,-0.0154959935711,0.0798749593426,0.999999981319,0.000116295280801,-0.000148850794335,4.09937544116e-05,1793244965064954624
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805,652,630.631390531,652.368609469,0.401074923524,-0.0154970807835,0.0798843644295,0.999999982194,0.000117332979467,-0.000141886690402,4.1393255841e-05,1793244965081621248
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805,652,630.032355613,652.967644387,0.401107695092,-0.0154983761037,0.0798960155327,0.999999983295,0.000119248601577,-0.000132058371281,4.18334182602e-05,1793244965098287616
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.544673521,634,879,786,805,651.455326479,630.544673521,652.455326479,0.401166317017,-0.0155002837278,0.0799101633186,0.9999999854,0.000120687065894,-0.000113533850525,4.17703217229e-05,1793244965114954240
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744,714,678.879942685,658.879942685,634,879,786,805,651.120057315,630.879942685,652,0.401230974892,-0.0155025844756,0.0799238392864,0.999999987356,0.000120801955226,-9.47485784575e-05,4.14367308311e-05,1793244965131620864
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744,714,678.306028819,658.306028819,634,879,786,805,651.693971181,630.306028819,652,0.401312871012,-0.0155062391997,0.0799351927318,0.999999989509,0.00011601628392,-7.68546072021e-05,4.01892073877e-05,1793244965148287744
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744.276033503,714,678.276033503,658.276033503,634,879,786.276033503,805.276033503,652,630,652,0.401401451022,-0.0155091545109,0.0799437078608,0.999999990698,0.000114467639592,-6.34437650794e-05,3.84235367355e-05,1793244965164954624
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744.867404494,714,678.867404494,658.867404494,634,879,786.867404494,805.867404494,652,630,652,0.401497666626,-0.0155112251249,0.0799489805294,0.999999991029,0.000116616937828,-5.51543990144e-05,3.6065940778e-05,1793244965181621248
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744.551372409,714,678.551372409,658.551372409,634,879,786.551372409,806,652,630,652.448627591,0.401608767935,-0.0155145806646,0.0799520314008,0.999999991446,0.000115360186792,-5.22303731287e-05,3.2737223563e-05,1793244965198287872
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.026731538,744.026731538,714,678,658,634,879,786.026731538,806,651.973268462,630.026731538,652.973268462,0.401725404598,-0.0155182604893,0.0799544217356,0.999999991885,0.000113153052396,-5.07996498507e-05,2.90946313573e-05,1793244965214954752
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.6010216,744.6010216,714,678,658,634,879,786.6010216,806,651.3989784,630.6010216,652.3989784,0.401867299252,-0.0155209758488,0.0799564353388,0.9999999923,0.000111643068902,-4.81933607622e-05,2.47719601676e-05,1793244965231621376
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.824817656,744.824817656,714,678.175182344,658.175182344,634,879,786.824817656,805.824817656,651,631,652,0.40201906006,-0.0155232324588,0.0799584599575,0.999999992799,0.000109256644487,-4.5428368742e-05,2.00419683317e-05,1793244965248288000
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.250951295,744.250951295,714,678.749048705,658.749048705,634,879,786.250951295,805.250951295,651,631,652,0.402193274469,-0.0155244450357,0.0799605096451,0.999999993502,0.000104875595832,-4.23021972884e-05,1.43849873708e-05,1793244965264954624
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.334216383,744,714,679,658.665783617,634,879,786,805,651,631,652.334216383,0.402379224539,-0.0155255173926,0.0799579740454,0.999999994614,9.08791646289e-05,-4.95412946906e-05,7.71803492395e-06,1793244965281620992
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.928166869,744,714,679,658.071833131,634,879,786,805,651,631,652.928166869,0.40257429492,-0.0155264807784,0.0799518750195,0.999999995489,6.94102004872e-05,-6.48356934537e-05,2.6618905455e-07,1793244965298287360
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.492876305,744,714,679,658,634,879,786,805.507123695,651,630.492876305,652.492876305,0.402801749385,-0.0155263120226,0.0799472387612,0.999999996364,3.899864681e-05,-7.54043028009e-05,-8.11668815551e-06,1793244965314954496
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805.916205283,651.083794717,630,652,0.403041130215,-0.0155249368902,0.0799434131155,0.999999996285,1.20048472757e-05,-8.3751476268e-05,-1.64525175629e-05,1793244965331621120
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805.340842031,651.659157969,630,652,0.403324338282,-0.0155173984845,0.0799431622085,0.999999996208,1.22782623818e-05,-8.28811060054e-05,-2.3760922206e-05,1793244965348288000
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.239922406,744.239922406,714,679,658.239922406,634,879,786,805.239922406,652,630,652,0.403628075649,-0.0155121881635,0.0799447080581,0.999999996308,1.24927707251e-05,-8.05172116411e-05,-2.72930072337e-05,1793244965364954880
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.828536633,744.828536633,714,679,658.828536633,634,879,786,805.828536633,652,630,652,0.403961649305,-0.0155103613704,0.0799488652283,0.999999996713,1.26216667638e-05,-7.59827003913e-05,-2.5336768385e-05,1793244965381621504
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.590120771,744.590120771,714,679,658.590120771,634,879,786.409879229,805.590120771,652,630.409879229,652,0.404326474119,-0.0155130496462,0.0799536800231,0.999999997376,9.7340003826e-06,-6.64916678025e-05,-2.70757673906e-05,1793244965398288128
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.01176708,744.01176708,714,679,658.01176708,634,879,786.98823292,805.01176708,652,630.98823292,652,0.404704144226,-0.0155175937707,0.0799587651241,0.999999998014,5.6064230848e-06,-5.49633345621e-05,-3.03336363004e-05,1793244965414955008
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.566545586,714,678.433454414,658.566545586,634,879,786.433454414,805.566545586,652,631,652,0.405111887031,-0.0155236327861,0.0799526556945,0.999999997571,-7.07468478362e-06,-6.1480438282e-05,-3.20777167815e-05,1793244965431621376
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,678.142821671,659,634,879,786,805.857178329,652,630.857178329,652.142821671,0.405527701374,-0.0155273611529,0.0799458727592,0.999999996795,-1.62824273092e-05,-7.04651459474e-05,-3.43565087413e-05,1793244965448288000
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,678.713006176,659,634,879,786,805.286993824,652,630.286993824,652.713006176,0.405965799107,-0.0155240825049,0.0799377701876,0.999999995486,-1.4565318235e-05,-8.5712190619e-05,-3.83293825122e-05,1793244965464955392
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.294316197,744.705683803,714,679.294316197,659.294316197,634,879.294316197,786,805,652,630,653,0.40643194841,-0.0155201123333,0.0799313900588,0.999999994457,-5.04988994292e-06,-9.76779478802e-05,-3.89818603373e-05,1793244965481622272
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.886901217,744.113098783,714,679.886901217,659.886901217,634,879.886901217,786,805,652,630,653,0.406926526065,-0.0155154413505,0.0799267555041,0.999999993614,1.23685880997e-05,-0.000106318352336,-3.62693502442e-05,1793244965498289408
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.530466642,744.469533358,714,679.530466642,659.060933284,634,879.530466642,786,805,651.530466642,630,652.530466642,0.407443988089,-0.0155116722634,0.0799230212401,0.999999992349,1.46514421213e-05,-0.000116759563874,-3.81457530698e-05,1793244965514956032
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.049475729,744.950524271,714,679,658.049475729,634,879,786,805,651,630,652,0.407971576197,-0.0155088801917,0.0799194787594,0.999999991008,1.28661739785e-05,-0.00012705139779,-4.0938151941e-05,1793244965531622656
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.625775394,744.374224606,714,679,658.625775394,634,879,786,805,651,630,652,0.408549511516,-0.0155142262781,0.0799157172144,0.999999990492,5.77805291993e-06,-0.000131229692077,-4.19585607326e-05,1793244965548288768
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.798291237,744.201708763,714,679.201708763,659,634,879,786,805,651.201708763,630,652,0.409157232499,-0.0155186228318,0.0799249761199,0.999999992515,-4.06016533807e-07,-0.000114833909516,-4.2224096887e-05,1793244965564954880
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.22303625,744.77696375,714,679.77696375,659,634,879,786,805,651.77696375,630,652,0.409820113783,-0.0155212609374,0.0799583477121,0.999999997323,-4.91586448062e-06,-6.03368133622e-05,-4.10916776511e-05,1793244965581621504
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679.636778728,659,634,879,786,805,652,630,652,0.410503809152,-0.0155225945444,0.079983844626,0.999999998994,-5.77657156925e-06,-1.92375715962e-05,-4.01070520486e-05,1793244965598288128
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,679.043554067,659,634,879,786,805,652,630,652,0.411200684646,-0.0155231021009,0.080004355039,0.999999999132,-4.32652517385e-06,1.33777159069e-05,-3.92160141883e-05,1793244965614954752
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879.534103258,786.534103258,805,652,630,652,0.411861759944,-0.0155200676717,0.0799787850482,0.999999998588,-7.02316556637e-06,-3.0472285426e-05,-4.29623261045e-05,1793244965631621376
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+153,2.550000000,POSE1_TO_POSE2_PRESS,764,744.315867784,714,679,659,634,879.315867784,786.315867784,805,652,630,652,0.41324718082,-0.0155124343645,0.0799236603316,0.999999993414,-9.44433928977e-06,-0.000101410236313,-5.2899334269e-05,1793244965664955648
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.264337013,744.264337013,714,679,659,634,879,786,805.264337013,652,630.264337013,652,0.413987454525,-0.0155116945836,0.0799179512273,0.999999993387,-8.36956254416e-06,-0.000100814955059,-5.47089492595e-05,1793244965681622528
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.852061048,744.852061048,714,679,659,634,879,786,805.852061048,652,630.852061048,652,0.414757314978,-0.0155151351737,0.0799376007461,0.999999996315,-6.0045156834e-06,-6.80800357e-05,-5.19448213765e-05,1793244965698288640
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.567098391,745,714,679,659,634,879.432901609,786,806,652,630.567098391,652,0.415551961517,-0.0155155983569,0.0799493603786,0.999999996765,-9.89408431137e-06,-6.08537845615e-05,-5.16560971393e-05,1793244965714954752
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,679.01142775,659,634,879.98857225,786,805.98857225,652,630,652.01142775,0.416355345985,-0.0155150789265,0.0799581442689,0.99999999658,-1.58285045991e-05,-6.21406144778e-05,-5.22385780633e-05,1793244965731621632
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,679.590010526,659,634,879.409989474,786,805.409989474,652,630,652.590010526,0.417178592539,-0.0155155001708,0.0799509638374,0.999999996521,-1.8828171894e-05,-6.00645706722e-05,-5.47321040157e-05,1793244965748288256
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,744.834774619,714,679.834774619,659,634,879.165225381,786,805,652,630,653,0.418020875903,-0.0155165060731,0.0799553315673,0.999999997389,-2.15263302176e-05,-4.02536077031e-05,-5.60257026421e-05,1793244965764954624
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,744.267749992,714,679.267749992,659,634,879.732250008,786,805,652,630,653,0.418909453413,-0.0155189337613,0.079987782408,0.999999997987,-2.34912711922e-05,2.26855788524e-05,-5.44012874531e-05,1793244965781621760
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,744.317286429,714,679.317286429,659.317286429,634,880,785.682713571,805.317286429,652,630,652.682713571,0.419774009418,-0.0155191939262,0.0799944783485,0.999999997611,-2.30133367212e-05,3.65502163614e-05,-5.39589361648e-05,1793244965798288640
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,744.918437305,714,679.918437305,659.918437305,634,880,785.081562695,805.918437305,652,630,652.081562695,0.420617074222,-0.0155175148879,0.0799781323294,0.999999998283,-2.03498517605e-05,6.50966415993e-06,-5.45741339785e-05,1793244965814955264
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.499447848,745,714,679.500552152,659.500552152,634,880,785,806,651.500552152,630,652,0.421515229216,-0.0155179996463,0.0799731207432,0.999999998251,-2.03507009038e-05,-7.08972906414e-07,-5.55272794022e-05,1793244965831621376
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.923326638,744.923326638,714,679.076673362,659,633.923326638,879.923326638,785.076673362,805.923326638,651,630.076673362,652,0.422423113903,-0.0155192006379,0.0799744776286,0.99999999822,-2.04945089147e-05,1.78787911589e-06,-5.60118183969e-05,1793244965848287744
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.350138899,744.350138899,714,679.649861101,659,633.350138899,879.350138899,785.649861101,805.350138899,651,630.649861101,652,0.423338004086,-0.0155228401857,0.0800055531077,0.999999997443,-1.88557047871e-05,4.40002820007e-05,-5.31182645811e-05,1793244965864954368
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,744.22235677,714,680,659,633,879.22235677,786.22235677,805,651,630.77764323,652,0.424217269526,-0.0155230973042,0.0800065518811,0.999999997967,-1.41861896197e-05,3.26265736308e-05,-5.29163057241e-05,1793244965881620992
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,744.793766127,714,680,659,633,879.793766127,786.793766127,805,651,630.206233873,652,0.425040611878,-0.0155180447324,0.0799603366621,0.999999996392,-4.75910578775e-06,-6.28658660644e-05,-5.69395748105e-05,1793244965898288128
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659.382112284,633.382112284,879.617887716,786.617887716,805.382112284,651,630.382112284,652,0.425926184734,-0.0155167672928,0.0799315599927,0.999999993553,-9.07565727588e-06,-9.5446143933e-05,-6.08443096095e-05,1793244965914955008
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.98002351,633.98002351,879.01997649,786.01997649,805.98002351,651,630.98002351,652,0.426846902385,-0.0155176218697,0.0799126317939,0.999999993407,-2.11539643826e-05,-9.24966036375e-05,-6.46821018082e-05,1793244965931621888
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,680.557853012,660,634,879.557853012,786,806,651,631,652,0.427764660927,-0.0155205715512,0.0799137172315,0.99999999242,-2.3411759727e-05,-0.000102513930697,-6.40585275088e-05,1793244965948288512
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680.866049035,660,633.866049035,880,786,806.133950965,651,630.866049035,652,0.428682845121,-0.0155229212965,0.0799211694424,0.999999992441,-2.59442221836e-05,-0.000102257130002,-6.3148304749e-05,1793244965964954880
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680.293349119,660,633.293349119,880,786,806.706650881,651,630.293349119,652,0.429602758483,-0.0155230687833,0.0799472097877,0.999999995389,-3.04881876863e-05,-6.68799270889e-05,-6.18042822278e-05,1793244965981621504
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680.289127074,660,633,880,786,806.710872926,651,630,652,0.430526454518,-0.0155251148,0.0799812747535,0.999999997525,-3.38048855457e-05,-1.60188692435e-05,-5.95820889564e-05,1793244965998288384
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,714,680.881869397,660,633,880,786,806.118130603,651,630,652,0.431454122716,-0.0155291544822,0.0800237664526,0.99999999646,-3.58328169399e-05,5.11019382474e-05,-5.64377196903e-05,1793244966014954496
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,880,786,806,651,630,652,0.432310510048,-0.0155275512588,0.0800081936488,0.999999997695,-3.2217293466e-05,1.83909513873e-05,-5.6873289084e-05,1793244966031620864
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,880,786,806,651,630,652,0.433149762238,-0.0155245093502,0.0799764802253,0.999999997129,-2.72136341849e-05,-3.95937056532e-05,-5.85945657407e-05,1793244966048287744
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660,633,880,786,806,651,630,652,0.433996870314,-0.0155210249074,0.0799228996342,0.999999992294,-2.24239009453e-05,-0.000103090320917,-6.54272981661e-05,1793244966064954624
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.189625529,745,714,681.189625529,660,633,880,786,806,651,630.189625529,652,0.434849373946,-0.0155192644911,0.0798982459435,0.999999989025,-2.28375960435e-05,-0.000129052710429,-6.9098384765e-05,1793244966081621248
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.780885995,745,714,681.780885995,660,633,880,786,806,651,630.780885995,652,0.435713305751,-0.0155211556359,0.0799348606483,0.999999994379,-3.42723729448e-05,-7.55160254516e-05,-6.60729726253e-05,1793244966098288128
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.635440857,745,714,682,660,633,880.364559143,786,806.364559143,651,631,652,0.436559128492,-0.0155252446225,0.0799634147045,0.999999996191,-4.21221868589e-05,-4.2010966941e-05,-6.38622666026e-05,1793244966114954752
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.056235037,745,714,682,660,633,880.943764963,786,806.943764963,651,631,652,0.43739428885,-0.0155306276636,0.0799872227758,0.999999996718,-4.78612304159e-05,-2.03002176163e-05,-6.21312469337e-05,1793244966131621376
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633,881,786,806.477010444,651,630.477010444,652,0.43819121454,-0.0155405945384,0.0799871282628,0.999999996079,-6.00598917913e-05,-1.63154301498e-05,-6.30040166718e-05,1793244966148287744
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633.101028793,880.898971207,786,806,651.101028793,630.101028793,652,0.438971765603,-0.0155500547196,0.0799752932855,0.999999994851,-7.23697877285e-05,-2.97309352173e-05,-6.4627433841e-05,1793244966164954368
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,714,682,660,633.673526912,880.326473088,786,806,651.673526912,630.673526912,652,0.43969508793,-0.0155548501168,0.0799206638013,0.999999987634,-8.19572895957e-05,-0.000115453050839,-6.84472810275e-05,1793244966181621248
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745.252999669,714,682,660,633.747000331,880,786,806.252999669,651.747000331,631,652,0.44036248435,-0.0155573459525,0.0798463336867,0.999999966659,-9.02392351524e-05,-0.000230286382385,-7.42117409714e-05,1793244966198287872
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745.841727664,714,682,660,633.158272336,880,786,806.841727664,651.158272336,631,652,0.440955667528,-0.0155567902901,0.0797458610141,0.999999918276,-9.67887174083e-05,-0.000383750031275,-8.25566838799e-05,1793244966214954752
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745.149011275,714,682,660,633,880.425494363,785.574505637,807,651.425494363,631,652,0.441612077016,-0.0155642101438,0.0797046227259,0.999999893293,-0.000111514356559,-0.000439870112454,-8.65559135733e-05,1793244966231621632
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,744.007325727,714,682,660,633,881,785,806.992674273,651.992674273,630.992674273,652,0.442292167159,-0.0155748490869,0.0796862093668,0.999999882443,-0.000129428081317,-0.00045877971086,-8.87841614014e-05,1793244966248288512
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,744.580567995,714,682,660,633,881,785,806.419432005,651.419432005,630.419432005,652,0.443005722004,-0.015607628521,0.0797485461903,0.999999916215,-0.000161388179146,-0.000368096925423,-7.76382936171e-05,1793244966264954880
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659.846831726,633,880.846831726,785,806,651,630,652.153168274,0.443693448496,-0.0156363624824,0.079796297141,0.999999934651,-0.000189885289322,-0.000299757175693,-6.91890118319e-05,1793244966281621248
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,714,682,659.275981991,633,880.275981991,785,806,651,630,652.724018009,0.444310742651,-0.0156540646695,0.0798042732326,0.999999933121,-0.00020893903329,-0.000292345643377,-6.80931709754e-05,1793244966298287872
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,714,682,659,632.690869201,880.309130799,784.690869201,806,651,629.690869201,653,0.444887777257,-0.0156637257673,0.0797934395671,0.999999924286,-0.00022124726501,-0.000312560713512,-6.91607270888e-05,1793244966314954752
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659,632.092406914,880.907593086,784.092406914,806,651,629.092406914,653,0.445427130833,-0.0156658607932,0.0797650008778,0.999999907261,-0.000227242021838,-0.000358632948356,-7.22531181803e-05,1793244966331622144
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713.512548243,682,659,632,880.512548243,784,806.487451757,651,629.974903514,652.512548243,0.44593832171,-0.0156681092867,0.0797405780423,0.999999894029,-0.000230532764811,-0.000391556673719,-7.40299689276e-05,1793244966348288768
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745.637473463,713.637473463,682,658.362526537,632,880,783.362526537,807,651,630.362526537,652,0.446927954854,-0.0156778030291,0.0797060455739,0.999999875092,-0.000247086719627,-0.000427790721164,-7.58878367145e-05,1793244966381622528
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745.190952715,713.190952715,682,658,632,880.809047285,783,807,651,630,652,0.447816180374,-0.0156821046096,0.0796771206676,0.999999853762,-0.000257647609344,-0.000468937385844,-7.86841891742e-05,1793244966414955264
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1c76709baf17dd7d21219ec6dbba041f677f586
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d31879d2dcad32c690e478561e4edf07291fe18
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46c7ea1213cc70e666aeaf274ab96b5428c35e8d0e244f4c6ffbfebf43fc5221
+size 25653160
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1abf719adaca192fbb3ae10c048c7bdca73b8b71
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+20,0.333333333,BASELINE,764.619655736,744.619655736,714,679,658,634,879.619655736,786,805,651.619655736,630.619655736,653,0.400975836906,-0.0153613855915,0.079834644288,0.999999920488,0.00027827701595,-0.000283349576823,3.60308653061e-05,1793244970344423936
+21,0.350000000,BASELINE,764.792487458,744.792487458,714,679,658,633.792487458,879.792487458,786,805,651.792487458,630.792487458,652.792487458,0.400974959179,-0.0153605855896,0.0798341097035,0.999999920162,0.000278586543332,-0.000284223300736,3.58021637585e-05,1793244970361090560
+22,0.366666667,BASELINE,764.216533603,744.216533603,714,679,658,633.216533603,879.216533603,786,805,651.216533603,630.216533603,652.216533603,0.400974917211,-0.015361717073,0.0798344131794,0.999999920213,0.000278573149052,-0.000284000530533,3.6263943948e-05,1793244970377757184
+23,0.383333333,BASELINE,764.35921676,744,714,679,658.35921676,633.35921676,879,786,805,651.35921676,630,652,0.400975386005,-0.0153628880696,0.079835016983,0.999999920778,0.000277282818842,-0.000283229627319,3.66088283812e-05,1793244970394423808
+24,0.400000000,BASELINE,764.934844584,744,714,679,658.934844584,633.934844584,879,786,805,651.934844584,630,652,0.40097616251,-0.0153640828712,0.07983580172,0.999999921648,0.000275223195283,-0.000282128499935,3.68832887088e-05,1793244970411090432
+25,0.416666667,BASELINE,765,744,714,679.522895271,658.477104729,634,879,786,805,651.477104729,630,652.522895271,0.400974886105,-0.0153643635162,0.079835289221,0.999999921484,0.000274663525011,-0.000283276699068,3.66992499097e-05,1793244970427757056
+26,0.433333333,BASELINE,765,744,714,679.889513494,658,634,879,786,805,651.110486506,630.110486506,652.889513494,0.40097428415,-0.0153645093698,0.0798351306032,0.99999992148,0.000274231440607,-0.000283726758044,3.65410886346e-05,1793244970444423424
+27,0.450000000,BASELINE,765,744,714,679.310592664,658,634,879,786,805,651.689407336,630.689407336,652.310592664,0.400977652622,-0.0153645784387,0.0798371743496,0.999999922716,0.000273528587476,-0.000279999659826,3.67407581547e-05,1793244970461090304
+28,0.466666667,BASELINE,765,744,714,679,658,634,879,786,804.732436005,651.732436005,630.732436005,652,0.400978795535,-0.0153644606,0.0798377587231,0.999999922913,0.000274038149371,-0.000278777309714,3.68909207795e-05,1793244970477757184
+29,0.483333333,BASELINE,765,744,714,679,658,634,879,786,804.15516392,651.15516392,630.15516392,652,0.400977362338,-0.0153641264136,0.0798366538573,0.999999921914,0.000275951094243,-0.000280454231666,3.69837786495e-05,1793244970494424320
+30,0.500000000,BASELINE,765,744,714,679.418919434,658,634,879,786.418919434,804.418919434,651.418919434,630.418919434,652.418919434,0.400976020405,-0.0153637713014,0.0798360818876,0.999999921325,0.000276811564127,-0.000281713938309,3.69022201111e-05,1793244970511090688
+31,0.516666667,BASELINE,765,744,714,679.991830619,658,634,879,786.991830619,804.991830619,651.991830619,630.991830619,652.991830619,0.40097471202,-0.015363408497,0.0798357058067,0.999999920887,0.000277285151779,-0.000282820279584,3.67565473614e-05,1793244970527756800
+32,0.533333333,BASELINE,764.416698366,744.583301634,714,679.416698366,658,634,879,787,805,652,631,653,0.400975002654,-0.0153644296054,0.0798357141163,0.999999921597,0.000274899578412,-0.000282674178082,3.65018099459e-05,1793244970544423680
+33,0.550000000,BASELINE,764,744.828620993,714,679,658,634,878.828620993,786.828620993,805,652,631,652.828620993,0.400975147996,-0.0153650348091,0.0798356627683,0.999999922042,0.000273313247483,-0.000282671964412,3.62387459687e-05,1793244970561090304
+34,0.566666667,BASELINE,764,744.249261656,714,679,658,634,878.249261656,786.249261656,805,652,631,652.249261656,0.400974892392,-0.0153646022632,0.0798354561639,0.99999992183,0.000273728032217,-0.000283055416262,3.59596158568e-05,1793244970577756928
+35,0.583333333,BASELINE,764.328124615,744.328124615,714,679.328124615,658,634,878.65624923,786,805.328124615,652,630.671875385,652,0.400975512755,-0.0153645076176,0.0798355326431,0.999999921874,0.000273828397376,-0.000282799280409,3.59729358635e-05,1793244970594423552
+36,0.600000000,BASELINE,764.904021055,744.904021055,714,679.904021055,658,634,879.80804211,786,805.904021055,652,630.095978945,652,0.400976794572,-0.0153646681255,0.0798358228831,0.999999922112,0.000273691339633,-0.000282060182315,3.62070893179e-05,1793244970611090176
+37,0.616666667,BASELINE,764.512182342,745,714,680,658,634,879.512182342,786,806,652,630,652,0.400975982803,-0.0153644806578,0.0798353442722,0.999999921839,0.000274073426186,-0.000282624474406,3.64497817837e-05,1793244970627757056
+38,0.633333333,BASELINE,764.072401586,744.927598414,714,679.927598414,658,634,879,786,805.927598414,651.927598414,630.072401586,652,0.400975003113,-0.0153642004958,0.0798349499574,0.999999921567,0.000274598671038,-0.000283056293665,3.6628398913e-05,1793244970644423936
+39,0.650000000,BASELINE,764.651439273,744.348560727,714,679.348560727,658,634,879,786,805.348560727,651.348560727,630.651439273,652,0.400975778257,-0.0153637586728,0.079836221479,0.99999992201,0.000275399161631,-0.000280737094044,3.63466937559e-05,1793244970661090560
+40,0.666666667,BASELINE,764.769976998,744.230023002,714,679,658,634,879,786,805.230023002,651,631,652,0.400976062223,-0.0153639781769,0.0798366696945,0.999999922184,0.000275624594233,-0.000279904921761,3.62804872947e-05,1793244970677757184
+41,0.683333333,BASELINE,764.192079845,744.807920155,714,679,658,634,879,786,805.807920155,651,631,652,0.400975603358,-0.0153651978355,0.0798358727869,0.999999921954,0.00027498034068,-0.00028132164807,3.65401892392e-05,1793244970694423808
+42,0.700000000,BASELINE,764,745,714,679,658,634,879,786,806,651,630.615789736,652,0.400975641761,-0.0153652258024,0.0798356866203,0.99999992209,0.000274328377139,-0.000281483881926,3.64805442504e-05,1793244970711090432
+43,0.716666667,BASELINE,764,745,714,679,658,634,879,786,806,651,630.040299712,652,0.400975927729,-0.0153646604834,0.0798358045122,0.999999922408,0.000273672575188,-0.000281021564458,3.62619118194e-05,1793244970727757312
+44,0.733333333,BASELINE,764.546539575,744.453460425,714,679,658,634,878.453460425,786,805.453460425,651,630,652,0.400975619707,-0.0153654087161,0.0798357034654,0.999999922205,0.000273692028308,-0.00028171753817,3.62984027687e-05,1793244970744423936
+45,0.750000000,BASELINE,764.86768341,744,714,679,658,634,878.13231659,786.13231659,805,651,630,652.13231659,0.400975615284,-0.0153660886401,0.0798357351826,0.999999922155,0.00027365965547,-0.000281909653486,3.6432641717e-05,1793244970761090560
+46,0.766666667,BASELINE,764.288381989,744,714,679,658,634,878.711618011,786.711618011,805,651,630,652.711618011,0.40097678756,-0.0153662036743,0.0798362710875,0.999999922751,0.000273280439808,-0.000280105022333,3.6832191043e-05,1793244970777757184
+47,0.783333333,BASELINE,764,744,714,679,658,634,879,786.710092547,805,651.289907453,630.289907453,652.710092547,0.400977062056,-0.0153661722137,0.0798364042694,0.999999922651,0.00027380270741,-0.00027994616943,3.68690698837e-05,1793244970794424064
+48,0.800000000,BASELINE,764,744,714,679,658,634,879,786.13280619,805,651.86719381,630.86719381,652.13280619,0.400976446602,-0.0153659955359,0.0798361382407,0.999999921861,0.000275218595567,-0.000281418740223,3.65464414687e-05,1793244970811090688
+49,0.816666667,BASELINE,764,744.443044046,714,679,658,634,879,786,805,652,630.556955954,652,0.400975892637,-0.0153657978635,0.0798360711499,0.999999921853,0.000274838175449,-0.000281806542936,3.66562716658e-05,1793244970827757312
+50,0.833333333,BASELINE,764,745,714,679,658,634,879,786,805.019009968,651.980990032,630,652,0.400975378642,-0.015365546528,0.0798360650885,0.999999922065,0.000273965094844,-0.000281873684483,3.68705275896e-05,1793244970844423680
+51,0.850000000,BASELINE,764,745,714,679,658,634,879,786,805.611409066,651.388590934,630,652,0.400975516084,-0.0153638657878,0.079836106948,0.999999921912,0.000274420923369,-0.000282045085864,3.63370982404e-05,1793244970861090304
+52,0.866666667,BASELINE,764.198297004,745,714,679,658.198297004,634,879,786,805.801702996,651.198297004,630.198297004,652,0.400975616829,-0.0153629954489,0.0798360585138,0.999999921872,0.000274370615044,-0.000282294294279,3.5869755456e-05,1793244970877756928
+53,0.883333333,BASELINE,764.774677053,745,714,679,658.774677053,634,879,786,805.225322947,651.774677053,630.774677053,652,0.400975647607,-0.015363670262,0.0798358379212,0.99999992205,0.000273355280713,-0.000282691853489,3.55284166728e-05,1793244970894423552
+54,0.900000000,BASELINE,764.650557333,744.650557333,714,679,658.650557333,634,879,786,805.349442667,651.650557333,631,652,0.400975588413,-0.0153645093008,0.0798358796772,0.999999922306,0.00027253022451,-0.000282573703943,3.56010206614e-05,1793244970911090688
+55,0.916666667,BASELINE,764.076827951,744.076827951,714,679,658.076827951,634,879,786,805.923172049,651.076827951,631,652,0.400975471473,-0.0153654537463,0.0798360898194,0.999999922612,0.000271827296698,-0.000282124551237,3.5939310205e-05,1793244970927757568
+56,0.933333333,BASELINE,764,744,714,679,658,634,879,786,805.488222696,651.511777304,630.488222696,652,0.40097492346,-0.0153660949224,0.07983510314,0.999999922105,0.0002726627337,-0.000283108494213,3.59823006981e-05,1793244970944424192
+57,0.950000000,BASELINE,764.100660197,744,714,679,658.100660197,634,879,786,805,651.899339803,630.100660197,652,0.400974596488,-0.015366384758,0.0798342989461,0.999999921647,0.000273523189544,-0.000283893069318,3.5992315066e-05,1793244970961090560
+58,0.966666667,BASELINE,764.679927129,744,714,679,658.679927129,634,879,786,805,651.320072871,630.679927129,652,0.400975637387,-0.0153652270277,0.0798352422432,0.999999922031,0.000273371688105,-0.000282676188278,3.60626247394e-05,1793244970977757184
+59,0.983333333,BASELINE,764.742721843,744.257278157,714,679,658.742721843,634,879,786,805,651.257278157,630.742721843,652,0.400975386232,-0.0153646536745,0.0798354189141,0.999999921956,0.000273612399392,-0.000282700801403,3.61114041055e-05,1793244970994423808
+60,1.000000000,BASELINE,764.167736645,744.832263355,714,679,658.167736645,634,879,786,805,651.832263355,630.167736645,652,0.400973539546,-0.0153648019553,0.0798346488956,0.999999921315,0.000274337445384,-0.000284258507742,3.6133596186e-05,1793244971011090688
+61,1.016666667,BASELINE,764.415471787,744.584528213,714,679,658.415471787,634,879,786,805,651.584528213,630.415471787,652,0.400973540082,-0.0153660855015,0.0798351661491,0.999999921535,0.000273654307909,-0.000284130542332,3.62482791228e-05,1793244971027757312
+62,1.033333333,BASELINE,764.997959312,744.002040688,713.997959312,679.002040688,658.997959312,634,879,786,805,651.002040688,631,652,0.40097429869,-0.0153678330316,0.0798362094639,0.999999922106,0.000272393196355,-0.00028331073131,3.64005686157e-05,1793244971044423680
+63,1.050000000,BASELINE,764.418873037,744.581126963,713.418873037,679.581126963,658.418873037,634,879,786,805,651.581126963,631,652,0.400974277794,-0.0153685606678,0.0798360828431,0.999999922329,0.000271704800754,-0.000283182332856,3.64147625818e-05,1793244971061090560
+64,1.066666667,BASELINE,764,744.839706809,713.160293191,679.839706809,658,634,879,786.160293191,804.839706809,651.839706809,630.839706809,652,0.400974391053,-0.0153683917708,0.079835804298,0.999999922335,0.00027194897408,-0.000282932371831,3.63653602766e-05,1793244971077757440
+65,1.083333333,BASELINE,764,744.260331576,713.739668424,679.260331576,658,634,879,786.739668424,804.260331576,651.260331576,630.260331576,652,0.400974855055,-0.015365878913,0.0798351285509,0.999999921771,0.000274631322685,-0.000282364588891,3.61496873069e-05,1793244971094424064
+66,1.100000000,BASELINE,764,744,714,679,658,634,879,786.684745073,804.315254927,651,630.315254927,652,0.400975945964,-0.0153649451979,0.0798354535797,0.999999921735,0.000275851284825,-0.000281290614184,3.62195838766e-05,1793244971111090432
+67,1.116666667,BASELINE,764,744,714,679,658,634,879,786.112250105,804.887749895,651,630.887749895,652,0.400977548415,-0.0153653000235,0.0798365952163,0.999999922134,0.000275877976499,-0.000279803599837,3.65224979718e-05,1793244971127756800
+68,1.133333333,BASELINE,764,744,713.525581615,679,658,633.525581615,879,786,805,651,631,652,0.400976551846,-0.0153651153402,0.0798363141864,0.999999921742,0.000276034585705,-0.000281081264575,3.62607498104e-05,1793244971144423424
+69,1.150000000,BASELINE,764,744,713.06337602,679,658,633.06337602,879,786,805,651.06337602,630.93662398,652.06337602,0.400975146341,-0.0153649398653,0.0798357872261,0.999999921336,0.000275926199198,-0.000282669930789,3.5910402778e-05,1793244971161090560
+70,1.166666667,BASELINE,764,744,713.642824951,679,658,633.642824951,879,786,805,651.642824951,630.357175049,652.642824951,0.400975572578,-0.0153659108521,0.0798360830936,0.999999922414,0.000273401925233,-0.000281300378948,3.59600238979e-05,1793244971177757184
+71,1.183333333,BASELINE,764.221020461,744,714,679,658,634,879.221020461,786,805,651.778979539,630.221020461,652.778979539,0.400976017811,-0.0153665580361,0.0798363908296,0.999999923141,0.000271471920548,-0.000280569565588,3.60686631174e-05,1793244971194423808
+72,1.200000000,BASELINE,764.797201922,744,714,679,658,634,879.797201922,786,805,651.202798078,630.797201922,652.202798078,0.400976493568,-0.0153666848967,0.0798367176373,0.999999923315,0.000270496855436,-0.00028086515019,3.62721393893e-05,1793244971211090432
+73,1.216666667,BASELINE,765,744,714,679,658.372408013,634,879.627591987,786,805,651,631,652,0.400976339278,-0.0153666263968,0.0798369475816,0.999999923481,0.000269869744144,-0.000280893170996,3.61685157411e-05,1793244971227757056
+74,1.233333333,BASELINE,765,744,714,679,658.94708431,634,879.05291569,786,805,651,631,652,0.400975842787,-0.0153664672207,0.0798371249159,0.999999923641,0.000269431619235,-0.000280775868194,3.58980949877e-05,1793244971244423680
+75,1.250000000,BASELINE,764.463613903,744,714,679.536386097,658.463613903,634,879.536386097,786,805,651.536386097,630.463613903,652,0.400975284193,-0.0153652575896,0.0798368416307,0.999999922678,0.000273147878954,-0.00028057521545,3.6224037362e-05,1793244971261090304
+76,1.266666667,BASELINE,764,744,714,679.875303908,658,634,879.875303908,786,805,652,630.124696092,652,0.400974775799,-0.0153641230872,0.0798363245954,0.999999921679,0.000276497996399,-0.000280832233277,3.63911915987e-05,1793244971277756672
+77,1.283333333,BASELINE,764,744,714,679.296017039,658,634,879.296017039,786,805,652,630.703982961,652,0.400974473379,-0.0153636508546,0.0798351257063,0.999999921018,0.000276977321809,-0.000282788546924,3.57589779932e-05,1793244971294423296
+78,1.300000000,BASELINE,764.281210755,744,714,679,658,634,879.281210755,786.281210755,805,651.718789245,630.718789245,652,0.400975103647,-0.0153644109939,0.0798352340494,0.999999921284,0.000275909643156,-0.000282911301391,3.56069766507e-05,1793244971311090176
+79,1.316666667,BASELINE,764.856286779,744,714,679,658,634,879.856286779,786.856286779,805,651.143713221,630.143713221,652,0.400976708572,-0.015366458962,0.0798367084502,0.999999922514,0.000273225345066,-0.000281117986199,3.5956797212e-05,1793244971327757312
+80,1.333333333,BASELINE,765,744.427503745,714,679,658.427503745,634,879.572496255,786.572496255,805,651,630,652,0.400976031912,-0.0153673827793,0.0798364423472,0.999999922842,0.000271368538712,-0.000281726012918,3.61324481975e-05,1793244971344423680
+81,1.350000000,BASELINE,765,744.99743507,714,679,658.99743507,634,879.00256493,786.00256493,805,651,630,652,0.400974595116,-0.0153679320737,0.0798355963763,0.999999922868,0.000269787420127,-0.000283134072987,3.62500726994e-05,1793244971361090304
+82,1.366666667,BASELINE,764.405571598,744.405571598,714,679,658.405571598,634,879,786.594428402,805,651.594428402,630.594428402,652.594428402,0.400975035914,-0.0153683395025,0.0798361165849,0.999999923285,0.000269610465258,-0.000281828779898,3.62203048529e-05,1793244971377756928
+83,1.383333333,BASELINE,764.185718961,744,714,679,658,634,879,786.814281039,805,651.814281039,631,652.814281039,0.400975059761,-0.0153682132509,0.0798363323002,0.999999923349,0.000269933665922,-0.000281299924602,3.61770211026e-05,1793244971394423552
+84,1.400000000,BASELINE,764.764675649,744,714,679,658,634,879,786.235324351,805,651.235324351,631,652.235324351,0.400974182791,-0.0153669583531,0.0798358902102,0.999999922659,0.000271302445271,-0.000282441056085,3.61065299009e-05,1793244971411090176
+85,1.416666667,BASELINE,765,744,714,679,658.340224655,634,879,786,805,651,630.659775345,652.340224655,0.40097412179,-0.0153668338615,0.0798356006241,0.999999922907,0.000269984225962,-0.000282853269731,3.58851514647e-05,1793244971427756800
+86,1.433333333,BASELINE,765,744,714,679,658.913439997,634,879,786,805,651,630.086560003,652.913439997,0.400974619575,-0.0153674834884,0.0798354154748,0.999999923791,0.000266825911627,-0.000282766309993,3.55604433056e-05,1793244971444423424
+87,1.450000000,BASELINE,764.500093164,744.499906836,714,679,658.500093164,634,879,786,804.500093164,651.499906836,630,652.500093164,0.40097632887,-0.0153667021071,0.0798368264381,0.999999923792,0.000269521297932,-0.000280151148078,3.59098137805e-05,1793244971461090048
+88,1.466666667,BASELINE,764,744.912719039,714,679.087280961,658,634,879.087280961,786,804.087280961,651.912719039,630.087280961,652,0.400977893504,-0.0153656998465,0.0798382203856,0.999999923536,0.000273026802337,-0.000277608310489,3.6306337806e-05,1793244971477756928
+89,1.483333333,BASELINE,764,744.333515655,714,679.666484345,658,634,879.666484345,786,804.666484345,651.333515655,630.666484345,652,0.400977428303,-0.01536488724,0.07983791837,0.999999922822,0.000275230017338,-0.000278007554069,3.62928770701e-05,1793244971494423552
+90,1.500000000,BASELINE,764,744,714,679.755297893,658,634,879.755297893,786,805.244702107,651,630.755297893,652,0.400977151589,-0.0153651950729,0.0798377582796,0.999999922899,0.000274682211906,-0.000278281406234,3.61992970496e-05,1793244971511090176
+91,1.516666667,BASELINE,764,744,714,679.17841814,658,634,879.17841814,786,805.82158186,651,630.17841814,652,0.400977130743,-0.0153670238774,0.0798377908497,0.999999924045,0.000270399957468,-0.000278385042319,3.59969568899e-05,1793244971527756800
+92,1.533333333,BASELINE,764,744.396836956,714,679,658,634,879,786,805.603163044,651,630,652,0.400976945447,-0.0153663211209,0.0798372686596,0.999999923759,0.000271133221328,-0.000278707624142,3.59264590395e-05,1793244971544423424
+93,1.550000000,BASELINE,764,744.971364633,714,679,658,634,879,786,805.028635367,651,630,652,0.400976686517,-0.0153644848136,0.0798364980657,0.99999992283,0.000274112271271,-0.000279128242775,3.59149958823e-05,1793244971561090048
+94,1.566666667,BASELINE,764.560707206,745,714,679,658,634,879,786,805,651,630.560707206,652,0.400976564062,-0.0153660006903,0.0798365551204,0.99999992279,0.000273919392955,-0.000279413306164,3.62947969636e-05,1793244971577756416
+95,1.583333333,BASELINE,765,744.851800452,714,679,658,634,879,786,805,651,630.851800452,652,0.400976545522,-0.0153672032375,0.0798366265804,0.999999922863,0.000273433720416,-0.000279589572972,3.65747612054e-05,1793244971594423296
+96,1.600000000,BASELINE,765,744.271960331,714,679,658,634,879,786,805,651,630.271960331,652,0.400976808793,-0.0153669810409,0.079836613547,0.999999923132,0.000272579878449,-0.000279469673263,3.65041664298e-05,1793244971611089920
+97,1.616666667,BASELINE,765,744,714,679,658,634,879,786,805,651.304621695,630.304621695,652,0.400976969474,-0.0153664421105,0.0798367930248,0.999999923332,0.000272214964447,-0.000279131511796,3.63318026867e-05,1793244971627756800
+98,1.633333333,BASELINE,765,744,714,679,658,634,879,786,805,651.878325705,630.878325705,652,0.400977039534,-0.0153656233989,0.0798371425541,0.999999923472,0.00027228193657,-0.000278600552583,3.6069543088e-05,1793244971644423424
+99,1.650000000,BASELINE,764.534584918,744,714,679,658,634,878.534584918,786,805,651.534584918,631,652,0.400977646138,-0.0153650254899,0.0798379899665,0.999999923441,0.000273309093311,-0.000277730899451,3.58483922309e-05,1793244971661090816
+100,1.666666667,BASELINE,764,744.055000174,714,679,658.055000174,634,878.055000174,786,805,651,630.944999826,652,0.400978199588,-0.0153645674603,0.0798387197373,0.999999923304,0.000274532696306,-0.000277039658434,3.56657527759e-05,1793244971677758208
+101,1.683333333,BASELINE,764,744.634035412,714,679,658.634035412,634,878.634035412,786,805,651,630.365964588,652,0.400976870549,-0.0153648759033,0.0798370517367,0.999999922606,0.000275165478114,-0.000278916937995,3.57446157832e-05,1793244971694424320
+102,1.700000000,BASELINE,764,744.788186837,714,679,659,634,879,786,805,651,630,652,0.400976219883,-0.0153653409199,0.079836255765,0.999999922368,0.000274978684331,-0.000279934913934,3.58848936833e-05,1793244971711090688
+103,1.716666667,BASELINE,764,744.212568973,714,679,659,634,879,786,805,651,630,652,0.400976734373,-0.0153660748631,0.0798369575674,0.999999922924,0.000273384209075,-0.000279476972455,3.61306561743e-05,1793244971727757056
+104,1.733333333,BASELINE,764.370089042,744,714,679,658.629910958,634,879,786,805,651,630,652.370089042,0.400976858671,-0.0153663993799,0.0798371743557,0.999999923055,0.000273178486036,-0.00027919296085,3.62534316424e-05,1793244971744423680
+105,1.750000000,BASELINE,764.956869195,744,714,679,658.043130805,634,879,786,805,651,630,652.956869195,0.400976754507,-0.0153664841733,0.0798371071633,0.999999922938,0.000273785892192,-0.000279010787013,3.63041969101e-05,1793244971761090560
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,787,805,652,630,652,0.400975871451,-0.0153644842065,0.0798361672429,0.999999921655,0.000276800966597,-0.000280650013189,3.61419655562e-05,1793244971791089152
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679.577314392,658.577314392,634,879,787,805,652,630.577314392,652,0.400975602222,-0.0153641573838,0.0798357088563,0.999999921505,0.000276984147895,-0.000281014794738,3.60633925948e-05,1793244971807756288
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,744.845734534,714,679.845734534,658.845734534,634,879,786.845734534,805,651.845734534,631,652,0.400975880182,-0.0153646226863,0.0798357786918,0.999999921772,0.000276357655472,-0.000280679718961,3.6075133999e-05,1793244971824423424
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744.269776478,714,679.269776478,658.269776478,634,879,786.269776478,805,651.269776478,631,652,0.400977653915,-0.0153672533037,0.0798372924498,0.999999923172,0.000273517878319,-0.000278431547249,3.63337543504e-05,1793244971841089536
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.312731615,634,879.312731615,786,805,651,630.687268385,652,0.400977476443,-0.0153672291434,0.0798376255817,0.999999923444,0.000272770309093,-0.000278177091769,3.64005665292e-05,1793244971857755904
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.90101091,634,879.90101091,786,805,651,630.09898909,652,0.400975579764,-0.0153648658596,0.0798369184644,0.99999992273,0.000273866183463,-0.000279679298863,3.62983766016e-05,1793244971874422272
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.480537071,744,714,679.480537071,658.519462929,633.519462929,879.519462929,786,805,651,630.480537071,652,0.40097605082,-0.0153667423027,0.0798370292052,0.999999923042,0.000273151747429,-0.000279236922547,3.64848601144e-05,1793244971891088896
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.941744153,744,714,679.941744153,658.058255847,633.058255847,879,786,805,651.058255847,630.941744153,652.058255847,0.400977009831,-0.0153690692086,0.0798372797586,0.999999923502,0.00027218232993,-0.000278507195576,3.66885675485e-05,1793244971907755520
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.364350834,744,714,679.364350834,658.635649166,633.635649166,879,786,805,651.635649166,630.364350834,652.635649166,0.400978048472,-0.0153677666764,0.0798373017397,0.999999923442,0.000272204435409,-0.000278722615184,3.65253233651e-05,1793244971924422912
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744.78644276,714,679,659,634,879,786.78644276,805,652,630.78644276,653,0.400991420446,-0.0153672562648,0.0798439313102,0.999999926481,0.000272132074688,-0.000267656714092,3.66462791205e-05,1793244971957756928
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,744.628730517,714,679,658.628730517,634,878.628730517,787,805,651.628730517,631,653,0.401014840629,-0.0153685831523,0.0798544760378,0.999999931196,0.000271628225957,-0.00024986970412,3.7290705745e-05,1793244971974423040
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,744.037779465,714,679,658.037779465,634,878.037779465,787,805,651.037779465,631,653,0.401046622214,-0.0153705605168,0.0798684006529,0.999999936958,0.000270863553145,-0.000226399761275,3.82196378975e-05,1793244971991089408
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.542310166,744,714,679.542310166,658.542310166,634,878.542310166,786.457689834,805,651,630.457689834,653,0.401105527704,-0.0153735976805,0.0798881994218,0.999999944851,0.000270408150394,-0.000188802464736,3.91229490621e-05,1793244972007755776
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.879232645,744,714,679.879232645,658.879232645,634,879.120767355,786,805,651.120767355,630.120767355,652.879232645,0.401169180968,-0.015376462627,0.0799072696383,0.999999950954,0.00027003701248,-0.000153601008516,3.97418708865e-05,1793244972024421888
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.304126002,744,714,679.304126002,658.304126002,634,879.695873998,786,805,651.695873998,630.695873998,652.304126002,0.40124372673,-0.0153784073734,0.0799220896834,0.999999954218,0.000269903425759,-0.000131042781459,3.92974739884e-05,1793244972041088512
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.270508103,634,879.729491897,786,805,651.729491897,630.729491897,652,0.401323074729,-0.0153810739153,0.0799322299654,0.999999956407,0.000269360076273,-0.000114791223235,3.81394211497e-05,1793244972057755392
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.844611837,634,879.155388163,786,805,651.155388163,630.155388163,652,0.401407812351,-0.0153845505397,0.0799371180724,0.99999995776,0.000268356843498,-0.000105617743135,3.61804207149e-05,1793244972074422528
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.431521547,744,714,679,658.568478453,634,879,786.431521547,805,651,630.431521547,652,0.401507456305,-0.0153878626143,0.0799402802476,0.999999959217,0.000265681441345,-9.93455017654e-05,3.33249451694e-05,1793244972091089152
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.97733275,744.02266725,714,679,658,634,879,787,805,651,631,652.02266725,0.401613844134,-0.0153911744402,0.0799428461245,0.999999960697,0.000262376979757,-9.41157615323e-05,3.01006450264e-05,1793244972107756032
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.398849014,744.601150986,714,679,658,634,879,787,805,651,631,652.601150986,0.401749951986,-0.0153959775435,0.0799464959784,0.999999962281,0.000258863940325,-8.80481946401e-05,2.59902477506e-05,1793244972124422656
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744.821554213,714,678.821554213,658.178445787,634,879,786.821554213,805,651.178445787,631,652.821554213,0.401894472454,-0.0154011020733,0.0799502220958,0.999999964098,0.000254449650686,-8.11839109406e-05,2.16340038399e-05,1793244972141089024
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.24689932,714,678.24689932,658.75310068,634,879,786.24689932,805,651.75310068,631,652.24689932,0.402057671715,-0.0154069402765,0.0799541175432,0.999999966468,0.000248034285774,-7.25506512772e-05,1.67318990331e-05,1793244972157755648
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744,714,678.33558358,658.66441642,634,879,786,805,651.66441642,630.66441642,652,0.402230675178,-0.0154123551799,0.0799552382921,0.999999968479,0.00024070160686,-7.05806092231e-05,1.11331763497e-05,1793244972174422272
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+137,2.283333333,POSE1_TO_POSE2_PRESS,764.014680445,745,714,679,658,633.985319555,879.014680445,786,805,651.985319555,630,652.014680445,0.404386683596,-0.0154755066789,0.0799541272827,0.999999995064,6.51839498066e-05,-7.14152171381e-05,-2.28493143398e-05,1793244972307755776
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.565152759,744.434847241,714,679,658.565152759,634.565152759,879.565152759,786.565152759,805,652,630.565152759,652,0.404785908824,-0.0154815446831,0.0799539206118,0.999999995896,5.27880807851e-05,-6.85299010472e-05,-2.69407491595e-05,1793244972324422400
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,679.143856479,659,634.856143521,879.856143521,787,805,651.856143521,630.856143521,652,0.405195776848,-0.0154866634194,0.0799522780275,0.999999996278,4.22861957044e-05,-6.85618187615e-05,-3.0896781466e-05,1793244972341089280
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679.719978268,659,634.280021732,879.280021732,787,805,651.280021732,630.280021732,652,0.405633175109,-0.0154890408462,0.079946405123,0.999999995694,3.8471928668e-05,-7.73841174161e-05,-3.38101922785e-05,1793244972357756160
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.704396266,744,714,680,659,634,879.295603734,786.704396266,805,651.295603734,630,652,0.406088190385,-0.0154833969933,0.0799400889294,0.99999999432,5.04485427431e-05,-8.76290587138e-05,-3.37151113573e-05,1793244972374423040
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.129240106,744,714,680,659,634,879.870759894,786.129240106,805,651.870759894,630,652,0.406559866122,-0.0154701674171,0.0799333535167,0.999999991612,7.73585912518e-05,-9.92193940162e-05,-3.07749003828e-05,1793244972391090176
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.460167138,744.460167138,714,679.539832862,659.460167138,634,879.539832862,786,805,652,630.460167138,652.460167138,0.407048630525,-0.0154677363459,0.079929984118,0.999999990472,7.9682703421e-05,-0.000107589563615,-3.36323294644e-05,1793244972407756800
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.947969052,744.947969052,714,679,659.947969052,633.947969052,879,786,805,651.947969052,631,652.947969052,0.407546646315,-0.0154693047885,0.0799268736987,0.999999989842,7.32570146753e-05,-0.000116232479276,-3.79312117668e-05,1793244972424423680
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.372929993,744.372929993,714,679,659.372929993,633.372929993,879,786,805,651.372929993,631,652.372929993,0.408087871074,-0.015479616112,0.0799165601668,0.999999988547,5.05066411257e-05,-0.000136998437955,-3.98289060773e-05,1793244972441090304
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.200168128,744.200168128,714,679.200168128,659,633.200168128,879,786,805,651,630.799831872,652,0.408663918006,-0.015487160532,0.0799163928305,0.999999988836,3.51675752415e-05,-0.000139319390644,-4.10032148844e-05,1793244972457756928
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.769684812,744.769684812,714,679.769684812,659,633.769684812,879,786,805,651,630.230315188,652,0.409304218486,-0.0154895994845,0.0799349471703,0.999999992815,3.35037936939e-05,-0.000107605771377,-4.08427387262e-05,1793244972474422784
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.644060305,744.644060305,714,680,659,633.644060305,879,786,805,651,630,652.355939695,0.409974607885,-0.0154903889484,0.0799655080243,0.999999997,3.57398038704e-05,-5.63007250317e-05,-3.94016715673e-05,1793244972491089152
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.046440341,744.046440341,714,680,659,633.046440341,879,786,805,651,630,652.953559659,0.4106654274,-0.0154900584223,0.080004221207,0.999999998452,4.06237421029e-05,8.30674599429e-06,-3.70910930245e-05,1793244972507756288
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744.533138165,714,679.466861835,659,633.533138165,879,786,805,651,630,652.466861835,0.411320597376,-0.0154874864786,0.079992236293,0.999999998316,3.86167284917e-05,-1.5987639479e-05,-4.02527640087e-05,1793244972524423424
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.110542194,744.889457806,714,679,659.110542194,634,879,786,805,651,630,652.110542194,0.411978138572,-0.0154856281769,0.0799714665785,0.999999997061,3.46421800267e-05,-5.22447491223e-05,-4.41509700222e-05,1793244972541090304
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.685198671,744.314801329,714,679,659.685198671,634,879,786,805,651,630,652.685198671,0.412658246322,-0.0154875590266,0.0799317482153,0.999999992726,2.48445750102e-05,-0.000107278435534,-4.92057165139e-05,1793244972557756672
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,679.25775491,659.74224509,634,879,786,805,651.25775491,630.25775491,652.74224509,0.413381191583,-0.0154899508691,0.0799109669927,0.999999989792,1.87774434195e-05,-0.000131511076587,-5.26183454175e-05,1793244972574423040
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,714,679.827766893,659.172233107,634,879,786,805,651.827766893,630.827766893,652.172233107,0.414156032418,-0.0154929011814,0.0799131271554,0.999999991379,1.72295909795e-05,-0.000118429812465,-5.40416325062e-05,1793244972591089152
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.582838638,744.417161362,714,680,659,634,879,786,805.417161362,651.582838638,630.582838638,652,0.41494997582,-0.015495911953,0.0799346726857,0.999999995252,1.29094029331e-05,-8.10667353985e-05,-5.25079476552e-05,1793244972607755520
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.014355689,745,714,680,659,634,879,786,805.985644311,651,630,652,0.415751260799,-0.0154987973403,0.0799634697735,0.999999998107,7.57235313111e-06,-3.52978828764e-05,-4.98172896306e-05,1793244972624422144
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.588449155,745,714,680,659,634,879,786,805.411550845,651,630,652,0.416516302462,-0.015495773216,0.0799477374241,0.999999996035,9.39100093086e-06,-7.17187128177e-05,-5.19364159295e-05,1793244972641089280
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.836921841,744.836921841,714,679.836921841,659.163078159,634,879,785.836921841,805.163078159,651,630,652,0.417317738229,-0.0154947806844,0.0799432952289,0.999999995236,9.44073729948e-06,-8.12625532456e-05,-5.32379599769e-05,1793244972657756160
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.260936909,744.260936909,714,679.260936909,659.739063091,634,879,785.260936909,805.739063091,651,630,652,0.41821132223,-0.015498932057,0.0799674392118,0.999999998352,5.01166712916e-06,-2.27550286944e-05,-5.24694214017e-05,1793244972674422784
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.324036505,744.324036505,714,679.324036505,660,634,879.324036505,785.324036505,805.675963495,651,630,652,0.419094765086,-0.0155014365483,0.0799816358781,0.99999999855,1.68792875167e-06,9.49510515745e-06,-5.29764380789e-05,1793244972691089408
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.916454554,744.916454554,714,679.916454554,660,634,879.916454554,785.916454554,805.083545446,651,630,652,0.419969808547,-0.0155025770187,0.0799875937301,0.999999998312,-7.20324110818e-07,1.9997689312e-05,-5.45399268769e-05,1793244972707756288
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.50519645,714,680,659.50519645,633.50519645,879.50519645,786,805.49480355,651.49480355,630,652,0.420831908465,-0.0155038840587,0.0799742734596,0.999999998422,-4.31988063529e-06,-3.27374507005e-06,-5.59191576632e-05,1793244972724422656
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.070874864,714,680.070874864,659,633.070874864,879.070874864,786,806,652,630,652,0.421698306345,-0.0155053974926,0.0799626896903,0.999999998073,-7.58539162284e-06,-2.39061407049e-05,-5.67888595708e-05,1793244972741089024
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.647175087,714,680.647175087,659,633.647175087,879.647175087,786,806,652,630,652,0.422610507726,-0.0155081877518,0.0799860599361,0.999999998408,-7.07397847942e-06,1.38233226914e-05,-5.42407177056e-05,1793244972757755648
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.777319587,744.777319587,714,681,659.222680413,634,880,786,806,651.777319587,630.222680413,652,0.423508312375,-0.0155100844677,0.0799976122782,0.99999999825,-3.91029478668e-06,2.64173480346e-05,-5.27918732877e-05,1793244972774422528
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.203069164,744.203069164,714,681,659.796930836,634,880,786,806,651.203069164,630.796930836,652,0.424383387464,-0.0155105704489,0.0799905064019,0.999999998585,3.44081962092e-06,-6.72695837694e-07,-5.30786100908e-05,1793244972791089152
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,744.381646424,714,681,660,633.618353576,880,786,806,651,630.618353576,652,0.425260397354,-0.0155083258332,0.0799578174262,0.999999996776,3.80272093825e-06,-5.64990240429e-05,-5.69373758578e-05,1793244972807756032
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,744.972087353,714,681,660,633.027912647,880,786,806,651,630.027912647,652,0.426138465699,-0.0155045873385,0.0799111322223,0.999999989833,3.40901222238e-07,-0.000128046651253,-6.27503586132e-05,1793244972824422912
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.551826237,745,714,681,660,633.551826237,880,786,806,651,630.551826237,652,0.427070997856,-0.0155077044248,0.0799111359692,0.999999991842,-5.85796156292e-06,-0.000111066046204,-6.28141820837e-05,1793244972841089536
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.870187853,745,714,681,660,633.870187853,879.870187853,786,806,651,630.870187853,652,0.427996659558,-0.0155104798174,0.0799153410871,0.999999993497,-1.04072578237e-05,-9.49348564244e-05,-6.23359096646e-05,1793244972857755904
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.296381352,745,714,681,660,633.296381352,879.296381352,786,806,651,630.296381352,652,0.428889579018,-0.0155109230294,0.0799259922961,0.999999993423,-8.8500527519e-06,-9.67334278001e-05,-6.09792309636e-05,1793244972874422272
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,744.722307677,714,681.277692323,660,633.277692323,879.277692323,786,806,651.277692323,630,652,0.429815180841,-0.015513062496,0.0799528493392,0.999999996007,-8.65700470586e-06,-6.64516311531e-05,-5.91184718331e-05,1793244972891088896
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,744.147948609,714,681.852051391,660,633.852051391,879.852051391,786,806,651.852051391,630,652,0.430775698119,-0.0155170141203,0.0799970195432,0.99999999834,-9.92132516492e-06,-1.89744852999e-06,-5.67191888934e-05,1793244972907755520
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.442540828,744.442540828,714,681.557459172,660,634,880,786,806,651.557459172,630,652,0.431701539246,-0.0155187979383,0.0800182750217,0.999999997921,-6.3730943965e-06,3.26456085599e-05,-5.52371715583e-05,1793244972924422144
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.962619025,714,681,660,634,880,786,806,651,630,652.037380975,0.432608322492,-0.0155193673106,0.0800259252328,0.999999997355,-2.08685141681e-06,4.7998541476e-05,-5.46039360915e-05,1793244972941089024
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.385760655,714,681,660,634,880,786,806,651,630,652.614239345,0.433413698501,-0.0155132648653,0.0799519674186,0.999999996033,-1.1247719321e-05,-6.33225226927e-05,-6.16271655543e-05,1793244972957755648
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.809135028,744.190864972,714,681,660,634,880,786,806,651,630,652.809135028,0.434243313695,-0.0155100103226,0.0799049216062,0.99999998898,-1.99132480333e-05,-0.000131315830184,-6.63320715517e-05,1793244972974422528
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.232979122,744.767020878,714,681,660,634,880,786,806,651,630,652.232979122,0.435121859638,-0.0155125047175,0.0799122018839,0.999999991163,-2.75788586673e-05,-0.000111845275131,-6.63570799604e-05,1793244972991089408
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.351371161,745,713.648628839,681,660.351371161,633.648628839,880,786,806,651,630,652,0.435998817279,-0.0155167048598,0.0799378670024,0.999999994485,-3.1166555448e-05,-7.69732960732e-05,-6.42969459797e-05,1793244973007756032
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.941284485,745,713.058715515,681,660.941284485,633.058715515,880,786,806,651,630,652,0.436874696586,-0.015522063016,0.0799760133941,0.999999997138,-3.19857991584e-05,-3.16454542837e-05,-6.08212308002e-05,1793244973024422400
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.478600798,745,713.521399202,681,660.478600798,633,880,786,806,651,630.521399202,652.521399202,0.437710055343,-0.0155309814621,0.0799880222294,0.999999997157,-4.25047160346e-05,-1.32508203686e-05,-6.08659056788e-05,1793244973041089024
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,744.902902535,714,681.097097465,660,633,880.097097465,786,806.097097465,651,631,652.902902535,0.438522812465,-0.0155396185073,0.0799900595451,0.999999996603,-5.36183176278e-05,-9.69324231391e-06,-6.1840055489e-05,1793244973057755392
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,744.343089399,714,681.656910601,660,633,880.656910601,786,806.656910601,651,631,652.343089399,0.439249206126,-0.0155450391673,0.0799583457265,0.999999993949,-6.2456591127e-05,-6.26542891902e-05,-6.53892375212e-05,1793244973074422016
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,744.233766944,714,681.766233056,660,633,880.766233056,786,807,651,630.766233056,652,0.43994170707,-0.0155485363276,0.0799012594215,0.999999983405,-7.06934390348e-05,-0.00015245474503,-7.03594115963e-05,1793244973091088896
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,744.837603861,714,681.162396139,660,633,880.162396139,786,807,651,630.162396139,652,0.440580553324,-0.0155489884484,0.079804006639,0.999999948778,-7.7978185094e-05,-0.000300574642296,-7.75791176753e-05,1793244973107755776
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,714,681.423828073,660,633,880,785.576171927,806.576171927,651,630,652.423828073,0.44124300615,-0.0155531218082,0.079728556593,0.99999990778,-9.01268614175e-05,-0.000411394734708,-8.40969837017e-05,1793244973124422656
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659.996442059,633,880,785,806.003557941,651,630,652.996442059,0.441914590133,-0.0155587614245,0.0796618958207,0.999999861807,-0.000104174839937,-0.0005073342174,-9.02536692254e-05,1793244973141089024
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,714,682,659.419142905,633,880,785,806.580857095,651,630,652.419142905,0.442658219651,-0.0155889137887,0.0797191675467,0.999999900879,-0.00013595632584,-0.000416400527967,-7.98026158549e-05,1793244973157755648
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,713.843294321,682,659,632.843294321,880,785,806.843294321,651,630,652,0.443375606724,-0.0156184618657,0.0797687229093,0.999999925058,-0.000168220306494,-0.000341310479327,-7.13647276696e-05,1793244973174422272
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,713.27128989,682,659,632.27128989,880,785,806.27128989,651,630,652,0.444023446673,-0.0156464084775,0.0797978285077,0.99999992982,-0.000201762996282,-0.000308208969378,-6.82620952964e-05,1793244973191089152
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713.311604201,682,659,632,880.311604201,784.688395799,806.311604201,651,630,652.311604201,0.444630677742,-0.0156612864627,0.0797992334308,0.999999925289,-0.00021947955817,-0.000310899015597,-6.77739472533e-05,1793244973207755776
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713.904322374,682,659,632,880.904322374,784.095677626,806.904322374,651,630,652.904322374,0.445201273438,-0.0156643745745,0.0797756481666,0.999999912913,-0.000222918564626,-0.000345878444033,-6.96444584931e-05,1793244973224422400
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1f69c36379ca6fabd6adc48c078d478bd866a8b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_03/fem_node.csv
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--- /dev/null
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ac3a7e5ce24d7eaf31ea249fb55c4defc7d18c3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,764.589284982,744,714,679,658,634,879,786,805,651.589284982,630.410715018,652,0.400977502243,-0.0153640896405,0.0798371653557,0.999999923177,0.000270086138192,-0.000281780310957,3.60365895454e-05,1793244976949393152
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+22,0.366666667,BASELINE,764,744,714,679.781895091,658.781895091,634,879.218104909,786,805,651.781895091,630.781895091,652,0.400978213913,-0.0153642702633,0.0798390785469,0.999999923014,0.000272919031482,-0.000279592747406,3.62642351702e-05,1793244977299392768
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+27,0.450000000,BASELINE,764.316288541,744,714.316288541,679,658,633,879.683711459,786,805,651.683711459,631,652.316288541,0.400976409557,-0.015365420268,0.0798376835229,0.99999992289,0.000270807459353,-0.000282103583675,3.60575342237e-05,1793244977382727680
+28,0.466666667,BASELINE,764,744,714,679,658.259962109,633.259962109,879.740037891,786,805,651.740037891,631,652,0.400976272409,-0.0153652335637,0.0798374786069,0.999999923131,0.000270087748129,-0.00028195906405,3.59165109548e-05,1793244977399394560
+29,0.483333333,BASELINE,764,744,714,679,658.837996394,633.837996394,879.162003606,786,805,651.162003606,631,652,0.400976455147,-0.0153643734528,0.0798378303206,0.999999923363,0.000270562337192,-0.000280724178336,3.5559641178e-05,1793244977416060672
+30,0.500000000,BASELINE,764.414024029,744.414024029,714,679,658.585975971,634,879,786,804.585975971,651.414024029,630.585975971,652,0.400977308885,-0.0153638168569,0.0798385254169,0.999999923396,0.000271552212113,-0.000279628780454,3.57100320336e-05,1793244977432727040
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+34,0.566666667,BASELINE,764.255814322,744,714,679.255814322,658,634,879,786,805,651.744185678,630.744185678,652,0.400975320864,-0.0153637692971,0.0798374216871,0.999999921834,0.000273921656477,-0.000282855654842,3.59414914303e-05,1793244977499393792
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+39,0.650000000,BASELINE,764,744,714,679,658.652368198,634,878.347631802,786,805,651,630,652,0.400975705506,-0.0153645509335,0.0798370613,0.999999921825,0.000274789789145,-0.000282048154422,3.59037674473e-05,1793244977582726144
+40,0.666666667,BASELINE,764,744.229604412,714,679,658.770395588,634,878.229604412,786.229604412,804.770395588,651,630,652.229604412,0.400975112002,-0.0153648394462,0.0798364934841,0.99999992178,0.000274035529742,-0.000282939752631,3.59186364584e-05,1793244977599393024
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+48,0.800000000,BASELINE,764.138161819,744,714,679,658,634,879,786.861838181,805,652,630,652,0.400975542528,-0.0153649102346,0.0798367071916,0.999999923626,0.000268383717011,-0.000281932937293,3.50994116107e-05,1793244977732726784
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+51,0.850000000,BASELINE,764,744,714,679,658.385913177,634,879,786,805,651.614086823,631,652,0.400977927887,-0.015366166457,0.0798398676313,0.999999924675,0.000268705747139,-0.000277796667927,3.573156133e-05,1793244977782726656
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+53,0.883333333,BASELINE,764,744,714,679,658,634,879,786,805,652,631,652,0.400977600749,-0.015365201531,0.0798385592621,0.999999923468,0.000272020867787,-0.000278862219481,3.61287242959e-05,1793244977816060160
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+57,0.950000000,BASELINE,764.096762574,744,714,679,658,634,879.903237426,786,805,651.096762574,631,652,0.400976304279,-0.0153657880903,0.0798372966343,0.999999923356,0.000270531119432,-0.000280810248556,3.53009046602e-05,1793244977882726144
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+60,1.000000000,BASELINE,764.171734666,744,714,679,658,634,879,786.828265334,805,652,630.171734666,652,0.400976041915,-0.0153658667922,0.0798386358464,0.999999924109,0.000269005555422,-0.000279582626961,3.53633640151e-05,1793244977932726528
+61,1.016666667,BASELINE,764,744.408829725,714,679,658.408829725,634,879,786.591170275,805,651.591170275,630.408829725,652,0.400976793907,-0.0153652654093,0.0798390989861,0.999999924111,0.000269814391636,-0.000278792642131,3.53864731668e-05,1793244977949393408
+62,1.033333333,BASELINE,764,744.991730147,714,679,658.991730147,634,879,786.008269853,805,651.008269853,630.991730147,652,0.40097893576,-0.0153643844712,0.0798403621519,0.999999924376,0.000270965333455,-0.000276706109229,3.54950568551e-05,1793244977966060288
+63,1.050000000,BASELINE,764,744.425358323,714,679,658.425358323,634,879,786,804.425358323,651,630.425358323,652,0.400977836893,-0.0153652547165,0.0798396230057,0.999999924448,0.000269476826201,-0.000277877945092,3.56250076372e-05,1793244977982727168
+64,1.066666667,BASELINE,764,744,714,679,658.156539118,634,879,786,804.156539118,651.156539118,630,652,0.400977015809,-0.0153661527717,0.07983906353,0.999999924607,0.000267930145497,-0.000278794371071,3.56890215974e-05,1793244977999394048
+65,1.083333333,BASELINE,764,744,714,679,658.735698284,634,879,786,804.735698284,651.735698284,630,652,0.400977070595,-0.0153670578664,0.0798390669218,0.999999925011,0.000266328963077,-0.000278894647513,3.5574190917e-05,1793244978016060160
+66,1.100000000,BASELINE,764,744.312158022,714,679,658.687841978,634,879,786,805,651.687841978,630,652,0.400977657039,-0.0153668846398,0.0798391805697,0.999999924904,0.000267032858306,-0.000278600974103,3.56056381567e-05,1793244978032726272
+67,1.116666667,BASELINE,764,744.886351745,714,679,658.113648255,634,879,786,805,651.113648255,630,652,0.400978689775,-0.015365806235,0.0798393867703,0.999999924364,0.000269671711532,-0.00027797660624,3.57598758944e-05,1793244978049392896
+68,1.133333333,BASELINE,764,745,714,679.471724838,658,634,879,786,805,651.471724838,630,652,0.400977884662,-0.0153660929622,0.0798389284882,0.999999924269,0.000269620377482,-0.000278362291417,3.5795250014e-05,1793244978066059776
+69,1.150000000,BASELINE,764,744.941009911,714,679.941009911,658.058990089,634,878.941009911,786,805.058990089,652,630,652,0.40097679521,-0.0153665520938,0.0798384230675,0.999999924276,0.000269038227399,-0.000278899995327,3.57881494414e-05,1793244978082726400
+70,1.166666667,BASELINE,764,744.361393038,714,679.361393038,658.638606962,634,878.361393038,786,805.638606962,652,630,652,0.400977198938,-0.0153655596893,0.0798389487935,0.99999992421,0.000269630229031,-0.000278579571864,3.56650543898e-05,1793244978099393280
+71,1.183333333,BASELINE,764,744,714,679,658.783186399,634,878.216813601,785.783186399,805.783186399,651.783186399,630.216813601,652,0.400977484907,-0.0153651278537,0.0798393961342,0.99999992438,0.000269421860077,-0.000278187743666,3.5553955701e-05,1793244978116060160
+72,1.200000000,BASELINE,764,744,714,679,658.207315111,634,878.792684889,785.207315111,805.207315111,651.207315111,630.792684889,652,0.400977575857,-0.0153656243574,0.0798397136637,0.999999924937,0.000267888024501,-0.000277677664439,3.5462723764e-05,1793244978132726784
+73,1.216666667,BASELINE,764,744,714,679,658,634,879,785.368272659,805,651,631,652,0.400977133363,-0.0153658116226,0.0798393787109,0.999999924624,0.000268456932655,-0.000278233023521,3.56170030818e-05,1793244978149393152
+74,1.233333333,BASELINE,764,744,714,679,658,634,879,785.943700914,805,651,631,652,0.400976390802,-0.0153658249392,0.0798386767327,0.99999992382,0.00027020864695,-0.000279387698119,3.59093839687e-05,1793244978166059776
+75,1.250000000,BASELINE,764,744.532095733,714,679,658,634,879,786,805,651,630.467904267,652.532095733,0.40097689435,-0.0153653658887,0.0798390895274,0.99999992395,0.00027052661808,-0.000278637309444,3.57305725096e-05,1793244978182726400
+76,1.266666667,BASELINE,764,745,714,679,658,634,878.880185169,786,805,651.119814831,630,652.880185169,0.400977193119,-0.0153652027345,0.0798394095729,0.999999924157,0.000270407559518,-0.000278032543565,3.55365905365e-05,1793244978199392768
+77,1.283333333,BASELINE,764,745,714,679,658,634,878.300457645,786,805,651.699542355,630,652.300457645,0.400976187103,-0.0153663720262,0.0798389095345,0.999999924275,0.000269207795575,-0.000278779804213,3.54805264034e-05,1793244978216059648
+78,1.300000000,BASELINE,764,745,714,679,658.276396619,634,878.276396619,786,805,651.723603381,630,652,0.400976261628,-0.0153659108169,0.0798387176876,0.999999924231,0.000269077160289,-0.000279085402677,3.53169646384e-05,1793244978232726528
+79,1.316666667,BASELINE,764,745,714,679,658.850159598,634,878.850159598,786,805,651.149840402,630,652,0.400977498675,-0.0153636954031,0.0798388574143,0.999999924013,0.000270096766705,-0.000278915830754,3.5037749583e-05,1793244978249393152
+80,1.333333333,BASELINE,764,744.574655641,714,679,658.574655641,634,879,786,805,651.425344359,630.425344359,652,0.400977923252,-0.0153633245123,0.0798391738545,0.999999923782,0.000271401241882,-0.000278451159787,3.52340369926e-05,1793244978266059520
+81,1.350000000,BASELINE,764,744,713.998935098,679,658,634,879,786,805.001064902,651.998935098,631,652,0.40097806023,-0.0153636073258,0.0798395514517,0.999999923546,0.000272801547188,-0.000277883860163,3.55978668867e-05,1793244978282726144
+82,1.366666667,BASELINE,764,744,713.404728173,679,658,634,879,786,805.595271827,651.404728173,631,652,0.400977962411,-0.0153648571509,0.0798392025386,0.999999923797,0.000271494766016,-0.000278250973561,3.56667900338e-05,1793244978299392768
+83,1.383333333,BASELINE,764.183235923,744,713.183235923,679.183235923,658,634,879,786,805.816764077,651,631,652,0.400977939263,-0.0153654473661,0.0798389812096,0.999999923835,0.000271135792046,-0.000278468941855,3.56434297939e-05,1793244978316059392
+84,1.400000000,BASELINE,764.757865396,744,713.757865396,679.757865396,658,634,879,786,805.242134604,651,631,652,0.400978075614,-0.0153646286491,0.0798390324015,0.999999923418,0.00027280134238,-0.000278368334961,3.54229514382e-05,1793244978332726016
+85,1.416666667,BASELINE,765,744.332813635,714,679.667186365,658,634,879,786,805,651,631,652,0.400978470224,-0.0153657664067,0.0798395782721,0.999999924105,0.000271126209236,-0.000277520601407,3.55446117746e-05,1793244978349392640
+86,1.433333333,BASELINE,765,744.907993976,714,679.092006024,658,634,879,786,805,651,631,652,0.40097905291,-0.0153683289385,0.0798404843852,0.999999925582,0.00026701827166,-0.000276128783693,3.59154296683e-05,1793244978366059264
+87,1.450000000,BASELINE,765,745,714,679,658,634,879,786,805,651,630.503022263,652,0.40097843348,-0.0153662628043,0.0798402531551,0.999999924684,0.00026956923276,-0.000276928306839,3.57052764286e-05,1793244978382725888
+88,1.466666667,BASELINE,765,744.913311964,714,679,658.086688036,634,879,786,805,651,630,652,0.400977859809,-0.0153638189381,0.0798398613286,0.999999923636,0.000272530902755,-0.000277856712373,3.53672312142e-05,1793244978399392768
+89,1.483333333,BASELINE,765,744.33440088,714,679,658.66559912,634,879,786,805,651,630,652,0.400978845711,-0.0153642348931,0.0798397873409,0.999999924366,0.000270624864456,-0.00027714759685,3.49311622513e-05,1793244978416059392
+90,1.500000000,BASELINE,764.757917209,744,714,679,659,634,879,786,805,651,630.242082791,652.242082791,0.400978854786,-0.0153650045943,0.0798394585342,0.999999924854,0.000268714446789,-0.000277250263253,3.48697548047e-05,1793244978432726272
+91,1.516666667,BASELINE,764.184753401,744,714,679,659,634,879,786,805,651,630.815246599,652.815246599,0.40097752792,-0.0153662580912,0.079838781228,0.999999925015,0.0002667980399,-0.000278463151487,3.53207477818e-05,1793244978449392896
+92,1.533333333,BASELINE,764,744,714,679,658.609035685,634,879,786,805,651,630.609035685,653,0.400977111939,-0.0153663971074,0.0798386647582,0.999999924704,0.000267505078082,-0.000278887815025,3.54278046851e-05,1793244978466059776
+93,1.550000000,BASELINE,764,744,714,679,658.032103112,634,879,786,805,651,630.032103112,653,0.400977129236,-0.0153660060036,0.0798388150588,0.999999924167,0.000269459998544,-0.000278937547334,3.5371263086e-05,1793244978482726400
+94,1.566666667,BASELINE,764.554956463,744,714,679,658.554956463,634,879,786,805,651,630,652.445043537,0.400977550738,-0.0153665621768,0.0798395231224,0.999999924756,0.000268141526896,-0.000278070476655,3.55782670584e-05,1793244978499393024
+95,1.583333333,BASELINE,765,744,714,679,659,634,879,786,805,651.139916293,630.139916293,652.139916293,0.40097770568,-0.0153671079979,0.0798398376155,0.999999925186,0.000266947920333,-0.000277655358654,3.57079391055e-05,1793244978516059904
+96,1.600000000,BASELINE,765,744,714,679,659,634,879,786,805,651.716461566,630.716461566,652.716461566,0.400976954457,-0.01536744733,0.0798388213546,0.999999924921,0.000266745879172,-0.000278819204286,3.55478254256e-05,1793244978532726528
+97,1.616666667,BASELINE,764.706056659,744.293943341,714,678.706056659,659,634,879,786,805,651.706056659,630.706056659,652.706056659,0.400977360422,-0.015367274602,0.079838700895,0.999999924784,0.000267396250954,-0.000278691579149,3.55409873127e-05,1793244978549393152
+98,1.633333333,BASELINE,764.127668682,744.872331318,714,678.127668682,659,634,879,786,805,651.127668682,630.127668682,652.127668682,0.400978886181,-0.0153666063608,0.0798394472891,0.999999924766,0.000268871490184,-0.000277314216719,3.56824717155e-05,1793244978566059776
+99,1.650000000,BASELINE,764,745,714,678.459944469,658.540055531,634,879,786,805,651,630.459944469,652,0.400978016179,-0.0153654057675,0.0798390071978,0.999999924132,0.000270389600222,-0.000278129703727,3.56150460452e-05,1793244978582726400
+100,1.666666667,BASELINE,764.049225703,745,714,679.049225703,658,634,879,786,805,651.049225703,630.950774297,652,0.400976600798,-0.0153643133734,0.0798383227721,0.99999992344,0.000271704856655,-0.00027934821002,3.55056423533e-05,1793244978599393024
+101,1.683333333,BASELINE,764.628334699,745,714,679.628334699,658,634,879,786,805,651.628334699,630.371665301,652,0.400976619591,-0.0153660088507,0.0798386259138,0.999999924023,0.000270705807775,-0.000278218823979,3.5581352182e-05,1793244978616059904
+102,1.700000000,BASELINE,765,744.795261528,714,679.795261528,658.204738472,634,879,786,805,652,630,652,0.400976582248,-0.0153666589857,0.0798388197877,0.999999924273,0.000270158940737,-0.000277854987368,3.55517831431e-05,1793244978632726784
+103,1.716666667,BASELINE,765,744.223704616,714,679.223704616,658.776295384,634,879,786,805,652,630,652,0.400976444325,-0.0153654362392,0.0798388178923,0.999999923929,0.000270422222657,-0.000278862742869,3.53335918524e-05,1793244978649393152
+104,1.733333333,BASELINE,764.650930921,744,714,679.349069079,659,634,879,786,805,652,630.349069079,652,0.400976284635,-0.0153647446826,0.0798385421114,0.999999923853,0.000270076122699,-0.000279487692065,3.52066950381e-05,1793244978666059776
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+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,633,878,786,805,652,631,652,0.400978211727,-0.0153675871283,0.07983969748,0.999999924908,0.000268043047648,-0.000277617209425,3.55784616292e-05,1793244978715949824
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+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.743319466,714,679,659,633.256680534,879,786.256680534,805,651.743319466,630.743319466,652.743319466,0.400977378172,-0.0153659672011,0.0798383716612,0.999999924139,0.000269271503754,-0.000279213690843,3.5432861386e-05,1793244978749283584
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.016569029,744.983430971,714,679,659,634,879,787,805,651,630.983430971,652,0.400977470396,-0.0153643333779,0.0798392696939,0.999999923204,0.000273553546596,-0.000278381106046,3.55461690457e-05,1793244978799282944
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744.424446099,714,679,659,634,879,786.424446099,805,651,630.424446099,652,0.400975983401,-0.0153660588193,0.0798388348323,0.999999923996,0.000269595098942,-0.000279399070621,3.55217907808e-05,1793244978815949568
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+122,2.033333333,POSE1_TO_POSE2_PRESS,764.372803105,744,714,679.372803105,658,634,879,786,805,651,631,652.372803105,0.401299582801,-0.0153780856332,0.0799273039413,0.999999956591,0.000267261039631,-0.00011823222482,3.75624096087e-05,1793244978982616576
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.945722507,744,714,679.945722507,658,634,879,786,805,651,631,652.945722507,0.401382344147,-0.0153796454809,0.0799346710433,0.999999957369,0.000268313357303,-0.000109521602228,3.57051116803e-05,1793244978999283200
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.459984089,744.540015911,714,679.459984089,658.540015911,634,879,786,805,651.540015911,630.459984089,652.459984089,0.401480474093,-0.0153848922059,0.0799383170608,0.999999959446,0.000263572030049,-0.000102659063823,3.31454008028e-05,1793244979015949568
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744.868268369,714,679,659,634,879,786,805,651.868268369,630,652,0.401585380839,-0.0153900775358,0.0799412412575,0.999999961285,0.000259150707006,-9.67355267537e-05,3.02074184781e-05,1793244979032616448
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744.292771445,714,679,659,634,879,786,805,651.292771445,630,652,0.401707698503,-0.0153937562505,0.0799430457041,0.999999962058,0.000257849909359,-9.33236763707e-05,2.62427831873e-05,1793244979049283072
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744.282342534,714,679,658.717657466,634,879.282342534,786,805,651,630.282342534,652,0.401847276803,-0.0153981446516,0.079946740315,0.999999963785,0.000253994267212,-8.62640518215e-05,2.17990014262e-05,1793244979065949696
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.857059925,714,679,658.142940075,634,879.857059925,786,805,651,630.857059925,652,0.402004729045,-0.0154032679558,0.0799523922522,0.999999966387,0.000247493000715,-7.54270389275e-05,1.68590481871e-05,1793244979082616576
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.443881464,745,714,679,658.443881464,634,879.556118536,786,805,651,631,652,0.402179275503,-0.0154094741177,0.0799543111416,0.999999968363,0.000240505046825,-7.28017694386e-05,1.14416206222e-05,1793244979099283200
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.965972987,744.965972987,714,679,658.965972987,634,879.034027013,786,805.034027013,651,630.965972987,652,0.402360739242,-0.015416121083,0.0799545440237,0.999999970166,0.000232806484009,-7.37255842018e-05,5.73374649026e-06,1793244979115950080
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.386772225,744.386772225,714,679,658.386772225,634,879.613227775,786,805.613227775,651,630.386772225,652,0.402562361913,-0.0154240870006,0.0799475642118,0.999999972736,0.000216304102017,-8.79568260819e-05,-2.09506102243e-06,1793244979132616448
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,744,714,679.189925393,658,634,879.810074607,786,805.810074607,651,630.189925393,652,0.402779393154,-0.0154316289576,0.0799433473707,0.999999979213,0.00017954175119,-9.6113679599e-05,-1.00251223366e-05,1793244979149283328
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744,714,679.761591913,658,634,879.238408087,786,805.238408087,651,630.761591913,652,0.403027394937,-0.0154383187751,0.0799446839702,0.99999999039,0.000102057810122,-9.206129982e-05,-1.8158700429e-05,1793244979165949696
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.33650267,744,714,679.66349733,658,634,879,786,805,651.33650267,630.66349733,652,0.403308786629,-0.0154472837399,0.0799480197168,0.999999993962,6.42293689806e-05,-8.54658567282e-05,-2.54189232971e-05,1793244979182616576
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.913734269,744,714,679.086265731,658,634,879,786,805,651.913734269,630.086265731,652,0.403614064943,-0.0154578763101,0.0799527856229,0.999999995018,5.47698787027e-05,-7.70511450427e-05,-3.20543605944e-05,1793244979199282944
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.504873571,634,879,786,805,651.495126429,630,652.504873571,0.40395085492,-0.0154681229941,0.079956724911,0.99999999467,7.15037568963e-05,-7.05125495465e-05,-2.39630544575e-05,1793244979215949568
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.904701768,744,714,679,659,634,879,786.095298232,805,651,630.095298232,653,0.404300346053,-0.0154772846648,0.0799597814423,0.999999994124,8.57440717963e-05,-6.43134855369e-05,-1.62637619946e-05,1793244979232616448
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.330159886,744,714,679,659,634,879,786.669840114,805,651,630.669840114,653,0.404685865922,-0.0154812955582,0.0799591290977,0.999999995964,6.42999380698e-05,-5.81641387865e-05,-2.35484955682e-05,1793244979249283328
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.245672641,714,679.245672641,659,634,879,786.754327359,805,651.245672641,631,653,0.405082407236,-0.015486663606,0.0799570439477,0.999999996813,4.66432253504e-05,-5.8008364547e-05,-2.88849981537e-05,1793244979265949696
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744.823248779,714,679.823248779,659,634,879,786.176751221,805,651.823248779,631,653,0.405493838479,-0.0154938651679,0.079953023079,0.999999996745,3.41033164726e-05,-6.59499014297e-05,-3.15894419997e-05,1793244979282616576
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.408793301,744.591206699,714,679.591206699,658.591206699,634,879,786,805,651.591206699,630.591206699,652.591206699,0.405944651709,-0.0154901231381,0.0799466757539,0.999999995531,4.38472835275e-05,-7.75460566294e-05,-3.16534776941e-05,1793244979299283456
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.997851681,744.002148319,714,679.002148319,658.002148319,634,879,786,805,651.002148319,630.002148319,652.002148319,0.406412831202,-0.0154815553268,0.0799393025338,0.999999993404,6.34177428447e-05,-9.07537850282e-05,-3.0553176074e-05,1793244979315949824
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,679.576660337,658.576660337,634,879,786,805,651,630,652,0.40690466029,-0.0154718755617,0.0799342737696,0.999999991807,7.30964891148e-05,-9.9723722944e-05,-3.31397241298e-05,1793244979332616448
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.845379601,744,714,680,659,634,879.154620399,786,805,651,630,652,0.407404916525,-0.0154681319857,0.0799279774773,0.999999990368,7.38981299228e-05,-0.000111987700082,-3.55198769624e-05,1793244979349283072
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.269628489,744,714,680,659,634,879.730371511,786,805,651,630,652,0.407927889633,-0.0154805675511,0.079918205517,0.999999989143,5.06203262331e-05,-0.00013326571394,-3.73011271458e-05,1793244979365949696
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,744.305520651,714,679.694479349,659,634,879.388958697,786,805,651.305520651,630,652,0.408491546444,-0.0154905261588,0.0799181544188,0.999999989454,3.60880415825e-05,-0.00013536114026,-3.8307700134e-05,1793244979382616576
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.88013955,714,679.11986045,659,634,878.239720901,786,805,651.88013955,630,652,0.40909103685,-0.0154983030968,0.0799266653183,0.999999991558,2.92586872133e-05,-0.000120560814918,-3.86319483694e-05,1793244979399283456
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.467631354,745,714,679.467631354,659.467631354,634,878.467631354,786,805.467631354,652,630,652,0.409768807902,-0.0154996822275,0.0799592410442,0.9999999967,2.89649724032e-05,-6.59590959331e-05,-3.75676436555e-05,1793244979415950336
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.942649785,634,879,786,805.942649785,651.942649785,630,652,0.410464221367,-0.0154994020923,0.0799946277389,0.999999998874,2.96932409731e-05,-7.16818673033e-06,-3.63214970664e-05,1793244979432616960
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.363537569,634,879,786,805.363537569,651.363537569,630,652,0.411132432613,-0.0154993676068,0.0799978828887,0.999999999019,2.40474698823e-05,-5.70485328348e-06,-3.67506090098e-05,1793244979449283328
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.78617529,714,680,659,634,879,786,805,651,630,652.21382471,0.411798046908,-0.0154990983089,0.07998564259,0.999999998689,1.99269914553e-05,-2.66638046402e-05,-3.89082312658e-05,1793244979465949696
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.211764102,714,680,659,634,879,786,805,651,630,652.788235898,0.412459281727,-0.0154984330317,0.0799472713111,0.999999995214,1.83787135115e-05,-8.54349094522e-05,-4.39807524542e-05,1793244979482616320
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.641459103,744,714,680,659,634,879,786,805.358540897,651,630.358540897,652.641459103,0.413161475453,-0.0154995820656,0.0799233213901,0.999999992404,1.36939999368e-05,-0.000112644963073,-4.81109714617e-05,1793244979499283200
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.073551818,744,714,680,659,634,879,786,805.926448182,651,630.926448182,652.073551818,0.413887586788,-0.0155017905484,0.0799077926738,0.999999991266,7.17779587268e-06,-0.000121425260742,-5.16909430313e-05,1793244979515949568
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,744.525081453,714,680,659,634,879,786,806,651,630.474918547,652,0.414703451562,-0.015504045085,0.079931221673,0.99999999532,3.90349654668e-06,-8.27392895321e-05,-4.99982164426e-05,1793244979532616448
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.122054743,745,714,680,659,634,879,786,805.877945257,651,630,652,0.415519840383,-0.0155056629947,0.0799527321071,0.999999997454,1.80967243531e-06,-5.2642132202e-05,-4.81492684796e-05,1793244979549283328
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.695959064,745,714,680,659,634,879,786,805.304040936,651,630,652,0.416288733344,-0.0155048987302,0.079945682098,0.999999995576,2.30035654827e-06,-8.0485338974e-05,-4.86261826942e-05,1793244979565949952
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.729440793,714,679.729440793,659.270559207,634,879.270559207,786,805.270559207,651,630,652,0.417101161955,-0.0155056678629,0.0799468133038,0.999999995757,2.08977098473e-06,-7.78036499909e-05,-4.9283973076e-05,1793244979582616320
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.154056739,714,679.154056739,659.845943261,634,879.845943261,786,805.845943261,651,630,652,0.417962639849,-0.0155081645936,0.0799571618551,0.999999997913,1.08910167949e-06,-4.07311625292e-05,-5.01455470896e-05,1793244979599282944
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.432286512,714,679.432286512,660,634,879.567713488,786,806,651,630,652,0.418833458716,-0.0155110399954,0.0799764217965,0.999999998692,-3.65698889631e-06,-2.04499577239e-06,-5.09762824737e-05,1793244979615949568
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.977789573,634,879.022210427,786,806,651,630,652.022210427,0.419707767464,-0.0155139132634,0.0799972646259,0.99999999802,-9.58285095678e-06,3.44294187303e-05,-5.17978924682e-05,1793244979632616192
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.398562235,634,879.601437765,786,806,651,630,652.601437765,0.420583942235,-0.0155132605805,0.0799760867712,0.999999998555,-1.07505229431e-05,6.37607745367e-07,-5.26734401632e-05,1793244979649282816
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.179714531,659,634,879.820285469,786,805.820285469,651,630.179714531,652.820285469,0.421471127804,-0.015513939728,0.0799670236258,0.999999998429,-1.28424031064e-05,-1.35394814969e-05,-5.28527828992e-05,1793244979665949696
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.755894179,659,634,879.244105821,786,805.244105821,651,630.755894179,652.244105821,0.422382603991,-0.0155175570034,0.0799846865337,0.999999998409,-1.6973162798e-05,1.5555131958e-05,-5.14962398888e-05,1793244979682616320
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.669135299,745,714,681,659.330864701,634,879,786,805.330864701,651,630.669135299,652,0.423284980741,-0.01551930102,0.079997776542,0.999999998223,-1.23642782351e-05,3.01321569169e-05,-4.99399795542e-05,1793244979699283200
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.095053539,745,714,681,659.904946461,634,879,786,805.904946461,651,630.095053539,652,0.424180668634,-0.0155196680134,0.0800075050355,0.999999998256,-1.33092346772e-06,3.40373751275e-05,-4.82369078472e-05,1793244979715950080
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659.506555407,634,879,786,805.506555407,651,630,652.493444593,0.425020748728,-0.0155159899682,0.0799634741518,0.999999997311,3.84840673253e-07,-5.04494049732e-05,-5.32318260274e-05,1793244979732616448
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.083290388,745,714,680.916709612,659.083290388,634,879.083290388,786,805.083290388,651,630,652.916709612,0.425870258594,-0.0155130641328,0.0799158021303,0.99999998916,-1.72552292181e-06,-0.000134954833813,-5.88579612661e-05,1793244979749282816
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.66409897,745,714,680.33590103,659.66409897,634,879.66409897,786,805.66409897,651,630,652.33590103,0.426842006493,-0.0155194259745,0.0799101004523,0.999999991469,-1.56465204439e-05,-0.00011480235797,-6.03155493798e-05,1793244979765949696
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.236590125,786,806,651,630,652,0.427773624979,-0.0155234530432,0.0799095639524,0.999999992261,-2.2364687428e-05,-0.000106319318166,-6.0613386043e-05,1793244979782616064
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.797673546,786,806,651,630,652,0.428650204227,-0.0155242778725,0.0799161117114,0.999999991576,-1.92038689351e-05,-0.000113841401367,-5.93205748235e-05,1793244979799282688
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.384047746,660,633.615952254,880.615952254,786,806.384047746,651,630,652,0.42957679831,-0.015526448631,0.0799438573684,0.999999995041,-2.21524728602e-05,-7.83293983689e-05,-5.7374220088e-05,1793244979815949568
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.984685047,660,633.015314953,880.015314953,786,806.984685047,651,630,652,0.430531598987,-0.0155293784466,0.0799835579015,0.999999997905,-2.85465783005e-05,-1.85476689988e-05,-5.50592894454e-05,1793244979832616448
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.435321893,745,714,681,660,633.564678107,879.435321893,786,806.435321893,651,630,652.564678107,0.431478892067,-0.015531634541,0.0800188145238,0.999999997621,-2.78414057604e-05,3.57404991704e-05,-5.20062202785e-05,1793244979849283072
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,681,660,634,879.143742265,786,806,651,630,652.856257735,0.432397959726,-0.0155317179158,0.0800281170392,0.999999997041,-2.85495193683e-05,4.98124921346e-05,-5.12034824297e-05,1793244979865949952
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660,634,879.721632179,786,806,651,630,652.278367821,0.433232370709,-0.0155252922236,0.0799593810255,0.999999996147,-3.40872417936e-05,-5.71471085888e-05,-5.72557986386e-05,1793244979882616320
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.298042169,745,714,681,660.298042169,634,880,786,806.298042169,651,630.298042169,652,0.434088198022,-0.0155237930833,0.0799182060553,0.999999990873,-3.71644116142e-05,-0.00011447327961,-6.13960007416e-05,1793244979899282944
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.873076824,745,714,681,660.873076824,634,880,786,806.873076824,651,630.873076824,652,0.434963929202,-0.0155268725491,0.0799026455799,0.99999998935,-3.7954810036e-05,-0.000125671470781,-6.37591358796e-05,1793244979915949568
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.538744149,634,880.461255851,786,806.538744149,651,630.538744149,652,0.435827935604,-0.0155290434837,0.0799282818103,0.999999993095,-3.92746310363e-05,-9.14435256336e-05,-6.24987876069e-05,1793244979932616192
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.051849308,660,634,881,785.948150692,806,651,630,652,0.436688810676,-0.0155317188069,0.0799641774281,0.999999996281,-4.14294566596e-05,-4.58116811974e-05,-6.01841676901e-05,1793244979949282816
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.629180919,660,634,881,785.370819081,806,651,630,652,0.437551607865,-0.0155421140225,0.0799857913643,0.999999996953,-5.05271367575e-05,-1.50030422506e-05,-5.75862235192e-05,1793244979965949952
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+242,4.033333333,POSE1_TO_POSE2_PRESS,764.029141009,745.029141009,713,682,657.029141009,630,880,779,807,651,629,652,0.453186757405,-0.0157512528906,0.0795269914337,0.999999679919,-0.000359772964895,-0.00070997534916,-8.1612163091e-05,1793244980982616320
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+244,4.066666667,POSE1_TO_POSE2_PRESS,764.821669131,745.821669131,713,682,658,630,880,779,806.821669131,651,629,652,0.453183462543,-0.0157489180292,0.0795242738836,0.999999676887,-0.000357676317075,-0.0007152683965,-8.17555417695e-05,1793244981015950336
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.248062054,745.248062054,713,682,658,630,880,779,806.248062054,651,629,652,0.453183911158,-0.0157481506785,0.0795238082541,0.999999676959,-0.000356327971175,-0.000715821129834,-8.19337770425e-05,1793244981032616704
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+256,4.266666667,HOLD_POSE2,764.184791425,745,713,682.815208575,657,630,880.815208575,778,806.815208575,651,628.184791425,652,0.45318640608,-0.015745034813,0.0795248281659,0.999999677986,-0.000354411966868,-0.000715388782283,-8.14781711317e-05,1793244981235279872
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.699799255,744.300200745,714,679.699799255,658,633,879,786,805,651.300200745,630.699799255,652,0.403964026881,-0.0153543697551,0.0798272445767,0.999999915708,0.000285497612944,-0.000292024603522,4.23885473513e-05,1793244982972308736
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.035790919,744,714,679,658.035790919,634,879,786,805,651,630,652,0.400978003735,-0.0153625203133,0.0798366657889,0.999999920069,0.000274821894676,-0.000288080965561,3.66684071568e-05,1793244983538976000
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.618395964,744,714,679,658.618395964,634,879,786,805,651,630,652,0.400977503045,-0.0153637160535,0.0798364076995,0.999999920929,0.000272155490088,-0.000287618001107,3.6730558929e-05,1793244983555642624
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.801786617,744.198213383,714,679,659,634,879,786,805,651,630,652,0.400977373913,-0.0153642143726,0.07983653132,0.999999921474,0.000270913174488,-0.000286892700858,3.67594786108e-05,1793244983572309248
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.227261588,744.772738412,714,679,659,634,879,786,805,651,630,652,0.400977950187,-0.015363388625,0.0798373796236,0.999999921428,0.000272374517406,-0.000285669351446,3.67253065724e-05,1793244983588975872
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+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,744.507389344,714,679.492610656,658,634,879,786,805.507389344,652,630.507389344,652,0.400977823665,-0.0153645607788,0.0798375637062,0.999999921476,0.000272717481879,-0.000285180246521,3.66902429725e-05,1793244983638976256
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,744.90378177,714,679,658,634,879,786,805.90378177,652,631,652.09621823,0.400977336547,-0.015363788138,0.0798371683808,0.999999921354,0.000272709712938,-0.000285624316146,3.66078097529e-05,1793244983655642880
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,744.825668694,714,679,658.825668694,634,879,786,805,652,631,652.174331306,0.400977799315,-0.0153653140377,0.0798374971993,0.999999921796,0.000271545327038,-0.000285145932033,3.69186162113e-05,1793244983705642752
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,634,879,786,805.978602802,651.021397198,631,652.978602802,0.400976908256,-0.0153649014715,0.0798375069729,0.999999921249,0.000272804870043,-0.000285870788242,3.68519127872e-05,1793244983738975744
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cfca86b80df0fc684ba046d19709007e2f3f4347
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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+385,6.416666667,pose2_to_pose3_retreat,0.57567163354,-0.0101221379576,1.07005101762,0.546243266781,-0.00144645191282,1.06971751295
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+389,6.483333333,pose2_to_pose3_retreat,0.57567015501,-0.0101220470624,1.07005105482,0.546241786229,-0.00144636819406,1.06971754187
+390,6.500000000,pose2_to_pose3_retreat,0.575670106794,-0.0101220485268,1.07005103939,0.546241738025,-0.00144636960994,1.06971752655
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+393,6.550000000,pose2_to_pose3_retreat,0.575669671848,-0.0101220617369,1.07005090024,0.546241303199,-0.00144638238209,1.06971738832
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+396,6.600000000,pose2_to_pose3_retreat,0.57566961749,-0.0101220559511,1.07005088723,0.546241248678,-0.00144637711003,1.0697173763
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+400,6.666666667,pose2_to_pose3_retreat,0.575669565567,-0.010122040082,1.07005088087,0.546241196353,-0.00144636252229,1.06971737211
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+404,6.733333333,pose2_to_pose3_retreat,0.575669453903,-0.0101220361148,1.07005085942,0.546241084462,-0.00144635916885,1.06971735467
+405,6.750000000,pose2_to_pose3_retreat,0.57566940041,-0.0101220622673,1.07005084191,0.546241031456,-0.00144638362313,1.06971733846
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52a37ab11450f44a9004ed782d0c64deda66205e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4e29bf20578a46a3c213cb9604247723f2f7355a1d9165465dbde3c3b3923c0
+size 25839234
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..848b850f939885526a864b9649cd98f570cd592a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+45,0.750000000,BASELINE,764.110163838,744,714,679,658,634,879,786,805,651.889836162,630,652.889836162,0.400979826109,-0.0153674333282,0.0798409287968,0.999999923963,0.000271076392997,-0.000277947875591,3.65527779651e-05,1793244984632665344
+46,0.766666667,BASELINE,764.683037293,744,714,679,658,634,879,786,805,651.316962707,630,652.316962707,0.400979032519,-0.0153669287104,0.079840528026,0.999999924251,0.000269309889261,-0.000278689361279,3.60888674922e-05,1793244984649331968
+47,0.783333333,BASELINE,764.73705535,744.26294465,714,679.26294465,658.26294465,634,879.26294465,786,805,651,630.26294465,652,0.400978752339,-0.015366207171,0.0798403780304,0.999999924027,0.000269851117059,-0.000278974623179,3.60548503022e-05,1793244984665998592
+48,0.800000000,BASELINE,764.148435953,744.851564047,714,679.851564047,658.851564047,634,879.851564047,786,805,651,630.851564047,652,0.400979108053,-0.0153652169592,0.0798405386366,0.999999923164,0.00027325062634,-0.000278694821136,3.65532849804e-05,1793244984682665216
+49,0.816666667,BASELINE,764,744.565150149,714,679.565150149,658.565150149,634,879.565150149,786,805,651,631,652,0.400978635969,-0.0153665251974,0.0798407745541,0.999999923257,0.000272620318294,-0.000278965036177,3.66501289113e-05,1793244984699331840
+50,0.833333333,BASELINE,764,744,714,679,658,633.983866921,879,786,805,651.016133079,630.983866921,652,0.40097791134,-0.0153685818451,0.0798410254303,0.999999923657,0.000270677005791,-0.000279425559643,3.66160443212e-05,1793244984715998464
+51,0.850000000,BASELINE,764,744,714,679,658,633.409639923,879,786,805,651.590360077,630.409639923,652,0.400978106883,-0.0153697162542,0.0798409152506,0.999999923573,0.000270321713194,-0.000280053343646,3.6737401867e-05,1793244984732665600
+52,0.866666667,BASELINE,764.164639522,744,714,679,658.164639522,633.164639522,879.164639522,786,805,652,630,652,0.400978091184,-0.0153701766117,0.0798408161958,0.99999992364,0.000269837942463,-0.000280287149135,3.6703827914e-05,1793244984749332480
+53,0.883333333,BASELINE,764.739049468,744,714,679,658.739049468,633.739049468,879.739049468,786,805,652,630,652,0.400977549725,-0.0153689593256,0.0798407448299,0.999999924081,0.000269034403214,-0.000279540383575,3.62846457771e-05,1793244984765999104
+54,0.900000000,BASELINE,764.67580046,744,714,679,658.67580046,634,879.67580046,786,805,652,630.32419954,652,0.400978055735,-0.0153677171076,0.0798409192274,0.999999924064,0.000270014022367,-0.000278653669912,3.62707709919e-05,1793244984782665472
+55,0.916666667,BASELINE,764.081709415,744,714,679,658.081709415,634,879.081709415,786,805,652,630.918290585,652,0.400979433747,-0.0153664541343,0.0798412982193,0.999999923663,0.000272478095555,-0.00027765045148,3.6594308831e-05,1793244984799332096
+56,0.933333333,BASELINE,764,744,714,679,658,634,879,786,805,652,631,652,0.400979115199,-0.0153677320242,0.079841254106,0.999999923845,0.000271601452686,-0.000277844103588,3.66897307998e-05,1793244984815998976
+57,0.950000000,BASELINE,764,744,714,679,658.072071439,634,879,786.072071439,805,652,630.927928561,652.072071439,0.400978533834,-0.0153692028692,0.0798410655433,0.999999924098,0.00027018645681,-0.000278307646868,3.67142341916e-05,1793244984832665600
+58,0.966666667,BASELINE,764,744,714,679,658.649972594,634,879,786.649972594,805,652,630.350027406,652.649972594,0.400978006743,-0.0153691841454,0.0798403367229,0.999999924214,0.000268732091211,-0.000279325832867,3.6496313475e-05,1793244984849332480
+59,0.983333333,BASELINE,764,744,714,679,659,634,878.768103108,786.768103108,805,652,630,653,0.400977600349,-0.0153687834539,0.0798400874544,0.999999924117,0.000268507934753,-0.000279901751966,3.63883192207e-05,1793244984865998848
+60,1.000000000,BASELINE,764,744,714,679,659,634,878.179998935,786.179998935,805,652,630,653,0.40097737935,-0.0153677960373,0.0798405748059,0.999999923695,0.000270173451745,-0.000279798323221,3.64491784516e-05,1793244984882665728
+61,1.016666667,BASELINE,764.401891457,744,714,679,658.598108543,634,878.401891457,786,805,652,630.401891457,652.598108543,0.400976724464,-0.0153685360287,0.0798402741437,0.999999923859,0.000269199214942,-0.000280148831868,3.6468302348e-05,1793244984899332352
+62,1.033333333,BASELINE,764.981041163,744,714,679,658.018958837,634,878.981041163,786,805,652,630.981041163,652.018958837,0.400975878208,-0.0153700379106,0.0798396259202,0.999999924278,0.000267060688207,-0.00028069955415,3.64690184537e-05,1793244984915999232
+63,1.050000000,BASELINE,764.444254566,744,714,679,658,634,879,786,805,651.444254566,631,652,0.400978231208,-0.0153678223422,0.0798408507122,0.99999992446,0.000268763148753,-0.000278430707797,3.63741250699e-05,1793244984932665600
+64,1.066666667,BASELINE,764,744,714,679,658,634,879,786,804.868912576,651.131087424,631,652.131087424,0.400979606786,-0.0153659864889,0.0798414865896,0.999999924355,0.000270299651579,-0.000277335985558,3.62198483828e-05,1793244984949332224
+65,1.083333333,BASELINE,764,744,714,679,658,634,879,786,804.290883363,651.709116637,631,652.709116637,0.400977280691,-0.0153658742263,0.0798398984396,0.999999923323,0.000270827113557,-0.000280569780706,3.58741369965e-05,1793244984965998848
+66,1.100000000,BASELINE,764,744,714,679,658,634,879,786,804.292381702,651.707618298,631,652.707618298,0.40097618438,-0.0153660327571,0.0798394232877,0.999999922898,0.000271393921796,-0.000281545307226,3.58060713463e-05,1793244984982665216
+67,1.116666667,BASELINE,764,744,714,679,658,634,879,786,804.880950733,651.119049267,631,652.119049267,0.400976333858,-0.0153664656062,0.0798400756209,0.999999923094,0.000272000588399,-0.000280233171388,3.60192652793e-05,1793244984999331840
+68,1.133333333,BASELINE,764,744,714,679,658,634,879,786,805,651,630.538707224,652.461292776,0.400976333057,-0.0153652455744,0.0798397341654,0.99999992287,0.000271971038936,-0.000281102997161,3.56639564559e-05,1793244985015998464
+69,1.150000000,BASELINE,764.039153169,744,714,679,658,634,879,786,805,651.039153169,630.039153169,652.960846831,0.400976331865,-0.015363928089,0.0798392048466,0.999999922645,0.000271561120249,-0.000282354558091,3.52325583671e-05,1793244985032665344
+70,1.166666667,BASELINE,764.611623674,744,714,679,658,634,879,786,805,651.611623674,630.611623674,652.388376326,0.400976844368,-0.0153669918059,0.0798395488888,0.999999923848,0.000268167410741,-0.000281269886765,3.57281952443e-05,1793244985049331968
+71,1.183333333,BASELINE,764.810076669,744,714,679,658,634,879,786.189923331,805.189923331,651.810076669,630.810076669,652,0.400977324768,-0.0153692599515,0.0798400374179,0.999999924721,0.000266110931203,-0.000280060571702,3.61882293698e-05,1793244985065998592
+72,1.200000000,BASELINE,764.21947937,744,714,679,658,634,879,786.78052063,805.78052063,651.21947937,630.21947937,652,0.400977737444,-0.0153698497113,0.0798408307656,0.999999924914,0.000266875553834,-0.000278588300333,3.65731538286e-05,1793244985082665216
+73,1.216666667,BASELINE,764,744,714,679,658,634,879,786.636099799,805.272199597,651,630,652,0.400977739624,-0.0153689884829,0.0798408473763,0.999999924624,0.000268041400216,-0.000278515871087,3.6525572168e-05,1793244985099332096
+74,1.233333333,BASELINE,764,744,714,679,658,634,879,786.05698883,804.11397766,651,630,652,0.400977499038,-0.0153672691393,0.0798404046243,0.999999924048,0.000269444530486,-0.000279271309283,3.62222061418e-05,1793244985115998720
+75,1.250000000,BASELINE,764,744,714,679,658.521695948,634,879,786.521695948,804.521695948,651.521695948,630.521695948,652,0.400977875209,-0.0153671745931,0.0798406676892,0.99999992409,0.000269723567451,-0.000278873849239,3.60317702427e-05,1793244985132665344
+76,1.266666667,BASELINE,764.099638915,744,714,679,659,634,879,786.900361085,805,651.900361085,631,652,0.400978388242,-0.0153672105932,0.0798411056135,0.999999924224,0.000269940521866,-0.000278192496478,3.59454728933e-05,1793244985149331968
+77,1.283333333,BASELINE,764.674267323,744,714,679,659,634,879,786.325732677,805,651.325732677,631,652,0.40097923279,-0.0153670235027,0.0798420098596,0.999999924473,0.000270446413129,-0.00027675767537,3.62968551969e-05,1793244985165998592
+78,1.300000000,BASELINE,764.745039922,744,714,679.254960078,658.745039922,634,879,786,805,651,631,652,0.400979101611,-0.0153668272316,0.0798419596331,0.999999924514,0.000270271445231,-0.000276774314799,3.6346471383e-05,1793244985182665216
+79,1.316666667,BASELINE,764.156410733,744,714,679.843589267,658.156410733,634,879,786,805,651,631,652,0.400977693485,-0.015366618946,0.0798406602776,0.999999924282,0.000269205429277,-0.000278690497008,3.60011628418e-05,1793244985199331840
+80,1.333333333,BASELINE,764,744,714,679.574658061,658,634,879,786,805,651,630.574658061,652,0.400979136358,-0.0153664756698,0.079841422182,0.999999924388,0.000270228449421,-0.000277276974875,3.6313894504e-05,1793244985215998464
+81,1.350000000,BASELINE,764.00456942,744,714,679,658,634,879.00456942,786,805,651.00456942,630.00456942,652,0.400981572855,-0.015366368545,0.0798429019948,0.9999999246,0.000271993424042,-0.000274702418263,3.68588361748e-05,1793244985232665344
+82,1.366666667,BASELINE,764.579209175,744,714,679,658,634,879.579209175,786,805,651.579209175,630.579209175,652,0.400979257115,-0.0153678365967,0.0798408863391,0.999999923801,0.000272008831258,-0.000277606649958,3.6665101008e-05,1793244985249331968
+83,1.383333333,BASELINE,764.845508806,744.154491194,713.845508806,678.845508806,658,634,879.845508806,786,805,651.845508806,631,652,0.400977900256,-0.0153687203314,0.0798397382808,0.999999923482,0.000271530908599,-0.000279235815842,3.65205025843e-05,1793244985265998592
+84,1.400000000,BASELINE,764.268470008,744.731529992,713.268470008,678.268470008,658,634,879.268470008,786,805,651.268470008,631,652,0.400979166026,-0.0153680059057,0.0798409631806,0.999999924494,0.000269703683441,-0.0002773775603,3.6510297622e-05,1793244985282665472
+85,1.416666667,BASELINE,764,744.684604558,713.315395442,678.315395442,658,634,879,786,805,651.315395442,630.684604558,652,0.400979658654,-0.0153675476664,0.079841697233,0.999999924729,0.000269659658298,-0.000276551392617,3.66662873069e-05,1793244985299332096
+86,1.433333333,BASELINE,764,744.094799622,713.905200378,678.905200378,658,634,879,786,805,651.905200378,630.094799622,652,0.400979478611,-0.015367312322,0.0798420042239,0.999999924291,0.000271167104683,-0.000276623192074,3.6966874482e-05,1793244985315998720
+87,1.450000000,BASELINE,764,744,714,679.48633396,658,634,879,786,805,651.51366604,630,652,0.400978696708,-0.0153677753728,0.0798411810027,0.999999923742,0.000272042510892,-0.000277771876425,3.67717219824e-05,1793244985332665600
+88,1.466666667,BASELINE,764,744,714,679.934938267,658,634,879,786,805,651,630.065061733,652,0.400977919197,-0.0153682549887,0.079840371466,0.999999923314,0.000272537263511,-0.000278858607866,3.65261100376e-05,1793244985349332224
+89,1.483333333,BASELINE,764,744,714,679.362026781,658,634,879,786,805,651,630.637973219,652,0.400978075662,-0.015367819889,0.0798413582769,0.999999924006,0.00027100558802,-0.000277851942195,3.66277002046e-05,1793244985365998848
+90,1.500000000,BASELINE,764,744,714,679,658,634,879,786,805,651.216963484,630.783036516,652,0.400978212537,-0.0153674610962,0.0798417371029,0.999999924342,0.000270224639836,-0.000277417422821,3.65187842148e-05,1793244985382665472
+91,1.516666667,BASELINE,764,744,714,679,658,634,879,786,805,651.80638916,630.19361084,652,0.400978315783,-0.0153672332998,0.0798410721983,0.99999992407,0.000270732468763,-0.000277965109676,3.60484913468e-05,1793244985399332352
+92,1.533333333,BASELINE,764,744,714,679,658,633.611010889,879,786,805,651.611010889,630.388989111,652,0.400977771404,-0.0153682884764,0.0798406670363,0.999999924154,0.000269664065259,-0.000278688431258,3.61389308388e-05,1793244985415998976
+93,1.550000000,BASELINE,764,744,714,679,658,633.031749655,879,786,805,651.031749655,630.968250345,652,0.400976910242,-0.0153699712129,0.0798403889261,0.999999924409,0.000267824655405,-0.000279497663754,3.65036497834e-05,1793244985432665600
+94,1.566666667,BASELINE,764.545135266,744,714,679,658.545135266,633.545135266,879,786,805,651,630.454864734,652,0.400978119473,-0.0153682704613,0.079841240363,0.999999924183,0.000270276304545,-0.000277932890822,3.65698688625e-05,1793244985449332224
+95,1.583333333,BASELINE,764.878633589,744,714,679,658.878633589,634,879,786,805,651,630.121366411,652,0.400979197763,-0.0153667938961,0.0798420409227,0.999999924104,0.000272007181627,-0.000276529818925,3.65444670237e-05,1793244985465998848
+96,1.600000000,BASELINE,764.304327899,744,714,679,658.304327899,634,879,786,805,651,630.695672101,652,0.400979339324,-0.0153668862309,0.0798424071581,0.999999924706,0.000270119490004,-0.000276243984762,3.62417358817e-05,1793244985482665472
+97,1.616666667,BASELINE,764,744,714,679,658.277341293,634,879,786,805,651,631,652,0.400978741385,-0.0153673085881,0.0798418545921,0.999999924865,0.000268745319352,-0.000277030016139,3.60590568678e-05,1793244985499332096
+98,1.633333333,BASELINE,764,744,714,679,658.867310831,634,879,786,805,651,631,652,0.400977309857,-0.0153681029572,0.0798402663229,0.999999924526,0.000267950006576,-0.000279024289693,3.60117045874e-05,1793244985515998720
+99,1.650000000,BASELINE,764,744,714,679,659,634,878.549061694,786,804.549061694,651,631,652,0.400976798336,-0.0153679546666,0.0798402405093,0.999999924625,0.000267137834342,-0.000279451437975,3.59693410713e-05,1793244985532665600
+100,1.666666667,BASELINE,764,744.032051572,714,679,658.967948428,634,878.032051572,786,804.032051572,651,631,652.032051572,0.4009766095,-0.0153675307247,0.079840634456,0.9999999248,0.000266522650447,-0.000279418125374,3.59355437702e-05,1793244985549331968
+101,1.683333333,BASELINE,764,744.601857885,714,679,658.398142115,634,878.601857885,786,804.601857885,651,631,652.601857885,0.400977355643,-0.0153670712237,0.0798404643665,0.99999992409,0.000269294575418,-0.000279288714314,3.60211812791e-05,1793244985565998848
+102,1.700000000,BASELINE,764,744.826462168,714,679,658,634,879,786,805,651,631,652.826462168,0.400978096699,-0.0153667565095,0.0798406286385,0.999999923732,0.00027117319092,-0.000278743014352,3.60898794155e-05,1793244985582665728
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+104,1.733333333,BASELINE,764,744,714,679,658,634,878.664395101,786,805,651,630.664395101,652.335604899,0.400978783609,-0.0153670114923,0.0798419688763,0.999999924511,0.000270192043989,-0.000276891808433,3.61142227524e-05,1793244985615998976
+105,1.750000000,BASELINE,764,744,714,679,658,634,878.070649035,786,805,651,630.070649035,652.929350965,0.40097814776,-0.0153674090662,0.07984195455,0.999999924693,0.000268946740441,-0.000277452668161,3.6082635967e-05,1793244985632665856
+106,1.766666667,BASELINE,764.508348644,744,714,679,658,634,878.508348644,786,805,651.508348644,630,652.491651356,0.400978254739,-0.0153672578876,0.0798420290417,0.999999924686,0.000269150798105,-0.000277253871543,3.62711816282e-05,1793244985649332480
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,787,805,651,631,652,0.400979315342,-0.0153668277288,0.0798415284976,0.999999923336,0.000273850431789,-0.000277425772187,3.69958150361e-05,1793244985692513024
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786.408274838,805,651,630.408274838,652,0.400978657694,-0.0153671460315,0.0798411990661,0.999999923831,0.000271794225307,-0.00027773008753,3.6484089566e-05,1793244985709179648
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,714,678.820699797,658,634,879.179300203,786,805,651,630.179300203,652,0.400978035529,-0.0153676074459,0.0798407717622,0.999999924276,0.000269730433593,-0.000278192995325,3.60841438317e-05,1793244985725846528
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,714,678.242360878,658,634,879.757639122,786,805,651,630.757639122,652,0.40097749233,-0.0153683873605,0.0798401266399,0.999999924613,0.000267649760288,-0.00027900885609,3.59329676138e-05,1793244985742513152
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.666215554,744,714,678.333784446,658,633.666215554,879.666215554,786,805,651,631,652,0.400977530618,-0.0153687511111,0.0798403101152,0.999999924844,0.000266803831061,-0.000278978161459,3.60277079285e-05,1793244985759179520
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.091652637,744,714,678.908347363,658,633.091652637,879.091652637,786,805,651,631,652,0.400977988366,-0.0153688146581,0.0798410913072,0.999999925001,0.000266848595928,-0.000278336796277,3.62998423989e-05,1793244985775845888
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.484389723,633.484389723,879,786,805,651,630.515610277,652.484389723,0.400978225559,-0.0153690634718,0.0798408154965,0.99999992477,0.000267738599218,-0.000278320879854,3.62309708177e-05,1793244985792512256
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679.062121436,658.937878564,634,879,786,805,651,630.062121436,652.937878564,0.400978832607,-0.0153692977853,0.0798407138567,0.999999924653,0.000268581900797,-0.000277940400222,3.61390736654e-05,1793244985809178880
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744,714,679.651815562,658.348184438,634,879,786,805,651,630.651815562,652.348184438,0.400982936198,-0.0153691103356,0.0798437950889,0.999999926126,0.000267666202379,-0.000273455712741,3.64012733829e-05,1793244985825845504
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.236118108,744,714,679.763881892,658,634,878.763881892,786,805,651,631,652,0.400993938187,-0.0153692019818,0.0798492507509,0.999999928597,0.000267520956136,-0.000264361302913,3.6765078917e-05,1793244985842512384
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.812647566,744,714,679.187352434,658,634,878.187352434,786,805,651,631,652,0.401014885594,-0.0153696960003,0.079858129627,0.999999932357,0.000268486470422,-0.000248621059171,3.72753694744e-05,1793244985859179008
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.613124953,744,714,679,658.386875047,634,878.386875047,786,805,651,631,652,0.401053608203,-0.0153711289725,0.0798719985677,0.999999938416,0.000269100418949,-0.000222066977314,3.79281963124e-05,1793244985875845888
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.040005609,744,714,679,658.959994391,634,878.959994391,786,805,651,631,652,0.401100887917,-0.0153730139636,0.0798882697605,0.999999944817,0.00026954512119,-0.000190307038164,3.86496411083e-05,1793244985892512512
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.550234888,744,714,679,658.449765112,634,879,786,805,651,631,652,0.401169783322,-0.0153764824018,0.0799067524809,0.999999951414,0.00026793642053,-0.000154396465846,3.92975777582e-05,1793244985909178880
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.860550444,744,714,679,658,634,879,786,805,651,630.860550444,652,0.401242401418,-0.0153801092459,0.0799229267281,0.999999956071,0.000266009015781,-0.000124659283321,3.94629454505e-05,1793244985925845248
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.278666592,744,714,679,658,634,879,786,805,651,630.278666592,652,0.401321684206,-0.0153838616725,0.07993125031,0.999999957872,0.000263559338013,-0.000115496729993,3.81147588118e-05,1793244985942512128
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744,714,679.298656499,658,634,879,786,805,651,630,652,0.401411209478,-0.0153865094715,0.0799377603674,0.999999959189,0.000263192413313,-0.000105108015963,3.61076516443e-05,1793244985959178752
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744,714,679.871788067,658,634,879,786,805,651,630,652,0.401510147921,-0.0153881420816,0.0799426037364,0.999999960016,0.000264739606784,-9.35924207777e-05,3.34949750879e-05,1793244985975845376
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744,714,680,658,634,879,786,805,651,630.447551668,652,0.401623575874,-0.0153921122122,0.0799439484348,0.999999961288,0.000261281584852,-9.0964721559e-05,2.96968963617e-05,1793244985992512256
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744,714,679.975252831,658,634,879,786.024747169,805,651,631,652,0.401742367057,-0.0153967998478,0.0799444174685,0.999999962709,0.00025635999683,-9.05970460052e-05,2.55501044419e-05,1793244986009179136
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744,714,679.382603115,658,634,879,786.617396885,805,651,631,652,0.401888416251,-0.0154024950143,0.0799479281183,0.999999964815,0.000250951459318,-8.33176037372e-05,2.12399811355e-05,1793244986025845760
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.203812363,744.203812363,714,679,658.203812363,634,879,786.796187637,805,651,630.796187637,652,0.402047009405,-0.0154084910134,0.0799511757985,0.999999966921,0.000244925459465,-7.68009473912e-05,1.64854711792e-05,1793244986042512384
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.778872017,744.778872017,714,679,658.778872017,634,879,786.221127983,805,651,630.221127983,652,0.402228451554,-0.0154150349833,0.0799539444753,0.999999969103,0.000237774743258,-7.1673717907e-05,1.09215047122e-05,1793244986059178752
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.644374725,745,714,679,658.644374725,634,879,786,805,651,630.355625275,652,0.40241844499,-0.0154207947966,0.0799508627336,0.999999970905,0.000228364053885,-7.76181548958e-05,3.99445504909e-06,1793244986075845376
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.066563287,745,714,679,658.066563287,634,879,786,805,651,630.933436713,652,0.402613781083,-0.0154260646885,0.0799441257909,0.999999972237,0.000217541386602,-9.04799036714e-05,-3.78421692439e-06,1793244986092512256
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.520782849,744.479217151,714,679,658,634,879,786,805,651.520782849,630.479217151,652,0.402843026134,-0.0154352873567,0.0799428983387,0.999999987037,0.000130371637289,-9.37920441624e-05,-1.14705975312e-05,1793244986109179136
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,805,651.892581874,630,652,0.403087909766,-0.0154451639824,0.0799432295477,0.999999994086,5.14290378361e-05,-9.39153309403e-05,-1.90286383884e-05,1793244986125845504
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,786,805,651.314500399,630,652,0.40338197131,-0.0154556510362,0.0799472471666,0.999999994647,5.20885193998e-05,-8.55141404428e-05,-2.60769983976e-05,1793244986142512128
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.736933578,744.263066422,714,679.263066422,658,634,879,786,805,651,630.263066422,652,0.40369750963,-0.0154663107689,0.0799515892483,0.999999994502,6.63894301782e-05,-7.74373785861e-05,-2.4342739038e-05,1793244986159179264
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.159980869,744.840019131,714,679.840019131,658,634,879,786,805,651,630.840019131,652,0.404038673649,-0.0154771765384,0.0799563184731,0.999999992793,9.69670574068e-05,-6.97477197986e-05,-1.21292102653e-05,1793244986175845888
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.414219555,744.585780445,714,680,658.414219555,633.585780445,879,786,805,651,630.585780445,652,0.404404343496,-0.0154839307141,0.0799584695389,0.999999994459,8.27710895997e-05,-6.32918743591e-05,-1.50332859615e-05,1793244986192512512
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.987363988,744.012636012,714,680,658.987363988,633.012636012,879,786,805,651,630.012636012,652,0.404779415561,-0.0154891073817,0.0799596314346,0.999999996755,5.13966994615e-05,-5.73094099804e-05,-2.37375792786e-05,1793244986209179136
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,679.421150244,659,633,879,786,805,651.578849756,630.578849756,652,0.40517750609,-0.0155003206412,0.0799545558261,0.999999997108,3.05619297145e-05,-6.41647709581e-05,-2.70858390009e-05,1793244986225845760
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,633.166892896,879,786,805,651.833107104,630.833107104,652,0.405592702617,-0.0155077351347,0.0799488507516,0.999999996759,1.81355192596e-05,-7.26595215604e-05,-2.95713688725e-05,1793244986242512384
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,633.7454249,879,786,805,651.2545751,630.2545751,652,0.406048810879,-0.0155054443615,0.0799419399387,0.99999999564,2.58621724176e-05,-8.44839683696e-05,-3.02268038983e-05,1793244986259179264
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.678596682,744,714,679.321403318,659,634,879,786.321403318,805.321403318,651,630,652,0.406527482196,-0.0154933985263,0.0799354324865,0.999999994018,4.26626369623e-05,-9.56251861473e-05,-3.16222360802e-05,1793244986275845888
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.104624886,744,714,679.895375114,659,634,879,786.895375114,805.895375114,651,630,652,0.407023884297,-0.0154736868673,0.0799292420067,0.999999991576,6.6593578574e-05,-0.000106229503052,-3.35991805333e-05,1793244986292512512
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.472246016,744,714,680,659,634,879,786.527753984,805.527753984,651,630,652,0.40753915038,-0.0154770074524,0.0799235255957,0.999999990303,6.11269282699e-05,-0.000120126028061,-3.50393672651e-05,1793244986309179136
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.94906097,879,786,805,651,630,652,0.408063328816,-0.0154856250868,0.0799185083359,0.999999989261,4.90784850593e-05,-0.000133224350137,-3.63443021855e-05,1793244986325846016
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.357897227,879,786,805,651,630,652,0.408637429732,-0.0154959692317,0.079919785051,0.999999990163,3.6726695345e-05,-0.000130074394438,-3.74837952741e-05,1793244986342512640
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.772089628,744.227910372,714,680,659,633.227910372,879,786,805,651,630,652,0.409251865334,-0.0155023692473,0.0799340844306,0.999999993316,2.71904753784e-05,-0.000105799742894,-3.78713320548e-05,1793244986359179008
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.194499913,744.805500087,714,680,659,633.805500087,879,786,805,651,630,652,0.409928185783,-0.0155027178462,0.0799683642822,0.999999997864,2.19741410058e-05,-4.91137987174e-05,-3.71051538105e-05,1793244986375845632
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.379643115,744.620356885,714,679.620356885,659,634,879.379643115,786,805,651,630,652,0.410613649448,-0.0155001969489,0.0799894323701,0.999999998943,2.33973812751e-05,-1.49192071126e-05,-3.66543540841e-05,1793244986392512256
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.952036197,744.047963803,714,679.047963803,659,634,879.952036197,786,805,651,630,652,0.411303755227,-0.0154962191694,0.0800037926651,0.999999998911,2.81916239469e-05,7.85621753916e-06,-3.63636763624e-05,1793244986409178880
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.458201836,786,805,651,630.541798164,652,0.4119564718,-0.0154955929559,0.0799741871119,0.999999998084,2.44434016325e-05,-4.00654696869e-05,-4.03541035455e-05,1793244986425845760
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.869960874,744,714,679.130039126,659,634,879,786,805,651,630.869960874,652,0.412621741498,-0.0154960803986,0.0799429863589,0.999999995,1.9410247431e-05,-8.72876488255e-05,-4.47632681521e-05,1793244986442512640
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.292420862,744,714,679.707579138,659,634,879,786,805,651,630.292420862,652,0.413341977587,-0.0154993453839,0.0799201337249,0.999999992673,1.26439076032e-05,-0.000109851681362,-4.92660061143e-05,1793244986459179264
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.2836932,744,714,680,659,633.7163068,879,786,805,651,630,652,0.414099220488,-0.0155028341864,0.0799192807884,0.999999993479,7.39873897664e-06,-0.000102232864107,-5.03594426207e-05,1793244986475845888
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.858344863,744,714,680,659,633.141655137,879,786,805,651,630,652,0.414894418016,-0.0155065525384,0.0799409909496,0.999999996817,3.71369727841e-06,-6.3658229659e-05,-4.79562674091e-05,1793244986492512512
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.43435904,714,680,659,633.43435904,879.43435904,786,805.43435904,651,630,652,0.415694253181,-0.0155048376149,0.0799491522297,0.999999996938,6.29866855151e-06,-6.19098752911e-05,-4.74570458387e-05,1793244986509179392
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.988895928,744.988895928,714,680,659.011104072,634,879.988895928,785.988895928,805.988895928,651,630,652,0.416495973479,-0.0155013784224,0.0799527323315,0.999999996225,1.08059843679e-05,-7.18597823984e-05,-4.76395634774e-05,1793244986525846016
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.397242942,744.397242942,714,680,659.602757058,634,879.397242942,785.397242942,805.397242942,651,630,652,0.417316932502,-0.0154996566218,0.079948540559,0.999999996649,8.57436459889e-06,-6.3537836191e-05,-5.08993964186e-05,1793244986542512384
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.190045246,744.190045246,714,680,659.809954754,634,879,785.190045246,805.190045246,651,630,652,0.418164061516,-0.0155003519241,0.0799558523377,0.999999997852,5.99805029988e-06,-3.89168436585e-05,-5.24063428666e-05,1793244986559179008
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.768414697,744.768414697,714,680,659.231585303,634,879,785.768414697,805.768414697,651,630,652,0.419064664279,-0.0155059861532,0.0799866696107,0.999999998549,2.71741316226e-06,1.90083976658e-05,-5.0331572178e-05,1793244986575845888
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.6545755,714,680,659,634,879,786,805.6545755,651,630,652,0.419936573988,-0.0155105364794,0.0799878863911,0.999999998408,-5.89786060226e-06,2.33919913129e-05,-5.10146994549e-05,1793244986592512512
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.078473705,714,680,659,634,879,786,805.078473705,651,630,652,0.420789322205,-0.0155143629662,0.0799693357202,0.999999998372,-1.80756480344e-05,-7.97996589677e-06,-5.35395735794e-05,1793244986609179136
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.50702537,744.49297463,714,680,659,634,879,786,805,651.49297463,630,652,0.42169742803,-0.0155148223818,0.0799752817707,0.999999998536,-1.32583880912e-05,-6.22934769036e-07,-5.24563442003e-05,1793244986625845504
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a3a4fb8faceafae615c29f4db0d16288eb540747
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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+379,6.316666667,pose2_to_pose3_retreat,0.575733618345,-0.0101221320868,1.07005075664,0.546305250998,-0.00144644825914,1.06971724679
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+382,6.366666667,pose2_to_pose3_retreat,0.575688282035,-0.010122106797,1.07005100597,0.546259915095,-0.00144642136297,1.06971750156
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+384,6.400000000,pose2_to_pose3_retreat,0.575676995693,-0.0101221333209,1.07005093455,0.546248627166,-0.00144645294311,1.06971743852
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+386,6.433333333,pose2_to_pose3_retreat,0.575672846117,-0.0101221628683,1.07005100712,0.546244480269,-0.00144647405499,1.06971749405
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+388,6.466666667,pose2_to_pose3_retreat,0.575671249301,-0.0101222984722,1.07005089347,0.54624288545,-0.00144660265715,1.06971738637
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+394,6.566666667,pose2_to_pose3_retreat,0.575670845633,-0.0101223327524,1.07005086474,0.546242482285,-0.0014466351673,1.06971735915
+395,6.583333333,pose2_to_pose3_retreat,0.575670562982,-0.0101223318461,1.07005085379,0.546242199296,-0.00144663540086,1.06971734848
+396,6.600000000,pose2_to_pose3_retreat,0.575670454581,-0.0101223167718,1.070050855,0.546242090355,-0.00144662217035,1.06971734935
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1f406201c4be9d271f4c9b274bb263fe99493bb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d2a8f9867e563d27763a628a23cbe88c299a1f30f66d4b6bed4d098c4f2fb5
+size 25970929
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4e590692eb543cebfd72c2920df4ec9112f2b7a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
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+30,0.500000000,BASELINE,764.410261925,744,714,679.410261925,658.589738075,634,879,786,805,651,631,652.410261925,0.400979924064,-0.0153647103433,0.0798416829393,0.999999923254,0.000273087214283,-0.000278612121835,3.592028394e-05,1793244991362178304
+31,0.516666667,BASELINE,764.982061027,744,714,679.982061027,658.017938973,634,879,786,805,651,631,652.982061027,0.400979743133,-0.0153646097553,0.0798410995075,0.99999992365,0.000271365817589,-0.00027888952247,3.58024019012e-05,1793244991378844160
+32,0.533333333,BASELINE,765,744,714,679.42607532,658.57392468,634,879.57392468,786,805.57392468,651,631,652.42607532,0.400978708891,-0.0153661820472,0.0798410830202,0.999999923711,0.00027042451193,-0.000279532283025,3.62062984902e-05,1793244991395511040
+33,0.550000000,BASELINE,765,744,713.837382441,679,658.837382441,633.837382441,879.837382441,786,805.837382441,651.162617559,631,652.162617559,0.400977844675,-0.0153673138359,0.079840871793,0.999999923551,0.000270155892855,-0.000280338636018,3.63846483732e-05,1793244991412177920
+34,0.566666667,BASELINE,765,744,713.258470358,679,658.258470358,633.258470358,879.258470358,786,805.258470358,651.741529642,631,652.741529642,0.400977486473,-0.0153671792474,0.0798401150316,0.999999922855,0.000271544644105,-0.000281533485429,3.5942344496e-05,1793244991428845056
+35,0.583333333,BASELINE,764.680546243,744,713.319453757,679,658,633.319453757,879,786,805.319453757,651.680546243,630.680546243,652.680546243,0.400977013928,-0.0153666534789,0.0798398059876,0.999999922556,0.000272078440548,-0.000282084163779,3.59017906451e-05,1793244991445511424
+36,0.600000000,BASELINE,764.103418967,744,713.896581033,679,658,633.896581033,879,786,805.896581033,651.103418967,630.103418967,652.103418967,0.400976449153,-0.015365812182,0.0798398580751,0.99999992258,0.000271922624928,-0.000282115249609,3.6185290981e-05,1793244991462177280
+37,0.616666667,BASELINE,764,744,714,679,658,634,879,786,805.519135436,651,630,652,0.400977787302,-0.0153660306585,0.0798408313692,0.999999923269,0.000271136697707,-0.000280409868365,3.62797212231e-05,1793244991478843904
+38,0.633333333,BASELINE,764,744.065910456,714,679,658,634,879,786.065910456,805,651,630,652,0.400979293051,-0.0153665372022,0.0798418805554,0.999999924026,0.000270241335544,-0.000278562891838,3.63228694538e-05,1793244991495510528
+39,0.650000000,BASELINE,764,744.644731302,714,679,658,634,879,786.644731302,805,651,630,652,0.4009788701,-0.0153674849789,0.0798419552609,0.99999992421,0.000269564875798,-0.000278564172023,3.62881623285e-05,1793244991512177408
+40,0.666666667,BASELINE,764.223935638,745,714,679,658,634,879,786.776064362,805.223935638,651.223935638,630,652,0.400978689579,-0.0153677284337,0.0798418684729,0.999999924107,0.000269768180188,-0.000278725190305,3.63669710062e-05,1793244991528844288
+41,0.683333333,BASELINE,764.80374938,745,714,679,658,634,879,786.19625062,805.80374938,651.80374938,630,652,0.400978894329,-0.0153668525815,0.0798415250396,0.999999923549,0.000271369604171,-0.000279140064076,3.66261787919e-05,1793244991545510912
+42,0.700000000,BASELINE,764.620083229,745,714,679,658.379916771,634,879,786,805.620083229,651.620083229,630,652,0.400978562156,-0.015366827295,0.0798413488833,0.999999923324,0.000271794564348,-0.000279541177615,3.65473434052e-05,1793244991562177536
+43,0.716666667,BASELINE,764.045781517,745,714,679,658.954218483,634,879,786,805.045781517,651.045781517,630,652,0.400977955265,-0.0153672372017,0.0798412583147,0.999999923271,0.000271617585141,-0.000279935250698,3.6295547753e-05,1793244991578844160
+44,0.733333333,BASELINE,764,745,714,679,658.459201153,634,879,786,804.459201153,651,630,652.540798847,0.400976569334,-0.0153660201374,0.0798405878414,0.999999922904,0.000271518780709,-0.00028136614063,3.60883918005e-05,1793244991595510528
+45,0.750000000,BASELINE,764.127203857,744.872796143,714,679,658,633.872796143,879,786,804.127203857,651,630,652.872796143,0.400975780061,-0.0153649597641,0.0798403081284,0.999999922715,0.000271422395136,-0.000282143757635,3.59712861411e-05,1793244991612177408
+46,0.766666667,BASELINE,764.709179284,744.290820716,714,679,658,633.290820716,879,786,804.709179284,651,630,652.290820716,0.400977365177,-0.0153649634334,0.0798416050261,0.999999923267,0.000271310447707,-0.000280264744541,3.61622986243e-05,1793244991628844032
+47,0.783333333,BASELINE,764.712947787,744,714,679.287052213,658,633.287052213,879,786,805,651,630.287052213,652,0.400977928835,-0.0153657683952,0.0798415440087,0.999999923382,0.00027136016275,-0.000279806393467,3.6169044745e-05,1793244991645510656
+48,0.800000000,BASELINE,764.139172582,744,714,679.860827418,658,633.860827418,879,786,805,651,630.860827418,652,0.400977472208,-0.0153673737305,0.0798401266336,0.999999923062,0.000271571354842,-0.000280767074827,3.59917358613e-05,1793244991662177280
+49,0.816666667,BASELINE,764.435759448,744,714,679.564240552,658.871518897,634,879,786,805,651.435759448,630.564240552,652,0.400976180188,-0.0153664848293,0.079839356264,0.999999922081,0.000273638334321,-0.000282252497013,3.59561862477e-05,1793244991678843904
+50,0.833333333,BASELINE,764.988587638,744,714,679,659.977175276,634,879,786,805,651.988587638,630,652,0.400974677584,-0.0153648432758,0.0798388109992,0.99999992092,0.00027620818067,-0.000283859184307,3.5964548599e-05,1793244991695510784
+51,0.850000000,BASELINE,764.39505809,744,714,679,658.790116181,634,879,786,805,651.39505809,630,652,0.400976079067,-0.0153655519308,0.079839179511,0.999999921719,0.000274115379874,-0.000283080129865,3.58972394236e-05,1793244991712177408
+52,0.866666667,BASELINE,764,744.192536736,713.807463264,679,658,634,879.192536736,786,805,651,630.192536736,652,0.4009767769,-0.0153663717602,0.0798396157503,0.999999922381,0.000272470898433,-0.000282316546621,3.59832214203e-05,1793244991728843776
+53,0.883333333,BASELINE,764,744.768318444,713.231681556,679,658,634,879.768318444,786,805,651,630.768318444,652,0.400976074113,-0.0153674128823,0.0798401868012,0.999999922778,0.00027171879819,-0.000281583758891,3.63743299771e-05,1793244991745510400
+54,0.900000000,BASELINE,764,745,713.342470497,679,658,634,879.657529503,786,804.657529503,651.342470497,631,652,0.400975214309,-0.0153679833237,0.0798399569851,0.999999922876,0.00027071121471,-0.000282235346303,3.61344062488e-05,1793244991762177280
+55,0.916666667,BASELINE,764,745,713.915525285,679,658,634,879.084474715,786,804.084474715,651.915525285,631,652,0.400974248786,-0.0153682368571,0.0798391879476,0.999999922771,0.000269531615211,-0.0002838190291,3.54696104839e-05,1793244991778843904
+56,0.933333333,BASELINE,764,744.494489525,714,679,658.505510475,634,879.505510475,786,804.505510475,651.494489525,630.494489525,652,0.400975986301,-0.0153670117728,0.0798398486797,0.999999923076,0.000269756049268,-0.000282484990206,3.58029044448e-05,1793244991795510528
+57,0.950000000,BASELINE,764,744,713.904002759,679,658.904002759,634,879.904002759,786,805.095997241,651,630.095997241,652,0.400977736898,-0.0153658884404,0.0798406666655,0.999999923405,0.000270154882349,-0.000280886329755,3.61872891529e-05,1793244991812177408
+58,0.966666667,BASELINE,764,744,713.325703051,679,658.325703051,634,879.325703051,786,805.674296949,651,630.674296949,652,0.400977205191,-0.0153665607443,0.0798410327246,0.999999923509,0.000270210285253,-0.000280492696467,3.59613557514e-05,1793244991828844032
+59,0.983333333,BASELINE,764,744.251819542,713.251819542,679.251819542,658,634,879,786.251819542,805.748180458,651,631,652,0.400976956668,-0.0153671841036,0.0798410648455,0.999999923363,0.000270767361174,-0.000280481384029,3.59161256778e-05,1793244991845510656
+60,1.000000000,BASELINE,764,744.828340186,713.828340186,679.828340186,658,634,879,786.828340186,805.171659814,651,631,652,0.40097707329,-0.0153677443529,0.07984066638,0.999999922894,0.000271971304214,-0.000280963043607,3.61038980205e-05,1793244991862177280
+61,1.016666667,BASELINE,764,744.597720647,714,679.597720647,658,634,879,786.597720647,805,651,631,652,0.400977893289,-0.0153676224725,0.0798409048977,0.999999922962,0.000272839760907,-0.000279878963777,3.60994524358e-05,1793244991878843904
+62,1.033333333,BASELINE,764,744.024876052,714,679.024876052,658,634,879,786.024876052,805,651,631,652,0.400979011518,-0.0153672113711,0.0798414134942,0.999999923254,0.000273565972321,-0.000278131015097,3.60135070144e-05,1793244991895510528
+63,1.050000000,BASELINE,764,744,714,679,658,634,879,786,805,651,631,652,0.400978093844,-0.0153670307787,0.079840994292,0.999999923205,0.000272447525362,-0.000279395501737,3.60749630821e-05,1793244991912177920
+64,1.066666667,BASELINE,764.155846769,744,714,679.155846769,658,634,879,786,805,651,631,652,0.400977280489,-0.0153668912403,0.0798407386523,0.999999923149,0.000271520170679,-0.00028049093712,3.61163499313e-05,1793244991928844800
+65,1.083333333,BASELINE,764.734453372,744,714,679.734453372,658,634,879,786,805,651,631,652,0.400977000834,-0.015366834681,0.0798410409575,0.999999923124,0.000271338348145,-0.00028075682267,3.60851437779e-05,1793244991945511168
+66,1.100000000,BASELINE,764.689427036,744.310572964,714,679.689427036,658,634,879.310572964,786,805,651,631,652,0.400976936165,-0.0153667927748,0.0798412170106,0.999999923028,0.000271873156443,-0.00028057517828,3.61486803648e-05,1793244991962177536
+67,1.116666667,BASELINE,764.115417028,744.884582972,714,679.115417028,658,634,879.884582972,786,805,651,631,652,0.400977053854,-0.0153667632975,0.079841285973,0.999999922869,0.000273015831916,-0.000280013925929,3.62925805076e-05,1793244991978843904
+68,1.133333333,BASELINE,764,744.531389633,714,679,658,634,879.531389633,786,805,651.468610367,630.531389633,652,0.400976544696,-0.015366745099,0.079841141108,0.999999922851,0.000272571103388,-0.000280509823162,3.62852645644e-05,1793244991995510784
+69,1.150000000,BASELINE,764,744,714,679,658,634,879,786,805,651.94527988,630.05472012,652.05472012,0.400975879737,-0.0153667380357,0.0798408592362,0.999999922848,0.000271780398042,-0.000281297433733,3.6217635208e-05,1793244992012177664
+70,1.166666667,BASELINE,764,744,714,679,658,634,879,786,805,651.363397673,630.636602327,652.636602327,0.400975233687,-0.0153668109004,0.0798397759168,0.999999922641,0.000271505441072,-0.000282332186482,3.59355973012e-05,1793244992028844800
+71,1.183333333,BASELINE,764,744,714,679,658.21611215,633.78388785,879,786,805,651,630.78388785,652.78388785,0.400975546713,-0.0153668647261,0.0798397206161,0.99999992286,0.000271296814672,-0.000281773250794,3.57990121435e-05,1793244992045511936
+72,1.200000000,BASELINE,764,744,714,679,658.791676163,633.208323837,879,786,805,651,630.208323837,652.208323837,0.400977454936,-0.0153668868851,0.0798413751836,0.999999923782,0.000271198513572,-0.000278563588417,3.59043534669e-05,1793244992062178048
+73,1.216666667,BASELINE,764.366759884,744.366759884,714,679,658.633240116,633.366759884,879,786,805,651,630,652,0.400978996834,-0.0153666642923,0.0798424327893,0.999999924156,0.00027122762895,-0.000277187590992,3.592307305e-05,1793244992078844160
+74,1.233333333,BASELINE,764.941571114,744.941571114,714,679,658.058428886,633.941571114,879,786,805,651,630,652,0.400980330927,-0.0153663028596,0.0798431517572,0.999999924223,0.000271329023693,-0.000276851774218,3.5892654838e-05,1793244992095510784
+75,1.250000000,BASELINE,764.471442917,745,714,679,658.528557083,634,879,786,805,651,630.528557083,652,0.40097928686,-0.0153665208398,0.0798420689832,0.999999923989,0.00027101324887,-0.000278018279586,3.57752701327e-05,1793244992112178176
+76,1.266666667,BASELINE,764,744.884433572,714,679,659,634,879,786.115566428,805,651,631,652,0.40097813446,-0.0153668154988,0.0798411325673,0.999999923772,0.000270676934918,-0.000279132655447,3.57009515925e-05,1793244992128845056
+77,1.283333333,BASELINE,764,744.302884603,714,679,659,634,879,786.697115397,805,651,631,652,0.40097763026,-0.0153671549875,0.0798416083193,0.999999923768,0.00027044813369,-0.000279351415919,3.58399604726e-05,1793244992145511680
+78,1.300000000,BASELINE,764,744,714,679,658.724589371,634,879,786.724589371,805,651,630.724589371,652,0.400976856027,-0.0153677811525,0.0798414292052,0.999999923771,0.000269697083031,-0.000280047601754,3.5973181411e-05,1793244992162178560
+79,1.316666667,BASELINE,764,744,714,679,658.149830716,634,879,786.149830716,805,651,630.149830716,652,0.40097578829,-0.0153687189102,0.0798405383071,0.999999923781,0.000268378391488,-0.000281262708508,3.61001113384e-05,1793244992178845440
+80,1.333333333,BASELINE,764,744.423020194,714,679,658.423020194,634,879,786,805,651,630.423020194,652,0.400977405158,-0.0153677763415,0.0798416825513,0.999999923741,0.000270436987802,-0.000279423124652,3.61284499837e-05,1793244992195511808
+81,1.350000000,BASELINE,764,744.995198475,714,679,658.995198475,634,879,786,805,651,630.995198475,652,0.400979968625,-0.0153661707647,0.0798435443921,0.999999923668,0.00027368642501,-0.000276506448564,3.61220250812e-05,1793244992212177920
+82,1.366666667,BASELINE,764.591319505,744.408680495,714,679.591319505,658.408680495,634,879,786,804.408680495,651.591319505,631,652,0.400978035777,-0.0153680072939,0.0798417852925,0.999999924,0.000270557544303,-0.000278372010812,3.61539702901e-05,1793244992228844544
+83,1.383333333,BASELINE,764.81876472,744,714,679.81876472,658,634,878.81876472,786,804.18123528,651.81876472,630.81876472,652,0.400976858215,-0.0153689386627,0.0798408553963,0.999999924068,0.000269038693017,-0.000279602861026,3.61095775733e-05,1793244992245510912
+84,1.400000000,BASELINE,764.242804973,744,714,679.242804973,658,634,878.242804973,786,804.757195027,651.242804973,630.242804973,652,0.400977408514,-0.0153678351793,0.0798417982163,0.999999923574,0.000271143993656,-0.000279363186232,3.58982161617e-05,1793244992262177792
+85,1.416666667,BASELINE,764,744,714,679.332997765,658,634,878.332997765,786,805,651,630.332997765,652,0.400978311942,-0.0153678210691,0.0798422580415,0.999999923604,0.000271995102318,-0.000278410086175,3.60279487781e-05,1793244992278844416
+86,1.433333333,BASELINE,764,744,714,679.908686038,658,634,878.908686038,786,805,651,630.908686038,652,0.400979472733,-0.0153686008997,0.0798423658575,0.999999924017,0.000271932149197,-0.000276937038081,3.64062725152e-05,1793244992295511040
+87,1.450000000,BASELINE,764,744,714,680,658.496083175,634,879,786,805,651,630.503916825,652,0.400979931534,-0.0153673421392,0.0798426173549,0.999999923762,0.000272661838607,-0.000277143546519,3.63845334394e-05,1793244992312177920
+88,1.466666667,BASELINE,764,744,714,679.915909299,658.915909299,634,879,786,804.915909299,651,630.084090701,652,0.400979871828,-0.0153660522749,0.0798426774281,0.999999923447,0.000273092311404,-0.00027787185004,3.6245816858e-05,1793244992328844800
+89,1.483333333,BASELINE,764,744,714,679.337293254,658.337293254,634,879,786,804.337293254,651,630.662706746,652,0.400977541115,-0.0153668395887,0.0798414524701,0.999999923522,0.000270884366663,-0.000279806705763,3.58627042432e-05,1793244992345511424
+90,1.500000000,BASELINE,764,744,714,679,658.239536081,633.760463919,879,786,804.239536081,651,631,652.239536081,0.400976628892,-0.015367116415,0.0798413656342,0.999999923635,0.000270045071791,-0.000280225351185,3.57608041785e-05,1793244992362178304
+91,1.516666667,BASELINE,764,744,714,679,658.813868113,633.186131887,879,786,804.813868113,651,631,652.813868113,0.400977699269,-0.0153666797405,0.0798428695343,0.999999923809,0.000271118718281,-0.000278524812291,3.60519506658e-05,1793244992378844672
+92,1.533333333,BASELINE,764,744,714,679,658.627504096,633.372495904,879,786,805.372495904,651.372495904,630.627504096,652.627504096,0.400978217803,-0.0153677000785,0.0798431988102,0.999999924354,0.000269850560406,-0.000277779255733,3.62023660776e-05,1793244992395511296
+93,1.550000000,BASELINE,764,744,714,679,658.076406031,633.923593969,879,786,805.923593969,651.923593969,630.076406031,652.076406031,0.400978471743,-0.0153694190163,0.0798429648842,0.999999925074,0.000267459567943,-0.00027749158838,3.62853046008e-05,1793244992412177920
+94,1.566666667,BASELINE,764.534711496,744,714,679,658,634,879,786,805.465288504,652,630,652,0.400979161577,-0.0153684001695,0.0798430567379,0.999999924772,0.000269716211269,-0.000276387516432,3.63154575056e-05,1793244992428844544
+95,1.583333333,BASELINE,764.85518726,744,714,679,658,634,879,786.14481274,805,652,630.14481274,652,0.400979682043,-0.0153676443362,0.0798430020631,0.999999924417,0.000271721818106,-0.000275704510689,3.63326603692e-05,1793244992445510912
+96,1.600000000,BASELINE,764.277035699,744,714,679,658,634,879,786.722964301,805,652,630.722964301,652,0.400979485741,-0.0153689942154,0.0798423520017,0.999999924416,0.000270737662727,-0.000276674732343,3.63365359131e-05,1793244992462178304
+97,1.616666667,BASELINE,764.597278811,744.298639405,714,679,658.298639405,634,879,786.701360595,805,651.701360595,630.701360595,652.298639405,0.400978494992,-0.0153691538004,0.0798415875981,0.999999923977,0.000270607925097,-0.000278384999487,3.63332056612e-05,1793244992478845184
+98,1.633333333,BASELINE,765.744072122,744.872036061,714,679,658.872036061,634,879,786.127963939,805,651.127963939,630.127963939,652.872036061,0.400976773326,-0.0153682182788,0.079840717996,0.999999923131,0.000271264277596,-0.000280776130717,3.63232458598e-05,1793244992495511808
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+100,1.666666667,BASELINE,764.048404636,744.048404636,714,679,659,634,879,786,805.048404636,651,631,652,0.400979926065,-0.0153651660268,0.0798436566554,0.999999923997,0.000273621320078,-0.000275401081353,3.59327014493e-05,1793244992528844800
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+102,1.700000000,BASELINE,764.793905149,744.793905149,714,679,659,634,879,786,805.793905149,651.206094851,630.793905149,652,0.400978345937,-0.0153665739832,0.0798416608427,0.999999922876,0.000274100518773,-0.000278871199785,3.67147857611e-05,1793244992562177536
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+104,1.733333333,BASELINE,764,744,714,679,658.642923002,634,879.357076998,786,805,651.642923002,630,652,0.400977259812,-0.0153671908994,0.0798414182389,0.999999923705,0.000271185352411,-0.000278832872173,3.60716041511e-05,1793244992595511296
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+106,1.766666667,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805,651,631,653,0.400979541739,-0.0153674840406,0.0798435973807,0.999999923973,0.000273004285708,-0.000276067790675,3.61849974338e-05,1793244992643535872
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714.602064312,679,658,634,879.602064312,786,805,651,631,652.397935688,0.400980194517,-0.0153684066727,0.0798432805862,0.999999924444,0.000271766557181,-0.000275563811224,3.63318434477e-05,1793244992660202752
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.194979863,744.194979863,714.805020137,679.194979863,658,634,879.805020137,786.194979863,805,651,630.805020137,652,0.400979824593,-0.0153686809843,0.0798425980602,0.999999924373,0.000271222829838,-0.00027635752279,3.63208551609e-05,1793244992676869376
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+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.058980679,714,679.058980679,658.941019321,634,879,786.058980679,805,651,630,652.941019321,0.400977427457,-0.0153682706878,0.0798420613997,0.99999992404,0.000269689184157,-0.0002791177169,3.57795591559e-05,1793244992726868736
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.479420875,744,714,679,659,634,879,786,805,651.520579125,630.520579125,652.479420875,0.400978188262,-0.0153683178886,0.0798424561368,0.999999924147,0.000269642418548,-0.000278750800001,3.6001782438e-05,1793244992743535616
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658.901107444,633.901107444,879,786,805,652,630.901107444,652,0.400978986387,-0.01536829311,0.0798426949113,0.99999992415,0.000269922277031,-0.000278449607607,3.61675753377e-05,1793244992760202240
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744,714,679,658.324228804,633.324228804,879,786,805,652,630.324228804,652,0.400979861912,-0.015368223263,0.0798424442348,0.99999992401,0.000270908226571,-0.000278026670449,3.59088292876e-05,1793244992776868864
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.25297042,744,714,679,658,633.25297042,879,786,805,651.74702958,630,652.25297042,0.400982100233,-0.015369052744,0.0798434400949,0.999999924598,0.000270435293277,-0.000276355995385,3.6011276386e-05,1793244992793535232
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+118,1.966666667,POSE1_TO_POSE2_PRESS,764.997960226,744,714,679.002039774,658.002039774,634,878.997960226,786,805,652,631,652.997960226,0.401032365526,-0.015370119042,0.0798659250862,0.999999935402,0.000267175871295,-0.000237495354044,3.75322825653e-05,1793244992843535360
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.420333404,744,714,679.579666596,658.579666596,634,878.420333404,786,805,652,631,652.420333404,0.401083235582,-0.0153719605826,0.0798838778887,0.999999942521,0.000269068857999,-0.00020271263983,3.83049028952e-05,1793244992860201728
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,786,804.842545936,651.842545936,630.842545936,652,0.401140132649,-0.0153743081255,0.0799014580164,0.999999948559,0.000270093196105,-0.00016854117526,3.90563007259e-05,1793244992876868608
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,786,804.264329047,651.264329047,630.264329047,652,0.401213135647,-0.0153780078531,0.079918042253,0.999999953836,0.000268796254781,-0.000136003139397,3.97509861491e-05,1793244992893535232
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.311146015,744,714,679.688853985,658.688853985,634,878.311146015,786,804.311146015,651,630,652,0.401292280104,-0.0153814657436,0.0799301028384,0.999999956815,0.000267578387256,-0.000115069427642,3.91222040825e-05,1793244992910202112
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.884312115,744,714,679.115687885,658.115687885,634,878.884312115,786,804.884312115,651,630,652,0.40137659636,-0.0153847199797,0.0799383539976,0.999999958411,0.000266427109026,-0.000103907869356,3.73789129029e-05,1793244992926868992
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.52792884,744,714,679,658,634,879,786,805,651,630.47207116,652,0.401471558536,-0.0153876611885,0.0799422421662,0.999999959637,0.00026489050225,-9.67733467615e-05,3.45595689383e-05,1793244992943535616
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744.062159562,713.937840438,679.062159562,658,634,879,786,805,651,631,652,0.401571903857,-0.0153906770079,0.0799448783095,0.999999960789,0.000263003913161,-9.09204835282e-05,3.1388250267e-05,1793244992960201984
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,744.640937076,713.359062924,679.640937076,658,634,879,786,805,651,631,652,0.401694614399,-0.0153949708304,0.0799462785447,0.999999962268,0.0002590184261,-8.72559112164e-05,2.75531972135e-05,1793244992976868608
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+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.207249584,713.792750416,679.207249584,658,634,879,786,805,651,631,652.792750416,0.401981391184,-0.0154059949148,0.0799514609802,0.999999965652,0.000249820265325,-7.69591823245e-05,1.90459610815e-05,1793244993010202112
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.365814323,744,714,679,658,634,879,786,805,651.365814323,631,652.634185677,0.402153226044,-0.0154124334126,0.0799530847689,0.999999968039,0.000241279259008,-7.43414786915e-05,1.34293276978e-05,1793244993026868736
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+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,633.992180011,879,786,805,651,630,652,0.410337290571,-0.0155046387516,0.0799877140062,0.999999998925,2.22628937796e-05,-1.87196665993e-05,-3.61114189083e-05,1793244993360202496
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.571493957,714,679.428506043,659,634,879,786,805,651,630,652,0.411006324556,-0.0154994554094,0.0799938930071,0.999999998943,2.47458161356e-05,-1.18130227372e-05,-3.69118447401e-05,1793244993376868864
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.850270942,744.850270942,714,679.149729058,659,634,879.149729058,786,805,651,630.149729058,652,0.411674931867,-0.0154953819872,0.0799891000981,0.999999998713,2.58174169447e-05,-2.0315119024e-05,-3.86638685022e-05,1793244993393535488
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.274698978,744.274698978,714,679.725301022,659,634,879.725301022,786,805,651,630.725301022,652,0.41234342545,-0.0154947663724,0.0799544824386,0.99999999635,2.25811888467e-05,-7.02636879789e-05,-4.30376744474e-05,1793244993410202112
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.299348828,744.299348828,714,680,659,634,879.700651172,786,805,651,631,652,0.413028939467,-0.0154958704319,0.0799274253109,0.999999993304,1.81608906858e-05,-0.000104029926034,-4.73194439277e-05,1793244993426868736
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.872005134,744.872005134,714,680,659,634,879.127994866,786,805,651,631,652,0.413729993333,-0.0154985445654,0.0799072709951,0.999999991026,1.26595283151e-05,-0.000123021593825,-5.15171840636e-05,1793244993443535360
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.538839999,714,680,659.461160001,634,879,786,805,651,631,652,0.414540930278,-0.0155023033578,0.0799236481879,0.999999994346,9.38517925368e-06,-9.33497330516e-05,-5.00556930581e-05,1793244993460202240
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.053577359,714,680,659.946422641,634,879,786,805,651,631,652,0.415377622064,-0.0155056752893,0.0799479100818,0.999999997303,7.3167800678e-06,-5.57396604818e-05,-4.72655908753e-05,1793244993476868864
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.631447777,714,680,659.368552223,634,879,786,805,651,631,652,0.416156825508,-0.0155022062455,0.0799464275512,0.999999995813,1.07764184337e-05,-7.75238278363e-05,-4.74149875901e-05,1793244993493535488
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.792370576,745,714,680.207629424,659,634,879.207629424,786,805.207629424,651,630.792370576,652,0.416962448859,-0.0155003800467,0.079946732532,0.999999995423,1.09517863903e-05,-8.18000394445e-05,-4.83973066181e-05,1793244993510202112
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.219162429,745,714,680.780837571,659,634,879.780837571,786,805.780837571,651,630.219162429,652,0.417814590409,-0.0155014464496,0.0799501848322,0.999999997167,5.34445069667e-06,-5.52495201127e-05,-5.08461744162e-05,1793244993526868736
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.364792717,745,714,680.635207283,659,634,879.635207283,786,806,651,630,652,0.418683219406,-0.0155058376709,0.0799661743847,0.999999998499,5.39607125835e-08,-1.88460525673e-05,-5.14507057135e-05,1793244993543535616
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.95540048,745,714,680.04459952,659,634,879.04459952,786,806,651,630,652,0.419562054478,-0.0155122870308,0.0799899247835,0.999999998411,-5.04039431178e-06,2.36566146213e-05,-5.09135503243e-05,1793244993560202240
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.465940563,744.465940563,714,680,659.534059437,634,879,786,806,651,630.534059437,652,0.420435783478,-0.0155112426716,0.079971180457,0.999999998512,-8.27690107323e-06,-7.73669123177e-06,-5.33655001839e-05,1793244993576868864
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.1120555,744,714,680,660,634,879,786,805.8879445,651,630.8879445,652,0.421317859644,-0.0155102525742,0.079956390693,0.999999997894,-1.03906608347e-05,-3.26415389798e-05,-5.51288365196e-05,1793244993593535232
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.691357042,744,714,680,660,634,879,786,805.308642958,651,630.308642958,652,0.422236480491,-0.0155120410908,0.0799725642278,0.999999998545,-8.45560059287e-06,-5.32207814146e-06,-5.30027235865e-05,1793244993610201856
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.267416815,714,680.267416815,660,633.732583185,879,786,805.267416815,651,630,652,0.42315038658,-0.0155136041381,0.0799900178826,0.999999998538,-4.58094962832e-06,1.78908832907e-05,-5.08243505937e-05,1793244993626868480
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.839779939,714,680.839779939,660,633.160220061,879,786,805.839779939,651,630,652,0.424058916358,-0.0155149100739,0.0800089313128,0.999999998155,1.50549605171e-06,3.64210393374e-05,-4.85863830685e-05,1793244993643535360
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.574667531,745,714,681,660,633.425332469,879.425332469,786,806,651,630,652,0.424910509499,-0.0155127540029,0.0799711793972,0.999999997849,4.14455671535e-06,-3.89453661677e-05,-5.26204314529e-05,1793244993660202240
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.015702639,745,714,680.984297361,660,634,880,785.984297361,806,651,630,652,0.425743989352,-0.0155094405746,0.0799128106771,0.999999987409,5.13639146827e-06,-0.000147227053545,-5.89830612037e-05,1793244993676869376
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.594958397,745,714,680.405041603,660,634,880,785.405041603,806,651,630,652,0.42672177216,-0.0155128919866,0.0799051090292,0.999999990066,-4.89185435709e-06,-0.000126779211845,-6.14102598526e-05,1793244993693535744
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.346880122,660,633.826559939,880,785.173440061,806,651,630,652,0.427679674037,-0.0155158955321,0.0799027878386,0.999999991485,-1.1439197649e-05,-0.000114068519136,-6.23434814801e-05,1793244993710201856
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681.500243902,660,633.249878049,880,785.750121951,806,651,630,652,0.428591353414,-0.0155178578038,0.0799129760159,0.999999991041,-9.89356865338e-06,-0.000119346417564,-5.98032608277e-05,1793244993726868480
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681.668997249,660,633.331002751,880,786,806,651,630,652,0.429518000947,-0.0155209340363,0.0799381121569,0.999999994207,-1.32688568391e-05,-8.97585861931e-05,-5.79140690925e-05,1793244993743535360
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681.084905941,660,633.915094059,880,786,806,651,630,652,0.430456093265,-0.0155248620159,0.0799746776847,0.999999997633,-2.04067356504e-05,-3.35120112894e-05,-5.65226616205e-05,1793244993760202240
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.501385741,745,714,681,660,634,880,786,806,651,630,652,0.431416383856,-0.0155276271698,0.0800113384214,0.999999997996,-2.45678614467e-05,2.28426993077e-05,-5.36812512133e-05,1793244993776868864
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+177,2.950000000,POSE1_TO_POSE2_PRESS,764.768488115,745,714,681,660,633.768488115,880,786.231511885,806,651,630.768488115,652,0.434068175864,-0.0155196237548,0.0799138731564,0.99999999007,-3.0763002623e-05,-0.00012238650555,-6.27268831331e-05,1793244993826868992
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.192997178,745,714,681,660,633.192997178,880,786.807002822,806,651,630.192997178,652,0.434963969368,-0.015521242014,0.0799034757466,0.999999989467,-3.00804047837e-05,-0.000126316196588,-6.48424730245e-05,1793244993843535616
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,714,681.392993876,660,633,880,786.607006124,806,651,630,652,0.435840748722,-0.0155250396099,0.0799204537932,0.999999991863,-3.42549388944e-05,-0.000105023415077,-6.37967275192e-05,1793244993860201984
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,714,681.984283002,660,633,880,786.015716998,806,651,630,652,0.436707933938,-0.0155299368465,0.0799512448368,0.999999994774,-4.08802648687e-05,-7.1003980754e-05,-6.11558480843e-05,1793244993876868864
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.56153753,745,713.43846247,681.43846247,660,633,880,786,806,651,630,652,0.437587893867,-0.0155380681495,0.0799755385872,0.999999996309,-5.05876905831e-05,-3.52999364653e-05,-5.98065980428e-05,1793244993893535488
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.861619063,745,713.138380937,681.138380937,660,633,880,786,806,651,629.861619063,652,0.438450911475,-0.0155460872538,0.0799864656865,0.999999996205,-6.0184849472e-05,-2.01233414741e-05,-5.96834746988e-05,1793244993910202112
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.284864014,745,713.715135986,681.715135986,660,633,880,786,806,651,629.284864014,652,0.439259152733,-0.0155534711644,0.0799556108915,0.999999993144,-6.91660805681e-05,-7.01209576425e-05,-6.33328413099e-05,1793244993926868736
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,714,681.709377559,660,633,880,785.709377559,806,651,629.581244881,652,0.439994170686,-0.0155563137846,0.0798901828636,0.999999980005,-7.74007746349e-05,-0.000170818475747,-6.94250599372e-05,1793244993943535104
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,714,681.135129194,660,633,880,785.135129194,806,651,630.729741612,652,0.440657728082,-0.0155547244419,0.0797910139289,0.999999941842,-8.49069023046e-05,-0.000320995328881,-7.79013195209e-05,1793244993960201728
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.454002147,745,713.545997853,681.454002147,660,633,880,785,806.454002147,651,630.545997853,652,0.441324228082,-0.0155593454542,0.079710162052,0.999999895433,-9.41732620917e-05,-0.000439388087539,-8.48760513744e-05,1793244993976868608
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+189,3.150000000,POSE1_TO_POSE2_PRESS,764.196880261,745,713,682,659.803119739,633,880.196880261,784.803119739,806.196880261,651,630,652,0.443561375738,-0.0156092569208,0.0797599791943,0.999999919686,-0.000165336334681,-0.000357083751685,-7.60528676071e-05,1793244994026868992
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.770109183,745,713,682,659.229890817,633,880.770109183,784.229890817,806.770109183,651,630,652,0.444279093003,-0.0156368459781,0.079793449852,0.999999931865,-0.00018628052307,-0.000311035191324,-6.94767573053e-05,1793244994043536128
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.647266728,745,713,682,659,632.647266728,880.647266728,784,806.647266728,651,630.352733272,652,0.444934665247,-0.0156595762738,0.0797978694461,0.999999927514,-0.000211608542575,-0.000309314819086,-6.72124533647e-05,1793244994060203264
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.058351898,745,713,682,659,632.058351898,880.058351898,784,806.058351898,651,630.941648102,652,0.445548626666,-0.0156790532602,0.0797828371577,0.999999912053,-0.000239871866712,-0.00033727551837,-6.78352297219e-05,1793244994076869888
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713,682,659.523170148,632,880,784,806.523170148,651,630.476829852,652,0.446134015833,-0.0156825340982,0.0797511118389,0.999999896889,-0.000244306119825,-0.000376159832369,-7.09997906552e-05,1793244994093536512
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+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713,682,658.641557208,631.320778604,880,783.320778604,807,651,630,652,0.447259725884,-0.0156829888311,0.0796986836675,0.999999869893,-0.000250929259615,-0.000437706697003,-7.52473150471e-05,1793244994126869760
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713,682,658.254746767,631,880,782.745253233,806.745253233,651,630,652,0.447781546253,-0.0156831360989,0.0796743099248,0.999999851665,-0.000255633049512,-0.000474746935461,-7.70541677476e-05,1793244994143536384
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713,682,658.829479201,631,880,782.170520799,806.170520799,651,630,652,0.448268788963,-0.0156844900213,0.0796458198405,0.999999823539,-0.00026077494746,-0.000527806124299,-7.96181173241e-05,1793244994160202752
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.414287783,745,713,682,659,631,880,782,806.414287783,651,629.585712217,652.414287783,0.448732697416,-0.015690745427,0.0796256159436,0.999999803682,-0.000272984015189,-0.000558117244697,-8.13643710709e-05,1793244994176869120
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.996696734,745,713,682,658.996696734,631,879.996696734,781.996696734,806.996696734,650.996696734,629,652.996696734,0.449186793824,-0.0156990894084,0.0796090808968,0.999999787677,-0.000288151805441,-0.000578590664535,-8.27457479286e-05,1793244994193535488
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cad8c16c01ba04978e3c773307b53e22ef926915
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..618d0c9f92399db20ed1fc45f04b83f409273cf7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:353e75dfb318cb502ce57099384dd8c2e90d68afd1f42a85229d7c4b3fa5ec08
+size 25471316
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..003e73cb03d1664921d4857fcfcb513a9baaaad2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
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+7,0.116666667,BASELINE,764,745.059404788,713.940595212,679.940595212,661,634,879,786,805.059404788,653,630.940595212,653,0.400916310774,0.00441797093917,0.0599293705709,0.999999970018,-0.000107764832424,-0.000217109070257,-3.48450312789e-05,1793244999565868288
+8,0.133333333,BASELINE,764,745.637836947,713.362163053,679.362163053,661,634,879,786,805.637836947,653,630.362163053,653,0.400917018094,0.0044163967944,0.0599298699664,0.999999969984,-0.000109414506789,-0.000216477467181,-3.46200940611e-05,1793244999582534912
+9,0.150000000,BASELINE,764,745.785675868,713,679.214324132,661,634,879,785.785675868,806,653.214324132,630,652.785675868,0.400917430555,0.00441495640373,0.0599301815711,0.999999969898,-0.000110997714313,-0.000216096449616,-3.44236735934e-05,1793244999599201792
+10,0.166666667,BASELINE,764,745.212445783,713,679.787554217,661,634,879,785.212445783,806,653.787554217,630,652.212445783,0.400917349247,0.00441373999706,0.0599301787024,0.999999969731,-0.000112469616684,-0.000216135061161,-3.42750071337e-05,1793244999615868416
+11,0.183333333,BASELINE,764,745,713,680,661,634,879,785,805.628031898,653.628031898,630,652,0.400917965877,0.00441458161768,0.0599304780801,0.999999970034,-0.000111227188149,-0.000215373425524,-3.42730927662e-05,1793244999632535552
+12,0.200000000,BASELINE,764,745,713,680,661,634,879,785,805.037032439,653.037032439,630,652,0.400918993486,0.00441663509614,0.059930955434,0.999999970608,-0.000108386441031,-0.000214140568766,-3.43575925412e-05,1793244999649202944
+13,0.216666667,BASELINE,764,745,713,680,661,634,879,785,805,653,630,652.542316382,0.400920197636,0.00441591792411,0.0599316765542,0.999999970804,-0.000109927926028,-0.000212444654251,-3.42828252735e-05,1793244999665869568
+14,0.233333333,BASELINE,764,745.120336489,713,679.879663511,661.120336489,634,879,785.120336489,805,653,630,653,0.400920902355,0.00441529194408,0.0599322517054,0.999999970949,-0.000110849120186,-0.000211301810231,-3.41559426015e-05,1793244999682536192
+15,0.250000000,BASELINE,764,745.6962749,713,679.3037251,661.6962749,634,879,785.6962749,805,653,630,653,0.400919671516,0.00441571246543,0.0599322125126,0.99999997101,-0.000108312723804,-0.000212370125709,-3.38720575058e-05,1793244999699202560
+16,0.266666667,BASELINE,764,745.726994653,713,679,661.726994653,634,879,785.726994653,805.273005347,653,630,652.726994653,0.400918814671,0.00441587287316,0.0599319038172,0.999999970983,-0.000107190409823,-0.000213074155677,-3.38083528901e-05,1793244999715868928
+17,0.283333333,BASELINE,764,745.149380517,713,679,661.149380517,634,879,785.149380517,805.850619483,653,630,652.149380517,0.400918375114,0.00441574305618,0.0599312944215,0.999999970865,-0.000107645874357,-0.000213371729925,-3.39903171411e-05,1793244999732535296
+18,0.300000000,BASELINE,764,745,713,679.436252249,661.436252249,634,879,785,805.563747751,653,630,652,0.400918364039,0.00441517700859,0.059930921402,0.999999970603,-0.000109470267565,-0.000213675073884,-3.39489228556e-05,1793244999749201920
+19,0.316666667,BASELINE,764,745,713,679.975666227,661.975666227,634,879,785.024333773,805,653,630,652,0.400918509793,0.00441453491762,0.0599306321843,0.999999970307,-0.00011161125192,-0.000213971703253,-3.38460987716e-05,1793244999765868544
+20,0.333333333,BASELINE,764,745,713,679.395541523,661.395541523,634,879,785.604458477,805,653,630,652,0.400918823643,0.00441563158479,0.0599303737305,0.999999970447,-0.000110076510522,-0.000214069000032,-3.41197799744e-05,1793244999782535168
+21,0.350000000,BASELINE,764,745,713,679.181410213,661,634,879,786,805,653,630,652,0.400919171439,0.00441670748046,0.0599303745502,0.999999970639,-0.000108670236407,-0.000213855262304,-3.43189077433e-05,1793244999799201792
+22,0.366666667,BASELINE,764,745,713,679.751562554,661,634,879,786,805,653,630,652,0.400919591977,0.00441773886496,0.0599309309648,0.999999970948,-0.000107539253743,-0.000212975011833,-3.435827567e-05,1793244999815868416
+23,0.383333333,BASELINE,764,745,713,680,661,634,879,786,805,653,630.325821204,652,0.400920124948,0.00441739005196,0.0599315385803,0.999999971199,-0.000107170453649,-0.000211992701882,-3.42748088897e-05,1793244999832535296
+24,0.400000000,BASELINE,764,745,713,680,661,634,879,786,805,653,630.903250925,652,0.400920744742,0.00441597541083,0.0599321857347,0.999999971406,-0.000107390232764,-0.000210931578567,-3.40964856149e-05,1793244999849201920
+25,0.416666667,BASELINE,764,745,713.496147584,679.503852416,661,634,879,785.503852416,805.496147584,653,631,652.496147584,0.400919901381,0.00441575899793,0.0599309627634,0.999999970909,-0.000109105976398,-0.000212410528468,-3.40440265626e-05,1793244999865868544
+26,0.433333333,BASELINE,763.911133895,745,714,679,661,634,879,785,806,653,630.911133895,652.911133895,0.400919004978,0.00441572685933,0.0599296784247,0.999999970382,-0.000110872904654,-0.000213978305085,-3.40017204895e-05,1793244999882535168
+27,0.450000000,BASELINE,763.336409408,745,714,679,661,634,879,785,806,653,630.336409408,652.336409408,0.40091942869,0.00441538363477,0.0599301165201,0.9999999705,-0.000111273466569,-0.000213236544255,-3.38764186869e-05,1793244999899201792
+28,0.466666667,BASELINE,763.238318448,745.238318448,714,679.238318448,661.238318448,634,879,785.238318448,805.761681552,653,630,652.238318448,0.400919497016,0.00441510299938,0.0599301666803,0.999999970536,-0.000111177655972,-0.000213137550234,-3.3766207915e-05,1793244999915868416
+29,0.483333333,BASELINE,763.813051026,745.813051026,714,679.813051026,661.813051026,634,879,785.813051026,805.186948974,653,630,652.813051026,0.400919063673,0.00441491071588,0.0599296692246,0.999999970454,-0.000110381157979,-0.000213945896155,-3.36772998906e-05,1793244999932535040
+30,0.500000000,BASELINE,764,745.600203266,713.600203266,680,661.600203266,634,878.600203266,786,805.399796734,653.399796734,630,652.600203266,0.400919011455,0.00441479738727,0.0599297518642,0.999999970557,-0.00010913885286,-0.000214135291053,-3.34866716599e-05,1793244999949201664
+31,0.516666667,BASELINE,764,745.007666092,713.007666092,680,661.007666092,634,878.007666092,786,805.992333908,653.992333908,630,652.007666092,0.400919142976,0.0044147221225,0.0599301141654,0.999999970746,-0.000107681625892,-0.000214026292061,-3.32470045183e-05,1793244999965868544
+32,0.533333333,BASELINE,764,745,713,680,661.570074217,634,878.570074217,785.429925783,806,653.429925783,630,652,0.400919808712,0.00441473643592,0.0599302309092,0.999999970707,-0.000109301025437,-0.000213331579715,-3.36005412793e-05,1793244999982535424
+33,0.550000000,BASELINE,764,745,713,680,662,634,879,785,805.853413891,653,630,652,0.400919750518,0.00441497438988,0.059929958691,0.999999970556,-0.000110508074117,-0.000213364373936,-3.39243405915e-05,1793244999999201792
+34,0.566666667,BASELINE,764,745,713,680,662,634,879,785,805.279914859,653,630,652,0.400917563576,0.00441586024826,0.0599285630451,0.999999970095,-0.000110396759233,-0.000215538294917,-3.41388888147e-05,1793245000015868416
+35,0.583333333,BASELINE,763.697474928,745,713,680,661.697474928,634,879,785,805,653,630.302525072,652.302525072,0.400917341892,0.00441631632608,0.0599285783896,0.999999970114,-0.000109839405472,-0.000215715871678,-3.42538950166e-05,1793245000032535040
+36,0.600000000,BASELINE,763.106510318,745,713,680,661.106510318,634,879,785,805,653,630.893489682,652.893489682,0.400918993962,0.00441636263399,0.0599299390288,0.999999970592,-0.000108856780344,-0.00021399005405,-3.42739938882e-05,1793245000049201664
+37,0.616666667,BASELINE,763,745,713,679.525932965,661,634,879,785,805,653,631,652.525932965,0.400919597555,0.00441754949065,0.0599302957537,0.999999970958,-0.000107089548787,-0.000213177258497,-3.42178331054e-05,1793245000065868032
+38,0.633333333,BASELINE,763,745,713,679.052232187,661,634,879.052232187,785,805.052232187,653,631,652.052232187,0.40091986801,0.00441873416249,0.0599303904555,0.999999971228,-0.000105574584025,-0.00021268023054,-3.41386940229e-05,1793245000082534912
+39,0.650000000,BASELINE,763,745,713,679.629107049,661,634,879.629107049,785,805.629107049,653,631,652.629107049,0.40091910768,0.00441737818039,0.0599300702598,0.999999970798,-0.000108326165848,-0.000213338652999,-3.39971575135e-05,1793245000099201792
+40,0.666666667,BASELINE,763,745.20513754,713.20513754,679.79486246,661,634,879.79486246,785,805.79486246,653,630.79486246,652.79486246,0.400918974372,0.00441635943763,0.0599299661786,0.999999970641,-0.000109406177302,-0.00021354903201,-3.38303502546e-05,1793245000115868672
+41,0.683333333,BASELINE,763,745.779647617,713.779647617,679.220352383,661,634,879.220352383,785,805.220352383,653,630.220352383,652.220352383,0.400919970084,0.00441594793123,0.0599302512354,0.999999970985,-0.000107476343662,-0.00021295265984,-3.3618040261e-05,1793245000132535296
+42,0.700000000,BASELINE,763.364118365,745.635881635,713.635881635,679.364118365,661.364118365,634,879,785,805,653,630,652,0.400920021229,0.00441595376737,0.0599302062512,0.999999971136,-0.000106344529326,-0.00021283952138,-3.34415032235e-05,1793245000149201920
+43,0.716666667,BASELINE,763.954786494,745.045213506,713.045213506,679.954786494,661.954786494,634,879,785,805,653,630,652,0.400919484676,0.0044162192687,0.0599299559196,0.999999971168,-0.00010570923241,-0.00021302704474,-3.32872236672e-05,1793245000165868544
+44,0.733333333,BASELINE,763.464707731,745,713.535292269,679.464707731,661.464707731,634,878.464707731,785,805,653,630,652.535292269,0.400919335783,0.00441714283589,0.059930297058,0.999999971097,-0.000106791260583,-0.000212748944279,-3.37433089829e-05,1793245000182535680
+45,0.750000000,BASELINE,763.113310137,745,714,679.113310137,661,634,878.113310137,785,805.113310137,653,630.113310137,652.886689863,0.400919435572,0.00441809460664,0.0599306861061,0.999999971106,-0.000107289581429,-0.000212392109024,-3.41609095166e-05,1793245000199202304
+46,0.766666667,BASELINE,763.684675792,745,714,679.684675792,661,634,878.684675792,785,805.684675792,653,630.684675792,652.315324208,0.400920410752,0.00441893987984,0.059931070634,0.999999971472,-0.000104852813691,-0.000211873013908,-3.42184094684e-05,1793245000215868416
+47,0.783333333,BASELINE,764,745,713.740512866,680,661,634,879,785,806,653,630.740512866,652,0.400919775999,0.00441909540528,0.0599304457779,0.999999971412,-0.000103358024964,-0.000212904744615,-3.41203089715e-05,1793245000232535040
+48,0.800000000,BASELINE,764,745,713.161457958,680,661,634,879,785,806,653,630.161457958,652,0.400917158555,0.00441840148156,0.0599285778287,0.999999970826,-0.000103023317068,-0.000215846373245,-3.38305809119e-05,1793245000249201664
+49,0.816666667,BASELINE,764,745,713,680,661,634,879,785,806,653,630.426593517,652,0.40091770397,0.00441692056284,0.0599289559231,0.999999970698,-0.000105533594707,-0.000215248820855,-3.36716139232e-05,1793245000265868288
+50,0.833333333,BASELINE,764,745,713,680,661,634,878.982291693,785,805.982291693,653,630.982291693,652.017708307,0.400919401933,0.00441521179378,0.0599301421023,0.999999970732,-0.000109050068802,-0.000213347437959,-3.35767872592e-05,1793245000282535168
+51,0.850000000,BASELINE,764,745,713,680,661,634,878.40430847,785,805.40430847,653,630.40430847,652.59569153,0.400918874875,0.00441592120229,0.0599294199397,0.99999997063,-0.000109599530481,-0.000213488159255,-3.39117271172e-05,1793245000299201536
+52,0.866666667,BASELINE,764,745,713,680,661.171708807,634,878.171708807,785,805.171708807,653,630,652.828291193,0.400918620793,0.00441677571141,0.0599288869409,0.999999970672,-0.000109075677444,-0.000213515520432,-3.4192805753e-05,1793245000315868416
+53,0.883333333,BASELINE,764,745,713,680,661.743149398,634,878.743149398,785,805.743149398,653,630,652.256850602,0.400919002189,0.00441796800934,0.0599287943087,0.999999971042,-0.000106053187209,-0.000213278983409,-3.43484974255e-05,1793245000332535040
+54,0.900000000,BASELINE,763.674174339,745,713.325825661,679.674174339,662,634,879,785,805.674174339,653,630.325825661,652,0.400919608248,0.00441858594896,0.0599292991024,0.999999971113,-0.000105952310435,-0.000212986175698,-3.44247190929e-05,1793245000349201664
+55,0.916666667,BASELINE,763.082324614,745,713.917675386,679.082324614,662,634,879,785,805.082324614,653,630.917675386,652,0.400920397734,0.00441873494714,0.0599302916713,0.99999997094,-0.000108236818335,-0.000212647425153,-3.4436056564e-05,1793245000365868288
+56,0.933333333,BASELINE,763.49891636,745,714,679,661.50108364,634,879,785.49891636,805.49891636,653,630.50108364,652,0.400919975462,0.00441919074291,0.059930185125,0.999999971055,-0.000106774229528,-0.000212842379788,-3.44578590504e-05,1793245000382534656
+57,0.950000000,BASELINE,764,745,714,679.077886196,661,634,879,785.922113804,805.922113804,653,630.077886196,652,0.4009193007,0.00441946459842,0.0599298719318,0.999999971161,-0.00010515766268,-0.000213162750531,-3.43833644497e-05,1793245000399201536
+58,0.966666667,BASELINE,764,745,714,679.653297301,661,634,879,785.346702699,805.346702699,653,630.653297301,652,0.400918263721,0.00441825960415,0.0599293730986,0.999999970929,-0.000106424857845,-0.000213733426856,-3.36829381569e-05,1793245000415868416
+59,0.983333333,BASELINE,764,745,713.771665362,680,661,634,879,785.228334638,805,653,630.771665362,652,0.400917515545,0.00441764985396,0.0599287897766,0.999999970656,-0.000107248268505,-0.000214645664831,-3.33552859403e-05,1793245000432535296
+60,1.000000000,BASELINE,764,745,713.19719454,680,661,634,879,785.80280546,805,653,630.19719454,652,0.400917205171,0.00441794244377,0.0599280783767,0.999999970324,-0.000107398939216,-0.000216075681744,-3.35927278942e-05,1793245000449201920
+61,1.016666667,BASELINE,764,745.387965311,713,680,661,633.612034689,878.612034689,785.612034689,805,653,630,652,0.400917723673,0.00441831499481,0.0599282242201,0.999999970463,-0.000106712681045,-0.000215733577537,-3.38555278304e-05,1793245000465868288
+62,1.033333333,BASELINE,764,745.978712062,713,680,661,633.021287938,878.021287938,785.021287938,805,653,630,652,0.400918675413,0.0044187293399,0.0599288181269,0.999999970845,-0.00010558897746,-0.000214465222213,-3.41315818448e-05,1793245000482534912
+63,1.050000000,BASELINE,764,745.44137148,713,680,661,633.55862852,878.55862852,785.55862852,805,653,630.55862852,652,0.400919278862,0.00441932375631,0.0599286272565,0.99999997097,-0.000105729727817,-0.000213782859115,-3.43323651072e-05,1793245000499201536
+64,1.066666667,BASELINE,764,745,713,679.862968299,661,634,878.862968299,785.862968299,805,653,631,652,0.40091966972,0.00441936513032,0.0599286493272,0.999999971028,-0.000106150647275,-0.00021330183788,-3.43364493605e-05,1793245000515868160
+65,1.083333333,BASELINE,764,745,713,679.28810663,661,634,878.28810663,785.28810663,805,653,631,652,0.40091942293,0.00441761797057,0.059929445501,0.999999970905,-0.000107315706531,-0.000213394132166,-3.37210510926e-05,1793245000532535040
+66,1.100000000,BASELINE,764,745,713,679.292911528,661.292911528,634,878.292911528,785,805,653,630.707088472,652,0.400918985996,0.00441704442338,0.059929396387,0.999999970849,-0.000106751811346,-0.000213972796502,-3.34873604723e-05,1793245000549201920
+67,1.116666667,BASELINE,764,745,713,679.880115159,661.880115159,634,878.880115159,785,805,653,630.119884841,652,0.400918358021,0.00441765002042,0.0599284980011,0.999999970858,-0.0001044508126,-0.000215040123279,-3.3637176632e-05,1793245000565868544
+68,1.133333333,BASELINE,764,745,713,679.539283844,661.539283844,634,879,785,805.460716156,653,630,652,0.400918393968,0.00441914687273,0.0599286415677,0.999999970972,-0.000103289517721,-0.000215024151078,-3.39360182695e-05,1793245000582535168
+69,1.150000000,BASELINE,764,745,713.039483857,679.039483857,661,634,878.960516143,785,806,653,630,652.039483857,0.400918493685,0.00442059635005,0.0599289610083,0.999999971069,-0.000102652280311,-0.000214833522532,-3.42095092053e-05,1793245000599202048
+70,1.166666667,BASELINE,764,745,713.616352709,679.616352709,661,634,878.383647291,785,806,653,630,652.616352709,0.400917143238,0.0044182891872,0.0599280361167,0.999999970566,-0.000105168273325,-0.000216048160022,-3.36176421333e-05,1793245000615868672
+71,1.183333333,BASELINE,764,745,713.807012424,679.807012424,661,634,878.192987576,785.192987576,806,653,630.192987576,652.807012424,0.400916789162,0.00441683449862,0.0599276732183,0.999999970383,-0.000106557006488,-0.000216250296581,-3.34030518268e-05,1793245000632535040
+72,1.200000000,BASELINE,764,745,713.230842038,679.230842038,661,634,878.769157962,785.769157962,806,653,630.769157962,652.230842038,0.400918413412,0.00441707242372,0.0599284261745,0.999999970844,-0.000105707530744,-0.00021444208139,-3.39375561214e-05,1793245000649201664
+73,1.216666667,BASELINE,764,745,713,679.352649151,661,634,879,785.647350849,806,653,630.647350849,652,0.400918892054,0.00441736782609,0.0599284509308,0.999999970833,-0.000106273496319,-0.000214192039596,-3.40802965401e-05,1793245000665868800
+74,1.233333333,BASELINE,764,745,713,679.941034052,661,634,879,785.058965948,806,653,630.058965948,652,0.40091860489,0.00441770165033,0.0599279889064,0.999999970505,-0.000107785643492,-0.00021498359172,-3.39611541167e-05,1793245000682535424
+75,1.250000000,BASELINE,764,745.523130589,713,680,661,634,879.523130589,785,806,653,630,652,0.400918770439,0.00441793529403,0.0599286486819,0.999999970809,-0.000105979865165,-0.00021451166415,-3.36778864727e-05,1793245000699202048
+76,1.266666667,BASELINE,764,746,713,680,661,634,879.896827287,785,806,653,630.103172713,652,0.400919071345,0.00441812363987,0.0599293630461,0.99999997112,-0.00010435449147,-0.000213901245837,-3.34128393041e-05,1793245000715868672
+77,1.283333333,BASELINE,764,746,713,680,661,634,879.322962483,785,806,653,630.677037517,652,0.400919759738,0.00441815623351,0.0599297564342,0.999999971159,-0.000105238089239,-0.000213301018864,-3.33143139245e-05,1793245000732535040
+78,1.300000000,BASELINE,764,745.74866727,713.25133273,680,661,634,879,785.25133273,805.74866727,653,631,652.25133273,0.400919719143,0.00441766397101,0.0599293812785,0.999999971029,-0.000106308288087,-0.000213368414119,-3.33826183812e-05,1793245000749201664
+79,1.316666667,BASELINE,764,745.173818078,713.826181922,680,661,634,879,785.826181922,805.173818078,653,631,652.826181922,0.400918740192,0.00441649611167,0.0599280168502,0.999999970681,-0.000107618680494,-0.000214295175334,-3.36656668551e-05,1793245000765868544
+80,1.333333333,BASELINE,764,745,713.587978098,680,661,634,879,785.587978098,805.412021902,653,630.587978098,653,0.400918152183,0.00441698171938,0.0599278186052,0.999999970561,-0.000107276324262,-0.000215016513989,-3.37292489745e-05,1793245000782535168
+81,1.350000000,BASELINE,764,745,713,680,661,634,879.002554186,785,805.997445814,652.997445814,630,653,0.400917737703,0.00441817713857,0.0599281254449,0.999999970539,-0.00010622560291,-0.000215644571564,-3.3697361797e-05,1793245000799202048
+82,1.366666667,BASELINE,764,745,713,680,661,634,879.577083745,785,805.422916255,652.422916255,630,653,0.400918237854,0.00441783918062,0.0599283490425,0.999999970534,-0.000106962422963,-0.000215321959416,-3.35878916312e-05,1793245000815868672
+83,1.383333333,BASELINE,764,745,713.152988311,680,661,634,880,785,805,652.152988311,630,652.847011689,0.400918317816,0.00441775884921,0.0599283819528,0.999999970574,-0.000106910743161,-0.000215167561842,-3.35397996568e-05,1793245000832535296
+84,1.400000000,BASELINE,764,745,713.732728514,680,661,634,880,785,805,652.732728514,630,652.267271486,0.400917225689,0.0044183971518,0.0599278829525,0.99999997074,-0.000104659589586,-0.000215482388841,-3.36629185091e-05,1793245000849201920
+85,1.416666667,BASELINE,764,745,713.683420928,679.683420928,661,634,879.683420928,785.316579072,805.316579072,653,630,652,0.400917375893,0.00441851731039,0.0599277635415,0.999999970827,-0.000103573096617,-0.000215588105166,-3.37552374585e-05,1793245000865868544
+86,1.433333333,BASELINE,764,745,713.096054593,679.096054593,661,634,879.096054593,785.903945407,805.903945407,653,630,652,0.400918588732,0.00441819427225,0.0599279688139,0.99999997085,-0.000103482801211,-0.000215514957764,-3.38212115721e-05,1793245000882535168
+87,1.450000000,BASELINE,763.512870036,745,713,679,661.487129964,634,879,785.512870036,805.512870036,653,630,652,0.400918885815,0.00441897373142,0.0599285571373,0.999999971051,-0.000103084219489,-0.000214774812413,-3.38059602905e-05,1793245000899201792
+88,1.466666667,BASELINE,763.067963282,745,713,679,661.932036718,634,879,785,805,653,630,652,0.400919022624,0.00441971330888,0.0599291423189,0.999999971236,-0.000103069514867,-0.000213927395941,-3.3765951058e-05,1793245000915868416
+89,1.483333333,BASELINE,763.637478487,745,713,679,661.362521513,634,879,785,805,653,630,652,0.400919297903,0.00441856789938,0.0599291516538,0.999999971042,-0.000106332518482,-0.000213250682255,-3.36604254097e-05,1793245000932535040
+90,1.500000000,BASELINE,763.789917292,745.210082708,713,679,661.210082708,634,879,785,805,653,630,652,0.400919570078,0.00441833850317,0.0599292552155,0.999999971037,-0.00010704967508,-0.000212918394288,-3.36565930306e-05,1793245000949201920
+91,1.516666667,BASELINE,763.21190314,745.78809686,713,679,661.78809686,634,879,785,805,653,630,652,0.40091983682,0.00441971338044,0.0599295238025,0.999999971367,-0.000103308124657,-0.000213189321449,-3.38308626681e-05,1793245000965868544
+92,1.533333333,BASELINE,763.376321371,746,713.376321371,679.376321371,661.623678629,634,879,785,805,653,630,652,0.400919973384,0.00441919675786,0.0599296248335,0.999999971325,-0.000103615930398,-0.000213248296316,-3.37570890451e-05,1793245000982535168
+93,1.550000000,BASELINE,763.97045564,746,713.97045564,679.97045564,661.02954436,634,879,785,805,653,630,652,0.400920034601,0.0044175853449,0.059929628884,0.999999971067,-0.000106267482568,-0.000213184594296,-3.35397492591e-05,1793245000999201792
+94,1.566666667,BASELINE,764,745.44957407,713.44957407,680,661,634,879,785,805,653,630,652,0.400919471261,0.00441750970619,0.0599293347559,0.999999970944,-0.000106754768808,-0.000213505707428,-3.36325387937e-05,1793245001015868672
+95,1.583333333,BASELINE,764,745,713.128569172,680,661,634,879,785.128569172,805,653,630.128569172,652.128569172,0.400919009532,0.00441781085927,0.0599290219934,0.99999997084,-0.000106811259242,-0.000213945627553,-3.37407429724e-05,1793245001032535296
+96,1.600000000,BASELINE,764,745,713.70294738,680,661,634,879,785.70294738,805,653,630.70294738,652.70294738,0.400919013458,0.0044191398605,0.0599286987213,0.99999997078,-0.000105766683524,-0.000214727682658,-3.38461243965e-05,1793245001049201920
+97,1.616666667,BASELINE,764,745,713.723728156,679.723728156,661,634,879,785.723728156,805.276271844,653,630.723728156,652.723728156,0.400918914776,0.00441993538893,0.0599287465904,0.999999970832,-0.000104670071982,-0.000215018770461,-3.38698838519e-05,1793245001065868288
+98,1.633333333,BASELINE,764,745,713.151532427,679.151532427,661,634,879,785.151532427,805.848467573,653,630.151532427,652.151532427,0.400918706189,0.00442015949698,0.0599291920012,0.999999971005,-0.000103517723216,-0.000214783966947,-3.38062153182e-05,1793245001082534912
+99,1.650000000,BASELINE,764,745,713.4367896,679.4367896,661,634,879,785,805.5632104,653,630,652,0.400918220777,0.00442050958302,0.0599288821723,0.999999971011,-0.000103143699659,-0.000214957446386,-3.36564138948e-05,1793245001099201792
+100,1.666666667,BASELINE,764,745,713.970100049,680,661,634,878.970100049,785.029899951,805.029899951,653,630,652,0.400917701,0.00442079985121,0.059928337816,0.999999970956,-0.000103173367982,-0.000215221975956,-3.34952528066e-05,1793245001115868160
+101,1.683333333,BASELINE,764,745,713.395581833,680,661,634,878.395581833,785.604418167,805.604418167,653,630,652,0.400918371595,0.00441917397149,0.0599284770003,0.999999970875,-0.000105449299819,-0.000214466071252,-3.36923262581e-05,1793245001132535552
+102,1.700000000,BASELINE,764.179890101,745,713,680,661,634,878.179890101,786,805.820109899,653.179890101,630,652.179890101,0.400918863532,0.00441791650753,0.0599287745817,0.999999970866,-0.000106948630699,-0.000213752557191,-3.37583191857e-05,1793245001149202688
+103,1.716666667,BASELINE,764.757470383,745,713,680,661,634,878.757470383,786,805.242529617,653.757470383,630,652.757470383,0.400918960503,0.00441747351511,0.0599294223378,0.999999971029,-0.000106731098744,-0.000213132757908,-3.3534527175e-05,1793245001165869312
+104,1.733333333,BASELINE,764.657824582,745,713.342175418,680,661,634,879,786,805.342175418,653.657824582,630,652.657824582,0.400918813475,0.00441756404736,0.0599289780734,0.9999999708,-0.000107129400781,-0.000213998712853,-3.35817377396e-05,1793245001182535680
+105,1.750000000,BASELINE,764.067962165,745,713.932037835,680,661,634,879,786,805.932037835,653.067962165,630,652.067962165,0.400918489826,0.00441804077656,0.0599277433395,0.999999970284,-0.000107973480208,-0.000215940145359,-3.38251161267e-05,1793245001199202048
+106,1.766666667,BASELINE,764,745.511912273,714,680,661.511912273,634,878.488087727,785.488087727,805.488087727,653,630.511912273,652,0.400918279974,0.00441787636211,0.0599273084065,0.999999970214,-0.000108492156633,-0.000216007536095,-3.38055380961e-05,1793245001215868672
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,879,785,806,653,630,652,0.400918417029,0.00441963964289,0.0599280159331,0.999999970781,-0.00010552795204,-0.000214869761007,-3.36429008797e-05,1793245001258880768
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.573233456,680.146466912,661,634,879,785.573233456,805.426766544,653,630,652.573233456,0.400918473106,0.0044186218154,0.0599283946489,0.999999970854,-0.00010432136817,-0.00021515708874,-3.34134501192e-05,1793245001275547392
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.848487986,680.848487986,661,634,879,785.848487986,805.151512014,653,630.151512014,652.848487986,0.400918495124,0.00441784854745,0.059928734786,0.999999970879,-0.000103891268547,-0.000215263651149,-3.33179192263e-05,1793245001292214272
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.25550917,680.25550917,661,634,879,785.25550917,805.74449083,653,630.74449083,652.25550917,0.400918417902,0.0044177878625,0.0599289625145,0.999999970767,-0.000105723642796,-0.000214843510253,-3.36125961184e-05,1793245001308880640
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713,680,661,634,879,785,805.670388146,653,631,652,0.400919633217,0.00441748261836,0.0599293886834,0.999999970899,-0.000106775424667,-0.000213699047944,-3.36765788598e-05,1793245001325547264
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713,680,661,634,879,785,805.091216543,653,631,652,0.400921827154,0.00441699221061,0.0599299650977,0.999999971214,-0.000107236194801,-0.000212006178594,-3.35658956136e-05,1793245001342213632
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713,680,661,634,879,785,805.483456557,653,630.516543443,652,0.400926458628,0.00441843676864,0.0599309614237,0.99999997194,-0.000106286239345,-0.000208989200009,-3.3863635399e-05,1793245001358880000
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713,680,661,634,879,785.058737006,806,653.058737006,630.058737006,652,0.400932921895,0.00442010146533,0.0599324992063,0.999999972946,-0.00010510257043,-0.000204675663899,-3.41959457164e-05,1793245001375546368
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713,680,661,634,879,785.647075921,806,653.647075921,630.647075921,652,0.400951793025,0.00442048963559,0.0599382112637,0.999999975767,-0.000104189418361,-0.00019090352381,-3.41515596758e-05,1793245001392212992
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.23103575,679.76896425,661,634,879.23103575,785.76896425,805.76896425,653.76896425,630.76896425,652,0.400975893819,0.00442025505447,0.0599436583736,0.999999978546,-0.000104035754816,-0.000175817601465,-3.42522381332e-05,1793245001408879616
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.808430583,679.191569417,661,634,879.808430583,785.191569417,805.191569417,653.191569417,630.191569417,652,0.401007834703,0.00441908687063,0.059948708285,0.999999981285,-0.000105020684621,-0.000158762113243,-3.4570391192e-05,1793245001425546240
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745.386801791,714,679,661,634,879.613198209,785.386801791,805.386801791,653,630.386801791,652.386801791,0.401049229921,0.00441899973036,0.0599538383912,0.999999984075,-0.000106499694845,-0.000138696901865,-3.56476791053e-05,1793245001442213120
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745.965657838,714,679,661,634,879.034342162,785.965657838,805.965657838,653,630.965657838,652.965657838,0.401095319395,0.00441944934815,0.0599590083161,0.999999986595,-0.00010822402521,-0.0001171373056,-3.71018915579e-05,1793245001458880000
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745.459781477,713.459781477,679.540218523,661,634,879,786,806,653,630.459781477,652.459781477,0.401147035138,0.00441865382936,0.0599585563094,0.999999986925,-0.000110316117826,-0.000112051706427,-3.77445001992e-05,1793245001475546368
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.117678239,680,661,634,879,785.882321761,806,653,630,652.117678239,0.401203350001,0.00441811706097,0.0599583285259,0.999999987237,-0.000111920769388,-0.000107342455588,-3.84265900243e-05,1793245001492212992
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.707866276,680,661,634,879,785.292133724,806,653,630,652.707866276,0.401276706789,0.00441893456398,0.0599604247604,0.99999998801,-0.000111475082253,-9.99724584351e-05,-3.94727386401e-05,1793245001508879616
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713.706875615,680,661,634,879,785.293124385,806,653,630.293124385,653,0.401361910881,0.00441962388693,0.059962318152,0.999999988444,-0.000112016320881,-9.45160049701e-05,-4.03885108882e-05,1793245001525545984
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713.12644954,680,661,634,879,785.87355046,806,653,630.87355046,653,0.401458726937,0.00442018757596,0.0599640127301,0.999999988574,-0.000113524880764,-9.09350845331e-05,-4.11764965354e-05,1793245001542212608
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713,680.448370806,661,634,879,785.551629194,805.551629194,653,631,652.551629194,0.40158167654,0.00441974902696,0.0599688460813,0.999999989233,-0.000115705177791,-7.97480825345e-05,-4.22568684447e-05,1793245001558879744
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713,680.977823058,661,634,879.022176942,785.022176942,805,653,630.977823058,652,0.401712558016,0.0044191022063,0.0599743895634,0.999999989874,-0.000117951747343,-6.67405339472e-05,-4.34107633308e-05,1793245001575546624
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713,680.390061399,661,634,879.609938601,785.609938601,805,653,630.390061399,652,0.401860085459,0.00442026329545,0.0599757470571,0.999999990277,-0.00011711671796,-6.1333804709e-05,-4.43627341904e-05,1793245001592213248
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,679.804028461,661.195971539,634,879.804028461,786,805.195971539,653.195971539,630.195971539,652.195971539,0.402016608088,0.00442121581397,0.059975506531,0.999999990573,-0.000116205967727,-5.73919687789e-05,-4.53363631049e-05,1793245001608879872
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,679.221406349,661.778593651,634,879.221406349,786,805.778593651,653.778593651,630.778593651,652.778593651,0.40219087814,0.00442175682387,0.0599721131219,0.999999990709,-0.000115145820853,-5.63403584757e-05,-4.63527231104e-05,1793245001625546496
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713,679,661.643807054,634,879,786,806,653.643807054,630.643807054,652.643807054,0.402392569889,0.00442212107638,0.0599711647758,0.999999990844,-0.000115447762045,-5.20564240795e-05,-4.76892192704e-05,1793245001642212864
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713,679,661.069286428,634,879,786,806,653.069286428,630.069286428,652.069286428,0.402611069723,0.00442237698588,0.0599717151255,0.999999990944,-0.000116584592009,-4.57912436504e-05,-4.92219422775e-05,1793245001658879744
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713.506617098,679.506617098,661,634,879,785.493382902,805.493382902,653,630.506617098,652.506617098,0.402871654912,0.00442268721656,0.0599730747231,0.999999991511,-0.000114589708749,-3.67897554409e-05,-4.99406608322e-05,1793245001675546112
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745.084281783,714,680,661,634,879,785.084281783,805,653,630.915718217,653,0.40314078937,0.00442303469797,0.0599746570384,0.999999991998,-0.00011256070461,-2.7792660681e-05,-5.0608305078e-05,1793245001692212992
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745.67132109,714,680,661,634,879,785.67132109,805,653,630.32867891,653,0.403426494062,0.00442355995002,0.059976905904,0.999999992073,-0.000112890062333,-2.10602086818e-05,-5.16371782578e-05,1793245001708879872
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745.743759265,713.743759265,679.743759265,661.256240735,634,879,786,805,653,630.256240735,652.743759265,0.403723677873,0.00442439739182,0.0599722681152,0.999999992174,-0.000110372298336,-2.70185078266e-05,-5.23371077263e-05,1793245001725546496
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745.161536228,713.161536228,679.161536228,661.838463772,634,879,786,805,653,630.838463772,652.161536228,0.404035465081,0.00442563199268,0.059958869317,0.999999991977,-0.000104232505612,-4.91216262529e-05,-5.26185641206e-05,1793245001742213376
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.414775343,679.414775343,661.585224657,634,879,786,805,653,630.585224657,652,0.404374079911,0.00442757018609,0.0599454951326,0.999999991162,-9.84697766705e-05,-7.21233801406e-05,-5.27151004828e-05,1793245001758880000
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.988817003,679.988817003,661.011182997,634,879,786,805,653,630.011182997,652,0.404722996059,0.00442977854644,0.0599321303998,0.999999989741,-9.28518335872e-05,-9.54701934436e-05,-5.27406308327e-05,1793245001775546368
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,679.436051425,661.563948575,634,879,785.436051425,805,653,630.563948575,652,0.405134863898,0.00442918826313,0.0599229417513,0.999999988615,-8.99773493772e-05,-0.000109011157004,-5.28290184762e-05,1793245001792212992
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713.856749752,679.143250248,661.856749752,634,879,785,805.143250248,653,630.856749752,652,0.405562612442,0.00442886077456,0.0599203212548,0.999999988458,-8.73848200348e-05,-0.00011245393893,-5.29310430325e-05,1793245001808879872
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713.264443792,679.735556208,661.264443792,634,879,785,805.735556208,653,630.264443792,652,0.406036222402,0.00442953139119,0.0599380302709,0.999999991336,-8.55052846285e-05,-8.48520321497e-05,-5.30719011868e-05,1793245001825546496
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745.319409973,713.319409973,680,661.319409973,634,879,785.319409973,806,653,630,652,0.406546015952,0.00442973380172,0.0599632045611,0.999999994138,-8.44575207124e-05,-4.19016582168e-05,-5.32504956502e-05,1793245001842212864
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745.896446513,713.896446513,680,661.896446513,634,879,785.896446513,806,653,630,652,0.407084994158,0.00442955857124,0.0599944001208,0.999999994946,-8.40806385325e-05,1.34283351189e-05,-5.34595270089e-05,1793245001858879488
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745.528791612,714,680,661.528791612,634,879,785.528791612,805.528791612,653,630.471208388,652,0.407628571609,0.00442942109507,0.0600074634918,0.999999994769,-8.23632493983e-05,2.90791726508e-05,-5.32151167602e-05,1793245001875546624
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680,661.046771481,634,879.046771481,785,805.046771481,653,630.953228519,652.046771481,0.408174383616,0.00442960894543,0.0600146765537,0.999999994782,-8.1081078408e-05,3.26250485149e-05,-5.28959268412e-05,1793245001892214016
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680,661.637437286,634,879.637437286,785,805.637437286,653,630.362562714,652.637437286,0.408734484011,0.00443348392016,0.0599999729648,0.9999999947,-8.82692335288e-05,-3.6796730033e-06,-5.28603692573e-05,1793245001908880128
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713.776280889,679.776280889,662,633.776280889,880,785,806,653,630,653,0.409319707998,0.00443574169701,0.0599896458416,0.99999999299,-0.00010166084445,-2.93848840208e-05,-5.311747362e-05,1793245001925546496
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713.1969673,679.1969673,662,633.1969673,880,785,806,653,630,653,0.409944865109,0.00443542898856,0.0599862749735,0.999999990018,-0.000124912652622,-3.82425048405e-05,-5.38397549994e-05,1793245001942213120
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.380567294,713.380567294,679.380567294,662,633.380567294,880,785,806,653,630.380567294,652.619432706,0.410611297599,0.00443630251827,0.0599919352261,0.999999990055,-0.00012819833623,-1.95804190786e-05,-5.54181491615e-05,1793245001958879488
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.957185414,713.957185414,679.957185414,662,633.957185414,880,785,806,653,630.957185414,652.042814586,0.411298993254,0.00443778714352,0.0600022478982,0.999999990918,-0.000121198386849,1.32585583661e-05,-5.74375733245e-05,1793245001975546112
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,746,714,680,662,634,880,785,806,653,630.470344953,652,0.411988799282,0.00443836577879,0.0599974518646,0.999999992334,-0.00011015020558,2.45305836839e-06,-5.65101965446e-05,1793245001992212992
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745.894810495,714,680,661.894810495,634,879.894810495,785.105189505,805.894810495,653,630,652,0.412675797502,0.00443924497532,0.0599851065473,0.999999993198,-9.97750212758e-05,-2.35445910291e-05,-5.56283918279e-05,1793245002008879616
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745.303577275,714,680,661.303577275,634,879.303577275,785.696422725,805.303577275,653,630,652,0.413349039494,0.00444184872556,0.0599434780342,0.999999988647,-9.4009824192e-05,-0.000103564882483,-5.60492638805e-05,1793245002025546752
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680,661,634,879,785.717945486,805,653,630,652,0.414079021187,0.00444343286821,0.0599246430134,0.999999984811,-8.96595652306e-05,-0.000138225863432,-5.68625542994e-05,1793245002042213376
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680,661,634,879,785.138225086,805,653,630,652,0.414868883138,0.00444394096955,0.0599298630717,0.999999986731,-8.68025592365e-05,-0.000125016962116,-5.80899832929e-05,1793245002058880000
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.438766975,713.561233025,680,661.438766975,634,879,785.438766975,805,653,630.438766975,652,0.415715824406,0.00444458050773,0.0599728503045,0.99999999383,-8.26494564938e-05,-4.64380981369e-05,-5.7896952184e-05,1793245002075546368
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.98518951,713.01481049,680.01481049,662,634,879,786,805,653,630.98518951,652,0.416579367502,0.00444520578976,0.0600262450425,0.99999999406,-7.82559665818e-05,4.97809211063e-05,-5.72565041028e-05,1793245002092212992
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745.412697217,713.587302783,680.587302783,662,634,879,786,805,653,630.412697217,652,0.417395137011,0.00444374475319,0.0600262913654,0.999999994412,-8.00905450131e-05,3.95836312599e-05,-5.65146412897e-05,1793245002108879616
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680.83433859,661.83433859,634,879.16566141,785.83433859,805,652.83433859,630.16566141,652,0.418220590054,0.00444307065665,0.0600209366559,0.999999994758,-8.14756707742e-05,2.54217131337e-05,-5.6566928966e-05,1793245002125546240
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680.24082922,661.24082922,634,879.75917078,785.24082922,805,652.24082922,630.75917078,652,0.419071052376,0.00444442896284,0.0600016328879,0.999999994941,-8.17000106419e-05,1.02048811807e-06,-5.86702415135e-05,1793245002142212864
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.34277513,745.34277513,714,680,661.68555026,634,879.65722487,785.34277513,805.34277513,652.34277513,630.65722487,652,0.419911449118,0.00444481033043,0.0599757380299,0.999999994043,-8.34433834519e-05,-3.63218015996e-05,-6.02642892442e-05,1793245002158879744
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.91961577,745.91961577,714,680,662.83923154,634,879.08038423,785.91961577,805.91961577,652.91961577,630.08038423,652,0.420744972498,0.00444452459114,0.0599453424178,0.999999990988,-8.62240344829e-05,-8.25009534108e-05,-6.15105830753e-05,1793245002175546880
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.50351986,746,714,679.50351986,662.007039719,634,879.49648014,786,806,652.50351986,630,652,0.421558436261,0.00444655192911,0.0599100998809,0.999999983382,-8.08827401693e-05,-0.000151486237058,-6.12006862993e-05,1793245002192213504
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,746,714,679.074790777,661,633.925209223,879.925209223,786,806,652,630,652,0.42238890764,0.00444837306478,0.0598834145418,0.999999974199,-7.57970150507e-05,-0.000205310809702,-6.08562820977e-05,1793245002208880384
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,746,714,679.663003045,661,633.336996955,879.336996955,786,806,652,630,652,0.423358428586,0.00444620764551,0.0599208598511,0.999999986345,-8.14933916166e-05,-0.000129711173675,-6.20047250972e-05,1793245002225546752
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,746,714,680,661.494654114,633.247327057,879,786,805.752672943,652,630,652,0.42432786605,0.00444397328483,0.0599683534849,0.999999993173,-8.70974879954e-05,-4.70507822012e-05,-6.20845755504e-05,1793245002242213120
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,746,714,680,662.652870366,633.826435183,879,786,805.173564817,652,630,652,0.425297191663,0.00444164644122,0.0600293266192,0.999999992854,-9.25777943339e-05,4.50813895748e-05,-6.07309445958e-05,1793245002258880000
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745.597388131,713.597388131,680,662.194776263,634,879,785.597388131,805.402611869,652.402611869,630,652,0.426226485719,0.00444045440886,0.0600441546065,0.999999990849,-9.4372023793e-05,7.49188519629e-05,-6.15148958174e-05,1793245002275546368
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745.02246608,713.02246608,680,661.044932161,634,879,785.02246608,805.97753392,652.97753392,630,652,0.427138646975,0.00443974805417,0.0600392333495,0.999999990479,-9.45886827174e-05,7.80953644209e-05,-6.3213691565e-05,1793245002292212736
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.564690748,745,713,680,661.564690748,634,879.564690748,785,806,652.435309252,630,652,0.428004748778,0.00444075999228,0.0600121459589,0.999999992776,-9.41195664451e-05,3.77166812921e-05,-6.45474171066e-05,1793245002308879616
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.84969589,745.15030411,713.15030411,680,662,634,880,785,805.84969589,652,630,652,0.428867381179,0.00444204305172,0.059981640956,0.999999993574,-9.20339494307e-05,-1.02128887284e-05,-6.5408871862e-05,1793245002325546496
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.2699145,745.7300855,713.7300855,680,662,634,880,785,805.2699145,652,630,652,0.429725452127,0.00444390114781,0.0599439461698,0.999999991456,-8.54090472756e-05,-7.46572455614e-05,-6.49632858654e-05,1793245002342213120
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745.691076221,714,680,661.382152441,634,879.691076221,785,805.308923779,652,630,652,0.430613015563,0.00444322802374,0.0599294592686,0.99999998992,-8.29092149153e-05,-9.52818793341e-05,-6.48618489407e-05,1793245002358879488
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745.113059482,714,680,660.226118964,634,879.113059482,785,805.886940518,652,630,652,0.431526268855,0.00444035004007,0.0599351879658,0.999999991334,-8.40025905916e-05,-7.77366450214e-05,-6.50601887065e-05,1793245002375546112
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745.461305206,713.538694794,680.461305206,661.383915617,633.538694794,879.461305206,785,806,652,630.461305206,652,0.432460507678,0.00443790622188,0.0599758028213,0.999999993578,-9.19571862799e-05,-9.77944971767e-06,-6.55192510836e-05,1793245002392212736
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.035800247,745.964199753,713,681,662.964199753,633,880,785.035800247,806,652,630.964199753,652,0.433393833231,0.00443563736822,0.0600214865677,0.999999990649,-0.000100905384398,6.45378847087e-05,-6.5999372631e-05,1793245002408879360
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.626067231,745.373932769,713,681,662.373932769,633,880,785.626067231,806,652,630.373932769,652,0.434233981087,0.0044344432526,0.0600142939594,0.999999991765,-9.94027456805e-05,4.75068197207e-05,-6.58237709014e-05,1793245002425545728
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.787693631,745,713.212306369,680.787693631,661.787693631,633,880,785.787693631,806,652,630,652,0.435073556425,0.00443272422584,0.0599970954973,0.999999992744,-9.9813259181e-05,1.44671051165e-05,-6.58800770593e-05,1793245002442212608
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.208416512,745,713.791583488,680.208416512,661.208416512,633,880,785.208416512,806,652,630,652,0.435912142305,0.00443009789197,0.0599626019539,0.999999991371,-0.000103530648548,-4.62435022157e-05,-6.63372349495e-05,1793245002458879488
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.368557098,745.368557098,713.631442902,680.368557098,661.368557098,633.368557098,880.368557098,785.368557098,806,652,630.368557098,651.631442902,0.436718881183,0.00442989067438,0.059941670735,0.999999989075,-0.000103332509891,-8.19897845271e-05,-6.6703906661e-05,1793245002475546368
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.944236145,745.944236145,713.055763855,680.944236145,661.944236145,633.944236145,880.944236145,785.944236145,806,652,630.944236145,651.055763855,0.437507722612,0.00443104295342,0.059928361282,0.999999987283,-0.000100933920224,-0.000103706596215,-6.70197269335e-05,1793245002492213248
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.470111817,745.470111817,713.529888183,680.470111817,661.470111817,633.470111817,880.470111817,785.470111817,806,652,631,651,0.438246691104,0.00443077726529,0.0599111459684,0.999999982576,-9.7948073165e-05,-0.000144678114336,-6.57492480199e-05,1793245002508879616
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+184,3.066666667,POSE1_TO_POSE2_PRESS,764.694322735,745,713.305677265,680.694322735,661,633,880,785.694322735,805.305677265,652,630.305677265,651,0.439832881327,0.00442754389236,0.0599453140924,0.99999998768,-0.000105784711301,-9.53573920731e-05,-6.60064337685e-05,1793245002542212864
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+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745.075065453,713,682,654,629,880.924934547,784.924934547,807,652,630,652,0.452328925755,0.00457091970225,0.0596369201778,0.999999836556,8.41854237733e-05,-0.000560772927974,-7.30422125135e-05,1793245003525545984
+244,4.066666667,HOLD_POSE2,764,745,713,682,653,628,880,784,806,652,630,652,0.452331637079,0.00457282865427,0.0596382823093,0.999999838064,8.8027403182e-05,-0.00055735621353,-7.40043994791e-05,1793245003556177920
+245,4.083333333,HOLD_POSE2,764,745,713,681.420699505,653,628.579300495,880.579300495,784.579300495,806.579300495,652,630,652,0.452331548926,0.00457380371684,0.0596381757432,0.999999837875,8.7524290438e-05,-0.000557829916923,-7.35916628634e-05,1793245003572844544
+246,4.100000000,HOLD_POSE2,764,745,713,681.158183317,653.158183317,629,881,784.841816683,807,652,630,652,0.452331828482,0.00457434298,0.0596381555662,0.999999837901,8.72093420942e-05,-0.000557861190488,-7.33739127067e-05,1793245003589511168
+247,4.116666667,HOLD_POSE2,764,745,713,681.735958359,653.735958359,629,881,784.264041641,807,652,630,652,0.452333083412,0.00457372625651,0.0596383645421,0.999999838499,8.73935121733e-05,-0.000556718889738,-7.3673376955e-05,1793245003606178048
+248,4.133333333,HOLD_POSE2,764,745.31138683,713,682,653.68861317,629,881,784,806.68861317,652,630,652,0.452333938066,0.00457331128083,0.0596385749696,0.999999838781,8.73223264402e-05,-0.000556223590484,-7.36816548471e-05,1793245003622844672
+249,4.150000000,HOLD_POSE2,764,745.884840364,713,682,653.115159636,629,881,784,806.115159636,652,630,652,0.452334455842,0.00457306609844,0.0596387866187,0.999999838796,8.7036230335e-05,-0.00055627281513,-7.34448669657e-05,1793245003639511296
+250,4.166666667,HOLD_POSE2,764,746,713,682,653.472098084,628.527901916,881,784,806.472098084,652,630,652,0.452334807232,0.00457288564494,0.0596392331262,0.999999839195,8.6431735052e-05,-0.000555672482921,-7.32704855344e-05,1793245003656177664
+251,4.183333333,HOLD_POSE2,764,745.938400487,713,682,654,628.061599513,880.938400487,784,807,652,630,652,0.452335194071,0.00457268319022,0.0596397727285,0.999999839717,8.58672348715e-05,-0.000554836152276,-7.31462237596e-05,1793245003672843776
+252,4.200000000,HOLD_POSE2,764,745.359192393,713,682,654,628.640807607,880.359192393,784,807,652,630,652,0.45233623009,0.00457215919185,0.0596405986973,0.999999840469,8.6311088934e-05,-0.000553388278718,-7.33113396047e-05,1793245003689510400
+253,4.216666667,HOLD_POSE2,764,745,713,682,653.780521082,628.780521082,880.219478918,784,807,652,630,652,0.452336758549,0.00457223529745,0.0596406416225,0.999999840616,8.69908031381e-05,-0.000552999116813,-7.34401112254e-05,1793245003706177024
+254,4.233333333,HOLD_POSE2,764,745,713,682,653.20272617,628.20272617,880.79727383,784,807,652,630,652,0.452336458376,0.00457329111835,0.0596394061698,0.999999839776,8.80555768852e-05,-0.000554338382195,-7.35095481246e-05,1793245003722843904
+255,4.250000000,HOLD_POSE2,764,745,713,682,653,628,881,784,807,652,630,652,0.452336576736,0.0045727518987,0.0596392903549,0.999999839791,8.77650125166e-05,-0.000554395631769,-7.32133072324e-05,1793245003739510784
+256,4.266666667,HOLD_POSE2,764,745,713,682,653,628,881,784,807,652,630,652,0.452336921315,0.00457135055305,0.0596397797089,0.999999840269,8.67418823255e-05,-0.00055375994656,-7.27194159708e-05,1793245003756177408
+257,4.283333333,HOLD_POSE2,764,745,713,682,653.532944799,628.532944799,880.467055201,784,807,652,630,651.467055201,0.452337078177,0.00457175813183,0.0596403043266,0.999999840606,8.61995439207e-05,-0.000553214345054,-7.28797451928e-05,1793245003772844288
+258,4.300000000,HOLD_POSE2,764,745.120047182,713,682,653.879952818,628.879952818,880.120047182,784,806.879952818,652,630,651.120047182,0.452337091929,0.00457211458511,0.0596406473531,0.999999840691,8.60261324163e-05,-0.00055308185053,-7.29283311694e-05,1793245003789510656
+259,4.316666667,HOLD_POSE2,764,745.70046458,713,682,653.29953542,628.29953542,880.70046458,784,806.29953542,652,630,651.70046458,0.452336632367,0.00457154734508,0.0596402798089,0.999999839863,8.70741261213e-05,-0.000554497348448,-7.22852346005e-05,1793245003806177280
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,746,713,683,653,629,881,785,806,653,630,651,0.45233479437,0.00457435034627,0.0596386182863,0.999999839059,8.72299616191e-05,-0.000555778387964,-7.33738950495e-05,1793245003843823872
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.575666157,746,713,682.424333843,653.575666157,629,880.424333843,784.424333843,806,652.424333843,630,651.575666157,0.452334849365,0.0045726343783,0.0596389368129,0.99999983901,8.56221304708e-05,-0.000556193356632,-7.27917820943e-05,1793245003860491008
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745.844526135,713,682,653.844526135,628.844526135,880,784,806.155473865,652,630,652,0.452334905472,0.00457115597392,0.0596389996176,0.999999838866,8.48442317947e-05,-0.000556628143397,-7.23491785671e-05,1793245003877157888
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745.253105438,713,682,653.253105438,628.253105438,880,784,806.746894562,652,630,652,0.452334964693,0.00457034369462,0.0596383453814,0.999999838464,8.63934533515e-05,-0.00055711849996,-7.22977576537e-05,1793245003893824512
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,653,628,880.330209529,784,807,652.330209529,630,652,0.452335597723,0.00457111380016,0.0596383773235,0.99999983872,8.71498735123e-05,-0.00055650139752,-7.25978473214e-05,1793245003910491136
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,653,628,880.907460282,784,807,652.907460282,630,652,0.452336660038,0.00457306774284,0.0596389226194,0.999999839468,8.73131713068e-05,-0.000555055766487,-7.31609142725e-05,1793245003927157760
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745,713,682,653,628,881,784,807,652.518274819,630,652,0.452335929979,0.0045750655884,0.0596393716305,0.999999838991,8.96008154738e-05,-0.000555544270516,-7.32160987075e-05,1793245003943824128
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,653.057148932,628,880.942851068,784,807,652,630,652,0.452334816371,0.00457671140561,0.0596395741755,0.999999838262,9.19811083044e-05,-0.000556478099056,-7.31211293312e-05,1793245003960490496
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,653.648741,628,880.351259,784,807,652,630,652,0.452333316027,0.00457498675315,0.0596376437372,0.999999837439,9.14349941191e-05,-0.00055812326638,-7.2528737409e-05,1793245003977157120
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,713,682,653.764444688,628,880.235555312,784.235555312,806.764444688,652.235555312,630,652,0.452329504498,0.00457412982955,0.0596354481733,0.999999836112,9.02716592162e-05,-0.000560718479352,-7.22590523239e-05,1793245003993823744
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,653.184613362,628,880.815386638,784.815386638,806.184613362,652.815386638,630,652,0.452322315058,0.00457454113576,0.0596328651151,0.99999983404,8.8206225032e-05,-0.000564702231991,-7.24610196706e-05,1793245004010490624
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,653,628,881,784.60728067,806.39271933,652.60728067,630,652,0.452298919756,0.0045744244781,0.0596238327852,0.999999825699,8.86003905259e-05,-0.000579217209259,-7.2518629552e-05,1793245004027157248
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,713,682,653,628,881,784.031115084,806.968884916,652.031115084,630,652,0.452267954405,0.00457406119908,0.0596117878843,0.999999814116,9.01434790181e-05,-0.000598651510967,-7.25088074624e-05,1793245004043823872
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,653,628.5409276,880.4590724,784,806.4590724,652,630,652,0.452213514718,0.00457457463922,0.0595927871513,0.999999798075,9.08840521734e-05,-0.000624714053694,-7.29542502388e-05,1793245004060490752
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745.117093062,713,682,653.117093062,628.882906938,880.117093062,784.117093062,806.117093062,652,630,652,0.45215582957,0.00457559206877,0.0595753925842,0.999999782835,9.22635280842e-05,-0.000648406972519,-7.33945301716e-05,1793245004077157376
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745.711005662,713,682,653.711005662,628.288994338,880.711005662,784.711005662,806.711005662,652,630,652,0.452090385378,0.00457845800843,0.0595661555327,0.999999774233,9.64312634898e-05,-0.000660909624175,-7.37079535514e-05,1793245004093824000
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,746,713,682,653.705523507,628,880.705523507,784.705523507,807,652,630,652,0.452014309884,0.00457848338858,0.0595591474188,0.999999767941,9.76514081323e-05,-0.000670194580814,-7.36260672426e-05,1793245004110490624
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,746,713,682,653.131949175,628,880.131949175,784.131949175,807,652,630,652,0.451928158297,0.00457581655358,0.0595542518398,0.999999763929,9.60778958727e-05,-0.000676429881694,-7.31695157683e-05,1793245004127157248
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745.55379348,713,682,653.44620652,628,880,784,807,652,630,651.55379348,0.451824178108,0.00457585139288,0.0595540032354,0.999999762448,9.80903655472e-05,-0.000678457601067,-7.19615664783e-05,1793245004143823616
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,745.026152494,713,682,654,628,880.026152494,784.026152494,807,652,630,651.026152494,0.451714043886,0.00457674207076,0.0595553065694,0.999999761845,0.000101149074317,-0.000679044138436,-7.05504038305e-05,1793245004160490496
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,745.615169432,713,682,654,628,880.615169432,784.615169432,807,652,630,651.615169432,0.451586106597,0.00457867937946,0.0595601290546,0.99999976394,0.000103665765826,-0.000675669760419,-6.95974521524e-05,1793245004177157120
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,745.79919103,713,682,654.20080897,628.20080897,881,785,807,652,630,652,0.451444773295,0.00458038280093,0.0595619686143,0.999999763561,0.000107027257015,-0.000675822697457,-6.84610312108e-05,1793245004193824256
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,745.219916951,713,682,654.780083049,628.780083049,881,785,807,652,630,652,0.451278192513,0.00458164541437,0.0595581862474,0.9999997585,0.000111980943735,-0.000682623573328,-6.697882545e-05,1793245004210491648
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,745.356853765,713,682,654.643146235,629,881,785,806.643146235,652,630.356853765,652,0.451089131059,0.00458205482415,0.0595521261857,0.999999751114,0.000115216465127,-0.000692956645695,-6.56430236683e-05,1793245004227158016
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,745.932092546,713,682,654.067907454,629,881,785,806.067907454,652,630.932092546,652,0.450886312015,0.00458194209609,0.059544672235,0.999999742204,0.000117400515494,-0.000705451328984,-6.43968170788e-05,1793245004243824128
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,746,713,682,654,629,880.492409794,785,806.507590206,652,630.492409794,652,0.450653341039,0.0045830104139,0.0595397947492,0.999999736987,0.000122232860593,-0.000712125639446,-6.29519099605e-05,1793245004260490752
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,746,713,682,654,629,880.67685812,785,807,652,630,652,0.450146467703,0.0045861694499,0.0595354947205,0.999999729845,0.000135438733289,-0.000720049456159,-5.91166234237e-05,1793245004293823488
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.262030086,746,713,682,654.262030086,629,881,784.737969914,806.737969914,652,630,652,0.449862090489,0.00458741152329,0.0595341015654,0.99999972788,0.000142065401354,-0.000721664420363,-5.70697703818e-05,1793245004310490368
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.010538864,746,713,682,655,629,881,784.989461136,806.989461136,652.989461136,630,652,0.448883051355,0.00458947075719,0.0595389804733,0.999999736224,0.000158910149642,-0.000706943134021,-5.0305296627e-05,1793245004360491264
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,745.53098175,713,681,658.0619635,632,881,785.53098175,806.53098175,652,630,652,0.442240474962,0.00459895066923,0.0597261500294,0.99999986766,0.000294301272857,-0.000421900888372,8.17301339137e-06,1793245004577157120
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,660.831671643,633,880,785,806,652,630,652,0.429250088752,0.00456225188252,0.0598275380252,0.999999936611,0.000226755259131,-0.000272749568815,3.11070791603e-05,1793245004843823616
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,745.537605371,713,680,659.924789258,633,879.462394629,785,805.462394629,652,630,652,0.422007201773,0.00456463485516,0.0598428808857,0.999999949357,0.000189855306329,-0.000252989459334,3.51826552161e-05,1793245004977157120
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,745.590557086,713,680,659.181114171,633,879,786,805.590557086,652,630.590557086,652,0.410785892183,0.00455450487818,0.0597524634249,0.999999887902,0.000232115384273,-0.000411134303496,3.58859635092e-05,1793245005210490624
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745.553133305,714,680,660,633.553133305,878.553133305,785,805,653,630,652,0.402962095481,0.00452677136944,0.0598114077573,0.999999943884,0.000158618650827,-0.000293517644386,3.03125799227e-05,1793245005493823488
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633.934741285,878.934741285,785.065258715,805.934741285,653,630,652,0.401760947316,0.00452167592233,0.0598258427428,0.999999945084,0.000149408373555,-0.000294115659458,3.16948035157e-05,1793245005593824000
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,660,633,878.806795578,785.806795578,805,652,630,652,0.400967071608,0.00451122046814,0.0598365287491,0.999999953343,0.000124696196632,-0.000277468713502,2.78704423774e-05,1793245005877157120
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.383477059,679,660.383477059,633,878.616522941,785.616522941,805.383477059,652.383477059,630,652,0.400966502839,0.00451139356178,0.0598368078031,0.999999953786,0.000123330472174,-0.000276514107892,2.75370188756e-05,1793245005893823744
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.957992714,679,660.957992714,633,878.042007286,785.042007286,805.957992714,652.957992714,630,652,0.400965965231,0.00451240081597,0.0598366343842,0.999999954077,0.000122036636056,-0.000276069554652,2.71619328641e-05,1793245005910490368
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,713.469599448,679,660.469599448,633,878.530400552,785,805.469599448,652.469599448,630,652,0.400965010839,0.00451257973854,0.0598372064591,0.999999954189,0.000123100522975,-0.000275183346647,2.7254265229e-05,1793245005927156992
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,660,633.1063897,879,785,805,652.1063897,630,652,0.400964139633,0.00451278320647,0.0598377809605,0.999999954224,0.000124213610654,-0.000274548405223,2.73242586375e-05,1793245005943823616
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,660,633.699524319,879,785,805,652.699524319,630,652,0.400963799438,0.0045133979261,0.0598380975056,0.999999953983,0.000124700869027,-0.000275222435148,2.71233523584e-05,1793245005960490240
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,713.285504916,679,660,634,879,785,805.285504916,652.714495084,630,652,0.400963415815,0.00451338018044,0.0598379400796,0.999999953878,0.000124194030293,-0.000275837890168,2.70841630282e-05,1793245005977156864
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,713.86414048,679,660,634,879,785,805.86414048,652.13585952,630,652,0.400962987603,0.00451271307665,0.059837296023,0.99999995391,0.000122666542536,-0.000276393205846,2.72110100238e-05,1793245005993823744
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,660.875754344,634,879,785,805.562122828,652.437877172,630,652,0.400963237079,0.0045113802728,0.0598378583625,0.999999954273,0.000122303586448,-0.000275214820834,2.74304280685e-05,1793245006010490368
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745.010444402,713.989555598,679,661.979111195,633.989555598,879.010444402,785,805,653,630,652,0.400963697898,0.00450985844068,0.05983878958,0.999999954744,0.000122226779477,-0.00027351056154,2.76659278462e-05,1793245006027156992
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745.601565625,713.398434375,679,660.796868751,633.398434375,879.601565625,785,805,653,630,652,0.400964347997,0.00450918347338,0.0598396492225,0.999999955613,0.000118193092036,-0.000272144718827,2.72163421743e-05,1793245006043823616
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745.810057254,713.189942746,679,660,633.189942746,879.810057254,785,805,653,630,652,0.400964563678,0.00450946342429,0.0598400041213,0.999999955924,0.000116965699233,-0.000271568024373,2.6864948447e-05,1793245006060489984
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745.22735437,713.77264563,679,660,633.77264563,879.22735437,785,805,653,630,652,0.400963881076,0.00451171793768,0.0598393153201,0.999999955095,0.000121541111427,-0.000272623116351,2.67165942549e-05,1793245006077156608
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633.651268804,879,785.348731196,805.348731196,653,630,652,0.400963831385,0.00451210752227,0.0598395461522,0.999999954911,0.000122941137246,-0.000272647825011,2.69487085466e-05,1793245006093823232
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633.079417064,879,785.920582936,805.920582936,653,630,652,0.400964186635,0.00451130391289,0.0598403653717,0.999999955149,0.000122309529521,-0.000272013287518,2.74242491167e-05,1793245006110490112
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,660.490980656,633.490980656,878.509019344,785.509019344,805.509019344,653,630.490980656,652,0.400963497764,0.004511602038,0.0598400947013,0.999999955349,0.000120700169123,-0.000272050984834,2.68734567736e-05,1793245006127157248
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.064181816,661,634,878.064181816,785,805.064181816,653,630.935818184,652.064181816,0.40096287453,0.00451194405062,0.0598397961913,0.999999955547,0.000119207078976,-0.000272037252382,2.62812118413e-05,1793245006143823872
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.66267328,661,634,878.66267328,785,805.66267328,653,630.33732672,652.66267328,0.400964199556,0.00451117223649,0.0598407292029,0.999999955806,0.000119994661953,-0.00027069282865,2.67218302897e-05,1793245006160490752
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.747138012,745.252861988,714,680,660.747138012,634,878.747138012,785,806,652.747138012,630,652.747138012,0.400964888598,0.00451028591912,0.0598411395193,0.99999995597,0.000119698902812,-0.000270199688187,2.69127988614e-05,1793245006177157376
+401,6.683333333,POSE2_TO_POSE3_RETREAT,763.167673266,745.832326734,714,680,660.167673266,634,878.167673266,785,806,652.167673266,630,652.167673266,0.400964756186,0.00450925170645,0.0598408747101,0.999999956011,0.000118003872474,-0.000270806085929,2.67813135779e-05,1793245006193823744
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..255951e24f6e8805d98ad49ebc6544314cebc3ff
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+2,0.033333333,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
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+382,6.366666667,pose2_to_pose3_retreat,0.575672620901,0.00987801604193,1.05005100304,0.546244252256,0.018553695524,1.04971749398
+383,6.383333333,pose2_to_pose3_retreat,0.575672019838,0.00987800188892,1.05005103123,0.546243651381,0.0185536819481,1.04971752066
+384,6.400000000,pose2_to_pose3_retreat,0.575671625454,0.00987794772329,1.05005103721,0.546243257604,0.018553629766,1.04971752466
+385,6.416666667,pose2_to_pose3_retreat,0.575671263292,0.00987789798308,1.05005104269,0.546242895999,0.0185535818473,1.04971752834
+386,6.433333333,pose2_to_pose3_retreat,0.575670921621,0.00987785105727,1.05005104787,0.546242554855,0.0185535366399,1.04971753181
+387,6.450000000,pose2_to_pose3_retreat,0.575670592059,0.00987780579439,1.05005105287,0.5462422258,0.0185534930346,1.04971753515
+388,6.466666667,pose2_to_pose3_retreat,0.575670404818,0.00987780379912,1.05005104734,0.546242038487,0.0185534908307,1.04971753059
+389,6.483333333,pose2_to_pose3_retreat,0.575670360144,0.00987780868034,1.05005104413,0.546241993713,0.0185534954023,1.04971752804
+390,6.500000000,pose2_to_pose3_retreat,0.575670304665,0.00987781474198,1.05005104014,0.546241938112,0.0185535010795,1.04971752488
+391,6.516666667,pose2_to_pose3_retreat,0.575670188577,0.00987782742599,1.05005103181,0.546241821767,0.0185535129591,1.04971751826
+392,6.533333333,pose2_to_pose3_retreat,0.575670098216,0.00987783729896,1.05005102532,0.546241731207,0.0185535222059,1.04971751311
+393,6.550000000,pose2_to_pose3_retreat,0.575670038111,0.00987784386611,1.050051021,0.546241670969,0.0185535283565,1.04971750968
+394,6.566666667,pose2_to_pose3_retreat,0.575669988683,0.00987784926671,1.05005101745,0.546241621432,0.0185535334146,1.04971750686
+395,6.583333333,pose2_to_pose3_retreat,0.575669902695,0.00987785866187,1.05005101127,0.546241535254,0.0185535422139,1.04971750196
+396,6.600000000,pose2_to_pose3_retreat,0.575669731864,0.00987787732714,1.050050999,0.546241364045,0.0185535596954,1.04971749222
+397,6.616666667,pose2_to_pose3_retreat,0.575669699655,0.00987788084638,1.05005099669,0.546241331764,0.0185535629914,1.04971749038
+398,6.633333333,pose2_to_pose3_retreat,0.575669633055,0.00987785927084,1.05005095005,0.546241265371,0.0185535422152,1.04971744629
+399,6.650000000,pose2_to_pose3_retreat,0.575669597644,0.00987784726077,1.05005092448,0.546241230077,0.0185535306537,1.04971742209
+400,6.666666667,pose2_to_pose3_retreat,0.575669519405,0.00987782072455,1.05005086797,0.546241152095,0.0185535051086,1.04971736862
+401,6.683333333,pose2_to_pose3_retreat,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f3a15809e289f979ac97928b5ef14ea6e4918500
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30fd43500b4215a7c6fb9d456af6230a92ef818cb3a2e63c591a550da40e05dd
+size 25610989
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bbe9f4696f41951031ff13f78e8851a6e734ee15
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+29,0.483333333,BASELINE,764,745.169196114,713.830803886,679,660.830803886,634,878,785.830803886,805,653,630,652.830803886,0.400965375538,0.00451088736547,0.0598426818064,0.999999957475,0.000117164889688,-0.000265809833003,2.58356593245e-05,1793245006826059776
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+46,0.766666667,BASELINE,764,745,713,679,660.288566787,634,878.288566787,785.711433213,805,652.711433213,630,652,0.400965460959,0.00451052138932,0.0598444126876,0.99999995778,0.000116815791589,-0.000264805718611,2.59331478447e-05,1793245007109393152
+47,0.783333333,BASELINE,764,745,713,679.289057327,660.289057327,633.710942673,878,785.710942673,805.289057327,652.710942673,630,652,0.400964927983,0.00451081997065,0.0598436870895,0.999999957557,0.000116882395256,-0.000265641192095,2.56756443372e-05,1793245007126059776
+48,0.800000000,BASELINE,764,745,713,679.863949011,660.863949011,633.136050989,878,785.136050989,805.863949011,652.136050989,630,652,0.400963044638,0.00451157650324,0.059842131781,0.999999956949,0.000117089017198,-0.000267838779894,2.55855270123e-05,1793245007142726400
+49,0.816666667,BASELINE,764,745,713.436827979,679.563172021,661,633.436827979,878.436827979,785.436827979,805.563172021,652.436827979,630,652.436827979,0.400963089582,0.00451131197852,0.0598427802726,0.999999956989,0.000117398641605,-0.000267532782981,2.57890064507e-05,1793245007159393024
+50,0.833333333,BASELINE,764,745,713.990531007,679.009468993,660.990531007,634,878.990531007,785.990531007,805,653,630,652.990531007,0.400963729506,0.00451075873061,0.0598440917857,0.999999957224,0.000117759133993,-0.000266466106729,2.60770417182e-05,1793245007176059904
+51,0.850000000,BASELINE,764,745,713.393952281,679.606047719,660.393952281,634,878.393952281,785.393952281,805,653,630,652.393952281,0.400964193664,0.00451193095442,0.0598441503016,0.999999957074,0.0001192936484,-0.000266359927352,2.59641574595e-05,1793245007192726784
+52,0.866666667,BASELINE,764,745,713.195473076,679.804526924,660,634,878.195473076,785,805.195473076,653,630.195473076,652,0.400964294665,0.00451251524211,0.0598440343567,0.999999956936,0.000120306443176,-0.000266421236949,2.59507650386e-05,1793245007209393408
+53,0.883333333,BASELINE,764,745,713.770990607,679.229009393,660,634,878.770990607,785,805.770990607,653,630.770990607,652,0.400963689608,0.00451195644716,0.0598435792199,0.999999956829,0.000120304895337,-0.000266808183503,2.61308075579e-05,1793245007226060288
+54,0.900000000,BASELINE,764,745,713.653318638,679,660.346681362,634,878.653318638,785,806,652.653318638,630.653318638,652,0.400963372557,0.00451122771322,0.0598433982941,0.999999956862,0.000119284503999,-0.000267139695473,2.61427236169e-05,1793245007242726656
+55,0.916666667,BASELINE,764,745,713.077513423,679,660.922486577,634,878.077513423,785,806,652.077513423,630.077513423,652,0.400963245851,0.00451038666558,0.059843398596,0.999999956986,0.000117590752697,-0.000267434570369,2.60435238522e-05,1793245007259393280
+56,0.933333333,BASELINE,764,745.507545704,713.507545704,679,660.492454296,634,878.507545704,785,805.492454296,652.507545704,630,652,0.400964335638,0.0045108960772,0.0598437571879,0.999999957298,0.000118174769617,-0.000266016988496,2.59543304934e-05,1793245007276060160
+57,0.950000000,BASELINE,764,746,714,679,660.093409931,634,878.906590069,785,805.093409931,652.906590069,630.093409931,652,0.400965356251,0.0045115122494,0.0598441419439,0.999999957532,0.000119149275676,-0.000264705110226,2.58881140935e-05,1793245007292727040
+58,0.966666667,BASELINE,764,746,714,679,660.675951849,634,878.324048151,785,805.675951849,652.324048151,630.675951849,652,0.400965023722,0.00451158742469,0.0598443718546,0.999999957223,0.000120313147489,-0.000265341647973,2.59340634531e-05,1793245007309393920
+59,0.983333333,BASELINE,764,745.745267235,713.745267235,679,661,633.745267235,878.254732765,785,805.745267235,652.254732765,631,652,0.40096445286,0.00451164276854,0.0598442016512,0.99999995705,0.00012015194719,-0.000266069729854,2.58973197347e-05,1793245007326060544
+60,1.000000000,BASELINE,764,745.171201038,713.171201038,679,661,633.171201038,878.828798962,785,805.171201038,652.828798962,631,652,0.400963583221,0.00451167325167,0.059843529864,0.999999957046,0.000118329634376,-0.000266912571701,2.57569118379e-05,1793245007342726912
+61,1.016666667,BASELINE,764,745,713,679,660.597351028,633.402648972,878.597351028,785,805.402648972,653,630.597351028,652,0.40096382088,0.00451067062088,0.0598436936339,0.99999995733,0.000117632155076,-0.000266123316598,2.60932416204e-05,1793245007359393792
+62,1.033333333,BASELINE,764,745,713,679,660.023592923,633.976407077,878.023592923,785,805.976407077,653,630.023592923,652,0.400964529094,0.00450922895949,0.059844212481,0.999999957735,0.000117412683531,-0.000264640487853,2.66321651747e-05,1793245007376060416
+63,1.050000000,BASELINE,764,745,713,679,660,634,878,785,806,652.433931487,630,652,0.400964699101,0.0045105711551,0.0598445908594,0.999999957621,0.000119176408032,-0.000264312730331,2.63564180958e-05,1793245007392726784
+64,1.066666667,BASELINE,764,745,713,679.154365569,660.154365569,634,878.154365569,785,805.845634431,652.154365569,630,652,0.400964993786,0.00451132311743,0.0598446889401,0.999999957596,0.000120025237148,-0.000264049457132,2.60909571991e-05,1793245007409393408
+65,1.083333333,BASELINE,764,745,713,679.736985386,660.736985386,634,878.736985386,785,805.263014614,652.736985386,630,652,0.400965698397,0.00451010640644,0.0598440261069,0.999999957887,0.000118099942505,-0.000263827662314,2.59509550364e-05,1793245007426060032
+66,1.100000000,BASELINE,764,745,713,679.685812005,661,634,879,785.314187995,805,653,630,652,0.400965250096,0.0045097041975,0.0598434557775,0.999999957783,0.00011740105718,-0.000264539917743,2.58794187151e-05,1793245007442726912
+67,1.116666667,BASELINE,764,745,713,679.113067439,661,634,879,785.886932561,805,653,630,652,0.400963853023,0.00450997227159,0.059842961573,0.999999957354,0.000117711428172,-0.000266020836638,2.58642253977e-05,1793245007459393792
+68,1.133333333,BASELINE,763.527141166,745,713.472858834,679.472858834,660.527141166,634,878.527141166,785.527141166,805.472858834,653,630.472858834,652,0.400965698224,0.00451063263557,0.0598444078887,0.999999957912,0.000117513011777,-0.000264012684579,2.57489840875e-05,1793245007476060416
+69,1.150000000,BASELINE,763.061039209,745,714,679.938960791,660,634,878.061039209,785,805.938960791,653,630.938960791,652,0.400968050639,0.00451126820605,0.0598461110324,0.999999958587,0.000117482215563,-0.000261469055505,2.56638610266e-05,1793245007492726784
+70,1.166666667,BASELINE,763.640820815,745,714,679.359179185,660,634,878.640820815,785,805.359179185,653,630.359179185,652,0.400967935992,0.00451087302898,0.0598459403846,0.999999958233,0.000119939506055,-0.00026166819304,2.60438377438e-05,1793245007509393408
+71,1.183333333,BASELINE,764,745,713.780841267,679,660.219158733,633.780841267,878.780841267,785,805.219158733,653,630,652,0.400967108638,0.0045104409605,0.0598453955554,0.999999958043,0.000119780170564,-0.000262449393224,2.62153001591e-05,1793245007526060032
+72,1.200000000,BASELINE,764,745,713.204853832,679,660.795146168,633.204853832,878.204853832,785,805.795146168,653,630,652,0.400965120872,0.0045099488263,0.0598442414936,0.999999958112,0.000115360511279,-0.000264178293106,2.60472649266e-05,1793245007542726656
+73,1.216666667,BASELINE,764,745,713,679,661,633.357943279,878,785,806,652.642056721,630,652.357943279,0.400964834733,0.00450972222114,0.0598440237743,0.999999958079,0.000115110376309,-0.000264415867787,2.59982883475e-05,1793245007559393280
+74,1.233333333,BASELINE,764,745,713,679,661,633.913459723,878,785,806,652.086540277,630,652.913459723,0.400965487838,0.00450964217948,0.059844322886,0.999999957995,0.000117161684763,-0.000263830278877,2.60150283215e-05,1793245007576059904
+75,1.250000000,BASELINE,763.482783688,745.517216312,713.517216312,679,661,634,878.517216312,785,805.482783688,652.517216312,630,652.482783688,0.400964970128,0.00451054500077,0.0598444160842,0.999999957743,0.000118704578278,-0.000264108100005,2.58744129709e-05,1793245007592726784
+76,1.266666667,BASELINE,763.122786217,745.877213783,713.877213783,679,660.877213783,634,878.877213783,785,805,653,630,652,0.400964338894,0.00451129119083,0.0598443601542,0.999999957531,0.000119367326016,-0.000264626501368,2.57309434118e-05,1793245007609393408
+77,1.283333333,BASELINE,763.702006188,745.297993812,713.297993812,679,660.297993812,634,878.297993812,785,805,653,630,652,0.400964088779,0.00451078093514,0.0598438911165,0.999999957582,0.000117107053671,-0.000265446952256,2.56848025698e-05,1793245007626060032
+78,1.300000000,BASELINE,764,745,713.279259018,679,660.279259018,634,878,785.279259018,805.279259018,653,630,652,0.400964459659,0.00451057387161,0.0598437253441,0.999999957604,0.000117018535238,-0.000265394720391,2.57765642431e-05,1793245007642726656
+79,1.316666667,BASELINE,764,745,713.854427385,679,660.854427385,634,878,785.854427385,805.854427385,653,630,652,0.400965488561,0.00451068807758,0.0598438809186,0.999999957595,0.000119231257884,-0.000264417773539,2.60144506308e-05,1793245007659393024
+80,1.333333333,BASELINE,764,745,714,679.438371029,660.561628971,634,878,785.561628971,805.561628971,653,630,652,0.40096462116,0.00451192688992,0.0598436957897,0.999999957285,0.000120884339311,-0.00026485173479,2.59073942407e-05,1793245007676059904
+81,1.350000000,BASELINE,763.975094938,745,713.975094938,679.975094938,660,634,878,785,805,652.975094938,630,652,0.400963242011,0.00451340047206,0.0598434443344,0.999999956916,0.000122179609542,-0.000265666258355,2.57021330637e-05,1793245007692726528
+82,1.366666667,BASELINE,763.397072367,745,713.397072367,679.397072367,660,634,878,785,805,652.397072367,630,652,0.400964768549,0.00451162456249,0.0598442838839,0.999999957564,0.000119739951034,-0.000264314569548,2.59117895806e-05,1793245007709393152
+83,1.383333333,BASELINE,763.180560506,745.180560506,713,679,660,634,878.180560506,785,805,652.180560506,630,652,0.400965587786,0.00451058580404,0.0598447046995,0.999999957947,0.00011813568938,-0.00026357888857,2.59950163328e-05,1793245007726060032
+84,1.400000000,BASELINE,763.757338344,745.757338344,713,679,660,634,878.757338344,785,805,652.757338344,630,652,0.400964854939,0.00451116463069,0.0598442066566,0.999999957763,0.000118364600638,-0.000264194959072,2.5800808901e-05,1793245007742727168
+85,1.416666667,BASELINE,763.664957075,745.664957075,713,679,660.335042925,634,879,785,805.335042925,653,630,652,0.400964451732,0.00451082706855,0.0598438659545,0.999999957749,0.000117452997589,-0.000264666520372,2.56632549477e-05,1793245007759393792
+86,1.433333333,BASELINE,763.086579455,745.086579455,713,679,660.913420545,634,879,785,805.913420545,653,630,652,0.400964287935,0.0045098239523,0.0598436395258,0.999999957857,0.000115713062747,-0.000265033127608,2.55668472471e-05,1793245007776060160
+87,1.450000000,BASELINE,763.498964259,745,713.498964259,679.498964259,661,634,879,785,805.501035741,652.501035741,630,652,0.400965315837,0.00451135639926,0.0598442163886,0.999999957913,0.000117016545542,-0.000264262345714,2.54301565135e-05,1793245007792726528
+88,1.466666667,BASELINE,764,745,713.915310874,680,660.915310874,634,878.915310874,785,805,652.084689126,630,652,0.400966282746,0.00451284003068,0.0598447653555,0.999999957959,0.000118393351333,-0.000263485051846,2.53281767443e-05,1793245007809393408
+89,1.483333333,BASELINE,764,745,713.335897412,680,660.335897412,634,878.335897412,785,805,652.664102588,630,652,0.400965667821,0.00451143091659,0.0598443252563,0.999999958017,0.000117068623019,-0.000263839412312,2.54703935349e-05,1793245007826060032
+90,1.500000000,BASELINE,764,745,713,679.75807033,660.24192967,634,878,785.24192967,805,653,630,652,0.400965614632,0.00451092651316,0.0598445154575,0.999999958168,0.000116559850461,-0.00026348853808,2.55326235813e-05,1793245007842726656
+91,1.516666667,BASELINE,764,745,713,679.182431491,660.817568509,634,878,785.817568509,805,653,630,652,0.400966336282,0.00451167003549,0.0598455750727,0.999999958445,0.000117176578311,-0.000262164888204,2.5484522751e-05,1793245007859393280
+92,1.533333333,BASELINE,764,745.393820391,713.393820391,679,660.606179609,634,878.393820391,786,805.393820391,653,630,652,0.400966011157,0.00451135167701,0.0598455018812,0.999999958284,0.000117503430886,-0.000262620580776,2.55816138168e-05,1793245007876059904
+93,1.550000000,BASELINE,764,745.97035675,713.97035675,679,660.02964325,634,878.97035675,786,805.97035675,653,630,652,0.400965200371,0.0045105406509,0.0598449031156,0.99999995792,0.000117695793674,-0.000263901812705,2.57460677638e-05,1793245007892727040
+94,1.566666667,BASELINE,764,745.442894503,714,679.557105497,660,634,878.442894503,785.442894503,805.442894503,653,630,652,0.400965856784,0.00450967307128,0.0598454745272,0.999999958266,0.000116894787993,-0.000262923147447,2.59818390452e-05,1793245007909393664
+95,1.583333333,BASELINE,764,745,713.857709645,679.857709645,660.142290355,633.857709645,878,785,805,652.857709645,630,652,0.400966511336,0.00450908836717,0.0598460483875,0.999999958537,0.000116759323169,-0.000261925985061,2.62156931031e-05,1793245007926060288
+96,1.600000000,BASELINE,764,745,713.27901875,679.27901875,660.72098125,633.27901875,878,785,805,652.27901875,630,652,0.400966916276,0.00450938063554,0.0598464352294,0.999999958465,0.00011883019002,-0.000261247775518,2.64318114186e-05,1793245007942726912
+97,1.616666667,BASELINE,764,745,713,679,661,633.298805805,878,785,805,652,630,652,0.400965239519,0.00451044266539,0.0598452112503,0.999999957801,0.000119369306205,-0.000263555050423,2.62219020077e-05,1793245007959393280
+98,1.633333333,BASELINE,764,745,713,679,661,633.875823692,878,785,805,652,630,652,0.400961624537,0.00451222140467,0.0598424874681,0.999999956569,0.000118482239994,-0.000268642049955,2.56153267262e-05,1793245007976059904
+99,1.650000000,BASELINE,764,745,713,679,660.547945206,634,878,785,805.452054794,652,630,652,0.400963614759,0.00451260445929,0.0598440236127,0.999999957301,0.000118608674876,-0.000265867001607,2.53900108658e-05,1793245007992726528
+100,1.666666667,BASELINE,764,745,713.028922659,679,660,634,878,785,806,652,630,652,0.400966969784,0.00451256205687,0.059846551721,0.999999958485,0.000119003787935,-0.000261207376716,2.52887000597e-05,1793245008009393408
+101,1.683333333,BASELINE,764,745,713.622432197,679,660,634,878,785,806,652,630,652,0.400966962756,0.00451168537899,0.0598456407871,0.999999958285,0.000119218534582,-0.000261844093654,2.55672147557e-05,1793245008026060288
+102,1.700000000,BASELINE,764,745,713.790650915,679,660,634,878.209349085,785,805.790650915,652,630,652,0.400967154258,0.00451122956462,0.05984552891,0.999999958322,0.00011939862529,-0.00026160719909,2.57065015472e-05,1793245008042727168
+103,1.716666667,BASELINE,764,745,713.215261145,679,660,634,878.784738855,785,805.215261145,652,630,652,0.400967692884,0.00451150961774,0.0598468141604,0.999999958771,0.000119518121092,-0.000259842820571,2.56023524346e-05,1793245008059394048
+104,1.733333333,BASELINE,764,745,713,679,660.360014281,633.639985719,878.639985719,785,805,652.360014281,630,652,0.400966719131,0.00451096484522,0.0598462567644,0.999999958526,0.000118780530245,-0.000261099827367,2.58186324501e-05,1793245008076060416
+105,1.750000000,BASELINE,764,745,713,679,660.935221416,633.064778584,878.064778584,785,805,652.935221416,630,652,0.400964841378,0.00450992704622,0.0598445979558,0.999999957858,0.000117530629394,-0.000264162819371,2.62264439088e-05,1793245008092727040
+106,1.766666667,BASELINE,764,745,713.523818383,679,660.476181617,633.523818383,878.523818383,785,805,653,630.523818383,652,0.400964333443,0.00450980753324,0.0598446033066,0.999999957871,0.000116912896763,-0.000264410970246,2.60120210525e-05,1793245008109393408
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,746,713,679,661,634,878,785,805,653,630,652,0.40096548542,0.00451154366244,0.0598444106085,0.9999999577,0.000119327859202,-0.000263974831732,2.60336764185e-05,1793245008151619840
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.425070973,713,679,661,634,878,785,805,652.425070973,630,652,0.400967108906,0.00451152537603,0.0598454602938,0.999999958358,0.000117838136346,-0.000262187174474,2.56318159902e-05,1793245008168286720
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713,679.153178283,661,634,878,785,805,652.153178283,630,652,0.400968058058,0.00451143866115,0.0598461181063,0.999999958804,0.000116814342054,-0.00026096332523,2.53776178515e-05,1793245008184953600
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713,679.740845473,661,634,878,785,805,652.740845473,630,652,0.400967094468,0.00451115784945,0.059845664375,0.999999958667,0.000117112149858,-0.000261338712265,2.55422624602e-05,1793245008201619968
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.676113777,745.323886223,713,679.676113777,661,634,878,785,805.323886223,653,630,652,0.400966164185,0.00451090578294,0.0598451403355,0.999999958426,0.00011689328166,-0.000262354250416,2.55840438669e-05,1793245008218286336
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.096722734,745.903277266,713,679.096722734,661,634,878,785,805.903277266,653,630,652,0.400965260178,0.00451067639273,0.0598445608319,0.9999999581,0.000116266822136,-0.00026387478593,2.55289019056e-05,1793245008234952448
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.481419385,745.518580615,713,679,660.518580615,634,878,785,805.518580615,652.518580615,630,652,0.40096528483,0.00451018744658,0.0598448246799,0.99999995827,0.00011565583431,-0.000263481004324,2.57097040995e-05,1793245008251619072
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.058950136,713,679,660.058950136,633.941049864,878,785,805,652.058950136,630,652,0.400965681231,0.00450975452602,0.0598452912619,0.999999958519,0.000115156905278,-0.000262735691576,2.5888508042e-05,1793245008268286208
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745.633323738,713,679,660.633323738,633.366676262,878,785,805,652.633323738,630,652,0.400967700868,0.00451026622671,0.0598460527858,0.999999958595,0.000115610640901,-0.000262270885339,2.56364425216e-05,1793245008284952576
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745.787523435,713,679,661.212476565,633.212476565,878,785,805,653,630,652,0.400976500488,0.00451028913551,0.059849542465,0.999999960101,0.000115547578895,-0.00025650393886,2.55538583522e-05,1793245008301618944
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745.199933254,713,679,661.800066746,633.800066746,878,785,805,653,630,652,0.400997269726,0.00450944911381,0.0598578485257,0.999999963973,0.000114572144082,-0.000241376407182,2.5770482554e-05,1793245008318285824
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713,679,661.617256105,633.617256105,878.382743895,785,805,653,630,652,0.401036850245,0.00450951610867,0.059872710066,0.999999970265,0.000114589791148,-0.000213717441682,2.57857539271e-05,1793245008334952704
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713,679,661.037112788,633.037112788,878.962887212,785,805,653,630,652,0.401086132648,0.00451005089548,0.0598909525831,0.999999976916,0.000115119618078,-0.000179595411918,2.56971779659e-05,1793245008351619584
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713,679,661,633.545849883,878.454150117,785,805,653,630.545849883,652,0.401150853699,0.00451082429474,0.0599076503605,0.999999980824,0.000117113446752,-0.000154777146327,2.60735055432e-05,1793245008368286208
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.125822683,679.125822683,661,634,878,785,805,653,631,652,0.401220252684,0.00451125937142,0.0599222158532,0.99999998386,0.000118378506778,-0.000132571702661,2.62801404422e-05,1793245008384952832
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.69459176,679.69459176,661,634,878,785,805,653,631,652,0.401302405391,0.00451044600728,0.0599296465122,0.999999985973,0.000116725773594,-0.000117325970796,2.57775343434e-05,1793245008401619200
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713.726941419,680,661,634,878,785,805,653,630.726941419,652,0.401394607325,0.0045093964826,0.0599362621598,0.999999987743,0.000114000260995,-0.00010434436571,2.50925903188e-05,1793245008418285568
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713.137228578,680,661,634,878,785,805,653,630.137228578,652,0.401498462911,0.00450807309279,0.0599419326733,0.999999989237,0.000110030692487,-9.39883717353e-05,2.41961968983e-05,1793245008434952192
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713.442787737,679.557212263,661,633.557212263,878,785,805,653,629.557212263,652,0.401617986971,0.00450785026984,0.0599458236312,0.999999990345,0.000107194865421,-8.54051272673e-05,2.29350404654e-05,1793245008451619072
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679,661,633.019854558,878,785,805,653,629.019854558,652,0.401742936922,0.00450794486059,0.0599490228658,0.999999991268,0.000104710570622,-7.76777884313e-05,2.15777675428e-05,1793245008468285952
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679,661,633.596676158,878,785,805,653,629.596676158,652,0.401886793773,0.00450758039812,0.0599479575002,0.999999991429,0.000102442089726,-7.88786537448e-05,2.06274818082e-05,1793245008484952064
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,878,785,805.176977948,652.823022052,630,652,0.402042614984,0.00450725671751,0.0599475700424,0.999999991827,9.97206572405e-05,-7.76153964363e-05,1.94175771922e-05,1793245008501618432
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,878,785,805.765369925,652.234630075,630,652,0.402226249272,0.00450702784102,0.0599487584916,0.999999992748,9.59462654154e-05,-7.06238850605e-05,1.76041463838e-05,1793245008518285056
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.651430656,745,714,679,660.651430656,634,878,785,805.651430656,652,630,652,0.40243275197,0.00450678184183,0.059950318434,0.999999993709,9.11214985535e-05,-6.35714211029e-05,1.5428386923e-05,1793245008534951680
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.071675108,745,714,679,660.071675108,634,878,785,805.071675108,652,630,652,0.402654422,0.0045065244861,0.0599521247668,0.999999994657,8.56000773364e-05,-5.64785300671e-05,1.30123153089e-05,1793245008551618048
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.50167387,745,714,679,660.50167387,634,878,785,805.50167387,652.50167387,630,652,0.402905634123,0.00450724481656,0.0599524581401,0.999999995361,8.14817685396e-05,-5.03309288263e-05,1.02622812477e-05,1793245008568285440
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679,660.926037234,634,878.073962766,785.073962766,805.926037234,652.926037234,630,652,0.403164619491,0.00450797017986,0.0599524747001,0.99999999596,7.73411307085e-05,-4.52069950247e-05,7.45493073168e-06,1793245008584952576
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660.354798948,634,878.645201052,785.645201052,805.354798948,652.354798948,630,652,0.403447847458,0.00450780208305,0.0599517582686,0.999999996356,7.17195673668e-05,-4.60689334182e-05,4.57897251911e-06,1793245008601619456
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.773389466,679,660.226610534,634,878.773389466,785.773389466,805.226610534,652.226610534,630,652,0.403748721224,0.00450727996766,0.0599478138997,0.999999996498,6.5427108447e-05,-5.21566924671e-05,1.45915085754e-06,1793245008618286336
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.17530685,679,660.82469315,634,878.17530685,785.17530685,805.82469315,652.82469315,630,652,0.404078520908,0.00450617752615,0.0599385781237,0.999999996082,5.80348820153e-05,-6.68108956003e-05,-2.06042461329e-06,1793245008634952960
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713,679,660.59152034,633.59152034,878.40847966,785,805.59152034,653,630,652,0.404418513259,0.00450435424226,0.0599238543355,0.999999994414,5.07810018324e-05,-9.25491623027e-05,-5.36156734826e-06,1793245008651619840
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713,679,660.013661823,633.013661823,878.986338177,785,805.013661823,653,630,652,0.40476273206,0.00450223205622,0.0599068549059,0.999999991463,4.35844880039e-05,-0.000122883510588,-8.57213537836e-06,1793245008668286720
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713,679,660,633.562584069,878.437415931,785,805.562584069,652.437415931,630,652,0.405169963367,0.00450386665247,0.0599009482682,0.999999990214,3.67916086595e-05,-0.000134399466045,-1.24426251372e-05,1793245008684952832
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713,679,660.141428489,634,878,785,805.858571511,652,630,652,0.405595269755,0.00450484632002,0.0599019888966,0.999999990433,2.9027593745e-05,-0.000134265661283,-1.62222932999e-05,1793245008701619200
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713,679,660.72858543,634,878,785,805.27141457,652,630,652,0.406072732984,0.00450347520279,0.0599240780997,0.999999994756,1.81721291421e-05,-9.88524015269e-05,-1.9665363684e-05,1793245008718285568
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713.31073296,679,661,634,878.31073296,785,805.31073296,652.31073296,630,652,0.406595720266,0.00450147305393,0.0599527079404,0.999999998453,7.02114442818e-06,-4.99750109522e-05,-2.34105042846e-05,1793245008734952448
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713.888574428,679,661,634,878.888574428,785,805.888574428,652.888574428,630,652,0.407157840438,0.00449892846511,0.0599869601672,0.99999999956,-4.38387293239e-06,1.04762568956e-05,-2.74153071652e-05,1793245008751619328
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713.532922021,679,661,634,879,785,806,652.532922021,630,652,0.407703467941,0.00449900680609,0.0599978299335,0.999999999221,-1.08343930667e-05,2.21284732928e-05,-3.08263214182e-05,1793245008768285696
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,879,785,806,652,630,652,0.408246047611,0.00449950617641,0.0600014937041,0.999999999101,-1.63650040442e-05,1.91804473163e-05,-3.41051998627e-05,1793245008784952064
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,713,679,661,634,879,785,806,652,630,652,0.408799023163,0.00449761027107,0.0599862827043,0.999999998822,-2.49681297362e-05,-1.80485927581e-05,-3.7497316122e-05,1793245008801619200
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713.195374229,679,661,634,879,785,805.804625771,652,630,652,0.409373109168,0.00449568975445,0.0599754787735,0.999999997597,-3.29657915737e-05,-4.54052098924e-05,-4.07130291396e-05,1793245008818286080
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713.78742529,679,661,634,879,785,805.21257471,652,630,652,0.409990056616,0.00449371926856,0.0599736227081,0.999999996872,-3.97341532457e-05,-5.27174133097e-05,-4.35705828382e-05,1793245008834952448
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,879,785,805,652,630,651.62838013,0.410671439494,0.00449390142106,0.059979936235,0.999999998724,-9.03365390009e-06,-3.2797959094e-05,-3.73524239615e-05,1793245008851619072
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,879,785,805,652,630,651.048586604,0.411388917728,0.00449528943649,0.0599908261961,0.999999998748,4.2656115605e-05,2.37609880156e-06,-2.60502410767e-05,1793245008868285696
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,679,661.52520103,634,879,785,805.52520103,652.52520103,630,651.52520103,0.412073815892,0.00448112569293,0.0599838793035,0.999999999299,2.24050962675e-05,-1.54544460578e-05,-2.57218910197e-05,1793245008884952064
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,713.898750375,679,661.79750075,634,879,785,805.898750375,652.898750375,630,652,0.412750821285,0.00446697099078,0.0599697641661,0.999999998508,-1.69270297496e-06,-4.77028335768e-05,-2.65726683462e-05,1793245008901618688
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713.309147211,679,660.618294421,634,879,785,805.309147211,652.309147211,630,652,0.413404130496,0.00445972067883,0.0599289435666,0.999999991569,-1.2607300352e-05,-0.000126108875118,-2.82694972141e-05,1793245008918285312
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.724589079,745,713,679,660,634,879,785,805,652,630,652,0.414129048392,0.00445917184642,0.0599123562111,0.999999987352,-1.19413133952e-05,-0.000155645271789,-3.04656398371e-05,1793245008934951936
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.145592025,745,713,679,660,634,879,785,805,652,630,652,0.4149329008,0.00446601007042,0.0599224812146,0.999999990826,1.48997860143e-06,-0.00013131254972,-3.32121775831e-05,1793245008951618560
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.431661984,745.431661984,713,679,660.863323969,633.568338016,879,785,805.431661984,652,630,652,0.415805040322,0.00446364440933,0.0599679294544,0.999999998192,5.23373865582e-06,-4.98158059793e-05,-3.32627892618e-05,1793245008968285184
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.991692365,713.008307635,679,661.991692365,633,879,785,806,652,630,652,0.416698925709,0.00445832045055,0.0600243447787,0.999999998247,5.81206304381e-06,4.91901603195e-05,-3.24431218613e-05,1793245008984951808
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745.416601558,713.583398442,679,661.416601558,633,879,785,806,652,630,652,0.41751138543,0.00446210625025,0.060019432787,0.99999999881,1.24526985908e-05,3.26476547228e-05,-3.4035381395e-05,1793245009001618688
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745.162578592,713.837421408,679,661,633,879,785,805.837421408,652,630,652,0.418327088657,0.00446420969489,0.0600108871598,0.999999999113,1.72360371967e-05,1.43402467805e-05,-3.56554227043e-05,1793245009018285568
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745.752507869,713.247492131,679,661,633,879,785,805.247492131,652,630,652,0.419151317643,0.004461890936,0.0599927902348,0.999999999119,1.71373235463e-05,-8.60634551514e-06,-3.73484905247e-05,1793245009034952192
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.336690004,745.663309996,713.336690004,679.336690004,661,633,879,785,805,652,630,651.663309996,0.419989343067,0.00446051072765,0.0599682889715,0.999999998175,1.60938971181e-05,-4.29663515693e-05,-3.93097269706e-05,1793245009051619072
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.91671844,745.08328156,713.91671844,679.91671844,661,633,879,785,805,652,630,651.08328156,0.420837339655,0.00445980884489,0.0599391590547,0.999999995376,1.43676914934e-05,-8.5575256659e-05,-4.1464778771e-05,1793245009068285952
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.50774594,745,713.50774594,680,661,633.49225406,879,785,805.49225406,652,630,651.49225406,0.421673956654,0.00446273045906,0.0599027548744,0.999999985646,-4.22423299753e-05,-0.000158918107416,-4.08431559342e-05,1793245009084952576
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745.067285021,713,679.932714979,661,633.932714979,879,785,805.932714979,652,630,652,0.422525303852,0.00446529788888,0.0598754050347,0.999999970595,-0.000100749921114,-0.000216909502328,-4.01142600996e-05,1793245009101619456
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745.644198462,713,679.355801538,661,633.355801538,879,785,805.355801538,652,630,652,0.423502669943,0.0044605814023,0.0599258715118,0.99999998656,-0.000103936344756,-0.000119599086417,-4.20987952325e-05,1793245009118285824
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745.774166092,713,679.225833908,661.225833908,633,879,785,805.225833908,652,630,652,0.424463103649,0.00445853877117,0.0599761154471,0.999999993277,-0.000102620863757,-3.20885338396e-05,-4.34100104643e-05,1793245009134952448
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745.184932152,713,679.815067848,661.815067848,633,879,785,805.815067848,652,630,652,0.425396290804,0.00446079876668,0.0600260012876,0.999999993838,-9.40611562985e-05,3.96526088523e-05,-4.36377554472e-05,1793245009151619072
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.397202426,745,713,680,661.602797574,633.397202426,879.397202426,785,805.602797574,652,630.397202426,652,0.426327619829,0.00445950133119,0.0600382364209,0.999999993153,-8.61718799573e-05,6.55255339394e-05,-4.44481159135e-05,1793245009168285440
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.976089641,745,713,680,661.023910359,633.976089641,879.976089641,785,805.023910359,652,630.976089641,652,0.42725809887,0.00445657668722,0.0600332497005,0.999999993396,-7.85892668877e-05,7.0417823874e-05,-4.55249712091e-05,1793245009184952064
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713,680,661.552509023,633.447490977,880,785,806.105018045,651.447490977,630.447490977,651.447490977,0.428166934121,0.00445524997707,0.0600058870798,0.999999995567,-7.55230253921e-05,3.03980322395e-05,-4.73135490185e-05,1793245009201618944
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.871743709,745,713,680,661.871743709,633,880,785,806.871743709,651,630,651.128256291,0.429057001022,0.00445492606167,0.0599756317144,0.999999996251,-6.96463927159e-05,-1.67341361336e-05,-4.86601187086e-05,1793245009218286080
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.297961861,745,713,680,661.297961861,633,880,785,806.297961861,651,630,651.702038139,0.429885111226,0.00445784642111,0.0599386765582,0.999999994059,-5.33313484842e-05,-8.1851125278e-05,-4.83647627865e-05,1793245009234952704
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.28607563,745.28607563,713,679.71392437,661,633,879.71392437,785,806,651.28607563,630,651.71392437,0.430756474079,0.00445647446788,0.0599255887811,0.999999992597,-4.74926985917e-05,-0.000100797129975,-4.88852791374e-05,1793245009251619072
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.881192015,745.881192015,713,679.118807985,661,633,879.118807985,785,806,651.881192015,630,651.118807985,0.431674561695,0.00445046563034,0.0599382843732,0.999999994892,-5.29714515607e-05,-6.98657054593e-05,-5.02871632197e-05,1793245009268285440
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.538900511,745.538900511,713,679.461099489,661.922198979,633,879.461099489,785,806,652,630,651.461099489,0.432617953291,0.00444743538372,0.0599795286729,0.999999997075,-5.69862887243e-05,-3.19337148611e-06,-5.09058473046e-05,1793245009284951808
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,713,680,662.962928348,633,880,785.037071652,806,652,630.037071652,652,0.433562994758,0.00444523661742,0.060023948546,0.999999994689,-6.01881690121e-05,6.60457691017e-05,-5.13491638894e-05,1793245009301618432
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,713,680,662.389008494,633,880,785.610991506,806,652,630.610991506,652,0.434440525545,0.00444431967898,0.0600112325153,0.999999996085,-5.69052201627e-05,4.33538203461e-05,-5.20819659459e-05,1793245009318285312
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713,680,661.810801573,633.189198427,880,785.810801573,806,651.810801573,631,652,0.435292732732,0.00444260327136,0.0599921289067,0.999999997059,-5.48865276839e-05,8.93519686097e-06,-5.28141884785e-05,1793245009334951936
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,713,680,661.223575598,633.776424402,880,785.223575598,806,651.223575598,631,652,0.436091665374,0.00443920497452,0.0599595873825,0.999999995767,-5.55275229277e-05,-5.01535069555e-05,-5.35451918968e-05,1793245009351619072
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,713.361283566,680,661.361283566,633.638716434,880,785,806,651,630.638716434,651.638716434,0.436886176574,0.00443876465363,0.0599354309983,0.999999993006,-5.11163161401e-05,-9.1837611243e-05,-5.42233255428e-05,1793245009368285440
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,713.944687559,680,661.944687559,633.055312441,880,785,806,651,630.055312441,651.055312441,0.437677969383,0.00444014292347,0.0599164298764,0.999999990002,-4.35989695456e-05,-0.000122821205758,-5.48689543624e-05,1793245009384951808
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.519296616,745,713.480703384,680.519296616,661.480703384,633,880,785,806,651.519296616,630.519296616,651,0.438455867323,0.00443762432292,0.0599039244508,0.999999985846,-4.52784779465e-05,-0.000152459874776,-5.48895856808e-05,1793245009401618688
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.906682762,745,713,680.906682762,661,633,880,785,806,652,630.906682762,651.093317238,0.439246110833,0.00443458161009,0.0599023593411,0.999999984101,-4.78479864046e-05,-0.000162781189887,-5.48754509382e-05,1793245009418285312
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.330941948,745,713,680.330941948,661,633,880,785,806,652,630.330941948,651.669058052,0.440107701166,0.00443093945282,0.0599538352806,0.999999994499,-5.00386536473e-05,-7.39655254168e-05,-5.5020007461e-05,1793245009434951680
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,713,680,661,633,880,785,805.750254187,652,630,651.750254187,0.440900297399,0.00443060076102,0.0599829134665,0.999999996988,-4.71253384883e-05,-2.78496409301e-05,-5.5028074933e-05,1793245009451618304
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,713,680,661,633,880,785,805.162878729,652,630,651.162878729,0.441599620915,0.00443472800173,0.0599817122797,0.999999997021,-3.7311984928e-05,-3.94593024723e-05,-5.48516242398e-05,1793245009468284928
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.580073046,745,713,680.419926954,660.160146092,633,880,785,805.419926954,651.580073046,630,651,0.442250206937,0.00443895038995,0.0599385058827,0.999999992243,-2.84176417452e-05,-0.000107786224022,-5.55782956313e-05,1793245009484951808
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.000960688,745,713,680.999039312,659,632.999039312,880,785,806,651,630.000960688,651,0.442882061407,0.00444321604336,0.0598792201218,0.999999978632,-1.9868966307e-05,-0.000197816595711,-5.66511919598e-05,1793245009501618944
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.570987,745,713,680.429013,659,632.429013,880,785,806,651,630.570987,651,0.443495491255,0.00445148414765,0.0598424285146,0.999999966322,-7.20096188556e-06,-0.000252969048582,-5.75456169506e-05,1793245009518285824
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,713,680.147221859,658.852778141,632,880,785,806,651.147221859,630.852778141,651,0.444111421344,0.00446209095022,0.059814979629,0.999999954969,-1.20162834892e-05,-0.000294181781012,-5.80852188495e-05,1793245009534952704
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713,680.74234549,658.25765451,632,880,785,806,651.74234549,630.25765451,651,0.444734958215,0.00447981291494,0.059815954649,0.999999952973,-7.00221590678e-05,-0.000292984892294,-5.75453220527e-05,1793245009551618816
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.671567897,745,713,681,658,632,880,785,806,652,630,651.328432103,0.445311845561,0.00449797857313,0.0598056392288,0.999999944906,-7.96675274869e-05,-0.00031704764757,-5.76328269024e-05,1793245009568285184
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.092380998,745,713,681,658,632,880,785,806,652,630,651.907619002,0.445853116399,0.004516482986,0.0597867036645,0.999999931991,-5.23901037542e-05,-0.000360395901492,-5.81993469798e-05,1793245009584951552
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.478904913,745,713,681,657.521095087,631.521095087,880.478904913,785,806,652,630,651.521095087,0.446359707655,0.00452093326667,0.0597627282795,0.999999919375,-4.45993413788e-05,-0.000394563719045,-5.98303506038e-05,1793245009601618432
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713,681,657.050630514,631,881,785,806.050630514,652,630,651.050630514,0.446860897609,0.00452289352554,0.0597403756899,0.999999907788,-4.05722863335e-05,-0.000423039279897,-6.1767343967e-05,1793245009618285056
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713,681,657.643107916,631,881,785,806.643107916,652,630,651.643107916,0.44737471412,0.00452674831691,0.0597456256597,0.999999913467,-3.72486721027e-05,-0.000409241068752,-6.48171625911e-05,1793245009634951936
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713,681,657.77001312,631,881,785,806.77001312,652,630,652,0.447872666991,0.00453499607511,0.0597540103871,0.999999920079,-3.05625497305e-05,-0.000392646626199,-6.88176982051e-05,1793245009651619072
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713,681,657.191615373,631,881,785,806.191615373,652,630,652,0.448346587728,0.00454989880987,0.0597671440094,0.999999927943,-1.87825093644e-05,-0.00037181612838,-7.42584901666e-05,1793245009668285952
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,713,681,657,630.612342785,880.612342785,785,806.387657215,652,630,652,0.448749998061,0.00456278623327,0.0597541741531,0.999999919048,-4.68154254915e-06,-0.000394749566566,-7.78129567441e-05,1793245009684952320
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,745,713,681,657,630.032636742,880.032636742,785,806.967363258,652,630,652,0.449118476957,0.00457467525485,0.0597282724028,0.999999900189,1.05692329158e-05,-0.000439364044984,-8.04329213243e-05,1793245009701618688
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,745,713.877995298,680.122004702,655.877995298,630.877995298,880.122004702,784.877995298,807,652,630,652,0.449760904333,0.0045742425286,0.0596615621139,0.999999850881,2.55506349986e-05,-0.000539931415324,-7.78349997573e-05,1793245009734952192
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,745,713.291798337,680.708201663,655.291798337,630.291798337,880.708201663,784.291798337,807,652,630,652,0.45007750024,0.00457321156131,0.0596475938132,0.999999841219,5.98548688646e-05,-0.000556352369289,-6.67203489116e-05,1793245009751618816
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,745,713,681,655.290974306,630,881,784,806.709025694,652,630,652,0.450385083666,0.00457524251373,0.0596453199499,0.999999840355,7.719070872e-05,-0.000556242722866,-6.26481554409e-05,1793245009768285696
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+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745,713,681,655.553626823,629.553626823,880.553626823,784.446373177,806,652,630,652,0.450946490692,0.00457834506426,0.059661873329,0.99999985605,7.19771467823e-05,-0.000527482889789,-6.69397206387e-05,1793245009801619456
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,745.02152836,713,681,654.97847164,629,880.02152836,785,806.02152836,652,630,652,0.451197017668,0.00457462623545,0.0596680769332,0.999999861843,6.47556803419e-05,-0.000517213003846,-6.7903914594e-05,1793245009818286336
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745.59934369,713,681,654.40065631,629,880.59934369,785,806.59934369,652,630,652,0.451398911768,0.0045779041861,0.0596631039454,0.999999856572,6.55607407874e-05,-0.000527012547494,-6.93896644533e-05,1793245009834952704
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,746,713,681,654,629,881,784.819494269,806.819494269,652,630,652,0.451595855217,0.00457974030261,0.0596605358894,0.999999854076,6.58688565115e-05,-0.000531535646647,-7.05651405202e-05,1793245009851618816
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,746,713,681,654,629,881,784.230763508,806.230763508,652,630,652,0.451781602433,0.00457831562033,0.0596634067382,0.999999858007,6.50531004846e-05,-0.00052412573443,-7.10389127568e-05,1793245009868285440
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+224,3.733333333,POSE1_TO_POSE2_PRESS,763.104007614,745.895992386,713,681,654,628.104007614,880.895992386,784.895992386,807,652,630,652,0.452782222694,0.0045861097942,0.0596420903429,0.999999840629,7.57493169377e-05,-0.00055460465262,-7.36034106218e-05,1793245010101618176
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.473976059,745.526023941,713,681,654,628.473976059,880.526023941,785,807,652,630,652,0.452791064263,0.00458469980633,0.0596414505363,0.999999840279,7.42581307052e-05,-0.000555486711825,-7.32265143253e-05,1793245010118284800
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,745.051993326,713.051993326,681.051993326,654,628.948006674,880,785,806.948006674,652,630,651.948006674,0.452797551634,0.00458286895531,0.0596406437783,0.999999839607,7.25694601105e-05,-0.000556988424196,-7.26918974843e-05,1793245010134951424
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,745.636281108,713.636281108,681.636281108,654,628.363718892,880,785,806.363718892,652,630,651.363718892,0.452797734958,0.00458395582188,0.0596386060795,0.999999837305,7.47358024474e-05,-0.00056086193971,-7.2383522967e-05,1793245010151618304
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.218627333,745.781372667,713.781372667,681.781372667,654,628,880.218627333,785,806,652.218627333,630,651.218627333,0.452799206654,0.00458521653902,0.0596371429729,0.999999835912,7.6757687509e-05,-0.000563091951103,-7.21867789122e-05,1793245010168284928
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.797771887,745.202228113,713.202228113,681.202228113,654,628,880.797771887,785,806,652.797771887,630,651.797771887,0.452802802881,0.00458676393626,0.0596366273712,0.999999836045,7.85413619e-05,-0.000562611818344,-7.21741138936e-05,1793245010184951552
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.245452277,745,713,681,654,628,880.622726138,784.622726138,806,652.622726138,630,652,0.452805021691,0.00458698799715,0.0596367458253,0.999999836095,7.91369472063e-05,-0.000562451512725,-7.2078762264e-05,1793245010201618432
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.08606483,745,713,681,654,628,880.043032415,784.043032415,806,652.043032415,630,652,0.452806501469,0.00458650204443,0.0596372044712,0.999999836102,7.90950835014e-05,-0.000562462804923,-7.19390465427e-05,1793245010218284800
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.533156799,745,713,681.533156799,653.466843201,628,880.533156799,784,806.533156799,652,630,651.466843201,0.452806531278,0.00458594080164,0.0596368011823,0.999999835723,7.93837929681e-05,-0.000563082067855,-7.20430187463e-05,1793245010234951424
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745,713,682,653,628,881,784,807,652,630,651.111030684,0.4528065429,0.0045855256816,0.0596362850778,0.999999835315,7.96890999126e-05,-0.000563750016735,-7.21441829312e-05,1793245010251618048
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,745,713,682,653,628,881,784,807,652,630,651.697318336,0.452806974346,0.00458576186873,0.0596355819151,0.999999834917,7.99519892982e-05,-0.000564417689578,-7.21496874349e-05,1793245010268284928
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,745,713,682,653,628,880.719636301,784,806.719636301,652,630,652,0.452807477498,0.00458637218932,0.0596349780648,0.999999834643,7.92624802577e-05,-0.000564992414872,-7.22161519936e-05,1793245010284951808
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745,713,682,653,628,880.140051234,784,806.140051234,652,630,652,0.452808057181,0.00458738180817,0.0596344802068,0.999999834498,7.75565131236e-05,-0.000565467940912,-7.23476768694e-05,1793245010301618432
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,745,713,682,653,628,880,784.436697265,806.436697265,652,630,652,0.45280760863,0.00458762235656,0.0596336964093,0.999999834315,7.79476949717e-05,-0.00056573679291,-7.23542559451e-05,1793245010318284800
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745.01251729,713,681.98748271,653,628,880.01251729,784.98748271,807,652,630,652,0.452806874096,0.00458760231938,0.059632875143,0.999999834131,7.901027286e-05,-0.000565919228998,-7.23173887782e-05,1793245010334951424
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745.587232185,713,681.412767815,653,628,880.587232185,784.412767815,807,652,630,652,0.452808010213,0.00458688467616,0.0596344631223,0.999999834469,8.02151942292e-05,-0.000565178143676,-7.21173037594e-05,1793245010351619072
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745.833515494,713,681.166484506,653.166484506,628,881,784.166484506,807,652,630,652,0.452808815555,0.00458691234841,0.0596355705662,0.999999834719,8.10529063173e-05,-0.000564631314092,-7.19973685205e-05,1793245010368286208
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745.242698297,713,681.757301703,653.757301703,628,881,784.757301703,807,652,630,652,0.452808777819,0.00458883966727,0.0596354532302,0.99999983475,8.09546819726e-05,-0.000564579600056,-7.20817176001e-05,1793245010384952832
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,713,681.659052423,653.659052423,628,881,785,807,652,630,652,0.45280908503,0.00458802873223,0.0596351136783,0.999999834805,7.87540414317e-05,-0.00056481565039,-7.19164647267e-05,1793245010401619456
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,713,681.080406211,653.080406211,628,881,785,807,652,630,652,0.452809632727,0.00458530876691,0.0596346192041,0.999999834864,7.50876580774e-05,-0.000565252321585,-7.15771966988e-05,1793245010418285568
+244,4.066666667,HOLD_POSE2,764,745,713,681,653,628,880,784,807,652,631,652,0.452808862321,0.00458484256043,0.0596341219116,0.999999834397,7.66297795954e-05,-0.000565826007081,-7.19418199705e-05,1793245010449632000
+245,4.083333333,HOLD_POSE2,764,745.575362299,713,681,653,628,880.575362299,784,807,652,630.424637701,652,0.452807878316,0.00458728612077,0.0596332616671,0.999999833512,7.93421596079e-05,-0.000566987456864,-7.21591167345e-05,1793245010466298368
+246,4.100000000,HOLD_POSE2,764,745.844709645,713,681,653,628,881,784,806.844709645,652,630,652,0.452807438053,0.00458906293141,0.059632887585,0.999999832927,8.15739167423e-05,-0.000567689610303,-7.22465815103e-05,1793245010482964992
+247,4.116666667,HOLD_POSE2,764,745.251918305,713,681,653,628,881,784,806.251918305,652,630,652,0.452808529679,0.00458896130234,0.0596338831729,0.999999833211,8.24516111223e-05,-0.000567097784093,-7.19682694505e-05,1793245010499631616
+248,4.133333333,HOLD_POSE2,763.66758389,745.33241611,713,681,653,628,880.66758389,784.33241611,806.33241611,652.33241611,630,652,0.45280886421,0.00458827954967,0.0596335021179,0.999999833311,8.02332728644e-05,-0.000567258950039,-7.18173772873e-05,1793245010516298240
+249,4.150000000,HOLD_POSE2,763.089499502,745.910500498,713,681,653,628,880.089499502,784.910500498,806.910500498,652.910500498,630,652,0.452808639218,0.00458716906337,0.0596321036709,0.999999833259,7.57268474743e-05,-0.000567976606149,-7.17606533396e-05,1793245010532965120
+250,4.166666667,HOLD_POSE2,763.972868928,745.513565536,713,681,653,628,880,784.513565536,807,652.513565536,630,651.513565536,0.452809661192,0.00458588108239,0.0596336222467,0.999999834324,7.70256161771e-05,-0.000566034983516,-7.08824792301e-05,1793245010549632000
+251,4.183333333,HOLD_POSE2,764.936765805,745.063234195,713,681.063234195,653,628,880,784.063234195,806.936765805,652,630,651.063234195,0.452810828751,0.00458479551186,0.0596353978398,0.999999835422,7.90252572955e-05,-0.00056391920781,-7.00439325276e-05,1793245010566298368
+252,4.200000000,HOLD_POSE2,764.34952743,745.65047257,713,681.65047257,653,628,880,784.65047257,806.34952743,652,630,651.65047257,0.452811309861,0.00458565669199,0.0596348753092,0.999999835179,7.80207194144e-05,-0.000564396980877,-7.07807042677e-05,1793245010582964480
+253,4.216666667,HOLD_POSE2,764,745.765033822,713,681.765033822,653,628,880.234966178,784.765033822,806,652,630,652,0.452811841748,0.00458686188479,0.0596348517308,0.999999835056,7.83126609692e-05,-0.000564495569998,-7.1419766814e-05,1793245010599630848
+254,4.233333333,HOLD_POSE2,764,745.184576137,713,681.184576137,653,628,880.815423863,784.184576137,806,652,630,652,0.452812448298,0.0045885729097,0.0596355618059,0.999999835104,8.05109307382e-05,-0.000564036611456,-7.19151588454e-05,1793245010616297472
+255,4.250000000,HOLD_POSE2,764,745,713.393304696,681.393304696,653,628,881,784.393304696,806.393304696,652,630,652,0.452811933976,0.00458811490878,0.059635177851,0.999999834658,8.0211766469e-05,-0.000564902841861,-7.16578306187e-05,1793245010632964352
+256,4.266666667,HOLD_POSE2,764,745,713.969984147,681.969984147,653,628,881,784.969984147,806.969984147,652,630,652,0.452810897058,0.00458664561935,0.0596342838146,0.999999833978,7.8748196383e-05,-0.000566386929573,-7.10495534298e-05,1793245010649630976
+257,4.283333333,HOLD_POSE2,764,745,713.460437505,681.460437505,653,628,881,785,807,652,630,652,0.452810215201,0.00458495901763,0.0596335930247,0.999999833845,7.61774482189e-05,-0.000567003248955,-7.0809685831e-05,1793245010666297600
+258,4.300000000,HOLD_POSE2,763.886213567,745,713,681.113786433,653,628,880.886213567,785,807,652,630,652,0.452810052743,0.00458400866711,0.0596333735553,0.999999833913,7.51718487238e-05,-0.000567037112948,-7.06521219689e-05,1793245010682964224
+259,4.316666667,HOLD_POSE2,763.290669819,745,713,681.709330181,653,628,880.290669819,785,807,652,630,652,0.452812006809,0.00458622602896,0.0596351023479,0.999999834709,8.10502758081e-05,-0.000564806665691,-7.0757377148e-05,1793245010699630848
+260,4.333333333,HOLD_POSE2,763.29659505,745,713,681.70340495,653,628,880,784.70340495,806.70340495,652,630,652,0.452813174344,0.0045867845798,0.0596358655928,0.999999835163,8.28810400909e-05,-0.000563712718523,-7.09347215798e-05,1793245010716297216
+261,4.350000000,HOLD_POSE2,763.875966718,745,713,681.124033282,653,628,880,784.124033282,806.124033282,652,630,652,0.452813591992,0.00458576160389,0.0596357082749,0.999999835318,8.08527227676e-05,-0.000563702321792,-7.11807966046e-05,1793245010732963840
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,746,713,681,653,628,881,785,806,652,630,651,0.452810762605,0.00458767125412,0.0596339373236,0.999999833509,8.30067007054e-05,-0.000566740345836,-6.99754292297e-05,1793245010765536768
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745.412184325,713,681,653,628,881,784.412184325,806.587815675,652,630,651.587815675,0.452811037418,0.00458813611238,0.0596333446021,0.999999833434,8.14286398605e-05,-0.000567041025469,-7.04690342839e-05,1793245010782203392
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,745,713,681.173127719,652.826872281,628,880.826872281,784,807,652,630,652,0.452811246582,0.00458869180727,0.0596331645059,0.999999833486,8.05038406395e-05,-0.000567026333086,-7.09104852202e-05,1793245010798869760
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745,713,681.75256418,652.24743582,628,880.24743582,784,807,652,630,652,0.452811301676,0.0045894606843,0.0596339527889,0.999999833842,8.11121630645e-05,-0.000566271502753,-7.12295371732e-05,1793245010815536384
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745,713,681.669191559,652.661616883,628,880,784.330808441,806.669191559,652,630,652,0.452810437757,0.00458887037604,0.059633743899,0.999999833324,8.14419503469e-05,-0.000567153134272,-7.11141004003e-05,1793245010832203264
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,745,713,681.091835863,653.816328273,628,880,784.908164137,806.091835863,652,630,652,0.452808888907,0.00458726708451,0.0596327918291,0.999999832151,8.15641489525e-05,-0.000569254399695,-7.06748447786e-05,1793245010848869888
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745,713,681,653.515855072,628,880,784.515855072,806,652,630,652,0.452808617724,0.00458695306741,0.0596319556682,0.999999831951,8.08544302767e-05,-0.00056966973333,-7.09765845177e-05,1793245010865536512
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,713,681.061171486,653,628,880.061171486,784,806,652,630,652,0.45280818089,0.00458690797462,0.0596310480424,0.99999983185,7.99910773383e-05,-0.000569920458054,-7.13540925451e-05,1793245010882203392
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745,713,681.649450241,653,628,880.649450241,784,806,652,630,652,0.452804234222,0.00458707880882,0.0596293356945,0.999999831027,7.91598009234e-05,-0.000571500632242,-7.11767540993e-05,1793245010898870016
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,681.765747551,653,628,881,784,806.234252449,652,630,652,0.452792831919,0.00458746338109,0.0596247803855,0.99999982693,7.94432648265e-05,-0.000578582402571,-7.12084344378e-05,1793245010915536640
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,713,681.186071833,653,628,881,784,806.813928167,652,630,652,0.452770435707,0.00458816312659,0.0596160329116,0.999999817844,8.13704992114e-05,-0.000593776699736,-7.15483290703e-05,1793245010932203264
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745.390779897,713,681,653,628,880.609220103,784.390779897,807,652,630,652,0.452729862427,0.00458798812936,0.0596005643819,0.999999802372,8.18520343781e-05,-0.000619257708374,-7.12461318269e-05,1793245010948869888
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745.966296668,713,681,653,628,880.033703332,784.966296668,807,652,630,652,0.452680696139,0.00458739960725,0.0595819185466,0.99999978318,8.16501313419e-05,-0.000649601646998,-7.06403927307e-05,1793245010965536512
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745.459865131,713,681.540134869,653,628,880,784.459865131,807,652,630,652,0.452618222756,0.00458870251359,0.0595662457579,0.999999772008,8.39108899882e-05,-0.000666223060247,-7.13458583951e-05,1793245010982203392
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,745.1177287,713,682,653,628,880.1177287,784.1177287,807,652,630,652,0.452552341375,0.00458970319641,0.0595530553986,0.999999762367,8.573588587e-05,-0.000680260804697,-7.18332161692e-05,1793245010998869760
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745.710911725,713,682,653,628,880.710911725,784.710911725,807,652,630,652,0.452476039541,0.00458900817259,0.059549143592,0.999999757645,8.51823656496e-05,-0.000687311590602,-7.11103353115e-05,1793245011015536640
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745.703527176,713,681.703527176,653,628,881,784.703527176,806.703527176,652,630,652,0.452394827655,0.0045898877962,0.0595502768365,0.999999758579,8.76713468338e-05,-0.000685691164496,-7.05880294291e-05,1793245011032203520
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,745.125211911,713,681.125211911,653,628,881,784.125211911,806.125211911,652,630,652,0.452308948024,0.00459226436138,0.0595562061686,0.999999764831,9.30526876685e-05,-0.000675827434089,-7.02564005594e-05,1793245011048870144
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,745.454995453,713,681.454995453,653,628,880.545004547,784.454995453,806,652,630,652,0.452197743598,0.0045922967261,0.0595568823112,0.999999764244,9.52537425217e-05,-0.000676516781885,-6.90197559076e-05,1793245011065536768
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,745.964132919,713,681.964132919,653,628,880,785,806.035867081,652,630,652,0.45207704445,0.00459183764156,0.0595560158859,0.99999976171,9.67189542829e-05,-0.000680187956677,-6.76038208815e-05,1793245011082203392
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,745.381104137,713,681.381104137,653,628,880,785,806.618895863,652,630,652,0.451918262134,0.00459376377749,0.059553762971,0.999999758185,0.000100365767365,-0.000684859242645,-6.72680243235e-05,1793245011098870016
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,745,713,681.779766367,653,628,880,784.220233633,806.220233633,652,630,651.220233633,0.451570101346,0.00459753993586,0.0595532846136,0.999999755886,0.000110869080685,-0.000686841005906,-6.46876274527e-05,1793245011132203264
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,745,713,681,653.082544835,628.082544835,880.917455165,784,806,652,630,652,0.450625432856,0.00459742801241,0.0595358529748,0.999999729001,0.000125993280417,-0.000723090513439,-5.71280567844e-05,1793245011198869760
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.997496297,659.002503703,633.997496297,879,785,806,652,630,652,0.411008298879,0.00455522870512,0.0597258012236,0.999999867984,0.000235611239502,-0.000455349996525,3.43028311201e-05,1793245012115536896
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.424469526,659.575530474,633.424469526,879,785,806,652,630,652,0.410387679539,0.00455245790267,0.0597662122805,0.999999899039,0.000217936706761,-0.000391482581347,3.41561743484e-05,1793245012132204288
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,660,633,879,785.746993819,805.253006181,652,630,652,0.409200842516,0.00454608322084,0.05983955158,0.999999944423,0.000188547416671,-0.000272654958825,3.55472261838e-05,1793245012165538048
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,745.332500825,713,679,660,633,879,785.667499175,805,652,630,652,0.408618862126,0.00454495119487,0.0598530820739,0.999999951361,0.000180314061984,-0.000251925386128,3.60207367546e-05,1793245012182204672
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,745.912282557,713,679,660,633,879,785.087717443,805,652,630,652,0.408033488526,0.00454552993416,0.0598510407595,0.999999950652,0.00017558233199,-0.00025801693278,3.59606969236e-05,1793245012198871040
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,745.51234755,713,679.48765245,660,633,878.51234755,785,805,652,630,652,0.407476057585,0.00454267579031,0.0598352760006,0.999999946468,0.000165615506885,-0.000279933582433,3.56750591732e-05,1793245012215537408
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.936538665,745,713.063461335,679.936538665,660,633,878,785,805.063461335,652,630,652,0.406930684076,0.00453953742073,0.0598188947858,0.999999941774,0.00015533451101,-0.000301793194905,3.52850309292e-05,1793245012232204032
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.234005537,745,713.765994463,679.234005537,660.234005537,633,878.234005537,785.234005537,805.765994463,652,630,652,0.405971628508,0.00453815287694,0.0598194638858,0.999999945981,0.000141878522407,-0.000294592998497,3.35213409921e-05,1793245012265537280
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.81678847,745,713.18321153,679.81678847,660.81678847,633,878.81678847,785.81678847,805.18321153,652,630,652,0.405522322042,0.00453645770047,0.0598261220358,0.999999950824,0.000129006705996,-0.000283961404698,3.27847597421e-05,1793245012282204416
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.60747845,745,713.39252155,679.60747845,660.60747845,633.39252155,879,785.60747845,805.39252155,652.39252155,630,652,0.405091920824,0.00453466532557,0.0598171934267,0.999999948444,0.000122891393738,-0.000294884502255,3.24416755224e-05,1793245012298871040
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.034977818,745,713.965022182,679.034977818,660.034977818,633.965022182,879,785.034977818,805.965022182,652.965022182,630,652,0.404670188006,0.00453282838307,0.0598011179734,0.999999942464,0.000119874074316,-0.000315690861345,3.22790175871e-05,1793245012315537664
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.542658845,745,714,679,659.457341155,633.457341155,879,785.542658845,805.457341155,652.457341155,630,652,0.40427037962,0.0045318033289,0.0597777976477,0.99999992859,0.000116645799979,-0.000358017242897,3.22036911615e-05,1793245012332204288
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,633.123648858,878.876351142,785.876351142,805,652,630,652,0.403891090125,0.00453064535474,0.0597603039874,0.999999917588,0.000113469014906,-0.000388474832111,3.21961019512e-05,1793245012348870912
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,633.716085438,878.283914562,785.283914562,805,652,630,652,0.403584184505,0.00452878314438,0.059766688216,0.999999925423,0.000110539484042,-0.000368625348302,3.24237784991e-05,1793245012365537280
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,713.699674043,679,659.600651913,633.699674043,878.300325957,785,805,652.300325957,630.300325957,652,0.403305838948,0.00452763582045,0.0597818344127,0.999999935646,0.000109980530426,-0.000339861671489,3.32647799373e-05,1793245012382203904
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745.451508114,713.451508114,679.451508114,661,633.451508114,879,785,805,653,630.548491886,652,0.402825753111,0.00452599096212,0.059823957062,0.999999956044,0.000109625591777,-0.000273221275433,3.52708147867e-05,1793245012415537152
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745.973918712,714,679.973918712,660.973918712,634,879,785,805,652.973918712,630,652,0.402604140946,0.00452455662272,0.0598406572132,0.999999962799,0.000109363593652,-0.000247358432524,3.54206703555e-05,1793245012432204032
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745.384456758,714,679.384456758,660.384456758,634,879,785,805,652.384456758,630,652,0.40238024445,0.00452099586994,0.0598347021256,0.999999951461,0.000167234827866,-0.000261109491277,3.05451684282e-05,1793245012448870656
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.798400671,745,714,679,660,634,879,785,805,652.201599329,630,652.201599329,0.402169479881,0.00451775034586,0.0598290668549,0.999999942554,0.00019663244422,-0.000274864641025,2.60329142031e-05,1793245012465537536
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.218731847,745,714,679,660,634,879,785,805,652.781268153,630,652.781268153,0.40198334231,0.00451509598661,0.059824031354,0.9999999432,0.000172632028557,-0.000288627462582,2.22018776027e-05,1793245012482203904
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.35831537,745.35831537,714,679,660.35831537,634,878.64168463,785.35831537,805,653,630,653,0.401825395195,0.00451386380696,0.0598247175786,0.999999943664,0.000163789765717,-0.000292203669518,2.14780502145e-05,1793245012498870272
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.933773918,745.933773918,714,679,660.933773918,634,878.066226082,785.933773918,805,653,630,653,0.401684531798,0.00451349348401,0.0598288712333,0.999999944338,0.000164133513203,-0.000289606673841,2.26372264985e-05,1793245012515536896
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745.480473532,714,679,661,633.480473532,878,786,805,653,630,652.480473532,0.401568384082,0.00451231264931,0.0598287639811,0.999999945018,0.000164095219289,-0.000287225436215,2.32206032624e-05,1793245012532203520
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745.105251445,714,679,660.894748555,633,878,785.894748555,805,652.894748555,630,652,0.401459532049,0.00451134089192,0.0598287252988,0.999999945781,0.000164049832967,-0.000284533421762,2.37786348767e-05,1793245012548869888
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745.684819299,714,679,660.315180701,633,878,785.315180701,805,652.315180701,630,652,0.401369072786,0.00451178636306,0.0598314928373,0.99999994693,0.000164196389469,-0.000280314438113,2.45599101545e-05,1793245012565536512
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745.736792549,714,679,660,633,878,785,805,652,630,652,0.401286493879,0.004512166643,0.0598316561748,0.999999946991,0.000163959017246,-0.000280205440894,2.49085574692e-05,1793245012582203648
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745.159810779,714,679,660,633,878,785,805,652,630,652,0.401213309291,0.00451246920733,0.0598287149977,0.999999945755,0.000163263956695,-0.000284996032419,2.47414611878e-05,1793245012598870784
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.415569271,660,633.415569271,878,785.415569271,805,652.415569271,630,652,0.401152565637,0.00451179375733,0.0598247688524,0.999999943918,0.000161963530618,-0.000292087265297,2.48383655509e-05,1793245012615537152
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.990335716,660,633.990335716,878,785.990335716,805,652.990335716,630,652,0.401096587884,0.00451074364749,0.0598204377219,0.9999999418,0.000160431199813,-0.000300059832713,2.5036403854e-05,1793245012632203776
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.420246265,660,633.420246265,878,785.420246265,805.579753735,653,630.579753735,652,0.40106345222,0.00451035970212,0.0598215967697,0.999999942739,0.000158030211912,-0.00029819408304,2.50734971232e-05,1793245012648870400
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633,878.166394025,785.166394025,806,653,631,652.166394025,0.401034306094,0.00450962857142,0.0598230901889,0.999999943749,0.000156508336052,-0.000295580921042,2.52697410091e-05,1793245012665536768
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633,878.745522635,785.745522635,806,653,631,652.745522635,0.401014086907,0.00450800800065,0.0598251801084,0.999999944814,0.00015720391625,-0.000291531175482,2.58675798254e-05,1793245012682203392
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,745,713.677056183,679,660.322943817,633.322943817,879,786,805.677056183,653,630.677056183,652.677056183,0.400997036082,0.00450928598933,0.0598262149648,0.999999945077,0.000158027244287,-0.000290196705548,2.56639228231e-05,1793245012698870272
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,745,713.100973305,679,660.899026695,633.899026695,879,786,805.100973305,653,630.100973305,652.100973305,0.400982468772,0.00451283600964,0.0598264228119,0.999999944721,0.000158950707364,-0.000290990600198,2.48320145042e-05,1793245012715536896
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,660.528811705,634,879,785.528811705,805.471188295,653,630.471188295,652,0.400975442068,0.00451238404782,0.0598279463631,0.99999994548,0.000159505201164,-0.000288051016132,2.50105364466e-05,1793245012732203776
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.044148087,660.044148087,633.955851913,878.955851913,785,805.955851913,653,630.955851913,652,0.400970301136,0.00451110447432,0.0598296467814,0.999999946439,0.000159784730506,-0.000284511604618,2.53578187498e-05,1793245012748870656
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.637401444,660.637401444,633.362598556,878.362598556,785,805.362598556,653,630.362598556,652,0.400968682514,0.00451010991195,0.0598300691586,0.99999994711,0.000157619625176,-0.000283380586461,2.51331775787e-05,1793245012765537024
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.225409308,679.774590692,660.774590692,633.225409308,878.225409308,785,805,653,630,652,0.400967919019,0.00450912580466,0.0598312017849,0.999999947964,0.000155709343484,-0.00028141923058,2.50773637709e-05,1793245012782203648
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.805171013,679.194828987,660.194828987,633.805171013,878.805171013,785,805,653,630,652,0.40096849982,0.00450815813323,0.0598334509507,0.999999949107,0.000154199654813,-0.000278152550839,2.52869533073e-05,1793245012798870016
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,713.618819405,679.381180595,660,634,879,785.381180595,805,653,630,652,0.40096770948,0.00450759546379,0.059834328351,0.999999949671,0.000153031572861,-0.000276769468911,2.52392702504e-05,1793245012815536640
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,713.044708933,679.955291067,660,634,879,785.955291067,805,653,630,652,0.400966225154,0.00450723778117,0.0598345114488,0.999999949947,0.000152036391,-0.000276339746989,2.5061371823e-05,1793245012832203520
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,713.541917472,679.458082528,660,634,879,785.458082528,805,653,630,652,0.400965040074,0.00450838074177,0.0598339888854,0.999999950065,0.00014989961424,-0.000277121356276,2.45733383882e-05,1793245012848870400
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,634,878.872239682,785,805,652.872239682,630,652,0.400963893449,0.0045090838034,0.0598337239848,0.999999950109,0.0001485776858,-0.000277699768543,2.42914617013e-05,1793245012865537024
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,634,878.292902517,785,805,652.292902517,630,652,0.400962793417,0.00450778407181,0.0598345804497,0.999999949951,0.000150476656713,-0.000277198385282,2.4830834462e-05,1793245012882203904
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,713.715151483,679,660.284848517,634,878.284848517,785,805.284848517,652,630,652,0.400963346605,0.00450759799482,0.0598355744197,0.999999950219,0.000151326501341,-0.000275750572441,2.49907884681e-05,1793245012898870784
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,713.139022325,679,660.860977675,634,878.860977675,785,805.860977675,652,630,652,0.400965590344,0.00450855071955,0.0598367089996,0.999999950921,0.000151103529739,-0.000273334958762,2.4762756183e-05,1793245012915537152
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.563789903,745,713.436210097,679,660.563789903,634,879,785,805.563789903,652,630,652,0.400966120105,0.00450911890456,0.0598366894177,0.999999951094,0.000150816534947,-0.000272886061121,2.44711057915e-05,1793245012932203520
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.011462654,745,713.988537346,679,660,633.988537346,878.988537346,785,805.011462654,652.011462654,630,652,0.400966084699,0.00450952393815,0.0598363080481,0.999999951098,0.000150482988207,-0.000273082889281,2.41711699547e-05,1793245012948869888
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.602146337,745,713.397853663,679,660,633.397853663,878.397853663,785,805.602146337,652.602146337,630,652,0.400965036895,0.00450786487102,0.0598361942251,0.999999951005,0.0001488260652,-0.000274300928689,2.44749977638e-05,1793245012965536768
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745.189567387,713.189567387,679,660,633,878.189567387,785.189567387,805.810432613,653,630,652,0.400964613334,0.00450654924523,0.0598362865037,0.999999951254,0.000146746377608,-0.000274493446337,2.46986995571e-05,1793245012982203136
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745.770256823,713.770256823,679,660,633,878.770256823,785.770256823,805.229743177,653,630,652,0.400965477736,0.00450594221969,0.0598368040183,0.999999952208,0.000143794427465,-0.000272570071613,2.47570825394e-05,1793245012998870016
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745.651860255,714,679,660,633.348139745,878.651860255,785.651860255,805,653,630,652,0.400966504854,0.00450691956979,0.0598379034989,0.999999952415,0.000145294106416,-0.000271028303332,2.45726567512e-05,1793245013015536896
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b514c917821409af81b39be0a887ed1e09d666a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.575673748016,0.00987784427178,1.05005077136,0.546245380965,0.0185535293956,1.04971726848
+384,6.400000000,pose2_to_pose3_retreat,0.575673179812,0.00987785529997,1.05005075165,0.546244812535,0.0185535396897,1.04971724963
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+388,6.466666667,pose2_to_pose3_retreat,0.575670943299,0.00987785764618,1.05005087513,0.546242575979,0.0185535416592,1.04971736701
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+390,6.500000000,pose2_to_pose3_retreat,0.575670729469,0.00987785740964,1.0500508892,0.546242362156,0.0185535414149,1.04971738039
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e67deafb481d77c7b5e9504c46d12b544a00efc3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd06074e28b1f77fb825d5f7cd8698875e5a14b201b1fbcb4153f703e87a350a
+size 25733895
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d38d713a5559f1d01f8809421d849610739272d0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+24,0.400000000,BASELINE,764,745,713.066350694,679,660.066350694,634,878,785,805,653,630,652,0.400963048002,0.00450726840791,0.0598393201145,0.999999952769,0.000145893207709,-0.000269412358601,2.43886291365e-05,1793245013664534016
+25,0.416666667,BASELINE,764,745,713,679,660,634,878,785,805,653,630,652,0.400965145233,0.00450650291062,0.0598404828848,0.999999953463,0.000144986759954,-0.00026732148396,2.43460617403e-05,1793245013681200640
+26,0.433333333,BASELINE,763.892187584,745,713,679,660.107812416,634,878.107812416,785,805,653,630,652,0.40096715857,0.00450579749739,0.0598414889014,0.999999954094,0.000144185863691,-0.00026539428475,2.42656215224e-05,1793245013697867264
+27,0.450000000,BASELINE,763.312487348,745,713,679,660.687512652,634,878.687512652,785,805,653,630,652,0.40096721293,0.00450630023995,0.0598415039073,0.999999954066,0.00014466000275,-0.000265249658719,2.41533688957e-05,1793245013714533888
+28,0.466666667,BASELINE,763.264896635,745,713,679,660.735103365,634,878.735103365,785,805,652.735103365,630,652,0.400966673802,0.00450763694724,0.0598413681942,0.999999953693,0.000146540708111,-0.000265640664174,2.3973073088e-05,1793245013731200512
+29,0.483333333,BASELINE,763.839571882,745,713,679,660.160428118,634,878.160428118,785,805,652.160428118,630,652,0.400965440628,0.00450994891958,0.0598410562254,0.999999952906,0.000150066297147,-0.00026665805426,2.37132054105e-05,1793245013747867648
+30,0.500000000,BASELINE,763.58489913,745.41510087,713,679,660,634,878.41510087,785,805.41510087,652.41510087,630,652,0.400964860671,0.00450937043985,0.0598406086195,0.999999952809,0.000149378202219,-0.000267393467436,2.38340952388e-05,1793245013764534528
+31,0.516666667,BASELINE,763.009039521,745.990960479,713,679,660,634,878.990960479,785,805.990960479,652.990960479,630,652,0.40096453369,0.00450767255642,0.0598401084846,0.999999952979,0.000147058247176,-0.000268019677608,2.41024434402e-05,1793245013781201152
+32,0.533333333,BASELINE,763,745.417939674,713.582060326,679,660.582060326,634,878.417939674,785,805.417939674,653,630.582060326,652,0.40096563248,0.00450701450031,0.0598405822326,0.999999953724,0.000144852338037,-0.000266458648257,2.38816059695e-05,1793245013797867776
+33,0.550000000,BASELINE,763.338300519,745,714,679,661,634,878.16915026,785.16915026,805,653,630.83084974,652,0.400966299472,0.00450661588409,0.0598408418174,0.99999995416,0.000143417067811,-0.000265607431676,2.37518122346e-05,1793245013814534400
+34,0.566666667,BASELINE,764.491979085,745,714,679,661,634,878.745989542,785.745989542,805,653,630.254010458,652,0.400965870932,0.00450680260621,0.0598405477886,0.999999953846,0.000143834822137,-0.000266551091237,2.38602569326e-05,1793245013831201024
+35,0.583333333,BASELINE,764.680784161,745,713.680784161,679,661,634,878.680784161,785.680784161,805,653,630.319215839,652,0.40096530138,0.00450626548943,0.0598401588291,0.999999953648,0.000143830111335,-0.000267290390796,2.39285194731e-05,1793245013847867904
+36,0.600000000,BASELINE,764.1104006,745,713.1104006,679,661,634,878.1104006,785.1104006,805,653,630.8895994,652,0.400964620877,0.00450515883649,0.0598396951756,0.999999953541,0.000143492993503,-0.000267868894436,2.39651656082e-05,1793245013864535296
+37,0.616666667,BASELINE,764,745,713.479009302,679,660.520990698,634,878.479009302,785.479009302,805,653,630.520990698,652,0.400964599272,0.00450560537771,0.059839612794,0.999999953372,0.000143649708195,-0.000268416009345,2.39554831282e-05,1793245013881202176
+38,0.633333333,BASELINE,764,745,713.928760607,679.071239393,660,634,878.928760607,785.928760607,805,653,630,652.071239393,0.400965028444,0.00450641029216,0.0598398811679,0.999999953317,0.0001439522349,-0.000268459263384,2.39402485216e-05,1793245013897868800
+39,0.650000000,BASELINE,764,745,713.348995942,679.651004058,660,634,878.348995942,785.348995942,805,653,630,652.651004058,0.400967546517,0.00450711235041,0.0598420001083,0.999999954178,0.000144449544675,-0.000264959604999,2.39647541166e-05,1793245013914534912
+40,0.666666667,BASELINE,764,745,713,679.770844429,660.229155571,634,878,785,805.229155571,653,630,652.770844429,0.400968138208,0.00450690968455,0.0598424676657,0.999999954469,0.000143959704594,-0.000264117537279,2.40531885441e-05,1793245013931201280
+41,0.683333333,BASELINE,764,745,713,679.195132552,660.804867448,634,878,785,805.804867448,653,630,652.195132552,0.400965816595,0.00450533878723,0.0598404378051,0.999999953904,0.000141976979073,-0.000267294594445,2.42383037539e-05,1793245013947867904
+42,0.700000000,BASELINE,763.612353692,745,713,679,661,634,878,785,806,652.612353692,630.387646308,652,0.400964935125,0.00450512113416,0.0598397119943,0.999999953627,0.000141768568536,-0.000268457049283,2.40441824813e-05,1793245013964534528
+43,0.716666667,BASELINE,763.025951431,745,713,679,661,634,878,785,806,652.025951431,630.974048569,652,0.400964792051,0.00450559732329,0.0598396548027,0.999999953502,0.000142469893706,-0.000268586567053,2.36556171788e-05,1793245013981201152
+44,0.733333333,BASELINE,763.55265062,745,713,679.55265062,661,634,878.55265062,785,805.44734938,652.55265062,630.44734938,652,0.400963777869,0.00450580541016,0.0598396319944,0.999999953367,0.000142484835912,-0.000269074232405,2.37309322774e-05,1793245013997867520
+45,0.750000000,BASELINE,764,745,713.131178532,679.868821468,661,634,878.868821468,785.131178532,805,652.868821468,630,652,0.40096319229,0.00450630479684,0.0598395988722,0.999999953199,0.000143092598316,-0.000269372599648,2.37536613764e-05,1793245014014534144
+46,0.766666667,BASELINE,764,745,713.710687362,679.289312638,661,634,878.289312638,785.710687362,805,652.289312638,630,652,0.400964209408,0.00450784219067,0.0598395250583,0.999999952918,0.00014583507274,-0.000268967321706,2.35232550342e-05,1793245014031201024
+47,0.783333333,BASELINE,764,745.28572888,713.71427112,679,660.71427112,634,878,785.71427112,805,652.28572888,630,652,0.400965291577,0.00450816508577,0.0598398310643,0.999999953069,0.000146778225466,-0.000267884713997,2.35912395292e-05,1793245014047867904
+48,0.800000000,BASELINE,764,745.856316755,713.143683245,679,660.143683245,634,878,785.143683245,805,652.856316755,630,652,0.4009664386,0.00450727717977,0.0598405157338,0.999999953654,0.000145927534747,-0.000266126838565,2.39567064012e-05,1793245014064534528
+49,0.816666667,BASELINE,764,745.566474609,713.433525391,679,660,634,878,785,805.433525391,652.566474609,630,652,0.400965920922,0.00450709924184,0.0598402659621,0.999999953533,0.000145158675595,-0.000266998168557,2.39824197281e-05,1793245014081200896
+50,0.833333333,BASELINE,764,745,713.986801844,679,660.013198156,634,878.013198156,785.013198156,806,652.013198156,630,652,0.400964875356,0.00450716521089,0.0598397281137,0.999999953187,0.000144439367833,-0.000268685256582,2.38861310631e-05,1793245014097867264
+51,0.850000000,BASELINE,764,745,713.396823562,679,660.603176438,634,878.603176438,785.603176438,806,652.603176438,630,652,0.400965245668,0.00450744763852,0.0598403452105,0.99999995352,0.000144681901158,-0.000267350239466,2.34554736602e-05,1793245014114533888
+52,0.866666667,BASELINE,763.810197062,745,713,679,660.810197062,634,879,785.810197062,805.810197062,653,630,652,0.400965381937,0.00450733848127,0.0598406258295,0.999999953803,0.000144257876436,-0.000266536936306,2.32785456561e-05,1793245014131200768
+53,0.883333333,BASELINE,763.230456612,745,713,679,660.230456612,634,879,785.230456612,805.230456612,653,630,652,0.40096503738,0.00450642483889,0.059840215177,0.999999953983,0.000142464452525,-0.000266795459851,2.36228878523e-05,1793245014147867392
+54,0.900000000,BASELINE,763.343884366,745,713,679,660.343884366,634,878.656115634,785,805,652.656115634,630,652,0.400965752875,0.00450651141469,0.0598403278733,0.99999995398,0.000142834383966,-0.000266594522228,2.37734605884e-05,1793245014164534272
+55,0.916666667,BASELINE,763.914662764,745,713,679,660.914662764,634,878.085337236,785,805,652.085337236,630,652,0.400967167791,0.00450725793194,0.0598407858737,0.999999953856,0.000144631691852,-0.000266090433283,2.37961847126e-05,1793245014181201152
+56,0.933333333,BASELINE,764,745,713,679.504755046,660.495244954,633.495244954,878,785,805,652.504755046,630,652,0.400965921336,0.00450737332711,0.0598403799457,0.999999953685,0.000144839775712,-0.0002666097783,2.38731505894e-05,1793245014197868032
+57,0.950000000,BASELINE,764,745,713.095881995,679.904118005,660.095881995,633,878,785,805,652.904118005,630,652,0.400964806891,0.00450749574218,0.0598402025994,0.99999995363,0.00014492476276,-0.000266768646467,2.39224322238e-05,1793245014214534912
+58,0.966666667,BASELINE,764,745,713.675108946,679.324891054,660.675108946,633,878,785,805,652.324891054,630,652,0.400966716379,0.00450821283283,0.0598419431392,0.999999954187,0.000145797552962,-0.000264203389195,2.37840884849e-05,1793245014231201280
+59,0.983333333,BASELINE,764,745,713.745540367,679,660.745540367,633,878,785,805,652.254459633,630,652,0.400966836767,0.00450855598404,0.0598423654174,0.999999954083,0.000146866152576,-0.000264006196664,2.3756452368e-05,1793245014247867904
+60,1.000000000,BASELINE,764,745,713.166031537,679,660.166031537,633,878,785,805,652.833968463,630,652,0.400964671744,0.00450842146149,0.059841103736,0.999999953136,0.000148184881147,-0.000266833992589,2.38702352193e-05,1793245014264534272
+61,1.016666667,BASELINE,764,745,713.405100182,679.405100182,660,633.405100182,878.405100182,785,805.405100182,652.594899818,630.405100182,652,0.400964461469,0.00450825910682,0.0598406928793,0.999999952986,0.000147671205707,-0.000267676982867,2.38938183484e-05,1793245014281201408
+62,1.033333333,BASELINE,764,745,713.972868042,679.972868042,660,633.972868042,878.972868042,785,805.972868042,652.027131958,630.972868042,652,0.400965036123,0.0045080855762,0.0598406236707,0.999999953157,0.000146421729709,-0.000267722975733,2.38811818391e-05,1793245014297868800
+63,1.050000000,BASELINE,763.433678317,745,713.433678317,679.433678317,660,634,878.433678317,785,805.433678317,652.566321683,630.433678317,652,0.400965906617,0.00450630972642,0.059841184998,0.999999953921,0.000142970705515,-0.000266735232283,2.38839536805e-05,1793245014314534912
+64,1.066666667,BASELINE,763.15674946,745,713,679,660.15674946,634,878.15674946,785,805,652.84325054,630,652.15674946,0.400966516172,0.00450541299713,0.0598416492164,0.999999954375,0.000141160364113,-0.000265991755527,2.39366690867e-05,1793245014331201280
+65,1.083333333,BASELINE,763.735558974,745,713,679,660.735558974,634,878.735558974,785,805,652.264441026,630,652.735558974,0.400966383151,0.00450709988561,0.059841766759,0.999999953942,0.000144065178508,-0.000266045672254,2.41217793119e-05,1793245014347868160
+66,1.100000000,BASELINE,764,745,713,679,660.689717694,634,879,785,805,652.310282306,630,652.689717694,0.400965843529,0.00450760591889,0.0598417841007,0.999999953815,0.000144902630237,-0.000266081470657,2.39762205302e-05,1793245014364535040
+67,1.116666667,BASELINE,764,745,713,679,660.118431613,634,879,785,805,652.881568387,630,652.118431613,0.400964961882,0.00450711863839,0.0598417171552,0.999999953949,0.000144001054328,-0.000266102028258,2.35525090459e-05,1793245014381201408
+68,1.133333333,BASELINE,764,745,713.467708265,679,660.467708265,634,878.532291735,785.467708265,805,653,630,652,0.400964517137,0.00450697948068,0.0598411195214,0.999999953844,0.000144008126905,-0.000266482777552,2.36600370087e-05,1793245014397867776
+69,1.150000000,BASELINE,764,745,714,679,660.942872162,633.942872162,878,786,805,652.942872162,630,652,0.400964417283,0.00450699835897,0.0598405482892,0.999999953758,0.000144170030012,-0.000266700456418,2.38579895475e-05,1793245014414534144
+70,1.166666667,BASELINE,764,745,714,679,660.359030191,633.359030191,878,786,805,652.359030191,630,652,0.400966443842,0.00450763491737,0.0598415000819,0.999999954423,0.000143568510115,-0.000264546138483,2.36087161204e-05,1793245014431201024
+71,1.183333333,BASELINE,764,745.221109458,713.778890542,679,660,633.221109458,878,785.778890542,805,652.221109458,630,652,0.400966848539,0.00450750372557,0.0598414720599,0.999999954439,0.000143515431302,-0.000264511467788,2.36278855117e-05,1793245014447867904
+72,1.200000000,BASELINE,764,745.795336496,713.204663504,679,660,633.795336496,878,785.204663504,805,652.795336496,630,652,0.40096466308,0.00450614641676,0.0598398792482,0.999999953418,0.000144338227128,-0.000267861928752,2.40757650549e-05,1793245014464534272
+73,1.216666667,BASELINE,764,745.631267143,713.368732857,679,660.368732857,634,878,785,805.368732857,653,630,652,0.400964517751,0.00450530360997,0.0598397180915,0.999999953478,0.000142920853155,-0.000268394512625,2.41051285994e-05,1793245014481200896
+74,1.233333333,BASELINE,764,745.058330842,713.941669158,679,660.941669158,634,878,785,805.941669158,653,630,652,0.400965502243,0.00450474573335,0.0598403497821,0.999999954135,0.000140262878033,-0.000267366562175,2.39027188795e-05,1793245014497867776
+75,1.250000000,BASELINE,764,745,713.465687137,679,660.465687137,633.465687137,878,785,805.465687137,653,630,652,0.40096432581,0.00450600202113,0.0598398337431,0.999999953674,0.000141780916107,-0.000268297729118,2.37947175893e-05,1793245014514534656
+76,1.266666667,BASELINE,763.880917074,745,713.119082926,679,660.119082926,633.119082926,878,785,805.119082926,653,630,652,0.400963772917,0.00450728397351,0.0598395846578,0.999999953312,0.00014365981505,-0.000268658293562,2.36652532425e-05,1793245014531201024
+77,1.283333333,BASELINE,763.33258106,745,713.66741894,679,660.66741894,633.66741894,878,785,805.66741894,653,630,652,0.400966350605,0.00450791718844,0.0598407667995,0.999999953773,0.0001451332161,-0.000266161555878,2.34198475995e-05,1793245014547867392
+78,1.300000000,BASELINE,763.237555691,745,713.762444309,679,661,634,878.237555691,785.237555691,805.762444309,653,630,652,0.400967373139,0.0045077394039,0.0598414817821,0.999999954024,0.000145323631133,-0.000265111519348,2.34379730986e-05,1793245014564534272
+79,1.316666667,BASELINE,763.841297699,745,713.158702301,679,661,634,878.841297699,785.841297699,805.158702301,653,630,652,0.400965998441,0.00450631148336,0.0598414766501,0.999999953958,0.000143536354309,-0.000266291537668,2.38623254624e-05,1793245014581200640
+80,1.333333333,BASELINE,764,745,713,679,660.574983867,633.574983867,879,785.574983867,805.425016133,653,630,652,0.400965021097,0.00450751060626,0.0598409995883,0.999999953458,0.000145263692639,-0.000267234341021,2.3838046341e-05,1793245014597867776
+81,1.350000000,BASELINE,764,745,713,679,660,633.001633918,878.998366082,785,806,653,630,652,0.400964189527,0.00450963548715,0.0598403568204,0.999999952799,0.000148228026426,-0.000268088400892,2.36546522142e-05,1793245014614534656
+82,1.366666667,BASELINE,764,745,713,679,660,633.592592682,878.407407318,785,806,653,630,652,0.400964827987,0.00450777388889,0.0598406465633,0.999999953397,0.000145304021308,-0.000267444878628,2.37843837909e-05,1793245014631201536
+83,1.383333333,BASELINE,763.82036277,745,713,679,660,634,878,785,805.82036277,653,630,652,0.400965372276,0.00450657552188,0.0598408695158,0.999999953927,0.000142923606679,-0.000266747899917,2.37770964043e-05,1793245014647868160
+84,1.400000000,BASELINE,763.242006028,745,713,679,660,634,878,785,805.242006028,653,630,652,0.400965707544,0.00450684925045,0.0598409442214,0.999999954318,0.000141749734994,-0.000265932270132,2.34656842571e-05,1793245014664534528
+85,1.416666667,BASELINE,763.332879338,745,713.332879338,679,660.332879338,634,878,785,805,653,630.332879338,652,0.400965065282,0.00450607881764,0.0598408204297,0.999999954226,0.000141348345399,-0.000266478661797,2.35976813823e-05,1793245014681200896
+86,1.433333333,BASELINE,763.905266999,745,713.905266999,679,660.905266999,634,878,785,805,653,630.905266999,652,0.400963719682,0.00450455710555,0.0598405538183,0.999999953786,0.000141502760542,-0.000268005034651,2.40487136803e-05,1793245014697867520
+87,1.450000000,BASELINE,764,745,713.506771975,679,661,634,878,785,805,652.506771975,630.506771975,652,0.400964165638,0.00450634348514,0.0598405321599,0.999999953488,0.000144869019907,-0.000267333360571,2.38779845628e-05,1793245014714534144
+88,1.466666667,BASELINE,764,745,713,679,661,634,878.082721775,785,805,652.082721775,630,652,0.400964897531,0.00450842685666,0.0598406228218,0.9999999533,0.000148032900143,-0.000266325475949,2.35932946215e-05,1793245014731200768
+89,1.483333333,BASELINE,764,745,713,679,661,634,878.662859524,785,805,652.662859524,630,652,0.40096521223,0.00450835091563,0.0598410967533,0.999999953691,0.000146149472482,-0.000265917261547,2.33648441581e-05,1793245014747867904
+90,1.500000000,BASELINE,764,745.240957297,713,679,661,634,878.759042703,785.240957297,805,652.759042703,630,652,0.400965284341,0.0045081557683,0.0598413208035,0.999999953974,0.000144284985108,-0.000265891094122,2.31610632247e-05,1793245014764534784
+91,1.516666667,BASELINE,764,745.816224708,713,679,661,634,878.183775292,785.816224708,805,652.183775292,630,652,0.40096501988,0.0045077952312,0.059841198162,0.999999954107,0.000142446776117,-0.000266394988157,2.29915094265e-05,1793245014781201664
+92,1.533333333,BASELINE,764,745.609911985,713.390088015,679,661,634,878,786,805,652.390088015,630,652,0.400964427091,0.00450817844673,0.0598405394741,0.999999953773,0.0001426765389,-0.000267542901789,2.27859083779e-05,1793245014797868288
+93,1.550000000,BASELINE,764,745.036707746,713.963292254,679,661,634,878,786,805,652.963292254,630,652,0.400963680179,0.0045089107967,0.059839629154,0.999999953216,0.000143877054704,-0.000268993132973,2.25633859118e-05,1793245014814534656
+94,1.566666667,BASELINE,764.553219951,745,713.446780049,679,661,634,878,785.446780049,805.553219951,652.446780049,630,652,0.400964863946,0.00450876248878,0.0598407052793,0.999999953557,0.000144611888494,-0.000267291485319,2.30128434876e-05,1793245014831201280
+95,1.583333333,BASELINE,764.85809187,745.14190813,713,679,660.85809187,634,878,785,806,652,630,652,0.400965553228,0.00450861848569,0.0598415063365,0.999999953731,0.000145503178719,-0.000266111779599,2.34717973303e-05,1793245014847867904
+96,1.600000000,BASELINE,764.276784523,745.723215477,713,679,660.276784523,634,878,785,806,652,630,652,0.400964302372,0.00450867438541,0.0598410348402,0.999999953213,0.000146977573173,-0.000267215943211,2.38177915114e-05,1793245014864534272
+97,1.616666667,BASELINE,763.70017365,745.70017365,713,679,660.29982635,634,878.29982635,785,805.70017365,652.29982635,630.29982635,652,0.400963888023,0.00450733063617,0.0598409972475,0.999999953379,0.000145471906018,-0.000267407214985,2.39640726668e-05,1793245014881200896
+98,1.633333333,BASELINE,763.127831493,745.127831493,713,679,660.872168507,634,878.872168507,785,805.127831493,652.872168507,630.872168507,652,0.400964233984,0.00450471472899,0.0598413540349,0.999999954154,0.000141257624626,-0.000266768748223,2.39288322092e-05,1793245014897867520
+99,1.650000000,BASELINE,763.456665418,745,713.456665418,679,661,633.543334582,878.543334582,785.456665418,805.456665418,652.543334582,630.543334582,652,0.400965157051,0.004504544683,0.0598415941287,0.99999995447,0.000140512894356,-0.000265984107169,2.38543809084e-05,1793245014914534400
+100,1.666666667,BASELINE,763.955929907,745,713.955929907,679,661,633.044070093,878.044070093,785.955929907,806,652.044070093,630,652,0.400966098617,0.00450507461719,0.0598417097457,0.999999954626,0.000140738759441,-0.000265283021043,2.37610949766e-05,1793245014931201792
+101,1.683333333,BASELINE,763.375675173,745,713.375675173,679,661,633.624324827,878.624324827,785.375675173,806,652.624324827,630,652,0.400965246048,0.00450556323714,0.0598407191942,0.999999954426,0.000140634041878,-0.000266109959698,2.35758480871e-05,1793245014947868160
+102,1.700000000,BASELINE,763.203318101,745,713,679,660.796681899,634,879.203318101,785,805.796681899,653,630,652,0.400964818511,0.00450638365217,0.0598402800514,0.999999954254,0.000141311545733,-0.000266411253803,2.34171065308e-05,1793245014964534528
+103,1.716666667,BASELINE,763.779994858,745,713,679,660.220005142,634,879.779994858,785,805.220005142,653,630,652,0.400965171472,0.00450781335163,0.0598408534759,0.999999954132,0.000143425464436,-0.000265747292187,2.33070374718e-05,1793245014981201152
+104,1.733333333,BASELINE,764,745.353702393,713,679.353702393,660.353702393,634,879.292595215,785,805,653,630,652,0.400965041091,0.00450820827697,0.059840850669,0.999999953881,0.000144563763929,-0.000266071312919,2.3359052752e-05,1793245014997867520
+105,1.750000000,BASELINE,764,745.925578483,713,679.925578483,660.925578483,634,878.148843034,785,805,653,630,652,0.40096461257,0.00450796492433,0.0598404924264,0.999999953551,0.000145100273943,-0.000267004749205,2.35110462531e-05,1793245015014534144
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,746,713,679,661,634,879,785,806,653,630,652,0.400965530447,0.00450530271282,0.0598409014321,0.999999954268,0.000143959581636,-0.00026491376036,2.36574417085e-05,1793245015044813056
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745.424123737,713,679,661,633.424123737,879,785,805.424123737,652.424123737,630,652,0.400964706912,0.00450768650142,0.0598406798759,0.999999953855,0.000145109602421,-0.00026586128776,2.34792693945e-05,1793245015061479936
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713,679,660.848385548,633,879,785,805,652,630,652,0.400964384463,0.00450869668742,0.0598406777122,0.999999953713,0.000145323512589,-0.000266280493359,2.34348638124e-05,1793245015078147072
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713,679,660.273033121,633,879,785,805,652,630,652,0.400965462467,0.00450586787592,0.0598412887153,0.999999954333,0.00014292114461,-0.000265223124826,2.3764314662e-05,1793245015094813952
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713,679,660.311068936,633.311068936,878.688931064,785,805.311068936,652.311068936,630,652,0.40096508072,0.00450509829354,0.0598410158659,0.999999954266,0.000141913964075,-0.000266009980958,2.38160019063e-05,1793245015111480320
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713,679,660.903072995,633.903072995,878.096927005,785,805.903072995,652.903072995,630,652,0.400963380633,0.00450618845917,0.0598399447845,0.999999953579,0.000142166816787,-0.000268462408423,2.36168329907e-05,1793245015128146688
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745.484171595,713,679.484171595,660.515828405,633.515828405,878,785,805.515828405,653,630,652,0.400965279444,0.00450588052662,0.0598412256207,0.999999954381,0.000141401773219,-0.000265864614527,2.36602035808e-05,1793245015144813056
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745.937433125,713.062566875,679.937433125,660.062566875,633.062566875,878,785.062566875,805,653,630,652,0.40096746517,0.00450530535734,0.0598427683987,0.999999955293,0.000140601093329,-0.000262831216165,2.37627072892e-05,1793245015161479680
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.363680412,713.636319588,679.363680412,660.636319588,633.636319588,878,785.636319588,805,653,630,652,0.400966238331,0.00450478317403,0.0598426892187,0.999999954821,0.000141137464375,-0.000264317068598,2.39603805721e-05,1793245015178146304
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679.216183197,661,634,878,785.783816803,805.216183197,653,630,652,0.400968132951,0.00450509685124,0.0598436959299,0.99999995485,0.000142283719095,-0.000263584287508,2.4044972056e-05,1793245015194812928
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679.806626022,661,634,878,785.193373978,805.806626022,653,630,652,0.400975431487,0.00450685758294,0.0598465825523,0.999999955732,0.000144485813624,-0.000259010574254,2.39337945932e-05,1793245015211479808
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.610450827,679.610450827,661,634,878,785,805.610450827,652.610450827,630,652,0.400998654149,0.00450741226095,0.0598565127849,0.999999960282,0.00014379095137,-0.000241236137472,2.37651284908e-05,1793245015228146432
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.031189734,679.031189734,661,634,878,785,805.031189734,652.031189734,630,652,0.40102963192,0.00450737958642,0.0598698732825,0.999999966133,0.000141685260339,-0.000217032897903,2.35684651822e-05,1793245015244813056
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.523558227,679,661,634,878,785.523558227,805.523558227,652.523558227,630,652,0.401085011317,0.00450734213729,0.0598889157514,0.999999972964,0.000142571493298,-0.000182162114156,2.37086024236e-05,1793245015261479680
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660.917539631,634,878.082460369,786,805.917539631,653,630,652,0.401144365916,0.00450705440889,0.0599077475356,0.999999978397,0.000143270800845,-0.000148685837682,2.39123493107e-05,1793245015278146304
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679,660.324261735,634,878.675738265,786,805.324261735,653,630,652,0.401219743451,0.00450521795779,0.0599232711378,0.999999981513,0.000141757421808,-0.00012760872661,2.43914072888e-05,1793245015294813184
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.729494642,679.270505358,660,634,878.729494642,786,805,653,630,652,0.401299670648,0.00450495898054,0.0599340980829,0.999999983742,0.000140345224397,-0.000110606273919,2.42038041781e-05,1793245015311480064
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713.132932565,679.867067435,660,634,878.132932565,786,805,653,630,652,0.401385081828,0.0045066014295,0.0599392638576,0.99999998521,0.000139054987548,-9.8515258507e-05,2.32126334962e-05,1793245015328146432
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713,679.551226944,660,634,878.448773056,785.551226944,805.448773056,653,630,652,0.401485762192,0.00450514605262,0.0599422225224,0.999999986192,0.000134862703276,-9.44560670205e-05,2.24859129867e-05,1793245015344813312
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.973897696,745,713,679,660,634,878.973897696,785,806,652.973897696,630,652,0.401592247869,0.00450293330437,0.0599446384044,0.999999987041,0.000130063479584,-9.23406655569e-05,2.18091019706e-05,1793245015361480192
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.399021929,745,713,679,660,634,878.399021929,785,806,652.399021929,630,652,0.401728741265,0.00450347137102,0.0599489473489,0.999999987921,0.000129997587284,-8.26754198828e-05,2.05874747993e-05,1793245015378146816
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.176502703,745,713,679,660.176502703,633.823497297,878.353005406,785,806,652,630,652,0.401871670104,0.00450360728044,0.0599515308609,0.9999999887,0.000128556432158,-7.5514458235e-05,1.92478606017e-05,1793245015394813184
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.75349957,745,713,679,660.75349957,633.24650043,879.506999139,785,806,652,630,652,0.402029201289,0.00450283067334,0.0599501992732,0.999999989416,0.000123994731458,-7.40358535823e-05,1.76405276408e-05,1793245015411479552
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,679,661.338128107,633.338128107,879.323743787,785,805.661871893,652.338128107,630,652,0.402206074886,0.00450352201052,0.0599509172073,0.999999990263,0.000120292327517,-6.89873531663e-05,1.56111271023e-05,1793245015428146432
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713,679,661.928448779,633.928448779,878.143102441,785,805.071551221,652.928448779,630,652,0.402397375022,0.00450530821265,0.0599531637755,0.999999991163,0.000117230828861,-6.12762488176e-05,1.32669276444e-05,1793245015444812800
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.508551868,679.508551868,660.982896264,634,878.508551868,785,805.508551868,653,630,652,0.402626676498,0.00450579359865,0.0599534333571,0.999999991502,0.000117336443559,-5.56759034237e-05,1.13120913192e-05,1793245015461479424
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660.086660013,634,879.086660013,785,805.913339987,653,630,652,0.40286650692,0.00450572897266,0.0599531216951,0.999999991889,0.00011626946807,-5.1160132963e-05,9.24876083844e-06,1793245015478146048
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660.661469276,634,879.661469276,785,805.338530724,653,630,652,0.403136122165,0.00450357680172,0.0599510718935,0.999999993042,0.000106136786641,-5.11137966338e-05,6.27178612841e-06,1793245015494812928
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.758081066,661,634,879.758081066,785,805,653,630,652,0.403417176299,0.00450224190745,0.0599490364673,0.999999993932,9.73413116544e-05,-5.14942226318e-05,3.16389174753e-06,1793245015511479552
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.169550104,661,634,879.169550104,785,805,653,630,652,0.40371461961,0.00450207797549,0.0599470216378,0.999999994531,9.04617346038e-05,-5.24860970815e-05,-1.31579060626e-07,1793245015528146176
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.587272218,679,660.587272218,634,878.587272218,785,805,653,630,652,0.404032455238,0.00450251726124,0.0599383252552,0.99999999419,8.48750611009e-05,-6.63775141671e-05,-3.35374553314e-06,1793245015544813056
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.007524797,679,660.007524797,634,878.007524797,785,805,653,630,652,0.404358543071,0.00450320065269,0.0599269250309,0.999999993139,7.98115904266e-05,-8.54890231519e-05,-6.54624766564e-06,1793245015561479680
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713,679,660,634,878.569497069,785,805.569497069,652.430502931,630,652,0.404721109596,0.00450217133369,0.0599122207688,0.999999990923,7.16862765091e-05,-0.000113647334986,-9.9342338918e-06,1793245015578146304
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713,679,660.145253352,634,878.854746648,785.145253352,805.854746648,652,630,652,0.405104445496,0.00450129710723,0.0599019116191,0.999999988895,6.31104477469e-05,-0.000134334627301,-1.3437017702e-05,1793245015594812672
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713,679,660.717395413,634,878.282604587,785.717395413,805.282604587,652,630,652,0.405547411164,0.00450094487778,0.0599046470694,0.999999989622,5.33289229851e-05,-0.000132715514997,-1.72696275005e-05,1793245015611479552
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.700272538,745,713,679,660.700272538,634,878.299727462,785.700272538,805,652,630,652,0.406023137443,0.00449922790158,0.059921641116,0.999999993392,4.16589529133e-05,-0.000105105412596,-2.08231005079e-05,1793245015628146176
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.107994425,745,713,679,660.107994425,634,878.892005575,785.107994425,805,652,630,652,0.406530839948,0.00449617885672,0.0599525523447,0.999999997955,2.81457540743e-05,-5.21266598074e-05,-2.41041209134e-05,1793245015644813056
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,745,713.47412093,679,660.47412093,634,879,785,805.47412093,652.47412093,630,652,0.407077422956,0.00449429303111,0.0599824954945,0.999999999471,1.72920500156e-05,-1.79706306672e-06,-2.74918085265e-05,1793245015661479936
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.053490316,745,714,679,661,634,879,785,806,653,630,652,0.407630986757,0.00449272672939,0.0600090700595,0.999999998647,7.09860790493e-06,4.1260252363e-05,-3.08776684112e-05,1793245015678146816
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.628185988,745,714,679,661,634,879,785,806,653,630,652,0.408168088636,0.00449174630908,0.0600049249395,0.999999999234,-2.44005682111e-06,1.92133639299e-05,-3.40139469897e-05,1793245015694813440
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.797043172,745,713.797043172,679,660.797043172,633.797043172,879.202956828,785.202956828,805.797043172,653,630,652,0.408724126296,0.00449015094074,0.0599965871764,0.999999999204,-1.2436743206e-05,-6.29417716249e-06,-3.73805222938e-05,1793245015711479808
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.222134606,745,713.222134606,679,660.222134606,633.222134606,879.777865394,785.777865394,805.222134606,653,630,652,0.409314866856,0.00448742857914,0.0599805657064,0.999999998154,-2.32728289645e-05,-3.81439315554e-05,-4.11691540034e-05,1793245015728146688
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.363397803,745,713,679.363397803,660.363397803,633,879.636602197,785.636602197,805,652.636602197,630,652,0.409939702809,0.00447936269968,0.0599770101631,0.999999997263,-4.00006889868e-05,-4.41759231089e-05,-4.38505392526e-05,1793245015744813312
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.955619808,745,713,679.955619808,660.955619808,633,879.044380192,785.044380192,805,652.044380192,630,652,0.410586007915,0.00446793211584,0.0599813041609,0.999999996547,-6.0438478974e-05,-3.39509935044e-05,-4.58347137938e-05,1793245015761479936
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.532784232,713.532784232,679.467215768,661,633.532784232,879,785,805,652,630,652,0.411273337422,0.00445073020727,0.0599871708526,0.99999999505,-8.61544089774e-05,-1.71224837216e-05,-4.67455458368e-05,1793245015778146816
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.891317731,714,679.108682269,661,634,879,785,805.108682269,652,630,652,0.4119626031,0.0044385795061,0.0599884065186,0.999999995005,-8.92651510178e-05,-1.0536433256e-05,-4.37174556109e-05,1793245015794813440
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745.315620037,714,679.684379963,661,634,879,785,805.684379963,652,630,652,0.41264590778,0.00445014321625,0.0599691948792,0.999999998424,6.59754282268e-06,-5.02616818179e-05,-2.41371691322e-05,1793245015811480064
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713.73337552,680,661,633.73337552,879,785,805.73337552,652,630,652,0.413337150469,0.00446036839185,0.0599426380697,0.999999992895,5.92363031085e-05,-0.000102133445075,-1.64191141276e-05,1793245015828146688
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713.143185958,680,661,633.143185958,879,785,805.143185958,652,630,652,0.414038026505,0.00446896917559,0.0599071674451,0.99999998373,5.94201942185e-05,-0.000168745751001,-2.30965987126e-05,1793245015844813056
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713.438848894,679.561151106,661,633,879,785,805,652,630,652,0.414857988228,0.00446189146497,0.0599300993762,0.99999999109,4.28240077175e-05,-0.000123574218923,-2.67555756975e-05,1793245015861479424
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,679.018082318,661.018082318,633,879,785.018082318,805,652,630,651.981917682,0.415715450464,0.00445042276127,0.0599715450936,0.999999998387,2.1887706331e-05,-4.33775068881e-05,-2.94266464501e-05,1793245015878146048
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,679.591503786,661.591503786,633,879,785.591503786,805,652,630,651.408496214,0.416553090409,0.00445833939974,0.0600070343345,0.999999998888,3.273633723e-05,1.28070761792e-05,-3.14525969449e-05,1793245015894812928
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.834364123,679.834364123,661.834364123,633,879,785.834364123,805,651.834364123,630,651.165635877,0.417388974382,0.00446255721935,0.0600285797201,0.999999997594,3.87960907618e-05,4.71072512382e-05,-3.2976915138e-05,1793245015911479808
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,713.258471956,679.258471956,661.258471956,633,879,785.258471956,805,651.258471956,630,651.741528044,0.418220509013,0.00445761359518,0.0600155881756,0.999999998533,3.29944820986e-05,2.720288603e-05,-3.32587622216e-05,1793245015928146688
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,713.326637681,679,661,633,878.673362319,785.326637681,805,651.326637681,630,652,0.419060372908,0.00445634570277,0.0599949075016,0.999999999087,-2.38974271671e-05,-6.9290654798e-06,-3.47346709612e-05,1793245015944813312
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,713.919252979,679,661,633,878.080747021,785.919252979,805,651.919252979,630,652,0.419907019196,0.00445807092018,0.0599679656512,0.999999990433,-0.000122391628567,-5.26463893582e-05,-3.71828911838e-05,1793245015961480192
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745.498719212,714,679.498719212,661,633.498719212,878.498719212,785.501280788,805,652,630,652,0.420740582908,0.00445967923932,0.0599358784402,0.999999986498,-0.000125009723619,-9.93449171039e-05,-3.88155626097e-05,1793245015978146816
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745.924424904,713.924424904,680,660.924424904,634,879,785,805,652,630,651.924424904,0.421574680236,0.00446070586545,0.0599049430015,0.999999982194,-0.000113437187538,-0.000145395252523,-4.0060096915e-05,1793245015994813184
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745.351100051,713.351100051,680,660.351100051,634,879,785,805,652,630,651.351100051,0.422425883993,0.00445802282003,0.0598869391828,0.999999976055,-0.000108014730732,-0.000186157032254,-3.95956232587e-05,1793245016011479808
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,713,680,660.222164516,634,879.222164516,785,805,651.777835484,630,651,0.423335337229,0.00445628890485,0.0599032627635,0.999999980407,-0.000103712597814,-0.000163822222044,-3.99086163262e-05,1793245016028146176
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,713,680,660.795333922,634,879.795333922,785,805,651.204666078,630,651,0.424336820829,0.00445605455075,0.0599738213079,0.999999993149,-0.000101180499088,-4.17990768232e-05,-4.14499537784e-05,1793245016044812800
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745.381320856,713.381320856,679.618679144,661.762641711,633.618679144,880,785,805,651.381320856,630,651,0.42530621116,0.00445595486738,0.0600188741391,0.999999994067,-9.45820681546e-05,3.3870015767e-05,-4.21122356813e-05,1793245016061479424
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745.974426585,713.974426585,679.025573415,662.94885317,633.025573415,880,785,805,651.974426585,630,651,0.42625777689,0.0044559299799,0.0600497611418,0.999999991921,-8.57252046046e-05,8.37941488422e-05,-4.22862918682e-05,1793245016078146304
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745.447113829,713.447113829,679.552886171,661.894227657,633.552886171,880,785,805.552886171,652,630,651.552886171,0.427176478901,0.00445137506522,0.0600310521898,0.999999993169,-8.50980732912e-05,6.68280510524e-05,-4.41978168173e-05,1793245016094813184
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,713.130319857,680,661.130319857,633.869680143,880,785.130319857,806,652,630,652,0.428081463385,0.0044480972057,0.0600076778125,0.999999994756,-8.24259758017e-05,3.96777123467e-05,-4.60376314292e-05,1793245016111480064
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,713.706501542,680,661.706501542,633.293498458,880,785.706501542,806,652,630,652,0.428944582665,0.00444988689554,0.0599759876668,0.999999996251,-7.14887163387e-05,-1.20036707336e-05,-4.73642460194e-05,1793245016128146432
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.288512456,713.711487544,680.288512456,661.422975087,633.288512456,880,785.711487544,805.711487544,652,630,652,0.429804854895,0.00445160448968,0.0599432181704,0.999999994537,-6.12247582834e-05,-6.98577733104e-05,-4.79307377145e-05,1793245016144813056
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745.876575584,713.123424416,680.876575584,660.246848831,633.876575584,880,785.123424416,805.123424416,652,630,652,0.430662171095,0.00445324722967,0.0599093280303,0.999999988533,-5.16598621482e-05,-0.00013412075448,-4.77080247984e-05,1793245016161479680
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.458448953,745.541551047,713,680.083102095,660.458448953,634,880,785,805.458448953,652,630.458448953,652,0.431623787703,0.00444961563922,0.0599402826506,0.999999994713,-5.37954206833e-05,-7.26002396347e-05,-4.90835394591e-05,1793245016178146304
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.961704077,745,713,679.038295923,661.076591847,633.961704077,880,785,806,652,630.961704077,651.961704077,0.432607177248,0.00444477256644,0.0599867109752,0.999999996839,-5.8541188029e-05,1.78294336752e-05,-5.07668536542e-05,1793245016194812928
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.387208799,745,713,679.612791201,662.225582403,633.387208799,880,785,806,652,630.387208799,651.387208799,0.433507496036,0.00444258369806,0.0600086177787,0.999999996101,-5.63164018568e-05,4.52051749927e-05,-5.08155543615e-05,1793245016211479808
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,713,680,662.625704784,633,880,785.187147608,806,652,630,651,0.434388912404,0.00444067672827,0.060014445611,0.999999995987,-5.47180189878e-05,4.91084069977e-05,-5.11834919038e-05,1793245016228146432
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713,680,661.477565983,633,880,785.761217009,806,652,630,651,0.435231248776,0.00443935257455,0.0599870306802,0.999999997146,-5.44147048325e-05,4.48296946079e-06,-5.22114415673e-05,1793245016244813312
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.325307955,745.325307955,713.325307955,680,661.325307955,633,880,785.674692045,806,651.674692045,630,651.325307955,0.436058779925,0.00443763996291,0.0599598723881,0.999999996241,-5.27760537759e-05,-4.43007134708e-05,-5.26270740807e-05,1793245016261479936
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.882292451,745.882292451,713.882292451,680,661.882292451,633,880,785.117707549,806,651.117707549,630,651.882292451,0.436875767096,0.00443565070093,0.0599328968696,0.999999992745,-5.01864076939e-05,-9.60457965218e-05,-5.26066288527e-05,1793245016278146560
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,746,713.512652027,680,661.512652027,633,880.487347973,785.487347973,806,651.487347973,630,652,0.437670173683,0.00443419194655,0.0599117180373,0.99999998761,-4.74263015814e-05,-0.000140678873949,-5.23413080907e-05,1793245016294812928
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.902055001,745.902055001,713,680,660.902055001,633,881,785.902055001,806,651.902055001,630.097944999,651.902055001,0.438465128552,0.00443225904836,0.0598981353328,0.999999982936,-4.60173506882e-05,-0.000171120078965,-5.22341977631e-05,1793245016311479552
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.327195454,745.327195454,713,680,660.327195454,633,881,785.327195454,806,651.327195454,630.672804546,651.327195454,0.439292214947,0.00442732527059,0.0599139765804,0.999999987218,-5.14098615684e-05,-0.000141737433457,-5.32169462194e-05,1793245016328146176
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,713,680,660.24803751,633,881,785,806,651.24803751,631,651.24803751,0.440111973358,0.00442665435294,0.0599421773307,0.999999992713,-4.88938340945e-05,-9.64787993349e-05,-5.36298617872e-05,1793245016344813056
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,713,680,660.823763761,633,881,785,806,651.823763761,631,651.823763761,0.440922050515,0.00443161520994,0.0599867065367,0.999999997477,-3.59296324514e-05,-3.02459900167e-05,-5.32899562526e-05,1793245016361479680
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.412202423,745,713,680.412202423,660.587797577,633,881,785,806,652,630.587797577,652,0.44165144776,0.00443338400611,0.0599745869746,0.999999996756,-2.97973826537e-05,-5.25560230183e-05,-5.32676528695e-05,1793245016378146304
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.993951493,745,713,680.993951493,659.993951493,633,881,785,806,652,630.006048507,652,0.442344585192,0.00443373616482,0.059937237447,0.999999991702,-2.66662638766e-05,-0.000114166585849,-5.33992988918e-05,1793245016394812928
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.4189874,745,713,680.4189874,659.4189874,633,881,785,806,652,630.5810126,652,0.442974921111,0.00443329351517,0.0598773904369,0.999999978584,-2.23307151531e-05,-0.000198311719426,-5.48325626092e-05,1793245016411479808
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745.1558842,713,680.1558842,659,632.8441158,881,785,806,651.8441158,630.8441158,652,0.443607249715,0.00443428113578,0.0598309378616,0.999999963296,-1.74825942007e-05,-0.000264526113273,-5.59250326996e-05,1793245016428146432
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745.730507472,713,680.730507472,659,632.269492528,881,785,806,651.269492528,630.269492528,652,0.444244931248,0.00443911077514,0.0598204656559,0.999999958439,-1.1257591488e-05,-0.000282574638562,-5.61020577467e-05,1793245016444813056
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745.686732292,713,681,658.686732292,632,880.686732292,785,806,651,630,652,0.444855685419,0.00444458412054,0.0598139675058,0.999999952633,-5.19195282484e-05,-0.000298106536377,-5.63058201721e-05,1793245016461479680
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745.096785495,713,681,658.096785495,632,880.096785495,785,806,651,630,652,0.445442657216,0.00445062598901,0.0598109792556,0.999999940935,-0.00013399216706,-0.000311415737805,-5.65331968445e-05,1793245016478146304
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713,680.515351376,658,632,880.484648624,785,806,651.484648624,630.484648624,651.515351376,0.445995348096,0.00446409439385,0.0597830791263,0.999999925193,-0.0001314397396,-0.000359452650597,-5.5964992388e-05,1793245016494813440
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713,680.063773479,657.936226521,631.936226521,880.936226521,785,806.063773479,652,631,651.063773479,0.446538623021,0.0044812600461,0.0597528446264,0.99999990862,-0.000110301703965,-0.000409204283099,-5.60779995394e-05,1793245016511480832
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713,680.637788968,657.362211032,631.362211032,880.362211032,785,806.637788968,652,631,651.637788968,0.447060390518,0.00451634560658,0.059743050028,0.99999990791,-7.33420338388e-05,-0.000418145382118,-6.28905075588e-05,1793245016528147712
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713,680.78951329,657,631,880,785,807,652,630.78951329,652,0.447577874867,0.00454502081207,0.0597430833887,0.999999910858,-4.51433391872e-05,-0.000414002889176,-6.96273906289e-05,1793245016544814336
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713,680.219069111,657,631,880,785,807,652,630.219069111,652,0.448088034467,0.00456273353962,0.059759923737,0.999999921512,-3.19269651479e-05,-0.00038748588763,-7.62349453746e-05,1793245016561480448
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.631069562,745.368930438,713,680.368930438,656.631069562,631,880.368930438,785,806.631069562,652,630,652,0.448545266979,0.00457527186621,0.0597581042452,0.999999920517,-2.14349641041e-05,-0.000389786182681,-8.10780321912e-05,1793245016578146560
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.032124843,745.967875157,713,680.967875157,656.032124843,631,880.967875157,785,806.032124843,652,630,652,0.448969501488,0.00458458414973,0.0597446510451,0.999999912251,-1.26415060847e-05,-0.000410052977983,-8.48210401211e-05,1793245016594812928
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,745,713.69672647,681.69672647,656,630,881,785,807,652,631,651.30327353,0.45002862647,0.0045754089794,0.0596442725717,0.999999837687,-2.17839579323e-05,-0.000562638429575,-8.71230689288e-05,1793245016644813568
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,745.278328177,713.721671823,681.721671823,656,630,880.721671823,785,807,652,630.721671823,651.278328177,0.45035998398,0.00457814048787,0.0596353284049,0.999999832378,-3.24967961775e-06,-0.000572968747256,-8.33036931063e-05,1793245016661480448
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,745.867372698,713.132627302,681.132627302,656,630,880.132627302,785,807,652,630.132627302,651.867372698,0.450681453462,0.0045823478013,0.059641087224,0.999999838816,3.43014435289e-05,-0.000561976311942,-7.33126424748e-05,1793245016678147328
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,745.550705237,713.449294763,681,655.550705237,630,880.449294763,785,807,652,630.449294763,652,0.450983543945,0.00458362503034,0.0596483600031,0.999999846885,6.4963687758e-05,-0.000545716240405,-6.48361534258e-05,1793245016694813696
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745,713.971139965,681,655,629.971139965,881,785,807,652.028860035,630.971139965,652,0.45127747108,0.00458393357858,0.0596556768219,0.999999854204,9.17890394218e-05,-0.000529042762464,-5.72714021159e-05,1793245016711480576
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,745,713.396999466,681,655,629.396999466,881,785,807,652.603000534,630.396999466,652,0.451523556308,0.00458202687197,0.0596555136689,0.999999852459,8.39421201813e-05,-0.000533479166909,-5.86176320274e-05,1793245016728147200
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.177576781,745,713,681,654.822423219,629,880.822423219,784.822423219,807,652.822423219,630,652,0.451758392629,0.00458075217158,0.0596556220157,0.999999851759,7.72590883845e-05,-0.000535608612628,-6.03031257049e-05,1793245016744813824
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.753129525,745,713,681,654.246870475,629,880.246870475,784.246870475,807,652.246870475,630,652,0.451968018442,0.00458089389133,0.059656338834,0.999999853539,7.31845024276e-05,-0.000532567820389,-6.27489597398e-05,1793245016761479936
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.662361164,745,713,680.662361164,654,629,880,784.337638836,807,652,630.337638836,652,0.452157714075,0.00458352818063,0.0596570419211,0.999999855432,7.33534299753e-05,-0.000528715535467,-6.49303879767e-05,1793245016778146304
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.071124588,745,713,680.071124588,654,629,880,784.928875412,807,652,630.928875412,652,0.452332440337,0.00458803461833,0.0596577346949,0.999999857398,7.67096250175e-05,-0.000524253744773,-6.691322346e-05,1793245016794813184
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,745.508809646,713,680.508809646,654,629,881.017619291,785,807,652,630.491190354,652,0.452476482071,0.00458661304541,0.0596544708931,0.999999855439,7.09980630969e-05,-0.000528647255014,-6.79167752511e-05,1793245016811480320
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.914660748,746,713,681.085339252,654,629,881.914660748,785,806.914660748,652,630,651.914660748,0.452611698307,0.00458463641075,0.0596507501581,0.999999852564,6.49111127653e-05,-0.000534731580339,-6.87100144077e-05,1793245016828147200
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.348602979,746,713,681.651397021,654,629,881.348602979,785,806.348602979,652,630,651.348602979,0.452720836865,0.00458409949549,0.0596475032884,0.99999984788,6.36945596466e-05,-0.000543519001991,-6.90729076283e-05,1793245016844813824
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.229203423,745.770796577,713,681.770796577,654,628.770796577,881,784.770796577,806.229203423,652,630,651.229203423,0.452821601456,0.0045835495474,0.0596450284003,0.999999844563,6.34032095711e-05,-0.000549598387151,-6.92477133741e-05,1793245016861480192
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.825844091,745.174155909,713,681.174155909,654,628.174155909,881,784.174155909,806.825844091,652,630,651.825844091,0.452908941687,0.00458297870633,0.05964379108,0.999999843539,6.4595057561e-05,-0.000551336503941,-6.91209950608e-05,1793245016878146304
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,745,713,681,654,628,880.589225271,784.410774729,807,652,630,652,0.452979849611,0.00458343116945,0.0596404901475,0.999999840354,6.50040379556e-05,-0.000556991964069,-6.94736975029e-05,1793245016894812928
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745,713,681,654,628,880.009121733,784.990878267,807,652,630,652,0.453043983836,0.00458430545716,0.0596363385567,0.999999836234,6.50903060684e-05,-0.00056426222424,-7.00240258927e-05,1793245016911479552
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,745,713.567644029,681,653.432355971,628.567644029,880,785,807,652,630,652,0.453091963629,0.00458494450744,0.0596346922319,0.999999834264,6.65601459954e-05,-0.000567562834028,-7.00969076159e-05,1793245016928146176
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,745.143679151,713.856320849,681,653,628.856320849,880,784.856320849,807,652,630,652,0.453136763559,0.00458570775558,0.0596334312071,0.999999832707,6.81104433469e-05,-0.00057010194965,-7.0225691012e-05,1793245016944812800
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745.717685561,713.282314439,681,653,628.282314439,880,784.282314439,807,652,630,652,0.45317281256,0.00458685423886,0.0596332043067,0.999999832309,6.98355144073e-05,-0.000570550284477,-7.05447477794e-05,1793245016961479680
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.699857762,745.699857762,713,681,653.300142238,628,880.300142238,784,807,652,630,652,0.453201416859,0.00458750461341,0.0596324539366,0.999999831372,7.08093882558e-05,-0.000572072466989,-7.0528860419e-05,1793245016978146560
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.109222413,745.109222413,713,681,653.890777587,628,880.890777587,784,807,652,630,652,0.453222815797,0.00458767482853,0.0596311969256,0.99999982991,7.10562149697e-05,-0.000574633974631,-7.01887969239e-05,1793245016994812928
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.472006216,745,713,681,654,628,881,784.472006216,807,652,630,652,0.453236539666,0.00459030912129,0.0596297237353,0.999999828337,7.39526100218e-05,-0.000576963763019,-7.04985745218e-05,1793245017011479552
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,745,713,681,653.949116565,628,881,784.949116565,807,652,630,652,0.453247983987,0.00459290282306,0.0596281397439,0.999999826729,7.70309664402e-05,-0.000579300245941,-7.08549201518e-05,1793245017028146176
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,745,713,681,653.372483403,628,881,784.372483403,807,652,630,652,0.45325386702,0.0045893008062,0.059625917677,0.99999982516,7.57782826173e-05,-0.000582249100046,-7.01690627809e-05,1793245017044813568
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,745.202948942,713,681.202948942,653,628,881,784.202948942,807,652,630,651.797051058,0.453259171184,0.00458758937715,0.0596241700985,0.999999823845,7.5108187848e-05,-0.000584646398144,-6.96936072277e-05,1793245017061480704
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,745.776190289,713,681.776190289,653,628,881,784.776190289,807,652,630,651.223809711,0.453263419167,0.00458932743816,0.059623288252,0.999999823008,7.55010615076e-05,-0.000586037349355,-6.96020423377e-05,1793245017078146816
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,745.640617485,713,681.640617485,653,628,881,785,807,652,630,651.359382515,0.453266854301,0.00459157034397,0.0596234204518,0.999999822954,7.78071197658e-05,-0.000585785078814,-6.99553563691e-05,1793245017094813440
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,745.051051779,713,681.051051779,653,628,881,785,807,652,630,651.948948221,0.453269768809,0.00459413660098,0.0596242021447,0.999999823392,8.13385657672e-05,-0.00058448033067,-7.05936137302e-05,1793245017111480576
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.530287951,745,713,681,653.530287951,628,881,784.469712049,807,652.530287951,630,652,0.453269033753,0.00459225510199,0.0596234714562,0.999999822364,8.11659152642e-05,-0.000586339373626,-6.99365111238e-05,1793245017128147456
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.889999517,745,713,681,653.889999517,628,881,784,806.889999517,652.889999517,630,652,0.453268276737,0.00459004143228,0.0596225599679,0.999999821381,8.04094169514e-05,-0.000588196699486,-6.92547634631e-05,1793245017144814336
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.313877807,745,713,681,653.313877807,628,881,784,806.313877807,652.313877807,630,652,0.453268892752,0.00458820693834,0.0596214898968,0.999999821198,7.866688632e-05,-0.000588775805792,-6.89889496505e-05,1793245017161480960
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,745,713,681.266282246,653,628,880.733717754,784.266282246,806.266282246,652,630.266282246,652,0.453269542274,0.00458885476932,0.059621064016,0.999999821111,7.90584241592e-05,-0.000588848108739,-6.91828775695e-05,1793245017178147328
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,745,713,681.851275841,653,628,880.148724159,784.851275841,806.851275841,652,630.851275841,652,0.453270231901,0.0045924736773,0.0596214091618,0.999999821136,8.20042133172e-05,-0.000588313822384,-6.9927067099e-05,1793245017194813696
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745,713,682,653,628,880,784.565903504,807,652,630.565903504,652,0.453269610611,0.00459263156942,0.0596199064537,0.999999819902,8.05518524839e-05,-0.000590563657871,-7.02973116013e-05,1793245017211480064
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,745.016032829,713,682,653,628,880.016032829,784.016032829,807.016032829,652,630,652,0.453268601152,0.00459163159986,0.0596178508099,0.999999818298,7.77402944798e-05,-0.00059362388834,-7.05116720911e-05,1793245017228146688
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745.592947967,713,682,653,628,880.592947967,784.592947967,807.592947967,652,630,652,0.453269645968,0.00459140118831,0.0596184887851,0.99999981925,7.98309922559e-05,-0.000591831528624,-6.97322875736e-05,1793245017244813824
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745.831232532,713,681.831232532,653,628,880.831232532,785,807.662465063,652,630,652,0.453270168479,0.00459098244187,0.0596187421941,0.999999819649,8.13420725084e-05,-0.000591027060901,-6.90863930378e-05,1793245017261480704
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745.258038598,713,681.258038598,653,628,880.258038598,785,806.516077196,652,630,652,0.453269439367,0.00459011237851,0.0596180740466,0.999999818736,8.14641843221e-05,-0.000592589931444,-6.87603876965e-05,1793245017278147328
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713.325936616,681,653,628,880.325936616,785,806.325936616,652,630,652,0.453270014022,0.00459198013603,0.05961860189,0.999999818743,8.34971113151e-05,-0.0005922262258,-6.93546140635e-05,1793245017294813696
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,713.918739152,681,653,628,880.918739152,785,806.918739152,652,630,652,0.453271656159,0.0045960895291,0.0596201089706,0.99999981949,8.70945493884e-05,-0.000590285104405,-7.0702295163e-05,1793245017311479808
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,713.502511429,681,653,628,881,785,807,652,630,652,0.453271240083,0.00459478275591,0.0596197333006,0.999999819236,8.61144746625e-05,-0.000590918357606,-7.01987031385e-05,1793245017328146688
+244,4.066666667,HOLD_POSE2,764,745,713,682,653,628,880,784,807,652,630,652,0.453269377634,0.00459335172962,0.0596164118194,0.999999816743,8.5641730469e-05,-0.000595329355455,-6.90099127724e-05,1793245017371666432
+245,4.083333333,HOLD_POSE2,764,745.589051718,713.589051718,681.410948282,653,628,880.589051718,784,807,652,630,652,0.453270653245,0.00459731167958,0.0596178028645,0.999999817493,8.89601935912e-05,-0.000593457189352,-7.00564961358e-05,1793245017388333568
+246,4.100000000,HOLD_POSE2,764,745.824761197,713.824761197,681,653,628,881,784.175238803,807,652,630.175238803,652,0.453271612409,0.00459927090184,0.0596185458806,0.999999817928,8.99598564596e-05,-0.000592486599527,-7.07846190829e-05,1793245017405000704
+247,4.116666667,HOLD_POSE2,764,745.245183729,713.245183729,681,653,628,881,784.754816271,807,652,630.754816271,652,0.453271841418,0.00459661372967,0.0596177936621,0.999999817652,8.56092175068e-05,-0.000593596268648,-7.07779400267e-05,1793245017421667584
+248,4.133333333,HOLD_POSE2,764,745.332882395,713,681.332882395,653,628,881,785,807,652,631,652,0.453270693385,0.00459328333232,0.0596165883057,0.999999816822,8.33517625497e-05,-0.000595398119365,-7.00703440549e-05,1793245017438334208
+249,4.150000000,HOLD_POSE2,764,745.909840337,713,681.909840337,653,628,881,785,807,652,631,652,0.45326853568,0.00458945931394,0.0596150507003,0.999999815589,8.26290691939e-05,-0.000597707490406,-6.88488227973e-05,1793245017455000320
+250,4.166666667,HOLD_POSE2,764,746,713,681.516506804,653,628,881,784.516506804,807,652,630.516506804,651.516506804,0.453270025963,0.00459189169262,0.0596163303202,0.999999816671,8.47451231941e-05,-0.000595534431897,-6.93868328796e-05,1793245017471666688
+251,4.183333333,HOLD_POSE2,764,745.941730324,713.058269676,681,653,628,881,784,807,652,630,651.058269676,0.453272009827,0.00459537199457,0.0596179299906,0.99999981797,8.74923366519e-05,-0.000592856754425,-7.0186612266e-05,1793245017488333312
+252,4.200000000,HOLD_POSE2,764,745.351095576,713.648904424,681,653,628,881,784,807,652,630,651.648904424,0.453272330345,0.00459783981183,0.0596176866444,0.999999817447,9.12024766707e-05,-0.000593153554714,-7.04006442693e-05,1793245017504999680
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+256,4.266666667,HOLD_POSE2,764,745.967394471,714,681,653.032605529,627.032605529,880,784.032605529,806.967394471,652,630.032605529,652,0.453273218931,0.00459369956529,0.0596168978264,0.99999981745,8.73572354408e-05,-0.000593843107109,-6.94238098989e-05,1793245017571666688
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745,713.759356719,681.240643281,653,628,880.759356719,785,807,652,630,652,0.45327276989,0.00459349357448,0.0596170090183,0.99999981693,8.83741144444e-05,-0.000594638011511,-6.88205099026e-05,1793245017737817344
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745.338045691,713.661954309,681,653,628,880.661954309,784.661954309,806.661954309,652,630,651.661954309,0.453272046046,0.00459218746673,0.0596165807113,0.999999816677,8.7486706621e-05,-0.000595248502138,-6.83420192736e-05,1793245017754484224
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745.935784864,713.935784864,681.064215136,653,628,881,784,806,652,630,652,0.453274961731,0.00459526984495,0.0596175139862,0.999999817893,8.90024013184e-05,-0.000592934986251,-6.87085342985e-05,1793245017804484352
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,652.761475326,628,881,784.238524674,806.238524674,652,630.238524674,652,0.453265008291,0.00459739530113,0.0596138084191,0.999999814395,9.18125567632e-05,-0.000598268032069,-6.96851461092e-05,1793245017837817344
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,713,682,652.182149942,628,881,784.817850058,806.817850058,652,630.817850058,652,0.453248756039,0.00459461705459,0.0596064250706,0.999999808519,8.94841354817e-05,-0.000608427388867,-6.907228411e-05,1793245017854483968
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,745.910194878,713,681.910194878,653.089805122,628.089805122,880.089805122,784.089805122,807,652,630,651.910194878,0.451206323914,0.00460602134205,0.0595507821606,0.999999746981,0.000135976658511,-0.000695988879593,-5.61017206107e-05,1793245018121149952
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,745.843982343,713,681.843982343,654,629,880.156017657,785,807,652,630,651.843982343,0.450290119654,0.00461070739984,0.0595381466734,0.999999731953,0.000156394525376,-0.000713585921056,-4.92849842184e-05,1793245018171151104
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,745.582220098,713,681.582220098,654,629,880.417779902,785,806.582220098,652,630,652,0.449922911779,0.00461297136322,0.0595316220481,0.999999724293,0.000165407525325,-0.000722398646136,-4.68365785398e-05,1793245018187817728
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,745.009207138,713,681.009207138,654,629,880.990792862,785,806.009207138,652,630,652,0.449541428299,0.00461616407903,0.0595246139648,0.999999715237,0.000176168162372,-0.000732471886481,-4.44385372237e-05,1793245018204483840
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,745,713.251160178,681,655,629,880.251160178,784.251160178,807,652,630,652,0.448304416294,0.00462197444174,0.0595459869801,0.999999734502,0.000203830118297,-0.000698745789666,-3.46982553158e-05,1793245018254483200
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,659.854018176,633,879.072990912,785.072990912,806,652,630,651,0.432177636008,0.0046232071356,0.0597933619681,0.999999919647,0.000251971912011,-0.000311195715907,1.93211420578e-05,1793245018637816576
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,660.96635605,633,879,785,805.03364395,652,630,651.03364395,0.421324643412,0.00462818459959,0.0598413032242,0.999999943476,0.000219132487607,-0.000253025965791,3.17453829333e-05,1793245018837816576
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,658.411667544,633,879,785,805.205833772,652,630,651.205833772,0.418559194764,0.00462646905688,0.0597224603435,0.999999884376,0.00020843695023,-0.00043224169959,3.11344145455e-05,1793245018887816960
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.481970033,659.963940067,633,879,785.481970033,805.481970033,652,630.481970033,652,0.416183653652,0.00462397867651,0.059825717634,0.999999916364,0.000285274820179,-0.000291043120594,3.44201162583e-05,1793245018937817088
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,745.276241431,713,680,659.552482861,633,879,785,805,652,630,652,0.41383533069,0.0046206180713,0.0598387689441,0.999999905964,0.000329780519145,-0.000279434142609,3.51114189949e-05,1793245018987816704
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,745.852380985,713,680,660.70476197,633,879,785,805,652,630,652,0.413060651076,0.00462146627423,0.0598261251039,0.999999900826,0.000324180926587,-0.000303265296452,3.58517261546e-05,1793245019004483328
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,745,713.592506224,679.592506224,658.592506224,633.592506224,879.592506224,785.407493776,805.592506224,652,630,652,0.410883950048,0.0046175134137,0.0597446427032,0.999999867722,0.000288911785135,-0.000424216531837,3.35572479223e-05,1793245019054483968
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.240431419,745,713.240431419,680,660.519137162,634,879.240431419,785,805.240431419,652,630,652,0.409651936494,0.00461290409499,0.0598168232528,0.999999916133,0.000264927288471,-0.000310426238783,3.44024282308e-05,1793245019087816704
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,745,713.337252932,679.662747068,660.325494135,633.662747068,879,785,805,652,630,652,0.409054426018,0.00461033079327,0.0598441241803,0.999999929965,0.000255308744929,-0.000271345098222,3.54965644895e-05,1793245019104483072
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763,745,713.913339221,679.086660779,659.173321558,633.086660779,879,785,805,652,630,652,0.408463836114,0.00460823629327,0.0598561663179,0.999999936512,0.000246895403415,-0.000254370350992,3.62410060153e-05,1793245019121149696
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.487948283,745,713.512051717,679,659.487948283,633,879,785,805,652,630,652,0.407893325719,0.00460661162332,0.0598447212301,0.999999934985,0.000238630344908,-0.000268024537622,3.53235124452e-05,1793245019137816320
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.064086028,660,633,879,785,805.064086028,652.064086028,630,652,0.407332927336,0.00460499881001,0.0598297724023,0.999999931988,0.000230303866435,-0.000286038766143,3.41494390437e-05,1793245019154483200
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.654939084,660,633,879,785,805.654939084,652.654939084,630,652,0.40682642219,0.00460279964987,0.0598202079357,0.999999931364,0.00022125672006,-0.000295312913124,3.32851896505e-05,1793245019171150336
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.75911122,660,633,879,785,805.75911122,653,630,652,0.40633513507,0.00460087461972,0.0598182819583,0.999999933149,0.000213639173489,-0.000294936639053,3.27574058662e-05,1793245019187816960
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.180045267,660,633,879,785,805.180045267,653,630,652,0.405865212166,0.00459933443333,0.0598270794479,0.999999938343,0.000208028603779,-0.000281012401866,3.27019770272e-05,1793245019204483328
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,713.442473477,679,660,633.442473477,879,785,805.557526523,653,630,652,0.404580922677,0.0045938149308,0.0597968643567,0.999999926701,0.000196476164762,-0.00032698045653,3.28471177505e-05,1793245019254482944
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,660,633,879,785,805.855517518,652.855517518,630,652,0.404182820167,0.00459261539386,0.0597736044427,0.999999912992,0.000195080464071,-0.000367222321882,3.32766145252e-05,1793245019271149568
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,660,633,879,785,805.273978781,652.273978781,630,652,0.403828008539,0.00459496391796,0.0597624446422,0.999999906179,0.000201537808984,-0.000381957687881,3.36457785842e-05,1793245019287816192
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,713.303365587,679,660,633.303365587,878.696634413,785.303365587,805,652.303365587,630,652,0.403516189369,0.00459412135226,0.0597682212702,0.999999910841,0.000202839688325,-0.000368772508986,3.4374334422e-05,1793245019304483072
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.378937292,745,713.621062708,679,660,634,878,785,805.378937292,653,630.621062708,652,0.40255706346,0.00458701498805,0.0598397873416,0.999999924986,0.000292839283967,-0.000250347721097,3.99941808192e-05,1793245019371149568
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.209113709,745,714,679,660.209113709,634,878,785,805,653,630.790886291,652,0.402343096111,0.00458677315002,0.0598410214842,0.999999909452,0.000339958213893,-0.000252688058277,4.08954998232e-05,1793245019387816448
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.785139604,745,714,679,660.785139604,634,878,785,805,653,630.214860396,652,0.402132893084,0.00458742915047,0.0598310847219,0.999999904237,0.000337574284156,-0.000275428504385,4.13460616627e-05,1793245019404483072
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,713.639705887,679,660.639705887,633.639705887,878,785,805.360294113,652.639705887,630,652,0.401951707465,0.0045856778011,0.0598259623556,0.999999904613,0.000327250196832,-0.000286521951552,3.98245091011e-05,1793245019421149696
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,763,745,714,679,659.840403776,633.840403776,879,785,805.840403776,652.840403776,630,652,0.401277652616,0.00457235036828,0.0598352078422,0.999999939291,0.000214321900212,-0.00027410324641,1.87251206441e-05,1793245019521149952
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ed8bf02e55d97ab5fa2ba84d2bdcb231676de3b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f919361e271ee189b4c992501e7c2bb636a535a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba705aa6d418a4b983f0fc8af15e480c91da0c91
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+59,0.983333333,BASELINE,764,745,714,679,661,634,878.228265986,785,805,653,630,652,0.400968454322,0.00456459126833,0.0598440637087,0.999999943804,0.000207776517412,-0.000262151749339,2.23020410894e-05,1793245021169411840
+60,1.000000000,BASELINE,764,745,714,679,661,634,878.80229867,785,805,653,630,652,0.400967575265,0.00456510809031,0.0598442122241,0.999999943436,0.00020926019596,-0.000262390662375,2.21061679777e-05,1793245021186078720
+61,1.016666667,BASELINE,763.62481382,745,714,679,660.62481382,634,878.62481382,785,805.37518618,653,630,652,0.400966916295,0.00456518105521,0.0598434490271,0.999999943444,0.00020774945528,-0.000263568660276,2.19886188394e-05,1793245021202745344
+62,1.033333333,BASELINE,763.052527948,745,714,679,660.052527948,634,878.052527948,785,805.947472052,653,630,652,0.400966372944,0.00456502084492,0.0598422068725,0.99999994364,0.00020466563123,-0.000265239995461,2.19122163001e-05,1793245021219412480
+63,1.050000000,BASELINE,764.087087021,745,714,679,660,634,878.543543511,785,805.456456489,652.456456489,630,652,0.400967374214,0.00456593462336,0.059843550236,0.99999994387,0.000206443992624,-0.000262988408248,2.18643382316e-05,1793245021236079104
+64,1.066666667,BASELINE,764.863803691,744.863803691,714,679,660.136196309,634,878.863803691,785.136196309,805,652.136196309,630.136196309,652,0.400968344605,0.00456642594799,0.0598448053045,0.999999944074,0.000208015012612,-0.000260967573997,2.18554430718e-05,1793245021252745728
+65,1.083333333,BASELINE,764.289864721,744.289864721,714,679,660.710135279,634,878.289864721,785.710135279,805,652.710135279,630.710135279,652,0.400968714023,0.00456521062896,0.0598449367595,0.999999944213,0.000207340290074,-0.000260962636883,2.19625758738e-05,1793245021269412096
+66,1.100000000,BASELINE,764,744.284876919,713.715123081,679,660.715123081,633.715123081,878,786,805,653,630.715123081,652,0.40096794998,0.00456480753849,0.0598442448377,0.999999943922,0.000207361639941,-0.000262053034414,2.20223265212e-05,1793245021286078464
+67,1.116666667,BASELINE,764,744.860437554,713.139562446,679,660.139562446,633.139562446,878,786,805,653,630.139562446,652,0.400966029373,0.00456523323272,0.0598427127557,0.999999943189,0.000208093250663,-0.000264261093377,2.2033729192e-05,1793245021302745088
+68,1.133333333,BASELINE,764,745,713,679,660,633.448993331,878,785.551006669,805,653,630,652,0.400966784255,0.00456473610137,0.0598434061696,0.999999943529,0.000207506785314,-0.000263424594806,2.21600028592e-05,1793245021319411712
+69,1.150000000,BASELINE,764,745,713,679,660.040664141,634,878,785,805,653,630,652,0.400968136497,0.00456408074454,0.0598445934503,0.999999944092,0.000206735557434,-0.000261875764848,2.22967483191e-05,1793245021336078336
+70,1.166666667,BASELINE,764,745,713,679,660.618533096,634,878,785,805,653,630,652,0.400966066348,0.00456523750753,0.0598428940233,0.999999943102,0.000209097290811,-0.000263791164914,2.20860731812e-05,1793245021352744960
+71,1.183333333,BASELINE,764,745,713.195076699,679,661,633.804923301,878,785,805.195076699,653,630.195076699,652,0.400965357428,0.00456634281837,0.0598424656667,0.999999942568,0.000210985566683,-0.000264323100812,2.19772985301e-05,1793245021369412096
+72,1.200000000,BASELINE,764,745,713.769046202,679,661,633.230953798,878,785,805.769046202,653,630.769046202,652,0.400967292392,0.00456734819514,0.0598445060792,0.999999942928,0.000211954257784,-0.000262167967695,2.20664427195e-05,1793245021386079488
+73,1.216666667,BASELINE,764,745,714,679.351850255,660.648149745,633.351850255,878,785,806,653,630.648149745,652,0.400967992502,0.00456687179657,0.059844838984,0.999999943359,0.000210956976217,-0.000261318003413,2.21656537798e-05,1793245021402745856
+74,1.233333333,BASELINE,764,745,714,679.940602609,660.059397391,633.940602609,878,785,806,653,630.059397391,652,0.400967861178,0.00456539771304,0.0598440222173,0.999999943836,0.000208635997802,-0.00026134681434,2.22716428967e-05,1793245021419411968
+75,1.250000000,BASELINE,764,745.520128794,714,680,660.520128794,634,878.520128794,785.520128794,806,653,630.520128794,652,0.400967199619,0.00456489148158,0.0598436552092,0.99999994388,0.000207494391676,-0.000262083604431,2.23013659685e-05,1793245021436078592
+76,1.266666667,BASELINE,763.902268795,745.902268795,713.902268795,679.902268795,660.902268795,634,879,785.902268795,805.902268795,652.902268795,630.902268795,652,0.40096644423,0.00456453222206,0.0598434419528,0.999999943855,0.000206609903732,-0.00026287819922,2.2317529397e-05,1793245021452745216
+77,1.283333333,BASELINE,763.328989886,745.328989886,713.328989886,679.328989886,660.328989886,634,879,785.328989886,805.328989886,652.328989886,630.328989886,652,0.400965521779,0.00456435967605,0.059843731271,0.999999943731,0.000206332600108,-0.000263567517909,2.23093534775e-05,1793245021469411840
+78,1.300000000,BASELINE,763,745,713.247232933,679,660,634,879,785,805,652.247232933,630,652,0.400965536377,0.00456508737593,0.0598440170472,0.99999994353,0.000207161178959,-0.000263683484517,2.22474352789e-05,1793245021486078720
+79,1.316666667,BASELINE,763,745,713.827420336,679,660,634,879,785,805,652.827420336,630,652,0.400966812921,0.00456702745835,0.0598442980532,0.999999943223,0.000209479076064,-0.000263027304184,2.21131410754e-05,1793245021502745344
+80,1.333333333,BASELINE,763.414248682,745,714,679,660,634,878.585751318,785,805.414248682,653,630,652,0.400967913477,0.00456679753691,0.0598444030458,0.9999999435,0.000209622549103,-0.00026185900073,2.2115611493e-05,1793245021519411968
+81,1.350000000,BASELINE,763.996180865,745,713.996180865,679,660.003819135,634,878.003819135,785,806,653,630,652,0.400968926338,0.00456564509943,0.0598444325614,0.999999944018,0.000208843547453,-0.000260491413367,2.21774003769e-05,1793245021536078848
+82,1.366666667,BASELINE,763.417108131,745,713.417108131,679,660.582891869,634,878.582891869,785,806,653,630,652,0.40096795353,0.00456392871874,0.059844318454,0.999999943899,0.000207788719169,-0.000261766873453,2.24519921394e-05,1793245021552745472
+83,1.383333333,BASELINE,763.160524912,745,713.160524912,679.160524912,660.839475088,634,878.839475088,785,805.839475088,652.839475088,630,652,0.400967192775,0.00456278851634,0.0598441580859,0.99999994389,0.00020680694501,-0.000262565643342,2.25870857337e-05,1793245021569412096
+84,1.400000000,BASELINE,763.734450438,745,713.734450438,679.734450438,660.265549562,634,878.265549562,785,805.265549562,652.265549562,630,652,0.400966978122,0.00456313214844,0.0598438785825,0.999999944171,0.00020601330728,-0.000262136790838,2.23629290512e-05,1793245021586078720
+85,1.416666667,BASELINE,764,745,713.691728789,679.691728789,660,634,878,785,805,652.308271211,630,652,0.4009674996,0.00456412750629,0.05984396449,0.999999944072,0.000206952297464,-0.000261790383786,2.22093391946e-05,1793245021602745344
+86,1.433333333,BASELINE,764,745,713.117998257,679.117998257,660,634,878,785,805,652.882001743,630,652,0.400968654976,0.00456568407992,0.059844365061,0.99999994364,0.000209383292833,-0.000261514972403,2.21165160433e-05,1793245021619412224
+87,1.450000000,BASELINE,763.528970472,745,713,679,660.471029528,634,878,785,805,653,630,652,0.400968180119,0.00456526563635,0.0598446516379,0.999999943912,0.000207646264279,-0.000261853906302,2.21602954664e-05,1793245021636078592
+88,1.466666667,BASELINE,763.062215279,745,713,679,660.937784721,634,878.062215279,785,805.062215279,653,630,652,0.400967307751,0.00456442927217,0.059844812296,0.999999944251,0.000205352491071,-0.000262362982706,2.22382709891e-05,1793245021652744960
+89,1.483333333,BASELINE,763.638504847,745,713,679,660.361495153,634,878.638504847,785,805.638504847,653,630,652,0.400966638562,0.00456436507842,0.0598441763889,0.999999943674,0.000207375555758,-0.000262963579481,2.23065537571e-05,1793245021669411840
+90,1.500000000,BASELINE,764,745,713,679,660,634,878.786290553,785,805.786290553,653,630,652,0.400966519331,0.00456416242462,0.0598440133398,0.999999943452,0.000208442996402,-0.000262959837217,2.23372260225e-05,1793245021686078464
+91,1.516666667,BASELINE,764,745,713,679,660,634,878.212911992,785,805.212911992,653,630,652,0.400967325667,0.00456372674507,0.0598446461023,0.999999943834,0.000207902138945,-0.000261939003273,2.23046004888e-05,1793245021702745088
+92,1.533333333,BASELINE,764,745,713.361038471,679,660.361038471,634,878,785,805.361038471,653,630,652,0.400967147161,0.00456382054218,0.0598445764402,0.999999943938,0.000207189070278,-0.000262108202915,2.22595488101e-05,1793245021719411712
+93,1.550000000,BASELINE,764,745,713.935326787,679,660.935326787,634,878,785,805.935326787,653,630,652,0.400966386949,0.00456422707825,0.0598440918862,0.999999943879,0.000206374283828,-0.000262980303941,2.22071575405e-05,1793245021736078336
+94,1.566666667,BASELINE,763.470811711,745,713.470811711,679,661,633.470811711,878.529188289,785,805.470811711,653,630.529188289,652,0.400966799254,0.00456481487698,0.0598438411693,0.999999943626,0.000208362368264,-0.000262385292717,2.20909199447e-05,1793245021752745472
+95,1.583333333,BASELINE,763.120797904,745.120797904,713.120797904,679,661,633.120797904,878.879202096,785,805,652.879202096,630.879202096,652,0.400967113452,0.00456524630054,0.0598436117305,0.999999943417,0.000209938896509,-0.000261929219444,2.20260222517e-05,1793245021769412096
+96,1.600000000,BASELINE,763.694646008,745.694646008,713.694646008,679,661,633.694646008,878.305353992,785,805,652.305353992,630.305353992,652,0.400966501639,0.00456500496871,0.0598433507985,0.999999943485,0.00020863784172,-0.000262692514579,2.21840620357e-05,1793245021786078464
+97,1.616666667,BASELINE,764,745.730689994,713.730689994,679,660.730689994,633.730689994,878,785,805,652,630,652,0.400966484084,0.00456497716736,0.0598436551982,0.999999943626,0.000207819230949,-0.000262799330732,2.2253427894e-05,1793245021802745088
+98,1.633333333,BASELINE,764,745.155098127,713.155098127,679,660.155098127,633.155098127,878,785,805,652,630,652,0.400967142368,0.00456519221074,0.0598446025402,0.999999943851,0.000207549295944,-0.000262159544039,2.22219463385e-05,1793245021819411968
+99,1.650000000,BASELINE,764,745,713.43452247,679,660.43452247,633.43452247,878,785.43452247,805,652.43452247,630,652,0.400966641303,0.0045635514153,0.0598442920413,0.999999944108,0.00020578543528,-0.000262537427425,2.26042701842e-05,1793245021836078848
+100,1.666666667,BASELINE,764,745.028069427,713.971930573,679.028069427,661,634,878,785.971930573,805,653,630,652,0.400965764291,0.0045613911422,0.0598435664145,0.999999944368,0.000203584873291,-0.000263221010623,2.30784228114e-05,1793245021852745472
+101,1.683333333,BASELINE,764,745.597543106,713.402456894,679.597543106,661,634,878,785.402456894,805,653,630,652,0.400965884,0.00456241424608,0.0598437825021,0.999999944556,0.000203589505276,-0.000262560884975,2.23798170944e-05,1793245021869412096
+102,1.700000000,BASELINE,764,745.829878776,713,679.829878776,661,634,878,785,805,652.829878776,630,652,0.400965938736,0.00456375254706,0.0598437021421,0.999999944541,0.000204024665505,-0.000262325851278,2.18501536572e-05,1793245021886078464
+103,1.716666667,BASELINE,764,745.24982004,713,679.24982004,661,634,878,785,805,652.24982004,630,652,0.40096583691,0.00456585037167,0.0598429074385,0.999999944035,0.000205497260532,-0.000263115152757,2.17275869574e-05,1793245021902745088
+104,1.733333333,BASELINE,764,745,713,679.336586088,661,634,878.336586088,785.336586088,805,652,630,652,0.400966077038,0.00456571174238,0.0598431153083,0.999999943852,0.000206210016791,-0.000263219775463,2.20982143841e-05,1793245021919411712
+105,1.750000000,BASELINE,764,745,713,679.927793973,661,634,878.927793973,785.927793973,805,652,630,652,0.400966575851,0.00456388127301,0.0598440816083,0.999999943916,0.000206347967772,-0.00026280645011,2.28419349803e-05,1793245021936078336
+106,1.766666667,BASELINE,764,745.507012017,713,679.492987983,661,634,878.492987983,786,805,652.507012017,630,652,0.400966705727,0.0045652740853,0.0598449865508,0.999999943715,0.000208068249642,-0.00026223789845,2.25643991185e-05,1793245021952745472
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,661,634,879,785,806,652,630,652,0.400966961727,0.00456231392708,0.0598444015328,0.999999944736,0.000204101734077,-0.000261476827453,2.23803041636e-05,1793245021995958784
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.425546602,679.425546602,660.425546602,634,878.425546602,785,805.425546602,652,630,652,0.400968019403,0.00456352524705,0.059844594988,0.999999944593,0.000205991155706,-0.000260533037962,2.24325233587e-05,1793245022012625408
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745.154235442,713,679,660.154235442,634,878.154235442,785.154235442,805,652.154235442,630,652,0.400968684036,0.00456475477577,0.0598448507994,0.999999944487,0.000207474363311,-0.000259767085968,2.23909657881e-05,1793245022029292032
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745.749245851,713,679,660.749245851,634,878.749245851,785.749245851,805,652.749245851,630,652,0.400968225429,0.00456603634181,0.0598452848127,0.999999944494,0.000207796690493,-0.000259509358816,2.20814124278e-05,1793245022045958656
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.664877771,745.664877771,713,679,661,634,879,785.664877771,805.335122229,653,630,652,0.400967750177,0.00456564172544,0.0598452143016,0.99999994443,0.00020714175049,-0.00026028297836,2.20450448375e-05,1793245022062625024
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.085654599,745.085654599,713,679,661,634,879,785.085654599,805.914345401,653,630,652,0.4009672628,0.00456402618817,0.0598447762981,0.99999994431,0.000205774975146,-0.000261807824419,2.2207664077e-05,1793245022079291648
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.486849267,745,713,679.486849267,660.513150733,634,878.513150733,785,806,653,630,652,0.40096829802,0.00456482588528,0.0598454529169,0.999999944057,0.000208069992547,-0.0002609554533,2.22653961476e-05,1793245022095958272
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.941194565,745,713.058805435,679.941194565,660.058805435,634,878,785.058805435,806,652.941194565,630,652,0.400969367278,0.00456602959085,0.0598461982824,0.999999943755,0.000210749850667,-0.000259956047791,2.22930687106e-05,1793245022112625152
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.363784904,745,713.636215096,679.363784904,660.636215096,634,878,785.636215096,806,652.363784904,630,652,0.400968406446,0.00456709982305,0.059845844039,0.999999943308,0.000211219388619,-0.000261298182315,2.22161724815e-05,1793245022129292032
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.219346619,745,714,679.219346619,661,634,878.219346619,785.780653381,806,652,630,652,0.400972293746,0.0045671907852,0.0598475758851,0.999999944056,0.000210814125244,-0.000258750702062,2.21988138445e-05,1793245022145958400
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.812221927,745,714,679.812221927,661,634,878.812221927,785.187778073,806,652,630,652,0.400984437006,0.00456561413342,0.0598528601646,0.999999946783,0.000208919149336,-0.000249579537559,2.22828426843e-05,1793245022162625024
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.607946847,679.607946847,661,634,878.607946847,785,806,652,630,652,0.401015875447,0.00456544516527,0.0598651897882,0.999999952139,0.000209004621109,-0.000227018001202,2.24129705332e-05,1793245022179291904
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.034162001,679.034162001,661,634,878.034162001,785,806,652,630,652,0.401056257947,0.00456592871241,0.0598807851997,0.999999958042,0.000210008106125,-0.000198249512337,2.25644670356e-05,1793245022195958528
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745.540316886,713.540316886,679,661,634,878,785,805.459683114,652.540316886,630,652,0.401120492697,0.00456680793755,0.0598993657894,0.999999964105,0.000208660564552,-0.000166584735411,2.23631781539e-05,1793245022212624896
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745.881452011,713.881452011,679,661.118547989,634,878.118547989,785.118547989,805,653,630,652,0.401189154661,0.00456682968117,0.0599170291814,0.999999969056,0.000206455169256,-0.000137006595164,2.22340584504e-05,1793245022229291520
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745.288377144,713.288377144,679,661.711622856,634,878.711622856,785.711622856,805,653,630,652,0.40126949367,0.00456331880865,0.0599302647295,0.999999972676,0.000201411703641,-0.000116514829113,2.24832178463e-05,1793245022245958400
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.703437294,745,713.296562706,679,661.406874589,634,879,785.703437294,805,653,630,652,0.401356497573,0.00456170735274,0.0599381428619,0.999999974578,0.000199321626397,-0.000103045809645,2.22675179067e-05,1793245022262625280
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.126196758,745,713.873803242,679,660.252393516,634,879,785.126196758,805,653,630,652,0.401449809372,0.00456189357463,0.0599409505384,0.999999975132,0.000200026744674,-9.62233765919e-05,2.16118580197e-05,1793245022279292160
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.448087164,745,713.551912836,679,660,634,878.551912836,785.448087164,805.448087164,652.551912836,630,652,0.40156183012,0.00456253002187,0.0599443883744,0.99999997643,0.000196894836062,-8.92458693036e-05,2.02102778147e-05,1793245022295958784
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745.021642753,713.021642753,679.021642753,660,634,878.021642753,785.978357247,806,652.021642753,630,652,0.401680023992,0.00456332532882,0.0599479503864,0.999999977836,0.000192904303428,-8.2282311579e-05,1.86092658283e-05,1793245022312625152
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745.597732029,713.597732029,679.597732029,660,634,878.597732029,785.402267971,806,652.597732029,630,652,0.401822262496,0.00456496326591,0.0599501767922,0.999999978004,0.000194419898784,-7.67876303872e-05,1.72456812834e-05,1793245022329291776
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745.820639232,714,679.820639232,660.179360768,634,879,785,805.820639232,653,630,652,0.401972616,0.00456547674528,0.059951067911,0.999999978536,0.00019331042357,-7.28729863906e-05,1.57724735119e-05,1793245022345958400
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745.226190807,714,679.226190807,660.773809193,634,879,785,805.226190807,653,630,652,0.402141749713,0.00456338793561,0.0599488688266,0.999999979943,0.000186125849311,-7.26149618606e-05,1.40455691554e-05,1793245022362625536
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713.64310887,679,660.64310887,633.64310887,878.64310887,785.35689113,805.35689113,653,630,652,0.402334656694,0.00456290535356,0.0599489750108,0.999999980795,0.000182937101151,-6.9222236686e-05,1.23010855356e-05,1793245022379292160
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.067008389,679,660.067008389,633.067008389,878.067008389,785.932991611,805.932991611,653,630,652,0.402542165686,0.00456340934702,0.0599504971349,0.999999981304,0.000182202665034,-6.39041184557e-05,1.05458042291e-05,1793245022395958784
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713,679,660.509638,633.509638,878.509638,785.490362,805.490362,653,630,652,0.402784526718,0.00456281700293,0.0599514073533,0.999999982772,0.000176598233493,-5.66034471201e-05,8.03764447344e-06,1793245022412625408
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745.085915043,713.085915043,679,660.914084957,634,878.914084957,785,805.085915043,652.914084957,630,652,0.403036995553,0.00456194365471,0.0599524824653,0.999999984324,0.000170021746038,-4.91423955648e-05,5.44246942325e-06,1793245022429292032
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745.659687029,713.659687029,679,660.340312971,634,878.340312971,785,805.659687029,652.340312971,630,652,0.403320811687,0.00456029407063,0.0599549512452,0.999999986051,0.000161565428015,-4.22524140865e-05,2.91589400948e-06,1793245022445958656
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,746,714,679,660,634,878,785,806,652.241730793,630,652,0.403613409568,0.00455976932384,0.0599511824996,0.999999986911,0.000154850032923,-4.68981199193e-05,2.35742877081e-08,1793245022462625280
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,746,714,679,660,634,878,785,806,652.835832285,630,652,0.403918808575,0.00456088425118,0.0599383213203,0.999999986307,0.000150672379658,-6.83593842573e-05,-3.40189033873e-06,1793245022479291648
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745.582853645,713.582853645,679,660,634,878.417146355,785,805.582853645,653,630,652,0.404251140004,0.0045610686352,0.0599266518715,0.999999985496,0.000145046851657,-8.90082107582e-05,-6.86763823697e-06,1793245022495958272
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745.006422389,713.006422389,679,660,634,878.993577611,785,805.006422389,653,630,652,0.404593755414,0.00456089769666,0.0599154374783,0.999999984326,0.0001388684612,-0.000109346812098,-1.03487679866e-05,1793245022512624896
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.569553146,679.569553146,660,634,878.430446854,785,805,652.430446854,630,652,0.404974724582,0.00456016449087,0.0599045702635,0.999999983125,0.000129377945358,-0.000129642059297,-1.42763816058e-05,1793245022529291520
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,679.851047402,660.148952598,633.851047402,878.148952598,785,805.148952598,652,630,652,0.405379577795,0.0045596275734,0.0599001087489,0.999999983042,0.000119816403527,-0.000138677939981,-1.8099437032e-05,1793245022545958400
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679.261505199,660.738494801,633.261505199,878.738494801,785,805.738494801,652,630,652,0.405853799763,0.00455968999972,0.0599145832026,0.999999987155,0.000110155158919,-0.000114410976571,-2.15983370415e-05,1793245022562625024
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679,660.678680529,633.321319471,879,785,805.678680529,652,630,652,0.406359068026,0.00455817567207,0.0599387982623,0.999999992011,0.000100051002005,-7.31610548262e-05,-2.48160539364e-05,1793245022579291648
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660.101210895,633.898789105,879,785,805.101210895,652,630,652,0.406889085893,0.00455540438422,0.0599707783614,0.999999995431,8.95937620396e-05,-1.83726181309e-05,-2.78096169832e-05,1793245022595958528
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660.474964227,634,879,785.474964227,805,652.474964227,630,652,0.407435075227,0.00455463376992,0.0599913715773,0.99999999622,8.07385098586e-05,9.07835672175e-06,-3.09509494778e-05,1793245022612625664
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,679.050440241,661,634,879,786,805,652.949559759,630,652,0.407983236776,0.00455406708116,0.0600068360967,0.999999996492,7.20063605247e-05,2.57932541801e-05,-3.41567701366e-05,1793245022629292544
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679.621539903,661,634,879,786,805,652.378460097,630,652,0.408518785666,0.00455121666081,0.0599943391372,0.999999997392,6.10307619127e-05,-8.34493922513e-06,-3.77041096618e-05,1793245022645958656
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745.200775863,714,680,660.799224137,633.799224137,879,785.799224137,805,652,630,652,0.40908153426,0.00454851729472,0.059982595103,0.999999997164,4.97516828593e-05,-3.85541677544e-05,-4.13681953268e-05,1793245022662624768
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.795996375,714,680,660.204003625,633.204003625,879,785.204003625,805,652,630,652,0.409697719414,0.00454611469032,0.0599723302681,0.999999996395,3.78763863041e-05,-6.10445422287e-05,-4.52616405349e-05,1793245022679291392
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.622202037,745.622202037,713.622202037,680,660.377797963,633.377797963,879,785,805.377797963,652,630,652,0.410356416248,0.00453643426732,0.0599759258444,0.999999997504,1.92282027816e-05,-4.82206108977e-05,-4.79300284148e-05,1793245022695958272
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.047397889,745.047397889,713.047397889,680,660.952602111,633.952602111,879,785,805.952602111,652,630,652,0.411037281164,0.00452295875966,0.0599867490585,0.999999998603,-2.95176392906e-06,-1.69817126969e-05,-4.99595988337e-05,1793245022712625152
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.525430292,745.525430292,713.525430292,680,661,634,879,785,805.474569708,652,630,652,0.411726311682,0.00450963820787,0.0599864507013,0.999999998155,-2.64079392791e-05,-1.71327331051e-05,-5.19505913871e-05,1793245022729291520
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,746,714,679.897995587,660.897995587,634,879.102004413,785,805,652,630,652,0.412412549125,0.00450088534754,0.0599801037672,0.999999998091,-2.40129579926e-05,-2.9336525544e-05,-4.87918418735e-05,1793245022745958144
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,746,714,679.302437495,660.302437495,634,879.697562505,785,805,652,630,652,0.413081721185,0.00451416612418,0.0599493265792,0.999999990659,0.000104019149751,-8.62087023537e-05,-2.07325702573e-05,1793245022762625024
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.283635211,745.716364789,714,679.283635211,660,634,879.716364789,785,805,652,630,652,0.413798634873,0.00452419239227,0.0599261812222,0.999999977775,0.000166419604461,-0.000129032460907,-1.02939756569e-05,1793245022779291904
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.859921107,745.140078893,714,679.859921107,660,634,879.140078893,785,805,652,630,652,0.414564807759,0.0045308607074,0.0599109102735,0.999999974479,0.000161102291737,-0.000157361274225,-1.80361361213e-05,1793245022795958272
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.438024783,634,879,785,805,652,630,652,0.415416535678,0.00452380661359,0.0599513973752,0.999999986509,0.000139728983024,-8.32698669795e-05,-2.28843939891e-05,1793245022812625152
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.983445667,745.016554333,714,680,661,634,879.016554333,785,805,652,630,651.983445667,0.416294171192,0.00451290162642,0.0600084940299,0.99999999289,0.000114280116957,2.10401917141e-05,-2.67790684875e-05,1793245022829291776
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.410223547,745.589776453,714,680,661,634,879.589776453,785,805,652,630,651.410223547,0.417119127556,0.00452068552045,0.0600220107125,0.99999999109,0.000125164737756,3.55169347699e-05,-2.98577678376e-05,1793245022845958656
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745.831502002,714,679.831502002,661,634,879.831502002,785,805,652,630,651.168497998,0.417944799557,0.00452478664711,0.0600262351821,0.99999999005,0.000131477833877,3.94691658609e-05,-3.24835479957e-05,1793245022862625792
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745.23893992,714,679.23893992,661,634,879.23893992,785,805,652,630,651.76106008,0.418772272573,0.00451961923958,0.060007073653,0.999999991306,0.000126285632856,1.69340336619e-05,-3.39694523417e-05,1793245022879292160
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.344385107,745.344385107,714,679,661,634,879,785,805,652,630,652,0.419616937788,0.0045190046699,0.0599800694307,0.999999990933,0.000127327063117,-2.49252006051e-05,-3.60573095999e-05,1793245022895958784
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.9214687,745.9214687,714,679,661,634,879,785,805,652,630,652,0.420473219613,0.0045214664195,0.0599477659589,0.999999987281,0.000132580512158,-7.9841587666e-05,-3.85519018788e-05,1793245022912625152
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.503159828,745.503159828,714,679.496840172,661,633.503159828,879.496840172,785.496840172,805,652,630,652,0.421290718767,0.00452376289003,0.0599095388385,0.99999998723,3.65218025437e-05,-0.00015089308558,-3.79124663073e-05,1793245022929291520
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,679.926293703,661.073706297,633,879.926293703,785.926293703,805,652,630,652,0.422115449535,0.00452512146659,0.0598776091128,0.999999975323,-6.18487004512e-05,-0.000210099187895,-3.72323454539e-05,1793245022945958144
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,679.337088093,661.662911907,633,879.337088093,785.337088093,805,652,630,652,0.423033483674,0.00452010252849,0.0598962491356,0.999999982886,-6.47741447379e-05,-0.000168683247347,-3.97203742954e-05,1793245022962625024
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,713.752072435,679.247927565,662,633,879,785,805.247927565,652,630.247927565,652,0.423986283232,0.00451709803538,0.059936389678,0.999999992193,-6.33767126618e-05,-9.94145430598e-05,-4.1411132715e-05,1793245022979291904
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,713.172658777,679.827341223,662,633,879,785,805.827341223,652,630.827341223,652,0.424985565258,0.00451678691088,0.0600052770196,0.999999997512,-5.6199473897e-05,7.09409245428e-06,-4.20359183535e-05,1793245022995958784
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,713.404749616,679.595250384,661.595250384,633,879.404749616,785,806,652,631,652,0.425955505456,0.00451660582936,0.0600309964098,0.999999996676,-4.75358000223e-05,5.10397088623e-05,-4.22289589311e-05,1793245023012625408
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,713.981306782,679.018693218,661.018693218,633,879.981306782,785,806,652,631,652,0.426912990618,0.00451647994833,0.0600383919244,0.999999996036,-3.82411668343e-05,6.84286562533e-05,-4.22387330511e-05,1793245023029291776
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745.554600581,714,679.554600581,661,633.554600581,880,785,806,652,631,652,0.427815012652,0.00451296308556,0.0600148657735,0.999999997613,-3.60379603187e-05,3.94643679528e-05,-4.37920340666e-05,1793245023045958656
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.867974404,713.867974404,680,661.132025596,634,880,785.132025596,806,652,631,652,0.428700086377,0.00451096793602,0.0599877037215,0.999999998481,-3.14379091419e-05,2.51533781934e-06,-4.52027968996e-05,1793245023062625024
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.275768763,713.275768763,680,661.724231237,634,880,785.724231237,806,652,631,652,0.429532563931,0.00451467282457,0.0599514801105,0.999999997173,-1.76553229766e-05,-5.68509596047e-05,-4.59364609156e-05,1793245023079291648
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,713.309597606,680,661.690402394,633.690402394,880,785.690402394,806,652,630.690402394,652,0.430410288494,0.00451450928301,0.0599300766569,0.999999994738,-1.01234094939e-05,-9.06970736963e-05,-4.68487850573e-05,1793245023095958528
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,713.88900365,680,661.11099635,633.11099635,880,785.11099635,806,652,630.11099635,652,0.431327444923,0.00451097447783,0.059921588691,0.999999993587,-8.03883938009e-06,-0.0001023028294,-4.79168081738e-05,1793245023112625152
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680,661.923112781,633,880,785,806,652,630.46155639,652,0.432304701992,0.00450878173502,0.0599647432454,0.999999998314,-8.83470597052e-06,-2.90176821749e-05,-4.9522681115e-05,1793245023129292032
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745.033523006,714,680,663,633,880,785,806,652,631,651.966476994,0.433289042596,0.00450698143039,0.0600168285817,0.999999996929,-9.8560741554e-06,5.85825570816e-05,-5.11234126474e-05,1793245023145958656
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745.622691541,714,680,663,633,880,785,806,652,631,651.377308459,0.434154734967,0.00450641459992,0.0600141059728,0.999999997467,-3.30166671421e-06,5.00305278937e-05,-5.05264193968e-05,1793245023162625536
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745.791048504,713.791048504,680,662.582097007,633.208951496,880.208951496,785.208951496,806,652,631,651,0.435013881049,0.00450428600406,0.0600009352647,0.999999998421,1.93560345624e-07,2.49802586825e-05,-5.03326708947e-05,1793245023179291904
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745.209968433,713.209968433,680,661.419936866,633.790031567,880.790031567,785.790031567,806,652,631,651,0.435861368772,0.00449937600886,0.0599691571935,0.999999998272,-1.75940619041e-06,-2.94522688633e-05,-5.08570740003e-05,1793245023195958528
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.364790078,745,713.364790078,680,661.364790078,633.635209922,881,786,806,652,630.635209922,651.364790078,0.4366852328,0.0044996666452,0.0599452368875,0.999999996202,2.83673797995e-06,-7.00220050998e-05,-5.18188023446e-05,1793245023212625152
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.935971929,745,713.935971929,680,661.935971929,633.064028071,881,786,806,652,630.064028071,651.935971929,0.437495730907,0.00450289970714,0.0599257623681,0.999999993253,1.1138253224e-05,-0.000102748416022,-5.302796155e-05,1793245023229291776
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.485800936,745,713.485800936,680,661.485800936,633.514199064,881,785.485800936,806,651.485800936,630.514199064,651.485800936,0.438305281094,0.00449887032936,0.0599067643969,0.99999998778,1.11851207966e-05,-0.000146705342345,-5.28445597067e-05,1793245023245958400
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,713.095300823,680,661,633.904699177,880.904699177,785.095300823,806,651.095300823,631,651,0.439120657323,0.00449417387845,0.0598978127667,0.999999983619,1.01810856051e-05,-0.000172905472894,-5.25520512851e-05,1793245023262625280
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,713.686737289,680,661,633.313262711,880.313262711,785.686737289,806,651.686737289,631,651,0.439966986908,0.00449077792986,0.0599408491267,0.999999993646,9.13147194703e-06,-9.92824835084e-05,-5.2606803879e-05,1793245023279292160
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,713.727334114,680,661,633,880,785.727334114,806,652,631,651.272665886,0.440774198702,0.00449014561028,0.0599691816926,0.999999997066,1.22536851464e-05,-5.45286027406e-05,-5.23965685202e-05,1793245023295959040
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,713.147608189,680,661,633,880,785.147608189,806,652,631,651.852391811,0.44153735832,0.0044926255249,0.0599809557206,0.999999997558,2.00739607483e-05,-4.22853935888e-05,-5.18879197864e-05,1793245023312625408
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,713,680.427773458,660.144453084,633,880,785.427773458,806.427773458,652,630.572226542,652,0.442226510823,0.00449396876722,0.0599409614534,0.999999992774,2.95773552222e-05,-0.000104197140049,-5.2151619495e-05,1793245023329292032
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,713,680.998326549,659,633,880,785.998326549,807,652,630,652,0.442890377067,0.00449493096852,0.0598833367013,0.999999979519,3.96424381928e-05,-0.000191353173355,-5.26819808836e-05,1793245023345958656
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,713,680.423648434,659,633,880,785.423648434,807,652,630,652,0.443552176687,0.00449837141044,0.0598439220926,0.999999966538,4.51695946041e-05,-0.000248891499577,-5.41825683788e-05,1793245023362625024
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,713,680,658.84428005,632.84428005,880,785,806.84428005,652,630.15571995,651.84428005,0.444207353194,0.00450155216413,0.0598151684908,0.999999954896,5.08354096352e-05,-0.000290770289007,-5.54612511188e-05,1793245023379291648
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713,680,658.251755009,632.251755009,880,785,806.251755009,652,630.748244991,651.251755009,0.444843951564,0.00450400447533,0.0598163197324,0.999999955127,5.68901731887e-05,-0.000288723023989,-5.6117476656e-05,1793245023395958272
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.666989362,745,713.333010638,680.333010638,658,632,880,785,806,652,630.666989362,651.333010638,0.44543701685,0.00450600205609,0.0598027265439,0.999999945537,6.11044473167e-05,-0.00031940469178,-5.63220057156e-05,1793245023412625152
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.087956256,745,713.912043744,680.912043744,658,632,880,785,806,652,630.087956256,651.912043744,0.445997920613,0.00450766368974,0.0597782404268,0.999999926338,6.39589993594e-05,-0.000374265925321,-5.61928291008e-05,1793245023429291776
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.484741979,745,713.515258021,681,658,631.515258021,880.484741979,785,806,652,630.484741979,652,0.446547461185,0.00451124402069,0.059754371131,0.999999913903,6.54070013119e-05,-0.000405510756695,-5.89633206786e-05,1793245023445958400
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713,681,657.941802722,631,880.941802722,785,806.058197278,652,631,652,0.44709532643,0.0045147375603,0.0597340891946,0.999999904384,6.58410710292e-05,-0.000427839012522,-6.20521595324e-05,1793245023462625024
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713,681,657.351036288,631,880.351036288,785,806.648963712,652,631,652,0.447646485377,0.00451429203451,0.0597456245486,0.9999999133,5.93019423904e-05,-0.000407279111163,-6.33015429751e-05,1793245023479291648
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745.234805472,713,681,656.765194528,631,880,785.234805472,807,652,630.765194528,652,0.448172895461,0.00451419317908,0.0597530154801,0.999999920232,1.88811001207e-05,-0.000393676731704,-6.47855025166e-05,1793245023495958272
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745.813435995,713,681,656.186564005,631,880,785.813435995,807,652,630.186564005,652,0.448663065802,0.00451460195221,0.0597543377435,0.999999919098,-7.1152648078e-05,-0.000390262233471,-6.66129507956e-05,1793245023512624896
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,746,713.389009699,681,656,630.610990301,880,785.610990301,807,652,630,652,0.449081614405,0.00451842898969,0.0597291030366,0.999999899816,-9.59528962547e-05,-0.00043173707914,-6.90173388185e-05,1793245023529291520
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,746,713.963128873,681,656,630.036871127,880,785.036871127,807,652,630,652,0.449466081993,0.00452388260137,0.0596912312493,0.999999871105,-8.97119238058e-05,-0.000494572427229,-7.16962625505e-05,1793245023545958144
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,745.459571595,713.459571595,681,656,630,880,785,807,652,630.540428405,652,0.449838967801,0.0045422956768,0.0596609905952,0.999999849268,-7.47857697095e-05,-0.000538197245496,-7.88402617133e-05,1793245023562625024
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,745.120273705,713.120273705,681.120273705,656,630,880,785,807,652,630.879726295,652,0.450208364398,0.00456205975214,0.0596366991573,0.999999831184,-5.70178538944e-05,-0.000571889858366,-8.55766937983e-05,1793245023579291904
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,745.709188175,713.709188175,681.709188175,656,630,880,785,807,652,630.290811825,652,0.450567262664,0.00458362242346,0.0596335478913,0.999999831924,-3.04996668043e-05,-0.000572019248334,-8.95310479686e-05,1793245023595958784
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,746,714,681.704838183,655.704838183,629.704838183,880,785,806.704838183,651.704838183,630,652,0.450914850839,0.00459402368087,0.0596382641033,0.999999839939,1.56930336692e-05,-0.000559804765004,-8.05813754337e-05,1793245023612625408
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,746,714,681.121733479,655.121733479,629.121733479,880,785,806.121733479,651.121733479,630,652,0.451251405516,0.00459353650373,0.0596506553745,0.999999851564,8.10790558572e-05,-0.000535548307086,-5.90432763187e-05,1793245023629292288
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,746,713.546577343,681,655,629,880,785,806.453422657,651.453422657,630,652,0.451540953256,0.00459313592022,0.059656733891,0.999999855372,9.06591451015e-05,-0.000527139793783,-5.62228532825e-05,1793245023645958656
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,745.973350377,713,681,655,629,880.026649623,785,806.973350377,652,630,652,0.451816646002,0.00459268963683,0.0596609721718,0.99999985792,8.54020056022e-05,-0.000522938685198,-5.83235724556e-05,1793245023662625280
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745.3966543,713,681,655,629,880.6033457,785,806.3966543,652,630,652,0.452062366662,0.00459082853243,0.0596616065957,0.999999860347,7.78176924005e-05,-0.000519272163947,-6.0062178501e-05,1793245023679291648
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.815367859,745,713,681,654.815367859,629,881,785,806.184632141,652,630,652,0.452294616797,0.00458890391003,0.0596608816415,0.999999861329,7.0974755493e-05,-0.000518148220576,-6.18614901534e-05,1793245023695958528
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.223968357,745,713,681,654.223968357,629,881,785,806.776031643,652,630,652,0.45249718967,0.00458683934987,0.0596571618096,0.999999859234,6.57651629384e-05,-0.000522625890157,-6.3794543516e-05,1793245023712625408
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.358104598,745,713,681,654,628.641895402,881,785,807,652,630,652,0.452674439926,0.00458770543226,0.0596525830885,0.999999855075,6.30018677712e-05,-0.000530672008895,-6.53367514311e-05,1793245023729292032
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.934492595,745,713,681,654,628.065507405,881,785,807,652,630,652,0.45283625475,0.00459035789368,0.0596474808293,0.999999849591,6.17297177254e-05,-0.000540893283592,-6.66407188785e-05,1793245023745958656
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,745,713,681,654,628,881,785,807,652,630.509277415,652,0.452968103708,0.00458989534021,0.0596411655329,0.999999843955,5.93174703318e-05,-0.00055136371356,-6.75906748179e-05,1793245023762625280
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,745.086199107,713,681.086199107,654,628,881,784.913800893,807,652,630.913800893,651.913800893,0.453093446154,0.004589155766,0.059635245046,0.999999838437,5.70926424114e-05,-0.000561415131612,-6.84119181088e-05,1793245023779291904
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,745.676828805,713,681.676828805,654,628,881,784.323171195,807,652,630.323171195,651.323171195,0.453203198233,0.00458913246955,0.059632545166,0.99999983424,5.68200612993e-05,-0.000568827572402,-6.87455812737e-05,1793245023795958272
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,745.737897211,713,681.737897211,653.737897211,628,880.737897211,784.262102789,807,652,630,651.262102789,0.453302830985,0.00458934307012,0.059630103799,0.999999831178,5.57246711896e-05,-0.000574209494726,-6.94484289497e-05,1793245023812624896
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745,713,681,653,628,880.417489005,785,807,652,630.417489005,652,0.45345964384,0.00459027190243,0.059624525174,0.999999825874,5.47563865907e-05,-0.000583329222479,-7.05704094161e-05,1793245023845958400
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,745,713,681,653,628,880.993231445,785,807,652,630.993231445,652,0.453522228772,0.00459068567926,0.0596205749606,0.999999821416,5.70948204907e-05,-0.000590757328315,-7.009772245e-05,1793245023862625792
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,745,713.566769728,681,653.566769728,628,881,784.433230272,806.433230272,652,630.433230272,652,0.453571632378,0.00459023275427,0.0596209223897,0.999999822065,5.53314386404e-05,-0.000589767589496,-7.05836908829e-05,1793245023879292416
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745.144859559,714,681,653.855140441,628,881,784,806.144859559,652,630,651.855140441,0.453617091888,0.00458984550494,0.0596208107334,0.999999822118,5.45697693081e-05,-0.000589722167356,-7.08109938816e-05,1793245023895959040
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,745.737086741,714,681,653.262913259,628,881,784,806.737086741,652,630,651.262913259,0.453650855156,0.00458969292215,0.0596191234015,0.999999820142,5.70523685952e-05,-0.000592902323255,-7.02042446469e-05,1793245023912625664
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,746,714,681,653,628,881,784,807,652,630,651.321011996,0.453678779191,0.00459062112118,0.0596186602638,0.999999819567,5.90759212202e-05,-0.000593670535019,-7.02199588927e-05,1793245023929292288
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,746,714,681,653,628,881,784,807,652,630,651.898309331,0.453702041378,0.00459241218059,0.059619174482,0.999999820118,6.07329864711e-05,-0.000592513130866,-7.07326272877e-05,1793245023945958656
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,746,713.524734266,681.475265734,653,628,881,784,807,652,630,652,0.453717207956,0.00459222571238,0.059619678246,0.999999820107,6.23711466583e-05,-0.000592381269392,-7.05660946907e-05,1793245023962625280
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.947022603,746,713,682,653,628,881,784,807,652,630,652,0.453729904507,0.00459153853389,0.0596199944399,0.999999819849,6.37438127671e-05,-0.000592708344743,-7.02473758232e-05,1793245023979291904
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.360977513,746,713,682,653,628,881,784,807,652,630,652,0.453735164271,0.00459006761165,0.0596184457631,0.999999818329,6.24857055094e-05,-0.000595446949933,-6.98585779382e-05,1793245023995959040
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.222727837,745.777272163,713.222727837,682,653,628,881,784.222727837,807,652,630.222727837,652,0.453739717922,0.00458950857742,0.0596168427956,0.999999816992,6.17843552933e-05,-0.00059778593329,-6.96426032871e-05,1793245024012625920
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+236,3.933333333,POSE1_TO_POSE2_PRESS,763.135176182,745,713.864823818,681,653,628,880.135176182,784.864823818,807,652,630,652,0.453750794604,0.00459596267876,0.059614031889,0.999999814053,7.04090177277e-05,-0.000601718671904,-6.97937606416e-05,1793245024145958656
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.440270828,745,713.559729172,681.440270828,653,627.559729172,880,784.559729172,807,652,630,652,0.453751464563,0.00459536895388,0.0596136213413,0.999999813877,6.90758743415e-05,-0.000602168165893,-6.97670926606e-05,1793245024162625792
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745,713.014274407,681.985725593,653,627,880.014274407,784,806.985725593,652,630,652,0.453751916151,0.00459452999664,0.0596126875582,0.999999813445,6.70635401062e-05,-0.000603114438952,-6.97555979941e-05,1793245024179292416
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,713.587977838,681.412022162,653,627,880.587977838,784,806.412022162,652,630,652,0.453749694166,0.00459612154811,0.059611204618,0.999999811533,7.00042381688e-05,-0.000605952592072,-6.96721668283e-05,1793245024195958784
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,713.831993834,681,653,627.168006166,880.831993834,784,806,652,630,652,0.453748343722,0.00459626336177,0.0596104012482,0.999999810581,7.03138883084e-05,-0.000607507373952,-6.94907078546e-05,1793245024212625664
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713.235847427,681,653,627.764152573,880.235847427,784,806,652,630,652,0.453749214281,0.00459271072108,0.0596113296689,0.999999812081,6.39186802373e-05,-0.000605791663366,-6.9059438714e-05,1793245024229292288
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,713.347505062,681.347505062,653,628,880.347505062,784,806.347505062,652,630,652,0.453749737742,0.0045929739074,0.0596113872888,0.999999812065,6.54401145559e-05,-0.000605671669084,-6.89118926881e-05,1793245024245958656
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,713.922482782,681.922482782,653,628,880.922482782,784,806.922482782,652,630,652,0.453750033998,0.00459573488858,0.0596108748929,0.999999811041,7.21436885644e-05,-0.000606596211669,-6.89500684365e-05,1793245024262625280
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.502377164,745,714,682,653,627.502377164,881,784,807,652,630,652,0.453750616711,0.00459636596764,0.0596111974022,0.99999981142,7.29774606466e-05,-0.000605808847183,-6.94914299036e-05,1793245024279292160
+245,4.083333333,HOLD_POSE2,764,745,713,681,653,627,880,784,806,652,630,652,0.453751448925,0.00459451657866,0.0596117275571,0.999999811752,7.02560373329e-05,-0.000605654434375,-6.88604450303e-05,1793245024322090240
+246,4.100000000,HOLD_POSE2,764,745,713.578975975,681.578975975,653,627,880.578975975,784.578975975,806.578975975,652,630,652,0.453752483375,0.00459537822558,0.0596112502859,0.999999811756,7.2146534454e-05,-0.000605390286446,-6.91827830511e-05,1793245024338756608
+247,4.116666667,HOLD_POSE2,764,745,713.842853806,681.842853806,653,627.157146194,880.842853806,784.842853806,806.842853806,652,630.157146194,651.842853806,0.45375297247,0.00459559537045,0.0596108471157,0.999999811671,7.31185352057e-05,-0.000605410700091,-6.92101820195e-05,1793245024355423232
+248,4.133333333,HOLD_POSE2,764,745,713.266831216,681.266831216,653,627.733168784,880.266831216,784.266831216,806.266831216,652,630.733168784,651.266831216,0.453752007906,0.00459409458208,0.0596106414631,0.999999811358,7.16422655102e-05,-0.000606189618378,-6.8451414981e-05,1793245024372090112
+249,4.150000000,HOLD_POSE2,763.685189606,745.314810394,713,681,653,628,880,784,806.314810394,652,630.685189606,651.314810394,0.453752389721,0.00459347961703,0.0596112989195,0.999999811805,7.12346755623e-05,-0.000605533712043,-6.81504013877e-05,1793245024388756480
+250,4.166666667,HOLD_POSE2,763.098698835,745.901301165,713,681,653,628,880,784,806.901301165,652,630.098698835,651.901301165,0.453753933457,0.00459362911478,0.0596127012361,0.999999812907,7.17493529544e-05,-0.000603639556535,-6.82444276192e-05,1793245024405422848
+251,4.183333333,HOLD_POSE2,763.482043786,745.517956214,713.482043786,681,652.517956214,627.517956214,880,784,807,652,630,652,0.453753541214,0.00459254802063,0.0596123426705,0.999999812733,7.10407705077e-05,-0.000604007060116,-6.82765681959e-05,1793245024422089472
+252,4.200000000,HOLD_POSE2,764,745.061340086,713.938659914,681.061340086,652.061340086,627.061340086,880.061340086,784.061340086,807,652,630,652,0.453752874701,0.00459148429879,0.0596116542369,0.999999812342,7.03621932006e-05,-0.00060473427328,-6.82767601431e-05,1793245024438756096
+253,4.216666667,HOLD_POSE2,764,745.638255629,713.361744371,681.638255629,652.638255629,627.638255629,880.638255629,784.638255629,807,652,630,652,0.453753195392,0.00459265945048,0.0596111879134,0.999999812293,7.20162012237e-05,-0.000604638534167,-6.81136659329e-05,1793245024455422976
+254,4.233333333,HOLD_POSE2,764,745.785051389,713,681.785051389,653,628,881,785,807,652,630,652,0.453753067226,0.00459387083761,0.0596106065686,0.999999811717,7.33909791407e-05,-0.00060541430942,-6.82189279183e-05,1793245024472089344
+255,4.250000000,HOLD_POSE2,764,745.208732633,713,681.208732633,653,628,881,785,807,652,630,652,0.453752184445,0.00459514314338,0.0596098318509,0.999999810253,7.42963171321e-05,-0.000607655268714,-6.87753485341e-05,1793245024488755968
+256,4.266666667,HOLD_POSE2,764,745.374955112,713.374955112,681.374955112,653,628,881,784.625044888,807,652,630,652,0.453752798239,0.00459527574459,0.0596103051134,0.99999981072,7.33145483109e-05,-0.000607009421911,-6.87302764407e-05,1793245024505422336
+257,4.283333333,HOLD_POSE2,764,745.962827368,713.962827368,681.962827368,653,628,881,784.037172632,807,652,630,652,0.453754261858,0.00459476116806,0.0596114870377,0.99999981228,7.12611915823e-05,-0.000604724311058,-6.83436485528e-05,1793245024522088960
+258,4.300000000,HOLD_POSE2,764,745.457517453,714,682,653,628,881,784.542482547,807,652,630,652,0.453754193889,0.00459528368916,0.0596118668989,0.999999812419,7.24430815973e-05,-0.000604360039581,-6.82901034088e-05,1793245024538755584
+259,4.316666667,HOLD_POSE2,764,745,713.880044883,681.880044883,653,627.880044883,881,785,807,652,630,652,0.453754279581,0.00459551439773,0.0596121566479,0.999999812487,7.31741467211e-05,-0.000604160470146,-6.82744076914e-05,1793245024555422208
+260,4.333333333,HOLD_POSE2,764,745,713.30869813,681.30869813,653,627.30869813,881,785,807,652,630,652,0.453755332528,0.00459438358604,0.0596123110324,0.999999812654,7.13869854558e-05,-0.000604092771243,-6.83165346498e-05,1793245024572088576
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,746,714,682,652,627,881,784,807,652,630,652,0.45375419161,0.00459768612786,0.0596115794635,0.999999811354,7.43599522058e-05,-0.000605811481454,-6.89546267575e-05,1793245024609925376
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745.408233953,713.408233953,682,652,627.591766047,881.591766047,784.591766047,807,652,630.591766047,652,0.453753255727,0.00459634294928,0.0596107559971,0.999999810749,7.42313800196e-05,-0.00060686809693,-6.85714017518e-05,1793245024626592256
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.179670989,682,652,627.820329011,881.640658023,785,807,652,630.820329011,652,0.453753203286,0.00459483942774,0.0596106924832,0.999999810836,7.31700934147e-05,-0.000606901204947,-6.81595582616e-05,1793245024643258880
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.758987714,682,652,627.241012286,880.482024573,785,807,652,630.241012286,652,0.453755115904,0.00459297925192,0.0596123193466,0.999999812452,7.00341516429e-05,-0.000604657705263,-6.76840580354e-05,1793245024659925248
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,681.663472985,652.336527015,627.336527015,880.336527015,784.663472985,807,652,630,652,0.453755615675,0.00459263754156,0.0596124613993,0.999999812676,7.00614456918e-05,-0.000604290224778,-6.76179442125e-05,1793245024676591872
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,681.087199976,652.912800024,627.912800024,880.912800024,784.087199976,807,652,630,652,0.453755108917,0.00459337760483,0.0596115456544,0.999999811913,7.23422681156e-05,-0.000605259243625,-6.78434823379e-05,1793245024693258240
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,745,713.502863137,681.497136863,652.502863137,627.502863137,881,784,807,652,630,652,0.453754847138,0.00459369118569,0.0596117811679,0.999999811724,7.3234618607e-05,-0.000605500003599,-6.75183354848e-05,1793245024709925120
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,652,627.081859412,881,784,807.081859412,652,630,652,0.453754804937,0.00459400430414,0.0596121266569,0.999999811763,7.37829494904e-05,-0.000605396616624,-6.72655432224e-05,1793245024726591744
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,713,682,652,627.660201267,881,784,807.660201267,652,630,652,0.453755829575,0.00459477580715,0.0596118942076,0.999999812561,7.37462443314e-05,-0.000603993480744,-6.80470852277e-05,1793245024743258624
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745,713.23913962,681.76086038,652.23913962,627.76086038,881,784,807.52172076,652,630,652,0.453754323875,0.00459514159253,0.0596106052415,0.999999811983,7.40042444608e-05,-0.000604870875759,-6.84688934733e-05,1793245024759925504
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713.818927619,681.181072381,652.818927619,627.181072381,881,784,806.362144761,652,630,652,0.453749213772,0.00459492944329,0.0596078112939,0.999999809435,7.46820448698e-05,-0.000608996829839,-6.83782699508e-05,1793245024776592128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,713.607137029,681.392862971,653,627,880.607137029,784,806.785725942,652.392862971,630,652,0.453730185747,0.00459425788292,0.0595992148046,0.999999801136,7.43375348214e-05,-0.000622555726282,-6.80211864452e-05,1793245024793258752
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745,713.035859544,681.964140456,653,627,880.035859544,784,807.928280912,652.964140456,630,652,0.453704837047,0.00459337768588,0.0595879831529,0.999999789961,7.35287534594e-05,-0.00064039849274,-6.75430929641e-05,1793245024809925120
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,713.554235544,681.445764456,652.445764456,627.554235544,880.554235544,784,807.445764456,652.445764456,630,652,0.45365448172,0.00459398671413,0.0595685992255,0.999999768665,7.38362338173e-05,-0.000672764511814,-6.78730877436e-05,1793245024826591744
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,681.142787969,652,628,881,784.142787969,807,652,630,652,0.453599117042,0.004594816219,0.0595496931858,0.99999974827,7.46300821099e-05,-0.000702306633988,-6.82264730746e-05,1793245024843258368
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,681.722758517,652,628,881,784.722758517,807,652,630,652,0.453533542798,0.00459601538864,0.0595339220327,0.999999735353,7.66841711297e-05,-0.00072022451703,-6.84857675596e-05,1793245024859924992
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745,713.700014866,682,652.299985134,628,881,785,807,652,630,652,0.453461786244,0.00459654481019,0.0595231372504,0.999999725746,7.74854428313e-05,-0.000733351335857,-6.85559020445e-05,1793245024876592128
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745,713.125301195,682,652.874698805,628,881,785,807,652,630,652,0.45338436789,0.00459646087156,0.0595169190233,0.999999719333,7.71393753417e-05,-0.000742090462773,-6.84528024411e-05,1793245024893258752
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.549531527,745,713.450468473,681.549531527,653,627.549531527,880.549531527,784.549531527,807,652,630,652,0.453294809566,0.0045985012432,0.0595182673254,0.999999721055,8.14813729191e-05,-0.000739341055676,-6.80078436219e-05,1793245024909925120
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.027157027,745,713.972842973,681.027157027,653,627.027157027,880,784,806.972842973,652,630,652,0.453200909047,0.00460097090174,0.0595218089872,0.99999972513,8.68482660142e-05,-0.000733245900081,-6.74404885381e-05,1793245024926592256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.616779367,745,713.383220633,681.616779367,653,627.616779367,880,784,806.383220633,652,630,652,0.453087178457,0.00460006468679,0.0595270847775,0.999999731841,8.63705740194e-05,-0.000724196907743,-6.63122196025e-05,1793245024943258880
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,652.797472996,628,880,784,806.202527004,652,630,652,0.452962767672,0.00459973326194,0.059532199449,0.999999737669,8.79716695001e-05,-0.000716011994923,-6.51966212979e-05,1793245024959925248
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,652.218919484,628,880,784,806.781080516,652,630,652,0.452818527263,0.00460046903472,0.059537014975,0.999999741934,9.34323945348e-05,-0.00070943139666,-6.4104548348e-05,1793245024976591872
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,745,713.357084797,681.642915203,652.357084797,628,880.357084797,784,806.642915203,652,630,652,0.452654111733,0.00460252570354,0.0595391684152,0.999999743705,9.9700954824e-05,-0.000706186821004,-6.28525663486e-05,1793245024993258496
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,745,713.931537344,681.068462656,652.931537344,628,880.931537344,784,806.068462656,652,630,652,0.452477415016,0.00460538643971,0.0595397013679,0.999999743948,0.000106461268111,-0.000704972977275,-6.15032430218e-05,1793245025009925120
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,653,628,880.48199035,784,806.51800965,652,630,652,0.452271097402,0.00460697160058,0.0595428949987,0.999999746161,0.000110853727682,-0.000701285158951,-5.99057661258e-05,1793245025026592000
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,745,713.895417478,681.104582522,653,628,880.104582522,784,807,652,630,652,0.452052777807,0.00460795438552,0.0595457848751,0.999999747944,0.000114898139703,-0.000698231173466,-5.81665851399e-05,1793245025043258624
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,745,713.315775085,681.684224915,653,628,880.684224915,784,807,652,630,652,0.451798145222,0.00460698489828,0.0595456596817,0.999999746673,0.000118816879492,-0.000699576869443,-5.59362394323e-05,1793245025059925504
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,745,713,681.414823415,653,628.414823415,880.414823415,784,807,652,630,652,0.450911584898,0.00461161069802,0.0595462946363,0.999999742474,0.000138896880013,-0.000702375856142,-4.92719204598e-05,1793245025109925120
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,745,713.24066708,679.75933292,660,634,879,785.24066708,805,653,630.75933292,652,0.407275512285,0.00455035526079,0.0598344763861,0.999999947685,0.000168608829779,-0.000273976321312,3.3746944881e-05,1793245026109925376
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,713.816922669,679.183077331,660,634,879,785.816922669,805,653,630.183077331,652,0.406750343335,0.00454808357955,0.0598191172793,0.999999942378,0.000159480866269,-0.000297813081494,3.34340420347e-05,1793245026126591744
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,660.392506674,634,878.607493326,786,805,652.607493326,630.392506674,652,0.406271873057,0.00454783733837,0.0598208655226,0.999999944702,0.00015315814834,-0.000293350833444,3.29087818448e-05,1793245026143258112
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,660.967778017,634,878.032221983,786,805,652.032221983,630.967778017,652,0.405815147249,0.00454853421186,0.0598305795379,0.999999950497,0.000148141648859,-0.000275711591525,3.22846407088e-05,1793245026159924736
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745.556101524,714,679.556101524,661,634,878.556101524,786,805.556101524,652.556101524,630.443898476,652,0.405374798595,0.00454582367122,0.059827363279,0.999999950556,0.000143135092496,-0.00027810310608,3.25444083199e-05,1793245026176591616
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745.857902358,714,679.857902358,660.715804715,633.857902358,879,786,805.857902358,653,630,652,0.40494019403,0.00454390170525,0.0598183495639,0.99999994742,0.000139303609125,-0.000290998246639,3.27927752394e-05,1793245026193258496
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745.281388933,714,679.281388933,659.562777866,633.281388933,879,786,805.281388933,653,630,652,0.404520179201,0.00454500863752,0.0597939575948,0.999999934556,0.000139062711456,-0.000332371161684,3.28459494428e-05,1793245026209925376
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.295829565,659.295829565,633,879,785.704170435,805,653,630,652,0.404134228845,0.00454479522925,0.0597755836231,0.999999923933,0.000140193156474,-0.000362458016243,3.32227434304e-05,1793245026226592000
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.873720286,659.873720286,633,879,785.126279714,805,653,630,652,0.403780757569,0.00454332293125,0.0597629475624,0.999999916374,0.000142631119712,-0.00038178408051,3.39080954166e-05,1793245026243258624
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,745.458603571,713.541396429,680,660,633.458603571,879,785,805,653,630,652,0.403490949281,0.00454039196889,0.0597760049273,0.999999926644,0.000140653303774,-0.000354561053811,3.48650959483e-05,1793245026259925248
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745.954871332,713.045128668,679.954871332,660,634,879,785.045128668,805,653,630,652,0.403221057456,0.00453729353013,0.059796159558,0.999999940107,0.000138298939726,-0.000315225955567,3.59578086918e-05,1793245026276591616
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745.372080629,713.627919371,679.372080629,660,634,879,785.627919371,805,653,630,652,0.402976363448,0.00453705916518,0.0598152759613,0.999999947517,0.000146169088775,-0.000286661220057,3.7762426463e-05,1793245026293258240
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,634,879,786,805,653,630,652,0.402741015941,0.00453704128596,0.0598304213682,0.999999951304,0.00016066774678,-0.000264626430641,3.93711314455e-05,1793245026309924864
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,634,879,786,805,653,630,652,0.402522172899,0.0045374056862,0.0598385546233,0.999999949425,0.000186871299489,-0.000254122493517,4.06338853534e-05,1793245026326591744
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633.648175356,878.648175356,785.648175356,805.351824644,653,630,652,0.402315325741,0.00453666154933,0.0598392093638,0.999999940709,0.000227285984638,-0.000255372475408,4.13322068263e-05,1793245026343258624
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633.071806754,878.071806754,785.071806754,805.928193246,653,630,652,0.402116134658,0.00453520991426,0.0598350911156,0.99999992595,0.000276770599223,-0.000264124123331,4.16702923808e-05,1793245026359925248
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.482321498,745,713.482321498,679,660,633.517678502,878.517678502,785,805.482321498,653,630.517678502,652,0.401939552273,0.00453285977727,0.0598307733929,0.999999922389,0.000277563542809,-0.00027634894695,4.25604906253e-05,1793245026376592384
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.106575356,745,713,679,660,634,879,785.106575356,805.106575356,652.893424644,630.893424644,652,0.401773919516,0.00453053479319,0.05982690286,0.999999920943,0.00027148643583,-0.000287289935129,4.32753143307e-05,1793245026393259008
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.684611701,745,713,679,660,634,879,785.684611701,805.684611701,652.315388299,630.315388299,652,0.40164249132,0.00452888674254,0.0598251361564,0.999999921634,0.00026567257404,-0.000290364995172,4.2866737849e-05,1793245026409925376
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,660,633.738417898,879,785.738417898,805.738417898,652.261582102,630,652,0.401525338385,0.00452702786302,0.0598248811015,0.999999931111,0.000228618512447,-0.00029040460109,3.43057978688e-05,1793245026426591744
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,660,633.162727517,879,785.162727517,805.162727517,652.837272483,630,652,0.401425327218,0.00452491581991,0.0598264412373,0.99999994688,0.000154051159628,-0.000286799226574,1.59554843668e-05,1793245026443258368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.58656494,745,713.41343506,679,660.41343506,633.41343506,878.58656494,785,805,653,630,652,0.401343675514,0.00451950126451,0.0598300838316,0.999999951992,0.000130175204863,-0.00028091641777,1.24661965077e-05,1793245026459924992
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.01021631,745,713.98978369,679,660.98978369,633.98978369,878.01021631,785,805,653,630,652,0.401269258337,0.00451278535832,0.0598345470161,0.999999954342,0.000126274134365,-0.000274136189312,1.48328777574e-05,1793245026476591872
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.582255451,745,713.417744549,679,660.417744549,633.417744549,878,785.582255451,805,653,630,652.582255451,0.40120499655,0.00451754404882,0.0598336058148,0.999999952976,0.000132722086842,-0.000276094075545,1.4287096243e-05,1793245026493258496
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,713.17025326,679.17025326,660.17025326,633.17025326,878.17025326,785.82974674,805,653,630,652.82974674,0.401145643165,0.00451974455196,0.059832193622,0.999999951676,0.00013611743916,-0.000279127213758,1.43899636646e-05,1793245026509925376
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,713.746877803,679.746877803,660.746877803,633.746877803,878.746877803,785.253122197,805,653,630,652.253122197,0.401097568054,0.00451534476683,0.0598298900193,0.999999950759,0.000131780888786,-0.000284350455786,1.61665157031e-05,1793245026526592000
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745.322231184,714,680,660.677768816,633.677768816,879,785.322231184,805,653,630,652,0.401060177212,0.00451501874436,0.0598282157005,0.99999994985,0.000131706072928,-0.000287539909083,1.65445492349e-05,1793245026543258624
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,745.896590014,714,680,660.103409986,633.103409986,879,785.896590014,805,653,630,652,0.4010311462,0.00451788020993,0.0598270337605,0.999999948966,0.000134965822428,-0.00028913803848,1.5828321456e-05,1793245026559924992
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,745.515935101,714,679.515935101,660.484064899,633.484064899,878.515935101,785.515935101,805,653,630,652,0.401014622689,0.00451742931345,0.0598298106996,0.999999950165,0.000135853345773,-0.000284516029412,1.62546321215e-05,1793245026576591872
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,660.92722262,634,878,785,805,653,630,652,0.401001198643,0.00451631131788,0.0598331366056,0.999999951678,0.000135948938782,-0.000279065710361,1.68785851063e-05,1793245026593258496
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,660.349896249,634,878,785,805,653,630,652,0.400990222505,0.00451561083135,0.0598342418369,0.999999952394,0.000134165461219,-0.00027734172108,1.71334796478e-05,1793245026609925120
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,634,878,785.227345779,805.227345779,653,630,652,0.400980447102,0.00451543433512,0.0598344361177,0.999999952404,0.000133990780661,-0.000277382212119,1.72742633582e-05,1793245026626591744
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,634,878,785.804458012,805.804458012,653,630,652,0.400972519004,0.00451606398643,0.0598332289212,0.999999951325,0.000136291198837,-0.000280137317225,1.72394900622e-05,1793245026643258880
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.612406874,745,714,679,660,634,878,786,806,652.612406874,630,652,0.40097176284,0.00451507583212,0.0598350295862,0.999999952228,0.000136261138417,-0.000276881560398,1.76971107968e-05,1793245026659925504
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.026185253,745,714,679,660,634,878,786,806,652.026185253,630,652,0.400974682052,0.00451325860661,0.0598383716795,0.999999954116,0.000135036785702,-0.000270545438069,1.84070669799e-05,1793245026676592384
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.553474493,745,714,679,660,634,878,785.446525507,806,652.553474493,630,652,0.400971621576,0.00451557033812,0.0598372326443,0.999999953359,0.000136431505362,-0.000272667317357,1.79120684742e-05,1793245026693258752
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.867275341,745.132724659,714,679,660,634,878,785.132724659,806,653,630,652,0.400968916399,0.00451707351014,0.0598363375893,0.999999952768,0.000137529191799,-0.000274301704968,1.75499317737e-05,1793245026709925120
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.288370778,745.711629222,714,679,660,634,878,785.711629222,806,653,630,652,0.400968345521,0.00451520955877,0.0598369670682,0.999999953171,0.000137216675273,-0.00027296785969,1.78238316328e-05,1793245026726592000
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.287992069,745.712007931,714,679,660.287992069,634,878.287992069,786,805.712007931,653,630,652,0.400967902778,0.00451501685085,0.0598375186023,0.9999999534,0.000137357550752,-0.000272054133571,1.78676279371e-05,1793245026743258624
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.86183219,745.13816781,714,679,660.86183219,634,878.86183219,786,805.13816781,653,630,652,0.400967587216,0.00451648294422,0.0598379927717,0.999999953457,0.000137948442827,-0.000271557398787,1.76830337724e-05,1793245026759925504
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.554368602,745.445631398,713.554368602,679,660.554368602,634,878.554368602,785.554368602,805.445631398,653,630,652,0.40096778007,0.00451579158757,0.0598388376414,0.999999953833,0.000136749168116,-0.000270774708017,1.7739299445e-05,1793245026776592384
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.032326378,745.967673622,713.032326378,679,660,634,878,785,805.967673622,653,630,652,0.400968137249,0.00451452590306,0.0598397921745,0.999999954292,0.000135171489993,-0.000269863927751,1.78621508347e-05,1793245026793259264
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.614554535,745.385445465,713.614554535,679,660,634,878,785,805.385445465,653,630,652,0.400968546952,0.00451512936759,0.059840612333,0.999999954485,0.000136814399571,-0.000268316899079,1.78182978089e-05,1793245026809926144
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,713.805622033,679,660,634,878.194377967,785.194377967,805.194377967,653,630,652,0.400968825497,0.00451585205576,0.0598409753249,0.999999954605,0.000137926298539,-0.000267312711864,1.76090733806e-05,1793245026826593024
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,713.230508856,679,660,634,878.769491144,785.769491144,805.769491144,653,630,652,0.400968847138,0.00451680827159,0.0598404428478,0.999999954589,0.000137998087571,-0.000267371808091,1.70759299606e-05,1793245026843259136
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,713.343078876,679.343078876,660,633.656921124,879,786,805.656921124,653,630.343078876,652,0.400968848147,0.00451618813082,0.059840213159,0.999999954795,0.000136401365022,-0.000267411512146,1.72228741575e-05,1793245026859925504
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,713.9156462,679.9156462,660,633.0843538,879,786,805.0843538,653,630.9156462,652,0.400968835355,0.00451451355137,0.059840186008,0.999999955143,0.000133688560534,-0.000267438244604,1.78247349078e-05,1793245026876592128
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,713.492547998,679.492547998,660.507452002,633.507452002,878.492547998,785.492547998,805.507452002,653,630.492547998,652,0.400968153163,0.00451450547048,0.059839914304,0.999999954864,0.000134336137559,-0.000268140392292,1.80431733055e-05,1793245026893258496
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,745.099220991,713.099220991,679,660.900779009,634,878,785,805.900779009,653,630,652,0.400967487422,0.00451475338484,0.0598397801548,0.999999954535,0.000135593904814,-0.000268728547674,1.81579978707e-05,1793245026909925120
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745.674852632,713.674852632,679,660.325147368,634,878,785,805.325147368,653,630,652,0.400967456004,0.00451484792306,0.0598405093596,0.999999954485,0.000136993708383,-0.000268209037871,1.80934095745e-05,1793245026926591744
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745.749053003,714,679,660,634,878,785,805,652.749053003,630,652.250946997,0.400967706497,0.00451522913408,0.0598409278105,0.999999954527,0.000137786983894,-0.000267652052115,1.79755737748e-05,1793245026943258624
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745.172357909,714,679,660,634,878,785,805,652.172357909,630,652.827642091,0.400968322932,0.00451598246801,0.0598409428794,0.999999954691,0.000137792940507,-0.000267046419681,1.77886186972e-05,1793245026959925760
+403,6.716666667,POSE2_TO_POSE3_RETREAT,763.586975721,745,714,679,660,634,878,785,805.413024279,652.413024279,630.413024279,652.586975721,0.400968444715,0.00451521312155,0.0598413375111,0.999999955148,0.000135418413569,-0.000266537923673,1.79892755523e-05,1793245026976592384
+404,6.733333333,POSE2_TO_POSE3_RETREAT,763,745.002074837,714,679,660.002074837,634,878.002074837,785,806,653,630.997925163,652,0.400968349487,0.00451380109043,0.0598418879403,0.999999955714,0.000132046162453,-0.00026608028494,1.83533330952e-05,1793245026993259008
+405,6.750000000,POSE2_TO_POSE3_RETREAT,763,745.581479713,714,679,660.581479713,634,878.581479713,785,806,653,630.418520287,652,0.400966541647,0.00451416775043,0.0598407689346,0.999999954956,0.000133407220173,-0.000268252317399,1.82088328334e-05,1793245027009925376
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ea38b3d19b991bae81d7e5d0e75f42b60f7c947
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+1,0.016666667,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+2,0.033333333,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+3,0.050000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+4,0.066666667,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+5,0.083333333,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
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+363,6.050000000,pose2_to_pose3_retreat,0.577199441446,0.00987785813355,1.05005082848,0.547771074595,0.0185535438191,1.049717322
+364,6.066666667,pose2_to_pose3_retreat,0.57700839791,0.0098778133569,1.05005090022,0.547580030034,0.0185534953986,1.04971738939
+365,6.083333333,pose2_to_pose3_retreat,0.576829267195,0.00987768452565,1.05005090751,0.547400901551,0.0185533742423,1.04971739937
+366,6.100000000,pose2_to_pose3_retreat,0.576662349953,0.00987781070655,1.05005101965,0.547233983712,0.0185534984539,1.04971751295
+367,6.116666667,pose2_to_pose3_retreat,0.576510743963,0.00987802418111,1.05005112292,0.547082376165,0.0185537066477,1.04971761623
+368,6.133333333,pose2_to_pose3_retreat,0.576374597857,0.00987792995509,1.05005100492,0.546946230733,0.0185536148035,1.04971750072
+369,6.150000000,pose2_to_pose3_retreat,0.57625578979,0.0098778000581,1.05005099764,0.546827423981,0.0185534892626,1.04971749074
+370,6.166666667,pose2_to_pose3_retreat,0.576153520861,0.00987781579475,1.05005093272,0.546725154487,0.0185535029339,1.04971742198
+371,6.183333333,pose2_to_pose3_retreat,0.576067073814,0.00987783594191,1.05005092182,0.546638706665,0.0185535201911,1.04971740593
+372,6.200000000,pose2_to_pose3_retreat,0.575992274428,0.00987781027389,1.0500510062,0.546563907403,0.0185534950437,1.04971749317
+373,6.216666667,pose2_to_pose3_retreat,0.575927520959,0.0098777755835,1.05005104348,0.546499154435,0.0185534623967,1.04971753808
+374,6.233333333,pose2_to_pose3_retreat,0.575871812057,0.00987778782578,1.05005086692,0.546443445303,0.0185534738823,1.04971736209
+375,6.250000000,pose2_to_pose3_retreat,0.575823695789,0.00987777493682,1.05005083665,0.546395329963,0.0185534644664,1.04971734021
+376,6.266666667,pose2_to_pose3_retreat,0.575783770442,0.00987761829962,1.05005102092,0.546355406024,0.0185533120121,1.04971750904
+377,6.283333333,pose2_to_pose3_retreat,0.575751940145,0.00987770247692,1.05005081739,0.546323574033,0.0185533905204,1.04971730745
+378,6.300000000,pose2_to_pose3_retreat,0.575728045821,0.00987773929757,1.05005084669,0.546299680392,0.0185534298436,1.04971734172
+379,6.316666667,pose2_to_pose3_retreat,0.575710454765,0.00987773009794,1.05005083748,0.546282089414,0.0185534207147,1.04971732741
+380,6.333333333,pose2_to_pose3_retreat,0.575697545976,0.00987773493555,1.05005092361,0.546269180192,0.0185534238294,1.04971740707
+381,6.350000000,pose2_to_pose3_retreat,0.575688207357,0.00987777968385,1.05005116581,0.546259841232,0.0185534673856,1.04971764836
+382,6.366666667,pose2_to_pose3_retreat,0.575681556903,0.00987787542707,1.05005103319,0.54625319056,0.0185535628006,1.04971752631
+383,6.383333333,pose2_to_pose3_retreat,0.57567756481,0.00987781713559,1.0500509962,0.546249198819,0.0185535058181,1.04971749228
+384,6.400000000,pose2_to_pose3_retreat,0.57567483044,0.0098777128704,1.05005099455,0.546246464959,0.0185534032866,1.04971749077
+385,6.416666667,pose2_to_pose3_retreat,0.575673250309,0.00987774196045,1.05005105218,0.546244884253,0.018553430327,1.04971754584
+386,6.433333333,pose2_to_pose3_retreat,0.575672692422,0.00987776393651,1.0500510802,0.546244326049,0.0185534511797,1.04971757261
+387,6.450000000,pose2_to_pose3_retreat,0.575672176431,0.0098777842622,1.05005110612,0.546243809765,0.0185534704663,1.04971759737
+388,6.466666667,pose2_to_pose3_retreat,0.575671262486,0.00987780198736,1.05005114008,0.54624289557,0.0185534872765,1.04971762955
+389,6.483333333,pose2_to_pose3_retreat,0.575670817812,0.009877782987,1.05005113855,0.546242451182,0.0185534692298,1.04971762754
+390,6.500000000,pose2_to_pose3_retreat,0.575670727621,0.00987777913326,1.05005113824,0.54624236105,0.0185534655695,1.04971762713
+391,6.516666667,pose2_to_pose3_retreat,0.575670704304,0.00987777813697,1.05005113816,0.546242337748,0.0185534646232,1.04971762703
+392,6.533333333,pose2_to_pose3_retreat,0.575670597494,0.00987777357313,1.05005113779,0.546242231007,0.0185534602884,1.04971762655
+393,6.550000000,pose2_to_pose3_retreat,0.575670451652,0.00987776734147,1.05005113729,0.546242085259,0.0185534543695,1.04971762589
+394,6.566666667,pose2_to_pose3_retreat,0.575670328016,0.00987776205868,1.05005113686,0.546241961703,0.0185534493519,1.04971762533
+395,6.583333333,pose2_to_pose3_retreat,0.575670247207,0.0098777586058,1.05005113658,0.546241880945,0.0185534460723,1.04971762496
+396,6.600000000,pose2_to_pose3_retreat,0.575670201624,0.00987775665809,1.05005113643,0.546241835392,0.0185534442224,1.04971762476
+397,6.616666667,pose2_to_pose3_retreat,0.575670053166,0.00987776549634,1.05005110723,0.546241686688,0.01855345227,1.04971759666
+398,6.633333333,pose2_to_pose3_retreat,0.575669907837,0.00987779634999,1.05005103668,0.54624154062,0.0185534807279,1.04971752905
+399,6.650000000,pose2_to_pose3_retreat,0.575669788571,0.00987782167039,1.05005097879,0.546241420747,0.0185535040822,1.04971747356
+400,6.666666667,pose2_to_pose3_retreat,0.575669735039,0.0098778330353,1.0500509528,0.546241366942,0.0185535145646,1.04971744865
+401,6.683333333,pose2_to_pose3_retreat,0.575669704581,0.00987783950157,1.05005093802,0.546241336329,0.0185535205288,1.04971743448
+402,6.700000000,pose2_to_pose3_retreat,0.575669614522,0.00987785862112,1.0500508943,0.546241245813,0.0185535381637,1.04971739258
+403,6.716666667,pose2_to_pose3_retreat,0.575669519502,0.00987787835409,1.05005084866,0.54624115032,0.0185535563656,1.04971734884
+404,6.733333333,pose2_to_pose3_retreat,0.575669486798,0.0098778071665,1.05005091828,0.546241119323,0.0185534909031,1.04971741666
+405,6.750000000,pose2_to_pose3_retreat,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e89584cfd9344358a5e12be2c1d2849b1a75dc4e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:720e3bdbfe1e6394972e743059b47dd65808df2e2a0f34ada3d7e53f83dd67dd
+size 25930760
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e1e361182f2776ab4a7232be5209a31773e714f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
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+34,0.566666667,BASELINE,763.801735957,745.801735957,714,679,660,634,879,785,805.801735957,653,630,652,0.400968522703,0.00451535983505,0.0598429270183,0.999999955571,0.000138437440377,-0.000263364580799,1.82335555088e-05,1793245027705771520
+35,0.583333333,BASELINE,764.385487576,746,714,679,660.385487576,634,879,785,805.614512424,653,630,652.385487576,0.400969371907,0.0045148567928,0.0598433485508,0.999999955803,0.000138084154192,-0.000262667179356,1.82405721283e-05,1793245027722437888
+36,0.600000000,BASELINE,764.965661589,746,714,679,660.965661589,634,879,785,805.034338411,653,630,652.965661589,0.400971081752,0.0045144035969,0.0598445418313,0.999999956463,0.00013687436838,-0.000260787294537,1.81759998929e-05,1793245027739104256
+37,0.616666667,BASELINE,764.459229233,746,714,679,661,634,878.459229233,785.540770767,805.540770767,653,630,652.459229233,0.400969870635,0.00451485252633,0.0598442173273,0.999999956214,0.000136802731739,-0.000261782873212,1.80836630419e-05,1793245027755771136
+38,0.633333333,BASELINE,764,746,714,679.115677158,661,634,878,786,805.884322842,653,630,652,0.400968563239,0.00451546063651,0.0598438160884,0.99999995588,0.000137221789295,-0.000262844365686,1.79824409908e-05,1793245027772437760
+39,0.650000000,BASELINE,764,746,714,679.691044064,661,634,878,786,805.308955936,653,630,652,0.400967603475,0.00451647578662,0.0598434893549,0.999999955435,0.000139306283394,-0.000263448935046,1.78528510761e-05,1793245027789104384
+40,0.666666667,BASELINE,764,746,714,679.726417484,660.726417484,634,878.273582516,786,805.273582516,653,630,652,0.400968008971,0.0045167799417,0.0598437180868,0.999999955659,0.000139301616785,-0.000262602066934,1.77962679844e-05,1793245027805771264
+41,0.683333333,BASELINE,764,746,714,679.13556225,660.13556225,634,878.86443775,786,805.86443775,653,630,652,0.400969997756,0.0045162595582,0.0598445909899,0.999999956655,0.000136874157449,-0.000260071971663,1.78243506661e-05,1793245027822438400
+42,0.700000000,BASELINE,764,745.553315084,714,679,660.446684916,634,879,786,805.553315084,653,630,652,0.400968999103,0.00451649006024,0.0598438409805,0.99999995622,0.000137034221914,-0.000261656928466,1.78399551321e-05,1793245027839104768
+43,0.716666667,BASELINE,764,745.026221397,714,679,660.973778603,634,878.973778603,785.973778603,805.026221397,653,630.026221397,652,0.400967236601,0.00451685407103,0.0598427219863,0.999999955427,0.000137856623213,-0.00026423741674,1.78656703022e-05,1793245027855771136
+44,0.733333333,BASELINE,764,745.602659735,714,679,660.397340265,634,878.397340265,785.397340265,805.602659735,653,630.602659735,652,0.400968110744,0.00451532819404,0.059844,0.999999956209,0.000136410888883,-0.000261997697678,1.81815047186e-05,1793245027872437760
+45,0.750000000,BASELINE,764,745.822033484,713.822033484,679,660.177966516,634,878,785.177966516,805.822033484,653,631,652,0.400968665346,0.00451438849994,0.059844699082,0.999999956624,0.000135775859881,-0.000260731128718,1.83289360341e-05,1793245027889104384
+46,0.766666667,BASELINE,764,745.249237207,713.249237207,679,660.750762793,634,878,785.750762793,805.249237207,653,631,652,0.400968511029,0.00451474928916,0.0598441137678,0.999999956236,0.00013693943115,-0.000261623553942,1.81027545786e-05,1793245027905771008
+47,0.783333333,BASELINE,764,745,713.334225859,679,661,634,878,785.665774141,805,653,631,652,0.400968467422,0.00451398768455,0.05984424514,0.999999956378,0.00013561973439,-0.000261762456077,1.82373330933e-05,1793245027922437632
+48,0.800000000,BASELINE,764,745,713.925905604,679,661,634,878,785.074094396,805,653,631,652,0.400968509096,0.00451236150101,0.0598449285751,0.999999956919,0.000132387178559,-0.000261320920128,1.86498046734e-05,1793245027939104256
+49,0.816666667,BASELINE,764,745,714,679,660.493053663,634,878.506946337,785,805,653,630.493053663,652,0.400968969034,0.00451298988781,0.0598449371265,0.999999956593,0.000134639488191,-0.000261397836019,1.89068654551e-05,1793245027955771392
+50,0.833333333,BASELINE,764,745,714,679,660.085660725,634,879,785,805,653,630.085660725,652,0.400969507046,0.00451390080904,0.0598449330118,0.999999956269,0.000137076693746,-0.00026136145679,1.90159235563e-05,1793245027972438272
+51,0.850000000,BASELINE,764,745,714,679,660.659794436,634,879,785,805,653,630.659794436,652,0.400970148822,0.00451458240078,0.0598454075933,0.999999956704,0.000136090830283,-0.000260255797546,1.84078745332e-05,1793245027989105152
+52,0.866666667,BASELINE,764,745,713.760873101,679,661,634,879,785.239126899,805.239126899,653,630.760873101,652,0.400970702857,0.00451465947245,0.0598457195234,0.999999956974,0.000135428123809,-0.000259572781559,1.8228209598e-05,1793245028005771776
+53,0.883333333,BASELINE,764,745,713.173980041,679,661,634,879,785.826019959,805.826019959,653,630.173980041,652,0.400971129288,0.00451385738065,0.0598457949069,0.99999995701,0.00013523538989,-0.000259504422642,1.86715506866e-05,1793245028022437888
+54,0.900000000,BASELINE,764,745,713,679,661,634,878.591820999,785.591820999,805.591820999,652.591820999,630.408179001,652,0.400970510185,0.00451430683157,0.0598454723227,0.999999956783,0.000135529844739,-0.000260230184383,1.86174073682e-05,1793245028039104768
+55,0.916666667,BASELINE,764,745,713,679,661,634,878.011656639,785.011656639,805.011656639,652.011656639,630.988343361,652,0.400969450549,0.00451528361738,0.0598449820557,0.999999956443,0.00013602957555,-0.000261290547184,1.83536500368e-05,1793245028055771392
+56,0.933333333,BASELINE,764,745.56631177,713.56631177,679,661,634,878.56631177,785,805.56631177,652.56631177,630.43368823,652,0.40097113963,0.00451556934655,0.0598457493989,0.999999956813,0.000137328003081,-0.000259191213147,1.8322482939e-05,1793245028072437760
+57,0.950000000,BASELINE,764,745.857001563,714,679,661,634,879,785,806,653,630,652,0.400971991393,0.0045158820099,0.0598459919334,0.999999957003,0.000138053088754,-0.000258077278754,1.81978404489e-05,1793245028089104640
+58,0.966666667,BASELINE,764,745.284033576,714,679,661,634,879,785,806,653,630,652,0.400970156041,0.00451631826389,0.0598445789324,0.999999956625,0.000137005001644,-0.000260121057101,1.77777954162e-05,1793245028105771520
+59,0.983333333,BASELINE,764,745,714,679,660.702400628,634,878.702400628,785,806,653,630,652,0.400968351189,0.00451664995744,0.0598435425663,0.999999956055,0.00013705901762,-0.000262276107581,1.77560334711e-05,1793245028122438144
+60,1.000000000,BASELINE,764,745,714,679,660.112249623,634,878.112249623,785,806,653,630,652,0.400966576321,0.00451687886411,0.0598428764467,0.999999955296,0.000138196443209,-0.000264540543091,1.8125799076e-05,1793245028139105024
+61,1.016666667,BASELINE,764,745.469996862,714,679,660.469996862,634,878.469996862,785,805.530003138,653,630,652,0.40096734188,0.00451554493887,0.0598431138785,0.99999995578,0.000137165268499,-0.000263223018258,1.84052755693e-05,1793245028155771392
+62,1.033333333,BASELINE,764,745.950198354,713.950198354,679,661,634,879,785,805.049801646,652.950198354,630,652,0.400968746447,0.00451388093563,0.0598436246085,0.999999956542,0.000135550476245,-0.000261139696381,1.86333511937e-05,1793245028172438016
+63,1.050000000,BASELINE,764,745.376547506,713.376547506,679,661,634,879,785,805.623452494,652.376547506,630,652,0.40097059606,0.00451260612804,0.0598447777342,0.999999957202,0.000133154604931,-0.000259850902856,1.85438277808e-05,1793245028189104640
+64,1.066666667,BASELINE,764,745,713.197691004,679,661,634,878.802308996,785.197691004,805.802308996,652.197691004,630,652,0.400970988057,0.00451258208919,0.059845309296,0.999999957302,0.00013275857289,-0.000259675627979,1.84385503816e-05,1793245028205771264
+65,1.083333333,BASELINE,764,745,713.773052156,679,661,634,878.226947844,785.773052156,805.226947844,652.773052156,630,652,0.400968595417,0.00451494752691,0.0598446534179,0.999999956335,0.000136183046617,-0.00026162762626,1.83031764722e-05,1793245028222437888
+66,1.100000000,BASELINE,764,745.360063067,714,679.360063067,661,634,878,786,805,653,630,652.360063067,0.400969178513,0.00451480497615,0.0598453861712,0.999999956426,0.000137213274758,-0.000260725793684,1.85071532868e-05,1793245028239104512
+67,1.116666667,BASELINE,764,745.954662319,714,679.954662319,661,634,878,786,805,653,630,652.954662319,0.40097169993,0.00451302878355,0.0598470234448,0.999999957207,0.000136683950341,-0.000257965046118,1.89321747847e-05,1793245028255771392
+68,1.133333333,BASELINE,764,746,714,679.467216737,660.467216737,634,878.532783263,785.467216737,805,652.467216737,630,652.467216737,0.400970876432,0.00451373994112,0.0598461141238,0.999999957105,0.000135612926506,-0.000258927051645,1.88856126602e-05,1793245028272438272
+69,1.150000000,BASELINE,764,746,714,679,660.111138656,634,879,785,805,652.111138656,630,652,0.4009700625,0.00451458055037,0.0598453103151,0.999999956959,0.000135020173216,-0.000259804552242,1.87699309266e-05,1793245028289105152
+70,1.166666667,BASELINE,764,746,714,679,660.696295103,634,879,785,805,652.696295103,630,652,0.400970466957,0.00451509760182,0.0598458530661,0.999999956947,0.000136658000829,-0.000259011019255,1.85254699971e-05,1793245028305771520
+71,1.183333333,BASELINE,764,746,714,679,661,634,879,785,805.278434916,653,630.278434916,652.278434916,0.400971209017,0.00451515486474,0.0598465567451,0.9999999571,0.000137594766034,-0.000257927640446,1.84802531514e-05,1793245028322437888
+72,1.200000000,BASELINE,764,746,714,679,661,634,879,785,805.857319653,653,630.857319653,652.857319653,0.400972315371,0.00451471598527,0.0598474340762,0.999999957431,0.000137775038407,-0.00025653149859,1.86500339135e-05,1793245028339104512
+73,1.216666667,BASELINE,764,746,713.56363797,679,661,634,878.56363797,785,805.56363797,653,630.56363797,652.56363797,0.400971643337,0.00451510921535,0.05984644886,0.999999957119,0.000137992133107,-0.00025764161239,1.84431455647e-05,1793245028355771136
+74,1.233333333,BASELINE,764,746,713.01532229,679,661,634,878.01532229,785.01532229,805.01532229,652.98467771,630,652.01532229,0.400970409637,0.00451570408118,0.0598448986766,0.999999956612,0.000138180813021,-0.000259524971338,1.81322847283e-05,1793245028372437760
+75,1.250000000,BASELINE,764,746,713.589408874,679,661,634,878.589408874,785.589408874,805.589408874,652.410591126,630,652.589408874,0.400969906571,0.004513726418,0.0598449626396,0.999999956734,0.000136894051426,-0.000259711179291,1.85228430933e-05,1793245028389104384
+76,1.266666667,BASELINE,764,746,714,679,661,634,879,785.836161035,805.836161035,652.163838965,630,652.836161035,0.400969488891,0.00451297981525,0.0598450008579,0.999999956774,0.000136362148709,-0.000259821385641,1.87022573516e-05,1793245028405771008
+77,1.283333333,BASELINE,764,746,714,679,661,634,879,785.260868321,805.260868321,652.739131679,630,652.260868321,0.400969285647,0.00451532481193,0.0598449744225,0.999999956615,0.000137725946008,-0.000259740726852,1.83514190037e-05,1793245028422437632
+78,1.300000000,BASELINE,764,745.676424891,713.676424891,679,661,634,878.676424891,785,805,653,630,652,0.400969259043,0.00451577279708,0.0598451139054,0.999999956708,0.000137270980992,-0.00025963592555,1.8165446345e-05,1793245028439104256
+79,1.316666667,BASELINE,764,745.084389421,713.084389421,679,661,634,878.084389421,785,805,653,630,652,0.400969378992,0.00451464688973,0.0598453910454,0.999999957009,0.000135307044498,-0.000259511093945,1.81162577184e-05,1793245028455770880
+80,1.333333333,BASELINE,764,745,713,679,660.505448638,633.505448638,878.494551362,785,805,653,630,652,0.400969236855,0.00451463943025,0.0598451194515,0.999999956902,0.000134992174086,-0.000260082269321,1.81543109706e-05,1793245028472437504
+81,1.350000000,BASELINE,764,745,713,679,660.071287317,633.071287317,878.928712683,785,805,653,630,652,0.400969153584,0.00451483898577,0.0598448377901,0.999999956742,0.000135211017428,-0.000260581207584,1.8210361424e-05,1793245028489104384
+82,1.366666667,BASELINE,764,745,713,679,660.647824453,633.647824453,878.352175547,785,805,653,630,652,0.400969796321,0.00451518800173,0.0598451312961,0.999999956677,0.00013726962617,-0.000259748125018,1.82911784326e-05,1793245028505771008
+83,1.383333333,BASELINE,764,745,713,679,661,633.7711907,878,785.2288093,805.2288093,653,630,652,0.400969843359,0.00451577949796,0.0598452050582,0.999999956617,0.000138312133769,-0.000259434425327,1.81759607296e-05,1793245028522437376
+84,1.400000000,BASELINE,764,745,713,679,661,633.183224288,878,785.816775712,805.816775712,653,630,652,0.400968955344,0.0045167516104,0.059844933893,0.99999995657,0.000137759689245,-0.000259935989805,1.77530315049e-05,1793245028539104256
+85,1.416666667,BASELINE,764,745,713.398876548,679,660.601123452,633.398876548,878.398876548,786,806,653,630,652,0.400969887093,0.00451702279094,0.0598453102664,0.999999956547,0.000139533334731,-0.000259062405548,1.79575549999e-05,1793245028555770880
+86,1.433333333,BASELINE,764,745,713.978322039,679,660.021677961,633.978322039,878.978322039,786,806,653,630,652,0.400971642637,0.00451697666389,0.0598459797766,0.999999956526,0.000142359986792,-0.000257566299939,1.84461224815e-05,1793245028572437504
+87,1.450000000,BASELINE,764.553872414,745.553872414,714,679,660.553872414,634,878.446127586,786,805.446127586,653,630.553872414,652,0.400968481301,0.00451559317659,0.0598439709789,0.999999956168,0.000138357792938,-0.000261108578126,1.85050334544e-05,1793245028589104128
+88,1.466666667,BASELINE,764.87084475,746,714,679,661,634,878.12915525,785.87084475,805.12915525,652.87084475,630.87084475,652,0.4009662441,0.00451424485876,0.0598426266971,0.999999956029,0.00013465377766,-0.000263566887548,1.85182311204e-05,1793245028605771008
+89,1.483333333,BASELINE,764.295962797,746,714,679,661,634,878.704037203,785.295962797,805.704037203,652.295962797,630.295962797,652,0.40096785567,0.00451319729246,0.0598439349591,0.99999995678,0.00013289474881,-0.000261608528443,1.84312972172e-05,1793245028622437632
+90,1.500000000,BASELINE,764,745.713310043,714,679,660.713310043,634,879,785,806,652.286689957,630,652,0.400968957893,0.00451310659721,0.0598448232581,0.999999957189,0.000132457121197,-0.000260276933062,1.82496957017e-05,1793245028639104256
+91,1.516666667,BASELINE,764,745.122411684,714,679,660.122411684,634,879,785,806,652.877588316,630,652,0.400969519644,0.00451403124355,0.0598452659317,0.999999957239,0.000133421640336,-0.00025961040049,1.79676418304e-05,1793245028655770880
+92,1.533333333,BASELINE,764,745,714,679.458754898,660.458754898,634,878.541245102,785,806,653,630,652,0.400969928762,0.00451497394038,0.0598458878576,0.999999957176,0.000135386708487,-0.000258835197903,1.79653501067e-05,1793245028672437504
+93,1.550000000,BASELINE,764,745,713.962841094,679.962841094,661,634,878.037158906,785.037158906,806,653,630,652,0.400970223959,0.00451583843265,0.0598464253242,0.99999995707,0.000137402298226,-0.00025817842708,1.8037665466e-05,1793245028689104128
+94,1.566666667,BASELINE,764,745,713.387619586,679.387619586,661,634,878.612380414,785.612380414,806,653,630,652,0.40096944706,0.00451550222393,0.0598450616141,0.99999995683,0.000136363847691,-0.000259647709021,1.81318101935e-05,1793245028705770752
+95,1.583333333,BASELINE,763.812971829,745,713.187028171,679,661,634,879,785.812971829,806,652.812971829,630,652,0.400969443438,0.00451515733788,0.059844489138,0.999999956762,0.000136034057393,-0.000260072685565,1.82643163964e-05,1793245028722437632
+96,1.600000000,BASELINE,763.239509441,745,713.760490559,679,661,634,879,785.239509441,806,652.239509441,630,652,0.400971037543,0.00451479452278,0.0598455514951,0.999999957052,0.00013716848785,-0.000258339937492,1.84760844016e-05,1793245028739104256
+97,1.616666667,BASELINE,763.346951054,745,713.653048946,679,661,634,878.653048946,785,805.653048946,652.346951054,630,652,0.400971391712,0.00451479655395,0.0598458741729,0.999999957149,0.000137492182569,-0.000257787690213,1.85333760049e-05,1793245028755770880
+98,1.633333333,BASELINE,763.942733692,745,713.057266308,679,661,634,878.057266308,785,805.057266308,652.942733692,630,652,0.400970856604,0.00451506025109,0.0598456663565,0.999999957109,0.000137234421552,-0.000258082092382,1.84798778827e-05,1793245028772437248
+99,1.650000000,BASELINE,764,745,713,679,661,634,878,785,805,653,630,652,0.400970126442,0.00451458065565,0.0598450197402,0.999999956841,0.000137103255921,-0.000259196135705,1.83914888963e-05,1793245028789103872
+100,1.666666667,BASELINE,764,745,713.094726844,679,660.905273156,634,878.094726844,785,805.094726844,653,630,652,0.400969546526,0.00451425728248,0.0598444646709,0.999999956615,0.000136966689619,-0.000260144953484,1.83080562022e-05,1793245028805770752
+101,1.683333333,BASELINE,764,745,713.664670803,679,660.335329197,634,878.664670803,785,805.664670803,653,630,652,0.400969824413,0.00451511416393,0.0598446029573,0.99999995673,0.000136735493439,-0.000259827619245,1.82681014212e-05,1793245028822438656
+102,1.700000000,BASELINE,764,745.245878169,714,679.245878169,660.245878169,634,878.754121831,785,806,652.754121831,630,652,0.400969661246,0.00451538241758,0.0598447881175,0.999999956807,0.000136414914496,-0.000259693426105,1.8323382138e-05,1793245028839105536
+103,1.716666667,BASELINE,764,745.843183999,714,679.843183999,660.843183999,634,878.156816001,785,806,652.156816001,630,652,0.40096886769,0.00451480935983,0.0598450402735,0.999999956832,0.000135966582973,-0.000259820992095,1.85147806297e-05,1793245028855771392
+104,1.733333333,BASELINE,764,745.573830048,713.573830048,679.573830048,661,634,878.426169952,785,805.573830048,652.426169952,630.426169952,652,0.400969691995,0.0045147887378,0.0598456537583,0.999999956924,0.000136972947061,-0.000258936956736,1.85199920223e-05,1793245028872437760
+105,1.750000000,BASELINE,763.995986605,745,713,679,660.995986605,634,878.995986605,785,805.004013395,653,630.995986605,652,0.40097106818,0.00451496404034,0.0598463782087,0.999999957032,0.000138474278713,-0.000257720228484,1.84578283087e-05,1793245028889104128
+106,1.766666667,BASELINE,763.424453722,745,713,679,660.424453722,634,878.424453722,785,805.575546278,653,630.424453722,652,0.400969038812,0.00451503405378,0.059844604174,0.999999956585,0.00013673605504,-0.000260383832718,1.82412759574e-05,1793245028905771008
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,633,879,785,805,653,630,652,0.400969897524,0.00451662735427,0.0598442248133,0.999999956531,0.000138621253403,-0.000259631090981,1.77030083932e-05,1793245028946395904
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660.578654771,633.578654771,878.421345229,785,805.578654771,653,630,652,0.400970832536,0.00451512544932,0.0598458683151,0.999999957339,0.00013556922475,-0.000258077980428,1.83878732908e-05,1793245028963062528
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.844059588,745,714,679.155940412,660.844059588,634,878,785,805.844059588,653,630,652,0.400970985237,0.00451416241641,0.0598467516265,0.999999957669,0.000133882993499,-0.000257649392607,1.88378402921e-05,1793245028979729408
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.270440962,745,714,679.729559038,660.270440962,634,878,785,805.270440962,653,630,652,0.400969042559,0.00451464272368,0.059845598808,0.999999956737,0.000135854978294,-0.00026023277961,1.8658645749e-05,1793245028996396544
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.303162315,745,714,679.696837685,660.303162315,634,878,785,805,652.696837685,630,652,0.400969472106,0.0045142766811,0.0598455928527,0.999999956876,0.000135405439526,-0.000259939573843,1.85524012642e-05,1793245029013063424
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.876751867,745,714,679.123248133,660.876751867,634,878,785,805,652.123248133,630,652,0.40097201773,0.00451315567641,0.0598466099237,0.999999957966,0.000132795850086,-0.000257080385952,1.85112297943e-05,1793245029029729792
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745.468877126,714,679,661,634,878,785,805,652.468877126,630,652,0.400970863205,0.00451514244475,0.059845710646,0.999999957386,0.000135066596727,-0.000258179512141,1.8139193466e-05,1793245029046396416
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.9363677,713.9363677,679,660.9363677,634,878.0636323,785,805,653,630,652,0.400968968633,0.00451755181381,0.0598444838354,0.99999995645,0.000138224626403,-0.000260151528817,1.77565266705e-05,1793245029063063040
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745.361248768,713.361248768,679,660.361248768,634,878.638751232,785,805,653,630,652,0.40096926525,0.00451652144855,0.059844839962,0.999999956434,0.000137778721588,-0.000260432240979,1.8016266945e-05,1793245029079729664
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.785157128,745,713.214842872,679,660.214842872,634,879,785,805,652.785157128,630,652,0.400970597431,0.00451566772381,0.0598458256528,0.999999956698,0.000137271786112,-0.000259664901022,1.82649789664e-05,1793245029096396032
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.207422542,745,713.792577458,679,660.792577458,634,879,785,805,652.207422542,630,652,0.400973678786,0.00451511236317,0.0598478747423,0.999999957434,0.000136661763618,-0.000257127293192,1.84950631073e-05,1793245029113062912
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,745,713.632807705,679,660.632807705,634,879,785,805,652.367192295,630,652,0.400988975859,0.0045146452555,0.059854320868,0.999999960229,0.000136221099645,-0.00024624273582,1.87242913777e-05,1793245029129729792
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,745,713.059940275,679,660.059940275,634,879,785,805,652.940059725,630,652,0.401011115313,0.00451422758083,0.0598632299023,0.999999963982,0.000135875298247,-0.000230682807826,1.8953040268e-05,1793245029146396160
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.531678778,745,713.531678778,679,660.531678778,634,879.531678778,785,805,653,630.531678778,652,0.401062498905,0.00451343208564,0.0598820957917,0.999999971859,0.000134140297839,-0.000194766681944,1.88216109971e-05,1793245029163062784
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.122146214,661,633.877853786,879.755707572,785,805,652.877853786,630.877853786,652,0.401120706394,0.00451273488873,0.0599015089932,0.999999978258,0.000132747843768,-0.000159714259815,1.88148969444e-05,1793245029179729152
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679.700138156,661,633.299861844,878.599723687,785,805,652.299861844,630.299861844,652,0.401191626655,0.00451256931079,0.0599186224189,0.999999981583,0.000133239611989,-0.000136762783281,1.94306951523e-05,1793245029196396032
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.723433572,745,714,679.723433572,660.723433572,633,878,785,805.276566428,652.276566428,630,652,0.401268975568,0.00451220639224,0.059931740173,0.999999984367,0.000132115453643,-0.000115916814905,1.93680211193e-05,1793245029213062656
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.148691184,745,714,679.148691184,660.148691184,633,878,785,805.851308816,652.851308816,630,652,0.401353255429,0.00451163071385,0.0599405500524,0.999999986737,0.000129249108213,-9.73408700857e-05,1.85738623458e-05,1793245029229729280
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,745,714,678.562648893,660,633,878,785,805.562648893,653,630.437351107,652,0.401445941745,0.00451199130054,0.0599429035893,0.999999987347,0.000128426108892,-9.21750601059e-05,1.77760859437e-05,1793245029246395904
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,745,714,678.026838081,660.026838081,633.026838081,878,785,805,653,630.973161919,652,0.401543067324,0.00451259716677,0.0599431719944,0.999999987485,0.000128089478294,-9.13014332299e-05,1.69611509314e-05,1793245029263062784
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,745,714,678.606055636,660.606055636,633.606055636,878,785,805,653,630.393944364,652,0.401671177479,0.00451152611072,0.0599469006627,0.999999988901,0.000123085776221,-8.24434100676e-05,1.58190439504e-05,1793245029279729152
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.183909369,745,714,679,660.816090631,634,878.183909369,785,805,653,630,652,0.40180593601,0.00451116175891,0.0599490494747,0.999999989788,0.000119260567057,-7.74091305748e-05,1.44678458795e-05,1793245029296396032
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.758863148,745,714,679,660.241136852,634,878.758863148,785,805,653,630,652,0.401954830891,0.00451230006443,0.0599478390558,0.999999989724,0.000117941174679,-8.05052351052e-05,1.26720599403e-05,1793245029313062656
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679.333559909,660,634,878.666440091,785,805,652.666440091,630,652,0.402123547556,0.00451248923902,0.0599473416562,0.999999990197,0.000115560084813,-7.83072129144e-05,1.09695895622e-05,1793245029329729280
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679.908071069,660,634,878.091928931,785,805,652.091928931,630,652,0.402306582754,0.00451199279688,0.0599473593151,0.999999991026,0.000112412064097,-7.22849111355e-05,9.33452668318e-06,1793245029346395904
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745.497595052,714,679.502404948,660,634,878.497595052,785,805,652.497595052,630,652,0.4025216854,0.00451286555862,0.059949398736,0.999999991907,0.000109441642035,-6.45111791519e-05,6.78783522612e-06,1793245029363062528
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.912377641,745.912377641,714,679,660,634,878.912377641,785,805.087622359,652.912377641,630,652,0.402748867181,0.00451345252676,0.0599514659186,0.999999992793,0.000105731380941,-5.67183218706e-05,4.12805602156e-06,1793245029379729408
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.33550797,745.33550797,714,679,660,634,878.33550797,785,805.66449203,652.33550797,630,652,0.403009385788,0.00451098740198,0.0599515376861,0.999999993941,9.77012601331e-05,-5.06815636403e-05,1.80648416185e-06,1793245029396396032
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.240632114,745,714,678.759367886,660.240632114,634,878.240632114,785,806,652.240632114,630,652,0.403283841341,0.00450961023841,0.0599505239271,0.999999994671,9.07439258599e-05,-4.92272527304e-05,-6.71533113077e-07,1793245029413062656
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.815757992,745,714,678.184242008,660.815757992,634,878.815757992,785,806,652.815757992,630,652,0.403577670111,0.00450974540946,0.0599480012179,0.999999994892,8.52778327987e-05,-5.41428320324e-05,-3.3670192105e-06,1793245029429729280
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,678.400589255,661,634,879,785,806,652.599410745,630,652,0.403886300874,0.00451017189575,0.0599404772592,0.999999994644,7.95273667277e-05,-6.58864035481e-05,-6.77047510538e-06,1793245029446395904
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,678.989995107,661,634,879,785,806,652.010004893,630,652,0.404201908505,0.00451073569264,0.0599305959759,0.999999993965,7.36428623917e-05,-8.08483294692e-05,-1.05076304573e-05,1793245029463062528
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,879,785,806,652.569677585,630,652,0.404548744504,0.00451072325078,0.0599164201665,0.999999991644,6.76141824564e-05,-0.000109294462599,-1.39347570779e-05,1793245029479729152
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660.852386351,634,879,785.147613649,806,652.852386351,630,652,0.404912893451,0.00451057829789,0.059904969413,0.999999989275,6.06410970722e-05,-0.000132168709952,-1.74132703144e-05,1793245029496395776
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660.27900337,634,879,785.72099663,806,652.27900337,630,652,0.405325423572,0.00451007983705,0.0599015925681,0.999999988917,5.09511984696e-05,-0.000138300093937,-2.10554411991e-05,1793245029513062656
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.697750772,745,713.697750772,679,660.302249228,634,879,785.697750772,805.697750772,652.302249228,630,652,0.40577755355,0.00450847772384,0.0599106624524,0.999999991119,4.11020012603e-05,-0.000124380465215,-2.4525322277e-05,1793245029529729280
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.109039538,745,713.109039538,679,660.890960462,634,879,785.109039538,805.109039538,652.890960462,630,652,0.406267215036,0.00450582960469,0.059931528942,0.999999994947,3.11018248368e-05,-9.14571381788e-05,-2.78319130752e-05,1793245029546395904
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.470306687,745,713,679,661,634,879,785,805,652.529693313,630,652,0.406807724166,0.00450523212766,0.0599633529376,0.99999999862,2.33465754504e-05,-3.53080025557e-05,-3.11300969047e-05,1793245029563063296
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745.047501203,713.047501203,679,661,634,879,785,805,652.047501203,630,652,0.407358579051,0.00450496327102,0.0599953015542,0.999999999065,1.55849832442e-05,2.09995315823e-05,-3.44447411057e-05,1793245029579730688
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745.624441525,713.624441525,679,661,634,879,785,805,652.624441525,630,652,0.407895914571,0.00450316148709,0.0600008764106,0.999999999073,2.06476974523e-06,2.0225880797e-05,-3.79641534321e-05,1793245029596396800
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745.799269035,713.799269035,679,660.799269035,634,879,785.200730965,805,652.799269035,630,652,0.408441614886,0.00450148419122,0.0599988759841,0.999999999072,-9.35910224536e-06,6.52076833731e-06,-4.1536619858e-05,1793245029613063168
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.224193463,713.224193463,679,660.224193463,634,879,785.775806537,805,652.224193463,630,652,0.409002914734,0.00450003905413,0.059982748358,0.999999998346,-1.68734911872e-05,-3.13003191993e-05,-4.52080270128e-05,1793245029629729792
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.350709983,679.350709983,660.350709983,634,879,786,805.350709983,652,630,652,0.40961564582,0.00449742469178,0.0599753636384,0.999999997157,-2.79481719331e-05,-4.9780325264e-05,-4.92653960295e-05,1793245029646396416
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.925503426,679.925503426,660.925503426,634,879,786,805.925503426,652,630,652,0.410261238481,0.00449406326195,0.0599735651327,0.99999999615,-4.12976736152e-05,-5.59024938291e-05,-5.35693723072e-05,1793245029663062784
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.519021224,714,680,661,634,879,785.480978776,806,652.519021224,630.519021224,652,0.410952214889,0.00447620028102,0.0599856200215,0.99999999579,-7.01907486462e-05,-2.25123367215e-05,-5.46481005644e-05,1793245029679729408
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745.888967732,713.888967732,679.888967732,661,633.888967732,879,785.111032268,806,652.888967732,630.888967732,652,0.411646545952,0.00445772954256,0.0599945497191,0.999999993557,-9.90031180046e-05,4.01588901032e-06,-5.53990377067e-05,1793245029696396032
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745.314868986,713.314868986,679.314868986,661,633.314868986,879,785.685131014,806,652.314868986,630.314868986,652,0.412326683579,0.00444572981431,0.0599818424449,0.999999991191,-0.000117826086724,-2.26117556048e-05,-5.67858333355e-05,1793245029713062912
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745.261731568,713,679.261731568,660.738268432,633.261731568,879,786,806,652,630,652,0.413006003415,0.00445047444951,0.0599568198678,0.999999994502,-6.15611038666e-05,-7.17444882098e-05,-4.53808366226e-05,1793245029729729792
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745.841370978,713,679.841370978,660.158629022,633.841370978,879,786,806,652,630,652,0.413684330027,0.00447555734224,0.0599168387135,0.999999985156,8.59081944973e-05,-0.000148212649517,-1.84385038903e-05,1793245029746396672
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.573411374,713.426588626,680,660.426588626,634,879,785.573411374,806,652,630,652,0.414461549192,0.00447669043551,0.0599192137943,0.999999983668,0.000108350017231,-0.00014386934838,-1.50312705962e-05,1793245029763063040
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.013721159,714,680,661.013721159,634,879,785,806,652.013721159,630,651.986278841,0.415277445667,0.00446888973264,0.0599382957333,0.999999990464,8.38570611471e-05,-0.00010779501889,-2.0480572599e-05,1793245029779729664
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745.593149784,714,680,661.593149784,634,879,785,806,652.593149784,630,651.406850216,0.416151740806,0.0044648016946,0.0599882087626,0.999999997286,6.65085293198e-05,-1.88344336606e-05,-2.54738913061e-05,1793245029796396288
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,746,714,680,662,634,879.171417549,785.171417549,806,652.828582451,630,651.171417549,0.417009638609,0.00446414445535,0.0600225768092,0.999999997027,5.85239553769e-05,4.05292023413e-05,-2.96514283489e-05,1793245029813062912
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,746,714,680,662,634,879.746948575,785.746948575,806,652.253051425,630,651.746948575,0.417828879963,0.00447157525658,0.0600202978639,0.999999996401,7.26147288407e-05,3.01186110062e-05,-3.190577639e-05,1793245029829729536
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745.678643994,714,679.678643994,661.678643994,633.678643994,879.678643994,785.678643994,806,652,630,652,0.418664216044,0.00447107096964,0.0600071012084,0.999999996594,7.47159606357e-05,9.62444819335e-06,-3.37109946037e-05,1793245029846396416
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745.10511828,714,679.10511828,661.10511828,633.10511828,879.10511828,785.10511828,806,652,630,652,0.419512181702,0.00446433997792,0.0599853373696,0.999999996933,6.7408936823e-05,-1.87823444462e-05,-3.51637782131e-05,1793245029863063296
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745.483740208,713.516259792,679.483740208,661,633.483740208,879,785,806,652.483740208,630.483740208,652,0.420356084756,0.00446732152826,0.059954197249,0.999999994495,7.32103774901e-05,-6.51773300665e-05,-3.7445374355e-05,1793245029879729920
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,746,713.074412599,679.925587401,661,633.925587401,879.074412599,785,805.925587401,652.925587401,630.925587401,652,0.421197982838,0.00447171474421,0.0599205862899,0.999999990041,6.49645152306e-05,-0.00011890680623,-3.94905791061e-05,1793245029896396544
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,746,713.654038281,679.345961719,661,633.345961719,879.654038281,785,805.345961719,652.345961719,630.345961719,652,0.422032457989,0.00447089382265,0.0598844860484,0.999999978516,-5.86259814431e-05,-0.000195025127382,-3.86680265294e-05,1793245029913063168
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745.768774895,714,679,661,633,880,785,805.231225105,652,630,651.768774895,0.422928711377,0.00446820682984,0.0598857907615,0.99999997098,-0.000132934412424,-0.000197117200211,-3.89035364767e-05,1793245029929729792
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745.195198949,714,679,661,633,880,785,805.804801051,652,630,651.195198949,0.423916433464,0.00446275694028,0.0599424770756,0.999999986142,-0.000134276059467,-8.96063597987e-05,-4.07056095293e-05,1793245029946396416
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745.38029726,714,679.38029726,661.760594519,633,880,785,806,652,630,651.38029726,0.424891344839,0.00446271610017,0.0599934954646,0.999999990973,-0.000127663512943,-5.14637934677e-06,-4.15903090477e-05,1793245029963063040
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745.956784068,714,679.956784068,662.913568136,633,880,785,806,652,630,651.956784068,0.425859647303,0.00446546570639,0.0600415898543,0.999999990007,-0.000116947519308,6.74220078653e-05,-4.20017494408e-05,1793245029979729408
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745.45276842,713.45276842,679.45276842,661.905536841,633,880,785.54723158,806,652,630.54723158,652,0.426799236588,0.0044625616809,0.0600329921216,0.999999990326,-0.000113946758772,6.67851757542e-05,-4.36395364637e-05,1793245029996396032
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.134847777,713.134847777,679.134847777,661.134847777,633,879.865152223,786,805.865152223,652,630.865152223,651.865152223,0.427726066022,0.00446000289321,0.0600166357804,0.999999991586,-0.000109983657182,5.18461883918e-05,-4.52013225998e-05,1793245030013063168
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.709538579,713.709538579,679.709538579,661.709538579,633,879.290461421,786,805.290461421,652,630.290461421,651.290461421,0.428618865471,0.00446006462987,0.0599899581578,0.999999993802,-0.000100842232199,9.60728801884e-06,-4.61910480354e-05,1793245030029730048
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.285070194,745.714929806,714,680,661.714929806,633.285070194,879.285070194,786,805.285070194,652,630.285070194,651.285070194,0.42948521298,0.0044604838841,0.0599568720244,0.999999993895,-8.8298155318e-05,-4.76575495507e-05,-4.62869510377e-05,1793245030046396928
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.861461021,745.138538979,714,680,661.138538979,633.861461021,879.861461021,786,805.861461021,652,630.861461021,651.861461021,0.43032452851,0.00446126849481,0.0599172368691,0.999999989121,-7.22768204263e-05,-0.000120277779805,-4.54694334995e-05,1793245030063063296
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.44816451,634,880,785.55183549,806,652,631,651.55183549,0.431277485862,0.0044582957378,0.0599301559743,0.99999999212,-7.43024148605e-05,-8.92592671524e-05,-4.76640239671e-05,1793245030079729664
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,880,785.037438315,805.962561685,652,630.962561685,651.037438315,0.43226390693,0.00445427355524,0.0599605532937,0.999999995104,-8.11762757764e-05,-2.54368331772e-05,-5.05520877597e-05,1793245030096396288
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,880,785.616687027,805.383312973,652,630.383312973,651.616687027,0.433214244408,0.00445226919664,0.060003247906,0.999999995166,-7.55767669423e-05,3.85591142563e-05,-4.96835454485e-05,1793245030113062912
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.804759315,745.195240685,714,680,661.804759315,633.804759315,880.195240685,786,805.195240685,652,630.195240685,652,0.434138114487,0.00444945477262,0.0600234863149,0.999999993899,-7.24325358308e-05,6.72489110411e-05,-4.93247876958e-05,1793245030129729280
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.227565303,745.772434697,714,680,661.227565303,633.227565303,880.772434697,786,805.772434697,652,630.772434697,652,0.43501020602,0.00444505560073,0.0599997932035,0.999999995646,-7.40916139686e-05,2.68685777622e-05,-4.9963331983e-05,1793245030146395904
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.354059249,745.645940751,713.645940751,680,661,633,881.354059249,786,806,652,631,651.645940751,0.43584482615,0.0044428563752,0.0599703570537,0.999999995674,-7.34240053717e-05,-2.65574264241e-05,-5.05550157583e-05,1793245030163062784
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.938567502,745.061432498,713.061432498,680,661,633,881.938567502,786,806,652,631,651.061432498,0.436655056955,0.00444208904431,0.0599371828939,0.999999992242,-7.12420097322e-05,-8.84745546394e-05,-5.11161989494e-05,1793245030179729664
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.481079685,745,713,680,661.518920315,633,880.962159371,786,806,652,631,651,0.437474984847,0.00444271848885,0.0599125860272,0.999999987362,-6.39788512748e-05,-0.000135957536159,-5.19368268877e-05,1793245030196396288
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,713.098237994,680.098237994,661.803524012,633,880,785.901762006,806,652,631,651.098237994,0.43829913467,0.00444229968411,0.0598947613541,0.999999982272,-5.85193992016e-05,-0.000171063018747,-5.26248267397e-05,1793245030213062400
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,713.674891312,680.674891312,660.650217376,633,880,785.325108688,806,652,631,651.674891312,0.439138298859,0.00443597705721,0.0599050112139,0.999999984644,-6.47501083478e-05,-0.000154146180032,-5.25185433908e-05,1793245030229729024
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.251550078,745,714,681,660.503100155,633,880.251550078,785.251550078,806.251550078,652,631,652,0.439984500191,0.00443349597543,0.059932620142,0.999999990343,-6.49791656277e-05,-0.000111054633888,-5.25248896306e-05,1793245030246395904
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.82821584,745,714,681,661.65643168,633,880.82821584,785.82821584,806.82821584,652,631,652,0.440839796608,0.00443597989589,0.0599826647823,0.99999999638,-5.74513922801e-05,-3.41336100579e-05,-5.26768036873e-05,1793245030263062528
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.412863951,713.587136049,681,661.174272099,633,880.587136049,786,807,652,631,651.587136049,0.441587120579,0.0044397436354,0.0599779236116,0.999999996466,-4.72845983291e-05,-4.48431086197e-05,-5.31148321209e-05,1793245030279729152
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,746,713.00088613,681,659.99911387,633,880.00088613,785.99911387,807,652,631,651,0.442288596729,0.00444404166592,0.0599498794687,0.999999993605,-3.60077359464e-05,-9.28031688184e-05,-5.36734728631e-05,1793245030296396032
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,713.580578926,681,659.419421074,633,880.580578926,785.419421074,807,652,631,651,0.442965861813,0.00444264777059,0.0598837472941,0.999999980631,-3.101626192e-05,-0.000186789584236,-5.37219585757e-05,1793245030313062656
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.84074288,745.84074288,714,681,659,632.84074288,880.84074288,785.15925712,806.84074288,652,631,651.15925712,0.443639661307,0.00444254582735,0.0598323711337,0.999999964155,-2.53999863617e-05,-0.000260992776663,-5.41127382215e-05,1793245030329729280
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.264719713,745.264719713,714,681,659,632.264719713,880.264719713,785.735280287,806.264719713,652,631,651.735280287,0.44430439171,0.00444582484268,0.059819610537,0.999999958136,-1.81486433007e-05,-0.000283424520146,-5.53992810193e-05,1793245030346395904
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680.691444726,658.691444726,632,880.308555274,785.691444726,806.308555274,652,631,652,0.444944244268,0.00445038055766,0.0598106484188,0.999999952266,-1.02196553015e-05,-0.000303743423751,-5.57019881168e-05,1793245030363062784
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680.120506715,658.120506715,632,880.879493285,785.120506715,806.879493285,652,631,652,0.445562941686,0.00445602192542,0.0598049163716,0.999999946549,-1.71442630151e-06,-0.000322265653714,-5.51680816463e-05,1793245030379730432
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745.469157366,714,680.469157366,658,631.530842634,880.530842634,785,806.530842634,652,631,652,0.446130474661,0.00448049194697,0.0597763919425,0.999999929337,2.4673776759e-05,-0.000370831181261,-5.65826190743e-05,1793245030396396800
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745.93796781,714,681,657.93796781,631,880,785,806.06203219,652,630.93796781,652,0.446687825324,0.00450981216831,0.0597451976152,0.999999908254,5.53673219563e-05,-0.000420649014361,-5.89907789583e-05,1793245030413063168
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745.360055348,714,681,657.360055348,631,880,785,806.639944652,652,630.360055348,652,0.447274333373,0.0045375760048,0.0597425107641,0.999999908784,8.20773283631e-05,-0.000414037502194,-6.53271018296e-05,1793245030429730048
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713.783544123,681,657,631,880.216455877,785,807,652,630.216455877,652,0.447843887784,0.00455729089697,0.0597462120807,0.999999911802,9.85239152323e-05,-0.000402084071602,-7.08282071724e-05,1793245030446396928
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713.209348798,681,657,631,880.790651202,785,807,652,630.790651202,652,0.448385422638,0.00456370319124,0.0597604712053,0.999999919693,9.80080123613e-05,-0.000381301983818,-7.49489370481e-05,1793245030463063808
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.625248576,745,713,681.374751424,656.625248576,630.625248576,880.625248576,785,807,652,631,652,0.448855599262,0.00457310582184,0.0597479437686,0.999999910468,0.000103285015249,-0.000402676228685,-7.90479986785e-05,1793245030479730432
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.035464873,745,713,681.964535127,656.035464873,630.035464873,880.035464873,785,807,652,631,652,0.449284830602,0.00458422430734,0.0597200462105,0.999999889826,0.000111885985892,-0.000448239764757,-8.31346273378e-05,1793245030496396800
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.544916947,745,713.544916947,681.455083053,656,630,880.544916947,785,807,652,630.455083053,651.455083053,0.449687105513,0.00458183076128,0.0596820848648,0.999999868067,2.65128373652e-05,-0.000506048205019,-8.41381005427e-05,1793245030513063424
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,745,714,681,656,630,881,785,807,652,630.123829965,651.123829965,0.450085875471,0.00457934458574,0.0596486876632,0.99999984119,-4.47678287429e-05,-0.000555342553637,-8.49141486716e-05,1793245030529730048
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,745,714,681,656,630,881,785,807,652,630.699578014,651.699578014,0.450478148312,0.00457967531419,0.0596342971362,0.999999832575,-4.26756909137e-05,-0.000570705624536,-8.55801045063e-05,1793245030546396416
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,745,713.719504669,681,655.719504669,629.719504669,881,785,806.719504669,652,631,652,0.450853858716,0.00458206294645,0.0596321816725,0.999999835703,-7.03153371674e-06,-0.000568103441472,-7.6181870903e-05,1793245030563063040
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,745,713.13294694,681,655.13294694,629.13294694,881,785,806.13294694,652,631,652,0.451211496998,0.0045866949687,0.0596434601415,0.999999847313,6.52228995279e-05,-0.000545898473419,-5.58020995623e-05,1793245030579729920
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745,713,681.447788297,655,629,881,785,806.895576593,652,631,652,0.451544427021,0.00458898007695,0.0596536899602,0.999999855109,7.82992748751e-05,-0.000529921605828,-5.3245061394e-05,1793245030596396800
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,745,713.02683092,682,655,629,880.97316908,785,807.97316908,652,630.97316908,652,0.451868203343,0.00459041611053,0.05966330751,0.999999862533,7.38068973212e-05,-0.000516102954472,-5.58964225288e-05,1793245030613063168
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745,713.606159491,682,655,629,880.393840509,785,807.393840509,652,630.393840509,652,0.452152606998,0.00458853218197,0.0596666461136,0.999999866601,6.46917165518e-05,-0.000509138229322,-5.82349319796e-05,1793245030629730560
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.815940976,745,713.815940976,681.815940976,654.815940976,629,880.184059024,784.815940976,806.815940976,652,630,652,0.452418827403,0.00458783921359,0.0596658000865,0.999999866945,5.81356501684e-05,-0.000508979387594,-6.05879442031e-05,1793245030646397440
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.241075743,745,713.241075743,681.241075743,654.241075743,629,880.758924257,784.241075743,806.241075743,652,630,652,0.452646439902,0.00458967497032,0.0596560689758,0.999999859486,5.70132646853e-05,-0.000523271245456,-6.29717493741e-05,1793245030663063296
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.333863396,745.333863396,713.333863396,681,654,629,880.666136604,784.333863396,806.333863396,652,630.333863396,652,0.452851176432,0.00459088502843,0.0596479121125,0.999999852453,5.56463252952e-05,-0.000536470195313,-6.47855961166e-05,1793245030679729664
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.908855973,745.908855973,713.908855973,681,654,629,880.091144027,784.908855973,806.908855973,652,630.908855973,652,0.453039391067,0.00459164318274,0.0596408922311,0.999999845712,5.41027594071e-05,-0.000548879805797,-6.6187796871e-05,1793245030696396288
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,746,713.501680332,681.498319668,654,628.501680332,880.498319668,785,807,652,631,652,0.453202173004,0.00459193375782,0.059637228808,0.999999840462,5.43135090042e-05,-0.000558250813539,-6.69452069115e-05,1793245030713062912
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.911830127,745.911830127,713.088169873,682,653.911830127,628,880.911830127,784.911830127,807,652.088169873,630.911830127,652,0.453355959449,0.00459206535219,0.0596337531546,0.999999835271,5.39862682923e-05,-0.000567428627483,-6.75954683204e-05,1793245030729729792
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.334946979,745.334946979,713.665053021,682,653.334946979,628,880.334946979,784.334946979,807,652.665053021,630.334946979,652,0.453486440121,0.00459180395021,0.0596278137168,0.999999829021,4.88452972587e-05,-0.000578708281286,-6.83250625148e-05,1793245030746396928
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.24144633,745,713.75855367,681.75855367,653.24144633,628,880.24144633,784.24144633,807,652.75855367,630.24144633,652,0.453608662161,0.00459240246958,0.0596227793732,0.999999824155,4.72965368388e-05,-0.000587089894896,-6.91237733904e-05,1793245030763063808
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.817161449,745,713.182838551,681.182838551,653.817161449,628,880.817161449,784.817161449,807,652.182838551,630.817161449,652,0.453719450585,0.00459419150143,0.0596189980814,0.99999982135,5.07209891951e-05,-0.000591459335145,-7.00181723692e-05,1793245030779730176
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745,713.402005435,681,654,628,881.402005435,784.597994565,807,652,630.597994565,652,0.453814559652,0.00459589839046,0.0596188880429,0.999999821947,5.28250239651e-05,-0.000590201799652,-7.05508841275e-05,1793245030796396544
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,745,713.991097836,681,654,628,881.991097836,784.008902164,807,652,630.008902164,652,0.453902371792,0.00459756705146,0.0596204865477,0.999999824122,5.43145571989e-05,-0.000586325558609,-7.09152723542e-05,1793245030813063168
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,745.570635939,714,681.570635939,654,628,880.858728122,784,807,652,630,652,0.45397437039,0.00459742256003,0.059625387631,0.999999827494,5.47062701956e-05,-0.000580535819987,-7.06970657322e-05,1793245030829729792
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745.851180872,714,682,653.851180872,628,880.148819128,784,807,652,630,652,0.454040619404,0.00459797368479,0.0596290962617,0.999999830208,5.56071585646e-05,-0.000575754301582,-7.06990917027e-05,1793245030846396160
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,745.27645587,714,682,653.27645587,628,880.72354413,784,807,652,630,652,0.454091108055,0.00460059521405,0.059629247186,0.999999831066,5.80134644072e-05,-0.000573942237354,-7.13569847007e-05,1793245030863063040
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,745.293629061,714,682,653,628,881,784.293629061,807,652,630,652,0.454131927235,0.00460201129304,0.0596284861379,0.999999830594,6.03843216892e-05,-0.000574502749161,-7.15034705006e-05,1793245030879729664
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,745.859413328,714,682,653,628,881,784.859413328,807,652,630,652,0.454163784101,0.00460231007976,0.0596268798124,0.999999828884,6.27223231339e-05,-0.000577262324153,-7.11759497132e-05,1793245030896396800
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,746,713.949093288,681.949093288,653,628,881.050906712,784.949093288,807.949093288,652,630,652,0.454205582004,0.00460025690867,0.0596238926217,0.999999825625,5.90079388008e-05,-0.000583290344042,-7.10012981467e-05,1793245030929730304
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,746,713.373389092,681.373389092,653,628,881.626610908,784.373389092,807.373389092,652,630,652,0.454217399089,0.00460031820859,0.0596227917488,0.999999824875,5.96554163036e-05,-0.000584579231755,-7.04138747629e-05,1793245030946396672
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,746,713,681.201766253,653,627.798233747,881.798233747,784.201766253,807,652,630,651.798233747,0.454227647628,0.00460212765131,0.0596219867077,0.999999823946,6.27484043761e-05,-0.000585862367964,-7.02524723884e-05,1793245030963063040
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,746,713,681.775908611,653,627.224091389,881.224091389,784.775908611,807,652,630,651.224091389,0.454235001284,0.00460716343442,0.0596217276485,0.99999982265,7.0354781995e-05,-0.0005871348892,-7.08773266308e-05,1793245030979729664
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,745.046732892,713.953267108,682,652.046732892,627.953267108,881,785,807,652,630,651,0.454241319577,0.0046072555735,0.059619077065,0.999999820091,7.22831087516e-05,-0.000591272263871,-7.06353989525e-05,1793245031013062656
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,745,713.466551895,681.466551895,652.533448105,627.466551895,881,784.466551895,807,652,630,651.533448105,0.454244558426,0.00460696301501,0.0596194916172,0.999999821054,7.274772331e-05,-0.000589669478282,-6.9928953666e-05,1793245031029729536
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745.111972984,713,681.111972984,653,627.111972984,881,784.111972984,807,652,630,652,0.454247033627,0.00460682094296,0.0596197052574,0.999999821691,7.3202523801e-05,-0.000588588881411,-6.94500396519e-05,1793245031046396416
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764,746,713,681.168709567,653,627.168709567,881,785,807,652.831290433,630.831290433,652,0.454246050894,0.0046105089857,0.0596170320615,0.999999818345,7.5499756436e-05,-0.000593793763684,-7.08449362808e-05,1793245031096396544
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745.984845683,713.984845683,682,653,627.984845683,880.984845683,784,807,652,630.984845683,652,0.454248993363,0.00460909110473,0.0596177561865,0.999999819229,7.69472018319e-05,-0.00059225070278,-6.9713956699e-05,1793245031129729536
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745.408478974,713.408478974,682,653,627.408478974,880.408478974,784,807,652,630.408478974,652,0.454249777098,0.0046082917368,0.059618020405,0.999999819745,7.52377245944e-05,-0.000591637372545,-6.93915329625e-05,1793245031146396160
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713,682,653,627,880.745706738,784.745706738,806.254293262,652,630.745706738,652,0.454247332417,0.00460937179003,0.0596159008812,0.999999817867,7.73651679174e-05,-0.000594510039408,-6.95610623662e-05,1793245031179729664
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,713,682,652.681526677,627,881,784.681526677,806.318473323,652,630.681526677,652,0.454247073056,0.00460952448994,0.0596154101171,0.999999817593,7.8596130027e-05,-0.00059480025841,-6.9638940888e-05,1793245031196396288
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,713,682,652.11247761,627,881,784.11247761,806.88752239,652,630.11247761,652,0.454248437656,0.00460879404735,0.0596159387787,0.999999818476,7.87611228931e-05,-0.000593303601954,-6.953556457e-05,1793245031213062912
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.520072361,745,713,682,652,627.479927639,881,784,807,652,630,652,0.454247927745,0.00460916396268,0.0596149053127,0.999999817552,7.90866761603e-05,-0.00059484221413,-6.93092848062e-05,1793245031229729536
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+247,4.116666667,HOLD_POSE2,764,745,713,681,652,627,880,784,807,652,630,652,0.45425024595,0.00461303608303,0.0596150037736,0.999999817208,8.12255241687e-05,-0.000595086672604,-6.97038578081e-05,1793245031302213376
+248,4.133333333,HOLD_POSE2,763.40839662,745,713,681.59160338,652,627,880.59160338,784.59160338,807.59160338,652,630.59160338,652,0.454250325161,0.00461142586008,0.0596152295334,0.999999817302,7.9963011115e-05,-0.000595159556246,-6.91943563938e-05,1793245031318880256
+249,4.150000000,HOLD_POSE2,763.17938983,745.17938983,713,681.82061017,652,627,880.82061017,784.82061017,807.82061017,652,630.82061017,652,0.454250175516,0.00461036414187,0.0596152154337,0.999999817279,7.94564436786e-05,-0.000595309925314,-6.88023990619e-05,1793245031335547392
+250,4.166666667,HOLD_POSE2,763.758667856,745.758667856,713,681.241332144,652,627,880.241332144,784.241332144,807.241332144,652,630.241332144,652,0.454249515713,0.0046105251268,0.0596146666493,0.999999817002,8.06349978767e-05,-0.000595633021622,-6.86724659101e-05,1793245031352214272
+251,4.183333333,HOLD_POSE2,764,745.666439517,713,681,652,627,880.333560483,784,807,652,630,652,0.454249653149,0.00461044802623,0.0596146627098,0.999999816946,8.10973820538e-05,-0.000595667024437,-6.86466669471e-05,1793245031368880640
+252,4.200000000,HOLD_POSE2,764,745.094678603,713,681,652,627,880.905321397,784,807,652,630,652,0.454250359903,0.00461020090531,0.0596150478521,0.999999817049,8.10483386453e-05,-0.000595494581329,-6.86952317431e-05,1793245031385547264
+253,4.216666667,HOLD_POSE2,764,745,713.482405675,681,652,627,880.517594325,784,807,652,630,652,0.454250986026,0.00461034498081,0.0596153952899,0.999999817098,8.1620019488e-05,-0.000595326681884,-6.87595804368e-05,1793245031402213888
+254,4.233333333,HOLD_POSE2,764,745,713.938108522,681,652,627,880.061891478,784,807,652,630,652,0.454251423212,0.0046104460524,0.0596156051772,0.999999817056,8.21662832225e-05,-0.000595320629932,-6.87750828648e-05,1793245031418880512
+255,4.250000000,HOLD_POSE2,764,745,713.347123936,681,652,627,880.652876064,784,807,652,630,652,0.454250382014,0.00460951582181,0.0596147031484,0.999999816328,8.14421901397e-05,-0.000596690458972,-6.83462343476e-05,1793245031435547136
+256,4.266666667,HOLD_POSE2,763.76132684,745.23867316,713,681.23867316,652,627,880.76132684,784,806.76132684,652,630,652,0.454250173018,0.00460908363767,0.0596143715774,0.999999816194,8.10306010742e-05,-0.000596985863858,-6.82174357988e-05,1793245031452213504
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+258,4.300000000,HOLD_POSE2,763.391147241,745.608852759,713.391147241,682,652,627,879.608852759,784,806.391147241,652,630,652,0.454251144709,0.00461045020434,0.0596148609339,0.999999816671,8.15459529834e-05,-0.000596072560604,-6.85945830549e-05,1793245031485547264
+259,4.316666667,HOLD_POSE2,763.963195846,745.036804154,713.963195846,682,652,627,879.036804154,784,806.963195846,652,630,652,0.454250687777,0.00461191603425,0.0596146517602,0.999999815996,8.22356528873e-05,-0.000597112261161,-6.85719201141e-05,1793245031502214144
+260,4.333333333,HOLD_POSE2,764,745,713.47981052,682.52018948,652.52018948,627,880.04037896,784,807,652,630,652,0.454252419678,0.00461128763782,0.0596156664017,0.999999817156,8.15596664524e-05,-0.000595237725595,-6.87667162392e-05,1793245031518881024
+261,4.350000000,HOLD_POSE2,763.915995829,745,713,682.915995829,652.915995829,627,881,784,807,652,630,651.915995829,0.454253927761,0.00461052074916,0.0596165306306,0.999999818178,8.08900943255e-05,-0.000593593884169,-6.88946096273e-05,1793245031535547648
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713.4958651,681,652,627.5041349,881,784.5041349,806.5041349,652,630,652,0.454253035934,0.00461022230088,0.0596157443951,0.999999817408,8.346423421e-05,-0.000594636847683,-6.80018949933e-05,1793245031718285056
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,745,713.571062934,680,659.857874131,633,879,785,806,652,630,651.428937066,0.427526616019,0.00457490119668,0.0597622631989,0.999999916837,0.000162385292652,-0.000373215133651,2.58278372217e-05,1793245032668285440
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,745,713.841372792,680,659.158627208,633,879,785,806,652.158627208,630,651.158627208,0.426594989342,0.0045728134469,0.0597474887356,0.999999915606,0.00015235503766,-0.000380715387332,2.51435475024e-05,1793245032684952576
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,660.316261019,633,879,785,805.683738981,653,630,651.683738981,0.424794101788,0.0045778549019,0.0598058880559,0.99999994194,0.000149868332778,-0.000304742757876,2.81314678833e-05,1793245032718285568
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,660.893056482,633,879,785,805.106943518,653,630,651.106943518,0.423889960755,0.00457599118513,0.0598330769987,0.999999950399,0.000144512038262,-0.000278059365144,3.16295298428e-05,1793245032734951680
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,745,713.466907329,680,660.066185342,633,879,785,805.466907329,652.533092671,630,651.466907329,0.423020410552,0.00457514044496,0.0598483447991,0.999999959614,0.000136213542838,-0.000247364579413,3.20753185685e-05,1793245032751618048
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,745.041322919,714,680,659.041322919,633,879.041322919,785,805.958677081,652,630,652,0.422151525289,0.00457495200298,0.0598576165953,0.999999966547,0.000128046295614,-0.000222479445949,3.18380632124e-05,1793245032768284672
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,745.632160656,714,680,659.632160656,633,879.632160656,785,805.367839344,652,630,652,0.421186784228,0.00458050478099,0.0598232358928,0.999999949794,0.000130529820745,-0.000286993105593,3.17562253125e-05,1793245032784951296
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,745.782643893,714,680,659.565287787,633,879.782643893,785,805,652,630,652,0.420241928191,0.00458230561557,0.0597828043437,0.999999927826,0.000127684421791,-0.00035644491025,3.14814703999e-05,1793245032801618176
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,745.206755393,714,680,658.413510786,633,879.206755393,785,805,652,630,652,0.419329872667,0.00457791755999,0.0597323918205,0.999999898593,0.000116048877413,-0.000434042275018,3.08884958017e-05,1793245032818285056
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,745,713.629141216,680,658.741717568,633,879,785,805,652,630,652,0.418481082139,0.00457564193467,0.0597329105395,0.999999903681,0.000105699701413,-0.000424872680513,3.07955640081e-05,1793245032834951936
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,745,713.535991459,680,660.535991459,633,879.535991459,785.535991459,805,652,630,651.464008541,0.416891309336,0.00457615999917,0.0598023020867,0.999999946365,9.20824419318e-05,-0.000312667059263,3.21085815679e-05,1793245032868284928
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.87832574,660.75665148,633.12167426,879.87832574,785.87832574,805.12167426,652.12167426,630,651.12167426,0.416109336529,0.0045764548129,0.0598357607447,0.999999955723,0.000117494219781,-0.000271368139757,3.33005622522e-05,1793245032884951552
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,659.27927935,633.72072065,879,785.27927935,805.72072065,652.72072065,630,652,0.414507071655,0.00456903496609,0.0598427360188,0.999999911689,0.000315309755141,-0.000275673972759,3.47081981141e-05,1793245032918284544
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,659.855775366,633.144224634,879,785.855775366,805.144224634,652.144224634,630,652,0.413753035013,0.00457133221773,0.05984627647,0.999999918545,0.000304388122031,-0.000262852419997,3.41647326924e-05,1793245032934951168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,745.429027922,713.570972078,679.429027922,660,633,879,785.570972078,805,652,630,652,0.412970357125,0.00457051807247,0.0598173210732,0.999999906637,0.00029360503163,-0.000315156999838,3.46261424768e-05,1793245032951618048
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,745.405800358,713,679.405800358,658.811600715,633,879,785,805,652,630,651.405800358,0.4114788069,0.0045683941489,0.0597499014021,0.999999873268,0.000273273422901,-0.000421466956527,3.39401984473e-05,1793245032984951552
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,745,713.182483425,679.182483425,658.36496685,633,879,785,805.182483425,652.182483425,630,651.182483425,0.410802252098,0.00456793897656,0.0597434216734,0.999999875473,0.000261335549321,-0.000423891372695,3.27622300841e-05,1793245033001618432
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,745,713.7606331,679.7606331,659.5212662,633,879,785,805.7606331,652.7606331,630,651.7606331,0.410175470434,0.00456709311323,0.059782838956,0.999999904329,0.000244322394165,-0.000361400460742,3.22344961955e-05,1793245033018285824
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.662652213,660,633,879,785.337347787,806,652.662652213,630,652,0.409576367663,0.00456382934527,0.0598206308892,0.999999927949,0.000229380837884,-0.000300654579225,3.30591025326e-05,1793245033034952192
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.086951452,660,633,879,785.913048548,806,652.086951452,630,652,0.408996821442,0.00455885720758,0.0598572744299,0.999999947011,0.000215902969983,-0.000241141651974,3.4839204439e-05,1793245033051618560
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,713.501156097,679,660,633,879.498843903,785.501156097,805.501156097,652,630,652,0.408426855555,0.00455822143991,0.0598596728058,0.999999949581,0.000206717143597,-0.000238562165136,3.45568631756e-05,1793245033068285184
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.085205747,660,633.085205747,879.914794253,785,805,652.085205747,630,652,0.407859668747,0.00455795348657,0.0598533691189,0.999999948564,0.000198278732984,-0.000249805558794,3.39666384279e-05,1793245033084952064
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.664439467,660,633.664439467,879.335560533,785,805,652.664439467,630,652,0.407298712993,0.00455534513461,0.0598319345774,0.999999941536,0.000189746600242,-0.0002824674346,3.37187171138e-05,1793245033101618688
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,659.756616189,633.756616189,879,785.243383811,805,653,630,652,0.406766732257,0.00455322003172,0.0598217361131,0.999999939315,0.000181018402366,-0.000295790457095,3.3327728857e-05,1793245033118285056
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,659.178070388,633.178070388,879,785.821929612,805,653,630,652,0.406274652843,0.00455176040767,0.0598270107669,0.999999944771,0.000172020205593,-0.000282482089852,3.27397242609e-05,1793245033134951936
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745.396861588,713,679.603138412,659.396861588,633.396861588,879,786,805,653,630,652,0.405820286751,0.00454985430919,0.0598317469884,0.999999948833,0.000164485017387,-0.000272383991552,3.29408578618e-05,1793245033151618560
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745.970186737,713,679.029813263,659.970186737,633.970186737,879,786,805,653,630,652,0.405382689756,0.00454774968678,0.0598362437979,0.999999952248,0.000157600351674,-0.000263713330536,3.34928798317e-05,1793245033168284928
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,746,713.558844507,679.558844507,660,633.441155493,879,785.441155493,805,653,630,652,0.404963514042,0.00454737893859,0.0598202217532,0.999999946847,0.000153195402385,-0.000285874992985,3.33475933389e-05,1793245033184951296
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.27456731,745.27456731,713.27456731,679.27456731,660,633.72543269,879,785.72543269,805,652.27456731,630,652,0.40415024995,0.00454627731213,0.0597762464521,0.999999923391,0.000148047048471,-0.000360787972251,3.36610431718e-05,1793245033218284800
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.302890319,745,713,679,660,633.697109681,879,785.697109681,805,652.302890319,630.302890319,652,0.403798535198,0.00454460638162,0.0597685639037,0.999999919797,0.000146596279275,-0.00037112631127,3.43740233203e-05,1793245033234951936
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.878433528,745,713,679,660,633.121566472,879,785.121566472,805,652.878433528,630.878433528,652,0.403490048104,0.00454207525621,0.0597763633761,0.999999927669,0.000145244633553,-0.000349732086735,3.54045956313e-05,1793245033251618560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,713.449769712,679,660,633.449769712,879,785,805,653,630.550230288,652,0.40323090162,0.00453994476799,0.0597961437352,0.999999938857,0.000143059472048,-0.000316956940867,3.68548587245e-05,1793245033268285696
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633.979126491,878.979126491,785,805.020873509,653,630,652,0.402985837121,0.00453796054089,0.059818889367,0.99999994975,0.00014069256955,-0.000281480155117,3.83987723082e-05,1793245033284952320
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633.383396879,878.383396879,785,805.616603121,653,630,652,0.402764718374,0.00453704976574,0.0598349432176,0.999999956849,0.0001394674485,-0.000255531037133,3.9426730234e-05,1793245033301618688
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633.205483852,878,785,806,653,630,652,0.402545126944,0.00453653951388,0.0598445958013,0.999999960227,0.000139735123359,-0.000241643860039,4.03499275893e-05,1793245033318284800
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,633.781997895,878,785,806,653,630,652,0.402328293325,0.00453675246364,0.0598426899893,0.99999995784,0.000142698252871,-0.000249536228192,4.10839648279e-05,1793245033334951424
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,634,878,785.35844061,805.64155939,653,630,652,0.402126557627,0.0045347846355,0.059836955903,0.999999954226,0.000142127801759,-0.000263781632428,4.20270100275e-05,1793245033351618048
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,660,634,878,785.934840009,805.065159991,653,630,652,0.401934002576,0.00453149073078,0.0598288939384,0.999999949623,0.000139408668724,-0.000281890160022,4.30971478116e-05,1793245033368284928
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.477911882,745,714,679,660.522088118,634,878,785.477911882,805.522088118,653,630,652,0.401789627422,0.0045301081456,0.0598284796936,0.999999949756,0.000134898640097,-0.000283614821873,4.30420548624e-05,1793245033384951552
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763,745,714,679,660.891065248,634,878,785,805.891065248,653,630,652,0.401655389402,0.00452907099991,0.0598288191253,0.999999951415,0.000123330640285,-0.000283382352934,4.06687585259e-05,1793245033401618176
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763,745,714,679,660.311919814,634,878,785,805.311919814,653,630,652,0.401538401423,0.00452847340749,0.05982820435,0.99999995595,8.22825711523e-05,-0.000283715656747,2.89081165597e-05,1793245033418285824
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.266589569,745,713.733410431,679,660,634,878,785,805,652.733410431,630,652,0.401436436031,0.00452434416502,0.0598302634492,0.999999959439,4.35450454716e-05,-0.000280741005291,2.0238967915e-05,1793245033434952704
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.844356485,745,713.155643515,679,660,634,878,785,805,652.155643515,630,652,0.401352005796,0.00451609259514,0.0598354436351,0.999999962345,7.50450998536e-06,-0.000273905134878,1.51783733629e-05,1793245033451618560
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745.418073872,713.418073872,679,660,634,878.418073872,785,805,652.418073872,630,652,0.40127650288,0.0045149750804,0.0598357036682,0.999999962462,1.62415652457e-06,-0.000273635095121,1.40766914289e-05,1793245033468284928
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745.990298121,713.990298121,679,660,634,878.990298121,785,805,652.990298121,630,652,0.401204291607,0.00451648800358,0.0598341495638,0.999999961843,6.86433482383e-06,-0.000275785980079,1.44347226296e-05,1793245033484951552
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,660.674856478,634,878,785.325143522,805,652.325143522,630.674856478,652,0.401038855771,0.0045152990469,0.0598309314819,0.999999959726,1.43171240058e-05,-0.000282946380464,1.68359172066e-05,1793245033551618816
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,660.097623044,634,878,785.902376956,805,652.902376956,630.097623044,652,0.40101597251,0.00451546596653,0.0598312543127,0.999999959577,1.74533086947e-05,-0.000283270419307,1.73228021821e-05,1793245033568286464
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b70d0983544086848e3ae19c82f52e71ee93d955
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..30ee73544f711f7dbe0ffdd4c25fba6ba7422420
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f04a4cdbe13e0a5da1d83c29681545ce3dbebe8469da81c2ec2520d8a309c10
+size 25650997
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f5db00f6eb4131df93c7aba4d02246d34ae2d210
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,745,713,679,663,633,878,786,805,653,631,652,0.400932684095,0.0045608058806,0.049928516594,0.999999972111,8.81124184922e-05,-0.000217808047306,-2.39642565182e-05,1793245035237267200
+1,0.016666667,BASELINE,763.407528249,745,713,679,663,633.592471751,878.592471751,785.407528249,805.592471751,653,630.407528249,652,0.400932380607,0.00455872296864,0.0499283653754,0.999999972298,8.65914754422e-05,-0.000217588430707,-2.36919137292e-05,1793245035253934080
+2,0.033333333,BASELINE,763,745.180701141,713,679,662.819298859,634,878.819298859,785.180701141,806,653,630.180701141,652,0.400932365915,0.00455802451844,0.0499280560703,0.999999972381,8.58669304222e-05,-0.000217504271909,-2.35795877952e-05,1793245035270600704
+3,0.050000000,BASELINE,763,745.75958248,713,679,662.24041752,634,878.24041752,785.75958248,806,653,630.75958248,652,0.400932987598,0.00456037676945,0.0499273984173,0.99999997224,8.68972712397e-05,-0.000217718598257,-2.38198635842e-05,1793245035287267328
+4,0.066666667,BASELINE,763.335426936,745.664573064,713,679,662.335426936,634,878.335426936,786,806,653,630.664573064,652,0.40093324417,0.00456052296653,0.0499274404649,0.999999972309,8.66908932455e-05,-0.000217485091027,-2.37926292626e-05,1793245035303934208
+5,0.083333333,BASELINE,763.9091142,745.0908858,713,679,662.9091142,634,878.9091142,786,806,653,630.0908858,652,0.400933241396,0.00455910216012,0.0499279795236,0.999999972528,8.56060495772e-05,-0.000216933478815,-2.35753772516e-05,1793245035320600832
+6,0.100000000,BASELINE,764,745,713.486499549,679,663,634,879,786,806,653,630.486499549,652,0.400932474818,0.00455836174708,0.0499278739843,0.999999972391,8.54573031634e-05,-0.000217647834601,-2.33463809177e-05,1793245035337267456
+7,0.116666667,BASELINE,764,745.065894994,713.934105006,679,663,634,878.934105006,786,805.934105006,653,631,652,0.400931939757,0.0045579810987,0.0499278845786,0.999999972258,8.5787430918e-05,-0.000218149008508,-2.31423296197e-05,1793245035353933824
+8,0.133333333,BASELINE,764,745.655737961,713.344262039,679,663,634,878.344262039,786,805.344262039,653,631,652,0.400934388819,0.00455944261976,0.0499297834138,0.999999972688,8.85240613122e-05,-0.000215060220321,-2.31542015638e-05,1793245035370600448
+9,0.150000000,BASELINE,764,745.759673138,713,679,663,634,878,785.759673138,805.240326862,653,630.759673138,652,0.400934577224,0.0045598577424,0.0499299464828,0.999999972699,8.9106496845e-05,-0.000214760935219,-2.32185874269e-05,1793245035387267072
+10,0.166666667,BASELINE,764,745.18244958,713,679,663,634,878,785.18244958,805.81755042,653,630.18244958,652,0.400931596576,0.0045588059953,0.0499276763077,0.999999972128,8.66691235193e-05,-0.000218372051259,-2.33565887214e-05,1793245035403933696
+11,0.183333333,BASELINE,764,745,713,679.390737139,662.609262861,634,878.781474279,785,806,653,630,652.390737139,0.400931345661,0.0045586682831,0.0499272540825,0.999999972128,8.50984314832e-05,-0.0002189847387,-2.34135447329e-05,1793245035420600320
+12,0.200000000,BASELINE,764,745,713,679.962058235,662.037941765,634,879.924116471,785,806,653,630,652.962058235,0.400932356325,0.00455895300323,0.0499276859098,0.999999972395,8.3928286612e-05,-0.00021821166594,-2.34330446858e-05,1793245035437266944
+13,0.216666667,BASELINE,764,745,713,679.446517218,663.106965564,634,879.446517218,785,806,653,630,652.446517218,0.400933664337,0.00455886889381,0.0499283977513,0.999999972775,8.35210444166e-05,-0.000216611149349,-2.35396141167e-05,1793245035453933824
+14,0.233333333,BASELINE,764,745,713,679,663.857030248,634,878.857030248,785,806,653,630,652,0.40093468017,0.00455862639857,0.0499288172633,0.999999973017,8.35635252307e-05,-0.000215468801101,-2.35707776128e-05,1793245035470600704
+15,0.250000000,BASELINE,764,745,713,679,663.277818738,634,878.277818738,785,806,653,630,652,0.400934739943,0.00455798067801,0.0499282840165,0.999999972823,8.48126501904e-05,-0.000215904054208,-2.33529573472e-05,1793245035487267328
+16,0.266666667,BASELINE,764,745,713,679,663,634,878,785.299673171,806,653,630,652,0.400934456005,0.00455751698556,0.0499278599834,0.999999972669,8.54038731399e-05,-0.00021640374059,-2.3206496115e-05,1793245035503933696
+17,0.283333333,BASELINE,764,745,713,679,663,634,878,785.875579944,806,653,630,652,0.400933855239,0.00455722108355,0.0499275366216,0.999999972551,8.53886531951e-05,-0.000216962820439,-2.31258124318e-05,1793245035520600320
+18,0.300000000,BASELINE,763.550035857,745,713,679,663,634,878,785.550035857,805.550035857,653,630,652,0.400933510018,0.00455803750684,0.0499271838354,0.999999972412,8.58377270381e-05,-0.000217416939518,-2.31855604085e-05,1793245035537266944
+19,0.316666667,BASELINE,763,745,713,679,663,634,878,785.024666683,805.024666683,653,630,652,0.400933294905,0.00455908643817,0.0499268837092,0.999999972299,8.63415001004e-05,-0.000217726201245,-2.32843200185e-05,1793245035553933568
+20,0.333333333,BASELINE,763,745,713,679,663,634,878,785.616331731,805.616331731,653,630,652,0.400934451742,0.00455843380208,0.0499279804414,0.999999972908,8.51615147616e-05,-0.00021537059362,-2.33902440589e-05,1793245035570600192
+21,0.350000000,BASELINE,763,745,713,679,663,634,878.203872175,786,806,653.203872175,630,652.203872175,0.400934928451,0.00455813308662,0.0499283651692,0.999999973178,8.45522055451e-05,-0.000214352772616,-2.34077193466e-05,1793245035587266816
+22,0.366666667,BASELINE,763,745,713,679,663,634,878.783804359,786,806,653.783804359,630,652.783804359,0.400934150602,0.00455848151952,0.0499274365426,0.999999972832,8.4995558348e-05,-0.000215802615993,-2.32620431829e-05,1793245035603933696
+23,0.383333333,BASELINE,763,745,713,679,663,634,878.640728835,785.640728835,805.640728835,653.640728835,630,652.640728835,0.400933443144,0.00455816082641,0.0499274965218,0.999999972717,8.4506086232e-05,-0.000216528002915,-2.32242418103e-05,1793245035620600576
+24,0.400000000,BASELINE,763,745,713,679,663,634,878.067916081,785.067916081,805.067916081,653.067916081,630,652.067916081,0.400932777522,0.00455744242196,0.0499281441029,0.999999972741,8.3462166892e-05,-0.000216822791595,-2.32505584397e-05,1793245035637267200
+25,0.416666667,BASELINE,763,745,713,679,663,634,878.517160165,785,805,653,630,652.517160165,0.400933450521,0.00455830182951,0.0499280482472,0.999999972743,8.34755788187e-05,-0.000216810645918,-2.3235507522e-05,1793245035653933568
+26,0.433333333,BASELINE,763.103079878,745,713,679,663,634,878.896920122,785.103079878,805.103079878,653,630,653,0.40093388757,0.00455925956493,0.0499277061583,0.999999972648,8.38889338989e-05,-0.000217086837084,-2.32234742749e-05,1793245035670599936
+27,0.450000000,BASELINE,763.685252961,745,713,679,663,634,878.314747039,785.685252961,805.685252961,653,630,653,0.400932391079,0.0045596878658,0.0499266844233,0.999999972117,8.550009985e-05,-0.000218895050286,-2.32513293336e-05,1793245035687266816
+28,0.466666667,BASELINE,764,745,713,679,663,633.735785831,878,785.735785831,805.735785831,653,630,652.735785831,0.400932356664,0.00455925656226,0.0499266978925,0.999999972118,8.59999744082e-05,-0.000218693202185,-2.32744761485e-05,1793245035703933696
+29,0.483333333,BASELINE,764,745,713,679,663,633.160604875,878,785.160604875,805.160604875,653,630,652.160604875,0.400934043038,0.00455781354755,0.0499279297451,0.999999972745,8.51919147906e-05,-0.000216125612915,-2.32920815953e-05,1793245035720600832
+30,0.500000000,BASELINE,763.586374698,745,713,679,663,633.413625302,878.413625302,785.413625302,805.413625302,653,630,652,0.40093338243,0.00455653891084,0.0499274715197,0.999999972789,8.36471179184e-05,-0.000216552258127,-2.30276653324e-05,1793245035737267456
+31,0.516666667,BASELINE,763.012512862,745,713,679,663,633.987487138,878.987487138,785.987487138,805.987487138,653,630,652,0.400931812611,0.00455532950303,0.049926358566,0.999999972604,8.18169124518e-05,-0.000218138856019,-2.26539951599e-05,1793245035753933824
+32,0.533333333,BASELINE,763.582045496,745,713,679.582045496,663,634,878.417954504,785.417954504,805.417954504,653,630,652,0.400933407308,0.00455622941804,0.0499275486249,0.999999972964,8.15506796344e-05,-0.000216548080248,-2.29949536816e-05,1793245035770600192
+33,0.550000000,BASELINE,764,745,713,679.828131533,663,634,878,785.171868467,805,653,630,652,0.400934418684,0.00455706798017,0.0499282709536,0.999999973136,8.15051497868e-05,-0.000215739543109,-2.3249883963e-05,1793245035787267072
+34,0.566666667,BASELINE,764,745,713,679.250575289,663,634,878,785.749424711,805,653,630,652,0.400933886653,0.00455765073691,0.04992776805,0.999999972843,8.18982891026e-05,-0.000216944626585,-2.32641473634e-05,1793245035803933440
+35,0.583333333,BASELINE,764,745,713,679.324602231,663,633.675397769,878,785.675397769,805.324602231,653,630.324602231,652,0.400933366877,0.00455808757334,0.0499275226115,0.999999972629,8.29665639135e-05,-0.000217531306312,-2.32116184159e-05,1793245035820600064
+36,0.600000000,BASELINE,764,745,713,679.897956925,663,633.102043075,878,785.102043075,805.897956925,653,630.897956925,652,0.400932856491,0.0045584125867,0.0499274744761,0.999999972474,8.45522154244e-05,-0.000217644084754,-2.31079044828e-05,1793245035837266688
+37,0.616666667,BASELINE,763.514561567,745,713,679.514561567,663,633.485438433,878,785,805.514561567,653,630.514561567,652,0.400933569201,0.00455883344349,0.0499272518453,0.999999972388,8.6770331158e-05,-0.000217174215907,-2.30484523309e-05,1793245035853933056
+38,0.633333333,BASELINE,763.074515923,745,713.074515923,679,662.925484077,634,878,785,805,653,630,652,0.400934294733,0.00455925468926,0.049926969488,0.999999972329,8.86001960234e-05,-0.000216709293177,-2.30144371613e-05,1793245035870599936
+39,0.650000000,BASELINE,763.653688306,745,713.653688306,679,662.346311694,634,878,785,805,653,630,652,0.400933313683,0.00455953803456,0.0499265384977,0.999999972387,8.68732658956e-05,-0.000217132201934,-2.30877920867e-05,1793245035887266560
+40,0.666666667,BASELINE,764,745,713.769600094,679,662.230399906,634,878.230399906,785.230399906,805.230399906,653,630,652,0.400933001191,0.00455973831215,0.0499265164616,0.999999972404,8.62545350123e-05,-0.000217299711223,-2.30823926199e-05,1793245035903933440
+41,0.683333333,BASELINE,764,745,713.196548217,679,662.803451783,634,878.803451783,785.803451783,805.803451783,653,630,652,0.400933682983,0.004559815051,0.0499271026244,0.999999972364,8.72839240702e-05,-0.00021708738903,-2.29598691954e-05,1793245035920601088
+42,0.700000000,BASELINE,764,745,713,679,663,633.620850069,879,785.620850069,805.620850069,653,630,652,0.400934483819,0.0045597114242,0.0499273541186,0.999999972684,8.59879248023e-05,-0.000216101786667,-2.32129191141e-05,1793245035937267712
+43,0.716666667,BASELINE,764,745,713,679,663,633.043770492,879,785.043770492,805.043770492,653,630,652,0.4009353468,0.00455951364016,0.0499274309042,0.999999973185,8.34779907185e-05,-0.000214712504767,-2.36620315778e-05,1793245035953933824
+44,0.733333333,BASELINE,763.45352428,745,713,679,662.45352428,633.54647572,878.45352428,785,805.54647572,653,630,652,0.400934463403,0.00455976704013,0.0499270825207,0.999999972839,8.52249954079e-05,-0.00021567173546,-2.33476195522e-05,1793245035970600448
+45,0.750000000,BASELINE,763.134764705,745,713,679.134764705,662.134764705,634,878.134764705,785,805.865235295,653,630,652,0.400933513613,0.00455983392909,0.0499267023161,0.999999972513,8.64658114442e-05,-0.000216705442162,-2.31483914627e-05,1793245035987267072
+46,0.766666667,BASELINE,763.713055625,745,713,679.713055625,662.713055625,634,878.713055625,785,805.286944375,653,630,652,0.40093281704,0.00455916511805,0.049926332228,0.999999972499,8.48908469416e-05,-0.000217349893853,-2.35344850302e-05,1793245036003933696
+47,0.783333333,BASELINE,764,745.288810767,713,679.711189233,663,634,878.711189233,785,805,653,630,652,0.400932415342,0.0045586642251,0.0499262672427,0.999999972513,8.44287174916e-05,-0.000217450623257,-2.36820251906e-05,1793245036020600576
+48,0.800000000,BASELINE,764,745.862068514,713,679.137931486,663,634,878.137931486,785,805,653,630,652,0.400932304064,0.00455832871301,0.0499265027501,0.999999972556,8.5062608523e-05,-0.000217015845827,-2.35946164133e-05,1793245036037267456
+49,0.816666667,BASELINE,763.55241975,745.55241975,713,679,662.55241975,634,878.44758025,785,805,653,630,652,0.400932441715,0.0045571343717,0.0499265188309,0.9999999726,8.41825221989e-05,-0.000217196070167,-2.32222948448e-05,1793245036053934336
+50,0.833333333,BASELINE,763,745,713,679,662.036337591,634,878.963662409,785.036337591,805.036337591,653,630,652,0.400932606577,0.00455579637713,0.0499264229068,0.999999972622,8.28725424308e-05,-0.000217640065122,-2.2815549031e-05,1793245036070600704
+51,0.850000000,BASELINE,763,745,713,679,662.615577989,634,878.384422011,785.615577989,805.615577989,653,630,652,0.400931999609,0.0045563776944,0.0499256922996,0.999999972337,8.23066680896e-05,-0.000219113606536,-2.3243220811e-05,1793245036087267328
+52,0.866666667,BASELINE,763.194079936,745,713,679,663.194079936,633.805920064,878,785.805920064,806,653,630,652,0.400932460234,0.00455706473477,0.0499257856263,0.999999972363,8.24595188689e-05,-0.000218917044609,-2.34499501975e-05,1793245036103934208
+53,0.883333333,BASELINE,763.771124713,745,713,679,663.771124713,633.228875287,878,785.228875287,806,653,630,652,0.400935027471,0.00455796039136,0.0499275047663,0.999999972996,8.40305814634e-05,-0.000215424980371,-2.32207088426e-05,1793245036120601088
+54,0.900000000,BASELINE,763.653585182,745,713,679,663.653585182,633.346414818,878,785,805.653585182,653,630,652,0.400936105941,0.00455704484221,0.0499281992062,0.999999973367,8.37250759377e-05,-0.000213839579259,-2.30149934026e-05,1793245036137267712
+55,0.916666667,BASELINE,763.079448564,745,713,679,663.079448564,633.920551436,878,785,805.079448564,653,630,652,0.400936205745,0.00455493866546,0.0499282200416,0.99999997357,8.21859756868e-05,-0.000213507556428,-2.28247431408e-05,1793245036153934336
+56,0.933333333,BASELINE,763.508059968,745,713.508059968,679,663,634,878,785.508059968,805.508059968,653,630,652,0.40093424303,0.00455555384638,0.0499272771852,0.999999973096,8.26969548281e-05,-0.000215520404203,-2.28003845146e-05,1793245036170600704
+57,0.950000000,BASELINE,763.9039544,745,713.9039544,679,662.9039544,633.9039544,878.0960456,785.9039544,805.9039544,653,630,652,0.400932312375,0.00455666328441,0.0499263305881,0.999999972606,8.34591910919e-05,-0.000217481081698,-2.28926492248e-05,1793245036187267328
+58,0.966666667,BASELINE,763.324378786,745,713.324378786,679,662.324378786,633.324378786,878.675621214,785.324378786,805.324378786,653,630,652,0.400932210748,0.0045580606781,0.0499261443408,0.999999972606,8.38287831096e-05,-0.00021728319568,-2.34379103487e-05,1793245036203933952
+59,0.983333333,BASELINE,763.253140825,745,713,679,662.253140825,633.253140825,878.746859175,785,805,653,630,652.253140825,0.400932404908,0.00455837436308,0.049926262984,0.999999972674,8.38212312463e-05,-0.000216966058861,-2.34951722215e-05,1793245036220600576
+60,1.000000000,BASELINE,763.828047145,745,713,679,662.828047145,633.828047145,878.171952855,785,805,653,630,652.828047145,0.400932975041,0.00455731055384,0.0499267691715,0.999999972829,8.33342945412e-05,-0.000216497343178,-2.29321418081e-05,1793245036237267200
+61,1.016666667,BASELINE,763.58861384,745,713,679,663,634,878,785,805.41138616,653,630,652.58861384,0.400934062824,0.00455677595025,0.0499272184397,0.999999973132,8.22474854076e-05,-0.000215515396903,-2.29220106133e-05,1793245036253933824
+62,1.033333333,BASELINE,763.001676364,745,713,679,663,634,878,785,805.998323636,653,630,652.001676364,0.400935371503,0.0045564671753,0.0499276434186,0.999999973494,8.09046920133e-05,-0.000214314439143,-2.3147818807e-05,1793245036270600192
+63,1.050000000,BASELINE,763.577883221,745.577883221,713,679,663,634,878.577883221,785,806,653,630,652,0.400935245546,0.004557403352,0.0499274552175,0.999999973381,8.17135670112e-05,-0.000214528196428,-2.3200154743e-05,1793245036287266816
+64,1.066666667,BASELINE,763.843203632,745.843203632,713,679,663,634,878.843203632,785.156796368,805.843203632,653,630,652,0.40093492557,0.00455766184425,0.0499271800338,0.999999973329,8.16679865939e-05,-0.000214784125731,-2.3236206393e-05,1793245036303933440
+65,1.083333333,BASELINE,763.265967234,745.265967234,713,679,663,634,878.265967234,785.734032766,805.265967234,653,630,652,0.400934096365,0.00455609360462,0.0499266763208,0.999999973442,7.93147095505e-05,-0.000215142271104,-2.32299250513e-05,1793245036320600832
+66,1.100000000,BASELINE,763.310117958,745,713,679,663.310117958,634,878,785.689882042,805,653,630,652,0.400934008385,0.00455525358927,0.0499266290484,0.99999997346,7.95505651379e-05,-0.00021498723637,-2.30715931098e-05,1793245036337268224
+67,1.116666667,BASELINE,763.885219461,745,713,679,663.885219461,634,878,785.114780539,805,653,630,652,0.400934553752,0.00455503581289,0.0499269717864,0.999999973396,8.19987323994e-05,-0.000214393709489,-2.27833399372e-05,1793245036353935360
+68,1.133333333,BASELINE,763.529121742,745,713,679,663.058243484,633.529121742,878,785,805,653,630,652,0.40093351114,0.00455679181046,0.0499263011671,0.999999972862,8.35858222436e-05,-0.000216242669271,-2.29690092989e-05,1793245036370601472
+69,1.150000000,BASELINE,763.058284877,745,713,679,662.058284877,633,878,785,805,653,630,652,0.400932259105,0.00455878784365,0.0499254891824,0.999999972283,8.47631333004e-05,-0.000218423906935,-2.32485251805e-05,1793245036387267328
+70,1.166666667,BASELINE,763.637780348,745,713,679,662.637780348,633,878,785,805,653,630,652,0.400932675186,0.00455852927553,0.0499256726217,0.999999972393,8.41960358667e-05,-0.000218130283474,-2.33105103787e-05,1793245036403933952
+71,1.183333333,BASELINE,763.783796444,745,713,679,663,633.216203556,878,785,805,653,630,652,0.400933521824,0.00455771723667,0.0499263247503,0.999999972677,8.33676002431e-05,-0.000217160636521,-2.31778606338e-05,1793245036420600576
+72,1.200000000,BASELINE,763.207160709,745,713,679,663,633.792839291,878,785,805,653,630,652,0.400935086242,0.00455598250864,0.049927758229,0.999999973245,8.21034885616e-05,-0.000215063993161,-2.27207356773e-05,1793245036437267200
+73,1.216666667,BASELINE,763,745,713,679,663,634,878,785.367720677,805.367720677,653,630,652,0.400935403837,0.00455541595736,0.0499278781188,0.999999973373,8.19126006562e-05,-0.000214561324926,-2.25171046794e-05,1793245036453934336
+74,1.233333333,BASELINE,763,745,713,679,663,634,878,785.941618383,805.941618383,653,630,652,0.400935022351,0.00455550439031,0.0499272614933,0.999999973257,8.2323457856e-05,-0.000214952381528,-2.24556050453e-05,1793245036470601472
+75,1.250000000,BASELINE,763.530641477,745,713,679.530641477,663,633.469358523,878,785.469358523,805.469358523,653,630,652,0.40093426155,0.00455633573616,0.0499271537218,0.999999973005,8.38016998027e-05,-0.000215507238043,-2.28683149165e-05,1793245036487267840
+76,1.266666667,BASELINE,763.881272103,745,713,679.881272103,662.881272103,633.118727897,877.881272103,785,805,653,630,652,0.400933883744,0.00455715953855,0.049927167802,0.999999972874,8.48551123731e-05,-0.000215666016104,-2.32467494488e-05,1793245036503934720
+77,1.283333333,BASELINE,763.303431551,745,713,679.303431551,662.303431551,633.696568449,877.303431551,785,805,653,630,652,0.400935153061,0.00455762883024,0.0499274302344,0.999999973272,8.37983036034e-05,-0.000214221453683,-2.32849750693e-05,1793245036520601088
+78,1.300000000,BASELINE,763.27402932,745,713,679,662.27402932,634,877.27402932,785,805,653,630,652,0.400935110112,0.0045576549343,0.0499271203568,0.999999973237,8.33733900739e-05,-0.000214555573002,-2.32647709198e-05,1793245036537267456
+79,1.316666667,BASELINE,763.851070315,745,713,679,662.851070315,634,877.851070315,785,805,653,630,652,0.400933616107,0.00455719097753,0.0499261776397,0.99999997272,8.36472034378e-05,-0.000216856494134,-2.31799572482e-05,1793245036553933824
+80,1.333333333,BASELINE,764,745,713,679,663,634,878,785,805,653,630,652,0.400935448035,0.0045569309756,0.049927533592,0.999999973278,8.35527930775e-05,-0.000214329748354,-2.2942559347e-05,1793245036570600448
+81,1.350000000,BASELINE,763.978829527,745,713,679.021170473,663,633.978829527,878,785.021170473,805,653,630.021170473,652,0.400938262667,0.00455676032091,0.049929573078,0.999999974149,8.32919328682e-05,-0.000210356191218,-2.26786276236e-05,1793245036587267072
+82,1.366666667,BASELINE,763.398883923,745,713,679.601116077,663,633.398883923,878,785.601116077,805,653,630.601116077,652,0.400936476602,0.00455707521787,0.0499285477196,0.999999973786,8.20187646184e-05,-0.000212522393726,-2.31153690902e-05,1793245036603933696
+83,1.383333333,BASELINE,763.180241538,745.180241538,713,679.819758462,663,633.180241538,878,785.819758462,805.180241538,653,630.819758462,652,0.400935118457,0.00455709763154,0.0499276483456,0.999999973483,8.10616396067e-05,-0.000214281625478,-2.33746442439e-05,1793245036620600576
+84,1.400000000,BASELINE,763.75756031,745.75756031,713,679.24243969,663,633.75756031,878,785.24243969,805.75756031,653,630.24243969,652,0.400934703031,0.00455647569627,0.0499270265183,0.999999973322,8.08007665918e-05,-0.000215144289499,-2.32429561477e-05,1793245036637267200
+85,1.416666667,BASELINE,764,745.667841483,713,679,663,634,878,785.332158517,805.667841483,653,630,652,0.400934126612,0.00455653282679,0.0499264732738,0.999999973047,8.15245350673e-05,-0.000216153273763,-2.31988479793e-05,1793245036653933824
+86,1.433333333,BASELINE,764,745.095212895,713,679,663,634,878,785.904787105,805.095212895,653,630,652,0.400933433639,0.00455708157503,0.0499259696807,0.999999972686,8.29611463645e-05,-0.000217268188238,-2.32181443393e-05,1793245036670600448
+87,1.450000000,BASELINE,764,745,713,679,663,634,878,786,805.49221118,653,630,652,0.400934123492,0.00455674793898,0.0499262316418,0.999999972757,8.36729020693e-05,-0.000216722751964,-2.27353248405e-05,1793245036687267072
+88,1.466666667,BASELINE,763.918570826,745.081429174,713,679,663,634,878,785.918570826,805.918570826,653,630,652,0.400935027056,0.00455642487972,0.0499265994231,0.999999972942,8.39815534267e-05,-0.000215785763107,-2.2342824917e-05,1793245036703933696
+89,1.483333333,BASELINE,763.336465549,745.663534451,713,679,663,634,878,785.336465549,805.336465549,653,630,652,0.400935548964,0.00455724886901,0.0499266790979,0.999999973313,8.27005218152e-05,-0.000214477261264,-2.31213798543e-05,1793245036720600320
+90,1.500000000,BASELINE,763.24108049,745.75891951,713,679.24108049,663,634,878,785,805.24108049,653,630,652,0.400935236203,0.00455725407839,0.0499266942927,0.999999973388,8.15660815775e-05,-0.00021453458083,-2.33528413942e-05,1793245036737266688
+91,1.516666667,BASELINE,763.812381454,745.187618546,713,679.812381454,663,634,878,785,805.812381454,653,630,652,0.400933780153,0.00455613776229,0.0499266211658,0.99999997306,8.06324352672e-05,-0.000216462737064,-2.28349206141e-05,1793245036753933824
+92,1.533333333,BASELINE,763.612611938,745,713,679.612611938,663,634,878,785,806,653,630,652,0.400934001202,0.00455640051028,0.0499263069287,0.999999972966,8.06030084138e-05,-0.00021690792152,-2.28503129158e-05,1793245036770600704
+93,1.550000000,BASELINE,763.035793238,745,713,679.035793238,663,634,878,785,806,653,630,652,0.400935042342,0.00455733761293,0.0499258747901,0.999999972987,8.10157398313e-05,-0.000216627941085,-2.31264923426e-05,1793245036787267328
+94,1.566666667,BASELINE,763,745,713,679,663,634,878,785.557281053,805.442718947,653,630,652,0.400933678705,0.00455719253299,0.0499252456606,0.999999972563,8.19751025554e-05,-0.000218215157552,-2.31648182796e-05,1793245036803933696
+95,1.583333333,BASELINE,763.147387955,745.147387955,713,679,663,634,878,786,805.147387955,653,630,652,0.400932547596,0.00455680851981,0.0499248555459,0.999999972312,8.21068772011e-05,-0.000219313777004,-2.31581100859e-05,1793245036820600320
+96,1.600000000,BASELINE,763.725675483,745.725675483,713,679,663,634,878,786,805.725675483,653,630,652,0.400932561431,0.00455593528141,0.0499252023099,0.999999972659,7.97134087414e-05,-0.000218622797506,-2.30657464842e-05,1793245036837266944
+97,1.616666667,BASELINE,764,746,713,679,663,634,878.300963789,786,806,653,630,652,0.400933233849,0.00455623687881,0.0499254694448,0.999999972891,7.96869536046e-05,-0.000217567566004,-2.30801275593e-05,1793245036853933568
+98,1.633333333,BASELINE,764,746,713,679,663,634,878.873545281,786,806,653,630,652,0.400934500633,0.00455759875732,0.0499256647148,0.999999973018,8.17967114948e-05,-0.000216183599671,-2.31908449601e-05,1793245036870600192
+99,1.650000000,BASELINE,764,746,713.448243046,679,663,634,879,785.551756954,806,653,630,652,0.400934325185,0.00455729901254,0.0499257616868,0.999999972932,8.25081270207e-05,-0.000216325999375,-2.30746438967e-05,1793245036887267328
+100,1.666666667,BASELINE,763.975802161,745.975802161,713.975802161,679,663,634,878.975802161,785,806,653,630.024197839,652.024197839,0.400933817559,0.00455660249714,0.0499258530357,0.999999972798,8.28363266197e-05,-0.000216833170515,-2.29132989406e-05,1793245036903934208
+101,1.683333333,BASELINE,763.384444137,745.384444137,713.384444137,679,663,634,878.384444137,785,806,653,630.615555863,652.615555863,0.400935105851,0.00455764550991,0.0499264656452,0.999999972973,8.347261284e-05,-0.000215749401999,-2.32014143516e-05,1793245036920600576
+102,1.700000000,BASELINE,763.202423703,745,713,679,662.797576297,634,878,785,805.797576297,653,630.797576297,652.797576297,0.400935693384,0.00455805558301,0.0499267346868,0.999999973088,8.32599262199e-05,-0.000215285216753,-2.33376120186e-05,1793245036937266688
+103,1.716666667,BASELINE,763.780948758,745,713,679,662.219051242,634,878,785,805.219051242,653,630.219051242,652.219051242,0.40093497891,0.00455728965998,0.0499263653826,0.99999997309,8.14698559072e-05,-0.000215972211566,-2.31915479014e-05,1793245036953933312
+104,1.733333333,BASELINE,763.643882592,745,713,679.356117408,662.356117408,634,878,785,805,653,630,652,0.400934131207,0.00455689211049,0.0499257788895,0.999999972961,8.06177644343e-05,-0.000216909933934,-2.30150612273e-05,1793245036970600192
+105,1.750000000,BASELINE,763.070759169,745,713,679.929240831,662.929240831,634,878,785,805,653,630,652,0.40093320232,0.00455671903543,0.0499250600486,0.99999997275,8.03372456652e-05,-0.00021800044134,-2.28200360521e-05,1793245036987266816
+106,1.766666667,BASELINE,763.503084842,745,713,680,663,633.496915158,878.503084842,785.503084842,805,653,630,652,0.400933846022,0.00455715296882,0.049925174198,0.999999972912,8.10526848986e-05,-0.000216961887694,-2.31154894921e-05,1793245037003933440
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878,785,806,653,630,652,0.400934539055,0.00455779162875,0.0499261973459,0.999999972851,8.22550746115e-05,-0.000216790477173,-2.30976074938e-05,1793245037046462208
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713,679,662.419049945,633.419049945,878,785,806,653,630,652,0.400934397137,0.00455796067773,0.0499257966047,0.999999972659,8.42531643654e-05,-0.000216918615107,-2.29993640814e-05,1793245037063128832
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.163477035,679,662.163477035,633.163477035,878.163477035,785,806,653,630,652,0.400934121963,0.00455817736005,0.0499255246577,0.999999972513,8.55551685499e-05,-0.000217087245337,-2.29483658526e-05,1793245037079795200
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.75008573,679,662.75008573,633.75008573,878.75008573,785,806,653,630,652,0.400933501883,0.00455851733297,0.0499255860718,0.999999972495,8.50554776356e-05,-0.000217360682808,-2.30196534824e-05,1793245037096461824
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.66752776,745.33247224,713.66752776,679,663,634,879,785.33247224,806,653,630,652,0.400933635793,0.00455873480825,0.049926128655,0.999999972726,8.46336241186e-05,-0.000216463117062,-2.29842610135e-05,1793245037113128704
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.088275238,745.911724762,713.088275238,679,663,634,879,785.911724762,806,653,630,652,0.400934329359,0.0045588613586,0.0499270283898,0.999999973141,8.42695460866e-05,-0.00021469636443,-2.28696843504e-05,1793245037129795328
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,745.513362111,713,679,663,634,879,785.513362111,805.513362111,653,630,652,0.400937671491,0.00455754721927,0.0499276378256,0.999999973598,8.31150182722e-05,-0.000213035291068,-2.26378071694e-05,1793245037146462720
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.061114117,745,713,679.061114117,663,634,879,785.061114117,805,653,630.061114117,652,0.400942411588,0.0045562167994,0.0499284541654,0.999999974195,8.19483087336e-05,-0.000210688357839,-2.24523206429e-05,1793245037163130112
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.638490414,745,713,679.638490414,663,634,879,785.638490414,805,653,630.638490414,652,0.400954938315,0.00455693699756,0.0499314592397,0.999999975907,8.187924473e-05,-0.000202387107987,-2.28368780299e-05,1793245037179796480
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.779555394,745,713,679.779555394,663,634,879,785.779555394,805.220444606,653,631,652,0.400973368561,0.00455678001933,0.0499362125335,0.999999978517,8.1043719555e-05,-0.000189366583529,-2.31927265879e-05,1793245037196462848
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.189934708,745,713,679.189934708,663,634,879,785.189934708,805.810065292,653,631,652,0.401001685361,0.0045551540437,0.0499438935505,0.999999982423,7.89246105485e-05,-0.000168442744265,-2.35004967526e-05,1793245037213129728
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.392770267,745,713,679.392770267,662.607229733,634,879,785.392770267,806,653,631,652,0.401034655788,0.0045565402263,0.0499486595076,0.999999985339,7.99076599102e-05,-0.000149501896393,-2.42180252527e-05,1793245037229796096
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.972188881,745,713,679.972188881,662.027811119,634,879,785.972188881,806,653,631,652,0.401069837668,0.00455935781638,0.0499520401998,0.999999987646,8.236488565e-05,-0.000131503383923,-2.51302750218e-05,1793245037246462208
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713,680,662.545919238,634,878.454080762,785.454080762,805.454080762,653,630.454080762,652,0.40112794279,0.00455882456457,0.049957795741,0.999999990916,8.20555601264e-05,-0.00010363308708,-2.63506634156e-05,1793245037263128832
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713,679.877507834,663,634,878.122492166,785,805.122492166,653,630,652.122492166,0.401187998299,0.00455775145424,0.0499628788498,0.99999999315,8.08289548687e-05,-8.01855992118e-05,-2.71440528584e-05,1793245037279795456
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713,679.289029992,663,634,878.710970008,785,805.710970008,653,630,652.710970008,0.401251076784,0.00455526730699,0.049964948387,0.999999993871,7.6643456195e-05,-7.54568140937e-05,-2.62539483871e-05,1793245037296462336
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713,679.294678131,663,634,878.705321869,785.294678131,806,653,630.294678131,652.705321869,0.401325200691,0.00455459670751,0.0499676471823,0.999999994374,7.52666414411e-05,-7.01964181295e-05,-2.56594064356e-05,1793245037313128960
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713,679.873782439,663,634,878.126217561,785.873782439,806,653,630.873782439,652.126217561,0.401409985742,0.004555676562,0.0499709533434,0.99999999467,7.66007957789e-05,-6.44229065271e-05,-2.53501443353e-05,1793245037329796096
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713,679.548905195,663,634,878.451094805,786,805.548905195,653,630.548905195,652,0.401510600607,0.00455443651677,0.0499704540768,0.999999994829,7.40761308928e-05,-6.51825696169e-05,-2.46034252369e-05,1793245037346463232
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.972209595,785.972209595,805,653,630,652,0.401616820747,0.00455247662325,0.0499688801414,0.999999994947,7.03914869847e-05,-6.77457158232e-05,-2.37182543479e-05,1793245037363130112
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.397822157,785.397822157,805,653,630,652,0.401746516795,0.00454907497819,0.0499670286277,0.999999995184,6.50440049663e-05,-6.99689080392e-05,-2.25078748651e-05,1793245037379796224
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,679.181630895,662.818369105,634,878.181630895,785,805,653,630,652,0.401887653008,0.00454636780974,0.0499665712898,0.999999995414,6.11202439083e-05,-7.05728052763e-05,-2.13278957251e-05,1793245037396462336
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,679.772497288,662.227502712,634,878.772497288,785,805,653,630,652,0.402054565222,0.00454522537818,0.0499692551921,0.999999995691,6.04042922108e-05,-6.75282426114e-05,-2.02164122523e-05,1793245037413128704
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713,679.64371074,662.35628926,634,878.64371074,785,805,653,630,652.35628926,0.402237061805,0.00454493642095,0.0499676869111,0.999999995486,5.84270044873e-05,-7.24078573303e-05,-1.92483539289e-05,1793245037429795328
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713,679.06434802,662.93565198,634,878.06434802,785,805,653,630,652.93565198,0.402429315811,0.00454518182571,0.0499634563295,0.9999999949,5.56599915304e-05,-8.22488159989e-05,-1.83700942856e-05,1793245037446462208
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878,785,805,653,630,652.487656934,0.402655400863,0.00454166557339,0.0499637494861,0.999999995194,5.17324006809e-05,-8.17029578278e-05,-1.6133834693e-05,1793245037463128832
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.912144879,745,713,679.087855121,663,634,878,785,805.087855121,653,630,652,0.402892920391,0.00453816851628,0.0499649750731,0.999999995624,4.78626493781e-05,-7.91876215864e-05,-1.38293783066e-05,1793245037479795456
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.341279483,745,713,679.658720517,663,634,878,785,805.658720517,653,630,652,0.403170065369,0.00453736093886,0.0499682195438,0.999999996247,4.51081087694e-05,-7.29793700297e-05,-1.20828228586e-05,1793245037496462336
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.477928115,745,713,679.761035942,663,634,878,785,805.761035942,653,630,652,0.403470770117,0.00453525525673,0.0499746086621,0.999999997355,4.09899694496e-05,-5.9202359842e-05,-1.02119491994e-05,1793245037513129216
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.666296347,745,713,679.166851826,663,634,878,785,805.166851826,653,630,652,0.403806496444,0.00453121994208,0.0499856722986,0.999999998776,3.4844840868e-05,-3.4174390705e-05,-8.15627662639e-06,1793245037529795840
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.583913015,745.416086985,713,679,663,634,878.416086985,785,805.416086985,653,630,652,0.404167122564,0.00452812468518,0.0499954225506,0.999999999462,2.88685208601e-05,-1.44356195223e-05,-5.82691498428e-06,1793245037546462464
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.005364946,745.994635054,713,679,663,634,878.994635054,785,805.994635054,653,630,652,0.404537470797,0.00452539647375,0.0500046599918,0.999999999725,2.29581122689e-05,3.23798472519e-06,-3.3906915441e-06,1793245037563129088
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.429105463,745.429105463,713,679,663,634,879,785,806,653,630,652,0.404941272802,0.00451994755508,0.0500089418583,0.999999999719,1.83486074428e-05,1.49937582927e-05,-4.62735554623e-07,1793245037579795456
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.149844316,745,713,679,663,634,879,785.149844316,805.850155684,653,630.149844316,652,0.40534817082,0.0045150747419,0.0500072519222,0.999999999798,1.33001892842e-05,1.48597277485e-05,2.39538567132e-06,1793245037596462080
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.73670259,745,713,679,663,634,879,785.73670259,805.26329741,653,630.73670259,652,0.405763184932,0.00451195638366,0.0499882807777,0.999999999767,6.93618991568e-06,-1.97888204931e-05,5.03641335212e-06,1793245037613128704
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713,679.31941029,663,634,879,786,805,653,631,652,0.406199261065,0.00450778210639,0.049968178606,0.999999998358,7.31249847214e-07,-5.67505798013e-05,7.88266207797e-06,1793245037629795584
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713,679.898740527,663,634,879,786,805,653,631,652,0.406652476453,0.00450274857527,0.0499471560596,0.999999995357,-5.34425649471e-06,-9.55947170661e-05,1.08959095984e-05,1793245037646462720
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745.475920022,713,680,663,634,879,786,805.475920022,653,630.524079978,652,0.40715969703,0.0044972695037,0.0499387536228,0.999999993797,-7.90943863652e-06,-0.000110145787559,1.45212914702e-05,1793245037663129344
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745.948062054,713,679.948062054,663.051937946,634,879,786,805.948062054,653,630,652,0.407685178124,0.00449161073813,0.0499355711408,0.999999993267,-7.2944525866e-06,-0.000114361787083,1.82769688745e-05,1793245037679795968
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745.379072376,713,679.379072376,663.620927624,634,879,786,805.379072376,653,630,652,0.408278571399,0.0044851025455,0.0499577435868,0.999999997364,1.75778431292e-05,-6.69144583804e-05,2.20390224743e-05,1793245037696462080
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663.800824315,633.800824315,879,785.800824315,805,653,630,652,0.40889218938,0.00447823812024,0.0499806856805,0.999999998848,3.36196017758e-05,-2.27993895997e-05,2.55680334237e-05,1793245037713128704
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663.204096683,633.204096683,879,785.204096683,805,653,630,652,0.409546175562,0.0044706626599,0.0500051639791,0.999999998969,3.20357276557e-05,1.46645307923e-05,2.86318942851e-05,1793245037729795328
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.380447515,879,785.380447515,805.380447515,653,630,652,0.41018107555,0.00446348852724,0.0500081685799,0.999999999408,1.33121975323e-05,1.35068204319e-05,2.87253240959e-05,1793245037746461952
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.958658526,879,785.958658526,805.958658526,653,630,652,0.410806054168,0.00445652301219,0.0500000107637,0.999999999496,-1.4320835579e-05,-7.72711295711e-06,2.72746700379e-05,1793245037763128576
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.465518522,745,713.534481478,679,663,634,879.534481478,786,806,653,630,652,0.41143256734,0.00444965848234,0.0499650137113,0.999999995788,-3.06757984114e-05,-8.16101223427e-05,2.86791538351e-05,1793245037779795712
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.112310917,745,713.887689083,679,663,634,879.887689083,786,806,653,630,652,0.412081646352,0.00444325995665,0.0499377933873,0.999999989408,-4.29473170692e-05,-0.000135811535242,2.99204563282e-05,1793245037796462592
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.699399708,745,713.300600292,679,663,634,879.300600292,786,806,653,630,652,0.412825619424,0.00443879852351,0.0499521849171,0.999999994677,-4.1627977996e-05,-8.96732325052e-05,2.95425124325e-05,1793245037813129216
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713,679.282758465,663.282758465,634,879,786,806,653,630,652.282758465,0.413600389329,0.00443380042963,0.0499697488966,0.999999997535,-3.73236501301e-05,-5.11147054252e-05,3.03979187419e-05,1793245037829795840
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713,679.862203528,663.862203528,634,879,786,806,653,630,652.862203528,0.414407473152,0.0044282392396,0.0499906415961,0.999999998813,-2.98872986058e-05,-2.05093134351e-05,3.2547427671e-05,1793245037846462208
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713,679.56161183,663.56161183,634,879,786,805.56161183,653,630.43838817,652.56161183,0.415169138125,0.00443504785644,0.04997364377,0.99999999791,-2.7285966399e-05,-4.86470725396e-05,3.26876327849e-05,1793245037863128832
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.013572535,713.013572535,679,663,634,879.013572535,786,805.013572535,653,630.986427465,652,0.41591815406,0.0044457400011,0.0499454185716,0.999999994718,-2.59761422546e-05,-9.40942743552e-05,3.21853131713e-05,1793245037879795200
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745.589462309,713.589462309,679,663,634,879.589462309,786,805.589462309,653,630.410537691,652,0.416730223408,0.0044574301901,0.0499418300794,0.999999994658,-1.56741918439e-05,-9.73362724975e-05,3.1036167518e-05,1793245037896462080
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745.830623428,713.830623428,679.169376572,663.169376572,633.830623428,879.830623428,786,806,652.830623428,630,652,0.417554047831,0.0044630736614,0.0499467651365,0.999999995825,-8.09727399878e-06,-8.56538476798e-05,3.07856485697e-05,1793245037913128704
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745.240717161,713.240717161,679.759282839,663.759282839,633.240717161,879.240717161,786,806,652.240717161,630,652,0.418407057811,0.00445370428626,0.0499728625396,0.999999998755,-7.28609240696e-06,-3.69169294317e-05,3.27662482101e-05,1793245037929795840
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,713,680,663.657351804,633,879.342648196,786,806,652.342648196,630,652,0.419253553635,0.00444737019241,0.0499746447832,0.999999998476,-1.41088756873e-05,-4.12257405053e-05,3.38914091247e-05,1793245037946462720
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713,680,663.078495516,633,879.921504484,786,806,652.921504484,630,652,0.420095558822,0.00444312850163,0.0499596651181,0.999999995694,-2.61942119535e-05,-8.21021779497e-05,3.4426864378e-05,1793245037963129344
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,713.498991753,680,663.498991753,633.498991753,880,786,806,652.501008247,630,652,0.421001907625,0.00444089165948,0.0499664492104,0.999999997595,-3.42780624009e-05,-5.01428288916e-05,3.34689861871e-05,1793245037979795712
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745.073042026,714,679.926957974,664,633.926957974,879.926957974,786,806,652,630.073042026,652,0.42191778751,0.0044395105268,0.0499777876453,0.999999998632,-4.00709246008e-05,-8.44002706091e-06,3.25287861095e-05,1793245037996462336
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745.62592404,714,679.37407596,664,633.37407596,879.37407596,786,806,652,630.62592404,652,0.422829968386,0.0044416846921,0.0499966157556,0.999999998591,-3.49373222714e-05,2.22073751173e-05,3.3243732941e-05,1793245038013128960
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.198596152,746,714,679,664,633.198596152,879.198596152,786,806,652,630.801403848,652,0.423727986278,0.00444325703851,0.0500043777363,0.999999998342,-3.23955529089e-05,3.32826380706e-05,3.40461062721e-05,1793245038029795584
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.812670779,746,714,679,664,633.812670779,879.812670779,786,806,652,630.187329221,652,0.424596374283,0.00444357033375,0.0499889885234,0.999999998758,-3.52760972138e-05,3.41148107257e-06,3.50313827562e-05,1793245038046462464
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.596750312,746,714,679.403249688,663.596750312,633.596750312,879.596750312,786,805.596750312,652,630,652,0.425524750524,0.00444075437523,0.0499943370395,0.999999998502,-3.97735408239e-05,9.50359483432e-06,3.6380945371e-05,1793245038063129088
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.016485397,746,714,679.983514603,663.016485397,633.016485397,879.016485397,786,805.016485397,652,630,652,0.426479459854,0.00443656476264,0.0500087888341,0.999999997778,-4.49807573968e-05,3.13825708592e-05,3.78904192463e-05,1793245038079795712
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.556271819,745.443728181,713.443728181,680,663.556271819,633,879.556271819,786,805.556271819,652,630,652,0.427341840606,0.0044351092523,0.0500005715469,0.999999998615,-3.27548193616e-05,-8.12991141434e-06,4.03784726582e-05,1793245038096462336
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.867488153,745,713,679.867488153,663.867488153,633.132511847,880.132511847,786,806,652,630.132511847,651.867488153,0.428201064191,0.00443498154514,0.0499867963637,0.999999997703,-2.31786705165e-05,-4.80206620312e-05,4.18492981102e-05,1793245038113128960
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.278494175,745,713,679.278494175,663.278494175,633.721505825,880.721505825,786,806,652,630.721505825,651.278494175,0.429058712061,0.0044391525014,0.0499561585758,0.999999995464,-2.44866657819e-05,-8.3030517925e-05,3.97173635048e-05,1793245038129795584
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.609984454,745,713.304992227,679,663.304992227,634,880.390015546,786,806,652,630.695007773,651.304992227,0.429961260157,0.00443953885532,0.0499500951969,0.999999995559,-2.91305472488e-05,-8.08458193889e-05,3.86876839992e-05,1793245038146462464
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.76707746,745,713.88353873,679,663.88353873,634,879.23292254,786,806,652,630.11646127,651.88353873,0.430904080214,0.00443653071546,0.0499660731508,0.999999997551,-3.67664587827e-05,-4.53005001075e-05,3.86466415891e-05,1793245038163129344
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.076519813,745.461740094,713.538259906,679.461740094,664,633.538259906,879.461740094,786,806,652,630.461740094,652,0.431800272551,0.00443582075971,0.0499551846493,0.999999996187,-3.93076051356e-05,-6.71635290241e-05,3.96155859458e-05,1793245038179795712
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,746,713,680,663.960502028,633,880,786,806.039497972,652,631,652,0.432684652352,0.00443551693069,0.0499396002897,0.999999993456,-4.04988732865e-05,-9.89322290408e-05,4.07421099577e-05,1793245038196462080
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,746,713,680,663.387559469,633,880,786,806.612440531,652,631,652,0.433568210663,0.00443287535717,0.0499520456029,0.99999999596,-4.08011565867e-05,-6.90721233064e-05,4.05589726733e-05,1793245038213128960
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.19129114,745.80870886,713,680,663.19129114,633,880.19129114,786,807,652,631,652,0.434440188142,0.00443136890379,0.049966695656,0.999999997493,-4.04925654516e-05,-4.12632027801e-05,4.08784083462e-05,1793245038229795584
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.782493154,745.217506846,713,680,663.782493154,633,880.782493154,786,807,652,631,652,0.435287955039,0.00443223551793,0.0499859549131,0.999999998193,-3.89068879441e-05,-1.77424590191e-05,4.22485167908e-05,1793245038246462208
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.633014918,745.366985082,713,680,663.633014918,633,880.633014918,786,807,652,631,652,0.436094978676,0.00443423573122,0.0499734878521,0.999999996882,-3.73691709847e-05,-5.38286703301e-05,4.40587029305e-05,1793245038263128832
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.185556713,745.814443287,714,681,661,631,881,786,807.814443287,652,631,652,0.447716919641,0.00455174649933,0.0497714749798,0.999999942066,0.000107756673529,-0.000322075394251,2.28936749888e-05,1793245038563128832
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+239,3.983333333,POSE1_TO_POSE2_PRESS,764.407622795,745.407622795,714,681,658.592377205,628,881,785.592377205,807,653,631,652,0.452371194914,0.00459297189883,0.0496836641248,0.999999865167,0.000162490607005,-0.000492828940002,1.9562804024e-05,1793245039246461952
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,713.829349391,681,658.829349391,628,881,786,807.170650609,652.829349391,631,652,0.452370922868,0.00459455243784,0.0496830110915,0.999999864435,0.000164752735,-0.000493572806897,1.92824797068e-05,1793245039263128576
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713.238762131,681,658.238762131,628,881,786,807.761237869,652.238762131,631,652,0.452369182231,0.00459278259695,0.0496815864273,0.999999863323,0.000164969596434,-0.000495715906243,2.01057867508e-05,1793245039279795200
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745.344622761,713.344622761,681,658.344622761,628,881,785.655377239,808,652,631,652,0.452369548375,0.00459282288434,0.0496817210866,0.999999863107,0.000165389518938,-0.000496000887405,2.03897363771e-05,1793245039296461824
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745.923119824,713.923119824,681,658.923119824,628,881,785.076880176,808,652,631,652,0.452371344262,0.0045940915947,0.0496829139632,0.9999998635,0.000165947246511,-0.000495024877791,2.03076572167e-05,1793245039313128448
+244,4.066666667,HOLD_POSE2,764,745,714,681,658,628,880,785,808,652,631,651,0.452372948499,0.00459337648876,0.0496838940482,0.999999865255,0.000163889726226,-0.000492181356844,1.97110636852e-05,1793245039344373760
+245,4.083333333,HOLD_POSE2,764,745.589172221,714,680.410827779,658.589172221,627.410827779,880.589172221,785,807.410827779,652,631,651,0.452370829671,0.00459257977092,0.0496817440586,0.999999863799,0.00016230434689,-0.000495647618257,1.98027424517e-05,1793245039361040384
+246,4.100000000,HOLD_POSE2,764.175384177,745.824615823,714,680.175384177,658.824615823,627.175384177,881,785.175384177,807,652.175384177,630.824615823,651.175384177,0.45237006835,0.00459221163411,0.0496808639105,0.999999863341,0.000161549082819,-0.000496815567649,1.98601840351e-05,1793245039377706752
+247,4.116666667,HOLD_POSE2,764.754777089,745.245222911,714,680.754777089,658.245222911,627.754777089,881,785.754777089,807,652.754777089,630.245222911,651.754777089,0.452372434132,0.00459283076112,0.049682908924,0.999999865195,0.000162706042338,-0.000492689208163,1.98387580836e-05,1793245039394373632
+248,4.133333333,HOLD_POSE2,764.667026175,745.332973825,714,680.667026175,658.332973825,627.667026175,880.667026175,785.667026175,807,653,630,652,0.452372853691,0.0045937084134,0.049683296836,0.999999865124,0.000164035166619,-0.000492401174903,1.96316581259e-05,1793245039411040512
+249,4.150000000,HOLD_POSE2,764.089707258,745.910292742,714,680.089707258,658.910292742,627.089707258,880.089707258,785.089707258,807,653,630,652,0.452371845059,0.0045947757784,0.0496824687225,0.999999863643,0.000165490629935,-0.000494929808255,1.92883056219e-05,1793245039427707136
+250,4.166666667,HOLD_POSE2,764,745.516264413,714,680.483735587,658.516264413,627,880.483735587,785,807,652.516264413,630,652,0.452371800723,0.0045946036305,0.0496817698288,0.999999863417,0.000164961263722,-0.000495566105018,1.9184478446e-05,1793245039444373760
+251,4.183333333,HOLD_POSE2,764,745.058245429,713.941754571,680.941754571,658,627,881,785.058245429,807.058245429,652,630.058245429,652,0.452372046917,0.00459415133411,0.0496812374993,0.999999863464,0.000164151812237,-0.000495741805743,1.91599130854e-05,1793245039461040384
+252,4.200000000,HOLD_POSE2,764,745.649030709,713.350969291,680.350969291,658,627,881,785.649030709,807.649030709,652,630.649030709,652,0.452373327427,0.00459322257697,0.0496820107147,0.999999863885,0.000164120151873,-0.000494889302339,1.94571429896e-05,1793245039477706752
+253,4.216666667,HOLD_POSE2,764.235176459,746,713.235176459,680,658,627.235176459,881.235176459,785.764823541,807.764823541,652,630.764823541,652,0.452373753801,0.00459336866241,0.0496822609159,0.999999863697,0.000165599146339,-0.000494772178561,1.96010558709e-05,1793245039494373632
+254,4.233333333,HOLD_POSE2,764.814532231,746,713.814532231,680,658,627.814532231,881.814532231,785.185467769,807.185467769,652,630.185467769,652,0.452372930151,0.00459508777347,0.0496817456892,0.999999862605,0.000169288974942,-0.000495731278455,1.95205901979e-05,1793245039511040256
+255,4.250000000,HOLD_POSE2,765,746,713.608193019,680.391806981,658.391806981,627.608193019,881.608193019,785,807.391806981,652,630,652,0.452373916992,0.00459498255293,0.0496823754561,0.999999863409,0.00016828465394,-0.000494453042302,1.94451536071e-05,1793245039527706880
+256,4.266666667,HOLD_POSE2,765,746,713.031898096,680.968101904,658.968101904,627.031898096,881.031898096,785,807.968101904,652,630,652,0.452375756328,0.0045940183198,0.0496835443597,0.999999865097,0.000165070025538,-0.000492121324435,1.93720850246e-05,1793245039544373504
+257,4.283333333,HOLD_POSE2,764.45834533,745.45834533,713,680.45834533,658.45834533,627,881,785,807.45834533,652.54165467,630.54165467,652,0.452373794335,0.00459388969167,0.0496823423834,0.99999986377,0.000165822079175,-0.000494557079653,1.93857421607e-05,1793245039561040128
+258,4.300000000,HOLD_POSE2,764.118754463,745,713.118754463,680,658,627,881,785.118754463,807.118754463,652.881245537,630.881245537,652,0.452372286568,0.00459385636005,0.049681274466,0.999999862638,0.000166313010796,-0.000496678039749,1.9387141933e-05,1793245039577707008
+259,4.316666667,HOLD_POSE2,764.710625879,745,713.710625879,680,658,627,881,785.710625879,807.710625879,652.289374121,630.289374121,652,0.452373475804,0.00459400762884,0.0496812940861,0.999999863005,0.000164837668229,-0.000496431959477,1.93194635591e-05,1793245039594373376
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,659,628,881,785,807,652,630,652,0.452373752209,0.00459432134726,0.0496811557121,0.99999986357,0.000164617795007,-0.000495374689483,1.91167594773e-05,1793245039631410432
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,659,628,881,785.575343946,807,652.575343946,630,652,0.452373706459,0.00459458588292,0.0496811636858,0.999999863108,0.000166786682398,-0.000495577400818,1.92212389882e-05,1793245039648077312
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658.845756055,627.845756055,880.845756055,785.845756055,807,652.845756055,630,652,0.452373640166,0.00459462106907,0.0496813533564,0.99999986287,0.000167939764455,-0.000495663903942,1.93495805809e-05,1793245039664744192
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658.256834552,627.256834552,880.256834552,785.256834552,807,652.256834552,630,652,0.452373515978,0.00459400992143,0.0496820550701,0.999999863271,0.000166230188237,-0.000495422918718,1.95451683478e-05,1793245039681411584
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.673579449,680,658,627,880,785,807.326420551,652,630,652,0.452374382695,0.00459391618029,0.0496826372664,0.999999863763,0.000165903982404,-0.000494535613706,1.9605076874e-05,1793245039698078464
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745,713.09470675,680,658,627,880,785,807.90529325,652,630,652,0.452376015772,0.00459422259896,0.0496831270282,0.999999864325,0.000166647668946,-0.000493148447965,1.95600516898e-05,1793245039714744832
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.48238391,745,713,680.48238391,658,627.48238391,880.48238391,785,808,652.48238391,630,652,0.452375213714,0.00459396857704,0.0496824407417,0.999999864005,0.000165799953551,-0.000494085439065,1.94731018268e-05,1793245039731411200
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.941050625,745,713.058949375,680.941050625,658,627.941050625,881,785,807.941050625,652.941050625,630,652,0.452373945585,0.00459368474578,0.0496815680661,0.999999863475,0.000164931430229,-0.000495451154274,1.93893422156e-05,1793245039748077568
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.366031281,745,713.633968719,680.366031281,658,627.366031281,881,785,807.366031281,652.366031281,630,652,0.452372767274,0.00459409967243,0.0496810775709,0.999999862632,0.000166605929446,-0.000496590132163,1.9405305146e-05,1793245039764744192
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,713.785656383,680.214343617,658.214343617,627.214343617,881,785,807,652.214343617,630,652,0.452369659418,0.00459465016983,0.0496799840823,0.999999861615,0.000167149293312,-0.000498460190684,1.91713965837e-05,1793245039781410816
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745,713.195901584,680.804098416,658.804098416,627.804098416,881,785,807,652.804098416,630,652,0.45236317207,0.00459543811202,0.0496778344834,0.999999860292,0.000165711534989,-0.000501610697024,1.8499851698e-05,1793245039798077184
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745.386906294,713,680.613093706,658.613093706,627.613093706,881,785,807,652.613093706,630.386906294,652,0.452340005621,0.00459559555921,0.049667543012,0.999999851384,0.000165376105337,-0.000519174018999,1.84528954465e-05,1793245039814744320
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745.966258844,713,680.033741156,658.033741156,627.033741156,881,785,807,652.033741156,630.966258844,652,0.452308543027,0.0045954393998,0.0496532017927,0.999999838198,0.000165588971088,-0.000543906240655,1.87166080024e-05,1793245039831411456
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,746,713.540943235,680.540943235,658.540943235,627.540943235,881,785,807,652,630.459056765,652,0.452252558263,0.0045955073329,0.049632722288,0.999999817815,0.000165686555743,-0.000580155504357,1.83922420583e-05,1793245039848078336
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745.881948174,714,681,659,628,881,785.118051826,807,652,630,652,0.452191799231,0.00459599075699,0.049612329741,0.999999797022,0.000166096949156,-0.00061485603767,1.78619553124e-05,1793245039864745216
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745.29404195,714,681,659,628,881,785.70595805,807,652,630,652,0.452118073946,0.00459807270765,0.0495937941103,0.999999780629,0.000167780718012,-0.000640557824619,1.66568341777e-05,1793245039881411328
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,745,713.709665233,680.709665233,658.709665233,628,881,786,807,652,630,651.709665233,0.452039176255,0.00459959472712,0.049581800061,0.999999768554,0.000170569024161,-0.000658436846382,1.60735417082e-05,1793245039898077696
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745,713.12882019,680.12882019,658.12882019,628,881,786,807,652,630,651.12882019,0.451955103035,0.00460055647678,0.0495763515486,0.999999761213,0.000174462535265,-0.000668488372798,1.61124538803e-05,1793245039914744320
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745.448701653,713.448701653,680.448701653,658,628,880.551298347,785.551298347,807,652,630,651,0.451860664139,0.00460014948126,0.0495780543008,0.999999761707,0.000175978503888,-0.000667359183554,1.5815065883e-05,1793245039931410688
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,746,714,680.974834552,658,627.974834552,880.025165448,785,807,652,630.025165448,651.025165448,0.451762061651,0.00459949131564,0.049581733683,0.999999764407,0.00017692745979,-0.00066305749406,1.54160998754e-05,1793245039948077312
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,746,714,680.400791305,658,627.400791305,880.599208695,785,807,652,630.599208695,651.599208695,0.451637078339,0.00460186269653,0.0495840745068,0.999999766459,0.000180287610328,-0.000659057516529,1.48919924879e-05,1793245039964744448
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.178845927,746,713.821154073,680.178845927,658,627.178845927,880.821154073,785,807,652,631,652,0.451503968265,0.00460437803413,0.0495865300433,0.999999768791,0.000184038527761,-0.000654479109058,1.4322789374e-05,1793245039981411328
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.771423888,746,713.228576112,680.771423888,658,627.771423888,880.228576112,785,807,652,631,652,0.451352058219,0.0046072263927,0.0495892509493,0.999999771787,0.00018869342272,-0.000648562595107,1.36492644344e-05,1793245039998077952
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.646153047,713,680.646153047,658.353846953,628,880.353846953,785,807,652,630.646153047,651.646153047,0.451180414365,0.00460876618605,0.0495906524549,0.999999774202,0.000192507520587,-0.000643713782224,1.29812049856e-05,1793245040014744320
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.070106725,713,680.070106725,658.929893275,628,880.929893275,785,807,652,630.070106725,651.070106725,0.450996378586,0.00460948426179,0.0495912254389,0.999999776254,0.000195793637582,-0.000639535435192,1.23165775439e-05,1793245040031410432
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.494280378,745.505719622,713.505719622,680.505719622,659,628,881,785,807,652,630.505719622,651.505719622,0.450791913732,0.00461278105499,0.0495966543438,0.999999783261,0.000201613285682,-0.000626668811416,1.07999609524e-05,1793245040048077312
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,745.919600043,713.919600043,680.919600043,659,628,880.919600043,785,807.080399957,652,630.919600043,652,0.450579120224,0.00461608617275,0.0496030670528,0.999999790966,0.000207172633928,-0.000612423660689,9.19911128576e-06,1793245040064744192
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,745.351683643,713.351683643,680.351683643,659,628,880.351683643,785,807.648316357,652,630.351683643,652,0.450332989637,0.00461727507191,0.049611365143,0.999999799848,0.000209024889659,-0.000597119700965,7.80336255572e-06,1793245040081410560
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,745,713,680,659,628,880.229247549,785,807.770752451,652,630,652,0.45006388871,0.00461998319686,0.049616506057,0.999999804802,0.000214195650421,-0.000586917952826,6.60826320647e-06,1793245040098076928
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.414696548,745,713,680,659,628,881,785,807,652,630,652,0.449425225987,0.00462774929829,0.0496168088374,0.999999803531,0.000231099328437,-0.000582674929328,4.63978729375e-06,1793245040131410432
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.990752029,745,713,680,659,628,881,785,807,652,630,652,0.449083007024,0.00462932786672,0.0496172186843,0.9999998039,0.000235788172543,-0.000580165655308,3.45020732652e-06,1793245040148077056
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.435447641,745,713,680,659,628.564552359,881,785,807.564552359,652,630.564552359,651.435447641,0.448701554867,0.00463338372375,0.049614997099,0.99999979947,0.000242531729244,-0.000585009011737,1.6326204803e-06,1793245040164743680
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,745.895565125,713.104434875,680,659,630,880,785.104434875,807,652.895565125,630,651.895565125,0.446956858255,0.00464857326323,0.0496052929489,0.999999787117,0.000270150838575,-0.000593922468229,-6.42603473641e-06,1793245040231410432
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,662.386194186,633.386194186,878,785.613805814,805.613805814,653,630,652.613805814,0.405416179144,0.00463610474547,0.0497736954242,0.99999990971,0.000152916603526,-0.000393307555345,-5.00581114148e-05,1793245041164745216
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,662.964043707,633.964043707,878,785.035956293,805.035956293,653,630,652.035956293,0.404988017151,0.00463768878403,0.0497750830375,0.99999990886,0.000161861252033,-0.000391946768486,-4.95915691494e-05,1793245041181411328
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,745,713.538887963,679,663,633.461112037,878,785.538887963,805.538887963,653,630.538887963,652,0.404631685633,0.0046394123217,0.0497992471126,0.999999923027,0.000167465522809,-0.000351369121405,-4.94147862101e-05,1793245041198077696
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745,713.883558913,679,663,633.116441087,878,786.116441087,806,653,630.883558913,652.116441087,0.404286048517,0.00464074201814,0.0498250989864,0.999999936033,0.000172799003994,-0.000309299896971,-4.90675659579e-05,1793245041214744064
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,713.294193683,679,663,633.705806317,878,786.705806317,806,653,630.294193683,652.705806317,0.403964488728,0.00464043453952,0.0498516677611,0.999999946099,0.000177932885166,-0.000271741280424,-4.79500288262e-05,1793245041231410944
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,634,878.29090356,786.70909644,806,653,630,652.70909644,0.403644979407,0.00463955565334,0.049862263106,0.99999994895,0.000179363537203,-0.000260193699162,-4.72028141855e-05,1793245041248077824
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,634,878.871746923,786.128253077,806,653,630,652.128253077,0.40332751378,0.00463810725268,0.049856937939,0.999999945526,0.000177103228696,-0.000274570981562,-4.68246952747e-05,1793245041264744192
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.552641672,878.552641672,786,805.552641672,653,630,652,0.403031134373,0.00463561863057,0.0498417730419,0.999999937946,0.00017292296791,-0.000303292182457,-4.71104117907e-05,1793245041281411072
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,745,713.021481383,679,663,633.021481383,878.021481383,786,805,653,630,652,0.402742593274,0.00463266489189,0.0498241186535,0.999999928634,0.000167187865093,-0.000335440794723,-4.75385193644e-05,1793245041298077952
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,713.595457019,679,663,633.595457019,878.595457019,786,805,653,630,652,0.402501967481,0.00462532998253,0.0498141505551,0.999999928061,0.000135455976571,-0.000351198116232,-4.67906279945e-05,1793245041314745088
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,713.825732092,679,662.825732092,633.825732092,878.825732092,786,805,653,630,652,0.402276960477,0.00461785995123,0.0498069893283,0.999999927529,0.000112852226859,-0.000360692993922,-4.58971366405e-05,1793245041331412224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,713.235376479,679,662.235376479,633.235376479,878.235376479,786,805,653,630,652,0.402089245432,0.00461006729946,0.0498065298806,0.99999992963,0.00011204312205,-0.000355235456452,-4.46560062721e-05,1793245041348078080
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.653865452,745,713,679,662.346134548,633,878.346134548,785.653865452,805.346134548,653,630,652.346134548,0.401927959608,0.00460898688148,0.0498131287797,0.999999934121,0.000118339626406,-0.000340300336562,-4.41590183225e-05,1793245041364744448
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.078218959,745,713,679,662.921781041,633,878.921781041,785.078218959,805.921781041,653,630,652.921781041,0.401784198227,0.00461235715347,0.0498244078672,0.999999939753,0.000129347657356,-0.000319080901451,-4.41554498385e-05,1793245041381411072
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.499850552,745,713,679,663,633,879,785,806,653,630,652.500149448,0.401665250023,0.00461221390609,0.0498333644787,0.999999944677,0.0001326517132,-0.000301858844977,-4.3941712293e-05,1793245041398077440
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,662.920275798,633,878.920275798,785.079724202,806,653,630,652,0.401551995411,0.0046116058881,0.0498408594217,0.999999948711,0.000134300901411,-0.000287440670877,-4.38128187359e-05,1793245041414744064
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,662.331311631,633,878.331311631,785.668688369,806,653,630,652,0.401450185877,0.00461155818037,0.049841350668,0.999999948992,0.000133117601655,-0.000286917306261,-4.44369654229e-05,1793245041431411200
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.74605318,745,713,679,662.25394682,633,878.25394682,786,806,653,630,652,0.401358357017,0.00461269006638,0.0498410617364,0.999999948962,0.00013376145916,-0.00028663737336,-4.49807313603e-05,1793245041448078080
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.165559887,745,713,679,662.834440113,633,878.834440113,786,806,653,630,652,0.401279362163,0.0046153387746,0.0498397695856,0.999999948528,0.000136754831319,-0.000286670465743,-4.5421136839e-05,1793245041464744960
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.411127941,745,713,679,663,633.411127941,878.588872059,786,805.588872059,653,630,652,0.401214865803,0.00461561882383,0.0498393492974,0.999999948428,0.000138053795545,-0.000286366610059,-4.56049173878e-05,1793245041481411584
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.98629736,745,713,679,663,633.98629736,878.01370264,786,805.01370264,653,630,652,0.401156154394,0.00461495376981,0.0498392768854,0.999999948463,0.000138676685039,-0.000285928310923,-4.56863036864e-05,1793245041498077696
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,634,878.556499267,786,805,653,630,652,0.401121233481,0.00461505620782,0.0498428935511,0.999999950627,0.000138053920585,-0.000278525494337,-4.59353608002e-05,1793245041514744320
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745,713,678.867719316,663,634,878.867719316,786,805,653,630,652,0.401089303523,0.0046151770656,0.0498464645678,0.9999999527,0.000137457781099,-0.000271259865549,-4.60820452105e-05,1793245041531410944
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,713,678.271964221,663,634,878.271964221,786,805,653,630,652,0.401065818753,0.00461529683394,0.0498495601948,0.999999954425,0.000137061442254,-0.000265070431768,-4.58557070493e-05,1793245041548077568
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,713,678.315422822,663,633.684577178,878.315422822,785.684577178,805,652.684577178,630.315422822,652,0.401043974314,0.00461500496224,0.0498500053421,0.999999955029,0.000136194992882,-0.000263247937627,-4.57555290678e-05,1793245041564744192
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745,713,678.895781284,663,633.104218716,878.895781284,785.104218716,805,652.104218716,630.895781284,652,0.401023507649,0.00461436733841,0.049848224251,0.999999954712,0.00013493367973,-0.000265093401729,-4.57613178022e-05,1793245041581410816
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633,878.529321785,785.470678215,805,652.470678215,630.529321785,652,0.401011321268,0.00461460907944,0.0498476738895,0.999999954091,0.000137664771256,-0.000266102717729,-4.53399355835e-05,1793245041598077696
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,745.045452413,713,679,663,633.045452413,878.045452413,786,805.045452413,653,630,652,0.401001382661,0.00461502873328,0.0498474527743,0.999999953461,0.000141005826253,-0.000266796966802,-4.48790173854e-05,1793245041614744064
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745.633021298,713,679,663,633.633021298,878.633021298,786,805.633021298,653,630,652,0.400996636664,0.00461527467049,0.0498479456261,0.99999995366,0.000141199262525,-0.000265916256353,-4.50617378128e-05,1793245041631410688
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745.782536146,713,679.217463854,663,634,879.217463854,785.782536146,805.782536146,653,630,652,0.40099391478,0.00461560932318,0.0498491632613,0.999999954244,0.00014077783856,-0.000263911726568,-4.52077672836e-05,1793245041648077056
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745.203294656,713,679.796705344,663,634,879.796705344,785.203294656,805.203294656,653,630,652,0.400994560256,0.00461609156487,0.049851586662,0.999999955458,0.000139333519607,-0.000260037586343,-4.52927568629e-05,1793245041664743680
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.376055935,679.623944065,663,634,879.623944065,785.376055935,805.376055935,653,630,652,0.400993243299,0.00461590780181,0.0498515283433,0.999999955887,0.000137680202133,-0.000259307104753,-4.50535233611e-05,1793245041681410560
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.955465504,679.044534496,663,634,879.044534496,785.955465504,805.955465504,653,630,652,0.400990865149,0.00461536389421,0.0498501280255,0.999999955895,0.000135913867988,-0.000260276568296,-4.46389650297e-05,1793245041698077184
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.471809162,745,713.471809162,679,663,633.471809162,878.471809162,786,806,653,630,652,0.400989805227,0.0046156891703,0.0498506398402,0.999999955796,0.000136778748196,-0.0002601935144,-4.47188063506e-05,1793245041714743808
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.103521235,745,713,679,663,633.103521235,878,785.896478765,805.896478765,653,630,652,0.400988920417,0.00461585827158,0.0498512851748,0.999999955708,0.000137705378143,-0.000260023075342,-4.48240849671e-05,1793245041731410688
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.693714726,745,713,679,663,633.693714726,878,785.306285274,805.306285274,653,630,652,0.400988342853,0.00461495294398,0.0498518097494,0.999999955725,0.000137892374911,-0.000259853806965,-4.48554273056e-05,1793245041748077312
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.27850967,663,633.72149033,878,785.27850967,805.27850967,653,630,652,0.400988458202,0.00461445194737,0.0498520121287,0.999999955945,0.000137508512475,-0.000259230279678,-4.47275249729e-05,1793245041764744192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.857480637,663,633.142519363,878,785.857480637,805.857480637,653,630,652,0.400989321076,0.00461438715028,0.0498518669179,0.999999956384,0.000136508796776,-0.000258116689597,-4.44278265971e-05,1793245041781410816
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.564521927,745,713,680,663,633,878,785.564521927,805.564521927,653,630,652,0.400989902519,0.00461446028609,0.0498522640548,0.99999995657,0.000136818014189,-0.000257219556669,-4.44918869822e-05,1793245041798078208
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.013037513,745,713,679.986962487,663,633.013037513,878,785.013037513,805.013037513,653,630,651.986962487,0.40099037748,0.00461457992655,0.0498528398049,0.999999956677,0.000137544876465,-0.00025638391995,-4.46689843981e-05,1793245041814745600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.585445752,745,713,679.414554248,663,633.585445752,878,785.585445752,805.585445752,653,630,651.414554248,0.400990226702,0.00461476237536,0.0498534805375,0.999999956952,0.000137852324617,-0.000255154161199,-4.45995889405e-05,1793245041831411456
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.836019272,745,713,679,663,634,878,786,805.836019272,653,630,651.163980728,0.400990450986,0.00461427640839,0.0498541363712,0.999999957385,0.000137228838918,-0.000253812045171,-4.4471862153e-05,1793245041848077568
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.241394365,745,713,679,663,634,878,786,805.241394365,653,630,651.758605635,0.400991660249,0.00461203505608,0.049854831863,0.999999958228,0.000134160546126,-0.000252174857908,-4.41909463454e-05,1793245041864744448
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.341740573,745,713,679.341740573,663,634,878,785.658259427,805.341740573,653,630,652,0.400991625949,0.00461145531124,0.0498550559139,0.999999958392,0.000133348379536,-0.000251977485831,-4.40571687527e-05,1793245041881411072
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.917023353,745,713,679.917023353,663,634,878,785.082976647,805.917023353,653,630,652,0.40099074181,0.00461201109299,0.0498549577866,0.999999958098,0.000134078027926,-0.000252764069612,-4.40239440069e-05,1793245041898077696
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.508122055,745,713,679.508122055,662.508122055,634,878,785.491877945,805.508122055,653,630,652,0.400991134669,0.0046127063291,0.0498552176661,0.999999958054,0.00013515269374,-0.000252339175822,-4.41682902486e-05,1793245041914744320
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763.068567877,745,713,679,662.068567877,634,878.068567877,785.931432123,805.068567877,653,630,652,0.400991662734,0.00461329124299,0.0498555358699,0.99999995806,0.000136211500565,-0.000251725609381,-4.4284678598e-05,1793245041931410432
+399,6.650000000,POSE2_TO_POSE3_RETREAT,763.659797594,745,713,679,662.659797594,634,878.659797594,785.340202406,805.659797594,653,630,652,0.400991580796,0.00461285605538,0.0498558387021,0.999999958131,0.000136706157623,-0.000251230330526,-4.39598210893e-05,1793245041948077312
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745.245050096,713.245050096,679,663,634,878.754949904,785.245050096,806,653,630,652,0.400990844214,0.00461325581171,0.049855342516,0.999999957912,0.000136989252224,-0.000251947006189,-4.39645490371e-05,1793245041964743936
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745.822202114,713.822202114,679,663,634,878.177797886,785.822202114,806,653,630,652,0.400989220432,0.00461478711816,0.0498537634679,0.999999957295,0.000136985628795,-0.00025430617216,-4.44159446414e-05,1793245041981410304
+402,6.700000000,POSE2_TO_POSE3_RETREAT,763.603222103,745.603222103,713.603222103,679,663,633.603222103,878,786,805.603222103,653,630,652,0.40098887476,0.00461449341043,0.0498538020215,0.999999957329,0.000137322868609,-0.000253987413576,-4.4435185805e-05,1793245041998077440
+403,6.716666667,POSE2_TO_POSE3_RETREAT,763.02979333,745.02979333,713.02979333,679,663,633.02979333,878,786,805.02979333,653,630,652,0.400989098119,0.00461338718165,0.0498545607534,0.999999957652,0.00013781186534,-0.000252476406683,-4.42620259505e-05,1793245042014744320
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d9b5b5f506ea74338065fd4488bb5984de39be1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+1,0.016666667,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+2,0.033333333,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+3,0.050000000,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+4,0.066666667,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+5,0.083333333,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+6,0.100000000,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
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+369,6.150000000,pose2_to_pose3_retreat,0.57597427258,0.0098776621442,1.04005090253,0.546545909182,0.0185533594069,1.03971739367
+370,6.166666667,pose2_to_pose3_retreat,0.575910097859,0.00987775860221,1.04005082547,0.546481732421,0.018553449038,1.03971731872
+371,6.183333333,pose2_to_pose3_retreat,0.575856991353,0.00987784575318,1.04005081325,0.546428624215,0.0185535305185,1.03971730898
+372,6.200000000,pose2_to_pose3_retreat,0.575813746692,0.00987776652041,1.040050874,0.546385380551,0.0185534546725,1.03971736984
+373,6.216666667,pose2_to_pose3_retreat,0.57577957544,0.00987759955369,1.04005088854,0.546351211269,0.0185532942979,1.03971738204
+374,6.233333333,pose2_to_pose3_retreat,0.575752450176,0.00987767681597,1.04005090093,0.546324085159,0.0185533686185,1.0397173927
+375,6.250000000,pose2_to_pose3_retreat,0.575731574494,0.00987771867656,1.04005088272,0.546303209369,0.0185534102168,1.0397173773
+376,6.266666667,pose2_to_pose3_retreat,0.575714439274,0.00987775701765,1.04005093148,0.546286073931,0.0185534477092,1.03971742309
+377,6.283333333,pose2_to_pose3_retreat,0.575700895628,0.00987779965812,1.0400510681,0.546272529702,0.018553487953,1.03971754829
+378,6.300000000,pose2_to_pose3_retreat,0.575690407959,0.00987778301005,1.04005092885,0.546262042696,0.0185534739207,1.03971741882
+379,6.316666667,pose2_to_pose3_retreat,0.575683012999,0.00987774403095,1.04005089589,0.54625464806,0.0185534361436,1.03971738863
+380,6.333333333,pose2_to_pose3_retreat,0.57567880834,0.00987772061771,1.04005089995,0.546250443413,0.0185534127413,1.0397173919
+381,6.350000000,pose2_to_pose3_retreat,0.575676263332,0.00987772953036,1.04005092339,0.546247897896,0.018553419727,1.03971741006
+382,6.366666667,pose2_to_pose3_retreat,0.575674782682,0.00987773471561,1.04005093702,0.546246416949,0.0185534237911,1.03971742063
+383,6.383333333,pose2_to_pose3_retreat,0.575673856301,0.00987774142738,1.04005094205,0.546245490444,0.0185534300359,1.03971742451
+384,6.400000000,pose2_to_pose3_retreat,0.575673263071,0.00987775428392,1.04005093662,0.546244897282,0.018553443172,1.03971742025
+385,6.416666667,pose2_to_pose3_retreat,0.575672524568,0.00987777028882,1.04005092985,0.546244158865,0.018553459525,1.03971741496
+386,6.433333333,pose2_to_pose3_retreat,0.575671956194,0.00987778260666,1.04005092464,0.546243590557,0.0185534721107,1.03971741088
+387,6.450000000,pose2_to_pose3_retreat,0.575671772789,0.00987778658143,1.04005092296,0.546243407173,0.0185534761719,1.03971740957
+388,6.466666667,pose2_to_pose3_retreat,0.575671761233,0.00987778683188,1.04005092286,0.546243395618,0.0185534764278,1.03971740948
+389,6.483333333,pose2_to_pose3_retreat,0.575671588163,0.00987779058266,1.04005092127,0.546243222569,0.0185534802602,1.03971740824
+390,6.500000000,pose2_to_pose3_retreat,0.57567136593,0.00987779498339,1.04005091909,0.546243000356,0.0185534847457,1.03971740653
+391,6.516666667,pose2_to_pose3_retreat,0.57567114158,0.00987779649304,1.04005091582,0.546242775982,0.0185534862005,1.03971740395
+392,6.533333333,pose2_to_pose3_retreat,0.575670878234,0.00987779826509,1.04005091198,0.546242512607,0.0185534879081,1.03971740093
+393,6.550000000,pose2_to_pose3_retreat,0.575670684208,0.00987779957068,1.04005090916,0.54624231856,0.0185534891662,1.0397173987
+394,6.566666667,pose2_to_pose3_retreat,0.575670643191,0.00987779984668,1.04005090856,0.546242277539,0.0185534894322,1.03971739823
+395,6.583333333,pose2_to_pose3_retreat,0.575670540971,0.00987780053451,1.04005090707,0.546242175308,0.018553490095,1.03971739705
+396,6.600000000,pose2_to_pose3_retreat,0.575670404551,0.00987780145248,1.04005090508,0.546242038874,0.0185534909796,1.03971739548
+397,6.616666667,pose2_to_pose3_retreat,0.575670395606,0.00987780151267,1.04005090495,0.546242029928,0.0185534910376,1.03971739538
+398,6.633333333,pose2_to_pose3_retreat,0.575670307597,0.00987780210488,1.04005090367,0.54624194191,0.0185534916083,1.03971739437
+399,6.650000000,pose2_to_pose3_retreat,0.575670136319,0.0098778032574,1.04005090118,0.546241770613,0.018553492719,1.0397173924
+400,6.666666667,pose2_to_pose3_retreat,0.575669923267,0.0098778272418,1.04005090005,0.546241557066,0.0185535150191,1.03971739123
+401,6.683333333,pose2_to_pose3_retreat,0.575669704613,0.00987786690836,1.04005090022,0.546241337587,0.0185535518677,1.03971739087
+402,6.700000000,pose2_to_pose3_retreat,0.575669564345,0.00987787504769,1.04005089572,0.54624119655,0.0185535574024,1.03971738647
+403,6.716666667,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..541aced79086778157b91459692636ed0fff4c91
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1275a30674f15f00f6c6dc3d75c5bdcf35e284836757b6f0ac4663d7bb99afd1
+size 25651212
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a95df456d50c1b63c24ce83a719f65519b908716
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+39,0.650000000,BASELINE,764,745,713,678.684623895,662.684623895,633.315376105,878,786,805,653,630,652,0.400991023359,0.00461236178978,0.0498583295443,0.999999959594,0.000135303768329,-0.000246128721162,-4.38859685678e-05,1793245042781847296
+40,0.666666667,BASELINE,764,745,713,679,663,633.270730779,878,785.729269221,805.270730779,653,630,652,0.400990373375,0.00461176112142,0.049858266652,0.999999959423,0.000135925027682,-0.000246511984015,-4.37026338456e-05,1793245042798513920
+41,0.683333333,BASELINE,764,745,713,679,663,633.850405293,878,785.149594707,805.850405293,653,630,652,0.40098841879,0.00460951518546,0.0498566873397,0.999999959196,0.000133042555473,-0.000249077443919,-4.32272307117e-05,1793245042815180032
+42,0.700000000,BASELINE,764,745,713,679,663,634,878,785.426656075,805.573343925,653,630,652,0.400988336051,0.0046100679535,0.0498565627057,0.999999959174,0.000132870523918,-0.000249246643587,-4.32906894686e-05,1793245042831846656
+43,0.716666667,BASELINE,764,745,713,679,663,633.998249423,878,786,805,653.001750577,630,652,0.40098890324,0.00461159281026,0.0498569431743,0.999999959225,0.000133642261969,-0.000248582988843,-4.35415148844e-05,1793245042848513280
+44,0.733333333,BASELINE,764,745,713,679,663,633.411591021,878,786,805,653.588408979,630,652,0.400989084041,0.00461265498644,0.0498570301622,0.999999959179,0.000134747037187,-0.000248132181847,-4.37703795317e-05,1793245042865180160
+45,0.750000000,BASELINE,764,745,713,679,663,633,878,786,805.172928722,653.827071278,630,652,0.400989561384,0.0046130812666,0.0498572388266,0.999999959274,0.000135116733789,-0.000247520502285,-4.39102642244e-05,1793245042881846784
+46,0.766666667,BASELINE,764,745,713,679,663,633,878,786,805.752420304,653.247579696,630,652,0.400990735906,0.0046120125277,0.0498577335576,0.999999959705,0.000133758228811,-0.000246530604473,-4.38409531866e-05,1793245042898513920
+47,0.783333333,BASELINE,763.668865864,745,713,679,663,633.331134136,878,786,806,653,629.668865864,652,0.400990291877,0.00461094632728,0.0498577149554,0.999999959664,0.000133427622896,-0.000246938229872,-4.34877612546e-05,1793245042915180544
+48,0.800000000,BASELINE,763.090732113,745,713,679,663,633.909267887,878,786,806,653,629.090732113,652,0.400988640537,0.00460988202025,0.0498573134476,0.999999959271,0.000133863747434,-0.000248388295856,-4.29228168431e-05,1793245042931846912
+49,0.816666667,BASELINE,763,744.515755449,713,679,662.515755449,633.515755449,878,786,805.515755449,653,629.484244551,652,0.400988265395,0.00461145141163,0.0498570076962,0.999999959047,0.000134973616304,-0.000248626891928,-4.32806553344e-05,1793245042948513536
+50,0.833333333,BASELINE,763.060140584,744.060140584,713,679,662.060140584,633.060140584,878,786,805.060140584,653,630,652,0.400988302071,0.00461322232182,0.0498569021047,0.999999958951,0.000135908863113,-0.000248423302946,-4.37299556428e-05,1793245042965179904
+51,0.850000000,BASELINE,763.649293582,744.649293582,713,679,662.649293582,633.649293582,878,786,805.649293582,653,630,652,0.400989871479,0.00461245325433,0.0498584003749,0.999999959714,0.000134204855649,-0.000246313878429,-4.3472752966e-05,1793245042981846528
+52,0.866666667,BASELINE,763.765643092,745,713,679,662.765643092,634,878,786,805.765643092,653,630,652,0.400990177292,0.00461194170455,0.0498586632557,0.999999959858,0.000133935700739,-0.000245901793775,-4.33402907349e-05,1793245042998512896
+53,0.883333333,BASELINE,763.186594878,745,713,679,662.186594878,634,878,786,805.186594878,653,630,652,0.400988624612,0.00461180891094,0.0498571091302,0.999999959092,0.000135776921968,-0.000247986150685,-4.33912963235e-05,1793245043015179520
+54,0.900000000,BASELINE,763,745,713,679,662.390239855,634,878.390239855,786,805,653,630,652,0.400989231325,0.00461168097246,0.0498573272947,0.999999959196,0.000135692495177,-0.000247609785688,-4.34201140599e-05,1793245043031846656
+55,0.916666667,BASELINE,763,745,713,679,662.966022154,634,878.966022154,786,805,653,630,652,0.400990864736,0.00461155534239,0.0498583881075,0.999999959712,0.000134692504639,-0.000246063452072,-4.34383824153e-05,1793245043048513792
+56,0.933333333,BASELINE,763.538361902,745,713,679,663,634,878.461638098,786,805,653,630,652,0.400990058463,0.00461093624699,0.0498582809241,0.9999999596,0.000133431371721,-0.000247240772981,-4.32196922044e-05,1793245043065180672
+57,0.950000000,BASELINE,764,745,713,678.885239899,663,634,878.114760101,785.885239899,805.114760101,653,630,652,0.400989224462,0.00461065418228,0.0498580583305,0.999999959452,0.000132690340517,-0.000248256755859,-4.31067026638e-05,1793245043081847552
+58,0.966666667,BASELINE,764,745,713,678.29098255,663,634,878.70901745,785.29098255,805.70901745,653,630,652,0.400988913878,0.00461190962073,0.0498576595714,0.999999959327,0.000134190855266,-0.000247884951543,-4.34974476901e-05,1793245043098513664
+59,0.983333333,BASELINE,764,745,713,678.295459956,663,634,878.704540044,785.295459956,806,653,630,652,0.400989212659,0.00461208137999,0.0498577924543,0.999999959486,0.000134214781568,-0.000247189584269,-4.3731267285e-05,1793245043115179776
+60,1.000000000,BASELINE,764,745,713,678.874404435,663,634,878.125595565,785.874404435,806,653,630,652,0.400990096107,0.00461121338336,0.0498584354309,0.999999959916,0.000132821967927,-0.000246183768483,-4.38145219153e-05,1793245043131846400
+61,1.016666667,BASELINE,763.551686725,745,713,678.551686725,663,634,878,786,806,653,630,652,0.400989738187,0.00461214469976,0.0498578857517,0.999999959588,0.000133769811809,-0.000246962130083,-4.40288689614e-05,1793245043148513024
+62,1.033333333,BASELINE,763,745,713,678.021453423,663,634,878,785.978546577,806,653,630,652,0.400989027777,0.00461344501735,0.0498570220198,0.999999959065,0.000135248503399,-0.000248235703423,-4.42464956905e-05,1793245043165179648
+63,1.050000000,BASELINE,763,745,713,678.611186707,663,634,878,785.388813293,806,653,630,652,0.400988090015,0.00461131555063,0.0498565916483,0.99999995899,0.000133611907172,-0.000249533757341,-4.35889764916e-05,1793245043181846784
+64,1.066666667,BASELINE,763.197340096,745.197340096,713,679,663,634,878.197340096,785.197340096,806,653,630,652,0.400987544715,0.00460980715022,0.0498561455045,0.999999958965,0.000132921592185,-0.000250070088288,-4.32058877394e-05,1793245043198513664
+65,1.083333333,BASELINE,763.776565763,745.776565763,713,679,663,634,878.776565763,785.776565763,806,653,630,652,0.400987758894,0.00460950061548,0.0498556688389,0.99999995904,0.000134062487271,-0.00024913235982,-4.33538671172e-05,1793245043215180544
+66,1.100000000,BASELINE,764,746,713,679,663,634,879,786,806,653,630,652,0.400988301485,0.00460912358836,0.0498561057087,0.999999959189,0.000133979749414,-0.000248570969438,-4.3401738577e-05,1793245043231847424
+67,1.116666667,BASELINE,764,746,713,679,663,634,879,786,806,653,630,652,0.400989050316,0.00460870229259,0.0498571162714,0.999999959384,0.00013312857967,-0.000248245916443,-4.33867430476e-05,1793245043248513536
+68,1.133333333,BASELINE,763.493423451,745.493423451,713,679,663,634,879,785.493423451,805.493423451,652.493423451,630.506576549,652,0.400988266297,0.00461045659933,0.0498570467849,0.999999959199,0.000133642208969,-0.000248688133902,-4.35353108347e-05,1793245043265179904
+69,1.150000000,BASELINE,763.081639362,745,713,679,663,633.918360638,878.918360638,785.081639362,805.081639362,652.081639362,630.918360638,652,0.400987594075,0.00461219031858,0.0498569539806,0.999999959038,0.000134405471979,-0.000248895973351,-4.36920078937e-05,1793245043281846528
+70,1.166666667,BASELINE,763.65145697,745,713,679,663,633.34854303,878.34854303,785.65145697,805.65145697,652.65145697,630.34854303,652,0.400988845426,0.00461201960329,0.0498576060602,0.999999959333,0.000135544005356,-0.00024707408311,-4.37633940239e-05,1793245043298513152
+71,1.183333333,BASELINE,764,745,713.232740946,679,663,633.232740946,878,786,805.767259054,653,630,652,0.400990153445,0.00461126596139,0.0498583006373,0.999999959801,0.000134491200894,-0.000245761869465,-4.3714573567e-05,1793245043315180032
+72,1.200000000,BASELINE,764,745,713.832086389,679,663,633.832086389,878,786,805.167913611,653,630,652,0.400991550725,0.00460959411612,0.0498590621552,0.999999960532,0.000129986686377,-0.00024525247831,-4.34764083749e-05,1793245043331846912
+73,1.216666667,BASELINE,763.587259174,745.412740826,713.587259174,679,663,634,878,785.587259174,805.412740826,653,630,652.412740826,0.40099042654,0.00461089251579,0.0498584692828,0.999999960001,0.000131564307554,-0.000246565374024,-4.35304627153e-05,1793245043348513536
+74,1.233333333,BASELINE,763.013879325,745.986120675,713.013879325,679,663,634,878,785.013879325,805.986120675,653,630,652.986120675,0.400988321,0.00461334693698,0.0498573492808,0.999999958966,0.000135509100523,-0.000248587505105,-4.36982491186e-05,1793245043365180160
+75,1.250000000,BASELINE,763,745.439975955,713,679,663,634,879.120048091,785,806,653,630,652.439975955,0.400988818245,0.00461165683069,0.0498573297643,0.999999959162,0.000134793710665,-0.000248248688175,-4.33450801246e-05,1793245043381847296
+76,1.266666667,BASELINE,763.138732579,745,713.138732579,679,663,634,879.861267421,785.138732579,805.861267421,653,630,652,0.400989815588,0.00461034250652,0.049857809707,0.999999959519,0.000134231076418,-0.000247155487313,-4.31142385945e-05,1793245043398513920
+77,1.283333333,BASELINE,763.733182728,745,713.733182728,679,663,634,879.266817272,785.733182728,805.266817272,653,630,652,0.400992243587,0.00461060029804,0.0498598406306,0.999999960296,0.000134549965075,-0.000243776623475,-4.33276768734e-05,1793245043415180032
+78,1.300000000,BASELINE,764,745,713.683305873,679,663,634,878.683305873,786,805.316694127,653,630,652,0.400991964694,0.0046107196873,0.0498595878576,0.999999960252,0.000134051654332,-0.000244199273449,-4.35129422679e-05,1793245043431846656
+79,1.316666667,BASELINE,764,745,713.108702789,679,663,634,878.108702789,786,805.891297211,653,630,652,0.400989481366,0.00461072636468,0.0498574752905,0.999999959535,0.000132887833773,-0.000247717795536,-4.3675264254e-05,1793245043448513280
+80,1.333333333,BASELINE,764,745,713,679,663.468985533,634,878.468985533,786,806,653,630,652,0.400990804643,0.00461119128521,0.0498586116192,0.999999959952,0.000132942623973,-0.000246021080026,-4.35529016689e-05,1793245043465180160
+81,1.350000000,BASELINE,764,745,713,679.048190556,663.951809444,634,879,786,806,653,630,652.048190556,0.400992708603,0.00461159837121,0.0498602781252,0.999999960556,0.000133036907839,-0.00024353765138,-4.33452125192e-05,1793245043481846784
+82,1.366666667,BASELINE,764,745,713,679.636323389,663.363676611,634,879,786,806,653,630,652.636323389,0.40099116761,0.0046101595369,0.0498593917513,0.999999960351,0.000130388040695,-0.000245873136315,-4.29257102476e-05,1793245043498513664
+83,1.383333333,BASELINE,764,745,713,679.777666002,663,634,879.222333998,786,806,652.777666002,630,652.777666002,0.400990070933,0.00460981502544,0.0498586768118,0.999999960061,0.00013017729487,-0.000247193067585,-4.27399343664e-05,1793245043515180544
+84,1.400000000,BASELINE,764,745,713,679.195093845,663,634,879.804906155,786,806,652.195093845,630,652.195093845,0.400989694164,0.00461124359774,0.0498582396397,0.99999995964,0.00013391693111,-0.00024686754156,-4.29328551768e-05,1793245043531846912
+85,1.416666667,BASELINE,764,745,713,679,663,634,879.618179195,786,806,652,630,652,0.400990914629,0.00461172285995,0.0498587392587,0.999999960003,0.000134390621651,-0.000245064313182,-4.33270198147e-05,1793245043548513280
+86,1.433333333,BASELINE,764,745,713,679,663,634,879.044113111,786,806,652,630,652,0.400992939297,0.00461172414816,0.0498597105483,0.999999960759,0.000133219921111,-0.000242517067481,-4.38225099191e-05,1793245043565179648
+87,1.450000000,BASELINE,763.476298635,745,713,679,663.523701365,634,878.476298635,786,805.476298635,652.523701365,630,652.523701365,0.400990962807,0.00461029260392,0.0498590683829,0.999999960203,0.000133056932942,-0.000244988785866,-4.32408848292e-05,1793245043581846528
+88,1.466666667,BASELINE,763.095646231,745.095646231,713,679,663.904353769,634,878.095646231,786,805.095646231,653,630,652.904353769,0.40098927989,0.00460925604398,0.049858476109,0.999999959708,0.000133056289117,-0.000247088050356,-4.27488648939e-05,1793245043598513152
+89,1.483333333,BASELINE,763.691934664,745.691934664,713,679,663.308065336,634,878.691934664,786,805.691934664,653,630,652.308065336,0.400990876939,0.00461091124372,0.0498588479692,0.999999960135,0.000133466343537,-0.000245051000219,-4.31951679841e-05,1793245043615179776
+90,1.500000000,BASELINE,763.720365344,745.720365344,713,679,663,633.720365344,878.720365344,786,805.720365344,653,630,652,0.400991124078,0.00461112293861,0.0498587792625,0.999999960327,0.000133058618425,-0.000244461814183,-4.33571647905e-05,1793245043631846400
+91,1.516666667,BASELINE,763.141845088,745.141845088,713,679,663,633.141845088,878.141845088,786,805.141845088,653,630,652,0.400989928377,0.00460979175306,0.0498582396588,0.999999960268,0.000131776815199,-0.000245420167973,-4.32152827312e-05,1793245043648513280
+92,1.533333333,BASELINE,763,745,713,679,663,633.434711404,878,786,805,653,630,652,0.400989248757,0.00461003620092,0.0498579461767,0.999999959956,0.000132132526865,-0.000246531147145,-4.30384518003e-05,1793245043665179904
+93,1.550000000,BASELINE,763.010853973,745,713,679,663,634,878.021707946,786,805,653,630,652.010853973,0.400988760599,0.00461078496345,0.0498577429895,0.99999995957,0.000133022162324,-0.000247643839506,-4.28647156497e-05,1793245043681846784
+94,1.566666667,BASELINE,763.598904237,745,713,679,663,634,879.197808473,786,805,653,630,652.598904237,0.400989539298,0.00461113499468,0.0498580900539,0.999999959765,0.000134018694865,-0.00024621119473,-4.3459259183e-05,1793245043698513152
+95,1.583333333,BASELINE,764,745,713,679,663,634,879.828079829,786,805.171920171,653,630,652.828079829,0.400989791872,0.00461109942276,0.0498582666963,0.999999959874,0.000134350998744,-0.000245541676941,-4.37120104861e-05,1793245043715179776
+96,1.600000000,BASELINE,764,745,713,679,663,634,879.287318729,786,805.712681271,653,630,652.287318729,0.400988915687,0.0046102365703,0.0498580777121,0.999999959803,0.000133258253537,-0.000246509386582,-4.32314741058e-05,1793245043731846400
+97,1.616666667,BASELINE,763.7089789,745,713,679,663,634,878.7089789,785.7089789,806,653,630,652.2910211,0.400989076219,0.00460950567951,0.0498583040941,0.999999959958,0.000131952153153,-0.00024660517366,-4.31055577081e-05,1793245043748513024
+98,1.633333333,BASELINE,763.088037422,745,713,679,663,634,878.088037422,785.088037422,806,653,630,652.911962578,0.400990412041,0.00460892438906,0.0498590013623,0.999999960369,0.000130404179577,-0.000245712492759,-4.33816615316e-05,1793245043765179904
+99,1.650000000,BASELINE,763.491786921,745.491786921,713,679,663,634,878.491786921,785,805.508213079,653,630,652.508213079,0.400990098438,0.00460947584757,0.0498583466187,0.999999960083,0.000131121431308,-0.000246486412277,-4.34338976399e-05,1793245043781847040
+100,1.666666667,BASELINE,764,746,713,679,663,634,878.93302748,785.06697252,805,653,630,652,0.400989674116,0.00461026439501,0.0498577161732,0.999999959726,0.000132417072678,-0.000247237328683,-4.34376531219e-05,1793245043798514176
+101,1.683333333,BASELINE,764,746,713,679,663,634,878.340953831,785.659046169,805,653,630,652,0.400990518166,0.00461144461886,0.0498590274763,0.999999959734,0.000135313497297,-0.000245649169306,-4.3351266023e-05,1793245043815180544
+102,1.700000000,BASELINE,763.754426145,745.754426145,713,679,663,634,878,786,805,653,630,652,0.400990467583,0.00461153478424,0.0498592913904,0.999999959737,0.000135690255061,-0.000245459876524,-4.31782642024e-05,1793245043831846912
+103,1.716666667,BASELINE,763.175428448,745.175428448,713,679,663,634,878,786,805,653,630,652,0.400989202327,0.00461014494063,0.0498581332294,0.999999959736,0.000132645976566,-0.00024716987187,-4.28876626824e-05,1793245043848513280
+104,1.733333333,BASELINE,763.402465062,745,713,678.597534938,663,634,878,785.597534938,805,653,630,652.402465062,0.400989326772,0.00461033031081,0.049858003344,0.999999959915,0.00013133401521,-0.000247116963401,-4.30596713712e-05,1793245043865179648
+105,1.750000000,BASELINE,763.979878639,745,713,678.020121361,663,634,878,785.020121361,805,653,630,652.979878639,0.40099005531,0.00461120041437,0.0498583204422,0.999999960174,0.000130775078738,-0.00024629773414,-4.34327731903e-05,1793245043881846528
+106,1.766666667,BASELINE,764,745,713,678.550249304,663,634,878,785.550249304,805,653,630,652.449750696,0.400989946583,0.00461251846644,0.0498580237294,0.999999959895,0.000132861289827,-0.000246312896823,-4.34472405674e-05,1793245043898513152
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,746,713,679,663,634,879,786,806,653,630,652,0.40098910154,0.00461354340222,0.0498579301261,0.99999995929,0.000136321450243,-0.000246829169813,-4.37265235095e-05,1793245043940071680
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.41542582,713,679,663.58457418,634,878.41542582,786,806,653,630,652,0.400989662285,0.00461169136645,0.0498581564356,0.999999959767,0.000133461689936,-0.00024650945361,-4.34322395018e-05,1793245043956738560
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.833652601,745,713,679,663.833652601,634,878.166347399,785.833652601,805.833652601,653,630,652,0.400990035956,0.0046101137536,0.0498583949994,0.999999960134,0.000131522632859,-0.000246120444163,-4.31003789003e-05,1793245043973405696
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.258758378,745,713,679,663.258758378,634,878.741241622,785.258758378,805.258758378,653,630,652,0.400989950173,0.00460921011911,0.0498586636595,0.999999960248,0.000131844809098,-0.000245561251441,-4.26762306636e-05,1793245043990072064
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.324336395,745,713,679,663,634,878.675663605,785.324336395,805,653,630,652,0.400989497259,0.00460999776157,0.0498584432701,0.99999995994,0.000132966676046,-0.000246179406388,-4.28444551365e-05,1793245044006738432
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.914143313,745,713,679,663,634,878.085856687,785.914143313,805,653,630,652,0.400988743845,0.00461216972046,0.0498578225918,0.999999959283,0.000134743092742,-0.000247761224735,-4.34975388617e-05,1793245044023405056
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.502988829,745,712.502988829,679,663,634,878,785.502988829,805.497011171,653,630,652,0.400988817197,0.00461070333784,0.0498584130284,0.999999959756,0.000132191968813,-0.000247265896848,-4.3273418435e-05,1793245044040071680
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.07760784,745,712.07760784,679,663,634,878,785,806,653,630,652,0.400988958376,0.00460893214304,0.0498590093721,0.999999960272,0.000129508189171,-0.000246659792129,-4.29358400457e-05,1793245044056738048
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.6512442,745,712.6512442,679,663,634,878,785,806,653,630,652,0.400988632805,0.00460917453483,0.0498583246903,0.999999959888,0.000130688797793,-0.000247607462231,-4.28282845621e-05,1793245044073404928
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878,785,806,653,630,652,0.400992585064,0.00460942352151,0.0498596307584,0.999999960468,0.000131051270756,-0.000245064557308,-4.28226588596e-05,1793245044090071808
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878,785,806,653,630,652,0.401003171589,0.00460968273587,0.0498640241788,0.999999962498,0.000130144938898,-0.000237108298208,-4.2975110844e-05,1793245044106738432
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.611517001,745,713,679,663,633.611517001,878,785,805.611517001,652.611517001,630,652,0.401027824419,0.00460935004816,0.0498735139649,0.999999966839,0.000129862683372,-0.000218236274965,-4.27802864852e-05,1793245044123405312
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.017604147,745,713,679,663,633.017604147,878,785,805.017604147,652.017604147,630,652,0.401059915515,0.00460870436259,0.0498856987103,0.999999971924,0.000129910439338,-0.000193591993534,-4.24018223488e-05,1793245044140071680
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.560355133,745,713,679,663,633.560355133,878,785,805.560355133,652.560355133,629.439644867,652,0.401121468024,0.00460783581716,0.0499044735352,0.999999979231,0.00012861047927,-0.000152307671737,-4.24286666269e-05,1793245044156738048
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713,678.863370849,663,633.863370849,878,785.136629151,805.863370849,653,629.136629151,652.136629151,0.401186276706,0.00460699608763,0.0499221652632,0.999999984207,0.000127677698611,-0.000116208014137,-4.2187661891e-05,1793245044173404928
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713,678.290917903,663,633.290917903,878,785.709082097,805.290917903,653,629.709082097,652.709082097,0.401258601384,0.00460626999067,0.0499357599779,0.999999986131,0.000128047476635,-9.82679138572e-05,-4.10527721278e-05,1793245044190071552
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713.290926819,678.290926819,663,633,878.290926819,785.709073181,805,653,630,652.709073181,0.401336276645,0.00460610193565,0.0499451565026,0.999999987411,0.000128344300463,-8.41537304074e-05,-4.03016622245e-05,1793245044206738176
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713.882476283,678.882476283,663,633,878.882476283,785.117523717,805,653,630,652.117523717,0.401419480806,0.0046065105207,0.0499502149219,0.9999999882,0.000128565738725,-7.39929726489e-05,-3.99471226316e-05,1793245044223405056
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713.537550828,679,663,633.462449172,878.537550828,785.462449172,805,653,630,652,0.401517971816,0.00460515944591,0.0499494263662,0.999999988389,0.000125539121776,-7.71549485115e-05,-3.88492914485e-05,1793245044240071680
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878,786,805.039509375,653,630,652,0.401621943209,0.00460350623474,0.0499472042637,0.999999988387,0.00012190301285,-8.3367942171e-05,-3.7616764152e-05,1793245044256738048
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878,786,805.615991478,653,630,652,0.40174888837,0.00460367599445,0.0499452006413,0.99999998829,0.000120927864329,-8.6155377827e-05,-3.7058158833e-05,1793245044273404928
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.807450373,745,713,679,663,634,878,785.807450373,806,653,630,652,0.401887575571,0.00460274828433,0.0499448124684,0.999999988411,0.00011915696023,-8.75817697856e-05,-3.61800878206e-05,1793245044290071552
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.230740572,745,713,679,663,634,878,785.230740572,806,653,630,652,0.402049689569,0.00459963098698,0.0499476473161,0.999999988971,0.000115798426057,-8.62927119332e-05,-3.46646435478e-05,1793245044306737920
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,745,713,678.645519228,662.645519228,633.645519228,878.354480772,785,805.645519228,653,630,652,0.402225440604,0.00459729822322,0.0499462053029,0.999999988933,0.00011288835168,-9.10422960052e-05,-3.31956064864e-05,1793245044323404544
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,745,713,678.054621141,662.054621141,633.054621141,878.945378859,785,805.054621141,653,630,652,0.402410286738,0.00459548869579,0.0499419108815,0.999999988433,0.000110277372625,-9.98192902461e-05,-3.17575200851e-05,1793245044340070912
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.524234751,745,713,678,662.524234751,633.524234751,878.475765249,785.524234751,805,653,630,652,0.402638211738,0.00459386488314,0.0499423848139,0.99999998881,0.000106061900914,-0.00010110351358,-3.01402482974e-05,1793245044356737792
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.898652782,745,713,678.101347218,663,634,878.101347218,786,805.101347218,653,630,652,0.402878261112,0.00459202231786,0.0499442976879,0.999999989445,0.000101812227336,-9.96958096443e-05,-2.83675186842e-05,1793245044373404416
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.323954335,745,713,678.676045665,663,634,878.676045665,786,805.676045665,653,630,652,0.403154445438,0.00458906970177,0.0499506629089,0.999999990859,9.81660844075e-05,-8.92796138592e-05,-2.5953949349e-05,1793245044390071040
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.256901008,745,713,679,663,634,879,785.743098992,806,653,630,652,0.403448413756,0.00458530270315,0.0499584977148,0.999999992658,9.28380082374e-05,-7.4260982079e-05,-2.34589032959e-05,1793245044406737664
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.845710853,745,713,679,663,634,879,785.154289147,806,653,630,652,0.403765358474,0.00458048354548,0.0499682311825,0.999999994721,8.53369220769e-05,-5.32961337463e-05,-2.08585917666e-05,1793245044423404544
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.572707632,785,805.572707632,653,630,652,0.404117821825,0.00457758224938,0.0499768620133,0.99999999581,8.16705564085e-05,-3.70402114637e-05,-1.83659711762e-05,1793245044440070912
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.993723804,745,713,678.993723804,663,634,878.006276196,785,805.006276196,653,630,652,0.404483438452,0.00457533082794,0.0499850669916,0.999999996476,7.93110758186e-05,-2.24519700267e-05,-1.59130373024e-05,1793245044456737536
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.417559169,745,713,678.417559169,663,634,878.582440831,785,805.582440831,653,630,652,0.404898211906,0.00457025387786,0.0499901548277,0.999999997289,7.19808055242e-05,-7.46784224592e-06,-1.35915734926e-05,1793245044473404160
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.158067212,745,713,678.158067212,663,634,878.841932788,785.158067212,806,653,630,652,0.405311755396,0.00456568689533,0.0499899488963,0.999999997796,6.52992062808e-05,-4.37066150937e-06,-1.11323823999e-05,1793245044490071040
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.732276444,745,713,678.732276444,663,634,878.267723556,785.732276444,806,653,630,652,0.405722060706,0.00456246250027,0.0499758061132,0.999999997616,6.0325358211e-05,-3.25681337169e-05,-8.31059839038e-06,1793245044506737920
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878,786,806,653,630,652,0.40614541782,0.00455903282173,0.0499572188563,0.999999996071,5.57172755566e-05,-6.87383144034e-05,-5.38575303276e-06,1793245044523404800
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878,786,806,653,630,652,0.406580176089,0.0045554238221,0.0499347492282,0.999999992417,5.14286983871e-05,-0.000111872877112,-2.37088044706e-06,1793245044540071680
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745.486373375,713,679,663,634,878.486373375,786,805.513626625,653,630,652,0.407082763776,0.00454998076683,0.0499254458286,0.999999990841,4.38373359707e-05,-0.000128045853026,1.06757796715e-06,1793245044556738304
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745.936478476,713.063521524,679,663,634,879,786,805,652.936478476,630.063521524,652.063521524,0.40760916768,0.00454397433324,0.049921843881,0.999999990541,3.58180442077e-05,-0.000132716767307,4.64619666375e-06,1793245044573404928
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745.360472808,713.639527192,679,663,634,879,786,805,652.360472808,630.639527192,652.639527192,0.408225424288,0.00453618857829,0.0499443844939,0.999999995898,2.93272170571e-05,-8.52513631946e-05,8.71680124272e-06,1793245044590071552
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745.22008189,713.77991811,679,663.22008189,633.77991811,879,786,805,652.22008189,630.77991811,652.77991811,0.408845327695,0.00452886403276,0.0499688452626,0.999999998621,3.2380809244e-05,-3.92580054741e-05,1.2946665261e-05,1793245044606738176
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.808244678,713.191755322,679,663.808244678,633.191755322,879,786,805,652.808244678,630.191755322,652.191755322,0.409471330238,0.00452231084773,0.0499965174375,0.999999998518,5.1397180291e-05,4.27339219006e-06,1.7442886071e-05,1793245044623404800
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,746,713,679,663.609491858,633.390508142,879.390508142,786,805,653,630,652,0.410098700093,0.00451660460719,0.0500033743959,0.999999995552,9.12616885596e-05,1.08153474981e-05,2.12126753437e-05,1793245044640071424
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,746,713,679,663.030082108,633.969917892,879.969917892,786,805,653,630,652,0.410726731345,0.00451130806171,0.0500001623499,0.999999989726,0.000141211124508,-5.3570603901e-07,2.46310656712e-05,1793245044656738048
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.54145227,746,713,679,663,634,879.45854773,786,805,653,630,652,0.411344737874,0.00450401901222,0.0499639289995,0.999999989725,0.000118358037905,-7.6346188397e-05,2.66784426481e-05,1793245044673404928
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.88546635,713,679,663,634,879.11453365,786,805.11453365,652.88546635,630,652,0.411993635958,0.00449577437779,0.0499352495161,0.999999987482,8.21081422419e-05,-0.000132790047851,2.5725971294e-05,1793245044690071552
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.304325698,713,679,663,634,879.695674302,786,805.695674302,652.304325698,630,652,0.412770621739,0.00448408124093,0.0499447112677,0.999999995285,7.52208722893e-06,-9.59540425292e-05,1.28580685429e-05,1793245044706737920
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.719183207,745,713.280816793,679,663.280816793,634,879.719183207,786.280816793,806,652.280816793,630,652.280816793,0.413546746421,0.00447629799153,0.049961565748,0.999999997954,-2.19453344319e-05,-5.9480192087e-05,8.51399165954e-06,1793245044723404544
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.129641088,745,713.870358912,679,663.870358912,634,879.129641088,786.870358912,806,652.870358912,630,652.870358912,0.414321924522,0.00447281320613,0.0499865476728,0.999999999633,-1.81008788957e-06,-2.34044845165e-05,1.35408660728e-05,1793245044740071168
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713.547986528,679,663.547986528,634,879,786.095973056,805.547986528,652.547986528,630,652.547986528,0.415076730698,0.0044785794818,0.049971364045,0.999999998592,9.78400946972e-06,-4.93207911696e-05,1.69637319054e-05,1793245044756737792
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.031222706,713,679,663,634,879,785.031222706,805.031222706,652.031222706,630,652,0.415829046556,0.00448751990035,0.049945804718,0.999999995482,1.93210997518e-05,-9.09874817635e-05,1.96142366792e-05,1793245044773404416
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745.606565361,713,679,663,634,879,785.606565361,805.606565361,652.606565361,630,652,0.416638041384,0.00450633048494,0.0499367406376,0.999999993986,3.49689948275e-05,-0.000102601447684,1.66844522301e-05,1793245044790071296
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745.818151419,713.181848581,678.818151419,663.181848581,633.818151419,879,785.818151419,806,652.818151419,630,652,0.417473054289,0.00451629174488,0.0499402787586,0.999999994458,4.67101554802e-05,-9.311155439e-05,1.52290771332e-05,1793245044806737920
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745.242996782,713.757003218,678.242996782,663.757003218,633.242996782,879,785.242996782,806,652.242996782,630,652,0.418364339606,0.00450711349244,0.0499710731947,0.999999997885,5.00017451911e-05,-3.79777758397e-05,1.69625867175e-05,1793245044823404800
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,678.340545236,664,633.340545236,879.340545236,785.340545236,806,652,630.340545236,652,0.419205177447,0.00449836180605,0.0499760580136,0.999999998305,4.09120692258e-05,-3.71132818407e-05,1.83867926084e-05,1793245044840071424
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,678.930223186,664,633.930223186,879.930223186,785.930223186,806,652,630.930223186,652,0.420009109386,0.00448992218305,0.0499621612869,0.999999996665,2.27646293258e-05,-7.5950576349e-05,1.95847210896e-05,1793245044856738048
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,679,663.490548755,633.490548755,879.490548755,786,806,652,631,652,0.420903763486,0.00448757356842,0.0499662422734,0.999999998514,1.17390823787e-05,-4.99057459901e-05,1.85270908478e-05,1793245044873404672
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.087168238,745,713.912831762,679,663.087168238,633,879.087168238,786,806,652,630.912831762,651.912831762,0.421812947583,0.00448631035169,0.0499742116742,0.999999999704,4.90823385839e-06,-1.60237127078e-05,1.76170067525e-05,1793245044890071040
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.664274791,745,713.335725209,679,663.664274791,633,879.664274791,786,806,652,630.335725209,651.335725209,0.422735362357,0.00448655297068,0.0499904748105,0.999999999598,1.62817285142e-05,1.29642360325e-05,1.92377051469e-05,1793245044906737920
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.754500168,745.245499832,713,679,663.754500168,633.245499832,880,786,806,651.754500168,630.245499832,651.245499832,0.42364226244,0.00449000804516,0.0499935021118,0.999999999402,2.30006408578e-05,1.6332637329e-05,2.00288068309e-05,1793245044923405056
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.167546844,745.832453156,713,679,663.167546844,633.832453156,880,786,806,651.167546844,630.832453156,651.832453156,0.424527584044,0.00449793116404,0.0499781203516,0.99999999941,2.32457280637e-05,-1.59319100787e-05,1.96660639971e-05,1793245044940071680
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.414167271,745.585832729,713,679,663.414167271,634,880,786,806,651.414167271,630.585832729,651.585832729,0.425450195182,0.00449874267809,0.0499836093051,0.999999999554,2.05270902109e-05,-7.33602125445e-06,2.04265750044e-05,1793245044956738560
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.993788363,745.006211637,713,679,663.993788363,634,880,786,806,651.993788363,630.006211637,651.006211637,0.426387702895,0.00449671320862,0.0499974358071,0.999999999473,1.66244871387e-05,1.75830214771e-05,2.16358096548e-05,1793245044973405440
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.569144589,713,679.569144589,664,634,880,786,805.430855411,652,630.569144589,651.569144589,0.427262075632,0.00448613531998,0.0499951154265,0.999999999321,2.34134983531e-05,-1.28723764655e-05,2.53631040071e-05,1793245044990071808
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.855156842,745.855156842,713,679.855156842,663.855156842,633.855156842,879.855156842,786,805.144843158,652,630.855156842,651.855156842,0.428138188956,0.00447877239431,0.0499848453093,0.999999998165,2.68817922604e-05,-4.67610688219e-05,2.75681017417e-05,1793245045006738432
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.278299426,745.278299426,713,679.278299426,663.278299426,633.278299426,879.278299426,786,805.721700574,652,630.278299426,651.278299426,0.429021533671,0.00448127473228,0.0499513857414,0.999999995512,2.01001488778e-05,-8.9100856982e-05,2.5151284923e-05,1793245045023404800
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663.304846872,633,879.304846872,786,806,652,630,651,0.429939363762,0.00448412868792,0.0499450517527,0.999999995688,1.52862699598e-05,-8.83869930289e-05,2.40403980675e-05,1793245045040071424
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663.89385529,633,879.89385529,786,806,652,630,651,0.430889339179,0.00448731040216,0.049964002744,0.999999998503,1.23066336008e-05,-4.75408720816e-05,2.41468276784e-05,1793245045056738048
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745.475169429,713.475169429,679,664,633,880,786,806,652,630,651,0.431775188773,0.00449100915269,0.0499537362838,0.999999997106,1.66976522544e-05,-6.99138365668e-05,2.49199555154e-05,1793245045073404672
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745.945788771,713.945788771,679.054211229,664,633.054211229,880,786,806,652,630,651,0.432648790509,0.00449386677647,0.0499396097281,0.999999994434,2.17698495281e-05,-9.999059898e-05,2.5698197955e-05,1793245045090071552
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745.372312116,713.372312116,679.627687884,664,633.627687884,880,786,806,652,630,651,0.433540097554,0.00448757894903,0.0499500290282,0.999999997023,1.78471696275e-05,-7.07450997483e-05,2.51216369246e-05,1793245045106738432
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713,679.793511471,664,633.793511471,880,786,806.206488529,651.793511471,630.206488529,651.206488529,0.434427707019,0.00448175825209,0.0499632675147,0.99999999858,1.40423398133e-05,-4.46083600072e-05,2.55589612852e-05,1793245045123405312
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,713,679.204857168,664,633.204857168,880,786,806.795142832,651.204857168,630.795142832,651.795142832,0.43530847321,0.00447680211195,0.0499817237099,0.999999999263,1.04556244632e-05,-2.42252592949e-05,2.78727689644e-05,1793245045140071680
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.377593046,745,713,679.377593046,663.622406954,633.377593046,880.377593046,786,807,651.377593046,631,651.622406954,0.436127545212,0.00447684682227,0.0499696427353,0.999999997609,8.61129746595e-06,-6.16613404806e-05,3.00859338976e-05,1793245045156738048
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.956731704,745,713,679.956731704,663.043268296,633.956731704,880.956731704,786,807,651.956731704,631,651.043268296,0.436913687019,0.00447956080734,0.0499412621147,0.999999991006,7.69699500324e-06,-0.000129959226273,3.22453790964e-05,1793245045173404672
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.466775367,745.533224633,713,680,663.533224633,633.466775367,881,786,807,652,630.466775367,651,0.437772802873,0.00448271799822,0.049955646361,0.999999996045,2.46202164557e-06,-8.38397117172e-05,2.95843988969e-05,1793245045190071296
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.109017007,746,713,680,664.109017007,633,881,786,807,652,630.109017007,651.109017007,0.438623182766,0.00448561373344,0.0499722393977,0.999999998947,4.30062880065e-06,-3.67900095021e-05,2.70842415125e-05,1793245045206738176
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.682733754,746,713,680,664.682733754,633,881,786,807,652,630.682733754,651.682733754,0.439411208046,0.00448724243497,0.0499835288013,0.999999998607,3.77784276184e-05,-2.51556766143e-05,2.69287175144e-05,1793245045223404800
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,713.264379921,679.735620079,664.471240159,633.264379921,881.264379921,786,807,652,630.735620079,651.735620079,0.440177205326,0.00448656307008,0.0499778932614,0.999999997686,5.14103540668e-05,-3.52303833235e-05,2.72546606829e-05,1793245045240071680
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,713.855835878,679.144164122,663.288328244,633.855835878,881.855835878,786,807,652,630.144164122,651.144164122,0.440915950739,0.00448302829452,0.0499513191281,0.99999999618,4.04900757559e-05,-7.21622993537e-05,2.81762480907e-05,1793245045256738304
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.562327488,746,714,679,663,633.562327488,881.562327488,786,807,651.562327488,630.437672512,651.437672512,0.44163940645,0.00448186049009,0.0499457483704,0.999999995808,3.28715220726e-05,-8.02383328717e-05,2.94220146169e-05,1793245045273404928
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.016311398,745.983688602,713.983688602,679.016311398,663,633,881,786,807.016311398,651.016311398,630.983688602,652,0.442356562653,0.00448167382181,0.0499468512401,0.999999996037,2.66970401273e-05,-7.91652958204e-05,3.07692988594e-05,1793245045290071552
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.591610939,745.408389061,713.408389061,679.591610939,663,633,881,786,807.591610939,651.591610939,630.408389061,652,0.443026713486,0.00448896656856,0.0499446692553,0.999999995457,3.35420581217e-05,-8.32775206367e-05,3.20149131792e-05,1793245045306737920
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.8335007,745,713,680,662.8335007,633,881.1664993,786,807.8335007,652,630,652,0.443664601364,0.00449867518928,0.049928935951,0.999999992298,4.51879319648e-05,-0.000110780367232,3.29978623767e-05,1793245045323404544
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.259618275,745,713,680,662.259618275,633,881.740381725,786,807.259618275,652,630,652,0.444223549807,0.00451429486514,0.0498800458768,0.99999997798,6.85803289141e-05,-0.000195514353667,3.33381342625e-05,1793245045340071168
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713,680,662,632.675311432,881.350622863,786,807,652,630.324688568,652,0.444796940155,0.00453006203235,0.0498396972635,0.999999962864,9.44691716592e-05,-0.000253546832045,3.25871461697e-05,1793245045356737792
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713,680,662,632.082392858,880.164785715,786,807,652,630.917607142,652,0.44538226114,0.00454595104341,0.0498064048798,0.999999950117,0.000122420363824,-0.000289520797112,3.09346522271e-05,1793245045373404416
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713,680,662,632,880.496396942,786,807,652,631,652,0.445966493846,0.00454786349267,0.0498139996932,0.999999956207,0.000123380399824,-0.00026710972748,3.18825248464e-05,1793245045390071296
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713.072177246,680,661.927822754,631.927822754,881,786,807,652,631,652,0.446539020736,0.00454741688578,0.0498249982029,0.999999963063,0.000119754317871,-0.000241739039366,3.3089147418e-05,1793245045406738176
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713.642920055,680,661.357079945,631.357079945,881,786,807,652,631,652,0.447031902706,0.00454625601998,0.0498139270765,0.999999958826,0.00011453907794,-0.000261011917117,3.31842215633e-05,1793245045423404800
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.216613438,745,714,680,660.783386562,631,881,786,807.216613438,652,630.783386562,652,0.447493239448,0.00454666900266,0.049792365955,0.999999951805,9.44603297742e-05,-0.000294457312213,2.76158335766e-05,1793245045440071424
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.795237854,745,714,680,660.204762146,631,881,786,807.795237854,652,630.204762146,652,0.447901856794,0.00454971224898,0.049753273635,0.999999936887,4.95412340133e-05,-0.000351588247215,1.25824950278e-05,1793245045456738048
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.615605162,745,713.615605162,680,660,631,881,785.615605162,807.615605162,652,630,652,0.448331420729,0.00454786308812,0.0497310016072,0.999999925748,2.97724073912e-05,-0.000384125744144,8.0621049498e-06,1793245045473404672
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.020679497,745,713.020679497,680,660,631,881,785.020679497,807.020679497,652,630,652,0.448772457028,0.00454333438446,0.0497179419524,0.999999918392,2.37782333933e-05,-0.000403193563424,9.29959447461e-06,1793245045490071040
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,745,713,680,660.555478779,630.444521221,881,785.555478779,807,652,630.555478779,652,0.449172915245,0.00454546809156,0.0497312781704,0.999999925308,2.86379979235e-05,-0.000385260946533,1.17604659136e-05,1793245045506737664
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,745,713,680,660.869764036,630,881,786,807,652,630.869764036,652,0.44956246317,0.00454781358049,0.0497445324836,0.999999931899,3.36526834975e-05,-0.000367249456785,1.40474424813e-05,1793245045523404544
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,745,713,680,660.297468402,630,881,786,807,652,630.297468402,652,0.44991993844,0.00455006354792,0.0497542823199,0.999999936683,3.78664989597e-05,-0.000353492953615,1.55946299161e-05,1793245045540071424
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,745.286528022,713,680,660,630,881,786,807.286528022,652,630,652,0.450249811736,0.00455861489765,0.0497582967064,0.999999935035,8.44641363808e-05,-0.000350012612328,1.69661020193e-05,1793245045556738048
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,745.883189152,713,680,660,630,881,786,807.883189152,652,630,652,0.450549809099,0.00457398675733,0.049756103138,0.999999920223,0.000176937308392,-0.000357655014302,1.81473826096e-05,1793245045573404928
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,746,713.461650048,680.461650048,660,629.538349952,881,785.538349952,808,652,630,652,0.450814698005,0.00458915204213,0.0497480890348,0.999999908664,0.000204699000588,-0.000374785925976,1.74984691793e-05,1793245045590071552
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,746,713.964154808,680.964154808,660,629,881.035845192,785.035845192,807.964154808,652,630.035845192,652,0.451068166798,0.00460304458935,0.0497385354299,0.999999898895,0.000215416391505,-0.00039437303632,1.65838006515e-05,1793245045606738176
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,746,713.387473577,680.387473577,660,629,881.612526423,785.612526423,807.387473577,652,630.612526423,652,0.451278278501,0.00459849267425,0.049727132051,0.999999891881,0.000206648018507,-0.000416168939553,1.83815573046e-05,1793245045623404544
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,745.80640231,713.19359769,680,659.80640231,629,881.80640231,786,807.19359769,652,630.80640231,652,0.451475571329,0.00459494857609,0.0497155482492,0.99999988346,0.000199660600176,-0.000439119255016,1.97510116622e-05,1793245045640071168
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,745.216340875,713.783659125,680,659.216340875,629,881.216340875,786,807.783659125,652,630.216340875,652,0.451646612688,0.00459346836099,0.0497035949655,0.999999872675,0.00019632035444,-0.000464433659221,2.02433565177e-05,1793245045656738048
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,745.366915052,714,680,659,628.633084948,880.633084948,786,808,652,630,652,0.45181387535,0.0045944006578,0.0496990602251,0.999999868077,0.000195683398461,-0.000474476946935,2.06542871579e-05,1793245045673404672
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,745.946231435,714,680,659,628.053768565,880.053768565,786,808,652,630,652,0.451978950601,0.00459672951951,0.0496988199613,0.999999867315,0.000196611333975,-0.000475680028939,2.10180884462e-05,1793245045690071296
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,745.478954687,714,680,659.521045313,628,880.521045313,785.478954687,807.478954687,652,630,652,0.452120907503,0.00459387778145,0.0496995040929,0.999999869289,0.000189967332907,-0.000474212628527,2.13588784653e-05,1793245045706737920
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.904299843,628,881,785,807.095700157,652,630.095700157,652,0.452255787354,0.00459116420828,0.0497004042346,0.999999871622,0.000183268710785,-0.000471915525588,2.15399089465e-05,1793245045723404544
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659.328130513,628,881,785,807.671869487,652,630.671869487,652,0.452367011227,0.00459180532631,0.0497019140526,0.999999874585,0.000180185198645,-0.000466824542904,2.09306756685e-05,1793245045740071168
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,745.254563899,714,680,659,628,881,785,807.745436101,652,630.745436101,652,0.452463007551,0.00459306275161,0.0497008762635,0.999999874562,0.00017957787936,-0.000467128049518,2.04850378082e-05,1793245045756737792
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745.572262859,714,680.427737141,659,628,881,785,807,652,630,652,0.452601211486,0.00459383808348,0.0496929355856,0.999999868314,0.000179750250316,-0.000480257221828,2.03916804709e-05,1793245045790071296
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,745,713.706657046,679,663,633.706657046,878,786,805.293342954,653,630,652,0.407009400827,0.00460593537784,0.0498237677735,0.999999945793,0.000119027253865,-0.000303897946648,-4.35085275378e-05,1793245048038676992
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,713.12969102,679,663,633.12969102,878,785.12969102,805,653,630,652,0.405982263402,0.00461769753177,0.049782872019,0.999999919584,0.000134783360205,-0.000374990630419,-4.52536472584e-05,1793245048072009984
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633,878.174080474,786,805.174080474,652.174080474,630,652,0.404348237161,0.00462417625978,0.0498194424882,0.999999937721,0.000153157646917,-0.000314518904543,-4.66825228928e-05,1793245048138676224
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633,879,786,806,653,630,652,0.403711274309,0.00462709636802,0.0498560435568,0.999999951183,0.000159141226164,-0.000264747482041,-4.707458555e-05,1793245048172009984
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,634,878.410249428,786,806,653,630,652.410249428,0.401959290983,0.00459521245398,0.0498114710451,0.999999935888,0.000104890752414,-0.000340839619575,-3.23959813949e-05,1793245048288676864
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.440052023,878.440052023,786,806,653,630,652.440052023,0.401684422803,0.0045945804074,0.0498289132228,0.999999947386,0.000103639535993,-0.000305346071247,-3.53570264831e-05,1793245048322010112
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.139698433,663,633.139698433,878.139698433,786,806.139698433,653,630,652,0.401571362737,0.00459799746293,0.04983702079,0.99999995168,0.000107683881201,-0.000289295559699,-3.67716429894e-05,1793245048338676736
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.733825332,663,633.733825332,878.733825332,786,806.733825332,653,630,652,0.401472835021,0.00459632583913,0.049840740712,0.999999953165,0.000108058417072,-0.000283975558094,-3.67608830429e-05,1793245048355343104
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.531138449,745,713,680,663,633.531138449,878,786,805.531138449,653,630,652,0.401227453764,0.00459843120588,0.049836678261,0.999999952087,0.000111560217795,-0.000286131797427,-3.88326827386e-05,1793245048405343232
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.779172332,745,713,679,663,633,879,785.779172332,805.779172332,653,630,652,0.401095457919,0.00459787471948,0.0498423778873,0.999999955865,0.000113029209161,-0.000271932452198,-3.93336560819e-05,1793245048455342848
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.20130574,745,713,679,663,633,879,785.20130574,805.20130574,653,630,652,0.401069845593,0.00459983666297,0.0498451375731,0.999999957141,0.000115942730304,-0.000265907640185,-3.95944577312e-05,1793245048472009728
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..51159db7e5f38e0eb26bfb2c6c35e29f1f646bb4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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+375,6.250000000,pose2_to_pose3_retreat,0.575757108736,0.00987772476472,1.04005076437,0.546328743067,0.0185534145911,1.03971726227
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+378,6.300000000,pose2_to_pose3_retreat,0.575702273942,0.00987786418969,1.04005100303,0.546273907337,0.0185535509849,1.03971750411
+379,6.316666667,pose2_to_pose3_retreat,0.575691594747,0.00987780839757,1.04005111514,0.546263229163,0.0185534984625,1.03971761149
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+381,6.350000000,pose2_to_pose3_retreat,0.575679625453,0.0098777528999,1.04005105064,0.546251260717,0.0185534453345,1.03971753376
+382,6.366666667,pose2_to_pose3_retreat,0.575676404614,0.00987774164225,1.04005103166,0.546248039106,0.0185534316177,1.03971751887
+383,6.383333333,pose2_to_pose3_retreat,0.575674191698,0.00987775565616,1.04005102378,0.546245825982,0.0185534450253,1.0397175135
+384,6.400000000,pose2_to_pose3_retreat,0.575672736497,0.00987779285462,1.04005102524,0.54624437106,0.0185534832188,1.03971751623
+385,6.416666667,pose2_to_pose3_retreat,0.575671756854,0.00987781789668,1.04005102622,0.546243391605,0.0185535089307,1.03971751807
+386,6.433333333,pose2_to_pose3_retreat,0.575671217181,0.00987778967155,1.04005103254,0.546242851784,0.0185534801421,1.03971752274
+387,6.450000000,pose2_to_pose3_retreat,0.575670991386,0.00987777765986,1.04005103522,0.546242625926,0.0185534678902,1.03971752472
+388,6.466666667,pose2_to_pose3_retreat,0.575670932262,0.00987777451464,1.04005103592,0.546242566786,0.0185534646821,1.03971752523
+389,6.483333333,pose2_to_pose3_retreat,0.575670834259,0.0098777693011,1.04005103707,0.546242468755,0.0185534593643,1.03971752609
+390,6.500000000,pose2_to_pose3_retreat,0.575670691326,0.00987776169747,1.04005103877,0.546242325783,0.0185534516086,1.03971752734
+391,6.516666667,pose2_to_pose3_retreat,0.575670422169,0.00987774737903,1.04005104195,0.54624205655,0.0185534370038,1.03971752969
+392,6.533333333,pose2_to_pose3_retreat,0.575670156855,0.00987773541008,1.0400510407,0.546241791135,0.0185534246614,1.03971752772
+393,6.550000000,pose2_to_pose3_retreat,0.575670098401,0.00987774047597,1.04005102468,0.546241732558,0.0185534293177,1.03971751186
+394,6.566666667,pose2_to_pose3_retreat,0.575670076687,0.00987774235777,1.04005101873,0.546241710799,0.0185534310473,1.03971750597
+395,6.583333333,pose2_to_pose3_retreat,0.575669993012,0.00987774960937,1.0400509958,0.546241626948,0.0185534377125,1.03971748328
+396,6.600000000,pose2_to_pose3_retreat,0.575669904984,0.00987775723825,1.04005097167,0.546241538735,0.0185534447245,1.0397174594
+397,6.616666667,pose2_to_pose3_retreat,0.575669853286,0.00987776171862,1.0400509575,0.546241486929,0.0185534488426,1.03971744538
+398,6.633333333,pose2_to_pose3_retreat,0.575669734608,0.00987777200372,1.04005092497,0.546241368002,0.018553458296,1.03971741319
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+400,6.666666667,pose2_to_pose3_retreat,0.575669617948,0.00987779684016,1.04005089645,0.546241250858,0.0185534815241,1.03971738552
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+402,6.700000000,pose2_to_pose3_retreat,0.575669597931,0.00987781451929,1.04005089471,0.54624123054,0.0185534982068,1.0397173844
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efb5c45b98545a6e54fcbe220348379ad3959dca
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53e1444e14a7f6daa4c3fbc12faa1599129406a0ee79abbfbc637abd1f16e921
+size 25705261
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..349376cf0316774f8dad767e08d73c89b289657e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+20,0.333333333,BASELINE,764,745,713,678.605439993,662.605439993,633.605439993,878.394560007,786,805.605439993,653,630,652,0.400988747201,0.00459565521766,0.0498537221142,0.999999961438,0.00011507087799,-0.000249888339084,-3.79317378311e-05,1793245049414275840
+21,0.350000000,BASELINE,764,745.18320028,713.18320028,679,663,634,878.18320028,786,805.81679972,653,630,652,0.400988324092,0.00459616379302,0.04985343161,0.999999961238,0.000116112820899,-0.000250220606321,-3.78280692423e-05,1793245049430942464
+22,0.366666667,BASELINE,764,745.759197468,713.759197468,679,663,634,878.759197468,786,805.240802532,653,630,652,0.400989443714,0.00459602004055,0.0498529523489,0.999999961814,0.00011417996723,-0.000248753928512,-3.81529827688e-05,1793245049447609088
+23,0.383333333,BASELINE,764,745.659021716,713.659021716,679,663,634,879,785.659021716,805,653,630,652,0.400989822555,0.00459562858249,0.0498531281077,0.999999962045,0.00011367616378,-0.000248051943484,-3.81959814033e-05,1793245049464275968
+24,0.400000000,BASELINE,764,745.073085905,713.073085905,679,663,634,879,785.073085905,805,653,630,652,0.400989669222,0.00459505917365,0.0498537744305,0.999999962029,0.00011419898448,-0.000247899310751,-3.80364534647e-05,1793245049480942848
+25,0.416666667,BASELINE,764,745,713.507098375,679,663,634,878.492901625,785.507098375,805,653,630,652,0.400989975583,0.00459509693213,0.0498538052842,0.999999962297,0.000113131505294,-0.000247260969851,-3.83308895232e-05,1793245049497609216
+26,0.433333333,BASELINE,763.913701911,745,713.913701911,679,663,634,878.086298089,786,805.086298089,653,630,652,0.400990398057,0.00459529832519,0.0498537377329,0.999999962521,0.000112400905588,-0.000246643101092,-3.86187006754e-05,1793245049514275840
+27,0.450000000,BASELINE,763.335442131,745,713.335442131,679,663,634,878.664557869,786,805.664557869,653,630,652,0.400991109001,0.00459593928734,0.0498536092131,0.99999996227,0.000114882732894,-0.000246536530632,-3.84999418402e-05,1793245049530942464
+28,0.466666667,BASELINE,763.240316894,745,713.240316894,679,663,633.759683106,879,786,806,653,630,652,0.400991167628,0.00459646036226,0.0498535334943,0.999999961993,0.000116323060857,-0.000246990453815,-3.84584502139e-05,1793245049547609344
+29,0.483333333,BASELINE,763.812621199,745,713.812621199,679,663,633.187378801,879,786,806,653,630,652,0.400990325106,0.0045968158181,0.0498535307181,0.999999961686,0.000116324602306,-0.000248218674768,-3.8523699907e-05,1793245049564275712
+30,0.500000000,BASELINE,764,745,713.602957284,679,663,633,879,786,805.602957284,653,630,652,0.400990036573,0.00459611405506,0.0498537305199,0.999999961953,0.000114548658874,-0.000247974286761,-3.84821818134e-05,1793245049580942336
+31,0.516666667,BASELINE,764,745,713.012637218,679,663,633,879,786,805.012637218,653,630,652,0.400990017718,0.00459489764595,0.0498540289351,0.999999962494,0.000111907449428,-0.000247013043963,-3.83886899776e-05,1793245049597608960
+32,0.533333333,BASELINE,764,744.432427846,713,679,663,633,878.432427846,786,805,653,630,652,0.400992101553,0.00459533945668,0.0498555303579,0.999999962877,0.000112737113424,-0.00024512131463,-3.80950048632e-05,1793245049614275584
+33,0.550000000,BASELINE,764,744.146127291,713,679,663,633.146127291,878,786,805,653,630,652,0.400993206943,0.00459595459569,0.0498563815602,0.999999963044,0.000113535649752,-0.000244087353306,-3.7988967965e-05,1793245049630942720
+34,0.566666667,BASELINE,764,744.720482737,713,679,663,633.720482737,878,786,805,653,630,652,0.400991310186,0.00459697137211,0.0498552501607,0.999999962594,0.000114020458339,-0.000245626744724,-3.84456707524e-05,1793245049647609856
+35,0.583333333,BASELINE,764,745,713.294255995,679,663,633.705744005,878,786,805,653,630.294255995,652,0.400990141772,0.0045974324268,0.0498542860964,0.999999962315,0.000113943106067,-0.000246761251777,-3.86707139384e-05,1793245049664276480
+36,0.600000000,BASELINE,764,745,713.867477385,679,663,633.132522615,878,786,805,653,630.867477385,652,0.400989663853,0.00459736663718,0.0498534806719,0.999999962199,0.000113332804895,-0.000247511913895,-3.86761354426e-05,1793245049680942848
+37,0.616666667,BASELINE,764,745,713.541283905,679,662.541283905,633.458716095,878,786,805,653,630.541283905,652,0.400989581176,0.00459646970284,0.0498533019099,0.999999962263,0.000112480084695,-0.000247645087268,-3.86452002291e-05,1793245049697609216
+38,0.633333333,BASELINE,763.946417215,745,713.053582785,679,662.053582785,633.946417215,878.053582785,786,805,653,630,652,0.400989724073,0.00459538837734,0.0498534122757,0.999999962399,0.000111722777636,-0.000247451848051,-3.8572889736e-05,1793245049714275584
+39,0.650000000,BASELINE,763.369047984,745,713.630952016,679,662.630952016,633.369047984,878.630952016,786,805,653,630,652,0.400990910201,0.00459494774748,0.0498545068559,0.9999999627,0.000112610756362,-0.000245882959527,-3.82029959622e-05,1793245049730942208
+40,0.666666667,BASELINE,763.206966227,745,713.793033773,679,663.206966227,633.206966227,879,786,805.206966227,653,630,652,0.40099113921,0.00459498934935,0.0498547091602,0.999999962678,0.000113347778773,-0.000245647098969,-3.81296519175e-05,1793245049747609088
+41,0.683333333,BASELINE,763.780579942,745,713.219420058,679,663.780579942,633.780579942,879,786,805.780579942,653,630,652,0.40098967265,0.00459588524063,0.0498533307681,0.999999962083,0.000113817377048,-0.000247772741454,-3.85816555087e-05,1793245049764275968
+42,0.700000000,BASELINE,764,745,713,679,663.635794013,634,878.635794013,785.635794013,805.635794013,653,630,652.364205987,0.400988812667,0.00459529068137,0.0498529788973,0.999999961858,0.000113799616458,-0.00024873658976,-3.82720382909e-05,1793245049780942848
+43,0.716666667,BASELINE,764,745,713,679,663.045965435,634,878.045965435,785.045965435,805.045965435,653,630,652.954034565,0.400988328454,0.00459377280031,0.049853262948,0.999999961863,0.000113479941071,-0.000248980716119,-3.74906032745e-05,1793245049797609472
+44,0.733333333,BASELINE,764,745,713,678.465829443,663,633.465829443,878.534170557,785.534170557,805,653,630,653,0.400989867935,0.00459297659832,0.0498539732629,0.999999962436,0.000112300310334,-0.000247208732288,-3.74727488093e-05,1793245049814276096
+45,0.750000000,BASELINE,764,745,713,678.112415097,662.887584903,633.112415097,879,786,805,653,630,652.887584903,0.400991240398,0.00459276846179,0.0498546881859,0.999999962914,0.000111663074101,-0.000245542957579,-3.75723163385e-05,1793245049830942976
+46,0.766666667,BASELINE,764,745,713,678.686258162,662.313741838,633.686258162,879,786,805,653,630,652.313741838,0.400991225256,0.00459472378576,0.0498552741472,0.99999996282,0.000113550523926,-0.000245012553369,-3.78889672456e-05,1793245049847609344
+47,0.783333333,BASELINE,763.739152385,745.260847615,713,679,662.52169523,634,878.739152385,786,805.260847615,653,630,652,0.4009911853,0.00459586387811,0.0498553120728,0.999999962809,0.000113576097487,-0.000244997955262,-3.81953781847e-05,1793245049864275968
+48,0.800000000,BASELINE,763.163662541,745.836337459,713,679,663.672674919,634,878.163662541,786,805.836337459,653,630,652,0.400991115411,0.00459602061387,0.0498546889413,0.999999962898,0.000111355820217,-0.0002456055379,-3.84894374087e-05,1793245049880942592
+49,0.816666667,BASELINE,763.423710098,745.576289902,713,679,663.576289902,634,878,786,806,653,630.423710098,652,0.400990756088,0.00459519199932,0.0498545612457,0.999999962796,0.000111473579652,-0.000246008030955,-3.82425506707e-05,1793245049897608960
+50,0.833333333,BASELINE,764,745,713,679,663,634,878,786,806,653,630.984591873,652.015408127,0.400990322675,0.00459406736657,0.0498546589241,0.999999962629,0.000112538835916,-0.000246267773928,-3.78070053406e-05,1793245049914275840
+51,0.850000000,BASELINE,764,745,713,679,663,634,878,786,806,653,630.407364477,652.592635523,0.400991381779,0.0045964272978,0.0498557952352,0.999999962896,0.000114273093883,-0.000244294322645,-3.83310231564e-05,1793245049930942720
+52,0.866666667,BASELINE,764,745,713.168936123,679,663,634,878.168936123,786,806,653,630,653,0.400991422115,0.00459788451261,0.0498560977798,0.999999962904,0.000115234012303,-0.000243742186216,-3.87549126312e-05,1793245049947609600
+53,0.883333333,BASELINE,764,745,713.743014051,679,663,634,878.743014051,786,806,653,630,653,0.400989019244,0.00459717683704,0.0498544007893,0.9999999623,0.000114340311409,-0.000246598640416,-3.89386747649e-05,1793245049964276224
+54,0.900000000,BASELINE,763.681572044,745,713.681572044,679,663,634,879,786,806,653,630,652.681572044,0.400988743815,0.00459669093929,0.0498539813816,0.999999962166,0.000114040796045,-0.000247328495103,-3.86284357434e-05,1793245049980942592
+55,0.916666667,BASELINE,763.10507543,745,713.10507543,679,663,634,879,786,806,653,630,652.10507543,0.400990192564,0.00459638478053,0.0498545973859,0.999999962417,0.000114222836005,-0.000246334855621,-3.79178354611e-05,1793245049997609216
+56,0.933333333,BASELINE,763.484850913,745,713.484850913,679,663,634,879,786,805.515149087,653,630,652,0.400989783332,0.00459590081575,0.0498542278897,0.999999962339,0.000113987404223,-0.000246779928783,-3.77843654115e-05,1793245050014275840
+57,0.950000000,BASELINE,764,745,713.924569163,679,663,634,878.924569163,786,805.075430837,653,630,652,0.400989260029,0.00459536733486,0.049853873456,0.999999962267,0.000113779978845,-0.000247174242463,-3.77595436e-05,1793245050030942208
+58,0.966666667,BASELINE,764,745,713.349488119,679,663,634,878.349488119,786,805.650511881,653,630,652,0.400990724275,0.00459476837796,0.0498550738063,0.999999962713,0.000114374429329,-0.000245108186693,-3.76023171947e-05,1793245050047609088
+59,0.983333333,BASELINE,764,745.225912013,713,679,663,634,878.225912013,786,806,653,630,652,0.400991365314,0.00459444999979,0.0498555667467,0.99999996298,0.000113633609043,-0.00024435961163,-3.76285165197e-05,1793245050064275968
+60,1.000000000,BASELINE,764,745.801806563,713,679,663,634,878.801806563,786,806,653,630,652,0.400990731043,0.00459456629367,0.0498549637687,0.999999962967,0.000110824189467,-0.000245652075298,-3.79388786742e-05,1793245050080942592
+61,1.016666667,BASELINE,764,745.612752788,713,679,663,633.612752788,879,786,806,653,630,652,0.400989980028,0.00459414061746,0.0498544039934,0.999999962865,0.000109915478353,-0.000246475651004,-3.79345176729e-05,1793245050097609216
+62,1.033333333,BASELINE,764,745.02230299,713,679,663,633.02230299,879,786,806,653,630,652,0.400989167754,0.00459343054998,0.0498538668881,0.999999962719,0.000110004137722,-0.0002470531842,-3.77650100568e-05,1793245050114275840
+63,1.050000000,BASELINE,764,745,713,679,663,633.556657041,878.443342959,786,806,653,630.556657041,652,0.400990207446,0.00459428170842,0.0498544673868,0.999999962712,0.0001121017546,-0.000246125366693,-3.78418371723e-05,1793245050130942464
+64,1.066666667,BASELINE,764,745,713,679,663,633.865411458,878,786,806,653,630.865411458,652,0.400990792739,0.00459512997934,0.0498547858414,0.999999962593,0.000114190150955,-0.00024562919318,-3.79562589841e-05,1793245050147609088
+65,1.083333333,BASELINE,764,745,713,679,663,633.28937415,878,786,806,653,630.28937415,652,0.400989649155,0.00459576775864,0.0498540327196,0.999999962104,0.00011598963433,-0.000246742632906,-3.8162273329e-05,1793245050164275456
+66,1.100000000,BASELINE,764,745,713,679,663,633.292063621,878,786,806,653,630,652,0.400989486275,0.00459525481462,0.0498542025886,0.999999962225,0.000115310656681,-0.000246598149916,-3.79814936391e-05,1793245050180942080
+67,1.116666667,BASELINE,764,745,713,679,663,633.878952893,878,786,806,653,630,652,0.400990313375,0.00459358026491,0.0498553041772,0.999999962956,0.000112129779223,-0.000245183848033,-3.74102620112e-05,1793245050197608960
+68,1.133333333,BASELINE,764,745,713,679,663.459952829,634,878,786,806,653,630,652,0.400991226111,0.00459446404503,0.0498557490838,0.999999963265,0.000111364272391,-0.000244223961632,-3.77056842833e-05,1793245050214275584
+69,1.150000000,BASELINE,764,745,713,679,663.96075568,634,878,786,806,653,630,652,0.400992037151,0.00459594546399,0.0498559562166,0.999999963414,0.000111393623268,-0.000243525213328,-3.81841680332e-05,1793245050230942208
+70,1.166666667,BASELINE,764,745,713,679,663.383904937,634,878,786,806,653,630,652,0.400991150235,0.00459650723855,0.0498552436309,0.999999962849,0.00011371390516,-0.000244786241541,-3.80854474915e-05,1793245050247609088
+71,1.183333333,BASELINE,764,745.192224788,713,678.807775212,663,634,878,786,805.807775212,653,630,652,0.400990705111,0.00459685633998,0.0498550362828,0.999999962439,0.000115600862188,-0.000245590581027,-3.79900649786e-05,1793245050264275712
+72,1.200000000,BASELINE,764,745.766920004,713,678.233079996,663,634,878,786,805.233079996,653,630,652,0.400991139022,0.00459678228493,0.0498558342077,0.999999962349,0.000116625631416,-0.000245486245355,-3.79013241377e-05,1793245050280942336
+73,1.216666667,BASELINE,764,745.649520392,713.350479608,678.350479608,663,634,878,786,805.350479608,653,630,652,0.400991268361,0.00459642912401,0.0498559944057,0.999999962585,0.000115605155098,-0.000244997407797,-3.79618150837e-05,1793245050297608960
+74,1.233333333,BASELINE,764,745.059912758,713.940087242,678.940087242,663,634,878,786,805.940087242,653,630,652,0.400991189894,0.00459588553251,0.0498557194903,0.999999963039,0.000113189232244,-0.000244246229221,-3.81241250907e-05,1793245050314275584
+75,1.250000000,BASELINE,763.47988944,745,714,679,663,634,878.52011056,786,805.47988944,653,630,652,0.400991018837,0.00459552555187,0.0498551811714,0.999999962926,0.000112615469368,-0.000244960417609,-3.82030230258e-05,1793245050330942464
+76,1.266666667,BASELINE,763,745,713.901681728,679,663,633.901681728,878.901681728,786,805.098318272,653,630,652,0.400990740519,0.00459520452324,0.0498547325432,0.999999962776,0.000112250541593,-0.000245732340043,-3.8254480598e-05,1793245050347609088
+77,1.283333333,BASELINE,763,745,713.327018311,679,663,633.327018311,878.327018311,786,805.672981689,653,630,652,0.400989993267,0.00459497159557,0.0498548628053,0.999999962757,0.000111887900479,-0.000245980957864,-3.8218701398e-05,1793245050364275712
+78,1.300000000,BASELINE,763.248228179,745,713,679.248228179,663,633,878.248228179,786,805.751771821,653,630,652,0.40098982055,0.00459550407981,0.0498552542216,0.999999962678,0.000113030976001,-0.000245776825431,-3.82414032397e-05,1793245050380942336
+79,1.316666667,BASELINE,763.824244578,745,713,679.824244578,663,633,878.824244578,786,805.175755422,653,630,652,0.400990406512,0.00459704729945,0.0498559904951,0.999999962512,0.00011616236801,-0.000244974830964,-3.83413299847e-05,1793245050397608960
+80,1.333333333,BASELINE,764,745,713,679.58973944,663,633.41026056,878.58973944,786,805.41026056,653,630,652.41026056,0.400990760145,0.00459702435409,0.0498560645394,0.999999962712,0.000115473131761,-0.000244476513206,-3.83695917504e-05,1793245050414275584
+81,1.350000000,BASELINE,763.99934432,745,713,679,663,634,878,786,805.99934432,653,630,652.99934432,0.400991013135,0.00459631346431,0.0498558490671,0.999999963072,0.000113109596585,-0.000244110376233,-3.83660948906e-05,1793245050430942208
+82,1.366666667,BASELINE,763.419332982,745,713,679,663,634,878,786,805.419332982,653,630,652.419332982,0.40099247979,0.00459539222653,0.0498567554485,0.999999963354,0.000113703490443,-0.000242715509138,-3.81060155362e-05,1793245050447608832
+83,1.383333333,BASELINE,763.15919522,745.15919522,713,679,663,634,878,785.84080478,805.15919522,653,630.15919522,652,0.400993166609,0.00459486270151,0.04985725871,0.999999963567,0.000113793501269,-0.000241826292334,-3.7921582348e-05,1793245050464275712
+84,1.400000000,BASELINE,763.733852907,745.733852907,713,679,663,634,878,785.266147093,805.733852907,653,630.733852907,652,0.400991818237,0.00459535545539,0.0498567099224,0.9999999636,0.000112568494812,-0.000242256704778,-3.7934567988e-05,1793245050480942336
+85,1.416666667,BASELINE,763.691098727,745.691098727,713,679,663.308901273,634,878,785.308901273,805.691098727,653,630.691098727,652,0.400991853312,0.00459657630113,0.0498567530692,0.99999996362,0.000113011022852,-0.000241937989226,-3.81399463327e-05,1793245050497608704
+86,1.433333333,BASELINE,763.115713362,745.115713362,713,679,663.884286638,634,878,785.884286638,805.115713362,653,630.115713362,652,0.400993081864,0.00459842525982,0.0498573068679,0.999999963624,0.00011489210579,-0.000240973013141,-3.85112987265e-05,1793245050514275328
+87,1.450000000,BASELINE,763.474256213,745,713,679,663.525743787,634,878,786,805,653,630,652,0.400991318965,0.00459715776742,0.0498562547081,0.999999963184,0.000114065674182,-0.000243232915333,-3.8189974792e-05,1793245050530942208
+88,1.466666667,BASELINE,764,745.065613914,713,679,663,634,878.065613914,785.934386086,805.065613914,653,630,652,0.400989174585,0.00459523788003,0.0498549761039,0.9999999627,0.000112645490267,-0.000245940782724,-3.77380073979e-05,1793245050547608832
+89,1.483333333,BASELINE,764,745.639292567,713,679,663,634,878.639292567,785.360707433,805.639292567,653,630,652,0.400989907263,0.00459434095375,0.0498550744343,0.999999962814,0.000111905249205,-0.000245831391376,-3.76246068421e-05,1793245050564276224
+90,1.500000000,BASELINE,764,745.785988309,713,679,663,634,878.785988309,785,806,653,630,652.214011691,0.40099006182,0.00459449037141,0.0498551196008,0.999999962811,0.000112060916538,-0.000245755558162,-3.77465470067e-05,1793245050580943616
+91,1.516666667,BASELINE,764,745.209507009,713,679,663,634,878.209507009,785,806,653,630,652.790492991,0.400989237222,0.00459641197213,0.0498550747243,0.999999962607,0.000113733975654,-0.000245736562059,-3.8267081569e-05,1793245050597610240
+92,1.533333333,BASELINE,764,745,713,679,663,634,878,785.374090179,806,653,630,652.625909821,0.40098971271,0.00459599532615,0.0498553417851,0.999999962719,0.000114105539212,-0.000245131440785,-3.81240756951e-05,1793245050614276608
+93,1.550000000,BASELINE,764,745,713,679,663,634,878,785.961749911,806,653,630,652.038250089,0.400990930424,0.00459424376614,0.0498557869322,0.999999963011,0.000113734074007,-0.000244191698348,-3.76022520304e-05,1793245050630942720
+94,1.566666667,BASELINE,764,745.542817796,713,679.542817796,663,634,878,786,805.457182204,653,630,652,0.40099208109,0.00459295834674,0.0498562627281,0.999999963686,0.000110687732979,-0.000242807652617,-3.76861998733e-05,1793245050647609856
+95,1.583333333,BASELINE,764,745.877503934,713,679.877503934,663,634,878,786,805.122496066,653,630,652,0.400992575912,0.00459245576529,0.0498564350527,0.999999964012,0.000109096297591,-0.000242169624017,-3.77887969578e-05,1793245050664276736
+96,1.600000000,BASELINE,764,745.301272851,713,679.301272851,663,634,878,786,805.698727149,653,630,652,0.400990658728,0.00459473266859,0.0498554753917,0.999999962967,0.000113583740567,-0.000244409477472,-3.78042564503e-05,1793245050680943104
+97,1.616666667,BASELINE,764,745,713,679,663,634,878,786,806,653,630,652,0.400989926413,0.00459632792617,0.0498551764416,0.999999962463,0.000115958661768,-0.000245322052204,-3.80064422883e-05,1793245050697609472
+98,1.633333333,BASELINE,764,745,713,679,663,634,878,786,806,653,630,652,0.400990492364,0.00459717630173,0.0498556014351,0.999999962573,0.000116018884295,-0.000244780322299,-3.84132249166e-05,1793245050714275840
+99,1.650000000,BASELINE,763.564399472,745,713,678.564399472,663,633.564399472,878,785.564399472,805.564399472,653,630,652,0.400990324616,0.00459578688228,0.0498555550769,0.999999962739,0.000114464046184,-0.000244922792313,-3.78452406847e-05,1793245050730942464
+100,1.666666667,BASELINE,763,745,713,678.028922562,662.971077438,633.028922562,878,785.028922562,805,653,630,652,0.400989929092,0.00459363634221,0.0498553709588,0.999999962939,0.0001122493018,-0.000245263861094,-3.69794749686e-05,1793245050747609088
+101,1.683333333,BASELINE,763,745,713,678.604988401,662.395011599,633.604988401,878,785.604988401,805,653,630,652,0.400990279249,0.00459250399154,0.0498558280185,0.999999963476,0.000108677304934,-0.000244648309145,-3.71958238618e-05,1793245050764275712
+102,1.700000000,BASELINE,763.179801852,745,713,679,662.179801852,634,878,786,805.179801852,653,630,652.179801852,0.400990676727,0.00459257740628,0.0498563041536,0.999999963719,0.000108060777285,-0.000243891235368,-3.74379641665e-05,1793245050780942848
+103,1.716666667,BASELINE,763.751882856,745,713,679,662.751882856,634,878,786,805.751882856,653,630,652.751882856,0.400991177446,0.0045952814761,0.0498568219061,0.99999996332,0.000113892286892,-0.000242825399213,-3.77363743474e-05,1793245050797609984
+104,1.733333333,BASELINE,763.663937504,745,712.663937504,678.663937504,663,633.663937504,878,786,805.663937504,653,630,652.663937504,0.400990750041,0.00459629118793,0.0498564243365,0.999999963175,0.000114585735216,-0.000243056084311,-3.80037859086e-05,1793245050814276864
+105,1.750000000,BASELINE,763.07049171,745,712.07049171,678.07049171,663,633.07049171,878,786,805.07049171,653,630,652.07049171,0.400989611807,0.00459600322636,0.0498553257408,0.999999963234,0.000111344049521,-0.00024427974805,-3.82474563011e-05,1793245050830943744
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633,878,785,805,653,630,652,0.40099380316,0.00459232412571,0.0498575545924,0.999999963851,0.000112946617805,-0.00024115980562,-3.71778945812e-05,1793245050861775104
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.572710105,878,785.572710105,805.572710105,653,630,652,0.400991674948,0.0045946902944,0.0498563433698,0.999999963291,0.000113395453839,-0.000243169552094,-3.77828563763e-05,1793245050878441728
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.849945791,878,786,805.849945791,653,630,652,0.40098970712,0.00459607742138,0.0498552608781,0.999999962835,0.000113161826838,-0.000245088577811,-3.81528305662e-05,1793245050895108352
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.258985413,878,786,805.258985413,653,630,652,0.400988210547,0.00459458781837,0.0498545566382,0.999999962692,0.00011092291024,-0.000246741038069,-3.78323378681e-05,1793245050911774720
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713,678.676891929,663,633.323108071,878,786,805,653,630,651.676891929,0.400988693501,0.00459432978292,0.0498549520002,0.999999962854,0.00011051898618,-0.000246275739823,-3.77540155617e-05,1793245050928441600
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713,678.101715855,663,633.898284145,878,786,805,653,630,651.101715855,0.400990720751,0.00459503253685,0.0498562052006,0.999999963255,0.000111546604655,-0.000244158303375,-3.78646189385e-05,1793245050945108480
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,744.521751174,713,678.478248826,663,634,878,785.521751174,805.478248826,653,630,651.478248826,0.400990304453,0.00459528852982,0.0498557940239,0.999999962991,0.000112585271814,-0.000244736938663,-3.80337062904e-05,1793245050961775104
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744.117084899,713,679,663,634,878,785.058542449,806,653,630,652,0.400989481866,0.00459531339842,0.0498551856659,0.999999962668,0.000113252446453,-0.000245724344133,-3.81695597296e-05,1793245050978441728
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.265345487,713,679,663,634,878,785.632672744,806,653,630,652,0.400989704431,0.00459414803943,0.0498559898322,0.999999963098,0.000110626953149,-0.000245210666615,-3.79020638531e-05,1793245050995108352
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.787287557,745.787287557,713.212712443,679,663,633.787287557,878,786,805.787287557,653,630,651.787287557,0.400992031999,0.00459373931669,0.0498570046788,0.999999963591,0.000109596721499,-0.000243676775211,-3.77821866512e-05,1793245051011775232
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.19675153,745.19675153,713.80324847,679,663,633.19675153,878,786,805.19675153,653,630,651.19675153,0.400998098512,0.00459467454467,0.0498583937394,0.999999964196,0.000111400021956,-0.000240330761999,-3.79245123658e-05,1793245051028441600
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.385707842,745,713.614292158,679,663,633,878,785.614292158,805,653,630,651.385707842,0.401016273446,0.00459495897025,0.0498652593466,0.999999967267,0.000111974652315,-0.000226922219182,-3.78809793813e-05,1793245051045108224
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.964131825,745,713.035868175,679,663,633,878,785.035868175,805,653,630,651.964131825,0.401040498265,0.00459491822718,0.0498748612709,0.99999997129,0.000111935386655,-0.000208486005683,-3.77445834411e-05,1793245051061774592
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.461360006,745,713,679,662.461360006,633,878,785.538639994,805.538639994,653,630,652,0.401096635621,0.00459352746638,0.0498937260838,0.999999978929,0.000110479009138,-0.000168948162303,-3.73151117501e-05,1793245051078441472
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.11576354,745,713,679,662.11576354,633.11576354,878,785.88423646,805.88423646,653,630,652,0.401157252155,0.00459226479661,0.0499124676919,0.999999984747,0.000108938709818,-0.000131471497323,-3.67899439266e-05,1793245051095108352
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.704633856,745,713,679,662.704633856,633.704633856,878,785.295366144,805.295366144,653,630,652,0.401227552273,0.00459189036053,0.0499282031465,0.999999987737,0.000107438310301,-0.000108119747628,-3.59528646612e-05,1793245051111774976
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.711337729,878,785,805.288662271,653,630,652,0.401304210779,0.00459184666541,0.0499400819294,0.999999989568,0.000106793095546,-9.06247758447e-05,-3.53181487578e-05,1793245051128441600
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.132181965,878,785,805.867818035,653,630,652,0.401387268006,0.00459213580944,0.0499480795737,0.999999990544,0.000107008490815,-7.90237377435e-05,-3.48870800339e-05,1793245051145107968
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.553508846,745,713,679,663,633.446491154,878.446491154,785,805.553508846,652.553508846,630,652,0.401483165609,0.0045909253175,0.0499506269271,0.999999990874,0.000106632844464,-7.57893345456e-05,-3.37380010545e-05,1793245051161774848
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.024841742,745,713,679,663,634,879,785.024841742,805,652.024841742,630,652,0.401583602114,0.00458922937636,0.0499513938967,0.999999991035,0.000105828021224,-7.53767283524e-05,-3.23968914411e-05,1793245051178441472
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.599215126,745,713,679,663,634,879,785.599215126,805,652.599215126,630,652,0.401700445194,0.00458660506534,0.0499484314654,0.999999991148,9.93957542111e-05,-8.26526444851e-05,-3.15049316637e-05,1793245051195108096
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.826380103,745,713,679,663,634,878.826380103,785.826380103,805,652.826380103,630,652,0.401831076352,0.00458479995689,0.0499475187023,0.99999999127,9.52436777752e-05,-8.63559086625e-05,-3.05169800342e-05,1793245051211774720
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.251902944,745,713,679,663,634,878.251902944,785.251902944,805,652.251902944,630,652,0.401993541694,0.00458488624092,0.0499513382566,0.999999991582,9.63561541186e-05,-8.18105580135e-05,-2.93074005306e-05,1793245051228441600
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,745,713,678.666928588,663,633.666928588,878,785,805,652.333071412,630,652,0.402163512575,0.00458363188661,0.0499509346729,0.99999999151,9.43749371697e-05,-8.54199791209e-05,-2.78823306165e-05,1793245051245108480
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,745,713,678.073756752,663,633.073756752,878,785,805,652.926243248,630,652,0.40233934466,0.00458133060789,0.0499472331782,0.999999991056,8.99778091965e-05,-9.53975823677e-05,-2.62889809022e-05,1793245051261775360
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.506885771,745,713.506885771,678.506885771,663,633.506885771,878,785.506885771,805,653,630,652,0.402553759404,0.00457809326136,0.0499454945938,0.999999991317,8.55190789684e-05,-9.72586786548e-05,-2.43669950895e-05,1793245051278441728
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745.084718687,713.915281313,679,663.084718687,633.915281313,878.169437375,786,805,653,630,652,0.402780085873,0.0045748374174,0.0499449443432,0.999999991772,8.09659973345e-05,-9.69400293064e-05,-2.24155917192e-05,1793245051295108096
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745.656626078,713.343373922,679,663.656626078,633.343373922,879.313252155,786,805,653,630,652,0.403043406456,0.0045722395853,0.0499496249033,0.999999992792,7.59206345854e-05,-9.07142717139e-05,-2.05633787333e-05,1793245051311774720
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745.764027828,713,679,663.764027828,633,879.528055656,785.764027828,805,653,630,652,0.403327399498,0.00457041626812,0.0499560952888,0.999999993973,7.29691810552e-05,-7.98712787925e-05,-1.8690181668e-05,1793245051328441600
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745.173505039,713,679,663.173505039,633,878.347010078,785.173505039,805,653,630,652,0.403642453108,0.00456975666773,0.0499652549049,0.999999995255,7.31638479723e-05,-6.20908426253e-05,-1.67854559159e-05,1793245051345108224
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.5911041,745,713,679,663,633,878,785,805,653,630,652,0.403989521135,0.00456681393806,0.0499747705105,0.999999996669,6.82429617316e-05,-4.23426151047e-05,-1.45508146527e-05,1793245051361774848
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.012082365,745,713,679,663,633,878,785,805,653,630,652,0.404349909119,0.00456292128626,0.0499844342295,0.999999997816,6.11936908237e-05,-2.17756658236e-05,-1.21789082949e-05,1793245051378441728
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.563350095,745,713,679,663,633,878,785.563350095,805.563350095,653,630,652,0.404744208073,0.004557621475,0.0499928832551,0.999999998454,5.4701874488e-05,-4.02507344267e-06,-9.13166098257e-06,1793245051395108608
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713,678.86204822,663,633.13795178,878,785.86204822,805.86204822,653,630,652,0.405141629117,0.00455280739529,0.049995924091,0.99999999876,4.93323574913e-05,2.89450808966e-06,-6.16806881371e-06,1793245051411775232
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713,678.289821141,663,633.710178859,878,785.289821141,805.289821141,653,630,652,0.405546603431,0.00454961681573,0.0499820213158,0.999999998577,4.74584660351e-05,-2.40932314821e-05,-3.51313365003e-06,1793245051428441856
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713,678.292979939,663,633.707020061,878,785.292979939,805,652.707020061,630,652,0.40596822441,0.00454598787919,0.0499634791411,0.999999997244,4.44239785181e-05,-5.94790996313e-05,-7.35424875436e-07,1793245051445108224
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713,678.886632739,663,633.113367261,878,785.886632739,805,652.113367261,630,652,0.406406929205,0.00454190907511,0.0499401757461,0.999999993835,4.01984203213e-05,-0.000103483613447,2.16828156122e-06,1793245051461774848
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.468804568,878.468804568,786,805,652.468804568,630,652,0.40689055372,0.00453767686326,0.0499245345981,0.99999999087,3.44493490242e-05,-0.000130555756618,5.39522901478e-06,1793245051478441472
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.952257461,786,805.047742539,652.952257461,630,652,0.407392397815,0.00453325122328,0.0499135762401,0.99999998861,2.84501231464e-05,-0.000147966200995,8.70407281651e-06,1793245051495108096
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.379084566,786,805.620915434,652.379084566,630,652,0.407978067466,0.00452709532285,0.049934249681,0.99999999434,2.36555276521e-05,-0.000103030977289,1.20745288024e-05,1793245051511774976
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.800528192,878,786,805.800528192,652,630,652,0.408583847018,0.00452038836065,0.0499587278613,0.999999998198,1.71112619254e-05,-5.53319519139e-05,1.57726736886e-05,1793245051528441856
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.211457085,878,786,805.211457085,652,630,652,0.409228904285,0.00451260508993,0.049990637285,0.99999999977,7.14961989258e-06,-2.2347972131e-06,2.01108455001e-05,1793245051545108224
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.37129936,878.37129936,785.62870064,805,652.37129936,630,652,0.409864971195,0.00450623065624,0.0500041108876,0.999999997312,6.75550042339e-05,1.46895285999e-05,2.44092372061e-05,1793245051561775104
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.950519687,878.950519687,785.049480313,805,652.950519687,630,652,0.410496003647,0.00450064514623,0.0500072607608,0.999999985519,0.000167364658371,1.13577185436e-05,2.86853524491e-05,1793245051578441472
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,879,785,805.523667314,653,630,652,0.411112150528,0.00449501875173,0.0499789516613,0.999999984915,0.000162764375757,-5.09281414207e-05,3.29186516207e-05,1793245051595108096
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.902604606,785.097395394,805.902604606,652.902604606,630,651.902604606,0.411746200716,0.00448953098939,0.0499526688401,0.999999982891,0.00014787625045,-0.000104871117152,3.67653493335e-05,1793245051611774720
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.32319685,785.67680315,805.32319685,652.32319685,630,651.32319685,0.412475735697,0.0044847482224,0.0499509564621,0.999999986682,0.000130338210569,-9.02726254667e-05,3.87185378019e-05,1793245051628441344
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.74739087,878.25260913,785.74739087,805.25260913,652,630,651,0.413228638068,0.00447771587652,0.0499613816503,0.99999999495,7.09553890218e-05,-6.45974230881e-05,2.98749206929e-05,1793245051645108224
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.176128266,878.823871734,785.176128266,805.823871734,652,630,651,0.414011017304,0.00446784580151,0.049987117756,0.999999998812,-4.12124836367e-05,-2.49495150627e-05,7.41168654066e-06,1793245051661774848
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.411050971,879,785.411050971,805.588949029,652,630,651.411050971,0.414781040762,0.00446897689402,0.0499804804619,0.999999997624,-5.9759372217e-05,-3.40078407339e-05,4.88900884762e-06,1793245051678441472
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.99483381,879,786,804.99483381,652,630,652,0.415545786773,0.00447514446908,0.049959444372,0.999999997176,-3.6460744743e-05,-6.47565991267e-05,1.1208710664e-05,1793245051695108096
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.418271922,879,786,804.418271922,652,630,652,0.416335982121,0.00449599925119,0.0499418824434,0.999999995571,-4.82285633752e-07,-9.32915330205e-05,1.24430491381e-05,1793245051711774720
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.158230078,745,713,679,663.158230078,633,879.158230078,786,804.316460156,652,630,652,0.417145055672,0.00450968496618,0.0499366133511,0.999999994394,2.98866748394e-05,-0.00010061394493,1.39944971475e-05,1793245051728441344
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.734573791,745,713,679,663.734573791,633,879.734573791,786,805.469147582,652,630,652,0.41800401371,0.00450442684347,0.0499638273537,0.999999997488,4.54328642845e-05,-5.18835189131e-05,1.63838883389e-05,1793245051745108224
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.680621437,745,713,679,664,633,879.680621437,786,805.680621437,652,630,651.680621437,0.418859210635,0.00449743029354,0.0499759068701,0.999999998266,4.2208545087e-05,-3.67604304732e-05,1.82801892182e-05,1793245051761774848
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.088593601,745,713,679,664,633,879.088593601,786,805.088593601,652,630,651.088593601,0.419711196702,0.00448894967146,0.0499750662735,0.999999998275,2.29600890802e-05,-5.03274861559e-05,1.97555452882e-05,1793245051778441216
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,713,679,664,633,879,786,805.491285933,652,630,651.491285933,0.420590180746,0.00448594586711,0.0499681840378,0.999999998671,7.47479714851e-06,-4.73448748608e-05,1.89915078372e-05,1793245051795108096
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.068679698,745,713,679,663.931320302,633,879,786,805.931320302,652,630,652,0.421479825857,0.0044843555535,0.0499641176538,0.999999999162,-3.2236349623e-06,-3.66049102838e-05,1.80690035918e-05,1793245051811774720
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.643509024,745,713,679,663.356490976,633,879,786,805.356490976,652,630,652,0.422413025528,0.00448607931645,0.049988638759,0.999999999638,1.64752324549e-05,9.84107023649e-06,1.88829391915e-05,1793245051828441344
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.774795411,745,713,679,663.225204589,633,879,785.774795411,805,652,630,652,0.423320760351,0.00449079059508,0.0499976427599,0.999999999019,3.06584805658e-05,2.53006036425e-05,1.95355814929e-05,1793245051845107968
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.18188893,745,713,679,663.81811107,633,879,785.18188893,805,652,630,652,0.424186917691,0.00450037972828,0.0499813112746,0.999999999111,3.58361264709e-05,-9.83285315294e-06,1.99248729821e-05,1793245051861774592
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,713,679,664,633.400593331,879,785.400593331,805.400593331,651.599406669,630.400593331,652,0.425119871794,0.00450115043756,0.0499849285418,0.999999999416,2.7040403763e-05,-3.11264481856e-06,2.06563613228e-05,1793245051878441472
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,713,679,664,633.978462492,879,785.978462492,805.978462492,651.021537508,630.978462492,652,0.426082385628,0.0044980187013,0.0499973737944,0.99999999945,1.20610018363e-05,2.21292001073e-05,2.15392830848e-05,1793245051895108096
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.55331754,745,713,679,664,634,879.55331754,786,806,651.55331754,631,651.44668246,0.426985431729,0.00448639613141,0.0500063103242,0.999999999521,9.3975903773e-06,1.71010654982e-05,2.40369528012e-05,1793245051911774720
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.871928303,745.128071697,713,679,663.871928303,633.871928303,880,786.128071697,806,652,631,651.128071697,0.427877044789,0.00447739448911,0.0500039845636,0.999999999613,1.00284403309e-05,-2.25246536773e-06,2.58712193225e-05,1793245051928441344
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.297119074,745.702880926,713,679,663.297119074,633.297119074,880,786.702880926,806,652,631,651.702880926,0.428736807753,0.00447868172109,0.0499628476874,0.999999997196,2.04871316778e-05,-6.74879570317e-05,2.51733589998e-05,1793245051945107968
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.286637694,745.713362306,713.286637694,679,663.286637694,633,880.286637694,786.713362306,806,652,630.713362306,652,0.42963706625,0.00448181714071,0.0499487910006,0.999999996053,2.19763052311e-05,-8.25815001768e-05,2.43116220752e-05,1793245051961774592
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.87996799,745.12003201,713.87996799,679,663.87996799,633,880.87996799,786.12003201,806,652,630.12003201,652,0.430580653536,0.00448693005829,0.0499637091996,0.999999998664,1.38683986269e-05,-4.40248566375e-05,2.32745428548e-05,1793245051978441216
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.543509032,745,713.543509032,679,664.456490968,633,880.543509032,786.456490968,806,652,630,652,0.431482477101,0.00449201749988,0.0499562523599,0.999999997761,1.36994290703e-05,-6.10121678017e-05,2.38229619035e-05,1793245051995108096
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.028994358,745.028994358,713,679,664.942011284,633.028994358,879.971005642,786.971005642,806,652,630.028994358,652,0.432374137644,0.00449645828199,0.049943918466,0.999999995543,1.56650245908e-05,-8.97599927758e-05,2.4727687161e-05,1793245052011774720
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.606088162,745.606088162,713,679,663.787823676,633.606088162,879.393911838,786.393911838,806,652,630.606088162,652,0.4332738985,0.00448879696146,0.0499466588245,0.999999996717,1.99215681373e-05,-7.45406728026e-05,2.47668488554e-05,1793245052028441344
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.811983719,746,713,679,663.188016281,633.811983719,879.188016281,786,806,651.811983719,630.811983719,652,0.434166990737,0.00448107477071,0.0499566172686,0.999999998018,1.96284461031e-05,-5.4189825478e-05,2.53387224198e-05,1793245052045107968
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.219659845,746,713,679,663.780340155,633.219659845,879.780340155,786,806,651.219659845,630.219659845,652,0.435045743039,0.00447322168406,0.049982097384,0.999999999328,9.55178737643e-06,-2.28042103269e-05,2.70561321702e-05,1793245052061774336
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745.635771497,713.364228503,679.364228503,664,633,880,786,806.364228503,651.364228503,630.364228503,651.635771497,0.435880011073,0.00447217662514,0.0499767400569,0.999999998441,3.69704962754e-06,-4.77079764704e-05,2.87972014886e-05,1793245052078440960
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745.056855346,713.943144654,679.943144654,664,633,880,786,806.943144654,651.943144654,630.943144654,651.056855346,0.436688058637,0.00447514443072,0.0499532061772,0.999999993937,3.3084446648e-07,-0.000105790462528,3.0552216325e-05,1793245052095107840
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680,663.481189834,633,880,786,806.481189834,651.481189834,630.481189834,651,0.437565548528,0.00448011791259,0.0499602917314,0.99999999656,1.5470931285e-06,-7.7389696618e-05,2.98025828762e-05,1793245052111774464
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.093928275,745,713.906071725,680,663.093928275,633,880,786,806,651.093928275,630.093928275,651.093928275,0.438438166102,0.00448531669104,0.0499708077138,0.999999998629,6.60609926975e-06,-4.32633243077e-05,2.87401371726e-05,1793245052128441088
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.668057679,745,713.331942321,680,663.668057679,633,880,786,806,651.668057679,630.668057679,651.668057679,0.439247210793,0.00449055057741,0.0499818134676,0.999999998817,2.87595294523e-05,-2.80166437276e-05,2.74729798338e-05,1793245052145107712
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.248546561,680,664,633,880,786,806.497093121,652,630.751453439,652,0.440026337765,0.00449124923408,0.0499807517217,0.999999998242,4.44228677204e-05,-2.84351387138e-05,2.70774533887e-05,1793245052161774592
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.837751712,680,664,633,880,786,807.675503424,652,630.162248288,652,0.440764459364,0.0044857318922,0.0499631502269,0.999999997035,5.11908665727e-05,-5.03243671397e-05,2.78765867289e-05,1793245052178441216
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.578851017,745,713.578851017,679.578851017,663.578851017,633,880,785.578851017,807.578851017,652,630.421148983,652,0.441500582813,0.00448092890054,0.0499546830964,0.999999996542,4.40426233823e-05,-6.40383847738e-05,2.96026303457e-05,1793245052195107840
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,713,679.002306131,663,633,880,785.002306131,807,652,631,652,0.442235822553,0.00447643674866,0.0499496977803,0.999999996214,3.1661828505e-05,-7.46084568493e-05,3.16770360443e-05,1793245052211774464
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,713,679.575269431,663,633,880,785.575269431,807,652,631,652,0.44294026666,0.00448168907287,0.0499473494019,0.999999996031,3.30823952255e-05,-7.59543247291e-05,3.27927744701e-05,1793245052228441088
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,713,680,662.847416548,632.847416548,880,786,807,652,630.847416548,652,0.443610479612,0.00448950773994,0.0499335609123,0.999999993809,3.95054821154e-05,-9.82980752089e-05,3.40272158301e-05,1793245052245107968
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,713,680,662.257636289,632.257636289,880,786,807,652,630.257636289,652,0.444182610324,0.00450467974106,0.0498869931134,0.999999981205,6.0262272015e-05,-0.000180806982242,3.56017763828e-05,1793245052261774848
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745.326056118,713,680,662,632,880,785.673943882,807,652,630.326056118,652,0.444767107433,0.00452450450143,0.0498478543434,0.9999999671,9.04514507619e-05,-0.000237485605097,3.49172982358e-05,1793245052278441216
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745.905026286,713,680,662,632,880,785.094973714,807,652,630.905026286,652,0.44536119683,0.00454793829662,0.0498144780988,0.999999953713,0.000127957110169,-0.000274128280385,3.24805369623e-05,1793245052295107840
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745.518928287,713,680,662,632,880.481071713,785,807,652,630.518928287,652,0.445958734237,0.00455106401025,0.0498140996863,0.999999955852,0.000133747372243,-0.000263249618613,3.32681037123e-05,1793245052311774976
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745.056627256,713,680,661.943372744,631.943372744,880.943372744,785.056627256,807.056627256,652,630,652,0.446550256231,0.00455025756008,0.0498185754556,0.999999960057,0.000133243804299,-0.000246839181619,3.46681068174e-05,1793245052328442112
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745.632954049,713,680,661.367045951,631.367045951,880.367045951,785.632954049,807.632954049,652,630,652,0.447080361983,0.00454993616991,0.0498081751424,0.999999955455,0.000132094345846,-0.000265241465506,3.58821042424e-05,1793245052345108480
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,746,713,680,661,631,880,785.786127625,808,652,630,652,0.447576138206,0.00455176463583,0.049787758756,0.999999946211,0.00013395090799,-0.000297180790776,3.63230870325e-05,1793245052361775104
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,746,713,680,661,631,880,785.197156528,808,652,630,652,0.448011705744,0.00455736361341,0.0497497757434,0.999999927166,0.00014107956038,-0.000352861968638,3.54083227714e-05,1793245052378441728
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745.613547483,713,680,660.613547483,630.613547483,880.386452517,785,807.613547483,652,630.386452517,651.613547483,0.448450962749,0.00455927816697,0.0497307792695,0.999999916483,0.000142727590687,-0.000381329852211,3.53650156152e-05,1793245052395108352
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745.032636507,713,680,660.032636507,630.032636507,880.967363493,785,807.032636507,652,630.967363493,651.032636507,0.448892076292,0.00455933876129,0.0497213366,0.999999910883,0.00014161783582,-0.000396104324718,3.57602155904e-05,1793245052411774976
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.540812441,745.540812441,713.540812441,680,660.540812441,630,881,785.540812441,807,652,631,651.540812441,0.449312171459,0.00455761533736,0.0497331450556,0.999999924071,9.11104027546e-05,-0.00037829511685,2.11865869923e-05,1793245052428441856
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.888652814,746,713.888652814,680,660.888652814,629.888652814,881,785.888652814,807.111347186,652,630.888652814,651.888652814,0.449723817066,0.00455518222756,0.0497457168114,0.999999934099,4.72664765355e-05,-0.000359852147877,8.65948927976e-06,1793245052445108480
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+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745.022685184,713,680,659.022685184,629,881,785.022685184,807.022685184,652,630,651.022685184,0.451316127443,0.00459633283916,0.0497315101848,0.99999990093,0.000175229670958,-0.000409035539302,1.11737893981e-05,1793245052528441344
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,745.59770927,713,680,659.59770927,629,881,785.59770927,807.59770927,652,630,651.59770927,0.451537658054,0.00460392037687,0.0497154388679,0.999999885871,0.000182742159439,-0.000441294730302,1.10633159328e-05,1793245052545107968
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745.822966657,713,680,659.822966657,628.822966657,880.822966657,785.822966657,807.822966657,652,630,651.822966657,0.451753313004,0.00460752839867,0.0497016373239,0.999999873316,0.000185192927813,-0.00046790854447,1.15062587327e-05,1793245052561774592
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,745.233628123,713,680,659.233628123,628.233628123,880.233628123,785.233628123,807.233628123,652,630,651.233628123,0.451955283688,0.00460186824973,0.049693122013,0.999999868589,0.000175855105673,-0.000481374446683,1.32380909637e-05,1793245052578440960
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+211,3.516666667,POSE1_TO_POSE2_PRESS,764,745,713,680,659,628.929108717,880.929108717,785,807.929108717,652,630,651.929108717,0.452329540169,0.00460093925936,0.0496905015231,0.999999868565,0.000172938010273,-0.000482455874296,1.40647974516e-05,1793245052611774464
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,745,713.506871667,680,659,627.986256666,881,785,807.493128333,651.493128333,630,652,0.452489447276,0.00459975920377,0.0496961583542,0.999999873293,0.000172041046341,-0.000472849456981,1.51303469385e-05,1793245052628441088
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,627.666863406,881,785,807.666863406,651.666863406,630,652,0.452760486026,0.004601177974,0.0497000627542,0.999999877518,0.000173801411497,-0.000463144158333,1.59430267402e-05,1793245052661774592
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659.248381135,627.751618865,881,785.248381135,807.751618865,652,630,652,0.45286789548,0.00460242943519,0.0496979233416,0.999999876156,0.000175772884848,-0.000465334745461,1.59732261234e-05,1793245052678441216
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659.829481613,627.170518387,881,785.829481613,807.170518387,652,630,652,0.452958710873,0.00460224326423,0.0496947214341,0.999999873122,0.000177239870862,-0.000471249031184,1.62934912485e-05,1793245052695107840
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745.987766249,713.012233751,680,659.012233751,627,880.012233751,786,807,652,630.987766249,652,0.453097020933,0.00460414033079,0.0496842082209,0.999999864756,0.000177987997594,-0.000488405586,1.63794069803e-05,1793245052728440832
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,745.436174139,713,680,659,627,880.563825861,786,807,652,630.436174139,652,0.453146704207,0.00460322968697,0.0496797804301,0.999999862488,0.000177231695814,-0.000493286119911,1.67799640253e-05,1793245052745108480
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,745,713.13809721,680,659,627,881,785.86190279,807,652,630,652,0.453192832118,0.00460301770586,0.0496763218178,0.999999860475,0.000177418917986,-0.000497275752756,1.70271844053e-05,1793245052761775872
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745,713.7069751,680,659,627,881,785.2930249,807,652,630,652,0.453228930086,0.00460512350311,0.0496758068407,0.999999859165,0.000180612849447,-0.000498766225069,1.67687879075e-05,1793245052778441728
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+223,3.716666667,POSE1_TO_POSE2_PRESS,764,745.892644832,714,680,659,627,881,785.892644832,807.892644832,652,630,652,0.453283658483,0.00460530282342,0.0496739082524,0.999999858247,0.000177058024921,-0.000501875787688,1.66567878831e-05,1793245052811774464
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,746,714,680,658.528991713,627,880.528991713,785.528991713,808,652,630,652,0.453299788409,0.00460583510273,0.049673252167,0.999999857059,0.000178095577687,-0.000503882975101,1.62948294097e-05,1793245052828441344
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+228,3.800000000,POSE1_TO_POSE2_PRESS,764,745,713.789651843,680.789651843,658,627,880.210348157,785,807,652,631,652,0.453328998505,0.00460918149376,0.0496677593575,0.99999985201,0.000183783539227,-0.000511794158808,1.6430263009e-05,1793245052895108096
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680.469808899,658.469808899,627,881,785.469808899,807.530191101,652,630,651.469808899,0.453331395965,0.00460984358307,0.0496636289734,0.999999849792,0.000180934028153,-0.000517132824618,1.58616406187e-05,1793245052945107968
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.564433728,627,880.435566272,785,807.435566272,652,630,652,0.453333597407,0.00461086959224,0.04966179038,0.999999848067,0.000183633266643,-0.000519522814515,1.55354266882e-05,1793245053028442112
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,745.011707593,714,680,658.011707593,627,881,785,808,652,630.011707593,652,0.453333598863,0.00461147331641,0.0496616873665,0.999999847147,0.000183573667148,-0.000521316080524,1.53465306398e-05,1793245053045108224
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745.582563546,714,680,658.582563546,627,881,785,808,652,630.582563546,652,0.453334291877,0.00461264590058,0.0496605512534,0.999999846799,0.000186041012132,-0.00052112042221,1.49900545273e-05,1793245053061774848
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+240,4.000000000,POSE1_TO_POSE2_PRESS,764,746,713.246148756,680,658.246148756,627,881,785.753851244,807.246148756,652,631,652,0.453333943358,0.00461243829696,0.0496600467602,0.999999846446,0.000184289847271,-0.000522417707574,1.50139132426e-05,1793245053095107840
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745.662936613,713.337063387,680.337063387,658,627,881,785.662936613,807,652,630.662936613,652,0.453334891434,0.00461186896569,0.0496607527844,0.999999846899,0.000183289836326,-0.000521889770669,1.54350959901e-05,1793245053111774720
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745.08747262,713.91252738,680.91252738,658,627,881,785.08747262,807,652,630.08747262,652,0.453336986864,0.00461149068414,0.0496617762771,0.999999847728,0.000183564547253,-0.000520185478803,1.59955596588e-05,1793245053128441856
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,713.509567245,680.509567245,658,627,880.509567245,785,807,652,630,651.509567245,0.453335875221,0.00461310649132,0.0496606733792,0.999999846792,0.000185161848147,-0.000521431938242,1.54935682701e-05,1793245053145108480
+244,4.066666667,HOLD_POSE2,765,745,714,679,659,627,881,785,807,652,630,652,0.453337161148,0.00461466521088,0.0496627904804,0.999999847562,0.000185528183587,-0.000519866028975,1.39688618717e-05,1793245053188663296
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+247,4.116666667,HOLD_POSE2,764,745.752454775,714,680.752454775,658,627,881,785,808,652,630,652,0.453334116145,0.00461206562967,0.0496588503398,0.999999845628,0.000184224162716,-0.000524003642437,1.50100116274e-05,1793245053238662912
+248,4.133333333,HOLD_POSE2,764,745.672648323,714,680.672648323,658.327351677,627,881,785,807.672648323,652,630,652,0.453335050169,0.00461283111133,0.0496593527274,0.999999845745,0.000185922157795,-0.000523178770133,1.5096074376e-05,1793245053255329792
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+250,4.166666667,HOLD_POSE2,764,745,714,680,658.511818608,626.511818608,881,785,807,652,630,651.511818608,0.453337246376,0.00461614697033,0.0496604537639,0.999999845983,0.000190900831093,-0.000520935348629,1.47594308646e-05,1793245053288663296
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+256,4.266666667,HOLD_POSE2,764,745,713.962012425,680,658,627,880.037987575,785,807.037987575,652,630,652,0.453336260227,0.00461578199184,0.0496601495813,0.999999845602,0.0001896269441,-0.000522138485536,1.44862248629e-05,1793245053388662784
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+261,4.350000000,HOLD_POSE2,764,745.866345191,713,680.866345191,658.133654809,627,881,785.866345191,808,652,630,651.866345191,0.453338078096,0.00461737575936,0.049659932458,0.999999845365,0.000189251751695,-0.000522748851933,1.3669846086e-05,1793245053471996672
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,627,881,785,807,652,630,652,0.453338127299,0.00461731435658,0.0496590443464,0.999999844495,0.000190749856878,-0.00052385320397,1.41927761029e-05,1793245053505102848
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.401610775,680,658,627,880.401610775,785,807.598389225,652.598389225,630,651.401610775,0.453338492736,0.00461584188054,0.0496603684208,0.99999984572,0.000188671542439,-0.000522264263752,1.42646300951e-05,1793245053521769728
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745.764770983,713.764770983,680.764770983,658,627,880.764770983,785,807.235229017,652.235229017,630,651.764770983,0.453338731051,0.00461503050886,0.0496612092899,0.999999846377,0.000188037877283,-0.00052121590403,1.49074663106e-05,1793245053555103488
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745.660502506,714,680.660502506,658,627,880.660502506,785,807,652,630,652,0.453339222706,0.00461607248858,0.049661484663,0.999999846328,0.000189384156255,-0.000520828420686,1.46471636425e-05,1793245053571770112
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,745.086320924,714,680.086320924,658,627,880.086320924,785,807,652,630,652,0.453340057843,0.00461774274052,0.0496619752524,0.999999846327,0.000191265097176,-0.000520163686018,1.38976037725e-05,1793245053588436480
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745.505750271,714,680,658,627,880.505750271,785,807,652.505750271,630,652,0.453339004786,0.00461716922262,0.0496611578068,0.999999845871,0.000190724416764,-0.000521231411563,1.4163288795e-05,1793245053605103104
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745.902085066,713.902085066,680,658,627,880.902085066,785,807,652.902085066,630,651.902085066,0.45333699759,0.00461624524339,0.0496598254746,0.999999845104,0.00018975452007,-0.000523043207694,1.44992217336e-05,1793245053621769472
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,658.251392211,627,880.251392211,785,807.251392211,652,630,651.251392211,0.453318888217,0.00461582266053,0.0496507248715,0.999999837918,0.000188546797388,-0.000537050607363,1.38124478644e-05,1793245053655102720
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,658.826729821,627,880.826729821,785,807.826729821,652,630,651.826729821,0.453295478668,0.00461734589464,0.0496396256709,0.999999828011,0.000189265282082,-0.000554966692122,1.29540954841e-05,1793245053671769344
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,746,713.999796349,680,658,627,880.999796349,785.999796349,807,652,630,651.999796349,0.453203250086,0.00462131716558,0.049602148502,0.999999787894,0.000195007111759,-0.000621306196937,1.27371402371e-05,1793245053705102848
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,746,713.420683173,680,658,627,880.420683173,785.420683173,807,652,630,651.420683173,0.453135627901,0.0046193538905,0.049582823551,0.999999770603,0.000192876021964,-0.000649180230574,1.25926536331e-05,1793245053721769472
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,745.84250471,713.15749529,680.15749529,658,627,880,785,807.15749529,652,630.15749529,651.15749529,0.45306522442,0.00461868255773,0.0495668745957,0.999999755526,0.000192253919855,-0.000672189086129,1.21741990002e-05,1793245053738436096
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745.26680809,713.73319191,680.73319191,658,627,880,785,807.73319191,652,630.73319191,651.73319191,0.452987435681,0.00462144175246,0.049559890005,0.999999748049,0.000195638671761,-0.000682279315321,1.10282699421e-05,1793245053755102976
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.308154367,745,714,680.691845633,658,627,880.308154367,785,807.691845633,652,631,652,0.452901887714,0.00462334884046,0.0495567965386,0.999999744944,0.000197981926684,-0.000686154009274,1.04206408648e-05,1793245053771769600
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.469765097,713.530234903,680.469765097,658,627,881,785.469765097,807,652,630.530234903,652,0.452702464837,0.00462434350583,0.0495628959149,0.999999750304,0.000202742344096,-0.000676892540698,1.0159379532e-05,1793245053805103104
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,713.059195833,681,658,627,881.059195833,785.940804167,807,652,630,652,0.452587477044,0.00462421503222,0.049569441536,0.9999997549,0.00020655649742,-0.000668905979061,1.00032425522e-05,1793245053821769728
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,713.638226928,681,658,627,881.638226928,785.361773072,807,652,630,652,0.452437572446,0.00462755151973,0.049569685214,0.999999751222,0.000210506804967,-0.00067316680575,9.46309489576e-06,1793245053838436352
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.784169517,745.784169517,713.784169517,680.784169517,658.215830483,627,881.568339034,785,807.215830483,652,630,652,0.452277046364,0.00463026979665,0.0495696105165,0.999999747843,0.000214336334715,-0.000676974095763,8.91808916537e-06,1793245053855103232
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.208943125,745.208943125,713.208943125,680.208943125,658.791056875,627,880.41788625,785,807.791056875,652,630,652,0.452098833647,0.00463195864331,0.0495690056676,0.999999744993,0.000217964747688,-0.000680026166631,8.36499393738e-06,1793245053871769856
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,659,627,880.961357402,785,808,652,630,652,0.451677648028,0.00463573870906,0.0495700972362,0.999999738851,0.000226206532121,-0.000686352830951,6.97809197987e-06,1793245053905102848
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.540576419,745.540576419,713.540576419,680,659,627.540576419,881,785,808,652,630,652,0.451430524756,0.00463942188783,0.0495672019182,0.999999736526,0.000231951885236,-0.000687835106894,5.30366851082e-06,1793245053921769472
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.880956418,746,713.880956418,680,659,627.880956418,880.880956418,785.119043582,808,652,630.119043582,651.880956418,0.451176686451,0.0046427342224,0.0495661001463,0.999999736875,0.000237619980534,-0.000685400054258,3.74865625451e-06,1793245053938436096
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.303179052,746,713.303179052,680,659,627.303179052,880.303179052,785.696820948,808,652,630.696820948,651.303179052,0.450904935261,0.00464414300433,0.0495729129375,0.999999747239,0.000242579178347,-0.000668332504188,2.91155742586e-06,1793245053955102720
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,745.72610253,713.27389747,680,659,627.27389747,880.27389747,785.72610253,807.72610253,652,631,651.27389747,0.450618457618,0.00464670566199,0.0495824135143,0.99999976011,0.000249262880984,-0.000646256035134,1.44064476271e-06,1793245053971769600
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,745.14979983,713.85020017,680,659,627.85020017,880.85020017,785.14979983,807.14979983,652,631,651.85020017,0.450315720783,0.00465054229285,0.049594881626,0.999999775393,0.000257850577738,-0.000618649310264,-7.30050210757e-07,1793245053988436224
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.434686574,745.434686574,713.565313426,680,659,628,881,785,807,652,631,652,0.449976504689,0.00465315825461,0.0496085768829,0.999999788939,0.000263231470113,-0.000593992960344,-2.01435104576e-06,1793245054005102848
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.978250971,746,713.021749029,680,659,628.021749029,880.978250971,785.021749029,807,652,630.978250971,652,0.449621985127,0.00465537836103,0.0496221133094,0.999999800917,0.000267572147202,-0.000571455374189,-2.99791017812e-06,1793245054021769472
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.398836824,746,713.601163176,680,659,628.601163176,880.398836824,785.601163176,807,652,630.398836824,652,0.449203595818,0.00465844149261,0.0496205257415,0.999999796143,0.000274120634872,-0.000576674305472,-4.25287651399e-06,1793245054038436096
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,745.289382824,713.289382824,680,659.710617176,629,880.710617176,786,807,652,630.710617176,652,0.448336827967,0.00466612505206,0.0496185646362,0.999999791659,0.000288243289373,-0.000577521498893,-8.21049009896e-06,1793245054071769344
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,745.90195865,713.90195865,680,660,629,881,786,807,652,630.09804135,652,0.447345244687,0.00467129297509,0.0496061748658,0.999999780218,0.000300517061709,-0.000590852591131,-1.20768588954e-05,1793245054105102848
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.684200352,713,680,663.684200352,633,879.684200352,786,807,652,630,652,0.431160436099,0.00460260525462,0.049811069923,0.999999946838,0.000136249336625,-0.00029461856396,-3.09768427315e-05,1793245054471769088
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.161731734,713,680,662.323463469,633,879.161731734,786,807,652,630,652,0.429276867856,0.00460190243394,0.0497674639245,0.999999916651,0.000173771993747,-0.000368878910957,-2.07246297373e-05,1793245054505102592
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.651746314,662,633,880,785.651746314,806,652,630,652,0.420277666098,0.00459926570892,0.0498036733115,0.999999941333,0.000135550612499,-0.00031240872225,-3.68955095256e-05,1793245054671769600
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,745.802990933,713.197009067,679.197009067,662.802990933,633,879.197009067,786,806,652.802990933,630,652,0.418472734412,0.00461465179146,0.0497932259352,0.999999927078,0.000138448644509,-0.000354079439232,-3.60941150361e-05,1793245054705102592
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,745.613993521,713,679.386006479,662.613993521,633,879,786,806,652.613993521,630.386006479,651.613993521,0.417636327974,0.00461525045623,0.0497843447105,0.999999922866,0.000143324762703,-0.00036378010214,-3.72813163268e-05,1793245054721769216
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,745.026378205,713,679.973621795,662.026378205,633,879,786,806,652.026378205,630.973621795,651.026378205,0.416839567077,0.00461240218088,0.0497766809791,0.999999922379,0.000150074569368,-0.000362170713909,-3.93870945456e-05,1793245054738436096
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,745.71514031,713.28485969,679,663.43028062,633.71514031,879,786,806,653,630.71514031,652,0.413705542049,0.00459905896855,0.0497960316147,0.999999939538,0.000113927702099,-0.000326141003987,-3.97049404287e-05,1793245054805102848
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,662.174974162,633,879,786.825025838,806,653,630,652,0.405749809432,0.00460128188404,0.0497756748015,0.999999918898,0.000118797264166,-0.000382541634355,-4.18760338052e-05,1793245055021769216
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,634,878.207695105,786,805.207695105,653,630,652,0.40205633787,0.00460270725685,0.0498144164438,0.999999939769,4.52853641067e-05,-0.000340648457223,-4.86773936845e-05,1793245055221769472
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..233f6765bcdf7704f8e9c1dfa97aee9eab1abb45
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..77670f6777c729be2feb05c4747b492c8618dc2d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25833297
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8fefc1db05a1447709f860f2959c6ee79286cfde
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_04/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,764,745,713,679,663,634,878,786,806,653,630,652,0.400993026569,0.00458435512785,0.0498530350544,0.999999962406,0.000109186032421,-0.000249393841276,-3.27040190706e-05,1793245056003008256
+1,0.016666667,BASELINE,764,745,713,679,663,633.422508676,878.577491324,786,806,653,630,652,0.400992883324,0.00458455321909,0.0498526874441,0.999999962423,0.000110034682538,-0.000248958306064,-3.26389454778e-05,1793245056019675392
+2,0.033333333,BASELINE,764,745,713,679,663,633.154138482,878.845861518,786,805.845861518,653,630,652,0.400992917297,0.00458429694553,0.0498526512421,0.999999962557,0.000109937642104,-0.000248477940651,-3.25355653066e-05,1793245056036342272
+3,0.050000000,BASELINE,764,745,713,679,663,633.728484427,878.271515573,786,805.271515573,653,630,652,0.400993434393,0.00458280199705,0.0498534639916,0.999999963004,0.000107262490133,-0.000247875360463,-3.23277549355e-05,1793245056053008896
+4,0.066666667,BASELINE,764,745,713,679,663,633.68936343,878,785.68936343,805,653,630,652,0.400994180962,0.00458219371044,0.0498540605492,0.999999963367,0.000105978450856,-0.000246972282064,-3.22227642032e-05,1793245056069675520
+5,0.083333333,BASELINE,764,745,713,679,663,633.100212342,878,785.100212342,805,653,630,652,0.400995133275,0.00458238039858,0.0498544632707,0.999999963661,0.000105941673396,-0.000245799779161,-3.22099608337e-05,1793245056086342400
+6,0.100000000,BASELINE,764,745,713,679,663,633,878.480520744,785.480520744,805.480520744,653,630.480520744,652,0.400994940936,0.0045828089652,0.0498541200114,0.999999963495,0.000106005820679,-0.000246429735752,-3.23330153154e-05,1793245056103009024
+7,0.116666667,BASELINE,763.940821121,745,713,679,663,633.059178879,879,786,806,653,630.940821121,652.059178879,0.400994323082,0.00458326714191,0.0498535745953,0.999999963201,0.000106156637698,-0.000247536809863,-3.24819441962e-05,1793245056119675392
+8,0.133333333,BASELINE,763.365213828,745,713,679,663,633.634786172,879,786,806,653,630.365213828,652.634786172,0.400992039259,0.00458355109232,0.0498525992967,0.99999996261,0.000106883271217,-0.000249583625487,-3.26136741121e-05,1793245056136342016
+9,0.150000000,BASELINE,763.21098083,745.21098083,713,679,663,634,879,786,806,653,630,652.78901917,0.400991142252,0.00458374611297,0.0498521300291,0.999999962328,0.000107854552138,-0.000250288950459,-3.26709637271e-05,1793245056153008384
+10,0.166666667,BASELINE,763.788195012,745.788195012,713,679,663,634,879,786,806,653,630,652.211804988,0.400992652563,0.00458378676392,0.0498525391611,0.999999962584,0.000109250506817,-0.000248665634181,-3.25990353284e-05,1793245056169675008
+11,0.183333333,BASELINE,763.627252295,745.627252295,713,679,663,634,878.627252295,786,806,653,630,652.372747705,0.40099332291,0.00458309502153,0.0498531074475,0.999999962945,0.000107610049168,-0.000247934680839,-3.25246069053e-05,1793245056186341632
+12,0.200000000,BASELINE,763.038445868,745.038445868,713,679,663,634,878.038445868,786,806,653,630,652.961554132,0.400993506381,0.00458197875617,0.0498537679857,0.999999963361,0.00010420957178,-0.000247720974778,-3.24487293659e-05,1793245056203008512
+13,0.216666667,BASELINE,763,745.540978529,713,679.540978529,663,634,878,786,805.459021471,653,630,652.459021471,0.40099389195,0.00458297894039,0.0498537213005,0.999999963252,0.000107271745898,-0.000246861089799,-3.23910861826e-05,1793245056219675392
+14,0.233333333,BASELINE,763.118672325,745.881327675,713,679.881327675,663,633.881327675,878.118672325,786,805.118672325,653,630,652,0.400993763189,0.00458375651204,0.0498534456617,0.999999963042,0.000109496035248,-0.000246740898767,-3.23447998265e-05,1793245056236342016
+15,0.250000000,BASELINE,763.692244738,745.307755262,713,679.307755262,663,633.307755262,878.692244738,786,805.692244738,653,630,652,0.400991608759,0.00458311402467,0.0498524817644,0.999999962619,0.000106777975943,-0.000249629165677,-3.23371642633e-05,1793245056253008640
+16,0.266666667,BASELINE,763.727146442,745,713,679,663,633.272853558,878.727146442,786,805.727146442,653,630,652,0.400991275607,0.0045827055566,0.0498525311512,0.999999962678,0.000105625764629,-0.000249879778787,-3.23557955594e-05,1793245056269675008
+17,0.283333333,BASELINE,763.138391114,745,713,679,663,633.861608886,878.138391114,786,805.138391114,653,630,652,0.400993051075,0.00458256802918,0.0498537536885,0.999999963303,0.000106286445925,-0.000247076594244,-3.2404837848e-05,1793245056286341376
+18,0.300000000,BASELINE,763,745,713,679,663,634,878,786,805.443046964,653,630,652,0.400993729798,0.00458251580473,0.0498539539898,0.999999963536,0.000106140342633,-0.000246194550026,-3.2415757485e-05,1793245056303008000
+19,0.316666667,BASELINE,763,745.022218865,713,679,663,634,878,786,805.977781135,653,630,652,0.400994076192,0.00458241980369,0.0498538516305,0.999999963659,0.000105635976848,-0.000245914191214,-3.24048070264e-05,1793245056319675136
+20,0.333333333,BASELINE,763,745.600948146,713,679,663,634,878,786,805.399051854,653,630,652,0.40099453994,0.00458057080347,0.0498540362864,0.999999964006,0.000102367751892,-0.000245917956718,-3.21394943543e-05,1793245056336342016
+21,0.350000000,BASELINE,763.178137341,746,713,679,663,634,878.356274682,786,805,653,630,652.178137341,0.40099449341,0.00458004716683,0.0498541981416,0.999999964057,0.000101788815965,-0.000245968497361,-3.20062625011e-05,1793245056353008640
+22,0.366666667,BASELINE,763.751906028,746,713,679,663,634,879.503812056,786,805,653,630,652.751906028,0.400993313583,0.00458246707601,0.0498543093582,0.99999996345,0.000107182614949,-0.000246122922517,-3.21663735158e-05,1793245056369675520
+23,0.383333333,BASELINE,764,746,713,679,663,634,879.665669695,786,805.334330305,653,630,652.665669695,0.400992944554,0.00458321696826,0.0498542052568,0.999999963246,0.000108496189409,-0.000246362598267,-3.22653730106e-05,1793245056386342144
+24,0.400000000,BASELINE,764,746,713,679,663,634,879.07665166,786,805.92334834,653,630,652.07665166,0.400993193178,0.00458269466733,0.0498539371296,0.999999963363,0.000106701511603,-0.000246667216638,-3.23178186984e-05,1793245056403008768
+25,0.416666667,BASELINE,764,745.495144383,713,679,662.495144383,633.495144383,879,786,805.495144383,653,630,652,0.400991849336,0.00458311899327,0.0498533524044,0.999999963071,0.000106735025977,-0.000247837520246,-3.2282890925e-05,1793245056419675136
+26,0.433333333,BASELINE,764,745,713,679,662.084611145,633,878.915388855,785.915388855,805,653,630,652.084611145,0.400990742288,0.00458351996124,0.0498528776992,0.999999962821,0.000106915152433,-0.00024877125225,-3.22469421334e-05,1793245056436341504
+27,0.450000000,BASELINE,764,745,713,679,662.660718257,633,878.339281743,785.339281743,805,653,630,652.660718257,0.40099239464,0.0045829626014,0.0498533172195,0.999999963175,0.000106358182381,-0.000247578464816,-3.22809922573e-05,1793245056453008128
+28,0.466666667,BASELINE,764,745.236567531,713,679,663,633.236567531,878.236567531,785.236567531,805.236567531,653,630.236567531,652.763432469,0.400993337813,0.00458280835437,0.049853427256,0.999999963411,0.000105419713773,-0.000247023937731,-3.23144639581e-05,1793245056469674752
+29,0.483333333,BASELINE,764,745.812047386,713,679,663,633.812047386,878.812047386,785.812047386,805.812047386,653,630.812047386,652.187952614,0.400993265,0.00458323161648,0.0498530652662,0.999999963476,0.000103934701213,-0.00024738379781,-3.23471069937e-05,1793245056486341632
+30,0.500000000,BASELINE,764,745.601415559,713,679,663,634,878.601415559,786,806,653,630.601415559,652,0.40099334762,0.00458332271406,0.0498536393562,0.99999996354,0.000104093972727,-0.000247031617386,-3.25581254846e-05,1793245056503008768
+31,0.516666667,BASELINE,764,745.009515725,713,679,663,634,878.009515725,786,806,653,630.009515725,652,0.400993505627,0.00458325271021,0.0498546674494,0.999999963602,0.000105050730065,-0.000246334093842,-3.28556569384e-05,1793245056519675904
+32,0.533333333,BASELINE,764,745,713,679,663,634,878.566684896,786,806,653,630.566684896,652,0.400993082834,0.00458208444914,0.0498541588711,0.999999963555,0.000105642295071,-0.000246309437141,-3.25738496827e-05,1793245056536342272
+33,0.550000000,BASELINE,763.857514023,745,713,679.142485977,663,634,879,786,806,653,630.857514023,652,0.40099292844,0.0045810289752,0.0498539928819,0.999999963663,0.000105175064801,-0.000246102862544,-3.23247196718e-05,1793245056553008640
+34,0.566666667,BASELINE,763.282147573,745,713,679.717852427,663,634,879,786,806,653,630.282147573,652,0.400993618292,0.00458037067218,0.0498549439778,0.999999964241,0.000101509282379,-0.000245310210233,-3.22036231746e-05,1793245056569675264
+35,0.583333333,BASELINE,763.292453701,745,713,679.707546299,663,634,879,786,805.707546299,653,630,652,0.400993556156,0.00458057827046,0.0498550889727,0.999999964411,0.000100525414727,-0.000245019575455,-3.22164707461e-05,1793245056586341632
+36,0.600000000,BASELINE,763.866318758,745,713,679.133681242,663,634,879,786,805.133681242,653,630,652,0.400992770425,0.00458161907559,0.0498544583031,0.999999964198,0.000102122198789,-0.000245212003152,-3.23582049673e-05,1793245056603008000
+37,0.616666667,BASELINE,764,745.456590853,713,679,663,634,879,786,805.456590853,653,630,652,0.400993014693,0.00458146531733,0.0498544727604,0.999999964177,0.00010297277042,-0.000244946349223,-3.23028483609e-05,1793245056619674880
+38,0.633333333,BASELINE,764,746,713.049973833,679,663,634,879,786,806,653,630,652,0.40099341936,0.00458104759176,0.0498545447345,0.99999996415,0.00010367794386,-0.00024477282407,-3.21920565637e-05,1793245056636341760
+39,0.650000000,BASELINE,764,746,713.623737957,679,663,634,879,786,806,653,630,652,0.400992226627,0.00458166557029,0.0498531660498,0.999999963437,0.000105234430714,-0.000247023049828,-3.21275934358e-05,1793245056653008896
+40,0.666666667,BASELINE,763.80205701,745.80205701,713.80205701,679,663,634,879,786,806,653,630,652,0.400992062746,0.00458212376042,0.0498526715784,0.999999963204,0.000106008911968,-0.000247625149023,-3.21929030319e-05,1793245056669676032
+41,0.683333333,BASELINE,763.227012033,745.227012033,713.227012033,679,663,634,879,786,806,653,630,652,0.400993858934,0.00458227753701,0.0498538616253,0.999999963894,0.00010529359112,-0.000245087395549,-3.25054431701e-05,1793245056686342144
+42,0.700000000,BASELINE,763.358471866,745,713,679,663,634,878.641528134,786,805.641528134,653,630,652,0.400994291394,0.0045827860947,0.0498541284539,0.999999963982,0.000104775208395,-0.000244952805236,-3.24895769173e-05,1793245056703008768
+43,0.716666667,BASELINE,763.950764754,745,713,679,663,634,878.049235246,786,805.049235246,653,630,652,0.400993834333,0.00458352606602,0.0498537930932,0.999999963679,0.000104385282848,-0.000246385730138,-3.22595004856e-05,1793245056719675648
+44,0.733333333,BASELINE,764,745.530482583,713.530482583,679,663,634,878.530482583,786,805.530482583,653,630,652,0.400993463633,0.00458204517573,0.0498539160504,0.999999963709,0.000103542182744,-0.000246602983413,-3.23832156841e-05,1793245056736342272
+45,0.750000000,BASELINE,764,745.891728772,713.891728772,679,662.891728772,634,878.891728772,786,805.891728772,653,630,652,0.400993497475,0.00458084572653,0.0498542767023,0.999999963818,0.000103158763111,-0.000246307299087,-3.24691456806e-05,1793245056753008640
+46,0.766666667,BASELINE,764,745.317337419,713.317337419,679,662.317337419,634,878.317337419,786,805.317337419,653,630,652,0.400995239214,0.00458172474913,0.0498554817694,0.999999964139,0.000104931201881,-0.00024427785377,-3.22543158889e-05,1793245056769675008
+47,0.783333333,BASELINE,764,745,713,679.256716877,662.256716877,634,878,785.743283123,805.256716877,653,630,652,0.400994836222,0.00458159686544,0.0498552087474,0.999999964,0.000105256802401,-0.000244741516882,-3.1984013423e-05,1793245056786341632
+48,0.800000000,BASELINE,764,745,713,679.830355147,662.830355147,634,878,785.169644853,805.830355147,653,630,652,0.400991785522,0.00458022593874,0.0498531109991,0.99999996329,0.000103796256486,-0.0002482829649,-3.16452289592e-05,1793245056803008512
+49,0.816666667,BASELINE,764,745,713,679.162413806,663,633.581206903,878,785,805.581206903,653,630,652,0.400992278112,0.00458056380945,0.0498537936598,0.999999963767,0.000102663342815,-0.000246794049373,-3.19235937765e-05,1793245056819675392
+50,0.833333333,BASELINE,764,745,713.013056722,678.013056722,663,633.013056722,878.013056722,785.013056722,805.013056722,653,630.013056722,652,0.400994210735,0.0045815865716,0.0498555896337,0.999999964704,0.000101709660706,-0.00024329843378,-3.2442775529e-05,1793245056836342272
+51,0.850000000,BASELINE,764,745,713.590506749,678.590506749,663,633.590506749,878.590506749,785.590506749,805.590506749,653,630.590506749,652,0.400994074423,0.00458119728556,0.0498550412062,0.999999964365,0.0001025564485,-0.000244369637932,-3.21693492185e-05,1793245056853008384
+52,0.866666667,BASELINE,764,745,713.83305709,679,663,634,878.83305709,786,805.83305709,653,630.83305709,652,0.400993422593,0.00458112613699,0.0498541815292,0.999999963949,0.00010305630477,-0.000245868386429,-3.20906424627e-05,1793245056869674752
+53,0.883333333,BASELINE,764,745,713.259092859,679,663,634,878.259092859,786,805.259092859,653,630.259092859,652,0.400991513887,0.00458183063522,0.0498525629989,0.999999963344,0.00010271031179,-0.000248409525125,-3.2486678918e-05,1793245056886341632
+54,0.900000000,BASELINE,764,745,713,679,663,633.676369231,878.323630769,786,805.323630769,653,630,652,0.400991490238,0.00458217118739,0.049852737698,0.999999963362,0.000103817354992,-0.000247877727737,-3.24758179034e-05,1793245056903008512
+55,0.916666667,BASELINE,764,745,713,679,663,633.086437935,878.913562065,786,805.913562065,653,630,652,0.400993017715,0.00458221226544,0.0498543879611,0.999999963885,0.000106120033293,-0.000244817355753,-3.21301400932e-05,1793245056919675136
+56,0.933333333,BASELINE,764,745,713,679,663,633,878.50604514,786,806,653,630,652,0.400993137926,0.00458347050154,0.0498549473208,0.999999963845,0.000106401594261,-0.000244843460909,-3.22559278014e-05,1793245056936341760
+57,0.950000000,BASELINE,764,745,713,679,663,633.072128836,878.072128836,786,806,653,630,652,0.400993083693,0.00458463873312,0.0498552441382,0.99999996373,0.00010634588136,-0.00024531203736,-3.24462739888e-05,1793245056953008384
+58,0.966666667,BASELINE,764,745,713,679,663,633.64625693,878.64625693,786,806,653,630,652,0.400993496804,0.0045837262618,0.0498550171641,0.99999996376,0.000106357708139,-0.000245172302598,-3.25226120613e-05,1793245056969675264
+59,0.983333333,BASELINE,764,745,713,679,663,634,879,786,805.774032088,653,630,652,0.400993951988,0.00458341964733,0.049854878878,0.999999963836,0.000106100456776,-0.000244969610509,-3.25540439611e-05,1793245056986341888
+60,1.000000000,BASELINE,764,745,713,679,663,634,879,786,805.185359842,653,630,652,0.400994474702,0.00458408550223,0.0498548829464,0.999999963985,0.000105411304233,-0.00024466586469,-3.25133963311e-05,1793245057003008256
+61,1.016666667,BASELINE,764,745,713.396580222,679,663,634,879,786,805,653,630,652,0.400993623509,0.00458299692168,0.0498544778913,0.999999963896,0.0001042376107,-0.00024554000358,-3.24541031456e-05,1793245057019674880
+62,1.033333333,BASELINE,764,745,713.975426182,679,663,634,879,786,805,653,630,652,0.400992140876,0.00458110201375,0.0498538848055,0.999999963694,0.000102841225264,-0.000246955490781,-3.23862405842e-05,1793245057036341760
+63,1.050000000,BASELINE,764,745,714,679,663,634,878.446426689,786,805.553573311,653,630,652,0.400994114568,0.00458284855525,0.0498553006941,0.999999963979,0.000106175097951,-0.000244335571351,-3.26863775682e-05,1793245057053008384
+64,1.066666667,BASELINE,764,745.129987167,713.870012833,679,663,634,878,786,805.870012833,653,630,652.129987167,0.400995574333,0.00458412088758,0.0498562830131,0.999999964209,0.000108448735944,-0.000242367522613,-3.28546041241e-05,1793245057069675008
+65,1.083333333,BASELINE,764,745.700630236,713.299369764,679,663,634,878,786,805.299369764,653,630,652.700630236,0.400994772418,0.00458323835595,0.0498554935915,0.999999964232,0.000106417242012,-0.00024321581997,-3.25203458928e-05,1793245057086341632
+66,1.100000000,BASELINE,764,745.718252236,713,679,663.281747764,634,878.281747764,785.718252236,805.281747764,653,630,652.718252236,0.400993819847,0.00458232683492,0.0498546175548,0.999999964172,0.000104619796023,-0.000244249830999,-3.24365226932e-05,1793245057103008256
+67,1.116666667,BASELINE,764,745.125575424,713,679,663.874424576,634,878.874424576,785.125575424,805.874424576,653,630,652.125575424,0.400992701016,0.00458138332202,0.0498536459322,0.999999964022,0.000103080639008,-0.000245488790453,-3.26290726973e-05,1793245057119674880
+68,1.133333333,BASELINE,764,745,713.457460935,679,663.542539065,634,878.542539065,785.457460935,806,653,630,652,0.400992434045,0.00458014371162,0.0498541656769,0.99999996426,0.000100457866744,-0.000245629414365,-3.247848516e-05,1793245057136341504
+69,1.150000000,BASELINE,764,745,714,679,663,634,878,786,805.962485622,653,630,652,0.400992428239,0.00457895228152,0.0498550170141,0.99999996456,9.79520499157e-05,-0.000245453310298,-3.22296954084e-05,1793245057153008128
+70,1.166666667,BASELINE,764,745,714,679,663,634,878,786,805.388031729,653,630,652,0.400992882603,0.0045795897991,0.0498548758057,0.999999964356,0.000101289825249,-0.000244970170137,-3.18956983623e-05,1793245057169674752
+71,1.183333333,BASELINE,764,745,713.812816531,679,663,634,878,786,805,653,630,652,0.400993489462,0.00458015608032,0.0498550163992,0.999999964326,0.000103258108495,-0.000244285948145,-3.17841496282e-05,1793245057186341376
+72,1.200000000,BASELINE,764,745,713.236016596,679,663,634,878,786,805,653,630,652,0.400994413738,0.00458057408544,0.0498557435546,0.999999964674,0.000102375837921,-0.000243183180603,-3.2135619954e-05,1793245057203008768
+73,1.216666667,BASELINE,763.651731587,745,713,679,663,634,878,786,805,652.651731587,630,652.348268413,0.400994359349,0.00458143527073,0.0498556763603,0.999999964628,0.000102987105925,-0.000243086751428,-3.2345184676e-05,1793245057219675904
+74,1.233333333,BASELINE,763.062262669,745,713,679,663,634,878,786,805,652.062262669,630,652.937737331,0.400993627165,0.0045826033896,0.0498550590226,0.999999964308,0.000104632755066,-0.000243687282807,-3.24564697111e-05,1793245057236342272
+75,1.250000000,BASELINE,763.519020552,745,713,679,663,634,878,786,805,652.519020552,630,652.480979448,0.400994738368,0.00458113358613,0.0498557830078,0.99999996466,0.000103609995308,-0.000242722440414,-3.20930617998e-05,1793245057253008896
+76,1.266666667,BASELINE,764,745,713,678.901809764,663,634,878.098190236,786,805,653,630,652,0.400995803041,0.00457977727732,0.0498564376682,0.999999965033,0.000102222798714,-0.000241817668957,-3.17727185264e-05,1793245057269675264
+77,1.283333333,BASELINE,764,745,713,678.328192831,663,634,878.671807169,786,805,653,630,652,0.400995588327,0.00458047892524,0.0498559896649,0.999999965124,0.00010059689816,-0.000242098873054,-3.19323305262e-05,1793245057286341888
+78,1.300000000,BASELINE,764,745,713,678.251262223,663,633.748737777,878.748737777,786,805,653,630,652,0.400994560268,0.00458157711997,0.0498552468997,0.999999964849,0.000100843051055,-0.000243109556823,-3.21015982231e-05,1793245057303008512
+79,1.316666667,BASELINE,764,745,713,678.838524242,663,633.161475758,878.161475758,786,805,653,630,652,0.400992444569,0.00458320559589,0.0498541099652,0.999999964077,0.000103592603002,-0.000245095735486,-3.22837779646e-05,1793245057319675136
+80,1.333333333,BASELINE,764,745,713,679,663,633,878,786,805,653,630,652.420002169,0.400992398331,0.00458226575252,0.0498542172898,0.99999996407,0.000102397612006,-0.000245630049795,-3.22705252952e-05,1793245057336341760
+81,1.350000000,BASELINE,764,745,713,679,663,633,878,786,805,653,630,652.999286577,0.400993136918,0.00458035189612,0.0498547964891,0.999999964348,9.97066869849e-05,-0.000245613757098,-3.21831565662e-05,1793245057353008128
+82,1.366666667,BASELINE,763.422681689,745.577318311,713,679,663,633.577318311,878,786,805.577318311,653,630.577318311,652.422681689,0.400992627729,0.00458029402852,0.0498545891089,0.999999964205,0.000101859158184,-0.000245332057097,-3.20340648934e-05,1793245057369675264
+83,1.383333333,BASELINE,763.153934885,745.846065115,713,679,663,633.846065115,878,786,806,653,630.846065115,652,0.40099227197,0.00458050619781,0.0498544453659,0.99999996412,0.000103298470989,-0.000245077876271,-3.20227667549e-05,1793245057386341888
+84,1.400000000,BASELINE,763.726705335,745.273294665,713,679,663,633.273294665,878,786,806,653,630.273294665,652,0.400992337857,0.0045814468733,0.0498544774096,0.999999964206,0.000102781128991,-0.000244899461708,-3.23865928455e-05,1793245057403008768
+85,1.416666667,BASELINE,764,745,713,679,663,633.308809737,878,786,806,653,630,652,0.400992727518,0.00458214965339,0.0498546417582,0.99999996432,0.000102787119993,-0.00024441921128,-3.24738295794e-05,1793245057419675648
+86,1.433333333,BASELINE,764,745,713,679,663,633.899432053,878,786,806,653,630,652,0.400993412646,0.00458263533561,0.0498549268453,0.99999996446,0.000103270692541,-0.000243663512476,-3.2308657282e-05,1793245057436342272
+87,1.450000000,BASELINE,764,745,713,679,663,634,878,786,806,653,630,652,0.40099324454,0.00458195412899,0.0498546207917,0.99999996438,0.000102655498409,-0.000244237533456,-3.23992930796e-05,1793245057453008640
+88,1.466666667,BASELINE,764,745,713,678.941213307,663,634,878,786,806,653,630,652,0.400992995168,0.00458121542061,0.0498542645388,0.999999964282,0.00010187657054,-0.000244946275433,-3.25409652831e-05,1793245057469675008
+89,1.483333333,BASELINE,764,745,713,678.365375201,663,634,878,786,806,653,630,652,0.400993571086,0.00458207716165,0.0498545337549,0.999999964426,0.000101640782925,-0.000244439835563,-3.26697962012e-05,1793245057486341632
+90,1.500000000,BASELINE,764,745,713,678.209628354,663,634,878.209628354,786,806,653,630,652,0.400993483675,0.0045823282438,0.0498547193326,0.999999964505,0.000101165572261,-0.000244316324595,-3.26344405466e-05,1793245057503008256
+91,1.516666667,BASELINE,764,745,713,678.783183022,663,634,878.783183022,786,806,653,630,652,0.400992244689,0.00458151918853,0.0498547597092,0.999999964473,0.000100274710082,-0.000244857599245,-3.23140479877e-05,1793245057519674880
+92,1.533333333,BASELINE,764,745,713.368529554,679,663,634,878.631470446,785.631470446,806,653,630,652,0.400992541331,0.00458170997463,0.0498551071042,0.999999964516,0.000101388094342,-0.000244215674005,-3.23605912977e-05,1793245057536341760
+93,1.550000000,BASELINE,764,745,713.961042967,679,663,634,878.038957033,785.038957033,806,653,630,652,0.400993771294,0.00458250844144,0.049855641098,0.9999999646,0.0001037196138,-0.000242854626902,-3.26301498307e-05,1793245057553008640
+94,1.566666667,BASELINE,763.460034478,745,713.460034478,678.460034478,663,633.460034478,878,785.539965522,805.460034478,653,630,652,0.400993858311,0.00458263518486,0.0498553874022,0.99999996432,0.000105468650206,-0.000243265236891,-3.2536775324e-05,1793245057569675520
+95,1.583333333,BASELINE,763.117331176,745,713,678.117331176,663,633.117331176,878,785.882668824,805,653,630,652,0.400994013475,0.00458280813655,0.0498552704604,0.999999964126,0.000106863363783,-0.000243471166635,-3.24149155428e-05,1793245057586342144
+96,1.600000000,BASELINE,763.6923548,745,713,678.6923548,663,633.6923548,878,785.3076452,805,653,630,652,0.400994748243,0.00458334574614,0.0498559032185,0.999999964374,0.000107035821298,-0.000242392300738,-3.22815734226e-05,1793245057603008256
+97,1.616666667,BASELINE,764,745,713,679,663,633.726237242,878.273762758,785.273762758,805,653,630,652,0.40099525852,0.0045829527197,0.0498562842271,0.999999964585,0.000106050236834,-0.0002419805121,-3.20856878361e-05,1793245057619674880
+98,1.633333333,BASELINE,764,745,713,679,663,633.137483515,878.862516485,785.862516485,805,653,630,652,0.4009955105,0.00458148890497,0.0498563755731,0.99999996475,0.000103732211203,-0.000242336261496,-3.18178398506e-05,1793245057636341504
+99,1.650000000,BASELINE,764,745.443812301,713,679,663,633.443812301,879,786,805,653,630,652,0.400993938974,0.00458105248458,0.0498552360294,0.999999964565,0.000101953472117,-0.000243852058944,-3.18162831158e-05,1793245057653008128
+100,1.666666667,BASELINE,763.977263445,745.977263445,713,679,663,634,879,786,805,653,630,652,0.400991985165,0.00458096078978,0.0498538546024,0.999999964305,0.000100410031942,-0.000245539155436,-3.19102938229e-05,1793245057669675008
+101,1.683333333,BASELINE,763.400760983,745.400760983,713,679,663,634,879,786,805,653,630,652,0.400994251355,0.00458164167649,0.0498557153719,0.999999964943,0.000100595860109,-0.000242790583141,-3.23559876416e-05,1793245057686342400
+102,1.700000000,BASELINE,763.175150889,745,713,679,663,633.824849111,878.824849111,786,805,653,630,652,0.400995301928,0.00458144317778,0.049856691434,0.999999965276,0.000100551547666,-0.000241415231823,-3.25105151796e-05,1793245057703009280
+103,1.716666667,BASELINE,763.749715901,745,713,679,663,633.250284099,878.250284099,786,805,653,630,652,0.400993580408,0.00457923932831,0.049855650009,0.999999964924,9.99824225081e-05,-0.000243171374284,-3.20010670106e-05,1793245057719675392
+104,1.733333333,BASELINE,764,745,713,679.335234032,663,633.335234032,878.335234032,786,805,653,630,652,0.400993423304,0.00457971895738,0.0498554669728,0.999999964784,0.000100670135811,-0.00024346295229,-3.19886304472e-05,1793245057736341760
+105,1.750000000,BASELINE,764,745,713,679.929205982,663,633.929205982,878.929205982,786,805,653,630,652,0.400994473637,0.00458226972932,0.0498559464518,0.999999964808,0.000102327893071,-0.000242624160884,-3.23597937509e-05,1793245057753008128
+106,1.766666667,BASELINE,764,745,713,679.492236658,663.507763342,633.492236658,878.492236658,786,805.507763342,653,630,652.507763342,0.400994926739,0.00458297896292,0.0498561497852,0.999999964851,0.000103231292009,-0.000242050385333,-3.24604707882e-05,1793245057769674752
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,678,663,634,878,786,806,653,630,652,0.400991357768,0.00458232607275,0.0498546497249,0.999999963868,0.000104349595034,-0.000245638487068,-3.22082334116e-05,1793245057813039104
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.59238977,713,678.59238977,663,634,878,786,805.40761023,653,630,652,0.400992555343,0.00458278607339,0.0498551463842,0.999999964155,0.00010399835278,-0.000244611729939,-3.22371936842e-05,1793245057829705728
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745.821161624,713.178838376,679,663,634,878,786,805.178838376,653,630,652,0.400993085294,0.00458302111863,0.0498551751822,0.99999996424,0.000103938517896,-0.000244281287687,-3.22899877065e-05,1793245057846372352
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745.247818685,713.752181315,679,663,634,878,786,805.752181315,653,630,652,0.400992142516,0.00458275992857,0.0498541719119,0.999999963881,0.000104521506591,-0.000245486865655,-3.23953572673e-05,1793245057863039232
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.670998693,679,663,634,878,785.670998693,806,653,630.329001307,652,0.400992823149,0.00458180798755,0.0498545391972,0.999999964139,0.000103828215547,-0.000244738586049,-3.23126857382e-05,1793245057879705344
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.091531685,679,663,634,878,785.091531685,806,653,630.908468315,652,0.400994739671,0.00458033018413,0.049855949874,0.999999964863,0.000102163304317,-0.000242502852382,-3.20868602326e-05,1793245057896371968
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.517283266,745,713,679,663,633.517283266,878,785.482716734,806,652.517283266,630.517283266,652,0.400995096434,0.00458037657607,0.0498565071792,0.999999965066,0.000102189819755,-0.000241640924195,-3.21839244595e-05,1793245057913038592
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,745,713,679,663,633,878,785.941858716,806,652.058141284,630,652,0.40099507907,0.00458063889525,0.0498567521079,0.999999965118,0.00010236376772,-0.000241334284805,-3.2312395413e-05,1793245057929704960
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,745,713,679,663,633,878,785.346522286,806,652.653477714,630,652,0.400994308386,0.00458025448561,0.0498555899328,0.999999964672,0.000100968280813,-0.000243777100885,-3.21714053848e-05,1793245057946371584
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.240321082,745,713.240321082,679,663,633.240321082,878,785.240321082,805.759678918,653,630,652,0.400996955175,0.00458063998947,0.0498561438307,0.999999964875,0.000101114782243,-0.000242893649936,-3.20656008487e-05,1793245057963038720
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.815336155,745,713.815336155,679,663,633.815336155,878,785.815336155,805.184663845,653,630,652,0.401004361464,0.00458209774811,0.0498590876949,0.999999965967,0.000103408803375,-0.000237377723012,-3.20087989859e-05,1793245057979705600
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.608080139,679,663,634,878,786,805.391919861,653,630,652,0.401033098344,0.00458226653517,0.0498700654758,0.99999997078,0.000104156996381,-0.000215822726134,-3.18151560052e-05,1793245057996372224
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.030754308,679,663,634,878,786,805.969245692,653,630,652,0.401071926112,0.00458182554713,0.0498848438709,0.999999976651,0.000104173902865,-0.000186680107734,-3.15567774152e-05,1793245058013038848
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878,785.442753624,805.442753624,653,630,652,0.401136301615,0.00458066497429,0.049905654544,0.999999983895,0.000102376862095,-0.000144041808195,-3.13316512766e-05,1793245058029705728
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.856449822,745,713,679,663,633.856449822,878.143550178,785.143550178,805.143550178,653,630,652,0.401203788018,0.00457946235174,0.0499244307187,0.999999988557,0.000100768401889,-0.00010855233864,-3.07754523315e-05,1793245058046372096
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.277120552,745,713,679,663,633.277120552,878.722879448,785.722879448,805.722879448,653,630,652,0.40127635439,0.00457825499207,0.0499360003247,0.999999989858,0.000100042266997,-9.70699939992e-05,-2.92085269969e-05,1793245058063038720
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.301395652,745,713,678.698604348,663,633.301395652,879,785.698604348,805.698604348,653,630,652,0.401356897355,0.00457801192482,0.0499444326546,0.999999990957,9.92015680409e-05,-8.62804626822e-05,-2.82893997527e-05,1793245058079705600
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.879166253,745,713,678.120833747,663,633.879166253,879,785.120833747,805.120833747,653,630,652,0.401444754725,0.00457865309823,0.0499499881522,0.999999991884,9.82558157298e-05,-7.6126230692e-05,-2.79642929964e-05,1793245058096371968
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713,678.433126523,663,634,878.566873477,785.433126523,805,653,630,652,0.401544630133,0.00457724307045,0.0499497367492,0.999999991963,9.59266245649e-05,-7.8364517356e-05,-2.70267183243e-05,1793245058113038848
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713,678.98079031,663,634,878.01920969,785.98079031,805,653,630,652,0.401647683625,0.00457529061692,0.0499479497521,0.9999999918,9.32315927386e-05,-8.3879918578e-05,-2.59271808241e-05,1793245058129705472
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878,786,805.598059806,653,630,652,0.401780524848,0.00457386676889,0.0499485673515,0.999999992154,9.17010973435e-05,-8.15758668043e-05,-2.50824086466e-05,1793245058146372352
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.202739037,786,805.797260963,653,630,652.202739037,0.401925839415,0.00457209871736,0.0499494973348,0.999999992386,9.00011489642e-05,-8.09864044618e-05,-2.38652479754e-05,1793245058163039232
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.779521645,786,805.220478355,653,630,652.779521645,0.40209216895,0.00456966017635,0.0499508423858,0.99999999236,8.79104683245e-05,-8.40846897703e-05,-2.19439629927e-05,1793245058179705600
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713.355067783,679,663,633.644932217,878.644932217,786,805.355067783,653,630,653,0.402274471515,0.00456779539366,0.0499492658012,0.999999992269,8.46467997026e-05,-8.8784229359e-05,-2.03428059052e-05,1793245058196371968
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.929848856,679,663,633.070151144,878.070151144,786,805.929848856,653,630,653,0.402466658087,0.00456628564808,0.0499458813304,0.999999992105,8.06572946737e-05,-9.44746134324e-05,-1.89397413805e-05,1793245058213038592
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713.493909913,679,663,633.506090087,878,786,805.493909913,653,630,653,0.402695725439,0.00456331811487,0.0499474217709,0.999999992646,7.4963321899e-05,-9.37778782702e-05,-1.71556270057e-05,1793245058229705472
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.915217543,745,713,679,663,634,878.084782457,785.915217543,805,653,630,652.915217543,0.402935849871,0.00456054506039,0.0499499497237,0.999999993309,6.95104134342e-05,-9.11806162676e-05,-1.53862513265e-05,1793245058246372352
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.323071285,745,713,679,663,634,878.676928715,785.323071285,805,653,630,652.323071285,0.403211461897,0.00456014856902,0.0499542901771,0.999999994258,6.6918064159e-05,-8.25235223671e-05,-1.40220740461e-05,1793245058263038976
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.260766587,745,713,679,663,633.739233413,879,785,805,653,630,652,0.403514508265,0.00455750138156,0.0499609514742,0.999999995576,6.34217211216e-05,-6.84325209271e-05,-1.19110168042e-05,1793245058279705600
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.834628764,745,713,679,663,633.165371236,879,785,805,653,630,652,0.403850494311,0.00455215184246,0.0499703993468,0.999999997086,5.88399766675e-05,-4.78171699919e-05,-8.90320049714e-06,1793245058296372224
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.588978872,745,713,679,663,633,878.588978872,785.411021128,805,653,630,652,0.404207411559,0.00454937513517,0.0499784034389,0.999999997944,5.4100254066e-05,-3.37912778759e-05,-6.51073850289e-06,1793245058313039104
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.011562214,745,713,679,663,633,878.011562214,785.988437786,805,653,630,652,0.404572802472,0.00454763999906,0.0499858230386,0.999999998524,4.92965765727e-05,-2.24330264649e-05,-4.36739323146e-06,1793245058329705728
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.564632605,745,713,679,663,633,878.564632605,786,805,653,630,652,0.404980274799,0.0045436052868,0.0499905560581,0.999999998849,4.67762856897e-05,-1.06178696855e-05,-1.40706834398e-06,1793245058346372096
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663.143900121,633.143900121,879,785.856099879,805,653,630,652,0.405387019818,0.00453922816659,0.0499891703772,0.999999999001,4.34229755521e-05,-1.04700280142e-05,1.4167755396e-06,1793245058363038720
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663.732745637,633.732745637,879,785.267254363,805,653,630,652,0.405788857178,0.00453393759489,0.049969035148,0.999999998218,3.73496692201e-05,-4.64268986718e-05,3.76699666047e-06,1793245058379705344
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663.684245088,634,879,785,805,653,630,652,0.406227652838,0.00452878978986,0.0499489753076,0.999999996058,3.10018828213e-05,-8.29324695316e-05,6.74714818098e-06,1793245058396371968
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663.106085886,634,879,785,805,653,630,652,0.406697162287,0.00452376062874,0.0499289781161,0.999999992462,2.44259924186e-05,-0.00011989403495,1.02507959747e-05,1793245058413038592
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713.471699534,679,663,634,879,785.471699534,805,653,630,652,0.407206604719,0.00451911192655,0.0499216072793,0.999999990853,1.91312712287e-05,-0.000133203143656,1.36159424735e-05,1793245058429705216
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713.949460789,679,663,633.949460789,879,786,805.050539211,652.949460789,630,652,0.407731801321,0.00451437234049,0.0499195962314,0.999999990523,1.37528937819e-05,-0.000135931880893,1.69412494879e-05,1793245058446371840
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,713.358448064,679,663,633.358448064,879,786,805.641551936,652.358448064,630,652,0.408329507746,0.00450774649853,0.0499445595766,0.999999996396,4.40094522563e-06,-8.23547590575e-05,2.01733592237e-05,1793245058463038464
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663.227869188,633,879,786,806,652,630,652,0.408946068316,0.0045006638168,0.049969619534,0.999999999071,-5.09206371924e-06,-3.5458713189e-05,2.39557574677e-05,1793245058479705088
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663.806949351,633,879,786,806,652,630,652,0.409591688428,0.00449287701594,0.0499948283968,0.999999999481,-1.48024861091e-05,1.13989840446e-06,2.85863060591e-05,1793245058496371712
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.381205252,679,663.618794748,633,879,786,806.381205252,652,630,652,0.410228788381,0.0044866380433,0.0499967269828,0.999999997338,6.5090592747e-05,-2.58999585435e-06,3.28561937753e-05,1793245058513038336
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.953048555,679,663.046951445,633,879,786,806.953048555,652,630,652,0.410861627442,0.00448117312883,0.0499869682634,0.999999980956,0.000189793748692,-2.648789188e-05,3.69457169761e-05,1793245058529704960
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713.458214296,679,663,633.541785704,879.541785704,786,806.458214296,652.541785704,630,652,0.411488277092,0.00447480500571,0.049956789338,0.999999977603,0.000186604075662,-9.10415696336e-05,4.10379141139e-05,1793245058546372096
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745.129483707,713,679,663,634,880,786,805.870516293,652.870516293,630,652,0.412144913319,0.00446843429756,0.0499352119797,0.999999975533,0.000170865677423,-0.000133221401448,4.46240552198e-05,1793245058563039232
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745.708330969,713,679,663,634,880,786,805.291669031,652.291669031,630,652,0.412907536956,0.00446233500161,0.0499498247438,0.999999983854,0.000151279471683,-8.51337333462e-05,4.64531360048e-05,1793245058579705856
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745.713759287,713,679,663.286240713,633.713759287,879.713759287,786,805.286240713,652,630,652,0.413682306341,0.00445292126245,0.0499669991529,0.999999995559,7.25847175351e-05,-4.83943105204e-05,3.56583784283e-05,1793245058596372224
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745.136801649,713,679,663.863198351,633.136801649,879.136801649,786,805.863198351,652,630,652,0.4144694115,0.00444014124834,0.0499867752674,0.999999997471,-6.6142923651e-05,-2.31805894662e-05,1.20423715601e-05,1793245058613038848
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.439686608,745,713,679,664,633.439686608,879,786,805.560313392,652,630,652,0.415241836187,0.00444911849312,0.0499641288163,0.999999994798,-7.92443473957e-05,-6.33830784391e-05,1.03810581402e-05,1793245058629705472
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.983648323,745,713.016351677,679,663.983648323,633.983648323,879,786,805.016351677,652,630,652,0.416010834068,0.00446507816746,0.0499294288491,0.999999991054,-5.294097402e-05,-0.000121865762075,1.54083826457e-05,1793245058646372096
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.395701699,745,713.604298301,679,663.395701699,633.395701699,879,786,805.604298301,652,630,652,0.416819541352,0.00448873581452,0.0499342829625,0.999999993876,-1.40590104415e-05,-0.000108641326788,1.57187418204e-05,1793245058663038720
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,713.810111158,679,663.189888842,633.189888842,879,786,806,652.189888842,630,652,0.417650882117,0.00450098549481,0.049947498714,0.999999996331,1.85277387865e-05,-8.18557952886e-05,1.71395713913e-05,1793245058679705344
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,713.229370226,679,663.770629774,633.770629774,879,786,806,652.770629774,630,652,0.41852880979,0.00448975392224,0.049977925396,0.999999998686,3.81569171166e-05,-2.71571828594e-05,2.08461048919e-05,1793245058696372480
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.347550898,745,713,679,663.652449102,633.652449102,879.347550898,786,805.652449102,652.652449102,630,652,0.419371580161,0.00448242836006,0.0499773815403,0.999999998612,3.19988189203e-05,-3.52384864264e-05,2.25901152961e-05,1793245058713039360
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.921978479,745,713,679,663.078021521,633.078021521,879.921978479,786,805.078021521,652.078021521,630,652,0.420191400271,0.00447765259084,0.0499566205214,0.99999999614,9.00712296899e-06,-8.43017004575e-05,2.30530161169e-05,1793245058729705984
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.503879394,745,713,679,663.496120606,633.496120606,879.503879394,785.503879394,805,652,630,652,0.421123286855,0.00447268440306,0.0499649387517,0.99999999848,-1.04478945363e-05,-4.93861275087e-05,2.21979474834e-05,1793245058746372608
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745.072315688,713.072315688,679,664,633.927684312,879.072315688,785.072315688,805.072315688,652,630.072315688,652,0.422066412745,0.00446893495484,0.0499776640485,0.999999999496,-2.29087511369e-05,-5.02439989677e-06,2.13976726547e-05,1793245058763038976
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745.663564302,713.663564302,679,664,633.336435698,879.663564302,785.663564302,805.663564302,652,630.663564302,652,0.422963795189,0.00447414813088,0.049989216791,0.999999999612,1.08311841229e-05,1.24058273543e-05,2.24770835884e-05,1793245058779705344
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,746,714,678.750365256,663.750365256,633,880,786,806,652,630.750365256,652,0.423858289165,0.0044821172068,0.0499884645105,0.999999999282,2.88665682289e-05,9.33174965667e-06,2.26890158772e-05,1793245058796371968
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,746,714,678.171131602,663.171131602,633,880,786,806,652,630.171131602,652,0.424748969552,0.00449372496605,0.0499714656062,0.999999999204,2.61668507876e-05,-2.0814665175e-05,2.17555948833e-05,1793245058813038592
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.404906203,746,714,678.404906203,663.404906203,633.404906203,880,786,806.404906203,652,630.404906203,652,0.425677518114,0.00449140044246,0.0499807539198,0.999999999615,1.20162966834e-05,-1.02596585059e-05,2.2804620207e-05,1793245058829705472
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.979603842,746,714,678.979603842,663.979603842,633.979603842,880,786,806.979603842,652,630.979603842,652,0.426621946082,0.00448323362115,0.0500010653911,0.999999999521,-6.93599648938e-06,1.73628899168e-05,2.46849551527e-05,1793245058846372352
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.446798773,745.446798773,713.446798773,679,664,633.446798773,880,786,806.446798773,652,630.446798773,652,0.427515356621,0.00447499768972,0.0499867208163,0.99999999902,1.49929006985e-05,-3.12814029778e-05,2.74998728937e-05,1793245058863038976
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.131833073,745,713,679,663.868166927,633.131833073,880,786,806,651.868166927,630,652,0.428409543874,0.00446904595637,0.049969455607,0.999999996261,3.00948098334e-05,-7.55838567443e-05,2.93272916426e-05,1793245058879705856
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.72835313,745,713,679,663.27164687,633.72835313,880,786,806,651.27164687,630,652,0.429313085792,0.00447115455896,0.0499463905801,0.999999995012,1.58305870589e-05,-9.46903606283e-05,2.75527458573e-05,1793245058896372224
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.686969607,745,713,679,663.313030393,633.686969607,880,786,806,651.313030393,630,652,0.430232297974,0.00447509014604,0.0499429693484,0.999999995818,5.96879585235e-06,-8.73475452774e-05,2.64445554792e-05,1793245058913038848
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.112194876,745,713,679,663.887805124,633.112194876,880,786,806,651.887805124,630,652,0.431164613001,0.00448055338928,0.0499559735265,0.999999997989,-2.11845595699e-07,-5.78887948917e-05,2.58935467136e-05,1793245058929705472
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745.461493253,713,679,664,633.461493253,880.461493253,786,806.461493253,652,630.461493253,652,0.43205692724,0.00448419982633,0.0499457805349,0.999999996604,3.78522141098e-06,-7.79595290781e-05,2.64502608494e-05,1793245058946372096
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.036085664,745.963914336,713,679,664,633.963914336,880.963914336,786,806.963914336,652,631,651.963914336,0.432942193121,0.00448656681861,0.049932097833,0.999999993982,1.03155638788e-05,-0.00010576371154,2.72760283498e-05,1793245058963038464
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.628687793,745.371312207,713,679,664,633.371312207,880.371312207,786,806.371312207,652,631,651.371312207,0.433868380502,0.00447599785417,0.0499513655186,0.999999997163,1.78445933528e-05,-6.75687956674e-05,2.81077240488e-05,1793245058979705344
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.216418178,713.216418178,679.216418178,664,633,880,786,806,652,631,651,0.434774584274,0.00446829797706,0.0499674854637,0.999999998582,1.67207340732e-05,-4.14329130567e-05,2.89665501774e-05,1793245058996372224
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.795974142,713.795974142,679.795974142,664,633,880,786,806,652,631,651,0.435647256798,0.00446541226882,0.0499783236768,0.999999998922,1.0778051482e-06,-3.55314182639e-05,2.98708998592e-05,1793245059013039104
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.628274343,745.628274343,713.628274343,680,663.628274343,633,880.371725657,786,806.371725657,652,630.628274343,651.371725657,0.436474328327,0.00446670768294,0.0499645336371,0.999999996918,-4.71738144503e-06,-7.17437825067e-05,3.15374677378e-05,1793245059029705728
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.054589825,745.054589825,713.054589825,680,663.054589825,633,880.945410175,786,806.945410175,652,630.054589825,651.945410175,0.437276624744,0.00447027470453,0.0499373630463,0.999999990862,-5.16228039603e-06,-0.000130836641948,3.36181492619e-05,1793245059046372352
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,713,680,663,633,881,786,806.467460825,652,630.532539175,651.467460825,0.43816863082,0.00447621735948,0.0499616218993,0.999999997057,-3.00080225345e-06,-6.96953823941e-05,3.19286775148e-05,1793245059063038720
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745.11909266,713.11909266,680,663.11909266,633,880.88090734,786,806.11909266,652,631,651.11909266,0.439047049417,0.00448114963833,0.049983973095,0.999999999415,6.65058672997e-06,-1.42064093064e-05,3.03899455954e-05,1793245059079705344
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745.697965721,713.697965721,680,663.697965721,633,880.302034279,786,806.697965721,652,631,651.697965721,0.439836588374,0.00448121664609,0.0499780788348,0.999999998115,4.41600346697e-05,-2.93547547256e-05,3.09638729403e-05,1793245059096371968
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745.723815108,714,680,663.723815108,633,880.276184892,786,807,651.723815108,631,652,0.44060599644,0.00447875069853,0.0499650055744,0.999999996578,5.55010503137e-05,-5.24255292594e-05,3.18530349172e-05,1793245059113038592
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745.146309376,714,680,663.146309376,633,880.853690624,786,807,651.146309376,631,652,0.441353441423,0.00447352126806,0.049944099944,0.99999999518,3.82920079903e-05,-8.41397625467e-05,3.30861214162e-05,1793245059129705472
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745.426185992,714,680,663,633,881,786,807,651.426185992,630.573814008,652,0.442086726538,0.00447215863064,0.049942704269,0.999999995609,2.9833223159e-05,-8.19314747264e-05,3.43372340763e-05,1793245059146372096
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745.996981337,714,680,663,633,881,786,807,651.996981337,630.003018663,652,0.442815207121,0.00447210803603,0.0499479285238,0.999999996744,2.43434906201e-05,-6.82129240863e-05,3.55944633028e-05,1793245059163038976
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745.409740112,714,680,663,633,881,786.590259888,807,652,630.590259888,652,0.443484100373,0.00448060562132,0.0499284182215,0.999999993063,3.40986646889e-05,-0.000106526369719,3.6927690987e-05,1793245059179705344
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745.179258492,713.820741508,680,662.820741508,632.820741508,880.820741508,786.820741508,807.179258492,651.820741508,631,651.820741508,0.444127616745,0.00449293942069,0.0498973678503,0.999999984942,5.10248354764e-05,-0.000161511687593,3.77811911406e-05,1793245059196371968
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745.758441984,713.241558016,680,662.241558016,632.241558016,880.241558016,786.241558016,807.758441984,651.241558016,631,651.241558016,0.444715224314,0.00451373040709,0.0498408650128,0.999999963762,8.37686480226e-05,-0.000253074722659,3.75635197201e-05,1793245059213038848
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745.664761733,713,680,661.664761733,631.664761733,880,786,807.664761733,651.335238267,630.664761733,651.335238267,0.445320789301,0.00453040433635,0.0498113251594,0.999999951871,0.00010801840191,-0.000288562089024,3.6355612588e-05,1793245059229705216
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745.08967344,713,680,661.08967344,631.08967344,880,786,807.08967344,651.91032656,630.08967344,651.91032656,0.44593920209,0.00454413266908,0.0498010762825,0.999999951137,0.000126190983544,-0.00028392947729,3.44392302552e-05,1793245059246371840
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713,680,661.495503451,631,880.495503451,785.504496549,807,652,630,651.504496549,0.446526536201,0.0045487796615,0.0498098978407,0.999999956602,0.00013004167252,-0.000262097005478,3.45051704038e-05,1793245059263038720
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.081356551,745,713.081356551,680,661.918643449,631,880.918643449,785.081356551,807.081356551,652,630.081356551,651.081356551,0.447097142634,0.00455190529215,0.0498157768391,0.999999959966,0.000131816311694,-0.000247939599333,3.49123602134e-05,1793245059279705344
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.659951745,745,713.659951745,680,661.340048255,631,880.340048255,785.659951745,807.659951745,652,630.659951745,651.659951745,0.447600602274,0.0045559861173,0.0497821393998,0.999999944954,0.000137072959161,-0.000300110952797,3.51670227387e-05,1793245059296372224
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.238880996,713.761119004,679.761119004,661,630.761119004,880.238880996,785.761119004,807.761119004,652,631,651.761119004,0.44808559297,0.00455900067592,0.0497518687211,0.999999928801,0.000141450790096,-0.000348042768905,3.54507809808e-05,1793245059313038848
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.818286396,713.181713604,679.181713604,661,630.181713604,880.818286396,785.181713604,807.181713604,652,631,651.181713604,0.448544256179,0.00456049527328,0.0497263973558,0.999999912886,0.000144575869551,-0.000389931128701,3.57760151555e-05,1793245059329705216
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.606195803,746,713,679.393804197,661,630,880.606195803,785,807,652,630.606195803,651.393804197,0.448998493609,0.00456100586898,0.0497227631285,0.999999910473,0.000145551947741,-0.000395701571987,3.59126335108e-05,1793245059346372352
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,745.859332736,713.140667264,680,660,629,880,785.140667264,807,652,630,652,0.450276028942,0.00456328658914,0.0497576697209,0.99999993863,4.54744726588e-05,-0.000347347640572,4.5702155702e-06,1793245059396371712
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,745.280959778,713.719040222,680,660,629,880,785.719040222,807,652,630,652,0.450645994222,0.00456029254975,0.0497562029107,0.999999936341,3.85754791148e-05,-0.000354690147814,5.05653906933e-06,1793245059413038336
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+206,3.433333333,POSE1_TO_POSE2_PRESS,764.548666535,745,713.548666535,680,659.548666535,628.548666535,881.09733307,786,808,652,630,652,0.451544541076,0.00457685608774,0.0497206603508,0.999999899906,0.000119774918277,-0.000430981262749,9.80415807628e-06,1793245059463038976
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,745,713.022820728,680.022820728,659,628,880.022820728,785.977179272,808,652,630,651.977179272,0.451792379345,0.00459049069058,0.0497020441014,0.999999873454,0.000182758698299,-0.000468576113013,1.12953214013e-05,1793245059479705856
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745,713.592216352,680.592216352,659,628,880.592216352,785.407783648,808,652,630,651.407783648,0.452016366704,0.00460562019793,0.0496878293871,0.999999860975,0.000196016255894,-0.000489426453146,9.47253758569e-06,1793245059496372224
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680.829486785,659.170513215,628,881,785.170513215,807.829486785,652,630,651.170513215,0.452243114462,0.00461627398322,0.0496803855746,0.999999854553,0.000204357689052,-0.000499060614799,8.36834825135e-06,1793245059513038848
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680.22873017,659.77126983,628,881,785.77126983,807.22873017,652,630,651.77126983,0.452476827301,0.00461563450739,0.0496900262804,0.999999864511,0.000200294626786,-0.000480393819235,9.077335574e-06,1793245059529705472
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,745,713.644482941,680,659.288965882,628,881.355517059,785.644482941,807,652,630.355517059,651.644482941,0.452678897078,0.00461343079197,0.0496980545647,0.999999871787,0.000196205554787,-0.000466715138154,1.0329318319e-05,1793245059546372096
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,745,713.070385995,680,658.14077199,628,881.929614005,785.070385995,807,652,630.929614005,651.070385995,0.452861512012,0.0046102653468,0.0497050914969,0.999999877463,0.000192100491033,-0.000456103260309,1.19151469364e-05,1793245059563038720
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764,745.908175713,713.908175713,680,659.908175713,627.091824287,881,785,807.908175713,652,630.091824287,651.908175713,0.453140764665,0.00461195495398,0.0496980256007,0.999999874627,0.000190698850617,-0.000462841959437,1.25665890872e-05,1793245059596372224
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+216,3.600000000,POSE1_TO_POSE2_PRESS,764.265222522,745,713,680,658.734777478,627.734777478,881,785,807,652,630.734777478,651.265222522,0.453347699009,0.00460929186719,0.0496793388937,0.999999859956,0.000184778445618,-0.000495759101645,1.2975011244e-05,1793245059629705984
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764.583770323,745,713,680,658.416229677,627,880.583770323,785,807.416229677,652,630.416229677,652,0.453513651021,0.00461044824153,0.0496689810261,0.999999854612,0.000186421210118,-0.00050581509203,1.31916035139e-05,1793245059663038720
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+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,713.192540477,680,658,626,881,786,807,652,630.192540477,652,0.453824118103,0.0046217701484,0.0496497082139,0.999999838388,0.000202729539882,-0.000531008196326,1.24470753187e-05,1793245060029705216
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713.771110785,680,658,626,881,786,807,652,630.771110785,652,0.453822573096,0.0046215942139,0.0496485084713,0.999999837381,0.000200896573257,-0.000533603509675,1.20887865368e-05,1793245060046372096
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,626,881,786,807.347508194,652,631,652,0.453822601392,0.00462053682541,0.0496479747242,0.999999837354,0.000199345766794,-0.000534227028297,1.24220510409e-05,1793245060063038720
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,626,881,786,807.922483275,652,631,652,0.453823659518,0.00461890246754,0.0496478769148,0.999999837972,0.000197979652723,-0.000533559877939,1.32079825081e-05,1793245060079705344
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,745.508001754,714,680,658,626.508001754,881,785.491998246,807.491998246,652,630.491998246,652,0.453822896475,0.00461952131438,0.0496474487628,0.999999837444,0.000198209530354,-0.000534470522053,1.29231364328e-05,1793245060096371968
+245,4.083333333,HOLD_POSE2,764,745,714,680,658,626,882,785,807,652,630,652,0.453825528087,0.00462004091863,0.0496487713966,0.999999837572,0.000202155204724,-0.000532743530124,1.31563015444e-05,1793245060139102208
+246,4.100000000,HOLD_POSE2,764,745.576369818,714,680.576369818,658,626,881.423630182,785,807,652,630,652,0.453824476195,0.00461990128742,0.0496485263622,0.99999983765,0.000199858683972,-0.000533463808032,1.3168334885e-05,1793245060155768832
+247,4.116666667,HOLD_POSE2,764,746,714,680.847247901,658.152752099,626.152752099,881,785,807.152752099,652,630.152752099,652,0.453823865578,0.00461998792211,0.0496482004175,0.999999837543,0.000198975537124,-0.000533994033146,1.31802744246e-05,1793245060172435456
+248,4.133333333,HOLD_POSE2,764,746,714,680.27083092,658.72916908,626.72916908,881,785,807.72916908,652,630.72916908,652,0.453824478858,0.00462070211549,0.0496476500644,0.999999836932,0.000202012446439,-0.000533997138376,1.3191953806e-05,1793245060189102080
+249,4.150000000,HOLD_POSE2,764,746,714,680,658.688257064,626.688257064,881,785.311742936,808,652,630.688257064,652,0.45382507085,0.00462178405225,0.0496479019567,0.999999836947,0.00020374918215,-0.000533317199374,1.28376974916e-05,1793245060205768704
+250,4.166666667,HOLD_POSE2,764,746,714,680,658.100226608,626.100226608,881,785.899773392,808,652,630.100226608,652,0.453825643976,0.00462319190785,0.0496488648526,0.999999837521,0.000204333616536,-0.000532031900715,1.21591243938e-05,1793245060222435328
+251,4.183333333,HOLD_POSE2,764,746,714,680,658,626,881,786,808,652,630.481955301,652,0.453826196186,0.00462318713385,0.0496489438511,0.999999837916,0.000203549085678,-0.000531594876757,1.19842985742e-05,1793245060239102720
+252,4.200000000,HOLD_POSE2,764,746,714,680,658,626.062150945,880.937849055,786,807.937849055,652,631,652,0.453826489539,0.00462294599929,0.0496486921723,0.99999983806,0.000202664183978,-0.000531661728128,1.19243088656e-05,1793245060255769856
+253,4.216666667,HOLD_POSE2,764,746,714,680,658,626.63588835,880.36411165,786,807.36411165,652,631,652,0.453824687524,0.0046231484141,0.0496472134659,0.999999836456,0.000203268363718,-0.000534441507054,1.19576107445e-05,1793245060272435968
+254,4.233333333,HOLD_POSE2,764,745.789522825,713.789522825,680,658,626.789522825,880.210477175,785.789522825,807.210477175,652,630.789522825,652,0.453823963433,0.00462288524532,0.0496463910299,0.99999983568,0.00020297402779,-0.00053599995084,1.20565423555e-05,1793245060289102336
+255,4.250000000,HOLD_POSE2,764,745.213455179,713.213455179,680,658,626.213455179,880.786544821,785.213455179,807.786544821,652,630.213455179,652,0.453825111653,0.00462181337634,0.0496467085098,0.999999836354,0.000201119005867,-0.000535436983839,1.22694701944e-05,1793245060305769472
+256,4.266666667,HOLD_POSE2,764,745,713.370804526,680.370804526,658,626,880.629195474,785,808,652,630,652,0.453824598121,0.00462190112095,0.0496463541984,0.999999836139,0.000201376075414,-0.000535745891425,1.21078505961e-05,1793245060322436352
+257,4.283333333,HOLD_POSE2,764,745,713.959886621,680.959886621,658,626,880.040113379,785,808,652,630,652,0.453823106383,0.00462267148289,0.0496456044307,0.999999835399,0.000202876447269,-0.000536568036124,1.1725750151e-05,1793245060339103232
+258,4.300000000,HOLD_POSE2,764,745,714,681,658,626,880.539485363,785,808,652,630,652,0.453824173801,0.00462366127054,0.0496458808541,0.999999835295,0.000204076126281,-0.000536304603216,1.18369154198e-05,1793245060355769600
+259,4.316666667,HOLD_POSE2,764,745.117379366,714,680.882620634,658.117379366,626,881,785,808,652,630,652,0.453825188575,0.00462421119154,0.0496461031675,0.999999835271,0.000204656349141,-0.000536124484459,1.19745284721e-05,1793245060372435968
+260,4.333333333,HOLD_POSE2,764,745.691337919,714,680.308662081,658.691337919,626,881,785,808,652,630,652,0.45382527119,0.0046229877643,0.049645823334,0.999999835383,0.000202912493162,-0.000536576989761,1.20748178125e-05,1793245060389102592
+261,4.350000000,HOLD_POSE2,764,746,714,680.273665889,658.726334111,626,881.273665889,785,808,652,630.273665889,652,0.453826197835,0.00462240085264,0.0496464031828,0.99999983606,0.000202220757902,-0.000535575305216,1.20767009655e-05,1793245060405769472
+262,4.366666667,HOLD_POSE2,764,746,714,680.865731315,658.134268685,626,881.865731315,785,808,652,630.865731315,652,0.453828106477,0.00462255450199,0.049647983238,0.999999837393,0.000202753123963,-0.000532881727749,1.19640923704e-05,1793245060422436096
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,746,713,681,658,626,881,785,808,652,630,652,0.453828463658,0.00462526076877,0.0496478101841,0.999999836859,0.00020360758476,-0.000533576671202,1.10498988414e-05,1793245060455019776
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,745.42633695,713.57366305,680.42633695,658,626,881.57366305,785,808,652,630,652,0.453827747641,0.00462326834321,0.0496480712718,0.999999837258,0.000201799568026,-0.000533500120182,1.17558712933e-05,1793245060471686400
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745.151202451,714,680,658,626,881.848797549,785,807.848797549,652,630,652,0.453827252168,0.00462199493155,0.0496483271651,0.99999983748,0.000201024753066,-0.000533365635554,1.22441492031e-05,1793245060488352768
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745.739959499,714,680,658,626,881.260040501,785,807.260040501,652,630,652,0.453827394915,0.00462280222532,0.0496485680266,0.999999837195,0.000203239850777,-0.000533063500746,1.21024556921e-05,1793245060505019136
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,746,713.676264365,680,658,626,881,785,807.323735635,652,630.323735635,652,0.453826937613,0.00462342002395,0.0496478180458,0.999999836392,0.000204891331224,-0.000533940639475,1.19673949848e-05,1793245060521685504
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,746,713.096428555,680,658,626,881,785,807.903571445,652,630.903571445,652,0.453826005627,0.00462388791707,0.0496462842313,0.999999835178,0.000206096946258,-0.000535750675704,1.1837581352e-05,1793245060538352128
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.480000286,745.519999714,713,680,658,626,880.519999714,785,807.519999714,652,630.519999714,651.519999714,0.453825853731,0.00462338034702,0.0496466088794,0.999999835402,0.000205075852019,-0.000535720174094,1.19697485413e-05,1793245060555018496
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.944190747,745,713,680,658,626,880.055809253,785,807.055809253,652,630,651.055809253,0.453825140769,0.00462270600804,0.0496468980505,0.999999835621,0.000203639973773,-0.000535856380405,1.21155591355e-05,1793245060571684864
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.367824552,745,713,680,658,626,880.632175448,785,807.632175448,652,630,651.632175448,0.453817743059,0.00462229109646,0.0496433984462,0.999999833105,0.00020247825603,-0.00054097205989,1.19011844385e-05,1793245060588351744
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745.213051495,713.213051495,680.213051495,658,626,881,785,808,652,630,652,0.453803147292,0.00462212703763,0.0496361522616,0.999999827,0.000201378990245,-0.000552549648535,1.16408270756e-05,1793245060605018624
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745.801881928,713.801881928,680.801881928,658,626,881,785,808,652,630,652,0.453775855637,0.00462240543139,0.0496222978818,0.999999814244,0.000200389876907,-0.00057552471279,1.12993657831e-05,1793245060621685248
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745.61539725,714,680.61539725,658,626.38460275,881,785,808,652,630,652,0.453731654982,0.00462371236743,0.0496040511866,0.999999795067,0.000201164680314,-0.000607682682281,1.0979971452e-05,1793245060638351872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745.03577437,714,680.03577437,658,626.96422563,881,785,808,652,630,652,0.453678880294,0.00462554084538,0.0495835772831,0.999999771684,0.000202833910936,-0.00064449701982,1.06717665515e-05,1793245060655018752
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,626.459100687,881,785,808,652,630.540899313,652,0.453614190994,0.00462657153857,0.0495646153591,0.999999755263,0.000204965602248,-0.000668857875229,9.58082001943e-06,1793245060671685376
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,626.116142823,881,785,808,652,630.883857177,652,0.453545798634,0.00462771255158,0.0495477923679,0.999999740157,0.000207376312466,-0.000690367481403,8.6424056191e-06,1793245060688351744
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,626.686551489,881,785,808,652,630.313448511,652,0.453465988024,0.00462949031216,0.0495389463062,0.999999729996,0.000210759358236,-0.000703929166463,8.50197154678e-06,1793245060705018624
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.268004229,745,714,680,658.268004229,626.731995771,881,785.268004229,807.731995771,652,630.268004229,652,0.453380790541,0.00463057690625,0.049534998523,0.999999725135,0.000213696052793,-0.000709927827427,8.09321657724e-06,1793245060721685248
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.86292886,745,714,680,658.86292886,626.13707114,881,785.86292886,807.13707114,652,630.86292886,652,0.453289021975,0.00463082039254,0.0495370258219,0.999999726913,0.000216088273245,-0.000706700861319,7.35715493225e-06,1793245060738351616
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.442252553,714,680,659,626.442252553,881,786,807.442252553,652,630.557747447,652,0.453178556164,0.00463209715099,0.0495431482148,0.999999730319,0.000219046408688,-0.000700946056943,7.37190322964e-06,1793245060755018240
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,659,626.982991124,881,786,807.982991124,652,630.017008876,652,0.453061598847,0.00463368542307,0.0495503774906,0.999999734102,0.000222139141021,-0.000694544617008,7.57664274408e-06,1793245060771685120
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,659,626.404829631,881,786,807.404829631,652,630.595170369,652,0.452915147918,0.0046353454514,0.04955367755,0.999999735594,0.000224082922509,-0.000691776982861,6.63377876057e-06,1793245060788352000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.823565265,745.823565265,714,680.176434735,659,626.176434735,880.823565265,786,807,652,630.823565265,652,0.452761461149,0.00463656326812,0.0495572353852,0.999999737478,0.000226204098824,-0.000688361558443,5.87672802998e-06,1793245060805018624
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.235053988,745.235053988,714,680.764946012,659,626.764946012,880.235053988,786,807,652,630.235053988,652,0.452590874556,0.00463674826626,0.049561395275,0.999999740283,0.000228739593777,-0.000683433171718,5.55365820231e-06,1793245060821684992
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,745.347862933,713.652137067,680.652137067,658.652137067,627,880,785.652137067,807,652,630,652,0.452393034012,0.00463935824692,0.0495634324569,0.999999738489,0.000234074772623,-0.000684256787941,4.94485934069e-06,1793245060838351360
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,745.927059589,713.072940411,680.072940411,658.072940411,627,880,785.072940411,807,652,630,652,0.452177069191,0.00464358087495,0.0495640580086,0.99999973359,0.000241271780715,-0.000688905566168,4.14604663674e-06,1793245060855018240
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.504520845,745.495479155,713.504520845,680,658,627,880,785,807.504520845,652,630,652,0.451929131329,0.00464728223212,0.0495674330486,0.999999733814,0.000248874408333,-0.000685872563745,3.51625628234e-06,1793245060871684864
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.918753152,745,713.918753152,680,658,627,880,785.081246848,807.918753152,652,630,652,0.451670622196,0.00465068444727,0.0495697489211,0.999999733547,0.000255903076322,-0.000683675107862,2.79188255853e-06,1793245060888351744
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.344968425,745,713.344968425,680,658,627,880,785.655031575,807.344968425,652,630,652,0.451375953765,0.00465272848981,0.0495632423662,0.999999726134,0.000259097984161,-0.000693252475172,1.34649136306e-06,1793245060905018624
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,745.235439838,713.235439838,680,658.235439838,627.235439838,880,786,807.235439838,652,630.235439838,652,0.451078821018,0.00465476424364,0.0495618761346,0.9999997268,0.000263760022668,-0.000690528603438,-7.33067574989e-08,1793245060921685504
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,745.825833853,713.825833853,680,658.825833853,627.825833853,880,786,807.825833853,652,630.825833853,652,0.450777973031,0.00465678750114,0.0495682595657,0.999999739424,0.000270633938756,-0.000669259117711,-1.45452011964e-06,1793245060938352384
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.408257678,745.591742322,713.591742322,680,659.408257678,628,880.408257678,786,807.591742322,652,630.591742322,652,0.450447360632,0.00466053494149,0.0495846801972,0.99999975827,0.000276823566841,-0.000637822326917,-3.21467654436e-06,1793245060955019008
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.987346447,745.012653553,713.012653553,680,659.987346447,628,880.987346447,786,807.012653553,652,630.012653553,652,0.450104293638,0.00466500384779,0.0496053007887,0.999999778739,0.000282726861431,-0.000602131135175,-5.13339763225e-06,1793245060971685120
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.140024506,745.859975494,713,680.859975494,659,628.140024506,881,786,807,652,630.859975494,652,0.449287913883,0.00467110731844,0.0496266937669,0.999999796028,0.000298476986592,-0.000564627001556,-7.24394002171e-06,1793245061005018112
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.727623242,745.272376758,713,680.272376758,659,628.727623242,881,786,807,652,630.272376758,652,0.448840972106,0.00467391795326,0.0496268974019,0.99999979207,0.00030319411634,-0.00056908549639,-8.67993848068e-06,1793245061021684992
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,745.788108479,713,680,660.788108479,630.788108479,881,786,807,652,630.788108479,651.211891521,0.44505355461,0.00468603362432,0.0496632955616,0.999999812358,0.000335102199955,-0.000512277590624,-2.36986034233e-05,1793245061138351872
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.700311833,745,713,679,662.700311833,633.299688167,879,785.700311833,805,653,630,652,0.404049433573,0.00461006118461,0.0498445194116,0.999999950642,0.000140577815271,-0.000277607890406,-4.34430596276e-05,1793245062055018240
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,745.284644147,713,679,663,633,878.715355853,786,805,653,630,652,0.403729558726,0.0046108713124,0.0498537495725,0.999999953287,0.000141813134851,-0.000267198921497,-4.38237796757e-05,1793245062071684864
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745.865593419,713,679,663,633,878.134406581,786,805,653,630,652,0.403406386822,0.00461235594552,0.04984898635,0.999999949147,0.000144784279504,-0.000280675612127,-4.43300607972e-05,1793245062088351744
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745.554365703,713,679,663,633,878.445634297,786,805.445634297,653,630,652,0.403108568402,0.00461503667162,0.0498382980622,0.999999942051,0.000148587845652,-0.000302975948002,-4.4997899391e-05,1793245062105018624
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.025155417,879,786,805.974844583,653,630,652,0.402820016366,0.00461798224358,0.0498260268374,0.999999933714,0.000152445214573,-0.000327474646542,-4.57377125168e-05,1793245062121684992
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.599300664,879,786,805.400699336,653,630,652,0.402567149448,0.00461885081869,0.0498181306693,0.999999928865,0.000152008709682,-0.000341988916287,-4.69870436642e-05,1793245062138351616
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745.177532806,713,679,663,634,879,786,805.177532806,653,630.177532806,652.177532806,0.402333584488,0.00461812353621,0.0498122406936,0.999999928933,0.000128521167051,-0.00035118443071,-4.78074285138e-05,1793245062155018496
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745.765206524,713,679,663,634,879,786,805.765206524,653,630.765206524,652.765206524,0.402144611445,0.00461370946186,0.0498109854767,0.999999936941,5.17805163844e-05,-0.000348092414887,-4.76368501209e-05,1793245062171684864
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745.652260549,713,679,663,633.652260549,879,786,805.652260549,653,630.652260549,652.652260549,0.401977101828,0.00460496151868,0.0498142237484,0.999999940664,4.93271282654e-05,-0.000338562024534,-4.01846479743e-05,1793245062188351488
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745.073148056,713,679,663,633.073148056,879,786,805.073148056,653,630.073148056,652.073148056,0.401823873166,0.00459332997814,0.0498204518218,0.999999942244,9.63017446973e-05,-0.000324747776518,-2.7887521227e-05,1793245062205018112
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.501356589,878.498643411,786,805.501356589,653,630,652.501356589,0.40169733774,0.00458321328087,0.0498278302515,0.999999946636,0.000103372300894,-0.000308956684577,-2.42429122397e-05,1793245062221684736
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745.075464786,713,679,663,633.924535214,878.075464786,786,806,653,630,652.924535214,0.401577098272,0.00457500044633,0.049834502242,0.999999950789,0.000104853562598,-0.000294835858766,-2.23605544082e-05,1793245062238351360
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745.651361823,713,679,663,633.348638177,878.651361823,786,806,653,630,652.348638177,0.401473018491,0.00457796047454,0.0498353867523,0.999999950808,0.000107526454867,-0.000293686324005,-2.38690844244e-05,1793245062255018240
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.766554856,745.766554856,713,679,663,633,879,786,806,653,630,652,0.40137866953,0.00458011924777,0.0498353849414,0.999999950732,0.000110199166806,-0.000292856401321,-2.50340104655e-05,1793245062271684608
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.174981182,745.174981182,713,679,663,633,879,786,806,653,630,652,0.401299248641,0.00458104881444,0.0498340234239,0.999999950517,0.000112871601938,-0.000292516796054,-2.56718130666e-05,1793245062288351232
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763,745,713,679,662.594240518,633,878.594240518,786,806,653,630,652,0.401234651055,0.0045804129487,0.0498343925538,0.999999951473,0.000112179425634,-0.000289451858339,-2.62105732004e-05,1793245062305017856
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,763,745,713,679,662,633.556426217,878,786,805.443573783,653,630,652,0.401135548816,0.00458364190763,0.0498373672846,0.999999953607,0.000117060299929,-0.000279839078099,-2.78111113019e-05,1793245062338351360
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.134487592,745.134487592,713,679,662.134487592,633.865512408,878.134487592,785.865512408,805.134487592,653,630,652,0.401098984667,0.00458646297178,0.0498397294377,0.999999954729,0.000120884924939,-0.000274046314708,-2.87565156766e-05,1793245062355017984
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,745.690558649,713,679,663,633,879,785.309441351,806,653,630,652,0.401052509883,0.00458240084573,0.049845143877,0.999999958388,0.000111444416941,-0.000264475446262,-2.92563827307e-05,1793245062388351488
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745.111113525,713,679,663,633,879,785.888886475,806,653,630,652,0.40103238936,0.0045846325481,0.0498445346772,0.999999957607,0.000115426003459,-0.000265722038284,-2.92497206394e-05,1793245062405018112
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633,879,786,806,653,630,652,0.401019878154,0.00458482807571,0.0498447217031,0.999999958008,0.000115134150659,-0.000264295244679,-2.96046382899e-05,1793245062421684736
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.046063811,878.953936189,786,805.953936189,653.046063811,630,652,0.4010094738,0.00458432164506,0.0498450104557,0.999999958614,0.000113841389602,-0.00026251651207,-2.99562090769e-05,1793245062438351360
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.621240416,878.378759584,786,805.378759584,653.621240416,630,652,0.40100253275,0.00458130118611,0.0498442978008,0.999999958378,0.000112697747131,-0.000263980793151,-2.92839513761e-05,1793245062455017984
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.799390463,745,713,679,663,633.799390463,878,786,805,653.799390463,630,652,0.400997778385,0.00458034943438,0.0498443750378,0.999999958506,0.000112021982915,-0.000263793074948,-2.91843527615e-05,1793245062471684608
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.211936761,745,713,679,663,633.211936761,878,786,805,653.211936761,630,652,0.400997240702,0.00458338686162,0.0498459754576,0.999999959335,0.000112248448909,-0.000260419734026,-3.01890378047e-05,1793245062488351232
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763,745.370154085,713,678.629845915,663,633.370154085,878.370154085,786,805,653,630,652,0.400995773095,0.00458454631803,0.0498463810686,0.999999959494,0.000112874553094,-0.000259499185065,-3.05092714739e-05,1793245062505017856
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763,745.949218187,713,678.050781813,663,633.949218187,878.949218187,786,805,653,630,652,0.400993780652,0.0045846458727,0.0498461123454,0.999999959279,0.000113726207725,-0.000259962959214,-3.04432099028e-05,1793245062521684736
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.526115848,745.473884152,713,678.526115848,663,634,878.473884152,786,805,653,630,652,0.400992827784,0.00458361689981,0.0498462344682,0.999999959572,0.000112512175859,-0.000259394058257,-3.01924297228e-05,1793245062538351360
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.898056648,745,713,678.898056648,663,633.898056648,878.101943352,786,805,653,630,652,0.400992067113,0.00458269143497,0.0498464776156,0.999999959865,0.000111570066721,-0.000258698822354,-2.99500864508e-05,1793245062555017984
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.326202298,745,713,678.326202298,663,633.326202298,878.673797702,786,805,653,630,652,0.400991731746,0.00458274314127,0.0498471054468,0.999999959943,0.000112796693709,-0.000257878817142,-2.98284817145e-05,1793245062571684864
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.254581723,745,713,678.254581723,663,633.254581723,879,786,805.254581723,653,630,652,0.400991947723,0.00458270227097,0.0498478671798,0.999999960197,0.00011315618738,-0.000256741864715,-2.97509745402e-05,1793245062588351488
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.847223572,745,713,678.847223572,663,633.847223572,879,786,805.847223572,653,630,652,0.400992895831,0.00458253846784,0.0498488067218,0.999999960686,0.000112364211298,-0.000255184036649,-2.97320246844e-05,1793245062605018112
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,634,878.569371782,786,806,653,630,652,0.400992982901,0.00458336014551,0.0498494526834,0.999999960832,0.000112890515681,-0.00025435836627,-2.98852097103e-05,1793245062621684992
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745.010648023,713,679,663.010648023,633.989351977,878.010648023,786,806,653,630,652,0.400992774786,0.00458449101806,0.0498499781511,0.999999960865,0.000113822450861,-0.000253789104174,-3.00936596256e-05,1793245062638351616
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745.581384417,713,679,663.581384417,633.418615583,878.581384417,786,806,653,630,652,0.400992770508,0.00458388147801,0.0498495291475,0.999999961187,0.000112006475996,-0.000253330896627,-3.00642559707e-05,1793245062655018240
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745.841764232,713,679,663.841764232,633,879,786,806,653,630,652,0.400992496782,0.00458319473935,0.0498490835452,0.999999961318,0.000110715815503,-0.000253385656824,-3.0024025956e-05,1793245062671685120
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745.248085395,713,679,663.248085395,633,879,786,806,653,630,652,0.40099148157,0.0045822955608,0.049848647303,0.99999996093,0.000110870748018,-0.000254852033723,-2.995400329e-05,1793245062688351744
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.337291952,879,786,806,653,630,652.337291952,0.400990944782,0.00458276753445,0.049848610612,0.999999960707,0.000112329916453,-0.00025508188589,-3.00101934171e-05,1793245062705018112
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.916710022,879,786,806,653,630,652.916710022,0.400990751431,0.00458422379417,0.0498488607401,0.999999960599,0.000114725334848,-0.000254424094723,-3.01569858083e-05,1793245062721684992
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.506336,745,713,679,663,634,878.506336,786,805.506336,653,630,652.506336,0.400991651977,0.00458438751443,0.0498497362612,0.999999960961,0.000113518415199,-0.000253533687273,-3.01991251806e-05,1793245062738351616
+401,6.683333333,POSE2_TO_POSE3_RETREAT,763.069842823,745.069842823,713,679,663,633.930157177,878.069842823,786,805,653,630,652,0.400992616394,0.00458428083875,0.0498506359452,0.999999961385,0.000111863971914,-0.000252592072118,-3.02369269454e-05,1793245062755018240
+402,6.700000000,POSE2_TO_POSE3_RETREAT,763.643414209,745.643414209,713,679,663,633.356585791,878.643414209,786,805,653,630,652,0.400992716968,0.00458378899344,0.0498509526709,0.999999961698,0.000111343571411,-0.000251562783883,-3.03701587572e-05,1793245062771684864
+403,6.716666667,POSE2_TO_POSE3_RETREAT,763.776294823,745.776294823,713,679,663,633,878.776294823,786,805.223705177,653,630,652.223705177,0.400992948204,0.00458319980555,0.0498512463584,0.999999961903,0.000111252926533,-0.000250786991577,-3.03851064356e-05,1793245062788351488
+404,6.733333333,POSE2_TO_POSE3_RETREAT,763.18496106,745.18496106,713,679,663,633,878.18496106,786,805.81503894,653,630,652.81503894,0.400993394165,0.00458245064845,0.0498515021859,0.999999961929,0.000111868525632,-0.000250427784683,-3.02056704859e-05,1793245062805018368
+405,6.750000000,POSE2_TO_POSE3_RETREAT,763.397223595,745,713,679,663,633,878.397223595,786,805.602776405,653,630,652.602776405,0.400992862535,0.00458206821796,0.0498514986371,0.999999961882,0.000111736842629,-0.000250712702334,-2.99003526162e-05,1793245062821684736
+406,6.766666667,POSE2_TO_POSE3_RETREAT,763.975243987,745,713,679,663,633,878.975243987,786,805.024756013,653,630,652.024756013,0.400991885953,0.00458185270357,0.0498513770329,0.9999999618,0.000111265033242,-0.000251290794067,-2.95377394497e-05,1793245062838351360
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1ff1387688b49598f68742940087f3c5fd1936a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+1,0.016666667,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+2,0.033333333,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+3,0.050000000,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+4,0.066666667,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+5,0.083333333,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+6,0.100000000,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+7,0.116666667,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+8,0.133333333,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+9,0.150000000,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+10,0.166666667,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+11,0.183333333,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+12,0.200000000,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+13,0.216666667,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+14,0.233333333,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+15,0.250000000,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+16,0.266666667,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+17,0.283333333,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
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+376,6.266666667,pose2_to_pose3_retreat,0.575793233229,0.00987763176033,1.04005095977,0.54636486817,0.0185533236006,1.0397174562
+377,6.283333333,pose2_to_pose3_retreat,0.575762926644,0.0098777510775,1.04005091099,0.546334561332,0.0185534418513,1.03971740216
+378,6.300000000,pose2_to_pose3_retreat,0.575739217309,0.00987775213042,1.04005096463,0.546310853209,0.0185534473462,1.03971746461
+379,6.316666667,pose2_to_pose3_retreat,0.575720413023,0.00987778049037,1.04005104582,0.546292048153,0.0185534725356,1.0397175306
+380,6.333333333,pose2_to_pose3_retreat,0.575705952986,0.00987775902937,1.04005091976,0.546277587777,0.0185534498983,1.03971740376
+381,6.350000000,pose2_to_pose3_retreat,0.575694367571,0.00987769575418,1.04005064575,0.546266002843,0.0185533889028,1.03971714677
+382,6.366666667,pose2_to_pose3_retreat,0.575685813921,0.00987776156801,1.04005094703,0.546257448773,0.0185534530352,1.03971744136
+383,6.383333333,pose2_to_pose3_retreat,0.575680520981,0.00987780760818,1.04005096307,0.546252154943,0.0185534958726,1.03971745252
+384,6.400000000,pose2_to_pose3_retreat,0.575676959464,0.0098778366152,1.04005092957,0.5462485927,0.0185535222859,1.0397174155
+385,6.416666667,pose2_to_pose3_retreat,0.575674774334,0.00987780722141,1.04005100141,0.546246407951,0.018553494107,1.03971748541
+386,6.433333333,pose2_to_pose3_retreat,0.575673423005,0.00987778904369,1.04005104584,0.546245056857,0.0185534766805,1.03971752864
+387,6.450000000,pose2_to_pose3_retreat,0.575672644234,0.00987778245072,1.04005105218,0.546244278242,0.0185534706643,1.03971753623
+388,6.466666667,pose2_to_pose3_retreat,0.575671913608,0.00987778121354,1.04005103357,0.546243547787,0.0185534701515,1.03971752127
+389,6.483333333,pose2_to_pose3_retreat,0.575671406267,0.00987778035446,1.04005102064,0.546243040566,0.0185534697954,1.03971751088
+390,6.500000000,pose2_to_pose3_retreat,0.575671288917,0.00987778015575,1.04005101766,0.546242923244,0.0185534697131,1.03971750847
+391,6.516666667,pose2_to_pose3_retreat,0.575671268345,0.00987778012092,1.04005101713,0.546242902676,0.0185534696986,1.03971750805
+392,6.533333333,pose2_to_pose3_retreat,0.575671174489,0.00987777996199,1.04005101474,0.546242808843,0.0185534696328,1.03971750613
+393,6.550000000,pose2_to_pose3_retreat,0.575671036723,0.00987777972871,1.04005101123,0.54624267111,0.0185534695361,1.03971750331
+394,6.566666667,pose2_to_pose3_retreat,0.575670963904,0.0098777796054,1.04005100938,0.546242598308,0.018553469485,1.03971750182
+395,6.583333333,pose2_to_pose3_retreat,0.575670776338,0.0098777792878,1.0400510046,0.546242410785,0.0185534693533,1.03971749798
+396,6.600000000,pose2_to_pose3_retreat,0.575670548293,0.00987776661777,1.04005100523,0.546242182746,0.0185534566952,1.03971749846
+397,6.616666667,pose2_to_pose3_retreat,0.575670336285,0.0098777498827,1.04005100841,0.546241970723,0.0185534398849,1.03971750099
+398,6.633333333,pose2_to_pose3_retreat,0.575670219085,0.00987774063139,1.04005101016,0.546241853515,0.018553430592,1.03971750239
+399,6.650000000,pose2_to_pose3_retreat,0.575670206552,0.00987773964208,1.04005101035,0.546241840981,0.0185534295982,1.03971750254
+400,6.666666667,pose2_to_pose3_retreat,0.575670077107,0.00987772942416,1.04005101229,0.546241711527,0.0185534193343,1.03971750408
+401,6.683333333,pose2_to_pose3_retreat,0.575669867187,0.00987771285396,1.04005101544,0.546241501593,0.0185534026896,1.03971750658
+402,6.700000000,pose2_to_pose3_retreat,0.575669659313,0.0098777688807,1.04005095918,0.546241292541,0.0185534547189,1.03971745026
+403,6.716666667,pose2_to_pose3_retreat,0.5756695777,0.00987780989854,1.0400509215,0.54624121016,0.0185534931371,1.03971741271
+404,6.733333333,pose2_to_pose3_retreat,0.575669528456,0.00987783464837,1.04005089876,0.546241160452,0.0185535163182,1.03971739005
+405,6.750000000,pose2_to_pose3_retreat,0.57566953358,0.00987784852529,1.04005089244,0.546241165469,0.0185535298294,1.03971738371
+406,6.766666667,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f402bda0e12009a27e65f969aca412b4b7c18fb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea23f8ef3238a9378bd599a458f35e7c4d96ec9c0827c6cdd3b7b30b610ff277
+size 25829075
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f4969e2be552363c2505facd4f9faae56cf2383
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_05/franka_data.csv
@@ -0,0 +1,408 @@
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+40,0.666666667,BASELINE,763.797444626,745,713,679,663,634,878.797444626,786,805.797444626,653,630,652.202555374,0.400992096944,0.00458128424223,0.0498529163075,0.999999963258,0.000105343181869,-0.00024795643475,-3.00900097153e-05,1793245063620773376
+41,0.683333333,BASELINE,763.20434297,745,713,679,663,634,878.20434297,786,805.20434297,653,630,652.79565703,0.400991666235,0.00458321008228,0.0498528160195,0.999999962923,0.000107857658592,-0.000248212847718,-3.01744172395e-05,1793245063637440000
+42,0.700000000,BASELINE,763.376524358,745,713,679,663,634,878.376524358,786,805,653,630,652.623475642,0.400991389898,0.00458369327821,0.0498525214466,0.999999962783,0.000108374607434,-0.000248519528516,-3.04517646888e-05,1793245063654106880
+43,0.716666667,BASELINE,763.950960947,745,713,679,663,634,878.950960947,786,805,653,630,652.049039053,0.400991194704,0.00458341817809,0.0498521247519,0.999999962746,0.000107841597035,-0.000248852631551,-3.08305270113e-05,1793245063670773760
+44,0.733333333,BASELINE,764,745,713,679,663.52584839,633.47415161,879,786,805,653,630,652,0.400992034675,0.00458195697217,0.0498523016632,0.999999963231,0.000106607600668,-0.000247456155617,-3.06379239061e-05,1793245063687440640
+45,0.750000000,BASELINE,764,745,713,679,663.896792677,633,879,786,805.103207323,653,630,652.103207323,0.400992628941,0.00458075412089,0.0498524226164,0.999999963586,0.000105785405156,-0.000246402632238,-3.0393065919e-05,1793245063704107264
+46,0.766666667,BASELINE,764,745,713,679,663.308003764,633,879,786,805.691996236,653,630,652.691996236,0.400991612602,0.00458128767629,0.0498520283972,0.999999963115,0.00010720853062,-0.000247722203779,-3.01532642778e-05,1793245063720773632
+47,0.783333333,BASELINE,764,745,713,678.722655139,663.277344861,633.277344861,879,786,806,653,630,652.722655139,0.40099187901,0.00458130677461,0.0498526596704,0.99999996314,0.000107600403575,-0.000247481513097,-2.99053549382e-05,1793245063737440256
+48,0.800000000,BASELINE,764,745,713,678.14108022,663.85891978,633.85891978,879,786,806,653,630,652.14108022,0.400993552514,0.00458076154558,0.0498544158452,0.999999963709,0.000106861056867,-0.000245529311998,-2.96485519275e-05,1793245063754107136
+49,0.816666667,BASELINE,764,745,713.435562406,678,663.564437594,634,878.564437594,786,806,653,630,652,0.400992131064,0.00458104182162,0.0498532669766,0.999999963284,0.000106300400685,-0.000247464731612,-2.9902077715e-05,1793245063770773504
+50,0.833333333,BASELINE,764,745,713.989357177,678,663,633.989357177,878.010642823,785.989357177,805.989357177,653,630,652,0.400989793797,0.00458158651314,0.0498512471798,0.999999962552,0.00010585389126,-0.000250543859222,-3.03093463667e-05,1793245063787440640
+51,0.850000000,BASELINE,764,745,713.413345814,678,663,633.413345814,878.586654186,785.413345814,805.413345814,653,630,652,0.400991463306,0.0045821325554,0.0498523875881,0.999999962855,0.000108430892167,-0.000248236070145,-3.02011415006e-05,1793245063804107264
+52,0.866666667,BASELINE,763.833196719,745.166803281,713,678.166803281,663,633.166803281,879,785.166803281,805.166803281,653,630,652,0.400993252908,0.00458252125282,0.049853471255,0.999999963199,0.000110150104518,-0.00024608650293,-3.01778153152e-05,1793245063820773888
+53,0.883333333,BASELINE,763.242533356,745.757466644,713,678.757466644,663,633.757466644,879,785.757466644,805.757466644,653,630,652,0.400995347676,0.00458251012476,0.0498544107377,0.999999963672,0.000109689609429,-0.000244338989891,-3.03701724511e-05,1793245063837440512
+54,0.900000000,BASELINE,763.340350857,745.659649143,713,678.659649143,663.340350857,634,879,786,805.659649143,653,630,652,0.400994334085,0.00458273113392,0.0498540558078,0.999999963608,0.000108598347588,-0.000245076357927,-3.04679455909e-05,1793245063854107136
+55,0.916666667,BASELINE,763.917815509,745.082184491,713,678.082184491,663.917815509,634,879,786,805.082184491,653,630,652,0.400991154979,0.0045831138672,0.0498527990934,0.999999963164,0.000107067646593,-0.000247544879554,-3.04998244552e-05,1793245063870773760
+56,0.933333333,BASELINE,764,745,713,678.492659363,663.507340637,634,879,786,805.492659363,653,630,652,0.400992433033,0.00458173861989,0.0498534959742,0.999999963487,0.000105961100334,-0.00024675592628,-3.01462012936e-05,1793245063887440128
+57,0.950000000,BASELINE,764,745.06885061,713.06885061,679,663.06885061,634,879,786,805.93114939,653,630.06885061,652,0.400994121498,0.00458028715094,0.0498543244767,0.999999963841,0.000105297056256,-0.000245644324643,-2.98118532612e-05,1793245063904107008
+58,0.966666667,BASELINE,764,745.658523636,713.658523636,679,663.658523636,634,879,786,805.341476364,653,630.658523636,652,0.40099331979,0.00458046575943,0.0498536964383,0.999999963472,0.000107447924475,-0.000246180897577,-3.01072036368e-05,1793245063920774400
+59,0.983333333,BASELINE,764,746,713.756442929,679,663.756442929,633.756442929,879,786,805.243557071,653,630.756442929,652,0.400992522766,0.00458039697322,0.0498531871932,0.999999963329,0.000107353529804,-0.000246785857501,-3.02335304185e-05,1793245063937441536
+60,1.000000000,BASELINE,764,746,713.177792698,679,663.177792698,633.177792698,879,786,805.822207302,653,630.177792698,652,0.400991732184,0.00457998781396,0.0498528413874,0.999999963496,0.000104170035083,-0.000247484906383,-3.01273094874e-05,1793245063954107648
+61,1.016666667,BASELINE,764,746,713,679,663,633.40032154,879,786,806,653,630,652,0.400992108543,0.00458001324059,0.0498531973838,0.999999963608,0.000103637524089,-0.00024726914799,-3.00333072499e-05,1793245063970774272
+62,1.033333333,BASELINE,764,746,713,679,663,633.978198014,879,786,806,653,630,652,0.400993002476,0.00458023141949,0.0498538646512,0.999999963697,0.000104280806233,-0.000246647644349,-2.99447243857e-05,1793245063987441152
+63,1.050000000,BASELINE,764,745.446818203,713,679,663,634,879,786,806,653,630,652,0.400993563556,0.00458002136158,0.0498538434023,0.999999963845,0.0001051969764,-0.000245647473365,-3.00103637545e-05,1793245064004107520
+64,1.066666667,BASELINE,764.131224153,745,713,679,663,634,879,786,805.868775847,653,630,652.131224153,0.400994092106,0.00458041051201,0.0498539186947,0.999999963952,0.000106431832997,-0.000244666560757,-3.01103634015e-05,1793245064020773888
+65,1.083333333,BASELINE,764.720334634,745,713,679,663,634,879,786,805.279665366,653,630,652.720334634,0.400994552686,0.00458294909264,0.0498544250467,0.999999963908,0.000108741363531,-0.000243804651499,-3.03091592905e-05,1793245064037440256
+66,1.100000000,BASELINE,764.388896895,745,713.305551553,679,663,634,878.694448447,786,805.611103105,653,630,652.694448447,0.400994402143,0.00458288563186,0.0498547316495,0.999999963921,0.000108207960038,-0.000243985042335,-3.0338447838e-05,1793245064054106880
+67,1.116666667,BASELINE,763.225500843,745,713.887249579,679,663,634,878.112750421,786,806.774499157,653,630,652.112750421,0.400993699289,0.00458047053975,0.0498548577261,0.999999963981,0.000105105215172,-0.000245107426449,-3.02145417523e-05,1793245064070773504
+68,1.133333333,BASELINE,763.460609157,745.460609157,713.539390843,679,663,634,878,786,806.539390843,653,630,652,0.400993554858,0.00458107315271,0.0498543168317,0.999999963728,0.00010564264562,-0.00024590176159,-3.02711614696e-05,1793245064087440128
+69,1.150000000,BASELINE,764,745.967784963,713,678.967784963,663,634,878,786,805.967784963,653,630,652,0.400993582437,0.00458232925697,0.0498537316719,0.999999963439,0.000107005845215,-0.000246477907419,-3.0352350981e-05,1793245064104106752
+70,1.166666667,BASELINE,764,745.391941829,713,678.391941829,663,634,878,786,805.391941829,653,630,652,0.400994246977,0.00458236927729,0.0498551056386,0.999999963825,0.000107534597659,-0.000244703105178,-3.01157078182e-05,1793245064120773632
+71,1.183333333,BASELINE,764,745.188886129,713,678.377772258,663,634,878.188886129,786,805.188886129,653,630,652.188886129,0.400994607273,0.00458220573364,0.0498557313672,0.999999964027,0.000107840150742,-0.000243766151894,-2.99093104621e-05,1793245064137440512
+72,1.200000000,BASELINE,764,745.780338162,713,679.560676323,663,634,878.780338162,786,805.780338162,653,630,652.780338162,0.400994319146,0.00458160834175,0.0498547624046,0.999999963842,0.00010767000752,-0.000244614874247,-2.97673748122e-05,1793245064154107136
+73,1.216666667,BASELINE,764,745.636306402,713.363693598,679.636306402,663,634,879,786,805.636306402,653,630,652.636306402,0.400992880302,0.00458129116016,0.0498534562966,0.999999963486,0.000106308573217,-0.00024662525723,-3.00327844718e-05,1793245064170773504
+74,1.233333333,BASELINE,764,745.057734648,713.942265352,679.057734648,663,634,879,786,805.057734648,653,630,652.057734648,0.40099076159,0.004581139533,0.0498519509958,0.99999996302,0.000104243298022,-0.000249321974744,-3.05388626846e-05,1793245064187440128
+75,1.250000000,BASELINE,764.517047687,745,713.482952313,679,663,634,878.482952313,786,805.517047687,653,630,652,0.400991203281,0.00458094863241,0.0498526126508,0.999999963171,0.000105205106721,-0.000248343659766,-3.02692700645e-05,1793245064204106496
+76,1.266666667,BASELINE,764.906426375,745,713,679,663,634,878,786,806,653,630,652,0.400991984467,0.00458087988896,0.0498534444324,0.999999963397,0.000106447955741,-0.000246931811629,-3.00076161142e-05,1793245064220773376
+77,1.283333333,BASELINE,764.318469042,745,713,679,663,634,878,786,806,653,630,652,0.400993059803,0.00458147954726,0.0498539059566,0.999999963669,0.000107402802725,-0.000245381767396,-3.02421841749e-05,1793245064237440512
+78,1.300000000,BASELINE,763.734428256,745,713,679,663,634,878,786,805.734428256,653,630,652,0.40099331354,0.0045820518619,0.0498537420783,0.999999963716,0.000107543509531,-0.000245100532028,-3.04704118514e-05,1793245064254107648
+79,1.316666667,BASELINE,763.155015907,745,713,679,663,634,878,786,805.155015907,653,630,652,0.40099259635,0.004582591863,0.0498528391274,0.999999963498,0.000106722102449,-0.000246318717357,-3.06911467334e-05,1793245064270774272
+80,1.333333333,BASELINE,763.421841667,745,713,678.578158333,663,633.578158333,878.421841667,785.578158333,805.421841667,653,630,652,0.400992644749,0.00458287398998,0.0498529395432,0.99999996347,0.000107494486665,-0.000246090453051,-3.07231675105e-05,1793245064287440640
+81,1.350000000,BASELINE,763.997766127,745,713,678.002233873,663,633.002233873,878.997766127,785.002233873,805.997766127,653,630,652,0.40099297279,0.00458306192535,0.0498534064506,0.999999963511,0.000108849022442,-0.000245333855549,-3.06862581867e-05,1793245064304107008
+82,1.366666667,BASELINE,763.429288066,745,713,678.570711934,663,633.570711934,878.429288066,785.570711934,806,653,630,652,0.400992669619,0.00458291976374,0.0498535495664,0.999999963415,0.00010938362642,-0.000245507049177,-3.05166953113e-05,1793245064320773888
+83,1.383333333,BASELINE,763.148549288,745,713,679,663,633.851450712,878,786,805.851450712,653,630,652,0.400992523941,0.00458237813148,0.0498536148361,0.999999963435,0.000108971876586,-0.000245634685814,-3.03268741493e-05,1793245064337440512
+84,1.400000000,BASELINE,763.741039889,745,713,679,663,633.258960111,878,786,805.258960111,653,630,652,0.400992856278,0.0045806465177,0.0498534512302,0.999999963794,0.000105741478691,-0.00024561535504,-3.00780544869e-05,1793245064354107136
+85,1.416666667,BASELINE,764,745,713,679,663,633.325556352,878,786,805,653,630,652,0.400992125147,0.0045807368819,0.0498531727203,0.999999963532,0.000105756123894,-0.000246682189906,-2.99912445119e-05,1793245064370773760
+86,1.433333333,BASELINE,764,745,713,679,663,633.903881491,878,786,805,653,630,652,0.400990568319,0.00458224186815,0.0498528049965,0.999999962787,0.000108290288882,-0.000248592346581,-3.00302222745e-05,1793245064387440384
+87,1.450000000,BASELINE,764,745,713,678.519329575,663,634,878,786,805.480670425,653,629.519329575,652,0.400991264688,0.00458286308342,0.0498531577672,0.999999963053,0.000108186236963,-0.000247515034135,-3.04240085088e-05,1793245064404107008
+88,1.466666667,BASELINE,764,745,713,678,663,634,878,786,806,653,629.05817189,652,0.400992347926,0.00458323277063,0.0498536594523,0.999999963474,0.000107836904381,-0.000245915893082,-3.07900472773e-05,1793245064420773632
+89,1.483333333,BASELINE,764,745,713,678,663,634,878,786,806,653,629.644930317,652,0.400992865412,0.00458291763933,0.0498542092779,0.999999963479,0.000110037249249,-0.000244986120812,-3.02613106266e-05,1793245064437440256
+90,1.500000000,BASELINE,764,745,713,678.228574622,663.228574622,633.771425378,878,786,806,653,630,652,0.400993081475,0.00458266553765,0.0498542994281,0.999999963501,0.000111051058404,-0.000244483142811,-2.98807165484e-05,1793245064454107136
+91,1.516666667,BASELINE,764,745,713,678.807446391,663.807446391,633.192553609,878,786,806,653,630,652,0.400992835599,0.00458251003066,0.0498536851128,0.999999963558,0.000110246467434,-0.000244634239327,-2.97271552492e-05,1793245064470773248
+92,1.533333333,BASELINE,764,745,713.385836253,679,663.614163747,633.385836253,878.385836253,786,806,653,630,652,0.400993707069,0.004582276365,0.0498542178438,0.999999963951,0.000108425785587,-0.000243818950193,-2.99021252598e-05,1793245064487439872
+93,1.550000000,BASELINE,764,745,713.963985968,679,663.036014032,633.963985968,878.963985968,786,806,653,630,652,0.40099513546,0.00458200374246,0.0498553223003,0.999999964506,0.000106098650597,-0.00024252198272,-3.02408460532e-05,1793245064504106496
+94,1.566666667,BASELINE,764,745,713.458787533,679,663,633.458787533,878.458787533,786,806,653,630,652,0.40099398107,0.00458281141982,0.0498545701156,0.999999964016,0.000107310226379,-0.000243994917164,-3.03249818803e-05,1793245064520773376
+95,1.583333333,BASELINE,764,745,713,679,663,633.120042281,878.120042281,786,806,653,630,652,0.400992755202,0.00458320601401,0.0498536800352,0.999999963545,0.000108124573792,-0.00024555501308,-3.03691369187e-05,1793245064537440256
+96,1.600000000,BASELINE,764,745,713,679,663,633.705323808,878.705323808,786,806,653,630,652,0.400991917266,0.0045817215202,0.0498527335287,0.99999996343,0.00010648834388,-0.000246739782403,-3.03238861618e-05,1793245064554107136
+97,1.616666667,BASELINE,764,745,713,679,663,634,879,786,806,653,630,652,0.400992468231,0.00458142269306,0.0498533116844,0.999999963699,0.000105866203072,-0.00024590562999,-3.04020735344e-05,1793245064570773760
+98,1.633333333,BASELINE,764,745,713,679,663,634,879,786,806,653,630,652,0.400994427551,0.00458232614159,0.04985543586,0.999999964354,0.000106272356899,-0.00024302427457,-3.06054281693e-05,1793245064587440384
+99,1.650000000,BASELINE,764,745.447620007,713.447620007,679,663,633.552379993,878.552379993,785.552379993,806,653,630,652,0.400994274755,0.00458315664711,0.0498551587334,0.99999996409,0.000107909659551,-0.000243375850984,-3.07107441267e-05,1793245064604107264
+100,1.666666667,BASELINE,763.974361841,745.974361841,713.974361841,679,663,633.025638159,878,785.025638159,805.974361841,653,630,652,0.400993529096,0.00458388724594,0.0498542326041,0.999999963592,0.00010969693412,-0.000244610152153,-3.07822757598e-05,1793245064620773888
+101,1.683333333,BASELINE,763.388314128,745.388314128,713.388314128,679,663,633.611685872,878,785.611685872,805.388314128,653,630,652,0.400993235756,0.00458289721167,0.049854367933,0.999999963892,0.000106944891355,-0.000244611164627,-3.0737855031e-05,1793245064637440256
+102,1.700000000,BASELINE,763,745,713,678.804422886,663,634,878,785.804422886,805.195577114,653,630,652,0.400992978712,0.0045824203112,0.049854335414,0.999999963968,0.000106073722522,-0.000244686775677,-3.06703967381e-05,1793245064654106624
+103,1.716666667,BASELINE,763,745,713,678.224766643,663,634,878,785.224766643,805.775233357,653,630,652,0.400992792946,0.00458295111557,0.0498539732714,0.999999963614,0.000108896260336,-0.000244908885237,-3.05576967174e-05,1793245064670773504
+104,1.733333333,BASELINE,763.353036524,745.353036524,713,678.353036524,663,633.646963476,878,785,805.646963476,653,630,652,0.400993945651,0.00458211576769,0.0498549798319,0.999999964133,0.000108361921259,-0.000243037270346,-3.03931481209e-05,1793245064687440384
+105,1.750000000,BASELINE,763.929666115,745.929666115,713,678.929666115,663,633.070333885,878,785,805.070333885,653,630,652,0.400995946066,0.00458041517745,0.0498568532501,0.999999965196,0.00010570152935,-0.000239839610605,-3.01957616016e-05,1793245064704107264
+106,1.766666667,BASELINE,764,745.496633247,713,679,663,633.503366753,878.503366753,785.503366753,805.503366753,653,630,652,0.400995605038,0.00458217338473,0.0498566471862,0.999999964831,0.000107154160843,-0.000240685744462,-3.04401248143e-05,1793245064720773888
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,678,663,634,878,786,806,653,630,652,0.400991536594,0.0045796153521,0.049853639296,0.999999963849,0.000103369359299,-0.000246363926304,-3.03600787495e-05,1793245064763420416
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713,678.578849815,663,633.421150185,878,786,805.421150185,653,630,652,0.40099282979,0.00458006107204,0.0498547851094,0.999999964186,0.000104476060721,-0.000244535415874,-3.02542447363e-05,1793245064780087552
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.156159232,878,786.156159232,805,653,630,652,0.400993889527,0.00458080594601,0.0498555723126,0.999999964348,0.000106210133225,-0.000243127411718,-3.01978284322e-05,1793245064796754432
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.729355013,878,786.729355013,805,653,630,652,0.400994325792,0.00458234973646,0.0498554018167,0.999999964047,0.00010961965397,-0.000242842405043,-3.02733863129e-05,1793245064813420800
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.694186659,745,713,679,663,633.694186659,878,786.388373319,805,653,630,652,0.400994567631,0.00458190307308,0.0498552653563,0.999999964146,0.000108709830861,-0.000242861321256,-3.01364091385e-05,1793245064830087424
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.114809876,745,713,679,663,633.114809876,878,785.229619752,805,653,630,652,0.400994635548,0.00457967586137,0.049855159342,0.999999964593,0.000103936165063,-0.000243152109834,-2.98093100327e-05,1793245064846753792
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,745,713.471698581,679,663,633.471698581,878.471698581,785,805.471698581,653,630,652,0.400994159437,0.00458192050729,0.049854947136,0.999999964199,0.00010609626175,-0.00024381122831,-3.00343853781e-05,1793245064863420672
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,745,713.940845846,679,663.059154154,634,878.940845846,785.059154154,805.940845846,653,630,652.059154154,0.400993801545,0.00458487922123,0.0498548149661,0.999999963687,0.000109668442848,-0.000244286797529,-3.03659055007e-05,1793245064880087552
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,745,713.360573112,679,663.639426888,634,878.360573112,785.639426888,805.360573112,653,630,652.639426888,0.400995669518,0.00458439274946,0.049855619065,0.999999964057,0.000110584753093,-0.000242343491199,-3.04330012082e-05,1793245064896753920
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,745,713.217390994,679,663.782609006,634,878,786,805,653,630,652.782609006,0.40099977539,0.00458311084383,0.0498573973139,0.999999964936,0.000109510859309,-0.000239190590274,-3.03900941371e-05,1793245064913420288
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,745,713.791566103,679,663.208433897,634,878,786,805,653,630,652.208433897,0.40100755412,0.00458052346481,0.0498607743464,0.999999966624,0.000105170624135,-0.000234052491678,-3.01666494793e-05,1793245064930086912
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.366932985,745,713.633067015,678.633067015,663,633.633067015,878.366932985,785.633067015,805.366932985,653,630,652,0.401030358229,0.00458003137379,0.0498690167108,0.999999970463,0.0001039993468,-0.00021762524162,-2.99661156243e-05,1793245064946753280
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.942979108,745,713.057020892,678.057020892,663,633.057020892,878.942979108,785.057020892,805.942979108,653,630,652,0.401061725221,0.0045807333759,0.049880031802,0.999999975116,0.000104634041061,-0.000194764364223,-2.97786384792e-05,1793245064963419904
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713,678.534652594,663,633,879,785.534652594,805.465347406,653,630,652,0.401121412365,0.00458099269887,0.0498996389932,0.999999982106,0.0001054294529,-0.000154266181344,-2.95797967181e-05,1793245064980086528
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745.124059883,713,679,663,633,879,786,805,653,630,652,0.401186454411,0.0045806732292,0.0499189248728,0.999999987167,0.000105164401526,-0.000117292392863,-2.91423099983e-05,1793245064996753152
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745.698991726,713,679,663,633,879,786,805,653,630,652,0.401259650445,0.00457842699696,0.0499336124386,0.999999989497,0.000100981130025,-0.000100169390569,-2.7842051393e-05,1793245065013420032
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745.726271032,713,679,663,633.273728968,878.726271032,786,805,653,629.726271032,652.273728968,0.401339991522,0.00457716720276,0.0499441141401,0.999999991066,9.86987418669e-05,-8.60954402628e-05,-2.67337387857e-05,1793245065030086656
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745.151747667,713,679,663,633.848252333,878.151747667,786,805,653,629.151747667,652.848252333,0.401428184116,0.0045769913825,0.0499500160918,0.999999991974,9.85051904779e-05,-7.53720233241e-05,-2.58363512547e-05,1793245065046753280
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663.43509573,634,878.43509573,785.56490427,805,653,629.43509573,652.56490427,0.401520978704,0.00457702123354,0.0499502194816,0.99999999182,9.99719350045e-05,-7.57342313928e-05,-2.50879562026e-05,1793245065063419904
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663.974185609,634,878.974185609,785.025814391,805.025814391,653,630,652,0.401617009663,0.00457697230864,0.049948376016,0.999999991321,0.000101744819535,-8.00781203605e-05,-2.43719870624e-05,1793245065080086784
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663.395184064,634,878.395184064,785.604815936,805.604815936,653,630,652,0.401746997027,0.00457365330026,0.0499465012607,0.999999991428,9.73076100165e-05,-8.44798039625e-05,-2.3204880668e-05,1793245065096753408
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745.182561266,713,678.817438734,663,633.817438734,878.182561266,786,806,653,630,652,0.401887624956,0.00457087522834,0.049946184435,0.999999991667,9.27500367901e-05,-8.70592094857e-05,-2.1983848051e-05,1793245065113420288
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745.757605821,713,678.242394179,663,633.242394179,878.757605821,786,806,653,630,652,0.402051128719,0.00456926010077,0.049949216958,0.999999992247,8.79336976204e-05,-8.57209504739e-05,-2.06468811283e-05,1793245065130086656
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745.660746083,713.339253917,678.678507833,663,633.339253917,878.660746083,786,806,653,630,652,0.402230105737,0.00456729775181,0.0499494269252,0.99999999244,8.41624176946e-05,-8.76038489676e-05,-1.90389929802e-05,1793245065146753280
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745.074286088,713.925713912,679.851427823,663,633.925713912,878.074286088,786,806,653,630,652,0.402420357758,0.0045650823909,0.0499475801649,0.999999992342,8.1152646523e-05,-9.18339264561e-05,-1.7233690985e-05,1793245065163420672
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745.506049869,713.493950131,679.493950131,663,634,878.506049869,786,805.493950131,653,630,652,0.402641138594,0.00456417975275,0.0499472497649,0.999999992175,8.0135203414e-05,-9.47853675657e-05,-1.56239801957e-05,1793245065180087040
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745.914682245,713,679,663,633.914682245,879,786,805.085317755,653,630,652,0.402873654212,0.0045629608422,0.0499478357717,0.999999992214,7.85334460873e-05,-9.59730013923e-05,-1.39432733682e-05,1793245065196753152
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745.336453099,713,679,663,633.336453099,879,786,805.663546901,653,630,652,0.403148384279,0.00455881471227,0.0499524455518,0.999999993472,7.18864182597e-05,-8.80419233191e-05,-1.16885000533e-05,1793245065213419776
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.238738012,679,663,633.238738012,879,786,806,653,630,652,0.403443938456,0.00455560567128,0.0499595967559,0.999999995014,6.66792949666e-05,-7.37268916996e-05,-9.52399862621e-06,1793245065230086400
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.809701392,679,663,633.809701392,879,786,806,653,630,652,0.403768471236,0.00455370067386,0.0499702845794,0.999999996681,6.34759284245e-05,-5.052801631e-05,-7.48511876409e-06,1793245065246753024
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745.394223127,713.605776873,679,663,634,879,785.605776873,806,653,630,652,0.404118302341,0.00455039284603,0.0499779169049,0.999999997631,5.90904554299e-05,-3.48917880377e-05,-5.3231801437e-06,1793245065263419904
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745.98552282,713.01447718,679,663,634,879,785.01447718,806,653,630,652,0.404480780354,0.00454638372761,0.0499840217522,0.999999998266,5.41140342555e-05,-2.30362126126e-05,-3.09972313091e-06,1793245065280086528
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,746,713.567935965,679,663,633.432064035,879,785.567935965,806,653,630,652,0.404885248696,0.00454255568413,0.049988931023,0.99999999869,4.9927704785e-05,-1.12365764798e-05,-2.42382190619e-07,1793245065296753408
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745.851875324,714,679,663,633,879,786,805.851875324,653,630,652,0.405291392155,0.00453886597881,0.0499886479669,0.99999999889,4.60596464964e-05,-9.60312341694e-06,2.54004969762e-06,1793245065313420032
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745.277446754,714,679,663,633,879,786,805.277446754,653,630,652,0.405699323466,0.00453556133287,0.0499735077152,0.999999998368,4.30505052866e-05,-3.72239806717e-05,5.06110515069e-06,1793245065330086656
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713.702727916,678.702727916,663,633,879,785.702727916,805,652.702727916,630.297272084,652,0.406126540679,0.00453105214322,0.0499538202595,0.999999996528,3.83945402628e-05,-7.35209218668e-05,8.0696794227e-06,1793245065346753280
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713.127737838,678.127737838,663,633,879,785.127737838,805,652.127737838,630.872262162,652,0.406571775245,0.00452541764248,0.049929884706,0.999999992462,3.22000765153e-05,-0.000117923250991,1.15337045777e-05,1793245065363419904
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713,678,663,633,879,785.46041776,805.46041776,652.46041776,630.53958224,652,0.407072312052,0.00452033907277,0.0499190478338,0.999999990196,2.42289558381e-05,-0.000137135127312,1.46748442946e-05,1793245065380086272
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745.050969887,713,678.050969887,663,633.050969887,879,786,805.949030113,652.949030113,630,652,0.407596241203,0.00451523426289,0.0499148111181,0.999999989411,1.55593163061e-05,-0.000143599353225,1.77632823922e-05,1793245065396753152
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745.627462851,713,678.627462851,663,633.627462851,879,786,805.372537149,652.372537149,630,652,0.408198506522,0.00450822183581,0.0499400530088,0.999999995455,4.91938996283e-06,-9.28084496262e-05,2.12591542154e-05,1793245065413419776
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745.796231322,713,679.203768678,663.203768678,634,879,786,805.203768678,652,630,652,0.408811992692,0.00450118998148,0.049965294264,0.999999998649,-5.39862845988e-06,-4.51993727158e-05,2.50871393171e-05,1793245065430086400
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.220267351,713,679.779732649,663.779732649,634,879,786,805.779732649,652,630,652,0.409445974359,0.0044941226426,0.0499905343568,0.999999999444,-1.51286627601e-05,-3.40208991142e-06,2.95217484107e-05,1793245065446753024
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713,679.272645043,663.636322521,634,879,786,806,652,630,652,0.410080765369,0.00448820383881,0.0499977881837,0.999999999313,-1.51681309938e-05,3.11257304599e-06,3.36703256035e-05,1793245065463419904
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713,678.094871037,663.047435518,634,879,786,806,652,630,652,0.410716057547,0.00448299627273,0.0499939039033,0.999999999174,-9.20665600509e-06,-1.22217457383e-05,3.76417756279e-05,1793245065480086528
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713,678.532101167,663,634,879,785.467898833,806,652,630,652,0.411342677195,0.00447730443442,0.0499613962404,0.999999990039,0.000107610865638,-8.12621201967e-05,4.16830435773e-05,1793245065496753152
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.889742794,879,785.110257206,806,652.110257206,630.110257206,652,0.411993446946,0.004471095371,0.0499354016378,0.999999969074,0.000205242973579,-0.000132946833699,4.52953627426e-05,1793245065513419776
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.31395761,879,785.68604239,806,652.68604239,630.68604239,652,0.412749391041,0.00446288161301,0.0499474942428,0.999999978351,0.000180864883813,-9.14866563839e-05,4.70707508663e-05,1793245065530086400
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713.261021274,679,663.261021274,633.261021274,879,786,806,653,630.738978726,652,0.41351525886,0.00445241621741,0.0499645898718,0.999999992432,0.000102965439623,-5.61702261696e-05,3.71320000449e-05,1793245065546753024
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713.835033396,679,663.835033396,633.835033396,879,786,806,653,630.164966604,652,0.414293026324,0.00443925087999,0.049987684633,0.999999998751,-3.91115149693e-05,-2.82207624567e-05,1.31468140884e-05,1793245065563419648
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.42147848,713.57852152,679,663.57852152,633.57852152,879.42147848,786.42147848,806.42147848,652.57852152,630,652,0.415062687156,0.00443968348156,0.0499732229209,0.999999995724,-7.60584315856e-05,-5.14799484564e-05,1.08396338512e-05,1793245065580086272
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.012662794,745.987337206,713.012662794,679,663,633.012662794,880,786.987337206,806.987337206,652,630,651.987337206,0.415830049171,0.00444620739465,0.0499440954162,0.99999999294,-6.97762660733e-05,-9.46471970773e-05,1.71222263666e-05,1793245065596752640
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.591554569,745.408445431,713.591554569,679,663,633.591554569,880,786.408445431,806.408445431,652,630,651.408445431,0.416640812768,0.00447988782073,0.0499364583065,0.999999994051,-2.63569420668e-05,-0.000104536783108,1.65682195178e-05,1793245065613419520
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,663.169226593,634,879.830773407,786,805.830773407,652,630,651.169226593,0.417470474399,0.00450207599211,0.0499401328313,0.999999995207,1.49971262857e-05,-9.52391370035e-05,1.70499046051e-05,1793245065630086400
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,663.743975661,634,879.256024339,786,805.256024339,652,630,651.743975661,0.418345421876,0.00449672494637,0.0499709137466,0.99999999768,5.14021613693e-05,-3.99625830756e-05,2.00134476414e-05,1793245065646752768
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.674315639,745.325684361,713.674315639,679,664,633.674315639,879.325684361,786,805.325684361,652,630,652,0.419181491485,0.00449000098806,0.0499767395845,0.999999997757,5.10589914573e-05,-3.74952099528e-05,2.17434673631e-05,1793245065663419392
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.087016454,745.912983546,713.087016454,679,664,633.087016454,879.912983546,786,805.912983546,652,630,652,0.419986331347,0.00448217420064,0.0499625195759,0.999999996523,2.11968242227e-05,-7.74482509671e-05,2.24826257852e-05,1793245065680086016
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745.507315721,713,679,664,633,880,786,806,652,630,652,0.420909596372,0.00447740830711,0.0499654064488,0.99999999836,-1.90071260054e-06,-5.30283476162e-05,2.15388493023e-05,1793245065696752896
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,713,679,664,633,880,786,806,652,630,652,0.421851301915,0.00447379121965,0.0499726663605,0.999999999463,-1.77343773358e-05,-1.82483549347e-05,2.06310130383e-05,1793245065713419520
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,713,679,664,633,880,786,806,652,630,652,0.42277760327,0.00447457463907,0.0499899033382,0.999999999652,9.88846674217e-06,1.05592741554e-05,2.20694587904e-05,1793245065730086400
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.193820553,745.193820553,713.193820553,678.806179447,664,633,880,786,806,652,630,652,0.423693620693,0.00447854102109,0.0499963804477,0.999999999134,2.79491148227e-05,2.07025733622e-05,2.28593840126e-05,1793245065746753024
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.794354772,745.794354772,713.794354772,678.205645228,664,633,880,786,806,652,630,652,0.424588058455,0.0044891865421,0.0499802790189,0.99999999938,2.59444256092e-05,-8.31941115816e-06,2.22884520117e-05,1793245065763419648
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.614240979,746,713.614240979,678.385759021,664,633.385759021,880,786,806,652,630.385759021,652,0.42550078563,0.00449083830627,0.0499848324793,0.999999999597,1.61682383202e-05,-2.68226669929e-06,2.31838163082e-05,1793245065780086272
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.027591353,746,713.027591353,678.972408647,664,633.972408647,880,786,806,652,630.972408647,652,0.426423037277,0.00448780641717,0.0500001423272,0.999999999468,2.34491067652e-06,2.10042133916e-05,2.48427794934e-05,1793245065796752896
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.554904868,745.445095132,713,678.445095132,664,633.445095132,880,786,806,652,631,651.445095132,0.427338691994,0.00447886153148,0.0499927195112,0.999999999367,1.31814054537e-05,-1.81670358101e-05,2.76245369022e-05,1793245065813419776
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713,678.135054029,663.864945971,633,880,786,806,652,630.864945971,651.135054029,0.428250196977,0.00447187447908,0.049979883056,0.99999999772,2.13608920286e-05,-5.69473695954e-05,2.93464435574e-05,1793245065830086144
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713,678.708253778,663.291746222,633,880,786,806,652,630.291746222,651.708253778,0.429149295495,0.00447218582819,0.0499531233327,0.999999995918,1.69720829491e-05,-8.43951356588e-05,2.7450181287e-05,1793245065846753024
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.711105487,745,713,679,663.288894513,633,880,786,806,652,630.288894513,651.711105487,0.430064228905,0.00447206419983,0.0499474371134,0.999999996304,9.14678692713e-06,-8.10980407236e-05,2.70545503075e-05,1793245065863419648
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.122751687,745,713,679,663.877248313,633,880,786,806,652,630.877248313,651.122751687,0.430995576227,0.00447149376015,0.0499635950507,0.999999998545,-2.24066693364e-06,-4.59317538602e-05,2.82144283059e-05,1793245065880086272
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.457756702,745,713,679,664,633,880.457756702,786.457756702,806,652,631,651.457756702,0.431896143306,0.004478333585,0.0499529291085,0.999999997266,2.46990742872e-06,-6.82236865287e-05,2.8401543824e-05,1793245065896752896
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713,679,664,633,880.963771501,786.963771501,806.036228499,652,631,651.963771501,0.432792078823,0.00448606470151,0.0499372369575,0.999999994417,1.14524254036e-05,-0.000101156692144,2.83242599857e-05,1793245065913419520
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713,679,664,633,880.384824327,786.384824327,806.615175673,652,631,651.384824327,0.433740195658,0.00447788125313,0.0499521896836,0.999999997171,2.085210093e-05,-6.65690194104e-05,2.81280389834e-05,1793245065930086144
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.807458311,745,713.192541689,679.192541689,663.807458311,633.192541689,880.192541689,786,807,652,630.807458311,651.192541689,0.434664936834,0.00447044343117,0.0499671286794,0.9999999986,2.05210121703e-05,-3.9551442444e-05,2.8553635216e-05,1793245065946753024
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.233226645,745,713.766773355,679.766773355,663.233226645,633.766773355,880.766773355,786,807,652,630.233226645,651.766773355,0.435543338839,0.00446448371952,0.0499820404595,0.999999999164,8.9989378316e-07,-2.75406338343e-05,3.02119068831e-05,1793245065963419648
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,713.650938859,679.650938859,663,633.650938859,881,786,807,652,630.349061141,651.650938859,0.436371129502,0.00446471411944,0.0499709311618,0.999999997602,-6.95645011654e-06,-6.09238469606e-05,3.21799493701e-05,1793245065980086016
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,713.063141214,679.063141214,663,633.063141214,881,786,807,652,630.936858786,651.063141214,0.437164305044,0.004469178178,0.0499420250351,0.99999999153,-6.76640554269e-06,-0.000125353799289,3.43598559826e-05,1793245065996752640
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745.519970167,713.519970167,679,663.519970167,633,881,786,807,652,631,651.519970167,0.438064985459,0.00447241593029,0.0499612505719,0.999999997025,-5.2492075791e-06,-6.95014709638e-05,3.30589266438e-05,1793245066013419520
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.100970924,745.899029076,714,679.100970924,664,633,881,786,807,652,631,652,0.438961597263,0.00447531305502,0.0499810538943,0.999999999392,2.96089181395e-06,-1.41154446568e-05,3.17444064885e-05,1793245066030086144
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.674729641,745.325270359,714,679.674729641,664,633,881,786,807,652,631,652,0.439778577177,0.00447730626577,0.0499764395858,0.999999998194,4.17620599079e-05,-2.86940804003e-05,3.23277630889e-05,1793245066046753536
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.751151805,679.751151805,663.751151805,633,881,786,807,652,631,651.751151805,0.440569343864,0.00447683751559,0.0499656044377,0.999999996737,5.49690046896e-05,-4.92327835999e-05,3.28720911064e-05,1793245066063420672
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713.17656227,679.17656227,663.17656227,633,881,786,807,652,631,651.17656227,0.441325797476,0.00447314606776,0.0499466262347,0.999999995833,3.46732056365e-05,-7.75731912708e-05,3.336533084e-05,1793245066080086784
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.589420827,745,713.410579173,679.410579173,663.410579173,633,881,786,807,652,630.589420827,651.410579173,0.442073159463,0.00447194126572,0.0499459888788,0.999999996271,2.74925752285e-05,-7.41445713004e-05,3.46959328369e-05,1793245066096753152
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745.003199643,713.996800357,680,663.996800357,633,880.996800357,786,807,652,630,652,0.442816091664,0.00447191425155,0.0499533282909,0.999999997372,2.62184566728e-05,-5.69508230744e-05,3.63940774326e-05,1793245066113419776
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745.579873925,713.420126075,680,663.420126075,633,880.420126075,786,807,652,630,652,0.443487893087,0.00448528083634,0.0499321500166,0.999999993622,4.08438376256e-05,-9.84380557047e-05,3.73921586273e-05,1793245066130086400
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745.843317282,713.156682718,680,662.843317282,632.843317282,880.156682718,786,807,652,630.156682718,652,0.444144298161,0.0044991932667,0.0499007565074,0.999999985696,5.82123537582e-05,-0.000154183108725,3.80501076516e-05,1793245066146753280
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745.266147375,713.733852625,680,662.266147375,632.266147375,880.733852625,786,807,652,630.733852625,652,0.444759384417,0.004514570578,0.0498419485128,0.999999965046,8.29425859839e-05,-0.000248191680959,3.77952489559e-05,1793245066163420416
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713.683703724,680,662,632,881,786,807,652,630.683703724,652,0.445381403532,0.00453030137288,0.0498113236909,0.999999953328,0.000105581102177,-0.0002843795679,3.64007696774e-05,1793245066180087552
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713.096747273,680,662,632,881,786,807,652,630.096747273,652,0.446009355178,0.00454633464882,0.0498048156993,0.999999954684,0.000126429699905,-0.000271089293631,3.40310976433e-05,1793245066196753920
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713,680,661.516441837,631.516441837,880.516441837,786,807,652,630.483558163,652,0.446610283427,0.00454962662124,0.0498081623088,0.999999957098,0.000127809896571,-0.00026134772162,3.41363841117e-05,1793245066213420288
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713,680,661,631,880.062223919,786,807,652,630.937776081,652,0.447196148384,0.00455044399074,0.049809101148,0.999999957909,0.000126021788279,-0.000259030993891,3.46931278372e-05,1793245066230086656
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713,680,661,631,880.638189543,786,807,652,630.361810457,652,0.44770167939,0.00455159169679,0.0497741029032,0.999999942221,0.000129798140753,-0.000312233807067,3.49443995856e-05,1793245066246753536
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713.212817719,680,661,630.787182281,881,786,807,652,630,652,0.448202227354,0.00455584241699,0.049744695408,0.999999926213,0.000137517802299,-0.00035701234113,3.47087303468e-05,1793245066263420160
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713.785186249,680,661,630.214813751,881,786,807,652,630,652,0.448694356529,0.00456533561054,0.0497247333636,0.999999912796,0.000151899596987,-0.000387558238273,3.36503852067e-05,1793245066280087040
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.368775727,745.368775727,714,680,660.631224273,630,880.631224273,786,807,652,630.368775727,652,0.449170372411,0.00456905770514,0.0497250578363,0.999999911876,0.000158839577175,-0.000387190353329,3.31777032139e-05,1793245066296753664
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.959106645,745.959106645,714,680,660.040893355,630,880.040893355,786,807,652,630.959106645,652,0.449636707704,0.00456931260678,0.0497375701569,0.999999918639,0.000161308622867,-0.000368249912461,3.30568791828e-05,1793245066313420032
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,746,714,680.541014201,660.541014201,629.458985799,880.541014201,786,807,652,630.458985799,652,0.450074481514,0.00456919410921,0.049747860657,0.999999931656,9.60069868611e-05,-0.000356723199442,1.47735164718e-05,1793245066330086912
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.878563484,745.878563484,714,681,660.878563484,629,881,785.878563484,807.121436516,652,630,652,0.450497006626,0.00456790483832,0.0497553691672,0.99999993767,3.94834387655e-05,-0.000350856614174,4.71089020837e-08,1793245066346753536
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.301362336,745.301362336,714,681,660.301362336,629,881,785.301362336,807.698637664,652,630,652,0.450870280047,0.00456232582966,0.0497530571985,0.999999933079,3.48357432575e-05,-0.000364162200037,3.74377778651e-06,1793245066363420160
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,745,713.726386672,680.726386672,659.726386672,629,880.726386672,785.273613328,808,652,630,652,0.451213896312,0.00456333225598,0.0497429400008,0.999999923777,3.71155276243e-05,-0.000388630170862,5.8726184874e-06,1793245066380086528
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,745,713.153842454,680.153842454,659.153842454,629,880.153842454,785.846157546,808,652,630,652,0.45152511121,0.00457153347084,0.049724295353,0.99999990844,4.6963794906e-05,-0.000425293385956,6.28855893904e-06,1793245066396753152
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745.432231939,713,680,659.432231939,628.567768061,880.432231939,785.567768061,808,652,630,652,0.451801461131,0.0045758871817,0.0497036065204,0.999999891709,5.11423063007e-05,-0.000462509416499,7.2241837206e-06,1793245066413419776
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.0228134,746,713.0228134,680,659.9771866,628,881,785.0228134,808,652,630,652,0.45206495716,0.0045792616998,0.0496828592831,0.999999874298,5.37346637893e-05,-0.000498445135691,8.34616025755e-06,1793245066430086400
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.602070673,746,713.602070673,680,659.397929327,628,881,785.602070673,808,652,630,652,0.452327391134,0.00459323379088,0.0496790073694,0.999999873513,6.84510853335e-05,-0.000498198375481,9.35607381814e-06,1793245066446753280
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.819720775,746,714,680.180279225,659.180279225,628,880.819720775,785.819720775,808,652,630,652,0.452582151614,0.0046079573404,0.0496797064361,0.999999875008,8.66964887181e-05,-0.000492314334257,9.70829809202e-06,1793245066463420160
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.243813748,746,714,680.756186252,659.756186252,628,880.243813748,785.243813748,808,652,630,652,0.452820072363,0.00462432998466,0.049690392757,0.999999881248,0.000112686339481,-0.0004740591221,8.61720469779e-06,1793245066480087040
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,745.662416482,713.662416482,680.662416482,659.662416482,628,880.337583518,785.337583518,807.662416482,652,630,652,0.453034268598,0.00462788671482,0.0496980318538,0.999999879021,0.000170176172651,-0.000461421758101,9.33845898141e-06,1793245066496753408
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,745.076988373,713.076988373,680.076988373,659.076988373,628,880.923011627,785.923011627,807.076988373,652,630,652,0.453231046969,0.00462203435285,0.0497034337628,0.999999865923,0.000250792433826,-0.000452908860613,1.13902892352e-05,1793245066513420032
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,745,713.506086572,680.506086572,659,627.493913428,881,785.493913428,807,652,630,652,0.453387472659,0.0046205175647,0.0496954665158,0.999999858375,0.000258884320007,-0.000464849100734,1.20342882482e-05,1793245066530086656
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659,627,881,785.087601466,807.087601466,652,630,652,0.453532269745,0.0046201358356,0.0496850172266,0.999999851657,0.000256210185618,-0.000480511946236,1.22659533103e-05,1793245066546753024
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,627,881,785.662421711,807.662421711,652,630,652,0.45364637503,0.00462241576009,0.0496720224614,0.999999842663,0.000254735618363,-0.00049965409274,1.13899431494e-05,1793245066563419648
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659,627,881,785.762432375,807.762432375,651.762432375,630,652,0.453754115125,0.00462255511534,0.0496620144703,0.999999836412,0.000252051854055,-0.000513343060644,1.12043736976e-05,1793245066580086272
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745.374302358,714,681,658.625697642,627,881,785,807.374302358,651.374302358,630,652,0.45393844008,0.00461931899766,0.0496555298788,0.999999834377,0.000245850820211,-0.000520246813483,1.206845566e-05,1793245066613420288
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,745.928467893,714,681,658.071532107,627,881,785,807.928467893,651.928467893,630,652,0.454017815668,0.00462022768829,0.049657221076,0.999999835245,0.000245307224659,-0.000518839953705,1.17850297674e-05,1793245066630086912
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,745.462085019,714,680.462085019,658.537914981,626.462085019,881,785,808,652,630,652,0.454083494018,0.00462076869734,0.0496581354756,0.999999836596,0.000245195922622,-0.000516279486261,1.1944743483e-05,1793245066646753536
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,626,881,785,808,652,630,651.855139916,0.454141488035,0.00462122604805,0.0496584527393,0.999999837267,0.000244904528895,-0.000515111141367,1.21397460778e-05,1793245066663420160
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+223,3.716666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.703892208,626,881,785,808,652,630,651.296107792,0.454214605831,0.00462281732484,0.0496541037073,0.999999833055,0.000243686059896,-0.000523792660232,1.22034226995e-05,1793245066696753152
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.126964728,626,881,785,808,652,630,651.873035272,0.454237726963,0.00462484384379,0.0496488587606,0.999999829307,0.000244257120511,-0.000530641525927,1.20241176946e-05,1793245066713419776
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+232,3.866666667,POSE1_TO_POSE2_PRESS,764.531955824,745,714,680.531955824,658,626,880.531955824,785,807,652,630.531955824,652,0.454304858099,0.00462673869579,0.0496421866712,0.999999823749,0.000242623884546,-0.000541751710723,1.18905439268e-05,1793245066846753536
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.887900563,745,714,681,658,626,880.887900563,785,807.112099437,652,630.887900563,652,0.454307445856,0.00462601916985,0.0496428534818,0.999999824327,0.000243264093067,-0.000540389240696,1.21556525157e-05,1793245066863420160
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745.851927556,713.148072444,681,658,626,880.851927556,785,808,652,630,652,0.454306279684,0.0046289297394,0.0496394303909,0.999999820544,0.000247875904967,-0.00054527673878,1.19361077173e-05,1793245066913420288
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.987972758,746,714,680.012027242,657.012027242,626,880.987972758,785,808,652,630,652,0.454306879918,0.00462760280471,0.0496403015321,0.999999821475,0.000245507797045,-0.000544632467944,1.22938567678e-05,1793245066946753536
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.409092605,746,714,680.590907395,657.590907395,626,880.409092605,785,808,652,630,652,0.454306484051,0.0046287365425,0.0496398905737,0.999999820889,0.000245023190943,-0.000545940238887,1.1585814953e-05,1793245066963419904
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,746,714,680.83098401,658,626,880.16901599,785,807.83098401,652,630,652,0.454306619245,0.00462977114662,0.0496396552652,0.999999820516,0.000245054193311,-0.000546618683715,1.11668104029e-05,1793245066980086528
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,746,714,680.254734472,658,626,880.745265528,785,807.254734472,652,630,652,0.454308033998,0.00463056689424,0.0496398431745,0.999999820658,0.000246327522348,-0.000545780806215,1.14442232625e-05,1793245066996753408
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,746,714,680.326997596,658,626,881,785,807.326997596,652,630,652,0.454308776478,0.00463035584458,0.0496399501338,0.999999820807,0.000246522253589,-0.000545414096159,1.16888761253e-05,1793245067013419776
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+244,4.066666667,POSE1_TO_POSE2_PRESS,764,745.503925146,713.503925146,681,657.503925146,626,881,785,808,652,630,652,0.4543091491,0.00463012488189,0.049639926028,0.999999820592,0.000247373653067,-0.000545419873516,1.18268110774e-05,1793245067046753024
+245,4.083333333,HOLD_POSE2,764,745,714,680,658,626,880,786,808,652,630,652,0.454309798801,0.00463216212064,0.0496384075732,0.999999819692,0.000248357354015,-0.000546641636471,1.084356264e-05,1793245067090166016
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+247,4.116666667,HOLD_POSE2,764,745.151732782,713.151732782,680.848267218,658,626,880.151732782,785,807,652,630,652,0.454310452621,0.00462975226349,0.0496400339955,0.9999998207,0.000245516017296,-0.000546070908928,1.13194728708e-05,1793245067123499776
+248,4.133333333,HOLD_POSE2,764,745.740712891,713.740712891,680.259287109,658,626,880.740712891,785,807,652,630,652,0.454310209984,0.00463032099307,0.0496389863186,0.999999820677,0.000245784468908,-0.000545997352109,1.1081584157e-05,1793245067140165888
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+250,4.166666667,HOLD_POSE2,764,746,714,680,658,626,880.094167766,785,807.905832234,652,630,652,0.454309368432,0.00463203788571,0.0496374212219,0.999999819586,0.00024584260936,-0.000547976816494,1.04878777168e-05,1793245067173499136
+251,4.183333333,HOLD_POSE2,764,745.518062451,714,680,658,626,880.481937549,785,808,652,630,651.518062451,0.454310703869,0.00463160488992,0.0496390382373,0.999999820456,0.000246143330511,-0.000546245004855,1.08367317929e-05,1793245067190166016
+252,4.200000000,HOLD_POSE2,764,745,714,680,658,626,881,785,807.943023922,652,630,651,0.45431212634,0.00463095548826,0.049640723305,0.999999821444,0.000246388313193,-0.00054431408057,1.1271572816e-05,1793245067206832896
+253,4.216666667,HOLD_POSE2,764,745,714,680,658,626,881,785,807.36951182,652,630,651,0.454311168345,0.00463075350206,0.0496389465526,0.9999998208,0.000245532824687,-0.000545879548547,1.13238578675e-05,1793245067223499520
+254,4.233333333,HOLD_POSE2,764,745.211430883,714,680.211430883,658,626,881,785,807,652,630,651.211430883,0.454310616292,0.00463059616282,0.0496376571403,0.99999982021,0.000245014073655,-0.000547191521532,1.13475016742e-05,1793245067240166144
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+256,4.266666667,HOLD_POSE2,764,745.611696492,713.611696492,681,658,626,881,785,807.388303508,652,630,652,0.454310873126,0.00463088335748,0.0496376749858,0.999999819633,0.000246039695461,-0.000547785799638,1.13900471763e-05,1793245067273499136
+257,4.283333333,HOLD_POSE2,764,745.035013949,713.035013949,681,658,626,881,785,807.964986051,652,630,652,0.45431089352,0.00463146054395,0.0496385027541,0.999999819737,0.000247383208893,-0.000546988119001,1.15088632819e-05,1793245067290165760
+258,4.300000000,HOLD_POSE2,764,745,713.539745035,680.460254965,658.539745035,626,881,785,808,652,630.539745035,652,0.454311531112,0.0046315284864,0.04963819972,0.999999819526,0.000247891572682,-0.00054714598913,1.13790118502e-05,1793245067306832384
+259,4.316666667,HOLD_POSE2,764,745,714,680,658.882608436,626,881,785,807.882608436,652,630.882608436,652,0.454311910811,0.0046318596529,0.0496377482023,0.99999981929,0.000248150024266,-0.000547464632998,1.11592087609e-05,1793245067323499264
+260,4.333333333,HOLD_POSE2,764,745,714,680,658.292842139,626,881,785,807.292842139,652,630.292842139,652,0.454311092226,0.00463338247249,0.0496369933313,0.999999819034,0.000247620079115,-0.000548181669847,1.06421279297e-05,1793245067340166400
+261,4.350000000,HOLD_POSE2,764,745.291640229,714,680.291640229,658,626,880.708359771,785,807,652,630,652,0.454310872526,0.00463334626299,0.049636956624,0.999999819273,0.00024649813197,-0.000548254072219,1.04521955116e-05,1793245067356833024
+262,4.366666667,HOLD_POSE2,764,745.870911273,714,680.870911273,658,626,880.129088727,785,807,652,630,652,0.454311243477,0.00463177245754,0.0496376282071,0.99999982,0.00024479232159,-0.000547690702381,1.05849139649e-05,1793245067373499392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,626,881,785,807,652,630,652,0.454311605871,0.0046318584326,0.049637947573,0.999999819043,0.000246537081198,-0.000548641184765,1.11953281965e-05,1793245067406250240
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,626,881,785,807,652,630,652,0.454311370509,0.0046333189663,0.049638269239,0.999999818806,0.00024734997999,-0.000548717838651,1.07146704087e-05,1793245067422916864
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745.156252002,713.843747998,680.156252002,658,626,881,785,807.156252002,652,630,652,0.454311164466,0.00463412802816,0.0496382849905,0.999999818746,0.000247746261319,-0.000548654499867,1.04225159675e-05,1793245067439583488
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745.747095646,713.252904354,680.747095646,658,626,881,785,807.747095646,652,630,652,0.454311039973,0.00463312511858,0.0496374498863,0.99999981918,0.000246983783484,-0.000548201792368,1.06546553656e-05,1793245067456249600
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,746,713,680.66896173,658.33103827,626,881,785,808,652,630,651.66896173,0.45431086981,0.00463268820883,0.0496372402116,0.999999819483,0.000245897268316,-0.000548137008529,1.06715794981e-05,1793245067472916480
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,746,713,680.090183673,658.909816327,626,881,785,808,652,630,651.090183673,0.454310665469,0.00463267487758,0.0496374985908,0.999999819687,0.000244568252714,-0.000548362535941,1.05274425279e-05,1793245067489583360
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745.516083753,713,680,658.516083753,626,880.516083753,785,807.516083753,652,630,651.483916247,0.454310678459,0.00463261285224,0.0496369520359,0.999999818842,0.000245645955227,-0.00054941756261,1.06981285502e-05,1793245067506249984
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745,713.058696748,680,658,626,880.058696748,785.058696748,807.058696748,652,630.058696748,652,0.454310142341,0.00463273970654,0.0496360783811,0.999999817648,0.000247210173832,-0.000550882569491,1.08872332567e-05,1793245067522916352
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713.647420007,680,658,626,880.647420007,785.647420007,807.647420007,652,630.647420007,652,0.454304285594,0.00463465328692,0.0496335926426,0.999999815075,0.000249156261879,-0.000554667117852,1.07179348778e-05,1793245067539582720
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745.39353076,714,680.60646924,658,626,881.39353076,785,807.39353076,652,630,652,0.454236540963,0.0046333374029,0.0496037908255,0.999999785546,0.000248792197888,-0.000605715914306,1.08910295716e-05,1793245067589582592
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745.968290505,714,680.031709495,658,626,881.968290505,785,807.968290505,652,630,652,0.454190174692,0.00463440252155,0.0495838260734,0.999999763402,0.000250713349991,-0.000640487244271,1.07020307282e-05,1793245067606249472
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,746,714,680.542411351,658,626,881.457588649,785,807.457588649,652,630,652,0.454123516972,0.00463596656677,0.0495619912421,0.999999742565,0.000251516971366,-0.000671958000456,8.98989318425e-06,1793245067622916096
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,663,633,878.942552761,786,806,652.942552761,630,651.942552761,0.41788607445,0.00461438855438,0.0497805629509,0.999999917232,0.000148139864222,-0.000377312042009,-3.501828945e-05,1793245068639582464
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,745.517982143,713.482017857,679,662.482017857,633,879,786,806,652.482017857,630,651.482017857,0.417081302206,0.00460811022874,0.0497825524807,0.999999922441,0.000151405929502,-0.000361772386933,-3.62689188441e-05,1793245068656249344
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,745.904442495,713,679.095557505,662.095557505,633,879,786,806,652,630,651.095557505,0.416295846404,0.00460152604244,0.0497905559161,0.999999931611,0.000151155894846,-0.000335435572209,-3.7578875808e-05,1793245068672916480
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,745.315382714,713,679.684617286,662.684617286,633,879,786,806,652,630,651.684617286,0.415547178054,0.00459872687168,0.0498156994654,0.999999947502,0.000143620881386,-0.000287913957648,-3.83908654662e-05,1793245068689582592
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.73073729,662.73073729,633,879,786,806,652.26926271,630,652,0.414769705256,0.00459785999547,0.0498199373555,0.999999950989,0.000132953067169,-0.000280754215876,-3.90280832484e-05,1793245068706248960
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.151178968,662.151178968,633,879,786,806,652.848821032,630,652,0.413959038556,0.00459921987608,0.0498000837745,0.999999940945,0.000118675045818,-0.000320107089887,-3.94638956686e-05,1793245068722915584
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,662.424510993,633,879,786,806,653,630,652,0.413183403917,0.00460184927181,0.0497866901513,0.999999932801,0.000127179922865,-0.000341505012043,-3.99601456514e-05,1793245068739582464
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,662.998835821,633,879,786,806,653,630,652,0.412420132349,0.0046049266912,0.0497755763051,0.999999925282,0.000143725093153,-0.000356566469708,-4.04777246394e-05,1793245068756249088
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633,879,786,806,653,630,652,0.411762780277,0.00461024851195,0.0498022630455,0.999999934554,0.000156553306725,-0.000323712954537,-3.99191464235e-05,1793245068772915712
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,663.164008361,633,879,785.835991639,806,653,630,652,0.411095208894,0.00461350051835,0.0498190773865,0.999999940244,0.000158075832086,-0.000304967680445,-3.89750344321e-05,1793245068789582336
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,663.750447658,633,879,785.249552342,806,653,630,652,0.410400761703,0.00461140963145,0.0498102659619,0.999999938695,0.000130498117082,-0.000322811203392,-3.70435457549e-05,1793245068806249728
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,745,713,679,663.669922954,633,879.330077046,785.330077046,806,653,630,652,0.409745832806,0.00460735641627,0.0497987633662,0.999999934394,0.000121003175858,-0.000339390721965,-3.72156488606e-05,1793245068822916352
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,663.095338109,633,879.904661891,785.904661891,806,653,630,652,0.409120177513,0.00460184958735,0.0497852672597,0.999999928417,0.000124903227807,-0.000355033915987,-3.89460082753e-05,1793245068839582720
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633,879.521727567,786,806,652.521727567,630,652,0.408549510875,0.00459514447422,0.0498027183049,0.999999938367,0.000119917039938,-0.000327620013157,-3.93712361645e-05,1793245068856249344
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,745.053536942,713,679,663,633,879,785.946463058,805.946463058,652.053536942,630,652,0.407993393292,0.00458891052166,0.0498251680348,0.999999949615,0.000113754479648,-0.000293711487838,-3.95392389452e-05,1793245068872915968
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745.647452258,713,679,663,633,879,785.352547742,805.352547742,652.647452258,630,652,0.407473713261,0.00458983834496,0.0498359321215,0.999999953365,0.000113561212891,-0.000280705371423,-3.97315569982e-05,1793245068889582592
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.765389109,745.765389109,713,679,663,633,879.234610891,785.234610891,805,652.765389109,630,652,0.40694616134,0.00459158399966,0.0498306235138,0.999999949412,0.000114492360378,-0.000294067125204,-3.98890732723e-05,1793245068906249216
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.188099512,745.188099512,713,679,663,633,879.811900488,785.811900488,805,652.188099512,630,652,0.406407111581,0.0045945241999,0.0498018387141,0.99999993251,0.000117065856067,-0.000345942469364,-3.99957570879e-05,1793245068922915840
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763,745,713,679.386972179,663,633,879.226055642,786,805.386972179,652.386972179,630.386972179,652,0.405910243714,0.0045970698804,0.0497816610584,0.999999920355,0.000122008551109,-0.000377826820234,-4.06276206918e-05,1793245068939582464
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,745,713,679.960971986,663,633,878.078056028,786,805.960971986,652.960971986,630.960971986,652,0.40543376274,0.00459942488572,0.0497656433212,0.999999910914,0.000128096304803,-0.000400049323549,-4.15133091059e-05,1793245068956249344
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.539483415,745,713,679.460516585,663,633.539483415,878.539483415,786,805.460516585,653,630.460516585,652,0.405026938873,0.00460514922595,0.0497796831847,0.999999918869,0.000135610246695,-0.0003768779886,-4.28407674144e-05,1793245068972915968
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.8794535,879,786,805,653,630,652,0.404640690108,0.00460937880667,0.049798719598,0.999999928973,0.000141413527995,-0.0003466172374,-4.37257654193e-05,1793245068989582848
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.289740206,879,786,805,653,630,652,0.404314741426,0.00460683411686,0.0498286681899,0.999999943767,0.000140153979185,-0.000301653360361,-4.27632753178e-05,1793245069006249216
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633,879,785.126865242,805.873134758,653,630,652,0.403675396269,0.00461046984926,0.0498578111286,0.999999955462,0.000143606861241,-0.000257932440996,-4.38732225322e-05,1793245069039582208
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,713.448639112,679,663,633,878.551360888,785.448639112,806,653,630,652,0.403363256812,0.00461431522465,0.0498512998861,0.999999950343,0.000148781062221,-0.000274232615499,-4.44450971326e-05,1793245069056248832
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.976238463,745,713.976238463,679,662.976238463,633,878,786,805.976238463,653,630,652,0.403054452444,0.00461820371738,0.0498402918948,0.999999942416,0.000154479116432,-0.000298813604691,-4.48817509947e-05,1793245069072915712
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.388606718,745,713.388606718,679,662.388606718,633,878,786,805.388606718,653,630,652,0.402788219942,0.00461907285915,0.0498296709318,0.999999936927,0.000156116939608,-0.000315789619148,-4.52894004764e-05,1793245069089583104
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.196060823,745,713,679,662.196060823,633.196060823,878.196060823,786,805.196060823,653,630,652.196060823,0.402535531547,0.00461992909523,0.0498204595104,0.999999931676,0.000155723732333,-0.000332163303296,-4.5439920975e-05,1793245069106249984
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.774940534,745,713,679,662.774940534,633.774940534,878.774940534,786,805.774940534,653,630,652.774940534,0.402309288754,0.00462076013217,0.0498140002927,0.999999927198,0.000151364833022,-0.000347360904502,-4.50883838143e-05,1793245069122916608
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.647039461,745.352960539,713,679,663,633.647039461,879,786,806,653,630,652.647039461,0.402117242088,0.00461937626906,0.0498123544634,0.999999931727,0.000117624060008,-0.000347558016635,-4.37419957281e-05,1793245069139583232
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.069566245,745.930433755,713,679,663,633.069566245,879,786,806,653,630,652.069566245,0.401946947023,0.00461658354274,0.0498137703543,0.999999939809,6.51939360644e-05,-0.000338213553057,-4.17627984009e-05,1793245069156249344
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.505780515,745.494219485,713,679,663,633,878.494219485,786,805.494219485,653,630,652,0.401806387338,0.00461157898797,0.0498201262069,0.999999942305,9.83519827231e-05,-0.000323393893597,-3.36696938801e-05,1793245069172915968
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,662.917274587,633,878.165450827,786,805.082725413,653,630,651.917274587,0.40167386462,0.00460401079865,0.0498270696228,0.999999943254,0.000133506618715,-0.000308226369672,-2.57909607766e-05,1793245069189582848
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,662.328777981,633,879.342444037,786,805.671222019,653,630,651.328777981,0.401565578482,0.00458262108739,0.0498334686275,0.999999950077,0.000109197164035,-0.000295516942477,-2.43426055085e-05,1793245069206249472
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.744141182,745.255858818,713.255858818,679,662.255858818,633.255858818,879.744141182,786,806,653,630,651.255858818,0.401464411863,0.00457260910133,0.0498363316188,0.999999953499,9.76570790806e-05,-0.00028788006327,-2.42769584711e-05,1793245069222915840
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.164390548,745.835609452,713.835609452,679,662.835609452,633.835609452,879.164390548,786,806,653,630,651.835609452,0.401372257853,0.00457700018503,0.0498347183683,0.999999953344,0.000102281747673,-0.000286664526266,-2.59616826319e-05,1793245069239582464
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.412151167,745.587848833,713.587848833,678.587848833,663,633.587848833,879.412151167,785.587848833,806,653,630,652,0.401294398895,0.00457940071227,0.0498336950482,0.9999999527,0.000104722189141,-0.000287896196477,-2.73598255754e-05,1793245069256249600
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.987422847,745.012577153,713.012577153,678.012577153,663,633.012577153,879.987422847,785.012577153,806,653,630,652,0.401222197611,0.00458101342022,0.0498329052098,0.999999951862,0.000106298160666,-0.000290096418379,-2.86445458339e-05,1793245069272916736
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,713,678.548944107,663,633,878.902111785,785.548944107,805.451055893,653,630,652,0.401173060784,0.00457990545644,0.0498337096473,0.999999952926,0.000104447330162,-0.000287109715165,-2.84122623579e-05,1793245069289583104
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.880369259,745,713.119630741,679,663,633.119630741,878,786,805.119630741,653,630,652,0.401127683014,0.00457968070855,0.0498351618041,0.999999954179,0.000103640417313,-0.000283001530137,-2.84841673853e-05,1793245069306249472
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.270895544,745,713.729104456,679,663,633.729104456,878,786,805.729104456,653,630,652,0.401095586295,0.00458332139881,0.0498391202171,0.999999956031,0.000107421582355,-0.000274776014709,-2.99404488622e-05,1793245069322915840
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.319035544,745,714,679,663,634,878.319035544,786,806,653,630,652,0.401069360666,0.00458356665067,0.04984198317,0.999999957485,0.000107901102057,-0.000269198520558,-3.03319608833e-05,1793245069339582464
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.893330687,745,714,679,663,634,878.893330687,786,806,653,630,652,0.40104783248,0.00458109522052,0.0498439696482,0.999999958655,0.000105738983395,-0.000265739701214,-2.9871553491e-05,1793245069356249344
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,713.529314342,679.470685658,663,633.529314342,878.529314342,786,805.529314342,653,630,652,0.401030877347,0.00458304021197,0.049843493325,0.999999958263,0.000107436561141,-0.000266470672589,-3.04050223194e-05,1793245069372915968
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.95039772,745,713,679.95039772,662.95039772,633,878,786,805,653,630,652,0.401015805167,0.00458561827882,0.0498426541248,0.999999957665,0.000109809677772,-0.000267666841954,-3.10754912293e-05,1793245069389582592
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.362100906,745,713,679.362100906,662.362100906,633,878,786,805,653,630,652,0.401009853461,0.00458413083726,0.049843975125,0.999999958756,0.000109957636766,-0.000263535743633,-3.07716711422e-05,1793245069406249472
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.222847451,745.222847451,713,679,662.222847451,633,878.222847451,786,805.222847451,653,630,652,0.401004864056,0.00458265688859,0.0498451312528,0.999999959614,0.000109287747794,-0.000260573118251,-3.04786395544e-05,1793245069422916352
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.802435466,745.802435466,713,679,662.802435466,633,878.802435466,786,805.802435466,653,630,652,0.401001415129,0.00458120453981,0.0498460234478,0.999999960121,0.000107308624432,-0.00025948101798,-3.02028785233e-05,1793245069439582720
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.621817848,745.621817848,713,679,663,633,878.621817848,785.621817848,806,653,630,652,0.400998832785,0.00458180543619,0.0498462084008,0.999999960431,0.000106466862542,-0.000258583431513,-3.06139085622e-05,1793245069456249344
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.048057733,745.048057733,713,679,663,633,878.048057733,785.048057733,806,653,630,652,0.400996698597,0.0045834681741,0.0498460276014,0.99999996064,0.00010621329039,-0.000257786438441,-3.13801145401e-05,1793245069472915712
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763,745,713,679,663,633.52436071,878,785.52436071,806,653,630,652,0.400995832374,0.00458346063423,0.0498466983405,0.999999960686,0.00010735770152,-0.000257162942662,-3.11317117293e-05,1793245069489582336
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.100063635,745,713,679,663,633.899936365,878.100063635,786,805.899936365,653,630,652,0.400995086101,0.00458331718925,0.0498473530586,0.99999996076,0.000108193460647,-0.000256555995773,-3.08587741078e-05,1793245069506248960
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.692532605,745,713,679,663,633.307467395,878.692532605,786,805.307467395,653,630,652,0.400994359695,0.00458325634395,0.049847545873,0.999999961054,0.000106881481143,-0.00025595243674,-3.09215266661e-05,1793245069522915584
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.278510012,878.721489988,785.721489988,805,653,630,652.278510012,0.400993938753,0.00458326264276,0.0498477199265,0.999999961157,0.000106512586574,-0.000255682189783,-3.11202564094e-05,1793245069539582464
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,663,633.857484217,878.142515783,785.142515783,805,653,630,652.857484217,0.400993847355,0.00458334137846,0.0498478737403,0.999999961054,0.000107161117573,-0.000255771528905,-3.14656820538e-05,1793245069556248832
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..055ced21dd0674e47a4d1ad97efcd0a4393fcb5a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,408 @@
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+393,6.550000000,pose2_to_pose3_retreat,0.575670265075,0.00987779015102,1.04005107345,0.546241898983,0.0185534778024,1.03971755168
+394,6.566666667,pose2_to_pose3_retreat,0.575670231052,0.00987778417967,1.04005107609,0.546241865043,0.0185534720861,1.03971755359
+395,6.583333333,pose2_to_pose3_retreat,0.575670199044,0.00987777856224,1.04005107857,0.546241833114,0.0185534667085,1.03971755539
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3fb881c8b0702ef788d0bec3410283aa94143611
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b19aed1fa9d76d9eccf674ed7f0d466d3ab1bb82725ada2fafe8c94e7f322d50
+size 25757545
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..20c4b0426092b44c1064f98636f1e203d0558d48
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+17,0.283333333,BASELINE,764,745.095087291,714,679,658,633.095087291,879,785,805,652,630.904912709,651.904912709,0.401032852493,0.00448167303552,0.0698584690862,0.999999989393,1.50224920279e-05,-0.000143619529876,1.90302242072e-05,1793245071625660416
+18,0.300000000,BASELINE,764,745,714,679,658,633,879,785,804.520664851,652,630.520664851,652,0.401032409897,0.00448236417579,0.0698585356582,0.999999989292,1.64959132897e-05,-0.000144167615542,1.89651067376e-05,1793245071642327040
+19,0.316666667,BASELINE,764,745,713.944932043,679,658,633,878.944932043,785.055067957,804.055067957,652,630,651.944932043,0.401031987974,0.00448345393711,0.0698585343333,0.999999989178,1.86037594635e-05,-0.000144719045766,1.88436332778e-05,1793245071658993408
+20,0.333333333,BASELINE,764,745,713.353963319,679,658,633,878.353963319,785.646036681,804.646036681,652,630,651.353963319,0.401033456454,0.00448264162206,0.069858967668,0.999999989508,1.59585239469e-05,-0.000142740797882,1.88171294699e-05,1793245071675659776
+21,0.350000000,BASELINE,764,745.23224985,713.23224985,679.23224985,658,633,878.23224985,786,805,652,630,651.23224985,0.401033624342,0.00448239793617,0.0698586656105,0.999999989524,1.55574733465e-05,-0.000142680587824,1.87801083346e-05,1793245071692326656
+22,0.366666667,BASELINE,764,745.811360631,713.811360631,679.811360631,658,633,878.811360631,786,805,652,630,651.811360631,0.401031849817,0.00448300348767,0.0698572652582,0.99999998907,1.8508072399e-05,-0.000145484932602,1.87273797646e-05,1793245071708993280
+23,0.383333333,BASELINE,764,745.613271148,714,679.613271148,658,633,878.613271148,785.613271148,805,652,630,652,0.401031500027,0.00448271415708,0.0698570093063,0.999999988972,1.87381996237e-05,-0.000146108757457,1.88812238966e-05,1793245071725659904
+24,0.400000000,BASELINE,764,745.039710934,714,679.039710934,658,633,878.039710934,785.039710934,805,652,630,652,0.401031838536,0.00448199250288,0.0698573062221,0.99999998905,1.76540484966e-05,-0.00014567915842,1.91348647144e-05,1793245071742326272
+25,0.416666667,BASELINE,764,745,714,679,658,633,878.535493099,785.535493099,804.464506901,652,630,652,0.401032465898,0.00448171159487,0.0698581879037,0.999999989205,1.85097069446e-05,-0.00014448803743,1.92306843892e-05,1793245071758993152
+26,0.433333333,BASELINE,764,745,714,679,658,633,879,785.885808591,804,652,630,652,0.401032789196,0.00448157156768,0.0698586408788,0.99999998929,1.87312762487e-05,-0.000143866032381,1.92643095937e-05,1793245071775659776
+27,0.450000000,BASELINE,764,745,714,679,658,633,879,785.292976134,804,652,630,652,0.401031747932,0.00448188462987,0.0698571145749,0.999999989056,1.5690196896e-05,-0.000145866953145,1.90864501849e-05,1793245071792326656
+28,0.466666667,BASELINE,764,745,714,679,658,633.290659363,879,785,804.290659363,652,630,652,0.401031831854,0.0044820167546,0.0698572184988,0.999999989094,1.50496435373e-05,-0.00014570330639,1.88935656804e-05,1793245071808993280
+29,0.483333333,BASELINE,764,745,714,679,658,633.865308892,879,785,804.865308892,652,630,652,0.401033015143,0.00448197209348,0.069858915245,0.9999999894,1.67545361237e-05,-0.000143424758145,1.86860008425e-05,1793245071825659904
+30,0.500000000,BASELINE,764,745,714,679.441191159,658,633.558808841,879,785.441191159,805,652,630,652,0.401031995036,0.0044820549046,0.0698578039019,0.999999989191,1.65017722439e-05,-0.000144912545919,1.85754600723e-05,1793245071842326272
+31,0.516666667,BASELINE,764,745,714,679.982127284,658,633.017872716,879,785.982127284,805,652,630,652,0.401030391673,0.004482164394,0.0698559630538,0.999999988843,1.57113595173e-05,-0.000147392299651,1.85035618837e-05,1793245071858993152
+32,0.533333333,BASELINE,764,745,714,679.391935604,658,633.608064396,879,785.391935604,805,652,630,652,0.401031711963,0.00448187851806,0.0698582907433,0.999999989211,1.68959972218e-05,-0.00014471398361,1.87179122149e-05,1793245071875659776
+33,0.550000000,BASELINE,764,745.194600278,714,679,658,633.805399722,879,785.194600278,804.805399722,652,630,652,0.40103273856,0.00448163764899,0.0698597863777,0.999999989458,1.74291475886e-05,-0.00014292056101,1.88299782413e-05,1793245071892326400
+34,0.566666667,BASELINE,764,745.773908888,714,679,658,633.226091112,879,785.773908888,804.226091112,652,630,652,0.401033184548,0.00448148575475,0.0698596371091,0.999999989479,1.6674362316e-05,-0.000142876498402,1.87398368018e-05,1793245071908993024
+35,0.583333333,BASELINE,764,745.647327592,714,679,658,633,879,786,804.352672408,652.352672408,630,652,0.401033132057,0.00448156002904,0.0698588657954,0.999999989368,1.6656590229e-05,-0.000143635259875,1.88476197348e-05,1793245071925659648
+36,0.600000000,BASELINE,764,745.068912924,714,679,658,633,879,786,804.931087076,652.931087076,630,652,0.401032760496,0.00448177907165,0.0698576963164,0.999999989172,1.71105732129e-05,-0.000144907901417,1.9082092171e-05,1793245071942326272
+37,0.616666667,BASELINE,764.505768702,745.505768702,714,679,658,633.505768702,879,786,805,652.494231298,630,652,0.401032954758,0.00448238688394,0.069858058043,0.999999989191,1.84789123133e-05,-0.000144615575936,1.90311830745e-05,1793245071958993152
+38,0.633333333,BASELINE,764.918048485,745.918048485,714,679,658,633.918048485,878.918048485,786,805,652,630,652,0.401032918674,0.00448275827985,0.0698584041834,0.999999989209,1.93191115732e-05,-0.0001443951411,1.89634355143e-05,1793245071975659776
+39,0.650000000,BASELINE,764.329463469,745.329463469,714,679,658,633.329463469,878.329463469,786,805,652,630,652,0.401030985447,0.00448134304782,0.0698573736283,0.999999989041,1.61297390216e-05,-0.000145927712564,1.90302166473e-05,1793245071992326400
+40,0.666666667,BASELINE,764,745,714,679,657.744224425,633,878.255775575,785.744224425,805,652,630,652,0.401029122307,0.00448146396078,0.0698561603189,0.999999988792,1.5711045807e-05,-0.000147667245329,1.90744528394e-05,1793245072008993280
+41,0.683333333,BASELINE,764,745,714,679,657.163239693,633,878.836760307,785.163239693,805,652,630,652,0.40102734828,0.00448353802519,0.069854714644,0.99999998844,1.8815168786e-05,-0.000149669921623,1.90900239713e-05,1793245072025659648
+42,0.700000000,BASELINE,764,745,714,679,657.412545622,633,878.587454378,785,804.587454378,652,630,652,0.401028548982,0.00448435337316,0.0698557910565,0.999999988618,1.94922314879e-05,-0.000148420455247,1.88268752328e-05,1793245072042326784
+43,0.716666667,BASELINE,764,745,714,679,657.986299178,633,878.013700822,785,804.013700822,652,630,652,0.401030912101,0.00448467686013,0.0698578530098,0.999999989002,1.92208865821e-05,-0.000145900168878,1.84548128307e-05,1793245072058993664
+44,0.733333333,BASELINE,763.459279993,745,714,679,658,633,878,785,804.540720007,652,630,652,0.401030480599,0.00448391813771,0.0698574593011,0.999999988939,1.82364759934e-05,-0.000146448121209,1.84883435632e-05,1793245072075660032
+45,0.750000000,BASELINE,763.105113897,745,714,679,657.894886103,633.105113897,878.105113897,785.105113897,804.894886103,652.105113897,630,652,0.401030047874,0.00448326381512,0.0698570201783,0.999999988854,1.73034769288e-05,-0.000147141106268,1.85156551634e-05,1793245072092326656
+46,0.766666667,BASELINE,763.720186265,745,714,679,657.279813735,633.720186265,878.720186265,785.720186265,804.279813735,652.720186265,630,652,0.401029940888,0.00448324442791,0.0698566521774,0.999999988712,1.67045299122e-05,-0.000148173564223,1.84646572897e-05,1793245072108993280
+47,0.783333333,BASELINE,764,745,714,679,657.316116322,633.683883678,879,786,804.632232644,652.683883678,630,652,0.401030946775,0.00448251366486,0.0698574790212,0.999999988919,1.67772248612e-05,-0.000146734650325,1.86810471399e-05,1793245072125659904
+48,0.800000000,BASELINE,764,745,714,679,657.896069878,633.103930122,879,786,805.792139755,652.103930122,630,652,0.40103288149,0.0044811891728,0.0698593031072,0.999999989408,1.74104860474e-05,-0.000143233078377,1.91206043198e-05,1793245072142326528
+49,0.816666667,BASELINE,764.471030836,745,714,679,658,633.471030836,879,785.528969164,805.528969164,652,630,651.528969164,0.401033708508,0.00448148206786,0.0698598532709,0.999999989516,1.77447954124e-05,-0.000142430609563,1.91551845876e-05,1793245072158993152
+50,0.833333333,BASELINE,764.955027185,745,714,679,658,633.955027185,879,785,805,652,630,651.044972815,0.401034159127,0.00448201732901,0.0698600617741,0.999999989532,1.78589846987e-05,-0.000142314156832,1.90888381155e-05,1793245072175660032
+51,0.850000000,BASELINE,764.380247696,745,714,679,658,633.380247696,879,785,805,652,630,651.619752304,0.401033024601,0.00448124779767,0.069859521913,0.999999989419,1.61489488555e-05,-0.000143337138868,1.88751376015e-05,1793245072192326656
+52,0.866666667,BASELINE,764,745,714,679,658,633,878.798779672,785,805,652,630,652,0.401032426244,0.0044810219852,0.0698592425979,0.999999989355,1.57738377828e-05,-0.000143835148723,1.87904109929e-05,1793245072208993280
+53,0.883333333,BASELINE,764,745,714,679,658,633,878.204237724,785,805,652,630,652,0.401032875929,0.00448185896989,0.0698594725671,0.99999998939,1.80080793415e-05,-0.000143307005191,1.89577872822e-05,1793245072225659904
+54,0.900000000,BASELINE,764,745,714,679,657.621985494,633,878,785.378014506,805,652,630,652,0.401032370707,0.0044823910248,0.069859507403,0.999999989339,1.86297946515e-05,-0.000143599582935,1.88406440848e-05,1793245072242326528
+55,0.916666667,BASELINE,764,745,714,679,657.046164224,633,878,785.953835776,805,652,630,652,0.401031365803,0.00448276351655,0.0698594401299,0.999999989244,1.84077100025e-05,-0.000144321626277,1.85746180274e-05,1793245072258993152
+56,0.933333333,BASELINE,764,745,714,679,657.52851958,633,878.52851958,786,805,652,630,651.47148042,0.401031135614,0.0044826305639,0.0698587479369,0.999999989071,1.81526680776e-05,-0.000145513510494,1.88447091909e-05,1793245072275659776
+57,0.950000000,BASELINE,764,745,714,679.106244431,658,633,878.893755569,785.893755569,805,652,630,651.106244431,0.401031033828,0.00448254560114,0.0698581458177,0.999999988943,1.8001481047e-05,-0.00014638002611,1.90531310858e-05,1793245072292326656
+58,0.966666667,BASELINE,764,745,714,679.698328717,658,633,878.301671283,785.301671283,805,652,630,651.698328717,0.401031210438,0.00448288154076,0.069858204663,0.99999998906,1.83383425287e-05,-0.00014557141801,1.87658717014e-05,1793245072308993280
+59,0.983333333,BASELINE,764,745,713.716962755,679.716962755,658,633,878,785.283037245,805,652,630.283037245,652,0.401030884099,0.00448321393595,0.0698581882007,0.999999989085,1.88103646754e-05,-0.000145350737494,1.86943639588e-05,1793245072325660160
+60,1.000000000,BASELINE,764,745,713.139915846,679.139915846,658,633,878,785.860084154,805,652,630.860084154,652,0.401030035313,0.00448354264933,0.0698580935114,0.999999989014,1.94227872611e-05,-0.000145740776476,1.88469718021e-05,1793245072342327040
+61,1.016666667,BASELINE,764,745,713.435863119,679,658,633,878.435863119,785.564136881,805,652.435863119,630.564136881,652,0.401030943618,0.00448159475816,0.0698588449894,0.999999989201,1.7175656486e-05,-0.000144714428477,1.8988628008e-05,1793245072358993408
+62,1.033333333,BASELINE,764,745,714,679,658,633.011504228,879,785,805,652.988495772,630,652,0.401032366312,0.0044790002608,0.0698598309907,0.999999989453,1.40650568715e-05,-0.000143287488253,1.91204688324e-05,1793245072375660032
+63,1.050000000,BASELINE,764,745,714,679,658,633.600601834,879,785,805,652.399398166,630,652,0.401031378266,0.00448052694425,0.069858993685,0.999999989287,1.35556766672e-05,-0.000144509541364,1.89355031791e-05,1793245072392326912
+64,1.066666667,BASELINE,764,745,714,679,657.813509392,633.813509392,879,785.186490608,805,652,630,652,0.401030821169,0.00448173834703,0.0698584895099,0.999999989137,1.41984705211e-05,-0.000145493037634,1.886416825e-05,1793245072408993280
+65,1.083333333,BASELINE,764,745,714,679,657.23437661,633.23437661,879,785.76562339,805,652,630,652,0.401031171403,0.00448228594962,0.0698586867166,0.999999989016,1.72670816086e-05,-0.000145974270056,1.90320744112e-05,1793245072425659904
+66,1.100000000,BASELINE,764,745,714,679,657.341491171,633.341491171,879,786,805,652,630,651.658508829,0.401031808763,0.00448243884211,0.069859315786,0.999999989161,1.81784988264e-05,-0.00014486510899,1.89964657038e-05,1793245072442326528
+67,1.116666667,BASELINE,764,745,714,679,657.915139274,633.915139274,879,786,805,652,630,651.084860726,0.40103264132,0.00448232339769,0.06986023845,0.99999998949,1.76233845672e-05,-0.000142674746096,1.88225008874e-05,1793245072458993152
+68,1.133333333,BASELINE,764,745,714,679,658,633.508706749,878.508706749,785.508706749,805,652,630,651,0.401031515689,0.00448146092017,0.0698590685147,0.999999989273,1.67190429226e-05,-0.000144290277319,1.88507707972e-05,1793245072475659776
+69,1.150000000,BASELINE,764,745,714,679,658,633.069604295,878,785,804.930395705,652,630,651,0.40103035301,0.00448059233427,0.0698577565207,0.999999989013,1.56991596959e-05,-0.000146186845108,1.88896216108e-05,1793245072492326400
+70,1.166666667,BASELINE,764,745,714,679,658,633.660819688,878,785,804.339180312,652,630,651,0.401031460408,0.00448064990822,0.0698581025456,0.999999989176,1.42677801674e-05,-0.000145237786539,1.87446455081e-05,1793245072508993024
+71,1.183333333,BASELINE,764,745,714,679,658,634,878.246870151,785,804,652,630,651.246870151,0.401032410421,0.00448102013956,0.0698587833588,0.999999989311,1.49933241396e-05,-0.000144236068873,1.87067210072e-05,1793245072525659904
+72,1.200000000,BASELINE,764,745,714,679,658,634,878.825969906,785,804,652,630,651.825969906,0.40103314863,0.0044818111348,0.069859914719,0.999999989402,1.86215835161e-05,-0.000143163484218,1.88128629559e-05,1793245072542326784
+73,1.216666667,BASELINE,764.40169558,745,714,679,658,633.59830442,879,785.40169558,804,652,630,652,0.401032231361,0.00448129626296,0.0698593068535,0.999999989274,1.77664261658e-05,-0.000144155027339,1.88385157294e-05,1793245072558993664
+74,1.233333333,BASELINE,764.975971612,745,714,679,658,633.024028388,879,785.975971612,804,652,630,652,0.401030602849,0.00448022035146,0.0698579517643,0.999999989048,1.49850584884e-05,-0.00014603338164,1.8829587936e-05,1793245072575660032
+75,1.250000000,BASELINE,764.436915283,745,714,679,658,633,879,786,804.563084717,652,630,652,0.401030179837,0.004481532561,0.0698578463118,0.999999988941,1.59161095717e-05,-0.000146661834903,1.88590599748e-05,1793245072592326656
+76,1.266666667,BASELINE,764,745,714,679,657.851488316,633,878.851488316,785.851488316,805,652,630,652,0.401030159547,0.0044825593187,0.0698581566603,0.999999988941,1.69860923173e-05,-0.000146533448675,1.88903406045e-05,1793245072608993280
+77,1.283333333,BASELINE,764,745,714,679,657.272572607,633,878.272572607,785.272572607,805,652,630,652,0.401031153827,0.00448245657332,0.0698595138993,0.999999989238,1.79888867992e-05,-0.000144369836359,1.89220030158e-05,1793245072625659904
+78,1.300000000,BASELINE,764,745,714,679,657.305112256,633,878.305112256,785,804.694887744,652,630,652,0.401031797566,0.00448274108768,0.0698597295689,0.999999989324,1.85077598195e-05,-0.000143714697422,1.88508214378e-05,1793245072642326784
+79,1.316666667,BASELINE,764,745,714,679,657.881701929,633,878.881701929,785,804.118298071,652,630,652,0.401032129407,0.00448337017123,0.0698589295128,0.999999989227,1.85960576592e-05,-0.000144401741514,1.86881331418e-05,1793245072658993152
+80,1.333333333,BASELINE,764,745,713.541659657,679,657.541659657,633,879,785,804.458340343,652,630,651.541659657,0.40103204957,0.00448261074733,0.0698589403982,0.999999989296,1.67603136117e-05,-0.000144161979643,1.85543067491e-05,1793245072675659776
+81,1.350000000,BASELINE,764.035699512,745,713.035699512,679.035699512,657.035699512,633.035699512,879,785.035699512,805,652,630,651,0.40103187642,0.00448151232841,0.0698591526372,0.999999989394,1.46173105524e-05,-0.000143725898091,1.84590345658e-05,1793245072692326400
+82,1.366666667,BASELINE,764.624020415,745,713.624020415,679.624020415,657.624020415,633.624020415,879,785.624020415,805,652,630,651,0.401031903792,0.00448071450025,0.0698592414473,0.999999989342,1.5406042568e-05,-0.000143954136607,1.8845248368e-05,1793245072708993024
+83,1.383333333,BASELINE,764.791140516,745,714,679.582281032,658,633.791140516,879,785.791140516,805,652,629.791140516,651,0.401031485844,0.00447996929409,0.0698590503058,0.99999998926,1.57321543037e-05,-0.000144459583651,1.90889966438e-05,1793245072725659904
+84,1.400000000,BASELINE,764.212466418,745,714,678.424932835,658,633.212466418,879,785.212466418,805,652,629.212466418,651,0.401030279396,0.00447931726234,0.0698583634713,0.999999989123,1.52391329566e-05,-0.000145455866783,1.90804900576e-05,1793245072742326528
+85,1.416666667,BASELINE,764,745,714,678.727992628,658,633,879,785.363996314,805,652,629.363996314,651,0.401029528833,0.00448008055871,0.0698575182323,0.999999988884,1.68219094027e-05,-0.000146933639609,1.89620443558e-05,1793245072758993408
+86,1.433333333,BASELINE,764,745,714,679.878352041,658,633,879,785.939176021,805,652,629.939176021,651,0.401029042765,0.00448166500021,0.0698565810903,0.999999988577,1.96090223015e-05,-0.000148690763077,1.8779814175e-05,1793245072775660032
+87,1.450000000,BASELINE,764,745,714,679.487182279,659.025635443,633,879,785.487182279,805,652,630,651,0.40103001973,0.00448136136682,0.0698575413567,0.999999988894,1.83413198868e-05,-0.000146709144934,1.87374626341e-05,1793245072792326400
+88,1.466666667,BASELINE,764,745,714,679.089146656,659.821706688,633,879,785,805,652,630,651.089146656,0.401031050976,0.00448112120907,0.0698586047365,0.999999989217,1.69656283554e-05,-0.000144662071223,1.87141288901e-05,1793245072808993280
+89,1.483333333,BASELINE,764,745,714,679.681676527,658.636646945,633,879,785,805,652,630,651.681676527,0.401031411819,0.00448250021431,0.0698589833975,0.999999989194,1.76877031675e-05,-0.000144741883631,1.87047806498e-05,1793245072825660416
+90,1.500000000,BASELINE,764,745,714,679.732004934,658,633,879,785.267995066,805,652,630,652,0.40103168729,0.00448294834717,0.0698594463279,0.999999989239,1.85870385958e-05,-0.000144299999796,1.8806979088e-05,1793245072842327040
+91,1.516666667,BASELINE,764,745,714,679.15289711,658,633,879,785.84710289,805,652,630,652,0.401031863653,0.00448231583961,0.0698600070858,0.999999989364,1.96921540282e-05,-0.000143252484069,1.90386709362e-05,1793245072858993408
+92,1.533333333,BASELINE,764,745,714,679,658,633.423527642,878.576472358,785.576472358,804.576472358,652,630,652,0.401032192833,0.0044817819354,0.0698601790526,0.99999998937,1.75347557726e-05,-0.000143528306008,1.87675028955e-05,1793245072875659776
+93,1.550000000,BASELINE,764,745,714,679,658,633.998989926,878.001010074,785.001010074,804.001010074,652,630,652,0.401032576833,0.00448128340373,0.0698602115462,0.999999989323,1.42069762612e-05,-0.000144278856815,1.83159408921e-05,1793245072892326400
+94,1.566666667,BASELINE,764,745,714,679,658,633.448646528,878,785,804.551353472,652,630,652,0.401032582797,0.0044806760055,0.0698607519648,0.99999998951,1.46436956349e-05,-0.000142903806561,1.85266868558e-05,1793245072908993280
+95,1.583333333,BASELINE,764,745,714,679,658,633,878.116590116,785.116590116,805,652,630,652,0.401032381549,0.00448024139388,0.0698608498956,0.999999989605,1.52076485011e-05,-0.000142157251553,1.87361455769e-05,1793245072925659904
+96,1.600000000,BASELINE,764,745,714,679,658,633,878.737709422,785.737709422,805,652,630,652,0.40103128649,0.00448055532294,0.0698590291514,0.999999989299,1.62935447459e-05,-0.000144146604486,1.8934994524e-05,1793245072942326528
+97,1.616666667,BASELINE,764,745,714,679,657.669086138,633.330913862,879,786,804.669086138,652,630,652,0.401031437727,0.00448057266411,0.0698590858762,0.999999989327,1.56772599905e-05,-0.00014401082256,1.89782750013e-05,1793245072958993152
+98,1.633333333,BASELINE,764,745,714,679,657.096286471,633.903713529,879,786,804.096286471,652,630,652,0.401032499959,0.00448037321045,0.0698605149617,0.999999989598,1.38167437552e-05,-0.00014232164546,1.89078406633e-05,1793245072975659776
+99,1.650000000,BASELINE,764,745,714,679,657.478729908,633.521270092,878.521270092,785.521270092,804.478729908,652,630,651.521270092,0.401031759502,0.00448043045947,0.0698600566804,0.999999989381,1.33370186615e-05,-0.000143909686828,1.8730076478e-05,1793245072992326656
+100,1.666666667,BASELINE,764,745,714,679,658,633.055883087,878.055883087,785,805,652,630,651.055883087,0.401030894656,0.00448059944351,0.0698593920419,0.999999989121,1.3514206837e-05,-0.000145702086061,1.85878942154e-05,1793245073008993280
+101,1.683333333,BASELINE,764,745,714,679,658,633.649280905,878.649280905,785,805,652,630,651.649280905,0.401032337021,0.00448134423765,0.0698604107744,0.999999989432,1.73262885004e-05,-0.000143090608065,1.89965618712e-05,1793245073025659904
+102,1.700000000,BASELINE,764,745,714,679,658,634,879,785.236010243,805,652.236010243,630.236010243,652,0.401032862192,0.00448201204561,0.0698608138256,0.999999989544,1.98174528726e-05,-0.000141947039165,1.9244819368e-05,1793245073042326528
+103,1.716666667,BASELINE,764,745,714,679,658,634,879,785.813102248,805,652.813102248,630.813102248,652,0.401032061836,0.00448256859315,0.0698603270947,0.999999989393,2.03996285879e-05,-0.000142924891232,1.92612522311e-05,1793245073058993408
+104,1.733333333,BASELINE,764,745,714,679,658.388123875,634,879,786,805,652.611876125,630.611876125,652,0.401030717264,0.00448262628539,0.0698595068796,0.999999989215,1.91209228258e-05,-0.00014438067863,1.89236871812e-05,1793245073075660800
+105,1.750000000,BASELINE,764,745,714,679,658.96215387,634,879,786,805,652.03784613,630.03784613,652,0.401029112021,0.0044824450327,0.06985852693,0.999999989019,1.69508798988e-05,-0.000146065390716,1.84165618903e-05,1793245073092328192
+106,1.766666667,BASELINE,764.550748445,745,714,679,658.449251555,634,878.449251555,786,805,652.550748445,630,652,0.401030926184,0.00448117534615,0.0698592630867,0.999999989284,1.62540020679e-05,-0.000144267634379,1.88128249794e-05,1793245073108993792
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,880,785,805,653,631,652,0.401031642258,0.00448066320985,0.0698597185847,0.999999989361,1.76486643544e-05,-0.000143528729592,1.91332163039e-05,1793245073150609152
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,879.422886973,785.577113027,805,652.422886973,630.422886973,652,0.401032556255,0.0044805825256,0.0698599427288,0.999999989457,1.66969817339e-05,-0.000142975815821,1.90989126762e-05,1793245073167276288
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,879,786,805,652,630,652,0.401032469915,0.00448030639403,0.0698595589599,0.999999989389,1.57446846739e-05,-0.000143562059277,1.90938121825e-05,1793245073183943168
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,879,786,805,652,630,652,0.401029640657,0.00447949434685,0.0698575082963,0.999999988862,1.47907026096e-05,-0.000147271866256,1.91687865337e-05,1793245073200609792
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.312823304,879,785.687176696,805,652,630,652,0.401028708543,0.00447944066268,0.0698569922115,0.999999988728,1.43835202968e-05,-0.000148243787402,1.89785920431e-05,1793245073217276416
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.904296437,879,785.095703563,805,652,630,652,0.401029466326,0.0044800624964,0.0698578430649,0.999999988952,1.44634042415e-05,-0.000146776914886,1.85521963068e-05,1793245073233942784
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713.514225563,679,658,634,879,785,805,652,630.485774437,652,0.401030562839,0.00448061829655,0.0698589421173,0.999999989088,1.59303095013e-05,-0.000145683069156,1.8602177616e-05,1793245073250609152
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.064923464,679,658,634,879,785,805,652,630.935076536,652,0.401031601025,0.00448100982872,0.0698599248718,0.99999998916,1.71168922849e-05,-0.0001450380143,1.87311065631e-05,1793245073267275776
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713.640927565,679,658,634,879,785,805,652,630.359072435,652,0.401031665316,0.00448020858165,0.0698596149547,0.999999988869,1.39890129837e-05,-0.000147359002564,1.87576014028e-05,1793245073283942400
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785.220499684,804.779500316,652,630,652,0.401033529035,0.00447961675863,0.0698606892064,0.99999998847,1.31101268678e-05,-0.000150080808264,1.90826248079e-05,1793245073300609024
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785.805977643,804.194022357,652,630,652,0.401038371225,0.0044793715812,0.0698640545796,0.999999987899,1.59538480147e-05,-0.000153466059838,1.99017824395e-05,1793245073317275648
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679,657.61276781,634,879,785.61276781,804.38723219,652,630,652,0.401056279567,0.00447942918528,0.0698715193276,0.999999988295,1.64934091231e-05,-0.000150728811522,2.04724441151e-05,1793245073333942016
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,679,657.033606517,634,879,785.033606517,804.966393483,652,630,652,0.401080664064,0.00447963686102,0.0698810159041,0.999999989149,1.58909286326e-05,-0.000144956986476,2.09199404685e-05,1793245073350608896
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,744.455320202,714,679,657.544679798,633.455320202,879.544679798,785.544679798,805,652,630,652,0.40113062676,0.00447944535715,0.0698947036856,0.999999991428,1.45465856261e-05,-0.000128469028279,2.07107832803e-05,1793245073367275776
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744.122190081,714,679,658,633,879.877809919,786,805,652,630,652,0.401186200561,0.00447906795867,0.069907818749,0.99999999341,1.27570624911e-05,-0.000112258553504,2.03539839148e-05,1793245073383942400
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744.697025434,714,679,658,633,879.302974566,786,805,652,630,652,0.401256723524,0.00447809301662,0.0699178558051,0.999999994811,9.4876876416e-06,-9.95213673418e-05,1.9600098994e-05,1793245073400609024
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679.278296795,658,633.278296795,879,786,805,652,630,652,0.401332975501,0.00447833463684,0.0699236596463,0.999999995595,7.8768544322e-06,-9.17118258237e-05,1.83423110708e-05,1793245073417275648
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679.866740714,658,633.866740714,879,786,805,652,630,652,0.401415612159,0.00447993205171,0.0699247457918,0.999999995835,8.11437874372e-06,-8.93938855631e-05,1.65229498334e-05,1793245073433942784
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.448219681,745,714,679.551780319,658,634,879,785.551780319,805,652,630,652,0.401513736803,0.00448037379615,0.0699216329821,0.999999995136,6.45288873874e-06,-9.73453059723e-05,1.44710173234e-05,1793245073450609408
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.027517925,714,679,658,633.972482075,879,785.027517925,805,652,630,652,0.401617915433,0.00448050946311,0.0699174962039,0.999999994094,4.25979122165e-06,-0.000107895087447,1.23252853117e-05,1793245073467276032
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.603990138,714,679,658,633.396009862,879,785.603990138,805,652,630,652,0.401752411413,0.0044812885874,0.0699174551956,0.999999993867,2.55236179234e-06,-0.000110304013204,9.66662027558e-06,1793245073483942656
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.819906964,745.819906964,714,679.180093036,658.180093036,633,879,785.819906964,805,652,630,652,0.401898115552,0.0044813394275,0.0699187109247,0.999999993846,-9.05690750886e-07,-0.000110733825011,6.77412149295e-06,1793245073500609280
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.244614573,745.244614573,714,679.755385427,658.755385427,633,879,785.244614573,805,652,630,652,0.402068415059,0.00447979210775,0.0699228122373,0.999999994255,-8.20534151297e-06,-0.000106820633708,3.36849413528e-06,1793245073517275904
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.660913818,633,879,785,805,652,630,652,0.402254588859,0.00448027994232,0.0699256117465,0.999999994551,-1.30555453736e-05,-0.000103569775166,-7.08883581418e-07,1793245073533942528
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.070993025,633,879,785,805,652,630,652,0.402452505479,0.0044822732558,0.069927448264,0.999999994775,-1.60938033766e-05,-0.000100808868297,-5.28318028094e-06,1793245073550609152
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679.490562975,658.509437025,633.509437025,879,785,805,652,630,652,0.402686422069,0.00448360715395,0.0699263049741,0.999999994206,-2.01158258795e-05,-0.000105252880301,-1.02137354123e-05,1793245073567275520
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745.087963329,714,679,658.912036671,634,879.087963329,785,805,652,630,652,0.402931660504,0.00448480574643,0.0699257951875,0.999999993705,-2.43317261776e-05,-0.000108474529873,-1.51754391826e-05,1793245073583942400
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745.663136976,714,679,658.336863024,634,879.663136976,785,805,652,630,652,0.403212329509,0.00448575457904,0.0699310521779,0.999999994436,-2.88760327959e-05,-9.94662762424e-05,-2.00397172821e-05,1793245073600609280
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745.756802525,714,679,658,634,879.756802525,785,805,652,630,652,0.403509866884,0.00448594708323,0.0699385917079,0.999999995382,-3.3250431264e-05,-8.68667000203e-05,-2.41892147148e-05,1793245073617276160
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745.16983427,714,679,658,634,879.16983427,785,805,652,630,652,0.403831248456,0.00448507048247,0.069949357712,0.999999996534,-3.73846564965e-05,-6.91906252084e-05,-2.73283366124e-05,1793245073633942784
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785.411774718,805,652,630,652,0.404178968077,0.00448537076769,0.0699538254925,0.999999997215,-2.60548748127e-05,-6.45266810055e-05,-2.69663162182e-05,1793245073650609408
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785.991201691,805,652,630,652,0.404537411109,0.00448615021684,0.069955728979,0.999999997525,-8.42899103459e-06,-6.51605686232e-05,-2.51788211504e-05,1793245073667276288
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879.569267389,785.430732611,805,652,630,652,0.404953099635,0.00448593303945,0.0699623381291,0.99999999824,-2.6649880398e-06,-5.32708237388e-05,-2.59889869485e-05,1793245073683942656
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.853492703,879.853492703,785.146507297,805,652,630,652,0.40537378688,0.00448596438265,0.0699671605605,0.999999998626,-2.80849293035e-06,-4.49551109559e-05,-2.68100243907e-05,1793245073700609280
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.278606095,879.278606095,785.721393905,805,652,630,652,0.405806509222,0.00448676731761,0.0699665465763,0.999999998291,-1.96904566502e-05,-4.76542800355e-05,-2.75457388857e-05,1793245073717276160
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,879,785.69662019,805,652,630,652,0.406247332303,0.00449020837802,0.0699594506241,0.999999997501,-2.24982393666e-05,-6.07153591408e-05,-2.83795691514e-05,1793245073733942528
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,879,785.107958423,805,652,630,652,0.406695772933,0.00449613018893,0.0699462593797,0.99999999601,-1.20714257699e-05,-8.35202180556e-05,-2.93056622567e-05,1793245073750608896
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658.472950333,633.472950333,879,785.472950333,805,652,630,652,0.407206392194,0.00450065854308,0.0699334526919,0.999999994603,1.63630373758e-06,-9.92469353766e-05,-3.06803878746e-05,1793245073767275776
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,679.051250925,658.948749075,633.948749075,879,786,805,652,630,652,0.407738722914,0.00450497436352,0.069923376824,0.999999993424,1.53379786409e-05,-0.000108986255271,-3.22350786035e-05,1793245073783942656
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679.620784633,658.379215367,633.379215367,879,786,805,652,630,652,0.408349397862,0.00451030564668,0.0699400433954,0.999999996413,2.15270061361e-05,-7.42525876538e-05,-3.45907864173e-05,1793245073800609280
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,679.807059289,658,633,879,785.807059289,805,652,630,652,0.408964237393,0.00451653192414,0.0699537600565,0.999999997997,2.64348588252e-05,-4.44993822078e-05,-3.64393500727e-05,1793245073817275648
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,679.229678092,658,633,879,785.229678092,805,652,630,652,0.409587374953,0.00452454150582,0.0699615989266,0.999999998586,2.87899297447e-05,-2.46699078261e-05,-3.72774128283e-05,1793245073833942272
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,878.642957846,785,805,652,630,652,0.410206458467,0.0045322211001,0.0699587499919,0.999999998288,3.40935041019e-05,-2.81846748444e-05,-3.83062096019e-05,1793245073850608896
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,878.050068639,785,805,652,630,652,0.410822864024,0.00453968271825,0.0699488411419,0.999999997257,4.13447359092e-05,-4.71196681769e-05,-3.94609972191e-05,1793245073867275520
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,878.532055259,785,805,652,630,651.467944741,0.411521621304,0.00454744774078,0.0699543168482,0.999999996851,5.55467733962e-05,-3.99084465171e-05,-4.02536016225e-05,1793245073883942144
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,713.888243947,679.111756053,658,633,879,785,805,652,630,651.111756053,0.412243063684,0.004554872307,0.0699669124685,0.999999996561,6.91316253392e-05,-2.06218693842e-05,-4.09047264255e-05,1793245073900608768
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713.314455902,679.685544098,658,633,879,785,805,652,630,651.685544098,0.413026888789,0.0045607736261,0.070003077159,0.999999995405,7.75142400463e-05,3.86171787389e-05,-4.11090475515e-05,1793245073917275392
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.734127732,745,713,679.734127732,658.265872268,633,879,785.265872268,805,652,630,652,0.413789480305,0.00456709920529,0.0700242740752,0.999999993028,8.41144102666e-05,7.17747845725e-05,-4.14357785074e-05,1793245073933942272
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.145869186,745,713,679.145869186,658.854130814,633,879,785.854130814,805,652,630,652,0.414526324906,0.0045739392264,0.0700273216608,0.999999992514,8.8553259638e-05,7.33070651776e-05,-4.19109389834e-05,1793245073950608896
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.43575761,745,713.43575761,679.43575761,658.56424239,633,879,785.56424239,805,651.56424239,630,652,0.415242367191,0.00458159284671,0.0699826821091,0.999999994133,9.91484821468e-05,-6.21042284467e-06,-4.31875212713e-05,1793245073967275520
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.015146889,633,879.015146889,785,805,651.015146889,630,652,0.41595487105,0.00458938814706,0.069923749489,0.999999986765,0.000111374677568,-0.000109826059906,-4.47600749609e-05,1793245073983942400
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.59265042,633,879.59265042,785,805,651.59265042,630,652,0.41679066478,0.00459248363773,0.0699179388537,0.999999986234,0.000108788429977,-0.000115931279067,-4.75102503908e-05,1793245074000609024
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,880,785.16910428,805,652,630,652,0.41764121955,0.00459537553374,0.0699240991237,0.999999987631,0.000107243639307,-0.000104026258024,-4.91517360698e-05,1793245074017275392
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,880,785.743045188,805,652,630,652,0.418527112286,0.00459778002279,0.0699589178109,0.999999991788,0.000108192102509,-4.90046167688e-05,-4.81390117917e-05,1793245074033942016
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.32586679,745,714,679.67413321,659,633,880,786,805.32586679,652,630,652,0.419406826731,0.00459627406389,0.0699866022469,0.999999992834,0.000109327328325,-6.65811435121e-06,-4.83288681186e-05,1793245074050608896
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.91588722,745,714,679.08411278,659,633,880,786,805.91588722,652,630,652,0.420281532897,0.00459159822355,0.0700085035254,0.999999992335,0.000110613947428,2.54136836485e-05,-4.94935585951e-05,1793245074067275520
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.504086941,745,714,679.495913059,659,633,880,785.504086941,806,652,630,652,0.421171252609,0.00458229086379,0.0700213833206,0.999999992977,9.81310383954e-05,4.4389523677e-05,-4.9451327496e-05,1793245074083942144
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,679.925763714,659,633,879.925763714,785.074236286,806,652,630,651.925763714,0.422056198053,0.00457412430975,0.0700255908725,0.999999993888,8.57369162784e-05,4.92689428742e-05,-4.94526062028e-05,1793245074100608768
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,679.347718328,659,633,879.347718328,785.652281672,806,652,630,651.347718328,0.422891801804,0.0045789258432,0.0699811230217,0.999999994333,8.94820870469e-05,-2.67411574073e-05,-5.11109864703e-05,1793245074117275392
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679.466323164,659,633,879.233161582,785.766838418,806,652,630,651.233161582,0.423726577867,0.00458402661375,0.0699259231686,0.999999987916,9.26248593942e-05,-0.000112713611974,-5.37126866779e-05,1793245074133942272
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680.636641564,659,633,879.818320782,785.181679218,806,652,630,651.818320782,0.424560104516,0.00458957913503,0.0698545215005,0.999999970995,9.48582079762e-05,-0.000213725969492,-5.77384912478e-05,1793245074150609152
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,713.600631183,681,659.399368817,633,880,785,805.600631183,652,630,652,0.425488771743,0.00459172772449,0.0698688252496,0.99999997693,9.26345533407e-05,-0.000184878657078,-5.81306705952e-05,1793245074167276032
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,713.021434361,681,659.978565639,633,880,785,805.021434361,652,630,652,0.42646027887,0.00459234358935,0.0699217204843,0.999999989716,8.84039964547e-05,-9.75580561224e-05,-5.68866987844e-05,1793245074183942656
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,713.556862436,681,660,633,880,785,805.556862436,652,630,652,0.427401878797,0.00459814005454,0.0699665474873,0.999999992383,0.000101826598763,-4.26125324275e-05,-5.52187641215e-05,1793245074200608768
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.134024473,745,714,681,659.865975527,633,880,785,806.134024473,652,630,652,0.428346187286,0.00460218528705,0.0700085165902,0.999999992187,0.000111935319042,1.27459077301e-05,-5.41659615324e-05,1793245074217275392
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.707578495,745,714,681,659.292421505,633,880,785,806.707578495,652,630,652,0.429303147505,0.00459983450219,0.0700421301052,0.999999989838,0.000108951471755,7.35386420148e-05,-5.51838989403e-05,1793245074233942272
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.710735771,680.710735771,659.289264229,633,880,785,806.710735771,652,630,652,0.430212870999,0.00459796767494,0.0700420987986,0.999999989962,0.000106283116751,7.51488393512e-05,-5.59642795503e-05,1793245074250609152
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.120591828,680.120591828,659.879408172,633,880,785,806.120591828,652,630,652,0.431073460906,0.00459660423892,0.0700070716512,0.999999992886,0.000103942922922,1.52000049927e-05,-5.64975641521e-05,1793245074267275776
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.539469296,745,713,680.460530704,659.539469296,633,880,785.460530704,806.460530704,652,630,651.539469296,0.431872761943,0.00459809269635,0.0699369013963,0.999999987344,0.000105982433677,-0.000104040623441,-5.70466745406e-05,1793245074283942656
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.039170858,745,713.039170858,681,659.039170858,633,880,786,807,652,630,651,0.432666391892,0.00460007275108,0.0698658087906,0.999999967432,0.000108438763423,-0.000223709466568,-5.77123345787e-05,1793245074300609536
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.615541095,745,713.615541095,681,659.615541095,633,880,786,807,652,630,651,0.433598114174,0.00459874993192,0.0699058458161,0.999999983227,0.000101185547447,-0.000140416898255,-5.99206573344e-05,1793245074317275904
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.382625978,633.191312989,880,785.808687011,807,652,630,651.191312989,0.434521528516,0.0045960490411,0.0699520717669,0.999999992112,9.4929182164e-05,-5.55512588441e-05,-6.06434611687e-05,1793245074333942272
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661.531772641,633.76588632,880,785.23411368,807,652,630,651.76588632,0.435428299598,0.00459058743726,0.0700106960969,0.999999993658,9.06698230312e-05,3.24657527227e-05,-5.83903021967e-05,1793245074350609152
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.350038957,660.949883129,633.649961043,880.350038957,785,807,652,630,652,0.436301388467,0.00458898960463,0.0700357751228,0.999999991585,9.02749245531e-05,7.29535498497e-05,-5.79435686177e-05,1793245074367275776
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.940778672,659.177663984,633.059221328,880.940778672,785,807,652,630,652,0.437151316046,0.00459004865563,0.0700377870549,0.999999990732,9.2537384053e-05,8.07583570042e-05,-5.87390055889e-05,1793245074383942400
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.478678706,745,714,682,659.521321294,633,880.478678706,785,807,652,630,652,0.437937497902,0.00459079418727,0.0700099818236,0.999999992698,9.18652858989e-05,5.1068629466e-05,-5.96326984566e-05,1793245074400609280
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,713.900130679,682,659.900130679,633,880,785,807,652,630.099869321,652,0.438694679005,0.00459251615295,0.0699704998084,0.999999993835,9.31676391642e-05,-1.12529202556e-07,-6.04101355435e-05,1793245074417275648
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,713.325662168,682,659.325662168,633,880,785,807,652,630.674337832,652,0.439347795144,0.00459904433465,0.0698913151379,0.999999983689,0.000105406792156,-0.00013357246689,-6.05830761382e-05,1793245074433942272
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,713,682,659,633,879.745488719,785.254511281,806.745488719,652,630.745488719,652,0.440024580223,0.004605213656,0.0698326125805,0.999999965235,0.000114125414385,-0.000229791890658,-6.08421199695e-05,1793245074450608896
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,713,682,659,633,879.157848133,785.842151867,806.157848133,652,630.157848133,652,0.44073234548,0.00461091326525,0.0698007190261,0.999999952698,0.000118236021813,-0.000277267272687,-6.12138651581e-05,1793245074467276032
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,713,682,658.574292657,633,879.425707343,785.574292657,806.425707343,652,630,652,0.441482099544,0.00461797010564,0.0698272796155,0.999999962325,0.000128014990026,-0.00023518995817,-6.04051937946e-05,1793245074483942656
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,713.007649161,682,658,632.992350839,880.007649161,785,807,651.992350839,630,652,0.442245728963,0.0046255051512,0.0698747647587,0.999999975474,0.000139822202358,-0.000161241874544,-5.91768144122e-05,1793245074500609024
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,713.581202605,682,658,632.418797395,880.581202605,785,807,651.418797395,630,652,0.442894998644,0.00463154129263,0.0698820280685,0.999999974127,0.000147667489,-0.000162674147105,-5.89708109183e-05,1793245074517275904
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,713.844714616,682.155285384,658,632,880.844714616,785,807,651,630,652,0.443523937327,0.00463772217123,0.0698757800505,0.999999969558,0.000155411274216,-0.000182342018085,-5.90191626832e-05,1793245074533942784
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713.269199236,682.730800764,658,632,880.269199236,785,807,651,630,652,0.444097856838,0.00464429473581,0.0698329679666,0.999999953359,0.00016288037974,-0.000251358676638,-5.97558450108e-05,1793245074550609408
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713,682.685942311,658,632,880.314057689,785,807,651.314057689,630,652,0.444657804094,0.00465035474894,0.0697904462566,0.999999932348,0.000174279955081,-0.000318497754347,-5.90652339959e-05,1793245074567275776
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713,682.095881935,658,632,880.904118065,785,807,651.904118065,630,652,0.445205472105,0.00465596431711,0.0697481797377,0.99999990676,0.00018913373678,-0.000383986757093,-5.71202775785e-05,1793245074583942400
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713,682,657.514854945,631.514854945,880.514854945,784.514854945,807,651.514854945,630,652,0.445741834389,0.0046608643065,0.0697306968692,0.999999898597,0.000194860418051,-0.00040188932839,-5.76307018479e-05,1793245074600609024
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713,682.063944679,656.936055321,631,880,784.063944679,807,651.063944679,630,652,0.446269879079,0.0046656501928,0.069719028145,0.999999894126,0.00019850221417,-0.000410992930475,-5.8555618606e-05,1793245074617275648
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713,682.638950532,656.361049468,631,880,784.638950532,807,651.638950532,630,652,0.446748979113,0.00467062446795,0.0697153960043,0.99999988863,0.000199634297647,-0.000423564270839,-5.89857548489e-05,1793245074633942272
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713,683,655.787771713,631,880,784.787771713,807,651.787771713,630,652,0.44720485827,0.00467414938127,0.0697058940822,0.999999877925,0.000203506299962,-0.000446504235174,-5.80494645854e-05,1793245074650608896
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713,683,655.217410169,631,880,784.217410169,807,651.217410169,630,652,0.447621552363,0.00467522850948,0.0696864869587,0.99999985747,0.000212001889497,-0.000486941154216,-5.48073422157e-05,1793245074667275520
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.368559571,745,713,683,655.368559571,631,880.368559571,784,807,651.368559571,630,651.631440429,0.448041134577,0.00467932414615,0.0696756851751,0.999999846428,0.000217479209334,-0.000506821100299,-5.45735001184e-05,1793245074683942656
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.425089239,745,713,683.574910761,651,629,880.574910761,784,807.425089239,652,630,652,0.452253598715,0.00474558079333,0.0695691056181,0.999999744161,0.000285116253906,-0.00065260672473,-6.70167519076e-05,1793245075781165568
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,745,713,681.345949067,658,633,879,785,806,652,630,651,0.430897948803,0.0045654777846,0.0697937824256,0.99999993644,0.000130160407777,-0.000330543020632,3.03304351705e-05,1793245076731164928
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,745,713,681.237816721,657.762183279,633,878.762183279,785,806,651.762183279,630,651,0.429945210466,0.00455973911925,0.0697494801011,0.999999910779,0.000125185838287,-0.000402307271167,3.03148755255e-05,1793245076747831296
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,745,713,681.821674093,657.178325907,633,878.178325907,785,806,651.178325907,630,651,0.429008505225,0.00455124535179,0.0697117284277,0.999999891427,0.000117911557802,-0.000449943402703,2.81610492222e-05,1793245076764498176
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,745,713,681.599609994,657.800780013,633,878.400390006,785.400390006,806,651.400390006,630,651,0.428148428504,0.00454360375244,0.0697532799485,0.999999919616,0.000106949467434,-0.000385306931463,2.94745675175e-05,1793245076781165056
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,745,713,681.023154988,658.953690024,633,878.976845012,785.976845012,806,651.976845012,630,651,0.427322047986,0.00453633688067,0.0698297037625,0.999999958224,9.4365721908e-05,-0.000271300400619,3.23127940777e-05,1793245076797831680
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,745,713,681.548463512,659,633,879,785.451536488,806,652,630,651,0.426451875701,0.00453157691897,0.0698616612765,0.999999970438,9.00107570494e-05,-0.00022340197146,3.3368333673e-05,1793245076814498560
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,745,713,682,658.751198489,633,879,785,806,652,630,651.124400755,0.42556719591,0.00452559534869,0.0698795101188,0.999999976456,8.47189419048e-05,-0.000196849302759,3.40856216516e-05,1793245076831165184
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,745,713,682,657.565265528,633,879,785,806,652,630,651.717367236,0.424634775225,0.00451461733161,0.0698512265834,0.999999967779,7.46013230619e-05,-0.000240276767941,3.38098571563e-05,1793245076847831808
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,745,713,681.697927264,657.604145473,633,879.302072736,785,806,652,630,651.697927264,0.423681796084,0.00450772874457,0.0698112532765,0.999999949367,6.92154140298e-05,-0.000308729477158,3.4077968576e-05,1793245076864498432
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,745,713,681.120745385,658.758509231,633,879.879254615,785,806,652,630,651.120745385,0.422710093624,0.00450456455778,0.0697606336513,0.999999917082,6.81388534987e-05,-0.000399973625114,3.48414083456e-05,1793245076881165056
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,745,713,681,658.086429087,633,879.543214544,785,806,651.543214544,630,651,0.421768788336,0.00449571865353,0.0697182816728,0.99999988625,5.8312753365e-05,-0.000472076558209,3.52619605943e-05,1793245076897831936
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,745,713,681,657.033863382,633,879,785,806,651.033863382,630,651,0.420845230556,0.00448553083023,0.0696846187185,0.999999859007,4.52139712777e-05,-0.000527912540494,3.5366033573e-05,1793245076914498560
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,681,657.602333006,633,879,785,806,651.602333006,630,651,0.420074908092,0.00447788662015,0.0697536023794,0.999999916571,1.69897756354e-05,-0.000406879549114,3.19058104966e-05,1793245076931165184
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.179653462,744.820346538,713,681,658.179653462,633,879,785,806,652,630,651.179653462,0.419294416916,0.00447029005602,0.0698194273402,0.999999955953,5.87040747228e-07,-0.000295183148678,3.098598546e-05,1793245076947831552
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764.777580769,744.222419231,713,681,658.777580769,633,879,785,806,652,630,651.777580769,0.418490250531,0.00446280442094,0.0698778981476,0.999999978226,1.17073318673e-05,-0.000205224427432,3.59807810699e-05,1793245076964498176
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.636392886,744.363607114,713.363607114,680.636392886,658.272785773,633,879.363607114,785,806,652,630,652,0.417651410501,0.00445471624713,0.0698832729875,0.99999997895,9.44294043958e-06,-0.000201431462505,3.78904356096e-05,1793245076981164800
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.057415699,744.942584301,713.942584301,680.057415699,657.114831399,633,879.942584301,785,806,652,630,652,0.416792032786,0.00444627118083,0.0698571982674,0.999999968359,-7.49404495426e-07,-0.000248675802942,3.79727135035e-05,1793245076997831680
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,879.482471088,785,805.482471088,652,630,651.482471088,0.415969888767,0.00444259416921,0.0698282769891,0.999999960903,-1.25971150699e-05,-0.000277138385158,3.50633893221e-05,1793245077014498304
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.90588657,745,714,680,657.09411343,633,879.09411343,785,805,652,630.09411343,651,0.41514603523,0.00443952197169,0.0697978118821,0.999999950713,-2.16831974743e-05,-0.000311511538451,3.26308035894e-05,1793245077031164928
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.318377454,745,714,680,657.681622546,633,879.681622546,785,805,652,630.681622546,651,0.414291731012,0.00443686879377,0.0697608959706,0.99999992413,-1.53359161961e-05,-0.000387710635966,3.44240741897e-05,1793245077047831808
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.265697011,745,713.734302989,680,657.734302989,633,879.468605978,785,805,652,630.734302989,651.265697011,0.413508695228,0.00444269471887,0.0697518283171,0.999999916599,-5.75711135691e-06,-0.000406860142876,3.51178018362e-05,1793245077064498176
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.845708309,745,713.154291691,680,657.154291691,633,878.308583382,785,805,652,630.154291691,651.845708309,0.412809968648,0.00445855125467,0.0697757046022,0.999999935107,7.64452117475e-06,-0.00035852111292,3.45107919958e-05,1793245077081164800
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.847629821,633,878.42381491,785.42381491,805,652,630,652,0.412154322153,0.00447392992858,0.0698199232651,0.999999959508,2.5155074145e-05,-0.00028143301504,3.38506682537e-05,1793245077097831424
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,745,713,680,658.998782328,633,879,785.998782328,805,652,630,651.998782328,0.411514244854,0.00448907650225,0.0698714123832,0.999999979638,4.40947764105e-05,-0.00019411128495,3.31748075831e-05,1793245077114498304
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,658.427732602,633,879,785.427732602,805,652,630,651.427732602,0.410853541396,0.00447665407779,0.0698750994876,0.999999980042,3.49422853537e-05,-0.000193726541622,3.41430043649e-05,1793245077131164928
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.85053727,633,879,785,805,652,630.14946273,651.14946273,0.410184279329,0.00446619219971,0.069866712426,0.999999976556,2.45109297534e-05,-0.000212345012463,3.45967227564e-05,1793245077147831552
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.255000118,633,879,785,805,652,630.744999882,651.744999882,0.409489473767,0.00446158160739,0.069822289782,0.999999958006,1.02627757878e-05,-0.000287678944417,3.35149705085e-05,1793245077164498432
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,745,713.329725602,679.670274398,657,633,878.670274398,785,805,652,630.670274398,651.670274398,0.408843775354,0.00446138398245,0.0697892010682,0.999999941732,8.85110259442e-06,-0.000339716489419,3.24185706602e-05,1793245077181165312
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,745,713.906355497,679.093644503,657,633,878.093644503,785,805,652,630.093644503,651.093644503,0.408234849272,0.00446449086488,0.0697645994022,0.999999929311,1.70516113997e-05,-0.000374309288859,3.131120257e-05,1793245077197831936
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.481467161,657.481467161,633,878.481467161,785,805,652,630,651.481467161,0.407693488353,0.00446549477221,0.0697775535283,0.99999993701,1.72495899259e-05,-0.000353162105206,3.09545243497e-05,1793245077214498816
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,745,713.942334139,680,658,633,879,785,805,652,630,652,0.407168933613,0.00446701828705,0.0697970016026,0.999999947171,1.71686946302e-05,-0.000323128509468,3.08456025014e-05,1793245077231165440
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,745,713.353408946,680,658,633,879,785,805,652,630,652,0.406678522893,0.00447708518542,0.0698091935114,0.999999950788,2.88129303875e-05,-0.000310791036172,3.16782897442e-05,1793245077247832064
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.767912858,657.767912858,633,879,785,805,652,630,651.767912858,0.406185289172,0.00448381176525,0.069811525718,0.999999949791,3.50131284682e-05,-0.000313323268975,3.19355977774e-05,1793245077264498944
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.187562438,657.187562438,633,879,785,805,652,630,651.187562438,0.405687819381,0.00448552595846,0.0697990627385,0.999999941784,3.30441594526e-05,-0.000338168555298,3.13295082726e-05,1793245077281165312
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.389858093,657,633,879,785,805,652,630,651,0.405264344721,0.00448361279879,0.0698046366423,0.999999945434,2.98348247558e-05,-0.000327590984253,3.04374200645e-05,1793245077297831680
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.965879608,657,633,879,785,805,652,630,651,0.404876203866,0.00447996752074,0.069818823443,0.999999954199,2.6033195588e-05,-0.000300098439118,2.94087628729e-05,1793245077314498560
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.53783684,745,713.53783684,680,657.53783684,633,879,785,805,652,630,651.53783684,0.404528036157,0.00447790612051,0.0698364756284,0.999999963548,2.8636074443e-05,-0.000266883689075,2.92724661035e-05,1793245077331164928
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.88628051,745,714,679.88628051,657.88628051,633,879,785.11371949,805,652,630,652,0.404185532606,0.00447588770673,0.0698508209288,0.9999999705,2.94255184018e-05,-0.000239358571469,2.90227011093e-05,1793245077347831552
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.292755845,745,714,679.292755845,657.292755845,633,879,785.707244155,805,652,630,652,0.403856307949,0.00447362988991,0.0698502932191,0.999999971219,2.08623073859e-05,-0.00023735929012,2.80571278922e-05,1793245077364498176
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,657,633,879,785.706981234,805,652,630,652,0.403529873286,0.00447166206103,0.0698427535708,0.999999968456,1.29495254523e-05,-0.000249343235117,2.73721042466e-05,1793245077381165056
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,657,633,879,785.128750237,805,652,630,652,0.403206154305,0.00446997649444,0.0698283887945,0.999999961825,5.66984453425e-06,-0.000274937868731,2.69601558835e-05,1793245077397831680
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,745,713.552295637,679.447704363,657,633.447704363,878.552295637,785.447704363,805,652,630,652,0.402926158984,0.00447002654639,0.0698199752807,0.999999957339,1.12999270623e-06,-0.000290908358903,2.63188250137e-05,1793245077414498560
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.975897858,745,713.024102142,679.975897858,657.024102142,633.975897858,878.024102142,785.975897858,804.975897858,652,630,652,0.402660974239,0.00447061332091,0.0698134817484,0.999999953585,-2.29490866037e-06,-0.000303589708827,2.56694636605e-05,1793245077431164928
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.388944094,745,713.611055906,679.388944094,657.611055906,633.388944094,878.611055906,785.388944094,804.388944094,652,630,652,0.402449180254,0.00447212412387,0.0698120158033,0.999999953491,1.99005480604e-06,-0.000303838522554,2.63669572185e-05,1793245077447831552
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.195333568,745,713.804666432,679,657.804666432,633,879,785,804.195333568,652,630,651.804666432,0.40224428637,0.00447494782592,0.0698099014709,0.999999952902,9.50415455323e-06,-0.000305604999408,2.66781340585e-05,1793245077464498176
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.774354579,745,713.225645421,679,657.225645421,633,879,785,804.774354579,652,630,651.225645421,0.402052946158,0.00448035041322,0.0698065135325,0.999999951224,2.33611423004e-05,-0.000310352573053,2.6230481313e-05,1793245077481165056
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,713.352755492,679,657,633.352755492,878.647244508,785,805,652,630,651,0.401881348379,0.00448782149017,0.069804660017,0.999999949387,4.02039543589e-05,-0.000314559960592,2.5712532321e-05,1793245077497831680
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,713.930760504,679,657,633.930760504,878.069239496,785,805,652,630,651,0.401722356973,0.00449661338706,0.0698037862962,0.99999994725,5.89533447254e-05,-0.000318422416525,2.51496961099e-05,1793245077514498048
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,657,633.494204463,878.505795537,785,805,652.505795537,630,651,0.401597209063,0.00449951546264,0.0698029358024,0.999999947583,5.93228999099e-05,-0.000317368869866,2.43419470397e-05,1793245077531164672
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713.917633848,679,657,633,879,785,805,653,630,651,0.401480587312,0.00450040554926,0.0698023387584,0.999999948393,5.56346570731e-05,-0.000315537585804,2.35358399565e-05,1793245077547831552
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,713.329143435,679,657,633,879,785,805,653,630,651,0.401388054939,0.00449385780857,0.0698032796908,0.999999949842,4.2382457445e-05,-0.000313038340699,2.29446345812e-05,1793245077564498176
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,713.255152506,679,657,633,879,785,805,652.744847494,630,651,0.40130444942,0.00449077395992,0.0698040474796,0.999999950726,3.47763958178e-05,-0.000311181849874,2.24606212884e-05,1793245077581164544
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,713.834125107,679,657,633,879,785,805,652.165874893,630,651,0.401232173188,0.00449208621919,0.0698045955275,0.999999951072,3.43359826013e-05,-0.000310141093953,2.21126480485e-05,1793245077597831424
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,713.590461322,679.409538678,657,633,879,785.409538678,805,652,630,651,0.401171939348,0.00449363780508,0.0698057554424,0.999999951502,3.39647518817e-05,-0.000308799945118,2.2000936525e-05,1793245077614498304
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,713.016476855,679.983523145,657,633,879,785.983523145,805,652,630,651,0.401116541002,0.00449528548993,0.0698071610459,0.999999951965,3.36213006496e-05,-0.000307338176808,2.19840933249e-05,1793245077631165184
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745,713.560697301,679.439302699,657.560697301,633.560697301,878.439302699,785.439302699,805,652,630,651,0.401081046623,0.00449525464542,0.0698090888865,0.999999952806,3.50088121138e-05,-0.000304430036845,2.20132311096e-05,1793245077647831808
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,658,634,878.140943912,785,805,652,630,651.140943912,0.401049682483,0.0044943749964,0.069811302133,0.999999953851,3.5326005964e-05,-0.00030093065179,2.21469691335e-05,1793245077664498432
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..caaad4f0273b53b42844bc562bd56b55833c3258
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d49184990b077718496db14e0431f34ce2b653f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0021f16eec6346b46dd1487337904d47fda0d0663bf30d7c2df8367446d019a
+size 25764233
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b5adc153568f34b285db2dc6b0c19ae5337a6357
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,746,713,679,658,634,878,785,805,652,630,652,0.400980263709,0.00449777000095,0.0698336083933,0.999999964243,3.93757316277e-05,-0.000263699855112,2.06386626823e-05,1793245078263654400
+1,0.016666667,BASELINE,764,745.409260229,713,679,658,633.409260229,878.590739771,785,805,652,630,652,0.400977589668,0.00449632421115,0.0698318789397,0.999999963743,3.56488562328e-05,-0.000266106945518,2.07485028106e-05,1793245078280321024
+2,0.033333333,BASELINE,764,745,713.177733068,679.177733068,658,633,879,785,805,652,630,652,0.400976265175,0.00449525727702,0.0698311098152,0.999999963556,3.31047559626e-05,-0.000267133404358,2.07841345929e-05,1793245078296987648
+3,0.050000000,BASELINE,764,745,713.756277683,679.756277683,658,633,879,785,805,652,630,652,0.400977984092,0.00449504471215,0.0698325063592,0.99999996411,3.32279691239e-05,-0.000265046357114,2.06524167734e-05,1793245078313654528
+4,0.066666667,BASELINE,764,745,714,679.66927303,658,633,879,785,805,652,630,652,0.400978302168,0.00449543060472,0.0698329483068,0.999999964246,3.45110825635e-05,-0.000264363298964,2.07258045042e-05,1793245078330321152
+5,0.083333333,BASELINE,764,745,714,679.097804832,658,633,879,785,805,652,630,652,0.40097760055,0.00449625212365,0.069832695389,0.999999964076,3.66385051815e-05,-0.000264702226116,2.09484917156e-05,1793245078346987776
+6,0.100000000,BASELINE,764,745,714,679,658,633,879,785.478555674,805,652,630,652,0.400978283616,0.00449643063548,0.0698325887609,0.999999964141,3.66144123844e-05,-0.000264474853927,2.07686867463e-05,1793245078363654656
+7,0.116666667,BASELINE,764,745,714,679.057417889,658,633,878.942582111,785.942582111,805,652,630.057417889,652,0.400979140962,0.00449646683375,0.0698326257158,0.999999964262,3.63289972648e-05,-0.000264068889839,2.05775013166e-05,1793245078380321280
+8,0.133333333,BASELINE,764,745,714,679.650186697,658,633,878.349813303,785.349813303,805,652,630.650186697,652,0.400978957427,0.00449641406799,0.0698337197641,0.999999964458,3.77492287375e-05,-0.000263088031332,2.10550957655e-05,1793245078396987904
+9,0.150000000,BASELINE,764,745,714,679.763107969,658.236892031,633.236892031,878.236892031,785.236892031,805,652,630.763107969,651.763107969,0.400978994597,0.00449632040889,0.0698344708351,0.999999964647,3.77551477227e-05,-0.00026234573046,2.13225987312e-05,1793245078413654528
+10,0.166666667,BASELINE,764,745,714,679.185133024,658.814866976,633.814866976,878.814866976,785.814866976,805,652,630.185133024,651.185133024,0.400979349543,0.00449616787058,0.069834728079,0.999999964827,3.57247050346e-05,-0.000261946910764,2.12876068237e-05,1793245078430321152
+11,0.183333333,BASELINE,764,745,714,679.389798233,658.610201767,633.610201767,878.610201767,785.610201767,805,652,630,651,0.400979406921,0.00449549677115,0.0698344755633,0.999999964762,3.52224455788e-05,-0.000262264917785,2.12809934163e-05,1793245078446987520
+12,0.200000000,BASELINE,764,745,714,679.963295154,658.036704846,633.036704846,878.036704846,785.036704846,805,652,630,651,0.400979324064,0.00449458129143,0.0698339828153,0.999999964582,3.54403668738e-05,-0.000262920740892,2.12877538305e-05,1793245078463654144
+13,0.216666667,BASELINE,764,745,714,679.461309685,658,633,878.538690315,785,805,652,630,651,0.40097898078,0.00449510321967,0.0698339127414,0.999999964616,3.4916858392e-05,-0.000262893211747,2.08735954623e-05,1793245078480321024
+14,0.233333333,BASELINE,764,745,714,679,658,633,879,785,804.882281892,652,630,651.117718108,0.400978547681,0.00449547501248,0.0698338138625,0.999999964603,3.45434880494e-05,-0.000263016714252,2.0566729514e-05,1793245078496987648
+15,0.250000000,BASELINE,764,745,714,679,658,633,879,785,804.289106151,652,630,651.710893849,0.400977823749,0.00449484343834,0.0698334819098,0.99999996434,3.49812831486e-05,-0.000263938951582,2.08094598698e-05,1793245078513654528
+16,0.266666667,BASELINE,764,745,714,678.702745501,658,633.297254499,879,785,804,652,630.297254499,652,0.400978303212,0.00449485686554,0.0698338042858,0.999999964467,3.51769162933e-05,-0.000263431504699,2.07789884657e-05,1793245078530321152
+17,0.283333333,BASELINE,764,745,714,678.122864602,658,633.877135398,879,785,804,652,630.877135398,652,0.400979926851,0.00449548355314,0.0698347487907,0.999999964965,3.51423044147e-05,-0.000261564729295,2.04887597346e-05,1793245078546987776
+18,0.300000000,BASELINE,764,745,714,678.453906167,658,633.546093833,878.546093833,785,804.453906167,652.453906167,631,651.546093833,0.400979887745,0.00449626928281,0.0698344207607,0.999999964847,3.58382624334e-05,-0.000261926839826,2.03941610324e-05,1793245078563654400
+19,0.316666667,BASELINE,763.969478375,745,713.969478375,679.030521625,658,633,878.030521625,785,805,653,630.969478375,651.030521625,0.400979438588,0.0044969867852,0.0698338143905,0.999999964587,3.65948171429e-05,-0.00026281445855,2.03635485765e-05,1793245078580321024
+20,0.333333333,BASELINE,763.380403624,745,713.380403624,679.619596376,658,633,878.619596376,785,805,653,630.380403624,651.619596376,0.400979665849,0.00449567324868,0.0698343750052,0.999999964767,3.48660113791e-05,-0.000262353218669,2.05414293741e-05,1793245078596987648
+21,0.350000000,BASELINE,763.204966737,745,713.204966737,680,658,633,878.795033263,785,805,652.795033263,630,651.795033263,0.400979264561,0.00449444823676,0.069834330204,0.999999964727,3.33603773494e-05,-0.000262686081217,2.07004917171e-05,1793245078613654272
+22,0.366666667,BASELINE,763.783584001,745,713.783584001,680,658,633,878.216415999,785,805,652.216415999,630,651.216415999,0.400977717437,0.00449338460369,0.0698331817409,0.999999964291,3.22615814049e-05,-0.000264466577691,2.08252483503e-05,1793245078630320896
+23,0.383333333,BASELINE,764,745,714,680,658,633,878.356834291,785,805,652,630,651.356834291,0.400978457301,0.00449469823623,0.0698340222737,0.99999996452,3.46236529925e-05,-0.000263316725294,2.06461358941e-05,1793245078646987520
+24,0.400000000,BASELINE,764,745,714,680,658,633,878.926877857,785,805,652,630,651.926877857,0.400980563647,0.0044974322901,0.0698360512359,0.999999965123,3.9053600449e-05,-0.000260415983158,2.02854609992e-05,1793245078663654400
+25,0.416666667,BASELINE,764,745,714,680,658.504627374,633.504627374,879,785.504627374,805,652.504627374,630,652,0.400979899788,0.00449634911463,0.0698348995359,0.999999965009,3.79660140613e-05,-0.000261004289262,2.04275138918e-05,1793245078680321280
+26,0.433333333,BASELINE,764,745,714,679.914424296,658.914424296,633.914424296,879,785.914424296,805,652.914424296,630,651.914424296,0.400979011767,0.00449504945995,0.0698336210995,0.99999996483,3.62486556751e-05,-0.000261914390019,2.0651478846e-05,1793245078696987904
+27,0.450000000,BASELINE,764,745,714,679.321227189,658.321227189,633.321227189,879,785.321227189,805,652.321227189,630,651.321227189,0.400979212075,0.0044957976376,0.0698343671944,0.999999964907,3.5611691241e-05,-0.000261687832675,2.09225160674e-05,1793245078713654528
+28,0.466666667,BASELINE,764,745,714,679.263971397,658,633.263971397,879,785.263971397,804.736028603,652,630,651.263971397,0.400978668147,0.00449598816038,0.069834374129,0.999999964675,3.54466811337e-05,-0.000262593927953,2.0935880023e-05,1793245078730321152
+29,0.483333333,BASELINE,764,745,714,679.839722792,658,633.839722792,879,785.839722792,804.160277208,652,630,651.839722792,0.400977245191,0.00449552002981,0.0698335080319,0.999999964075,3.58391023658e-05,-0.000264837813766,2.06449027672e-05,1793245078746988032
+30,0.500000000,BASELINE,764,745,714,680,658,634,879,785.587788392,804.412211608,652.412211608,630,652,0.400977961222,0.00449636208858,0.0698336401518,0.999999964193,3.72867034144e-05,-0.000264207267821,2.04626479927e-05,1793245078763654656
+31,0.516666667,BASELINE,764,745,714,680,658,634,879,785.016558192,804.983441808,652.983441808,630,652,0.400979502407,0.0044977095782,0.0698341573532,0.999999964583,3.91413604532e-05,-0.000262467854241,2.03223350225e-05,1793245078780321024
+32,0.533333333,BASELINE,764,745,714,679.423428553,658,633.423428553,878.423428553,785,805,652.423428553,630,652,0.400980027914,0.00449687290945,0.0698349905593,0.999999964899,3.7015377978e-05,-0.000261561775983,2.04325196264e-05,1793245078796987904
+33,0.550000000,BASELINE,764,745,714,679.166260625,658,633,878,785.166260625,805,652,630,651.833739375,0.400979907711,0.00449651242403,0.0698353678577,0.999999964987,3.60507795149e-05,-0.000261351508829,2.05428260396e-05,1793245078813654528
+34,0.566666667,BASELINE,764,745,714,679.745773284,658,633,878,785.745773284,805,652,630,651.254226716,0.400978257917,0.00449749758859,0.0698345885191,0.999999964521,3.82682422728e-05,-0.000262808894143,2.06348483503e-05,1793245078830321152
+35,0.583333333,BASELINE,763.676610399,745,713.676610399,679.676610399,658,633,878.323389601,785.676610399,804.676610399,652,630,651.323389601,0.400978675482,0.00449771976132,0.069834570943,0.999999964605,3.83057957919e-05,-0.000262487497481,2.05651819266e-05,1793245078846987776
+36,0.600000000,BASELINE,763.100476102,745,713.100476102,679.100476102,658,633,878.899523898,785.100476102,804.100476102,652,630,651.899523898,0.400980708789,0.00449734561893,0.0698351487214,0.999999965119,3.66396445009e-05,-0.000260775896386,2.03691479061e-05,1793245078863654400
+37,0.616666667,BASELINE,763.471759211,745,713.471759211,679,658,633,879,785,804.471759211,652,630,651.528240789,0.400980434841,0.00449636271904,0.0698352107575,0.999999965178,3.65271996485e-05,-0.000260559755969,2.04578583152e-05,1793245078880321280
+38,0.633333333,BASELINE,764,745,713.955087875,679.044912125,658,633,879,785.044912125,805,652,630,651,0.400979825556,0.00449536931997,0.0698351944369,0.999999965161,3.67369138023e-05,-0.000260586392251,2.05856782018e-05,1793245078896988160
+39,0.650000000,BASELINE,764,745,713.36062904,679.63937096,658,633,879,785.63937096,805,652,630,651,0.400981076623,0.00449582090239,0.0698355523752,0.999999965384,3.68727270372e-05,-0.000259718349529,2.04560668088e-05,1793245078913654528
+40,0.666666667,BASELINE,764,744.772399179,713,679.772399179,658.227600821,633,879,786,805,652,630,651.227600821,0.400981731155,0.00449660900636,0.0698357822452,0.999999965467,3.72883195806e-05,-0.000259358125481,2.02131819515e-05,1793245078930321152
+41,0.683333333,BASELINE,764,744.193776124,713,679.193776124,658.806223876,633,879,786,805,652,630,651.806223876,0.400981465666,0.00449791611786,0.0698358145991,0.999999965334,3.81354077389e-05,-0.000259781095696,1.97955986786e-05,1793245078946988032
+42,0.700000000,BASELINE,764,744.381283979,713.381283979,679.381283979,658.618716021,633,879,785.618716021,805,652,630,652,0.400981551616,0.00449656865765,0.0698362837773,0.999999965512,3.75323655149e-05,-0.000259152178962,2.01712362693e-05,1793245078963654656
+43,0.716666667,BASELINE,764,744.954550067,713.954550067,679.954550067,658.045449933,633,879,785.045449933,805,652,630,652,0.400981814522,0.00449388458138,0.0698369729032,0.999999965845,3.61991612266e-05,-0.000257993621619,2.09462722786e-05,1793245078980321536
+44,0.733333333,BASELINE,764,745,714,680,658,633.530133793,879,785,805,652,630,651.469866207,0.400979032744,0.00449464850709,0.0698345477308,0.999999964975,3.59308714051e-05,-0.000261392121765,2.07942223399e-05,1793245078996987904
+45,0.750000000,BASELINE,764,745,714,680,658,633.890896156,878.890896156,785,805,652.109103844,630,651.109103844,0.400977004307,0.00449529697168,0.0698327167962,0.999999964305,3.55167335514e-05,-0.00026401953615,2.05633309414e-05,1793245079013654528
+46,0.766666667,BASELINE,764,745,714,680,658,633.297789294,878.297789294,785,805,652.702210706,630,651.702210706,0.400979480879,0.00449411610875,0.0698347116497,0.999999965026,3.40487964699e-05,-0.000261485506368,2.03368285634e-05,1793245079030321152
+47,0.783333333,BASELINE,764,745,713.714623449,679.714623449,658,633.285376551,878,785,805,652.714623449,630,652,0.400980242774,0.00449424981466,0.0698354896829,0.999999965251,3.41092897647e-05,-0.000260614639364,2.03804157623e-05,1793245079046987776
+48,0.800000000,BASELINE,764,745,713.141481755,679.141481755,658,633.858518245,878,785,805,652.141481755,630,652,0.40097927564,0.00449570909217,0.0698350407112,0.999999964978,3.57110061634e-05,-0.000261420855442,2.06963531507e-05,1793245079063654656
+49,0.816666667,BASELINE,764,745,713,679,658,634,878.43584059,785,805,652.43584059,630,651.56415941,0.400980560237,0.00449673948149,0.069835654195,0.999999965262,3.70171336274e-05,-0.000260154738083,2.06365760022e-05,1793245079080321024
+50,0.833333333,BASELINE,764,745,713.014444048,679,658,634,878.985555952,785.014444048,805,652.985555952,630,651,0.400982541552,0.00449756799305,0.0698366031116,0.999999965722,3.81769906217e-05,-0.000258226056061,2.04628383898e-05,1793245079096987392
+51,0.850000000,BASELINE,764,745,713.589588399,679,658,634,878.410411601,785.589588399,805,652.410411601,630,651,0.400982919155,0.00449601674142,0.0698370551547,0.999999966077,3.74196831513e-05,-0.000256944386635,2.06456318083e-05,1793245079113654272
+52,0.866666667,BASELINE,764,745,714,679.170076767,658,633.829923233,878.170076767,785.829923233,805,652,630,651.170076767,0.400982770166,0.00449510236953,0.0698371338647,0.999999966215,3.7092214172e-05,-0.000256445444859,2.07418957312e-05,1793245079130321408
+53,0.883333333,BASELINE,764,745,714,679.763879066,658,633.236120934,878.763879066,785.236120934,805,652,630,651.763879066,0.400981309243,0.00449577470593,0.0698362824606,0.999999965816,3.78356354462e-05,-0.000257896573699,2.06225819519e-05,1793245079146988032
+54,0.900000000,BASELINE,764,745,714,679.653405313,658,633.346594687,878.653405313,785,805,652,630,652,0.40098076663,0.00449593996501,0.0698363337247,0.999999965785,3.71779811754e-05,-0.000258127002648,2.04382381948e-05,1793245079163654656
+55,0.916666667,BASELINE,764,745,714,679.078008511,658,633.921991489,878.078008511,785,805,652,630,652,0.400980830234,0.00449577048043,0.0698369808792,0.999999965996,3.5595416427e-05,-0.000257551594847,2.02109653467e-05,1793245079180321280
+56,0.933333333,BASELINE,763.501675085,745,714,679,658,633.501675085,878,785.498324915,805,652,630,652,0.400980120352,0.00449630278116,0.0698360932107,0.999999965487,3.64207015123e-05,-0.000259401651914,2.02333877703e-05,1793245079196987392
+57,0.950000000,BASELINE,763.076467078,745,713.923532922,679,658,633.076467078,878.076467078,785.923532922,805,652,630,652,0.400979292578,0.00449661188602,0.0698349937855,0.999999964929,3.71298556336e-05,-0.000261440542636,2.03209558633e-05,1793245079213654016
+58,0.966666667,BASELINE,763.665753956,745,713.334246044,679,658,633.665753956,878.665753956,785.334246044,805,652,630,652,0.400978487743,0.00449468600313,0.0698340885734,0.999999964819,3.45275898089e-05,-0.000262194703972,2.05827860511e-05,1793245079230320896
+59,0.983333333,BASELINE,764,745,713,679,658.250439781,633.749560219,879,785,804.749560219,652,630,652,0.400978605033,0.00449403774054,0.0698340620457,0.999999964956,3.36955680053e-05,-0.000261780472017,2.05802995333e-05,1793245079246987776
+60,1.000000000,BASELINE,764,745,713,679,658.829095737,633.170904263,879,785,804.170904263,652,630,652,0.400979930825,0.00449506387481,0.069835187086,0.999999965419,3.51835555359e-05,-0.00025983499152,2.02314103456e-05,1793245079263654144
+61,1.016666667,BASELINE,764,745,713,679,658.594718001,633,878.594718001,785,804.405281999,652,630,651.594718001,0.400978792108,0.00449417138649,0.0698351450712,0.999999965206,3.39469181248e-05,-0.000260821372079,2.02098881913e-05,1793245079280320768
+62,1.033333333,BASELINE,764,745,713,679,658.019566917,633,878.019566917,785,804.980433083,652,630,651.019566917,0.400976620422,0.00449247473048,0.0698346138993,0.999999964701,3.15682867855e-05,-0.000263036607122,2.032557802e-05,1793245079296987648
+63,1.050000000,BASELINE,764,745,713.568044151,679,658,633,878,785,804.431955849,652,630,651.568044151,0.400977375154,0.00449441330394,0.0698346263349,0.999999964695,3.39310563393e-05,-0.000262748461943,2.05190546642e-05,1793245079313654528
+64,1.066666667,BASELINE,764.153846606,745,714,679,658,633,878,785,804.153846606,652.153846606,630,652,0.400978192336,0.00449570913022,0.0698347222739,0.999999964727,3.62242873075e-05,-0.000262307970073,2.0678770864e-05,1793245079330320896
+65,1.083333333,BASELINE,764.733429744,745,714,679,658,633,878,785,804.733429744,652.733429744,630,652,0.400978897127,0.0044948720066,0.0698349963103,0.999999964827,3.78629894463e-05,-0.00026168987132,2.0737481386e-05,1793245079346987520
+66,1.100000000,BASELINE,764.688915397,745,713.688915397,679,658,633.311084603,878,785,805,652.688915397,630.311084603,652,0.400979495295,0.00449489436182,0.0698354117203,0.999999964995,3.82274540478e-05,-0.000260993753697,2.07426589103e-05,1793245079363654144
+67,1.116666667,BASELINE,764.112902741,745,713.112902741,679,658,633.887097259,878,785,805,652.112902741,630.887097259,652,0.400980002659,0.00449564867247,0.0698359475278,0.999999965222,3.750674345e-05,-0.000260231193128,2.07022462842e-05,1793245079380321024
+68,1.133333333,BASELINE,764,745,713.459518608,679.459518608,658,633.540481392,878,785,805,652,630.540481392,651.540481392,0.400979967826,0.00449617643532,0.0698355112799,0.999999965056,3.73971921575e-05,-0.000260912448102,2.03466282633e-05,1793245079396987648
+69,1.150000000,BASELINE,764,745,714,679.967709801,658,633,878.032290199,785,805,652,630,651.032290199,0.400979872566,0.00449657168034,0.0698349223859,0.999999964844,3.73912064285e-05,-0.000261754385602,1.99536862931e-05,1793245079413654528
+70,1.166666667,BASELINE,764,745,714,679.373612044,658,633,878.626387956,785,805,652,630,651.626387956,0.400981025787,0.00449562222835,0.0698358007916,0.999999965516,3.65947886573e-05,-0.000259267794634,2.02483550624e-05,1793245079430321152
+71,1.183333333,BASELINE,764,745,713.785004445,679,658,633,879,785,805,652,630,652,0.400981205706,0.00449496867709,0.0698362296604,0.99999996579,3.57391116925e-05,-0.000258313399113,2.04280792888e-05,1793245079446988032
+72,1.200000000,BASELINE,764,745,713.205699801,679,658,633,879,785,805,652,630,652,0.400979736369,0.00449481652826,0.0698358967907,0.999999965398,3.47830201376e-05,-0.000259955302099,2.0413030506e-05,1793245079463654400
+73,1.216666667,BASELINE,764,745,713,679.370503661,658,633,879,785,805,652,630,651.629496339,0.400978894045,0.00449486392902,0.0698352717616,0.999999965067,3.47144336033e-05,-0.000261243851566,2.03304364842e-05,1793245079480321024
+74,1.233333333,BASELINE,764,745,713,679.944999637,658,633,879,785,805,652,630,651.055000363,0.400978396943,0.00449502119804,0.0698344858751,0.999999964768,3.51344906215e-05,-0.000262337851162,2.02106533312e-05,1793245079496987648
+75,1.250000000,BASELINE,764,745,713.518940948,680,658,633,879,785,805,652,630,651.518940948,0.400979167239,0.0044946363551,0.0698358412642,0.99999996516,3.47849286795e-05,-0.000260843241004,2.0737960155e-05,1793245079513654272
+76,1.266666667,BASELINE,764,745,713.904096552,680,658,633,879,785.095903448,805,652,630,652,0.400979889189,0.00449456474342,0.0698370574828,0.999999965549,3.46173095932e-05,-0.000259342810749,2.10970735049e-05,1793245079530320896
+77,1.283333333,BASELINE,764,745,713.311172389,680,658,633,879,785.688827611,805,652,630,652,0.400979665177,0.00449641390557,0.0698363775603,0.999999965553,3.58148906604e-05,-0.00025923255195,2.02294729746e-05,1793245079546987520
+78,1.300000000,BASELINE,764,745.274703838,713.274703838,679.725296162,658,633,878.725296162,785.725296162,805,652,630.274703838,652,0.400979362496,0.00449697978254,0.0698360412075,0.999999965427,3.70114963077e-05,-0.000259574104377,1.99150877485e-05,1793245079563654144
+79,1.316666667,BASELINE,764,745.85279614,713.85279614,679.14720386,658,633,878.14720386,785.14720386,805,652,630.85279614,652,0.400978972931,0.00449612837332,0.0698360842999,0.999999965158,3.82070246022e-05,-0.000260414646248,2.02116847323e-05,1793245079580321024
+80,1.333333333,BASELINE,764,745.572379316,713.572379316,679,658,633.427620684,878,785,805,652,630.572379316,652,0.400979833346,0.00449561735605,0.0698366333427,0.999999965351,3.65255055191e-05,-0.00025990763247,2.02876237155e-05,1793245079596987648
+81,1.350000000,BASELINE,764,745,713.001366905,679.001366905,658,633.998633095,878.001366905,785,805,652,630,651.998633095,0.400981115757,0.00449522481934,0.0698373517699,0.999999965694,3.38707732374e-05,-0.000258944777282,2.02880788238e-05,1793245079613654272
+82,1.366666667,BASELINE,764,745,713.591475953,679.591475953,658,633.408524047,878.591475953,785,805,652,630,651.408524047,0.400980230648,0.00449577680199,0.0698365787386,0.999999965387,3.5380586285e-05,-0.000259929756254,2.02451320025e-05,1793245079630321152
+83,1.383333333,BASELINE,763.821930517,745,713.821930517,679.821930517,658,633.178069483,878.821930517,785.178069483,805,652,630.178069483,651,0.400979560458,0.00449615284054,0.0698359820756,0.999999965214,3.61256092165e-05,-0.000260494703124,2.02257565263e-05,1793245079646987776
+84,1.400000000,BASELINE,763.24324597,745,713.24324597,679.24324597,658,633.75675403,878.24324597,785.75675403,805,652,630.75675403,651,0.400979373786,0.00449613304578,0.0698357822005,0.999999965347,3.51500319519e-05,-0.000260114675309,2.02594111047e-05,1793245079663654656
+85,1.416666667,BASELINE,763.334395691,745.334395691,713,679,658,633.665604309,878,785.665604309,804.665604309,652,630.665604309,651,0.40097909256,0.00449576237936,0.0698356727841,0.999999965297,3.53221439672e-05,-0.000260271932132,2.03997193379e-05,1793245079680321024
+86,1.433333333,BASELINE,763.911281061,745.911281061,713,679,658,633.088718939,878,785.088718939,804.088718939,652,630.088718939,651,0.40097874277,0.00449513727558,0.0698356289646,0.999999965114,3.63265119961e-05,-0.000260818805179,2.06173683101e-05,1793245079696987648
+87,1.450000000,BASELINE,764,745.513785275,713.486214725,679,658,633,878,785.486214725,804.486214725,652,630.486214725,651,0.400977829492,0.00449628393393,0.0698352168113,0.999999964954,3.6802212523e-05,-0.000261397084141,2.02476782789e-05,1793245079713654272
+88,1.466666667,BASELINE,763.939644797,745,714,679,658,633.060355203,878,785.939644797,804.939644797,652,630.939644797,651,0.400977192943,0.00449744115686,0.0698349506462,0.999999964893,3.69017758948e-05,-0.000261649399741,1.97948281474e-05,1793245079730321152
+89,1.483333333,BASELINE,763.369210063,745,714,679,658,633.630789937,878,785.369210063,804.369210063,652,630.369210063,651,0.400979760589,0.00449596636051,0.0698364840053,0.999999965643,3.46344904396e-05,-0.000259098666021,1.95412795745e-05,1793245079746987776
+90,1.500000000,BASELINE,763.211345923,745,713.788654077,679,658,633.788654077,878,785,804.211345923,652,630,651,0.400980548089,0.00449469902554,0.069836927128,0.99999996593,3.27988879071e-05,-0.000258228591567,1.95290381722e-05,1793245079763654400
+91,1.516666667,BASELINE,763.810472468,745,713.189527532,679,658,633.189527532,878,785,804.810472468,652,630,651,0.400978069352,0.00449381234394,0.0698353698685,0.999999965382,3.17553438312e-05,-0.000260442215862,1.99595507609e-05,1793245079780321024
+92,1.533333333,BASELINE,764,745,713.392528665,679,658.392528665,633,878.392528665,785.392528665,805,652,630,651.392528665,0.40097868898,0.00449445536019,0.069835781962,0.999999965495,3.33214546128e-05,-0.00025978902789,2.02139946716e-05,1793245079796987648
+93,1.550000000,BASELINE,764,745,713.966686209,679,658.966686209,633,878.966686209,785.966686209,805,652,630,651.966686209,0.400980742268,0.00449580619042,0.0698371053046,0.999999965908,3.60950916023e-05,-0.000257809323236,2.03869690114e-05,1793245079813654528
+94,1.566666667,BASELINE,764,745,714,679.553709235,658.446290765,633.553709235,879,785.446290765,805,652,630,652,0.400980729338,0.00449647932003,0.069836848622,0.999999965599,3.82100596441e-05,-0.000258683640307,2.06102429011e-05,1793245079830321152
+95,1.583333333,BASELINE,763.860563745,745,714,679.860563745,658.139436255,633.860563745,879,785,805,652,630,652,0.400980422205,0.00449662726154,0.0698364096708,0.999999965329,3.89179854018e-05,-0.000259611354056,2.06984621951e-05,1793245079846988032
+96,1.600000000,BASELINE,763.281422457,745,714,679.281422457,658.718577543,633.281422457,879,785,805,652,630,652,0.40097958866,0.00449525068599,0.0698357028484,0.999999965329,3.53168160884e-05,-0.000260153087441,2.0351023678e-05,1793245079863654656
+97,1.616666667,BASELINE,763.297302934,745,714,679.297302934,659,633,878.702697066,785.297302934,805,652,630,652,0.400979481611,0.0044950838625,0.0698356724453,0.999999965401,3.3468664841e-05,-0.000260145946483,2.00527281605e-05,1793245079880321280
+98,1.633333333,BASELINE,763.875635156,745,714,679.875635156,659,633,878.124364844,785.875635156,805,652,630,652,0.40098006129,0.00449606057226,0.0698362814359,0.999999965549,3.32775758994e-05,-0.00025961997521,1.98008856944e-05,1793245079896987904
+99,1.650000000,BASELINE,764,745,713.548935001,679.548935001,658.548935001,633,878,785.548935001,805,652,630,652,0.400981374894,0.00449619685547,0.0698367389109,0.999999965708,3.49821352235e-05,-0.000258781534118,1.98151986715e-05,1793245079913654528
+100,1.666666667,BASELINE,764,745,713.026301379,679,658,633,878,785,805,652,630,651.973698621,0.40098278899,0.00449610825483,0.0698371321054,0.999999965865,3.70288471386e-05,-0.000257881708316,1.99017226203e-05,1793245079930321408
+101,1.683333333,BASELINE,764,745,713.614388874,679,658,633,878,785,805,652,630,651.385611126,0.400982055023,0.00449613396826,0.0698370388856,0.999999966025,3.52914503092e-05,-0.000257499141142,1.99732395021e-05,1793245079946988032
+102,1.700000000,BASELINE,764,745,714,679,658,633,878,785,805,652,630,651.198687699,0.400981334817,0.00449642331683,0.0698368658944,0.999999966028,3.49862585392e-05,-0.000257524655684,2.00165941438e-05,1793245079963654400
+103,1.716666667,BASELINE,764,745,714,679,658,633,878,785,805,652,630,651.775771032,0.400980640818,0.0044972147518,0.0698365409806,0.999999965734,3.74086648317e-05,-0.00025832735145,2.00063145123e-05,1793245079980321024
+104,1.733333333,BASELINE,764,745,713.647230463,679.352769537,658,633.352769537,878.352769537,785,805,652,630.352769537,652,0.400980517732,0.00449652560013,0.0698364670349,0.999999965759,3.69568029406e-05,-0.000258293434623,2.00386231519e-05,1793245079996987648
+105,1.750000000,BASELINE,764,745,713.070285808,679.929714192,658,633.929714192,878.929714192,785,805,652,630.929714192,652,0.400980757443,0.00449489557739,0.0698365525725,0.999999965985,3.46784247009e-05,-0.000257727874102,2.00979954388e-05,1793245080013654272
+106,1.766666667,BASELINE,764,745,713.504459071,680,658,634,879,785,804.495540929,652,630.495540929,651.495540929,0.400981260837,0.00449516983266,0.0698369047854,0.99999996611,3.40889088895e-05,-0.000257332946299,1.99281608492e-05,1793245080030321152
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,633,878,785,805,652,630,652,0.400981440867,0.00449923946841,0.0698372262858,0.99999996602,3.97657030065e-05,-0.000256887349812,1.9707291133e-05,1793245080072753152
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658.576743848,633.576743848,878.576743848,785,805,652,630,652,0.400981129603,0.00449763392072,0.0698366283348,0.999999965768,3.96017815698e-05,-0.000257886234395,1.97356241797e-05,1793245080089419776
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.150205262,679,658.849794738,633.849794738,879,785.150205262,805,652,630,652,0.400980815421,0.0044964360806,0.0698362208994,0.999999965585,3.91492950396e-05,-0.000258662792228,1.97798757801e-05,1793245080106086144
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.714615197,679,658.285384803,633.285384803,879,785.714615197,805,652,630,652,0.400980493191,0.00449636253086,0.0698363388278,0.999999965589,3.79010639752e-05,-0.000258826264045,1.98680242468e-05,1793245080122753024
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.297825519,879,785.702174481,805,652,630,652,0.400980413765,0.00449602199533,0.069836279075,0.999999965614,3.66609888853e-05,-0.000258899551986,1.99884514801e-05,1793245080139419648
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.900264696,879,785.099735304,805,652,630,652,0.400980582676,0.00449540838878,0.0698360375914,0.99999996566,3.54292557386e-05,-0.000258880600539,2.01418931834e-05,1793245080156086272
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745.481532937,714,679.481532937,658.481532937,633.518467063,879,785,804.518467063,652,630,652,0.400980782347,0.00449621283774,0.0698361946349,0.999999965589,3.60952278887e-05,-0.00025906654424,2.00703229119e-05,1793245080172753152
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.941657549,714,680,658.941657549,633,879,785,804,652,630,652,0.400981118,0.00449707736016,0.0698365501152,0.999999965558,3.68609021403e-05,-0.00025908846852,1.99814098626e-05,1793245080189420032
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745.367134719,714,680,658.367134719,633,879,785,804,652,630,652,0.400982602765,0.00449598425289,0.0698379617123,0.999999966077,3.51776245496e-05,-0.000257299589271,2.01340233838e-05,1793245080206086656
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.792263739,680,658.207736261,633,879,785,804,652,630,652,0.400988891997,0.00449539626434,0.0698412355266,0.999999967359,3.4434789007e-05,-0.000252366797997,2.01586701334e-05,1793245080222753024
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713.216776498,680,658.783223502,633,879,785,804,652,630,652,0.401003686471,0.0044957024766,0.0698478059832,0.999999969926,3.53567977238e-05,-0.000241868407886,1.99567800757e-05,1793245080239419392
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713,680,658.630084561,633,879,785,804.369915439,652,630,652,0.401032769813,0.0044957948873,0.0698595289465,0.999999974475,3.5028107074e-05,-0.00022232284683,1.98665534827e-05,1793245080256086272
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713,680,658.036621333,633,879,785,804.963378667,652,630,652,0.401070488222,0.0044957580932,0.0698743656802,0.999999979761,3.39435921929e-05,-0.000197309886291,1.98438074743e-05,1793245080272752896
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713.541174887,680,658,633.541174887,879,785,805,652.541174887,630,652,0.40112855688,0.00449551480893,0.0698900577929,0.99999998366,3.52637232242e-05,-0.000176189616882,1.98477736926e-05,1793245080289419520
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.117814566,634,879,785,804.882185434,652.882185434,630,651.882185434,0.401190855772,0.00449519624166,0.0699038600937,0.99999998681,3.52939273931e-05,-0.000157324790015,1.95730748062e-05,1793245080306086144
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.69396352,634,879,785,804.30603648,652.30603648,630,651.30603648,0.401264404962,0.00449463763108,0.0699100916092,0.999999988701,2.96906963014e-05,-0.000146238367058,1.82074498541e-05,1793245080322752768
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679.723953232,659,633.723953232,879,785,804.276046768,652.276046768,630,651.276046768,0.401346103109,0.00449558881562,0.0699151682878,0.999999990007,2.75997249021e-05,-0.000137664631898,1.65155680792e-05,1793245080339419392
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679.135146486,659,633.135146486,879,785,804.864853514,652.864853514,630,651.864853514,0.401437033992,0.00449825059251,0.0699189365401,0.999999990757,2.94881312083e-05,-0.000131937763487,1.44540386029e-05,1793245080356086016
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.553491331,633.446508669,879,785,805,652.553491331,630,651.553491331,0.401539676329,0.00449895378027,0.0699162869662,0.999999990127,2.88034517123e-05,-0.000137005920924,1.20502760948e-05,1793245080372752640
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.974213334,679,658,633.974213334,878.974213334,785,805,652,630,651,0.401647388714,0.00449916636788,0.0699120081998,0.999999989095,2.72891719316e-05,-0.000144823085829,9.52393018064e-06,1793245080389419520
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.400179815,679,658,633.400179815,878.400179815,785,805,652,630,651,0.401788718367,0.00450135341519,0.0699137397369,0.999999989496,2.4433930298e-05,-0.000142714474018,6.55894289429e-06,1793245080406086144
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713.174346063,679.174346063,658.174346063,633.174346063,878.174346063,785,805.174346063,652,630,651,0.40194115609,0.00450259902108,0.0699153212703,0.999999989851,2.06308581559e-05,-0.000140931011198,3.29268893966e-06,1793245080422753024
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713.750005181,679.750005181,658.750005181,633.750005181,878.750005181,785,805.750005181,652,630,651,0.402119162556,0.00450167759904,0.0699165575219,0.999999990107,1.4646052268e-05,-0.000139895982749,-6.67025904277e-07,1793245080439419648
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713.665340806,680,658.665340806,634,879,785,805.330681611,652,630,651,0.402314334421,0.00450120945954,0.0699192773686,0.999999990784,9.0065629211e-06,-0.00013537931189,-4.7304927464e-06,1793245080456086016
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.073781836,680,658.073781836,634,879,785,804.147563672,652,630,651,0.402522683255,0.00450108928046,0.0699231360912,0.999999991738,3.63215378308e-06,-0.000128189972222,-8.87360480938e-06,1793245080472752640
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713,679.493295827,658,634,879,785,804,652,630,651,0.402766193985,0.00450383460359,0.0699257746233,0.999999992627,1.62649475864e-07,-0.000120572510124,-1.44125698375e-05,1793245080489419008
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744.915087943,713.084912057,679,658,633.915087943,878.915087943,785.084912057,804.084912057,652,630,651,0.403020875408,0.00450679981399,0.0699287264157,0.999999993461,-3.00131121177e-06,-0.000112543697721,-2.00675542503e-05,1793245080506085632
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744.340914694,713.659085306,679,658,633.340914694,878.340914694,785.659085306,804.659085306,652,630,651,0.403311051946,0.00450867924474,0.0699344850636,0.999999994411,-5.96879068597e-06,-0.000102496208585,-2.52449546222e-05,1793245080522752256
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,744.23468146,713.76531854,679,658,633,878.23468146,785.76531854,805,652,630,651,0.40362189085,0.00451022223762,0.0699415511321,0.99999999533,-1.00654457695e-05,-9.1172823668e-05,-3.04336705079e-05,1793245080539419136
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,744.812357199,713.187642801,679,658,633,878.812357199,785.187642801,805,652,630,651,0.40396292843,0.00451127351597,0.0699505280362,0.999999996199,-1.58124260729e-05,-7.79846778438e-05,-3.56389240593e-05,1793245080556085504
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.398449434,679,658,633,878.601550566,785,805,652,630,651,0.40431681908,0.0045117866909,0.0699545126151,0.999999996717,4.54476515757e-06,-7.38639442756e-05,-3.30193154331e-05,1793245080572752640
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.988590786,679,658,633,878.011409214,785,805,652,630,651,0.404676893264,0.00451204098708,0.0699560954125,0.999999996198,3.74605355132e-05,-7.4105495139e-05,-2.66352067889e-05,1793245080589419520
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,679.568314941,658,633,878.568314941,785,805,652,630,651,0.405084701641,0.00449571127824,0.0699591059165,0.99999999696,3.00585696879e-05,-6.78134186046e-05,-2.40518942592e-05,1793245080606086144
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,679.853873561,658.146126439,633,878.853873561,785,804.853873561,652,630,651,0.405503299656,0.00448303527717,0.069961789688,0.999999997545,2.4639323029e-05,-6.14994523225e-05,-2.28192938705e-05,1793245080622752768
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679.281047577,658.718952423,633,878.281047577,785,804.281047577,652,630,651,0.405950656206,0.00448198305125,0.0699634371888,0.999999997766,2.73307181386e-05,-5.54976871171e-05,-2.5312069606e-05,1793245080639419392
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713.699932539,679,658.699932539,633,878.300067461,785,804,652,630,651.300067461,0.406407041281,0.00448801138174,0.0699552036674,0.999999997161,1.02579703822e-05,-6.95410971576e-05,-2.7144638032e-05,1793245080656086016
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713.110833225,679,658.110833225,633,878.889166775,785,804,652,630,651.889166775,0.406872122893,0.00450085986625,0.0699374525194,0.999999993971,-2.58520522285e-05,-0.000102892478345,-2.83412798998e-05,1793245080672752640
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658,633.470614975,879,785,804.470614975,652,630,651.529385025,0.407399207607,0.00450394715475,0.0699285520991,0.999999992917,-2.65871421179e-05,-0.000112204928395,-2.94949320227e-05,1793245080689419264
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.95020603,745,713.04979397,679.04979397,658,633.95020603,879,785,804.95020603,652,630,651.04979397,0.407946167606,0.00450575310711,0.0699238115007,0.999999993033,-1.71563232754e-05,-0.000112652607582,-3.0809904052e-05,1793245080706085632
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.376249316,745,713.623750684,679.623750684,658,633.376249316,879,785,804.376249316,652,630,651.623750684,0.408551095044,0.00451788273944,0.0699412690061,0.999999996265,1.2992316324e-05,-7.84255987653e-05,-3.39279027037e-05,1793245080722752512
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.19913723,745,714,679.80086277,658.19913723,633,879,785,804,652,630,651.80086277,0.409164020429,0.00452723861615,0.0699536726507,0.999999997364,3.55630304842e-05,-5.18395020137e-05,-3.63193847595e-05,1793245080739419392
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.777244797,745,714,679.222755203,658.777244797,633,879,785,804,652,630,651.222755203,0.409792166363,0.0045313158654,0.0699564584877,0.999999997556,4.3712486938e-05,-3.97945309044e-05,-3.73282611846e-05,1793245080756086016
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.637357838,679.362642162,658.637357838,633,879,785,804.362642162,652,630,651,0.410428021512,0.00453696299324,0.0699522271355,0.999999997126,4.61846373445e-05,-4.63722459223e-05,-3.8270780246e-05,1793245080772752640
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.047390833,679.952609167,658.047390833,633,879,785,804.952609167,652,630,651,0.411068709215,0.0045435942106,0.0699435970077,0.999999996128,4.50979273809e-05,-6.46237258838e-05,-3.9171702673e-05,1793245080789419264
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713.531038956,680,658.531038956,633,878.468961044,785,805,652,630,651,0.411785259799,0.00455419785041,0.0699599292769,0.999999996444,6.45740763396e-05,-3.70521282509e-05,-3.96212744214e-05,1793245080806085888
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878,785,805,652,630,651.10796862,0.412515579956,0.00456401431222,0.0699807889931,0.99999999574,8.31185748955e-05,-2.71487158083e-06,-4.00585894553e-05,1793245080822752512
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633,878,785,805,652,630,651.682769021,0.41327678634,0.00456892698265,0.0700117971553,0.999999994188,8.98691341305e-05,4.35701842032e-05,-4.0613364618e-05,1793245080839419136
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,713.736018095,680,659,633,878.52796381,785,805,651.736018095,630,652,0.414033741223,0.00457439034326,0.0700250090564,0.99999999296,9.33112808998e-05,6.06466230908e-05,-4.1181579225e-05,1793245080856085760
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713.146907308,680,659,633,879.706185384,785,805,651.146907308,630,652,0.414785459917,0.00458053195286,0.0700163024954,0.999999993962,9.26786780655e-05,4.17487656016e-05,-4.17663464468e-05,1793245080872752640
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713.434696961,680,659,633,879.565303039,785,805,651.434696961,630,651.565303039,0.415518188076,0.0045892822371,0.069967751487,0.999999992433,0.000107183534607,-4.20979952108e-05,-4.32945940675e-05,1793245080889419776
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,713.986213706,679.986213706,659,633.013786294,879,785.013786294,805.013786294,652,630,651.013786294,0.41624771429,0.00459876579196,0.069907734474,0.999999980595,0.000126102666662,-0.000144468671876,-4.51337451942e-05,1793245080906086400
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.407988733,679.407988733,659,633.592011267,879,785.592011267,805.592011267,652,630,651.592011267,0.417104450101,0.00460278876129,0.0699202247912,0.999999984297,0.000119857338634,-0.000121836126749,-4.6869077824e-05,1793245080922753024
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,713.168307375,679.168307375,659.168307375,633.831692625,879,785.831692625,805.831692625,651.831692625,630,651.831692625,0.417961859384,0.00460715364215,0.0699387385321,0.999999987771,0.000118107743944,-9.06908574988e-05,-4.77819009319e-05,1793245080939419136
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,713.739980724,679.739980724,659.739980724,633.260019276,879,785.260019276,805.260019276,651.260019276,630,651.260019276,0.41882088266,0.00461233794899,0.0699716880283,0.999999990061,0.000127132637946,-3.91439686525e-05,-4.67234950463e-05,1793245080956085760
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659.677010221,633,879,785,805,651,630,651.322989779,0.419711585428,0.00461608801862,0.0699997982643,0.999999989564,0.000136588813971,3.49059353978e-06,-4.69467762584e-05,1793245080972752384
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659.084543589,633,879,785,805,651,630,651.915456411,0.420628718991,0.00461864147512,0.0700238710068,0.999999987371,0.000146404816866,3.86894201235e-05,-4.82393948204e-05,1793245080989419264
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,713.506107867,680,659.493892133,633,879,785,805,651.493892133,630,651.506107867,0.421519075668,0.00460241982867,0.0700300824856,0.999999990392,0.000120509210159,4.75984548275e-05,-4.92804800297e-05,1793245081006086144
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,713.069913911,680,659.930086089,633.069913911,879.069913911,785,805.069913911,652,630,651,0.422395501819,0.00458428703787,0.0700246054382,0.99999999387,9.11587213198e-05,3.7643810068e-05,-5.03363304369e-05,1793245081022752768
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,713.645367751,680,659.354632249,633.645367751,879.645367751,785,805.645367751,652,630,651,0.423203425504,0.00457493229973,0.0699561073635,0.999999992504,7.98081152923e-05,-7.70702199147e-05,-5.18016860715e-05,1793245081039419392
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,713.778635815,680,659,633.778635815,879.778635815,785,805.778635815,651.778635815,630,651,0.42403558002,0.00457438443961,0.0698967539335,0.999999981542,7.73749088425e-05,-0.000167236486569,-5.44211709846e-05,1793245081056086016
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,713.201767902,680,659,633.201767902,879.201767902,785,805.201767902,651.201767902,630,651,0.424906648596,0.00458798013956,0.0698520864969,0.999999970524,8.92627574041e-05,-0.00021797985776,-5.88941512508e-05,1793245081072752640
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,713,680,659.385395938,633,879,785,805.385395938,651,630,651.385395938,0.425856810449,0.00459476904953,0.0698796060148,0.999999978652,9.8312677743e-05,-0.000172285590089,-5.786754359e-05,1793245081089419008
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,713,680,659.978097964,633,879,785,805.978097964,651,630,651.978097964,0.426849516855,0.00459789655786,0.0699459552005,0.999999990156,0.00010583606321,-7.47171084179e-05,-5.38826838847e-05,1793245081106085632
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,713,680.554374249,660,633,879,785,805.445625751,651,630,651.445625751,0.427804510589,0.00460312446761,0.0699932013024,0.999999992106,0.000112407715377,-1.54528680091e-05,-5.39812058531e-05,1793245081122752256
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,713,681,660,633,879,785.130052799,805.130052799,651.130052799,630,651.130052799,0.428754528065,0.00460701705554,0.0700322701722,0.999999991012,0.000116994420966,3.6545000532e-05,-5.43463881795e-05,1793245081139419136
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,713,681,660,633,879,785.705842823,805.705842823,651.705842823,630,651.705842823,0.429692449687,0.00460605679572,0.070045825007,0.999999989523,0.000114903171647,6.86758255277e-05,-5.50885042096e-05,1793245081156085760
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.281730308,745,713,680.718269692,660.281730308,633.281730308,879.281730308,786,806,652,630,652,0.430571088618,0.00460542073896,0.0700262383265,0.999999990966,0.000116575375907,3.79748012214e-05,-5.51014106066e-05,1793245081172752384
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.857719554,745,713,680.142280446,660.857719554,633.857719554,879.857719554,786,806,652,630,652,0.431387808479,0.00460512330275,0.0699720363169,0.999999989357,0.000122178395062,-5.83522256232e-05,-5.43526788188e-05,1793245081189419520
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713,680.446298748,660.107402505,633.553701252,879.553701252,785.553701252,806,652,630.446298748,652,0.432221633625,0.0046034736736,0.069915633554,0.99999998027,0.000117171185874,-0.000150335114794,-5.59559364736e-05,1793245081206086144
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.962120358,745,713,681.037879642,659.075759283,633,879.037879642,785.037879642,806,652,630.962120358,651.962120358,0.43306875338,0.0046010846094,0.0698664636946,0.999999966644,0.000108311208877,-0.000227138279368,-5.82061034158e-05,1793245081222752768
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.386558591,745,713,681.613441409,660.226882818,633,879.613441409,785.613441409,806,652,630.386558591,651.386558591,0.43402493029,0.0045944962351,0.0699302092392,0.999999987936,9.41705192976e-05,-0.000108701737615,-5.86865993104e-05,1793245081239419392
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713,682,661.188879687,633,879.811120313,785.811120313,806,651.811120313,630.188879687,651.188879687,0.434958060708,0.00458794871102,0.0699853572622,0.999999994616,8.51190566025e-05,-1.13791741811e-05,-5.8258417101e-05,1793245081256086016
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,713,682,661.764065502,633,879.235934498,785.235934498,806,651.235934498,630.764065502,651.764065502,0.435844055469,0.00458148473463,0.070022921218,0.99999999378,8.64763333394e-05,4.27600500425e-05,-5.59717626446e-05,1793245081272752640
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,713.349118132,682,661.301763736,633,879.349118132,785.349118132,806.349118132,651,630.650881868,651.650881868,0.436696924899,0.00458005501735,0.0700355292036,0.999999992591,8.54943930657e-05,6.56964854904e-05,-5.64961918628e-05,1793245081289419520
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+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,713,683,650.167413807,628.167413807,880,784,807.832586193,652,630,652,0.452724096423,0.00476776011126,0.0695612126524,0.999999726011,0.00030117201353,-0.000672820859872,-6.77159465664e-05,1793245082289419264
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713,683,650.741938321,628.741938321,880,784,807.258061679,652,630,652,0.4527228824,0.00476692983083,0.0695597738267,0.999999724836,0.000300871501884,-0.0006747236107,-6.74764176816e-05,1793245082306085888
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,744.67587484,713,683.32412516,651,628.67587484,880,784,807,652,630,652,0.452722931982,0.00476860075746,0.0695596550727,0.999999724275,0.00030276801104,-0.000674686151584,-6.76778852424e-05,1793245082322752512
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+244,4.066666667,POSE1_TO_POSE2_PRESS,764,744,713,683.509034802,650.509034802,628,880,784,807,652,630,652,0.452722658911,0.00477178576128,0.0695594958863,0.999999722993,0.000306236883813,-0.000675005056218,-6.78327357023e-05,1793245082356086016
+245,4.083333333,HOLD_POSE2,764,745,713,683,651,629,880,784,807,652,630,652,0.452721701334,0.00476961266858,0.0695585279504,0.999999722249,0.000303165414401,-0.000677636214223,-6.63494452456e-05,1793245082399778048
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+256,4.266666667,HOLD_POSE2,764,745,713,683,651,628,880,784,807,652,630,651.60819707,0.45272506246,0.00476781923709,0.0695584696304,0.999999723941,0.000299040502219,-0.000676960471056,-6.64578530265e-05,1793245082583110912
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.58649675,650.58649675,628,880,784,807,652,630,652,0.45272701585,0.00476752131944,0.0695596573186,0.999999724769,0.000298814999323,-0.000675849618254,-6.6320065217e-05,1793245082703808512
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,712.626140633,683.373859367,650.373859367,629,880.373859367,784.373859367,807,652,629.373859367,652,0.452724965565,0.00476692995589,0.0695581084337,0.999999724178,0.000298462560568,-0.00067686414678,-6.64787384449e-05,1793245082820475136
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,745,713,683,650,628.799512053,880,784,807,652,629,652,0.452721716182,0.00476766298547,0.069556597911,0.999999722558,0.000298750573421,-0.000679114783311,-6.65964397816e-05,1793245082837141760
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,713,683,650,628.185603111,880,784,807,652,629,652,0.452713840829,0.00476896029076,0.069553088413,0.999999718531,0.000301474709465,-0.000683842298413,-6.64171107219e-05,1793245082853808128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,713,683.403620124,650.403620124,628.403620124,880,784,807,652,629.403620124,652,0.452689882461,0.00476948839155,0.0695416351508,0.999999705898,0.000301946692955,-0.000701852093988,-6.66073821788e-05,1793245082870474496
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745,713,683.982146043,650.982146043,628.982146043,880,784,807,652,629.982146043,652,0.452658954637,0.00476968316337,0.0695267395168,0.999999689064,0.000301442722885,-0.000725617667649,-6.69578172394e-05,1793245082887141120
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.557659435,745,713,683.442340565,650.442340565,628.442340565,880.557659435,784,807,652,630,652,0.452603241833,0.00477001814753,0.0695067969892,0.999999666794,0.000304259946698,-0.000754603765733,-6.64163551112e-05,1793245082903808000
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.864144037,745,713,683,650.135855963,628.135855963,881,784,807,652,630,652,0.452544294821,0.0047699408312,0.0694881132186,0.999999646299,0.000306334354741,-0.000780525217119,-6.58957382193e-05,1793245082920474624
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.276709887,745,713,683,650.723290113,628.723290113,881,784,807,652,630,652,0.452477220876,0.00476847820838,0.0694741476863,0.999999634585,0.0003055881436,-0.000795707372355,-6.55388147548e-05,1793245082937141248
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745,713,683.305787841,650.694212159,628.694212159,880.694212159,784,807,651.694212159,630,652,0.452400552042,0.00476831224517,0.0694642274779,0.99999962393,0.000306269945017,-0.00080880340036,-6.46222770563e-05,1793245082953807616
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745,713,683.883889493,650.116110507,628.116110507,880.116110507,784,807,651.116110507,630,652,0.45231533866,0.00476930099872,0.0694579097601,0.999999614267,0.000308223437159,-0.000820041664751,-6.32073850839e-05,1793245082970474496
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,745,713,684,650.459466075,628.459466075,880,784,807,651.459466075,630,652,0.452220245089,0.00476832661601,0.0694588878989,0.999999615496,0.000309196308983,-0.000818282601896,-6.17908777908e-05,1793245082987141120
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,745,713,684,651,629,880,784.034519314,807,652,630,652,0.452120658507,0.00476697074203,0.069461732132,0.999999619261,0.00031015527143,-0.000813415448497,-6.0304083384e-05,1793245083003807744
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,745,713,684,651,629,880,784.611320692,807,652,630,652,0.45198949795,0.00476737270777,0.0694650861988,0.999999619904,0.000314767425546,-0.000811037926222,-5.77194891342e-05,1793245083020474880
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,745,713,683.807186824,650.807186824,628.807186824,880.192813176,784.807186824,807,652,630,652,0.451847946476,0.00476717479782,0.069466526538,0.999999618551,0.000318145308308,-0.000811581710567,-5.49187475645e-05,1793245083037141504
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,745,713,683.216002112,650.216002112,628.216002112,880.783997888,784.216002112,807,652,630,652,0.451684926332,0.00476573748394,0.0694640129219,0.999999613099,0.000318973060957,-0.000818161210389,-5.16714240766e-05,1793245083053808128
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.795133685,745,713,681,657.409732629,633,879,785,806,652,630,651,0.419814273275,0.00447256741886,0.0697638134581,0.999999928329,1.60810292197e-05,-0.000376882524727,3.22980767256e-05,1793245083870474752
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764.202447979,745,713,681,658.595104042,633,879,785,806,652,630,651,0.419053843415,0.00446640282422,0.069841469417,0.999999966847,8.83674328632e-06,-0.000255078584963,3.40992304793e-05,1793245083887141120
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.535070559,745,713,680,657.464929441,633,879.535070559,785,805,652,630,651.464929441,0.416527202215,0.00444047253928,0.0698416371993,0.999999967288,-7.61468536998e-06,-0.00025315450898,3.57560449316e-05,1793245083937141248
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.889942728,745,713,680,657.110057272,633.110057272,879.889942728,785,805.110057272,652,630,651.110057272,0.415691263217,0.00443434580558,0.0698046586456,0.999999955568,-2.21875595952e-05,-0.000295377750603,3.35085384141e-05,1793245083953807616
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,745,713,680.262967514,657.737032486,633.737032486,879,785,805.737032486,652,630,651.737032486,0.41405165566,0.00443150217383,0.0697568531931,0.999999922968,-1.90381917362e-05,-0.000390546798544,3.42604793835e-05,1793245083987141120
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,745,713,680.85893792,657.14106208,633.14106208,879,785,805.14106208,652,630,651.14106208,0.413280379516,0.00442954533239,0.0697449410285,0.999999911994,-1.9554181468e-05,-0.00041750827475,3.62894856478e-05,1793245084003807744
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,745,713,680.559801946,657.440198054,633,879,785,805,652,630,651.440198054,0.412602581643,0.00445264327054,0.0697860457823,0.999999942313,-1.61725024326e-06,-0.000337954509395,3.40272717906e-05,1793245084020474368
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,745,713.016868221,680,658.016868221,633,879,785,805,652,630,652,0.411953564457,0.00448265952396,0.069842734481,0.999999973398,2.2017531932e-05,-0.000227557299752,3.06132653253e-05,1793245084037141248
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,745,713.592593497,680,658.592593497,633,879,785,805,652,630,652,0.411297727398,0.0044844848296,0.0698710624397,0.999999980476,4.48505752047e-05,-0.000189576520629,3.31253035184e-05,1793245084053807872
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,745,713.827678958,680,658.827678958,633,879,785,805,652,630,651.827678958,0.410637204672,0.00448172836152,0.0698815618675,0.999999981834,5.33209760222e-05,-0.000179650228144,3.48410928282e-05,1793245084070474496
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,745,713.238264018,680,658.238264018,633,879,785,805,652,630,651.238264018,0.409965340402,0.00446788195471,0.0698489082919,0.999999970802,2.70273709402e-05,-0.000237628317964,3.46296047111e-05,1793245084087141120
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.076623049,633,879,785,805,652,630,651.923376951,0.408648840019,0.00446542190516,0.0697724097428,0.999999931332,1.30533768596e-05,-0.000368980141439,3.19110357135e-05,1793245084120474624
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,745,713.498675034,680,657.498675034,633,879,785,805,652,630,652,0.408073337083,0.00446362490702,0.069773196839,0.999999934687,1.43854809866e-05,-0.00035981237771,3.08796700744e-05,1793245084137141504
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633,879,785,805,652,630,651.924917027,0.40751829214,0.00446215475292,0.0697818636776,0.999999942095,1.60682523452e-05,-0.000338584515649,3.02007588333e-05,1793245084153808640
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,745,713.753477363,680,657.753477363,633.246522637,879,785,804.753477363,652,630,651.246522637,0.406523404224,0.00447522868532,0.0698109545377,0.999999951772,2.44559993692e-05,-0.000307964834475,3.18685677417e-05,1793245084187141376
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745,713.720703553,679.720703553,657.279296447,633.720703553,879,785.279296447,804,652,630,651.279296447,0.404079888603,0.00447435389179,0.0698477692371,0.99999997014,2.40390197474e-05,-0.000241453247436,2.90121111774e-05,1793245084287141632
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,713.694296247,679.694296247,657,633.694296247,878.694296247,785,804.305703753,652,630,651.305703753,0.403750317565,0.0044724509302,0.0698460129358,0.999999969948,1.56622683844e-05,-0.000242986608469,2.85622640023e-05,1793245084303808000
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,713.115071445,679.115071445,657,633.115071445,878.115071445,785,804.884928555,652,630,651.884928555,0.403430010149,0.00446942127255,0.0698364409847,0.999999966748,2.32066948296e-06,-0.000256410147237,2.74228797186e-05,1793245084320474624
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.461201082,657.461201082,633,878.461201082,785,805,652,630,652,0.403138537665,0.00446720517536,0.0698302525671,0.99999996325,-7.21054156884e-06,-0.000269655539207,2.7094702188e-05,1793245084337141504
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.963192694,633,878.963192694,785.036807306,805,652,630,652,0.402856181026,0.00446543207292,0.0698244602181,0.999999959404,-1.54420457713e-05,-0.000283243176602,2.69530256232e-05,1793245084353807872
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.386624158,633,878.386624158,785.613375842,805,652,630,652,0.402602672054,0.00446719750824,0.0698121749131,0.999999953723,-1.84669535073e-05,-0.000302497346171,2.65970878196e-05,1793245084370474496
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,713.194293755,679.805706245,657,633,878.194293755,785.805706245,805,652,630,652,0.402368451109,0.00446817430591,0.0698034976156,0.999999949489,-2.14526142017e-05,-0.000316006581523,2.64857512704e-05,1793245084387141120
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,713.784064581,679.215935419,657,633,878.784064581,785.215935419,805,652,630,652,0.402173490195,0.00446754586337,0.0698021642729,0.999999948837,-2.43583887745e-05,-0.000317822233737,2.68722907307e-05,1793245084403808000
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.633823624,744.633823624,713.633823624,679.366176376,656.633823624,633,878.633823624,785,805,652,630,651.633823624,0.401996260878,0.00447147506413,0.069801683804,0.999999948888,8.82094220233e-06,-0.00031840563164,2.76237632405e-05,1793245084420474880
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.056135797,744.056135797,713.056135797,679.943864203,656.056135797,633,878.056135797,785,805,652,630,651.056135797,0.401829273701,0.00447803685886,0.0698016959734,0.999999946967,6.28438158862e-05,-0.000318277252027,2.85860290001e-05,1793245084437141760
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.520695474,744.520695474,713,679.479304526,656.520695474,633,878.520695474,785,804.479304526,652,630.520695474,651,0.401692191386,0.00449672108828,0.0698020771685,0.999999945673,8.98754090637e-05,-0.000316000811331,2.68216233203e-05,1793245084453808128
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713.09656614,679.09656614,657.09656614,633,879,785,804,652,630.90343386,651.09656614,0.40156273559,0.00451269316689,0.0698024353088,0.999999944963,0.000104792238705,-0.000313856823735,2.42148665587e-05,1793245084470474752
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,713.668165079,679.668165079,657.668165079,633,879,785,804,652,630.331834921,651.668165079,0.401454962771,0.0045089050501,0.0698024846492,0.999999947912,7.44046104287e-05,-0.000313501738157,1.89080646078e-05,1793245084487141120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.75033408,745,713.75033408,680,657.75033408,633,878.75033408,785,804.24966592,652,630,652,0.401357573715,0.00450415943527,0.069801700591,0.999999948969,5.30743626528e-05,-0.00031459539777,1.65887663751e-05,1793245084503808000
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.155128978,745,713.155128978,680,657.155128978,633,878.155128978,785,804.844871022,652,630,652,0.401274555857,0.00449808863742,0.0697997631038,0.999999948386,4.42795875154e-05,-0.000317694130034,1.840419214e-05,1793245084520474624
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.427985118,745,713,680,657,633,878,785,805,652,630,652,0.401209172748,0.00449898588892,0.0698009565377,0.999999949039,4.63764041322e-05,-0.000315281059765,1.92075959368e-05,1793245084537141248
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.150589204,633,879,785,805.150589204,652,630.849410796,651.150589204,0.401075630783,0.0044959392737,0.0698110444382,0.999999954116,4.30651088677e-05,-0.000299102339373,2.12550607787e-05,1793245084587141120
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.745067059,633,879,785,805.745067059,652,630.254932941,651.745067059,0.401048635014,0.0044997204381,0.0698132100283,0.999999955581,4.66407993948e-05,-0.000293648645791,2.07910446212e-05,1793245084603808000
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.669749667,633,878.669749667,785,805.669749667,652,630,652,0.401027587672,0.00449948027731,0.0698159058203,0.999999956898,4.63665457173e-05,-0.000289134968878,2.13291490527e-05,1793245084620474624
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.091544774,633,878.091544774,785,805.091544774,652,630,652,0.401011006454,0.00449622087419,0.0698189996923,0.999999958105,4.32017238864e-05,-0.000285327063335,2.26196534922e-05,1793245084637140992
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633.485106156,878,785,805,652,630,652,0.400999650455,0.00449593858541,0.0698203187158,0.999999958748,4.36482619208e-05,-0.000283002698919,2.25634984977e-05,1793245084653807616
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633.938766646,878,785,805,652.061233354,630,652,0.400989783221,0.00449629567497,0.0698211243226,0.999999959185,4.45778986393e-05,-0.000281335499737,2.22231760256e-05,1793245084670474496
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633.364577731,878,785,805,652.635422269,630,652,0.400984153583,0.00449731755684,0.0698204258018,0.999999958806,4.38637234398e-05,-0.000282835657413,2.16244230852e-05,1793245084687141120
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.215705319,633.215705319,878,785,805,652.784294681,630,652,0.400980235297,0.00449759021652,0.0698205261157,0.999999958875,4.38609100332e-05,-0.000282611665677,2.13562868781e-05,1793245084703808000
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.806587889,633.806587889,878,785,805,652.193412111,630,652,0.400979293575,0.00449655975053,0.0698220158465,0.999999959719,4.50953715009e-05,-0.00027938885286,2.16631939089e-05,1793245084720474880
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.612158445,657.612158445,634,878,785.387841555,804.612158445,652,630,652,0.400978834075,0.00449604813843,0.0698241752027,0.999999960613,4.46718399013e-05,-0.000276240884461,2.1649759921e-05,1793245084737141504
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.035590294,657.035590294,634,878,785.964409706,804.035590294,652,630,652,0.400978609229,0.00449578900452,0.0698266604037,0.999999961526,4.34415164606e-05,-0.000273129336006,2.14804455927e-05,1793245084753808128
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.540304578,745,713.459695422,679,657,634,878,785.459695422,805.080609157,652,630,652,0.400978497703,0.00449639594511,0.0698262592967,0.999999961518,4.30494130261e-05,-0.000273221700595,2.14725650718e-05,1793245084770474752
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.762122986,745,713.118938507,679,657,633.881061493,878,785.118938507,805.881061493,652,630,652,0.400978326847,0.00449704391515,0.0698259139481,0.99999996151,4.29060904629e-05,-0.000273276324886,2.14260774477e-05,1793245084787141376
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.582824667,745,713.708587667,679,657,633.291412333,878,785.708587667,805.291412333,652,630,652,0.40097789168,0.00449762876706,0.0698265407636,0.999999961742,4.35290986897e-05,-0.000272347399414,2.11847666625e-05,1793245084803808256
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.293890322,745,714,679,657,633,878.293890322,785.706109678,805,652,630,652,0.400977691515,0.00449659244147,0.0698271145963,0.999999961895,4.22919683283e-05,-0.000271977223911,2.12226037935e-05,1793245084820474880
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.874946001,745,714,679,657,633,878.874946001,785.125053999,805,652,630,652,0.400977720975,0.00449397203516,0.0698276366587,0.999999961965,3.92372641914e-05,-0.000272153012633,2.15332011917e-05,1793245084837141248
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.551003226,745,713.551003226,679,657,633.448996774,879,785,805,652,630,652,0.400977342055,0.00449485595092,0.0698274447283,0.999999961882,4.1146379449e-05,-0.000272179804455,2.14963121594e-05,1793245084853808128
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.021220864,745,713.021220864,679.021220864,657.021220864,634,879,785,804.978779136,652,630,652,0.400976876306,0.00449663902929,0.0698270869727,0.999999961761,4.43052568198e-05,-0.000272137742775,2.13673279804e-05,1793245084870474752
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.595906489,745,713.595906489,679.595906489,657.595906489,634,879,785,804.404093511,652,630,652,0.400977066897,0.00449680864089,0.0698275111428,0.99999996196,4.45556523129e-05,-0.00027136560275,2.13217930485e-05,1793245084887141376
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.823104752,658,633.823104752,878.823104752,785,804.176895248,652,630,652,0.400977115008,0.0044969909142,0.0698279244216,0.99999996211,4.48240870621e-05,-0.000270772025745,2.13063750965e-05,1793245084903808000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.227185353,658,633.227185353,878.227185353,785,804.772814647,652,630,652,0.400976825614,0.00449720318017,0.0698283119015,0.999999962141,4.51352526435e-05,-0.000270601423506,2.13622973444e-05,1793245084920474624
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,657.644003467,633.355996533,878,785.355996533,805,652,630,652,0.400977372016,0.00449671143291,0.0698291171575,0.999999962547,4.44670977754e-05,-0.000269211330556,2.1316675172e-05,1793245084937141504
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,657.068669471,633.931330529,878,785.931330529,805,652,630,652,0.400978433369,0.00449578592727,0.0698301798147,0.999999963179,4.31955615611e-05,-0.000267069881982,2.12084891983e-05,1793245084953808384
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763.498300757,745,714,679.501699243,657,633.498300757,878.501699243,786,805,652,630,651.498300757,0.400977588677,0.0044952056611,0.0698300098174,0.999999962963,4.09976021329e-05,-0.000268208676649,2.13623295645e-05,1793245084970474752
+399,6.650000000,POSE2_TO_POSE3_RETREAT,763.07447354,745,713.92552646,680,657.07447354,633,878.92552646,785.92552646,805,652,630,651.07447354,0.400976832429,0.00449475362057,0.0698297591381,0.999999962728,3.93349432722e-05,-0.000269319901109,2.15244756713e-05,1793245084987141376
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.668734195,745,713.331265805,680,657.668734195,633,878.331265805,785.331265805,805,652,630,651.668734195,0.4009784965,0.00449486995126,0.0698301113661,0.999999963194,4.22847560202e-05,-0.0002671357633,2.14967285198e-05,1793245085003808000
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,713.257590754,680,657.742409246,633,878,785,805,652,630,652,0.400979361077,0.00449496906002,0.0698306741385,0.99999996351,4.35459224238e-05,-0.00026574574762,2.15233845955e-05,1793245085020474624
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,713.839640447,680,657.160359553,633,878,785,805,652,630,652,0.400979218616,0.00449504647623,0.0698315021107,0.999999963649,4.26800858678e-05,-0.000265356000558,2.16185664711e-05,1793245085037140992
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,745,713.581874923,680,657.418125077,633.418125077,878.836250154,785,805,652,630,652,0.400978488118,0.00449546619718,0.0698311931999,0.999999963484,4.27061336752e-05,-0.000266000260713,2.12628493356e-05,1793245085053807616
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,745,713.004746043,680,657.995253957,633.995253957,879.990507915,785,805,652,630,652,0.400977534003,0.00449601608913,0.0698304519573,0.999999963203,4.30713456111e-05,-0.000267037731176,2.07356651826e-05,1793245085070474240
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e95323197d8bc00ac54478c1e4b28037c18afa64
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+1,0.016666667,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+2,0.033333333,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+3,0.050000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+4,0.066666667,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+5,0.083333333,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+6,0.100000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+7,0.116666667,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+8,0.133333333,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+9,0.150000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+10,0.166666667,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+11,0.183333333,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+12,0.200000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+13,0.216666667,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
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+15,0.250000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+16,0.266666667,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+17,0.283333333,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+18,0.300000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
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+375,6.250000000,pose2_to_pose3_retreat,0.575752878309,0.009877714575,1.06005065994,0.546324512598,0.0185534041817,1.05971715588
+376,6.266666667,pose2_to_pose3_retreat,0.575730253295,0.0098776881148,1.06005069205,0.546301887468,0.0185533773638,1.05971718901
+377,6.283333333,pose2_to_pose3_retreat,0.575712224653,0.00987772201714,1.06005079999,0.546283859082,0.018553412064,1.05971729492
+378,6.300000000,pose2_to_pose3_retreat,0.575698521946,0.00987776860652,1.06005086778,0.546270156918,0.0185534604867,1.05971736208
+379,6.316666667,pose2_to_pose3_retreat,0.575688438123,0.00987774704902,1.06005082394,0.546260074093,0.0185534426882,1.05971732824
+380,6.333333333,pose2_to_pose3_retreat,0.575681365457,0.00987787642543,1.06005066413,0.546252997701,0.0185535591041,1.05971715996
+381,6.350000000,pose2_to_pose3_retreat,0.575676677411,0.00987787562479,1.06005090421,0.546248310136,0.0185535597909,1.05971739619
+382,6.366666667,pose2_to_pose3_retreat,0.575673694242,0.00987785357365,1.06005111103,0.546245327893,0.0185535407962,1.05971760077
+383,6.383333333,pose2_to_pose3_retreat,0.575672260937,0.00987786494279,1.06005105558,0.546243894034,0.0185535502047,1.05971754319
+384,6.400000000,pose2_to_pose3_retreat,0.575671535448,0.00987787069745,1.06005102751,0.546243168265,0.018553554967,1.05971751405
+385,6.416666667,pose2_to_pose3_retreat,0.575671301153,0.00987786652602,1.06005101206,0.546242933995,0.0185535508916,1.05971749888
+386,6.433333333,pose2_to_pose3_retreat,0.575671139249,0.00987785752406,1.0600509949,0.546242772226,0.0185535423786,1.05971748256
+387,6.450000000,pose2_to_pose3_retreat,0.575671007296,0.00987785018736,1.06005098091,0.546242640382,0.0185535354405,1.05971746925
+388,6.466666667,pose2_to_pose3_retreat,0.575670904712,0.00987784448362,1.06005097004,0.546242537884,0.0185535300466,1.05971745891
+389,6.483333333,pose2_to_pose3_retreat,0.575670771247,0.00987783706288,1.0600509559,0.54624240453,0.018553523029,1.05971744546
+390,6.500000000,pose2_to_pose3_retreat,0.575670603725,0.00987782774854,1.06005093814,0.546242237147,0.0185535142207,1.05971742857
+391,6.516666667,pose2_to_pose3_retreat,0.575670508471,0.00987782245238,1.06005092805,0.546242141973,0.0185535092123,1.05971741897
+392,6.533333333,pose2_to_pose3_retreat,0.575670441891,0.00987781875046,1.06005092099,0.546242075448,0.0185535057115,1.05971741225
+393,6.550000000,pose2_to_pose3_retreat,0.575670338486,0.00987781300109,1.06005091003,0.546241972129,0.0185535002744,1.05971740183
+394,6.566666667,pose2_to_pose3_retreat,0.575670335026,0.00987781280871,1.06005090966,0.546241968672,0.0185535000925,1.05971740148
+395,6.583333333,pose2_to_pose3_retreat,0.575670155202,0.00987780281036,1.06005089061,0.546241788997,0.0185534906373,1.05971738335
+396,6.600000000,pose2_to_pose3_retreat,0.575670094942,0.00987779945986,1.06005088422,0.546241728787,0.0185534874688,1.05971737728
+397,6.616666667,pose2_to_pose3_retreat,0.575670062307,0.00987779764534,1.06005088076,0.54624169618,0.0185534857529,1.05971737399
+398,6.633333333,pose2_to_pose3_retreat,0.575669931316,0.00987781019222,1.06005094194,0.546241565501,0.0185534992957,1.05971743345
+399,6.650000000,pose2_to_pose3_retreat,0.575669794237,0.00987783220968,1.06005103962,0.546241428841,0.0185535226245,1.05971752826
+400,6.666666667,pose2_to_pose3_retreat,0.57566974012,0.0098778409018,1.06005107818,0.54624137489,0.0185535318342,1.05971756568
+401,6.683333333,pose2_to_pose3_retreat,0.575669678134,0.00987785085796,1.06005112234,0.546241313093,0.0185535423834,1.05971760855
+402,6.700000000,pose2_to_pose3_retreat,0.575669628943,0.00987785788926,1.06005115697,0.546241264012,0.018553549753,1.05971764227
+403,6.716666667,pose2_to_pose3_retreat,0.575669551661,0.00987785897301,1.06005120654,0.546241186441,0.0185535498533,1.0597176918
+404,6.733333333,pose2_to_pose3_retreat,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..27b9571f101cfb804e990f317146beb492c56cdf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aef03d94cfff6d029c15d7c9d36e024529c4a9a4819447b61657a82af90fa31
+size 25820538
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a877cd9f66e456ce6e4a17a53f3807259946007c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+38,0.633333333,BASELINE,764.926628473,745,713.926628473,679.926628473,657.073371527,633,878,785,805,652,630,651.926628473,0.400980946962,0.00449574134636,0.0698346215293,0.999999965039,4.02619636999e-05,-0.000260539360214,2.051440441e-05,1793245085848101376
+39,0.650000000,BASELINE,764.347439888,745,713.347439888,679.347439888,657.652560112,633,878,785,805,652,630,651.347439888,0.400980614989,0.00449509169214,0.0698342142993,0.999999964935,3.93031629329e-05,-0.000261080612379,2.05338272647e-05,1793245085864768256
+40,0.666666667,BASELINE,764,745,713.230401385,679,657.769598615,633,878,785,804.769598615,652,630.230401385,651,0.400980134171,0.00449526417654,0.0698339314132,0.999999964841,3.95657146872e-05,-0.000261403787437,2.05198802347e-05,1793245085881435136
+41,0.683333333,BASELINE,764,745,713.806222719,679,657.193777281,633,878,785,804.193777281,652,630.806222719,651,0.400979430205,0.00449666921904,0.0698338349447,0.999999964758,4.16593298325e-05,-0.000261400019185,2.04559047545e-05,1793245085898102272
+42,0.700000000,BASELINE,764,745,714,679.375533286,657.375533286,633.375533286,878,785,804,652,630.624466714,651,0.400979089432,0.00449616770454,0.069833829687,0.999999964674,4.15066783707e-05,-0.000261736800708,2.0580526222e-05,1793245085914768896
+43,0.716666667,BASELINE,764,745,714,679.941541496,657.941541496,633.941541496,878,785,804,652,630.058458504,651,0.400978932875,0.00449469916173,0.0698338706924,0.999999964588,4.02146938542e-05,-0.000262246313104,2.0800806294e-05,1793245085931435264
+44,0.733333333,BASELINE,764,745,713.461472077,679.461472077,658,633.461472077,878,785,804.538527923,652,630,651.538527923,0.400979966364,0.00449561124125,0.0698343904503,0.999999964912,4.2066039567e-05,-0.000260733916676,2.05835348003e-05,1793245085948101888
+45,0.750000000,BASELINE,764,745,713,679,658,633,878,785.134005871,804.865994129,652,630,652,0.400980684102,0.004496587816,0.0698347493042,0.999999965142,4.37519515401e-05,-0.000259589994235,2.03780859623e-05,1793245085964768256
+46,0.766666667,BASELINE,764,745,713,679,658,633,878,785.712640029,804.287359971,652,630,652,0.400979899403,0.00449686861146,0.0698343913237,0.999999964923,4.36877106029e-05,-0.000260441347714,2.03790780846e-05,1793245085981434624
+47,0.783333333,BASELINE,763.711079941,744.711079941,713.288920059,679.288920059,658,633.288920059,878,785.711079941,804.288920059,652,630,652,0.400980091767,0.00449661853186,0.0698344883618,0.999999964952,4.31570720807e-05,-0.000260423725335,2.02967776438e-05,1793245085998101504
+48,0.800000000,BASELINE,763.137122337,744.137122337,713.862877663,679.862877663,658,633.862877663,878,785.137122337,804.862877663,652,630,652,0.400981248065,0.00449584471116,0.0698350343041,0.999999965226,4.21663034253e-05,-0.000259548804514,2.01323039268e-05,1793245086014768384
+49,0.816666667,BASELINE,763.447916112,744.447916112,714,680,658,633.552083888,878,785,805,652,630,652,0.400981242091,0.00449503642237,0.0698350353091,0.999999965259,4.23728702731e-05,-0.000259360411026,2.04547948168e-05,1793245086031435264
+50,0.833333333,BASELINE,764,745,714,680,658,633,878.035866372,785.035866372,805,652,630,652,0.400980892902,0.00449426351246,0.0698348735929,0.999999965224,4.28115204236e-05,-0.000259389013522,2.08874992727e-05,1793245086048101888
+51,0.850000000,BASELINE,764,745,714,680,658,633,878.615233342,785.615233342,805,652,630,652,0.400980871338,0.00449419066856,0.0698348381686,0.999999965288,4.10717116464e-05,-0.00025944027737,2.06739937087e-05,1793245086064768768
+52,0.866666667,BASELINE,764,745,714,679.806081836,658,633,878.806081836,785.806081836,805,652,630,652,0.400980493429,0.00449443886181,0.069834755523,0.999999965256,3.99390148599e-05,-0.000259754685273,2.04908330365e-05,1793245086081435136
+53,0.883333333,BASELINE,764,745,714,679.2287458,658,633,878.2287458,785.2287458,805,652,630,652,0.400979410948,0.00449532181444,0.0698345795103,0.999999965039,4.00067090143e-05,-0.000260589385506,2.03676707474e-05,1793245086098101504
+54,0.900000000,BASELINE,764,745,713.655239967,679,658,633,878,785,804.655239967,652,630,652,0.400979336452,0.00449599601189,0.0698341295638,0.99999996492,4.08355950966e-05,-0.00026092752786,2.02275440748e-05,1793245086114767872
+55,0.916666667,BASELINE,764,745,713.084247544,679,658,633,878,785,804.084247544,652,630,652,0.400979923399,0.00449653322363,0.0698334998611,0.999999964865,4.21639772083e-05,-0.000260939827668,2.00762853364e-05,1793245086131434496
+56,0.933333333,BASELINE,764,745,713,679,658,633.506036578,878.506036578,785,804.506036578,652,630,652,0.400979499563,0.00449739759255,0.0698333537228,0.999999964678,4.41018712992e-05,-0.000261335752799,2.00898139411e-05,1793245086148101120
+57,0.950000000,BASELINE,764,745,713.097236721,679,658,634,878.902763279,785.097236721,805,652,630.097236721,651.902763279,0.400979037673,0.00449798224995,0.069833335707,0.999999964532,4.54982754466e-05,-0.000261651892578,2.01030128218e-05,1793245086164768000
+58,0.966666667,BASELINE,764,745,713.676426795,679,658,634,878.323573205,785.676426795,805,652,630.676426795,651.323573205,0.400979254301,0.00449689985398,0.0698335378864,0.999999964722,4.36878935505e-05,-0.000261243468947,1.99732083418e-05,1793245086181435136
+59,0.983333333,BASELINE,764,745,713.746483369,679.253516631,658,633.746483369,878,785.746483369,805,652,631,651,0.400978854619,0.00449630717056,0.0698335258229,0.999999964739,4.22077767358e-05,-0.000261413502229,2.00669973224e-05,1793245086198102016
+60,1.000000000,BASELINE,764,745,713.172052046,679.827947954,658,633.172052046,878,785.172052046,805,652,631,651,0.400977674778,0.00449633439093,0.0698332425597,0.99999996454,4.11457265931e-05,-0.000262315776653,2.04438226531e-05,1793245086214768896
+61,1.016666667,BASELINE,764,745,713.41176177,679.58823823,658,633,878,785,805,652,630.58823823,651.41176177,0.400979134188,0.00449703935882,0.0698343460202,0.999999964966,4.19941794313e-05,-0.000260553707958,2.03900125957e-05,1793245086231435520
+62,1.033333333,BASELINE,764,745,713.999587382,679.000412618,658,633,878,785,805,652,630.000412618,651.999587382,0.400981722107,0.0044980341225,0.0698360424252,0.999999965651,4.36595379272e-05,-0.000257652401621,2.0152068567e-05,1793245086248102400
+63,1.050000000,BASELINE,764,745,714,679,658,633,878.578876417,785,804.421123583,652,630,652,0.40098127765,0.00449720180442,0.0698356872689,0.999999965471,4.37386414429e-05,-0.000258322426228,2.03804815034e-05,1793245086264768512
+64,1.066666667,BASELINE,764,745,713.842671285,679,658,633.157328715,878.842671285,785,804.157328715,652,630,651.842671285,0.40098137662,0.00449631815218,0.0698356576515,0.999999965479,4.31881034466e-05,-0.00025837181149,2.05232354044e-05,1793245086281434624
+65,1.083333333,BASELINE,764,745,713.266430991,679,658,633.733569009,878.266430991,785,804.733569009,652,630,651.266430991,0.400982928216,0.00449530123223,0.0698364986685,0.999999965989,4.09640162055e-05,-0.000256761970693,2.04370368684e-05,1793245086298101504
+66,1.100000000,BASELINE,764,745,713,679,658.308775754,633.691224246,878.308775754,785,805,652,630.308775754,651.308775754,0.400983731467,0.00449500977351,0.0698368749257,0.999999966255,4.03407921391e-05,-0.000255821980755,2.0423322137e-05,1793245086314768640
+67,1.116666667,BASELINE,764,745,713,679,658.883093635,633.116906365,878.883093635,785,805,652,630.883093635,651.883093635,0.400983891153,0.00449534219968,0.069836851497,0.999999966317,4.10942844844e-05,-0.000255458051749,2.04719423035e-05,1793245086331435776
+68,1.133333333,BASELINE,764,745,713.470319246,679.470319246,658.529680754,633,879,785,805,652,630.529680754,652,0.40098208222,0.00449568498025,0.0698362246338,0.999999965815,4.19648858309e-05,-0.000257272424358,2.04953391608e-05,1793245086348102400
+69,1.150000000,BASELINE,764,745,714,679.94041592,658,633.05958408,879,785,805,652,630,651.94041592,0.400980090198,0.00449608804191,0.0698354703685,0.999999965227,4.28671523109e-05,-0.00025940036495,2.04822264485e-05,1793245086364769024
+70,1.166666667,BASELINE,764,745,714,679.362118459,658,633.637881541,879,785,805,652,630,651.362118459,0.400980884428,0.00449699284624,0.0698349496326,0.99999996519,4.37845147537e-05,-0.000259411390326,2.02073987469e-05,1793245086381435648
+71,1.183333333,BASELINE,763.784394873,745,713.784394873,679.215605127,658,634,879,785,805,652,630.215605127,651.215605127,0.400981358955,0.00449695759777,0.0698348428531,0.99999996525,4.32465122174e-05,-0.00025927137472,2.01799881314e-05,1793245086398102272
+72,1.200000000,BASELINE,763.207632483,745,713.207632483,679.792367517,658,634,879,785,805,652,630.792367517,651.792367517,0.400981297953,0.00449534767961,0.0698354294864,0.999999965469,4.02706474416e-05,-0.000258878352389,2.05670225197e-05,1793245086414768640
+73,1.216666667,BASELINE,763.366913791,744.633086209,713.366913791,680,658,633.633086209,879,785,804.633086209,652,630.633086209,652,0.400981121709,0.00449494570183,0.0698353443253,0.999999965489,3.89672661674e-05,-0.000258997655775,2.06081562132e-05,1793245086431435264
+74,1.233333333,BASELINE,763.940213485,744.059786515,713.940213485,680,658,633.059786515,879,785,804.059786515,652,630.059786515,652,0.400980880641,0.00449522318039,0.0698348812855,0.9999999654,3.86046428911e-05,-0.000259405138067,2.04547236692e-05,1793245086448101888
+75,1.250000000,BASELINE,763.469574948,744.530425052,713.469574948,680,658,633,878.469574948,785,804.530425052,652,630,652,0.400979908413,0.00449499752179,0.0698341281985,0.99999996503,3.95816780794e-05,-0.000260666765033,2.06458795304e-05,1793245086464768512
+76,1.266666667,BASELINE,763,745,713.119754131,679.880245869,658,633,878,785,805,652.119754131,630,652,0.400979208637,0.00449502184564,0.0698335733635,0.99999996472,4.10401358509e-05,-0.000261618169001,2.07813754411e-05,1793245086481435136
+77,1.283333333,BASELINE,763,745,713.698162141,679.301837859,658,633,878,785,805,652.698162141,630,652,0.400979878368,0.00449622794639,0.0698339071612,0.999999964771,4.37450584828e-05,-0.000261000559583,2.05500407385e-05,1793245086498102016
+78,1.300000000,BASELINE,763.275762461,745,714,679,658,633,878,785,804.724237539,652.724237539,630,651.724237539,0.400979857622,0.00449615917464,0.0698340242944,0.999999964848,4.35345926698e-05,-0.000260749922729,2.04517636515e-05,1793245086514768640
+79,1.316666667,BASELINE,763.852481262,745,714,679,658,633,878,785,804.147518738,652.147518738,630,651.147518738,0.400979083317,0.00449469905691,0.0698339049685,0.99999996495,4.01423860084e-05,-0.000260899785384,2.0498700446e-05,1793245086531435264
+80,1.333333333,BASELINE,763.563167951,745,713.563167951,679,658,633,878.436832049,785,804.436832049,652,629.563167951,651.436832049,0.400979570547,0.00449533354342,0.0698345661854,0.999999965155,4.02773553219e-05,-0.000260095010015,2.04685903275e-05,1793245086548101632
+81,1.350000000,BASELINE,763.023501699,745,713,679.023501699,658,633.023501699,878.976498301,785,805,652,629.023501699,651.976498301,0.400980459708,0.00449661543208,0.0698354417294,0.99999996538,4.15704879245e-05,-0.000259027034422,2.04118772156e-05,1793245086564768256
+82,1.366666667,BASELINE,763.602971582,745,713,679.602971582,658,633.602971582,878.397028418,785,805,652,629.602971582,651.397028418,0.400980599748,0.00449618159727,0.0698350409975,0.99999996526,4.15826395766e-05,-0.000259494719062,2.03522902e-05,1793245086581434880
+83,1.383333333,BASELINE,764,745,713,680,657.819077195,633.819077195,878.180922805,785,805,652,630.180922805,651,0.400980832593,0.00449577725058,0.0698349754603,0.999999965267,4.1328449344e-05,-0.00025951033391,2.031802624e-05,1793245086598101504
+84,1.400000000,BASELINE,764,745,713,680,657.244430762,633.244430762,878.755569238,785,805,652,630.755569238,651,0.400981267397,0.00449543707575,0.0698356393724,0.999999965551,4.04946467615e-05,-0.000258542156018,2.03388702209e-05,1793245086614768128
+85,1.416666667,BASELINE,763.668310346,745,713.331689654,679.668310346,657.331689654,633,878.668310346,785,805,652,630.668310346,651.331689654,0.400981419786,0.00449558947933,0.0698357319845,0.99999996562,4.0887182362e-05,-0.000258210967287,2.03639199138e-05,1793245086631435008
+86,1.433333333,BASELINE,763.091098897,745,713.908901103,679.091098897,657.908901103,633,878.091098897,785,805,652,630.091098897,651.908901103,0.400981363127,0.00449610649707,0.0698354017115,0.999999965529,4.21874724359e-05,-0.000258351287807,2.03920827383e-05,1793245086648101888
+87,1.450000000,BASELINE,763.496820698,745,714,679,658,633,878.496820698,785,805,652,630,651.503179302,0.400980904659,0.00449602942851,0.0698353983227,0.999999965449,4.1907686032e-05,-0.000258700704858,2.04840687306e-05,1793245086664768256
+88,1.466666667,BASELINE,763.918191412,745,713.918191412,679.081808588,658,633.081808588,879,785,804.918191412,652,630,651.081808588,0.400980525237,0.00449601053156,0.0698354654228,0.99999996539,4.15552047977e-05,-0.000258982177381,2.05391881788e-05,1793245086681434368
+89,1.483333333,BASELINE,763.361849136,745,713.361849136,679.638150864,658,633.638150864,879,785,804.361849136,652,630,651.638150864,0.400981041103,0.00449697485517,0.0698355860616,0.999999965443,4.24986565739e-05,-0.000258642239481,2.03110837394e-05,1793245086698101248
+90,1.500000000,BASELINE,763.20950085,745,713.20950085,679.79049915,658,633.79049915,878.79049915,785,804.20950085,652,630,652,0.400981281159,0.00449763065195,0.069835645701,0.999999965435,4.34415965001e-05,-0.000258528052962,2.01563236503e-05,1793245086714767872
+91,1.516666667,BASELINE,763.808772203,745,713.808772203,679.191227797,658,633.191227797,878.191227797,785,804.808772203,652,630,652,0.400981008077,0.00449771244306,0.0698355918527,0.999999965315,4.43835840381e-05,-0.000258833870648,2.01380187099e-05,1793245086731434240
+92,1.533333333,BASELINE,764,745,714,679,658,633,878,785,804.60007037,652,630,652,0.400980419376,0.00449693526829,0.0698348590443,0.99999996519,4.34127778681e-05,-0.000259501604359,1.9879523664e-05,1793245086748101120
+93,1.550000000,BASELINE,764,745,714,679,658,633,878,785,804.012715447,652,630,652,0.400979682762,0.00449575554288,0.0698338080441,0.999999965059,4.15455492761e-05,-0.000260338948477,1.95084645616e-05,1793245086764767744
+94,1.566666667,BASELINE,764,744.433581553,714,679,658,633,878.566418447,785,804.566418447,652,630,652,0.400981500086,0.00449429646466,0.0698352460031,0.99999996571,3.93528990697e-05,-0.000258107976613,2.0270403903e-05,1793245086781434624
+95,1.583333333,BASELINE,764,744.145132994,713.854867006,679,657.854867006,633,879,785.145132994,805,652,630,652,0.40098225536,0.00449376133869,0.0698360307826,0.999999965991,3.87078608907e-05,-0.000257073166107,2.07941450874e-05,1793245086798101248
+96,1.600000000,BASELINE,764,744.723139509,713.276860491,679,657.276860491,633,879,785.723139509,805,652,630,652,0.400979674409,0.00449600042815,0.0698347031237,0.999999965127,4.27002054446e-05,-0.000259808527552,2.0532661202e-05,1793245086814767872
+97,1.616666667,BASELINE,764,745,713.299573279,679,657.299573279,633,878.700426721,785.700426721,805,652,630,652,0.40097876249,0.00449626014012,0.0698344446926,0.999999964868,4.36153142486e-05,-0.00026065593503,2.04899170517e-05,1793245086831434496
+98,1.633333333,BASELINE,764,745,713.8745611,679,657.8745611,633,878.1254389,785.1254389,805,652,630,652,0.400979385007,0.00449470009904,0.0698351692629,0.999999965178,4.17013471274e-05,-0.000259767640211,2.06482726433e-05,1793245086848101120
+99,1.650000000,BASELINE,764,745,713.540076192,679,658,633,878,785,804.540076192,652,630.459923808,652,0.400980313054,0.00449445430958,0.069835315054,0.999999965374,4.08114582679e-05,-0.000259159712731,2.05577338938e-05,1793245086864767744
+100,1.666666667,BASELINE,764,745,713,679,658,633,878,785,804.047661193,652,630.952338807,652,0.400981155049,0.00449453714283,0.0698352639078,0.999999965507,4.01161356211e-05,-0.000258765291755,2.04146507688e-05,1793245086881434368
+101,1.683333333,BASELINE,764,745,713,679,658,633,878,785,804.629566971,652,630.370433029,652,0.400980076853,0.00449419294286,0.0698348155187,0.999999965283,3.83986980517e-05,-0.000259887195299,2.04610629157e-05,1793245086898100992
+102,1.700000000,BASELINE,764,745,713.208519335,679,658,633,878.208519335,785,804.791480665,652,630,652,0.400979886918,0.00449429235784,0.0698347043878,0.999999965192,3.84723277182e-05,-0.000260222777587,2.04791325704e-05,1793245086914767872
+103,1.716666667,BASELINE,764,745,713.782298195,679,658,633,878.782298195,785,804.217701805,652,630,652,0.400981252936,0.00449516884508,0.0698351840259,0.999999965335,4.16833374454e-05,-0.000259180975123,2.04475551922e-05,1793245086931434496
+104,1.733333333,BASELINE,764,745.356078982,714,679.356078982,658.356078982,633.356078982,878.643921018,785,804.356078982,652,630.356078982,652,0.400981659036,0.00449572508679,0.0698352133926,0.999999965367,4.21763502742e-05,-0.000258980918221,2.03913779769e-05,1793245086948101120
+105,1.750000000,BASELINE,764,745.929861002,714,679.929861002,658.929861002,633.929861002,878.070138998,785,804.929861002,652,630.929861002,652,0.400981478254,0.00449608553375,0.069834967468,0.999999965336,4.10076079769e-05,-0.000259295495826,2.03201606703e-05,1793245086964767744
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,879,785,805,652,630,652,0.400982323182,0.00449533788379,0.0698367327213,0.999999966083,4.02572559417e-05,-0.000256501396756,2.05095046963e-05,1793245086994872064
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679.5760466,658,633,879,785,804.4239534,652,630,651.4239534,0.400981252347,0.00449647870796,0.0698359014369,0.999999965675,4.16597775534e-05,-0.000257882066743,2.02631000373e-05,1793245087011539200
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.848411141,679.848411141,658,633,878.848411141,785,804.151588859,652,630,651,0.400980500207,0.00449729801025,0.0698352515578,0.999999965425,4.2782722724e-05,-0.000258678046721,2.01359281146e-05,1793245087028206080
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.274274582,679.274274582,658,633,878.274274582,785,804.725725418,652,630,651,0.400980636417,0.00449722108378,0.0698351073381,0.999999965621,4.3126360402e-05,-0.000257844227708,2.03411124759e-05,1793245087044872704
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.296650833,679,658,633.296650833,878,785,805,652,630,651.296650833,0.400980102533,0.00449661125868,0.0698346130731,0.999999965453,4.24827904889e-05,-0.000258595106308,2.04214968558e-05,1793245087061538816
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.86463908,679,658,633.86463908,878,785,805,652,630,651.86463908,0.400978955736,0.00449551400756,0.0698337986325,0.999999964947,4.09362520662e-05,-0.000260795459234,2.03877305103e-05,1793245087078205440
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,878.460182801,785,805,652,630,652,0.400979437369,0.00449538315159,0.0698342172686,0.999999965043,4.03162241778e-05,-0.000260532096757,2.03057133434e-05,1793245087094872320
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.06119157,658,633.93880843,878.93880843,785,805,652.06119157,630,652,0.400980418319,0.00449549169523,0.0698350329085,0.999999965309,4.00644644721e-05,-0.000259551186848,2.0231951644e-05,1793245087111538688
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,679.635720143,658,633.364279857,878.364279857,785,805,652.635720143,630,652,0.400981313799,0.00449507200617,0.0698359424838,0.999999965429,4.04702402291e-05,-0.000259017433043,2.03540922126e-05,1793245087128205312
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713.789193692,679.789193692,658,633,878.210806308,785.210806308,805,652.789193692,630,652,0.400983394828,0.00449435539971,0.0698370955085,0.99999996571,4.01920828026e-05,-0.0002579626206,2.04897149619e-05,1793245087144871936
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713.213141497,679.213141497,658,633,878.786858503,785.786858503,805,652.213141497,630,652,0.400987529956,0.00449312435014,0.0698386703367,0.999999966268,3.87289333642e-05,-0.000256005014902,2.06486971087e-05,1793245087161538560
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658,633,878.629305022,785.629305022,805,652,630.370694978,651.629305022,0.401005930602,0.00449380033332,0.0698470223851,0.999999969679,3.86193970656e-05,-0.000242348440321,2.04567423624e-05,1793245087178205184
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658,633,878.040896696,785.040896696,805,652,630.959103304,651.040896696,0.40103270955,0.00449559633824,0.0698593547715,0.999999974424,3.93048528994e-05,-0.000221820928917,2.00586784236e-05,1793245087194871808
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,633,878,785.538930168,805,652,630.461069832,651.538930168,0.401082467966,0.00449604395572,0.0698756837523,0.999999980168,4.13339247065e-05,-0.000193801418471,1.9900419567e-05,1793245087211538688
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.882434716,745,713.117565284,679,658,633,878,785.882434716,804.882434716,652,630,652,0.401136536413,0.00449619054398,0.0698914539432,0.99999998464,4.26212372618e-05,-0.00016885746554,1.97475770679e-05,1793245087228205312
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.305949309,745,713.694050691,679,658,633,878,785.305949309,804.305949309,652,630,652,0.40120072895,0.00449555521288,0.0699038775694,0.999999986486,4.06213006705e-05,-0.000158103541767,1.95459559326e-05,1793245087244871936
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.273950855,745,714,679.273950855,658,633,878,785,804.273950855,652,630,652,0.401272438054,0.0044952507362,0.0699116376176,0.999999988126,3.82512575411e-05,-0.000148117191044,1.86032826377e-05,1793245087261538816
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.857712731,745,714,679.857712731,658,633,878,785,804.857712731,652,630,652,0.40135264764,0.00449532042282,0.0699141236247,0.999999989569,3.54626610494e-05,-0.00013899888933,1.6822553469e-05,1793245087278205440
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679.560576932,658,633,878.439423068,785,804.560576932,652,630,651.560576932,0.401445917058,0.00449618324405,0.0699139025062,0.999999989464,3.38826211947e-05,-0.000140392838216,1.46347873785e-05,1793245087294872064
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679,657.979621284,633,879,785,804.020378716,652,630,651.020378716,0.401544241353,0.00449727319095,0.0699127569694,0.999999988854,3.25967693973e-05,-0.000145184524861,1.23039951401e-05,1793245087311538944
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679,657.401225057,633,879,785,804.598774943,652,630,651.598774943,0.401665722769,0.00449758269629,0.0699101899673,0.999999988256,2.87005625153e-05,-0.000150240160633,9.64904538251e-06,1793245087328205312
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679,657.176119571,633.176119571,879.176119571,785,805,652,630.176119571,652,0.401798472182,0.00449811549115,0.069909570751,0.999999988102,2.54303335119e-05,-0.000151998484694,6.76414544275e-06,1793245087344871936
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679,657.751082653,633.751082653,879.751082653,785,805,652,630.751082653,652,0.401956739284,0.00449915395135,0.0699133625255,0.999999989016,2.35777056653e-05,-0.000146289657394,3.35849659631e-06,1793245087361538816
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.666657073,879.333314147,785,805,652,631,652,0.402138361205,0.00450081026828,0.06991808136,0.999999990203,2.1082312078e-05,-0.000138377457127,-5.37495885584e-07,1793245087378205440
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.078825746,878.157651492,785,805,652,631,652,0.402337813223,0.00450293828386,0.0699235079525,0.999999991532,1.80962031402e-05,-0.000128783106074,-4.80783825666e-06,1793245087394872320
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.496577189,679,658,633,878,785,805,652,630.496577189,651.496577189,0.402559444441,0.00450411000515,0.0699248169972,0.999999991917,1.30185305172e-05,-0.000126124623858,-9.47224220673e-06,1793245087411538944
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713,679.083829499,658,633,878.083829499,785,805,652,630,651.083829499,0.402790481646,0.00450521303351,0.0699257858323,0.999999992205,7.2983427487e-06,-0.000123815385382,-1.43708111691e-05,1793245087428205568
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713,679.658513895,658,633,878.658513895,785,805,652,630,651.658513895,0.403056483073,0.00450678098625,0.0699284963158,0.999999992919,-2.87440197179e-07,-0.000117261801329,-2.02831838641e-05,1793245087444872192
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713,680,658,633,879,785,805,652,630,652,0.403342528041,0.00450698651487,0.0699346366919,0.999999994193,-7.44059975565e-06,-0.000104413934779,-2.56309094073e-05,1793245087461538560
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713,680,658,633,879,785,805,652,630,652,0.403657923936,0.00450519696507,0.0699457996628,0.999999996057,-1.39602428076e-05,-8.23489779393e-05,-3.01517883222e-05,1793245087478205440
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.394630319,745,713.394630319,679.605369681,658,633.394630319,879,785,805,652.394630319,630,652,0.403997539234,0.00450053097483,0.0699533770444,0.999999996503,-2.50683526247e-05,-7.2255390776e-05,-3.38473416303e-05,1793245087494872064
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.987847821,745,713.987847821,679.012152179,658,633.987847821,879,785,805,652.987847821,630,652,0.40434934229,0.00449441749272,0.0699591500734,0.999999996246,-3.84854857765e-05,-6.81860768133e-05,-3.71275717003e-05,1793245087511538944
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.436063774,744.436063774,713.436063774,679,658,634,879,785.563936226,805,652.436063774,630,652,0.404737805402,0.00447731996045,0.0699624015511,0.99999999787,-2.1572159861e-06,-6.16545067736e-05,-2.13199984458e-05,1793245087528205312
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744.139668321,713.139668321,679.139668321,658,633.860331679,878.860331679,785.860331679,805,652,630.139668321,652,0.405134826143,0.00446847944753,0.0699648902034,0.999999997868,3.02763061668e-05,-5.68075412854e-05,-1.09963174742e-05,1793245087544872192
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,744.715406306,713.715406306,679.715406306,658,633.284593694,878.284593694,785.284593694,805,652,630.715406306,652,0.40555617151,0.00448613605554,0.069965161824,0.999999997054,4.73015370867e-05,-5.73809919605e-05,-1.90406983785e-05,1793245087561538816
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,679.70153062,658,633.29846938,878.29846938,785,804.70153062,652,631,652,0.405991138412,0.00449438229082,0.0699615173976,0.9999999961,5.78237743762e-05,-6.21973931271e-05,-2.42475076733e-05,1793245087578205696
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,679.111307199,658,633.888692801,878.888692801,785,804.111307199,652,631,652,0.406439420424,0.00449342988179,0.0699540450326,0.999999995191,6.19893325542e-05,-7.11612816527e-05,-2.66805895541e-05,1793245087594872320
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.530075318,879,785,804.469924682,652,630.530075318,652,0.406932266071,0.00449863156528,0.0699358606078,0.999999994548,-2.30994386387e-06,-0.000100217947738,-2.92430809768e-05,1793245087611538944
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713.951290145,679.048709855,658,633.048709855,879,785,805,652,630,652,0.407441803705,0.00450547906242,0.0699176070606,0.99999998852,-7.27395044202e-05,-0.000129075315832,-3.17484647059e-05,1793245087628205568
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713.376360643,679.623639357,658,633.623639357,879,785,805,652,630,652,0.408019776808,0.00451465476861,0.0699255027103,0.999999993195,-3.7493249717e-05,-0.000105330513252,-3.33119867467e-05,1793245087644872192
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,713,680,658.19894945,633.80105055,878.80105055,785,805,652,630,652,0.408614805665,0.00452132813257,0.069936444487,0.999999996235,-6.81121840931e-06,-7.91466033984e-05,-3.49077651322e-05,1793245087661539072
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713,680,658.774980865,633.225019135,878.225019135,785,805,652,630,652,0.409242161378,0.00452325864233,0.0699531597878,0.999999998047,1.52199382004e-05,-4.83396948911e-05,-3.65646810548e-05,1793245087678205952
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713,680,658.640363234,633,878.359636766,785,804.280726468,652,630,652,0.409855486624,0.00453176282071,0.0699542180154,0.999999997551,3.81821265283e-05,-4.49417015156e-05,-3.76934442408e-05,1793245087694872576
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713,680,658.050178562,633,878.949821438,785,803.100357124,652,630,652,0.410459817506,0.00454448109969,0.0699452391556,0.999999995606,6.17411590226e-05,-5.91144045092e-05,-3.84836310028e-05,1793245087711539200
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713,679.470792038,658,633,879,785,804.058415924,652,630,651.470792038,0.411140332026,0.00455013667449,0.0699442700255,0.999999995176,6.06950684058e-05,-6.66101564671e-05,-3.90875114468e-05,1793245087728205824
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713.107061502,679,658,633.107061502,879,785,805,652,630.107061502,651.107061502,0.41184021364,0.00455566289113,0.0699494666265,0.99999999539,6.14322663257e-05,-6.21729455858e-05,-3.97448118226e-05,1793245087744872448
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,713.682597491,679,658,633.682597491,879,785,805,652,630.682597491,651.682597491,0.412593864029,0.00456349479433,0.0699783861399,0.999999995939,7.99772450484e-05,-8.23493512724e-06,-4.07116172662e-05,1793245087761539072
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.263425077,745,714,679.263425077,658.263425077,633.736574923,879,785,805,652,631,652,0.413344509734,0.0045706741643,0.0700040856267,0.999999994354,9.20227649608e-05,3.345965521e-05,-4.12755284335e-05,1793245087778205696
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.850759323,745,714,679.850759323,658.850759323,633.149240677,879,785,805,652,631,652,0.414091460962,0.00457705117627,0.0700258257518,0.999999992724,9.60765112472e-05,6.00996646985e-05,-4.13440384443e-05,1793245087794872320
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713.568076796,680,658.568076796,633,879.431923204,784.568076796,804.568076796,652,630.568076796,652,0.41482085701,0.00458441205878,0.0699994632445,0.999999993979,0.000100700544728,1.07800054952e-05,-4.2255953702e-05,1793245087811538944
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.989052767,745,713.010947233,680,658,633,879.989052767,784,804.010947233,652,630,652,0.41554596606,0.00459213472995,0.0699568728336,0.999999991417,0.000105751881726,-6.39571488666e-05,-4.34989741015e-05,1793245087828205568
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.411984819,745,713.588015181,680,658,633,879.411984819,784,804.588015181,652,630,652,0.416358645971,0.00460123424548,0.0699224896904,0.99999998474,0.000122854068678,-0.000114964338398,-4.70066111532e-05,1793245087844872192
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.835605207,680,658.328789586,633.164394793,879,784.164394793,805,652,630,651.835605207,0.417186680905,0.00460908681807,0.069907362156,0.999999980751,0.000131808873635,-0.000136795664462,-4.91084802796e-05,1793245087861538816
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,713.260943454,680,659.478113093,633.739056546,879,784.739056546,805,652,630,651.260943454,0.418053036094,0.0046138274942,0.0699402893096,0.999999987928,0.000120430907317,-8.58151147698e-05,-4.77020866224e-05,1793245087878205440
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,713.321991837,680,659.678008163,634,879.321991837,785,805,651.678008163,630,651,0.418918115228,0.00461882053266,0.0699708072273,0.999999990237,0.000125136617704,-3.99346626975e-05,-4.76609433997e-05,1793245087894872064
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,713.911808831,680,659.088191169,634,879.911808831,785,805,651.088191169,630,651,0.419782132924,0.00462402347988,0.0699993211981,0.999999988554,0.000143220348664,1.70364680621e-06,-4.87553831118e-05,1793245087911538688
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+163,2.716666667,POSE1_TO_POSE2_PRESS,764,744.928135699,714,680,660,634,879.071864301,785.071864301,805.071864301,652,630,651.071864301,0.421601352847,0.0046150372178,0.0700333729523,0.999999987547,0.000140838408216,5.11554651308e-05,-4.95379050462e-05,1793245087944872192
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,744.353132865,714,680,660,634,879.646867135,785.646867135,805.646867135,652,630,651.646867135,0.422486831718,0.00458963412608,0.0700111303786,0.999999994108,9.56114858143e-05,1.17127018207e-05,-5.00498746569e-05,1793245087961538816
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+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745.596749213,713.201625394,680,659.201625394,633.201625394,879.201625394,785.201625394,806,651.201625394,630,652,0.424145116696,0.00457038022902,0.0698781130367,0.999999976965,7.527114563e-05,-0.000193697860493,-5.37092567408e-05,1793245087994872064
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+170,2.833333333,POSE1_TO_POSE2_PRESS,764.870332055,745,714,680,660.870332055,633,879,785,806,651,630,652,0.427913611457,0.00459598629535,0.0700009696959,0.99999999354,0.000100964059116,-2.02941129762e-06,-5.21808423606e-05,1793245088061538816
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+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680.285511581,660.285511581,633,879.285511581,785,806.285511581,651,630,651.714488419,0.429831445478,0.00460360381213,0.0700490879624,0.999999989106,0.000116042280536,7.34234319442e-05,-5.41391091237e-05,1793245088094872064
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680.874687718,660.874687718,633,879.874687718,785,806.874687718,651,630,651.125312282,0.430715817683,0.00460313471489,0.0700366588539,0.999999991281,0.000106960401635,5.41064628659e-05,-5.54064778292e-05,1793245088111538688
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+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,713,681,659.388514716,633,879.777029432,785,806,652,630,651,0.433227110974,0.00458965789469,0.0698937393139,0.999999978488,9.59097376806e-05,-0.000175143300035,-5.61325780603e-05,1793245088161538816
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+178,2.966666667,POSE1_TO_POSE2_PRESS,764,745,713,681.759640911,661.278922734,633,879.759640911,785,806,652,630.759640911,651.759640911,0.435115991425,0.00457904228392,0.0699886096068,0.999999995682,7.17496492606e-05,-1.445578845e-05,-5.72624667664e-05,1793245088194872064
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,713.343701896,682,661.312596207,633,880,785,806.687403793,652,630.656298104,652,0.436019803032,0.00457737388131,0.0700259898387,0.999999994583,7.49221604652e-05,4.54444512827e-05,-5.61663924479e-05,1793245088211538688
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+182,3.033333333,POSE1_TO_POSE2_PRESS,764.905604192,745,713,682,659.905604192,633,880,785,807,651.094395808,630,652,0.43849415717,0.00458138799208,0.0699875423077,0.999999995519,7.38564094888e-05,1.24573525645e-05,-5.79011597361e-05,1793245088261538816
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713,682.101538031,657,631.101538031,880,785.101538031,807,651,630,652,0.44532056849,0.0046510299704,0.0697619709106,0.999999909572,0.000190330523901,-0.000376314464575,-5.49350696793e-05,1793245088428205568
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+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745.289537148,713,683.710462852,651.289537148,629,880.289537148,784.710462852,807,651.710462852,630,652,0.453100730238,0.00477470347542,0.0695641197352,0.999999725412,0.000302450898102,-0.000672857601576,-7.04356224844e-05,1793245088911539200
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,657.015137064,632.015137064,879.984862936,785,806.015137064,652,630,651.015137064,0.438592949532,0.00460587341899,0.0697609112331,0.999999895388,0.000288321906576,-0.000354457732923,2.12979665123e-05,1793245090471222016
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.690281765,745,713.309718235,682,657.309718235,633,879.690281765,785,806,652,630,651.309718235,0.424523347152,0.0045128549298,0.0698461597067,0.999999966694,7.78423686751e-05,-0.000243534866681,3.52654090304e-05,1793245090737888768
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,745,713,680.367397072,658.632602928,633,879.632602928,785,805.367397072,652,630,652,0.418363447897,0.00445942250434,0.0698732027483,0.999999977657,7.89894010007e-06,-0.000208220813802,3.5603967043e-05,1793245090854555136
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,745,713,680.941874018,658.058125982,633,879.058125982,785,805.941874018,652,630,652,0.417529968798,0.00445072920263,0.0698880819525,0.999999979855,1.92154106499e-05,-0.000196071407587,3.84255538546e-05,1793245090871222016
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,745,713.885348778,680.114651222,657.114651222,633,879,785,805,652,630,652,0.415831819926,0.00443371995029,0.0698102076535,0.999999957846,-2.53347487036e-05,-0.000287228527799,3.41443476556e-05,1793245090904555264
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,745,713.305878688,680.694121312,657.694121312,633,879,785,805,652,630,652,0.414986385915,0.00443338547557,0.0697817950974,0.999999942285,-2.04949441475e-05,-0.000337489500006,3.3323285144e-05,1793245090921222144
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,745,713,681,657.727448955,633,879,785,805,652,630,651.727448955,0.414170389872,0.0044313799854,0.0697595503515,0.999999927096,-1.77980148871e-05,-0.000379905772239,3.41036345554e-05,1793245090937888512
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,745,713,681,657.150182393,633,879,785,805,652,630,651.150182393,0.413387305907,0.00442750627881,0.0697442012973,0.999999913662,-1.74968476777e-05,-0.000413551567696,3.66743828622e-05,1793245090954555392
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,745,713,680.575106331,657,633,878.575106331,785,805,652,630,651.424893669,0.41270894003,0.00445070697941,0.0697795354002,0.999999939558,-1.49544603979e-06,-0.000345952052227,3.46180268202e-05,1793245090971222016
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,745,713,680.000800502,657,633,878.000800502,785,805,652,630,651.999199498,0.412067397787,0.00448342828669,0.0698326920315,0.999999969857,2.00268802794e-05,-0.000242750027573,3.09345679221e-05,1793245090987888384
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,658.178396674,633,879.178396674,785.589198337,805,652,630,652,0.41141600978,0.00449013860093,0.0698709461095,0.999999980559,5.44796676048e-05,-0.000186648072482,3.28195473233e-05,1793245091004555008
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,745,713,680,658.649091957,633,879.824545978,785.824545978,805,652,630,652,0.410752295668,0.00448916790036,0.0698880963289,0.999999983651,6.64469000627e-05,-0.000164671196165,3.41417933194e-05,1793245091021222144
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.493840715,633,879.246920357,785.246920357,805,652,630,652,0.410060359321,0.00447067417926,0.0698569204649,0.999999974688,2.68319070526e-05,-0.000220764322892,3.41563396824e-05,1793245091037888768
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,879,785,804.671614294,652,630.328385706,651.671614294,0.409393330651,0.00446503724547,0.0698190065974,0.999999958074,1.25829932265e-05,-0.000287324709653,3.37256042721e-05,1793245091054555648
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,879,785,804.098040159,652,630.901959841,651.098040159,0.408744899281,0.00446899980338,0.0697760618169,0.999999933894,1.72736062886e-05,-0.000361700448014,3.29624001897e-05,1793245091071222528
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.523070319,745,713.476929681,680,657.476929681,633,879,785,804,652,630.523070319,651,0.408170472701,0.00446755566861,0.0697722610171,0.999999933979,2.55652296071e-05,-0.000361052223608,3.20756243537e-05,1793245091087888640
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.053594251,745,713.946405749,680,657.946405749,633,879,785,804,652,630,651.053594251,0.407615324963,0.00446555540816,0.0697780407806,0.999999939814,3.29309631343e-05,-0.000343966646576,3.12272117103e-05,1793245091104555008
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.644360957,745,713.355639043,680,657.355639043,633,879,785,804,652,630,651.644360957,0.407100483282,0.00446915361024,0.0697989582519,0.999999948945,2.35753618347e-05,-0.000317161114964,3.10186619833e-05,1793245091121221888
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,879,785.230467996,804.230467996,652,630.230467996,652,0.406591089942,0.00447537584308,0.0698097771108,0.999999952191,2.49925112263e-05,-0.000306628324105,3.11698640784e-05,1793245091137888768
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,879,785.809527069,804.809527069,652,630.809527069,652,0.406089937459,0.00448556701583,0.0698053214558,0.999999947153,4.2703831693e-05,-0.000320708637509,3.18652036922e-05,1793245091154555136
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,745,713.385437917,680,657,633,879,785.614562083,805,652,630.614562083,651.614562083,0.405640060679,0.00448903445609,0.0698053297005,0.999999946134,5.01332563587e-05,-0.00032281961234,3.17177473227e-05,1793245091171222016
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745,713.959805655,680,657,633,879,785.040194345,805,652,630.040194345,651.040194345,0.405215317629,0.00448920613026,0.0698075260111,0.999999947235,5.25228133166e-05,-0.000319063586596,3.11571783333e-05,1793245091187888896
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745.553199606,714,679.446800394,657.553199606,633,878.446800394,785,804.446800394,652,630,651.553199606,0.404835500322,0.00448301751431,0.0698232165997,0.999999957186,3.97032919861e-05,-0.000288325900643,3.0312817793e-05,1793245091204555264
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745.856218678,714,679.143781322,658,633,878.143781322,785,804,652,630.143781322,652,0.404467989097,0.004477730018,0.0698382755184,0.999999965638,2.73514838013e-05,-0.000259049200937,2.94724579818e-05,1793245091221221376
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745.27844658,714,679.72155342,658,633,878.72155342,785,804,652,630.72155342,652,0.404127418907,0.00447660703422,0.0698483629455,0.999999970516,1.98657501838e-05,-0.000240310497819,2.87086294189e-05,1793245091237888000
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,744.701164601,713.701164601,679.701164601,657.701164601,633,879,785,804.298835399,652.298835399,630.701164601,652,0.403794157255,0.00447379521444,0.0698477000545,0.999999970767,9.76320373453e-06,-0.000239974258954,2.79649140146e-05,1793245091254554624
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,744.12433859,713.12433859,679.12433859,657.12433859,633,879,785,804.87566141,652.87566141,630.12433859,652,0.403467694368,0.0044694123608,0.0698370367159,0.999999966663,-2.77362350086e-06,-0.000256756850978,2.72399088521e-05,1793245091271221504
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,744.448131329,713.448131329,679,657,633,878.551868671,785,804.551868671,652.551868671,630,651.551868671,0.403178388724,0.0044658352234,0.0698301570356,0.999999963234,-1.31155075644e-05,-0.000269510810023,2.68875671536e-05,1793245091287888384
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,744.979821325,713.979821325,679.020178675,657.020178675,633,878,785,804.020178675,652,630,651.020178675,0.402900183867,0.00446260228599,0.0698242690642,0.999999959849,-2.27419794057e-05,-0.000281203218927,2.66501611422e-05,1793245091304555264
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,744.38574838,713.38574838,679.61425162,657.61425162,633,878,785,804.61425162,652,630,651.61425162,0.402647301937,0.00446286179966,0.0698170159694,0.999999955943,-2.91755429279e-05,-0.000294188945593,2.67691687905e-05,1793245091321221888
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,744.202742837,713,680,657.797257163,633,878.202742837,785,805,652,630,652,0.402410778591,0.00446283990325,0.0698104742283,0.999999952469,-3.23706571701e-05,-0.000305399712686,2.73009908375e-05,1793245091337888512
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,744.780898469,713,680,657.219101531,633,878.780898469,785,805,652,630,652,0.402204545965,0.00446229692826,0.0698052496798,0.999999950068,-2.95692318882e-05,-0.000313323839335,2.85972088443e-05,1793245091354555136
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,879,785,805,652.356746494,630,652,0.402021676542,0.00446240681035,0.0698034755309,0.999999949134,-1.67716552726e-05,-0.000317087870587,3.01020141085e-05,1793245091371221760
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,657,633,879,785,805,652.931186428,630,652,0.401853063766,0.0044629150781,0.0698038068804,0.999999948833,2.12576176334e-06,-0.000318313333822,3.173410337e-05,1793245091387888384
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713.518859111,679.481140889,657,633.518859111,879,785.518859111,805,653,630,652,0.401716404709,0.00448194073336,0.0698046159571,0.999999948186,6.35262893733e-05,-0.00031401770236,3.1380278175e-05,1793245091404555008
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.106393932,657.106393932,633.893606068,879,785.893606068,805,652.893606068,630,652,0.401587663357,0.00450060235984,0.0698053863458,0.999999945267,0.000111730228563,-0.000310073931202,2.89294215353e-05,1793245091421221632
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.685318181,657.685318181,633.314681819,879,785.314681819,805,652.314681819,630,652,0.401474772802,0.00450645446922,0.0698056961485,0.999999948601,7.56329997753e-05,-0.000311030091671,1.83653385925e-05,1793245091437888512
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745.263620315,714,680,657.736379685,633,878.736379685,785,805,652,630,652,0.401374268058,0.00450450724426,0.0698045256629,0.999999949612,5.123060986e-05,-0.000312971373091,1.4150327026e-05,1793245091454555136
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745.841181548,714,680,657.158818452,633,878.158818452,785,805,652,630,652,0.401288513373,0.0044932719253,0.0698015923272,0.999999949061,4.0755405456e-05,-0.000316085818494,1.74963164456e-05,1793245091471221504
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745.585172456,713.585172456,680,657,633,878,785,805,652,630,652,0.401221412141,0.00449343990018,0.069801732427,0.999999949524,4.35734480111e-05,-0.000314156063294,1.89408900238e-05,1793245091487888128
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745.013011422,713.013011422,680,657,633,878,785,805,652,630,652,0.40116138569,0.00449793285336,0.0698030382024,0.999999950337,5.14332797877e-05,-0.000310313171583,1.96643050696e-05,1793245091504555008
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.421946856,745,713,680,657,633,878.578053144,785,804.421946856,652,630,651.421946856,0.401119409026,0.00449468274101,0.0698046928147,0.999999951856,4.63667210377e-05,-0.000306144833455,2.03513695714e-05,1793245091521221632
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.164796481,745,713.164796481,679.835203519,657,633.164796481,878.835203519,785,804.164796481,652,630,651.164796481,0.401081681543,0.0044922439116,0.0698071873578,0.999999953415,4.21887417048e-05,-0.00030157676343,2.10274708562e-05,1793245091537887744
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.739691616,745,713.739691616,679.260308384,657,633.739691616,878.260308384,785,804.739691616,652,630,651.739691616,0.401053482998,0.00449227235716,0.0698117518815,0.999999955108,4.09705461392e-05,-0.000296032800799,2.16783948785e-05,1793245091554554624
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,744.684632578,713.684632578,679,657,634,878,785,805,652,630,652,0.401031961801,0.00449187044773,0.0698156985803,0.999999956665,4.16122662605e-05,-0.000290580305703,2.24058930665e-05,1793245091571221504
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,744.108310733,713.108310733,679,657,634,878,785,805,652,630,652,0.40101596585,0.0044911124361,0.0698191340532,0.999999958102,4.3792995005e-05,-0.000285203495865,2.31967535053e-05,1793245091587888128
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.520571966,744.479428034,713,679.479428034,657.479428034,633.520571966,878,785,805,652,630,652,0.401002751833,0.00448899397826,0.0698195211919,0.99999995849,3.98671419234e-05,-0.000284415392445,2.32069241413e-05,1793245091604555008
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.068450293,745,713,679.931549707,657.931549707,633,878,785,804.931549707,652,630,651.931549707,0.400991069318,0.0044873039198,0.0698194172794,0.999999958657,3.57184491649e-05,-0.000284392633631,2.30387358457e-05,1793245091621221632
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.647340902,745,713,679.352659098,657.352659098,633,878,785,804.352659098,652,630,651.352659098,0.400986006355,0.00449115630332,0.0698209123003,0.999999959114,4.04466230179e-05,-0.000282158032572,2.28878054898e-05,1793245091637888256
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.225892311,657,633,878,785,804.225892311,652,630,651,0.400981765123,0.00449223266402,0.0698218024446,0.99999995939,4.16642162358e-05,-0.000281008349001,2.27856656551e-05,1793245091654554880
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.803914929,657,633,878,785,804.803914929,652,630,651,0.400978804838,0.00448898164499,0.0698217496822,0.999999959406,3.74093704454e-05,-0.000281549879957,2.27595825182e-05,1793245091671221504
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,713.379824435,679.620175565,657,633,878,785,804.620175565,652,630,651,0.400978934161,0.00448882793549,0.0698235130962,0.999999960304,3.74360519666e-05,-0.000278335826735,2.27832361794e-05,1793245091687888384
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,713.954649063,679.045350937,657,633,878,785,804.045350937,652,630,651,0.400980649676,0.00449026437115,0.069826208927,0.999999961635,3.96608508746e-05,-0.000273193673121,2.28324244941e-05,1793245091704555264
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,713.492462638,679.507537362,657.507537362,633,878.507537362,785,804.507537362,652,630,651.507537362,0.400980939713,0.00448926547345,0.0698272912505,0.999999962111,3.79513891829e-05,-0.000271700213469,2.27225865671e-05,1793245091721221632
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,713.065993139,680,657.934006861,633,878.934006861,785,805,652,630,652,0.400981100897,0.00448830421146,0.0698281559246,0.999999962487,3.63538173748e-05,-0.000270544093887,2.2587184099e-05,1793245091737888000
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,713.687083419,680,657.312916581,633,878.312916581,785,805,652,630,652,0.400981205247,0.00448941408972,0.0698283523282,0.999999962667,3.85318932664e-05,-0.000269596738297,2.23513198004e-05,1793245091754554624
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.714416291,745,713.714416291,680,657,633,878.285583709,785,805,652.285583709,630,651.714416291,0.400980811831,0.00448928612089,0.069828171953,0.999999962692,3.81746954655e-05,-0.000269557657451,2.23051911722e-05,1793245091771221504
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.13885359,745,713.13885359,680,657,633,878.86114641,785,805,652.86114641,630,651.13885359,0.400979912988,0.00448790125396,0.0698276090001,0.999999962558,3.52432050303e-05,-0.000270440830064,2.24517183182e-05,1793245091787888128
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.437058431,745,713.437058431,680,657.437058431,633.437058431,879,785,804.562941569,652.562941569,630,651.437058431,0.400980464333,0.00448874631687,0.0698284179144,0.999999962766,3.57504301043e-05,-0.000269629586997,2.21327640235e-05,1793245091804555008
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.986532449,658,633.986532449,879,785.013467551,804,652,630,652,0.400981425261,0.00449026038579,0.0698296285011,0.999999963072,3.73151079528e-05,-0.000268317301605,2.16836311494e-05,1793245091821221632
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.393509494,658,633.393509494,879,785.606490506,804,652,630,652,0.400980169532,0.00449005268882,0.0698293536245,0.999999962981,3.73348025887e-05,-0.000268627573162,2.20014953762e-05,1793245091837888000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.194105722,658,633,879,785.805894278,804.194105722,652,630,652,0.400979382204,0.00448988585491,0.0698292651103,0.999999962988,3.78365738762e-05,-0.000268511396622,2.22479237738e-05,1793245091854554624
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..393b898168d45dded12fd190355e3853575bda44
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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+263,4.383333333,pose2_to_pose3_retreat,0.620801034251,0.0098779299738,1.06005099409,0.591372666226,0.0185536143557,1.05971748881
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+265,4.416666667,pose2_to_pose3_retreat,0.620801017054,0.00987794162195,1.06005099396,0.591372648898,0.0185536255586,1.05971748867
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+269,4.483333333,pose2_to_pose3_retreat,0.620800167964,0.00987797847561,1.06005098006,0.591371800616,0.0185536651606,1.05971747467
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fea962ebf3d8cc2da77cddaf448984bd29962cc3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b5d23b832d04453356ab9c07143f8a4a5ba5f032e6763bdb2c902ad1139a12f
+size 25885951
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90f39f09cb01252b04b9318a6ee34f48387644cf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+20,0.333333333,BASELINE,764,745,713.399980208,679.399980208,657.600019792,633,878.399980208,785,805.600019792,652,630,652,0.400980738089,0.00448981970316,0.0698328285984,0.999999964632,3.79626222902e-05,-0.000262364704313,2.14204208726e-05,1793245092498406400
+21,0.350000000,BASELINE,764,745,713.175981628,679,658,633.175981628,878,785.175981628,805.824018372,652,630.175981628,652,0.400980232474,0.00448990521872,0.0698324533844,0.999999964538,3.87506562916e-05,-0.000262604670102,2.14787708115e-05,1793245092515073024
+22,0.366666667,BASELINE,764,745,713.751179175,679,658,633.751179175,878,785.751179175,805.248820825,652,630.751179175,652,0.400979480693,0.00448879334183,0.0698324972621,0.999999964277,3.85597387933e-05,-0.000263585446902,2.19469331763e-05,1793245092531739904
+23,0.383333333,BASELINE,764,744.66373469,714,679.33626531,657.66373469,634,878.33626531,785.66373469,805,652.33626531,630.66373469,652,0.400979749574,0.0044889309386,0.0698329397968,0.999999964298,3.91190756013e-05,-0.000263412616954,2.20632809649e-05,1793245092548406528
+24,0.400000000,BASELINE,764,744.071109699,714,679.928890301,657.071109699,634,878.928890301,785.071109699,805,652.928890301,630.071109699,652,0.400980796581,0.00449002110055,0.069833686257,0.999999964533,4.02503862113e-05,-0.000262360308172,2.19114147771e-05,1793245092565073152
+25,0.416666667,BASELINE,764,744.508375441,713.491624559,680,657,634,878.491624559,785,805,652.491624559,630,652,0.400980578439,0.00448995777238,0.0698334740493,0.999999964465,3.90781883448e-05,-0.000262801102191,2.1879037642e-05,1793245092581739776
+26,0.433333333,BASELINE,764,745,713,680,657.08567917,634,878,785,805,652,630.08567917,652,0.400980235704,0.00448979855346,0.0698331768262,0.999999964356,3.81127944019e-05,-0.00026335763683,2.188309469e-05,1793245092598406400
+27,0.450000000,BASELINE,764,745,713,680,657.660756801,634,878,785,805,652,630.660756801,652,0.400980166647,0.00448998999372,0.0698331406458,0.99999996426,4.01227298132e-05,-0.000263412390276,2.2002200333e-05,1793245092615073024
+28,0.466666667,BASELINE,764,745,713.235681589,679.764318411,657.764318411,633.764318411,878,785.235681589,805,652,630.764318411,652,0.400980847959,0.00448953721119,0.0698336910458,0.999999964532,4.02616140823e-05,-0.000262356846366,2.20134860952e-05,1793245092631739648
+29,0.483333333,BASELINE,764,745,713.810386481,679.189613519,657.189613519,633.189613519,878,785.810386481,805,652,630.189613519,652,0.40098260866,0.00448815772689,0.0698350852303,0.999999965327,3.77090281825e-05,-0.00025970416167,2.18696750853e-05,1793245092648406272
+30,0.500000000,BASELINE,763.601947406,745,714,679,657.398052594,633.398052594,878,785.601947406,805,652,630,652,0.400981539463,0.00448801237299,0.0698343972885,0.999999965003,3.71446097495e-05,-0.000261036745992,2.17788147272e-05,1793245092665072896
+31,0.516666667,BASELINE,763.007899389,745,714,679,657.992100611,633.992100611,878,785.007899389,805,652,630,652,0.400979076863,0.00448847468735,0.0698326841374,0.999999964123,3.75591367085e-05,-0.00026433162004,2.17140265191e-05,1793245092681739776
+32,0.533333333,BASELINE,763.567471684,745,713.432528316,679,657.432528316,633.432528316,878.567471684,785,805,652,630.567471684,652,0.400979682835,0.00448853977964,0.0698332090839,0.999999964558,3.63875571161e-05,-0.00026285891684,2.15892934957e-05,1793245092698406400
+33,0.550000000,BASELINE,764,745,713.142702686,679,657.142702686,633,879,785,805,652,630.857297314,652,0.400980650586,0.00448896908828,0.0698339792137,0.999999965022,3.63653637499e-05,-0.000261094880771,2.15369462252e-05,1793245092715072768
+34,0.566666667,BASELINE,764,745,713.718272206,679,657.718272206,633,879,785,805,652,630.281727794,652,0.400982590294,0.00449051942997,0.0698354015767,0.999999965521,3.98944980012e-05,-0.000258642028382,2.17066206458e-05,1793245092731739648
+35,0.583333333,BASELINE,764,745,714,679,658,633.301632816,879,785,805,652,630.301632816,652,0.400982585417,0.00449140272881,0.0698352389218,0.999999965364,4.10591026083e-05,-0.000259075620088,2.15687167578e-05,1793245092748406272
+36,0.600000000,BASELINE,764,745,714,679,658,633.89246339,879,785,805,652,630.89246339,652,0.400980716124,0.00449164648437,0.0698335565926,0.999999964584,3.99566576366e-05,-0.000262276659606,2.11359147462e-05,1793245092765073152
+37,0.616666667,BASELINE,764,745,714,679.473507134,658,634,879,785,805,652,630.526492866,652,0.400981607248,0.00449074033336,0.0698338488057,0.999999964869,3.86946974356e-05,-0.000261367726193,2.12523626116e-05,1793245092781739776
+38,0.633333333,BASELINE,764,745.051832631,713.948167369,679.948167369,658,633.948167369,879,785,804.948167369,652,630,651.948167369,0.400982642124,0.00448974433227,0.0698342942908,0.999999965237,3.75818095437e-05,-0.000260101674167,2.1463389841e-05,1793245092798406144
+39,0.650000000,BASELINE,764,745.624723985,713.375276015,679.375276015,658,633.375276015,879,785,804.375276015,652,630,651.375276015,0.400978947572,0.00449041721137,0.0698318639096,0.999999964073,3.83243070795e-05,-0.000264438822507,2.13966311092e-05,1793245092815073024
+40,0.666666667,BASELINE,764,745.801321088,713,679.198678912,657.801321088,633,878.801321088,785,804,652,630,651,0.400976787749,0.00449052943646,0.0698304205545,0.999999963345,3.83837121197e-05,-0.000267172826067,2.13436099328e-05,1793245092831739648
+41,0.683333333,BASELINE,764,745.225346447,713,679.774653553,657.225346447,633,878.225346447,785,804,652,630,651,0.400977542411,0.00448957696691,0.069830851584,0.999999963475,3.71459090845e-05,-0.000266862421338,2.13166766882e-05,1793245092848406528
+42,0.700000000,BASELINE,764,745,713,679.639667121,657.360332879,633,878,785,804.360332879,652,630,651.360332879,0.400978739344,0.00448920299631,0.0698318047737,0.999999963874,3.76486615739e-05,-0.000265285995064,2.14171707019e-05,1793245092865073152
+43,0.716666667,BASELINE,764,745,713,679.04775068,657.95224932,633,878,785,804.95224932,652,630,651.95224932,0.400980220522,0.0044892008232,0.0698330935521,0.999999964439,3.92700576533e-05,-0.000262895905113,2.1599561374e-05,1793245092881739776
+44,0.733333333,BASELINE,764,745,713.529374004,679,657.470625996,633,878,785.529374004,805,652,630,652,0.400980003251,0.00448979761299,0.0698331530238,0.999999964419,4.05854237049e-05,-0.000262766217764,2.16491248316e-05,1793245092898406400
+45,0.750000000,BASELINE,763.895693718,745,714,679,657.104306282,633.104306282,878.104306282,785.895693718,805,652,630,651.895693718,0.400979961665,0.00449030855244,0.0698332689068,0.999999964437,4.14307577426e-05,-0.000262559846032,2.17041762114e-05,1793245092915073280
+46,0.766666667,BASELINE,763.324762908,745,714,679,657.675237092,633.675237092,878.675237092,785.324762908,805,652,630,651.324762908,0.400981372767,0.00449020030311,0.0698341197274,0.999999964857,4.02934914205e-05,-0.000261123076648,2.18359209241e-05,1793245092931740416
+47,0.783333333,BASELINE,763,745,714,679.257045242,658,634,879.257045242,785.257045242,805,652,630,651,0.400981427796,0.00449015091312,0.0698341153251,0.999999964858,3.9846176722e-05,-0.000261188644394,2.18142797778e-05,1793245092948406784
+48,0.800000000,BASELINE,763,745,714,679.853203669,658,634,879.853203669,785.853203669,805,652,630,651,0.400979693796,0.00449017917474,0.0698329826492,0.999999964308,4.03090973178e-05,-0.000263236206722,2.15902806266e-05,1793245092965073152
+49,0.816666667,BASELINE,763.436344164,745,714,680,658,633.563655836,879.563655836,785.563655836,805,652,630,651.436344164,0.400978874029,0.00448941822291,0.0698329878955,0.999999964168,4.03292470172e-05,-0.000263748081948,2.1791221399e-05,1793245092981739776
+50,0.833333333,BASELINE,764,745,713.984869384,680,658,633.015130616,878.984869384,785,805,652,630,652,0.400978418935,0.00448846534414,0.0698333736919,0.999999964176,4.02032481619e-05,-0.000263711749169,2.21086994757e-05,1793245092998406400
+51,0.850000000,BASELINE,764,745,713.409833222,680,658,633.590166778,878.409833222,785,805,652,630,652,0.400980406623,0.00448995074867,0.0698340857612,0.999999964656,4.00215413317e-05,-0.000261953430577,2.16016793119e-05,1793245093015073024
+52,0.866666667,BASELINE,764,745,713,680,658.165326955,634,878,785,805,652,630.165326955,652,0.400981575767,0.00449067282497,0.0698345413535,0.99999996497,3.93324465297e-05,-0.000260879179538,2.13250168032e-05,1793245093031739648
+53,0.883333333,BASELINE,764,745,713,680,658.740794748,634,878,785,805,652,630.740794748,652,0.400980714281,0.00448950124702,0.0698343606814,0.999999964876,3.73846306262e-05,-0.000261501953997,2.16198224326e-05,1793245093048406272
+54,0.900000000,BASELINE,764,745,713,679.675269847,658.675269847,633.675269847,878,785,805,652,630.675269847,652,0.400981360239,0.00448898186432,0.0698348481977,0.999999965116,3.70566510878e-05,-0.000260621140777,2.17175306002e-05,1793245093065072896
+55,0.916666667,BASELINE,764,745,713,679.08439451,658.08439451,633.08439451,878,785,805,652,630.08439451,652,0.400983241682,0.00448899701357,0.0698358833538,0.999999965628,3.80562713239e-05,-0.000258508003966,2.16536998888e-05,1793245093081739520
+56,0.933333333,BASELINE,764,745,713.493914682,679.493914682,658,633.493914682,878.493914682,785,804.506085318,652,630.493914682,651.506085318,0.400982220188,0.00448859684663,0.0698356472238,0.999999965437,3.71688887988e-05,-0.000259361874897,2.18048948031e-05,1793245093098406400
+57,0.950000000,BASELINE,764,745,714,680,658,634,878.929835191,785.070164809,804,652,631,651.070164809,0.400980972794,0.00448812416051,0.0698352468598,0.999999965199,3.59358501282e-05,-0.000260442637058,2.19343386855e-05,1793245093115073280
+58,0.966666667,BASELINE,764,745,714,680,658,634,878.353334071,785.646665929,804,652,631,651.646665929,0.400981585885,0.0044876275498,0.0698351899911,0.999999965477,3.44774708322e-05,-0.000259593022727,2.16482587621e-05,1793245093131739904
+59,0.983333333,BASELINE,764,745,714,680,658,634,878.227875472,786,804.227875472,652,630.772124528,652,0.400982083549,0.00448777945839,0.069835250183,0.99999996556,3.50319739776e-05,-0.000259207938731,2.15598982991e-05,1793245093148406272
+60,1.000000000,BASELINE,764,745,714,680,658,634,878.816539817,786,804.816539817,652,630.183460183,652,0.40098239846,0.00448895814941,0.0698354957136,0.999999965326,3.87734174745e-05,-0.000259558332516,2.17845814941e-05,1793245093165072896
+61,1.016666667,BASELINE,764,745,713.601901662,680,658,633.601901662,878.601901662,785.601901662,804.601901662,652,630,651.601901662,0.400981483836,0.00448915685732,0.0698349925235,0.999999965032,3.7957995082e-05,-0.000260819944447,2.16553352811e-05,1793245093181739776
+62,1.033333333,BASELINE,764,745,713.023560409,680,658,633.023560409,878.023560409,785.023560409,804.023560409,652,630,651.023560409,0.400980012529,0.00448891186822,0.0698341503428,0.999999964705,3.50794068659e-05,-0.000262494119284,2.13658440536e-05,1793245093198406400
+63,1.050000000,BASELINE,764,745,713.555487313,680,658,633.555487313,878.555487313,785,804.555487313,652,630,651,0.400981101288,0.00448893002239,0.0698345014318,0.999999965139,3.54074521933e-05,-0.000260820938708,2.09721562304e-05,1793245093215073280
+64,1.066666667,BASELINE,763.866910895,745,714,680,658.133089105,633.866910895,879,785,805,652,630.133089105,651.133089105,0.400981590512,0.00448888823421,0.0698345867975,0.999999965353,3.58154187859e-05,-0.000259956581113,2.08235594471e-05,1793245093231739904
+65,1.083333333,BASELINE,763.294184628,745,714,680,658.705815372,633.294184628,879,785,805,652,630.705815372,651.705815372,0.400979740136,0.0044886115215,0.0698336269928,0.999999964736,3.60375469394e-05,-0.00026223361836,2.14991964304e-05,1793245093248406784
+66,1.100000000,BASELINE,763.286842291,745,714,680,658.713157709,633.286842291,879,785.286842291,805,652,630.713157709,652,0.400979725088,0.00448888646586,0.069833623448,0.999999964679,3.74733137095e-05,-0.000262224673974,2.18011253261e-05,1793245093265073408
+67,1.116666667,BASELINE,763.876635992,745,714,680,658.123364008,633.876635992,879,785.876635992,805,652,630.123364008,652,0.400981648441,0.00448974404848,0.0698346298671,0.999999965208,4.01908772572e-05,-0.000259801366645,2.17083585739e-05,1793245093281740032
+68,1.133333333,BASELINE,764,744.541038039,714,679.541038039,658,633.541038039,879,785.541038039,805.458961961,652,630.458961961,652,0.40098191848,0.00448919752179,0.069835107716,0.999999965473,3.91818188015e-05,-0.000258941520672,2.16559724466e-05,1793245093298406912
+69,1.150000000,BASELINE,764,744.038976114,714,679,658,633,879,785,805.961023886,652,630.961023886,652,0.400981813811,0.00448843206731,0.0698354195436,0.999999965651,3.74141803371e-05,-0.000258517677847,2.16089316085e-05,1793245093315073280
+70,1.166666667,BASELINE,764,744.614355773,714,679,658,633,879,785,805.385644227,652,630.385644227,652,0.400982570266,0.00448976453689,0.0698353704934,0.999999965631,3.87714049983e-05,-0.000258403349648,2.14884711965e-05,1793245093331739648
+71,1.183333333,BASELINE,764,745,713.811353833,679,658,633,879,785.188646167,805,652,630.188646167,652,0.400982347218,0.0044902537843,0.069834892748,0.999999965374,3.95870827985e-05,-0.00025928551481,2.13747973482e-05,1793245093348406528
+72,1.200000000,BASELINE,764,745,713.239277307,679,658,633,879,785.760722693,805,652,630.760722693,652,0.400980133294,0.00448902915151,0.0698335436633,0.999999964629,3.93020466809e-05,-0.000262193089819,2.12749174216e-05,1793245093365073152
+73,1.216666667,BASELINE,764,745,713.346879994,679.346879994,658,633.346879994,879,785.653120006,805,652,631,652,0.400979991151,0.00448878400164,0.0698336935083,0.999999964716,3.87130774837e-05,-0.000261943421086,2.13335501274e-05,1793245093381739776
+74,1.233333333,BASELINE,764,745,713.94316111,679.94316111,658,633.94316111,879,785.05683889,805,652,631,652,0.400981338585,0.00448924308426,0.0698349210596,0.9999999654,3.79055853205e-05,-0.000259423744842,2.15061508657e-05,1793245093398406912
+75,1.250000000,BASELINE,764,745,714,680,658,634,879,785,805.51948057,652.51948057,630.48051943,652,0.400981005214,0.00448953099436,0.0698344440777,0.999999965228,3.78572809951e-05,-0.000260109379621,2.12998531054e-05,1793245093415073536
+76,1.266666667,BASELINE,763.905781944,745,714,679.905781944,658,634,879.094218056,785,805.905781944,652.905781944,630.094218056,652,0.400980562553,0.00448961407972,0.0698339098953,0.999999965032,3.7443741984e-05,-0.00026094033471,2.1094552033e-05,1793245093431740160
+77,1.283333333,BASELINE,763.328370982,745,714,679.328370982,658,634,879.671629018,785,805.328370982,652.328370982,630.671629018,652,0.400980467648,0.00448873922662,0.0698340034327,0.999999965169,3.47468755275e-05,-0.000260784520926,2.10991058492e-05,1793245093448406784
+78,1.300000000,BASELINE,763.254265073,745,714,679,658,634,879.491469854,785,805,652,630.745734927,652,0.400980628289,0.00448912957264,0.0698342967011,0.999999965186,3.52331210329e-05,-0.000260654248979,2.1116328939e-05,1793245093465073152
+79,1.316666667,BASELINE,763.843790614,745,714,679,658,634,878.312418771,785,805,652,630.156209386,652,0.400981125879,0.00449118814335,0.0698348533242,0.999999965035,3.99164497274e-05,-0.000260557655159,2.1150257062e-05,1793245093481739776
+80,1.333333333,BASELINE,764,745,714,679.424970405,658,633.575029595,878.424970405,785.424970405,805,652,630,652,0.400980584788,0.00449138365686,0.0698344581623,0.999999964929,4.12038836084e-05,-0.00026075498545,2.12193256092e-05,1793245093498406400
+81,1.350000000,BASELINE,764,745,713.996867003,679.996867003,658.003132997,633.003132997,878.996867003,785.996867003,805,652,630.003132997,652,0.400979681509,0.00449090778778,0.0698337306995,0.999999964849,4.1262623437e-05,-0.000261046929292,2.13012289252e-05,1793245093515073024
+82,1.366666667,BASELINE,764,745,713.420282775,679.420282775,658.579717225,633.579717225,878.420282775,785.420282775,805,652,630.579717225,652,0.400981021147,0.00449047673848,0.0698349828015,0.999999965342,4.05009031521e-05,-0.000259262260807,2.14136493373e-05,1793245093531739904
+83,1.383333333,BASELINE,763.844119256,745,713.155880744,679.155880744,658.844119256,634,878,785.155880744,805,652,631,652,0.400981901163,0.00449025971198,0.0698358442887,0.99999996565,4.03621591019e-05,-0.000258090075102,2.14454853994e-05,1793245093548406784
+84,1.400000000,BASELINE,763.269086863,745,713.730913137,679.730913137,658.269086863,634,878,785.730913137,805,652,631,652,0.400981545289,0.00449061817663,0.0698356554421,0.999999965468,4.18985513325e-05,-0.000258564809341,2.12606362033e-05,1793245093565073408
+85,1.416666667,BASELINE,763.314120913,745,714,679.685879087,658.314120913,633.685879087,878,785.685879087,805,652,630.685879087,652,0.400981290885,0.00449025304684,0.0698353525482,0.999999965425,4.04787752393e-05,-0.000258960665911,2.12172708745e-05,1793245093581739776
+86,1.433333333,BASELINE,763.904519111,745,714,679.095480889,658.904519111,633.095480889,878,785.095480889,805,652,630.095480889,652,0.400981125727,0.00448925149741,0.0698349493466,0.999999965494,3.64589742764e-05,-0.000259287147544,2.12983441947e-05,1793245093598406400
+87,1.450000000,BASELINE,764,745,714,679,658.513908876,633.486091124,878,785,805,652.486091124,630,652,0.400980928049,0.00448982332927,0.0698346114051,0.999999965319,3.76216651787e-05,-0.000259784275151,2.1436037732e-05,1793245093615073024
+88,1.466666667,BASELINE,764,745,713.934858099,679,658,633.934858099,878.065141901,785,805,652.934858099,630,652,0.400980663859,0.00449029937133,0.069834278444,0.999999965087,3.92803680487e-05,-0.000260416353989,2.16036714318e-05,1793245093631739904
+89,1.483333333,BASELINE,764,745,713.362184079,679,658,633.362184079,878.637815921,785,805,652.362184079,630,652,0.400979930348,0.00448766415399,0.0698338861931,0.999999964794,3.70138020466e-05,-0.000261843364453,2.19194685995e-05,1793245093648406528
+90,1.500000000,BASELINE,764,745,713,679,658,633,878.788248161,785,805,652,630,652,0.400979724742,0.0044869546211,0.069834077146,0.999999964808,3.62405422496e-05,-0.000261891130513,2.19887952332e-05,1793245093665073408
+91,1.516666667,BASELINE,764,745,713,679,658,633,878.212140988,785,805,652,630,652,0.400980427487,0.00448955855862,0.069835271601,0.999999965355,3.80367719563e-05,-0.000259565670035,2.16340270371e-05,1793245093681740032
+92,1.533333333,BASELINE,764,745,713.374328002,679,658,633,878.374328002,785,805,652.374328002,630,652,0.400981920068,0.00449026311042,0.069836408631,0.999999965858,3.83057399832e-05,-0.000257595289934,2.14912697884e-05,1793245093698406912
+93,1.550000000,BASELINE,764,745,713.966836528,679,658,633,878.966836528,785,805,652.966836528,630,652,0.400983873012,0.00448986058801,0.0698375121905,0.999999966334,3.7684529642e-05,-0.000255831871484,2.14720850397e-05,1793245093715073792
+94,1.566666667,BASELINE,764,745,714,679,658,633.545479205,879,785,804.454520795,652.454520795,630,652,0.400981646723,0.00449033167242,0.0698357413796,0.999999965602,3.97683423132e-05,-0.000258374386115,2.13978908518e-05,1793245093731740160
+95,1.583333333,BASELINE,764.12226274,745,714,679.12226274,658,633.87773726,879,785,804.12226274,652,630.12226274,652,0.40098009713,0.00449072103016,0.0698345397436,0.999999965093,4.13773656688e-05,-0.00026009074744,2.13418466621e-05,1793245093748406528
+96,1.600000000,BASELINE,764.695223597,745,714,679.695223597,658,633.304776403,879,785,804.695223597,652,630.695223597,652,0.400981955464,0.00449061818239,0.0698360644851,0.99999996571,4.06449586363e-05,-0.000257820546836,2.136473183e-05,1793245093765073408
+97,1.616666667,BASELINE,764.723249777,745,714,680,658,633.276750223,879,785,805,652,631,652,0.40098246234,0.00449102761725,0.0698362105818,0.999999965771,4.05847055282e-05,-0.000257602720069,2.12360215573e-05,1793245093781740032
+98,1.633333333,BASELINE,764.131988675,745,714,680,658,633.868011325,879,785,805,652,631,652,0.400981433362,0.00449201923219,0.0698347899272,0.999999965202,4.12883171461e-05,-0.000259717299498,2.09350316922e-05,1793245093798406656
+99,1.650000000,BASELINE,764,745,714,680,658,634,879,785,805,652,631,652,0.40098106764,0.00449082870771,0.0698346909024,0.999999965186,4.02426754645e-05,-0.000259918538095,2.12414560071e-05,1793245093815073280
+100,1.666666667,BASELINE,764,744.982481961,713.982481961,680,658,634,879,785,805,652,630.982481961,652,0.4009809119,0.00448908864491,0.0698349665804,0.999999965327,3.87157720072e-05,-0.000259571306468,2.169741049e-05,1793245093831740160
+101,1.683333333,BASELINE,764,744.401702133,713.401702133,680,658,634,879,785,805,652,630.401702133,652,0.400981379036,0.00448984299751,0.0698350777663,0.999999965445,3.78785527058e-05,-0.000259269025474,2.13484910253e-05,1793245093848406784
+102,1.700000000,BASELINE,764,744.177086516,713,680,658,633.822913484,879,785,805,652,630,651.822913484,0.400982024094,0.00449011111297,0.0698354030671,0.999999965633,3.70723218505e-05,-0.000258677037256,2.10963048893e-05,1793245093865073408
+103,1.716666667,BASELINE,764,744.751408533,713,680,658,633.248591467,879,785,805,652,630,651.248591467,0.400983068264,0.00448928851479,0.0698362086645,0.999999965982,3.63356035207e-05,-0.000257435185963,2.10611082869e-05,1793245093881740032
+104,1.733333333,BASELINE,764,745,713.336494572,680,658,633,878.663505428,785,805,652,630,651,0.400981746858,0.00448925245384,0.0698355388263,0.999999965648,3.63111555844e-05,-0.000258743848519,2.09276674311e-05,1793245093898406912
+105,1.750000000,BASELINE,764,745,713.929795572,680,658,633,878.070204428,785,805,652,630,651,0.400978620086,0.00448981666345,0.069833742963,0.999999964785,3.68302991512e-05,-0.000261999015908,2.07192483756e-05,1793245093915073536
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,879,785,805,652,630,652,0.40098047858,0.00448912024894,0.0698343235793,0.999999965128,3.85432830749e-05,-0.000260386470674,2.13956530151e-05,1793245093945912064
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,878.427337969,785,805,652,630,652,0.400980047955,0.00448945731969,0.0698337829013,0.999999964985,3.74259226148e-05,-0.000261096310615,2.1385559338e-05,1793245093962579200
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.849834342,745,713.849834342,679.150165658,658,633,878.150165658,785,805,652,630,652,0.400980177416,0.00449002297588,0.0698338773928,0.999999965035,3.7145712077e-05,-0.000260951191339,2.1315430818e-05,1793245093979246080
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.258093444,745,713.258093444,679.741906556,658,633,878.741906556,785,805,652,630,652,0.400981953859,0.00449126080759,0.0698358396554,0.999999965647,3.93272137649e-05,-0.000258291989952,2.10687645946e-05,1793245093995912960
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.326049376,745,713.326049376,679.673950624,658,633,879,785,804.673950624,652.326049376,630,652,0.40098245576,0.0044912366158,0.0698365551306,0.999999965841,4.05475057897e-05,-0.000257352097695,2.10879510034e-05,1793245094012579584
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.90431466,745,713.90431466,679.09568534,658,633,879,785,804.09568534,652.90431466,630,652,0.40098197174,0.00449023618405,0.0698363061516,0.999999965716,4.10242527349e-05,-0.000257742179351,2.13127880665e-05,1793245094029246208
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.519110753,745,714,679,658,633,878.519110753,785,804.480889247,652.519110753,630,652,0.400982283375,0.00448953751223,0.0698362154368,0.999999965854,3.83382568776e-05,-0.000257616028224,2.13655261623e-05,1793245094045912576
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.056773811,745,713.943226189,679,658,633,878.056773811,785.056773811,804.943226189,652,630.056773811,652,0.400982614786,0.00448892161618,0.0698360695292,0.99999996597,3.55117304894e-05,-0.000257568227919,2.13727382309e-05,1793245094062578944
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.62943449,745,713.37056551,679,658,633,878.62943449,785.62943449,804.37056551,652,630.62943449,652,0.400981692361,0.00448851419819,0.0698351369581,0.999999965503,3.71065593076e-05,-0.00025916247521,2.12763394966e-05,1793245094079245824
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713,679.208496163,658,633.208496163,879,785.791503837,804.208496163,652,630.791503837,652,0.400983188611,0.00448897693093,0.0698354587359,0.999999965513,3.88114853295e-05,-0.000258870835807,2.12908812815e-05,1793245094095912448
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713,679.799294757,658,633.799294757,879,785.200705243,804.799294757,652,630.200705243,652,0.400989119789,0.00449103518823,0.0698380805113,0.999999966396,4.07182874494e-05,-0.000255121199429,2.15088456693e-05,1793245094112579072
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713,680,658.381978904,634,878.618021096,785,805,652,630,652,0.401008826729,0.00449151035676,0.0698471815307,0.999999970016,3.97673702586e-05,-0.000240681245262,2.1425465514e-05,1793245094129245696
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713,680,658.960488176,634,878.039511824,785,805,652,630,652,0.401035621378,0.00449117101709,0.069859616159,0.999999974715,3.73461400244e-05,-0.000220741060006,2.11870418514e-05,1793245094145912576
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.537055582,680,658.462944418,633.462944418,878,785.537055582,805,652,630,652,0.401086241326,0.00449050049026,0.0698764529374,0.99999998037,3.79403392445e-05,-0.000193295547877,2.13827302578e-05,1793245094162578944
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.113245701,633.113245701,878.113245701,785.886754299,805,652,630,651.886754299,0.401140720886,0.00448986009502,0.0698921478296,0.999999984746,3.81477106854e-05,-0.000169096074799,2.14131713083e-05,1793245094179245568
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.688477572,633.688477572,878.688477572,785.311522428,805,652,630,651.311522428,0.401203820744,0.00448944166389,0.0699018679245,0.999999986282,3.5875245311e-05,-0.000160383307306,2.06396630545e-05,1793245094195912192
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.72779119,745,713.72779119,679.72779119,658.72779119,633.72779119,878.72779119,785,804.72779119,652,630,651.27220881,0.401275149165,0.00448871008774,0.0699085936683,0.999999987706,3.29158065662e-05,-0.00015206917086,1.94873690977e-05,1793245094212578816
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.134019607,745,713.134019607,679.134019607,658.134019607,633.134019607,878.134019607,785,804.134019607,652,630,651.865980393,0.401356198058,0.00448760859052,0.0699117821571,0.999999989015,2.9144839991e-05,-0.000144225941464,1.78876121497e-05,1793245094229245440
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.446801601,745,713.446801601,679,658,633,878.446801601,785,804.446801601,652,630,652,0.401449657518,0.00449093584457,0.0699103256658,0.999999988578,3.12747612243e-05,-0.000147046188113,1.55731920531e-05,1793245094245912320
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679.023639782,658,633.023639782,879,785,805,652,630,652,0.401547870083,0.00449524670935,0.0699076143491,0.99999998763,3.4691011954e-05,-0.000152858694456,1.30614256102e-05,1793245094262578944
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679.595654564,658,633.595654564,879,785,805,652,630,652,0.401672420035,0.00449242704269,0.0699072043178,0.999999987384,2.80442631992e-05,-0.000155975980034,1.08043842188e-05,1793245094279245568
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679.827298108,658,634,879,785,805,652,630,652,0.401807601132,0.00449112247979,0.0699085209362,0.999999987671,2.25379443362e-05,-0.000155196402559,8.06858427097e-06,1793245094295912448
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679.238114557,658,634,879,785,805,652,630,652,0.401968419893,0.00449347168691,0.0699140014809,0.99999998928,1.97818460775e-05,-0.000145019290097,4.17822776399e-06,1793245094312579072
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713.653947346,679.346052654,658,634,879,785,805,652,630,652,0.402150168418,0.00449505033671,0.0699189060509,0.999999990558,1.69089525154e-05,-0.000136373387108,6.08705872674e-08,1793245094329245952
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713.07318244,679.92681756,658,634,879,785,805,652,630,652,0.402346112694,0.00449610635171,0.0699234199633,0.999999991603,1.39568415724e-05,-0.000128766034945,-4.21045152374e-06,1793245094345912320
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.503330087,745,713.503330087,680,658,633.496669913,878.496669913,785.503330087,805,652.503330087,630,652,0.402569596574,0.00449715844827,0.0699229797919,0.99999999174,8.12616809763e-06,-0.000127935327652,-9.33469631697e-06,1793245094362579200
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.921179217,745,713.921179217,680,658,633,878.078820783,785.921179217,805,652.921179217,630,652,0.402802400534,0.00449826144034,0.069922235801,0.999999991783,1.74288745994e-06,-0.000127351748774,-1.45994633767e-05,1793245094379246080
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.348250484,745,713.348250484,680,658,633,878.651749516,785.348250484,805,652.348250484,630,652,0.403068739046,0.00449968702579,0.0699240648345,0.99999999232,-5.50285428483e-06,-0.000122192497782,-1.99742444282e-05,1793245094395912960
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713,679.76765644,658,633.23234356,878.76765644,785,805,652,630.23234356,652,0.403354090392,0.00450139347752,0.0699303096265,0.999999993564,-1.16579133822e-05,-0.000109992134877,-2.52606884206e-05,1793245094412579584
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713,679.175181229,658,633.824818771,878.175181229,785,805,652,630.824818771,652,0.403668911545,0.00450353527087,0.069943398828,0.999999995634,-1.61224180014e-05,-8.68780750153e-05,-3.04102099712e-05,1793245094429246208
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.408037414,785,805,652,630.591962586,652,0.404005565962,0.00450609205203,0.0699491862295,0.999999996032,-2.03146821237e-05,-7.88483503161e-05,-3.61484358853e-05,1793245094445912832
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713,679,658,634,878.987370107,785,805,652,630.012629893,652,0.404351386039,0.00450882304622,0.069951908314,0.999999995839,-2.43926587917e-05,-7.71510734954e-05,-4.21338014579e-05,1793245094462579456
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713,679,658,633.439620625,879,785,805,652,630.560379375,652,0.404749373538,0.00450876206374,0.069957144443,0.99999999616,-2.47334314772e-05,-7.04829671702e-05,-4.5839422248e-05,1793245094479246080
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.862758324,745,713.137241676,679.137241676,658.137241676,633,879,785,805,652,630.862758324,652,0.405151869287,0.00450738772865,0.0699610253572,0.999999996804,-1.00102901558e-05,-6.57878626273e-05,-4.43225473226e-05,1793245094495912704
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.272718969,745,713.727281031,679.727281031,658.727281031,633,879,785,805,652,630.272718969,652,0.405565403054,0.00450188557858,0.0699602501902,0.999999995893,5.41380122649e-05,-6.79677330228e-05,-2.57428641973e-05,1793245094512579328
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.311560193,745,714,680,658.376879614,633.311560193,879,785,805,652,630,651.688439807,0.406002930857,0.00449458686072,0.0699562054839,0.999999994454,7.38710906227e-05,-7.23260607038e-05,-2.01199161286e-05,1793245094529245952
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.890888859,745,714,680,657.218222282,633.890888859,879,785,805,652,630,651.109111141,0.406461080232,0.00448574409321,0.0699493507922,0.99999999505,5.54317877475e-05,-7.85566503863e-05,-2.56325515409e-05,1793245094545912320
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,657.463427647,634,879,785,805,652,630,651,0.406944846007,0.00449590132563,0.0699332684305,0.99999999422,7.67412240546e-06,-0.000103295888347,-2.88191788354e-05,1793245094562579200
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713.965363331,680,658.034636669,633.965363331,879.034636669,785,805,652,630,651.034636669,0.407440755902,0.00450971783052,0.0699165923782,0.999999990202,-4.33457809833e-05,-0.000129357867069,-3.13710846473e-05,1793245094579246080
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713.390318974,680,658.609681026,633.390318974,879.609681026,785,805,652,630,651.609681026,0.408033399643,0.00451183953088,0.0699240612269,0.999999992763,-3.91197903739e-05,-0.00010904894907,-3.24410160385e-05,1793245094595912704
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,713.184806457,680,658.815193543,633,880,785,805,652,630,652,0.408636323074,0.00451586026061,0.0699342033122,0.999999995447,-2.66043083698e-05,-8.51953787887e-05,-3.37502813127e-05,1793245094612579328
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713.760103163,680,658.239896837,633,880,785,805,652,630,652,0.409260967135,0.00452389357971,0.0699499938617,0.999999997912,3.4266087616e-06,-5.385207057e-05,-3.55652514956e-05,1793245094629245952
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.346088787,633.346088787,880,785,805,652,630,652,0.409874531641,0.00453373856634,0.0699516756429,0.999999997571,3.27945291734e-05,-4.90794612077e-05,-3.70627159988e-05,1793245094645912832
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.939719702,633.939719702,880,785,805,652,630,652,0.4104801714,0.00454487935895,0.0699432660405,0.999999995358,6.1688235815e-05,-6.33117084996e-05,-3.83330825439e-05,1793245094662579712
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.479656465,634,879.479656465,785,805,652,630,651.479656465,0.411152168573,0.00454781144346,0.0699420011697,0.999999994871,6.17344615036e-05,-6.99582769246e-05,-3.9414448363e-05,1793245094679246336
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,679.898805498,658,633.898805498,879,785,805.101194502,652,630,651.101194502,0.411845839579,0.00455126381751,0.0699471749118,0.999999995197,6.12931830042e-05,-6.4951485311e-05,-4.03881544973e-05,1793245094695912704
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,679.309772767,658,633.309772767,879,785,805.690227233,652,630,651.690227233,0.412607840321,0.00456169696295,0.069979495057,0.999999996376,7.42194607686e-05,-7.89929980848e-06,-4.09458327592e-05,1793245094712579584
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,679.272195782,658.272195782,633.272195782,879,785,805.455608437,652,630,652,0.413369950837,0.00457079120592,0.0700056083091,0.999999994718,8.83312041255e-05,3.25677135952e-05,-4.12489055399e-05,1793245094729246464
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,679.846328365,658.846328365,633.846328365,879,785,804.30734327,652,630,652,0.414132183218,0.00457840025476,0.0700248364864,0.999999992273,0.000103757942818,5.46374108103e-05,-4.12695539614e-05,1793245094745912832
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713.575376028,679.575376028,658.575376028,634,879,785,804.424623972,652,630,652,0.414857676327,0.0045870225094,0.0699956117456,0.999999993378,0.000107016559317,-3.32072528017e-07,-4.23342540292e-05,1793245094762579200
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713.00443529,679.00443529,658,633.99556471,879,785,805,652,630,651.99556471,0.415570463403,0.0045959806834,0.0699487972677,0.999999989969,0.000105977278915,-8.31455755355e-05,-4.37886533659e-05,1793245094779245824
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,713.583498769,679.583498769,658,633.416501231,879,785,805,652,630,651.416501231,0.416376741547,0.00460048330956,0.0699174019252,0.999999983334,0.000124288073966,-0.00012546666589,-4.62945097287e-05,1793245094795912192
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.330345815,633.165172907,879,785,805.165172907,652,630,651.165172907,0.417203121068,0.00460520876871,0.0699048233441,0.999999980139,0.000132808090755,-0.000140698974494,-4.78250588908e-05,1793245094812579072
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659.507071581,633.75353579,879,785,805.75353579,652,630,651.75353579,0.418081002334,0.0046105051486,0.0699404552428,0.999999988403,0.00011624312592,-8.65270360706e-05,-4.68567706691e-05,1793245094829245696
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879,785,805.665208707,652,630,652,0.418963149038,0.00461549995534,0.0699709825537,0.999999990944,0.000118990311421,-4.14844782338e-05,-4.7256660784e-05,1793245094845912320
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879,785,805.089076721,652,630,652,0.419848370525,0.00462027736707,0.0699978301235,0.999999989611,0.000135659029816,-3.02301102715e-06,-4.86428284185e-05,1793245094862579200
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.489925732,745,714,680,659.510074268,634,879,785.489925732,805,652,630,652,0.420755683534,0.00461918397653,0.0700196351304,0.99999998806,0.000143512138583,2.88601807817e-05,-4.95029763051e-05,1793245094879245824
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.931010811,745,713.931010811,680,659.068989189,633.931010811,879,786,805.068989189,652,630.068989189,652,0.421661558148,0.00461410448046,0.0700348919604,0.999999987237,0.000143005717789,5.0566190595e-05,-5.01914080133e-05,1793245094895912192
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.355355133,745,713.355355133,680,659.644644867,633.355355133,879,786,805.644644867,652,630.644644867,652,0.422527196113,0.00458763587052,0.0700088309879,0.999999994394,9.29464678203e-05,6.36516467138e-06,-5.03252588767e-05,1793245094912578816
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,713.225431896,680,659.774568104,633.225431896,879.225431896,786,806,652,630.774568104,652,0.423371434891,0.00457057483647,0.0699583325485,0.999999993847,6.57311695842e-05,-7.32661712145e-05,-5.1168266863e-05,1793245094929245696
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,713.814496126,680,659.185503874,633.814496126,879.814496126,786,806,652,630.185503874,652,0.4241811559,0.00456868866416,0.0698684153123,0.999999973687,7.53642402598e-05,-0.000210048283186,-5.3155178563e-05,1793245094945912320
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745.396719596,714,680.396719596,659.396719596,634,879.603280404,785.603280404,806,652,630,652,0.425097272869,0.00457660545002,0.0698591112426,0.999999971776,7.91968604493e-05,-0.000217099331898,-5.51654391608e-05,1793245094962578944
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745.975798552,714,680.975798552,659.975798552,634,879.024201448,785.024201448,806,652,630,652,0.426062296623,0.00458902834355,0.0698868624826,0.999999981603,8.03631980304e-05,-0.000164517136636,-5.71864325616e-05,1793245094979245568
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,746,714,680.448709453,660.551290547,633.448709453,879.551290547,785,806,652,630,652,0.42702371139,0.00459069878889,0.0699476418708,0.999999990845,8.90905985633e-05,-8.68443265645e-05,-5.3208755415e-05,1793245094995912192
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745.870704066,713.870704066,680,660.741408131,633,880,785,806.129295934,652,630.129295934,652,0.427989167182,0.00459324303087,0.0700038471244,0.999999993724,9.93814930169e-05,-1.21244987089e-05,-5.02913667131e-05,1793245095012579072
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.283237919,713.283237919,680,659.566475839,633,880,785,806.716762081,652,630.716762081,652,0.428969500402,0.00460054549584,0.0700387388704,0.999999990978,0.000114044142405,4.82532931021e-05,-5.20583250385e-05,1793245095029245696
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,713,680.299971532,659.299971532,633,880,785,807,652,630.700028468,652,0.429911370497,0.0046043062958,0.0700475044488,0.999999989543,0.000117155256869,6.59018312159e-05,-5.33504135795e-05,1793245095045912576
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,713,680.879217949,659.879217949,633,880,785,807,652,630.120782051,652,0.430817431192,0.00460476978883,0.0700319464424,0.999999991577,0.000109511838321,4.37692332012e-05,-5.42003961731e-05,1793245095062579200
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,713.455742218,681,660,633,880.455742218,785,806.544257782,652,630,652,0.431627939976,0.00460217988956,0.0699587956445,0.999999989111,0.000112056575006,-7.90921835886e-05,-5.44510936539e-05,1793245095079245824
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.031588912,745,713.968411088,681,659.968411088,633,880.936822175,785,806,651.968411088,630.031588912,652,0.432421196763,0.00459847368316,0.0698764092199,0.999999968096,0.000115775825136,-0.000217763438486,-5.46132000159e-05,1793245095095912192
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.608117513,745,713.391882487,681,659.391882487,633,879.783764973,785,806,651.391882487,630.608117513,652,0.433351098794,0.00458938701256,0.0698964444898,0.999999979381,9.34539328012e-05,-0.00017138180984,-5.59706453928e-05,1793245095112578816
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713,681.18876365,659.566290949,633,879.377527299,785.18876365,806.18876365,651.18876365,630.81123635,652,0.434289320293,0.00458180329666,0.0699307671176,0.999999989676,7.6953042569e-05,-0.000107241037826,-5.67925996356e-05,1793245095129245696
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713,681.778148721,661.334446163,633,880.556297442,785.778148721,806.778148721,651.778148721,630.221851279,652,0.435245198737,0.00457740936613,0.069995412439,0.99999999574,7.28063176299e-05,-5.40924344768e-06,-5.64780575488e-05,1793245095145912320
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.642241072,745,713.357758928,682,661.642241072,633,880.642241072,786,807,652,630.357758928,652,0.436154212868,0.00457745430748,0.0700301163878,0.999999994157,7.72319740505e-05,5.08853871233e-05,-5.59568300706e-05,1793245095162578944
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.068531217,745,713.931468783,682,661.068531217,633,880.068531217,786,807,652,630.931468783,652,0.437034938642,0.00458017864693,0.070046747081,0.999999991525,8.68321033735e-05,7.96928074104e-05,-5.53108430977e-05,1793245095179245568
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,713.491966404,681.491966404,660.491966404,633,880,785.491966404,807,651.491966404,630.491966404,652,0.437854019649,0.00458187318041,0.0700188786758,0.999999993787,7.9695410412e-05,5.30312388406e-05,-5.71209568484e-05,1793245095195912192
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,713,681.08712408,660,633,880,785.08712408,807,651.08712408,630.08712408,652,0.438645746643,0.00458441611022,0.069978415174,0.999999995485,7.44769221404e-05,3.69477605653e-06,-5.89023361723e-05,1793245095212579072
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,713,681.678593204,660,633,880,785.678593204,807,651.678593204,630.678593204,652,0.439327535698,0.00459267894984,0.0698999859433,0.999999985022,9.35059113861e-05,-0.000133342880981,-5.8588612474e-05,1793245095229245440
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,713,682.263371366,659.736628634,633,880.263371366,786,807,652,631,652,0.440040788486,0.00460099582286,0.0698398577389,0.99999996537,0.000106827303474,-0.000233195265062,-5.88853370096e-05,1793245095245912064
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,713,682.840186433,659.159813567,633,880.840186433,786,807,652,631,652,0.440791486863,0.00460937700156,0.0698015099691,0.99999995008,0.000113355966437,-0.000288792680473,-5.99085695099e-05,1793245095262578944
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,713,683,659,633,881,785.582462117,807,652,631,652,0.441578543361,0.00461496610892,0.0698296406112,0.999999960869,0.000118739194274,-0.000246353210541,-5.89356673112e-05,1793245095279245568
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,713,683,659,633,881,785.004905053,807,652,631,652,0.442379533977,0.00461948517042,0.0698832487491,0.999999976881,0.000123683440141,-0.000166341627194,-5.71977568694e-05,1793245095295912192
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,713,682.426161942,658.426161942,633,881,785,807,652,630.426161942,652,0.443076974387,0.00462833819421,0.069889694602,0.999999974606,0.000138670504637,-0.000168160084277,-5.72727581982e-05,1793245095312578560
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,713,682.155150517,658,632.844849483,880.844849483,785,807,652,630,652,0.443749835489,0.00463612419349,0.069882433413,0.999999968632,0.000153200106092,-0.000189714833248,-5.72165171428e-05,1793245095329245440
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,713,682.74361049,658,632.25638951,880.25638951,785,807,652,630,652,0.444356527979,0.0046408264966,0.0698380189663,0.999999949614,0.000166211848179,-0.000264432205991,-5.67503693736e-05,1793245095345912064
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713,682.673578785,657.673578785,632,880.326421215,785,807,652,630,652,0.444962459606,0.00464550171948,0.0697943759405,0.99999992774,0.000179161215063,-0.00033054981518,-5.61927545515e-05,1793245095362578944
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713,682.095129843,657.095129843,632,880.904870157,785,807,652,630,652,0.445567803737,0.00465015603361,0.0697513285265,0.999999903952,0.000192062421698,-0.00039002759758,-5.55645186498e-05,1793245095379245568
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713,682.477546743,657,632,880.522453257,785,807,652,630,652,0.44613543863,0.00465600093667,0.0697327868258,0.999999893218,0.000196884824852,-0.000414213286734,-5.68191023035e-05,1793245095395912448
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713,683,657,631.950665249,880,785,807,652,630,652,0.446691172281,0.00466205627837,0.0697189973707,0.999999884359,0.000201056644328,-0.000432988225563,-5.81361337761e-05,1793245095412579072
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713,683,657,631.376242197,880,785,807,652,630,652,0.447199233472,0.00466785723945,0.0697044509598,0.999999865698,0.000215228300472,-0.000468107738041,-5.61735118937e-05,1793245095429245696
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713,683,656.588907293,631,880.205546353,785,807,652,630,652,0.447698584482,0.00467312088923,0.0696894148982,0.999999848,0.000227509176483,-0.000499228871673,-5.48672415171e-05,1793245095445912320
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713,683,655.397363839,631,880.801318081,785,807,652,630,652,0.448181399344,0.00467736446429,0.0696734492469,0.999999833964,0.000236200445466,-0.000522759165095,-5.48070408199e-05,1793245095462579200
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713,683,655,630.615088504,880.615088504,784.615088504,807.384911496,652,630,652,0.44867330467,0.00468139766176,0.0696798866296,0.999999838008,0.000243163650541,-0.000511696438923,-5.49802530454e-05,1793245095479245824
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,745,713,683.686485476,654,630,881.313514524,784.686485476,807,652,630,652,0.450350565398,0.00473094798186,0.0696836710568,0.999999827765,0.000294612458296,-0.000503096807216,-6.75749848413e-05,1793245095545912320
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745.17607097,713,683.17607097,652,629.82392903,881,784.17607097,807.82392903,652,630,652,0.452042671128,0.00476062117338,0.0695858181574,0.999999761425,0.000272518919213,-0.000631742315466,-6.15239780691e-05,1793245095645912832
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+221,3.683333333,POSE1_TO_POSE2_PRESS,764,744.727922131,713,683.727922131,651,628.272077869,880.272077869,784,807,652,630,652,0.453587683325,0.00477424671262,0.0695705119807,0.99999973334,0.000300459641497,-0.000661981316079,-6.94582785814e-05,1793245095862578944
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,745,712.629735353,683.629735353,650.370264647,628.370264647,881,784,807,651.370264647,630,652,0.453695153186,0.00477743524984,0.0695704849733,0.999999731451,0.000307543945499,-0.000661646926454,-6.88273455654e-05,1793245095945912576
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745,713,683.406587093,650,628,880.406587093,784.593412907,807.593412907,652,630,652,0.453716229298,0.00477441593361,0.069566510562,0.999999727244,0.000306641106995,-0.00066861000978,-6.66673456534e-05,1793245096145912576
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+246,4.100000000,HOLD_POSE2,764,745,713,684,650,628,881,784,807,652,630,652,0.453719406192,0.00477533950073,0.0695652129954,0.999999727055,0.000306661761801,-0.000668951699809,-6.597520363e-05,1793245096301158144
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,649,629,880,784,807,652,630,652,0.453719110314,0.00477172728766,0.06956288751,0.999999725005,0.000306118283584,-0.000672314127159,-6.53829095196e-05,1793245096589332992
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.735413136,745,713,683.735413136,649,628,880.735413136,784,807,652,630,652,0.453508111412,0.004775128656,0.0694957112494,0.999999653852,0.000309952419534,-0.000769430027883,-6.48362284772e-05,1793245096839333376
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,745,713,684,649.208429104,628.791570896,880,784,807,652,630,652,0.452730388081,0.00477358790665,0.0694609447891,0.999999609471,0.000323672915539,-0.00082063985118,-5.33277710845e-05,1793245096956000000
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,745,713.047605391,682.952394609,657.952394609,632.047605391,879.047605391,786,806.952394609,652,630,651.047605391,0.43558054278,0.00459072888939,0.0697779149155,0.999999929753,0.000191286658002,-0.000321342806118,2.53571645682e-05,1793245097505999872
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,745,713,683,657.467919159,632.532080841,879,785.467919159,806.467919159,652,630,651.532080841,0.434732429866,0.0045845852941,0.0698151559185,0.999999948231,0.000163884281229,-0.000275511461618,2.78124715625e-05,1793245097522666240
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,745,713,682.889639056,657,633,879,785,806,652,630,652,0.433876455002,0.00457895818894,0.0698451630993,0.999999961292,0.000139312508673,-0.000239027551005,2.95536466247e-05,1793245097539333120
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,745,713,682.314036798,657,633,879,785,806,652,630,652,0.432994283531,0.00457537711086,0.0698469809255,0.999999964275,0.000125697850058,-0.000234188030406,2.84033206935e-05,1793245097556000000
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.831854136,745,713,682,657,633,879,785,806,651.168145864,630,652,0.431160653319,0.00456754089568,0.069820057684,0.999999950914,0.000139184166623,-0.000279193797724,2.91784496731e-05,1793245097589333248
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,745,713,681,658.673091789,633,879,785,805.326908211,651.326908211,629,651,0.425688652142,0.0045280152671,0.0698683402779,0.99999997469,8.52185555834e-05,-0.000205585964731,3.30557059492e-05,1793245097689333504
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,745,713.925499791,681,657,633,879,785,805.925499791,652,630,652,0.422834866046,0.00450591739097,0.0697755436596,0.999999931578,6.37156262621e-05,-0.000362935232571,3.25889278533e-05,1793245097739333120
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,745,713.349114127,681,657,633,879,785,805.349114127,652,630,652,0.421845042182,0.004498541272,0.0697064426177,0.99999988173,6.24001346294e-05,-0.000481161909407,3.36095466208e-05,1793245097755999744
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,745,713,680.194746017,657,633,879.805253983,785,805.805253983,652,630,652,0.420116225634,0.00447988327472,0.0697384582898,0.999999910305,2.36376035709e-05,-0.000421771865119,3.06660204397e-05,1793245097789333248
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.779077358,633.389538679,879.610461321,785,805.610461321,652,630,652,0.419339366964,0.00447345987552,0.0698050623831,0.999999950434,1.57184713008e-05,-0.000312834078583,3.1921426569e-05,1793245097805999872
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,745,713,680,658.954518807,633.977259403,879.022740597,785,805.022740597,652,630,652,0.418579332178,0.00446894633685,0.0698785980262,0.999999979967,1.76235279454e-05,-0.000196272729776,3.51151488956e-05,1793245097822666496
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,745,713,681,657,633,879.867873148,785.132126852,805.867873148,652,630,652,0.416845739882,0.00444934444863,0.0698530990474,0.999999967657,1.22221159003e-05,-0.000251245683353,3.75703301258e-05,1793245097855999744
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,745,713.283785261,680.716214739,657.283785261,633,879,785.716214739,805,652,630,652,0.415195495416,0.00443815383768,0.0697866371737,0.999999945477,-1.60075262757e-05,-0.000328172108287,3.30586317337e-05,1793245097889333248
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.613037728,633,879,785.613037728,805,652,630.613037728,652,0.41220592949,0.004482798914,0.0698219669343,0.999999961286,3.01901055299e-05,-0.000274486500452,3.42666496876e-05,1793245097955999744
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,658.760911879,633.760911879,879,785.239088121,805,652,630.239088121,652,0.410898546574,0.00448454653976,0.0698833536518,0.999999983238,5.30407711889e-05,-0.000171954880434,3.38094340725e-05,1793245097989332992
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,745,713.345616911,680,658.308766179,633.654383089,879,785,804.654383089,652,630,652,0.410229600698,0.00447457669873,0.0698668991931,0.999999977719,3.75395923066e-05,-0.000204957235464,3.38336904839e-05,1793245098006000128
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,745,713.938848736,680,657.122302529,633.061151264,879,785,804.061151264,652,630,652,0.409553625872,0.00446717571666,0.0698273451919,0.99999996133,8.84960742323e-06,-0.000276015000233,3.28344846114e-05,1793245098022666752
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,745,713.480711706,680,657,633.519288294,879,785,804.519288294,652,630,652,0.408911214237,0.00446966719112,0.0697934899932,0.999999943539,2.16074025312e-05,-0.000333778659704,3.23561966944e-05,1793245098039333376
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.098246543,633.901753457,879,785,805,652,630,652,0.408286647296,0.00447272561649,0.0697681943019,0.999999928316,3.56898403914e-05,-0.000375610613537,3.17997848107e-05,1793245098056000256
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.677150408,633.322849592,879,785,805,652,630,652,0.40773051138,0.00447299551925,0.0697815705155,0.999999938795,3.29479859799e-05,-0.000346973853581,3.05682653779e-05,1793245098072666880
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.74940822,633.25059178,879,785.25059178,805,652,630,652,0.407200187588,0.00447429345339,0.0697955106266,0.999999946342,3.11382340263e-05,-0.000324688926841,3.03931821256e-05,1793245098089333760
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,713,680,657.182854351,633.817145649,879,785.817145649,805,652,630,652,0.406702409412,0.00447688759502,0.0698101617345,0.999999950859,3.05037364967e-05,-0.000310412798704,3.15501210642e-05,1793245098106000640
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,745.404148178,713.404148178,680,657,633.595851822,879,785.595851822,805,652,630,652,0.406215831016,0.00448220939669,0.0698096925337,0.999999948115,4.36715758886e-05,-0.000317537447159,3.21311443096e-05,1793245098122667008
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,746,714,680,657,633,878.999130065,785.000869935,805,652,630,652,0.405734696588,0.00448882115747,0.0698020425634,0.999999941418,6.33759784317e-05,-0.000334805889408,3.24363835044e-05,1793245098139333632
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,746,714,680,657,633,878.41954403,785.58045597,805,652,630,652,0.405324534663,0.00448883071435,0.0698109614917,0.999999948145,5.57878221752e-05,-0.000315566942886,3.18582390465e-05,1793245098156000000
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745.841327585,714,680,657.158672415,633,878.158672415,785.841327585,805,652,630,652,0.404926649362,0.00448739523968,0.0698221158086,0.999999955548,4.63024612924e-05,-0.000292906804988,3.10594333842e-05,1793245098172666624
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745.266701342,714,680,657.733298658,633,878.733298658,785.266701342,805,652,630,652,0.404560946686,0.00448217166858,0.0698391301152,0.999999964919,3.18436474744e-05,-0.000261278137144,2.968217247e-05,1793245098189333504
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745.314467808,714,680,657.685532192,633,878.685532192,785.314467808,805,652,630,651.685532192,0.404214777356,0.00447748430135,0.0698501981476,0.999999970501,1.93600732554e-05,-0.000240384362001,2.89574833675e-05,1793245098205999872
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745.51777042,714,680,657,633,878.48222958,785.51777042,805,652,630,651.48222958,0.403563858659,0.00446803616399,0.0698462475715,0.999999969272,-4.62458073809e-06,-0.000246198263715,2.86511176738e-05,1793245098239333376
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,713.938177883,680,657,633.061822117,879,785,804.938177883,652,630,652,0.403247988122,0.00446315193152,0.0698337112179,0.999999963383,-1.74366902354e-05,-0.000268544540716,2.85173546255e-05,1793245098256000000
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,713.359739642,680,657,633.640260358,879,785,804.359739642,652,630,652,0.402967748904,0.00446281027841,0.0698255521966,0.999999959253,-2.27869986418e-05,-0.000283133482822,2.84719653542e-05,1793245098272667136
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745.216623402,713.216623402,680,657.216623402,633.783376598,879.216623402,785.216623402,804.216623402,652.216623402,630,652,0.402704415362,0.00446181254586,0.0698186759649,0.999999955763,-2.83932142343e-05,-0.000294705894303,2.85872337384e-05,1793245098289334016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745.789572874,713.789572874,680,657.789572874,633.210427126,879.789572874,785.789572874,804.789572874,652.789572874,630,652,0.402468890171,0.00445973562148,0.0698139098081,0.999999953592,-3.44203736768e-05,-0.000301316382053,2.89667695704e-05,1793245098306000384
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745.626338615,714,680,657.626338615,633.373661385,879.626338615,785.626338615,805.373661385,652.626338615,630,652,0.402258941963,0.00445954948462,0.0698090630775,0.999999951025,-3.29889025346e-05,-0.000309784368585,2.99294346516e-05,1793245098322666752
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713.456956919,679.456956919,657,633.456956919,879,785,805.456956919,652,630,652,0.401906096805,0.00447028357093,0.0698074104369,0.999999949409,4.81740526941e-05,-0.000312654017608,3.33112234643e-05,1793245098356000000
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,713.220848787,679.220848787,657,633.220848787,879,785,805,652,630.779151213,652,0.400979219769,0.0044885958389,0.0698307080257,0.999999963112,3.49954939677e-05,-0.000268516803325,2.11948587524e-05,1793245098822666752
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.405737627,657,633.405737627,879,785.405737627,805.594262373,652,630,652,0.400981612838,0.00448837603181,0.0698333276041,0.999999964126,3.53083212857e-05,-0.000264631033563,2.16966860087e-05,1793245098989334016
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e25fae162015abe74f379151cb1f9a70b2be43f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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+269,4.483333333,pose2_to_pose3_retreat,0.621800002724,0.0098779276292,1.06005090981,0.592371634703,0.0185536123639,1.05971739402
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+404,6.733333333,pose2_to_pose3_retreat,0.575669508564,0.00987783014631,1.06005120632,0.546241143408,0.0185535214589,1.05971769714
+405,6.750000000,pose2_to_pose3_retreat,0.575669456007,0.00987786081947,1.06005126696,0.54624109043,0.0185535504872,1.05971775225
+406,6.766666667,pose2_to_pose3_retreat,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09fdc874719836143652541387c8d94fe04d7db8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fe7fb59875af6e5b41100be5eeab677ff3b88df61547b4b756b83d89e561873
+size 25947755
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1779472d3ec8e5cf40559b5dc9a4a1873953302
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+56,0.933333333,BASELINE,764,745,714,679.492422524,657.984845047,634,878.492422524,785,805,652,630,652,0.400982683877,0.00449020713551,0.0698372842454,0.999999965358,4.00707703063e-05,-0.000259287666921,2.11834765473e-05,1793245100049379072
+57,0.950000000,BASELINE,764,745,714,680,658.930292239,633.930292239,879,785,805,652,630,652,0.400983418687,0.00448901569895,0.0698376373033,0.999999965707,3.84388270249e-05,-0.000258188428876,2.11548189419e-05,1793245100066045440
+58,0.966666667,BASELINE,764,745,714,680,658.343436755,633.343436755,879,785,805,652,630,652,0.400983211272,0.00448830577574,0.0698366985141,0.999999965694,3.60771387237e-05,-0.000258594405549,2.09607088463e-05,1793245100082712320
+59,0.983333333,BASELINE,764,745,713.758388165,679.758388165,658,633,879,785,805,652,630,652,0.400982675949,0.00448855411606,0.0698359845513,0.999999965517,3.60841252261e-05,-0.000259283276011,2.09015652668e-05,1793245100099378944
+60,1.000000000,BASELINE,764,745,713.175888819,679.175888819,658,633,879,785,805,652,630,652,0.400981677984,0.00449015445987,0.0698355877935,0.999999965105,3.94330489139e-05,-0.000260371278304,2.10328444492e-05,1793245100116045056
+61,1.016666667,BASELINE,764,745,713,679.400798457,658,633,878.599201543,785,805,652,630,652,0.400982101428,0.00448908280107,0.0698360346128,0.999999965314,3.74849305013e-05,-0.000259850745328,2.10855718854e-05,1793245100132711680
+62,1.033333333,BASELINE,764,745,713,679.974971553,658,633,878.025028447,785,805,652,630,652,0.400983139735,0.00448685530568,0.0698368463408,0.999999965779,3.32454538527e-05,-0.000258634403161,2.11043199393e-05,1793245100149378304
+63,1.050000000,BASELINE,764,745,713.550047449,680,658,633.550047449,878.550047449,785,805,652,630,652,0.400981613794,0.00448801158183,0.0698358289117,0.999999965272,3.44793434873e-05,-0.000260417936975,2.12198134253e-05,1793245100166045184
+64,1.066666667,BASELINE,764,745,714,679.871159408,658,634.128840592,879.128840592,785,805,652,630.128840592,652,0.400980505536,0.00448889193551,0.0698350525357,0.99999996489,3.55873590514e-05,-0.000261728206502,2.12621790428e-05,1793245100182711808
+65,1.083333333,BASELINE,764,745,714,679.279151123,658,634.720848877,879.720848877,785,805,652,630.720848877,652,0.400981318935,0.0044882259649,0.069835442417,0.999999965134,3.53460884765e-05,-0.000260845628985,2.10258068082e-05,1793245100199378432
+66,1.100000000,BASELINE,764,745,713.694491382,679.305508618,658,634.694491382,879.694491382,785,804.694491382,652.305508618,630.694491382,652,0.400982051289,0.00448742270319,0.0698360927684,0.999999965432,3.45186307929e-05,-0.000259814705585,2.09784502241e-05,1793245100216045056
+67,1.116666667,BASELINE,764,745,713.116388512,679.883611488,658,634.116388512,879.116388512,785,804.116388512,652.883611488,630.116388512,652,0.400982711331,0.00448649694163,0.0698369755277,0.999999965777,3.31681396415e-05,-0.000258651418585,2.10997454568e-05,1793245100232711936
+68,1.133333333,BASELINE,764,745,713.458745977,680,658,633.541254023,878.541254023,785,804.458745977,652.541254023,630,652,0.400983582161,0.00448685837763,0.0698373422495,0.999999965932,3.39882043959e-05,-0.000257932397989,2.12523231351e-05,1793245100249378560
+69,1.150000000,BASELINE,764,745,713.966932453,680,658,633.033067547,878,785.033067547,805,652.033067547,630.033067547,651.966932453,0.40098441595,0.00448751834414,0.0698375601143,0.999999966031,3.53352743932e-05,-0.000257355335547,2.13979373851e-05,1793245100266044672
+70,1.166666667,BASELINE,764,745,713.393667746,680,658,633.606332254,878,785.606332254,805,652.606332254,630.606332254,651.393667746,0.400983776595,0.00448775446741,0.0698374712709,0.999999966019,3.63532275583e-05,-0.000257267834739,2.13009743472e-05,1793245100282711552
+71,1.183333333,BASELINE,764,745,713.186588717,680,658,634,878,785.813411283,805,652.813411283,630.813411283,651.186588717,0.400982833294,0.00448821259044,0.0698369805446,0.999999965804,3.72206318481e-05,-0.000257985558095,2.12152243237e-05,1793245100299378176
+72,1.200000000,BASELINE,764,745,713.782170879,680,658,634,878,785.217829121,805,652.217829121,630.217829121,651.782170879,0.400981223756,0.00448915732626,0.0698356089104,0.999999965142,3.77580404776e-05,-0.000260468293868,2.11540526668e-05,1793245100316044800
+73,1.216666667,BASELINE,764,745,714,680,658.366289346,633.633710654,878.366289346,785,805,652.366289346,630,651.633710654,0.400981417836,0.00448951061709,0.0698356699074,0.999999965211,3.75658021844e-05,-0.000260245151414,2.09618139755e-05,1793245100332711424
+74,1.233333333,BASELINE,764,745,714,680,658.943797304,633.056202696,878.943797304,785,805,652.943797304,630,651.056202696,0.400982651962,0.00448952285454,0.0698365570228,0.999999965702,3.69528172218e-05,-0.000258461679933,2.06939962481e-05,1793245100349378048
+75,1.250000000,BASELINE,764,745,714,680,659,633.517124616,879,785,805,652.482875384,630,651.517124616,0.400982267007,0.00448911870059,0.0698361303239,0.999999965499,3.69738688639e-05,-0.000259229144399,2.08404812977e-05,1793245100366044672
+76,1.266666667,BASELINE,764,745,714,679.907391295,658.907391295,633.907391295,879,785,805,652.092608705,630,652,0.400982158514,0.0044887918306,0.0698359155454,0.999999965414,3.68266836066e-05,-0.000259569268366,2.09619612748e-05,1793245100382711552
+77,1.283333333,BASELINE,764,745,714,679.317917436,658.317917436,633.317917436,879,785,805,652.682082564,630,652,0.400984469824,0.0044891204591,0.069837597715,0.999999966354,3.54101254425e-05,-0.000256141079631,2.07096380982e-05,1793245100399378176
+78,1.300000000,BASELINE,764.267032207,745,714,679.267032207,658,633.267032207,879,785,805,653,630,652,0.400984476634,0.00448918909742,0.0698377786092,0.999999966418,3.49264239057e-05,-0.000255961119159,2.07021670698e-05,1793245100416044800
+79,1.316666667,BASELINE,764.846685205,745,714,679.846685205,658,633.846685205,879,785,805,653,630,652,0.400981785512,0.0044889533592,0.0698362019256,0.999999965457,3.55348393288e-05,-0.000259583934991,2.09813501402e-05,1793245100432711424
+80,1.333333333,BASELINE,764.575402804,745,714,680,658,633.575402804,879,785.424597196,805,652.575402804,630,652,0.4009820472,0.00448895688118,0.0698368051194,0.999999965556,3.71041878636e-05,-0.000258968868775,2.11290639559e-05,1793245100449378048
+81,1.350000000,BASELINE,764,745,714.001865277,680,658,633.001865277,879,785.998134723,805,652,630,652,0.400983366933,0.00448904517592,0.0698381859445,0.999999966032,3.90046094559e-05,-0.000256835882405,2.12284049648e-05,1793245100466044672
+82,1.366666667,BASELINE,764,745,714.573671186,680,658,633.573671186,879,785.426328814,805,652,630,652,0.400983522272,0.00448874626821,0.069837650665,0.999999966204,3.64785757028e-05,-0.000256553924522,2.09930531837e-05,1793245100482711552
+83,1.383333333,BASELINE,764,745,714.849088038,680,658,634,879,785.150911962,805,652.150911962,630,652,0.40098316322,0.00448868819589,0.0698368418836,0.999999966092,3.48436253267e-05,-0.000257234507783,2.07724944757e-05,1793245100499378432
+84,1.400000000,BASELINE,764,745,714.255919939,680,658,634,879,785.744080061,805,652.744080061,630,652,0.400981296711,0.00448933590539,0.0698352315889,0.999999965155,3.58200451587e-05,-0.000260735872854,2.05952876601e-05,1793245100516045056
+85,1.416666667,BASELINE,764,745.32771436,714,680.32771436,658.32771436,633.67228564,879,786,804.67228564,652.67228564,630.32771436,652,0.400980383966,0.00448895758304,0.0698350562646,0.999999964886,3.61093101143e-05,-0.000261714820976,2.07326734667e-05,1793245100532711424
+86,1.433333333,BASELINE,764,745.904113923,714,680.904113923,658.904113923,633.095886077,879,786,804.095886077,652.095886077,630.904113923,652,0.400980194981,0.00448780065899,0.069835969864,0.999999965131,3.58771292911e-05,-0.000260779639237,2.11087870912e-05,1793245100549378048
+87,1.450000000,BASELINE,763.520474928,745.520474928,713.520474928,680.520474928,658.520474928,633.479525072,879,785.520474928,804.479525072,652,631,652,0.400981519671,0.00448924443254,0.0698364649628,0.999999965319,3.67466436261e-05,-0.000259956149546,2.08597367022e-05,1793245100566044928
+88,1.466666667,BASELINE,763.056161513,745,713,679.943838487,658,634,879,785.056161513,805,652,630.943838487,652,0.400982883867,0.00449100234497,0.0698368107447,0.999999965481,3.77288099047e-05,-0.000259215610006,2.05315260066e-05,1793245100582711808
+89,1.483333333,BASELINE,763.64632383,745,713,679.35367617,658,634,879,785.64632383,805,652,630.35367617,652,0.400981751703,0.00449081268837,0.069836530827,0.999999965523,3.76917768867e-05,-0.000259051864129,2.0636805262e-05,1793245100599378432
+90,1.500000000,BASELINE,764,745,713.231921534,679,658,633.768078466,879,786,805,652.231921534,630,652,0.400981239522,0.00448998409943,0.0698364096111,0.999999965476,3.66663003904e-05,-0.000259365437045,2.08126088166e-05,1793245100616044800
+91,1.516666667,BASELINE,764,745,713.810692591,679,658,633.189307409,879,786,805,652.810692591,630,652,0.400981654554,0.00448819995725,0.0698365257409,0.999999965292,3.41625603455e-05,-0.000260392862602,2.10938847568e-05,1793245100632711680
+92,1.533333333,BASELINE,764,745,714,679.387652648,658,633.387652648,879,785.612347352,805,652.612347352,630,651.612347352,0.4009812144,0.00448804223483,0.0698362283261,0.999999965198,3.50493978306e-05,-0.00026063081848,2.11234885302e-05,1793245100649378560
+93,1.550000000,BASELINE,764,745,714,679.96373248,658,633.96373248,879,785.03626752,805,652.03626752,630,651.03626752,0.400980358563,0.00448867506971,0.0698357298987,0.999999965146,3.75843006372e-05,-0.000260485035171,2.10307614801e-05,1793245100666045184
+94,1.566666667,BASELINE,764,745,714,679.460610028,658.539389972,634,879,785,805,652,630,651,0.40098286125,0.00448901435525,0.0698374513873,0.999999965993,3.64642504566e-05,-0.000257383227865,2.09162834522e-05,1793245100682711808
+95,1.583333333,BASELINE,764,745,714,679,658.882408698,634,879,785,805,652,630,651.117591302,0.400984882851,0.00448923015701,0.0698387674828,0.99999996661,3.5601097773e-05,-0.000255101459974,2.08528332618e-05,1793245100699378432
+96,1.600000000,BASELINE,764,745,714,679,658.293906399,634,879,785,805,652,630,651.706093601,0.400984074257,0.00448903043114,0.0698378628485,0.999999966106,3.67501050618e-05,-0.000256898983599,2.09995834059e-05,1793245100716045056
+97,1.616666667,BASELINE,764,745,714,679,658,633.709730569,878.709730569,785,805,652.290269431,630,652,0.40098296764,0.0044884344764,0.0698371459664,0.999999965732,3.66351530952e-05,-0.000258364620409,2.10101067828e-05,1793245100732711680
+98,1.633333333,BASELINE,764,745,714,679,658,633.129871115,878.129871115,785,805,652.870128885,630,652,0.400981563696,0.00448744322022,0.0698366163973,0.99999996549,3.52592002494e-05,-0.000259499147114,2.08847222386e-05,1793245100749378304
+99,1.650000000,BASELINE,764,745,713.55390366,679.44609634,658,633.44609634,878,785,805,652.55390366,630,652,0.400981979424,0.00448720168415,0.0698373322986,0.999999965741,3.50911568393e-05,-0.000258538607888,2.10737326539e-05,1793245100766045184
+100,1.666666667,BASELINE,764,745,713.021418839,680,658,633.978581161,878,785,805,652,630,652,0.400982851228,0.00448725727126,0.0698383438486,0.999999966106,3.53350501548e-05,-0.000257069142026,2.133115887e-05,1793245100782711808
+101,1.683333333,BASELINE,764,745,713.609393574,680,658,633.390606426,878,785,805,652,630,652,0.40098189528,0.00448944870747,0.0698376676329,0.99999996577,3.72538929881e-05,-0.000258131864186,2.09981470472e-05,1793245100799378176
+102,1.700000000,BASELINE,764,745,714,680,658,633,878,785,805,652,630.194240779,652,0.400981653696,0.00449037510179,0.0698373946993,0.999999965644,3.84999406221e-05,-0.000258449675794,2.0844258021e-05,1793245100816045056
+103,1.716666667,BASELINE,764,745,714,680,658,633,878,785,805,652,630.772898302,652,0.40098282589,0.00448879788519,0.0698379198909,0.999999965941,3.84144769992e-05,-0.00025729325468,2.10448661824e-05,1793245100832711680
+104,1.733333333,BASELINE,764.350660558,745.350660558,714,680,658,633,878,785.350660558,805,652,630.649339442,652,0.400983019303,0.00448871674974,0.069838205018,0.999999966059,3.76316239733e-05,-0.000256950223112,2.10498855513e-05,1793245100849378048
+105,1.750000000,BASELINE,764.927844535,745.927844535,714,680,658,633,878,785.927844535,805,652,630.072155465,652,0.400982580434,0.00448960206847,0.0698383350658,0.99999996606,3.63982639478e-05,-0.000257132633424,2.09285564205e-05,1793245100866044928
+106,1.766666667,BASELINE,764.497354021,745.497354021,714,680,658,633,878,785.497354021,805,652,630,652,0.400981954441,0.0044886493846,0.0698375691453,0.999999965779,3.62149725716e-05,-0.00025823800765,2.1075843038e-05,1793245100882711552
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,786,806,652,630,652,0.400982624229,0.00449007976635,0.0698373737103,0.999999965727,3.70750394265e-05,-0.000258342198481,2.07425486913e-05,1793245100925381632
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.420858389,658,634,879,786,805.420858389,652,630,652,0.400981993075,0.00448965204905,0.0698366582381,0.999999965555,3.69200598742e-05,-0.000259035946405,2.06943657493e-05,1793245100942049280
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679.156889477,658.156889477,634,879,785.843110523,805,652.156889477,630,652,0.400981941752,0.00448912103609,0.0698364477239,0.99999996555,3.63618327097e-05,-0.00025913133385,2.06870471016e-05,1793245100958716416
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679.730931651,658.730931651,634,879,785.269068349,805,652.730931651,630,652,0.400983432137,0.00448831537063,0.0698375798399,0.999999965993,3.4731412323e-05,-0.000257635743567,2.07883823243e-05,1793245100975382784
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.697308486,634,879,785.302691514,805,652.697308486,630.302691514,652,0.400983456539,0.00448792353888,0.0698375832179,0.999999966021,3.4901113688e-05,-0.000257496579903,2.088702325e-05,1793245100992049152
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.127562264,634,879,785.872437736,805,652.127562264,630.872437736,652,0.400982187551,0.00448789681896,0.0698365907476,0.999999965683,3.66590030071e-05,-0.000258554146652,2.09832870806e-05,1793245101008715776
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785.535983438,805,652,630.535983438,651.535983438,0.400981642024,0.00448856740292,0.0698366234941,0.99999996556,3.80878208847e-05,-0.000258814318614,2.10915274774e-05,1793245101025382400
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.059918881,714,680,658,633.940081119,878.940081119,785,805,652,630.059918881,651.059918881,0.400981456712,0.00448927419461,0.0698369598502,0.999999965521,3.89440711299e-05,-0.000258830412028,2.11933014413e-05,1793245101042048768
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745.638719752,714,680,658,633.361280248,878.361280248,785,805,652,630.638719752,651.638719752,0.40098258344,0.00448855254354,0.0698373642094,0.99999996567,3.56641145603e-05,-0.000258724886019,2.12091581318e-05,1793245101058715648
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,746,714,680,658,633.216403415,878.216403415,785,805,652,630.783596585,651.783596585,0.400986240719,0.00448852674197,0.0698390218525,0.999999966233,3.45656052364e-05,-0.000256694029658,2.1159498781e-05,1793245101075382528
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,746,714,680,658,633.792231449,878.792231449,785,805,652,630.207768551,651.207768551,0.400994100994,0.0044896566775,0.0698427610758,0.999999967474,3.70902638608e-05,-0.000251465390456,2.10010237786e-05,1793245101092049664
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745.624761439,714,679.624761439,658,634,879,785,805,652,630,651.375238561,0.401018655289,0.00448955472862,0.0698529426791,0.999999971705,3.79592642231e-05,-0.000233913374823,2.08192043584e-05,1793245101108716032
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745.037701703,714,679.037701703,658,634,879,785,805,652,630,651.962298297,0.401052633316,0.00448875738435,0.0698667609893,0.999999977144,3.78936500917e-05,-0.000209404845167,2.06242070511e-05,1793245101125382144
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.458913349,878.458913349,785,805.541086651,652,630,652,0.401103044688,0.00448856110048,0.0698810845249,0.999999981673,3.64317253826e-05,-0.000186849426708,2.03449589562e-05,1793245101142048768
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.11831678,745,714,679.11831678,658,633.11831678,878,785,805.88168322,652,630,652,0.401156959667,0.00448846897521,0.0698939213253,0.999999985107,3.47782141545e-05,-0.000167865281386,1.99287507271e-05,1793245101158715392
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.691736868,745,714,679.691736868,658,633.691736868,878,785,805.308263132,652,630,652,0.40122001317,0.00448861882682,0.0699009060615,0.999999986144,3.27563649983e-05,-0.000162102385822,1.90079682515e-05,1793245101175382016
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.732496917,745,713.732496917,680,658,634,878.267503083,785,805,652,630.267503083,652,0.401294834346,0.00448924462494,0.069906207523,0.99999998727,3.18852153959e-05,-0.000155339381954,1.77030001705e-05,1793245101192048896
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.154003202,745,713.154003202,680,658,634,878.845996798,785,805,652,630.845996798,652,0.401383336241,0.0044904237434,0.0699095520621,0.999999988484,3.23518328591e-05,-0.000147413684113,1.59513900981e-05,1793245101208715776
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.566972664,745,713.433027336,680,658,634,878.566972664,785,805,652,630.566972664,651.566972664,0.401481226144,0.00449248436744,0.0699085759728,0.999999988207,3.21053846621e-05,-0.000149549297226,1.37636325161e-05,1793245101225382400
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.022718083,745,714,680,657.977281917,634,878.045436167,785,805,652,630,651.022718083,0.401583721772,0.0044947534173,0.0699061760853,0.999999987414,3.14333375244e-05,-0.00015509360666,1.1404055578e-05,1793245101242049024
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.601710959,745,714,680,657.398289041,634,879.203421918,785,805,652,630,651.601710959,0.401715595755,0.00449429521018,0.0699072949816,0.999999987636,2.66745290752e-05,-0.000154724529685,8.71178514624e-06,1793245101258715648
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,680,657.35876991,634,879.64123009,785.179384955,805,652,630,652,0.401857276832,0.00449410654496,0.0699088395826,0.999999987922,2.22789336745e-05,-0.000153709472573,5.75638111036e-06,1793245101275382272
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.508303871,634,878.491696129,785.754151936,805,652,630,652,0.402020573685,0.00449451197655,0.0699113224788,0.999999988382,1.86838960683e-05,-0.000151270611968,2.22100517274e-06,1793245101292048640
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.663799854,634,878,785.663799854,805,652,630.336200146,652,0.40220863253,0.0044953262728,0.0699160942256,0.999999989652,1.47169754453e-05,-0.000143096399899,-1.76597675349e-06,1793245101308715776
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.076309279,634,878,785.076309279,805,652,630.923690721,652,0.402415199568,0.0044964461721,0.0699225767579,0.999999991394,1.04720931042e-05,-0.000130635339543,-6.09050876225e-06,1793245101325383168
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679.494647511,658,634,878,785,804.494647511,652,630.494647511,652,0.402645926407,0.00449925352472,0.0699238342336,0.999999991959,7.30422672908e-06,-0.000126096850786,-1.1343731989e-05,1793245101342049536
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679.085625617,658.085625617,633.914374383,878,785.085625617,804.085625617,652,630,652,0.402886541086,0.00450210699529,0.0699248732439,0.999999992438,3.73634560944e-06,-0.000121771225957,-1.67752758426e-05,1793245101358715648
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.662921632,658.662921632,633.337078368,878,785.662921632,804.662921632,652,630,652,0.403163223441,0.00450377882706,0.0699291366263,0.999999993485,-3.05165730973e-06,-0.000111876803563,-2.24346989561e-05,1793245101375382528
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.76117716,633,878,785.76117716,804.76117716,652,630.23882284,652,0.403456254261,0.00450561891908,0.0699346257798,0.999999994467,-8.85321653604e-06,-0.000100995982816,-2.80610684326e-05,1793245101392049152
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.187233209,633,878,785.187233209,804.187233209,652,630.812766791,652,0.403772225567,0.00450769511721,0.0699418349602,0.999999995409,-1.32705773161e-05,-8.87310282482e-05,-3.36410560282e-05,1793245101408715520
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.398808068,878.398808068,785,804.398808068,652,630.601191932,652,0.404116916125,0.0045108621544,0.0699458913213,0.999999995602,-1.67874703268e-05,-8.33121851389e-05,-3.96665327057e-05,1793245101425382144
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.990706473,878.990706473,785,804.990706473,652,630.009293527,652,0.404475511632,0.00451455734152,0.0699484211862,0.999999995451,-1.98683850066e-05,-8.12080144632e-05,-4.59077010387e-05,1793245101442048768
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,680.568624228,657.431375772,634,878.431375772,785,805,652,630,652,0.404874803704,0.00451493249715,0.0699558410889,0.999999996069,-2.10090672997e-05,-7.00116777711e-05,-5.01972507754e-05,1793245101458715648
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,680.854566523,657.290866953,634,878.145433477,785,805,652,630,652,0.405282743757,0.0045148061853,0.0699619696438,0.999999996972,-2.30547986715e-06,-6.09944995554e-05,-4.82653345014e-05,1793245101475382272
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,680.280367974,658.439264052,634,878.719632026,785,805,652,630,652,0.405714265705,0.00451335758975,0.0699640610911,0.999999995077,7.48114780223e-05,-5.88294809229e-05,-2.80831543132e-05,1793245101492049152
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713.704940446,680,658.704940446,633.704940446,879,785.295059554,805,652,630,652,0.40615711058,0.0045058921071,0.0699581193534,0.999999992461,9.9463797774e-05,-6.89815549657e-05,-2.06362728014e-05,1793245101508715776
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,713.12834018,680,658.12834018,633.12834018,879,785.87165982,805,652,630,652,0.406610759647,0.00449268541492,0.06994451249,0.999999992807,7.40552787135e-05,-9.08863852649e-05,-2.53411902289e-05,1793245101525382656
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713.459480216,680,658,633,878.540519784,785.540519784,805.459480216,652,630.459480216,652,0.407114609066,0.00449779730246,0.069929408702,0.999999993383,1.34240399073e-05,-0.000110521610309,-2.89498230926e-05,1793245101542049280
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.049284383,633,878.049284383,785,805.950715617,652,630.950715617,652,0.407639257398,0.00450789166993,0.0699164197268,0.999999990336,-5.07767492124e-05,-0.000125384057279,-3.20656899798e-05,1793245101558715648
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.625941806,633,878.625941806,785,805.374058194,652,630.374058194,652,0.408232670141,0.00451517964844,0.0699306466057,0.999999993802,-4.52633699858e-05,-9.61281870938e-05,-3.32673110904e-05,1793245101575382272
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.202036128,879,785,805,652,630.202036128,652,0.408835749314,0.00452127931572,0.0699425649138,0.999999996441,-3.23323631133e-05,-6.97897532495e-05,-3.46763690372e-05,1793245101592048896
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.777090768,879,785,805,652,630.777090768,652,0.409456675545,0.00452518500819,0.069950220916,0.999999998126,-5.70621977013e-06,-4.88377725006e-05,-3.64684167473e-05,1793245101608715520
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.638728789,680,659,633.638728789,879,785,805,652,630.638728789,652,0.410072037088,0.00453412391454,0.0699477404668,0.999999997616,2.77005612443e-05,-5.08063449616e-05,-3.76734987416e-05,1793245101625382400
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.048771704,680,659,633.048771704,879,785,805,652,630.048771704,652,0.410683876143,0.0045462488618,0.0699388436101,0.999999994857,6.5399507349e-05,-6.72837043681e-05,-3.85070293905e-05,1793245101642049280
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713,680,659,633,879,785,805,652,630,651.469277521,0.411385115729,0.00454972175558,0.0699435187666,0.99999999464,7.20985867007e-05,-6.31463464119e-05,-3.91597013531e-05,1793245101658716160
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,713.109047893,680,659,633,879,785,805,652,630,651.109047893,0.412104666121,0.00455399966018,0.0699549894311,0.999999995183,7.58647443967e-05,-4.78208669321e-05,-3.98840046117e-05,1793245101675382784
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,713.686403223,680,659,633,879,785,805,652,630,651.686403223,0.412868252305,0.00456508322737,0.0699903908137,0.999999996008,7.90330652236e-05,7.57377897427e-06,-4.09859253297e-05,1793245101692049152
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.263054774,879.263054774,785,805,652,630,652,0.413631267787,0.00457476656118,0.0700141284001,0.999999994263,8.83253200735e-05,4.38128483694e-05,-4.18616573069e-05,1793245101708715776
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,633.838869638,879.838869638,785,805,652,630,652,0.41439360483,0.00458278508301,0.0700239982713,0.999999991956,0.000104898652909,5.72768210089e-05,-4.24684614671e-05,1793245101725382144
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,713.57686979,680,658.57686979,634,879.57686979,785,805,651.57686979,630,652,0.41511090086,0.00458963193043,0.0699878678733,0.999999993471,0.000105398537692,-7.06040975587e-06,-4.35859209096e-05,1793245101742048768
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,713.01053272,680,658.01053272,633.98946728,879,785.01053272,805,651.01053272,630,652,0.415813269797,0.00459598833989,0.0699344916483,0.999999988938,0.000100144501848,-0.000100387417752,-4.4916651218e-05,1793245101758715648
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,713.590383977,680,658.590383977,633.409616023,879,785.590383977,805,651.590383977,630,652,0.416654777481,0.00460044371645,0.0699150654844,0.999999983497,0.000121462625748,-0.000126648605528,-4.70500797282e-05,1793245101775382272
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.169025522,745,713.830974478,680,659.169025522,633,879,785.830974478,805,652,630,652,0.417505671945,0.00460555870436,0.0699124313865,0.999999982067,0.00013092586952,-0.00012803940377,-4.82673630691e-05,1793245101792048896
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.744756253,745,713.255243747,680,659.744756253,633,879,785.255243747,805,652,630,652,0.418379152608,0.00461226083323,0.0699502019613,0.999999990204,0.000111864180068,-6.95876578856e-05,-4.72802394573e-05,1793245101808715520
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.673110819,745,713.326889181,680,659.673110819,633,879,785,805,652,630,652,0.419253048207,0.00461756627203,0.069981878598,0.999999991881,0.000116128678253,-2.22741980789e-05,-4.74888440538e-05,1793245101825382144
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.085879051,745,713.914120949,680,659.085879051,633,879,785,805,652,630,652,0.420127274229,0.00462175935217,0.0700087018707,0.999999989029,0.000138970727176,1.61684537754e-05,-4.86497560915e-05,1793245101842048768
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.49380755,633.49380755,879,785,805.49380755,652,630,652,0.421039915489,0.00461556684367,0.0700275127202,0.999999987892,0.000140654850545,4.41732750148e-05,-4.98150952009e-05,1793245101858715392
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,713.927605795,680.072394205,660,633.927605795,879,785,806,652,629.927605795,652,0.421952658035,0.00460556866652,0.0700373335575,0.99999998817,0.000133297080569,5.76090312892e-05,-5.07303389807e-05,1793245101875382016
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,713.347669837,680.652330163,660,633.347669837,879,785,806,652,629.347669837,652,0.422819976832,0.00458136188376,0.0699937493793,0.999999994715,8.79571921569e-05,-1.8561184977e-05,-4.98868956284e-05,1793245101892048640
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,713,680.770827724,659.770827724,633.229172276,879,785,806,652,629.229172276,652,0.423671936946,0.00456917633618,0.0699365442643,0.999999990534,6.71699981e-05,-0.00010876345146,-5.09068779563e-05,1793245101908715264
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,713,680.198616579,659.198616579,633.801383421,879,785,806,652,629.801383421,652,0.424500907388,0.00457498489406,0.0698589505042,0.999999970854,8.31347496471e-05,-0.00021996974717,-5.47161480135e-05,1793245101925382144
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,713.384984359,680.384984359,659.769968718,633.615015641,879,785,806,652,630,651.615015641,0.425411559691,0.00458085200998,0.0698614394221,0.999999973399,8.2090843686e-05,-0.000208156569735,-5.59798072522e-05,1793245101942048512
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,713.974640493,680.974640493,660.949280985,633.025359507,879,785,806,652,630,651.025359507,0.426365637012,0.00458675025715,0.0699065032273,0.999999987273,7.2004511936e-05,-0.000130941731515,-5.58901263599e-05,1793245101958715136
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745.557276725,714,680.442723275,661,633,879,785.557276725,806,652,630,651.557276725,0.427352004494,0.00459225331556,0.0699654541001,0.99999999289,9.10747863092e-05,-5.56758900745e-05,-5.31651450189e-05,1793245101975382016
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.862624031,713.862624031,680,660.725248061,633,879,785.862624031,806,651.862624031,630,652,0.428341204713,0.00459715526736,0.0700186168473,0.999999992726,0.000107955187902,1.58376145649e-05,-5.1403628874e-05,1793245101992048640
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.289570183,713.289570183,680,659.579140367,633,879,785.289570183,806,651.289570183,630,652,0.42933478658,0.00460020717698,0.070051443732,0.999999989256,0.000113735050664,7.57286305872e-05,-5.30732669338e-05,1793245102008715008
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.287821906,745,713,680.287821906,659.575643812,633,879.287821906,785,806.287821906,651.287821906,630,652,0.430253680143,0.00460304750653,0.0700490057278,0.999999989339,0.000114293863524,7.29632480356e-05,-5.41691884642e-05,1793245102025381376
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.869645347,745,713,680.869645347,660.739290693,633,879.869645347,785,806.869645347,651.869645347,630,652,0.431096281757,0.00460567171313,0.0700105456841,0.999999992489,0.000109519528456,6.1962103416e-06,-5.46790754539e-05,1793245102042048256
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.54454923,745,713,681.45545077,660.08909846,633,880,785,806.54454923,652,630,652,0.431915668709,0.00459665472485,0.069938314418,0.99999998633,0.000104868304908,-0.0001154467901,-5.49085842641e-05,1793245102058714880
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.01643891,745,713,684,649.01643891,628.98356109,881,784,807.01643891,651.98356109,630,652,0.454189682133,0.00477330349573,0.0695556312266,0.999999717529,0.000292959531696,-0.000689012549048,-6.6174386151e-05,1793245103108715264
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.593313212,745,713,684,649.593313212,628.406686788,881,784,807.593313212,651.406686788,630,652,0.454191334202,0.00477350463368,0.0695573044513,0.999999719036,0.000291948186895,-0.000687225998411,-6.64378227788e-05,1793245103125382144
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+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,713,683.673652089,649.673652089,628,880.326347911,784,807,652.326347911,630,652,0.454188850228,0.00477318174341,0.0695547210071,0.999999716087,0.000292375014483,-0.000691318089058,-6.64983553721e-05,1793245103175381760
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+247,4.116666667,HOLD_POSE2,765,745,713,685,649,628,881,784,807,652,630,652,0.454187525702,0.00477483666153,0.0695528587952,0.999999713662,0.000293649563773,-0.0006942507394,-6.68019029627e-05,1793245103281210368
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.035725586,745,713,684,649,628,880,784,807.964274414,652,630,652,0.454143255055,0.00477142865738,0.0695327913227,0.999999692485,0.000292186743302,-0.000724857926577,-6.50963869141e-05,1793245103768159488
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,713.96005791,680.03994209,657.03994209,633,878,785,804.96005791,652.03994209,630,652,0.405967202878,0.00448227124727,0.0698085409559,0.999999947082,5.69392297199e-05,-0.000318568317879,3.33009860347e-05,1793245105118160128
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,656.448670874,633,878.551329126,785,805,652,630.551329126,652,0.40551788753,0.00448475577029,0.0698035585573,0.999999944159,5.16717674116e-05,-0.000328542376071,3.27348247833e-05,1793245105134826496
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,656.281167093,633,879,785,805.140583546,652.140583546,630.859416454,652,0.40509257139,0.00448596239321,0.0698047339497,0.999999945372,4.36374609282e-05,-0.000326089757688,3.18975350356e-05,1793245105151493120
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.438971192,633,879,785,805.719485596,652.719485596,630.280514404,652,0.404732746719,0.00448339915372,0.0698258370974,0.999999958482,3.23788164981e-05,-0.000284699903789,3.05646220199e-05,1793245105168159744
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.29638807,745,714,680,658,633,879,785,805.70361193,652.70361193,630,652,0.404382269337,0.00447907728814,0.0698418509583,0.999999966842,2.10560907121e-05,-0.000254882259789,3.01280472959e-05,1793245105184826368
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.871410707,745,714,680,658,633,879,785,805.128589293,652.128589293,630,652,0.404040579367,0.00447310213749,0.0698530803768,0.999999971652,9.67312271755e-06,-0.000235943658627,3.05341207393e-05,1793245105201492992
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.544100984,745,714,679.544100984,657.544100984,633,879.455899016,785,805,652,630,652,0.403719316602,0.00446919438089,0.0698485943805,0.999999970261,-1.5426356862e-06,-0.000242063097625,2.96965251123e-05,1793245105218159616
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,657,633.042470802,879.957529198,785.042470802,805,652,630,652,0.403405304308,0.00446603590048,0.0698395555484,0.999999966817,-1.25801747452e-05,-0.000255719000308,2.85577053507e-05,1793245105234826240
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,714,679,657,633.620928136,879.379071864,785.620928136,805,652,630,652,0.403108539629,0.00446481827161,0.0698301858681,0.999999961989,-2.19763833338e-05,-0.000273398483932,2.81382131841e-05,1793245105251493120
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,713.800603893,679.199396107,657,633.800603893,878.800603893,785.800603893,805,652,630.199396107,652,0.402827633758,0.00446353138041,0.0698208650882,0.999999956936,-2.92275046482e-05,-0.000290666210302,2.80576579093e-05,1793245105268159488
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,713.222115765,679.777884235,657,633.222115765,878.222115765,785.222115765,805,652,630.777884235,652,0.4025768787,0.00446211280776,0.0698116372789,0.999999951895,-3.2400383442e-05,-0.000307151101586,2.86214897559e-05,1793245105284826112
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.645073753,657,633,878.354926247,785,805,652,630.645073753,652,0.402355963263,0.00446187852395,0.0698060675335,0.999999949246,-3.12439176848e-05,-0.000315684212313,2.95772536242e-05,1793245105301492992
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.068933004,657,633,878.931066996,785,805,652,630.068933004,652,0.402153645912,0.00446238237043,0.069802777745,0.999999948187,-2.73891062948e-05,-0.000319261226921,3.07772966021e-05,1793245105318159616
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.483954748,745,713,679.516045252,657,633,878.483954748,785,805,652,630,652,0.401985448743,0.00446472495237,0.0698036438707,0.999999948708,-2.15613442569e-06,-0.000318532958138,3.33984633279e-05,1793245105334826240
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.101053606,745,713.101053606,679.898946394,657,633,878.101053606,785,805,652,630,652,0.401825527754,0.00446969597308,0.0698044992011,0.999999948399,3.25734623867e-05,-0.000317571266128,3.59139506075e-05,1793245105351493376
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.680518473,745,713.680518473,679.319481527,657,633,878.680518473,785,805,652,630,652,0.401682834648,0.0044859275656,0.0698026294482,0.999999943814,9.85072784125e-05,-0.000318274576201,3.70147560579e-05,1793245105368160512
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,713.741247809,679,657,633,878.741247809,785,805,652.258752191,630,652,0.40155575579,0.00449608869177,0.0698017710704,0.999999939644,0.000134590342096,-0.000318078210276,3.77211578213e-05,1793245105384827136
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,713.164527027,679,657,633,878.164527027,785,805,652.835472973,630,652,0.401447864567,0.00449879010186,0.0698021555246,0.99999994013,0.000133991194335,-0.000316776275434,3.79428952364e-05,1793245105401493504
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745,713.410908215,679.821816431,657,633.410908215,878.410908215,785,805,652.589091785,630,652,0.401356388179,0.00449405812422,0.0698030103356,0.999999945936,8.54193309844e-05,-0.000316348375089,2.7471452935e-05,1793245105418160128
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,713.985830321,680.971660641,657,633.985830321,878.985830321,785,805,652.014169679,630,652,0.401271463768,0.00448635911206,0.0698040528895,0.999999949749,1.76991723698e-05,-0.000316269344076,1.27318310638e-05,1793245105434826496
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.425614738,657,633.425614738,878.425614738,785,805,652,630,652,0.401213361486,0.00448474069085,0.0698055737242,0.999999951687,1.74748475821e-05,-0.000310027975915,1.42483296216e-05,1793245105451493120
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,656.839028248,633,878.160971752,785.160971752,805,652,630,652,0.401158948878,0.00448432021026,0.0698072707369,0.999999953122,2.00298798152e-05,-0.00030512109859,1.59879354205e-05,1793245105468160000
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,745,713.681011131,680,656.318988869,633.318988869,879,785.681011131,805.318988869,652.318988869,630,652,0.401075874158,0.00448637376045,0.0698114409516,0.999999954195,2.62434619387e-05,-0.000300975230772,1.82947859861e-05,1793245105501493248
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745,713.106037537,680,656.893962463,633.893962463,879,785.106037537,805.893962463,652.893962463,630,652,0.401047425415,0.00448407979101,0.0698134228388,0.999999955683,2.34963752571e-05,-0.000296166024331,1.91955162586e-05,1793245105518159616
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,713.465462245,680,657,633.534537755,879,785,805.534537755,652.534537755,630,652,0.401027443212,0.00448545520477,0.0698154371458,0.999999956448,2.7286991033e-05,-0.000293195178148,1.98874862021e-05,1793245105534827008
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878.962088214,785,805.037911786,652,630,652,0.401009995308,0.00448731323475,0.0698175369276,0.999999957103,3.19277658117e-05,-0.000290436095622,2.05125938268e-05,1793245105551494144
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878.363998049,785,805.636001951,652,630,652,0.401001705655,0.00448404230587,0.069820791355,0.999999958894,2.72868052336e-05,-0.000284663728664,2.0847258326e-05,1793245105568160256
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878.225739117,785,805.774260883,652,630,652,0.400994701145,0.00448292370473,0.0698234473954,0.999999960173,2.56211888043e-05,-0.000280278257291,2.10199372925e-05,1793245105584826880
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878.80248788,785,805.19751212,652,630,652,0.40098969495,0.00448515183343,0.0698251729827,0.999999960717,2.85820392956e-05,-0.000278049318714,2.09407392724e-05,1793245105601494016
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,713.623131608,680,657,633,879,785,805,652,630,652,0.400985649008,0.00448529825632,0.0698258276941,0.999999961022,2.9262474999e-05,-0.000276875149905,2.09910299279e-05,1793245105618160640
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,713.049984534,680,657,633,879,785,805,652,630,652,0.400982103182,0.0044843604957,0.0698259246772,0.999999961207,2.87552365603e-05,-0.000276250321,2.11087602205e-05,1793245105634827264
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,744.459603989,713.540396011,680,657,633,878.459603989,785.540396011,805,652,630,652,0.400981527507,0.00448340586057,0.0698267764463,0.999999961618,2.70990087338e-05,-0.000274919113719,2.11931952549e-05,1793245105651493632
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.870751403,744.129248597,714,680,657,633,878,785.870751403,804.870751403,652,630,652,0.40098165726,0.0044829849804,0.0698278384451,0.999999962076,2.63992788513e-05,-0.000273315127201,2.11938829107e-05,1793245105668160000
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.292916747,744.707083253,714,680,657,633,878,785.292916747,804.292916747,652,630,652,0.40098325045,0.00448442221168,0.0698293798031,0.999999962629,2.94002973947e-05,-0.000270998637327,2.09149474277e-05,1793245105684826624
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.281459878,745,714,680,657.281459878,633,878.562919755,785.281459878,804.281459878,652,630,652,0.400983358231,0.00448530107364,0.0698299484485,0.999999962772,3.07533896457e-05,-0.000270326245222,2.08157394022e-05,1793245105701493504
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.852281459,745,714,680,657.852281459,633,879.704562917,785.852281459,804.852281459,652,630,652,0.400981938899,0.00448560589058,0.0698295170731,0.999999962505,3.04122913769e-05,-0.000271344107717,2.09013045464e-05,1793245105718160128
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,713.560468545,680,657.560468545,633,879.120937089,785.560468545,805.439531455,652,630,652,0.400980475649,0.00448485783407,0.0698289023967,0.9999999624,2.91907700045e-05,-0.000271846210684,2.11684063017e-05,1793245105734826752
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745,713.031622503,680,657,633,878,785,805.968377497,652,630,652,0.400979125678,0.00448382265248,0.0698283288622,0.999999962385,2.77592798885e-05,-0.000272025498597,2.14761278672e-05,1793245105751493376
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,713.608294331,680,657,633,878,785,805.391705669,652,630,652,0.400979992488,0.00448417439274,0.0698295675016,0.999999962998,2.80068376537e-05,-0.000269744378227,2.13915502275e-05,1793245105768160000
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.186159801,745,714,680,657,633.186159801,878.186159801,785,805,652,630,652,0.400980391422,0.00448468590777,0.0698302838426,0.999999963301,2.86302228915e-05,-0.000268566669451,2.12318867754e-05,1793245105784826880
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.76655303,745,714,680,657,633.76655303,878.76655303,785,805,652,630,652,0.400979799532,0.00448553578024,0.0698298941043,0.999999962954,3.0049503643e-05,-0.000269725672255,2.09132129671e-05,1793245105801493248
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.656615942,745,713.656615942,680,657.343384058,634,879,785,805,652.343384058,630.343384058,652,0.400980160464,0.00448564850192,0.0698302349467,0.999999963018,3.01788524498e-05,-0.000269466915857,2.09938501813e-05,1793245105818159872
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.082181808,745,713.082181808,680,657.917818192,634,879,785,805,652.917818192,630.917818192,652,0.400981162514,0.00448526522283,0.069831067369,0.999999963359,2.94402550408e-05,-0.000268254203153,2.13431686125e-05,1793245105834827008
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,713.503844209,680,658,633.496155791,878.496155791,785,805,652.496155791,630.496155791,652,0.400982566599,0.00448325945787,0.0698322803694,0.999999964043,2.84934191142e-05,-0.000265779982434,2.15304949384e-05,1793245105851493376
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.909716703,633.090283297,878.090283297,785,805,652.090283297,630,652,0.400983577888,0.00448153341619,0.0698332828585,0.99999996459,2.75744028334e-05,-0.00026380020141,2.16540646396e-05,1793245105868159488
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.331504448,633.668495552,878.668495552,785,805,652.668495552,630,652,0.400982103596,0.00448278304017,0.0698328042709,0.999999964123,2.69936236254e-05,-0.000265630804105,2.1579227444e-05,1793245105884826112
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,745,713.755293046,680,657,634,879,785.244706954,805,652.755293046,630.244706954,652,0.400981460319,0.00448399399635,0.0698325503706,0.999999963937,2.78066128649e-05,-0.000266259543533,2.1408657028e-05,1793245105901493248
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,745,713.181770134,680,657,634,879,785.818229866,805,652.181770134,630.818229866,652,0.400981933689,0.00448515299431,0.0698325983856,0.999999964127,3.04924270414e-05,-0.000265273323716,2.1109448612e-05,1793245105918160128
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764,745,713.394755703,680,657.394755703,633.605244297,879,786,805,652.394755703,631,652,0.400982132702,0.00448572032997,0.069832757734,0.999999964201,3.20355967651e-05,-0.000264813526712,2.10947442955e-05,1793245105934826496
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764,745,713.972674838,680,657.972674838,633.027325162,879,786,805,652.972674838,631,652,0.400982204415,0.00448601313909,0.0698329687403,0.999999964223,3.30485886031e-05,-0.000264597985667,2.12120475831e-05,1793245105951493120
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764,745.563407095,714,680,658,633.563407095,879,786,805,652.436592905,631,652,0.40098222733,0.00448567277005,0.0698333968451,0.999999964436,3.12629539388e-05,-0.000264022985311,2.10571154096e-05,1793245105968160000
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0de3b4bffa26451b2d4bc6cfe6938238778cca75
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+1,0.016666667,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+2,0.033333333,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+3,0.050000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+4,0.066666667,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+5,0.083333333,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+6,0.100000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
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+365,6.083333333,pose2_to_pose3_retreat,0.577308613759,0.00987794346581,1.06005093844,0.547880244693,0.018553621643,1.05971743191
+366,6.100000000,pose2_to_pose3_retreat,0.577087777081,0.00987790713873,1.06005112989,0.547659408954,0.0185535883449,1.05971761941
+367,6.116666667,pose2_to_pose3_retreat,0.576889722243,0.00987775236947,1.06005108534,0.547461355942,0.0185534397451,1.05971757423
+368,6.133333333,pose2_to_pose3_retreat,0.576713167091,0.00987776389246,1.06005098717,0.547284800173,0.0185534490633,1.05971747314
+369,6.150000000,pose2_to_pose3_retreat,0.576555960073,0.0098778449404,1.06005096597,0.547127592498,0.0185535275066,1.0597174422
+370,6.166666667,pose2_to_pose3_retreat,0.576415298508,0.00987772578879,1.06005105101,0.546986932091,0.0185534122521,1.05971752648
+371,6.183333333,pose2_to_pose3_retreat,0.576291243595,0.00987775886393,1.06005091872,0.546862878939,0.0185534515166,1.0597173998
+372,6.200000000,pose2_to_pose3_retreat,0.57618114945,0.00987774810993,1.06005064266,0.546752783429,0.0185534366025,1.05971713606
+373,6.216666667,pose2_to_pose3_retreat,0.576084237097,0.00987788915836,1.0600511134,0.546655869397,0.0185535712475,1.05971759113
+374,6.233333333,pose2_to_pose3_retreat,0.576002222947,0.00987777136834,1.06005071716,0.546573857458,0.0185534617325,1.05971721353
+375,6.250000000,pose2_to_pose3_retreat,0.575933101158,0.00987772537997,1.06005095745,0.546504735204,0.0185534140993,1.05971745132
+376,6.266666667,pose2_to_pose3_retreat,0.57587490677,0.0098777864438,1.06005099871,0.546446540764,0.0185534748041,1.05971748767
+377,6.283333333,pose2_to_pose3_retreat,0.575826459413,0.00987786198135,1.0600508139,0.546398093354,0.0185535504097,1.05971730926
+378,6.300000000,pose2_to_pose3_retreat,0.575787960845,0.00987787907505,1.06005077878,0.546359594155,0.0185535654559,1.05971727656
+379,6.316666667,pose2_to_pose3_retreat,0.575756232596,0.00987783338377,1.06005092736,0.546327865685,0.0185535185977,1.05971741428
+380,6.333333333,pose2_to_pose3_retreat,0.575731023955,0.00987777388415,1.06005101354,0.546302657586,0.0185534608827,1.05971749907
+381,6.350000000,pose2_to_pose3_retreat,0.57571247404,0.00987779155134,1.0600508761,0.546284107597,0.0185534786585,1.059717371
+382,6.366666667,pose2_to_pose3_retreat,0.575699120197,0.00987780693452,1.06005097684,0.546270752491,0.0185534895569,1.05971746658
+383,6.383333333,pose2_to_pose3_retreat,0.575689790653,0.00987785936261,1.06005095088,0.546261422946,0.0185535419966,1.05971744101
+384,6.400000000,pose2_to_pose3_retreat,0.575683124971,0.00987791279701,1.06005087835,0.546254757527,0.01855359643,1.05971737134
+385,6.416666667,pose2_to_pose3_retreat,0.575678706328,0.00987792115005,1.06005087077,0.546250337965,0.0185536016939,1.05971736449
+386,6.433333333,pose2_to_pose3_retreat,0.575675641317,0.00987792222811,1.06005098115,0.546247273362,0.0185536041903,1.05971747582
+387,6.450000000,pose2_to_pose3_retreat,0.575673761089,0.00987791911036,1.06005114153,0.546245394222,0.0185536047964,1.05971763713
+388,6.466666667,pose2_to_pose3_retreat,0.57567283681,0.00987792147945,1.06005120868,0.54624447037,0.0185536086284,1.0597177047
+389,6.483333333,pose2_to_pose3_retreat,0.575672536383,0.00987794585418,1.0600511598,0.546244169429,0.0185536312547,1.05971765569
+390,6.500000000,pose2_to_pose3_retreat,0.575672514838,0.00987794760222,1.0600511563,0.546244147847,0.0185536328773,1.05971765217
+391,6.516666667,pose2_to_pose3_retreat,0.575672376891,0.00987795879438,1.06005113385,0.546244009663,0.0185536432667,1.05971762967
+392,6.533333333,pose2_to_pose3_retreat,0.575672044883,0.00987798573138,1.06005107983,0.546243677087,0.0185536682714,1.0597175755
+393,6.550000000,pose2_to_pose3_retreat,0.575671617614,0.00987802039733,1.06005101032,0.546243249087,0.0185537004507,1.0597175058
+394,6.566666667,pose2_to_pose3_retreat,0.575671228528,0.0098780519653,1.06005094701,0.546242859335,0.0185537297543,1.05971744232
+395,6.583333333,pose2_to_pose3_retreat,0.575670947958,0.00987807472898,1.06005090137,0.546242578285,0.0185537508851,1.05971739655
+396,6.600000000,pose2_to_pose3_retreat,0.575670906622,0.00987807808267,1.06005089464,0.546242536878,0.0185537539982,1.05971738981
+397,6.616666667,pose2_to_pose3_retreat,0.575670656425,0.00987807811618,1.0600509054,0.546242286654,0.0185537539038,1.05971739969
+398,6.633333333,pose2_to_pose3_retreat,0.575670373796,0.00987803524889,1.06005102652,0.54624200484,0.018553713704,1.0597175182
+399,6.650000000,pose2_to_pose3_retreat,0.575670023932,0.00987798218391,1.06005117646,0.546241655986,0.018553663941,1.0597176649
+400,6.666666667,pose2_to_pose3_retreat,0.575669793911,0.00987795282787,1.06005127014,0.546241426549,0.0185536364516,1.05971775561
+401,6.683333333,pose2_to_pose3_retreat,0.575669722567,0.00987795920612,1.06005128548,0.546241355163,0.0185536425572,1.05971776766
+402,6.700000000,pose2_to_pose3_retreat,0.575669680241,0.0098779629902,1.06005129458,0.546241312811,0.0185536461795,1.05971777481
+403,6.716666667,pose2_to_pose3_retreat,0.575669656426,0.00987796511929,1.0600512997,0.546241288981,0.0185536482176,1.05971777884
+404,6.733333333,pose2_to_pose3_retreat,0.575669551452,0.00987792788697,1.06005129368,0.546241184701,0.0185536133728,1.05971777378
+405,6.750000000,pose2_to_pose3_retreat,0.575669537593,0.00987791799042,1.06005128983,0.546241171013,0.0185536040894,1.05971777068
+406,6.766666667,pose2_to_pose3_retreat,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+407,6.783333333,pose2_to_pose3_retreat,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c126d82bec24ecdd66caf1a32019ed4e4133028a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:949465ba1ab826f69eddfe7850959aad16578d92fb4db44ef0820a0f7d71a6b5
+size 25433961
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..720a2643e387e29ad530e68389e2b698cb0843e2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
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+34,0.566666667,BASELINE,763.270353312,745,714,680,657.729646688,633,879,785,805.270353312,652,630,652,0.401033691241,0.00448209110471,0.0798649044358,0.999999981646,0.000111680448153,-0.000147256791447,5.05141617291e-05,1793245107810987264
+35,0.583333333,BASELINE,763.313014105,745,714,679.686985895,658.313014105,633,879,785,805.313014105,652.313014105,630,652,0.401034030242,0.0044817123907,0.0798655223126,0.999999981702,0.000112131609242,-0.000146431311928,5.08008885896e-05,1793245107827653632
+36,0.600000000,BASELINE,763.892513787,745,714,679.107486213,658.892513787,633,879,785,805.892513787,652.892513787,630,652,0.401034709617,0.00448213164893,0.0798661533526,0.999999981862,0.000113007898671,-0.00014457058033,5.10324735537e-05,1793245107844320256
+37,0.616666667,BASELINE,764,745,714,679,658.529800124,633.470199876,879,785,805.529800124,653,630.470199876,652,0.401033417938,0.00448215311322,0.079864850099,0.999999981666,0.000111919050253,-0.000146929173906,5.05286142964e-05,1793245107860986880
+38,0.633333333,BASELINE,764,745,714,679.047086932,657.952913068,633.952913068,879,785,805,652.952913068,630.952913068,652,0.401031870194,0.00448217030005,0.0798633069177,0.999999981409,0.00011062641776,-0.000149839946471,4.99205082481e-05,1793245107877653504
+39,0.650000000,BASELINE,764,745,714,679.619666137,657.380333863,633.380333863,879,785,805,652.380333863,630.380333863,652,0.401032473896,0.00448315068355,0.0798640018453,0.999999981491,0.000112053645861,-0.000148190285885,5.00180232951e-05,1793245107894319872
+40,0.666666667,BASELINE,764,745,714,679.801837151,657,633.198162849,879,785,805,652,630.198162849,652,0.401032815586,0.00448309701389,0.0798644959542,0.999999981582,0.000112290095495,-0.000147336972358,5.01877236511e-05,1793245107910986496
+41,0.683333333,BASELINE,764,745,714,679.211633412,657,633.788366588,879,785,805,652,630.788366588,652,0.401032638915,0.00448099759682,0.0798645927678,0.999999981695,0.00011017073591,-0.000148059133903,5.05002337808e-05,1793245107927653120
+42,0.700000000,BASELINE,764,745,714.371656735,679.371656735,657.371656735,633.628343265,879,785,805,652,630.628343265,652,0.401033407921,0.00448111027674,0.0798650115197,0.999999981799,0.000110748864993,-0.000146886807589,5.06101772616e-05,1793245107944320256
+43,0.716666667,BASELINE,764,745,714.951081936,679.951081936,657.951081936,633.048918064,879,785,805,652,630.048918064,652,0.401034705591,0.00448245959245,0.0798656102458,0.999999981891,0.000112834979945,-0.000144655399587,5.06068792438e-05,1793245107960987136
+44,0.733333333,BASELINE,764,745,714.477249161,679.477249161,658,633,878.477249161,785,805,652,630,652,0.401033695886,0.00448332224715,0.0798652517306,0.999999981539,0.000114001050695,-0.000146254858988,5.03585696529e-05,1793245107977653760
+45,0.750000000,BASELINE,764,745,714,679,658,633.093954597,878.093954597,785,805,652,630,652,0.401032774552,0.00448392891099,0.0798650013523,0.999999981245,0.000114874893449,-0.000147627031302,5.01901255839e-05,1793245107994320384
+46,0.766666667,BASELINE,764,745,714,679,658,633.666431768,878.666431768,785,805,652,630,652,0.401033386921,0.00448346033499,0.0798657512854,0.999999981481,0.000114692468846,-0.000146042483638,5.05435132877e-05,1793245108010986752
+47,0.783333333,BASELINE,764,745,714,679,658,633.750086791,879,785,805,652,630,652,0.401033525292,0.00448338173721,0.079865846202,0.999999981599,0.000114293711089,-0.000145497295412,5.06922090412e-05,1793245108027653376
+48,0.800000000,BASELINE,764,745,714,679,658,633.151240937,879,785,805,652,630,652,0.401033001858,0.00448384763292,0.0798650265746,0.999999981553,0.00011359290565,-0.000146403276498,5.05551108143e-05,1793245108044320000
+49,0.816666667,BASELINE,764,745,714,679,658,633,878.567016342,785.432983658,805,652,630.432983658,652,0.401034206555,0.00448398223814,0.079865935105,0.99999998165,0.000114567248891,-0.000144984681656,5.05357405984e-05,1793245108060986624
+50,0.833333333,BASELINE,764,745.01217218,714,679.01217218,658,633.01217218,878,786,805,652.01217218,630.98782782,652,0.401035966053,0.00448400105122,0.0798673879118,0.999999981791,0.000116020630113,-0.000142834725843,5.05467762424e-05,1793245108077653760
+51,0.850000000,BASELINE,764,745.586938923,714,679.586938923,658,633.586938923,878,786,805,652.586938923,630.413061077,652,0.401036379813,0.00448384179789,0.079867008129,0.999999982057,0.000113453967878,-0.000143184717879,5.01245862555e-05,1793245108094320384
+52,0.866666667,BASELINE,764,745.838488985,714,680,658,633.838488985,878,785.838488985,805,652.838488985,630,652,0.40103591791,0.00448343941239,0.0798665536815,0.999999982081,0.000112060836191,-0.000144148232055,5.00198062325e-05,1793245108110986752
+53,0.883333333,BASELINE,764,745.264414142,714,680,658,633.264414142,878,785.264414142,805,652.264414142,630,652,0.401033219213,0.00448241596993,0.0798659085105,0.999999981496,0.000113665371757,-0.000146678927515,5.07258184265e-05,1793245108127653376
+54,0.900000000,BASELINE,764,745,714,680,658,633,878,785.321419714,805,652,630,652,0.401032550531,0.00448249979554,0.0798656419218,0.999999981152,0.000115601565453,-0.000147408293121,5.10124991802e-05,1793245108144320000
+55,0.916666667,BASELINE,764,745,714,680,658,633,878,785.917294364,805,652,630,652,0.401033615245,0.00448352909895,0.079865698598,0.999999981016,0.000117820956417,-0.000146599533057,5.09411197699e-05,1793245108160986624
+56,0.933333333,BASELINE,764,745,714,680,657.506083004,633.493916996,878,785.506083004,805,652,630.493916996,652,0.401032690054,0.00448385628621,0.0798650113979,0.999999980849,0.000117910119105,-0.000147676805512,5.09091643338e-05,1793245108177653504
+57,0.950000000,BASELINE,764,745,714,680,657.067674622,634,878,785,805,652,631,652,0.401031614541,0.0044839396287,0.079864348152,0.999999980747,0.00011729206388,-0.00014886648243,5.08581976255e-05,1793245108194320128
+58,0.966666667,BASELINE,764,745,714,680,657.643216335,634,878,785,805,652,631,652,0.401031817686,0.00448304222344,0.0798647643753,0.999999981184,0.000113943131583,-0.000148618582941,5.0616877496e-05,1793245108210986752
+59,0.983333333,BASELINE,764,745,714,680,658,633.774978539,878.225021461,785,805,652,631,652,0.401031782148,0.00448336149176,0.0798649699219,0.999999981285,0.000113116997279,-0.000148632761544,5.0423544021e-05,1793245108227653632
+60,1.000000000,BASELINE,764,745,714,680,658,633.182958,878.817042,785,805,652,631,652,0.401031357327,0.00448566509547,0.0798648318649,0.999999980848,0.000116405423488,-0.000149074376752,5.03084744122e-05,1793245108244320512
+61,1.016666667,BASELINE,764,745.399525835,714,679.600474165,658,633,879,785,805,652,630.600474165,652,0.401032148388,0.00448480838008,0.0798650739503,0.999999981089,0.00011532100471,-0.000148262517102,5.04025177138e-05,1793245108260986880
+62,1.033333333,BASELINE,764,745.977744234,714,679.022255766,658,633,879,785,805,652,630.022255766,652,0.401033483265,0.00448253817519,0.0798654860586,0.999999981628,0.000112280780099,-0.000146890026257,5.05900891963e-05,1793245108277653504
+63,1.050000000,BASELINE,764,746,714,679.552024137,658,633,878.447975863,785,805,652,630,652,0.40103249163,0.00448301081111,0.079864817754,0.999999981402,0.000113437371524,-0.000147594685657,5.04401875345e-05,1793245108294320128
+64,1.066666667,BASELINE,764,745.873499021,714,680.126500979,658,633,878,785,805,652,630,652,0.401031704082,0.00448321334067,0.0798643329742,0.999999981239,0.000114073609014,-0.000148253350433,5.03060900314e-05,1793245108310986752
+65,1.083333333,BASELINE,764,745.297762941,714,680.702237059,658,633,878,785,805,652,630,652,0.401031972035,0.00448206673656,0.0798646535262,0.999999981415,0.000112265327243,-0.000148453390093,5.02760919764e-05,1793245108327653632
+66,1.100000000,BASELINE,764,745.286565533,714,680.713434467,658,633,878,785,805,652,630,652,0.40103222808,0.00448171724783,0.0798650161184,0.999999981463,0.000111985590728,-0.00014832196273,5.03354307451e-05,1793245108344320256
+67,1.116666667,BASELINE,764,745.880098082,714,680.119901918,658,633,878,785,805,652,630,652,0.401032471368,0.00448222162367,0.0798654237439,0.999999981374,0.000113343221426,-0.000147835470173,5.04904665027e-05,1793245108360986880
+68,1.133333333,BASELINE,764,745.541387667,714,680,658,633,878.458612333,785,805,652,630,652,0.40103233864,0.00448296579432,0.0798656305644,0.999999981443,0.000113240136676,-0.000147570007291,5.01362097223e-05,1793245108377653760
+69,1.150000000,BASELINE,764,745,714,680,658,633,878.966915774,785,805,652,630,652,0.401032097097,0.0044836751617,0.0798656986818,0.999999981526,0.000112836324204,-0.000147460784831,4.97198872233e-05,1793245108394320896
+70,1.166666667,BASELINE,764,745,714,680,658,633,878.396350128,785,805,652,630,652,0.401031634185,0.00448283291128,0.0798643393007,0.999999981185,0.000113554443659,-0.000148980788783,5.03898309537e-05,1793245108410987264
+71,1.183333333,BASELINE,764,745,714,680,658,633,878.181943875,785,805.181943875,652,630.181943875,652,0.401032082651,0.00448252250054,0.0798641331601,0.999999981115,0.000114094627566,-0.000148910087739,5.07703120575e-05,1793245108427653632
+72,1.200000000,BASELINE,764,745,714,680,658,633,878.777820443,785,805.777820443,652,630.777820443,652,0.401034604556,0.00448342205526,0.0798665507074,0.999999981657,0.000114229998094,-0.000145220442401,5.04922493074e-05,1793245108444320256
+73,1.216666667,BASELINE,764,745,714,680,658,633.363610656,878.636389344,785,805.636389344,652,631,652,0.401034740825,0.00448432963501,0.0798671037916,0.999999981598,0.000115553119194,-0.000144602607015,5.04166739771e-05,1793245108460986880
+74,1.233333333,BASELINE,764,745,714,680,658,633.943404046,878.056595954,785,805.056595954,652,631,652,0.401033458728,0.00448524198594,0.0798665483694,0.999999981184,0.000117582410918,-0.000145811099725,5.04614864559e-05,1793245108477653504
+75,1.250000000,BASELINE,763.483383089,745,714,680,658,633.483383089,878,785,805,652,630.483383089,652,0.401032378246,0.00448490203384,0.0798654648035,0.999999981127,0.000116263690224,-0.000147368533346,5.01175658096e-05,1793245108494320128
+76,1.266666667,BASELINE,763.089477211,745,714,679.910522789,658,633,878.089477211,785,805,652,630,652,0.401031446546,0.0044845010082,0.0798644857269,0.999999981113,0.000114700796529,-0.000148787766668,4.97944499646e-05,1793245108510986752
+77,1.283333333,BASELINE,763.664286222,745,714,679.335713778,658,633,878.664286222,785,805,652,630,652,0.401031203554,0.00448450349156,0.0798643832915,0.999999981148,0.000113777902891,-0.000149252652321,4.98122665734e-05,1793245108527653632
+78,1.300000000,BASELINE,764,745,714,679.247140995,658,633,878.752859005,785,805,652,630.247140995,652,0.401031595573,0.00448392854596,0.079864583945,0.999999981204,0.000113461110763,-0.000149046660732,5.00274767894e-05,1793245108544320256
+79,1.316666667,BASELINE,764,745,714,679.841292781,658,633,878.158707219,785,805,652,630.841292781,652,0.40103287921,0.00448254283209,0.0798652101658,0.999999981289,0.000113995346134,-0.000147898690044,5.05198474626e-05,1793245108560987136
+80,1.333333333,BASELINE,764,745,714,680,658,633,878,785.422190102,805.422190102,652,630.577809898,652,0.401032994322,0.00448239372621,0.0798654504543,0.999999981358,0.000113883450544,-0.000147509103121,5.05599206227e-05,1793245108577653504
+81,1.350000000,BASELINE,764,745,714,680,658,633,878,785.998256592,805.998256592,652,630.001743408,652,0.40103268354,0.00448269532898,0.0798655500814,0.99999998142,0.00011353605848,-0.000147395925605,5.0435144131e-05,1793245108594320128
+82,1.366666667,BASELINE,764,745,714,680,658,633,878.57617551,785.42382449,805.42382449,652,630.57617551,652,0.401032915578,0.00448317089896,0.0798659566109,0.999999981366,0.000114640799036,-0.000146896026132,5.04692423205e-05,1793245108610986752
+83,1.383333333,BASELINE,764,745.156197892,714,680,658,633.156197892,879,785,805,652,631,652,0.401032777292,0.00448381580954,0.0798659567015,0.999999981195,0.000116048812296,-0.000146947756282,5.04955201112e-05,1793245108627653376
+84,1.400000000,BASELINE,764,745.741990141,714,680,658,633.741990141,879,785,805,652,631,652,0.401031615967,0.00448492500883,0.0798648363923,0.999999980701,0.0001182787995,-0.000148519873596,5.04989628832e-05,1793245108644320000
+85,1.416666667,BASELINE,763.67575544,745.67575544,714,680,658,634,879,785.32424456,805,652,631,652,0.401030894428,0.00448509040371,0.0798645407879,0.999999980706,0.000117475005446,-0.000149137825929,5.0455482485e-05,1793245108660987136
+86,1.433333333,BASELINE,763.096285813,745.096285813,714,680,658,634,879,785.903714187,805,652,631,652,0.40103051906,0.00448451289464,0.0798648943398,0.9999999811,0.000114283208135,-0.00014900471909,5.03750670979e-05,1793245108677654016
+87,1.450000000,BASELINE,763.477901744,745.477901744,714,680,658,633.522098256,878.522098256,786,805,652,630.522098256,652,0.401031575841,0.00448482120823,0.0798652827106,0.999999981225,0.000114541533808,-0.000148037316869,5.01605933888e-05,1793245108694320384
+88,1.466666667,BASELINE,764,745.948699749,714,679.948699749,658,633.051300251,878.051300251,786,805,652.051300251,630.051300251,652,0.401032820294,0.00448517807279,0.0798656298115,0.99999998128,0.000115425046277,-0.000147033577448,4.99801375469e-05,1793245108710987264
+89,1.483333333,BASELINE,764,745.372605356,714,679.372605356,658,633.627394644,878.627394644,786,805,652.627394644,630.627394644,652,0.401033065098,0.00448422582098,0.0798654837487,0.999999981182,0.000115670912716,-0.000147358858862,5.04209629052e-05,1793245108727653888
+90,1.500000000,BASELINE,764,745,714,679.209051728,658,634,879,785.790948272,805,652.790948272,630.790948272,652,0.401032564524,0.00448346783142,0.0798650576419,0.999999981053,0.000115714527201,-0.000148117030929,5.06528886119e-05,1793245108744320256
+91,1.516666667,BASELINE,764,745,714,679.800894497,658,634,879,785.199105503,805,652.199105503,630.199105503,652,0.401030699101,0.00448306555224,0.0798641187514,0.999999980867,0.000115387801569,-0.000149667861619,5.0502301695e-05,1793245108760986880
+92,1.533333333,BASELINE,764,745,714,680,658,633.615911402,879,785,805,652,630,652,0.401030844502,0.00448327691052,0.0798644361064,0.999999980885,0.000115321656585,-0.000149646792789,5.03726464907e-05,1793245108777653760
+93,1.550000000,BASELINE,764,745,714,680,658,633.037101853,879,785,805,652,630,652,0.401032009328,0.00448379936383,0.0798653903385,0.999999981005,0.000115387617844,-0.000148828820021,5.02536029991e-05,1793245108794320640
+94,1.566666667,BASELINE,764,745,714,680,658,633.53969761,879,785,805,652,630,652,0.401031023382,0.00448516461096,0.0798645783028,0.99999998082,0.000116334500479,-0.000149373143229,5.01298971686e-05,1793245108810987264
+95,1.583333333,BASELINE,763.884612916,745,714,680,658,633.884612916,879,785.115387084,805,652,630.115387084,652,0.401030112799,0.00448571294595,0.0798638385595,0.999999980732,0.00011621089133,-0.000150101104179,5.00024453835e-05,1793245108827654144
+96,1.600000000,BASELINE,763.312769632,745,714,680,658,633.312769632,879,785.687230368,805,652,630.687230368,652,0.401030083072,0.00448280133762,0.0798638633472,0.999999981099,0.000111613880629,-0.000151186412231,4.98614382676e-05,1793245108844320768
+97,1.616666667,BASELINE,763.268649986,745,714,680,658,633,879,785.731350014,805.268649986,652,631,652,0.401030537902,0.00448193202491,0.0798642455948,0.999999981379,0.000109945279121,-0.00015056400115,4.98545969967e-05,1793245108860987392
+98,1.633333333,BASELINE,763.861630707,745,714,680,658,633,879,785.138369293,805.861630707,652,631,652,0.401031577718,0.00448352829687,0.07986505939,0.999999981564,0.000111812033025,-0.000147879926755,5.00097289694e-05,1793245108877653504
+99,1.650000000,BASELINE,764,745,714,680,658,633,879,785.444203312,805.555796688,652,630.555796688,652,0.401031287716,0.00448450418909,0.0798654370612,0.999999981299,0.000114510605112,-0.000147562948464,5.01494905414e-05,1793245108894319872
+100,1.666666667,BASELINE,764,745,714,679.976649105,658,633.023350895,878.976649105,785.976649105,805,652,630,652,0.401030629328,0.00448525586216,0.0798656512813,0.999999980905,0.000117317145668,-0.000147976383359,5.028614732e-05,1793245108910986752
+101,1.683333333,BASELINE,764,745,714,679.403554646,658,633.596445354,878.403554646,785.403554646,805,652,630,652,0.401030827139,0.00448517423536,0.0798651425336,0.999999980872,0.000116705035102,-0.000148623932873,5.04598478874e-05,1793245108927653120
+102,1.700000000,BASELINE,764,745,714,679,658,633.825590861,878,785,805,652,630,652,0.401031284122,0.00448458140937,0.0798648909791,0.999999980963,0.000115765964339,-0.000148722977939,5.0532062292e-05,1793245108944320000
+103,1.716666667,BASELINE,764,745,714,679,658,633.236036729,878,785,805,652,630,652,0.401032358006,0.00448277177914,0.0798652516199,0.999999981348,0.000114048632334,-0.000147516421178,5.03627097887e-05,1793245108960986880
+104,1.733333333,BASELINE,764,745,714,679.348791694,658,633.348791694,878,785.348791694,805,652,630,652,0.401033409438,0.00448290465748,0.0798659886713,0.999999981618,0.0001133792326,-0.000146229263831,5.02696034561e-05,1793245108977653504
+105,1.750000000,BASELINE,764,745,714,679.930464912,658,633.930464912,878,785.930464912,805,652,630,652,0.401034445879,0.00448433451134,0.0798669770448,0.999999981811,0.000113409516968,-0.000144888290896,5.02274052122e-05,1793245108994319872
+106,1.766666667,BASELINE,764,745.507124928,714,680,658,634,878.507124928,786,805,652,630.507124928,651.492875072,0.401032770498,0.00448507684301,0.0798662123693,0.999999981301,0.000115775796792,-0.000146515357608,5.02797067637e-05,1793245109010986496
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633,878,785,805,652,630,652,0.401033278587,0.00448230596838,0.0798654750864,0.999999981919,0.00010896208605,-0.000147480845928,5.03877934166e-05,1793245109053673472
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679.579024953,658,633.579024953,878,785.579024953,805,652,630,652,0.401033115327,0.00448301652211,0.0798657298142,0.999999981755,0.000111116417015,-0.0001469945139,5.03584524591e-05,1793245109070340352
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,679.842177989,658,634,878.157822011,785.842177989,804.842177989,652,630,652,0.401033234365,0.00448357754505,0.0798661813433,0.999999981618,0.000113094941884,-0.000146414875281,5.03677314226e-05,1793245109087006720
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,679.263987819,658,634,878.736012181,785.263987819,804.263987819,652,630,652,0.40103410532,0.00448374028412,0.0798671570644,0.999999981561,0.000114605197407,-0.000145586708991,5.04798767988e-05,1793245109103673344
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679,657.68769058,633.68769058,878.68769058,785,804.31230942,652,630,652,0.401034228872,0.00448402349757,0.0798674365719,0.99999998158,0.000114813485436,-0.000145299712975,5.045102035e-05,1793245109120339712
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679,657.112983786,633.112983786,878.112983786,785,804.887016214,652,630,652,0.401033724469,0.00448440793164,0.0798671311319,0.999999981665,0.000113927881131,-0.000145467399607,5.03036964183e-05,1793245109137006592
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745.472949845,714,679.472949845,657.472949845,633,878,785,804.527050155,652,630,652,0.401032620299,0.00448335401286,0.0798664084376,0.999999981408,0.000113794207855,-0.000147309121813,5.03437052082e-05,1793245109153673216
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.939354234,714,680,658,633,878,785,804.060645766,652,630.060645766,652,0.401031700178,0.00448208353851,0.0798657051164,0.99999998106,0.000113723559934,-0.000149678845686,5.04337126321e-05,1793245109170340096
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745.360081076,714,680,658,633,878,785,804.639918924,652,630.639918924,652,0.401033609073,0.00448197105561,0.0798660406236,0.999999980667,0.000112618386059,-0.000153060793795,5.05592803747e-05,1793245109187006720
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679.782363427,658,633.217636573,878,785.217636573,805,652,630.782363427,652,0.401042605863,0.00448225488621,0.0798695396506,0.999999980693,0.000112813987598,-0.000152708168142,5.06608978657e-05,1793245109203673344
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,679.207201174,658,633.792798826,878,785.792798826,805,652,630.207201174,652,0.401063246395,0.00448318976668,0.0798782355961,0.999999981394,0.000115146457188,-0.000146220516171,5.07231707151e-05,1793245109220339968
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679.368074704,657.631925296,633.631925296,878.368074704,786,805,652,630,652,0.401096885449,0.00448476328127,0.0798893443445,0.999999982738,0.000115894838789,-0.000136226701563,5.03411609879e-05,1793245109237006336
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,679.943414619,657.056585381,633.056585381,878.943414619,786,805,652,630,652,0.401137844056,0.00448669641489,0.0799018117584,0.999999984345,0.000115751210559,-0.000124258543818,4.97089729125e-05,1793245109253672960
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.467888333,745,714,680,657.532111667,633.532111667,878.467888333,785.467888333,805,652,630,652,0.401200062825,0.00448564797249,0.0799149607259,0.999999986631,0.000114779384963,-0.000105602632848,4.91153439698e-05,1793245109270339584
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.120064392,745,714,680,658,633.879935608,878,785,805,652,630,652,0.401268953457,0.00448487106387,0.0799265371446,0.999999988424,0.00011382404405,-8.88161942618e-05,4.80462010889e-05,1793245109287006464
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.699593272,745,714,680,658,633.300406728,878,785,805,652,630,652,0.401354501549,0.00448637785403,0.0799318112119,0.999999989205,0.000113277498399,-8.19755251453e-05,4.51412575356e-05,1793245109303673088
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.277521167,878.277521167,785,805,652.277521167,630.277521167,652,0.401447615295,0.00448792227836,0.0799356199932,0.999999989875,0.000111699332147,-7.74394078755e-05,4.21414339037e-05,1793245109320339712
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.853725959,878.853725959,785,805,652.853725959,630.853725959,652,0.401548871613,0.00448950720658,0.0799378517524,0.999999990455,0.000109010878795,-7.53835771481e-05,3.90394952603e-05,1793245109337006592
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.57203194,878.57203194,785,805,652.57203194,631,652,0.401673277628,0.00449075766198,0.0799435412138,0.999999991335,0.000106588504514,-6.87166837182e-05,3.53128478307e-05,1793245109353673728
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714.001584577,679.998415423,658,633,878,785,805,652,630.998415423,652,0.401805630794,0.00449189715789,0.0799504029474,0.999999992245,0.000104252857757,-6.04779578954e-05,3.13710984018e-05,1793245109370340864
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714.590848231,679.409151769,658,633,878,785,805,652,630.409151769,652,0.401964316577,0.00449408890303,0.079955732478,0.999999993292,0.000100507964424,-5.11174769469e-05,2.64801726395e-05,1793245109387007488
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714.822749031,679,658,633.177250969,878,785,805,652,630,651.822749031,0.402134292668,0.00449612308799,0.0799605088699,0.999999994232,9.60316455748e-05,-4.3253922923e-05,2.10650360616e-05,1793245109403674112
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714.242845378,679,658,633.757154622,878,785,805,652,630,651.242845378,0.402329916403,0.00449779935064,0.0799640287219,0.999999995103,8.98937823348e-05,-3.87908686148e-05,1.44590751213e-05,1793245109420340736
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745.339030321,714,679,658,633.660969679,878.339030321,785,805,652,630,651.339030321,0.402531656506,0.00449978507624,0.0799637657274,0.999999995646,8.28349637933e-05,-4.2291163336e-05,7.54958657215e-06,1793245109437007104
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745.92232691,714,679,658,633.07767309,878.92232691,785,805,652,630,651.92232691,0.402737803381,0.00450199376544,0.0799607772489,0.999999995851,7.5112610111e-05,-5.15289312755e-05,4.21410245241e-07,1793245109453673472
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,746,714,679.491903205,658,633,878.508096795,785,805,652,630.491903205,651.508096795,0.402978081716,0.00450437205031,0.0799533203139,0.999999995537,6.43246185729e-05,-6.87679465631e-05,-7.64540096011e-06,1793245109470339840
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745.93787424,714,680,658,633,878,785,805,652,630.93787424,651.06212576,0.403228659877,0.00450709345505,0.0799458927263,0.99999999474,5.43739265506e-05,-8.55645768129e-05,-1.55849498873e-05,1793245109487006720
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745.344083371,714,680,658,633,878,785,805,652,630.344083371,651.655916629,0.40352251202,0.00451252828279,0.0799445907373,0.999999994352,5.56189786442e-05,-8.80565067201e-05,-2.12014323182e-05,1793245109503673088
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,805,652,630,652,0.40384301017,0.0045189953123,0.0799470385218,0.999999994719,5.18808911728e-05,-8.5407064542e-05,-2.39888737192e-05,1793245109520339968
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785,805,652,630,652,0.404200225048,0.00452688465932,0.0799546532902,0.999999996023,4.12763086653e-05,-7.56730914534e-05,-2.28780503015e-05,1793245109537007104
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679.609183728,658,633.390816272,878.390816272,785,805,652,630,652,0.404577661894,0.00453275222189,0.07995624642,0.999999996093,4.85717337278e-05,-6.96828403933e-05,-2.44874388544e-05,1793245109553673728
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679.035353367,658,633.964646633,878.964646633,785,805,652,630,652,0.404964568411,0.00453767300932,0.0799550196959,0.99999999542,6.42494957787e-05,-6.5445725086e-05,-2.73706667074e-05,1793245109570340608
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.443664484,745,714,679.556335516,658,634,879,785.556335516,805,652,630,652,0.405387937543,0.00454452896613,0.0799543040931,0.999999994679,7.75163601524e-05,-6.13272641356e-05,-2.95256889706e-05,1793245109587006976
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.145385967,745.145385967,714,680,658,634,879,786,805,652.145385967,630.145385967,652,0.405821888472,0.00455167114154,0.0799509982479,0.999999993701,8.64147773475e-05,-6.42842904005e-05,-3.16024621983e-05,1793245109603673344
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.723103831,745.723103831,714,680,658,634,879,786,805,652.723103831,630.723103831,652,0.406280187448,0.00455928662584,0.079939890052,0.999999992114,8.27935038375e-05,-8.82584136611e-05,-3.3588718596e-05,1793245109620339968
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745.70142145,714,679.70142145,658,634,879,785.70142145,805.29857855,652.70142145,630.70142145,652,0.406767254226,0.00456251288819,0.0799324074804,0.999999990429,8.6576076529e-05,-0.000102754935708,-3.29962982907e-05,1793245109637006592
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745.128011405,714,679.128011405,658,634,879,785.128011405,805.871988595,652.128011405,630.128011405,652,0.407280800848,0.00456169902051,0.0799282621724,0.999999988939,9.71736398131e-05,-0.000108527647934,-3.00302931967e-05,1793245109653673216
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,785.457522907,805.542477093,652,630,652,0.407801809294,0.00455920222747,0.0799209553728,0.999999987538,9.3512030438e-05,-0.000123664898203,-2.97643726435e-05,1793245109670339840
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,679.045798766,658,634,879,785.954201234,805,652,630.045798766,652,0.408330992464,0.00455779619731,0.0799135195493,0.999999985879,8.81949325982e-05,-0.000139801361881,-3.03166170419e-05,1793245109687006720
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,679.625414067,658,634,879,785.374585933,805,652,630.625414067,652,0.408930461417,0.0045747414782,0.0799151706894,0.999999984032,0.000111349439586,-0.000136213655749,-3.1360002732e-05,1793245109703673600
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745.203802494,714,680,658,634,879,785,805,652,630.796197506,652,0.409562525471,0.00458882845401,0.0799293194069,0.999999985003,0.000127909550148,-0.000112087612447,-3.26913846114e-05,1793245109720340224
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.779949402,714,680,658,634,879,785,805,652,630.220050598,652,0.4102541403,0.00459769334387,0.0799663010302,0.999999989363,0.00013242178551,-5.0438303348e-05,-3.4548931536e-05,1793245109737006848
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.644723652,714,680,658.355276348,634,879,785,805,652,630,652,0.410947967107,0.00459701012361,0.0799862561625,0.999999990969,0.000127937833566,-1.98318478882e-05,-3.60606189155e-05,1793245109753673472
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.069903426,714,680,658.930096574,634,879,785,805,652,630,652,0.411643160786,0.00459042662528,0.079995689732,0.999999992317,0.000117894665951,-8.40840121996e-06,-3.73585815348e-05,1793245109770339840
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.518736433,714,680.518736433,658.481263567,634,879,785,805.518736433,652.518736433,630.518736433,652,0.412311331161,0.0045798557336,0.0799684935487,0.999999991947,0.000110342004464,-4.95700781608e-05,-3.83934938059e-05,1793245109787006464
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,746,714,680.892665448,658.107334552,634,879,785,805.892665448,652.892665448,631,652,0.412988878505,0.00457202146324,0.0799380461892,0.999999989355,0.000105034843256,-9.30370880578e-05,-4.00199528345e-05,1793245109803673088
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,746,714,680.312676494,658.687323506,634,879,785,805.312676494,652.312676494,631,652,0.413724192554,0.00457866900591,0.0799156135247,0.999999986605,0.000108097541054,-0.000114597076555,-4.44116944538e-05,1793245109820339712
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745.735765197,714,680,659,634,879,785,805.264234803,652,630.735765197,652,0.41448934188,0.00458687797248,0.0799153823524,0.999999986084,0.000119137085599,-0.000107241763124,-4.62422652955e-05,1793245109837006848
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745.162453774,714,680,659,634,879,785,805.837546226,652,630.162453774,652,0.415289389757,0.00459691334437,0.0799411203608,0.999999987071,0.000139507183366,-6.6064095713e-05,-4.50770238616e-05,1793245109853673728
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.410701384,714,680,659,634,879,785,805.589298616,652,630.410701384,652,0.416086725854,0.00460300087428,0.0799478624246,0.999999987533,0.000135259350192,-6.78625872224e-05,-4.50876530356e-05,1793245109870340352
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.983794719,714,680,659,634,879,785,805.016205281,652,630.983794719,652,0.41688298966,0.00460752742086,0.0799470934613,0.999999987853,0.000121277548471,-8.66539198036e-05,-4.55632233091e-05,1793245109887006976
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745.43988569,714,680,658.43988569,633.43988569,879,785,805,652,630.43988569,651.43988569,0.417705208727,0.00460885314864,0.0799530367867,0.999999987817,0.000136496730331,-5.85890978727e-05,-4.79722617753e-05,1793245109903673600
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745.141000188,714,680.141000188,658.141000188,633.141000188,879,785,805.141000188,652,630,651.141000188,0.418550166224,0.00460940372817,0.0799637482456,0.999999987901,0.000145041751362,-2.529679746e-05,-5.02132145721e-05,1793245109920340224
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745.736295896,714,680.736295896,658.736295896,633.736295896,879,785,805.736295896,652,630,651.736295896,0.419465952246,0.00460775692062,0.0799891930611,0.999999990088,0.000129345140756,2.04450442277e-05,-5.17313260018e-05,1793245109937006592
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745.68140588,714,681,659,633.68140588,879,785,806,652,630,652,0.42034091203,0.00460683615762,0.0799878165609,0.999999990272,0.000127808093617,1.96316766182e-05,-5.23045587295e-05,1793245109953672960
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745.109444163,714,681,659,633.109444163,879,785,806,652,630,652,0.421183403983,0.00460649279444,0.0799651099348,0.999999989018,0.00013753168995,-1.82055448638e-05,-5.21263599315e-05,1793245109970339584
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745.466430499,714,680.533569501,659.466430499,633,879,785,806,652,630,652,0.422094804312,0.00460885940639,0.0799713935512,0.999999989535,0.000134640525394,-7.78174850308e-06,-5.23675105542e-05,1793245109987006464
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745.956416053,714,680.043583947,659.956416053,633,879,785,806,652,630,652,0.42301898926,0.00461169215184,0.0799851253696,0.999999990088,0.000129840744729,1.41683103849e-05,-5.25742457596e-05,1793245110003673600
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+166,2.766666667,POSE1_TO_POSE2_PRESS,763.790782233,745,713.790782233,681,659,633,879,785,806,652,630,652,0.424768887071,0.00461317700074,0.0800007176278,0.999999988549,0.000141876090347,1.56337356116e-05,-5.02892031793e-05,1793245110037006592
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+170,2.833333333,POSE1_TO_POSE2_PRESS,763.459992022,745.459992022,714,681.540007978,659.459992022,633,879.459992022,785,806,652,630,652,0.428356868109,0.004614794568,0.0799205474963,0.999999984034,0.000137989045305,-9.92858705911e-05,-5.50733174712e-05,1793245110103673088
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+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745.011610296,714,682.011610296,659.988389704,633.011610296,879.011610296,785,806,651.011610296,630.011610296,652,0.433695356649,0.00462179757368,0.0799455595814,0.999999984726,0.000141251576534,-8.8831275483e-05,-5.20099602703e-05,1793245110203673600
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713,684,657,631.690910579,880.309089421,784.690910579,807,652,630,652,0.445254378847,0.00470483918558,0.0797818691303,0.999999913203,0.000235674532539,-0.00033915714961,-5.49846330011e-05,1793245110470340608
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.71939999,745,713.28060001,680.71939999,657,633,878.28060001,785,805,652,630,651.28060001,0.41362752785,0.00448019120554,0.07978759683,0.999999938612,9.32356126242e-05,-0.000333723528228,5.2080871393e-05,1793245112939544320
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.145371853,745,713.854628147,680.145371853,657,633,878.854628147,785,805,652,630,651.854628147,0.412923960517,0.00447968859038,0.0798108400685,0.999999953441,8.19545957247e-05,-0.000289202743325,5.25570191954e-05,1793245112956211200
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.438544679,745,713.561455321,680.438544679,657,633,879,785,805,652,630,652,0.412208556514,0.00447691914402,0.0798078177966,0.999999950133,8.19155949915e-05,-0.000300272584463,5.3488593894e-05,1793245112972877824
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,745,713.025604755,681,657,633,879,785,805.025604755,652,630,652,0.411489639742,0.00447365573379,0.0797960913979,0.999999940567,8.57875914396e-05,-0.000329452051302,5.44813022984e-05,1793245112989543936
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,745,713.608097627,681,657,633,879,785,805.608097627,652,630,652,0.410781630375,0.00447636896358,0.0797887887759,0.999999935715,9.18007890911e-05,-0.000342470856524,5.34444209018e-05,1793245113006210560
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.812028613,657,633,879,785,805.812028613,652,630.187971387,652,0.410110768549,0.00447889923216,0.0797911328613,0.999999936843,9.67364238809e-05,-0.000337853810728,5.30146057131e-05,1793245113022877440
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,745,714,680.237540305,657,633,879,785,805.237540305,652,630.762459695,652,0.409516291375,0.00448105328652,0.0798133130262,0.999999949509,9.94563167311e-05,-0.000296972977467,5.38330726258e-05,1793245113039543808
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.087781158,745,713.087781158,680,657,633.912218842,879,785.912218842,805,652,630.087781158,652,0.408352432259,0.00448353346128,0.0798497370078,0.999999964045,9.10168320642e-05,-0.000246157951137,5.50717049384e-05,1793245113072877056
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.501754017,745,713.501754017,680,658.003508035,633.498245983,879,785.498245983,805,652,630,652,0.407765679232,0.00448351573397,0.0798214488259,0.999999949821,9.71554048678e-05,-0.000296307016573,5.5856980785e-05,1793245113089543936
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,745,713.908393586,680,658.816787173,633,879,785,805,652,630,651.908393586,0.407186577122,0.00448288926963,0.0797878205914,0.999999930777,0.000103368188798,-0.000352987566535,5.62266988588e-05,1793245113106211072
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,745,713.330770222,680,657.661540444,633,879,785,805,652,630,651.330770222,0.406655803735,0.00448000782175,0.0797693223653,0.999999923027,9.83441453663e-05,-0.000375950097667,5.41834218739e-05,1793245113122877184
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.244905745,745,713.244905745,680.244905745,657.244905745,633,879,785,805,652,630,651.244905745,0.406170662659,0.00447910568521,0.0797680942473,0.999999925887,9.46234027332e-05,-0.00036944401212,5.27599243947e-05,1793245113139543808
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.596900807,745.403099193,714,680.596900807,657.596900807,633,879,785,805,652,630,652,0.405339947557,0.00448322466209,0.079806983544,0.999999949757,9.87446857585e-05,-0.000296572310186,5.27255347109e-05,1793245113172877056
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.006159716,745.993840284,714,680.006159716,657.006159716,633,879,785,805,652,630,652,0.404941271065,0.00448588170147,0.0798216619783,0.999999953849,0.000108596953687,-0.000278590265192,5.38202667175e-05,1793245113189543680
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,745.427296641,714,680,657,633,879.572703359,785,805,652,630,652,0.404562806405,0.00448856829852,0.0798311125207,0.999999956774,0.000110173833048,-0.000267110030747,5.44535438591e-05,1793245113206210816
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.849474276,745.150525724,714,680,657.150525724,633,879.698948551,785,805,652,630,652,0.404189646632,0.00449003715031,0.0798382982863,0.999999958313,0.000111046329508,-0.000260732750093,5.53213071688e-05,1793245113222877696
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.274235039,745.725764961,714,680,657.725764961,633,878.548470077,785,805,652,630,652,0.403830853787,0.00448806921377,0.0798392493359,0.999999956251,0.00011017741654,-0.000268560325101,5.68644006809e-05,1793245113239544064
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.301537253,745.698462747,713.698462747,680.301537253,657.698462747,633,878,785,804.698462747,652,630,652,0.403504725802,0.00448537064799,0.0798388345525,0.99999995536,0.000104358678559,-0.000274415585321,5.55448154119e-05,1793245113256210432
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.877795159,745.122204841,713.122204841,680.877795159,657.122204841,633,878,785,804.122204841,652,630,652,0.403208357715,0.00448200643014,0.0798371754036,0.999999955473,9.40303182049e-05,-0.000278473934058,5.16171377651e-05,1793245113272877056
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,713.464134717,680.535865283,657,633.464134717,878.464134717,785,804.928269434,652,630,652,0.402946460198,0.0044800787605,0.0798353396386,0.999999953959,9.6893091321e-05,-0.000282676411119,5.27915420651e-05,1793245113289543936
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633.381050509,879,785,805.381050509,652,630,652,0.402485982757,0.0044753992315,0.0798346508743,0.999999954348,9.27717990095e-05,-0.000282147655335,5.55907264672e-05,1793245113322877184
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633.19338158,879,785,805,652,630,652,0.402282868324,0.00447125105011,0.0798365647364,0.99999995661,8.31972530818e-05,-0.000276970683452,5.60765623743e-05,1793245113339543808
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633.641427918,879,785,805.358572082,652,630,652,0.401937798487,0.00446034887932,0.0798462693441,0.999999961781,6.66016684587e-05,-0.000262234065421,5.68858273395e-05,1793245113372877056
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633.071048846,879,785,805.928951154,652,630,652,0.401794336359,0.00445714157318,0.0798531927579,0.999999963823,6.30650504127e-05,-0.000255221591406,5.69169347635e-05,1793245113389543936
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.11664496,633,878.11664496,785,805,652.11664496,630.88335504,652,0.401548940007,0.00446860813976,0.0798493709507,0.999999960177,0.00010143155629,-0.000257236483212,5.64483608408e-05,1793245113422876928
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.692192318,633,878.692192318,785,805,652.692192318,630.307807682,652,0.401439563884,0.00447998501747,0.0798424996872,0.999999954938,0.000120769286926,-0.000269120589498,5.57854211161e-05,1793245113439543552
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.733303957,633.266696043,879,785,805,652.733303957,630,652,0.401342024543,0.00448582577531,0.0798366173821,0.999999951286,0.000128058032712,-0.000279256987074,5.51814261648e-05,1793245113456210176
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.160000083,633.839999917,879,785,805,652.160000083,630,652,0.401258093396,0.00448530191719,0.0798318720361,0.999999949832,0.000121494629135,-0.000287384125959,5.46451972932e-05,1793245113472876800
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.424324443,634,879,785.424324443,805,652,630,652,0.401196007555,0.00448277196414,0.0798294677644,0.99999994989,0.000114764279102,-0.000289993769509,5.4343196745e-05,1793245113489543680
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633.987232807,879,785.987232807,805,652,630,652,0.401142680626,0.00447955893402,0.0798279684558,0.999999950495,0.00010815449025,-0.000290485973699,5.4139237847e-05,1793245113506210304
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633.405392542,879,785.405392542,805,652,630,652,0.40110281722,0.00448051489576,0.0798264101098,0.999999949925,0.00010979919448,-0.000291803629256,5.42636082513e-05,1793245113522876928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.825178709,633,879,785,805,652,630,652,0.40106611997,0.00448086542858,0.079825299183,0.999999949333,0.00011099443642,-0.000293334318159,5.44963704838e-05,1793245113539543808
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.248701716,633,879,785,805,652,630,652,0.401036697038,0.00447982497525,0.0798252162121,0.999999948694,0.000111157028793,-0.000295354455612,5.49781652727e-05,1793245113556210688
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,713.673648407,680,657,633,879,785,805,652,630,652,0.401016054806,0.00448055693062,0.0798258719885,0.999999948849,0.000112306272868,-0.000294410286614,5.48793145752e-05,1793245113572877312
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745,713.099675267,680,657,633,879,785,805,652,630,652,0.401002074988,0.00448263371334,0.0798270882946,0.999999949599,0.000114204145819,-0.000291216929637,5.43398951159e-05,1793245113589543680
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.489035619,745,713.489035619,679.510964381,657,633,879,785,805.489035619,652,630.489035619,652,0.400993921907,0.00448110526313,0.0798275284185,0.999999950064,0.000112923225641,-0.000290055735239,5.46647380615e-05,1793245113606210304
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.920903452,745,714,679.079096548,657.079096548,633,879,785,805.920903452,652,630.920903452,652,0.400987386517,0.00447918646787,0.0798279715504,0.999999950513,0.000111272785779,-0.000289065604856,5.50784803666e-05,1793245113622876672
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.341884916,745,714,679.658115084,657.658115084,633,879,785,805.341884916,652,630.341884916,652,0.40098333619,0.00447958919683,0.0798294646601,0.999999951247,0.00011150907487,-0.000286457440627,5.49061431098e-05,1793245113639543296
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.765855317,633,879,785,805,652,630,652,0.400980502279,0.00447966081357,0.0798304879537,0.999999951812,0.000111488983034,-0.00028449893472,5.48232017708e-05,1793245113656210176
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.194135021,633,879,785,805,652,630,652,0.400979422122,0.00447925505276,0.0798308338951,0.999999952144,0.000111099256703,-0.000283477066964,5.48691460582e-05,1793245113672877312
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878.609910594,785.390089406,805,652,630,652,0.400977947777,0.00447966971467,0.0798310836214,0.999999952252,0.000110516080195,-0.000283364522225,5.46444957341e-05,1793245113689543936
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,633,878.019257202,785.980742798,805,652,630,652,0.400976270761,0.00448050619593,0.0798312838787,0.999999952247,0.000109833441529,-0.000283719504827,5.42807195231e-05,1793245113706210560
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.56010983,745,714,680,657,633,878,785.43989017,805,652,630.56010983,651.43989017,0.400976982394,0.0044806246241,0.0798329618899,0.99999995279,0.000111414516061,-0.000281154808335,5.43884328304e-05,1793245113722876928
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.861179371,745.138820629,713.861179371,680,657.138820629,633,878.138820629,785,805,652,630.861179371,651.138820629,0.40097750154,0.00448062767681,0.0798341310308,0.999999953191,0.000112469842465,-0.000279291619895,5.44567241967e-05,1793245113739543552
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.283341089,745.716658911,713.283341089,680,657.716658911,633,878.716658911,785,805,652,630.283341089,651.716658911,0.400977157362,0.00448034238826,0.0798335333762,0.999999953105,0.000111621228829,-0.00027995812334,5.43500920945e-05,1793245113756210176
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745.708394878,713.291605122,680,658,633.291605122,878.708394878,785,805,652,630,652,0.400977842358,0.00448125755693,0.079834119715,0.999999953504,0.000111610079063,-0.000278588182952,5.40642523201e-05,1793245113772876800
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745.136231114,713.863768886,680,658,633.863768886,878.136231114,785,805,652,630,652,0.400979517541,0.00448332770751,0.0798358451953,0.999999954362,0.000112404668566,-0.000275258942634,5.36059935406e-05,1793245113789543424
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633.549970147,878,785,805,652,630,652,0.400979093522,0.00448408042781,0.0798356904686,0.999999954176,0.000113441929095,-0.000275540711903,5.34512844027e-05,1793245113806210304
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633.615519419,878.615519419,785,805,652.615519419,630,652,0.400976209184,0.00448362650318,0.0798349364971,0.999999953454,0.000112627931251,-0.000278466181808,5.35073837338e-05,1793245113839544064
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.806932789,745,714,680.193067211,657.806932789,633.806932789,878.806932789,785,805,652.806932789,630,652,0.400975295706,0.00448343367993,0.079835085327,0.99999995341,0.000111869341688,-0.000278930562259,5.34976103707e-05,1793245113856210688
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.225962659,745,714,680.774037341,657.225962659,633.225962659,878.225962659,785,805,652.225962659,630,652,0.40097607825,0.00448430349506,0.0798356512498,0.999999953743,0.000113064742156,-0.000277297192999,5.32580099162e-05,1793245113872876800
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31eceb5038ad1b0a4cdc9418117e981b24f236c0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
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+340,5.666666667,pose2_to_pose3_retreat,0.585155273614,0.00987780848184,1.07005103299,0.555726907029,0.0185534952429,1.06971753158
+341,5.683333333,pose2_to_pose3_retreat,0.584559212084,0.00987789338248,1.07005114552,0.555130844258,0.0185535759243,1.06971764382
+342,5.700000000,pose2_to_pose3_retreat,0.583981660751,0.00987792346508,1.07005115643,0.554553291792,0.0185536017598,1.06971764392
+343,5.716666667,pose2_to_pose3_retreat,0.583426209193,0.00987782438033,1.07005101309,0.553997841248,0.0185535057944,1.06971749178
+344,5.733333333,pose2_to_pose3_retreat,0.582894536647,0.00987787596807,1.07005084495,0.553466169568,0.0185535608297,1.06971733683
+345,5.750000000,pose2_to_pose3_retreat,0.582383421571,0.00987781320654,1.07005063203,0.552955054927,0.0185534995322,1.06971712375
+346,5.766666667,pose2_to_pose3_retreat,0.581888058587,0.00987786152291,1.07005083152,0.552459691799,0.0185535474925,1.06971732677
+347,5.783333333,pose2_to_pose3_retreat,0.581403471269,0.00987790151885,1.07005076682,0.551975103569,0.0185535843335,1.06971726084
+348,5.800000000,pose2_to_pose3_retreat,0.580935970665,0.00987784975856,1.0700509132,0.551507604234,0.0185535367348,1.06971740371
+349,5.816666667,pose2_to_pose3_retreat,0.580494722032,0.00987786905062,1.07005105454,0.551066355396,0.0185535553712,1.06971754574
+350,5.833333333,pose2_to_pose3_retreat,0.580084029976,0.0098779041422,1.07005110294,0.550655662443,0.0185535874799,1.06971759561
+351,5.850000000,pose2_to_pose3_retreat,0.579703978144,0.00987789853794,1.07005108893,0.550275611027,0.0185535831895,1.06971757916
+352,5.866666667,pose2_to_pose3_retreat,0.579349781965,0.00987789429089,1.07005098485,0.549921416134,0.0185535831301,1.06971747065
+353,5.883333333,pose2_to_pose3_retreat,0.579014694859,0.009877787581,1.07005063941,0.549586327577,0.0185534718178,1.06971713334
+354,5.900000000,pose2_to_pose3_retreat,0.578690643042,0.00987797172663,1.07005122124,0.549262274678,0.0185536520532,1.06971770889
+355,5.916666667,pose2_to_pose3_retreat,0.578380354921,0.00987785751542,1.07005099461,0.548951986887,0.0185535387404,1.06971747646
+356,5.933333333,pose2_to_pose3_retreat,0.578087462917,0.00987785499303,1.07005083705,0.548659095857,0.0185535397447,1.06971732472
+357,5.950000000,pose2_to_pose3_retreat,0.577814452153,0.0098778460791,1.07005080658,0.5483860861,0.0185535345327,1.06971730165
+358,5.966666667,pose2_to_pose3_retreat,0.577562550478,0.0098778049089,1.07005078869,0.548134184115,0.0185534922337,1.06971728173
+359,5.983333333,pose2_to_pose3_retreat,0.577335520016,0.00987787800917,1.07005090308,0.547907152522,0.0185535613356,1.06971739193
+360,6.000000000,pose2_to_pose3_retreat,0.577129443384,0.00987778356248,1.07005094987,0.547701078588,0.0185534765168,1.06971745088
+361,6.016666667,pose2_to_pose3_retreat,0.576942086805,0.0098778548545,1.07005098675,0.547513719436,0.018553538766,1.06971747964
+362,6.033333333,pose2_to_pose3_retreat,0.576772256156,0.00987777764863,1.0700507703,0.547343890663,0.0185534682832,1.06971727258
+363,6.050000000,pose2_to_pose3_retreat,0.576620300155,0.00987779439287,1.07005073905,0.547191934336,0.0185534836669,1.06971723481
+364,6.066666667,pose2_to_pose3_retreat,0.576482982104,0.00987781525247,1.0700508101,0.547054615348,0.018553501114,1.06971729981
+365,6.083333333,pose2_to_pose3_retreat,0.576359774177,0.00987778721339,1.07005089613,0.546931407892,0.0185534747442,1.06971738774
+366,6.100000000,pose2_to_pose3_retreat,0.576249549822,0.00987777192384,1.07005101016,0.546821185497,0.0185534660657,1.06971750084
+367,6.116666667,pose2_to_pose3_retreat,0.57614979652,0.00987789146217,1.0700510934,0.546721430075,0.0185535785594,1.0697175879
+368,6.133333333,pose2_to_pose3_retreat,0.576060240186,0.00987780847834,1.07005082451,0.546631874206,0.0185534970106,1.0697173158
+369,6.150000000,pose2_to_pose3_retreat,0.575981427671,0.00987793037842,1.07005082841,0.546553061233,0.0185536174642,1.06971732268
+370,6.166666667,pose2_to_pose3_retreat,0.575913987956,0.00987792315252,1.07005086884,0.546485621167,0.0185536089826,1.0697173614
+371,6.183333333,pose2_to_pose3_retreat,0.575858265877,0.00987786871494,1.07005099513,0.546429899349,0.0185535553311,1.06971748515
+372,6.200000000,pose2_to_pose3_retreat,0.57581279427,0.00987785426681,1.07005101365,0.546384427667,0.0185535406952,1.06971750545
+373,6.216666667,pose2_to_pose3_retreat,0.575776506986,0.00987784445519,1.07005090659,0.546348140105,0.0185535301196,1.06971740308
+374,6.233333333,pose2_to_pose3_retreat,0.575747166513,0.00987781490226,1.07005103836,0.546318800912,0.0185535050399,1.06971753842
+375,6.250000000,pose2_to_pose3_retreat,0.575724605019,0.00987764720084,1.07005075219,0.546296241534,0.018553344456,1.06971725083
+376,6.266666667,pose2_to_pose3_retreat,0.575707188283,0.00987773993445,1.07005090455,0.546278823673,0.018553433401,1.06971740326
+377,6.283333333,pose2_to_pose3_retreat,0.575694878777,0.00987776175936,1.07005092183,0.546266513331,0.0185534521156,1.06971741341
+378,6.300000000,pose2_to_pose3_retreat,0.575686709593,0.00987777373412,1.07005088774,0.546258343622,0.0185534622022,1.06971737664
+379,6.316666667,pose2_to_pose3_retreat,0.575681377536,0.00987781102185,1.07005086294,0.546253011161,0.0185534983164,1.06971735693
+380,6.333333333,pose2_to_pose3_retreat,0.575678065479,0.00987782598357,1.07005081263,0.546249698717,0.0185535119851,1.06971730708
+381,6.350000000,pose2_to_pose3_retreat,0.5756757637,0.00987783305201,1.0700507635,0.546247396614,0.0185535179258,1.06971725716
+382,6.366666667,pose2_to_pose3_retreat,0.575674190718,0.00987783514305,1.0700507673,0.546245823522,0.0185535196266,1.06971726049
+383,6.383333333,pose2_to_pose3_retreat,0.575673342241,0.00987783135459,1.07005083643,0.546244975186,0.0185535163102,1.06971732949
+384,6.400000000,pose2_to_pose3_retreat,0.575672941527,0.0098778295654,1.07005086908,0.546244574538,0.018553514744,1.06971736208
+385,6.416666667,pose2_to_pose3_retreat,0.575672639095,0.00987782821503,1.07005089372,0.546244272156,0.0185535135619,1.06971738668
+386,6.433333333,pose2_to_pose3_retreat,0.575672625017,0.00987782815217,1.07005089487,0.54624425808,0.0185535135069,1.06971738782
+387,6.450000000,pose2_to_pose3_retreat,0.575672191447,0.00987782621628,1.0700509302,0.546243824582,0.0185535118122,1.06971742308
+388,6.466666667,pose2_to_pose3_retreat,0.57567190953,0.00987782495751,1.07005095317,0.546243542712,0.0185535107103,1.06971744601
+389,6.483333333,pose2_to_pose3_retreat,0.575671847399,0.0098778246801,1.07005095823,0.546243480591,0.0185535104675,1.06971745106
+390,6.500000000,pose2_to_pose3_retreat,0.575671720781,0.00987782411475,1.07005096855,0.546243353994,0.0185535099725,1.06971746136
+391,6.516666667,pose2_to_pose3_retreat,0.575671397049,0.00987782132921,1.07005099821,0.546243030245,0.0185535071035,1.0697174903
+392,6.533333333,pose2_to_pose3_retreat,0.575671039443,0.00987781139618,1.07005104777,0.546242672264,0.0185534957292,1.06971753561
+393,6.550000000,pose2_to_pose3_retreat,0.575670659644,0.00987780084666,1.07005110041,0.546242292064,0.018553483649,1.06971758374
+394,6.566666667,pose2_to_pose3_retreat,0.575670236735,0.00987778909973,1.07005115903,0.54624186871,0.0185534701977,1.06971763733
+395,6.583333333,pose2_to_pose3_retreat,0.575670091909,0.00987778465731,1.07005115297,0.546241724085,0.0185534664471,1.06971763158
+396,6.600000000,pose2_to_pose3_retreat,0.575670066792,0.00987778376653,1.07005114442,0.546241699103,0.0185534660421,1.06971762367
+397,6.616666667,pose2_to_pose3_retreat,0.575669986914,0.00987778093371,1.07005111725,0.546241619658,0.0185534647538,1.06971759851
+398,6.633333333,pose2_to_pose3_retreat,0.575669975526,0.00987778052986,1.07005111338,0.546241608332,0.0185534645702,1.06971759492
+399,6.650000000,pose2_to_pose3_retreat,0.575669703074,0.00987777086753,1.07005102069,0.546241337355,0.0185534601763,1.06971750911
+400,6.666666667,pose2_to_pose3_retreat,0.57566955603,0.0098777213462,1.07005092746,0.546241190287,0.0185534105332,1.06971741485
+401,6.683333333,pose2_to_pose3_retreat,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ea9c6e254a4507c4bd574703933f947d03be48d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b956c382dd07e9cc95c489e955a64620aefce9903526c38b927cdfd159cbc436
+size 25493558
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5088ebbc5ef7918c207946f388211ae651eded9e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_02/franka_data.csv
@@ -0,0 +1,404 @@
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+24,0.400000000,BASELINE,764,745,714,680,658,633.071407915,878,785,805,652,631,652,0.400973529463,0.00448502678964,0.07983611798,0.999999953962,0.000116542083839,-0.000275242014892,5.23002931614e-05,1793245114537742848
+25,0.416666667,BASELINE,764,745,714,680,658,633.508684294,878.508684294,785,805,652,631,652,0.40097504703,0.004483576881,0.0798369917015,0.999999954352,0.00011652799436,-0.000273733822252,5.27848317508e-05,1793245114554409728
+26,0.433333333,BASELINE,764,745,714,680,657.913322423,633.913322423,878.913322423,785,805,652,630.913322423,652,0.400976788457,0.00448221566189,0.0798381413783,0.999999954857,0.000116008779262,-0.00027201905572,5.32340642754e-05,1793245114571076352
+27,0.450000000,BASELINE,764,745,714,680,657.338963771,633.338963771,878.338963771,785,805,652,630.338963771,652,0.400976117129,0.00448227250465,0.0798382376339,0.999999954828,0.000113797622928,-0.000273108890476,5.29775489557e-05,1793245114587742976
+28,0.466666667,BASELINE,764,745,714,680,657.241536347,633.241536347,878,785,804.758463653,652,630,652,0.400975753759,0.00448283451744,0.079838276282,0.999999954915,0.000112515388279,-0.000273373160411,5.2693086155e-05,1793245114604409344
+29,0.483333333,BASELINE,764,745,714,680,657.830880013,633.830880013,878,785,804.169119987,652,630,652,0.400975833846,0.00448412396456,0.0798382319765,0.999999955179,0.000112570781687,-0.000272448634097,5.23683795786e-05,1793245114621075968
+30,0.500000000,BASELINE,764,745.412983992,714,680,658,634,878.412983992,785,804.412983992,652,630,652,0.400974862312,0.00448469180945,0.0798375383581,0.999999954882,0.000113009812706,-0.000273362130501,5.23267623552e-05,1793245114637742848
+31,0.516666667,BASELINE,764,745.992174328,714,680,658,634,878.992174328,785,804.992174328,652,630,652,0.400973467551,0.00448496924384,0.0798365834221,0.999999954358,0.000113603239548,-0.000275015343337,5.2399075091e-05,1793245114654409216
+32,0.533333333,BASELINE,764,745.433449508,714,679.433449508,658,634,878.433449508,785.566550492,805,652,630.566550492,652,0.400974934378,0.00448393314525,0.0798375358482,0.999999954614,0.000114932278643,-0.000273477426247,5.26563041715e-05,1793245114671076096
+33,0.550000000,BASELINE,764,745,714,679.141381765,658,633.858618235,878,785.858618235,805,652,631,652,0.400975898038,0.00448341277178,0.0798381419123,0.999999954818,0.000115494357701,-0.000272468626669,5.27908039401e-05,1793245114687742720
+34,0.566666667,BASELINE,764,745,714,679.71781627,658,633.28218373,878,785.28218373,805,652,631,652,0.400975192769,0.0044845347217,0.0798376017804,0.999999954835,0.000113665383159,-0.000273222494223,5.25398538053e-05,1793245114704409600
+35,0.583333333,BASELINE,764,745,714,680,658,633,878.301543412,785,805,652,630.698456588,652,0.400975158771,0.00448469876363,0.079837569034,0.999999954882,0.000113337921517,-0.000273199341611,5.2469794345e-05,1793245114721076224
+36,0.600000000,BASELINE,764,745,714,680,658,633,878.892264193,785,805,652,630.107735807,652,0.400975768516,0.00448394418069,0.0798380228655,0.999999954959,0.000114450396774,-0.000272431033866,5.25732073549e-05,1793245114737742848
+37,0.616666667,BASELINE,763.526920052,745,713.526920052,680,658,633,878.526920052,785,805,652,630,652,0.400975617537,0.00448412085744,0.0798378074663,0.999999954965,0.000114074255078,-0.000272568596033,5.25626174663e-05,1793245114754409472
+38,0.633333333,BASELINE,763.051417499,745,713.051417499,680,658,633,878.051417499,785,804.948582501,652,630,652,0.400975275875,0.00448444405989,0.0798373956707,0.999999954924,0.000113470953616,-0.000272977190622,5.25303362163e-05,1793245114771076096
+39,0.650000000,BASELINE,763.627015484,745,713.627015484,680,658,633,878.627015484,785,804.372984516,652,630,652,0.400974720193,0.00448414331932,0.0798365035441,0.999999954567,0.000113937011154,-0.000274088874572,5.25361664439e-05,1793245114787742720
+40,0.666666667,BASELINE,764,745,714,680,657.799837721,633,878.799837721,785,804.200162279,652,630,652,0.400974332133,0.0044839344759,0.0798361086861,0.999999954377,0.000114179421028,-0.000274690614434,5.24870123044e-05,1793245114804409344
+41,0.683333333,BASELINE,764,745,714,680,657.231203273,633,878.231203273,785,804.768796727,652,630,652,0.400974252646,0.00448389480294,0.0798366292335,0.999999954496,0.000114010125234,-0.000274353614901,5.23366392485e-05,1793245114821075968
+42,0.700000000,BASELINE,764,745,714,680,657,633,878,785,805,652,630,652,0.400974774804,0.00448361410902,0.0798374190012,0.999999954793,0.000113408448728,-0.000273505419983,5.24222635796e-05,1793245114837742848
+43,0.716666667,BASELINE,764,745,714,680,657,633,878,785,805,652,630,652,0.400975709202,0.00448316827081,0.079838393235,0.999999955208,0.000112510510849,-0.000272306960959,5.26695901151e-05,1793245114854409728
+44,0.733333333,BASELINE,764,745,713.467659846,680,657.532340154,633,878.532340154,785,805,652,630,652,0.400974170919,0.00448334180716,0.0798373730108,0.999999954564,0.00011360277211,-0.000274217691155,5.26492783764e-05,1793245114871076352
+45,0.750000000,BASELINE,764,745,713.110469644,679.889530356,658.110469644,633.110469644,878.889530356,785,805,652,630.110469644,652,0.400973123153,0.00448336292406,0.0798365988976,0.999999954127,0.000114212260461,-0.000275559513048,5.26103898033e-05,1793245114887742720
+46,0.766666667,BASELINE,764,745,713.683197659,679.316802341,658.683197659,633.683197659,878.316802341,785,805,652,630.683197659,652,0.400975043024,0.00448251702899,0.079837592732,0.999999954972,0.000112065069458,-0.000273370112469,5.25928131504e-05,1793245114904409344
+47,0.783333333,BASELINE,764,745,714,679.254706856,658.745293144,634,878.254706856,785,805.254706856,652,631,652,0.400976438048,0.00448282659353,0.079838538805,0.999999955406,0.000112293105488,-0.000271693969584,5.25327242328e-05,1793245114921075968
+48,0.800000000,BASELINE,764,745,714,679.824707396,658.175292604,634,878.824707396,785,805.824707396,652,631,652,0.400977183382,0.00448456646544,0.0798394257557,0.999999955334,0.000115461360782,-0.000270653172118,5.2420010705e-05,1793245114937742592
+49,0.816666667,BASELINE,764,745,714,680,658.415414097,634,879,785.415414097,805.584585903,652,630.584585903,652,0.400976811828,0.00448437847403,0.0798394313697,0.999999955306,0.000114828804288,-0.000271007159976,5.25034810275e-05,1793245114954409216
+50,0.833333333,BASELINE,764.014684748,745,714,680.014684748,658.985315252,634,878.985315252,786,805,652.014684748,630.014684748,652,0.400975926619,0.0044833890292,0.0798390215343,0.999999955279,0.000112635532372,-0.000271995991247,5.26647567843e-05,1793245114971076096
+51,0.850000000,BASELINE,764.589842695,745,714,680.589842695,658.410157305,634,878.410157305,786,805,652.589842695,630.589842695,652,0.400974368245,0.0044844882503,0.0798376941065,0.999999954555,0.000115299091639,-0.000273572952722,5.24702700366e-05,1793245114987742976
+52,0.866666667,BASELINE,764.835432348,745,714,680.835432348,658,634,878,786,805,652.835432348,631,652,0.400973654834,0.00448509378415,0.0798370225956,0.999999954226,0.000116505842125,-0.000274307672043,5.22457071731e-05,1793245115004409344
+53,0.883333333,BASELINE,764.261783747,745,714,680.261783747,658,634,878,786,805,652.261783747,631,652,0.400975041823,0.0044844721141,0.0798379815573,0.999999954892,0.000114091268867,-0.000272948752485,5.19463813552e-05,1793245115021076224
+54,0.900000000,BASELINE,764,745,714,680,657.676074803,633.676074803,878.323925197,785.676074803,804.676074803,652,631,652,0.400975578165,0.00448414646632,0.0798383687138,0.999999955168,0.000113145609869,-0.000272313805427,5.20283022089e-05,1793245115037742848
+55,0.916666667,BASELINE,764,745,714,680,657.080242267,633.080242267,878.919757733,785.080242267,804.080242267,652,631,652,0.40097540046,0.0044840693038,0.079838275889,0.999999955122,0.000113432978151,-0.000272286571072,5.24302468626e-05,1793245115054409472
+56,0.933333333,BASELINE,764,745,714,680.500064926,657.500064926,633,879,785,804,652,630.499935074,652,0.400975465519,0.0044836212609,0.0798385376644,0.99999995513,0.00011394842972,-0.00027200134484,5.26348791615e-05,1793245115071076096
+57,0.950000000,BASELINE,764,745,714,680.922773009,658,633,878.922773009,785,804.077226991,652,630,652,0.400975593371,0.00448314178889,0.0798387581612,0.999999955139,0.000114387473482,-0.000271757260762,5.27761255482e-05,1793245115087742720
+58,0.966666667,BASELINE,764,745,714,680.350285612,658,633,878.350285612,785,804.649714388,652,630,652,0.400975881621,0.00448283092703,0.0798383600189,0.999999955099,0.000114108865949,-0.000272034518567,5.27078073922e-05,1793245115104409344
+59,0.983333333,BASELINE,764,745,714,680,658,633,878,785,805,652,630,652,0.400976102798,0.00448311700851,0.0798381466622,0.99999995504,0.000114269893861,-0.000272213242863,5.25633635938e-05,1793245115121075968
+60,1.000000000,BASELINE,764,745,714,680,658,633,878,785,805,652,630,652,0.400976218238,0.00448434412972,0.0798382246072,0.999999954949,0.000115123976515,-0.000272236635955,5.22989129898e-05,1793245115137743104
+61,1.016666667,BASELINE,764,745,714,680,658,633.404060519,878,785.404060519,805,652,630.404060519,652,0.400976318461,0.00448416217816,0.0798382603983,0.999999955011,0.000115415582981,-0.000271860001217,5.24357939865e-05,1793245115154409984
+62,1.033333333,BASELINE,764,745,714,680,658,633.983189799,878,785.983189799,805,652,630.983189799,652,0.40097641209,0.00448336971248,0.0798382779253,0.999999955138,0.000115463483305,-0.000271310044974,5.27465613922e-05,1793245115171076608
+63,1.050000000,BASELINE,764,745,714,680,658,634,878.559059208,785.440940792,805.559059208,652,631,652,0.400975906683,0.00448270580454,0.0798380360214,0.999999955085,0.000114134513351,-0.000272081659194,5.26730571433e-05,1793245115187743232
+64,1.066666667,BASELINE,764,745,714,680,658,633.865597658,878.865597658,785.134402342,805.865597658,652,630.865597658,652,0.400975924117,0.00448241726474,0.0798381180417,0.999999955155,0.000113129026288,-0.000272261082485,5.25888469215e-05,1793245115204409856
+65,1.083333333,BASELINE,764,745,714,680,658,633.291656948,878.291656948,785.708343052,805.291656948,652,630.291656948,652,0.400977709972,0.00448334372973,0.0798392847596,0.99999995565,0.000113316039831,-0.000270374650867,5.25071927981e-05,1793245115221076992
+66,1.100000000,BASELINE,764,745,714,680,658,633.291282197,878.291282197,785.708717803,805,652,630,652,0.400977961,0.00448413190735,0.0798397058498,0.999999955744,0.000113623528036,-0.000269928378165,5.23513464341e-05,1793245115237743360
+67,1.116666667,BASELINE,764,745,714,680,658,633.883518533,878.883518533,785.116481467,805,652,630,652,0.400976626237,0.00448477720576,0.0798393565539,0.999999955425,0.000114055491219,-0.000270970084559,5.21188443028e-05,1793245115254409728
+68,1.133333333,BASELINE,764,745,714,680,658,634,878.534868223,785,805,652,630,652,0.400976112483,0.00448450576804,0.0798389195266,0.999999955353,0.000113109265032,-0.000271645002269,5.20520438138e-05,1793245115271076352
+69,1.150000000,BASELINE,764,745,714,680,658,633.956219213,878.043780787,785.043780787,805,652,630.043780787,652,0.400975825623,0.00448402022951,0.079838496786,0.999999955339,0.000111965109801,-0.000272172457689,5.2042341321e-05,1793245115287743232
+70,1.166666667,BASELINE,764,745,714,680,658,633.381972945,878.618027055,785.618027055,805,652,630.618027055,652,0.400975852348,0.00448366007591,0.0798385074073,0.999999955314,0.000112511193586,-0.000272001286281,5.22329038593e-05,1793245115304409856
+71,1.183333333,BASELINE,764,745,714,680,658,633,878.808762443,785.808762443,805,652,630.808762443,652,0.400976385976,0.00448421333577,0.0798388883546,0.999999955343,0.000113921240021,-0.00027129792899,5.22763198217e-05,1793245115321076480
+72,1.200000000,BASELINE,764,745,714,680,658,633,878.237609508,785.237609508,805,652,630.237609508,652,0.400977926621,0.00448658119633,0.0798400049968,0.999999955471,0.000117047647612,-0.000269537323266,5.20274122397e-05,1793245115337743104
+73,1.216666667,BASELINE,764,745,714,680,658,633.348085939,878.348085939,785,804.651914061,652,630,652,0.400978072252,0.00448634501609,0.0798401823253,0.999999955538,0.000116780697683,-0.000269379270916,5.21671326653e-05,1793245115354409472
+74,1.233333333,BASELINE,764,745,714,680,658,633.944141138,878.944141138,785,804.055858862,652,630,652,0.400977224105,0.00448425377062,0.079839690506,0.99999995556,0.000114096389485,-0.000270362844721,5.25837037025e-05,1793245115371076096
+75,1.250000000,BASELINE,763.480369546,745,713.480369546,679.480369546,658,633.480369546,878.480369546,785,804.519630454,652,630,652,0.400977256921,0.00448491049966,0.0798396931703,0.999999955459,0.000115045772829,-0.000270354064384,5.24989000945e-05,1793245115387742720
+76,1.266666667,BASELINE,763,745,713.093779557,679.093779557,658.093779557,633,878.093779557,785,805,652,630,652,0.400977282782,0.00448552529423,0.0798396560922,0.99999995534,0.000116013705521,-0.000270402556196,5.2375286604e-05,1793245115404409600
+77,1.283333333,BASELINE,763,745,713.671990895,679.671990895,658.671990895,633,878.671990895,785,805,652,630,652,0.400976802152,0.00448445563396,0.0798391495895,0.999999955208,0.000115136513713,-0.000271276963541,5.23190053871e-05,1793245115421076480
+78,1.300000000,BASELINE,763.255397307,745,714,680,658.489205386,633.255397307,878.744602693,785,805,652,630,652,0.400976180458,0.00448414773048,0.0798385463009,0.999999955102,0.000114988797665,-0.000271735338703,5.22807656733e-05,1793245115437742848
+79,1.316666667,BASELINE,763.845614291,745,714,680,657.308771419,633.845614291,878.154385709,785,805,652,630,652,0.400975373833,0.00448483847178,0.0798378161281,0.999999955033,0.000115797406721,-0.000271648305692,5.22661779373e-05,1793245115454409472
+80,1.333333333,BASELINE,764,745,714,680,657,633.572432261,878,785,805,652,630,652,0.400976481754,0.00448515747721,0.0798390657581,0.999999955335,0.000116085558207,-0.000270373624184,5.24588240047e-05,1793245115471076352
+81,1.350000000,BASELINE,764,745,714,680,657,633.006525769,878,785,805,652,630,652,0.400978222197,0.00448532750683,0.0798409729348,0.999999955758,0.000116162070639,-0.000268720288582,5.27197574267e-05,1793245115487742720
+82,1.366666667,BASELINE,764,745,714,680,657,633.579558845,878,785,805,652,630,652,0.400975997852,0.00448399615996,0.0798390808747,0.999999955493,0.000113870736282,-0.000270717350385,5.25360748693e-05,1793245115504409600
+83,1.383333333,BASELINE,763.854413548,745,713.854413548,680,657.145586452,633.854413548,878.145586452,785.145586452,805,652,630.145586452,652,0.400974585795,0.00448302743743,0.0798378148981,0.999999955245,0.000112659356311,-0.000272147734101,5.2470158721e-05,1793245115521075968
+84,1.400000000,BASELINE,763.307688197,745,713.307688197,680,657.692311803,633.307688197,878.692311803,785.692311803,805,652,630.692311803,652,0.400975411859,0.00448305786475,0.0798382739886,0.999999955067,0.000114423607884,-0.000272016732433,5.2728727998e-05,1793245115537742848
+85,1.416666667,BASELINE,763.274197637,745,713.274197637,680,658,633.274197637,879,785.725802363,805,652,630.725802363,652,0.400975982584,0.00448378237078,0.0798387133413,0.999999955107,0.000114865439951,-0.000271700609615,5.26348695351e-05,1793245115554409472
+86,1.433333333,BASELINE,763.901341943,745,713.901341943,680,658,633.901341943,879,785.098658057,805,652,630.098658057,652,0.40097622464,0.0044854002936,0.0798391272877,0.99999995543,0.000113605056068,-0.000271146199215,5.20873667485e-05,1793245115571076352
+87,1.450000000,BASELINE,764,745,714,679.512222261,657.512222261,633.512222261,878.512222261,785,805,652,630.487777739,652,0.400976587161,0.0044842469671,0.0798390829576,0.999999955605,0.00011341679199,-0.000270525803619,5.2360695561e-05,1793245115587742976
+88,1.466666667,BASELINE,764,745,714,679.066120869,657.132241737,633.066120869,878.066120869,785,805,652,630.933879131,652,0.400976786645,0.00448292778205,0.0798388632745,0.999999955661,0.000113728326451,-0.000270120212225,5.27219452479e-05,1793245115604409344
+89,1.483333333,BASELINE,764,745,714,679.640671743,658.281343487,633.640671743,878.640671743,785,805,652,630.359328257,652,0.400975559546,0.004484311265,0.0798379530689,0.999999955004,0.000116344026801,-0.000271461056069,5.25809819891e-05,1793245115621075968
+90,1.500000000,BASELINE,764,745,714,679.784829145,658.784829145,633.784829145,879,785,805,652,630,652,0.400974885041,0.00448544936851,0.0798378436255,0.999999954722,0.00011767610611,-0.000271943830614,5.24893593128e-05,1793245115637742848
+91,1.516666667,BASELINE,764,745,714,679.210416511,658.210416511,633.210416511,879,785,805,652,630,652,0.400975133128,0.00448617779491,0.0798390711068,0.999999955075,0.000116865096099,-0.000270994002361,5.24801139718e-05,1793245115654409472
+92,1.533333333,BASELINE,764,745,714,679.375656596,658,633.375656596,878.624343404,785.375656596,805.375656596,652,630.375656596,651.624343404,0.400975866981,0.00448642185286,0.0798394676235,0.999999955038,0.000117809759626,-0.00027071216484,5.25303251284e-05,1793245115671076096
+93,1.550000000,BASELINE,764,745,714,679.96847037,658,633.96847037,878.03152963,785.96847037,805.96847037,652,630.96847037,651.03152963,0.400976881643,0.00448638591026,0.0798393837817,0.999999954773,0.00011976933168,-0.000270816475064,5.26149065183e-05,1793245115687742720
+94,1.566666667,BASELINE,764,745,714,680,658,634,878,785.454313373,805.454313373,652,630.454313373,651.545686627,0.400976788001,0.00448606820621,0.0798391357605,0.99999995468,0.000119859571161,-0.000271116504188,5.26278331126e-05,1793245115704409344
+95,1.583333333,BASELINE,764,745,713.878821905,679.878821905,657.878821905,634,878,785,805,652,630,652,0.400976688233,0.00448560595725,0.079839085208,0.999999954768,0.000119270906059,-0.000271060382744,5.25822155739e-05,1793245115721076224
+96,1.600000000,BASELINE,764,745,713.306489718,679.306489718,657.306489718,634,878,785,805,652,630,652,0.400976797446,0.00448466448552,0.0798398041805,0.999999955487,0.000116545586121,-0.000269637356541,5.23336202194e-05,1793245115737743360
+97,1.616666667,BASELINE,764,745,713.275363117,679,657.275363117,633.724636883,878,785,804.724636883,652,630,652,0.400976033048,0.00448479241232,0.0798396273649,0.999999955471,0.000115536961337,-0.000270160004574,5.21881748216e-05,1793245115754409984
+98,1.633333333,BASELINE,764,745,713.86819227,679,657.86819227,633.13180773,878,785,804.13180773,652,630,652,0.400974261464,0.00448615324834,0.0798384177955,0.999999954608,0.000116507513917,-0.000272925819798,5.21616509854e-05,1793245115771076352
+99,1.650000000,BASELINE,764,745,714,679.449407536,658,633.449407536,878.449407536,785,804.449407536,652,630,652,0.400973495663,0.00448532452799,0.0798375107483,0.999999954246,0.000116187281205,-0.00027430805755,5.25770873324e-05,1793245115787742976
+100,1.666666667,BASELINE,764,745,714,680,658,633.972717565,879,785,805,652,630.027282435,652,0.400973079268,0.00448397495354,0.0798367825242,0.999999954061,0.000115523819242,-0.000275164184069,5.30767317451e-05,1793245115804409600
+101,1.683333333,BASELINE,764,745,714,680,658,633.395244083,879,785,805,652,630.604755917,652,0.400973910145,0.00448474584842,0.0798379162888,0.999999954583,0.000115380875215,-0.000273387750335,5.27263589177e-05,1793245115821076224
+102,1.700000000,BASELINE,764,745,713.818053976,680,658,633.181946024,878.818053976,785,805,652,630.818053976,652,0.400975027394,0.0044853478204,0.079838919059,0.99999995504,0.000115529888714,-0.000271712687197,5.23891180623e-05,1793245115837742592
+103,1.716666667,BASELINE,764,745,713.241478564,680,658,633.758521436,878.241478564,785,805,652,630.241478564,652,0.400976765763,0.00448558340923,0.0798396377105,0.99999995536,0.000116312139592,-0.000270257490684,5.2080359667e-05,1793245115854409216
+104,1.733333333,BASELINE,764.343821062,745,713.343821062,680,658,634,878.343821062,785,805,652,630,652,0.400976994351,0.00448453279213,0.0798396125127,0.999999955698,0.00011447503573,-0.000269807256057,5.19874809633e-05,1793245115871076096
+105,1.750000000,BASELINE,764.935407623,745,713.935407623,680,658,634,878.935407623,785,805,652,630,652,0.400976134957,0.00448255530498,0.0798390512797,0.999999956041,0.00011075036367,-0.000270081220311,5.20501701814e-05,1793245115887742976
+106,1.766666667,BASELINE,764.486634192,745,714,680,657.486634192,633.486634192,878.486634192,785.513365808,805,652,630.513365808,652,0.400975381591,0.00448368995987,0.0798384724579,0.999999955433,0.000112648334203,-0.000271500727548,5.22662323087e-05,1793245115904409600
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,746,714,680,658,634,879,786,805,652,631,652,0.400975577426,0.00448490277936,0.0798383756047,0.999999955428,0.000114057049514,-0.000270996758072,5.19126728712e-05,1793245115947654144
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.425062445,714,680,657.425062445,634,879.574937555,785.425062445,805,652,630.425062445,652,0.40097608136,0.0044847583776,0.0798391890771,0.999999955672,0.000114438040549,-0.000269931061627,5.19371195476e-05,1793245115964320768
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657.15590471,633.84409529,879.68819058,785,805,652,630,652,0.400976300799,0.00448468316665,0.0798396531546,0.999999955743,0.000114743930683,-0.000269537143012,5.19385350054e-05,1793245115980987136
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,714,680,657.753972618,633.246027382,878.492054764,785,805,652,630,652,0.400975713374,0.00448480418854,0.0798391263096,0.999999955327,0.000114836826354,-0.000271048461232,5.18746313569e-05,1793245115997653760
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.336964096,745,714,680,658,633,878,785,805,652,630,652,0.400975294725,0.00448514011835,0.0798387611284,0.999999954996,0.000115728324479,-0.000271881127583,5.19245764178e-05,1793245116014320384
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.90941921,745,714,680,658,633,878,785,805,652,630,652,0.400974994026,0.0044856262389,0.0798385089278,0.999999954723,0.000117177934597,-0.000272239510611,5.20540858897e-05,1793245116030987264
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.514375534,745,714,680,658,633.485624466,878.485624466,785,805,652,630,652,0.400976535708,0.00448566482907,0.0798396148899,0.999999955333,0.000116550533084,-0.00027028491869,5.19158878686e-05,1793245116047653888
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.93580099,878.93580099,785,805,652,630,652,0.400978458433,0.00448555041817,0.0798408637021,0.999999956029,0.000115579758211,-0.00026814762445,5.17685886656e-05,1793245116064320512
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.343536383,878.343536383,785,805,652,630,652,0.400980666735,0.00448486947029,0.0798411875474,0.999999956104,0.000114996030929,-0.000268083812277,5.19603538581e-05,1793245116080986880
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.241697923,633.241697923,878.241697923,785,804.758302077,652,630.241697923,651.758302077,0.400990097914,0.00448451477034,0.0798451830906,0.999999957778,0.000115107251151,-0.000261688596434,5.20870864625e-05,1793245116097653248
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.817222126,633.817222126,878.817222126,785,804.182777874,652,630.817222126,651.182777874,0.401009505123,0.0044846106748,0.0798542498782,0.9999999615,0.000116178313084,-0.000246548626273,5.21239978853e-05,1793245116114320128
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.608822824,633.608822824,879.391177176,785,804.391177176,652,631,651.391177176,0.401048236981,0.00448414413238,0.0798695180037,0.999999968312,0.000113741639444,-0.000218601995622,5.15050480199e-05,1793245116130987008
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.035597984,633.035597984,879.964402016,785,804.964402016,652,631,651.964402016,0.401095962226,0.0044834158361,0.0798876721346,0.999999975651,0.000109672521191,-0.000184695346399,5.05808706505e-05,1793245116147653632
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,657.462187061,633.537812939,878.924374123,785,805,652,630.462187061,652,0.401162840981,0.00448449638733,0.0799030005127,0.999999980492,0.000110151814459,-0.000156368590638,4.93050555662e-05,1793245116164320512
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745.1157151,714,680,657.1157151,634,878,785.1157151,805,652,630,652,0.401232409727,0.0044856166457,0.0799165527669,0.999999983938,0.000110625925512,-0.000132640913178,4.78777457552e-05,1793245116180987136
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745.712227379,714,680,657.712227379,634,878,785.712227379,805,652,630,652,0.401307885983,0.00448640424452,0.0799235026271,0.999999984915,0.000109827162795,-0.000126487315429,4.59177151236e-05,1793245116197653760
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745.701659385,714,680,658,633.701659385,878.298340615,785.701659385,805,652,630.298340615,651.701659385,0.401393916287,0.00448805208832,0.0799278511192,0.999999985927,0.000108461026188,-0.000120493993336,4.3170852079e-05,1793245116214320384
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745.12523901,714,680,658,633.12523901,878.87476099,785.12523901,805,652,630.87476099,651.12523901,0.401489783889,0.00449050175625,0.0799297749065,0.999999986962,0.000106566047129,-0.000114650062657,3.96905919596e-05,1793245116230987264
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679.550416797,658,633.449583203,878.550416797,785,805,652,630.550416797,651.449583203,0.401607557615,0.00449210662931,0.0799337393767,0.999999987799,0.000105400384629,-0.000109443859318,3.62665595088e-05,1793245116247653632
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745.024746324,714,679.049492648,658,634,878.024746324,785,805,652,630,652,0.401732880141,0.00449347262441,0.0799384115213,0.999999988614,0.000104341543299,-0.000103969232457,3.27922450323e-05,1793245116264320256
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745.617930685,714,680.23586137,658,634,878.617930685,785,805,652,630,652,0.40189192572,0.00449473801676,0.0799463276031,0.999999990609,0.000101086191295,-8.82624857183e-05,2.78044028875e-05,1793245116280987136
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745.794688181,714,680.794688181,658,634,879,785,805,652,630.205311819,652,0.402060443473,0.00449678374804,0.079953457466,0.999999992114,9.84407220247e-05,-7.46698121838e-05,2.24790239038e-05,1793245116297653760
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745.217809605,714,680.217809605,658,634,879,785,805,652,630.782190395,652,0.402246103644,0.00450024171156,0.0799591644544,0.999999993062,9.6898999385e-05,-6.49031223727e-05,1.65427821088e-05,1793245116314320640
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.640994177,879,785,805,652.359005823,631,652,0.402444436142,0.00450316876683,0.0799601680571,0.999999993863,9.06657229983e-05,-6.29190870887e-05,9.76813651973e-06,1793245116330987520
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.064216997,879,785,805,652.935783003,631,652,0.402650455636,0.00450577377582,0.0799583186073,0.999999994513,8.15865705592e-05,-6.56559749158e-05,2.4849182986e-06,1793245116347654144
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680.509912225,658,633.509912225,879,785,805.509912225,652.490087775,630.490087775,652,0.402879624169,0.00450794610028,0.0799508408672,0.999999994125,7.2619421338e-05,-8.02872000649e-05,-5.53128414545e-06,1793245116364320512
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680.913734186,658,634,879,785.086265814,806,652,630,652,0.403120004381,0.00451049473353,0.079943638863,0.99999999338,6.46957663013e-05,-9.41786493561e-05,-1.36030099657e-05,1793245116380987136
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680.322415256,658,634,879,785.677584744,806,652,630,652,0.4034090448,0.00451556388721,0.0799421795651,0.999999993284,6.27992092877e-05,-9.50144391781e-05,-2.14621590517e-05,1793245116397653504
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785.736741213,805.736741213,652,630,652,0.403720366375,0.00452184624496,0.0799434944642,0.999999992021,8.31020095337e-05,-9.24611355915e-05,-2.24402429187e-05,1793245116414320128
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785.157835418,805.157835418,652,630,652,0.404058403017,0.00452958323279,0.0799481356225,0.999999987748,0.00013002181572,-8.58443123806e-05,-1.5167936335e-05,1793245116430986752
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785,805,652,630,652,0.404424520813,0.0045381835154,0.0799514160271,0.999999992564,9.15947736485e-05,-7.85136950388e-05,-1.78291712732e-05,1793245116447653888
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,785,805,652,630,652,0.404801164634,0.0045471073981,0.0799541863622,0.999999996968,2.11760369384e-05,-7.09155166086e-05,-2.42139276743e-05,1793245116464320768
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,680.581420674,658,634,879,785,805.581420674,652,630.581420674,652,0.405229902053,0.00455184477781,0.0799542732306,0.999999996474,4.38790401374e-05,-6.62007189917e-05,-2.72775266408e-05,1793245116480987392
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,680.83303261,658,633.83303261,879.16696739,785,805.83303261,652,630.83303261,652,0.405664621991,0.00455782841255,0.0799511853242,0.999999994891,6.72808247803e-05,-6.9125926196e-05,-3.02278586797e-05,1793245116497653760
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,680.253827238,658,633.253827238,879.746172762,785,805.253827238,652,630.253827238,652,0.406112631649,0.0045670080285,0.0799403352689,0.999999991302,8.97606592128e-05,-9.08321325826e-05,-3.29929495265e-05,1793245116514320384
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.32353658,879.35292684,785,805.32353658,652,630,652,0.406584967532,0.00457599323726,0.0799314301121,0.9999999877,0.000110412610431,-0.000106375208182,-3.30734717948e-05,1793245116530987264
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.899463866,878.201072268,785,805.899463866,652,630,652,0.407076280335,0.00458482679007,0.0799240421683,0.999999984257,0.000129638633387,-0.000117110431222,-3.10597639122e-05,1793245116547653888
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.524833059,878.475166941,785,805.524833059,652,630.475166941,652,0.407597204159,0.00459349714095,0.0799214466448,0.999999982381,0.000137435667569,-0.000123723060607,-3.22741528574e-05,1793245116564320512
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745.052138863,714,680,658,633.052138863,879,785,805,652,630.947861137,652,0.4081293531,0.00460186613338,0.0799192762341,0.999999980728,0.000142941190645,-0.000130225789395,-3.39666948992e-05,1793245116580987392
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745.642703934,714,680,658,633.642703934,879,785,805,652,630.357296066,652,0.408712753677,0.00460747949048,0.0799110296263,0.999999977772,0.000149742741595,-0.000144596997435,-3.35471278227e-05,1793245116597654272
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745.771336074,714,680,658,634,879,785,805,652,630,652,0.409332901718,0.00460670798216,0.0799198095058,0.999999979834,0.000148572148922,-0.000130997486608,-3.31232530906e-05,1793245116614320896
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.192429675,714,680,658,634,879,785,805,652,630,652,0.410009335483,0.00459615683277,0.0799546687027,0.999999987548,0.000135190695092,-7.4555476968e-05,-3.26927803184e-05,1793245116630987520
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.383966259,714,680.383966259,658,633.616033741,878.616033741,785,805,652,630,652,0.410694295049,0.00458830488375,0.0799798982276,0.999999991484,0.000121861249874,-3.28922250902e-05,-3.31637639698e-05,1793245116647654400
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.959112197,714,680.959112197,658,633.040887803,878.040887803,785,805,652,630,652,0.411383499654,0.00458179688713,0.0800003330656,0.999999993526,0.000108557700541,1.4125707798e-06,-3.40835895455e-05,1793245116664321024
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.465941529,714,681,658.534058471,633.534058471,878.534058471,785,805,652,630,652,0.412047871093,0.00457116575369,0.0799771506108,0.99999999307,0.00010544419267,-3.92103190851e-05,-3.46966227432e-05,1793245116680987392
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680.887414315,659,634,879,785,805,652,630,652,0.41272436206,0.00456436372372,0.0799498531177,0.999999990456,0.000104407941614,-8.29470700499e-05,-3.61398145632e-05,1793245116697653760
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680.293513037,659,634,879,785,805,652,630,652,0.41346079006,0.00457528053122,0.0799192342049,0.99999998655,0.00010891818438,-0.000115480901733,-4.12323984551e-05,1793245116714320384
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680.28961036,659,634,879,785,805,652,630.28961036,652,0.41422091055,0.00458543543225,0.079912907774,0.999999985299,0.000118708024863,-0.000115724645848,-4.38019006284e-05,1793245116730987520
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680.862202628,659,634,879,785,805,652,630.862202628,652,0.415004181355,0.00459484586624,0.0799303178276,0.999999986541,0.000133656626845,-8.44173452637e-05,-4.39060686867e-05,1793245116747654656
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.420675997,714,681,659,634,879,785,805,652,631,652,0.415793304175,0.0046010574403,0.0799429093753,0.999999988041,0.000128388271866,-7.43281783134e-05,-4.36913094157e-05,1793245116764321536
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.974674702,714,681,659,634,879,785,805,652,631,652,0.416584281598,0.00460625521537,0.0799539738173,0.99999998973,0.000116712658492,-7.09635686e-05,-4.33754741242e-05,1793245116780987904
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745.409759624,714,681,659,634,879,785,805.590240376,652,630.409759624,652,0.417395138724,0.00461020551967,0.0799457498025,0.999999986549,0.000138215798945,-7.56306351874e-05,-4.55976587668e-05,1793245116797654272
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659.194632276,633.805367724,879,785,805.805367724,652,630.194632276,652,0.418247707899,0.00461106856948,0.0799510399271,0.999999986469,0.000147063216709,-5.61096246949e-05,-4.7803793762e-05,1793245116814320640
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659.771302433,633.228697567,879,785,805.228697567,652,630.771302433,652,0.419180283111,0.00460598903697,0.079984670214,0.99999999051,0.000127949350205,1.16446455373e-05,-4.97397793917e-05,1793245116830987264
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745.351360985,714,681,659.648639015,633,879,785,805.351360985,652,630.648639015,652,0.420043593174,0.00460077902071,0.0799884375983,0.99999999122,0.000120703351194,2.09106039994e-05,-5.05257112172e-05,1793245116847653888
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745.933646463,714,681,659.066353537,633,879,785,805.933646463,652,630.066353537,652,0.420861380162,0.004595483247,0.0799725782271,0.999999991336,0.000121257255273,-8.26363242113e-06,-5.0555794775e-05,1793245116864320256
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,746,714,681,659,633.503033902,879,785,805.496966098,652,630,652,0.421763773298,0.00460043933256,0.0799717593672,0.999999991289,0.000120998806274,-9.72013674344e-06,-5.1836855861e-05,1793245116880987136
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745.926456072,714,681,659.073543928,634,879.073543928,785,805.073543928,652,630,652,0.422676336606,0.00460639944976,0.0799764644158,0.999999991119,0.000122343511916,-2.91081324266e-06,-5.27783649174e-05,1793245116897654272
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745.336412581,714,681,659.663587419,634,879.663587419,785,805.663587419,652,630,652,0.423583906484,0.00461015117475,0.0800063789851,0.999999988854,0.000135680920421,3.69141985666e-05,-5.02052855555e-05,1793245116914320896
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.749771975,745,714,681,659.749771975,633.749771975,880,785,806,652,630,651.749771975,0.424474449996,0.00461419495786,0.0800031705136,0.999999988222,0.000144433796251,1.80900314308e-05,-4.86610474063e-05,1793245116930987264
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.167644827,745,714,681,659.167644827,633.167644827,880,785,806,652,630,651.167644827,0.425342410089,0.00461862612352,0.0799560280855,0.999999984922,0.000147105810085,-7.85256210754e-05,-4.84814499613e-05,1793245116947653632
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.409513571,745,713.590486429,681,659.409513571,633,880,785,805.590486429,652,630,651.409513571,0.426250168467,0.00461853792773,0.079930168848,0.999999983101,0.000143010846747,-0.000103620046184,-5.10745253509e-05,1793245116964320256
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.984662234,745,713.015337766,681,659.984662234,633,880,785,805.015337766,652,630,651.984662234,0.42717402392,0.00461662179507,0.0799129179804,0.999999984248,0.000136178858597,-9.97864256009e-05,-5.47890580065e-05,1793245116980986880
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,713,681.553645235,660.553645235,633.553645235,879.446354765,785,805.553645235,652,630,652,0.428064149143,0.00461296892247,0.0799148721602,0.999999983518,0.00013587920331,-0.000107699997477,-5.38697858608e-05,1793245116997653504
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,713.128980872,682,660.871019128,633.871019128,879,785,806,652,630,652,0.428962457396,0.00461055422254,0.0799228689594,0.999999983844,0.000135027043667,-0.000106214630082,-5.28999780711e-05,1793245117014320384
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,713.728087073,682,660.271912927,633.271912927,879,785,806,652,630,652,0.429893960556,0.00461282600457,0.0799509727467,0.999999987589,0.000131508703089,-6.92977316035e-05,-5.22087222194e-05,1793245117030987776
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745.314967952,713.685032048,682,660,633,879,785,805.685032048,652,630,652,0.430847019666,0.00461582329095,0.0799877436679,0.999999989549,0.000134048698614,-1.51037234404e-05,-5.20103160567e-05,1793245117047654656
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745.891688989,713.108311011,682,660,633,879,785,805.108311011,652,630,652,0.431817992732,0.00461942350524,0.0800317173808,0.999999987179,0.000141623454299,5.34483683066e-05,-5.22214908993e-05,1793245117064321536
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745.533908852,713,682.466091148,660,633,879,785,805.466091148,652,630,652,0.43266768943,0.00462455183131,0.0800088874921,0.99999998748,0.000149047558173,1.23399422671e-05,-5.16895396515e-05,1793245117080987648
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745.041215355,713,682.958784645,659.958784645,633.041215355,879.041215355,785.041215355,806,651.958784645,630.041215355,652,0.433489256822,0.00462949592373,0.0799697230186,0.999999985235,0.000154896783506,-5.39489977332e-05,-5.12546793968e-05,1793245117097653504
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745.633151705,713,682.366848295,659.366848295,633.633151705,879.633151705,785.633151705,806,651.366848295,630.633151705,652,0.434309668557,0.00462725683812,0.0799186996726,0.999999981748,0.000140167898207,-0.000117880556033,-5.44132061213e-05,1793245117114320128
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+179,2.983333333,POSE1_TO_POSE2_PRESS,764,746,713,682,661.398673801,633.200442066,880,785.200442066,806.799557934,651,630.200442066,652,0.436045879011,0.00461694025356,0.0799339677463,0.999999986597,0.000127582999991,-8.57057534981e-05,-5.64226179078e-05,1793245117147653888
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745.624930064,713.375069936,682.375069936,661.249860128,633,880.375069936,785,807,651.375069936,630,652,0.436917792528,0.00461553356309,0.0799644965919,0.999999989051,0.000128420830617,-4.86210671901e-05,-5.5156166356e-05,1793245117164320512
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745.051412713,713.948587287,682.948587287,660.102825425,633,880.948587287,785,807,651.948587287,630,652,0.437780390556,0.00461680532965,0.0799932039385,0.999999989812,0.000131027040543,-1.94366394549e-05,-5.31997330768e-05,1793245117180987392
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,714,683,659.47691242,633,879.953824839,785,806.47691242,652,630,652,0.438575990792,0.00462300710861,0.0799889069987,0.999999989586,0.000132090621134,-2.2229976742e-05,-5.37215888025e-05,1793245117197654272
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,714,683,659,633,879.100905495,785,806,652,630,652,0.439347320738,0.00463036596757,0.0799728914033,0.999999988183,0.000137374444504,-4.24735981788e-05,-5.43953536492e-05,1793245117214320896
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,714,683,659,633,879.694448007,785,806,652,630,652,0.44003236879,0.00464100374324,0.0799155304545,0.999999976276,0.00016400380694,-0.000132538821363,-5.46193095733e-05,1793245117230987520
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,713.72022624,683.27977376,659,632.72022624,880,785,806.27977376,652,630,652,0.440680605118,0.00465118552496,0.0798341142678,0.999999949699,0.000173166587223,-0.000259910830588,-5.53393653239e-05,1793245117247654144
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,713.143618334,683.856381666,659,632.143618334,880,785,806.856381666,652,630,652,0.441289784929,0.00466088350591,0.079727175977,0.999999893878,0.000163797682625,-0.000426864555403,-5.65857719128e-05,1793245117264321024
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,713,684,659,632,880,785,807,652,630,652,0.441974503455,0.00466952910452,0.0796953864653,0.999999872911,0.000177887053366,-0.000468183281367,-5.77859117289e-05,1793245117280987136
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745.003830526,713,684,658.996169474,632,880,785,807,651.996169474,630,652,0.442684245708,0.00467780306566,0.0796889547761,0.999999869167,0.000199661901579,-0.000467254003723,-5.89513466507e-05,1793245117297653504
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745.59514719,713,684,658.40485281,632,880,785,807,651.40485281,630,652,0.44338911514,0.00468261495676,0.0797487358912,0.999999905554,0.000206805022017,-0.000377964407063,-5.71476890984e-05,1793245117314320384
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745.817626446,713,684.182373554,657.817626446,632,880,785,807,651.182373554,630,652,0.444065166057,0.00468898356136,0.0797925645202,0.999999925853,0.000215384985239,-0.000314346505994,-5.5577224059e-05,1793245117330987520
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745.239280883,713,684.760719117,657.239280883,632,880,785,807,651.760719117,630,652,0.444678645944,0.00469873212497,0.0798017569,0.999999925769,0.000227084645949,-0.000306467337417,-5.45130703488e-05,1793245117347654400
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713,684.662886653,657,631.662886653,880,784.662886653,807,652,630,652,0.445253800276,0.00470666216237,0.0797888257646,0.99999991476,0.00023912656693,-0.000332304474167,-5.35893679669e-05,1793245117364321024
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713,684.087869531,657,631.087869531,880,784.087869531,807,652,630,652,0.445801907898,0.00471330884967,0.0797602818746,0.999999894067,0.000251410022746,-0.000381935496139,-5.2764783248e-05,1793245117380987904
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713,684,656.501507045,631,880,784,807,652,630,652,0.446323094948,0.00471937111143,0.0797332480937,0.999999878709,0.00025805821338,-0.00041602536977,-5.39470726231e-05,1793245117397654528
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713,684,656,631,880,784,807,652.085542751,630,652,0.446835097368,0.00472557311383,0.0797083274295,0.999999864982,0.000263017692836,-0.000444715418161,-5.55479503744e-05,1793245117414321408
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713,684,656,631,880,784,807,652.664749134,630,652,0.447322118377,0.00473318990553,0.0796940295395,0.9999998584,0.000264097664297,-0.000458420704795,-5.74754488872e-05,1793245117430987776
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.756942026,745,713,684.243057974,655.756942026,631,880,784,807,652.756942026,630,652,0.447781446047,0.00474688220788,0.0796790861098,0.999999846124,0.000272933636688,-0.000479083657421,-6.1134282622e-05,1793245117447654400
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.179866665,745,713,684.820133335,655.179866665,631,880,784,807,652.179866665,630,652,0.44820271668,0.00476892365428,0.0796632555616,0.999999825289,0.000292428132441,-0.000509308036962,-6.71723677263e-05,1793245117464321024
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..55202956bc140ab0da3baa5d69898a70c2b47129
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,404 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d80043dcb6baf3073c2a00ec6cacea19366963e0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efbb285b622b143bebcb7c8103bc3b606fd6e065749b370900e5cd762efb4995
+size 25751819
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1feaf8730af8ab3b988b1ddc524e041a51d3d1da
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+10,0.166666667,BASELINE,764,745,714,680,657.781701611,633,878,785,805,652,630,652,0.400973948316,0.0044864518271,0.0798362005017,0.999999952924,0.000119406689711,-0.000277814082272,5.20920797092e-05,1793245121226360320
+11,0.183333333,BASELINE,764,745,714,680,658,633,878,785,805,652,630.367670989,652,0.400973870483,0.00448645349469,0.0798365085098,0.999999953164,0.000117939928138,-0.000277599342063,5.19753740981e-05,1793245121243026944
+12,0.200000000,BASELINE,764,745,714,680,658,633,878,785,805,652,630.960111802,652,0.400973633111,0.00448618223516,0.0798366947814,0.999999953216,0.000116317207482,-0.000278091299523,5.19970768381e-05,1793245121259693568
+13,0.216666667,BASELINE,764,745,713.460149158,680,657.460149158,633,878.539850842,785,805,652,630.460149158,652,0.40097423896,0.0044852678607,0.079836730362,0.999999953335,0.000116965334105,-0.000277352021488,5.22092543854e-05,1793245121276361216
+14,0.233333333,BASELINE,764,745,713,679.882360246,657,633,878.882360246,785,805,652,630.117639754,652,0.400974628955,0.0044848531646,0.0798367439255,0.999999953363,0.000117834536395,-0.000276864724829,5.22900064398e-05,1793245121293028352
+15,0.250000000,BASELINE,764,745,713,679.308577356,657,633,878.308577356,785,805,652,630.691422644,652,0.400973945959,0.00448655596383,0.0798367142981,0.999999953028,0.000118925318433,-0.000277699109632,5.1807846081e-05,1793245121309694464
+16,0.266666667,BASELINE,764,745,713.266056976,679,657.266056976,633.266056976,878.266056976,785,805,652,630.733943024,652,0.400973860963,0.00448751340993,0.0798370255584,0.999999953021,0.000119967033563,-0.000277301251446,5.16758123451e-05,1793245121326360832
+17,0.283333333,BASELINE,764,745,713.841681962,679,657.841681962,633.841681962,878.841681962,785,805,652,630.158318038,652,0.400974471765,0.00448760360753,0.0798377334552,0.999999953394,0.000120951657307,-0.000275469628849,5.19511650686e-05,1793245121343027456
+18,0.300000000,BASELINE,763.57010319,745,713.57010319,679.42989681,657.57010319,634,879,785,804.57010319,652,630,652,0.400975686017,0.00448791794271,0.079838320971,0.999999953739,0.000121024613311,-0.000274211477958,5.18057016053e-05,1793245121359693824
+19,0.316666667,BASELINE,763.022263375,745,713.022263375,680,657.022263375,633.977736625,878.977736625,785,804.022263375,652,630,652,0.400977013144,0.00448823203584,0.0798387967389,0.999999954046,0.000120689999196,-0.00027329135682,5.1517559192e-05,1793245121376360448
+20,0.333333333,BASELINE,763.599071779,745,713.599071779,680,657.599071779,633.400928221,878.400928221,785,804.599071779,652,630,652,0.400975449342,0.00448642205459,0.0798376266152,0.999999953692,0.000118818503495,-0.000275371847393,5.16521227103e-05,1793245121393026816
+21,0.350000000,BASELINE,764,745,713.824289833,680,658,633,878.175710167,785,805,652,630,652,0.400974544903,0.00448510321009,0.0798369497775,0.999999953514,0.000117516026564,-0.000276569473725,5.16934735913e-05,1793245121409693440
+22,0.366666667,BASELINE,764,745,713.248039085,680,658,633,878.751960915,785,805,652,630,652,0.400975143519,0.00448490393791,0.079837397411,0.999999953748,0.000117510658151,-0.000275754564239,5.15223413385e-05,1793245121426360320
+23,0.383333333,BASELINE,764,745,713.334463782,680,658,633,879,785,805,652,630,652,0.400974862938,0.00448422555344,0.0798372046609,0.999999953794,0.000116375281996,-0.000276042013923,5.16754089798e-05,1793245121443026944
+24,0.400000000,BASELINE,764,745,713.921691619,680,658,633,879,785,805,652,630,652,0.400973917921,0.00448318508978,0.0798365279542,0.999999953693,0.000114385925965,-0.000277162548561,5.20734839379e-05,1793245121459693824
+25,0.416666667,BASELINE,764,745,714,680,658,633.503101288,879,785,805,652,630.503101288,652,0.400975229283,0.004484429329,0.0798374417336,0.99999995382,0.000116999021334,-0.000275620572115,5.20092912431e-05,1793245121476360448
+26,0.433333333,BASELINE,764,745,714,680,658,633.917130166,878.917130166,785,805,652,630.917130166,652,0.400976623861,0.00448579829649,0.0798385032754,0.999999953997,0.000119694593867,-0.000273840950752,5.18780466562e-05,1793245121493026816
+27,0.450000000,BASELINE,764,745,714,680,658,633.341793827,878.341793827,785,805,652,630.341793827,652,0.400976449712,0.0044858193335,0.0798389885672,0.999999954331,0.000118671788192,-0.000273083705861,5.1771036676e-05,1793245121509693440
+28,0.466666667,BASELINE,764,745,714,679.7664889,658,633,878,785,805,652,630,652,0.400976318062,0.00448604941625,0.0798392786966,0.999999954423,0.000118421958685,-0.000272873664047,5.16785341723e-05,1793245121526360064
+29,0.483333333,BASELINE,764,745,714,679.191229982,658,633,878,785,805,652,630,652,0.400976248607,0.00448658544129,0.0798392832023,0.99999995416,0.000119303394174,-0.000273464464117,5.16072636353e-05,1793245121543026688
+30,0.500000000,BASELINE,764,745,714,679.3956828,657.6043172,633,878.3956828,785,805,652,630,652,0.400976296873,0.00448663047298,0.0798393123901,0.999999954085,0.000119806131191,-0.000273486322837,5.17795123333e-05,1793245121559693568
+31,0.516666667,BASELINE,764,745,714,679.988398689,657.011601311,633,878.988398689,785,805,652,630,652,0.40097640376,0.004486431011,0.0798393538686,0.999999954104,0.00012012029256,-0.000273224873111,5.20730231841e-05,1793245121576360448
+32,0.533333333,BASELINE,764,745,714,680,657.563280507,633,879,785,805,652,630,652,0.400975383279,0.00448701335095,0.0798382660007,0.999999953712,0.000120379445337,-0.000274575399903,5.18911716898e-05,1793245121593027328
+33,0.550000000,BASELINE,764,745.138108262,714,680,658,633.138108262,879,785,805,652,630,652,0.400974533917,0.00448749156239,0.0798375371145,0.999999953408,0.000120844272288,-0.000275501415544,5.17556098778e-05,1793245121609693952
+34,0.566666667,BASELINE,764,745.713892889,714,680,658,633.713892889,879,785,805,652,630,652,0.400974298171,0.00448759031954,0.0798380173219,0.999999953414,0.00012196437769,-0.000274980135131,5.17968187405e-05,1793245121626360576
+35,0.583333333,BASELINE,764,745.70276435,713.70276435,680,657.70276435,634,879,785,804.70276435,652,630,652,0.400974887484,0.00448762736535,0.0798386156056,0.999999953584,0.000122249158959,-0.000274222757579,5.18648914958e-05,1793245121643027200
+36,0.600000000,BASELINE,764,745.111956541,713.111956541,680,657.111956541,634,879,785,804.111956541,652,630,652,0.400976291686,0.00448760346046,0.0798393305104,0.999999953916,0.000121708911777,-0.000273232192775,5.19594970455e-05,1793245121659693568
+37,0.616666667,BASELINE,764,745,713.469201146,680,657,633.530798854,878.530798854,785,804.469201146,652,630,652,0.400976416982,0.00448635857048,0.0798393766854,0.999999954247,0.00011928907776,-0.000273083684926,5.19727218044e-05,1793245121676360448
+38,0.633333333,BASELINE,764,745,714,680,657.047747798,633,878.047747798,785,805,652,630,652,0.400976196208,0.00448506361873,0.0798392244911,0.999999954511,0.000116760422541,-0.000273214596894,5.19472461907e-05,1793245121693027072
+39,0.650000000,BASELINE,764,745,714,680,657.622379589,633,878.622379589,785,805,652,630,652,0.400975456144,0.00448636632254,0.0798386086316,0.999999954107,0.000117880183962,-0.000274256369917,5.17046804516e-05,1793245121709693952
+40,0.666666667,BASELINE,764,745.201154163,714,680,658,633,878.798845837,785,805,652,630.201154163,652,0.400975007966,0.00448703169577,0.0798382319897,0.999999953869,0.000118599386134,-0.000274852961511,5.15006348936e-05,1793245121726361088
+41,0.683333333,BASELINE,764,745.787869358,714,680,658,633,878.212130642,785,805,652,630.787869358,652,0.400975119256,0.00448647546937,0.0798383138665,0.999999953952,0.000118550818704,-0.000274596254218,5.13704226758e-05,1793245121743028224
+42,0.700000000,BASELINE,764,745.629723302,714,680,658,633.370276698,878.370276698,785,805,652,630.629723302,652,0.400975850039,0.00448587017589,0.0798384803884,0.999999954147,0.000118291552942,-0.000273995070419,5.13815729878e-05,1793245121759694848
+43,0.716666667,BASELINE,764,745.049755559,714,680,658,633.950244441,878.950244441,785,805,652,630.049755559,652,0.400976931645,0.00448523709529,0.0798386948456,0.999999954405,0.00011791296681,-0.000273198806467,5.1472778184e-05,1793245121776360960
+44,0.733333333,BASELINE,764,745,714,680.527841665,658,633.472158335,879,785,805,652,630,652,0.400975826989,0.00448497532109,0.0798386110476,0.999999954255,0.000117914885376,-0.000273719783359,5.16172006013e-05,1793245121793027328
+45,0.750000000,BASELINE,764,745.104937224,714,680.895062776,657.895062776,633,879,785,805,652,630,652,0.400974823489,0.00448507866977,0.0798385576693,0.99999995407,0.000118232036813,-0.00027423110385,5.17540296721e-05,1793245121809693696
+46,0.766666667,BASELINE,764,745.680779643,714,680.319220357,657.319220357,633,879,785,805,652,630,652,0.400975194584,0.00448666414439,0.0798387663975,0.999999953903,0.00011980355951,-0.00027414438748,5.18343732823e-05,1793245121826360320
+47,0.783333333,BASELINE,763.738445922,745.738445922,714,679.738445922,657.261554078,633,879,785,804.738445922,652,630,652,0.400975327792,0.00448714563597,0.0798387195964,0.999999953865,0.000119936576293,-0.000274237371043,5.17663156466e-05,1793245121843026944
+48,0.800000000,BASELINE,763.151536313,745.151536313,714,679.151536313,657.848463687,633,879,785,804.151536313,652,630,652,0.400975165086,0.00448625384775,0.0798383549344,0.999999953988,0.000118280189521,-0.000274553889118,5.15136569391e-05,1793245121859693568
+49,0.816666667,BASELINE,763.430314099,745,713.569685901,679.430314099,657.569685901,633.430314099,878.569685901,785.430314099,804.430314099,652,630,652,0.400975061334,0.00448693114496,0.079838238986,0.999999953881,0.00011877432453,-0.000274762165652,5.13394851672e-05,1793245121876360448
+50,0.833333333,BASELINE,763.989673262,745,713.010326738,680,657.010326738,633.989673262,877.989673262,785.989673262,805,652,630.010326738,652,0.400974996103,0.00448812915826,0.0798382230887,0.999999953699,0.000120029707048,-0.000274907662734,5.12014439552e-05,1793245121893027584
+51,0.850000000,BASELINE,763.413867728,745,713.586132272,680,657.586132272,633.413867728,877.413867728,785.413867728,805,652,630.586132272,652,0.400975916581,0.00448793516511,0.0798389455411,0.999999953782,0.000121982472788,-0.000273678452421,5.15459548948e-05,1793245121909694208
+52,0.866666667,BASELINE,763.161267779,745,713.838732221,680,658,633.161267779,877.322535559,785,805,652,630.838732221,652,0.400976728334,0.00448748526373,0.0798395423215,0.999999954008,0.000122704222905,-0.000272485343416,5.17705573641e-05,1793245121926360832
+53,0.883333333,BASELINE,763.734690851,745,713.265309149,680,658,633.734690851,878.469381701,785,805,652,630.265309149,652,0.400977262219,0.0044863813326,0.0798398179194,0.999999954606,0.000120279841632,-0.000271384499325,5.16887073355e-05,1793245121943027200
+54,0.900000000,BASELINE,764,745,713.318248302,680,658,633.681751698,878.681751698,785,805,652,630,652,0.40097651898,0.00448641167066,0.0798394461815,0.999999954448,0.000119934367903,-0.000272106551987,5.17415095604e-05,1793245121959693824
+55,0.916666667,BASELINE,764,745,713.910532181,680,658,633.089467819,878.089467819,785,805,652,630,652,0.40097467604,0.00448741869933,0.0798385170392,0.999999953639,0.000121378989104,-0.000274398255082,5.19102574456e-05,1793245121976360448
+56,0.933333333,BASELINE,764,745,713.508380474,680,657.508380474,633.491619526,878,785,805,652,630.491619526,652,0.400974448829,0.00448598989572,0.0798382495512,0.999999953707,0.00012006682138,-0.000274735501222,5.18751866487e-05,1793245121993027072
+57,0.950000000,BASELINE,764,745,713.070113123,680,657.070113123,633.929886877,878,785,805,652,630.929886877,652,0.40097469807,0.00448452518042,0.0798382187298,0.999999953934,0.000118550146783,-0.000274582573793,5.17853824915e-05,1793245122009693696
+58,0.966666667,BASELINE,764,745,713.64428206,680,657.64428206,633.35571794,878,785,805,652,630.35571794,652,0.400976305783,0.00448591819689,0.0798390429623,0.999999954204,0.000119089709348,-0.000273405833808,5.15628144296e-05,1793245122026361088
+59,0.983333333,BASELINE,764,745,714,680,658,633,878.223918049,785,805,652,630,652,0.400976599872,0.00448657904549,0.07983905169,0.999999954209,0.000119113593826,-0.000273404617413,5.14236249926e-05,1793245122043027968
+60,1.000000000,BASELINE,764,745,714,680,658,633,878.812456486,785,805,652,630,652,0.400974754901,0.0044860476575,0.079837732478,0.999999953781,0.000118297766067,-0.000275317582699,5.1420206383e-05,1793245122059694336
+61,1.016666667,BASELINE,764,745,714,680,658,633.394711594,879.394711594,785,805,652,630.394711594,652,0.400974780514,0.00448622534117,0.0798381137588,0.999999953772,0.000119337702448,-0.000274879071318,5.15451658389e-05,1793245122076360704
+62,1.033333333,BASELINE,764,745,714,680,658,633.974027982,879.974027982,785,805,652,630.974027982,652,0.400975680991,0.00448673465443,0.0798392903523,0.999999953954,0.000121245571214,-0.00027334078502,5.17301671248e-05,1793245122093027072
+63,1.050000000,BASELINE,764,745.552046126,714,680,658,633.447953874,879.447953874,785,805,652,630.447953874,652,0.400977143281,0.00448639691462,0.0798398481847,0.999999954734,0.000118809512086,-0.000271598325528,5.1491341427e-05,1793245122109693696
+64,1.066666667,BASELINE,763.871131193,745.871131193,714,680,658,633,878.871131193,785,805,652,630,652,0.400978221582,0.00448621363792,0.0798402276,0.999999955229,0.000117337531369,-0.000270439038563,5.13511711757e-05,1793245122126360320
+65,1.083333333,BASELINE,763.298217797,745.298217797,714,680,658,633,878.298217797,785,805,652,630,652,0.400977885911,0.00448669958976,0.0798400923131,0.999999954673,0.000119890026636,-0.000271322216148,5.16194843192e-05,1793245122143026944
+66,1.100000000,BASELINE,763.283138645,745,714,679.716861355,658,633,878.283138645,785,805,652,630,651.716861355,0.400976810082,0.00448709365528,0.0798395768101,0.999999954055,0.000122094160442,-0.000272591114685,5.17426674076e-05,1793245122159693824
+67,1.116666667,BASELINE,763.873661072,745,714,679.126338928,658,633,878.873661072,785,805,652,630,651.126338928,0.400974930715,0.00448738796624,0.079838648533,0.999999953371,0.000123920102456,-0.000274278763369,5.17082929491e-05,1793245122176360448
+68,1.133333333,BASELINE,764,745,713.543456487,679.456543513,658,633.456543513,879,785,805,652,630,651.456543513,0.400975531972,0.00448601117902,0.079838891859,0.999999953974,0.000120245321471,-0.000273768348264,5.14256227691e-05,1793245122193027328
+69,1.150000000,BASELINE,764,745,713.036894191,680,658,634,878.963105809,785,804.963105809,652,630,652,0.400976699524,0.00448433008766,0.0798394275991,0.999999954843,0.000115509879904,-0.0002726851116,5.11316045634e-05,1793245122209693952
+70,1.166666667,BASELINE,764,745,713.610661692,680,658,634,878.389338308,785,804.389338308,652,630,652,0.400976282847,0.00448483941139,0.0798395782087,0.999999954822,0.000117126206529,-0.000271972005106,5.16558544531e-05,1793245122226360320
+71,1.183333333,BASELINE,764,745,714,680,658,633.814942757,878,785,804.185057243,652,630,652,0.400975759367,0.00448518617415,0.079839415058,0.999999954601,0.000118460313622,-0.00027214327075,5.1990370131e-05,1793245122243026944
+72,1.200000000,BASELINE,764,745,714,680,658,633.239221259,878,785,804.760778741,652,630,652,0.400975010421,0.00448518976345,0.0798385895453,0.99999995396,0.000119198642752,-0.000274181486055,5.19243483589e-05,1793245122259693568
+73,1.216666667,BASELINE,763.655165538,745.344834462,714,680,658,633.344834462,878,785,805,652,630.344834462,652,0.400974906104,0.00448639201897,0.0798382808234,0.999999953582,0.000121171596886,-0.000274713745179,5.18184342931e-05,1793245122276360192
+74,1.233333333,BASELINE,763.065184973,745.934815027,714,680,658,633.934815027,878,785,805,652,630.934815027,652,0.40097526006,0.00448844641773,0.0798383394929,0.999999953388,0.000124022257645,-0.000274175405592,5.16841604194e-05,1793245122293026816
+75,1.250000000,BASELINE,763.514664096,745.485335904,714,680,658,633.485335904,878,785,804.485335904,652,630.485335904,652,0.40097651563,0.00448774730425,0.079839632826,0.999999954139,0.000121855083264,-0.000272380424593,5.1791252623e-05,1793245122309693696
+76,1.266666667,BASELINE,764,745,714,680,658,633,878.184841733,785,804.092420866,652,630,652,0.400977535684,0.00448685912486,0.0798406830447,0.999999954857,0.000119340648198,-0.000270846680752,5.18344927905e-05,1793245122326360832
+77,1.283333333,BASELINE,764,745,714,680,658,633,879.331675722,785,804.665837861,652,630,652,0.400976747173,0.00448676695195,0.0798396698589,0.999999954835,0.000118262660132,-0.000271484866841,5.13893918335e-05,1793245122343028224
+78,1.300000000,BASELINE,763.754034959,745,714,680,658,633,879.754034959,785,805,652,630.245965041,652,0.400975941269,0.004486846337,0.0798390150894,0.999999954532,0.000118869214157,-0.000272378827986,5.11427441487e-05,1793245122359694848
+79,1.316666667,BASELINE,763.164535857,745,714,680,658,633,879.164535857,785,805,652,630.835464143,652,0.400975111069,0.00448716533334,0.0798388609122,0.999999953833,0.000121828531834,-0.000273630024573,5.1173271901e-05,1793245122376360960
+80,1.333333333,BASELINE,763.417795183,745,713.582204817,679.582204817,658,633,878.582204817,785.417795183,805,652,630.582204817,652,0.400974707507,0.00448672995728,0.0798387002193,0.999999953774,0.000120943188337,-0.000274241354155,5.11604888663e-05,1793245122393027328
+81,1.350000000,BASELINE,763.997350966,745,713.002649034,679.002649034,658,633,878.002649034,785.997350966,805,652,630.002649034,652,0.40097446913,0.00448600250575,0.0798385370036,0.99999995396,0.000118569281501,-0.000274604942184,5.11309369025e-05,1793245122409693952
+82,1.366666667,BASELINE,764,745,713.574096363,679.574096363,658,633.574096363,878,785.425903637,804.425903637,652,630.574096363,652,0.400974510216,0.00448688906554,0.0798379078597,0.999999953881,0.000119747980709,-0.000274337417366,5.13565483774e-05,1793245122426360576
+83,1.383333333,BASELINE,764,745,714,680,658,633.849472096,878.150527904,785,804.150527904,652,631,652,0.400974950316,0.0044874259031,0.0798378196638,0.999999954007,0.000120011656471,-0.000273741901931,5.14616720466e-05,1793245122443026944
+84,1.400000000,BASELINE,764,745,714,680,658,633.273890233,878.726109767,785,804.726109767,652,631,652,0.400976513508,0.00448695428347,0.0798392650144,0.999999954714,0.000117645466851,-0.000272228404273,5.12232592227e-05,1793245122459693824
+85,1.416666667,BASELINE,764,745,714,680,658,633.308663456,878.691336544,785,805,652,631,652,0.400977089308,0.00448633474242,0.0798398475255,0.999999954837,0.000117321474789,-0.000271899832973,5.13017548823e-05,1793245122476360704
+86,1.433333333,BASELINE,764,745,714,680,658,633.897546471,878.102453529,785,805,652,631,652,0.400976768704,0.00448558091123,0.0798396467094,0.999999954434,0.000118851488211,-0.000272646995004,5.16679553473e-05,1793245122493027584
+87,1.450000000,BASELINE,764,745,714,680,657.521572671,634,878.478427329,785,805,652,630.521572671,652,0.400977220772,0.00448599439103,0.0798399748392,0.999999954783,0.000118382728299,-0.000271611563165,5.14539405813e-05,1793245122509693952
+88,1.466666667,BASELINE,763.942728485,745,714,680,657.057271515,633.942728485,879.057271515,785,805,652,630.057271515,652,0.400977725614,0.004486704104,0.0798403555596,0.999999955191,0.000117723481283,-0.000270452416226,5.11411679251e-05,1793245122526360576
+89,1.483333333,BASELINE,763.367063416,745,714,680,657.632936584,633.367063416,879.632936584,785,805,652,630.632936584,652,0.400977235073,0.00448786974061,0.0798402038911,0.999999954723,0.00011915062238,-0.000271571906926,5.10406452354e-05,1793245122543027200
+90,1.500000000,BASELINE,763.208494977,745,714,680,658,633.208494977,879.791505023,785.208494977,805,652,630.791505023,652,0.4009764575,0.00448826740531,0.0798399449365,0.999999954348,0.000119981697989,-0.000272574593072,5.11023465163e-05,1793245122559693824
+91,1.516666667,BASELINE,763.783865598,745,714,680,658,633.783865598,879.216134402,785.783865598,805,652,630.216134402,652,0.400975174856,0.0044873137175,0.0798394971973,0.999999954139,0.000119763914076,-0.000273371745395,5.14495032405e-05,1793245122576360448
+92,1.533333333,BASELINE,764,745,714,680,658,633.631412296,878.631412296,785.631412296,805,652,630,651.631412296,0.400975833913,0.00448704055859,0.0798398256062,0.999999954628,0.000118312236364,-0.000272242462099,5.12899469859e-05,1793245122593027328
+93,1.550000000,BASELINE,764,745,714,680,658,633.041063813,878.041063813,785.041063813,805,652,630,651.041063813,0.400977661193,0.00448717683977,0.0798406209846,0.999999955529,0.000116118186471,-0.00026995413896,5.08255269196e-05,1793245122609694208
+94,1.566666667,BASELINE,764,745,714,680,658,633,878,785,805,652,630,651.539588803,0.400976791762,0.00448752729914,0.0798400735663,0.999999954727,0.00011927488976,-0.000271512673152,5.09914449692e-05,1793245122626360832
+95,1.583333333,BASELINE,764,745.118301404,714,680,658,633,878,785,804.881698596,652,630,652,0.400976410945,0.00448771730104,0.0798398347841,0.999999954174,0.000121694606471,-0.000272433857855,5.12105952429e-05,1793245122643027200
+96,1.600000000,BASELINE,764,745.69233302,714,680,658,633,878,785,804.30766698,652,630,652,0.400978689044,0.00448722749432,0.079841171669,0.999999955114,0.000119734273472,-0.000269791931651,5.14532790093e-05,1793245122659693824
+97,1.616666667,BASELINE,764,745.725991692,714,680,657.725991692,633,878.274008308,785,804.274008308,652,630,652,0.400979329487,0.00448643709258,0.0798416195822,0.999999955554,0.000117889254045,-0.000268967997792,5.14840008333e-05,1793245122676360448
+98,1.633333333,BASELINE,764,745.135487545,714,680,657.135487545,633,878.864512455,785,804.864512455,652,630,652,0.400978078343,0.00448529948579,0.0798410406803,0.999999955421,0.000116177428748,-0.000270243953021,5.12698940347e-05,1793245122693027072
+99,1.650000000,BASELINE,764,745,714,679.553836766,657.446163234,633,878.553836766,785,804.553836766,652,630.446163234,652,0.400976886989,0.00448568704501,0.079840679322,0.999999954902,0.000118103941405,-0.000271329974807,5.12683866172e-05,1793245122709693952
+100,1.666666667,BASELINE,764,745,714,679.025021906,658,633.025021906,878,785.025021906,804.025021906,652,630.974978094,652,0.40097577413,0.00448657235003,0.0798403886732,0.999999954281,0.000121064202534,-0.000272302533087,5.13183738529e-05,1793245122726361344
+101,1.683333333,BASELINE,764,745,714,679.600451611,658,633.600451611,878,785.600451611,804.600451611,652,630.399548389,652,0.400975996318,0.00448841686541,0.0798402285293,0.999999954139,0.000122933028113,-0.000272023280585,5.110858095e-05,1793245122743027712
+102,1.700000000,BASELINE,764,745,714,680,658,633.820848021,878,785.820848021,804.820848021,652,630,652,0.400976081767,0.00448915171397,0.0798400011784,0.999999954085,0.000123190701111,-0.00027210706742,5.10990332022e-05,1793245122759694080
+103,1.716666667,BASELINE,764,745,714,680,658,633.234717792,878,785.234717792,804.234717792,652,630,652,0.400975856589,0.00448736574018,0.0798396211538,0.999999954228,0.000119788330225,-0.000273015568122,5.15443809491e-05,1793245122776360960
+104,1.733333333,BASELINE,764,745,714,680,658,633.347641262,878.347641262,785,804.347641262,652,630,652,0.400975598121,0.00448643474029,0.0798392170665,0.999999954162,0.000119024848572,-0.000273598106228,5.15170614294e-05,1793245122793027584
+105,1.750000000,BASELINE,764,745,714,680,658,633.927481505,878.927481505,785,804.927481505,652,630,652,0.400975317419,0.00448607480035,0.0798387969072,0.99999995396,0.000120023951912,-0.000273962925211,5.1174034732e-05,1793245122809694464
+106,1.766666667,BASELINE,764,745,714,680,658,634,878.494098159,785,805,652,630.505901841,652,0.400976781704,0.00448715561016,0.0798397312669,0.999999954333,0.000120742625525,-0.000272318474241,5.09624580128e-05,1793245122826360576
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,680,657,633,879,785,805,652,630,652,0.40097498986,0.00448661021413,0.0798385981995,0.999999954016,0.000118813321879,-0.000274286420575,5.11730069549e-05,1793245122869836288
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713,680,657.592875203,633.592875203,879,785,805,652,630,652,0.400975506414,0.00448591859007,0.0798393692769,0.9999999547,0.000117046237141,-0.00027254521234,5.11865923097e-05,1793245122886503168
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.818535638,745,713.181464362,680,658,633.818535638,879,785,804.818535638,652,630,652,0.400976447328,0.00448572618235,0.0798400509797,0.999999955273,0.000116100145177,-0.00027084803083,5.11551561098e-05,1793245122903169792
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.239340451,745,713.760659549,680,658,633.239340451,879,785,804.239340451,652,630,652,0.400978318346,0.00448662794928,0.0798405367925,0.999999955612,0.000116953492333,-0.000269247346095,5.1025042355e-05,1793245122919836416
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.337383041,745,714,680,658,633.337383041,879,785,804.337383041,652,630,652,0.400978565262,0.00448648278777,0.0798405416313,0.999999955542,0.00011772288292,-0.000269156481274,5.11101979422e-05,1793245122936502784
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.912365824,745,714,680,658,633.912365824,879,785,804.912365824,652,630,652,0.400977668416,0.00448560033389,0.0798402077474,0.999999955184,0.000118433147605,-0.000270128897092,5.13469555267e-05,1793245122953169408
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.513560974,658,634,878.513560974,785,805,652,630.486439026,652,0.400976615033,0.00448561851186,0.0798394538409,0.999999954775,0.00011774742267,-0.000271941912848,5.13173369526e-05,1793245122969836032
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.937738564,745,714,679.062261436,658,633.937738564,878,785,804.937738564,652,630.937738564,652,0.400976158229,0.00448590204966,0.0798390561257,0.999999954526,0.000117078319723,-0.000273158624135,5.12323016041e-05,1793245122986502144
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.345638685,745,714,679.654361315,658,633.345638685,878,785,804.345638685,652,630.345638685,652,0.400981017781,0.0044870655942,0.0798423322955,0.999999955736,0.000118686860221,-0.000268014530178,5.10832932823e-05,1793245123003168768
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.241020267,745,714,679.758979733,658,633,878,785,804.241020267,652,630,651.758979733,0.400990097393,0.0044875286527,0.079846875964,0.99999995761,0.000119253316483,-0.000260701461426,5.09261881157e-05,1793245123019835136
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.820048781,745,714,679.179951219,658,633,878,785,804.820048781,652,630,651.179951219,0.401005095242,0.00448700934536,0.07985319718,0.999999960371,0.000118358347511,-0.000250346610014,5.07577278964e-05,1793245123036501760
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745.396099029,714,679,658,633,878,785,804.603900971,652,630,651.396099029,0.401040047164,0.00448743842206,0.0798667594154,0.999999966356,0.000118305697533,-0.000225308704387,5.02774555448e-05,1793245123053169152
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745.970806373,714,679,658,633,878,785,804.029193627,652,630,651.970806373,0.401083996746,0.00448829514248,0.07988358676,0.99999997298,0.000118632864458,-0.000193649939307,4.96565813299e-05,1793245123069836288
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745.442512347,714,679.557487653,658,633,878,785.557487653,804.557487653,652,630,652,0.401148330518,0.00448855501545,0.0798989525882,0.999999978907,0.000117554297312,-0.000161408754771,4.81074154089e-05,1793245123086502400
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785.856427767,805,652,630.143572233,652,0.401216678422,0.00448859248184,0.0799126182588,0.999999982999,0.000116046810456,-0.000135516808715,4.65864151974e-05,1793245123103169024
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785.27412461,805,652,630.72587539,652,0.401293959279,0.00448804791906,0.0799213275657,0.999999984201,0.000113458508562,-0.00012912223209,4.53032920585e-05,1793245123119835648
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785.30385463,805,652,630.69614537,652,0.401379411343,0.00448980727601,0.0799266340794,0.999999985184,0.000113013358295,-0.000122500453433,4.30501375599e-05,1793245123136502272
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785.877987713,805,652,630.122012287,652,0.401472131683,0.00449361596778,0.0799289138106,0.99999998596,0.00011447453986,-0.000115676579131,3.99341410098e-05,1793245123153168896
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878,785.547467781,805,652,630,652,0.401585996645,0.00449439438268,0.0799326032477,0.99999998701,0.000112292263224,-0.00010981416492,3.62171872562e-05,1793245123169835520
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.971994062,680,658,633.028005938,878,785,805,652,630,652,0.401707041176,0.00449447274951,0.0799368763541,0.999999988129,0.000109156111906,-0.000103842689501,3.23053623574e-05,1793245123186502144
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.380044798,680,658,633.619955202,878,785,805,652,630,652,0.401857753806,0.00449692163963,0.0799452419511,0.999999989842,0.000106611428621,-9.04503426622e-05,2.7735214072e-05,1793245123203169280
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713.207234572,680,658,634,878.207234572,785,805,652,630.207234572,652,0.402021162496,0.0044989023647,0.0799529334919,0.999999991437,0.000102896813145,-7.75734369871e-05,2.28108250171e-05,1793245123219836160
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713.786138552,680,658,634,878.786138552,785,805,652,630.786138552,652,0.402207341199,0.0045000434486,0.0799594161311,0.999999992985,9.70839573059e-05,-6.56209620766e-05,1.72511155486e-05,1793245123236502784
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679.637115096,658,634,879,785,805,652,630.637115096,652,0.402404332715,0.00450327339208,0.0799610607949,0.999999993795,9.17117747658e-05,-6.23399040147e-05,1.0568629017e-05,1793245123253169408
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679.061632743,658,634,879,785,805,652,630.061632743,652,0.402607658974,0.0045077271017,0.0799598711138,0.999999994188,8.65977617393e-05,-6.41390261072e-05,3.22835890613e-06,1793245123269835776
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.512092901,745,714,679.512092901,658,634,878.487907099,785,805,652,630.512092901,652,0.402833351788,0.00451068929845,0.0799533897902,0.999999993806,8.02812296219e-05,-7.69670960267e-05,-4.25207332971e-06,1793245123286502400
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.911513281,745,713.911513281,680,658,634,878.088486719,785,805,652,631,652,0.403068665068,0.00451350035364,0.079947020918,0.999999993209,7.38578122542e-05,-8.93698008253e-05,-1.18553606222e-05,1793245123303169280
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.318711547,745,713.318711547,680,658,634,878.681288453,785,805,652,631,652,0.403343518971,0.00451646959603,0.0799449102844,0.999999993296,6.76472548703e-05,-9.18088747233e-05,-2.00630282355e-05,1793245123319835648
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.733443965,745,713.266556035,680,658,634,879,785,805,652,631,652,0.403648450337,0.00452212856824,0.0799460536503,0.999999992076,8.65679836736e-05,-8.88597253158e-05,-2.14093447107e-05,1793245123336502272
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.156937116,745,713.843062884,680,658,634,879,785,805,652,631,652,0.4039883557,0.00453091515261,0.0799509807605,0.999999987646,0.000134711321077,-7.96451605313e-05,-1.47772955365e-05,1793245123353169152
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,745.418989221,714,680,658,633.581010779,879,785,805,652,631,652,0.404349995123,0.00454039563766,0.0799541941056,0.999999985083,0.000155880865165,-7.24447962928e-05,-1.69108216103e-05,1793245123369835776
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,745.994698409,714,680,658,633.005301591,879,785,805,652,631,652,0.404719764009,0.00455013567118,0.0799567664288,0.999999983635,0.000166961050876,-6.59978298173e-05,-2.23230495052e-05,1793245123386502400
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.583053135,745.416946865,714,680,658,633,879.583053135,785,804.416946865,652,630.416946865,652,0.405124357333,0.00455393002355,0.0799543446621,0.999999994101,8.27538922654e-05,-6.55465289236e-05,-2.55468082485e-05,1793245123403169024
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,879.831194004,785,804.168805996,652,630.168805996,652,0.405541910011,0.00455913316073,0.0799503809658,0.999999996653,3.23705155053e-05,-6.94697352914e-05,-2.86497838413e-05,1793245123419835392
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,879.252051589,785,804.747948411,652,630.747948411,652,0.405990177656,0.00456789512543,0.0799427819528,0.999999993783,6.63593866275e-05,-8.3891107795e-05,-3.1508601622e-05,1793245123436502016
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,879,785,805,652,630.674660207,652,0.406467994696,0.00457672266864,0.0799357995556,0.999999989735,0.000101471910473,-9.61020395505e-05,-3.15794668916e-05,1793245123453168896
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,879,785,805,652,630.098618087,652,0.406968582137,0.00458560074667,0.0799292923133,0.999999984436,0.000137450309072,-0.000106609637847,-2.95019749531e-05,1793245123469835776
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,879,785,805,652,630,652,0.407487789942,0.00459276643639,0.0799277513326,0.999999982946,0.000143606031858,-0.000111929352717,-3.09422364715e-05,1793245123486503168
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745.053718317,714,680,658,633.053718317,879,785,805,652,630.053718317,652,0.408013272476,0.00459927379024,0.0799262826209,0.999999982239,0.000143494662593,-0.000117688969201,-3.28748837841e-05,1793245123503170560
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745.643501289,714,680,658,633.643501289,879,785,805,652,630.643501289,652,0.408562989315,0.00460274129138,0.0799152980007,0.99999997975,0.000142317176953,-0.000138532373511,-3.24698948768e-05,1793245123519837184
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745.770818335,714,680,658,634,879,785,805,652,630.770818335,651.770818335,0.409159335146,0.00460177519417,0.0799189530059,0.999999980857,0.00013928909321,-0.000133583504471,-3.22412394745e-05,1793245123536503552
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.191407471,714,680,658,634,879,785,805,652,630.191407471,651.191407471,0.409826938102,0.00459403379212,0.0799449798897,0.999999986597,0.000133432975642,-8.92195822592e-05,-3.22820521434e-05,1793245123553169920
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680.384527675,658,633.615472325,879,785,805,652,630,651.384527675,0.410523570317,0.00458931768991,0.0799732652949,0.999999991073,0.000121983624828,-4.34800744585e-05,-3.29169657253e-05,1793245123569836032
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680.958748183,658,633.041251817,879,785,805,652,630,651.958748183,0.411234523049,0.00458609401028,0.0800026648591,0.999999993615,0.000107775054513,2.93802751935e-06,-3.38449574811e-05,1793245123586502144
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680.454431803,658,633.545568197,879,785,805,652,630.545568197,652,0.411888155005,0.00457322050065,0.0799830929235,0.99999999387,0.000100259865295,-3.13986654919e-05,-3.49475694537e-05,1793245123603168768
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.131908702,745,714,680.131908702,658.131908702,634,879,785,805,652,631,652,0.412550957622,0.00456433212153,0.0799571985439,0.999999992142,9.54861847215e-05,-7.24590612263e-05,-3.6723053658e-05,1793245123619835648
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.713292191,745,714,680.713292191,658.713292191,634,879,785,805,652,631,652,0.413260126517,0.00457156798347,0.0799226763012,0.999999987712,9.82888100036e-05,-0.000115132119729,-4.07452748326e-05,1793245123636502784
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.708141905,745,714,681,659.291858095,634,879,785,805,652,630.708141905,652,0.41400879556,0.0045827860537,0.0799126408146,0.999999985225,0.000112239390184,-0.000122993582697,-4.27125953594e-05,1793245123653169664
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.132317332,745,714,681,659.867682668,634,879,785,805,652,630.132317332,652,0.414795896782,0.00459787865722,0.079926429977,0.999999984997,0.000137036493512,-9.69847339477e-05,-4.26805786593e-05,1793245123669836288
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.442331175,714,681,659.557668825,633.557668825,878.557668825,785,805.442331175,652,630,652,0.415606504468,0.00460362291496,0.0799429750304,0.999999988058,0.000128280342233,-7.46709996454e-05,-4.30323928274e-05,1793245123686502656
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,746,714,681,659,633.017055723,878.017055723,785,806,652,630,652,0.416423143765,0.00460656718693,0.0799593169349,0.999999991416,0.000110748562128,-5.48482233589e-05,-4.35274183346e-05,1793245123703169024
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,746,714,681,659,633.606098551,878.606098551,785,806,652,630,652,0.417206872774,0.00460914353206,0.0799412723541,0.999999986597,0.000134625907976,-8.1592204052e-05,-4.4984873704e-05,1793245123719835648
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,746,713.807614103,680.807614103,659,634,878.807614103,785,805.807614103,652,630,652,0.418034053151,0.00460840509131,0.0799412428534,0.999999985575,0.000145430774272,-7.45115939241e-05,-4.63430935516e-05,1793245123736502528
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,746,713.226888853,680.226888853,659,634,878.226888853,785,805.226888853,652,630,652,0.418948941967,0.00460097561004,0.0799775775813,0.999999990441,0.000129848266804,8.45434784591e-07,-4.7501001985e-05,1793245123753168896
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,746,713.34994736,680.34994736,659.34994736,633.65005264,878.69989472,785,805,652,630,652,0.419829517856,0.00459696002913,0.0799873026846,0.9999999911,0.000122362379523,2.09482995259e-05,-4.88721595646e-05,1793245123769835776
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,746,713.924289802,680.924289802,659.924289802,633.075710198,879.848579603,785,805,652,630,652,0.420688091395,0.00459513352761,0.0799799650236,0.999999991507,0.000120068250427,5.62079650296e-06,-5.03800579531e-05,1793245123786502656
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,746,714,681,659.500599295,633,880,785,805.499400705,652,630,652,0.421589127697,0.00459940041515,0.0799762224787,0.999999991382,0.000120938963326,-1.46381929158e-06,-5.10561772749e-05,1793245123803169792
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,746,713.9229913,681,659,633,880,785,806,651.9229913,630,652,0.422496934146,0.00460472991127,0.0799766463831,0.999999991008,0.00012384063707,-2.10389358177e-06,-5.14153968471e-05,1793245123819836672
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,746,713.32941601,681,659,633,880,785,806,651.32941601,630,652,0.423406905355,0.00461098116638,0.0800013567883,0.999999988806,0.00013714240264,3.2089998024e-05,-5.04960506047e-05,1793245123836503040
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745.743283959,713.256716041,681.256716041,659,633,879.743283959,785,806,651.256716041,630,652,0.424286568357,0.00461653907636,0.0799999420571,0.999999987837,0.000147199538559,1.52977129038e-05,-4.92431479627e-05,1793245123853169408
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745.166433815,713.833566185,681.833566185,659,633,879.166433815,785,806,651.833566185,630,652,0.425128436062,0.00462123236094,0.0799659483481,0.999999985014,0.000153210506329,-6.50761571538e-05,-4.75742882463e-05,1793245123869835520
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,713.591118548,681.591118548,659,633,879.408881452,785,806,652,630,652,0.426026067299,0.0046190272172,0.0799358464174,0.999999983213,0.000145930628242,-9.89924930517e-05,-4.97813075133e-05,1793245123886502144
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,713.016425744,681.016425744,659,633,879.983574256,785,806,652,630,652,0.42694631195,0.00461402459309,0.0799073226993,0.999999983181,0.000133260989482,-0.000114069166769,-5.35600899273e-05,1793245123903168768
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745.569684574,713.569684574,681.569684574,659.569684574,633.569684574,880,785,806.569684574,652,630,652,0.427860053529,0.00460833751868,0.0799068231795,0.999999982881,0.000132147117965,-0.00011792507885,-5.35551537769e-05,1793245123919835648
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,746,713.845082068,682,659.845082068,633.845082068,879.845082068,785,807,651.845082068,630,651.845082068,0.428781293431,0.0046052069119,0.0799146519729,0.999999983621,0.000131517606178,-0.000112415514063,-5.31400971642e-05,1793245123936502528
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,746,713.263191628,682,659.263191628,633.263191628,879.263191628,785,807,651.263191628,630,651.263191628,0.429723726918,0.00460917774246,0.0799431620465,0.999999986673,0.000131285960908,-8.20034857655e-05,-5.1901530664e-05,1793245123953169408
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+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745.465723714,714,682,660,633,879.465723714,785,806.534276286,652,630,652,0.432498181724,0.00462063012499,0.0800160877882,0.999999988152,0.000143472978725,2.33421854862e-05,-5.06681280713e-05,1793245124003169280
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745.955795766,714,682,660,633,880,784.955795766,806,652,630,652,0.433351114314,0.0046281307329,0.0799884511934,0.999999986523,0.000154057411588,-2.67408938786e-05,-5.00437303978e-05,1793245124019835648
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745.3653881,714,682,660,633,880,784.3653881,806,652,630,652,0.434190822577,0.00462962464455,0.0799254054764,0.999999982249,0.000144412105331,-0.000108335448044,-5.39510027091e-05,1793245124036502272
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+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,713.202651206,682,660,633,880,784.797348794,806,652,630,652,0.435946668628,0.00461603922446,0.0799315111232,0.999999986461,0.000128316103867,-8.63273500875e-05,-5.62137524257e-05,1793245124069836032
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,713,682.372326585,660,633,880,784.627673415,806,652,630,652,0.43681054938,0.00461133234076,0.0799615629509,0.999999989117,0.00012789276908,-4.96166728378e-05,-5.42848500082e-05,1793245124086502912
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,713,682.946038534,660,633,880,784.053961466,806,652,630,652,0.437657572832,0.00460976204888,0.0799901980073,0.999999989843,0.000131206358201,-2.14445276208e-05,-5.13734788686e-05,1793245124103169536
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745.53545454,713.53545454,683,659.46454546,633,880,784.53545454,806.53545454,652,630.53545454,652,0.438487172938,0.00461873710123,0.0799913387306,0.999999990278,0.000127911174417,-1.54295441087e-05,-5.33302655629e-05,1793245124119835648
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745.876030293,713.876030293,683,659,633,880,785,807,651.876030293,630.876030293,652,0.439290585616,0.00462949292665,0.0799779168691,0.999999989244,0.000132086046917,-3.18600051871e-05,-5.52245486114e-05,1793245124136502272
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+253,4.216666667,HOLD_POSE2,764,745,713,684.368404117,649,628.368404117,880,783,807,652,630,652,0.453180880238,0.00478992943775,0.0795305833983,0.999999692196,0.000308720756894,-0.000718220581993,-6.67704983103e-05,1793245125329076736
+254,4.233333333,HOLD_POSE2,764.21178643,745,713,684.21178643,649,628.21178643,880.21178643,783.21178643,807,652,630,652,0.453180825442,0.00478976890168,0.0795297322351,0.999999691593,0.000308159075354,-0.000719301636381,-6.67643934801e-05,1793245125345743104
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+256,4.266666667,HOLD_POSE2,764.617876016,745,712.617876016,685,649,628.617876016,881,783.617876016,807,652,630,652,0.453180161403,0.00478981216563,0.0795296418175,0.999999690868,0.000307852469394,-0.000720467698571,-6.64549847009e-05,1793245125379076352
+257,4.283333333,HOLD_POSE2,764.04136303,745,712.04136303,685,649,628.04136303,881,783.04136303,807,652,630,652,0.453179134825,0.00478828698439,0.0795287561706,0.999999690833,0.000305383546542,-0.000721556701976,-6.6560337161e-05,1793245125395743232
+258,4.300000000,HOLD_POSE2,764,745,712,684.462750158,649.537249842,628,880.462750158,783,807,652,630,652,0.453179804982,0.00478862756116,0.079529962709,0.999999691611,0.000307612624707,-0.000719545608265,-6.63786387639e-05,1793245125412410112
+259,4.316666667,HOLD_POSE2,764,745,712.114410623,684.114410623,649.885589377,628.114410623,880,783,807,652,630,652.114410623,0.453180414717,0.00478895071885,0.0795307761346,0.999999692038,0.000309520582367,-0.000718157276326,-6.6114060241e-05,1793245125429076736
+260,4.333333333,HOLD_POSE2,764,745,712.685132769,684.685132769,649.314867231,628.685132769,880,783,807,652,630,652.685132769,0.453180260415,0.00478862924486,0.079529376723,0.99999969085,0.000308699539456,-0.0007202084145,-6.56074146289e-05,1793245125445743360
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+262,4.366666667,HOLD_POSE2,764,745,712.139818178,684.139818178,649,629,880.860181822,783,807.860181822,652,630,652.139818178,0.453180330669,0.00479019474203,0.079529732778,0.999999690279,0.000309849794035,-0.000720516795527,-6.55032612195e-05,1793245125479076096
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,712,685,649,629,881,783,807,652,629,652,0.453181683264,0.00478949588155,0.0795285457492,0.999999690531,0.000308472684606,-0.000720708970223,-6.6038166627e-05,1793245125511799040
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.275204273,745,712.724795727,684.724795727,649.275204273,628.724795727,880.724795727,783,808,652,630,652,0.453180619245,0.00478919372043,0.0795289797583,0.999999690521,0.000307083654831,-0.00072132561145,-6.5938119296e-05,1793245125561800192
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,745,712.689461278,684.689461278,649,629,880.689461278,783,807.689461278,652,630,652,0.453180823352,0.00478939110148,0.0795292124227,0.999999690717,0.000306875386794,-0.000721137629038,-6.59851540228e-05,1793245125578466304
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745,712.093897433,684.093897433,649,629,880.093897433,783,807.093897433,652,630,652,0.453180557639,0.00478857826596,0.0795294031282,0.999999690561,0.000307246030754,-0.000721219133858,-6.57274869409e-05,1793245125595132672
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,712,684.366387029,649,628,881,783,807,652,630,652,0.453176517651,0.00478877621461,0.0795277668897,0.999999688978,0.000307780490386,-0.000723154834333,-6.60423010848e-05,1793245125645132288
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,712.214965518,684,649,628,880.785034482,783,807,652,630,652,0.453167470752,0.00478945089047,0.0795231934128,0.999999683948,0.000307898843014,-0.000730016780834,-6.61583740792e-05,1793245125661798912
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,713,684.389331061,649,628.389331061,880.389331061,783.389331061,807.389331061,652,630,652,0.453104795169,0.00479043341892,0.0794921443315,0.99999964684,0.0003096170898,-0.000778534769174,-6.58863042093e-05,1793245125695132672
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745,713,684.968158802,649,628.968158802,880.968158802,783.968158802,807.968158802,652,630,652,0.453053579151,0.00478807445208,0.0794695489767,0.999999618381,0.000307362316399,-0.000815180509482,-6.51644747283e-05,1793245125711799808
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.539903109,745,712.460096891,685,649,629,881,783.460096891,807.460096891,652,629.460096891,652,0.45298797973,0.00478795736289,0.0794498665277,0.999999593665,0.00030887514596,-0.000844454043514,-6.45261831689e-05,1793245125728465920
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,745,712,684.867087298,649.867087298,628.867087298,880.867087298,783,807.132912702,652,630,652,0.452667196154,0.00478719524929,0.0794192910165,0.999999557757,0.000316597467605,-0.000883655650824,-5.83503471362e-05,1793245125795132160
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,745,712,684.554994332,649.554994332,628.554994332,880.554994332,783,807,651.554994332,629.554994332,652,0.452553838999,0.00478664134536,0.0794200584084,0.999999556776,0.00031867897882,-0.000884216692578,-5.52535480608e-05,1793245125811798784
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,745,712,684,649,628.018678991,880.018678991,783,807,651.018678991,629.018678991,652,0.452433981215,0.00478619534335,0.0794217043503,0.999999556314,0.000320684378431,-0.000884223979692,-5.17734336469e-05,1793245125828465664
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,745,712,684,649,628.594595934,880.594595934,783,807,651.594595934,629.594595934,652,0.452290320804,0.00478362272231,0.0794266032844,0.999999560011,0.000322535277289,-0.000879588597403,-4.76813000564e-05,1793245125845132288
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,745,712.17217517,684.17217517,649.17217517,629,880.82782483,783,807,652,629.82782483,652,0.452139845197,0.00478160795321,0.0794313791335,0.999999563593,0.000325393061781,-0.000874668814758,-4.34515497416e-05,1793245125861799168
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,745,713,684.4931418,650,629,880,783.5068582,806.4931418,652,629.4931418,652,0.451325221232,0.00477811554082,0.0794506740727,0.999999576305,0.000343599720567,-0.000853729905751,-2.17966627441e-05,1793245125928465664
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,745,712,684.761169838,650.238830162,629,880,783.238830162,807,652,629.238830162,652,0.450534426127,0.0047726506522,0.0794859976496,0.999999619368,0.000364499211168,-0.000792718213979,-1.18731500089e-06,1793245125978465536
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,745,712,684.169627596,650.830372404,629,880,783.830372404,807,652,629.830372404,652,0.450225749187,0.00477080426912,0.0794965258853,0.999999630224,0.000372175256364,-0.000775245776608,5.65203178024e-06,1793245125995132416
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,745,712,684.412910502,651,629,880,783.587089498,807,652,630,652,0.449875689758,0.00477054719678,0.0795037202561,0.999999639792,0.000373511184331,-0.000762119544264,8.86745338309e-06,1793245126011799552
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,745,713,680,657,633,879.573963017,785,804.213018492,652,630,651.786981508,0.406265018525,0.00447461394077,0.0797684107577,0.999999924312,9.27011057669e-05,-0.000374094661101,5.32550820264e-05,1793245127011799808
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.916168964,745,714,680.083831036,657,633.083831036,878.916168964,785,805.083831036,652,630,652,0.401558153795,0.00446529428201,0.0798431031565,0.999999959304,5.55586487352e-05,-0.000273817675235,5.76926496272e-05,1793245127295131904
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745.044836237,714,680.044836237,658,633,878,785.044836237,805,652,630,652,0.400976578338,0.00448655532459,0.0798326839275,0.999999950228,0.000124855800763,-0.000285039700201,5.20272102773e-05,1793245127578465536
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.470715148,633,878,785,805,652,630,652,0.400976693893,0.00448632428289,0.0798332243299,0.99999995053,0.000124022913879,-0.000284408503798,5.16734928193e-05,1793245127595132416
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745.106032517,714,680,657.106032517,633,878,785,804.893967483,652,630,652,0.400976746696,0.00448633621616,0.0798337838189,0.999999950744,0.000123833464145,-0.00028379073223,5.13793156767e-05,1793245127611799296
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745.695956672,714,680,657.695956672,633,878,785,804.304043328,652,630,652,0.400976282531,0.00448721620992,0.0798343292674,0.999999950588,0.000126176664248,-0.000283287783676,5.14996982303e-05,1793245127628466176
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.719211644,745.719211644,714,680,657.719211644,633,878,785,804.280788356,652,630.280788356,652,0.400975651306,0.00448734544282,0.0798344472355,0.999999950496,0.000126752237039,-0.000283353812751,5.15054213082e-05,1793245127645132800
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.139795891,745.139795891,714,680,657.139795891,633,878,785,804.860204109,652,630.860204109,652,0.400974842408,0.00448667621766,0.0798341105647,0.999999950476,0.000125447881948,-0.000284024967674,5.13892003822e-05,1793245127661799168
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.435989617,745,713.564010383,679.564010383,657,633,878,785,805,652,630.564010383,652,0.400973932675,0.00448764418176,0.0798335189978,0.999999950346,0.000125914924454,-0.00028430248524,5.1233308821e-05,1793245127678465792
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745.01065063,713.01065063,679.01065063,657.01065063,633,878.01065063,785,805,652,630,652,0.400973026646,0.00448908769855,0.0798328737988,0.9999999502,0.000126860253617,-0.000284426867986,5.10633812865e-05,1793245127695132160
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745.586901099,713.586901099,679.586901099,657.586901099,633,878.586901099,785,805,652,630,652,0.400974020115,0.00448813823716,0.0798336848859,0.999999951045,0.000123291421985,-0.000283066385699,5.08179911121e-05,1793245127711799040
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745.832876481,714,680,657.832876481,633.167123519,878.832876481,785.167123519,805,652.167123519,630,652,0.400974941195,0.00448756710677,0.0798345154397,0.999999951613,0.000121798128357,-0.000281713937146,5.07610662071e-05,1793245127728466176
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745.242597135,714,680,657.242597135,633.757402865,878.242597135,785.757402865,805,652.757402865,630,652,0.400975678987,0.00448795390844,0.0798353952829,0.999999951501,0.000125560085688,-0.000280381830055,5.11813343372e-05,1793245127745133056
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.336826738,634,878.336826738,785.663173262,805,652.663173262,630.336826738,652,0.400975341944,0.00448797037668,0.0798354512453,0.99999995119,0.000127332007183,-0.000280659953541,5.13513684143e-05,1793245127761799680
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.908676124,634,878.908676124,785.091323876,805,652.091323876,630.908676124,652,0.400974254928,0.00448772844278,0.0798349323405,0.999999950747,0.000127715370439,-0.000282061624031,5.13468003336e-05,1793245127778466560
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.50970764,633.50970764,878.50970764,785,805,652,630.50970764,652,0.400974998009,0.00448701690602,0.0798354906133,0.999999951392,0.000126080083784,-0.000280514588459,5.12931416415e-05,1793245127795132928
+401,6.683333333,POSE2_TO_POSE3_RETREAT,763.925796224,745,714,680,657.074203776,633,878,785.074203776,805,652,630,652,0.400975786437,0.0044865625455,0.0798360518876,0.99999995205,0.000124422501597,-0.000278921871291,5.11923732756e-05,1793245127811799040
+402,6.700000000,POSE2_TO_POSE3_RETREAT,763.338851727,745,714,680,657.661148273,633,878,785.661148273,805,652,630,652,0.40097448488,0.00448850194256,0.0798352193238,0.999999951414,0.000125261805411,-0.000280885819319,5.08305488747e-05,1793245127828465408
+403,6.716666667,POSE2_TO_POSE3_RETREAT,763.243718839,745,714,680,657.756281161,633.243718839,878,785.756281161,805,652,630,652,0.400973957653,0.00448903497752,0.0798350281028,0.999999951269,0.000125410289858,-0.000281379511828,5.05968161035e-05,1793245127845132032
+404,6.733333333,POSE2_TO_POSE3_RETREAT,763.820315454,745,714,680,657.179684546,633.820315454,878,785.179684546,805,652,630,652,0.400974488027,0.00448764716538,0.079835712845,0.999999951796,0.000124615234664,-0.000279865089901,5.05380342904e-05,1793245127861798656
+405,6.750000000,POSE2_TO_POSE3_RETREAT,763.601082166,745,714,680,657.398917834,633.601082166,878,785,805,652,630.398917834,652,0.400975580939,0.00448741056115,0.0798365699413,0.999999952494,0.000122649512389,-0.000278257802959,5.04122568596e-05,1793245127878465280
+406,6.766666667,POSE2_TO_POSE3_RETREAT,763.021571799,745,714,680,657.978428201,633.021571799,878,785,805,652,630.978428201,652,0.400976928514,0.00448769511583,0.0798375050633,0.999999953263,0.000120153822042,-0.000276608475547,5.02561501077e-05,1793245127895132160
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff47be457915a5e5fd27cada9cfff5a71da9770e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+1,0.016666667,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+2,0.033333333,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+3,0.050000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
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+6,0.100000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
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+17,0.283333333,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
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+394,6.566666667,pose2_to_pose3_retreat,0.575670837982,0.00987791448445,1.07005088099,0.546242469298,0.0185535938233,1.0697173717
+395,6.583333333,pose2_to_pose3_retreat,0.575670729552,0.00987791059448,1.07005087255,0.546242360897,0.0185535900451,1.06971736355
+396,6.600000000,pose2_to_pose3_retreat,0.575670550943,0.00987790446426,1.07005086314,0.546242182356,0.018553584164,1.06971735462
+397,6.616666667,pose2_to_pose3_retreat,0.575670432835,0.00987790304187,1.07005089952,0.546242064474,0.0185535835243,1.06971739142
+398,6.633333333,pose2_to_pose3_retreat,0.575670338803,0.00987790190944,1.07005092849,0.546241970623,0.0185535830151,1.06971742071
+399,6.650000000,pose2_to_pose3_retreat,0.575670257527,0.00987790093063,1.07005095352,0.546241889502,0.0185535825749,1.06971744603
+400,6.666666667,pose2_to_pose3_retreat,0.575670142705,0.00987789954782,1.07005098889,0.5462417749,0.0185535819531,1.06971748181
+401,6.683333333,pose2_to_pose3_retreat,0.575670009595,0.00987789794477,1.0700510299,0.546241642045,0.0185535812322,1.06971752328
+402,6.700000000,pose2_to_pose3_retreat,0.575669987181,0.00987789767484,1.0700510368,0.546241619674,0.0185535811108,1.06971753026
+403,6.716666667,pose2_to_pose3_retreat,0.575669931128,0.00987789699979,1.07005105407,0.546241563728,0.0185535808072,1.06971754772
+404,6.733333333,pose2_to_pose3_retreat,0.57566982131,0.00987789567723,1.0700510879,0.54624145412,0.0185535802125,1.06971758194
+405,6.750000000,pose2_to_pose3_retreat,0.575669592435,0.0098778510868,1.07005096161,0.546241225982,0.0185535380598,1.069717454
+406,6.766666667,pose2_to_pose3_retreat,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1c37a25d97cea8d9476913b266cfa13a3821dd8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:249fe0bece81e3d24f6224af8ead1068d7ba0bfd5bc04a8b83191992e34556c7
+size 25695428
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..322387eb788faeb50c5728cdc4b8db18f56e1c4e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+29,0.483333333,BASELINE,764,745,714,680,657.83797295,633.16202705,878.83797295,785,805,652,630,652,0.400975875774,0.00448796778893,0.0798395850889,0.999999953236,0.000124972563393,-0.00027456789248,5.02204924125e-05,1793245128494166016
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+51,0.850000000,BASELINE,764,745,713.397844819,680,657,633,878,785,804.602155181,652,630,651.602155181,0.400975346576,0.00448901745015,0.079839712348,0.9999999533,0.000125914912367,-0.000273981231201,4.97923978869e-05,1793245128860832768
+52,0.866666667,BASELINE,764,745,713.186787544,680,657,633.186787544,878.186787544,785,805,652,630,652,0.400975972484,0.00448944190922,0.0798396856607,0.999999953219,0.000128072025644,-0.000273259783395,4.98814802608e-05,1793245128877499392
+53,0.883333333,BASELINE,764,745,713.765963253,680,657,633.765963253,878.765963253,785,805,652,630,652,0.400977189043,0.00448871163038,0.0798405369456,0.999999953589,0.000128811434051,-0.000271457809635,5.04040544373e-05,1793245128894166016
+54,0.900000000,BASELINE,764,745,713.655894938,680,657.344105062,634,879,785,805,652,630,652,0.400977792508,0.00448911279872,0.0798411346493,0.999999953913,0.000128263157674,-0.000270521053276,5.03981989453e-05,1793245128910832640
+55,0.916666667,BASELINE,764,745,713.078454234,680,657.921545766,634,879,785,805,652,630,652,0.400977980238,0.00449028119484,0.079841560401,0.999999954208,0.000126841709703,-0.000270170995878,5.00340183463e-05,1793245128927499776
+56,0.933333333,BASELINE,763.504845331,745,713.495154669,680,658,633.504845331,879,785,805,652,630.495154669,652,0.400977255994,0.0044892302593,0.079841226186,0.999999954165,0.000126002341976,-0.000270698439421,5.01610462504e-05,1793245128944166656
+57,0.950000000,BASELINE,763.070349857,745,714,680,658,633,879,785,805,652,630.929650143,652,0.40097667501,0.00448802899888,0.0798408504524,0.999999954115,0.000125210420696,-0.000271221221413,5.03159057651e-05,1793245128960833024
+58,0.966666667,BASELINE,763.661756032,745,714,680,658,633,879,785,805,652,630.338243968,652,0.400978217121,0.00448829880506,0.0798410522052,0.999999954409,0.000124092071338,-0.000270687604242,5.01048790875e-05,1793245128977499392
+59,0.983333333,BASELINE,764,745,714,680,658,633,878.752036846,785,805,652,630,652,0.400978618454,0.00448848501728,0.0798410384695,0.999999954373,0.000124350301561,-0.000270702175072,5.0120633556e-05,1793245128994165504
+60,1.000000000,BASELINE,764,745,714,680,658,633,878.172775975,785,805,652,630,652,0.400977495621,0.00448855954161,0.0798407368247,0.999999953891,0.00012644774712,-0.000271449166875,5.04393849323e-05,1793245129010832128
+61,1.016666667,BASELINE,764,745,713.596786018,680,657.596786018,633.403213982,878,785,805,652,630,652,0.400977896528,0.00448862946724,0.0798413389601,0.999999954311,0.000125271604243,-0.000270481044737,5.02463101764e-05,1793245129027499008
+62,1.033333333,BASELINE,764,745,713.022186396,680,657.022186396,633.977813604,878,785,805,652,630,652,0.400978945099,0.00448869743821,0.0798423252462,0.999999955108,0.000122704026226,-0.000268783915339,4.983568429e-05,1793245129044165632
+63,1.050000000,BASELINE,764,745,713.551655056,680,658.103310112,634,878,785,805,652,630,652,0.40097897419,0.00448835414668,0.079841853557,0.999999954919,0.000122880767625,-0.000269390768079,4.98993212643e-05,1793245129060833024
+64,1.066666667,BASELINE,764,745,714,680,658.870391405,633.870391405,878.129608595,785,805,652,630.129608595,652,0.400978570574,0.00448827038084,0.07984119482,0.999999954619,0.000123237062462,-0.000270338209796,4.99236650302e-05,1793245129077500160
+65,1.083333333,BASELINE,764,745,714,680,658.277634803,633.277634803,878.722365197,785,805,652,630.722365197,652,0.400976767024,0.00448917303734,0.0798400769262,0.999999954056,0.000123841118669,-0.000272172059694,4.97395314125e-05,1793245129094166784
+66,1.100000000,BASELINE,764,745,714,680,658,633,879,785,805,652,631,652,0.400975665882,0.00448960281872,0.0798394031789,0.999999953727,0.000123937053741,-0.000273361711145,4.95977274106e-05,1793245129110833152
+67,1.116666667,BASELINE,764,745,714,680,658,633,879,785,805,652,631,652,0.40097518359,0.00448961597835,0.0798391207422,0.999999953605,0.00012358531396,-0.00027398379818,4.9493217485e-05,1793245129127499264
+68,1.133333333,BASELINE,764,745,714,680,657.540501255,633.459498745,878.540501255,785,805,652,631,652,0.400974131355,0.00448857999634,0.0798386203944,0.99999995337,0.000123317383359,-0.000274940801387,4.95935387348e-05,1793245129144165888
+69,1.150000000,BASELINE,764,745,714,680,657.038672976,633.961327024,878,785,805,652,630.961327024,652,0.400973147172,0.00448741731063,0.0798381903998,0.999999953156,0.000123185140069,-0.00027575107088,4.97453584865e-05,1793245129160832512
+70,1.166666667,BASELINE,764,745,714,680,657.625920718,633.374079282,878,785,805,652,630.374079282,652,0.400975223924,0.00448831489884,0.0798395595953,0.999999953653,0.000124669460994,-0.000273248482814,4.98745443406e-05,1793245129177499392
+71,1.183333333,BASELINE,764,745,714,680,658,633,878.210268209,785.210268209,805,652,630,652,0.400976576125,0.00448856177197,0.0798402681897,0.999999954021,0.000124634403747,-0.000271912973314,4.98687827438e-05,1793245129194166016
+72,1.200000000,BASELINE,764,745,714,680,658,633,878.789526282,785.789526282,805,652,630,652,0.400976656845,0.00448766673571,0.0798398175262,0.999999954172,0.000121933060916,-0.000272625515101,4.96262081859e-05,1793245129210832640
+73,1.216666667,BASELINE,764,745.366852341,714,680,658,633.366852341,879,785.633147659,805,652,630,652,0.400977051397,0.00448762405003,0.0798401016433,0.999999954249,0.000122411042338,-0.000272102128665,4.97780397142e-05,1793245129227499520
+74,1.233333333,BASELINE,764,745.94307572,714,680,658,633.94307572,879,785.05692428,805,652,630,652,0.400977625059,0.0044880678204,0.0798408051166,0.999999954281,0.000124703537134,-0.000270873369625,5.0154967849e-05,1793245129244166144
+75,1.250000000,BASELINE,764,745.471478723,714,680,658,634,879,785,805,652,630,652,0.400976747937,0.00448803152804,0.0798407464258,0.999999954241,0.000123659071493,-0.000271520797616,5.00201957355e-05,1793245129260832512
+76,1.266666667,BASELINE,764,745,714,680,658,633.886501788,879,785,805,652,630.113498212,652,0.400975858855,0.00448820676451,0.0798404852443,0.999999954105,0.00012288322651,-0.000272407175381,4.98487430121e-05,1793245129277498880
+77,1.283333333,BASELINE,764,745,714,680,658,633.307591871,879,785,805,652,630.692408129,652,0.400975572851,0.00448946518539,0.0798397363195,0.999999953604,0.000124708848427,-0.000273430049253,4.97568859849e-05,1793245129294165760
+78,1.300000000,BASELINE,764,745,713.729071424,680,658,633.270928576,879,785,805,652,630.729071424,652,0.400976142623,0.00448962112471,0.079839686139,0.999999953711,0.000124412548037,-0.000273195361816,4.96393565528e-05,1793245129310832384
+79,1.316666667,BASELINE,764,745,713.150992556,680,658,633.849007444,879,785,805,652,630.150992556,652,0.400977682584,0.00448852718643,0.0798404281213,0.999999954503,0.000121710635437,-0.000271534983709,4.94927224575e-05,1793245129327499264
+80,1.333333333,BASELINE,763.575210237,745,713.424789763,680,658,633.575210237,879,785,805,652,630.424789763,652,0.400978250817,0.00448813164363,0.0798409959588,0.999999954754,0.000122544972501,-0.000270196510469,4.96833904956e-05,1793245129344166144
+81,1.350000000,BASELINE,763.000239797,745,713.999760203,680,658,633.000239797,879,785,805,652,630.999760203,652,0.400978475504,0.00448798301232,0.079841502229,0.999999954811,0.000124629519251,-0.00026897184372,4.99933087187e-05,1793245129360833280
+82,1.366666667,BASELINE,763.58848325,745,714,680,658,633,879,785,805,652,630.41151675,652,0.400977546721,0.004488161325,0.0798412488716,0.99999995447,0.000124755742467,-0.000270252938303,4.95890960053e-05,1793245129377499904
+83,1.383333333,BASELINE,764,745,713.825567998,680,658,633,878.825567998,785,805,652,630,652,0.400976728522,0.00448864715806,0.0798409056524,0.999999954158,0.000124856742205,-0.000271401067498,4.9367484696e-05,1793245129394166528
+84,1.400000000,BASELINE,764,745,713.246074844,680,658,633,878.246074844,785,805,652,630,652,0.400976168234,0.00448984678967,0.0798403544948,0.999999953914,0.00012490106611,-0.000272238000614,4.95705971302e-05,1793245129410832896
+85,1.416666667,BASELINE,764,745,713.332312879,680,658,633,878,785,805,652,630,652,0.40097615153,0.00448967588289,0.0798399531376,0.999999953836,0.000124533154953,-0.000272684954967,4.96220560758e-05,1793245129427499264
+86,1.433333333,BASELINE,764,745,713.90988472,680,658,633,878,785,805,652,630,652,0.400976536009,0.00448849346898,0.0798396623384,0.999999953879,0.000123860999362,-0.000272844090796,4.95615892328e-05,1793245129444165632
+87,1.450000000,BASELINE,763.516160943,745,714,680,658,633,878,785.483839057,805,652,630,652,0.400977016092,0.00448786144208,0.0798404482222,0.999999954231,0.000122968511242,-0.000271912033459,4.98061599239e-05,1793245129460832000
+88,1.466666667,BASELINE,763.05884585,745,714,680,658,633.05884585,878.05884585,786,804.94115415,652,630,652,0.400977521864,0.00448749060166,0.0798413462793,0.999999954615,0.000122256506205,-0.000270770729051,5.0059179093e-05,1793245129477498624
+89,1.483333333,BASELINE,763.649405069,745,714,680,658,633.649405069,878.649405069,786,804.350594931,652,630,652,0.400978100071,0.00448856038907,0.0798414593938,0.999999954793,0.000123543338528,-0.000269561476029,4.98789970504e-05,1793245129494165504
+90,1.500000000,BASELINE,764,745,714,680,658,633.76477631,878.76477631,786,804.23522369,652,630,652,0.400978751921,0.00448928147047,0.079841690639,0.999999954897,0.000124206047571,-0.000268898402972,4.97261292035e-05,1793245129510832640
+91,1.516666667,BASELINE,764,745,714,680,658,633.185883892,878.185883892,786,804.814116108,652,630,652,0.400979511368,0.00448949308206,0.0798420944767,0.999999954897,0.000123956894039,-0.00026903331501,4.96131682157e-05,1793245129527499520
+92,1.533333333,BASELINE,763.610315062,745,714,680,658,633,878,785.610315062,805,652.389684938,630,652,0.400978285068,0.00448925633717,0.0798413792107,0.999999954573,0.000123323158667,-0.000270512392348,4.96801503341e-05,1793245129544166400
+93,1.550000000,BASELINE,763.036318161,745,714,680,658,633,878,785.036318161,805,652.963681839,630,652,0.400976119556,0.00448880753006,0.0798401346345,0.999999954092,0.000122507524957,-0.000272627228791,4.98322413697e-05,1793245129560833024
+94,1.566666667,BASELINE,763.539581593,745,713.460418407,680,657.460418407,633.539581593,878,785,805.539581593,652.460418407,630,652,0.400976627543,0.00448823663162,0.079840372997,0.99999995419,0.000122716388961,-0.000272189784514,4.97358099266e-05,1793245129577499392
+95,1.583333333,BASELINE,764,745,713.118716309,680,657.118716309,633.881283691,878,785,805.881283691,652,630,652,0.40097704323,0.00448817457318,0.0798406456091,0.999999954242,0.000123435190489,-0.000271694576376,4.96113774239e-05,1793245129594166016
+96,1.600000000,BASELINE,764,745,713.710222624,680,657.710222624,633.289777376,878,785,805.289777376,652,630,652,0.400976372146,0.00449017182283,0.0798406557041,0.999999953953,0.000125909234117,-0.000271655896314,4.94422836871e-05,1793245129610832640
+97,1.616666667,BASELINE,764.295026681,745,714,680,658,633,878.295026681,785,805,652,630,652,0.40097677066,0.00449051104284,0.079840887316,0.999999954071,0.000125963682608,-0.000271175773307,4.95386620253e-05,1793245129627499520
+98,1.633333333,BASELINE,764.873393925,745,714,680,658,633,878.873393925,785,805,652,630,652,0.400978196404,0.00448925790828,0.0798413316705,0.999999954582,0.000123694376895,-0.00027027169308,4.9889996999e-05,1793245129644166400
+99,1.650000000,BASELINE,764.551630653,745,714,680,658,633,878.551630653,785,805,652,630,652,0.400978282864,0.00448997071941,0.0798417999684,0.999999954611,0.000124353380482,-0.000269935738625,4.94805545049e-05,1793245129660833280
+100,1.666666667,BASELINE,763.976990711,745.023009289,714,680,658,633,878,785,805,652,630,652,0.400977997152,0.00449112607744,0.0798422036698,0.999999954504,0.000125704319761,-0.000269815734232,4.88916828999e-05,1793245129677499904
+101,1.683333333,BASELINE,763.387199509,745.612800491,714,680,658,633,878,785,805,652,630,652,0.400977789338,0.00448961101464,0.079840850892,0.999999954373,0.000123884457977,-0.000271093214371,4.91348752794e-05,1793245129694166016
+102,1.700000000,BASELINE,763.198972508,745.801027492,714,680,658,633.198972508,878,785,805,652,630.198972508,652,0.40097763098,0.00448848971681,0.0798400993145,0.999999954304,0.000122896700305,-0.000271756788121,4.93548568644e-05,1793245129710832384
+103,1.716666667,BASELINE,763.778227361,745.221772639,714,680,658,633.778227361,878,785,805,652,630.778227361,652,0.400977567143,0.0044881209948,0.0798404967695,0.99999995436,0.000123499285666,-0.000271247045057,4.95304772415e-05,1793245129727499008
+104,1.733333333,BASELINE,764,745.356620602,714,680,658,634,878.356620602,785,805,652,631,652,0.400977380899,0.00448858994757,0.0798406421681,0.99999995419,0.00012495527944,-0.000271202291282,4.95556089741e-05,1793245129744165888
+105,1.750000000,BASELINE,764,745.93447938,714,680,658,634,878.93447938,785,805,652,631,652,0.400977118717,0.00448957857201,0.0798406311975,0.999999953877,0.00012694070572,-0.000271446004756,4.94873814706e-05,1793245129760832512
+106,1.766666667,BASELINE,764,745.493436803,713.493436803,680,658,633.493436803,878.493436803,785,805,652,630.493436803,652,0.400977627035,0.00448910928358,0.0798410128527,0.999999954544,0.00012351502032,-0.000270611343295,4.92558456265e-05,1793245129777499392
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,746,714,680,658,633,878,785,805,652,630,653,0.40097802864,0.00448886630921,0.0798418920652,0.999999954972,0.000122756462909,-0.000269377814644,4.92218789885e-05,1793245129820083456
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.441469607,714,680,658,633.558530393,878,785,805,652,630,652.441469607,0.400977020011,0.00448893180337,0.079840949547,0.999999954186,0.000125143323425,-0.000271127303152,4.95722738303e-05,1793245129836749312
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.874719923,680,658,633.874719923,878,785.125280077,805,652,630.125280077,651.874719923,0.4009763665,0.00448897626246,0.0798402225738,0.99999995364,0.000126575369799,-0.000272435540723,4.9783119943e-05,1793245129853415168
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.276972772,680,658,633.276972772,878,785.723027228,805,652,630.723027228,651.276972772,0.400977052237,0.00448894139227,0.0798403084823,0.999999954024,0.000124406539116,-0.000272079695071,4.94676879094e-05,1793245129870081792
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.315249944,745.315249944,713.315249944,680,658,633,878.315249944,785.684750056,805,652,630.684750056,651.315249944,0.400978212045,0.004489134208,0.0798410529818,0.999999954502,0.000123918902288,-0.000270558992701,4.93786064104e-05,1793245129886748416
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.902702548,745.902702548,713.902702548,680,658,633,878.902702548,785.097297452,805,652,630.097297452,651.902702548,0.400979781189,0.00448952361921,0.0798423661417,0.999999955057,0.00012488289294,-0.000268032494463,4.94849673685e-05,1793245129903415040
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,746,714,680,657.517031106,633.482968894,878.517031106,785,805,652,630,652,0.400978611003,0.00448915508816,0.079841602555,0.999999954596,0.000124733959969,-0.000269798501013,4.95773053776e-05,1793245129920081664
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.938254218,745.938254218,714,680,657.061745782,633.938254218,878,785,805,652,630,652,0.400977331443,0.00448861312818,0.0798407394167,0.999999954097,0.00012412344404,-0.000271911021817,4.96416689399e-05,1793245129936748544
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.360003982,745.360003982,714,680,657.639996018,633.360003982,878,785,805,652,630,652,0.400979685573,0.00448787898336,0.079842491932,0.999999954999,0.000121499771062,-0.00026979450488,4.94953106941e-05,1793245129953415168
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878.216784965,785,805,652,630,652,0.400987429116,0.0044878581472,0.0798464689048,0.999999956815,0.000120742987119,-0.000263348752831,4.93898404965e-05,1793245129970082048
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878.791163411,785,805,652,630,652,0.401004062661,0.00448901393573,0.0798541151887,0.999999960019,0.000123065694429,-0.000249761794183,4.93518164038e-05,1793245129986748672
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713.62534783,680,658,633,878.62534783,785,805,652,630,652,0.401035711193,0.00449000031904,0.0798661543246,0.999999965193,0.00012482503005,-0.000227207590458,4.90925711369e-05,1793245130003415296
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713.036654229,680,658,633,878.036654229,785,805,652,630,652,0.401075937894,0.00449088992007,0.0798807031287,0.999999970937,0.000126262507594,-0.000199530334904,4.87069406207e-05,1793245130020081664
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713.543047478,680,658,633.543047478,878,785.543047478,805,652.543047478,630,651.456952522,0.401139383907,0.00448989218611,0.0798970888711,0.999999977573,0.000123419404755,-0.00016540759079,4.75568332736e-05,1793245130036748544
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.878522282,878.121477718,786,805,652.878522282,630.121477718,651.121477718,0.401205963941,0.00448934196815,0.0799117660434,0.999999982193,0.000121055726561,-0.000137182941367,4.62595446299e-05,1793245130053415168
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.302614797,878.697385203,786,805,652.302614797,630.697385203,651.697385203,0.401278500582,0.00449093462399,0.0799195954519,0.999999982824,0.000121548732081,-0.000132623121015,4.46015569212e-05,1793245130070082816
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680,657.727821586,633,879,785.727821586,805,652,631,652,0.401362366083,0.00449278524032,0.0799261655407,0.999999984029,0.000120588219314,-0.000125019171859,4.20692916118e-05,1793245130086749440
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,680,657.154262235,633,879,785.154262235,805,652,631,652,0.401458775934,0.00449492149411,0.0799313411946,0.999999985789,0.000118018237571,-0.000114044483977,3.85689459442e-05,1793245130103415296
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,657.433470691,633.433470691,879,785,805,652,630.566529309,652,0.401569314503,0.00449567564632,0.0799347944343,0.999999986877,0.000115549973968,-0.000108025913696,3.49814091042e-05,1793245130120081920
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,680.02573333,658,634,878.97426667,785.02573333,805,652,630.02573333,652,0.401686560603,0.00449598066139,0.0799378048917,0.999999987765,0.00011309949934,-0.000103431327879,3.1323483221e-05,1793245130136748800
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,680.603310034,658,634,878.396689966,785.603310034,805,652,630.603310034,652,0.401836177102,0.0044975583624,0.0799449092579,0.99999998949,0.000110227982559,-9.02716311391e-05,2.68439919873e-05,1793245130153415424
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,680.819536802,658,633.819536802,878.180463198,786,805,652,630.819536802,652,0.401994547318,0.00449953176721,0.07995147076,0.999999990972,0.000106984326931,-7.82583421096e-05,2.20558561323e-05,1793245130170081792
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,680.243312552,658,633.243312552,878.756687448,786,805,652,630.243312552,652,0.402172114672,0.00450237296182,0.0799568417443,0.999999992202,0.000102924560378,-6.87591603588e-05,1.65908542251e-05,1793245130186748672
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679.660479681,658,633.339520319,879,785.660479681,805,652,630.339520319,652,0.402366016837,0.00450564019814,0.0799607534405,0.999999993227,9.76559436757e-05,-6.24896358192e-05,1.01837840652e-05,1793245130203415296
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679.072816759,658,633.927183241,879,785.072816759,805,652,630.927183241,652,0.402571857518,0.00450921881259,0.0799635985987,0.999999994093,9.15038235419e-05,-5.85805450092e-05,3.08819116251e-06,1793245130220081920
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713.492239778,679.507760222,658,634,879,785,805,652,631,652,0.40279510089,0.00451358330059,0.0799574682097,0.999999994019,8.36902066717e-05,-7.02525039414e-05,-4.84070272448e-06,1793245130236748544
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713,680,658,633.91291758,879,785.08708242,805,652,630.91291758,652,0.403027571251,0.0045179973307,0.0799505708724,0.999999993561,7.63044900058e-05,-8.30070369938e-05,-1.28352860192e-05,1793245130253415168
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713,680,658,633.33501881,879,785.66498119,805,652,630.33501881,652,0.403298174492,0.00452206413066,0.0799465057342,0.99999999315,7.26549825425e-05,-8.94427090547e-05,-2.05358435187e-05,1793245130270082048
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.240422707,680,658,633.240422707,878.759577293,786,805,652,630,652,0.403594209727,0.00452661132562,0.0799470693174,0.999999992366,8.33290644606e-05,-8.80584578555e-05,-2.38584080919e-05,1793245130286748928
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.812474753,680,658,633.812474753,878.187525247,786,805,652,630,652,0.403925324808,0.0045318211577,0.0799540175715,0.999999990426,0.000113760525272,-7.58877209721e-05,-2.11421461644e-05,1793245130303416320
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,680.399874674,658,633.600125326,878.399874674,785.600125326,805,652,630,652,0.404281433751,0.00453994753366,0.0799567495579,0.999999987042,0.000143330183414,-7.03503393842e-05,-2.05835044487e-05,1793245130320083200
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,680.994759399,658,633.005240601,878.994759399,785.005240601,805,652,630,652,0.404649731639,0.00454949624351,0.0799574253634,0.999999982588,0.000172479558473,-6.80478990471e-05,-2.10770865441e-05,1793245130336749312
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.429481021,680.429481021,658,633,879,785,805,652,630,652,0.405066821979,0.00455273676254,0.0799590398534,0.999999994686,7.99134849526e-05,-6.04055678357e-05,-2.43658489692e-05,1793245130353415936
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745.145852142,713.145852142,680,658,633,878.854147858,785,805,652,630,652,0.405488615633,0.00455692549601,0.0799580186473,0.999999997764,1.78607837548e-05,-5.83195802847e-05,-2.74081494376e-05,1793245130370082560
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745.720431416,713.720431416,680,658,633,878.279568584,785,805,652,630,652,0.405922959723,0.00456406627379,0.0799492253834,0.999999995732,4.8680900595e-05,-7.27057735831e-05,-2.96529591916e-05,1793245130386749440
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.698315405,745.698315405,714,680,657.698315405,633,878.301684595,785,805,652,630.301684595,651.698315405,0.406386103403,0.00457100477282,0.0799408832582,0.999999992224,8.35658947939e-05,-8.75592376004e-05,-3.00421118389e-05,1793245130403416576
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.110737592,745.110737592,714,680,657.110737592,633,878.889262408,785,805,652,630.889262408,651.110737592,0.406876539238,0.00457775158201,0.0799329686564,0.99999998682,0.000122302997982,-0.000102855515154,-2.86727401316e-05,1793245130420082944
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.47307628,745,714,680,657.946152561,633,879,785,805,652,630.52692372,651.47307628,0.407392302076,0.00457806819241,0.0799287823633,0.999999984948,0.000129809400758,-0.000111604542868,-2.82538891106e-05,1793245130436750080
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713.945155802,680,658.945155802,633,879,785,805,652,630,652,0.407916899642,0.00457699714931,0.0799247656087,0.999999984118,0.000128684402337,-0.000120050530716,-2.81487602253e-05,1793245130453416960
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,713.374410691,680,658.374410691,633,879,785,805,652,630,652,0.408469275271,0.00457691987136,0.0799141990445,0.999999983224,0.000114591086065,-0.000139948585507,-2.89182697684e-05,1793245130470083328
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713.198834421,680,658.198834421,633,879,785,805,652,630.198834421,652,0.40905533288,0.00458096270981,0.07991504611,0.999999983406,0.000112753563641,-0.000139893936242,-3.00567633043e-05,1793245130486749952
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713.776847016,680,658.776847016,633,879,785,805,652,630.776847016,652,0.409705622148,0.00459286262957,0.079937659021,0.999999985294,0.000134287898309,-0.000101789385629,-3.18989109854e-05,1793245130503416576
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.638523226,680,658.638523226,633,878.638523226,785.361476774,805,652,630.638523226,652,0.410395040937,0.00460253749109,0.0799691592451,0.999999988279,0.000140981458498,-4.98230959873e-05,-3.29219103282e-05,1793245130520083456
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.049732296,680,658.049732296,633,878.049732296,785.950267704,805,652,630.049732296,652,0.411109066246,0.00461081312745,0.0800062482425,0.999999989813,0.000138342417583,1.08601272435e-05,-3.34297892597e-05,1793245130536750848
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.532870497,713.532870497,680,658.532870497,633,878.532870497,785.467129503,805,652,630,652,0.411780659728,0.00460058364667,0.0799899524367,0.999999989844,0.00013668397799,-2.05639041325e-05,-3.47381365454e-05,1793245130553416960
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745.886781003,714,680.113218997,658.886781003,633,879,785,805.113218997,652,630,652,0.41245509439,0.00458833137796,0.0799661251918,0.999999989008,0.000130202538908,-6.0767967635e-05,-3.65954736352e-05,1793245130570083328
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745.313276386,714,680.686723614,658.313276386,633,879,785,805.686723614,652,630,652,0.413156994374,0.00457479626581,0.0799317022591,0.999999988589,0.00010374566816,-0.000102120228709,-4.03844679347e-05,1793245130586749952
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680.739676851,658,633,878.739676851,785,805.739676851,652,630,652,0.413890801168,0.00457338070659,0.0799174417355,0.999999987571,9.97351658656e-05,-0.00011443781564,-4.25931986383e-05,1793245130603416320
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680.165962972,658,633,878.165962972,785,805.165962972,652,630,652,0.414663019156,0.00458655530226,0.0799274537782,0.999999987333,0.000122746781795,-9.18019369405e-05,-4.28995252855e-05,1793245130620082688
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.423632227,745.423632227,713.576367773,680.423632227,658.847264453,633.423632227,878,785,805,652,630,652,0.415471594264,0.00459677553535,0.0799452235915,0.99999998917,0.000123988659458,-6.65832903673e-05,-4.30483379175e-05,1793245130636749056
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.980988946,745.980988946,713.019011054,681,659.980988946,633.980988946,878.019011054,785,805,652,630,652,0.416293925594,0.00460564359369,0.0799648889597,0.999999991293,0.000117372795033,-4.21472004852e-05,-4.31454722291e-05,1793245130653415424
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.405524158,745.405524158,713.594475842,681,659.405524158,633.405524158,878.594475842,785,805,652,630,652,0.417085762866,0.00461013027994,0.0799476151261,0.999999986685,0.000140114367168,-7.13862927318e-05,-4.36065243682e-05,1793245130670082816
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,681.169825953,659,633,879,785,805,652,630,652,0.417911896412,0.00461178182853,0.0799450766483,0.999999984846,0.00015228452272,-7.16228812913e-05,-4.45713731911e-05,1793245130686749952
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,681.744902379,659,633,879,785,805,652,630,652,0.41881987006,0.00460666797461,0.0799777007,0.999999989212,0.000139228428934,-2.65168104719e-06,-4.67384165769e-05,1793245130703416576
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745.326554204,714,681.673445796,659,633,879,785,805.326554204,652,630,652,0.419691326297,0.0045993830302,0.0799893364666,0.999999990528,0.000126781610138,2.32437230281e-05,-4.82778903665e-05,1793245130720083200
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745.913448126,714,681.086551874,659,633,879,785,805.913448126,652,630,652,0.420533669613,0.00459036722149,0.0799842396826,0.999999992083,0.000114820526328,1.47976868461e-05,-4.9317045121e-05,1793245130736749824
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745.503140437,714,681,659,633.496859563,879,785,806,651.503140437,630,652,0.421436580533,0.00459426562741,0.0799762357355,0.999999991941,0.000116527103292,-8.37134666441e-07,-5.03796689353e-05,1793245130753416192
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,713.921611059,681,659,633.921611059,879,785,806,651.078388941,630.078388941,652,0.422350839553,0.00460070476645,0.0799727188509,0.999999991172,0.000122264847429,-1.00387317185e-05,-5.10451118836e-05,1793245130770082560
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,713.348163389,681,659,633.348163389,879,785,806,651.651836611,630.651836611,652,0.423270597552,0.00460908123475,0.0800007156348,0.999999988768,0.000138529511162,2.92417298008e-05,-4.91765528697e-05,1793245130786748928
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745.22594037,713,681,659,633,879,785,806,652,631,652,0.424164620054,0.0046158279929,0.0800057749619,0.999999987196,0.000150660699683,2.53417264433e-05,-4.76150546062e-05,1793245130803415808
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745.801058166,713,681,659,633,879,785,806,652,631,652,0.425018870013,0.00462005613206,0.0799753858159,0.999999985661,0.000156403849987,-4.52911154046e-05,-4.65281001552e-05,1793245130820082176
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745.612099967,713.387900033,681,659,633,879,785,805.612099967,651.612099967,630.612099967,652,0.425903475536,0.00461947236729,0.0799435434145,0.999999983511,0.00015095296293,-8.85721166785e-05,-4.84378627733e-05,1793245130836748544
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745.019057825,713.980942175,681,659,633,879,785,805.019057825,651.019057825,630.019057825,652,0.42680413464,0.00461634381227,0.0799109324564,0.99999998202,0.000139582075053,-0.000117388009862,-5.19324484182e-05,1793245130853415168
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,681.559811269,660.119622538,633,879,785,805.559811269,651.559811269,630,652,0.427753461477,0.00461104681509,0.07991268232,0.999999982793,0.000137609756467,-0.000112951231774,-5.215837883e-05,1793245130870081792
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,714,682,660.725805443,633.137097279,879.137097279,784.862902721,806,652,630,652,0.428698530263,0.00460719618649,0.0799205705547,0.999999984196,0.000135002720864,-0.000103283833935,-5.21081747808e-05,1793245130886748672
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659.578319966,633.710840017,879.710840017,784.289159983,806,652,630,652,0.429624890862,0.00460818145231,0.0799443754829,0.999999987065,0.000129380272204,-8.04736837644e-05,-5.15241560887e-05,1793245130903415296
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,682.292271737,659.292271737,633.707728263,879.707728263,784.292271737,806.292271737,651.707728263,630,651.707728263,0.430561215652,0.00460948717658,0.0799790958875,0.999999989922,0.000128412711364,-3.24290590586e-05,-5.11235789586e-05,1793245130920081920
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,714,682.881516071,659.881516071,633.118483929,879.118483929,784.881516071,806.881516071,651.118483929,630,651.118483929,0.431507664841,0.00461111851345,0.0800249073303,0.999999989118,0.000132174906846,4.12559070428e-05,-5.09093936901e-05,1793245130936748544
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+247,4.116666667,HOLD_POSE2,764,745,712,685,649,628,880,783,807,652,630,652,0.453656887016,0.00480002399714,0.0795140296426,0.999999669337,0.000316742603067,-0.000745797663431,-6.91787264488e-05,1793245132175407616
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.08662656,746,714,680,658,633,878.173253119,785,805,652,631,652,0.400976164249,0.00448537486613,0.0798368612368,0.999999951659,0.000124129000123,-0.000280496914887,5.09388142795e-05,1793245134647758080
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.665838695,746,714,680,658,633,879.331677389,785,805,652,631,652,0.400977662227,0.0044862625063,0.0798380888119,0.999999951899,0.000125914278787,-0.000278829157369,5.10083984245e-05,1793245134664424704
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.7557425,746,714,680,658,633.2442575,879.7557425,785,805,652,630.7557425,652,0.40097772914,0.00448711175794,0.0798383773806,0.999999951859,0.000127502200476,-0.000278270110851,5.08988110818e-05,1793245134681091328
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.545112798,658,633.454887202,878,786,805,652,630.454887202,652,0.400975897714,0.00448811669982,0.0798391524559,0.999999951918,0.000130403371952,-0.000276734885591,5.07704112463e-05,1793245134831091200
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..43dbcf23e81266f6613f74d6712e7fe4a31b31c5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+359,5.983333333,pose2_to_pose3_retreat,0.578617594535,0.00987782156918,1.07005112,0.549189227969,0.0185535080749,1.06971760973
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+361,6.016666667,pose2_to_pose3_retreat,0.578017734551,0.00987787862313,1.07005097998,0.548589367306,0.0185535627392,1.06971746742
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+363,6.050000000,pose2_to_pose3_retreat,0.577500291584,0.00987787939919,1.0700510659,0.548071924966,0.0185535658551,1.06971755886
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+365,6.083333333,pose2_to_pose3_retreat,0.577071861064,0.00987787427166,1.07005101796,0.547643494038,0.0185535593867,1.06971751195
+366,6.100000000,pose2_to_pose3_retreat,0.576888220212,0.00987794221755,1.07005101613,0.547459852028,0.0185536235072,1.06971751287
+367,6.116666667,pose2_to_pose3_retreat,0.576722811868,0.00987793445683,1.07005093853,0.547294443964,0.0185536165267,1.06971743086
+368,6.133333333,pose2_to_pose3_retreat,0.576573723964,0.00987783897595,1.07005095545,0.547145357289,0.0185535249947,1.06971744211
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+370,6.166666667,pose2_to_pose3_retreat,0.576318458951,0.00987786854723,1.07005103422,0.54689009059,0.0185535486893,1.06971751671
+371,6.183333333,pose2_to_pose3_retreat,0.57620931651,0.00987794048552,1.07005101716,0.546780948392,0.0185536215963,1.06971750351
+372,6.200000000,pose2_to_pose3_retreat,0.576111904154,0.00987774710939,1.07005091596,0.546683538289,0.018553435921,1.06971740501
+373,6.216666667,pose2_to_pose3_retreat,0.576025992744,0.009877698346,1.07005084726,0.546597627539,0.0185533897047,1.06971734423
+374,6.233333333,pose2_to_pose3_retreat,0.575952518075,0.00987774861913,1.07005093782,0.546524152238,0.0185534376403,1.06971742936
+375,6.250000000,pose2_to_pose3_retreat,0.575890176632,0.00987784078912,1.07005108295,0.546461811163,0.0185535307866,1.06971756729
+376,6.266666667,pose2_to_pose3_retreat,0.575838692426,0.00987786482875,1.07005109548,0.546410327632,0.0185535571948,1.06971758192
+377,6.283333333,pose2_to_pose3_retreat,0.575796077232,0.00987780454995,1.0700510292,0.546367711821,0.0185534949726,1.0697175195
+378,6.300000000,pose2_to_pose3_retreat,0.575762059152,0.00987789351984,1.07005105324,0.546333692897,0.018553581202,1.06971754683
+379,6.316666667,pose2_to_pose3_retreat,0.575735053021,0.00987792789429,1.0700507632,0.546306683851,0.0185536055978,1.06971725443
+380,6.333333333,pose2_to_pose3_retreat,0.575714690335,0.00987789391164,1.07005090646,0.54628632152,0.0185535725156,1.06971738989
+381,6.350000000,pose2_to_pose3_retreat,0.575700002382,0.00987782626076,1.07005089345,0.546271636056,0.0185535134034,1.06971737956
+382,6.366666667,pose2_to_pose3_retreat,0.575689996469,0.00987788624854,1.07005095909,0.546261628673,0.0185535684895,1.06971744713
+383,6.383333333,pose2_to_pose3_retreat,0.575683975396,0.00987793435874,1.07005102628,0.546255606299,0.0185536122643,1.06971751605
+384,6.400000000,pose2_to_pose3_retreat,0.575679627406,0.00987788249549,1.07005107194,0.54625125985,0.0185535657718,1.06971756561
+385,6.416666667,pose2_to_pose3_retreat,0.575676460077,0.00987789433285,1.07005100882,0.546248092803,0.0185535786857,1.06971750565
+386,6.433333333,pose2_to_pose3_retreat,0.575674297512,0.00987797753672,1.07005081981,0.546245929159,0.018553658331,1.06971731928
+387,6.450000000,pose2_to_pose3_retreat,0.575672813754,0.00987800639121,1.07005071711,0.546244445096,0.0185536861601,1.06971721676
+388,6.466666667,pose2_to_pose3_retreat,0.575671898429,0.00987793914658,1.07005073506,0.546243530896,0.0185536225485,1.06971722987
+389,6.483333333,pose2_to_pose3_retreat,0.575671595403,0.00987791688471,1.070050741,0.546243228243,0.0185536014894,1.06971723421
+390,6.500000000,pose2_to_pose3_retreat,0.575671328398,0.00987789726911,1.07005074624,0.546242961567,0.0185535829336,1.06971723804
+391,6.516666667,pose2_to_pose3_retreat,0.575671283871,0.00987789399789,1.07005074711,0.546242917094,0.0185535798391,1.06971723867
+392,6.533333333,pose2_to_pose3_retreat,0.575671119204,0.00987788190061,1.07005075034,0.54624275263,0.0185535683954,1.06971724103
+393,6.550000000,pose2_to_pose3_retreat,0.575670991686,0.0098778725325,1.07005075284,0.546242625269,0.0185535595334,1.06971724286
+394,6.566666667,pose2_to_pose3_retreat,0.575670856729,0.00987786261783,1.07005075549,0.546242490478,0.0185535501544,1.06971724479
+395,6.583333333,pose2_to_pose3_retreat,0.575670603979,0.00987784909542,1.07005078439,0.546242237838,0.0185535370133,1.06971727389
+396,6.600000000,pose2_to_pose3_retreat,0.575670394299,0.00987784380669,1.07005083652,0.546242028013,0.01855353131,1.06971732797
+397,6.616666667,pose2_to_pose3_retreat,0.575670179777,0.00987783839585,1.07005088985,0.546241813344,0.0185535254751,1.06971738329
+398,6.633333333,pose2_to_pose3_retreat,0.575670011661,0.00987783415548,1.07005093165,0.546241645112,0.0185535209024,1.06971742665
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+400,6.666666667,pose2_to_pose3_retreat,0.575669904534,0.00987783145343,1.07005095828,0.546241537911,0.0185535179886,1.06971745428
+401,6.683333333,pose2_to_pose3_retreat,0.575669779756,0.00987780205719,1.07005093382,0.546241413811,0.0185534908589,1.06971742895
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+404,6.733333333,pose2_to_pose3_retreat,0.575669528738,0.00987770666502,1.07005088645,0.54624116312,0.0185533962789,1.06971737387
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df264d5fb533207356138c01e23abeb6990aa59b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f708baf5ebb87b3f4bcbd3899dded0ac6c4b7efa7bf75c46e2e131a6584eae6
+size 25809890
diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ebedcd0a40ecdbae40472b8b9e2ab1f31b464db8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+30,0.500000000,BASELINE,764,745.590770941,713.590770941,680,658,634,878,785,805.590770941,652,631,652,0.400978500957,0.00448769499716,0.0798423952354,0.99999995432,0.000126439182352,-0.000269955910856,4.99686908397e-05,1793245135490106368
+31,0.516666667,BASELINE,764,745.006785156,713.006785156,680,658,634,878,785,805.006785156,652,631,652,0.400980300954,0.00448897416869,0.0798440126326,0.999999954836,0.00012600205128,-0.000268295129612,4.96900697424e-05,1793245135506773504
+32,0.533333333,BASELINE,764,745,713.568772748,680,658.568772748,634,878,785.568772748,805,652,630.431227252,652,0.400978809252,0.00448920369619,0.0798431068536,0.999999954154,0.000127733527405,-0.000270002866379,4.97429235038e-05,1793245135523440128
+33,0.550000000,BASELINE,764,745,714,680,658.855761004,634,878,785.855761004,805,652,630,652,0.400977518887,0.00448899847589,0.0798423335753,0.99999995369,0.000128342001626,-0.00027140720119,4.98580753306e-05,1793245135540106752
+34,0.566666667,BASELINE,764,745,714,680,658.28027269,634,878,785.28027269,805,652,630,652,0.400976946174,0.00448753032681,0.0798420451313,0.999999953932,0.000125516678281,-0.000271786026307,5.01478373541e-05,1793245135556773376
+35,0.583333333,BASELINE,764,745,714,680,658.302668471,633.697331529,878.302668471,785,805,652,630.302668471,652.302668471,0.400976224013,0.00448759958879,0.0798414101909,0.99999995375,0.000124991738682,-0.000272703326883,5.01001651352e-05,1793245135573440000
+36,0.600000000,BASELINE,764,745,714,680,658.892685309,633.107314691,878.892685309,785,805,652,630.892685309,652.892685309,0.400975359968,0.00448912844285,0.0798404462925,0.999999953169,0.000126650744463,-0.000274131847068,4.97321385449e-05,1793245135590106624
+37,0.616666667,BASELINE,763.530376038,745,714,679.530376038,658.530376038,633.469623962,879,785,805,652,630.530376038,652.530376038,0.400975770498,0.00448938771862,0.0798409880674,0.999999953471,0.000127439148467,-0.000272706785059,4.94832926674e-05,1793245135606773248
+38,0.633333333,BASELINE,763.044048606,745,714,679.044048606,658,633.955951394,879,785.044048606,805,652,630.044048606,652,0.400976385706,0.00448933060123,0.0798417763721,0.999999953908,0.000127968348723,-0.000270877472509,4.93207941377e-05,1793245135623439872
+39,0.650000000,BASELINE,763.623254944,745,714,679.623254944,658,633.376745056,879,785.623254944,805,652,630.623254944,652,0.400976044946,0.00448885871302,0.07984149296,0.999999953652,0.000127699939564,-0.000271844429808,4.9885440534e-05,1793245135640106496
+40,0.666666667,BASELINE,764,745,714,680,658,633,879,786,805,652.2053792,630.7946208,652,0.40097622127,0.00448822717894,0.0798415536848,0.999999953685,0.000126558577047,-0.000272210645235,5.01482172874e-05,1793245135656773120
+41,0.683333333,BASELINE,764,745,714,680,658,633,879,786,805,652.792933157,630.207066843,652,0.4009773598,0.00448729857187,0.0798422547882,0.99999995425,0.000123792801083,-0.000271458985085,4.98492674187e-05,1793245135673440256
+42,0.700000000,BASELINE,764.374475605,745.374475605,714,680,658,633,878.625524395,785.625524395,805,652.625524395,630,652,0.400977769543,0.00448718849971,0.0798422263872,0.999999954278,0.000124771518313,-0.000270927623422,4.97380894585e-05,1793245135690107136
+43,0.716666667,BASELINE,764.952746481,745.952746481,714,680,658,633,878.047253519,785.047253519,805,652.047253519,630,652,0.400977782669,0.00448752388662,0.079841800979,0.999999954009,0.000127788045285,-0.000270516151541,4.97290998115e-05,1793245135706773504
+44,0.733333333,BASELINE,764.468929316,745.468929316,714,680,658,633,878.531070684,785.531070684,805,652,630,652,0.400978101672,0.00448857482286,0.0798424527619,0.999999953865,0.000129822571924,-0.000270076806051,4.97466813458e-05,1793245135723440128
+45,0.750000000,BASELINE,763.89126201,745,713.89126201,680,658,633,878.89126201,786,805.10873799,652,630,652,0.40097831957,0.00448918492218,0.0798428912522,0.999999953825,0.000130830706765,-0.000269734472687,4.97586834116e-05,1793245135740106752
+46,0.766666667,BASELINE,763.31643092,745,713.31643092,680,658,633,878.31643092,786,805.68356908,652,630,652,0.400977987423,0.00448763249043,0.0798420046128,0.999999954194,0.000127813894754,-0.000269818602832,4.97366346194e-05,1793245135756773376
+47,0.783333333,BASELINE,763,745.26489013,713.26489013,680,657.73510987,633.26489013,878.26489013,785.73510987,805.73510987,652,630.26489013,652,0.400977966429,0.00448750951628,0.0798417711388,0.999999954401,0.000126506560856,-0.000269673204708,4.97022666062e-05,1793245135773439744
+48,0.800000000,BASELINE,763,745.854158715,713.854158715,680,657.145841285,633.854158715,878.854158715,785.145841285,805.145841285,652,630.854158715,652,0.400978326465,0.00448913702335,0.0798423375162,0.999999954419,0.00012729261474,-0.000269246731477,4.9652812751e-05,1793245135790106368
+49,0.816666667,BASELINE,763.436674646,745.563325354,714,680,657.436674646,634,879,785.436674646,805,652,631,652,0.400977705129,0.00448979765979,0.0798421774442,0.999999954123,0.000127672537985,-0.000270198741504,4.94576308708e-05,1793245135806772992
+50,0.833333333,BASELINE,764.016784363,745.016784363,714,680,658,634,879,786,805,652,631,652,0.40097677024,0.00449009840943,0.0798417809884,0.999999953736,0.000127857529955,-0.000271584117972,4.9223240644e-05,1793245135823439872
+51,0.850000000,BASELINE,764.590744141,745.590744141,714,680,658,634,879,786,805,652,631,652,0.40097614125,0.00448900866389,0.0798414689244,0.999999953772,0.000126005719221,-0.000272305222468,4.92783517505e-05,1793245135840106496
+52,0.866666667,BASELINE,764.83635123,745.83635123,714,680,658,634,879,785.83635123,805,652,630.83635123,652,0.400975772443,0.00448801304714,0.0798412079462,0.999999953813,0.000124461849098,-0.000272843608617,4.93835123328e-05,1793245135856773376
+53,0.883333333,BASELINE,764.266068467,745.266068467,714,680,658,634,879,785.266068467,805,652,630.266068467,652,0.40097605014,0.00448725132143,0.0798410739057,0.999999953876,0.000123683149022,-0.000272927976698,4.96130357056e-05,1793245135873439744
+54,0.900000000,BASELINE,764,745.319962182,714,680,658,633.680037818,878.680037818,785,805,652,630,652,0.400976173513,0.00448715972572,0.079841159886,0.999999953929,0.000123529129409,-0.00027280032749,4.96266063938e-05,1793245135890106112
+55,0.916666667,BASELINE,764,745.919766039,714,680,658,633.080233961,878.080233961,785,805,652,630,652,0.400976161915,0.00448765423151,0.0798414382986,0.999999953974,0.000123921460737,-0.000272487246134,4.94513029961e-05,1793245135906772736
+56,0.933333333,BASELINE,763.501426475,745.501426475,714,680,658,633.498573525,878.99714705,785,805,652,630,652,0.400976479165,0.0044877472123,0.0798416519463,0.999999953939,0.000125851680113,-0.000271710262405,4.95663215656e-05,1793245135923439616
+57,0.950000000,BASELINE,763.074054821,745.074054821,714,680.074054821,658.074054821,633.925945179,879.851890358,785,805,652,630.074054821,652,0.400977009365,0.0044877604451,0.0798419260714,0.99999995396,0.000127667826683,-0.000270757139129,4.97240487691e-05,1793245135940106240
+58,0.966666667,BASELINE,763.648968736,745.648968736,714,680.648968736,658.648968736,633.351031264,878.702062529,785,805,652,630.648968736,652,0.400978636366,0.00448765367579,0.0798426768685,0.999999954472,0.000127106251441,-0.000269097232226,4.98674106052e-05,1793245135956773120
+59,0.983333333,BASELINE,764,745.770044749,714,680.770044749,658.770044749,633,878.229955251,785,805,652,630.770044749,652,0.400978935815,0.0044878626328,0.0798427359534,0.999999954673,0.000126542894572,-0.000268628554325,4.97936699439e-05,1793245135973440000
+60,1.000000000,BASELINE,764,745.179536759,714,680.179536759,658.179536759,633,878.820463241,785,805,652,630.179536759,652,0.400977153762,0.00448856662518,0.079841710485,0.999999954388,0.00012597674416,-0.000270027634698,4.93795287275e-05,1793245135990106624
+61,1.016666667,BASELINE,764,745,714,680,658,633.385744234,879,785,805.385744234,652,630,652,0.400976916965,0.00448938453501,0.0798412300917,0.999999954207,0.000127167004492,-0.000270163545784,4.92616762029e-05,1793245136006773248
+62,1.033333333,BASELINE,764,745,714,680,658,633.940004535,879,785,805.940004535,652,630,652,0.400977355227,0.00449025221073,0.0798409878198,0.999999954068,0.00012912456973,-0.000269747629171,4.92732602589e-05,1793245136023439872
+63,1.050000000,BASELINE,764,745,714,680,658,634,878.466411807,785,805.466411807,652,630.533588193,652,0.400976309285,0.00448853686119,0.0798408612661,0.999999954072,0.000125281101154,-0.000271532154411,4.93056974227e-05,1793245136040106240
+64,1.066666667,BASELINE,764,745,713.869845363,680,658,633.869845363,878,785,805,652,631,652,0.400975476272,0.00448724721824,0.0798408671773,0.999999954066,0.000122427729689,-0.000272851836654,4.93088213355e-05,1793245136056772864
+65,1.083333333,BASELINE,764,745,713.279607847,680,658,633.279607847,878,785,805,652,631,652,0.400976032779,0.00448857071961,0.0798412916863,0.999999954028,0.000125563336591,-0.000271584189234,4.91993784219e-05,1793245136073439488
+66,1.100000000,BASELINE,764,745,713.304734571,680,658,633,878,785,805,652,630.695265429,652,0.400977190603,0.00448913565376,0.0798422501593,0.999999954146,0.000128132829272,-0.000269943482274,4.92054663545e-05,1793245136090106112
+67,1.116666667,BASELINE,764,745,713.883770589,680,658,633,878,785,805,652,630.116229411,652,0.400978889691,0.00448901777695,0.0798436892708,0.999999954406,0.00013019274406,-0.000267966972421,4.93155473457e-05,1793245136106772992
+68,1.133333333,BASELINE,764,745,714,679.54035557,658,633.45964443,878.45964443,785,805,652,630.45964443,652,0.400978311256,0.00448949753237,0.0798430856617,0.999999954183,0.000130131493785,-0.000268828827484,4.93080544472e-05,1793245136123439616
+69,1.150000000,BASELINE,764,745.03476575,714,679.03476575,658,634,879,785,805,652,631,652,0.400977205296,0.0044900600132,0.0798420046657,0.999999953868,0.000129432102285,-0.000270341627513,4.92674285208e-05,1793245136140106240
+70,1.166666667,BASELINE,764,745.610534185,714,679.610534185,658,634,879,785,805,652,631,652,0.400976791092,0.00448957421459,0.0798414780072,0.999999954024,0.000127092059171,-0.0002708914418,4.91706964177e-05,1793245136156772864
+71,1.183333333,BASELINE,764,745.809125125,714,680,658,634,879,785.190874875,805,652,630.809125125,652,0.400976414235,0.00448883130512,0.07984121762,0.999999954175,0.000125114610611,-0.000271253311363,4.91753024328e-05,1793245136173439488
+72,1.200000000,BASELINE,764,745.219226026,714,680,658,634,879,785.780773974,805,652,630.219226026,652,0.400976115453,0.00448755090491,0.0798415138731,0.999999954324,0.000123895166101,-0.000271222282289,4.93917559251e-05,1793245136190106112
+73,1.216666667,BASELINE,764,745.363884568,713.636115432,680.363884568,658,633.636115432,879,786,805,652,630.363884568,652,0.400976143455,0.00448812662537,0.0798418072528,0.999999954198,0.000125822085608,-0.000270798038077,4.9417077302e-05,1793245136206772736
+74,1.233333333,BASELINE,764,745.942980224,713.057019776,680.942980224,658,633.057019776,879,786,805,652,630.942980224,652,0.400976364726,0.00448980010543,0.079842098933,0.999999953896,0.000129609849204,-0.00027014123589,4.93293580087e-05,1793245136223439616
+75,1.250000000,BASELINE,764,745.480071274,713.519928726,679.960142547,658,633,879,786,805,652,631,652,0.400976170905,0.00448955958,0.0798420115417,0.999999953756,0.000127890596894,-0.000271459308412,4.94248460973e-05,1793245136240106496
+76,1.266666667,BASELINE,764,745.096649357,714,679.096649357,658,633.096649357,878.903350643,785.903350643,805,652,630.903350643,652,0.400975969397,0.00448927911259,0.079841914468,0.999999953678,0.000126065615916,-0.000272581601691,4.95029972607e-05,1793245136256773632
+77,1.283333333,BASELINE,764,745.673402929,714,679.673402929,658,633.673402929,878.326597071,785.326597071,805,652,630.326597071,652,0.4009759549,0.00448983865051,0.0798419749568,0.999999953854,0.000126703182923,-0.000271659924217,4.93956309395e-05,1793245136273440512
+78,1.300000000,BASELINE,764,745.745016667,714,680,658,634,878,785.254983333,805,652,630.254983333,652,0.400976154996,0.00448974308976,0.079841957802,0.999999954018,0.000126761867235,-0.000271033192668,4.93663948595e-05,1793245136290107136
+79,1.316666667,BASELINE,764,745.15713454,714,680,658,634,878,785.84286546,805,652,630.84286546,652,0.400976635258,0.00448879225125,0.0798418392779,0.999999954168,0.000126064779155,-0.000270791533976,4.94391633496e-05,1793245136306773504
+80,1.333333333,BASELINE,764,745,714,680,658,634,878,785.575896327,805,652,630.575896327,652,0.400976084019,0.00449056288042,0.079841562439,0.999999953633,0.000129747413454,-0.000271030661313,4.94142333114e-05,1793245136323439872
+81,1.350000000,BASELINE,764,745,713.997103874,680,658,633.997103874,878,785.002896126,805,651.997103874,630,652,0.40097516232,0.00449330084598,0.0798412324185,0.999999952832,0.000134982427278,-0.000271441230058,4.93541136424e-05,1793245136340106752
+82,1.366666667,BASELINE,764,745,713.422680847,680,658,633.422680847,878,785.577319153,805,651.422680847,630,652,0.400975390237,0.0044910181429,0.0798418044036,0.999999953424,0.000131273618052,-0.000271072903821,4.93828578462e-05,1793245136356773120
+83,1.383333333,BASELINE,764,745,713.15521813,680,658,633.15521813,878,785.84478187,805,651.15521813,630.15521813,652,0.400975733135,0.00448927279308,0.079842347656,0.999999953938,0.000128254189864,-0.000270625684182,4.93581980407e-05,1793245136373439744
+84,1.400000000,BASELINE,764,745,713.742799569,680,658,633.742799569,878,785.257200431,805,651.742799569,630.742799569,652,0.400976396315,0.00448902425136,0.0798428108731,0.999999954267,0.000127155045951,-0.000269958705263,4.91847802725e-05,1793245136390106624
+85,1.416666667,BASELINE,764,745,714,680,658,633.672908764,878.327091236,785.327091236,805,652,631,652,0.400976154202,0.00448888374107,0.0798425000076,0.999999954146,0.000127229963391,-0.000270356337862,4.92743699218e-05,1793245136406773248
+86,1.433333333,BASELINE,764,745,714,680,658,633.091178206,878.908821794,785.908821794,805,652,631,652,0.400975207324,0.00448882733288,0.0798415865218,0.999999953673,0.000128218883333,-0.000271582766641,4.95687098867e-05,1793245136423439872
+87,1.450000000,BASELINE,764,745,714,680,658,633.485554288,879,786,805.485554288,652,630.514445712,652,0.400977079879,0.00448897807954,0.0798428125706,0.999999954355,0.000127605582982,-0.000269358568394,4.95312252666e-05,1793245136440106496
+88,1.466666667,BASELINE,764,745,714,680,658,633.938657154,879,785.938657154,805.938657154,652,630,652,0.400979084278,0.00448895182763,0.0798441131863,0.999999955101,0.000126712909992,-0.000267007722761,4.94815995846e-05,1793245136456772864
+89,1.483333333,BASELINE,764,745,714,680,658,633.362993955,879,785.362993955,805.362993955,652,630,652,0.400977800338,0.00448711872892,0.0798427047729,0.99999995465,0.000125974757033,-0.00026897243429,4.98472902028e-05,1793245136473439488
+90,1.500000000,BASELINE,764,745,714,680,658,633.218204184,879,785,805,652.218204184,630,652,0.400976421765,0.004486077128,0.0798416607092,0.99999995423,0.000125406704028,-0.000270765312369,4.99886910102e-05,1793245136490106112
+91,1.516666667,BASELINE,764,745,714,680,658,633.808849559,879,785,805,652.808849559,630,652,0.400974881669,0.00448638649302,0.0798412385347,0.99999995387,0.000125128985718,-0.000272264896809,4.9747263354e-05,1793245136506772736
+92,1.533333333,BASELINE,764,745,713.608268412,680,658,633.608268412,879,785,805,652.608268412,630,652,0.400975023156,0.00448781800107,0.0798412696015,0.999999953901,0.000125581496025,-0.00027199092745,4.94744509987e-05,1793245136523439360
+93,1.550000000,BASELINE,764,745,713.029100941,680,658,633.029100941,879,785,805,652.029100941,630,652,0.400975969248,0.00448978643257,0.0798415175354,0.999999954119,0.000126383406383,-0.000270868347504,4.9186621659e-05,1793245136540106496
+94,1.566666667,BASELINE,764,745,713.542551246,680,658,633,879,785,805,652,630,652,0.400977848486,0.00448865621955,0.0798436016396,0.999999954847,0.00012689141935,-0.000267880666671,4.94516506514e-05,1793245136556773120
+95,1.583333333,BASELINE,764,745,714,679.882181047,658,633,878.882181047,785.117818953,805,652,630.117818953,651.882181047,0.400979053024,0.00448741442861,0.0798449649371,0.999999955335,0.000127071364887,-0.000265929080298,4.96493571156e-05,1793245136573439744
+96,1.600000000,BASELINE,764,745,714,679.290782237,658,633,878.290782237,785.709217763,805,652,630.709217763,651.290782237,0.400977347129,0.00448638307718,0.0798430404471,0.999999954783,0.000125995123157,-0.000268538750279,4.94588904743e-05,1793245136590106368
+97,1.616666667,BASELINE,764,745.293986815,714,679.293986815,658,633.293986815,878,785.706013185,805.293986815,652,630.706013185,651.293986815,0.400976893767,0.00448652701329,0.0798423895379,0.99999995459,0.000125654844841,-0.000269442336384,4.9307582744e-05,1793245136606772992
+98,1.633333333,BASELINE,764,745.872342959,714,679.872342959,658,633.872342959,878,785.127657041,805.872342959,652,630.127657041,651.872342959,0.400977651964,0.00448780778865,0.0798429705458,0.99999995475,0.000126026453693,-0.000268695651288,4.91941528916e-05,1793245136623439616
+99,1.650000000,BASELINE,764,746,714,680,658,634,878.449161234,785,805.550838766,652,630,652,0.400977416203,0.00448866960575,0.0798431184541,0.99999995468,0.000126400763729,-0.00026878305134,4.91791573121e-05,1793245136640106240
+100,1.666666667,BASELINE,764,745.974436791,714,680,658.025563209,634,878.974436791,785,805,652,630,652,0.400976926054,0.00448935575899,0.0798431440654,0.999999954544,0.000126829206776,-0.000269082467281,4.92108799571e-05,1793245136656772864
+101,1.683333333,BASELINE,764,745.397618625,714,680,658.602381375,634,878.397618625,785,805,652,630,652,0.40097702125,0.00448881280338,0.0798431777651,0.99999995438,0.000128408496494,-0.000268859328911,4.964882126e-05,1793245136673439744
+102,1.700000000,BASELINE,764,745,714,680,658.817135726,634,878,785,805,652,630,652,0.400977174196,0.00448858399672,0.0798431641377,0.99999995435,0.000128689557078,-0.000268798883833,4.98632145705e-05,1793245136690106368
+103,1.716666667,BASELINE,764,745,714,680,658.228521381,634,878,785,805,652,630,652,0.400977455282,0.00448905224237,0.0798430454977,0.999999954614,0.000126090029821,-0.000269099432293,4.95815863079e-05,1793245136706772992
+104,1.733333333,BASELINE,764,745,714,680,658,634,878.708596003,785,805,652,630,652,0.400977689405,0.00448965277834,0.0798432354855,0.999999954686,0.000125988504362,-0.000268932866871,4.92961378573e-05,1793245136723439616
+105,1.750000000,BASELINE,764,745,714,680,658,634,879.866879707,785,805,652,630,652,0.400977893724,0.00449033726816,0.0798436213342,0.999999954636,0.000127472255281,-0.000268469862652,4.90082650197e-05,1793245136740106240
+106,1.766666667,BASELINE,764,745,714,680,658,633.489047195,878.97809439,785,805,652,630.510952805,652,0.400977775696,0.00448990999858,0.0798433417512,0.999999954688,0.000126655075385,-0.00026866232724,4.90200506893e-05,1793245136756772864
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,746,714,680,658,633,879,785,805,652,630,652,0.400975548669,0.00449044616728,0.0798425714544,0.999999953898,0.000129456233866,-0.00027021453062,4.92806482186e-05,1793245136800395264
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.400366688,714,680,658,633,879,785,805,652,630.599633312,652,0.400976289224,0.00448933360656,0.0798434419013,0.999999954806,0.000124808714794,-0.000269059893367,4.91787234716e-05,1793245136817061888
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745.19251322,714,680,658,633.19251322,878.80748678,785,805,652,631,652,0.400977164713,0.00448859504625,0.0798441339652,0.999999955357,0.000122640162922,-0.000268012822701,4.91302531603e-05,1793245136833728256
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745.771824287,714,680,658,633.771824287,878.228175713,785,805,652,631,652,0.400978311315,0.0044886079279,0.0798444676219,0.999999955228,0.000125452354774,-0.000267181874783,4.91891835635e-05,1793245136850394624
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745.651247068,714,680,658,633.651247068,878,785,805,652,630.651247068,652,0.400978386258,0.00448914208348,0.0798444204717,0.999999955037,0.000126762820379,-0.000267288773858,4.91317316525e-05,1793245136867061248
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745.075866609,714,680,658,633.075866609,878,785,805,652,630.075866609,652,0.400977764812,0.00449001497461,0.0798441258644,0.999999954809,0.000127097430205,-0.000268005107128,4.89986518836e-05,1793245136883727872
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,714,679.491165522,658.508834478,633,878,785.508834478,804.491165522,652,630.508834478,652,0.400977624645,0.00448913677582,0.0798432124917,0.999999954643,0.000125931517743,-0.000269133133179,4.92170292045e-05,1793245136900395264
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.093812471,714,679.093812471,659,633,878,785.906187529,804.093812471,652,631,652,0.400978223651,0.00448833925788,0.0798428046841,0.999999954633,0.000125090519382,-0.000269526397487,4.94067481609e-05,1793245136917062912
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745.672900058,714,679.672900058,659,633,878,785.327099942,804.672900058,652,631,652,0.400982268149,0.00448933483606,0.0798454982083,0.999999955389,0.000127109132853,-0.000265795423299,4.91720993261e-05,1793245136933729024
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,746,714,680,658.748307939,633,878,785.251692061,805,652,630.748307939,652,0.40099347916,0.00448975534975,0.0798511396415,0.999999957635,0.000128058413847,-0.000256757870604,4.90596937902e-05,1793245136950395392
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,746,714,680,658.169899674,633,878,785.830100326,805,652,630.169899674,652,0.401013992874,0.00448942938418,0.0798606076936,0.999999961651,0.000127619616525,-0.000240831959505,4.91059697358e-05,1793245136967062272
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745.594761971,714,680,658,633,878,785.594761971,805,652,630,652,0.401052376462,0.00448961924123,0.0798743730962,0.999999967752,0.000126571642718,-0.000214766235518,4.84875464945e-05,1793245136983729408
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745.020984455,714,680,658,633,878,785.020984455,805,652,630,652,0.401098192175,0.00449002363013,0.0798899257782,0.999999974004,0.000125270310793,-0.000184483337028,4.75926732037e-05,1793245137000396032
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.567501788,878.567501788,785.567501788,805,652,630.567501788,652,0.401163782597,0.00449004463053,0.079905024832,0.999999979316,0.000125735329474,-0.000153029365571,4.62683488666e-05,1793245137017062144
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.154750415,745,714,679.845249585,658,634,879,785.845249585,805,652,630.845249585,652,0.401232578092,0.00449071430336,0.0799176952963,0.999999982741,0.000125726005927,-0.000129264032804,4.47522522221e-05,1793245137033728512
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.737037358,745,714,679.262962642,658,634,879,785.262962642,805,652,630.262962642,652,0.401308154521,0.00449321630343,0.0799237037564,0.999999983324,0.000124220946396,-0.000126863288399,4.27513758103e-05,1793245137050394880
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.686033896,745,714,679.313966104,658,633.686033896,878.686033896,785.313966104,805,652,630,652,0.401394460057,0.00449381151919,0.0799277230192,0.999999984298,0.00012200705724,-0.000122055559962,4.02551547314e-05,1793245137067061504
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.113517645,745,714,679.886482355,658,633.113517645,878.113517645,785.886482355,805,652,630,652,0.401489600976,0.00449283650362,0.0799301041838,0.999999985554,0.000119209449092,-0.000115265687515,3.735101892e-05,1793245137083728128
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.472600841,878.472600841,786,804.527399159,652,630.472600841,652,0.401603700054,0.00449452973106,0.0799334693552,0.999999986514,0.000117046957073,-0.000110170563157,3.36960986113e-05,1793245137100394496
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.938961255,680,658,633.938961255,879,785.938961255,804.061038745,652,630.938961255,652,0.401726377461,0.00449679527979,0.079937359804,0.999999987459,0.000115100108782,-0.000104643540805,2.97421203855e-05,1793245137117061376
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.359397466,680,658,633.359397466,879,785.359397466,804.640602534,652,630.359397466,652,0.401882097721,0.0044983168558,0.0799436451402,0.999999989012,0.000113650808497,-9.18869537817e-05,2.48250027259e-05,1793245137133727744
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713.219164849,680,658,633.219164849,878.780835151,785,805,652,630,652,0.40205064545,0.00450060715113,0.0799507388713,0.999999990598,0.000110592171244,-7.86916131853e-05,1.95095373182e-05,1793245137150394368
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713.796092309,680,658,633.796092309,878.203907691,785,805,652,630,652,0.402240132603,0.00450415229639,0.0799591522177,0.999999992307,0.000104906467811,-6.47800566959e-05,1.35438133268e-05,1793245137167060992
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.370433708,634,878.370433708,785.370433708,805,652,630,652,0.402438726433,0.00450646077224,0.0799616988215,0.999999993478,9.70868042276e-05,-5.97628816565e-05,6.75443493957e-06,1793245137183727616
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.943361515,634,878.943361515,785.943361515,805,652,630,652,0.402642298362,0.00450809323475,0.0799610384265,0.999999994342,8.81006308901e-05,-5.96077352075e-05,-4.85186922158e-07,1793245137200394496
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.467287051,634,879.532712949,785.467287051,805,652,630.532712949,652,0.402865343861,0.00451156389332,0.0799542579288,0.99999999397,8.0018529186e-05,-7.4783481826e-05,-8.0493402825e-06,1793245137217061120
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.878664369,879.878664369,785.121335631,805,652,630.878664369,652,0.403102819617,0.00451556743516,0.0799479506295,0.999999993315,7.3177897107e-05,-8.81422338617e-05,-1.56996351784e-05,1793245137233727488
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.299587773,879.299587773,785.700412227,805,652,630.299587773,652,0.403386674588,0.00452082054065,0.0799459613233,0.999999993329,7.06465744796e-05,-8.83015527011e-05,-2.35405933249e-05,1793245137250394368
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.72138069,680,658,633.27861931,879,785.72138069,805.27861931,652,630,652,0.403699868638,0.00452555968801,0.0799484624247,0.999999992093,9.0956024269e-05,-8.35056434021e-05,-2.38277537021e-05,1793245137267060992
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.144105685,680,658,633.855894315,879,785.144105685,805.855894315,652,630,652,0.404044511613,0.00452974791659,0.0799557768528,0.999999987964,0.000135748797798,-7.3398159887e-05,-1.6017898605e-05,1793245137283727872
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713,680,658,634,879,785.430968156,805.569031844,652,630,652,0.404404793043,0.00454031351852,0.0799556963676,0.999999984894,0.000157190704153,-7.22359463738e-05,-1.68943891774e-05,1793245137300394496
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713,680,658,634,879,785.994553532,804.994553532,652,630,652,0.40477072101,0.00455290153549,0.0799531936153,0.999999982615,0.000169921818528,-7.39627702968e-05,-2.06621523074e-05,1793245137317061376
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713,680,658,634,879,785.405418854,804.405418854,652,630,652,0.405184229833,0.004554859183,0.0799547476247,0.999999994161,8.16486372038e-05,-6.63817591665e-05,-2.45929075838e-05,1793245137333728000
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713.180811023,680,658,634,878.819188977,785,804.180811023,652,630,652,0.405610184996,0.00455865821475,0.0799537769554,0.999999997013,3.19055583281e-05,-6.46541756941e-05,-2.78372146455e-05,1793245137350394368
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713.760630589,680,658,634,878.239369411,785,804.760630589,652,630,652,0.40606360633,0.00456652075977,0.079947234898,0.99999999443,6.71896097507e-05,-7.58437692675e-05,-2.95666874256e-05,1793245137367060992
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.337973558,785,805,652,630,652,0.40654190637,0.0045722190009,0.0799385773048,0.99999999046,9.90652025184e-05,-9.15804162633e-05,-2.96335850375e-05,1793245137383727872
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.9135753,785,805,652,630,652,0.407037698598,0.00457639552734,0.0799284322843,0.999999985224,0.000128544321914,-0.000110514083835,-2.85315312614e-05,1793245137400394496
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.497504124,633.502495876,879,785,805,652,630,652,0.407545864,0.00457666750213,0.0799237124954,0.99999998383,0.000130659616561,-0.000120375957259,-2.78693285683e-05,1793245137417061120
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.921615947,633,879,785,805,652,630,652,0.408064948583,0.0045766667103,0.079919798079,0.999999983318,0.000126838215758,-0.000128513091868,-2.75837927851e-05,1793245137433727744
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.368132695,633,879,785,805,652,630,652,0.408636966605,0.00457919381972,0.0799149555569,0.999999983573,0.000116336019029,-0.000135910817273,-2.91102852623e-05,1793245137450394624
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878.798151386,785,805,652,630.201848614,652,0.40924001071,0.00458507638591,0.0799200939245,0.999999984442,0.000117960056493,-0.000127527405735,-3.06205284608e-05,1793245137467061760
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633,878.195402613,785,805,652,630.804597387,652,0.40990467701,0.00459762336807,0.079945055764,0.99999998531,0.000143668526513,-8.78004029412e-05,-3.20984981436e-05,1793245137483729408
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.609600141,680,658,633,878.390399859,785.390399859,805,652,630.609600141,652,0.41060654966,0.00460378826118,0.0799754478348,0.999999988415,0.000143224874625,-3.97151464537e-05,-3.28468271529e-05,1793245137500395776
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,713.03192677,680,658,633,878.96807323,785.96807323,805,652,630.03192677,652,0.411326270054,0.00460689168707,0.0800084447687,0.99999999089,0.000130236136014,1.23795353885e-05,-3.32451498636e-05,1793245137517061888
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.55630691,713.55630691,680.55630691,658,633.55630691,878.44369309,785.44369309,805.55630691,652,630,652,0.411977143886,0.0045899485184,0.079981438697,0.999999991005,0.000125090154577,-3.42264780437e-05,-3.42061809557e-05,1793245137533728512
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745.857378454,714,680.857378454,658,634,878.142621546,785,806,652,630,652,0.412640333058,0.00457481434053,0.0799505314061,0.999999989237,0.000115914980208,-8.24203809588e-05,-3.60105522088e-05,1793245137550395392
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680.298510259,658.298510259,634,879,785,805.701489741,652,630.298510259,651.701489741,0.414108737444,0.00457341232544,0.0799117867282,0.999999987284,9.82261727327e-05,-0.000118335527345,-4.21919978034e-05,1793245137583728896
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680.874692556,658.874692556,634,879,785,805.125307444,652,630.874692556,651.125307444,0.414903176886,0.00458792612616,0.0799288271308,0.999999986996,0.000129566906627,-8.64059825081e-05,-4.18765970848e-05,1793245137600395520
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.447503559,714,680.552496441,659,633.552496441,879,785,805,652,630.552496441,651.447503559,0.415709251,0.00459846498212,0.0799423959372,0.999999988171,0.000128513253775,-7.3165412249e-05,-4.22927870525e-05,1793245137617061888
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+158,2.633333333,POSE1_TO_POSE2_PRESS,764,746,714,680.615021914,659,633.615021914,879,785,805,652,630,652,0.41732426332,0.00460961279287,0.0799420178513,0.999999985723,0.000142339305831,-7.97334884023e-05,-4.40100047282e-05,1793245137650395392
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745.796280377,714,681,659,633.796280377,879,785,805.203719623,652,630,652,0.418167032442,0.00460825328451,0.0799466173748,0.999999985907,0.000148277702766,-6.41980487985e-05,-4.55895444682e-05,1793245137667062016
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745.21889538,714,681,659,633.21889538,879,785,805.78110462,652,630,652,0.419077568942,0.00460079279147,0.0799819272064,0.999999991223,0.00012334251658,5.27674870301e-06,-4.80816206438e-05,1793245137683728640
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+247,4.116666667,HOLD_POSE2,764,745,713,685,647,628,881,783,807,652,630,652,0.454125158938,0.00481098692104,0.0794922156172,0.999999640191,0.000321360583309,-0.000781609539331,-7.37060737211e-05,1793245139155136512
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.881326899,657,633,878.881326899,785,805,652,630,652,0.405161522063,0.00449020561591,0.0798171878891,0.999999953752,0.000101524342018,-0.000282227120017,5.03717459822e-05,1793245141025558784
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,713.614640941,680.614640941,657,633,878.614640941,785.385359059,805,652,630,652,0.403104520136,0.00449232500395,0.0798401417196,0.999999954287,0.000100559858352,-0.000280344497249,5.21626815772e-05,1793245141125559296
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745.200336089,714,680.799663911,657,633.200336089,878.799663911,785,805,652.200336089,630,652,0.402846708288,0.00448891802438,0.0798410865568,0.999999954477,9.69660992419e-05,-0.000280790065656,5.29242377464e-05,1793245141142225920
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,713,680,658,633.417149088,878.582850912,785,805,652,630.417149088,652,0.40123851912,0.0044857086369,0.0798321556218,0.999999946969,0.00013949208312,-0.000290429097311,4.74775926062e-05,1793245141325559040
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745.16881065,713.16881065,680,658,633,878.83118935,785,805.16881065,652,630,652,0.401172913634,0.00448510571689,0.0798279294958,0.999999945373,0.000137511972469,-0.000296567699632,4.89105879472e-05,1793245141342225920
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diff --git a/Obstacle_avoidance/cylinder_0050_15/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62b49e9d9fd41381de44d8ccd96c4b78be3e362d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_15/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ba133247fddbe582be4185c9efbf41259d3042f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:481aa107537762f0aedf7d7e0ec9da2812b59cf118bf7eb0c544fb8ada655c94
+size 26437899
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1ade82b3ea6c3fbb4b2159d3256c0837ae2a168
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_01/franka_data.csv
@@ -0,0 +1,417 @@
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+5,0.083333333,BASELINE,766,745,715,679,663,636,879,787,803.907053296,652,631.092946704,652,0.400790707118,-0.00543462238126,0.0598794593378,0.999999938454,-8.5006160508e-05,-0.000338217479639,-3.84074931371e-05,1793239377622107136
+6,0.100000000,BASELINE,766,745.477371227,715,678.522628773,663,636,879,787,803.522628773,652,631,652,0.400790448855,-0.0054338391695,0.0598800876335,0.999999938426,-8.52354806646e-05,-0.000338222627803,-3.85667638051e-05,1793239377638773760
+7,0.116666667,BASELINE,766,746,715,678.048423661,663.048423661,636,879,787.048423661,803,652,631.048423661,652.048423661,0.4007903084,-0.00543327920483,0.0598807845342,0.999999938378,-8.60560248843e-05,-0.000338133473566,-3.87769127545e-05,1793239377655440640
+8,0.133333333,BASELINE,766,746,715,678.641902788,663.641902788,636,879,787.641902788,803,652,631.641902788,652.641902788,0.400791890685,-0.00543392833433,0.0598803766479,0.999999938661,-8.64647793189e-05,-0.000337170333361,-3.89500427142e-05,1793239377672107264
+9,0.150000000,BASELINE,766,745.770248243,715,679.229751757,663.770248243,636,879,787.770248243,803.229751757,652,631.770248243,652.770248243,0.400792482694,-0.00543421266768,0.0598804014757,0.999999938795,-8.69115282252e-05,-0.000336647677009,-3.9048930354e-05,1793239377688773888
+10,0.166666667,BASELINE,766,745.190964742,715,679.809035258,663.190964742,636,879,787.190964742,803.809035258,652,631.190964742,652.190964742,0.400791568152,-0.00543394202006,0.0598810846113,0.999999938702,-8.7416079803e-05,-0.000336795148766,-3.90348697763e-05,1793239377705440512
+11,0.183333333,BASELINE,766,745.387994857,715,679.612005143,663.387994857,636,879,787,803.612005143,652,631.387994857,652.387994857,0.400790373464,-0.00543384250158,0.059880496747,0.999999938303,-8.67072860798e-05,-0.000338152766896,-3.90881491037e-05,1793239377722107136
+12,0.200000000,BASELINE,766,745.966795219,715,679.033204781,663.966795219,636,879,787,803.033204781,652,631.966795219,652.966795219,0.400789041008,-0.00543382713983,0.0598792838388,0.99999993775,-8.54018015931e-05,-0.0003401055027,-3.91745443962e-05,1793239377738773760
+13,0.216666667,BASELINE,765.462679252,745.462679252,714.462679252,679,663.462679252,636.537320748,879,786.462679252,803,652,631.462679252,652.462679252,0.40078962995,-0.0054338311798,0.059879520701,0.999999938124,-8.47793637776e-05,-0.000339181954688,-3.89929192946e-05,1793239377755440640
+14,0.233333333,BASELINE,765.111885972,745,714.111885972,679,663,636.776228057,879,786.111885972,803,652.111885972,631,652.111885972,0.400789717966,-0.00543411228495,0.0598796239113,0.999999938238,-8.49033419674e-05,-0.000338835402024,-3.88041869203e-05,1793239377772107520
+15,0.250000000,BASELINE,765.706034368,745,714.706034368,679,663,635.587931263,879,786.706034368,803,652.706034368,631,652.706034368,0.400787142808,-0.00543558253541,0.0598787707318,0.999999936985,-8.80654196796e-05,-0.000341730391173,-3.86551280909e-05,1793239377788774400
+16,0.266666667,BASELINE,766,745.292995366,715,679.292995366,663,635.292995366,879,787,803,652.707004634,631,652.707004634,0.400787317612,-0.00543539347862,0.0598788454807,0.999999936964,-8.79160402859e-05,-0.000341835576658,-3.86190131183e-05,1793239377805440768
+17,0.283333333,BASELINE,766,745.87291779,715,679.87291779,663,635.87291779,879,787,803,652.12708221,631,652.12708221,0.400790185422,-0.00543357948085,0.0598798289394,0.999999938148,-8.45237881056e-05,-0.000339208738706,-3.86935028002e-05,1793239377822107392
+18,0.300000000,BASELINE,765.552149203,745.552149203,715,679.552149203,663,636,878.552149203,787,803,652,631,652.447850797,0.400788732018,-0.00543445610215,0.059878850125,0.999999937408,-8.58300788109e-05,-0.000341059774565,-3.86809180121e-05,1793239377838773760
+19,0.316666667,BASELINE,765,745.021465093,715,679,663,636,878.042930186,787.021465093,803,652,631,652.978534907,0.400786290376,-0.0054360061234,0.0598774550075,0.99999993621,-8.83654811434e-05,-0.000343915456343,-3.86507672847e-05,1793239377855440640
+20,0.333333333,BASELINE,765,745.597183693,715,679,663,636,879.194367385,787.597183693,803,652,631,652.402816307,0.400789644047,-0.00543544711587,0.0598795296526,0.999999937433,-8.85909834049e-05,-0.000340264305427,-3.87980101707e-05,1793239377872107264
+21,0.350000000,BASELINE,765.177772933,746,715,679,663.177772933,636,879.822227067,787.822227067,803,652,631.177772933,652,0.400791585819,-0.00543520700515,0.0598808338707,0.999999938157,-8.87528267381e-05,-0.000338082658185,-3.88441742994e-05,1793239377888773888
+22,0.366666667,BASELINE,765.769709388,746,715,679,663.769709388,636,879.230290612,787.230290612,803,652,631.769709388,652,0.400790238243,-0.00543570983899,0.0598803431994,0.999999937743,-8.87663617175e-05,-0.000339324563091,-3.86548518622e-05,1793239377905440768
+23,0.383333333,BASELINE,765.646446408,745.646446408,715,679,663.646446408,636,879,787,803.353553592,652,631.646446408,652,0.400789552446,-0.00543621887245,0.0598798147214,0.999999937434,-8.93229186039e-05,-0.000340101668108,-3.85233508217e-05,1793239377922107392
+24,0.400000000,BASELINE,765.067755171,745.067755171,715,679,663.067755171,636,879,787,803.932244829,652,631.067755171,652,0.400789288058,-0.00543673185379,0.0598792621686,0.999999937193,-9.02252637298e-05,-0.00034058279562,-3.84286695643e-05,1793239377938774016
+25,0.416666667,BASELINE,765.506928827,745.506928827,715,679,663,636,879,787,804,652,631,652,0.4007901034,-0.00543560537789,0.0598798368474,0.999999937658,-8.90735047206e-05,-0.000339487229344,-3.87149725848e-05,1793239377955440640
+26,0.433333333,BASELINE,766,746,715,679,663.08309855,636,879,787,803.91690145,652,631,652.08309855,0.400790588371,-0.00543438282536,0.0598802807978,0.99999993801,-8.77747924079e-05,-0.000338759759782,-3.8959949439e-05,1793239377972107264
+27,0.450000000,BASELINE,766,746,715,679,663.671535025,636,879,787,803.328464975,652,631,652.671535025,0.400788193574,-0.0054338981125,0.0598790207364,0.999999937122,-8.72389110475e-05,-0.000341542241384,-3.86463787484e-05,1793239377988773888
+28,0.466666667,BASELINE,766,745.743893278,715,679,663.743893278,636,879,787,803,652,631.256106722,652.743893278,0.400786929894,-0.00543447656838,0.0598783472796,0.999999936688,-8.70412769417e-05,-0.000342893719651,-3.83564029272e-05,1793239378005440512
+29,0.483333333,BASELINE,766,745.16420463,715,679,663.16420463,636,879,787,803,652,631.83579537,652.16420463,0.400787095342,-0.00543639830099,0.0598784149776,0.999999936835,-8.72710064989e-05,-0.000342437174861,-3.80962384215e-05,1793239378022107136
+30,0.500000000,BASELINE,766,745.411727334,715,679,663,636,879,787,803,652,632,652,0.400787584524,-0.00543551958836,0.0598786341046,0.999999937008,-8.70790797556e-05,-0.000341930128724,-3.85424448611e-05,1793239378038774016
+31,0.516666667,BASELINE,766,745.986174594,715,679,663,636,879,787,803,652,632,652,0.400788201649,-0.00543353410378,0.0598789130782,0.999999937191,-8.67205090248e-05,-0.000341403123817,-3.92678181707e-05,1793239378055440896
+32,0.533333333,BASELINE,766,746,715,678.437463355,663.562536645,636,879,787,803.562536645,652.562536645,632,652,0.400788971739,-0.00543457499681,0.0598795828167,0.999999937591,-8.50900989777e-05,-0.000340707085712,-3.86955913595e-05,1793239378072107264
+33,0.550000000,BASELINE,766,745.857371596,715,678.142628404,664,636,879,787,804,653,632,652,0.400789194935,-0.00543528803407,0.0598798545557,0.999999937724,-8.43361196976e-05,-0.000340540376603,-3.83574999159e-05,1793239378088774144
+34,0.566666667,BASELINE,766,745.265685843,715,678.734314157,664,636,879,787,804,653,632,652,0.400787684393,-0.00543473385824,0.0598788428758,0.999999937009,-8.64402824627e-05,-0.000342053353893,-3.88573202414e-05,1793239378105440768
+35,0.583333333,BASELINE,766,745,715,679,664,636,879,787,803.681309458,652.681309458,631.681309458,652,0.400788003144,-0.0054359459329,0.0598791654543,0.999999936959,-8.90247311923e-05,-0.000341538086131,-3.88375370679e-05,1793239378122107392
+36,0.600000000,BASELINE,766,745,715,679,664,636,879,787,803.102890052,652.102890052,631.102890052,652,0.400789812744,-0.00543859747988,0.0598805754369,0.999999937445,-9.20006072915e-05,-0.000339369823812,-3.83942835016e-05,1793239378138774016
+37,0.616666667,BASELINE,766,745,715,678.528998231,663.528998231,636,879,787,803,652,631,652,0.4007886508,-0.00543689624159,0.0598800555859,0.999999937333,-9.01983999223e-05,-0.000340155317044,-3.86306854375e-05,1793239378155440384
+38,0.633333333,BASELINE,765.955829607,745,715,678.044170393,663.044170393,636,879,787.044170393,803,652,631.044170393,652,0.400786969533,-0.00543443154546,0.0598791366967,0.999999937074,-8.76071503556e-05,-0.000341550579361,-3.89980081864e-05,1793239378172107264
+39,0.650000000,BASELINE,765.379571467,745,715,678.620428533,663.620428533,636,879,787.620428533,803,652,631.620428533,652,0.400786777537,-0.00543411532254,0.0598784408899,0.999999936679,-8.79646932844e-05,-0.000342592483519,-3.91709539444e-05,1793239378188774144
+40,0.666666667,BASELINE,765.201643393,745.201643393,715,679,664,636,878.798356607,787.798356607,803,652,631.798356607,652,0.400786755399,-0.00543366621587,0.0598780653009,0.999999936545,-8.74824690846e-05,-0.000343095324256,-3.92754619913e-05,1793239378205440768
+41,0.683333333,BASELINE,765.792423836,745.792423836,715,679,664,636,878.207576164,787.207576164,803,652,631.207576164,652,0.400787061062,-0.00543296066647,0.059878307677,0.999999936912,-8.53796388099e-05,-0.000342557865291,-3.92478970213e-05,1793239378222107904
+42,0.700000000,BASELINE,766,745.627241273,715,679,664,636,878.372758727,787,803,652,631.372758727,652,0.400787914034,-0.00543334992345,0.0598787441405,0.999999937136,-8.57781906553e-05,-0.000341807078842,-3.92280736747e-05,1793239378238774528
+43,0.716666667,BASELINE,766,745.052564605,715,679,664,636,878.947435395,787,803,652,631.947435395,652,0.400789063475,-0.00543433222104,0.0598792857383,0.99999993728,-8.75317046228e-05,-0.000340940736035,-3.92124438529e-05,1793239378255440896
+44,0.733333333,BASELINE,766,745.524821349,715,679,664,636,879,787,803,652,632,652.524821349,0.400787357728,-0.00543385887778,0.0598784988745,0.9999999368,-8.69860472439e-05,-0.000342472960002,-3.93141959305e-05,1793239378272107264
+45,0.750000000,BASELINE,766,745.895256271,715,679,663.895256271,636,879,787,803,652,632,652.895256271,0.400785903297,-0.00543336559697,0.0598778804481,0.999999936444,-8.61544103881e-05,-0.000343715808266,-3.93577096953e-05,1793239378288773632
+46,0.766666667,BASELINE,766,745.304837938,715,679,663.304837938,636,879,787,803,652,632,652.304837938,0.400786947023,-0.00543345938867,0.0598786631792,0.999999936966,-8.50700403898e-05,-0.000342497189107,-3.90763887252e-05,1793239378305440256
+47,0.783333333,BASELINE,766,745.280256721,715,679,663,636,879,787.280256721,803,652,631.719743279,652.280256721,0.400787971533,-0.00543296534527,0.0598791482929,0.999999937456,-8.30960251166e-05,-0.000341568950599,-3.88994036195e-05,1793239378322106880
+48,0.800000000,BASELINE,766,745.859668787,715,679,663,636,879,787.859668787,803,652,631.140331213,652.859668787,0.400788975533,-0.00543184382714,0.0598793157199,0.999999937908,-8.01723727502e-05,-0.000340950673906,-3.88337900508e-05,1793239378338773760
+49,0.816666667,BASELINE,766,745.565097057,715,679,663,636,878.565097057,787.565097057,803,652.434902943,631,652.565097057,0.400788809083,-0.00543232083182,0.0598790790213,0.999999937633,-8.32037048947e-05,-0.000341019565093,-3.89483365697e-05,1793239378355440640
+50,0.833333333,BASELINE,766,745,715,679,663.009025772,636,878.009025772,787,803,653,631.009025772,652,0.400788278613,-0.00543330364318,0.0598787266153,0.999999937115,-8.80557778153e-05,-0.000341300303193,-3.91139870998e-05,1793239378372107776
+51,0.850000000,BASELINE,766,745,715,679,663.597528486,636,878.597528486,787,803,653,631.597528486,652,0.400788393817,-0.00543396000428,0.0598792378621,0.999999937238,-8.76120995625e-05,-0.000341081967279,-3.88638918899e-05,1793239378388774400
+52,0.866666667,BASELINE,765.816509972,745,715,679,664,635.816509972,879,787,803,652.816509972,632,652,0.400787843182,-0.00543420654549,0.0598791908243,0.999999937047,-8.71045758998e-05,-0.000341789515112,-3.87054612002e-05,1793239378405440768
+53,0.883333333,BASELINE,765.236046196,745,715,679,664,635.236046196,879,787,803,652.236046196,632,652,0.400785852033,-0.00543356645678,0.0598779359591,0.999999936172,-8.645892513e-05,-0.000344500177475,-3.87453432535e-05,1793239378422107136
+54,0.900000000,BASELINE,765.341622071,745,715,679,663.658377929,635.341622071,879,787,803,652,631.658377929,652,0.400785922261,-0.0054333297894,0.0598778275646,0.999999936294,-8.55911577492e-05,-0.000344356903579,-3.87844359121e-05,1793239378438773760
+55,0.916666667,BASELINE,765.917374416,745,715,679,663.082625584,635.917374416,879,787,803,652,631.082625584,652,0.400787405251,-0.00543336960636,0.0598785049025,0.9999999371,-8.45711630442e-05,-0.000342257687806,-3.88229875585e-05,1793239378455440640
+56,0.933333333,BASELINE,766,745,715,678.508098082,663,636,879,787,803,652,631.491901918,652.491901918,0.400786323057,-0.00543367744542,0.0598779392909,0.999999936421,-8.49806391198e-05,-0.000344131754416,-3.8847001565e-05,1793239378472107264
+57,0.950000000,BASELINE,766,745,715,678.067814105,663,636,879,787.067814105,803,652,632,652.932185895,0.400785230068,-0.00543405395532,0.059877416833,0.999999935731,-8.55891854634e-05,-0.000345982266355,-3.88514828723e-05,1793239378488773888
+58,0.966666667,BASELINE,766,745,715,678.65592442,663,636,879,787.65592442,803,652,632,652.34407558,0.400787351905,-0.00543461278058,0.0598788233323,0.999999936894,-8.58874299275e-05,-0.000342544231082,-3.87247904595e-05,1793239378505440768
+59,0.983333333,BASELINE,766,745,715,679,663.241410212,636,879,787.758589788,803,652,632,652,0.400787977685,-0.00543436318736,0.0598794851757,0.999999937393,-8.56191646475e-05,-0.000341155185877,-3.86854993338e-05,1793239378522107648
+60,1.000000000,BASELINE,766,745,715,679,663.823195652,636,879,787.176804348,803,652,632,652,0.400786494107,-0.00543297376825,0.0598790970952,0.999999936968,-8.45521515758e-05,-0.0003426551044,-3.87694392369e-05,1793239378538774272
+61,1.016666667,BASELINE,765.601295136,745,715,679,663.601295136,636,879,787.398704864,803,652,631.601295136,652,0.400786488631,-0.00543288688697,0.059878886574,0.999999936779,-8.5674331852e-05,-0.000342897330583,-3.90408973776e-05,1793239378555440896
+62,1.033333333,BASELINE,765.028526,745,715,679,663.028526,636,879,787.971474,803,652,631.028526,652,0.400787128456,-0.00543336866024,0.0598787535707,0.99999993669,-8.77522576124e-05,-0.000342590480596,-3.93942211451e-05,1793239378572107520
+63,1.050000000,BASELINE,765,745,715,679,663,636,879,787.452448061,803,652,631,652,0.400787066928,-0.00543238485388,0.0598778480414,0.999999936626,-8.62059378515e-05,-0.000343167763362,-3.93909096375e-05,1793239378588773888
+64,1.066666667,BASELINE,765.127260271,745,715,679,663,636,879,787,803,652,631,652,0.400786816342,-0.00543208894166,0.0598770678446,0.999999936492,-8.52489683455e-05,-0.000343806622012,-3.93157644845e-05,1793239378605440256
+65,1.083333333,BASELINE,765.719602297,745,715,679,663,636,879,787,803,652,631,652,0.400786009178,-0.00543458772098,0.0598768936629,0.9999999361,-8.71400493522e-05,-0.00034450115761,-3.90464119788e-05,1793239378622107392
+66,1.100000000,BASELINE,766,745,714.697402765,679,663.302597235,636,878.697402765,787,803.302597235,652.302597235,631.302597235,652,0.400786333213,-0.00543474018528,0.0598773892716,0.999999936384,-8.63840972058e-05,-0.000343880693324,-3.89439929298e-05,1793239378638774272
+67,1.116666667,BASELINE,766,745,714.122809684,679,663.877190316,636,878.122809684,787,803.877190316,652.877190316,631.877190316,652,0.400787674049,-0.00543278361517,0.0598784869354,0.999999937266,-8.32488039219e-05,-0.000342078213887,-3.89916255192e-05,1793239378655440640
+68,1.133333333,BASELINE,766,745,714.452970334,679,664,636,878.452970334,787,803.547029666,652.547029666,632,652,0.400787954339,-0.00543281486968,0.0598788897154,0.99999993739,-8.3986142009e-05,-0.000341539170741,-3.894143083e-05,1793239378672107264
+69,1.150000000,BASELINE,766,745,715,679,664,636,878.970118077,787,803,652,632,652.029881923,0.400788000622,-0.00543338462264,0.0598790904422,0.999999937317,-8.57266745147e-05,-0.000341330681634,-3.88667824878e-05,1793239378688773632
+70,1.166666667,BASELINE,766,745,715,679,664,636,878.377986904,787,803,652,632,652.622013096,0.40078906829,-0.00543391941354,0.0598790435377,0.999999937402,-8.65355451474e-05,-0.000340879662747,-3.88323817856e-05,1793239378705440256
+71,1.183333333,BASELINE,765.79129721,745,715,679,664,636,878.20870279,787.20870279,803,652,632,652.79129721,0.400789320988,-0.0054341836532,0.0598790627749,0.999999937412,-8.69204114703e-05,-0.000340744766266,-3.89186443368e-05,1793239378722107136
+72,1.200000000,BASELINE,765.214212198,745,715,679,664,636,878.785787802,787.785787802,803,652,632,652.214212198,0.40078813518,-0.00543397034177,0.0598791987594,0.999999937287,-8.65568660388e-05,-0.000341167858771,-3.92178901265e-05,1793239378738774016
+73,1.216666667,BASELINE,765.361115039,745,715,679,664,636,879,787.638884961,803,652,632,652,0.4007873918,-0.00543322632448,0.0598789109085,0.999999937106,-8.55868690233e-05,-0.000341934632954,-3.92811516705e-05,1793239378755440640
+74,1.233333333,BASELINE,765.935404587,745,715,679,664,636,879,787.064595413,803,652,632,652,0.400786909596,-0.00543216901932,0.0598783728579,0.99999993689,-8.42588697191e-05,-0.000342904290305,-3.92051062719e-05,1793239378772107264
+75,1.250000000,BASELINE,766,745,715,679,664,636,879,787,803,652,631.489361247,652,0.400787072842,-0.00543414872684,0.0598783966891,0.999999936894,-8.59592365645e-05,-0.000342488031791,-3.90456793486e-05,1793239378788774144
+76,1.266666667,BASELINE,765.911539154,745,715,679,663.911539154,636.088460846,879.088460846,787,803,652,631,652.088460846,0.400787158275,-0.00543606853603,0.0598784153048,0.99999993687,-8.77494860612e-05,-0.000342122862182,-3.88958442522e-05,1793239378805440768
+77,1.283333333,BASELINE,765.319671137,745,715,679,663.319671137,636.680328863,879.680328863,787,803,652,631,652.680328863,0.400786335394,-0.00543545716275,0.0598779990064,0.999999936544,-8.7867152827e-05,-0.000343047959176,-3.88607290944e-05,1793239378822107392
+78,1.300000000,BASELINE,765,745.267408003,715,679,663.267408003,636.732591997,879.732591997,787.267408003,803.267408003,652,631,652.732591997,0.40078581347,-0.00543429081048,0.0598777667359,0.99999993632,-8.66029530904e-05,-0.000344013646274,-3.89051881424e-05,1793239378838774016
+79,1.316666667,BASELINE,765,745.84886299,715,679,663.84886299,636.15113701,879.15113701,787.84886299,803.84886299,652,631,652.15113701,0.400785644994,-0.00543247268467,0.0598777505896,0.999999936212,-8.37158736944e-05,-0.000345027002783,-3.90431000397e-05,1793239378855440640
+80,1.333333333,BASELINE,765.42431321,745.57568679,715,679,663.57568679,636,879,787.57568679,803.57568679,652,631.42431321,652,0.400785823939,-0.00543294253436,0.059877803019,0.999999936239,-8.48632681258e-05,-0.000344682104748,-3.89262797602e-05,1793239378872107520
+81,1.350000000,BASELINE,765.997654472,745.002345528,715,679,663.002345528,636,879,787.002345528,803.002345528,652,631.997654472,652,0.400786124907,-0.00543421597079,0.0598778795336,0.999999936309,-8.74276575113e-05,-0.000343860158179,-3.8719991996e-05,1793239378888774144
+82,1.366666667,BASELINE,766,745,715,679,663,636,879,787,803,652,631.414472204,652,0.400786965242,-0.0054351107629,0.0598782740374,0.999999936485,-8.82475386409e-05,-0.000343099422339,-3.90618428865e-05,1793239378905440768
+83,1.383333333,BASELINE,766,745,715,679,663,636,879,787,803,652,631,652,0.400787132221,-0.00543562201519,0.0598782724953,0.999999936475,-8.87422888797e-05,-0.000342982220048,-3.92189623099e-05,1793239378922107136
+84,1.400000000,BASELINE,766,745,715,679,663,636,879,787,803,652,631,652,0.400785684966,-0.00543522054291,0.0598773215086,0.999999936022,-8.8477284865e-05,-0.000344402094609,-3.89292989309e-05,1793239378938773760
+85,1.416666667,BASELINE,766,745,715,679,663,636,879,787,803,652,631,652,0.400785626689,-0.00543395463026,0.0598773454557,0.999999936191,-8.7110762662e-05,-0.000344256096985,-3.89639498564e-05,1793239378955440384
+86,1.433333333,BASELINE,766,745,715,679,663,636,879,787,803,652,631,652,0.400786614185,-0.00543203787268,0.0598781034393,0.999999936824,-8.49148974917e-05,-0.000342931139979,-3.92427799654e-05,1793239378972107008
+87,1.450000000,BASELINE,766,745.477378947,715,679,663,636,879,787,803,652,631,652,0.400786460229,-0.00543212015791,0.0598782751115,0.999999936912,-8.38400623865e-05,-0.00034294615211,-3.91881067194e-05,1793239378988773888
+88,1.466666667,BASELINE,765.944893986,745.944893986,715,679,663,636,879,787,803.055106014,652,631,652,0.400786070817,-0.00543262565635,0.0598782690118,0.999999936855,-8.31979097191e-05,-0.000343282313835,-3.90679224641e-05,1793239379005440256
+89,1.483333333,BASELINE,765.356309234,745.356309234,715,679,663,636,879,787,803.643690766,652,631,652,0.400785698865,-0.00543320567965,0.0598777217183,0.999999936492,-8.44887379402e-05,-0.000344031151206,-3.89846227139e-05,1793239379022106880
+90,1.500000000,BASELINE,765.228123009,745,715,679,663.228123009,636,879.228123009,787,803.771876991,652,631,652.228123009,0.400785503846,-0.00543351183951,0.0598773386003,0.999999936188,-8.56403897042e-05,-0.000344628426774,-3.89872246274e-05,1793239379038773504
+91,1.516666667,BASELINE,765.806185275,745,715,679,663.806185275,636,879.806185275,787,803.193814725,652,631,652.806185275,0.400785580244,-0.00543339789449,0.0598772073265,0.999999935977,-8.65785455408e-05,-0.000344993207422,-3.91215991599e-05,1793239379055440128
+92,1.533333333,BASELINE,765.617763255,745,715,679,664.382236745,636,879.617763255,787,803,652,631,652.617763255,0.400786089319,-0.00543368928071,0.0598777911554,0.999999936172,-8.79014637799e-05,-0.000344082476805,-3.91888520085e-05,1793239379072107008
+93,1.550000000,BASELINE,765.042725982,745,715,679,664.957274018,636,879.042725982,787,803,652,631,652.042725982,0.400786816636,-0.00543418511633,0.0598787356826,0.99999993657,-8.94184565758e-05,-0.000342528377286,-3.92222486364e-05,1793239379088773888
+94,1.566666667,BASELINE,765.531903275,745,715,679,663.936193449,636,878.468096725,787.531903275,803.531903275,652,631,652.531903275,0.400786912894,-0.00543314946303,0.0598785188401,0.999999936691,-8.74587611076e-05,-0.000342656055507,-3.94376198963e-05,1793239379105440512
+95,1.583333333,BASELINE,766,745,715,679,663.110295327,636,878,787.889704673,803.889704673,652,631,652.889704673,0.400786744162,-0.00543230693767,0.0598781852266,0.999999936642,-8.57011314416e-05,-0.000343225085921,-3.95851930852e-05,1793239379122107136
+96,1.600000000,BASELINE,766,745,715,679,663.705370065,636,878,787.294629935,803.294629935,652,631,652.294629935,0.400785633357,-0.00543285355479,0.0598777480883,0.999999935961,-8.60581706897e-05,-0.000345140674674,-3.93705760856e-05,1793239379138773504
+97,1.616666667,BASELINE,766,745,714.708754843,679,663.708754843,636,878.291245157,787,803,652,631,652.291245157,0.400785435567,-0.00543341214115,0.0598773563312,0.999999935744,-8.67789357809e-05,-0.000345606440489,-3.92030468603e-05,1793239379155440128
+98,1.633333333,BASELINE,766,745,714.13190138,679,663.13190138,636,878.86809862,787,803,652,631,652.86809862,0.400786133122,-0.00543398246506,0.059877009077,0.999999935985,-8.78563870288e-05,-0.000344650443583,-3.90816940704e-05,1793239379172106752
+99,1.650000000,BASELINE,766,745,714,679,663,636,879,787,803,652,631.442152645,652.557847355,0.400786679654,-0.00543424083723,0.0598780338293,0.999999936427,-8.74790196427e-05,-0.000343481044301,-3.89154133315e-05,1793239379188773888
+100,1.666666667,BASELINE,766,745,714.015881938,679,663,636,879,787,803.015881938,652,631.984118062,652,0.400787163146,-0.00543440403182,0.0598794095854,0.999999936905,-8.67016562143e-05,-0.000342302908735,-3.87428557652e-05,1793239379205440512
+101,1.683333333,BASELINE,766,745,714.607937037,679,663,636,879,787,803.607937037,652,631.392062963,652,0.400786983826,-0.00543446917508,0.0598787641557,0.999999936597,-8.70587102715e-05,-0.00034310284457,-3.8825756624e-05,1793239379222107136
+102,1.700000000,BASELINE,766,745.195917021,715,679,663.195917021,636,879.195917021,787,804,652,631.195917021,652.195917021,0.400786398315,-0.00543446351801,0.0598781266588,0.999999936249,-8.70076156893e-05,-0.000344122823843,-3.88664329326e-05,1793239379238774016
+103,1.716666667,BASELINE,766,745.775908115,715,679,663.775908115,636,879.775908115,787,804,652,631.775908115,652.775908115,0.400785016507,-0.00543431906457,0.0598775047134,0.999999935824,-8.61563899174e-05,-0.000345574174319,-3.88243325795e-05,1793239379255440640
+104,1.733333333,BASELINE,766,745.647223801,715,679,663.647223801,636,879.647223801,787,803.647223801,652,631.647223801,653,0.40078551475,-0.00543432754405,0.0598777246773,0.999999936029,-8.67417242532e-05,-0.000344813957611,-3.90038166829e-05,1793239379272107264
+105,1.750000000,BASELINE,766,745.072322062,715,679,663.072322062,636,879.072322062,787,803.072322062,652,631.072322062,653,0.400787196765,-0.00543443231773,0.0598784747492,0.999999936626,-8.82315885986e-05,-0.000342661227735,-3.93228214383e-05,1793239379288773888
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879,787,803,652,631,653,0.400784488384,-0.00543572978519,0.0598769561475,0.99999993552,-8.91918104505e-05,-0.000345692259264,-3.87589137361e-05,1793239379319914240
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879,787.59396452,803.59396452,652.59396452,631,652.40603548,0.400784858482,-0.00543288446256,0.0598772657775,0.999999936051,-8.58218075466e-05,-0.000344988201039,-3.89325612166e-05,1793239379336580864
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879,787.818290315,804,652.818290315,631,652.181709685,0.400785283634,-0.00543163174873,0.0598777523636,0.999999936452,-8.43255568422e-05,-0.000344183483206,-3.90252949748e-05,1793239379353247744
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879,787.243982448,804,652.243982448,631,652.756017552,0.400785827732,-0.00543381999198,0.0598786212773,0.999999936588,-8.6877695709e-05,-0.000343161282186,-3.89432082536e-05,1793239379369914624
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.669101195,745,715,679,664,636,879,787,803.669101195,652,631,652.669101195,0.400786006632,-0.00543428171208,0.0598784088939,0.999999936447,-8.65778235184e-05,-0.000343645750912,-3.89618527821e-05,1793239379386581504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.093796467,745,715,679,664,636,879,787,803.093796467,652,631,652.093796467,0.400785915793,-0.00543346820083,0.0598773978512,0.999999936099,-8.41714207593e-05,-0.000345243064491,-3.90548986542e-05,1793239379403248128
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.49366825,745,715,679,664,636,878.50633175,787,803,652,631,652,0.400784567532,-0.00543454088198,0.0598767605761,0.999999935423,-8.65148020591e-05,-0.000346625708197,-3.89826477642e-05,1793239379419914496
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.918178124,636,878.081821876,787.081821876,803,652,631,652.081821876,0.400783947141,-0.00543555637147,0.0598766434347,0.999999934961,-8.91501933385e-05,-0.000347300798933,-3.88971688792e-05,1793239379436581120
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.34021049,636,878.65978951,787.65978951,803,652,631,652.65978951,0.400789225626,-0.00543399710005,0.0598792387498,0.999999936228,-8.79458203477e-05,-0.000343939047127,-3.89267271595e-05,1793239379453247744
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744.76187125,714.76187125,679,663,636,879,788,803,652,631.23812875,652.76187125,0.400795226785,-0.00543385534627,0.0598815470301,0.999999936917,-8.73447472028e-05,-0.000342102378845,-3.87763491415e-05,1793239379469914368
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.183000326,714.183000326,679,663,636,879,788,803,652,631.816999674,652.183000326,0.400802262029,-0.00543574194093,0.0598834445877,0.999999936791,-8.7606945405e-05,-0.000342447976865,-3.83684974408e-05,1793239379486580992
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.391003513,714.391003513,679.391003513,663.391003513,636,879,787.608996487,803,652,631.608996487,652.391003513,0.400822797985,-0.00543651680605,0.059887731574,0.999999938127,-8.75819231745e-05,-0.000338574417755,-3.79793466888e-05,1793239379503248128
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.96275748,714.96275748,679.96275748,663.96275748,636,879,787.03724252,803,652,631.03724252,652.96275748,0.400849574959,-0.00543677774854,0.0598931231294,0.99999994011,-8.74241266505e-05,-0.000332750455311,-3.75988408476e-05,1793239379519914752
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+120,2.000000000,POSE1_TO_POSE2_PRESS,765.143655297,745.856344703,715,679,663.856344703,636,878.143655297,787.143655297,803,652,632,652.143655297,0.40092868782,-0.0054392780559,0.059895977976,0.999999941979,-8.92356260719e-05,-0.00032648728172,-3.85310741473e-05,1793239379553248256
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+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.842175581,636,879,787.157824419,803,652,631.157824419,652.157824419,0.401115943328,-0.00544336928717,0.059889277123,0.999999940034,-9.46086467099e-05,-0.000330610342873,-4.09557241816e-05,1793239379603247616
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.57391094,745,715,679,663.57391094,636,879,787.42608906,803.42608906,652,631.42608906,652,0.40121246142,-0.00544612107719,0.0598912430517,0.999999941578,-9.68112009312e-05,-0.000325144642225,-4.18688675699e-05,1793239379619914240
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663.021381494,636,879,788,803.978618506,652,631.978618506,652.021381494,0.401319244164,-0.00544868329984,0.0598949438315,0.999999944133,-9.79198209098e-05,-0.000316721917499,-4.28095534756e-05,1793239379636580864
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663.617076101,636,879,788,803.382923899,652,631.382923899,652.617076101,0.401451766185,-0.00544910615631,0.059901504469,0.999999949304,-9.54484068546e-05,-0.000300582722784,-4.39535294361e-05,1793239379653248000
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.205151697,745,715,679,663.794848303,636,879,787.794848303,803,652,631,652.794848303,0.401592275136,-0.00545085004407,0.0599069943163,0.999999953646,-9.51960320599e-05,-0.000285675206588,-4.51208284169e-05,1793239379669914880
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.779515277,745,715,679,663.220484723,636,879,787.220484723,803,652,631,652.220484723,0.401747158168,-0.00545497139423,0.0599105570597,0.999999956772,-9.89372665806e-05,-0.000272984346306,-4.63301017689e-05,1793239379686581248
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.64568907,745,715,679,663.708621861,635.64568907,879,787,803,652,631,652,0.401914016486,-0.005459193406,0.0599097777903,0.999999956689,-0.000104269090602,-0.000271017644573,-4.79500450494e-05,1793239379703247872
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.070624158,745,715,679,664.858751685,635.070624158,879,787,803,652,631,652,0.402088336039,-0.00546347813555,0.0599062932232,0.999999954629,-0.00011059193428,-0.000275732645443,-4.98258569928e-05,1793239379719914496
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.517098887,663.965802226,635.517098887,879,787,803,652,631,652,0.402303631647,-0.00546434231084,0.0599062189752,0.999999955592,-0.000113270428211,-0.000270632902188,-5.23879326765e-05,1793239379736581376
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.895105707,663,636,879,787,803,652,631.104894293,652.104894293,0.402531863595,-0.00546519686493,0.0599070014203,0.999999957038,-0.00011620460141,-0.000263427829703,-5.50101717773e-05,1793239379753248000
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+134,2.233333333,POSE1_TO_POSE2_PRESS,765.262397326,745,715,679,663,636,878.737602674,787,803,652,631.737602674,652.737602674,0.403065433101,-0.00547115651495,0.0599119339993,0.999999959853,-0.000129889308833,-0.000244566721514,-6.00792280205e-05,1793239379786581248
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+136,2.266666667,POSE1_TO_POSE2_PRESS,765.587884155,745,715,678.587884155,663,636,878.824231689,787,803,652,631,652,0.403660007729,-0.00547631121753,0.0599076658044,0.999999956411,-0.000150201620531,-0.000245331881855,-6.65526663636e-05,1793239379819915008
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+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714.419411864,679.161176273,663,636,879.419411864,787,803.580588136,652,631,652,0.404323916828,-0.00547478973405,0.0598849764926,0.99999994248,-0.000181042932854,-0.00027691227865,-7.47260053397e-05,1793239379853248512
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.830427088,663,636,879,787,803.830427088,652,631,652,0.4046870204,-0.00547014614955,0.0598742570673,0.999999934867,-0.000193188642478,-0.00029442523442,-7.91097692931e-05,1793239379869915136
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+142,2.366666667,POSE1_TO_POSE2_PRESS,765.898762954,745,714.898762954,679,663.898762954,636,879,787,803.898762954,652,631.898762954,652,0.405976213044,-0.00546744604882,0.0598858661112,0.999999936307,-0.000209427865062,-0.000274822144905,-8.94390861638e-05,1793239379919915008
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+156,2.600000000,POSE1_TO_POSE2_PRESS,765.014694839,745,715,679,663.014694839,636,879,787,803.985305161,652,631,652,0.414571414525,-0.00548708877247,0.0598697312644,0.999999933648,-0.000180000646008,-0.000303868005456,-8.92590431129e-05,1793239380153248512
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.60648465,745,715,679,663.60648465,636,879,787,803.39351535,652,631,652,0.415429430571,-0.00549346895339,0.0599250285383,0.999999959344,-0.000182452531676,-0.000200948323547,-8.74185828799e-05,1793239380169915136
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879.193966956,787.193966956,803.193966956,652,631.193966956,652,0.416267891445,-0.00549821893329,0.0599679818744,0.999999972062,-0.000181947174832,-0.000124560910593,-8.51799265364e-05,1793239380186581760
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879.772900119,787.772900119,803.772900119,652,631.772900119,652,0.417067541119,-0.00549973345295,0.0599864361946,0.999999976129,-0.000175572581898,-0.000100832100104,-8.21509719985e-05,1793239380203248384
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.3477664,715,679,663.6522336,636,880,787.6522336,804,652,631.6522336,652,0.417857828985,-0.00550102820463,0.0599817636171,0.999999975778,-0.000173660843184,-0.00010788837692,-8.15175731002e-05,1793239380219915008
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.920007585,715,679,663.079992415,636,880,787.079992415,804,652,631.079992415,652,0.418642074,-0.00550218110136,0.0599621631869,0.999999972267,-0.000174629768921,-0.000134815682535,-8.24304474138e-05,1793239380236581632
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.505783698,714.505783698,679,663.494216302,636,880,787.494216302,804.494216302,652,631,652,0.419441202707,-0.00550477272837,0.059943694367,0.999999967925,-0.000176383846689,-0.000161415884001,-8.35705290554e-05,1793239380253248256
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.928976643,745,714.071023357,679.071023357,663.928976643,636,879.928976643,787.928976643,804.928976643,652,631.071023357,652,0.420243399235,-0.00550711319145,0.0599241745273,0.999999962609,-0.00017696789145,-0.000190528295496,-8.46390351394e-05,1793239380269915136
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+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679.74867849,663.25132151,636,879.25132151,787,804,652,631.74867849,652.25132151,0.42187102083,-0.00550566436402,0.0598761333343,0.99999994676,-0.000162220284781,-0.000269965467307,-8.53427577589e-05,1793239380303248128
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,715,681,660,632.34631034,880,786,804.34631034,651.65368966,631,652.34631034,0.449309310685,-0.00555827818874,0.059616338939,0.999999806095,-0.000106887849896,-0.000609505417822,-6.99081032285e-05,1793239381569914368
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,715,681,660,632.9207577,880,786,804.9207577,651.0792423,631,652.9207577,0.449310897588,-0.00555970568241,0.0596169928467,0.999999806928,-0.000108943591167,-0.000607776428577,-6.98774456562e-05,1793239381586581248
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.509237051,746,715,680.490762949,660,633,880,785.490762949,804.490762949,651.509237051,631,652.490762949,0.44931095352,-0.00555975921674,0.0596171549601,0.999999806881,-0.000108020812424,-0.000608063968256,-6.94810180897e-05,1793239381603248128
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680,659.902169237,632.902169237,880.097830763,785.097830763,804.097830763,652,631,652,0.449310712067,-0.00555950215064,0.0596170272145,0.99999980657,-0.000106960932145,-0.000608798318018,-6.91590408785e-05,1793239381619915008
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,659.324038012,632.324038012,880.675961988,785.675961988,804.675961988,652,631,652,0.449310213363,-0.00555879959328,0.0596158627654,0.999999805663,-0.000107567920809,-0.000610142068553,-6.94899323571e-05,1793239381636581376
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,714.172754591,680.827245409,659.827245409,632.827245409,881,785.172754591,804.172754591,652,631,652,0.449312978791,-0.00555751141799,0.059616850236,0.999999807301,-0.000105834713312,-0.000607755414478,-6.95029863823e-05,1793239381669914368
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,714.400008874,681,660,632.599991126,880.599991126,785,804,652,631,652,0.449312123459,-0.00555758213725,0.0596162294023,0.999999806741,-0.000105127041337,-0.000608810681801,-6.93892408998e-05,1793239381686581248
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+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745.435170213,715,681,659.435170213,632,880,785.564829787,804.564829787,652,631,652,0.449309938905,-0.00555793690891,0.0596154310178,0.999999805325,-0.000106364523374,-0.000610891096317,-6.96317800119e-05,1793239381719914752
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.846518334,745.153481666,715,680.846518334,659.153481666,632.153481666,880.153481666,786,805,652,631,652.153481666,0.449310233575,-0.00555745253264,0.0596159033068,0.999999805584,-0.000106962494904,-0.00061032548244,-6.9959455507e-05,1793239381736581376
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+253,4.216666667,HOLD_POSE2,765,746,715,680,660,632,880,785,805,652,631,652,0.449312257222,-0.00555986366405,0.0596155348424,0.999999806003,-0.000109318534542,-0.000609344088777,-6.88675341399e-05,1793239381789962240
+254,4.233333333,HOLD_POSE2,765,746,715,680,660,632,880,785,804.410565465,652,631,652,0.449312143043,-0.00555737525285,0.0596157944036,0.999999806457,-0.000105800343697,-0.000609198856853,-6.90643871452e-05,1793239381806629376
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+256,4.266666667,HOLD_POSE2,765,746,715,680.755291397,660,632.755291397,880,785.755291397,804.755291397,652,631,652,0.449314432638,-0.00555700434623,0.0596174411297,0.999999807882,-0.000105787804692,-0.00060681954532,-6.93883421191e-05,1793239381839962368
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+259,4.316666667,HOLD_POSE2,766,746,715,680.506418651,660,632.493581349,880.506418651,786,804.493581349,652,631,652,0.449312622088,-0.00555579256015,0.0596154826199,0.999999805934,-0.000104380444885,-0.000610225325989,-6.97314486083e-05,1793239381889963008
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+262,4.366666667,HOLD_POSE2,765,745.761749436,715,680.238250564,659.238250564,632.238250564,880.238250564,785.238250564,804.238250564,652,631,652,0.449314715294,-0.00555604422492,0.0596164672232,0.999999807143,-0.000103872715297,-0.000608382763537,-6.92454113586e-05,1793239381939962112
+263,4.383333333,HOLD_POSE2,765,745.183105574,715,680.816894426,659.816894426,632.816894426,880.816894426,785.816894426,804.816894426,652,631,652,0.449314522261,-0.00555703152843,0.0596170175315,0.999999807657,-0.000105063711674,-0.000607361560032,-6.89829600832e-05,1793239381956628736
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+267,4.450000000,HOLD_POSE2,765.858709662,745.858709662,714.858709662,681,659.858709662,632.141290338,881,785.858709662,805,652,631,653,0.449315372167,-0.00555513812968,0.0596162834435,0.999999806945,-0.000100733097556,-0.000609292993918,-6.87331946318e-05,1793239382023295232
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,632,880,786,805,652,631,652,0.449316299724,-0.00555568435192,0.0596178256287,0.999999808848,-0.000101948511788,-0.000605940883378,-6.88881128608e-05,1793239382106036480
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.594816106,746,715,680.405183894,659.594816106,632,880.594816106,786,805,652,631,652,0.449316387903,-0.00555721472563,0.0596175871609,0.999999807962,-0.000105188176056,-0.00060688958349,-6.852789733e-05,1793239382122703104
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.240556028,746,715,680.759443972,660,632,881,786,805,652,631,652,0.449315672556,-0.00555720490147,0.0596161324109,0.999999806546,-0.000106350231207,-0.000608962345471,-6.9006528829e-05,1793239382156036096
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.089917434,660,632,880.089917434,785.089917434,805,652,631,652.910082566,0.449315546939,-0.00555784891853,0.0596156961367,0.999999807289,-0.00010462999918,-0.000608126274914,-6.82388714599e-05,1793239382189370368
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.495620852,659.504379148,632,880,785.495620852,805,652,631,652.504379148,0.44931506576,-0.0055580771475,0.0596153761965,0.999999806865,-0.000106129420562,-0.000608537675897,-6.84703379463e-05,1793239382206036480
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.082030099,745.917969901,715,681,659.082030099,632.082030099,880,785.917969901,805,652,630.917969901,652,0.449314320809,-0.0055580030715,0.0596149157253,0.999999806297,-0.000107335522629,-0.000609223773468,-6.87840425997e-05,1793239382222702848
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.760529107,745.239470893,715,681,660,633,880,785,804.760529107,652,630.239470893,652,0.449306028835,-0.00555590672644,0.0596106693371,0.999999803538,-0.00010221946334,-0.000614614653757,-6.873332117e-05,1793239382256036352
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.186817717,745.813182283,715,681,660,633,880,785,804.186817717,652,630.813182283,652,0.449292683647,-0.00555646274744,0.0596041847197,0.999999797791,-0.000102282020779,-0.000623831955736,-6.92042180893e-05,1793239382272703232
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.298240857,660,632,880,785.701759143,805,652,631,652.701759143,0.44894172896,-0.00554220386582,0.0595257781167,0.999999729086,-9.46485953914e-05,-0.000726298512052,-7.32121574758e-05,1793239382372703232
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.874676045,660,632,880,785.125323955,805,652,631,652.125323955,0.448853374951,-0.00553915750682,0.0595249349323,0.999999728475,-9.13356744328e-05,-0.000727648289028,-7.23575256845e-05,1793239382389370112
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.243309897,663,635.243309897,879,787.243309897,803.243309897,652,631.243309897,652,0.407466068703,-0.00537695284955,0.059843217829,0.999999932251,0.000239644739662,-0.0002775398593,3.22479621737e-05,1793239383506036480
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,879,787,803.331569946,652,631,652,0.40693718318,-0.00537497534356,0.0598334839336,0.999999928252,0.000244304187782,-0.000287861731403,3.07730757456e-05,1793239383522703360
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.495389582,714.504610418,679,663.495389582,635.495389582,879,787.495389582,804,652,631,652,0.405969449365,-0.00536943805732,0.0598341239158,0.99999993589,0.0002289800872,-0.000273799911117,2.86723906679e-05,1793239383556036864
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.916091316,745.916091316,714.083908684,679,663.916091316,636,879,787.916091316,803.916091316,652,631,652.083908684,0.4055173594,-0.00536665396128,0.0598380820332,0.999999939287,0.000226381315216,-0.000263328533415,2.89037542447e-05,1793239383572703232
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745.433550203,715,679.433550203,663,636,879,787.433550203,803.566449797,652.566449797,631.566449797,652,0.40329448264,-0.00536223923223,0.0597967849855,0.999999918074,0.000236089487482,-0.00032794366013,2.38033058511e-05,1793239383672703744
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.72338624,636,879,787.72338624,803.27661376,652.27661376,631.27661376,652.72338624,0.402809011779,-0.00537253831036,0.0598375031288,0.999999940676,0.00022401565306,-0.000260316570823,2.64461853968e-05,1793239383706037248
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.699965582,636,879.300034418,788,803,652,631.300034418,652.699965582,0.402582708536,-0.00537305768191,0.0598473568906,0.999999944642,0.000221741511113,-0.00024662428718,2.68956299186e-05,1793239383722703872
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.538105066,787.538105066,803,652,632,652.461894934,0.402156295915,-0.00536746321477,0.0598405910532,0.999999939317,0.000224251691287,-0.00026538198737,2.54996929592e-05,1793239383756036608
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.049907242,636,879,787,803.049907242,652,631.950092758,653,0.401959880938,-0.00536636921814,0.0598319934637,0.999999934709,0.000223696672405,-0.000282732373772,2.4566891081e-05,1793239383772702976
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.629093497,636,879,787,803.629093497,652,631.370906503,653,0.401811623691,-0.00536681080256,0.0598335923168,0.999999935305,0.000224875008034,-0.000279647731641,2.48601296356e-05,1793239383789370112
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.206811267,715,679,664,636,879,787.206811267,804,652,631.206811267,653,0.40167271128,-0.00536675944475,0.0598346640604,0.999999935474,0.000226249703197,-0.000277916978349,2.50062649679e-05,1793239383806036992
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.781913881,715,679,664,636,879,787.781913881,804,652,631.781913881,653,0.401550440252,-0.00536583025098,0.0598347971225,0.999999934896,0.000227974077044,-0.000278597242708,2.48904375397e-05,1793239383822703616
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,663.067111381,636,879,787.067111381,803.067111381,652.932888619,632,652.067111381,0.401357101094,-0.00536240768064,0.0598413380156,0.999999934643,0.000240684662719,-0.000268582882114,2.54437491569e-05,1793239383856037120
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787,803.312915097,652,631.687084903,652.312915097,0.4011505601,-0.00536235526815,0.0598357380411,0.999999930426,0.000246363362614,-0.000278977355606,2.4984045577e-05,1793239383906036992
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787,803.264497153,652,631.735502847,652.264497153,0.40110315026,-0.00536286764286,0.0598347333283,0.999999929764,0.000246617648333,-0.000281135956154,2.47913352918e-05,1793239383922703616
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787,803.838489849,652,631.161510151,652.838489849,0.401063872142,-0.00536335959411,0.0598344941547,0.999999929798,0.000245413765044,-0.000282064316715,2.48201124103e-05,1793239383939370240
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787,804,652,631,652.011937981,0.40101444699,-0.00536229604253,0.0598364149099,0.99999993001,0.000247023522142,-0.000279930902693,2.44729601943e-05,1793239383972704256
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.420128423,679,663,635.420128423,879,787,803.420128423,652,631.579871577,652,0.401002841404,-0.00536066518732,0.0598380642973,0.999999930413,0.000249656808997,-0.00027614172639,2.42962159013e-05,1793239383989370880
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.168575105,679,663,635.168575105,879,787,803,652.168575105,631.831424895,652,0.40099235523,-0.00536079636149,0.0598394645685,0.999999931003,0.000250313176084,-0.000273394191523,2.43623302103e-05,1793239384006037760
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.748818662,679,663,635.748818662,879,787,803,652.748818662,631.251181338,652,0.400984047474,-0.0053652787308,0.0598402309766,0.999999932063,0.000246064159327,-0.000273314460313,2.50199652981e-05,1793239384022704128
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787,803.324854696,653,631,652.324854696,0.400978859322,-0.00536628784723,0.0598408536824,0.999999932721,0.000244253221507,-0.000272544312567,2.48490492316e-05,1793239384039370496
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787,803.897679085,653,631,652.897679085,0.40097605244,-0.00536464574357,0.0598413666966,0.999999933081,0.000244303329707,-0.000271247152651,2.40456794718e-05,1793239384056036864
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.48395945,663,636,879,787,803.51604055,653,631,652.51604055,0.400975404266,-0.00536379817046,0.0598427360344,0.999999933226,0.000246226280397,-0.000268961345226,2.40756103341e-05,1793239384072703744
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.928051174,663,636,879,787,803,652.928051174,631,652.071948826,0.400975215639,-0.00536342486063,0.0598440778613,0.999999933314,0.000248237908675,-0.00026676117109,2.42744424631e-05,1793239384089370624
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.348646963,663,636,879,787,803,652.348646963,631,652.651353037,0.40097495712,-0.00536517786099,0.0598439122038,0.999999933391,0.000248002369384,-0.000266681379719,2.43863989743e-05,1793239384106037504
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.77099448,879,787,803,652.22900552,631.22900552,652.77099448,0.400974910972,-0.00536634057689,0.0598441879834,0.999999933788,0.000247186403585,-0.000265949476135,2.43508241369e-05,1793239384122704640
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.195988686,879,787,803,652.804011314,631.804011314,652.195988686,0.400975185694,-0.00536661144264,0.0598451307222,0.999999934667,0.000245493481945,-0.000264232308075,2.40923468612e-05,1793239384139371520
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.377293296,879,787,803.377293296,652.622706704,632,652,0.400974800011,-0.00536605769058,0.0598453337552,0.99999993472,0.000246026568067,-0.000263553390921,2.38807790527e-05,1793239384156037888
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.949683881,879,787,803.949683881,652.050316119,632,652,0.400974072836,-0.00536507753097,0.0598451542885,0.999999934346,0.00024771071652,-0.000263411350409,2.36934680043e-05,1793239384172704256
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.542689347,787,804,652.542689347,631.457310653,652,0.400972780747,-0.0053645991284,0.0598446242003,0.999999934251,0.000246168602061,-0.000265250525876,2.32669785956e-05,1793239384189370368
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.134025354,636,879.865974646,787,803.865974646,652.865974646,631,652.134025354,0.400971933834,-0.00536459053995,0.0598445041579,0.999999934315,0.000244715964969,-0.000266369599128,2.30671054197e-05,1793239384206036992
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.713216917,636,879.286783083,787,803.286783083,652.286783083,631,652.713216917,0.400972746413,-0.00536598182135,0.0598458583254,0.999999934836,0.000244593312434,-0.00026446262444,2.36965051126e-05,1793239384222703616
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.710320561,679.289679439,663.710320561,636,879,787,803.289679439,652,631,652.710320561,0.400972974923,-0.00536686498899,0.0598464939842,0.999999935147,0.000244632589488,-0.000263219649511,2.40051894814e-05,1793239384239370496
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.136534511,679.863465489,663.136534511,636,879,787,803.863465489,652,631,652.136534511,0.400972630599,-0.0053672498181,0.0598464249569,0.999999935254,0.000244830680928,-0.000262627900147,2.39993284949e-05,1793239384256037888
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.449055727,680,663,635.550944273,879,787,803.550944273,652.449055727,631.449055727,652.449055727,0.400973310202,-0.00536625484016,0.0598465488847,0.999999934861,0.000247049509399,-0.000262073557726,2.36899206629e-05,1793239384272704256
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.962286105,663,635.037713895,879,787,803,652.962286105,632,652.962286105,0.400974143527,-0.00536501296297,0.0598467063169,0.999999934364,0.000249551390156,-0.000261635263442,2.33159347654e-05,1793239384289370880
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.382509925,663,635.617490075,879,787,803,652.382509925,632,652.382509925,0.400972590852,-0.005366415059,0.0598464793113,0.999999934704,0.000247052393506,-0.00026269704534,2.33761043655e-05,1793239384306037504
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787.195939076,803,652,631.804060924,652,0.400971651176,-0.00536741878042,0.0598462676636,0.999999934922,0.00024549832112,-0.000263320768487,2.3426408248e-05,1793239384322703872
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787.771814568,803,652,631.228185432,652,0.400971900139,-0.00536765003196,0.0598460857957,0.999999934912,0.000245776507911,-0.000263095072074,2.34575819698e-05,1793239384339370752
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,714.653177494,678.653177494,663,636,879,787.653177494,803,652,631.346822506,652,0.400972404065,-0.00536698022619,0.0598467175837,0.999999934929,0.000246870055355,-0.000261999281843,2.35225961691e-05,1793239384356037120
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,714.078738945,678.078738945,663,636,879,787.078738945,803,652,631.921261055,652,0.40097307532,-0.00536571906577,0.0598478833657,0.999999934959,0.000248498715596,-0.000260332457999,2.36098195244e-05,1793239384372703232
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.50788031,714.50788031,678.50788031,663,636,879,787,803,652.50788031,632,652.50788031,0.400972918482,-0.0053664212031,0.0598477022438,0.999999935205,0.000247296098612,-0.000260526081418,2.36997824317e-05,1793239384389369600
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..930abbdd232e81d71dddae1b7ae6986fad859fc7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,417 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.575666696762,9.08838786835e-05,1.05003227584,0.546237146799,0.00876261829425,1.04970040992
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+404,6.733333333,pose2_to_pose3_retreat,0.575665635354,9.07306038998e-05,1.05003245436,0.546236088336,0.00876247473111,1.04970058098
+405,6.750000000,pose2_to_pose3_retreat,0.575665511066,9.07126558169e-05,1.05003247526,0.546235964393,0.00876245792024,1.04970060101
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bbe0c74933549050280599c828e62a95b8c3ed04
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f9d712143eed396fd0d999b047418c70542cedb759a83bf6ef5abc52350500
+size 26495800
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f0b29ee6fe67934651500081d5f9963ab0293dd1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
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+10,0.166666667,BASELINE,766,745.202639747,715,679.202639747,663.797360253,635.797360253,879,787.797360253,803.202639747,652,632,652.797360253,0.400974016017,-0.00536855937259,0.0598498464218,0.999999936627,0.000244584218873,-0.000257658519716,2.31454303489e-05,1793239384799691776
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+12,0.200000000,BASELINE,766,745,715,679,663.033883399,636,879,787.033883399,803,652,632,653,0.400974260873,-0.00536926852057,0.0598497189996,0.999999937723,0.000241298214903,-0.000256504467966,2.3108573362e-05,1793239384833025024
+13,0.216666667,BASELINE,766,745,715,679,663,636,879,787,803.538514769,652.538514769,631.461485231,652.461485231,0.400973201499,-0.00536856137834,0.0598486928777,0.999999937207,0.000241754309632,-0.000258080687398,2.31305926693e-05,1793239384849691648
+14,0.233333333,BASELINE,766,745,715,679,663.110904165,636,879,787,803.889095835,652.889095835,631.110904165,652.110904165,0.400972292033,-0.00536782192311,0.0598478908493,0.999999936674,0.000242522851785,-0.000259425392083,2.31034615592e-05,1793239384866358272
+15,0.250000000,BASELINE,766,745,715,679,663.686233752,636,879,787,803.313766248,652.313766248,631.686233752,652.686233752,0.400972349156,-0.00536724729563,0.0598482436846,0.999999936401,0.000243916105276,-0.000259193234666,2.28630291083e-05,1793239384883024640
+16,0.266666667,BASELINE,766,745,715,679,663.730680859,635.730680859,879,787,803,652,631.730680859,652.730680859,0.400973073295,-0.00536672334622,0.0598490198574,0.999999936265,0.000245694572255,-0.000258044598921,2.27625549638e-05,1793239384899691264
+17,0.283333333,BASELINE,766,745,715,679,663.138291798,635.138291798,879,787,803,652,631.138291798,652.138291798,0.400974597572,-0.00536626018925,0.0598503038574,0.999999936288,0.000247935133636,-0.000255796573893,2.28299720521e-05,1793239384916357888
+18,0.300000000,BASELINE,766,745,715,679,663.444176485,635.444176485,879,787,803,652.444176485,631,652.444176485,0.400973881407,-0.00536750774174,0.0598501200463,0.999999936806,0.000245224241923,-0.000256368838495,2.29970821808e-05,1793239384933024768
+19,0.316666667,BASELINE,766,745,715,679,663.976573114,636,879,787,803.023426886,652.976573114,631.023426886,653,0.400972513374,-0.00536914350264,0.0598495029038,0.999999937405,0.000241273672962,-0.000257759339181,2.31732089537e-05,1793239384949691136
+20,0.333333333,BASELINE,766,745,715,679,663.401947876,636,879,787,803.598052124,652.401947876,631.598052124,653,0.400971861572,-0.005367655277,0.0598492076046,0.999999936728,0.000243634595042,-0.000258193144446,2.28471422339e-05,1793239384966358016
+21,0.350000000,BASELINE,766,745,715,679,663,636,879,787,803.823175892,652,632,653,0.400971668543,-0.00536742532485,0.0598490398355,0.999999936501,0.000244405632109,-0.000258361057274,2.26659420195e-05,1793239384983024896
+22,0.366666667,BASELINE,766,745,715,679,663,636,879,787,803.234751446,652,632,653,0.400972543415,-0.00537012430491,0.0598491689234,0.999999937325,0.000241475831804,-0.0002579100419,2.28219532371e-05,1793239384999691520
+23,0.383333333,BASELINE,766,745,715,679,663,636,878.651835837,787,803.348164163,652,632,653,0.400973491723,-0.00537026775003,0.059849317037,0.999999937562,0.000241015845306,-0.000257405351464,2.30389148245e-05,1793239385016358400
+24,0.400000000,BASELINE,766,745,715,679,663,636,878.072576676,787,803.927423324,652,632,653,0.400974488775,-0.00536871495151,0.059849477779,0.99999993741,0.000242195204765,-0.000256865034001,2.32963324165e-05,1793239385033025024
+25,0.416666667,BASELINE,766,745,715,679.504603784,663,636,878.504603784,787.504603784,804,652,631.495396216,653,0.400973789934,-0.00536792921831,0.0598494629592,0.999999937367,0.000242582783194,-0.000256699323182,2.2901929132e-05,1793239385049691648
+26,0.433333333,BASELINE,766,745,715,679.918824388,663.081175612,636,879,788,804,652,631.081175612,652.918824388,0.400972900388,-0.00536751935661,0.0598494154768,0.999999937298,0.000242907486255,-0.000256695044409,2.2528042981e-05,1793239385066358272
+27,0.450000000,BASELINE,766,745,715,679.34414231,663.65585769,636,879,788,804,652,631.65585769,652.34414231,0.400972328265,-0.00536872662631,0.0598493223053,0.99999993697,0.000243539438014,-0.000257345975381,2.28465091084e-05,1793239385083025152
+28,0.466666667,BASELINE,766,745,715,679,663.764269769,636,879,787.764269769,803.764269769,652,632,652,0.40097255922,-0.00536934656512,0.0598496654615,0.999999936977,0.000243631797521,-0.000257215802645,2.30073526944e-05,1793239385099691520
+29,0.483333333,BASELINE,766,745,715,679,663.176649108,636,879,787.176649108,803.176649108,652,632,652,0.400973988984,-0.00536908975539,0.0598506599537,0.999999937485,0.000242918671208,-0.000255919623633,2.29329024527e-05,1793239385116358144
+30,0.500000000,BASELINE,766,745,715,679,663,636,879,787,803,652,631.595278409,652.404721591,0.400974839216,-0.00536952159827,0.059850712666,0.999999937814,0.000242194221902,-0.000255321948232,2.29259193351e-05,1793239385133025024
+31,0.516666667,BASELINE,766,745,715,679,663,636,879,787,803,652,631.016594164,652.983405836,0.400975440346,-0.00537024944669,0.0598503605703,0.999999938065,0.000241464905619,-0.000255024512695,2.29479358087e-05,1793239385149691648
+32,0.533333333,BASELINE,766,745,715,679.560835744,663.560835744,636,879,787.560835744,803.560835744,652,631,653,0.400974462005,-0.00536983244032,0.0598498965758,0.999999937614,0.000242646589376,-0.00025565908227,2.30670057269e-05,1793239385166358272
+33,0.550000000,BASELINE,766,745,715,679.862200718,664,636,879,788,803.862200718,652,631,653,0.400973773928,-0.00536923066687,0.0598496018467,0.999999937214,0.000243753794217,-0.000256171697087,2.30487223093e-05,1793239385183024896
+34,0.566666667,BASELINE,766,745,715,679.286601342,664,636,879,788,803.286601342,652,631,653,0.400974156187,-0.00536814925405,0.0598498553837,0.999999937047,0.00024444513124,-0.000256209433938,2.25849524844e-05,1793239385199691520
+35,0.583333333,BASELINE,766,745,715,679,663.703470922,636,879,787.703470922,803.296529078,652,631,652.703470922,0.400974007055,-0.00536851794658,0.0598499955538,0.999999937404,0.000242908963233,-0.000256286194961,2.24651191056e-05,1793239385216358144
+36,0.600000000,BASELINE,766,745,715,679,663.112871844,636,879,787.112871844,803.887128156,652,631,652.112871844,0.40097333094,-0.00537032471877,0.059850023297,0.999999938272,0.000239163762689,-0.000256401656533,2.26863698966e-05,1793239385233024768
+37,0.616666667,BASELINE,766,745,715,679,663.468868995,636,879,787,804,652,631.468868995,652,0.400973543646,-0.00536952416195,0.0598498614174,0.999999938039,0.000239840379066,-0.000256675138266,2.27235592538e-05,1793239385249691392
+38,0.633333333,BASELINE,766,745,715,679.048003522,664,636,879,787,803.951996478,652,631.951996478,652.048003522,0.400974004313,-0.00536818659567,0.0598498146486,0.999999937606,0.000241537860102,-0.000256769581893,2.27131713712e-05,1793239385266357760
+39,0.650000000,BASELINE,766,745,715,679.621518204,664,636,879,787,803.378481796,652,631.378481796,652.621518204,0.40097488056,-0.0053677140873,0.0598515184998,0.999999937841,0.000242974019314,-0.00025449531268,2.26580160543e-05,1793239385283024384
+40,0.666666667,BASELINE,766,745,715,679.799678405,663.799678405,636,879,787.200321595,803,652.200321595,631.200321595,652.799678405,0.400975767401,-0.00536770665288,0.0598526893833,0.999999938088,0.000243614436636,-0.000252906634217,2.2660169089e-05,1793239385299691264
+41,0.683333333,BASELINE,766,745,715,679.210611753,663.210611753,636,879,787.789388247,803,652.789388247,631.789388247,652.210611753,0.400976674799,-0.00536860174322,0.0598528259869,0.999999938371,0.000242710633316,-0.000252648416623,2.27735349917e-05,1793239385316357888
+42,0.700000000,BASELINE,766,745,715,679,663,636,879,787.630064092,803.369935908,652.630064092,632,652.369935908,0.40097548653,-0.00536898224818,0.0598518370751,0.999999938248,0.000241579056911,-0.000254222209851,2.2665449342e-05,1793239385333024512
+43,0.716666667,BASELINE,766,745,715,679,663,636,879,787.054257305,803.945742695,652.054257305,632,652.945742695,0.400973132013,-0.00536907638419,0.0598502218092,0.999999937894,0.000240320723862,-0.000256815524772,2.24341249731e-05,1793239385349691136
+44,0.733333333,BASELINE,766,745.526670424,715,679,663,636,879,787,803.473329576,652,632,653,0.400973870886,-0.00536944205567,0.0598513032037,0.999999938709,0.000238987470181,-0.000254901704142,2.21760901742e-05,1793239385366358016
+45,0.750000000,BASELINE,766,745.893756814,715,679.106243186,663,636,879,787.106243186,803,652.106243186,632,653,0.400974800502,-0.00536955232337,0.059852329207,0.999999939277,0.000238543002917,-0.000253097001677,2.20414054203e-05,1793239385383025152
+46,0.766666667,BASELINE,766,745.32244741,715,679.67755259,663,636,879,787.67755259,803,652.67755259,632,653,0.400975156395,-0.00536842094042,0.0598518847292,0.999999938247,0.000242023204658,-0.000253822421991,2.24588335557e-05,1793239385399692800
+47,0.783333333,BASELINE,766,745,715,680,663.258669551,636,879,788,803.258669551,652.741330449,632,653,0.4009751878,-0.00536852136523,0.0598514459424,0.999999937921,0.000242584539782,-0.000254545875197,2.27264228011e-05,1793239385416359680
+48,0.800000000,BASELINE,766,745,715,680,663.852494122,636,879,788,803.852494122,652.147505878,632,653,0.400974798771,-0.00537021782836,0.0598510145292,0.999999938512,0.00023936393507,-0.000255266779749,2.27998676592e-05,1793239385433025536
+49,0.816666667,BASELINE,766,745,715,679.566120344,663.566120344,636,879,788,803.566120344,652.433879656,632,653,0.400974729476,-0.00537070075648,0.0598507061294,0.999999938675,0.000238678501878,-0.000255266191366,2.28326152887e-05,1793239385449691904
+50,0.833333333,BASELINE,766,745.011112687,715,679,663,636,879,788,803.011112687,652.988887313,632,653,0.400974756876,-0.0053707382454,0.0598504514335,0.999999938692,0.000238868497209,-0.000255022926571,2.28476132495e-05,1793239385466359040
+51,0.850000000,BASELINE,766,745.586242807,715,679,663,636,879,788,803.586242807,652.413757193,632,653,0.40097432879,-0.00536852363459,0.0598508590153,0.99999993831,0.000240965245957,-0.000254565124317,2.26443949836e-05,1793239385483025664
+52,0.866666667,BASELINE,766,746,715,679.163889342,663.163889342,636,879,788,803.836110658,652.163889342,631.836110658,653,0.400974079785,-0.00536754750651,0.059851127976,0.999999938118,0.000242013028589,-0.000254328979571,2.25929735829e-05,1793239385499692032
+53,0.883333333,BASELINE,766,746,715,679.747987883,663.747987883,636,879,788,803.252012117,652.747987883,631.252012117,653,0.400974289938,-0.00536974682505,0.0598510415147,0.999999938422,0.000240371281654,-0.000254661160544,2.29307565083e-05,1793239385516358400
+54,0.900000000,BASELINE,766,745.667212652,715,679.667212652,664,636,879,788,803,652.667212652,631,652.667212652,0.4009736958,-0.0053705698906,0.059850590824,0.999999938195,0.000240085881561,-0.000255805221294,2.30591638445e-05,1793239385533025024
+55,0.916666667,BASELINE,766,745.081881299,715,679.081881299,664,636,879,788,803,652.081881299,631,652.081881299,0.400972491306,-0.00537034855204,0.0598498637289,0.999999937565,0.000240829779282,-0.000257565397309,2.30286812608e-05,1793239385549691648
+56,0.933333333,BASELINE,766,745,715,679.493703052,663.506296948,636,879,788,803.493703052,652,631,652,0.400973731118,-0.00537059708492,0.0598506708001,0.999999938143,0.000239890950884,-0.000256214705274,2.28308092775e-05,1793239385566358528
+57,0.950000000,BASELINE,766,745,715,679.932305267,663.067694733,636,879,787.932305267,804,652.067694733,631,652.067694733,0.400975014186,-0.00537080579911,0.0598514985834,0.999999938744,0.000238986994167,-0.000254724908796,2.26388028646e-05,1793239385583025408
+58,0.966666667,BASELINE,766,745,715,679.358369325,663.641630675,636,879,787.358369325,804,652.641630675,631,652.641630675,0.400973647792,-0.00537014524531,0.0598506152929,0.999999938086,0.000240390472604,-0.000255978512966,2.26942521907e-05,1793239385599692288
+59,0.983333333,BASELINE,766,745,715,679,663.77777349,636,879.22222651,787,803.77777349,652.77777349,631,653,0.400972670377,-0.00536950749393,0.0598500055154,0.999999937582,0.000241332941183,-0.000257060502793,2.26946129525e-05,1793239385616358912
+60,1.000000000,BASELINE,766,745,715,679,663.186105802,636,879.813894198,787,803.186105802,652.186105802,631,653,0.400972339623,-0.0053689076504,0.0598498504401,0.999999937336,0.000241509002658,-0.000257857192004,2.26033915616e-05,1793239385633025280
+61,1.016666667,BASELINE,765.60325418,745,715,679,663,636,879.60325418,787,803,652,631,652.60325418,0.400972150017,-0.00536946624065,0.0598495536912,0.999999937222,0.000241625268979,-0.000258182817291,2.26878339276e-05,1793239385649691904
+62,1.033333333,BASELINE,765.024448143,745,715,679,663,636,879.024448143,787,803,652,631,652.024448143,0.400972025181,-0.0053705564174,0.0598491919305,0.999999937169,0.000241714096263,-0.00025829227894,2.28528855454e-05,1793239385666358528
+63,1.050000000,BASELINE,765.550675799,745,715,679,663,636,879,787,802.449324201,652,631,652.550675799,0.400974064167,-0.00537026301593,0.0598506356145,0.999999938375,0.000239612206704,-0.000255569509602,2.27966175585e-05,1793239385683025152
+64,1.066666667,BASELINE,766,745,715,679,663,636,879,787,802.12759996,652,631.12759996,652.87240004,0.400975432808,-0.00537011126757,0.0598516908251,0.99999993916,0.000238396719267,-0.000253625293607,2.28173048109e-05,1793239385699691776
+65,1.083333333,BASELINE,766,745,715,679,663,636,879,787,802.71154307,652,631.71154307,652.28845693,0.400974062764,-0.00537068434439,0.0598510719544,0.999999938274,0.000240696851062,-0.000254912172944,2.31481188807e-05,1793239385716358400
+66,1.100000000,BASELINE,766,745,715,679.295734758,663.295734758,636,879,787,803.295734758,652,631.704265242,652.295734758,0.400973902564,-0.00537062437288,0.0598510770936,0.999999937936,0.000242118921578,-0.000254896504223,2.30923211423e-05,1793239385733025280
+67,1.116666667,BASELINE,766,745,715,679.880169075,663.880169075,636,879,787,803.880169075,652,631.119830925,652.880169075,0.400974923425,-0.00536994641251,0.0598516913981,0.999999938137,0.000242683818774,-0.000253609273528,2.26591086376e-05,1793239385749692160
+68,1.133333333,BASELINE,766,745.458791356,715,679.541208644,663.541208644,636,879,787.458791356,803.541208644,652,631.458791356,652.541208644,0.400974465942,-0.00537055852404,0.0598511923939,0.999999938132,0.000241544434826,-0.000254717021077,2.26222766676e-05,1793239385766358784
+69,1.150000000,BASELINE,766,745.964493383,715,679,663.035506617,636,879,788,803,652,631.964493383,652,0.400973663718,-0.00537134754739,0.0598504640763,0.999999938043,0.000240206735243,-0.000256321402645,2.26829941483e-05,1793239385783025408
+70,1.166666667,BASELINE,766,745.393926662,715,679,663.606073338,636,879,788,803,652,631.393926662,652,0.400973412362,-0.00536978839944,0.0598506072502,0.999999937545,0.000242504569368,-0.00025610117665,2.26731062157e-05,1793239385799692032
+71,1.183333333,BASELINE,766,745,715,679,664,636,879,787.816773501,803.183226499,652,631,652.183226499,0.400973658853,-0.00536900572894,0.0598510026221,0.999999937495,0.000243522331999,-0.000255327331481,2.26896570589e-05,1793239385816358400
+72,1.200000000,BASELINE,766,745,715,679,664,636,879,787.224931741,803.775068259,652,631,652.775068259,0.4009750156,-0.0053699546883,0.0598519604232,0.99999993845,0.000241685394757,-0.00025331885458,2.27651692806e-05,1793239385833025024
+73,1.216666667,BASELINE,766,745,715,679,663.640410302,636,879,787.359589698,804,652,631.359589698,653,0.400975341979,-0.0053707988055,0.0598522370263,0.999999938814,0.000240506861599,-0.000252988722906,2.29113825228e-05,1793239385849691648
+74,1.233333333,BASELINE,766,745,715,679,663.060376572,636,879,787.939623428,804,652,631.939623428,653,0.400975036699,-0.00537157864987,0.0598520960253,0.999999938819,0.000239731958724,-0.000253687489539,2.31009385431e-05,1793239385866358272
+75,1.250000000,BASELINE,766,745,715,679.515357519,663.515357519,636,879,787.484642481,804,652,632,652.484642481,0.400974782418,-0.00537123370107,0.0598519799588,0.999999938497,0.000240467646798,-0.000254256904408,2.31104464259e-05,1793239385883025408
+76,1.266666667,BASELINE,766,745,715,679.90949858,663.90949858,636,879,787,804,652,631.90949858,652,0.400974543102,-0.0053706785404,0.0598519193284,0.999999938135,0.000241534439449,-0.000254670559815,2.31024304401e-05,1793239385899692032
+77,1.283333333,BASELINE,766,745,715,679.334839561,663.334839561,636,879,787,804,652,631.334839561,652,0.400974352148,-0.00536969793045,0.0598521397667,0.999999937761,0.000243433627544,-0.000254331344975,2.31125772755e-05,1793239385916358656
+78,1.300000000,BASELINE,766,745,715,679,663.245869853,635.754130147,879,787,803.754130147,652,631.245869853,652,0.400974186388,-0.00536946231978,0.0598518553283,0.999999937689,0.000243570076426,-0.000254485716507,2.30736230294e-05,1793239385933025280
+79,1.316666667,BASELINE,766,745,715,679,663.835026871,635.164973129,879,787,803.164973129,652,631.835026871,652,0.400974055806,-0.00537026688833,0.0598508659733,0.99999993804,0.000241245362308,-0.000255329240738,2.2966113118e-05,1793239385949691904
+80,1.333333333,BASELINE,766,745,715,679,664,635.418229208,879,787,803,652.418229208,632,652,0.400974123905,-0.00536938586124,0.05985118113,0.999999937824,0.000242620039587,-0.000254883963096,2.28327950649e-05,1793239385966358272
+81,1.350000000,BASELINE,766,745,715,679,664,635.999115705,879,787,803,652.999115705,632,652,0.400974269276,-0.00536784927403,0.0598520036358,0.999999937382,0.00024543348031,-0.000253937445977,2.26894397258e-05,1793239385983025152
+82,1.366666667,BASELINE,766,745,715,679,663.428148597,636,879,787.571851403,803,653,631.428148597,652.571851403,0.400973983611,-0.00536946011195,0.0598511814591,0.999999937414,0.000243964069934,-0.000255225131023,2.26653695486e-05,1793239385999691776
+83,1.383333333,BASELINE,766,745,715,679,663,636.148795278,879,788,803.148795278,652.851204722,631.148795278,652.851204722,0.400973693227,-0.00537104170654,0.0598505879765,0.99999993758,0.000242320701853,-0.000256130462686,2.27643709075e-05,1793239386016358656
+84,1.400000000,BASELINE,766,745,715,679,663,636.738238339,879,788,803.738238339,652.261761661,631.738238339,652.261761661,0.400973390816,-0.00537252248822,0.0598506791829,0.999999938146,0.000240181506329,-0.000255893391644,2.32273022256e-05,1793239386033025280
+85,1.416666667,BASELINE,766,745,715,679,663.322242311,636.677757689,879,787.677757689,803.677757689,652,632,652.322242311,0.400973172935,-0.00537175744798,0.059850874709,0.999999938084,0.000240405590208,-0.000255920776453,2.32570339313e-05,1793239386049692160
+86,1.433333333,BASELINE,766,745,715,679,663.901901342,636.098098658,879,787.098098658,803.098098658,652,632,652.901901342,0.400973022579,-0.00536919837844,0.0598511535687,0.999999937521,0.00024251753193,-0.000256159416458,2.29407129041e-05,1793239386066358784
+87,1.450000000,BASELINE,765.521056492,745,715,679.478943508,664,636,879,787,803,652,631.521056492,653,0.400972599582,-0.00536943697656,0.0598502916405,0.9999999376,0.000241321679649,-0.000256995018276,2.27426675556e-05,1793239386083025408
+88,1.466666667,BASELINE,765.111013705,745.055506852,715,680,664,636,879,787,803,652,631,653,0.40097213541,-0.00537023592132,0.0598493176613,0.999999937741,0.000239816943777,-0.000257867273563,2.26012157065e-05,1793239386099691776
+89,1.483333333,BASELINE,766.265160162,745.632580081,715,680,664,636,879,787,803,652,631,653,0.400971806225,-0.00537094497783,0.0598494744383,0.999999937255,0.000241741408368,-0.000257941268026,2.27651437812e-05,1793239386116358400
+90,1.500000000,BASELINE,766.785958374,745.785958374,715,679.785958374,663.785958374,636,879,787.214041626,803,652,631.214041626,652.785958374,0.40097248288,-0.00537124120614,0.0598500912148,0.999999937358,0.00024218687279,-0.000257115712531,2.28421695791e-05,1793239386133025280
+91,1.516666667,BASELINE,766.196806313,745.196806313,715,679.196806313,663.196806313,636,879,787.803193687,803,652,631.803193687,652.196806313,0.400974922282,-0.00537081394816,0.0598515141456,0.999999938492,0.000240040372044,-0.00025471368528,2.27668981104e-05,1793239386149692160
+92,1.533333333,BASELINE,766,745,715,679,663.385755272,636,879,787.614244728,803.385755272,652,631.614244728,652.385755272,0.400975658968,-0.00537034535228,0.0598520041642,0.999999938471,0.000241577035378,-0.000253329452841,2.28837256217e-05,1793239386166358784
+93,1.550000000,BASELINE,766,745,715,679,663.96501103,636,879,787.03498897,803.96501103,652,631.03498897,652.96501103,0.400975541547,-0.00536985602066,0.0598520262205,0.999999937863,0.00024496122749,-0.000252455760947,2.30969127841e-05,1793239386183025408
+94,1.566666667,BASELINE,766,745,715,679,663.460785227,636,879,787,804,652,631,652.460785227,0.400973454578,-0.00536982640769,0.0598507003639,0.999999937628,0.000242956911557,-0.000255339500745,2.27393466429e-05,1793239386199692288
+95,1.583333333,BASELINE,766,745,715,679,663.116099278,636,879,787,803.883900722,652,631.116099278,652,0.400972002713,-0.00536979684141,0.0598497352425,0.999999937542,0.000241078601026,-0.000257476310102,2.24477695159e-05,1793239386216359168
+96,1.600000000,BASELINE,766,745,715,679,663.705229618,636,879,787,803.294770382,652,631.705229618,652,0.400973654367,-0.00536964705288,0.0598505929427,0.999999938013,0.000241125075189,-0.000255585680696,2.25745511552e-05,1793239386233025280
+97,1.616666667,BASELINE,766,745,714.710457332,679,663.710457332,635.710457332,879,787,803,652.289542668,631.710457332,652.289542668,0.400973681923,-0.00536923190206,0.0598504597661,0.999999937653,0.000242848606747,-0.000255358813692,2.25714112319e-05,1793239386249691904
+98,1.633333333,BASELINE,766,745,714.130968323,679,663.130968323,635.130968323,879,787,803,652.869031677,631.130968323,652.869031677,0.400972083119,-0.00536855101898,0.0598493343311,0.999999936456,0.0002462515338,-0.000256798028769,2.24381686051e-05,1793239386266359296
+99,1.650000000,BASELINE,766,745,714.445483512,679,663.445483512,635.445483512,879,787.445483512,803,652.554516488,631,652.554516488,0.400974098953,-0.00536957933275,0.0598508962804,0.999999937618,0.000244237907748,-0.000254177409472,2.2507915542e-05,1793239386283025664
+100,1.666666667,BASELINE,766,745,715,679,663.978973572,636,879,787.978973572,803.021026428,652,631,652.021026428,0.400977028398,-0.00537105749227,0.0598531403077,0.999999939367,0.000240793683458,-0.000250544449987,2.26386694505e-05,1793239386299691776
+101,1.683333333,BASELINE,766,745,715,679,663.404011636,636,879,787.404011636,803.595988364,652,631,652.595988364,0.400976220376,-0.00537123841679,0.0598526803138,0.999999939001,0.00024132853066,-0.000251472657269,2.28151023111e-05,1793239386316358656
+102,1.700000000,BASELINE,766,745,715,679,663.175041191,636,879,787,804,652,631.175041191,653,0.400975505736,-0.00537102431653,0.0598521970073,0.999999938716,0.000241482500716,-0.000252453546726,2.28328321538e-05,1793239386333025280
+103,1.716666667,BASELINE,766,745,715,679,663.763762053,636,879,787,804,652,631.763762053,653,0.40097501179,-0.0053698766433,0.0598516586058,0.999999938624,0.000240736333248,-0.00025355894129,2.2475494756e-05,1793239386349692160
+104,1.733333333,BASELINE,766,745,715,679,664,636,878.652787544,787.347212456,803.652787544,652,631.652787544,652.652787544,0.400975280236,-0.00536901534897,0.0598515022772,0.999999938471,0.000241609590342,-0.000253346310562,2.2344628993e-05,1793239386366358784
+105,1.750000000,BASELINE,766,745,715,679,664,636,878.072869404,787.927130596,803.072869404,652,631.072869404,652.072869404,0.400976059646,-0.0053683459889,0.0598516020183,0.999999938272,0.000243568203876,-0.000252250324604,2.23655470256e-05,1793239386383025408
+106,1.766666667,BASELINE,766,745,715,679,664,636,878.503666894,787.496333106,803,652,631.503666894,652.503666894,0.400973843746,-0.00536978825097,0.0598508274918,0.999999938199,0.000241987633435,-0.000254038137564,2.25613673239e-05,1793239386399692032
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879,787,804,652,632,652,0.400975029209,-0.00536849113662,0.0598523594045,0.999999938002,0.00024376579292,-0.000253129902209,2.23551485647e-05,1793239386443151872
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.406484275,636,879.593515725,787,803.406484275,652,632,652.593515725,0.400974005974,-0.00536866353644,0.0598515040309,0.999999937978,0.000243091420854,-0.000253861591821,2.24566480279e-05,1793239386459819008
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.181920039,663.181920039,636,879.818079961,787.181920039,803.181920039,652,632,653,0.400973937048,-0.0053691840621,0.0598513247326,0.999999938051,0.000242763716042,-0.000253866875287,2.2691308988e-05,1793239386476485888
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.759215594,663.759215594,636,879.240784406,787.759215594,803.759215594,652,632,653,0.400975942168,-0.00537046118633,0.0598526147811,0.999999938334,0.000243189439615,-0.000252293425692,2.32153762138e-05,1793239386493151744
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,636,879,788,803.665204954,652,632,653,0.400975513435,-0.00537080900535,0.0598525064705,0.999999938405,0.000242703139367,-0.000252485870384,2.31338112538e-05,1793239386509818368
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,636,879,788,803.090853461,652,632,653,0.400973343204,-0.00537049187702,0.0598513975897,0.999999938324,0.000241564257202,-0.000253941868392,2.26188972763e-05,1793239386526484992
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.514969248,664,636,879,788,803,652.485030752,631.514969248,653,0.400974338529,-0.00537089228212,0.0598515046278,0.999999938542,0.000240698771428,-0.0002538902285,2.2798098899e-05,1793239386543151616
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.062870577,715,679,664,636,879,788,803.062870577,652.937129423,631.062870577,653,0.400975600754,-0.00537140083138,0.0598516892904,0.999999938734,0.000239964292251,-0.000253805352218,2.30517766581e-05,1793239386559818240
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.65474181,715,679,664,636,879,788,803.65474181,652.34525819,631.65474181,653,0.400974103691,-0.00537168483645,0.0598506046227,0.99999993824,0.000239899855193,-0.000255824526264,2.28346491132e-05,1793239386576484864
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.759804984,715,679,664,636,879,788,804,652.240195016,632,652.759804984,0.400978194012,-0.00537135285767,0.0598523346081,0.999999938788,0.000240735162704,-0.000252896315194,2.2691070915e-05,1793239386593151488
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.183337064,715,679,664,636,879,788,804,652.816662936,632,652.183337064,0.400990106668,-0.00537015850179,0.0598580051067,0.999999940726,0.000242830112161,-0.000243041767194,2.26504617828e-05,1793239386609817856
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.392142183,664,636,878.607857817,788,803.607857817,653,631.607857817,652.392142183,0.401021826207,-0.00537053196513,0.0598717572285,0.999999946265,0.000243095546731,-0.000218691847608,2.34277710812e-05,1793239386626484736
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.967160411,664,636,878.032839589,788,803.032839589,653,631.032839589,652.967160411,0.401062782714,-0.00537163658302,0.0598892782268,0.999999952699,0.00024250778452,-0.000187581990558,2.45865177398e-05,1793239386643151360
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.557532812,715,679.442467188,664,636,878.557532812,787.442467188,803.557532812,652.442467188,631.557532812,653,0.401119357199,-0.00537448771118,0.0599057599086,0.999999958294,0.000240249900259,-0.00015826464583,2.53772055679e-05,1793239386659817984
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.854334156,715,679,663.854334156,636,879,787,804,652,632,653,0.401181691746,-0.00537728564755,0.0599216993772,0.999999962604,0.000238471181995,-0.000131303368043,2.61428532167e-05,1793239386676484864
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.275623086,715,679,663.275623086,636,879,787,804,652,632,653,0.401258337944,-0.00537961096602,0.0599362140669,0.999999965054,0.000238417692124,-0.000111023588084,2.69003347125e-05,1793239386693152512
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.300435584,715,679,663.300435584,636,879.300435584,787,804,652,632,652.699564416,0.401339457882,-0.00538195099262,0.059944306361,0.999999966717,0.00023732960555,-9.75651267776e-05,2.68639623793e-05,1793239386709819136
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.874082171,715,679,663.874082171,636,879.874082171,787,804,652,632,652.125917829,0.401424646157,-0.00538430439439,0.059946558237,0.999999967898,0.000235300674409,-9.03098577427e-05,2.61056728529e-05,1793239386726484992
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.550725911,715,679,664,636,879.550725911,787,804,652,632,652.449274089,0.401526979312,-0.00538640429497,0.059948173175,0.999999968823,0.000232699842548,-8.69993030206e-05,2.52030280282e-05,1793239386743151616
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.025692762,745,715,679,663.974307238,636,879,787,803.974307238,652,632,652.974307238,0.401635199824,-0.00538847247201,0.0599496419876,0.999999969655,0.000230094076551,-8.4606802619e-05,2.42581292774e-05,1793239386759818496
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.619631614,745,715,679,663.380368386,636,879,787,803.380368386,652,632,652.380368386,0.401766987884,-0.00539141582568,0.0599518407728,0.999999970023,0.000230936465547,-7.79823355083e-05,2.32766068366e-05,1793239386776485120
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.79269316,745.20730684,715,679.20730684,663.20730684,636,879,787.20730684,803.20730684,652,631.79269316,652.20730684,0.401910088187,-0.00539484458286,0.0599530589772,0.999999970854,0.000229340186,-7.22167896449e-05,2.18900305604e-05,1793239386793152000
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+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.641072717,715,679.641072717,664,636,879,787.641072717,804,652,631.358927283,653,0.402254244375,-0.00540377359915,0.0599530626083,0.99999997346,0.000220497130778,-6.43033397063e-05,1.80340502481e-05,1793239386826486528
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.066823085,715,679.066823085,664,636,879,787.066823085,804,652,631.933176915,653,0.40244574843,-0.00540861482345,0.0599542303735,0.999999973934,0.000219414943393,-6.09605465759e-05,1.65019941221e-05,1793239386843153664
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.519831684,745,715,679,663.480168316,636,879,787.519831684,803.480168316,652,631.480168316,653,0.402666565073,-0.0054144972315,0.059954932101,0.999999975255,0.000214781907566,-5.60667653351e-05,1.46411512703e-05,1793239386859819520
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.893102015,745.106897985,715,679,663.106897985,636,879.106897985,788,803.106897985,652,631.106897985,653,0.402899235677,-0.00542076481633,0.0599557085327,0.999999976716,0.000209339995117,-5.08486249648e-05,1.26270883907e-05,1793239386876485120
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.311462961,745.688537039,715,679,663.688537039,636,879.688537039,788,803.688537039,652,631.688537039,653,0.403167407272,-0.00542813406799,0.0599570892903,0.999999978453,0.000202382501321,-4.5097069765e-05,1.01248537521e-05,1793239386893152000
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.733254608,715,679,664,636,879.733254608,788,804,652,631.733254608,653,0.403455100791,-0.00543543336119,0.0599587312075,0.999999980543,0.000193251385148,-3.89161706051e-05,7.27591672628e-06,1793239386909818624
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.159001251,715,679,664,636,879.159001251,788,804,652,631.159001251,653,0.403765299451,-0.00544265200479,0.059960674193,0.99999998298,0.000181614485918,-3.22403178318e-05,4.02729629996e-06,1793239386926485504
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879,787.584827552,803.584827552,652,631.415172448,653,0.404080260481,-0.00545180232659,0.0599510181644,0.999999984171,0.000171521585485,-4.73100749923e-05,7.93659387785e-07,1793239386943152128
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879,787.010684368,803.010684368,652,631.989315632,653,0.404397045029,-0.00546169229341,0.0599369208396,0.999999984372,0.000162019886858,-7.07062895222e-05,-2.434240219e-06,1793239386959818752
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.41869233,636,879.58130767,787,803,652,631.41869233,652.41869233,0.404746649727,-0.00546837865052,0.0599246806516,0.999999984256,0.00014977470422,-9.48882730323e-05,-7.12557646451e-06,1793239386976485120
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.169422233,636,879.830577767,787,803.169422233,652,631.169422233,652,0.405119217394,-0.00547593860332,0.0599165228454,0.999999985011,0.00013205445769,-0.000111393206575,-1.14662699817e-05,1793239386993151744
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.747370883,636,879.252629117,787,803.747370883,652,631.747370883,652,0.405545654783,-0.00548575152838,0.0599181239398,0.999999988784,0.000101257678078,-0.000109350602303,-1.48945479524e-05,1793239387009818368
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.672638239,745,715,679,664,636,879.327361761,787,803.672638239,652,632,652.327361761,0.406009215863,-0.00549519839963,0.0599343060927,0.999999994687,5.89072827436e-05,-8.27353949213e-05,-1.76187141688e-05,1793239387026484736
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.091061393,745,715,679,664,636,879.908938607,787,803.091061393,652,632,652.908938607,0.406501605654,-0.00550436101025,0.0599618112697,0.999999999089,7.58484209341e-06,-3.70381586683e-05,-1.97960977431e-05,1793239387043151360
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.491372715,745.491372715,715,679,664,636,879.508627285,787,803,652,632,653,0.407038875323,-0.00550860429774,0.059989760735,0.999999999711,-5.42407385495e-07,1.00014735303e-05,-2.18409785876e-05,1793239387059819008
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.926395686,715,679,664,636,879,787,803.073604314,652,631.926395686,652.926395686,0.40758043998,-0.00551004968814,0.0600132199304,0.99999999855,5.38894441987e-07,4.81748590762e-05,-2.40631183533e-05,1793239387076486400
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.346650724,715,679,664,636,879,787,803.653349276,652,631.346650724,652.346650724,0.408094246465,-0.00549853525002,0.0600052345907,0.999999999289,9.80056357741e-06,2.36657705784e-05,-2.76733325664e-05,1793239387093152768
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.231471289,663.768528711,636,879.231471289,787.231471289,803.768528711,652,631.231471289,652,0.408628705041,-0.00549342229833,0.0599961108807,0.999999999486,6.5693771332e-06,4.21681800508e-07,-3.13864970219e-05,1793239387109819392
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.807179666,663.192820334,636,879.807179666,787.807179666,803.192820334,652,631.807179666,652,0.409193876751,-0.00549782944406,0.0599852942212,0.999999999043,-1.52408062848e-05,-2.09411362275e-05,-3.52527657463e-05,1793239387126485760
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663.380608595,636,879.619391405,787.619391405,803.380608595,652,632,652,0.409810931329,-0.0055075647839,0.0599852248878,0.999999998386,-3.7119585516e-05,-2.01240564768e-05,-3.80155789164e-05,1793239387143152384
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663.952889589,636,879.047110411,787.047110411,803.952889589,652,632,652,0.410454113818,-0.00551998337291,0.059990567849,0.999999997416,-5.9032908552e-05,-8.13730136971e-06,-4.02226978046e-05,1793239387159818752
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.542595456,636,879,787.542595456,804,652,631.457404544,652.542595456,0.411116150778,-0.00552434754326,0.059999648069,0.999999999414,-1.47995655344e-05,1.10982344985e-05,-2.88019556229e-05,1793239387176485120
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.868397315,664.868397315,636,879,787.868397315,804,652,631,652.868397315,0.411781072667,-0.00552593599264,0.0600036578138,0.999999999338,2.11939800653e-05,2.14193991114e-05,-2.03964734848e-05,1793239387193151744
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679.287118393,664.287118393,636,879,787.287118393,804,652,631,652.287118393,0.412450072809,-0.0055205088163,0.0599891966071,0.999999999611,8.75781781999e-06,-9.41020450409e-07,-2.64710491744e-05,1793239387209818624
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.28982938,664,636,879,787.28982938,803.71017062,652,631,652,0.413110683406,-0.00551568717368,0.0599632087485,0.999999998119,-5.63188856416e-06,-5.21602373525e-05,-3.17609887286e-05,1793239387226485760
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.862549758,664,636,879,787.862549758,803.137450242,652,631,652,0.41376310538,-0.00551145656792,0.059925970179,0.999999990449,-2.19283736074e-05,-0.000131547387829,-3.62850765557e-05,1793239387243152896
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.438184214,715,679.561815786,664,636,879.438184214,787.561815786,803.438184214,652,631.438184214,652,0.414536628034,-0.00551506009633,0.0599340622901,0.999999992584,-2.21435651207e-05,-0.000113684344075,-3.76484356941e-05,1793239387259819520
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715,679,664.015122391,636,879.984877609,787.015122391,804,652.015122391,631.984877609,652.015122391,0.415348479955,-0.00552113152875,0.0599570561085,0.999999997054,-1.75553788122e-05,-6.43757730496e-05,-3.79411742159e-05,1793239387276485632
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715,679,664.60668052,636,879.39331948,787.60668052,804,652.60668052,631.39331948,652.60668052,0.416163684947,-0.00552697539629,0.0600024297773,0.999999999012,-2.34418877884e-05,1.29770436151e-05,-3.54695540229e-05,1793239387293152000
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,679,664.806447946,636,879.193552054,787.806447946,803.806447946,652.806447946,631,652.806447946,0.416966482174,-0.0055304581963,0.0600297834301,0.999999997413,-2.8277544278e-05,5.65843244999e-05,-3.42465005906e-05,1793239387309818112
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,679,664.228874985,636,879.771125015,787.228874985,803.228874985,652.228874985,631,652.228874985,0.417744661473,-0.00552925647166,0.0600213840993,0.999999998336,-3.10282352896e-05,3.32380810286e-05,-3.55006920417e-05,1793239387326484992
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.653511604,715,679.346488396,664,636,880,787,803,652,631.346488396,652,0.418541048873,-0.00552818865098,0.0600079536909,0.999999998665,-3.33785559451e-05,1.14692860707e-05,-3.77496403915e-05,1793239387343151872
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.079598548,715,679.920401452,664,636,880,787,803,652,631.920401452,652,0.419349387497,-0.00552720872091,0.0599912210333,0.999999998502,-3.54660853155e-05,-9.26411776071e-06,-4.0651517478e-05,1793239387359818752
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.491021868,664,636,880,787.508978132,803.508978132,652,631.491021868,652,0.420163416191,-0.00552891354011,0.0599680134901,0.999999997389,-4.1522852712e-05,-4.03530010019e-05,-4.32436986188e-05,1793239387376485632
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,880,787.902119138,804,652,631.097880862,652.097880862,0.420973575187,-0.0055305120395,0.0599425103158,0.999999994779,-4.59220737326e-05,-7.91786279434e-05,-4.54346698081e-05,1793239387393152512
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,880,787.323218315,804,652,631.676781685,652.676781685,0.421760214066,-0.00552946347736,0.0599108495188,0.999999987258,-3.90344982537e-05,-0.000147830462506,-4.58990346008e-05,1793239387409818624
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879.745961294,787,804,652,631.745961294,652.745961294,0.422596803162,-0.00552945792005,0.0599059994632,0.999999985689,-3.70708297816e-05,-0.000158365782871,-4.6556534044e-05,1793239387426484992
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879.170782188,787,804,652,631.170782188,652.170782188,0.423496536413,-0.00553077086637,0.0599350419243,0.999999993466,-4.13316664907e-05,-9.54337233294e-05,-4.74581828009e-05,1793239387443151872
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.40400062,664.40400062,636,879.40400062,787,804,652,631,652.40400062,0.424410491581,-0.00553418749836,0.0599847667064,0.999999997692,-4.74192563384e-05,-1.70777039827e-05,-4.55549501512e-05,1793239387459818496
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.978616031,664.978616031,636,879.978616031,787,804,652,631,652.978616031,0.425330452797,-0.0055384925445,0.0600432259037,0.999999995327,-5.42783076373e-05,6.77920533595e-05,-4.24671787933e-05,1793239387476485120
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.428466993,664.428466993,636,880,787,804,652,631,652.428466993,0.426207195327,-0.00554165054558,0.0600406731386,0.999999995115,-5.14922018792e-05,7.20010894493e-05,-4.39882430741e-05,1793239387493151744
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.83920193,745.16079807,715,679.16079807,664.16079807,635.83920193,880,787,804,652,631.16079807,652.16079807,0.427074972791,-0.00554443662051,0.0600307724053,0.999999995545,-5.11906523178e-05,6.46761089156e-05,-4.58946147139e-05,1793239387509818624
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.261246261,745.738753739,715,679.738753739,664.738753739,635.261246261,880,787,804,652,631.738753739,652.738753739,0.427923826014,-0.00554637283127,0.0600079269655,0.999999996501,-5.83019603337e-05,3.55168935483e-05,-4.83384274819e-05,1793239387526485760
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.314391524,746,715,680,664.685608476,635,880.314391524,787,804.314391524,651.685608476,632,652.685608476,0.428743976737,-0.00554613554234,0.0599851533729,0.999999996574,-6.58251676696e-05,3.02069516285e-06,-5.010620366e-05,1793239387543152384
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.888117312,746,715,680,664.111882688,635,880.888117312,787,804.888117312,651.111882688,632,652.111882688,0.429540451391,-0.00554410538391,0.0599624390466,0.999999995449,-7.36881407994e-05,-3.2228101526e-05,-5.13163328194e-05,1793239387559818752
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.52727922,715,680,664,635.47272078,881,787.47272078,804.52727922,651,631.52727922,652,0.430354060446,-0.00553946705191,0.0599406498225,0.999999993862,-6.62327592358e-05,-7.09125711428e-05,-5.34798327888e-05,1793239387576485120
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.059428841,636,881,787.940571159,804,651,631.059428841,652,0.431181691047,-0.00553567799442,0.0599266204728,0.999999992183,-5.7055108368e-05,-9.6457842154e-05,-5.54425986312e-05,1793239387593151488
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.641470871,636,881,787.358529129,804,651,631.641470871,652,0.432096123311,-0.00554491373255,0.0599788601499,0.999999996426,-6.53654462154e-05,8.61326707179e-07,-5.36091047552e-05,1793239387609818368
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.779737517,664.779737517,636,880.779737517,787.220262483,804,651.220262483,632,652,0.43296721128,-0.00555145570307,0.0600150155453,0.999999993949,-7.38214973731e-05,6.27778722412e-05,-5.20740986626e-05,1793239387626485248
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.206159696,664.206159696,636,880.206159696,787.793840304,804,651.793840304,632,652,0.433768772321,-0.0055536766967,0.0600253707155,0.999999992989,-8.25112842633e-05,6.79063242125e-05,-5.10178867464e-05,1793239387643152128
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.367763939,715,679.367763939,664,635.632236061,880,787.632236061,804,652,632,652.367763939,0.434542436753,-0.00555332999207,0.0600108429427,0.999999994244,-8.3369679891e-05,4.25445995925e-05,-5.24593122548e-05,1793239387659818752
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.941881576,715,679.941881576,664,635.058118424,880,787.058118424,804,652,632,652.941881576,0.435300448246,-0.00555154254239,0.0599823532585,0.999999995284,-7.98338524449e-05,7.47244114087e-08,-5.53021712923e-05,1793239387676485632
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.467640305,715,679.467640305,664,635.532359695,880,787,804.532359695,652,632,652.467640305,0.436046576876,-0.00555056692878,0.0599562749682,0.999999993946,-7.91340622963e-05,-5.10545478505e-05,-5.69149467916e-05,1793239387693152256
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.1220122,715,679.1220122,664,635.8779878,880.1220122,787,804.8779878,652,632,652,0.436784519024,-0.00555031820829,0.0599347548597,0.999999990612,-7.98531987665e-05,-9.49750647591e-05,-5.8131326223e-05,1793239387709818880
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.701656515,715,679.701656515,664,635.298343485,880.701656515,787,804.298343485,652,632,652,0.437496775986,-0.00555245288925,0.0599293124606,0.999999988856,-8.46962236261e-05,-0.000108199459958,-5.83805922644e-05,1793239387726485248
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.721477065,715,680,664,635.278522935,880.721477065,787,804,652,631.721477065,652,0.438195878569,-0.00555294704612,0.0599221024251,0.999999986723,-8.65612075603e-05,-0.000124940196468,-5.87530111666e-05,1793239387743151872
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.147556875,715,680,664,635.852443125,880.147556875,787,804,652,631.147556875,652,0.438881029768,-0.00555170128756,0.0599130176611,0.999999984037,-8.52677255449e-05,-0.000145410311076,-5.92560441246e-05,1793239387759818496
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.562978358,664,635.562978358,880.437021642,787,804.437021642,651.562978358,631,652,0.439570846725,-0.00555298146065,0.0599300338857,0.999999987243,-8.62404189752e-05,-0.000120995604663,-5.86175429981e-05,1793239387776485120
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+245,4.083333333,POSE1_TO_POSE2_PRESS,765.902930959,746,715,680.902930959,660,632,881,785.902930959,805,652,631,652,0.449789977307,-0.00554329356332,0.0595968238023,0.999999791146,-9.10150119048e-05,-0.000636021857967,-6.99988073522e-05,1793239388743151616
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.323394221,746,715,680.323394221,660,632,881,785.323394221,805,652,631,652,0.449791001098,-0.00554156470836,0.0595971755706,0.999999791999,-9.0684525047e-05,-0.00063471506836,-7.01019460551e-05,1793239388759817984
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.254323636,746,715,680.254323636,659.745676364,632,880.745676364,785,805,652,631,652.254323636,0.449791146975,-0.00554105406476,0.0595971574237,0.999999792236,-9.04305983899e-05,-0.000634378972876,-7.01005472667e-05,1793239388776485120
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.829745132,746,715,680.829745132,659.170254868,632,880.170254868,785,805,652,631,652.829745132,0.449790184435,-0.00554208148111,0.0595966722383,0.999999791695,-9.02733332365e-05,-0.000635268433002,-6.99671640455e-05,1793239388793152768
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.595914589,746,715,680.595914589,659,632,880.404085411,785,805,652,631,653,0.449789634282,-0.00554168406423,0.0595961734088,0.999999790965,-8.98215550368e-05,-0.000636492987351,-6.98511896958e-05,1793239388809819392
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.02202868,746,715,680.02202868,659,632,880.97797132,785,805,652,631,653,0.449789257417,-0.00554068791895,0.059595668846,0.999999790154,-8.92460196893e-05,-0.000637858351394,-6.9742530726e-05,1793239388826485760
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.570143476,746,715,680.570143476,659.570143476,632,880.429856524,785,805,652,630.429856524,652.429856524,0.449790448453,-0.0055403700021,0.0595972752067,0.999999791341,-8.97711926073e-05,-0.000635900078417,-6.99318025874e-05,1793239388843152896
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,746,715,681,660,632.153077972,880.153077972,785.153077972,805,652,630.153077972,652,0.449791124373,-0.00554033731651,0.0595979188695,0.999999791906,-8.9636538389e-05,-0.000635020571575,-7.00218321854e-05,1793239388859819264
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746,715,681,660,632.709733661,880.709733661,785.709733661,805,652,630.709733661,652,0.449790277229,-0.00554098524411,0.0595958023056,0.999999790624,-8.76464658404e-05,-0.000637334920549,-6.98188636473e-05,1793239388876485376
+254,4.233333333,HOLD_POSE2,765,746,715,681,660,632,881,786,805,652,631,653,0.449793538413,-0.00554350994654,0.0595981517041,0.999999792173,-9.37133624895e-05,-0.000634141883022,-6.88197008443e-05,1793239388913134080
+255,4.250000000,HOLD_POSE2,765,745.412233455,715,681,659.412233455,632,881,785.412233455,805,652,631,653,0.449792017256,-0.00554222408712,0.0595963401361,0.999999791088,-9.12576328401e-05,-0.000636171665044,-6.91439565927e-05,1793239388929801472
+256,4.266666667,HOLD_POSE2,765.173460407,745.173460407,715,680.826539593,659.173460407,632,880.826539593,785.173460407,805,652,631,652.826539593,0.449790840053,-0.00554151366434,0.0595950142943,0.999999790132,-8.93140171295e-05,-0.000637932252507,-6.92873205705e-05,1793239388946468608
+257,4.283333333,HOLD_POSE2,765.75428676,745.75428676,715,680.24571324,659.75428676,632,880.24571324,785.75428676,805,652,631,652.24571324,0.449790470611,-0.00554215463495,0.0595948291635,0.999999789497,-8.85730833357e-05,-0.000639060645995,-6.9005866359e-05,1793239388963134976
+258,4.300000000,HOLD_POSE2,765.668403642,746,715,680.331596358,660,632,880,786,805,652,631,652.331596358,0.449791256411,-0.0055412029907,0.059595621678,0.999999790225,-8.8114378667e-05,-0.000637952868914,-6.92949899663e-05,1793239388979801344
+259,4.316666667,HOLD_POSE2,765.093672649,746,715,680.906327351,660,632,880,786,805,652,631,652.906327351,0.449792889263,-0.0055390836019,0.0595971310261,0.999999791947,-8.78626114024e-05,-0.000635205476312,-7.00024753294e-05,1793239388996468224
+260,4.333333333,HOLD_POSE2,765,746,715,681,660,632,880,786,805,652,631,652.5188111,0.449792571893,-0.00554031451398,0.0595970392944,0.99999979166,-8.95653408121e-05,-0.000635430249855,-6.9905070626e-05,1793239389013134592
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+262,4.366666667,HOLD_POSE2,765.649439625,746,714.350560375,681,660,632,880,785.350560375,805,652,631,652,0.44979249015,-0.00554195307768,0.0595965340721,0.999999791381,-9.02829374252e-05,-0.000635831618907,-6.9314321418e-05,1793239389046467328
+263,4.383333333,HOLD_POSE2,765.764019406,745.764019406,714.235980594,681,660,632,880,785.235980594,805,652,631,652,0.449793166693,-0.00554219744523,0.0595967501554,0.999999791811,-8.95860759256e-05,-0.000635288429435,-6.90043615429e-05,1793239389063133952
+264,4.400000000,HOLD_POSE2,765.185009318,745.185009318,714.814990682,681,660,632,880,785.814990682,805,652,631,652,0.449794101704,-0.00554287785825,0.0595974672016,0.999999792419,-8.94159062927e-05,-0.000634384461118,-6.87224924751e-05,1793239389079800832
+265,4.416666667,HOLD_POSE2,765.390596392,745.390596392,715,681,659.609403608,632,880.390596392,785.609403608,805,652,631,652.390596392,0.449794020034,-0.00554172291373,0.0595974930695,0.999999792394,-8.94734096964e-05,-0.000634365614844,-6.91838787374e-05,1793239389096467456
+266,4.433333333,HOLD_POSE2,765.964603572,745.964603572,715,681,659.035396428,632,880.964603572,785.035396428,805,652,631,652.964603572,0.449793460964,-0.00553970614775,0.0595971943837,0.999999792071,-8.9637820604e-05,-0.000634762391717,-6.99942724139e-05,1793239389113134080
+267,4.450000000,HOLD_POSE2,766,746,714.447082042,681,659.552917958,632.552917958,880.447082042,785,805,652,631,653,0.449792752553,-0.00553912575132,0.0595965765722,0.999999791729,-8.79008279994e-05,-0.00063559381271,-6.95362982626e-05,1793239389129800960
+268,4.466666667,HOLD_POSE2,766,746,714.139936256,681,660,633,880.139936256,785,805,652,631,653,0.44979258592,-0.00553908444204,0.0595962893398,0.9999997916,-8.69246830105e-05,-0.000635980929872,-6.90758185229e-05,1793239389146467584
+269,4.483333333,HOLD_POSE2,766,746,714.719922243,681,660,633,880.719922243,785,805,652,631,653,0.449794153853,-0.00554044153009,0.0595971076117,0.999999792155,-8.87340761861e-05,-0.000634881046346,-6.88695800581e-05,1793239389163134208
+270,4.500000000,HOLD_POSE2,765.702581256,746,715,680.702581256,660,632.702581256,880.702581256,785.297418744,805,652,631,652.702581256,0.449794380318,-0.00554082026646,0.059597254494,0.999999792143,-8.94348724232e-05,-0.000634787616052,-6.89906844977e-05,1793239389179800832
+271,4.516666667,HOLD_POSE2,765.127409669,746,715,680.127409669,660,632.127409669,880.127409669,785.872590331,805,652,631,652.127409669,0.449793354016,-0.00554028534158,0.0595967743802,0.999999791606,-8.91003741759e-05,-0.000635634090435,-6.94174873112e-05,1793239389196467456
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,632,881,786,805,652,631,652,0.449794604979,-0.00554170533941,0.0595972963699,0.999999792188,-9.21038885983e-05,-0.000634336006789,-6.89842243337e-05,1793239389229153280
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.411516673,715,681,659,632,880.411516673,786,805,652,631,652.588483327,0.449794989752,-0.00554030681222,0.059597656056,0.99999979249,-9.09375455306e-05,-0.000634002061828,-6.92210696488e-05,1793239389245819904
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.174555317,745.174555317,715,680.825444683,659,632,880,786,805,652,631,652.825444683,0.449795177489,-0.00553944280522,0.0595978970229,0.999999792777,-8.96307947448e-05,-0.000633728191055,-6.92934900429e-05,1793239389262486528
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.755020118,745.755020118,715,680.244979882,659,632,880,786,805,652,631,652.244979882,0.449794907042,-0.00553982176678,0.059597861921,0.999999793028,-8.79975407834e-05,-0.00063359401623,-6.89835581374e-05,1793239389279153152
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.667747564,745.667747564,714.667747564,680.332252436,659.332252436,632,880.332252436,785.667747564,804.667747564,651.667747564,631,652,0.449795772188,-0.00554004398353,0.0595980232537,0.999999793501,-8.70793117237e-05,-0.000632994924382,-6.87898089202e-05,1793239389295819776
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.092875723,745.092875723,714.092875723,680.907124277,659.907124277,632,880.907124277,785.092875723,804.092875723,651.092875723,631,652,0.449797466575,-0.0055401517411,0.0595983280279,0.999999794137,-8.66832126146e-05,-0.000632056337989,-6.8680899354e-05,1793239389312485888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.492190579,745,714.492190579,681,659.507809421,632,881,785.492190579,804.492190579,651.492190579,631,652,0.449796926543,-0.0055397925063,0.0595984747186,0.999999793982,-8.87463827947e-05,-0.000631971997683,-6.90786967049e-05,1793239389329152256
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.657396261,715,681,659,632,880.342603739,786,805,652,631,652,0.449790035232,-0.00554074978631,0.0595941644807,0.999999789957,-8.93682431718e-05,-0.000638239172959,-6.89198883549e-05,1793239389362485504
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.764269006,746,715,680.764269006,659.235730994,632,880,785.764269006,805,652,630.764269006,652,0.4497790219,-0.00554069744306,0.0595882909448,0.999999784626,-8.89402454649e-05,-0.000646582362244,-6.90554074335e-05,1793239389379152384
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.18722767,746,715,680.18722767,659.81277233,632,880,785.18722767,805,652,630.18722767,652,0.449759782862,-0.0055388523529,0.0595795401495,0.999999776294,-8.98990159482e-05,-0.000659098913748,-7.01364775093e-05,1793239389395818752
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.389792402,660,632,880,785,804.610207598,652,630.389792402,652.389792402,0.449722373869,-0.00553760003314,0.0595644340013,0.999999761664,-8.98623919872e-05,-0.000680853284526,-7.09564215692e-05,1793239389412485632
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.966802312,660,632,880,785,804.033197688,652,630.966802312,652.966802312,0.449676237833,-0.00553663242117,0.0595462753726,0.999999743486,-8.93476795547e-05,-0.00070704458583,-7.1650946716e-05,1793239389429152768
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.554190866,745.445809134,715,681,660,632,880.554190866,785,804.554190866,652,631,653,0.449616172387,-0.00553460913871,0.0595310807087,0.999999731457,-8.81147397936e-05,-0.000723938768525,-7.2348376632e-05,1793239389445819392
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.140258075,715,681,659.859741925,632,880.859741925,785,805,652,631,652.859741925,0.449551513861,-0.00553223007335,0.0595183294001,0.999999720986,-8.65521894798e-05,-0.000738380274147,-7.30153509664e-05,1793239389462485760
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,659.297748481,632,880,785,805,652,631,652.297748481,0.449390288132,-0.00552569183923,0.0595111438001,0.999999713404,-8.13631536436e-05,-0.00074912220789,-7.33954763488e-05,1793239389495819008
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.044044013,660,632,880.955955987,785.955955987,805,652,631,653,0.449069542917,-0.00551443714751,0.0595184449443,0.999999720533,-6.8622124304e-05,-0.00074118624571,-6.97746422218e-05,1793239389545819392
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.420389149,715,681,660,634,880.420389149,786,805,651.579610851,631,652.579610851,0.445626173073,-0.00541128388473,0.059581063558,0.999999775795,3.11923705233e-05,-0.000667430842246,-4.44154664956e-05,1793239389762486528
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.350739561,788,804,653,631,653,0.40097676566,-0.00536252516787,0.0598436706089,0.999999934572,0.000246012809671,-0.000264299774767,2.19061131935e-05,1793239391229152256
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787.198836547,803.198836547,653,631.801163453,653,0.400977759044,-0.00536212969988,0.0598459558179,0.999999935124,0.000247869954453,-0.0002604492868,2.18911634745e-05,1793239391262485760
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787,803.951496252,653,631.048503748,653,0.400977491461,-0.00536520312331,0.0598464276338,0.999999936076,0.000244643400647,-0.000259852031819,2.18024262465e-05,1793239391295818752
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.131599047,745,715,679,663,636,879,787.131599047,803.131599047,652.131599047,631,652.868400953,0.400975829355,-0.00536408318418,0.0598460460351,0.999999935587,0.000246186360633,-0.00026026629533,2.18956615511e-05,1793239391329152512
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.283728791,715,679,663.283728791,636,879,788.283728791,804,653,631,652,0.400974117392,-0.00536446069083,0.0598459334919,0.999999935306,0.000246031818796,-0.000261506054844,2.1707881107e-05,1793239391362485760
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cfc29253a748c377baf2e65fa7686a57cdc1ca6f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,418 @@
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+381,6.350000000,pose2_to_pose3_retreat,0.575792751645,9.06513760383e-05,1.05003226601,0.546363205172,0.00876239728883,1.049700391
+382,6.366666667,pose2_to_pose3_retreat,0.57575683643,9.0806039827e-05,1.0500322861,0.546327287931,0.00876254514014,1.04970041271
+383,6.383333333,pose2_to_pose3_retreat,0.575729471115,9.0753170665e-05,1.05003235076,0.546299923005,0.00876249392023,1.04970048605
+384,6.400000000,pose2_to_pose3_retreat,0.575709541093,9.07968768988e-05,1.0500323645,0.546279991059,0.00876253094408,1.04970049588
+385,6.416666667,pose2_to_pose3_retreat,0.575695626295,9.07579691249e-05,1.05003220837,0.546266077229,0.00876249511325,1.04970033448
+386,6.433333333,pose2_to_pose3_retreat,0.575685991654,9.07540053432e-05,1.05003224895,0.546256443531,0.00876249425956,1.04970037285
+387,6.450000000,pose2_to_pose3_retreat,0.575680199498,9.07709855291e-05,1.0500323769,0.546250651931,0.00876251311325,1.04970050052
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+389,6.483333333,pose2_to_pose3_retreat,0.575672318454,9.08522736365e-05,1.05003245624,0.546242768739,0.00876258757804,1.0497005914
+390,6.500000000,pose2_to_pose3_retreat,0.575670328769,9.08791707945e-05,1.05003232836,0.546240779504,0.00876261594391,1.04970046206
+391,6.516666667,pose2_to_pose3_retreat,0.575669153124,9.08954716516e-05,1.05003223978,0.546239604222,0.00876263342577,1.04970037219
+392,6.533333333,pose2_to_pose3_retreat,0.575668480758,9.09047943101e-05,1.05003218913,0.546238932064,0.00876264342386,1.0497003208
+393,6.550000000,pose2_to_pose3_retreat,0.575668206781,9.09085931269e-05,1.05003216848,0.546238658172,0.0087626474979,1.04970029986
+394,6.566666667,pose2_to_pose3_retreat,0.575668181201,9.09089478155e-05,1.05003216655,0.546238632599,0.00876264787829,1.0497002979
+395,6.583333333,pose2_to_pose3_retreat,0.575668177108,9.09090045574e-05,1.05003216625,0.546238628508,0.00876264793914,1.04970029759
+396,6.600000000,pose2_to_pose3_retreat,0.575668034347,9.09109840068e-05,1.05003215549,0.546238485791,0.008762650062,1.04970028667
+397,6.616666667,pose2_to_pose3_retreat,0.575667576371,9.09046148307e-05,1.05003213586,0.546238027946,0.00876264409527,1.04970026584
+398,6.633333333,pose2_to_pose3_retreat,0.575667076856,9.0871123121e-05,1.05003214548,0.546237528557,0.00876261092228,1.04970027268
+399,6.650000000,pose2_to_pose3_retreat,0.575666695489,9.08455530319e-05,1.05003215282,0.546237147285,0.00876258559553,1.0497002779
+400,6.666666667,pose2_to_pose3_retreat,0.575666396281,9.08254915595e-05,1.05003215859,0.546236848152,0.00876256572496,1.049700282
+401,6.683333333,pose2_to_pose3_retreat,0.575666173445,9.08105507208e-05,1.05003216288,0.546236625371,0.00876255092631,1.04970028506
+402,6.700000000,pose2_to_pose3_retreat,0.575666014169,9.07998715054e-05,1.05003216595,0.546236466135,0.00876254034872,1.04970028724
+403,6.716666667,pose2_to_pose3_retreat,0.575665679793,9.07774520872e-05,1.05003217239,0.546236131843,0.00876251814265,1.04970029182
+404,6.733333333,pose2_to_pose3_retreat,0.575665472297,9.07635398105e-05,1.05003217639,0.546235924399,0.00876250436276,1.04970029466
+405,6.750000000,pose2_to_pose3_retreat,0.575665456476,9.0763000807e-05,1.05003218105,0.546235908573,0.00876250381372,1.04970029949
+406,6.766666667,pose2_to_pose3_retreat,0.575665290112,9.07589507936e-05,1.05003224354,0.54623574213,0.00876249959571,1.04970036459
+407,6.783333333,pose2_to_pose3_retreat,0.575665096741,9.07542433069e-05,1.05003231618,0.546235548668,0.00876249469295,1.04970044025
+408,6.800000000,pose2_to_pose3_retreat,0.57566497393,9.07512535531e-05,1.05003236232,0.546235425799,0.00876249157918,1.0497004883
+409,6.816666667,pose2_to_pose3_retreat,0.575664953706,9.07507612144e-05,1.05003236991,0.546235405565,0.00876249106641,1.04970049622
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+411,6.850000000,pose2_to_pose3_retreat,0.575664862677,9.0748545171e-05,1.05003240411,0.546235314493,0.00876248875845,1.04970053184
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dede1fbd5236c0a34b922c29639727dbb3b5b0e2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3871920de20fc773dab916b3be22d249257a5dd92ff899e5724af291dcd7148
+size 26563046
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8da4cefc1c447dfe3ca5e911d7fd33ac67327427
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_03/franka_data.csv
@@ -0,0 +1,419 @@
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+14,0.233333333,BASELINE,766,745,715,679,663,636,879.88117737,788,803.11882263,652,632,653,0.400974723279,-0.0053691679096,0.059848755942,0.999999938656,0.000238526949713,-0.000255608184634,2.13882985238e-05,1793239392018609920
+15,0.250000000,BASELINE,766,745,715,679,663,636,879.289659257,788,803.710340743,652,632,653,0.400976088849,-0.00536867827755,0.0598499197135,0.999999938954,0.000239427892201,-0.00025356544294,2.17124103932e-05,1793239392035276544
+16,0.266666667,BASELINE,766,745,715,679,663.295512325,636,879,788,803.704487675,652,631.704487675,653,0.400976222836,-0.00536845005972,0.0598502192408,0.999999938996,0.000239454870384,-0.000253373282299,2.17038310778e-05,1793239392051943680
+17,0.283333333,BASELINE,766,745,715,679,663.874593837,636,879,788,803.125406163,652,631.125406163,653,0.400975175017,-0.00536847269106,0.0598496894524,0.999999938795,0.0002386432055,-0.000254956911543,2.13760062827e-05,1793239392068610816
+18,0.300000000,BASELINE,766,745,715,679.450865611,663.549134389,636,879,788,803.450865611,652,631.450865611,652.549134389,0.400976366401,-0.00536792244216,0.0598504188387,0.999999938885,0.000239773687982,-0.00025353067498,2.14691826422e-05,1793239392085277184
+19,0.316666667,BASELINE,766,745,715,679.973201513,663.026798487,635.973201513,879,788,804,652.026798487,631.973201513,652,0.400977992662,-0.00536724418102,0.0598513953381,0.999999939012,0.000241397901365,-0.000251463384577,2.16565229169e-05,1793239392101943552
+20,0.333333333,BASELINE,766,745,715,679.388148914,663.611851086,635.388148914,879,788,804,652.611851086,631.388148914,652,0.400975784038,-0.00536719805027,0.0598502688644,0.99999993836,0.000242123802194,-0.000253373699158,2.13811869657e-05,1793239392118610176
+21,0.350000000,BASELINE,766,745,715.196042062,679,664,635.196042062,879,788,804,652.803957938,631.196042062,652.196042062,0.400974787462,-0.00536689940712,0.0598498177017,0.999999937912,0.00024312367344,-0.000254204668578,2.11266645082e-05,1793239392135276800
+22,0.366666667,BASELINE,766,745,715.778534486,679,664,635.778534486,879,788,804,652.221465514,631.778534486,652.778534486,0.400976180149,-0.00536610299577,0.0598506977543,0.99999993787,0.000244663612205,-0.000252907965155,2.09131709428e-05,1793239392151943424
+23,0.383333333,BASELINE,766,745,715.643481497,679,664,636,879.356518503,787.643481497,804,652,632,652.643481497,0.400975962254,-0.00536626731594,0.0598510030055,0.99999993774,0.000245213356469,-0.000252868089159,2.1172383141e-05,1793239392168610048
+24,0.400000000,BASELINE,766,745,715.068263027,679,664,636,879.931736973,787.068263027,804,652,632,652.068263027,0.400974756375,-0.00536702097979,0.059850955655,0.999999937557,0.000245155683585,-0.000253599191588,2.17215683061e-05,1793239392185276672
+25,0.416666667,BASELINE,766,745,715,679,664,636,879.493652481,787,804,652.506347519,632,652,0.400974281774,-0.0053670730164,0.0598499509564,0.999999937761,0.000243114662409,-0.000254772717002,2.15273402546e-05,1793239392201944064
+26,0.433333333,BASELINE,766,745,715,679,663.917011782,636,879,787.082988218,803.917011782,652.917011782,631.917011782,652,0.400974126177,-0.00536711881457,0.0598490850053,0.999999938015,0.000241221278404,-0.000255597944101,2.12491718386e-05,1793239392218611200
+27,0.450000000,BASELINE,766,745,715,679,663.327479526,636,879,787.672520474,803.327479526,652.327479526,631.327479526,652,0.400975316679,-0.00536770319866,0.059849852782,0.999999938289,0.000241859146882,-0.000253933600774,2.10696554028e-05,1793239392235277568
+28,0.466666667,BASELINE,766,745,715,679,663,636,879,788,803,652,631.257974316,652.257974316,0.400975715732,-0.00536761593592,0.0598502233076,0.999999938413,0.000242091305479,-0.000253224342749,2.10432192645e-05,1793239392251943936
+29,0.483333333,BASELINE,766,745,715,679,663,636,879,788,803,652,631.83833145,652.83833145,0.400975125736,-0.0053666893361,0.0598500974004,0.999999938353,0.000241816460485,-0.000253708626478,2.12080830249e-05,1793239392268610560
+30,0.500000000,BASELINE,766,745.415222464,715,679.415222464,663.415222464,636,879.415222464,787.584777536,803.415222464,652,632,653,0.400976301515,-0.00536648946874,0.0598505493959,0.999999938264,0.00024327355667,-0.000252667454945,2.11888268602e-05,1793239392285277184
+31,0.516666667,BASELINE,766,745.990775089,715,679.990775089,663.990775089,636,879.990775089,787.009224911,803.990775089,652,632,653,0.400978159114,-0.00536657021516,0.0598512245374,0.999999938157,0.000245399408605,-0.000251037258216,2.10984763272e-05,1793239392301943552
+32,0.533333333,BASELINE,766,746,715,680,663.423408163,636,880,787,804,652,631.423408163,652.423408163,0.400976652758,-0.00536727560704,0.0598507326619,0.999999938404,0.000242895590753,-0.000252489482891,2.10612224173e-05,1793239392318610688
+33,0.550000000,BASELINE,766,745.839222898,715,679.839222898,663.160777102,636,879.839222898,787.160777102,803.839222898,652.160777102,631.160777102,652.160777102,0.400975832418,-0.00536786262377,0.0598505785124,0.999999938597,0.000241317641516,-0.000253231679165,2.10948689785e-05,1793239392335277568
+34,0.566666667,BASELINE,766,745.259722148,715,679.259722148,663.740277852,636,879.259722148,787.740277852,803.259722148,652.740277852,631.740277852,652.740277852,0.400976941432,-0.00536811484817,0.0598513534356,0.999999938656,0.000242347403317,-0.000251993931494,2.13109143654e-05,1793239392351944192
+35,0.583333333,BASELINE,766,745.319233303,715,678.680766697,663.680766697,636,879,788,803.319233303,653,632,653,0.400977448631,-0.00536780632761,0.0598517058671,0.999999938606,0.000243145714457,-0.000251427752495,2.12763687637e-05,1793239392368610816
+36,0.600000000,BASELINE,766,745.897745929,715,678.102254071,663.102254071,636,879,788,803.897745929,653,632,653,0.400977467041,-0.00536704237348,0.0598517151533,0.999999938467,0.000243756042908,-0.000251407017297,2.10382947285e-05,1793239392385277440
+37,0.616666667,BASELINE,766,745.526946214,715,678.946107572,663.473053786,636,879,787.526946214,804,652.526946214,632,653,0.400976963122,-0.00536609259944,0.0598514836407,0.999999938293,0.000243937079286,-0.000251929021772,2.10041507803e-05,1793239392401943808
+38,0.633333333,BASELINE,766,745,715,680,664,636,879.048899128,787.048899128,804,652,632,653,0.400976521105,-0.00536529381337,0.0598512849079,0.999999938186,0.000243907897111,-0.000252377403008,2.10217672922e-05,1793239392418609920
+39,0.650000000,BASELINE,766,745,715,680,664,636,879.638291244,787.638291244,804,652,632,653,0.400978002879,-0.00536660491059,0.0598520199523,0.999999938925,0.000242573900549,-0.000250724003265,2.11275452974e-05,1793239392435276800
+40,0.666666667,BASELINE,766,745,715,679.776151502,664,636,879.776151502,788,804,652,632,652.776151502,0.400978248951,-0.00536701120948,0.0598522665722,0.999999939027,0.000242784054165,-0.000250110665233,2.11369273431e-05,1793239392451943424
+41,0.683333333,BASELINE,766,745,715,679.196686529,664,636,879.196686529,788,804,652,632,652.196686529,0.400976531929,-0.00536598010222,0.0598517372572,0.999999938119,0.000245447318989,-0.000251149619278,2.0993170132e-05,1793239392468610048
+42,0.700000000,BASELINE,766,745,715,679,663.620689433,636,879.379310567,788,803.620689433,652,631.620689433,652,0.400976069852,-0.00536602916922,0.0598510472519,0.999999937748,0.000245974422501,-0.000252104362691,2.10897755784e-05,1793239392485276928
+43,0.716666667,BASELINE,766,745,715,679,663.046474286,636,879.953525714,788,803.046474286,652,631.046474286,652,0.400976252616,-0.00536663327196,0.0598502746775,0.999999937653,0.000245403882841,-0.00025301583536,2.13098887484e-05,1793239392501944064
+44,0.733333333,BASELINE,766.541230144,745,715,679,663,636,879.458769856,788,803,652.541230144,631.541230144,652.541230144,0.400977046354,-0.00536599953701,0.0598511508177,0.999999937564,0.00024667858678,-0.000252147749443,2.10583424614e-05,1793239392518610944
+45,0.750000000,BASELINE,766.871964846,745,715,679.128035154,663,636,879,787.871964846,803,652.871964846,632,653,0.400977458191,-0.00536536847147,0.059851758063,0.999999937514,0.000247419132761,-0.00025163961836,2.08126180411e-05,1793239392535277312
+46,0.766666667,BASELINE,766.292519199,745,715,679.707480801,663,636,879,787.292519199,803,652.292519199,632,653,0.400976333866,-0.00536513114212,0.059850905378,0.999999937607,0.000245703498137,-0.000252953090066,2.07338608014e-05,1793239392551943936
+47,0.783333333,BASELINE,766,745,715,680,663,636,879.286282209,787,803,652,631.713717791,653,0.400975116931,-0.00536635250798,0.0598500414368,0.999999937934,0.000243112539662,-0.000254147579383,2.09354598032e-05,1793239392568610560
+48,0.800000000,BASELINE,766,745,715,680,663,636,879.86442689,787,803,652,631.13557311,653,0.400973805582,-0.00536906100218,0.0598491660199,0.999999938491,0.000239629195159,-0.000255220767243,2.14228797904e-05,1793239392585277184
+49,0.816666667,BASELINE,766,745,715,680,663,636,879.555662212,787.444337788,803,652,631.444337788,653,0.40097434595,-0.00536795082224,0.0598493498509,0.999999938167,0.000241308512287,-0.000254934083896,2.11131861777e-05,1793239392601943552
+50,0.833333333,BASELINE,766,745,715,679.975232185,663,636,879,787.975232185,803.024767815,652,632,652.975232185,0.400975439793,-0.0053658257414,0.0598498622254,0.999999937635,0.000244345525934,-0.000254168539207,2.05920689955e-05,1793239392618610176
+51,0.850000000,BASELINE,766,745,715,679.395292614,663,636,879,787.395292614,803.604707386,652,632,652.395292614,0.400976225132,-0.00536717218658,0.0598504656877,0.999999938659,0.000242366426648,-0.000252006726543,2.08051901748e-05,1793239392635277056
+52,0.866666667,BASELINE,766,745,715,679,663,636,879,787,804,652,632,652.184512899,0.400976809443,-0.00536822906386,0.0598509120211,0.999999939326,0.000240807975701,-0.000250836046945,2.10063982522e-05,1793239392651944192
+53,0.883333333,BASELINE,766,745,715,679,663,636,879,787,804,652,632,652.764031386,0.400976963392,-0.0053686660335,0.0598510219725,0.999999939241,0.0002401500497,-0.000251787187166,2.11821027243e-05,1793239392668611072
+54,0.900000000,BASELINE,766,745.342252753,715,679,663.342252753,636,879,787.342252753,804,652.342252753,632,653,0.400976804628,-0.00536902959501,0.0598514157297,0.999999939277,0.000239950845215,-0.000251821277104,2.135253393e-05,1793239392685277440
+55,0.916666667,BASELINE,766,745.919583164,715,679,663.919583164,636,879,787.919583164,804,652.919583164,632,653,0.400976431075,-0.00536934273583,0.0598520044202,0.999999939395,0.000240066715445,-0.000251225487388,2.15193431643e-05,1793239392701943552
+56,0.933333333,BASELINE,766,745.503697578,715,679,663.503697578,636,879,788,804,653,632,653,0.400975160633,-0.00536928009253,0.0598503552717,0.999999938874,0.000239967360539,-0.00025339095782,2.14593913848e-05,1793239392718610176
+57,0.950000000,BASELINE,766.07443159,745,715,679.07443159,663,636,879,787.92556841,804,652.92556841,632,653,0.400974012797,-0.0053689988227,0.0598487305347,0.999999938359,0.000239882512026,-0.000255505758425,2.13143022174e-05,1793239392735277056
+58,0.966666667,BASELINE,766.662982269,745,715,679.662982269,663,636,879,787.337017731,804,652.337017731,632,653,0.400974714391,-0.00536762750005,0.0598497759195,0.999999938645,0.0002401384465,-0.000254183970952,2.08346245644e-05,1793239392751943936
+59,0.983333333,BASELINE,766.752306078,745,715,679.752306078,663,636,879,787,803.752306078,652,632,652.752306078,0.400975813614,-0.00536722132551,0.0598508104928,0.999999938871,0.000240817400724,-0.000252649724594,2.07964236936e-05,1793239392768610560
+60,1.000000000,BASELINE,766.172738082,745,715,679.172738082,663,636,879,787,803.172738082,652,632,652.172738082,0.400977445601,-0.0053681083098,0.0598518305803,0.999999939017,0.000242063140339,-0.000250830813839,2.13497378682e-05,1793239392785277440
+61,1.016666667,BASELINE,766,745.402804648,715,679,663,636,879,787,803.402804648,652,631.597195352,652.402804648,0.400977756068,-0.00536797784492,0.0598517709153,0.999999938916,0.000242822749487,-0.000250515349303,2.11566648838e-05,1793239392801944320
+62,1.033333333,BASELINE,766,745.976638235,715,679,663,636,879,787,803.976638235,652,631.023361765,652.976638235,0.400977505423,-0.0053674153759,0.0598512527923,0.999999938711,0.000243375949876,-0.00025083824099,2.06466794278e-05,1793239392818611200
+63,1.050000000,BASELINE,766,745.450667966,715,679,663,636,879,787,804,652.549332034,631.549332034,653,0.400977817413,-0.00536781627751,0.0598516379627,0.999999939045,0.000242530830628,-0.000250305283618,2.08693191617e-05,1793239392835277824
+64,1.066666667,BASELINE,766,745,715,679,663.127011047,636,879,787.127011047,804,652.872988953,632,653,0.400978029605,-0.00536828811109,0.0598520359756,0.999999939367,0.000241565386785,-0.000249933060499,2.11224478478e-05,1793239392851944704
+65,1.083333333,BASELINE,766,745,715,679,663.723287534,636,879,787.723287534,804,652.276712466,632,653,0.400977784853,-0.00536887095872,0.0598523398011,0.999999939559,0.000240374639178,-0.000250288896989,2.13733474613e-05,1793239392868611328
+66,1.100000000,BASELINE,766,745,715,679,664,636,879,788,804,652.308597314,632,652.691402686,0.400977405459,-0.00536827958906,0.0598523856035,0.99999993936,0.000241217155948,-0.000250282220422,2.12801071264e-05,1793239392885277440
+67,1.116666667,BASELINE,766,745,715,679,664,636,879,788,804,652.884410925,632,652.115589075,0.400976909478,-0.00536667145748,0.0598522079819,0.999999938817,0.000243820288806,-0.000249961641568,2.08888738974e-05,1793239392901943552
+68,1.133333333,BASELINE,766,745.460041848,715,679.460041848,663.539958152,636,879,787.539958152,804,653,632,652.460041848,0.400976787426,-0.00536672601571,0.0598521756235,0.999999938669,0.000243888346393,-0.000250484542572,2.09430682786e-05,1793239392918610432
+69,1.150000000,BASELINE,766,745.96361252,715,680,663.03638748,636,879,787,804,652.96361252,632,652.96361252,0.400976775011,-0.00536718385479,0.0598522070702,0.999999938642,0.000243301886425,-0.000251145431337,2.11007492162e-05,1793239392935277056
+70,1.166666667,BASELINE,766,745.375740098,715,680,663.624259902,636,879,787,804,652.375740098,632,652.375740098,0.400977000884,-0.00536742470639,0.0598526525927,0.999999938965,0.000242445453414,-0.000250686920426,2.11313302866e-05,1793239392951944192
+71,1.183333333,BASELINE,766,745,715,679.790687354,663.790687354,636,879,787,804,652,631.790687354,652,0.400976919216,-0.00536742370107,0.0598528393812,0.999999939183,0.000241887658779,-0.000250363685211,2.10162416108e-05,1793239392968610816
+72,1.200000000,BASELINE,766,745,715,679.21062888,663.21062888,636,879,787,804,652,631.21062888,652,0.400976292815,-0.00536699430581,0.059852567886,0.999999939219,0.000241858828369,-0.000250280057514,2.0643134843e-05,1793239392985277184
+73,1.216666667,BASELINE,766,745,715,679,663.370625583,636,879.370625583,787,804,652.370625583,631.370625583,652,0.400975715481,-0.00536708615772,0.0598517186282,0.999999939029,0.000241701133429,-0.000251181425775,2.07570056578e-05,1793239393001943808
+74,1.233333333,BASELINE,766,745,715,679,663.9525619,636,879.9525619,787,804,652.9525619,631.9525619,652,0.400975166121,-0.0053674751967,0.0598505399614,0.999999938708,0.000241469966882,-0.000252644385651,2.11485248681e-05,1793239393018610432
+75,1.250000000,BASELINE,766,745,715,679,663.467296738,636,879.467296738,787.532703262,803.467296738,652.467296738,631.467296738,652.532703262,0.400974914403,-0.0053687639783,0.0598509510555,0.999999938676,0.000241580592633,-0.000252635991451,2.15002017267e-05,1793239393035277056
+76,1.266666667,BASELINE,766,745,715,679,663,635.887397326,879,787.887397326,803,652,631,652.887397326,0.400975068105,-0.00536962358888,0.0598514880722,0.999999938839,0.0002413838888,-0.000252166276512,2.16492175493e-05,1793239393051943680
+77,1.283333333,BASELINE,766,745,715,679,663,635.307840651,879,787.307840651,803,652,631,652.307840651,0.4009767935,-0.00536837231261,0.0598519621679,0.9999999397,0.000239786917982,-0.000250325033898,2.09724787194e-05,1793239393068610304
+78,1.300000000,BASELINE,766,745,715,679,663.270886856,635.270886856,879,787.270886856,803.270886856,652,631.270886856,652.270886856,0.400977594004,-0.0053681353539,0.0598522903721,0.999999940064,0.000239220845351,-0.000249431070452,2.07209286075e-05,1793239393085276928
+79,1.316666667,BASELINE,766,745,715,679,663.848674918,635.848674918,879,787.848674918,803.848674918,652,631.848674918,652.848674918,0.400977346653,-0.00536904756615,0.0598524532886,0.99999993987,0.000239822728708,-0.000249610326867,2.09510960091e-05,1793239393101943808
+80,1.333333333,BASELINE,766,745.424511618,715,679.424511618,664,636,879,788,804,652.424511618,631.575488382,653,0.400976314691,-0.00536790735519,0.0598520414077,0.999999939156,0.000241748581081,-0.000250610610247,2.09773518825e-05,1793239393118610688
+81,1.350000000,BASELINE,766,745.999655949,715,679.999655949,664,636,879,788,804,652.999655949,631.000344051,653,0.400975004319,-0.00536603886723,0.059851425567,0.99999993825,0.000244144227582,-0.000251902224934,2.09312522832e-05,1793239393135277312
+82,1.366666667,BASELINE,766,745.410775258,715,679.410775258,663.410775258,636,879,788,804,652.410775258,631,653,0.40097574215,-0.00536725167074,0.0598514920965,0.999999938576,0.000243724746947,-0.000251010208507,2.09986658995e-05,1793239393151943680
+83,1.383333333,BASELINE,766,745,715,679.175810299,663.175810299,636,879.175810299,788,804,652,631.175810299,653,0.400975905542,-0.0053681652244,0.0598514689207,0.999999938746,0.0002430838437,-0.000250957838916,2.09433097064e-05,1793239393168610048
+84,1.400000000,BASELINE,766,745,715,679.755522533,663.755522533,636,879.755522533,788,804,652,631.755522533,653,0.400974746415,-0.00536838705246,0.0598512387199,0.999999938557,0.00024193812103,-0.000252837454329,2.06057493189e-05,1793239393185276672
+85,1.416666667,BASELINE,766,745.333003231,715,679.666996769,664,636,879.666996769,787.666996769,804,652,632,653,0.400974263643,-0.00536873577593,0.0598507735237,0.999999938526,0.000241464473611,-0.000253400579676,2.07676161721e-05,1793239393201943808
+86,1.433333333,BASELINE,766,745.908856498,715,679.091143502,664,636,879.091143502,787.091143502,804,652,632,653,0.400974274119,-0.00536917704068,0.0598501369519,0.999999938611,0.000241480952134,-0.000253003625159,2.12937015033e-05,1793239393218610432
+87,1.450000000,BASELINE,766,745.515646823,715,679,663.515646823,636,879.484353177,787.484353177,804,652,632,653,0.400974938289,-0.00536777560259,0.0598513578714,0.999999938913,0.000241791289515,-0.000251528385691,2.10680917529e-05,1793239393235277056
+88,1.466666667,BASELINE,766,745.061403313,715,679,663,636,880,788,804,652,632,652.938596687,0.400975655809,-0.00536622005201,0.0598526484254,0.99999993917,0.000242243770914,-0.000250095006169,2.07327645895e-05,1793239393251943680
+89,1.483333333,BASELINE,766,745.652430904,715,679,663,636,880,788,804,652,632,652.347569096,0.400975773274,-0.00536632388108,0.0598515269645,0.99999993871,0.000243445687189,-0.000250771536783,2.06702506158e-05,1793239393268610304
+90,1.500000000,BASELINE,766,745.762015,715,679,663.237985,636,879.762015,788,804,652,631.762015,652.237985,0.400976400746,-0.00536668484197,0.0598514961297,0.999999938624,0.00024419010909,-0.000250387731238,2.07352175866e-05,1793239393285276928
+91,1.516666667,BASELINE,766,745.184275087,715,679,663.815724913,636,879.184275087,788,804,652,631.184275087,652.815724913,0.400977756318,-0.00536741289237,0.0598530223071,0.999999939069,0.000244281397453,-0.000248490156198,2.09821803907e-05,1793239393301943296
+92,1.533333333,BASELINE,766.391897069,745,715,679,664,636,879,788,804,652.391897069,631.391897069,653,0.400978224903,-0.00536645419128,0.0598535073016,0.999999939145,0.000244633887927,-0.000247827514549,2.10986147732e-05,1793239393318609920
+93,1.550000000,BASELINE,766.967335034,745,715,679,664,636,879,788,804,652.967335034,631.967335034,653,0.400978278076,-0.00536470551782,0.0598535046691,0.999999939049,0.000245108709685,-0.000247743240876,2.11539175557e-05,1793239393335276544
+94,1.566666667,BASELINE,767,745,715,679,663.448194955,636,879.551805045,788,804,652.448194955,632,653,0.400976297993,-0.00536551051056,0.0598525907194,0.999999938631,0.000244958527041,-0.000249573767776,2.11092506918e-05,1793239393351943424
+95,1.583333333,BASELINE,766.864384342,745,715,679,663.135615658,636,880,788,803.864384342,652,632,653,0.400974518356,-0.00536640119706,0.0598516986384,0.999999938287,0.000244477801537,-0.000251419555683,2.10731176478e-05,1793239393368610304
+96,1.600000000,BASELINE,766.284514283,745,715,679,663.715485717,636,880,788,803.284514283,652,632,653,0.400973796196,-0.0053670691597,0.0598510578567,0.999999938255,0.000243037488935,-0.000252937843163,2.10846484909e-05,1793239393385277440
+97,1.616666667,BASELINE,766,745.294617768,715,679,663.705382232,636,879.705382232,788,803.294617768,652.294617768,632,653,0.400973946999,-0.00536722312784,0.0598509938161,0.999999938405,0.000242307825674,-0.00025306287655,2.08877121339e-05,1793239393401944064
+98,1.633333333,BASELINE,766,745.873038866,715,679,663.126961134,636,879.126961134,788,803.873038866,652.873038866,632,653,0.400974938723,-0.00536688196848,0.0598514853463,0.999999938731,0.000242262726265,-0.000251845797483,2.04899607139e-05,1793239393418610688
+99,1.650000000,BASELINE,766,745.550154719,715,679,663,636,879,788,803.550154719,653,631.550154719,653,0.400975614196,-0.00536729854274,0.059851376073,0.999999938971,0.000241435392456,-0.000251684030959,2.05583685014e-05,1793239393435276800
+100,1.666666667,BASELINE,766,745.026687094,715,679,663.026687094,636,879,788,803,653,631.026687094,653,0.400976234357,-0.00536791069566,0.0598511614289,0.999999939185,0.000240479331335,-0.00025173041688,2.07520950534e-05,1793239393451943168
+101,1.683333333,BASELINE,766,745.613808382,715,679,663.613808382,636,879,788,803,653,631.613808382,653,0.400977560626,-0.00536815505549,0.059852282174,0.999999939408,0.000241439650194,-0.000249915635309,2.08245215613e-05,1793239393468609792
+102,1.700000000,BASELINE,766,745.801688554,715,679,664,636,879,788,803.198311446,652.801688554,632,653,0.400977631303,-0.00536767362531,0.0598527043305,0.999999939346,0.000242341348497,-0.000249292765598,2.07818393559e-05,1793239393485276672
+103,1.716666667,BASELINE,766,745.222217845,715,679,664,636,879,788,803.777782155,652.222217845,632,653,0.400975288701,-0.00536579720963,0.0598517837832,0.999999938743,0.000243130376604,-0.000250960778732,2.05179154873e-05,1793239393501943552
+104,1.733333333,BASELINE,766,745,715,679,664,636,879.35536722,787.64463278,803.64463278,652.35536722,632,653,0.40097393804,-0.00536618464071,0.0598513355353,0.999999938544,0.000242942308612,-0.000251931714144,2.05483504968e-05,1793239393518610432
+105,1.750000000,BASELINE,766,745,715,679,664,636,879.931779437,787.068220563,803.068220563,652.931779437,632,653,0.400973204384,-0.00536798022624,0.0598511810664,0.999999938597,0.00024214646882,-0.000252469054457,2.07618821579e-05,1793239393535277312
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,879,787,805,652,632,653,0.400978199918,-0.00536742637727,0.059853035457,0.999999938883,0.000244168812283,-0.00024934279109,2.10776887091e-05,1793239393566449920
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.404516618,715,679.404516618,664,636,879.595483382,787.595483382,804.404516618,652.595483382,632,653,0.400977238992,-0.00536706728028,0.0598525154405,0.999999939002,0.000243371332926,-0.000249674835832,2.06909302996e-05,1793239393583116800
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.185753558,745,715,679,664,636,880,788,804,652.814246442,632,653,0.4009771108,-0.00536701710181,0.0598526196073,0.999999939284,0.000242546553959,-0.000249365841642,2.04906275818e-05,1793239393599783680
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.764980931,745,715,679,664,636,880,788,804,652.235019069,632,653,0.400978746552,-0.00536762129217,0.0598540459548,0.999999939908,0.000241663947242,-0.000247698962166,2.06852859067e-05,1793239393616449792
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.659224633,745,715,679.340775367,663.659224633,636,879.659224633,787.659224633,804,652,631.659224633,653,0.400978590622,-0.00536835124611,0.0598540489118,0.999999940225,0.000240261236642,-0.000247771148622,2.08320316472e-05,1793239393633116416
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.085774177,745,715,679.914225823,663.085774177,636,879.085774177,787.085774177,804,652,631.085774177,653,0.400977211364,-0.00536916706903,0.0598530800042,0.999999940331,0.000238503408826,-0.000249030737084,2.09460635536e-05,1793239393649782528
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.49869974,663,636,879,787.50130026,803.49869974,652,631,653,0.400976792362,-0.00536879247492,0.0598524485558,0.999999939873,0.000239784548221,-0.000249650524291,2.07852213079e-05,1793239393666449664
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.089308494,745,715,679.089308494,663.089308494,636,879,788,803.089308494,652.089308494,631,653,0.400976693441,-0.00536833685368,0.0598521117043,0.999999939479,0.000241073377866,-0.000250001061612,2.06284964723e-05,1793239393683116544
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.669282034,745,715,679.669282034,663.669282034,636,879,788,803.669282034,652.669282034,631,653,0.400977425161,-0.00536858637968,0.0598530672908,0.999999939989,0.000239467868235,-0.000249490574952,2.07600070187e-05,1793239393699783168
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.752572552,745,715,679.752572552,663.752572552,636,879,788,804,652.752572552,631,653,0.400980411434,-0.00536852528271,0.0598544942176,0.999999940499,0.000239314396284,-0.000247569193592,2.09642714924e-05,1793239393716449536
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.176852784,745,715,679.176852784,663.176852784,636,879,788,804,652.176852784,631,653,0.400986389098,-0.00536805204416,0.0598565465291,0.999999940999,0.000241087520811,-0.000243775805359,2.1265067507e-05,1793239393733115904
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.397691525,715,679.397691525,663,636,879.397691525,788,804,652,631.397691525,653,0.401010381619,-0.00536793135217,0.0598667941451,0.999999944809,0.000242876242882,-0.000225644910555,2.18400503386e-05,1793239393749782528
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.971714699,715,679.971714699,663,636,879.971714699,788,804,652,631.971714699,653,0.401042361712,-0.00536796697505,0.059880675461,0.999999949582,0.000244671880747,-0.000201156936946,2.25366043298e-05,1793239393766448896
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.436529421,715,679.436529421,663,636,879.436529421,788,804,652,632,652.436529421,0.401098254241,-0.00537060028978,0.0599001516827,0.999999956163,0.000243630790959,-0.00016661706003,2.36142145562e-05,1793239393783115776
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,632,652.151766962,0.401158858368,-0.00537290346037,0.0599184356693,0.999999961195,0.000242126612559,-0.000135589834433,2.44985114407e-05,1793239393799782656
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,632,652.727822482,0.401229169676,-0.00537390726241,0.0599325758907,0.999999964246,0.000239738831679,-0.000115839269221,2.47871565163e-05,1793239393816449792
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.303993065,663,636,879.303993065,788,804,652,632,653,0.40130434399,-0.00537630352141,0.0599408086918,0.999999966234,0.000237381917035,-0.000102774053666,2.4900360106e-05,1793239393833116416
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.880266671,663,636,879.880266671,788,804,652,632,653,0.401383873997,-0.00537994697635,0.0599437503333,0.999999967487,0.00023505264886,-9.56967740513e-05,2.48564242339e-05,1793239393849783296
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663.464258497,636,880,788,803.535741503,652,631.535741503,653,0.401482759681,-0.00538326101944,0.0599464220128,0.999999968719,0.000232330391186,-8.94864043622e-05,2.40285626398e-05,1793239393866449664
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.950013526,663.950013526,636,879.950013526,787.950013526,803,652.049986474,631.049986474,653,0.401589014862,-0.00538638799692,0.0599491819235,0.999999969916,0.000229606198984,-8.31914332936e-05,2.29803644351e-05,1793239393883116288
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.36735501,663.36735501,636,879.36735501,787.36735501,803,652.63264499,631.63264499,653,0.401719707481,-0.00538844216767,0.0599536365323,0.999999971074,0.000227959699958,-7.35721232414e-05,2.17750662949e-05,1793239393899782656
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.212697126,715,679,663,635.787302874,879,787.212697126,803.212697126,652.787302874,631.787302874,653,0.401857343872,-0.00539085627926,0.059955891089,0.99999997186,0.000226540339657,-6.73627357276e-05,2.05407415365e-05,1793239393916449024
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.788302147,715,679,663,635.211697853,879,787.788302147,803.788302147,652.211697853,631.211697853,653,0.402006827845,-0.00539388452856,0.0599543918744,0.999999972145,0.000225508527984,-6.69714241258e-05,1.92568911345e-05,1793239393933115648
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.36028775,746,715,679.36028775,663.36028775,635.36028775,879,788,804,652,631.36028775,653,0.402175445424,-0.00539823638968,0.0599543220579,0.999999972705,0.000223697854675,-6.50546031257e-05,1.78008102927e-05,1793239393949782784
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.930167861,746,715,679.930167861,663.930167861,635.930167861,879,788,804,652,631.930167861,653,0.402355193725,-0.00540335824375,0.0599550837737,0.999999973414,0.0002214340894,-6.22503383262e-05,1.62445366787e-05,1793239393966449664
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+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.729357952,715,679,663.729357952,636.729357952,879,788,803,653,631.270642048,653,0.403348389748,-0.00542993853309,0.0599626677703,0.999999980454,0.000194715100169,-3.36911590864e-05,6.56555101645e-06,1793239394033115904
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.155070423,715,679,663.155070423,636.155070423,879,788,803,653,631.844929577,653,0.403636953608,-0.00543838972315,0.0599637784857,0.999999982176,0.000186187728343,-3.10515819777e-05,4.22225765863e-06,1793239394049782528
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.417680566,715,679.417680566,663,636,879,788,803,652.582319434,632,653,0.403942268209,-0.00544638456663,0.0599555656157,0.999999983596,0.000176162420922,-4.21143132303e-05,7.65598735465e-07,1793239394066449408
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.989863167,715,679.989863167,663,636,879,788,803,652.010136833,632,653,0.404253778984,-0.00545421060514,0.0599439039069,0.99999998459,0.000165583020104,-5.8245593837e-05,-3.10289937628e-06,1793239394083116032
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.58256675,636,879,788,803,652,632,653,0.404604607193,-0.00546214156372,0.0599312552342,0.999999984613,0.00015464662213,-8.24982572997e-05,-7.31045617232e-06,1793239394099782912
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.828107677,715,680,664,636,879,788,803,652,632,652.828107677,0.404973306505,-0.00547061615,0.0599216716528,0.999999984461,0.000144086157697,-0.000100940332461,-1.13436592628e-05,1793239394116449536
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.247690098,715,680,664,636,879,788,803,652,632,652.247690098,0.405382793545,-0.00548037824231,0.0599194149806,0.999999985316,0.000134434454103,-0.000105224643262,-1.49479532649e-05,1793239394133116416
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.3284187,715,679.6715813,664,636,879,788,803,652,631.6715813,652.3284187,0.405830214375,-0.00549019847015,0.0599309559102,0.999999989498,0.000113950763773,-8.77014736274e-05,-1.81025092801e-05,1793239394149783040
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.901319999,715,679.098680001,664,636,879,788,803,652,631.098680001,652.901319999,0.406305874054,-0.00550006197649,0.0599527680988,0.999999994679,8.54034867203e-05,-5.39443032702e-05,-2.09222701178e-05,1793239394166449152
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.512594246,715,679.487405754,664,636,879,788,803.487405754,652,631.487405754,653,0.406817583134,-0.00550805592691,0.0599788920994,0.999999999535,1.76349401474e-05,-9.14329531903e-06,-2.31387089924e-05,1793239394183116032
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.075099992,715,680,664,636,879.075099992,788,804,652.075099992,632,652.924900008,0.407339879806,-0.00551338866218,0.0600030715252,0.999999998109,-4.60068232454e-05,3.20226726343e-05,-2.52868956223e-05,1793239394199783168
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.655162564,715,680,664,636,879.655162564,788,804,652.655162564,632,652.344837436,0.407882927427,-0.00550344354436,0.0600081429806,0.999999998694,-2.70238343484e-05,3.32950294825e-05,-2.78203090044e-05,1793239394216449792
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.766996144,715,679.766996144,664,636,879.766996144,788,803.766996144,652.766996144,631.766996144,652.233003856,0.408425740259,-0.00549398594238,0.0600055405134,0.999999999244,-1.02281243004e-05,2.08610686043e-05,-3.11658862898e-05,1793239394233116672
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.192411259,715,679.192411259,664,636,879.192411259,788,803.192411259,652.192411259,631.192411259,652.807588741,0.408968208857,-0.00548524303374,0.0599916881618,0.999999999289,3.3610584544e-06,-1.16661997733e-05,-3.57020865441e-05,1793239394249783552
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.382337158,715,679,664,636,879,788,803,652.382337158,631.382337158,652.617662842,0.409556635838,-0.00549330734633,0.0599877113712,0.999999998866,-1.73090145765e-05,-2.04148322719e-05,-3.93829093568e-05,1793239394266450688
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.957167891,715,679,664,636,879,788,803,652.957167891,631.957167891,652.042832109,0.410168201263,-0.00550983351551,0.0599887065853,0.999999997418,-5.52274419575e-05,-1.71917405428e-05,-4.26330789541e-05,1793239394283117568
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.450742348,715,679,664,636,879.549257652,788,803.549257652,652.450742348,631.450742348,652.549257652,0.410821543394,-0.00552403548272,0.059994009015,0.999999995865,-7.84743912334e-05,-1.52660626963e-06,-4.59242614741e-05,1793239394299783936
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.861588216,636,879.861588216,788,804,652,631,653,0.411487308271,-0.00553596530391,0.0599979139558,0.999999995845,-7.92580209146e-05,1.06863961419e-05,-4.37414984625e-05,1793239394316450304
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.28609249,636,879.28609249,788,804,652,631,653,0.412181680727,-0.00554131093554,0.0599963107485,0.999999999584,-1.28359403024e-05,8.83475843926e-06,-2.42623970021e-05,1793239394333117184
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.289982475,788,804,652.289982475,631.289982475,652.710017525,0.412850180511,-0.00553428289803,0.0599754089243,0.999999999143,1.71738900702e-05,-3.33278531092e-05,-1.75859839157e-05,1793239394349783552
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.866630121,788,804,652.866630121,631.866630121,652.133369879,0.413493103682,-0.00551502274269,0.0599354292528,0.999999993008,1.11880221831e-05,-0.000115340294371,-2.35657983317e-05,1793239394366449664
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.451013251,663,636,879.548986749,787.548986749,804,652.548986749,631.548986749,652.451013251,0.414203500333,-0.00550909877905,0.0599266518594,0.999999991375,1.032410072e-05,-0.000127601016422,-2.93489985386e-05,1793239394383116288
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.962501275,663.037498725,636,879.037498725,787.037498725,804,652,631,653,0.414942377664,-0.00550834550977,0.0599308245878,0.999999992967,9.78601318763e-06,-0.000113034407907,-3.45608188385e-05,1793239394399783168
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.379290331,663.620709669,636,879.620709669,787.620709669,804,652,631,653,0.4158002948,-0.00552444742277,0.0599868377997,0.999999999352,-8.43690109771e-06,-1.3464913025e-05,-3.23183370374e-05,1793239394416449792
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.201204814,715,679,664,636,880,787.798795186,803.798795186,652,631,653,0.416640016544,-0.00553586216,0.0600241878992,0.999999998005,-2.40711630133e-05,4.95325343213e-05,-3.09430304646e-05,1793239394433116416
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.776648565,715,679,664,636,880,787.223351435,803.223351435,652,631,653,0.417445894992,-0.00553855879626,0.0600268247935,0.999999997915,-3.48905565012e-05,4.45063334135e-05,-3.11806617696e-05,1793239394449782784
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715.352064454,679,664,636,880.352064454,787,803.352064454,652,631.352064454,653,0.418248264672,-0.00553756871035,0.0600161416732,0.999999998303,-3.73168838095e-05,2.98450667933e-05,-3.33227501072e-05,1793239394466449664
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715.927462647,679,664,636,880.927462647,787,803.927462647,652,631.927462647,653,0.419048408519,-0.00553423993483,0.059997008939,0.999999998694,-3.44190297952e-05,9.07175122662e-06,-3.66729396772e-05,1793239394483116032
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.485531498,715.485531498,679,664.514468502,636,881,787.514468502,804,652,632,652.485531498,0.419835024224,-0.00553281479752,0.0599741352831,0.999999998144,-3.64401532694e-05,-2.90260838959e-05,-3.92603759177e-05,1793239394499782656
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.101453316,664.898546684,636,881,787.898546684,804,652,631.898546684,652,0.420621152392,-0.00553168404443,0.0599492673114,0.999999995705,-3.84266691699e-05,-7.3381544259e-05,-4.15739105521e-05,1793239394516449280
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679.68045735,664.31954265,636,881,787.31954265,804,652,631.31954265,652,0.421414170982,-0.00553064642466,0.0599175519776,0.999999989219,-3.69103176232e-05,-0.000135428970313,-4.31160691762e-05,1793239394533115904
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.257192254,745.257192254,715,679.742807746,664,636,881,787,804,652,631,652,0.422254136185,-0.00553189363955,0.0599048898946,0.999999985842,-3.73039042742e-05,-0.00015800254959,-4.42771199826e-05,1793239394549782784
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.831132662,745.831132662,715,679.168867338,664,636,881,787,804,652,631,652,0.423151919149,-0.00553595476937,0.0599156930631,0.99999998948,-4.00496977623e-05,-0.000131961655881,-4.49688133036e-05,1793239394566449408
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.583931534,745.583931534,715,679.416068466,664,636,880.583931534,787,804,652,631,652.416068466,0.424064272047,-0.00554028888942,0.0599630911069,0.999999996296,-4.97465272516e-05,-5.53562471745e-05,-4.32290315881e-05,1793239394583116544
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.005496387,745,715,679.994503613,664,636,880,787.005496387,804,652,631,653,0.424982273968,-0.00554469830447,0.0600252542863,0.999999996383,-6.21480015951e-05,4.15983011408e-05,-4.05054724566e-05,1793239394599784192
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.585350105,745,715,679.414649895,664,636,880,787.585350105,804,652,631,653,0.425855879997,-0.00554508361179,0.0600361537173,0.999999995748,-5.43700073253e-05,6.22437982403e-05,-4.09020900835e-05,1793239394616449792
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.835581138,745,715.164418862,679,664,636,880.164418862,787.835581138,804,652,631.164418862,652.835581138,0.426727500794,-0.00554621563996,0.0600379188665,0.999999995349,-5.00614187976e-05,7.09602041012e-05,-4.19676696008e-05,1793239394633115904
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.258482613,745,715.741517387,679,664,636,880.741517387,787.258482613,804,652,631.741517387,652.258482613,0.427594138747,-0.00554922188436,0.0600167576169,0.999999996281,-5.44607927168e-05,4.97354372265e-05,-4.47122959447e-05,1793239394649782784
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715.68396128,679.31603872,664,636,880.68396128,787.31603872,804,652,632,652,0.428443745116,-0.00555137122486,0.0599944946786,0.999999996538,-6.60668521494e-05,1.97821399354e-05,-4.65610763741e-05,1793239394666449408
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715.111530768,679.888469232,664,636,880.111530768,787.888469232,804,652,632,652,0.42927953428,-0.00555282538734,0.0599713379776,0.999999995227,-8.35194576532e-05,-1.72523252912e-05,-4.76830863678e-05,1793239394683116032
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.525044901,664,636,880,788,804,652,632,652.474955099,0.430074748242,-0.00554746130625,0.0599450279676,0.999999994035,-7.20829106796e-05,-6.54181576231e-05,-4.95342656145e-05,1793239394699782912
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,880.063675658,787.936324342,804,652,632,653,0.430872849193,-0.00554164967916,0.0599249821695,0.999999991843,-5.58823250469e-05,-0.000102744828109,-5.13256119315e-05,1793239394716449792
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,880.642950462,787.357049538,804,652,632,653,0.431773830181,-0.00554557393984,0.0599618380666,0.999999996559,-5.7711942507e-05,-3.04928276558e-05,-5.12037272842e-05,1793239394733116672
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.220874433,664.220874433,636,880.779125567,787.220874433,804,652,631.779125567,652.779125567,0.432653613964,-0.00554952777118,0.0599951034824,0.999999996241,-6.41778647746e-05,2.89556673307e-05,-5.05997990354e-05,1793239394749783040
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.79662811,664.79662811,636,880.20337189,787.79662811,804,652,631.20337189,652.20337189,0.433499340309,-0.00555352911435,0.0600226000728,0.999999993439,-7.80929447452e-05,6.78327642028e-05,-4.92213709596e-05,1793239394766449408
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.371515512,715,680,664.628484488,636,880.371515512,788,804,652,631.371515512,652.371515512,0.434313123847,-0.00555757680931,0.0600166520656,0.999999993763,-8.39407263209e-05,5.46280185652e-05,-4.94266955093e-05,1793239394783115776
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.945929774,715,680,664.054070226,636,880.945929774,788,804,652,631.945929774,652.945929774,0.435109462153,-0.00556164981852,0.05999243869,0.999999994996,-8.53826485542e-05,1.29793957773e-05,-5.04969676382e-05,1793239394799782400
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.463103796,715,680,664.536896204,636,880.463103796,788,804,651.463103796,632,652.463103796,0.435851171156,-0.00555979347602,0.0599645608333,0.999999994398,-8.34238767198e-05,-3.86142468947e-05,-5.24816030169e-05,1793239394816449024
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.873760774,636,880,788,804.126239226,651.126239226,632,652.126239226,0.436585450567,-0.00555725686336,0.0599415310119,0.999999991842,-8.18874466716e-05,-8.15570898775e-05,-5.43932201006e-05,1793239394833115904
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.296366396,636,880,788,804.703633604,651.703633604,632,652.703633604,0.437313465324,-0.00555449103848,0.0599371880091,0.999999990954,-8.31232807697e-05,-8.98903894524e-05,-5.57043228034e-05,1793239394849783040
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,636,880,788,805,652,632.279548475,653,0.438024274613,-0.00555340226718,0.0599271628411,0.999999988709,-8.30922545697e-05,-0.000111772509965,-5.64335519781e-05,1793239394866449920
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,636,880,788,805,652,632.853903049,653,0.438716939323,-0.00555408208244,0.0599111453783,0.999999984118,-8.17252232718e-05,-0.000147942939131,-5.65491491039e-05,1793239394883116800
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.437999543,715,680,664,636,880,788,805,652,632.562000457,653,0.439434021894,-0.00555530644623,0.0599249684436,0.999999987187,-8.07299407055e-05,-0.000126466276016,-5.58047772977e-05,1793239394899782912
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.974933153,715,680,663.974933153,636,880,787.974933153,805,652,632,653,0.440156131441,-0.00555677157379,0.0599480470101,0.999999991457,-8.04273238142e-05,-8.72943086188e-05,-5.47533871534e-05,1793239394916449280
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.395661994,715,680,663.395661994,636,880,787.395661994,805,652,632,653,0.440805213521,-0.00555945258689,0.0599506884457,0.99999999008,-9.26350383722e-05,-9.16900554007e-05,-5.34002948442e-05,1793239394933115904
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.816920462,635.816920462,880,787,805,652,632,653,0.44142145114,-0.00556087436253,0.0599342469229,0.999999986076,-9.95616706315e-05,-0.000122713606262,-5.3629464824e-05,1793239394949782528
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.239320124,635.239320124,880,787,805,652,632,653,0.441966911866,-0.0055595825893,0.0598766832518,0.999999971552,-9.51080224745e-05,-0.000211117805765,-5.72682746668e-05,1793239394966449152
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.33692581,715,680,662,635,880.33692581,787,805,651.66307419,632,653,0.442505251017,-0.00555459008416,0.0598277787711,0.999999954338,-8.82929956315e-05,-0.000282492842499,-6.1044390819e-05,1793239394983115776
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.91221352,715,680,662,635,880.91221352,787,805,651.08778648,632,653,0.443038551896,-0.00554697945526,0.0597850003342,0.999999936288,-7.98073856295e-05,-0.000341820404036,-6.49176456808e-05,1793239394999782656
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.499612382,715,680,662,635,880.499612382,787,805,651.500387618,632,652.499612382,0.443572909493,-0.00554500779033,0.0597756735021,0.99999992967,-8.13578667752e-05,-0.000360028558289,-6.64824379307e-05,1793239395016449280
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.243844834,715,680,661.756155166,634.243844834,880,787,805,652,631.756155166,652.243844834,0.445081260127,-0.00555209813635,0.0597759771972,0.99999992648,-9.24588971224e-05,-0.000365381440738,-7.06182324151e-05,1793239395066449152
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.819031383,715,680,661.180968617,634.819031383,880,787,805,652,631.180968617,652.819031383,0.445493964841,-0.00555601687798,0.0597510041753,0.999999906637,-9.75810415233e-05,-0.000414611264283,-7.28069157503e-05,1793239395083116032
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680.394507624,661.394507624,634.605492376,880,787,805,652,631,653,0.445883177157,-0.00555853241729,0.059722131486,0.999999885291,-0.000100521860498,-0.000462134813387,-7.58002006299e-05,1793239395099783168
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680.9701169,661.9701169,634.0298831,880,787,805,652,631,653,0.446261605148,-0.0055604038065,0.0596914686232,0.999999862141,-0.000102461326187,-0.000508875088328,-7.91628439243e-05,1793239395116450560
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.791749613,745,714.791749613,680.208250387,660,633,880,786,805,651.208250387,631,652.208250387,0.448889976551,-0.00553719059632,0.0596404924387,0.999999829853,-8.0733815186e-05,-0.000574582123736,-6.02691553923e-05,1793239395266449152
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+250,4.166666667,POSE1_TO_POSE2_PRESS,765.413862466,746,715,680,659.586137534,633,880.586137534,786,805,652,631,652.413862466,0.450290161517,-0.0055497882514,0.0596018216849,0.999999798955,-8.50742833062e-05,-0.000625131240737,-6.3744244211e-05,1793239395966449152
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.164142719,746,715,680.164142719,659.835857281,632.835857281,881,785.835857281,805,652,631,652.164142719,0.45028971773,-0.00554873795924,0.0596013736061,0.999999798743,-8.3435812513e-05,-0.000625690339917,-6.37552307439e-05,1793239395983115776
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.737844023,746,715,680.737844023,659.262155977,632.262155977,881,785.262155977,805,652,631,652.737844023,0.450290263469,-0.00554950279574,0.0596016575021,0.999999798924,-8.39927895961e-05,-0.000625332060737,-6.37000415944e-05,1793239395999782400
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,745.687988572,715,680.687988572,659,632,881,785.312011428,805,652,631,652.687988572,0.45029092139,-0.00555054613366,0.0596019315486,0.999999799112,-8.52952089779e-05,-0.00062486194681,-6.3622613253e-05,1793239396016449280
+254,4.233333333,POSE1_TO_POSE2_PRESS,766,745.113428988,715,680.113428988,659,632,881,785.886571012,805,652,631,652.113428988,0.450291673709,-0.00555182382206,0.0596021973071,0.999999799304,-8.72248954259e-05,-0.000624297727351,-6.35264713082e-05,1793239396033116160
+255,4.250000000,HOLD_POSE2,766,746,715,681,659,632,880,785,805,652,631,653,0.450296149269,-0.00555182003148,0.0596062769823,0.999999802344,-8.65446476068e-05,-0.000619588896979,-6.27088177644e-05,1793239396064601344
+256,4.266666667,HOLD_POSE2,765.420138938,746,715,680.420138938,659,632,880,785.579861062,805,652,630.420138938,652.420138938,0.450295053589,-0.00554923747944,0.0596047372152,0.999999801309,-8.49996671146e-05,-0.000621386629954,-6.3525524918e-05,1793239396081267456
+257,4.283333333,HOLD_POSE2,765.157965098,746,715,680.157965098,659.157965098,632,880,786,805,652,630.157965098,652,0.450294252909,-0.00554738894375,0.0596036164606,0.999999800613,-8.37705093944e-05,-0.000622626242528,-6.39825611777e-05,1793239396097933824
+258,4.300000000,HOLD_POSE2,765.731447514,746,715,680.731447514,659.731447514,632,880,786,805,652,630.731447514,652,0.450294228206,-0.00554747119161,0.0596035978916,0.999999800819,-8.33721034071e-05,-0.000622397754665,-6.34935058041e-05,1793239396114600448
+259,4.316666667,HOLD_POSE2,765.694093601,746,715,681,659.694093601,632,880.305906399,785.694093601,805,652,631,652.305906399,0.450293897103,-0.00554808932119,0.059603526793,0.999999800434,-8.49707100686e-05,-0.000622807395048,-6.34236068182e-05,1793239396131267072
+260,4.333333333,HOLD_POSE2,765.118774772,746,715,681,659.118774772,632,880.881225228,785.118774772,805,652,631,652.881225228,0.450293296153,-0.00554917940296,0.0596034094316,0.999999799519,-8.83280901205e-05,-0.000623779036369,-6.37228597998e-05,1793239396147933696
+261,4.350000000,HOLD_POSE2,765,746,715,680.528645208,659.471354792,632,881,785,805,652,631,652.528645208,0.450294253459,-0.00554820025792,0.0596038871458,0.999999800229,-8.63761430243e-05,-0.000622917068503,-6.36771002885e-05,1793239396164600576
+262,4.366666667,HOLD_POSE2,765.063323449,746,715,680,659.936676551,632,880.936676551,785,805,652,631,652.063323449,0.45029539995,-0.00554705029852,0.0596044359322,0.99999980118,-8.3521982121e-05,-0.000621793745718,-6.35371194e-05,1793239396181267456
+263,4.383333333,HOLD_POSE2,765.638996272,746,715,680,659.361003728,632,880.361003728,785,805,652,631,652.638996272,0.450294797093,-0.00554887391463,0.0596043071546,0.999999800718,-8.45439220462e-05,-0.000622415470845,-6.33610306664e-05,1793239396197934080
+264,4.400000000,HOLD_POSE2,766,746,715,680.214718991,659,632,880,785,805,652,631,653,0.450293965228,-0.00555042952469,0.0596037680833,0.999999799999,-8.51872037946e-05,-0.000623503455885,-6.31470780497e-05,1793239396214600704
+265,4.416666667,HOLD_POSE2,766,746,715,680.790525559,659,632,880,785,805,652,631,653,0.450292748245,-0.00555153443548,0.0596025390312,0.999999798847,-8.51937054165e-05,-0.000625375538546,-6.28694507017e-05,1793239396231267328
+266,4.433333333,HOLD_POSE2,765.625759334,746,715,681,659,632,880,785,804.625759334,651.625759334,631,652.625759334,0.450292732742,-0.00555029581718,0.059602296726,0.999999798787,-8.47451019713e-05,-0.000625505516161,-6.31403222739e-05,1793239396247933952
+267,4.450000000,HOLD_POSE2,765.037521945,746,715,681,659,632,880,785,804.037521945,651.037521945,631,652.037521945,0.450293404265,-0.00554771713204,0.0596026186583,0.999999799351,-8.40362622631e-05,-0.000624639330778,-6.37248341635e-05,1793239396264600576
+268,4.466666667,HOLD_POSE2,765,746,715,681,659.542847298,632,881.085694597,785,804.542847298,651.542847298,631,652,0.450294645379,-0.00554833088265,0.059603108884,0.999999800001,-8.37997977827e-05,-0.000623687286423,-6.31699114211e-05,1793239396281267200
+269,4.483333333,HOLD_POSE2,765,746,715,681,660,632,881.878715482,785.121284518,805,652,630.878715482,652,0.45029532423,-0.00554895112461,0.0596033452934,0.999999800252,-8.34983594558e-05,-0.000623366346382,-6.27626952167e-05,1793239396297933824
+270,4.500000000,HOLD_POSE2,765,746,715,681,660,632,881.305479897,785.694520103,805,652,630.305479897,652,0.450293763275,-0.00554878503117,0.0596025931616,0.999999798998,-8.28348734929e-05,-0.000625418933326,-6.31951782259e-05,1793239396314600704
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,659,632,881,786,805,652,631,652,0.450290827482,-0.00554941958746,0.0595999793394,0.999999796046,-8.6866923171e-05,-0.000629490781372,-6.40595159962e-05,1793239396352334080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.408785949,659,632,881,786,805,652,630.408785949,652,0.450293915071,-0.00554844260248,0.0596028516587,0.999999798703,-8.56232547902e-05,-0.000625486467191,-6.3473192505e-05,1793239396369001472
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.821534675,746,715,680.178465325,659.178465325,632,880.821534675,786,805,652,630.178465325,652,0.45029573301,-0.0055479071826,0.0596043267384,0.999999800272,-8.48450408617e-05,-0.000623122144798,-6.30627941533e-05,1793239396385668096
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.243163102,746,715,680.756836898,659.756836898,632,880.243163102,786,805,652,630.756836898,652,0.450294705906,-0.00554836122445,0.0596026708756,0.999999799433,-8.51098200246e-05,-0.000624432725795,-6.30466098741e-05,1793239396402333952
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714.667135949,681,659.667135949,632,880,785.667135949,805,652,631,652.332864051,0.450294122458,-0.00554897857707,0.0596025508631,0.999999799082,-8.61106902219e-05,-0.000624858857664,-6.30188171058e-05,1793239396419000064
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714.092809493,681,659.092809493,632,880,785.092809493,805,652,631,652.907190507,0.450293860842,-0.00554971439667,0.0596035449696,0.999999799086,-8.76455270789e-05,-0.000624643402561,-6.29826034418e-05,1793239396435666688
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714.491789542,681,659,632,880,785,805,652,631,653,0.450295251493,-0.00554942553672,0.0596044113831,0.999999800616,-8.6379649495e-05,-0.000622387841224,-6.27680145663e-05,1793239396452333312
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,632,880,785,805,652,631,653,0.450296630533,-0.00554873191874,0.0596050574007,0.999999802145,-8.45983313482e-05,-0.000620188277692,-6.26097227262e-05,1793239396469000192
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,632,880,785,805,652,631,653,0.450295869079,-0.00554669426309,0.0596044337846,0.999999801811,-8.29751162471e-05,-0.000620901824696,-6.30394651766e-05,1793239396485666816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,632.238132902,880.238132902,785,805,652,631,652.761867098,0.450290725632,-0.00554576702149,0.0596017093282,0.999999799246,-8.14887410247e-05,-0.0006251932894,-6.32454045346e-05,1793239396502333440
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,632.813501517,880.813501517,785,805,652,631,652.186498483,0.450279376558,-0.00554641231065,0.0595960097332,0.999999793463,-8.01961539158e-05,-0.00063455167932,-6.31344015276e-05,1793239396519000064
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.389812825,745.610187175,715,681,659.389812825,632.610187175,880.610187175,785,805,652,631,652.389812825,0.450253264736,-0.00554680457628,0.0595832590694,0.99999978076,-8.16150247326e-05,-0.000654027925627,-6.37645825307e-05,1793239396535666432
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.966576292,745.033423708,715,681,659.966576292,632.033423708,880.033423708,785,805,652,631,652.966576292,0.450220072836,-0.00554707549421,0.0595671267774,0.999999764264,-8.43342856483e-05,-0.000678356603206,-6.47502285198e-05,1793239396552333312
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.445617574,745.554382426,715,680.445617574,659.445617574,632,880,785,804.445617574,652,631,652.445617574,0.450168307513,-0.00554217184005,0.0595501190938,0.999999749355,-7.97334288329e-05,-0.000700398318992,-6.61487445718e-05,1793239396568999936
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.140734132,746,715,680.140734132,659,632,880.140734132,785,804.140734132,652,631,652,0.450111293481,-0.00553813659454,0.0595338999974,0.999999734772,-7.64254800537e-05,-0.000721166796845,-6.73289052406e-05,1793239396585666560
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.720430718,746,715,680.720430718,659,632,880.720430718,785,804.720430718,652,631,652,0.45004147195,-0.00553780284698,0.0595203085341,0.999999722,-7.85547508579e-05,-0.000738402740278,-6.77487780838e-05,1793239396602333696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,659,632,880.702507322,785,804.702507322,652,631,652,0.449963406224,-0.00553678335308,0.0595119423532,0.999999713703,-7.8309497036e-05,-0.000749597238141,-6.75680199494e-05,1793239396619000320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,659,632,880.127899557,785,804.127899557,652,631,652,0.449877661014,-0.00553512508498,0.0595084435352,0.999999709754,-7.58523681698e-05,-0.000755164115217,-6.68277727206e-05,1793239396635666944
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.542581734,746.457418266,715,681,659,632,880.457418266,785,804.457418266,652,631,652.457418266,0.449782122699,-0.00553184365493,0.0595090517982,0.999999709716,-7.27563442799e-05,-0.000755586609215,-6.60577256314e-05,1793239396652333312
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746.954881693,714.954881693,680.954881693,659,632,880.954881693,785.045118307,805,652,631,653,0.449681211597,-0.00552812337144,0.0595107035846,0.999999710945,-6.96114792419e-05,-0.000754321696076,-6.52917417522e-05,1793239396668999936
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746.375287147,714.375287147,680.375287147,659,632,880.375287147,785.624712853,805,652,631,653,0.449549869415,-0.00552470970321,0.059510786968,0.999999713956,-6.80549929524e-05,-0.000750515915398,-6.46749639296e-05,1793239396685666560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714.202726482,680,659,632,880.202726482,786,805,652,631,653,0.449408107605,-0.00552051496958,0.0595111510861,0.999999715599,-6.51851239415e-05,-0.000748652169294,-6.38151952391e-05,1793239396702332928
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714.777836102,680,659,632,880.777836102,786,805,652,631,653,0.449247206259,-0.00551488551709,0.0595120308789,0.999999714735,-5.99027356619e-05,-0.000750355697717,-6.25090828492e-05,1793239396718999808
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.353915744,659,632,880.646084256,786,805,652,631,652.646084256,0.449067506872,-0.00551053975219,0.059515060312,0.999999715762,-5.57653117692e-05,-0.00074946135228,-6.06090136177e-05,1793239396735666688
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.930606029,659,632,880.069393971,786,805,652,631,652.069393971,0.448875974921,-0.00550700201214,0.0595194428502,0.999999717975,-5.23485925589e-05,-0.000746931758594,-5.83350743037e-05,1793239396752333568
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.516543536,746,715,680.483456464,659.516543536,632,880,785.483456464,805,652,631,652.516543536,0.448657795265,-0.00549984369088,0.0595220073942,0.999999719916,-4.68443363054e-05,-0.000744804801984,-5.69207360342e-05,1793239396769000192
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.102971618,660,632.102971618,880,785.102971618,805,652,631,653,0.448429004035,-0.00549222118193,0.0595252249854,0.999999723247,-4.06142690716e-05,-0.000740796509341,-5.54638252439e-05,1793239396785666560
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.685791336,660,632.685791336,880,785.685791336,805,652,631,653,0.448167749337,-0.00548474349441,0.0595326446612,0.999999733238,-3.23326191222e-05,-0.000727764522437,-5.32605730438e-05,1793239396802333184
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,660,632.734946882,880,786,805,652,631,652.734946882,0.447894024297,-0.00547668765505,0.0595434349445,0.999999746162,-2.46801934716e-05,-0.000710258826818,-5.09828655016e-05,1793239396818999808
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.052358848,715,679.052358848,663,635.947641152,879,788,803.947641152,652.947641152,631,653,0.400976999327,-0.00536679417252,0.059843618245,0.999999936454,0.000240537292964,-0.000262422022776,1.92043297868e-05,1793239398419000576
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.540499481,787.459500519,804,652.459500519,631.540499481,653,0.400976740086,-0.00536629650981,0.0598444072613,0.999999936609,0.000240624649548,-0.000261740924154,1.93132299992e-05,1793239398435666944
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.191966749,745,715,679,663.191966749,636,879,788,804,652.808033251,631,653,0.400979486103,-0.00536513330692,0.05984795887,0.999999936984,0.000245270449491,-0.000255936592945,1.92685966969e-05,1793239398569000192
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.660383786,745,715,679,663.660383786,636,879.339616214,788,803.660383786,652,631,653,0.400979200011,-0.00536527837151,0.0598478846703,0.99999993759,0.000242672649577,-0.000256058432851,1.90707645764e-05,1793239398602333440
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.154376541,745,715,679,663,636,879,787.154376541,803.154376541,652.154376541,632,653,0.400978469385,-0.00536814425452,0.0598487184657,0.999999938993,0.000238338381346,-0.000254627536601,1.93526486105e-05,1793239398768999936
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766.729103887,745,715,679,663,636,879,787.729103887,803.729103887,652.729103887,632,653,0.400980488646,-0.00536536516109,0.0598498516738,0.999999938951,0.000241097763313,-0.000252228674555,1.87192004415e-05,1793239398785666560
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3fa506affa89ee3087ef2a1b6c7a6f20c52d436
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,419 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+2,0.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+3,0.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+4,0.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+5,0.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+6,0.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+7,0.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+8,0.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+9,0.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+10,0.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+11,0.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+12,0.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+13,0.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+14,0.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+15,0.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+16,0.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+17,0.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+18,0.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+19,0.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+20,0.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+21,0.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+22,0.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+23,0.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+24,0.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+25,0.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+26,0.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+27,0.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+28,0.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+29,0.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+30,0.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+31,0.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+32,0.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+33,0.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+34,0.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+35,0.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+36,0.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+37,0.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+38,0.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+39,0.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+40,0.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+41,0.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+42,0.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+43,0.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+44,0.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+45,0.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+46,0.766666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+47,0.783333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+48,0.800000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+49,0.816666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+50,0.833333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+51,0.850000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+52,0.866666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+53,0.883333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+54,0.900000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+55,0.916666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+56,0.933333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+57,0.950000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+58,0.966666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+59,0.983333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+60,1.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+61,1.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+62,1.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+63,1.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+64,1.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+65,1.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+66,1.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+67,1.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+68,1.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+69,1.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+70,1.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+71,1.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+72,1.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+73,1.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+74,1.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+75,1.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+76,1.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+77,1.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+78,1.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+79,1.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+80,1.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+81,1.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+82,1.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+83,1.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+84,1.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+85,1.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+86,1.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+87,1.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+88,1.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+89,1.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+90,1.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+91,1.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+92,1.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+93,1.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+94,1.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+95,1.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+96,1.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+97,1.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+98,1.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+99,1.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+100,1.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+101,1.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+102,1.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+103,1.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+104,1.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+105,1.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+106,1.766666667,pose1_to_pose2_press,0.575664459085,9.09086622389e-05,1.05003226221,0.546234907976,0.00876263890266,1.04970038877
+107,1.783333333,pose1_to_pose2_press,0.575664465085,9.08649312375e-05,1.0500322479,0.546234914713,0.00876259777752,1.04970037714
+108,1.800000000,pose1_to_pose2_press,0.575664469373,9.08336747164e-05,1.05003223767,0.546234919529,0.00876256838353,1.04970036883
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+111,1.850000000,pose1_to_pose2_press,0.575664534708,9.07317022666e-05,1.05003220401,0.546234986833,0.00876247334686,1.04970034171
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+114,1.900000000,pose1_to_pose2_press,0.57566586512,9.07177278261e-05,1.0500321529,0.546236319136,0.00876246557575,1.04970028504
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+117,1.950000000,pose1_to_pose2_press,0.575700987975,9.07690022595e-05,1.05003220847,0.546271438494,0.00876250516077,1.04970034517
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+395,6.583333333,pose2_to_pose3_retreat,0.575668751575,9.09109392931e-05,1.05003207805,0.546239202474,0.00876264883357,1.04970022644
+396,6.600000000,pose2_to_pose3_retreat,0.575668479729,9.09180028818e-05,1.05003204184,0.546238930486,0.00876265543491,1.04970019078
+397,6.616666667,pose2_to_pose3_retreat,0.57566845849,9.09163204085e-05,1.05003204239,0.546238909259,0.00876265378485,1.04970019113
+398,6.633333333,pose2_to_pose3_retreat,0.575668316425,9.09032779131e-05,1.05003204873,0.546238767291,0.00876264101403,1.04970019598
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+406,6.766666667,pose2_to_pose3_retreat,0.575666900947,9.07733272112e-05,1.05003211188,0.546237352777,0.00876251377022,1.04970024429
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42cb378deba11add5fbc8a7f19da329a2829b3ee
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea76f1db0232c624516b3cc7a32b0cf50960ca99e0ac6ce2f425914a5c8677db
+size 26631252
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9359cfc3c499dc1b4f0fd82528d0793131ecee5d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
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+20,0.333333333,BASELINE,766.383011487,746,715,679.383011487,663,636,880,788,803.616988513,652.616988513,631.616988513,653,0.400977245412,-0.00536764341784,0.0598490832011,0.999999939008,0.000239352940344,-0.000253653293421,1.88149578041e-05,1793239399241995008
+21,0.350000000,BASELINE,766,746,715,679.201948195,663,636,879.798051805,787.798051805,804,653,631.798051805,652.798051805,0.400977104655,-0.0053684656657,0.0598488086566,0.999999939097,0.000238734661883,-0.000253880963386,1.88952278412e-05,1793239399258661632
+22,0.366666667,BASELINE,766,746,715,679.781296395,663,636,879.218703605,787.218703605,804,653,631.218703605,652.218703605,0.400977115546,-0.00536742120188,0.0598487139684,0.999999938917,0.000240201028468,-0.000253214044617,1.8738652598e-05,1793239399275328256
+23,0.383333333,BASELINE,766,745.642007016,715,679.642007016,663.357992984,636,879,787.357992984,803.642007016,652.642007016,631,652,0.40097872336,-0.00536731897548,0.059850279117,0.999999939469,0.00024018030891,-0.000251030722331,1.89277851601e-05,1793239399291994880
+24,0.400000000,BASELINE,766,745.066918371,715,679.066918371,663.933081629,636,879,787.933081629,803.066918371,652.066918371,631,652,0.400981299588,-0.00536778814468,0.059852850831,0.999999940457,0.000239257784254,-0.000247927815974,1.93265633349e-05,1793239399308661504
+25,0.416666667,BASELINE,766.505855169,745,715,679,664,636,879,788,803,652,631.505855169,652,0.400980145301,-0.00536687057991,0.0598516763033,0.999999939847,0.00023976038089,-0.000249930448859,1.88366177156e-05,1793239399325328128
+26,0.433333333,BASELINE,766.918203287,745,715,679,663.918203287,636,879,788,803,652,631.918203287,652.081796713,0.400978751481,-0.00536610822534,0.059850191728,0.999999939137,0.000240467598851,-0.00025212068902,1.83523123218e-05,1793239399341994752
+27,0.450000000,BASELINE,766.320351178,745,715,679,663.320351178,636,879,788,803,652,631.320351178,652.679648822,0.400978945761,-0.0053674771901,0.0598498634394,0.999999939154,0.000241281781882,-0.000251252861622,1.86419427234e-05,1793239399358661376
+28,0.466666667,BASELINE,766,745,715,679,663,636,879,788,803,652.266463406,631,652.733536594,0.400979388085,-0.00536884895967,0.0598498418495,0.999999939499,0.000240500101944,-0.000250610795644,1.88924657866e-05,1793239399375328000
+29,0.483333333,BASELINE,766,745,715,679,663,636,879,788,803,652.840536074,631,652.159463926,0.400980116757,-0.00537022396708,0.0598501743169,0.999999940218,0.000237876134348,-0.000250229352008,1.90978427475e-05,1793239399391994624
+30,0.500000000,BASELINE,766,745,715,679,663.414893405,636,879,788,803,652.585106595,631,652.414893405,0.400981228346,-0.00536865089743,0.059851336215,0.999999940478,0.000238574044401,-0.000248520846553,1.9052609765e-05,1793239399408661504
+31,0.516666667,BASELINE,766,745,715,679,663.989360209,636,879,788,803,652.010639791,631,652.989360209,0.400982487211,-0.00536594395898,0.0598528171229,0.999999940557,0.000240549591846,-0.000246301935876,1.89109889351e-05,1793239399425328128
+32,0.533333333,BASELINE,766,745,715.580190139,679.580190139,663.419809861,636,879,788,803,652,631.580190139,653,0.400979578314,-0.00536652959323,0.0598510267875,0.999999939605,0.000241258058604,-0.000249467185233,1.87471705841e-05,1793239399441994752
+33,0.550000000,BASELINE,766,745,715.832101446,679.832101446,663,636,879,787.832101446,803.167898554,652.167898554,631.832101446,653,0.400977840481,-0.00536713894238,0.059849838457,0.999999939046,0.000241450015585,-0.000251517969492,1.86763704509e-05,1793239399458661376
+34,0.566666667,BASELINE,766,745,715.252798433,679.252798433,663,636,879,787.252798433,803.747201567,652.747201567,631.252798433,653,0.400979164836,-0.00536765415483,0.0598502764882,0.999999939521,0.000240434949126,-0.000250589003326,1.88345207324e-05,1793239399475328000
+35,0.583333333,BASELINE,766,745,715,679,663,636,879,787.323395262,804,653,631,652.676604738,0.400979068092,-0.00536758533889,0.0598500155691,0.999999939265,0.000240792102897,-0.000251252766151,1.89979367193e-05,1793239399491994880
+36,0.600000000,BASELINE,766,745,715,679,663,636,879,787.897181609,804,653,631,652.102818391,0.400977871051,-0.00536706433487,0.0598492134826,0.999999938441,0.00024221170784,-0.000253149710638,1.91654297329e-05,1793239399508661504
+37,0.616666667,BASELINE,766,745.472425772,715,679,663.472425772,636,879.472425772,787.527574228,804,652.527574228,631,652.472425772,0.400979150502,-0.00536763853139,0.0598497387686,0.999999938959,0.0002415565482,-0.000251721502738,1.92025928515e-05,1793239399525328384
+38,0.633333333,BASELINE,766,745.950514238,715,679,663.950514238,636,879.950514238,787.049485762,803.950514238,652,631.049485762,653,0.400980771837,-0.00536847306002,0.0598505192367,0.999999939728,0.000240403611531,-0.000249761858074,1.92128645967e-05,1793239399541995008
+39,0.650000000,BASELINE,766,745.356989827,715,679,663.356989827,636,879.356989827,787.643010173,803.356989827,652,631.643010173,653,0.400980207964,-0.00536954105084,0.0598509193138,0.999999940077,0.000238757829945,-0.000249940370995,1.9240301334e-05,1793239399558661888
+40,0.666666667,BASELINE,766,745.23048813,715,679.23048813,663.23048813,636,879,787.76951187,803.23048813,652,631.76951187,653,0.4009796874,-0.00536984101274,0.059851176067,0.999999939978,0.000238893731563,-0.000250204847723,1.92758590995e-05,1793239399575328256
+41,0.683333333,BASELINE,766,745.808840442,715,679.808840442,663.808840442,636,879,787.191159558,803.808840442,652,631.191159558,653,0.400979232199,-0.00536898182702,0.0598512165086,0.999999939199,0.000241718638429,-0.000250599065303,1.93236735242e-05,1793239399591994880
+42,0.700000000,BASELINE,766,745.616553644,715,680,664,636,879,787.383446356,803.616553644,652.383446356,631.383446356,653,0.400980030241,-0.00536840755678,0.0598510625073,0.999999939411,0.000241240290809,-0.000250229391217,1.912086077e-05,1793239399608661504
+43,0.716666667,BASELINE,766,745.043797366,715,680,664,636,879,787.956202634,803.043797366,652.956202634,631.956202634,653,0.400981447017,-0.00536797395117,0.0598508125081,0.999999940111,0.000239131105216,-0.000249482578913,1.87943117716e-05,1793239399625328128
+44,0.733333333,BASELINE,766,745,715,679.472376398,663.472376398,636,879,788,803,653,631.472376398,653,0.400980583923,-0.00536959250277,0.059850941496,0.999999940183,0.000238341413317,-0.000249912648192,1.92763654869e-05,1793239399641994496
+45,0.750000000,BASELINE,766,745.103567868,715,679,663,636,879.103567868,788,803,652.896432132,631,653,0.400979841449,-0.00537048530544,0.0598510698569,0.999999940091,0.000238368450398,-0.000250228746473,1.9598627891e-05,1793239399658661120
+46,0.766666667,BASELINE,766,745.701637064,715,679,663,636,879.701637064,788,803,652.298362936,631,653,0.400980576212,-0.00536710160773,0.0598510453964,0.999999939461,0.000241773444766,-0.000249535405928,1.88382696671e-05,1793239399675328000
+47,0.783333333,BASELINE,766,745.71050769,715,679,663,636,879.71050769,788,803,652,631.28949231,652.71050769,0.40097980722,-0.00536688233469,0.0598508402425,0.999999939275,0.00024216446753,-0.000249900328918,1.88639284877e-05,1793239399691994880
+48,0.800000000,BASELINE,766,745.132820544,715,679,663,636,879.132820544,788,803,652,631.867179456,652.132820544,0.400977541212,-0.00536981330327,0.0598504552049,0.999999939533,0.000239555027397,-0.000251318772337,1.9672081417e-05,1793239399708661760
+49,0.816666667,BASELINE,766,745,715,679,663,636,879.442117966,787.557882034,803.442117966,652,632,652.442117966,0.40097864554,-0.00536995239528,0.059851422796,0.99999994001,0.000239164910901,-0.000249787972546,1.96556795935e-05,1793239399725328384
+50,0.833333333,BASELINE,766,745,715,679,663,636,879.98335102,787.01664898,804,652,632,653,0.400980703961,-0.00536923976141,0.0598527561252,0.999999940548,0.000239392910282,-0.000247424083226,1.93898366522e-05,1793239399741995008
+51,0.850000000,BASELINE,766,745,715,679,663,636,879.39462263,787.60537737,804,652,632,653,0.400980970014,-0.00536790258165,0.0598527800792,0.999999941047,0.000238092137023,-0.000246690432762,1.90119796302e-05,1793239399758661632
+52,0.866666667,BASELINE,766,745.191051206,715,679,663,636,879,787.808948794,804,652,631.808948794,653,0.400980713662,-0.00536697751692,0.0598523580232,0.999999941099,0.000237478762679,-0.000247097133029,1.86925702704e-05,1793239399775328256
+53,0.883333333,BASELINE,766,745.77051501,715,679,663,636,879,787.22948499,804,652,631.22948499,653,0.400979395245,-0.00536689029402,0.0598510292159,0.999999940239,0.000238262890184,-0.000249822199188,1.84919867125e-05,1793239399791995136
+54,0.900000000,BASELINE,766,745.651788093,715,679,663,636,879,787,803.651788093,652,631.348211907,653,0.400978734239,-0.00536743477217,0.0598504997191,0.99999993962,0.000239323345173,-0.000251261803138,1.87450770601e-05,1793239399808662016
+55,0.916666667,BASELINE,766,745.0752498,715,679,663,636,879,787,803.0752498,652,631.9247502,653,0.400978504304,-0.00536839346366,0.0598504943392,0.999999939162,0.000240564991109,-0.000251858515236,1.92956463977e-05,1793239399825328896
+56,0.933333333,BASELINE,766,745,715,679,663,636,879.495065109,787,803,652,631.504934891,652.504934891,0.400977611479,-0.00536786033346,0.059850096179,0.999999939299,0.000240325209922,-0.000251539043337,1.93150779848e-05,1793239399841995520
+57,0.950000000,BASELINE,766,745,715,679,663.067556693,636,880,787.067556693,803,652,631.067556693,652.067556693,0.400977149909,-0.00536732254783,0.059849977345,0.999999939637,0.000239755667117,-0.000250741108479,1.92737479918e-05,1793239399858662400
+58,0.966666667,BASELINE,766,745,715,679,663.664421833,636,880,787.664421833,803,652,631.664421833,652.664421833,0.400980846874,-0.0053685028746,0.0598525090025,0.999999940836,0.000238344795523,-0.000247271962371,1.9381040434e-05,1793239399875328768
+59,0.983333333,BASELINE,766,745,715,679.252811575,663.747188425,636,879.747188425,787.747188425,803.252811575,652,631.747188425,653,0.400981827436,-0.00536949424007,0.0598529533937,0.999999941294,0.000237310986083,-0.00024641087686,1.94257642797e-05,1793239399891995392
+60,1.000000000,BASELINE,766,745,715,679.830316207,663.169683793,636,879.169683793,787.169683793,803.830316207,652,631.169683793,653,0.400979319245,-0.00537024291738,0.0598507170501,0.999999940809,0.000236761448041,-0.000248899396851,1.9390129522e-05,1793239399908662016
+61,1.016666667,BASELINE,766,745,715,679.595784951,663.404215049,636,879.404215049,787.404215049,804,652,631.404215049,652.595784951,0.400978098387,-0.0053696993128,0.0598501486426,0.999999940507,0.000236800930466,-0.000250094031607,1.90879805058e-05,1793239399925328128
+62,1.033333333,BASELINE,766,745,715,679.023386419,663.976613581,636,879.976613581,787.976613581,804,652,631.976613581,652.023386419,0.400977413155,-0.00536861802294,0.0598502742205,0.999999940283,0.000237085489187,-0.000250750313855,1.86749417652e-05,1793239399941994496
+63,1.050000000,BASELINE,766,745,715,679,664,636,879.431660366,788,803.431660366,652,632,652.568339634,0.400979693636,-0.00536844717616,0.0598512822243,0.99999994069,0.000237925924578,-0.000248328300031,1.85810581514e-05,1793239399958661632
+64,1.066666667,BASELINE,766,745,715,679.157274977,663.842725023,636,879,788,803,652,632,653,0.400981279746,-0.00536813928975,0.0598519055992,0.999999940806,0.000238985378135,-0.000246835600279,1.85860478383e-05,1793239399975328512
+65,1.083333333,BASELINE,766,745,715,679.736514011,663.263485989,636,879,788,803,652,632,653,0.400980663937,-0.00536735967812,0.0598513961759,0.999999940088,0.000240568921246,-0.000248188032374,1.88198362879e-05,1793239399991995136
+66,1.100000000,BASELINE,766,745.314358855,715,679.685641145,663.314358855,636,879,788,803.314358855,652,632,652.685641145,0.400980482838,-0.00536747502672,0.0598515893306,0.99999994,0.000240815778424,-0.000248282831746,1.90743691973e-05,1793239400008661760
+67,1.116666667,BASELINE,766,745.89104026,715,679.10895974,663.89104026,636,879,788,803.89104026,652,632,652.10895974,0.400980664491,-0.00536833719144,0.0598523687645,0.99999994044,0.000239947213266,-0.000247328176203,1.93462126926e-05,1793239400025328384
+68,1.133333333,BASELINE,766.475573022,745.524426978,715,679,663.524426978,635.524426978,879,788,804,652,631.524426978,652.475573022,0.400980898723,-0.00536879979831,0.0598524960463,0.999999940466,0.000239862185182,-0.000247321696957,1.91437808736e-05,1793239400041994752
+69,1.150000000,BASELINE,766.938792626,745,715,679.061207374,663,635.061207374,879,788,804,652,631.061207374,653,0.400981134148,-0.00536901538434,0.0598525259172,0.999999940405,0.000239983963869,-0.000247474379862,1.88340917167e-05,1793239400058661632
+70,1.166666667,BASELINE,766.35931825,745,715,679.64068175,663,635.64068175,879,788,804,652,631.64068175,653,0.400981275968,-0.00536792749555,0.0598530173757,0.999999940423,0.000240311289727,-0.000247104424697,1.85517450728e-05,1793239400075328512
+71,1.183333333,BASELINE,766,745.219902759,715,679.780097241,663,636,879,787.780097241,804,652,631.780097241,653,0.40098120205,-0.00536760674329,0.0598532044556,0.999999940342,0.000240746041872,-0.000247003532541,1.86418135826e-05,1793239400091995136
+72,1.200000000,BASELINE,766,745.798710338,715,679.201289662,663,636,879,787.201289662,804,652,631.201289662,653,0.400980776023,-0.00536853803972,0.0598528947574,0.999999940098,0.000241356125258,-0.000247341779928,1.93397034065e-05,1793239400108661760
+73,1.216666667,BASELINE,766,745.625353096,715,679.374646904,663,636,879,787.374646904,803.625353096,652,631,653,0.400980187907,-0.0053684070204,0.0598521255054,0.999999939894,0.000241254498448,-0.000248279640854,1.91256550577e-05,1793239400125328128
+74,1.233333333,BASELINE,766,745.050947366,715,679.949052634,663,636,879,787.949052634,803.050947366,652,631,653,0.400979513367,-0.0053677095825,0.059851111223,0.99999993971,0.000240773393242,-0.000249537211049,1.84253683015e-05,1793239400141994752
+75,1.250000000,BASELINE,766,745,715,680,663.523332252,636,879.523332252,788,803.523332252,652,631.523332252,653,0.400979249453,-0.00536955675822,0.0598512848913,0.999999940278,0.000238580090669,-0.000249345816555,1.87273007303e-05,1793239400158661376
+76,1.266666667,BASELINE,766.100444343,745,715,680,663.899555657,636,879.899555657,787.899555657,803.899555657,652.100444343,632,653,0.400979094699,-0.00537101097856,0.0598515590314,0.999999940765,0.000236830363925,-0.000249035849944,1.90385124183e-05,1793239400175328000
+77,1.283333333,BASELINE,766.691449907,745,715,680,663.308550093,636,879.308550093,787.308550093,803.308550093,652.691449907,632,653,0.40097927789,-0.00536933647489,0.059851759182,0.999999940525,0.00023806090354,-0.000248835543264,1.8918645049e-05,1793239400191994624
+78,1.300000000,BASELINE,766.723257117,745,715,679.723257117,663,636,879,787,803,652.723257117,631.723257117,652.723257117,0.400978948951,-0.00536833199978,0.0598515391134,0.999999940115,0.000239399106568,-0.000249199960472,1.88826893075e-05,1793239400208661504
+79,1.316666667,BASELINE,766.144204522,745,715,679.144204522,663,636,879,787,803,652.144204522,631.144204522,652.144204522,0.400978060569,-0.00536805945377,0.0598508600039,0.99999993952,0.000240854919392,-0.000250181273469,1.89383973581e-05,1793239400225328896
+80,1.333333333,BASELINE,766,745.431443931,715,679,663.431443931,636,879,787.431443931,803,652,631.431443931,652,0.40097869084,-0.00536824266976,0.0598511966092,0.999999939661,0.000240924141195,-0.000249559952361,1.88133179013e-05,1793239400241995520
+81,1.350000000,BASELINE,766,745.993892936,714.993892936,679,663.993892936,636,879,787.993892936,803,652,631.993892936,652.006107064,0.400979828855,-0.00536856706085,0.0598518772403,0.999999940045,0.000240543741866,-0.000248398372573,1.86321697083e-05,1793239400258662144
+82,1.366666667,BASELINE,766,745.405547215,714.405547215,679,663.405547215,636,879,787.405547215,803,652,631.405547215,652.594452785,0.400981360426,-0.00536794140809,0.0598532437348,0.999999940393,0.000241135878284,-0.000246398546451,1.88213276157e-05,1793239400275329024
+83,1.383333333,BASELINE,766,745,714,679,663,635.819858262,879,787.180141738,803,652,631,653,0.400981643303,-0.00536768918633,0.0598534653762,0.999999940432,0.000241271642069,-0.000246103666993,1.88863882234e-05,1793239400291995648
+84,1.400000000,BASELINE,766,745,714,679,663,635.240063365,879,787.759936635,803,652,631,653,0.400979155892,-0.00536826543923,0.0598511471058,0.999999939783,0.000240394921203,-0.000249591293803,1.8676133005e-05,1793239400308662016
+85,1.416666667,BASELINE,766,745,714.336960166,679,663,635.336960166,879,788,803,652,631.336960166,653,0.400979008616,-0.00536887047215,0.0598508993703,0.999999939847,0.000239748923728,-0.000249961866237,1.85654989415e-05,1793239400325328384
+86,1.433333333,BASELINE,766,745,714.912025341,679,663,635.912025341,879,788,803,652,631.912025341,653,0.40098051494,-0.00536949584177,0.05985211473,0.99999994042,0.000239265961586,-0.000248129844992,1.85252598469e-05,1793239400341995008
+87,1.450000000,BASELINE,765.502450237,745,715,679,663.497549763,635.502450237,879,788,803,652.497549763,632,652.502450237,0.400980963503,-0.00536932346972,0.0598527790136,0.999999940291,0.000240907631513,-0.000247042627215,1.8759576225e-05,1793239400358661376
+88,1.466666667,BASELINE,765.083784528,745,715,679,663.916215472,635.083784528,879,787.916215472,803.083784528,652.916215472,632,652,0.40098102422,-0.00536916732968,0.0598531756925,0.999999940169,0.000242048157768,-0.000246402668746,1.89748392052e-05,1793239400375328256
+89,1.483333333,BASELINE,765.663048606,745,715,679,663.336951394,635.663048606,879,787.336951394,803.663048606,652.336951394,632,652,0.400979921111,-0.00536995924523,0.0598525784297,0.999999940856,0.000237955744242,-0.000247612162844,1.87841741393e-05,1793239400391995392
+90,1.500000000,BASELINE,766.242400338,745,715,679,663,636,879,787.242400338,803.757599662,652,631.757599662,652.242400338,0.400979946354,-0.0053704330487,0.0598525162446,0.999999941239,0.000236288572012,-0.000247658448334,1.88412058524e-05,1793239400408662272
+91,1.516666667,BASELINE,766.821873908,745,715,679,663,636,879,787.821873908,803.178126092,652,631.178126092,652.821873908,0.40098154064,-0.00537046449685,0.0598531981195,0.999999941215,0.00023799385386,-0.000246087217475,1.92426758564e-05,1793239400425329152
+92,1.533333333,BASELINE,766.602419159,745,715,679,663,636,879,788,803,652,631.397580841,653,0.400982403292,-0.00536973474722,0.0598537612776,0.99999994121,0.000239306897192,-0.000244834968283,1.92041911878e-05,1793239400441995520
+93,1.550000000,BASELINE,766.028383885,745,715,679,663,636,879,788,803,652,631.971616115,653,0.40098294123,-0.00536866716259,0.0598542717469,0.999999941212,0.000240445857272,-0.00024372428948,1.8970445756e-05,1793239400458661888
+94,1.566666667,BASELINE,766,745,715,679,663.543380452,636,879,788,803.543380452,652,631.456619548,653,0.400982393774,-0.00536793349196,0.0598531039519,0.999999940829,0.000240171546801,-0.000245583685318,1.8637939354e-05,1793239400475328256
+95,1.583333333,BASELINE,766,745.120193557,715,679.120193557,664,636,879,788,803.879806443,652,631,653,0.400981845657,-0.00536724658107,0.059852156506,0.999999940494,0.000239961303485,-0.000247172032171,1.83645963428e-05,1793239400491994880
+96,1.600000000,BASELINE,766,745.717517798,715,679.717517798,664,636,879,788,803.282482202,652,631,653,0.400981519044,-0.00536667633935,0.0598524303319,0.999999940438,0.000240297222002,-0.000247071090182,1.83465071124e-05,1793239400508662016
+97,1.616666667,BASELINE,766,745.697525229,715,679.697525229,663.697525229,636,879,787.697525229,803,652,631,653,0.400981567268,-0.00536660371699,0.059852965571,0.999999940434,0.000241147668925,-0.000246252721487,1.84011993163e-05,1793239400525328640
+98,1.633333333,BASELINE,766,745.123664435,715,679.123664435,663.123664435,636,879,787.123664435,803,652,631,653,0.400981951803,-0.00536697756807,0.0598537353551,0.999999940474,0.000242459760335,-0.000244790664134,1.85211923854e-05,1793239400541995264
+99,1.650000000,BASELINE,766,745,715,679,663,635.549222796,879,787.450777204,803,652,631,652.549222796,0.400982418935,-0.00536735807473,0.0598534376595,0.999999940716,0.000241517938145,-0.000244726266912,1.86011845343e-05,1793239400558662144
+100,1.666666667,BASELINE,766,745,715,679.026226616,663,635.026226616,879,787.973773384,803.026226616,652.026226616,631.026226616,652,0.400982858666,-0.00536775174912,0.059852857511,0.999999940964,0.000240106446234,-0.000245092827481,1.86927974086e-05,1793239400575328768
+101,1.683333333,BASELINE,766,745,715,679.62003283,663,635.62003283,879,787.37996717,803.62003283,652.62003283,631.62003283,652,0.400982214388,-0.00536839082631,0.0598525105078,0.999999940174,0.000241929423504,-0.000246477279447,1.92736906371e-05,1793239400591995392
+102,1.700000000,BASELINE,766,745,715,679.791927146,663.208072854,636,879,787.208072854,804,652.791927146,631.791927146,652.208072854,0.400981434723,-0.0053687491965,0.0598521667255,0.999999939968,0.000241634673842,-0.000247591970805,1.93585807969e-05,1793239400608662016
+103,1.716666667,BASELINE,766,745,715,679.214133035,663.785866965,636,879,787.785866965,804,652.214133035,631.214133035,652.785866965,0.400980414494,-0.00536860878295,0.0598518286666,0.999999940798,0.000237576969572,-0.000248227328794,1.85621311381e-05,1793239400625328384
+104,1.733333333,BASELINE,766.362173866,745,715,679,664,636,879,788,804,652.362173866,631,652.637826134,0.400979930088,-0.0053691711088,0.0598516509547,0.99999994111,0.000235988665529,-0.000248498430985,1.83972752888e-05,1793239400641994752
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+106,1.766666667,BASELINE,766.47789681,745.52210319,715,679.52210319,663.47789681,636,879,788,804,652.47789681,631,652.52210319,0.400981064123,-0.00536938084859,0.0598529027812,0.999999941005,0.00023806348449,-0.000246910912152,1.87199328947e-05,1793239400675328256
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+108,1.800000000,POSE1_TO_POSE2_PRESS,766.423461288,746,715,679.423461288,663.423461288,636,879.423461288,788,803.576538712,652.423461288,631.576538712,652.423461288,0.400980077259,-0.00537033539418,0.0598524887044,0.999999941259,0.000236018236184,-0.000247833197612,1.88493407767e-05,1793239400734332416
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+111,1.850000000,POSE1_TO_POSE2_PRESS,765.690420349,745,715,679.690420349,663.690420349,636,879,788,803,652,631.690420349,653,0.400981418809,-0.00536790956482,0.0598525489051,0.999999940213,0.000241477797925,-0.000246794341031,1.88343409835e-05,1793239400784331008
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+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.06112987,715,679,663.06112987,636,880,788,803.06112987,652,631,653,0.4009796355,-0.00536826513677,0.0598514768117,0.999999940621,0.000237819164991,-0.000248726048283,1.83338350036e-05,1793239400834330880
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+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.789066259,715,679,663.789066259,635.789066259,879.789066259,787.789066259,803.789066259,652,631,653,0.400984492056,-0.00536902924992,0.0598538764084,0.99999994104,0.000238601513846,-0.000246224789245,1.90274658127e-05,1793239400867665152
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+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.370337248,879,787.370337248,803,652.370337248,631.370337248,653,0.401022273389,-0.00536866257321,0.0598701711429,0.999999947489,0.000238976554761,-0.000218032638547,1.93581200225e-05,1793239400900998144
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.963462579,879,787.963462579,803,652.963462579,631.963462579,653,0.401059735705,-0.005371221192,0.0598850379876,0.99999995322,0.00023777999636,-0.000191321585006,2.04075016693e-05,1793239400917664512
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.542146893,663,636,879,788,803.542146893,652.457853107,631.457853107,653,0.401118650748,-0.00537252666149,0.0599035043317,0.999999958771,0.00023700206724,-0.000160710014597,2.14494819489e-05,1793239400934330880
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.880920549,663.119079451,636,878.880920549,788,803.880920549,652,631.119079451,653,0.401182869769,-0.00537408252389,0.0599213017926,0.999999963194,0.000236135840439,-0.000131715653353,2.24177143206e-05,1793239400950997504
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.307057547,663.692942453,636,878.307057547,788,803.307057547,652,631.692942453,653,0.401261967129,-0.00537690885478,0.0599356422551,0.999999966125,0.000234827436405,-0.000109875564644,2.31061475467e-05,1793239400967664384
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.725538827,636,878.274461173,788,803,652.274461173,631.725538827,653,0.40134365314,-0.0053790563373,0.0599447568287,0.999999967824,0.000234023510564,-9.51600917634e-05,2.30277697726e-05,1793239400984331008
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+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.446722106,636,879.446722106,788,803.446722106,652.553277894,631.446722106,653,0.40153135282,-0.00538363813559,0.0599508142394,0.99999996927,0.000232651035231,-8.28997128932e-05,2.14936672235e-05,1793239401017664768
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.974156352,636,879.974156352,788,803.974156352,652,631.974156352,652.974156352,0.401640961962,-0.00538731184481,0.0599537028982,0.999999970057,0.000231225323892,-7.7333749722e-05,2.09927233586e-05,1793239401034331392
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.401699448,636,879.401699448,788,803.401699448,652,631.401699448,652.401699448,0.401774205435,-0.00538905472669,0.0599560425237,0.999999970913,0.000229767177345,-7.06932598478e-05,1.95848184099e-05,1793239401050997760
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.17225481,663.17225481,636,879,788,803.17225481,652,631,652.17225481,0.401915560486,-0.00539188598689,0.0599568273289,0.999999971798,0.000227371352287,-6.61906781454e-05,1.80388514806e-05,1793239401067664384
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.749731447,663.749731447,636,879,788,803.749731447,652,631,652.749731447,0.402075997648,-0.00539727760872,0.0599539544878,0.999999972831,0.000222769680195,-6.67174318818e-05,1.61681000428e-05,1793239401084331008
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+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.398961346,715.601038654,679,664,636,879,787.601038654,804,652,631.601038654,653,0.404075161738,-0.00544701212335,0.0599454883838,0.999999984066,0.000168854942849,-5.77886786171e-05,-3.98754973554e-06,1793239401217664000
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.991678816,715.008321184,679,664,636,879,787.008321184,804,652,631.008321184,653,0.404399468643,-0.00545613702153,0.0599378368101,0.999999984924,0.000159049929165,-6.92860162099e-05,-7.41962960993e-06,1793239401234330880
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,679,663.433660308,636,879,787,804,652.566339692,631,653,0.404748047797,-0.00546374807659,0.0599235878725,0.999999983991,0.000149977184397,-9.68877563433e-05,-1.17421515709e-05,1793239401250997504
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,679.141149496,663,636,879,787.141149496,804,652.858850504,631,653,0.405117258162,-0.00547201105391,0.0599140277347,0.999999983356,0.00014004816625,-0.000115859272304,-1.58262594984e-05,1793239401267663872
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,679.717210273,663,636,879,787.717210273,804,652.282789727,631,653,0.405548972658,-0.00548234915649,0.0599192042249,0.999999985914,0.000127448664836,-0.000107532696544,-1.91366963485e-05,1793239401284330496
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.700849293,715,680,663,636,879,787.700849293,803.700849293,652,631.299150707,653,0.406013226487,-0.00549091115206,0.0599356369551,0.999999990063,0.000112803803828,-8.16023466991e-05,-2.21636851141e-05,1793239401300997120
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.113239266,715,680,663,636,879,787.113239266,803.113239266,652,631.886760734,653,0.406508856774,-0.00549776051837,0.0599629236375,0.999999994315,9.61866809638e-05,-3.86973653454e-05,-2.49173563442e-05,1793239401317664000
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.470075681,715,679.529924319,663,636,879,787.470075681,803.470075681,652,631.529924319,652.529924319,0.407042235327,-0.00550771678147,0.0599897895925,0.999999999545,1.25801580659e-05,5.40551857049e-06,-2.68886782925e-05,1793239401334330624
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.94836834,715,678.94836834,663.05163166,636,879,787.94836834,804,652,631.05163166,652.05163166,0.407582332757,-0.00551614716693,0.0600137567696,0.999999995762,-7.53950204289e-05,4.43741412923e-05,-2.86948795419e-05,1793239401350997248
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.374236548,715,678.374236548,663.625763452,636,879,787.374236548,804,652,631.625763452,652.625763452,0.408099234157,-0.00550163059788,0.060009405387,0.999999998076,-4.57513222623e-05,2.84914740307e-05,-3.07200516583e-05,1793239401367663872
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678.402098277,663.798950862,636,879.201049138,787.201049138,804,652,631.798950862,653,0.408631624231,-0.00549209636437,0.0600015997494,0.999999999115,-2.42080870265e-05,8.07739171699e-06,-3.34428649928e-05,1793239401384330496
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.556990139,663.22150493,636,879.77849507,787.77849507,804,652,631.22150493,653,0.409193011599,-0.00549188987681,0.0599873271829,0.999999998922,-1.7830242e-05,-2.08202379828e-05,-3.74717764359e-05,1793239401400997120
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.637608542,663.362391458,636,879.637608542,788,804,652,631,653,0.409799560686,-0.00550540569718,0.0599860787062,0.999999998155,-3.9228202176e-05,-2.22377501365e-05,-4.07134546408e-05,1793239401417664000
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.049698005,663.950301995,636,879.049698005,788,804,652,631,653,0.410434214249,-0.00552746101866,0.0599929352243,0.999999995999,-7.79112665002e-05,-6.55416600907e-06,-4.34652311629e-05,1793239401434330880
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.468894973,636,879.531105027,788,804,652,631,653,0.411111401704,-0.00553622697892,0.0600012470973,0.999999993596,-0.000101846862768,1.13954459318e-05,-4.80180947062e-05,1793239401450997760
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.10996607,663.10996607,636,879.89003393,788,804,652,631.10996607,653,0.411788397729,-0.005542070821,0.06000516897,0.999999990904,-0.000122417818212,2.14123831551e-05,-5.24191613747e-05,1793239401467664384
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679.683408135,663.683408135,636,879.316591865,788,804,652,631.683408135,653,0.412448033282,-0.00554077074778,0.0599900218266,0.999999989405,-0.000134547216342,-2.8865723514e-06,-5.54794936197e-05,1793239401484330752
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.73632186,663.73632186,636,879,787.73632186,804,652,631.73632186,652.73632186,0.413108325038,-0.00553231048074,0.0599639970698,0.999999993128,-9.30071917551e-05,-5.40043361441e-05,-4.66638086309e-05,1793239401500997888
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.147635703,663.147635703,636,879,787.147635703,804,652,631.147635703,652.147635703,0.413769425717,-0.0055150246037,0.0599245646329,0.999999990076,1.46854254414e-05,-0.000138178797044,-2.3209819262e-05,1793239401517665536
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.43427674,715,679,663,636,879.43427674,787,804.43427674,652,631.43427674,652.43427674,0.414530314553,-0.00551047117507,0.059931856822,0.999999991512,3.89491146561e-05,-0.000122442686403,-2.16154998666e-05,1793239401534331648
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.986189287,715,679,663.013810713,636,880,787.013810713,804.986189287,652,632,652.986189287,0.415325506746,-0.00551051641705,0.0599553235109,0.9999999964,3.46340080888e-05,-7.2524252065e-05,-2.72244810749e-05,1793239401550997760
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.411166972,715,679,663.588833028,636,880,787.588833028,804.411166972,652,632,652.411166972,0.416157298227,-0.00552424195132,0.0600004922992,0.999999999568,3.82078702176e-06,7.40822697648e-06,-2.82038322546e-05,1793239401567664384
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.164043942,715,679.164043942,663.835956058,636,880,788,804,652,631.835956058,652.164043942,0.416972733656,-0.00553528811037,0.0600297918726,0.999999997739,-2.2483137137e-05,5.6193862163e-05,-2.9320966341e-05,1793239401584331008
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.739728079,715,679.739728079,663.260271921,636,880,788,804,652,631.260271921,652.739728079,0.417747126323,-0.00553961083502,0.0600192703645,0.999999998464,-3.74717505652e-05,2.68218188039e-05,-3.07838434174e-05,1793239401600997376
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.67550047,715,679.67550047,663.32449953,636,880,788,804,652,631,652.67550047,0.418552738662,-0.00553901727041,0.0600052993373,0.999999998662,-3.91799501853e-05,4.45575068108e-06,-3.34737791819e-05,1793239401617664000
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.083230376,715,679.083230376,663.916769624,636,880,788,804,652,631,652.083230376,0.419384112816,-0.00553436688141,0.0599884818359,0.999999998788,-2.9929415538e-05,-1.21291244484e-05,-3.71762593281e-05,1793239401634330624
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.495673641,664.495673641,636,880,788,804,652,631,652.495673641,0.420195430597,-0.00553080742866,0.0599655915393,0.999999997637,-3.30170936573e-05,-4.54671095324e-05,-3.96099374777e-05,1793239401650996992
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.927781604,636,880,787.927781604,804,652,631.072218396,652.927781604,0.421001161831,-0.0055280323485,0.0599408877146,0.999999994802,-3.7168524522e-05,-8.53057703871e-05,-4.16825454293e-05,1793239401667663872
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.352448243,636,880,787.352448243,804,652,631.647551757,652.352448243,0.421790819127,-0.00552947901094,0.0599104671454,0.999999987035,-3.46766065861e-05,-0.000151348938877,-4.26849809669e-05,1793239401684330496
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.224617811,715,679.775382189,663.775382189,636,880,787.224617811,804,652,631.775382189,652.224617811,0.422618756617,-0.00553202172423,0.0599042635238,0.999999984709,-3.49055061873e-05,-0.000165779718514,-4.33657514776e-05,1793239401700997120
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.804423862,715,679.195576138,663.195576138,636,880,787.804423862,804,652,631.195576138,652.804423862,0.423507226715,-0.00553629762342,0.0599363541668,0.999999993414,-3.94368354311e-05,-9.85958159756e-05,-4.35378732003e-05,1793239401717664000
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679,663.77683192,636,880,788,804,652,631.38841596,653,0.424443534487,-0.005539827162,0.0599849236792,0.99999999782,-4.68497500678e-05,-2.06746340867e-05,-4.16856596825e-05,1793239401734330624
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679,664.949077509,636,880,788,804,652,631.974538754,653,0.425404191966,-0.0055429767968,0.0600418810662,0.999999995728,-5.57294142667e-05,6.27119049811e-05,-3.88030431277e-05,1793239401750997248
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,679.554529909,664.445470091,636,880,788,804.554529909,652,632,653,0.426283438957,-0.00554406730835,0.0600400169962,0.999999995738,-4.90663980629e-05,6.6989497986e-05,-4.03701093174e-05,1793239401767664128
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880,788,804.868092579,651.868092579,632,653,0.427151968092,-0.0055454195005,0.060031223837,0.99999999624,-4.54519441172e-05,6.05751616031e-05,-4.22460988877e-05,1793239401784330752
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880,788,804.298464167,651.298464167,632,653,0.427997199487,-0.0055479503577,0.060008301486,0.999999997069,-5.42960740323e-05,3.06023218764e-05,-4.44766607195e-05,1793239401800997376
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880,788,804.282360551,651.282360551,632,653,0.428821194574,-0.00554972555951,0.0599841609265,0.999999996855,-6.4287851556e-05,-4.0074768279e-06,-4.62726796439e-05,1793239401817664000
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880,788,804.875508743,651.875508743,632,653,0.4296218153,-0.00555066902896,0.0599586795149,0.999999995058,-7.55428172867e-05,-4.37210655982e-05,-4.75904072073e-05,1793239401834330624
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,679.541865486,664,636,880.458134514,787.541865486,805,652,632,653,0.430467412019,-0.00554777533405,0.0599406979872,0.999999993799,-6.66131979848e-05,-7.43204166822e-05,-4.94057853132e-05,1793239401850997248
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,679.037586585,664,636,881,787.037586585,804.962413415,651.962413415,631.962413415,652.962413415,0.431328568018,-0.00554448056502,0.0599291901696,0.999999992808,-5.36804519582e-05,-9.42993034093e-05,-5.10940081378e-05,1793239401867663872
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,679.611634591,664,636,881,787.611634591,804.388365409,651.388365409,631.388365409,652.388365409,0.432241277775,-0.00555000928058,0.0599816451898,0.999999996983,-6.01384049171e-05,2.74945406197e-06,-4.90806338571e-05,1793239401884331776
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880.809641367,787.809641367,804.190358633,651.190358633,631.190358633,652.190358633,0.433114958989,-0.00555435157924,0.0600179386302,0.999999994326,-6.90727734952e-05,6.5514519642e-05,-4.78035461413e-05,1793239401900998912
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880.221137032,787.221137032,804.778862968,651.778862968,631.778862968,652.778862968,0.433907009996,-0.00555621242177,0.0600204292345,0.999999993785,-8.31867057285e-05,5.65733485694e-05,-4.80664432945e-05,1793239401917664768
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.638070701,715,680,664,636,880,787.361929299,804.638070701,651.638070701,631.638070701,652.638070701,0.434696490891,-0.00555672061048,0.0600018562977,0.999999994976,-8.36519996545e-05,2.42053958367e-05,-4.96361233706e-05,1793239401934331136
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.058277815,715,680,664,636,880,787.941722185,804.058277815,651.058277815,631.058277815,652.058277815,0.435484424657,-0.00555641456822,0.0599706041478,0.99999999552,-7.5901485533e-05,-2.22643234668e-05,-5.19924222115e-05,1793239401950997504
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,636,880.519246695,788,804.519246695,651,631,652,0.4362574988,-0.00555523266188,0.0599470789229,0.999999993429,-7.73581303147e-05,-6.52290394871e-05,-5.38835367782e-05,1793239401967664128
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.096340524,714.903659476,679.903659476,664,636,880.903659476,787.903659476,804.903659476,651,631,652.096340524,0.437019855085,-0.00555399294593,0.0599272821243,0.99999998983,-7.97549848175e-05,-0.000104406904895,-5.54750495474e-05,1793239401984330752
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.672551731,714.327448269,679.327448269,664,636,880.327448269,787.327448269,804.327448269,651,631,652.672551731,0.437737096883,-0.0055529527966,0.0599217556717,0.99999998708,-8.17102062504e-05,-0.000126673446965,-5.58331772255e-05,1793239402000997376
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,714.254025339,679.254025339,664,636,880,787.254025339,804.254025339,651.254025339,631.254025339,652.745974661,0.438448962917,-0.00555186606165,0.0599177531756,0.999999985498,-7.93076947816e-05,-0.000140006921945,-5.57909408669e-05,1793239402017664256
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,714.842425833,679.842425833,664,636,880,787.842425833,804.842425833,651.842425833,631.842425833,652.157574167,0.439153752743,-0.00555071800583,0.0599157566734,0.99999998592,-7.11690719021e-05,-0.000141581742691,-5.52217027998e-05,1793239402034331392
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,679.575951905,664,636,880.424048095,788,805,652,631.575951905,652,0.43988211117,-0.00555327883811,0.0599375166396,0.999999989733,-7.6954403818e-05,-0.000108423514384,-5.3446390534e-05,1793239402050998016
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.996832417,715,679,663.996832417,635.996832417,881,788,805,652,631.003167583,652,0.440618464198,-0.005557185631,0.0599676358161,0.999999992844,-8.77699280629e-05,-6.31009250104e-05,-5.12487266899e-05,1793239402067664640
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.421988915,715,679,663.421988915,635.421988915,881,788,805,652,631.578011085,652,0.44124190286,-0.00555918646193,0.0599382536127,0.99999998819,-8.7309841978e-05,-0.000115093391271,-5.24383941849e-05,1793239402084331008
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.156340382,715,679.156340382,663,635,881,787.843659618,805,652,631.843659618,652,0.441841440272,-0.00555950430882,0.0599008230141,0.999999979105,-8.66673296752e-05,-0.000176924298381,-5.45509466953e-05,1793239402100997632
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.744293125,715,679.744293125,663,635,881,787.255706875,805,652,631.255706875,652,0.442374993117,-0.00555517590481,0.0598411730262,0.999999959234,-8.55211892907e-05,-0.000265916419107,-5.9211328678e-05,1793239402117664256
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662.672728684,635,880.672728684,787,805,652,631,652,0.44291507157,-0.00554973091785,0.0597991644982,0.999999940451,-8.19734731392e-05,-0.000329238736989,-6.30913718454e-05,1793239402134330624
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662.093579098,635,880.093579098,787,805,652,631,652,0.443460172304,-0.0055434265739,0.0597707333947,0.999999925374,-7.65774292758e-05,-0.000372804764987,-6.6370841678e-05,1793239402150997248
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,714.517300682,679.517300682,661.517300682,634.517300682,880,787,804.517300682,652,631.482699318,652,0.444011803872,-0.00554516778081,0.0597734934441,0.999999927323,-8.03454970131e-05,-0.000366559242848,-6.7324332096e-05,1793239402167664896
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.36361968,746,714.63638032,679.63638032,661.63638032,634.63638032,880,787,804.63638032,651.36361968,631.36361968,652.63638032,0.445054776002,-0.00554973897691,0.0597733957971,0.999999924539,-8.9102279106e-05,-0.000371534323008,-7.03241224464e-05,1793239402200998912
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.21278776,745.78721224,714.78721224,680,661.78721224,634.78721224,880,787,804.78721224,651.21278776,631.21278776,653,0.445513875491,-0.00555179853994,0.0597545069347,0.999999910329,-9.30755717764e-05,-0.000406646370747,-7.29208383995e-05,1793239402217665280
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.786914647,745.213085353,714.213085353,680,661.213085353,634.213085353,880,787,804.213085353,651.786914647,631.786914647,653,0.445910536763,-0.00555486800595,0.0597158431369,0.999999881033,-9.79619762135e-05,-0.000471763805163,-7.60022509029e-05,1793239402234331392
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,715,681,659.917224004,632,881,786,805,652,631,652.917224004,0.450127830813,-0.00555291645631,0.0596081148397,0.999999803953,-8.31816614663e-05,-0.000617444219492,-6.27462018213e-05,1793239402500997888
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+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659.551453111,631.448546889,880.448546889,785,805,652,630.448546889,652.551453111,0.450778910303,-0.00555404875644,0.0596005447088,0.999999798742,-8.25562169693e-05,-0.000625974666965,-6.21046276258e-05,1793239403117664256
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.125806502,746,714.874193498,680.874193498,659.874193498,631.125806502,880,785,805,651.874193498,630,653,0.450778962859,-0.00555396633787,0.059600809882,0.999999798952,-8.25464634292e-05,-0.000625651436589,-6.19897738166e-05,1793239403134330880
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.70103683,746,714.29896317,680.29896317,659.29896317,631.70103683,880,785,805,651.29896317,630,653,0.450781007367,-0.0055541582043,0.0596022245976,0.999999800093,-8.29286445229e-05,-0.00062380455196,-6.16774166592e-05,1793239403150997504
+254,4.233333333,POSE1_TO_POSE2_PRESS,766,745.716046485,714.283953515,680,659,632,880,785,805,651.283953515,630.283953515,652.716046485,0.450780832977,-0.00555501668435,0.0596015919774,0.999999799357,-8.36018193872e-05,-0.000624930098931,-6.13132652958e-05,1793239403167664128
+255,4.250000000,POSE1_TO_POSE2_PRESS,766,745.124812027,714.875187973,680,659,632,880,785,805,651.875187973,630.875187973,652.124812027,0.450778257402,-0.00555659654184,0.0595987438282,0.999999796576,-8.45898937963e-05,-0.000629272269627,-6.08930647337e-05,1793239403184330752
+256,4.266666667,HOLD_POSE2,766,746,715,680,659,632,881,785,805,652,631,652,0.45077984151,-0.00555316338145,0.0596012608959,0.999999798814,-7.88012042701e-05,-0.000626376230466,-6.17714551231e-05,1793239403216664576
+257,4.283333333,HOLD_POSE2,765.426862347,746,715,680.573137653,659,631.426862347,880.426862347,785,805,652,631,652.573137653,0.450780794458,-0.00555461231132,0.0596010765325,0.999999799003,-8.02579371715e-05,-0.000625901079463,-6.16504558785e-05,1793239403233331456
+258,4.300000000,HOLD_POSE2,765,746,715,681,659,631.150696862,880.150696862,785,805,652,631,652.849303138,0.450781415095,-0.00555573953637,0.059600903369,0.999999799008,-8.12716676254e-05,-0.000625779381716,-6.14736138862e-05,1793239403249998336
+259,4.316666667,HOLD_POSE2,765,746,715,681,659,631.741159246,880.741159246,785,805,652,631,652.258840754,0.450781065982,-0.00555592795864,0.0596007628894,0.999999798482,-8.09926229777e-05,-0.000626689135701,-6.11338108414e-05,1793239403266664704
+260,4.333333333,HOLD_POSE2,765.325446402,746,715,681,659,632,880.674553598,785.325446402,805,651.674553598,630.674553598,652,0.450781426721,-0.00555482202518,0.0596008166359,0.999999798691,-7.99903557454e-05,-0.000626494995167,-6.10217060964e-05,1793239403283331328
+261,4.350000000,HOLD_POSE2,765.904913571,746,715,681,659,632,880.095086429,785.904913571,805,651.095086429,630.095086429,652,0.450782341523,-0.00555270580789,0.0596010219816,0.999999799472,-7.84235914145e-05,-0.000625439231497,-6.10873267857e-05,1793239403299997952
+262,4.366666667,HOLD_POSE2,766,745.519105628,715,681,659,632,880,786,805,651.480894372,630.480894372,652,0.450782534616,-0.00555496082148,0.0596013178028,0.99999979965,-8.27838133878e-05,-0.000624624705299,-6.0759352961e-05,1793239403316664576
+263,4.383333333,HOLD_POSE2,765.943938563,745.056061437,715,681,659.056061437,632,880.056061437,785.943938563,804.943938563,652,630.943938563,652.056061437,0.45078257658,-0.00555749577621,0.0596016369122,0.999999799691,-8.73362741484e-05,-0.000623968310759,-6.04467823845e-05,1793239403333331200
+264,4.400000000,HOLD_POSE2,765.369966386,745.630033614,715,681,659.630033614,632,880.630033614,785.369966386,804.369966386,652,630.369966386,652.630033614,0.450782531205,-0.00555468958842,0.0596020070846,0.999999799805,-8.29159807563e-05,-0.000624335290406,-6.09903027181e-05,1793239403349998080
+265,4.416666667,HOLD_POSE2,765.210708461,746,715,681,659.789291539,631.789291539,880.789291539,785,804.210708461,652,630.210708461,653,0.450782185265,-0.00555285921827,0.0596020289693,0.999999799629,-8.01816805364e-05,-0.000624942257422,-6.13207760895e-05,1793239403366664704
+266,4.433333333,HOLD_POSE2,765.803538598,746,715,681,659.196461402,631.196461402,880.196461402,785,804.803538598,652,630.803538598,653,0.45078129425,-0.0055527985024,0.0596014192308,0.999999798955,-8.05049444698e-05,-0.000625984443645,-6.12648868355e-05,1793239403383331072
+267,4.450000000,HOLD_POSE2,766,746,715,681,659,631.387667674,880,785,805,652,631,653,0.450781690465,-0.00555205963816,0.0596011816534,0.999999799188,-7.9367373499e-05,-0.000625743706521,-6.1391534426e-05,1793239403399997952
+268,4.466666667,HOLD_POSE2,766,746,715,681,659,631.967484093,880,785,805,652,631,653,0.450782724701,-0.00555098464746,0.0596011285388,0.999999799869,-7.75057349775e-05,-0.000624867084353,-6.16086569928e-05,1793239403416664576
+269,4.483333333,HOLD_POSE2,766,746,715,680.456857078,659,632,880,785.543142922,805,652,631,653,0.450781811094,-0.00555144175148,0.0596009709524,0.999999799449,-7.7661060588e-05,-0.000625562552997,-6.11778662353e-05,1793239403433331200
+270,4.500000000,HOLD_POSE2,766,746,715,680.120927179,659,632,880,785.879072821,805,652,631,652.879072821,0.450781044689,-0.00555205451384,0.0596007946026,0.999999799002,-7.82286434036e-05,-0.000626233825771,-6.08910043754e-05,1793239403449997824
+271,4.516666667,HOLD_POSE2,766,746,715,680.707853921,659,632,880,785.292146079,805,652,631,652.292146079,0.450781291484,-0.00555291634859,0.0596005698652,0.999999798706,-7.99231078858e-05,-0.000626451935952,-6.13071170038e-05,1793239403466664448
+272,4.533333333,HOLD_POSE2,766,746,715,680.708889786,659,631.708889786,880,785,805,651.708889786,630.708889786,652,0.450782031045,-0.00555298861731,0.0596007567905,0.999999799113,-7.94574933058e-05,-0.000625861654837,-6.13011916896e-05,1793239403483331072
+273,4.550000000,HOLD_POSE2,766,746,715,680.129271174,659,631.129271174,880,785,805,651.129271174,630.129271174,652,0.450783258968,-0.00555227837676,0.0596013516993,0.999999800212,-7.68511054005e-05,-0.000624470207457,-6.0877000398e-05,1793239403499997696
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,659,631,880,785,805,651,631,652,0.450784535785,-0.00555550692859,0.0596020307622,0.999999800663,-8.13949839814e-05,-0.000623206045394,-6.05177728143e-05,1793239403532788736
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.420719438,745.579280562,714.579280562,681.420719438,659.579280562,631,880,785,805,651,631,652.579280562,0.45078547481,-0.00555466191073,0.0596028494231,0.999999801366,-8.10708344851e-05,-0.000622112190207,-6.05972146372e-05,1793239403549455360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.161432972,746,715,681,659.838567028,631,880.161432972,785,805,651.161432972,630.838567028,653,0.450785501773,-0.0055541436351,0.0596031301346,0.999999801294,-8.13685268922e-05,-0.000622179809764,-6.06950162773e-05,1793239403566121728
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.751205551,746,715,681,659.248794449,631,880.751205551,785,805,651.751205551,630.248794449,653,0.450783108709,-0.00555449232367,0.0596019834737,0.99999979916,-8.33161889574e-05,-0.000625329238393,-6.08415331186e-05,1793239403582788352
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,714.665323868,681,659,631.334676132,881,785.334676132,805,652,630.334676132,653,0.45078216511,-0.00555406674115,0.0596009149028,0.999999798258,-8.33934981344e-05,-0.000626754000254,-6.09038956948e-05,1793239403599454976
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,714.086451571,681,659,631.913548429,881,785.913548429,805,652,630.913548429,653,0.450782279113,-0.00555307621234,0.0595999033103,0.99999979826,-8.21061057432e-05,-0.000626920360238,-6.0904855172e-05,1793239403616121600
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.511277755,746,714.488722245,680.511277755,659,632,881,785.511277755,804.511277755,651.511277755,630.511277755,652.511277755,0.450781463789,-0.00555319750233,0.059599832958,0.999999798056,-8.09219793282e-05,-0.000627401668264,-6.08753052977e-05,1793239403632789248
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.063258642,746,715,680.126517284,659,631.936741358,880.936741358,785,804.063258642,651.063258642,630,652,0.450779924919,-0.00555341975112,0.0595995915345,0.99999979755,-7.99012642876e-05,-0.000628342295064,-6.08440100063e-05,1793239403649456896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.63789127,746,715,681.27578254,659,631.36210873,880.36210873,785,804.63789127,651.63789127,630,652,0.450773855925,-0.00555288020093,0.0595966313524,0.999999794886,-8.00549848022e-05,-0.000632549004064,-6.08419050476e-05,1793239403666123264
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.780227204,746,715,681.560454408,659,631,880.219772796,785,804.780227204,652,630.219772796,652,0.450762322026,-0.00555245249011,0.0595912875731,0.999999789904,-8.06808272723e-05,-0.000640269801184,-6.11282851714e-05,1793239403682789376
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.185994708,746,715,680.371989416,659,631,880.814005292,785,804.185994708,652,630.814005292,652,0.450741476756,-0.00555221533675,0.0595818825037,0.999999780869,-8.21110943283e-05,-0.000653978073996,-6.19062003628e-05,1793239403699455488
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,631.396342359,880.603657641,785,804.396342359,651.603657641,630.603657641,652.396342359,0.450705141514,-0.00555113508178,0.0595681025915,0.999999768126,-8.11875828645e-05,-0.000673225776039,-6.26360694624e-05,1793239403716122112
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,631.973259874,880.026740126,785,804.973259874,651.026740126,630.026740126,652.973259874,0.450661748979,-0.00554967070633,0.0595523294826,0.999999753347,-7.91916806411e-05,-0.000694997265038,-6.33440486178e-05,1793239403732788736
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.547391259,746,715,680.547391259,659,631.452608741,880,785.547391259,805,651.547391259,630.547391259,653,0.450598189096,-0.00554706499343,0.0595377067837,0.999999740981,-7.77273685794e-05,-0.000712656435354,-6.41582391927e-05,1793239403749455104
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,659,631.124315631,880,785.875684369,805,652,631,652.875684369,0.45053036991,-0.00554473174352,0.0595248534611,0.99999972951,-7.64846107588e-05,-0.000728658082851,-6.47062905618e-05,1793239403766121728
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,659,631.712159108,880,785.287840892,805,652,631,652.287840892,0.450450324073,-0.00554362124377,0.0595183890163,0.999999721824,-7.59716121047e-05,-0.000739224677655,-6.42427579239e-05,1793239403782788864
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,659,632,880.295939142,785,805,651.704060858,630.704060858,652.295939142,0.450362663112,-0.00554117623236,0.0595147324862,0.999999717987,-7.42058040021e-05,-0.000744613206559,-6.37953354343e-05,1793239403799455488
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,659,632,880.875820425,785,805,651.124179575,630.124179575,652.875820425,0.450267695739,-0.00553745080879,0.0595137700419,0.999999717918,-7.12379738125e-05,-0.000745033581288,-6.33633700403e-05,1793239403816122112
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.547354353,659,632,880.547354353,785,805,651,630,652.547354353,0.450152618012,-0.00553202903349,0.0595140692469,0.999999717873,-6.64547480654e-05,-0.000745561459487,-6.3046699153e-05,1793239403832788992
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.028544438,659,631.971455562,880,785.028544438,805,651.028544438,630.028544438,652.028544438,0.450030286811,-0.00552628969962,0.0595144896118,0.999999717524,-6.13638403427e-05,-0.000746494830258,-6.27049091295e-05,1793239403849455360
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.602653472,659,631.397346528,880,785.602653472,805,651.602653472,630.602653472,652.602653472,0.44987406157,-0.00552331599761,0.0595106546626,0.999999711607,-5.98473478553e-05,-0.000754618398414,-6.12825357398e-05,1793239403866121984
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.817755501,745.817755501,715,681,659.182244499,631.182244499,880,785.817755501,805,652,631,653,0.449708328016,-0.00552014152372,0.0595070183837,0.999999706745,-5.8370597767e-05,-0.000761250472182,-6.00119713124e-05,1793239403882788608
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.22584152,745.22584152,715,681,659.77415848,631.77415848,880,785.22584152,805,652,631,653,0.449521220639,-0.00551651573284,0.0595038286983,0.999999704378,-5.69831852818e-05,-0.000764529797739,-5.90826601793e-05,1793239403899455488
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.357444155,745.357444155,715,681,660,632,880,785.357444155,805,652,631,652.642555845,0.449316680152,-0.00551084478346,0.0595045037725,0.999999705535,-5.15372724847e-05,-0.000763520487384,-5.75370460173e-05,1793239403916122112
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.935406814,745.935406814,715,681,660,632,880,785.935406814,805,652,631,652.064593186,0.449101384615,-0.00550391211134,0.0595075631377,0.999999708806,-4.35875434857e-05,-0.000759865383372,-5.5611215104e-05,1793239403932788736
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.488990848,745.488990848,715,681,659.488990848,632,880,786,805,652,630.488990848,652.511009152,0.448857069751,-0.00549558862557,0.059512080065,0.999999712504,-3.60626356012e-05,-0.000755506294117,-5.38633722297e-05,1793239403949455872
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7fdbb710b1fac3bc40fe64a33c59a9356d92ced5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,420 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+1,0.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+2,0.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+3,0.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+4,0.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+5,0.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+6,0.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+7,0.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+8,0.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+9,0.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+10,0.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+11,0.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+12,0.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+13,0.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+14,0.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+15,0.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+16,0.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+17,0.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+18,0.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+19,0.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+20,0.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+21,0.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+22,0.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+23,0.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+24,0.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
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+26,0.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+27,0.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+28,0.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+29,0.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+30,0.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+31,0.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+32,0.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+33,0.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+34,0.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+35,0.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+36,0.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+37,0.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+38,0.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+39,0.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+40,0.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+41,0.683333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+42,0.700000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+43,0.716666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+44,0.733333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+45,0.750000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+46,0.766666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+47,0.783333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+48,0.800000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+49,0.816666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+50,0.833333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+51,0.850000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+52,0.866666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+53,0.883333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+54,0.900000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+55,0.916666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+56,0.933333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+57,0.950000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+58,0.966666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+59,0.983333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+60,1.000000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+61,1.016666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+62,1.033333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+63,1.050000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+64,1.066666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+65,1.083333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+66,1.100000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+67,1.116666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+68,1.133333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+69,1.150000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+70,1.166666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+71,1.183333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+72,1.200000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+73,1.216666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+74,1.233333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+75,1.250000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+76,1.266666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+77,1.283333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+78,1.300000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+79,1.316666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+80,1.333333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+81,1.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+82,1.366666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+83,1.383333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+84,1.400000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+85,1.416666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+86,1.433333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+87,1.450000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+88,1.466666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+89,1.483333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+90,1.500000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+91,1.516666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+92,1.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+93,1.550000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+94,1.566666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+95,1.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+96,1.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+97,1.616666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+98,1.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+99,1.650000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
+100,1.666666667,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2f7c6c2eacb412062f26938fdadc194beb28590e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7efcfb4afe1db3dc91094ad5b551f621068f20c7b7ebf27a81e880e01ee4c56f
+size 26690196
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f9668d8a8b3c2b88fa288128d2bde8317d0a2aa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/franka_data.csv
@@ -0,0 +1,421 @@
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+17,0.283333333,BASELINE,765.131557617,745,715,679.868442383,663,635.868442383,879,787.131557617,803,652,631,652.868442383,0.400977881538,-0.00536927260116,0.0598486244398,0.999999940554,0.000232455729641,-0.000254145272387,1.63511836667e-05,1793239406372137984
+18,0.300000000,BASELINE,765.448889825,745.448889825,715,679.551110175,663.448889825,636,879,787.448889825,803.448889825,652.448889825,631,653,0.400978230313,-0.0053698161399,0.0598496355788,0.999999940955,0.000232027324566,-0.00025295281149,1.640512432e-05,1793239406388804864
+19,0.316666667,BASELINE,766,745.974055147,715,679,664,636,879,787.974055147,803.974055147,652.974055147,631,653,0.400978930821,-0.00536999704823,0.0598511252256,0.999999941549,0.000231491807931,-0.000251089269772,1.63319378134e-05,1793239406405471232
+20,0.333333333,BASELINE,766,745.399415288,715,679,664,636,879,787.399415288,803.399415288,652.399415288,631,653,0.400978150451,-0.00536916537851,0.0598499558359,0.999999941148,0.000231651824397,-0.000252540354149,1.62676737496e-05,1793239406422138112
+21,0.350000000,BASELINE,766,745,715,679,664,635.824357642,879.175642358,787.175642358,803.175642358,652,631,652.824357642,0.400977656629,-0.00536877362497,0.0598491630759,0.999999940994,0.000231355014544,-0.000253425525887,1.61894008941e-05,1793239406438805248
+22,0.366666667,BASELINE,766,745,715,679,664,635.248347753,879.751652247,787.751652247,803.751652247,652,631,652.248347753,0.400977815978,-0.00536938463739,0.0598492288239,0.999999941407,0.000230016893065,-0.000253020729286,1.60791957417e-05,1793239406455472128
+23,0.383333333,BASELINE,766,745,715.335946502,679.335946502,664,635.335946502,879.664053498,788,803.664053498,652,631.335946502,652.335946502,0.400977788068,-0.00536888375474,0.0598492622773,0.999999941284,0.00023044851803,-0.000253122164457,1.59294374256e-05,1793239406472138752
+24,0.400000000,BASELINE,766,745,715.92651986,679.92651986,664,635.92651986,879.07348014,788,803.07348014,652,631.92651986,652.92651986,0.400977618225,-0.00536754012383,0.0598492712533,0.999999940754,0.000232221502177,-0.000253607292238,1.57497002241e-05,1793239406488804864
+25,0.416666667,BASELINE,766,745,715.493927605,679.493927605,663.493927605,636,879,788,804.01214479,652,632,652.493927605,0.400977873057,-0.00536774831829,0.0598490014982,0.999999940657,0.000232698334779,-0.000253554416558,1.574080121e-05,1793239406505471488
+26,0.433333333,BASELINE,766,745,715,679,663,636,878.916171293,788,804.916171293,652,632,652.083828707,0.400978306017,-0.00536813920123,0.0598488580525,0.999999940645,0.000233028087536,-0.000253295971627,1.57906834609e-05,1793239406522138112
+27,0.450000000,BASELINE,766,745,715,679,663,636,878.339767031,788,804.339767031,652,632,652.660232969,0.400979431059,-0.00536830779913,0.059849689536,0.99999994077,0.000233575876073,-0.000252278833897,1.6043314922e-05,1793239406538804480
+28,0.466666667,BASELINE,766.24119997,745,715,679,663,636,878.48239994,788,803.75880003,652,632,652.75880003,0.400979851559,-0.00536839500179,0.0598500710799,0.999999940692,0.000234340684024,-0.000251874693417,1.61170239981e-05,1793239406555471104
+29,0.483333333,BASELINE,766.828718178,745,715,679,663,636,879.657436356,788,803.171281822,652,632,652.171281822,0.400979260465,-0.00536836533602,0.0598498065943,0.999999940322,0.000235417091408,-0.000252350702892,1.59338338347e-05,1793239406572138240
+30,0.500000000,BASELINE,766.589695782,745,714.589695782,679,663,636,879.589695782,787.589695782,803.410304218,652,631.589695782,652,0.400979520621,-0.00536899547559,0.0598501199476,0.999999940693,0.000234364758419,-0.000251854305552,1.60203534459e-05,1793239406588805120
+31,0.516666667,BASELINE,766.010550851,745,714.010550851,679,663,636,879.010550851,787.010550851,803.989449149,652,631.010550851,652,0.400980131067,-0.0053698971259,0.0598506710824,0.999999941365,0.000232436446004,-0.000250957761545,1.62178589804e-05,1793239406605471744
+32,0.533333333,BASELINE,766,745,714.56650102,679,663,636,879,787,804,652,631.56650102,652,0.400979371969,-0.00536927933704,0.0598503153074,0.999999941369,0.000232434634675,-0.000250930930516,1.644598071e-05,1793239406622138624
+33,0.550000000,BASELINE,765.854337941,745,715,679.145662059,663,636,879,787,804.145662059,652,632,652,0.400978853737,-0.00536884569741,0.0598499676716,0.999999941364,0.000232185642859,-0.000251175857217,1.65156547916e-05,1793239406638804992
+34,0.566666667,BASELINE,765.268688731,745,715,679.731311269,663,636,879,787,804.731311269,652,632,652,0.400979139829,-0.00536905346468,0.059849695454,0.99999994137,0.000231082035948,-0.00025219290818,1.61050054529e-05,1793239406655471360
+35,0.583333333,BASELINE,765.313529968,745,715,679.686470032,663,636,879,787,804.372940064,652,632,652.313529968,0.400979105759,-0.00536886699654,0.0598499054859,0.99999994141,0.000230852980487,-0.000252255436091,1.59474706292e-05,1793239406672137984
+36,0.600000000,BASELINE,765.892840672,745,715,679.107159328,663,636,879,787,803.214318656,652,632,652.892840672,0.400978800286,-0.00536834633335,0.0598505243228,0.999999941479,0.000231365286023,-0.000251508810715,1.60045020504e-05,1793239406688804864
+37,0.616666667,BASELINE,766.471618086,745,715,679,663,636,879,787.471618086,803,652.471618086,632,653,0.400979492439,-0.00536838606497,0.0598509223499,0.999999941413,0.000232178391031,-0.000251014927638,1.60724243414e-05,1793239406705471488
+38,0.633333333,BASELINE,767,745,715,679.049862618,663,636,879,787.950137382,803.049862618,652.950137382,631.950137382,653,0.400980296038,-0.00536872109842,0.0598512239206,0.999999941368,0.000232788575112,-0.000250622296019,1.61584535672e-05,1793239406722137856
+39,0.650000000,BASELINE,767,745,715,679.623779073,663,636,879,787.376220927,803.623779073,652.376220927,631.376220927,653,0.400979891274,-0.00537082301067,0.0598510384464,0.999999941866,0.000230548562388,-0.000250690937017,1.64088075168e-05,1793239406738804992
+40,0.666666667,BASELINE,767,745.202965495,715,679.797034505,663.202965495,636,879.202965495,787,803.797034505,652,631.202965495,653,0.40097939023,-0.00537143118141,0.0598508149793,0.99999994188,0.000230122146658,-0.00025101790793,1.65230097088e-05,1793239406755471872
+41,0.683333333,BASELINE,767,745.792180797,715,679.207819203,663.792180797,636,879.792180797,787,803.207819203,652,631.792180797,653,0.400978705965,-0.0053691967143,0.0598505192107,0.999999940976,0.000233147063963,-0.000251836488906,1.63781107507e-05,1793239406772138496
+42,0.700000000,BASELINE,766.624845371,745.624845371,715,679,663.624845371,636,879.624845371,787.375154629,803,652,631.624845371,653,0.400978755525,-0.00536827512764,0.0598505448215,0.999999940868,0.000234104915807,-0.000251387877658,1.62383716411e-05,1793239406788804864
+43,0.716666667,BASELINE,766.045272478,745.045272478,715,679,663.045272478,636,879.045272478,787.954727522,803,652,631.045272478,653,0.40097920494,-0.00536806891741,0.059850745549,0.999999941195,0.000233936442824,-0.000250248785136,1.61014440896e-05,1793239406805471488
+44,0.733333333,BASELINE,766,745,715,679.531137986,663,636,879,788,803.531137986,652,631.531137986,653,0.400979135011,-0.00536937544911,0.0598510520454,0.99999994142,0.000232740545551,-0.000250443477574,1.64318027821e-05,1793239406822138112
+45,0.750000000,BASELINE,766,745,715,680,663,636,879.106660314,788,804,652.106660314,631.893339686,653,0.400978866536,-0.0053704336706,0.0598512163414,0.999999941607,0.000231566718917,-0.000250769905492,1.66817576551e-05,1793239406838804736
+46,0.766666667,BASELINE,766,745,715,680,663,636,879.679472044,788,804,652.679472044,631.320527956,653,0.400977922651,-0.00536984647624,0.0598507199922,0.99999994167,0.000230869822854,-0.000251178151603,1.6407269433e-05,1793239406855471616
+47,0.783333333,BASELINE,766,745,715,679.738880707,663,636,879.738880707,787.738880707,803.738880707,653,631.261119293,652.738880707,0.400978530899,-0.00536950810606,0.0598508952405,0.999999941868,0.000230870489521,-0.000250405808016,1.61401592226e-05,1793239406872138496
+48,0.800000000,BASELINE,766,745,715,679.146007803,663,636,879.146007803,787.146007803,803.146007803,653,631.853992197,652.146007803,0.40098111114,-0.00536948586838,0.0598519237572,0.999999942233,0.000231757413682,-0.000248133518261,1.58824227822e-05,1793239406888805120
+49,0.816666667,BASELINE,766,745,715,679.436448797,663,636,879,787.436448797,803.436448797,652.563551203,631.563551203,652.436448797,0.400980850587,-0.00536908143967,0.0598512270199,0.999999941789,0.000232295855093,-0.000249420757321,1.57900403347e-05,1793239406905471744
+50,0.833333333,BASELINE,766,745,715,679.984635843,663.015364157,636,879,788,803.984635843,652,631,653.015364157,0.4009796727,-0.00536855207313,0.0598499884908,0.99999994109,0.000232738761809,-0.000251803276315,1.5752866929e-05,1793239406922138368
+51,0.850000000,BASELINE,766,745,715,679.410730079,663.589269921,636,879,788,803.410730079,652,631,653.589269921,0.400978889649,-0.00536802047012,0.0598495466181,0.999999940851,0.000233847952191,-0.000251722726573,1.57586491959e-05,1793239406938804736
+52,0.866666667,BASELINE,766,745,715,679.167161004,663.832838996,636,879.167161004,787.832838996,803.167161004,652.167161004,631,653.832838996,0.400978494057,-0.00536794223333,0.0598494127914,0.999999940932,0.000233792699072,-0.000251455228021,1.57338509431e-05,1793239406955471616
+53,0.883333333,BASELINE,766,745,715,679.755083513,663.244916487,636,879.755083513,787.244916487,803.755083513,652.755083513,631,653.244916487,0.400979073738,-0.00536900516614,0.0598500543482,0.999999941812,0.000230806421366,-0.000250717160018,1.56320783637e-05,1793239406972137984
+54,0.900000000,BASELINE,766,745,715,679.661538888,663,636,880,787.338461112,803.661538888,652.661538888,631,653,0.400979417831,-0.00537019576533,0.0598503653329,0.9999999422,0.000229450663278,-0.00025040224632,1.58260737268e-05,1793239406988804608
+55,0.916666667,BASELINE,766,745,715,679.081406517,663,636,880,787.918593483,803.081406517,652.081406517,631,653,0.400979593707,-0.00537147752205,0.0598504402791,0.999999942241,0.000229259144627,-0.000250389477363,1.62312561669e-05,1793239407005471232
+56,0.933333333,BASELINE,766,745,715,678.503694924,663,636,879.503694924,788,803,652,631,653,0.40098015106,-0.00537020467835,0.0598512028129,0.999999941903,0.000231746295802,-0.000249447409909,1.62485506276e-05,1793239407022138112
+57,0.950000000,BASELINE,766,745,715,678.07310279,663.07310279,636,879,787.92689721,803,652,631,653,0.400980513852,-0.0053687214182,0.0598518104224,0.999999941519,0.000234176956648,-0.000248719931179,1.61917076949e-05,1793239407038805248
+58,0.966666667,BASELINE,766,745,715,678.646351191,663.646351191,636,879,787.353648809,803,652,631,653,0.400979119506,-0.00536865143288,0.0598505902195,0.999999941298,0.00023322969663,-0.000250498402797,1.60608184802e-05,1793239407055471872
+59,0.983333333,BASELINE,766.22656918,745.22656918,715,679,663.77343082,636,879,787.22656918,803,652,631.22656918,653,0.40097811846,-0.00536931472371,0.0598497717284,0.999999941434,0.000231386742725,-0.000251664820262,1.60210447006e-05,1793239407072138496
+60,1.000000000,BASELINE,766.818011263,745.818011263,715,679,663.181988737,636,879,787.818011263,803,652,631.818011263,653,0.400977750793,-0.0053711589015,0.0598496001644,0.999999942142,0.000228101339917,-0.000251845570066,1.61280055689e-05,1793239407088804864
+61,1.016666667,BASELINE,766.598880599,745.598880599,715,679,663,636,879,787.598880599,803,652,631.598880599,652.598880599,0.400979035478,-0.00537043453815,0.0598503442162,0.999999942511,0.000228543518355,-0.000249974106364,1.61039314708e-05,1793239407105471232
+62,1.033333333,BASELINE,766.019476664,745.019476664,715,679,663,636,879,787.019476664,803,652,631.019476664,652.019476664,0.400981054581,-0.00536856854166,0.0598514952295,0.999999942722,0.000230642485662,-0.000247190500466,1.60216165838e-05,1793239407122137856
+63,1.050000000,BASELINE,766,745,715,679,663,635.445819297,879,787,803.554180703,652,631,652,0.400982132455,-0.00536856861663,0.0598521637463,0.999999942831,0.000230906646007,-0.000246509326453,1.59355707436e-05,1793239407138804480
+64,1.066666667,BASELINE,766,745,715,679,663.127207584,635.127207584,879,787.127207584,804,652,631,652.127207584,0.400982667359,-0.00536892583258,0.0598525854178,0.999999942872,0.000230943279999,-0.000246307879938,1.59441224494e-05,1793239407155471360
+65,1.083333333,BASELINE,766,745,715,679,663.698730437,635.698730437,879,787.698730437,804,652,631,652.698730437,0.400981420114,-0.00537030376374,0.05985220352,0.999999942689,0.000230408122978,-0.00024752660648,1.62835411987e-05,1793239407172137728
+66,1.100000000,BASELINE,766,745,715,679.282494883,663.717505117,636,879,787.717505117,803.717505117,652,631.282494883,652.717505117,0.400979969741,-0.005370828588,0.0598514539107,0.999999942475,0.000229849709258,-0.000248901221523,1.63233760077e-05,1793239407188804352
+67,1.116666667,BASELINE,766,745,715,679.879905816,663.120094184,636,879,787.120094184,803.120094184,652,631.879905816,652.120094184,0.400978292928,-0.0053704023965,0.0598502943888,0.999999942228,0.000229265369766,-0.000250449615882,1.60292444212e-05,1793239407205471232
+68,1.133333333,BASELINE,766,745.459343018,715,679.540656982,663,635.540656982,879,787,803.459343018,652,631.540656982,652.459343018,0.400977918693,-0.00536982766993,0.0598494347603,0.999999941867,0.000229598211131,-0.000251599599725,1.57713523642e-05,1793239407222137856
+69,1.150000000,BASELINE,766,745.965808,715,679,663.034192,635,879,787,803.965808,652,631,652.965808,0.40097795232,-0.00536922143479,0.0598488102656,0.999999941517,0.000230218039908,-0.000252436726017,1.55527455915e-05,1793239407238804736
+70,1.166666667,BASELINE,766,745.39200099,715,679,663.60799901,635,879,787,803.39200099,652,631,652.39200099,0.400979250552,-0.0053687077339,0.0598507058244,0.999999941797,0.000231725162098,-0.000249918358725,1.58102370046e-05,1793239407255471360
+71,1.183333333,BASELINE,766.181988601,745,715,679,664,635.181988601,879,787.181988601,803.181988601,652,631,652.181988601,0.400979940047,-0.00536837886171,0.0598518946478,0.999999941939,0.000232746029598,-0.0002483885868,1.59574969375e-05,1793239407272137984
+72,1.200000000,BASELINE,766.756371976,745,715,679,664,635.756371976,879,787.756371976,803.756371976,652,631,652.756371976,0.400979317017,-0.0053684485079,0.059851559644,0.999999941797,0.000232718459202,-0.000248990374578,1.58670812829e-05,1793239407288804608
+73,1.216666667,BASELINE,766.657387434,745,715,679,663.657387434,636,879,788,804,652.342612566,631,653,0.400979503693,-0.00536889190083,0.0598513942262,0.99999994192,0.000232008841446,-0.000249148735527,1.60061559874e-05,1793239407305471488
+74,1.233333333,BASELINE,766.062413085,745,715,679,663.062413085,636,879,788,804,652.937586915,631,653,0.400980286784,-0.00536961058835,0.0598513537222,0.999999942238,0.000230796840809,-0.00024898047682,1.63142688533e-05,1793239407322138112
+75,1.250000000,BASELINE,766,745,715,679,663,636,879,787.484454507,804,652.484454507,631.515545493,653,0.400980163494,-0.00537004757824,0.0598511034391,0.999999942508,0.000230059255509,-0.000248587234375,1.61555194608e-05,1793239407338804992
+76,1.266666667,BASELINE,766,745,715,679,663,635.908760941,879.091239059,787,803.908760941,652,631.908760941,652.908760941,0.400980055931,-0.00537055184856,0.0598509889472,0.999999942761,0.000229402627131,-0.000248184299673,1.60011062004e-05,1793239407355471360
+77,1.283333333,BASELINE,766,745,715,679,663,635.334501331,879.665498669,787,803.334501331,652,631.334501331,652.334501331,0.400980593969,-0.00537158707507,0.0598517234874,0.999999942957,0.000228880245358,-0.00024786964013,1.61593025551e-05,1793239407372137984
+78,1.300000000,BASELINE,766,745.247535434,714.752464566,678.752464566,663,635,879.752464566,787,803.247535434,652,631,652.247535434,0.400980426207,-0.00537158387054,0.0598521213698,0.999999942777,0.000229505217852,-0.000248007722872,1.62660242284e-05,1793239407388804608
+79,1.316666667,BASELINE,766,745.840422532,714.159577468,678.159577468,663,635,879.159577468,787,803.840422532,652,631,652.840422532,0.40097927374,-0.00537013188795,0.0598520495603,0.999999942072,0.000231730933767,-0.000248777453804,1.63009304447e-05,1793239407405471232
+80,1.333333333,BASELINE,766,745.578714176,714.421285824,678.421285824,663,635.421285824,879,787.421285824,803.578714176,652,631,652.578714176,0.400980365301,-0.00536911709923,0.0598524188731,0.999999942207,0.000232018445109,-0.000247976141723,1.61807469191e-05,1793239407422137856
+81,1.350000000,BASELINE,766,745.002278914,714.997721086,678.997721086,663,635.997721086,879,787.997721086,803.002278914,652,631,652.002278914,0.400982283283,-0.00536826331839,0.0598529506406,0.99999994265,0.000231592162497,-0.000246596252344,1.60034475738e-05,1793239407438804480
+82,1.366666667,BASELINE,765.426069981,745,715,679.573930019,663,635.426069981,879,787.426069981,803,652.573930019,631,652.573930019,0.400981205198,-0.00536848890065,0.0598524298441,0.999999942437,0.000231770990264,-0.000247278838468,1.61871077548e-05,1793239407455471104
+83,1.383333333,BASELINE,765.307257446,745,715,679.846371277,663,635.153628723,879,787.153628723,803,652.846371277,631.153628723,653,0.400980318712,-0.00536875543795,0.0598519873504,0.999999942297,0.000231688648734,-0.000247914549716,1.62809644071e-05,1793239407472137984
+84,1.400000000,BASELINE,766.486467154,745,715,679.256766423,663,635.743233577,879,787.743233577,803,652.256766423,631.743233577,653,0.400980009705,-0.00536912604196,0.0598517789243,0.999999942373,0.00023085833061,-0.000248394005514,1.61159058513e-05,1793239407488804608
+85,1.416666667,BASELINE,766.673093608,745,715,679,663,635.673093608,879,787.673093608,803.326906392,652.326906392,632,653,0.400980451301,-0.00536979110841,0.0598516401001,0.999999942347,0.000230881192099,-0.000248467247509,1.62682465587e-05,1793239407505470976
+86,1.433333333,BASELINE,766.093997066,745,715,679,663,635.093997066,879,787.093997066,803.906002934,652.906002934,632,653,0.400981471947,-0.00537068333628,0.0598515549699,0.999999942242,0.000231562234386,-0.000248227118056,1.66654432023e-05,1793239407522137600
+87,1.450000000,BASELINE,766,745.481035062,715,679,663,635,879,787,803.518964938,653,631.518964938,653,0.400981297024,-0.00537070817209,0.0598519370339,0.999999942552,0.000230380733822,-0.000248081643363,1.66038902681e-05,1793239407538804224
+88,1.466666667,BASELINE,766,745.944615902,715,679,663,635.055384098,879,787,803,652.944615902,631.055384098,653,0.400980842914,-0.00537047278496,0.0598523109091,0.999999942885,0.000229064869079,-0.000247970099274,1.64202792094e-05,1793239407555471104
+89,1.483333333,BASELINE,766,745.369286151,715,679,663,635.630713849,879,787,803,652.369286151,631.630713849,653,0.40097994264,-0.00536937229814,0.0598517580345,0.999999942699,0.000229875744036,-0.000248004909159,1.59252979869e-05,1793239407572137984
+90,1.500000000,BASELINE,766,745,715,679.212179149,663.212179149,635.787820851,879,787.212179149,803.212179149,652,631.787820851,652.787820851,0.400979107826,-0.00536916903497,0.0598511012753,0.999999942441,0.000230367336147,-0.000248600772902,1.57286500045e-05,1793239407588804608
+91,1.516666667,BASELINE,766,745,715,679.804640959,663.804640959,635.195359041,879,787.804640959,803.804640959,652,631.195359041,652.195359041,0.400978390332,-0.00537057384036,0.0598502583266,0.999999942054,0.000230286686602,-0.000250202197527,1.60666962642e-05,1793239407605471488
+92,1.533333333,BASELINE,766,745,715,679.611632765,664,635.388367235,879,787.611632765,804,652,631,652.388367235,0.400978653706,-0.00537137334605,0.0598504643071,0.999999941998,0.000230392376915,-0.000250311321282,1.63590589534e-05,1793239407622138368
+93,1.550000000,BASELINE,766,745,715,679.032203979,664,635.967796021,879,787.032203979,804,652,631,652.967796021,0.400979399628,-0.00537187506799,0.0598511863198,0.999999942104,0.000230589739171,-0.000249686291282,1.66289471358e-05,1793239407638805248
+94,1.566666667,BASELINE,766,745.542342959,715,679,664,636,879,787.542342959,804,652,631.542342959,653,0.400978110971,-0.00537026238891,0.0598503661197,0.99999994171,0.000230928981274,-0.000250972971903,1.62314987448e-05,1793239407655471616
+95,1.583333333,BASELINE,766,745.880663179,715,679.119336821,663.880663179,636,879.119336821,787.880663179,804,652.119336821,632,653,0.40097718801,-0.00536882441,0.0598496881031,0.999999941321,0.000231535294279,-0.000251985102154,1.58732198791e-05,1793239407672137984
+96,1.600000000,BASELINE,766,745.292937528,715,679.707062472,663.292937528,636,879.707062472,787.292937528,804,652.707062472,632,653,0.400978170324,-0.00536856050279,0.0598499243689,0.999999941073,0.000233157070822,-0.00025147807308,1.58228204983e-05,1793239407688804352
+97,1.616666667,BASELINE,766,745,715,679.709474062,663.290525938,636,879.709474062,787.290525938,804,652.709474062,631.709474062,653,0.40097815652,-0.00536872871681,0.059849881343,0.999999941286,0.000232230075314,-0.000251489582597,1.58157903477e-05,1793239407705470976
+98,1.633333333,BASELINE,766,745,715,679.13024606,663.86975394,636,879.13024606,787.86975394,804,652.13024606,631.13024606,653,0.400977152853,-0.0053693263393,0.0598495607788,0.99999994195,0.000228770308421,-0.000252016375434,1.58518571656e-05,1793239407722137600
+99,1.650000000,BASELINE,766,745.447472474,715,679,663.552527526,636,879,788,803.552527526,652,631.447472474,653,0.400977179118,-0.00536995561043,0.0598503350066,0.999999942045,0.00022883902096,-0.000251562139935,1.61012801982e-05,1793239407738804736
+100,1.666666667,BASELINE,766,745.975385942,715,679,663.024614058,636,879,787.975385942,803,652,631.975385942,653,0.40097753334,-0.00537053177077,0.0598513734951,0.999999941975,0.000229934588259,-0.000250820061524,1.63985341494e-05,1793239407755472128
+101,1.683333333,BASELINE,766,745.401348291,715,679,663.598651709,636,879,787.401348291,803,652,631.401348291,653,0.400978538947,-0.00536971748254,0.0598512215861,0.99999994191,0.000231103173784,-0.000250005338264,1.638190259e-05,1793239407772138496
+102,1.700000000,BASELINE,766,745,715,679,663.822243345,636,879,787,803.177756655,652,631.177756655,653,0.400979401045,-0.00536912237803,0.059851455455,0.999999941942,0.000232049690149,-0.000249002313172,1.63096999507e-05,1793239407788805120
+103,1.716666667,BASELINE,766,745,715,679,663.231361556,636,879,787,803.768638444,652,631.768638444,653,0.40097992961,-0.00536903667958,0.0598525859119,0.999999942203,0.0002324800943,-0.000247561654965,1.61083442876e-05,1793239407805471488
+104,1.733333333,BASELINE,766,745,715,679,663,636,878.647558096,787.352441904,803.647558096,652.352441904,631.647558096,652.647558096,0.400980654647,-0.00536987169838,0.0598529394588,0.999999942721,0.000231145888264,-0.000246717586747,1.61132180142e-05,1793239407822137856
+105,1.750000000,BASELINE,766,745,715,679,663,636,878.068309686,787.931690314,803.068309686,652.931690314,631.068309686,652.068309686,0.400981506118,-0.00537129922522,0.0598527930419,0.9999999434,0.000228676104839,-0.000246257441208,1.62508062666e-05,1793239407838804480
+106,1.766666667,BASELINE,766,745,715,679,663,636,879.014450393,787.492774804,803.507225196,652.492774804,631,652,0.400981208055,-0.00537105561349,0.0598523087513,0.999999943036,0.000229342004494,-0.00024711491161,1.62428860658e-05,1793239407855471360
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,787,803,652,631,653,0.400978695032,-0.00536879320111,0.0598506655656,0.999999941615,0.000232584968596,-0.000249850283743,1.5810918805e-05,1793239407898775040
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.592783581,715,679,663,636,879.407216419,787,803,652,631,653,0.400978515659,-0.00536891700782,0.0598507111177,0.999999941678,0.000232136364447,-0.000250002754123,1.59687187496e-05,1793239407915442176
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.819373041,715,679,663,636,879,787,803,652,631.180626959,652.819373041,0.400978395389,-0.00536944236935,0.0598506565211,0.999999941888,0.000231056669194,-0.000250152422155,1.61481337085e-05,1793239407932109056
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.242370541,715,679,663,636,879,787,803,652,631.757629459,652.242370541,0.40097840482,-0.00537084892005,0.0598503821541,0.999999942415,0.000228592080492,-0.000250295940622,1.63749816115e-05,1793239407948775168
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.333359556,745,715,679,663,636,879,787,803.333359556,652,631.666640444,652,0.400978522946,-0.00537085152285,0.059850485071,0.999999942339,0.000228863641837,-0.000250356712015,1.62806360127e-05,1793239407965441536
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.908168031,745,715,679,663,636,879,787,803.908168031,652,631.091831969,652,0.400978719801,-0.00536983726046,0.0598508612508,0.999999941826,0.00023111696884,-0.000250357550537,1.59536532301e-05,1793239407982107904
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.50659288,745,715,679,663,636,879,787.49340712,804,652,631,652.49340712,0.400980318912,-0.00537021556458,0.0598519242443,0.999999942133,0.000231770063087,-0.000248496974082,1.62764470809e-05,1793239407998774528
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.920505799,803.920505799,652,631.079494201,652.920505799,0.400981991236,-0.00537074994859,0.0598529622219,0.999999942556,0.000231902214443,-0.000246642831685,1.66459358033e-05,1793239408015441152
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.34155152,803.34155152,652,631.65844848,652.34155152,0.400982448389,-0.00537060137762,0.0598530225371,0.999999942741,0.000230672979843,-0.000247052815492,1.65325649262e-05,1793239408032108032
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.237033528,636,879,787.237033528,803.237033528,652,631.762966472,652,0.400988340568,-0.00537051875896,0.0598555267796,0.999999943881,0.000229908776196,-0.000243115578092,1.65694185394e-05,1793239408048774912
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.815087315,636,879,787.815087315,803.815087315,652,631.184912685,652,0.401002052123,-0.00537053102595,0.0598615471017,0.999999946325,0.000229813612907,-0.000232923991281,1.68224002115e-05,1793239408065441792
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.607853826,636,879,787.607853826,803.607853826,652,631.392146174,652.392146174,0.401035754596,-0.00537068560136,0.0598752355791,0.99999995155,0.00023065522135,-0.00020831227845,1.74474447219e-05,1793239408082108416
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.031262876,636,879,787.031262876,803.031262876,652,631.968737124,652.968737124,0.401078859739,-0.0053709071111,0.0598925307509,0.999999957286,0.000231937437372,-0.000176918101569,1.82474878801e-05,1793239408098774784
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.444012845,745,715,679,663,636,879,787,803,652.555987155,631.444012845,652.444012845,0.401138850915,-0.00537423382782,0.0599096656168,0.999999962502,0.000228926786792,-0.000149075100497,1.91065856347e-05,1793239408115441408
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.141823002,745,715,679,663,636,879,787.141823002,803.141823002,652.858176998,631,652,0.401203941771,-0.00537722050676,0.059925509157,0.999999966462,0.000226625676882,-0.000123797215641,1.97879811098e-05,1793239408132108032
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.721407686,745,715,679,663,636,879,787.721407686,803.721407686,652.278592314,631,652,0.401281785639,-0.00537860811897,0.0599373951638,0.999999968377,0.000227274331858,-0.00010580861011,1.99104174441e-05,1793239408148774656
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.701038001,803.701038001,652.298961999,631,652.298961999,0.401364806338,-0.00538064752189,0.0599446841479,0.999999969761,0.000226396090822,-9.39770559125e-05,1.97591450093e-05,1793239408165441280
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.12536299,803.12536299,652.87463701,631,652.87463701,0.401452618599,-0.00538329020865,0.0599477182227,0.999999970843,0.000224104586583,-8.78443415255e-05,1.93545334245e-05,1793239408182108160
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.541100751,745,715,679,663,636,879,787,803.458899249,652.541100751,631,652.541100751,0.401556747319,-0.00538572326814,0.0599498758361,0.999999971677,0.000222256990817,-8.31115400125e-05,1.84412979877e-05,1793239408198775040
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.044984253,745,715,679,663,636,879,787,804,652,631,652.044984253,0.401667541604,-0.00538815418368,0.0599518197688,0.999999972418,0.000220572064952,-7.87951907829e-05,1.73907988515e-05,1793239408215441664
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+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678.796873918,663,636,879,787,804,652,631,652.796873918,0.401950766229,-0.00539526056223,0.0599552347861,0.999999973991,0.000216365371785,-7.05348521561e-05,1.51045426717e-05,1793239408248774912
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+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.891950025,787,803,652,631,652,0.402963293723,-0.0054200844756,0.0599546272582,0.999999979465,0.000195944757028,-5.14908672706e-05,4.96838013881e-06,1793239408332108288
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.312599106,787,803,652,631,652,0.403235446678,-0.00542729653911,0.0599566977349,0.999999981211,0.000188338898238,-4.58258243597e-05,2.48876605088e-06,1793239408348775168
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.264676179,715,679,663,636,879,787,803.264676179,652,631,652.264676179,0.403523375948,-0.00543442700481,0.0599558769127,0.999999982785,0.000180008563163,-4.50222385096e-05,-4.71899500943e-07,1793239408365441792
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.839519051,715,679,663,636,879,787,803.839519051,652,631,652.839519051,0.403829793027,-0.00544146184785,0.0599516678572,0.999999984155,0.000170829234825,-4.99156600652e-05,-3.99629580892e-06,1793239408382108160
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.585060616,745.585060616,715,679.414939384,663,636,879,787,803.585060616,652,631.414939384,653,0.404150036683,-0.00544970195692,0.059943952867,0.999999985177,0.000159753650151,-6.37811504407e-05,-7.4892383311e-06,1793239408398774528
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.009416649,745.009416649,715,679.990583351,663,636,879,787,803.009416649,652,631.990583351,653,0.404475635317,-0.00545840886119,0.0599348800406,0.999999985706,0.000147943652131,-8.11214918133e-05,-1.09699988265e-05,1793239408415441152
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.579315295,745,715,679.420684705,663,636,879,787.579315295,803.579315295,652,631.420684705,652.420684705,0.404828242599,-0.00546591074531,0.0599219696858,0.999999984654,0.000140697464705,-0.00010330541326,-1.49990738852e-05,1793239408432107776
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.165590602,635.834409398,879,788,804,652,631,652,0.405205913215,-0.005474196823,0.0599144137104,0.999999984324,0.000131764159377,-0.000116764015202,-1.88569086794e-05,1793239408448774400
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.74517972,635.25482028,879,788,804,652,631,652,0.405645122466,-0.00548449359061,0.059920403956,0.999999986886,0.000118423079926,-0.000108206766472,-2.22638213593e-05,1793239408465441280
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.676934839,635.323065161,879,788,804,652,631,652.323065161,0.406126843268,-0.00549378612469,0.0599404684786,0.999999991594,0.000101912234704,-7.61681534274e-05,-2.49697550938e-05,1793239408482107904
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.100386074,635.899613926,879,788,804,652,631,652.899613926,0.406641919558,-0.00550229071748,0.0599715759705,0.999999995864,8.29143240934e-05,-2.57055755425e-05,-2.71256865726e-05,1793239408498774528
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.483908144,745,715,679,663,635.516091856,879,787.516091856,803.516091856,652,631,652.516091856,0.407164641072,-0.00551130321045,0.0599950719447,0.999999999474,-5.51210815004e-06,1.22799141187e-05,-2.95240087505e-05,1793239408515440896
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.930928685,745.069071315,715,679.069071315,663,635.069071315,879,787.069071315,803,652,631,652,0.407688773368,-0.00551748895553,0.0600137939631,0.999999994348,-9.27022486324e-05,4.11180521253e-05,-3.19205207149e-05,1793239408532107776
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.351411049,745.648588951,715,679.648588951,663,635.648588951,879,787.648588951,803,652,631,652,0.408211420456,-0.00550199334364,0.0600090946429,0.999999997229,-6.25856924398e-05,2.1795486006e-05,-3.39260109777e-05,1793239408548774400
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.227160499,636,879.227160499,788,803.227160499,652,631.227160499,652.227160499,0.408753316286,-0.00549198638936,0.0600016917024,0.999999998544,-3.97619096306e-05,1.53869114332e-06,-3.64366422055e-05,1793239408565441024
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.804274511,636,879.804274511,788,803.804274511,652,631.804274511,652.804274511,0.409324865854,-0.0054904350215,0.0599901236832,0.999999998611,-2.81730559244e-05,-2.01573344117e-05,-3.9725471395e-05,1793239408582107904
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.620084898,636,880,788,804,652,632,653,0.409950898521,-0.0055063186206,0.0599909740462,0.999999997703,-5.01772038164e-05,-1.4771214972e-05,-4.30946236669e-05,1793239408598774528
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.045200471,636,880,788,804,652,632,653,0.410604891452,-0.00553114970225,0.0599981974216,0.99999999491,-8.94210057747e-05,4.51324055624e-06,-4.65049969269e-05,1793239408615441152
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.456620895,715,679.456620895,663,636,879.456620895,787.456620895,803.456620895,652,631.456620895,652.456620895,0.41126307192,-0.0055379206139,0.0600014093101,0.999999991945,-0.000115577002499,1.12478079134e-05,-5.12442675155e-05,1793239408632107776
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.13079254,663,636,879.13079254,787.13079254,803.13079254,652,631.13079254,652.13079254,0.411922542281,-0.00554188168488,0.0599996593141,0.999999990781,-0.000125264201967,7.87360614656e-06,-5.18155661218e-05,1793239408648774656
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679.710197537,663,636,879.710197537,787.710197537,803.710197537,652,631.710197537,652.710197537,0.412585211105,-0.00554149124083,0.0599820644198,0.999999995552,-8.22948993778e-05,-2.64999318514e-05,-3.77019486956e-05,1793239408665441280
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.71212943,663,636,880,787.71212943,804,652,631.71212943,653,0.413250966828,-0.00553066074078,0.0599555463337,0.999999996153,-2.83125799459e-05,-7.8421513465e-05,-2.72462345242e-05,1793239408682107904
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.136189486,663,636,880,787.136189486,804,652,631.136189486,653,0.413919811664,-0.00550938297481,0.0599200988911,0.99999998818,3.669036718e-05,-0.00014790326113,-2.0450947942e-05,1793239408698774528
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.562407158,787,803.562407158,652,631,653,0.414709183316,-0.00550504975929,0.0599368354515,0.999999991983,4.93515542393e-05,-0.000114388572699,-2.26825981322e-05,1793239408715441152
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.01103486,663.01103486,636,879,787.01103486,803,652,631.01103486,652.98896514,0.415535569958,-0.00550624383403,0.0599698359202,0.999999997401,4.51487936521e-05,-4.89512049316e-05,-2.76314573124e-05,1793239408732107776
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.601702256,663.601702256,636,879,787.601702256,803,652,631.601702256,652.398297744,0.416345579788,-0.00552212511983,0.0600082294131,0.999999999415,6.60092991175e-06,1.77980416314e-05,-2.84617630125e-05,1793239408748774656
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679.811206309,663.811206309,636,879,788,803.188793691,652,631.811206309,652.188793691,0.417147838083,-0.00553452828366,0.0600304606362,0.999999997845,-2.32875341785e-05,5.38324299575e-05,-2.94872045352e-05,1793239408765441024
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679.231518871,663.231518871,636,879,788,803.768481129,652,631.231518871,652.768481129,0.417934046924,-0.00553973006112,0.0600192281848,0.999999998556,-3.5246873522e-05,2.62722843384e-05,-3.09166712953e-05,1793239408782107648
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.345740015,787.654259985,804,652,631,653,0.418739203585,-0.00553936661608,0.060002883423,0.999999998838,-3.46958335401e-05,5.97821146461e-07,-3.3469901195e-05,1793239408798774528
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.921383983,787.078616017,804,652,631,653,0.419556959796,-0.00553530250967,0.0599831391699,0.999999998707,-2.58258669029e-05,-2.38227338854e-05,-3.67703907564e-05,1793239408815441152
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.507051171,663.507051171,635.492948829,880,787.507051171,804,652,631,652.492948829,0.420368668834,-0.00552910576488,0.05995820177,0.999999997083,-2.79214702597e-05,-5.90625017294e-05,-3.9577448259e-05,1793239408832107776
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679.90695923,664,635.09304077,880,788,803.90695923,652,631,652,0.421178483484,-0.00552419383065,0.0599321083309,0.999999993674,-3.09232529783e-05,-9.96629566358e-05,-4.19977890056e-05,1793239408848774400
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.327571777,664,635.672428223,880,788,803.327571777,652,631,652,0.421983395246,-0.00552776119063,0.0599042657215,0.999999985951,-2.95954700038e-05,-0.000159339635437,-4.28046384816e-05,1793239408865441024
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.250933423,745.250933423,715,679,664,636,880,787.749066577,803.250933423,652,631,652.250933423,0.422844603475,-0.00553308155588,0.059908656934,0.999999986361,-3.28977427139e-05,-0.00015605691813,-4.29083560158e-05,1793239408882107904
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.828291033,745.828291033,715,679,664,636,880,787.171708967,803.828291033,652,631,652.828291033,0.423779044502,-0.00554068230066,0.0599549791815,0.999999995711,-4.22229759718e-05,-7.08741194842e-05,-4.20974115646e-05,1793239408898774528
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.588657166,745.588657166,715,679.411342834,664,636,880,787.411342834,804,651.588657166,631,653,0.42470540693,-0.00554503728114,0.0600023989297,0.999999997914,-5.05159374257e-05,4.99162949342e-06,-3.99396641083e-05,1793239408915441152
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.003195078,745.003195078,715,679.996804922,664,636,880,787.996804922,804,651.003195078,631,653,0.425628349674,-0.00554801834625,0.0600502832413,0.999999994646,-5.83719429736e-05,7.69135152489e-05,-3.72118219924e-05,1793239408932107776
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.423698403,664,635.423698403,880,788,804,651,631.576301597,653,0.426507410474,-0.00554601796386,0.0600409672551,0.99999999531,-4.61845730554e-05,7.52288005991e-05,-3.98394923816e-05,1793239408948774400
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.155752296,715,679,664,635.155752296,880,787.844247704,804,651.155752296,631.844247704,652.844247704,0.427380184079,-0.00554531726041,0.0600274923999,0.999999996231,-4.17361823504e-05,6.32478203883e-05,-4.23759987745e-05,1793239408965441280
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.735166947,715,679,664,635.735166947,880,787.264833053,804,651.735166947,631.264833053,652.264833053,0.428236510793,-0.00554822617153,0.0600035587652,0.99999999699,-5.86377844549e-05,2.43585881516e-05,-4.45845928789e-05,1793239408982107904
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.688514912,715,679.311485088,664,635.688514912,880,787,804,651.688514912,631,652,0.429061506957,-0.00554874990687,0.0599766977337,0.999999996515,-6.65697642434e-05,-2.01045264809e-05,-4.62023968025e-05,1793239408998774528
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.11480362,715,679.88519638,664,635.11480362,880,787,804,651.11480362,631,652,0.429860127207,-0.00554726566282,0.0599473722511,0.999999994241,-6.69505951115e-05,-6.92600564198e-05,-4.73228391579e-05,1793239409015441152
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.471248355,715,679.528751645,663.528751645,635.471248355,880,787.471248355,804,651.471248355,631,652,0.430716406459,-0.00554405836053,0.0599382420989,0.999999994001,-5.69195277702e-05,-7.96688332857e-05,-4.91070534031e-05,1793239409032107776
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,679.059408357,663.118816715,636,880,787.940591643,804,651.940591643,631.059408357,652,0.431591676135,-0.00554148868348,0.0599396882159,0.999999995061,-4.68611033305e-05,-7.15319643981e-05,-5.06524040018e-05,1793239409048774400
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,679.638994069,664.277988138,636,880,787.361005931,804,651.361005931,631.638994069,652,0.432506925266,-0.0055482763117,0.0599895028083,0.999999996954,-5.93699346007e-05,1.41169009585e-05,-4.86523099795e-05,1793239409065441280
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.782360534,715,680,664.782360534,636,879.782360534,787,804,651.217639466,631.782360534,652,0.433384838807,-0.00555392895826,0.0600187129502,0.999999994409,-7.12358845742e-05,6.20609382872e-05,-4.75029425869e-05,1793239409082107904
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.205268069,715,680,664.205268069,636,879.205268069,787,804,651.794731931,631.205268069,652,0.434201089093,-0.00555770707198,0.0600138928221,0.999999994355,-8.20400553926e-05,4.77317547366e-05,-4.77586341174e-05,1793239409098774528
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.630707815,745,715,679.630707815,664,635.630707815,879.369292185,787,804,652,631,652.369292185,0.434989590139,-0.00555822447119,0.0599923227503,0.999999995438,-8.10561239782e-05,1.05958543408e-05,-4.94150991474e-05,1793239409115441152
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.05754552,745,715,679.05754552,664,635.05754552,879.94245448,787,804,652,631,652.94245448,0.435762771992,-0.00555694177187,0.0599615057652,0.999999995185,-7.35644945618e-05,-3.913063905e-05,-5.18448700303e-05,1793239409132107776
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.532809619,745,715,679.532809619,664,635.532809619,880,787.532809619,804,652,631.532809619,653,0.43654186122,-0.00555664246382,0.059946475118,0.999999993222,-7.94405126251e-05,-6.62566733171e-05,-5.3443419035e-05,1793239409148774656
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.878039507,745,715,680,664,635.878039507,880.121960493,787.878039507,804.121960493,652,631.878039507,652.878039507,0.437309117521,-0.00555603655322,0.0599338204716,0.999999990713,-8.40500087607e-05,-9.2325516152e-05,-5.46395332189e-05,1793239409165441024
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.30055342,745,715,680,664,635.30055342,880.69944658,787.30055342,804.69944658,652,631.30055342,652.30055342,0.438029715022,-0.00555387554919,0.0599234597411,0.999999987764,-7.83567307158e-05,-0.000123866685017,-5.46790364054e-05,1793239409182107904
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.276004619,745,715,680,663.723995381,635.276004619,880.723995381,787,804.723995381,652,631,652,0.438762113959,-0.00555293071027,0.059921967291,0.999999987148,-7.4396434206e-05,-0.000131201340896,-5.43554108767e-05,1793239409198774528
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.851555415,745,715,680,663.148444585,635.851555415,880.148444585,787,804.148444585,652,631,652,0.439507320877,-0.00555330576829,0.0599300995338,0.999999989645,-7.23169327006e-05,-0.000112264809729,-5.36376839349e-05,1793239409215441152
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.426237974,745,715,680,663.426237974,635.573762026,880,787.426237974,804,652,631.426237974,652.426237974,0.440223547235,-0.00555564494698,0.0599473871351,0.999999991492,-7.75888729859e-05,-9.12169526946e-05,-5.17267456589e-05,1793239409232108032
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.999363314,745,715,680,663.999363314,635,880.000636686,787.999363314,804.000636686,652,631.999363314,652.999363314,0.440929600791,-0.00555866324662,0.0599677900522,0.999999992715,-8.54067599883e-05,-6.95318107521e-05,-4.94071955315e-05,1793239409248774656
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.408394765,745,715,680,663.408394765,635,880.591605235,787.408394765,804.591605235,652,631.408394765,652.408394765,0.441542558405,-0.00555841132043,0.0599263374156,0.999999985584,-8.47748866586e-05,-0.000137346084425,-5.27431923315e-05,1793239409265441280
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.821323174,635,881,787,804.821323174,652,631.178676826,652,0.442138604841,-0.00555694509952,0.0598793068417,0.999999972775,-8.35348270709e-05,-0.000210412635151,-5.65470055193e-05,1793239409282107648
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.242968479,635,881,787,804.242968479,652,631.757031521,652,0.442696823194,-0.00555276265208,0.0598197991072,0.99999995126,-8.09343305797e-05,-0.000295227890831,-6.1397266712e-05,1793239409298774528
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.333827463,804.333827463,651.666172537,631.666172537,652,0.443259848392,-0.0055492587171,0.0597863479137,0.999999936046,-7.99344217537e-05,-0.000342586118758,-6.44521156462e-05,1793239409315441152
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.909494142,804.909494142,651.090505858,631.090505858,652,0.443826355846,-0.00554624632647,0.0597717732218,0.999999928786,-8.00940490745e-05,-0.000362808833301,-6.62062893259e-05,1793239409332107776
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634.50416432,880.50416432,787.50416432,805,651.49583568,631,652.49583568,0.444370823435,-0.0055465019012,0.0597750177767,0.999999930326,-8.11768447538e-05,-0.000358044300055,-6.75420933468e-05,1793239409348774656
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.082893014,715,680,661.917106986,634,880.082893014,786.917106986,805,651.917106986,631,653,0.444903184417,-0.00554779148274,0.0597779528807,0.999999930837,-8.30281988783e-05,-0.000355930588213,-6.88858224378e-05,1793239409365441280
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.662309719,715,680,661.337690281,634,880.662309719,786.337690281,805,651.337690281,631,653,0.445387655229,-0.00555162303589,0.0597591229684,0.999999914536,-8.84516087217e-05,-0.00039761615152,-7.07445130629e-05,1793239409382107904
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680,661,634,881,786,805,651,631,652.759799856,0.445845445374,-0.00555556840142,0.0597342220841,0.999999894986,-9.4074756649e-05,-0.000442543390327,-7.30265895405e-05,1793239409398774528
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680,661,634,881,786,805,651,631,652.184041683,0.446265962761,-0.00555967276177,0.059700840093,0.99999987109,-9.99769369289e-05,-0.000491999225121,-7.59001331369e-05,1793239409415441152
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,660.60870205,634,881,786,805,651.39129795,631,652,0.446685380305,-0.00556189148367,0.05968549063,0.999999860273,-0.000104099892607,-0.000512356365881,-7.8151734421e-05,1793239409432107776
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680,660.033559009,634,881,786,805,651.966440991,631,652,0.447104281142,-0.00556322426883,0.0596786134592,0.999999856323,-0.000107386908626,-0.000519041954868,-8.01111263547e-05,1793239409448774400
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680.854318525,660.854318525,633.854318525,880.854318525,786,804.145681475,651.145681475,631,652,0.447894797043,-0.00556850212788,0.0597016256911,0.999999877965,-9.25228623811e-05,-0.000479847295623,-7.24971132189e-05,1793239409482107904
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680.276433581,660.276433581,633.276433581,880.276433581,786,804.723566419,651.723566419,631,652,0.44825224828,-0.00556736101727,0.0597020342915,0.999999884239,-2.87152030208e-05,-0.000477586257735,-5.10721242447e-05,1793239409498774784
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.299698085,745,715,680,660,633,880,786,805,651.700301915,631,652,0.448562796914,-0.00555952123349,0.059689140091,0.999999875324,-1.17683227095e-05,-0.000497346141683,-4.31204668964e-05,1793239409515441152
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.874221945,745,715,680,660,633,880,786,805,651.125778055,631,652,0.448830335429,-0.00554553870768,0.0596640471052,0.999999853811,-3.77931918963e-05,-0.000537299404962,-4.75239742443e-05,1793239409532107776
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.542123825,745,715,680,660,633,880.457876175,786,805,651,631,652,0.449070234269,-0.00553870684467,0.0596401898583,0.999999832669,-5.76416272728e-05,-0.000573350587419,-5.10725458767e-05,1793239409548774400
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.043838193,745.043838193,715,680,660,633,881,786,805,651.043838193,631,652,0.449302402141,-0.00553457495843,0.0596179196296,0.999999811868,-7.47242075761e-05,-0.000606408610577,-5.43025090443e-05,1793239409565441536
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.626709769,745.626709769,715,680,660,633,881,786,805,651.626709769,631,652,0.449534768026,-0.00553899777489,0.0596109044662,0.999999805477,-7.9084452751e-05,-0.000616111016802,-5.65613338608e-05,1793239409582108160
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.792922911,746,715,680,660,632.792922911,881,786,804.792922911,652,631,652,0.449758973907,-0.00554358429048,0.0596076451494,0.99999980285,-8.29630986207e-05,-0.000619689801961,-5.83162642157e-05,1793239409598774528
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.217016043,746,715,680,660,632.217016043,881,786,804.217016043,652,631,652,0.44996864579,-0.00554846237392,0.0596110754581,0.999999807059,-8.59839564061e-05,-0.000612361663466,-5.91736962908e-05,1793239409615441152
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.356543003,746,715,680.356543003,660,632,881,785.643456997,804,652,630.643456997,652,0.450150971008,-0.00555060980087,0.0596121122274,0.999999808659,-8.68379405861e-05,-0.000609520114051,-6.02177583662e-05,1793239409632107776
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.10663911,746,715,681.786721779,660,632,880,786,805,652,631,652,0.450597395096,-0.00555605552584,0.0596178786063,0.999999815768,-8.68912252744e-05,-0.000597520527741,-6.23084914312e-05,1793239409682107904
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+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,714.824965436,680.824965436,659,631.175034564,880,785,805,652,630.824965436,653,0.451263470266,-0.00555874362492,0.0595989906671,0.999999797349,-8.58283899079e-05,-0.000627881880772,-6.08263652952e-05,1793239410248774912
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.600978195,746,715,681,659,631.399021805,880,785,805,652,631,653,0.451264208236,-0.00555816224194,0.0595997249361,0.999999797673,-8.59814394577e-05,-0.000627335874297,-6.09088399975e-05,1793239410265441792
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.026697671,746,715,681,659,631.973302329,880,785,805,652,631,653,0.451265002551,-0.00555724978615,0.0596005148428,0.999999798013,-8.52499880604e-05,-0.00062688307418,-6.10179202621e-05,1793239410282108928
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,715,680.433461699,659.566538301,631.433461699,880.566538301,785,805,652,631,653,0.451263946263,-0.00555714420843,0.0595993400076,0.999999797088,-8.50273961099e-05,-0.000628403567398,-6.0860287407e-05,1793239410298775040
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,715,680.155955344,659.844044656,631.155955344,880.844044656,785,805,652,630.844044656,653,0.451263854184,-0.00555710227166,0.0595991395252,0.999999797044,-8.432410324e-05,-0.000628579997278,-6.07408898715e-05,1793239410315441408
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,715,680.732578476,659.267421524,631.732578476,880.267421524,785,805,652,630.267421524,653,0.451266606302,-0.00555712588404,0.0596018256094,0.999999799539,-8.225726601e-05,-0.000624871493625,-6.07597025321e-05,1793239410332108032
+254,4.233333333,POSE1_TO_POSE2_PRESS,765.309229844,746,715,681,659,631.690770156,880,785,805,652,630.309229844,652.690770156,0.451266992971,-0.00555716944219,0.0596022790179,0.999999800038,-8.168791228e-05,-0.000624145748827,-6.07679332254e-05,1793239410348774656
+255,4.250000000,POSE1_TO_POSE2_PRESS,765.885905603,746,715,681,659,631.114094397,880,785,805,652,630.885905603,652.114094397,0.451265333818,-0.005557230251,0.0596008014354,0.99999979882,-8.24136983482e-05,-0.000625999725057,-6.07670118132e-05,1793239410365441280
+256,4.266666667,POSE1_TO_POSE2_PRESS,765.52651028,745.52651028,715,681,659,631,880.47348972,785,805,651.52651028,630.52651028,652.47348972,0.451265917693,-0.00555796166999,0.0596003207149,0.999999798669,-8.30398237051e-05,-0.000626196654519,-6.03724961734e-05,1793239410382108160
+257,4.283333333,HOLD_POSE2,765,746,715,681,659,631,880,785,805,651,631,652,0.451266644359,-0.00555313414177,0.0596006674524,0.999999799347,-7.6836490513e-05,-0.000625839418896,-6.10487679978e-05,1793239410425856256
+258,4.300000000,HOLD_POSE2,765,745.426195262,715,681,659,631,880.573804738,785,805,651.573804738,630.426195262,652,0.451266191474,-0.00555422992344,0.0595996623366,0.999999798641,-7.82458532795e-05,-0.000626803438888,-6.09270424818e-05,1793239410442522624
+259,4.316666667,HOLD_POSE2,765,745,715,680.852216424,659,631,880.852216424,785,805,652,630.147783576,652.147783576,0.451265616086,-0.00555510001543,0.059599001065,0.999999797914,-7.99746755839e-05,-0.000627759708779,-6.07834048146e-05,1793239410459189248
+260,4.333333333,HOLD_POSE2,765,745,715,680.27773477,659,631,880.27773477,785,805,652,630.72226523,652.72226523,0.451264686992,-0.00555531846996,0.0595993325807,0.999999797124,-8.26258792751e-05,-0.000628693601891,-6.05764997844e-05,1793239410475855872
+261,4.350000000,HOLD_POSE2,765.306264917,745.306264917,715,680,659,631,880,785,805,652,631,652.693735083,0.4512645551,-0.0055546869361,0.0595994329685,0.999999797155,-8.17113064527e-05,-0.000628761422065,-6.05923877725e-05,1793239410492522496
+262,4.366666667,HOLD_POSE2,765.899172797,745.899172797,715,680,659,631,880,785,805,652,631,652.100827203,0.451265169335,-0.0055532598714,0.0595993170363,0.999999797947,-7.74594111561e-05,-0.00062801865729,-6.08167947608e-05,1793239410509189120
+263,4.383333333,HOLD_POSE2,765.520344845,746,715,680,659,631,880,785,805,652,631,652,0.451266646171,-0.00555565995429,0.0596001988748,0.999999798712,-7.96591044589e-05,-0.000626576104943,-6.02799503761e-05,1793239410525855744
+264,4.400000000,HOLD_POSE2,765.057200755,745.942799245,715,680.057200755,659,631,880.057200755,785,805,652,631,652,0.451267886806,-0.00555837364631,0.0596009851831,0.999999799186,-8.27363424397e-05,-0.000625479845625,-5.96505210891e-05,1793239410542522624
+265,4.416666667,HOLD_POSE2,765.63121573,745.36878427,715,680.63121573,659,631,880.63121573,785,805,652,631,652,0.451265396418,-0.00555683567242,0.0595990612048,0.999999797179,-8.17985279386e-05,-0.000628807885139,-5.95938743388e-05,1793239410559189504
+266,4.433333333,HOLD_POSE2,766,745,715,681,659,631,880.788772442,785,805,652,631,652,0.451264838185,-0.00555598042892,0.0595986165191,0.999999796593,-8.14684253103e-05,-0.000629774352975,-5.96760225314e-05,1793239410575856128
+267,4.450000000,HOLD_POSE2,766,745,715,681,659,631,880.197984781,785,805,652,631,652,0.451267751889,-0.00555635200095,0.0596008300116,0.999999798569,-8.22303355124e-05,-0.000626497252997,-6.00075748491e-05,1793239410592522240
+268,4.466666667,HOLD_POSE2,765.6147428,745.3852572,715,680.6147428,659,631,880,785,804.6147428,652,631,652,0.45126951856,-0.00555591866124,0.0596019169995,0.999999800041,-8.14819598866e-05,-0.000624219807434,-6.02360299433e-05,1793239410609189120
+269,4.483333333,HOLD_POSE2,765.035304022,745.964695978,715,680.035304022,659,631,880,785,804.035304022,652,631,652,0.451270707092,-0.00555507962109,0.0596024361944,0.999999801258,-7.99723534329e-05,-0.000622446218402,-6.04125208693e-05,1793239410625855744
+270,4.500000000,HOLD_POSE2,765.54061145,746,715,680,659,631,880,785,804.54061145,652,631,652,0.45126900134,-0.00555617597123,0.0596015983172,0.999999799633,-8.19837376852e-05,-0.000624796631669,-6.03471272094e-05,1793239410642522368
+271,4.516666667,HOLD_POSE2,765.883985168,746,715,680.116014832,659,631.116014832,880.116014832,785,805,651.883985168,631,652.116014832,0.451267395465,-0.00555691082352,0.0596006802004,0.999999798081,-8.36819283521e-05,-0.000627054200681,-6.03128326001e-05,1793239410659188736
+272,4.533333333,HOLD_POSE2,765.309701444,746,715,680.690298556,659,631.690298556,880.690298556,785,805,651.309701444,631,652.690298556,0.451266925878,-0.00555572171446,0.0595997929283,0.999999797586,-8.32405971987e-05,-0.000627888104123,-6.04633735722e-05,1793239410675855616
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.419084064,745.580915936,715,680.419084064,659,631,881,785,805,652,630.580915936,652,0.451265896366,-0.00555502410665,0.0595985406353,0.999999796883,-8.02903958485e-05,-0.000629379252752,-6.05715329502e-05,1793239410729811968
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.837874832,715,680,659,631,880.837874832,785,804.837874832,652,630.837874832,652,0.451266415455,-0.00555440841951,0.0595985831412,0.99999979714,-7.9992327518e-05,-0.00062901451737,-6.05206231148e-05,1793239410746479104
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.255905948,715,680,659,631,880.255905948,785,804.255905948,652,630.255905948,652,0.451267284527,-0.00555619175523,0.0595992801794,0.999999797467,-8.22067644633e-05,-0.000628230968368,-6.0277460992e-05,1793239410763146496
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.324750131,745.324750131,715,680,659,631,880.324750131,785,804.324750131,652,630,652.324750131,0.451267495278,-0.00555720455873,0.0595995924522,0.999999797508,-8.26755732675e-05,-0.000628116705998,-6.01433276525e-05,1793239410779813376
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.904375839,745.904375839,715,680,659,631,880.904375839,785,804.904375839,652,630,652.904375839,0.451267189353,-0.00555761262072,0.0595996027474,0.999999797327,-8.17743502231e-05,-0.000628527723885,-6.00947640364e-05,1793239410796479232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.516042935,745.516042935,715,680.483957065,659,631,880.516042935,785,805,652,630,653,0.451266195279,-0.00555628250043,0.0595991152521,0.999999797034,-7.98991878895e-05,-0.000629221329426,-6.02356676136e-05,1793239410813145856
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.06328411,745.06328411,715,681,659,631,880.06328411,784.93671589,805,652,630,653,0.451265199295,-0.00555471800149,0.0595985300078,0.999999796735,-7.82366181167e-05,-0.000629886548059,-6.04346177959e-05,1793239410829812224
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.640617885,745.640617885,715,681,659,631,880.640617885,784.359382115,805,652,630,653,0.45126529216,-0.00555403917287,0.059597949633,0.999999796596,-7.9863928731e-05,-0.000629867675591,-6.08010097788e-05,1793239410846479360
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.782618589,746,715,681,659,631,880.782618589,784.217381411,805,652,630,653,0.45126175347,-0.00555366040684,0.0595961358658,0.999999795166,-8.06360151917e-05,-0.000632025397076,-6.09140942883e-05,1793239410863146240
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.206795409,746,715,681,659,631,880.206795409,784.793204591,805,652,630,653,0.451252226685,-0.00555377641624,0.0595922883489,0.999999791587,-7.99979162472e-05,-0.00063777211994,-6.06094982501e-05,1793239410879812864
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.622700264,659,631.377299736,880,785,805,652,630,652.622700264,0.451229095528,-0.00555429263764,0.0595821551404,0.999999781597,-8.03527345581e-05,-0.000653193867415,-6.07292535659e-05,1793239410896479488
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.033969628,659,631.966030372,880,785,805,652,630,652.033969628,0.451198340765,-0.00555503312951,0.0595684995612,0.999999767669,-8.1263962894e-05,-0.000674037297122,-6.10868064767e-05,1793239410913145856
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.545497957,746,715,680.545497957,659,631.454502043,880,785,805,651.454502043,630,652.545497957,0.451145281187,-0.00555298169111,0.0595516290796,0.999999752152,-7.96739169638e-05,-0.000696779655591,-6.20206742088e-05,1793239410929812224
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.876183446,745.876183446,715,681,659,631.123816554,880,785,805,651.123816554,630,652.876183446,0.451086924244,-0.0055506450662,0.059535347878,0.999999736817,-7.80554639361e-05,-0.000718550916697,-6.29060907556e-05,1793239410946478848
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.299990292,745.299990292,715,681,659,631.700009708,880,785,805,651.700009708,630,652.299990292,0.451014202863,-0.00554789109497,0.0595219389074,0.999999723923,-7.68928092271e-05,-0.000736349350634,-6.34855526538e-05,1793239410963145728
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.28117806,745.28117806,715,681,659,631.71882194,880.28117806,785,805,651.71882194,630,652.28117806,0.450936817532,-0.00554440369232,0.0595135333984,0.999999715954,-7.41901308104e-05,-0.000747353813468,-6.36451911232e-05,1793239410979812352
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.867750053,745.867750053,715,681,659,631.132249947,880.867750053,785,805,651.132249947,630,652.867750053,0.450854366583,-0.00554011969317,0.0595105622644,0.999999713571,-6.98147974389e-05,-0.000750979187694,-6.33488497257e-05,1793239410996479232
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.550951196,746,715,681,659,631,880.550951196,785,805,651.449048804,630.449048804,653,0.45075779704,-0.00553749458952,0.059510566531,0.999999714686,-6.75454308648e-05,-0.000749747858718,-6.28043878582e-05,1793239411013145856
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,631,880,785,805,651.97129399,631,652.97129399,0.450655706724,-0.00553528284549,0.0595115314182,0.999999716812,-6.58836754069e-05,-0.000747107906957,-6.21709649248e-05,1793239411029812480
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,631,880,785,805,651.393673888,631,652.393673888,0.450526636336,-0.00553174149313,0.0595143033754,0.999999718881,-6.41182599727e-05,-0.000744566036473,-6.12175375061e-05,1793239411046479104
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.817250937,715,680.817250937,659.182749063,631.182749063,880.182749063,785,804.817250937,651.182749063,631,652.182749063,0.450384162162,-0.00552795555885,0.0595154984661,0.999999718917,-6.19095543758e-05,-0.000744799347248,-6.00587179859e-05,1793239411063145472
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.243390148,715,680.243390148,659.756609852,631.756609852,880.756609852,785,804.243390148,651.756609852,631,652.756609852,0.450213001795,-0.00552364618125,0.0595133188143,0.999999714586,-5.87521383676e-05,-0.000750971982514,-5.84603272008e-05,1793239411079812096
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.659576848,632,881,785,804.340423152,652,630.659576848,653,0.450027671034,-0.00551843975257,0.0595108057824,0.999999711086,-5.36468793878e-05,-0.000756098305445,-5.71461295461e-05,1793239411096478976
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.219405008,745.780594992,715,679,663,635,879,787.780594992,804,652.780594992,631.780594992,653,0.40097870705,-0.0053693922396,0.0598415730637,0.99999993971,0.000223575405492,-0.000265335005827,1.386023087e-05,1793239412746479104
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.687410627,715,679.312589373,663,636,879,788,803.687410627,652,631.687410627,652.687410627,0.400975822683,-0.00536773617804,0.0598422847742,0.999999939545,0.00022556012642,-0.000264287995932,1.35730554552e-05,1793239412829812480
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2046b65ba8b40eb793ffb0b94ebdcb7f17b5d0e5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,421 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b812c80176e0a8a6f5360d7386c25298f775fcf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab2bef373219ce3e9236c6291ebe11e174e076378517e2ceea0c9cec23c05248
+size 26176032
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1910cb2aca657053faf4edd4b4815759cf2bd154
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
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+14,0.233333333,BASELINE,766,745.880508815,714.880508815,679,665.880508815,636,880,788,804,653,631.119491185,652.119491185,0.40094000747,-0.0054362658342,0.0499339163998,0.999999974503,6.89998271219e-05,-0.000213439928482,-2.60212631728e-05,1793239414737666816
+15,0.250000000,BASELINE,766,745.300902322,714.300902322,679,665.300902322,636,880,788,804,653,631.699097678,652.699097678,0.400939196012,-0.0054357931845,0.0499332753782,0.999999974091,6.93003482132e-05,-0.000215263824166,-2.60130632291e-05,1793239414754333440
+16,0.266666667,BASELINE,766,745,714,679,665.276375773,636,880,788,803.723624227,652.723624227,631.723624227,652.723624227,0.400938697401,-0.00543503740927,0.0499328714537,0.999999973893,7.0345956949e-05,-0.000215834971061,-2.60745477341e-05,1793239414771000576
+17,0.283333333,BASELINE,766,745,714,679,665.851139983,636,880,788,803.148860017,652.148860017,631.148860017,652.148860017,0.400938536555,-0.00543397595827,0.0499327235103,0.999999973926,7.21959977502e-05,-0.000215053590631,-2.62112668872e-05,1793239414787667456
+18,0.300000000,BASELINE,766.43583442,745,714.43583442,679,666,636,879.56416558,788,803,652.43583442,631,652.43583442,0.400937577996,-0.00543588800351,0.0499323943055,0.999999973985,6.95640681629e-05,-0.000215668227924,-2.60256093435e-05,1793239414804334080
+19,0.316666667,BASELINE,766.976375535,745,715,678.976375535,666,636,879,788,803,653,631.023624465,653,0.400936386793,-0.00543865377097,0.0499320059805,0.999999974028,6.56396404373e-05,-0.000216732520106,-2.57508136786e-05,1793239414821000448
+20,0.333333333,BASELINE,766.397404161,745,715,678.397404161,666,636,879,788,803,653,631.602595839,653,0.400936280865,-0.00543705752646,0.0499317171696,0.999999973816,6.81566505047e-05,-0.000216897080797,-2.60293194365e-05,1793239414837667072
+21,0.350000000,BASELINE,766,745,714.81977455,678.18022545,665.81977455,636,879,788,803,653,632,653,0.400936530995,-0.00543581927046,0.0499318047171,0.999999973739,7.00245661645e-05,-0.000216649067696,-2.61166240149e-05,1793239414854333440
+22,0.366666667,BASELINE,766,745,714.245081791,678.754918209,665.245081791,636,879,788,803,653,632,653,0.400937560448,-0.00543536455973,0.0499327160169,0.999999973965,7.04717802338e-05,-0.000215498036308,-2.57854381905e-05,1793239414871000064
+23,0.383333333,BASELINE,766,745,714,679,665,635.669937614,879,788,803,653,631.669937614,652.669937614,0.400938409945,-0.00543507956601,0.0499332838735,0.999999974178,7.03392782067e-05,-0.00021454578015,-2.58129139563e-05,1793239414887666944
+24,0.400000000,BASELINE,766,745,714,679,665,635.094457725,879,788,803,653,631.094457725,652.094457725,0.400939125637,-0.00543492076512,0.0499335963635,0.999999974382,6.97757289985e-05,-0.000213741322962,-2.61070720946e-05,1793239414904333824
+25,0.416666667,BASELINE,766,745,714,678.507461435,665,635,879.492538565,788,803,652.507461435,631.492538565,652.492538565,0.400939053933,-0.00543566289205,0.0499340411898,0.999999974541,6.79273765272e-05,-0.000213596746533,-2.61000274498e-05,1793239414921000448
+26,0.433333333,BASELINE,766,745,714.080444316,678.080444316,665.080444316,635.080444316,879.919555684,787.919555684,803.080444316,652.080444316,631.919555684,653,0.40093892172,-0.00543621795839,0.0499344330121,0.999999974635,6.67011816985e-05,-0.000213546085091,-2.60430429585e-05,1793239414937667072
+27,0.450000000,BASELINE,766,745,714.659962556,678.659962556,665.659962556,635.659962556,879.340037444,787.340037444,803.659962556,652.659962556,631.340037444,653,0.400939373357,-0.00543451493816,0.0499343347784,0.999999974405,7.09000631186e-05,-0.00021327415928,-2.60431781794e-05,1793239414954333696
+28,0.466666667,BASELINE,766,745,715,679,665.762230634,636,879.237769366,787.475538732,803.762230634,652.762230634,631,652.762230634,0.400940188951,-0.0054341979909,0.0499345195775,0.999999974425,7.27979266904e-05,-0.000212557308881,-2.58723976017e-05,1793239414971000320
+29,0.483333333,BASELINE,766,745,715,679,665.186853909,636,879.813146091,788.626292181,803.186853909,652.186853909,631,652.186853909,0.400941521323,-0.0054358491208,0.0499351062532,0.99999997482,7.14285879742e-05,-0.000211208712635,-2.54589346631e-05,1793239414987666944
+30,0.500000000,BASELINE,766,745,714.6122977,679,665.3877023,636,880,788.6122977,803.3877023,652.3877023,631,652.3877023,0.400940539592,-0.00543645493063,0.0499341525519,0.999999974789,6.97658694209e-05,-0.000211912789115,-2.54499450418e-05,1793239415004333568
+31,0.516666667,BASELINE,766,745,714.038136121,679,665.961863879,636,880,788.038136121,803.961863879,652.961863879,631,652.961863879,0.400938444928,-0.00543655801027,0.0499324580306,0.999999974549,6.7962054522e-05,-0.000213604066063,-2.56354804662e-05,1793239415021000704
+32,0.533333333,BASELINE,766,745,714.556353148,679,666,636,879.443646852,788,804,653,631,653,0.400937342904,-0.00543634874639,0.049932096507,0.999999974245,6.76585848879e-05,-0.000215113024624,-2.5666801166e-05,1793239415037667072
+33,0.550000000,BASELINE,766,745,714.853422572,679,665.853422572,636,879.146577428,788,803.853422572,653,631,653,0.400936983523,-0.00543604881309,0.0499320324135,0.999999974065,6.74889665496e-05,-0.000215984605389,-2.57865177005e-05,1793239415054333440
+34,0.566666667,BASELINE,766,745,714.279836321,679,665.279836321,636,879.720163679,788,803.279836321,653,631,653,0.400938581867,-0.00543554947912,0.0499325585121,0.999999974265,6.73983179507e-05,-0.000215037167004,-2.61957115887e-05,1793239415071000320
+35,0.583333333,BASELINE,766,745.295271607,714,679,665.295271607,636,880.295271607,788,803,653,631,652.704728393,0.400939015988,-0.00543569426517,0.0499328984729,0.999999974366,6.7412804858e-05,-0.000214553006824,-2.6292799706e-05,1793239415087667200
+36,0.600000000,BASELINE,766,745.871829207,714,679,665.871829207,636,880.871829207,788,803,653,631,652.128170793,0.400938341031,-0.00543645266227,0.0499330611124,0.999999974372,6.75274474912e-05,-0.000214510181447,-2.60925650697e-05,1793239415104333824
+37,0.616666667,BASELINE,766,745.541595993,714,678.541595993,666,636,880.541595993,788,803,653,631.458404007,652.458404007,0.400939023867,-0.00543594969993,0.0499332362038,0.999999974369,6.91570949602e-05,-0.000213990554874,-2.62148699749e-05,1793239415121000192
+38,0.633333333,BASELINE,766,745,714.04700294,678.04700294,666,635.95299706,879.95299706,788,803,653,631.95299706,653,0.400939856509,-0.0054351808398,0.049933343184,0.999999974336,7.10203262082e-05,-0.000213515709058,-2.63733638607e-05,1793239415137666560
+39,0.650000000,BASELINE,766,745,714.626101367,678.626101367,666,635.373898633,879.373898633,788,803,653,631.373898633,653,0.40093799128,-0.00543548357718,0.0499326388189,0.999999974039,7.06253691601e-05,-0.000215090703355,-2.58978148488e-05,1793239415154333440
+40,0.666666667,BASELINE,766,745.203991835,715,679,665.796008165,635.203991835,879,788,803,652.796008165,631,653,0.400937217878,-0.00543554786197,0.0499323682251,0.999999973922,7.04283474994e-05,-0.000215730932621,-2.55933418557e-05,1793239415171000064
+41,0.683333333,BASELINE,766,745.779681222,715,679,665.220318778,635.779681222,879,788,803,652.220318778,631,653,0.400938433918,-0.00543517765758,0.0499328880144,0.99999997414,7.05919878425e-05,-0.000214667907969,-2.5600589884e-05,1793239415187666944
+42,0.700000000,BASELINE,766,746,715,679,665.354792696,635.645207304,879.354792696,788,803,652.354792696,631,653,0.400938681906,-0.00543481709016,0.0499329949671,0.99999997424,7.02874041532e-05,-0.000214280191411,-2.57683907585e-05,1793239415204333824
+43,0.716666667,BASELINE,766,746,715,679,665.929545862,635.070454138,879.929545862,788,803,652.929545862,631,653,0.400938329731,-0.00543446249737,0.0499328459737,0.999999974268,6.96925360784e-05,-0.000214311144965,-2.6035729418e-05,1793239415221000448
+44,0.733333333,BASELINE,766,745.479723703,715,679,666,635.520276297,879.479723703,788,803.520276297,652.479723703,631,653,0.400938488584,-0.00543616023454,0.0499329191523,0.999999974275,6.90616999102e-05,-0.000214517895646,-2.57469850866e-05,1793239415237667840
+45,0.750000000,BASELINE,766,745,715,679,666,636,879.110322138,788,804,652.110322138,631,653,0.400938570151,-0.00543768512998,0.0499328435769,0.999999974222,6.873704439e-05,-0.000214901145897,-2.546996862e-05,1793239415254334976
+46,0.766666667,BASELINE,766,745,715,679,666,636,879.688011407,788,804,652.688011407,631,653,0.400938021846,-0.00543726312286,0.0499320063296,0.999999973929,6.97307762088e-05,-0.000215928070279,-2.55717554209e-05,1793239415271001600
+47,0.783333333,BASELINE,766,745.264332042,714.735667958,679,666,636,880,788,803.735667958,652.735667958,631,653,0.400937772399,-0.00543659093136,0.0499315695056,0.999999973784,7.06296728302e-05,-0.000216312848407,-2.55405255678e-05,1793239415287667968
+48,0.800000000,BASELINE,766,745.839045688,714.160954312,679,666,636,880,788,803.160954312,652.160954312,631,653,0.400937873872,-0.00543562497056,0.0499316028629,0.999999973813,7.14172130449e-05,-0.000215943611441,-2.5353106103e-05,1793239415304333824
+49,0.816666667,BASELINE,766.422469133,746,714.422469133,678.577530867,665.577530867,636,879.577530867,788,803.422469133,652.422469133,631.422469133,653,0.400939100402,-0.00543644690709,0.0499325720639,0.999999974355,6.91118023161e-05,-0.000214171760575,-2.53636874054e-05,1793239415321000448
+50,0.833333333,BASELINE,766.990831397,746,715,678.009168603,665.009168603,636,879.009168603,788,803.990831397,653,631.990831397,653,0.400940705003,-0.00543790977769,0.0499338603857,0.999999975058,6.57207502441e-05,-0.000211934506286,-2.54524065746e-05,1793239415337666816
+51,0.850000000,BASELINE,766.411107327,746,715,678.588892673,665.588892673,636,879.588892673,788,803.411107327,653,631.411107327,653,0.400938601955,-0.00543597703044,0.0499323529539,0.999999974201,6.96435540156e-05,-0.000214689271276,-2.5610489599e-05,1793239415354333696
+52,0.866666667,BASELINE,766,745.832850972,715,679,666,636,880,788,803,653,631,653,0.400937466858,-0.00543510132268,0.0499315113642,0.999999973731,7.19423284256e-05,-0.0002161084648,-2.56820256559e-05,1793239415371000320
+53,0.883333333,BASELINE,766,745.258173109,715,679,666,636,880,788,803,653,631,653,0.400938691737,-0.00543680280068,0.0499322931753,0.999999974248,7.02815295254e-05,-0.000214271379095,-2.55425500993e-05,1793239415387666688
+54,0.900000000,BASELINE,766,745,714.693879194,679,665.693879194,636,879.693879194,788,803,653,631.306120806,653,0.40093860267,-0.00543699652244,0.0499319043069,0.999999974236,6.92776529863e-05,-0.000214640553566,-2.56397850864e-05,1793239415404333568
+55,0.916666667,BASELINE,766,745,714.138055498,679,665.138055498,636,879.138055498,788,803,653,631.861944502,653,0.400937441817,-0.00543596036664,0.0499305605146,0.999999973793,6.88096284173e-05,-0.000216809375622,-2.59301049857e-05,1793239415421000192
+56,0.933333333,BASELINE,766,745,714.462098495,679,665,636,879,788,803.462098495,653,631.537901505,653,0.400938059567,-0.00543522193019,0.0499314663869,0.999999973987,6.88274558064e-05,-0.00021589525216,-2.60264686918e-05,1793239415437667072
+57,0.950000000,BASELINE,766,745,715,679,665.072498867,636,879.072498867,788,803.927501133,653,631,652.927501133,0.400939001845,-0.00543486224327,0.0499328466172,0.999999974319,6.8971447479e-05,-0.000214306068236,-2.60190753626e-05,1793239415454333696
+58,0.966666667,BASELINE,766,745,715,679,665.65210153,636,879.65210153,788,803.34789847,653,631,652.34789847,0.400938102935,-0.00543646361243,0.0499323448314,0.999999974158,6.88748922214e-05,-0.000215121143189,-2.57342579418e-05,1793239415471000320
+59,0.983333333,BASELINE,766,745.229940684,715,679,665.770059316,635.770059316,879.770059316,788,803,653,631.229940684,652,0.400937796555,-0.00543715955351,0.0499321440245,0.999999974129,6.8297444096e-05,-0.000215456658913,-2.56220478213e-05,1793239415487666688
+60,1.000000000,BASELINE,766,745.805132057,715,679,665.194867943,635.194867943,879.194867943,788,803,653,631.805132057,652,0.400938379842,-0.00543649601522,0.0499323951307,0.999999974296,6.69979462929e-05,-0.000215072127521,-2.57690035794e-05,1793239415504333568
+61,1.016666667,BASELINE,766,745.611625139,714.611625139,679,665.776749723,635.388374861,879.388374861,788,803,653,631.611625139,652.388374861,0.400939250987,-0.00543727147745,0.0499327708006,0.999999974596,6.62308809387e-05,-0.000213929541321,-2.5590849919e-05,1793239415521000448
+62,1.033333333,BASELINE,766,745.024257024,714.024257024,679,666.951485953,635.975742976,879.975742976,788,803,653,631.024257024,652.975742976,0.400940269624,-0.00543878424644,0.0499332102939,0.999999974964,6.57366203048e-05,-0.000212398547429,-2.52461185764e-05,1793239415537667328
+63,1.050000000,BASELINE,766,745.555577113,714.555577113,679,666.444422887,636,879.444422887,788,803,653,631.555577113,653,0.400938420011,-0.00543886476076,0.0499315102625,0.999999974381,6.5439694542e-05,-0.000215216943611,-2.52406470411e-05,1793239415554333952
+64,1.066666667,BASELINE,766,746,715,679,665.865578594,636,879,788,803.134421406,653,631.865578594,653,0.40093741581,-0.00543855649386,0.0499306369233,0.999999974038,6.56954762197e-05,-0.000216726292605,-2.52682112702e-05,1793239415571000576
+65,1.083333333,BASELINE,766,746,715,679,665.288923121,636,879,788,803.711076879,653,631.288923121,653,0.400939599423,-0.00543717214982,0.049932786536,0.999999974633,6.77416485282e-05,-0.000213312606619,-2.53563806643e-05,1793239415587667200
+66,1.100000000,BASELINE,766,745.712711773,715,679,665.287288227,636,879,788,803.712711773,653,631,653,0.400939910989,-0.00543627980942,0.0499334034082,0.99999997471,6.92140637901e-05,-0.000212449663318,-2.55665621266e-05,1793239415604333824
+67,1.116666667,BASELINE,766,745.13694642,715,679,665.86305358,636,879,788,803.13694642,653,631,653,0.400938342761,-0.00543588150882,0.0499324811968,0.999999974277,7.01103474781e-05,-0.000214148018764,-2.58992605801e-05,1793239415621000448
+68,1.133333333,BASELINE,766,745,715,679,666,636,879.447022376,788,803,653,631,653,0.400939239055,-0.00543575109367,0.0499325403644,0.999999974308,7.04527773111e-05,-0.00021389487925,-2.58889251109e-05,1793239415637667072
+69,1.150000000,BASELINE,765.966652224,745,715,678.966652224,665.966652224,636,879.966652224,788,803,653,631,652.966652224,0.400940730582,-0.00543569748956,0.0499328791249,0.999999974473,7.06521538133e-05,-0.000213068261051,-2.57751951488e-05,1793239415654333696
+70,1.166666667,BASELINE,765.383681956,745,715,678.383681956,665.383681956,636,879.383681956,788,803,653,631,652.383681956,0.400939356082,-0.00543553196704,0.0499327782306,0.999999974477,7.13425666816e-05,-0.000212827447201,-2.57217775844e-05,1793239415671000576
+71,1.183333333,BASELINE,765.195038826,745,714.804961174,678.195038826,665,636,879.195038826,788,803.195038826,652.804961174,631.195038826,652.195038826,0.400938345588,-0.00543529496204,0.0499324991393,0.999999974411,7.1658967853e-05,-0.000213041724837,-2.56310178376e-05,1793239415687667456
+72,1.200000000,BASELINE,765.765578339,745,714.234421661,678.765578339,665,636,879.765578339,788,803.765578339,652.234421661,631.765578339,652.765578339,0.4009380359,-0.0054349203346,0.049931876972,0.999999974211,7.12552989311e-05,-0.00021413217242,-2.5468364626e-05,1793239415704333824
+73,1.216666667,BASELINE,766,745,714.341101567,678.658898433,665,636,880,788,803.658898433,652.341101567,631.658898433,653,0.400938617807,-0.00543511240253,0.0499319146478,0.999999974323,7.01750405066e-05,-0.000213957381358,-2.55163925392e-05,1793239415721000448
+74,1.233333333,BASELINE,766,745,714.920100597,678.079899403,665,636,880,788,803.079899403,652.920100597,631.079899403,653,0.400939821547,-0.00543569970584,0.0499324125239,0.999999974652,6.86229023431e-05,-0.00021290016372,-2.57113576505e-05,1793239415737667328
+75,1.250000000,BASELINE,766,745,715,678.507710003,665.507710003,636,879.492289997,788,803.507710003,653,631,653,0.400939606713,-0.00543659065655,0.0499323328319,0.999999974495,6.78169699773e-05,-0.000213904567595,-2.55973198426e-05,1793239415754333696
+76,1.266666667,BASELINE,766,745.095474823,715,678.904525177,666,636,879.095474823,788,803.904525177,653,631.095474823,653,0.400939190463,-0.00543727552653,0.0499321143012,0.999999974289,6.75717530694e-05,-0.000214956424111,-2.54913989378e-05,1793239415771000064
+77,1.283333333,BASELINE,766,745.677013342,715,678.322986658,666,636,879.677013342,788,803.322986658,653,631.677013342,653,0.400938904951,-0.00543666376219,0.049931659662,0.99999997423,6.95729846978e-05,-0.000214569629541,-2.56786404255e-05,1793239415787666688
+78,1.300000000,BASELINE,766,746,715,678.254752171,665.745247829,636,880,788,803,652.745247829,631.745247829,653,0.400939040875,-0.00543609969923,0.0499318028895,0.999999974222,7.08870087578e-05,-0.000214170998753,-2.57294648451e-05,1793239415804333568
+79,1.316666667,BASELINE,766,746,715,678.827744328,665.172255672,636,880,788,803,652.172255672,631.172255672,653,0.400939703263,-0.00543559522555,0.0499326929805,0.999999974281,7.13425633292e-05,-0.000213757582023,-2.56098751346e-05,1793239415821000448
+80,1.333333333,BASELINE,766,746,715,679,665.41118064,636,880,787.58881936,803.41118064,652.41118064,631.41118064,652.58881936,0.400939380288,-0.00543627783463,0.0499325428485,0.999999974271,7.03019336529e-05,-0.000214169262854,-2.54250695148e-05,1793239415837667328
+81,1.350000000,BASELINE,766,746,715,679,665.9991064,636,880,787.0008936,803.9991064,652.9991064,631.9991064,652.0008936,0.400938633758,-0.00543747070867,0.0499319455789,0.999999974229,6.86181724159e-05,-0.000214935610073,-2.52122309656e-05,1793239415854334208
+82,1.366666667,BASELINE,766,745.421765442,714.421765442,679,665.421765442,636,879.421765442,787.578234558,803.421765442,652.421765442,631.421765442,652.578234558,0.400937548798,-0.00543692161903,0.0499313048654,0.999999973986,6.76390566675e-05,-0.000216370344021,-2.52432133469e-05,1793239415871000576
+83,1.383333333,BASELINE,766,745,714.157390109,679,665.157390109,636,879,788,803,652,631.157390109,653,0.400937089775,-0.00543633154056,0.049930920948,0.99999997388,6.7530848354e-05,-0.000216885972515,-2.52891983659e-05,1793239415887667200
+84,1.400000000,BASELINE,766,745,714.736655108,679,665.736655108,636,879,788,803,652,631.736655108,653,0.400938309918,-0.00543563870147,0.0499312255343,0.999999974147,6.97541806312e-05,-0.000214935266249,-2.5374402224e-05,1793239415904333568
+85,1.416666667,BASELINE,766,745,715,678.696745178,666,636,879,788,803.303254822,652.303254822,632,653,0.400938297362,-0.00543579405288,0.0499312993611,0.99999997426,6.94654622835e-05,-0.00021448859906,-2.54886560816e-05,1793239415921000448
+86,1.433333333,BASELINE,766,745,715,678.140703034,666,636,879,788,803.859296966,652.859296966,632,653,0.400937257253,-0.00543665643945,0.0499311808313,0.999999974245,6.70827472481e-05,-0.000215295669717,-2.56271254489e-05,1793239415937667072
+87,1.450000000,BASELINE,766,745.45539376,714.54460624,678.45539376,666,636,879,788,804,653,632,653,0.400936941877,-0.00543642613725,0.0499310307086,0.999999974094,6.83516734022e-05,-0.000215587815803,-2.57344795677e-05,1793239415954333952
+88,1.466666667,BASELINE,766,746,714.061841236,679,665.938158764,636,879.061841236,788,803.938158764,653,632,653,0.400936986077,-0.00543608479003,0.0499309019458,0.999999973949,7.02929525798e-05,-0.000215626842606,-2.57877080288e-05,1793239415971000832
+89,1.483333333,BASELINE,766,746,714.641347171,679,665.358652829,636,879.641347171,788,803.358652829,653,632,653,0.400937985057,-0.00543791251387,0.0499310415746,0.999999974283,6.7507194148e-05,-0.000215007249557,-2.54760935701e-05,1793239415987667456
+90,1.500000000,BASELINE,766,745.780887615,715,679,665.219112385,636,880,788,803.219112385,652.780887615,632,653,0.400939209414,-0.00543891628826,0.0499314967546,0.999999974644,6.54185232811e-05,-0.000213994773396,-2.52902787474e-05,1793239416004333824
+91,1.516666667,BASELINE,766,745.205949287,715,679,665.794050713,636,880,788,803.794050713,652.205949287,632,653,0.40094079977,-0.00543858201582,0.0499324643718,0.999999975057,6.44618829044e-05,-0.000212344277662,-2.5308755348e-05,1793239416021000448
+92,1.533333333,BASELINE,766.36686325,745.36686325,715,679,666,636,879.63313675,788,804,652.36686325,631.63313675,653,0.400940893574,-0.00543804840798,0.0499326247777,0.999999975002,6.55543999019e-05,-0.000212256081708,-2.54035220183e-05,1793239416037667072
+93,1.550000000,BASELINE,766.938489341,745.938489341,715,679,666,636,879.061510659,788,804,652.938489341,631.061510659,653,0.400940152085,-0.00543740354208,0.0499323346428,0.999999974683,6.77906434864e-05,-0.000213039875207,-2.55408696013e-05,1793239416054333696
+94,1.566666667,BASELINE,766.467650478,746,715,679,666,636,879,787.467650478,803.467650478,653,631.532349522,653,0.400939954498,-0.00543767138923,0.0499322196575,0.999999974687,6.70714985113e-05,-0.00021325305015,-2.55086745041e-05,1793239416071000576
+95,1.583333333,BASELINE,766,746,715,679,665.875512023,636,879.124487977,787.124487977,803.124487977,652.875512023,631.875512023,653,0.40093980541,-0.00543778686034,0.0499320545443,0.99999997469,6.64440834789e-05,-0.000213439063605,-2.54780381179e-05,1793239416087667456
+96,1.600000000,BASELINE,766,746,715,679,665.299347791,636,879.700652209,787.700652209,803.700652209,652.299347791,631.299347791,653,0.400939594331,-0.00543695015446,0.0499316309246,0.99999997455,6.74424828742e-05,-0.000213776175576,-2.55272327007e-05,1793239416104334336
+97,1.616666667,BASELINE,766,745.723398076,715,679,665.276601924,636,879.723398076,788,804,652.276601924,631.276601924,653,0.400939819059,-0.00543667819144,0.0499318498861,0.999999974638,6.7622720152e-05,-0.000213310496894,-2.54997808846e-05,1793239416121000960
+98,1.633333333,BASELINE,766,745.147680371,715,679,665.852319629,636,879.147680371,788,804,652.852319629,631.852319629,653,0.400940515066,-0.00543701693828,0.0499327637314,0.999999974972,6.69182014123e-05,-0.00021197668485,-2.53894440765e-05,1793239416137667328
+99,1.650000000,BASELINE,766,745,715,679,665.563391051,636,879.873217899,788,804,653,631.563391051,653,0.40094132253,-0.00543637738073,0.0499334692545,0.999999975096,6.76306237592e-05,-0.000211149540839,-2.54785364482e-05,1793239416154334208
+100,1.666666667,BASELINE,766.023545481,745.023545481,715,679,665.023545481,636,880.952909037,788,804,653,631.023545481,653,0.400942073877,-0.00543543770134,0.0499340406516,0.999999975133,6.88000764728e-05,-0.000210579501718,-2.56375805264e-05,1793239416171000832
+101,1.683333333,BASELINE,766.603157644,745.603157644,715,679,665.603157644,636,879.793684713,788,804,653,631.603157644,653,0.400940591754,-0.00543538152911,0.0499331418828,0.999999974809,6.92175949474e-05,-0.00021195301207,-2.58236693252e-05,1793239416187667712
+102,1.700000000,BASELINE,766.818857989,745.818857989,715,679,665.818857989,636,879,788,804,652.818857989,632,653,0.40093952341,-0.00543566986174,0.0499323210618,0.999999974604,6.9271187328e-05,-0.000212895454016,-2.58814166068e-05,1793239416204334336
+103,1.716666667,BASELINE,766.244408075,745.244408075,715,679,665.244408075,636,879,788,804,652.244408075,632,653,0.400939353494,-0.00543670620685,0.0499316694866,0.999999974659,6.85345984734e-05,-0.000212901930631,-2.56605e-05,1793239416221000960
+104,1.733333333,BASELINE,766,745,715,679,665.337682963,636.337682963,879.337682963,788,804,652,632,653,0.400939562148,-0.00543694536175,0.0499318794552,0.999999974758,6.84864118254e-05,-0.000212471920501,-2.54892923258e-05,1793239416237667840
+105,1.750000000,BASELINE,766,745,715,679,665.925432594,636.925432594,879.925432594,788,804,652,632,653,0.400940051147,-0.00543659416806,0.0499327274286,0.999999974889,6.89480122836e-05,-0.000211718675865,-2.53548959237e-05,1793239416254335232
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,653,631,653,0.400941291888,-0.00543636491421,0.0499338227443,0.99999997522,6.76182426463e-05,-0.000210630290833,-2.49715606708e-05,1793239416285184512
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.576620972,715,679.576620972,665.423379028,636,879.423379028,788,803.423379028,653,631.576620972,652.423379028,0.400939920234,-0.00543648320171,0.0499324514287,0.999999974821,6.73931611799e-05,-0.000212533691465,-2.54257948739e-05,1793239416301850880
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.84705228,715,679.84705228,665,636,879,788,803,653,632,652,0.400938841978,-0.00543677698281,0.0499313625739,0.999999974528,6.67994467545e-05,-0.000214060228608,-2.5672265224e-05,1793239416318517248
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.271538291,715,679.271538291,665,636,879,788,803,653,632,652,0.400938574327,-0.0054375556203,0.0499310541059,0.999999974539,6.51872675752e-05,-0.000214545562047,-2.5344722568e-05,1793239416335183360
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.311989428,665.311989428,636,879.311989428,788,803,653,631.688010572,652,0.400938768946,-0.00543769242319,0.0499310455768,0.99999997455,6.48170191945e-05,-0.000214619429457,-2.52395359003e-05,1793239416351849984
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.902675692,665.902675692,636,879.902675692,788,803,653,631.097324308,652,0.400939376506,-0.00543725588203,0.04993130498,0.999999974563,6.55561744796e-05,-0.000214325738613,-2.53329774908e-05,1793239416368516608
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.515982946,665.515982946,636,879.515982946,788,803,653,631.484017054,652.484017054,0.400941037624,-0.00543633000632,0.0499318925071,0.999999974706,6.83336690644e-05,-0.000212771057351,-2.54349151661e-05,1793239416385183488
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665.062858512,635.937141488,879,788,803.062858512,652.937141488,632,653,0.400943803853,-0.00543553735686,0.0499328028092,0.999999975043,7.07738548084e-05,-0.000210362300919,-2.55361117645e-05,1793239416401850368
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.636367062,635.363632938,879,788,803.636367062,652.363632938,632,653,0.400953859381,-0.0054366112,0.0499358094324,0.999999976802,6.72072449941e-05,-0.000203036023633,-2.56176725019e-05,1793239416418516736
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665.78944912,635.21055088,879.21055088,788,804,652,631.78944912,653,0.400968421703,-0.00543789856409,0.0499397135796,0.999999979009,6.45071756473e-05,-0.00019279788035,-2.55067907007e-05,1793239416435183104
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665.214095382,635.785904618,879.785904618,788,804,652,631.214095382,653,0.400990792545,-0.00543955587693,0.0499451727867,0.999999981926,6.33084845685e-05,-0.000177514605562,-2.50624807516e-05,1793239416451849728
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714.627103162,679,665,636,880,788,803.627103162,652.372896838,631,653,0.401021497282,-0.00544043375434,0.0499506793294,0.999999985039,6.4106693622e-05,-0.00015873481824,-2.48250784111e-05,1793239416468516352
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714.033213482,679,665,636,880,788,803.033213482,652.966786518,631,653,0.401057141002,-0.00544084970883,0.0499562139257,0.999999988005,6.6088341481e-05,-0.000137882863159,-2.4710297337e-05,1793239416485182976
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.544595824,714.544595824,678.455404176,665.544595824,636,879.455404176,788,803.544595824,653,631.544595824,652.455404176,0.40110659417,-0.00543978550501,0.0499618988757,0.99999999111,6.58483619637e-05,-0.00011308021335,-2.56230629951e-05,1793239416501849856
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.879437209,714.879437209,678.120562791,666,636,879.120562791,787.879437209,804,652.879437209,631.879437209,652.120562791,0.401158781526,-0.00543988872016,0.0499672508996,0.999999993459,6.48997156286e-05,-9.04636221085e-05,-2.62022689488e-05,1793239416518516480
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.306806383,714.306806383,678.693193617,666,636,879.693193617,787.306806383,804,652.306806383,631.306806383,652.693193617,0.401218153752,-0.00544469812191,0.049971321173,0.999999994813,6.17872918528e-05,-7.6921512858e-05,-2.5302502359e-05,1793239416535183104
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.273471285,745,714.273471285,679,666,636,879.726528715,787.273471285,804,652.273471285,631,653,0.401285937653,-0.00544840278892,0.0499748687622,0.999999995578,5.9555483407e-05,-6.85774139152e-05,-2.43944779692e-05,1793239416551849728
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.862574665,745,714.862574665,679,666,636,879.137425335,787.862574665,804,652.862574665,631,653,0.401363430045,-0.00545083240498,0.0499778130854,0.999999995829,5.83400541267e-05,-6.62326984708e-05,-2.34769227405e-05,1793239416568516352
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+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.97328996,714.02671004,678.97328996,666,636,880,788,803.97328996,652.97328996,631,652.02671004,0.401547260109,-0.00545539397824,0.0499776392272,0.999999995837,5.68365857427e-05,-6.76824222433e-05,-2.26998990096e-05,1793239416601849856
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.395584246,714.604415754,678.395584246,666,636,880,788,803.395584246,652.395584246,631,652.604415754,0.40166643348,-0.00545996962614,0.0499762298742,0.999999995943,5.4341291727e-05,-6.84017245926e-05,-2.19607387962e-05,1793239416618516480
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,678.180075194,666,636,879.819924806,788,803.180075194,652.180075194,631,653,0.401795304973,-0.0054645734006,0.0499763431753,0.999999996139,5.24245312332e-05,-6.72994282731e-05,-2.10705162776e-05,1793239416635183104
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678.751289868,666,636,879.248710132,788,803.751289868,652.751289868,631,653,0.401945241642,-0.00546923826787,0.0499797638179,0.999999996526,5.17643977883e-05,-6.22404560904e-05,-1.98521729723e-05,1793239416651849728
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879,788,803.666074928,653,631,652.666074928,0.402112170457,-0.00547491497172,0.0499800123831,0.9999999967,4.89652920983e-05,-6.21012033743e-05,-1.85953330764e-05,1793239416668516352
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879,788,803.074632341,653,631,652.074632341,0.402292203352,-0.00548137198778,0.0499778146948,0.999999996697,4.45166461674e-05,-6.57559567531e-05,-1.7308805114e-05,1793239416685182976
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.495211939,665.495211939,636,879,788,803,652.495211939,631,652.504788061,0.402503541896,-0.00548889565037,0.0499783519589,0.999999997122,4.16826062429e-05,-6.14096473803e-05,-1.57571171037e-05,1793239416701849600
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.917928164,745,714.917928164,678.082071836,665.082071836,636,879,788,803,652.082071836,631.082071836,653,0.402724942,-0.00549655353089,0.0499796775711,0.999999997612,3.90168679315e-05,-5.52532601567e-05,-1.4202119784e-05,1793239416718516224
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.343049032,745,714.343049032,678.656950968,665.656950968,636,879,788,803,652.656950968,631.656950968,653,0.402979611945,-0.00550409242762,0.0499833653573,0.999999998251,3.59616535662e-05,-4.51659818425e-05,-1.28571762065e-05,1793239416735182848
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.237804285,745,714,679,666,636,879,787.762195715,803.237804285,652.762195715,631.762195715,652.762195715,0.403251215621,-0.00551262836395,0.0499887954106,0.999999998911,3.2013784353e-05,-3.20850771863e-05,-1.10844299028e-05,1793239416751849472
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.827497826,745,714,679,666,636,879,787.172502174,803.827497826,652.172502174,631.172502174,652.172502174,0.403547876852,-0.00552263966233,0.0499968035716,0.999999999498,2.67450154444e-05,-1.45743751302e-05,-8.67864553524e-06,1793239416768516096
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,714.409827355,678.590172645,666,635.590172645,879,787.409827355,803.590172645,652.409827355,631.409827355,652.409827355,0.403880283503,-0.00553354961629,0.0500033184101,0.999999999739,2.20645095259e-05,4.19163980945e-07,-5.9600675334e-06,1793239416785182720
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,714.989111964,678.010888036,666,635.010888036,879,787.989111964,803.010888036,652.989111964,631.989111964,652.989111964,0.404227470324,-0.00554483115015,0.0500092157826,0.999999999737,1.7627241358e-05,1.43718948225e-05,-3.11215427474e-06,1793239416801849344
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,678.564670018,666,635.564670018,879,788,803,653,631.435329982,653,0.40459912384,-0.00555182327995,0.0500136703941,0.99999999956,1.87647039453e-05,2.29908776833e-05,-2.41513795332e-08,1793239416818516224
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.140725651,745,715,678.859274349,666,636,879.140725651,788,803,652.859274349,631,653,0.404980546766,-0.00555700958976,0.050016808498,0.999999999328,2.21639257209e-05,2.90371461172e-05,3.06736676276e-06,1793239416835182848
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.718548387,745,715,678.281451613,666,636,879.718548387,788,803,652.281451613,631,653,0.405390857912,-0.00555684219131,0.0500159433396,0.999999999085,3.22565373451e-05,2.74098507736e-05,6.15551788929e-06,1793239416851849728
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.697860911,745,715,678.302139089,666,635.697860911,880,787.697860911,803,652,631,653,0.405797290342,-0.00555304866093,0.0500045212474,0.999999998858,4.68119277801e-05,5.02356247484e-06,8.23698996336e-06,1793239416868516352
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.108792538,745,715,678.891207462,666,635.108792538,880,787.108792538,803,652,631,653,0.406200039358,-0.00554581153956,0.0499830736615,0.999999997117,6.56054400481e-05,-3.70767028813e-05,9.36245996477e-06,1793239416885182976
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.527391286,745,715,678.527391286,666,635.472608714,879.527391286,787.472608714,803.472608714,652,631,653,0.406673588549,-0.00554424175785,0.0499678042546,0.999999995207,7.87863692807e-05,-5.69910158663e-05,1.14246313755e-05,1793239416901849600
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.05192504,745,714.94807496,678.05192504,666,636,879,787.94807496,804,652,631.05192504,652.94807496,0.407166902297,-0.00554450914036,0.0499553693689,0.999999993381,9.0092043118e-05,-7.02193294348e-05,1.37941711285e-05,1793239416918516224
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.627729082,745,714.372270918,678.627729082,666,636,879,787.372270918,804,652,631.627729082,652.372270918,0.407697816943,-0.00555035978267,0.0499574127352,0.999999993088,9.53050167386e-05,-6.6695479032e-05,1.71240557715e-05,1793239416935182848
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714.202595795,679,666,635.797404205,879.202595795,787.202595795,804,652,632,652,0.408253006433,-0.00555547149521,0.0499680019756,0.999999993529,0.000100637761812,-4.87604412942e-05,2.08793661936e-05,1793239416951849472
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714.775748058,679,666,635.224251942,879.775748058,787.775748058,804,652,632,652,0.408852595633,-0.0055592316729,0.0499942219892,0.999999994029,0.000106189573612,-4.46671904414e-06,2.54127985327e-05,1793239416968516096
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.359223347,715,679,666,635.359223347,880,788,804,652,631.640776653,652.359223347,0.409454848054,-0.00556130233542,0.0500095455724,0.999999994018,0.000104416606048,1.79674884445e-05,2.71904412296e-05,1793239416985182720
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.949333628,715,679,666,635.949333628,880,788,804,652,631.050666372,652.949333628,0.410058812208,-0.00556228708013,0.0500178655916,0.999999994487,9.79357153978e-05,2.63517268177e-05,2.71968296952e-05,1793239417001849344
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.471901821,715,679,666,636,879.471901821,788,804,652,631,652.471901821,0.410680045325,-0.00556074291336,0.0500037685752,0.999999994833,9.79466465628e-05,-2.3979897741e-06,2.7093539337e-05,1793239417018516224
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.895077659,745.104922341,714.895077659,679.104922341,666,636,879.104922341,787.895077659,804,652,631,652,0.411306497643,-0.0055591101145,0.0499862516474,0.999999994074,9.91756135483e-05,-3.59907482939e-05,2.68640152835e-05,1793239417035183104
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.322155484,745.677844516,714.322155484,679.677844516,666,636,879.677844516,787.322155484,804,652,631,652,0.411948995068,-0.0055581414387,0.0499628717944,0.999999991482,0.00010311787651,-7.56287185134e-05,2.6117382273e-05,1793239417051849984
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,746,714,679.741056101,666,636,880,787.258943899,803.741056101,652.258943899,631.258943899,652,0.412635981163,-0.00556064386813,0.0499609544893,0.999999991682,0.000102547603606,-7.34121732155e-05,2.70268570224e-05,1793239417068516608
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714,679.149451524,666,636,880,787.850548476,803.149451524,652.850548476,631.850548476,652,0.413380121158,-0.00556760556536,0.0499866097393,0.999999994771,9.61801555933e-05,-1.74258722345e-05,3.00639042059e-05,1793239417085183232
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.433017018,745.566982982,714.433017018,679.433017018,666,636,880,788,803.433017018,653,631.566982982,652.433017018,0.414121534323,-0.00557037632705,0.0499945131459,0.999999994997,9.46495011522e-05,-5.86379376274e-06,3.18271520567e-05,1793239417101849856
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.987629324,666,635.987629324,880.012370676,788,804,652.987629324,631,653,0.414862242589,-0.00557166376551,0.0499957241516,0.999999994912,9.47363992653e-05,-1.03001780428e-05,3.30935792332e-05,1793239417118516480
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.409500907,666,635.409500907,880.590499093,788,804,652.409500907,631,653,0.415612867708,-0.0055698984286,0.0499652816481,0.999999993308,9.40309500103e-05,-5.96789064106e-05,3.13294340708e-05,1793239417135183104
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.832848322,745.167151678,715,679,666,635.167151678,881,788,804,652.167151678,631,653,0.416375276363,-0.0055691096791,0.0499455364642,0.99999999119,9.23681066289e-05,-9.0428638281e-05,3.0176700463e-05,1793239417151849728
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.259779737,745.740220263,715,679,666,635.740220263,881,788,804,652.740220263,631,653,0.417166300518,-0.00557069250832,0.0499517690225,0.999999992746,8.83802947814e-05,-7.5939068833e-05,3.05087400563e-05,1793239417168516352
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.323509101,746,715,679.323509101,666,636,880.352981797,788,804,652.676490899,631,653,0.417977703614,-0.00557226050515,0.0499719852945,0.999999995062,8.58156717418e-05,-3.86668180773e-05,3.18707675908e-05,1793239417185182976
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.915272564,746,715,679.915272564,666,636,879.169454873,788,804,652.084727436,631,653,0.418806004926,-0.00557381620284,0.0500037968882,0.999999995702,8.44311595631e-05,1.74968746441e-05,3.40868629917e-05,1793239417201849600
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679.506224915,666,636,879.493775085,788,804.493775085,652.493775085,631.493775085,652.506224915,0.41959523547,-0.00557105578312,0.0499898563357,0.999999995311,8.90023582895e-05,-1.59605438477e-05,3.46779038039e-05,1793239417218516224
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.929965477,714.929965477,679,666,636,880,787.929965477,804.929965477,652.929965477,632,652.070034523,0.42039168629,-0.0055684104369,0.0499722002573,0.999999993599,9.30550980162e-05,-5.4075075062e-05,3.48978347778e-05,1793239417235183104
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.353902391,714.353902391,679,666,636,880,787.353902391,804.353902391,652.353902391,632,652.646097609,0.421287479926,-0.0055718077897,0.0499829387205,0.99999999554,8.61708794228e-05,-1.76313930006e-05,3.43984200874e-05,1793239417251849728
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714.227392653,679.227392653,666.227392653,636,880,787,804,652.227392653,632,653,0.422164452669,-0.00557470739704,0.0499947485992,0.999999996033,8.08355361925e-05,1.40238956195e-05,3.46730058558e-05,1793239417268516352
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714.817022308,679.817022308,666.817022308,636,880,787,804,652.817022308,632,653,0.423011443827,-0.00557681409529,0.0500082652469,0.999999995582,7.7967553906e-05,3.80512684842e-05,3.61805760452e-05,1793239417285182976
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.399616916,715,679.600383084,666.600383084,636,880,787.399616916,804.399616916,652.600383084,632,653,0.423848201602,-0.00557752655774,0.0500000966666,0.999999996132,7.68152687196e-05,2.26655235117e-05,3.63518004774e-05,1793239417301849856
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.97904599,715,679.02095401,666.02095401,636,880,787.97904599,804.97904599,652.02095401,632,653,0.424680354701,-0.00557761166789,0.0499821705715,0.999999996379,7.64349809882e-05,-1.0454601648e-05,3.59217208838e-05,1793239417318516480
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.44414839,715,679.55585161,666,635.44414839,879.44414839,787.44414839,805,652.55585161,632,652.44414839,0.425565843441,-0.00557906534252,0.0499974532801,0.99999999634,7.53688299783e-05,1.55627275631e-05,3.73799174153e-05,1793239417335183104
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.132075169,715,679.867924831,666.132075169,635.132075169,879.264150337,787.132075169,805,652.867924831,632,652.132075169,0.426446175009,-0.00558072818584,0.0500108393075,0.999999995907,7.40597962133e-05,3.43214834355e-05,3.90153425591e-05,1793239417351849728
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.706678258,715,679.293321742,666.706678258,635.706678258,880.413356516,787.706678258,805,652.293321742,632,652.706678258,0.427302522012,-0.00558291981729,0.050013695555,0.999999996338,7.20231879431e-05,2.13254418537e-05,4.10072033584e-05,1793239417368516352
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.712295389,714.712295389,679,666.712295389,636,880.712295389,788,804.712295389,652,632,653,0.428120359292,-0.00558113250128,0.0499949846617,0.999999996233,7.46466846103e-05,-1.65830903479e-05,4.10631880754e-05,1793239417385182976
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.124570857,714.124570857,679,666.124570857,636,880.124570857,788,804.124570857,652,632,653,0.428898038373,-0.00557519591728,0.0499537834374,0.999999992625,8.2129763749e-05,-8.047050129e-05,3.91004305273e-05,1793239417401849856
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.458327072,714.458327072,679,666,635.541672928,880,788,804,652,632,652.541672928,0.429759104376,-0.00557810019155,0.0499569695432,0.999999994479,7.57590972228e-05,-6.17101877719e-05,3.86482156998e-05,1793239417418516480
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,635.039505652,880,788,804.039505652,652,631.960494348,652.039505652,0.430637408662,-0.00558306775798,0.0499705842213,0.999999996724,6.64974766031e-05,-2.51630695148e-05,3.86872975575e-05,1793239417435183104
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,635.614969705,880,788,804.614969705,652,631.385030295,652.614969705,0.431445305965,-0.00558376773309,0.0499637140394,0.999999995659,6.85664494916e-05,-4.88831996192e-05,3.98797833388e-05,1793239417451849728
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.811154115,715,679,666.188845885,635.811154115,880.188845885,788,804.811154115,652,631.188845885,653,0.432255875025,-0.00558428402881,0.0499565804635,0.999999994528,6.9174963549e-05,-6.72509092892e-05,4.04492477017e-05,1793239417468516096
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.240488288,715,679,666.759511712,635.240488288,880.759511712,788,804.240488288,652,631.759511712,653,0.433071846151,-0.00558442895063,0.0499489143409,0.999999994179,6.68306347319e-05,-7.47967784514e-05,3.97590502239e-05,1793239417485182976
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666.655965586,635.344034414,881,788,804.344034414,652,631.655965586,653,0.433860925898,-0.00558480235548,0.0499605680282,0.999999995488,6.64496344349e-05,-5.45139636419e-05,4.04542312137e-05,1793239417501849600
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666.061350119,635.938649881,881,788,804.938649881,652,631.061350119,653,0.434630418978,-0.00558534217832,0.0499862935011,0.999999996736,6.74986449904e-05,-1.39618362102e-05,4.21584670437e-05,1793239417518516480
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.517942056,666.517942056,636,881,788,804.482057944,652,631.517942056,652.482057944,0.435407252961,-0.00558381445428,0.0499905331627,0.999999996461,6.9577385265e-05,-1.86143738942e-05,4.34706220737e-05,1793239417535183104
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.904758303,666.904758303,636,880.904758303,788,804.095241697,652,632,652.095241697,0.436173135188,-0.00558218661251,0.049987496913,0.999999995802,7.1871974212e-05,-3.5355394048e-05,4.45006340248e-05,1793239417551849472
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.328618226,666.328618226,636,880.328618226,788,804.671381774,652,632,652.671381774,0.436879455025,-0.00558125428141,0.0499602038438,0.999999992457,7.4658269512e-05,-8.6874887721e-05,4.43337952658e-05,1793239417568516352
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666.246865232,635.753134768,880.246865232,788,805,652,632,653,0.437615574375,-0.0055825544103,0.0499563819731,0.99999999241,7.34175671097e-05,-8.84121808124e-05,4.44228972517e-05,1793239417585183232
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666.821476894,635.178523106,880.821476894,788,805,652,632,653,0.438391256487,-0.00558681842684,0.0499837212425,0.999999996483,6.68304893971e-05,-2.35914504922e-05,4.48517946196e-05,1793239417601849856
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666.590643138,635.409356862,881,788,804.590643138,652,632,653,0.439083253018,-0.00558896959334,0.0499909282865,0.999999996861,6.39374519364e-05,-1.11277305653e-05,4.5444765887e-05,1793239417618516224
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.996881653,745,714.996881653,679,666,636,880.996881653,788,804.003118347,652,632,652.996881653,0.439737203747,-0.00559015529131,0.0499888997692,0.999999996718,6.27167023271e-05,-2.24665545072e-05,4.60977969225e-05,1793239417635182848
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.42125194,745,714.42125194,679,666,636,880.42125194,788,804.57874806,652,632,652.42125194,0.440331027157,-0.00558892210547,0.0499571909099,0.999999994504,6.28413416827e-05,-7.1340552279e-05,4.42005295872e-05,1793239417651849472
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.153466236,745,714.153466236,679.153466236,666,635.846533764,880.153466236,788,805,652,632,652,0.440923037122,-0.00558800973222,0.0499317157194,0.999999990953,6.29772275697e-05,-0.000110906977162,4.27570389671e-05,1793239417668516352
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.725697225,745,714.725697225,679.725697225,666,635.274302775,880.725697225,788,805,652,632,652,0.441510098855,-0.00558797276301,0.0499232503922,0.999999989279,6.31438023475e-05,-0.000125075752379,4.25517729238e-05,1793239417685184256
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,881,788,805,652,632,652.307774136,0.442086855732,-0.00559004003031,0.0499181410374,0.9999999889,6.04666948659e-05,-0.00012939834111,4.24180697488e-05,1793239417701851648
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,881,788,805,652,632,652.898916164,0.442654124886,-0.00559404466982,0.0499161215296,0.999999989812,5.51714068733e-05,-0.000124655537313,4.23502545793e-05,1793239417718518016
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.480059878,715,680,666,635,881,787.519940122,804.519940122,652,632,653,0.443159658909,-0.0055908538084,0.0499006411475,0.999999986467,5.68769446967e-05,-0.0001489192622,4.06799133944e-05,1793239417735184640
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665.941130784,635,881,787,804.058869216,652,632,652.941130784,0.443644398612,-0.00558656233641,0.0498797145936,0.999999980506,5.97644690412e-05,-0.000184145636958,3.88056756775e-05,1793239417751851264
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665.364713,635,881,787,804.635287,652,632,652.364713,0.444058276452,-0.00558564326999,0.0498353181682,0.999999962832,6.03480309932e-05,-0.000263149282701,3.80449249833e-05,1793239417768517120
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634.784479284,881,787,805,652,632,652,0.444477436834,-0.00558555007666,0.049800185316,0.999999945799,5.96377611916e-05,-0.000321701270961,3.67815692296e-05,1793239417785183232
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634.197671757,881,787,805,652,632,652,0.444905697631,-0.00558687965053,0.0497810112243,0.999999938273,5.66985522036e-05,-0.000345020302969,3.46523545115e-05,1793239417801849856
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,714.615459976,679.615459976,665,634,880.615459976,787.384540024,805,652,631.615459976,652.384540024,0.445328809459,-0.00559331377532,0.0497802510855,0.999999941592,4.82274193432e-05,-0.000336600650105,3.44850622996e-05,1793239417818516480
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,714.035582674,679.035582674,665,634,880.035582674,787.964417326,805,652,631.035582674,652.964417326,0.445749305771,-0.0056023408919,0.0497888447995,0.999999950004,3.69461991122e-05,-0.000312058494539,3.53143803229e-05,1793239417835183104
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,714.542060582,679,664.457939418,634.542060582,880.542060582,787.457939418,805,652,631,653,0.446120372122,-0.00559026136231,0.0497912613555,0.999999951288,5.09403119501e-05,-0.000305908334307,3.5335354428e-05,1793239417851849984
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.308523681,745.308523681,715,679.691476319,664,634.308523681,881,787,804.308523681,652.691476319,631,653,0.446759754423,-0.0055663723523,0.0497719174912,0.999999940068,7.72934569841e-05,-0.000335876702649,3.28172504348e-05,1793239417885184000
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.273210152,745.273210152,715,680,664,633.726789848,881,787,804.273210152,652.726789848,631.273210152,653,0.447024010884,-0.00556493469283,0.0497479892011,0.99999992703,7.78317478976e-05,-0.000372674151689,3.15728212092e-05,1793239417901850880
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765.552283772,745.552283772,715,680,664,633.447716228,881,787,805,652,631.552283772,652.552283772,0.447500086923,-0.00557986072081,0.049697615253,0.99999989834,5.82738942181e-05,-0.000446101804987,3.0276514614e-05,1793239417935183360
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663.972922289,633.972922289,881,787,805,652,631,652,0.447739604565,-0.0055836571962,0.0496837360346,0.999999890077,5.28275148269e-05,-0.000464982424841,2.91129615786e-05,1793239417951849984
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663.398272146,633.398272146,881,787,805,652,631,652,0.447958736396,-0.00558401651525,0.0496921908178,0.999999895582,5.33996449159e-05,-0.000452918384515,2.91508438478e-05,1793239417968516608
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663.175786319,633,881,787,805,652,631,652,0.448166214416,-0.00558551683293,0.0496998296298,0.99999990069,5.19698870499e-05,-0.000441648785083,2.94242037009e-05,1793239417985183232
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663.748508665,633,881,787,805,652,631,652,0.448347377406,-0.0055895935937,0.0497056259289,0.999999905097,4.60197463271e-05,-0.000432173082452,3.02292860294e-05,1793239418001850112
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.334106834,745.334106834,715,679.665893166,663.665893166,633,881,786.665893166,804.665893166,652,631,652.334106834,0.448511459615,-0.00559122207168,0.0497073274737,0.999999906155,4.40609158399e-05,-0.00042990268418,3.05440962534e-05,1793239418018516736
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.659301442,715,680,664,633,881,786.340698558,804.340698558,652,631,652.659301442,0.448986301681,-0.00558948033722,0.049702603656,0.999999900597,4.6118729226e-05,-0.000442400122966,3.10053018935e-05,1793239418085183232
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.239567735,746,715,679.760432265,663.760432265,633,881,786,804.239567735,652,631,652.760432265,0.449067943245,-0.00558683268101,0.0497009037178,0.999999899305,4.89014087796e-05,-0.000445020949541,3.09111750908e-05,1793239418101850112
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.827988303,746,715,679.172011697,663.172011697,633,881,786,804.827988303,652,631,652.172011697,0.449137046918,-0.00558112667225,0.0496995707044,0.999999898818,5.57626675998e-05,-0.000445342142303,3.03974254261e-05,1793239418118516992
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765.715735886,745,715,679.715735886,663,633,880.284264114,786.284264114,805,652,631,652.715735886,0.449346968351,-0.0055724397407,0.0496917148745,0.999999892767,6.33568226068e-05,-0.000457816645505,2.92621589623e-05,1793239418201851392
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765.740754254,746,715,680,663.259245746,632.740754254,881,787,805,652.740754254,631,653,0.449415424965,-0.00556737051065,0.0496849290241,0.999999886826,6.45528362148e-05,-0.000470532219379,2.79314652085e-05,1793239418518516736
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,633,880.674786446,787,805,652.674786446,631,653,0.449414920014,-0.00556797566017,0.0496841892576,0.999999886308,6.31988746422e-05,-0.000471827330545,2.77437442184e-05,1793239418535183104
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,633,880.083933061,787,805,652.083933061,631,653,0.449412650428,-0.00557012227827,0.0496817145821,0.999999884846,5.93398445602e-05,-0.000475421131073,2.76131034888e-05,1793239418551849728
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663,632.504189326,880.495810674,786.504189326,805,652.495810674,631,653,0.4494124843,-0.00556958299442,0.0496815707879,0.999999884609,6.11402152316e-05,-0.000475668373191,2.79764323346e-05,1793239418568516608
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.073382183,632.073382183,880.926617817,786.073382183,805,652.926617817,631,653,0.449412836511,-0.00556874502273,0.0496819158245,0.99999988469,6.32661508528e-05,-0.000475200768529,2.83259074764e-05,1793239418585183488
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.648677493,632.648677493,880.351322507,786.648677493,805,652.351322507,631,653,0.449414351873,-0.00556890584763,0.0496829646424,0.99999988557,6.12096870438e-05,-0.000473633733652,2.80212154095e-05,1793239418601850368
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.776478061,633,880.223521939,787,805,652,631,653,0.449414535261,-0.00556789651694,0.049682948502,0.999999885521,6.11876504976e-05,-0.00047376685493,2.75403391636e-05,1793239418618517248
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.202340751,633,880.797659249,787,805,652,631,653,0.449412629324,-0.00556505168621,0.0496812618737,0.999999884012,6.43568058431e-05,-0.000476566832222,2.67831012674e-05,1793239418635184128
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680.385217188,663.385217188,633,880.614782812,786.614782812,805,652,631,653,0.449413508892,-0.00556521036476,0.0496819327069,0.999999884469,6.49374908393e-05,-0.000475527363179,2.68004974219e-05,1793239418651850496
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680.980078924,663.980078924,633,880.019921076,786.019921076,805,652,631,653,0.449415904399,-0.00556700362617,0.0496838865282,0.999999885994,6.4109467222e-05,-0.000472398374033,2.72394682836e-05,1793239418668516608
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680.444779867,664,632.444779867,880.555220133,786,805,652,631,653,0.449414743214,-0.00556650060906,0.0496824016954,0.999999884801,6.47533085675e-05,-0.000474815788373,2.74605131186e-05,1793239418685183232
+251,4.183333333,HOLD_POSE2,766,745,715,680,663,632,881,787,805,652,631,652,0.449416874755,-0.00556517600264,0.049684213247,0.999999886015,6.5347679977e-05,-0.000472196983217,2.70085674682e-05,1793239418727181056
+252,4.200000000,HOLD_POSE2,766,745.589955895,715,680,663,632,880.410044105,787,805,652,631,652.589955895,0.449416415139,-0.00556606830232,0.0496836351687,0.999999885499,6.59427672357e-05,-0.000473190802825,2.72648451818e-05,1793239418743848192
+253,4.216666667,HOLD_POSE2,766,746,715,680,663,632,880,787,805,652,631,652.823222597,0.449416465518,-0.00556606478194,0.0496832699311,0.999999885246,6.69467477184e-05,-0.000473574371421,2.74429031766e-05,1793239418760514816
+254,4.233333333,HOLD_POSE2,766,746,715,680,663,632,880,787,805,652,631,652.243544681,0.449417678249,-0.00556401956209,0.049683389787,0.999999885591,6.88826533676e-05,-0.000472567092508,2.74426875046e-05,1793239418777181696
+255,4.250000000,HOLD_POSE2,766,746,715.333609685,680,663.333609685,632,880,787,805,652.333609685,631,652.333609685,0.449417337529,-0.00556436175393,0.049683069026,0.999999885403,6.83496484775e-05,-0.000473034941978,2.75588314012e-05,1793239418793848576
+256,4.266666667,HOLD_POSE2,766,746,715.908935584,680,663.908935584,632,880,787,805,652.908935584,631,652.908935584,0.44941587126,-0.00556643374015,0.0496824290169,0.999999884826,6.60277994068e-05,-0.000474571592752,2.77592833845e-05,1793239418810515200
+257,4.283333333,HOLD_POSE2,765.504779194,746,715.504779194,680,663.504779194,632.495220806,880.495220806,786.504779194,805,652.504779194,631,653,0.449416486781,-0.00556620931794,0.0496830097302,0.999999885113,6.56224640642e-05,-0.000474031215905,2.76223194745e-05,1793239418827181056
+258,4.300000000,HOLD_POSE2,765.082347866,746,715,680,663,632.917652134,881,786.082347866,805,652,631,653,0.449417120761,-0.00556555831755,0.0496835425657,0.999999885394,6.53331360026e-05,-0.000473492398571,2.7357170825e-05,1793239418843847168
+259,4.316666667,HOLD_POSE2,765.662111406,746,715,680,663,632.337888594,881,786.662111406,805,652,631,653,0.449415501556,-0.00556493907097,0.049682399594,0.999999884657,6.35675937132e-05,-0.000475322274196,2.6700999548e-05,1793239418860513792
+260,4.333333333,HOLD_POSE2,766,745.759767416,715,680,663,632,881,786.759767416,805,652,631,653,0.449415029749,-0.00556434086925,0.0496818316549,0.999999884371,6.30692563629e-05,-0.000476006589419,2.64193395547e-05,1793239418877180672
+261,4.350000000,HOLD_POSE2,766,745.183940596,715,680,663,632,881,786.183940596,805,652,631,653,0.449416160807,-0.0055637720663,0.0496820670108,0.999999884719,6.43411481096e-05,-0.000475090607552,2.66608552257e-05,1793239418893847552
+262,4.366666667,HOLD_POSE2,765.608148942,745.391851058,715,680,663,632,881,786.391851058,805,652,631,653,0.449415802214,-0.00556272160124,0.0496816447911,0.999999884299,6.65940106234e-05,-0.000475671989101,2.65207738895e-05,1793239418910514176
+263,4.383333333,HOLD_POSE2,765.032373743,745.967626257,715,680,663,632,881,786.967626257,805,652,631,653,0.44941474442,-0.00556144505714,0.0496809139234,0.999999883511,6.93073140237e-05,-0.000476956191888,2.62015814046e-05,1793239418927181056
+264,4.400000000,HOLD_POSE2,765,745.445842446,715,680,663,632,881,787,805,652,631,653,0.449413882286,-0.00556299517048,0.0496806553892,0.999999882974,6.77044948029e-05,-0.00047829562859,2.64882665437e-05,1793239418943847424
+265,4.416666667,HOLD_POSE2,765,745,715,680,663,632,880.859609,787,805,652,631,652.859609,0.449413734784,-0.00556440559585,0.0496807403042,0.999999882853,6.53860537298e-05,-0.000478858859422,2.67021911387e-05,1793239418960513792
+266,4.433333333,HOLD_POSE2,765,745,715,680,663,632,880.276336519,787,805,652,631,652.276336519,0.449415804908,-0.00556484411458,0.049681819903,0.999999884001,6.16212651757e-05,-0.000476963068579,2.65727143718e-05,1793239418977180672
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,880,787,804,652,631,653,0.449414111299,-0.00556478174008,0.049680355729,0.999999883327,6.47079891433e-05,-0.000477944661583,2.69815382268e-05,1793239419014072832
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,880,787,804.574912388,652,631,652.425087612,0.449417087717,-0.00556351664555,0.0496821109091,0.999999884687,6.70075116483e-05,-0.00047477768451,2.68751766004e-05,1793239419030739968
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.84651058,715,679.84651058,663,632,880,786.84651058,804.84651058,652,631,652.15348942,0.44941907205,-0.00556289145565,0.0496835302177,0.999999885593,6.83031514569e-05,-0.000472678384591,2.68997996202e-05,1793239419047406592
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.257535965,715,679.257535965,663,632,880,786.257535965,804.257535965,652,631,652.742464035,0.449418241605,-0.00556408182378,0.0496839965812,0.999999885247,6.6750543032e-05,-0.000473608332439,2.72960565316e-05,1793239419064073216
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.674591485,745.325408515,715,679.325408515,663,632,880.325408515,786.325408515,804.325408515,652,631,652.674591485,0.449417459855,-0.00556494157404,0.0496835553908,0.999999884848,6.54634576916e-05,-0.000474621785067,2.74312653533e-05,1793239419080739840
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.096332602,745.903667398,715,679.903667398,663,632,880.903667398,786.903667398,804.903667398,652,631,652.096332602,0.449416715941,-0.00556554442606,0.0496824090089,0.999999884408,6.43826903698e-05,-0.000475700122894,2.73636334062e-05,1793239419097406208
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.480786976,746,715,679.519213024,663,632,880.519213024,787,805,652,631,652,0.44941750649,-0.00556501097831,0.0496824438663,0.999999884521,6.58425660416e-05,-0.000475271505181,2.71934106655e-05,1793239419114072832
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.941204664,746,715,679.058795336,663,632,880,787,805,652,631,652,0.449418247721,-0.00556438586339,0.0496825805009,0.999999884659,6.74426351983e-05,-0.000474765784377,2.70284581399e-05,1793239419130739200
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.353145597,746,715,679.646854403,663,632,880,787,805,652,631,652,0.449415783944,-0.00556498020978,0.0496815078209,0.999999884052,6.57331256591e-05,-0.000476277576848,2.70955464372e-05,1793239419147405824
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.768546654,715,679.768546654,663,632.231453346,880,786.768546654,805,652,631,652.231453346,0.449410497845,-0.00556483043466,0.0496794666812,0.999999882497,6.47976169876e-05,-0.000479670990574,2.68912383172e-05,1793239419164072704
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.189149372,715,679.189149372,663,632.810850628,880,786.189149372,805,652,631,652.810850628,0.449400968948,-0.00556356202125,0.0496759696558,0.999999879495,6.5025664381e-05,-0.000485893046381,2.62789398136e-05,1793239419180739328
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.388773643,745.388773643,715,679.388773643,663,632.611226357,880.388773643,786,805,652,631,653,0.449372369257,-0.00556212551048,0.0496637052616,0.999999868782,6.56769612308e-05,-0.000507420055082,2.54410795134e-05,1793239419197405952
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.965982148,745.965982148,715,679.965982148,663,632.034017852,880.965982148,786,805,652,631,653,0.449334526133,-0.00556060752443,0.0496471914074,0.999999853643,6.65334030131e-05,-0.000536365228067,2.44938914987e-05,1793239419214072832
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.459895607,715,680,663,632,880.459895607,786.540104393,805,652,631,652.459895607,0.449276879419,-0.00555780524875,0.0496301643268,0.999999836765,6.78789382699e-05,-0.000566855639744,2.31567897509e-05,1793239419230739456
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.116897274,715,680,663.116897274,632.116897274,880.116897274,786.883102726,805,652.116897274,631,652.116897274,0.449214943761,-0.00555510497847,0.0496139226273,0.999999820751,6.92117232867e-05,-0.000594330269868,2.18693953832e-05,1793239419247406080
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.705240482,715,680,663.705240482,632.705240482,880.705240482,786.294759518,805,652.705240482,631,652.705240482,0.449140712603,-0.00555314046774,0.0496009779848,0.999999811712,7.03695568559e-05,-0.000609252002661,2.08809507994e-05,1793239419264072704
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.709695673,745.709695673,715,680,663.709695673,632.709695673,880.709695673,786,805,652.709695673,631,652.709695673,0.449061336031,-0.00555067542006,0.0495953733112,0.999999807477,7.24394888678e-05,-0.00061594066235,2.03769415008e-05,1793239419280739328
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.127924361,745.127924361,715,680,663.127924361,632.127924361,880.127924361,786,805,652.127924361,631,652.127924361,0.448976793442,-0.00554770783092,0.0495971380034,0.999999808227,7.54251721854e-05,-0.000614363274975,2.03593076955e-05,1793239419297405952
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.447141427,745.447141427,715,680,663,632,880.447141427,786.447141427,805,652,631,652,0.448877961875,-0.005543928703,0.0496001392526,0.999999809911,7.80477716019e-05,-0.000611302815075,1.98723425655e-05,1793239419314072576
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,881,787,805,652.020833394,631,652.020833394,0.448774032509,-0.00553996758629,0.0496034183381,0.999999811805,8.05206619038e-05,-0.000607893933169,1.9268075931e-05,1793239419330739456
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,881,787,805,652.608573311,631,652.608573311,0.448640981132,-0.00553727879335,0.0496047733635,0.999999812632,8.17046064531e-05,-0.000606379151293,1.9071637323e-05,1793239419347406080
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.806479568,746,715,680,663.193520432,632.193520432,881,787,804.806479568,653,631,652.806479568,0.448494055468,-0.00553293966336,0.0496047593183,0.999999812576,8.40714867861e-05,-0.000606163852494,1.8580994398e-05,1793239419364072960
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.227101037,746,715,680,663.772898963,632.772898963,881,787,804.227101037,653,631,652.227101037,0.448319466043,-0.00552530994622,0.0496020154993,0.999999810744,8.87970086259e-05,-0.000608539577784,1.75037409929e-05,1793239419380739584
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.648257069,715,680,663.648257069,633,880.648257069,786.648257069,804.351742931,652.648257069,630.648257069,652.351742931,0.448122474236,-0.0055173148821,0.0495964052982,0.99999980511,9.48821526091e-05,-0.000616861835844,1.61021322537e-05,1793239419397406208
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.069757656,715,680,663.069757656,633,880.069757656,786.069757656,804.930242344,652.069757656,630.069757656,652.930242344,0.447911040372,-0.0055090842907,0.0495889472397,0.999999796877,0.000101843798335,-0.000629017617699,1.44914227597e-05,1793239419414072576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.503833285,715,680,663.503833285,633,880,786.503833285,805,652,630.503833285,652.496166715,0.447678369225,-0.00550126832433,0.0495879671155,0.999999795238,0.000105948666369,-0.00063097348062,1.31129223891e-05,1793239419430739456
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.670165831,746,715,680,664,633,880.670165831,787,805,652,631,652.670165831,0.447169956541,-0.00548208856551,0.0495891320594,0.999999795289,0.000117895722909,-0.0006288247445,1.01267107495e-05,1793239419464072448
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.744059316,715,680,664,633,880.744059316,787,805.255940684,652,631.255940684,653,0.44687714011,-0.00547118764382,0.0495903119575,0.999999795435,0.000125566032537,-0.000627128804988,8.57416574019e-06,1793239419480739328
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.164875093,715,680,664,633,880.164875093,787,805.835124907,652,631.835124907,653,0.44655352365,-0.00546039679589,0.0495915959321,0.999999795027,0.000133199061141,-0.000626221645431,7.08780585563e-06,1793239419497406464
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.411375494,715,680,664,633,880,787,805.588624506,652,631.588624506,653,0.446222448549,-0.00545054308579,0.0496034413157,0.999999805378,0.000140608005777,-0.000607814191625,5.87958196477e-06,1793239419514073344
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.942437855,745,714.057562145,679,665,635.057562145,879.057562145,788,804,652.057562145,631.942437855,652.057562145,0.405601177837,-0.00539418268634,0.0497809018956,0.999999921766,8.07530732203e-05,-0.000384478482489,-4.60758054049e-05,1793239420480739328
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.355947228,745,714.644052772,679,665,635.644052772,879.644052772,788,804,652.644052772,631.355947228,652.644052772,0.405169787335,-0.00539285654427,0.0497842803608,0.999999922701,8.46913263729e-05,-0.00038119773265,-4.5975583315e-05,1793239420497406208
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.811350993,745,714.188649007,679,665.811350993,636,879.188649007,788,804,653,631.811350993,652.188649007,0.404417874288,-0.00540211117842,0.0498181400537,0.99999994485,7.3782452631e-05,-0.000320796749293,-4.41157454078e-05,1793239420530739968
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,636,879.387481433,787.612518567,804,653,632,652.387481433,0.404085726288,-0.00540705036449,0.0498392451505,0.999999955473,6.79148739284e-05,-0.000287382231141,-4.30543125583e-05,1793239420547406592
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.116963631,715,678.116963631,665.116963631,635.883036369,879.116963631,788,803,653,632,653,0.403145258954,-0.00541000543764,0.0498524404342,0.999999957734,6.8014198874e-05,-0.000279619653878,-4.14500946259e-05,1793239420597406464
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,714.708541407,679,666,635.291458593,880,788,803.291458593,653,631.708541407,653,0.402595013146,-0.00540537519485,0.0498283732143,0.999999943326,7.64810579222e-05,-0.000325053447229,-4.28915809481e-05,1793239420630739200
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.980268062,714.980268062,679,666,635,879.019731938,788,803.019731938,653,631.980268062,653,0.401973270024,-0.00540694569609,0.0498162481453,0.999999935797,8.62700396625e-05,-0.000345376060955,-4.09827740904e-05,1793239420680739584
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.392828647,714.392828647,679,666,635,879.607171353,788,803.607171353,653,631.392828647,653,0.401831389438,-0.00540674976311,0.0498221731983,0.999999939866,9.0374998626e-05,-0.000332417369165,-3.99855351382e-05,1793239420697405952
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.647845132,745.647845132,715,679,665.352154868,635.647845132,880,788,803,653,631,653,0.401479094564,-0.00541081892251,0.0498418836383,0.999999952812,9.17317043692e-05,-0.000290620224816,-3.8745736858e-05,1793239420747405824
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.504706742,715,679.504706742,665.495293258,635.504706742,880,788,803.504706742,653,631.504706742,653,0.401300681939,-0.00542112530527,0.0498414222888,0.999999953666,7.84368080033e-05,-0.00029167525916,-3.79508999237e-05,1793239420780738816
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.743385,745.743385,714.256615,679.743385,665.256615,636,879.256615,788,804,653,631.256615,653,0.40112421371,-0.00542139638677,0.0498396099768,0.999999953363,7.88238915861e-05,-0.000292517280883,-3.86468604299e-05,1793239420830739200
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.105290098,679,665.105290098,635,880,788,804,653,631.105290098,653,0.400992931736,-0.00542413742475,0.0498485502891,0.999999958869,7.67857060273e-05,-0.000273728464251,-3.79424562304e-05,1793239420964073728
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.468792052,679,665.468792052,635.468792052,879.531207948,788,804,653,631.468792052,653,0.400991457603,-0.00542495750692,0.0498492361255,0.999999959473,7.48601594423e-05,-0.000272097333123,-3.75836909451e-05,1793239420980740352
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.043350005,745.043350005,715,679,665.956649995,636,879,788,804,653,632,652.956649995,0.400990202791,-0.00542557469997,0.0498498331336,0.999999960041,7.33815484926e-05,-0.000270461265333,-3.71961231686e-05,1793239420997406976
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.778840702,745.778840702,714.778840702,678.778840702,665.221159298,636,879.221159298,788,804,653,632,652.221159298,0.400989119796,-0.00542263407684,0.0498522733831,0.999999960519,8.05746441334e-05,-0.000266619250332,-3.71906490372e-05,1793239421030739712
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.199365273,745.199365273,714.199365273,678.199365273,665.800634727,636,879.800634727,788,804,653,632,652.800634727,0.400989743456,-0.00542372306153,0.0498521797757,0.99999996074,8.08907676181e-05,-0.000265731683948,-3.69321729778e-05,1793239421047406336
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,714.376747662,678.376747662,666,636,880,788,804,653,631.623252338,653,0.400990295331,-0.00542479958104,0.0498531995597,0.999999961278,7.91436804644e-05,-0.000264248994197,-3.67808172323e-05,1793239421064072704
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714.951096972,678.951096972,666,636,880,788,804,653,631.048903028,653,0.400990809557,-0.0054258695626,0.0498548033102,0.999999961974,7.63144530126e-05,-0.000262454166213,-3.66856453884e-05,1793239421080739328
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.525982718,715,679,666,636,880,788,804,653,631.525982718,653,0.400989433866,-0.00542485837724,0.0498538301702,0.999999961482,7.77316823293e-05,-0.000263899746202,-3.67646301429e-05,1793239421097406208
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.896530636,715,679,666,636,880,788,804,653,632,653,0.400988284936,-0.00542409194675,0.0498530259725,0.99999996106,7.92292876523e-05,-0.000265045488022,-3.67850290198e-05,1793239421114073600
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.307062162,715,679,666,636,880,788,804,653,632,653,0.400989027291,-0.00542538492198,0.0498541417916,0.999999961515,7.92480799134e-05,-0.000263366332818,-3.64541153448e-05,1793239421130740224
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.278308649,715,679.278308649,665.721691351,636,879.721691351,788,803.721691351,653,632,653,0.400989019274,-0.00542607873745,0.0498546893969,0.999999961695,7.90729775012e-05,-0.000262758346882,-3.62746336545e-05,1793239421147406592
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.85922412,715,679.85922412,665.14077588,636,879.14077588,788,803.14077588,653,632,653,0.40098819537,-0.00542612108273,0.0498546191799,0.999999961579,7.86870521407e-05,-0.000263315050112,-3.62598049137e-05,1793239421164072704
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,714.566301637,679.566301637,665.433698363,636,879.867396726,788,803.433698363,652.566301637,632,653,0.400988900124,-0.00542625728601,0.0498550827029,0.99999996193,7.83437654802e-05,-0.00026209030306,-3.62070351425e-05,1793239421180739328
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,714.006149698,679,666.006149698,636,880.993850302,788,804,652.006149698,632,653,0.400990073433,-0.0054264186737,0.049855709294,0.999999962419,7.80353779382e-05,-0.000260318725884,-3.61407238415e-05,1793239421197405696
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,666.837516813,636,880,788,804,653,631.837516813,653,0.400988935161,-0.00542602153927,0.0498557021443,0.999999962136,8.03084435456e-05,-0.00026076462189,-3.57890928453e-05,1793239421230739456
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26e95a815bf7c3a2f1f9a0859dd05f683be8cdcb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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+366,6.100000000,pose2_to_pose3_retreat,0.576675839734,9.07173066017e-05,1.04003230973,0.547246291689,0.00876245828123,1.03970044428
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+368,6.133333333,pose2_to_pose3_retreat,0.576389831496,9.07864875103e-05,1.04003223868,0.546960283082,0.00876252598761,1.0397003675
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+377,6.283333333,pose2_to_pose3_retreat,0.575752482328,9.06905778603e-05,1.0400325912,0.546322935673,0.00876243610579,1.03970072226
+378,6.300000000,pose2_to_pose3_retreat,0.57572837232,9.0804649093e-05,1.04003262022,0.546298824286,0.00876254542299,1.03970074929
+379,6.316666667,pose2_to_pose3_retreat,0.575709807731,9.07634472706e-05,1.0400323909,0.546280260468,0.00876250696771,1.03970052346
+380,6.333333333,pose2_to_pose3_retreat,0.575695434959,9.06088036421e-05,1.0400321819,0.546265889484,0.00876235848777,1.03970031702
+381,6.350000000,pose2_to_pose3_retreat,0.57568480305,9.06184090934e-05,1.04003252155,0.546255256698,0.00876236462913,1.03970064403
+382,6.366666667,pose2_to_pose3_retreat,0.575677768829,9.08206094496e-05,1.04003229762,0.546248219739,0.00876255799878,1.03970043211
+383,6.383333333,pose2_to_pose3_retreat,0.575672975023,9.08169546818e-05,1.04003227898,0.546243425608,0.00876255323959,1.03970041335
+384,6.400000000,pose2_to_pose3_retreat,0.575670086104,9.0708812945e-05,1.04003237312,0.546240537648,0.00876244810724,1.03970050101
+385,6.416666667,pose2_to_pose3_retreat,0.575668503156,9.07238648476e-05,1.04003243727,0.546238954615,0.00876246273816,1.03970056176
+386,6.433333333,pose2_to_pose3_retreat,0.575667667971,9.07518055675e-05,1.0400324745,0.546238119219,0.00876248989965,1.03970059724
+387,6.450000000,pose2_to_pose3_retreat,0.57566723249,9.07663743702e-05,1.04003249392,0.546237683629,0.00876250406214,1.03970061574
+388,6.466666667,pose2_to_pose3_retreat,0.575667073737,9.07716853566e-05,1.04003250099,0.546237524836,0.00876250922501,1.03970062249
+389,6.483333333,pose2_to_pose3_retreat,0.57566699086,9.07744579657e-05,1.04003250469,0.546237441938,0.0087625119203,1.03970062601
+390,6.500000000,pose2_to_pose3_retreat,0.575666984393,9.07746743354e-05,1.04003250498,0.546237435469,0.00876251213063,1.03970062628
+391,6.516666667,pose2_to_pose3_retreat,0.575666870361,9.0778489217e-05,1.04003251006,0.546237321409,0.00876251583912,1.03970063113
+392,6.533333333,pose2_to_pose3_retreat,0.575666772541,9.07817617234e-05,1.04003251442,0.546237223564,0.00876251902036,1.03970063528
+393,6.550000000,pose2_to_pose3_retreat,0.575666598247,9.07875926488e-05,1.04003252219,0.546237049226,0.00876252468867,1.03970064269
+394,6.566666667,pose2_to_pose3_retreat,0.575666271204,9.08039515212e-05,1.04003251961,0.546236722048,0.00876254058492,1.03970064008
+395,6.583333333,pose2_to_pose3_retreat,0.575666212639,9.08084979208e-05,1.04003251402,0.546236663442,0.00876254500147,1.03970063469
+396,6.600000000,pose2_to_pose3_retreat,0.575666016393,9.08237322889e-05,1.04003249531,0.546236467061,0.00876255980073,1.03970061663
+397,6.616666667,pose2_to_pose3_retreat,0.575665980008,9.08265568655e-05,1.04003249184,0.54623643065,0.00876256254464,1.03970061328
+398,6.633333333,pose2_to_pose3_retreat,0.575665970778,9.08272733377e-05,1.04003249096,0.546236421414,0.00876256324065,1.03970061243
+399,6.650000000,pose2_to_pose3_retreat,0.575665851674,9.08365193242e-05,1.0400324796,0.546236302228,0.00876257222256,1.03970060146
+400,6.666666667,pose2_to_pose3_retreat,0.575665731973,9.08458115973e-05,1.04003246819,0.546236182444,0.00876258124944,1.03970059044
+401,6.683333333,pose2_to_pose3_retreat,0.575665634852,9.08533510165e-05,1.04003245893,0.546236085256,0.00876258857353,1.0397005815
+402,6.700000000,pose2_to_pose3_retreat,0.575665629748,9.08537472641e-05,1.04003245844,0.546236080148,0.00876258895846,1.03970058103
+403,6.716666667,pose2_to_pose3_retreat,0.575665496405,9.08640985852e-05,1.04003244573,0.546235946713,0.00876259901414,1.03970056876
+404,6.733333333,pose2_to_pose3_retreat,0.575665397005,9.08718149142e-05,1.04003243625,0.546235847244,0.00876260651009,1.03970055961
+405,6.750000000,pose2_to_pose3_retreat,0.575665296393,9.08796253667e-05,1.04003242666,0.546235746563,0.00876261409747,1.03970055035
+406,6.766666667,pose2_to_pose3_retreat,0.57566517301,9.08892034178e-05,1.04003241489,0.546235623095,0.00876262340196,1.03970053899
+407,6.783333333,pose2_to_pose3_retreat,0.575665110201,9.08940792585e-05,1.0400324089,0.546235560242,0.00876262813855,1.03970053321
+408,6.800000000,pose2_to_pose3_retreat,0.57566489531,9.08730225184e-05,1.04003239685,0.546235345474,0.0087626075298,1.03970052197
+409,6.816666667,pose2_to_pose3_retreat,0.575664583393,9.08058142544e-05,1.04003238756,0.546235033999,0.00876254186943,1.03970051394
+410,6.833333333,pose2_to_pose3_retreat,0.575664407812,9.0772965491e-05,1.0400323705,0.546234859436,0.00876251258555,1.03970049978
+411,6.850000000,pose2_to_pose3_retreat,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613232,1.03970050298
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..836ae32bd53e0cc8cb31e9df1d5935d1faeefbf4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd7f87706b1ee086e82133644e78e01f10fd2739d28ec26969ad55558c822136
+size 26263344
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..77b5bffc29cc9f5673b20449020b279ea5ed551d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/franka_data.csv
@@ -0,0 +1,414 @@
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+18,0.300000000,BASELINE,766,745,715,679.568437917,665.431562083,635,879.431562083,788,803.568437917,653,632,653,0.400989270741,-0.00542834247853,0.0498581038449,0.999999963737,7.61353890018e-05,-0.000255896277676,-3.53196216128e-05,1793239421841387264
+19,0.316666667,BASELINE,766,745,715,679.023822241,666,635.023822241,880,788,803.023822241,653,632,653,0.400988365619,-0.00542756103842,0.0498575644211,0.999999963301,7.72859281177e-05,-0.000257237049541,-3.54231678615e-05,1793239421858054144
+20,0.333333333,BASELINE,766,745,715,679.600921445,666,635.600921445,880,788,803.600921445,653,632,653,0.400989353271,-0.00542799586453,0.0498580795677,0.999999963485,7.76167462085e-05,-0.000256457828105,-3.51352626711e-05,1793239421874720768
+21,0.350000000,BASELINE,766,745.177683376,715,679.822316624,666,636,880,788,803.822316624,653,631.822316624,653,0.40099028874,-0.00542825971866,0.0498585637027,0.999999963751,7.759051737e-05,-0.00025544926664,-3.49789992482e-05,1793239421891387136
+22,0.366666667,BASELINE,766,745.753689144,715,679.246310856,666,636,880,788,803.246310856,653,631.246310856,653,0.400991107226,-0.00542814029561,0.0498589783171,0.999999964198,7.67638771574e-05,-0.000253926581382,-3.51178443037e-05,1793239421908054016
+23,0.383333333,BASELINE,766,745.673213773,715,679,666,636,879.673213773,788,803.326786227,652.673213773,631,653,0.400991295387,-0.00542739739072,0.0498592434158,0.999999964145,7.83183593432e-05,-0.000253654759978,-3.51551604468e-05,1793239421924720640
+24,0.400000000,BASELINE,766,745.102289672,715,679,666,636,879.102289672,788,803.897710328,652.102289672,631,653,0.40099101264,-0.00542618869037,0.0498593968132,0.999999963711,8.16517479941e-05,-0.000254317443042,-3.51166256323e-05,1793239421941387008
+25,0.416666667,BASELINE,766,745,715,679,666,636,879,788,804,652.491016433,631.491016433,653,0.400990361588,-0.00542751198449,0.0498594572935,0.999999963929,7.98180468209e-05,-0.00025405774361,-3.5015625092e-05,1793239421958053888
+26,0.433333333,BASELINE,766,745,715,679,666,636,879.085664572,788.085664572,803.914335428,653,632,653,0.400989918277,-0.00542902476187,0.049859517992,0.999999964248,7.73380613047e-05,-0.000253573980936,-3.49583976014e-05,1793239421974721024
+27,0.450000000,BASELINE,766,745,715,679,666,636,879.660096192,788.660096192,803.339903808,653,632,653,0.400991118934,-0.00542846538518,0.049859695652,0.999999964374,7.76055767927e-05,-0.000252960511884,-3.52287141187e-05,1793239421991387136
+28,0.466666667,BASELINE,766,745,715,679,666,636,880,788.764457163,803,653,631.764457163,653,0.400991111362,-0.00542776549641,0.0498592414555,0.99999996414,7.81951817752e-05,-0.000253687648437,-3.53211400785e-05,1793239422008053504
+29,0.483333333,BASELINE,766,745,715,679,666,636,880,788.187539463,803,653,631.187539463,653,0.40098935269,-0.00542686196195,0.0498578715026,0.999999963382,7.92515946399e-05,-0.000256357739687,-3.51557472514e-05,1793239422024720128
+30,0.500000000,BASELINE,766,745.396544418,715,679,666,636,880,788,803.396544418,652.603455582,631,653,0.40099001335,-0.00542615256664,0.0498581847739,0.999999963531,8.09192379519e-05,-0.000255259393463,-3.51112951319e-05,1793239422041387008
+31,0.516666667,BASELINE,766,745.984079789,715,679,666,636,880,788,803.984079789,652.015920211,631,653,0.400991839253,-0.00542553667619,0.0498593087504,0.999999964109,8.28812731867e-05,-0.000252346023584,-3.51250926859e-05,1793239422058053376
+32,0.533333333,BASELINE,766,745.435071176,715,679,666,636,880,788,804,652.564928824,631.564928824,653,0.400992288038,-0.00542756720496,0.0498600941661,0.999999964595,7.90642749525e-05,-0.00025164534533,-3.51136380382e-05,1793239422074720000
+33,0.550000000,BASELINE,766,745,715,679,666,636,879.855720036,788,804,653,632,653,0.400992307189,-0.00542920909027,0.0498604730441,0.999999964851,7.63203331444e-05,-0.000251490475081,-3.50240320568e-05,1793239422091386880
+34,0.566666667,BASELINE,766,745,715,679,666,636,879.280288667,788,804,653,632,653,0.40099115708,-0.00542946933718,0.0498596652443,0.999999964463,7.7263980244e-05,-0.000252782483818,-3.47029883585e-05,1793239422108053504
+35,0.583333333,BASELINE,766,745,714.69950412,679,666,636,879,788,804,653,631.69950412,653,0.400990181131,-0.0054294627745,0.0498590912884,0.99999996421,7.72378639418e-05,-0.000253784924553,-3.47617740785e-05,1793239422124720640
+36,0.600000000,BASELINE,766,745,714.113635743,679,666,636,879,788,804,653,631.113635743,653,0.400989370577,-0.00542920283027,0.0498587394072,0.999999964083,7.62907906872e-05,-0.000254512370843,-3.51812730905e-05,1793239422141387776
+37,0.616666667,BASELINE,766,745,714.467590035,679.467590035,666,636,879,788,803.532409965,653,631,653,0.400990118942,-0.00542891291166,0.0498590630585,0.999999964255,7.5795784615e-05,-0.000253970635725,-3.52729282248e-05,1793239422158054400
+38,0.633333333,BASELINE,766,745.04758217,715,679.95241783,666,636,879,788,803.04758217,653,631,653,0.400991121319,-0.00542859610998,0.0498595027322,0.99999996446,7.5609957175e-05,-0.000253212806184,-3.52924191788e-05,1793239422174720768
+39,0.650000000,BASELINE,766,745.626274693,715,679.373725307,666,636,879,788,803.626274693,653,631,653,0.400990771785,-0.0054280597505,0.0498594229923,0.999999964239,7.76609352575e-05,-0.000253451908433,-3.53869917572e-05,1793239422191387392
+40,0.666666667,BASELINE,766,745.797575364,715,679,666,636,879.202424636,788,804,653,631.202424636,653,0.400991251926,-0.00542773889992,0.0498600206927,0.999999964357,7.90246340254e-05,-0.000252567559036,-3.53609168816e-05,1793239422208053760
+41,0.683333333,BASELINE,766,745.226061447,715,679,666,636,879.773938553,788,804,653,631.773938553,653,0.400993244848,-0.00542781099573,0.0498618535983,0.999999965094,7.9135187639e-05,-0.000249634773397,-3.5114860467e-05,1793239422224720384
+42,0.700000000,BASELINE,766,745,715,679,666,636,879.641817347,788,804,653,632,653,0.400992677396,-0.0054277240124,0.0498611714908,0.999999964873,7.89515482855e-05,-0.000250585270073,-3.50440258862e-05,1793239422241386752
+43,0.716666667,BASELINE,766,745,715,679,666,636,879.049242736,788,804,653,632,653,0.400990434454,-0.00542753292889,0.0498588435782,0.99999996402,7.85753913242e-05,-0.000254076956782,-3.50878551279e-05,1793239422258053632
+44,0.733333333,BASELINE,766,745,715,679,666,636,879,787.469141623,804,653,632,653,0.400991803605,-0.0054282113476,0.0498601180318,0.999999964465,7.95720721861e-05,-0.000252041799308,-3.4827544915e-05,1793239422274720512
+45,0.750000000,BASELINE,766,745,715,679,666,636,879.109033631,787.109033631,804,653,632,652.890966369,0.400992681872,-0.00542877263737,0.0498610372269,0.999999964809,7.99967284295e-05,-0.000250569567859,-3.46063549393e-05,1793239422291387136
+46,0.766666667,BASELINE,766,745,715,679,666,636,879.683811236,787.683811236,804,653,632,652.316188764,0.400990064924,-0.00542849698757,0.0498590443067,0.999999964233,7.74464702426e-05,-0.000253641552173,-3.46700129701e-05,1793239422308053760
+47,0.783333333,BASELINE,766,745,715,679,666,636,879.741977758,788,804,653,632,652.258022242,0.400988757947,-0.00542831315256,0.0498581383052,0.999999963885,7.68899640741e-05,-0.000255156851642,-3.48250513357e-05,1793239422324720640
+48,0.800000000,BASELINE,766,745,715,679,666,636,879.168459485,788,804,653,632,652.831540515,0.400989052733,-0.00542824158382,0.0498585613306,0.999999963828,7.87713127187e-05,-0.000254768719135,-3.50918247793e-05,1793239422341387264
+49,0.816666667,BASELINE,766,745,715,679,666,636,879,788,804,653,632,653,0.400989848033,-0.00542915933632,0.0498590946116,0.999999964096,7.78393540765e-05,-0.000254036244212,-3.48619732948e-05,1793239422358053888
+50,0.833333333,BASELINE,766,745,714.991206005,679,666,636,879,787.991206005,804,653,632,652.991206005,0.400990848759,-0.0054304527314,0.0498596711014,0.999999964491,7.57788009992e-05,-0.000253160174595,-3.44327853134e-05,1793239422374720512
+51,0.850000000,BASELINE,766,745,714.41114858,679,666,636,879,787.41114858,804,653,632,652.41114858,0.400991671965,-0.0054294202016,0.0498600757613,0.999999964669,7.64094966344e-05,-0.000252258995535,-3.44715937588e-05,1793239422391387136
+52,0.866666667,BASELINE,766,745,714.167231044,679,666,636,879,787.167231044,803.832768956,653,632,652.167231044,0.400992067847,-0.00542866264949,0.0498603310182,0.999999964748,7.71874217247e-05,-0.000251699834863,-3.45371120866e-05,1793239422408053504
+53,0.883333333,BASELINE,766,745,714.741526627,679,666,636,879,787.741526627,803.258473373,653,632,652.741526627,0.400991423559,-0.00542857443289,0.0498602226063,0.999999964587,7.83237245567e-05,-0.000251973196456,-3.46676461272e-05,1793239422424720384
+54,0.900000000,BASELINE,766,745.323669299,715,679,666,636,879.323669299,788,803,653,632,653,0.400991055568,-0.00542826944808,0.0498603370713,0.999999964509,7.87698862834e-05,-0.000252144232892,-3.46584476109e-05,1793239422441387264
+55,0.916666667,BASELINE,766,745.912234112,715,679,666,636,879.912234112,788,803,653,632,653,0.400990913702,-0.00542778705714,0.0498606339421,0.9999999645,7.86512267547e-05,-0.000252231524966,-3.45348899958e-05,1793239422458053632
+56,0.933333333,BASELINE,766,746,715,679,666,636,879.506824248,788,803,652.506824248,632,653,0.400991294101,-0.00542820749824,0.0498607477096,0.999999964707,7.83036050761e-05,-0.000251518492194,-3.45253052089e-05,1793239422474720512
+57,0.950000000,BASELINE,766,745.927721365,715,679,665.927721365,636,879.072278635,787.927721365,803.072278635,652.072278635,632,653,0.400991787484,-0.0054284321868,0.0498608414075,0.999999964881,7.83647124175e-05,-0.000250799676606,-3.4584548402e-05,1793239422491386880
+58,0.966666667,BASELINE,766,745.352119961,715,679,665.352119961,636,879.647880039,787.352119961,803.647880039,652.647880039,632,653,0.400992430278,-0.00542619191574,0.0498610188054,0.999999964558,8.15514871621e-05,-0.000251017301204,-3.49839938041e-05,1793239422508053504
+59,0.983333333,BASELINE,766,745,715,679,665.223617593,636,880,787.223617593,803.776382407,653,632,653,0.400992373306,-0.00542523318205,0.0498608258311,0.999999964338,8.28707545661e-05,-0.000251449621191,-3.50758238053e-05,1793239422524720384
+60,1.000000000,BASELINE,766,745,715,679,665.799569757,636,880,787.799569757,803.200430243,653,632,653,0.400991213776,-0.00542629365373,0.049860049294,0.99999996429,8.1247555422e-05,-0.000252220217857,-3.46829713406e-05,1793239422541387264
+61,1.016666667,BASELINE,766.383082311,745,715,679,666,636,879.616917689,788,803.383082311,653,631.616917689,653,0.400990759805,-0.0054265757802,0.0498601535719,0.999999964333,8.08479941964e-05,-0.000252190368806,-3.46116620949e-05,1793239422558053888
+62,1.033333333,BASELINE,766.970630095,745,715,679,666,636,879.029369905,788,803.970630095,653,631.029369905,653,0.400990682418,-0.00542644247443,0.0498607279739,0.999999964424,8.11015347644e-05,-0.000251733291648,-3.4711972613e-05,1793239422574720768
+63,1.050000000,BASELINE,766.446161674,745,714.446161674,679,665.446161674,636,879.553838326,788,803.446161674,653,631,653,0.400990937685,-0.0054269648589,0.0498602945435,0.999999964419,7.97227204317e-05,-0.000252183025291,-3.47934881627e-05,1793239422591387392
+64,1.066666667,BASELINE,766,745,714.134648105,679,665.134648105,636,880,788,803.134648105,652.865351895,631,653,0.40099115068,-0.00542778476503,0.0498599875743,0.999999964471,7.81631748596e-05,-0.000252467163347,-3.47713609982e-05,1793239422608054016
+65,1.083333333,BASELINE,766,745,714.708381145,679,665.708381145,636,880,788,803.708381145,652.291618855,631,653,0.400991168749,-0.00542946237734,0.0498602659209,0.999999964731,7.62943550919e-05,-0.000252055702547,-3.4414481815e-05,1793239422624720896
+66,1.100000000,BASELINE,766,745,715,679,666,636,880,788,804,652.287031513,631,653,0.400991376237,-0.00542923593199,0.0498603590028,0.999999964785,7.65287971015e-05,-0.000251757906772,-3.451429544e-05,1793239422641387264
+67,1.116666667,BASELINE,766,745,715,679,666,636,880,788,804,652.870764841,631,653,0.400991779525,-0.00542704127977,0.0498602605781,0.999999964623,7.89373614292e-05,-0.000251577605504,-3.50861882094e-05,1793239422658053632
+68,1.133333333,BASELINE,766,745,714.547082928,679,666,636,879.547082928,788,804,653,631,652.547082928,0.400990803882,-0.00542688677733,0.0498594377758,0.999999964217,7.98835582946e-05,-0.000252884947131,-3.51382607436e-05,1793239422674720000
+69,1.150000000,BASELINE,766,745,714.034537508,679,666,636,879.034537508,788,803.965462492,653,631,652.034537508,0.400989615467,-0.00542743389139,0.049858555196,0.999999963816,8.02099965373e-05,-0.000254374298209,-3.50299468346e-05,1793239422691386880
+70,1.166666667,BASELINE,766,745,714.61485802,679,666,636,879.61485802,788,803.38514198,653,631,652.61485802,0.400991260838,-0.00542990112037,0.0498599829131,0.999999964643,7.73136654218e-05,-0.000252055260121,-3.47228810767e-05,1793239422708053760
+71,1.183333333,BASELINE,766,745,715,679,665.807778716,636,880,788,803,653,631,653,0.400991939855,-0.00543121378865,0.0498608454709,0.99999996504,7.60784802894e-05,-0.000250887132631,-3.44657028252e-05,1793239422724720640
+72,1.200000000,BASELINE,766,745,715,679,665.236250831,636,880,788,803,653,631,653,0.400990711983,-0.00543024818473,0.049860592811,0.999999964611,7.81212023954e-05,-0.000251990074711,-3.43069665865e-05,1793239422741387008
+73,1.216666667,BASELINE,766,745.346462252,715,679,665.346462252,636,879.653537748,788,803.346462252,652.653537748,631,653,0.400989817586,-0.00542962518924,0.0498601523835,0.99999996435,7.87533433315e-05,-0.000252816730225,-3.43844492903e-05,1793239422758053632
+74,1.233333333,BASELINE,766,745.937056879,715,679,665.937056879,636,879.062943121,788,803.937056879,652.062943121,631,653,0.40098915817,-0.00542924361061,0.0498595796469,0.99999996421,7.83915272922e-05,-0.00025344870214,-3.46283821464e-05,1793239422774720256
+75,1.250000000,BASELINE,766,746,715,679,666,636,879,788,803.48200669,652.51799331,631,653,0.40099043696,-0.0054299484037,0.0498600989723,0.99999996463,7.51477694668e-05,-0.000252793171725,-3.44777798588e-05,1793239422791386880
+76,1.266666667,BASELINE,766,745.904399863,714.904399863,679,666,636,879.095600137,788,803.095600137,653,631.095600137,653,0.400991435505,-0.00543052337032,0.0498605298392,0.999999964936,7.25870185275e-05,-0.000252345039333,-3.4367519053e-05,1793239422808053504
+77,1.283333333,BASELINE,766,745.337527227,714.337527227,679,666,636,879.662472773,788,803.662472773,653,631.662472773,653,0.400989912783,-0.00542981949995,0.0498598824508,0.999999964403,7.5087960643e-05,-0.000253676417224,-3.4688133106e-05,1793239422824720128
+78,1.300000000,BASELINE,766,745.233325076,714.233325076,679,666,636,879.766674924,788,804,653,631.766674924,652.766674924,0.40098972841,-0.00542898191772,0.0498598101927,0.999999964239,7.70311061735e-05,-0.000253717847535,-3.48502086754e-05,1793239422841386752
+79,1.316666667,BASELINE,766,745.810034199,714.810034199,679,666,636,879.189965801,788,804,653,631.189965801,652.189965801,0.400991513682,-0.0054279475521,0.049860584353,0.999999964624,7.81533433675e-05,-0.000251860864464,-3.47789634484e-05,1793239422858053376
+80,1.333333333,BASELINE,766,745.597967082,715,678.597967082,666,636,879.804065836,788,804,653,631,652.402032918,0.400991121644,-0.00542871180057,0.0498608236325,0.999999964747,7.72823591579e-05,-0.000251677857043,-3.4535327333e-05,1793239422874720256
+81,1.350000000,BASELINE,766,745,715,678.001486704,666,636,880.998513296,788,804,653,631.001486704,653,0.400989664579,-0.00543035479172,0.0498607982889,0.999999964738,7.54383108263e-05,-0.000252315387968,-3.42087205635e-05,1793239422891386880
+82,1.366666667,BASELINE,766,745,715,678.579557031,666,636,880.420442969,788,804,653,631.579557031,653,0.400989935032,-0.00543016530533,0.0498600387233,0.999999964696,7.59186701327e-05,-0.000252290645883,-3.45440010485e-05,1793239422908053760
+83,1.383333333,BASELINE,766,745,715,679,666,636,880,788,804.15667144,653,631.84332856,653,0.400990534527,-0.00543003097762,0.0498597334811,0.999999964777,7.61547823203e-05,-0.000251871665684,-3.4740782355e-05,1793239422924720384
+84,1.400000000,BASELINE,766,745,715,679,666,636,880,788,804.731236234,653,631.268763766,653,0.400992011681,-0.00543004377589,0.0498606400665,0.999999965184,7.5739408627e-05,-0.000250401125043,-3.45681416743e-05,1793239422941387008
+85,1.416666667,BASELINE,766,745.305602574,715,679,666,636,880,788,804.694397426,653,631.305602574,653,0.400992352003,-0.00542995477854,0.0498610787964,0.999999965255,7.55947442273e-05,-0.000250190793966,-3.43578644552e-05,1793239422958053376
+86,1.433333333,BASELINE,766,745.879794462,715,679,666,636,880,788,804.120205538,653,631.879794462,653,0.400991693181,-0.00542977631461,0.0498611063352,0.999999965031,7.56880020088e-05,-0.000251088041415,-3.41145090825e-05,1793239422974720256
+87,1.450000000,BASELINE,766,746,715,679,666,636,880,788,804,653,632,653,0.400990380532,-0.00542840097799,0.0498603593073,0.999999964521,7.78882116567e-05,-0.000252393691697,-3.44934747453e-05,1793239422991386880
+88,1.466666667,BASELINE,766,745.938340033,715,679,666,636,880,788,804,653,631.938340033,653,0.400989121802,-0.00542704219317,0.0498595439153,0.999999964031,8.0052659434e-05,-0.000253588394583,-3.49615091751e-05,1793239423008054016
+89,1.483333333,BASELINE,766,745.362049489,715,679,666,636,880,788,804,653,631.362049489,653,0.400989757983,-0.00542846653125,0.0498598696576,0.999999964417,7.72624618195e-05,-0.000252954568717,-3.47976638485e-05,1793239423024720640
+90,1.500000000,BASELINE,766,745.212250083,715,679,666,636,880,788.212250083,804,653,631.212250083,653,0.40099027011,-0.00542894404606,0.0498601034651,0.999999964596,7.6593955678e-05,-0.000252450214131,-3.47839365022e-05,1793239423041387264
+91,1.516666667,BASELINE,766,745.783185019,715,679,666,636,880,788.783185019,804,653,631.783185019,653,0.400990572594,-0.00542782150877,0.0498601819104,0.999999964432,7.95109306191e-05,-0.000252164655224,-3.50238959801e-05,1793239423058053888
+92,1.533333333,BASELINE,766.368145497,746,715,679.368145497,666,636,880,788.631854503,803.631854503,653,632,653,0.40099112763,-0.00542860532181,0.0498603997086,0.999999964593,7.83041686593e-05,-0.000251917069851,-3.49452289044e-05,1793239423074720512
+93,1.550000000,BASELINE,766.961693371,746,715,679.961693371,666,636,880,788.038306629,803.038306629,653,632,653,0.400991837295,-0.00543055632516,0.0498607028274,0.999999964944,7.45725897423e-05,-0.000251692734293,-3.46714781606e-05,1793239423091387136
+94,1.566666667,BASELINE,767,745.458133547,715,679.458133547,666,636,880,788,803.541866453,653,632,653,0.400992168057,-0.00542937171075,0.0498610935348,0.99999996509,7.71508429568e-05,-0.00025035941637,-3.44698575667e-05,1793239423108053504
+95,1.583333333,BASELINE,766.879631995,745.120368005,715,679,666,636,880.120368005,788,804,653,632,653,0.400992338026,-0.00542827086,0.0498613218022,0.999999965191,7.92464861007e-05,-0.000249307379325,-3.44087494484e-05,1793239423124720384
+96,1.600000000,BASELINE,766.303962637,745.696037363,715,679,666,636,880.696037363,788,804,653,632,653,0.400991998663,-0.0054283051338,0.0498609127705,0.999999965208,7.78699827921e-05,-0.000249608712852,-3.48603173075e-05,1793239423141387008
+97,1.616666667,BASELINE,766,746,715,679,666,636,880.72285871,788,804,653,632,653,0.400991397511,-0.0054283744796,0.0498606679711,0.999999964973,7.8108329084e-05,-0.000250469947383,-3.48932730904e-05,1793239423158053888
+98,1.633333333,BASELINE,766,746,715,679,666,636,880.135675078,788,804,653,632,653,0.400990503492,-0.00542848306099,0.0498606069011,0.999999964453,8.01532332274e-05,-0.000251957551997,-3.44579209011e-05,1793239423174720768
+99,1.650000000,BASELINE,766,745.554156486,715,679,666,636,879.554156486,788,804,653,631.554156486,653,0.400990453583,-0.00542862609856,0.0498601988508,0.999999964348,8.00220336185e-05,-0.000252407073336,-3.4504774063e-05,1793239423191387392
+100,1.666666667,BASELINE,766.025500927,745,715,679,666,636,879.025500927,788,804,653,631.025500927,653,0.400990643827,-0.00542874695213,0.0498597082271,0.999999964368,7.9209053672e-05,-0.00025255822222,-3.46987872805e-05,1793239423208053760
+101,1.683333333,BASELINE,766.601727414,745,715,679,666,636,879.601727414,788,804,653,631.601727414,653,0.400990542617,-0.00542816510932,0.0498596860626,0.999999964359,7.77940381507e-05,-0.000253002305818,-3.49416256851e-05,1793239423224720384
+102,1.700000000,BASELINE,766.822057354,745,714.822057354,679,666,636,879.822057354,787.822057354,803.822057354,653,632,653,0.400989774918,-0.00542775216347,0.0498592656575,0.999999964161,7.7375069761e-05,-0.00025389035486,-3.50879909179e-05,1793239423241387008
+103,1.716666667,BASELINE,766.245867387,745,714.245867387,679,666,636,879.245867387,787.245867387,803.245867387,653,632,653,0.400987515571,-0.00542771722017,0.049857953964,0.999999963542,7.91853204057e-05,-0.000255772027642,-3.50184428285e-05,1793239423258053632
+104,1.733333333,BASELINE,766,745,714,679,666,636,879,787,803.33766254,652.66233746,631.66233746,652.66233746,0.40098743208,-0.00542758581502,0.0498579630708,0.999999963438,8.01449393777e-05,-0.000255904229092,-3.4842243612e-05,1793239423274720512
+105,1.750000000,BASELINE,766,745,714,679,666,636,879,787,803.926655846,652.073344154,631.073344154,652.073344154,0.400988968136,-0.00542738261088,0.0498589552825,0.999999963719,8.04714118792e-05,-0.000254734254997,-3.45866612579e-05,1793239423291387136
+106,1.766666667,BASELINE,766,745,714.507520058,678.492479942,666,635.492479942,879,787,804,652.507520058,631,652.507520058,0.400989333535,-0.00542851028097,0.0498591569325,0.999999963925,8.08028112947e-05,-0.000253822806657,-3.45638998516e-05,1793239423308054016
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,653,631,653,0.400990032868,-0.00542862757174,0.0498605880376,0.9999999646,7.92791330475e-05,-0.000251607663588,-3.47572099803e-05,1793239423351347968
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.577921935,715,679,666,636,880,788,803.422078065,653,631,653,0.400989717976,-0.00543132325064,0.049859790656,0.999999964561,7.6368604826e-05,-0.000252771399159,-3.39338082692e-05,1793239423368014336
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.840251825,714.840251825,679,665.840251825,636,880,788,803,653,631.159748175,652.840251825,0.400989677172,-0.00543263689398,0.0498594439351,0.999999964572,7.46453046134e-05,-0.000253298854404,-3.35335168582e-05,1793239423384680448
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.247851274,714.247851274,679,665.247851274,636,880,788,803,653,631.752148726,652.247851274,0.400990378692,-0.00543020751571,0.0498603177566,0.999999964736,7.61374208921e-05,-0.000252103046433,-3.42791518262e-05,1793239423401346816
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714.335954844,679,665.335954844,636,879.664045156,788,803.335954844,653,631.664045156,652.335954844,0.400991120245,-0.00542919186204,0.0498607133191,0.999999964873,7.66858035447e-05,-0.000251352371501,-3.4585972706e-05,1793239423418013696
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,714.913578529,679,665.913578529,636,879.086421471,788,803.913578529,653,631.086421471,652.913578529,0.400991890595,-0.00542919317014,0.0498607648463,0.999999964991,7.65553120998e-05,-0.000250921902729,-3.45771329875e-05,1793239423434680832
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.511720102,665.511720102,636,879.488279898,788,804,653,631.488279898,653,0.40099174362,-0.00542879887887,0.0498607050352,0.999999964995,7.79448281344e-05,-0.000250491356202,-3.4481998139e-05,1793239423451347456
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678,665.06390417,636,880,788,803.93609583,653,631.93609583,652.93609583,0.400991658911,-0.00542870368212,0.0498607597603,0.999999965035,7.90437998894e-05,-0.000250004483962,-3.43418988616e-05,1793239423468014080
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,678,665.651300541,636,880,788,803.348699459,653,631.348699459,652.348699459,0.400993406373,-0.00543162877895,0.049861913214,0.999999965553,7.55719557277e-05,-0.000249056313008,-3.39578322751e-05,1793239423484680448
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.236727029,714.763272971,678.236727029,666,636,880,788,803.236727029,652.763272971,631,652.236727029,0.400999093164,-0.00543281458519,0.0498643265696,0.999999966654,7.36173355915e-05,-0.0002452403521,-3.35959009062e-05,1793239423501347072
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.819275768,714.180724232,678.819275768,666,636,880,788,803.819275768,652.180724232,631,652.819275768,0.40101053471,-0.00543145955562,0.0498685804478,0.999999968577,7.38791462547e-05,-0.000237234992074,-3.32663057119e-05,1793239423518013696
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.60355909,714,679,666,636,879.60355909,788,803.60355909,652,631,653,0.401038201812,-0.00543035343426,0.0498781723196,0.999999973032,7.70058663986e-05,-0.00021660115221,-3.3026436372e-05,1793239423534680064
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.02881522,714,679,666,636,879.02881522,788,803.02881522,652,631,653,0.401073166511,-0.00542935926154,0.0498901650037,0.999999978042,8.14211060101e-05,-0.00019028753612,-3.28269220157e-05,1793239423551346688
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,714.545027595,679,666,636,879.545027595,788,803,652.545027595,631,652.454972405,0.40113466722,-0.00543228853189,0.049909174612,0.99999998512,7.90683639525e-05,-0.000150058586653,-3.14776592046e-05,1793239423568013312
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.877746195,788,803,653,631.122253805,652.122253805,0.401199278257,-0.00543559146027,0.0499272995959,0.999999990168,7.64100598902e-05,-0.000113681037383,-3.00404460205e-05,1793239423584679936
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.287382698,788,803,653,631.712617302,652.712617302,0.40127043577,-0.00543953218883,0.049940619223,0.99999999236,7.39495836802e-05,-9.48628056298e-05,-2.84988375418e-05,1793239423601347072
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,714.702227998,679,666,636,879,788,803.297772002,652.702227998,632,653,0.401347485703,-0.00544263965034,0.0499491248282,0.999999993584,7.19370839497e-05,-8.31211131266e-05,-2.73341985521e-05,1793239423618013952
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,714.122013968,679,666,636,879,788,803.877986032,652.122013968,632,653,0.401430124698,-0.00544495674305,0.0499530642473,0.999999994124,7.03494980235e-05,-7.80916448117e-05,-2.65271219107e-05,1793239423634680320
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714.453672412,679,666,636,879,788,803.546327588,652.453672412,632,653,0.401526898193,-0.00544735242999,0.0499520088646,0.999999993892,7.02010988724e-05,-8.13613403406e-05,-2.58534974832e-05,1793239423651346944
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714.971192125,679,666,636,879.028807875,788.028807875,803.028807875,653,631.971192125,653,0.401628602925,-0.00544992201287,0.0499497881853,0.999999993467,7.02315685653e-05,-8.65923507446e-05,-2.51948765031e-05,1793239423668013568
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714.383350715,679,666,636,879.616649285,788.616649285,803.616649285,653,631.383350715,653,0.401752961098,-0.00545546001167,0.0499507649211,0.999999993727,6.62960848665e-05,-8.69978319036e-05,-2.41377907743e-05,1793239423684680192
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.201618986,745,714.201618986,679,666,636,879.798381014,788.798381014,804,653,631,653,0.401890193786,-0.00546147604411,0.0499528545248,0.999999994196,6.21657475379e-05,-8.49599129306e-05,-2.28976960241e-05,1793239423701347072
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.781205141,745,714.781205141,679,666,636,879.218794859,788.218794859,804,653,631,653,0.402051561806,-0.00546838822675,0.0499570303779,0.999999995041,5.76701262279e-05,-7.83414479449e-05,-2.131452159e-05,1793239423718013440
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.641849085,745,714.641849085,679,665.641849085,636,879,788,803.641849085,652.641849085,631.358150915,653,0.402227373267,-0.00547368024847,0.049957029605,0.999999995113,5.61083105645e-05,-7.88972589232e-05,-2.00514161469e-05,1793239423734680320
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.066504463,745,714.066504463,679,665.066504463,636,879,788,803.066504463,652.066504463,631.933495537,653,0.402411943691,-0.00547798975557,0.0499544959983,0.999999994722,5.63256442497e-05,-8.3803770385e-05,-1.89824102105e-05,1793239423751347456
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,714.510613796,679,665.510613796,635.489386204,879.510613796,788,803,652.510613796,632,652.489386204,0.402635613537,-0.00548599242817,0.0499552428526,0.999999995231,5.14690822969e-05,-8.1115531859e-05,-1.75668125153e-05,1793239423768013824
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715.08934389,679,666,635.08934389,879.91065611,788,803.08934389,653,631.91065611,652.08934389,0.402870114206,-0.00549451691811,0.0499574020255,0.999999995932,4.63276343316e-05,-7.57303534474e-05,-1.59576361165e-05,1793239423784680192
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715.675751969,679,666,635.675751969,879.324248031,788,803.675751969,653,631.324248031,652.675751969,0.403136441493,-0.00550325909685,0.0499650332757,0.999999997119,4.32906465385e-05,-6.08631986541e-05,-1.35235053503e-05,1793239423801346816
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.482183128,679,665.741091564,636,879,788,804,653,631.258908436,652.741091564,0.403422893067,-0.00551302814561,0.0499729791791,0.999999998189,3.89555477511e-05,-4.44909020397e-05,-1.11740448502e-05,1793239423818013440
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,714.32391366,679,665.16195683,636,879,788,804,653,631.83804317,652.16195683,0.40373423499,-0.00552406725979,0.0499813142554,0.99999999907,3.30149036333e-05,-2.62569984071e-05,-8.92930740988e-06,1793239423834680064
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.415388762,714.415388762,679,665.415388762,636,879.415388762,788,803.584611238,652.584611238,632,652.415388762,0.404074123049,-0.00553390165084,0.049989022969,0.999999999446,3.00594659067e-05,-1.30157859832e-05,-5.8432445264e-06,1793239423851346944
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.99203976,714.99203976,679,665.99203976,636,879.99203976,788,803.00796024,652.00796024,632,652.99203976,0.404425093282,-0.00554326834399,0.0499964885159,0.999999999596,2.82629452204e-05,-1.71283669457e-06,-2.43056230984e-06,1793239423868013568
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,803,652.564419281,632,653,0.404820934398,-0.00555037586292,0.0500026998569,0.999999999492,2.91396737038e-05,1.29145742381e-05,-8.69683024868e-08,1793239423884680448
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665.858100763,636,879.858100763,788,803,653,631.858100763,653,0.405217935741,-0.00555510876504,0.0500044933861,0.999999999272,3.33604676388e-05,1.83372198736e-05,2.56229631051e-06,1793239423901347584
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,679,665.264183084,636,879.264183084,788,803,653,631.264183084,653,0.405616632156,-0.00555237808423,0.0499922699469,0.999999998807,4.81145476989e-05,-5.71004882467e-06,6.23294018546e-06,1793239423918013952
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.678625645,745.678625645,715,679,665.321374355,636,879,788.321374355,803.321374355,652.678625645,631.321374355,653,0.406030413036,-0.00554156026474,0.0499753996365,0.999999996689,7.14021697607e-05,-3.82793028798e-05,7.69602869503e-06,1793239423934680576
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.099766361,745.099766361,715,679,665.900233639,636,879,788.900233639,803.900233639,652.099766361,631.900233639,653,0.406456279622,-0.0055242630346,0.0499548062544,0.999999991802,0.000101526861714,-7.76763687013e-05,7.39042564171e-06,1793239423951346944
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.475227558,745,715,679,666,636,879,788.524772442,804,652.475227558,631.524772442,653,0.406936502099,-0.00552474244148,0.0499429824423,0.999999989208,0.000112650826759,-9.38180063899e-05,9.56097044708e-06,1793239423968013568
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.050731328,715,679,666,636,879.050731328,788,803.949268672,652.949268672,631.050731328,652.949268672,0.40743450233,-0.00552928917254,0.0499349895429,0.999999987624,0.000119353671364,-0.000101747044064,1.2381618336e-05,1793239423984680448
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.640197592,715,679,666,636,879.640197592,788,803.359802408,652.359802408,631.640197592,652.359802408,0.408001090021,-0.00553771745121,0.0499482856825,0.999999989796,0.000121124808548,-7.3889997761e-05,1.66302530645e-05,1793239424001347072
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,678.77431852,666,636,880,788,803,652.22568148,632,652.22568148,0.408587352191,-0.00554453289705,0.0499672539774,0.999999991043,0.000125754269649,-4.04886588722e-05,2.14706620049e-05,1793239424018013952
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,678.195073647,666,636,880,788,803,652.804926353,632,652.804926353,0.409204437305,-0.00554882160138,0.0499951085412,0.999999990534,0.000134861717442,1.5986320507e-06,2.72381724416e-05,1793239424034680832
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.617121432,715,678.382878568,666,636,880,788,803,652.617121432,631.617121432,652.617121432,0.409816579132,-0.00554953043347,0.0500044475965,0.999999989025,0.000144144869223,1.36986186245e-05,3.13675908228e-05,1793239424051347200
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.039825617,715,678.960174383,666,636,880,788,803,652.039825617,631.039825617,652.039825617,0.410426210848,-0.00554842148569,0.0500043848864,0.99999998756,0.000153517239394,1.05717157004e-05,3.46652222208e-05,1793239424068013824
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666.534366329,636,879.465633671,788,804.068732659,652,631,652.534366329,0.411031144377,-0.00554182530023,0.0499806879288,0.999999984868,0.000166101939549,-3.84813025291e-05,3.45541669026e-05,1793239424084680192
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.8883384,745,715,679,666.8883384,636,879.223323201,788,804.8883384,652,631,653,0.411652710189,-0.00553733435464,0.0499587618105,0.999999982493,0.000165306073794,-8.17047502059e-05,3.18249625302e-05,1793239424101347072
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.29671551,745,715,679,666.29671551,636,880.406568981,788,804.29671551,652,631,653,0.412347263682,-0.00554364017049,0.0499519749227,0.999999990573,0.000105972643025,-8.52431120099e-05,1.89276916869e-05,1793239424118013696
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.28751226,745,715,679,666,635.71248774,880.71248774,788,804,652.28751226,631,653,0.41307762766,-0.00555022866652,0.0499607637031,0.999999994602,8.06933620922e-05,-6.36017400705e-05,1.55013709866e-05,1793239424134680320
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.86429964,745,715,679,666,635.13570036,880.13570036,788,804,652.86429964,631,653,0.413844021776,-0.00555710157672,0.0499852236518,0.999999995607,8.96770242633e-05,-1.6626247411e-05,2.16040692678e-05,1793239424151346944
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.560479929,745,714.560479929,679,666,635.439520071,880,788,803.560479929,652.560479929,631.439520071,653,0.414574444348,-0.0055543389319,0.0499838542016,0.999999994144,0.000103362121411,-2.1028704255e-05,2.42261384483e-05,1793239424168013568
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.014222103,745,714.014222103,679,666,636,879.985777897,788,803.014222103,652,631.985777897,652.985777897,0.415294558081,-0.00554880298534,0.0499741906014,0.999999991845,0.000117975400092,-4.16026119374e-05,2.57205585017e-05,1793239424184680448
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.587497517,745,714.587497517,679,666,636,879.412502483,788,803.587497517,652,631.412502483,652.412502483,0.416044461785,-0.00555077796407,0.0499508577888,0.999999990463,0.000112218351881,-7.65255184833e-05,2.49809053641e-05,1793239424201347328
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714.83257154,679,666,635.83257154,879,788,804,652,631,652,0.416819859515,-0.00555232034684,0.0499410362855,0.999999990027,0.000107255113168,-8.85512604947e-05,2.45197362829e-05,1793239424218013952
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714.235564237,679,666,635.235564237,879,788,804,652,631,652,0.417660668384,-0.00555275279826,0.0499658813671,0.999999993376,0.000104328588222,-4.18287002006e-05,2.47730865369e-05,1793239424234680320
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,679.348981459,666,635.348981459,879.348981459,787.651018541,804,652.348981459,631.348981459,652,0.418487404955,-0.00555010625081,0.0499824184609,0.999999993902,0.000106404759606,-1.53999078869e-05,2.52434113464e-05,1793239424251346944
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,679.925405497,666,635.925405497,879.925405497,787.074594503,804,652.925405497,631.925405497,652,0.419304970118,-0.00554545301953,0.0499935409675,0.99999999342,0.000111741351275,-2.19722678487e-06,2.58551455491e-05,1793239424268013568
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714.499388475,680,666,635.500611525,879.500611525,787.499388475,804,652.500611525,631.500611525,652.499388475,0.420099695083,-0.00554084770538,0.0499748034784,0.999999992443,0.000116091140236,-3.26565266493e-05,2.3898817071e-05,1793239424284680192
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714.925139568,679.925139568,666,635.074860432,879.074860432,788,804,652.074860432,631.074860432,653,0.420906338462,-0.005536602676,0.0499583125248,0.999999990922,0.000119995459314,-5.72105129268e-05,2.19785596758e-05,1793239424301347072
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714.336970103,679.336970103,666,635.663029897,879.663029897,788,804,652.663029897,631.663029897,653,0.421817984287,-0.00553477923915,0.0499876603596,0.999999992308,0.000121851033849,3.22965961643e-06,2.29231152266e-05,1793239424318014464
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.247580975,714.247580975,679,666,635.752419025,880,788,804,653,632,653,0.422702338121,-0.00553373167059,0.0500042603611,0.99999999152,0.000122732687733,3.65689627074e-05,2.36438590495e-05,1793239424334681344
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.827278268,714.827278268,679,666,635.172721732,880,788,804,653,632,653,0.42355008137,-0.00553372488659,0.0500037598466,0.999999991668,0.000122307881144,3.35539424565e-05,2.40643719203e-05,1793239424351347712
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666,635.403866141,880.403866141,788,804,653,631.596133859,653,0.424394895407,-0.00553636616411,0.0499911321243,0.999999992671,0.000118025188266,1.22419205136e-05,2.4057217822e-05,1793239424368014080
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,635.979134332,880.979134332,788,804,653,631.020865668,653,0.425238466228,-0.00554013128721,0.0499733575771,0.99999999329,0.000112105196347,-1.68354058673e-05,2.38685604844e-05,1793239424384680448
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.447103729,715,679,666,636,880.447103729,788,804,652.447103729,631.552896271,653,0.426114477193,-0.00554235200743,0.0499969102241,0.999999993479,0.000110087604528,1.49529477953e-05,2.64492319915e-05,1793239424401347072
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714.869124148,679,666,635.869124148,880,788,804,652,632,652.869124148,0.426980531476,-0.00554319652139,0.0500120545988,0.999999993117,0.000109751668541,2.99747294775e-05,2.86650691706e-05,1793239424418013696
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714.276049443,679,666,635.276049443,880,788,804,652,632,652.276049443,0.427807111064,-0.00553938612496,0.0499920114308,0.999999992731,0.0001148359485,-2.23060280678e-05,2.92243763583e-05,1793239424434680320
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714.309079757,679,666,635,880,788,804,652,632,652.309079757,0.428642333954,-0.00553712392565,0.0499707912064,0.999999991066,0.000116617992147,-5.87822005664e-05,2.85207492055e-05,1793239424451346944
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714.887290387,679,666,635,880,788,804,652,632,652.887290387,0.429485082945,-0.00553620981755,0.0499485460625,0.999999989649,0.000115524616891,-8.1496544575e-05,2.67174233157e-05,1793239424468014080
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.463056089,880,788,804.463056089,652,632,653,0.430346797518,-0.00553817456542,0.049955318793,0.999999991325,0.000112992297655,-6.2247568355e-05,2.65899432905e-05,1793239424484680704
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.039166575,715,679,666,636,880,788,805,652.039166575,632,653,0.431207457833,-0.00554079352632,0.0499670090921,0.999999992885,0.000110113251096,-3.71944459057e-05,2.68783410831e-05,1793239424501347072
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.628433431,715,679,666,636,880,788,805,652.628433431,632,653,0.431988814047,-0.00554281091544,0.0499490866559,0.999999991187,0.000107257769863,-7.33253663336e-05,2.73087772866e-05,1793239424518013696
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880.214053475,788,804.785946525,652.785946525,632,653,0.432796192005,-0.00554407314459,0.0499418262937,0.999999990292,0.000105805255402,-8.6304890867e-05,2.77977363996e-05,1793239424534680064
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880.793449307,788,804.206550693,652.206550693,632,653,0.433647983502,-0.00554404648152,0.0499527637514,0.999999992113,0.000106747297342,-5.97700638627e-05,2.83865813964e-05,1793239424551346944
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.629912864,715,679.370087136,666,636,881,788,804,652,632,653,0.43446989873,-0.00554434178017,0.04997224003,0.999999993367,0.000106532898276,-3.22167915253e-05,2.96555616079e-05,1793239424568013824
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.054802961,715,679.945197039,666,636,881,788,804,652,632,653,0.435275262899,-0.00554481544082,0.0499964466875,0.999999993918,0.000105677848004,-4.09931721148e-06,3.13013265601e-05,1793239424584680192
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,666,636,880.480047715,788,804.519952285,652,632,653,0.435997085769,-0.00554361455248,0.0499803869187,0.999999992429,0.000109244732372,-4.65653272335e-05,3.22521981113e-05,1793239424601347328
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.096950735,745,715,680,666,636,880,788,804.903049265,652,632,652.903049265,0.436712868568,-0.00554248294337,0.0499623310314,0.999999989398,0.000111667204402,-8.75851613952e-05,3.26087661429e-05,1793239424618014208
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.685513288,745,715,680,666,636,880,788,804.314486712,652,632,652.314486712,0.437442642416,-0.00554259699344,0.0499556593028,0.999999990438,0.000105924944467,-8.35737808339e-05,3.03229134122e-05,1793239424634681344
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.728990327,745,715,680,666.271009673,635.728990327,880,788,804,652,632,652.271009673,0.438192348753,-0.00554391000799,0.0499645683175,0.999999992688,0.000101390047263,-5.87835422909e-05,2.9814458703e-05,1793239424651347712
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.147012237,745,715,680,666.852987763,635.147012237,880,788,804,652,632,652.852987763,0.438964926456,-0.00554659876708,0.0499913553625,0.999999994632,9.82405313705e-05,-1.01507285547e-05,3.13454687485e-05,1793239424668013824
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.571479564,666.571479564,635,880.428520436,788,804.428520436,652,632,652.571479564,0.439637374958,-0.00554732763672,0.0499831128405,0.999999994281,9.97203652633e-05,-2.18136011219e-05,3.18993894659e-05,1793239424684680192
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.001874937,666,635,881,788,805,652,632,652.001874937,0.440275857268,-0.00554739227644,0.0499630166853,0.999999992753,0.000102758455244,-5.38848038038e-05,3.21207518766e-05,1793239424701347072
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.575302698,666,635,881,788,805,652,632,652.575302698,0.440876537675,-0.00554690353758,0.0499386104175,0.999999989607,0.000103846149576,-9.4871927139e-05,3.1636079518e-05,1793239424718013696
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.846266567,665.846266567,635,880.846266567,788,804.846266567,652,632,653,0.441474072425,-0.00554629109614,0.0499205766878,0.999999986059,0.000106089806213,-0.000125008475468,3.16102885389e-05,1793239424734680320
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.253549793,665.253549793,635,880.253549793,788,804.253549793,652,632,653,0.442062624942,-0.00554532542387,0.0499207396325,0.99999998552,0.000111634295279,-0.000124161391464,3.28948259695e-05,1793239424751347456
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.331686056,665.331686056,635,880.331686056,788,804.331686056,652,632,652.668313944,0.442636787628,-0.00554578938296,0.0499158475599,0.999999984472,0.000114272731812,-0.00012986061229,3.36618163598e-05,1793239424768014080
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.911329383,665.911329383,635,880.911329383,788,804.911329383,652,632,652.088670617,0.443200192926,-0.00554732208615,0.0499071765273,0.999999982974,0.000114738701486,-0.000140453629095,3.4041906019e-05,1793239424784680704
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665.513613646,635,881,788,805,652,632,652.486386354,0.443670053815,-0.00554563087462,0.0498719381012,0.999999972013,0.000118182418214,-0.000202226025142,3.33511816815e-05,1793239424801347072
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714.937952722,680,664.937952722,635,880.937952722,787.937952722,804.937952722,652,632,653,0.444119997716,-0.00554349886521,0.0498323792547,0.999999955184,0.000121889747296,-0.000271528918613,3.23488112901e-05,1793239424818013440
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714.35015572,680,664.35015572,635,880.35015572,787.35015572,804.35015572,652,632,653,0.44454432928,-0.00554256539158,0.0497968681532,0.999999938699,0.000123273897939,-0.000326320348281,3.0344423479e-05,1793239424834680064
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.235370618,714.235370618,680,664.235370618,635,880,787,804.235370618,652,632,653,0.444982878811,-0.00554468014602,0.0497775339557,0.999999930931,0.000118990068404,-0.000350927890364,2.87909484508e-05,1793239424851346688
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.817551164,714.817551164,680,664.817551164,635,880,787,804.817551164,652,632,653,0.445442377958,-0.00555128635224,0.0497820358326,0.999999939155,0.000106354679326,-0.000331060583166,2.79018770555e-05,1793239424868013312
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+256,4.266666667,HOLD_POSE2,765.309626831,745.309626831,715,680.690373169,663,632,880.690373169,786.690373169,805,652,631,653,0.449920288231,-0.00552461697012,0.0496875792204,0.99999988647,9.79058187444e-05,-0.000466117819403,1.44198433876e-05,1793239425859137280
+257,4.283333333,HOLD_POSE2,765.90265378,745.90265378,715,680.09734622,663,632,880.09734622,786.09734622,805,652,631,653,0.449920059832,-0.0055260016878,0.0496874551525,0.999999886321,9.54811985864e-05,-0.000466942493417,1.43479210314e-05,1793239425875803904
+258,4.300000000,HOLD_POSE2,766,746,715,680,663,632,880,786,805,652,631,653,0.449919320876,-0.00552584444336,0.049687138481,0.999999885711,9.77364571189e-05,-0.000467775002387,1.45904466555e-05,1793239425892470528
+259,4.316666667,HOLD_POSE2,766,746,715,680,663.061655603,632,880.061655603,786.061655603,805.061655603,652,631,653,0.449918665635,-0.00552562833297,0.0496869027466,0.999999885166,0.000100267454376,-0.00046839338905,1.48737283483e-05,1793239425909137152
+260,4.333333333,HOLD_POSE2,766,746,715,680,663.635649287,632,880.635649287,786.635649287,805.635649287,652,631,653,0.449919539222,-0.00552743943754,0.0496876538877,0.999999885992,9.74525234972e-05,-0.000467219702698,1.49825231369e-05,1793239425925803776
+261,4.350000000,HOLD_POSE2,766,746,715.210264413,680,663.789735587,632,881,787,805.789735587,652,631,652.789735587,0.449919989249,-0.00552785241576,0.0496880900279,0.999999886386,9.64002063715e-05,-0.000466594651061,1.49873842204e-05,1793239425942470912
+262,4.366666667,HOLD_POSE2,766,746,715.785959522,680,663.214040478,632,881,787,805.214040478,652,631,652.214040478,0.449919703148,-0.00552583550909,0.0496879787099,0.999999886039,9.84112380134e-05,-0.000466923103582,1.48116128907e-05,1793239425959137536
+263,4.383333333,HOLD_POSE2,766,746,715.629278746,679.629278746,663,632,881,787,805,652,631,652.370721254,0.449919427852,-0.00552480222015,0.0496880197986,0.999999885995,9.84676443022e-05,-0.000467012128224,1.46367781275e-05,1793239425975803904
+264,4.400000000,HOLD_POSE2,766,746,715.039150998,679.039150998,663,632,881,787,805,652,631,652.960849002,0.449919158951,-0.00552435107223,0.0496881510874,0.99999988613,9.73672314946e-05,-0.00046695945066,1.44624976424e-05,1793239425992470272
+265,4.416666667,HOLD_POSE2,765.460218567,746,715,679.539781433,663,632,880.460218567,786.460218567,805,652,631.539781433,653,0.449919626692,-0.00552474358896,0.0496877651862,0.999999885903,9.87979682496e-05,-0.000467137584554,1.46790639795e-05,1793239426009137152
+266,4.433333333,HOLD_POSE2,765,746,715,680,663,632,880,786.117546115,805,652,631.764907769,653,0.449919994159,-0.00552491990451,0.0496873549626,0.999999885667,9.99992415973e-05,-0.000467382424829,1.48549203273e-05,1793239426025803776
+267,4.450000000,HOLD_POSE2,765,746,715,680,663,632,880,786.693858176,805,652,630.612283649,653,0.449919765987,-0.00552401844628,0.0496869932432,0.999999885501,9.96029954385e-05,-0.000467823600486,1.47634989368e-05,1793239426042470400
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,663,632,881,786,805,652,631,653,0.449918663851,-0.00552378491492,0.0496861458914,0.999999885319,9.78913466568e-05,-0.000468588234459,1.42599524246e-05,1793239426079693056
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.579236512,746,715,680,663,632,881,786.579236512,805,652,631,652.420763488,0.449919353328,-0.00552403830088,0.0496867008715,0.999999885672,9.68294620132e-05,-0.000468060307414,1.41303580173e-05,1793239426096360448
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.842632805,746,715,680,663.157367195,632,881,787,805,652,631,652.157367195,0.449919701036,-0.00552440458143,0.0496872265469,0.999999885819,9.62112537032e-05,-0.00046787299504,1.41407196252e-05,1793239426113027328
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.267438097,746,715,680,663.732561903,632,881,787,805,652,631,652.732561903,0.449919141311,-0.00552507060982,0.0496876744151,0.999999885424,9.6771055477e-05,-0.000468590052621,1.45226800877e-05,1793239426129693184
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.307955941,745.692044059,715.307955941,680,664,632,881,787,805,652,631,652.692044059,0.449919367769,-0.00552481473373,0.0496876364619,0.999999885342,9.79173738032e-05,-0.000468527439085,1.44995000341e-05,1793239426146359296
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.472054436,715.527945564,680,664,632,881,786.527945564,804.527945564,652,631,652.472054436,0.449920498759,-0.00552350434801,0.0496868446037,0.999999885632,9.90188006513e-05,-0.000467689294375,1.40674472527e-05,1793239426179692800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.937611458,715,680,663.937611458,632,880.937611458,786,804.062388542,652,631,653,0.449920428042,-0.00552346661581,0.0496866483449,0.999999885681,9.80271233227e-05,-0.000467790094622,1.41462318514e-05,1793239426196359680
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.359562137,715,680,663.359562137,632,880.359562137,786,804.640437863,652,631,653,0.449919386711,-0.00552352609166,0.0496873025443,0.999999885485,9.80581959715e-05,-0.000468187495152,1.46779762102e-05,1793239426213026816
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.782426704,680,663,632,880.217573296,786.217573296,805,652,631,653,0.449915626574,-0.00552368188647,0.0496859592391,0.999999884206,9.79548516144e-05,-0.00047092746278,1.4834224986e-05,1793239426229693440
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.206795301,680,663,632,880.793204699,786.793204699,805,652,631,653,0.449907392128,-0.00552399619238,0.0496813286612,0.999999881117,9.76302985859e-05,-0.000477522568611,1.43725245419e-05,1793239426246360064
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.033508565,745.966491435,714.966491435,680.966491435,663,632,881,786.033508565,805,652.966491435,631,653,0.449861560244,-0.00552336507094,0.0496607984059,0.999999863968,9.66112050742e-05,-0.000512413006036,1.27947421969e-05,1793239426279692800
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.546606012,746,715,680.453393988,663,632,880.453393988,786,804.453393988,652.453393988,631,652.453393988,0.449808297736,-0.00552125967723,0.0496425578414,0.999999845858,9.77753705658e-05,-0.000546428683525,1.18263241422e-05,1793239426296359168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.124994217,632,880.124994217,786,804.124994217,652,631,652.124994217,0.449749732824,-0.00551866803322,0.0496241927501,0.999999827302,9.96392922413e-05,-0.00057909501521,1.0772886783e-05,1793239426313025792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.699116932,632,880.699116932,786,804.699116932,652,631,652.699116932,0.44967799561,-0.00551468721565,0.0496068413309,0.999999812275,0.000103646054237,-0.000603836480105,9.43734053898e-06,1793239426329692672
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.720079869,663.720079869,632,881,786,805,652,631,652.720079869,0.449601763222,-0.00551245962604,0.0495958990555,0.999999802893,0.000104874598711,-0.000618985042313,8.4835308447e-06,1793239426346359296
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.550116643,746,715,679.449883357,663.449883357,632,880.550116643,786.449883357,805,652,631,652,0.449422401909,-0.00550815741914,0.049591151485,0.999999799739,0.000105883105605,-0.000623906236605,7.16060784941e-06,1793239426379692800
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.970234319,715,680,663.970234319,632,880.029765681,786.970234319,805,652.029765681,631,652.029765681,0.449318077539,-0.00550312050043,0.049591232142,0.999999799846,0.000109960278106,-0.000623037852434,6.31270781141e-06,1793239426396359424
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.391893186,715,680,663.391893186,632,880.608106814,786.391893186,805,652.608106814,631,652.608106814,0.449191068915,-0.0054988304268,0.0495925980123,0.99999979989,0.000111966065572,-0.000622615382538,5.75224554745e-06,1793239426413026048
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.1848728,745.1848728,715,680.1848728,663.1848728,632,881,786,805,652.8151272,631,652.8151272,0.449055178974,-0.00549423050372,0.0495944075675,0.999999799922,0.000114837835996,-0.000622046551515,5.19851244616e-06,1793239426429692416
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.758327927,745.758327927,715,680.758327927,663.758327927,632,881,786,805,652.241672073,631,652.241672073,0.448900621495,-0.00548897931167,0.0495971496995,0.999999799919,0.000119529807261,-0.000621170085518,4.65892337659e-06,1793239426446359040
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.668696558,663.668696558,632.331303442,880.668696558,786.331303442,805,652.331303442,631,652.331303442,0.448726290366,-0.00548312305599,0.0495999123511,0.999999801721,0.000124275934906,-0.000617330501462,4.16157489715e-06,1793239426463025664
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.096070335,663.096070335,632.903929665,880.096070335,786.903929665,805,652.903929665,631,652.903929665,0.448537556014,-0.00547682606897,0.0496026899496,0.999999804801,0.000129061510761,-0.000611332569998,3.69499457995e-06,1793239426479692544
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,633,880.497219912,787,805,653,631,653,0.448316901458,-0.00546682398649,0.0496013703945,0.99999980246,0.000136924279145,-0.000613454104162,2.20128555378e-06,1793239426496359424
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.908604304,715,680,663.091395696,633,881,787,805,653,631.091395696,653,0.448082784603,-0.00545630664176,0.0495982160872,0.999999798163,0.0001450571896,-0.000618573412857,5.2354617094e-07,1793239426513026048
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.331847863,715,680,663.668152137,633,881,787,805,653,631.668152137,653,0.447811348301,-0.00544701952842,0.0495897045314,0.999999789519,0.000151330359592,-0.000630920090368,-1.03188350246e-06,1793239426529692672
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.756367864,745.243632136,715,679.756367864,664,633,880.756367864,787,805,652.756367864,631.756367864,653,0.447529013156,-0.00543731079117,0.0495857736195,0.999999785648,0.000157838931664,-0.000635439560014,-2.73659790373e-06,1793239426546359552
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.182617462,745.817382538,715,679.182617462,664,633,880.182617462,787,805,652.182617462,631.182617462,653,0.447231910241,-0.00542703075975,0.0495880494188,0.999999788389,0.000164666470031,-0.000629353267707,-4.64359100876e-06,1793239426563025920
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.872034091,715,680,664.872034091,634,881,787,805.127965909,652,631.127965909,653,0.444535126942,-0.00540682710718,0.0496872081427,0.999999869756,0.000145393725098,-0.000489041464004,-1.36561891712e-05,1793239426679692800
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.172119463,745.172119463,715,679.827880537,666,635,881,788,805.655761074,652,632,653,0.433865431034,-0.00538238957101,0.0497902061835,0.999999938152,1.99438745157e-05,-0.000346707017616,-5.56081428722e-05,1793239426946359808
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.137276846,745,715,679,665.862723154,635.137276846,880,788,804.137276846,652,631.137276846,652.862723154,0.423525785815,-0.00537052151702,0.049854126527,0.999999973052,7.51922705163e-05,-0.00021505357329,-4.46514817216e-05,1793239427146359552
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.735021668,635.264978332,879.264978332,788,804,652,632,652.264978332,0.408253042284,-0.00537237246322,0.049826456802,0.999999951438,9.22920382601e-05,-0.000293484102764,-4.97338564284e-05,1793239427479692544
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,665,636,879.758333108,788,803.241666892,652.758333108,631.758333108,652.241666892,0.401705415554,-0.00537131420864,0.0498258182163,0.999999933585,0.000163542500622,-0.000323412340837,-3.85852833282e-05,1793239427796359168
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.657464401,715,679,665.342535599,636,880,788,803,653,631.657464401,652.342535599,0.401588632593,-0.00537386738227,0.0498330739932,0.99999993937,0.000155462256418,-0.000309120700333,-3.91902527727e-05,1793239427813025792
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.068762795,715,679,665.931237205,636,880,788,803,653,631.068762795,652.931237205,0.401484677904,-0.00537890302192,0.0498409965802,0.999999945456,0.000145087571047,-0.000294051681744,-3.96388347428e-05,1793239427829692928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.510500475,715,679,666,636,879.489499525,788,803.510500475,653,631.510500475,653,0.401395456249,-0.00538715600679,0.0498429590979,0.999999948422,0.000133446647714,-0.000289371942949,-4.01467052578e-05,1793239427846359296
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.911565218,715,679,666,635.911565218,879,788,804,653,632,653,0.401311013061,-0.00539530398524,0.0498438267192,0.999999950556,0.000122448601215,-0.000286787606187,-4.05908819712e-05,1793239427863026176
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.334077115,715,679,666,635.334077115,879,788,804,653,632,653,0.40124222001,-0.00540051821615,0.0498429984409,0.999999950927,0.00011593180687,-0.000288192694812,-4.06394641343e-05,1793239427879692544
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,635.242673079,879,788,804,653,631.757326921,653,0.401182303078,-0.0054023181854,0.049842873659,0.999999951424,0.00011197582399,-0.000287996265954,-4.08941311446e-05,1793239427896359168
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.401714346,666,635.598285654,879,788,804,653,631,653,0.401100052301,-0.00539901665273,0.0498462180118,0.999999953542,0.000111763318729,-0.00028056260716,-4.1354035768e-05,1793239427929692672
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.275303556,715,678.724696444,665,635.275303556,879.724696444,788,803.275303556,652.724696444,631.275303556,653,0.401017606786,-0.00540097003377,0.0498506946126,0.999999956125,0.000112626064681,-0.000270896858815,-4.0985399052e-05,1793239427996359680
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.701336146,665,635,880,788,803.298663854,653,631,652.701336146,0.401009357211,-0.00540022180183,0.0498520187142,0.999999956599,0.000113317003984,-0.000268840155431,-4.10578506748e-05,1793239428013026304
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.628777305,715,679,665.371222695,636,879.371222695,788,803.628777305,653,632,653,0.400997424889,-0.0054005834749,0.0498550747506,0.999999958544,0.000112506635462,-0.000261916797442,-4.06607527097e-05,1793239428079692544
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,714.794644839,679,665.205355161,636,879.205355161,788,804,653,632,653,0.400996802412,-0.00540114026639,0.0498554610242,0.999999958963,0.000111751316761,-0.000260636285937,-4.06777416463e-05,1793239428096359424
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,714.221699872,679,665.778300128,636,879.778300128,788,804,653,632,653,0.400995871349,-0.00539948439534,0.0498555274251,0.999999958535,0.000114861835473,-0.000260880447878,-4.0965031768e-05,1793239428113026304
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.637434624,714.362565376,679,666,636,880,788,803.637434624,652.637434624,632,653,0.400995292333,-0.00539880251319,0.0498559569733,0.999999958573,0.000116154928344,-0.00026015028185,-4.10333375514e-05,1793239428129693184
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.04602423,714.95397577,679,666,636,880,788,803.04602423,652.04602423,632,653,0.400994935524,-0.00539873539612,0.0498566157338,0.999999958908,0.000116300893231,-0.000258805136791,-4.09634241839e-05,1793239428146359552
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.534356914,745,715,679,666,636,880,788,803,652.534356914,632,653,0.400994869137,-0.00540026831001,0.0498570414364,0.999999959317,0.000114659832506,-0.000258016453949,-4.05745201502e-05,1793239428163025920
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.886887559,745,715,679,666,636,879.886887559,788,803,652.886887559,632,653,0.400994840212,-0.00540169573428,0.049857449722,0.999999959666,0.000113190754079,-0.000257368359173,-4.02200457644e-05,1793239428179692544
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.310975279,745,715,679,666,636,879.310975279,788,803,652.310975279,632,653,0.400994864291,-0.00540213909628,0.0498578672148,0.999999959755,0.000113042357561,-0.000257103348484,-4.01165800118e-05,1793239428196359168
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.735352668,679,666,636,879.264647332,788,803.264647332,652.264647332,632,653,0.400994679727,-0.00540178739233,0.0498580820493,0.99999995969,0.000113836023047,-0.000257005947332,-4.01072612189e-05,1793239428213025792
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.160069987,679,666,636,879.839930013,788,803.839930013,652.839930013,632,653,0.400994250264,-0.00540050246311,0.0498580590094,0.999999959443,0.00011573545352,-0.000257105281346,-4.0208449378e-05,1793239428229692416
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.42673793,679,665.57326207,636,879.57326207,788,804,653,631.57326207,653,0.400994967654,-0.00540132308379,0.049858668503,0.999999959839,0.000115129529235,-0.000255885620576,-3.98703339493e-05,1793239428246359296
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.982417046,679,665.017582954,636,879.017582954,788,804,653,631,653,0.400996144269,-0.0054029077861,0.049859526758,0.999999960476,0.000113608707851,-0.000254145547476,-3.93779107912e-05,1793239428263026176
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.404509819,679,665.595490181,636,879.595490181,788,804,653,631,653,0.40099786576,-0.00540297446209,0.0498605415234,0.999999961002,0.000113711540759,-0.000252025534534,-3.93650798138e-05,1793239428279692800
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.172251445,745.172251445,714.172251445,679,665.827748555,636,880,788,804,653,631,653,0.40099811224,-0.00540274438594,0.0498606631007,0.999999961109,0.000113785858825,-0.000251541575607,-3.95063928202e-05,1793239428296359424
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.74633932,745.74633932,714.74633932,679,665.25366068,636,880,788,804,653,631,653,0.40099491774,-0.0054018220322,0.049858701006,0.999999960245,0.000113793656098,-0.000254874282044,-4.00073003023e-05,1793239428313025792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.670770407,746,715,678.670770407,665.329229593,636,879.670770407,788,804,653,631,653,0.40099466185,-0.00540128691561,0.0498587770377,0.999999960289,0.000114055073899,-0.000254557224548,-4.01630444906e-05,1793239428329692416
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.080911893,746,715,678.080911893,665.919088107,636,879.080911893,788,804,653,631,653,0.400996732259,-0.00540105834868,0.0498604665169,0.999999961052,0.000114517266011,-0.000251350894328,-4.00455460966e-05,1793239428346359296
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.499926643,715,678.500073357,666,636,879.500073357,788,804,652.499926643,631.500073357,653,0.400995762707,-0.00540124848184,0.0498601006344,0.999999960842,0.000113598013589,-0.000252586585263,-4.01468517091e-05,1793239428363026176
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.079239438,666,636,879.920760562,788,804,652.079239438,631.920760562,653,0.400994439138,-0.00540144390088,0.0498594842315,0.999999960472,0.000112964967505,-0.000254312451953,-4.02487463849e-05,1793239428379692800
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.655841199,666,636,879.344158801,788,804,652.655841199,631.344158801,653,0.400993926971,-0.00540125469166,0.04985934636,0.999999960092,0.000115506848402,-0.00025468246907,-4.01360015991e-05,1793239428396359424
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.230834035,715,679.769165965,666,636,879.230834035,788,804,653,631.230834035,653,0.400993708307,-0.0054010133645,0.0498591695287,0.999999959799,0.00011728137897,-0.000255023491688,-4.01217922378e-05,1793239428413026048
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.803444755,715,679.196555245,666,636,879.803444755,788,804,653,631.803444755,653,0.400993924209,-0.00540069487063,0.0498589350128,0.999999959643,0.000117919758348,-0.000255321584629,-4.02534760365e-05,1793239428429692928
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745.612417542,715,678.612417542,665.612417542,636,880,788,804,653,632,653,0.40099457127,-0.00540165416988,0.0498595307193,0.99999996001,0.000116900449273,-0.000254413723379,-3.98448247995e-05,1793239428446359552
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745.022254995,715,678.022254995,665.022254995,636,880,788,804,653,632,653,0.400995443687,-0.0054032813411,0.0498605603633,0.999999960646,0.000115014706018,-0.00025287553867,-3.91537533427e-05,1793239428463025920
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.558892302,665,636,879.441107698,788,803.441107698,653,632,653,0.400995686794,-0.00540219575378,0.0498604677819,0.999999960525,0.000116765277125,-0.000252484365393,-3.95924984597e-05,1793239428479692544
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efa663b49765bb6f26d37667012775949ce77f80
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,414 @@
+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,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+1,0.016666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+2,0.033333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
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+4,0.066666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
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+6,0.100000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+7,0.116666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+8,0.133333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
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+12,0.200000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+13,0.216666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
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+15,0.250000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
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+17,0.283333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+18,0.300000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
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+20,0.333333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+21,0.350000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
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+23,0.383333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+24,0.400000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
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+377,6.283333333,pose2_to_pose3_retreat,0.575831777697,9.07447137221e-05,1.04003216596,0.546402228546,0.00876248191305,1.03970030071
+378,6.300000000,pose2_to_pose3_retreat,0.575791205071,9.06422687928e-05,1.04003246846,0.546361657528,0.00876238496524,1.03970060423
+379,6.316666667,pose2_to_pose3_retreat,0.57575864808,9.06518954659e-05,1.04003236978,0.546329102521,0.00876240127282,1.03970050417
+380,6.333333333,pose2_to_pose3_retreat,0.575733104353,9.07064215836e-05,1.04003219204,0.546303557368,0.0087624509477,1.03970032628
+381,6.350000000,pose2_to_pose3_retreat,0.575713757176,9.07478393621e-05,1.04003215153,0.546284209151,0.00876248900984,1.03970029032
+382,6.366666667,pose2_to_pose3_retreat,0.575698933968,9.07463777085e-05,1.04003219779,0.546269386237,0.00876248870231,1.03970034077
+383,6.383333333,pose2_to_pose3_retreat,0.575688105273,9.06822038979e-05,1.04003221466,0.54625855915,0.00876242986456,1.03970035459
+384,6.400000000,pose2_to_pose3_retreat,0.575680483798,9.07088322005e-05,1.04003222211,0.54625093756,0.00876245606157,1.03970036081
+385,6.416666667,pose2_to_pose3_retreat,0.575675547632,9.0730278271e-05,1.0400321958,0.546246001053,0.00876247636256,1.03970033471
+386,6.433333333,pose2_to_pose3_retreat,0.575672515023,9.07392258193e-05,1.04003213008,0.546242967996,0.00876248385156,1.03970027061
+387,6.450000000,pose2_to_pose3_retreat,0.575670628492,9.074479193e-05,1.0400320892,0.546241081186,0.00876248851034,1.03970023073
+388,6.466666667,pose2_to_pose3_retreat,0.57566938279,9.07236966067e-05,1.04003208123,0.546239835331,0.00876246694171,1.03970022398
+389,6.483333333,pose2_to_pose3_retreat,0.575668578239,9.07087294422e-05,1.04003207712,0.546239030683,0.00876245167566,1.03970022068
+390,6.500000000,pose2_to_pose3_retreat,0.57566816101,9.07009676712e-05,1.04003207499,0.546238613404,0.0087624437589,1.03970021897
+391,6.516666667,pose2_to_pose3_retreat,0.575667798244,9.06942190748e-05,1.04003207313,0.546238250593,0.00876243687554,1.03970021748
+392,6.533333333,pose2_to_pose3_retreat,0.575667519727,9.06890377833e-05,1.04003207171,0.546237972043,0.00876243159078,1.03970021633
+393,6.550000000,pose2_to_pose3_retreat,0.575667376784,9.06863785942e-05,1.04003207097,0.546237829082,0.00876242887849,1.03970021575
+394,6.566666667,pose2_to_pose3_retreat,0.57566728983,9.06847609761e-05,1.04003207053,0.546237742118,0.00876242722857,1.03970021539
+395,6.583333333,pose2_to_pose3_retreat,0.575667192563,9.06829515113e-05,1.04003207003,0.546237644839,0.00876242538298,1.03970021499
+396,6.600000000,pose2_to_pose3_retreat,0.575667178579,9.0682691372e-05,1.04003206996,0.546237630854,0.00876242511764,1.03970021493
+397,6.616666667,pose2_to_pose3_retreat,0.57566699348,9.06792479415e-05,1.04003206901,0.546237445732,0.00876242160545,1.03970021417
+398,6.633333333,pose2_to_pose3_retreat,0.575666630432,9.06883322117e-05,1.04003211358,0.546237082614,0.00876243036943,1.03970025657
+399,6.650000000,pose2_to_pose3_retreat,0.575666245825,9.07069794787e-05,1.04003218724,0.546236697918,0.00876244857175,1.03970032649
+400,6.666666667,pose2_to_pose3_retreat,0.575666171035,9.07106055694e-05,1.04003220156,0.546236623111,0.00876245211132,1.03970034008
+401,6.683333333,pose2_to_pose3_retreat,0.575666136771,9.07122668621e-05,1.04003220813,0.546236588838,0.00876245373297,1.03970034631
+402,6.700000000,pose2_to_pose3_retreat,0.575666070887,9.07154611417e-05,1.04003222075,0.54623652294,0.00876245685103,1.03970035829
+403,6.716666667,pose2_to_pose3_retreat,0.575665835244,9.0726886063e-05,1.04003226588,0.546236287242,0.00876246800334,1.03970040112
+404,6.733333333,pose2_to_pose3_retreat,0.575665423679,9.07468403396e-05,1.0400323447,0.546235875582,0.00876248748148,1.03970047594
+405,6.750000000,pose2_to_pose3_retreat,0.575665312666,9.07522227326e-05,1.04003236596,0.546235764543,0.00876249273544,1.03970049612
+406,6.766666667,pose2_to_pose3_retreat,0.575665211151,9.07596631993e-05,1.04003236692,0.546235662908,0.00876249975692,1.03970049674
+407,6.783333333,pose2_to_pose3_retreat,0.575664927858,9.07882142674e-05,1.04003231243,0.546235378983,0.00876252620639,1.03970044333
+408,6.800000000,pose2_to_pose3_retreat,0.575664807658,9.08003282964e-05,1.0400322893,0.546235258516,0.00876253742873,1.03970042067
+409,6.816666667,pose2_to_pose3_retreat,0.575664706313,9.08105421269e-05,1.04003226981,0.546235156945,0.00876254689073,1.03970040156
+410,6.833333333,pose2_to_pose3_retreat,0.575664535408,9.08233813114e-05,1.04003224574,0.546234985802,0.008762558944,1.03970037804
+411,6.850000000,pose2_to_pose3_retreat,0.575664413793,9.07841078755e-05,1.04003232575,0.546234865597,0.00876252443169,1.03970045744
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b054684625501b37a05f293662719365e817080b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:579e9a4fd4e33b00cd3693544a8ce0e138a18bd982871c8960eedf1b9c5f8099
+size 26379037
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2568e7ecd7905f16376151e5ef1ac2d0faab2785
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
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+36,0.600000000,BASELINE,766.895380954,745.895380954,715,679,666,636,879,788,803.209238092,653,631.104619046,653,0.400995491838,-0.00540424272329,0.0498626300456,0.99999996196,0.000113803645419,-0.000248189931073,-3.91305662926e-05,1793239429236324864
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+38,0.633333333,BASELINE,766.04393508,745.95606492,715,679,666,636,880,788.04393508,803.95606492,653,632,653,0.400996821979,-0.00540200595734,0.049864148903,0.999999962329,0.000115782525622,-0.000245740766282,-3.93503858967e-05,1793239429269658368
+39,0.650000000,BASELINE,766.634718113,745.365281887,715,679,666,636,880,788.634718113,803.365281887,653,632,653,0.400995651205,-0.0054037355169,0.0498626089659,0.999999961965,0.000114564373182,-0.000247836906536,-3.90152424694e-05,1793239429286324992
+40,0.666666667,BASELINE,766.778345074,745,715,679,666,636,880,788.778345074,803.221654926,653,632,653,0.400995341446,-0.00540436658308,0.0498619676956,0.99999996189,0.000113659434352,-0.00024856620706,-3.89332074941e-05,1793239429302991872
+41,0.683333333,BASELINE,766.197638662,745,715,679,666,636,880,788.197638662,803.802361338,653,632,653,0.400996426421,-0.00540321823604,0.049862782146,0.999999962291,0.000113261859969,-0.000247081408975,-3.92611745513e-05,1793239429319658752
+42,0.700000000,BASELINE,766,745.378564777,715,679,666,636,880.378564777,788,804,653,632,653,0.400996431762,-0.00540373025025,0.0498632509802,0.999999962444,0.00011274833874,-0.000246722897036,-3.90908440475e-05,1793239429336325376
+43,0.716666667,BASELINE,766,745.95244495,715,679,666,636,880.95244495,788,804,653,632,653,0.40099588008,-0.0054050989055,0.0498635414982,0.99999996247,0.000112174996312,-0.000246945477302,-3.86634236216e-05,1793239429352991744
+44,0.733333333,BASELINE,766,746,715,679,666,636,880.461127271,788.538872729,804,653,632,652.461127271,0.400995477291,-0.00540341222157,0.0498627005302,0.999999961945,0.000114874423996,-0.000247776188812,-3.89995844177e-05,1793239429369658112
+45,0.750000000,BASELINE,766,745.875409541,715,679,666,636,880,788.875409541,803.875409541,653,631.875409541,652.124590459,0.400995225042,-0.00540219675822,0.0498620181719,0.999999961584,0.00011660258195,-0.000248383078269,-3.9271564008e-05,1793239429386324736
+46,0.766666667,BASELINE,766,745.29641647,715,679,666,636,880,788.29641647,803.29641647,653,631.29641647,652.70358353,0.400995472779,-0.00540370675137,0.0498622871526,0.999999962027,0.000113709868253,-0.00024797325124,-3.90578387046e-05,1793239429402991616
+47,0.783333333,BASELINE,766,745.28194575,715,679,666,636,879.71805425,788,803,653,631.28194575,653,0.400995565199,-0.00540399966324,0.0498627626049,0.999999962204,0.000113023527147,-0.000247574538378,-3.90541316218e-05,1793239429419658240
+48,0.800000000,BASELINE,766,745.859646293,715,679,666,636,879.140353707,788,803,653,631.859646293,653,0.400995494695,-0.00540301588423,0.0498634546413,0.999999962106,0.00011465162123,-0.000247187483978,-3.92707289333e-05,1793239429436325120
+49,0.816666667,BASELINE,766,745.558171154,715,679,666,636,879,788,803.441828846,653,632,653,0.400996064283,-0.00540234223135,0.0498631571053,0.999999962076,0.000115026584959,-0.000247107292321,-3.94366131295e-05,1793239429452991744
+50,0.833333333,BASELINE,766.025343118,745,715,679,666,636,879,788,804,653,632,653,0.400996823761,-0.00540178727887,0.0498626012547,0.999999962075,0.000115070305115,-0.000247069640267,-3.95667760077e-05,1793239429469658624
+51,0.850000000,BASELINE,766.60651905,745,715,679,666,636,879,788,804,653,632,653,0.400997242634,-0.00540165286576,0.0498633451073,0.999999962213,0.000116669289562,-0.00024580511645,-3.92704343306e-05,1793239429486324992
+52,0.866666667,BASELINE,766.813318173,745,715,679,666,636,879.186681827,788,803.813318173,653,631.813318173,653,0.400997660059,-0.00540192602795,0.0498641577162,0.999999962408,0.000117121427497,-0.00024481719937,-3.91349073359e-05,1793239429502991616
+53,0.883333333,BASELINE,766.235279398,745,715,679,666,636,879.764720602,788,803.235279398,653,631.235279398,653,0.400998074447,-0.00540305362481,0.0498651144646,0.999999962726,0.000115169333712,-0.000244409156532,-3.93365098195e-05,1793239429519658240
+54,0.900000000,BASELINE,766,745,715,679,666,636,879.65912314,788,803,653,631.34087686,653,0.400997626116,-0.00540406496208,0.0498647154074,0.999999962794,0.000113697959195,-0.000244839448677,-3.92312458832e-05,1793239429536324864
+55,0.916666667,BASELINE,766,745,715,679,666,636,879.084259117,788,803,653,631.915740883,653,0.40099658559,-0.00540499649554,0.0498633856884,0.999999962688,0.00011255656356,-0.000245845196807,-3.89153404682e-05,1793239429552991744
+56,0.933333333,BASELINE,766.502706611,745,715,679,666,636,879,788,803.502706611,653,632,653,0.400995255625,-0.00540358071924,0.0498622747367,0.99999996219,0.000112846924366,-0.00024767573541,-3.92691312232e-05,1793239429569658368
+57,0.950000000,BASELINE,766.909723858,745,715,678.909723858,665.909723858,636,879.090276142,788,803.909723858,653,632,653,0.400994355285,-0.00540219380703,0.0498615440353,0.999999961781,0.000113307373795,-0.000249062832431,-3.95930200148e-05,1793239429586325248
+58,0.966666667,BASELINE,766.330146994,745,715,678.330146994,665.330146994,636,879.669853006,788,803.330146994,653,632,653,0.400996052961,-0.00540314837454,0.0498626706644,0.999999962236,0.000113356935368,-0.000247278684864,-3.91314402317e-05,1793239429602991872
+59,0.983333333,BASELINE,766,745,715,678,665.247894699,636,880,788,803.247894699,653,632,653,0.400996957625,-0.00540318659649,0.0498633185582,0.99999996241,0.000113808321892,-0.000246405517314,-3.88873253434e-05,1793239429619658240
+60,1.000000000,BASELINE,766,745,715,678,665.823904508,636,880,788,803.823904508,653,632,653,0.400996812652,-0.00540201193734,0.0498633327949,0.999999962214,0.000114791566661,-0.000246738128867,-3.89310484065e-05,1793239429636324864
+61,1.016666667,BASELINE,766,745,714.600545457,678.399454543,666,636,880,788,804,653,631.600545457,653,0.400996006216,-0.00540242394527,0.0498630170635,0.999999962075,0.000113775256162,-0.000247756768573,-3.90205924322e-05,1793239429652991488
+62,1.033333333,BASELINE,766,745,714.025197911,678.974802089,666,636,880,788,804,653,631.025197911,653,0.400994908516,-0.00540353461508,0.0498625560363,0.999999961956,0.000111878475502,-0.00024907748907,-3.91303129355e-05,1793239429669658112
+63,1.050000000,BASELINE,766,745,714,679,666,636,879.4357834,788.5642166,804,653,631,653,0.400997119748,-0.00540420526112,0.0498639991074,0.999999962665,0.000112167529233,-0.000246144020267,-3.87482597455e-05,1793239429686324736
+64,1.066666667,BASELINE,766,745.150968113,714.150968113,679,666,636,879,788.849031887,804.150968113,653,631,652.849031887,0.400998350661,-0.00540465772883,0.0498648486364,0.999999963064,0.000112552138145,-0.000244373207217,-3.85350533124e-05,1793239429702991360
+65,1.083333333,BASELINE,766,745.728377454,714.728377454,679,666,636,879,788.271622546,804.728377454,653,631,652.271622546,0.400996384355,-0.00540455083486,0.0498637752334,0.999999962503,0.000112923865689,-0.000246436955353,-3.88624144161e-05,1793239429719658240
+66,1.100000000,BASELINE,766,746,715,679,666,636,879.305526063,788,804.694473937,653,631.305526063,652.305526063,0.400996298439,-0.00540399995574,0.0498636269304,0.999999962366,0.000113844297068,-0.000246543758845,-3.90308237391e-05,1793239429736324864
+67,1.116666667,BASELINE,766,746,715,679,666,636,879.882443038,788,804.117556962,653,631.882443038,652.882443038,0.400997882826,-0.00540305469607,0.0498643003701,0.999999962605,0.000115252127875,-0.000244912258828,-3.90580402817e-05,1793239429752991744
+68,1.133333333,BASELINE,766,746,715,679,666,636,879.531571816,788,804,652.531571816,632,653,0.400996729442,-0.00540353543565,0.0498635750943,0.999999962615,0.000113782295442,-0.000245560577451,-3.90454350997e-05,1793239429769658368
+69,1.150000000,BASELINE,766,745.94414213,715,679,666,636,879.05585787,788,803.94414213,652.05585787,631.94414213,653,0.400995136667,-0.00540416782249,0.0498626152718,0.999999962534,0.000112009691005,-0.000246702704623,-3.9034507909e-05,1793239429786324736
+70,1.166666667,BASELINE,766,745.364921863,715,679,666,636,879.635078137,788,803.364921863,652.635078137,631.364921863,653,0.400995991632,-0.0054028018096,0.0498628117004,0.999999962196,0.000114300321128,-0.00024700503494,-3.91347873459e-05,1793239429802991616
+71,1.183333333,BASELINE,766,745.213441608,715,679.213441608,666,636,879.786558392,788,803.213441608,653,631.213441608,653,0.400996514861,-0.00540212309651,0.0498629167452,0.999999961981,0.000115719009249,-0.000247220264226,-3.9115139094e-05,1793239429819658240
+72,1.200000000,BASELINE,766,745.790346162,715,679.790346162,666,636,879.209653838,788,803.790346162,653,631.790346162,653,0.400996473184,-0.00540261476422,0.0498628661758,0.99999996198,0.000115652895354,-0.000247287171973,-3.88912698004e-05,1793239429836324864
+73,1.216666667,BASELINE,766,746,714.633639814,679.633639814,666,635.633639814,879.366360186,788,804,653,632,653,0.400996237043,-0.00540334265801,0.0498633124019,0.999999962219,0.000114273618589,-0.000246958618855,-3.89124468537e-05,1793239429852991488
+74,1.233333333,BASELINE,766,746,714.058134206,679.058134206,666,635.058134206,879.941865794,788,804,653,632,653,0.400995889887,-0.00540420540703,0.0498640422355,0.999999962591,0.000112144691584,-0.000246404307494,-3.90735144532e-05,1793239429869658368
+75,1.250000000,BASELINE,766.527482511,745.472517489,714.527482511,679.527482511,666,635,879.472517489,788,803.472517489,653,632,653,0.400996854332,-0.00540483176059,0.0498639257873,0.999999962844,0.000112469588732,-0.000245270496014,-3.87853029128e-05,1793239429886325248
+76,1.266666667,BASELINE,766.887063249,745,715,679.887063249,666,635.112936751,879.112936751,788,803.112936751,652.887063249,631.887063249,653,0.40099787294,-0.00540510525969,0.0498638078296,0.999999962999,0.000113084124361,-0.000244401199268,-3.84889555224e-05,1793239429902991616
+77,1.283333333,BASELINE,766.306980522,745,715,679.306980522,666,635.693019478,879.693019478,788,803.693019478,652.306980522,631.306980522,653,0.400998505984,-0.00540402910078,0.0498640769627,0.999999962807,0.000113756219878,-0.00024489536777,-3.83677709999e-05,1793239429919657984
+78,1.300000000,BASELINE,766,745,715,679,666,636,880,788,804,652.271492957,631.271492957,653,0.400998729948,-0.00540277518773,0.049864590083,0.999999962741,0.000114554874407,-0.000244746820325,-3.86511987375e-05,1793239429936324608
+79,1.316666667,BASELINE,766,745,715,679,666,636,880,788,804,652.848157522,631.848157522,653,0.400998494084,-0.00540132147025,0.0498653774572,0.999999962817,0.000115495787528,-0.000243875828105,-3.93894308203e-05,1793239429952991232
+80,1.333333333,BASELINE,766,745,714.568360053,679,666,636,880,788,804,653,632,653,0.40099725411,-0.00540236765133,0.0498648358298,0.999999962669,0.000114566052749,-0.000244923166949,-3.93599216667e-05,1793239429969658112
+81,1.350000000,BASELINE,766,745,714,679,665.982640514,636.017359486,880,788,803.982640514,652.982640514,631.982640514,653,0.400995723071,-0.00540426252635,0.0498638394551,0.999999962444,0.000113020613182,-0.000246601592896,-3.90616677232e-05,1793239429986324736
+82,1.366666667,BASELINE,766,745,714,679,665.403388561,636.596611439,880,788,803.403388561,652.403388561,631.403388561,653,0.400996387564,-0.00540470617829,0.0498634992654,0.999999962451,0.000113187883564,-0.000246513548786,-3.89468093814e-05,1793239430002991872
+83,1.383333333,BASELINE,766,745,714.175573204,679,665,636.824426796,880,788,803,652.175573204,631.175573204,653,0.400996771791,-0.00540472735949,0.0498633407874,0.999999962495,0.000113639401618,-0.000246142549135,-3.8868118191e-05,1793239430019658752
+84,1.400000000,BASELINE,766,745,714.753869461,679,665,636.246130539,880,788,803,652.753869461,631.753869461,653,0.400996513156,-0.00540377949367,0.0498635991126,0.999999962619,0.000114742916068,-0.000245122516946,-3.8872385797e-05,1793239430036325632
+85,1.416666667,BASELINE,766,745,715,679,665,635.670104039,880,788,803.329895961,653,632,653,0.400996576061,-0.00540398610231,0.0498637435369,0.999999962847,0.000113404186613,-0.000244819162373,-3.88402661679e-05,1793239430052992256
+86,1.433333333,BASELINE,766,745,715,679,665,635.095759434,880,788,803.904240566,653,632,653,0.400996877222,-0.00540504816165,0.0498638035621,0.999999963146,0.000110255785924,-0.000245046856711,-3.87811840674e-05,1793239430069658112
+87,1.450000000,BASELINE,766,745.48886878,715,679,665.48886878,635.48886878,879.51113122,788,804,653,631.51113122,652.51113122,0.400996328055,-0.00540413630858,0.0498633646242,0.999999962785,0.000111356849039,-0.000245968910479,-3.91063870715e-05,1793239430086324736
+88,1.466666667,BASELINE,766,745.925360026,715,679,666,636,879.074639974,788,804,653,631.074639974,652,0.400995713585,-0.00540303430826,0.0498629362031,0.999999962353,0.000113247266333,-0.00024681206262,-3.94130200173e-05,1793239430102991360
+89,1.483333333,BASELINE,766,745.345776505,715,679,666,636,879.654223495,788,804,653,631.654223495,652,0.400995808348,-0.00540331785969,0.0498632543305,0.999999962353,0.000114725589892,-0.00024618154879,-3.90738531911e-05,1793239430119657984
+90,1.500000000,BASELINE,766,745,715,679,666,636,880,788,804,653,631.766496162,652.233503838,0.400995643967,-0.00540291595891,0.0498634711884,0.999999962257,0.000116273866695,-0.000245861583789,-3.89752730513e-05,1793239430136324864
+91,1.516666667,BASELINE,766,745,715,679,666,636,880,788,804,653,631.18766424,652.81233576,0.400995096341,-0.00540150034501,0.049863538279,0.999999962019,0.000117925596999,-0.000246000888529,-3.92324958294e-05,1793239430152991488
+92,1.533333333,BASELINE,766,745,715,679.387303573,666,636,879.612696427,788,804,653,631,653,0.40099620555,-0.0054020566002,0.0498642116945,0.999999962461,0.000117029483838,-0.000244644129615,-3.91330194258e-05,1793239430169658368
+93,1.550000000,BASELINE,766,745,715,679.960417616,666,636,879.039582384,788,804,653,631,653,0.400998109634,-0.00540355886752,0.0498651759969,0.999999963223,0.00011491103253,-0.00024256962807,-3.88624151574e-05,1793239430186324992
+94,1.566666667,BASELINE,766,745,715,679.450327694,666,636,879.549672306,788,804,653,631,653,0.400998232939,-0.00540339840249,0.0498647997215,0.999999963068,0.000115197284234,-0.000243075796977,-3.88194781443e-05,1793239430202991616
+95,1.583333333,BASELINE,766,745,715,679,665.862532232,636,880,788,804,653,631.137467768,653,0.400997952821,-0.00540333219676,0.0498643193344,0.999999962867,0.000115418097961,-0.000243798870085,-3.88082996505e-05,1793239430219657984
+96,1.600000000,BASELINE,766,745,715,679,665.283274622,636,880,788,804,653,631.716725378,653,0.400996800778,-0.00540396536006,0.0498638239867,0.999999962734,0.000114855261507,-0.000244603720504,-3.88449035725e-05,1793239430236324864
+97,1.616666667,BASELINE,766,745.294485519,715,679,665.294485519,635.705514481,879.705514481,788,804,653,631.705514481,653,0.400996346218,-0.00540441957287,0.0498636538547,0.999999962682,0.000113835390271,-0.00024527733732,-3.89479738407e-05,1793239430252991488
+98,1.633333333,BASELINE,766,745.870812452,715,679,665.870812452,635.129187548,879.129187548,788,804,653,631.129187548,653,0.400996559193,-0.00540470251862,0.0498637949747,0.999999962706,0.000112378107647,-0.000245825355163,-3.91146566365e-05,1793239430269658112
+99,1.650000000,BASELINE,766,745.556134307,714.556134307,679.443865693,665.556134307,635.443865693,879,788,804,653,631,653,0.400997472137,-0.00540321201688,0.0498643743404,0.999999962806,0.000113823109749,-0.000244731622439,-3.92310024706e-05,1793239430286324992
+100,1.666666667,BASELINE,766.016579825,745,714.016579825,679.983420175,665.016579825,636,879,788,804,653,631.016579825,653,0.400998497339,-0.00540130300614,0.0498650274858,0.999999962904,0.000116008471295,-0.000243283685563,-3.93230219337e-05,1793239430302992128
+101,1.683333333,BASELINE,766.610418622,745,714.610418622,679.389581378,665.610418622,636,879,788,804,653,631.610418622,653,0.400996389835,-0.00540266245621,0.0498638409657,0.999999962387,0.000114775892186,-0.000246018327753,-3.90744268185e-05,1793239430319659008
+102,1.700000000,BASELINE,766.801433952,745,715,679,666,636,879.198566048,788,803.801433952,652.801433952,631.801433952,653,0.400995500022,-0.00540374117697,0.0498633664747,0.999999962245,0.00011398788972,-0.000246998710552,-3.8826184575e-05,1793239430336325376
+103,1.716666667,BASELINE,766.224141776,745,715,679,666,636,879.775858224,788,803.224141776,652.224141776,631.224141776,653,0.400996932714,-0.00540428446104,0.0498642500408,0.99999996283,0.000114047830896,-0.000244633184344,-3.85786153948e-05,1793239430352991744
+104,1.733333333,BASELINE,766,745.35015316,715,679,666.35015316,636,879.64984684,788,803.35015316,652.35015316,631.35015316,653,0.400997129912,-0.0054045906898,0.0498642965138,0.999999963069,0.00011329139285,-0.000243991176313,-3.86765257088e-05,1793239430369658368
+105,1.750000000,BASELINE,766,745.922545829,715,679,666.922545829,636,879.077454171,788,803.922545829,652.922545829,631.922545829,653,0.40099654295,-0.00540474646144,0.0498638116904,0.99999996309,0.000112016805216,-0.000244443071736,-3.89937091673e-05,1793239430386324736
+106,1.766666667,BASELINE,766,745.487640403,715,679,666.487640403,636,879.512359597,788,804,653,632,653,0.400995458393,-0.00540464581118,0.049862804629,0.999999962418,0.000113151889894,-0.000246656077507,-3.90178018138e-05,1793239430402991360
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665,636,879,788,804,653,632,653,0.400997217936,-0.00540337713386,0.0498650442065,0.999999962985,0.000115767621924,-0.000243186724273,-3.85794883371e-05,1793239430445498624
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.424726394,715,679,665.575273606,636,879.575273606,788,804,653,632,653,0.400995526843,-0.00540325902028,0.0498637256227,0.999999962425,0.000115048895724,-0.000245788590182,-3.87438692075e-05,1793239430462165760
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714.84602543,679,666,636,880,788,804,653,632,653,0.400994793362,-0.00540310720082,0.0498630639604,0.999999962162,0.000114452279372,-0.000247114193064,-3.88829349139e-05,1793239430478832640
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714.257655014,679,666,636,880,788,804,653,632,653,0.400996761512,-0.00540286028966,0.0498642556165,0.999999962747,0.000114200161372,-0.000244839180162,-3.89505810591e-05,1793239430495498752
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.325804123,714.325804123,679,666,635.674195877,880,787.674195877,803.674195877,653,632,653,0.400997682885,-0.00540313616033,0.0498642521456,0.999999962917,0.00011410732857,-0.00024417122195,-3.90715595681e-05,1793239430512165120
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.905436927,714.905436927,679,666,635.094563073,880,787.094563073,803.094563073,653,632,653,0.400997788731,-0.00540381932183,0.0498633175708,0.999999962764,0.000114138592283,-0.000244755293981,-3.9234088448e-05,1793239430528831488
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.518625742,715,679,666,635.481374258,879.518625742,787.481374258,803.481374258,653,631.518625742,653,0.400996893824,-0.00540361578244,0.0498631101387,0.999999962554,0.000113610961138,-0.000245840650047,-3.93403014769e-05,1793239430545498112
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.056575491,788,804,653,631,653,0.400996250747,-0.0054032914964,0.0498632752679,0.999999962436,0.000113111069496,-0.000246539345531,-3.9408515724e-05,1793239430562164480
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.631633087,788,804,653,631,653,0.400999703462,-0.00540344479946,0.049865555609,0.999999963272,0.000113863905785,-0.000242798932603,-3.92291056763e-05,1793239430578831104
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,652.788453239,631.211546761,653,0.401008565858,-0.00540401760788,0.0498697853477,0.999999965047,0.000114299541064,-0.000235243668997,-3.87560423976e-05,1793239430595497728
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,652.19988506,631.80011494,653,0.401027069457,-0.00540533806428,0.0498774893282,0.999999968374,0.00011416985644,-0.000220889528737,-3.77596264852e-05,1793239430612164608
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714.617204231,679,666,636,880,788,804,652.382795769,631.617204231,653,0.401062656698,-0.00540636296401,0.0498896534031,0.999999973679,0.000114440804726,-0.000195419177571,-3.68337995891e-05,1793239430628831232
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714.037550991,679,666,636,880,788,804,652.962449009,631.037550991,653,0.401107029415,-0.0054072358702,0.0499041111377,0.999999979265,0.000114917783355,-0.000164232175679,-3.59442738522e-05,1793239430645498112
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,714.540554291,679,666,636,879.459445709,788,804,653,631,653,0.401175820475,-0.00540880757214,0.0499227453383,0.999999984857,0.000115339936472,-0.000125576116855,-3.48366882257e-05,1793239430662164480
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.117764095,745,714.882235905,679,665.882235905,636,879.117764095,788,803.882235905,653,631.117764095,653,0.401246726691,-0.00541074298268,0.0499395680792,0.999999988498,0.000115174021564,-9.27568146228e-05,-3.37002224903e-05,1793239430678831104
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.691919226,745,714.308080774,679,665.308080774,636,879.691919226,788,803.308080774,653,631.691919226,653,0.401319275033,-0.00541390034267,0.0499482493958,0.999999989541,0.000112743786219,-8.45627404717e-05,-3.25103709604e-05,1793239430695497984
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.726284101,745,714.273715899,679,665.273715899,635.726284101,879.726284101,788,803.273715899,653,631.726284101,653,0.401399534633,-0.00541700522977,0.0499538281357,0.999999990312,0.000110222966189,-7.8923661075e-05,-3.15747619504e-05,1793239430712164864
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.135639515,745,714.864360485,679,665.864360485,635.135639515,879.135639515,788,803.864360485,653,631.135639515,653,0.401488722896,-0.00542004935965,0.0499558144804,0.999999990826,0.000107597260608,-7.62429457048e-05,-3.09335339697e-05,1793239430728831232
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635,879,788,803.554413171,653,631,653,0.401593754794,-0.00542424439169,0.0499552624239,0.999999990915,0.000106012143067,-7.77021521651e-05,-2.98979772127e-05,1793239430745497856
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.023859888,715,679,666,635.023859888,879.023859888,788,803.023859888,653,631,653,0.401704808623,-0.00542872658948,0.0499541122279,0.999999990894,0.000104715609799,-8.01250965856e-05,-2.87655246592e-05,1793239430762164736
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.598769227,715,679,666,635.598769227,879.598769227,788,803.598769227,653,631,653,0.401845859888,-0.00543191719952,0.049956624281,0.999999991398,0.000102919740124,-7.63031972751e-05,-2.81101215694e-05,1793239430778831616
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.826089275,715,679,666,636,880,788,804,653,631,653,0.401993325798,-0.00543599352504,0.0499578772561,0.999999991726,0.000100997259548,-7.48520945409e-05,-2.72796117555e-05,1793239430795497984
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.250411526,715,679,666,636,880,788,804,653,631,653,0.402155610741,-0.00544211602223,0.0499562215199,0.999999991671,9.87822838368e-05,-7.88779857049e-05,-2.60445720219e-05,1793239430812164352
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,653,631.334867211,653,0.402341514478,-0.0054495600528,0.0499548511739,0.999999991887,9.52176059061e-05,-8.09731168066e-05,-2.45379418006e-05,1793239430828831232
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,653,631.92753749,653,0.40254560155,-0.00545802148836,0.04995370054,0.999999992306,9.0613837139e-05,-8.15818207337e-05,-2.28222230142e-05,1793239430845498112
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.507295606,715,679,666,636,880,788,804,653,632,653,0.402780931564,-0.00546482390623,0.0499566764298,0.999999993037,8.840597222e-05,-7.51696848998e-05,-2.14287275038e-05,1793239430862164480
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,714.915492081,679,666.084507919,636,880,788,804,653,631.915492081,653,0.403026896811,-0.00547185275692,0.0499607855517,0.999999993879,8.59677636119e-05,-6.67551863135e-05,-1.99048665902e-05,1793239430878831104
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,714.342597734,679,666.657402266,636,880,788,804,653,631.342597734,653,0.403309174108,-0.00548152573643,0.0499681219228,0.999999995254,8.02696237461e-05,-5.24205360496e-05,-1.73682062449e-05,1793239430895497984
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,714.236579309,679,666.763420691,636,880,788,804,653,631.236579309,653,0.403606870696,-0.00549207298885,0.0499765552218,0.999999996448,7.45816451118e-05,-3.64289853922e-05,-1.46654937037e-05,1793239430912164864
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714.825102686,679,666.174897314,636,880,788,804,653,631.825102686,653,0.403927505569,-0.00550392084116,0.0499866203507,0.999999997396,6.89087830434e-05,-1.79725697336e-05,-1.17157559717e-05,1793239430928832000
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.59267588,715,679,666,636,880,788,803.59267588,653,631.59267588,653,0.404285593471,-0.00551326240868,0.0499942595897,0.999999997766,6.61160289954e-05,-3.99836995537e-06,-8.99921963407e-06,1793239430945498368
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.01311917,715,679,666,636,880,788,803.01311917,653,631.01311917,653,0.404659517973,-0.00552154422054,0.050000873067,0.999999997864,6.45410975553e-05,8.08057294115e-06,-6.38129005373e-06,1793239430962164480
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.564790697,745.564790697,715,679,666,636,880,788,804.129581395,652.435209303,631,653,0.405060332578,-0.00552649577748,0.0500037135381,0.999999997453,6.98308441727e-05,1.44833202384e-05,-2.96689568621e-06,1793239430978831360
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.858093354,746,715,679,666,636,880,788,804.858093354,652.141906646,631.141906646,653,0.405461606936,-0.00552734327523,0.0500010368563,0.999999996738,8.01874779921e-05,9.6788383012e-06,9.79350781748e-08,1793239430995497984
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.2832831,746,715,679,666,636,880,788,804.2832831,652.7167169,631.7167169,653,0.405862383829,-0.00551590613585,0.0499817960053,0.999999994013,0.000105516247063,-2.891361891e-05,2.04010440392e-06,1793239431012164352
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788.298972627,804,653,632,653,0.406285951792,-0.00550409223013,0.0499641744471,0.999999989776,0.000129726876147,-6.00862246961e-05,3.0164637709e-06,1793239431028831488
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788.888463347,804,653,632,653,0.406731666374,-0.00549191221115,0.0499481263881,0.999999984782,0.000152850987771,-8.40488068284e-05,3.05432518753e-06,1793239431045498624
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.531492331,715,679,666,636,880,788.531492331,804,652.531492331,632,653,0.40723990977,-0.00549494044784,0.0499410648584,0.999999982521,0.000161189947367,-9.45651642276e-05,5.76461675588e-06,1793239431062165504
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.04601619,715,679,666,636,879.95398381,788,804,652.04601619,631.95398381,653,0.407767904949,-0.00550179225604,0.0499383904931,0.999999981478,0.000165564787198,-9.77132285306e-05,9.22298012535e-06,1793239431078832896
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.61972521,715,679,666,636,879.38027479,788,804,652.61972521,631.38027479,653,0.408355071804,-0.00551179227645,0.0499619773067,0.999999985075,0.000164047412688,-5.23484616074e-05,1.41082102187e-05,1793239431095499520
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.199007168,745.800992832,715,679,666.199007168,636,879.199007168,788,803.800992832,652.800992832,631.199007168,653,0.408947727522,-0.00551871192775,0.0499842514172,0.999999985695,0.000167537247092,-1.33772700721e-05,1.90584724643e-05,1793239431112165888
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.789244997,745.210755003,715,679,666.789244997,636,879.789244997,788,803.210755003,652.210755003,631.789244997,653,0.409551173828,-0.00551957584259,0.0500039448668,0.999999983267,0.000180870816201,1.30247093815e-05,2.41365819711e-05,1793239431128831744
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.627442783,745,714.627442783,679,666.627442783,636,879.627442783,788,803,652,631.627442783,653,0.410165353783,-0.00551563775061,0.050007124321,0.999999979882,0.000198027824674,1.57739387203e-05,2.7777996677e-05,1793239431145497856
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.047976889,745,714.047976889,679,666.047976889,636,879.047976889,788,803,652,631.047976889,653,0.410785494909,-0.00550903274776,0.0500011323271,0.999999975905,0.00021730827238,5.38703929676e-06,3.06215079426e-05,1793239431162164480
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+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.276595847,788.276595847,804,652.276595847,631,653,0.413502951195,-0.00552144386317,0.0499728048617,0.999999980527,0.000190759384705,-4.06667238103e-05,3.00569651802e-05,1793239431228831744
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.855834333,788.855834333,804,652.855834333,631,653,0.414253087891,-0.00553213527386,0.0499873204409,0.999999995455,9.19335480028e-05,-2.28372730767e-05,1.08155764741e-05,1793239431245497856
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714.566433575,679,666,636,880,788.566433575,804,652.566433575,631,653,0.414991112009,-0.00553524866842,0.0499763149035,0.999999995937,8.00097972633e-05,-4.05777681051e-05,8.81069137974e-06,1793239431262164480
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.010781422,714.010781422,679,666,635.989218578,880,788,804,652.010781422,631,653,0.415726280301,-0.00553576119059,0.0499570595978,0.999999992797,9.6870130368e-05,-6.97591489493e-05,1.24947316887e-05,1793239431278831104
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.587057494,714.587057494,679,666,635.412942506,880,788,804,652.587057494,631,653,0.416522178302,-0.00553156247348,0.0499486565837,0.999999990225,0.000113112694245,-8.08153776386e-05,1.49954933456e-05,1793239431295497728
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.83802404,715,679,666,635,879.83802404,788,804,652.83802404,631,653.16197596,0.41732743267,-0.00552837403934,0.0499508229354,0.999999989174,0.000125693531566,-7.44662000486e-05,1.75495218066e-05,1793239431312164608
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.266537931,715,679,666,635,879.266537931,788,804,652.266537931,631,653.733462069,0.418156341906,-0.0055277398186,0.0499797109228,0.999999991182,0.000129016733608,-2.41124020249e-05,2.02382200693e-05,1793239431328831488
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.318679019,715,679,666,635.318679019,879.318679019,788,804,652.318679019,631.318679019,653.681320981,0.418964274168,-0.0055279860493,0.04999030163,0.999999991135,0.000130776016721,-1.202202093e-05,2.1962382777e-05,1793239431345498112
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.915897288,715,679,666,635.915897288,879.915897288,788,804,652.915897288,631.915897288,653.084102712,0.419753871602,-0.00552900183268,0.0499848997211,0.99999999058,0.000131168367017,-3.33755244713e-05,2.28434995619e-05,1793239431362164736
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,804,652.505059936,631.505059936,653,0.420594095287,-0.00552939915439,0.0499777435272,0.999999990882,0.000128862072797,-3.39483412296e-05,2.18530609636e-05,1793239431378831104
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.070894676,745.929105324,715,679,666,636,880,788,804,652,631.070894676,653,0.421450273045,-0.00553016739901,0.049974214827,0.99999999153,0.000125851339454,-2.57166263402e-05,2.09809944477e-05,1793239431395497728
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.646073027,745.353926973,715,679,666,636,880,788,804,652,631.646073027,653,0.422360909481,-0.00553429512556,0.0499985342932,0.999999992196,0.000120976145966,2.09150307394e-05,2.31329459013e-05,1793239431412164352
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.774252119,745.225747881,715,679,666,636,880,788,804.225747881,652,632,653,0.423234844651,-0.00553641860232,0.0500068073877,0.999999992087,0.000117620954451,3.74832188177e-05,2.4223792871e-05,1793239431428831232
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.187384298,745.812615702,715,679,666,636,880,788,804.812615702,652,632,653,0.424050070403,-0.00553533596075,0.0499894117412,0.999999992894,0.00011669724936,5.96007426722e-06,2.36172334349e-05,1793239431445497856
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.605447536,715,679,666,635.605447536,880,788,804.605447536,652,631.605447536,653,0.424908926056,-0.00553739498607,0.0499891805596,0.999999993044,0.000115228253762,5.4906876687e-06,2.45998765343e-05,1793239431462164736
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.025823803,715,679,666,635.025823803,880,788,804.025823803,652,631.025823803,653,0.425788246977,-0.00554092766155,0.0499970006512,0.99999999302,0.000113503480828,1.95875746189e-05,2.63279610424e-05,1793239431478831616
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.550750239,880,788,804.550750239,652,631.550750239,653,0.426668681179,-0.00554178583916,0.0500127194682,0.999999992825,0.000111367785276,3.43511867697e-05,2.77019200366e-05,1793239431495498240
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880.127083078,787.872916922,804.872916922,652,631.872916922,653,0.427534394928,-0.00554143803007,0.0500160654539,0.999999993046,0.00011097571665,2.79442621855e-05,2.84961465532e-05,1793239431512164608
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880.703066198,787.296933802,804.296933802,652,631.296933802,653,0.428347927683,-0.00553727079748,0.0499744054225,0.999999991382,0.000116810407244,-5.33539165561e-05,2.73008926578e-05,1793239431528831232
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880.714064993,787.285935007,804,652,631.285935007,652.714064993,0.429187990625,-0.00553574914686,0.0499551120508,0.99999998933,0.000117496641567,-8.27011681714e-05,2.63762050295e-05,1793239431545497856
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880.123869223,787.876130777,804,652,631.876130777,652.123869223,0.43005628404,-0.00553704263549,0.0499596188348,0.999999991706,0.000112704452,-5.67679200501e-05,2.57394246391e-05,1793239431562164480
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880.457720241,788,804,652,632,652.457720241,0.430902203898,-0.0055394136582,0.0499632166754,0.999999992255,0.000110438763057,-5.07104562128e-05,2.68606580891e-05,1793239431578831104
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.036655602,715,679.036655602,666,636,880.963344398,788,804,652,632,653,0.431740372794,-0.00554184396736,0.049965319576,0.999999992344,0.000108930206099,-5.14508877204e-05,2.82724514956e-05,1793239431595497728
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.610199849,715,679.610199849,666,636,880.389800151,788,804,652,632,653,0.432552060344,-0.00554095037301,0.0499490626674,0.999999990957,0.000108681623981,-7.44301629846e-05,2.71002901599e-05,1793239431612164352
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.811165832,715,680,666,635.811165832,880,788,804,652,632,653,0.433372553579,-0.00554121268938,0.0499454734663,0.999999990796,0.000108113636045,-7.74164469135e-05,2.69602319565e-05,1793239431628831232
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.221733174,715,680,666,635.221733174,880,788,804,652,632,653,0.434211727615,-0.00554392718939,0.0499687579181,0.999999993147,0.000106868050929,-3.79890010775e-05,2.90097082056e-05,1793239431645498368
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.638482204,666,635.361517796,880,788,804,652,632,653,0.435016824035,-0.00554460860124,0.0499820400773,0.99999999369,0.000105792827845,-2.28411371727e-05,3.01045753219e-05,1793239431662164736
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.058959001,666,635.941040999,880,788,804,652,632,653,0.435801370643,-0.00554406400355,0.0499892905711,0.999999993788,0.000104820338006,-2.23345469264e-05,3.0623786159e-05,1793239431678831104
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.518252638,714.481747362,679.518252638,666.518252638,635.481747362,880,788,804.518252638,652,632,652.481747362,0.436523249605,-0.00554204398085,0.0499641768043,0.999999990748,0.000107287763231,-7.77879381879e-05,3.07059433719e-05,1793239431695497472
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.903434125,714,680,666.903434125,635,880.096565875,788,805,652,631.903434125,652,0.437250718657,-0.00554056530188,0.0499438647336,0.999999986466,0.000108977153905,-0.000119356454228,3.07464518343e-05,1793239431712164352
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.318221745,714,680,666.318221745,635,880.681778255,788,805,652,631.318221745,652,0.438042391088,-0.00554267155043,0.0499663990612,0.999999992321,0.000104758014177,-5.85922831537e-05,3.0826693032e-05,1793239431728830976
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714.264305132,679.735694868,666,635,880.735694868,788,805,652,631.264305132,652.264305132,0.438797266556,-0.00554527294219,0.0499821202018,0.999999994035,0.00010199086919,-2.3086477513e-05,3.15422989977e-05,1793239431745497856
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,714.84363116,679.15636884,666,635,880.15636884,788,805,652,631.84363116,652.84363116,0.439508284279,-0.00554846448677,0.0499897208161,0.999999994203,0.000100954333265,-1.76857024973e-05,3.3015185773e-05,1793239431762164480
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.419948751,715,679,666,635.419948751,880,788,805,652,632,652.580051249,0.44015953294,-0.00554871264938,0.049969471503,0.999999992808,0.000103691619617,-5.05566933584e-05,3.27964521493e-05,1793239431778831616
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.995154159,715,679,666,635.995154159,880,788,805,652,632,652.004845841,0.440788684808,-0.00554787263271,0.0499389259659,0.999999988916,0.000107824102186,-9.75769016347e-05,3.19523200643e-05,1793239431795498496
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.429042621,715,679,666,635.429042621,880.570957379,788,805,652,632,652.570957379,0.4414002679,-0.00554621391648,0.0499286163134,0.999999986496,0.000110601377124,-0.000116945633166,3.31452341421e-05,1793239431812164864
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714.854596969,679.145403031,666,635,880.854596969,787.854596969,804.854596969,652,632,653,0.442006917625,-0.00554524566556,0.0499202504176,0.999999984478,0.000113650174513,-0.000130202993544,3.42705924264e-05,1793239431828831232
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.284134632,679.715865368,666,635,880.284134632,787.284134632,804.284134632,652,632,653,0.442599582047,-0.00554631619785,0.0499170641429,0.999999984503,0.000117526378221,-0.000126281652499,3.51478701486e-05,1793239431845497856
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.301638932,714.301638932,680,666,635,880,787,804.301638932,652.301638932,632,653,0.443160849447,-0.00554581470433,0.0499038821251,0.999999981655,0.000120970870234,-0.000144264406761,3.52595403394e-05,1793239431862164480
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.902606413,714.902606413,680,666,635,880,787,804.902606413,652.902606413,632,653,0.443690960273,-0.00554375322577,0.0498807809262,0.99999997479,0.000123986956842,-0.000183983483431,3.4611467025e-05,1793239431878831104
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.518030304,746,715,680,665.518030304,635,880.481969696,787,804.518030304,652.518030304,632,652.518030304,0.444154963982,-0.0055415378976,0.0498364016117,0.999999957328,0.000129233166605,-0.000259817771418,3.37401129299e-05,1793239431895497984
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,715,680,665,635,881,787,804.057143235,652,631.942856765,652.057143235,0.444607325139,-0.00553984258283,0.0497913867917,0.999999934293,0.000134102789197,-0.000335183502674,3.29116851395e-05,1793239431912164864
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,715,680,665,635,881,787,804.632213569,652,631.367786431,652.632213569,0.445070044997,-0.00554313018644,0.0497779115577,0.999999931972,0.000131649851803,-0.000342994040891,3.28637300436e-05,1793239431928832000
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,746,715,680,665,634.787451133,880.787451133,787,805,652,631,653,0.445533145408,-0.00554564660284,0.0497728609922,0.999999933369,0.000130708091949,-0.000339202916133,3.34623412157e-05,1793239431945498624
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,746,715,680,665,634.197774206,880.197774206,787,805,652,631,653,0.445996920988,-0.00554679469195,0.0497827584206,0.999999941051,0.000132447633147,-0.000314826817639,3.52081628356e-05,1793239431962165504
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.385035893,746,715,680,664.614964107,634,880.385035893,787,805,652,631,652.614964107,0.446411676887,-0.00554085799567,0.049783642823,0.999999942152,0.000137085786044,-0.000309387565951,3.4377601723e-05,1793239431978832640
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.964380689,746,715,680,664.035619311,634,880.964380689,787,805,652,631,652.035619311,0.446801694978,-0.00553134595261,0.0497799787901,0.999999940086,0.000143186727584,-0.000313504818439,3.22468656101e-05,1793239431995499264
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745.459412979,715,680,664.540587021,634,881,787,805,652,631.540587021,652.540587021,0.447108640606,-0.00553241423664,0.0497453942789,0.999999926239,9.23105206399e-05,-0.000372492205328,1.58085800039e-05,1793239432012165632
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.881126203,634,881,787,805.118873797,652,631.881126203,653,0.447406148989,-0.00553527422408,0.0497112983153,0.999999906811,4.77506193931e-05,-0.00042906195144,2.07952574912e-06,1793239432028832000
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.293831115,634,881,787,805.706168885,652,631.293831115,653,0.44768791444,-0.00554246319364,0.0496871092895,0.999999892386,4.27881737769e-05,-0.000461940820638,2.71953157203e-06,1793239432045498624
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,633.710215792,881,787,805.710215792,652,631,652.710215792,0.447974961344,-0.00554698651278,0.0496777424754,0.999999887053,4.25586984611e-05,-0.000473359976419,3.71610581544e-06,1793239432062165248
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,633.130284873,881,787,805.130284873,652,631,652.130284873,0.448267296289,-0.00554884084648,0.0496832164162,0.999999891559,4.70681144456e-05,-0.000463292572297,5.06969448941e-06,1793239432078831616
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.553035483,745.446964517,715,680,664,633,881,787,805.446964517,652,631.446964517,652.446964517,0.448533682535,-0.00555416410282,0.0496944550957,0.99999989999,4.58837517038e-05,-0.000444809182092,7.67317137318e-06,1793239432095498496
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.023301955,746,715,680,664,633,880.976698045,787,805.976698045,652,631.976698045,653,0.448790399544,-0.00556021920391,0.049707093776,0.999999908878,4.33723039445e-05,-0.000424559330473,1.0592681798e-05,1793239432112164864
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.596454533,746,715,680,664,633,880.403545467,787,805.403545467,652,631.403545467,653,0.448996369306,-0.00555982590098,0.0497133535189,0.999999910477,4.8475211313e-05,-0.000420168132369,1.24238782949e-05,1793239432128831232
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633,880.17440719,787,805,652,631,653,0.449188592175,-0.00555652945467,0.0497152319505,0.999999909954,5.54912845917e-05,-0.000420507934162,1.36652675124e-05,1793239432145497856
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633,880.763780569,787,805,652,631,653,0.4493481071,-0.00554632557337,0.0497066859482,0.999999904303,6.70593435935e-05,-0.000432104181865,1.35033308422e-05,1793239432162164224
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.652865856,715,680,663.652865856,633,880.652865856,787,805,652,631,653,0.449495913097,-0.00553797315911,0.0496975254906,0.999999897579,7.74560445813e-05,-0.000445721229564,1.32573997612e-05,1793239432178831104
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.920514298,746,715,680,663,632,881,787,805,652,631,652.079485702,0.449871657172,-0.00553591135397,0.0496891669611,0.999999888952,8.46296291122e-05,-0.000463363775716,1.50863967599e-05,1793239432228831744
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.348606653,746,715,680,663,632,881,787,805,652,631,652.651393347,0.449971291865,-0.00553632414183,0.0496947883208,0.999999893213,8.43424228912e-05,-0.000454123354751,1.52094046298e-05,1793239432245498112
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.232094443,745.767905557,715,680.232094443,663,632,880.767905557,787,805,652,631,653,0.450061428089,-0.00553668320998,0.0496997956672,0.999999896647,8.41854869189e-05,-0.00044651924421,1.54566257319e-05,1793239432262164736
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.408694403,715,680.591305597,663,632.408694403,880.408694403,787,805,652,631,653,0.4501969965,-0.00553797843355,0.0497038166501,0.999999898909,8.41155226029e-05,-0.000441409080892,1.62675995625e-05,1793239432295497728
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.985813805,715,680.014186195,663,632.985813805,880.985813805,787,805,652,631,653,0.450251056323,-0.00553930539618,0.0497021088779,0.999999898036,8.3932017339e-05,-0.00044340449158,1.66080537096e-05,1793239432312164608
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.436218903,715,680,663,632.436218903,880.436218903,786.436218903,805,652,631,653,0.450284801,-0.00553853593213,0.0496998908649,0.999999896062,8.31424263639e-05,-0.000447991523522,1.6307914733e-05,1793239432328831232
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.856005682,745,715,680,663,632,880,786,805,652,631,653,0.450315805499,-0.00553786815655,0.0496979982635,0.999999894374,8.25501652609e-05,-0.000451865478147,1.5963331626e-05,1793239432345497856
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.268947704,745,715,680,663,632,880,786,805,652,631,653,0.450339953848,-0.00553767583015,0.0496971465029,0.999999893706,8.26120752592e-05,-0.000453344370777,1.5531668158e-05,1793239432362164736
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,632,880,786,804.685865592,652,631,652.685865592,0.450360673174,-0.00553693675759,0.0496966098774,0.999999893452,8.38955422981e-05,-0.00045366733135,1.55792471897e-05,1793239432378831360
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663,632,880,786,804.106144829,652,631,652.106144829,0.450378493421,-0.00553573543602,0.0496963396844,0.999999893545,8.62117802629e-05,-0.000453013004103,1.60320039103e-05,1793239432395497728
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.046909653,715,679.953090347,663,632,880.046909653,786.046909653,805,652,630.046909653,652,0.450400219411,-0.0055369589423,0.0496994813757,0.999999895213,8.19492030003e-05,-0.000450131448957,1.54695789726e-05,1793239432428831232
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.621274382,715,679.378725618,663,632,880.621274382,786.621274382,805,652,630.621274382,652,0.450403427631,-0.00553585653974,0.0496987769971,0.999999894078,8.35265765029e-05,-0.000452347770705,1.58042318269e-05,1793239432445497856
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745.798695917,715,679.201304083,663,632,880.798695917,787,805,652,631,652.201304083,0.450405737968,-0.00553433041971,0.0496976621782,0.999999892859,8.53590430185e-05,-0.000454693310952,1.57909304861e-05,1793239432462164480
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745.207699784,715,679.792300216,663,632,880.207699784,787,805,652,631,652.792300216,0.450406310148,-0.00553198405146,0.0496957528135,0.999999891485,8.76853281352e-05,-0.00045728899712,1.51040462453e-05,1793239432478831104
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745.468746229,715,680,663,632,880.531253771,786.531253771,805,652,631,652.468746229,0.450408083223,-0.00553231542072,0.0496933978163,0.999999890205,8.57912685956e-05,-0.000460442349242,1.49101764544e-05,1793239432528831232
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.894576878,745,715,680,663,632,880.894576878,786.894576878,805,652,631,652.105423122,0.450410147983,-0.00553037789666,0.0496945765547,0.999999890884,8.73978914538e-05,-0.000458675762785,1.45005330199e-05,1793239432545497856
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765.256405232,745.256405232,715,680,663,632,880,786,805,652,630.743594768,653,0.450409240559,-0.00553398432695,0.0496936736823,0.999999890001,8.53664196955e-05,-0.000460948723865,1.5392517974e-05,1793239432578831104
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.854420072,745.854420072,715,680,663,632,880,786,805,652,630.145579928,653,0.450409351609,-0.00553459072999,0.0496933173613,0.999999890085,8.38082285984e-05,-0.000461062537574,1.50955679094e-05,1793239432595497984
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.438379542,746,715,680,663,632,880.438379542,786,805,652,631,652.438379542,0.45030181065,-0.0055204613363,0.0496472553103,0.999999848569,9.30926627153e-05,-0.000542281708724,1.12013402694e-05,1793239433391579392
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.270539767,745,715,680,663.270539767,632.270539767,880.729460233,786.729460233,805.270539767,652,631,653,0.448017629059,-0.00544180203164,0.0495991911991,0.999999799378,0.000145546484199,-0.000616486454993,-2.31668482869e-06,1793239433641579264
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..75c9f64503fb4d9d3dffa76687156d66addc679e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,416 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1fcf7546e849f18eee2e60f927daa4a52d9d4d7e
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44f8ed01f9b3b2ea7e006be2b16c02bb73fae0a4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/franka_data.csv
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+58,0.966666667,BASELINE,766,745.344010115,715,679,665.344010115,635.344010115,880,788,804,653,631.655989885,652.655989885,0.401001541556,-0.00540117884635,0.0498651596286,0.999999961637,0.000129820221684,-0.000241956881743,-3.64679185294e-05,1793239436697292800
+59,0.983333333,BASELINE,766,745.240380651,715,679,665.240380651,635.240380651,880,788,804,653,632,653,0.40100108826,-0.00540085828209,0.0498645089386,0.999999961472,0.000129924894508,-0.000242551895229,-3.6673579147e-05,1793239436713959424
+60,1.000000000,BASELINE,766,745.819782928,715,679,665.819782928,635.819782928,880,788,804,653,632,653,0.40100049102,-0.00540026813902,0.049864580476,0.999999961227,0.000132232764078,-0.000242303243877,-3.67488913965e-05,1793239436730626304
+61,1.016666667,BASELINE,766,745.603467176,715,679,665.603467176,636,879.603467176,788,804,653,632,653,0.401000377324,-0.00539943078624,0.049864737498,0.999999961195,0.000132705276108,-0.000242154007245,-3.68751747315e-05,1793239436747293184
+62,1.033333333,BASELINE,766,745.027914765,715,679,665.027914765,636,879.027914765,788,804,653,632,653,0.401000481931,-0.00539848182766,0.049864933113,0.999999961262,0.000132349193415,-0.00024204965262,-3.70244695813e-05,1793239436763959808
+63,1.050000000,BASELINE,766,745,715,679,665.549465597,636,879.549465597,788,803.450534403,653,631.450534403,653,0.401000270357,-0.0053983321055,0.0498650901846,0.999999961095,0.000132423336891,-0.000242705716679,-3.69785455303e-05,1793239436780626432
+64,1.066666667,BASELINE,766,745,715,679,666,636,879.870527927,788,803.129472073,653,631.129472073,653,0.400999964023,-0.00539842693296,0.0498650770423,0.999999960957,0.000132402055623,-0.000243292120226,-3.69290841438e-05,1793239436797292800
+65,1.083333333,BASELINE,766,745,715,679,666,636,879.281531534,788,803.718468466,653,631.718468466,653,0.40099937857,-0.0053992451264,0.0498644667469,0.999999960967,0.000131964257257,-0.000243493712878,-3.69023858991e-05,1793239436813959424
+66,1.100000000,BASELINE,766,745.302191983,715,679,666,636,879.604383965,788,803.697808017,653,631.697808017,653,0.400999141928,-0.00540006501801,0.0498642540092,0.999999960969,0.000131945681222,-0.000243522234612,-3.67188696674e-05,1793239436830626048
+67,1.116666667,BASELINE,766,745.881087336,715,679,666,636,880.762174673,788,803.118912664,653,631.118912664,653,0.400999224679,-0.00540088646453,0.049864405297,0.999999960965,0.000132310967917,-0.000243392283216,-3.63917623821e-05,1793239436847292928
+68,1.133333333,BASELINE,766,745.543341287,715,679,666,635.543341287,880.086682574,788,803,652.543341287,631,653,0.400999920759,-0.00540064574609,0.0498651624727,0.99999996123,0.000132732237326,-0.000242054237967,-3.6489619831e-05,1793239436863959552
+69,1.150000000,BASELINE,766,745,714.968626338,679,665.968626338,635.031373662,879.031373662,788,803.031373662,652.031373662,631.031373662,653,0.401000710969,-0.00540020626548,0.0498660037719,0.999999961542,0.000133113071661,-0.000240522980026,-3.66727985448e-05,1793239436880626432
+70,1.166666667,BASELINE,766,745,714.39386239,679,665.39386239,635.60613761,879.60613761,788,803.60613761,652.60613761,631.60613761,653,0.401000385337,-0.0054010800528,0.0498655892379,0.999999961499,0.000132542910678,-0.000241054501282,-3.64309676682e-05,1793239436897293056
+71,1.183333333,BASELINE,766,745,714.186831851,679,665,636,880,788,804,652.813168149,631.813168149,653,0.40100008498,-0.00540126048514,0.0498651864237,0.999999961371,0.000132107265659,-0.000241825190309,-3.64279372137e-05,1793239436913959936
+72,1.200000000,BASELINE,766,745,714.780437753,679,665,636,880,788,804,652.219562247,631.219562247,653,0.400999839654,-0.0053999313313,0.0498648091261,0.999999961057,0.000131964491385,-0.000243116600304,-3.69448277822e-05,1793239436930626304
+73,1.216666667,BASELINE,766,745,715,679,665,636,879.636536417,788,803.636536417,652.363463583,631,653,0.400999748774,-0.00539994094252,0.0498648374293,0.999999961087,0.000131782548794,-0.000243106466149,-3.68674068157e-05,1793239436947293184
+74,1.233333333,BASELINE,766,745,715,679,665,636,879.059721085,788,803.059721085,652.940278915,631,653,0.400999748554,-0.00540073640385,0.0498651038188,0.999999961317,0.000131577614558,-0.000242332330426,-3.6441127196e-05,1793239436963959808
+75,1.250000000,BASELINE,766,745,715,679,665,636,879,788,803.513583112,653,631.513583112,653,0.40100000282,-0.00540131016431,0.049865108545,0.999999961659,0.000130192109083,-0.000241668326743,-3.64504648195e-05,1793239436980626176
+76,1.266666667,BASELINE,766,745,715,679,665.083381814,636,879.083381814,788,804,653,632,653,0.401000202802,-0.00540169501516,0.0498650512013,0.999999961901,0.000129169132366,-0.000241204902619,-3.65142429721e-05,1793239436997292800
+77,1.283333333,BASELINE,766,745,715,679,665.635744654,636,879.635744654,788,804,653,632,653,0.400999932153,-0.00540116135936,0.0498648147206,0.999999961523,0.00013095209057,-0.000241798097166,-3.66012475961e-05,1793239437013959680
+78,1.300000000,BASELINE,766,745.211391712,714.788608288,679,666,636,879.788608288,788,803.788608288,652.788608288,632,653,0.400999463063,-0.00540019796663,0.0498644140327,0.999999961142,0.000132505196321,-0.000242504165309,-3.67360964496e-05,1793239437030626560
+79,1.316666667,BASELINE,766,745.832126755,714.167873245,679,666,636,879.167873245,788,803.167873245,652.167873245,632,653,0.40099860971,-0.00539840242237,0.0498636953707,0.999999960762,0.000133613210766,-0.000243428804174,-3.69635918593e-05,1793239437047293184
+80,1.333333333,BASELINE,766,745.581099841,714.418900159,679,666,636,879.418900159,788,803.418900159,652.418900159,631.581099841,652.581099841,0.400999667484,-0.00539910145409,0.0498643630651,0.999999960997,0.000133015017242,-0.000242794710176,-3.69166841539e-05,1793239437063959552
+81,1.350000000,BASELINE,766,745.006915771,714.993084229,679,666,636,879.993084229,788,803.993084229,652.993084229,631.006915771,652.006915771,0.401001433704,-0.00540072521081,0.0498655446739,0.999999961459,0.000131784342208,-0.000241582802837,-3.67680567909e-05,1793239437080625920
+82,1.366666667,BASELINE,766,745,714.430068229,679,666,636,879.430068229,788,803.430068229,653,631,652.569931771,0.401000867575,-0.00539960394103,0.0498654832911,0.999999961368,0.00013246785553,-0.000241597304616,-3.66972647466e-05,1793239437097292800
+83,1.383333333,BASELINE,766,745.150046651,714.150046651,679,666,636,879.150046651,788.150046651,803.150046651,653,631.150046651,653,0.401000090574,-0.00539883808493,0.0498652822661,0.999999961298,0.000132603533179,-0.000241812430523,-3.66985771011e-05,1793239437113959424
+84,1.400000000,BASELINE,766,745.739637844,714.739637844,679,666,636,879.739637844,788.739637844,803.739637844,653,631.739637844,653,0.400998779141,-0.00539921140599,0.0498647165668,0.999999961309,0.000131066027136,-0.000242571462935,-3.69083312983e-05,1793239437130626048
+85,1.416666667,BASELINE,766,745.677033043,715,679.322966957,666,636,880,788.677033043,804,653,631.677033043,653,0.400998671457,-0.00539998403891,0.0498648209581,0.999999961477,0.000130360201175,-0.000242272210547,-3.68218737687e-05,1793239437147292672
+86,1.433333333,BASELINE,766,745.098656166,715,679.901343834,666,636,880,788.098656166,804,653,631.098656166,653,0.400999515725,-0.00540107245707,0.0498654552729,0.99999996177,0.000130312087618,-0.000241136041421,-3.65011649754e-05,1793239437163959296
+87,1.450000000,BASELINE,766,745,715,679.522362285,665.522362285,636,880,788,804,653,631.477637715,653,0.401000218865,-0.00540052631799,0.0498658530836,0.99999996176,0.000131245548092,-0.000240645258053,-3.66755493597e-05,1793239437180626432
+88,1.466666667,BASELINE,766.05328446,745,715,679.05328446,665,636,880,788,804,653,632,653,0.401000829695,-0.00539970384749,0.0498661392022,0.999999961691,0.0001321781052,-0.000240384644849,-3.69069005126e-05,1793239437197293056
+89,1.483333333,BASELINE,766.626795436,745,715,679.626795436,665,636,880,788,804,653,632,653,0.401000822635,-0.00539946541842,0.0498658097094,0.99999996167,0.000131131005484,-0.000241075400485,-3.6700364662e-05,1793239437213959680
+90,1.500000000,BASELINE,766.792710859,745,715,680,665.207289141,636,880,788,804,653,632,653,0.401000619614,-0.00539970708004,0.04986560876,0.99999996172,0.000130153875455,-0.00024141500194,-3.65826124466e-05,1793239437230626304
+91,1.516666667,BASELINE,766.199207224,745,715,680,665.800792776,636,880,788,804,653,632,653,0.401000051487,-0.00540084323128,0.0498656473087,0.999999961904,0.000129307110825,-0.000241100344084,-3.66302790823e-05,1793239437247293184
+92,1.533333333,BASELINE,766,745.384242867,714.615757133,679.615757133,666,636,880,788,803.615757133,653,631.615757133,653,0.401000193016,-0.00540058938353,0.0498658208408,0.999999961835,0.000130346385856,-0.000240815979463,-3.67131387551e-05,1793239437263959808
+93,1.550000000,BASELINE,766,745.962613737,714.037386263,679.037386263,666,636,880,788,803.037386263,653,631.037386263,653,0.401000693078,-0.00539963327762,0.0498660625696,0.999999961634,0.000132338529806,-0.000240546919624,-3.68137787337e-05,1793239437280626176
+94,1.566666667,BASELINE,766.533242951,746,714.533242951,679.533242951,666,636,880,788,803.533242951,653,631,653,0.401000909781,-0.00539915673768,0.0498658822762,0.999999961454,0.00013330738435,-0.000240749729979,-3.68750367283e-05,1793239437297293056
+95,1.583333333,BASELINE,766.892290064,745.892290064,714.892290064,679.892290064,666,636,880,788,804,653,631,653,0.401000916225,-0.00539904907318,0.0498656425833,0.999999961335,0.00013372506577,-0.000241016307405,-3.68589888538e-05,1793239437313959680
+96,1.600000000,BASELINE,766.298071741,745.298071741,714.298071741,679.298071741,666,636,880,788,804,653,631,653,0.401000061411,-0.0054004578633,0.0498652663261,0.999999961483,0.000131972606086,-0.000241423616744,-3.65060559138e-05,1793239437330626304
+97,1.616666667,BASELINE,766,745.288972629,714.288972629,679,666,636,880,788,803.711027371,652.711027371,631,653,0.400999562398,-0.00540045305762,0.0498649121294,0.999999961365,0.000131986524908,-0.000241885744555,-3.66072780168e-05,1793239437347293184
+98,1.633333333,BASELINE,766,745.868796376,714.868796376,679,666,636,880,788,803.131203624,652.131203624,631,653,0.400999421498,-0.00539902546686,0.0498645801367,0.999999960981,0.000133778304825,-0.000242403047166,-3.71656074551e-05,1793239437363959808
+99,1.650000000,BASELINE,766,745.553782068,715,679.446217932,665.553782068,636,879.553782068,788,803.446217932,652.446217932,631.446217932,653,0.400999198851,-0.00539991400682,0.0498643592701,0.999999961146,0.00013322985629,-0.000242073509702,-3.68605330959e-05,1793239437380626176
+100,1.666666667,BASELINE,766,745,715,679.977155368,665,636,879.022844632,788,804,653,632,653,0.400998955719,-0.00540141484963,0.0498642006218,0.999999961447,0.000132036938479,-0.000241565156859,-3.63238704473e-05,1793239437397292800
+101,1.683333333,BASELINE,766,745,715,679.402757201,665,636,879.597242799,788,804,653,632,653,0.400998795248,-0.00540134457468,0.0498647594834,0.999999961198,0.000131808678498,-0.000242719140197,-3.6292369205e-05,1793239437413959424
+102,1.700000000,BASELINE,766.176585839,745,714.823414161,679,665.176585839,636,879.823414161,788,803.823414161,652.823414161,631.823414161,653,0.40099870301,-0.00540099926534,0.0498650770221,0.999999961113,0.000131307547169,-0.000243322974411,-3.64217564327e-05,1793239437430626048
+103,1.716666667,BASELINE,766.767531989,745,714.232468011,679,665.767531989,636,879.232468011,788,803.232468011,652.232468011,631.232468011,653,0.400998770879,-0.00540000858532,0.0498648282944,0.99999996141,0.000130166120723,-0.000242635878441,-3.69286699523e-05,1793239437447292672
+104,1.733333333,BASELINE,766.297659306,745,714.351170347,679,666,635.648829653,879.351170347,788,803.351170347,652.351170347,631.351170347,652.648829653,0.400999668865,-0.00540054013619,0.0498654629438,0.99999996179,0.000129837718106,-0.000241273965065,-3.67357297843e-05,1793239437463959296
+105,1.750000000,BASELINE,765.139860475,745,714.930069762,679,666,635.069930238,879.930069762,788,803.930069762,652.930069762,631.930069762,652.069930238,0.40100110517,-0.00540205883245,0.0498666704509,0.99999996222,0.00013003654998,-0.000239474441948,-3.60889443186e-05,1793239437480625920
+106,1.766666667,BASELINE,765.505957397,745.505957397,714.494042603,679,665.494042603,635.505957397,879.494042603,788,804,653,632,652,0.401000855792,-0.00540077406155,0.0498661120261,0.999999961788,0.000132351484411,-0.000239979158388,-3.62859831959e-05,1793239437497292800
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879,788,804,653,632,653,0.400999895172,-0.0053982905688,0.0498651984014,0.999999961222,0.000133028738658,-0.000241880998932,-3.67945656309e-05,1793239437539994880
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.579489487,788,803.420510513,653,631.420510513,653,0.400999326174,-0.00539901901552,0.0498643465052,0.99999996127,0.000131410554086,-0.00024251498111,-3.71232007457e-05,1793239437556661504
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+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714,678.309932568,665,636,879.309932568,788,804,653,632,652.690067432,0.400999075317,-0.00540115927246,0.0498646558827,0.999999961473,0.000130896009747,-0.000242041574611,-3.65612265648e-05,1793239437606661376
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+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.218918124,715,679,665.781081876,636,879.218918124,788,804.781081876,653,631.218918124,653,0.401005880783,-0.00539986170766,0.0498692770813,0.999999963073,0.000131096340055,-0.000235240755645,-3.64568199128e-05,1793239437689993984
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.794225568,715,679,665.205774432,636,879.794225568,788,804.205774432,653,631.794225568,653,0.401011740007,-0.00539871002265,0.0498714406361,0.999999963507,0.000133146530663,-0.000232215038626,-3.65129953715e-05,1793239437706660608
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.63182971,715,679,665.36817029,636,880,788,803.63182971,652.63182971,632,653,0.401033303891,-0.00539941335199,0.0498788492419,0.999999966914,0.000133522292597,-0.000216903357615,-3.60191837345e-05,1793239437723327232
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.058643765,715,679,665.941356235,636,880,788,803.058643765,652.058643765,632,653,0.401063612916,-0.0054011496461,0.049889178555,0.999999971576,0.000132965648932,-0.000194750236245,-3.5219111732e-05,1793239437739994112
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.533117418,745,715,678.466882582,665.466882582,635.466882582,879.466882582,788,803.533117418,652.533117418,632,653,0.401118284236,-0.00540355082486,0.0499063150511,0.999999978234,0.000132147757578,-0.000157806467423,-3.41342267217e-05,1793239437756660992
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.876584336,745,715,678.123415664,665.123415664,635.123415664,879.123415664,788,803.876584336,653,632,653,0.401178919353,-0.0054061065196,0.0499237259131,0.999999983395,0.00013091755153,-0.000122433424102,-3.2860623514e-05,1793239437773327872
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.299447347,745,715,678.700552653,665.700552653,635.700552653,879.700552653,788,803.299447347,653,632,653,0.40125127166,-0.00540895168214,0.0499392932027,0.999999986387,0.000128280989724,-9.90322979491e-05,-3.10125609326e-05,1793239437789994496
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.277069515,715,679,666,636,879.722930485,788,803.277069515,653,632,653,0.401328827431,-0.00541138558392,0.0499501087118,0.999999988042,0.00012682918567,-8.3283633088e-05,-2.98925898899e-05,1793239437806660608
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.852917629,715,679,666,636,879.147082371,788,803.852917629,653,632,653,0.401411994364,-0.00541337600149,0.0499558001256,0.999999988671,0.000126654968283,-7.57870202697e-05,-2.95577582859e-05,1793239437823326976
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665.563964498,636,879,788,803.563964498,653,632,653,0.40150592141,-0.00541610570151,0.049957627457,0.999999988942,0.00012605018332,-7.35064828339e-05,-2.87016142447e-05,1793239437839993600
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714.978460977,679,665,636,879,788,803.021539023,653,632,653,0.401604274648,-0.00541917078418,0.0499579954383,0.999999989098,0.000125167722073,-7.32937743668e-05,-2.7674480033e-05,1793239437856660224
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714.395774697,679,665,636,879,788,803.604225303,653,632,653,0.401721778645,-0.00542436649165,0.0499548768488,0.999999989104,0.000120899054099,-8.03373327005e-05,-2.68515744115e-05,1793239437873326848
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.815871308,714.184128692,678.815871308,665,636,879.184128692,788,804,653,631.815871308,653,0.401851689986,-0.0054298524442,0.0499537394711,0.999999989323,0.00011703328527,-8.35890999809e-05,-2.5877794477e-05,1793239437889993728
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.241860609,714.758139391,678.241860609,665,636,879.758139391,788,804,653,631.241860609,653,0.402007873154,-0.00543595297347,0.0499567971969,0.999999990092,0.000114020632961,-7.88119649852e-05,-2.45845468933e-05,1793239437906660864
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.332608243,665,636,880,788,804,652.667391757,631,653,0.402181516385,-0.00544097414001,0.0499575761329,0.999999990287,0.000112888362095,-7.82818622672e-05,-2.35237832724e-05,1793239437923327744
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.907410766,665,636,880,788,804,652.092589234,631,653,0.40236787347,-0.00544520935107,0.0499566957301,0.999999990077,0.000113125322255,-8.08443069535e-05,-2.26323066208e-05,1793239437939994368
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.497984821,636,880,788,804,652.497984821,631.497984821,653,0.40257848173,-0.00545328975316,0.049957917947,0.99999999075,0.00010969567016,-7.772483312e-05,-2.06503246933e-05,1793239437956660480
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.089065149,715,679,666,636,880.089065149,788,804,653,632,653,0.402800218271,-0.0054621192137,0.0499597504594,0.99999999159,0.000105587564525,-7.29964204738e-05,-1.85066205995e-05,1793239437973326848
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.666321894,715,679,666,636,880.666321894,788,804,653,632,653,0.403057428901,-0.00547100758851,0.0499627152626,0.999999992558,0.000101619606013,-6.54289191323e-05,-1.66241786137e-05,1793239437989993472
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.242508876,745.757491124,715,679,665.757491124,636,880.514982248,788,803.757491124,653,632,653,0.403337217306,-0.00548025200511,0.049969277298,0.999999993828,9.73427579112e-05,-5.15824298214e-05,-1.44368147758e-05,1793239438006660096
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.817230355,745.182769645,715,679,665.182769645,636,879.36553929,788,803.182769645,653,632,653,0.403647934962,-0.00548998416236,0.0499807671773,0.999999995214,9.26427625581e-05,-2.91343632435e-05,-1.1831738986e-05,1793239438023326720
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.608651963,745.391348037,715,679,665.391348037,635.608651963,879,788,803.782696073,653,631.608651963,653,0.40398606605,-0.0054994094296,0.0499910452998,0.999999995891,8.952834413e-05,-1.10233769872e-05,-8.97445819621e-06,1793239438039993856
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.034815853,745.965184147,715,679,665.965184147,635.034815853,879,788,804.930368295,653,631.034815853,653,0.404336980186,-0.00550869159179,0.050000758372,0.999999996171,8.71532904136e-05,5.06520055368e-06,-5.99957268649e-06,1793239438056661248
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.440552985,715,679,666,635,879.559447015,788,803.881105971,653,631.559447015,653,0.404713055576,-0.00551616407785,0.0500046564083,0.999999995978,8.8387585665e-05,1.48741548976e-05,-3.32735423514e-06,1793239438073327616
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.149975664,666,635.149975664,879.850024336,788,803.149975664,653,632,653,0.405095668931,-0.00552123987804,0.0500046038906,0.999999995607,9.22606986943e-05,1.65723193322e-05,-5.10225409842e-07,1793239438089993984
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679.726143182,666,635.726143182,879.273856818,788,803.726143182,653,632,653,0.40549224305,-0.00551983708617,0.0499943922794,0.999999994688,0.00010297014672,-3.62564463972e-06,2.77425533133e-06,1793239438106660352
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665.698957693,636,879.301042307,788,804,652.698957693,632,653,0.405899383082,-0.00550988690558,0.0499780343229,0.999999991653,0.000124111728143,-3.56626102333e-05,4.23250815805e-06,1793239438123326720
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665.125207514,636,879.874792486,788,804,652.125207514,632,653,0.406316094598,-0.00549219382575,0.0499561085208,0.99999998495,0.000154703560072,-7.84242798124e-05,4.03642002417e-06,1793239438139993344
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.462888823,715,679.537111177,665.462888823,636,879.537111177,788,804,652.462888823,632,653,0.406791823605,-0.00548789102267,0.0499440590319,0.999999980961,0.000170974506296,-9.38904416833e-05,5.42348764775e-06,1793239438156660224
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.946445577,715,679,666,635.946445577,879,788,804,653,632,653,0.407289356019,-0.00548868199812,0.0499365037459,0.999999978587,0.000181421352511,-9.92816437379e-05,7.48566153324e-06,1793239438173326848
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.369799507,715,679,666,635.369799507,879,788,804,653,632,653,0.407838940549,-0.00550271745318,0.0499459174916,0.999999981532,0.000174027653478,-8.06877160938e-05,1.18254124779e-05,1793239438189993984
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678.793320882,665.793320882,635.206679118,879.206679118,788,804,652.793320882,632,653,0.408406702116,-0.00551257154292,0.0499606171773,0.99999998338,0.000173041674136,-5.50010324109e-05,1.64886768629e-05,1793239438206660864
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678.217141646,665.217141646,635.782858354,879.782858354,788,804,652.217141646,632,653,0.409006960485,-0.00551495020332,0.0499847670454,0.999999982787,0.000183511391282,-1.66339483979e-05,2.17303170384e-05,1793239438223327744
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.730068321,665.365034161,636,880,788,804,652.365034161,631.634965839,653,0.409622778482,-0.00551555236349,0.049999616561,0.99999998061,0.000195086667227,4.67957662873e-06,2.6436335415e-05,1793239438239994624
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.901673203,665.950836601,636,880,788,804,652.950836601,631.049163399,653,0.410248006734,-0.00551508011756,0.050008841334,0.999999977909,0.000207330571566,1.56793124205e-05,3.08184159743e-05,1793239438256661504
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.468661917,745,715,679.468661917,666,636,880,788,804,652.468661917,631,653,0.410852322897,-0.00550770324536,0.049987963059,0.99999997284,0.000229179885578,-2.65288183656e-05,3.30441564134e-05,1793239438273328128
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.110899457,745,715,679,666,635.889100543,880,788,804,652.110899457,631,652.889100543,0.411467677487,-0.00550199029828,0.0499659127865,0.999999966114,0.000248541662454,-6.89784562545e-05,3.52178488846e-05,1793239438289994752
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.688547921,745,715,679,666,635.311452079,880,788,804,652.688547921,631,652.311452079,0.412137553249,-0.00550594269242,0.0499505369753,0.999999962863,0.000253730346419,-9.19286790038e-05,3.8003923727e-05,1793239438306660864
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635,880.263343119,788,804,652.736656881,631,652.263343119,0.412847846274,-0.00551424949354,0.0499562790898,0.999999976101,0.000202456358974,-7.7374319457e-05,2.86797346406e-05,1793239438323327488
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635,880.834800046,788,804,652.165199954,631,652.834800046,0.413605427945,-0.00552765099034,0.0499867293645,0.999999996184,8.51205379407e-05,-1.89392644812e-05,5.18642819898e-06,1793239438339994368
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.421561829,715,679,666,635.421561829,880.578438171,788,804,652,631,653,0.414352419743,-0.00553432654135,0.0499891597211,0.99999999812,5.94897374747e-05,-1.47099715567e-05,2.11793495433e-06,1793239438356661504
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715,679,665.985809751,636,880,788,804,652,631,653,0.415095122681,-0.00553806563564,0.0499797785809,0.999999996877,7.13966516958e-05,-3.30932596964e-05,7.30146156617e-06,1793239438373328128
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665.407371876,636,880,788,804,652,631,653,0.415838519183,-0.0055337954889,0.0499537962054,0.999999992861,9.31199451707e-05,-7.41574743907e-05,1.03574006653e-05,1793239438389994240
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.829559626,715,679,665.170440374,635.829559626,880,788.170440374,804,652,631,653,0.416603473052,-0.00553006381149,0.049940728166,0.999999989204,0.000112540470173,-9.34975132834e-05,1.3588418476e-05,1793239438406660352
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.253237258,715,679,665.746762742,635.253237258,880,788.746762742,804,652,631,653,0.41741976299,-0.0055276144303,0.0499584139712,0.999999989986,0.000126477245011,-6.11041982209e-05,1.72363637431e-05,1793239438423326976
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.321784787,880,788.678215213,803.678215213,652,631,653,0.418241692344,-0.0055266252347,0.0499777093281,0.999999990607,0.000132910120821,-2.70147768292e-05,1.97997536966e-05,1793239438439993600
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.895787599,880,788.104212401,803.104212401,652,631,653,0.419068041889,-0.00552678054678,0.0499982662662,0.999999990827,0.0001334613674,8.40406755806e-06,2.15130585422e-05,1793239438456660480
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,787.514704928,803.485295072,652,631,653,0.4198799168,-0.00552606585177,0.0499819359946,0.999999990634,0.00013283019762,-2.49782948521e-05,2.15248001531e-05,1793239438473327104
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,678.923847509,666,635.923847509,880,787.076152491,804,652,631.076152491,653,0.420700663641,-0.00552597710169,0.04996357559,0.999999989365,0.000131176164151,-6.00550961685e-05,2.13502694378e-05,1793239438489994240
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,678.346735321,666,635.346735321,880,787.653264679,804,652,631.653264679,653,0.421600895295,-0.00553127562328,0.0499856884045,0.999999991979,0.000124518808686,-5.87939193184e-06,2.24334000889e-05,1793239438506660864
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.228822457,745,715,678.228822457,666,635.228822457,880,788,804,652,632,653,0.422482120098,-0.00553550946071,0.0500001342133,0.999999992235,0.000119079489059,2.8264915667e-05,2.34664199145e-05,1793239438523327488
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.802040811,745,715,678.802040811,666,635.802040811,880,788,804,652,632,653,0.423334738219,-0.00553814086506,0.0500030405756,0.999999992514,0.000115473409157,3.22603950315e-05,2.44240192274e-05,1793239438539993856
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.623713877,745,715,679,666,636,880,788,804,652,632,652.623713877,0.424181659906,-0.00553840975857,0.0499941091831,0.999999992961,0.000114892157193,1.69558006676e-05,2.42956467214e-05,1793239438556660480
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.048926851,745,715,679,666,636,880,788,804,652,632,652.048926851,0.425025576521,-0.00553743236486,0.0499789330611,0.999999992968,0.000115906582289,-8.53009433245e-06,2.35943952299e-05,1793239438573327104
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.545910287,666,635.454089713,880,788,804,652,631.454089713,652.545910287,0.425937549122,-0.00553966719154,0.0499977252733,0.999999993132,0.000113002518969,1.8055606274e-05,2.5312027655e-05,1793239438589993728
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.137187958,715,679.862812042,666,635.137187958,880,788,804.137187958,652,631,653,0.42683361305,-0.00554129833351,0.0500120967565,0.999999992906,0.000111223718389,3.28612649612e-05,2.71552036011e-05,1793239438606660096
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.711192138,715,679.288807862,666,635.711192138,880,788,804.711192138,652,631,653,0.427658860943,-0.00554005567691,0.0500023291715,0.999999993055,0.000114188690725,-5.26782937607e-06,2.86815223592e-05,1793239438623326976
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,804.715806562,652,631.284193438,653,0.428487288153,-0.00553872085696,0.049982155822,0.999999991744,0.000116903793987,-4.49157708806e-05,2.87701361261e-05,1793239438639994112
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,804.143820878,652,631.856179122,653,0.42931893489,-0.00553729270666,0.0499514449379,0.999999988794,0.000119365863828,-8.61017907248e-05,2.74028388096e-05,1793239438656660992
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.55573979,715,679,666,636,880,788,804,652,631.55573979,653,0.430188864427,-0.00553949107567,0.0499578315734,0.999999991019,0.000113872235406,-6.51067493501e-05,2.74825740048e-05,1793239438673327360
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.036892874,666.036892874,635.963107126,880,788.036892874,804,652,631.036892874,653,0.431068645963,-0.00554257760708,0.0499741799576,0.999999993531,0.000106523854715,-2.83952622433e-05,2.79996376103e-05,1793239438689993728
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.616938872,666.616938872,635.383061128,880,788.616938872,804,652,631.616938872,653,0.431904152822,-0.00554080590344,0.0499537319986,0.999999991131,0.000111212151005,-6.78020682878e-05,2.77992633662e-05,1793239438706660352
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.805394801,666.805394801,635,880,788.805394801,804,652,632,653,0.432737874518,-0.00554064985291,0.049942321323,0.999999989409,0.000112623733857,-8.79364810717e-05,2.76758500899e-05,1793239438723326976
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.232355933,666.232355933,635,880,788.232355933,804,652,632,653,0.433568124894,-0.00554363563763,0.0499484847496,0.999999991329,0.000107663346771,-7.05933694093e-05,2.77020968804e-05,1793239438739993600
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.342603371,880.342603371,788,804.342603371,652,632,653,0.43439901303,-0.00554514163491,0.0499658846432,0.9999999931,0.000104659320775,-4.49643285681e-05,2.87151146347e-05,1793239438756660224
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.918872435,880.918872435,788,804.918872435,652,632,653,0.435230336086,-0.00554563837293,0.0499909481414,0.999999994141,0.000102989591483,-1.36840384896e-05,3.04011395284e-05,1793239438773326848
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.511582145,715,679.511582145,666,636,880.488417855,788,805,652,632,653,0.435970370092,-0.00554306520177,0.0499752459083,0.999999992228,0.000106902521113,-5.61487521763e-05,3.10390253729e-05,1793239438789993216
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.896742959,745.896742959,715,680,666,636,880.206514083,788,805,652,631.896742959,653,0.436707422207,-0.00554105200245,0.0499567278888,0.999999988601,0.000110157000658,-9.83631246286e-05,3.14207995335e-05,1793239438806660096
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+185,3.083333333,POSE1_TO_POSE2_PRESS,765.25222165,745,715,679.74777835,666,636,881.74777835,788,805,652,631.25222165,652.74777835,0.438277224469,-0.00554668980081,0.049965340027,0.999999992461,0.000102889251371,-5.89149865111e-05,3.19597423534e-05,1793239438839994624
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.82609793,745,715,679.17390207,666,636,881.17390207,788,805,652,631.82609793,652.17390207,0.439037901283,-0.00554943543777,0.0499880589298,0.999999994235,0.000100297502184,-1.91875786814e-05,3.31981660935e-05,1793239438856660480
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.588401614,881,788,805,652,632,652.411598386,0.43972330009,-0.0055488790495,0.0499811723973,0.999999993825,0.00010211474818,-2.84178455681e-05,3.33902843245e-05,1793239438873327360
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.002113341,666,635,881,787.997886659,805,652,632,653,0.440375926735,-0.00554689475814,0.0499614014209,0.999999992111,0.000105843172556,-5.89666378098e-05,3.3129350436e-05,1793239438889993984
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.581819142,666,635,881,787.418180858,805,652,632,653,0.44101690912,-0.00554703193861,0.0499382151248,0.999999988769,0.000107992158472,-9.84110251617e-05,3.33778567755e-05,1793239438906660608
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,881,787.159945917,805,652,632,653,0.44165695629,-0.00554708247127,0.0499212571541,0.999999985408,0.000110392828202,-0.000125893800875,3.38930158951e-05,1793239438923327232
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,881,787.733984789,805,652,632,653,0.442294582367,-0.00554690867659,0.0499204240392,0.999999985457,0.000113445097106,-0.000122408498256,3.50985275198e-05,1793239438939994368
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.316043061,715,680,666,635,881,788,805.316043061,652,632,652.683956939,0.442885482436,-0.00554641216951,0.0499120471417,0.999999983758,0.000117215330501,-0.000132223584257,3.55048926481e-05,1793239438956661248
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.905027006,715,680,666,635,881,788,805.905027006,652,632,652.094972994,0.443436028985,-0.00554563696178,0.049897155288,0.999999980201,0.000121605611656,-0.000153525142615,3.52210993607e-05,1793239438973327616
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665.514479698,635,880.514479698,788,805.514479698,652,632,652,0.443925419638,-0.00554278027977,0.0498555477942,0.999999965561,0.000127707850542,-0.000226617585082,3.48305759898e-05,1793239438989993984
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,880.064232127,787.935767873,805,652,632,652.064232127,0.444403920314,-0.00554002057929,0.0498109473571,0.999999944193,0.000133584928,-0.000304279959371,3.43944675595e-05,1793239439006660608
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,880.641752052,787.358247948,805,652,632,652.641752052,0.444889350676,-0.00554123361211,0.0497834727693,0.999999932888,0.000135032658179,-0.000338895671992,3.37580522156e-05,1793239439023327232
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.782072914,745.782072914,715,679.782072914,664.782072914,634.782072914,881,787,805,652,631.782072914,653,0.44537838207,-0.00554319212573,0.0497689130091,0.999999928146,0.000136229891217,-0.000352130739329,3.39641527356e-05,1793239439039993856
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.208095227,745.208095227,715,679.208095227,664.208095227,634.208095227,881,787,805,652,631.208095227,653,0.445873296803,-0.00554636861028,0.0497754535756,0.999999935388,0.000137017860525,-0.000330433975204,3.55467609105e-05,1793239439056660992
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.374144147,715,679.374144147,664,634,881,787.374144147,805,652,631,653,0.446321783515,-0.00554360265001,0.0497790308952,0.999999939172,0.000140346751067,-0.000317284327295,3.59207752493e-05,1793239439073327872
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.961082402,715,679.961082402,664,634,881,787.961082402,805,652,631,653,0.446743864381,-0.00553745693052,0.0497809228719,0.999999941097,0.000145120788096,-0.000308995841145,3.56074032104e-05,1793239439089994752
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+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.151991836,715,680,664,633,880.848008164,787,805.151991836,652,631.151991836,652,0.448367530788,-0.0055538366042,0.0496793357351,0.999999890417,2.86448125637e-05,-0.000467268529672,2.18540231408e-06,1793239439173326848
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,714.97531437,680,664,633,881,787,805,652.02468563,631.97531437,653,0.448940152628,-0.00555460396682,0.0497046137697,0.99999990658,3.76428411073e-05,-0.00043056114857,6.37176235367e-06,1793239439206660352
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,714.395769323,680,664,633,881,787,805,652.604230677,631.395769323,653,0.449174950926,-0.00555469598052,0.049710277134,0.99999990936,4.06637392061e-05,-0.000423742014868,8.28389060441e-06,1793239439223327744
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,714.182334264,680,664,633,881,787,805,652.817665736,631,652.817665736,0.449396243956,-0.00555258804786,0.0497119078812,0.999999909434,4.59646512733e-05,-0.000422991108956,9.89558300411e-06,1793239439239994368
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,714.757333526,680,664,633,881,787,805,652.242666474,631,652.242666474,0.449588452754,-0.00554574243222,0.0497048542059,0.999999903616,5.61756750986e-05,-0.000435308404107,1.0860273101e-05,1793239439256660736
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.660412308,745.660412308,715,679.660412308,663.660412308,632.660412308,881,787,805,652,631,652.339587692,0.449765588431,-0.00554061694379,0.0496993090155,0.999999898764,6.46781051778e-05,-0.000445149226815,1.14408922052e-05,1793239439273327360
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.072860615,745.072860615,715,679.072860615,663.072860615,632.072860615,881,787,805,652,631,652.927139385,0.449931717865,-0.0055367474767,0.0496948653069,0.999999894657,7.19329359141e-05,-0.000453181752018,1.17410660861e-05,1793239439289993728
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+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.76292419,632,881,786.23707581,805.76292419,652,631,653,0.450431867441,-0.00553866939408,0.0497035067927,0.999999898151,7.60729116262e-05,-0.000444638432047,1.43819528288e-05,1793239439356660480
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+234,3.900000000,POSE1_TO_POSE2_PRESS,765.686704588,745.313295412,715,679.313295412,663.313295412,632,881,786.313295412,805,652.686704588,631,653,0.450877036317,-0.00553365315304,0.0496817688547,0.999999878627,8.19422737931e-05,-0.000485613376343,1.45522994498e-05,1793239439656660736
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.262401907,715,679.262401907,663,631.737598093,881,786.262401907,805.262401907,652.737598093,631,653,0.450876616186,-0.00553464590514,0.0496807267099,0.999999877906,8.14815744947e-05,-0.000487166053218,1.47653392965e-05,1793239439673327360
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.840012715,715,679.840012715,663,631.159987285,881,786.840012715,805.840012715,652.159987285,631,653,0.450877837457,-0.00553447010459,0.0496800836182,0.999999877834,8.01410197432e-05,-0.000487533478533,1.48227771954e-05,1793239439689993728
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.574837794,746,715,680,663,631.425162206,881,787,805.574837794,652,631,653,0.450879906492,-0.00553234478599,0.0496812256399,0.999999878735,8.30557226239e-05,-0.00048520414951,1.44618403382e-05,1793239439706660096
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.013012516,746,715,680,663,632,881,786.986987484,805,652,631,653,0.450882239988,-0.00552951761035,0.0496829878069,0.999999879938,8.74775480844e-05,-0.000481951682253,1.3951174009e-05,1793239439723326720
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.592713115,746,715,680,663,632,881,786.407286885,805,652,631,653,0.450881947052,-0.00552864942614,0.0496819753026,0.999999879278,8.65418025161e-05,-0.000483487934843,1.38997616497e-05,1793239439739993600
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663,632,881,786,805,652.171020299,631,653,0.45088172681,-0.00552831275065,0.0496811555879,0.999999878787,8.54320574522e-05,-0.000484703069616,1.37822300605e-05,1793239439756660224
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,632,881,786,805,652.746035834,631,653,0.450881678292,-0.00552923163954,0.0496807912933,0.999999878698,8.39112795574e-05,-0.000485159638974,1.35085073434e-05,1793239439773326848
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.671665702,715,680,663,632,881,786,805,652.671665702,631,653,0.450882729561,-0.00552985458885,0.0496815333534,0.999999879211,8.39075495024e-05,-0.000484095535746,1.37276870097e-05,1793239439789993472
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.083606184,715,680,663,632,881,786,805,652.083606184,631,653,0.450884650805,-0.00553024343838,0.0496831505834,0.999999880197,8.51038634532e-05,-0.000481828521248,1.43367716739e-05,1793239439806660096
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.496510218,745.496510218,715,680,663,632.496510218,881,786,805,652,631,653,0.450884498691,-0.0055300958744,0.0496828388707,0.999999879995,8.38562300712e-05,-0.00048246764116,1.42398359051e-05,1793239439823326720
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.924892648,746,715,680.075107352,663.075107352,632.924892648,880.924892648,786,805,652.075107352,631,653,0.450883897203,-0.00552997960608,0.0496822402054,0.999999879615,8.23749920089e-05,-0.000483515415182,1.40361122115e-05,1793239439839993344
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.347651657,746,715,680.652348343,663.652348343,632.347651657,880.347651657,786,805,652.652348343,631,653,0.450882588771,-0.00553066693245,0.0496818604445,0.999999879374,8.20399640654e-05,-0.000484075159922,1.39007498372e-05,1793239439856659968
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.770748802,746,715,680.770748802,663.770748802,632,880.229251198,786.229251198,805,652.770748802,631,653,0.450882308911,-0.00553091574243,0.0496816452872,0.999999879165,8.18529306487e-05,-0.000484535831083,1.39611237316e-05,1793239439873326848
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.194357875,746,715,680.194357875,663.194357875,632,880.805642125,786.805642125,805,652.194357875,631,653,0.450883586548,-0.00553050053653,0.0496816793778,0.999999879006,8.18899953771e-05,-0.000484846481843,1.43178879225e-05,1793239439889993728
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.388144473,746,715.388144473,680,663,631.611855527,881,787,805,652,631,653,0.450883457334,-0.00553093754455,0.0496815421525,0.999999878755,8.16093195312e-05,-0.000485412502322,1.43257858708e-05,1793239439906660096
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.973755949,746,715.973755949,680,663,631.026244051,881,787,805,652,631,653,0.45088261239,-0.00553180811314,0.0496813177709,0.999999878455,8.11669943918e-05,-0.000486108441141,1.41561994429e-05,1793239439923326720
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663.555702729,631.555702729,881,787,805,652,631,653,0.450882625847,-0.00553006238841,0.0496810006955,0.999999878223,8.25577813772e-05,-0.000486366606285,1.36577609782e-05,1793239439939993600
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,745.86430324,715.86430324,680,663.86430324,631.86430324,880.86430324,786.86430324,805,652,630.86430324,653.13569676,0.450883039816,-0.00552843659021,0.0496810171505,0.999999878211,8.40056348666e-05,-0.000486150284999,1.33567495401e-05,1793239439956660224
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,745.290064425,715.290064425,680,663.290064425,631.290064425,880.290064425,786.290064425,805,652,630.290064425,653.709935575,0.450884617997,-0.00552759506797,0.0496821255571,0.999999878908,8.53599660584e-05,-0.000484466906164,1.3743641535e-05,1793239439973326848
+254,4.233333333,HOLD_POSE2,765,746,715,680,663,631,881,786,805,652,631,653,0.450883944346,-0.00553146064354,0.04968027613,0.999999878474,8.00657838409e-05,-0.000486267932358,1.35818132397e-05,1793239440011120384
+255,4.250000000,HOLD_POSE2,765.598546143,746,715,680,663,631.598546143,881,786,805,652,631,653,0.450884460626,-0.0055302408841,0.0496807778214,0.999999878515,8.19215825114e-05,-0.000485879747177,1.33974956272e-05,1793239440027786496
+256,4.266666667,HOLD_POSE2,766,745.809632941,715,680,663,631.809632941,881,786,805,652,631,653,0.450884487462,-0.00552948554238,0.0496809471651,0.999999878416,8.30244982822e-05,-0.00048589926878,1.33151546489e-05,1793239440044452608
+257,4.283333333,HOLD_POSE2,766,745.231510419,715,680,663,631.231510419,881,786,805,652,631,653,0.450883517357,-0.00552967616511,0.0496804395555,0.999999878036,8.25938798704e-05,-0.000486749241414,1.34405281286e-05,1793239440061118976
+258,4.300000000,HOLD_POSE2,766,745.346001471,715,680,663,631,880.653998529,786,805,652,631,653,0.450883999599,-0.00553033172972,0.0496807051686,0.999999878043,8.26891134243e-05,-0.000486712501514,1.36843828224e-05,1793239440077785600
+259,4.316666667,HOLD_POSE2,766,745.923105471,715,680,663,631,880.076894529,786,805,652,631,653,0.450885451898,-0.00553129783995,0.0496814872353,0.999999878308,8.31355759144e-05,-0.000486083505379,1.40073739014e-05,1793239440094452224
+260,4.333333333,HOLD_POSE2,766,746,715,680,663,631.508730725,880.508730725,786.508730725,805,652,630.491269275,652.491269275,0.450884145396,-0.00552884255669,0.049680853113,0.9999998775,8.63742991492e-05,-0.000487189192052,1.36641418403e-05,1793239440111119616
+261,4.350000000,HOLD_POSE2,766,746,715,680,663,632,880.905613826,786.905613826,805,652,630.094386174,652,0.450882925662,-0.00552655843553,0.0496802765676,0.99999987691,8.87653692745e-05,-0.00048798152947,1.32549002152e-05,1793239440127786752
+262,4.366666667,HOLD_POSE2,766,746,715,680,663,632,880.326530142,786.326530142,805,652,630.673469858,652,0.450884329352,-0.00552785417909,0.0496811136569,0.999999878338,8.45992651638e-05,-0.000485795350704,1.30326095668e-05,1793239440144453376
+263,4.383333333,HOLD_POSE2,765.747803402,746,715,680,663,631.747803402,880.252196598,786.252196598,805,652,631,652,0.450884527038,-0.00552823137269,0.0496810144793,0.999999878437,8.32206435218e-05,-0.000485828137528,1.30974044045e-05,1793239440161119744
+264,4.400000000,HOLD_POSE2,765.169538204,746,715,680,663,631.169538204,880.830461796,786.830461796,805,652,631,652,0.450883165465,-0.00552742095979,0.0496797047889,0.999999876829,8.54459982733e-05,-0.000488729856971,1.35333762025e-05,1793239440177785600
+265,4.416666667,HOLD_POSE2,765,746,715,680.404483118,663.404483118,631.404483118,880.595516882,786.595516882,805,652,630.595516882,652.404483118,0.45088384382,-0.00552878654064,0.0496800090873,0.999999877306,8.40388926712e-05,-0.000487988922186,1.38364995373e-05,1793239440194451968
+266,4.433333333,HOLD_POSE2,765,746,715,680.976744148,663.976744148,631.976744148,880.023255852,786.023255852,805,652,630.023255852,652.976744148,0.450885368328,-0.00553105471457,0.0496809828613,0.99999987864,8.11250578402e-05,-0.000485737029849,1.408451792e-05,1793239440211118592
+267,4.450000000,HOLD_POSE2,765,746,715,680.431320436,663.431320436,632,880.568679564,786.568679564,805,652.568679564,630.568679564,653,0.450886623851,-0.00552968945114,0.0496818413418,0.999999878998,8.26209636607e-05,-0.000484748789053,1.40469929664e-05,1793239440227785472
+268,4.466666667,HOLD_POSE2,765.157882778,745.842117222,715,680,663,632,881,786.842117222,805,652.842117222,630.842117222,653,0.450887555397,-0.00552844207777,0.0496824287582,0.999999879158,8.44151614938e-05,-0.000484109696188,1.40045936941e-05,1793239440244452352
+269,4.483333333,HOLD_POSE2,765.737560351,745.262439649,715,680,663,632,881,786.262439649,805,652.262439649,630.262439649,653,0.450887651856,-0.00552792084311,0.0496823050554,0.999999878906,8.65072275425e-05,-0.000484260371571,1.39814865972e-05,1793239440261119232
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,663,631,881,786,805,652,631,653,0.450886592163,-0.00552837593807,0.0496817254021,0.999999878304,8.75908802731e-05,-0.000485312555119,1.38316773929e-05,1793239440297737984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.415513768,746,715,680.415513768,663,631.584486232,881,786,805.584486232,652,631,653,0.450887193034,-0.00552842845035,0.0496816909109,0.999999878731,8.53640330828e-05,-0.000484833716773,1.37136604017e-05,1793239440314404864
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.168945182,746,715,679.831054818,663,632,881,786,805.831054818,652,631,652.831054818,0.450887600638,-0.00552879905001,0.0496818637782,0.999999879032,8.37335325487e-05,-0.000484495374431,1.37246615751e-05,1793239440331071488
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.753337162,746,715,679.246662838,663,632,881,786,805.246662838,652,631,652.246662838,0.450887532991,-0.00552995184646,0.0496825465532,0.999999879038,8.35694853843e-05,-0.00048450252048,1.40529264829e-05,1793239440347737856
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,715.33278432,679.33278432,663.33278432,631.66721568,881,786.33278432,805,652,631,652.33278432,0.450886807097,-0.00553012605627,0.0496824835533,0.999999878791,8.3329703788e-05,-0.000485053155621,1.40519843745e-05,1793239440364404736
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,715.908619959,679.908619959,663.908619959,631.091380041,881,786.908619959,805,652,631,652.908619959,0.450885600448,-0.00552958554853,0.0496818758714,0.999999878359,8.30346090379e-05,-0.00048600073176,1.38106036359e-05,1793239440381071360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,715.516445753,680,663.516445753,631.483554247,880.516445753,786.516445753,805,652,630.516445753,653,0.45088566818,-0.00552967444899,0.0496812241569,0.999999878315,8.12206101646e-05,-0.00048641164637,1.33203545029e-05,1793239440397737472
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.059698862,631.940301138,880,786.059698862,805,652,630.059698862,653,0.450885593747,-0.00552978255119,0.0496803842781,0.999999878127,7.95828642143e-05,-0.000487079364916,1.28728347201e-05,1793239440414403840
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.64806727,631.35193273,880,786.64806727,805,652,630.64806727,653,0.450882131649,-0.00552900934468,0.0496779516424,0.999999876047,8.20430934684e-05,-0.0004909176671,1.3219414272e-05,1793239440431070208
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.767586221,746,715,680,663.767586221,631.232413779,880.232413779,787,805.232413779,652.232413779,630.767586221,653,0.450875373761,-0.00552873449999,0.0496746504084,0.999999873318,8.32691197287e-05,-0.000496241873656,1.31856609544e-05,1793239440447736832
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.189226328,746,715,680,663.189226328,631.810773672,880.810773672,787,805.810773672,652.810773672,630.189226328,653,0.450863710116,-0.00552920146308,0.0496700562726,0.999999869609,8.26580441563e-05,-0.000503777837026,1.25857850708e-05,1793239440464403456
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.38882058,745.61117942,715.38882058,680,663,631.61117942,881.38882058,786.61117942,805.61117942,652.61117942,630.38882058,653,0.450835810367,-0.00552847154086,0.0496585167214,0.999999859129,8.36457745285e-05,-0.000524028343316,1.18376441266e-05,1793239440481070080
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.966715343,745.033284657,715.966715343,680,663,631.033284657,881.966715343,786.033284657,805.033284657,652.033284657,630.966715343,653,0.450800015387,-0.00552715960186,0.0496435997797,0.999999844788,8.5410966033e-05,-0.000550461629239,1.10174053561e-05,1793239440497736704
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715.706092237,680,663,631,881,786,805,652,631,652.293907763,0.450535965923,-0.0055170757222,0.0495931686768,0.999999801144,8.97379251514e-05,-0.000624185573799,7.21515118604e-06,1793239440564404736
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715.127533216,680,663,631,881,786,805,652,631,652.872466784,0.450454750407,-0.00551193211246,0.0495930089894,0.999999801291,9.23804033259e-05,-0.000623576382825,6.06024718556e-06,1793239440581071616
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,631.448962778,881,786,805.448962778,652,631,653,0.450355980036,-0.00550822536363,0.0495963491065,0.99999980393,9.5993601285e-05,-0.000618783613336,5.64802322138e-06,1793239440597737984
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635,880,788,804,652.847543799,631.847543799,653,0.411709208146,-0.00536361534857,0.0498093514411,0.9999999433,9.30645855734e-05,-0.000319690718917,-5.03610386223e-05,1793239441614404096
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.409929411,714.409929411,679,665.409929411,635,879,788,803.409929411,652,631.590070589,652.590070589,0.409687940247,-0.00536423167714,0.0498013426013,0.999999936725,0.000101174532301,-0.000337256953925,-5.07088993129e-05,1793239441664403968
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.018246645,715,679,665.981753355,635.018246645,879,788,804,653,631.981753355,653,0.401094854775,-0.00539426598535,0.0498541483941,0.999999952657,0.000153977954182,-0.000264253219534,-3.38802646816e-05,1793239442164404736
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.163775789,679.163775789,665,635.836224211,879.836224211,788,804,652.836224211,632,652.163775789,0.401047189841,-0.0053962055823,0.0498550651657,0.999999953832,0.000150451398224,-0.000261714937817,-3.47310774303e-05,1793239442197737728
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.479686289,715,679,665.520313711,636,879.479686289,788,803.479686289,652.520313711,631.520313711,653,0.401008677275,-0.00539662166388,0.0498567572185,0.999999955387,0.000147237475311,-0.000257565800618,-3.47363120818e-05,1793239442264403968
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8b499aa6b752b8d921c292defd7d2bcf9b357f0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a963d41bb9395b2950142751ddd1050313756472
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d1df317dfc47b9c3fbf7cc10318f5c5c2743496d56fd4abc3763a05c6a02ada
+size 26645151
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00d68ad091ad04cdf4eb6b5b6c6d51172c2ab3aa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+7,0.116666667,BASELINE,766,745.061711242,715,679,665.938288758,636,879,788,803.123422483,653,632,653,0.401004483259,-0.00539510934272,0.0498667058024,0.999999960324,0.000143863339398,-0.000239520930915,-3.58517551421e-05,1793239442970514688
+8,0.133333333,BASELINE,766,745.632960222,715,679,665.367039778,636,879,788,804.265920444,653,632,653,0.40100305651,-0.00539554375043,0.0498654363233,0.999999959831,0.00014427790671,-0.000241350132834,-3.56777136979e-05,1793239442987181312
+9,0.150000000,BASELINE,766,745.788371389,714.788371389,679,665,635.788371389,879,788,804.788371389,653,631.788371389,653,0.401002318048,-0.00539653214974,0.0498648402633,0.999999959677,0.000143934063228,-0.00024220777141,-3.55451674945e-05,1793239443003848192
+10,0.166666667,BASELINE,766,745.196367631,714.196367631,679,665,635.196367631,879,788,804.196367631,653,631.196367631,653,0.401002816693,-0.00539851627748,0.0498654545876,0.999999960139,0.000142227074066,-0.000241319149926,-3.54872036558e-05,1793239443020514816
+11,0.183333333,BASELINE,766,745.386350457,714.386350457,679,665.386350457,635.386350457,879.386350457,788,804,653,631.386350457,653,0.40100332209,-0.00539933466709,0.0498657957887,0.999999960563,0.000141128822132,-0.000240219864023,-3.53722037245e-05,1793239443037181696
+12,0.200000000,BASELINE,766,745.964459804,714.964459804,679,665.964459804,635.964459804,879.964459804,788,804,653,631.964459804,653,0.401003830838,-0.00539957446134,0.0498660014296,0.999999960968,0.000140332707064,-0.000239016018114,-3.52288948326e-05,1793239443053848576
+13,0.216666667,BASELINE,766.541472086,745.458527914,715,679,666,635.458527914,880,788,804,653,632,653,0.40100301895,-0.00539898791562,0.049865655965,0.999999960706,0.000140906871955,-0.00023975175592,-3.53870155212e-05,1793239443070515200
+14,0.233333333,BASELINE,766.879516695,745,715,679,665.879516695,635.120483305,879.879516695,788,804,653,632,653,0.401002102178,-0.00539837215162,0.0498652086947,0.999999960372,0.000141469759641,-0.000240789016438,-3.55393883038e-05,1793239443087182080
+15,0.250000000,BASELINE,766.292486569,745,715,679,665.292486569,635.707513431,879.292486569,788,804,653,632,653,0.401001114243,-0.0053978528459,0.04986450699,0.999999959932,0.000141641408779,-0.000242501888509,-3.55930462542e-05,1793239443103848192
+16,0.266666667,BASELINE,766,745,715,678.709807203,665.290192797,636,879.290192797,788,804,652.709807203,631.709807203,653,0.401000948865,-0.00539736127695,0.0498644365205,0.999999959636,0.000142682162919,-0.000243112142597,-3.55779565924e-05,1793239443120514560
+17,0.283333333,BASELINE,766,745,715,678.131448249,665.868551751,636,879.868551751,788,804,652.131448249,631.131448249,653,0.401001600302,-0.0053968972511,0.0498649928777,0.999999959483,0.00014458595242,-0.000242627479025,-3.54945994325e-05,1793239443137181440
+18,0.300000000,BASELINE,766,745,715,678.446813803,665.553186197,636,879.553186197,788.446813803,803.553186197,652.446813803,631.446813803,653,0.401003059272,-0.0053977437067,0.0498658895636,0.999999960069,0.00014467360003,-0.000240187716456,-3.52200485837e-05,1793239443153848320
+19,0.316666667,BASELINE,766,745,715,679.024925773,665.024925773,636,879,788.975074227,803.024925773,652.975074227,632,653,0.401004606604,-0.0053988729646,0.0498667888048,0.999999960798,0.000144258362096,-0.000237431632277,-3.4917612446e-05,1793239443170514944
+20,0.333333333,BASELINE,766,745,715,679.600352776,665.600352776,636,879,788.399647224,803.600352776,652.399647224,632,653,0.401002859732,-0.00539773524558,0.0498655337192,0.99999996004,0.000144534178386,-0.000240389642854,-3.52412998267e-05,1793239443187181824
+21,0.350000000,BASELINE,766,745,715,679.820052682,665.820052682,636,879,788.179947318,804,652.179947318,632,653,0.401001830525,-0.00539730745607,0.0498647270035,0.999999959703,0.000144146074787,-0.000241995883709,-3.54085139899e-05,1793239443203848704
+22,0.366666667,BASELINE,766,745,715,679.230983039,665.230983039,636,879,788.769016961,804,652.769016961,632,653,0.401002432976,-0.0053984937392,0.0498649396872,0.999999960335,0.000142248504654,-0.000240528784824,-3.521997573e-05,1793239443220515328
+23,0.383333333,BASELINE,766,745,715,679,665.351692739,635.648307261,879.351692739,788.648307261,804,653,631.648307261,653,0.401002756427,-0.00539935373799,0.0498654344616,0.999999960701,0.000140639759068,-0.000239963381218,-3.51523443185e-05,1793239443237181696
+24,0.400000000,BASELINE,766,745,715,679,665.930244223,635.069755777,879.930244223,788.069755777,804,653,631.069755777,653,0.401002899908,-0.00540000326779,0.0498661111982,0.999999960896,0.00013921731903,-0.000239979614325,-3.51627036257e-05,1793239443253848320
+25,0.416666667,BASELINE,766,745.505904293,715,679,665.494095707,635.505904293,879.494095707,788,804,653,631,653,0.401002722398,-0.00539969739428,0.0498661177418,0.999999960965,0.000139276220064,-0.00023963414603,-3.53241403179e-05,1793239443270514944
+26,0.433333333,BASELINE,766.081212487,746,715,679,665,636,879.081212487,788,804,652.918787513,631.081212487,653,0.401002647899,-0.0053992554889,0.0498661481632,0.999999961006,0.0001397188019,-0.000239184792849,-3.54512541163e-05,1793239443287181568
+27,0.450000000,BASELINE,766.656792024,746,715,679,665,636,879.656792024,788,804,652.343207976,631.656792024,653,0.40100346836,-0.00539878286494,0.0498668832607,0.999999960983,0.000141260689992,-0.000238404923722,-3.52433484243e-05,1793239443303848192
+28,0.466666667,BASELINE,766.762359813,745.762359813,715,679,665,636,879.762359813,788,803.762359813,652.237640187,632,653,0.401004034442,-0.0053983078613,0.0498671825217,0.999999960983,0.00014249639973,-0.000237672060873,-3.52128692443e-05,1793239443320514816
+29,0.483333333,BASELINE,766.173730036,745.173730036,715,679,665,636,879.173730036,788,803.173730036,652.826269964,632,653,0.40100422481,-0.00539782934294,0.049866838061,0.999999961021,0.000143279890343,-0.000237008625362,-3.54444453274e-05,1793239443337181952
+30,0.500000000,BASELINE,766,745.409253679,715,679,665,636,879.818507359,788,803.409253679,653,632,653,0.40100387294,-0.0053981848758,0.0498665353243,0.999999960968,0.000142517259353,-0.000237703041741,-3.53506999102e-05,1793239443353848832
+31,0.516666667,BASELINE,766,745.989873217,715,679,665,636,880.979746435,788,803.989873217,653,632,653,0.401003294019,-0.00539888964902,0.0498662500586,0.999999960875,0.000141107224377,-0.000238966028357,-3.51207333583e-05,1793239443370515712
+32,0.533333333,BASELINE,766,746,715,679,665,636,879.869647366,788,804,653,632,653,0.401003403926,-0.0053981680211,0.0498657914799,0.999999960706,0.000141576392892,-0.000239344400123,-3.54772184417e-05,1793239443387181824
+33,0.550000000,BASELINE,766,745.856785701,715,679.143214299,665,636,879.143214299,788,804,653,632,653,0.401003535414,-0.00539760548212,0.0498656197957,0.999999960632,0.000141943647842,-0.000239404711183,-3.56890969524e-05,1793239443403847936
+34,0.566666667,BASELINE,766,745.2699846,715,679.7300154,665,636,879.7300154,788,804,653,632,653,0.40100369587,-0.00539761412474,0.0498663462573,0.999999960858,0.000141891918588,-0.000238528509534,-3.54208324418e-05,1793239443420514816
+35,0.583333333,BASELINE,766,745.31232173,715,679.68767827,665,636,879.68767827,788,803.68767827,653,632,653,0.401003412859,-0.00539806126063,0.0498663460083,0.999999960962,0.000141152056029,-0.000238554690375,-3.52791991501e-05,1793239443437181440
+36,0.600000000,BASELINE,766,745.890797771,715,679.109202229,665,636,879.109202229,788,803.109202229,653,632,653,0.401002751933,-0.00539888207169,0.0498657264713,0.999999960959,0.000139825780071,-0.000239349863367,-3.52454784119e-05,1793239443453848064
+37,0.616666667,BASELINE,766,745.530713939,715,679,665,636,879,788,803.469286061,653,632,653,0.401002650776,-0.00539936383963,0.0498656035664,0.999999960929,0.000139690291481,-0.000239562519647,-3.51915360758e-05,1793239443470514944
+38,0.633333333,BASELINE,766,745,715,679,665.047299212,636,879,788,803.952700788,652.952700788,631.952700788,653,0.401002782192,-0.00539977206529,0.0498656801181,0.999999960943,0.000139698812903,-0.000239506422034,-3.51445372621e-05,1793239443487182080
+39,0.650000000,BASELINE,766,745,715,679,665.620003236,636,879,788,803.379996764,652.379996764,631.379996764,653,0.401004050112,-0.00540023977135,0.0498666885051,0.999999961511,0.000138228935918,-0.000237970729808,-3.52269388102e-05,1793239443503848448
+40,0.666666667,BASELINE,766,745,715,679,665.800940672,636,879,788,803,652.199059328,631,653,0.401004413024,-0.00540025157127,0.0498671498026,0.999999961619,0.000138355445061,-0.000237423404479,-3.53420511331e-05,1793239443520515072
+41,0.683333333,BASELINE,766,745,715,679,665.20935906,636,879,788,803,652.79064094,631,653,0.401002991365,-0.00539936437629,0.0498665323018,0.999999960821,0.000141629845589,-0.000238825025982,-3.55216653662e-05,1793239443537181696
+42,0.700000000,BASELINE,766,745,715,679,665.374102237,636,879.374102237,788,803.374102237,653,631.374102237,653,0.401002177451,-0.00539978095129,0.049866004252,0.999999960785,0.000140383396671,-0.000239727012405,-3.53922402165e-05,1793239443553848320
+43,0.716666667,BASELINE,766,745,715,679,665.953115684,636,879.953115684,788,803.953115684,653,631.953115684,653,0.401001696423,-0.00540091165486,0.0498655251981,0.999999961161,0.000136660692114,-0.000240355328059,-3.50935414562e-05,1793239443570514688
+44,0.733333333,BASELINE,766,745,715,679,666,636,879.469689277,788,804,653,631.469689277,652.469689277,0.401002056755,-0.00540079547003,0.0498657000078,0.99999996125,0.000137034886241,-0.000239788178496,-3.49706455825e-05,1793239443587181312
+45,0.750000000,BASELINE,766,745,714.890965877,679,665.890965877,635.890965877,879,788,804,652.890965877,631.109034123,652.109034123,0.401002577018,-0.00540039301888,0.0498661162946,0.99999996136,0.000137809094885,-0.000238888401308,-3.49420715633e-05,1793239443603848192
+46,0.766666667,BASELINE,766,745,714.304854301,679,665.304854301,635.304854301,879,788,804,652.304854301,631.695145699,652.695145699,0.401003472707,-0.00539921870251,0.0498673370891,0.999999961669,0.000138754161516,-0.000236994081508,-3.52584276945e-05,1793239443620515072
+47,0.783333333,BASELINE,766,745,714.277702112,679,665,635,879.277702112,788,804,652,631.722297888,652.722297888,0.401003733308,-0.00539890884215,0.0498674656367,0.999999961697,0.000139055029275,-0.000236666795287,-3.54675571604e-05,1793239443637181952
+48,0.800000000,BASELINE,766,745,714.856405165,679,665,635,879.856405165,788,804,652,631.143594835,652.143594835,0.401003305538,-0.00539953596432,0.0498664102995,0.999999961424,0.000138657650878,-0.000238038014381,-3.556046383e-05,1793239443653848576
+49,0.816666667,BASELINE,766,745,715,679,665,635.43421455,879.56578545,788,803.56578545,652.43421455,631,652,0.401003195379,-0.00539947806442,0.0498661467142,0.999999961098,0.000140105800394,-0.000238591872736,-3.53271632564e-05,1793239443670515200
+50,0.833333333,BASELINE,766,745,714.988296832,679.011703168,665,635.988296832,879.011703168,788,803.011703168,653,631,652.011703168,0.401003194132,-0.00539919989276,0.0498661637665,0.999999960766,0.000142116993276,-0.000238844132524,-3.49891426742e-05,1793239443687181568
+51,0.850000000,BASELINE,766,745,714.412052918,679.587947082,665,635.412052918,879.587947082,788,803.587947082,653,631,652.587947082,0.401003390367,-0.00539920149658,0.0498671138926,0.999999961108,0.000141908288429,-0.000237559888901,-3.47927111654e-05,1793239443703848192
+52,0.866666667,BASELINE,766,745,714.167711543,679.832288457,665.167711543,635.167711543,880,788,804,653,631.167711543,652.832288457,0.401003326266,-0.00539920900411,0.0498675364293,0.999999961268,0.000141602960157,-0.000237068686929,-3.47893331698e-05,1793239443720514816
+53,0.883333333,BASELINE,766,745,714.756311115,679.243688885,665.756311115,635.756311115,880,788,804,653,631.756311115,652.243688885,0.401002608825,-0.00539923132756,0.0498666349301,0.999999960972,0.000141055146248,-0.000238567698307,-3.52704412946e-05,1793239443737181696
+54,0.900000000,BASELINE,766,745,715,679,665.660937466,635.660937466,879.660937466,788,804,653,632,652.339062534,0.401002952942,-0.00539930678583,0.0498668823543,0.999999961046,0.000140794949693,-0.000238403032284,-3.53325752486e-05,1793239443753848576
+55,0.916666667,BASELINE,766,745,715,679,665.082317952,635.082317952,879.082317952,788,804,653,632,652.917682048,0.401004047078,-0.00539941978533,0.0498679415244,0.999999961381,0.000140737962713,-0.000237062932486,-3.50986924395e-05,1793239443770515968
+56,0.933333333,BASELINE,766,745,715,679.492865064,665.492865064,635.492865064,879,788,803.507134936,653,632,653,0.401004193587,-0.00539982872493,0.0498680870439,0.999999961458,0.000140553008679,-0.000236877444192,-3.49028349807e-05,1793239443787182080
+57,0.950000000,BASELINE,766,745,715,679.93084592,666,636,879.06915408,788,803.06915408,653,632,653,0.401004221149,-0.0054001402326,0.0498681325659,0.999999961496,0.000140420539368,-0.000236817147362,-3.47563678879e-05,1793239443803848192
+58,0.966666667,BASELINE,766,745,715,679.341961247,666,636,879.658038753,788,803.658038753,653,632,653,0.401004536033,-0.00539935058198,0.0498685654634,0.999999961563,0.000140842038667,-0.000236258452691,-3.49336959407e-05,1793239443820514816
+59,0.983333333,BASELINE,766,745,715,679,666,636,879.757297125,788,804,653,631.757297125,653,0.401003738882,-0.00539858506948,0.0498677702647,0.999999961249,0.000141281393324,-0.000237280533199,-3.51990904517e-05,1793239443837181440
+60,1.000000000,BASELINE,766,745,715,679,666,636,879.178477907,788,804,653,631.178477907,653,0.401001401689,-0.00539785298544,0.0498652742903,0.999999960403,0.000141745475717,-0.000240491810478,-3.55864471846e-05,1793239443853848064
+61,1.016666667,BASELINE,766.398997281,745.398997281,715,679,666,635.601002719,879,788,803.601002719,653,631,653,0.401002236809,-0.00539812078113,0.049866001148,0.999999960874,0.000140393929856,-0.000239320018902,-3.55933340764e-05,1793239443870514688
+62,1.033333333,BASELINE,766.975873246,745.975873246,715,679,666,635.024126754,879,788,803.024126754,653,631,653,0.40100448619,-0.00539883433751,0.0498681647905,0.999999961924,0.000138232950973,-0.000236194192461,-3.54306020575e-05,1793239443887181568
+63,1.050000000,BASELINE,766.447915901,745.447915901,715,679.552084099,666,635.552084099,879.552084099,788,803.552084099,653,631,652.447915901,0.401003146807,-0.00540012434559,0.0498670714812,0.999999961758,0.000136148646591,-0.000238093206255,-3.5474156255e-05,1793239443903848192
+64,1.066666667,BASELINE,766,745.131179887,715,679.868820113,666,635.868820113,879.868820113,788,803.868820113,653,631,652.131179887,0.401002246975,-0.00540091597273,0.0498662892213,0.999999961588,0.000135113682417,-0.000239387947162,-3.55110160149e-05,1793239443920514816
+65,1.083333333,BASELINE,766,745.720451479,715,679.279548521,666,635.279548521,879.279548521,788,803.279548521,653,631,652.720451479,0.401003429113,-0.00539987934412,0.049867089614,0.999999961609,0.000137731419542,-0.000237806603096,-3.54930550512e-05,1793239443937181696
+66,1.100000000,BASELINE,766,746,715,679,665.69584849,635,879,788,803.30415151,653,631,652.69584849,0.401003178508,-0.00539935078831,0.0498669686706,0.999999961337,0.000139428236426,-0.000237965753147,-3.54741562272e-05,1793239443953848576
+67,1.116666667,BASELINE,766,746,715,679,665.117177244,635,879,788,803.882822756,653,631,652.117177244,0.401001634743,-0.00539928080668,0.0498660161516,0.999999960803,0.000140293853021,-0.000239695830826,-3.54544109149e-05,1793239443970514944
+68,1.133333333,BASELINE,766,745.541106967,715,679,665.458893033,635.458893033,879,788,804,653,631,652.458893033,0.401001737073,-0.00539899428719,0.0498660316357,0.999999960791,0.000140205420516,-0.00023978662706,-3.55230727898e-05,1793239443987181568
+69,1.150000000,BASELINE,766.034151219,745,715,679,666,636,879.034151219,788,804,653,631,653,0.401002196761,-0.00539866711116,0.0498662786354,0.9999999609,0.000139929789098,-0.000239485313905,-3.55994278451e-05,1793239444003848192
+70,1.166666667,BASELINE,766.60701601,745,715,679,666,636,879.60701601,788,804,653,631,653,0.401001700544,-0.00539856589155,0.0498663005549,0.999999960803,0.000140522414296,-0.000239564448437,-3.54430454659e-05,1793239444020514816
+71,1.183333333,BASELINE,766.814354524,745.185645476,715,679,665.814354524,636,880,788,804,653,631.185645476,653,0.40100177136,-0.00539893741547,0.0498664028763,0.999999960876,0.000140590933628,-0.000239252653226,-3.52211364438e-05,1793239444037181440
+72,1.200000000,BASELINE,766.223130909,745.776869091,715,679,665.223130909,636,880,788,804,653,631.776869091,653,0.401003080971,-0.00540034173827,0.0498666808511,0.999999961318,0.000139514443315,-0.00023808679705,-3.48560718769e-05,1793239444053848320
+73,1.216666667,BASELINE,766,745.63922118,715,679,665.36077882,636,880,788,804,653,632,653,0.401003875772,-0.00540072960749,0.0498672816407,0.999999961789,0.000138783575949,-0.000236546917532,-3.47239714089e-05,1793239444070515200
+74,1.233333333,BASELINE,766,745.059745025,715,679,665.940254975,636,880,788,804,653,632,653,0.401004358504,-0.00540050132159,0.0498680781148,0.999999962278,0.000138262218776,-0.00023478031217,-3.47330894176e-05,1793239444087182080
+75,1.250000000,BASELINE,766,745.51700158,715,679,665.48299842,636,879.48299842,788,803.48299842,653,631.48299842,653,0.401004206194,-0.00539962594923,0.0498675447759,0.99999996187,0.000139610232543,-0.000235676070495,-3.5020616962e-05,1793239444103848448
+76,1.266666667,BASELINE,766,745.904913024,715,679,665.095086976,636,879,788,803,653,631.095086976,653,0.40100384866,-0.00539891144134,0.0498669073107,0.999999961424,0.000140584138488,-0.000236943607889,-3.52957440032e-05,1793239444120514816
+77,1.283333333,BASELINE,766,745.318284914,715,679,665.681715086,636,879,788,803,653,631.681715086,653,0.401002807613,-0.00539941302843,0.0498665218043,0.999999961329,0.000138513282348,-0.000238550931297,-3.53413260004e-05,1793239444137181440
+78,1.300000000,BASELINE,766,745.264824539,715,679,666,636,879.264824539,788,803.264824539,653,632,653,0.401002425419,-0.00539957717461,0.0498665264256,0.999999961228,0.000138342155404,-0.00023906970996,-3.53806306034e-05,1793239444153848064
+79,1.316666667,BASELINE,766,745.843760432,715,679,666,636,879.843760432,788,803.843760432,653,632,653,0.401002824698,-0.0053993410783,0.0498669937816,0.999999961121,0.000140424318698,-0.000238297353387,-3.5412489516e-05,1793239444170514944
+80,1.333333333,BASELINE,766,746,715,679,666,636,880,788,804,652.579088972,632,653,0.401002752639,-0.00539973735949,0.0498675598182,0.999999961261,0.000140438938341,-0.000237739970916,-3.51374044229e-05,1793239444187181568
+81,1.350000000,BASELINE,766,746,715,679,666,636,880,788,804,652.002598221,632,653,0.401002506362,-0.00540036738393,0.0498681623296,0.999999961493,0.000139689339951,-0.000237262048434,-3.47488648007e-05,1793239444203848704
+82,1.366666667,BASELINE,766,745.427100364,714.427100364,679,666,636,879.427100364,788,804,652.572899636,632,653,0.401002835984,-0.00539829465896,0.0498675273013,0.999999961285,0.000140557431245,-0.000237552575178,-3.52425246896e-05,1793239444220515584
+83,1.383333333,BASELINE,766,745.152137499,714.152137499,679,666,636,879.152137499,788,803.847862501,653,632,653,0.401002822334,-0.0053967255896,0.0498668089571,0.999999960998,0.000141402657299,-0.000238206089956,-3.55986250763e-05,1793239444237181952
+84,1.400000000,BASELINE,766,745.742152811,714.742152811,679,666,636,879.742152811,788,803.257847189,653,632,653,0.401001813184,-0.0053966413452,0.0498658669414,0.999999960489,0.000142160994112,-0.000239894333322,-3.554731021e-05,1793239444253848320
+85,1.416666667,BASELINE,766,745.673914814,714.673914814,679,665.673914814,636,880,788,803.326085186,653,631.673914814,653,0.4010028382,-0.00539753772825,0.0498666392558,0.999999960881,0.000141351494668,-0.000238751538396,-3.54337907867e-05,1793239444270514688
+86,1.433333333,BASELINE,766,745.094704384,714.094704384,679,665.094704384,636,880,788,803.905295616,653,631.094704384,653,0.401005442248,-0.00539919532823,0.0498687423275,0.999999961963,0.000139324954506,-0.000235411135855,-3.527198477e-05,1793239444287181312
+87,1.450000000,BASELINE,766,745,714,679,665,636,879.517654941,788,803.517654941,653,631,653,0.401003752725,-0.00540007004547,0.0498679635927,0.999999961804,0.000137909423316,-0.000236909311794,-3.52999141192e-05,1793239444303847936
+88,1.466666667,BASELINE,766,745,714.059963176,679,665.059963176,636,879,788,803,652.940036824,631,653,0.401001639776,-0.00540047953933,0.0498667777482,0.999999961431,0.000137069912231,-0.000238952393304,-3.53736290073e-05,1793239444320514560
+89,1.483333333,BASELINE,766,745,714.646280925,679,665.646280925,636,879,788,803,652.353719075,631,653,0.401003176898,-0.00539814858334,0.0498669628896,0.999999961338,0.000140238320222,-0.000237476641524,-3.55237012531e-05,1793239444337181440
+90,1.500000000,BASELINE,766,745,715,679,665.770186516,636,879.229813484,788,803,652.229813484,631,653,0.401004076119,-0.0053973587014,0.0498674456466,0.999999961391,0.000141487760653,-0.000236516845613,-3.54927539124e-05,1793239444353848064
+91,1.516666667,BASELINE,766,745,715,679,665.190889524,636,879.809110476,788,803,652.809110476,631,653,0.401004005266,-0.00539891237217,0.0498683809956,0.999999961678,0.000139818975541,-0.000236341677716,-3.51865252357e-05,1793239444370514432
+92,1.533333333,BASELINE,766,745,715,679,665,636,879.612193138,788,803,653,631,653,0.401003977198,-0.00539908319658,0.0498684407215,0.999999961561,0.000140469318519,-0.000236476839308,-3.50056442626e-05,1793239444387181056
+93,1.550000000,BASELINE,766,745,715,679,665,636,879.033791878,788,803,653,631,653,0.401003970158,-0.00539857439734,0.0498680701073,0.999999961244,0.000142259437003,-0.000236764517685,-3.48863675617e-05,1793239444403847936
+94,1.566666667,BASELINE,766,745,715,679,665,636,879,788,803.540372041,653,631,653,0.401003836715,-0.00539641479612,0.0498676610774,0.99999996074,0.000145996928984,-0.000236517871388,-3.55545219378e-05,1793239444420514560
+95,1.583333333,BASELINE,766,745,715,679.117409544,665.117409544,636,879,788,804.117409544,653,631.117409544,653,0.401003998047,-0.00539506174402,0.0498674712703,0.999999960507,0.000148268233955,-0.000236015482777,-3.60423001138e-05,1793239444437180928
+96,1.600000000,BASELINE,766,745,715,679.707062834,665.707062834,636,879,788,804.707062834,653,631.707062834,653,0.40100537657,-0.00539736477518,0.0498681728067,0.999999961453,0.000144156250807,-0.00023461780005,-3.56080526576e-05,1793239444453847808
+97,1.616666667,BASELINE,766,745,715,679.70868137,665.70868137,636,879,788,804.70868137,653,632,653,0.401004954203,-0.00539877079107,0.0498679383555,0.999999961639,0.000141726522026,-0.000235349770782,-3.52858413564e-05,1793239444470514432
+98,1.633333333,BASELINE,766,745,715,679.12975436,665.12975436,636,879,788,804.12975436,653,632,653,0.401002753884,-0.00539929121599,0.0498667798374,0.999999961084,0.000140957622572,-0.000238184271669,-3.50742393371e-05,1793239444487180800
+99,1.650000000,BASELINE,766,745,715,679,665,636,879.447498317,788,804,653,632,653,0.401003914298,-0.00539914530496,0.0498674434593,0.999999961431,0.000140824011243,-0.000236801285598,-3.51035876187e-05,1793239444503847680
+100,1.666666667,BASELINE,766.02418694,745,715,679,665.02418694,636,880,788,804,653,632,653,0.401005899759,-0.00539885568171,0.0498685422794,0.999999962014,0.000140752005,-0.000234352655607,-3.52017965408e-05,1793239444520514560
+101,1.683333333,BASELINE,766.599045654,745,715,679,665.599045654,636,880,788,804,653,632,653,0.401004566122,-0.00539967653433,0.0498675653827,0.999999962167,0.000137904361622,-0.00023538011558,-3.52830741532e-05,1793239444537181184
+102,1.700000000,BASELINE,766.82127086,745,715,679,666,636,879.82127086,788,804,653,632,653,0.401003758495,-0.00540024074592,0.0498669861937,0.99999996222,0.000136256493465,-0.000236114596352,-3.5283089765e-05,1793239444553847808
+103,1.716666667,BASELINE,766.23046345,745,715,679,666,636,879.23046345,788,804,653,632,653,0.401004163639,-0.00540021324531,0.0498673239604,0.999999962059,0.000137374829903,-0.000236173583541,-3.50957475312e-05,1793239444570514432
+104,1.733333333,BASELINE,766,745,715,679,665.647846672,636,879,788,804,653,631.647846672,653,0.401004287939,-0.00540063950136,0.0498676321445,0.999999962072,0.000137178385371,-0.00023625997797,-3.49308784368e-05,1793239444587181312
+105,1.750000000,BASELINE,766,745,715,679,665.070468281,636,879,788,804,653,631.070468281,653,0.401004232621,-0.00540135596445,0.0498679214084,0.999999962194,0.000136141052612,-0.000236363901126,-3.4780382365e-05,1793239444603847936
+106,1.766666667,BASELINE,766,745,715,679,665.506870339,636,879,788,803.493129661,653,631.506870339,653,0.401003880592,-0.00540006736552,0.0498678080188,0.999999961766,0.00013878147981,-0.000236603813922,-3.50268600557e-05,1793239444620514560
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,880,788,804,652,632,653,0.401003190422,-0.00539836026768,0.0498674044473,0.999999961325,0.000140740730722,-0.000237236792025,-3.55036995701e-05,1793239444663153408
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.420313999,714.579686001,679,666,636,879.420313999,788,804,652,631.420313999,653,0.401003513262,-0.00539902487129,0.0498674908939,0.999999961616,0.000140092167189,-0.000236411158149,-3.53718424615e-05,1793239444679820032
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879,788,804,652.158056776,631.158056776,653,0.401003378103,-0.00539935476227,0.0498673289376,0.999999961698,0.000139881604264,-0.000236199219322,-3.53207952292e-05,1793239444696486912
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879,788,804,652.73295901,631.73295901,653,0.401002035058,-0.00539880191085,0.0498665118649,0.999999961226,0.000140826186642,-0.000237605787289,-3.54828690439e-05,1793239444713153536
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.691148945,636,879,788,804,653,632,653,0.401001835652,-0.00539841900556,0.0498667428469,0.999999961217,0.000140661735033,-0.000237737050772,-3.55255176902e-05,1793239444729819904
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665.114398367,636,879,788,804,653,632,653,0.401002628247,-0.00539818351275,0.0498678829188,0.999999961608,0.000139535299677,-0.000236762106311,-3.54645761161e-05,1793239444746486528
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714.529464423,679,665.470535577,636,879.941071154,788,804,653,632,653,0.401003533999,-0.00539882227989,0.0498681285237,0.99999996193,0.000139047313633,-0.000235708089362,-3.53227738079e-05,1793239444763153408
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714.056925314,679,666,636,880.943074686,788,804,653,632,653,0.401004368532,-0.00539939129795,0.0498681464714,0.999999962151,0.000138990170432,-0.000234817311104,-3.52081744913e-05,1793239444779819776
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714.638075273,679,666,636,880.361924727,788,804,653,632,653,0.401004289381,-0.00539732595095,0.049868106015,0.999999961609,0.000141445914847,-0.000235609966976,-3.55283325952e-05,1793239444796486400
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665.782931996,636,880,788,803.782931996,653,632,653,0.401007276611,-0.00539689119461,0.0498692806662,0.999999961914,0.00014207310385,-0.000233928788025,-3.55549280015e-05,1793239444813153280
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.207500746,636,880,788,803.207500746,653,632,653,0.40101532621,-0.00539914842324,0.0498724613699,0.999999963599,0.00013968148265,-0.000228163490378,-3.50968730393e-05,1793239444829819904
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.36844294,715,679,665.36844294,636,880,788,803.36844294,653,632,653,0.401038785477,-0.00540111299099,0.0498814938353,0.999999967797,0.000137830325601,-0.000210303463382,-3.43803275388e-05,1793239444846486528
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.944675677,715,679,665.944675677,636,880,788,803.944675677,653,632,653,0.401070935294,-0.00540291250777,0.0498938265036,0.999999972924,0.00013628397241,-0.000185622402983,-3.35180017482e-05,1793239444863153152
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.467800533,715,679,665.467800533,636,880,788,804,653,632,653,0.40112876558,-0.00540325570125,0.049911643426,0.999999979109,0.000137669501589,-0.00014751624738,-3.26949053396e-05,1793239444879820032
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.119050512,745,715,679,665,635.880949488,880,788,804,653,632,653,0.40119166573,-0.00540425442996,0.0499290652802,0.999999983623,0.000138528173151,-0.000112081394917,-3.16480636362e-05,1793239444896486400
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.698659948,745,715,679,665,635.301340052,880,788,804,653,632,653,0.401263627742,-0.00540838752834,0.0499427054409,0.999999986013,0.00013614400974,-9.24967601281e-05,-2.97195222574e-05,1793239444913153024
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.724473977,745,715,678.724473977,665,635.275526023,880,788,804,653,631.724473977,653,0.401339598421,-0.00541173356897,0.0499518056198,0.999999987414,0.000134142979455,-7.98278196222e-05,-2.83587865407e-05,1793239444929819904
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.150578741,745,715,678.150578741,665,635.849421259,880,788,804,653,631.150578741,653,0.401419910111,-0.00541422729858,0.049955989417,0.999999988047,0.000132556847111,-7.46479379107e-05,-2.76129319901e-05,1793239444946486528
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678.434239755,665,636,880,788,804,653,631.434239755,653,0.401511488546,-0.00541726110396,0.0499573853421,0.999999988151,0.000132193305535,-7.42699860139e-05,-2.66012827351e-05,1793239444963153152
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,678.977417086,665,636,880,788,804,653,632,653,0.401608303838,-0.00542052332082,0.0499577232633,0.999999988076,0.000132191699099,-7.56390346715e-05,-2.55189622375e-05,1793239444979819776
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,678.397972219,665,636,880,788,804,653,632,653,0.40173542801,-0.00542468064586,0.0499564257187,0.999999988146,0.000130391127563,-7.79672195526e-05,-2.50253669329e-05,1793239444996486400
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.180626569,745,715,678.180626569,665,636,879.819373431,788,803.819373431,653,632,653,0.401872276248,-0.00542901594204,0.0499565806278,0.999999988408,0.00012854483423,-7.79096732653e-05,-2.42958848511e-05,1793239445013153280
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.757369818,745,715,678.757369818,665,636,879.242630182,788,803.242630182,653,632,653,0.402030449486,-0.00543374153098,0.0499599207892,0.999999989084,0.000126598272571,-7.26201837129e-05,-2.30490997196e-05,1793239445029819904
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.668310942,745,715,679,665.331689058,636,879.331689058,788,803.331689058,653,632,653,0.402199223399,-0.00544005155157,0.0499593086517,0.999999989338,0.000123601782019,-7.46767798454e-05,-2.16738610307e-05,1793239445046486784
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.095751937,745,715,679,665.904248063,636,879.904248063,788,803.904248063,653,632,653,0.402375695456,-0.00544751217425,0.0499558263866,0.999999989247,0.000119842841282,-8.20680441927e-05,-2.02053402643e-05,1793239445063153408
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.50616851,665.50616851,636,879.50616851,788,803.50616851,653,632,652.50616851,0.402585318726,-0.00545429802899,0.0499565715008,0.999999990007,0.000115274581973,-7.96255293445e-05,-1.89135107195e-05,1793239445079819776
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.084569352,665.084569352,636,879,788,803,652.915430648,632,652.084569352,0.40280987156,-0.0054612792524,0.0499587896227,0.999999990973,0.000110762392817,-7.40142905833e-05,-1.75349059343e-05,1793239445096486400
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678.662107924,665.662107924,636,879,788,803,652.337892076,632,652.662107924,0.403082644365,-0.00547018920504,0.0499646455525,0.999999992212,0.000107524439467,-6.14435222139e-05,-1.54436366675e-05,1793239445113153024
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.238387477,715,679,666,635.761612523,879,788,803.238387477,652.238387477,632,653,0.403370523112,-0.00547943906592,0.0499729809391,0.999999993524,0.000103980548872,-4.43701110719e-05,-1.31080465963e-05,1793239445129819904
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.81289183,715,679,666,635.18710817,879,788,803.81289183,652.81289183,632,653,0.403679700622,-0.00548916818339,0.049984812261,0.999999994726,0.000100005299082,-2.09481531686e-05,-1.04279740163e-05,1793239445146486272
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.602264304,715,679,666,635.397735696,879,788,803.602264304,653,631.602264304,653,0.404007039227,-0.00549717779012,0.0499934413474,0.999999995124,9.83196493983e-05,-4.95411161747e-06,-7.74239209682e-06,1793239445163153152
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.012426583,715,679,666,635.987573417,879,788,803.012426583,653,631.012426583,653,0.404343149435,-0.00550435689153,0.0500005237885,0.999999995183,9.77398518445e-05,7.45232624202e-06,-5.05414930442e-06,1793239445179819776
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.432776369,745.567223631,715,679,665.432776369,636,879.567223631,788,803,652.432776369,631.567223631,653,0.404723561985,-0.0055131462896,0.050004293933,0.999999995069,9.81891294157e-05,1.47224409026e-05,-1.95454172927e-06,1793239445196486656
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.145394144,745.854605856,715,679,665.145394144,636,880,787.854605856,803.145394144,652.145394144,631.854605856,653,0.40511286262,-0.00551871283052,0.0500048674857,0.999999994628,0.000102436171828,1.58102318098e-05,1.23917960562e-06,1793239445213153280
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.719844969,745.280155031,715,679,665.719844969,636,880,787.280155031,803.719844969,652.719844969,631.280155031,653,0.405525578249,-0.00551466648219,0.0499962182875,0.999999993047,0.000117825025205,-1.01975275882e-06,4.68450384316e-06,1793239445229819904
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665.69947078,635.69947078,880,787,804,652.69947078,631,653,0.405933432725,-0.00550424909082,0.0499799907526,0.999999989673,0.000139962013444,-3.20578489937e-05,6.0364609036e-06,1793239445246486528
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665.112852546,635.112852546,880,787,804,652.112852546,631,653,0.406336659671,-0.00548776677982,0.0499565490133,0.99999998285,0.000168522895237,-7.66213696015e-05,5.39563591813e-06,1793239445263153152
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.469000939,715,679,665,635.469000939,879.530999061,787.469000939,804,652,631,653,0.406808725299,-0.00548854125762,0.049945756065,0.999999980268,0.000176230477417,-9.13949182928e-05,7.36888047671e-06,1793239445279820032
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.952435487,715,679,665.047564513,636,879.047564513,788,803.952435487,652,631.047564513,653,0.407303266947,-0.00549385545913,0.0499397789668,0.999999979334,0.000178904115103,-9.60391020174e-05,1.01196904278e-05,1793239445296486656
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.396885994,715,679,665.603114006,636,879.603114006,788,803.396885994,652,631.603114006,653,0.407862725934,-0.00550375241399,0.0499530563263,0.999999981207,0.000180866259047,-6.82879499797e-05,1.45246654166e-05,1793239445313153280
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678.829401455,665.829401455,636,880,788,803,652,632,653,0.40844030544,-0.00551220228639,0.0499696681786,0.999999982055,0.000184679462841,-3.75733529492e-05,1.92969855007e-05,1793239445329820160
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678.232062243,665.232062243,636,880,788,803,652,632,653,0.40906321216,-0.00551703237976,0.0499946210375,0.999999981039,0.00019312296708,5.54098642292e-07,2.4988194124e-05,1793239445346486784
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.351328979,714.648671021,678.351328979,665.351328979,636,880,788,803.351328979,652,631.648671021,653,0.409679306741,-0.00551685298261,0.0500074288959,0.999999978411,0.000204896841457,1.78573313317e-05,2.95967920176e-05,1793239445363153408
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.925858954,714.074141046,678.925858954,665.925858954,636,880,788,803.925858954,652,631.074141046,653,0.410291073513,-0.00551349103177,0.0500125209761,0.999999975264,0.000218786515822,2.19308358462e-05,3.35176018882e-05,1793239445379820288
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.481194334,714.518805666,679,665.481194334,636,879.481194334,788,804,652,631.518805666,653,0.410891719597,-0.00550716369273,0.0499959746712,0.999999970772,0.000238673037773,-1.37927967746e-05,3.60762297965e-05,1793239445396486656
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.889543202,745.110456798,715,678.889543202,665.110456798,636,879,787.889543202,804,652.110456798,631.889543202,653,0.411503643923,-0.00550189451242,0.0499762270918,0.999999964775,0.000257332861293,-5.25180030938e-05,3.83718100845e-05,1793239445413153280
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.314807558,745.685192442,715,678.314807558,665.685192442,636,879,787.314807558,804,652.685192442,631.314807558,653,0.41216989927,-0.00550291984879,0.0499564997637,0.999999960385,0.000267101804808,-7.9074576231e-05,4.04100770846e-05,1793239445429819904
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.259839793,745.740160207,715,678.259839793,666,635.740160207,879,787,804,652.740160207,631,653,0.41288892755,-0.00551122986853,0.0499589350028,0.999999974265,0.000213711171139,-6.99102912082e-05,3.01714633019e-05,1793239445446486784
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.834380284,745.165619716,715,678.834380284,666,635.165619716,879,787,804,652.165619716,631,653,0.413671870989,-0.00552836261308,0.0499882120688,0.999999996321,8.38258505026e-05,-1.74832777274e-05,5.06390670654e-06,1793239445463153408
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666.419347117,635.419347117,879,787.419347117,804,652,631.419347117,652.580652883,0.414401659952,-0.00553786178764,0.0499891192399,0.999999998539,5.12449474926e-05,-1.71503338281e-05,1.61725263297e-06,1793239445479820032
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666.991556532,635.991556532,879.008443468,788,804,652,632,652.008443468,0.415110632063,-0.00554404157459,0.0499783628566,0.999999997546,5.8383000255e-05,-3.8093995453e-05,6.89813557393e-06,1793239445496486400
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666.408805489,635.408805489,879.591194511,788,804,652,632,652.591194511,0.415868008428,-0.00553473609014,0.049955820612,0.999999993685,8.65418951389e-05,-7.11205125837e-05,9.0849855663e-06,1793239445513153280
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666.17135955,635.17135955,879.82864045,788,804,652,631.82864045,652.82864045,0.416644164689,-0.0055279619515,0.0499455290237,0.999999990276,0.00011072193661,-8.39236132444e-05,1.20584572595e-05,1793239445529820160
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666.74544695,635.74544695,879.25455305,788,804,652,631.25455305,652.25455305,0.417464457265,-0.0055271369622,0.0499640288316,0.999999990766,0.000125550907021,-4.91977997641e-05,1.68806409034e-05,1793239445546486784
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666.679840462,636,879.320159538,788,804,652,631,652.320159538,0.418302750495,-0.00552760995397,0.0499829498337,0.999999990852,0.000132668320478,-1.68416793636e-05,2.0303959582e-05,1793239445563153408
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666.104629853,636,879.895370147,788,804,652,631,652.895370147,0.41915538368,-0.00552911696608,0.050002206374,0.999999990721,0.000133642418345,1.36266531611e-05,2.26128898434e-05,1793239445579820032
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.515425674,788,804,652,631.484574326,652.515425674,0.419954645749,-0.00552847587164,0.0499867612123,0.999999990842,0.000132523822656,-1.61834953308e-05,2.21661315912e-05,1793239445596486656
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.925084669,879.074915331,788,803.925084669,652,631.925084669,652,0.420757611076,-0.00552797497749,0.0499700624158,0.999999990208,0.00013048731848,-4.57992501887e-05,2.14564346042e-05,1793239445613153024
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.347980075,879.652019925,788,803.347980075,652,631.347980075,652,0.421664947639,-0.00553161555691,0.0499966812263,0.999999991745,0.00012541674643,1.57303386628e-05,2.30913714968e-05,1793239445629819904
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.22849341,880,788,803.22849341,652,631,652.22849341,0.422550987264,-0.00553438072025,0.0500117946324,0.99999999106,0.000121518528081,5.033174082e-05,2.40934084945e-05,1793239445646486784
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.804008492,880,788,803.804008492,652,631,652.804008492,0.423404682552,-0.00553581635628,0.0500094343454,0.999999991611,0.000119400807901,4.40362865178e-05,2.41342365975e-05,1793239445663153920
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.386334258,666,636,880.386334258,788,804,652,631,653,0.4242597921,-0.00553633096239,0.0499991509918,0.99999999231,0.000118787005313,2.63366988867e-05,2.39901523713e-05,1793239445679820800
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.972177126,666,636,880.972177126,788,804,652,631,653,0.425115631941,-0.00553636993522,0.0499847760521,0.99999999264,0.000118949847637,2.74785192478e-06,2.37505767256e-05,1793239445696487680
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.554553397,745.554553397,715,679.445446603,666,636,881,788,804,652,631,653,0.426013315681,-0.00553915681487,0.0500012930085,0.99999999277,0.000115046612624,2.35197784244e-05,2.59049538859e-05,1793239445713154048
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.865059008,745.865059008,715,679.134940992,666,636,880.865059008,788,804,652,631.134940992,652.865059008,0.426898963001,-0.00554103232065,0.0500136282186,0.999999992616,0.000113092742986,3.4560289597e-05,2.79923989353e-05,1793239445729820672
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.290586002,745.290586002,715,679.709413998,666,636,880.290586002,788,804,652,631.709413998,652.290586002,0.427738609399,-0.0055394930111,0.0500073255827,0.999999992564,0.000118148729043,6.69907145032e-06,2.94730421107e-05,1793239445746487552
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.716139438,666,636,880,787.716139438,804,652,632,652.283860562,0.428580601128,-0.00553778797082,0.0499884656914,0.99999999198,0.000120064633958,-2.78109852901e-05,2.91592317099e-05,1793239445763154176
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.141719975,666,636,880,787.141719975,804,652,632,652.858280025,0.42942499348,-0.0055359132891,0.0499567522281,0.999999990193,0.000118766359936,-6.91267734558e-05,2.70086233827e-05,1793239445779820544
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.445010714,745,715,679,666,636,880,787.445010714,804.445010714,652,632,653,0.430309591012,-0.00553888808827,0.0499623507309,0.999999991553,0.000115384933806,-5.31713652147e-05,2.74332491251e-05,1793239445796487168
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.964888587,745.035111413,715,679,666,635.964888587,880.035111413,788,805,652,632,653,0.431202770009,-0.00554303879416,0.0499778462849,0.999999993098,0.000111616014457,-2.30051789511e-05,2.85821609251e-05,1793239445813153792
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.385062324,745.614937676,715,679,666,635.385062324,880.614937676,788,805,652,632,653,0.432024789638,-0.00554079124796,0.049957294395,0.999999991284,0.000112420466707,-6.33804216322e-05,2.78823125452e-05,1793239445829820672
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.806663487,715,679,666,635,880.806663487,788.193336513,804.806663487,652,631.806663487,652.806663487,0.432855462431,-0.00554086467095,0.0499479330475,0.999999990273,0.00011109539689,-7.96735178232e-05,2.76303336418e-05,1793239445846487296
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.231086673,715,679,666,635,880.231086673,788.768913327,804.231086673,652,631.231086673,652.231086673,0.433703243304,-0.00554552681789,0.04996069621,0.99999999286,0.000105560107939,-4.83544719319e-05,2.82638250922e-05,1793239445863153920
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.350733957,666,635.350733957,880.350733957,788.649266043,804.350733957,652,631.350733957,652.350733957,0.434542650587,-0.00554715782774,0.0499775721411,0.9999999941,0.000102149300801,-2.24481507327e-05,2.93380103961e-05,1793239445879820544
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.936742952,666,635.936742952,880.936742952,788.063257048,804.936742952,652,631.936742952,652.936742952,0.435376440751,-0.00554675552721,0.0499972069483,0.999999994512,0.000100163612755,-1.72728805352e-07,3.07078164928e-05,1793239445896486912
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.516364191,715,680,666,635.483635809,881,788,805,652,632,653,0.43612254924,-0.00554330764674,0.0499765143871,0.999999992561,0.000105070359064,-5.35161267032e-05,3.1224385538e-05,1793239445913153792
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.904879156,715,679.904879156,666,635.095120844,881,788,805,652,632,653,0.436866760046,-0.00554029569558,0.0499555262247,0.999999988243,0.000109667002292,-0.000102434176526,3.15346386777e-05,1793239445929820416
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.326587889,715,679.326587889,666,635.673412111,881,788,805,652,632,653,0.437655226261,-0.00554137007507,0.0499578243319,0.999999990234,0.000108451932664,-8.23932995464e-05,3.13213560692e-05,1793239445946487296
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.250398454,666.250398454,636,880.749601546,788,805.250398454,652,632,653,0.438435397428,-0.00554439285563,0.0499686578731,0.999999992383,0.000106469374085,-5.36090644693e-05,3.19970566327e-05,1793239445963154176
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.8256916,666.8256916,636,880.1743084,788,805.8256916,652,632,653,0.439204805616,-0.00554994370746,0.0499905662314,0.999999993982,0.000103490990336,-1.34802295599e-05,3.38262224346e-05,1793239445979820800
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.589246045,666.589246045,635.589246045,880.410753955,788,806,652,632,653,0.439910647632,-0.00555042486777,0.0499794602416,0.999999993533,0.000104383041183,-2.93806505248e-05,3.42806098527e-05,1793239445996486912
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.999938107,745,715,679.000061893,666,635,880.999938107,788,805.999938107,652,631.999938107,653,0.44058885449,-0.00554870235971,0.0499540037911,0.999999991273,0.000106957527696,-6.96357059028e-05,3.41373579279e-05,1793239446013153536
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.421389133,745,715,679.578610867,666,635,880.421389133,788,805.421389133,652,631.421389133,653,0.441239511153,-0.00554820297928,0.0499370156172,0.999999988731,0.000109106011708,-9.74329892973e-05,3.37884910671e-05,1793239446029820160
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.155870769,745,715,680,666,635,880.155870769,787.844129231,805,652,631.155870769,652.844129231,0.441885083821,-0.00554767391022,0.0499242650737,0.999999986396,0.00011191611515,-0.000116346596593,3.38501015912e-05,1793239446046486528
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.72967444,745,715,680,666,635,880.72967444,787.27032556,805,652,631.72967444,652.27032556,0.442517025031,-0.00554706523755,0.0499228767928,0.999999986391,0.000116500205047,-0.000111440602709,3.50123161812e-05,1793239446063153408
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,881,787,804.696095746,652,632,652.303904254,0.443108505585,-0.00554681562578,0.0499120503536,0.999999984048,0.000120378317088,-0.000126951824249,3.60099044807e-05,1793239446079820288
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,881,787,804.121486377,652,632,652.878513623,0.443663945453,-0.00554688585038,0.0498928168004,0.999999978775,0.000123627573399,-0.00016064984198,3.68608505105e-05,1793239446096486912
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.532033817,745,715,680,665.532033817,635,881,787,804.467966183,652,632,653,0.444170831462,-0.00554480439496,0.0498452948731,0.999999961849,0.000127709048782,-0.000242370336687,3.5338891437e-05,1793239446113153792
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.059561455,745.059561455,715,680,665,635,881,787.059561455,805,652,631.940438545,653,0.444665772954,-0.00554269386223,0.0497942647126,0.999999936879,0.000131333430376,-0.000328447054587,3.34163268221e-05,1793239446129820672
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.635239666,745.635239666,715,680,665,635,881,787.635239666,805,652,631.364760334,653,0.445170014153,-0.00554533023616,0.0497785554129,0.999999933069,0.000129063529269,-0.000340703937885,3.35352335144e-05,1793239446146487040
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.789676392,715,680,665,634.789676392,880.789676392,788,805,652,631,652.789676392,0.445670187555,-0.00554587677469,0.0497713008123,0.999999932861,0.000129800615123,-0.000341010460817,3.37833816648e-05,1793239446163153664
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.21562024,715,680,665,634.21562024,880.21562024,788,805,652,631,652.21562024,0.446163326076,-0.00554280916257,0.0497786677257,0.999999938793,0.0001357379687,-0.000320650091818,3.42550393003e-05,1793239446179820288
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.641967164,634,880.358032836,787.641967164,805,652,631,652.358032836,0.446609736616,-0.00553830947472,0.0497763539268,0.999999938137,0.000140322883596,-0.000320763414658,3.38460530639e-05,1793239446196486912
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.068556507,634,880.931443493,787.068556507,805,652,631,652.931443493,0.447028037573,-0.00553294830876,0.0497682166105,0.999999933568,0.000144094227612,-0.000333192866044,3.29073077609e-05,1793239446213153536
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.882223318,745,715.882223318,680,664,633.882223318,880.882223318,787,805,652,631,653,0.447737075414,-0.0055322864545,0.0496980101151,0.999999899314,9.22439156873e-05,-0.000438950590861,1.36398533734e-05,1793239446246487040
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.308729042,745,715.308729042,680,664,633.308729042,880.308729042,787,805,652,631,653,0.448072476974,-0.00554181684779,0.0496832119089,0.999999892092,5.12047042812e-05,-0.000461705493985,4.68256788243e-06,1793239446263153664
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.263461833,715,680,664,633,880.263461833,787,805,652,631,653,0.448397088332,-0.00554967091143,0.0496790718639,0.99999989028,2.87550971718e-05,-0.000467559208403,9.34142151416e-07,1793239446279820544
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.834132843,715,680,664,633,880.834132843,787,805,652,631,653,0.448709117773,-0.00555557029345,0.0496873597485,0.999999896679,2.79818659348e-05,-0.000453705322854,3.25949814585e-06,1793239446296487168
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,715,680,664,633,881,787,804.57428535,652,631,653,0.449017611527,-0.00555570342715,0.0497005603037,0.999999905437,3.2956359289e-05,-0.000433600551155,5.60031809202e-06,1793239446313153792
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.024874943,746,715,680,664,633,881,787,804.024874943,652,631,653,0.449321746092,-0.00555341999381,0.0497149235006,0.999999914109,4.02605413473e-05,-0.000412431216324,7.89552283081e-06,1793239446329820160
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.602061825,746,715,680,664,633,881,787,804.602061825,652,631,653,0.44956125845,-0.00554994058294,0.0497104068024,0.999999908757,4.70002223884e-05,-0.000424494334046,9.0372209289e-06,1793239446346486784
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,632.82163995,881,787,805,652,631,653,0.449789094443,-0.00554689719823,0.049705610831,0.999999903657,5.36035728525e-05,-0.000435553896351,1.02544508196e-05,1793239446363153664
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,632.247314647,881,787,805,652,631,653,0.449991008484,-0.0055448218066,0.0497001948642,0.999999899399,5.99042640103e-05,-0.000444385530722,1.16393636564e-05,1793239446379820288
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,632,880.664615065,787,805,652,631,652.664615065,0.450177243776,-0.00554281957972,0.0496985329333,0.999999898009,6.50792543064e-05,-0.000446749415748,1.26855104566e-05,1793239446396486912
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,632,880.075582042,787,805,652,631,652.075582042,0.450351621416,-0.00554087268635,0.0496997101395,0.999999898834,6.9402889586e-05,-0.000444221811146,1.34754522244e-05,1793239446413153792
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.495763575,715,680.504236425,664,632,880.504236425,787,805,652,631,652.504236425,0.450502403849,-0.0055417224017,0.0497006274839,0.999999898318,7.00328890144e-05,-0.00044527080485,1.3909434249e-05,1793239446429820416
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.082626776,715,680.917373224,664,632,880.917373224,787,805,652,631,652.917373224,0.450645808783,-0.00554270660809,0.0497013191179,0.999999897533,7.04356627622e-05,-0.000446953592877,1.43278863018e-05,1793239446446487040
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.660587571,715,680.339412429,664,632,880.339412429,787,805,652,631,652.339412429,0.450765808802,-0.00554202916045,0.0497008869738,0.999999896317,7.27357562557e-05,-0.00044927965583,1.49673605169e-05,1793239446463153664
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.762158658,715,679.762158658,664,632,880.237841342,787,804.762158658,652,630.762158658,652,0.450872156842,-0.00554043264293,0.0496989402017,0.999999893793,7.52772856559e-05,-0.000454439553024,1.52267120199e-05,1793239446479820288
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765.601261343,745.398738657,715,679.398738657,663.601261343,631.601261343,880.601261343,786.601261343,804.797477314,652,630,652,0.451031597415,-0.00553812185048,0.0496903282474,0.999999886221,7.77924180484e-05,-0.000470402423956,1.5111846661e-05,1793239446513153792
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.012610179,745.987389821,715,679.987389821,663.012610179,631.012610179,880.012610179,786.012610179,805.974779642,652,630,652,0.451097252618,-0.00554038109481,0.0496856236425,0.999999883704,7.58722138838e-05,-0.000476020258941,1.54919131449e-05,1793239446529820160
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.565932139,746,715,680,663,631.565932139,880.565932139,786,805.434067861,652,630,652.565932139,0.451145885209,-0.00554007303206,0.0496820755092,0.999999879692,7.54727274875e-05,-0.000484448939729,1.51539591073e-05,1793239446546487040
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.856430508,745.856430508,715,680,663,631.856430508,880.856430508,786,805,652,630.143569492,652.856430508,0.451192041618,-0.00553999859667,0.0496795972308,0.999999876549,7.50182037146e-05,-0.000490968210751,1.49845459925e-05,1793239446563153664
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.280850473,745.280850473,715,680,663,631.280850473,880.280850473,786,805,652,630.719149527,652.280850473,0.45123186833,-0.00554079627555,0.0496802620417,0.999999876308,7.42978962093e-05,-0.000491556778407,1.53695816124e-05,1793239446579820288
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,631,880.048080775,786,804.048080775,652,631,652,0.451329379903,-0.00553885442271,0.0496829282883,0.999999878588,7.66556688325e-05,-0.000486525827445,1.55292566376e-05,1793239446646486784
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663,631,880.626925081,786,804.626925081,652,631,652,0.451336801726,-0.00553766305676,0.0496821947123,0.999999877239,7.92634085346e-05,-0.000488877209427,1.54460919e-05,1793239446663153408
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765.111652681,746,715,680,663,631.888347319,881,786.888347319,805,652.111652681,630.888347319,653,0.451350388364,-0.00553422929015,0.0496749327176,0.999999870233,8.16090553717e-05,-0.000502666312745,1.41662487836e-05,1793239446763153920
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.685897089,746,715,680,663,631.314102911,881,786.314102911,805,652.685897089,630.314102911,653,0.451352954163,-0.00553390183803,0.0496769699949,0.999999871218,8.15282906368e-05,-0.000500705657407,1.45219101875e-05,1793239446779820288
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,631,881,786,805,652,630.524400674,653,0.451357829466,-0.00553215667502,0.0496760138074,0.999999871411,8.00711142351e-05,-0.000500566734593,1.4117336945e-05,1793239446946487040
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.9629563,745.0370437,715,680,663,631,880.9629563,786,805,652,630,653,0.451356813453,-0.0055333957152,0.0496758872424,0.999999871271,8.02702706413e-05,-0.000500805370105,1.44325050569e-05,1793239446963153408
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.364578332,745.635421668,715,680,663,631,880.364578332,786,805,652,630,653,0.451355876953,-0.00553236526896,0.0496744962184,0.999999870141,8.08624306036e-05,-0.000502964514983,1.4350204752e-05,1793239446979820032
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.224742485,746,715,680,663,631,880.224742485,786.224742485,805,652.224742485,630.224742485,653,0.451356012394,-0.00553159771351,0.0496740365466,0.999999869772,8.1603095859e-05,-0.000503582094413,1.42442310173e-05,1793239446996486912
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.799940012,746,715,680,663,631,880.799940012,786.799940012,805,652.799940012,630.799940012,653,0.451357819381,-0.0055312401,0.0496750291905,0.999999870592,8.25753348168e-05,-0.000501795814554,1.41013418069e-05,1793239447013153792
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.614886137,746,715,680,663,631,880.614886137,787,805,652.614886137,631,653,0.451358674846,-0.00553063418515,0.0496752937933,0.999999870697,8.34702355246e-05,-0.000501438694213,1.40753519251e-05,1793239447029820416
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.024391969,746,715,680,663,631,880.024391969,787,805,652.024391969,631,653,0.451359022867,-0.00552989585181,0.0496751701335,0.999999870422,8.43238918701e-05,-0.000501843741341,1.41117041848e-05,1793239447046487040
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.553862584,746,715,680,663,631,880.553862584,786.446137416,805,652.553862584,630.446137416,653,0.451358385915,-0.00553171457314,0.0496751131291,0.999999870589,8.28247030945e-05,-0.00050174996137,1.44588517471e-05,1793239447063153664
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.86857091,745.86857091,715,680,663,631,880.86857091,786,805,652.86857091,630,653,0.451357711702,-0.00553326167861,0.0496750504449,0.9999998706,8.13688147611e-05,-0.000501955511345,1.47937585489e-05,1793239447079820288
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.291549168,745.291549168,715,680,663,631,880.291549168,786,805,652.291549168,630,653,0.451357055049,-0.00553351436572,0.0496749587669,0.999999870025,8.04034406022e-05,-0.000503248769215,1.504176289e-05,1793239447096486912
+254,4.233333333,HOLD_POSE2,765,745,715,680,663,631,881,786,805,652,631,653,0.451361512409,-0.00553484948426,0.0496775127054,0.99999987239,7.79633280245e-05,-0.000498906576889,1.52993492964e-05,1793239447133300736
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+256,4.266666667,HOLD_POSE2,765.156112975,745.843887025,715,680,663,631,880,786,805,652,630,653,0.451360072919,-0.00553083424277,0.0496755174533,0.999999870532,8.37865823841e-05,-0.000501711252504,1.4186679675e-05,1793239447166635264
+257,4.283333333,HOLD_POSE2,765.734437707,745.265562293,715,680,663,631,880,786,805,652,630,653,0.451359248147,-0.00552969492681,0.0496743729863,0.999999870017,8.50896286576e-05,-0.000502518329008,1.41649698974e-05,1793239447183301376
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+259,4.316666667,HOLD_POSE2,766,745,715,680.884279696,663,631,880.884279696,786,805,652,630,653,0.451358551423,-0.00553198061047,0.0496739247081,0.999999869416,8.29080707888e-05,-0.000504062066851,1.46731831658e-05,1793239447216634112
+260,4.333333333,HOLD_POSE2,766,745.459531881,715,680.540468119,663,631,881,786,805,652,630.459531881,653,0.451358894076,-0.00553135685209,0.0496745432224,0.999999869736,8.2730157768e-05,-0.000503457120641,1.46572390703e-05,1793239447233300736
+261,4.350000000,HOLD_POSE2,766,745.963660952,715,680.036339048,663,631,880.963660952,786,805.036339048,652,630.963660952,653,0.451359450343,-0.00553023540095,0.0496753381158,0.999999870237,8.28508905743e-05,-0.000502444455232,1.45417944076e-05,1793239447249967104
+262,4.366666667,HOLD_POSE2,766,745.368155796,715,680.631844204,663,631,880.368155796,786,805.631844204,652,630.368155796,653,0.451361159895,-0.00553096440887,0.0496766381634,0.999999871364,8.1246858044e-05,-0.00050046794184,1.42642305127e-05,1793239447266633984
+263,4.383333333,HOLD_POSE2,766,745.219034081,715,681,663,631,880.219034081,786,805.780965919,652,630,653,0.451361266556,-0.00553093758498,0.0496767194421,0.99999987146,8.12700922847e-05,-0.000500276516139,1.41020968767e-05,1793239447283300864
+264,4.400000000,HOLD_POSE2,766,745.792758644,715,681,663,631,880.792758644,786,805.207241356,652,630,653,0.451358777593,-0.00552968681294,0.0496748271206,0.999999869886,8.39284236198e-05,-0.000502975753177,1.4126884016e-05,1793239447299967744
+265,4.416666667,HOLD_POSE2,766,746,715.367073245,680.632926755,663,631.367073245,881,786.367073245,805,652,630.367073245,653,0.451358214861,-0.00553016668584,0.0496740834789,0.999999869357,8.29561969563e-05,-0.000504187150621,1.40962645019e-05,1793239447316634624
+266,4.433333333,HOLD_POSE2,766,746,715.94172156,680.05827844,663,631.94172156,881,786.94172156,805,652,630.94172156,653,0.451358741386,-0.00553162521546,0.0496739894004,0.999999869418,7.99309379744e-05,-0.000504557194689,1.40343132598e-05,1793239447333301248
+267,4.450000000,HOLD_POSE2,766,746,715.468886378,680.531113622,663,631.468886378,881,786.468886378,805,652,631,653,0.451359318332,-0.0055303564027,0.0496742756649,0.999999869702,8.09778087487e-05,-0.000503835060246,1.37711921021e-05,1793239447349967616
+268,4.466666667,HOLD_POSE2,765.880541741,746,715,680.880541741,663,631,881,786,805.119458259,652,630.880541741,653,0.451359645429,-0.00552920903053,0.0496743982408,0.999999869777,8.22656485905e-05,-0.000503480529687,1.36327710268e-05,1793239447366634240
+269,4.483333333,HOLD_POSE2,765.302603393,746,715,680.302603393,663,631,881,786,805.697396607,652,630.302603393,653,0.451358991766,-0.00552970912991,0.0496737278304,0.999999868963,8.27144309038e-05,-0.000505009951699,1.40600874023e-05,1793239447383300864
+270,4.500000000,HOLD_POSE2,765,746,715.2749829,680,663,631.2749829,880.7250171,786,805.7250171,652,630,653,0.451358684164,-0.0055299268047,0.0496737340354,0.999999868697,8.22132732663e-05,-0.000505618195283,1.40721097418e-05,1793239447399967488
+271,4.516666667,HOLD_POSE2,765,746,715.852182234,680,663,631.852182234,880.147817766,786,805.147817766,652,630,653,0.451358756896,-0.00552983408431,0.049674483866,0.999999869033,8.06680962615e-05,-0.000505214029419,1.36277084626e-05,1793239447416634112
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,663,631,882,786,805,652,631,652,0.451363793387,-0.00553197751278,0.0496776552043,0.999999872589,7.86936275413e-05,-0.000498426795167,1.41738782869e-05,1793239447449340672
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,715.419852564,680,663,631,881.419852564,786,805,652.580147436,630.419852564,652,0.451361443156,-0.00553226026452,0.049675857366,0.999999871034,7.96092907173e-05,-0.00050138537245,1.43677738919e-05,1793239447466007040
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.840555451,715,680,663,631,881,786,805,652.840555451,630.159444549,652.159444549,0.451360316868,-0.00553220965054,0.0496750191067,0.999999870268,8.01575874597e-05,-0.000502822037601,1.44660516538e-05,1793239447482673152
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.263485425,715,680,663,631,881,786,805,652.263485425,630.736514575,652.736514575,0.451362396396,-0.00553128586777,0.0496766942262,0.999999871582,7.97436590817e-05,-0.000500272431787,1.43138822171e-05,1793239447499339264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.313036513,715,680,663,631,881,786,805,652,631,652.686963487,0.451362855796,-0.00553007440418,0.049676957624,0.999999871725,8.10335827205e-05,-0.000499784017044,1.4123133471e-05,1793239447516005632
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.889097892,715,680,663,631,881,786,805,652,631,652.110902108,0.451361953905,-0.00552862122059,0.0496760348409,0.999999870882,8.37551459244e-05,-0.000501027491497,1.38999689699e-05,1793239447532672256
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.527205014,745.527205014,715,680,663,631,881,786,805,652,631,652.472794986,0.451361168391,-0.00552795693899,0.049675420849,0.999999870317,8.46037193254e-05,-0.000502011646761,1.38640092582e-05,1793239447549338880
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.058068596,715.058068596,680,663,631,880.941931404,786,805,652,630.941931404,652.941931404,0.451360002575,-0.00552771893534,0.049674674035,0.999999869708,8.48651079315e-05,-0.00050317935869,1.38764789754e-05,1793239447566005760
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.641136479,715.641136479,680,663,631,880.358863521,786,805,652,630.358863521,652.358863521,0.451355147596,-0.00552963441138,0.0496720607624,0.999999868083,8.38550466765e-05,-0.000506565582145,1.39232732106e-05,1793239447582672384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,715.778809419,680,663,631,880.221190581,786.221190581,805,652,630.221190581,652,0.451346399072,-0.005530572125,0.0496679387035,0.999999864684,8.37160927827e-05,-0.000513255468433,1.38807669225e-05,1793239447599339264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,715.203579255,680,663,631,880.796420745,786.796420745,805,652,630.796420745,652,0.451331418506,-0.00552994482334,0.0496614016686,0.999999858361,8.49714410527e-05,-0.000525233226028,1.36953254285e-05,1793239447616006144
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,715.943654417,680,663,631,880.056345583,786.056345583,804.056345583,652,631,652.943654417,0.451256142449,-0.00552465785694,0.0496302126046,0.999999827812,8.60779817825e-05,-0.000580387293734,1.08111930341e-05,1793239447649338880
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,631,881,786.125667898,805,652,631,652.125667898,0.45112522378,-0.00552317134286,0.0495919296662,0.999999790703,8.48887149402e-05,-0.000641333015511,8.90289110667e-06,1793239447682672128
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715.277433889,680,663,631,880.722566111,786.722566111,805,652.277433889,631,653,0.450972269134,-0.00551843112539,0.0495768281877,0.999999782847,8.74044963928e-05,-0.000653160019976,6.96464807849e-06,1793239447716005632
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746.436121508,715.563878492,680,663,631,880,786,805.436121508,652.563878492,631,653,0.450787638866,-0.00551007109265,0.0495799817898,0.999999787024,9.45448839952e-05,-0.000645737935557,6.05788393327e-06,1793239447749339136
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..745dafd78ce8807e9e1a09704ae692692f5018ca
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5dae767f6cf81aa20c135008babf85951c335c25
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4317a5b0f97391867f1931ba062af6d3b5857af25c49dfe26c8343798e5277e4
+size 26315631
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b92a9d5f4e079f6389e4e154f26c4a8535c5238
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
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+15,0.250000000,BASELINE,766,745.702883905,715,679,661.702883905,636,879.297116095,788,803.702883905,652.297116095,631.702883905,653,0.401032756866,-0.00549529677842,0.0698572757172,0.999999988566,3.54580388584e-05,-0.000146274689959,1.46402602937e-05,1793239451777999360
+16,0.266666667,BASELINE,766,746,715.286256583,679.286256583,662,635.713743417,879,787.713743417,804,652.286256583,631.713743417,653,0.401033341189,-0.00549436658343,0.0698579271808,0.999999988664,3.65760762601e-05,-0.000145327657813,1.46034801078e-05,1793239451794665984
+17,0.283333333,BASELINE,766,746,715.866048622,679.866048622,662,635.133951378,879,787.133951378,804,652.866048622,631.133951378,653,0.40103250378,-0.00549435464384,0.0698575784268,0.99999998861,3.52518427357e-05,-0.000146039523594,1.45009368203e-05,1793239451811332352
+18,0.300000000,BASELINE,766,745.557887615,715.557887615,679.557887615,662,635.442112385,879,787.442112385,804,652.557887615,631.442112385,653,0.401032468958,-0.00549378630336,0.0698573438847,0.999999988575,3.62048173429e-05,-0.00014604707462,1.44831747734e-05,1793239451827999232
+19,0.316666667,BASELINE,766,745,715.016872936,679.016872936,661.983127064,636,879.016872936,788,804,652.016872936,632,653,0.401032674878,-0.00549314149431,0.0698571675511,0.999999988549,3.77208835596e-05,-0.00014583799907,1.44985151494e-05,1793239451844665856
+20,0.333333333,BASELINE,766,745,715.585645919,679.585645919,661.414354081,636,879.585645919,788,804,652.585645919,632,653,0.401032867964,-0.00549546341718,0.069857772766,0.999999988689,3.52762546453e-05,-0.000145464805181,1.47634323616e-05,1793239451861332736
+21,0.350000000,BASELINE,766,745.162613273,716,680,661.162613273,636,880,788,804,652.837386727,632,653,0.401032416266,-0.00549680774439,0.0698577929297,0.999999988691,3.37049878179e-05,-0.000145817065184,1.48300850653e-05,1793239451877999360
+22,0.366666667,BASELINE,766,745.761568582,716,680,661.761568582,636,880,788,804,652.238431418,632,653,0.401030234412,-0.00549552887775,0.0698562432185,0.999999988333,3.44772237672e-05,-0.000148115943898,1.43647323244e-05,1793239451894665984
+23,0.383333333,BASELINE,766,746,715.652808989,679.652808989,662,636,879.652808989,788,804.347191011,652.347191011,632,653,0.401029823535,-0.0054951515416,0.0698562101564,0.999999988223,3.55880460728e-05,-0.000148598319789,1.43462079616e-05,1793239451911332608
+24,0.400000000,BASELINE,766,746,715.076004163,679.076004163,662,636,879.076004163,788,804.923995837,652.923995837,632,653,0.40103058389,-0.00549537043002,0.0698571801258,0.999999988277,3.69227916051e-05,-0.000147879356793,1.46231922638e-05,1793239451927999232
+25,0.416666667,BASELINE,766,746,715.508181736,679,662,636,879,787.491818264,803.983636528,652.491818264,631.491818264,653,0.401031984988,-0.0054951746318,0.0698577898312,0.999999988427,3.62327591908e-05,-0.000147049644139,1.44914110063e-05,1793239451944665856
+26,0.433333333,BASELINE,766,745.907505378,716,679.092494622,661.907505378,636,879.092494622,787.092494622,803.092494622,652,631,653,0.40103309226,-0.00549496806537,0.0698582105464,0.999999988551,3.5330386036e-05,-0.000146436131038,1.43332299889e-05,1793239451961332480
+27,0.450000000,BASELINE,766,745.328417293,716,679.671582707,661.328417293,636,879.671582707,787.671582707,803.671582707,652,631,653,0.401032142198,-0.00549503593685,0.0698579246626,0.999999988475,3.49275246972e-05,-0.000147048417848,1.43625254157e-05,1793239451977999104
+28,0.466666667,BASELINE,766,745,716,680,661.250864051,636,879.749135949,788,804,652,631,653,0.401031499906,-0.00549540011314,0.0698574520982,0.999999988416,3.46651156263e-05,-0.000147513762445,1.4366762645e-05,1793239451994665984
+29,0.483333333,BASELINE,766,745,716,680,661.830398559,636,879.169601441,788,804,652,631,653,0.401031260842,-0.00549615249427,0.0698567349533,0.999999988379,3.45867206332e-05,-0.000147786590125,1.43381697829e-05,1793239452011332864
+30,0.500000000,BASELINE,766,745.407093047,716,680,661.592906953,636,879,788,804,652.407093047,631.407093047,653,0.401031202411,-0.00549537569448,0.0698565232104,0.999999988333,3.55964458208e-05,-0.000147865573422,1.42069702853e-05,1793239452027999488
+31,0.516666667,BASELINE,766,745.982612521,716,680,661.017387479,636,879,788,804,652.982612521,631.982612521,653,0.401031218712,-0.00549396622732,0.0698565205673,0.999999988283,3.70563584926e-05,-0.00014786435756,1.40333193901e-05,1793239452044666112
+32,0.533333333,BASELINE,766.558639705,746,715.441360295,679.441360295,661.558639705,636,879,788,804,652.441360295,631.441360295,653,0.40103260297,-0.00549343262161,0.0698574897252,0.999999988416,3.96417344972e-05,-0.000146254970392,1.43350463213e-05,1793239452061332480
+33,0.550000000,BASELINE,766.861904327,745.861904327,715.138095673,679.138095673,662,635.861904327,879,788,804,652,631,653,0.401033282529,-0.00549306536838,0.0698580721433,0.999999988475,4.13524525098e-05,-0.000145358080867,1.45522319864e-05,1793239452077999104
+34,0.566666667,BASELINE,766.271264059,745.271264059,715.728735941,679.728735941,662,635.271264059,879,788,804,652,631,653,0.401031513104,-0.00549315384223,0.0698572879903,0.999999988294,4.00819856355e-05,-0.000146960250025,1.4443841675e-05,1793239452094665728
+35,0.583333333,BASELINE,766,745.31305287,716,680,662,635.31305287,879.31305287,788,804,652.31305287,631.31305287,653,0.401031070479,-0.00549273358823,0.0698571663741,0.999999988287,3.93194898561e-05,-0.000147229868202,1.42528668195e-05,1793239452111332352
+36,0.600000000,BASELINE,766,745.8919991,716,680,662,635.8919991,879.8919991,788,804,652.8919991,631.8919991,653,0.401031754779,-0.00549188124314,0.0698576074875,0.99999998843,3.89884422733e-05,-0.00014636767628,1.39917482671e-05,1793239452127998976
+37,0.616666667,BASELINE,766,745.535093511,715.535093511,679.535093511,662,636,880,788,804,652.535093511,631.535093511,653,0.401032744203,-0.00549356210342,0.0698586077875,0.999999988664,3.70010985565e-05,-0.000145279848012,1.40084705963e-05,1793239452144665856
+38,0.633333333,BASELINE,766,745,715,679,661.963364048,635.963364048,880.036635952,787.963364048,804,652,631.036635952,653,0.401033646112,-0.00549565201557,0.0698595527944,0.999999988877,3.48271970444e-05,-0.000144342242789,1.40854247972e-05,1793239452161332736
+39,0.650000000,BASELINE,766,745,715,679,661.388594252,635.388594252,880.611405748,787.388594252,804,652,631.611405748,653,0.401032234737,-0.0054952171981,0.0698578019853,0.999999988558,3.54922792069e-05,-0.000146371276534,1.41111920721e-05,1793239452177999360
+40,0.666666667,BASELINE,766,745,715.192331746,679,661.192331746,635.192331746,880.615336509,787.192331746,803.807668254,652,632,653,0.401031846803,-0.00549469190979,0.0698574433144,0.999999988483,3.64196486982e-05,-0.000146656998401,1.41193476155e-05,1793239452194665984
+41,0.683333333,BASELINE,766,745,715.786107221,679,661.786107221,635.786107221,879.427785558,787.786107221,803.213892779,652,632,653,0.401033595041,-0.00549397778658,0.0698599903789,0.999999988915,3.78944764128e-05,-0.000143303998837,1.40907431352e-05,1793239452211332608
+42,0.700000000,BASELINE,766,745,716,679,662,636,879.369833344,788,803.369833344,652,631.630166656,653,0.401034056419,-0.00549425983983,0.0698598821221,0.999999988941,3.77601702023e-05,-0.000143154051802,1.41055179322e-05,1793239452227999232
+43,0.716666667,BASELINE,766,745,716,679,662,636,879.947901165,788,803.947901165,652,631.052098835,653,0.401033793231,-0.00549510278975,0.0698582787881,0.999999988741,3.6719841903e-05,-0.000144807581979,1.41447174101e-05,1793239452244666112
+44,0.733333333,BASELINE,766,745,715.478827921,679.521172079,662,636,879.478827921,787.478827921,804,652,631,653,0.401033547917,-0.00549413205316,0.0698582969831,0.999999988662,3.73697273285e-05,-0.000145193076059,1.40809859149e-05,1793239452261332736
+45,0.750000000,BASELINE,766,745,715,680,661.90609194,636,879,787.09390806,803.90609194,652,631.09390806,653,0.401033382811,-0.00549298674023,0.069858524847,0.999999988617,3.82521777542e-05,-0.000145286576071,1.39812493595e-05,1793239452277999360
+46,0.766666667,BASELINE,766,745,715,680,661.333660798,636,879,787.666339202,803.333660798,652,631.666339202,653,0.401033617384,-0.00549186728733,0.0698590026604,0.999999988682,3.94665801044e-05,-0.000144532203741,1.37499968621e-05,1793239452294665984
+47,0.783333333,BASELINE,766,745.248799572,715,679.751200428,661,636,879.248799572,788,803.248799572,652,631.751200428,653,0.401033443347,-0.00549216939758,0.0698590831535,0.99999998872,3.89317631217e-05,-0.000144421519615,1.3684819257e-05,1793239452311332608
+48,0.800000000,BASELINE,766,745.845275004,715,679.154724996,661,636,879.845275004,788,803.845275004,652,631.154724996,653,0.401032698314,-0.00549445801906,0.0698586084259,0.999999988715,3.59525637581e-05,-0.000145210333909,1.38517169e-05,1793239452327999488
+49,0.816666667,BASELINE,766,745.574405231,715,679,661.425594769,636,879.574405231,788,804,652,631.425594769,653,0.40103273874,-0.00549433634664,0.0698585873298,0.999999988724,3.58245284001e-05,-0.000145157799398,1.40311755857e-05,1793239452344666112
+50,0.833333333,BASELINE,766,745,715.000258123,679,662,636,879,787.999741877,804,652,631.999741877,653,0.401033053915,-0.00549337028553,0.0698587249595,0.999999988741,3.66959447596e-05,-0.000144811028472,1.42149486405e-05,1793239452361332480
+51,0.850000000,BASELINE,766,745,715.579892655,679,662,636,879,787.420107345,804,652,631.420107345,653,0.401032555081,-0.00549201612127,0.0698585023553,0.999999988541,3.94062841392e-05,-0.000145473444813,1.42075304122e-05,1793239452377999104
+52,0.866666667,BASELINE,766,745,716,679,662,636,879,787.161799067,803.838200933,652,631.161799067,653,0.401032229409,-0.00549144577114,0.0698584518635,0.999999988442,4.0706618941e-05,-0.000145806673554,1.41339231783e-05,1793239452394665728
+53,0.883333333,BASELINE,766,745,716,679,662,636,879,787.749688333,803.250311667,652,631.749688333,653,0.401032359747,-0.00549293955858,0.0698588546215,0.999999988618,3.82937731265e-05,-0.000145273002265,1.3886010325e-05,1793239452411332864
+54,0.900000000,BASELINE,766,745,715.667577087,679,662,635.667577087,879,788,803.332422913,652.332422913,631.667577087,653,0.401033246297,-0.0054939125371,0.0698594133901,0.9999999888,3.7730972952e-05,-0.000144150430496,1.4019335328e-05,1793239452427999488
+55,0.916666667,BASELINE,766,745,715.088664702,679,662,635.088664702,879,788,803.911335298,652.911335298,631.088664702,653,0.401034693574,-0.00549449933906,0.0698600878397,0.999999988987,3.8539969944e-05,-0.000142591192797,1.44353457844e-05,1793239452444666112
+56,0.933333333,BASELINE,766,745,715.487373545,679,661.512626455,635.487373545,878.512626455,788,804,652.512626455,631.487373545,653,0.401034456204,-0.00549400247126,0.0698599568328,0.999999988992,3.7966711652e-05,-0.000142727660309,1.42636874571e-05,1793239452461332480
+57,0.950000000,BASELINE,766,745.062871644,716,679.062871644,661.062871644,635.937128356,878.062871644,788,804,652,632,653,0.401033895166,-0.00549341576658,0.0698597446735,0.99999998895,3.73101502181e-05,-0.00014321934956,1.40040409029e-05,1793239452477999360
+58,0.966666667,BASELINE,766,745.638203614,716,679.638203614,661.638203614,635.361796386,878.638203614,788,804,652,632,653,0.401033179358,-0.00549369429906,0.0698600584107,0.999999988798,3.80122406742e-05,-0.000144106696676,1.38935213671e-05,1793239452494665984
+59,0.983333333,BASELINE,766,745.779769724,715.779769724,680,662,635.220230276,879.220230276,788,804,652.220230276,632,653,0.40103288187,-0.00549347591854,0.0698600040697,0.999999988675,3.95710707278e-05,-0.000144532628135,1.39317279376e-05,1793239452511332608
+60,1.000000000,BASELINE,766,745.186400053,715.186400053,680,662,635.813599947,879.813599947,788,804,652.813599947,632,653,0.401033293146,-0.00549241561104,0.0698593260884,0.999999988599,4.25814873879e-05,-0.000144176776408,1.42219233182e-05,1793239452527999232
+61,1.016666667,BASELINE,766.396890513,745.396890513,715,679.603109487,662,636,879.603109487,788,804,652.603109487,632,653,0.401033371561,-0.00549223934069,0.0698596207505,0.999999988612,4.30052870535e-05,-0.000143957479882,1.42292695241e-05,1793239452544665856
+62,1.033333333,BASELINE,766.975564617,745.975564617,715,679.024435383,662,636,879.024435383,788,804,652.024435383,632,653,0.401033297518,-0.00549246797666,0.0698603609022,0.999999988669,4.22443655394e-05,-0.000143800728319,1.41070652776e-05,1793239452561332480
+63,1.050000000,BASELINE,766.452233723,745.452233723,715,679.547766277,662,636,879,787.452233723,804.547766277,652,632,653,0.401033293147,-0.00549257218043,0.0698602066943,0.999999988775,4.10609418814e-05,-0.000143410176411,1.40641166019e-05,1793239452577999104
+64,1.066666667,BASELINE,766,745,715.122814197,680,662,636,879.122814197,787.122814197,804.877185803,652,631.877185803,653,0.401033319732,-0.00549307016851,0.0698600268888,0.999999988849,3.97177560927e-05,-0.000143275071111,1.40473407779e-05,1793239452594665728
+65,1.083333333,BASELINE,766,745,715.70969525,680,662,636,879.70969525,787.70969525,804.29030475,652,631.29030475,653,0.401033451682,-0.00549507684305,0.0698598993534,0.999999988796,3.78412772007e-05,-0.000144144148025,1.4116258587e-05,1793239452611332352
+66,1.100000000,BASELINE,766.295512704,745,716,679.704487296,661.704487296,636,879.704487296,788,804,652,631,653,0.401032840374,-0.00549534903033,0.0698592038323,0.999999988591,3.75566184214e-05,-0.000145635144845,1.40742742211e-05,1793239452627998720
+67,1.116666667,BASELINE,766.880289017,745,716,679.119710983,661.119710983,636,879.119710983,788,804,652,631,653,0.401031501526,-0.00549392340878,0.0698579523364,0.999999988236,3.88301182491e-05,-0.000147734910018,1.39237328819e-05,1793239452644665344
+68,1.133333333,BASELINE,766.542177432,745,715.542177432,679.457822568,661,635.542177432,879,788,804,652,631.457822568,653,0.401031480311,-0.00549298734107,0.0698582801542,0.999999988319,4.0489103006e-05,-0.000146735037398,1.3820729809e-05,1793239452661332224
+69,1.150000000,BASELINE,766,745.033102689,715,680,661.033102689,635.033102689,879.033102689,787.966897311,804,652,631.966897311,653,0.401031746746,-0.00549225052927,0.069858922051,0.999999988492,4.20934805998e-05,-0.000145103835548,1.3735462324e-05,1793239452677999104
+70,1.166666667,BASELINE,766,745.602083316,715,680,661.602083316,635.602083316,879.602083316,787.397916684,804,652,631.397916684,653,0.401031179187,-0.00549269937606,0.0698580673791,0.999999988374,4.12075436374e-05,-0.000146168621969,1.37392133058e-05,1793239452694666496
+71,1.183333333,BASELINE,766,746,715,680,662,636,879.82042936,787.17957064,804,652.17957064,631.17957064,653,0.401031010772,-0.00549303500009,0.0698578786434,0.999999988323,4.03228274128e-05,-0.000146770748316,1.36750150096e-05,1793239452711333888
+72,1.200000000,BASELINE,766,746,715,680,662,636,879.223154246,787.776845754,804,652.776845754,631.776845754,653,0.401031770816,-0.00549310725348,0.069859238961,0.99999998843,3.9440950605e-05,-0.000146296667851,1.34527579276e-05,1793239452728000768
+73,1.216666667,BASELINE,766,745.638406142,715,679.638406142,662,636,879.361593858,788,803.638406142,652.638406142,632,653,0.40103315638,-0.00549316882929,0.0698602259284,0.999999988635,3.95006958779e-05,-0.00014486013259,1.36405303475e-05,1793239452744667392
+74,1.233333333,BASELINE,766,745.061130137,715,679.061130137,662,636,879.938869863,788,803.061130137,652.061130137,632,653,0.401034915052,-0.00549322403619,0.0698609902012,0.999999988893,4.0122096406e-05,-0.000142849515935,1.40728756383e-05,1793239452761333760
+75,1.250000000,BASELINE,766,745,715,679.512629047,662,636,880,788,803,652,632,653,0.401033457071,-0.0054935240156,0.0698602999886,0.999999988786,3.92977471149e-05,-0.000143824068756,1.4062356966e-05,1793239452778000128
+76,1.266666667,BASELINE,766,745.088228599,715,679.911771401,662,636,880,788,803.088228599,652,631.911771401,653,0.40103196562,-0.00549372958861,0.0698595503036,0.999999988671,3.83192155344e-05,-0.000144893718606,1.39835954628e-05,1793239452794666240
+77,1.283333333,BASELINE,766,745.676622348,715,679.323377652,662,636,880,788,803.676622348,652,631.323377652,653,0.401032444117,-0.00549323563228,0.0698594400259,0.999999988764,3.74373184244e-05,-0.000144498201757,1.38153102157e-05,1793239452811332608
+78,1.300000000,BASELINE,766,746,715.261064266,679.261064266,662,636,879.738935734,788,804,652.261064266,631,653,0.401032502251,-0.00549314591091,0.0698593066823,0.999999988711,3.78115420966e-05,-0.000144766265492,1.38139967582e-05,1793239452827998976
+79,1.316666667,BASELINE,766,746,715.840684042,679.840684042,662,636,879.159315958,788,804,652.840684042,631,653,0.401032047452,-0.00549354944463,0.069859145193,0.999999988478,3.97185079529e-05,-0.000145844042718,1.40164254197e-05,1793239452844665856
+80,1.333333333,BASELINE,766,745.581545903,715.581545903,679.581545903,662,636,879,788,804,652.581545903,631,653,0.401031448602,-0.00549397622765,0.0698593070792,0.999999988447,3.9473280847e-05,-0.000146108002632,1.41619085205e-05,1793239452861333248
+81,1.350000000,BASELINE,766,745.004476936,715.004476936,679.004476936,662,636,879,788,804,652.004476936,631,653,0.401030795151,-0.00549441182334,0.0698595915406,0.999999988493,3.84122659584e-05,-0.000146063485487,1.42858064445e-05,1793239452878000640
+82,1.366666667,BASELINE,766,745.571922634,715,679.571922634,661.428077366,636,879.571922634,788,804,652,631.571922634,653,0.401030419668,-0.00549267931497,0.069858834657,0.999999988353,3.86405080157e-05,-0.000147021241143,1.3637766566e-05,1793239452894667264
+83,1.383333333,BASELINE,766,746,715,680,661,636,879.848453178,788,803.848453178,652,632,653,0.401030374111,-0.00549147827838,0.0698583464355,0.999999988249,3.92914628021e-05,-0.000147589933228,1.3271151247e-05,1793239452911333632
+84,1.400000000,BASELINE,766,746,715,680,661,636,879.259506744,788,803.259506744,652,632,653,0.401031274524,-0.00549186012025,0.0698586571351,0.999999988253,4.11333713467e-05,-0.000147013079029,1.3734213001e-05,1793239452927999232
+85,1.416666667,BASELINE,766,745.676098904,715,680,661,636,879.323901096,788,803.323901096,652,632,653,0.401031775633,-0.00549183343272,0.069858839353,0.999999988262,4.18104083547e-05,-0.000146762622113,1.3713747532e-05,1793239452944665600
+86,1.433333333,BASELINE,766,745.097053969,715,680,661,636,879.902946031,788,803.902946031,652,632,653,0.401031962201,-0.00549148493779,0.0698589203631,0.999999988277,4.15698509649e-05,-0.000146769275371,1.33123972737e-05,1793239452961332480
+87,1.450000000,BASELINE,766,745,715,679.520622994,661.479377006,636,879.520622994,788,803.520622994,652.479377006,632,653,0.401032968328,-0.00549211693335,0.0698592660449,0.999999988563,3.89585386239e-05,-0.000145532986591,1.33018114675e-05,1793239452977999104
+88,1.466666667,BASELINE,766,745,715,679,662,636,879.056346262,788,803.056346262,653,631.943653738,653,0.401033849827,-0.0054929377836,0.0698595084462,0.999999988827,3.61814420083e-05,-0.000144423945726,1.33582987132e-05,1793239452994665984
+89,1.483333333,BASELINE,766,745,715,679,662,636,879.643341867,788,803.643341867,653,631.356658133,653,0.401032003446,-0.00549367785475,0.0698582762796,0.999999988466,3.63388118835e-05,-0.000146870325623,1.33054329748e-05,1793239453011332864
+90,1.500000000,BASELINE,766,745.227121454,715,679.227121454,662,636,880,787.772878546,804,653,631.227121454,653,0.401031000381,-0.00549378834045,0.0698580202882,0.999999988274,3.7391997452e-05,-0.000147888419616,1.35084023386e-05,1793239453028000000
+91,1.516666667,BASELINE,766,745.805921254,715,679.805921254,662,636,880,787.194078746,804,653,631.805921254,653,0.401031303119,-0.00549292396631,0.0698592758219,0.999999988347,3.98322777808e-05,-0.000146694933557,1.41075107079e-05,1793239453044667136
+92,1.533333333,BASELINE,766,745.615511488,715.384488512,680,661.615511488,636,880,787.384488512,804,652.615511488,631.615511488,653,0.401031759109,-0.00549323541569,0.0698593713997,0.999999988437,3.88344580237e-05,-0.000146356059834,1.40353802742e-05,1793239453061333760
+93,1.550000000,BASELINE,766,745.037061487,715.962938513,680,661.037061487,636,880,787.962938513,804,652.037061487,631.037061487,653,0.401032292408,-0.00549414002829,0.0698588818188,0.999999988532,3.610223293e-05,-0.000146448309108,1.36246325533e-05,1793239453078000128
+94,1.566666667,BASELINE,766,745,715.462941579,680,661.537058421,636,880,788,804,652,631,653,0.401031834356,-0.00549380681235,0.0698591514554,0.999999988478,3.82500304342e-05,-0.000146249770758,1.38816135293e-05,1793239453094666496
+95,1.583333333,BASELINE,766,745,715,680,661.8865265,636,880,788,804,652,631,653,0.401031251289,-0.00549337261677,0.0698592239715,0.999999988376,4.01769279948e-05,-0.000146410616387,1.40348207988e-05,1793239453111332864
+96,1.600000000,BASELINE,766,745,715,680,661.299291111,636,880,788,804,652,631,653,0.401030429613,-0.00549287060764,0.0698582564995,0.999999988142,3.97867836763e-05,-0.000148155032212,1.35639193255e-05,1793239453127999232
+97,1.616666667,BASELINE,766,745,715,679.428295791,661.285852104,636,880,787.714147896,804,652,631.285852104,653,0.401030180346,-0.00549358107508,0.0698579843877,0.999999988134,3.80400996299e-05,-0.000148673555055,1.34516702563e-05,1793239453144665856
+98,1.633333333,BASELINE,766,745,715,678.262358669,661.868820666,636,880,787.131179334,804,652,631.868820666,653,0.401030526046,-0.00549555179825,0.0698584350377,0.999999988358,3.488341977e-05,-0.000147917876995,1.37122067563e-05,1793239453161332736
+99,1.650000000,BASELINE,766,745,715.44347052,678.44347052,662,636,880,787.44347052,804,652.44347052,631.55652948,653,0.401031565451,-0.00549503228994,0.0698589699409,0.999999988407,3.79890440852e-05,-0.000146794972526,1.3927550993e-05,1793239453177999616
+100,1.666666667,BASELINE,766,745,715.984166955,679,662,636,880,788,803.984166955,652.984166955,631,653,0.401032762602,-0.00549378450998,0.0698595022034,0.999999988385,4.27389437836e-05,-0.000145619138731,1.41134241936e-05,1793239453194666752
+101,1.683333333,BASELINE,766,745,715.407266509,679,662,636,880,788,803.407266509,652.407266509,631,653,0.401032412107,-0.00549235174769,0.0698590739959,0.999999988344,4.13222973723e-05,-0.000146346128526,1.37199383624e-05,1793239453211333376
+102,1.700000000,BASELINE,766,745,715,679.173425308,661.826574692,636,879.826574692,788,803.173425308,652,631,653,0.401031867861,-0.00549207356723,0.0698586287903,0.999999988323,3.93808765215e-05,-0.000147037985307,1.35614954946e-05,1793239453228000000
+103,1.716666667,BASELINE,766,745,715,679.763219572,661.236780428,636,879.236780428,788,803.763219572,652,631,653,0.401030858447,-0.00549456737015,0.0698581427745,0.999999988348,3.6179548722e-05,-0.000147645492725,1.39673566745e-05,1793239453244666112
+104,1.733333333,BASELINE,766,745,715.347422885,679.652577115,661.347422885,636,879,787.652577115,804,652,631.347422885,653,0.401030986872,-0.00549451179455,0.0698585774488,0.999999988336,3.768006691e-05,-0.000147336015975,1.41507124955e-05,1793239453261332480
+105,1.750000000,BASELINE,766,745,715.927876183,679.072123817,661.927876183,636,879,787.072123817,804,652,631.927876183,653,0.401031878494,-0.00549274624915,0.0698596296667,0.999999988285,4.2334300785e-05,-0.00014641148136,1.41848251205e-05,1793239453277999104
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679,662,636,879,788,804,652,631,653,0.401031721095,-0.00549270417781,0.0698596429536,0.999999988559,3.90870367545e-05,-0.000145478260013,1.37840957667e-05,1793239453309116416
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.425954149,715,679,661.425954149,636,879,788,804,652,631.574045851,653,0.401031548927,-0.00549223701158,0.0698592231115,0.999999988383,4.0209288276e-05,-0.000146379516808,1.37817661714e-05,1793239453325784064
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.153018742,787.846981258,803.846981258,652,632,653,0.40103148636,-0.00549234945788,0.0698589526327,0.999999988294,4.0377996486e-05,-0.000146941554137,1.37619126109e-05,1793239453342451200
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.746163345,787.253836655,803.253836655,652,632,653,0.40103173904,-0.00549412903628,0.0698591117653,0.999999988456,3.7804040454e-05,-0.000146527899037,1.3691655092e-05,1793239453359117568
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.329798201,661.329798201,636,880,787,803.329798201,652.329798201,632,653,0.401031454346,-0.00549413540591,0.0698589661527,0.999999988432,3.73863836681e-05,-0.000146809764603,1.3643354963e-05,1793239453375783936
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.906318771,661.906318771,636,880,787,803.906318771,652.906318771,632,653,0.401030767641,-0.00549281523617,0.0698585925599,0.999999988268,3.85818566838e-05,-0.000147611949908,1.36114811839e-05,1793239453392450560
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.51869144,636,879.51869144,787.48130856,804.48130856,652.51869144,631.51869144,653,0.401030389243,-0.00549393049143,0.0698583011392,0.99999998819,3.64111700171e-05,-0.000148671825151,1.38423891491e-05,1793239453409116672
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.942312531,661.057687469,636,879.057687469,787.942312531,804.942312531,652.057687469,631,653,0.401030215372,-0.00549522649872,0.0698581092872,0.999999988132,3.42424197156e-05,-0.000149553669396,1.40745110065e-05,1793239453425782784
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.350316504,661.649683496,636,879.649683496,787.350316504,804.350316504,652.649683496,631,653,0.4010313818,-0.00549382006927,0.0698586919861,0.999999988177,3.81407671583e-05,-0.000148323486196,1.38456437168e-05,1793239453442449664
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.235940392,715.235940392,679,662,636,879.764059608,787.235940392,804,653,631,653,0.401032359815,-0.00549322566521,0.0698594292794,0.999999987937,3.96011914551e-05,-0.000149558170133,1.37863302377e-05,1793239453459116544
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.813878319,715.813878319,679,662,636,879.186121681,787.813878319,804,653,631,653,0.401033064725,-0.00549380829874,0.0698603906586,0.999999987284,3.75278257865e-05,-0.000154365699338,1.39727864195e-05,1793239453475783168
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,715.610025346,679,661.610025346,636,879,788,804,653,631,653,0.401045179459,-0.00549498923033,0.0698663604981,0.999999987471,3.69923681351e-05,-0.000153228144691,1.44878960856e-05,1793239453492450048
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,715.034803758,679,661.034803758,636,879,788,804,653,631,653,0.401062714121,-0.00549645436731,0.0698747094715,0.999999988053,3.71874519925e-05,-0.000149266538852,1.51591237348e-05,1793239453509116672
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715,679.542320721,661.542320721,636,879,788,804,653,631.542320721,653,0.401103676389,-0.00549732086826,0.0698897053018,0.999999990077,3.87426297587e-05,-0.000134465676731,1.62361460519e-05,1793239453525783040
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.877367479,715,680,662,636,879,787.877367479,803.877367479,652.877367479,632,653,0.401150778468,-0.00549830867764,0.0699046616462,0.999999992076,3.93379159861e-05,-0.000118367458073,1.70065861138e-05,1793239453542449664
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.285324227,715,680,662,636,879,787.285324227,803.285324227,652.285324227,632,653,0.401215607165,-0.00549990840259,0.0699178283001,0.999999994221,3.59236618822e-05,-9.99752774164e-05,1.65034614499e-05,1793239453559116288
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.298218744,680,662,636,879,787.298218744,803.298218744,652.298218744,632,653,0.401288920972,-0.00550139055387,0.0699287197881,0.999999995679,3.45531027855e-05,-8.4856351925e-05,1.57468081257e-05,1793239453575782912
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.873854327,680,662,636,879,787.873854327,803.873854327,652.873854327,632,653,0.401370128017,-0.0055027633326,0.0699374948111,0.999999996627,3.50836833138e-05,-7.27823605708e-05,1.47543107735e-05,1793239453592449536
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.449425247,715.550574753,680,662,636,879.898850495,788,804,652.550574753,631.550574753,653,0.401459581592,-0.00550368914546,0.0699380628563,0.999999996651,3.41740875226e-05,-7.32522016232e-05,1.2846332729e-05,1793239453609116416
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.974498832,715.025501168,679.974498832,661.974498832,636,880.974498832,788,803.974498832,652,631,653,0.401552409028,-0.00550443809727,0.0699362475044,0.999999996404,3.29339029163e-05,-7.74268342321e-05,1.06500572948e-05,1793239453625783296
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.386891327,715.613108673,679.386891327,661.386891327,636,880.386891327,788,803.386891327,652,631,653,0.401668591254,-0.00550405354805,0.069932664886,0.999999995745,3.33157041757e-05,-8.56675681393e-05,7.76219703781e-06,1793239453642449920
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.197972645,745,715.802027355,679,661.197972645,636,880,788,803.197972645,652.197972645,631.197972645,652.802027355,0.401795638492,-0.00550497281929,0.0699306559914,0.999999995254,3.22647749412e-05,-9.18029666296e-05,4.89015883158e-06,1793239453659116544
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.777548239,745,715.222451761,679,661.777548239,636,880,788,803.777548239,652.777548239,631.777548239,652.222451761,0.401943628614,-0.00550840527482,0.0699316805345,0.999999995186,2.84521803692e-05,-9.38802166148e-05,2.0486188163e-06,1793239453675783168
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.64567411,745,715,679.35432589,662,636,880,788,804,652.64567411,632,652.35432589,0.402114944315,-0.00551041861958,0.0699347802735,0.999999995614,2.70360308217e-05,-8.96625383687e-05,-1.25832731104e-06,1793239453692449792
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.070639238,745,715,679.929360762,662,636,880,788,804,652.070639238,632,652.929360762,0.402300789493,-0.00551154800303,0.0699391726484,0.999999996298,2.71126223607e-05,-8.15237604171e-05,-4.85517437689e-06,1793239453709116672
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.50319628,679.49680372,661.49680372,636,880,788,804,652,631.49680372,653,0.402508300927,-0.00551070533568,0.0699418513276,0.999999996323,2.68060101707e-05,-8.09200555001e-05,-9.34408309661e-06,1793239453725783040
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.079253237,716,679.079253237,661,635.920746763,879.920746763,788,804,652,631.079253237,653,0.402725746024,-0.00551015980894,0.0699445628183,0.999999996363,2.54286462652e-05,-8.02027988326e-05,-1.39912108912e-05,1793239453742449664
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.670754198,716,679.670754198,661,635.329245802,879.329245802,788,804,652,631.670754198,653,0.402987784758,-0.00551331990141,0.0699490375983,0.999999997083,1.74774242987e-05,-7.19309677924e-05,-1.88534971155e-05,1793239453759116544
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.742478447,715.742478447,679.742478447,661.257521553,635.257521553,879,788,804,652.257521553,631.742478447,653,0.403268227212,-0.00551595445412,0.0699552075102,0.999999997903,4.87784064523e-06,-6.01822318544e-05,-2.34356873065e-05,1793239453775783424
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.161653889,715.161653889,679.161653889,661.838346111,635.838346111,879,788,804,652.838346111,631.161653889,653,0.403571774425,-0.0055179292227,0.0699635055595,0.999999998554,-1.35574843448e-05,-4.40684489534e-05,-2.76662332769e-05,1793239453792450048
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.415058369,715.415058369,679.415058369,662,636,879,788,804,652.584941631,631.415058369,653,0.403889111491,-0.00551939934731,0.0699667411095,0.999999998622,-1.77121391757e-05,-3.9904270322e-05,-2.91531972367e-05,1793239453809116672
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.990184699,715.990184699,679.990184699,662,636,879,788,804,652.009815301,631.990184699,653,0.404211766629,-0.00552067485507,0.069968024298,0.999999998615,-1.63594290319e-05,-4.03484771252e-05,-2.95820940698e-05,1793239453825783040
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.422605787,715.422605787,680,662,635.422605787,879,788,803.422605787,652,632,652.422605787,0.404570506705,-0.00551781808536,0.0699707921112,0.999999998733,-7.47533167892e-06,-3.96665239614e-05,-3.00744022288e-05,1793239453842449664
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.162602048,715,680,662,635.162602048,879,788,803.162602048,652.162602048,632,652.162602048,0.404947835788,-0.0055153903783,0.0699741557495,0.999999998849,-1.35315860258e-06,-3.67694827509e-05,-3.08025970439e-05,1793239453859116288
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.74213925,715,680,662,635.74213925,879,788,803.74213925,652.74213925,632,652.74213925,0.405371223201,-0.00551424682089,0.0699789810734,0.999999999081,-2.64826009986e-06,-2.82427727616e-05,-3.21328161736e-05,1793239453875782912
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.68113578,715.31886422,680,662,636,879,788,804,652.68113578,632,653,0.405803503257,-0.0055144273688,0.0699796523547,0.999999999152,-5.47354561205e-06,-2.39511115381e-05,-3.30645982573e-05,1793239453892449792
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.106665076,715.893334924,680,662,636,879,788,804,652.106665076,632,653,0.406242911838,-0.00551566933985,0.0699769936918,0.999999999122,-9.52545040233e-06,-2.30543298893e-05,-3.36769871964e-05,1793239453909116672
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.469437174,745,716,680,662,636,879.469437174,788,804,652,632,653,0.40669932309,-0.00552081879598,0.0699617675894,0.999999998009,-1.83176342321e-05,-4.98375421497e-05,-3.40855946785e-05,1793239453925783808
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.952873784,745.047126216,715.952873784,680,662,636,880.047126216,788,804,652,632,653,0.407165001983,-0.0055269002065,0.0699449482736,0.999999995809,-2.80355796942e-05,-8.00433284638e-05,-3.44938031977e-05,1793239453942450432
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.361146017,745.638853983,715.361146017,680,662,636,880.638853983,788,804,652,632,653,0.407692978984,-0.00553345545905,0.0699428320301,0.999999995771,-3.59614310989e-05,-7.68656826908e-05,-3.54343567356e-05,1793239453959117568
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.774544365,715,679.774544365,662,636,880.774544365,788,804,652.225455635,631.774544365,653,0.408255524701,-0.00553910651719,0.06994783573,0.999999996536,-4.24060698635e-05,-6.16541525402e-05,-3.64447607438e-05,1793239453975784448
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.195971466,715,679.195971466,662,636,880.195971466,788,804,652.804028534,631.195971466,653,0.408872213233,-0.00554334139096,0.0699639909587,0.999999997831,-4.65307760633e-05,-2.75946911773e-05,-3.75645671556e-05,1793239453992450816
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.379589852,662,636,880,788,804,652.620410148,631.379589852,653,0.409474199884,-0.00554457334483,0.0699687311994,0.999999998144,-4.49989872447e-05,-1.48041567984e-05,-3.83226512065e-05,1793239454009117184
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.953608598,662,636,880,788,804,652.046391402,631.953608598,653,0.410068656097,-0.0055442671795,0.0699676245934,0.999999998337,-4.05698972978e-05,-1.29077343386e-05,-3.88954582134e-05,1793239454025783552
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.539264687,745.539264687,715,680,662,636,880,788,804,652,631.460735313,653,0.410671732819,-0.00554525338629,0.0699588737772,0.999999997854,-4.27371848235e-05,-2.90669802083e-05,-4.02481310359e-05,1793239454042450176
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.874886457,746,715,679.874886457,662,636,880,788.125113543,803.874886457,652,631,652.874886457,0.411298177046,-0.00554574942644,0.0699548709357,0.999999997432,-4.52606951419e-05,-3.7066627392e-05,-4.13844420905e-05,1793239454059116800
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.292075707,746,715,679.292075707,662,636,880,788.707924293,803.292075707,652,631,652.292075707,0.412007332623,-0.00554403661988,0.0699706961603,0.999999997993,-4.69656308529e-05,-9.40876656782e-06,-4.14784021951e-05,1793239454075783936
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.713730496,715.286269504,679.286269504,662,636,880,788.713730496,803.572539009,652,631,652.286269504,0.412743822,-0.00554356888293,0.0699958196452,0.999999997556,-4.73855526888e-05,3.11539858824e-05,-4.0890785927e-05,1793239454092450560
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.139871347,715.860128653,679.860128653,662,636,880,788.139871347,804.720257306,652,631,652.860128653,0.413507771313,-0.00554435195706,0.0700302842716,0.999999994548,-4.65145349014e-05,8.46811445204e-05,-3.96184501243e-05,1793239454109116928
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.565488163,680,662,636,880,788,804.565488163,652,631.434511837,653,0.414236336292,-0.00554226923269,0.0700352949507,0.999999994509,-4.09255399062e-05,8.78645190572e-05,-3.9828535719e-05,1793239454125783296
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.009318665,745.009318665,715,680,662,636,880,788,804,652,631.990681335,653,0.414952955261,-0.00553930386092,0.0700299862117,0.99999999589,-3.41415761557e-05,7.35405679625e-05,-4.0579789029e-05,1793239454142449664
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.600021294,745.600021294,715,680,662,636,880,788,804,652,631.399978706,653,0.415635769612,-0.00553889519638,0.0699731059779,0.999999997623,-4.76717263744e-05,-2.07578269767e-05,-4.52860992806e-05,1793239454159116288
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,715.186985016,680.186985016,662,636,880.186985016,787.813014984,804.186985016,652,631.186985016,653,0.416360561936,-0.00553853948666,0.0699344898983,0.99999999375,-5.47893690513e-05,-8.43234646432e-05,-4.88717292476e-05,1793239454175782912
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,715.766107615,680.766107615,662,636,880.766107615,787.233892385,804.766107615,652,631.766107615,653,0.417173388766,-0.00553829483174,0.0699341766844,0.99999999409,-4.84589543668e-05,-8.34375733975e-05,-5.0107113267e-05,1793239454192449792
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.656776818,715.656776818,680.656776818,662,636,880.656776818,787.343223182,805,652,631.656776818,653,0.418009554621,-0.00553881953781,0.0699535873004,0.999999996197,-4.91104826673e-05,-5.23193399273e-05,-4.95599664807e-05,1793239454209116416
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.081021032,715.081021032,680.081021032,662,636,880.081021032,787.918978968,805,652,631.081021032,653,0.418861532558,-0.0055398654835,0.0699863607479,0.999999997372,-5.44922550615e-05,-7.18791645586e-07,-4.78051606447e-05,1793239454225783296
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.494853961,745,715.505146039,680,662,636,880.505146039,788,804.494853961,652,631.505146039,653,0.419694806352,-0.00554324711208,0.0700060428422,0.99999999663,-6.07148910421e-05,2.76674456719e-05,-4.78396620709e-05,1793239454242449664
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.091550659,715.908449341,680,662.091550659,636,880.908449341,788,804,652,632,653,0.420529051244,-0.0055464181623,0.0700231538486,0.999999995306,-6.63723044105e-05,5.16635957215e-05,-4.80897836897e-05,1793239454259115776
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.670148157,715.329851843,680,662.670148157,636,880.329851843,788,804,652,632,653,0.421384757714,-0.00554643401499,0.0700379923624,0.999999993889,-6.82901590605e-05,7.25296874787e-05,-4.7928093824e-05,1793239454275782400
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.249065291,746,715,680,662.750934709,636,880,788,804,652,631.750934709,653,0.422219462378,-0.00554478997086,0.0700297598496,0.999999994818,-6.80719505942e-05,5.74767521118e-05,-4.92603787796e-05,1793239454292449024
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.828406362,746,715,680,662.171593638,636,880,788,804,652,631.171593638,653,0.423026317485,-0.00554094480222,0.0699909337492,0.999999996491,-6.50211921478e-05,-5.20700310184e-06,-5.25737654079e-05,1793239454309115648
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.597277679,746,715,680,662,636,880.402722321,788,804,652,631.402722321,653,0.42382340003,-0.00553817113176,0.0699284054183,0.9999999912,-6.55396505354e-05,-9.97967566395e-05,-5.78444320656e-05,1793239454325782528
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.025076489,746,715,680,662,636,880.974923511,788,804,652,631.974923511,653,0.424616369909,-0.00553584838339,0.0698559024074,0.99999997408,-6.75601529925e-05,-0.000207813604665,-6.39387861678e-05,1793239454342449152
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,881,788,804.562611099,652.562611099,631.437388901,653,0.425504743581,-0.00554098268665,0.0698938086814,0.99999998442,-8.18316228679e-05,-0.000143008490677,-6.33470876009e-05,1793239454359115776
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715.148679261,680.148679261,662.148679261,636,880.851320739,788,805,653,631,653,0.426397571288,-0.00554563711111,0.0699383794023,0.999999991416,-9.06307175672e-05,-7.20918071459e-05,-6.12979421779e-05,1793239454375782656
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715.728000925,680.728000925,662.728000925,636,880.271999075,788,805,653,631,653,0.427290634638,-0.00554791163762,0.0699875961269,0.999999995058,-8.19529761863e-05,-6.41602265335e-06,-5.59149705747e-05,1793239454392449280
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.693610604,715.693610604,681,662.693610604,636,880.306389396,788,804.693610604,652.693610604,631,653,0.428180208529,-0.0055491560098,0.070021667548,0.999999994409,-8.03126143924e-05,4.26585821811e-05,-5.39691580767e-05,1793239454409115904
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.116048096,715.116048096,681,662.116048096,636,880.883951904,788,804.116048096,652.116048096,631,653,0.429066693991,-0.00554948863309,0.0700423344588,0.999999991912,-8.49007589898e-05,7.704013733e-05,-5.50654392778e-05,1793239454425782528
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.4598364,745,715,680.5401636,662.9196728,636,880.5401636,788,804.4598364,652,631.4598364,653,0.429928607807,-0.00555056410314,0.0700404836836,0.999999992068,-8.44294590887e-05,7.54276064927e-05,-5.52026818344e-05,1793239454442449408
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.036103802,715,680,663.963896198,636,880.036103802,788,805,652,631.963896198,652.963896198,0.430775424991,-0.0055515997675,0.070029348617,0.999999993329,-8.29922027769e-05,5.82606703231e-05,-5.5313665015e-05,1793239454459116032
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.624686677,715,680,663.375313323,636,880.624686677,788,805,652,631.375313323,652.375313323,0.431485772189,-0.00554916795659,0.0699627847046,0.999999992851,-8.62412545421e-05,-5.84287679752e-05,-5.87130289729e-05,1793239454475782912
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.57954675,745.789773375,715,680.210226625,663,636,880.789773375,788,804.789773375,652,631,652.210226625,0.432229660353,-0.00554772290401,0.0699152822671,0.999999984905,-8.73296502175e-05,-0.00013706812509,-6.14553598932e-05,1793239454492449280
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.419176588,745.209588294,715,680.790411706,663,636,880.209588294,788,804.209588294,652,631,652.790411706,0.43303257429,-0.00554801435602,0.0699013243511,0.99999998337,-8.46157086705e-05,-0.000148746672965,-6.30414406609e-05,1793239454509115904
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.367173309,745.367173309,715,681,663,635.632826691,880.367173309,788,804.367173309,652,631.367173309,653,0.433877187307,-0.00555005931079,0.0699377355818,0.999999990756,-8.90308117274e-05,-8.18665267126e-05,-6.21283322813e-05,1793239454525782784
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.941998754,745.941998754,715,681,663,635.058001246,880.941998754,788,804.941998754,652,631.941998754,653,0.434745382882,-0.00555309594598,0.0700026327102,0.999999993028,-9.74776922542e-05,2.94419069138e-05,-5.98018253213e-05,1793239454542449408
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.471184864,746,715,680.471184864,663,635.528815136,881,788,805,652,631.471184864,652.471184864,0.435531793586,-0.00555565422581,0.0700254341655,0.999999992168,-9.25385489458e-05,6.17641687817e-05,-5.73290264167e-05,1793239454559116032
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.11499064,746,715,680,662.88500936,636,881,788,804.88500936,652,631,652.11499064,0.436299408662,-0.00555779077334,0.0700363004363,0.999999991601,-8.87088181882e-05,7.63091158671e-05,-5.57353708763e-05,1793239454575782400
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.693164188,746,715,680,662.306835812,636,881,788,804.306835812,652,631,652.693164188,0.437028285507,-0.00555844482041,0.0700181209837,0.999999992272,-9.53989319266e-05,5.49524821696e-05,-5.77490404311e-05,1793239454592449280
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662.272130379,636,881,788,804.272130379,652,631.272130379,653,0.437725581157,-0.00555951528394,0.069989956339,0.999999993057,-9.96779008128e-05,1.87382784804e-05,-5.99949110877e-05,1793239454609116160
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662.851992873,636,881,788,804.851992873,652,631.851992873,653,0.438387163919,-0.005561056642,0.0699505001805,0.999999992335,-0.000101230283734,-3.4277250612e-05,-6.25033605591e-05,1793239454625782784
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680.432267154,662.567732846,636,880.567732846,788,805,652,631.567732846,653,0.43898900255,-0.00555859887155,0.0698951324503,0.999999985137,-9.76245699521e-05,-0.000126618987802,-6.45222720587e-05,1793239454642449408
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635.987332814,880.012667186,787.987332814,805,652,631.012667186,653,0.439570912088,-0.00555479321639,0.0698350732774,0.999999966875,-9.22881018259e-05,-0.000230933235236,-6.63515238868e-05,1793239454659116032
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635.407623282,880.592376718,787.407623282,805,652,631.592376718,653,0.44017728996,-0.00555200426769,0.0698091174837,0.999999957943,-8.86101486191e-05,-0.000267853121661,-6.72011947754e-05,1793239454675782656
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,881,787,805,652,632,653,0.440792061058,-0.00555081124415,0.0697987219401,0.999999954031,-8.68556133234e-05,-0.0002825659046,-6.74587421821e-05,1793239454692449536
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,881,787,805,652,632,653,0.441426713445,-0.005553398513,0.0698251842003,0.999999963849,-8.96571076437e-05,-0.000244676380911,-6.63137176987e-05,1793239454709116160
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.667891278,715,681,662,635,881,787,805,652,631.667891278,652.667891278,0.442016694843,-0.00555570483219,0.0698440665175,0.999999969198,-9.10931139267e-05,-0.000221398388227,-6.54868697745e-05,1793239454725782528
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.093452724,715,681,662,635,881,787,805,652,631.093452724,652.093452724,0.442574081114,-0.00555780615064,0.0698574179746,0.99999997191,-9.15327641927e-05,-0.000208781996459,-6.4892185908e-05,1793239454742449152
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.516175691,745,715,681,661.516175691,635,881,787,805,651.516175691,631.483824309,652.483824309,0.443061242521,-0.00555746228016,0.0698293189324,0.99999996115,-8.69638495474e-05,-0.000256856720703,-6.45058819534e-05,1793239454759116032
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.062595872,745,715,681,661,635,880.937404128,786.937404128,805,651,632,653,0.443531168082,-0.00555638676824,0.0697933162507,0.99999994466,-8.13341592732e-05,-0.000316141452821,-6.41798794176e-05,1793239454775782400
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.649262781,745,715,681,661,635,880.350737219,786.350737219,805,651,632,653,0.443971023997,-0.00555316329761,0.0697585689876,0.999999926485,-7.49707158358e-05,-0.000370554190236,-6.40197706321e-05,1793239454792449280
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.767026865,745,715,681.232973135,661,634.767026865,880.232973135,786.232973135,805,651.232973135,631.767026865,652.767026865,0.444407562609,-0.00555103817815,0.0697315025969,0.999999911115,-7.25267078078e-05,-0.000410272786823,-6.47049487622e-05,1793239454809115904
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.187711832,745,715,681.812288168,661,634.187711832,880.812288168,786.812288168,805,651.812288168,631.187711832,652.187711832,0.444839169623,-0.00555054588683,0.0697158547271,0.999999903243,-7.59094011761e-05,-0.000428146815482,-6.66467452925e-05,1793239454825782784
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.389686,715,681.610314,661,634,881,786.610314,805,651.610314,631,652.389686,0.445250014142,-0.00555100778307,0.0697087897986,0.99999990138,-8.06056251216e-05,-0.000431445580882,-6.78030659351e-05,1793239454842449408
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.966164887,715,681.033835113,661,634,881,786.033835113,805,651.033835113,631,652.966164887,0.445650906361,-0.00555192706149,0.0697058390334,0.999999902468,-8.59314798172e-05,-0.000427757811273,-6.85828751294e-05,1793239454859116032
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.553213462,745.446786538,715,681,661,634,881,786,805.553213462,651,631,653,0.446002880957,-0.00555232623128,0.0697025673156,0.999999896721,-8.70410045009e-05,-0.000440758284234,-6.86572520106e-05,1793239454875782656
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745.718914736,715,681,660.281085264,634,880.281085264,786,805.281085264,651,631,653,0.446645693172,-0.00555401158987,0.069687421901,0.999999882113,-8.34659793787e-05,-0.000473526584865,-6.76811924846e-05,1793239454909115904
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.703719787,715,681,660,633.703719787,880.296280213,786,805,651.296280213,631,653,0.446925425008,-0.00555484137631,0.0696756164629,0.999999871028,-8.1850847132e-05,-0.00049673109311,-6.70954099967e-05,1793239454925782528
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.128712763,715,681,660,633.128712763,880.871287237,786,805,651.871287237,631,653,0.447181825796,-0.00555538448351,0.0696622985889,0.999999856607,-8.19174103787e-05,-0.000525000224462,-6.67167224332e-05,1793239454942449152
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.446739677,660,633,881,786,805,651.553260323,631,653,0.447419111156,-0.00555484905704,0.0696489309179,0.999999846454,-8.13975324985e-05,-0.000544020263348,-6.7137899558e-05,1793239454959116032
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.977191634,745.022808366,715,682,660,633,881,786,805,651.022808366,631,653,0.447650411546,-0.00555414750208,0.0696363757163,0.999999838014,-8.08916112488e-05,-0.000559319234626,-6.77495560381e-05,1793239454975782656
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.389031876,745.610968124,715,682,660,633,881,786,805,651.610968124,631,653,0.44787001215,-0.00555703818641,0.0696443151837,0.999999843697,-8.49239010727e-05,-0.000548502652368,-6.7364668028e-05,1793239454992449280
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.196865383,746,715,681.803134617,659.803134617,633,881,786,805,651.803134617,631,653,0.448077798857,-0.00555906673281,0.0696514195164,0.99999984881,-8.7491719638e-05,-0.000538756686862,-6.68377664872e-05,1793239455009116160
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.77834238,746,715,681.22165762,659.22165762,633,881,786,805,651.22165762,631,653,0.448262504985,-0.00555941093874,0.0696568922636,0.999999852983,-8.71984321238e-05,-0.000531102363365,-6.60334162596e-05,1793239455025782784
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.644793982,745.644793982,714.644793982,681,659,633,880.644793982,785.644793982,805,651,631,653,0.448422208917,-0.00556010318353,0.0696562448305,0.999999853019,-8.7981087549e-05,-0.000530952784025,-6.56613373878e-05,1793239455042449408
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.070772231,745.070772231,714.070772231,681,659,633,880.070772231,785.070772231,805,651,631,653,0.448566510893,-0.00556100982895,0.0696518272149,0.999999850512,-8.94265505283e-05,-0.0005354263128,-6.55555483332e-05,1793239455059116032
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.505923754,745,714.505923754,681,659,632.494076246,880.505923754,785,805,651,630.494076246,653,0.448678744692,-0.00556123290642,0.0696442183306,0.999999843245,-9.04528896655e-05,-0.000548585700421,-6.61956796442e-05,1793239455075782656
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.325645559,745.674354441,715,681.674354441,659,632.674354441,881,785.674354441,804.325645559,651,630.674354441,653,0.448878607623,-0.00556388954777,0.0696359848633,0.999999835341,-9.20649589153e-05,-0.000562618812375,-6.5595621715e-05,1793239455109116160
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.258606027,746,715,682,659,633,880.741393973,785.741393973,804.258606027,651,631,653,0.448965840013,-0.00556492127957,0.0696369527497,0.999999835819,-9.17488671086e-05,-0.000561920134402,-6.47364690098e-05,1793239455125782784
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714.176856213,681.176856213,659,632,881,785,805,651,631,652.823143787,0.449328472167,-0.00556258891978,0.0696296560947,0.999999828046,-9.39008058174e-05,-0.000575838382015,-5.9171609272e-05,1793239455659116032
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.399573617,745.600426383,714.399573617,681,659,632,881,785,805,651.399573617,631,652.600426383,0.449328510691,-0.00556236792029,0.0696287919673,0.999999827599,-9.46668868349e-05,-0.000576448189715,-5.95662193083e-05,1793239455675782912
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.975828614,745.024171386,714.975828614,681,659,632,881,785,805,651.975828614,631,652.024171386,0.449327934599,-0.00556116487373,0.0696269868878,0.999999826627,-9.43905585786e-05,-0.000578095786955,-6.03512624556e-05,1793239455692449536
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.43583808,745,714.43583808,681,659,632,880.43583808,785,805.56416192,652,631,652.56416192,0.449329254884,-0.00556036659636,0.0696289420558,0.999999827757,-9.13369207349e-05,-0.000576650757151,-6.01448446151e-05,1793239455709116160
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681.1506902,658.8493098,632,880,785,805.6986196,652,631,653,0.449329782376,-0.00556042917621,0.0696301179077,0.999999828203,-9.00911804978e-05,-0.000576100363059,-5.98758313687e-05,1793239455725782784
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681.730571281,658.269428719,632,880,785,804.538857438,652,631,653,0.449327815386,-0.00556289314718,0.0696286052389,0.999999826455,-9.43409621296e-05,-0.000578483687909,-5.95521699214e-05,1793239455742449408
+253,4.216666667,HOLD_POSE2,765,745,715,682,658,632,881,785,806,652,631,653,0.449327623435,-0.00556122889881,0.0696276186049,0.999999825865,-9.30288601169e-05,-0.000579739872462,-5.93036300558e-05,1793239455779233280
+254,4.233333333,HOLD_POSE2,765,745,715,681.424314118,658.575685882,632,881,785,804.848628236,651.424314118,631,653,0.449327017069,-0.0055617805511,0.069627576074,0.999999825835,-9.31077073036e-05,-0.000579729845247,-5.97856248719e-05,1793239455795899904
+255,4.250000000,HOLD_POSE2,765.15499921,745.15499921,714.84500079,681.15499921,659,632,881,785,804.15499921,651.15499921,631,653,0.449327028043,-0.00556235911255,0.0696277932332,0.999999826034,-9.31771575994e-05,-0.000579349751894,-6.00256940608e-05,1793239455812566528
+256,4.266666667,HOLD_POSE2,765.74448086,745.74448086,714.25551914,681.74448086,659,632,881,785,804.74448086,651.74448086,631,653,0.449328769501,-0.00556301310388,0.0696287383371,0.999999826877,-9.32202672368e-05,-0.00057793231623,-5.95876151482e-05,1793239455829233152
+257,4.283333333,HOLD_POSE2,766,746,714.328595638,682,659,632,881,785,805,652,631,653,0.449329212557,-0.00556205674354,0.0696285836807,0.999999827049,-9.20326896209e-05,-0.000577844819924,-5.93962005353e-05,1793239455845899776
+258,4.300000000,HOLD_POSE2,766,746,714.908604116,682,659,632,881,785,805,652,631,653,0.449328662189,-0.00555986828195,0.0696275875832,0.999999826705,-8.99034970161e-05,-0.000578774877775,-5.93935120445e-05,1793239455862566400
+259,4.316666667,HOLD_POSE2,765.515494333,745.515494333,715,682,658.515494333,632,881,785,805,651.515494333,631,653,0.449328839847,-0.00555889503574,0.0696273267307,0.999999826652,-8.87555725415e-05,-0.000579028923254,-5.95261104951e-05,1793239455879233024
+260,4.333333333,HOLD_POSE2,765,745,714.939135276,682,658,632,881,785,805,651.060864724,631,653,0.449328990896,-0.00555834098683,0.0696271838256,0.999999826563,-8.79400328092e-05,-0.000579294458982,-5.96590035567e-05,1793239455895899648
+261,4.350000000,HOLD_POSE2,765,745,714.352181636,682,658,632,881,785,805,651.647818364,631,653,0.449327734873,-0.00555944554552,0.0696268716668,0.99999982568,-8.84109748026e-05,-0.000580752286309,-5.95757116041e-05,1793239455912567296
+262,4.366666667,HOLD_POSE2,765,745.231504518,714.231504518,682,658,632,881,785,805,652,631,653,0.449326957835,-0.00556052304953,0.069626750535,0.99999982529,-8.94868114458e-05,-0.000581274951376,-5.94337311937e-05,1793239455929234176
+263,4.383333333,HOLD_POSE2,765,745.810289062,714.810289062,682,658,632,881,785,805,652,631,653,0.449326899322,-0.00556155996869,0.0696269159631,0.999999825635,-9.14700507704e-05,-0.000580394779003,-5.92037122102e-05,1793239455945900288
+264,4.400000000,HOLD_POSE2,765.389705171,746,714.610294829,682,658.389705171,632,880.610294829,785,805,651.610294829,631,652.610294829,0.449327522973,-0.00556191227555,0.069627851032,0.999999826271,-9.21619569941e-05,-0.00057919135235,-5.91717970617e-05,1793239455962566656
+265,4.416666667,HOLD_POSE2,765.969429282,746,714.030570718,682,658.969429282,632,880.030570718,785,805,651.030570718,631,652.030570718,0.449328479246,-0.00556193076784,0.0696291613751,0.999999827049,-9.22242136912e-05,-0.000577830307913,-5.92364766605e-05,1793239455979233792
+266,4.433333333,HOLD_POSE2,765.459342452,745.459342452,714,682,659,632,880.540657548,785,805,651,630.459342452,652.540657548,0.449327672142,-0.00556237753998,0.069627105564,0.999999825166,-9.36908709066e-05,-0.000580813779002,-5.95379974012e-05,1793239455995900160
+267,4.450000000,HOLD_POSE2,765,745,714,681.884437823,658.884437823,632,881,785,805,651.115562177,630.115562177,653,0.449327449908,-0.00556240974879,0.0696257163371,0.999999823999,-9.46476094168e-05,-0.000582639575315,-5.97938152341e-05,1793239456012566784
+268,4.466666667,HOLD_POSE2,765,745,714,681.292425864,658.292425864,632,881,785,805,651.707574136,630.707574136,653,0.449330043749,-0.00556063446281,0.0696278479482,0.999999826426,-9.31796785552e-05,-0.000578695273684,-5.98068463615e-05,1793239456029233408
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,632,881,785,805,651,631,653,0.449328312996,-0.00555838477021,0.0696260424942,0.999999825828,-8.80370464573e-05,-0.000580564825756,-5.94869088657e-05,1793239456066542336
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.581359762,745,714.581359762,682,658,632,881,785,805,651,631,653,0.449329812652,-0.00555940846109,0.069627624016,0.999999826572,-9.01027455864e-05,-0.000578942595516,-5.96825337699e-05,1793239456083209472
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.164732596,714.835267404,681.835267404,658.164732596,632,881,785,805,651.164732596,630.835267404,653,0.449330583332,-0.00555987986386,0.0696285435381,0.999999826871,-9.13919035131e-05,-0.000578216944827,-5.97466163673e-05,1793239456099876608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.75328473,714.24671527,681.24671527,658.75328473,632,881,785,805,651.75328473,630.24671527,653,0.449329478527,-0.00555893035505,0.0696277598854,0.999999826037,-9.06831978226e-05,-0.000579797989258,-5.94722705421e-05,1793239456116543232
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.663330542,745.663330542,714,681,658.663330542,632,881,785,805,652,630.336669458,653,0.44932976428,-0.00555904987188,0.0696279830118,0.999999826313,-9.10623965852e-05,-0.000579296363652,-5.91413019782e-05,1793239456133209856
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.083675342,745.083675342,714,681,658.083675342,632,881,785,805,652,630.916324658,653,0.449331053646,-0.00555994094075,0.0696289327649,0.999999827387,-9.22267728557e-05,-0.000577291604491,-5.87694668836e-05,1793239456149876224
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.494257617,658,632,880.505742383,785,805,651.505742383,630.505742383,652.505742383,0.449332875769,-0.00556098833023,0.0696298452999,0.999999828312,-9.33517693452e-05,-0.000575508018368,-5.87502348718e-05,1793239456166542592
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.071246989,745,714,682,658,632,880.071246989,785,805,651.071246989,630,652.071246989,0.449334186663,-0.00556165313285,0.069630317569,0.999999828903,-9.36941881258e-05,-0.000574417943365,-5.88146198376e-05,1793239456183209216
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.643642965,745,714,682,658,632,880.643642965,785,805,651.643642965,630,652.643642965,0.449331269379,-0.00555944132948,0.069627737188,0.999999827324,-8.85787121281e-05,-0.00057794354115,-5.9048736696e-05,1793239456199875840
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.223364861,714.223364861,681.776635139,658,632,881,785,805,652,630,653,0.44932679159,-0.00555807958918,0.0696249839082,0.999999825102,-8.64614747808e-05,-0.000582062030753,-5.93664197682e-05,1793239456216542464
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.815170832,714.815170832,681.184829168,658,632,881,785,805,652,630,653,0.449319739743,-0.00555812003107,0.0696219454315,0.999999821847,-8.9289842936e-05,-0.000587158497123,-5.98219455766e-05,1793239456233209088
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.601448002,746,715,681.398551998,658,632.398551998,881,785,805,651.601448002,630.398551998,653,0.449296339335,-0.00555823084926,0.0696104880762,0.999999810484,-9.01251854671e-05,-0.000606054295439,-6.00651587268e-05,1793239456249875712
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.021892924,746,715,681.978107076,658,632.978107076,881,785,805,651.021892924,630.978107076,653,0.449265514199,-0.00555837362898,0.0695952072723,0.999999794915,-9.00553921603e-05,-0.000631217084371,-6.02119497238e-05,1793239456266542592
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,715,681.446804623,658.553195377,632.446804623,880.446804623,785,805,651,630.446804623,652.446804623,0.449209305368,-0.00555650063336,0.0695746490959,0.999999771688,-8.89615276453e-05,-0.00066708487356,-6.08852475322e-05,1793239456283209472
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.127856281,746,714.872143719,681.127856281,658.872143719,632,880.127856281,785,805,651,630,652.127856281,0.449148998799,-0.00555456021167,0.0695550526537,0.999999749304,-8.77877210074e-05,-0.000699933243956,-6.14783445061e-05,1793239456299876096
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.701638301,746,714.298361699,681.701638301,658.298361699,632,880.701638301,785,805,651,630,652.701638301,0.449077876072,-0.00555266063068,0.0695395330446,0.999999734591,-8.64753172111e-05,-0.000720785017356,-6.17196342302e-05,1793239456316542464
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,714,681.71712039,658.28287961,632,880.71712039,785,804.71712039,651.28287961,630,652.71712039,0.449000196325,-0.00555032591833,0.0695301509329,0.99999972489,-8.45757316537e-05,-0.000734376290402,-6.13125369871e-05,1793239456333208832
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,714,681.1277985,658.8722015,632,880.1277985,785,804.1277985,651.8722015,630,652.1277985,0.44891541339,-0.00554751983015,0.0695274175471,0.999999720947,-8.20400546966e-05,-0.000740102293253,-6.02030449038e-05,1793239456349875456
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,658.546304036,632,880,785,804.453695964,651.546304036,630.453695964,652,0.448817644348,-0.00554555256777,0.0695287315664,0.9999997226,-7.96251829169e-05,-0.000738295077205,-5.81412595529e-05,1793239456366542336
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.9675828,745.9675828,714.0324172,681.0324172,658.0324172,632,880.0324172,785,805,651.0324172,630.9675828,652,0.448714733495,-0.005543759279,0.0695310813489,0.999999725594,-7.71950165196e-05,-0.00073466852475,-5.58076215966e-05,1793239456383209216
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.398882771,745.398882771,714.601117229,681.601117229,658.601117229,632,880.601117229,785,805,651.601117229,630.398882771,652,0.448586248841,-0.00554100148887,0.0695320251852,0.999999725397,-7.39584324107e-05,-0.00073545329611,-5.3339039225e-05,1793239456399875840
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.821975596,659,632,880.821975596,785,805,652,630.178024404,652,0.448447353298,-0.00553752329738,0.0695318119572,0.999999723802,-7.01099467722e-05,-0.000738167693829,-5.08755012733e-05,1793239456416542720
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.22579079,659,632,880.22579079,785,805,652,630.77420921,652,0.448284003703,-0.00553235296008,0.0695288809082,0.999999718905,-6.48241699405e-05,-0.000745414578619,-4.84238124742e-05,1793239456433209600
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.360238329,745,715,681.360238329,659,632.360238329,880.360238329,785,805,651.639761671,631,652.360238329,0.448097631,-0.00552803272994,0.0695274637842,0.999999715155,-6.10371908542e-05,-0.000750936839132,-4.53714864625e-05,1793239456449876224
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.940076635,745,715,681.940076635,659,632.940076635,880.940076635,785,805,651.059923365,631,652.940076635,0.447897223477,-0.00552423072153,0.0695269695432,0.999999712108,-5.81638729201e-05,-0.000755407775654,-4.19530139507e-05,1793239456466542592
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,714.482846156,682,659,633,881,785,805,651.517153844,631,653,0.447672243955,-0.00551971316182,0.0695292145186,0.999999712173,-5.31490176634e-05,-0.000755905573428,-3.78954149733e-05,1793239456483208960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.906413353,745.093586647,714.093586647,682,659,633,881,785,805,652,631,652.906413353,0.447438103754,-0.00551484543219,0.0695315650469,0.999999712818,-4.71548748531e-05,-0.00075564934263,-3.36763677442e-05,1793239456499875840
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.331657333,745.668342667,714.668342667,682,659,633,881,785,805,652,631,652.331657333,0.447171425377,-0.00550860134845,0.0695328350606,0.99999971472,-3.73948249455e-05,-0.000753870733336,-2.90059782366e-05,1793239456516542464
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.283825931,635.283825931,879,787,803,652,631,652.283825931,0.402992930173,-0.00536608022125,0.0698303071724,0.999999941393,0.000197649099656,-0.000278752412312,2.11282374339e-05,1793239457666542080
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.788828835,715,679.788828835,662,636,879.211171165,787,804,652,631.788828835,652.211171165,0.400979303968,-0.005360224106,0.0698283533184,0.999999939813,0.000206933644049,-0.000278001180439,1.63708523827e-05,1793239458083209472
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.539112741,636,879,787,803.460887259,652.460887259,631,652,0.400977359255,-0.00536065664744,0.0698288819547,0.9999999403,0.000205822037422,-0.000277122685031,1.55285585196e-05,1793239458149875456
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635.8835073,879,787,803.1164927,652,631.1164927,652.1164927,0.400977012087,-0.00536041770159,0.0698290685091,0.99999994008,0.000206834122061,-0.000277150470222,1.57435438046e-05,1793239458166542336
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.021443872,879.021443872,787,804,652,632,652.021443872,0.40097683953,-0.00536190157693,0.0698311247452,0.99999994079,0.000205577632168,-0.000275525023287,1.55856416066e-05,1793239458249875200
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.825925963,787,804,652,631.825925963,653,0.400977114572,-0.00536177149612,0.0698300894755,0.999999941072,0.000205536112964,-0.000274533711344,1.55757664161e-05,1793239458283208704
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.233324524,787,804,652,631.233324524,653,0.400976454859,-0.00536229882333,0.0698302088811,0.999999941341,0.000204004445849,-0.00027470412831,1.54080126557e-05,1793239458299875328
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.830639445,661,636,879,787.169360555,804,652,631.830639445,653,0.400976840994,-0.00536089030351,0.0698315348526,0.99999994084,0.000208022046112,-0.000273506726834,1.55448942628e-05,1793239458416541952
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.588295911,661.411704089,636,879.411704089,787,803.588295911,652,631.588295911,653,0.400977033808,-0.00536137076198,0.0698319570024,0.999999941246,0.000206678580702,-0.000273050231757,1.53632889554e-05,1793239458433208832
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+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.562413674,662,636,879.437586326,787.562413674,803.562413674,652,631.562413674,653,0.400977543163,-0.00536082554223,0.0698322108028,0.999999941307,0.000207955793731,-0.000271866059038,1.51220436483e-05,1793239458466541824
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00a783c5811c04c342357a3f6bd081d77e4f4517
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+24,0.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+26,0.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+27,0.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+28,0.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+29,0.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+37,0.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+38,0.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+39,0.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+63,1.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+64,1.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+65,1.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+66,1.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+67,1.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+68,1.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+69,1.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+71,1.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+72,1.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+73,1.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+74,1.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+75,1.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+77,1.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+78,1.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+79,1.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+80,1.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+81,1.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+82,1.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+83,1.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+84,1.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+85,1.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+86,1.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+87,1.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+88,1.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+89,1.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+90,1.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+92,1.533333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+93,1.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+95,1.583333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+96,1.600000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+97,1.616666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+98,1.633333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+99,1.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+390,6.500000000,pose2_to_pose3_retreat,0.575667879893,9.06744982208e-05,1.0600324981,0.546238333229,0.00876241976583,1.0597006232
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+396,6.600000000,pose2_to_pose3_retreat,0.57566679195,9.07819643905e-05,1.06003248992,0.546237243726,0.00876252198097,1.05970061607
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffe9f15bbd2d4334932ba59499ab11fdcdff185a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f3ea44ffc6c548d373a76e9c0b64094ef795800ab3909425fc56ac2d49e75e2
+size 26445911
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05ec8b83daca58587b71543e74372c64c134366a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
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+23,0.383333333,BASELINE,766,745.659439121,715,680,662,636,879.340560879,787.659439121,804,652,631.659439121,653.659439121,0.400977885961,-0.00536038918013,0.0698334929541,0.99999994221,0.000207262771224,-0.000269082453402,1.4730051261e-05,1793239459005963776
+24,0.400000000,BASELINE,766,745.069383368,715,680,662,636,879.930616632,787.069383368,804,652,631.069383368,653.069383368,0.400979946714,-0.00535933733346,0.0698345914377,0.999999942114,0.000209854164126,-0.000267423620771,1.47747855341e-05,1793239459022630400
+25,0.416666667,BASELINE,765.487706395,745,715,679.487706395,662,636,879.487706395,787,803.487706395,652,631.512293605,652.487706395,0.400980167421,-0.00535991535711,0.0698350011588,0.999999942358,0.000209698124303,-0.000266638196101,1.46552246288e-05,1793239459039297024
+26,0.433333333,BASELINE,765.091847416,745,715,679,661.908152584,636,879.091847416,787.091847416,803.091847416,652,631.908152584,652.091847416,0.400979985779,-0.00536077548669,0.0698352345275,0.999999942602,0.000209050699335,-0.0002662371384,1.45311779127e-05,1793239459055963904
+27,0.450000000,BASELINE,765.666114222,745,715,679,661.333885778,636,879.666114222,787.666114222,803.666114222,652,631.333885778,652.666114222,0.400978978729,-0.00536197657031,0.0698350237021,0.999999942606,0.000207745306897,-0.000267243613568,1.44985634163e-05,1793239459072630784
+28,0.466666667,BASELINE,766,745,715,679.239276125,661,636,880,787.760723875,804,652,631,653,0.400978672975,-0.00536183443309,0.0698349562674,0.999999942442,0.000208389385676,-0.000267350447376,1.46279885738e-05,1793239459089297408
+29,0.483333333,BASELINE,766,745,715,679.810903299,661,636,880,787.189096701,804,652,631,653,0.400979341311,-0.00535982658162,0.0698350880005,0.999999942037,0.000211741251629,-0.000266207692391,1.49824844498e-05,1793239459105964288
+30,0.500000000,BASELINE,766,745,715,679.600394838,661.399605162,636,880,787,804,652,631.399605162,652.600394838,0.400979429292,-0.00535992902808,0.0698353540146,0.999999942059,0.000211589192241,-0.000266247488142,1.50033522092e-05,1793239459122630912
+31,0.516666667,BASELINE,766,745,715,679.003252443,661.996747557,636,880,787,804,652,631.996747557,652.003252443,0.400979230385,-0.00536107466035,0.0698356864082,0.999999942291,0.000209705033725,-0.000266871855453,1.48592972271e-05,1793239459139297024
+32,0.533333333,BASELINE,766,745,715,679,661.424423691,636,879.424423691,787,804,652,631.424423691,652,0.400978498656,-0.00536202679518,0.0698348426744,0.999999942048,0.000209562200849,-0.000267881694529,1.50636449155e-05,1793239459155963648
+33,0.550000000,BASELINE,766,745,715,679,661,635.847351915,879,787,803.847351915,652,631,652.152648085,0.4009778696,-0.00536260592727,0.0698342782599,0.999999941879,0.000209433804854,-0.000268606259012,1.51804191755e-05,1793239459172630272
+34,0.566666667,BASELINE,766,745,715,679,661,635.274837026,879,787,803.274837026,652,631,652.725162974,0.400977530979,-0.00536216200977,0.0698344998451,0.999999941923,0.000209318887963,-0.000268540353618,1.50510698144e-05,1793239459189296896
+35,0.583333333,BASELINE,766,745,715,679,661.299200526,635.299200526,879,787,803.299200526,652,631,653,0.400976860771,-0.00536220726154,0.0698340000197,0.99999994201,0.000207989196464,-0.000269251687394,1.49650523522e-05,1793239459205963520
+36,0.600000000,BASELINE,766,745,715,679,661.874643975,635.874643975,879,787,803.874643975,652,631,653,0.400975884419,-0.00536270414863,0.0698328341377,0.999999942132,0.000205537939785,-0.000270680622907,1.49190419247e-05,1793239459222630144
+37,0.616666667,BASELINE,765.538030543,745,715,679,662,636,879,787,804,652,631.461969457,653,0.400975373198,-0.00536193057285,0.0698324837252,0.999999941685,0.000206683607283,-0.000271464513652,1.48094095772e-05,1793239459239296768
+38,0.633333333,BASELINE,765.051646707,745,715,679,661.948353293,636,879,787,804,652,631.948353293,653,0.400975119203,-0.00536104580026,0.0698324434557,0.99999994122,0.000208391715244,-0.000271877171449,1.47200639773e-05,1793239459255963136
+39,0.650000000,BASELINE,765.631530587,745,715,679,661.368469413,636,879,787,804,652,631.368469413,653,0.400976171098,-0.0053626427847,0.069833252332,0.999999942211,0.000205606134028,-0.000270330385537,1.50194437765e-05,1793239459272630016
+40,0.666666667,BASELINE,766,745,715,679,661,636,879,787.207296059,804,652,631,653,0.400976747266,-0.00536349729533,0.0698338462004,0.999999942813,0.000203933863445,-0.000269362373643,1.51448588312e-05,1793239459289296640
+41,0.683333333,BASELINE,766,745,715,679,661,636,879,787.775883619,804,652,631,653,0.4009764943,-0.00536305776549,0.0698340653364,0.99999994275,0.00020420195635,-0.000269403093681,1.49670747431e-05,1793239459305963008
+42,0.700000000,BASELINE,766,745,715,679,661.360964409,636,879.360964409,787.639035591,803.639035591,652,631.360964409,653,0.400976921053,-0.00536270321722,0.0698345420998,0.999999942658,0.000205533622931,-0.000268725271727,1.50287012407e-05,1793239459322629888
+43,0.716666667,BASELINE,766,745,715,679,661.956775836,636,879.956775836,787.043224164,803.043224164,652,631.956775836,653,0.400977790038,-0.00536240395882,0.0698351864782,0.999999942544,0.00020755726106,-0.000267579959241,1.52460906415e-05,1793239459339296512
+44,0.733333333,BASELINE,766,745,715,679,662,636,879.462570005,787.537429995,803.537429995,652,632,653,0.400978225912,-0.00536226243361,0.0698345625354,0.999999942526,0.000207725741429,-0.00026752293686,1.5175980216e-05,1793239459355963136
+45,0.750000000,BASELINE,766,745,715,679,662,636,879,788,804,652,632,653,0.400978615878,-0.00536203579153,0.0698341763371,0.999999942545,0.000207836541907,-0.000267373515757,1.5002805213e-05,1793239459372630016
+46,0.766666667,BASELINE,766,745,715,679,662,636,879,788,804,652,632,653,0.400978958244,-0.00536142351817,0.0698351234746,0.999999942685,0.000208293317309,-0.000266521619375,1.45107896421e-05,1793239459389296640
+47,0.783333333,BASELINE,765.733784241,745,715,679,662,636,879,788,804,652,632,653,0.400978098798,-0.00536118419567,0.0698349932199,0.999999942443,0.000208587698186,-0.000267207274373,1.43650115244e-05,1793239459405963264
+48,0.800000000,BASELINE,765.159900195,745,715,679,662,636,879,788,804,652,632,653,0.400975850405,-0.00536137589622,0.069833617812,0.999999941756,0.000208694398102,-0.000269669893179,1.46193835234e-05,1793239459422629888
+49,0.816666667,BASELINE,765.427916756,745,715,679,662,636,879.427916756,788,804,652,631.572083244,653,0.400975909389,-0.00536256191756,0.0698334536105,0.999999941967,0.000207322728741,-0.000269927160586,1.49488571983e-05,1793239459439296512
+50,0.833333333,BASELINE,766,745,715,679.020531545,662,636,879.979468455,787.979468455,803.979468455,652,631.020531545,653,0.400976834136,-0.00536405771443,0.0698337533039,0.999999942496,0.000205459374084,-0.000269370840625,1.52973714399e-05,1793239459455963136
+51,0.850000000,BASELINE,766,745,715,679.597332597,662,636,879.402667403,787.402667403,803.402667403,652,631.597332597,653,0.40097706922,-0.00536354106185,0.0698339465073,0.999999942307,0.000205745363976,-0.000269850136044,1.53758391907e-05,1793239459472630016
+52,0.866666667,BASELINE,766,745,715,679.826373085,661.826373085,636,879,787.173626915,803.173626915,652,631.826373085,653,0.400977286206,-0.00536308653009,0.0698342203441,0.999999942354,0.000205541767888,-0.000269837704925,1.52364046893e-05,1793239459489296640
+53,0.883333333,BASELINE,766,745,715,679.251250581,661.251250581,636,879,787.748749419,803.748749419,652,631.251250581,653,0.400977461346,-0.00536277564678,0.0698346806382,0.999999942947,0.00020420605115,-0.000268688203308,1.45930921207e-05,1793239459505963264
+54,0.900000000,BASELINE,766,745,715,679,661.33237027,636,879,788,804,652,631.33237027,653,0.400978008065,-0.00536181475562,0.06983510778,0.999999942925,0.00020559386318,-0.000267729402708,1.42384809044e-05,1793239459522629632
+55,0.916666667,BASELINE,766,745,715,679,661.922583868,636,879,788,804,652,631.922583868,653,0.400978843045,-0.00536034960702,0.0698355092034,0.999999942417,0.000209094510817,-0.00026691854254,1.41078359511e-05,1793239459539296256
+56,0.933333333,BASELINE,766,745,715,679,662,636,879,787.496360669,804,652,631.496360669,652.496360669,0.400977944476,-0.00536112833632,0.0698348101539,0.999999942385,0.000207796624415,-0.000268048168812,1.41743868342e-05,1793239459555963136
+57,0.950000000,BASELINE,766,745,715.082463468,679,662,636,879,787.082463468,804,652,631,652.082463468,0.400977002848,-0.00536208218779,0.0698341599311,0.999999942472,0.000205913432978,-0.00026917005863,1.4261992908e-05,1793239459572629760
+58,0.966666667,BASELINE,766,745,715.656230713,679,662,636,879,787.656230713,804,652,631,652.656230713,0.40097736392,-0.00536206114539,0.0698347904234,0.999999942868,0.000204859103707,-0.000268500496542,1.42976757017e-05,1793239459589296384
+59,0.983333333,BASELINE,766,745,715.768981174,679.231018826,662,636,879,787.768981174,803.768981174,652,631,653,0.400977887162,-0.00536226612063,0.0698353015199,0.999999943087,0.000204748235379,-0.00026776320552,1.43607519795e-05,1793239459605963264
+60,1.000000000,BASELINE,766,745,715.192667121,679.807332879,662,636,879,787.192667121,803.192667121,652,631,653,0.400978652791,-0.00536280891601,0.0698356341601,0.999999943043,0.000206047522794,-0.000266924682485,1.44647722819e-05,1793239459622629888
+61,1.016666667,BASELINE,766,745,715,679.605626408,661.605626408,636,879,787,803.394373592,652,631,653,0.400978658918,-0.00536286290363,0.0698353323729,0.999999942836,0.00020681546887,-0.000267106642126,1.44788606183e-05,1793239459639296512
+62,1.033333333,BASELINE,766,745,715,679.013198813,661.013198813,636,879,787,803.986801187,652,631,653,0.400978283624,-0.00536267141246,0.0698347119768,0.999999942547,0.000207316575806,-0.000267801087145,1.44477852095e-05,1793239459655963136
+63,1.050000000,BASELINE,766,745,715,679,661,636,879,787.563255864,804,652,631.563255864,653,0.400979979444,-0.0053627140821,0.0698363238767,0.999999943486,0.000206386167232,-0.000264980791515,1.47696498013e-05,1793239459672630016
+64,1.066666667,BASELINE,766,745,715,679,661.138870975,636.138870975,879,788,804,652,631.861129025,653,0.400980868944,-0.00536275489569,0.0698373742271,0.999999944056,0.000205690455265,-0.000263357324785,1.49301342221e-05,1793239459689296640
+65,1.083333333,BASELINE,766,745,715,679,661.712995435,636.712995435,879,788,804,652,631.287004565,653,0.400979083328,-0.00536277316841,0.0698365051234,0.999999943403,0.000205832574172,-0.000265736014753,1.45596094342e-05,1793239459705963264
+66,1.100000000,BASELINE,766,745,715,679.294329513,662,636.411340973,879,787.705670487,804,652,631,652.705670487,0.400979060935,-0.00536259249165,0.0698363921736,0.999999943341,0.000205983782076,-0.000265862668582,1.4374846462e-05,1793239459722629888
+67,1.116666667,BASELINE,766,745,715,679.882870279,662,635.234259442,879,787.117129721,804,652,631,652.117129721,0.400980801055,-0.00536221294534,0.0698370350739,0.99999994387,0.000206144075315,-0.000263738190996,1.43757706887e-05,1793239459739296512
+68,1.133333333,BASELINE,766,745,715.464101321,680,661.535898679,635.464101321,879,787,804,652,631,652,0.400979884006,-0.00536253293375,0.0698362909384,0.999999943836,0.000205048781521,-0.000264722106185,1.43592272423e-05,1793239459755963136
+69,1.150000000,BASELINE,766,745.043450203,716,680,661.043450203,636,879.043450203,787.043450203,804,652,631.043450203,652,0.400978509371,-0.00536307698042,0.0698353559233,0.999999943717,0.000203677157155,-0.000266223073718,1.43657124268e-05,1793239459772630016
+70,1.166666667,BASELINE,766,745.621986484,716,680,661.621986484,636,879.621986484,787.621986484,804,652,631.621986484,652,0.400979630129,-0.00536423982106,0.0698363143552,0.999999944338,0.000202744442946,-0.000264580306425,1.47092418841e-05,1793239459789296640
+71,1.183333333,BASELINE,766,745.801305202,715.801305202,680,662,636,879.801305202,788,804,652,632,652.198694798,0.400980320844,-0.00536501533072,0.0698371263528,0.999999944827,0.000201987292729,-0.000263292247626,1.49730356259e-05,1793239459805963264
+72,1.200000000,BASELINE,766,745.228042762,715.228042762,680,662,636,879.228042762,788,804,652,632,652.771957238,0.400980200866,-0.00536506066719,0.0698376623013,0.999999945074,0.000201561105169,-0.000262672863942,1.50865163888e-05,1793239459822630144
+73,1.216666667,BASELINE,766,745,715,679.644472766,662,636,879,788,804,652,632,652.644472766,0.400980200788,-0.00536403798907,0.069837501163,0.999999944642,0.000203481650309,-0.000262850793847,1.48559848434e-05,1793239459839296512
+74,1.233333333,BASELINE,766,745,715,679.054093913,662,636,879,788,804,652,632,652.054093913,0.400980279913,-0.00536230980957,0.0698368795481,0.999999943751,0.000206952383251,-0.000263555407454,1.43982081186e-05,1793239459855963136
+75,1.250000000,BASELINE,766,745,715.52586287,679.52586287,662,636,879,787.47413713,804,652,631.47413713,652.52586287,0.400980654787,-0.00536264064175,0.0698373022436,0.999999944044,0.000206407110443,-0.000262870627076,1.44236534496e-05,1793239459872630528
+76,1.266666667,BASELINE,766,745,715.896125143,680,662,636,879,787.103874857,804,652,631,653,0.400980357601,-0.00536313910915,0.0698372025144,0.999999944176,0.000205511243289,-0.000263065027843,1.44641059081e-05,1793239459889297920
+77,1.283333333,BASELINE,766,745,715.322156979,680,662,636,879,787.677843021,804,652,631,653,0.40097688395,-0.00536345631426,0.0698342618015,0.999999943035,0.000204861981692,-0.000267872464981,1.43518906457e-05,1793239459905964288
+78,1.300000000,BASELINE,766,745,715,679.747014724,662,636,879,788,804,652,631,652.747014724,0.400975598993,-0.00536360896942,0.0698328565233,0.999999942604,0.000204472094174,-0.000269774742165,1.42757543714e-05,1793239459922630656
+79,1.316666667,BASELINE,766,745,715,679.17037043,662,636,879,788,804,652,631,652.17037043,0.400977114161,-0.00536355110606,0.0698334156178,0.999999943105,0.000204414039301,-0.000267960276121,1.42457760883e-05,1793239459939297280
+80,1.333333333,BASELINE,766,745,715,679,662,636,879.415134129,787.584865871,804,652,631,652.415134129,0.400978654425,-0.00536364937366,0.0698346276304,0.999999943666,0.000204166011762,-0.000266042412292,1.43331378581e-05,1793239459955963904
+81,1.350000000,BASELINE,765.99571437,745,715,679,662,636,879.99571437,787,804,652,631.00428563,653,0.400980191164,-0.005363819403,0.0698361013071,0.999999944247,0.000203832801414,-0.000264098964088,1.44689370039e-05,1793239459972630784
+82,1.366666667,BASELINE,765.415783597,745,715,679,662,636,879.415783597,787,804,652,631.584216403,653,0.400979840875,-0.00536483409235,0.0698359448266,0.999999944348,0.000202758416431,-0.000264543121126,1.45014390643e-05,1793239459989297408
+83,1.383333333,BASELINE,765.162508527,745,715.162508527,679.162508527,662,636,879,787.162508527,804.162508527,652,632,653,0.400979463748,-0.00536525163675,0.069835688989,0.999999944226,0.000202575791302,-0.000265140744364,1.45154823099e-05,1793239460005963776
+84,1.400000000,BASELINE,765.736650089,745,715.736650089,679.736650089,662,636,879,787.736650089,804.736650089,652,632,653,0.400979018644,-0.00536415661707,0.0698351814801,0.999999943542,0.000204651987824,-0.000266127096574,1.44827695051e-05,1793239460022630400
+85,1.416666667,BASELINE,766,745,715.681949227,679.681949227,662,636,879,788,804.363898454,652,632,653,0.400978443781,-0.00536278305001,0.0698349481482,0.999999942845,0.000206918592901,-0.000266994408249,1.44192590792e-05,1793239460039297024
+86,1.433333333,BASELINE,766,745,715.094397549,679.094397549,662,636,879,788,803.188795098,652,632,653,0.400977758967,-0.00536117345538,0.0698349471407,0.999999942136,0.000209346540894,-0.000267760850651,1.43296522347e-05,1793239460055963648
+87,1.450000000,BASELINE,766,745,715,679,662,635.512620804,879,787.512620804,803.487379196,652,632,652.512620804,0.400978622446,-0.00536192376005,0.0698354228861,0.999999942842,0.000207578445822,-0.000266498247813,1.43819605834e-05,1793239460072630016
+88,1.466666667,BASELINE,766,745,715,679,661.93233066,635.06766934,879,787.06766934,803.93233066,652,632,652.06766934,0.400979655579,-0.00536304043338,0.069835922941,0.999999943727,0.000205209674129,-0.000265001323809,1.44525188324e-05,1793239460089296896
+89,1.483333333,BASELINE,766,745,715,679,661.354911956,635.645088044,879,787.645088044,803.354911956,652,632,652.645088044,0.400979734194,-0.00536351414269,0.0698359186768,0.999999943989,0.000204366419988,-0.000264665003366,1.44559214427e-05,1793239460105964032
+90,1.500000000,BASELINE,766,745,715,679.225510078,661.225510078,636,879.225510078,788,803,652,632,652.774489922,0.400979572594,-0.00536364383749,0.069835702358,0.999999943874,0.000204617229217,-0.000264909080896,1.44117500475e-05,1793239460122630912
+91,1.516666667,BASELINE,766,745,715,679.810722555,661.810722555,636,879.810722555,788,803,652,632,652.189277445,0.400979027836,-0.00536322480802,0.0698351477992,0.999999943154,0.000206613136664,-0.000266078928799,1.42916951973e-05,1793239460139297536
+92,1.533333333,BASELINE,766,745,715,679.608698637,661.608698637,636,879.608698637,788,803,652,631.608698637,652.391301363,0.400978559648,-0.00536341630169,0.0698353414789,0.999999943199,0.000206342131285,-0.000266114689716,1.43931001461e-05,1793239460155963904
+93,1.550000000,BASELINE,766,745,715,679.030334911,661.030334911,636,879.030334911,788,803,652,631.030334911,652.969665089,0.400978128063,-0.00536389965708,0.0698358928555,0.99999994361,0.000204987424087,-0.000265608298293,1.46003743631e-05,1793239460172630272
+94,1.566666667,BASELINE,766,745.548138207,715,679,661,636,879.548138207,788,803,652,631.548138207,652.451861793,0.400977752572,-0.00536462300049,0.0698353341186,0.99999994363,0.000204281981595,-0.000266076011641,1.46039041722e-05,1793239460189297152
+95,1.583333333,BASELINE,766,745.874318189,715,679.125681811,661,636,879.874318189,787.874318189,803.125681811,652,631.874318189,652.125681811,0.400977804953,-0.00536490790457,0.0698350929673,0.999999943615,0.000204264648873,-0.000266143553795,1.46045730557e-05,1793239460205963776
+96,1.600000000,BASELINE,766,745.30011321,715,679.69988679,661,636,879.30011321,787.30011321,803.69988679,652,631.30011321,652.69988679,0.400979373212,-0.00536358073489,0.0698362044801,0.999999943552,0.000206574732147,-0.000264590574013,1.46352794629e-05,1793239460222630656
+97,1.616666667,BASELINE,766,745,715,680,661.281968967,636,879,787.281968967,804,652,631.281968967,653,0.400980037712,-0.00536249429463,0.069836647644,0.999999943539,0.000207810616359,-0.000263680310863,1.44755644914e-05,1793239460239297792
+98,1.633333333,BASELINE,766,745,715,680,661.872676146,636,879,787.872676146,804,652,631.872676146,653,0.400979712654,-0.00536167143797,0.069836359008,0.999999943586,0.000207870320305,-0.000263473781929,1.41073501351e-05,1793239460255965184
+99,1.650000000,BASELINE,766,745,715,680,662,636,879.454513484,787.545486516,804,652.454513484,632,653,0.400978289778,-0.00536176665744,0.0698355815834,0.999999943179,0.00020776176319,-0.00026509821636,1.41291365077e-05,1793239460272631808
+100,1.666666667,BASELINE,766,745,715,679.966331166,661.966331166,636,880,787.033668834,804,652.966331166,632,653,0.40097672208,-0.00536212091469,0.0698347644343,0.999999942698,0.000207592238174,-0.000267032632431,1.4261423947e-05,1793239460289298176
+101,1.683333333,BASELINE,766,745,715,679.391113564,661.391113564,636,880,787.608886436,804,652.391113564,632,653,0.400977676841,-0.00536258419273,0.0698354685642,0.999999943092,0.00020718571016,-0.000265860921378,1.4447442753e-05,1793239460305964544
+102,1.700000000,BASELINE,766,745,715,679.18797423,661.18797423,636,879.81202577,787.81202577,804,652,631.81202577,652.81202577,0.400978281077,-0.00536342080632,0.0698357957299,0.999999943398,0.000206320954724,-0.000265372414478,1.46074847413e-05,1793239460322630912
+103,1.716666667,BASELINE,766,745,715,679.775283846,661.775283846,636,879.224716154,787.224716154,804,652,631.224716154,652.224716154,0.400978140654,-0.00536505053969,0.0698353220668,0.999999943518,0.000204482733853,-0.000266335317289,1.47123411493e-05,1793239460339297024
+104,1.733333333,BASELINE,766,745,715,679.642356356,662,636,879,787,804,652,631.357643644,652,0.400978268548,-0.00536390571252,0.0698352472535,0.999999943359,0.000205274646795,-0.000266344921086,1.43308339772e-05,1793239460355963648
+105,1.750000000,BASELINE,766,745,715,679.063064136,662,636,879,787,804,652,631.936935864,652,0.400978562731,-0.00536104135992,0.0698354196262,0.999999943023,0.000207696577105,-0.000265763720768,1.36479044444e-05,1793239460372630528
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,788,804,652,632,652,0.400978307876,-0.00536307701192,0.0698352544383,0.999999943348,0.000205426015274,-0.000266268028808,1.43242552255e-05,1793239460403297280
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715.573988242,680,662,636,879,788,804,652,632,652.573988242,0.40097927018,-0.00536221858418,0.0698358363775,0.999999943349,0.000206887053448,-0.000265131610345,1.43247701021e-05,1793239460419964672
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.847641648,680,662,636,879.304716704,788,804,652,632,653,0.400979528634,-0.00536200695263,0.069835973051,0.999999943309,0.000207490311211,-0.000264810676092,1.43457343469e-05,1793239460436631808
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.256656376,680,662,636,880.486687247,788,804,652,632,653,0.400977760767,-0.00536365739289,0.0698348278416,0.999999943154,0.000205624091439,-0.000266837452237,1.44255706083e-05,1793239460453297920
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.327758943,679.672241057,662,635.672241057,880.344482114,787.672241057,803.672241057,652,631.672241057,653,0.40097798352,-0.00536418349669,0.0698353006203,0.999999943559,0.00020460090754,-0.000266100716907,1.44976914808e-05,1793239460469964032
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.907130631,679.092869369,662,635.092869369,879.185738738,787.092869369,803.092869369,652,631.092869369,653,0.400979734426,-0.00536384647402,0.0698370154901,0.999999944392,0.000204224902339,-0.000263242499424,1.45638894277e-05,1793239460486630144
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.51700508,745,715.51700508,679,662,635.48299492,879,787,803.48299492,652,631,653,0.400979443657,-0.00536329902866,0.069836650043,0.999999944163,0.000204519726982,-0.000263891500941,1.43880557904e-05,1793239460503296768
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.058143988,745,715,679,662,636,879,787.058143988,803.941856012,652,631,652.941856012,0.400978926487,-0.00536280705582,0.0698360452779,0.999999943793,0.000204907390127,-0.000265001526256,1.4217787469e-05,1793239460519963392
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.632887169,745,715,679,662,636,879,787.632887169,803.367112831,652,631,652.367112831,0.400979860548,-0.00536316483218,0.0698368425175,0.999999943969,0.0002049821519,-0.000264259278537,1.45074616209e-05,1793239460536630272
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.787263657,745,715,679.212736343,662,636,879,788,803.212736343,652,631.212736343,652.212736343,0.40098235123,-0.00536378397508,0.0698381557317,0.999999944404,0.000204886687346,-0.000262671776921,1.4750102846e-05,1793239460553297152
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.198386599,745,715,679.801613401,662,636,879,788,803.801613401,652,631.801613401,652.801613401,0.400987594187,-0.00536486524204,0.0698403812441,0.999999945287,0.000204490244346,-0.000259589775673,1.49095847725e-05,1793239460569964032
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.384714189,745,715,679.615285811,662,636,879,788,804.384714189,652,632,652.615285811,0.401006458749,-0.00536558074566,0.0698493523706,0.999999948937,0.000204546519982,-0.00024505692202,1.52631771675e-05,1793239460586630656
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.964880427,745,715,679.035119573,662,636,879,788,804.964880427,652,632,652.035119573,0.401032243697,-0.00536611042521,0.0698617505715,0.999999953652,0.000204832796867,-0.000224706521805,1.57153863889e-05,1793239460603297024
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.538855715,662,636,879.538855715,788,803.92228857,652,631.461144285,652,0.401084934576,-0.00536710657029,0.0698807601108,0.999999960798,0.000203599571448,-0.000191547505357,1.61746145581e-05,1793239460619963648
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.115444897,679.884555103,662,635.884555103,879.884555103,787.884555103,803.115444897,652,631,652,0.401140620541,-0.00536796613121,0.0698988991976,0.999999966244,0.000202851225091,-0.000161518090461,1.65925122895e-05,1793239460636630272
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.704391373,679.295608627,662,635.295608627,879.295608627,787.295608627,803.704391373,652,631,652,0.401201480318,-0.00536814221046,0.0699117208606,0.99999996804,0.000204493200959,-0.000147709889178,1.68390369251e-05,1793239460653296896
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.711285973,679,662,635,879,787.288714027,803.711285973,652,631.288714027,652.288714027,0.40127078963,-0.00537003247954,0.06992076778,0.999999970092,0.000202757260373,-0.000135798623558,1.62331638751e-05,1793239460669967104
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.13162297,679,662,635,879,787.86837703,803.13162297,652,631.86837703,652.86837703,0.401348613884,-0.00537365020806,0.0699260107347,0.999999972452,0.000197617254639,-0.000125798978705,1.47682946751e-05,1793239460686640640
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.554364248,745,715,679,662,635.445635752,879,787.554364248,803.445635752,652,631.554364248,652.554364248,0.401437187989,-0.00537446519055,0.0699251480007,0.999999972129,0.000198038978899,-0.000127903662922,1.27484245268e-05,1793239460703303680
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.022183647,745,715,679,662,636,879,787.022183647,804,652,631.022183647,652.022183647,0.401530056861,-0.00537453459527,0.0699225574948,0.999999971066,0.000199875710306,-0.000133437672951,1.05399935493e-05,1793239460719963904
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.598619114,745,715,679,662,636,879,787.598619114,804,652,631.598619114,652.598619114,0.401651326582,-0.00537654778482,0.0699216141523,0.999999971493,0.000196243535976,-0.000135808029103,7.69406673047e-06,1793239460736630528
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.177844054,662,636,879,788,804,652,631.822155946,653,0.401780634563,-0.00537866729945,0.0699216585183,0.999999971963,0.000193665193249,-0.000136174784705,4.82640841218e-06,1793239460753297152
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.763464866,662,636,879,788,804,652,631.236535134,653,0.401928373367,-0.00538103060549,0.0699239675909,0.999999972571,0.000193503170421,-0.000131947505377,1.90892255931e-06,1793239460769963520
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,788,804,652,631.346940996,652.653059004,0.402099815487,-0.00538464226727,0.0699277632138,0.999999974309,0.000189688897037,-0.000124085397013,-1.56086591145e-06,1793239460786630656
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,788,804,652,631.92896398,652.07103602,0.40228731863,-0.00538909979632,0.0699325661009,0.999999976697,0.000183399913692,-0.000113760382842,-5.40488660418e-06,1793239460803297792
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.504728948,715,679.495271052,661.495271052,636,879,788,803.495271052,652,631.495271052,652,0.402501113412,-0.00539330388322,0.0699363389036,0.999999978759,0.000176276018864,-0.000106354128846,-9.90715497495e-06,1793239460819964416
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.920291581,715,679.079708419,661.079708419,635.920291581,879,787.920291581,803.079708419,652,631,652,0.402724947772,-0.00539748409734,0.0699402026986,0.999999980818,0.000168571717,-9.86524135103e-05,-1.46561083904e-05,1793239460836631040
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.344786415,715,679.655213585,661.655213585,635.344786415,879,787.344786415,803.655213585,652,631,652,0.402988495187,-0.00540173497434,0.0699455231986,0.999999983565,0.000157979157366,-8.65890188785e-05,-2.03702864384e-05,1793239460853297664
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.763717562,662,635.236282438,879,787,804,652,631,652.236282438,0.403264424595,-0.00540697009194,0.0699520176999,0.999999985983,0.000148554147847,-7.29685505196e-05,-2.53270730692e-05,1793239460869964032
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.17433436,662,635.82566564,879,787,804,652,631,652.82566564,0.403558857653,-0.00541367605964,0.0699602666301,0.999999988027,0.000140873927298,-5.70211900243e-05,-2.91520127038e-05,1793239460886630400
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+138,2.300000000,POSE1_TO_POSE2_PRESS,765.56283664,745,715,679.43716336,661.56283664,636,879,787.43716336,803.56283664,652,631,653,0.404572563443,-0.00543167096545,0.0699703662231,0.999999995684,7.58428669733e-05,-4.46760937344e-05,-2.97267874082e-05,1793239460936630272
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+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.702685527,879.702685527,787,804,652,632,652.702685527,0.40580319889,-0.00546718459297,0.0699796635279,0.999999997761,5.33758853477e-05,-2.77827977064e-05,-2.9290198859e-05,1793239460986631168
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.107501666,879.107501666,787,804,652,632,652.107501666,0.406233669414,-0.00549218237688,0.0699747287768,0.999999998913,1.34947571444e-05,-3.48807583041e-05,-2.78542073657e-05,1793239461003297792
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879,787.471038213,804,652,631.528961787,652.471038213,0.406687600274,-0.00549844397629,0.0699593635828,0.999999997728,5.19516641703e-06,-6.04071458348e-05,-2.94777273274e-05,1793239461019964672
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.045803486,879,787.954196514,803.954196514,652,631.045803486,653,0.407152689048,-0.00550056669726,0.0699428624644,0.999999995658,3.94007933959e-06,-8.75406045989e-05,-3.17158389155e-05,1793239461036631296
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.619351206,879,787.380648794,803.380648794,652,631.619351206,653,0.407686753703,-0.00550258815305,0.0699397647674,0.999999995709,3.6397391476e-06,-8.63857145536e-05,-3.32646155951e-05,1793239461053297664
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.198787225,803.198787225,652,631.801212775,653,0.408244989618,-0.00550805363478,0.069943559152,0.999999996649,-3.07594153759e-06,-7.41159284061e-05,-3.46371096348e-05,1793239461069963776
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.78984263,803.78984263,652,631.21015737,653,0.408850922812,-0.00552031523616,0.0699609537284,0.999999998316,-2.24510571032e-05,-3.99130423963e-05,-3.56617438179e-05,1793239461086630144
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.372893192,662,636,879,788,804,652,631,653,0.409451769117,-0.00552596075448,0.0699647056488,0.999999998532,-2.80150302964e-05,-2.80845585065e-05,-3.69151767113e-05,1793239461103297024
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.95152713,662,636,879,788,804,652,631,653,0.410049808754,-0.00552795590312,0.0699609303459,0.999999998521,-2.59588189041e-05,-2.86009677064e-05,-3.82948473939e-05,1793239461119963648
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.526378945,787.473621055,804,652,631,653,0.410666906906,-0.00553383027189,0.0699539953812,0.999999997788,-3.40567151584e-05,-4.13970374696e-05,-3.9367639088e-05,1793239461136630528
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679.896564606,662,636,879.896564606,787.103435394,804,652,631.103435394,653,0.411301402491,-0.00553936961034,0.0699508794808,0.999999997134,-4.23195776472e-05,-4.82240683711e-05,-4.01868357346e-05,1793239461153297408
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.307534893,662,636,879.307534893,787.692465107,804,652,631.692465107,653,0.412009392384,-0.00554167099466,0.0699670490404,0.999999997861,-4.69983978946e-05,-2.17576066648e-05,-3.9947212064e-05,1793239461169964032
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679.276902625,662,636,879.276902625,788,804,652,631.723097375,653,0.412739113592,-0.00553113839363,0.0699920237751,0.999999998438,-3.48361290315e-05,1.83346005427e-05,-3.96715054323e-05,1793239461186630400
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.856323212,662,636,879.856323212,788,804,652,631.143676788,653,0.413492576496,-0.00550658457838,0.0700266182243,0.999999996529,-4.27485860117e-06,7.33130287923e-05,-3.93563778031e-05,1793239461203296768
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.56591698,662,636,880,787.56591698,804,652,631,652.56591698,0.414222315551,-0.00549612779852,0.0700307426828,0.999999996275,1.23964873012e-05,7.57977214376e-05,-3.93886252183e-05,1793239461219963648
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.011206699,662,635.988793301,879.988793301,787.011206699,804,652,631,652.011206699,0.414943578842,-0.00549074091473,0.0700238277428,0.999999997174,2.35867655366e-05,5.93886645281e-05,-3.96178182817e-05,1793239461236630272
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.583896869,662,635.416103131,879.416103131,787.583896869,804,652,631,652.583896869,0.415632109655,-0.00550648290523,0.0699671810878,0.999999998315,-1.03740379904e-05,-3.64385132922e-05,-4.39757803509e-05,1793239461253296896
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.161827496,715,680,662,635.161827496,879.161827496,788,804,652,631,653,0.416358538902,-0.00551820771364,0.0699272152424,0.999999992919,-3.38251469868e-05,-0.000103763323826,-4.74415032937e-05,1793239461269963520
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.753683701,715,680,662,635.753683701,879.753683701,788,804,652,631,653,0.417185676669,-0.00551925755136,0.0699315757801,0.999999993846,-2.93485504874e-05,-9.53479958168e-05,-4.85362551606e-05,1793239461286630144
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.661866928,715,680,662,636,880,788,804,652,631,653,0.418016684842,-0.00551990971405,0.0699506483242,0.999999996385,-2.88860504806e-05,-6.39542604593e-05,-4.80201974608e-05,1793239461303297280
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.082697504,715,680,662,636,880,788,804,652,631,653,0.418850451978,-0.00552027839618,0.0699802082431,0.999999998305,-3.12849778206e-05,-1.61804906127e-05,-4.63558826482e-05,1793239461319963904
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,788,804.493268238,652,631,653,0.419698980939,-0.00552175684217,0.0700012768568,0.999999998239,-3.48442895954e-05,1.28054648138e-05,-4.63023385636e-05,1793239461336630528
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,787.931529671,804.931529671,652,631,653,0.420549241606,-0.00552281599159,0.0700196888693,0.999999997482,-3.82541033487e-05,3.74010939078e-05,-4.66344885592e-05,1793239461353296896
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,787.358024442,804.358024442,652,631,653,0.421394138211,-0.00551941894719,0.070028938435,0.999999996702,-3.91355541757e-05,5.26968437556e-05,-4.78324843877e-05,1793239461369963520
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.778040637,745,715,680,662,636,880,787,804.221959363,652,631,652.778040637,0.422228174175,-0.00551757201725,0.0700210992379,0.999999997218,-4.02163521124e-05,3.87798266772e-05,-4.942582981e-05,1793239461386630144
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.18729249,745,715,680,662,636,880,787,804.81270751,652,631,652.18729249,0.423044165155,-0.00551830062499,0.0699848668086,0.999999997518,-4.16283682845e-05,-2.36746349996e-05,-5.16760545407e-05,1793239461403297024
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.395154267,745,715,680.395154267,662,635.604845733,880,787.395154267,805,651.604845733,631,652.395154267,0.423841531493,-0.00551879500308,0.0699254692973,0.999999991012,-4.58511033015e-05,-0.000112560581202,-5.66063100783e-05,1793239461419963904
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.973747312,745,715,680.973747312,662,635.026252688,880,787.973747312,805,651.026252688,631,652.973747312,0.424630251839,-0.00551918064688,0.0698553180784,0.999999973872,-5.13786316697e-05,-0.000213716564188,-6.27806907481e-05,1793239461436630528
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714.450426564,680.450426564,662,635.549573436,880,787.450426564,805,651.549573436,631,652.450426564,0.42553950738,-0.0055229534299,0.0698945574475,0.999999985081,-6.30733873835e-05,-0.000148487126462,-6.17417003363e-05,1793239461453296896
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714.127898241,680,662,636,879.872101759,787,804.872101759,652,631,652.127898241,0.426447036486,-0.00552629692153,0.0699400896506,0.999999992815,-7.00132942347e-05,-7.69516505708e-05,-5.95581553446e-05,1793239461469963264
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714.7156804,680,662,636,879.2843196,787,804.2843196,652,631,652.7156804,0.427327757931,-0.00552751793561,0.0699895537837,0.999999996724,-5.88021832668e-05,-1.11773796831e-05,-5.44919239531e-05,1793239461486630144
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680.299220882,662,636,879.299220882,787.299220882,804,652,631,653,0.428224497648,-0.00552962095322,0.0700235104161,0.999999996208,-5.75194817861e-05,3.88063744103e-05,-5.26360493651e-05,1793239461503296512
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680.878787225,662,636,879.878787225,787.878787225,804,652,631,653,0.429136245126,-0.00553255033583,0.0700429377875,0.999999993668,-6.55388876462e-05,7.39957037317e-05,-5.37880165851e-05,1793239461519963136
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680.543609442,662,636,880.456390558,788,804.456390558,652,631,653,0.429988497625,-0.00553549044894,0.0700386781981,0.999999993888,-6.82792883054e-05,6.77173750098e-05,-5.45533720243e-05,1793239461536629760
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.033367596,715,680,662.033367596,636,880.966632404,788,805.033367596,652,631.033367596,653,0.430818622128,-0.00553799666113,0.0700246111043,0.999999995071,-6.94939957519e-05,4.42818384332e-05,-5.53914917886e-05,1793239461553296384
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.608603537,715,680,662.608603537,636,880.391396463,788,805.608603537,652,631.608603537,653,0.431544904692,-0.00553341051436,0.0699530010416,0.999999992727,-6.86033205756e-05,-7.96912141247e-05,-5.90715760404e-05,1793239461569963264
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.811454043,715,680,663,635.811454043,880,787.811454043,805.622908085,652,631.811454043,653,0.432297228903,-0.00553043330871,0.0699021106354,0.999999982514,-6.74440424855e-05,-0.000163050467973,-6.1948688676e-05,1793239461586630144
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.221491361,715,680,663,635.221491361,880,787.221491361,804.442982721,652,631.221491361,653,0.433104996248,-0.00553088155816,0.0698953326262,0.999999983058,-6.57129071178e-05,-0.000159942457079,-6.31162669208e-05,1793239461603296768
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.361834016,715,680.361834016,663,635.361834016,880,787,804.361834016,651.638165984,631,652.638165984,0.433968054613,-0.00553507534002,0.0699351473831,0.999999991612,-7.23998922439e-05,-8.78847191611e-05,-6.17218158722e-05,1793239461619963136
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.941169615,715,680.941169615,663,635.941169615,880,787,804.941169615,651.058830385,631,652.058830385,0.434864348842,-0.00554152059406,0.0700029694585,0.999999994403,-8.41470823806e-05,2.56193019836e-05,-5.87873059408e-05,1793239461636630016
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680.483235666,663,635.483235666,880,787.516764334,805,651,631.516764334,652.516764334,0.435653128064,-0.00554492148091,0.07002018122,0.99999999383,-8.01997066041e-05,5.20204366225e-05,-5.65821434185e-05,1793239461653296640
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680.093844477,662.906155523,635.093844477,880,788,805,651,631.906155523,652.906155523,0.436419063977,-0.00554809381455,0.0700265610012,0.999999993589,-7.73399839514e-05,6.16476248155e-05,-5.51417558073e-05,1793239461669963264
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680.680954699,662.319045301,635.680954699,880,788,805,651,631.319045301,652.319045301,0.437128803872,-0.00555187343967,0.0700060725271,0.999999993745,-8.9521100025e-05,3.48540717288e-05,-5.72878866481e-05,1793239461686629888
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.735093176,715,681,662.264906824,635.735093176,880.264906824,787.735093176,805,651.264906824,631,652.264906824,0.437824785788,-0.00555265653484,0.0699762484414,0.999999993891,-9.29799696979e-05,-5.31957551617e-06,-5.95413386606e-05,1793239461703296768
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.154899794,715,681,662.845100206,635.154899794,880.845100206,787.154899794,805,651.845100206,631,652.845100206,0.438504393195,-0.00554987322252,0.0699353133075,0.999999992494,-8.60578032368e-05,-6.14179288783e-05,-6.19225218411e-05,1793239461719963392
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,635,880.577481961,787.422518039,804.577481961,651.577481961,631,653,0.439125585149,-0.00554548866894,0.0698755008298,0.999999981607,-8.06827313661e-05,-0.000161688121557,-6.42829417534e-05,1793239461736630016
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,635,880.001074987,787.998925013,804.001074987,651.001074987,631,653,0.439725501163,-0.00554052091325,0.0698088128688,0.999999956247,-7.58711386896e-05,-0.000278046523115,-6.66357987827e-05,1793239461753296640
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.426321507,745.573678493,715,681,662.426321507,635,880.573678493,787.426321507,804,651.573678493,631,653,0.440349466447,-0.00553708898436,0.0697938035323,0.999999951881,-7.16552634326e-05,-0.000294194141366,-6.74829182019e-05,1793239461769963264
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.151721874,745.848278126,715,681,661.848278126,635.151721874,881,787,804,652,631,652.848278126,0.440975667012,-0.00553591889896,0.069792180086,0.999999952157,-7.07555054258e-05,-0.000293409086132,-6.77529927657e-05,1793239461786630144
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.739223612,745.260776388,715,681,661.260776388,635.739223612,881,787,804,652,631,652.260776388,0.441608158899,-0.00554123710143,0.0698287266276,0.99999996475,-7.93771952397e-05,-0.000244527326931,-6.63737436672e-05,1793239461803297024
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661.32370171,635.67629829,880.67629829,787,804.32370171,652,631,652.32370171,0.442206222673,-0.00554546630935,0.0698474353842,0.999999969568,-8.34897384674e-05,-0.000222849423378,-6.50488574845e-05,1793239461819963648
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661.90576645,635.09423355,880.09423355,787,804.90576645,652,631,652.90576645,0.442776807555,-0.00554882633422,0.0698519068822,0.9999999696,-8.40032988247e-05,-0.000222884323434,-6.37673613253e-05,1793239461836630272
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.517882551,745,715,681,661.517882551,635,880.482117449,787,805,652,631,653,0.443280028276,-0.00554825472006,0.0698182469802,0.999999956325,-7.58574577638e-05,-0.000278620003844,-6.29783758854e-05,1793239461853296896
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.058360799,745.058360799,715,681,661,634.941639201,881,787,805,652,631.058360799,653,0.443765449104,-0.00554702752806,0.0697780011617,0.999999936796,-6.73209832958e-05,-0.000343472427444,-6.247332307e-05,1793239461869963520
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.643596544,745.643596544,715,681,661,634.356403456,881,787,805,652,631.643596544,653,0.444207651013,-0.00554673824733,0.0697447958643,0.999999918079,-7.03590703799e-05,-0.000393493076246,-6.36726943328e-05,1793239461886629888
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.773624484,745.773624484,715,681.226375516,661,634,881,787,804.773624484,652,631.773624484,653,0.444650626232,-0.00554660624756,0.0697202092446,0.999999903621,-7.28732693788e-05,-0.000428032654875,-6.50866475606e-05,1793239461903296512
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.19467196,745.19467196,715,681.80532804,661,634,881,787,804.19467196,652,631.19467196,653,0.445094805829,-0.00554671921093,0.0697090461098,0.999999898862,-7.457151923e-05,-0.00043846065864,-6.68348095745e-05,1793239461919963136
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.383479738,714.616520262,682,661,634,881,787,804,652,631,653,0.445521183308,-0.00554618006007,0.0697044744603,0.999999897753,-7.84211704373e-05,-0.000440115310255,-6.81313453404e-05,1793239461936630784
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.961225799,714.038774201,682,661,634,881,787,804,652,631,653,0.445938542482,-0.00554531055582,0.0697032419788,0.999999898504,-8.33606964142e-05,-0.000437325485839,-6.91990927211e-05,1793239461953298688
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765.978686162,745.978686162,715,681.978686162,659.978686162,633,880.021313838,785.978686162,805,652,631,653,0.448027181293,-0.00555036143657,0.0696420357002,0.999999841487,-8.01338068748e-05,-0.000552900339308,-7.00438550685e-05,1793239462069964032
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+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.23568989,681.76431011,659,633,881,785,804.23568989,652,631,653,0.448657420453,-0.00555685179099,0.069653178559,0.999999849869,-8.88270723653e-05,-0.000537397198124,-5.97951148263e-05,1793239462119963392
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.332459549,745.667540451,715,682,659.332459549,632.667540451,880.667540451,785,805,652,631,653,0.449323477818,-0.00556590263805,0.0696402117521,0.999999834871,-9.48851501958e-05,-0.000563430580956,-6.164563407e-05,1793239462203297536
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,714.016949766,682,658.016949766,632.983050234,880.016949766,785,805,651.016949766,631,653,0.449618808235,-0.00556803055943,0.069633377958,0.999999831422,-9.45482133816e-05,-0.000569508021569,-6.22673168194e-05,1793239462269963520
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+256,4.266666667,HOLD_POSE2,765.742076899,746,714.257923101,682,658,632,880.257923101,785,805,651.257923101,630,653,0.449803864336,-0.00555992803395,0.0696131515991,0.999999812156,-9.39833809764e-05,-0.000602850162755,-5.85375511946e-05,1793239462923428352
+257,4.283333333,HOLD_POSE2,765.674484786,745.674484786,714,682,658,632,880.325515214,784.674484786,804.674484786,651,630.325515214,652.674484786,0.449802877892,-0.00555936764478,0.0696129033266,0.99999981153,-9.33362306738e-05,-0.000603999833622,-5.84112409055e-05,1793239462940094976
+258,4.300000000,HOLD_POSE2,765.094801521,745.094801521,714,682,658,632,880.905198479,784.094801521,804.094801521,651,630.905198479,652.094801521,0.449801749644,-0.00555878286012,0.0696125251034,0.999999810895,-9.27226463945e-05,-0.000605122335839,-5.86439529177e-05,1793239462956761088
+259,4.316666667,HOLD_POSE2,765.483048497,745.483048497,714.483048497,682,658,632,881,784.483048497,804.483048497,651.483048497,631,652.483048497,0.449803464964,-0.00556011367049,0.0696133012044,0.999999811672,-9.35749734669e-05,-0.000603705281729,-5.86507832185e-05,1793239462973427968
+260,4.333333333,HOLD_POSE2,766,745.939817106,715,681.939817106,658,632,881,785,805,651.939817106,630.939817106,652.939817106,0.449805368309,-0.00556168439964,0.0696141279892,0.999999812535,-9.46447841877e-05,-0.000602111293183,-5.8600149687e-05,1793239462990094592
+261,4.350000000,HOLD_POSE2,766,745.365732771,715,681.365732771,658,632,881,785,805,651.365732771,630.365732771,652.365732771,0.449804129868,-0.00556210570966,0.0696134604195,0.999999811815,-9.51243488124e-05,-0.000603246249778,-5.84359421275e-05,1793239463006760960
+262,4.366666667,HOLD_POSE2,765.78588455,745,714.78588455,681.21411545,658,632,880.78588455,785,805,651.21411545,630.21411545,652,0.449803815575,-0.00556218893609,0.06961341416,0.999999811706,-9.55140461694e-05,-0.00060337090827,-5.83842066233e-05,1793239463023427584
+263,4.383333333,HOLD_POSE2,765.195918673,745,714.195918673,681.804081327,658,632,880.195918673,785,805,651.804081327,630.804081327,652,0.449805123497,-0.00556167870292,0.0696144585255,0.999999812669,-9.57459937626e-05,-0.000601722126316,-5.85299004671e-05,1793239463040094976
+264,4.400000000,HOLD_POSE2,765,745.387364101,714.387364101,682,658,632,880.387364101,785,805,652,631,652.387364101,0.449805830523,-0.00556075143053,0.0696147176429,0.999999813022,-9.57486317029e-05,-0.000601121392673,-5.86631758384e-05,1793239463056761600
+265,4.416666667,HOLD_POSE2,765,745.967324114,714.967324114,682,658,632,880.967324114,785,805,652,631,652.967324114,0.449806238787,-0.00555961680782,0.0696145863382,0.999999813073,-9.56372578033e-05,-0.000601041744395,-5.8790276807e-05,1793239463073428480
+266,4.433333333,HOLD_POSE2,765,746,714.457998768,682,658.542001232,632,881,785,805,651.457998768,631,653,0.449805752275,-0.00555939783406,0.0696140482028,0.999999812584,-9.40084852337e-05,-0.000602140596522,-5.84817610586e-05,1793239463090095104
+267,4.450000000,HOLD_POSE2,765.116642561,746,714.116642561,681.883357439,659,632,880.883357439,785,804.883357439,651.116642561,631,653,0.449805258716,-0.00555934203969,0.0696136227147,0.999999812176,-9.26068058465e-05,-0.000603060673294,-5.82222709076e-05,1793239463106761472
+268,4.466666667,HOLD_POSE2,765.692384663,746,714.692384663,681.307615337,659,632,880.307615337,785,804.307615337,651.692384663,631,653,0.449804947688,-0.00555971333584,0.0696137362048,0.999999812224,-9.24555396446e-05,-0.000603000153828,-5.82581121614e-05,1793239463123427840
+269,4.483333333,HOLD_POSE2,766,746,714.724036485,681.275963515,658.724036485,632,880.275963515,785,804.275963515,652,631,653,0.449804389761,-0.00555927734127,0.0696133197025,0.999999811976,-9.24266854945e-05,-0.000603391218227,-5.8518821406e-05,1793239463140094208
+270,4.500000000,HOLD_POSE2,766,746,714.131466755,681.868533245,658.131466755,632,880.868533245,785,804.868533245,652,631,653,0.449803548574,-0.00555791516171,0.069612295153,0.999999811386,-9.25382717173e-05,-0.000604300373793,-5.90375162139e-05,1793239463156760832
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,682,658,632,882,785,805,653,631,653,0.44980538884,-0.00556063065802,0.0696131827379,0.999999812054,-9.5032840843e-05,-0.000602887486755,-5.82079383291e-05,1793239463189510144
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.422671149,745.422671149,715,682,658,632,881.422671149,785,805,652.422671149,631,652.422671149,0.449805452011,-0.00556000554349,0.0696129225527,0.999999811926,-9.19130384974e-05,-0.00060359199645,-5.81029061819e-05,1793239463206177024
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.157401799,745.157401799,715,681.842598201,658,632,881,785,805,652,630.842598201,652,0.449805342408,-0.00555982677744,0.0696128509589,0.999999811756,-9.08641854922e-05,-0.000604034946483,-5.80871545422e-05,1793239463222843648
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.744974351,745.744974351,715,681.255025649,658,632,881,785,805,652,630.255025649,652,0.449804760622,-0.00556086785791,0.0696132947756,0.999999811477,-9.54751262733e-05,-0.000603763068027,-5.83154017614e-05,1793239463239509760
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.67177379,715,681.32822621,658,632,881,785,805,652,630.32822621,652.32822621,0.449805819284,-0.00556046101127,0.0696139918277,0.999999812304,-9.49199912379e-05,-0.000602490188912,-5.82043046986e-05,1793239463256176384
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.091835444,715,681.908164556,658,632,881,785,805,652,630.908164556,652.908164556,0.449808135983,-0.00555894376932,0.0696148830824,0.999999813971,-9.04030639352e-05,-0.000600449656268,-5.78329691919e-05,1793239463272842752
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.485111632,715,682,658,632,880.514888368,785,804.514888368,652,631,653,0.449808477013,-0.00555969286219,0.0696147943926,0.999999813831,-9.33834986008e-05,-0.000600211934982,-5.80004727781e-05,1793239463289509376
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.938749859,715,682,658,632,880,785,804.061250141,652,630.938749859,653,0.449807867333,-0.00556063151112,0.0696142184555,0.999999813102,-9.71206333263e-05,-0.000600804979431,-5.82893668928e-05,1793239463306175744
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.364669064,715,682,658,632,880,785,804.635330936,652,630.364669064,653,0.449802409911,-0.00555958708273,0.0696111066467,0.999999810402,-9.53827467422e-05,-0.000605513812474,-5.87457924548e-05,1793239463322842880
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.216174821,715,682,658,632,880.216174821,784.783825179,805,651.783825179,630.216174821,653,0.449792412801,-0.00555858767742,0.0696059059434,0.999999805788,-9.34372056812e-05,-0.000613360648821,-5.90052442876e-05,1793239463339510272
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.808795871,715,682,658,632,880.808795871,784.191204129,805,651.191204129,630.808795871,653,0.449774510291,-0.0055576666753,0.069597067645,0.999999797753,-9.1130055867e-05,-0.000626671994814,-5.89216865654e-05,1793239463356176896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.609203858,746,714.609203858,682,658,632,881,784,805,651,630.609203858,653,0.449737614748,-0.00555625646197,0.0695805952775,0.999999780592,-9.00783966758e-05,-0.00065358923066,-5.93582072397e-05,1793239463372843264
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.032262459,746,714.032262459,682,658,632,881,784,805,651,630.032262459,653,0.449691672382,-0.00555461322593,0.069560486625,0.999999758205,-8.96247564773e-05,-0.000686987267732,-6.00424532461e-05,1793239463389509888
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.45626208,714.54373792,681.45626208,658,632,881,784.54373792,805,651.54373792,630,653,0.449627790142,-0.00555470767089,0.0695448463227,0.999999741122,-9.04627577923e-05,-0.000711324453441,-5.99124352128e-05,1793239463406176256
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.695912429,658,632,880.304087571,785,805,652,630.695912429,653,0.449475802543,-0.00555128599756,0.0695210623994,0.999999715648,-8.8231606183e-05,-0.000746601607858,-5.92029978321e-05,1793239463439509248
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.721641087,658,632,880.278358913,785,805,652,630.721641087,653,0.449388335988,-0.00554862902985,0.0695170802688,0.999999711364,-8.54448911788e-05,-0.000752723684102,-5.81238453416e-05,1793239463456175872
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.132192224,658,632,880.867807776,785,805,652,630.132192224,653,0.449296146802,-0.00554631344375,0.0695193844365,0.999999713408,-8.2278636826e-05,-0.000750491918451,-5.63644329907e-05,1793239463472842496
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.551609175,681,658,632,880.551609175,784.551609175,805,652,630.448390825,652.551609175,0.449184626068,-0.0055442969307,0.0695235071259,0.99999971659,-8.01363327516e-05,-0.000746647500949,-5.40005730985e-05,1793239463489518336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.02622579,745.02622579,714,681.02622579,658,632,880.02622579,784.02622579,805,652,631,652.02622579,0.449065973282,-0.00554228897757,0.0695280021259,0.999999719892,-7.82846665528e-05,-0.000742589357128,-5.1472627091e-05,1793239463506195456
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.600197235,745.600197235,714,681.600197235,658,632,880.600197235,784.600197235,805,652,631,652.600197235,0.448915086882,-0.00553865398823,0.0695292928012,0.999999719256,-7.63205373251e-05,-0.000743804637369,-4.91672971673e-05,1793239463522850560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.820623574,745.820623574,714.179376426,682,658,632,880.820623574,785,805,652,631,653,0.448753112541,-0.00553445994184,0.0695294670939,0.999999718319,-7.32074595729e-05,-0.000745536601505,-4.66764006396e-05,1793239463539509248
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.229490129,745.229490129,714.770509871,682,658,632,880.229490129,785,805,652,631,653,0.448565685951,-0.00552898258539,0.0695270787397,0.999999716675,-6.74569807786e-05,-0.000748454608836,-4.37595379082e-05,1793239463556175872
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.354229008,715,682,658.354229008,632.354229008,880.354229008,785,805,652,631,653,0.44835639896,-0.00552454380974,0.0695232853329,0.999999711592,-6.21635330117e-05,-0.000755872182914,-4.01159827922e-05,1793239463572842496
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.93324326,715,682,658.93324326,632.93324326,880.93324326,785,805,652,631,653,0.448133239864,-0.00552076409206,0.0695186003133,0.999999704229,-5.71601056184e-05,-0.000766145074494,-3.60112858038e-05,1793239463589509120
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.508723643,745.491276357,714.491276357,682,659,632.491276357,881,785,805,652,631,653,0.447884646483,-0.00551642757228,0.0695201596461,0.999999702718,-5.00162181506e-05,-0.000768809214156,-3.15387546101e-05,1793239463606177792
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.974999441,745,715.025000559,679,662,636,879,787,804,652,631,652,0.40196105909,-0.00536034997591,0.0698067195902,0.999999927706,0.000200103401945,-0.000322690757862,2.04406858877e-05,1793239464856176640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.401072724,745,715.598927276,679,662,636,879,787,804,652,631,652,0.40180864193,-0.00535759578581,0.0698083674437,0.999999928412,0.00020066292169,-0.000320179637733,1.9907851883e-05,1793239464872843008
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.177867295,745,715.822132705,679.177867295,662,636,879,787,804,652,631.177867295,652.177867295,0.401664493041,-0.00535577769251,0.0698088750045,0.999999928755,0.000201384862747,-0.000318727855556,1.86453973949e-05,1793239464889509632
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.768439586,745,715.231560414,679.768439586,662,636,879,787,804,652,631.768439586,652.768439586,0.401539529022,-0.00535613162241,0.0698067367472,0.999999928262,0.000202483669453,-0.00031973405267,1.5690006581e-05,1793239464906176000
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.647674392,661.647674392,636,879.352325608,787,804,652,631.647674392,653,0.401432649468,-0.00535702153869,0.0698052724966,0.999999927472,0.000206226750864,-0.000319920258512,1.33537835077e-05,1793239464922842368
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.068100914,661.068100914,636,879.931899086,787,804,652,631.068100914,653,0.401337434273,-0.00535825716296,0.069804242976,0.999999926467,0.000211675373447,-0.000319577575075,1.14169195616e-05,1793239464939509248
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.491861804,787,804,652,631,652.491861804,0.40126210177,-0.00535689095271,0.0698048182179,0.999999926641,0.000212850571346,-0.000318246159271,1.15170468059e-05,1793239464956176128
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.327597904,879,787,804,652,631.672402096,652.672402096,0.401142633485,-0.00535481476485,0.0698089000969,0.999999928576,0.000212701921464,-0.000312165990392,1.26195729068e-05,1793239464989509888
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.256042798,879,787,804,652,632,652.743957202,0.401100629148,-0.0053546359615,0.0698119206969,0.999999930108,0.000212975075605,-0.000306998645536,1.33282735615e-05,1793239465006176768
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.835620131,879,787,804,652,632,652.164379869,0.401068827251,-0.00535490748397,0.0698149996849,0.999999931744,0.000214328413988,-0.000300628979137,1.40664160665e-05,1793239465022843648
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.413359083,661,636,879,787,804,652,631.586640917,652.413359083,0.401043248029,-0.0053555940249,0.0698172319726,0.99999993335,0.0002122011151,-0.000296757459183,1.43545053621e-05,1793239465039509760
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879,787.562552693,803.437447307,652,631,652.437447307,0.401005671613,-0.00535653485063,0.0698203870547,0.999999934926,0.00021100739342,-0.00029223884775,1.48575492233e-05,1793239465072842752
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.732089369,787.267910631,803.732089369,652,631.732089369,652,0.40098769343,-0.00535635020287,0.0698238202982,0.999999935956,0.000212359514461,-0.000287685679423,1.51228732459e-05,1793239465106176256
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.317513801,679.682486199,661.317513801,636,879.682486199,787.317513801,804,652,632,652.317513801,0.400983204773,-0.00535658542503,0.0698245602461,0.999999936265,0.000212844631954,-0.000286250554192,1.50915907335e-05,1793239465122843136
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715.897010198,679.102989802,661.897010198,636,879.102989802,787.897010198,804,652,632,652.897010198,0.40097971006,-0.00535717741309,0.0698242545813,0.999999936122,0.000214057887983,-0.000285847607452,1.50605150938e-05,1793239465139509760
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.526690839,679,661.526690839,636,879,787.526690839,804,652,631.526690839,653,0.400980212036,-0.00535688461912,0.0698261451828,0.99999993719,0.000212905171068,-0.000282966382507,1.48986487059e-05,1793239465156176128
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.049850754,787,804,652,631,653,0.400981442753,-0.00535634474744,0.0698284159182,0.99999993841,0.000211559546243,-0.000279653383173,1.47190060589e-05,1793239465172843008
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.63644603,787,804,652,631,653,0.400981219009,-0.00535520358786,0.0698296685641,0.999999938579,0.000213642808723,-0.000277458736854,1.46523332357e-05,1793239465189509632
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.220585149,661.220585149,636,879.779414851,787,803.779414851,652,631.220585149,653,0.400980374747,-0.00535467112073,0.0698302794513,0.999999938529,0.000215079970364,-0.000276530045253,1.45912918339e-05,1793239465206176256
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.800720737,661.800720737,636,879.199279263,787,803.199279263,652,631.800720737,653,0.400978519048,-0.00535513081309,0.0698298442815,0.999999938133,0.000215463997342,-0.00027766484073,1.45394295674e-05,1793239465222842880
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.620876365,662,636,879.379123635,787,803,652,632,652.620876365,0.40097911354,-0.00535535800751,0.0698305542877,0.999999938644,0.000215027767127,-0.000276168386506,1.43813557574e-05,1793239465239509504
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.043380098,662,636,879.956619902,787,803,652,632,652.043380098,0.400980990069,-0.0053554635497,0.0698318634958,0.999999939622,0.000214162345566,-0.000273295157284,1.41677078262e-05,1793239465256176384
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.466976537,636,880,787.533023463,803.533023463,652,632,652,0.400979716157,-0.00535520770344,0.0698320875081,0.999999939231,0.00021475772358,-0.000274256524776,1.4162155629e-05,1793239465272843264
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.888492743,745,715,679,661.111507257,636,880,787.888492743,804,652,631.888492743,652,0.400978355775,-0.00535518645553,0.069832120003,0.999999938829,0.000215321483116,-0.000275272068147,1.4256249132e-05,1793239465289509888
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.300745537,745,715,679,661.699254463,636,880,787.300745537,804,652,631.300745537,652,0.400977718899,-0.00535629251932,0.0698317109709,0.999999938863,0.000215243481977,-0.000275188853175,1.47037387214e-05,1793239465306176512
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.28297506,745,715,679,661.71702494,636,879.71702494,787,804,652,631.28297506,652,0.40097836019,-0.005357202635,0.0698320224565,0.999999939394,0.000214555239641,-0.00027378301404,1.48528696274e-05,1793239465322842880
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.862476293,745,715,679,661.137523707,636,879.137523707,787,804,652,631.862476293,652,0.400980340859,-0.00535790741912,0.0698330889639,0.999999940441,0.000213227532855,-0.000270991212879,1.46893540989e-05,1793239465339509760
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.439108715,661.439108715,636,879,787,804,652,631.560891285,652.439108715,0.400979990663,-0.00535784846496,0.0698332158778,0.99999994067,0.000212148221676,-0.000270989527158,1.47449657012e-05,1793239465356176384
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.014809464,715,679.985190536,661.985190536,635.985190536,879,787.014809464,804,652,631,652.985190536,0.40097892081,-0.00535750486986,0.069833048784,0.99999994062,0.000211256988415,-0.000271862516264,1.48520935425e-05,1793239465372842752
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.589037392,715,679.410962608,661.410962608,635.410962608,879,787.589037392,804,652,631,652.410962608,0.400978062593,-0.00535538589249,0.0698328194323,0.999999939622,0.000214550712258,-0.000272981617509,1.43296602115e-05,1793239465389509632
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.832493798,715,679,661,635.167506202,879,787.832493798,803.832493798,652,631,652.167506202,0.400977759224,-0.00535423018484,0.0698329743049,0.999999939139,0.000216466844151,-0.00027325255923,1.40105211323e-05,1793239465406176768
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.243350102,715,679,661,635.756649898,879,787.243350102,803.243350102,652,631,652.756649898,0.400978852486,-0.00535549916743,0.0698340963255,0.999999939979,0.000214915376398,-0.000271388559916,1.42031033074e-05,1793239465422843392
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.682816158,787,803.341408079,652,631.341408079,653,0.400979255347,-0.00535633713149,0.0698344009002,0.999999940514,0.00021334369798,-0.000270657145215,1.41512345066e-05,1793239465439510016
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880.846159913,787,803.923079957,652,631.923079957,653,0.400979172343,-0.00535687176891,0.0698341302024,0.999999940837,0.000211757796499,-0.000270722779928,1.3927334853e-05,1793239465456176384
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.49822086,661.49822086,635.50177914,880.003558279,787,804,652,632,653,0.400978115161,-0.00535802764466,0.0698341577165,0.999999940573,0.000211576820347,-0.000271821250783,1.42122915105e-05,1793239465472843008
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.92613402,635.07386598,879,787,803.92613402,652,632,653,0.40097727903,-0.0053590282249,0.0698342997992,0.999999940304,0.000211782667281,-0.000272632970683,1.45183291341e-05,1793239465489509888
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.34009198,635.65990802,879,787,803.34009198,652,632,653,0.400979005009,-0.00535829556835,0.0698349211749,0.999999940623,0.000213186157383,-0.000270365040619,1.44328494204e-05,1793239465506176256
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.756931934,661,636,879.243068066,787.243068066,803,652,631.756931934,652.756931934,0.400979254407,-0.00535763383629,0.0698345391783,0.999999940574,0.000213747120864,-0.000270108351104,1.4326555816e-05,1793239465522842880
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.177756935,661,636,879.822243065,787.822243065,803,652,631.177756935,652.177756935,0.400977462033,-0.00535707017628,0.0698327697499,0.99999994002,0.000213143065038,-0.000272632741903,1.41914814016e-05,1793239465539509760
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.600363102,745,715,679,661.399636898,636,879.600363102,788,803.399636898,652,631,652,0.400977978144,-0.005356940327,0.0698335922501,0.999999940469,0.000212585343929,-0.000271421327171,1.4166190809e-05,1793239465556176640
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.023758044,745,715,679,661.976241956,636,879.023758044,788,803.976241956,652,631,652,0.400979516503,-0.00535700257885,0.0698355625144,0.999999941356,0.000212048140904,-0.000268555614008,1.41895149572e-05,1793239465572843520
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.550943808,745,715,679,661.449056192,636,879,787.449056192,803.449056192,652,631,652.550943808,0.400977322945,-0.00535619944507,0.0698337995639,0.999999939916,0.000215221312357,-0.000271382839161,1.40920182483e-05,1793239465589509888
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1f2aba988c22aa6012e61b961ad817e9db01c100
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,417 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+20,0.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+368,6.133333333,pose2_to_pose3_retreat,0.577073087186,9.08322509372e-05,1.06003241713,0.54764353918,0.00876257352922,1.0597005561
+369,6.150000000,pose2_to_pose3_retreat,0.576873006896,9.0825852255e-05,1.06003219992,0.547443457607,0.00876256272631,1.05970033759
+370,6.166666667,pose2_to_pose3_retreat,0.576694260978,9.07205596238e-05,1.06003219266,0.547264714815,0.00876246813166,1.05970033286
+371,6.183333333,pose2_to_pose3_retreat,0.576534860115,9.07718867382e-05,1.060032322,0.547105313344,0.00876251717104,1.05970045633
+372,6.200000000,pose2_to_pose3_retreat,0.576394432144,9.06655529173e-05,1.06003234404,0.546964886052,0.0087624131307,1.05970047812
+373,6.216666667,pose2_to_pose3_retreat,0.576269682544,9.07068881589e-05,1.06003244627,0.546840137209,0.00876245682808,1.0597005749
+374,6.233333333,pose2_to_pose3_retreat,0.576160492445,9.08009135308e-05,1.06003232099,0.546730944859,0.00876254336549,1.05970045357
+375,6.250000000,pose2_to_pose3_retreat,0.5760649948,9.07787855172e-05,1.06003233159,0.546635446318,0.00876251833565,1.05970046831
+376,6.266666667,pose2_to_pose3_retreat,0.575982791668,9.07754103718e-05,1.06003234129,0.546553243088,0.00876251457333,1.05970047694
+377,6.283333333,pose2_to_pose3_retreat,0.575913850546,9.07838355685e-05,1.06003221656,0.54648430117,0.00876252023615,1.05970035051
+378,6.300000000,pose2_to_pose3_retreat,0.575856377424,9.06925306605e-05,1.06003215562,0.546426828486,0.00876243041504,1.05970028934
+379,6.316666667,pose2_to_pose3_retreat,0.575810085829,9.07406676355e-05,1.06003204242,0.546380537265,0.00876247979048,1.05970017533
+380,6.333333333,pose2_to_pose3_retreat,0.575772560086,9.080476799e-05,1.06003254129,0.54634301146,0.00876254299315,1.05970065632
+381,6.350000000,pose2_to_pose3_retreat,0.575743258161,9.07835517762e-05,1.06003236437,0.546313709018,0.00876252060488,1.05970049467
+382,6.366666667,pose2_to_pose3_retreat,0.575720132472,9.07778205859e-05,1.06003232835,0.546290584464,0.00876251891578,1.05970046368
+383,6.383333333,pose2_to_pose3_retreat,0.575702273644,9.07978555461e-05,1.0600324015,0.54627272609,0.00876254050381,1.05970053725
+384,6.400000000,pose2_to_pose3_retreat,0.575689058259,9.07755533436e-05,1.0600324949,0.546259510802,0.00876251816621,1.05970062122
+385,6.416666667,pose2_to_pose3_retreat,0.575679503567,9.07364617629e-05,1.06003249067,0.546249955629,0.00876247717007,1.05970060982
+386,6.433333333,pose2_to_pose3_retreat,0.57567318745,9.07566518961e-05,1.06003236918,0.546243638216,0.00876249330917,1.059700497
+387,6.450000000,pose2_to_pose3_retreat,0.575669412953,9.08246649307e-05,1.06003234034,0.546239863633,0.00876256120761,1.05970047295
+388,6.466666667,pose2_to_pose3_retreat,0.5756677299,9.07776477765e-05,1.0600323854,0.54623818189,0.0087625186528,1.05970051841
+389,6.483333333,pose2_to_pose3_retreat,0.57566684832,9.07244892684e-05,1.06003243036,0.546237301494,0.0087624694966,1.05970056294
+390,6.500000000,pose2_to_pose3_retreat,0.575666462973,9.070125322e-05,1.06003245001,0.546236916665,0.00876244800999,1.05970058241
+391,6.516666667,pose2_to_pose3_retreat,0.575666300801,9.06914743655e-05,1.06003245828,0.546236754711,0.00876243896738,1.0597005906
+392,6.533333333,pose2_to_pose3_retreat,0.575666151226,9.06824551175e-05,1.06003246591,0.546236605337,0.0087624306272,1.05970059816
+393,6.550000000,pose2_to_pose3_retreat,0.575666089587,9.06787383363e-05,1.06003246905,0.54623654378,0.00876242719025,1.05970060127
+394,6.566666667,pose2_to_pose3_retreat,0.575665910307,9.06833827321e-05,1.0600324746,0.546236364237,0.00876243091983,1.0597006063
+395,6.583333333,pose2_to_pose3_retreat,0.575665695444,9.07070281438e-05,1.06003247704,0.546236148468,0.00876245144656,1.05970060763
+396,6.600000000,pose2_to_pose3_retreat,0.575665610291,9.07163991765e-05,1.06003247801,0.546236062955,0.00876245958162,1.05970060815
+397,6.616666667,pose2_to_pose3_retreat,0.575665530118,9.07252221175e-05,1.06003247892,0.546235982444,0.00876246724087,1.05970060864
+398,6.633333333,pose2_to_pose3_retreat,0.575665461027,9.07328254116e-05,1.0600324797,0.546235913062,0.00876247384134,1.05970060907
+399,6.650000000,pose2_to_pose3_retreat,0.575665431814,9.07360403187e-05,1.06003248004,0.546235883725,0.00876247663222,1.05970060925
+400,6.666666667,pose2_to_pose3_retreat,0.575665371681,9.0742657788e-05,1.06003248072,0.546235823339,0.00876248237689,1.05970060962
+401,6.683333333,pose2_to_pose3_retreat,0.575665335105,9.07466829979e-05,1.06003248114,0.546235786608,0.0087624858712,1.05970060984
+402,6.700000000,pose2_to_pose3_retreat,0.575665271149,9.0753721277e-05,1.06003248186,0.546235722382,0.00876249198117,1.05970061024
+403,6.716666667,pose2_to_pose3_retreat,0.575665112753,9.07711525205e-05,1.06003248366,0.546235563318,0.00876250711335,1.05970061121
+404,6.733333333,pose2_to_pose3_retreat,0.575665034499,9.07797642544e-05,1.06003248455,0.546235484734,0.00876251458925,1.05970061169
+405,6.750000000,pose2_to_pose3_retreat,0.57566500773,9.07827101106e-05,1.06003248486,0.546235457853,0.00876251714656,1.05970061186
+406,6.766666667,pose2_to_pose3_retreat,0.575665002136,9.07833257665e-05,1.06003248492,0.546235452235,0.00876251768102,1.05970061189
+407,6.783333333,pose2_to_pose3_retreat,0.575664951033,9.07889496112e-05,1.0600324855,0.546235400916,0.00876252256311,1.05970061221
+408,6.800000000,pose2_to_pose3_retreat,0.575664934801,9.0790735901e-05,1.06003248568,0.546235384616,0.0087625241138,1.05970061231
+409,6.816666667,pose2_to_pose3_retreat,0.575664934701,9.07907469099e-05,1.06003248569,0.546235384515,0.00876252412336,1.05970061231
+410,6.833333333,pose2_to_pose3_retreat,0.575664769798,9.08069919846e-05,1.06003250722,0.546235219545,0.00876254019142,1.05970063511
+411,6.850000000,pose2_to_pose3_retreat,0.575664757252,9.08081462206e-05,1.0600325097,0.546235207022,0.00876254142732,1.05970063778
+412,6.866666667,pose2_to_pose3_retreat,0.575664552387,9.08269947724e-05,1.06003255024,0.546235002515,0.00876256160945,1.05970068139
+413,6.883333333,pose2_to_pose3_retreat,0.575664402248,9.08536762969e-05,1.06003253309,0.546234852331,0.00876258823725,1.05970066687
+414,6.900000000,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066001,1.05970045625
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd95963dee3e2b04e67b2eefa9aa236ce94128a0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2305e69c0be5f9baafaad58c3246861e1aa8dc09ef944cd66f60e025e8f7f95
+size 26516114
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..483b624a1aab8618a32939b68460d95cf3324d09
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
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+30,0.500000000,BASELINE,766,745,715.609429212,679.609429212,661,636,879,787.390570788,804,652,631,652,0.400979269557,-0.00535808475919,0.0698372753336,0.99999994199,0.000213455831555,-0.000265078977365,1.37629747901e-05,1793239466216850688
+31,0.516666667,BASELINE,766,745,715.034729299,679.034729299,661,636,879,787.965270701,804,652,631,652,0.400981760959,-0.00535789884204,0.0698394532927,0.999999942523,0.000214739315876,-0.000262005818716,1.39509819501e-05,1793239466233517312
+32,0.533333333,BASELINE,766,745,715,679.557320881,661.557320881,636,879,787.442679119,804,652,631,652,0.400979798141,-0.00535849651376,0.069837074735,0.999999942158,0.000212384700595,-0.000265303616714,1.38379340164e-05,1793239466250184192
+33,0.550000000,BASELINE,766,745,715,680,662,636,879,787.146567785,804,652,631.146567785,652,0.400978399221,-0.00535870272564,0.0698354400078,0.999999941872,0.000210840258076,-0.000267605354638,1.37515371674e-05,1793239466266850816
+34,0.566666667,BASELINE,766,745,715,680,662,636,879,787.724285709,804,652,631.724285709,652,0.400979501821,-0.00535760914903,0.0698368554474,0.999999942038,0.000212367375442,-0.000265771668011,1.38004972649e-05,1793239466283517696
+35,0.583333333,BASELINE,766,745,715,679.69861144,661.69861144,636,878.69861144,787.69861144,804,652,631.69861144,652.30138856,0.400980408751,-0.00535704373319,0.0698375563445,0.999999942197,0.000212950308914,-0.000264708970403,1.37190659567e-05,1793239466300184320
+36,0.600000000,BASELINE,766,745,715,679.122070056,661.122070056,636,878.122070056,787.122070056,804,652,631.122070056,652.877929944,0.400981137045,-0.00535696050186,0.0698376048998,0.999999942354,0.000212671249438,-0.000264350147369,1.35185937598e-05,1793239466316850944
+37,0.616666667,BASELINE,766,745,715,679,661.463146836,636,878.463146836,787,804,652,631,653,0.400980945845,-0.00535765731159,0.069837661898,0.99999994231,0.000212838878605,-0.000264373475712,1.36277021094e-05,1793239466333517568
+38,0.633333333,BASELINE,766,745,715,679,662,636,879,787,804,652,631.049959147,653,0.400980541002,-0.00535843080071,0.0698377639051,0.999999942231,0.000213109658647,-0.000264444716826,1.38059527531e-05,1793239466350184192
+39,0.650000000,BASELINE,766,745,715,679,662,636,879,787,804,652,631.628990216,653,0.400980489142,-0.00535779752365,0.0698383185426,0.999999942345,0.000213202220726,-0.000263936338047,1.38358321377e-05,1793239466366850816
+40,0.666666667,BASELINE,766,745,715,679.207145291,661.792854709,636,879,787.207145291,804,652,631.792854709,653,0.400980504205,-0.00535717775198,0.0698382707538,0.999999942247,0.000213691465203,-0.00026391867207,1.37734682719e-05,1793239466383517440
+41,0.683333333,BASELINE,766,745,715,679.783737982,661.216262018,636,879,787.783737982,804,652,631.216262018,653,0.400980638628,-0.00535658206743,0.0698371485267,0.999999941767,0.000214888199952,-0.000264776201341,1.35465868876e-05,1793239466400184064
+42,0.700000000,BASELINE,766,745,715,679.640163583,661.359836417,636,879.359836417,788,804,652,631.359836417,652.640163583,0.400980524952,-0.00535648273218,0.0698371264132,0.999999941641,0.000214998986836,-0.000265158487656,1.35490202394e-05,1793239466416850432
+43,0.716666667,BASELINE,766,745,715,679.064361808,661.935638192,636,879.935638192,788,804,652,631.935638192,652.064361808,0.400980262373,-0.00535668129411,0.0698377645622,0.99999994173,0.000214458013304,-0.000265255544294,1.36890829121e-05,1793239466433517056
+44,0.733333333,BASELINE,766,745,715,679,661.475724002,636,879.475724002,787.475724002,804,652,631.475724002,652.524275998,0.400980309225,-0.00535674303959,0.0698375133458,0.99999994207,0.000212850727623,-0.000265281027651,1.344893184e-05,1793239466450183936
+45,0.750000000,BASELINE,766,745,715,679,661,636,879,787,804,652,631,653,0.400980453084,-0.00535697881561,0.0698373011727,0.999999942403,0.000211413645942,-0.000265183365482,1.32934668476e-05,1793239466466850304
+46,0.766666667,BASELINE,766,745,715,679,661,636,879,787,804,652,631,653,0.400980838135,-0.00535800898582,0.0698377160678,0.999999942585,0.000211240934225,-0.000264611602372,1.3688512421e-05,1793239466483516928
+47,0.783333333,BASELINE,766,745,715,679.266166164,661.266166164,636,879.266166164,787,804,652,631,653,0.400981176432,-0.0053587644401,0.0698380292048,0.999999942767,0.000211102868497,-0.000264018176533,1.39944558047e-05,1793239466500183808
+48,0.800000000,BASELINE,766,745,715,679.841700404,661.841700404,636,879.841700404,787,804,652,631,653,0.40098146039,-0.00535920058893,0.0698382240675,0.999999942948,0.00021100507219,-0.000263399571773,1.41968347119e-05,1793239466516850432
+49,0.816666667,BASELINE,765.573254574,745,715,679.573254574,662,636,880,787,804,652,631.426745426,652.573254574,0.400981258117,-0.00535939356524,0.0698383006172,0.99999994255,0.000212883025048,-0.000263399328177,1.42185456327e-05,1793239466533517056
+50,0.833333333,BASELINE,765.015160958,745,715,679,662,636,879.984839042,787,803.984839042,652,632,652,0.40098088094,-0.0053594404021,0.0698383341783,0.999999941946,0.000215421423694,-0.000263630064013,1.41607119188e-05,1793239466550183680
+51,0.850000000,BASELINE,765.594721578,745,715,679,662,636,879.405278422,787,803.405278422,652,632,652,0.400980860092,-0.00535748146258,0.0698384384587,0.999999942095,0.000214640761152,-0.000263725742588,1.36934213591e-05,1793239466566850304
+52,0.866666667,BASELINE,766.17316295,745,715,679.17316295,662,636,879,787,803,652,632,652.17316295,0.400980425319,-0.00535650094169,0.0698381171795,0.999999942121,0.000213866208835,-0.000264271581883,1.34170217882e-05,1793239466583517184
+53,0.883333333,BASELINE,766.749001574,745,715,679.749001574,662,636,879,787,803,652,632,652.749001574,0.400979028002,-0.00535779565,0.0698368062978,0.999999941859,0.000213105865377,-0.000265864231543,1.35845229611e-05,1793239466600183808
+54,0.900000000,BASELINE,766.676244862,745,715,679.676244862,662,636,879,787,803.323755138,652,631.676244862,652.676244862,0.400978144265,-0.00535810180311,0.0698362039935,0.999999941641,0.000212856003974,-0.000266878829534,1.3628190485e-05,1793239466616850432
+55,0.916666667,BASELINE,766.102329732,745,715,679.102329732,662,636,879,787,803.897670268,652,631.102329732,652.102329732,0.400977657362,-0.00535764411666,0.0698361491947,0.999999941459,0.000213000583257,-0.00026744677693,1.35761738831e-05,1793239466633517056
+56,0.933333333,BASELINE,766,745.486833646,715,679,662,636,879,787.486833646,804,652,631,652.486833646,0.400978842183,-0.00535760677215,0.0698370797462,0.999999941836,0.000212913927731,-0.00026609862347,1.36544536555e-05,1793239466650183680
+57,0.950000000,BASELINE,766,746,715,679.077317,662,636,879,788,804,652,631.077317,653,0.400980112492,-0.00535769982101,0.0698379180955,0.99999994227,0.000212611361772,-0.000264706254548,1.36931011807e-05,1793239466666850560
+58,0.966666667,BASELINE,766,746,715,679.654931391,662,636,879,788,804,652,631.654931391,653,0.40097958872,-0.00535804641248,0.0698367763093,0.999999942298,0.000211236372199,-0.000265718156859,1.32923513623e-05,1793239466683517184
+59,0.983333333,BASELINE,766,745.768766214,715,679.768766214,662,636,879.231233786,788,804,652,631.768766214,653,0.400979522198,-0.00535848147237,0.0698364014281,0.999999942417,0.000210342241637,-0.000265982240419,1.32164937066e-05,1793239466700183808
+60,1.000000000,BASELINE,766,745.194410571,715,679.194410571,662,636,879.805589429,788,804,652,631.194410571,653,0.400980134177,-0.00535904780831,0.0698371645373,0.999999942675,0.000210161645168,-0.000265136655148,1.3622735103e-05,1793239466716850432
+61,1.016666667,BASELINE,766,745.381034667,715,679,662,636,879.618965333,787.618965333,803.618965333,652,631,653,0.400980509007,-0.00535926880931,0.0698377192757,0.999999942761,0.000210535759802,-0.000264495735642,1.39343299959e-05,1793239466733517312
+62,1.033333333,BASELINE,766,745.957037395,715,679,662,636,879.042962605,787.042962605,803.042962605,652,631,653,0.400980762493,-0.00535931310907,0.0698381673948,0.999999942761,0.000211193709377,-0.000263959539694,1.41974960814e-05,1793239466750183936
+63,1.050000000,BASELINE,766,745.453554974,715,679,662,636,879,787,803.546445026,652,631,653,0.400980261267,-0.00535880890366,0.0698375222729,0.999999942718,0.000210566034385,-0.000264647074457,1.37358415689e-05,1793239466766850560
+64,1.066666667,BASELINE,766,745,715,679,662,636,879,787.134531348,804,652,631,653,0.400979993091,-0.00535833509275,0.0698371390975,0.999999942617,0.000210716409237,-0.000264921170377,1.34484158505e-05,1793239466783517184
+65,1.083333333,BASELINE,766,745,715,679,662,636,879,787.714662534,804,652,631,653,0.400980698308,-0.00535810838672,0.0698379154066,0.999999942335,0.000213787085449,-0.000263499166738,1.39315781784e-05,1793239466800183808
+66,1.100000000,BASELINE,766,745,715,679,662,636,879,788,804,652,631.290940335,653,0.400980736437,-0.00535795190132,0.0698381282878,0.999999942068,0.000215189946279,-0.000263363772477,1.403419212e-05,1793239466816850432
+67,1.116666667,BASELINE,766,745,715,679,662,636,879,788,804,652,631.863488325,653,0.400980128877,-0.00535786338408,0.0698377958146,0.999999941824,0.000214978491143,-0.000264473716281,1.37684647434e-05,1793239466833517056
+68,1.133333333,BASELINE,766,745,715.448873082,679,661.551126918,635.551126918,879,787.551126918,804,652,632,653,0.400980268021,-0.00535792503074,0.0698373816136,0.99999994186,0.000214658809798,-0.000264603158758,1.36389240088e-05,1793239466850183680
+69,1.150000000,BASELINE,766,745,715.962352139,679.037647861,661,635.037647861,879.037647861,787,804,652,631.962352139,653,0.400980639918,-0.00535800498914,0.0698370040266,0.999999941976,0.000214373402161,-0.000264402679788,1.35689928845e-05,1793239466866850560
+70,1.166666667,BASELINE,766,745,715.382632344,679.617367656,661,635.617367656,879.617367656,787,804,652,631.382632344,653,0.400980997119,-0.00535767170091,0.0698375220368,0.999999941964,0.0002150693453,-0.000263871728843,1.37434486888e-05,1793239466883517184
+71,1.183333333,BASELINE,766,745.196274525,715,679.803725475,661,636,879.803725475,787,804,652,631.196274525,653,0.40098083522,-0.00535728954714,0.0698375622288,0.999999941814,0.000215503117383,-0.00026408968916,1.36815785204e-05,1793239466900183552
+72,1.200000000,BASELINE,766,745.773603256,715,679.226396744,661,636,879.226396744,787,804,652,631.773603256,653,0.400979665523,-0.00535681252405,0.0698366747682,0.999999941394,0.000215427901564,-0.000265761611812,1.31608969019e-05,1793239466916850176
+73,1.216666667,BASELINE,766,745.650998495,715,679.349001505,661.349001505,636,879,787.349001505,804,652,632,653,0.400979916436,-0.00535649067736,0.0698370575446,0.999999941657,0.000214649716484,-0.000265408438258,1.30250270535e-05,1793239466933520640
+74,1.233333333,BASELINE,766,745.076845693,715,679.923154307,661.923154307,636,879,787.923154307,804,652,632,653,0.400981083827,-0.00535626893964,0.069838259789,0.999999942358,0.000213418024936,-0.000263748814541,1.31374108059e-05,1793239466950193408
+75,1.250000000,BASELINE,765.488624564,745,715,679.488624564,661.488624564,636,879,787.488624564,803.488624564,652,631.488624564,652.488624564,0.400980050789,-0.00535778135272,0.0698378794921,0.999999942333,0.000212367805735,-0.000264681737634,1.33146908851e-05,1793239466966855936
+76,1.266666667,BASELINE,765.099543522,745,715,679,661.099543522,636,879,787,803.099543522,652,631.099543522,652,0.400978873848,-0.00535898072741,0.0698372591624,0.999999942144,0.000211789428041,-0.000265850342168,1.3422659542e-05,1793239466983517440
+77,1.283333333,BASELINE,765.677019565,745,715,679,661.677019565,636,879,787,803.677019565,652,631.677019565,652,0.4009786385,-0.0053573905535,0.0698366604733,0.999999941718,0.000213341840241,-0.000266227086169,1.31497003739e-05,1793239467000184320
+78,1.300000000,BASELINE,766,745,715,679,661.747122434,636,879,787,804,652,632,652.252877566,0.40097849393,-0.0053570251065,0.0698365200271,0.999999941632,0.000213741561561,-0.000266227189014,1.31475178438e-05,1793239467016851200
+79,1.316666667,BASELINE,766,745,715,679,661.173317933,636,879,787,804,652,632,652.826682067,0.400978464566,-0.00535821396058,0.069836961137,0.999999941982,0.0002126784027,-0.000265749296516,1.34889779817e-05,1793239467033518080
+80,1.333333333,BASELINE,766,745,715,679,661.798552904,636,879,787.399276452,804,652,631.600723548,653,0.40097884233,-0.00535915901621,0.0698373591189,0.999999942423,0.00021127217725,-0.000265204541334,1.35609229809e-05,1793239467050184704
+81,1.350000000,BASELINE,766,745,715,679,662.942694371,636,879,787.971347186,804,652,631.028652814,653,0.400979396286,-0.00535999856365,0.0698377384363,0.999999942903,0.000209717483286,-0.000264630850045,1.35162303398e-05,1793239467066851072
+82,1.366666667,BASELINE,766,745.566311145,715,679,662.433688855,636,879,788,804,652.566311145,631.566311145,653,0.400980731318,-0.00535822285504,0.0698379678566,0.999999942648,0.000211698360232,-0.000264027613146,1.33164250806e-05,1793239467083517440
+83,1.383333333,BASELINE,766,745.84274906,715.15725094,679,661.84274906,636,879,787.84274906,803.84274906,652.84274906,631.84274906,653,0.400981342605,-0.00535681533668,0.0698380257055,0.999999942401,0.000213135217607,-0.000263812435793,1.32008073385e-05,1793239467100183808
+84,1.400000000,BASELINE,766,745.265772129,715.734227871,679,661.265772129,636,879,787.265772129,803.265772129,652.265772129,631.265772129,653,0.400979912184,-0.00535675863336,0.0698376467013,0.999999942291,0.000212622423896,-0.00026463720471,1.33317284381e-05,1793239467116850432
+85,1.416666667,BASELINE,765.69147774,745,715.69147774,679.30852226,661.30852226,636,879.30852226,787.61704452,803.30852226,652,631.30852226,653,0.400979504143,-0.00535710934324,0.0698379248958,0.999999942191,0.000213181064726,-0.000264555922512,1.35145024927e-05,1793239467133517056
+86,1.433333333,BASELINE,765.119474305,745,715.119474305,679.880525695,661.880525695,636,879.880525695,788.76105139,803.880525695,652,631.880525695,653,0.400979969224,-0.00535780798817,0.0698387643448,0.999999942098,0.000214654721676,-0.000263700863319,1.37415594949e-05,1793239467150183680
+87,1.450000000,BASELINE,765.435031773,745,715,679.564968227,662,636,880,788.564968227,804,652,631.564968227,653,0.400979513737,-0.00535847400322,0.0698379975827,0.999999942237,0.00021296788623,-0.000264547792588,1.36339871252e-05,1793239467166850560
+88,1.466666667,BASELINE,765.984918285,745,715,679.015081715,662,636,880,788.015081715,804,652,631.015081715,653,0.400978815205,-0.00535913140349,0.0698368067572,0.999999942429,0.000210446634633,-0.000265844071665,1.3438067713e-05,1793239467183517440
+89,1.483333333,BASELINE,766,745,715,679,662,636,879.417546432,788,804,652,631,653,0.400979314153,-0.00535860246849,0.0698375846624,0.999999942456,0.000211333111365,-0.000265041826814,1.33800185276e-05,1793239467200184064
+90,1.500000000,BASELINE,766,745,715,679.182372818,661.817627182,636,879,787.817627182,804,652.182372818,631.182372818,653,0.400979558265,-0.00535823803047,0.0698381966295,0.999999942408,0.000212280210416,-0.000264465594895,1.33664641482e-05,1793239467216850432
+91,1.516666667,BASELINE,766,745,715,679.784687325,661.215312675,636,879,787.215312675,804,652.784687325,631.784687325,653,0.400979137822,-0.00535832940796,0.0698382986568,0.999999942202,0.000213145617986,-0.000264546062281,1.344641325e-05,1793239467233517056
+92,1.533333333,BASELINE,766,745,715,680,661,636,879,787.366732004,804,653,631.633267996,653,0.400979664124,-0.00535806222311,0.0698380915269,0.999999942269,0.000213053284419,-0.000264371968405,1.33044924931e-05,1793239467250183680
+93,1.550000000,BASELINE,766,745,715,680,661,636,879,787.937499396,804,653,631.062500604,653,0.400980717157,-0.00535759554815,0.0698377123939,0.999999942489,0.000212428101104,-0.000264056246576,1.30391320041e-05,1793239467266850304
+94,1.566666667,BASELINE,766,745.531549896,715,679.468450104,661.531549896,636,879.531549896,787.468450104,804,652.468450104,631.531549896,653,0.400981284577,-0.00535857761403,0.0698386713844,0.999999942853,0.000212600406584,-0.000262517951553,1.3377593448e-05,1793239467283517440
+95,1.583333333,BASELINE,766,745.876010169,715.123989831,679,662,635.876010169,879.876010169,787.123989831,804,652,632,653,0.400981771264,-0.00535938032873,0.0698396115051,0.999999943171,0.000212718940683,-0.000261192486168,1.37111775117e-05,1793239467300184576
+96,1.600000000,BASELINE,766,745.2998835,715.7001165,679,662,635.2998835,879.2998835,787.7001165,804,652,632,653,0.400982181307,-0.00535887939684,0.0698398827874,0.999999943263,0.000212283791304,-0.000261191332496,1.37562155868e-05,1793239467316851456
+97,1.616666667,BASELINE,766,745.275989006,715.724010994,679,662,635.275989006,879.275989006,787.724010994,804,652,631.724010994,653,0.400981058585,-0.00535789127299,0.0698389493277,0.99999994261,0.000213296901918,-0.000262871596088,1.35441482166e-05,1793239467333518080
+98,1.633333333,BASELINE,766,745.851585564,715.148414436,679,662,635.851585564,879.851585564,787.148414436,804,652,631.148414436,653,0.400978271926,-0.00535637426437,0.0698367080267,0.999999941134,0.00021588221153,-0.00026637716902,1.30529728664e-05,1793239467350184448
+99,1.650000000,BASELINE,766,745.561660227,715,679.438339773,661.561660227,636,879.561660227,787,803.561660227,652,631,653,0.400976915391,-0.00535665726111,0.0698356141598,0.999999940891,0.000215053199455,-0.000267950510801,1.31305834424e-05,1793239467366850816
+100,1.666666667,BASELINE,765.971593206,745,715,680,661.028406794,636,879,787,803.028406794,652,631,653,0.40097618439,-0.00535765773433,0.06983502323,0.999999941128,0.000212997670811,-0.000268695413541,1.34008010776e-05,1793239467383517184
+101,1.683333333,BASELINE,765.392453703,745,715,680,661.607546297,636,879,787,803.607546297,652,631,653,0.400977947981,-0.00536044391407,0.0698364541678,0.999999942341,0.000210161017631,-0.000266393970624,1.35739985341e-05,1793239467400183808
+102,1.700000000,BASELINE,765.185569772,745,715.185569772,679.814430228,662,636,879,787,803.814430228,652.185569772,631,653,0.400979584077,-0.00536144991395,0.0698376868519,0.99999994304,0.000209582362293,-0.000264214404766,1.36332107703e-05,1793239467416850688
+103,1.716666667,BASELINE,765.761247044,745,715.761247044,679.238752956,662,636,879,787,803.238752956,652.761247044,631,653,0.400980952153,-0.0053587135932,0.0698385027638,0.999999942667,0.000213750503531,-0.000262291050943,1.34528015806e-05,1793239467433517312
+104,1.733333333,BASELINE,766,745,715.666826233,679,661.666826233,635.666826233,879,787,803.333173767,652.666826233,631.333173767,653,0.400980118488,-0.0053575360689,0.0698379295546,0.999999942053,0.000214983769833,-0.000263630694459,1.32507018683e-05,1793239467450184192
+105,1.750000000,BASELINE,766,745,715.097557183,679,661.097557183,635.097557183,879,787,803.902442817,652.097557183,631.902442817,653,0.400977724616,-0.00535746314654,0.0698363719795,0.999999941268,0.000214137310623,-0.000267282579476,1.30332316893e-05,1793239467466851328
+106,1.766666667,BASELINE,766,745,715,678.506897512,661,635.493102488,878.506897512,787,804,652,631.506897512,652.506897512,0.400977795325,-0.00535787485992,0.0698365693682,0.999999941432,0.000213877988878,-0.000266863108844,1.32583863875e-05,1793239467483517952
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,880,788,803,652,632,653,0.400979116658,-0.0053592964934,0.0698369497799,0.999999942827,0.000209575803151,-0.000265065764745,1.28305854069e-05,1793239467527476480
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.406413251,715,679.406413251,661.406413251,635.593586749,879.406413251,788,803.593586749,652,632,653,0.400980320053,-0.00535793175568,0.0698381238288,0.999999942817,0.000212065509779,-0.000263106655986,1.29659230865e-05,1793239467544143360
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.185284657,636,879,788,803.814715343,652,632,653,0.400981006766,-0.00535696028947,0.0698386558619,0.99999994274,0.000213620943248,-0.000262138775484,1.30487210661e-05,1793239467560810240
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.772881405,636,879,788,803.227118595,652,632,653,0.400980571599,-0.00535684274086,0.069837793874,0.99999994253,0.00021314777217,-0.000263323167318,1.30174386251e-05,1793239467577476352
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.356147384,662,635.643852616,879,788,803.356147384,652,631.643852616,653,0.400980869062,-0.00535782084734,0.0698386503869,0.999999942728,0.000212969334438,-0.000262695277389,1.34130262795e-05,1793239467594143488
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.936684736,662,635.063315264,879,788,803.936684736,652,631.063315264,653,0.400981628116,-0.00535948926919,0.0698405896378,0.99999994318,0.000212976592909,-0.000260925562781,1.40775626109e-05,1793239467610810880
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.485885643,662,635.514114357,879.514114357,787.485885643,803.485885643,652,631.514114357,653,0.400981413883,-0.00535874680493,0.0698399554343,0.999999942872,0.000213910989013,-0.000261352449591,1.38972776765e-05,1793239467627477248
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744.908956689,715,678.908956689,662,636,879.908956689,787,803.091043311,651.908956689,632,652.908956689,0.400981093265,-0.00535800377644,0.0698390656913,0.999999942529,0.000214441804717,-0.000262240862376,1.36421915175e-05,1793239467644143360
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744.332668597,715,678.332668597,662,636,879.332668597,787,803.667331403,651.332668597,632,652.332668597,0.400980840654,-0.00535883071232,0.0698384930063,0.999999942501,0.000212216701358,-0.000264155964612,1.35396278065e-05,1793239467660809728
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.248190342,715,678.248190342,662,636,879,787,804,651.248190342,632,652,0.400986286257,-0.00535929099414,0.0698411283245,0.999999943492,0.000211919042907,-0.000260612238508,1.36900755667e-05,1793239467677476352
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.835290838,715,678.835290838,662,636,879,787,804,651.835290838,632,652,0.400999512914,-0.00535925060056,0.0698481442517,0.999999945793,0.000214253359121,-0.000249614344842,1.41860168614e-05,1793239467694142976
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.417713608,661.582286392,636,879,787.417713608,804,652,631.582286392,652.417713608,0.401029013782,-0.00536106746945,0.0698610729025,0.999999951429,0.000211917279808,-0.000228071865561,1.46763629939e-05,1793239467710809600
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.998312374,661.001687626,636,879,787.998312374,804,652,631.001687626,652.998312374,0.401064860691,-0.00536360856777,0.0698763071883,0.999999957816,0.000207760005154,-0.000202417581233,1.51645273563e-05,1793239467727476224
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.429244878,661.570755122,636,879,788,804,652,631,652.429244878,0.401124774211,-0.00536352631079,0.0698957790675,0.999999963423,0.000209451717934,-0.000170417862832,1.5535496572e-05,1793239467744143360
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.852588199,745,715,679,662,636,879.147411801,788,803.852588199,652,631,652.147411801,0.401185742572,-0.00536436543392,0.0699123755124,0.999999967425,0.000209891885451,-0.00014438794209,1.57227512523e-05,1793239467760810496
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.26322647,745,715,679,662,636,879.73677353,788,803.26322647,652,631,652.73677353,0.401249663094,-0.0053679898408,0.0699203141916,0.999999969265,0.000206528722446,-0.000136311304403,1.53602425052e-05,1793239467777477376
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.321265805,745,715,679,661.678734195,636,880,788,803.321265805,652,631.321265805,653,0.401326158549,-0.00536910596327,0.0699256639199,0.999999970378,0.000206205450468,-0.000128532395575,1.42385632276e-05,1793239467794143744
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.901827868,745,715,679,661.098172132,636,880,788,803.901827868,652,631.901827868,653,0.401412803332,-0.00536819762864,0.0699289240843,0.9999999709,0.000208335699608,-0.000120993786629,1.25041512258e-05,1793239467810809856
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715.479324925,679,661.479324925,636,880,787.520675075,803.520675075,652,631.520675075,653,0.401508202641,-0.00537031984756,0.0699255221773,0.999999971065,0.000204369684514,-0.000126497875119,1.00677282021e-05,1793239467827476480
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,716,679.055933789,662,636,879.944066211,787.055933789,803.055933789,652,631,653,0.40160860408,-0.00537281715885,0.0699214134591,0.999999971086,0.000199736419931,-0.000133710583337,7.46920131468e-06,1793239467844143104
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,716,679.630092762,662,636,879.369907238,787.630092762,803.630092762,652,631,653,0.401738843188,-0.00537307548166,0.0699233177117,0.999999971172,0.000200415815755,-0.00013216116852,4.69245129656e-06,1793239467860809984
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.20974449,715.79025551,679.79025551,661.79025551,636,879,788,803.79025551,652,631.20974449,652.79025551,0.401880265327,-0.00537530462392,0.0699259258588,0.999999972105,0.000198213761716,-0.000128444144172,1.67562686637e-06,1793239467877476864
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.799343734,715.200656266,679.200656266,661.200656266,636,879,788,803.200656266,652,631.799343734,652.200656266,0.40204194032,-0.00538110299047,0.0699298087835,0.999999974501,0.000190793299118,-0.000120801501813,-1.77598058472e-06,1793239467894143744
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.383059983,745.616940017,715,679,661.383059983,635.616940017,879,787.616940017,803.383059983,652,631.616940017,652.383059983,0.402232295087,-0.00538404332338,0.0699351490313,0.999999976478,0.000186468961599,-0.000110643681354,-5.67925415101e-06,1793239467910810368
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+132,2.200000000,POSE1_TO_POSE2_PRESS,766.460848008,745,715,679.539151992,662,635.539151992,879,787.539151992,804,652,631,653,0.402660098579,-0.00538845905998,0.0699408293539,0.999999979182,0.000178342360388,-9.8030569092e-05,-1.48334730459e-05,1793239467944143872
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.88620361,745,715,679.88620361,662,636,879,787.88620361,804,652,631.11379639,652.88620361,0.402892304572,-0.00539176863093,0.0699407099551,0.999999980298,0.000172577961468,-9.60422433859e-05,-1.99056830824e-05,1793239467960810240
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.313234933,745,715,679.313234933,662,636,879,787.313234933,804,652,631.686765067,652.313234933,0.403158354809,-0.00539613081678,0.0699435180571,0.999999982034,0.00016605961801,-8.79349902477e-05,-2.49599899707e-05,1793239467977476864
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.269169976,745,715,679.269169976,662,636,878.730830024,787,804,652,631.730830024,652.269169976,0.403447431049,-0.00540084446236,0.0699508627649,0.999999984234,0.000159312746893,-7.25528267475e-05,-2.9787165482e-05,1793239467994143488
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.862954801,745,715,679.862954801,662,636,878.137045199,787,804,652,631.137045199,652.862954801,0.403764276276,-0.00540598196269,0.0699636785492,0.999999986643,0.000152290275269,-4.83972337285e-05,-3.43404237333e-05,1793239468010810112
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.443643756,680,662,636,878.443643756,787,804,652,631.443643756,653,0.404103253728,-0.00541268556835,0.0699677313873,0.999999993575,9.6624755367e-05,-4.58945105793e-05,-3.75206081164e-05,1793239468027476736
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.979621,679.979621,662,636,879.020379,787,804,652,631.979621,653,0.404450245915,-0.00541967358653,0.0699692217183,0.99999999751,3.05628692104e-05,-4.94736712165e-05,-3.99672859292e-05,1793239468044143360
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715.403547614,679.403547614,662,636,879.596452386,787,804,652,631.403547614,653,0.404834702803,-0.00542160342221,0.0699725342057,0.999999995443,7.90000977975e-05,-4.17343789744e-05,-3.36469193394e-05,1793239468060810240
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.176516607,679.176516607,662,636,879.823483393,787.176516607,804,652,631,653,0.405226153376,-0.00542493961756,0.0699757475747,0.999999992944,0.000109390917885,-3.48641727018e-05,-3.05013026659e-05,1793239468077477120
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.765915539,679.765915539,662,636,879.234084461,787.765915539,804,652,631,653,0.405633962521,-0.00543156536739,0.0699787290996,0.999999994184,9.75701616766e-05,-3.0026808936e-05,-3.47816066024e-05,1793239468094143488
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.349399477,716,679.650600523,662,636,879,787.650600523,804,652,631.349399477,652.650600523,0.406067350784,-0.00543930694233,0.0699750703234,0.999999995379,8.12899410037e-05,-3.53924135693e-05,-3.71744924741e-05,1793239468110809856
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+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.49465208,715.49465208,679.50534792,662,636,879,787,804,652,631.49465208,652.50534792,0.40700626148,-0.00546565601602,0.0699499691094,0.999999995792,4.57472806069e-05,-7.08103682766e-05,-3.61946864082e-05,1793239468144143104
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+148,2.466666667,POSE1_TO_POSE2_PRESS,765.821088475,745,715,680,661.821088475,636,879,787,804.821088475,652,631.178911525,652.821088475,0.40923551036,-0.00552012202019,0.0699689305766,0.999999998962,-2.09199245096e-05,-1.77396471233e-05,-3.63757390665e-05,1793239468210810368
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.594491304,662,636,879.405508696,787.405508696,804.594491304,652,631,652.594491304,0.40983426671,-0.00552408027856,0.0699650792248,0.999999998814,-2.16678108921e-05,-2.26806381287e-05,-3.72628912091e-05,1793239468227476992
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.013220572,662,636,879.986779428,787.986779428,804.013220572,652,631,652.013220572,0.410433259746,-0.00553104432298,0.0699533382074,0.999999998033,-2.5364359966e-05,-4.31867181211e-05,-3.77435382864e-05,1793239468244143360
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715.560639267,679,662,636,879.439360733,788,804,652,631,652,0.411088814999,-0.00554138769427,0.0699496342102,0.999999996942,-4.2535501118e-05,-5.27986925268e-05,-3.89836776651e-05,1793239468260809984
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.862172452,679,662,636,879.137827548,788,804,652,631,652.137827548,0.411758873168,-0.00555034118214,0.0699534274374,0.999999996369,-5.76184508331e-05,-4.83522509268e-05,-4.00434653364e-05,1793239468277476864
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.273533347,679,662,636,879.726466653,788,804,652,631,652.726466653,0.412472062141,-0.00555449133616,0.069981131059,0.999999997078,-6.48455192981e-05,1.24768663708e-06,-4.0455535828e-05,1793239468294143488
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.689600496,745.310399504,715,679,662,636,880,787.689600496,804,651.689600496,631,653,0.413204154515,-0.00555129166932,0.0700082943631,0.999999996189,-6.35734225544e-05,4.48894641605e-05,-3.95540253325e-05,1793239468310810112
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.10975293,745.89024707,715,679,662,636,880,787.10975293,804,651.10975293,631,653,0.413952656416,-0.00554171185429,0.0700349886377,0.999999994314,-5.49234682705e-05,8.33591556196e-05,-3.7512236502e-05,1793239468327476480
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.46762643,745.53237357,715,679.46762643,662,636,880,787.46762643,804.46762643,651.46762643,631,653,0.414665845262,-0.00551356423634,0.0700161692493,0.999999998106,-1.67408585359e-05,4.44030653921e-05,-3.91918845786e-05,1793239468344143616
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.044269953,787.955730047,804.955730047,652,631.044269953,653,0.415374687112,-0.00548421204069,0.0699855223443,0.999999998759,2.35514300054e-05,-1.32909594951e-05,-4.18424982205e-05,1793239468360810752
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.619001693,787.380998307,804.380998307,652,631.619001693,653,0.416130231503,-0.00549237016703,0.0699404791463,0.99999999582,6.50413671369e-06,-7.89095850664e-05,-4.57167883065e-05,1793239468377477120
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.800884431,787,804.199115569,652,631.800884431,653,0.416907061208,-0.00550227907643,0.069918634327,0.999999992699,-1.17386301983e-05,-0.000110164292849,-4.82393535094e-05,1793239468394143744
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.210186025,787,804.789813975,652,631.210186025,653,0.417725750798,-0.00551563109429,0.0699424116938,0.999999995594,-3.23324274392e-05,-7.38385435147e-05,-4.81036019449e-05,1793239468410810112
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,787,804.626722322,652,631,653,0.418555079206,-0.00552299954776,0.0699679822568,0.999999997362,-4.09948293137e-05,-3.68600137159e-05,-4.72870022965e-05,1793239468427476736
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,787,804.047254917,652,631,653,0.419390284217,-0.00552706282187,0.0699945433379,0.99999999801,-4.30666109591e-05,4.79095315101e-07,-4.60943183125e-05,1793239468444143104
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.47294263,662,636,880,787.52705737,804,652,631,653,0.42025340027,-0.00552739547498,0.070014942273,0.999999997282,-4.39830027807e-05,3.67163023203e-05,-4.64146972164e-05,1793239468460809728
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679.101350589,662,636,880,787.898649411,804,651.898649411,631,653,0.421118829394,-0.00552599808669,0.0700308756116,0.999999995889,-4.35601693155e-05,6.41189495997e-05,-4.70409232609e-05,1793239468477476608
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.677699459,662,636,880,787.322300541,804,651.322300541,631,653,0.421983484295,-0.00551804495808,0.0700284443456,0.999999996849,-3.73415997413e-05,5.05753211152e-05,-4.84709296413e-05,1793239468494143744
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.261128118,680,662,636,880,787.261128118,804,651.261128118,631,653,0.422800640589,-0.00551289813118,0.0699968889945,0.999999998125,-3.37919034078e-05,-6.01015346498e-06,-5.07108245812e-05,1793239468510810624
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.853538692,680,662,636,880,787.853538692,804,651.853538692,631,653,0.423557537477,-0.00551131154225,0.0699283851196,0.99999999111,-3.36280951504e-05,-0.00011720104194,-5.39781914368e-05,1793239468527476992
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.435004241,715.564995759,680,662,636,880,788,804,652,631.435004241,653,0.424375903682,-0.00551542769849,0.069885022806,0.999999982431,-4.6267335239e-05,-0.000171747825632,-5.91589419563e-05,1793239468544143360
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.987255878,715,680.012744122,662,636,880,787.987255878,804.012744122,652,632,652.987255878,0.425216344016,-0.00552142759378,0.0698520737266,0.999999974933,-6.28547764246e-05,-0.000204924572406,-6.47229119618e-05,1793239468560810240
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.415264777,715,680.584735223,662,636,880,787.415264777,804.584735223,652,632,652.415264777,0.42613954991,-0.00552790185946,0.0699137398318,0.999999989095,-6.81796636589e-05,-0.000116693511273,-5.95274899286e-05,1793239468577476608
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.837899925,745,715,681,662.162100075,636,880.162100075,787.162100075,804.837899925,652,631.837899925,652.162100075,0.427059287086,-0.00553210297917,0.0699699723266,0.999999995258,-7.05580474185e-05,-3.80833180015e-05,-5.5268636518e-05,1793239468594143232
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.246296727,745,715,681,662.753703273,636,880.753703273,787.753703273,804.246296727,652,631.246296727,652.753703273,0.427969833432,-0.00553028113218,0.0700118078312,0.999999996335,-6.512932613e-05,1.50352525818e-05,-5.34913325657e-05,1793239468610809856
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.338327026,745,715,680.661672974,662.661672974,636,881,787.661672974,804.338327026,651.661672974,631,652.661672974,0.428870166521,-0.00553084880928,0.0700383866185,0.999999995044,-6.24034668849e-05,5.71201654561e-05,-5.24964339221e-05,1793239468627476736
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.917972524,745,715,680.082027476,662.082027476,636,881,787.082027476,804.917972524,651.082027476,631,652.082027476,0.429763214762,-0.00553312086199,0.0700540832472,0.999999992576,-6.1605477958e-05,9.13351004774e-05,-5.20596015131e-05,1793239468644143616
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.505480609,787,804.505480609,651,631,652.494519391,0.430568598894,-0.0055338880089,0.0700234612808,0.999999995649,-6.47594389031e-05,3.98084357481e-05,-5.40751563661e-05,1793239468660810240
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.070132097,715,680.070132097,662,636,879.929867903,787.070132097,804,651.070132097,631,653,0.431353805642,-0.00553372331927,0.0699816471688,0.999999995644,-6.73335918636e-05,-3.11569758116e-05,-5.66328659892e-05,1793239468677476608
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.642711282,715,680.642711282,662,636,879.357288718,787.642711282,804,651.642711282,631,653,0.43209798342,-0.00552865991668,0.0699143498389,0.999999986505,-6.10867166015e-05,-0.000140129520786,-6.01785508763e-05,1793239468694143232
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662,636,879.22211852,788,804,652,631,652.77788148,0.432896692997,-0.00552763515316,0.069888323239,0.999999980603,-6.05232513303e-05,-0.000176867739573,-6.20383668848e-05,1793239468710809600
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662,636,879.812857454,788,804,652,631,652.187142546,0.43378590183,-0.00553331277821,0.0699307881417,0.999999991333,-6.93917815362e-05,-9.37283226225e-05,-6.11003729289e-05,1793239468727476224
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680.604097768,662.395902232,636,880,788,804.395902232,652,631.395902232,652.395902232,0.434644388049,-0.00553874992988,0.0699777534728,0.999999995167,-7.66358463165e-05,-1.78011701797e-05,-5.89512788218e-05,1793239468744143360
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680.024620706,662.975379294,636,880,788,804.975379294,652,631.975379294,652.975379294,0.43548862853,-0.00554407557676,0.0700268055927,0.999999993463,-8.31266664261e-05,5.47817419345e-05,-5.62406129032e-05,1793239468760810496
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680.55124284,662.44875716,636,880.55124284,788,804.44875716,652,632,652.44875716,0.436259799313,-0.00554523845269,0.0700276366034,0.99999999321,-8.37540018064e-05,5.82334942408e-05,-5.63376790285e-05,1793239468777477376
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.870654634,715,681,662.129345366,635.870654634,881,788,804.129345366,652,631.870654634,652.129345366,0.437017935738,-0.00554639689869,0.0700200776215,0.999999993557,-8.41946121079e-05,5.06315874877e-05,-5.68624521409e-05,1793239468794144512
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.284070481,715,681,662.715929519,635.284070481,881,788,804.715929519,652,631.284070481,652.715929519,0.437741457082,-0.00554819265686,0.0699904237888,0.999999994578,-8.48948909781e-05,1.47986582104e-05,-5.84587582555e-05,1793239468810810880
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,635,880.701110135,788,805,652,631.298889865,653,0.438423055285,-0.0055482256822,0.0699463809988,0.999999993368,-8.51788548767e-05,-4.81441988735e-05,-6.0752888123e-05,1793239468827477248
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,635,880.1215527,788,805,652,631.8784473,653,0.439065286217,-0.00554660344242,0.0698888264989,0.99999998503,-8.50718846368e-05,-0.000136544181891,-6.37022974196e-05,1793239468844143616
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.454307909,715,681,662.545692091,635,880.454307909,787.545692091,804.545692091,652,631.545692091,652.545692091,0.439670575703,-0.00554172285305,0.0698327299703,0.999999968602,-7.72767980889e-05,-0.000229270951654,-6.52676526732e-05,1793239468860810240
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.971010756,745.971010756,715,681,662,635,881,787,804,651.971010756,631,652.028989244,0.440269091068,-0.00553615813096,0.0697806360014,0.999999945225,-6.79709714594e-05,-0.000317041985387,-6.64383862922e-05,1793239468877476608
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.400034882,745.400034882,715,681,662,635,881,787,804,651.400034882,631,652.599965118,0.440924254812,-0.00553397032585,0.0697961402001,0.999999953148,-6.85676937836e-05,-0.000290690836889,-6.70987404688e-05,1793239468894143232
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.17853454,745.17853454,714.82146546,681,662,635,881,787.17853454,804.17853454,651.17853454,631,653,0.441578421558,-0.0055345844726,0.0698171046245,0.999999961804,-7.12676244964e-05,-0.000258502727475,-6.70081039293e-05,1793239468910809856
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.774874449,745.774874449,714.225125551,681,662,635,881,787.774874449,804.774874449,651.774874449,631,653,0.442230255268,-0.00554175572841,0.0698508470364,0.999999972154,-7.88894699054e-05,-0.000212654994863,-6.51600039358e-05,1793239468927476480
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.639798115,714.360201885,681.360201885,662,635,881,787.639798115,805,652,631,653,0.442802587188,-0.00554593889825,0.0698471742669,0.999999969012,-7.98896219272e-05,-0.000226898315908,-6.41182289899e-05,1793239468944143104
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.061149306,714.938850694,681.938850694,662,635,881,787.061149306,805,652,631,653,0.443326704659,-0.00554830992226,0.0698208107999,0.999999956498,-7.68740016464e-05,-0.000277584274506,-6.35654554809e-05,1793239468960809728
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.513668753,714.486331247,681.486331247,661.486331247,634.486331247,880.486331247,787,805,652,631,652.486331247,0.443811432109,-0.00554810181823,0.069782248515,0.999999938164,-7.27753250598e-05,-0.000338282222782,-6.27730369258e-05,1793239468977476352
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.912168661,714.087831339,681,661,634,880,787,805,651.912168661,631,652.087831339,0.444288551315,-0.00554804335656,0.0697448432675,0.999999917476,-7.02819170286e-05,-0.000395224836354,-6.24947485708e-05,1793239468994143232
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.339126537,714.660873463,681,661,634,880,787,805,651.339126537,631,652.660873463,0.444749352692,-0.00555049515766,0.0697217929627,0.999999904617,-7.7363561191e-05,-0.000424886120911,-6.52131288254e-05,1793239469010809600
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,880,787,805,651.24346364,631,653,0.445210730513,-0.00555102919897,0.0697058688237,0.99999989609,-8.20267301764e-05,-0.00044334302292,-6.73714542879e-05,1793239469027476480
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,880,787,805,651.83989636,631,653,0.445672944012,-0.00554878290742,0.0697002760699,0.999999894919,-8.31836380858e-05,-0.000445556016396,-6.87178225137e-05,1793239469044143360
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.421318065,715,681.421318065,661,634,880.421318065,787,804.578681935,652,631,653,0.44608815001,-0.0055455313389,0.0696998078421,0.999999893392,-8.39224130844e-05,-0.000448886198816,-6.8364013699e-05,1793239469060809984
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.997231779,715,681.997231779,661,634,880.997231779,787,804.002768221,652,631,653,0.446486107427,-0.00554191090057,0.0697012199733,0.999999891723,-8.45077612684e-05,-0.000452626315291,-6.73863533418e-05,1793239469077476864
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745.149907825,715,682,660,634,881,786,805,651.850092175,631,653,0.447150106397,-0.00553658918339,0.0696734980886,0.999999864703,-6.20959698705e-05,-0.000512346464018,-6.51087917278e-05,1793239469110809600
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.738643848,715,682,660,634,881,786,805,651.261356152,631,653,0.447443936373,-0.00553963729518,0.0696494018521,0.99999984451,-6.34490222926e-05,-0.000549941746348,-6.72124492318e-05,1793239469127476224
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715,682,659.676656448,633.676656448,881,786,805,651.323343552,631,653,0.447743684003,-0.00554281444897,0.069639439729,0.999999836865,-6.75914313782e-05,-0.0005629898479,-6.88812068663e-05,1793239469144142592
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,714.058118754,682,659,633,881.058118754,785.941881246,805,652,631,653,0.448572458399,-0.00555202204169,0.0696549672101,0.999999851883,-8.11408381578e-05,-0.000533873811744,-6.80299589229e-05,1793239469194142976
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,714.628348503,682,659,633,881.628348503,785.371651497,805,652,631,653,0.448793343835,-0.00555432412136,0.06965966262,0.999999855547,-8.37965149509e-05,-0.000527612754765,-5.92423679477e-05,1793239469210809600
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715,682.20685266,659,632.79314734,881.79314734,785,804.79314734,652,631,653,0.448997440656,-0.00555635671224,0.0696598030844,0.999999854708,-8.65324186115e-05,-0.000529299368903,-5.42037999279e-05,1793239469227476224
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.61584702,714.61584702,682.61584702,659,632.38415298,880.61584702,785,804.38415298,652,631,653,0.449332556186,-0.00555896241234,0.069645179884,0.999999840677,-8.90634269193e-05,-0.000554414444051,-5.77851759231e-05,1793239469260809728
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.037923882,714.037923882,682.037923882,659,632.962076118,880.037923882,785,804.962076118,652,631,653,0.449489832625,-0.00555981252378,0.0696400233367,0.999999838256,-8.70735444104e-05,-0.000558929413775,-5.91996680604e-05,1793239469277476608
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.88297009,714.88297009,681.88297009,659,632,880.11702991,785.88297009,805,652,630.11702991,653,0.449727928915,-0.00556319437159,0.069633709121,0.999999831828,-9.35794505108e-05,-0.000569032511351,-6.15482624251e-05,1793239469310809344
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.295728597,714.295728597,681.295728597,659,632,880.704271403,785.295728597,805,652,630.704271403,653,0.44982177503,-0.00556465845063,0.0696307857144,0.999999828282,-9.70687461485e-05,-0.000574590124198,-6.21236286738e-05,1793239469327476224
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.043616176,746,715,681.956383824,658,632,881,785,805,651,631,653,0.450253117373,-0.00556141581094,0.069592062471,0.999999788534,-9.66510289634e-05,-0.000640279039869,-6.02692914551e-05,1793239469710809856
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+268,4.466666667,HOLD_POSE2,766,746,714.038877994,682.961122006,658,632,881,784.038877994,805,652,631,653,0.450260105701,-0.00555950476776,0.0695916281012,0.999999788565,-9.52307508048e-05,-0.00064054356016,-5.92031801673e-05,1793239470225531392
+269,4.483333333,HOLD_POSE2,766,745.450636258,714.549363742,682.450636258,658,632,880.450636258,784,805,652,630.450636258,653,0.450261159394,-0.0055582660354,0.0695934535395,0.999999789938,-9.34649260871e-05,-0.000638699076757,-5.87490012351e-05,1793239470242198272
+270,4.500000000,HOLD_POSE2,766,745.136440122,715,682,658,632,880.136440122,784.136440122,805.136440122,652,630,653,0.450262018269,-0.00555754230371,0.0695948457137,0.999999790899,-9.29528998505e-05,-0.000637296462959,-5.84398252039e-05,1793239470258865152
+271,4.516666667,HOLD_POSE2,766,745.71615538,715,682,658,632,880.71615538,784.71615538,805.71615538,652,630,653,0.450261939663,-0.00555892016522,0.0695941278724,0.999999790003,-9.67104847169e-05,-0.000638123270812,-5.86441628936e-05,1793239470275531776
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,631,881,785,805,652,631,653,0.450258748018,-0.00555954494976,0.0695922448469,0.999999788043,-9.63470346843e-05,-0.000641308376414,-5.79179383337e-05,1793239470312596224
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.574100842,714.425899158,682,657.851798316,631.574100842,880.425899158,784.425899158,805,652,631,653,0.450260529859,-0.00555954208266,0.069593398283,0.999999789365,-9.66868956126e-05,-0.000639158299485,-5.8302771899e-05,1793239470329263104
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.851253478,714,682,657.148746522,632,880.148746522,784,805,651.851253478,631,653,0.450261788515,-0.00555987392793,0.0695940170366,0.999999790186,-9.68383218605e-05,-0.000637830798737,-5.8501193939e-05,1793239470345929984
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714.96462716,682,657.03537284,632,880,784,805,652,631,652.03537284,0.450190626084,-0.00555585492929,0.0695612344951,0.999999755289,-9.19558756063e-05,-0.000690947010009,-5.96501660208e-05,1793239470512595968
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.88202759,746,715,682,657.11797241,632,881,785,805,652,631,653,0.450074284955,-0.00555440660669,0.0695203263776,0.999999708862,-9.3459496771e-05,-0.00075487836463,-6.08235207029e-05,1793239470545930496
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.294554431,746,715,682,657.705445569,632,881,785,805,652,631,653,0.450006202706,-0.00555135793192,0.0695072581481,0.999999696756,-9.068516974e-05,-0.000771071110971,-6.09379066897e-05,1793239470562596864
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.289032543,746,715,681.710967457,658,632,881,785,805.289032543,652,630.710967457,653,0.44993153117,-0.00554858599571,0.069500762553,0.999999690828,-8.82509947283e-05,-0.000779036614141,-6.04708919362e-05,1793239470579263488
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.598124907,746,715,682,658,632,881,785,805,652,630.598124907,653,0.449527310126,-0.00554169679007,0.0695191587406,0.999999710842,-8.14290781693e-05,-0.000754330510565,-5.16872260325e-05,1793239470645929472
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714.069958456,682,658,632,880,785,804.930041544,651,631,653,0.448840336038,-0.0055277511965,0.0695273915181,0.999999713593,-6.51707588402e-05,-0.000753075277983,-3.79943180717e-05,1793239470712596736
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.494633902,714,682,658,632,880.505366098,785,805,651.505366098,631,653,0.44860401075,-0.00552151012883,0.0695256047991,0.999999711972,-5.7436046214e-05,-0.000756035823126,-3.4166090357e-05,1793239470729263360
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.07175623,635,880,787,805,651.92824377,631,653,0.42971406228,-0.00539911700842,0.0697352016957,0.99999989845,0.000139605964589,-0.000427989987519,2.08647201105e-05,1793239471262596096
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.695203286,715,680,661.304796714,635,880.695203286,787,804,652,631,652.695203286,0.421689796443,-0.00538777542367,0.0697192123645,0.999999874478,0.000157719599571,-0.000475005475428,2.3207837307e-05,1793239471412596480
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.610500031,715,680.389499969,661,635,880,788,804.610500031,652,631.389499969,653,0.418467521797,-0.00539929422443,0.0698769066194,0.999999965747,0.000154622933375,-0.000208881075469,3.10882724555e-05,1793239471479262976
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745.216746699,715,680,661,635.783253301,880,787.216746699,804.216746699,652,631,653,0.41677516653,-0.00539369180013,0.0698508909683,0.999999954256,0.000163152257253,-0.000252893478823,3.02502368727e-05,1793239471512595968
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.20187883,879.20187883,787.20187883,803.79812117,652,631.20187883,652.20187883,0.404893696032,-0.0053782381849,0.0698251343237,0.999999937563,0.000186657886029,-0.000299103272375,2.38555275613e-05,1793239471829262848
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.255825437,661,636,879.744174563,787.255825437,803.744174563,652,632,653,0.401161360711,-0.00535653800489,0.0698062742683,0.999999926125,0.000216765663334,-0.00031723275567,1.12553744653e-05,1793239472129263104
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.834746816,661,636,879.165253184,787.834746816,803.165253184,652,632,653,0.40111144593,-0.00535499103505,0.0698077870387,0.999999926764,0.000216035878488,-0.000315699144733,1.15773963571e-05,1793239472145929984
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.588371129,745,715,679.588371129,661,635.588371129,879,787.588371129,803,652,632,653,0.401078492276,-0.00535467503412,0.069811915291,0.999999929302,0.000215558067042,-0.000307858285164,1.24003489777e-05,1793239472162596608
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.012303762,745,715,679.012303762,661,635.012303762,879,787.012303762,803,652,632,653,0.401052314294,-0.00535485078366,0.0698170883823,0.999999932506,0.000215180914536,-0.000297497790686,1.3423414607e-05,1793239472179263232
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.140837895,661.140837895,635.859162105,879,787,803.140837895,652,631,652.859162105,0.401012329086,-0.00535482118283,0.069821776074,0.999999934254,0.000216470816659,-0.000290585486406,1.38534949546e-05,1793239472212596480
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.68194005,662,635.31805995,879,787,804,652,631,652.31805995,0.400991866595,-0.00535533515929,0.0698242989397,0.999999935293,0.000215579599824,-0.000287649141403,1.40804729764e-05,1793239472245929216
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.104974164,662,635.895025836,879,787,804,652,631,652.895025836,0.400985923549,-0.00535381537267,0.0698253936422,0.999999935379,0.00021748598971,-0.00028592056602,1.38553675373e-05,1793239472262596096
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.530668674,745,715,679,661.530668674,636,879,787,804,652,631.469331326,652.530668674,0.400983429229,-0.00535426649406,0.0698263864941,0.999999936535,0.00021555470354,-0.000283335446241,1.36831499753e-05,1793239472279262720
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.044116709,745,715.044116709,679,661.044116709,636,879,787,803.955883291,652,631.955883291,652.044116709,0.400981730024,-0.00535510232001,0.0698273143804,0.999999937797,0.000213127822431,-0.000280712335033,1.35567122281e-05,1793239472295929856
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.632113239,745,715.632113239,679,661.632113239,636,879,787,803.367886761,652,631.367886761,652.632113239,0.40098037716,-0.0053552768772,0.0698277206194,0.999999937576,0.000215113576848,-0.000279969394442,1.38496452649e-05,1793239472312596480
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.782968352,679,662,636,879,787,803.217031648,652,631.217031648,653,0.400979882952,-0.00535607065144,0.0698287554921,0.999999937959,0.000215128217029,-0.000278574659366,1.40956600464e-05,1793239472329263104
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.203194688,679,662,636,879,787,803.796805312,652,631.796805312,653,0.400980823883,-0.00535789937172,0.0698308410498,0.999999939345,0.000211848379249,-0.000276090529082,1.42632566497e-05,1793239472345929472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.62486377,636,879.37513623,787,804,652,632,652.62486377,0.400980777327,-0.00535806655933,0.0698313291961,0.999999939443,0.000212246603622,-0.000275439541336,1.40999789804e-05,1793239472362596352
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.047311349,636,879.952688651,787,804,652,632,652.047311349,0.400980197942,-0.00535733721627,0.0698309554103,0.999999938846,0.000214629438674,-0.000275777681617,1.37581680039e-05,1793239472379262976
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.473347439,880,787.526652561,804,652,631.473347439,652.526652561,0.400978390479,-0.00535751735629,0.0698305639644,0.999999938274,0.000215335364473,-0.000277293967319,1.38248414899e-05,1793239472395929600
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.103210136,661,635.103210136,879.896789864,788,804,652,631,652.896789864,0.40097721448,-0.00535783979793,0.069830615952,0.999999938002,0.000215686076479,-0.000277991857475,1.39747309387e-05,1793239472412596480
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.693519435,661,635.693519435,879.306480565,788,804,652,631,652.306480565,0.400979535817,-0.0053584508457,0.0698327681566,0.999999939141,0.00021506650987,-0.000274331218837,1.43453437217e-05,1793239472429263104
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.721702828,661,636,879,787.721702828,804,652,631.278297172,652,0.400979582954,-0.00535761602197,0.0698330676057,0.999999939278,0.000215214585291,-0.000273726018303,1.4186159607e-05,1793239472445929984
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.142898043,661,636,879,787.142898043,804,652,631.857101957,652,0.400977174392,-0.00535521993419,0.0698313664341,0.999999938336,0.000216191566918,-0.000276420104921,1.34548964193e-05,1793239472462596608
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.433571567,661.433571567,636,879,787,804,652,631.566428433,652.433571567,0.40097847029,-0.00535566841424,0.0698323809766,0.99999993906,0.000215648223301,-0.000274202856854,1.37022231141e-05,1793239472479263232
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.009467675,715,679.990532325,661.990532325,635.990532325,879.009467675,787.009467675,804,652,631.009467675,652.990532325,0.400980944346,-0.00535706428524,0.069834253308,0.999999940306,0.000214582656717,-0.000270443802162,1.42626250311e-05,1793239472495930112
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.597091355,715,679.402908645,661.402908645,635.402908645,879.597091355,787.597091355,804,652,631.597091355,652.402908645,0.400981205931,-0.00535936947745,0.0698341427601,0.999999940732,0.000212061686716,-0.00027085048877,1.4351347946e-05,1793239472512596480
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.818055153,715.181944847,679.181944847,661.181944847,635.181944847,880,788,804,652,632,652.181944847,0.400981569648,-0.0053604321843,0.0698344419635,0.999999941051,0.000211059522781,-0.000270451115254,1.44013615737e-05,1793239472529262592
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.239244152,715.760755848,679.760755848,661.760755848,635.760755848,880,788,804,652,632,652.760755848,0.400982156139,-0.00535878472689,0.0698356349345,0.999999941143,0.000213370246032,-0.000268293527683,1.43669407851e-05,1793239472545929216
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.660832829,679.660832829,661.660832829,636,879.660832829,787.660832829,804,652,632,653,0.400982921882,-0.00535770683826,0.0698364355843,0.999999941316,0.000214521861019,-0.000266736435659,1.41534281317e-05,1793239472562596352
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715.082703129,679.082703129,661.082703129,636,879.082703129,787.082703129,804,652,632,653,0.400983813918,-0.00535703024324,0.0698369598214,0.999999941551,0.000214856818322,-0.000265602426939,1.38137350919e-05,1793239472579263232
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.488400479,661,636,879.488400479,787,804,652,631.511599521,653,0.400981023423,-0.00535700337386,0.0698354457653,0.999999940589,0.000215528841403,-0.000268650698405,1.39754069437e-05,1793239472595930112
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.939114619,745,715,679.939114619,661,636,880,787,804,652,631.060885381,653,0.40097796541,-0.00535699420813,0.0698338299722,0.999999939544,0.000216232653431,-0.000271948363575,1.41605309543e-05,1793239472612596992
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.344228366,745,715,679.344228366,661,636,880,787,804,652,631.655771634,653,0.400977952708,-0.00535618904862,0.0698343061567,0.999999939616,0.000216721773982,-0.000271310068798,1.38172943903e-05,1793239472629263104
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.244072852,745,715,679.244072852,661,636,879.755927148,787.244072852,804,652,632,653,0.40097831045,-0.00535659099938,0.0698346912387,0.999999939939,0.000215985454276,-0.00027071064626,1.36905313172e-05,1793239472645929472
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.823330925,745,715,679.823330925,661,636,879.176669075,787.823330925,804,652,632,653,0.400979176921,-0.00535865067439,0.0698349512096,0.999999940604,0.000213566237666,-0.000270164606872,1.38610512167e-05,1793239472662596352
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.399534892,745.399534892,715,680,661,636,879,787.600465108,804,652,631.600465108,652.600465108,0.400980287116,-0.00535977047425,0.0698356346649,0.999999941118,0.000212120279483,-0.000269390082413,1.40356531721e-05,1793239472679262976
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.974398582,745.974398582,715,680,661,636,879,787.025601418,804,652,631.025601418,652.025601418,0.400981504264,-0.00536047782644,0.0698365039588,0.999999941567,0.000211101418638,-0.000268515291364,1.42120464549e-05,1793239472695929344
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.438342231,746,715,679.438342231,661,636,879,787,804,652,631.561657769,652,0.400980647104,-0.00535967336426,0.069836285575,0.999999941227,0.000213207889257,-0.000268129289954,1.39946341566e-05,1793239472712596224
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca59cfbcb2e02eb9e3aa27e8661926f052744908
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+20,0.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+22,0.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+24,0.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+27,0.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+30,0.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+33,0.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+34,0.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+386,6.433333333,pose2_to_pose3_retreat,0.575702024817,9.09077889548e-05,1.06003225888,0.546272474636,0.00876264129973,1.05970038884
+387,6.450000000,pose2_to_pose3_retreat,0.575690995507,9.08445844045e-05,1.06003242856,0.546261445858,0.00876257978347,1.05970055552
+388,6.466666667,pose2_to_pose3_retreat,0.575683141348,9.07703001295e-05,1.06003257432,0.546253592886,0.00876250947586,1.05970069994
+389,6.483333333,pose2_to_pose3_retreat,0.575678212079,9.07695275998e-05,1.06003240865,0.546248664274,0.0087625112789,1.05970054301
+390,6.500000000,pose2_to_pose3_retreat,0.575674983807,9.07700979538e-05,1.06003230695,0.546245436399,0.00876251340839,1.05970044668
+391,6.516666667,pose2_to_pose3_retreat,0.575673185061,9.07877547086e-05,1.06003235982,0.546243637334,0.00876252987764,1.05970049687
+392,6.533333333,pose2_to_pose3_retreat,0.575672419601,9.079526858e-05,1.06003238232,0.546242871738,0.00876253688616,1.05970051822
+393,6.550000000,pose2_to_pose3_retreat,0.57567202155,9.07991759046e-05,1.06003239402,0.546242473617,0.0087625405307,1.05970052933
+394,6.566666667,pose2_to_pose3_retreat,0.575671791585,9.08014332813e-05,1.06003240078,0.546242243611,0.00876254263625,1.05970053575
+395,6.583333333,pose2_to_pose3_retreat,0.575671493384,9.08043604662e-05,1.06003240954,0.546241945357,0.00876254536657,1.05970054407
+396,6.600000000,pose2_to_pose3_retreat,0.575671092846,9.08082922051e-05,1.06003242132,0.546241544748,0.00876254903388,1.05970055524
+397,6.616666667,pose2_to_pose3_retreat,0.575670899507,9.08101900475e-05,1.060032427,0.546241351375,0.00876255080408,1.05970056064
+398,6.633333333,pose2_to_pose3_retreat,0.575670720232,9.08119498422e-05,1.06003243227,0.546241172068,0.00876255244552,1.05970056564
+399,6.650000000,pose2_to_pose3_retreat,0.575670266397,9.08164047547e-05,1.06003244561,0.546240718152,0.00876255660081,1.0597005783
+400,6.666666667,pose2_to_pose3_retreat,0.575670254417,9.08165223486e-05,1.06003244596,0.54624070617,0.0087625567105,1.05970057863
+401,6.683333333,pose2_to_pose3_retreat,0.575669694564,9.08220179503e-05,1.06003246241,0.546240146218,0.00876256183649,1.05970059425
+402,6.700000000,pose2_to_pose3_retreat,0.575669448139,9.08191129873e-05,1.06003246229,0.546239899767,0.00876255883861,1.05970059396
+403,6.716666667,pose2_to_pose3_retreat,0.5756691618,9.08070940295e-05,1.06003245017,0.546239613429,0.00876254682494,1.05970058198
+404,6.733333333,pose2_to_pose3_retreat,0.57566844379,9.07769558165e-05,1.06003241979,0.546238895419,0.00876251670001,1.05970055192
+405,6.750000000,pose2_to_pose3_retreat,0.57566780219,9.07500248968e-05,1.06003239265,0.546238253819,0.00876248978095,1.05970052507
+406,6.766666667,pose2_to_pose3_retreat,0.575667388603,9.07326647675e-05,1.06003237515,0.546237840233,0.00876247242847,1.05970050776
+407,6.783333333,pose2_to_pose3_retreat,0.575667362299,9.07315606437e-05,1.06003237404,0.546237813928,0.00876247132483,1.05970050666
+408,6.800000000,pose2_to_pose3_retreat,0.575666842826,9.07097559851e-05,1.06003235206,0.546237294456,0.00876244952978,1.05970048492
+409,6.816666667,pose2_to_pose3_retreat,0.575666263623,9.07042501026e-05,1.0600323429,0.546236715062,0.00876244336756,1.05970047548
+410,6.833333333,pose2_to_pose3_retreat,0.575665740995,9.07826027394e-05,1.06003240265,0.546236191419,0.0087625181726,1.05970053252
+411,6.850000000,pose2_to_pose3_retreat,0.575665215469,9.08613897499e-05,1.06003246272,0.546235664873,0.00876259339234,1.05970058988
+412,6.866666667,pose2_to_pose3_retreat,0.575665132021,9.08739003096e-05,1.06003247226,0.546235581262,0.00876260533646,1.05970059899
+413,6.883333333,pose2_to_pose3_retreat,0.575664813871,9.08326132236e-05,1.06003248622,0.546235263923,0.00876256680881,1.0597006131
+414,6.900000000,pose2_to_pose3_retreat,0.575664604299,9.07612324829e-05,1.06003248429,0.546235055596,0.00876249968826,1.05970061216
+415,6.916666667,pose2_to_pose3_retreat,0.575664366173,9.08683814746e-05,1.06003237283,0.54623481586,0.00876260162458,1.05970050727
+416,6.933333333,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066005,1.05970045625
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..317f76932e9f63893658deaa382a7ade1c3c7baa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:489fbe879c392a26c0006d8f2c294ac85db0b52ad8a2b610f94df9e8442da7a0
+size 26701790
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d23f21a9c34ce36f3a0e6e7e38776167a3552d8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/franka_data.csv
@@ -0,0 +1,421 @@
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+38,0.633333333,BASELINE,766,745,715,679.958313833,661,636,879,787,803.041686167,652,631.958313833,653,0.400978868825,-0.00535827220224,0.0698365498593,0.999999941012,0.000213978968467,-0.000268364392535,1.30383545174e-05,1793239473502003200
+39,0.650000000,BASELINE,766,745,715,679.383287312,661,636,879,787,803.616712688,652,631.383287312,653,0.400979711329,-0.00535784617431,0.0698369699197,0.999999940853,0.000215930183152,-0.000267379674559,1.32417441754e-05,1793239473518669568
+40,0.666666667,BASELINE,765.804066844,745,715,679,661.195933156,636,878.804066844,787,804,652,631,652.804066844,0.400980290867,-0.00535773433479,0.0698375907754,0.999999941024,0.000216589252893,-0.0002662005948,1.33460079858e-05,1793239473535336448
+41,0.683333333,BASELINE,765.216462695,745,715,679,661.783537305,636,878.216462695,787,804,652,631,652.216462695,0.400980344732,-0.00535825055892,0.0698386130217,0.999999941856,0.000214665320727,-0.000264632985293,1.32521189045e-05,1793239473552003072
+42,0.700000000,BASELINE,765.366689978,745,715,679,661.633310022,635.633310022,878.366689978,787,804,652,631,652.366689978,0.400980235167,-0.005358448014,0.0698386218682,0.999999942136,0.000213207489692,-0.000264766365046,1.30383787865e-05,1793239473568669696
+43,0.716666667,BASELINE,765.947246374,745,715,679,661.052753626,635.052753626,878.947246374,787,804,652,631,652.947246374,0.400980030282,-0.0053584595518,0.0698380396644,0.999999942093,0.000212021505203,-0.000265891821271,1.27547373563e-05,1793239473585336320
+44,0.733333333,BASELINE,766,745,715,679,661,635.524447546,879,787.524447546,804,652,631,653,0.400980452133,-0.00535801080655,0.069837708158,0.999999941477,0.000215182331177,-0.000265644992148,1.32420277022e-05,1793239473602002944
+45,0.750000000,BASELINE,765.899077663,745,715,679.100922337,661.100922337,636,879,787.899077663,803.899077663,652,631,653,0.400980975547,-0.00535793729314,0.0698375945898,0.999999941125,0.000217487885726,-0.00026506731102,1.37283151143e-05,1793239473618669824
+46,0.766666667,BASELINE,765.324438482,745,715,679.675561518,661.675561518,636,879,787.324438482,803.324438482,652,631,653,0.400981681647,-0.00535984101324,0.0698383863818,0.999999942324,0.000213739593672,-0.00026358046039,1.38482116822e-05,1793239473635336448
+47,0.783333333,BASELINE,765.257334456,745,715,679.742665544,662,635.742665544,879,787,803.257334456,652,631,653,0.400981519183,-0.00536009966381,0.0698385784506,0.999999942502,0.000212832501449,-0.000263638483797,1.38816455445e-05,1793239473652003072
+48,0.800000000,BASELINE,765.848357912,745,715,679.151642088,662,635.151642088,879,787,803.848357912,652,631,653,0.40098023044,-0.00535822513118,0.0698379928505,0.999999941363,0.000215609630187,-0.000265699765634,1.38029620874e-05,1793239473668669696
+49,0.816666667,BASELINE,766,745,715,679.430363768,661.569636232,635.430363768,879,787,804,652,631,653,0.400981146043,-0.00535872652204,0.0698388281382,0.999999941875,0.000215128283427,-0.000264164011885,1.36613137085e-05,1793239473685336320
+50,0.833333333,BASELINE,766,745,715,679.990792649,661,635.990792649,879.009207351,787,804,652,631.009207351,652.990792649,0.400982787822,-0.0053600176255,0.0698401301533,0.999999942931,0.00021355776087,-0.000261434793203,1.35000672819e-05,1793239473702002944
+51,0.850000000,BASELINE,766,745,715,679.415027336,661,635.415027336,879.584972664,787,804,652,631.584972664,652.415027336,0.400982300362,-0.00535944543347,0.069839976393,0.999999942743,0.000214166121491,-0.000261657118248,1.34700586685e-05,1793239473718669568
+52,0.866666667,BASELINE,766,745,715,679.163976745,661.163976745,635,879.836023255,787,804,652,631.836023255,652,0.400981748663,-0.00535910244163,0.0698397524188,0.999999942533,0.000214562507381,-0.000262136928051,1.34682281515e-05,1793239473735336192
+53,0.883333333,BASELINE,766,745,715,679.751343328,661.751343328,635,879.248656672,787,804,652,631.248656672,652,0.400981031098,-0.00535935124733,0.0698393471517,0.999999942264,0.000214411572044,-0.000263281566437,1.35391538042e-05,1793239473752003072
+54,0.900000000,BASELINE,766,745,715,679.665905395,661.665905395,635.334094605,879,787,803.665905395,652,631,652.334094605,0.40098091238,-0.00535924783789,0.0698390907782,0.999999942344,0.000213757135575,-0.000263517275261,1.3375551532e-05,1793239473768669952
+55,0.916666667,BASELINE,766,745,715,679.086542373,661.086542373,635.913457627,879,787,803.086542373,652,631,652.913457627,0.400981233293,-0.00535888585721,0.0698389437118,0.99999994268,0.00021273306451,-0.000263085712809,1.30397755904e-05,1793239473785336576
+56,0.933333333,BASELINE,766,745,715,679.49115158,661,636,879,787.49115158,803.49115158,652,631.49115158,652.50884842,0.400982132418,-0.00535904751721,0.0698391201107,0.999999942796,0.000213749332672,-0.000261812232816,1.31565287832e-05,1793239473802003456
+57,0.950000000,BASELINE,766,745,715,679.931835789,661.068164211,635.931835789,879,787.931835789,803.931835789,652,631.931835789,652.068164211,0.400982851913,-0.00535915354041,0.0698392949219,0.999999942773,0.000215141669552,-0.00026074962217,1.33333619009e-05,1793239473818669824
+58,0.966666667,BASELINE,766,745,715,679.357705144,661.642294856,635.357705144,879,787.357705144,803.357705144,652,631.357705144,652.642294856,0.400981484374,-0.0053581640285,0.069839036316,0.999999942025,0.000216665926333,-0.000262349669162,1.33662898541e-05,1793239473835336448
+59,0.983333333,BASELINE,765.784723583,745,715,679,661.784723583,635.215276417,879.215276417,787,803.215276417,652,631,653,0.40098091197,-0.00535792010302,0.069838857558,0.999999941707,0.000216986901494,-0.000263292636515,1.34111088045e-05,1793239473852003328
+60,1.000000000,BASELINE,765.213641122,745,715,679,661.213641122,635.786358878,879.786358878,787,803.786358878,652,631,653,0.400981653755,-0.00535890847287,0.0698388107714,0.999999942104,0.00021531910878,-0.000263149591494,1.34755810448e-05,1793239473868669952
+61,1.016666667,BASELINE,765,745,715,679,661,635.624659851,879.624659851,787,804,652,631.375340149,652.624659851,0.400981850965,-0.00535799528455,0.069839094556,0.999999941917,0.00021666754265,-0.000262754970649,1.34392652019e-05,1793239473885336576
+62,1.033333333,BASELINE,765,745,715,679,661,635.024980577,879.024980577,787,804,652,631.975019423,652.024980577,0.400981722684,-0.00535594554336,0.0698395759214,0.999999941374,0.000219818761741,-0.000262209984067,1.33427087691e-05,1793239473902003200
+63,1.050000000,BASELINE,765.550776073,745,715,679,661.550776073,635.550776073,879,787.550776073,804,652,631.449223927,652.550776073,0.400982136221,-0.00535919535673,0.069839546222,0.999999942286,0.000215830266391,-0.000262038675645,1.34682835325e-05,1793239473918669824
+64,1.066666667,BASELINE,766,745,715,679.124834415,662,636,879.124834415,787.875165585,803.875165585,652,631.124834415,652.875165585,0.400982362734,-0.00536153739796,0.0698395001855,0.999999942927,0.000212873036089,-0.000262005633589,1.35877755169e-05,1793239473935336704
+65,1.083333333,BASELINE,766,745,715,679.696535669,662,636,879.696535669,787.303464331,803.303464331,652,631.696535669,652.303464331,0.40098183545,-0.00535980530436,0.0698394751881,0.999999942425,0.000214718331887,-0.000262409396589,1.36509297814e-05,1793239473952003072
+66,1.100000000,BASELINE,766,745,715,680,661.722793086,636,879.722793086,787,803,652,631.722793086,652.277206914,0.400982038865,-0.00535924903096,0.0698395813631,0.999999942459,0.000214705712734,-0.00026229753742,1.35707785883e-05,1793239473968669696
+67,1.116666667,BASELINE,766,745,715,680,661.131973863,636,879.131973863,787,803,652,631.131973863,652.868026137,0.40098306894,-0.00536002299752,0.0698398359371,0.999999943096,0.00021259117981,-0.00026160233975,1.3328501726e-05,1793239473985336320
+68,1.133333333,BASELINE,766,745,715,679.546351686,661.453648314,635.546351686,879,787,803.453648314,652,631.453648314,652.546351686,0.400982338157,-0.00535974693891,0.0698390588614,0.999999942568,0.000213893773427,-0.00026255356391,1.33918532555e-05,1793239474002002944
+69,1.150000000,BASELINE,766,745,715,679.036967935,661.963032065,635.036967935,879,787,804,652,632,652.036967935,0.400981247945,-0.00535921660231,0.0698381447101,0.999999941792,0.000216007528664,-0.000263770743445,1.35129011393e-05,1793239474018669568
+70,1.166666667,BASELINE,766,745,715,679.608604045,661.391395955,635.608604045,879,787,804,652,632,652.608604045,0.400982284259,-0.00535937661525,0.0698395395694,0.999999942345,0.000215638298414,-0.00026198552464,1.31970354645e-05,1793239474035336448
+71,1.183333333,BASELINE,766,745,715,679.814588355,661,636,879,787,804,652,631.814588355,652.814588355,0.400982792435,-0.00535924141225,0.0698403622893,0.999999942646,0.000215469243471,-0.000260978098545,1.30912736248e-05,1793239474052003328
+72,1.200000000,BASELINE,766,745,715,679.226550623,661,636,879,787,804,652,631.226550623,652.226550623,0.400982153747,-0.00535846514033,0.0698399425943,0.999999942406,0.000215734874213,-0.000261659668694,1.34417575288e-05,1793239474068669952
+73,1.216666667,BASELINE,766,745,715,679,661,636,879,787,804,652,631.356487467,652,0.400981198792,-0.00535860867107,0.0698391107298,0.999999942172,0.00021532216091,-0.000262887214469,1.34852944526e-05,1793239474085336576
+74,1.233333333,BASELINE,766,745,715,679,661,636,879,787,804,652,631.936392154,652,0.400980045627,-0.00535932865901,0.0698380205512,0.999999941941,0.000214484316964,-0.000264456933121,1.3336462065e-05,1793239474102003200
+75,1.250000000,BASELINE,766,745,715,679,661.513686136,636,879,787.513686136,803.486313864,652,632,652.513686136,0.400980196776,-0.00535887763898,0.069837736355,0.999999941597,0.000215860578603,-0.000264649809082,1.30492702988e-05,1793239474118669824
+76,1.266666667,BASELINE,766,745,715,679,662,636,879.090503123,787.909496877,803,652,631.909496877,653,0.400980445108,-0.00535837541191,0.0698376428276,0.999999941358,0.000217039696248,-0.000264601509806,1.28099196392e-05,1793239474135336448
+77,1.283333333,BASELINE,766,745,715,679,662,636,879.666486741,787.333513259,803,652,631.333513259,653,0.400980352763,-0.00535837238808,0.0698380394398,0.999999941761,0.000215698038696,-0.000264169409774,1.29186384535e-05,1793239474152003072
+78,1.300000000,BASELINE,766,745,715,679,662,636,880,787.247933813,803.247933813,652,631,653,0.400981328317,-0.00535825220117,0.0698390795308,0.999999942272,0.000215068174406,-0.000262731090161,1.31562648028e-05,1793239474168669696
+79,1.316666667,BASELINE,766,745,715,679,662,636,880,787.836895711,803.836895711,652,631,653,0.400983772744,-0.00535797085872,0.0698410047142,0.999999942929,0.000215417367864,-0.00025990873533,1.35712009235e-05,1793239474185336576
+80,1.333333333,BASELINE,766,745,715,679,662,636,879.58093283,788,803.58093283,652,631,652.58093283,0.40098351086,-0.00535791494288,0.0698410729213,0.999999942862,0.000215645053178,-0.000259985375604,1.34715049307e-05,1793239474202003200
+81,1.350000000,BASELINE,766,745,715,679,662,636,879.001362072,788,803.001362072,652,631,652.001362072,0.400982212453,-0.00535794536588,0.0698404299028,0.999999942517,0.000215826200652,-0.000261172336722,1.31747038166e-05,1793239474218670080
+82,1.366666667,BASELINE,766,745,715,679,662,636,879,787.42741484,803.57258516,652,631,652.57258516,0.400981443947,-0.00535752637249,0.0698394962039,0.999999941975,0.000216677368414,-0.000262544205286,1.31135539579e-05,1793239474235336448
+83,1.383333333,BASELINE,765.849717586,745,715,679.150282414,662,636,879,787,804,652,631,652.849717586,0.400980508495,-0.00535752745434,0.0698384696945,0.999999941628,0.000216463201459,-0.000264041000521,1.30414707228e-05,1793239474252002816
+84,1.400000000,BASELINE,765.261042263,745,715,679.738957737,662,636,879,787,804,652,631,652.261042263,0.400979082398,-0.00535875703732,0.0698371744424,0.999999941851,0.000213136713632,-0.000265900952414,1.29358740739e-05,1793239474268669696
+85,1.416666667,BASELINE,765.322472683,745,715.322472683,679.677527317,662,636,879,787.322472683,804,652,631.322472683,652.322472683,0.400978777742,-0.00535907924328,0.0698373559232,0.999999942149,0.000211874094804,-0.000265788448736,1.29309486611e-05,1793239474285336320
+86,1.433333333,BASELINE,765.901876054,745,715.901876054,679.098123946,662,636,879,787.901876054,804,652,631.901876054,652.901876054,0.400979366597,-0.00535867849492,0.0698387139936,0.999999942514,0.000212255867493,-0.000264104387445,1.30062332423e-05,1793239474302002944
+87,1.450000000,BASELINE,765.52104838,745,715.52104838,679,661.52104838,636,879,787.52104838,804,652,632,653,0.400981264121,-0.00535860855534,0.0698392885641,0.999999942694,0.000213147271694,-0.000262688754896,1.3216833006e-05,1793239474318669824
+88,1.466666667,BASELINE,765.055549809,745,715.055549809,679.055549809,661.055549809,636,879,787.055549809,804,652,631.944450191,653,0.400983275365,-0.00535862675536,0.0698397483432,0.999999942839,0.000214093746069,-0.000261353743067,1.34180804525e-05,1793239474335336704
+89,1.483333333,BASELINE,765.632121934,745,715.632121934,679.632121934,661.632121934,636,879,787.632121934,804,652,631.367878066,653,0.400983850689,-0.00535883905046,0.0698406297231,0.999999943021,0.000214582186024,-0.000260261591982,1.32728485462e-05,1793239474352003328
+90,1.500000000,BASELINE,766,745,715.786751284,679.786751284,661.786751284,636,879,787.786751284,803.786751284,652,631,653,0.400984306961,-0.00535926676399,0.0698412322033,0.999999943323,0.000214257610584,-0.000259373559186,1.31664137162e-05,1793239474368669952
+91,1.516666667,BASELINE,766,745,715.197595786,679.197595786,661.197595786,636,879,787.197595786,803.197595786,652,631,653,0.400984553374,-0.00536007420896,0.0698413430497,0.999999943835,0.000212499882266,-0.000258845338516,1.31283689216e-05,1793239474385336576
+92,1.533333333,BASELINE,766,745,715,679,661,636,879,787,803.384160949,652,631,653,0.400984501566,-0.00535911066974,0.0698411958301,0.999999943592,0.000213474752419,-0.000258988499011,1.29961039362e-05,1793239474402002944
+93,1.550000000,BASELINE,766,745,715,679,661,636,879,787,803.962184042,652,631,653,0.400984299264,-0.005357253425,0.0698409183808,0.999999942964,0.000215828594947,-0.000259470463785,1.28162918756e-05,1793239474418669568
+94,1.566666667,BASELINE,766,745,715,679,661,635.464364211,879,787,804,652,631,652.464364211,0.400983555074,-0.00535815836964,0.0698412809313,0.999999943183,0.000214565507896,-0.000259660844754,1.31067624156e-05,1793239474435336448
+95,1.583333333,BASELINE,766,745,715,679.109699724,661.109699724,635.109699724,879,787,804,652,631,652,0.400982794498,-0.00535885443922,0.0698414797026,0.999999943271,0.00021369572024,-0.000260026515555,1.33612227122e-05,1793239474452002816
+96,1.600000000,BASELINE,766,745,715,679.687743687,661.687743687,635.687743687,879,787,804,652,631,652,0.400982125916,-0.00535783323215,0.0698407879734,0.999999942553,0.000215586028813,-0.000261227700481,1.33213927196e-05,1793239474468669696
+97,1.616666667,BASELINE,766,745,715,679.729232098,662,636,879,787.270767902,803.729232098,652,631.270767902,652,0.400980851052,-0.00535781916146,0.0698397574187,0.999999942019,0.000215938298503,-0.000262972399727,1.33260744901e-05,1793239474485336320
+98,1.633333333,BASELINE,766,745,715,679.140356949,662,636,879,787.859643051,803.140356949,652,631.859643051,652,0.400978863906,-0.00535898830855,0.0698383288005,0.999999941702,0.000214483628221,-0.000265355637823,1.33830501809e-05,1793239474502002944
+99,1.650000000,BASELINE,766,745,715,679,662,636,879.442925606,787.557074394,803.442925606,652,631.557074394,652.442925606,0.400980339025,-0.00535898223716,0.0698393147575,0.99999994228,0.000214261421238,-0.000263343665898,1.35302569236e-05,1793239474518669824
+100,1.666666667,BASELINE,766,745,715.024179452,679.024179452,662,636,879.975820548,787,804,652,631,653,0.400982776217,-0.00535861848731,0.0698409755268,0.999999943084,0.000214430318178,-0.000260124666218,1.36951929858e-05,1793239474535336704
+101,1.683333333,BASELINE,766,745,715.599088117,679.599088117,662,636,879.400911883,787,804,652,631,653,0.400982448579,-0.00535848451563,0.0698407961142,0.999999942861,0.000214722739899,-0.000260740958703,1.36208112166e-05,1793239474552003584
+102,1.700000000,BASELINE,766,745,715.822732318,679.822732318,662,636,879,787.177267682,804,652,631,652.822732318,0.400982126428,-0.00535859106763,0.0698405547775,0.99999994265,0.00021506352923,-0.00026127975926,1.34656116586e-05,1793239474568670208
+103,1.716666667,BASELINE,766,745,715.237016239,679.237016239,662,636,879,787.762983761,804,652,631,652.237016239,0.400981816924,-0.0053592518183,0.0698401707598,0.999999942463,0.000215515763953,-0.000261640007988,1.31241971403e-05,1793239474585336576
+104,1.733333333,BASELINE,766,745.344779979,715,679.344779979,661.655220021,636,879.344779979,787.655220021,804,652,631.344779979,652.344779979,0.400982154286,-0.00535934871884,0.0698403952465,0.999999942513,0.000215685333376,-0.000261304950312,1.31939354651e-05,1793239474602003200
+105,1.750000000,BASELINE,766,745.92391187,715,679.92391187,661.07608813,636,879.92391187,787.07608813,804,652,631.92391187,652.92391187,0.40098293133,-0.00535906236242,0.0698410333424,0.999999942724,0.000215662771173,-0.000260497282909,1.35431402576e-05,1793239474618669824
+106,1.766666667,BASELINE,766.501348958,745.498651042,715,679.498651042,661,636,880,787,804,652,631.498651042,653,0.400981104789,-0.00535982401897,0.0698399661726,0.999999942843,0.000212868375629,-0.000262336091308,1.34125084394e-05,1793239474635336704
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787,803,652,632,653,0.400983154983,-0.00535947114167,0.0698406554751,0.999999943417,0.000213640334421,-0.000259506953264,1.33808634039e-05,1793239474678650368
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.411930668,636,879.411930668,787,803.588069332,652,631.411930668,653,0.400983114591,-0.005359406271,0.0698403595311,0.999999943419,0.000213476768428,-0.000259639564456,1.33201021558e-05,1793239474695316736
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.173430408,636,879,787.173430408,804,652,631,653,0.400983125398,-0.00535937639856,0.0698402590783,0.999999943416,0.000213249006803,-0.000259841937936,1.32501713475e-05,1793239474711983360
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.752457876,636,879,787.752457876,804,652,631,653,0.400983255941,-0.0053594283755,0.0698406158159,0.999999943402,0.000212871112534,-0.000260207462644,1.31587959215e-05,1793239474728649728
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.33014655,788,804,652,631.33014655,653,0.400983069572,-0.0053596988431,0.0698406514441,0.999999943384,0.000212423943602,-0.000260648294138,1.30373093014e-05,1793239474745316096
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.906835424,788,804,652,631.906835424,653,0.400982646544,-0.00536013247215,0.0698404472788,0.999999943362,0.000211925042709,-0.000261145362182,1.28933366614e-05,1793239474761982976
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.474284404,679,662,636,879.525715596,788,804,652,632,652.525715596,0.400982619313,-0.00536017503339,0.0698407374107,0.999999943326,0.00021245267019,-0.000260846135561,1.3057990623e-05,1793239474778649856
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.957561077,745,715.957561077,679,662,636,879,788,803.957561077,652,632,652.042438923,0.400982771014,-0.00535998599963,0.0698411249114,0.999999943234,0.000213390860644,-0.000260423920252,1.32493121063e-05,1793239474795316480
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.356696661,745,715.356696661,679,662,636,879,788,803.356696661,652,632,652.643303339,0.400984273686,-0.00535774104509,0.0698415404205,0.999999942438,0.000217128794017,-0.000260402243368,1.3009065462e-05,1793239474811983104
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.235520526,745,715,679,662,636,879,787.764479474,803,652,632,652.764479474,0.400991459764,-0.0053575391425,0.0698451522548,0.999999943647,0.000217464807691,-0.000255424404482,1.31635929956e-05,1793239474828649728
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.81510521,745,715,679,662,636,879,787.18489479,803,652,632,652.18489479,0.401006948546,-0.00536032186724,0.0698534334951,0.99999994768,0.000212831068877,-0.000243206272185,1.38948331074e-05,1793239474845316352
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.388265357,787,803.388265357,652,632,652,0.401039707941,-0.00536037574055,0.0698667381642,0.999999953267,0.000212971594317,-0.000218875805976,1.42043530335e-05,1793239474861982976
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.958415942,787,803.958415942,652,632,652,0.401080557861,-0.00535915126734,0.0698823960892,0.999999958874,0.000215348651838,-0.00018887124328,1.43163156709e-05,1793239474878649600
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.450451219,787.549548781,803.450451219,652,631.450451219,652.549548781,0.401138863025,-0.00536142419382,0.069899695154,0.999999963808,0.000213269358322,-0.00016334687696,1.47620509935e-05,1793239474895316480
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.860979297,879,787.860979297,803.139020703,652,631,653,0.401200880661,-0.00536340770822,0.0699147916886,0.999999967441,0.000211498983355,-0.000142000226978,1.4920078908e-05,1793239474911983104
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.281987915,879,787.281987915,803.718012085,652,631,653,0.401270301416,-0.00536360449954,0.0699225090746,0.999999968655,0.000211815829153,-0.00013275964898,1.40844707231e-05,1793239474928649984
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879,787,804,652.295677024,631.295677024,652.704322976,0.401347592154,-0.00536535945061,0.0699266341161,0.999999969696,0.000210347187727,-0.000127265956792,1.28256772218e-05,1793239474945316608
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879,787,804,652.872082548,631.872082548,652.127917452,0.401432354987,-0.00536859378563,0.0699273484306,0.999999970621,0.000207183327833,-0.000125329719904,1.1165093408e-05,1793239474961983232
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.445966019,661.554033981,635.445966019,879,787,803.554033981,652.554033981,631.554033981,652.445966019,0.40152980987,-0.00536917700229,0.0699233482393,0.999999969731,0.000207749581866,-0.000131551977299,8.54513009206e-06,1793239474978649856
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.980238627,661.019761373,636,879,787,803.019761373,652,631.019761373,653,0.401632189063,-0.00536916361847,0.0699183063822,0.999999968368,0.000209143708177,-0.000139612051947,5.65500847375e-06,1793239474995316224
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.388162075,661.611837925,636,879,787,803.611837925,652,631.611837925,653,0.401772342314,-0.00537377100036,0.0699220398646,0.999999970337,0.000203702150802,-0.000133505917412,2.86553322433e-06,1793239475011983104
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.198991235,661.801008765,636,878.801008765,787,804,652,631.801008765,653,0.401922607389,-0.00537736346907,0.069926066288,0.999999972107,0.000199319217015,-0.000126723328845,-1.65464554435e-07,1793239475028649728
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.776772827,661.223227173,636,878.223227173,787,804,652,631.223227173,653,0.402092120842,-0.00537902399623,0.0699306503394,0.999999973559,0.00019695142994,-0.0001186530749,-3.65621294319e-06,1793239475045316096
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.352773041,636,878.352773041,787,804,652,631,653,0.402279741142,-0.00538208871232,0.069934744792,0.999999975533,0.000191458369972,-0.0001105472298,-7.50420325248e-06,1793239475061982976
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.927651757,636,878.927651757,787,804,652,631,653,0.402478761517,-0.005386037505,0.0699385309938,0.999999977761,0.000183997639994,-0.000102418975734,-1.15771131814e-05,1793239475078650112
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.484179231,662,636,879,787,804,652,631,652.484179231,0.402709164944,-0.00539000849042,0.069938319803,0.999999979263,0.000176259873136,-0.000100583818874,-1.69885980368e-05,1793239475095316992
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.103917564,787,804,652,631,652.103917564,0.402951269012,-0.00539392910533,0.0699384889754,0.999999980679,0.000168833604003,-9.81415649929e-05,-2.24789648667e-05,1793239475111983872
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.682936603,787,804,652,631,652.682936603,0.403226210832,-0.0053976048249,0.0699430282475,0.999999982395,0.000163013818872,-8.87815539502e-05,-2.74489142221e-05,1793239475128649984
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.261110128,662,636,879.738889872,787,804,652,631,653,0.403523431811,-0.00540256830886,0.0699515229136,0.999999984797,0.000155034701705,-7.29699336958e-05,-3.23353574635e-05,1793239475145316096
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.838260233,662,636,879.161739767,787,804,652,631,653,0.403847618807,-0.00540909046453,0.0699648050714,0.999999987662,0.000144441993202,-4.93494770117e-05,-3.71207270647e-05,1793239475161982720
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,878.586813813,787,804.413186187,652,631,653,0.404182117601,-0.00541406763407,0.0699679408243,0.999999994362,8.58573378249e-05,-4.66149657706e-05,-4.1615438644e-05,1793239475178649600
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,878.012753844,787,804.987246156,652,631,653,0.404520631279,-0.00541844326409,0.0699671260804,0.999999997553,8.58704797473e-06,-5.20123845516e-05,-4.59969823857e-05,1793239475195316224
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,878.573586237,787,803.852827526,652,631,652.426413763,0.404917886498,-0.00542128068902,0.0699717729885,0.999999996007,7.22132389852e-05,-3.94434847131e-05,-3.48711155777e-05,1793239475211982848
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.159420169,679.840579831,662,636,879,787,803.159420169,652,631.159420169,652.159420169,0.405323256451,-0.00542465645991,0.0699755558041,0.999999992206,0.000117657358816,-3.08414827799e-05,-2.81803827063e-05,1793239475228649984
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.743164128,679.256835872,662,636,879,787,803.743164128,652,631.743164128,652.743164128,0.405746672526,-0.0054295581565,0.0699767083821,0.999999993202,0.000106185706726,-3.38846163743e-05,-3.42323654401e-05,1793239475245317120
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.32062908,745,715.67937092,679.32062908,662,636,879.32062908,787.32062908,803.67937092,652,631.67937092,653,0.406183208633,-0.00543748488965,0.0699713766282,0.999999994613,8.61955586931e-05,-4.37894962663e-05,-3.7775790638e-05,1793239475261983488
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.893160981,745,715.106839019,679.893160981,662,636,879.893160981,787.893160981,803.106839019,652,631.106839019,653,0.406630052564,-0.00544778824883,0.0699609504472,0.999999995709,5.95128375013e-05,-5.90853199494e-05,-3.93483636575e-05,1793239475278649856
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.534286593,745,715,680,662,636,880,788,803.465713407,652,631.465713407,652.534286593,0.407108756364,-0.00546189234815,0.0699457005055,0.999999994998,4.71714718016e-05,-7.9474849743e-05,-3.82342339433e-05,1793239475295316224
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.960125181,788,804,652,631.960125181,652.039874819,0.407601607095,-0.00547771837703,0.069931288689,0.999999993895,3.6004890637e-05,-9.78680878124e-05,-3.65322860559e-05,1793239475311983104
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.363566293,788,804,652,631.363566293,652.636433707,0.408189917374,-0.0055054106145,0.0699440276667,0.999999996771,-4.69438424707e-06,-7.20770127155e-05,-3.52291096865e-05,1793239475328649728
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787.774678542,804,652,631,653,0.408786034687,-0.00552194820085,0.0699559973254,0.999999997928,-2.80791494597e-05,-4.59941507342e-05,-3.52116480231e-05,1793239475345316352
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787.197761022,804,652,631,653,0.409394334213,-0.00552107984719,0.0699667665227,0.99999999882,-2.44460086906e-05,-1.9455980449e-05,-3.72004411944e-05,1793239475361983232
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.622893023,662,636,879,787,804,652,631,653,0.409993991806,-0.00552468301475,0.0699628337516,0.999999998599,-2.64715921598e-05,-2.49475266027e-05,-3.8458971123e-05,1793239475378650112
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.049094034,662,636,879,787,804,652,631,653,0.410589141907,-0.00553061844496,0.0699512327058,0.99999999762,-3.14486614556e-05,-4.71451802307e-05,-3.93366092055e-05,1793239475395316992
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+157,2.616666667,POSE1_TO_POSE2_PRESS,765.969242128,745,715,679.969242128,661.969242128,636,879.030757872,787,804.030757872,652,631.969242128,652.969242128,0.41551677697,-0.00548528089186,0.0699717481684,0.999999998308,1.44732762081e-05,-3.5387568475e-05,-4.38332773204e-05,1793239475511982848
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.389533403,745,715,679.389533403,661.389533403,636,879.610466597,787,804.610466597,652,631.389533403,652.389533403,0.416278358951,-0.00549393380209,0.0699338921079,0.999999994852,1.17032794909e-06,-8.99321158695e-05,-4.69752154014e-05,1793239475528649728
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.189492701,745.189492701,715,679.189492701,661.189492701,636,880,787,804.810507299,652,631,652,0.417073163776,-0.00550305905942,0.0699189117375,0.999999992628,-1.35039163246e-05,-0.000110312681117,-4.892010136e-05,1793239475545316608
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.76712057,745.76712057,715,679.76712057,661.76712057,636,880,787,804.23287943,652,631,652,0.417936018428,-0.00551315181798,0.0699507873156,0.999999996505,-3.09869656341e-05,-6.07156514674e-05,-4.84130826977e-05,1793239475561983232
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.657678923,715,680,662,636,880,787.342321077,804,652,631,652.342321077,0.418781723522,-0.00552059143767,0.0699772516251,0.999999997751,-4.0968338992e-05,-2.31648779382e-05,-4.77877742461e-05,1793239475578649600
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.084118137,715,680,662,636,880,787.915881863,804,652,631,652.915881863,0.419615843964,-0.00552623884752,0.0700000605926,0.99999999782,-4.58822896041e-05,6.24858337838e-06,-4.70825604616e-05,1793239475595316224
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.495912906,787.495912906,804,652,631,653,0.420463376677,-0.00552845591045,0.0700178342091,0.999999996993,-4.8853862348e-05,3.72324135551e-05,-4.73482355617e-05,1793239475611982848
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.185911988,787.092955994,804.092955994,652,631,653,0.421313812886,-0.00552846103158,0.0700311730337,0.999999995768,-4.96352494886e-05,6.08716879656e-05,-4.79008235164e-05,1793239475628649728
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.344262509,787.672131255,804.672131255,652,631,653,0.422167378771,-0.0055199800431,0.0700258416581,0.999999996969,-4.07066941468e-05,4.46825237451e-05,-4.90813543619e-05,1793239475645316608
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.248684959,715,680.248684959,662,636,881,788,804.751315041,652,631,653,0.422990162702,-0.00551291572784,0.0699894531601,0.999999997889,-3.48199264321e-05,-1.77037935533e-05,-5.19213372156e-05,1793239475661983232
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.821818513,715,680.821818513,662,636,881,788,804.178181487,652,631,653,0.423772786856,-0.00550769968416,0.0699125457666,0.999999987988,-3.29016468928e-05,-0.000140361556367,-5.69263355256e-05,1793239475678649856
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.601683338,715.398316662,681,662,635.601683338,880.601683338,788,804,652,631,653,0.424620413747,-0.00551471043997,0.0698822376898,0.999999981387,-4.90705920054e-05,-0.00017652919278,-6.04567800807e-05,1793239475695316480
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.023667296,715.976332704,681,662,635.023667296,880.023667296,788,804,652,631,653,0.425497366381,-0.00552723728039,0.069872952761,0.99999998022,-7.3399535064e-05,-0.000173677058814,-6.33219840185e-05,1793239475711983104
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715.436410837,680.436410837,662.563589163,635.563589163,879.436410837,787.436410837,804,651.436410837,631,652.436410837,0.426397632086,-0.00552916009272,0.069931893057,0.999999991755,-7.06440615353e-05,-8.96927688442e-05,-5.87792300138e-05,1793239475728649728
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715.149467308,680.149467308,662.850532692,635.850532692,879.149467308,787,804.149467308,651.149467308,631,652.149467308,0.427301981937,-0.00552943180067,0.0699862921381,0.99999999613,-6.72331739946e-05,-1.39231023292e-05,-5.50026510697e-05,1793239475745316352
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715.730229852,680.730229852,662.269770148,635.269770148,879.730229852,787,804.730229852,651.730229852,631,652.730229852,0.428215244682,-0.00552624553207,0.0700191822936,0.999999995997,-6.52677305415e-05,2.8147762253e-05,-5.4349534423e-05,1793239475761982976
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.692163425,745,715.692163425,680.692163425,662,635.307836575,880,787,804.692163425,652,631,652.692163425,0.429123339848,-0.00552626035551,0.0700402707132,0.999999994753,-6.24846517501e-05,6.07139172565e-05,-5.38833145848e-05,1793239475778649600
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.117294247,745,715.117294247,680.117294247,662,635.882705753,880,787,804.117294247,652,631,652.117294247,0.430026952352,-0.00552905196399,0.0700511217244,0.999999993209,-5.89923159518e-05,8.50352169888e-05,-5.35792183114e-05,1793239475795316736
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.466226887,745.466226887,715,680,662.466226887,636,880.466226887,787.466226887,804.466226887,652,631,652.466226887,0.430813789332,-0.00553071330437,0.0700112934769,0.999999996403,-6.16207296291e-05,1.94111828546e-05,-5.49636844683e-05,1793239475811983616
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662.948536818,636,880.948536818,788,804.948536818,651.948536818,631,652.948536818,0.431571993761,-0.00553177214521,0.069958483007,0.999999993855,-6.53526677934e-05,-6.91106316976e-05,-5.69398071279e-05,1793239475828650496
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662.368464212,636,880.368464212,788,804.368464212,651.368464212,631,652.368464212,0.432343566665,-0.00552961835724,0.0699057634019,0.999999983931,-6.43035694808e-05,-0.000156002211297,-6.05471889081e-05,1793239475845316608
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,880,787.788604169,804.211395831,651.211395831,631.211395831,652,0.433166757664,-0.0055299493618,0.0698934208363,0.999999981241,-6.55339415473e-05,-0.000171345100998,-6.21634763113e-05,1793239475861982976
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,880,787.209114158,804.790885842,651.790885842,631.790885842,652,0.43407982909,-0.00553460702497,0.0699513850091,0.999999993751,-7.07334542391e-05,-6.21034460935e-05,-6.03127601605e-05,1793239475878649344
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.634388337,745.634388337,715,680,662,635.634388337,880,787,805,651.634388337,631.634388337,652,0.434945638715,-0.00553735363298,0.06999358015,0.999999995745,-7.1247696853e-05,8.92697977812e-06,-5.7908686851e-05,1793239475895316224
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.06235241,745.06235241,715,680,662,635.06235241,880,787,805,651.06235241,631.06235241,652,0.435784764281,-0.0055390212594,0.0700268720956,0.999999994384,-6.91166369034e-05,5.83833475915e-05,-5.51921884811e-05,1793239475911982848
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.526391412,745,715,680,662,635.526391412,880.526391412,787.526391412,804.473608588,651.526391412,631,652,0.436555080052,-0.00554198309945,0.0700239112987,0.999999993941,-7.64023129876e-05,5.55508607047e-05,-5.65249285024e-05,1793239475928649728
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.114968553,715,680.114968553,662.114968553,636,881,788,804.114968553,651.885031447,631,652.114968553,0.437307021043,-0.00554498904121,0.070010793897,0.999999994069,-8.31999942503e-05,3.92935280307e-05,-5.82664903155e-05,1793239475945316608
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.694610791,715,680.694610791,662.694610791,636,881,788,804.694610791,651.305389209,631,652.694610791,0.438018718766,-0.00554753330786,0.0699745512183,0.999999994731,-8.33692265255e-05,-5.36943871235e-06,-5.96582631711e-05,1793239475961983744
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.726997587,715,681.273002413,662.726997587,635.726997587,880.726997587,787.726997587,805,651.273002413,631.273002413,652.726997587,0.438693064892,-0.00554859490812,0.0699262554022,0.999999991428,-8.4660495468e-05,-7.88022529117e-05,-6.13769169574e-05,1793239475978650368
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.149998603,715,681.850001397,662.149998603,635.149998603,880.149998603,787.149998603,805,651.850001397,631.850001397,652.149998603,0.439325818821,-0.00554800551366,0.0698645380499,0.999999977206,-8.72011861374e-05,-0.000184271172371,-6.34595622081e-05,1793239475995316736
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681.577122235,662,635,880.422877765,787,805,652,631.577122235,652,0.439963894618,-0.00554135409399,0.0698175654029,0.999999961673,-7.73060777091e-05,-0.000257606137546,-6.57083368406e-05,1793239476011983104
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681.005694031,662,635,880.994305969,787,805,652,631.005694031,652,0.440603839957,-0.00553257317828,0.0697757723384,0.999999944611,-6.30424649548e-05,-0.000319652948271,-6.8015470259e-05,1793239476028649472
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.41162806,745,715,681,662,635,880.41162806,787,805,652,631,652,0.441279929679,-0.00553339914789,0.0698065891249,0.999999957339,-6.77091748719e-05,-0.000276189121886,-6.67576830818e-05,1793239476045316352
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.176854778,745.176854778,714.823145222,681,661.823145222,635,880.176854778,787,805,651.823145222,631,652,0.441935186199,-0.00553517312431,0.0698327597938,0.999999966116,-7.14629201323e-05,-0.000241583044529,-6.55686397934e-05,1793239476061982976
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.752242978,745.752242978,714.247757022,681,661.247757022,635,880.752242978,787,805,651.247757022,631,652,0.442542676492,-0.00553886549664,0.0698468138365,0.999999968971,-7.27299944003e-05,-0.000229330504165,-6.46153621078e-05,1793239476078649856
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.671580788,714.328419212,681,661,634.671580788,880.671580788,787,805,651.328419212,631,652.328419212,0.443106226927,-0.00554320317889,0.069834141306,0.999999962807,-7.32603303703e-05,-0.00025494401312,-6.34272165434e-05,1793239476095316480
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.094808674,714.905191326,681,661,634.094808674,880.094808674,787,805,651.905191326,631,652.905191326,0.443636549695,-0.00554802884877,0.0698012579531,0.999999947593,-7.32335394508e-05,-0.000309192093397,-6.20614621628e-05,1793239476111983360
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.490245797,715,681,661,634,880,787,805,651.509754203,631,653,0.444137540869,-0.00554758486594,0.0697642752503,0.99999992856,-7.59006813094e-05,-0.000364824019277,-6.34253419624e-05,1793239476128649984
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,681.076455447,660.923544553,634,880.076455447,786.923544553,805,651.076455447,631,653,0.444631051676,-0.00554649308708,0.0697290456376,0.999999908008,-7.88496288369e-05,-0.000416533506937,-6.53138710966e-05,1793239476145316608
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,681.659523799,660.340476201,634,880.659523799,786.340476201,805,651.659523799,631,653,0.445113228626,-0.00554797769585,0.0697107758276,0.999999897538,-8.01544257666e-05,-0.00044044814068,-6.71208564657e-05,1793239476161983232
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,681.760526785,660,634,881,786,805,651.760526785,631,653,0.445583910942,-0.0055486992829,0.0697007451591,0.999999892233,-8.28787507679e-05,-0.000451642562597,-6.84451447216e-05,1793239476178649600
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,681.184954821,660,634,881,786,805,651.184954821,631,653,0.446038460589,-0.00554834997489,0.0697022780614,0.999999894771,-8.75953720469e-05,-0.000444984266801,-6.90919713119e-05,1793239476195316224
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.613103374,746,715,681,660,634,881,786,805,651.386896626,631,653,0.44644936666,-0.00554454649253,0.0696984862162,0.99999989075,-8.30803392704e-05,-0.000454970284791,-6.78255969847e-05,1793239476211983104
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.043013518,746,715,681,660,634,881,786,805,651.956986482,631,653,0.446839607799,-0.00553910747933,0.0696921731351,0.999999883305,-7.41941741264e-05,-0.000472837284675,-6.56533335478e-05,1793239476228650240
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.548390482,746,715,681.548390482,660,634,881,786,805.548390482,652,631,653,0.447185077505,-0.00553515382373,0.0696723179197,0.999999864591,-6.503407041e-05,-0.000512046657807,-6.63132707209e-05,1793239476245316608
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,682,660,633.861653753,880.861653753,786,805.861653753,652,631,653,0.447523253116,-0.00553333637341,0.0696532651937,0.999999846742,-5.98841197722e-05,-0.000546224032405,-6.75925619484e-05,1793239476261983232
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,682,660,633.281869021,880.281869021,786,805.281869021,652,631,653,0.447849812944,-0.00553794839545,0.0696402993817,0.999999839135,-6.76011911287e-05,-0.000558787731461,-7.01106096786e-05,1793239476278649856
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.704104726,745.704104726,715,682.295895274,660,633,880.295895274,786,805,652,631,653,0.448163303233,-0.00554337915003,0.0696382287112,0.999999838516,-7.53765344785e-05,-0.000558754290681,-7.1280719252e-05,1793239476295316736
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.128252076,745.128252076,715,682.871747924,660,633,880.871747924,786,805,652,631,653,0.448464427933,-0.00554958453722,0.0696464663345,0.999999844509,-8.3207010636e-05,-0.000546802232904,-7.11754949223e-05,1793239476311983104
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.447259692,745.447259692,715,682.105480615,660,632.552740308,880.552740308,785.552740308,805,652,631,653,0.448737323923,-0.00555178228414,0.0696532238641,0.999999849493,-8.90019531138e-05,-0.000536984043687,-6.88514174344e-05,1793239476328649472
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,714.976935537,681,659.976935537,632.023064463,880.023064463,785,805,652,631,653,0.449000221453,-0.00555281217504,0.0696591482655,0.999999853775,-9.35332110803e-05,-0.000528562741147,-6.57452352188e-05,1793239476345316352
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,714.391606686,681,659.391606686,632.608393314,880.608393314,785,805,652,631,653,0.449216556735,-0.00555336579089,0.0696551012758,0.999999849519,-8.14767826995e-05,-0.000539289444168,-5.90717930442e-05,1793239476361982976
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,681.419741191,657.419741191,631.580258809,881,784.419741191,805,652,630.580258809,652.580258809,0.450730887946,-0.00555557976206,0.0695727529094,0.999999769506,-0.0001004367403,-0.000668709710809,-6.10526918882e-05,1793239477509740288
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714.159163567,681,657,632,881,784,805,652,630.840836433,653,0.450730034498,-0.00555568048567,0.0695719864015,0.999999768697,-0.000100591957808,-0.000669893278325,-6.10759958979e-05,1793239477526406912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714.734527713,681,657,632,881,784,805,652,630.265472287,653,0.450730475752,-0.00555703041553,0.0695729049901,0.999999769111,-0.00010232534713,-0.000669056555293,-6.05911798258e-05,1793239477543073536
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.315880435,746,714.684119565,681.315880435,657.315880435,631.684119565,880.684119565,784,805,652,630.315880435,653,0.450730875606,-0.00555744725165,0.069573516122,0.999999769385,-0.000103608049701,-0.000668461271367,-6.04507001342e-05,1793239477559740160
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.902363302,746,714.097636698,681.902363302,657.902363302,631.097636698,880.097636698,784,805,652,630.902363302,653,0.450731239997,-0.00555706474272,0.0695738638677,0.999999769542,-0.000104504666433,-0.000668072818942,-6.06051999997e-05,1793239477576406784
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,714,681.063080056,657,631.063080056,880.063080056,785,805,652,630.063080056,653,0.450732075509,-0.00555733307035,0.0695730373548,0.999999769594,-0.000103238360375,-0.000668191405073,-6.0610905371e-05,1793239477609740032
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,681.645840824,657,631.645840824,880.645840824,785,805,652,630.645840824,653,0.45073081494,-0.00555788482892,0.0695732268444,0.999999769755,-0.000103066510145,-0.000668009110114,-6.02610202724e-05,1793239477626406912
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,881,785,805,652,631,653,0.450725433441,-0.00555720528026,0.069570845638,0.99999976757,-0.000102203582692,-0.000671392667174,-6.03913260098e-05,1793239477643073536
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,881,785,805,652,631,653,0.450713667624,-0.00555461813904,0.0695644818023,0.999999761692,-0.000100270009583,-0.000680300590905,-6.12655634495e-05,1793239477659740160
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.374432334,632,881,784.625567666,805,652,630.625567666,652.625567666,0.45068527221,-0.0055545413091,0.0695514196591,0.999999747156,-0.000100034643442,-0.000701360649577,-6.14325800967e-05,1793239477676406784
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714.544688497,682,657.455311503,632,880.455311503,784,805.544688497,652,630.544688497,652.544688497,0.45058541729,-0.00555407137163,0.0695148142661,0.999999703924,-0.000100059433795,-0.000760484922428,-6.16581673342e-05,1793239477709741056
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.698599221,746,714.301400779,682,657.698599221,631.301400779,880.698599221,784,805.301400779,652,630.301400779,653,0.450446512711,-0.00555047872499,0.0694872602442,0.999999672087,-9.80356321348e-05,-0.00080150039712,-6.17368400214e-05,1793239477743073792
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.724872658,714.275127342,682.275127342,657.724872658,631.275127342,881,784.275127342,805,652,630.275127342,653,0.450367544101,-0.00554871977468,0.0694824840815,0.99999966684,-9.67216814139e-05,-0.00080825338831,-6.07604372932e-05,1793239477759740160
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.027727582,631.972272418,881,785,804.027727582,652,630,653,0.45007374871,-0.00554089677024,0.0694945170513,0.999999680379,-9.08209599077e-05,-0.00079242454209,-5.5293634708e-05,1793239477809740032
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.331780667,714.668219333,682,658,632,881,785,804.331780667,652,630,653,0.449453739719,-0.00552785047604,0.0695107366466,0.999999698384,-7.36578096373e-05,-0.000772004693186,-4.26095447974e-05,1793239477876407552
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.761344046,745.761344046,714.238655954,682,658,632,880.238655954,785,804,652,631,652.238655954,0.448190362733,-0.00549804217417,0.0695243526478,0.999999706108,-3.00013905668e-05,-0.0007658198439,-2.00858064834e-05,1793239477959740160
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.988154587,745.988154587,714.011845413,682,658,632,881,785,804.988154587,652,630.011845413,652.011845413,0.447175185309,-0.00547564035925,0.0695310524603,0.999999708727,1.56483831527e-05,-0.000763080975015,-2.76226199099e-06,1793239478009740800
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.145848051,714,682,659.854151949,633,881,785,805,651.854151949,631,652.854151949,0.446338221056,-0.00546186427039,0.0695237531672,0.999999705838,8.4549268358e-05,-0.000762316137826,6.99926898805e-06,1793239478043074048
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.774818791,661.774818791,635,880,787,804,652,631,652.774818791,0.428189309456,-0.00540096900477,0.0697591932858,0.999999918105,0.000138960861135,-0.00037955565507,2.0429362531e-05,1793239478476407296
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.35142916,745,714,680,661,635.35142916,879.64857084,788,804,652,631,652.35142916,0.416106339245,-0.0053908813533,0.0698290488997,0.999999945525,0.000169346054224,-0.000281766675676,2.96539847686e-05,1793239478709740288
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.411942176,787.411942176,803.411942176,652,631.588057824,652.411942176,0.410983443011,-0.00536463197985,0.0698862905118,0.999999961756,0.000205217717408,-0.000182727076613,3.13818928921e-05,1793239478826406912
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.358407044,661,635.358407044,879,787,803.358407044,652,631.358407044,653,0.405783593243,-0.00539074252412,0.0698103198069,0.999999932108,0.000169403415668,-0.000326318962339,2.45266761141e-05,1793239478976406784
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.374986318,745,715,679,661,635.625013682,879.625013682,787,804,652,631,652.374986318,0.404590571195,-0.00537692086267,0.0698387597404,0.999999944578,0.00018893585136,-0.000273043676616,2.43892731383e-05,1793239479026406656
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.508509629,635.491490371,879.491490371,787,804,652,631,653,0.401399223648,-0.00535623617047,0.0698088414886,0.999999927157,0.000214388869125,-0.000315472637001,1.41563004667e-05,1793239479259740416
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.722960689,745.722960689,715,679,661,635.722960689,879.722960689,787,803,652,631,652.722960689,0.40100426923,-0.00535756068849,0.0698245239395,0.999999935159,0.000216283773495,-0.000287623819841,1.32827214817e-05,1793239479409740032
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787.45786786,804,652,631,652,0.400985715775,-0.005357151202,0.0698277262327,0.999999936824,0.00021583372311,-0.000282131695399,1.2992889001e-05,1793239479459740672
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.019059391,635.980940609,879,788,804,652,631.019059391,652,0.400982945332,-0.00535859201159,0.0698283370612,0.999999937645,0.000213628254538,-0.000280890586759,1.31474672985e-05,1793239479476407552
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.612166908,635.387833092,879,788,804,652,631.612166908,652,0.400983428432,-0.00535766334848,0.0698298953342,0.999999938078,0.000215143588282,-0.000278186366387,1.30449099558e-05,1793239479493073664
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.801721051,635.198278949,879,787.801721051,803.801721051,652.198278949,631.801721051,652,0.400983429909,-0.00535717573181,0.0698312067704,0.999999938522,0.000215681156487,-0.00027616830323,1.29690777348e-05,1793239479509740032
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.228825871,635.771174129,879,787.228825871,803.228825871,652.771174129,631.228825871,652,0.400982521436,-0.00535752140161,0.0698320518479,0.999999939003,0.000214371393653,-0.000275446624094,1.29437383452e-05,1793239479526406912
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.356821544,636,879.356821544,787,803.356821544,652.643178456,631.356821544,652.356821544,0.400982528378,-0.0053581542891,0.069832697795,0.999999939345,0.000213918003381,-0.000274543135531,1.32678238165e-05,1793239479543073536
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.950949904,636,879.950949904,787,803.950949904,652.049050096,631.950949904,652.950949904,0.400983144123,-0.00535897819285,0.0698332113089,0.999999939593,0.000214034150092,-0.000273518733287,1.3824296886e-05,1793239479559740160
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.466431786,635.466431786,878.932863573,787,803.466431786,652,631.466431786,652.466431786,0.400981437051,-0.00535964428512,0.0698331260864,0.999999939632,0.000213322147663,-0.00027394245309,1.3625852952e-05,1793239479576407040
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.113330239,661.226660478,635,878.113330239,787,803,652,631,652.113330239,0.400979976417,-0.0053600263954,0.0698330526579,0.999999939648,0.000212785184199,-0.000274314348554,1.33788414801e-05,1793239479593073920
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.685717855,662.371435711,635,878.685717855,787,803,652,631,652.685717855,0.400980360682,-0.0053593157262,0.0698332452447,0.999999939649,0.000213259100316,-0.000273948477217,1.32102717711e-05,1793239479609740800
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.733907802,745,715,680,662.467815604,635,879.266092198,787,803,652,631,653,0.400980069785,-0.00535861626154,0.0698332460533,0.999999939548,0.000214059946653,-0.000273697207904,1.31204207937e-05,1793239479626407680
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.143808344,745,715,680,661.287616689,635,879.856191656,787,803,652,631,653,0.400978956775,-0.00535793044,0.0698330133432,0.999999939321,0.000215258879754,-0.000273585483737,1.31264216858e-05,1793239479643073792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.43827815,745,715,679.56172185,661,635,879.56172185,787,803,652,631,652.56172185,0.400980155192,-0.00535821166187,0.0698337963458,0.999999939761,0.000215000784869,-0.00027216940681,1.3271350406e-05,1793239479659740416
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.982339287,745,715,679,661,635.017660713,879,787,803,652,631,652,0.400982039821,-0.00535880527244,0.0698348732853,0.999999940406,0.000214238269921,-0.000270386892891,1.34447100462e-05,1793239479676406784
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.406806677,745,715,679,661,635.593193323,879,787,803,652,631,652,0.400982073461,-0.00535942347244,0.0698348965627,0.99999994083,0.000212372624694,-0.000270305862727,1.31020504957e-05,1793239479693073408
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.169119599,745,715,679,661,636,879,787,803.169119599,652,631,652.169119599,0.400982198792,-0.00535961190205,0.0698350881582,0.999999941046,0.000211831801854,-0.000269943432605,1.28789026612e-05,1793239479709740288
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.745994985,745,715,679,661,636,879,787,803.745994985,652,631,652.745994985,0.400982545195,-0.00535876413381,0.0698356855767,0.99999994076,0.000214485191979,-0.000268902533155,1.29439035563e-05,1793239479726407168
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.330030226,661,636,879,787,804,652,631,652.669969774,0.400982508668,-0.00535852464753,0.0698360430689,0.999999940612,0.000215594093196,-0.000268562895508,1.29940139275e-05,1793239479743073792
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.919698161,661,636,879,787,804,652,631,652.080301839,0.400982170887,-0.00535876370209,0.069836211809,0.999999940578,0.000215487931151,-0.000268774946798,1.30324097882e-05,1793239479759740672
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879,787,804,652,631,652,0.400981438186,-0.00535905377962,0.0698364266242,0.99999994048,0.000215776463456,-0.000268899671007,1.31698277177e-05,1793239479776407296
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.923709185,661.076290815,636,879,787,804,652,631.076290815,652.076290815,0.400980672805,-0.00535934656293,0.069836549388,0.999999940368,0.000216042296661,-0.000269098338287,1.32751258195e-05,1793239479793073920
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.348313933,661.651686067,636,879,787,804,652,631.651686067,652.651686067,0.400980100928,-0.00535960442419,0.0698360224186,0.999999940225,0.00021575255321,-0.000269870817278,1.30681633372e-05,1793239479809740288
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.774279044,635.774279044,879.225720956,787,803.774279044,652,631.774279044,652.774279044,0.400980351853,-0.00536006179176,0.0698362215671,0.999999940456,0.000215113992338,-0.000269523477613,1.31052626673e-05,1793239479826406912
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.202330694,635.202330694,879.797669306,787,803.202330694,652,631.202330694,652.202330694,0.40098186485,-0.00536082517683,0.0698375344884,0.999999941256,0.000213940389619,-0.000267458477901,1.35167219132e-05,1793239479843073536
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.38536098,661,635.38536098,879.61463902,787,803.38536098,652.38536098,631,652.38536098,0.400982505242,-0.00535966099629,0.0698377160865,0.999999941132,0.000215143695763,-0.000266960896041,1.34583251505e-05,1793239479859740160
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.981670598,661,635.981670598,879.018329402,787,803.981670598,652.981670598,631,652.981670598,0.400982667966,-0.00535744165609,0.0698372783922,0.999999940498,0.000217648134462,-0.000267321327128,1.31427266988e-05,1793239479876406784
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765.443807477,745,715,679.443807477,661,636,879,787,804,652.443807477,631,652.443807477,0.400982439574,-0.00535890152836,0.0698370505684,0.999999940976,0.000214874057117,-0.000267781632689,1.301026871e-05,1793239479893074176
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.868897847,879,787,804,652,631,652.131102153,0.400982366337,-0.00536007958613,0.0698369125897,0.99999994142,0.000212460296378,-0.00026805630332,1.29232177907e-05,1793239479909741056
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.290306489,879,787,804,652,631,652.709693511,0.400982865022,-0.00535989747365,0.069837058561,0.999999941648,0.000211847772835,-0.000267686537817,1.29713301653e-05,1793239479926407424
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dc834dcc48300ba54c6aa0ba14e49baa463bebc1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,421 @@
+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,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+20,0.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+22,0.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+24,0.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+25,0.416666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+26,0.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+27,0.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+29,0.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+30,0.500000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+31,0.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+33,0.550000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+34,0.566666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+39,0.650000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+45,0.750000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+46,0.766666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+392,6.533333333,pose2_to_pose3_retreat,0.575671274129,9.08024056538e-05,1.06003242076,0.546241725975,0.00876254299542,1.05970055566
+393,6.550000000,pose2_to_pose3_retreat,0.575670249861,9.07889132077e-05,1.0600324445,0.546240701997,0.00876253047621,1.05970057919
+394,6.566666667,pose2_to_pose3_retreat,0.575669779147,9.07560610222e-05,1.06003242882,0.546240231777,0.00876249928883,1.05970056323
+395,6.583333333,pose2_to_pose3_retreat,0.57566974979,9.07540121031e-05,1.06003242784,0.54624020245,0.00876249734375,1.05970056224
+396,6.600000000,pose2_to_pose3_retreat,0.575669455703,9.07334871361e-05,1.06003241804,0.546239908672,0.0087624778589,1.05970055227
+397,6.616666667,pose2_to_pose3_retreat,0.575668945692,9.06978923358e-05,1.06003240105,0.546239399196,0.00876244406789,1.05970053497
+398,6.633333333,pose2_to_pose3_retreat,0.575668626593,9.06756216581e-05,1.06003239042,0.546239080431,0.00876242292579,1.05970052415
+399,6.650000000,pose2_to_pose3_retreat,0.575668263508,9.06502811833e-05,1.06003237832,0.546238717728,0.00876239886946,1.05970051184
+400,6.666666667,pose2_to_pose3_retreat,0.575667645122,9.06071226018e-05,1.06003235772,0.54623809999,0.00876235789798,1.05970049087
+401,6.683333333,pose2_to_pose3_retreat,0.575667455817,9.05939106079e-05,1.06003235141,0.546237910884,0.00876234535551,1.05970048445
+402,6.700000000,pose2_to_pose3_retreat,0.575667151094,9.05726433071e-05,1.06003234126,0.54623760648,0.00876232516594,1.05970047412
+403,6.716666667,pose2_to_pose3_retreat,0.575666898152,9.05549898634e-05,1.06003233283,0.546237353803,0.0087623084071,1.05970046554
+404,6.733333333,pose2_to_pose3_retreat,0.575666635905,9.05903365487e-05,1.06003231898,0.546237090763,0.00876234103869,1.05970045106
+405,6.750000000,pose2_to_pose3_retreat,0.575666195485,9.06516644685e-05,1.06003229552,0.546236648972,0.00876239767335,1.05970042654
+406,6.766666667,pose2_to_pose3_retreat,0.575665906634,9.06918865683e-05,1.06003228014,0.546236359222,0.00876243481735,1.05970041046
+407,6.783333333,pose2_to_pose3_retreat,0.575665890548,9.06941265528e-05,1.06003227929,0.546236343086,0.00876243688592,1.05970040957
+408,6.800000000,pose2_to_pose3_retreat,0.575665812578,9.07049837251e-05,1.06003227513,0.546236264873,0.00876244691222,1.05970040522
+409,6.816666667,pose2_to_pose3_retreat,0.575665625288,9.07310636177e-05,1.06003226516,0.546236077,0.00876247099629,1.0597003948
+410,6.833333333,pose2_to_pose3_retreat,0.575665325294,9.07728373818e-05,1.06003224919,0.546235776073,0.00876250957322,1.05970037809
+411,6.850000000,pose2_to_pose3_retreat,0.575665089262,9.08022439176e-05,1.06003229642,0.546235539874,0.00876253838158,1.05970042439
+412,6.866666667,pose2_to_pose3_retreat,0.575665058001,9.08058366897e-05,1.06003230789,0.546235508641,0.00876254206236,1.0597004357
+413,6.883333333,pose2_to_pose3_retreat,0.575664949005,9.08183635704e-05,1.06003234788,0.546235399742,0.00876255489608,1.05970047516
+414,6.900000000,pose2_to_pose3_retreat,0.575664745207,9.08417860936e-05,1.06003242267,0.546235196124,0.00876257889234,1.05970054893
+415,6.916666667,pose2_to_pose3_retreat,0.575664509466,9.08736521792e-05,1.06003247191,0.546234960239,0.00876261029583,1.05970059884
+416,6.933333333,pose2_to_pose3_retreat,0.575664320172,9.09204291047e-05,1.06003234599,0.546234769264,0.00876265170072,1.05970048162
+417,6.950000000,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065999,1.05970045625
+418,6.966666667,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066001,1.05970045625
+419,6.983333333,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44681c7e2effdafcbef9f6efd3793dd2654b6e49
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c10a97d59a18c8126878ad0df0ff92e4c9278d10784ae413b19ea09a16648d12
+size 26834810
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cd77c29a42f2e72bb58dd3072a005f1a40783bd8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/franka_data.csv
@@ -0,0 +1,423 @@
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+39,0.650000000,BASELINE,766,745,715,679,661,636,879,787,803.351715271,652.648284729,631.648284729,652.648284729,0.400981393961,-0.00536138621108,0.0698385841532,0.999999942489,0.000211068449542,-0.000265157862126,1.27992456706e-05,1793239480699856384
+40,0.666666667,BASELINE,766,745,715,679,661.226971948,635.773028052,878.773028052,787,803,652.773028052,631.773028052,653,0.400981663941,-0.00536158180344,0.0698387181623,0.999999942558,0.000211212450138,-0.000264774827796,1.29237882327e-05,1793239480716523008
+41,0.683333333,BASELINE,766,745,715,679,661.804504721,635.195495279,878.195495279,787,803,652.195495279,631.195495279,653,0.400982220523,-0.00536017768317,0.0698389941576,0.999999942044,0.000214401380055,-0.000264156841201,1.28682318768e-05,1793239480733189632
+42,0.700000000,BASELINE,766,745,715,679,662,635,878,787,803,652,631,653,0.400982779988,-0.00535928585111,0.0698394468768,0.999999941768,0.000215992602872,-0.000263906731952,1.28058329302e-05,1793239480749856256
+43,0.716666667,BASELINE,766,745,715,679,662,635,878,787,803,652,631,653,0.400983340927,-0.00535865616593,0.0698399900288,0.999999941618,0.000216766250953,-0.000263844871989,1.27399325122e-05,1793239480766523392
+44,0.733333333,BASELINE,766,745,715,679.540590344,662,635.540590344,879.081180688,787,803.540590344,652,631.540590344,652.459409656,0.400982495258,-0.00536020707446,0.0698399691493,0.999999942215,0.0002149471228,-0.000263067853971,1.27951330729e-05,1793239480783190272
+45,0.750000000,BASELINE,766,745,715,679.869754032,661.869754032,636,879.869754032,787,803.869754032,652,631.869754032,652.130245968,0.40098188762,-0.00536122877951,0.0698398931836,0.999999942653,0.000213527835691,-0.000262557251636,1.28199855857e-05,1793239480799856896
+46,0.766666667,BASELINE,766,745,715,679.29049008,661.29049008,636,879.29049008,787,803.29049008,652,631.29049008,652.70950992,0.400982567757,-0.00535970185121,0.0698398146384,0.999999942309,0.000214348105023,-0.000263202627429,1.26999939929e-05,1793239480816523520
+47,0.783333333,BASELINE,766,745,715,679.286063043,661.286063043,636,879,787,803.286063043,652,631,652.713936957,0.400982923697,-0.00535914080565,0.0698397617816,0.999999942186,0.000215158826678,-0.000263005893092,1.27576594345e-05,1793239480833189888
+48,0.800000000,BASELINE,766,745,715,679.859889294,661.859889294,636,879,787,803.859889294,652,631,652.140110706,0.400982953514,-0.0053595513832,0.069839734766,0.999999942284,0.000215959944007,-0.000261962043764,1.29940377701e-05,1793239480849856256
+49,0.816666667,BASELINE,766,745,715,679.554753996,661.554753996,636,879,787,803.554753996,652,631,652,0.400981997906,-0.00535976451006,0.0698388458856,0.999999942309,0.000213762913596,-0.000263683558752,1.25628485978e-05,1793239480866522880
+50,0.833333333,BASELINE,766,745,715,679,661,635.966401179,879.033598821,787,803.033598821,652,631,652,0.40098084863,-0.00535989593583,0.0698378050787,0.999999942302,0.000210849995619,-0.000266073922432,1.19752603959e-05,1793239480883189504
+51,0.850000000,BASELINE,766,745,715,679,661,635.389825229,879.610174771,787,803.610174771,652,631,652,0.400981714096,-0.00535973784239,0.0698388085322,0.999999942378,0.000212020154335,-0.000264836311201,1.23452995609e-05,1793239480899856128
+52,0.866666667,BASELINE,766,745,715,679,661.18804588,635.18804588,879.81195412,787.18804588,804,652,631,652.18804588,0.400982429233,-0.0053598326116,0.0698395429329,0.999999942453,0.000212895759946,-0.000263832461193,1.2688104286e-05,1793239480916523264
+53,0.883333333,BASELINE,766,745,715,679,661.768620483,635.768620483,879.231379517,787.768620483,804,652,631,652.768620483,0.400982830571,-0.00536045520867,0.0698397157099,0.99999994253,0.000213156512591,-0.000263316566611,1.29740595656e-05,1793239480933190144
+54,0.900000000,BASELINE,765.654667485,745,715,679,661.654667485,635.654667485,878.654667485,787.654667485,804,652,631,653,0.400982934976,-0.0053598714623,0.0698399873075,0.999999942497,0.000213965131895,-0.000262781012667,1.30465194331e-05,1793239480949857024
+55,0.916666667,BASELINE,765.080514847,745,715,679,661.080514847,635.080514847,878.080514847,787.080514847,804,652,631,653,0.400982842632,-0.00535848838296,0.0698403243843,0.999999942391,0.000215136772077,-0.000262232432289,1.29775154982e-05,1793239480966523392
+56,0.933333333,BASELINE,765.507762073,745,715,679.507762073,661,635.507762073,878.507762073,787,803.492237927,652,631.507762073,652.492237927,0.40098317738,-0.00535981597293,0.0698404970119,0.999999942415,0.000215178183466,-0.000262098904934,1.3104706424e-05,1793239480983190016
+57,0.950000000,BASELINE,765.903549965,745,715,680,661,636,879,787,803,652,631.903549965,652.096450035,0.400983479169,-0.00536123629472,0.0698405588128,0.99999994244,0.000215018061439,-0.000262130404789,1.32415952811e-05,1793239480999856640
+58,0.966666667,BASELINE,765.324335797,745,715,680,661,636,879,787,803,652,631.324335797,652.675664203,0.400983267306,-0.0053609077931,0.0698402001444,0.999999942356,0.000214771911263,-0.00026264907302,1.32668529721e-05,1793239481016523264
+59,0.983333333,BASELINE,765.253058961,745,715,679.746941039,661.253058961,636,879,787,803,652,631.253058961,653,0.400983033083,-0.00535952909468,0.0698399086182,0.999999942232,0.000214958020727,-0.000262986470557,1.28993595072e-05,1793239481033189888
+60,1.000000000,BASELINE,765.828138576,745,715,679.171861424,661.828138576,636,879,787,803,652,631.828138576,653,0.400982770406,-0.00535681400781,0.0698397025311,0.999999942057,0.000215694185891,-0.000263093198968,1.20320853457e-05,1793239481049856512
+61,1.016666667,BASELINE,765.588057042,745,715,679.411942958,662,636,879,787,803.411942958,652,632,653,0.400983627589,-0.00535772807916,0.0698403217278,0.999999942372,0.000215924766306,-0.000261689498127,1.22517093568e-05,1793239481066523392
+62,1.033333333,BASELINE,765.000533988,745,715,679.999466012,662,636,879,787,803.999466012,652,632,653,0.400984962084,-0.00536018898608,0.0698412926805,0.999999942894,0.000215939854174,-0.000259642015636,1.29345958275e-05,1793239481083190528
+63,1.050000000,BASELINE,765.579044178,745,715,680,661.420955822,636,879,787,804,652,631.420955822,653,0.400982865859,-0.00536044346146,0.0698397040803,0.999999942321,0.000215036863734,-0.000262578877202,1.30399059304e-05,1793239481099857152
+64,1.066666667,BASELINE,766,745,715,680,661,635.842337326,879,787,804,652,631,652.842337326,0.400981706862,-0.00536065965816,0.0698389269422,0.999999942029,0.000214467562123,-0.000264148197056,1.31052470012e-05,1793239481116523520
+65,1.083333333,BASELINE,766,745,715,680,661,635.266246597,879,787,804,652,631,652.266246597,0.4009830435,-0.00536077959235,0.0698403095595,0.999999942506,0.000214786068876,-0.000262076102561,1.30659069043e-05,1793239481133189632
+66,1.100000000,BASELINE,765.690809224,745,715,679.690809224,661.309190776,635,879,787,804,652,631.309190776,652.309190776,0.400982654322,-0.00536066518053,0.0698402338388,0.999999942436,0.000214740272871,-0.000262385389144,1.29577929045e-05,1793239481149856256
+67,1.116666667,BASELINE,765.115933304,745,715,679.115933304,661.884066696,635,879,787,804,652,631.884066696,652.884066696,0.400980782163,-0.00536034939708,0.0698389049801,0.999999941895,0.00021438143442,-0.000264740977421,1.27905820456e-05,1793239481166523392
+68,1.133333333,BASELINE,765.458063056,745,715,679,662,635.458063056,879,787,804,652,631.541936944,653,0.400981499427,-0.00536053405456,0.069839410305,0.999999942104,0.000214046596398,-0.000264219062243,1.28557415763e-05,1793239481183190016
+69,1.150000000,BASELINE,765.966983408,745,715,679,661.966983408,636,879,787,803.966983408,652,631,652.966983408,0.400982751109,-0.005360827799,0.0698403224733,0.999999942475,0.000213741700547,-0.000263053172828,1.29692177095e-05,1793239481199856640
+70,1.166666667,BASELINE,765.37195541,745,715,679,661.37195541,636,879,787,803.37195541,652,631,652.37195541,0.400981965325,-0.00536082656345,0.0698402730813,0.999999942389,0.000213843282963,-0.000263298598814,1.29059637771e-05,1793239481216523520
+71,1.183333333,BASELINE,765.215844291,745,715,679,661,635.784155709,879,787,803.215844291,652,631.215844291,652.215844291,0.400980992967,-0.00536041654639,0.0698395446489,0.999999941971,0.00021453409734,-0.000264329453312,1.27633463684e-05,1793239481233190144
+72,1.200000000,BASELINE,765.791591484,745,715,679,661,635.208408516,879,787,803.791591484,652,631.791591484,652.791591484,0.400979709511,-0.00535932491922,0.0698376839718,0.999999940993,0.000216207408385,-0.00026666994638,1.24883967698e-05,1793239481249856512
+73,1.216666667,BASELINE,766,745,715,679,661.366869633,635.366869633,879,787,804,652,631.633130367,653,0.40097939121,-0.00535893789757,0.0698375917912,0.999999941024,0.000215829037116,-0.000266858331125,1.25433372438e-05,1793239481266523136
+74,1.233333333,BASELINE,766,745,715,679,661.941881637,635.941881637,879,787,804,652,631.058118363,653,0.400979620486,-0.00535895063179,0.0698385029618,0.999999941627,0.000214286650029,-0.000265825723621,1.27854398635e-05,1793239481283189760
+75,1.250000000,BASELINE,766,745,715,679,661.4701338,636,879,787,804,652,631,652.4701338,0.40098101778,-0.0053594844095,0.069839411921,0.999999941876,0.000215047683906,-0.000264264443209,1.29488548849e-05,1793239481299856128
+76,1.266666667,BASELINE,766,745,715,679,661,636,879,787,804,652,631,652,0.400982008663,-0.00535987019643,0.0698399469814,0.999999941957,0.00021590439506,-0.000263252579397,1.30491866629e-05,1793239481316522752
+77,1.283333333,BASELINE,766,745,715,679,661,636,879,787,804,652,631,652,0.400980880604,-0.00535944197987,0.0698390096887,0.999999941546,0.000216117573069,-0.000264639901647,1.29358044987e-05,1793239481333189376
+78,1.300000000,BASELINE,766,745,715,679.27523074,661.27523074,636,879,787.27523074,803.72476926,652,631,652,0.400981330533,-0.00535916174848,0.0698392027453,0.999999941773,0.000215968022896,-0.000263908507159,1.28489732172e-05,1793239481349856256
+79,1.316666667,BASELINE,766,745,715,679.851814908,661.851814908,636,879,787.851814908,803.148185092,652,631,652,0.400983508223,-0.00535904354782,0.0698406334349,0.999999942692,0.000215421317284,-0.000260857304298,1.27912128219e-05,1793239481366523136
+80,1.333333333,BASELINE,766,745,715,679.565686586,662,635.565686586,879,787.565686586,803,652,631,652,0.400982783241,-0.00535963742059,0.0698399883395,0.999999942594,0.000214166673257,-0.00026226347886,1.27679212148e-05,1793239481383190016
+81,1.350000000,BASELINE,766,745,715,679,662,635.0187027,878.9812973,787,803,652,631,652,0.40098114993,-0.00536043969419,0.0698387137096,0.999999942161,0.000212769323066,-0.000265035224163,1.27603754411e-05,1793239481399857152
+82,1.366666667,BASELINE,766,745,715,679,662,635.598440482,878.401559518,787,803,652,631,652,0.400982387902,-0.00536010480538,0.0698400935208,0.999999942467,0.000214436909556,-0.000262519733822,1.28675082287e-05,1793239481416523776
+83,1.383333333,BASELINE,765.822052525,745,715,679,661.822052525,635.822052525,878.177947475,787,803,652,631.177947475,652,0.400983137404,-0.00535992562319,0.0698408621428,0.999999942717,0.00021517407039,-0.000260957409055,1.29397780344e-05,1793239481433190400
+84,1.400000000,BASELINE,765.243065548,745,715,679,661.243065548,635.243065548,878.756934452,787,803,652,631.756934452,652,0.400982786043,-0.00536009735633,0.0698402533301,0.999999942856,0.000213814335028,-0.000261543229182,1.29334773006e-05,1793239481449856512
+85,1.416666667,BASELINE,765.333720415,745,715,679,661,635.333720415,879,787,803.333720415,652,631.666279585,652.333720415,0.400982910866,-0.00536015115452,0.0698402915918,0.999999942804,0.000213882777229,-0.000261685701289,1.29001681449e-05,1793239481466523136
+86,1.433333333,BASELINE,765.908913739,745,715,679,661,635.908913739,879,787,803.908913739,652,631.091086261,652.908913739,0.400983380245,-0.00536011961752,0.0698407980627,0.999999942615,0.00021498461805,-0.000261507376276,1.28473162771e-05,1793239481483189760
+87,1.450000000,BASELINE,766,745,715,679,661,635.505377863,879,786.505377863,803.505377863,652,631,652.505377863,0.400984140406,-0.0053606666818,0.0698416327121,0.999999943291,0.0002135748956,-0.000260068965419,1.29826343374e-05,1793239481499856640
+88,1.466666667,BASELINE,765.918849081,745,714.918849081,679,661,635.081150919,878.918849081,786.081150919,803,652,631,652,0.400984801532,-0.00536119332756,0.0698423518512,0.999999943905,0.000212339496075,-0.000258708396412,1.31427033821e-05,1793239481516523776
+89,1.483333333,BASELINE,765.339430784,745,714.339430784,679,661,635.660569216,878.339430784,786.660569216,803,652,631,652,0.400984518655,-0.00536092616738,0.0698419826234,0.99999994317,0.000215075954317,-0.000259281506271,1.32373581406e-05,1793239481533190656
+90,1.500000000,BASELINE,765.238627986,745,714.238627986,679.238627986,661.238627986,635.761372014,878.238627986,787,803,652,631,652,0.400983632442,-0.00536137278974,0.0698410791849,0.999999942629,0.000215758564997,-0.000260790417665,1.33390430027e-05,1793239481549857024
+91,1.516666667,BASELINE,765.814763836,745,714.814763836,679.814763836,661.814763836,635.185236164,878.814763836,787,803,652,631,652,0.400981892888,-0.00536282896351,0.0698394201756,0.999999942362,0.000213536278515,-0.000263622897056,1.34506710128e-05,1793239481566523392
+92,1.533333333,BASELINE,766,745,714.611372237,679.611372237,661.611372237,635,879,787,803,651.611372237,631,652.388627763,0.400981837432,-0.00536234841042,0.0698397052467,0.999999942377,0.000213457327388,-0.000263636615484,1.33183187313e-05,1793239481583189504
+93,1.550000000,BASELINE,766,745,714.038584859,679.038584859,661.038584859,635,879,787,803,651.038584859,631,652.961415141,0.400982580021,-0.00536095009782,0.0698409115621,0.999999942528,0.000214394041577,-0.000262314603714,1.30703511562e-05,1793239481599856128
+94,1.566666667,BASELINE,766,745,714.553126662,679,661,635,878.446873338,787,803.553126662,651.553126662,631,652.446873338,0.400982881802,-0.00535947355608,0.0698406691745,0.999999942339,0.000215192495504,-0.000262404177987,1.25902172402e-05,1793239481616522752
+95,1.583333333,BASELINE,766,745,715,679,661,635,878.14268458,787,803.85731542,652,631,652.14268458,0.400982829688,-0.00535872442307,0.0698403834228,0.999999942279,0.000215380009454,-0.000262493829928,1.22614061262e-05,1793239481633189632
+96,1.600000000,BASELINE,766,745,715,679,661,635,878.72148237,787,803.27851763,652,631,652.72148237,0.400981793216,-0.00536021587358,0.0698402849542,0.999999942689,0.000213730718253,-0.000262272088394,1.24463652446e-05,1793239481649856768
+97,1.616666667,BASELINE,765.702248625,745,715,679,661,635.297751375,879,787,803,652,631,652.702248625,0.400982054283,-0.00535958740286,0.0698405681448,0.999999942587,0.000214800928838,-0.000261779733308,1.25497263014e-05,1793239481666523648
+98,1.633333333,BASELINE,765.128325169,745,715,679,661,635.871674831,879,787,803,652,631,652.128325169,0.40098351885,-0.00535699265043,0.0698412053343,0.999999942003,0.000218393547584,-0.000261036377181,1.25774030398e-05,1793239481683190528
+99,1.650000000,BASELINE,765,745,715,679,661,635.5425479,879,787,803.4574521,652,631,652,0.400983367195,-0.00535878394689,0.0698408660577,0.99999994208,0.000217085042833,-0.000261821815263,1.28091633259e-05,1793239481699856896
+100,1.666666667,BASELINE,765.046049418,745,715,679,661,635.046049418,879,787,803.953950582,652,631,652.046049418,0.400982878449,-0.00536161413089,0.0698403657927,0.99999994241,0.000214377703833,-0.000262776987724,1.30709616057e-05,1793239481716523008
+101,1.683333333,BASELINE,765.62774144,745,715,679,661,635.62774144,879,787,803.37225856,652,631,652.62774144,0.400983882701,-0.00536183615906,0.0698412638966,0.99999994353,0.000211817052274,-0.000260585335261,1.29985193813e-05,1793239481733189632
+102,1.700000000,BASELINE,766,745,715,679,661,636,879,787,803,652,631,652.792741333,0.400983788743,-0.00536134365711,0.0698413967067,0.999999943644,0.000211897085069,-0.000260086803375,1.29371795727e-05,1793239481749856256
+103,1.716666667,BASELINE,766,745,715,679,661,636,879,787,803,652,631,652.217089771,0.400981742768,-0.00535958111019,0.0698401692416,0.999999941965,0.000216670815011,-0.000262597716888,1.28955738135e-05,1793239481766522880
+104,1.733333333,BASELINE,766,745,715.357782248,679.357782248,661.357782248,636,879,787,803.357782248,652,631,652.357782248,0.400981846902,-0.0053594741754,0.0698401298012,0.999999941833,0.000216965847685,-0.000262861901596,1.28041351391e-05,1793239481783189760
+105,1.750000000,BASELINE,766,745,715.93218235,679.93218235,661.93218235,636,879,787,803.93218235,652,631,652.93218235,0.400983252811,-0.00536036962428,0.0698408096457,0.999999942643,0.000214549271185,-0.000261765813432,1.26825253185e-05,1793239481799856384
+106,1.766666667,BASELINE,766,745,715.480389012,680,661.480389012,636,879,787,803.480389012,652,631,652.480389012,0.4009826426,-0.00536066005216,0.0698402747394,0.999999942503,0.000214183220277,-0.000262588606236,1.2877165421e-05,1793239481816523008
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879,787,803,652,631,652,0.400983199085,-0.00536004183875,0.0698407349143,0.999999942596,0.000216066448703,-0.000260682202685,1.29346897356e-05,1793239481858892288
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.574563962,745,715,679,661,635.574563962,879,787,803.574563962,652,631,652.574563962,0.400982074497,-0.0053603823846,0.0698402987596,0.999999942368,0.000215080926601,-0.000262381168367,1.26481493486e-05,1793239481875559168
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.152526602,636,879,787,803.847473398,652,631,652.847473398,0.40098152156,-0.00536066344912,0.0698401588964,0.999999942335,0.00021417726303,-0.000263252043136,1.25095995179e-05,1793239481892226048
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.740185214,636,879,787,803.259814786,652,631,652.259814786,0.400982599446,-0.00536077482376,0.0698408643012,0.999999942866,0.000213507127472,-0.000261760518173,1.27932410791e-05,1793239481908892928
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.676625428,635.676625428,879,787,803,652,631,652,0.400982923365,-0.00536053210955,0.06984109547,0.999999942968,0.00021395103444,-0.000261011271256,1.27106171945e-05,1793239481925559552
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.096977968,635.096977968,879,787,803,652,631,652,0.400982649769,-0.00536000878151,0.0698409508089,0.99999994273,0.000215277815115,-0.000260850276425,1.23377295821e-05,1793239481942225664
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.479313278,635.479313278,879,787,803.479313278,652,631,652.479313278,0.400981693233,-0.00535948087631,0.0698399524895,0.999999942296,0.000215271897747,-0.000262510476232,1.23948760639e-05,1793239481958892544
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.945204303,745,715,679,662,635.945204303,879,787,803.945204303,652,631.054795697,652.945204303,0.400980916216,-0.00535910508243,0.0698390198399,0.999999941928,0.000214926898145,-0.000264185039595,1.25522261786e-05,1793239481975559424
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.370996767,745,715,679,662,635.370996767,879,787,803.370996767,652,631.629003233,652.370996767,0.400983141553,-0.00536017987861,0.0698403354993,0.999999942579,0.000213905884923,-0.000262527229893,1.28403984557e-05,1793239481992225792
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715.209591233,679.209591233,661.790408767,635.209591233,879,787,803,652,631.790408767,652,0.400987747504,-0.00536044478805,0.0698427655208,0.999999943421,0.000214398865751,-0.000258885612635,1.30085186193e-05,1793239482008892160
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715.801827822,679.801827822,661.198172178,635.801827822,879,787,803,652,631.198172178,652,0.400996699682,-0.00535923110784,0.0698472300046,0.999999944572,0.000217655906908,-0.000251622208827,1.29574626776e-05,1793239482025558784
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.385226316,745,715.614773684,679.614773684,661,636,879,787,803,652,631,652.385226316,0.401022984243,-0.00536042082762,0.069859029092,0.999999949473,0.000216983833294,-0.000231929445718,1.34730328591e-05,1793239482042225664
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.964180248,745,715.035819752,679.035819752,661,636,879,787,803,652,631,652.964180248,0.401057985139,-0.0053628192003,0.0698745167005,0.999999955713,0.000214335835565,-0.000205986044118,1.4273555336e-05,1793239482058892288
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.460893823,744.460893823,715,679,661,636,879,787,803,652,631,653,0.401115996419,-0.00536378047033,0.0698927954287,0.999999961622,0.000214000403661,-0.000175354731602,1.45391534294e-05,1793239482075558912
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.113398846,715,679,661,635.886601154,879,787,803,652,631,652.886601154,0.40117680238,-0.00536453864583,0.0699094804557,0.999999965976,0.000213896536344,-0.000148599226001,1.46690374279e-05,1793239482092225792
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.686202407,715,679,661,635.313797593,879,787,803,652,631,652.313797593,0.401242782365,-0.00536485800269,0.0699189633113,0.999999967342,0.000214112921953,-0.00013879800471,1.43920331805e-05,1793239482108892672
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.269074323,745,715,679,661,635.269074323,879,787,803,652,631,652.269074323,0.401316639686,-0.00536631913835,0.0699253556795,0.999999968896,0.0002127105953,-0.000129552853963,1.33257674341e-05,1793239482125559296
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.864144478,745,715,679,661,635.864144478,879,787,803,652,631,652.864144478,0.401400040754,-0.00536916359116,0.0699280037805,0.999999970705,0.000209347124801,-0.000120981408666,1.13032753488e-05,1793239482142225664
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.555229928,745,715,679.444770072,661.444770072,636,879,787,803,652,631,653,0.401494087541,-0.00537125642669,0.0699265603054,0.999999970831,0.000207036542122,-0.000124053010002,9.25446425283e-06,1793239482158892032
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.020947037,745,715.020947037,679.979052963,662,635.979052963,879,787.020947037,803.020947037,652,631.020947037,652.979052963,0.401592384733,-0.00537311702322,0.0699239638859,0.999999970443,0.000205063736421,-0.000130428556925,7.1572909034e-06,1793239482175558656
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.592516146,745,715.592516146,679.407483854,662,635.407483854,879,787.592516146,803.592516146,652,631.592516146,652.407483854,0.401719621779,-0.0053747179596,0.0699228794695,0.999999970369,0.000203781928077,-0.000133109016186,3.99352121853e-06,1793239482192225536
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715.829393145,679,661.829393145,635,879,788,803.829393145,652,632,652,0.401856443519,-0.00537665715754,0.0699230437994,0.999999970775,0.000201942107974,-0.000132924882047,7.41262852819e-07,1793239482208892160
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715.235106999,679,661.235106999,635,879,788,803.235106999,652,632,652,0.402017067541,-0.00537943638259,0.0699263092239,0.999999972361,0.00019871654054,-0.000125626913186,-2.73074483705e-06,1793239482225558784
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.348280115,661,635.348280115,879.348280115,787.651719885,803.348280115,652.348280115,632,652.348280115,0.402197893257,-0.00538224162759,0.0699310248512,0.999999974407,0.000194213215891,-0.000115866832815,-6.43937303152e-06,1793239482242225664
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.924533134,661,635.924533134,879.924533134,787.075466866,803.924533134,652.924533134,632,652.924533134,0.402391942364,-0.0053850639047,0.0699366897349,0.999999976651,0.000188873512334,-0.000104495133102,-1.03028857033e-05,1793239482258892544
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,879.498335524,787.501664476,804,652.498335524,632,652.498335524,0.40261195552,-0.00538954007527,0.0699367983842,0.999999978367,0.000180175781781,-0.000102780928603,-1.54453698957e-05,1793239482275559424
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.921441552,661.078558448,636,879,787.921441552,803.921441552,652,631.921441552,652.078558448,0.402842704515,-0.0053940751612,0.0699370856471,0.999999980044,0.00017134461551,-0.000100612578286,-2.07421036161e-05,1793239482292225792
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.346881729,661.653118271,636,879,787.346881729,803.346881729,652,631.346881729,652.653118271,0.403116533479,-0.00539740860228,0.0699437872148,0.999999982345,0.000164866014216,-8.63880541493e-05,-2.57958385603e-05,1793239482308892416
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.234888332,662,636,879,787.234888332,803,652,631,652.765111668,0.403403048949,-0.00540229531596,0.0699514504413,0.999999984661,0.000156963811823,-7.13683202167e-05,-3.07620921701e-05,1793239482325558784
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.827643606,662,636,879,787.827643606,803,652,631,652.172356394,0.403708893082,-0.0054095485366,0.0699605788141,0.999999987058,0.00014689266527,-5.51370357021e-05,-3.5595062239e-05,1793239482342225408
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.590885899,745,715,679.590885899,662,636,879,787.590885899,803.409114101,652,631,652.409114101,0.404034107703,-0.00541442784689,0.0699641496906,0.999999994538,8.13298534484e-05,-5.15027540369e-05,-4.07005561041e-05,1793239482358892032
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.014041984,745,715,679.014041984,662,636,879,787.014041984,803.985958016,652,631,652.985958016,0.404367263887,-0.00541833389419,0.0699654420879,0.999999997515,-6.98359623003e-06,-5.30330290332e-05,-4.59177796972e-05,1793239482375558656
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.561563003,745.561563003,715,679,662,636,879,787,804,652,631,653,0.404750397256,-0.00542419394611,0.0699713613013,0.999999996663,6.1666210599e-05,-4.37406746075e-05,-3.09512666523e-05,1793239482392225536
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.859648433,715,679,662,636,879.140351567,787,804,652,631,653,0.405141981571,-0.00542964996067,0.0699756548811,0.999999992369,0.000116139646241,-3.66548919537e-05,-2.07489316798e-05,1793239482408892416
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.270583037,715,679,662,636,879.729416963,787,804,652,631,653,0.405556597532,-0.00543365837243,0.0699743821262,0.999999992564,0.000112769671978,-3.74869693043e-05,-2.7388015481e-05,1793239482425559040
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787,804,652,631.313166451,653,0.405986964517,-0.0054515321156,0.0699697924798,0.999999995034,8.45306974492e-05,-4.30955941855e-05,-3.04799891792e-05,1793239482442225664
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787,804,652,631.892399602,653,0.406430713641,-0.00548118586616,0.0699623847969,0.999999997523,3.51629814345e-05,-5.27623812192e-05,-3.05583333486e-05,1793239482458892032
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.468781242,661.531218758,636,879.531218758,787,804,652,632,653,0.406902569851,-0.00549712109416,0.0699487988146,0.999999996904,6.38725921817e-06,-7.1685133268e-05,-3.18080906884e-05,1793239482475559168
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.955628134,661,635.955628134,879,787,804,652,631.955628134,652.955628134,0.407386674502,-0.00550879214764,0.0699352088561,0.99999999526,-1.5044303909e-05,-9.02506326418e-05,-3.32928946464e-05,1793239482492225792
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679.381713339,661,635.381713339,879,787,804,652,631.381713339,652.381713339,0.407940427144,-0.00550692541149,0.069938393229,0.999999996248,-4.89547573389e-06,-7.93511965514e-05,-3.43933612658e-05,1793239482508892416
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.19815265,635.19815265,879,787,804,652,631,652,0.408514550939,-0.00550993788515,0.0699468070811,0.999999997569,-5.17365263214e-06,-5.99315858174e-05,-3.52729050217e-05,1793239482525559040
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.789837716,635.789837716,879,787,804,652,631,652,0.409129131938,-0.00552264050042,0.0699656067118,0.999999998742,-2.61599281146e-05,-2.35908549933e-05,-3.57136944799e-05,1793239482542226176
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787,803.626150652,652,631.373849348,652.373849348,0.409731458246,-0.0055298158518,0.0699652466656,0.999999998443,-3.514481778e-05,-2.18613454143e-05,-3.74303612486e-05,1793239482558892800
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787,803.046365961,652,631.953634039,652.953634039,0.410327034022,-0.00553394650308,0.0699543324889,0.999999997734,-3.75187295608e-05,-3.91974681361e-05,-3.98498465032e-05,1793239482575559168
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679.527749297,662,636,879,787,803.527749297,652,632,652.472250703,0.410958455014,-0.0055406793839,0.0699509578516,0.999999996918,-4.83156367019e-05,-4.65653473869e-05,-4.07586617788e-05,1793239482592225536
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.895981394,879,787,804,652,631.895981394,652,0.411609806826,-0.00554823962322,0.0699529168388,0.999999996355,-6.00329646073e-05,-4.45078801146e-05,-4.12809815379e-05,1793239482608892416
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.307381641,879,787,804,652,631.307381641,652,0.412339493153,-0.00555860045667,0.0699766700212,0.999999996535,-7.26273869617e-05,-2.57798672107e-06,-4.06144975631e-05,1793239482625559040
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.723222834,661.723222834,635,879,787,804,651.723222834,631,652,0.413078001506,-0.00556476683166,0.0700018279013,0.999999995265,-8.05110083234e-05,3.76280742057e-05,-3.9661098335e-05,1793239482642225664
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.14391807,661.14391807,635,879,787,804,651.14391807,631,652,0.413826152749,-0.00556634851096,0.0700285211706,0.999999992914,-8.32455529598e-05,7.59499282362e-05,-3.83940901444e-05,1793239482658892288
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.433423866,879.433423866,787,804,651.433423866,631,652,0.414543463551,-0.00553738523561,0.0700167517493,0.9999999969,-4.76952025059e-05,4.79786394452e-05,-4.02943235175e-05,1793239482675558912
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.010065526,635.989934474,880,787,803.989934474,652,631,652,0.415250895556,-0.00549881961896,0.0699918913585,0.999999999063,-1.80793634608e-07,-2.24257211442e-06,-4.32397100464e-05,1793239482692225280
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.583827319,635.416172681,880,787,803.416172681,652,631,652,0.415976003378,-0.00548793954085,0.0699459156919,0.999999996358,8.63024872639e-06,-7.13128965154e-05,-4.60851055059e-05,1793239482708891904
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.837585196,745,715,679.162414804,662,635.162414804,879.837585196,787,803.162414804,652,631,652,0.416735152804,-0.00548482583779,0.0699187849096,0.999999992516,9.48945279493e-06,-0.000112121698653,-4.80379615295e-05,1793239482725558528
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.246253714,745,715,679.753746286,662,635.753746286,879.246253714,787,803.753746286,652,631,652,0.417584201699,-0.00550222213639,0.0699414210537,0.999999995744,-1.06511292255e-05,-7.82954396715e-05,-4.76337356035e-05,1793239482742225152
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.329181843,745,715,679.670818157,662,636,879.329181843,787,803.670818157,652,631,652,0.418413907297,-0.00551245845304,0.069964972249,0.999999997665,-2.39572951594e-05,-4.31503610451e-05,-4.72563853137e-05,1793239482758892288
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.893273756,745,715,679.106726244,662,636,879.893273756,787,803.106726244,652,631,652,0.419229809134,-0.00551758527734,0.0699891764403,0.999999998351,-3.23862982444e-05,-7.06415049918e-06,-4.68982139635e-05,1793239482775559936
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.521545859,879.521545859,787,803.478454141,652,631,652,0.420104585976,-0.00552398742375,0.0700095761707,0.999999997679,-4.12984276322e-05,2.67383361298e-05,-4.71387194783e-05,1793239482792226304
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679.068335165,662,635.068335165,879,787,804,652,631,652.068335165,0.420987074072,-0.00552964747004,0.0700270937875,0.9999999961,-4.92448978293e-05,5.58390374505e-05,-4.75022673687e-05,1793239482808892416
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.656539483,662,635.656539483,879,787,804,652,631,652.656539483,0.421823708733,-0.00552739787916,0.0700294391557,0.999999996244,-4.89873123334e-05,5.32244042604e-05,-4.77390810345e-05,1793239482825559040
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.758930846,745,715,680,662,636,879.241069154,787,804,651.758930846,631,652.758930846,0.422647312082,-0.00552132211939,0.0700040655799,0.999999997733,-4.475729308e-05,6.69096091511e-06,-4.98613051579e-05,1793239482842225664
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.179557894,745,715,680,662,636,879.820442106,787,804,651.179557894,631,652.179557894,0.423452628092,-0.00550987691473,0.0699397926933,0.999999992748,-3.49525683781e-05,-0.000101475835898,-5.46294149768e-05,1793239482858892032
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.396538672,745,715,680,662,635.603461328,879.603461328,787.396538672,803.603461328,651,631,652,0.424282984387,-0.00550884882884,0.0698930099068,0.999999984127,-4.19092043792e-05,-0.000162525726521,-5.97988351369e-05,1793239482875558656
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.971163771,745,715,680,662,635.028836229,879.028836229,787.971163771,803.028836229,651,631,652,0.425124586285,-0.00551249909559,0.0698540819682,0.999999975802,-5.63934065568e-05,-0.000202415300252,-6.51484845105e-05,1793239482892225280
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.45441295,635,879,787.45441295,803.54558705,651.54558705,631,652,0.426049683876,-0.00552202159234,0.0699112696079,0.999999988752,-6.47149808937e-05,-0.000120971024007,-6.06053363375e-05,1793239482908892160
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.123825562,635.123825562,879,787,804,651.876174438,631,652,0.426972292344,-0.00552977091984,0.0699685702566,0.999999995148,-6.94612372647e-05,-4.17219151559e-05,-5.60160739818e-05,1793239482925558784
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.716551892,635.716551892,879,787,804,651.283448108,631,652,0.427868769916,-0.00552963077258,0.0700070688911,0.999999996655,-6.19014985873e-05,4.93915939191e-06,-5.32314520207e-05,1793239482942225664
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.698543634,879.301456366,787,804,651.301456366,631,652.301456366,0.428782223505,-0.00552942626378,0.0700354045382,0.999999995749,-5.81743287804e-05,4.88012714972e-05,-5.23132914718e-05,1793239482958892288
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.120807787,879.879192213,787,804,651.879192213,631,652.879192213,0.429711235266,-0.00552916276874,0.0700544259831,0.999999992851,-5.79596416774e-05,9.00981809303e-05,-5.31057102961e-05,1793239482975558912
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.456420443,880,787.456420443,804,651.543579557,631.456420443,652.543579557,0.43054551368,-0.00553010410318,0.0700284774209,0.999999995592,-5.99506347944e-05,4.74487097552e-05,-5.44965982383e-05,1793239482992226048
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.965985285,745,715,680,662,636,880,788,804,651,631.965985285,652,0.431350005137,-0.00553121505111,0.0699887300608,0.999999996272,-6.23460096088e-05,-2.03997010142e-05,-5.61484868885e-05,1793239483008892672
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.380278016,745,715,680,662,636,880,788,804,651,631.380278016,652,0.432077611781,-0.00552991042016,0.0699180182726,0.999999986939,-6.18416954655e-05,-0.000136974658124,-5.94672381063e-05,1793239483025559296
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.203661592,745,715,680,662,635.796338408,880,787.796338408,804.203661592,651.203661592,631.203661592,652,0.432869791164,-0.00552917365243,0.069887542529,0.999999979372,-6.22244972518e-05,-0.000183359737163,-6.13520068437e-05,1793239483042225664
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.784329112,745,715,680,662,635.215670888,880,787.215670888,804.784329112,651.784329112,631.784329112,652,0.43378150379,-0.00552948807829,0.0699315492875,0.99999999112,-6.42494748997e-05,-9.98136127009e-05,-6.05822761057e-05,1793239483058892288
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.635940083,745,715,680.364059917,662.364059917,635,880,787.364059917,804.635940083,651.635940083,631.635940083,652.364059917,0.434673920254,-0.00553204084477,0.0699787586135,0.999999995958,-6.50390644718e-05,-2.16225330011e-05,-5.818544075e-05,1793239483075558912
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.056762804,745,715,680.943237196,662.943237196,635,880,787.943237196,804.056762804,651.056762804,631.056762804,652.943237196,0.43555493486,-0.00553591621201,0.0700278602842,0.999999994952,-6.50986821436e-05,5.340432868e-05,-5.4827174446e-05,1793239483092225536
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.517057506,745,715,681,662.482942494,635.517057506,880,788,804,651.517057506,631,652.482942494,0.436352232921,-0.00554138547089,0.0700312623622,0.999999993729,-7.44957494999e-05,6.26999222816e-05,-5.53334122945e-05,1793239483108891904
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.092875525,635.907124475,880,788,804,651.907124475,631,652.092875525,0.437128845246,-0.00554661654074,0.0700245889034,0.999999993242,-8.34929687418e-05,5.79497073242e-05,-5.64545356216e-05,1793239483125558528
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662.682491294,635.317508706,880,788,804,651.317508706,631,652.682491294,0.437843471479,-0.00554964740239,0.0699905845382,0.999999994543,-8.4925304544e-05,1.62748775497e-05,-5.86185470501e-05,1793239483142225152
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.732713607,745,714.732713607,681,662.732713607,635,880.267286393,787.732713607,804.267286393,651,631,653,0.438531271564,-0.00554954701499,0.0699434713529,0.999999993083,-8.53006430666e-05,-5.30921242351e-05,-6.1149768832e-05,1793239483158892032
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.15354356,745,714.15354356,681,662.15354356,635,880.84645644,787.15354356,804.84645644,651,631,653,0.439187769453,-0.00554579292321,0.0698810621175,0.999999982403,-8.44426216111e-05,-0.000154771788515,-6.41094702246e-05,1793239483175558656
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.420863904,714,681,662,635,880.579136096,787,804.579136096,651.420863904,631.420863904,653,0.439835468858,-0.00553717788785,0.0698267039803,0.999999966006,-7.36953466141e-05,-0.000241189771245,-6.62154464558e-05,1793239483192225280
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.993553327,714,681,662,635,880.006446673,787,804.006446673,651.993553327,631.993553327,653,0.440479994286,-0.00552680927992,0.0697752502499,0.999999944049,-5.93805497817e-05,-0.000322102150906,-6.80134436469e-05,1793239483208892160
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.56768881,745.43231119,714,681,662,635,880,787,804.56768881,652,631.43231119,653,0.441173172464,-0.00553015479282,0.0698011746344,0.999999955784,-6.49500328769e-05,-0.000282201543306,-6.7641507696e-05,1793239483225558784
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.14703596,714.14703596,681,662,635,880.14703596,787,805,651.85296404,631,653,0.441852394043,-0.00553389033175,0.0698275072349,0.999999965389,-6.98964212578e-05,-0.000244686591964,-6.68182226584e-05,1793239483242225664
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.742217525,714.742217525,681,662,635,880.742217525,787,805,651.257782475,631,653,0.442487389728,-0.00553833873879,0.0698523990139,0.999999971396,-7.22537203043e-05,-0.000218634989425,-6.46945837043e-05,1793239483258892544
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.672515974,715,681,661.672515974,635,880.672515974,786.672515974,805,651.327484026,631,653,0.443072770736,-0.00554181653058,0.0698436050125,0.99999996662,-7.23573300496e-05,-0.000239730499547,-6.3662645818e-05,1793239483275558912
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.094824898,715,681,661.094824898,635,880.094824898,786.094824898,805,651.905175102,631,653,0.443620244692,-0.00554455274464,0.0698090741215,0.999999951425,-7.07390571821e-05,-0.000296847737119,-6.34647983864e-05,1793239483292225536
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.48242276,715,681,661,634.51757724,880.48242276,786.48242276,805,652,631,652.51757724,0.444150242032,-0.0055453596438,0.0697693573711,0.999999931571,-7.33935494932e-05,-0.000356853764243,-6.42334106467e-05,1793239483308892416
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.941032392,715,681,661,634,880.941032392,787,804.941032392,651.941032392,631,652.058967608,0.444673283705,-0.005545814316,0.0697311740526,0.999999909536,-7.66012454216e-05,-0.000413265079269,-6.53583419233e-05,1793239483325558784
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.369836134,715,681,661,634,880.369836134,787,804.369836134,651.369836134,631,652.630163866,0.445165717056,-0.00554650049029,0.0697151574595,0.999999900732,-7.732562547e-05,-0.000433522641627,-6.79298246899e-05,1793239483342225408
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.790163899,745.209836101,714.790163899,681,660.790163899,634,880,786.790163899,804,651,631,652.790163899,0.445647639426,-0.00554828213734,0.0697035953257,0.999999893918,-8.10690049854e-05,-0.000448072584219,-6.94479689733e-05,1793239483358892288
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.194923985,745.805076015,714.194923985,681,660.194923985,634,880,786.194923985,804,651,631,652.194923985,0.446110256332,-0.00555207582791,0.069700214653,0.99999989132,-9.03573497886e-05,-0.000452139398198,-6.90314570337e-05,1793239483375559168
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714.387088353,681.387088353,660,633.612911647,880.387088353,786,804,651.387088353,631,652.387088353,0.446542023795,-0.0055516014368,0.0696953827303,0.999999886152,-8.89403171151e-05,-0.0004639212149,-6.75413587667e-05,1793239483392225792
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714.9626599,681.9626599,660,633.0373401,880.9626599,786,804,651.9626599,631,652.9626599,0.446958769917,-0.00554904880818,0.0696898441565,0.999999879525,-8.2310563876e-05,-0.000479459663495,-6.55285038797e-05,1793239483408892416
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.537252742,746,715,682,660,633,881,786,804.537252742,652,631,653,0.447325991058,-0.00554298482894,0.0696653396919,0.999999858388,-7.04424371826e-05,-0.000523284248524,-6.66032334612e-05,1793239483425558784
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.885463978,746.114536022,715,682,659.885463978,633,881,786,805,651.885463978,631,653,0.447685589433,-0.00553738843183,0.0696433732681,0.999999838415,-6.1050490622e-05,-0.00056106282056,-6.81981841568e-05,1793239483442225408
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.296761311,746.703238689,715,682,659.296761311,633,881,786,805,651.296761311,631,653,0.44802785443,-0.00553473625694,0.0696373611886,0.999999835463,-6.34141551504e-05,-0.000565687594542,-7.10600180167e-05,1793239483458892032
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.288763672,746.711236328,714.711236328,682,659,632.711236328,881,785.711236328,805,651.288763672,631,652.711236328,0.448362290546,-0.00553595582294,0.0696382937702,0.999999837869,-7.15958201913e-05,-0.000560278921931,-7.22799176003e-05,1793239483475558656
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.871058474,746.128941526,714.128941526,682,659,632.128941526,881,785.128941526,805,651.871058474,631,652.128941526,0.448688768507,-0.00554111105202,0.069646285669,0.999999845415,-8.56915401486e-05,-0.000544671151145,-7.18307745546e-05,1793239483492225280
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.553030266,745.553030266,714,681.553030266,659,632,881,785,805,651.553030266,631,652.446969734,0.448983521246,-0.00554579615684,0.0696538671458,0.999999850616,-8.60121117976e-05,-0.000535416214116,-6.85540281805e-05,1793239483508892160
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681.021081678,658.978918322,632,881,785,805,651.021081678,630.978918322,652.978918322,0.449267663519,-0.00555015050734,0.069660970217,0.999999854976,-8.19852669191e-05,-0.000528368950148,-6.44413247822e-05,1793239483525558528
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681.595621065,658.404378935,632,881,785,805,651.595621065,630.404378935,652.404378935,0.44951013548,-0.00554933189014,0.0696585782451,0.999999854578,-6.66820741014e-05,-0.000531844341821,-5.9495410649e-05,1793239483542225152
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+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658.765544441,632,881,785,804.234455559,652,630.765544441,652.765544441,0.449929999959,-0.00555228246006,0.0696446541077,0.999999844689,-6.91517818086e-05,-0.000550098627752,-5.6852623696e-05,1793239483575558656
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.080357269,745.080357269,714,682,658,632,880.080357269,785,805,652,630.080357269,653,0.450502135946,-0.00556108894957,0.0695931323546,0.999999789951,-9.51389032913e-05,-0.000638180533785,-6.14192600206e-05,1793239483642225408
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+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,714.832508844,682,658,632,881,785,805,652,631,653,0.450816625336,-0.00556039469515,0.0695849620589,0.999999783905,-0.000100834382921,-0.000646397933133,-6.47527687031e-05,1793239483692225536
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.591183528,746,715,681.591183528,657.591183528,632,880.591183528,784.591183528,805,651.591183528,630.591183528,653,0.450891754191,-0.00556025544768,0.0695827311651,0.999999781503,-0.000103160250981,-0.000649657037932,-6.55519326059e-05,1793239483708892160
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.016214774,746,715,681.016214774,657.016214774,632,880.016214774,784.016214774,805,651.016214774,630.016214774,653,0.450958351815,-0.00556006102101,0.0695801438102,0.999999778348,-0.000105888860794,-0.000653985038169,-6.62957583202e-05,1793239483725558784
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+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,714.315674539,681.684325461,657.684325461,632,880,784,804.315674539,652,631,653,0.451125399503,-0.00556001561576,0.0695733795348,0.999999770292,-0.000105907482036,-0.000666174141945,-6.64134488331e-05,1793239483792225280
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,714.894083989,681.105916011,657.105916011,632,880,784,804.894083989,652,631,653,0.451151415476,-0.00555845277972,0.0695727253281,0.999999770324,-0.000106495690902,-0.000666027100414,-6.64665570005e-05,1793239483808891904
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,682,657.044082949,631.044082949,881,785,805,652,630.955917051,653,0.451181076876,-0.00556071548745,0.0695707672628,0.999999767935,-0.000108153174917,-0.000669463123288,-6.52137734148e-05,1793239483842225152
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.048110691,746,714,682,657.951889309,631,881,784,804.951889309,652,630,653,0.451205986776,-0.00555965121914,0.0695650667915,0.999999762223,-0.000108169834836,-0.000677990165228,-6.46754549008e-05,1793239483925558784
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.526926127,746,714.526926127,682,658,631.526926127,881,784,805,652,630,652.473073873,0.451205266501,-0.00556033812979,0.0695638839666,0.999999760501,-0.000110592842653,-0.000680163005574,-6.43921278522e-05,1793239483942225408
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745.895882561,714.895882561,682,657.895882561,631.895882561,880.895882561,784,805,652,630,652,0.451204591589,-0.00556081125217,0.0695628720815,0.999999759054,-0.000112472875228,-0.000682008811848,-6.40717114899e-05,1793239483958892032
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745.308258363,714.308258363,682,657.308258363,631.308258363,880.308258363,784,805,652,630,652,0.451205614689,-0.00555952938584,0.0695628389062,0.99999975954,-0.000110155387466,-0.000681699127178,-6.38192381624e-05,1793239483975558656
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,714,682,657,631,880,784,805,651.724587553,630,652.275412447,0.451206669471,-0.0055592309659,0.0695629580552,0.999999759687,-0.000109295543282,-0.000681645173587,-6.35689582834e-05,1793239483992225024
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714,682,657,631,880,784,805,651.145278923,630,652.854721077,0.451207759209,-0.0055600177023,0.0695632452822,0.999999759465,-0.000110044094958,-0.000681873399284,-6.33210986723e-05,1793239484008891904
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,714.991867122,682,657.991867122,631,881,784,804.008132878,652,631,653,0.451206567382,-0.00555693170088,0.0695620159275,0.999999758877,-0.000104944888335,-0.000683574141448,-6.29221987149e-05,1793239484042225664
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,714.414376738,682,657.414376738,631,881,784,804.585623262,652,631,653,0.451206988396,-0.00555792502564,0.0695623644532,0.999999758352,-0.000108869786875,-0.000683690119703,-6.33296383591e-05,1793239484058892288
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.245777698,745.245777698,714,681.245777698,657.754222302,631,880.245777698,784,805,652,630.245777698,653,0.451209028766,-0.00556010193878,0.0695632801783,0.999999759483,-0.000112354775118,-0.000681531020259,-6.26497601672e-05,1793239484092225536
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.337148159,714,681.337148159,657.662851841,631,880.337148159,784,805,652,630.337148159,652.662851841,0.451209930716,-0.00555902603335,0.0695634586757,0.999999759977,-0.000110065024929,-0.000681194473834,-6.25028945662e-05,1793239484108892160
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.916352524,714,681.916352524,657.083647476,631,880.916352524,784,805,652,630.916352524,652.083647476,0.451210507089,-0.00555635800509,0.0695633926814,0.999999759962,-0.000105756994414,-0.000681871614976,-6.27948705402e-05,1793239484125559040
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.512144838,714,682,657,631,881,784,805,652,630.512144838,652,0.451209029683,-0.0055562103564,0.0695619434832,0.999999758492,-0.000105732677289,-0.000684003442349,-6.30542450051e-05,1793239484142225408
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.060336955,745,714.060336955,681.939663045,657,631,880.939663045,784,804.939663045,652,630,652.060336955,0.451207530752,-0.00555664731492,0.0695605257799,0.999999757027,-0.00010674152715,-0.000685966883741,-6.32641160569e-05,1793239484158892288
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765.759956494,745.240043506,714.759956494,681.240043506,657,631.240043506,880,784,804.240043506,651.759956494,630,653,0.451210227786,-0.00555865515203,0.0695621036212,0.999999758569,-0.000110875604772,-0.000683089630122,-6.29107076537e-05,1793239484192225536
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+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.451155268,714.451155268,682,657,631,880,784,805,651,630.548844732,653,0.451210769691,-0.00555560787073,0.0695617207125,0.999999758248,-0.000107582381161,-0.000684029031584,-6.35139296064e-05,1793239484258892032
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+256,4.266666667,POSE1_TO_POSE2_PRESS,765.457950228,745.457950228,714.457950228,681.457950228,657.542049772,631,880.457950228,784,804.457950228,652,630,652.457950228,0.451211785619,-0.005557548028,0.0695618551373,0.999999757994,-0.00010890642726,-0.000684282307528,-6.25287265549e-05,1793239484342225152
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+259,4.316666667,HOLD_POSE2,765,745,715,682,657,631,880,784,806,652,631,653,0.451214325596,-0.0055553186794,0.0695629064541,0.999999759694,-0.000103248351657,-0.00068269861562,-6.22368965276e-05,1793239484415099904
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+262,4.366666667,HOLD_POSE2,766,745.726690144,714.273309856,682,657,631,880,784,804.273309856,652,630,652.273309856,0.451211080599,-0.00555506757983,0.0695601202216,0.999999757185,-0.000103321642408,-0.000686340504465,-6.23735875242e-05,1793239484465099520
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,657,631,880,784,805,652,630,652,0.451214360865,-0.00555733960681,0.069561692704,0.999999758443,-0.000109521771248,-0.000683590915202,-6.18206398996e-05,1793239484702359040
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,714.5792098,682,657,631,880,784.5792098,804.4207902,652,630,652,0.451214388652,-0.00555565895925,0.069562047238,0.99999975868,-0.000106709291173,-0.000683689516761,-6.18254616456e-05,1793239484719025920
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.842347177,746,714.842347177,682,657,631,880.157652823,784.842347177,804.315305645,651.842347177,630,652,0.451214045403,-0.00555438813242,0.0695620205401,0.999999758484,-0.000104464983622,-0.000684320445638,-6.18461734943e-05,1793239484735693056
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.265940722,746,714.265940722,682,657,631,880.734059278,784.265940722,805.468118556,651.265940722,630,652,0.451212716617,-0.00555420586117,0.0695609812231,0.999999757155,-0.00010372984164,-0.000686365329556,-6.19090922531e-05,1793239484752360704
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.310774888,745.689225112,714.310774888,682,657,631.310774888,881,784,805.689225112,651.310774888,630,652.310774888,0.451213435895,-0.00555506593615,0.0695611000707,0.999999757384,-0.000105009249034,-0.00068582656163,-6.20189090025e-05,1793239484769027328
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.88775528,745.11224472,714.88775528,682,657,631.88775528,881,784,805.11224472,651.88775528,630,652.88775528,0.451215909516,-0.00555681887062,0.0695622109864,0.999999758938,-0.000108014291825,-0.000683074672858,-6.21688979228e-05,1793239484785693440
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.525670867,745.474329133,714.525670867,682.474329133,657,631.525670867,881,784,805,652,630,652.525670867,0.451215336842,-0.00555599354167,0.0695617639382,0.999999758708,-0.000107823283772,-0.000683457010247,-6.20082605713e-05,1793239484802359808
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714.062200494,682.937799506,657,631,880.937799506,784,804.937799506,652,630,652,0.451213957546,-0.00555490421521,0.0695608811959,0.999999757976,-0.000107177164426,-0.000684645872878,-6.18199122529e-05,1793239484819025920
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,715,681.782119618,657.217880382,631,880.217880382,784,804.217880382,652,630,652.217880382,0.45120658916,-0.00555739398797,0.069556849258,0.99999975377,-0.000110100627708,-0.000690257813127,-6.23079488944e-05,1793239484852359168
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.636574453,715,681.363425547,657.636574453,631,881,784,805,652,630,653,0.451169480155,-0.00555334103336,0.0695407995755,0.999999735231,-0.000106726294126,-0.000717053877592,-6.30956387855e-05,1793239484885692928
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.060486816,715,681.939513184,657.060486816,631,881,784,805,652,630,653,0.451134453403,-0.00555018718211,0.0695256210748,0.999999717142,-0.000103053334273,-0.000742339824377,-6.34557878171e-05,1793239484902359808
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.532857952,745.532857952,714.467142048,682,657,631,881,784,805,652,630,653,0.451074888073,-0.00554979087728,0.0695058303122,0.999999692466,-0.000102376781828,-0.000774929463639,-6.38108708893e-05,1793239484919026432
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.876880465,746,714.123119535,682,657,631,881,784,805,652,630.123119535,653,0.451010447799,-0.00554909397702,0.0694872980187,0.999999669377,-0.000101289645414,-0.000804295398795,-6.3995816826e-05,1793239484935692800
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.731680414,714.731680414,682,657,631,881,784,805,652,630.731680414,653,0.450860817886,-0.00554397160882,0.0694697184636,0.999999652047,-9.56479197303e-05,-0.000826329580845,-6.27487655633e-05,1793239484969025792
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.155967045,714.155967045,682,657,631,881,784,805,652,630.155967045,653,0.450775792854,-0.00554275764951,0.0694714166494,0.999999652435,-9.62587603189e-05,-0.000825882674279,-6.14972249106e-05,1793239484985692416
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.433858763,714.433858763,682,657,631,880.566141237,784,805,651.566141237,630,653,0.450675463396,-0.00554077543933,0.0694735129947,0.999999655578,-9.39975191615e-05,-0.000822481763518,-5.94250526209e-05,1793239485002359296
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.972074155,714.972074155,682,657,631,880.027925845,784,805,651.027925845,630,653,0.450568122879,-0.00553848648294,0.0694759068669,0.999999659706,-9.07074778087e-05,-0.000817989280846,-5.70358537758e-05,1793239485019026176
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.397627166,714.397627166,682,657,631,880.602372834,784,805,651.602372834,630,653,0.450434864716,-0.00553578099347,0.0694812281021,0.999999663648,-8.81687883719e-05,-0.000813615409886,-5.44098372842e-05,1793239485035693056
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.178313959,714,681.821686041,657,631.178313959,880.821686041,784.178313959,805,652,630,652.821686041,0.450292980559,-0.00553304819299,0.0694861563623,0.999999667867,-8.49408628475e-05,-0.000808944760136,-5.15665489384e-05,1793239485052359680
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.757614978,714,681.242385022,657,631.757614978,880.242385022,784.757614978,805,652,630,652.242385022,0.450131698544,-0.00553025397671,0.0694902009115,0.999999672732,-8.01630043205e-05,-0.000803606723794,-4.82346665491e-05,1793239485069026304
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714.856235607,682,658,632.143764393,880,785,804.143764393,652,631,653,0.446911838225,-0.00546032114832,0.0695266221709,0.999999703405,6.54391130276e-05,-0.000767381289548,5.73297621224e-06,1793239485252359424
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,635.503164607,880.503164607,787,804.503164607,652,631,652.503164607,0.431566957934,-0.00540251520762,0.0698225112723,0.999999949739,0.000138372722607,-0.000284243452398,2.41063741189e-05,1793239485635692800
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.936727405,879,787,804,652,631.063272595,652.063272595,0.415838677789,-0.00538998005676,0.0698161494068,0.999999944677,0.000165428713936,-0.000287198621916,2.8223836003e-05,1793239485935693056
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.32102051,745,715,679.67897949,661,635,879.64204102,787,804,652,631,652,0.413418190915,-0.00538037574548,0.0697648777227,0.99999990704,0.000184262684208,-0.000388885378725,2.71322889286e-05,1793239485985692928
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,803.745821413,652,631,652,0.412709017369,-0.00537599936993,0.0697899270777,0.999999922488,0.000191812067729,-0.000342705221648,2.80209896997e-05,1793239486002359552
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.529947919,635,879,787,803.470052081,652,631,652.529947919,0.407099463182,-0.00535463498397,0.0698100967686,0.999999927425,0.000219481703047,-0.000310481184888,2.40835054821e-05,1793239486152359424
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,714.938441276,679.061558724,661,635.061558724,879,787,804,652,631.061558724,652.061558724,0.406603557502,-0.00536998708471,0.0698252189478,0.99999993588,0.000207784757603,-0.000290543901659,2.54719455807e-05,1793239486169026304
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.788814245,661,636,879,787,804,652,631.788814245,652.788814245,0.405648056417,-0.00539711158221,0.0698120578931,0.999999934749,0.00016099543358,-0.000322362479637,2.57743600332e-05,1793239486202359552
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.308329246,661.691670754,635,879,787,803.691670754,652,631.691670754,652.691670754,0.403474815289,-0.00537313125131,0.069846069333,0.999999947743,0.00019796126167,-0.00025461956015,2.22365844718e-05,1793239486302359296
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.974794488,745,715,679.025205512,661.025205512,635.974794488,879,787,804,652,631,653,0.402399541735,-0.00536358675033,0.0698175650606,0.999999932866,0.00019856613999,-0.00030720860389,2.14930256342e-05,1793239486369026304
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.144550898,745,715,680,661,635.855449102,879,787.855449102,804,652,631.144550898,652.855449102,0.401032780491,-0.00536255594556,0.0698251449728,0.999999936256,0.000210134688816,-0.000288387608519,1.27778736653e-05,1793239486602359296
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.718621287,745,715,680,661,635.281378713,879,787.281378713,804,652,631.718621287,652.281378713,0.40101546946,-0.00536303034526,0.0698263077802,0.999999936791,0.000209059695756,-0.000287311136823,1.27860711455e-05,1793239486619025920
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.947972129,879.895944259,787,803.947972129,652,631.052027871,652,0.400983989741,-0.00536224533963,0.0698282082239,0.999999937235,0.000213339275758,-0.000282558232754,1.33032290458e-05,1793239486685693184
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.368826373,878.737652746,787,803.368826373,652,631.631173627,652,0.400984115054,-0.00536208712402,0.069830833711,0.999999938705,0.000211007343967,-0.00027908078546,1.33730104296e-05,1793239486702359552
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.208172928,878.208172928,787,803.208172928,652,631.791827072,652.208172928,0.400983630952,-0.00536244462837,0.0698326093828,0.999999939774,0.00020922299036,-0.000276580340408,1.34577392046e-05,1793239486719026176
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.781408065,878.781408065,787,803.781408065,652,631.218591935,652.781408065,0.400982078148,-0.00536370652443,0.0698328947768,0.999999940162,0.000208398896733,-0.000275793214401,1.35686804507e-05,1793239486735692544
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787,803.635735744,652,631.364264256,653,0.400980982729,-0.00536440782288,0.0698329608448,0.999999940377,0.000207420135041,-0.000275751944468,1.35784801721e-05,1793239486752359168
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787,803.046949431,652,631.953050569,653,0.400980169229,-0.00536476358496,0.0698328917265,0.999999940484,0.000206346040416,-0.000276170398889,1.35259391499e-05,1793239486769025792
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787,803.533205222,652,631.466794778,652.466794778,0.400979544687,-0.00536266996677,0.069832762346,0.999999939471,0.000210750866398,-0.000276514885352,1.35034361919e-05,1793239486785692928
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.88802902,745,715,679,661,636,879,787,804,652,631.11197098,652.11197098,0.400979425886,-0.00536103279099,0.0698330040947,0.999999938825,0.000214292997053,-0.000276128517798,1.35018559293e-05,1793239486802360064
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.311920354,745,715,679,661,636,879,787,804,652,631.688079646,652.688079646,0.400981335594,-0.00536216739299,0.069834805878,0.999999940181,0.000212291237992,-0.000272739210219,1.35762147566e-05,1793239486819026688
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.263135887,745,715,679.263135887,661,635.736864113,879,787,803.736864113,652,631.736864113,653,0.400982177615,-0.0053632203065,0.069835655893,0.999999941018,0.000210421811077,-0.000271108047949,1.36623535513e-05,1793239486835693312
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.836949634,745,715,679.836949634,661,635.163050366,879,787,803.163050366,652,631.163050366,653,0.400981759045,-0.00536417677262,0.0698353821794,0.999999941255,0.000208708625109,-0.000271552682748,1.37624006645e-05,1793239486852359424
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.985960451,745.985960451,715,679.014039549,661,636,879,787,804,652,631,653,0.400983740263,-0.00536334961115,0.0698375065062,0.999999941694,0.000212366391213,-0.000267046673836,1.41120809494e-05,1793239486885692416
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.40689152,745.40689152,715,679.59310848,661,636,879,787,804,652,631,653,0.400983151533,-0.00536425164439,0.0698373052455,0.999999942057,0.000209309533929,-0.00026811682509,1.37339883311e-05,1793239486902359296
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.829323615,661.170676385,635.829323615,879,787,804,652,631,653,0.400982322772,-0.00536489394501,0.0698368678138,0.999999942148,0.000207290048487,-0.000269359349799,1.34366448681e-05,1793239486919026176
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.255302986,661.744697014,635.255302986,879,787,804,652,631,653,0.400980926767,-0.00536492244267,0.0698358722606,0.999999941614,0.000207722091387,-0.000271009229225,1.33301286893e-05,1793239486935693312
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.32672831,745,715,679,662,635.32672831,879,787,804,652,631,653,0.400980427585,-0.00536431073754,0.0698355904551,0.999999941365,0.000208612614898,-0.000271247059921,1.32490101271e-05,1793239486952359936
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.915176378,745,715,679,662,635.915176378,879,787,804,652,631,653,0.400980646786,-0.00536318620964,0.0698358803843,0.999999941345,0.000209870395926,-0.000270353794637,1.31882358678e-05,1793239486969026560
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.504171451,744.504171451,715,679.495828549,662,635.504171451,879,787,804,652,631,653,0.400981208798,-0.00536249608195,0.0698360496015,0.99999994121,0.000211274894398,-0.000269756912277,1.31712542918e-05,1793239486985692928
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.074922376,744.074922376,715,680,661.925077624,635.074922376,879,787,804,652,631,652.925077624,0.400981768619,-0.00536213209937,0.0698362820418,0.999999941158,0.000212301185366,-0.000269144040762,1.3198087031e-05,1793239487002359552
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.652370563,744.652370563,715,680,661.347629437,635.652370563,879,787,804,652,631,652.347629437,0.400981926485,-0.00536346493077,0.0698370749032,0.999999941792,0.000210624985445,-0.000268089106716,1.3469323043e-05,1793239487019026176
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.228716482,787,803.771283518,652,631.228716482,652.228716482,0.400981162427,-0.00536383646274,0.0698371347988,0.999999941728,0.000210148506409,-0.000268696801925,1.35579372427e-05,1793239487035692800
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.803395172,787,803.196604828,652,631.803395172,652.803395172,0.400979003845,-0.00536275390961,0.0698360859926,0.999999940604,0.000211486754601,-0.000271819431104,1.33703132125e-05,1793239487052359424
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.612288919,879.612288919,787,803.387711081,652,631.612288919,653,0.400979377563,-0.00536320705251,0.0698361410246,0.999999940832,0.000210780580444,-0.000271528642277,1.33921477873e-05,1793239487069026048
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.022961528,879.022961528,787,803.977038472,652,631.022961528,653,0.400981068121,-0.00536445878335,0.0698367700713,0.999999941761,0.000209011272052,-0.000269462818245,1.35229043858e-05,1793239487085693184
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766,745.556384905,715,680,661.556384905,635.556384905,879,787,804,652,631.556384905,653,0.400979854068,-0.00536432064261,0.0698358683134,0.999999941457,0.00020912461829,-0.000270504634953,1.3444265261e-05,1793239487102360064
+420,7.000000000,POSE2_TO_POSE3_RETREAT,766,745.865576369,715,680,661.865576369,636,879,787,803.865576369,652,631.865576369,653,0.400978988494,-0.00536420666462,0.0698353468,0.999999941195,0.000209362142895,-0.000271292694923,1.33528409281e-05,1793239487119026688
+421,7.016666667,POSE2_TO_POSE3_RETREAT,766,745.290497998,715,680,661.290497998,636,879,787,803.290497998,652,631.290497998,653,0.400979651297,-0.00536435660923,0.0698362752123,0.999999941237,0.000209756531481,-0.00027083590674,1.32473341398e-05,1793239487135693056
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1cd3d9006ebac2029c1e449d41d1767626b06c33
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,423 @@
+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,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+1,0.016666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+2,0.033333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+4,0.066666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+5,0.083333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+6,0.100000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+7,0.116666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+8,0.133333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+9,0.150000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+10,0.166666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+11,0.183333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+12,0.200000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+13,0.216666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+14,0.233333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+15,0.250000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+16,0.266666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+17,0.283333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+18,0.300000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+19,0.316666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+20,0.333333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+21,0.350000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+22,0.366666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+23,0.383333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+24,0.400000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+26,0.433333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
+27,0.450000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+389,6.483333333,pose2_to_pose3_retreat,0.575715430803,9.06907939626e-05,1.06003233488,0.546285884669,0.00876243819896,1.05970046882
+390,6.500000000,pose2_to_pose3_retreat,0.575700795772,9.06787612061e-05,1.0600323459,0.546271250479,0.00876242912536,1.05970048266
+391,6.516666667,pose2_to_pose3_retreat,0.575689453356,9.07863116868e-05,1.06003244866,0.546259905611,0.00876252833248,1.05970058493
+392,6.533333333,pose2_to_pose3_retreat,0.575681252538,9.07464935311e-05,1.06003245972,0.546251706311,0.00876249358699,1.05970059406
+393,6.550000000,pose2_to_pose3_retreat,0.575676105981,9.08019642531e-05,1.06003245663,0.546246558933,0.00876254628937,1.05970059131
+394,6.566666667,pose2_to_pose3_retreat,0.575673133911,9.09086775876e-05,1.06003244865,0.546243584715,0.00876264578319,1.05970058496
+395,6.583333333,pose2_to_pose3_retreat,0.575671362934,9.09669516942e-05,1.06003244222,0.546241812563,0.0087627001081,1.0597005794
+396,6.600000000,pose2_to_pose3_retreat,0.575670338149,9.09235141614e-05,1.06003241418,0.546240788624,0.00876265950706,1.05970055048
+397,6.616666667,pose2_to_pose3_retreat,0.575669770512,9.08994537978e-05,1.06003239865,0.546240221456,0.00876263701786,1.05970053446
+398,6.633333333,pose2_to_pose3_retreat,0.575669091466,9.0870671087e-05,1.06003238007,0.54623954297,0.00876261011468,1.0597005153
+399,6.650000000,pose2_to_pose3_retreat,0.575668466694,9.08441889251e-05,1.06003236297,0.546238918715,0.00876258536182,1.05970049767
+400,6.666666667,pose2_to_pose3_retreat,0.575668356368,9.08395125573e-05,1.06003235995,0.54623880848,0.00876258099083,1.05970049456
+401,6.683333333,pose2_to_pose3_retreat,0.575668178837,9.08319875472e-05,1.06003235509,0.546238631095,0.0087625739572,1.05970048955
+402,6.700000000,pose2_to_pose3_retreat,0.575667942629,9.08219753941e-05,1.06003234863,0.546238395082,0.00876256459885,1.05970048288
+403,6.716666667,pose2_to_pose3_retreat,0.575667500273,9.08056007177e-05,1.0600323355,0.546237953026,0.00876254922837,1.05970046947
+404,6.733333333,pose2_to_pose3_retreat,0.575666910077,9.08435814567e-05,1.06003229229,0.546237361569,0.0087625830029,1.05970042814
+405,6.750000000,pose2_to_pose3_retreat,0.575666661661,9.08595677057e-05,1.06003227411,0.546237112622,0.00876259721873,1.05970041074
+406,6.766666667,pose2_to_pose3_retreat,0.575666641804,9.08608455658e-05,1.06003227265,0.546237092723,0.00876259835507,1.05970040935
+407,6.783333333,pose2_to_pose3_retreat,0.575666527951,9.08681723556e-05,1.06003226432,0.546236978626,0.00876260487045,1.05970040138
+408,6.800000000,pose2_to_pose3_retreat,0.575666239677,9.08867235506e-05,1.06003224321,0.546236689737,0.00876262136718,1.05970038119
+409,6.816666667,pose2_to_pose3_retreat,0.575665816497,9.09139563452e-05,1.06003221223,0.546236265653,0.00876264558405,1.05970035156
+410,6.833333333,pose2_to_pose3_retreat,0.575665550736,9.09310588169e-05,1.06003219277,0.546235999324,0.00876266079249,1.05970033295
+411,6.850000000,pose2_to_pose3_retreat,0.575665474929,9.093593719e-05,1.06003218722,0.546235923355,0.0087626651306,1.05970032764
+412,6.866666667,pose2_to_pose3_retreat,0.575665361585,9.09317186732e-05,1.06003222313,0.54623580996,0.00876266068349,1.05970036207
+413,6.883333333,pose2_to_pose3_retreat,0.575665278722,9.09283675437e-05,1.0600322504,0.546235727064,0.00876265717868,1.05970038822
+414,6.900000000,pose2_to_pose3_retreat,0.575665093458,9.09208751737e-05,1.06003231137,0.546235541727,0.00876264934271,1.05970044668
+415,6.916666667,pose2_to_pose3_retreat,0.575664886961,9.09125241189e-05,1.06003237933,0.546235335149,0.00876264060867,1.05970051185
+416,6.933333333,pose2_to_pose3_retreat,0.57566480797,9.09093296097e-05,1.06003240533,0.546235256127,0.00876263726766,1.05970053677
+417,6.950000000,pose2_to_pose3_retreat,0.57566458945,9.08970000949e-05,1.06003248497,0.546235037795,0.00876262545471,1.0597006132
+418,6.966666667,pose2_to_pose3_retreat,0.575664452565,9.08665475204e-05,1.06003258515,0.546234902816,0.00876260132567,1.05970070969
+419,6.983333333,pose2_to_pose3_retreat,0.575664411798,9.08574779768e-05,1.06003261498,0.546234862615,0.00876259413943,1.05970073843
+420,7.000000000,pose2_to_pose3_retreat,0.57566439318,9.08565880818e-05,1.06003261614,0.546234844132,0.00876259370767,1.05970073964
+421,7.016666667,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066003,1.05970045625
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..826eb5a4cfcad39b52cae6b1bf86f6831b44ef22
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df003ec97428c7d647d752b7700e365bd7112cc1bd2ced8c2436ecc4013ccedb
+size 26308170
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4687f5aa825ec7fd6893ed333bbe5a0d0b1f280d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/franka_data.csv
@@ -0,0 +1,417 @@
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+38,0.633333333,BASELINE,766,745.94876877,715,679,661.94876877,636,879,787,803,652.94876877,631,653,0.401049220069,-0.00549922464896,0.0798779351822,0.999999985754,0.000108335255381,-0.000121842766644,4.36958761058e-05,1793239489127443712
+39,0.650000000,BASELINE,766,745.360054271,715,679,661.360054271,636,879,787,803,652.360054271,631,653,0.401049249883,-0.00549976442073,0.0798782900863,0.99999998599,0.000106058087109,-0.000121955472277,4.35823802773e-05,1793239489144110336
+40,0.666666667,BASELINE,765.775032487,745,715.224967513,679.224967513,661.224967513,636,879,787,803.224967513,652,631,653,0.401049308949,-0.00549972350355,0.0798783184508,0.999999986032,0.000105604922523,-0.000122038666701,4.34651899989e-05,1793239489160776960
+41,0.683333333,BASELINE,765.195825379,745,715.804174621,679.804174621,661.804174621,636,879,787,803.804174621,652,631,653,0.401049414075,-0.00549876821866,0.0798778326377,0.999999985775,0.00010802388088,-0.000122075392017,4.33421823523e-05,1793239489177443584
+42,0.700000000,BASELINE,765,745,715.619815921,680,661.619815921,636,879,787,803.619815921,652,631,652.619815921,0.40104864019,-0.00549871119731,0.0798772227669,0.999999985623,0.000108475319374,-0.000122915168235,4.33486215483e-05,1793239489194110464
+43,0.716666667,BASELINE,765,745,715.045439791,680,661.045439791,636,879,787,803.045439791,652,631,652.045439791,0.401047417319,-0.00549911299488,0.0798765495295,0.999999985525,0.000107921779578,-0.000124165130229,4.34211801602e-05,1793239489210776832
+44,0.733333333,BASELINE,765,745,715,679.458519623,661,635.458519623,879,787,803.541480377,652,631,652.541480377,0.401047090147,-0.00549813952081,0.0798758120202,0.999999985478,0.00010778911926,-0.00012477044052,4.30941085966e-05,1793239489227443712
+45,0.750000000,BASELINE,765.127586419,745,715,679.127586419,661,635,879.127586419,787,803.872413581,652,631,653,0.401046953899,-0.00549746390754,0.0798755179334,0.999999985462,0.000107809339754,-0.000124955737466,4.28791623228e-05,1793239489244110336
+46,0.766666667,BASELINE,765.706993067,745,715,679.706993067,661,635,879.706993067,787,803.293006933,652,631,653,0.401047221272,-0.00549826149664,0.0798768136866,0.99999998554,0.000108242913389,-0.00012384976497,4.31828613311e-05,1793239489260776960
+47,0.783333333,BASELINE,766,745,715,680,661,635,879.714641358,787,803.285358642,652,631.285358642,653,0.401047763634,-0.00549883328515,0.0798773936035,0.999999985647,0.000108111480621,-0.000123055917712,4.33003607573e-05,1793239489277443840
+48,0.800000000,BASELINE,766,745,715,680,661,635,879.137340804,787,803.862659196,652,631.862659196,653,0.401048587328,-0.0054991740639,0.0798772411699,0.999999985785,0.000107402006712,-0.000122581396336,4.32273649841e-05,1793239489294110464
+49,0.816666667,BASELINE,765.56157153,745,715,680,661,635.43842847,879,787.43842847,804,652,631.56157153,652.56157153,0.401048239567,-0.00549838385384,0.079876965643,0.999999985646,0.000107482333588,-0.000123649951844,4.32012314813e-05,1793239489310777088
+50,0.833333333,BASELINE,765,745,715,679.985949821,661.014050179,636,879,787.985949821,804,652,631,652.014050179,0.401047561506,-0.00549727935195,0.0798766848144,0.999999985432,0.000107791085136,-0.000125107513368,4.31887111982e-05,1793239489327443712
+51,0.850000000,BASELINE,765,745,715,679.396800801,661.603199199,636,879,787.396800801,804,652,631,652.603199199,0.401048332022,-0.00549776157925,0.0798777598102,0.99999998577,0.000107357954396,-0.000122771059809,4.31346196361e-05,1793239489344110336
+52,0.866666667,BASELINE,765.189099909,745,715,679,661.810900091,636,879.189099909,787,804,652,631,653,0.401048904586,-0.0054983852049,0.0798784800352,0.999999985981,0.000107040453815,-0.00012129141286,4.3234036944e-05,1793239489360777216
+53,0.883333333,BASELINE,765.76829955,745,715,679,661.23170045,636,879.76829955,787,804,652,631,653,0.401049068788,-0.0054993005253,0.079878468393,0.999999985936,0.000106961490101,-0.000121579297455,4.36501321904e-05,1793239489377443840
+54,0.900000000,BASELINE,765.654410042,745,715.345589958,679.345589958,661.345589958,635.654410042,879.654410042,787,804,652.345589958,631.345589958,653,0.401049567239,-0.00549836488054,0.079878463652,0.999999985789,0.000108599360563,-0.000121345340727,4.36311394452e-05,1793239489394110464
+55,0.916666667,BASELINE,765.078392668,745,715.921607332,679.921607332,661.921607332,635.078392668,879.078392668,787,804,652.921607332,631.921607332,653,0.401050288555,-0.00549619507628,0.0798784635125,0.999999985567,0.000111381956608,-0.000120763438262,4.33220450762e-05,1793239489410776832
+56,0.933333333,BASELINE,765.506313647,745,715.493686353,680,662,635.506313647,878.493686353,787,804,652.493686353,631.493686353,653,0.401049955216,-0.00549858804745,0.0798782502624,0.999999985772,0.000109338492174,-0.00012088380788,4.34537580669e-05,1793239489427443456
+57,0.950000000,BASELINE,766,745,715,680,661.9086219,636,878.0913781,787,803.9086219,651.9086219,631.0913781,653,0.401049555572,-0.00550096533036,0.0798781029061,0.999999985975,0.000107216299884,-0.000121033660094,4.36424339703e-05,1793239489444110336
+58,0.966666667,BASELINE,766,745,715,680,661.328958217,636,878.671041783,787,803.328958217,651.328958217,631.671041783,653,0.401049689428,-0.00549941786854,0.0798784870525,0.99999998584,0.000108735964301,-0.000120749886955,4.37644267711e-05,1793239489460776960
+59,0.983333333,BASELINE,765.750072118,745,715,679.750072118,661,636,879,787,803,651.249927882,631.750072118,653,0.401049182315,-0.00549926032357,0.0798780587867,0.999999985807,0.000107887491603,-0.000121772890932,4.3787194987e-05,1793239489477443584
+60,1.000000000,BASELINE,765.172206228,745,715,679.172206228,661,636,879,787,803,651.827793772,631.172206228,653,0.401047834169,-0.00550092653073,0.0798765645301,0.999999985894,0.000103931714076,-0.000124510557032,4.36797676109e-05,1793239489494110208
+61,1.016666667,BASELINE,765.40336849,745,715,679,661,636,879,787,803.40336849,652,631,652.59663151,0.401047419231,-0.00550105472307,0.0798767350859,0.9999999859,0.00010355879047,-0.000124790383028,4.36163719102e-05,1793239489510777088
+62,1.033333333,BASELINE,765.977970549,745,715,679,661,636,879,787,803.977970549,652,631,652.022029451,0.401047400447,-0.00550053001411,0.0798776123697,0.999999985878,0.000104706820973,-0.000124026833521,4.35716680604e-05,1793239489527443712
+63,1.050000000,BASELINE,765.433139795,745,715,679,661,636,879,787,803.433139795,652,631,652.566860205,0.401049058364,-0.00549967717849,0.0798787935708,0.999999985934,0.000106112089835,-0.000122390575234,4.35066379687e-05,1793239489544110080
+64,1.066666667,BASELINE,765.153685506,745,715,679,661,636,879,787.153685506,803.153685506,652,631,653,0.401050245396,-0.00549873207304,0.0798795233102,0.999999985911,0.00010785396168,-0.000121072662356,4.34313900654e-05,1793239489560776960
+65,1.083333333,BASELINE,765.733212437,745,715,679,661,636,879,787.733212437,803.733212437,652,631,653,0.401049942449,-0.00549756754755,0.0798789685388,0.999999985668,0.000110500097931,-0.000120733245761,4.33300753758e-05,1793239489577443584
+66,1.100000000,BASELINE,765.689736088,745,715,679.310263912,661,636,879,787.689736088,804,652,631.310263912,653,0.401049084243,-0.00549742715888,0.0798780577516,0.999999985509,0.000110971510036,-0.000121622506329,4.32971408052e-05,1793239489594110208
+67,1.116666667,BASELINE,765.114796371,745,715,679.885203629,661,636,879,787.114796371,804,652,631.885203629,653,0.401047752364,-0.00549816042725,0.0798768432593,0.999999985423,0.000109587737305,-0.000123559910458,4.33225390408e-05,1793239489610777088
+68,1.133333333,BASELINE,765,745,715.460433101,680,661,635.539566899,879,787,804,652,631.539566899,653,0.401047487021,-0.00549891166633,0.07987695351,0.999999985471,0.000108710825281,-0.000123877319178,4.35294730897e-05,1793239489627443712
+69,1.150000000,BASELINE,765,745.03653172,715.96346828,679.96346828,661.03653172,635.03653172,879,787,804,652,631,653,0.40104760183,-0.00549945802128,0.0798774433156,0.999999985536,0.000108252372417,-0.000123675217447,4.37470883968e-05,1793239489644110336
+70,1.166666667,BASELINE,765,745.624661564,715.375338436,679.375338436,661.624661564,635.624661564,879,787,804,652,631,653,0.40104943904,-0.00549684310358,0.0798786738644,0.999999985352,0.000112202991039,-0.000121731357707,4.34421484986e-05,1793239489660776960
+71,1.183333333,BASELINE,765,745.789620195,715,679.210379805,661.789620195,635.789620195,879,787.210379805,804,652,631,653,0.401050225618,-0.00549613164924,0.0798793670286,0.999999985338,0.000113600844655,-0.000120592701966,4.33063885832e-05,1793239489677443584
+72,1.200000000,BASELINE,765,745.208155633,715,679.791844367,661.208155633,635.208155633,879,787.791844367,804,652,631,653,0.401049159008,-0.00549877767566,0.0798791123109,0.999999985645,0.000110495927477,-0.000120874329237,4.34690418272e-05,1793239489694110208
+73,1.216666667,BASELINE,765,745,715,679.631216863,661,635.368783137,879.368783137,787.631216863,804,652,631,653,0.401048633253,-0.00549997692332,0.0798784904541,0.999999985703,0.000108630039658,-0.000122033615029,4.36112368945e-05,1793239489710776832
+74,1.233333333,BASELINE,765,745,715,679.05680169,661,635.94319831,879.94319831,787.05680169,804,652,631,653,0.401048409078,-0.00550036945264,0.0798776638821,0.999999985621,0.000107455029952,-0.000123682279762,4.37420245528e-05,1793239489727443712
+75,1.250000000,BASELINE,765,745,715,679,661.518640233,636,879.481359767,787,803.481359767,652,631,653,0.401046963632,-0.00549895067823,0.0798765855318,0.999999985364,0.00010884466088,-0.000124594915078,4.36012897623e-05,1793239489744110336
+76,1.266666667,BASELINE,765.096518711,745,715,678.903481289,661.903481289,635.903481289,879,787,803,652,631,652.903481289,0.401046136604,-0.00549775658029,0.0798760298351,0.999999985247,0.000109790607841,-0.000124773430397,4.34023807686e-05,1793239489760777216
+77,1.283333333,BASELINE,765.686272806,745,715,678.313727194,661.313727194,635.313727194,879,787,803,652,631,652.313727194,0.40104915472,-0.00549872639342,0.0798782862265,0.99999998595,0.000107030997196,-0.000121613160252,4.3058453088e-05,1793239489777443584
+78,1.300000000,BASELINE,766,745,715,678.271018925,661,635.271018925,879,787,803,652,631,652,0.401049471916,-0.0054992660454,0.0798788024095,0.999999986038,0.000106389720174,-0.000121467795074,4.30247243985e-05,1793239489794109952
+79,1.316666667,BASELINE,766,745,715,678.850073029,661,635.850073029,879,787,803,652,631,652,0.401046719294,-0.00549931678395,0.0798773407033,0.999999985431,0.000108156102785,-0.000124749116228,4.33435622608e-05,1793239489810776576
+80,1.333333333,BASELINE,765.575043249,745,715,679,661.424956751,636,879,787.424956751,803,652,631,652.424956751,0.40104832411,-0.00549924056841,0.0798778767862,0.999999985603,0.000108396490146,-0.000123126113086,4.34001775322e-05,1793239489827443968
+81,1.350000000,BASELINE,765.001616513,745,715,679,661.998383487,636,879,787.998383487,803,652,631,652.998383487,0.401051451312,-0.00549911999807,0.0798791108499,0.999999986042,0.000108103730476,-0.000119789653605,4.33651783674e-05,1793239489844111616
+82,1.366666667,BASELINE,765.58750318,745,715,679,662,635.41249682,879,787.41249682,803.58750318,652,631,653,0.401048480876,-0.00549957590878,0.0798773407226,0.999999985729,0.000106733265589,-0.000123490348207,4.3582622893e-05,1793239489860778240
+83,1.383333333,BASELINE,765.825652177,745,715,679,662,635,879,787,804,652,631.174347823,653,0.401046561175,-0.00549979099441,0.0798763105759,0.999999985445,0.000106608723299,-0.000125847693802,4.36719389436e-05,1793239489877444608
+84,1.400000000,BASELINE,765.244222972,745,715,679,662,635,879,787,804,652,631.755777028,653,0.401047135064,-0.00549943997706,0.0798770280256,0.999999985256,0.000109400375112,-0.00012502203,4.34604240121e-05,1793239489894111488
+85,1.416666667,BASELINE,765.333154257,745,715,679,662,635.333154257,878.666845743,787,804,652,631.666845743,653,0.401046924646,-0.00549931721029,0.0798772741216,0.999999985256,0.000109767830021,-0.000124729644791,4.33817101696e-05,1793239489910777856
+86,1.433333333,BASELINE,765.90759679,745,715,679,662,635.90759679,878.09240321,787,804,652,631.09240321,653,0.401046146191,-0.00549935975492,0.0798771788379,0.999999985395,0.000108379550647,-0.000124823488743,4.33991780499e-05,1793239489927443968
+87,1.450000000,BASELINE,765.508087442,745,715,679,662,636,878.491912558,787,804,652,631,653,0.401047121199,-0.00549929317064,0.0798777200338,0.99999998566,0.000107557555602,-0.000123382631836,4.34479826228e-05,1793239489944110592
+88,1.466666667,BASELINE,765.077538599,745.077538599,715,679,661.922461401,636,879,787,804,652,631,653,0.401048290639,-0.00549908173858,0.0798782435224,0.999999985864,0.000107179649689,-0.000122035911967,4.34843743302e-05,1793239489960777216
+89,1.483333333,BASELINE,765.659377137,745.659377137,715,679,661.340622863,636,879,787,804,652,631,653,0.401048538525,-0.0054980642925,0.0798778583205,0.999999985528,0.000108984027062,-0.00012321481732,4.34009658637e-05,1793239489977444096
+90,1.500000000,BASELINE,765.76119281,745.76119281,715,679,661,635.76119281,879,787,803.76119281,652,631,652.76119281,0.401048289268,-0.00549789631428,0.0798776438398,0.999999985416,0.000109455712831,-0.000123691697717,4.34475497949e-05,1793239489994110976
+91,1.516666667,BASELINE,765.185163849,745.185163849,715,679,661,635.185163849,879,787,803.185163849,652,631,652.185163849,0.401047337991,-0.0054989278773,0.079877670436,0.999999985623,0.000108045492707,-0.000123177242292,4.36776971617e-05,1793239490010777600
+92,1.533333333,BASELINE,765.390207434,745,715.390207434,679.390207434,661.780414868,635,878.609792566,787,803.390207434,652,631,652.390207434,0.401048260467,-0.00549859975221,0.0798785290931,0.999999985638,0.000109056978184,-0.000122163342098,4.36739718146e-05,1793239490027444224
+93,1.550000000,BASELINE,765.965267207,745,715.965267207,679.965267207,662.930534414,635,878.034732793,787,803.965267207,652,631,652.965267207,0.401050070592,-0.00549762750435,0.0798797819211,0.999999985557,0.00011121569423,-0.000120912840691,4.35594543434e-05,1793239490044111360
+94,1.566666667,BASELINE,766,745,715.44754037,679.44754037,661.895080739,635.55245963,878.55245963,787,804,652,631.55245963,652.44754037,0.401048272775,-0.00549944732441,0.0798781822824,0.999999985591,0.000108889054518,-0.000122693687356,4.36828616654e-05,1793239490060777728
+95,1.583333333,BASELINE,765.860740181,745,715,679,661,636,879,787,804,652,632,652.139259819,0.401046873058,-0.00550064808104,0.0798769238739,0.999999985619,0.000106881701944,-0.000124197847615,4.37493169197e-05,1793239490077444096
+96,1.600000000,BASELINE,765.277675302,745,715,679,661,636,879,787,804,652,632,652.722324698,0.401047481153,-0.00549930398123,0.0798773372725,0.999999985633,0.000106810733885,-0.000124199249588,4.35855320976e-05,1793239490094110720
+97,1.616666667,BASELINE,765,745.299918299,715,679,661.299918299,635.700081701,879,787,804,652,632,653,0.401047878089,-0.00549899862819,0.0798778388612,0.999999985619,0.0001076503318,-0.000123591709162,4.35662554508e-05,1793239490110777088
+98,1.633333333,BASELINE,765,745.872537109,715,679,661.872537109,635.127462891,879,787,804,652,632,653,0.401048083031,-0.00549963775504,0.0798784206367,0.999999985576,0.000109317861218,-0.00012243048827,4.36783727748e-05,1793239490127443968
+99,1.650000000,BASELINE,765.447637875,746,715,679.447637875,661.552362125,635.447637875,879,787,804,652,631.552362125,653,0.401047902902,-0.00549927028567,0.0798778886311,0.999999985371,0.00010991559493,-0.000123601923411,4.35900176428e-05,1793239490144110848
+100,1.666666667,BASELINE,766,745.975983333,715.024016667,679.975983333,661,636,879,787,804,652,631,652.975983333,0.401047626872,-0.00549866930434,0.079877084572,0.999999985141,0.000110123589885,-0.00012531072172,4.3450977796e-05,1793239490160777472
+101,1.683333333,BASELINE,766,745.386239859,715.613760141,679.386239859,661,636,879,787,804,652,631,652.386239859,0.401047689022,-0.0054993570464,0.0798773843044,0.999999985502,0.000108366558677,-0.000123944254515,4.3470165339e-05,1793239490177444352
+102,1.700000000,BASELINE,766,745.200356679,716,679,661.200356679,636,879,787,804,652,631.200356679,652,0.401047798241,-0.00549978886593,0.0798776228401,0.999999985721,0.000107247486858,-0.000123137405904,4.35063271771e-05,1793239490194111232
+103,1.716666667,BASELINE,766,745.780980425,716,679,661.780980425,636,879,787,804,652,631.780980425,652,0.401047996794,-0.00549973495711,0.0798777452276,0.999999985677,0.000107339230598,-0.000123392685855,4.35747053861e-05,1793239490210777856
+104,1.733333333,BASELINE,766,745.643356646,715.643356646,679.356643354,662,636,879,787,804,652,632,652.356643354,0.401047590515,-0.00549963689421,0.0798779190883,0.999999985637,0.000107420778824,-0.000123649604319,4.35712993154e-05,1793239490227444224
+105,1.750000000,BASELINE,766,745.070698373,715.070698373,679.929301627,662,636,879,787,804,652,632,652.929301627,0.401046817896,-0.00549951208766,0.0798781241256,0.999999985599,0.000107496151746,-0.000123907515237,4.35244143102e-05,1793239490244110592
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879,787,804,652,631,653,0.401047442956,-0.00550005743116,0.0798779891828,0.999999985522,0.0001077075425,-0.0001242968749,4.36618171277e-05,1793239490274562048
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.58074983,745.58074983,715,680,661.41925017,635.58074983,879.58074983,787,804,652,631,653,0.401048281301,-0.00549920849128,0.0798788269548,0.999999985523,0.000109241851809,-0.000122987420623,4.35151468838e-05,1793239490291229184
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.839794328,715,680,661.160205672,636,880,787.160205672,804,652,631,653,0.401048540388,-0.00549897164611,0.0798789914498,0.999999985526,0.000109671775677,-0.000122617229704,4.34128803499e-05,1793239490307896320
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.263697531,715,680,661.736302469,636,880,787.736302469,804,652,631,653,0.401047295732,-0.00550032378793,0.0798774081296,0.999999985534,0.000107234734575,-0.000124685349763,4.342588504e-05,1793239490324562944
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.687710514,745,715,680,662,636,879.687710514,787.687710514,804,652,631.312289486,653,0.401046428111,-0.00549953185734,0.0798769856151,0.999999985466,0.000107124994378,-0.000125384482622,4.32643523292e-05,1793239490341229568
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.111816198,745,715,680,662,636,879.111816198,787.111816198,804,652,631.888183802,653,0.401045878746,-0.0054969301064,0.0798775429415,0.999999985336,0.000108979738523,-0.000124928047674,4.2955491885e-05,1793239490357895936
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.475376547,745.475376547,715,679.524623453,661.524623453,636,879,787,803.524623453,652,631.524623453,653,0.40104530052,-0.00549807432011,0.079876875376,0.999999985286,0.000108372287366,-0.000125788691279,4.31468527878e-05,1793239490374562304
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.93588749,715,679.06411251,661.06411251,636,879,787,803.06411251,652,631.06411251,653,0.401045010943,-0.00549994210812,0.0798762336973,0.999999985254,0.000107413088537,-0.000126749735836,4.3455850734e-05,1793239490391228672
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.356625305,715,679.643374695,661.643374695,636,879,787,803.643374695,652,631.643374695,653,0.401047096577,-0.00550037170995,0.079878171406,0.999999985235,0.000108394364397,-0.000125967653166,4.37416465882e-05,1793239490407895296
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.778248633,662,636,879,787,804,652,632,653,0.401048286518,-0.00550054372425,0.0798791489923,0.999999985091,0.00010839665061,-0.000127065477341,4.38363184756e-05,1793239490424561920
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.201290457,662,636,879,787,804,652,632,653,0.401048041714,-0.00550030312843,0.0798785886308,0.999999984739,0.000106830766958,-0.000131174582753,4.36248432499e-05,1793239490441229056
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.380933823,804,652,631.619066177,653,0.401057720807,-0.00549909777167,0.079882828546,0.999999984672,0.000108202738718,-0.000130552149733,4.36434913424e-05,1793239490457895936
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.965979844,804,652,631.034020156,653,0.401072717328,-0.00549737547607,0.0798896405482,0.99999998475,0.000111148873839,-0.000127394461239,4.37854442339e-05,1793239490474562816
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.454738887,745,715,679.545261113,661.454738887,636,878.454738887,787.454738887,804,652,631,653,0.401114524782,-0.00549888470309,0.0799022164342,0.99999998636,0.00011072332699,-0.000114449617125,4.38329103251e-05,1793239490491229696
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.123990096,745,715.123990096,680,661.123990096,636,878,787,803.876009904,652,631,653,0.401162218394,-0.00550070176059,0.0799148468116,0.999999987978,0.000109841546401,-0.000100337899074,4.3721873724e-05,1793239490507896320
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.70200018,745,715.70200018,680,661.70200018,636,878,787,803.29799982,652,631,653,0.401225404343,-0.00550291544891,0.0799263736569,0.999999989694,0.000108051407104,-8.41660136422e-05,4.30518019678e-05,1793239490524562432
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.721153589,745,715.721153589,679.721153589,661.721153589,636,878.278846411,787,803,652,631,652.721153589,0.401296519055,-0.00550376834118,0.0799346824873,0.999999990823,0.000107078632602,-7.18329926973e-05,4.15760369958e-05,1793239490541228800
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.145546018,745,715.145546018,679.145546018,661.145546018,636,878.854453982,787,803,652,631,652.145546018,0.401376071917,-0.00550317301163,0.0799395665578,0.999999991487,0.000106975735388,-6.35854686876e-05,3.92428163359e-05,1793239490557895424
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.439687377,715,679,661,635.560312623,878.560312623,787,803.439687377,652,631,652.439687377,0.401466228616,-0.00550444722816,0.0799415785251,0.999999991975,0.000104130088107,-6.21946244552e-05,3.65833095533e-05,1793239490574562304
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.027734285,745.972265715,715,679,661.027734285,635.027734285,878,787,804,652,631.027734285,652.972265715,0.401561763185,-0.00550631408593,0.0799429322947,0.999999992405,0.000100602429563,-6.26629038836e-05,3.37864875371e-05,1793239490591228928
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.606949484,745.393050516,715,679,661.606949484,635.606949484,878,787,804,652,631.606949484,652.393050516,0.401692875175,-0.00550738416483,0.0799505260061,0.999999992882,0.000101970707732,-5.39567572946e-05,3.04549717061e-05,1793239490607895808
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,878.185024015,787,804,652,631.814975985,652.185024015,0.401831526545,-0.00550899076239,0.0799572126644,0.999999993553,0.000100794206359,-4.50424748291e-05,2.65478548632e-05,1793239490624562688
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,878.760690172,787,804,652,631.239309828,652.760690172,0.401986095826,-0.00551173011434,0.0799619842562,0.999999994693,9.42448988726e-05,-3.56887551385e-05,2.14254691099e-05,1793239490641229312
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.336022801,661.663977199,636,879,787.336022801,804,652,631,653,0.402156297528,-0.00551291062085,0.0799662081353,0.999999995422,8.97528216211e-05,-2.91131816692e-05,1.59020306284e-05,1793239490657895680
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.911118192,661.088881808,636,879,787.911118192,804,652,631,653,0.402337621357,-0.0055129820445,0.0799700423298,0.999999995888,8.67244162775e-05,-2.45141951652e-05,1.00932517163e-05,1793239490674562304
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.500433949,745,715,679.500433949,661,636,879,787.500433949,803.500433949,652,631,652.500433949,0.402533609726,-0.0055149787401,0.0799680342573,0.999999996457,7.85919978923e-05,-3.00090472778e-05,3.09041351841e-06,1793239490691228928
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.088638245,745.088638245,715.088638245,679,661,635.911361755,879,787.088638245,803,651.911361755,631.088638245,652.088638245,0.402738502932,-0.00551744938659,0.0799645642389,0.999999996933,6.81965815121e-05,-3.8289329629e-05,-4.24698863134e-06,1793239490707895552
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.667660744,745.667660744,715.667660744,679,661,635.332339256,879,787.667660744,803,651.332339256,631.667660744,652.667660744,0.402977830569,-0.00552059500843,0.0799589146893,0.999999997313,5.04432395018e-05,-5.17713967009e-05,-1.22277319035e-05,1793239490724562176
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.755378699,715.755378699,679,661.244621301,635.244621301,879,787.755378699,803.244621301,651.244621301,631.755378699,653,0.403234575449,-0.00552289168162,0.0799552844807,0.999999997608,2.76992504255e-05,-6.03605280196e-05,-1.93378990697e-05,1793239490741228800
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.181196088,715.181196088,679,661.818803912,635.818803912,879,787.181196088,803.818803912,651.818803912,631.181196088,653,0.40351478536,-0.005524044625,0.0799543747904,0.999999997735,-1.768290168e-06,-6.23577456093e-05,-2.52751989589e-05,1793239490757895936
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.597021049,745,715,679.402978951,662,636,879,787,804,652,631,653,0.403823573596,-0.00552463291877,0.0799566886991,0.999999997881,-1.50752411024e-06,-5.93681355794e-05,-2.66835062065e-05,1793239490774562560
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.008238771,745,715,679.991761229,662,636,879,787,804,652,631,653,0.404145538561,-0.00552496086696,0.0799604889272,0.999999998122,1.24602075065e-05,-5.40792263447e-05,-2.60036101799e-05,1793239490791229440
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.571251908,745,715,679.428748092,661.428748092,636,879.571251908,787.571251908,804,652,631,652.428748092,0.404516438352,-0.00552608421221,0.0799609860367,0.999999998211,4.38548477572e-06,-5.23146877428e-05,-2.86650327265e-05,1793239490807895808
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.700359722,787.850179861,803.850179861,652,631,652.149820139,0.404900363774,-0.00552755598533,0.0799608968715,0.999999998227,-3.99462909043e-06,-5.0676952116e-05,-3.10203742479e-05,1793239490824562176
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,878.547724641,787.273862321,803.273862321,652,631,652.726137679,0.405319392647,-0.00552998750463,0.0799592721845,0.999999998187,-1.23536076467e-05,-4.92578084408e-05,-3.23693984925e-05,1793239490841228800
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.300300102,679.300300102,661.300300102,636,878.300300102,787.300300102,803.300300102,652,631,653,0.405749333642,-0.00553360530376,0.0799564651542,0.999999997838,-1.85203543368e-05,-5.31335961221e-05,-3.4013935863e-05,1793239490857895424
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.872511208,679.872511208,661.872511208,636,878.872511208,787.872511208,803.872511208,652,631,653,0.40618915522,-0.00553829723712,0.0799525875542,0.999999997187,-2.27021144159e-05,-6.18037546496e-05,-3.59260499554e-05,1793239490874562048
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.461035581,715.538964419,680,661.538964419,636,879.922071163,787.538964419,804,652,631.461035581,652.538964419,0.406653924081,-0.00555045216473,0.0799473687765,0.999999996627,-2.80595372866e-05,-7.00782230408e-05,-3.23619293191e-05,1793239490891228672
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.947103005,745.947103005,715,680,661,636,880.89420601,787,804,652,631.947103005,652,0.407129835569,-0.00556353568833,0.0799421305492,0.999999995975,-3.43856183081e-05,-7.79682319994e-05,-2.80945897151e-05,1793239490907895808
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.368552164,745.368552164,715,680,661,636,879.737104328,787,804,652,631.368552164,652,0.407645406925,-0.00556458688075,0.0799405196983,0.999999994912,-4.69884087743e-05,-8.31649697625e-05,-3.24394789993e-05,1793239490924562432
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.208909178,636,878.791090822,787,803.791090822,652,631,652,0.408179951772,-0.00556382841806,0.0799372004274,0.999999993927,-5.01647275056e-05,-9.14782159685e-05,-3.55003798721e-05,1793239490941229312
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.784458389,636,878.215541611,787,803.215541611,652,631,652,0.408747795468,-0.00555989397227,0.0799308828434,0.999999993124,-3.6797387824e-05,-0.000105261000226,-3.63078536131e-05,1793239490957895680
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.367584448,715,680,662.367584448,636,878.735168897,787,803.367584448,652,631,652.367584448,0.409352026612,-0.0055593596715,0.0799435029822,0.999999994968,-3.68494678726e-05,-8.56489031506e-05,-3.70292125695e-05,1793239490974562304
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.955246853,715,680,662.955246853,636,879.910493705,787,803.955246853,652,631,652.955246853,0.409978043409,-0.00556086108531,0.0799674614012,0.99999999722,-4.49359428343e-05,-4.60428224658e-05,-3.76990133261e-05,1793239490991228928
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.535151187,746,715,680,662.464848813,636,879.464848813,787,804,652,631,653,0.41064923557,-0.00555920815878,0.0799948845109,0.999999998336,-4.36051797867e-05,-2.31493264159e-07,-3.777882604e-05,1793239491007895296
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.886129689,745.886129689,715,680,661.886129689,636,879.113870311,787.113870311,804,652,631,653,0.411318067281,-0.00555670074696,0.0800125250105,0.999999998003,-4.15020171972e-05,2.84045490837e-05,-3.82680750735e-05,1793239491024561920
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.309627771,745.309627771,715,680,661.309627771,636,879.690372229,787.690372229,804,652,631,653,0.411962179349,-0.00555177814109,0.0799892604332,0.999999998289,-3.94146317299e-05,-1.48172384418e-05,-4.06183694457e-05,1793239491041228800
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.267128416,745.267128416,715,680,661.267128416,636,880,788,804,652,631,653,0.412632083979,-0.00554732356889,0.0799611552696,0.999999996703,-3.80772373264e-05,-5.68492097375e-05,-4.37374651663e-05,1793239491057895680
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.844179681,745.844179681,715,680,661.844179681,636,880,788,804,652,631,653,0.413331913269,-0.00554341200951,0.0799274340463,0.9999999934,-3.76099835953e-05,-9.75007597781e-05,-4.77485258574e-05,1793239491074562560
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.570650843,745.570650843,715,680,662.429349157,635.570650843,879.570650843,788,804,652,631.429349157,652.570650843,0.414059087223,-0.00554093795221,0.079925412289,0.999999993881,-3.57523783636e-05,-9.23564752372e-05,-4.92969095786e-05,1793239491091229184
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.017259774,715,680.017259774,662.982740226,635,879,787.982740226,804,652,631.982740226,652.017259774,0.414797621461,-0.00553906368252,0.0799356005736,0.999999995761,-3.35188661093e-05,-6.97527068615e-05,-4.98904474491e-05,1793239491107895296
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.596641265,715,680.596641265,662.403358735,635,879,787.403358735,804,652,631.403358735,652.596641265,0.415576706042,-0.00553940508798,0.07996154814,0.999999997699,-3.5793033927e-05,-3.02510057249e-05,-4.90555156407e-05,1793239491124561920
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.176020609,745.823979391,715,680.823979391,662.176020609,635,879.176020609,787.176020609,804,652,631,653,0.416346696656,-0.00554032159639,0.0799744965945,0.999999997922,-3.96462246301e-05,-1.3591394901e-05,-4.8991452379e-05,1793239491141228800
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.755394995,745.244605005,715,680.244605005,662.755394995,635,879.755394995,787.755394995,804,652,631,653,0.417095848267,-0.00554255596153,0.079957657394,0.999999996391,-4.71177691243e-05,-4.9274767885e-05,-5.0693845733e-05,1793239491157895424
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.670153525,635.329846475,880,787.670153525,804,652,631,653,0.417921906186,-0.00554574521278,0.0799645736914,0.999999996688,-5.35720838772e-05,-3.26720906768e-05,-5.18316841896e-05,1793239491174562560
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.099299079,635.900700921,880,787.099299079,804,652,631,653,0.418804156983,-0.00554963216781,0.0799888473506,0.999999996617,-5.92831418894e-05,2.21342856611e-05,-5.25570207843e-05,1793239491191229440
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.511061788,787,804,652,631,653,0.419626483405,-0.00554885128966,0.079992828671,0.999999996484,-5.59127575054e-05,3.35577403834e-05,-5.27236553692e-05,1793239491207896064
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.078862498,715.078862498,680.078862498,662,635.921137502,879.078862498,787.078862498,804.078862498,652,631,653,0.420436938233,-0.00554735303928,0.079990297033,0.99999999673,-5.21957975919e-05,3.16047745327e-05,-5.30812718135e-05,1793239491224562432
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.656309985,715.656309985,680.656309985,662,635.343690015,879.656309985,787.656309985,804.656309985,652,631,653,0.421252116299,-0.00554753377599,0.0799736046462,0.999999996758,-5.83779886526e-05,2.83969946422e-06,-5.5390123815e-05,1793239491241229056
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715.76677519,681,662,635.23322481,880,787.76677519,804.76677519,652,631,652.76677519,0.422094239949,-0.0055491123315,0.0799751889803,0.999999996572,-6.15273870921e-05,1.70300004043e-06,-5.53762729771e-05,1793239491257895680
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715.190643443,681,662,635.809356557,880,787.190643443,804.190643443,652,631,652.190643443,0.422975981406,-0.00555274607904,0.0800036453004,0.999999995989,-6.02177169656e-05,4.11878824237e-05,-5.19473873506e-05,1793239491274562304
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.608467024,715,680.608467024,662,636,880,787,804,652,631,652,0.423832133261,-0.00555405728987,0.0800135496046,0.999999995587,-5.99766271079e-05,5.11932058565e-05,-5.10784172219e-05,1793239491291228928
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.023301244,715,680.023301244,662,636,880,787,804,652,631,652,0.424675629715,-0.00555421988893,0.0800142789997,0.999999995773,-6.02640041961e-05,4.66193982323e-05,-5.14754546486e-05,1793239491307895552
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.440984231,745,715,680.559015769,662,635.440984231,880.559015769,787,804,651.440984231,631,652,0.425484736601,-0.00554887766565,0.0799636130142,0.999999995939,-6.1226527886e-05,-3.74193859305e-05,-5.45310324505e-05,1793239491324562176
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.139775324,715,681,662,635.139775324,880.860224676,787,804,651.139775324,631,652,0.426308475383,-0.00554480812073,0.0799235311182,0.9999999915,-6.22141750826e-05,-9.91019966601e-05,-5.75083191715e-05,1793239491341228800
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.716040164,715,681,662,635.716040164,880.283959836,787,804,651.716040164,631,652,0.427182360182,-0.0055454257972,0.0799231571776,0.999999992955,-6.3192843282e-05,-8.06796714391e-05,-5.98968222878e-05,1793239491357895680
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,746,715,681.291904282,662.291904282,636,880,787,804,651.708095718,631,652,0.428037669674,-0.00554626782777,0.0799262865836,0.999999993447,-6.1537899835e-05,-7.58032331512e-05,-5.97667032064e-05,1793239491374562304
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,746,715,681.867379084,662.867379084,636,880,787,804,651.132620916,631,652,0.428874934124,-0.0055473278072,0.0799328193169,0.999999993186,-5.7324533352e-05,-8.40859527333e-05,-5.71898675479e-05,1793239491391228928
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.451898327,745.548101673,715,681.548101673,662.548101673,635.548101673,879.548101673,787.451898327,804,651.451898327,631,652,0.429745813214,-0.00554804122808,0.0799586047082,0.99999999561,-6.08664203424e-05,-4.36356846757e-05,-5.6313696504e-05,1793239491407895296
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.96116549,745,715,681,662,635.03883451,879.03883451,787.96116549,804.03883451,652,631,652,0.430626049265,-0.00554875252891,0.0799903678537,0.999999996173,-6.64663333852e-05,1.08818324781e-05,-5.58315060337e-05,1793239491424562176
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.37831467,745,715,681,662,635.62168533,879.62168533,787.37831467,804.62168533,652,631,652,0.431496344216,-0.00555088798898,0.0800251033614,0.999999994536,-6.83619493189e-05,5.80201340088e-05,-5.3733913074e-05,1793239491441228800
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.201085583,745,715,681.201085583,662,636,880,787,804.798914417,652,631,652,0.432319362659,-0.0055511029919,0.080032986283,0.999999994286,-6.91194782359e-05,6.19270330331e-05,-5.30691524727e-05,1793239491457895680
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.774103685,745,715,681.774103685,662,636,880,787,804.225896315,652,631,652,0.433054937534,-0.0055477658735,0.0799912020497,0.999999996088,-6.77719755116e-05,-1.41278565808e-05,-5.50545911808e-05,1793239491474562304
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,682,662,636,880,787,804,651.654219523,631,652,0.433803057208,-0.00554578635452,0.0799463384544,0.999999993269,-6.86333236703e-05,-7.32404692778e-05,-5.8199783092e-05,1793239491491229184
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,682,662,636,880,787,804,651.083415649,631,652,0.43455934061,-0.00554469032007,0.0798994709066,0.999999988196,-7.09321247972e-05,-0.000121327559903,-6.20997069631e-05,1793239491507896064
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.50846943,715,682,662,636,880,787.50846943,804,651,631.50846943,652.50846943,0.43536227124,-0.00554745155603,0.0799232428274,0.999999991834,-7.47642378819e-05,-8.33572224564e-05,-6.15903167877e-05,1793239491524562432
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.898965566,715,682,662,635.898965566,880.101034434,788,804.101034434,651,631.898965566,653,0.436158446153,-0.00555061535105,0.0799542238667,0.999999994273,-7.82762859743e-05,-4.12911263958e-05,-6.01820102632e-05,1793239491541229056
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.320244443,715,682,662,635.320244443,880.679755557,788,804.679755557,651,631.320244443,653,0.436884934206,-0.005552561195,0.0799621291354,0.999999993965,-7.90343520453e-05,-4.94965757047e-05,-5.8091602147e-05,1793239491557895424
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.743720345,745.256279655,715,682,662,635,880.743720345,787.743720345,805,651,631,653,0.437588415978,-0.00555392985037,0.0799565306948,0.999999992619,-8.22957438181e-05,-6.76899898072e-05,-5.83781878106e-05,1793239491574562048
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.169918334,745.830081666,715,682,662,635,880.169918334,787.169918334,805,651,631,653,0.438263393645,-0.00555458338724,0.0799342015865,0.999999989345,-8.86586765629e-05,-9.8258174589e-05,-6.1609793432e-05,1793239491591228416
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,715,682,662,635,880,787,805,651.414841632,631,653,0.438913852081,-0.0055540597148,0.0799023621484,0.999999983687,-8.68218410433e-05,-0.000145869899263,-6.17318581083e-05,1793239491607895552
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.995860083,715,682,661.995860083,635,880.004139917,787,805,652,631.004139917,653,0.439553502577,-0.00555303231503,0.0798663840654,0.999999974664,-8.15784822177e-05,-0.000200866301753,-6.05812110172e-05,1793239491624562176
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.416545996,715,682,661.416545996,635,880.583454004,787,805,652,631.583454004,653,0.440124730645,-0.00555082922275,0.0798112969099,0.999999953746,-8.23385347587e-05,-0.000285631702115,-6.43636516943e-05,1793239491641229568
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.838295658,682,661,635,880.838295658,787,804.838295658,651.838295658,631.838295658,653,0.440683199137,-0.00554837075658,0.0797543003306,0.999999924357,-8.38227193878e-05,-0.000373621636351,-6.83093300239e-05,1793239491657896448
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714.262767479,682,661,635,880.262767479,787,804.262767479,651.262767479,631.262767479,653,0.441209014226,-0.00554525875275,0.0796924172592,0.999999883175,-8.71600594318e-05,-0.000469863620632,-7.26727575775e-05,1793239491674562560
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.319011894,714.319011894,682.319011894,661,635,880,787,804,651,631,653,0.441754221274,-0.00554414208443,0.0796700761135,0.999999868192,-8.35992857496e-05,-0.000501121448333,-7.41858105237e-05,1793239491691228672
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.906043205,714.906043205,682.906043205,661,635,880,787,804,651,631,653,0.44231572054,-0.00554470180728,0.0796809563155,0.999999880419,-7.42430280362e-05,-0.000477782512979,-7.33041072986e-05,1793239491707895296
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.513295317,714.513295317,683,661,635,880,787,804,651,630.513295317,653,0.442900740167,-0.00554856366652,0.0797237144909,0.999999909325,-8.28562772826e-05,-0.000411755855407,-7.03009395034e-05,1793239491724561920
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682.934059228,661,634.934059228,880,786.934059228,804,651,630.065940772,653,0.443475041231,-0.00555250636895,0.0797659922295,0.999999932874,-9.18352604887e-05,-0.000348263633741,-6.73121375762e-05,1793239491741229056
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682.35646499,661,634.35646499,880,786.35646499,804,651,630.64353501,653,0.443931397741,-0.00555219396623,0.0797574087789,0.999999927199,-7.7083174908e-05,-0.000367552996941,-6.75715094816e-05,1793239491757895680
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.780314534,634,880.219685466,786,804.219685466,651,631,653,0.444365358315,-0.00555207267743,0.0797399126606,0.999999915081,-8.07010298625e-05,-0.000398418038335,-6.77432820229e-05,1793239491774562304
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.206491542,634,880.793508458,786,804.793508458,651,631,653,0.444763216128,-0.00555225946829,0.0797080491376,0.999999890887,-0.000113931611243,-0.000447943310523,-6.77738424327e-05,1793239491791229440
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.375832871,714.375832871,682.375832871,660,633.624167129,880.624167129,785.624167129,805,651.375832871,630.624167129,653,0.445144978832,-0.00555387782769,0.0796866446476,0.999999873851,-0.000118564535515,-0.000483291337776,-6.8340487252e-05,1793239491807896064
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.962936324,714.962936324,682.962936324,660,633.037063676,880.037063676,785.037063676,805,651.962936324,630.037063676,653,0.445517693875,-0.00555630092862,0.0796711195923,0.999999861476,-0.0001071215842,-0.000510669777544,-6.92084864536e-05,1793239491824562432
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.457114908,714.457114908,683,659.457114908,633,880,785.542885092,804.457114908,651.457114908,630.542885092,653,0.445895162322,-0.00555781197173,0.0796708057907,0.99999986386,-9.92840419265e-05,-0.000507529756806,-6.95369100659e-05,1793239491841229056
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,682.877857706,659.122142294,633,880.122142294,786,804,651,631,653,0.446261349439,-0.00555914450715,0.0796706524524,0.999999866641,-9.33853644089e-05,-0.000503111756526,-6.98244469861e-05,1793239491857895680
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682.29938289,659.70061711,633,880.70061711,786,804,651,631,653,0.446584192122,-0.00556003973594,0.0796672691811,0.99999986734,-9.38227626686e-05,-0.00050160215708,-7.00950665715e-05,1793239491874562304
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.722349982,745,714,682,659.722349982,633,880.722349982,785.722349982,804,651,631,653,0.446887320607,-0.00556076626672,0.0796631378012,0.999999866901,-9.67905281886e-05,-0.000501901626959,-7.01784080844e-05,1793239491891229184
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.146863848,745,714,682,659.146863848,633,880.146863848,785.146863848,804,651,631,653,0.447169301583,-0.0055613118345,0.0796582039228,0.999999865216,-0.00010247262722,-0.000504141691717,-7.0060855756e-05,1793239491907896064
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.437559798,745.437559798,714,682,659,633,880,785,804,651.437559798,631,653,0.447408875859,-0.00556143310118,0.0796480139216,0.999999857752,-0.000107316840461,-0.000517627676806,-7.10039492637e-05,1793239491924562688
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.024801255,746,714,682.024801255,659,633,880.024801255,785,804.024801255,652,631,653,0.447633036077,-0.0055614974259,0.0796361094139,0.999999848044,-0.00011181318922,-0.000534966949645,-7.22486248258e-05,1793239491941229312
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.606551144,746,714,682.606551144,659,633,880.606551144,785,804.606551144,652,631,653,0.447837350354,-0.00556354782969,0.0796261464866,0.999999838274,-0.00011494486282,-0.000552305491665,-7.21046069814e-05,1793239491957895680
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.814143171,745.814143171,714,683,659,633,881,785,805,652,631,653,0.448029941049,-0.00556529975347,0.0796178220345,0.999999830194,-0.000116064581499,-0.000566558152495,-7.17874972186e-05,1793239491974562304
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+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658.664284976,632.664284976,881.335715024,785,804.664284976,652,630.664284976,653,0.44835253295,-0.00556661617987,0.0796092126014,0.999999822782,-0.000112264658901,-0.00058034620746,-7.09271492592e-05,1793239492007895296
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658.087576372,632.087576372,881.912423628,785,804.087576372,652,630.087576372,653,0.448497269343,-0.00556612950009,0.0796063600368,0.999999819934,-0.000113249139089,-0.000585021834477,-7.11025046136e-05,1793239492024561920
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.502571013,714,683,658.502571013,632,880.994857975,785,804,652,630.502571013,653.502571013,0.448619370885,-0.00556719903577,0.079604422793,0.999999818421,-0.000113297124176,-0.000587663448018,-7.05284591625e-05,1793239492041228800
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.907586505,714,682.907586505,658.907586505,632,880,785,804,652,631,653.907586505,0.448734553217,-0.00556849551292,0.0796033367828,0.99999981762,-0.000113528395025,-0.000589059297692,-6.98590779366e-05,1793239492057895680
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.331920488,714,682.331920488,658.331920488,632,880,785,804,652,631,653.331920488,0.448834745617,-0.00556952169039,0.079605845094,0.999999819304,-0.000115594920251,-0.000585845125865,-6.93928013496e-05,1793239492074562560
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.24373499,714,682.24373499,658,632,880.24373499,785,804.24373499,652,631,653,0.448923225449,-0.00556983416613,0.0796069787252,0.999999819677,-0.000116121253956,-0.000585137133185,-6.9114377092e-05,1793239492091229440
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.81937608,714,682.81937608,658,632,880.81937608,785,804.81937608,652,631,653,0.448995755686,-0.00556917475853,0.0796062403859,0.999999818273,-0.000114550231875,-0.000587841929932,-6.9091760756e-05,1793239492107895808
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.597084372,785,805,652,631,653,0.449054312196,-0.0055687605893,0.0796039968879,0.999999816925,-0.000115121546554,-0.000590030574153,-6.90051425053e-05,1793239492124562176
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.009933223,785,805,652,631,653,0.449106479135,-0.00556845855676,0.0796010651475,0.999999815599,-0.00011667245725,-0.000591983204547,-6.88892590063e-05,1793239492141228544
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,682.427830211,658,632,880.572169789,785,804.427830211,652,630.427830211,653,0.449145638452,-0.00556910636263,0.0795985287044,0.999999813951,-0.00011632545828,-0.00059488038914,-6.8434337509e-05,1793239492157895424
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.848101544,714,682,658,632,880.848101544,784.848101544,804,651.848101544,630,652.848101544,0.44918060633,-0.00556919587721,0.0795962621729,0.999999812125,-0.000115649290833,-0.000598105887036,-6.81457735513e-05,1793239492174561792
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.274720182,714,682,658,632,880.274720182,784.274720182,804,651.274720182,630,652.274720182,0.449204565053,-0.00556769090798,0.0795947257078,0.999999809829,-0.000114150383382,-0.000602197274705,-6.83350023749e-05,1793239492191228672
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.303828311,745.303828311,714,682.303828311,658,632,880,784,804.303828311,651.303828311,630,652.303828311,0.449223950278,-0.00556751838636,0.0795929688564,0.999999807755,-0.000113986577493,-0.000605660074946,-6.83530786083e-05,1793239492207895552
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.887129799,745.887129799,714,682.887129799,658,632,880,784,804.887129799,651.887129799,630,652.887129799,0.449239128624,-0.00556857150203,0.0795910092848,0.999999805892,-0.00011505085012,-0.000608544676334,-6.82137220106e-05,1793239492224562432
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.529854555,745.529854555,714,683,657.529854555,632,880.470145445,784,805,651.529854555,630,653,0.449248812131,-0.00556839517126,0.0795891925663,0.999999804252,-0.000114484407574,-0.000611382233006,-6.78378325847e-05,1793239492241229312
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.052710129,714,682.947289871,657.052710129,632,880.947289871,784,805,651.052710129,630.052710129,653,0.449257010722,-0.00556782071127,0.0795876644106,0.999999802944,-0.000113376177805,-0.000613768735435,-6.74206777776e-05,1793239492257895680
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.631459099,714,682.368540901,657.631459099,632,880.368540901,784,805,651.631459099,630.631459099,653,0.449263547233,-0.00556621683897,0.0795886740089,0.999999804481,-0.000110765671159,-0.000611766435456,-6.71580680562e-05,1793239492274562304
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.791308541,746,714,682.208691459,658,632,880.417382918,784.208691459,805,651.791308541,630.791308541,653,0.449268281136,-0.00556485116261,0.0795889418255,0.999999804918,-0.000109240397769,-0.000611335584194,-6.70813611136e-05,1793239492291228928
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.216735165,746,714,682.783264835,658,632,881.56652967,784.783264835,805,651.216735165,630.216735165,653,0.449269854674,-0.00556390309608,0.0795879091359,0.999999803436,-0.000109617776539,-0.000613659827455,-6.73305825478e-05,1793239492307895552
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.366599299,746,714,682.633400701,658,632,881.266801402,784.633400701,805,651,630.366599299,653,0.449270884079,-0.00556445367527,0.0795873677271,0.999999802492,-0.000112529067401,-0.000614678108928,-6.72540765553e-05,1793239492324562176
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.955240151,746,714,682.044759849,658,632,880.089519698,784.044759849,805,651,630.955240151,653,0.449271583914,-0.00556591195295,0.0795871238769,0.999999801861,-0.000116975095974,-0.00061490539648,-6.69802842415e-05,1793239492341228544
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.464725377,714,682,657.464725377,632,880.535274623,784,805,651.535274623,630.464725377,653,0.449272006382,-0.00556473482306,0.0795862998587,0.999999800926,-0.000115559591231,-0.000616675059314,-6.71261110922e-05,1793239492357895424
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.114144853,745,714,682,657,632,880.885855147,784,804.885855147,652,630,653,0.449272284707,-0.00556397074756,0.0795855363821,0.999999800138,-0.000114059527607,-0.000618225524019,-6.71721605675e-05,1793239492374562560
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.691165931,745,714,682,657,632,880.308834069,784,804.308834069,652,630,653,0.449272071069,-0.00556576118667,0.0795852120309,0.999999800067,-0.000114172724848,-0.000618372369083,-6.66735574023e-05,1793239492391229184
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.733264263,745,714,682.266735737,657.266735737,632,880.266735737,784,804.266735737,651.733264263,630,652.733264263,0.449271673055,-0.00556652286184,0.0795844780106,0.999999799473,-0.000114016763941,-0.00061938711492,-6.64422551007e-05,1793239492407896064
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.159365614,745,714,682.840634386,657.840634386,632,880.840634386,784,804.840634386,651.159365614,630,652.159365614,0.449271062719,-0.00556609985112,0.0795832722305,0.999999798271,-0.000113550850573,-0.000621401302894,-6.65187664269e-05,1793239492424562432
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.573024935,745,714,683,658,632,881,784.426975065,805,651.426975065,630,652.426975065,0.449272291629,-0.00556631984824,0.0795837688537,0.999999798891,-0.000113988749826,-0.00062036410883,-6.61224576315e-05,1793239492441229056
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.017713605,745,714.017713605,683,658,632,880.982286395,784.982286395,805,652,630,652.982286395,0.449274171545,-0.00556676160204,0.0795848669076,0.999999800148,-0.000114748846215,-0.000618253829415,-6.55665097498e-05,1793239492457895424
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.596250429,745,714.596250429,683,658,632,880.403749571,784.403749571,805,652,630,652.403749571,0.449274275778,-0.005566397747,0.0795842853226,0.99999979949,-0.00011470887743,-0.000619309814279,-6.57113606961e-05,1793239492474562304
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.173275558,714.826724442,683,658,632,880.173275558,784,804.826724442,652,630,652.173275558,0.449274391501,-0.00556575505706,0.0795837310165,0.999999799041,-0.000114833734767,-0.00061999656992,-6.58512777951e-05,1793239492491229184
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.746808718,714.253191282,683,658,632,880.746808718,784,804.253191282,652,630,652.746808718,0.449274533769,-0.00556446827291,0.0795832397233,0.999999799077,-0.000115339331947,-0.000619830425042,-6.59797979532e-05,1793239492507896064
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.677973133,784,804.322026867,651.677973133,630,653,0.449275692271,-0.00556388102795,0.0795837501752,0.999999799771,-0.000115026062328,-0.000618762916571,-6.60270095819e-05,1793239492524562688
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.101423232,784,804.898576768,651.101423232,630,653,0.449277653983,-0.00556384668361,0.0795850523845,0.999999800982,-0.000114065578174,-0.000616982989921,-6.60099567104e-05,1793239492541229568
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,682.51406664,658,632,880.48593336,784,804.51406664,651.48593336,630,653,0.449276754502,-0.00556330996791,0.079584421623,0.999999800494,-0.000111984750712,-0.000618139692844,-6.61385532814e-05,1793239492557895936
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.925614411,714,682.074385589,658,632,881,784,804.074385589,651.925614411,630.074385589,653,0.449275633935,-0.00556298474446,0.0795836247179,0.999999799756,-0.000110272439097,-0.000619635338784,-6.61844775266e-05,1793239492574562560
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.345398892,714,682.654601108,658,632,881,784,804.654601108,651.345398892,630.654601108,653,0.449277163233,-0.00556482692796,0.0795845038993,0.99999979982,-0.000112692353984,-0.00061917305247,-6.54567979064e-05,1793239492591228928
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682.767648576,657.767648576,631.767648576,880.767648576,784,804.767648576,651,630.767648576,653,0.449277625714,-0.00556513240429,0.0795847228203,0.999999799774,-0.00011303801168,-0.000619222577359,-6.50947685598e-05,1793239492607895552
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682.193524319,657.193524319,631.193524319,880.193524319,784,804.193524319,651,630.193524319,653,0.449276518983,-0.00556317749121,0.0795839705443,0.999999799568,-0.000110332581228,-0.000620024940972,-6.52705853045e-05,1793239492624562176
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.389286185,714,682.389286185,657,631.389286185,880,784,804,651.389286185,630,653,0.449277092456,-0.00556338322361,0.0795846906477,0.999999800394,-0.000110842029822,-0.000618605629037,-6.52216549491e-05,1793239492641229056
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.976513366,714,682.976513366,657,631.976513366,880,784,804,651.976513366,630,653,0.449278520266,-0.00556468758313,0.0795861594142,0.999999801738,-0.000112986153485,-0.00061605665798,-6.50584470499e-05,1793239492657895936
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.441212786,714,682.441212786,657.558787214,631.441212786,880,784,804,651.441212786,630,653,0.449278076765,-0.00556486169343,0.0795855223463,0.999999800947,-0.000113142665894,-0.000617313038278,-6.5035296265e-05,1793239492674562816
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.138967858,714,682.138967858,658,631.138967858,880,784,804.138967858,651.138967858,630.138967858,653,0.449277810226,-0.00556436180062,0.079584969631,0.999999800313,-0.000112837271763,-0.000618377695903,-6.52009785101e-05,1793239492691229184
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+253,4.216666667,HOLD_POSE2,765,745,714,682,657,632,882,784,804,652,630,653,0.449278662014,-0.00556654106427,0.0795849801646,0.999999800289,-0.000114974854616,-0.000618061767801,-6.4826886474e-05,1793239492745159936
+254,4.233333333,HOLD_POSE2,765.589112182,745,714,682.589112182,657.589112182,632,880.821775636,784,804.589112182,651.410887818,630,653,0.449279388909,-0.00556444678682,0.079586008609,0.9999998011,-0.000113713790173,-0.000616961195817,-6.50174318549e-05,1793239492761826560
+255,4.250000000,HOLD_POSE2,765.824480338,745.175519662,714,683,657.824480338,632,880.175519662,784,805,651.175519662,630,653,0.4492793434,-0.00556339160179,0.0795859921033,0.999999800988,-0.000113042920324,-0.000617245196848,-6.52142481103e-05,1793239492778493184
+256,4.266666667,HOLD_POSE2,765.244308304,745.755691696,714,683,657.244308304,632,880.755691696,784,805,651.755691696,630,653,0.449277517148,-0.00556473199531,0.0795835665142,0.999999798745,-0.000113732716257,-0.000620721265973,-6.54255216111e-05,1793239492795160064
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+258,4.300000000,HOLD_POSE2,765,746,714,682.094062219,657.905937781,632,880.094062219,784,805,652,630,653,0.449279329326,-0.00556521548065,0.0795838628303,0.99999979951,-0.000111838656555,-0.000619889874397,-6.48744324713e-05,1793239492828493824
+259,4.316666667,HOLD_POSE2,765,746,714,682.491867726,657.508132274,632,880.491867726,784.491867726,804.508132274,652,630.491867726,653,0.449280299799,-0.00556395028474,0.0795847632869,0.999999800539,-0.000111975624138,-0.000618163603978,-6.52434795625e-05,1793239492845159936
+260,4.333333333,HOLD_POSE2,765,745.921059533,714,682.921059533,657,632,880.921059533,784.921059533,804.078940467,651.921059533,631,653,0.449280885575,-0.00556268294679,0.0795855488551,0.999999801358,-0.000112271629527,-0.000616739454268,-6.56609073896e-05,1793239492861826560
+261,4.350000000,HOLD_POSE2,765,745.341846708,714,682.341846708,657,632,880.341846708,784.341846708,804.658153292,651.341846708,631,653,0.449279858914,-0.00556291048712,0.0795855244778,0.999999800927,-0.000111686050928,-0.000617568727052,-6.54226195424e-05,1793239492878493184
+262,4.366666667,HOLD_POSE2,765,745.236556638,714,682,657,632,880.236556638,784,804.763443362,651.236556638,631,653,0.449279805499,-0.00556321952831,0.0795855363911,0.999999800856,-0.000111734531423,-0.00061770816389,-6.51078304381e-05,1793239492895159552
+263,4.383333333,HOLD_POSE2,765,745.81379415,714,682,657,632,880.81379415,784,804.18620585,651.81379415,631,653,0.449281153719,-0.00556364594424,0.0795856005691,0.999999801303,-0.000112696162442,-0.000616854122246,-6.46828668296e-05,1793239492911826432
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,632,880,784,805,651,630,653,0.449281044643,-0.00556378335006,0.0795859575703,0.999999800654,-0.000114079637589,-0.000617617183637,-6.50152000234e-05,1793239493061614080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.600475865,714,682.399524135,657.399524135,632,880,784,805,651.600475865,630.600475865,653,0.449282078503,-0.00556270548429,0.0795861264547,0.999999801888,-0.000111746810205,-0.000616075604534,-6.47170498205e-05,1793239493078281216
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.806852241,714,682.193147759,657.193147759,632,880.193147759,784,805,651.806852241,630.806852241,653,0.449282430064,-0.00556234339837,0.0795859756665,0.999999802401,-0.00011055625025,-0.000615478120896,-6.4509026038e-05,1793239493094947840
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.229695786,714,682.770304214,657.770304214,632,880.770304214,784,805,651.229695786,630.229695786,653,0.449281425105,-0.00556340439732,0.0795851893178,0.999999801495,-0.000111636700578,-0.000616757650069,-6.44801879694e-05,1793239493111614208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.346532943,714,683,657.653467057,632,880.653467057,784,805,651.346532943,630,653,0.449280697515,-0.00556284747578,0.0795846823132,0.999999800877,-0.000111477369824,-0.00061775067012,-6.4833565491e-05,1793239493128280576
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.922148347,714,683,657.077851653,632,880.077851653,784,805,651.922148347,630,653,0.449280153286,-0.00556122099582,0.0795843599745,0.999999800449,-0.000110498457185,-0.000618554287568,-6.54396141947e-05,1793239493144946944
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.49041109,714,683,657,632,880,784,805,651.49041109,630,652.49041109,0.449280565974,-0.00556222228836,0.0795849635742,0.999999800805,-0.000111801492683,-0.000617745035314,-6.5430138495e-05,1793239493161613568
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.09724208,745.09724208,714,682.90275792,657,632,880.09724208,784,805,651,630,652.09724208,0.449280858083,-0.00556318231833,0.0795854912063,0.99999980122,-0.00011307816698,-0.000616845859795,-6.53792794219e-05,1793239493178280192
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.676776789,745.676776789,714,682.323223211,657,632,880.676776789,784,805,651,630,652.676776789,0.449279809863,-0.00556189930115,0.0795849237987,0.999999801334,-0.000112453960944,-0.000616751814541,-6.56006409278e-05,1793239493194947072
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.745516082,745.745516082,714,682,657,632,880.745516082,784,805,651.254483918,630,653,0.449271708845,-0.00556088456952,0.0795804452188,0.999999797584,-0.000111000814888,-0.000623052287758,-6.56944127972e-05,1793239493211613696
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.170113678,745.170113678,714,682,657,632,880.170113678,784,805,651.829886322,630,653,0.449254713855,-0.00556020816111,0.0795710344315,0.99999978881,-0.000108502329027,-0.000637416607126,-6.56272869559e-05,1793239493228280320
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.404808125,714,682.404808125,657,632,880,784,804.595191875,652,630.404808125,653,0.449218388633,-0.00555999860122,0.0795543585722,0.999999770591,-0.000108707950343,-0.000665332625372,-6.58186862376e-05,1793239493244947200
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.979528251,714,682.979528251,657,632,880,784,804.020471749,652,630.979528251,653,0.44917394984,-0.00555998499379,0.0795346333097,0.999999747502,-0.000110048578864,-0.000698936762008,-6.61185974093e-05,1793239493261613824
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,657,632,880,784,804.570635734,652,630.429364266,652.429364266,0.449107242855,-0.00555765505394,0.079515038051,0.999999723633,-0.000107315292595,-0.000732736471792,-6.56932924993e-05,1793239493278280704
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,657.158595433,632,880.158595433,784,805.158595433,652,630.158595433,652.158595433,0.449037170304,-0.00555570052928,0.0794990236252,0.999999703853,-0.000105176706974,-0.000759611800984,-6.49765718939e-05,1793239493294947072
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,657.736629492,632,880.736629492,784,805.736629492,652,630.736629492,652.736629492,0.448960372071,-0.00555496513881,0.0794924667536,0.999999697435,-0.000105008891319,-0.00076815506934,-6.35599846956e-05,1793239493311613696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.687339628,714,682.687339628,658,632,881,784,805.374679256,652,630.687339628,653,0.448877153941,-0.00555429996934,0.0794918094756,0.999999696451,-0.000104322135589,-0.000769698360489,-6.14753106068e-05,1793239493328280064
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.112985424,714,682.112985424,658,632,881,784,804.225970848,652,630.112985424,653,0.448788562422,-0.00555369357423,0.0794960901032,0.999999700039,-0.000103201031842,-0.000765382735134,-5.88314540725e-05,1793239493344946432
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.473651541,714,682,657.526348459,632,881,784.473651541,804,652,630,653.473651541,0.448681137402,-0.00555094868969,0.0794989651812,0.999999702474,-0.000100806692393,-0.000762716195004,-5.61599436964e-05,1793239493361613312
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.062194079,657,632,881,784.937805921,804.062194079,652,630.062194079,653.937805921,0.448564983911,-0.00554781471211,0.0795008636872,0.999999703944,-9.79755283224e-05,-0.000761359280044,-5.33306669127e-05,1793239493378279936
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.641569735,657,632,881,784.358430265,804.641569735,652,630.641569735,653.358430265,0.448414600879,-0.00554580006046,0.0794975036984,0.999999699805,-9.4104749646e-05,-0.000767534457633,-4.92457813196e-05,1793239493394946304
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.780005222,657.219994778,632,880.780005222,784,804.780005222,652,631,653,0.448251399588,-0.00554348478185,0.0794945654312,0.999999695948,-9.02180691801e-05,-0.000773263029598,-4.50536824821e-05,1793239493411612928
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.203122374,657.796877626,632,880.203122374,784,804.203122374,652,631,653,0.448067403802,-0.00554068180926,0.0794923113051,0.999999692598,-8.63055923063e-05,-0.0007782670919,-4.06876566073e-05,1793239493428279552
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632,880.371280431,784,804.371280431,652,631,653,0.447869642852,-0.00553672714588,0.0794952271634,0.999999694934,-7.89579150121e-05,-0.000776313552339,-3.51376007982e-05,1793239493444946176
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632,880.944335495,784,804.944335495,652,631,653,0.44766440112,-0.0055321465888,0.0795009526813,0.999999700253,-6.97433565664e-05,-0.000770578861666,-2.89440762366e-05,1793239493461612800
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.534296924,658,632,880.465703076,784.534296924,804.465703076,652,630.465703076,653,0.447436472743,-0.0055295492159,0.0795079868674,0.999999709559,-6.30541863557e-05,-0.000759219406303,-2.21619251273e-05,1793239493478279680
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.876900532,714,682.876900532,658.123099468,632,880,785,804,651.876900532,630.123099468,653,0.447194937073,-0.00552655125693,0.079514494631,0.999999717521,-5.50876794847e-05,-0.000749462825172,-1.51512283564e-05,1793239493494946304
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.299097167,714,682.299097167,658.700902833,632,880,785,804,651.299097167,630.700902833,653,0.44691215459,-0.00552128548987,0.0795185378313,0.999999719466,-4.13993545244e-05,-0.000747862230596,-7.53025201282e-06,1793239493511613184
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.277331667,658.722668333,632,880.277331667,785,804.277331667,651.277331667,631,653,0.446604352791,-0.00551579644955,0.0795242744432,0.999999722633,-2.21720194849e-05,-0.000744474156171,-3.28809574218e-07,1793239493528280064
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,632,880.573868326,785,804.573868326,652,631,653,0.445911619974,-0.00550522892668,0.0795415026754,0.999999733495,2.16486886427e-05,-0.000729693377255,9.40294339737e-06,1793239493561614336
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,632,880.000404911,785,804.000404911,652,631,653,0.445545438119,-0.00550069768509,0.0795519100998,0.999999740894,3.80427051864e-05,-0.000718777835889,1.10798007739e-05,1793239493578280704
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.404739213,658.595260787,632.595260787,880.595260787,785,804.595260787,651.404739213,631,653,0.445139698588,-0.00549546261791,0.0795589319048,0.999999750072,2.50483212151e-05,-0.000706489918221,1.00490552042e-05,1793239493594947072
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633,881,785,804.815431767,651.184568233,631,653,0.444719406933,-0.00548988878603,0.0795670459948,0.999999758885,2.47288795129e-05,-0.000693904074056,1.07421788655e-05,1793239493611613440
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633,881,785,804.239635204,651.760364796,631,653,0.444268328516,-0.00548359793119,0.0795774804653,0.999999766901,5.13204649633e-05,-0.000680688773639,1.50934346114e-05,1793239493628280320
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.335942839,633,881,785.335942839,804.335942839,651.664057161,631.335942839,653,0.443789478976,-0.00547655639071,0.0795872895155,0.999999774894,6.1395309318e-05,-0.000667937776955,1.73795711689e-05,1793239493644946944
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.911365169,633,881,785.911365169,804.911365169,651.088634831,631.911365169,653,0.443290832527,-0.00546897971742,0.0795966527309,0.999999783201,5.96960678531e-05,-0.0006555177617,1.8193571751e-05,1793239493661613312
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.496708118,659.503291882,633.496708118,881,785.503291882,804.503291882,651,631.503291882,653,0.442785276123,-0.00546414156888,0.0796075617097,0.999999796066,5.24552921088e-05,-0.000636211609795,1.87580306447e-05,1793239493678280192
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.916827042,659.083172958,634,880.916827042,785.083172958,804,651.083172958,631,653,0.442271121509,-0.00545728143796,0.0796203106527,0.999999810209,5.14154641131e-05,-0.000613666018866,1.87572777414e-05,1793239493694946560
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.334469966,659.665530034,634,880.334469966,785.665530034,804,651.665530034,631,653,0.441712913535,-0.00543529317259,0.0796424134016,0.999999827755,9.36480613487e-05,-0.000579203305718,1.56369606114e-05,1793239493711613184
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,634,880,786.244240266,804,651.755759734,631,653,0.441122550503,-0.00541451351449,0.0796509086073,0.999999833353,0.000125184131117,-0.000563428233242,1.30939487612e-05,1793239493728279808
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,634,880,786.818029837,804,651.181970163,631,653,0.440488801222,-0.0053953646113,0.0796410433814,0.999999825724,0.000142287553011,-0.000572868085525,1.13298855019e-05,1793239493744946688
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,660.558657402,634.558657402,880,786.441342598,805.117314804,651,631,652.558657402,0.43849094006,-0.00542475766138,0.0796519385048,0.999999846669,0.000107855350945,-0.000542921839586,1.62709621863e-05,1793239493794946816
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.145003772,745,714.145003772,682,661,635,880.145003772,786.145003772,805.709992457,651.145003772,631,652.854996228,0.437862569743,-0.00543662551621,0.0797126204816,0.999999894501,8.99635244092e-05,-0.000449990455995,2.03282422273e-05,1793239493811613184
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.724695217,745,714.724695217,682,661,635,880.724695217,786.724695217,804.550609566,651.724695217,631,652.275304783,0.437205652478,-0.00543605299897,0.0797866555425,0.999999934886,9.65100146174e-05,-0.000346764820688,2.58508651075e-05,1793239493828279808
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,635,880.1245812,787,804,652,631,652.8754188,0.43576510455,-0.00542554665175,0.0798551764233,0.999999965212,0.00011807668473,-0.000233525277581,3.31560251679e-05,1793239493861613056
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.539253878,745,714.539253878,682,661,635,880,787,804,652,631,653,0.434966029264,-0.00542057035629,0.0798434851538,0.99999996,0.000125386934663,-0.000251427876125,3.25820334375e-05,1793239493878279680
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.110845283,661,635,879.889154717,787,805,651.889154717,631,652.889154717,0.428252206805,-0.00542807661156,0.0798805048598,0.999999963666,0.000151230231172,-0.000217754500817,4.878434709e-05,1793239494011612928
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,635,879.267047886,787,804.732952114,651.267047886,631,652.267047886,0.426438095024,-0.00541969368929,0.079816481629,0.999999940605,0.000162412380029,-0.000300429944915,4.64187781263e-05,1793239494044946688
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,635,879.842275628,787,804.157724372,651.842275628,631,652.842275628,0.425525854339,-0.00541750631543,0.0797746516779,0.999999918917,0.000170440324229,-0.000362125599117,4.45136714905e-05,1793239494061613312
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.583091746,681.166183492,661,635,879.583091746,787,804,651.583091746,631.416908254,652.583091746,0.424603489961,-0.00541299416028,0.0797535350012,0.999999902919,0.000177317698893,-0.000400890454723,4.48093049527e-05,1793239494078279936
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.583699019,661,635.583699019,879.583699019,787,804,651.583699019,631.416300981,652.583699019,0.422826071038,-0.00540570634396,0.0797537396102,0.999999901804,0.000189823204393,-0.000397772570022,4.62201944812e-05,1793239494111613184
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.171624401,681,661,635.828375599,880,787.171624401,804,652,631.171624401,653,0.421995349964,-0.00540654685608,0.0797826602511,0.999999922436,0.000193017278636,-0.000340053879039,4.72839233217e-05,1793239494128279808
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.748376017,681,661,635.251623983,880,787.748376017,804,652,631.748376017,653,0.421210325246,-0.00541372377995,0.0798470202701,0.999999955074,0.000189453375833,-0.000226799244225,5.02191179705e-05,1793239494144946432
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,636,879.075523584,787.075523584,804,652,631,653,0.417740681944,-0.00541675284088,0.0797923540535,0.999999928218,0.000177903381232,-0.000331345374322,4.60888631296e-05,1793239494211612928
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,636,879.654585694,787.654585694,804,652,631,653,0.416934423737,-0.00541767871895,0.0798102005967,0.999999934743,0.00018146948891,-0.000308754577483,4.74639534796e-05,1793239494228279552
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.193227633,745,715,680.193227633,661,636,879.193227633,787.193227633,804,652,631.806772367,652.193227633,0.415312310742,-0.005412835954,0.079803241119,0.999999926199,0.00019393224308,-0.00032810909861,4.83336099702e-05,1793239494261613056
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.382770032,661,635.617229968,879,787,804,652,632,652.382770032,0.414550102951,-0.00540947591086,0.0797992439508,0.999999925222,0.000195967493059,-0.000330019755488,4.73335835013e-05,1793239494278279680
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.959358115,661,635.040641885,879,787,804,652,632,652.959358115,0.413813662717,-0.00540636093284,0.0797995743945,0.999999928341,0.000195304415907,-0.000321053354736,4.58093623438e-05,1793239494294946304
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.54633324,715,680.45366676,661,635,879.54633324,787,804,652,631.45366676,652.45366676,0.413095051625,-0.00540628246236,0.0798160819707,0.999999936475,0.000199734022651,-0.000291361748009,4.75983248008e-05,1793239494311612928
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,746,715,680,661,635,879.867716044,787,804,652,631,652.132283956,0.412374281762,-0.00540571899116,0.0798261152133,0.999999939926,0.000204674511932,-0.00027542734886,4.89440974489e-05,1793239494328279552
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,746,715,680,661,635,879.287895887,787,804,652,631,652.712104113,0.411641634412,-0.00540273567181,0.0798100945676,0.999999928323,0.000210036859684,-0.000311352692364,4.79404929539e-05,1793239494344946432
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.289240458,745.710759542,715,680,661,635,879,787,804,652,631,652.710759542,0.410940827206,-0.00539980447267,0.0797991726533,0.999999920119,0.00021514653519,-0.000333552381548,4.70835020134e-05,1793239494361612800
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.863729993,745.136270007,715,680,661,635,879,787,804,652,631,652.136270007,0.41027142081,-0.00539692467469,0.0797932791112,0.999999916167,0.000220007025079,-0.000342215822077,4.63711015323e-05,1793239494378279680
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.561615344,745,715,680,661,635,879,787,804,652,631.438384656,652.438384656,0.409667221412,-0.00539546529632,0.0798117472315,0.999999926161,0.000222114404434,-0.00030998719324,4.74416763885e-05,1793239494394946304
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.013503777,745.013503777,715,680,661,635.013503777,879,787,804,652,631.986496223,653,0.409083087345,-0.00539446435877,0.079837338629,0.999999938477,0.000223449153197,-0.000265912033788,4.90600416924e-05,1793239494411612928
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.606344141,745.606344141,715,680,661,635.606344141,879,787,804,652,631.393655859,653,0.408489876111,-0.00539418173205,0.0798435256362,0.999999939079,0.000228365555063,-0.000259135248209,5.03931638416e-05,1793239494428279552
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.347128522,745,715,679.347128522,660.652871478,635,879,787,804,652,631,653,0.406775702463,-0.00539009673651,0.0797830738768,0.999999904809,0.00022990719572,-0.000367941829642,4.63026562353e-05,1793239494478279680
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.923503448,745,715,679.923503448,660.076496552,635,879,787,804,652,631,653,0.406279189919,-0.00538722163564,0.0797733305942,0.99999990092,0.000237166767736,-0.000374016144809,4.49862791128e-05,1793239494494946304
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.489023218,660.510976782,635.510976782,879,787.510976782,804,652.510976782,631,653,0.40585070747,-0.00538793008899,0.07979084016,0.999999915187,0.000232857939259,-0.000336631205989,4.56370278845e-05,1793239494511612928
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.09849499,661,635.90150501,879,787.90150501,804.09849499,652.90150501,631,653,0.405432586119,-0.00538898592953,0.0798110055121,0.99999992846,0.000228428178,-0.00029789584582,4.6467620261e-05,1793239494528279552
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,804.74476132,652,631,652.74476132,0.4046138777,-0.00538868579334,0.0798311130867,0.999999931436,0.00023777591679,-0.000279858324668,4.76421655647e-05,1793239494561613056
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,804.17014518,652,631,652.17014518,0.404236078908,-0.00538774973396,0.0798316567174,0.999999928082,0.000246126519903,-0.000284275477455,4.94498429834e-05,1793239494578279680
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.4281191,745.4281191,715.5718809,679,661.5718809,635.4281191,878.4281191,787,804,652,631.4281191,653,0.403265597521,-0.0053873968946,0.0798405159954,0.999999934561,0.000222242863599,-0.000281659648661,4.64045823764e-05,1793239494628279808
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745.738473468,715.261526532,679.738473468,661.261526532,635,878.738473468,787,803.261526532,652,631,653,0.402735134779,-0.00538675546866,0.0798447969529,0.999999932781,0.000232298824157,-0.00027978617698,4.68566653972e-05,1793239494661613056
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745.686435436,715,679.686435436,661,635.313564564,879,787,803.313564564,652,631,653,0.402501837987,-0.0053868500555,0.0798410144465,0.999999930471,0.000235498051104,-0.000285366402863,4.65293842873e-05,1793239494678279680
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745.113656419,715,679.113656419,661,635.886343581,879,787,803.886343581,652,631,653,0.402290928874,-0.00538854436924,0.0798353997861,0.999999929677,0.000233220127923,-0.00029010782362,4.57291175106e-05,1793239494694946304
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.526426691,879,787,804,652,631,652.526426691,0.402116895569,-0.00538813362966,0.0798394120621,0.999999931491,0.000234570174841,-0.000282589698515,4.62468773835e-05,1793239494711613184
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.063166003,635.063166003,879,787,803.936833997,652,631,652.063166003,0.401954524339,-0.00538735776469,0.079845814833,0.999999933955,0.000236249027082,-0.000272149823839,4.7009877587e-05,1793239494728279808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.642829389,635.642829389,879,787,803.357170611,652,631,652.642829389,0.401812868418,-0.00538785734864,0.0798522775712,0.999999937194,0.000233272783656,-0.000262634891216,4.71102365577e-05,1793239494744946432
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.629744256,745,715,679,661,636,879,787,803.629744256,652,631,653,0.401448221705,-0.00538790680573,0.0798504336491,0.999999935836,0.000233302084914,-0.000267954600037,4.5812112688e-05,1793239494794946304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.056087802,745,715,679,661,636,879,787,803.056087802,652,631,653,0.401349639178,-0.00538730526555,0.0798459271307,0.999999933417,0.000237246360764,-0.000273665204884,4.45899312339e-05,1793239494811612928
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.534869656,661,635.465130344,879.534869656,787,803.534869656,651.465130344,631.534869656,652.465130344,0.401270976841,-0.00538684819928,0.0798404471472,0.999999930545,0.000239431137254,-0.0002821984474,4.41251925858e-05,1793239494828279808
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.371033574,745,715,679.371033574,661.371033574,635.628966426,879,787,803.371033574,652,631,652.628966426,0.400983421087,-0.00539237628619,0.0798449778712,0.999999935068,0.000234762910987,-0.000270068116573,4.25796985948e-05,1793239495261613056
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.792250065,879,787,803.207749935,652,631.207749935,652.792250065,0.400983040899,-0.00539292145358,0.0798450583851,0.99999993504,0.000235136777231,-0.000269840922666,4.26233890358e-05,1793239495278279936
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.215460425,879,787,803.784539575,652,631.784539575,652.215460425,0.400980050849,-0.005392629571,0.0798438966466,0.999999934749,0.000233873266013,-0.000272016955589,4.25602639892e-05,1793239495294946560
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.359773409,635,879,787.359773409,804,652,631.640226591,652.359773409,0.400980012627,-0.00539186906059,0.079844256489,0.999999934787,0.000234350734458,-0.000271500616193,4.2346129021e-05,1793239495311612928
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.934079495,635,879,787.934079495,804,652,631.065920505,652.934079495,0.400981734579,-0.00539082910768,0.0798455236493,0.999999935017,0.000235866348123,-0.000269378816649,4.20419469254e-05,1793239495328279552
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.111507202,636,879,787,804,652,632,653,0.400980862272,-0.00539038122754,0.0798432462849,0.999999934205,0.000236671933358,-0.000271690179391,4.1960693774e-05,1793239495361613312
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.015637975,661.015637975,636,879,787,804,652,631.984362025,653,0.400980409889,-0.00539028131385,0.0798439772998,0.999999933774,0.000237671462063,-0.000272405167064,4.1951959947e-05,1793239495444946176
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.594836402,661.594836402,636,879,787,804,652,631.405163598,653,0.400980922756,-0.00539193340684,0.0798446117224,0.999999934225,0.000236636973292,-0.000271600173982,4.22606238951e-05,1793239495461613056
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d4a5c7be9db1df6f064371a33761d2330074565
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,417 @@
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+402,6.700000000,pose2_to_pose3_retreat,0.575666048607,9.06541561532e-05,1.07003243605,0.54623650061,0.00876239499008,1.06970056349
+403,6.716666667,pose2_to_pose3_retreat,0.575665982179,9.06566595049e-05,1.07003243262,0.546236434178,0.00876239747041,1.06970055981
+404,6.733333333,pose2_to_pose3_retreat,0.575665814312,9.06629856387e-05,1.07003242396,0.546236266301,0.00876240373837,1.06970055052
+405,6.750000000,pose2_to_pose3_retreat,0.575665734481,9.0665994118e-05,1.07003241985,0.546236186465,0.00876240671918,1.0697005461
+406,6.766666667,pose2_to_pose3_retreat,0.575665442073,9.06770136057e-05,1.07003240476,0.54623589404,0.00876241763733,1.06970052992
+407,6.783333333,pose2_to_pose3_retreat,0.57566515098,9.06879835666e-05,1.07003238974,0.546235602929,0.0087624285064,1.06970051381
+408,6.800000000,pose2_to_pose3_retreat,0.575664865414,9.06972603629e-05,1.07003237523,0.546235317391,0.00876243783956,1.06970049829
+409,6.816666667,pose2_to_pose3_retreat,0.57566469101,9.06668490598e-05,1.07003237168,0.546235144095,0.0087624112366,1.06970049593
+410,6.833333333,pose2_to_pose3_retreat,0.575664654962,9.06605633025e-05,1.07003237095,0.546235108276,0.00876240573799,1.06970049544
+411,6.850000000,pose2_to_pose3_retreat,0.575664643382,9.06585441408e-05,1.07003237071,0.54623509677,0.00876240397169,1.06970049528
+412,6.866666667,pose2_to_pose3_retreat,0.575664614828,9.06535650481e-05,1.07003237013,0.546235068397,0.00876239961612,1.06970049489
+413,6.883333333,pose2_to_pose3_retreat,0.575664531264,9.06389938971e-05,1.07003236843,0.546234985365,0.00876238686968,1.06970049376
+414,6.900000000,pose2_to_pose3_retreat,0.575664387497,9.05506855267e-05,1.07003226898,0.546234842982,0.00876230337513,1.06970039741
+415,6.916666667,pose2_to_pose3_retreat,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571876,1.06970035246
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d3a556389f11916ae06c88c829630697aa249e6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c857405d56341bfbf441259d8cb823423e6c3116d5d0507612f50d3432724282
+size 26396220
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c15284b76f35afee348dc8d9640beb7be04840fa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,680,661,636,879,787,804,652,631,653,0.400983864703,-0.00538800983611,0.0798472297891,0.9999999347,0.00024043863129,-0.000266568805353,4.15901744339e-05,1793239495588231680
+1,0.016666667,BASELINE,765.427110241,745,715,680,661,636,878.427110241,787.572889759,803.427110241,652,631,652.427110241,0.400982742494,-0.00538899143524,0.0798468944993,0.999999934665,0.00023983657758,-0.000267266877087,4.14422231982e-05,1793239495604898304
+2,0.033333333,BASELINE,765.150394167,745,715,679.849605833,661.150394167,635.849605833,878.150394167,787.849605833,803.150394167,652,631,652.150394167,0.400982151791,-0.00538952755519,0.0798465921511,0.999999934622,0.000239576017226,-0.000267670746132,4.13716391841e-05,1793239495621564928
+3,0.050000000,BASELINE,765.74141888,745,715,679.25858112,661.74141888,635.25858112,878.74141888,787.25858112,803.74141888,652,631,652.74141888,0.40098311831,-0.00538875849356,0.0798463863162,0.999999934561,0.000240315976945,-0.000267212649129,4.15277285615e-05,1793239495638231552
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+7,0.116666667,BASELINE,766,745.058256649,715,680,661.058256649,635.058256649,879,787,804,652,631,653,0.400983204799,-0.00539146904665,0.0798471308136,0.999999935471,0.000237838932442,-0.000265944565589,4.20098459294e-05,1793239495704898304
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+9,0.150000000,BASELINE,765.796380309,745.796380309,715,679.796380309,661.796380309,635.796380309,879,787,804,652,631,653,0.400980800489,-0.00538937092234,0.0798453872257,0.999999934396,0.000238296857038,-0.000269640760126,4.14347711288e-05,1793239495738231552
+10,0.166666667,BASELINE,765.229313629,745.229313629,715,679.229313629,661.229313629,635.229313629,879,787,804,652,631,653,0.400981896989,-0.00538875412261,0.0798461983749,0.999999934394,0.00023992932632,-0.000268196604493,4.14396333227e-05,1793239495754898176
+11,0.183333333,BASELINE,765.359014489,745,715,679,661.359014489,635,878.640985511,787,804,652,631,653,0.400982322338,-0.00538939209283,0.0798463079634,0.999999934667,0.00023951406295,-0.000267535878486,4.15175436191e-05,1793239495771565056
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+13,0.216666667,BASELINE,766,745,715,679,661.461056692,635.538943308,878.538943308,787,804,652,631,653,0.40098289559,-0.00539029475661,0.0798465116954,0.999999935254,0.000237866037935,-0.000266821752462,4.1459333702e-05,1793239495804898304
+14,0.233333333,BASELINE,766,745,715,679.116124549,661.116124549,636,879,787,804,652,631,653,0.40098317117,-0.00538974656397,0.0798469424645,0.999999935265,0.000238138958812,-0.000266550275911,4.13534744932e-05,1793239495821564672
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+17,0.283333333,BASELINE,765.136589387,745,715,679.136589387,661.136589387,636,879,787,804,652,631,653,0.400982475471,-0.00539006072721,0.0798466748495,0.99999993575,0.000235760681461,-0.000266904756734,4.09659815345e-05,1793239495871565056
+18,0.300000000,BASELINE,765,745,715,679.442703987,661,636,879,787.442703987,804,652,631,653,0.400982471855,-0.00539006157457,0.0798466481055,0.99999993541,0.000236902367822,-0.00026713122293,4.12123735228e-05,1793239495888232704
+19,0.316666667,BASELINE,765.021464681,745,715,679.978535319,661.021464681,636,879,787.978535319,804,652,631.021464681,653,0.400982224084,-0.00539006033851,0.0798465429087,0.999999934777,0.000238863760765,-0.00026767981672,4.1688949498e-05,1793239495904900096
+20,0.333333333,BASELINE,765.596810201,745,715,679.403189799,661.596810201,636,879,787.403189799,804,652,631.596810201,653,0.400981840172,-0.00539025418345,0.0798463314006,0.999999934865,0.000238585056167,-0.000267605231838,4.16458321513e-05,1793239495921566464
+21,0.350000000,BASELINE,765.824176254,745,715,679.175823746,662,635.824176254,879,787,803.824176254,652,631.824176254,652.824176254,0.400981686851,-0.00539014869101,0.0798460485034,0.999999934764,0.000239094800618,-0.000267537373354,4.15864906834e-05,1793239495938232832
+22,0.366666667,BASELINE,765.236572256,745,715,679.763427744,662,635.236572256,879,787,803.236572256,652,631.236572256,652.236572256,0.400982073574,-0.00538934214862,0.0798455984124,0.999999934216,0.000241451097439,-0.000267485268145,4.14891522336e-05,1793239495954899200
+23,0.383333333,BASELINE,765.346258251,745,715,680,661.653741749,635.346258251,879,787,803.346258251,652,631,652.346258251,0.400982512005,-0.00538991485333,0.0798456056444,0.999999934562,0.000240309222182,-0.000267245810872,4.13272657761e-05,1793239495971565568
+24,0.400000000,BASELINE,765.925871799,745,715,680,661.074128201,635.925871799,879,787,803.925871799,652,631,652.925871799,0.400982985283,-0.00539141707981,0.079845921082,0.999999935503,0.000236809809174,-0.000266880090618,4.11218781952e-05,1793239495988231936
+25,0.416666667,BASELINE,766,745,715,680,661.503228894,636,879,787,804,652,631,652.496771106,0.400982698212,-0.00539162232832,0.0798462845841,0.999999935289,0.000237419362217,-0.000267096853305,4.13884450188e-05,1793239496004898560
+26,0.433333333,BASELINE,766,745,715,679.920562074,661.920562074,636,879,787.079437926,804,652,631.079437926,652.079437926,0.400982418929,-0.00539156257948,0.0798466762836,0.999999934964,0.000238606639497,-0.00026720792881,4.17018333507e-05,1793239496021565184
+27,0.450000000,BASELINE,766,745,715,679.34941094,661.34941094,636,879,787.65058906,804,652,631.65058906,652.65058906,0.400982878052,-0.005391039834,0.0798471988919,0.999999934995,0.00023964012492,-0.000266136070947,4.18766331909e-05,1793239496038232320
+28,0.466666667,BASELINE,766,745.230662564,715,679.230662564,661.230662564,636,879,788,804.230662564,652,631.769337436,653,0.400982920479,-0.00539043666578,0.0798473997758,0.999999934804,0.00024090452191,-0.000265707997319,4.19051828712e-05,1793239496054899456
+29,0.483333333,BASELINE,766,745.824795611,715,679.824795611,661.824795611,636,879,788,804.824795611,652,631.175204389,653,0.40098230629,-0.00538970677007,0.079847093697,0.999999934263,0.000242532781693,-0.000266294377787,4.17032763478e-05,1793239496071566080
+30,0.500000000,BASELINE,765.591274111,745.591274111,715,679.591274111,662,636,879,787.591274111,804.591274111,652,631,653,0.400982255431,-0.00539065759492,0.0798468532271,0.999999934401,0.000241535126116,-0.000266656282006,4.18625511565e-05,1793239496088232448
+31,0.516666667,BASELINE,765.011610852,745.011610852,715,679.011610852,662,636,879,787.011610852,804.011610852,652,631,653,0.400982440167,-0.00539231133086,0.0798466401963,0.999999934821,0.000239439259988,-0.000266924305737,4.21728792525e-05,1793239496104898560
+32,0.533333333,BASELINE,765.562331741,745,715,679.562331741,662,636,879,787.562331741,804,651.437668259,631,653,0.400981491976,-0.00539140933163,0.0798460224026,0.999999934392,0.0002397231564,-0.000268312503128,4.19241308579e-05,1793239496121565184
+33,0.550000000,BASELINE,766,745,715,679.860308308,661.860308308,636,879,787.860308308,804,651.139691692,631,653,0.400980745567,-0.00539037342568,0.0798457104683,0.999999934148,0.000240006329687,-0.000269002109569,4.17041676685e-05,1793239496138231808
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+42,0.700000000,BASELINE,766,745,715,680,661.372988415,636,879,787,804,652,631,653,0.400984906239,-0.00539129678451,0.0798479371992,0.999999936212,0.000238123729649,-0.000262973224182,4.1451265016e-05,1793239496288231936
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+45,0.750000000,BASELINE,766,745.89866691,715.89866691,680,661.89866691,636,879,787,804,652,631,653,0.40098336762,-0.00539324613229,0.079848066013,0.999999935739,0.000237922293514,-0.000264895104115,4.17778546019e-05,1793239496338232576
+46,0.766666667,BASELINE,766,745.323257653,715.323257653,680,661.323257653,636,879,787,804,652,631,653,0.400982585836,-0.00539225986932,0.079847384789,0.999999935247,0.000239084751223,-0.000265686192169,4.18900353799e-05,1793239496354898944
+47,0.783333333,BASELINE,765.739960314,745,715,680,661.260039686,635.739960314,878.739960314,787,804,652,631,653,0.400981603086,-0.00539137724189,0.0798465928525,0.999999934886,0.000239341008842,-0.000266842345044,4.16903368963e-05,1793239496371565568
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+49,0.816666667,BASELINE,765.433495404,745,715,680,662,635.433495404,878.433495404,787,804,652,631,653,0.400980700352,-0.0053909267356,0.0798460984575,0.999999935007,0.00023796458762,-0.000267710028344,4.11007254747e-05,1793239496404898560
+50,0.833333333,BASELINE,766,745,715,679.990852273,662,636,879,787,804.009147727,652,631.009147727,652.990852273,0.400981528845,-0.00539156749653,0.0798469722762,0.999999935478,0.000237649496875,-0.000266193887581,4.13141094188e-05,1793239496421565184
+51,0.850000000,BASELINE,766,745,715,679.41585553,662,636,879,787,804.58414447,652,631.58414447,652.41585553,0.40098070646,-0.00539205144511,0.0798468531215,0.999999935395,0.000238158751144,-0.000265982259276,4.17500538232e-05,1793239496438231808
+52,0.866666667,BASELINE,765.837237824,745,715,679.162762176,662,635.837237824,879,787,804.837237824,652,632,652.162762176,0.400980530491,-0.0053918670709,0.0798469705054,0.999999935344,0.00023871190939,-0.000265660240654,4.18836797933e-05,1793239496454898432
+53,0.883333333,BASELINE,765.249158132,745,715,679.750841868,662,635.249158132,879,787,804.249158132,652,632,652.750841868,0.400982043687,-0.00538993628727,0.0798477059935,0.999999935373,0.000239379794078,-0.000265049758613,4.12273106122e-05,1793239496471565312
+54,0.900000000,BASELINE,765.334046464,745,715,680,662,635.334046464,879,787,804,652,632,653,0.400981866931,-0.00538940227939,0.0798466796726,0.999999935005,0.000239361775302,-0.000266503096219,4.09016665773e-05,1793239496488232448
+55,0.916666667,BASELINE,765.913667107,745,715,680,662,635.913667107,879,787,804,652,632,653,0.400980447809,-0.00538989511095,0.0798443581582,0.999999934337,0.000238839514724,-0.000269473650378,4.08191550843e-05,1793239496504898816
+56,0.933333333,BASELINE,765.509453581,745,715,679.509453581,662,636,879,787,804,652,631.509453581,653,0.400981050267,-0.00539003307922,0.0798451201973,0.99999993477,0.000238679896305,-0.000267976191828,4.10059130558e-05,1793239496521565440
+57,0.950000000,BASELINE,765.066770671,745.066770671,715,679.066770671,661.933229329,635.933229329,879,787.066770671,804,652,631,652.933229329,0.4009819828,-0.00539004715015,0.079846318336,0.999999935313,0.000238741625556,-0.000265856129132,4.11978048922e-05,1793239496538232064
+58,0.966666667,BASELINE,765.64166071,745.64166071,715,679.64166071,661.35833929,635.35833929,879,787.64166071,804,652,631,652.35833929,0.400982734734,-0.00538959099767,0.0798467283199,0.999999935257,0.000240004806911,-0.000264948832567,4.10701378182e-05,1793239496554898688
+59,0.983333333,BASELINE,766,746,715.222439019,680,661.222439019,635.222439019,879,787.777560981,804,652,631,652.222439019,0.40098243199,-0.00538960256067,0.0798465551546,0.999999935052,0.000240277212496,-0.000265491886397,4.09435012026e-05,1793239496571565056
+60,1.000000000,BASELINE,766,746,715.81296109,680,661.81296109,635.81296109,879,787.18703891,804,652,631,652.81296109,0.400980384006,-0.0053903880802,0.079845417018,0.999999934599,0.00023891012278,-0.000268434921002,4.08185697272e-05,1793239496588231680
+61,1.016666667,BASELINE,766,745.603967195,715.603967195,679.603967195,662,636,879.396032805,787.396032805,804,652,631,653,0.400980857523,-0.00539045206758,0.079845927964,0.999999934796,0.000238505595312,-0.000268048733389,4.09028637535e-05,1793239496604898560
+62,1.033333333,BASELINE,766,745.024349208,715.024349208,679.024349208,662,636,879.975650792,787.975650792,804,652,631,653,0.400982499908,-0.00539018158108,0.0798472033595,0.999999935294,0.000238547273807,-0.000266119249531,4.10841464753e-05,1793239496621565440
+63,1.050000000,BASELINE,765.450321512,745.549678488,715,679,661.450321512,636,879.450321512,788,804,652,631,653,0.400982558405,-0.00538954680902,0.0798477017948,0.999999934938,0.000240769211468,-0.000265448415457,4.11182746173e-05,1793239496638232064
+64,1.066666667,BASELINE,765.126648228,745.873351772,715,679,661.126648228,636,879.126648228,787.873351772,804,652,631,653,0.400982434313,-0.00538927369706,0.0798478600337,0.999999934722,0.000241991938907,-0.000265152399699,4.11044896677e-05,1793239496654898688
+65,1.083333333,BASELINE,765.715243123,745.284756877,715,679,661.715243123,636,879.715243123,787.284756877,804,652,631,653,0.400981897568,-0.00539037799863,0.0798469016853,0.999999935165,0.000239221344118,-0.00026602220924,4.09394795889e-05,1793239496671565312
+66,1.100000000,BASELINE,766,745,715,679,661.700972094,636,879.700972094,787,804,652,631.299027906,653,0.400981720279,-0.00539137316785,0.0798463306559,0.999999935306,0.000237914487706,-0.000266646358142,4.103145336e-05,1793239496688231680
+67,1.116666667,BASELINE,766,745,715,679,661.121695377,636,879.121695377,787,804,652,631.878304623,653,0.400981879873,-0.00539226605822,0.0798461226218,0.999999935172,0.000237979446351,-0.000267040273963,4.13642722809e-05,1793239496704898304
+68,1.133333333,BASELINE,765.546401122,745,715,679.453598878,661,636,879,787.453598878,804,652,632,653,0.400983061555,-0.00539141407999,0.0798474984876,0.99999993537,0.000239122070905,-0.000265279554579,4.1314187278e-05,1793239496721565184
+69,1.150000000,BASELINE,765,745.02787101,715.02787101,679.97212899,661,636,879.02787101,787.97212899,804,652,631.97212899,653,0.400984352206,-0.00539014642051,0.0798491572902,0.999999935626,0.000240423671846,-0.000263154904361,4.11615220081e-05,1793239496738231808
+70,1.166666667,BASELINE,765,745.602869142,715.602869142,679.397130858,661,636,879.602869142,787.397130858,804,652,631.397130858,653,0.400982445818,-0.00538982835275,0.079848101029,0.999999935398,0.000239219753323,-0.000265135074518,4.09942200742e-05,1793239496754898688
+71,1.183333333,BASELINE,765,745.816679564,715.816679564,679,661,636,879.816679564,787.183320436,804,652,631,653,0.400981159665,-0.0053900000457,0.0798471080242,0.999999935341,0.000237808215719,-0.000266651026086,4.07670325992e-05,1793239496771565312
+72,1.200000000,BASELINE,765,745.224052677,715.224052677,679,661,636,879.224052677,787.775947323,804,652,631,653,0.400981258335,-0.00539126524581,0.0798462562542,0.999999935672,0.000235933118927,-0.000267130499692,4.04061363858e-05,1793239496788232192
+73,1.216666667,BASELINE,765.357584843,745,715,679.357584843,661.357584843,636,879,788,804,652,631,653,0.400981930296,-0.00539215658072,0.0798468611975,0.999999936048,0.000235406297331,-0.000266140173363,4.07007179794e-05,1793239496804898816
+74,1.233333333,BASELINE,765.932541999,745,715,679.932541999,661.932541999,636,879,788,804,652,631,653,0.400982950755,-0.00539282064658,0.0798483516625,0.999999936451,0.000235699079091,-0.000264256370066,4.1393758113e-05,1793239496821565184
+75,1.250000000,BASELINE,766,745.511422694,715,680,661.488577306,636,879,787.488577306,803.488577306,652,631,653,0.400982037808,-0.00539198120304,0.0798478921562,0.999999935889,0.000237630047486,-0.000264682158195,4.11877003565e-05,1793239496838231808
+76,1.266666667,BASELINE,765.910108313,745.910108313,715,679.910108313,661,636,879,787,803.089891687,652,631,653,0.400981449251,-0.00539098228983,0.0798474822461,0.999999935391,0.000239493578424,-0.00026492699395,4.09203720953e-05,1793239496854898432
+77,1.283333333,BASELINE,765.336659474,745.336659474,715,679.336659474,661,636,879,787,803.663340526,652,631,653,0.400983988139,-0.00539020059607,0.0798487334249,0.999999935938,0.000239822982507,-0.00026254699159,4.09663346661e-05,1793239496871565312
+78,1.300000000,BASELINE,765.245242319,745,715,679,661.245242319,636,879,787.245242319,804,652,631,653,0.400984696081,-0.00539020709026,0.0798489561662,0.99999993621,0.000239145619296,-0.000262120069211,4.10087650128e-05,1793239496888231936
+79,1.316666667,BASELINE,765.8391622,745,715,679,661.8391622,636,879,787.8391622,804,652,631,653,0.400982800842,-0.00539133420452,0.0798477167081,0.999999936092,0.000237036867024,-0.000264469972708,4.10461733541e-05,1793239496904898560
+80,1.333333333,BASELINE,765.579344977,745,715,679.420655023,662,635.579344977,879.420655023,787.579344977,804,652,631.420655023,653,0.400982397364,-0.00539207634073,0.0798476221389,0.999999936244,0.000235796811384,-0.000264984899435,4.11569931192e-05,1793239496921565440
+81,1.350000000,BASELINE,765.00246726,745,715,679.99753274,662,635.00246726,879.99753274,787.00246726,804,652,631.99753274,653,0.400982547895,-0.00539267550402,0.0798479527579,0.999999936499,0.000234879371778,-0.000264818353418,4.12950763926e-05,1793239496938232576
+82,1.366666667,BASELINE,765,745,715.573784463,680,662,635.573784463,878.852431073,787,804,652,631.426215537,653,0.40098262955,-0.00539113192055,0.079848059142,0.999999935976,0.000237287170982,-0.000264684218026,4.10565760522e-05,1793239496954898944
+83,1.383333333,BASELINE,765.153475897,745,715.846524103,680,662,635.846524103,878.153475897,787,804,652,631,653,0.400982628973,-0.00538998758693,0.0798480200301,0.999999935525,0.000239206438519,-0.00026468800222,4.08718461915e-05,1793239496971565568
+84,1.400000000,BASELINE,765.742946644,745,715.257053356,680,662,635.257053356,878.742946644,787,804,652,631,653,0.400982395633,-0.00539000358927,0.0798475703288,0.999999935304,0.000239697309385,-0.000265083193334,4.08444627387e-05,1793239496988231936
+85,1.416666667,BASELINE,766,745,715,679.673411226,661.673411226,635.326588774,879,787,804,652,631,653,0.400982752625,-0.00539035283971,0.0798477863994,0.999999935421,0.0002395799848,-0.000264727014196,4.0982067757e-05,1793239497004898560
+86,1.433333333,BASELINE,766,745,715,679.094276311,661.094276311,635.905723689,879,787,804,652,631,653,0.400983566113,-0.00539095978587,0.0798485173013,0.999999935798,0.000238992351879,-0.000263789811825,4.12472558567e-05,1793239497021565184
+87,1.450000000,BASELINE,765.520384581,745.479615419,715,679,661.479615419,636,878.520384581,787.479615419,803.520384581,652,631,653,0.400983008498,-0.00539095711174,0.0798477706686,0.999999935879,0.000238333946077,-0.000264103210528,4.10959341519e-05,1793239497038232064
+88,1.466666667,BASELINE,765.05275094,745.94724906,715,679,662,635.94724906,878.05275094,787.94724906,803.10550188,652,631,653,0.400982320828,-0.00539085317734,0.0798469141809,0.999999935906,0.000237716385557,-0.00026459048999,4.088620245e-05,1793239497054898688
+89,1.483333333,BASELINE,765.628496767,745.371503233,715,679,662,635.371503233,878.628496767,787.371503233,804.256993533,652,631,653,0.400982986896,-0.00539092051254,0.0798478168888,0.999999935976,0.00023764021587,-0.000264390827621,4.09003037627e-05,1793239497071565568
+90,1.500000000,BASELINE,765.790613931,745,715,679.209386069,662,635,879,787,804.581227862,652,631,653,0.400983103826,-0.00539081545464,0.079848266634,0.999999936074,0.000237077576733,-0.000264524412583,4.09065933375e-05,1793239497088232448
+91,1.516666667,BASELINE,765.200369064,745,715,679.799630936,662,635,879,787,803.400738127,652,631,653,0.400982221912,-0.00539039682558,0.0798478924714,0.99999993622,0.000235630083274,-0.000265264151446,4.08986738994e-05,1793239497104898560
+92,1.533333333,BASELINE,765,745,715,680,662,635,879,787,803.383224818,652,631,653,0.400981009696,-0.00539023165375,0.0798469182033,0.99999993573,0.00023613622028,-0.000266686388295,4.07084987686e-05,1793239497121565184
+93,1.550000000,BASELINE,765,745,715,680,662,635,879,787,803.963400609,652,631,653,0.400979627728,-0.00539019674131,0.0798456355226,0.99999993491,0.000237646387688,-0.000268459381828,4.04246568542e-05,1793239497138232064
+94,1.566666667,BASELINE,765.538537767,745,715,679.461462233,662,635.538537767,879,787.538537767,804,652,631,652.461462233,0.400979954425,-0.00539097425959,0.0798457733048,0.99999993491,0.000237696581729,-0.000268387046465,4.06031039658e-05,1793239497154898432
+95,1.583333333,BASELINE,766,745,715,679.113183733,661.886816267,636,879,787.886816267,804,652,631,652.113183733,0.400980561845,-0.005391314066,0.0798460876492,0.999999934913,0.000238258141283,-0.000267852695883,4.07704943747e-05,1793239497171565312
+96,1.600000000,BASELINE,766,745,715,679.687211237,661.312788763,636,879,787.312788763,804,652,631,652.687211237,0.400981843844,-0.00538964894096,0.079846731477,0.999999934693,0.00024130204554,-0.000265943074904,4.07661309025e-05,1793239497188232192
+97,1.616666667,BASELINE,766,745,715,680,661.26956951,635.73043049,879,787,804,652,631,653,0.40098259166,-0.00539018653827,0.079847508607,0.9999999352,0.000240406410185,-0.000264811957393,4.09843540553e-05,1793239497204898816
+98,1.633333333,BASELINE,766,745,715,680,661.861902422,635.138097578,879,787,804,652,631,653,0.400982699885,-0.00539336151909,0.0798484453435,0.999999936566,0.000234793849492,-0.0002646129648,4.14690866365e-05,1793239497221565696
+99,1.650000000,BASELINE,766,745,715,679.556400968,662,635.443599032,879.443599032,787.443599032,804,652,631.443599032,652.556400968,0.400981977041,-0.00539161582069,0.0798482689932,0.999999935875,0.000237297036876,-0.000265020088355,4.12744704188e-05,1793239497238232320
+100,1.666666667,BASELINE,766,745,715,679.021881353,662,635.978118647,879.978118647,787.978118647,804,652,631.978118647,652,0.400981062396,-0.00538856068898,0.0798477856781,0.999999934622,0.000241993165866,-0.00026556262563,4.08959431281e-05,1793239497254898688
+101,1.683333333,BASELINE,766,745,715,679.595608686,662,635.404391314,879.404391314,787.404391314,804,652,631.404391314,652,0.400981682714,-0.00539021063255,0.0798480952311,0.999999935333,0.000239768316695,-0.000264872943582,4.10880409364e-05,1793239497271565312
+102,1.700000000,BASELINE,766,745,715.174195444,680,662,635.174195444,879,787,804,652,631,652.174195444,0.400981911314,-0.0053909709064,0.079848207443,0.999999935695,0.000238565063204,-0.000264576562083,4.11794165682e-05,1793239497288231936
+103,1.716666667,BASELINE,766,745,715.764386908,680,662,635.764386908,879,787,804,652,631,652.764386908,0.400981204455,-0.00538960656035,0.0798478483844,0.999999935235,0.000239801481976,-0.000265219421462,4.10302576123e-05,1793239497304898560
+104,1.733333333,BASELINE,766,745,715.651887177,679.651887177,662,636,879,787,804,652,631,652.651887177,0.400981850593,-0.00538969601543,0.0798477957434,0.999999935541,0.000239202137028,-0.000264606544761,4.10414097305e-05,1793239497321565184
+105,1.750000000,BASELINE,766,745,715.072457485,679.072457485,662,636,879,787,804,652,631,652.072457485,0.40098339578,-0.00539075150411,0.0798479467133,0.999999936351,0.000237382948841,-0.000263159246293,4.11590866536e-05,1793239497338231808
+106,1.766666667,BASELINE,766,745,715,679.503345377,662,636,879,787.503345377,804,652,631,652.503345377,0.400982811023,-0.00539132910685,0.0798476224369,0.999999935867,0.000238126955417,-0.000264340378032,4.10642996218e-05,1793239497354898688
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,661,636,879,788,804,652,631,652,0.400980828411,-0.00539115000284,0.0798463895777,0.99999993545,0.00023687733947,-0.000267068306251,4.0780714897e-05,1793239497398661632
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.400550978,679.599449022,661.599449022,636,879,787.400550978,804,652,631,652,0.400981207842,-0.00539156160822,0.079846397003,0.99999993565,0.000236019802225,-0.000267055886447,4.09341133571e-05,1793239497415328768
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.183235949,680,662,636,879,787,804,652,631,652.183235949,0.400981561246,-0.00539189129042,0.0798465600016,0.999999935902,0.000235182332907,-0.000266849432772,4.09482172084e-05,1793239497431995904
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.73548185,680,662,636,879,787,804,652,631,652.73548185,0.400981862233,-0.00539205599161,0.0798470363015,0.999999936259,0.000234385277259,-0.000266252223734,4.06818024589e-05,1793239497448662784
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.687890776,680,661.687890776,636,879,787,803.687890776,652,631,653,0.400982456274,-0.00539132338107,0.0798478027787,0.999999936025,0.0002365177763,-0.000265254651985,4.06149641541e-05,1793239497465330176
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715.088848702,680,661.088848702,636,879,787,803.088848702,652,631,653,0.400983319728,-0.00538976584066,0.0798488360259,0.999999935228,0.000241343516767,-0.00026388901292,4.07316034221e-05,1793239497481997312
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.509555592,745,715.490444408,679.509555592,661.490444408,636,879,787.490444408,803.490444408,652,631,653,0.400982217941,-0.00538932827482,0.0798482144795,0.999999934804,0.000241903430143,-0.000264956215951,4.08932542196e-05,1793239497498662912
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.068831652,745,716,679,662,636,879,788,804,652,631,653,0.400981230437,-0.00538914018666,0.07984754877,0.999999934561,0.000241683105187,-0.000266051028987,4.1040012387e-05,1793239497515327744
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.666689816,745,716,679,662,636,879,788,804,652,631,653,0.400983751684,-0.00538937049316,0.0798487585068,0.999999935201,0.000241175662708,-0.000264101784389,4.10120625894e-05,1793239497531994112
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.746064724,679.253935276,661.746064724,636,879,787.746064724,804,652,631.253935276,653,0.400989921279,-0.00539010984134,0.0798516846995,0.999999936917,0.000239184197359,-0.000259390008451,4.09103592964e-05,1793239497548660480
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.172190499,679.827809501,661.172190499,636,879,787.172190499,804,652,631.827809501,653,0.401000687512,-0.00539149054292,0.0798567734945,0.999999939933,0.000235322977179,-0.000251197655294,4.07157322623e-05,1793239497565327104
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.597131049,745.402868951,715,679.597131049,661.402868951,635.597131049,879,787,804,652,631.597131049,653,0.401028699802,-0.00539223897397,0.0798677071671,0.999999944348,0.000236710195044,-0.000231456917046,4.12409450413e-05,1793239497581993984
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.021563477,745.978436523,715,679.021563477,661.978436523,635.021563477,879,787,804,652,631.021563477,653,0.401064104993,-0.00539271636848,0.0798811463753,0.999999948855,0.00024034727065,-0.000206765709173,4.2074732922e-05,1793239497598660352
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.566829203,746,715,679.566829203,662,635.566829203,879,787,804,652,631,653,0.401124875048,-0.0053944597093,0.0799000951811,0.999999956492,0.0002374051184,-0.000169958470773,4.2068743254e-05,1793239497615327232
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.846759271,746,715,680,662,636,879,787.153240729,804,652,631,653,0.401189320249,-0.00539551546051,0.0799169479782,0.999999961871,0.00023557402915,-0.000137970643327,4.15605575108e-05,1793239497631993856
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.267247217,746,715,680,662,636,879,787.732752783,804,652,631,653,0.401261242337,-0.00539452146994,0.079927373753,0.999999963712,0.000237545944134,-0.000120700845038,3.97463325789e-05,1793239497648660480
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.309969818,746,715,679.690030182,662,635.690030182,879,788,804,652,631.309969818,653,0.4013397748,-0.00539594863933,0.0799336226984,0.99999996544,0.000235513976896,-0.000110617486461,3.76385311106e-05,1793239497665327104
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.88522266,746,715,679.11477734,662,635.11477734,879,788,804,652,631.88522266,653,0.401423964649,-0.00539944792226,0.0799362969663,0.999999967224,0.000230055346961,-0.000106684535699,3.52794766764e-05,1793239497681993728
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.530055639,715,679,662,635.469944361,879,788,804,652,632,653,0.401525879583,-0.00539980113975,0.079938295859,0.999999967928,0.000228983215275,-0.000103358060936,3.20683762566e-05,1793239497698660352
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.05661111,715,679.05661111,662,636,879,788,804,652,631.94338889,652.94338889,0.401635519241,-0.00539950117407,0.0799405951682,0.999999968473,0.000228823939228,-9.93847994336e-05,2.85631622765e-05,1793239497715326976
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.639419176,715,679.639419176,662,636,879,788,804,652,631.360580824,652.360580824,0.401775893559,-0.00540041884327,0.0799472515685,0.999999970072,0.000226986782739,-8.79945842043e-05,2.42982350117e-05,1793239497731993600
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.78061646,715,679.78061646,661.78061646,636,879,787.78061646,804,652,631,652.21938354,0.401925674626,-0.00540193008425,0.0799533375512,0.999999971651,0.000224513733112,-7.68126719486e-05,1.9780186992e-05,1793239497748660480
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.205266277,715,679.205266277,661.205266277,636,879,787.205266277,804,652,631,652.794733723,0.402090718852,-0.00540440444096,0.0799584979869,0.999999973291,0.000221008898235,-6.59687483824e-05,1.48514315258e-05,1793239497765327104
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.368571206,661,636,879,787,804,652,631,653,0.402273230188,-0.00540571015164,0.0799620598682,0.999999974679,0.000217238173987,-5.8023773639e-05,9.06276331726e-06,1793239497781993728
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.941569726,661,636,879,787,804,652,631,653,0.402465429637,-0.00540636767527,0.079964735115,0.999999975908,0.000213319974375,-5.16866943012e-05,2.79714569158e-06,1793239497798660608
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.469491542,745,715,680,661.530508458,636,879,787,804,652,631,653,0.402673633676,-0.00540952036326,0.0799586384157,0.99999997775,0.000200677837448,-6.48401288864e-05,-5.00782235294e-06,1793239497815327232
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679.881018747,661.881018747,636,879,787.118981253,804,652,631.118981253,653,0.402892251908,-0.0054127646687,0.0799521405092,0.99999997934,0.000187105420952,-7.83793953283e-05,-1.2952916093e-05,1793239497831993600
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679.301358068,661.301358068,636,879,787.698641932,804,652,631.698641932,653,0.403144156007,-0.00541526668603,0.0799479458391,0.999999981088,0.000173766634171,-8.48433904012e-05,-2.07637719419e-05,1793239497848660224
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.276136426,745,715,679.276136426,661,635.723863574,879,787.723863574,803.723863574,652,632,653,0.403421149729,-0.00541779380975,0.0799479643547,0.99999998423,0.000155195671804,-8.29419110189e-05,-2.3973622886e-05,1793239497865326848
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.851285247,745,715,679.851285247,661,635.148714753,879,787.148714753,803.148714753,652,632,653,0.403725311559,-0.0054203481196,0.0799525450893,0.999999988588,0.000130959085481,-7.19819357612e-05,-2.22013073959e-05,1793239497881993472
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679.564696711,661.435303289,635.435303289,879,787,803.435303289,652,632,653,0.404062934357,-0.00542050780525,0.0799581402027,0.999999988381,0.000136418661176,-6.39001001536e-05,-2.33489690135e-05,1793239497898660608
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.022114332,715,679.022114332,662,636,879,787.022114332,804,652,632,653,0.404413605507,-0.00542002432531,0.0799637762772,0.99999998667,0.000150840367899,-5.70413131922e-05,-2.55791655578e-05,1793239497915327232
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.601366231,715,679.601366231,662,636,879,787.601366231,804,652,632,653,0.404799022804,-0.00542437639634,0.0799615319851,0.999999989547,0.000130139362936,-5.57080965653e-05,-2.94273198909e-05,1793239497931993856
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.819966118,745.819966118,715,679.819966118,662,636,879,787.819966118,804.180033882,652,631.819966118,653,0.40519542171,-0.00542863648432,0.0799593971278,0.999999991376,0.000114777932032,-5.50611722842e-05,-3.22806351189e-05,1793239497948660480
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.242588007,745.242588007,715,679.242588007,662,636,879,787.242588007,804.757411993,652,631.242588007,653,0.405616057551,-0.0054326935603,0.0799575037993,0.999999991711,0.000111201224256,-5.59289314632e-05,-3.29382877267e-05,1793239497965327360
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.333205521,745,715,679,662,636,879,787,804.666794479,652,631,652.666794479,0.406055628629,-0.00543644986177,0.0799525861364,0.999999990944,0.000113035002761,-6.48355253772e-05,-3.364735244e-05,1793239497981993984
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.907850923,745,715,679,662,636,879,787,804.092149077,652,631,652.092149077,0.406508920174,-0.00543998822322,0.0799454770481,0.999999989188,0.000118789205606,-7.95670387725e-05,-3.43936702973e-05,1793239497998660608
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.507150354,745,715,679.492849646,662,636,879.492849646,787.492849646,804,652,631,652.492849646,0.406997613092,-0.00544783824813,0.0799412045677,0.9999999902,0.00010273246844,-8.84106413323e-05,-3.50660235073e-05,1793239498015327488
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.079281781,745,715,679.920718219,661.920718219,636,879.920718219,787.920718219,804,652,631,653,0.407497230631,-0.00545884586119,0.079937100468,0.999999991366,8.15265117061e-05,-9.68540349654e-05,-3.52259703355e-05,1793239498031994112
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.662258616,745,715,679.337741384,661.337741384,636,879.337741384,787.337741384,804,652,631,653,0.408023300208,-0.00548468272906,0.0799306242887,0.99999999198,5.40710113425e-05,-0.000109898996231,-3.22202301866e-05,1793239498048660736
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.75871176,745,715,679.24128824,661.24128824,635.75871176,879,787,804,652,631,653,0.408574553787,-0.00549898570638,0.0799283726895,0.999999992158,3.86114387973e-05,-0.000114844169807,-3.16940672369e-05,1793239498065327616
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.185118319,745,715,679.814881681,661.814881681,635.185118319,879,787,804,652,631,653,0.409160491059,-0.00549740406287,0.0799319392356,0.999999992714,3.96728107778e-05,-0.000108634213121,-3.45828094369e-05,1793239498081994240
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.388629382,745,715,679.611370618,662,635.388629382,879,787,804,652,631,653,0.409793164173,-0.00549847931497,0.0799541711492,0.999999996226,3.6907542655e-05,-7.03031355447e-05,-3.52532101316e-05,1793239498098660864
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.962450576,745,715,679.037549424,662,635.962450576,879,787,804,652,631,653,0.41044810809,-0.00550082064565,0.0799852975863,0.999999998731,3.23187828079e-05,-1.66655246458e-05,-3.48665143544e-05,1793239498115327744
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.446855256,745,715,679.553144744,661.446855256,635.446855256,879,787.553144744,804,652,631,653,0.411118682803,-0.00551037137563,0.0799967579067,0.99999999918,2.03862123612e-05,5.40797808053e-07,-3.49828711188e-05,1793239498131994368
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.142027944,715,680,661.142027944,635.142027944,879.142027944,787.857972056,804,652,631,653,0.411785411161,-0.00551722834128,0.0799962533752,0.999999999287,1.10574186572e-05,-1.40231843155e-06,-3.6075848287e-05,1793239498148660736
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.721690457,715,680,661.721690457,635.721690457,879.721690457,787.278309543,804,652,631,653,0.412436915128,-0.00551422948851,0.0799631242347,0.999999997648,1.13361622274e-05,-5.44909768805e-05,-4.00695774945e-05,1793239498165327360
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.298986045,745.701013955,715,680.298986045,662,636,879.701013955,787,803.701013955,652,631.298986045,652.701013955,0.413119661218,-0.00551655199186,0.0799381150549,0.999999995139,1.62019752087e-06,-8.82973814607e-05,-4.38591789764e-05,1793239498181993728
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.874095764,745.125904236,715,680.874095764,662,636,879.125904236,787,803.125904236,652,631.874095764,652.125904236,0.413831260534,-0.00552378894632,0.0799206049284,0.999999993285,-1.73262165777e-05,-0.000104295981908,-4.74602621542e-05,1793239498198660608
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715.45028712,680.54971288,662.45028712,636,879,787.45028712,803.45028712,652,631.54971288,652.45028712,0.414588710925,-0.00552936096682,0.079935034004,0.999999995849,-2.45891863484e-05,-7.3846979357e-05,-4.73671862987e-05,1793239498215327232
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.972579257,745.027420743,715.972579257,679.972579257,662.972579257,636,879.027420743,787.972579257,804,652,631,653,0.415359106935,-0.00553416843147,0.0799576368589,0.999999998007,-2.80161033017e-05,-3.25603595437e-05,-4.62630070368e-05,1793239498231993600
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.382326823,745.617673177,715.382326823,679.382326823,662.382326823,636,879.617673177,787.382326823,804,652,631,653,0.416131441301,-0.00553286118043,0.0799642664713,0.99999999811,-1.99200057729e-05,-3.60365263738e-05,-4.56576671767e-05,1793239498248660480
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.202959111,745.797040889,715,679.202959111,661.797040889,636,880,787,804,652,631.202959111,653,0.416909887754,-0.00553434619468,0.0799653495867,0.999999997868,-2.25176955353e-05,-3.96842370268e-05,-4.67179232626e-05,1793239498265327360
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.779112772,745.220887228,715,679.779112772,661.220887228,636,880,787,804,652,631.779112772,653,0.417699572867,-0.00554096553471,0.0799562339853,0.999999996752,-4.47787706647e-05,-4.36473766099e-05,-5.08408225011e-05,1793239498281995008
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.645250828,745,715,680,661.354749172,636,880,787,804,652,631.645250828,653,0.41853739615,-0.00554661348426,0.0799713250639,0.999999996963,-5.70045154823e-05,-1.00991944686e-05,-5.21795982537e-05,1793239498298661632
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.069936056,745,715,680,661.930063944,636,880,787,804,652,631.069936056,653,0.419405149351,-0.0055516574707,0.0800014666669,0.999999995581,-6.29907841748e-05,4.67716840451e-05,-5.17873425806e-05,1793239498315327744
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.518565274,745.518565274,715.518565274,680.518565274,662,635.481434726,880,787,804,652,631,652.481434726,0.420209138456,-0.00555114489688,0.0799927106105,0.999999996241,-6.05688463592e-05,3.41976420973e-05,-5.17636629702e-05,1793239498331994880
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715.893036993,681,662,635,880,787,804.106963007,652,631,652,0.421018186643,-0.0055489459215,0.0799808754654,0.999999996915,-5.70626263724e-05,1.4778352448e-05,-5.19154810452e-05,1793239498348661760
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715.31316534,681,662,635,880,787,804.68683466,652,631,652,0.421888614511,-0.00554269061537,0.0799792255425,0.999999997134,-5.39068989763e-05,7.58281654102e-06,-5.2617711377e-05,1793239498365328896
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.73589472,745.73589472,715,681,662,635,879.73589472,787,804.73589472,652,631,652.26410528,0.422760486729,-0.00553055310674,0.079990155239,0.999999997692,-3.8753321108e-05,2.02449439468e-05,-5.20120881096e-05,1793239498381995520
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.161678149,745.161678149,715,681,662,635,879.161678149,787,804.161678149,652,631,652.838321851,0.423634055011,-0.00551150874024,0.0800158558705,0.999999997131,-9.51191793449e-06,5.62238539155e-05,-4.98707887394e-05,1793239498398662400
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.421767804,745,715,681,662,635.421767804,879.421767804,787.421767804,804,652,631,652.578232196,0.424444069304,-0.00550714598113,0.0800028536786,0.999999998466,-1.99816595735e-06,2.37517422007e-05,-4.99987908912e-05,1793239498415329024
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.99126478,745,715,680.99126478,662,636,879.99126478,788,804,652,631,652,0.425230347036,-0.00550868855791,0.0799746151865,0.999999998074,-3.31024122178e-06,-3.51483365108e-05,-5.10528373861e-05,1793239498431995392
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.410556694,745,715,680.410556694,662,636,879.410556694,788,804,652,631,652,0.426093298141,-0.00552014854463,0.0799419072242,0.999999995895,-2.49556317891e-05,-6.79416318558e-05,-5.45087416174e-05,1793239498448661504
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.169178804,745,715,680.338357608,662.169178804,635.830821196,879.338357608,787.830821196,804.169178804,652,631,652,0.42696186512,-0.00552891090537,0.0799196812728,0.999999993486,-3.99417906924e-05,-9.06344537677e-05,-5.67221378409e-05,1793239498465327616
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.746567522,745,715,681.493135044,662.746567522,635.253432478,880.493135044,787.253432478,804.746567522,652,631,652,0.427843982531,-0.00553116418959,0.0799227472671,0.999999993724,-3.8859952187e-05,-8.89559384912e-05,-5.59374983814e-05,1793239498481993984
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681.678565838,662.678565838,635,880.678565838,787.321434162,804.678565838,651.678565838,631,652.321434162,0.428707447726,-0.00553402199678,0.0799325945523,0.999999994413,-4.17735111482e-05,-8.01632258102e-05,-5.47963209717e-05,1793239498498660608
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681.105672258,662.105672258,635,880.105672258,787.894327742,804.105672258,651.105672258,631,652.894327742,0.429556321164,-0.00553735272496,0.0799477468721,0.999999995267,-4.78126878968e-05,-6.58050439668e-05,-5.33762223163e-05,1793239498515327488
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.479764745,715,681.479764745,662,635.479764745,880.479764745,788,804.479764745,651.479764745,631,652.520235255,0.430423749405,-0.00553947116789,0.0799851738544,0.999999997286,-5.08661584066e-05,-1.05256728397e-05,-5.22399738746e-05,1793239498531994624
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,682,662,636,880.932581768,788,804.932581768,651.932581768,631,652.067418232,0.431292244238,-0.0055401465692,0.0800241761047,0.999999996185,-5.19454438537e-05,4.80875920112e-05,-5.11795132452e-05,1793239498548661504
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,682,662,636,880.349672932,788,804.349672932,651.349672932,631,652.650327068,0.432136806251,-0.00553188470187,0.0800367025,0.999999995925,-4.30931112048e-05,6.14254376982e-05,-5.02076653245e-05,1793239498565327872
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.769939237,746,715,682,662,636,880,787.769939237,804.230060763,651,631,653,0.432942275171,-0.00552597664602,0.0800155689742,0.999999997605,-3.72102008618e-05,2.73750583356e-05,-5.15454148184e-05,1793239498581994240
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.194965702,746,715,682,662,636,880,787.194965702,804.805034298,651,631,653,0.433689134888,-0.00552359748117,0.0799439716662,0.999999994752,-3.57791200756e-05,-7.77209153464e-05,-5.63457692062e-05,1793239498598660864
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.378773138,745.621226862,715,682,662,635.621226862,880,787.378773138,805,651.378773138,631,653,0.434468169063,-0.00552566047092,0.0799175326048,0.99999999147,-4.11726930975e-05,-0.000109056848426,-5.89239080724e-05,1793239498615327232
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.951878475,745.048121525,715,682,662,635.048121525,880,787.951878475,805,651.951878475,631,653,0.435263710522,-0.00553000253921,0.0799142623009,0.999999991667,-5.00677025461e-05,-0.00010254967263,-6.03619237016e-05,1793239498631993856
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.540943152,715,682,662,635.540943152,880,788,804.459056848,652,631.540943152,652.459056848,0.436024007823,-0.00553461038466,0.0799414800986,0.999999993935,-5.76022441163e-05,-7.36644610943e-05,-5.81865970029e-05,1793239498648660736
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.871062376,715,681.871062376,662,635.871062376,880,787.871062376,804,652,631.871062376,652.128937624,0.436774570144,-0.00553891543637,0.0799636669255,0.999999995014,-6.32175541357e-05,-5.29954240612e-05,-5.62849393368e-05,1793239498665327872
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.29191271,715,681.29191271,662,635.29191271,880,787.29191271,804,652,631.29191271,652.70808729,0.437502421002,-0.00554207815719,0.0799585290787,0.999999994123,-6.25669060454e-05,-6.81771454585e-05,-5.64953382924e-05,1793239498681994752
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.285418525,715,681.285418525,662,635,880,787,804.285418525,651.714581475,631,653,0.438211517006,-0.00554583592278,0.0799424531115,0.999999991782,-6.72898010929e-05,-9.28456526518e-05,-5.73469237958e-05,1793239498698661632
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.860901693,715,681.860901693,662,635,880,787,804.860901693,651.139098307,631,653,0.438901552815,-0.00555019841923,0.0799152609709,0.999999987183,-7.74737112041e-05,-0.000127155373022,-5.88501331912e-05,1793239498715327744
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.554720617,715,681.554720617,661.554720617,635,880,787,805,651,631,652.554720617,0.439528195783,-0.00555139899089,0.0798773633294,0.999999977766,-8.00190171987e-05,-0.000185384260398,-6.08127920948e-05,1793239498731994624
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.967934161,745.032065839,715,681.032065839,661,635,880,787,804.967934161,651.032065839,631.032065839,652.032065839,0.440130842407,-0.00555122940451,0.0798341991361,0.999999962552,-7.99385276802e-05,-0.000254040594775,-6.29987063566e-05,1793239498748660992
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.388427749,745.611572251,715,681.611572251,661,635,880,787,804.388427749,651.611572251,631.611572251,652.611572251,0.440668787525,-0.00554487466231,0.0797593800892,0.9999999262,-7.65975674487e-05,-0.000370553800215,-6.64958687183e-05,1793239498765327616
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714.80968244,682,661,634.80968244,880.19031756,787,804,651.80968244,631.80968244,653,0.4412173601,-0.0055405000545,0.0796993827825,0.999999888142,-7.387766796e-05,-0.000461993436706,-6.94278730373e-05,1793239498781993984
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,746,714.23248421,682,661,634.23248421,880.76751579,787,804,651.23248421,631.23248421,653,0.441787536444,-0.00554015069535,0.07966951534,0.999999868608,-7.24202720522e-05,-0.000502463138735,-7.12110168802e-05,1793239498798660864
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.342344343,746,714.342344343,682,661,634.342344343,880.657655657,787,804.342344343,651.342344343,631,653,0.442384495377,-0.0055383702813,0.0796856113757,0.999999881655,-6.64394941358e-05,-0.000476824888511,-7.01039362249e-05,1793239498815327744
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.915574689,746,714.915574689,682,661,634.915574689,880.084425311,787,804.915574689,651.915574689,631,653,0.442999517156,-0.00553562472632,0.0797327063884,0.999999913442,-5.74080286341e-05,-0.000406601697561,-6.70476120348e-05,1793239498831994368
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.495493378,746,715,682.504506622,660.495493378,634.495493378,880.504506622,786.495493378,805,652,631,653,0.443535554239,-0.00553156328138,0.0797561023546,0.999999927406,-5.37908638934e-05,-0.000371289666734,-6.66275840947e-05,1793239498848660992
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.905848058,714.905848058,682.905848058,660,634,880.905848058,786,805,651.905848058,631,653,0.444044987028,-0.00552870978028,0.0797686693311,0.999999934096,-5.30498671623e-05,-0.000352936395327,-6.65592156609e-05,1793239498865327616
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.326501927,714.326501927,682.326501927,660,634,880.326501927,786,805,651.326501927,631,653,0.444487621403,-0.00553325242071,0.0797465249309,0.999999919481,-6.23115600055e-05,-0.000390903561647,-6.59565742794e-05,1793239498881994240
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880.251728195,786,804.748271805,651.251728195,631,653,0.444912222381,-0.00553773231061,0.0797210159077,0.999999900472,-7.36954606411e-05,-0.00043507331533,-6.58517924482e-05,1793239498898660864
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880.828517151,786,804.171482849,651.828517151,631,653,0.445313536505,-0.00554213116936,0.0796911620934,0.999999875232,-8.78198023573e-05,-0.000487252568935,-6.63899048578e-05,1793239498915327488
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.402814918,745.402814918,714,682,660,634,880.597185082,785.597185082,804.402814918,652,631,653,0.445714732442,-0.00554370949912,0.0796767836201,0.9999998656,-8.50250583665e-05,-0.000506995433604,-6.72732700708e-05,1793239498931994112
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.976058725,745.976058725,714,682,660,634,880.023941275,785.023941275,804.976058725,652,631,653,0.446115878411,-0.00554409447817,0.0796689526802,0.999999863257,-7.50719388269e-05,-0.000513014636286,-6.83027100338e-05,1793239498948660736
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.1552526,714.1552526,683,659,633,880.1552526,785.1552526,804.1552526,651,631,653,0.446817503353,-0.00554816161491,0.0796653514654,0.999999868312,-7.44640942832e-05,-0.000503096352705,-6.87445131569e-05,1793239498981994752
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.734001731,714.734001731,683,659,633,880.734001731,785.734001731,804.734001731,651,631,653,0.4471388876,-0.00555097521954,0.0796638639225,0.999999869355,-8.77152127319e-05,-0.00049897455411,-6.79673131432e-05,1793239498998661376
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,746,714.690892142,683,659,633,881,785.690892142,804.690892142,651.309107858,631,653,0.447428823183,-0.00555279113455,0.079657085727,0.999999865316,-9.42037720623e-05,-0.000505788792085,-6.83402145594e-05,1793239499015327744
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,746,714.118884467,683,659,633,881,785.118884467,804.118884467,651.881115533,631,653,0.447692011293,-0.00555375850279,0.0796458077703,0.999999856873,-9.49406956396e-05,-0.000521904256184,-6.96912906192e-05,1793239499031994368
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,682.531437189,659,633,880.531437189,785,804.468562811,652,631,653,0.447924592421,-0.0055547105034,0.0796330050709,0.999999844392,-9.49536686928e-05,-0.000545183139118,-7.0528597245e-05,1793239499048660992
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.058820166,746,714,682.058820166,659,633,880.058820166,785,805,652,631,653,0.448146881369,-0.00555570411964,0.0796206146154,0.999999831404,-9.50200677956e-05,-0.000568418127469,-7.11625793336e-05,1793239499065327616
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.638098942,746,714,682.638098942,659,633,880.638098942,785,805,652,631,653,0.448349156133,-0.00555710163951,0.0796154115086,0.999999827636,-9.72398485441e-05,-0.00057463484817,-7.11902007562e-05,1793239499081994496
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+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.208224821,714,683,659,632.208224821,880.208224821,785,805,652,631,653,0.448711468637,-0.00556129338355,0.0796114048209,0.999999822722,-0.000109471569838,-0.00058143069912,-6.71513290131e-05,1793239499115327488
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.366666836,714,683,658.633333164,632.366666836,880,785,805,651.633333164,631,653,0.448866811609,-0.00556256873471,0.0796109081489,0.99999982146,-0.000110066704155,-0.000583648736355,-6.5718538266e-05,1793239499131994624
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.941083904,714,683,658.058916096,632.941083904,880,785,805,651.058916096,631,653,0.449012964676,-0.00556319943856,0.0796104415626,0.99999982055,-0.000106531038914,-0.000585923784083,-6.51450236124e-05,1793239499148661760
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.468922558,746,714,683.531077442,658,633,880.531077442,785,805,651,631,653,0.449140159501,-0.00556440332335,0.0796128035194,0.999999824111,-0.00010819882445,-0.000579357162988,-6.64618258618e-05,1793239499165328128
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.880175473,714,683.880175473,658,632.880175473,880.880175473,784.880175473,805,651.119824527,631,653,0.449257741108,-0.0055654819217,0.0796139064941,0.999999826201,-0.000109946998903,-0.00057526271053,-6.76924981781e-05,1793239499181994496
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+216,3.600000000,POSE1_TO_POSE2_PRESS,765.273192237,745.273192237,714,683,658,632,880.273192237,784,805,651.726807763,630.726807763,653,0.449423961865,-0.00556542198719,0.0796029327985,0.999999815347,-0.000109266387669,-0.000593904386871,-6.81539310851e-05,1793239499215328256
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.905930055,714,682,657.905930055,632,880.905930055,784.905930055,805,651.905930055,630,652.905930055,0.449730758927,-0.0055644025829,0.0795942560305,0.999999804917,-0.000110396427712,-0.000611119784793,-6.71636585328e-05,1793239499348662016
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.505856971,714,682,658,632,881,784.505856971,804.505856971,652,630,653,0.449739984191,-0.00556386956619,0.0795921455872,0.999999803302,-0.000108810580402,-0.00061408732946,-6.67286832828e-05,1793239499365328384
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.083404086,714,682,658,632,881,784,804,652,630.083404086,653,0.44974734503,-0.0055637773742,0.0795900331667,0.999999801733,-0.000107358308184,-0.000616960121143,-6.60892069656e-05,1793239499381994496
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.663174316,714,682,658,632,881,784,804,652,630.663174316,653,0.449748617139,-0.00556493646466,0.0795882672169,0.999999799865,-0.000106885629594,-0.000620160360044,-6.51619560302e-05,1793239499398661376
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.759480351,714,682,657.759480351,631.759480351,880.759480351,784.240519649,804.240519649,651.759480351,630.759480351,653,0.449750753266,-0.00556484470287,0.0795872724519,0.999999798852,-0.000106383950443,-0.000621904742728,-6.4907251766e-05,1793239499415328256
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.185497006,714,682,657.185497006,631.185497006,880.185497006,784.814502994,804.814502994,651.185497006,630.185497006,653,0.449754087296,-0.00556301872171,0.0795873468806,0.999999799036,-0.00010584206407,-0.00062163068225,-6.55849865509e-05,1793239499431995136
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.397897367,714,682,657,631.397897367,880.397897367,784.602102633,805,651,630,653,0.449756043006,-0.00556242578474,0.0795868985596,0.999999798786,-0.000105590216639,-0.000622083795432,-6.54962008744e-05,1793239499448661760
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.985785362,714,682,657,631.985785362,880.985785362,784.014214638,805,651,630,653,0.449757340586,-0.0055624216098,0.0795862006325,0.99999979833,-0.000105476858906,-0.00062288412424,-6.50414119917e-05,1793239499465328384
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.434347726,745.434347726,714,682,657,632,881,784,805,651,630.565652274,653,0.449757928919,-0.00556281626905,0.0795856236279,0.999999797822,-0.00010614154397,-0.000623588497674,-6.50164308486e-05,1793239499481994752
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.144457663,745.144457663,714,682,657,632,881,784,805.144457663,651.144457663,630.855542337,653,0.449758302349,-0.00556319315766,0.0795850230644,0.999999797321,-0.000106449206044,-0.000624343864287,-6.49723389146e-05,1793239499498660608
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.720684204,745.720684204,714,682,657,632,881,784,805.720684204,651.720684204,630.279315796,653,0.449758085986,-0.00556348739412,0.0795843431309,0.999999796845,-0.00010563214194,-0.000625258750484,-6.48392953982e-05,1793239499515327488
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,880.704581588,784,805.704581588,652,630.295418412,653,0.449758177529,-0.00556253152689,0.0795846449755,0.999999796797,-0.000105040790385,-0.000625432230691,-6.48538341934e-05,1793239499531994624
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,880.131251213,784,805.131251213,652,630.868748787,653,0.449758558732,-0.00556039963697,0.079585870418,0.999999797155,-0.000104661775597,-0.000624908240616,-6.50072095805e-05,1793239499548661504
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.543083457,714,682.456916543,657,632,880,784,805,652,630.543083457,653,0.449759438801,-0.00555967713029,0.0795853640787,0.999999797228,-0.000103041654463,-0.000625084829651,-6.47696041096e-05,1793239499565328384
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.048373465,745,714,682.951626535,657,632,880,784,805,652,630,653,0.449760342514,-0.00555947044776,0.0795843757553,0.999999797158,-0.000101235705349,-0.000625526262114,-6.4444685201e-05,1793239499581995264
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.627584311,745,714,682.372415689,657,632,880,784,805,652,630,653,0.449759880342,-0.00556033244105,0.0795837404972,0.999999796471,-0.000101434113614,-0.000626591494443,-6.44354465896e-05,1793239499598661376
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.794770588,745.205229412,714,682,657.205229412,632,880.205229412,784,805,652,630.205229412,653,0.449759261084,-0.00556143498864,0.0795831210038,0.999999795607,-0.000103347030497,-0.000627655772431,-6.44464868279e-05,1793239499615327488
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.219945262,745.780054738,714,682,657.780054738,632,880.780054738,784,805,652,630.780054738,653,0.449758358928,-0.00556297074838,0.0795825299011,0.999999794407,-0.000108347591458,-0.00062871833168,-6.44940470745e-05,1793239499631994112
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,682.362623797,657.637376203,632,880.637376203,784,805,651.637376203,631,653,0.449758985401,-0.00556233573103,0.0795830203252,0.999999794654,-0.000108100411776,-0.000628357250975,-6.46055521373e-05,1793239499648660736
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,682.949992196,657.050007804,632,880.050007804,784,805,651.050007804,631,653,0.449760559277,-0.00556035532362,0.0795841810509,0.999999795797,-0.000104600821592,-0.000627113835986,-6.47566884976e-05,1793239499665327360
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.530163545,746,714,683,657,632,880.530163545,784.530163545,805,651.530163545,631,653,0.449759737386,-0.00555949970263,0.0795834849408,0.999999795218,-0.000103253591367,-0.000628323636728,-6.41300024783e-05,1793239499681995008
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.890806873,746,714,683,657.109193127,632,881,785,805,651.890806873,631,653,0.449758920813,-0.0055589744106,0.0795828015461,0.999999794551,-0.000102793770857,-0.000629504561144,-6.36773252431e-05,1793239499698662656
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,682.737063732,657.737063732,631.737063732,880.737063732,784.737063732,805,651.262936268,631,653,0.449759959128,-0.0055604768068,0.0795835170085,0.999999794786,-0.000106087615804,-0.000628523216133,-6.42859822856e-05,1793239499731995904
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,682.160651296,657.160651296,631.160651296,880.160651296,784.160651296,805,651.839348704,631,653,0.449761689067,-0.00556227624251,0.0795847084001,0.999999796473,-0.000104901714794,-0.00062610417629,-6.35796615121e-05,1793239499748661760
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+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,632,880,784,804.408326634,651.591673366,630.408326634,653,0.449760203897,-0.00556123040584,0.07958195003,0.99999979398,-0.000103301992243,-0.000630366222739,-6.3297936067e-05,1793239499798661120
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682.16952711,657,632,880.33905422,784,804.16952711,652,630.16952711,652.83047289,0.449759871997,-0.00556126019081,0.0795818469006,0.999999793475,-0.000102508125874,-0.000631324181742,-6.3028551233e-05,1793239499815327744
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682.74435422,657,632,881.488708441,784,804.74435422,652,630.74435422,652.25564578,0.449759945496,-0.00556105869401,0.0795819644908,0.999999793531,-0.00010363604908,-0.000631008641185,-6.34554627248e-05,1793239499831994880
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+256,4.266666667,HOLD_POSE2,765,746,714,683,657,632,881,784,804,652,631,653,0.449763386426,-0.00555858121498,0.0795838018077,0.999999796785,-9.94467599482e-05,-0.000626481475283,-6.37309085606e-05,1793239499896513024
+257,4.283333333,HOLD_POSE2,765,746,714,683,657,632,881,784,804,651.421741925,630.421741925,653,0.449764208483,-0.00556051653674,0.0795845021954,0.999999797074,-0.000103052315767,-0.000625502095865,-6.30884370594e-05,1793239499913179648
+258,4.300000000,HOLD_POSE2,765,745.844776199,714,683,657,632,881,784,804.155223801,651,630.155223801,653,0.449764438284,-0.00556151720364,0.0795846735824,0.999999796974,-0.000105034112273,-0.000625373174744,-6.26691484045e-05,1793239499929846016
+259,4.316666667,HOLD_POSE2,765,745.271292658,714,683,657,632,881,784,804.728707342,651,630.728707342,653,0.449763072217,-0.005559999388,0.0795834195462,0.999999795857,-0.000102640593769,-0.000627535863757,-6.28512390302e-05,1793239499946512384
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+261,4.350000000,HOLD_POSE2,765,745,714,682.120473228,657,631.120473228,881,784,805,651.879526772,631,652.120473228,0.449761808371,-0.00555930616671,0.0795827251143,0.999999794992,-0.000101525323214,-0.000629030264033,-6.34717065055e-05,1793239499979845888
+262,4.366666667,HOLD_POSE2,764.533167718,745.466832282,714,682.466832282,657,631.466832282,881,784,805.466832282,652,631,652,0.449761995803,-0.00555881823255,0.0795827635822,0.999999794754,-0.00010109277854,-0.000629475549403,-6.35036781375e-05,1793239499996512768
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+264,4.400000000,HOLD_POSE2,764.634697654,746,714,682.365302346,657,632,880.365302346,784,804.730604693,652,630.365302346,652.634697654,0.449763642843,-0.00555991495858,0.079583466618,0.99999979568,-0.000103916681965,-0.000627580815894,-6.3116509703e-05,1793239500029846528
+265,4.416666667,HOLD_POSE2,765,746,714,682,657,631.790994446,880.209005554,784,804.209005554,652,630,653,0.449764179174,-0.00556087596821,0.0795836901015,0.999999796034,-0.000105391992284,-0.000626793549509,-6.28783537618e-05,1793239500046513152
+266,4.433333333,HOLD_POSE2,765,746,714,682,657,631.224195438,880.775804562,784,804.775804562,652,630,653,0.449763547809,-0.00556089444972,0.0795832921238,0.999999795223,-0.000104210000625,-0.000628294631606,-6.2763332024e-05,1793239500063179520
+267,4.450000000,HOLD_POSE2,765,745.638520209,714,682.361479791,657,631.361479791,881,784,805,652,630.361479791,653,0.449764451594,-0.00556063990826,0.0795838274737,0.999999795698,-0.000103915493199,-0.000627565006381,-6.29966922764e-05,1793239500079846144
+268,4.466666667,HOLD_POSE2,765,745.040492559,714,682.959507441,657,631.959507441,881,784,805,652,630.959507441,653,0.449766359962,-0.00556020670398,0.0795849735813,0.99999979701,-0.000104201744247,-0.000625375634307,-6.34580293383e-05,1793239500096513024
+269,4.483333333,HOLD_POSE2,765,745.539554654,714,682.460445346,657,632,881,784,805,652,631,653,0.449764344954,-0.00555926908261,0.0795830273942,0.999999795397,-0.0001039818593,-0.000627967788659,-6.36346477062e-05,1793239500113179904
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,657.185378253,632,881,784,804.814621747,651.814621747,630.814621747,653,0.449752202175,-0.0055564054436,0.0795764004945,0.999999789992,-9.87288185865e-05,-0.000637360837143,-6.35654722131e-05,1793239500351071488
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.032413298,713.032413298,682.032413298,657.967586702,632,880.032413298,784,804.032413298,651.032413298,631,653,0.449690240588,-0.00555505808449,0.079546492744,0.999999758451,-9.82536841374e-05,-0.00068502797321,-6.46543527333e-05,1793239500384404480
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.558793386,713.558793386,682,657.441206614,631.441206614,880.558793386,784,804.558793386,651.558793386,631,653,0.449627677946,-0.00555385878277,0.0795234568078,0.999999730829,-9.8632941729e-05,-0.000724155556853,-6.49003494946e-05,1793239500401071104
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,631.146842388,880.853157612,784,804.853157612,651.853157612,630.853157612,653,0.449561556037,-0.00555280534771,0.0795031608445,0.999999706027,-9.90866624185e-05,-0.000757583783903,-6.47596651806e-05,1793239500417737984
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,631.723211329,880.276788671,784,804.276788671,651.276788671,630.276788671,653,0.449489727752,-0.00555225038979,0.0794919330113,0.999999694798,-9.96303051372e-05,-0.000772294994309,-6.35514933069e-05,1793239500434405376
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,631.700146388,880,784,804.299853612,651.299853612,630.299853612,653,0.449410003761,-0.00555041977372,0.079484560806,0.999999687661,-9.78083586163e-05,-0.000781828382205,-6.20936337984e-05,1793239500451072256
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,631.123251593,880,784,804.876748407,651.876748407,630.876748407,653,0.449322984762,-0.00554741054975,0.0794807508986,0.999999684424,-9.38007934399e-05,-0.000786577868038,-6.04050826088e-05,1793239500467738624
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.539359389,745.539359389,714,682,657,631,880.460640611,784,804.539359389,652,630.539359389,653,0.449218828424,-0.00554655477126,0.0794813582865,0.999999684529,-9.14319932383e-05,-0.000786949275454,-5.73857248379e-05,1793239500484404992
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.045947568,745,714,682,657,631,880.954052432,784.045947568,804,651.954052432,630.045947568,652.954052432,0.449108019129,-0.00554623938165,0.0794832772076,0.999999685729,-8.94774594625e-05,-0.000785891792916,-5.3945765121e-05,1793239500501071104
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.625604845,745,714,682,657,631,880.374395155,784.625604845,804,651.374395155,630.625604845,652.374395155,0.448974014994,-0.00554540492733,0.0794864899463,0.999999689156,-8.71631404675e-05,-0.000782053558126,-4.98201186655e-05,1793239500517737728
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.204524456,714,682,657.204524456,631.204524456,880.204524456,784.795475544,804.204524456,651,631,652.204524456,0.44882881689,-0.00554333085464,0.0794906033768,0.999999693294,-8.42132281197e-05,-0.00077732192551,-4.57233267177e-05,1793239500534404352
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.782098513,714,682,657.782098513,631.782098513,880.782098513,784.217901487,804.782098513,651,631,652.782098513,0.448663201167,-0.00553899573636,0.0794963596555,0.999999698733,-8.01040030979e-05,-0.000770960748822,-4.16791654191e-05,1793239500551070976
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.3576672,657.6423328,631.6423328,881,784,805,651.3576672,631,652.6423328,0.448476535165,-0.00553604961745,0.0794985660003,0.999999699439,-7.62937818933e-05,-0.000770684405151,-3.67042404306e-05,1793239500567737856
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.932021022,657.067978978,631.067978978,881,784,805,651.932021022,631,652.067978978,0.448277116194,-0.00553394499989,0.0794986216782,0.999999697263,-7.26647066971e-05,-0.000774094454019,-3.11654276137e-05,1793239500584404992
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,657,631.520676488,881,784,804.479323512,652,631,652.520676488,0.44803911804,-0.00553032584425,0.0794948616898,0.999999691947,-6.38046078828e-05,-0.000781925702267,-2.50398205851e-05,1793239500601071872
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.109104338,745.890895662,714,682.890895662,657,632,880.890895662,784,804.109104338,651.890895662,631,653,0.44779111573,-0.00552616719792,0.0794919447302,0.999999688281,-5.37860537008e-05,-0.00078752667946,-1.86392284653e-05,1793239500617738496
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.688279719,745.311720281,714,682.311720281,657,632,880.311720281,784,804.688279719,651.311720281,631,653,0.447522324873,-0.00552056017961,0.0794948668797,0.999999694111,-4.18019387409e-05,-0.000780961442653,-1.13932721263e-05,1793239500634404864
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.734113936,745,714,682.265886064,657.265886064,632,880,784,805,651,631,653,0.447239102469,-0.00551453602944,0.079501131547,0.99999970175,-2.87668215039e-05,-0.000771785200259,-4.43002296465e-06,1793239500651071232
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.158336345,745,714,682.841663655,657.841663655,632,880,784,805,651,631,653,0.446939060041,-0.00550802571036,0.0795112919352,0.999999711422,-1.45067566181e-05,-0.00075956581824,2.20372914454e-06,1793239500667738112
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713.585177232,682.585177232,658.414822768,632,880,784.414822768,804.585177232,651,630.585177232,653,0.446608199872,-0.00550318433609,0.0795228863816,0.999999721674,1.8992304028e-05,-0.000745815893654,7.02426633342e-06,1793239500684404736
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.013011327,682.013011327,658.986988673,632,880,784.986988673,804.013011327,651,630.013011327,653,0.446265650476,-0.0054989759962,0.0795350247691,0.999999730615,5.97887553819e-05,-0.000731485430229,1.11570471742e-05,1793239500701071360
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.577386888,682,658.422613112,632,881.154773776,785,804.577386888,651,630.577386888,653,0.445861764028,-0.00549410682956,0.0795463773323,0.999999738478,4.17465757059e-05,-0.00072195740832,8.84740260896e-06,1793239500717737984
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.834800761,682,658.165199239,632.165199239,881.669601522,785,804.834800761,651,631,653,0.445445932406,-0.00548905200214,0.0795562721506,0.999999746261,2.78710317705e-05,-0.000711783631463,8.06477598377e-06,1793239500734404864
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.254551205,682,658.745448795,632.745448795,880.509102409,785,804.254551205,651,631,653,0.44500367548,-0.00548356935121,0.0795625504373,0.99999975475,2.79037344295e-05,-0.000699706681282,1.14953089447e-05,1793239500751071488
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.322910329,682.322910329,659,633,880,785,804,651,631,653,0.444541712432,-0.00547744390596,0.0795712069532,0.99999976285,4.31431709003e-05,-0.000687189771297,1.44763022582e-05,1793239500767738112
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.89819293,682.89819293,659,633,880,785,804,651,631,653,0.444064347913,-0.00547081608083,0.0795817221873,0.999999770025,7.02675104616e-05,-0.000674329006687,1.71059558441e-05,1793239500784404736
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.517013519,659,633,880,785,804,651,630.517013519,653,0.443566394083,-0.00546619587973,0.0795912251835,0.999999778831,6.99036161418e-05,-0.000661142712411,1.84888676928e-05,1793239500801071104
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.068959336,714,682,659.068959336,633,880,785,804,651,630.068959336,652.931040664,0.443057096152,-0.00546206187241,0.079600923682,0.999999788823,6.33704038901e-05,-0.000646495408583,1.95477993343e-05,1793239500817737472
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.648522132,714,682,659.648522132,633,880,785,804,651,630.648522132,652.351477868,0.442496581847,-0.00545833149941,0.0796136813517,0.999999805127,5.49210969229e-05,-0.000621548455477,2.0192788906e-05,1793239500834404352
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.774436924,714,682.225563076,660,633.225563076,880.225563076,785.225563076,804.225563076,651,631,652.225563076,0.441926402021,-0.00545374052255,0.0796295775929,0.999999821041,6.604787464e-05,-0.000594222104528,2.13463438995e-05,1793239500851070976
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.201282177,714,682.798717823,660,633.798717823,880.798717823,785.798717823,804.798717823,651,631,652.798717823,0.441341327706,-0.0054478233593,0.079650310358,0.999999835354,0.000107341309869,-0.000563229113272,2.32835958243e-05,1793239500867738112
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.044652274,660,634,880.044652274,786,805,651,631,653,0.440019456665,-0.00541934786243,0.0796220547043,0.999999815713,0.000105255068962,-0.000597783919059,1.22302131709e-05,1793239500901071872
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.544341544,745.544341544,714.544341544,682,660.544341544,634.544341544,880,786.544341544,805,651,631,653,0.439345922229,-0.00541471726406,0.0796131236021,0.99999980939,0.000116985254579,-0.000606117915952,1.24971868138e-05,1793239500917737984
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,746,714.289089895,682,661,635,880,787,804.289089895,651.710910105,631,652.289089895,0.438016901649,-0.0054250433769,0.0797016570563,0.999999884043,0.000103499347379,-0.000469919353913,1.94573706005e-05,1793239500951070976
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745.711583293,714,682,661,635,880,787,804.288416707,651.711583293,631,652.288416707,0.437342959637,-0.00542879387105,0.0797711679914,0.999999927912,0.00010007333766,-0.000365456687291,2.45668302052e-05,1793239500967737600
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.135751241,714,682,661,635,880,787,804.864248759,651.135751241,631,652.864248759,0.436654144638,-0.00542558973065,0.0798331288017,0.999999956303,0.000112681087607,-0.000271691929415,2.96713080373e-05,1793239500984404224
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.448834612,714,682,661,635,880,787,804.551165388,651.448834612,631,653,0.43591722892,-0.00541898400876,0.0798549503897,0.999999963615,0.000126483022223,-0.000236123892381,3.19121434841e-05,1793239501001071104
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.964361093,745.964361093,714.035638907,682,661,635,880,787,804.035638907,652,631,653,0.435160066987,-0.0054117952232,0.0798621285192,0.999999965077,0.000139744628703,-0.000221857055911,3.31242572008e-05,1793239501017737728
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.384908496,745.384908496,714.615091504,682,661,635,880,787,804.615091504,652,631,653,0.434320373958,-0.00541172045174,0.0798347945333,0.999999956342,0.000139140449656,-0.000258697474384,3.21180634473e-05,1793239501034404352
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,635,880,786.80660176,804.80660176,652,631.19339824,653,0.433454059401,-0.00541008774365,0.0798039700704,0.999999941473,0.000142160809874,-0.000309564760406,3.18533006193e-05,1793239501051070720
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,635,880,786.230562162,804.230562162,652,631.769437838,653,0.432535073797,-0.00540537263425,0.0797662396473,0.999999912504,0.000152352375873,-0.000388184414212,3.30554701438e-05,1793239501067737344
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.345359442,745,715,682,661,635,880,786.345359442,804,651.654640558,631.654640558,653,0.431639266092,-0.00540566822761,0.0797385552418,0.999999889108,0.000157877478279,-0.000442346032199,3.44758714144e-05,1793239501084404224
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.921202278,745,715,682,661,635,880,786.921202278,804,651.078797722,631.078797722,653,0.430758926716,-0.00540930782636,0.0797175752736,0.999999871215,0.000160288311084,-0.000480185027271,3.60419145615e-05,1793239501101070848
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.49069902,745.50930098,715,682,661,635,880,787,804,651.50930098,631,653,0.429985475742,-0.00542074551959,0.079774080889,0.999999915866,0.000148008841599,-0.00038060321145,3.87601062939e-05,1793239501117737472
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.323549794,715,681.323549794,661,635,880,787,804,652,631,653,0.428352006261,-0.00543054697003,0.0798677125789,0.999999961797,0.000143460604013,-0.000231731710145,4.60978350042e-05,1793239501151070720
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.253148911,661,635,879.746851089,787,804,652,631,653,0.427453300913,-0.00542527453719,0.0798617131863,0.999999958218,0.000153160602718,-0.000240618095585,4.69967078093e-05,1793239501167737600
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.004499016,660.004499016,635,879,787,804,652,631,653,0.424696758687,-0.00540537592189,0.0797509728757,0.99999989971,0.000190601216425,-0.00040283232242,4.44716254572e-05,1793239501217737984
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.574905446,635,879.574905446,787,804.574905446,651.425094554,631,653,0.423780302161,-0.00539897465805,0.0797392502066,0.999999886444,0.000198217302485,-0.000431009190584,4.53000729599e-05,1793239501234404352
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787,804.266207369,651.733792631,631.733792631,652.266207369,0.422087391754,-0.00539335179893,0.0797888465831,0.999999924217,0.000202076653778,-0.000329592798752,4.58250741298e-05,1793239501267737856
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.310750801,745,715,680.689249199,661,635,880,787,803.689249199,652,632,652.310750801,0.421269639786,-0.00539274968854,0.0798356714113,0.99999994835,0.000204503296331,-0.000243346020466,4.7553208372e-05,1793239501284404480
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.885552194,745,715,680.114447806,661,635,880,787,803.114447806,652,632,652.885552194,0.420441734031,-0.00539224503385,0.0798832794925,0.999999962903,0.000210137231376,-0.000165696450069,5.0804554661e-05,1793239501301071104
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.528627404,745,715,680,661,635,880,787.471372596,803.471372596,652,631.528627404,653,0.419573783141,-0.00538997162697,0.0798654453692,0.999999955167,0.000214364226477,-0.000203017994166,4.99842893776e-05,1793239501317737728
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.058987182,660.941012818,635,879.941012818,787.941012818,804,652,631,652.941012818,0.418697806365,-0.00538947330692,0.0798323283905,0.999999940363,0.000214927786038,-0.000266020833876,4.80843963228e-05,1793239501334404096
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.638264039,660.361735961,635,879.361735961,787.361735961,804,652,631,652.361735961,0.417838850644,-0.00540851049848,0.0798079139072,0.999999935578,0.000186263604615,-0.000303431299273,4.55900945805e-05,1793239501351070976
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.216676836,635,879.216676836,787,804,652,631,652.216676836,0.416997176021,-0.00542424246836,0.0797983038435,0.999999933556,0.000163906825525,-0.000322554730526,4.45049439653e-05,1793239501367737600
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.793652928,635,879.793652928,787,804,652,631,652.793652928,0.416184236988,-0.00543447838117,0.079813311181,0.999999938951,0.000152038253373,-0.000311269727484,4.57629881962e-05,1793239501384404224
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.376079975,745,715,680.623920025,661,635,879.623920025,787,804,652,631,652.623920025,0.415380651332,-0.00542926091705,0.0798056900213,0.999999932706,0.000162906817585,-0.000325453400908,4.61357467486e-05,1793239501401071104
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.961541796,745,715,680.038458204,661,635,879.038458204,787,804,652,631,652.038458204,0.414582273202,-0.00541543981266,0.0797854704858,0.999999918969,0.000186434241878,-0.000353816714224,4.6015623979e-05,1793239501417737728
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.458435044,745,715,680,661,635,879.541564956,787,804,652,631,652.541564956,0.413855420792,-0.00541634263554,0.0797992013951,0.999999929045,0.000187492156,-0.000323512541611,4.57875499072e-05,1793239501434404096
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.120794425,745,714.879205575,680,661.120794425,635,880,787.120794425,804,652,631,653,0.413135381416,-0.00541674702678,0.0798133662621,0.999999937733,0.000188636642595,-0.000294727696761,4.56658973426e-05,1793239501451070976
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.698468162,745,714.301531838,680,661.698468162,635,880,787.698468162,804,652,631,653,0.412422090708,-0.00541135079753,0.0798201443288,0.999999938451,0.00019608369708,-0.000287290333894,4.59754683181e-05,1793239501467737600
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.724707769,745,714.275292231,680,661.724707769,635,880,787.724707769,804,652,631,653,0.411707032104,-0.00540691567707,0.0798157678156,0.99999993442,0.000202127975654,-0.000296951261748,4.60855358384e-05,1793239501484404224
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.148811528,745,714.851188472,680,661.148811528,635,880,787.148811528,804,652,631,653,0.410990043102,-0.00540353003504,0.0797992111128,0.999999924688,0.000206640499316,-0.000325282585199,4.59777564885e-05,1793239501501070848
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879.568570556,787,804,652,631.431429444,652.568570556,0.410332816019,-0.00540143170151,0.0797990337418,0.999999922622,0.000211509776579,-0.00032850646287,4.5851459604e-05,1793239501517737728
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.01320515,745,715,680,661,635,879,787,804,652,631.98679485,652,0.409697559885,-0.00539979851896,0.0798049987249,0.999999923654,0.000216376434471,-0.000322148569078,4.5754145549e-05,1793239501534404352
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.595879039,745,715,680,661,635,879,787,804,652,631.404120961,652,0.409111803099,-0.00539888150783,0.0798297320655,0.999999936451,0.00021576946352,-0.000279848676292,4.71849569847e-05,1793239501551070976
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.823024499,652,631,652.176975501,0.408526671088,-0.00539758244354,0.0798441472519,0.999999942187,0.000217510180134,-0.000256867831161,4.83047374885e-05,1793239501567737344
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.245498136,652,631,652.754501864,0.407942953022,-0.00539541867341,0.0798352092355,0.999999935064,0.000224564447924,-0.000277612020744,4.8720558223e-05,1793239501584404224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.66924205,745,715,680,660.66924205,635,879,787,803,652,631,652.66924205,0.407372241637,-0.00539437141525,0.0798125692943,0.999999922477,0.000227543916528,-0.000317789563174,4.7747210578e-05,1793239501601071104
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.093925227,745,715,680,660.093925227,635,879,787,803,652,631,652.093925227,0.406811147288,-0.00539414969416,0.0797797982976,0.999999903756,0.000227510521533,-0.000372335915833,4.57467266459e-05,1793239501617737728
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.493287504,745,715,680,660.493287504,635,879.493287504,787.493287504,803.493287504,651.506712496,631,652.493287504,0.406324999411,-0.00539217307472,0.0797790485501,0.999999905072,0.000229141835458,-0.000367857597737,4.50689770755e-05,1793239501634404352
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.081431238,879.918568762,787.918568762,804,651,631.081431238,653,0.405862024233,-0.00539013023425,0.0797870734656,0.999999911804,0.000231332099555,-0.000347663610972,4.48065431932e-05,1793239501651070720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.661070573,879.338929427,787.338929427,804,651,631.661070573,653,0.40545135766,-0.00538977710597,0.0798105585439,0.999999925828,0.000234954900244,-0.000301777984443,4.55060925075e-05,1793239501667737600
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.762472911,745,715,679.762472911,661,635.762472911,879,787,804,651.237527089,632,653,0.405047409477,-0.00539060512669,0.0798260467499,0.99999993352,0.000233876668702,-0.000275927697594,4.61103697358e-05,1793239501684404480
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.190497984,745,715,679.190497984,661,635.190497984,879,787,804,651.809502016,632,653,0.404652921097,-0.00539309625343,0.0798302750314,0.999999934615,0.000226179192101,-0.000278287991491,4.65805000238e-05,1793239501701071104
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.394088695,661,635,879,787,804,651.605911305,631.605911305,652.605911305,0.40427707638,-0.00539235830624,0.0798363094454,0.999999933874,0.000231148799768,-0.000276661316342,4.77596441012e-05,1793239501717737728
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.984973354,661,635,879,787,804,651.015026646,631.015026646,652.015026646,0.403910541708,-0.00539000785751,0.0798432457875,0.999999932119,0.000242443965107,-0.000273043669744,4.92928482371e-05,1793239501734404352
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.564867386,745,715,680,661,635,879,787,804,651.564867386,631,652.564867386,0.403588757761,-0.00539053984042,0.0798433518768,0.999999935518,0.000225295742105,-0.000275757175471,4.65219648585e-05,1793239501751070976
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.8555556,745,715,680,661,635,879,787,804,652,631,653,0.403279069023,-0.00539069623091,0.0798427074443,0.999999937124,0.000213645746692,-0.000279499155702,4.45765035751e-05,1793239501767737600
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.276069478,745,715,680,661,635,879,787,804,652,631,653,0.403002291863,-0.00538949486642,0.0798403393702,0.99999993374,0.000220790879244,-0.000285841149203,4.54553368759e-05,1793239501784404480
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,804,652,631,652.700895688,0.402749480344,-0.0053877176841,0.0798387644122,0.999999930614,0.000228924049393,-0.000290366221659,4.53061164199e-05,1793239501801071616
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,804,652,631,652.129645592,0.402518474439,-0.00538541658296,0.0798379110861,0.999999927716,0.000237956204036,-0.000293238133332,4.42215015168e-05,1793239501817738752
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.45692322,635.45692322,879,787,803.54307678,652,631,652.45692322,0.402314126476,-0.00538790642933,0.0798381205516,0.999999929898,0.000232444604688,-0.000290185874851,4.43353170623e-05,1793239501834404864
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.952958902,661.952958902,635.952958902,879,787,803,651.952958902,631,652.952958902,0.402121006306,-0.00539144028837,0.0798393202776,0.999999933478,0.000223492791628,-0.000284744867765,4.48854006642e-05,1793239501851070976
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.373571121,661.373571121,635.373571121,879,787,803,651.373571121,631,652.373571121,0.401966380683,-0.00539087179568,0.0798481954798,0.999999936873,0.00022392834659,-0.000271953261589,4.63909998365e-05,1793239501867737600
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745.204708977,715,679,661,635.204708977,879,787,803.204708977,651.204708977,631.204708977,652.204708977,0.401821292795,-0.00539071036397,0.079855821233,0.999999939847,0.000223796391645,-0.000260748139794,4.72488681786e-05,1793239501884404736
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745.780978494,715,679,661,635.780978494,879,787,803.780978494,651.780978494,631.780978494,652.780978494,0.401693516553,-0.00539128777532,0.0798611791514,0.999999942257,0.000222634368107,-0.000252422595131,4.69310614135e-05,1793239501901071872
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745.636231584,715,679,661,635.636231584,879,787.363768416,804,652,631.636231584,653,0.401573555714,-0.00539166150965,0.0798593740045,0.999999941194,0.000224001862855,-0.000255718490793,4.5196726419e-05,1793239501917738752
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745.049444076,715,679,661,635.049444076,879,787.950555924,804,652,631.049444076,653,0.401458386328,-0.00539191037375,0.0798531773269,0.999999937931,0.000226920154204,-0.000266139256688,4.25939464559e-05,1793239501934405120
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.530609588,745,715,679,661,635,878.469390412,787.469390412,804,652,631,652.469390412,0.401361327502,-0.00539191873016,0.079846604413,0.999999934458,0.000231181230565,-0.000275606274453,4.09863795886e-05,1793239501951071232
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.890600261,745,715,679,661,635,878.109399739,787,804,652,631,652,0.401271683976,-0.00539203757719,0.0798404249638,0.999999931317,0.000234548263677,-0.000284199673947,3.97832811166e-05,1793239501967737600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.314556448,745,715,679,661,635,878.685443552,787,804,652,631,652,0.40120656209,-0.00539272211895,0.0798360715046,0.999999930037,0.000233574727403,-0.000289441001205,3.991482617e-05,1793239501984404224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.26087516,661.26087516,635.26087516,879,787,804,651.73912484,631,652,0.401151614846,-0.00539288145009,0.0798344068812,0.999999929552,0.00023298962486,-0.000291517653433,4.03683536019e-05,1793239502001071104
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.835570282,661.835570282,635.835570282,879,787,804,651.164429718,631,652,0.401108907202,-0.00539240897868,0.079835976795,0.999999930048,0.000232871789019,-0.000289787357245,4.12092099609e-05,1793239502017737728
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.416526416,745,715,679.583473584,661.583473584,635.583473584,878.583473584,787,804,651.416526416,631,652.416526416,0.401075907842,-0.00539263386777,0.0798364748677,0.999999930573,0.000231750994659,-0.000288820796938,4.15779938998e-05,1793239502034404352
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.999991878,745,715,679.000008122,661.000008122,635.000008122,878.000008122,787,804,651.999991878,631,652.999991878,0.401046799452,-0.00539313825101,0.0798365433587,0.999999931107,0.000230228225944,-0.000288160333317,4.17575765666e-05,1793239502051071488
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.413366986,745,715,679.586633014,661.586633014,635,878.586633014,787,804,652,631,653,0.401026348813,-0.00539258606416,0.0798365331211,0.999999930744,0.000232727428396,-0.000287408765192,4.17822269393e-05,1793239502067738368
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.169942392,745,715,679.830057608,661.830057608,635,879,787,803.830057608,652,631,653,0.40100918833,-0.00539212677392,0.0798363618861,0.999999930588,0.0002343339868,-0.000286650906729,4.17491885822e-05,1793239502084404992
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.74530326,745,715,679.25469674,661.25469674,635,879,787,803.25469674,652,631,653,0.400999876632,-0.00539188913516,0.0798358065746,0.999999930939,0.000233810899118,-0.000285878045019,4.15785318074e-05,1793239502101071360
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803.318026003,652,631,653,0.400992312654,-0.00539204374845,0.0798357167764,0.99999993119,0.000233143387637,-0.000285570314504,4.13992372113e-05,1793239502117737472
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803.888653399,652,631,653,0.400986136851,-0.00539250991932,0.0798359967256,0.999999931362,0.000232361163297,-0.000285632027871,4.12130817564e-05,1793239502134404352
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.522805962,745,715,679.477194038,661,635,879,787,804,652,631,652.522805962,0.400982861953,-0.00539262793996,0.0798366078938,0.999999931634,0.000232519518263,-0.000284581443224,4.09776353727e-05,1793239502151070976
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.068588271,635.068588271,879,787,804,652,631.068588271,652.068588271,0.400980636204,-0.0053926458828,0.07983736658,0.999999931903,0.000233056971298,-0.000283221242763,4.07879466096e-05,1793239502167737600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.648872495,635.648872495,879,787,804,652,631.648872495,652.648872495,0.400980990724,-0.00539254689621,0.0798386267425,0.999999931972,0.000234721444512,-0.000281562970617,4.10287792128e-05,1793239502184404736
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.227008859,745,715,679.772991141,661.772991141,636,879,787,804,652,631.772991141,652.772991141,0.400981297525,-0.00539260115912,0.0798395436327,0.999999932266,0.000235202979629,-0.000280095424483,4.11543524337e-05,1793239502201071360
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.801854111,745,715,679.198145889,661.198145889,636,879,787,804,652,631.198145889,652.198145889,0.400981531209,-0.00539289023999,0.0798399345407,0.999999932909,0.000233871946979,-0.000278920120117,4.11033184021e-05,1793239502217737984
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.615451727,745,715,679.384548273,661.384548273,635.615451727,879.384548273,787,804,652,631,652.384548273,0.400980849491,-0.00539401637222,0.0798399531089,0.999999933375,0.000231834092126,-0.000278934869262,4.12170696486e-05,1793239502234404608
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b248b539ea60a326ff12bec04ab4b7fb91250e97
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,418 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/fem_node.csv
new file mode 100644
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--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..019dd86cd5429ef046864f841184bc318839b032
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,662,636,879,787,803,652,631,652,0.40098057073,-0.00539457744115,0.0798446006573,0.999999935174,0.000233348705184,-0.000271267831813,4.01782144893e-05,1793239502740595712
+1,0.016666667,BASELINE,766,745,715,679.574707265,661.425292735,636,878.425292735,787,803,652,631,652.574707265,0.400980515536,-0.00539537792772,0.0798446141658,0.999999935794,0.000230639844338,-0.000271269472959,4.0374517571e-05,1793239502757262592
+2,0.033333333,BASELINE,765.844851378,745,715,679.844851378,661.155148622,635.844851378,878.155148622,787,803,652,631,653,0.400980835187,-0.00539580825192,0.0798446991224,0.999999936314,0.000228828920788,-0.000270875317687,4.04582606655e-05,1793239502773929216
+3,0.050000000,BASELINE,765.248088392,745,715,679.248088392,661.751911608,635.248088392,878.751911608,787,803,652,631,653,0.400982221793,-0.00539518494776,0.0798449874486,0.999999936563,0.000229573881428,-0.000269354569213,4.02216135474e-05,1793239502790596352
+4,0.066666667,BASELINE,765.337504123,745,715,679.337504123,661.662495877,635,878.662495877,787,803,652,631,653,0.400982018444,-0.00539429293704,0.0798445771006,0.999999935898,0.000231763127832,-0.000269960664706,4.01405612469e-05,1793239502807262976
+5,0.083333333,BASELINE,765.915148608,745,715,679.915148608,661.084851392,635,878.084851392,787,803,652,631,653,0.400980683812,-0.00539320973671,0.079843669633,0.999999934572,0.000234980009948,-0.000272080048706,4.01702175212e-05,1793239502823929344
+6,0.100000000,BASELINE,766,745,715,680,661.489283585,635.489283585,878.489283585,787,803.489283585,652,631,653,0.400981017457,-0.00539265802848,0.0798443042561,0.999999934576,0.000235822483476,-0.000271334032886,4.01706588599e-05,1793239502840595712
+7,0.116666667,BASELINE,765.935576213,745,715,680,661.935576213,636,879,787,804,652,631.064423787,653,0.400981573356,-0.00539228630679,0.0798451058034,0.999999934818,0.000236075680416,-0.000270221495418,4.01658011059e-05,1793239502857262080
+8,0.133333333,BASELINE,765.347349759,745,715,680,661.347349759,636,879,787,804,652,631.652650241,653,0.400981600785,-0.00539263391189,0.079845105676,0.999999935126,0.000234861796194,-0.000270140371663,4.01587584202e-05,1793239502873928960
+9,0.150000000,BASELINE,765,745,715,679.762905097,661,636,879,787.237094903,804,652,632,652.762905097,0.400981095052,-0.00539334673435,0.0798450974397,0.999999935359,0.000233668228551,-0.000270313128512,4.01601923082e-05,1793239502890595584
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+13,0.216666667,BASELINE,765.457304254,745,715,679.457304254,661.542695746,635.542695746,879,787,803.457304254,652,631,653,0.400979303791,-0.00539335654074,0.0798434532866,0.999999934772,0.000234428597612,-0.00027181440259,4.01994864627e-05,1793239502957262592
+14,0.233333333,BASELINE,765.121557833,745,715,679,662,635.878442167,879,787.121557833,803.121557833,652,631,653,0.400979111539,-0.00539290213055,0.0798439182344,0.999999934811,0.000235554379766,-0.00027068829814,4.02601261732e-05,1793239502973928960
+15,0.250000000,BASELINE,765.713545442,745,715,679,662,635.286454558,879,787.713545442,803.713545442,652,631,653,0.400979316142,-0.0053952041498,0.0798446868833,0.999999936027,0.000230349047422,-0.000270727239616,3.99063930078e-05,1793239502990595584
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+17,0.283333333,BASELINE,765.121718117,745,715,679.878281883,661.121718117,635.878281883,879,787.121718117,804,652,631,652.121718117,0.400979897616,-0.00539493232778,0.0798439587549,0.999999935245,0.000232588734923,-0.000271639867532,4.02999286867e-05,1793239503023928832
+18,0.300000000,BASELINE,765.454040197,745,715,679.545959803,661,636,879,787.454040197,804,652,631,652.454040197,0.400979074321,-0.00539457908803,0.0798434753852,0.99999993478,0.000234158039932,-0.000271981172795,4.04510016655e-05,1793239503040595456
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+20,0.333333333,BASELINE,766,745,715,679.616909118,661,636,879,787.383090882,804,652,631,653,0.400977868436,-0.00539339795185,0.0798428165281,0.999999934274,0.000234745660797,-0.000273378374247,4.01410235426e-05,1793239503073929472
+21,0.350000000,BASELINE,765.798405115,745,715.201594885,680,661,636,878.798405115,787,804,652,631,652.798405115,0.40097796194,-0.00539312003732,0.0798428039158,0.999999934433,0.000233486443905,-0.000273911564785,3.98797234871e-05,1793239503090596608
+22,0.366666667,BASELINE,765.218844858,745,715.781155142,680,661,636,878.218844858,787,804,652,631,652.218844858,0.400978472683,-0.00539408366081,0.0798432335165,0.999999935201,0.000230770438338,-0.000273416833525,3.98382129304e-05,1793239503107263232
+23,0.383333333,BASELINE,765.35876918,745,715.64123082,680,661.35876918,636,878.35876918,787,804,652,631.35876918,652.35876918,0.400978900171,-0.00539562293999,0.0798439765927,0.999999935747,0.000229688730319,-0.000272287025404,4.01145311366e-05,1793239503123929600
+24,0.400000000,BASELINE,765.935202508,745,715.064797492,680,661.935202508,636,878.935202508,787,804,652,631.935202508,652.935202508,0.400979277149,-0.00539751146778,0.0798449098536,0.99999993616,0.000229598545292,-0.000270771918074,4.05836750637e-05,1793239503140595712
+25,0.416666667,BASELINE,765.495832644,745,715,680,662,636,879,787,804,652.504167356,631.495832644,653,0.400979961139,-0.00539623107816,0.0798452324478,0.999999936195,0.000230301199264,-0.000270114469646,4.01127347488e-05,1793239503157262336
+26,0.433333333,BASELINE,765,745,715,680,662,635.923965039,879,787,804,652.923965039,631,653,0.400980501008,-0.00539473262192,0.0798453250675,0.999999936128,0.000231039701574,-0.000269810418444,3.95766849377e-05,1793239503173928960
+27,0.450000000,BASELINE,765,745,715,680,662,635.325661781,879,787,804,652.325661781,631,653,0.400979783865,-0.00539449300433,0.0798443692695,0.999999935694,0.000231334735308,-0.000271187687214,3.94112060958e-05,1793239503190595840
+28,0.466666667,BASELINE,765.263351122,745,715,680,662,635.263351122,879,787,804,652,631.263351122,653,0.400979366824,-0.00539425730058,0.079844102341,0.999999935637,0.000230979801684,-0.000271703340647,3.93875423271e-05,1793239503207262720
+29,0.483333333,BASELINE,765.841266951,745,715,680,662,635.841266951,879,787,804,652,631.841266951,653,0.400979308245,-0.00539402627179,0.0798446582457,0.999999936031,0.000229848502295,-0.000271189821328,3.95332722529e-05,1793239503223929344
+30,0.500000000,BASELINE,766,745,715,680,662,635.582107137,879.417892863,787.417892863,804,652,631.582107137,652.582107137,0.40098028894,-0.00539432412868,0.0798449944351,0.99999993601,0.000230890256621,-0.000270349378272,3.9764325155e-05,1793239503240595968
+31,0.516666667,BASELINE,766,745,715,680,662,635.005969694,879.994030306,787.994030306,804,652,631.005969694,652.005969694,0.400981663179,-0.0053948222601,0.0798452474242,0.999999935827,0.000232754886889,-0.000269385138161,4.00276875276e-05,1793239503257262592
+32,0.533333333,BASELINE,765.418373585,745,715,679.418373585,661.418373585,635,879.418373585,788,804,652,631,652.581626415,0.40098001779,-0.00539561015826,0.0798438362627,0.999999935833,0.000230342693487,-0.000271455270381,3.98588093265e-05,1793239503273929216
+33,0.550000000,BASELINE,765.166928557,745,715,679,661.166928557,635.166928557,879,788,804,652,631,653,0.400978946275,-0.00539578254987,0.079843082163,0.999999935674,0.000229592779142,-0.000272684510123,3.97800039207e-05,1793239503290595584
+34,0.566666667,BASELINE,765.746266788,745,715,679,661.746266788,635.746266788,879,788,804,652,631,653,0.400979370668,-0.00539442679027,0.0798439944317,0.999999935118,0.000233060280801,-0.00027175777044,3.99349110296e-05,1793239503307262208
+35,0.583333333,BASELINE,766,745,715,679.325324684,662,636,879.325324684,787.674675316,804,652,631.325324684,653,0.400979410401,-0.00539397771196,0.079844505852,0.999999935102,0.000233577876964,-0.000271392664586,3.97842382054e-05,1793239503323929088
+36,0.600000000,BASELINE,766,745,715,679.904164185,662,636,879.904164185,787.095835815,804,652,631.904164185,653,0.400979150381,-0.00539423518041,0.0798447049046,0.999999935512,0.000231796709245,-0.000271465221393,3.93954370149e-05,1793239503340595968
+37,0.616666667,BASELINE,765.523429587,745,715,680,661.523429587,636,879.523429587,787,804,652,631.523429587,652.523429587,0.400978932074,-0.00539502045161,0.0798443449769,0.999999935426,0.000231649971909,-0.000271858955589,3.97386740042e-05,1793239503357263360
+38,0.633333333,BASELINE,765.049403609,745,715,679.950596391,661,635.950596391,879,787,804,652,631,652.049403609,0.4009789036,-0.00539574450255,0.0798440494853,0.999999935328,0.000231752666857,-0.0002720685424,4.01631721899e-05,1793239503373930496
+39,0.650000000,BASELINE,765.640929574,745,715,679.359070426,661,635.359070426,879,787,804,652,631,652.640929574,0.400980867406,-0.00539464758458,0.0798456781327,0.999999936185,0.000231033839001,-0.000269558122621,3.98855185406e-05,1793239503390596608
+40,0.666666667,BASELINE,766,745,715,679.227743783,661.227743783,635.227743783,879,787.227743783,804,652,631,653,0.400981616369,-0.00539453820069,0.0798463899755,0.999999936527,0.00023067301413,-0.000268619306628,3.97522201725e-05,1793239503407262720
+41,0.683333333,BASELINE,766,745,715,679.807279781,661.807279781,635.807279781,879,787.807279781,804,652,631,653,0.400980488785,-0.00539595424511,0.0798456856449,0.999999936078,0.000230865190845,-0.000270108122282,3.98419051394e-05,1793239503423929344
+42,0.700000000,BASELINE,766,745,715,679.616081121,661.616081121,635.616081121,879,787.616081121,804,652,631,653,0.400979915135,-0.00539521484135,0.0798448645529,0.999999935795,0.000231400099009,-0.000270730996233,3.95949518206e-05,1793239503440595968
+43,0.716666667,BASELINE,766,745,715,679.040885341,661.040885341,635.040885341,879,787.040885341,804,652,631,653,0.400979617469,-0.00539340154545,0.0798439852878,0.999999935596,0.000232105763579,-0.000270922438779,3.91802778389e-05,1793239503457262336
+44,0.733333333,BASELINE,766,745,715,679,661.53459023,635,878.46540977,787,804,652,631,652.46540977,0.400979979551,-0.00539248322512,0.0798446671524,0.999999935398,0.000233434539466,-0.000270510789856,3.92017236738e-05,1793239503473929216
+45,0.750000000,BASELINE,765.886835168,745,715,679.113164832,661.886835168,635,878.113164832,787.113164832,804,652,631,652.113164832,0.40098043903,-0.00539200392993,0.0798453791961,0.999999935282,0.000234439697965,-0.000270056223805,3.93005616513e-05,1793239503490596096
+46,0.766666667,BASELINE,765.295249637,745,715,679.704750363,661.295249637,635,878.704750363,787.704750363,804,652,631,652.704750363,0.400981096842,-0.00539309115392,0.0798457138027,0.999999935521,0.0002338751411,-0.000269615318785,3.9585501933e-05,1793239503507262976
+47,0.783333333,BASELINE,765.289074009,745,715,680,661.289074009,635,879,787.710925991,804,652,631.289074009,652.710925991,0.400982066888,-0.00539414547641,0.0798460409965,0.999999935937,0.000232898558898,-0.000268888009981,3.97905366204e-05,1793239503523929600
+48,0.800000000,BASELINE,765.866162458,745,715,680,661.866162458,635,879,787.133837542,804,652,631.866162458,652.133837542,0.400983348024,-0.00539516701815,0.0798463608048,0.999999936526,0.000231511461524,-0.000267875347122,3.99159586326e-05,1793239503540596224
+49,0.816666667,BASELINE,765.558344098,745,715,679.558344098,661.558344098,635.441655902,879,787.441655902,804,652,631.558344098,652,0.400981495996,-0.00539573953543,0.0798451379345,0.999999936281,0.0002307250331,-0.000269451409475,3.99889370288e-05,1793239503557262592
+50,0.833333333,BASELINE,765,745,715,679.016985589,661.016985589,636,879,788,804,652,631,652,0.400978786778,-0.00539610337444,0.0798435095888,0.999999935793,0.000230174000243,-0.000271719596643,4.00253112871e-05,1793239503573928960
+51,0.850000000,BASELINE,765,745,715,679.602963899,661.602963899,636,879,788,804,652,631,652,0.400979054045,-0.00539401855661,0.07984390218,0.999999935727,0.00023143277197,-0.000270988707099,3.93659530365e-05,1793239503590595584
+52,0.866666667,BASELINE,765.186880136,745,715,680,662,636,879,788,803.813119864,652,631,652.186880136,0.400979917045,-0.00539294034817,0.0798445051018,0.999999935976,0.00023178017137,-0.000269818318707,3.90452712955e-05,1793239503607262208
+53,0.883333333,BASELINE,765.766463173,745,715,680,662,636,879,788,803.233536827,652,631,652.766463173,0.400982031899,-0.005393977391,0.0798455500043,0.999999936885,0.000230212447104,-0.000267724383986,3.94362716956e-05,1793239503623928832
+54,0.900000000,BASELINE,765.6544826,745,715,679.6544826,661.6544826,636,879,787.6544826,803.3455174,652,631,653,0.400981959822,-0.00539379950747,0.0798453719225,0.999999936548,0.000230948609411,-0.000268335324239,3.95371583942e-05,1793239503640595712
+55,0.916666667,BASELINE,765.075785274,745,715,679.075785274,661.075785274,636,879,787.075785274,803.924214726,652,631,653,0.400980411849,-0.00539280170444,0.0798443684831,0.999999935363,0.000233239599695,-0.000270771708228,3.94422555412e-05,1793239503657262592
+56,0.933333333,BASELINE,765.499579149,745,715,679,661.499579149,635.500420851,879,787,803.500420851,652,631.499579149,653,0.400980874854,-0.00539365267467,0.0798448142217,0.999999935579,0.000232748095905,-0.000270390132041,3.94829680534e-05,1793239503673929216
+57,0.950000000,BASELINE,766,745,715.076191936,679.076191936,661.923808064,635.076191936,879,787,803.076191936,652,631.923808064,653,0.400981515748,-0.00539449682802,0.0798454352087,0.999999935954,0.000232007023827,-0.000269632516087,3.95369962531e-05,1793239503690596096
+58,0.966666667,BASELINE,766,745,715.664572655,679.664572655,661.335427345,635.664572655,879,787,803.664572655,652,631.335427345,653,0.400981315328,-0.00539342232924,0.0798457662442,0.999999935977,0.000232406962058,-0.000269201652494,3.95431573683e-05,1793239503707262464
+59,0.983333333,BASELINE,766,745,715.75043048,679.75043048,661,636,879,787,804,651.75043048,631,653,0.400980711968,-0.00539363000554,0.0798455089938,0.99999993606,0.000231982303473,-0.000269251827759,3.95862765322e-05,1793239503723929088
+60,1.000000000,BASELINE,766,745,715.169920674,679.169920674,661,636,879,787,804,651.169920674,631,653,0.400979574291,-0.00539553790287,0.07984447165,0.999999936222,0.000230464192879,-0.000269939881892,3.96784037137e-05,1793239503740595712
+61,1.016666667,BASELINE,766,745.40676361,715,679,661.40676361,636,879,787,804,651.40676361,631,653,0.40098053077,-0.00539587201807,0.0798448324908,0.999999936364,0.000230651264381,-0.000269260772256,3.96401402795e-05,1793239503757262336
+62,1.033333333,BASELINE,766,745.981864682,715,679,661.981864682,636,879,787,804,651.981864682,631,653,0.400982353907,-0.00539555482985,0.0798457719646,0.999999936495,0.000231544018633,-0.000268015867426,3.9547915215e-05,1793239503773928960
+63,1.050000000,BASELINE,765.432853211,745.432853211,715,679,662,635.432853211,879,787.567146789,804,652,631,653,0.400981686382,-0.00539508552719,0.0798457475849,0.999999936424,0.000231240020476,-0.000268544962307,3.95517336192e-05,1793239503790595840
+64,1.066666667,BASELINE,765.152105191,745,715,679.152105191,662,635.152105191,879,787.847894809,804,652,631.152105191,653,0.400980834637,-0.00539501016145,0.0798455556944,0.999999936414,0.000230518394292,-0.000269197751767,3.95679339362e-05,1793239503807262976
+65,1.083333333,BASELINE,765.735206998,745,715,679.735206998,662,635.735206998,879,787.264793002,804,652,631.735206998,653,0.400979690691,-0.00539606506748,0.0798449780823,0.999999936598,0.000228723816805,-0.000270037360981,3.96103576999e-05,1793239503823929344
+66,1.100000000,BASELINE,766,745.314183216,715,679.685816784,662,635.685816784,879,787,803.685816784,652,631.685816784,652.685816784,0.400979514221,-0.00539624991531,0.079844898606,0.999999936521,0.000228710089468,-0.000270321552692,3.96966585168e-05,1793239503840595968
+67,1.116666667,BASELINE,766,745.889727434,715,679.110272566,662,635.110272566,879,787,803.110272566,652,631.110272566,652.110272566,0.400980142572,-0.00539571098389,0.0798452335162,0.999999936227,0.00023017780602,-0.000270143706712,3.98194595327e-05,1793239503857262592
+68,1.133333333,BASELINE,766,745.537065095,715,679.462934905,662,635.462934905,879,787.462934905,803.462934905,652,631,652.462934905,0.400980181633,-0.00539516918409,0.0798452212141,0.999999935936,0.00023215720079,-0.000269531082595,3.98081144978e-05,1793239503873928960
+69,1.150000000,BASELINE,766,745,715,679.963293439,661.963293439,636,878.963293439,787.963293439,804,652,631,653,0.400980164182,-0.00539461798842,0.079845173807,0.999999935677,0.000234139525972,-0.000268783875676,3.97587756087e-05,1793239503890595840
+70,1.166666667,BASELINE,766,745,715,679.372650618,661.372650618,636,878.372650618,787.372650618,804,652,631,653,0.400981401609,-0.00539393526012,0.0798458384922,0.999999935964,0.000234335975261,-0.000267560740679,3.96158681246e-05,1793239503907262464
+71,1.183333333,BASELINE,766,745,715,679.214244471,661.214244471,636,878,787.214244471,804,652,631,652.785755529,0.400981714217,-0.00539372221917,0.07984611424,0.999999936149,0.000233946420739,-0.000267211537887,3.96169162968e-05,1793239503923929344
+72,1.200000000,BASELINE,766,745,715,679.794733028,661.794733028,636,878,787.794733028,804,652,631,652.205266972,0.400980445878,-0.00539431209362,0.0798457251117,0.999999936157,0.000232555111437,-0.000268356294102,3.9864052045e-05,1793239503940596224
+73,1.216666667,BASELINE,766,745,715,680,662,636,878.371428175,788,803.628571825,652,631,652.371428175,0.400980180336,-0.00539413797022,0.0798452933981,0.99999993621,0.000231851487612,-0.000268810360892,3.9569422716e-05,1793239503957262848
+74,1.233333333,BASELINE,766,745,715,680,662,636,878.946048084,788,803.053951916,652,631,652.946048084,0.400980463379,-0.00539354589777,0.079844838388,0.999999936289,0.000231524065822,-0.000268886582336,3.89784179427e-05,1793239503973929472
+75,1.250000000,BASELINE,765.468070363,745,715,680,662,636,879,787.468070363,803.531929637,652,631,653,0.400980827863,-0.00539322243085,0.0798454526039,0.999999935671,0.000233968188723,-0.000269035316272,3.92091648585e-05,1793239503990596096
+76,1.266666667,BASELINE,765,745,715,679.882606884,662,636,879,787,804,652,631,653,0.400981064403,-0.00539320322693,0.0798461508234,0.999999935204,0.000235951038346,-0.000268998667543,3.94811451449e-05,1793239504007262464
+77,1.283333333,BASELINE,765,745,715,679.303379002,662,636,879,787,804,652,631,653,0.400980764404,-0.00539427152254,0.0798467436479,0.99999993564,0.000234989371741,-0.000268203147339,3.9580352069e-05,1793239504023929088
+78,1.300000000,BASELINE,765.275844111,745,715,679.275844111,661.724155889,636,879,787,804,652,631,652.724155889,0.400981056056,-0.00539481711866,0.0798469894249,0.999999936177,0.000233543715179,-0.000267455048089,3.96397145019e-05,1793239504040595712
+79,1.316666667,BASELINE,765.855061943,745,715,679.855061943,661.144938057,636,879,787,804,652,631,652.144938057,0.400981998407,-0.00539478784911,0.0798468535186,0.999999936822,0.000231565765883,-0.000266759102521,3.9655255904e-05,1793239504057262336
+80,1.333333333,BASELINE,766,745.428558979,715,679.571441021,661.428558979,636,879,787.428558979,804,652,631,652.428558979,0.400981478156,-0.00539400455541,0.0798465137945,0.999999936254,0.000233633867203,-0.000267075886997,3.97319887522e-05,1793239504073929216
+81,1.350000000,BASELINE,766,745.999848167,715,679,661.999848167,636,879,787.999848167,804.000151833,652,631.000151833,653,0.400980470083,-0.00539297043746,0.0798461060919,0.999999935271,0.000237050426121,-0.000267730576577,3.98291408352e-05,1793239504090596608
+82,1.366666667,BASELINE,766,745.408598189,715,679,661.408598189,636,879,787.408598189,804.591401811,652,631.591401811,653,0.400980678035,-0.00539515400182,0.079845871578,0.999999936105,0.000233125337209,-0.000268046458553,3.99145333987e-05,1793239504107262976
+83,1.383333333,BASELINE,765.821015419,745,715,679,661.178984581,636,879,787,804.642030837,652,631.821015419,653,0.400980531109,-0.00539640573215,0.0798454285463,0.999999936512,0.000230709236338,-0.000268609001468,3.99750514715e-05,1793239504123929344
+84,1.400000000,BASELINE,765.241636203,745,715,679,661.758363797,636,879,787,803.483272407,652,631.241636203,653,0.400979590308,-0.00539557291826,0.0798445190534,0.99999993599,0.000231668792599,-0.00026972333341,3.99799244747e-05,1793239504140595712
+85,1.416666667,BASELINE,765.336171248,745,715,679,661.663828752,636,879,787,803,652,631,653,0.400979699985,-0.0053950802924,0.0798449299734,0.999999936159,0.00023157093548,-0.000269202189806,3.98388681196e-05,1793239504157262592
+86,1.433333333,BASELINE,765.912854155,745,715,679,661.087145845,636,879,787,803,652,631,653,0.400980561219,-0.00539483105203,0.0798462855748,0.99999993682,0.000230716558379,-0.000267510955173,3.95934074986e-05,1793239504173928960
+87,1.450000000,BASELINE,765.513948337,745,715,679,661.486051663,636,879,787,803.486051663,652,631.486051663,653,0.40098139327,-0.00539440877346,0.0798468188106,0.999999936829,0.000231661952084,-0.000266655041103,3.96225546156e-05,1793239504190595584
+88,1.466666667,BASELINE,765,745,715,679,661.939298536,635.939298536,879,787,804,652,632,653,0.400982040836,-0.00539414633485,0.0798470400989,0.999999936722,0.000232654057536,-0.000266181617563,3.96985594404e-05,1793239504207262208
+89,1.483333333,BASELINE,765,745,715,679,661.346478641,635.346478641,879,787,804,652,632,653,0.400981116717,-0.00539555510824,0.0798458101268,0.999999936625,0.000231247061239,-0.000267757628046,3.9756794429e-05,1793239504223929344
+90,1.500000000,BASELINE,765.240324213,745,715,679,661.240324213,635.240324213,879,787,804.240324213,652,631.759675787,653,0.400980514581,-0.00539620769617,0.0798453121057,0.99999993666,0.000230247223573,-0.000268486390352,3.97538491899e-05,1793239504240596224
+91,1.516666667,BASELINE,765.818664056,745,715,679,661.818664056,635.818664056,879,787,804.818664056,652,631.181335944,653,0.400980365312,-0.00539579671031,0.0798458435728,0.999999936886,0.000229820054009,-0.000268023499285,3.96648540516e-05,1793239504257263104
+92,1.533333333,BASELINE,765.60650589,745,715,679.39349411,661.60650589,636,879,787,804.60650589,652,631,652.60650589,0.400981160691,-0.0053952920993,0.0798464802193,0.999999936893,0.000230743778367,-0.000267199381021,3.97057858375e-05,1793239504273929728
+93,1.550000000,BASELINE,765.03327892,745,715,679.96672108,661.03327892,636,879,787,804.03327892,652,631,652.03327892,0.40098238755,-0.00539474472391,0.0798471649078,0.999999936796,0.000232284538676,-0.00026621026813,3.98060631992e-05,1793239504290595840
+94,1.566666667,BASELINE,765,745.550439162,715,680,661.550439162,636,879,787,804,652,631.550439162,652.550439162,0.400981722316,-0.00539433767513,0.0798464900446,0.999999936649,0.000232093397876,-0.000266984034673,3.94162103383e-05,1793239504307262464
+95,1.583333333,BASELINE,765.135050752,745.864949248,715,679.864949248,662,636,879,787,804,652,632,653,0.400980693573,-0.0053942435021,0.0798456873978,0.999999936473,0.000231712367369,-0.000268012235151,3.91544422999e-05,1793239504323929088
+96,1.600000000,BASELINE,765.720485894,745.279514106,715,679.279514106,662,636,879,787,804,652,632,653,0.400978841463,-0.00539516390357,0.0798447380485,0.999999936208,0.000231054049362,-0.000269526606178,3.94205707191e-05,1793239504340595712
+97,1.616666667,BASELINE,765.699932477,745,715.300067523,679.300067523,662,636,879,787,804,651.699932477,632,653,0.400978653148,-0.0053950727777,0.0798447452853,0.999999935974,0.000231958646554,-0.000269603019302,3.95265756764e-05,1793239504357262592
+98,1.633333333,BASELINE,765.125699123,745,715.874300877,679.874300877,662,636,879,787,804,651.125699123,632,653,0.400979985009,-0.00539405743902,0.0798456265361,0.999999935764,0.000234291248856,-0.000268365598303,3.94862789402e-05,1793239504373929216
+99,1.650000000,BASELINE,765.449688411,745,715.550311589,680,662,636,879,787,803.550311589,651.449688411,631.550311589,652.550311589,0.400979346836,-0.00539453661558,0.0798448440897,0.999999935682,0.000233399394307,-0.000269433682408,3.95717393822e-05,1793239504390595840
+100,1.666666667,BASELINE,766,745,715,679.974024748,662,636,879,787,803.025975252,652,631,652,0.400978294366,-0.00539538499966,0.079843724858,0.999999935642,0.000231774095782,-0.000270963995886,3.96921353674e-05,1793239504407262720
+101,1.683333333,BASELINE,766,745,715,679.3852611,662,636,879,787,803.6147389,652,631,652,0.400980227334,-0.00539515826345,0.0798454104652,0.999999935819,0.000233836219873,-0.000268510411337,3.98058759646e-05,1793239504423929088
+102,1.700000000,BASELINE,766,745,715.200991705,679,661.799008295,635.799008295,879,787,804,652,631.200991705,652.200991705,0.400982009293,-0.00539494614782,0.079846667289,0.999999936066,0.000234863849469,-0.000266681439737,3.98575648162e-05,1793239504440595712
+103,1.716666667,BASELINE,766,745,715.782491039,679,661.217508961,635.217508961,879,787,804,652,631.782491039,652.782491039,0.400983505371,-0.00539476171117,0.079847112361,0.999999936459,0.000233933024641,-0.000266034954994,3.9791780338e-05,1793239504457262592
+104,1.733333333,BASELINE,766.355261175,745.355261175,715.644738825,679.355261175,661,635.355261175,879,787,803.644738825,652,631.644738825,653,0.400982884522,-0.00539420741758,0.0798465047851,0.99999993628,0.000233985406366,-0.000266709145476,3.94479929526e-05,1793239504473929216
+105,1.750000000,BASELINE,766.922815077,745.922815077,715.077184923,679.922815077,661,635.922815077,879,787,803.077184923,652,631.077184923,653,0.400980998665,-0.00539343210927,0.0798452681803,0.999999935759,0.000234625320823,-0.000268172529213,3.89380799065e-05,1793239504490595584
+106,1.766666667,BASELINE,766.498687717,745.498687717,715,680,661.501312283,636,878.498687717,787,803.501312283,652,631,653,0.400980637484,-0.00539405353043,0.0798456679245,0.999999936127,0.00023324458923,-0.000267965468458,3.9201770948e-05,1793239504507262720
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,878,787,803,652,631,653,0.400980340246,-0.00539471896449,0.0798461481367,0.999999936473,0.000231606842035,-0.000268022042385,3.97077369409e-05,1793239504549567744
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.575397537,745,715,679.575397537,661,635,878.575397537,787,803.575397537,652,631,653,0.40098145041,-0.00539501592093,0.0798458363211,0.999999936327,0.000232555538798,-0.000267742545559,3.97120222757e-05,1793239504566234112
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.849377307,745,715,680,661.150622693,635.150622693,879,787.150622693,804,652,631,653,0.400981683475,-0.00539525919571,0.0798453237883,0.999999936158,0.000232978538966,-0.000268009624338,3.96970759218e-05,1793239504582900480
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.274637401,745,715,680,661.725362599,635.725362599,879,787.725362599,804,652,631,653,0.400979446839,-0.00539535131596,0.0798442460841,0.999999935921,0.000231921304406,-0.000269815728264,3.96279777672e-05,1793239504599566848
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.69263062,662,635.69263062,879,787.69263062,804,652,631.30736938,652.69263062,0.400979485176,-0.00539498346073,0.0798444752029,0.999999936101,0.000231359136537,-0.000269657089153,3.94411246579e-05,1793239504616233216
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.103973629,662,635.103973629,879,787.103973629,804,652,631.896026371,652.103973629,0.400981605443,-0.00539419466113,0.0798459002545,0.999999936664,0.000231250026639,-0.000267700424777,3.91465086711e-05,1793239504632899584
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.478392109,745,715,679,662,635,879,787,804,652,631.521607891,652.478392109,0.400981243286,-0.00539513256168,0.0798455953712,0.999999936369,0.000232205958832,-0.000267945312906,3.93526552541e-05,1793239504649565952
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.941237084,745,715,679.058762916,662,635,879,787,804,652,631.058762916,653,0.400980798789,-0.00539624666,0.0798451903544,0.999999935981,0.000233311652894,-0.000268381539691,3.96772523171e-05,1793239504666233088
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.366532371,745,715,679.633467629,662,635,879,787,804,652,631.633467629,653,0.400984306964,-0.00539565556886,0.0798471644682,0.999999936411,0.00023372627271,-0.000266351136996,4.00986720176e-05,1793239504682899712
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.208252022,745,715,679.791747978,661.791747978,635,879,787,804,651.791747978,632,652.791747978,0.400993572635,-0.00539536865933,0.0798517821008,0.999999938331,0.000233329402122,-0.000259367766241,4.0297406939e-05,1793239504699566336
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.783176646,745,715,679.216823354,661.216823354,635,879,787,804,651.216823354,632,652.216823354,0.401012975623,-0.00539561732717,0.0798610542183,0.999999942713,0.000231503727565,-0.000243663627081,4.01040572246e-05,1793239504716232704
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.632155044,745,715,679.367844956,661.367844956,635,879,787,804,651.367844956,631.632155044,652,0.401048070009,-0.0053969943985,0.079874180314,0.99999994854,0.000230475581215,-0.000219533238021,4.00766324005e-05,1793239504732899072
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.041587064,745,715,679.958412936,661.958412936,635,879,787,804,651.958412936,631.041587064,652,0.401092665238,-0.00539905469641,0.0798896399202,0.999999954653,0.000229930322495,-0.000190300915577,4.0149671854e-05,1793239504749565696
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.461482214,662,635.538517786,878.461482214,787.538517786,803.461482214,652,631,652.538517786,0.401159780177,-0.00539897191063,0.0799079424361,0.999999960721,0.000230469135875,-0.000154442030987,3.98718299011e-05,1793239504766232320
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.116965132,662,636,878,787.883034868,803.116965132,652,631.116965132,653,0.401229414977,-0.00539902072176,0.0799238599691,0.999999964898,0.000230757967185,-0.000124156344356,3.92523960519e-05,1793239504782899200
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.692025301,662,636,878,787.307974699,803.692025301,652,631.692025301,653,0.401302237523,-0.00540022076086,0.0799295932422,0.999999965987,0.000229746111198,-0.000117664152328,3.73992167601e-05,1793239504799566080
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.272967561,745,715,680,661.727032439,635.727032439,878.272967561,787,803.727032439,652,632,653,0.401382888943,-0.00540117045452,0.0799336933959,0.999999967057,0.000228516634744,-0.000111511210296,3.50962445762e-05,1793239504816232960
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.860692389,745,715,680,661.139307611,635.139307611,878.860692389,787,803.139307611,652,632,653,0.401472567784,-0.00540183147627,0.0799359104092,0.999999968115,0.000227036221485,-0.000105749455805,3.22746190033e-05,1793239504832899584
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.557538453,745,715,679.557538453,661.442461547,635.442461547,879,787,803,652,632,653,0.401582630191,-0.00540266254115,0.0799382980944,0.999999969075,0.000224631385312,-0.000102828618844,2.85939847537e-05,1793239504849566208
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.022234655,745,715,679,661.977765345,636,879,787,803.022234655,652,631.977765345,653,0.401700405501,-0.00540357644303,0.0799408784921,0.999999970027,0.000221967295892,-0.000100350431171,2.46214914852e-05,1793239504866232576
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.59837509,745,715,679,661.40162491,636,879,787,803.59837509,652,631.40162491,653,0.401852570121,-0.00540523796235,0.0799469388414,0.999999971823,0.000219999061218,-8.69129130116e-05,2.00263270199e-05,1793239504882899200
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.825954201,745,715,679.174045799,661.174045799,635.825954201,879,787.174045799,803.825954201,652,631,653,0.402012222388,-0.0054067345246,0.0799534246533,0.999999973563,0.000217223269415,-7.38413704548e-05,1.5377253935e-05,1793239504899565824
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.251364587,745,715,679.748635413,661.748635413,635.251364587,879,787.748635413,803.251364587,652,631,653,0.402189106483,-0.00540785145932,0.0799608896115,0.999999975449,0.00021258899004,-6.16120751216e-05,1.06041178002e-05,1793239504916232448
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635.332432973,879.332432973,787.667567027,803.332432973,652,631,653,0.402376101161,-0.00540982662696,0.0799641345979,0.999999977206,0.000206213726782,-5.51632449344e-05,4.54390449076e-06,1793239504932899328
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635.923391401,879.923391401,787.076608599,803.923391401,652,631,653,0.402570958624,-0.00541246922266,0.0799640978104,0.999999978883,0.000198484540023,-5.32097478684e-05,-2.51723956093e-06,1793239504949565952
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.495718133,661.495718133,636,879.495718133,787,803.495718133,652,631,653,0.402790698312,-0.00541448568845,0.0799577693891,0.999999980093,0.000188359934865,-6.49849066563e-05,-1.05724880587e-05,1793239504966232832
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.082834021,745,715,679,661.082834021,635.917165979,879,787,803.082834021,652,631.082834021,652.917165979,0.403021248168,-0.00541644624229,0.0799510945037,0.999999981062,0.000177639134769,-7.7301571689e-05,-1.85559111039e-05,1793239504982899712
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.656417172,745,715,679,661.656417172,635.343582828,879,787,803.656417172,652,631.656417172,652.343582828,0.403293886534,-0.00541862804959,0.079947918784,0.999999982729,0.000165499918827,-8.07121060733e-05,-2.5236602289e-05,1793239504999566080
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879,787,804,652,631.770562392,652.229437608,0.403585151117,-0.00542047674641,0.079948456195,0.999999984877,0.000153097516266,-7.80932212804e-05,-2.66376734696e-05,1793239505016232704
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879,787,804,652,631.198382594,652.801617406,0.4039042402,-0.00542182783062,0.0799545404152,0.999999987746,0.000140301956756,-6.64673720456e-05,-2.0151857109e-05,1793239505032899328
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.389712568,679,662,635,879,787.389712568,804,652,631.389712568,653,0.404242771542,-0.00542339519615,0.0799566716711,0.999999988392,0.000136870719172,-6.32019265968e-05,-2.2087701483e-05,1793239505049565696
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.986254353,679,662,635,879,787.986254353,804,652,631.986254353,653,0.404591621317,-0.00542507734699,0.0799567049998,0.999999987944,0.000138409338087,-6.43735356869e-05,-2.84931106676e-05,1793239505066232320
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715.439028835,679.560971165,662,635.560971165,879,787.439028835,804,652,632,653,0.404994379929,-0.00542869032342,0.0799576199603,0.999999990741,0.000119460972587,-5.7231863936e-05,-3.11813200296e-05,1793239505082898944
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.864274101,745,715,680,661.864274101,635.864274101,879,787.135725899,804,652,631.864274101,652.864274101,0.405405482216,-0.00543189798498,0.0799564089556,0.999999992268,0.000106264476642,-5.53074396866e-05,-3.33563420294e-05,1793239505099565568
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.287724439,745,715,680,661.287724439,635.287724439,879,787.712275561,804,652,631.287724439,652.287724439,0.405839554193,-0.00543364131608,0.0799482254976,0.999999990478,0.000113318848077,-7.09649299176e-05,-3.41493357046e-05,1793239505116232704
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.294324991,635.294324991,879,787.705675009,803.705675009,652,631,652.294324991,0.40628869594,-0.00543699887476,0.0799427246339,0.999999989222,0.000117697104246,-8.0846613038e-05,-3.41611529891e-05,1793239505132899584
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.8818533,635.8818533,879,787.1181467,803.1181467,652,631,652.8818533,0.406752850079,-0.0054419645094,0.0799398961401,0.999999988703,0.000119409444703,-8.49745025635e-05,-3.33947710513e-05,1793239505149566464
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.46578277,745,715,679.53421723,662,635.53421723,878.53421723,787.46578277,803.46578277,652,631,652.53421723,0.40725237511,-0.0054491258934,0.0799376027216,0.999999990033,0.000104061575908,-8.86670929758e-05,-3.52595957816e-05,1793239505166232832
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.952357036,745,715,679.047642964,662,635,878.047642964,787.952357036,804,652,631,652.047642964,0.407762512239,-0.00545825599863,0.0799350350119,0.999999991411,8.39561019083e-05,-9.34723620511e-05,-3.7311416814e-05,1793239505182898944
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.383230845,745,715,679.616769155,662,635,878.616769155,787.383230845,804,652,631,652.616769155,0.408291355757,-0.00548288553846,0.0799279908189,0.999999991456,5.8778084326e-05,-0.000111655917483,-3.41608029083e-05,1793239505199565568
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.188256346,745,715,679.811743654,661.811743654,635,879,787.188256346,804,652,631,652.811743654,0.408852803581,-0.0055011040902,0.0799275762199,0.99999999193,3.72943155218e-05,-0.000116964113331,-3.26823444996e-05,1793239505216232448
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.764610802,745,715,679.235389198,661.235389198,635,879,787.764610802,804,652,631,652.235389198,0.409481466477,-0.00550610612792,0.0799408287989,0.999999994543,2.34263923074e-05,-9.57292311433e-05,-3.46511028421e-05,1793239505232899328
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.353159026,661.353159026,635.353159026,879.353159026,787.646840974,804,652,631,652.353159026,0.410136738668,-0.00550691954301,0.0799647454073,0.999999997726,2.23479059548e-05,-5.28114073464e-05,-3.5499396513e-05,1793239505249565952
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.950125329,661.950125329,635.950125329,879.950125329,787.049874671,804,652,631,652.950125329,0.410810380858,-0.00550484129545,0.0799960240471,0.999999998901,3.00987507019e-05,5.07547660846e-06,-3.55741647169e-05,1793239505266232832
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.470743581,745.529256419,715,679.470743581,662,635.470743581,879.470743581,787,803.470743581,652,631,652.470743581,0.411458770631,-0.00551319733358,0.0799934489124,0.999999999255,1.40977229637e-05,-3.06213394186e-06,-3.58120564361e-05,1793239505282899456
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.105954778,745.894045222,715,679.105954778,662,635,879,787,803.105954778,652,631,652,0.412107825572,-0.00552060577227,0.0799823236104,0.999999999034,6.65019788868e-08,-2.403185644e-05,-3.68105368681e-05,1793239505299566080
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.679095486,745.320904514,715,679.679095486,662,635,879,787,803.679095486,652,631,652,0.412769963858,-0.00551964173554,0.0799471061582,0.999999996331,4.26818845745e-06,-7.50425552999e-05,-4.10971075429e-05,1793239505316232448
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.741205164,745,715,680,661.741205164,635.258794836,879.258794836,787,804,652,631,652.258794836,0.413467635244,-0.00552137645235,0.0799269928294,0.999999994085,1.17924035896e-06,-9.92525963261e-05,-4.44710554498e-05,1793239505332899328
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.153161582,745,715,680,661.153161582,635.846838418,879.846838418,787,804,652,631,652.846838418,0.414210513296,-0.00552654462714,0.079926095543,0.999999994855,-1.11851329854e-05,-8.93658164025e-05,-4.66839302424e-05,1793239505349565952
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.428294481,715,680,661.428294481,636,879.571705519,787.428294481,804,651.571705519,631,653,0.414984886174,-0.00553341960476,0.0799469100227,0.999999997211,-2.23488345414e-05,-5.40744430769e-05,-4.64136267175e-05,1793239505366232832
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.992609933,715,680,662,635.992609933,879.007390067,788,804,651.007390067,631,653,0.415769746638,-0.00554078190182,0.079974772844,0.999999998372,-3.29238562203e-05,-1.09226554077e-05,-4.53012338889e-05,1793239505382899712
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.416620847,715,680,662,635.416620847,879.583379153,788,804,651.583379153,631,653,0.416508091393,-0.00553938824476,0.079956598178,0.999999997117,-3.07410436652e-05,-5.13945962119e-05,-4.66866589325e-05,1793239505399567104
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.159255028,745.159255028,715,680,661.840744972,635.159255028,879.840744972,787.840744972,804,652,631,653,0.417274045246,-0.00554061022844,0.0799468326102,0.999999995765,-3.36095225711e-05,-7.08958235955e-05,-4.81042841154e-05,1793239505416233984
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.734834908,745.734834908,715,680,661.265165092,635.734834908,879.265165092,787.265165092,804,652,631,653,0.418112174825,-0.00554867002614,0.0799590501269,0.999999996903,-4.968309922e-05,-3.55753623658e-05,-4.96060870198e-05,1793239505432899840
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.681331816,745.681331816,715,680,661.318668184,636,879.318668184,787,804.318668184,651.681331816,631,653,0.418963289598,-0.00555575225779,0.0799752469744,0.999999996824,-6.1617397066e-05,1.80735257001e-08,-5.05491417887e-05,1793239505449566208
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.090448289,745.090448289,715,680,661.909551711,636,879.909551711,787,804.909551711,651.090448289,631,653,0.419825496645,-0.00556199942455,0.0799948430777,0.999999995605,-7.00158054556e-05,3.58446902383e-05,-5.10148980692e-05,1793239505466232832
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.490345402,745,715,680.490345402,662.490345402,635.509654598,879.509654598,787.490345402,804.509654598,651.490345402,631,653,0.420651275362,-0.00556297130176,0.0799808055561,0.999999995864,-7.29122245298e-05,1.56115318103e-05,-5.20682141908e-05,1793239505482899200
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.931263901,745,715,681,662.931263901,635,879.068736099,787.931263901,804,652,631,653,0.421475393141,-0.00556290030386,0.0799647938399,0.999999995781,-7.45606516966e-05,-8.94668677736e-06,-5.28975365212e-05,1793239505499565824
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.357133374,745,715,681,662.357133374,635,879.642866626,787.357133374,804,652,631,653,0.422335708394,-0.00556217180562,0.0799789628306,0.999999995878,-7.43446853411e-05,9.19315340635e-06,-5.12990856194e-05,1793239505516232704
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.222438498,745,715,681,661.777561502,635,880,787,804,651.777561502,631,652.777561502,0.42320489174,-0.00555064027709,0.0799954041726,0.999999996609,-5.84217779576e-05,2.9805046558e-05,-4.97972892697e-05,1793239505532899328
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.810965817,745,715,681,661.189034183,635,880,787,804,651.189034183,631,652.189034183,0.42408867031,-0.0055213291435,0.0800155853479,0.999999997203,-1.66484193339e-05,5.4485442231e-05,-4.84545664697e-05,1793239505549565952
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.626524379,745,715,681,661.373475621,635,880,787,804,651.373475621,631,652.373475621,0.424913056267,-0.00550766953757,0.0799906797872,0.999999998726,-3.5861228884e-06,5.87350875504e-06,-5.00156880323e-05,1793239505566232832
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.076325708,745,715,681,661.923674292,635,880,787,804,651.923674292,631,652.923674292,0.425709338479,-0.00550141600103,0.0799444398596,0.999999995593,-4.10947197565e-06,-7.74192546999e-05,-5.29508649242e-05,1793239505582899712
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.526780745,880,787,804,651.473219255,631,653,0.426599082699,-0.00551470661791,0.0799340605367,0.999999995407,-1.99544564062e-05,-7.59814388215e-05,-5.48986031674e-05,1793239505599566080
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.129484208,745,715,681.129484208,662,635.870515792,880,787,804,651,631,653,0.427486297148,-0.00552740164959,0.0799291140173,0.999999995435,-3.37864239552e-05,-6.95711759021e-05,-5.61145512606e-05,1793239505616232704
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.701674043,745,715,681.701674043,662,635.298325957,880,787,804,651,631,653,0.428313393709,-0.0055272976101,0.0799229941409,0.999999993638,-3.22984292823e-05,-9.2820429305e-05,-5.53722862355e-05,1793239505632899072
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681.71737519,662,635,880,787,804,651,631,653,0.429173123575,-0.00552969279491,0.0799323291228,0.999999994278,-3.64157108499e-05,-8.43671412053e-05,-5.4765869446e-05,1793239505649565696
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681.126880987,662,635,880,787,804,651,631,653,0.43006840156,-0.00553481043947,0.0799584994204,0.999999996582,-4.66389426096e-05,-4.13795789448e-05,-5.4307435108e-05,1793239505666232320
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681.455061982,662,635,880,787,804,651,631,653,0.430960387098,-0.00553738166256,0.0799974533225,0.999999997259,-4.97941017197e-05,1.58122482096e-05,-5.24724852478e-05,1793239505682899200
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681.965589652,662.034410348,635,880,787,804,651,631.034410348,653,0.431844970107,-0.00553844771476,0.0800358796231,0.999999995008,-5.01033149346e-05,7.02042204092e-05,-5.04473378439e-05,1793239505699565824
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681.390239847,662.609760153,635,880,787,804,651,631.609760153,653,0.43262734749,-0.00552680755425,0.0800110129848,0.999999997841,-3.60824767134e-05,1.94707257882e-05,-5.13544193536e-05,1793239505716232448
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.815308299,745,715,681.184691701,662.815308299,635,880.184691701,787,804,651,631.815308299,653,0.433400096376,-0.00551816797777,0.0799742563965,0.999999997444,-2.74269676415e-05,-3.88106157895e-05,-5.342191477e-05,1793239505732899328
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.241258394,745,715,681.758741606,662.241258394,635,880.758741606,787,804,651,631.241258394,653,0.434152547068,-0.00551585408669,0.0799124339801,0.999999991484,-3.00823861035e-05,-0.000113003976356,-5.79357394679e-05,1793239505749565952
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,682,662.341843557,635.341843557,880.658156443,787.341843557,804,651,631,653,0.434951662168,-0.00551974661909,0.0799036502315,0.999999990503,-3.82245287732e-05,-0.00011817311608,-5.97344550763e-05,1793239505766232576
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,682,662.931507785,635.931507785,880.068492215,787.931507785,804,651,631,653,0.435784606746,-0.00552813851985,0.0799333170528,0.999999994272,-5.03442910491e-05,-7.33029032805e-05,-5.95648427313e-05,1793239505782899200
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.511586171,745,715,682,662.488413829,635.488413829,880,787.488413829,804,651,631,653,0.436551029012,-0.00553092877777,0.0799517114469,0.999999994872,-5.36015457484e-05,-6.36349834415e-05,-5.77340871428e-05,1793239505799565824
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.910473743,745,715,682,662,635,880,787,804,651.089526257,631,653,0.437301365328,-0.00553322512312,0.0799636000386,0.999999994904,-5.58203935462e-05,-6.25948143285e-05,-5.61970909776e-05,1793239505816232704
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765.593829295,745.406170705,714.406170705,682,661.593829295,635,881,787,804,652,631,653,0.439966083317,-0.00554462746368,0.0798397409692,0.999999964929,-7.25771184811e-05,-0.000247034446131,-6.20403406851e-05,1793239505882899456
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.849709703,714.150290297,681.150290297,661,634.849709703,881,786,804.849709703,651,631,653,0.441702231544,-0.00553714031881,0.0796582618033,0.999999856404,-6.89575714173e-05,-0.000526530263929,-7.21339973343e-05,1793239505932899328
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714.693360187,682,660.693360187,634,880.693360187,786,804,651,631,653,0.44291208312,-0.00553983628206,0.079708118326,0.99999989806,-6.51436918694e-05,-0.000441455462887,-6.89390834136e-05,1793239505966232832
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714.102427189,682,660.102427189,634,880.102427189,786,804,651,631,653,0.44350713976,-0.00553626469829,0.0797558966358,0.999999927831,-6.83724328973e-05,-0.00036775700696,-6.64723434176e-05,1793239505982899456
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.631163494,714.631163494,682.631163494,660,634,880,786,805,651,631,653,0.444961741777,-0.005528828967,0.0797181593565,0.999999897766,-6.86720566709e-05,-0.000441935484917,-6.66701781139e-05,1793239506032899328
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.198767182,714.198767182,682.198767182,660,633.198767182,880,786,805,651.801232818,630.198767182,653,0.445799374083,-0.00553423275677,0.0796778026579,0.999999869197,-7.4011424398e-05,-0.000501428700963,-6.85357855496e-05,1793239506066232320
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682.384248286,660,633,880,786,804.615751714,652,630.384248286,653,0.446203988638,-0.00553680521272,0.0796693141478,0.999999866031,-6.75145582418e-05,-0.000508520119296,-6.91932350125e-05,1793239506082898944
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+234,3.900000000,POSE1_TO_POSE2_PRESS,764.322214226,745.677785774,714,682,657,631.322214226,880,784,804,651.677785774,630.322214226,653,0.450251402662,-0.00555810861116,0.079586638837,0.999999794729,-0.00010055184498,-0.000629412315723,-6.534947896e-05,1793239506666232576
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.259304005,745.740695995,714,682,657,631.259304005,880,784,804.259304005,651.740695995,630,653,0.450252095898,-0.0055571107626,0.0795867175994,0.999999794899,-9.87357892129e-05,-0.000629434329675,-6.5317241053e-05,1793239506682899200
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.851024083,745.148975917,714,682,657,631.851024083,880,784,804.851024083,651.148975917,630,653,0.450252354957,-0.00555427631049,0.0795867939778,0.999999795482,-9.51751195778e-05,-0.00062903125156,-6.55595508219e-05,1793239506699566080
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682.432149869,657,631.567850131,880.432149869,784,805,651,630.432149869,653,0.450254070263,-0.005555047896,0.0795875532877,0.999999796231,-9.68884485489e-05,-0.000627605554705,-6.5281694376e-05,1793239506716232704
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682.990313004,657,631.009686996,881.009686996,783.990313004,805,651,631,653,0.450256234343,-0.00555699646744,0.0795885134077,0.999999796999,-0.000100301017055,-0.000625889986074,-6.48305719237e-05,1793239506732899584
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682.414169089,657,631.585830911,881.585830911,783.414169089,805,651,631,653,0.450255987622,-0.00555681741419,0.0795877786094,0.999999796209,-9.93061588201e-05,-0.000627345105431,-6.44824312923e-05,1793239506749566208
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.161178888,714,682,656.838821112,631.838821112,881.677642223,783.161178888,805,651.161178888,631,653,0.450256006866,-0.00555618951972,0.0795876294253,0.999999795883,-9.84054894626e-05,-0.000628032378214,-6.42371590428e-05,1793239506766232832
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.734491618,714,682,656.265508382,631.265508382,880.531016765,783.734491618,805,651.734491618,631,653,0.450256706179,-0.00555441393991,0.0795889776547,0.999999796747,-9.77456607881e-05,-0.000626756269974,-6.42549208997e-05,1793239506782899456
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,682.317514348,656.317514348,631.317514348,880.317514348,784,804.682485652,652,631,653,0.450256323153,-0.00555438386909,0.0795885554088,0.999999796295,-9.84153756821e-05,-0.000627375687408,-6.42127994917e-05,1793239506799565824
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,682.90891278,656.90891278,631.90891278,880.90891278,784,804.09108722,652,631,653,0.450255006516,-0.00555585945356,0.0795866059719,0.999999794704,-0.000100231939008,-0.000629630162706,-6.41190234934e-05,1793239506816232448
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,682.5096616,657,631.5096616,881,784,804.4903384,652,631,653,0.450256279456,-0.00555548751635,0.0795871417279,0.999999795461,-9.8415394663e-05,-0.000628720071495,-6.40516806804e-05,1793239506832899328
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.93062933,714,682,657,631,881.06937067,784,805,652,631,653,0.450257495898,-0.00555488765773,0.0795877900081,0.9999997963,-9.62123698433e-05,-0.000627730701069,-6.40045597004e-05,1793239506849565952
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.355806547,714,682,657,631,881.644193453,784,805,652,631,653,0.450254865496,-0.00555507792389,0.0795859614519,0.99999979466,-9.60128262151e-05,-0.000630361616834,-6.40697153488e-05,1793239506866232832
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.219629495,714,682.219629495,657,631,881.780370505,784,805,652,631,653,0.450254404789,-0.00555465483437,0.0795852684536,0.999999794213,-9.58136763846e-05,-0.000631078154183,-6.42954656165e-05,1793239506882899456
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.796061906,714,682.796061906,657,631,881.203938094,784,805,652,631,653,0.450257468897,-0.00555323530724,0.0795864202454,0.999999795708,-9.56151662743e-05,-0.000628684655186,-6.47821126779e-05,1793239506899565824
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,682.618078143,657,631,881,784,804.618078143,651.618078143,630.618078143,653,0.450258173855,-0.00555396780147,0.0795866006202,0.999999795979,-9.64107624657e-05,-0.000628158564122,-6.45263646735e-05,1793239506916232704
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714,682.027056714,657,631,881,784,804.027056714,651.027056714,630.027056714,653,0.450257587194,-0.00555587851256,0.079586249151,0.99999979558,-9.77506249853e-05,-0.000628654866113,-6.38641604825e-05,1793239506932899584
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714,682,657,631.550751221,881,784,804.550751221,651,630.550751221,653,0.450257775972,-0.00555474080392,0.0795865363022,0.99999979577,-9.72599617113e-05,-0.000628397246476,-6.41666332595e-05,1793239506949566208
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.872684289,714,682,657,631.872684289,881,784,804.872684289,651.127315711,630.872684289,653,0.450257726786,-0.00555385060523,0.0795866925703,0.999999795744,-9.68888829888e-05,-0.00062847424885,-6.43854112678e-05,1793239506966232576
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.298260326,714,682,657,631.298260326,881,784,804.298260326,651.701739674,630.298260326,653,0.450256711267,-0.00555434321811,0.079586281606,0.999999794856,-9.72461730568e-05,-0.000629853401587,-6.41477385408e-05,1793239506982899200
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,631.283804789,881,784,804.283804789,651.716195211,630,653,0.450256191229,-0.0055542800525,0.0795859367235,0.999999794328,-9.71305049597e-05,-0.000630739836952,-6.38582794673e-05,1793239506999565824
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657,631.874122409,881,784,804.874122409,651.125877591,630,653,0.45025620632,-0.00555361663894,0.0795856632099,0.999999794187,-9.65040359232e-05,-0.00063109413111,-6.35128904874e-05,1793239507016232704
+256,4.266666667,HOLD_POSE2,765,746,714,683,657,632,880,784,804,652,631,653,0.450258376907,-0.00555346212591,0.0795868059402,0.99999979493,-9.96252834107e-05,-0.000629345486381,-6.43370228421e-05,1793239507048570112
+257,4.283333333,HOLD_POSE2,765,746,714,682.4265119,657,631.4265119,880.5734881,784,804,651.4265119,631,653,0.450258860438,-0.00555385657707,0.0795874048704,0.999999795742,-9.82953323481e-05,-0.000628252396635,-6.4435464726e-05,1793239507065236736
+258,4.300000000,HOLD_POSE2,765,746,714,682.146589816,657,631.146589816,880.853410184,784,804,651.146589816,630.853410184,653,0.450258828309,-0.00555397518661,0.0795873726444,0.999999795981,-9.68248310434e-05,-0.00062811070439,-6.43458579484e-05,1793239507081903360
+259,4.316666667,HOLD_POSE2,765,746,714,682.718570416,657,631.718570416,880.281429584,784,804,651.718570416,630.281429584,653,0.450257299781,-0.00555329332806,0.0795855088585,0.999999794553,-9.49464649582e-05,-0.000630729883952,-6.37105504801e-05,1793239507098570240
+260,4.333333333,HOLD_POSE2,765,746,714,683,657,631.696740549,880.303259451,784,804.303259451,652,630,653,0.45025784333,-0.00555319863551,0.0795856584095,0.999999794708,-9.41750768784e-05,-0.000630625397308,-6.34578001677e-05,1793239507115236864
+261,4.350000000,HOLD_POSE2,765,746,714,683,657,631.099742079,880.900257921,784,804.900257921,652,630,653,0.450260393905,-0.00555367267571,0.0795877580915,0.999999796398,-9.44759148021e-05,-0.000627882750209,-6.3575597172e-05,1793239507131903488
+262,4.366666667,HOLD_POSE2,765,745.51973283,714,683,657,631.48026717,881,784,804.51973283,652,630,653,0.450259672856,-0.00555421367366,0.0795873717274,0.999999795792,-9.58174560174e-05,-0.000628654344485,-6.34710008904e-05,1793239507148569856
+263,4.383333333,HOLD_POSE2,765,745,714,682.943293664,657,631.943293664,881,784,804.056706336,652,630.056706336,653,0.450258538237,-0.00555469893324,0.0795866704317,0.99999979492,-9.72302557621e-05,-0.000629837166501,-6.33357716105e-05,1793239507165236736
+264,4.400000000,HOLD_POSE2,765,745,714,682.368337798,657,631.368337798,881,784,804.631662202,652,630.631662202,653,0.450259621417,-0.00555455204395,0.0795876482912,0.99999979585,-9.73865026459e-05,-0.000628336032918,-6.33282689454e-05,1793239507181903360
+265,4.416666667,HOLD_POSE2,765,745.212430206,714,682,657,631,881,784,805,651.787569794,631,653,0.450260397273,-0.00555385237628,0.0795880291323,0.999999796346,-9.69566492936e-05,-0.000627603372576,-6.34203304718e-05,1793239507198569984
+266,4.433333333,HOLD_POSE2,765,745.803559437,714,682,657,631,881,784,805,651.196440563,631,653,0.450260625266,-0.00555216727142,0.0795873456695,0.99999979607,-9.54819558709e-05,-0.000628240668543,-6.36898849409e-05,1793239507215236352
+267,4.450000000,HOLD_POSE2,765,746,714,682,657,631,881,784,804.613446618,651,630.613446618,653,0.450260266121,-0.0055520396749,0.0795871313239,0.999999795804,-9.54993440227e-05,-0.000628643323421,-6.38633614827e-05,1793239507231902976
+268,4.466666667,HOLD_POSE2,765,746,714,682,657,631,881,784,804.034501635,651,630.034501635,653,0.45025961475,-0.00555268726618,0.0795871504626,0.999999795544,-9.62593564111e-05,-0.000628929195068,-6.39890190747e-05,1793239507248569856
+269,4.483333333,HOLD_POSE2,765,745.459644569,714,682,656.459644569,631,881,784,804.540355431,651,630.540355431,653,0.450260353442,-0.00555293212029,0.0795869660061,0.999999795597,-9.56116470464e-05,-0.000628955045703,-6.38800976619e-05,1793239507265236224
+270,4.500000000,HOLD_POSE2,765,745,714,682,656.114681195,631,881,784,804.885318805,651,631,653,0.450261261466,-0.00555295187416,0.0795870721855,0.999999795889,-9.49033829464e-05,-0.000628613172248,-6.37175369234e-05,1793239507281902848
+271,4.516666667,HOLD_POSE2,765,745,714,682,656.687918535,631,881,784,804.312081465,651,631,653,0.450262494341,-0.00555217360715,0.0795883920694,0.999999797062,-9.43096895494e-05,-0.000626866829558,-6.33999373945e-05,1793239507298569728
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,631,881,783,804,652,630,653,0.450261580971,-0.00555484985998,0.079587788334,0.999999795004,-9.88368284391e-05,-0.000629411278454,-6.37570346106e-05,1793239507335679232
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.576712216,714,682,656.576712216,631,881,783.576712216,804.576712216,651.423287784,630,652.423287784,0.450261275867,-0.00555356472593,0.0795878840657,0.999999795758,-9.67816717342e-05,-0.000628541262653,-6.36702068629e-05,1793239507352345856
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.152780681,657,631.152780681,881,784,805,651,630.152780681,652.152780681,0.450261040507,-0.00555270761893,0.0795877526766,0.999999796213,-9.52164319263e-05,-0.000628072169309,-6.34997278778e-05,1793239507369012480
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.727073212,657,631.727073212,881,784,805,651,630.727073212,652.727073212,0.450260997567,-0.00555303141011,0.0795869946762,0.999999795859,-9.5002840146e-05,-0.000628709194466,-6.30984606127e-05,1793239507385679360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.689905814,714,683,657,631.689905814,880.689905814,784,805,651.310094186,631,653,0.450261297773,-0.00555308214603,0.0795870066617,0.999999795847,-9.57112316505e-05,-0.000628609116159,-6.32125682821e-05,1793239507402345984
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.098980107,714,683,657,631.098980107,880.098980107,784,805,651.901019893,631,653,0.450261908743,-0.00555288559408,0.0795877159719,0.999999796143,-9.72546016329e-05,-0.000627841492613,-6.37934165104e-05,1793239507419012864
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.481560016,745,714,683,657,631,880,784,804.518439984,652,631,653,0.450262659447,-0.00555300643524,0.0795883825116,0.999999796786,-9.69632024271e-05,-0.000626858859968,-6.38239705071e-05,1793239507435679488
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.940366495,745,714,683,656.940366495,631,880.059633505,784,804,651.940366495,631,653,0.450263251401,-0.0055531133805,0.079588840397,0.999999797323,-9.63751258346e-05,-0.000626100513265,-6.37490192704e-05,1793239507452346112
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.365550288,745,714,683,656.365550288,631,880.634449712,784,804,651.365550288,631,653,0.450262229011,-0.00555254858175,0.0795875700314,0.999999796348,-9.64132199389e-05,-0.000627653536629,-6.37191185616e-05,1793239507469012736
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.20968737,714,683,656.20968737,631,881,784,804,651,630.79031263,652.79031263,0.450258118079,-0.00555215968983,0.0795849053976,0.999999794025,-9.57926503669e-05,-0.000631461006918,-6.34889790817e-05,1793239507485679104
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.785661169,714,683,656.785661169,631,881,784,804,651,630.214338831,652.214338831,0.450248612017,-0.00555207807581,0.0795798052263,0.999999789309,-9.40215128424e-05,-0.00063920659363,-6.29090581899e-05,1793239507502345472
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.630235721,713.630235721,683,657,631,881,783.630235721,804.369764279,651.369764279,630,652,0.450225557672,-0.00555133682632,0.0795680165628,0.999999777311,-9.37594001684e-05,-0.000657706861754,-6.33198223603e-05,1793239507519012352
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.041314364,713.041314364,683,657,631,881,783.041314364,804.958685636,651.958685636,630,652,0.45019447334,-0.0055502046148,0.0795522636694,0.999999760518,-9.43916772941e-05,-0.000682581365727,-6.43177595633e-05,1793239507535678976
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.538372622,682.461627378,657,631,880.461627378,783.538372622,805,651.461627378,630,652.538372622,0.450133878935,-0.0055479688858,0.0795275100689,0.999999731399,-9.27853181212e-05,-0.000724133803632,-6.49908352758e-05,1793239507552345600
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.11668105,714,682,656.88331895,631,880.11668105,784,805,651.11668105,630,653,0.450069153074,-0.00554632299847,0.0795042944159,0.999999703229,-9.14111268336e-05,-0.000762181757975,-6.53127718043e-05,1793239507569012224
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.692307642,714,682,656.307692358,631,880.692307642,784,805,651.692307642,630,653,0.449996933962,-0.00554732462516,0.0794897989897,0.999999688365,-9.16144480561e-05,-0.000781496223267,-6.43499643541e-05,1793239507585678848
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.273053807,746,714,682,656.273053807,631.273053807,881,784,805,651.726946193,630,653,0.449920936665,-0.00554746357108,0.0794812793176,0.999999679288,-9.19847070786e-05,-0.000793091166167,-6.29978515935e-05,1793239507602345728
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.859679191,746,714,682,656.859679191,631.859679191,881,784,805,651.140320809,630,653,0.449840600553,-0.00554661182512,0.0794796221278,0.999999677179,-9.25466754006e-05,-0.000795821105156,-6.11986655599e-05,1793239507619012608
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.55898398,745.55898398,714,682,657,631.55898398,881,784,805,651,630,653,0.449743700572,-0.00554414392248,0.0794802641158,0.999999678879,-8.96183152274e-05,-0.000794212483291,-5.86196820613e-05,1793239507635679232
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.020618997,714,682,657,631.020618997,880.979381003,784,804.979381003,651.020618997,630.020618997,653,0.44964056499,-0.00554116209713,0.0794816172688,0.999999681678,-8.56052792121e-05,-0.000791331332889,-5.57764484491e-05,1793239507652345856
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.598301323,714,682,657,631.598301323,880.401698677,784,804.401698677,651.598301323,630.598301323,653,0.449509660666,-0.0055380237491,0.0794826540439,0.99999968249,-8.19354698962e-05,-0.000790923338133,-5.24178061062e-05,1793239507669012480
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,631.824417957,880.175582043,784,804,652,631,653,0.449368168046,-0.00553491224551,0.0794833804302,0.999999683294,-7.8040155659e-05,-0.000790528119855,-4.88512882613e-05,1793239507685679104
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,631.24805402,880.75194598,784,804,652,631,653,0.449202506701,-0.00553186201723,0.0794833983256,0.999999684107,-7.36301065442e-05,-0.000790162065122,-4.48102762397e-05,1793239507702345728
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.323251608,746,714,682,657.323251608,631.323251608,881,784,804.323251608,652,631,653,0.449020087172,-0.00552845693511,0.0794835172883,0.999999682984,-6.85281313182e-05,-0.000792295185118,-4.00393152529e-05,1793239507719012608
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.890735497,746,714,682,657.890735497,631.890735497,881,784,804.890735497,652,631,653,0.448825006005,-0.00552478374336,0.0794837126121,0.999999680359,-6.29033718595e-05,-0.000796316552867,-3.47168419623e-05,1793239507735679232
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.515396746,745.515396746,714,682,657.515396746,631.515396746,881,784.484603254,805,652,631,653,0.448609328953,-0.0055219789213,0.079492256736,0.999999688881,-5.57715959903e-05,-0.0007863430454,-2.81364393816e-05,1793239507752346368
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.081154417,714,682,657,631.081154417,880.918845583,785,805,652,630.918845583,653,0.448381862478,-0.00551903009999,0.0795007294586,0.999999697619,-4.78457252173e-05,-0.000775896941098,-2.13552963158e-05,1793239507769013760
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.655767723,714,682,657,631.655767723,880.344232277,785,805,652,630.344232277,653,0.448112572815,-0.00551394662333,0.0794966629272,0.999999692748,-3.72764178902e-05,-0.000782868678976,-1.51774477529e-05,1793239507785680128
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.807027102,657,632,880.807027102,784.192972898,805,652,630.807027102,653,0.447516990589,-0.00550506173039,0.0794971231345,0.999999694737,-1.25541432672e-05,-0.00078126009822,-5.53577097531e-07,1793239507819013120
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,657,632.393577235,881,784.393577235,804.606422765,652,631,653,0.44719492995,-0.00550013044022,0.0795036289101,0.999999702956,7.84342113211e-06,-0.000770715970162,4.92602938622e-06,1793239507835679488
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.434967184,657.565032816,632.434967184,881,785,804.565032816,652,631,653,0.446496531868,-0.00548893602926,0.0795339581298,0.999999731129,4.35126628218e-05,-0.000731972748274,7.99391137954e-06,1793239507869012480
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.141107375,746,714,682.141107375,658,632.141107375,880.858892625,785,805,652,631,653,0.446111109252,-0.00548334466187,0.0795521051462,0.999999745668,5.02479262991e-05,-0.000711395811661,7.44989407222e-06,1793239507885679360
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.707417627,746,714,682.707417627,658,632.707417627,880.292582373,785,805,652,631,653,0.445683178396,-0.00547866231357,0.0795589056766,0.999999750576,4.32438314477e-05,-0.00070490271051,9.4397439168e-06,1793239507902346240
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745.711232039,714,683,658,633,880.288767961,785,805,652,631,653,0.445227781957,-0.00547257068359,0.0795662370295,0.999999757713,4.40387489903e-05,-0.000694617874576,1.18906887302e-05,1793239507919012864
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745.11380558,714,683,658,633,880.88619442,785,805,652,631,653,0.444743028032,-0.00546497269906,0.0795741357692,0.999999767086,5.31698794197e-05,-0.000680280125636,1.48344892982e-05,1793239507935679232
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.048087881,745.951912119,714,682.048087881,659,633.048087881,880.951912119,785.048087881,805,651.951912119,631,653,0.443721429216,-0.00545205816838,0.0795972440544,0.999999783097,9.2365472963e-05,-0.000651942117338,1.56644385673e-05,1793239507969012224
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.624022392,745.375977608,714,682.624022392,659,633.624022392,880.375977608,785.624022392,805,651.375977608,631,653,0.443179955241,-0.00543286136657,0.0796076837774,0.999999792462,9.34798730179e-05,-0.000637323500227,1.25112656338e-05,1793239507985678848
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.849998035,682.150001965,661,635,880,787,805,652,631,652,0.437380093049,-0.00542534715815,0.0797784637637,0.99999992975,0.000113487432632,-0.000356372075339,2.49101759781e-05,1793239508135679488
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745.091631974,715,682,661,635,881,787,804.908368026,652,631.091631974,652.908368026,0.431566505452,-0.00540664919235,0.0797197667534,0.999999875182,0.000156262481996,-0.000473362138935,3.38624031099e-05,1793239508252345600
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.510978387,745,714.510978387,681.510978387,661,635,880.510978387,787,805,651.510978387,631,653,0.430724295172,-0.00541650637106,0.0797360684382,0.999999889555,0.000152199000997,-0.000443183246915,3.6256254553e-05,1793239508269012224
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.067223705,745,714.067223705,681.067223705,661,635,879.932776295,787,804.932776295,651,631,653,0.42990547651,-0.00542702697238,0.0797706333167,0.999999915539,0.00014731345831,-0.00038165738889,3.94840256442e-05,1793239508285679104
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,879.546124373,787.453875627,805,652,631.453875627,653,0.420334493895,-0.00539197363441,0.0798709562136,0.999999958023,0.000214334970449,-0.0001885781351,4.95165732577e-05,1793239508469012992
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.666412971,746,715,680.333587029,661,635,880,787.666412971,804,652,631,653,0.413015427444,-0.00541675229862,0.0798195439093,0.999999939949,0.00018831776549,-0.000287195292749,4.64542960885e-05,1793239508619012096
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.580580402,745,715,680,661,635,879.419419598,787.580580402,804.580580402,652,631.419419598,652.580580402,0.41090069132,-0.00540915611868,0.0798009204735,0.999999925621,0.000199135930573,-0.000327214255571,4.50990745062e-05,1793239508669012480
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.000964678,745,715,680,661,635,879.999035322,787.000964678,804.000964678,652,631.999035322,652.000964678,0.410214063044,-0.00540296686922,0.0797928969771,0.999999918904,0.000208072608734,-0.000341820147517,4.53406627365e-05,1793239508685678848
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.143444126,745,715,680,661,635.856555874,880,787,804,652,631.143444126,653,0.408999572589,-0.0054055274089,0.079833173624,0.999999940185,0.000205852130619,-0.000273929671049,4.7084249892e-05,1793239508719012352
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.702429965,745,715,680,661,635.297570035,880,787,804,652,631.702429965,653,0.408415711852,-0.00540302901764,0.079845224658,0.999999941804,0.000215615395269,-0.000259931031733,4.83568349456e-05,1793239508735678976
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.105431237,661,635.894568763,879.105431237,787,804,652,631.105431237,652.105431237,0.407271952426,-0.00540065926879,0.0798030882186,0.999999919685,0.000211035669505,-0.000337596053543,4.60789954914e-05,1793239508769012480
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.634551709,661,636,879,787,804,651.365448291,631.365448291,653,0.405805020889,-0.0053951377086,0.0797980932722,0.99999992279,0.000219547003285,-0.000322856725354,4.45191133009e-05,1793239508819012352
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.214168366,715,680,661,635.785831634,879,787,804,651,631.214168366,653,0.405381149368,-0.00539470011452,0.079814961861,0.999999933022,0.000216470777061,-0.000291738195027,4.45629633481e-05,1793239508835678976
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.801660867,715,680,661,635.198339133,879,787,804,651,631.801660867,653,0.404983104425,-0.00539576718098,0.0798282388318,0.999999936252,0.000217600818787,-0.000279572802275,4.45571475733e-05,1793239508852345600
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.037146661,746,715,679.037146661,661,635,879,787,804,651,632,653,0.404217378282,-0.0053956348691,0.0798417674819,0.999999933632,0.000238699333713,-0.000270930557286,4.85240920723e-05,1793239508885678848
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.540483566,745.459516434,715.540483566,679.540483566,661,635,879,787,804,651.540483566,631.459516434,653,0.403870570688,-0.00539457100824,0.0798427497462,0.999999935881,0.000225376158318,-0.000274360045879,4.65929501331e-05,1793239508902345728
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.882970795,745,715.882970795,680,661,635.117029205,879,787,804,652,631,653,0.40353546473,-0.00539384083791,0.0798428080891,0.99999993751,0.000213312481516,-0.000278320890263,4.48850258674e-05,1793239508919012352
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,804,651.024524962,631.975475038,653,0.402281317576,-0.0053962976172,0.0798407934245,0.999999935065,0.000216734488554,-0.000284435172842,4.46388917868e-05,1793239509002345472
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.667077282,745,715,679,661,636,879,787,803.332922718,652,631,653,0.401671872076,-0.00539321671731,0.0798588125184,0.999999943153,0.000215081255891,-0.000255539770164,4.6191249503e-05,1793239509069012224
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.226614261,878.226614261,787,803.773385739,652,631.226614261,653,0.40119763545,-0.00539626395804,0.0798342352559,0.999999929873,0.000230683826141,-0.000292423635999,3.9086937217e-05,1793239509152345600
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.801431716,878.801431716,787,803.198568284,652,631.801431716,653,0.401144733528,-0.00539472238319,0.0798319291092,0.999999929403,0.00023008308489,-0.000294490909315,3.91240349695e-05,1793239509169012480
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.388399252,635.611600748,879,787,803.388399252,652,631.611600748,652.611600748,0.401102550619,-0.00539468281167,0.0798307794532,0.999999929176,0.00022953651303,-0.000295646568626,3.94318116121e-05,1793239509185679104
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.981779063,635.018220937,879,787,803.981779063,652,631.018220937,652.018220937,0.40106602475,-0.0053954359335,0.0798302401437,0.999999929077,0.000229018529484,-0.000296321116881,3.98824410272e-05,1793239509202345984
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.43908473,661.43908473,635,879,787,804,652,631,652.56091527,0.401040483627,-0.00539489197425,0.0798309533308,0.999999929573,0.000229312653916,-0.000294388191819,4.00686114079e-05,1793239509219012608
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.137358696,745,715,679.137358696,661,635,879,787,804,652,631,653,0.401018238994,-0.00539417545442,0.079831539065,0.999999929885,0.000229804147386,-0.000292926514449,4.01776392398e-05,1793239509235679488
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.711720627,745,715,680,661,635,879,787,804,652,631,653,0.400995842643,-0.00539432559156,0.0798324888916,0.999999930291,0.000229658837108,-0.000291625862863,4.03561583874e-05,1793239509269012480
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.117306527,745,715,680,661,635,879,787,804,652,631,653,0.400990181707,-0.00539816523754,0.0798342597712,0.999999932096,0.000226137383677,-0.000288068210511,4.10593120639e-05,1793239509285679104
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,804,652,631.466872836,653,0.400985685207,-0.0053969500256,0.0798351191426,0.999999932044,0.000227906681887,-0.000286886199948,4.08199912306e-05,1793239509302345728
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.047897657,745.047897657,715,679.952102343,661,635,879,787,804,652,631.952102343,653,0.400981530367,-0.00539487736121,0.0798356081304,0.999999931595,0.000230469914021,-0.000286464090769,4.04080377732e-05,1793239509319012608
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.621913595,745.621913595,715,679.378086405,661,635,879,787,804,652,631.378086405,653,0.400977983617,-0.00539703786288,0.0798344904452,0.99999993184,0.000227465202914,-0.000287973027525,4.06451826524e-05,1793239509335679232
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879,787,803.358648212,652,631,652.641351788,0.400978427997,-0.00539529710115,0.0798377009893,0.999999932917,0.000230062989829,-0.000282149420711,4.03503968514e-05,1793239509385679616
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879,787,803.9522368,652,631,652.0477632,0.40097927986,-0.00539629088271,0.0798392391524,0.999999933656,0.000229323723315,-0.000280087018066,4.06086320657e-05,1793239509402345984
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.103278515,745,715,679.896721485,661,635,879,787,804,651.103278515,631,652.896721485,0.400977639959,-0.0053968928281,0.0798383833883,0.9999999337,0.000227295727346,-0.000281662899501,4.00261694737e-05,1793239509435680000
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,878.739262359,787,804,652,631,652,0.400977855963,-0.00539675681189,0.0798384563394,0.999999933568,0.000228917018593,-0.000280820999421,4.00014915566e-05,1793239509469012480
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..717ff89461b99b1d5c634023ad003f9caf1ca70e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,420 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..13b32688520e481e102f5898cbffb06911564c6c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e6b225fe0ddf00d5668cadb658bef5a4087eb06d78786b471d4ece174b3f2f5
+size 26571309
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eaf17ee4f0c21f8244e6056dfef98f307b96d863
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/franka_data.csv
@@ -0,0 +1,421 @@
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+7,0.116666667,BASELINE,765.905167998,745,715,679.094832002,662.810335996,635.905167998,878.905167998,787,803.094832002,652,631,653,0.400980440611,-0.00539808714655,0.0798437287353,0.999999936628,0.000227599765336,-0.000270967797049,3.89657503073e-05,1793239510009652224
+8,0.133333333,BASELINE,765.327505854,745,715,679.672494146,661.655011709,635.327505854,878.327505854,787,803.672494146,652,631,653,0.400979115778,-0.00539857865818,0.0798421828366,0.999999935983,0.000227212035721,-0.000273638010249,3.91388123037e-05,1793239510026318592
+9,0.150000000,BASELINE,765,745,715,679.751238021,661,635.248761979,878.248761979,787,804,652,631,653,0.400978149584,-0.00539823268719,0.0798412634138,0.999999935511,0.000227473944352,-0.000275127915504,3.92158742205e-05,1793239510042985216
+10,0.166666667,BASELINE,765,745,715,679.176795671,661,635.823204329,878.823204329,787,804,652,631,653,0.400977652921,-0.00539679027991,0.0798411641765,0.999999935275,0.000228586362512,-0.000275072555751,3.9167252361e-05,1793239510059652096
+11,0.183333333,BASELINE,765.408054222,745,715,679.408054222,661.408054222,636,879,787,804,652,631,653,0.400978244008,-0.00539702451023,0.0798419365245,0.999999935745,0.000227786821525,-0.000274032971694,3.90963706649e-05,1793239510076318976
+12,0.200000000,BASELINE,765.997531411,745,715,679.997531411,661.997531411,636,879,787,804,652,631,653,0.400979318715,-0.00539800418195,0.0798430963836,0.999999936527,0.000226137213949,-0.000272555796539,3.90155921289e-05,1793239510092985600
+13,0.216666667,BASELINE,765.422739496,745.577260504,715,679.422739496,662,636,879,787,803.422739496,652,631,652.422739496,0.400979915389,-0.00539764679846,0.079843659868,0.999999936456,0.000227283715859,-0.000271823645785,3.92592977422e-05,1793239510109652224
+14,0.233333333,BASELINE,765.156399834,745.843600166,715,679,662,636,879,787,803.156399834,652,631.156399834,652.156399834,0.400979788658,-0.00539783810258,0.0798437225284,0.999999936268,0.000227932949237,-0.000271943042141,3.94615716443e-05,1793239510126318592
+15,0.250000000,BASELINE,765.734061191,745.265938809,715,679,662,636,879,787,803.734061191,652,631.734061191,652.734061191,0.400977718856,-0.00539952243671,0.0798424429793,0.999999935772,0.000227211122734,-0.000274347633711,3.95485741917e-05,1793239510142985216
+16,0.266666667,BASELINE,766,745,715,679,662,635.689867147,879,787,804,652,631.689867147,653,0.400977355772,-0.00539941333292,0.079842142123,0.999999935609,0.000227367129784,-0.000274840088886,3.93501816226e-05,1793239510159651840
+17,0.283333333,BASELINE,766,745,715,679,662,635.115151732,879,787,804,652,631.115151732,653,0.400978448733,-0.00539777419957,0.0798426762156,0.999999935733,0.000228272039964,-0.000273701249642,3.89083109049e-05,1793239510176318464
+18,0.300000000,BASELINE,766,745,715,679,662,635.471046589,879,787.471046589,804,652,631,653,0.400978577365,-0.0053982232083,0.0798432094222,0.999999935938,0.000228324686332,-0.000272882330732,3.90849774872e-05,1793239510192985088
+19,0.316666667,BASELINE,765.940868576,745,715,679.059131424,661.940868576,636,879,787.940868576,804,652,631,652.940868576,0.400978592955,-0.00539908142026,0.0798437215971,0.999999936168,0.000228137965783,-0.000272152400039,3.93733838126e-05,1793239510209651968
+20,0.333333333,BASELINE,765.361500131,745,715,679.638499869,661.361500131,636,879,787.361500131,804,652,631,652.361500131,0.400979739853,-0.00539893651012,0.0798440506875,0.999999936443,0.000227724105268,-0.000271500125289,3.92813161561e-05,1793239510226318592
+21,0.350000000,BASELINE,765.216358172,745,715,679.783641828,661,635.783641828,879,787.216358172,804,652,631,652,0.400980233135,-0.00539826939665,0.0798437973009,0.999999936307,0.000228136211495,-0.000271668299755,3.9182145719e-05,1793239510242984960
+22,0.366666667,BASELINE,765.791710698,745,715,679.208289302,661,635.208289302,879,787.791710698,804,652,631,652,0.4009796419,-0.00539673581235,0.0798425774335,0.999999935487,0.000229918810931,-0.000273197812453,3.90711899348e-05,1793239510259651840
+23,0.383333333,BASELINE,765.633352759,745,715,679,661,635.366647241,879.366647241,787.633352759,804,652,631,652.366647241,0.400980250244,-0.00539686582629,0.0798433074603,0.999999935812,0.000229795755194,-0.000272103337575,3.91143486819e-05,1793239510276318720
+24,0.400000000,BASELINE,765.058652213,745,715,679,661,635.941347787,879.941347787,787.058652213,804,652,631,652.941347787,0.400981539286,-0.00539793984587,0.0798451439508,0.999999936782,0.000228591339081,-0.000269519885887,3.92449594272e-05,1793239510292985344
+25,0.416666667,BASELINE,765.531329847,745,715,679.531329847,661,635.468670153,879.468670153,787,804,651.468670153,631,653,0.40098046469,-0.00539778536427,0.0798445630382,0.999999936271,0.000229556572177,-0.000270569417598,3.94292755174e-05,1793239510309651968
+26,0.433333333,BASELINE,766,745,715,680,661.120318295,635.120318295,879,787,804,651.120318295,631,653,0.400979317912,-0.00539782325479,0.0798437496558,0.999999935874,0.00022978929014,-0.000271823092726,3.95145316956e-05,1793239510326318592
+27,0.450000000,BASELINE,766,745,715,680,661.698907116,635.698907116,879,787,804,651.698907116,631,653,0.400978919419,-0.00539912566978,0.0798430973236,0.999999936559,0.000226292757404,-0.000272281606936,3.91992378543e-05,1793239510342985216
+28,0.466666667,BASELINE,766,745,715.273842914,680,662,635.726157086,879,787.273842914,803.726157086,652,631,653,0.400978699586,-0.00539899993674,0.0798430089582,0.999999936479,0.00022615797717,-0.000272703937478,3.90701062007e-05,1793239510359652096
+29,0.483333333,BASELINE,766,745,715.844815018,680,662,635.155184982,879,787.844815018,803.155184982,652,631,653,0.400978673606,-0.00539732461279,0.0798435325165,0.999999935571,0.000229670816812,-0.000273087007441,3.91429670853e-05,1793239510376318976
+30,0.500000000,BASELINE,765.568794698,745,715.568794698,680,661.568794698,635.431205302,878.568794698,787.568794698,803.431205302,651.568794698,631,653,0.400979475611,-0.00539808681503,0.0798436796766,0.999999936081,0.000228652799249,-0.0002720652639,3.91898433976e-05,1793239510392985344
+31,0.516666667,BASELINE,765.022847369,745,715,679.977152631,661.022847369,636,878.022847369,787,804,651.022847369,631,653,0.400980557583,-0.00539966031572,0.0798437079261,0.99999993708,0.000226063520636,-0.000270547843588,3.92208105828e-05,1793239510409651968
+32,0.533333333,BASELINE,765.602242461,745,715,679.397757539,661.602242461,636,878.602242461,787,804,651.602242461,631,653,0.400980931581,-0.00539883529833,0.0798442616887,0.999999937232,0.000226392470398,-0.000269728180527,3.91004851399e-05,1793239510426318592
+33,0.550000000,BASELINE,765.819311588,745.180688412,715,679.180688412,662,635.819311588,879,787,804,652,631,653,0.400980331307,-0.00539857332126,0.0798439177615,0.9999999371,0.00022623914149,-0.000270370916037,3.89257517041e-05,1793239510442985216
+34,0.566666667,BASELINE,765.242944182,745.757055818,715,679.757055818,662,635.242944182,879,787,804,652,631,653,0.400977597527,-0.0053995443134,0.0798416080357,0.999999936337,0.00022502969866,-0.000274216072831,3.86318733992e-05,1793239510459651840
+35,0.583333333,BASELINE,765.332028078,746,715,680,662,635,879,787,804,652,631,653,0.400977053452,-0.00539983555569,0.0798412283447,0.999999936121,0.000224693109648,-0.000275253653088,3.88214160976e-05,1793239510476318464
+36,0.600000000,BASELINE,765.905983843,746,715,680,662,635,879,787,804,652,631,653,0.400978104874,-0.00539963150773,0.0798422549468,0.999999936309,0.000224992513434,-0.000274245531752,3.93631968254e-05,1793239510492985088
+37,0.616666667,BASELINE,765.505803911,745.505803911,715,679.505803911,662,635.494196089,879,787,804,652,631,653,0.400979219706,-0.00539903877646,0.0798433599769,0.999999936311,0.000226873046027,-0.000272687072425,3.93590670171e-05,1793239510509651968
+38,0.633333333,BASELINE,765.083495789,745,715,679.083495789,661.916504211,635.916504211,879,787,803.916504211,652,631,653,0.400979998319,-0.00539847672843,0.0798441842218,0.999999936262,0.000228639645814,-0.000271405114047,3.92346102673e-05,1793239510526318592
+39,0.650000000,BASELINE,765.662672237,745,715,679.662672237,661.337327763,635.337327763,879,787,803.337327763,652,631,653,0.400978707189,-0.00539854884522,0.0798432503538,0.999999936169,0.000227891132679,-0.000272404633195,3.90306765273e-05,1793239510542985216
+40,0.666666667,BASELINE,766,745,715,680,661,635.239060516,879,787,803,652,631,652.760939484,0.400977928022,-0.00539882921979,0.0798428132323,0.999999936267,0.000227131441873,-0.000272679386395,3.90351403882e-05,1793239510559652096
+41,0.683333333,BASELINE,766,745,715,680,661,635.811559854,879,787,803,652,631,652.188440146,0.400977862935,-0.00539940006987,0.0798430689672,0.999999936631,0.000226356160625,-0.000271943244436,3.93302748064e-05,1793239510576318976
+42,0.700000000,BASELINE,765.603874673,745,715,679.603874673,661.396125327,635.603874673,879,787,803.396125327,652,631,652.396125327,0.400978610968,-0.00539835533027,0.0798433262177,0.999999936545,0.00022740576736,-0.000271391878424,3.92763321385e-05,1793239510592985600
+43,0.716666667,BASELINE,765.013388922,745,715,679.013388922,661.986611078,635.013388922,879,787,803.986611078,652,631,652.986611078,0.400979757961,-0.00539651789532,0.0798435842117,0.999999936235,0.000229350762464,-0.000270931173464,3.9051113439e-05,1793239510609652224
+44,0.733333333,BASELINE,765,745,715,679.566309125,661.433690875,635.566309125,879,787.566309125,804,652,631.566309125,652.433690875,0.400979583841,-0.00539757321682,0.0798440684656,0.999999936452,0.000228179607204,-0.000271120781501,3.90259155972e-05,1793239510626318592
+45,0.750000000,BASELINE,765.145022624,745,715,679.854977376,661,635.854977376,879,787.854977376,804,652,631.854977376,652.145022624,0.400979241711,-0.00539833833875,0.0798441934052,0.999999936569,0.000227302476101,-0.000271425970588,3.90389692893e-05,1793239510642985216
+46,0.766666667,BASELINE,765.721551245,745,715,679.278448755,661,635.278448755,879,787.278448755,804,652,631.278448755,652.721551245,0.400978490872,-0.00539804029769,0.079843233608,0.999999936352,0.000227515309089,-0.000272030171871,3.91520303365e-05,1793239510659651840
+47,0.783333333,BASELINE,766,745,715,679.296238028,661,635.296238028,879,787,804,652,631.296238028,653,0.400979099587,-0.00539802332997,0.0798433745344,0.999999936533,0.000227597100319,-0.000271305837756,3.90804375246e-05,1793239510676318720
+48,0.800000000,BASELINE,766,745,715,679.869204341,661,635.869204341,879,787,804,652,631.869204341,653,0.400980978318,-0.00539826892456,0.0798445436924,0.999999937083,0.000227556480006,-0.000269340463442,3.88363518619e-05,1793239510692985344
+49,0.816666667,BASELINE,765.542277435,745,715,679.542277435,661.457722565,636,879,787,804,652,631.542277435,653,0.400980293629,-0.0053975647531,0.0798438511243,0.999999936941,0.000227159411702,-0.000270265889511,3.83862464887e-05,1793239510709651712
+50,0.833333333,BASELINE,765.04940856,745,715.04940856,679.04940856,662,636,879.04940856,787,804,652,631.04940856,653,0.400978926097,-0.00539673579515,0.0798427138807,0.999999936612,0.000226704318245,-0.000271920290309,3.79626521113e-05,1793239510726318592
+51,0.850000000,BASELINE,765.625815314,745,715.625815314,679.625815314,662,636,879.625815314,787,804,652,631.625815314,653,0.400978363071,-0.00539757243503,0.0798427075643,0.999999936497,0.000226754942379,-0.000272229326839,3.84718357626e-05,1793239510742985216
+52,0.866666667,BASELINE,766,745,715.798128798,679.798128798,661.798128798,636,879.798128798,787,803.798128798,652,631.798128798,652.798128798,0.400978413918,-0.00539807584151,0.0798430265321,0.999999936558,0.000226870359552,-0.000271870342497,3.87285980023e-05,1793239510759652096
+53,0.883333333,BASELINE,766,745,715.222722178,679.222722178,661.222722178,636,879.222722178,787,803.222722178,652,631.222722178,652.222722178,0.400979600653,-0.00539796264447,0.0798439473946,0.999999936945,0.000227105667496,-0.000270275275659,3.85182884505e-05,1793239510776318720
+54,0.900000000,BASELINE,766,745,715,679.352817626,661,636,879,787,803.352817626,652,631,652.352817626,0.400980380953,-0.00539775129797,0.0798444564586,0.999999937266,0.000226631028308,-0.00026949597962,3.84371956401e-05,1793239510792985600
+55,0.916666667,BASELINE,766,745,715,679.928441514,661,636,879,787,803.928441514,652,631,652.928441514,0.400980904588,-0.00539747796956,0.0798447054695,0.999999937546,0.00022570805361,-0.000269231847368,3.84377039168e-05,1793239510809652224
+56,0.933333333,BASELINE,766,745,715,680,661,635.479867987,878.479867987,787.520132013,804,652,631,652.479867987,0.40098010672,-0.00539879119719,0.079844321986,0.999999937484,0.000224645009775,-0.00027032215405,3.86325704155e-05,1793239510826318848
+57,0.950000000,BASELINE,765.889917273,745,715,680,661,635,878.110082727,787.889917273,804,652,631.110082727,652,0.400979107096,-0.00539965938283,0.0798438291092,0.999999937219,0.000224460248411,-0.000271437714899,3.8749902809e-05,1793239510842985728
+58,0.966666667,BASELINE,765.316875765,745,715,680,661,635,878.683124235,787.316875765,804,652,631.683124235,652,0.400978047957,-0.00539770869592,0.0798432537925,0.999999936306,0.000228052776855,-0.000271850840119,3.84251232996e-05,1793239510859652352
+59,0.983333333,BASELINE,765.258003705,745,715,680,661.258003705,635,879,787,803.741996295,652,631.741996295,652.258003705,0.400978284385,-0.00539728173588,0.0798433608796,0.999999936197,0.000228986792531,-0.000271457458881,3.84988301683e-05,1793239510876318720
+60,1.000000000,BASELINE,765.835156802,745,715,680,661.835156802,635,879,787,803.164843198,652,631.164843198,652.835156802,0.400980123424,-0.00539873961868,0.0798443120968,0.999999937088,0.000226632240669,-0.000270066432932,3.9065462804e-05,1793239510892985600
+61,1.016666667,BASELINE,766,745,715,680,661.57941697,635.42058303,878.57941697,787,803,652,631,653,0.400980303423,-0.00539902627532,0.0798444086507,0.999999937139,0.000226628870486,-0.000269879479245,3.90792567328e-05,1793239510909651968
+62,1.033333333,BASELINE,766,745.009169536,715,680,661.009169536,635.990830464,878.009169536,787,803.009169536,652,631,653,0.400979822515,-0.00539885434595,0.0798441616813,0.999999936864,0.000227514607204,-0.000270180356988,3.88737979347e-05,1793239510926318336
+63,1.050000000,BASELINE,766,745.588594334,715,680,661.588594334,635.411405666,878.588594334,787,803.588594334,652,631,653,0.400979489901,-0.00539928410897,0.0798438011861,0.999999937194,0.000225234541456,-0.000270881639686,3.87786928252e-05,1793239510942985216
+64,1.066666667,BASELINE,766,745.833573192,715,680,661.833573192,635,878.833573192,787,804,652,631.166426808,653,0.400979507544,-0.00539917157272,0.0798437345793,0.999999937342,0.000224367168604,-0.000271070628836,3.86740893001e-05,1793239510959652096
+65,1.083333333,BASELINE,766,745.259639656,715,680,661.259639656,635,878.259639656,787,804,652,631.740360344,653,0.40098038281,-0.00539773118187,0.0798443875771,0.999999937051,0.000226958865161,-0.0002700052343,3.85462283007e-05,1793239510976318976
+66,1.100000000,BASELINE,766,745,715,679.685040698,661.314959302,635,878.314959302,787,804,652,632,653,0.40098052765,-0.00539819001833,0.0798445413717,0.99999993712,0.000227133339255,-0.000269594522549,3.85863880693e-05,1793239510992985600
+67,1.116666667,BASELINE,766,745,715,679.109892061,661.890107939,635,878.890107939,787,804,652,632,653,0.400980069082,-0.00540021781533,0.0798442827721,0.99999993749,0.000225310934566,-0.000269724647328,3.87653505776e-05,1793239511009651968
+68,1.133333333,BASELINE,766,745,715,679.48011999,662,635,878.51988001,787,804,652,631.51988001,653,0.400980165967,-0.00540073038442,0.079844029368,0.99999993794,0.000223943376635,-0.000269209558373,3.86714672031e-05,1793239511026318848
+69,1.150000000,BASELINE,766,745,715,679.928352932,661.928352932,635,878.071647068,787,803.928352932,652,631,653,0.400980230684,-0.0054008274983,0.0798437885299,0.99999993824,0.000223047582213,-0.000268855934375,3.85574211968e-05,1793239511042985216
+70,1.166666667,BASELINE,766,745,715,679.350914508,661.350914508,635,878.649085492,787,803.350914508,652,631,653,0.400979142137,-0.00540051824418,0.0798436277388,0.999999937354,0.000224723771877,-0.000270718016715,3.87559880229e-05,1793239511059651840
+71,1.183333333,BASELINE,766,745,715,679.226069589,661.226069589,635,879,787,803.226069589,652,631,653,0.400978169226,-0.00540048024301,0.0798432351534,0.999999936804,0.000225420800481,-0.000272153613957,3.88662235185e-05,1793239511076318464
+72,1.200000000,BASELINE,766,745,715,679.802349965,661.802349965,635,879,787,803.802349965,652,631,653,0.400977375453,-0.0054008624474,0.0798424834887,0.999999936778,0.000224600983284,-0.000272928531375,3.88396224849e-05,1793239511092985088
+73,1.216666667,BASELINE,765.613524015,745,715,680,661.613524015,635.386475985,879,787,803.613524015,652,631,653,0.400978042045,-0.00539954398861,0.0798427992436,0.999999936622,0.000226272094605,-0.000272134017108,3.87326036726e-05,1793239511109651968
+74,1.233333333,BASELINE,765.025302502,745,715,680,661.025302502,635.974697498,879,787,803.025302502,652,631,653,0.400979470968,-0.00539733776132,0.0798436722057,0.999999936389,0.000229243503302,-0.000270520238883,3.85836057273e-05,1793239511126318592
+75,1.250000000,BASELINE,765.55458184,745.55458184,715,680,661,635.44541816,879,787,803,652,631,653,0.400978717368,-0.00539837168008,0.0798432165639,0.999999936198,0.00022882063491,-0.000271570104218,3.86567256785e-05,1793239511142985216
+76,1.266666667,BASELINE,765.867205835,745.867205835,715,679.867205835,661,635,879,787,803.132794165,652,631,653,0.400978234352,-0.00539905493596,0.0798429210391,0.999999936157,0.000228126393259,-0.000272300661882,3.8699346466e-05,1793239511159651840
+77,1.283333333,BASELINE,765.293302754,745.293302754,715,679.293302754,661,635,879,787,803.706697246,652,631,653,0.400978976021,-0.00539808959642,0.0798433557549,0.999999936606,0.00022703751199,-0.000271572854972,3.86074925957e-05,1793239511176318464
+78,1.300000000,BASELINE,765,745,715,679,661,635,879,787,804,652,631,653,0.400978811326,-0.00539778498434,0.0798431254845,0.999999936548,0.000226875685069,-0.00027193890229,3.84713997897e-05,1793239511192985344
+79,1.316666667,BASELINE,765,745,715,679,661,635,879,787,804,652,631,653,0.400977699235,-0.00539817101001,0.0798422001249,0.99999993596,0.000227682879039,-0.000273448321158,3.8289065418e-05,1793239511209651968
+80,1.333333333,BASELINE,765.444691991,745,715,679.444691991,661.444691991,635.444691991,879,787,804,652,631,653,0.400979010747,-0.0053986097903,0.0798431961349,0.999999936397,0.000227916363145,-0.000271615172802,3.85433783444e-05,1793239511226318848
+81,1.350000000,BASELINE,766,745.035549178,715,680,662,635.964450822,878.964450822,787,804,652,631.035549178,653,0.400980964164,-0.00539894734554,0.0798447120654,0.999999937083,0.000228077867349,-0.000268884762705,3.89256867842e-05,1793239511242985216
+82,1.366666667,BASELINE,766,745.614016907,715,680,662,635.385983093,878.385983093,787,804,652,631.614016907,653,0.400980487344,-0.00539747266916,0.0798444698967,0.999999936511,0.00023003598538,-0.000269323354842,3.90587198944e-05,1793239511259651840
+83,1.383333333,BASELINE,765.809103488,745.809103488,715,680,661.809103488,635.190896512,878,787,804,652,631.809103488,653,0.400979943339,-0.00539747875214,0.0798442370825,0.999999936359,0.000230162191716,-0.000269774921671,3.91103075406e-05,1793239511276318720
+84,1.400000000,BASELINE,765.23540839,745.23540839,715,680,661.23540839,635.76459161,878,787,804,652,631.23540839,653,0.40097926461,-0.00540045415359,0.0798440230267,0.999999937044,0.000226614925293,-0.000270252506308,3.89985752627e-05,1793239511292985600
+85,1.416666667,BASELINE,765.347782263,745,715,679.652217737,661.347782263,636,878.347782263,787,803.652217737,652,631.347782263,652.652217737,0.400979178695,-0.00540056428779,0.0798441903111,0.999999937047,0.000226105476009,-0.000270666739337,3.90128353176e-05,1793239511309651968
+86,1.433333333,BASELINE,765.937580687,745,715,679.062419313,661.937580687,636,878.937580687,787,803.062419313,652,631.937580687,652.062419313,0.400979505309,-0.00539868052778,0.0798446229643,0.999999936579,0.000227709995704,-0.000271036886958,3.91147714454e-05,1793239511326318592
+87,1.450000000,BASELINE,766,745,715,679.517897531,661.482102469,636,879,787,803,652,631.482102469,652.517897531,0.4009787947,-0.00539914535784,0.0798440933196,0.999999936667,0.000227250728465,-0.000271129499996,3.88914775583e-05,1793239511342985216
+88,1.466666667,BASELINE,765.903257451,745,715,679.903257451,661,636,878.903257451,787,803,652,631,653,0.400978193307,-0.00539997235711,0.0798436258862,0.999999936882,0.000226365923085,-0.000271101481917,3.87124061573e-05,1793239511359651840
+89,1.483333333,BASELINE,765.326148395,745,715,679.326148395,661,636,878.326148395,787,803,652,631,653,0.40097874379,-0.00540121742303,0.0798440328937,0.999999937401,0.000224581021191,-0.000270637586179,3.89440533038e-05,1793239511376318464
+90,1.500000000,BASELINE,765.239833028,745,715,679.239833028,661.239833028,636,878.239833028,787,803.239833028,652,631,653,0.400978897475,-0.0054010086854,0.0798441774096,0.999999937535,0.000224184096252,-0.000270457592305,3.90405612985e-05,1793239511392985344
+91,1.516666667,BASELINE,765.79135294,745,715,679.79135294,661.79135294,636,878.79135294,787,803.79135294,652,631,653,0.400978535483,-0.0053989105853,0.0798439807912,0.999999937171,0.000225590985602,-0.000270646557188,3.89614425014e-05,1793239511409652224
+92,1.533333333,BASELINE,765.616792634,745,715,680,661.616792634,635.616792634,879,787,804,652,631,653,0.400978609065,-0.00539796289074,0.0798438628662,0.999999936807,0.000227172436996,-0.000270684092838,3.8838706819e-05,1793239511426318848
+93,1.550000000,BASELINE,765.000393546,745,715,680,661.000393546,635.000393546,879,787,804,652,631,653,0.400978947705,-0.00539771524788,0.0798437928281,0.999999936443,0.000228860114101,-0.000270629479852,3.86894291114e-05,1793239511442985472
+94,1.566666667,BASELINE,765.578119509,745.578119509,715,679.421880491,661,635.578119509,879,787,803.421880491,652,631,652.421880491,0.40097975203,-0.00539886767997,0.0798441681525,0.999999936622,0.000228664544454,-0.000270083300852,3.90257873429e-05,1793239511459652096
+95,1.583333333,BASELINE,766,745.843883228,715,679.156116772,661.156116772,636,879,787,803.156116772,652,631,652.156116772,0.400979944391,-0.00539954999572,0.0798442500454,0.999999936785,0.000228003599408,-0.000270019138283,3.91598005893e-05,1793239511476318976
+96,1.600000000,BASELINE,766,745.267210103,715,679.732789897,661.732789897,636,879,787,803.732789897,652,631,652.732789897,0.400978487406,-0.00539896347571,0.0798435407091,0.999999936901,0.000226092240367,-0.000271254305208,3.87478895467e-05,1793239511492985344
+97,1.616666667,BASELINE,766,745,715,680,662,636,879.306810073,787,804,652,631,652.693189927,0.400979041746,-0.00539858197386,0.079843812223,0.999999937115,0.000225677285983,-0.000270841886025,3.85244676381e-05,1793239511509651968
+98,1.633333333,BASELINE,766,745,715,680,662,636,879.878539488,787,804,652,631,652.121460512,0.400981332792,-0.00539837749776,0.0798449306655,0.999999937414,0.000226554422727,-0.00026900683607,3.8463799268e-05,1793239511526318592
+99,1.650000000,BASELINE,766,745,715,679.53371023,661.53371023,636,879.53371023,787.46628977,804,652,631.46628977,652.46628977,0.400980348485,-0.00539857895311,0.0798444292357,0.999999937351,0.000225875626216,-0.00026982701572,3.83490218656e-05,1793239511542985216
+100,1.666666667,BASELINE,766,745,715,679.057180666,661.057180666,636,879,787.942819334,804,652,631.942819334,653,0.400978654234,-0.00539877407192,0.0798436260849,0.99999993714,0.000225213537775,-0.0002711749903,3.82599557988e-05,1793239511559652096
+101,1.683333333,BASELINE,766,745,715,679.637271226,661.637271226,636,879,787.362728774,804,652,631.362728774,653,0.400978547412,-0.00539790987639,0.0798440596988,0.999999936475,0.000228542479216,-0.000270799558425,3.85394948747e-05,1793239511576318976
+102,1.700000000,BASELINE,766,745,715,680,661.784863417,636,879,787.215136583,804,652,631,652.784863417,0.400978427294,-0.00539744001073,0.0798441220588,0.999999936187,0.000229795636246,-0.000270784734486,3.86695098838e-05,1793239511592985600
+103,1.716666667,BASELINE,766,745,715,680,661.210711491,636,879,787.789288509,804,652,631,652.210711491,0.400978284988,-0.00539762819446,0.0798435648778,0.999999936538,0.000227584768164,-0.000271371685423,3.855000229e-05,1793239511609651968
+104,1.733333333,BASELINE,766,745,715,679.62727733,661,636,878.62727733,787.62727733,803.62727733,652,631.37272267,652.37272267,0.400978153694,-0.00539859070492,0.0798429405818,0.999999936848,0.000225548593633,-0.000271938996704,3.84950105626e-05,1793239511626318592
+105,1.750000000,BASELINE,766,745,715,679.038461563,661,636,878.038461563,787.038461563,803.038461563,652,631.961538437,652.961538437,0.400978028784,-0.00540000214614,0.0798422773745,0.999999937131,0.000223613700821,-0.000272494921574,3.84774231317e-05,1793239511642985216
+106,1.766666667,BASELINE,765.458707069,745,715,679,661,636,878.541292931,787.541292931,803,652,632,653,0.400978909539,-0.00539908010877,0.0798430235658,0.99999993689,0.000226147967362,-0.000271258874441,3.86666131464e-05,1793239511659652096
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662,635,879,787,804,652,631,652,0.400977440313,-0.00539882412382,0.0798429987843,0.999999935973,0.000228508335784,-0.000272678743731,3.85196914103e-05,1793239511704091904
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.625200319,745,715,679,662,635.625200319,879,787,804,652,631.625200319,652,0.400976819752,-0.0053997677392,0.0798423751318,0.99999993625,0.000225712404466,-0.00027399737251,3.84559582326e-05,1793239511720758528
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.763385256,745,715,679.236614744,661.763385256,635.763385256,879,787,804,652,631.763385256,652.236614744,0.400977741345,-0.00539999333916,0.0798432963089,0.99999993671,0.000225205962552,-0.00027272020797,3.85397883285e-05,1793239511737425152
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.172605469,745,715,679.827394531,661.172605469,635.172605469,879,787,804,652,631.172605469,652.827394531,0.400980971235,-0.0053991442135,0.0798465297873,0.999999937431,0.000228126428869,-0.000267557659143,3.88444911815e-05,1793239511754091776
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.408281582,745,715,679.591718418,661,635.408281582,879,787,803.591718418,652,631,653,0.400981081201,-0.00539905260413,0.0798459026729,0.999999937479,0.000227612717027,-0.000267826900437,3.87648627277e-05,1793239511770758400
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.985085275,745,715,679.014914725,661,635.985085275,879,787,803.014914725,652,631,653,0.40097990339,-0.00539927366688,0.079843682062,0.99999993725,0.000225681515264,-0.000270338165149,3.85265978481e-05,1793239511787425024
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.560155469,661.560155469,636,879,787.560155469,803,652,631,653,0.400979850061,-0.00539903853686,0.0798438687363,0.999999936907,0.000227029916208,-0.000270469609585,3.8593520602e-05,1793239511804091648
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.861317098,661.861317098,635.861317098,879,787.861317098,803.138682902,652,631,653,0.400979907323,-0.00539871995425,0.0798442183178,0.999999936729,0.000227955922007,-0.000270349948076,3.85877514822e-05,1793239511820758016
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.27139089,661.27139089,635.27139089,879,787.27139089,803.72860911,652,631,653,0.400980227311,-0.00539816923594,0.0798448900502,0.999999937103,0.00022722429536,-0.000269618783882,3.83191007472e-05,1793239511837424896
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.687284527,745,715,679,661.312715473,635.312715473,879,787,804,652,631,653,0.400985146549,-0.00539815393546,0.0798475782708,0.999999938244,0.000226751032837,-0.000265758358112,3.83258642951e-05,1793239511854091520
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.108136677,745,715,679,661.891863323,635.891863323,879,787,804,652,631,653,0.400993984331,-0.00539859480893,0.0798519845316,0.999999940005,0.000226497895582,-0.000259231813591,3.85672797611e-05,1793239511870758144
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.531298355,636,879,787,804,652,631,653,0.401021465379,-0.00539958914966,0.0798629673499,0.999999944973,0.000226517048002,-0.000239226817371,3.8925111834e-05,1793239511887424768
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.044963264,661,636,879,787,804,652,631,652.955036736,0.40105544484,-0.00540067234642,0.0798760844818,0.999999950464,0.000226686939936,-0.000214804090541,3.93034054517e-05,1793239511904091392
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.620675813,661,636,879,787,804,652,631,652.379324187,0.401115608236,-0.00540130449402,0.0798965725392,0.999999957976,0.00022789825982,-0.000174761156035,3.96077363235e-05,1793239511920758272
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.798814003,661.201185997,635.798814003,878.798814003,787,803.798814003,652,631,652,0.401179076109,-0.00540222236986,0.0799137918076,0.999999963276,0.000227554869196,-0.000141842627282,3.93476189039e-05,1793239511937425152
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.209037083,661.790962917,635.209037083,878.209037083,787,803.209037083,652,631,652,0.401248926595,-0.00540369213013,0.079924697411,0.999999966618,0.000224208554636,-0.000122684887673,3.79972692742e-05,1793239511954091776
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.625856329,635.374143671,878,787,803.374143671,652,631,652.374143671,0.40132604345,-0.00540397434342,0.0799314458651,0.999999968105,0.000223698363317,-0.000111649600222,3.58132640501e-05,1793239511970758144
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.046297094,635.953702906,878,787,803.953702906,652,631,652.953702906,0.401407149745,-0.00540360455939,0.079935911925,0.999999968674,0.000224745284902,-0.000105073772214,3.31715581732e-05,1793239511987425024
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.527158336,661,636,878.527158336,787,804,652,631,652.472841664,0.401505379483,-0.00540533989953,0.0799370782908,0.999999969663,0.000220709377696,-0.000105137105886,3.0111488426e-05,1793239512004091648
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,636,879,787,804,651.899445297,631,652.100554703,0.401610557008,-0.0054074595572,0.0799388094552,0.999999970793,0.000216534750852,-0.000103930973864,2.69233905686e-05,1793239512020758272
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,636,879,787,804,651.323824386,631,652.676175614,0.401741535504,-0.00541053144537,0.0799445624231,0.999999972457,0.000213789577382,-9.40041175449e-05,2.33020303699e-05,1793239512037424896
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.740119412,661.259880588,635.740119412,879,787,804,651.259880588,631.259880588,653,0.401887941396,-0.00541239177184,0.0799507269354,0.999999974194,0.000210819710857,-8.24766648237e-05,1.9085626834e-05,1793239512054091520
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.146017927,661.853982073,635.146017927,879,787,804,651.853982073,631.853982073,653,0.402054187768,-0.00541269396227,0.0799574207162,0.999999975987,0.000207560876761,-6.88907568266e-05,1.41039647337e-05,1793239512070758144
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.43425648,745.43425648,715,679.43425648,661.56574352,635.43425648,879,787,804,652,631.56574352,653,0.402238215452,-0.00541504856445,0.0799637355487,0.999999977853,0.00020249940524,-5.66974670065e-05,8.5434424386e-06,1793239512087425024
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.99004185,745.99004185,715,680,661,635.99004185,879,787,803.99004185,651.99004185,631,652.99004185,0.402428270257,-0.00541804514051,0.0799697126537,0.999999979604,0.000196788391683,-4.53802984314e-05,2.76348891175e-06,1793239512104091904
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.418116994,745.418116994,715,680,661,635.418116994,879,787,803.418116994,651.418116994,631,652.418116994,0.402631455432,-0.00541952649067,0.079963599622,0.999999980721,0.000187572202782,-5.78951031166e-05,-4.75439247965e-06,1793239512120758272
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.159695939,745.159695939,715,680,661.159695939,635.159695939,879,787,803,651.159695939,631.159695939,652.159695939,0.402843597938,-0.00542099036374,0.0799572648166,0.99999998149,0.000178928397638,-6.96409599012e-05,-1.24236861895e-05,1793239512137424896
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.753515369,745.753515369,715,680,661.753515369,635.753515369,879,787,803,651.753515369,631.753515369,652.753515369,0.403080090439,-0.00542240672675,0.0799503271321,0.999999981881,0.000171840580228,-7.92964824084e-05,-2.05045865615e-05,1793239512154091520
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.661114819,715,679.661114819,661.661114819,635.661114819,879,787,803.338885181,652,631.661114819,653,0.403353679653,-0.00542450182711,0.0799478222462,0.999999987614,0.000131723235254,-8.22111064377e-05,-2.57289438817e-05,1793239512170758144
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.081741279,715,679.081741279,661.081741279,635.081741279,879,787,803.918258721,652,631.081741279,653,0.40365359437,-0.00542707859033,0.0799484630767,0.999999994031,6.81666330017e-05,-8.03420810205e-05,-2.89261675721e-05,1793239512187424768
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.492418245,635,879.492418245,787,804,651.507581755,631,653,0.403982510924,-0.00542757759984,0.0799533434681,0.999999992527,9.41409046038e-05,-7.36237372367e-05,-2.57627904351e-05,1793239512204091392
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.933889654,745,715,679,661.933889654,635.066110346,879.933889654,787,804,651.066110346,631,652.933889654,0.404321731124,-0.00542815240282,0.0799586568674,0.999999989154,0.000129746490532,-6.59309584168e-05,-2.26015295856e-05,1793239512220758272
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.357192938,745,715,679,661.357192938,635.642807062,879.357192938,787,804,651.642807062,631,652.357192938,0.404703736498,-0.00543194846415,0.0799619360867,0.999999990047,0.000126156121025,-5.68643382842e-05,-2.75258199419e-05,1793239512237424896
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.225386206,745,715,679.225386206,661,635.774613794,879,787.225386206,804,652,631,652.225386206,0.405095893401,-0.0054358853713,0.0799630183986,0.999999991316,0.000117534870815,-5.10372315595e-05,-3.08038229442e-05,1793239512254091264
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.817537618,745,715,679.817537618,661,635.182462382,879,787.817537618,804,652,631,652.817537618,0.405504569589,-0.00544005147286,0.079960525739,0.99999999316,0.000100726997483,-5.04817030148e-05,-3.14028641675e-05,1793239512270758400
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679.600797761,661.399202239,635.399202239,879,788,804,651.600797761,631,652.600797761,0.405944014896,-0.0054446842047,0.0799522235352,0.999999992266,0.00010137688054,-6.43913721963e-05,-3.2332234657e-05,1793239512287425024
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679.023803572,661.976196428,635.976196428,879,788,804,651.023803572,631,652.023803572,0.406397163823,-0.00544952475914,0.0799413339453,0.999999989823,0.000109801890274,-8.47433792444e-05,-3.34087233122e-05,1793239512304091648
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.522083268,662,636,879,788,804,651.522083268,631.522083268,652,0.406875575376,-0.00546867199373,0.079938918184,0.999999992696,7.66837559912e-05,-8.80407712067e-05,-3.1245930449e-05,1793239512320758272
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787.925826182,803.925826182,652,631.925826182,652.074173818,0.407360685186,-0.00548752794682,0.0799370270758,0.999999994423,4.46518540856e-05,-9.10887213167e-05,-2.937175873e-05,1793239512337424896
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787.319638375,803.319638375,652,631.319638375,652.680361625,0.407886041845,-0.00549987919701,0.0799362837708,0.999999994217,3.32324787125e-05,-9.76111293027e-05,-3.05674733182e-05,1793239512354091776
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.717939209,636,879.564121581,787,803.282060791,652,631,652.717939209,0.408426836364,-0.00550389861619,0.079932506813,0.99999999313,3.32033908809e-05,-0.000107811447995,-3.18512568537e-05,1793239512370758400
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.121247042,636,880.757505916,787,803.878752958,652,631,652.121247042,0.408984851379,-0.00549862409676,0.0799253458956,0.999999990939,4.58798692473e-05,-0.000122114378727,-3.32332789027e-05,1793239512387424768
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.543487595,880.543487595,787,803.543487595,652,631,652,0.409628813917,-0.00550468817662,0.079948592251,0.999999995416,3.25073994738e-05,-8.34424210882e-05,-3.38967965275e-05,1793239512404091648
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.029594123,635,880,787,803,652,631,652.029594123,0.410294720584,-0.00551325926204,0.0799789181163,0.99999999879,1.36846205599e-05,-3.24224453835e-05,-3.4366132253e-05,1793239512420758528
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.60545316,635,880,787,803,652,631,652.60545316,0.410961106742,-0.00551473227941,0.0799967864831,0.999999999254,1.68762612256e-05,-2.84262363629e-06,-3.46333416095e-05,1793239512437425152
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.814061013,787,803.185938987,651.814061013,631,652.814061013,0.411616539579,-0.00551595992687,0.0800005728717,0.999999999234,1.54653240782e-05,2.93881979088e-06,-3.58445406781e-05,1793239512454091520
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.223507075,787,803.776492925,651.223507075,631,652.223507075,0.412248137209,-0.00551665363375,0.079973715986,0.9999999983,4.03888715012e-06,-4.30665116068e-05,-3.91099208175e-05,1793239512470758144
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879,787,804,651.359963509,631,652.359963509,0.412922726293,-0.00552221046605,0.0799464854977,0.999999995928,-9.56743377994e-06,-7.8943651716e-05,-4.26725743677e-05,1793239512487424768
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879,787,804,651.939120857,631,652.939120857,0.413623494374,-0.00553072861839,0.0799190275076,0.99999999272,-2.45011602005e-05,-0.000108653401281,-4.64162479713e-05,1793239512504091392
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.485753236,745,715,680,662,635.514246764,878.485753236,787,804,652,631,652.485753236,0.414399042335,-0.00553259973128,0.0799310783344,0.999999995251,-2.2542117552e-05,-8.28884110745e-05,-4.6043217022e-05,1793239512520758272
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.089161879,745,715,680,662,636,878.089161879,787,804,652,631,652.089161879,0.415181724592,-0.00553418412034,0.079948051555,0.999999997412,-2.03474433373e-05,-5.20434459641e-05,-4.53061022968e-05,1793239512537424896
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.665512962,745,715,680,662,636,878.665512962,787,804,652,631,652.665512962,0.415955393233,-0.00553846813162,0.0799665630437,0.999999998172,-2.77076399059e-05,-2.90466714556e-05,-4.52218470636e-05,1793239512554091520
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.751840462,745.248159538,715,680,662,636,879.248159538,787,804,652,631.248159538,653,0.416719696048,-0.00554314073735,0.0799698086475,0.999999997825,-3.74668827785e-05,-2.84219262325e-05,-4.62464691273e-05,1793239512570758400
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.160487537,745.839512463,715,680,662,636,879.839512463,787,804,652,631.839512463,653,0.417471046305,-0.00554835075135,0.0799519422236,0.999999995807,-5.05438974392e-05,-5.87366842856e-05,-4.88046182015e-05,1793239512587425024
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.42008948,745.57991052,715,680,662,636,879.57991052,787,804,651.57991052,632,653,0.418315633699,-0.00555345650217,0.0799706972797,0.999999996856,-5.88698116411e-05,-1.88395027387e-05,-4.96804982621e-05,1793239512604091648
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.996652705,745.003347295,715,680,662,636,879.003347295,787,804,651.003347295,632,653,0.419194949782,-0.0055585234172,0.0800030930016,0.999999995499,-6.54260488513e-05,4.72100246429e-05,-4.9929771275e-05,1793239512620758272
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680.572315535,662,636,879.572315535,787,804,651.572315535,631.427684465,652.427684465,0.420035313385,-0.00556213332041,0.0799943374608,0.999999995978,-6.56498154137e-05,3.46709490998e-05,-5.0310220745e-05,1793239512637424896
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680.848400591,662,636,879.848400591,787,804,652,631,652.151599409,0.420870705999,-0.00556449406516,0.0799851883235,0.999999996231,-6.74637417321e-05,2.00964938378e-05,-5.08207403723e-05,1793239512654091520
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680.258635776,662,636,879.258635776,787,804,652,631,652.741364224,0.42169238833,-0.00556326897725,0.0799755961254,0.999999995926,-7.39805602861e-05,9.65618924161e-07,-5.17049857155e-05,1793239512670758400
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787,804,651.674628534,631,653,0.422547791012,-0.00554628702565,0.0799861074615,0.999999997125,-5.5013802681e-05,1.08685202441e-05,-5.10342447583e-05,1793239512687425024
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787,804,651.095118314,631,653,0.423429531826,-0.00551699781855,0.0800123211175,0.999999997718,-1.61425211704e-05,4.34489082026e-05,-4.91489465258e-05,1793239512704091392
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.479740909,715,680.479740909,662,636,879.479740909,787.479740909,804,651.479740909,631,653,0.424274384116,-0.00550695170932,0.0800054371818,0.99999999853,1.59685355725e-06,2.31835062158e-05,-4.8989085259e-05,1793239512720758272
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.946319501,746,715,681,662.053680499,636,880,787.946319501,804,652,631,653,0.425114039421,-0.00550244198015,0.079989484836,0.999999998666,1.14276636914e-05,-9.62100027289e-06,-4.94495989106e-05,1793239512737425664
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.372440909,746,715,681,662.627559091,636,880,787.372440909,804,652,631,653,0.425973528928,-0.00551496529539,0.0799486357508,0.999999996491,-1.51682955344e-05,-6.33763380533e-05,-5.26385789234e-05,1793239512754092032
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.791384209,715,681,662.791384209,635.791384209,880,787,804,652,631,652.791384209,0.426837058776,-0.00552375112837,0.0799227581803,0.999999993473,-3.21658154821e-05,-9.49165725943e-05,-5.48602718459e-05,1793239512770758400
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.197055842,715,681,662.197055842,635.197055842,880,787,804,652,631,652.197055842,0.427708058812,-0.00552562667875,0.0799245616494,0.999999994333,-3.14166488634e-05,-8.53829974377e-05,-5.52935345938e-05,1793239512787424768
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.385543139,745,715,681,662,635,879.614456861,787,804,652,631,652.385543139,0.428564411105,-0.00552805538973,0.0799313655236,0.999999994562,-3.47537447199e-05,-8.19192383164e-05,-5.43843973856e-05,1793239512804091392
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.96232407,745,715,681,662,635,879.03767593,787,804,652,631,652.96232407,0.429413497773,-0.00553075848035,0.0799406497078,0.999999994482,-4.01177157808e-05,-8.14662404269e-05,-5.28094005505e-05,1793239512820758016
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.462406363,745,715,681.537593637,662,635,879.537593637,787,804,651.462406363,631,653,0.430321613219,-0.00553261081618,0.0799807997504,0.999999997588,-4.19555766291e-05,-1.79002784266e-05,-5.23689841817e-05,1793239512837424640
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681.884396654,662,635.115603346,880.115603346,787,804,651,631,653,0.43122323367,-0.00553349447298,0.0800182010339,0.999999996951,-4.23666635712e-05,4.03128656454e-05,-5.17418375897e-05,1793239512854091264
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681.294716931,662,635.705283069,880.705283069,787,804,651,631,653,0.432081301281,-0.00553064950712,0.0800354839535,0.999999996319,-3.79372761249e-05,5.84868282226e-05,-5.00237671838e-05,1793239512870758400
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.289865898,745,715,681,662,636,880.710134102,787,804,651.289865898,631,653,0.432888013821,-0.00552594155584,0.0800117032833,0.999999997939,-3.38144538574e-05,1.77414991285e-05,-5.16194295785e-05,1793239512887425280
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.86935615,745,715,681,662,636,880.13064385,787,804,651.86935615,631,653,0.433643414186,-0.00551937217121,0.0799468932432,0.999999994601,-2.99979405295e-05,-8.18740227283e-05,-5.65260628941e-05,1793239512904091648
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.444963615,715,681,662,635.555036385,880,787,804,651.555036385,631,653,0.434438938235,-0.00551883790863,0.0799216160377,0.999999991672,-3.5850644752e-05,-0.000108774677893,-5.94945625391e-05,1793239512920758016
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.980489128,745.980489128,715,681.019510872,662,635.019510872,880,787,804,651.019510872,631,653,0.435245957894,-0.00552018440299,0.0799093448392,0.99999999071,-4.42377716781e-05,-0.000113212737233,-6.16984041173e-05,1793239512937424640
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.403944073,745.403944073,715,681.596055927,662,635.596055927,880,787,804,651.596055927,631,653,0.436047753715,-0.00552507506464,0.0799398799576,0.999999994064,-4.46321834724e-05,-8.05991770256e-05,-5.81770257728e-05,1793239512954091264
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.82303271,745,715,681.82303271,662,635.82303271,879.82303271,787,804,651.82303271,631.17696729,653,0.436834763813,-0.00553001289511,0.0799608225309,0.999999995474,-4.69508455556e-05,-6.11461391642e-05,-5.57492164771e-05,1793239512970757888
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.23190276,745,715,681.23190276,662,635.23190276,879.23190276,787,804,651.23190276,631.76809724,653,0.437587170326,-0.00553506111609,0.0799593153375,0.999999994365,-5.37728971232e-05,-7.24931284497e-05,-5.5880724929e-05,1793239512987424768
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.350594784,745,715,681,661.649405216,635,879.350594784,787,804.350594784,651.350594784,631.649405216,653,0.438309240226,-0.00553849294513,0.0799438885076,0.999999992109,-5.79978676169e-05,-9.58819425406e-05,-5.67895264877e-05,1793239513004091648
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.927519568,745,715,681,661.072480432,635,879.927519568,787,804.927519568,651.927519568,631.072480432,653,0.439011725991,-0.00554088129586,0.079919475716,0.999999988403,-6.05462659184e-05,-0.000127044477607,-5.82001174078e-05,1793239513020758272
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.495794532,681.504205468,661,635,880,787,804.495794532,651.495794532,631,653,0.439657105592,-0.00554157783318,0.0798752467151,0.999999977151,-6.47330329708e-05,-0.000194537790306,-6.05216262942e-05,1793239513037425152
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.080542697,682,661,635,880,787,804.080542697,651.080542697,631,653,0.440283445702,-0.00554146356749,0.0798233513565,0.999999957841,-6.87416912772e-05,-0.000274954631402,-6.31923910102e-05,1793239513054091776
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.654952183,682,661,635,880,787,804.654952183,651.654952183,631,653,0.440843352651,-0.00553786820922,0.0797419066081,0.999999914231,-7.02147789879e-05,-0.00040260660783,-6.72021544463e-05,1793239513070758144
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.235798587,715,682,660.764201413,635,880,786.764201413,804.764201413,651.764201413,631,653,0.441422434723,-0.00553514901206,0.0796843183658,0.999999875157,-6.89895819732e-05,-0.000489827328963,-7.06743467392e-05,1793239513087424512
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.826328672,715,682,660.173671328,635,880,786.173671328,804.173671328,651.173671328,631,653,0.442030363619,-0.00553374789665,0.079662619445,0.999999862038,-6.37051315824e-05,-0.000516223965056,-7.33378277864e-05,1793239513104091136
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.591647006,715,682,660.408352994,634.591647006,880,786,804,651.408352994,631,653,0.442666584855,-0.00553523099875,0.0796955588127,0.999999887785,-6.60441135478e-05,-0.000463686381433,-7.11511360305e-05,1793239513120757760
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.013166382,715,682,660.986833618,634.013166382,880,786,804,651.986833618,631,653,0.443314593184,-0.00553791572084,0.0797512615326,0.999999923657,-7.15591624446e-05,-0.000378263295137,-6.69437693806e-05,1793239513137424640
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681.443439803,660.443439803,634,880,786,804.556560197,651.443439803,631,653,0.443848262714,-0.00553651931893,0.0797603596944,0.999999926559,-6.31319913464e-05,-0.000372124113788,-6.6485738017e-05,1793239513154091520
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.131579831,745,714.868420169,681.131579831,660,634,880,785.868420169,805,651.131579831,631,653,0.444368100396,-0.0055351450143,0.0797599724961,0.999999924292,-5.86116716133e-05,-0.000378952241365,-6.61558310374e-05,1793239513170758400
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.725932445,745,714.274067555,681.725932445,660,634,880,785.274067555,805,651.725932445,631,653,0.444848656631,-0.00553418272577,0.0797300423545,0.999999905178,-6.897399672e-05,-0.00042489262148,-6.59694229636e-05,1793239513187425280
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.687687727,745,714,682,659.687687727,634,879.687687727,785.312312273,804.687687727,651.687687727,631,653,0.445308933931,-0.00553402555501,0.0797045498192,0.999999886905,-7.37536739941e-05,-0.000465087181368,-6.6668113962e-05,1793239513204091904
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.108130231,745,714,682,659.108130231,634,879.108130231,785.891869769,804.108130231,651.108130231,631,653,0.445751858548,-0.00553455732257,0.0796828545396,0.999999869777,-7.37562859791e-05,-0.000500365047862,-6.81241831697e-05,1793239513220758272
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.469622868,714,682.469622868,659.469622868,633.530377132,879.469622868,786,804,651.469622868,631,653,0.446181359319,-0.0055349784579,0.0796713092561,0.999999865409,-6.53599168048e-05,-0.000510074435662,-6.8810110776e-05,1793239513237424640
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.953233059,714,682.953233059,659.953233059,633,880.046766941,785.953233059,804.046766941,651.953233059,631,653,0.446604850869,-0.00553554294459,0.0796628271731,0.999999864414,-5.67128285889e-05,-0.00051298778044,-6.92749169114e-05,1793239513254091520
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.201530177,714,682,659,633,880.798469823,785,804.798469823,651,631,653,0.447367983992,-0.0055405243431,0.0796596569229,0.999999867339,-7.69513620173e-05,-0.000504560136578,-6.94235433211e-05,1793239513287425024
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.790749576,714,682,659,633,880.209250424,785,804.209250424,651,631,653,0.447706740216,-0.00554311519,0.0796512598234,0.999999860287,-8.63001216659e-05,-0.000516791091674,-7.00398244037e-05,1793239513304091904
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,746,714,682.37403022,658.62596978,632.62596978,880.37403022,785,804.37403022,651,631,653,0.448009137066,-0.00554519913131,0.079637415853,0.999999848078,-8.60167797847e-05,-0.000539854274553,-7.07243729236e-05,1793239513320758272
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,746,714,682.954040333,658.045959667,632.045959667,880.954040333,785,804.954040333,651,631,653,0.448291510648,-0.00554700391759,0.0796205722702,0.999999832399,-8.04290016181e-05,-0.000568882806208,-7.14465165044e-05,1793239513337424896
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,682.469801197,658,632.530198803,881,785,805,651.530198803,631,652.469801197,0.448548049355,-0.00554682086482,0.0796067993994,0.99999982004,-8.15175053772e-05,-0.00059002211719,-7.17574131864e-05,1793239513354091520
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714,682.107931952,658,632.892068048,881.107931952,784.892068048,805,652,631,652.107931952,0.448798848328,-0.00554685267701,0.0795965366963,0.999999810571,-8.37739974362e-05,-0.000605557573668,-7.16924453784e-05,1793239513370758144
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,714,682.69411123,658,632.30588877,881.69411123,784.30588877,805,652,631,652.69411123,0.449034066008,-0.00554859457345,0.0796006566301,0.999999814049,-8.86600109384e-05,-0.000599270676715,-7.01188385422e-05,1793239513387424768
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.723030755,714,682.723030755,658,632,881.44606151,784,805,652,630.723030755,652.723030755,0.449261011538,-0.00555052075637,0.0796071046617,0.999999819545,-9.41796868077e-05,-0.000589345893193,-6.86377370646e-05,1793239513404091392
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.143797363,714,682.143797363,658,632,880.287594726,784,805,652,630.143797363,652.143797363,0.449478929429,-0.00555264805608,0.0796160934102,0.999999827127,-0.000100390895497,-0.000575450984448,-6.72575893209e-05,1793239513420758016
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.432011646,714,682.432011646,658,632,880.432011646,784.432011646,804.567988354,652,630.432011646,652.432011646,0.449655762281,-0.00555253257339,0.0796157594053,0.999999825875,-9.85312826654e-05,-0.000578065674905,-6.62013754274e-05,1793239513437424896
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+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714,683,657.413530574,631.413530574,880.413530574,784.413530574,804.586469426,652,631,653,0.449949815248,-0.00555400390912,0.0796040864675,0.999999813938,-9.58868528972e-05,-0.000598827361655,-6.58488953916e-05,1793239513470758656
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.831654007,714,683,657.168345993,631.168345993,880.168345993,784,805,651.831654007,631,653,0.450074381918,-0.00555526809943,0.0795976835577,0.999999807684,-9.7223066269e-05,-0.000608875621398,-6.67150538625e-05,1793239513487425280
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+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.338290309,714,683,657.661709691,631.661709691,881,784,805,651.338290309,630.661709691,653,0.450283452604,-0.00555328635261,0.0795960576609,0.999999805342,-9.6268629008e-05,-0.000612602193672,-6.90370658612e-05,1793239513520758272
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,682.506077661,657,631,880.506077661,784,804.506077661,652,630.493922339,653,0.450453315485,-0.00555390724555,0.0795977466533,0.999999806882,-9.50169553907e-05,-0.00061023625299,-6.94224938036e-05,1793239513554091520
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,682.069583993,657,631,880.069583993,784,804,651.930416007,630.930416007,653,0.450521210684,-0.00555491992631,0.0795971284885,0.999999806461,-9.61690547852e-05,-0.00061072952508,-6.95568235433e-05,1793239513570758144
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,714,683,657,631.227143748,881,784,804.227143748,651,630.227143748,653.227143748,0.450613313896,-0.00555541658783,0.0795949739902,0.999999804713,-9.61235647073e-05,-0.000613746663945,-6.81848123276e-05,1793239513604091904
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,714,683,657,631.817628558,881,784,804.817628558,651,630.817628558,653.817628558,0.450648245768,-0.0055543671811,0.0795948355835,0.999999803986,-9.41831819772e-05,-0.00061526554732,-6.78719173791e-05,1793239513620758528
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.338652321,713.338652321,683,656.338652321,631.661347679,880.338652321,784,804.661347679,652,630.338652321,653,0.450752910199,-0.00555329992205,0.0795898681513,0.999999797226,-9.61613647264e-05,-0.00062622850334,-6.43282341826e-05,1793239513904091648
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.244422037,745.244422037,713,683,656.244422037,631.755577963,880,784,804.755577963,651.755577963,630,653,0.450752370928,-0.0055529756507,0.0795891638691,0.999999796735,-9.53302131283e-05,-0.00062713796398,-6.43460748842e-05,1793239513920758272
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.838194381,745.838194381,713,683,656.838194381,631.161805619,880,784,804.161805619,651.161805619,630,653,0.450751395339,-0.00555356140212,0.0795876894744,0.999999795731,-9.48330676906e-05,-0.000628783284924,-6.46213606375e-05,1793239513937424896
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.579483847,746,713.420516153,683,656.579483847,631,880,784,804,651.420516153,630,653,0.450751801225,-0.00555214234633,0.0795877063182,0.999999795873,-9.22445825721e-05,-0.000628961509826,-6.44452058235e-05,1793239513954091520
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.001451232,746,713.998548768,683,656.001451232,631,880,784,804,651.998548768,630,653,0.450752724581,-0.00554997233211,0.0795882817486,0.999999796434,-8.88727258234e-05,-0.000628590191518,-6.40999509081e-05,1793239513970758144
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,682.428070681,656.571929319,631,880.571929319,783.428070681,804.571929319,651.428070681,630.571929319,653,0.450752740492,-0.00555252623941,0.0795878117897,0.999999795898,-9.12582797842e-05,-0.000629133854454,-6.3768046749e-05,1793239513987425024
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,682.149701462,656.850298538,631,880.850298538,783.149701462,804.850298538,651,630.850298538,653,0.45075326993,-0.00555455505533,0.0795878229873,0.999999795743,-9.3615658505e-05,-0.000629050423496,-6.36073660185e-05,1793239514004091392
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,682.7404463,656.2595537,631,880.2595537,783.7404463,804.2595537,651,630.2595537,653,0.450755319026,-0.00555500184184,0.079589259497,0.999999796727,-9.58473350474e-05,-0.000627112693131,-6.39510367261e-05,1793239514020758272
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,683,656,631,880,784,804.324843302,651.324843302,630.324843302,653,0.450755270585,-0.00555405127767,0.0795891930901,0.99999979651,-9.45945571554e-05,-0.000627629836255,-6.41250051404e-05,1793239514037425152
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,683,656,631,880,784,804.904265582,651.904265582,630.904265582,653,0.450753578311,-0.0055520056129,0.0795879488509,0.999999795342,-9.06110202705e-05,-0.000630070858083,-6.41659782791e-05,1793239514054092032
+249,4.150000000,POSE1_TO_POSE2_PRESS,764.519762041,746,714,683,656,631,880,784,804.519762041,652,630.519762041,653,0.450755081521,-0.00555243885546,0.0795882374957,0.999999796243,-9.17546438161e-05,-0.000628505270264,-6.38458397201e-05,1793239514070758400
+250,4.166666667,POSE1_TO_POSE2_PRESS,764.055239619,746,714,682.944760381,656,631.055239619,880.055239619,784,804.055239619,652,630,653,0.450756914219,-0.00555322259082,0.0795887110791,0.999999797348,-9.36256923004e-05,-0.000626503807213,-6.34933173051e-05,1793239514087425024
+251,4.183333333,POSE1_TO_POSE2_PRESS,764.627546847,746,714,682.372453153,656,631.627546847,880.627546847,784,804.627546847,652,630,653,0.450755910879,-0.0055526944834,0.079588075833,0.999999796582,-9.28067965954e-05,-0.000627845306276,-6.35066903598e-05,1793239514104091648
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,714,682.207523074,656,631.792476926,881,784,805,652,630,653,0.450755438097,-0.00555242110933,0.0795879796465,0.999999796267,-9.29730782872e-05,-0.000628323076991,-6.35028321109e-05,1793239514120758272
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,714,682.801791405,656,631.198208595,881,784,805,652,630,653,0.450755954079,-0.00555262246282,0.0795888880651,0.999999796791,-9.49753615848e-05,-0.000627191181593,-6.34668611666e-05,1793239514137424896
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,746,714,683,656.384892537,631,881,784,804.615107463,652,630,653,0.450755609796,-0.00555274487868,0.0795886792134,0.999999796428,-9.51637533047e-05,-0.000627728595923,-6.35929524801e-05,1793239514154091776
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,746,714,683,656.962405013,631,881,784,804.037594987,652,630,653,0.450754834993,-0.00555282779009,0.0795879112224,0.999999795621,-9.44443807192e-05,-0.000629101418369,-6.38001480484e-05,1793239514170758400
+256,4.266666667,POSE1_TO_POSE2_PRESS,765,745.460938376,714,683,656.460938376,631,881,784,804.539061624,652,630.539061624,653,0.450756331079,-0.00555267882881,0.0795882229703,0.999999796303,-9.51879811413e-05,-0.000627907595899,-6.37549809543e-05,1793239514187425024
+257,4.283333333,HOLD_POSE2,765,745,714,683,657,631,880,783,805,651,630,653,0.450756901119,-0.00555200051427,0.0795887829271,0.999999796775,-9.38719210412e-05,-0.000627371110918,-6.35809441176e-05,1793239514229078528
+258,4.300000000,HOLD_POSE2,765,745,714,683,656.421161021,631,880,783.578838979,804.421161021,651.578838979,630,653,0.450759099015,-0.00555171293448,0.0795903781373,0.999999798196,-9.26512259959e-05,-0.000625299197315,-6.34436989004e-05,1793239514245745152
+259,4.316666667,HOLD_POSE2,765,745,714,683,656.15700931,631,880,783.84299069,804,652,630,653,0.45076001058,-0.00555149794558,0.0795909733944,0.999999798648,-9.1998386816e-05,-0.000624674024341,-6.34172022818e-05,1793239514262411776
+260,4.333333333,HOLD_POSE2,765,745,714,683,656.733393798,631,880,783.266606202,804,652,630,653,0.450757486325,-0.00555147684843,0.0795888977562,0.999999796523,-9.28623023576e-05,-0.000627913125641,-6.36865174753e-05,1793239514279078400
+261,4.350000000,HOLD_POSE2,765.306086142,745,714,683,656.693913858,631,880.306086142,783.306086142,804,651.693913858,630.306086142,653,0.450756407189,-0.00555112212576,0.0795881440756,0.999999795801,-9.17073240457e-05,-0.000629245327811,-6.3538178415e-05,1793239514295745280
+262,4.366666667,HOLD_POSE2,765.875600861,745,714,683,656.124399139,631,880.875600861,783.875600861,804,651.124399139,630.875600861,653,0.450756571776,-0.00555048027314,0.0795885281187,0.999999796289,-8.88148141141e-05,-0.000628936384846,-6.3030391293e-05,1793239514312412416
+263,4.383333333,HOLD_POSE2,765.533200386,745,714,683,656,631,880.533200386,784,804.466799614,651.466799614,630.533200386,653,0.450756763036,-0.00555109589084,0.0795890818671,0.999999796431,-8.97228241264e-05,-0.00062858727705,-6.29705116454e-05,1793239514329079040
+264,4.400000000,HOLD_POSE2,765,745,714,682.938092074,656,631.061907926,880.061907926,784,805,651.938092074,630,653,0.450756939355,-0.00555181109052,0.0795895664935,0.999999796466,-9.14791447238e-05,-0.000628272147835,-6.30428078155e-05,1793239514345745408
+265,4.416666667,HOLD_POSE2,765,745,714,682.360884624,656,631.639115376,880.639115376,784,805,651.360884624,630,653,0.450756929254,-0.00555042997352,0.0795890809945,0.999999796421,-9.14555068875e-05,-0.000628333278027,-6.31733396226e-05,1793239514362412544
+266,4.433333333,HOLD_POSE2,765,745,714,682.215844723,656,631.784155277,880.784155277,784,805,651,630,653,0.450757134405,-0.00555006662201,0.0795887201736,0.99999979634,-9.18978371536e-05,-0.000628399001163,-6.31642389329e-05,1793239514379079168
+267,4.450000000,HOLD_POSE2,765,745,714,682.791776408,656,631.208223592,880.208223592,784,805,651,630,653,0.450757698653,-0.00555140117679,0.0795885673494,0.999999796196,-9.31175273455e-05,-0.000628472386555,-6.29221937291e-05,1793239514395745536
+268,4.466666667,HOLD_POSE2,765,745,714,683,656.375857834,631.375857834,880.375857834,783.624142166,804.624142166,651.375857834,630.375857834,653,0.450758710418,-0.00555180872174,0.0795890378694,0.999999796758,-9.34956182144e-05,-0.000627513464318,-6.30004226577e-05,1793239514412411904
+269,4.483333333,HOLD_POSE2,765,745,714,683,656.964554304,631.964554304,880.964554304,783.035445696,804.035445696,651.964554304,630.964554304,653,0.450759975601,-0.00555169132496,0.0795898613733,0.999999797718,-9.33971331206e-05,-0.000625969972795,-6.32600145775e-05,1793239514429078528
+270,4.500000000,HOLD_POSE2,765,745,713.455754881,683,656.455754881,631.455754881,880.455754881,783,804.544245119,651.455754881,630.455754881,653,0.450759587759,-0.00555407671574,0.0795899640301,0.999999797467,-9.5209849731e-05,-0.000626140911325,-6.28308259971e-05,1793239514445745408
+271,4.516666667,HOLD_POSE2,765,745,713.122039397,682.877960603,656,631,880,783.122039397,805,651.122039397,630,653,0.450759390196,-0.00555568902542,0.0795900254987,0.999999797295,-9.64091043953e-05,-0.000626262417628,-6.25340319326e-05,1793239514462412288
+272,4.533333333,HOLD_POSE2,765,745,713.694958657,682.305041343,656,631,880,783.694958657,805,651.694958657,630,653,0.4507602869,-0.0055538527387,0.0795901054218,0.99999979771,-9.48895121239e-05,-0.000625795485158,-6.28894108864e-05,1793239514479078912
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,631,880,783,804,651,630,653,0.450759537151,-0.00555189933225,0.0795891257847,0.999999797114,-9.34798223279e-05,-0.000626981983714,-6.26684359653e-05,1793239514516959232
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.595020202,714,682.404979798,656,631,880,783.595020202,804.595020202,651.595020202,630,653,0.450759909986,-0.00555158109097,0.0795897852752,0.99999979773,-9.17858878478e-05,-0.000626250123592,-6.26505660702e-05,1793239514533626112
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.815502521,714,682.184497479,656,631,880,783.815502521,805,651.815502521,630,653,0.450759918053,-0.00555150236017,0.079590108347,0.999999797917,-9.09972612111e-05,-0.000626079638401,-6.25323886664e-05,1793239514550292736
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.23783722,714,682.76216278,656,631,880,783.23783722,805,651.23783722,630,653,0.450759148791,-0.00555193403091,0.0795897145039,0.99999979719,-9.21378634087e-05,-0.000627105454302,-6.22004539484e-05,1793239514566959360
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.663785138,745,714,682.663785138,656,631,880.336214862,783.336214862,805,651.336214862,630.336214862,653,0.450759137767,-0.00555179377282,0.0795895276561,0.999999797135,-9.19038892911e-05,-0.000627212046388,-6.23539154051e-05,1793239514583626240
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.092261893,745,714,682.092261893,656,631,880.907738107,783.907738107,805,651.907738107,630.907738107,653,0.450759657417,-0.00555125323601,0.0795894856791,0.99999979755,-9.07078834811e-05,-0.000626675296631,-6.28470935384e-05,1793239514600293120
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.485842253,745.485842253,714,682,656,631,881,783.514157747,804.514157747,652,630.514157747,653,0.450759114594,-0.00555079075205,0.0795890560397,0.999999797043,-9.06261014087e-05,-0.000627491548026,-6.28827304582e-05,1793239514616959488
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.933536484,745.933536484,714,682.066463516,656,631,880.933536484,783.066463516,804,652,630,652.933536484,0.450758280396,-0.00555041401452,0.079588435068,0.99999979634,-9.08423908679e-05,-0.000628582843714,-6.28600683e-05,1793239514633625856
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.343058006,745.343058006,714,682.656941994,656,631,880.343058006,783.656941994,804,652,630,652.343058006,0.450756761534,-0.00555059485584,0.0795868939729,0.999999795488,-9.17175983933e-05,-0.000629789092149,-6.30722109484e-05,1793239514650292736
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,745.242670523,714,682.757329477,656,631.242670523,880,784,804.242670523,652,630,652.242670523,0.450753823606,-0.0055509298058,0.0795852964854,0.999999794328,-9.24624329607e-05,-0.000631519658374,-6.30644189712e-05,1793239514666959104
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,745.821813019,714,682.178186981,656,631.821813019,880,784,804.821813019,652,630,652.821813019,0.450748918092,-0.0055514784333,0.0795836208076,0.999999792741,-9.30265003566e-05,-0.000633977211189,-6.27516791961e-05,1793239514683625472
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.39749026,746,713.60250974,682.39749026,656,631.60250974,880.39749026,784,805,651.60250974,630.39749026,653,0.450726822059,-0.00555081509424,0.079571868604,0.999999781276,-9.22775858973e-05,-0.00065188026116,-6.31291090156e-05,1793239514700292096
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.97162757,746,713.02837243,682.97162757,656,631.02837243,880.97162757,784,805,651.02837243,630.97162757,653,0.450697086457,-0.00554961315004,0.0795556383319,0.999999764903,-9.09451744449e-05,-0.000676647382379,-6.38132542736e-05,1793239514716958976
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.145992843,656,631,881,783.145992843,804.145992843,652,630,653,0.450572028923,-0.00554743825678,0.0795058714292,0.999999706162,-9.17854111798e-05,-0.000758322414923,-6.4800480401e-05,1793239514750292480
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.72552271,656,631,881,783.72552271,804.72552271,652,630,653,0.450498308008,-0.00554504787791,0.0794890168224,0.999999688492,-8.84550109576e-05,-0.000781717205921,-6.41109199673e-05,1793239514766959360
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.638212332,745,713.361787668,682.638212332,656,631.638212332,880.361787668,784,805,651.638212332,630,653,0.449520974926,-0.0055269833029,0.0794848942673,0.999999683939,-6.53189013402e-05,-0.000791381268847,-3.96401192046e-05,1793239514900292352
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.063481305,745,713.936518695,682.063481305,656,631.063481305,880.936518695,784,805,651.063481305,630,653,0.44932871945,-0.00552389508216,0.0794853399563,0.999999684668,-6.08951745152e-05,-0.000791069383906,-3.41395781758e-05,1793239514916959488
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,745,714,682.524562197,656.524562197,631.524562197,880.475437803,784,804.475437803,651,630,653,0.449109275388,-0.00551921310378,0.079483774873,0.999999682791,-5.36751885432e-05,-0.000794152926823,-2.92873589608e-05,1793239514933626112
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,745.112339668,713.887660332,682.887660332,657,631.887660332,880.112339668,784,804,651.112339668,630.112339668,653,0.448877949277,-0.00551474813966,0.0794835901923,0.999999681802,-4.55332587316e-05,-0.000796087255027,-2.3806740577e-05,1793239514950292736
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,745.692132125,713.307867875,682.307867875,657,631.307867875,880.692132125,784,804,651.692132125,630.692132125,653,0.448611228766,-0.00551200963932,0.0794901883729,0.999999686045,-3.49998142677e-05,-0.000791485293633,-1.53763385996e-05,1793239514966959104
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.269680456,745.730319544,713.269680456,682,657,631,880.730319544,784,804.269680456,652,630.730319544,653,0.448322259456,-0.00550704648527,0.0794912142688,0.999999686066,-2.17802559841e-05,-0.000792042169679,-7.9740279517e-06,1793239514983625728
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.844687996,745.155312004,713.844687996,682,657,631,880.155312004,784,804.844687996,652,630.155312004,653,0.448008100495,-0.00549956462078,0.0794859313296,0.99999968123,-5.51953134599e-06,-0.000798439783585,-1.7357032619e-06,1793239515000292352
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.005231132,682.994768868,657.994768868,631.994768868,880,784.994768868,805,652,630.994768868,653,0.447343440149,-0.00549161241122,0.0794922656662,0.999999690075,3.88072439639e-05,-0.000786308435577,7.95098584461e-06,1793239515033625856
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.583448306,682.416551694,657.416551694,632,880.583448306,784.416551694,804.416551694,652,631,653,0.446986624187,-0.00548410206321,0.079507379804,0.999999708374,4.4516109258e-05,-0.000762391878206,5.3282329912e-06,1793239515050292992
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.170473198,714,682.170473198,657.170473198,632,880.829526802,784,804.170473198,652,631,653,0.446611144937,-0.00547657963369,0.079522680458,0.999999723994,5.02237475529e-05,-0.00074126277078,4.27487257272e-06,1793239515066959872
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.753194208,714,682.753194208,657.753194208,632,880.246805792,784,804.753194208,652,631,653,0.446191013742,-0.00546911860367,0.0795381962147,0.999999733959,5.63141788171e-05,-0.000727227532525,7.1776212353e-06,1793239515083626240
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.670613061,658,632,880,784.329386939,804.670613061,651.670613061,631,653,0.445734171649,-0.00546256645541,0.0795513223721,0.999999743978,6.1620064009e-05,-0.000712854524368,9.2447984775e-06,1793239515100293120
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.09921677,658,632,880,784.90078323,804.09921677,651.09921677,631,653,0.445250357037,-0.00545668208601,0.0795626928291,0.999999753977,6.63495229492e-05,-0.000698233346173,1.06980594581e-05,1793239515116959744
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632.485843163,880.485843163,785,804.485843163,651.485843163,631,653,0.444751944541,-0.00544301701137,0.0795739438628,0.999999764418,7.90042220007e-05,-0.000681777998956,1.0010872624e-05,1793239515133626112
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.92730808,714,682.07269192,658.07269192,633.07269192,880.92730808,785,805,652,631,653,0.444245092858,-0.00542674187457,0.0795847540941,0.999999773733,9.57287294763e-05,-0.00066580107041,8.8302454683e-06,1793239515150292480
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.348001605,714,682.651998395,658.651998395,633.651998395,880.348001605,785,805,652,631,653,0.443700803008,-0.00540367064544,0.0795926671177,0.999999776559,0.000129211132372,-0.000655844413985,7.3452075174e-06,1793239515166959104
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.037561167,659,633.962438833,881,786,804,651.962438833,631,652.962438833,0.441320238677,-0.00541323407653,0.0796596038426,0.999999837881,0.000144475542051,-0.000550609484852,1.38954171774e-05,1793239515233626368
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,635,880,787,804,651.708668807,631,652.291331193,0.438538918452,-0.00542021369599,0.079642449957,0.999999838103,0.00012384680802,-0.000555112465688,1.74785233987e-05,1793239515300292352
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.442381584,682.442381584,660.442381584,634.557618416,880.442381584,787,804,651,631,653,0.437155981938,-0.00541752263312,0.079784759081,0.999999933974,0.000118958662522,-0.00034228834351,2.71776793908e-05,1793239515333626112
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.804005092,682,661,635,880,787,804,651,631,653,0.434841672349,-0.00541640143142,0.0798603492385,0.999999965031,0.000145066799945,-0.00021821042802,3.57394766282e-05,1793239515383625984
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,661,635,879.652741517,787,804.347258483,651,631,653,0.433100422413,-0.00541210346311,0.0797965170816,0.999999936556,0.000142343225826,-0.000324755198993,3.40537698294e-05,1793239515416959232
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,661,635,879.077697558,787,804.922302442,651,631,653,0.432169980436,-0.00541301010422,0.0797519638424,0.999999901255,0.000148451771844,-0.000417440054446,3.45917031107e-05,1793239515433626112
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.491416519,681.508583481,661,635,879,787,804.508583481,651,631,652.508583481,0.431271476225,-0.00541318855111,0.0797331529396,0.999999887603,0.000152367081221,-0.000447571992252,3.54737669591e-05,1793239515450292736
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.063297082,661,635,879,787,804,651.063297082,631,652,0.430388416174,-0.00541384312801,0.079727815754,0.999999884754,0.000155031411626,-0.000452890481068,3.67162225845e-05,1793239515466959360
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.666687423,661,635,879,787,804,651.666687423,631,652,0.429594563247,-0.00541953105646,0.0798031305949,0.999999933529,0.000149945151088,-0.00032986759536,4.05750526732e-05,1793239515483627008
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.742394791,681.742394791,661,635,879.257605209,787,804,651.742394791,631,652.257605209,0.428770462689,-0.00542426861191,0.0798550019805,0.999999957662,0.000148582357127,-0.000246253282223,4.42459292236e-05,1793239515500293888
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.166869752,681.166869752,661,635,879.833130248,787,804,651.166869752,631,652.833130248,0.427909032338,-0.00542783327871,0.0798779409672,0.999999965021,0.000151814828191,-0.000211274489993,4.76848466444e-05,1793239515516959744
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.408321597,681,661,635,880,787,804,651,631,652.591678403,0.426987389592,-0.0054245854668,0.0798449672353,0.999999953993,0.000155605047282,-0.000256304863776,4.59304265677e-05,1793239515533626112
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.983376653,681,661,635,880,787,804,651,631,652.016623347,0.426041159854,-0.00541855585682,0.0797891621822,0.999999930596,0.000159623015457,-0.000334006067309,4.20553660242e-05,1793239515550292736
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.571369843,661,635,880,787,804,651,631,652.571369843,0.4251123048,-0.00541457016178,0.0797698557031,0.999999916657,0.000170567040338,-0.000368388345241,4.33873952591e-05,1793239515566959360
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.15741092,745,714.84258908,681.84258908,661,635,879.84258908,787,804,651,631,653,0.424184885239,-0.00540970136135,0.0797529806214,0.999999902371,0.000181538051129,-0.00040038811238,4.46181410555e-05,1793239515583625984
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.854712625,661,635,879,787.854712625,803.854712625,652,631,653,0.411960514503,-0.00541740447674,0.0798138033099,0.999999935542,0.000189823923455,-0.000301178916445,4.66324789317e-05,1793239515833626368
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.141655459,661,635,879,787.570827729,804,651.570827729,631,653,0.41126117146,-0.00541606462745,0.0798056495586,0.999999930707,0.000190031009248,-0.000316791597772,4.60145169682e-05,1793239515850292736
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.003094726,879,787,804,651,631,653,0.41057103581,-0.0054158064267,0.0797958783631,0.999999925522,0.000188278383891,-0.000333901170179,4.4908459341e-05,1793239515866959104
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.595028763,879,787,804,651,631,653,0.4099382597,-0.00541142975122,0.0798079742521,0.999999929903,0.000198941114734,-0.000313918821568,4.55166984586e-05,1793239515883625728
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.816836148,661,635.816836148,879,787,804,651.183163852,631,652.816836148,0.409322505768,-0.00540911826842,0.0798241781867,0.999999936017,0.000206190156782,-0.000288576203604,4.66368388583e-05,1793239515900292352
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.236929671,661,635.236929671,879,787,804,651.763070329,631,652.236929671,0.408743622656,-0.0054112801018,0.0798492803689,0.999999945922,0.000206044969707,-0.000251622953888,4.88657847266e-05,1793239515916959232
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.660352968,678.339647032,661,635,879,787,803.660352968,652,631,652,0.408157896052,-0.00540914883517,0.0798448804081,0.999999943213,0.000206708351794,-0.000261699181184,4.8565879988e-05,1793239515933626112
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.08607652,678.91392348,661,635,879,787,803.08607652,652,631,652,0.407567441971,-0.00540405187916,0.0798201002574,0.999999931012,0.000207930296271,-0.0003042635457,4.65190358036e-05,1793239515950292992
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.500429382,679,661,635.500429382,879,787,803.500429382,652,631,652,0.407026195195,-0.00540122786333,0.0797942672032,0.999999916037,0.000213212144762,-0.00034703802375,4.5058514352e-05,1793239515966959872
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.087731662,745,714.912268338,679.087731662,661,635.912268338,878.912268338,787,804,651.912268338,631,652.087731662,0.406504881526,-0.0053993433942,0.0797747435465,0.999999903957,0.000217712393392,-0.000377839662935,4.38711580363e-05,1793239515983626240
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.667408758,745,714.332591242,679.667408758,661,635.332591242,878.332591242,787,804,651.332591242,631,652.667408758,0.406046691159,-0.00540048015937,0.0797916400917,0.999999917947,0.000213816039931,-0.000341297225665,4.3635870193e-05,1793239516000292608
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,714.24519027,679.75480973,661,635,878.24519027,787,804,651.24519027,631,652.75480973,0.405607870964,-0.00540021596127,0.0798069914347,0.999999928316,0.000212293326483,-0.00031048102434,4.36088867434e-05,1793239516016958976
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,714.820420176,679.179579824,661,635,878.820420176,787,804,651.820420176,631,652.179579824,0.405195124126,-0.00539806598921,0.0798202628487,0.999999934856,0.000213965664039,-0.000287372655953,4.38622925696e-05,1793239516033625600
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.604575684,745,715,679.395424316,661,635.395424316,879,787,803.604575684,651.604575684,631,652,0.404801696125,-0.00539736852233,0.0798318598964,0.999999937379,0.000218544111258,-0.000274679229909,4.5073836249e-05,1793239516050292992
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.029673966,745,715,679.970326034,661,635.970326034,879,787,803.029673966,651.029673966,631,652,0.404417036629,-0.00539733032644,0.0798426969746,0.999999938154,0.000224441599965,-0.000266712994216,4.67202649274e-05,1793239516066960128
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.5586021,745,715,679.4413979,661,635.4413979,879,787,803.5586021,651.5586021,631,652.5586021,0.404060906017,-0.00539805443076,0.0798413658674,0.99999993612,0.000223692611037,-0.000274845238989,4.67057305849e-05,1793239516083626752
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,804,651.854680911,631,653,0.403716293885,-0.00539869230327,0.0798399638951,0.999999935139,0.000219911321436,-0.000281443292871,4.63795454837e-05,1793239516100293120
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,804,651.274802701,631,653,0.403401483182,-0.00539894824501,0.0798403303943,0.999999937874,0.000208144025266,-0.000280833492188,4.53917300417e-05,1793239516116960000
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.693415455,745.306584545,715,679.306584545,661,635,879,787,804,651.306584545,631,652.693415455,0.403114311286,-0.00539870288811,0.0798396953006,0.999999936746,0.000209970561147,-0.000283551991397,4.49235398886e-05,1793239516133626368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.11066895,745.88933105,715,679.88933105,661,635,879,787,804,651.88933105,631,652.11066895,0.402852035599,-0.00539800597675,0.0798381580028,0.999999932055,0.000224042004894,-0.000289268521127,4.49234123213e-05,1793239516150293248
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.469570494,745.530429506,715,680,661,635,879,787,803.530429506,652,631,652.469570494,0.402619979286,-0.00539727773456,0.0798392231931,0.999999932533,0.000222955160011,-0.000288570364794,4.41753282669e-05,1793239516166959616
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.950800602,661,635.049199398,879,787,803.049199398,652,631,653,0.402398546368,-0.00539672177363,0.079841243242,0.999999934457,0.000218386926421,-0.000285492236983,4.34540986718e-05,1793239516183625984
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.371417474,661,635.628582526,879,787,803.628582526,652,631,653,0.402215251333,-0.00539810150415,0.0798469784831,0.999999938709,0.000214596334504,-0.000272972205438,4.49117955606e-05,1793239516200292608
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.792594589,745,715,679,661,635.792594589,879,787,804,651.792594589,631,652.792594589,0.402040786357,-0.00539824071899,0.0798521292717,0.999999941681,0.000212025540196,-0.000263720935711,4.62098199116e-05,1793239516216959232
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.214772333,745,715,679,661,635.214772333,879,787,804,651.214772333,631,652.214772333,0.401882091491,-0.00539616442786,0.0798562362539,0.999999942611,0.000211633250644,-0.000260307530673,4.7222676064e-05,1793239516233626368
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.360752331,879,786.639247669,804,651.360752331,631,652.360752331,0.401743194009,-0.00539573916401,0.0798568678228,0.999999943098,0.000211095485714,-0.00025885976821,4.72662872086e-05,1793239516250293248
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.934917846,879,786.065082154,804,651.934917846,631,652.934917846,0.401616008209,-0.00539629061157,0.0798554434138,0.999999943328,0.000210471660698,-0.000258574836548,4.67365143166e-05,1793239516266960128
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.523445715,745,715,679.523445715,661.523445715,636,879,786.523445715,804,652,631,653,0.401502460556,-0.0053975341607,0.0798497229599,0.999999937301,0.000225138513211,-0.000269988482449,4.2633039084e-05,1793239516283626240
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.888354495,745,715,679.888354495,662,635.888354495,879,787,803.888354495,652,631,653,0.401395724535,-0.00539889977308,0.0798439025862,0.999999931555,0.0002372841335,-0.000281220386647,3.87524156929e-05,1793239516300292608
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.309216607,745,715,679.309216607,662,635.309216607,879,787,803.309216607,652,631,653,0.401310210127,-0.00540040601069,0.0798399635383,0.999999931946,0.000230687352034,-0.000285428910321,3.77179795922e-05,1793239516316959232
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.731594947,635,879,787,803.268405053,651.731594947,631,653,0.401235050547,-0.0054002840287,0.0798356956998,0.999999931352,0.000227529548031,-0.000290055502809,3.73357283697e-05,1793239516333625600
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.155710282,635,879,787,803.844289718,651.155710282,631,653,0.401171753262,-0.00539829678987,0.0798310512056,0.999999929666,0.00022831137018,-0.000295161026563,3.77006075317e-05,1793239516350292480
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878.57199575,787,803.57199575,651.42800425,631,653,0.401125886036,-0.00539880547391,0.0798310251567,0.99999993011,0.000225656895002,-0.000295621455763,3.83129539764e-05,1793239516366959616
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878,787,803,652,631,652.985551427,0.401086725693,-0.00540015964396,0.0798326753474,0.999999931291,0.000221905494899,-0.000294370979913,3.90088472622e-05,1793239516383626496
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878,787,803,652,631,652.405829469,0.401057250885,-0.00539840488298,0.0798329450212,0.999999930818,0.000225059909786,-0.000293531172871,3.93854652146e-05,1793239516400292864
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878,787,803.173718222,652,631,652.173718222,0.401031166739,-0.00539717366642,0.0798329656124,0.999999930356,0.00022777637768,-0.000292963302443,3.97239883528e-05,1793239516416959488
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878,787,803.752859129,652,631,652.752859129,0.401012995703,-0.00539716429537,0.079832404896,0.999999929939,0.000229470766719,-0.00029303007639,3.99736059601e-05,1793239516433626112
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.671015828,679,661,635,878,787,804,651.671015828,631,653,0.401000214986,-0.0053991185169,0.0798321300868,0.999999930673,0.00022679401692,-0.000292585958987,4.01545413478e-05,1793239516450292480
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.097135735,679,661,635,878,787,804,651.097135735,631,653,0.40099144682,-0.00540253443737,0.0798320681069,0.999999932236,0.000220863390153,-0.0002917615339,4.02843496946e-05,1793239516466959104
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.486501195,679,661,635,878.486501195,787,804,651.486501195,631,653,0.40098727277,-0.00540195064752,0.0798335026452,0.999999932679,0.000221581410389,-0.000289724436762,4.00310620901e-05,1793239516483625984
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.071772211,878.928227789,787,804,651.928227789,631,652.928227789,0.40098411243,-0.00540067515104,0.0798351402802,0.999999932942,0.000223286226861,-0.000287539506693,3.97482122232e-05,1793239516500292608
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.654524293,878.345475707,787,804,651.345475707,631,652.345475707,0.400981505035,-0.00540027696131,0.079836053041,0.999999933567,0.000222372129698,-0.000286061158665,3.98106050131e-05,1793239516516960000
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.234402308,635.765597692,878.234402308,787,803.765597692,651.234402308,631,652.234402308,0.400979339204,-0.00539958881543,0.0798364641328,0.999999933804,0.000222643959511,-0.000285029905325,3.97549068626e-05,1793239516533627136
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.810095633,635.189904367,878.810095633,787,803.189904367,651.810095633,631,652.810095633,0.400977816293,-0.00539847849186,0.0798361447919,0.999999933474,0.000224642505406,-0.000284649624331,3.95272676673e-05,1793239516550293248
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.385239315,661.614760685,635,878.614760685,787,803.385239315,652,631,652.614760685,0.400978086788,-0.00539881392544,0.0798371734935,0.999999933783,0.000225373773128,-0.00028298396258,3.94997446003e-05,1793239516566959360
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.960112419,661.039887581,635,878.039887581,787,803.960112419,652,631,652.039887581,0.400979240088,-0.00539986103203,0.0798388657682,0.999999934404,0.000225481223974,-0.000280685573039,3.95707285675e-05,1793239516583625728
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.45246125,661.54753875,635,878.54753875,787,804,652,631,652.54753875,0.40097901353,-0.00539986354369,0.0798387136968,0.999999934682,0.000224005379651,-0.00028089915027,3.93993578364e-05,1793239516600292352
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.866177938,635,879,787,803.866177938,652,631,653,0.400978812207,-0.00539993123085,0.079838520773,0.999999934881,0.000222813851417,-0.000281154136308,3.93008372401e-05,1793239516616958976
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.286816346,635,879,787,803.286816346,652,631,653,0.400979037421,-0.00540047520935,0.0798386496595,0.999999934905,0.000222961930579,-0.000280923440967,3.95050194595e-05,1793239516633625600
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.291759922,745,715,679,661,635,878.708240078,787,803,652,631,652.708240078,0.400979536769,-0.00540044712043,0.0798397528861,0.999999935131,0.000223461709976,-0.000279697257273,3.96501992159e-05,1793239516650292736
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.869566312,745,715,679,661,635,878.130433688,787,803,652,631,652.130433688,0.400980304881,-0.00539985816678,0.0798418113725,0.999999935552,0.000224306302379,-0.000277495079568,3.97375319621e-05,1793239516666960128
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,878.440048768,787,803.440048768,652,631,652.440048768,0.400979599611,-0.00539942234557,0.0798412161657,0.999999935456,0.000224707585183,-0.000277526399987,3.9670062606e-05,1793239516683626752
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.008819445,878.991180555,787,804,652,631,652.991180555,0.400978464708,-0.00539905141821,0.079839858974,0.999999935211,0.0002249635155,-0.000278216741422,3.95521105572e-05,1793239516700293632
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.60584047,878.39415953,787,804,652,631,652.39415953,0.4009773258,-0.00540003085943,0.0798392829134,0.999999935075,0.000224145450399,-0.00027942954897,3.90773875823e-05,1793239516716959488
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.196032284,787,803.803967716,652,631.196032284,652.196032284,0.400976642192,-0.00540071705616,0.0798389432337,0.999999935009,0.0002237550494,-0.000280023577573,3.8771407769e-05,1793239516733625856
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.772954916,787,803.227045084,652,631.772954916,652.772954916,0.40097684323,-0.0054008334794,0.0798390628416,0.999999935079,0.000224195598976,-0.000279415319811,3.87932956214e-05,1793239516750292480
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,786.651118825,803.348881175,652,632,653,0.400978080115,-0.00540144315754,0.0798399096044,0.999999935559,0.000223565941101,-0.000278181203727,3.8930499511e-05,1793239516766959104
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,786.075839162,803.924160838,652,632,653,0.40097998919,-0.00540237292221,0.0798412282378,0.999999936301,0.00022224179647,-0.000276540951167,3.91425351141e-05,1793239516783625728
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c62e0bbe8be790ea3346d7eea805ac26766966fc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,421 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e10fd119ca2cd864d89aae8209b9a6c4c041d8c5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0baafb81e56b43c6d8f66f4c944053c79c85f7ec2cca1ba4fb184fd39f904216
+size 26638206
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0afbdc32cae0c607ef31840dca754b8b1e30b21f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/franka_data.csv
@@ -0,0 +1,422 @@
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+9,0.150000000,BASELINE,765.233672155,745.233672155,715,679,661,635,879,787.233672155,803.233672155,652,631,652.233672155,0.400977408909,-0.00540081798718,0.079842633999,0.999999936717,0.000223624388778,-0.000274003075163,3.84705065359e-05,1793239517251904000
+10,0.166666667,BASELINE,765.814363933,745.814363933,715,679,661,635,879,787.814363933,803.814363933,652,631,652.814363933,0.400975263762,-0.00539980436647,0.0798403587786,0.99999993512,0.000226723030921,-0.000277296143269,3.82497008778e-05,1793239517268570624
+11,0.183333333,BASELINE,765.6096731,745.6096731,715,679,661,635.3903269,879,787.6096731,804,652,631,653,0.400975920844,-0.00540047152039,0.0798403460063,0.999999935611,0.000224794955709,-0.000277091198535,3.82901506483e-05,1793239517285237248
+12,0.200000000,BASELINE,765.035932145,745.035932145,715,679,661,635.964067855,879,787.035932145,804,652,631,653,0.400977894689,-0.00540192846785,0.0798413963551,0.99999993707,0.000220504833422,-0.000275242542822,3.84533639537e-05,1793239517301903872
+13,0.216666667,BASELINE,765,745,715,679.55332852,661,635.44667148,878.44667148,787,804,651.44667148,631,653,0.400976643366,-0.00540287838829,0.0798407994461,0.999999936224,0.000222556252392,-0.000276610459661,3.88145796901e-05,1793239517318570496
+14,0.233333333,BASELINE,765,745,715,679.859033753,661,635.140966247,878,787,803.859033753,651.140966247,631,652.859033753,0.400975747285,-0.00540342580494,0.0798405107765,0.999999935582,0.000224458235089,-0.000277359626633,3.90546979932e-05,1793239517335236864
+15,0.250000000,BASELINE,765,745,715,679.279667891,661,635.720332109,878,787,803.279667891,651.720332109,631,652.279667891,0.400976626128,-0.00540282680218,0.0798415229916,0.999999936072,0.000224577812123,-0.000275516156194,3.8877066459e-05,1793239517351903488
+16,0.266666667,BASELINE,765.29731568,745,715,679.29731568,661,635.70268432,878,787,803.29731568,651.70268432,631.29731568,652.29731568,0.400977004865,-0.0054023457926,0.0798416834291,0.999999936382,0.000223773514799,-0.00027507320869,3.86760901995e-05,1793239517368570368
+17,0.283333333,BASELINE,765.872076145,745,715,679.872076145,661,635.127923855,878,787,803.872076145,651.127923855,631.872076145,652.872076145,0.40097691692,-0.00540197489026,0.0798410490169,0.999999936524,0.000222107089637,-0.000275937181215,3.84533294546e-05,1793239517385237504
+18,0.300000000,BASELINE,765.55444943,745,714.55444943,679.55444943,661,635.44555057,878,787,803.55444943,651.44555057,631.55444943,652.55444943,0.400978231703,-0.0054019419532,0.0798424803,0.999999936842,0.000223003025094,-0.000274030694589,3.86394137837e-05,1793239517401904128
+19,0.316666667,BASELINE,765.01935787,745,714.01935787,679,661,635.98064213,878,786.98064213,803,652,631,652,0.400979823418,-0.00540203718816,0.0798443738552,0.999999937189,0.000224477693144,-0.000271509465548,3.89269491924e-05,1793239517418570496
+20,0.333333333,BASELINE,765.613999538,745,714.613999538,679,661,635.386000462,878,786.386000462,803,652,631,652,0.400977710685,-0.00540306607503,0.0798424304448,0.999999937134,0.000221350776713,-0.000274290170116,3.87509896549e-05,1793239517435237120
+21,0.350000000,BASELINE,766,745,715,679,661,635,878,786.202869002,803.202869002,652,631.202869002,652.202869002,0.400976619414,-0.00540353788932,0.0798414030845,0.999999937163,0.000219500498247,-0.0002756927972,3.85735733865e-05,1793239517451903488
+22,0.366666667,BASELINE,766,745,715,679,661,635,878,786.781059432,803.781059432,652,631.781059432,652.781059432,0.400977417921,-0.00540297908138,0.0798420704795,0.999999937373,0.000220012087061,-0.000274545887058,3.83934620876e-05,1793239517468570368
+23,0.383333333,BASELINE,766,745,715,679,661,635.35511588,878.35511588,787,803.64488412,652,631.64488412,653,0.400977401789,-0.00540157431066,0.0798421903246,0.999999936919,0.000222091067014,-0.000274525189004,3.83813582271e-05,1793239517485237504
+24,0.400000000,BASELINE,766,745,715,679,661,635.926652977,878.926652977,787,803.073347023,652,631.073347023,653,0.400976889185,-0.00539965397776,0.079841976472,0.999999936054,0.000225125275195,-0.000275190847611,3.84716445151e-05,1793239517501904128
+25,0.416666667,BASELINE,766,745,715,679,661.516369104,635.483630896,878.483630896,787.516369104,803,651.483630896,631.516369104,653,0.40097730661,-0.0054004180207,0.0798426827667,0.999999936137,0.000225858592611,-0.0002742817625,3.85256210496e-05,1793239517518570752
+26,0.433333333,BASELINE,765.894491054,745,715,679,661.894491054,635.105508946,878.105508946,787.894491054,803.105508946,651.105508946,631.894491054,653,0.400977592205,-0.00540142836509,0.0798431796273,0.999999936352,0.00022571413484,-0.000273606384805,3.85815253837e-05,1793239517535237632
+27,0.450000000,BASELINE,765.31981494,745,715,679,661.31981494,635.68018506,878.68018506,787.31981494,803.68018506,651.68018506,631.31981494,653,0.400976682728,-0.00540177654605,0.079842142799,0.999999936536,0.000223172805441,-0.000275001180009,3.86697731781e-05,1793239517551904256
+28,0.466666667,BASELINE,765,745,715,679,661,635.742399921,879,787,804,651.742399921,631,652.742399921,0.400976502222,-0.00540212995856,0.0798418785484,0.999999936733,0.000221988575558,-0.000275244714126,3.86583470015e-05,1793239517568570624
+29,0.483333333,BASELINE,765,745,715,679,661,635.161547996,879,787,804,651.161547996,631,652.161547996,0.400977236474,-0.00540248993591,0.0798425837741,0.999999936953,0.000222507314732,-0.000274043577516,3.85218440141e-05,1793239517585236992
+30,0.500000000,BASELINE,765,745,715.414707499,679.414707499,661,635.414707499,879,787,803.585292501,651.414707499,631.414707499,652,0.400976791847,-0.00540239783605,0.0798417909704,0.9999999367,0.000222394109578,-0.000275096419169,3.82559995114e-05,1793239517601903872
+31,0.516666667,BASELINE,765,745,715.989192084,679.989192084,661,635.989192084,879,787,803.010807916,651.989192084,631.989192084,652,0.400975893026,-0.00540213156142,0.0798404210112,0.999999936261,0.000222037431063,-0.00027701766588,3.79403227553e-05,1793239517618570240
+32,0.533333333,BASELINE,765.580710645,745,715.419289355,679.419289355,661,635.419289355,879,787,803,651.419289355,631.419289355,652,0.400977333351,-0.00540257747011,0.0798415776003,0.999999936396,0.000223168160651,-0.000275577212591,3.82351649574e-05,1793239517635236608
+33,0.550000000,BASELINE,765.831773709,745,715,679,661,635,878.831773709,787,803,651.168226291,631,652,0.400978069227,-0.00540248108737,0.0798423266792,0.999999936452,0.000224035204642,-0.000274642404119,3.84263160107e-05,1793239517651903488
+34,0.566666667,BASELINE,765.254778361,745,715,679,661,635,878.254778361,787,803,651.745221639,631,652,0.400976984399,-0.00540103382268,0.0798419678453,0.999999936296,0.00022419222623,-0.000275092872975,3.83370660683e-05,1793239517668570368
+35,0.583333333,BASELINE,765,745,715,679,661,635,878.322837642,787,803,652,631,652.322837642,0.400977062572,-0.00540085117253,0.079842147744,0.999999936488,0.000223750864588,-0.000274757993988,3.83116134096e-05,1793239517685237248
+36,0.600000000,BASELINE,765,745,715,679,661,635,878.900944462,787,803,652,631,652.900944462,0.400978060335,-0.00540166845863,0.0798427536207,0.999999936953,0.000222836358645,-0.00027380213697,3.83366055408e-05,1793239517701904128
+37,0.616666667,BASELINE,765,745,715,679,661,635.485745978,879,787,803.485745978,652,631,652.514254022,0.400977174534,-0.00540213105294,0.0798424993062,0.99999993697,0.00022275144177,-0.000273789875104,3.84716446622e-05,1793239517718571264
+38,0.633333333,BASELINE,765,745,715,679,661.071219331,635.928780669,879,787,803.928780669,652,631,652.071219331,0.400976122844,-0.00540239879749,0.0798421097151,0.999999936882,0.000222861954234,-0.000274007374575,3.85730147059e-05,1793239517735238144
+39,0.650000000,BASELINE,765,745,715,679,661.651599499,635.348400501,879,787,803.348400501,652,631,652.651599499,0.400976669606,-0.00540179785373,0.0798420246012,0.999999936704,0.000223143272192,-0.000274472593884,3.82709988509e-05,1793239517751904256
+40,0.666666667,BASELINE,765,745,715,679,662,635,878.770083098,787,803,652,631,652.770083098,0.400976535434,-0.00540123578845,0.0798419844963,0.999999936483,0.000223510448013,-0.000274993489766,3.81534794784e-05,1793239517768570368
+41,0.683333333,BASELINE,765,745,715,679,662,635,878.194863709,787,803,652,631,652.194863709,0.400975378593,-0.00540073211316,0.0798420119884,0.999999936199,0.00022400657012,-0.000275598003913,3.83130476011e-05,1793239517785236992
+42,0.700000000,BASELINE,765,745,714.618664033,679.381335967,661.618664033,635,878.381335967,787,803.381335967,652,631,652.381335967,0.400977052749,-0.00540085509082,0.0798428603338,0.999999936519,0.000224287812801,-0.000274184618374,3.84797320855e-05,1793239517801903872
+43,0.716666667,BASELINE,765,745,714.041962154,679.958037846,661.041962154,635,878.958037846,787,803.958037846,652,631,652.958037846,0.400980177282,-0.00540129911512,0.0798441292185,0.999999937142,0.00022445896851,-0.000271737423139,3.86500624166e-05,1793239517818570752
+44,0.733333333,BASELINE,765.546895699,745,714.546895699,679.453104301,661,635,879,787,804,652,631,653,0.400979003633,-0.00540120636169,0.0798437043589,0.999999937122,0.000223464930829,-0.000272645485061,3.85312966344e-05,1793239517835237632
+45,0.750000000,BASELINE,766,745,715,679,661,635.134366809,878.865633191,787,803.865633191,652,631.134366809,653,0.400977760802,-0.00540128763272,0.0798431598437,0.999999937074,0.000222483116995,-0.000273636245841,3.84257454442e-05,1793239517851904256
+46,0.766666667,BASELINE,766,745,715,679,661,635.714079929,878.285920071,787,803.285920071,652,631.714079929,653,0.400977406582,-0.00540208530142,0.0798426592649,0.999999937108,0.000221844871622,-0.000274028440184,3.84391834037e-05,1793239517868570624
+47,0.783333333,BASELINE,766,745,715,679.290410608,661,635.709589392,878,787,803.290410608,652,632,653,0.400977386584,-0.00540245338761,0.0798424271113,0.999999937116,0.000221535633854,-0.000274265882042,3.83251491772e-05,1793239517885237248
+48,0.800000000,BASELINE,766,745,715,679.863449555,661,635.136550445,878,787,803.863449555,652,632,653,0.40097769185,-0.0054024034031,0.0798424561896,0.999999937099,0.000221546587043,-0.00027435271844,3.80870586985e-05,1793239517901903616
+49,0.816666667,BASELINE,765.560668556,745,715,679.560668556,661,635,878.439331444,787,804,652,631.560668556,652.560668556,0.400977673692,-0.00540036443792,0.0798429579532,0.999999936405,0.000225280069119,-0.000273829581436,3.81645955505e-05,1793239517918570496
+50,0.833333333,BASELINE,765.016440133,745,715,679,661,635,878.983559867,787,804,651.983559867,631,652.016440133,0.400977552365,-0.00539783447532,0.079843562565,0.999999935528,0.000229902023143,-0.000273165741949,3.83296536911e-05,1793239517935237376
+51,0.850000000,BASELINE,765.605298382,745,715,679,661,635,878.394701618,787,804,651.394701618,631,652.605298382,0.400977361776,-0.00539987380338,0.0798425994512,0.999999936376,0.000224911385488,-0.000274247021802,3.8104081159e-05,1793239517951903744
+52,0.866666667,BASELINE,766,745,715,679.191087521,661,635,878,787,803.808912479,651.191087521,631,653,0.400977021948,-0.00540147473831,0.0798419259153,0.999999937103,0.000220967036592,-0.000274830088636,3.79071181547e-05,1793239517968570368
+53,0.883333333,BASELINE,766,745,715,679.770637425,661,635,878,787,803.229362575,651.770637425,631,653,0.400976378732,-0.00540218446243,0.0798418410631,0.999999937626,0.000219149691487,-0.000274400336711,3.77683155588e-05,1793239517985237504
+54,0.900000000,BASELINE,766,745,715,679.653155761,661,635.346844239,878.346844239,787.346844239,803.346844239,652,631,653,0.400976895335,-0.00540184389162,0.0798422103748,0.99999993757,0.000220011970986,-0.000273926758615,3.76734815173e-05,1793239518001904384
+55,0.916666667,BASELINE,766,745,715,679.079138597,661,635.920861403,878.920861403,787.920861403,803.920861403,652,631,653,0.400978171586,-0.00540081540802,0.0798428771506,0.99999993713,0.000222629327015,-0.000273424475662,3.760744561e-05,1793239518018571008
+56,0.933333333,BASELINE,765.492618697,745,715,679,661,635.492618697,879,787.492618697,804,652,631,653,0.400977583979,-0.00540165431307,0.0798425877062,0.999999936819,0.000223306186923,-0.000273937854687,3.81447097259e-05,1793239518035237120
+57,0.950000000,BASELINE,765,745,715,679,661.0943863,635,879,787,803.9056137,652,631,652.9056137,0.400976864255,-0.00540248124129,0.0798422925863,0.999999936615,0.000223503051951,-0.000274454272098,3.86207889301e-05,1793239518051903744
+58,0.966666667,BASELINE,765,745,715,679,661.673612586,635,879,787,803.326387414,652,631,652.326387414,0.400976996945,-0.00540171268748,0.0798427537961,0.999999936861,0.000222828310567,-0.000274151984987,3.82869969995e-05,1793239518068570368
+59,0.983333333,BASELINE,765,745,715,679.252458106,661.747541894,635,878.747541894,787,803,652,631,652,0.40097774593,-0.00540177774356,0.07984343616,0.999999937339,0.000221863441676,-0.000273221949774,3.80561682827e-05,1793239518085236992
+60,1.000000000,BASELINE,765,745,715,679.830812178,661.169187822,635,878.169187822,787,803,652,631,652,0.400979290488,-0.00540291889928,0.0798444040097,0.999999938113,0.000220524049624,-0.000271481559973,3.79582538342e-05,1793239518101903872
+61,1.016666667,BASELINE,765,745,715,680,661,635,878.402916802,787,803,652,631,652,0.400978948058,-0.00540295963824,0.079844108107,0.999999937944,0.000220558265196,-0.000272058865102,3.80884279878e-05,1793239518118570752
+62,1.033333333,BASELINE,765,745,715,680,661,635,878.972437281,787,803,652,631,652,0.400977825369,-0.00540254536142,0.0798432896503,0.999999937383,0.000221160459352,-0.000273594523271,3.83129154144e-05,1793239518135237888
+63,1.050000000,BASELINE,765.566169624,745,715,679.433830376,661,635,878.433830376,787,803.566169624,652,631,652.566169624,0.40097838501,-0.0054027321872,0.0798440871643,0.999999937805,0.000221704946438,-0.000271590525644,3.84077999555e-05,1793239518151904256
+64,1.066666667,BASELINE,765.843337587,745,715,679.156662413,661.156662413,635.156662413,878.156662413,787,804,652,631,653,0.40097865169,-0.00540279270551,0.0798445512161,0.999999938035,0.000222063588908,-0.000270455212703,3.83610939438e-05,1793239518168570880
+65,1.083333333,BASELINE,765.26488218,745,715,679.73511782,661.73511782,635.73511782,878.73511782,787,804,652,631,653,0.400977899251,-0.00540243084999,0.0798438961931,0.999999937622,0.000221929770804,-0.000272143396195,3.79509201598e-05,1793239518185236992
+66,1.100000000,BASELINE,765,745,715,680,661.687609929,635.687609929,879,787,804,652,631.312390071,652.687609929,0.400977606939,-0.0054020354628,0.0798437712311,0.999999937567,0.000221984406901,-0.000272328719375,3.7770255672e-05,1793239518201903360
+67,1.116666667,BASELINE,765,745,715,680,661.111337145,635.111337145,879,787,804,652,631.888662855,652.111337145,0.400977703306,-0.00540161175068,0.0798440940233,0.999999937813,0.000222198234385,-0.000271244543551,3.77834627186e-05,1793239518218569984
+68,1.133333333,BASELINE,765,745,715,680,661,635.473727866,879,787,804,652,632,652.473727866,0.400978416852,-0.00540134487801,0.0798440291045,0.99999993774,0.000222912917316,-0.000270881986785,3.81144202801e-05,1793239518235236864
+69,1.150000000,BASELINE,765.060104997,745.060104997,715,680,661.060104997,635.939895003,879,787,804,652,631.939895003,653,0.400978983985,-0.00540109577559,0.0798438500029,0.999999937518,0.000223789872168,-0.000270922297294,3.85008073991e-05,1793239518251903488
+70,1.166666667,BASELINE,765.639625897,745.639625897,715,680,661.639625897,635.360374103,879,787,804,652,631.360374103,653,0.400977008626,-0.00540067567129,0.0798434864993,0.99999993668,0.000225032661368,-0.000272950765837,3.87086416984e-05,1793239518268570880
+71,1.183333333,BASELINE,765.782301365,745.782301365,715,679.782301365,662,635.217698635,879,787,804,652,631,653,0.400975904399,-0.00540111496568,0.0798429823976,0.999999936373,0.000224626854335,-0.000274408939531,3.86825869057e-05,1793239518285237760
+72,1.200000000,BASELINE,765.206609955,745.206609955,715,679.206609955,662,635.793390045,879,787,804,652,631,653,0.400976232696,-0.00540296749129,0.0798422470904,0.999999936941,0.000221510026636,-0.000274929296752,3.82719151039e-05,1793239518301904640
+73,1.216666667,BASELINE,765,745,715,679.368725195,662,635.631274805,878.631274805,787,804,652,631,653,0.400976502787,-0.00540307791397,0.0798422646396,0.999999937168,0.000220492371287,-0.000274931485857,3.81996420256e-05,1793239518318570752
+74,1.233333333,BASELINE,765,745,715,679.943860877,662,635.056139123,878.056139123,787,804,652,631,653,0.400976740294,-0.00540221311618,0.0798427036339,0.999999937208,0.000220649822128,-0.000274643607059,3.83168028559e-05,1793239518335236864
+75,1.250000000,BASELINE,765.53355628,745,715,680,661.46644372,635.53355628,878.53355628,787,803.46644372,652,631,653,0.400978012124,-0.00540156230651,0.0798435930938,0.999999937081,0.000223572214883,-0.000272731566153,3.83627762722e-05,1793239518351903488
+76,1.266666667,BASELINE,765.877698602,745,715,679.877698602,661,635.877698602,879,787,803,652,631,653,0.400979088815,-0.00540105061385,0.0798443962431,0.999999937048,0.000225695546879,-0.00027110183819,3.83340691178e-05,1793239518368570368
+77,1.283333333,BASELINE,765.298389463,745,715,679.298389463,661,635.298389463,879,787,803,652,631,653,0.400979018254,-0.005400972271,0.0798446947963,0.999999937481,0.000223715419887,-0.000271183520301,3.80550743203e-05,1793239518385236992
+78,1.300000000,BASELINE,765.277578044,745,715,679.277578044,661,635,879,787,803.277578044,651.722421956,631,652.722421956,0.400978519214,-0.00540172585036,0.0798445036595,0.999999937839,0.000221878430915,-0.000271384976431,3.79666756823e-05,1793239518401903616
+79,1.316666667,BASELINE,765.849996073,745,715,679.849996073,661,635,879,787,803.849996073,651.150003927,631,652.150003927,0.400977565049,-0.00540336308726,0.07984379238,0.999999938118,0.000220193481513,-0.000271713655045,3.80807259589e-05,1793239518418570496
+80,1.333333333,BASELINE,765.577774393,745,715,680,661,635,879,787,804,651.422225607,631,652.422225607,0.400977178513,-0.00540276384495,0.0798430407135,0.999999937648,0.00022112038835,-0.000272715354991,3.78985391059e-05,1793239518435237376
+81,1.350000000,BASELINE,765.005611748,745,715,680,661,635,879,787,804,651.994388252,631,652.994388252,0.400976993548,-0.00540137040399,0.0798422747052,0.999999936908,0.000222974794424,-0.000273956052369,3.76111551429e-05,1793239518451904000
+82,1.366666667,BASELINE,765.592122913,745,715,680,661.592122913,635.592122913,879,787,804,652,631,653,0.400978129581,-0.00540175813132,0.0798431358125,0.999999937628,0.000221868246812,-0.000272194606395,3.78065653752e-05,1793239518468570624
+83,1.383333333,BASELINE,765.816688467,745,715,680,661.816688467,635.816688467,879,787,804,652,631,653,0.400978686386,-0.00540190258501,0.0798439386561,0.999999937902,0.000221996028349,-0.000271051984994,3.79972553999e-05,1793239518485237248
+84,1.400000000,BASELINE,765.240087503,745,715,680,661.240087503,635.240087503,879,787,804,652,631,653,0.400977972403,-0.00540148725065,0.0798445819186,0.999999937194,0.00022483494964,-0.000271300831825,3.81675584828e-05,1793239518501903872
+85,1.416666667,BASELINE,765,745,715,679.664953671,661,635.335046329,878.664953671,787,803.664953671,652,631,652.664953671,0.400977699789,-0.00540173117304,0.0798442872967,0.999999937136,0.000224642746363,-0.000271686386001,3.80758582459e-05,1793239518518570496
+86,1.433333333,BASELINE,765,745,715,679.090866607,661,635.909133393,878.090866607,787,803.090866607,652,631,652.090866607,0.400977742072,-0.005402445446,0.0798433235357,0.999999937542,0.000222287969617,-0.000272169474805,3.77972302197e-05,1793239518535237120
+87,1.450000000,BASELINE,765,745,715,679,661,636,878,787,803.494704361,652,631,652.494704361,0.400977774698,-0.0054019051137,0.0798431901149,0.999999937277,0.000223379892382,-0.000272215321127,3.80326976169e-05,1793239518551903744
+88,1.466666667,BASELINE,765,745,715,679,661,635.918600344,878,787,804,652,631,652.918600344,0.400977789676,-0.00540123604642,0.0798432026875,0.999999936869,0.000225162907798,-0.000272206109654,3.83162597975e-05,1793239518568570368
+89,1.483333333,BASELINE,765,745,715,679,661,635.338250142,878,787,804,652,631,652.338250142,0.400977707608,-0.00540122398913,0.0798431530629,0.999999936364,0.000227209266042,-0.000272363397209,3.83020583774e-05,1793239518585237248
+90,1.500000000,BASELINE,765.239459918,745,715,679.239459918,661,635.239459918,878.239459918,787,804,652,631,652,0.400977078239,-0.00540151359415,0.0798427063796,0.999999936295,0.000226759117894,-0.000273014465407,3.8136262157e-05,1793239518601903872
+91,1.516666667,BASELINE,765.813481254,745,715,679.813481254,661,635.813481254,878.813481254,787,804,652,631,652,0.400975684208,-0.00540222466667,0.0798417049456,0.999999936827,0.000222820975738,-0.000274355419204,3.77586652667e-05,1793239518618570496
+92,1.533333333,BASELINE,766,745.387485833,715,680,661.387485833,636,879,787,803.612514167,652,631.387485833,652.387485833,0.40097686895,-0.00540207687528,0.079842586636,0.999999937533,0.000221181055822,-0.000273120560502,3.76471596383e-05,1793239518635237120
+93,1.550000000,BASELINE,766,745.961482398,715,680,661.961482398,636,879,787,803.038517602,652,631.961482398,652.961482398,0.400979294947,-0.00540151568217,0.0798443747413,0.999999938323,0.000220647351773,-0.000270645871624,3.76637331778e-05,1793239518651903744
+94,1.566666667,BASELINE,766,745.446477154,715,680,661.446477154,636,878.446477154,787,803.553522846,652,632,653,0.400977108488,-0.00540242483705,0.0798427626226,0.999999937462,0.000221715596411,-0.000272872030621,3.81876859008e-05,1793239518668570368
+95,1.583333333,BASELINE,766,745,715,680,661,635.857149258,878.142850742,787,803.857149258,652,632,653,0.400975369276,-0.00540276335447,0.0798414386973,0.999999936637,0.000223164579052,-0.000274667476978,3.84852195452e-05,1793239518685236992
+96,1.600000000,BASELINE,766,745,715,680,661,635.280013569,878.719986431,787,803.280013569,652,632,653,0.400975998405,-0.00540104552386,0.0798417344782,0.999999936299,0.000225420741158,-0.000274125519646,3.79834560059e-05,1793239518701903872
+97,1.616666667,BASELINE,765.703443148,745,715,679.703443148,661,635,879,787,803,652,631.703443148,653,0.400977043134,-0.00540068840823,0.0798424237044,0.999999936408,0.000226216744792,-0.000273093670853,3.78140679417e-05,1793239518718570496
+98,1.633333333,BASELINE,765.127405482,745,715,679.127405482,661,635,879,787,803,652,631.127405482,653,0.400978479532,-0.00540161365636,0.0798434837209,0.99999993694,0.000225636667195,-0.000271600139067,3.79579168727e-05,1793239518735237120
+99,1.650000000,BASELINE,765,745.458778636,715,679,661.458778636,635.458778636,878.541221364,787,803.458778636,652,631,653,0.400977721764,-0.00540202740726,0.0798431731296,0.99999993699,0.00022448878643,-0.000272360597823,3.79957067638e-05,1793239518751903744
+100,1.666666667,BASELINE,765,745.952928351,715,679,661.952928351,636,878.047071649,787,804,652,631,652.952928351,0.400976549204,-0.00540222953344,0.0798425516024,0.999999936928,0.000223306332902,-0.000273560186105,3.79928234777e-05,1793239518768570624
+101,1.683333333,BASELINE,765,745.373374578,715,679,661.373374578,636,878.626625422,787,804,652,631,652.373374578,0.400977733213,-0.00540168091218,0.0798428157969,0.99999993717,0.000223556854911,-0.000272486331515,3.78705534196e-05,1793239518785236992
+102,1.700000000,BASELINE,765.204220745,745,715,679,661,635.795779255,878.795779255,787,804,651.795779255,631.204220745,652,0.40097827848,-0.00540126306355,0.079843110431,0.999999937309,0.000223808566001,-0.000271775926468,3.78101657679e-05,1793239518801903360
+103,1.716666667,BASELINE,765.778269405,745,715,679,661,635.221730595,878.221730595,787,804,651.221730595,631.778269405,652,0.400977667037,-0.00540108203406,0.0798434601887,0.999999937264,0.000224062430398,-0.000271723700439,3.78618423624e-05,1793239518818569984
+104,1.733333333,BASELINE,765.646396683,745,715,679,661,635,878.353603317,787,804,651.353603317,632,652.353603317,0.400977863595,-0.00540173382047,0.0798438282537,0.999999937602,0.000223175472904,-0.000271194025418,3.79913655907e-05,1793239518835236864
+105,1.750000000,BASELINE,765.070253843,745,715,679,661,635,878.929746157,787,804,651.929746157,632,652.929746157,0.400978568669,-0.00540290973783,0.0798442078405,0.999999938176,0.000221570541515,-0.000270363868847,3.81698814434e-05,1793239518851903744
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,636,879,787,804,652,631,653,0.400978550945,-0.00540177497455,0.0798440057482,0.99999993758,0.000224017583198,-0.000270557433562,3.81422160173e-05,1793239518882220800
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.573983301,745,715,679.426016699,661.573983301,635.426016699,879,787.573983301,804,652,631,653,0.40097719794,-0.00540299505258,0.0798435263028,0.999999937543,0.000222580161448,-0.000271884186241,3.80892654529e-05,1793239518898887424
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.149152317,661.850847683,635,879,787.850847683,804,652,631.149152317,653,0.40097630644,-0.00540373297701,0.0798431065669,0.999999937572,0.000221329211595,-0.000272806910071,3.80122780508e-05,1793239518915554048
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.727735314,661.272264686,635,879,787.272264686,804,652,631.727735314,653,0.40097674368,-0.00540308271309,0.0798428587426,0.999999937801,0.000220615140451,-0.000272566377845,3.78660851718e-05,1793239518932220672
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.695276479,745,715,680,661.304723521,635.304723521,879,787,804,652,632,653,0.400977230461,-0.0054025531784,0.0798430280511,0.999999937804,0.000221127217655,-0.000272143396167,3.78643152515e-05,1793239518948887552
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.119705801,745,715,680,661.880294199,635.880294199,879,787,804,652,632,653,0.400977761276,-0.0054021309514,0.0798435681192,0.999999937602,0.000222729131329,-0.000271558248105,3.79909126794e-05,1793239518965554176
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.528668683,636,879,787,803.528668683,652,631.528668683,653,0.40097709194,-0.00540287450857,0.0798432824866,0.999999937449,0.000222552638652,-0.000272264733596,3.80089903226e-05,1793239518982220800
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.064172899,745,715,679.935827101,661.064172899,636,878.935827101,787,803.064172899,651.935827101,631,653,0.400976374211,-0.00540370651949,0.0798429685723,0.999999937334,0.00022209405394,-0.000273063596394,3.79893869516e-05,1793239518998887168
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.639053583,745,715,679.360946417,661.639053583,636,878.360946417,787,803.639053583,651.360946417,631,653,0.400977779398,-0.00540280624419,0.0798441551146,0.999999937429,0.000223106965694,-0.00027189840072,3.78966885298e-05,1793239519015554048
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.214052293,661.785947707,635.785947707,878.214052293,787,804,651.214052293,631,653,0.400980620766,-0.0054020040943,0.0798455487,0.999999937714,0.000224110565601,-0.000270022242749,3.78700112327e-05,1793239519032220928
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.789250078,661.210749922,635.210749922,878.789250078,787,804,651.789250078,631,653,0.400985885234,-0.00540136750008,0.079847291605,0.999999938315,0.000225098454617,-0.000266946561057,3.79547236958e-05,1793239519048887296
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.375507567,635.375507567,879,787,803.624492433,652,631,653,0.401004580562,-0.00540138363793,0.0798558425251,0.999999942061,0.000225238803143,-0.000252367708666,3.81539912633e-05,1793239519065553920
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.968160628,635.968160628,879,787,803.031839372,652,631,653,0.40103104258,-0.00540177723236,0.0798683303294,0.999999947262,0.00022488904279,-0.000231136894945,3.84195028285e-05,1793239519082220544
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.452738588,745,715,680,662,636,879,787,803.547261412,652,631.547261412,653,0.401084019505,-0.00540502281786,0.0798865532882,0.999999955426,0.000222137406895,-0.000195661562925,3.89864185599e-05,1793239519098887168
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.12441138,745,715,679.87558862,662,635.87558862,878.87558862,787,803.87558862,651.87558862,631.87558862,653,0.401141118791,-0.0054072539268,0.0799036971241,0.999999961849,0.000220206939178,-0.000162106805028,3.91354073076e-05,1793239519115553792
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.697302754,745,715,679.302697246,662,635.302697246,878.302697246,787,803.302697246,651.302697246,631.302697246,653,0.401207651952,-0.00540524435349,0.0799157771811,0.999999965131,0.000221728193967,-0.000138390607561,3.77161621579e-05,1793239519132220672
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.271375647,661.728624353,635.271375647,878.271375647,787,803.271375647,651.271375647,631,653,0.401280463671,-0.0054054398201,0.0799250287845,0.999999967257,0.000221778900242,-0.000122424021834,3.62144680959e-05,1793239519148887552
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.846772157,661.153227843,635.846772157,878.846772157,787,803.846772157,651.846772157,631,653,0.401360309223,-0.00540810558271,0.0799311116838,0.999999968532,0.000220182157938,-0.000115139291181,3.4620407007e-05,1793239519165554176
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.436031104,715,680,661.436031104,636,879.436031104,787,804,652,631.436031104,653,0.401449859404,-0.00540946142362,0.0799331492014,0.999999969486,0.000217369653333,-0.000112996947347,3.17974943724e-05,1793239519182220800
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.970647618,745.970647618,715,680,661.970647618,635.970647618,879.970647618,787,804,652,631.970647618,653,0.401544396925,-0.00541043965976,0.0799338653894,0.999999970347,0.000214110053274,-0.000112471436492,2.84975262891e-05,1793239519198887424
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.395351012,745.395351012,715,680,661.395351012,635.395351012,879.395351012,787,804,652,631.395351012,653,0.401666183049,-0.00541323762444,0.0799373149511,0.999999971734,0.000210742024375,-0.000107303128683,2.46202468815e-05,1793239519215553792
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.179833622,635.179833622,879,787.179833622,803.820166378,652,631.179833622,653,0.401800504011,-0.00541504292453,0.0799426873184,0.99999997339,0.000208228286759,-9.71491442596e-05,2.0574166316e-05,1793239519232220416
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.754772168,635.754772168,879,787.754772168,803.245227832,652,631.754772168,653,0.401962364722,-0.00541466728238,0.0799522842009,0.999999975431,0.000207591477178,-7.60413390225e-05,1.61572202961e-05,1793239519248887296
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.670879019,661.670879019,636,879,787.670879019,803.329120981,652,631.670879019,653,0.402138245099,-0.00541606746533,0.0799600653184,0.999999977317,0.000203693755437,-6.12916748582e-05,1.09164535806e-05,1793239519265554176
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.096968769,661.096968769,636,879,787.096968769,803.903031231,652,631.096968769,653,0.402324552856,-0.00541878844805,0.0799664959312,0.999999979195,0.000197370675358,-5.12709829062e-05,5.06295589985e-06,1793239519282220800
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,787,804,652,631,652.504825848,0.402523493112,-0.00542114723373,0.0799659745969,0.999999980658,0.000189172691263,-5.3805455743e-05,-1.80363397838e-06,1793239519298887424
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.088237312,661,636,879,787,804,652,631,652.088237312,0.402728995393,-0.00542353069405,0.0799632376395,0.9999999819,0.000180374188503,-5.98691021682e-05,-8.96329722172e-06,1793239519315554304
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679.665845377,661,636,879,787,804,652,631,652.665845377,0.402956646912,-0.00542645941373,0.0799560516383,0.999999982806,0.000170359290289,-7.13486910595e-05,-1.66060140306e-05,1793239519332220928
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679.758111639,661,636,879,787,804,652,631,653,0.403205676395,-0.00542856564356,0.0799506563309,0.999999984724,0.000154289967024,-7.85716549443e-05,-2.39381828279e-05,1793239519348887552
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.184216858,661,636,879,787,804,652,631,653,0.403484048417,-0.0054295429561,0.0799477188593,0.99999998789,0.000129910579426,-7.99521426141e-05,-3.08441052165e-05,1793239519365554176
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.399957328,745,715,679,661.399957328,635.600042672,879,787,803.600042672,652,631,652.600042672,0.403799167129,-0.00543127896114,0.0799512664015,0.999999989647,0.000121166782702,-7.28008433258e-05,-2.69102681186e-05,1793239519382221056
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.988990996,745,715,679,661.988990996,635.011009004,879,787,803.011009004,652,631,652.011009004,0.40413165751,-0.0054333736314,0.0799578796774,0.999999990765,0.000119814575957,-6.16162160929e-05,-1.78520290251e-05,1793239519398887680
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.431490568,745,715,679.568509432,661.431490568,635,879,787,803.568509432,651.431490568,631,652.568509432,0.404496989029,-0.00543744053513,0.0799599462438,0.999999990837,0.000119358986001,-5.94690471396e-05,-2.32802379351e-05,1793239519415554048
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679.852754283,661.147245717,635,878.852754283,787,804,651.147245717,631.147245717,652.852754283,0.404873202837,-0.00544245046311,0.0799607996051,0.999999991517,0.000113630017882,-5.72072623705e-05,-2.79513636616e-05,1793239519432220928
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.275771899,661.724228101,635,878.275771899,787,804,651.724228101,631.724228101,652.275771899,0.405279351055,-0.00545010297938,0.0799583649578,0.999999993823,9.24608552416e-05,-5.41086201624e-05,-2.96077046573e-05,1793239519448887552
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.305980351,662,635,878.305980351,787,803.694019649,652,631.694019649,652.305980351,0.405701474864,-0.00546178437033,0.0799534583667,0.999999994642,7.87215142228e-05,-6.04001190924e-05,-2.95015184383e-05,1793239519465554176
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.892099697,662,635,878.892099697,787,803.107900303,652,631.107900303,652.892099697,0.406138225103,-0.00547715438105,0.0799462885978,0.999999994203,7.17845120109e-05,-7.52887210022e-05,-2.77816582024e-05,1793239519482220800
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.472835175,745,715,680,662,635.472835175,879,787,803,652,631,653,0.406609827254,-0.00549295380786,0.0799406390768,0.999999994904,4.85540284145e-05,-8.41976967742e-05,-2.73086211228e-05,1793239519498887168
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.947877964,745,715,680,662,636,879,787,803,652,631,653,0.407092355706,-0.00550682578466,0.079935963105,0.999999995156,2.5265158766e-05,-9.11288510507e-05,-2.73101219651e-05,1793239519515553792
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.370945412,745,715,680,662,636,879,787,803,652,631,653,0.407605722255,-0.00550031494643,0.0799376359268,0.999999994627,3.84045050902e-05,-9.17302930769e-05,-2.92571105934e-05,1793239519532220672
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635.794656596,879.205343404,787,803,652,631,652.794656596,0.408128962559,-0.00549826055145,0.0799351499045,0.999999993597,4.43812571365e-05,-9.94144445416e-05,-3.08855429147e-05,1793239519548887552
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635.219527065,879.780472935,787,803,652,631,652.219527065,0.408669983672,-0.00550423140064,0.0799251745603,0.999999991606,3.74594787551e-05,-0.000119853267533,-3.19403131442e-05,1793239519565554176
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.364820638,745.364820638,715,679.635179362,662,635,879.635179362,787,803.364820638,652,631,652.364820638,0.409275161406,-0.00550784736807,0.0799359352549,0.999999993708,2.98570255489e-05,-0.000102946856404,-3.30701575912e-05,1793239519582221056
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.954859053,745.954859053,715,679.045140947,662,635,879.045140947,787,803.954859053,652,631,652.954859053,0.409919945463,-0.00551000957641,0.0799594971022,0.999999997192,2.18343658815e-05,-6.29857986276e-05,-3.42463481558e-05,1793239519598887680
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.535437895,745.464562105,715,679,662,635.535437895,879,787,804,652,631.535437895,653,0.410601162341,-0.00551357679708,0.079991392049,0.99999999921,1.77022247479e-05,-8.98003375617e-06,-3.44254703116e-05,1793239519615554304
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.771970341,745.114014829,715,679.114014829,662,636,879,787,804,652,632,653,0.411276465865,-0.00551791614707,0.0800130498823,0.999999998958,1.12463090151e-05,2.70377136148e-05,-3.50215379434e-05,1793239519632220672
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.624639503,745.687680249,715,679.687680249,662,636,879,787,804,652,632,653,0.411915761652,-0.00552489908608,0.0799906537005,0.999999999174,-5.87725992432e-06,-1.41538870695e-05,-3.76315231979e-05,1793239519648887296
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.26233646,745.73766354,715,679.73766354,661.73766354,635.73766354,879,787,804,651.73766354,631.73766354,653,0.412569327979,-0.00552777217961,0.0799628004104,0.999999997485,-1.34676174141e-05,-5.65351312813e-05,-4.06555175427e-05,1793239519665553920
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.83817679,745.16182321,715,679.16182321,661.16182321,635.16182321,879,787,804,651.16182321,631.16182321,653,0.413239948326,-0.00552573382387,0.0799284256275,0.999999993944,-9.6653607094e-06,-0.000100338058417,-4.41742717286e-05,1793239519682220544
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.574091371,745,715,679.851817258,661,635.425908629,879,787,804,651,631,653,0.413980659076,-0.00552941081967,0.0799250259157,0.999999994021,-1.35851279606e-05,-9.83934106277e-05,-4.57319822974e-05,1793239519698887424
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.017815289,715,680.982184711,661.017815289,635.982184711,879,787,804,651.017815289,631,653,0.414749212602,-0.00553529508929,0.0799342465495,0.999999995672,-2.05398316686e-05,-7.79521822412e-05,-4.64565137137e-05,1793239519715553792
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.594871709,715,680.405128291,661.594871709,635.405128291,879,787,804,651.594871709,631,653,0.415531804495,-0.00554034326576,0.0799595831711,0.999999997862,-2.80186930143e-05,-3.81856099201e-05,-4.50877835043e-05,1793239519732220672
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.171155629,745.828844371,715,680.171155629,662,635,879.171155629,787,804,652,631,653,0.416305557103,-0.00554476415747,0.0799721081045,0.999999998108,-3.64181318743e-05,-2.10909498123e-05,-4.48697278487e-05,1793239519748887552
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.745619209,745.254380791,715,680.745619209,662,635,879.745619209,787,804,652,631,653,0.417058480937,-0.00554770692669,0.0799544438117,0.999999996126,-4.69868021469e-05,-5.74199660712e-05,-4.73631005805e-05,1793239519765554176
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680.6706927,662,635.3293073,879.6706927,787,804.3293073,651.6706927,631,653,0.417864072169,-0.00555331043304,0.0799590211442,0.999999996035,-5.86108965367e-05,-4.55580743394e-05,-4.91815923247e-05,1793239519782220800
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680.079673604,662,635.920326396,879.079673604,787,804.920326396,651.079673604,631,653,0.418711519953,-0.00556102851824,0.0799812746594,0.99999999619,-7.10737720623e-05,4.60278532198e-06,-5.04637328377e-05,1793239519798887424
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.499024183,745,715,680.500975817,662,636,879.500975817,787.500975817,805,651.500975817,631,652.499024183,0.419574302622,-0.00556482300791,0.0799892845497,0.999999995817,-7.26547457322e-05,2.27304684634e-05,-5.06958474998e-05,1793239519815553792
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.079404397,745,715,681,662,635.920595603,880,787.920595603,804.841191206,652,631,652,0.420434147955,-0.00556745909509,0.0799922883452,0.999999995582,-7.29023878285e-05,3.058834057e-05,-5.08558520266e-05,1793239519832220416
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.654058537,745,715,681,662,635.345941463,880,787.345941463,803.691882927,652,631,652,0.421260770036,-0.00556668313381,0.0799779108858,0.999999995811,-7.54090664813e-05,5.52285605074e-06,-5.15865232638e-05,1793239519848887040
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.771032275,745,715,680.771032275,662,635,880,787,803.228967725,651.771032275,631,652.228967725,0.422109753449,-0.00555363519439,0.0799785980017,0.999999996761,-6.17404046807e-05,3.05672004439e-06,-5.15441192966e-05,1793239519865554176
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.195737223,745,715,680.195737223,662,635,880,787,803.804262777,651.195737223,631,652.804262777,0.422992559834,-0.00552202515674,0.0800020711834,0.99999999785,-2.36055769991e-05,3.47734414049e-05,-5.03323930821e-05,1793239519882220800
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879.611228462,787,804,651.388771538,631,653,0.423849124311,-0.0055076771669,0.0800114344766,0.999999997828,-3.19287851928e-06,4.35040704707e-05,-4.94044982793e-05,1793239519898887424
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879.021968246,787,804,651.978031754,631,653,0.424692155837,-0.00550223118132,0.0800135213282,0.99999999797,8.08055227603e-06,4.03808173951e-05,-4.86229748581e-05,1793239519915554048
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.559198411,662,635,879,787,804,652,631,652.440801589,0.42553966972,-0.00551294195417,0.079964579359,0.999999997772,-1.44649776426e-05,-4.04359941052e-05,-5.11078330371e-05,1793239519932220672
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.13852547,879,787,804.13852547,652,631,652,0.426397853269,-0.00552231215203,0.0799261646996,0.999999993069,-3.24865283667e-05,-9.96869303675e-05,-5.35588964477e-05,1793239519948887296
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.713048974,879,787,804.713048974,652,631,652,0.427289072388,-0.0055254937583,0.0799271034762,0.999999994614,-3.21472477849e-05,-8.15914299606e-05,-5.55054775219e-05,1793239519965553920
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.706430605,879,787,804.706430605,651.706430605,631,652,0.428148765135,-0.00552894492001,0.0799294705952,0.999999994815,-3.38991601714e-05,-7.83013394351e-05,-5.55886222122e-05,1793239519982220544
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.11992626,879,787,804.11992626,651.11992626,631,652,0.42897699959,-0.00553266505442,0.0799332629697,0.999999993809,-3.77377461852e-05,-8.97846632893e-05,-5.38123575605e-05,1793239519998887168
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.460768646,879.460768646,787,804.460768646,651.460768646,631,652,0.429874565664,-0.00553311634747,0.079961228124,0.999999996599,-4.20243946576e-05,-4.70306468188e-05,-5.31477165792e-05,1793239520015553792
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.960430266,880,787,805,652,631,652.039569734,0.43078879041,-0.00553252212397,0.0799951828875,0.999999997526,-4.57984670965e-05,8.58601713395e-06,-5.26877976004e-05,1793239520032220672
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.387034128,880,787,805,652,631,652.612965872,0.431687339487,-0.00552915805067,0.0800261209674,0.999999996615,-4.11037945509e-05,4.96572311812e-05,-5.11350921541e-05,1793239520048887296
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.188233601,745,715,681,662,635,880,787,804.811766399,651.811766399,631,653,0.432543086883,-0.0055252503517,0.0800293964002,0.999999996887,-3.53461887731e-05,4.85850620912e-05,-5.11395432629e-05,1793239520065554176
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.767388333,745,715,681,662,635,880,787,804.232611667,651.232611667,631,653,0.433309944458,-0.00552021365732,0.0799752224074,0.999999997346,-2.73810959249e-05,-4.00099380214e-05,-5.43778767645e-05,1793239520082220544
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.647243846,745,715,681,662,635,880,787,804,651,631,653,0.434090982497,-0.00552176451734,0.0799336752906,0.999999993397,-3.41412739812e-05,-9.34393680701e-05,-5.75249893025e-05,1793239520098887168
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.057705619,745,715,681,662,635,880,787,804,651,631,653,0.434881538905,-0.00552773717093,0.0799006037708,0.999999989277,-5.07855612215e-05,-0.000123264452023,-6.06108711486e-05,1793239520115553792
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.52302268,745.52302268,715,681,662,635,880,787,804.52302268,651,631,653,0.435704957505,-0.00553121036077,0.0799265080102,0.999999992767,-5.31471509742e-05,-9.02863560126e-05,-5.90818026457e-05,1793239520132220672
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.897698359,745.897698359,714.897698359,681.102301641,662,635,880,787,804.897698359,651,631,653,0.436524518464,-0.00553367679216,0.0799539806171,0.999999995242,-5.30663564676e-05,-5.85782832453e-05,-5.71690430237e-05,1793239520148887296
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.320708978,745.320708978,714.320708978,681.679291022,662,635,880,787,804.320708978,651,631,653,0.437309634692,-0.0055327301747,0.079959038392,0.999999995178,-4.88435315718e-05,-6.43823712726e-05,-5.57993886493e-05,1793239520165554176
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.25478779,682,662,635,880,787,804.509575581,651.25478779,631,653,0.438063437212,-0.0055331779793,0.0799524973135,0.999999994052,-4.92830709181e-05,-7.96360304354e-05,-5.58970759653e-05,1793239520182220800
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.828416663,682,662,635,880,787,805.656833326,651.828416663,631,653,0.438778053742,-0.00553537076176,0.0799314414458,0.99999999109,-5.55570866019e-05,-0.000106714869133,-5.78309926799e-05,1793239520198887680
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714.587424322,681.587424322,662,635,880,787,805.174848644,652,631,653,0.439444217968,-0.00553399578243,0.0798941403471,0.999999983127,-5.88722023133e-05,-0.000163231284135,-6.02943795936e-05,1793239520215554048
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.001208304,745,714,681.002416607,661.998791696,635,880,787,804.001208304,651.998791696,631,653,0.440089570274,-0.00553110182907,0.0798498293808,0.999999969148,-6.09205580863e-05,-0.000232434774995,-6.29862300695e-05,1793239520232220416
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.58006417,745,714,682.160128339,661.41993583,635,880,787,804.58006417,651.41993583,631,653,0.440671004632,-0.00552995802872,0.0797688073837,0.999999930799,-6.1069682271e-05,-0.000360833713955,-6.68725031926e-05,1793239520248887040
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.841665682,745,714,682.683331364,661,635,880,786.841665682,804.841665682,651,631,652.841665682,0.441264837507,-0.00553031697942,0.079700645006,0.999999887146,-6.1297208848e-05,-0.00046583894339,-7.03120971927e-05,1793239520265553920
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.264943129,745,714,681.529886258,661,635,880,786.264943129,804.264943129,651,631,652.264943129,0.44189143279,-0.00553464685268,0.0796664633266,0.999999865907,-6.17319109538e-05,-0.000509027843468,-7.25713736664e-05,1793239520282220544
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681.310435073,661,635,880,786,804,651.310435073,631,652.310435073,0.442522486943,-0.00553877808425,0.0796795191165,0.999999877547,-6.85808894369e-05,-0.000484806839062,-7.18625255338e-05,1793239520298887424
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681.88467084,661,635,880,786,804,651.88467084,631,652.88467084,0.443157330106,-0.00554274051435,0.0797327162402,0.999999913048,-8.08805744349e-05,-0.000403302419693,-6.86314318927e-05,1793239520315554048
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681.526593414,660.526593414,634.526593414,880,786,804,651.526593414,631.473406586,653,0.443748076302,-0.00554387482934,0.0797549353597,0.999999924926,-7.68017918582e-05,-0.000373755018284,-6.75055507347e-05,1793239520332220928
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.064222362,714,681.064222362,660,634,880.064222362,786,804,651,631.935777638,653,0.444318720827,-0.00554403126808,0.0797647304196,0.999999929104,-7.00908991933e-05,-0.000363868793933,-6.6918033555e-05,1793239520348887296
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.642518966,714,681.642518966,660,634,880.642518966,786,804,651,631.357481034,653,0.444817167639,-0.00554204940333,0.0797373930515,0.999999912203,-7.52589136899e-05,-0.000406842592158,-6.64049336594e-05,1793239520365553920
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,714,682,660,633.781753793,880.781753793,786,804.218246207,651,631,653,0.445303899747,-0.00553912517567,0.079711828633,0.999999894421,-7.75423095448e-05,-0.000447956433326,-6.69414612703e-05,1793239520382220544
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,746,714,682,660,633.210186178,880.210186178,786,804.789813822,651,631,653,0.445771666732,-0.00553467534557,0.0796891344662,0.999999876656,-7.5155761236e-05,-0.000486059164067,-6.91772436048e-05,1793239520398887424
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.374537121,746,714,682.374537121,659.625462879,633,880.374537121,786,804.625462879,651.374537121,631,653,0.446222598728,-0.00553299245195,0.0796754626537,0.999999869784,-6.66726543494e-05,-0.000501071423545,-7.01068598144e-05,1793239520415554048
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.966912069,746,714,682.966912069,659.033087931,633,880.966912069,786,804.033087931,651.966912069,631,653,0.446663739224,-0.00553291886014,0.0796670384096,0.999999869707,-5.4643674264e-05,-0.000502653834974,-7.02767855107e-05,1793239520432220672
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.45534286,745.45534286,714,682.45534286,659,632.45534286,880.45534286,785.45534286,804.54465714,652,631,653,0.447075622346,-0.00553513184585,0.0796640785235,0.999999870961,-6.66508448516e-05,-0.000498684410358,-7.03563579359e-05,1793239520448887296
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682.700175165,659,632,880,785,804.299824835,652,631,653,0.447824761829,-0.00553786394541,0.0796496687163,0.999999860293,-8.0229352264e-05,-0.00051755922033,-7.14864879079e-05,1793239520482220800
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658.717987687,632.282012313,880.282012313,785,804,652,631,653,0.44815135989,-0.00553932166974,0.0796354056268,0.999999847263,-7.98300618573e-05,-0.000542147498801,-7.1946398021e-05,1793239520498887424
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658.13237759,632.86762241,880.86762241,785,804,652,631,653,0.448451288604,-0.00554156746737,0.0796167504468,0.9999998301,-7.63523474414e-05,-0.000573405971144,-7.1948601599e-05,1793239520515553792
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,682.550629173,658,632.550629173,881,784.550629173,804.449370827,652,630.550629173,653,0.448735090437,-0.00554335978521,0.0796038817589,0.999999817989,-7.95842176202e-05,-0.0005937711505,-7.15843630598e-05,1793239520532220672
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,682.029654538,658,632,880.970345462,784.029654538,805,652,630.029654538,653,0.449013244547,-0.00554498346247,0.0795936018805,0.999999808135,-8.45631801272e-05,-0.000609521419875,-7.11454647211e-05,1793239520548887296
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,682.603754733,658,632,880.396245267,784.603754733,805,652,630.603754733,653,0.449274187069,-0.00554594269192,0.0795998222099,0.999999814416,-8.56387959279e-05,-0.000598957631998,-7.13008401066e-05,1793239520565553920
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657.820977812,631.820977812,880,785,805,651.820977812,630.820977812,653,0.449524033938,-0.0055478572555,0.0796053138513,0.999999819609,-8.8443406349e-05,-0.000589853590695,-7.09448336688e-05,1793239520582220544
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657.243109879,631.243109879,880,785,805,651.243109879,630.243109879,653,0.449749160633,-0.0055519002197,0.0796091820386,0.999999822537,-9.51000651332e-05,-0.000584001738342,-6.94495133346e-05,1793239520598887424
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.341910257,714,683,657.341910257,631.341910257,880.341910257,784.658089743,805,651,630,653,0.449950442397,-0.00555339773798,0.0796119144619,0.999999822933,-9.78786266744e-05,-0.000583057767433,-6.78070664261e-05,1793239520615554048
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.932124565,714,683,657.932124565,631.932124565,880.932124565,784.067875435,805,651,630,653,0.45013440738,-0.00555304668816,0.0796138220642,0.999999821522,-9.78408146128e-05,-0.00058567802609,-6.605777225e-05,1793239520632220672
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,714,682.488871751,658,631.488871751,880.488871751,784,804.488871751,651,630,653,0.450292001204,-0.00555201461077,0.0796104968045,0.999999818493,-9.47445102968e-05,-0.000591347211992,-6.59206746978e-05,1793239520648887296
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.661654295,745.338345705,714,682,658,631.661654295,880,784.661654295,804,651,630.661654295,653,0.450562598887,-0.0055531539479,0.0796008820307,0.999999810998,-9.46923174281e-05,-0.000603786478524,-6.69300917585e-05,1793239520682220544
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,683,656.922582349,631,880.922582349,783.077417651,805,652,630.077417651,653,0.451232784094,-0.00555253863837,0.0795838066947,0.999999789792,-9.40100371518e-05,-0.000638278687158,-6.46404517434e-05,1793239521182220800
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,683,656.347387304,631,880.347387304,783.652612696,805,652,630.652612696,653,0.451232710884,-0.00555135756862,0.0795835763961,0.99999978975,-9.33581418346e-05,-0.000638426592362,-6.47718694391e-05,1793239521198887936
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.772470802,714,683,656,631,880,784,805,652,630.772470802,653,0.451233049177,-0.00555084619365,0.0795833780807,0.999999789739,-9.345322461e-05,-0.000638429421117,-6.47804597459e-05,1793239521215554560
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.19797897,714,683,656,631,880,784,805,652,630.19797897,653,0.451234014977,-0.00555135604595,0.079583228537,0.999999789774,-9.4687385215e-05,-0.000638211020674,-6.46017487729e-05,1793239521232220928
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.388096503,713.611903497,683,656,631,880,784,805,652,630.388096503,653,0.451233898321,-0.00555131949407,0.0795827580554,0.999999789198,-9.45184045351e-05,-0.000639141508516,-6.45621982356e-05,1793239521248887552
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.980262881,713.019737119,683,656,631,880,784,805,652,630.980262881,653,0.451233212485,-0.00555099563053,0.0795821188175,0.999999788299,-9.36116205191e-05,-0.000640676107681,-6.45958213973e-05,1793239521265553920
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,713,683,656,631,880.559710638,784,805,652,630.440289362,652.440289362,0.451235506001,-0.0055519093986,0.0795836200573,0.999999789914,-9.5356638934e-05,-0.000637921957056,-6.42971741786e-05,1793239521282220288
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.862350252,713.137649748,683,656,631,880.862350252,783.862350252,805,652,630,652.137649748,0.451237071807,-0.0055521695172,0.0795845917922,0.999999791062,-9.64363591289e-05,-0.000635965055483,-6.42161907461e-05,1793239521298887168
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.287807656,713.712192344,683,656,631,880.287807656,783.287807656,805,652,630,652.712192344,0.451236001848,-0.00555021954587,0.0795836486613,0.999999790484,-9.51142552118e-05,-0.000637007924381,-6.48624228512e-05,1793239521315553792
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745,713.706193224,683,656,631,880.293806776,783,804.706193224,651.706193224,630,653,0.451235034818,-0.0055497590378,0.0795829331492,0.999999789874,-9.41219656157e-05,-0.000638109652472,-6.48701415928e-05,1793239521332220672
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745,713.117480535,683,656,631,880.882519465,783,804.117480535,651.117480535,630,653,0.451234171104,-0.00555079356522,0.0795824461074,0.999999789236,-9.34607242635e-05,-0.000639270459887,-6.42369582378e-05,1793239521348887296
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745.463181116,713,682.536818884,656,631,881,783.463181116,804,651,630.463181116,653,0.451235227908,-0.00555077901453,0.0795829056345,0.999999789418,-9.49066618812e-05,-0.000638734703814,-6.46117214206e-05,1793239521365553920
+256,4.266666667,HOLD_POSE2,765,745,714,682,656,631,881,783,804,652,631,653,0.451238972654,-0.00555313844518,0.0795855711167,0.999999790987,-9.67751769561e-05,-0.000636092061755,-6.36185026988e-05,1793239521409919488
+257,4.283333333,HOLD_POSE2,764.425982737,745.574017263,714,682.574017263,656,631,880.425982737,783.574017263,804,652,630.425982737,653,0.451238564915,-0.0055529733325,0.0795849250273,0.999999790903,-9.59240666365e-05,-0.000636367619443,-6.34690501165e-05,1793239521426586368
+258,4.300000000,HOLD_POSE2,764,745.847261011,714,683,656,631,880.152738989,783.847261011,804.152738989,651.847261011,630,653,0.451238158014,-0.00555275202883,0.0795844721368,0.999999790775,-9.55030316686e-05,-0.000636636673998,-6.34319052318e-05,1793239521443252992
+259,4.316666667,HOLD_POSE2,764,745.25500163,714,683,656,631,880.74499837,783.25500163,804.74499837,651.25500163,630,653,0.451237753525,-0.00555236903039,0.0795845751936,0.999999790519,-9.63195776134e-05,-0.000636887015254,-6.37179359713e-05,1793239521459919616
+260,4.333333333,HOLD_POSE2,764.328939017,745.328939017,714,682.671060983,656,631,880.671060983,783.328939017,804.671060983,651.328939017,630,653,0.451237539368,-0.00555218906854,0.0795844085486,0.999999790374,-9.68919978182e-05,-0.00063703019143,-6.36907747896e-05,1793239521476586496
+261,4.350000000,HOLD_POSE2,764.906589808,745.906589808,714,682.093410192,656,631,880.093410192,783.906589808,804.093410192,651.906589808,630,653,0.451237469121,-0.00555216262328,0.0795840379812,0.999999790313,-9.72798337709e-05,-0.000637092339752,-6.34268082414e-05,1793239521493253888
+262,4.366666667,HOLD_POSE2,764.517932375,745.517932375,713.517932375,682,656,631,880,783.517932375,804,651.517932375,630.482067625,653,0.451237647226,-0.00555088291356,0.079584111209,0.999999790215,-9.66693727026e-05,-0.000637314711836,-6.36756787836e-05,1793239521509920512
+263,4.383333333,HOLD_POSE2,764.057191905,745.057191905,713.057191905,682,656,631,880.057191905,783,804.057191905,651.057191905,630.942808095,653,0.451237684129,-0.00554952494616,0.0795841507619,0.999999790027,-9.57649126137e-05,-0.000637714961384,-6.39969284431e-05,1793239521526586880
+264,4.400000000,HOLD_POSE2,764.632911261,745.632911261,713.632911261,682,656,631,880.632911261,783,804.632911261,651.632911261,630.367088739,653,0.451236006483,-0.0055496493204,0.0795831088401,0.999999789088,-9.39408684518e-05,-0.000639447709032,-6.40774879602e-05,1793239521543253504
+265,4.416666667,HOLD_POSE2,765,746,714,682,656,631,880.785193599,783.214806401,804.785193599,651.785193599,630,652.785193599,0.451235428067,-0.00554943339529,0.0795827173806,0.999999788947,-9.21087066685e-05,-0.000639945263232,-6.3967923744e-05,1793239521559920128
+266,4.433333333,HOLD_POSE2,765,746,714,682,656,631,880.192432134,783.807567866,804.192432134,651.192432134,630,652.192432134,0.451236783765,-0.00554861870841,0.0795834704193,0.999999790215,-9.02622620025e-05,-0.00063826947597,-6.35238339774e-05,1793239521576586752
+267,4.450000000,HOLD_POSE2,765,746,714,682,656,631,880,783.61304622,804.38695378,651,630,652.38695378,0.451237025382,-0.00554788604923,0.0795834746307,0.999999790463,-9.02385904107e-05,-0.000637860282536,-6.37558621259e-05,1793239521593253376
+268,4.466666667,HOLD_POSE2,765,746,714,682,656,631,880,783.040089677,804.959910323,651,630,652.959910323,0.451236731478,-0.00554719281943,0.0795831188923,0.999999790223,-9.10910977931e-05,-0.000638059921233,-6.4312889776e-05,1793239521609920000
+269,4.483333333,HOLD_POSE2,764.463210954,745.463210954,714,682.536789046,656.536789046,631,880.536789046,783,804.463210954,651.536789046,630.536789046,653,0.451237484062,-0.00554823280527,0.0795835579071,0.999999790332,-9.15987986758e-05,-0.000637819660977,-6.42827260198e-05,1793239521626586624
+270,4.500000000,HOLD_POSE2,764.116098674,745.116098674,714,683,656.883901326,630.883901326,881,783,804.116098674,652,630.883901326,653,0.451238025378,-0.00554940511546,0.0795838896601,0.999999790324,-9.25062086048e-05,-0.000637711235445,-6.41804633574e-05,1793239521643253504
+271,4.516666667,HOLD_POSE2,764.704089708,745.704089708,714,683,656.295910292,630.295910292,881,783,804.704089708,652,630.295910292,653,0.451237387964,-0.00555058526131,0.0795835424082,0.999999789732,-9.51437080025e-05,-0.000638273181259,-6.39647087351e-05,1793239521659920128
+272,4.533333333,HOLD_POSE2,765,745.710624706,714,683,656.289375294,630.289375294,881,783.289375294,804.710624706,651.710624706,630,653,0.451237639686,-0.00555040970024,0.0795837059143,0.999999789771,-9.46820402186e-05,-0.000638312685037,-6.36355581201e-05,1793239521676586496
+273,4.550000000,HOLD_POSE2,765,745.128080074,714,683,656.871919926,630.871919926,881,783.871919926,804.128080074,651.128080074,630,653,0.451238792202,-0.0055488606573,0.079584386875,0.999999790447,-9.10805714428e-05,-0.000637822896927,-6.31915247729e-05,1793239521693252864
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,656,631,881,783,804,652,630,653,0.451237283679,-0.00554916448509,0.0795817581772,0.999999789278,-9.22735908142e-05,-0.000639382854614,-6.41840415241e-05,1793239521725998592
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.576831576,713.576831576,683,655.423168424,631,880.423168424,783,804,652,630,653,0.451237076576,-0.00554966406276,0.0795819588929,0.999999788698,-9.22466918387e-05,-0.000640310362724,-6.4002738033e-05,1793239521742665216
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,655.151657843,631,880.151657843,783,804.151657843,652,630,653,0.451236751885,-0.00554996946221,0.0795821281055,0.999999788179,-9.26390197719e-05,-0.000641073592692,-6.39156081972e-05,1793239521759331840
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,655.720961874,631,880.720961874,783,804.720961874,652,630,653,0.451236103375,-0.00554974011996,0.0795822105624,0.999999787824,-9.41858446712e-05,-0.000641384421997,-6.40878204514e-05,1793239521775998976
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,655.694650642,631,880.694650642,783,805,652,630,653,0.451236864957,-0.00554978872213,0.0795828300807,0.999999788383,-9.51153473117e-05,-0.000640369052075,-6.41475283299e-05,1793239521792665600
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,655.095763186,631,880.095763186,783,805,652,630,653,0.451238982087,-0.00555010451753,0.0795839658863,0.999999789818,-9.54514063241e-05,-0.000638078781791,-6.4099083619e-05,1793239521809332224
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.516277551,714,683,655.483722449,631,880,783.483722449,805,651.516277551,630,653,0.451239827056,-0.00555106958648,0.0795843112573,0.999999790756,-9.37913906367e-05,-0.000636923148618,-6.34083237449e-05,1793239521825999104
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.060709039,713.939290961,683,656,631,880,783.939290961,804.939290961,651.060709039,630,653,0.451240176809,-0.00555192586599,0.0795843627759,0.999999791405,-9.20306051712e-05,-0.000636224551309,-6.27628831388e-05,1793239521842665472
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.64805188,713.35194812,683,656,631,880,783.35194812,804.35194812,651.64805188,630,653,0.451238331187,-0.0055507663991,0.0795831703098,0.999999790406,-9.26914294776e-05,-0.000637617189025,-6.35711139271e-05,1793239521859332096
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.766661629,713,682.766661629,656,631,880,783.233338371,804.233338371,651.766661629,630,653,0.451231107632,-0.005550090484,0.079578950152,0.999999786446,-9.3065482855e-05,-0.000643703005066,-6.39788809861e-05,1793239521875998464
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.184449723,713,682.184449723,656,631,880,783.815550277,804.815550277,651.184449723,630,653,0.451215843315,-0.00555013754665,0.0795702031712,0.999999777943,-9.3010773471e-05,-0.000656805779628,-6.37878986187e-05,1793239521892665088
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.392158492,713.392158492,682.392158492,656,631,880,783.607841508,804.607841508,651.392158492,630,653,0.451182675243,-0.00554991195091,0.0795535094585,0.999999760005,-9.44496471301e-05,-0.000683311074276,-6.44639565358e-05,1793239521909331968
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.966168223,713.966168223,682.966168223,656,631,880,783.033831777,804.033831777,651.966168223,630,653,0.451141204864,-0.00554955991838,0.0795331306965,0.999999736838,-9.65811231378e-05,-0.000716031369104,-6.55420772021e-05,1793239521925998848
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.448599812,714,683,656,631,880.551400188,783,804,652,630,653,0.451074499927,-0.00554709230546,0.0795104598384,0.999999708133,-9.44847506251e-05,-0.000755323353048,-6.55161416899e-05,1793239521942677760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.135818455,714,683,656,631,881,783.135818455,804.135818455,652,630,653,0.451005284358,-0.00554472034561,0.0794905378003,0.999999682773,-9.22035503846e-05,-0.000788479658102,-6.52166286836e-05,1793239521959351296
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.7152831,714,683,656,631,881,783.7152831,804.7152831,652,630,653,0.450933030396,-0.00554309364069,0.0794800635997,0.99999967367,-9.0183555412e-05,-0.000800249553374,-6.42493539447e-05,1793239521976004864
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,713.717907733,683,656,631,881,784,805,651.717907733,630.282092267,653,0.450853857446,-0.00554120420618,0.0794758217025,0.999999670008,-8.86606781155e-05,-0.000805096984624,-6.2791213697e-05,1793239521992665344
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,713.163323388,683,656,631,881,784,805,651.163323388,630.836676612,653,0.450768000979,-0.00553906098342,0.0794776000112,0.999999671698,-8.76180006737e-05,-0.000803257537109,-6.08589131818e-05,1793239522009331968
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.569417698,713,683,656,631,880.569417698,784,805,651,630.569417698,653,0.450665362424,-0.00553672889237,0.0794785749094,0.999999673513,-8.42455141802e-05,-0.000801572563705,-5.79522851109e-05,1793239522025998336
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.038860454,682.961139546,656,631,880.038860454,783.961139546,805,651.038860454,630,653,0.450553330761,-0.00553433821922,0.0794791158932,0.999999675174,-8.00601536488e-05,-0.000800161143068,-5.46343377384e-05,1793239522042665216
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.618719565,682.381280435,656,631,880.618719565,783.381280435,805,651.618719565,630,653,0.450408057266,-0.00553222955276,0.079478284931,0.999999674307,-7.80974287465e-05,-0.000801660318095,-5.12522467994e-05,1793239522059331840
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.198363325,656,631,880.801636675,783.198363325,805,651.801636675,630.198363325,653,0.450251048613,-0.00553021833462,0.0794767039096,0.99999967184,-7.6179663542e-05,-0.000805146921976,-4.74763823496e-05,1793239522075998720
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.777593536,656,631,880.222406464,783.777593536,805,651.222406464,630.777593536,653,0.450071507925,-0.00552839422204,0.0794736827396,0.999999666277,-7.43482232899e-05,-0.000812449482274,-4.29444546803e-05,1793239522092665344
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.355782831,714,683,656,631,880,784,805,651.355782831,630.644217169,653,0.449876221734,-0.00552408347669,0.0794740661522,0.999999666743,-6.71286359874e-05,-0.000812751183409,-3.79975035061e-05,1793239522109332224
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.49267587,656,631.50732413,880,784,805,652,630,653,0.44944201878,-0.00551429490026,0.0794825884902,0.999999678884,-4.69980279799e-05,-0.000799592548118,-2.59661911239e-05,1793239522142665216
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.325268687,714,682.674731313,656.674731313,631.325268687,880,784,805,651.325268687,630,653,0.448912910999,-0.00550393449503,0.0794871145842,0.999999683015,-2.31716616151e-05,-0.000795794208868,-1.20403328504e-05,1793239522175998464
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,631.260751691,880.260751691,784,804.739248309,651.260751691,630,652.739248309,0.448607959232,-0.00549770808174,0.0794861621662,0.999999680741,-9.0001926322e-06,-0.000799005062194,-5.35922395602e-06,1793239522192665344
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,631.840249243,880.840249243,784,804.159750757,651.840249243,630,652.159750757,0.44828336774,-0.00549158740615,0.079485155582,0.999999678996,5.63620812575e-06,-0.000801233703927,1.045664807e-06,1793239522209331968
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,632,881,784,804,651.584273513,630,652.415726487,0.4479335182,-0.00548461230391,0.0794832790114,0.999999676567,3.62459010281e-05,-0.000803448085975,4.72723456788e-06,1793239522225998848
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,632,881,784,804,651.010326365,630,652.989673635,0.447574055747,-0.00547731201697,0.0794810713341,0.999999672771,7.29348426046e-05,-0.000805657040011,7.37234066653e-06,1793239522242665728
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.565517148,713.434482852,682.434482852,657,632,881,784,804,651.565517148,630.565517148,653,0.447201576352,-0.00546914185051,0.0794992268179,0.999999696718,5.98200587704e-05,-0.000776514877627,3.33257077069e-06,1793239522259332352
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.854630588,713.145369412,682,657.145369412,632,881,784,804,652,630.854630588,653,0.446812636851,-0.00546125416086,0.0795173170739,0.999999717798,5.18142018968e-05,-0.000749478749474,1.14907145203e-06,1793239522275998976
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.26256702,713.73743298,682,657.73743298,632,881,784,804,652,630.26256702,653,0.446373851305,-0.00545428344636,0.0795340604759,0.9999997311,6.23110456703e-05,-0.00073067911916,5.04590904786e-06,1793239522292665344
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.893363176,660,634.106636824,881,786,804.893363176,651.893363176,631,653,0.439986186789,-0.0054243674219,0.0796346963741,0.999999826896,0.000100699407865,-0.000579540845763,1.41417001647e-05,1793239522475998720
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.302751708,660,634.697248292,881,786,804.302751708,651.302751708,631,653,0.439259035457,-0.00541014243038,0.079615912025,0.999999809471,0.000131615743531,-0.000602896637059,1.58611237315e-05,1793239522492665344
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.437814431,745,714.437814431,682.437814431,660.437814431,635,880,787,804,652,631,653,0.437129133478,-0.00541140182457,0.0797828953777,0.999999931113,0.000127751952126,-0.000347422335297,2.74050849406e-05,1793239522542665472
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.248167923,745,714.248167923,681.751832077,661,635,879.751832077,787,804,652,631,652.248167923,0.428693720156,-0.00541800212007,0.0798577879137,0.999999957749,0.000157940888244,-0.000239996912784,4.42420110899e-05,1793239522709331968
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.825122764,745,714.825122764,681.174877236,661,635,879.174877236,787,804,652,631,652.825122764,0.427805174189,-0.0054284596003,0.079872926357,0.999999964118,0.000149389060089,-0.000217358687772,4.69176183056e-05,1793239522725998592
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.02186932,745,715,681,661,635,879.97813068,787,804,651.02186932,631,652.02186932,0.425884767697,-0.00542408564877,0.0797789352445,0.999999924979,0.00015685142663,-0.000351653817228,4.21821144562e-05,1793239522759331840
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.131679698,745,714.868320302,681,661,635,879.868320302,787,803.868320302,651.868320302,631.131679698,653,0.424033247438,-0.0054103228239,0.079741947234,0.999999895727,0.000178113057318,-0.00041830327541,4.29410208172e-05,1793239522792665344
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.725572707,745,714.274427293,681,661,635,879.274427293,787,803.274427293,651.274427293,631.725572707,653,0.42313270787,-0.00540164369759,0.0797314570498,0.999999883314,0.000192367327201,-0.000440938623095,4.40463923016e-05,1793239522809332224
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.309565014,681,661,635,879,787,803.309565014,651,632,653,0.422290814588,-0.00539919245124,0.0797596114443,0.999999904476,0.000197735134039,-0.000387175059204,4.52078162853e-05,1793239522825998848
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.885052395,681,661,635,879,787,803.885052395,651,632,653,0.421499299652,-0.00540209107532,0.0798209622838,0.999999943965,0.000195469293534,-0.000267783339479,4.64173899253e-05,1793239522842665472
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.537647616,680,661,635,879,787,804,652,631,652.537647616,0.406962140327,-0.00540772834834,0.0797940631981,0.999999918044,0.000202211924268,-0.000347942937848,4.42600384797e-05,1793239523175998464
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.022808925,679.977191075,661,635,879,787,804,652,631,652.022808925,0.406456324674,-0.00540732720884,0.0797790596976,0.999999910667,0.000202132688634,-0.000368806643751,4.23142662779e-05,1793239523192665088
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.637860691,679.362139309,661,635,879,787,804,652,631,652.637860691,0.405990196031,-0.00540428784964,0.0797928314919,0.999999921407,0.000205871648757,-0.000336078241005,4.30710149548e-05,1793239523209331968
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.237553256,745,715,679,661,635,879,787,803.762446744,652,631,653,0.405545767763,-0.00540333618628,0.0798076383482,0.999999930348,0.000206887455608,-0.000307565538069,4.36539965263e-05,1793239523225998848
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.815253298,745,715,679,661,635,879,787,803.184746702,652,631,653,0.405132411777,-0.0054053738446,0.0798239272838,0.999999937586,0.000204004044748,-0.000285089197244,4.39881651382e-05,1793239523242665728
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803,652,631,653,0.404742993788,-0.00540531477254,0.0798344673067,0.999999939066,0.000211147133098,-0.000274317418739,4.51027980394e-05,1793239523259332352
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803,652,631,653,0.404364830197,-0.00540426992427,0.0798423044835,0.999999937856,0.000223004173171,-0.000269048530489,4.65843657401e-05,1793239523275998976
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.551148376,661,635,879,787,803.551148376,651.448851624,631,653,0.404004291427,-0.00540358462991,0.0798410104015,0.999999937649,0.000215833416754,-0.000275705843023,4.58637558618e-05,1793239523292665344
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.28025281,745,715,679.28025281,661,635,879,787,803.28025281,651.71974719,631,652.28025281,0.403353461723,-0.00540397727171,0.0798390072055,0.999999938621,0.000201277993274,-0.00028327961565,4.4702966213e-05,1793239523325998592
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.297740909,745,715,679,661,635.297740909,879,787,803.297740909,652,631.297740909,652.297740909,0.40307120282,-0.00540331645622,0.0798400927285,0.999999937505,0.000204812464082,-0.000284701022834,4.45756077192e-05,1793239523342665216
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.871536822,745,715,679,661,635.871536822,879,787,803.871536822,652,631.871536822,652.871536822,0.402809469645,-0.00540136870158,0.079842603214,0.999999934395,0.000217719536719,-0.000286022939307,4.47052898063e-05,1793239523359331840
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.554010508,745,715,679,661,635.554010508,879,787,803.554010508,652,631.554010508,653,0.402582948226,-0.0054026790347,0.0798439281642,0.999999936046,0.000212956138416,-0.000283927550378,4.40827052388e-05,1793239523375998720
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879,787,803,651.978833653,631,653,0.402367777691,-0.00540480277896,0.0798449555282,0.999999938949,0.000203506717887,-0.000280729469501,4.33249075683e-05,1793239523392665344
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879,787,803,651.389297657,631,653,0.402184655641,-0.00540353142296,0.0798471751481,0.999999940319,0.000205101757901,-0.000274391876115,4.47633755854e-05,1793239523409331968
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.190229567,745,715,679.190229567,661,635,879,787,803.190229567,651.190229567,631,653,0.402012294353,-0.00540242296406,0.0798503386221,0.999999941697,0.000206207965165,-0.00026822874372,4.62310888283e-05,1793239523425998848
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.750297959,745,715,679.750297959,661,635,879,787,803.750297959,651.750297959,631,653,0.401860853848,-0.00540163120514,0.0798553371097,0.999999943139,0.00020636379775,-0.000262404794095,4.77556596281e-05,1793239523442665472
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.075303784,745,715,680,661,635,879,787,804,652,631,653,0.401599126853,-0.00540349352251,0.0798549418996,0.999999944286,0.000201837896352,-0.00026155172207,4.77416257496e-05,1793239523475998720
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.497292152,661,635,878.497292152,787,804.502707848,652,631.502707848,653,0.401486196438,-0.00540399050646,0.0798480422237,0.99999993906,0.000213984041685,-0.000272760165626,4.11386834619e-05,1793239523492665344
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878.67182585,787,804.32817415,652,632,652.32817415,0.401295048777,-0.0054061935184,0.0798371316815,0.999999933182,0.000219690307807,-0.000290032782086,3.54043541371e-05,1793239523525998592
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.255170904,661,635,878.744829096,787,804,652,631.744829096,652.255170904,0.401223338618,-0.00540591811192,0.0798344679156,0.999999932396,0.000218185044721,-0.000293745102393,3.62847972752e-05,1793239523542665472
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.828462158,661,635,878.171537842,787,804,652,631.171537842,652.828462158,0.401166573976,-0.00540322531267,0.0798331985854,0.999999931072,0.000222133414342,-0.000295143657973,3.74490120695e-05,1793239523559332352
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.394899007,745.394899007,715,679.605100993,661,635,878.394899007,787,803.605100993,652,631,653,0.401123366004,-0.00540326106451,0.0798333226625,0.999999931647,0.000221259668576,-0.000293763708811,3.81158395305e-05,1793239523575998976
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.958409196,745.958409196,715,679.041590804,661,635,878.958409196,787,803.041590804,652,631,653,0.401085946364,-0.00540446183385,0.0798340416867,0.999999933025,0.000218327010013,-0.000291197413322,3.85702960387e-05,1793239523592665600
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.558195623,661,635.558195623,879,787,803.558195623,652,631,653,0.401057631284,-0.00540464678326,0.0798352443317,0.999999933655,0.000218301130995,-0.000288991051977,3.89758123383e-05,1793239523609331968
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.844561374,715,679.844561374,661,636,879,787,804,652,631.155438626,653,0.401032741918,-0.00540479831318,0.0798359424839,0.99999993394,0.000218497456604,-0.000287810416924,3.93034899836e-05,1793239523625998592
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.262242429,715,679.262242429,661,636,879,787,804,652,631.737757571,653,0.401015268065,-0.00540508037272,0.0798351493108,0.999999933448,0.000218667880948,-0.000289367958649,3.94281100809e-05,1793239523642665216
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.682576874,879,787,803.682576874,652,631.682576874,653,0.401002285644,-0.00540523316968,0.0798351766866,0.999999933582,0.000218328771701,-0.000289166923522,3.93745586232e-05,1793239523659332096
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.105085209,879,787,803.105085209,652,631.105085209,653,0.400992983104,-0.00540528006029,0.079835876348,0.999999934228,0.000217572195552,-0.000287525065661,3.91750291075e-05,1793239523675998976
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.466431888,661,635.466431888,879,786.533568112,803.932863777,652,631,653,0.400988438686,-0.00540538091668,0.0798367054349,0.99999993455,0.000218079333493,-0.000286001694661,3.92895569781e-05,1793239523692665856
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.96176069,745,715,679.96176069,661,635.96176069,879,786.03823931,804.96176069,652,631.03823931,653,0.400985121962,-0.00540555922408,0.0798375923091,0.999999934868,0.000218633782139,-0.000284440246008,3.94576517343e-05,1793239523709332480
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.366358167,745,715,679.366358167,661,635.366358167,879,786.633641833,804.366358167,652,631.633641833,653,0.400984271488,-0.00540669111534,0.0798389016842,0.999999936198,0.000215781691064,-0.000281939955333,3.9388334439e-05,1793239523725999104
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.222844565,745,715,679.222844565,661,635,878.777155435,787,803.777155435,652,631.777155435,653,0.400984014917,-0.00540692054232,0.079840386599,0.999999937022,0.000214941969835,-0.000279648224931,3.94009278289e-05,1793239523742665472
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.802130649,745,715,679.802130649,661,635,878.197869351,787,803.197869351,652,631.197869351,653,0.400984708299,-0.00540570647098,0.0798421522907,0.999999937048,0.00021732104914,-0.000277690088377,3.95445379666e-05,1793239523759332096
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,878.378816002,787,803,652,631,653,0.400984571306,-0.00540555655555,0.0798424999686,0.999999937181,0.000217548153569,-0.00027706809656,3.92963127144e-05,1793239523775998720
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,878.954152143,787,803,652,631,653,0.400984003537,-0.00540595869726,0.0798421120169,0.999999937372,0.000216658867906,-0.000277139262825,3.88448131902e-05,1793239523792665600
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.528541881,715,679.471458119,661,635,879,787,803.528541881,652,631,653,0.400982900876,-0.00540627653551,0.079842225726,0.999999937432,0.000217087530398,-0.00027656663881,3.89865402676e-05,1793239523809332224
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.893933808,715,679.106066192,661,635,879,787,804,652,631,653,0.400981912929,-0.00540636860306,0.0798424212408,0.999999937484,0.000217536294673,-0.000276004077745,3.91442437665e-05,1793239523825998848
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.301665293,715,679.698334707,661,635,879,787,804,652,631,653,0.40098166314,-0.00540545921022,0.0798427926296,0.999999937552,0.000217554084707,-0.000275743178044,3.91397189833e-05,1793239523842665728
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.716863201,652,631,653,0.400981645347,-0.00540569959331,0.0798428167493,0.999999937804,0.000216515924866,-0.000275655022473,3.90744289846e-05,1793239523859332608
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.139811676,652,631,653,0.40098186838,-0.00540713351975,0.0798424803809,0.999999938244,0.000214381619212,-0.000275746186702,3.89460606726e-05,1793239523875998976
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.563389434,661,635,879,787,803.436610566,652,631.436610566,653,0.400982962283,-0.00540748071839,0.079843689086,0.999999938639,0.000215258515894,-0.000273591954408,3.91673641385e-05,1793239523892665600
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.986899848,745,715,679.013100152,661,635,879,787,804,652,631.986899848,653,0.400984265345,-0.00540746772043,0.0798453222882,0.999999938989,0.000217028811491,-0.000270851816377,3.94848264223e-05,1793239523909332224
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.398617029,745,715,679.601382971,661,635,879,787,804,652,631.398617029,653,0.400982525196,-0.00540689689627,0.0798439015621,0.999999938448,0.000215749265826,-0.000273910917641,3.91150588305e-05,1793239523925998592
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.18635855,745,715,679.81364145,661,635,878.81364145,787,803.81364145,652,631,653,0.400981626346,-0.00540662410307,0.0798430418664,0.999999938255,0.000214803279625,-0.000275391378757,3.8840326684e-05,1793239523942665216
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.764383332,745,715,679.235616668,661,635,878.235616668,787,803.235616668,652,631,653,0.400982495635,-0.00540697767594,0.0798433612777,0.999999938815,0.00021455832911,-0.000273554041615,3.87653287548e-05,1793239523959331840
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.339880671,661.339880671,635.339880671,878.339880671,787,803.339880671,652,631,653,0.400982373297,-0.0054066392166,0.0798434014739,0.9999999386,0.000215712376043,-0.00027342379697,3.88361473567e-05,1793239523975998720
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.91363881,661.91363881,635.91363881,878.91363881,787,803.91363881,652,631,653,0.400981568604,-0.00540582455852,0.0798432495375,0.999999937848,0.000217829096091,-0.000274468230768,3.900730471e-05,1793239523992665600
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.498384936,745,715,680,661.498384936,635.498384936,879,787,804,652,631,652.498384936,0.4009811168,-0.0054061119626,0.0798431132176,0.999999937588,0.000218749043922,-0.000274686788498,3.8974644214e-05,1793239524009332224
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.090367702,745,715,679.909632298,661,635.090367702,879,787,804,652,631.090367702,652.090367702,0.400980870615,-0.00540651123404,0.0798431318727,0.999999937518,0.000219287658473,-0.000274517054794,3.89514591157e-05,1793239524025998592
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.669689743,745,715,679.330310257,661,635.669689743,879,787,804,652,631.669689743,652.669689743,0.400981398651,-0.00540645922148,0.0798439740837,0.999999937997,0.000218910352171,-0.000273038167046,3.91749466079e-05,1793239524042665216
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.75207418,745,715,679.24792582,661,636,878.75207418,787,804,652,631.75207418,653,0.400981641157,-0.00540672317045,0.0798446708707,0.999999938676,0.000217117816021,-0.000271983640255,3.91446235108e-05,1793239524059332096
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.175278537,745,715,679.824721463,661,636,878.175278537,787,804,652,631.175278537,653,0.400981504913,-0.00540740623758,0.0798451747554,0.999999939614,0.000213447998983,-0.0002714920216,3.87776245638e-05,1793239524075998720
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.397706373,745,715,679.602293627,661.397706373,635.602293627,878.397706373,787,803.602293627,652,631.397706373,652.602293627,0.400981635946,-0.00540822864161,0.0798452395592,0.999999939619,0.000213305793118,-0.000271588832916,3.8752244864e-05,1793239524092665344
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765.969027709,745,715,679.030972291,661.969027709,635.030972291,878.969027709,787,803.030972291,652,631.969027709,652.030972291,0.400981883657,-0.00540911187182,0.0798451126864,0.999999939219,0.000214703532831,-0.000271942517812,3.88759958439e-05,1793239524109331968
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a73e4995c40d4a22685baca7be8bc0fd7e3d45fc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,422 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22ee5c153e3661b85ce148d5215ec10577dfcf35
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd11e9fbea2fbccfec35d024806962fc3346bfc3ca85d34c4b34ad7460a905d8
+size 26191239
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6bc8d7a0da3c4ea260c4e329fee5ed013da01811
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/franka_data.csv
@@ -0,0 +1,414 @@
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+17,0.283333333,BASELINE,766,744.123812737,715,679,661,636,879,787,804,652,631.876187263,652,0.400922735861,-0.0154309462719,0.0599340608138,0.999999972427,-0.000104491260511,-0.000205382271261,-4.52368056792e-05,1793239526145452800
+18,0.300000000,BASELINE,766,744.460109567,715,679.460109567,661,636,878.539890433,787,804,652,632,652.460109567,0.40092446775,-0.0154305942907,0.0599345199939,0.999999972772,-0.000104165650029,-0.000203812048745,-4.54599787651e-05,1793239526162119680
+19,0.316666667,BASELINE,766,745,715,679.954537079,661,636,878.045462921,787,803.954537079,652,631.954537079,652.954537079,0.400926696366,-0.0154299474851,0.059935143478,0.999999973283,-0.00010311860729,-0.000201794456291,-4.56117147961e-05,1793239526178786304
+20,0.333333333,BASELINE,766,745,715,679.374986147,661,636,878.625013853,787,803.374986147,652,631.374986147,652.374986147,0.400925688874,-0.0154296033536,0.0599352309098,0.999999973166,-0.000102139765114,-0.000202979769647,-4.50976833693e-05,1793239526195453184
+21,0.350000000,BASELINE,766,745,715,679,660.796334759,635.796334759,879,787,803.203665241,652,631,652,0.400925297747,-0.0154294723509,0.0599353686326,0.999999973204,-0.000101312567317,-0.000203273484961,-4.47990797816e-05,1793239526212120064
+22,0.366666667,BASELINE,766,745,715,679,660.219332379,635.219332379,879,787,803.780667621,652,631,652,0.400926036473,-0.0154297320332,0.0599355985431,0.999999973527,-0.000100763347734,-0.000201932818852,-4.48953753137e-05,1793239526228786688
+23,0.383333333,BASELINE,766,745,715,679.356097597,660,635,879,787,804,652,631,652.356097597,0.400925677876,-0.0154301122142,0.0599349177635,0.999999973409,-0.0001009236408,-0.000202426255434,-4.4945607918e-05,1793239526245453312
+24,0.400000000,BASELINE,766,745,715,679.93056339,660,635,879,787,804,652,631,652.93056339,0.400924646372,-0.0154305662882,0.0599336785252,0.999999973019,-0.0001015190252,-0.000204044410784,-4.49675935605e-05,1793239526262119680
+25,0.416666667,BASELINE,766,745,715,679.493619238,660.506380762,635.506380762,879,787.506380762,804,652,631,652.493619238,0.400925564354,-0.0154304975167,0.0599345488469,0.999999973356,-0.000100385591937,-0.000202945962722,-4.49800784415e-05,1793239526278786304
+26,0.433333333,BASELINE,765.914996998,745,715,679.085003002,661,636,879,787.914996998,804,652,631,652.085003002,0.400926629367,-0.0154305641435,0.0599356076978,0.99999997373,-9.94404088e-05,-0.000201577403067,-4.49269845328e-05,1793239526295453184
+27,0.450000000,BASELINE,765.320682032,745,715,679.679317968,661,636,879,787.320682032,804,652,631,652.679317968,0.400926969357,-0.0154318727552,0.0599360583045,0.999999973739,-0.000101047361758,-0.000200828353997,-4.44887893222e-05,1793239526312119808
+28,0.466666667,BASELINE,765.265521836,744.734478164,715,679.734478164,660.734478164,636,879,787,804,652,631,653,0.400926620826,-0.015432713524,0.0599359124928,0.999999973515,-0.00010281397799,-0.000201102545904,-4.42374453911e-05,1793239526328786432
+29,0.483333333,BASELINE,765.842219928,744.157780072,715,679.157780072,660.157780072,636,879,787,804,652,631,653,0.400925465387,-0.0154330060079,0.059935067713,0.999999973016,-0.00010476771026,-0.000202575917186,-4.42050803952e-05,1793239526345453312
+30,0.500000000,BASELINE,766,744.416465176,715,679,660.416465176,636,879.416465176,787,804,652,631,653,0.400925590308,-0.015432321064,0.0599345119273,0.999999972933,-0.000104481311064,-0.000203085358712,-4.44248053882e-05,1793239526362120192
+31,0.516666667,BASELINE,766,744.989786578,715,679,660.989786578,636,879.989786578,787,804,652,631,653,0.400926197462,-0.0154312679845,0.0599340649875,0.999999973007,-0.000103351195257,-0.000203231748519,-4.47394768183e-05,1793239526378786560
+32,0.533333333,BASELINE,766,745,715,679,661,636,879.421479794,787,803.421479794,652,631,653,0.40092777904,-0.0154309284029,0.0599349229185,0.999999973447,-0.000102431336613,-0.000201538782119,-4.467909429e-05,1793239526395453184
+33,0.550000000,BASELINE,766,745,715,678.835043282,661,636,879,787,803.164956718,652,631,652.835043282,0.400928160986,-0.0154311008372,0.0599352515947,0.999999973567,-0.000102476160551,-0.000200933275485,-4.46144476492e-05,1793239526412119808
+34,0.566666667,BASELINE,766,745,715,678.255089201,661,636,879,787,803.744910799,652,631,652.255089201,0.40092548044,-0.0154325288417,0.0599341892325,0.999999972867,-0.000104938334542,-0.00020314752614,-4.45561872725e-05,1793239526428786176
+35,0.583333333,BASELINE,766,745,715,678.322576227,660.677423773,636,879,787,803.677423773,652,631,652,0.400924899308,-0.0154328479542,0.0599340768529,0.999999972754,-0.000105335643344,-0.000203519946953,-4.44518391034e-05,1793239526445452800
+36,0.600000000,BASELINE,766,745,715,678.89844463,660.10155537,636,879,787,803.10155537,652,631,652,0.400925966671,-0.0154322963466,0.0599347104152,0.999999973106,-0.000104111586191,-0.000202446132821,-4.43113020334e-05,1793239526462119424
+37,0.616666667,BASELINE,766,745,715,679,660.472316275,636,879,787,803.472316275,652,631,652.472316275,0.400926445257,-0.0154319294173,0.0599349000019,0.999999973469,-0.000102506497311,-0.000201454725041,-4.43870401163e-05,1793239526478786560
+38,0.633333333,BASELINE,766.047329924,745,715,679,661,636,879,787.047329924,804,652,631.047329924,653,0.400926683435,-0.0154316530821,0.0599349609661,0.999999973777,-0.000100943161525,-0.000200695582962,-4.44817948664e-05,1793239526495453952
+39,0.650000000,BASELINE,766.640442991,745,715,679,661,636,879,787.640442991,804,652,631.640442991,653,0.400925603055,-0.0154319654577,0.0599346349037,0.999999973455,-0.000100802068234,-0.000202411341137,-4.42618550023e-05,1793239526512120320
+40,0.666666667,BASELINE,766.772689764,745,715,679,660.772689764,636,879,787.772689764,803.772689764,652,631.772689764,652.772689764,0.400924881411,-0.015432110115,0.0599342918502,0.999999973154,-0.000101484908337,-0.000203554460683,-4.42438801109e-05,1793239526528786432
+41,0.683333333,BASELINE,766.195437932,745,715,679,660.195437932,636,879,787.195437932,803.195437932,652,631.195437932,652.195437932,0.400924712036,-0.0154319965718,0.0599339226393,0.999999972888,-0.000103436184806,-0.000203816009283,-4.45368280773e-05,1793239526545452800
+42,0.700000000,BASELINE,766,744.619088211,715,679,660.380911789,636,879,787.380911789,803.380911789,652,631,652.380911789,0.40092572251,-0.0154321341572,0.0599346495322,0.999999973124,-0.000103403508671,-0.000202719998997,-4.4331834903e-05,1793239526562119424
+43,0.716666667,BASELINE,766,744.043200268,715,679,660.956799732,636,879,787.956799732,803.956799732,652,631,652.956799732,0.400927336909,-0.0154324002869,0.0599359374845,0.999999973613,-0.000102355312716,-0.000200929099182,-4.38719621085e-05,1793239526578786048
+44,0.733333333,BASELINE,766,744.544503446,715,679,661,636,879,787.455496554,804,652.544503446,631,652.455496554,0.400928269131,-0.015431739321,0.0599363375973,0.999999973781,-0.000102422690319,-0.00019996431182,-4.4293033035e-05,1793239526595452928
+45,0.750000000,BASELINE,766,745,715,679,661,636,879,787.131097889,804,652.868902111,631,652.131097889,0.40092838344,-0.0154311183315,0.059936222766,0.999999973801,-0.000102217376094,-0.000199881667898,-4.46775027382e-05,1793239526612119808
+46,0.766666667,BASELINE,766,745,715,679,661,636,879,787.710620199,804,652.289379801,631,652.710620199,0.400925889286,-0.0154308912602,0.0599345928393,0.999999973403,-0.000100769850177,-0.000202587259292,-4.46924024145e-05,1793239526628786688
+47,0.783333333,BASELINE,766,745,715.288035321,679,661,636,878.711964679,788,804,652,631,653,0.400924322868,-0.015430710816,0.0599333384844,0.99999997298,-0.000100868784871,-0.000204574625658,-4.48777094606e-05,1793239526645453568
+48,0.800000000,BASELINE,766,745,715.863348861,679,661,636,878.136651139,788,804,652,631,653,0.400923681748,-0.0154305768764,0.0599324587138,0.999999972537,-0.000102510115127,-0.000205845655173,-4.52329759623e-05,1793239526662119936
+49,0.816666667,BASELINE,766.447843896,744.552156104,715.552156104,679,661,636,878,787.552156104,804,652,631,653,0.400925260855,-0.0154309654866,0.0599332876912,0.999999972795,-0.000102980618753,-0.000204378608881,-4.50957618963e-05,1793239526678786560
+50,0.833333333,BASELINE,766.96528442,744.03471558,715,679,661,636,878.03471558,787,804,652,631,652.96528442,0.400927333225,-0.0154315416332,0.0599345565048,0.999999973231,-0.000103107387641,-0.000202235875117,-4.4803815897e-05,1793239526695453184
+51,0.850000000,BASELINE,766.385997415,744.614002585,715,679,661,636,878.614002585,787,804,652,631,652.385997415,0.400926293729,-0.0154325060686,0.0599343747879,0.999999973069,-0.000103563554161,-0.000202873941633,-4.44912341461e-05,1793239526712119552
+52,0.866666667,BASELINE,766,745,715,679,660.807246997,636,879,787.192753003,804,652,631.192753003,652.192753003,0.400925732584,-0.0154335330729,0.0599342003186,0.999999972948,-0.000104215047672,-0.000203183586505,-4.42690683511e-05,1793239526728785920
+53,0.883333333,BASELINE,766,745,715,679,660.229568175,636,879,787.770431825,804,652,631.770431825,652.770431825,0.400926126701,-0.0154346850264,0.0599340403229,0.999999972911,-0.0001052566072,-0.000202837376601,-4.4227462335e-05,1793239526745452800
+54,0.900000000,BASELINE,766,745,715,679,660.34636453,636,879,788,804,652,631.65363547,653,0.400925893721,-0.015433244244,0.0599337133036,0.99999997296,-0.000103932423913,-0.000203230919887,-4.44335855711e-05,1793239526762119680
+55,0.916666667,BASELINE,766,745,715,679,660.921145703,636,879,788,804,652,631.078854297,653,0.400925247192,-0.0154300936327,0.0599332761372,0.99999997306,-0.000101048106725,-0.000204112307423,-4.4803078551e-05,1793239526778786816
+56,0.933333333,BASELINE,766,745,715,679,661,636,879,788,804,652,631.508578432,653,0.400925855447,-0.015431346491,0.0599340111042,0.999999973215,-0.000101502862443,-0.000203147864771,-4.47056563277e-05,1793239526795453440
+57,0.950000000,BASELINE,766,745,715,679,661,636,879,787.903654123,804,652,632,653,0.400926589049,-0.0154326966691,0.0599347914532,0.999999973389,-0.000102004813741,-0.000202058243197,-4.45951397744e-05,1793239526812120064
+58,0.966666667,BASELINE,766,745,715,679,661,636,879,787.3242939,804,652,632,653,0.400926950813,-0.0154310245615,0.0599348649629,0.999999973625,-0.000100081663391,-0.000201812443047,-4.47911737868e-05,1793239526828786432
+59,0.983333333,BASELINE,766,745,715,679,661,636,879,787.253258532,804,652,631.746741468,653,0.400927127548,-0.0154302810885,0.0599348955342,0.999999973722,-9.94786921155e-05,-0.000201646321321,-4.47152593356e-05,1793239526845452800
+60,1.000000000,BASELINE,766,745,715,679,661,636,879,787.828512601,804,652,631.171487399,653,0.400927069036,-0.015430718291,0.0599348715131,0.999999973646,-0.000100554210002,-0.000201581503539,-4.42935868021e-05,1793239526862119424
+61,1.016666667,BASELINE,766,745,715,679.404289112,661,636,879,788,804,652,631.404289112,653,0.400926512909,-0.0154315395483,0.0599346356542,0.999999973387,-0.000101905039136,-0.000202181813199,-4.4310723796e-05,1793239526878786048
+62,1.033333333,BASELINE,766,745,715,679.98028748,661,636,879,788,804,652,631.98028748,653,0.400925745434,-0.0154325239208,0.0599343098237,0.999999973049,-0.000103372798115,-0.000203064615109,-4.45142315466e-05,1793239526895452672
+63,1.050000000,BASELINE,766,745,715,679.433276811,661,636,879,788,804,652,632,653,0.400925574295,-0.0154329559656,0.0599340535685,0.99999997304,-0.000103085871497,-0.000203295035937,-4.43210707539e-05,1793239526912119552
+64,1.066666667,BASELINE,766,745,715,678.847439036,661,636,879,787.847439036,803.847439036,652,631.847439036,653,0.400925686719,-0.0154331177759,0.0599340130253,0.999999973082,-0.000102939211747,-0.000203186938426,-4.42128704208e-05,1793239526928786432
+65,1.083333333,BASELINE,766,745,715,678.264332517,661,636,879,787.264332517,803.264332517,652,631.264332517,653,0.400926539755,-0.0154325721872,0.0599345742902,0.999999973233,-0.000103363878709,-0.000202188742156,-4.43841074919e-05,1793239526945453568
+66,1.100000000,BASELINE,766,745,715,678.313823446,661,636,879,787.313823446,803.313823446,652,631.313823446,653,0.400926423643,-0.0154324960369,0.059934278045,0.99999997321,-0.000102897242139,-0.000202522402793,-4.4458076991e-05,1793239526962120192
+67,1.116666667,BASELINE,766,745,715,678.8878743,661,636,879,787.8878743,803.8878743,652,631.8878743,653,0.400925503896,-0.0154328091524,0.0599332707387,0.999999973042,-0.000101691522443,-0.000203960460469,-4.44513906593e-05,1793239526978786304
+68,1.133333333,BASELINE,766,744.540014466,715,679,661,636,879,788,804,652,631.540014466,653,0.400926572042,-0.0154321969087,0.059934090721,0.99999997353,-0.000100910401581,-0.000201941664728,-4.44655750356e-05,1793239526995452672
+69,1.150000000,BASELINE,766,744.032820475,715,679,661,636,879,787.967179525,804,652.032820475,631,653,0.400928009729,-0.0154314645178,0.0599352878108,0.999999974114,-0.000100346650784,-0.000199306593074,-4.44835486297e-05,1793239527012119552
+70,1.166666667,BASELINE,766,744.626051153,715,679,661,636,879,787.373948847,804,652.626051153,631,653,0.40092751809,-0.0154325159612,0.0599353504267,0.99999997374,-0.000101734657284,-0.00020047627681,-4.44797200202e-05,1793239527028786176
+71,1.183333333,BASELINE,766,745,715,679,661,636,879,787,803.786198141,652.786198141,631,652.786198141,0.400926615255,-0.0154327854751,0.0599350283062,0.999999973405,-0.000102310531774,-0.000201853785121,-4.44648254939e-05,1793239527045452800
+72,1.200000000,BASELINE,766,745,715,679,661,636,879,787,803.207792526,652.207792526,631,652.207792526,0.400925011193,-0.0154317215375,0.0599340500812,0.999999973138,-0.000101501449484,-0.000203585704111,-4.44310598734e-05,1793239527062119680
+73,1.216666667,BASELINE,766,745,715,679,661,636,879.368485555,787,803.368485555,652,631.368485555,652.368485555,0.400925569919,-0.0154316406568,0.059934162525,0.999999973248,-0.000102072108033,-0.000202769462385,-4.43884594133e-05,1793239527078786560
+74,1.233333333,BASELINE,766,745,715,679,661,636,879.943570752,787,803.943570752,652,631.943570752,652.943570752,0.400927341261,-0.0154321109489,0.0599348864767,0.999999973564,-0.000103416349088,-0.000200524537442,-4.43409055053e-05,1793239527095453696
+75,1.250000000,BASELINE,765.469300368,745,715,679,661,636,880,787,804,652,632,653,0.400926972797,-0.0154335479226,0.0599345439459,0.999999973406,-0.000103602504356,-0.000201313166569,-4.39101347284e-05,1793239527112120064
+76,1.266666667,BASELINE,765.234617516,745,715,678.882691242,661,636.117308758,879.882691242,787.117308758,804,652,632,652.882691242,0.400926076857,-0.0154345528622,0.0599339245667,0.999999973128,-0.000103717330202,-0.000202675401008,-4.36966664176e-05,1793239527128786176
+77,1.283333333,BASELINE,766.393417852,745,715,678.303291074,661,636.696708926,879.303291074,787.696708926,804,652,632,652.303291074,0.400924020189,-0.0154334416836,0.0599326717159,0.999999972585,-0.000104047503522,-0.000204997034406,-4.45034106363e-05,1793239527145452800
+78,1.300000000,BASELINE,766.725523833,745,715,678,661,636.725523833,879,788,804,652,631.725523833,652.274476167,0.400923723994,-0.0154325356513,0.0599323302474,0.999999972468,-0.000103708392979,-0.000205671193594,-4.4818001781e-05,1793239527162119424
+79,1.316666667,BASELINE,766.149550312,745,715,678,661,636.149550312,879,788,804,652,631.149550312,652.850449688,0.400925361584,-0.0154318549614,0.0599329898834,0.999999972821,-0.000102634109972,-0.00020453569054,-4.45919891074e-05,1793239527178786304
+80,1.333333333,BASELINE,766,745,715,678.426642832,660.573357168,636,879,787.573357168,803.573357168,652,631,653,0.400925573018,-0.0154320809996,0.0599333542822,0.999999973013,-0.00010190057947,-0.000204041651746,-4.42439114501e-05,1793239527195452928
+81,1.350000000,BASELINE,766,745,715,679,660.002981481,636,878.997018519,787,803,652,631,652.997018519,0.400925285171,-0.0154326186842,0.0599336118814,0.999999973146,-0.000101292064882,-0.000203774903353,-4.38572859135e-05,1793239527212119552
+82,1.366666667,BASELINE,766,745,715,679,660.592789771,636,878.407210229,787,803,652,631,652.407210229,0.400925171095,-0.015431906343,0.0599332283438,0.999999973039,-0.000101768268425,-0.000203965446538,-4.43094057855e-05,1793239527228786688
+83,1.383333333,BASELINE,766,744.820899054,715,679,661,636,878.179100946,787,803,652,631,652.179100946,0.400925146155,-0.0154315704363,0.0599329003637,0.999999972927,-0.00010218496652,-0.000204246019849,-4.45811167281e-05,1793239527245453312
+84,1.400000000,BASELINE,766,744.24238665,715,679,661,636,878.75761335,787,803,652,631,652.75761335,0.400925319993,-0.0154320740128,0.0599326962815,0.999999972805,-0.000102468962128,-0.000204727368596,-4.44504993772e-05,1793239527262119936
+85,1.416666667,BASELINE,766,744.334752503,715,679,661,636,878.665247497,787,803.334752503,652,631,653,0.40092504528,-0.0154322664941,0.0599327753873,0.999999972765,-0.000102898156823,-0.000204710220811,-4.44423538156e-05,1793239527278786304
+86,1.433333333,BASELINE,766,744.910901344,715,679,661,636,878.089098656,787,803.910901344,652,631,653,0.400924447107,-0.0154322346389,0.0599330587052,0.999999972784,-0.000103432057299,-0.000204333597756,-4.45225249767e-05,1793239527295452928
+87,1.450000000,BASELINE,766,745,715,679,661,636,878.496611967,787,804.496611967,652,631,652.503388033,0.400925576678,-0.0154340719793,0.059933573476,0.999999972734,-0.000105845639246,-0.000203367554208,-4.43818587889e-05,1793239527312119552
+88,1.466666667,BASELINE,766,745,715,679,661,636,879,787,804.917049255,652,631.082950745,652.082950745,0.400926954932,-0.0154356785215,0.0599342555825,0.999999972784,-0.000107832381721,-0.000202114565394,-4.42099130983e-05,1793239527328786176
+89,1.483333333,BASELINE,766,745,715,679,661,636,879,787,804.337422761,652,631.662577239,652.662577239,0.400927929729,-0.0154338557264,0.0599356861076,0.999999973536,-0.000105204485071,-0.000199789081135,-4.40925709335e-05,1793239527345453056
+90,1.500000000,BASELINE,766,745,715,679,661,636,879,787,804,652,631.760018829,653,0.400927859977,-0.0154325604723,0.0599358002837,0.999999973835,-0.000103082755314,-0.000199389887271,-4.41236774816e-05,1793239527362119936
+91,1.516666667,BASELINE,766,745,715,679,661,636,879,787,804,652,631.185711279,653,0.400926335027,-0.0154320001548,0.0599340806068,0.999999973512,-0.000101666185042,-0.000201674277878,-4.4361593269e-05,1793239527378786560
+92,1.533333333,BASELINE,766,744.610498771,715,679,661,636,879,787,804,652,631,652.610498771,0.400926167035,-0.0154319695347,0.0599337694253,0.999999973323,-0.000102092072368,-0.000202359589626,-4.45191468501e-05,1793239527395452928
+93,1.550000000,BASELINE,766,744.034853729,715,679,661,636,879,787,804,652,631,652.034853729,0.400926647538,-0.0154321920584,0.0599341313679,0.999999973199,-0.000103398475608,-0.000202280696968,-4.46382951117e-05,1793239527412119552
+94,1.566666667,BASELINE,766,744.556714211,715,679,661,636,879,787,804,652,631.556714211,652.556714211,0.400925686251,-0.015432644386,0.0599337113124,0.999999973214,-0.000102672313361,-0.000202638693987,-4.43666290371e-05,1793239527428786176
+95,1.583333333,BASELINE,766,745,715,679,661,636,878.854321785,787.145678215,803.854321785,652,631.854321785,652.854321785,0.400924982439,-0.0154330733928,0.0599333817385,0.999999973246,-0.000101794411049,-0.000202975779169,-4.41188113876e-05,1793239527445453056
+96,1.600000000,BASELINE,766,745,715,679,661,636,878.276135325,787.723864675,803.276135325,652,631.276135325,652.276135325,0.400925318934,-0.0154333891901,0.0599334704302,0.999999973307,-0.000100854926308,-0.000203167181606,-4.4016578691e-05,1793239527462119680
+97,1.616666667,BASELINE,765.699780599,745,715,679,660.699780599,636,878.300219401,788,803.300219401,652,631,652.300219401,0.400925345605,-0.0154325637464,0.0599331430703,0.999999973303,-0.000100179757789,-0.000203483152974,-4.41942948279e-05,1793239527478786304
+98,1.633333333,BASELINE,765.125100477,745,715,679,660.125100477,636,878.874899523,788,803.874899523,652,631,652.874899523,0.400925089036,-0.0154306949796,0.0599324353558,0.999999973239,-9.97462273431e-05,-0.000203913005304,-4.46279403282e-05,1793239527495453184
+99,1.650000000,BASELINE,765.449711716,744.550288284,715,678.550288284,660.449711716,636,879,788,804,652,631,652.550288284,0.40092629926,-0.0154317865235,0.0599337345392,0.999999973427,-0.000101819426257,-0.000202010443466,-4.43825815163e-05,1793239527512120064
+100,1.666666667,BASELINE,766,744.025236114,715,678.025236114,661,636,879.025236114,787.974763886,803.974763886,652,631,652.025236114,0.400927803449,-0.0154335376556,0.0599354652801,0.999999973659,-0.000104308850473,-0.000199667763787,-4.39821445107e-05,1793239527528786944
+101,1.683333333,BASELINE,766,744.615894432,715,678.615894432,661,636,879.615894432,787.384105568,803.384105568,652,631,652.615894432,0.400926749241,-0.0154316109436,0.0599343531522,0.999999973564,-0.000100495677145,-0.000202005592032,-4.43403998832e-05,1793239527545453312
+102,1.700000000,BASELINE,766,745,715,679,660.797501962,636,879.797501962,787,803.202498038,652,631.202498038,653,0.400926051596,-0.0154309528615,0.059933526734,0.999999973411,-9.92932194255e-05,-0.000203310012908,-4.45441469538e-05,1793239527562119936
+103,1.716666667,BASELINE,766,745,715,679,660.218438564,636,879.218438564,787,803.781561436,652,631.781561436,653,0.400926017013,-0.0154326539236,0.0599332316215,0.999999973171,-0.000102945649003,-0.00020269270914,-4.44605703402e-05,1793239527578786560
+104,1.733333333,BASELINE,765.642611072,745,715,679,660.357388928,636,879,787,803.642611072,652,631.642611072,653,0.400926267754,-0.0154328242339,0.0599332370435,0.999999973086,-0.000103695108731,-0.000202744935045,-4.43915980798e-05,1793239527595453184
+105,1.750000000,BASELINE,765.068743585,745,715,679,660.931256415,636,879,787,803.068743585,652,631.068743585,653,0.400926691323,-0.0154320673334,0.0599334245061,0.999999973099,-0.000102686174301,-0.000203202710159,-4.43314719988e-05,1793239527612120064
+106,1.766666667,BASELINE,765.51905468,745,715,679,660.48094532,635.48094532,879,787,803.51905468,652,631.51905468,653,0.400925755304,-0.0154333331317,0.0599332490263,0.999999972923,-0.000103084974815,-0.000203905719263,-4.41497949212e-05,1793239527628786432
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631,652,0.400928192507,-0.0154325412409,0.0599348376752,0.999999973854,-0.000101339231268,-0.000200157833347,-4.42673370679e-05,1793239527671148032
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744.424735964,715,679,661,636,879,787.424735964,803.424735964,651.424735964,631,652.575264036,0.400925302368,-0.0154334799469,0.0599334311143,0.999999972953,-0.000103491502455,-0.000203520732417,-4.43016021604e-05,1793239527687814144
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.150196029,715,679,661,636,879,787.150196029,803,651.150196029,631,653,0.400923843217,-0.0154340603239,0.059932855126,0.999999972518,-0.000104935207641,-0.00020492013672,-4.42838568874e-05,1793239527704480256
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.72419125,715,679,661,636,879,787.72419125,803,651.72419125,631,653,0.400926421799,-0.0154336296255,0.0599346227148,0.999999973423,-0.000104379594832,-0.000200779265541,-4.41193570723e-05,1793239527721146624
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.306373438,788,803.306373438,652,631.306373438,652.693626562,0.400928520388,-0.0154326482474,0.059935215262,0.999999973981,-0.000102436853786,-0.000198963014392,-4.4249725733e-05,1793239527737813248
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.89612816,788,803.89612816,652,631.89612816,652.10387184,0.400930175006,-0.0154311575158,0.0599347209498,0.999999974222,-9.92110832053e-05,-0.000199296929677,-4.46528341278e-05,1793239527754480128
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.521934911,788,804,652,632,652.478065089,0.400937598804,-0.015432073866,0.0599371149626,0.999999975165,-9.98337187436e-05,-0.000194244600518,-4.44069051639e-05,1793239527771146752
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.94220829,803.94220829,652,631.94220829,653,0.400947482606,-0.0154332997528,0.0599403029756,0.999999976376,-0.000101088953801,-0.000187318270693,-4.40585117558e-05,1793239527787813376
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.367304742,803.367304742,652,631.367304742,653,0.400968342482,-0.015432690896,0.0599450706,0.999999978841,-0.000100643102061,-0.00017392683288,-4.40348046057e-05,1793239527804480256
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.212063724,803.212063724,652,631,653,0.400993441196,-0.0154335335289,0.0599499812654,0.999999981296,-0.000100766293155,-0.000159171007182,-4.37925198764e-05,1793239527821147136
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.79933191,803.79933191,652,631,653,0.401026039686,-0.0154369442834,0.0599551450126,0.999999983795,-0.000101896292097,-0.000142001170696,-4.31635057232e-05,1793239527837813504
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.61848762,715,679,661,636,879,787.61848762,804,652,631,653,0.401066867661,-0.0154390762448,0.0599580838663,0.999999985959,-0.000102907578854,-0.000124953839632,-4.33352653732e-05,1793239527854480128
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.038947918,715,679,661,636,879,787.038947918,804,652,631,653,0.401111967225,-0.0154405444379,0.0599598678701,0.999999987813,-0.000103857247107,-0.000107970094494,-4.39226735715e-05,1793239527871146496
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744.539437482,715,679,661,636,879,787,804,652,631,653,0.401167090674,-0.0154435245378,0.059962412658,0.99999998831,-0.000104985985629,-0.000102106626442,-4.39642759702e-05,1793239527887813120
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787,804,652,631,653,0.401228209677,-0.015446637964,0.059965446013,0.999999988838,-0.000105928394751,-9.57410494211e-05,-4.40039208162e-05,1793239527904479744
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787,804,652,631,653,0.401309956524,-0.0154498468298,0.0599701760891,0.999999989845,-0.000106091472527,-8.42773905943e-05,-4.41897303905e-05,1793239527921146368
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.728686806,878.728686806,787,804,652,631,653,0.40139885725,-0.0154549982632,0.0599743621333,0.999999990307,-0.0001091110936,-7.41966494664e-05,-4.44439864611e-05,1793239527937813248
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.137871975,878.137871975,787,804,652,631,653,0.401496182465,-0.015462437287,0.0599779075188,0.999999990167,-0.000115494613952,-6.57444493234e-05,-4.47788459285e-05,1793239527954480128
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.444322402,878.444322402,787,804,652,631.444322402,652.555677598,0.401609315401,-0.0154674806002,0.0599781497625,0.999999990399,-0.00011491978993,-6.26908814449e-05,-4.54499481333e-05,1793239527971146752
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,878.976302298,787,804,652,631.976302298,652,0.401728371564,-0.0154718712045,0.0599773373833,0.999999990725,-0.00011249186851,-6.13018946689e-05,-4.62373992567e-05,1793239527987813376
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,878.401463906,787,804,652,631.401463906,652,0.401873277831,-0.015478041567,0.0599753813468,0.9999999903,-0.000116226245172,-6.04078910355e-05,-4.73504382885e-05,1793239528004480000
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.177117476,636,878.177117476,787,804,652,631,652,0.402029657906,-0.0154847599388,0.0599746733113,0.999999990043,-0.000119443863315,-5.75397488419e-05,-4.83344491066e-05,1793239528021146624
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.764366004,636,878.764366004,787,804,652,631,652,0.402212606567,-0.0154927472732,0.059976855132,0.999999990167,-0.000121464881259,-5.01003157816e-05,-4.90196836243e-05,1793239528037813248
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.653330015,636,879.346669985,787.346669985,803.653330015,652,631,652,0.402418352516,-0.015502546449,0.0599779823581,0.999999989632,-0.000128697453028,-4.16108905072e-05,-4.94180799748e-05,1793239528054479872
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.074339559,636,879.925660441,787.925660441,803.074339559,652,631,652,0.402639376057,-0.0155135598288,0.059978402849,0.999999988524,-0.000139422541489,-3.2417813467e-05,-4.96242521359e-05,1793239528071146752
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.49475982,788,803.50524018,652,631.50524018,652,0.402889759695,-0.0155259912912,0.0599833320328,0.999999986114,-0.000157794093894,-2.03934973061e-05,-4.95705958168e-05,1793239528087813632
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+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.988169263,715,678,661,636,879,788,804,652,631,653,0.404694127754,-0.015541464127,0.0599344251491,0.999999982111,-0.000156847535368,-8.98974267771e-05,-5.56395517369e-05,1793239528187813120
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879,787.435349096,803.435349096,652,631,652.435349096,0.405098261491,-0.0155428468277,0.059936975018,0.99999998169,-0.000161370665943,-8.69491851213e-05,-5.49565475521e-05,1793239528204479744
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678.139759897,661,636,879,787.139759897,803.139759897,652,631,652.139759897,0.405521119587,-0.0155453453337,0.0599451109464,0.999999982279,-0.000164583335345,-7.37546855235e-05,-5.399427844e-05,1793239528221146624
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678.710817567,661,636,879,787.710817567,803.710817567,652,631,652.710817567,0.40599764793,-0.0155506655098,0.0599695660232,0.999999984923,-0.000162733038884,-3.05340043595e-05,-5.23440217428e-05,1793239528237813504
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.29387206,678.70612794,661,636,879,788,803.70612794,652,631,653,0.406498657828,-0.0155557270134,0.0599936533854,0.999999985417,-0.000162580626687,1.2039417529e-05,-5.08797449302e-05,1793239528254480128
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715.889234449,678.110765551,661,636,879,788,803.110765551,652,631,653,0.407024783991,-0.0155605231395,0.0600173635034,0.999999983838,-0.000164170114094,5.39488059669e-05,-4.96062691076e-05,1793239528271146752
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.531578409,678.468421591,661.468421591,636,879,788,803.468421591,652,631,653,0.407536285879,-0.0155605403638,0.0600209834589,0.999999982646,-0.000171361845554,5.35790055846e-05,-4.97326420572e-05,1793239528287813376
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+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.383192733,636,879,788,804,652,631,653,0.408583059967,-0.0155571861491,0.0600075401611,0.999999985451,-0.000161953612807,1.64388443332e-05,-5.0979475764e-05,1793239528321146368
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+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.239364771,804,652,631,653,0.409743458732,-0.0155571177259,0.0599988644532,0.999999987186,-0.00015130000697,-5.68611593922e-07,-5.23077329905e-05,1793239528354479616
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+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.946984357,661,636,879.946984357,787.946984357,804,652,631,653,0.411057387873,-0.0155613594069,0.0600109593742,0.999999985656,-0.000158507893781,2.75464802769e-05,-5.29523861022e-05,1793239528387813376
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679.477655735,661,636,879.477655735,788,804,652,631.522344265,652.477655735,0.411719320077,-0.0155620882433,0.0600041700296,0.999999986172,-0.000156079677355,1.99754432209e-05,-5.38116453147e-05,1793239528404480000
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,678.903898402,661,636,879,788,804,652,632,652.096101598,0.412376530565,-0.0155619424129,0.0599916228231,0.99999998695,-0.000151935619514,-6.5054549256e-07,-5.49020984553e-05,1793239528421146880
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+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,678.513661163,661.256830582,636,879,788,804,652,631.743169418,653,0.413706724935,-0.0155558978815,0.0599389906134,0.999999982576,-0.000138146418807,-0.00011114732998,-5.83995270957e-05,1793239528454479616
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.697160606,661.848580303,636,879,788,804,652,631.151419697,653,0.414468811303,-0.0155553570576,0.0599413639336,0.999999983436,-0.000140083472858,-9.98694661844e-05,-5.94219683202e-05,1793239528471146496
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.568999475,661.568999475,636,879.431000525,787.568999475,804,652,631,653,0.41528491355,-0.015561613362,0.0599832363839,0.999999987991,-0.00014245604687,-2.51743494766e-05,-5.55910157569e-05,1793239528487813120
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.010152992,636,879.989847008,787.010152992,804,651.989847008,631,653,0.416118571677,-0.0155700760196,0.0600377323111,0.999999985826,-0.000144915169679,6.94935502492e-05,-5.01873539962e-05,1793239528504480256
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.58598976,636,879.41401024,787.58598976,804,651.41401024,631,653,0.416895459222,-0.0155712383568,0.0600387748143,0.999999986479,-0.000143852178382,6.19230234365e-05,-5.01471916411e-05,1793239528521146880
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,678.837905543,661.837905543,636,879.162094457,788,804,651.162094457,631.162094457,653,0.417674818303,-0.0155723751726,0.0600334056125,0.999999987052,-0.000144542741194,4.90997129552e-05,-5.09107664988e-05,1793239528537813248
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,678.261115424,661.261115424,636,879.738884576,788,804,651.738884576,631.738884576,653,0.41846050041,-0.0155734466956,0.0600116329731,0.999999987088,-0.000149719523329,2.28379014131e-05,-5.37305889273e-05,1793239528554479872
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,678.645770989,661.322885494,636,880,788,804,652,632,653,0.419260557333,-0.0155733552508,0.0599886265929,0.999999986964,-0.000150849986306,-1.04453771653e-05,-5.6633466749e-05,1793239528571146496
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679.825701824,661.912850912,636,880,788,804,652,632,653,0.420072504578,-0.0155723018386,0.0599645997054,0.999999985951,-0.000148633471024,-4.95365736749e-05,-5.96050449901e-05,1793239528587813120
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.506905422,662,636,880,788,804,652,632,652.506905422,0.420859740612,-0.0155706241485,0.0599358567145,0.999999981628,-0.000148068795363,-0.000104589339683,-6.23009861233e-05,1793239528604479744
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+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,678.775627092,661.224372908,636,879.224372908,788,804.775627092,652,632,653,0.423397049969,-0.0155741538762,0.0599454235992,0.999999984121,-0.000143311766546,-8.49150176965e-05,-6.33238934546e-05,1793239528654479872
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+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804.552881352,651.552881352,631,652.447118648,0.426954239085,-0.015586741817,0.0600302817031,0.999999984553,-0.000152317568088,6.78261361382e-05,-5.5622996024e-05,1793239528721146624
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,744.868507447,715,679,662,636,880,788,804.868507447,652,631.131492553,652.131492553,0.42778970526,-0.0155876420747,0.060009429169,0.999999984858,-0.000158167135592,4.34236893789e-05,-5.81444267597e-05,1793239528737813248
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+174,2.900000000,POSE1_TO_POSE2_PRESS,766,744.879131058,715,679,661.120868942,636,879.120868942,788,804,651.120868942,632,652.120868942,0.430174210838,-0.0155842384205,0.0599355540501,0.999999982474,-0.000153376730208,-8.60207161258e-05,-6.42502030846e-05,1793239528787812864
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+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.394417365,632,653,0.432784079924,-0.015594150697,0.0600141064363,0.999999984224,-0.000158675833532,5.38323657035e-05,-5.89573544298e-05,1793239528837812992
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+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.637282339,632,653,0.435094556431,-0.0155944583049,0.0599835837705,0.999999984999,-0.000161749051827,-8.54091839109e-06,-6.13685433365e-05,1793239528887813120
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.058075392,632,653,0.435842438877,-0.0155928412864,0.0599556371709,0.999999983963,-0.00015648798486,-5.80797106686e-05,-6.49062999488e-05,1793239528904479744
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715.512565216,679.512565216,662,636,880,788,805,651,632,653,0.436581081487,-0.0155916581179,0.0599501704905,0.999999982459,-0.000162385213449,-6.67573395449e-05,-6.52366264499e-05,1793239528921146368
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.801372168,635,880,787,805,651,631,653,0.445510345635,-0.0156470349224,0.0597729201678,0.999999891339,-0.000253614852185,-0.000383596512938,-7.65174363352e-05,1793239529187813120
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.383514475,715,680,661.616485525,635,880,786.616485525,805,651,631,653,0.445852604973,-0.0156499693679,0.0597473723099,0.999999873857,-0.000258975919692,-0.000423108015066,-7.8718748165e-05,1793239529204479744
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.96188091,715,680,661.03811909,635,880,786.03811909,805,651,631,653,0.446193714291,-0.0156526230479,0.059725464318,0.999999860094,-0.000262632242585,-0.000451937263239,-8.11767817759e-05,1793239529221146624
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679.879846701,661,634.879846701,880,787,805.120153299,651.120153299,631,652.120153299,0.446855789652,-0.0156622718262,0.0597300795428,0.999999864134,-0.000270045286847,-0.000438634251889,-8.00453585974e-05,1793239529254479616
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679.294748595,661,634.294748595,880,787,805.705251405,651.705251405,631,652.705251405,0.447154935593,-0.0156670978013,0.0597403322631,0.999999869813,-0.000275967151517,-0.000421947638011,-7.85856282949e-05,1793239529271146240
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.712483798,745,715,679.287516202,661,634,880,786.712483798,805.712483798,651.712483798,631,652.712483798,0.447427293733,-0.0156720580936,0.0597418744092,0.999999868891,-0.000281723781407,-0.000420451415199,-7.79109854523e-05,1793239529287812864
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765.444823618,745,715,679.555176382,661,634,880.444823618,786,805,651,631,652,0.447885559248,-0.0156805771291,0.0597270107888,0.999999855662,-0.000289706132197,-0.000445753928453,-7.77817590903e-05,1793239529321146368
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.022219684,661,634,880.977780316,786,805,651.022219684,631,652,0.448087600862,-0.0156833894611,0.059719119446,0.999999850276,-0.000291239628327,-0.000456753601518,-7.74893212434e-05,1793239529337813248
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.597511584,661,634,880.402488416,786,805,651.597511584,631,652,0.448252371368,-0.0156834449149,0.0597050116626,0.99999983947,-0.000295087760602,-0.000477231572212,-7.89550768312e-05,1793239529354479616
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.822933358,634,880,786,805.177066642,651.822933358,631,652.177066642,0.448405187402,-0.0156838755921,0.0596903131739,0.999999827983,-0.000298160960528,-0.000498694883857,-8.02375063063e-05,1793239529371146496
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.233448767,634,880,786,805.766551233,651.233448767,631,652.766551233,0.448530159438,-0.0156851802275,0.0596742388357,0.999999815404,-0.000299429212476,-0.000522453217424,-8.10929383099e-05,1793239529387813120
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.349934832,715,680,660.349934832,634,880,786,805.650065168,651,631,653,0.448651250351,-0.0156873093879,0.0596644093185,0.999999806103,-0.000301286758472,-0.000538893703612,-8.13296985607e-05,1793239529404479488
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.929318135,715,680,660.929318135,634,880,786,805.070681865,651,631,653,0.448769796468,-0.0156899791804,0.0596586744609,0.999999799096,-0.000303530698351,-0.00055053595911,-8.11608025524e-05,1793239529421146112
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,661,634,880.505604385,786,805,651.505604385,631,653.505604385,0.448873224849,-0.0156889266759,0.0596581390531,0.999999799914,-0.000304026892087,-0.000548707775121,-8.160653199e-05,1793239529437812992
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.918770415,715,680,661,633.918770415,880.918770415,785.918770415,805,651.918770415,631,653.918770415,0.448970820426,-0.0156881237564,0.0596584530438,0.99999980145,-0.000304674186918,-0.000545492389969,-8.1922276906e-05,1793239529454479872
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.344545297,715,680,661,633.344545297,880.344545297,785.344545297,805,651.344545297,631,653.344545297,0.449045764358,-0.0156919745613,0.0596595375596,0.999999800751,-0.000307712385002,-0.000545217258331,-8.09308211812e-05,1793239529471146496
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.762929629,633.237070371,880.237070371,785,805,651,631,653,0.449112315,-0.0156943527427,0.0596590672148,0.99999979925,-0.000310352886564,-0.000546558204664,-8.03499552049e-05,1793239529487812864
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.170227349,633.829772651,880.829772651,785,805,651,631,653,0.449166274769,-0.015694521825,0.059656264406,0.999999796545,-0.000312396798954,-0.000550323447602,-8.03850195497e-05,1793239529504479488
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.411124199,715,680,660.411124199,634,881,785.411124199,805,651.411124199,631,653.411124199,0.449209484428,-0.0156935585615,0.0596537675854,0.999999795214,-0.000310720262828,-0.000553667761335,-8.04741429034e-05,1793239529521146112
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.987902197,715,680,660.987902197,634,881,785.987902197,805,651.987902197,631,653.987902197,0.449248362554,-0.0156921390433,0.0596513940563,0.999999794424,-0.000307544650628,-0.000556842470452,-8.05850481892e-05,1793239529537812736
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.438913099,715.561086901,680,661,633.438913099,880.438913099,785.438913099,805,651.438913099,631,653.438913099,0.449273958826,-0.0156931471506,0.0596489207538,0.999999792434,-0.00030925810681,-0.000559431446076,-8.07941871831e-05,1793239529554479872
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.86212584,745,715.86212584,680,660.86212584,633.13787416,880,785,805,651,631,653,0.449296605467,-0.0156939251425,0.0596465943688,0.999999790239,-0.000310707421469,-0.000562534117534,-8.08652733106e-05,1793239529571146752
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.273303956,745,715.273303956,680,660.273303956,633.726696044,880,785,805,651,631,653,0.449310535385,-0.0156937803819,0.0596447555011,0.999999787469,-0.000310950213932,-0.000567357987311,-8.0477943701e-05,1793239529587813632
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.310160394,745.310160394,715,680,660,634,880,785,805,651,630.689839606,653,0.4493216351,-0.0156932731926,0.0596431470366,0.999999785659,-0.000310581253206,-0.000570762391385,-8.03210034135e-05,1793239529604480000
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.952483614,745,715.047516386,680,660,634,880.047516386,785,805,651,630,652.952483614,0.449339404188,-0.0156917867868,0.0596403597003,0.999999782807,-0.000310810501376,-0.000575660819702,-7.99856351447e-05,1793239529654479616
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765.20050592,745,715.79949408,680,660.20050592,633.79949408,880.79949408,785,805,651.20050592,630.20050592,652,0.449344237679,-0.0156899464927,0.0596385681208,0.999999784896,-0.000303990516396,-0.000575741855602,-7.94868179082e-05,1793239529687812864
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633,880,785,805,652,630.048375575,652,0.449345511707,-0.0156900814076,0.0596366147601,0.999999782008,-0.000307200063866,-0.0005791687409,-7.85828176179e-05,1793239529737812736
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633,880,785,805.527468511,651.472531489,630.527468511,652.527468511,0.449347707608,-0.0156898661691,0.0596374231576,0.999999783437,-0.000306387186783,-0.000577138373787,-7.85060215852e-05,1793239529754479616
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.896875888,633,880,785,806,651.103124112,630.896875888,653,0.449349555331,-0.0156896677651,0.0596381584372,0.999999784629,-0.000305549465216,-0.000575519812443,-7.84790356765e-05,1793239529771146240
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.320438074,633,880,785,806,651.679561926,630.320438074,653,0.449349030674,-0.0156895386578,0.059637743428,0.999999783933,-0.000304791317726,-0.000577130149129,-7.84632909825e-05,1793239529787812864
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.262338446,633.262338446,880,785,805.737661554,652,630.262338446,653,0.449348558529,-0.0156891886158,0.0596372429796,0.999999783316,-0.000304368501317,-0.000578399716569,-7.86219584108e-05,1793239529804479488
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.853049282,633.853049282,880,785,805.146950718,652,630.853049282,653,0.449348152112,-0.0156885620273,0.0596366355859,0.999999782799,-0.000304365423013,-0.000579242739001,-7.89989397229e-05,1793239529821146368
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.565914083,745,715,680,661,633.565914083,880,785,805,651.565914083,631,653,0.449347916962,-0.0156876039661,0.0596359841309,0.999999782923,-0.000303041128385,-0.000579727086176,-7.89700562589e-05,1793239529837812992
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.011865762,661,633,880,785,805,651.011865762,631,653,0.449347793956,-0.0156865797008,0.0596353719897,0.999999783266,-0.000301375281181,-0.000580026852117,-7.88065929513e-05,1793239529854479616
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.838281275,660.838281275,633,880.161718725,785,805,652,630.838281275,653,0.449351951761,-0.0156880811908,0.0596385859248,0.99999978469,-0.000305573554899,-0.000575398405534,-7.84927745611e-05,1793239529887812864
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.265360887,660.265360887,633,880.734639113,785,805,652,630.265360887,653,0.449351414578,-0.0156870467201,0.059638122055,0.999999785066,-0.000302855792943,-0.000576190860844,-7.84272207153e-05,1793239529904479488
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.319625786,745.319625786,715,680,660,633.319625786,880.680374214,785,805,652,630.319625786,653,0.449351236255,-0.0156866640453,0.0596377346481,0.999999785132,-0.000301610996668,-0.000576742574302,-7.83281550138e-05,1793239529921146368
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.915023162,745.915023162,715,680,660,633.915023162,880.084976838,785,805,652,630.915023162,653,0.449351367555,-0.015686843737,0.0596374132131,0.999999784935,-0.000301637068238,-0.000577086576808,-7.82001754483e-05,1793239529937813248
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+258,4.300000000,HOLD_POSE2,766,745.525298569,715,680,660.474701431,633.474701431,880.525298569,785,805,651.474701431,630.474701431,653,0.449353802769,-0.015686143579,0.059637150931,0.999999784565,-0.000301512904992,-0.000577898017699,-7.74148063968e-05,1793239530212533248
+259,4.316666667,HOLD_POSE2,765.937564682,745.062435318,715,680,660.937564682,633.937564682,880,785,805,652,631,653,0.449354325405,-0.0156871188371,0.0596368337322,0.999999784378,-0.000301723465375,-0.00057809566331,-7.75446745882e-05,1793239530229199872
+260,4.333333333,HOLD_POSE2,765.359046589,745.640953411,715,680,660.359046589,633.359046589,880,785,805,652,631,653,0.44935362423,-0.0156854167878,0.0596364020364,0.99999978468,-0.000299864399904,-0.000578542487637,-7.75220129532e-05,1793239530245866496
+261,4.350000000,HOLD_POSE2,765.218963235,746,715,680.218963235,660.218963235,633,880,784.781036765,805,652,630.781036765,653,0.44935351415,-0.0156847085392,0.0596361701201,0.999999785009,-0.000298998370025,-0.000578446163171,-7.73409470257e-05,1793239530262533120
+262,4.366666667,HOLD_POSE2,765.796141496,746,715,680.796141496,660.796141496,633,880,784.203858504,805,652,630.203858504,653,0.449354371076,-0.0156856261085,0.0596362650347,0.999999785385,-0.000299756906527,-0.000577461269136,-7.69007380636e-05,1793239530279200000
+263,4.383333333,HOLD_POSE2,766,746,715,680.630782783,661,633,880,784.369217217,805,651.630782783,630.369217217,653,0.449355092348,-0.0156853786626,0.0596369541415,0.999999786302,-0.000298818014548,-0.000576366529041,-7.68428730881e-05,1793239530295866880
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+266,4.433333333,HOLD_POSE2,765.120916784,745.879083216,715,680,660,633,880,785,804.120916784,651,630,653,0.449354316543,-0.0156857386067,0.0596369605007,0.999999785093,-0.000299611107295,-0.000577958683268,-7.752796016e-05,1793239530345866752
+267,4.450000000,HOLD_POSE2,765.699509743,745.300490257,715,680,660,633,880,785,804.699509743,651,630,653,0.449353425589,-0.0156859082348,0.059637193971,0.999999783914,-0.000302193148102,-0.000578711831251,-7.71006203226e-05,1793239530362533120
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634,880,785,805,652,630,653,0.449353989368,-0.015684257144,0.0596359148305,0.999999784174,-0.000299968841874,-0.00057934701777,-7.76398182799e-05,1793239530400510464
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.405069812,633.405069812,880,785,805.594930188,651.405069812,630,653,0.449355425328,-0.0156848127538,0.0596368156543,0.999999786026,-0.000298040306068,-0.00057727872595,-7.66069799934e-05,1793239530417177344
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880.763859738,785,805.236140262,651.763859738,630.763859738,652.236140262,0.44935371006,-0.0156847921431,0.0596356323124,0.999999784742,-0.000299091515209,-0.000578896204459,-7.70668860675e-05,1793239530450510848
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.681399577,633.340699788,880.659300212,785,805,652,631,652.340699788,0.449352586043,-0.0156844630047,0.0596349105167,0.999999783771,-0.000300062568107,-0.000580047438587,-7.72338643872e-05,1793239530467177472
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.83201801,633.916009005,880.083990995,785,805,652,631,652.916009005,0.449352093796,-0.0156841154558,0.0596346295878,0.999999783463,-0.000300468094889,-0.000580411945206,-7.69086481857e-05,1793239530483843840
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.497307309,745,715,680,660.994614618,633.497307309,880.502692691,785,805,651.497307309,630.497307309,653,0.449353930595,-0.0156832628141,0.0596357628919,0.999999785257,-0.000298488781328,-0.000578337908462,-7.690995659e-05,1793239530500510464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.089846812,745,715.089846812,680.089846812,660.089846812,633.089846812,880.910153188,785,805,651.089846812,630.089846812,653,0.449355325901,-0.015682550984,0.0596366637834,0.999999786858,-0.000296400040299,-0.000576634375958,-7.69661079842e-05,1793239530517177088
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.752824751,680.752824751,660.752824751,633.752824751,880,785,805.247175249,652,631,653,0.449345377256,-0.0156825274922,0.0596318321838,0.999999782781,-0.000295739025215,-0.000583944740047,-7.73594036051e-05,1793239530550510336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.175858086,680.175858086,660.175858086,633.175858086,880,785,805.824141914,652,631,653,0.44933381008,-0.0156805459534,0.0596267220177,0.999999778219,-0.00029590004032,-0.000591528501115,-7.80909678414e-05,1793239530567177216
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.438410442,660,633.438410442,880,785,805,651.438410442,630.561589558,653,0.449205058727,-0.0156752517904,0.0595768423713,0.999999737208,-0.000296288621362,-0.000656534816799,-8.22131426463e-05,1793239530617177344
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.309117668,745.309117668,715,680.690882332,660.309117668,633.309117668,880,785,805,651.690882332,630.690882332,653,0.448987997832,-0.0156621313146,0.0595442188587,0.999999711991,-0.000289976317064,-0.000696320571414,-8.40755078953e-05,1793239530667176960
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.623982658,745,715,680,660,633.623982658,880,784.623982658,805,651.623982658,630.376017342,652.623982658,0.4485365397,-0.0156389550093,0.0595514053681,0.999999720449,-0.000277101739464,-0.000689852460411,-8.01255148113e-05,1793239530733843712
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,634,880,785,805.210237612,652,630.210237612,653,0.448384577201,-0.0156315486265,0.0595533921783,0.999999722535,-0.000274113642935,-0.000688140753419,-7.90809436595e-05,1793239530750510336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,634,880,785,805.792163601,652,630.792163601,653,0.448216369081,-0.0156192677558,0.0595571653986,0.999999728285,-0.000267488977675,-0.000682461169582,-7.82712456685e-05,1793239530767176960
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.368587789,715,680.368587789,660,634,880.368587789,785.368587789,806,652,631,653,0.448031403395,-0.0156073466022,0.05956268,0.999999734411,-0.000260755943262,-0.000676216868771,-7.69076727879e-05,1793239530783843584
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.941955343,715,680.941955343,660,634,880.941955343,785.941955343,806,652,631,653,0.447837127538,-0.0155956252989,0.0595691620772,0.9999997407,-0.000253962700553,-0.000669658822307,-7.52363783735e-05,1793239530800510208
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.905098165,660.905098165,634,880,786,805,651.905098165,630.094901835,652.094901835,0.447367298525,-0.0155749925504,0.0595918448964,0.999999764756,-0.000241902738194,-0.000638107692747,-6.92082317556e-05,1793239530833843712
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.270752583,634,880.270752583,786,805.270752583,651.270752583,631,653,0.44678595107,-0.0155417350644,0.0596040304424,0.999999782077,-0.000215733909715,-0.000620582067714,-6.46785972968e-05,1793239530867176960
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.42270957,715,680.42270957,661,634,880.57729043,786,806,651.57729043,630.57729043,652.57729043,0.446105480624,-0.0155143808737,0.0596057110232,0.999999785264,-0.000196174986402,-0.000622276172913,-6.13193560975e-05,1793239530900510464
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.073033458,745,715,680,661,635,879.073033458,787,804.073033458,651.926966542,631.926966542,652,0.430159690926,-0.0154134155205,0.0598297091679,0.999999960118,0.000121075294539,-0.000254153310242,2.2614327676e-05,1793239531317177856
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.163138921,880,788,804,651.163138921,632,652.163138921,0.425727814184,-0.0154035967613,0.0597848623228,0.999999934577,0.000138765739409,-0.000333530980227,1.86374167629e-05,1793239531400510720
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.412793504,745,715,679.587206496,661,635.412793504,880,788,804.412793504,651.412793504,631.587206496,652.412793504,0.424857947431,-0.0154036793135,0.0598104568466,0.999999943124,0.000141210310055,-0.000305476878848,2.22447308573e-05,1793239531417177088
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,632,653,0.40098132208,-0.0153899759708,0.0598488499201,0.999999947178,0.000197965396346,-0.00025677988558,2.274979007e-05,1793239532683844608
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+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.42448969,745,715,679,661,636,878.42448969,788,804.42448969,652.57551031,632,653,0.400980292845,-0.0153907478933,0.0598488684172,0.999999947251,0.000197239061917,-0.000257088628134,2.2357131868e-05,1793239532800511232
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4f792b0ec5ad94669335fef5ed6de26bae461c7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,414 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.575665876804,-0.00990923798858,1.05003229507,0.54623632952,-0.00123749426796,1.04970043466
+396,6.600000000,pose2_to_pose3_retreat,0.575665835308,-0.00990924054517,1.05003229034,0.546236288059,-0.00123749670697,1.04970042987
+397,6.616666667,pose2_to_pose3_retreat,0.575665806849,-0.00990924229853,1.05003228709,0.546236259624,-0.00123749837968,1.04970042659
+398,6.633333333,pose2_to_pose3_retreat,0.57566574042,-0.00990924639121,1.05003227952,0.546236193252,-0.00123750228411,1.04970041893
+399,6.650000000,pose2_to_pose3_retreat,0.575665664708,-0.00990925105585,1.05003227088,0.546236117604,-0.0012375067342,1.04970041019
+400,6.666666667,pose2_to_pose3_retreat,0.575665635778,-0.0099092528382,1.05003226758,0.546236088699,-0.00123750843457,1.04970040686
+401,6.683333333,pose2_to_pose3_retreat,0.575665557641,-0.00990925765226,1.05003225867,0.546236010628,-0.00123751302721,1.04970039784
+402,6.700000000,pose2_to_pose3_retreat,0.5756654262,-0.00990926575036,1.05003224368,0.546235879299,-0.00123752075283,1.04970038268
+403,6.716666667,pose2_to_pose3_retreat,0.575665288048,-0.00990927426191,1.05003222792,0.546235741264,-0.00123752887289,1.04970036674
+404,6.733333333,pose2_to_pose3_retreat,0.575664980075,-0.00990927155037,1.05003217297,0.546235432949,-0.00123752728203,1.04970031281
+405,6.750000000,pose2_to_pose3_retreat,0.57566484536,-0.0099092612632,1.05003214061,0.546235297831,-0.00123751832167,1.04970028151
+406,6.766666667,pose2_to_pose3_retreat,0.57566475615,-0.0099092544509,1.05003211919,0.546235208355,-0.00123751238799,1.04970026078
+407,6.783333333,pose2_to_pose3_retreat,0.575664639789,-0.0099092455652,1.05003209124,0.546235091645,-0.00123750464834,1.04970023373
+408,6.800000000,pose2_to_pose3_retreat,0.575664560722,-0.00990923952748,1.05003207225,0.546235012342,-0.00123749938935,1.04970021536
+409,6.816666667,pose2_to_pose3_retreat,0.575664453746,-0.00990927842071,1.05003214873,0.546234905469,-0.00123753794668,1.04970029155
+410,6.833333333,pose2_to_pose3_retreat,0.575664378446,-0.00990931264901,1.05003225623,0.546234830544,-0.00123757092837,1.04970039837
+411,6.850000000,pose2_to_pose3_retreat,0.575664343156,-0.00990932254898,1.05003230539,0.546234795451,-0.00123758017324,1.04970044725
+412,6.866666667,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264539,1.04970046032
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8569df4568b6e67d2234ddbfb169c1db38da0d28
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:813f73e4fecb2ee770584dc4ef795ce45e499abcf795bbe2190b936637c3595e
+size 26439843
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..748f808e50dfcc4d43705cf57dd83f14334ffce7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
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+51,0.850000000,BASELINE,766.41076411,744,715,679,661,636,879,788,804,652,631,653,0.40098233986,-0.0153936148759,0.0598524824592,0.99999994943,0.000196411385302,-0.00024914539042,2.21266487362e-05,1793239533777310464
+52,0.866666667,BASELINE,766,744.164494407,715,679,661,635.835505593,879,788,804,652,631,653,0.400980942823,-0.0153932511716,0.0598514717787,0.99999994891,0.000196877603313,-0.000250877992752,2.18759723379e-05,1793239533793977088
+53,0.883333333,BASELINE,766,744.740162279,715,679,661,635.259837721,879,788,804,652,631,653,0.400980772695,-0.0153941941663,0.059851322862,0.999999949004,0.00019491402043,-0.000252006107623,2.22309342536e-05,1793239533810643968
+54,0.900000000,BASELINE,766,745,715,679,661,635.322774675,879,788,804,652,631.322774675,653,0.400980686129,-0.0153949954285,0.059851071847,0.9999999491,0.000193421317939,-0.000252761743144,2.2340112349e-05,1793239533827310592
+55,0.916666667,BASELINE,766,745,715,679,661,635.911100397,879,788,804,652,631.911100397,653,0.400980668311,-0.0153956800855,0.0598507368343,0.999999949202,0.000192316015146,-0.000253210934858,2.22470807882e-05,1793239533843976960
+56,0.933333333,BASELINE,766,745,715,679,661.986871124,636,879,788,804,652,632,653,0.400981379481,-0.01539385605,0.0598514741244,0.999999948878,0.000195102561414,-0.00025236477741,2.21742533263e-05,1793239533860643584
+57,0.950000000,BASELINE,766,745,715,679,662.852557731,636,879,788,804,652,632,653,0.400982065392,-0.0153918918376,0.0598522303267,0.99999994852,0.000198136011964,-0.000251424855505,2.20804778003e-05,1793239533877309952
+58,0.966666667,BASELINE,766,745,715,679,661.705321861,636,879,788,804,652,632,653,0.400981700124,-0.0153920051583,0.0598518204718,0.999999948527,0.000198146131796,-0.000251412646434,2.18202683616e-05,1793239533893976576
+59,0.983333333,BASELINE,766,745,715,679,661.223840195,636,879.223840195,788,804,652,632,653,0.40098150915,-0.0153923265484,0.0598517824355,0.999999948644,0.000197638168517,-0.000251350761184,2.17520699055e-05,1793239533910643456
+60,1.000000000,BASELINE,766,745,715,679,661.804943159,636,879.804943159,788,804,652,632,653,0.400981596361,-0.0153929800303,0.0598523378445,0.999999948938,0.000196303312614,-0.000251209589683,2.19903327904e-05,1793239533927310080
+61,1.016666667,BASELINE,766,745,715,679,661.610665523,636,879.610665523,787.610665523,804,652,632,653,0.400981866108,-0.0153934715313,0.0598522652945,0.999999948941,0.000196195733247,-0.000251276346433,2.20127256132e-05,1793239533943976704
+62,1.033333333,BASELINE,766,745,715,679,661.024612741,636,879.024612741,787.024612741,804,652,632,653,0.400982228084,-0.0153938811884,0.0598518754567,0.999999948799,0.000196708257691,-0.000251448162713,2.19260461576e-05,1793239533960643328
+63,1.050000000,BASELINE,766,745,715,679,661,636,879,787.554409301,803.445590699,652,632,653,0.40098333149,-0.0153933483632,0.0598521809974,0.999999949046,0.000196507947668,-0.000250614606845,2.201161495e-05,1793239533977309952
+64,1.066666667,BASELINE,766,744.868357008,715,679,661,636,878.868357008,788,803,652,632,653,0.400983800885,-0.015392885962,0.0598523633871,0.999999949117,0.000196645554699,-0.000250221455718,2.2053372055e-05,1793239533993976576
+65,1.083333333,BASELINE,766,744.29607766,715,679,661,636,878.29607766,788,803,652,632,653,0.40098203932,-0.0153927975811,0.0598520315274,0.99999994854,0.000198018839183,-0.000251449955644,2.19232071992e-05,1793239534010643200
+66,1.100000000,BASELINE,766,744.285138963,715,679,661,636,878.285138963,787.714861037,803.285138963,652,631.714861037,653,0.4009810019,-0.0153926192253,0.05985173259,0.999999948243,0.00019843425895,-0.000252310028657,2.18510666054e-05,1793239534027310080
+67,1.116666667,BASELINE,766,744.875935964,715,679,661,636,878.875935964,787.124064036,803.875935964,652,631.124064036,653,0.400980740736,-0.01539234442,0.0598514689441,0.999999948247,0.000197822884364,-0.000252775162062,2.1841125805e-05,1793239534043976704
+68,1.133333333,BASELINE,766,745,715,679,661,636,879,787.457334978,804,652,631.457334978,653,0.400981154962,-0.0153923332757,0.0598509813915,0.999999948254,0.000198419490096,-0.00025228536236,2.17551840144e-05,1793239534060643328
+69,1.150000000,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400981767328,-0.015392390742,0.0598505546481,0.999999948297,0.00019920489638,-0.000251502863869,2.16583872805e-05,1793239534077309952
+70,1.166666667,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400982658426,-0.0153924261311,0.0598519299026,0.999999948876,0.000198009033673,-0.000250138336711,2.17015727282e-05,1793239534093976576
+71,1.183333333,BASELINE,766,745,715,678.807938484,661,636,879,788,804,652,632,652.807938484,0.400982906337,-0.0153926706079,0.0598528295169,0.999999949249,0.000197084431748,-0.000249369700529,2.17909476338e-05,1793239534110643456
+72,1.200000000,BASELINE,766,745,715,678.221301151,661,636,879,788,804,652,632,652.221301151,0.400981832864,-0.0153933446394,0.0598527519646,0.999999949203,0.000196717114313,-0.000249825276918,2.19752152856e-05,1793239534127310080
+73,1.216666667,BASELINE,766,744.639080084,715,678.360919916,661,636,879,788,804,652,632,652,0.400980833123,-0.0153933892435,0.0598519125778,0.999999948814,0.00019702122817,-0.000251137268372,2.19949337651e-05,1793239534143976448
+74,1.233333333,BASELINE,766,744.05953419,715,678.94046581,661,636,879,788,804,652,632,652,0.400979878045,-0.0153930525742,0.0598506117124,0.999999948214,0.000197732059209,-0.000252968030231,2.19149771475e-05,1793239534160643328
+75,1.250000000,BASELINE,766,744.518273284,715,678.481726716,661,636,879,788,804,652,631.481726716,652.518273284,0.400980380328,-0.0153933460391,0.0598515638414,0.999999948416,0.000197762223257,-0.000252130433963,2.20766196046e-05,1793239534177309952
+76,1.266666667,BASELINE,766.095569596,744.904430404,715,678.095569596,661,636,878.904430404,788,804,652,631,653,0.400981177719,-0.01539356981,0.0598526386352,0.999999948699,0.000197799236516,-0.000250962267206,2.22417286137e-05,1793239534193976576
+77,1.283333333,BASELINE,766.671297662,744.328702338,715,678.671297662,661,636,878.328702338,788,804,652,631,653,0.400982619508,-0.0153930809734,0.0598530337979,0.999999948931,0.000198262180438,-0.000249668093288,2.22852866215e-05,1793239534210643200
+78,1.300000000,BASELINE,767,744.252358354,715,679,661.252358354,636,878,788,804,652,631.252358354,653,0.400982982409,-0.0153925153571,0.0598530540751,0.999999948849,0.000198872345789,-0.000249513356499,2.22237316981e-05,1793239534227310080
+79,1.316666667,BASELINE,767,744.840514806,715,679,661.840514806,636,878,788,804,652,631.840514806,653,0.400981909698,-0.0153918475748,0.0598525755145,0.999999948353,0.00019967840981,-0.000250874800325,2.20223093104e-05,1793239534243976704
+80,1.333333333,BASELINE,766.57751129,745,715,679,661.57751129,636,878.42248871,788,803.57751129,652,632,653,0.400981157468,-0.0153916928329,0.0598521849952,0.999999948323,0.000198957980949,-0.00025158335253,2.18053570827e-05,1793239534260643328
+81,1.350000000,BASELINE,766.002144733,744.997855267,715,678.997855267,661,635.997855267,879,788,803.002144733,652,632,653,0.400980529012,-0.0153917300824,0.0598518285315,0.999999948464,0.000197686846977,-0.000252044597482,2.15847592034e-05,1793239534277309952
+82,1.366666667,BASELINE,766.57706299,744.42293701,715,678.42293701,661,635.42293701,879,788,803.57706299,652,632,653,0.400981113387,-0.0153920656856,0.0598518192915,0.999999947973,0.000201014426783,-0.000251330261471,2.19335807102e-05,1793239534293976576
+83,1.383333333,BASELINE,767,744,715,678,660.844701916,635.155298084,879,788,804,652,632,652.844701916,0.400981685266,-0.0153924482453,0.0598519515289,0.999999947873,0.000202411678387,-0.000250587697112,2.21145241188e-05,1793239534310643200
+84,1.400000000,BASELINE,767,744,715,678,660.257236522,635.742763478,879,788,804,652,632,652.257236522,0.400982222369,-0.015392961477,0.0598524774732,0.999999948881,0.000198437166147,-0.000249766578059,2.18282923229e-05,1793239534327310080
+85,1.416666667,BASELINE,766.674441071,744,715,678.325558929,660.651117857,636,879,788,804,652,632,652.325558929,0.400982064837,-0.0153928476039,0.0598523752133,0.999999949006,0.00019740164665,-0.00025009561195,2.17415573161e-05,1793239534343976704
+86,1.433333333,BASELINE,766.095283375,744,715,678.904716625,661.809433249,636,879,788,804,652,632,652.904716625,0.40098136621,-0.0153922452387,0.0598517836048,0.999999948449,0.000198655497675,-0.00025132057392,2.18102231936e-05,1793239534360643328
+87,1.450000000,BASELINE,766.481291987,744.481291987,715,679,661.518708013,636,878.518708013,787.518708013,804.481291987,652,631.518708013,653,0.400981987168,-0.0153922630289,0.059852023221,0.999999948595,0.000198805903036,-0.000250619511884,2.1807710978e-05,1793239534377309952
+88,1.466666667,BASELINE,766.942484813,744.942484813,715,679,661,636,878.057515187,787.057515187,804.942484813,652,631,653,0.400982894026,-0.0153925380465,0.0598524393215,0.999999948922,0.00019846586736,-0.000249583318412,2.18034679186e-05,1793239534393976576
+89,1.483333333,BASELINE,766.364847735,744.364847735,715,679,661,636,878.635152265,787.635152265,804.364847735,652,631,653,0.400984036474,-0.0153940348733,0.0598529711899,0.999999949632,0.000195655650514,-0.000248946261511,2.19103240898e-05,1793239534410643456
+90,1.500000000,BASELINE,766,744.216783357,715,679,661,636,879,788,804,652,631,653,0.400984085487,-0.0153948209272,0.0598529964106,0.999999949834,0.000194616458813,-0.000248941397549,2.20306861945e-05,1793239534427310080
+91,1.516666667,BASELINE,766,744.805262508,715,679,661,636,879,788,804,652,631,653,0.400982259703,-0.0153943882928,0.0598521529353,0.999999949171,0.000196613859361,-0.0002500204889,2.21742055028e-05,1793239534443976704
+92,1.533333333,BASELINE,766,744.61335094,715,679,661,636,879,788,804,652,631.38664906,653,0.400981839806,-0.0153949201998,0.0598523384532,0.99999994917,0.000196515572674,-0.000250078941094,2.24025743995e-05,1793239534460643328
+93,1.550000000,BASELINE,766,744.035472207,715,679,661,636,879,788,804,652,631.964527793,653,0.400982115235,-0.0153959291515,0.0598530328924,0.999999949498,0.000195380796937,-0.000249632603608,2.267290839e-05,1793239534477309952
+94,1.566666667,BASELINE,766,744.540774777,715,679,661,636,878.459225223,788,804,652,631.459225223,652.459225223,0.400983371706,-0.015394719899,0.0598533524092,0.999999949698,0.000195997864996,-0.000248362767951,2.24851727916e-05,1793239534493976832
+95,1.583333333,BASELINE,766,745,715,679,661,636,878.117086632,788,803.882913368,652,631.117086632,652.117086632,0.400984109722,-0.0153935776726,0.0598533967323,0.999999949712,0.000196831825048,-0.000247660963744,2.22883187419e-05,1793239534510643200
+96,1.600000000,BASELINE,766,745,715,679,661,636,878.694072612,788,803.305927388,652,631.694072612,652.694072612,0.400982559323,-0.015393268512,0.0598524564423,0.999999949038,0.000198067703975,-0.000249401839097,2.21733144683e-05,1793239534527309824
+97,1.616666667,BASELINE,766,744.724338344,715,679,661,636,879.275661656,788,803.275661656,652,632,653,0.400981975061,-0.0153935023652,0.0598520599355,0.99999994884,0.000198091534971,-0.000250194013734,2.19550515136e-05,1793239534543976704
+98,1.633333333,BASELINE,766,744.137554136,715,679,661,636,879.862445864,788,803.862445864,652,632,653,0.400982481219,-0.0153943490851,0.0598522771637,0.999999949183,0.000196747401077,-0.00024991544744,2.16202467696e-05,1793239534560643328
+99,1.650000000,BASELINE,766,744.443018746,715,679,661,636,879.556981254,788,804,652,631.556981254,653,0.400981737858,-0.0153941964428,0.0598519581432,0.999999948748,0.00019736659282,-0.000251154102816,2.17333494746e-05,1793239534577309952
+100,1.666666667,BASELINE,766,745,715,679,661,635.978364622,879,788,803.978364622,651.978364622,631,653,0.400980673675,-0.0153937465764,0.0598515003678,0.999999948122,0.000198476687109,-0.000252748066499,2.19631179819e-05,1793239534593976576
+101,1.683333333,BASELINE,766,745,715,679,661,635.401143238,879,788,803.401143238,651.401143238,631,653,0.400981196014,-0.0153935221852,0.0598516959899,0.999999948774,0.000196755171947,-0.000251536169352,2.16668842042e-05,1793239534610643456
+102,1.700000000,BASELINE,766,745,715,679,661,635.178762652,878.821237348,788,803.178762652,651.178762652,631,652.821237348,0.400981453112,-0.0153935287307,0.0598517820882,0.999999949092,0.000196265487341,-0.00025066035862,2.15832792726e-05,1793239534627310080
+103,1.716666667,BASELINE,766,745,715,679,661,635.764784333,878.235215667,788,803.764784333,651.764784333,631,652.235215667,0.400981105936,-0.0153940613989,0.0598516186685,0.999999948653,0.000198582172819,-0.000250550223801,2.19840877441e-05,1793239534643976704
+104,1.733333333,BASELINE,766,744.653038281,715,678.653038281,661,636,878.346961719,787.653038281,804,652,631,652,0.400980882117,-0.0153934583065,0.0598515096892,0.999999948474,0.000199201011365,-0.000250781465866,2.19088384558e-05,1793239534660643328
+105,1.750000000,BASELINE,766,744.07343844,715,678.07343844,661,636,878.92656156,787.07343844,804,652,631,652,0.400980741007,-0.0153920936856,0.0598514372121,0.99999994847,0.000198681442361,-0.000251241601406,2.1514392083e-05,1793239534677309952
+106,1.766666667,BASELINE,766,744.504422851,715,678.504422851,661,636,879,787,804.504422851,652,631.504422851,652.504422851,0.400980348054,-0.0153935051934,0.0598515150692,0.999999948851,0.000196914902806,-0.000251109484734,2.16113281587e-05,1793239534693976576
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,678,661,636,879,788,804,652,632,653,0.40098121856,-0.0153942057842,0.0598521698489,0.999999948819,0.000196458640451,-0.000251593734874,2.16036627637e-05,1793239534737256192
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.41068443,745,715,678.58931557,661,636,879,788,804,652,632,653,0.400982851251,-0.0153945315446,0.0598526204987,0.999999949551,0.000195358782846,-0.000249508256269,2.1891361401e-05,1793239534753922816
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.824700756,652.824700756,0.400983860408,-0.0153945757359,0.0598529586875,0.99999994985,0.000195523150932,-0.000248157552752,2.2088023462e-05,1793239534770589440
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.246377208,652.246377208,0.400983436021,-0.0153939725815,0.0598530383213,0.999999949161,0.000198594055451,-0.000248496144284,2.20753866017e-05,1793239534787256064
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.330540345,652.330540345,0.400982459842,-0.0153944302203,0.0598528756037,0.999999949035,0.000198508820068,-0.00024906943185,2.21026839592e-05,1793239534803922688
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.906414304,652.906414304,0.400981074112,-0.0153956752009,0.0598525330081,0.999999949326,0.000196081034716,-0.000249816915459,2.21596212879e-05,1793239534820589312
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,632,653,0.400983452865,-0.0153947414969,0.0598537232734,0.999999949823,0.000196434729668,-0.000247541191119,2.214428051e-05,1793239534837255936
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.078218023,652.078218023,631.921781977,653,0.400986008719,-0.0153936046995,0.0598548987538,0.999999950225,0.000197173181946,-0.000245324109024,2.21094549834e-05,1793239534853922560
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.657655315,652.657655315,631.342344685,653,0.400985018535,-0.0153938755403,0.0598540734773,0.999999949804,0.00019691855537,-0.000247241972934,2.20396448974e-05,1793239534870589440
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.763327137,652.763327137,631.236672863,653,0.400988921887,-0.0153943946038,0.0598555975132,0.999999950182,0.000197211155466,-0.000245448388031,2.23329872722e-05,1793239534887256064
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.18491572,652.18491572,631.81508428,653,0.400999891154,-0.0153952720829,0.0598605137868,0.999999951679,0.000198293911442,-0.000238295738415,2.31506956266e-05,1793239534903922688
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.391923984,745,715,679,661.391923984,636,879,788,804,652,632,653,0.401031650604,-0.0153968527364,0.0598742198394,0.999999957441,0.000196994923432,-0.000213840041852,2.4139971106e-05,1793239534920589312
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.968025142,745,715,679,661.968025142,636,879,788,804,652,632,653,0.401073180004,-0.0153987638333,0.0598920564809,0.999999964326,0.000194576680347,-0.000181253108741,2.52098713228e-05,1793239534937255936
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,715,679,661.445281452,636,879,788,804,652,631.445281452,653,0.40113216071,-0.0154030432091,0.0599109636287,0.999999969645,0.000193558091681,-0.00014996900516,2.74563716355e-05,1793239534953922816
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.860096149,744.860096149,715,679,661,636,879,788,804,652,631.139903851,653,0.401195861375,-0.0154071492606,0.0599281887751,0.999999973423,0.000193304375086,-0.000122160311244,2.93909195386e-05,1793239534970589696
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.28159001,744.28159001,715,679,661,636,879,788,804,652,631.71840999,653,0.401271144267,-0.015410275639,0.0599399435926,0.999999974983,0.000195190700704,-0.000105007096905,3.01307290557e-05,1793239534987256320
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.296250082,715,678.703749918,661,636,879,788,803.703749918,652,632,653,0.401352927248,-0.0154141648517,0.0599480159689,0.999999976442,0.000194660814479,-9.116615968e-05,3.02097501226e-05,1793239535003922944
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.873458473,715,678.126541527,661,636,879,788,803.126541527,652,632,653,0.401440874793,-0.0154187775227,0.0599525959828,0.999999977921,0.000191839435839,-8.04665281851e-05,2.96620911381e-05,1793239535020589568
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678.457928271,661,636,879.457928271,788,803.457928271,652,632,652.542071729,0.401535872126,-0.0154231801603,0.0599509912289,0.999999978295,0.000189868832451,-8.08660930575e-05,2.86308173776e-05,1793239535037256192
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,678.956118891,661,636,879.956118891,788,804,652,631.956118891,652.043881109,0.401634903924,-0.0154276508012,0.0599475540443,0.999999978352,0.000188148351841,-8.45271142977e-05,2.74191561466e-05,1793239535053922816
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,678.376946865,661,636,879.376946865,788,804,652,631.376946865,652.623053135,0.401759003678,-0.0154336704078,0.0599429479036,0.999999978221,0.000186564933901,-8.99562481314e-05,2.56635003434e-05,1793239535070589440
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678.201945078,661.201945078,636,879,788,804,652,631,653,0.401900515545,-0.0154410320373,0.0599418876657,0.999999978824,0.000183920471459,-8.91021701918e-05,2.42104403476e-05,1793239535087256064
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,678.780314886,661.780314886,636,879,788,804,652,631,653,0.402074483499,-0.015450895191,0.0599474369757,0.999999980725,0.00017929822694,-7.65362128182e-05,2.33214177868e-05,1793239535103922688
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744.64321849,715,679,661.64321849,636,879.35678151,787.64321849,804,652,631.35678151,653,0.402266800421,-0.0154602501505,0.0599528707776,0.999999982795,0.000172797764131,-6.37955159613e-05,2.19224996532e-05,1793239535120589568
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.067917461,715,679,661.067917461,636,879.932082539,787.067917461,804,652,631.932082539,653,0.402470355631,-0.0154692938551,0.0599582338343,0.999999984861,0.000165146940347,-5.09477944323e-05,2.02112834769e-05,1793239535137256448
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.508112667,715,679,661,636,879.491887333,787.508112667,804,652,632,652.491887333,0.4026959901,-0.0154811751426,0.0599583908478,0.999999986667,0.000155398208431,-4.66955880218e-05,1.83637116661e-05,1793239535153922816
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,632,652.086355035,0.40292932574,-0.0154934526498,0.0599580719013,0.999999988347,0.000145445454909,-4.33622049796e-05,1.64886754255e-05,1793239535170589184
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,632,652.676945239,0.403190371953,-0.0155058258411,0.059959042879,0.999999989906,0.000135941143511,-3.8675569904e-05,1.45598480663e-05,1793239535187255808
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.262183321,636,879,788,804,652.262183321,631.737816679,653,0.403467339407,-0.0155158298677,0.0599545542527,0.999999992525,0.000113586029247,-4.37423976589e-05,1.16410219142e-05,1793239535203922688
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.840958564,636,879,788,804,652.840958564,631.159041436,653,0.403763532082,-0.0155229730767,0.0599434730388,0.99999999527,7.57132982666e-05,-6.05867389798e-05,7.52675131372e-06,1793239535220589568
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.583853022,636,879,788,804,652.583853022,631.416146978,653,0.404075615326,-0.0155210396266,0.0599330940654,0.999999994763,6.47865144282e-05,-7.91349998045e-05,3.69867640273e-06,1793239535237256192
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.010023708,636,879,788,804,652.010023708,631.989976292,653,0.40439371966,-0.0155156669375,0.0599229811783,0.999999993113,6.40698257598e-05,-9.83288927344e-05,-2.09559467141e-08,1793239535253923072
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.576853892,788,804,652,632,652.423146108,0.404757314612,-0.0155065345027,0.0599184311503,0.999999991736,7.35433775126e-05,-0.000105314608994,-5.2299109315e-06,1793239535270589440
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.161747443,661,636,879.838252557,788,804,652,632,652.161747443,0.405143636884,-0.0155028591499,0.0599190103283,0.999999991883,7.26193375512e-05,-0.000104257900592,-9.48923930578e-06,1793239535287256064
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679.740921918,661,636,879.259078082,788,804,652,632,652.740921918,0.405586525055,-0.0155134395774,0.0599325713853,0.999999995507,4.4394335046e-05,-8.30059721681e-05,-1.12295006349e-05,1793239535303922688
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.318201893,745,715.318201893,679.681798107,661,636,879,788,804,652.318201893,631.681798107,652.681798107,0.406068258051,-0.0155234261754,0.059955126469,0.999999998616,2.2160213227e-05,-4.60370559165e-05,-1.25156330594e-05,1793239535320589312
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.89394857,745,715.89394857,679.10605143,661,636,879,788,804,652.89394857,631.10605143,652.10605143,0.40658143114,-0.0155329321435,0.0599849610982,0.999999999892,4.774959733e-06,3.65280592261e-06,-1.34342048938e-05,1793239535337256192
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.531753946,745,715.531753946,679,661,636,879,788,804,652.531753946,631.468246054,652.468246054,0.40709497927,-0.0155345981326,0.0600023028725,0.999999999502,-4.94323207646e-06,2.68649683947e-05,-1.58239342575e-05,1793239535353923584
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.043563556,679,661,636,879,788,804,652,632,652.956436444,0.407608099577,-0.0155344090489,0.0600150245116,0.99999999889,-1.3983545459e-05,4.09356278921e-05,-1.8694282369e-05,1793239535370591232
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.635851141,679,661,636,879,788,804,652,632,652.364148859,0.408114764844,-0.0155331505474,0.0600050810034,0.999999998952,-3.62905429368e-05,1.51632844599e-05,-2.3434492806e-05,1793239535387257600
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.223051915,745,715.776948085,679,661,636,879,788,804,652,632,652.223051915,0.408647360359,-0.0155326467103,0.0599956596884,0.999999998337,-4.97669162314e-05,-7.49884588115e-06,-2.81510593917e-05,1793239535403924224
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.802133224,745,715.197866776,679,661,636,879,788,804,652,632,652.802133224,0.409221345001,-0.0155333474481,0.0599870718847,0.999999997936,-4.91480862451e-05,-2.51965371659e-05,-3.2829886051e-05,1793239535420591360
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.621735584,745,715,679,661,636,879,788,804,652,631.621735584,653,0.409848736921,-0.0155358640561,0.0599897324218,0.999999997561,-5.80438138074e-05,-1.54907708098e-05,-3.56321913236e-05,1793239535437257472
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.04713565,745,715,679,661,636,879,788,804,652,631.04713565,653,0.4105038495,-0.0155393231789,0.0599982313325,0.99999999668,-7.18780064002e-05,8.438570547e-06,-3.74605010339e-05,1793239535453923584
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744.459552804,715,679,661,636,879,788,804,652,631,653,0.411158130079,-0.0155416980043,0.0600023478451,0.999999998825,-3.55509270398e-05,1.81984966626e-05,-2.74622299043e-05,1793239535470590208
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.12701029,744,715,679,661,636,879,788,804,652,631.12701029,652.87298971,0.411811145679,-0.0155418939219,0.0599999665957,0.999999999665,-4.80963887188e-06,1.51072865082e-05,-2.04682526901e-05,1793239535487256576
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.705818814,744,715,679,661,636,879,788,804,652,631.705818814,652.294181186,0.412459925853,-0.0155346837513,0.0599758647216,0.999999999135,-9.88323809322e-06,-2.91935452959e-05,-2.79205105675e-05,1793239535503923456
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.715762765,744.284237235,715,679,661,636,879.284237235,788,804,652,631.715762765,652.284237235,0.413124587203,-0.0155319705045,0.0599505857071,0.999999996181,-1.79373938929e-05,-7.86541316148e-05,-3.36165446727e-05,1793239535520590080
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.13774747,744.86225253,715,679,661,636,879.86225253,788,804,652,631.13774747,652.86225253,0.413805662882,-0.0155339051261,0.059924090037,0.99999998997,-2.90721534635e-05,-0.000133447672212,-3.74974057536e-05,1793239535537256704
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.445947699,636,880,788,804.445947699,652,631.445947699,653,0.414582642845,-0.0155393647163,0.0599453940761,0.999999994127,-3.74315409599e-05,-9.46355661808e-05,-3.72574385332e-05,1793239535553923328
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.96890445,788,805,652,631.96890445,653,0.415389955994,-0.0155458728378,0.0599814604635,0.999999997989,-4.4798147491e-05,-2.72748291375e-05,-3.56437886753e-05,1793239535570590208
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.389476188,788,805,652,631.389476188,653,0.416203043752,-0.0155514228745,0.0600141263583,0.999999997856,-4.99703301015e-05,2.7073051424e-05,-3.25420070683e-05,1793239535587256832
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715.189365163,679,662,636,879.189365163,788,804.810634837,651.810634837,631.189365163,653,0.417004769945,-0.0155544111853,0.0600318607059,0.999999996559,-5.29860450545e-05,5.56771707635e-05,-3.12107235216e-05,1793239535603923456
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715.767003082,679,662,636,879.767003082,788,804.232996918,651.232996918,631.767003082,653,0.417783200426,-0.0155521469544,0.0600189795317,0.999999997612,-5.15801565918e-05,3.14964931628e-05,-3.35096548064e-05,1793239535620589824
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.656234786,679,662,636,880,788,804,651.343765214,632,653,0.418577912673,-0.0155513506554,0.0600010307936,0.999999997868,-5.40309875698e-05,3.01976970782e-06,-3.65560235765e-05,1793239535637256448
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.080064758,679,662,636,880,788,804,651.919935242,632,653,0.419383632287,-0.0155515467619,0.0599796560951,0.999999997048,-5.9089180011e-05,-2.8361323814e-05,-4.01077024341e-05,1793239535653923072
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.506755535,745,715,679,662,636,880,788,804,652,632,653,0.420190569179,-0.0155537714407,0.059956173565,0.999999995277,-6.30729191463e-05,-6.01040208028e-05,-4.30647603905e-05,1793239535670589952
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.906168402,745,715,679,662,636,880,787.906168402,804,651.906168402,631.906168402,653,0.420996268695,-0.0155556947729,0.0599319693239,0.999999992134,-6.57441019221e-05,-9.64261380592e-05,-4.59460441847e-05,1793239535687256576
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.326665234,745,715,679,662,636,880,787.326665234,804,651.326665234,631.326665234,653,0.421794546435,-0.0155543637976,0.0599057902693,0.999999984657,-6.25190320299e-05,-0.000156149224794,-4.89318287603e-05,1793239535703923456
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787.25107484,804,651,631,653,0.422649550864,-0.0155559254862,0.0599131989816,0.99999998606,-6.32268316211e-05,-0.000146596002556,-4.89095389807e-05,1793239535720590080
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787.826537084,804,651,631,653,0.423577845992,-0.0155612244815,0.0599640029129,0.999999995476,-6.90158777507e-05,-4.75381521571e-05,-4.50008328039e-05,1793239535737256960
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.400514717,662,636,880,788,804,651.400514717,631,653,0.424484782496,-0.0155664677521,0.0600090156536,0.99999999631,-7.14629902196e-05,2.39320674654e-05,-4.12408203238e-05,1793239535753923328
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.973851704,662,636,880,788,804,651.973851704,631,653,0.42538250269,-0.0155716869772,0.06005152949,0.999999993183,-7.24680565258e-05,8.34982066417e-05,-3.75449694663e-05,1793239535770589696
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.436107917,662,636.563892083,880,788,804.563892083,652,631.563892083,653,0.426248238251,-0.0155707741864,0.0600397380296,0.999999993235,-7.61381235638e-05,7.80879241879e-05,-4.0449882586e-05,1793239535787256320
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.151749311,745,715.151749311,679.151749311,662,636.848250689,880,788,804.848250689,652,632,653,0.42710710951,-0.0155700048396,0.0600230346304,0.999999993828,-8.13688108537e-05,6.19029671014e-05,-4.34956589624e-05,1793239535803923200
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.731203586,745,715.731203586,679.731203586,662,636.268796414,880,788,804.268796414,652,632,653,0.427950941603,-0.0155704656886,0.0599998011342,0.999999994542,-9.06391617932e-05,2.41010654033e-05,-4.60494244601e-05,1793239535820589824
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.691908451,745,715.691908451,679.691908451,662,636,880,788,804,652,632,653,0.428765848212,-0.0155696135359,0.059975936241,0.999999994375,-9.2971464979e-05,-1.52043127072e-05,-4.87388426067e-05,1793239535837256704
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.117241016,745,715.117241016,679.117241016,662,636,880,788,804,652,632,653,0.429555727035,-0.0155676253098,0.0599515250335,0.999999993127,-8.93006292175e-05,-5.58105701982e-05,-5.1545633914e-05,1793239535853923328
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+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.055999187,662.944000813,636,880.944000813,788,804,652,631.055999187,652.055999187,0.431244240606,-0.0155685058904,0.0599379234831,0.999999991487,-9.6302755711e-05,-6.90667738924e-05,-5.4599926428e-05,1793239535887256064
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.208843184,662.791156816,636,880,788,804.791156816,651.208843184,631.208843184,653,0.433798209611,-0.0155805755228,0.0600173510022,0.999999991699,-0.000107278103284,5.25137692619e-05,-4.83192735546e-05,1793239535937256704
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.633323755,636,880.366676245,788,804.633323755,651.366676245,631,653,0.434566057473,-0.0155795803768,0.059995899184,0.999999992417,-0.000110795169821,1.63191468654e-05,-5.12261572465e-05,1793239535953923072
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.824956903,880.175043097,787.175043097,805,651,632,653,0.441556082985,-0.0155953893906,0.0599476883053,0.999999982955,-0.0001460735412,-9.69962515174e-05,-5.78258615521e-05,1793239536120589824
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.247594173,880.752405827,787.752405827,805,651,632,653,0.442076353237,-0.0155957455941,0.0598850484983,0.999999967033,-0.000156721396851,-0.000193034285501,-6.41152892777e-05,1793239536137256704
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.671730852,805,651,632,652.671730852,0.442598955903,-0.0155993206785,0.0598416648338,0.999999950317,-0.000169834941484,-0.000256457339662,-6.89258962013e-05,1793239536153923328
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.186945482,661.813054518,635,880.186945482,786.186945482,805,651,631,653,0.445465856305,-0.015635310379,0.0597759996053,0.999999898173,-0.000236751470933,-0.000376153127498,-7.81717020493e-05,1793239536253922816
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680.463321963,660,633.463321963,880,785,805.536678037,651,630.536678037,653,0.449835462349,-0.015685143585,0.0596320778023,0.999999785698,-0.000288736798027,-0.000582568481466,-7.64792232631e-05,1793239536820589824
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.126593759,880,785,805.873406241,651.126593759,630.873406241,653,0.44983662613,-0.0156855130274,0.0596327171123,0.999999785779,-0.000289022290609,-0.000582307997486,-7.63256163784e-05,1793239536837256192
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.705598939,880,785,805.294401061,651.705598939,630.294401061,653,0.449837478645,-0.0156850055247,0.0596327413869,0.999999786073,-0.000288896136791,-0.000581885546756,-7.61669204978e-05,1793239536853923072
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,880,785,805,652,630.2818479,652.7181521,0.449837530554,-0.0156853918531,0.059632410083,0.999999785664,-0.000289284045485,-0.00058243685569,-7.58616903501e-05,1793239536870589952
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,880,785,805,652,630.855245832,652.144754168,0.449836754298,-0.0156867027813,0.0596317109603,0.999999784523,-0.0002902037124,-0.000583995444251,-7.54048817232e-05,1793239536887256576
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.992162025,745,715,680.007837975,660,633.992162025,880,785,805,652,630,653,0.449839433022,-0.0156852475722,0.0596312009075,0.999999783765,-0.000293835304769,-0.000583361070633,-7.62896551723e-05,1793239536920590336
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765.188970892,745,715,680.811029108,660.188970892,633,880.188970892,785,805,651.811029108,630.188970892,652.811029108,0.449839333373,-0.0156846390726,0.0596311221315,0.999999786013,-0.000286800108216,-0.000583110740848,-7.55108212769e-05,1793239536953923328
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.767341909,745,715,680.232658091,660.767341909,633,880.767341909,785,805,651.232658091,630.767341909,652.232658091,0.449839873725,-0.0156839880299,0.0596317351119,0.999999786033,-0.000286784251369,-0.000583053202342,-7.57511949786e-05,1793239536970589952
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.342858177,715,680,661,633.342858177,881,785,805.342858177,651,630.657141823,652,0.449839946784,-0.0156835491665,0.0596318713991,0.999999785978,-0.000286886407633,-0.000583110225789,-7.5646475657e-05,1793239536987256576
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.916453232,715,680,661,633.916453232,881,785,805.916453232,651,630.083546768,652,0.449839705363,-0.0156832530957,0.0596316868809,0.999999785873,-0.000287067984423,-0.000583244347203,-7.53095154403e-05,1793239537003922944
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,679.495865478,660.495865478,633.495865478,881,785,805.495865478,651,630,652.504134522,0.449838935079,-0.0156840510776,0.0596307851181,0.999999784509,-0.000288901716847,-0.00058467958824,-7.52844367782e-05,1793239537020589568
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765.760638986,745.760638986,715,680,660,633.239361014,880.760638986,785,805,651,630.239361014,653,0.449841684901,-0.0156822031873,0.0596308313917,0.999999786025,-0.000286927271894,-0.000583046395531,-7.53666101972e-05,1793239537070589440
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.204852972,745.204852972,715,680,660,633.795147028,880.204852972,785,805,651,630.795147028,653,0.449843228472,-0.0156820799254,0.0596319521221,0.999999786153,-0.000288116701976,-0.0005822408301,-7.53522889555e-05,1793239537087256320
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+251,4.183333333,POSE1_TO_POSE2_PRESS,765.424914664,746,715,680.575085336,660.424914664,633,880.575085336,785,805,651,630,652,0.449842807233,-0.0156832534361,0.0596311457598,0.999999785899,-0.000289182953536,-0.00058217396186,-7.51613352987e-05,1793239537137256448
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+261,4.350000000,HOLD_POSE2,765,745,715,680,660.066983579,633,880,785,805,651,630.933016421,652,0.449844468394,-0.0156816372207,0.0596316814182,0.999999786799,-0.000285665642245,-0.000582467510309,-7.43552120975e-05,1793239537324154368
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+263,4.383333333,HOLD_POSE2,765.238754882,745.238754882,715,680,660.761245118,633,880,785,805.238754882,651.238754882,630,652.238754882,0.449842205311,-0.0156824336503,0.0596300127719,0.999999784889,-0.000286668282705,-0.000585226399045,-7.4517822317e-05,1793239537357487616
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+267,4.450000000,HOLD_POSE2,765.442764063,745.557235937,715,680,660,633,880.557235937,784.557235937,805,651.557235937,630,653,0.449844489127,-0.0156794461714,0.0596319022756,0.999999787367,-0.000283134200536,-0.0005827135436,-7.44743143639e-05,1793239537424154368
+268,4.466666667,HOLD_POSE2,765.142465807,746,715,679.857534193,660,633.142465807,881,785,805,651.857534193,630.142465807,653,0.449843118208,-0.0156792486449,0.0596305657279,0.999999785948,-0.000284102825416,-0.000584678009835,-7.44345511492e-05,1793239537440820992
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+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880,785,806,652,630,653,0.449845921279,-0.0156803763492,0.0596323516058,0.999999786653,-0.000287545275207,-0.000581705018957,-7.5043058354e-05,1793239537495684864
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880,785,805.400917969,652,630,652.400917969,0.449845595457,-0.0156809480241,0.0596318817279,0.999999786826,-0.000286312743871,-0.000582094140277,-7.44293800595e-05,1793239537512351488
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.803913415,745,715,680,660,633,880,785,805,651.803913415,630.196086585,652.196086585,0.449845586819,-0.0156811509843,0.0596317248596,0.999999787112,-0.000285342178007,-0.000582126893091,-7.40551266392e-05,1793239537529018112
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.893424755,879,788,804,651.893424755,631.893424755,652.106575245,0.410969509442,-0.0153693778651,0.0597449399241,0.999999886048,0.000197392812623,-0.000434326925368,1.7311371257e-05,1793239538812351232
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744.381789008,715,679,661,636,879,788,804,652,631.381789008,653,0.409164019563,-0.0153747831206,0.0598379985533,0.999999940716,0.000199470505043,-0.000279419986732,2.65187083617e-05,1793239538862351360
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744.199159727,715,679,661,636,879,788,804.199159727,652,631,653,0.408586840324,-0.0153762516097,0.0598598889442,0.999999948602,0.000199738630915,-0.000249107600061,2.90738827859e-05,1793239538879017728
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.899339201,661.100660799,635.899339201,879,788,804,652,632,652.899339201,0.40593524153,-0.0153770198368,0.0598292643175,0.999999939806,0.000194434588968,-0.000286345664251,2.42811850902e-05,1793239538962351104
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.308787118,661.691212882,635.308787118,879,788,804,652,632,652.308787118,0.405511114463,-0.0153790276589,0.0598381262735,0.99999994516,0.000189966694322,-0.000270083982041,2.54411562546e-05,1793239538979017728
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.144390594,661.144390594,635.855609406,879,788,804,652,631.144390594,652.855609406,0.404671632664,-0.0153764211965,0.0598283033245,0.999999937181,0.000214835961997,-0.000280815236289,2.50395740322e-05,1793239539012351232
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.433523899,745,715,678.433523899,661.433523899,636,879.433523899,788,804,652,631,653,0.404264782962,-0.0153742356778,0.0598071356763,0.99999992589,0.000217013185639,-0.000317144492654,2.33267526144e-05,1793239539029017856
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880,788,804,652,631.176838019,653,0.403274831451,-0.0153724058519,0.0597851549578,0.999999915321,0.000216873527333,-0.000349010724546,2.27196944105e-05,1793239539079017984
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.342988217,788,803.342988217,652,631,653,0.401976782539,-0.0153718785101,0.0598380641924,0.99999994903,0.000172338200116,-0.00026834910876,1.51357967332e-05,1793239539179017472
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.451049954,661.451049954,636,879,788,804,652,631.548950046,652.451049954,0.401357488218,-0.0153896782567,0.0598372257908,0.999999941928,0.000201033841938,-0.000274496411672,1.95310833197e-05,1793239539262351104
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.304763908,788,804,652,631.695236092,652.304763908,0.401168181129,-0.0153833230885,0.0598423871115,0.999999944735,0.000201531322879,-0.00026364691348,2.0154984239e-05,1793239539312351232
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.540881427,788,804,652,631,653,0.401083548454,-0.0153825499373,0.059842604972,0.999999944311,0.000201018649434,-0.000265617118517,2.04333835987e-05,1793239539345684224
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.185050542,788,804,652,632,653,0.401010448666,-0.0153814306364,0.0598395908917,0.999999942139,0.000204273758924,-0.000271233159179,2.0650821879e-05,1793239539395684352
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.777477015,788,804,652,632,653,0.400998973647,-0.0153815137579,0.0598390922406,0.99999994204,0.000203686341397,-0.000272067314662,2.02689143439e-05,1793239539412351232
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.940124869,745,715,679,661,636,879.059875131,788,804.940124869,652,632,653,0.400987867352,-0.015381334758,0.0598419451493,0.999999943889,0.000202038030003,-0.000266488716683,1.96701026151e-05,1793239539445684736
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.501498631,745,715,679,661,636,879,788,804.501498631,652,632,653,0.400986678486,-0.0153822253266,0.0598430325945,0.999999944807,0.000200417458054,-0.000264247078533,1.98026041631e-05,1793239539462351104
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652.059821379,632,653,0.400985718264,-0.0153830386613,0.0598439553897,0.999999945527,0.000199245522129,-0.000262386428661,1.9994722817e-05,1793239539479017472
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652.669844129,632,653,0.400983682397,-0.0153820591227,0.0598441960696,0.999999944723,0.000202987020466,-0.000262559404426,2.02970220159e-05,1793239539495684352
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804.265322734,652.734677266,632,653,0.400982348219,-0.015381918667,0.0598440531777,0.999999944275,0.000204824072707,-0.00026283344773,2.0392299173e-05,1793239539512350976
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804.843643739,652.156356261,632,653,0.400981841816,-0.0153827680679,0.0598434577906,0.999999944258,0.000204414470905,-0.000263226719272,2.02433547178e-05,1793239539529017600
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,744.578884202,715,679,661,636,879,788,804.578884202,652,631.578884202,653,0.400982543374,-0.0153836525565,0.0598445565895,0.999999945302,0.000202129373717,-0.000261022913098,2.017122714e-05,1793239539545684480
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,744.001726728,715,679,661,636,879,788,804.001726728,652,631.001726728,653,0.400983692534,-0.0153845500465,0.0598462831577,0.999999946722,0.000199149324111,-0.000257856776917,2.01275635515e-05,1793239539562351360
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744.574362765,715,679,661,636,879,788,804,652,631.574362765,653,0.400982678572,-0.0153838251104,0.0598460110576,0.9999999454,0.000203659876552,-0.000259439871086,2.03347081655e-05,1793239539579017984
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,632,653,0.400981993726,-0.0153834000403,0.0598459785078,0.999999944716,0.000206085601574,-0.000260157675397,2.03783172188e-05,1793239539595684608
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,632,653,0.400982258349,-0.0153838370981,0.05984664064,0.999999945906,0.00020254952545,-0.000258387159533,1.99571366831e-05,1793239539612351232
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.671980319,653,0.400981749432,-0.0153831195694,0.0598467158205,0.999999945995,0.000202335052496,-0.000258228338462,1.97143473928e-05,1793239539629017600
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.093554289,653,0.400980650005,-0.015381520643,0.0598463429292,0.999999945247,0.000204656251797,-0.000259299865976,1.96077398277e-05,1793239539645684224
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.481437415,653,0.400979288578,-0.0153823269535,0.0598457683693,0.999999944974,0.0002047030964,-0.00026030774865,1.97323416615e-05,1793239539662350848
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.944192902,653,0.400978240414,-0.0153835915748,0.059845421849,0.99999994495,0.000204049877998,-0.000260896393854,1.99156194837e-05,1793239539679017728
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.369445148,653,0.400980575306,-0.0153848025316,0.0598475576597,0.999999946397,0.00020096748625,-0.000257700812192,2.02296849936e-05,1793239539695684352
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636.212007203,879,788,804,652,631,652.787992797,0.400981862509,-0.015385176732,0.0598486101725,0.999999946945,0.000200369142283,-0.000256024906942,2.03560748986e-05,1793239539712351232
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636.80552454,879,788,804,652,631,652.19447546,0.400981264379,-0.0153840451765,0.0598477132744,0.999999945894,0.000204240879667,-0.000257083682337,2.0144739725e-05,1793239539729017856
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.387669066,745,715,679,661,636.612330934,879,788,804,652,631.387669066,652.387669066,0.40098199213,-0.0153838159067,0.0598480573603,0.999999945846,0.000205799798222,-0.000256010797377,2.02985794448e-05,1793239539745684480
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.964270968,745,715,679,661,636.035729032,879,788,804,652,631.964270968,652.964270968,0.400983366056,-0.0153840263713,0.059849006247,0.999999946289,0.000206231550594,-0.000253899034982,2.06303893361e-05,1793239539762351104
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..73094279bd6d9129e7268cd95a1557d35d8395a4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,418 @@
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+344,5.733333333,pose2_to_pose3_retreat,0.587734965789,-0.00990919971215,1.05003247962,0.558305416398,-0.00123746340966,1.04970061107
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+346,5.766666667,pose2_to_pose3_retreat,0.586396072039,-0.00990919558951,1.05003246493,0.556966523909,-0.0012374548608,1.04970060009
+347,5.783333333,pose2_to_pose3_retreat,0.585738574966,-0.00990927305419,1.05003233069,0.556309027577,-0.00123752969838,1.04970046887
+348,5.800000000,pose2_to_pose3_retreat,0.585102043,-0.00990926909357,1.05003212065,0.555672493854,-0.00123753172418,1.04970025815
+349,5.816666667,pose2_to_pose3_retreat,0.584491784807,-0.0099092940128,1.05003220855,0.555062236062,-0.00123755531125,1.04970034533
+350,5.833333333,pose2_to_pose3_retreat,0.583912476711,-0.00990936191083,1.05003224918,0.554482929008,-0.00123762002218,1.04970037678
+351,5.850000000,pose2_to_pose3_retreat,0.583363011179,-0.00990916873549,1.05003221705,0.55393346029,-0.00123743740997,1.04970035115
+352,5.866666667,pose2_to_pose3_retreat,0.582843881583,-0.00990932883813,1.0500323379,0.553414334155,-0.00123758598755,1.04970046624
+353,5.883333333,pose2_to_pose3_retreat,0.582334751834,-0.00990925116393,1.05003223348,0.552905202796,-0.00123751389468,1.0497003595
+354,5.900000000,pose2_to_pose3_retreat,0.581830845464,-0.00990921014551,1.05003227662,0.552401296079,-0.00123747412786,1.04970040114
+355,5.916666667,pose2_to_pose3_retreat,0.581344676599,-0.00990916045052,1.05003237693,0.551915127331,-0.00123742390383,1.04970050506
+356,5.933333333,pose2_to_pose3_retreat,0.580878212758,-0.0099090800082,1.05003231451,0.551448662449,-0.00123734679502,1.04970044749
+357,5.950000000,pose2_to_pose3_retreat,0.580436988023,-0.00990920389827,1.05003219428,0.551007439357,-0.00123746520117,1.04970032383
+358,5.966666667,pose2_to_pose3_retreat,0.580021598145,-0.00990928419005,1.05003199599,0.550592050369,-0.00123754223481,1.04970013174
+359,5.983333333,pose2_to_pose3_retreat,0.57963279937,-0.00990932669513,1.05003219028,0.550203252652,-0.00123758099136,1.04970033079
+360,6.000000000,pose2_to_pose3_retreat,0.579257497449,-0.00990925795467,1.05003245381,0.549827948732,-0.00123751948558,1.0497005824
+361,6.016666667,pose2_to_pose3_retreat,0.578893557376,-0.00990924344044,1.05003248665,0.549464008991,-0.00123750378021,1.04970061687
+362,6.033333333,pose2_to_pose3_retreat,0.578551063633,-0.0099092518827,1.05003231422,0.549121514766,-0.00123751384884,1.04970044508
+363,6.050000000,pose2_to_pose3_retreat,0.578232386182,-0.00990923601511,1.05003229554,0.548802837053,-0.00123749869959,1.04970043067
+364,6.066666667,pose2_to_pose3_retreat,0.577943191972,-0.00990921186243,1.05003218967,0.548513643041,-0.00123747370417,1.04970032901
+365,6.083333333,pose2_to_pose3_retreat,0.577684877171,-0.00990919212211,1.05003218812,0.548255327818,-0.00123745551867,1.04970032427
+366,6.100000000,pose2_to_pose3_retreat,0.5774588348,-0.00990917716596,1.05003232352,0.548029284616,-0.00123744359941,1.04970045405
+367,6.116666667,pose2_to_pose3_retreat,0.577248906439,-0.00990917272141,1.05003222598,0.547819356452,-0.00123743833412,1.0497003604
+368,6.133333333,pose2_to_pose3_retreat,0.57705330144,-0.00990922841211,1.05003229772,0.547623754284,-0.00123748405082,1.04970044184
+369,6.150000000,pose2_to_pose3_retreat,0.576870055054,-0.00990934163438,1.05003226267,0.547440509611,-0.00123759183225,1.04970039722
+370,6.166666667,pose2_to_pose3_retreat,0.576698581393,-0.00990932764041,1.05003238285,0.547269033853,-0.00123758504488,1.0497005151
+371,6.183333333,pose2_to_pose3_retreat,0.576540401831,-0.00990932749462,1.05003243307,0.54711085395,-0.00123758628581,1.0497005593
+372,6.200000000,pose2_to_pose3_retreat,0.576398318082,-0.0099092601051,1.05003232896,0.546968770369,-0.00123751833353,1.04970045504
+373,6.216666667,pose2_to_pose3_retreat,0.576273337711,-0.0099091783296,1.05003223118,0.546843789569,-0.00123743772202,1.04970036487
+374,6.233333333,pose2_to_pose3_retreat,0.57616561452,-0.0099091766012,1.05003228986,0.546736066536,-0.00123743543143,1.04970042466
+375,6.250000000,pose2_to_pose3_retreat,0.57607340846,-0.00990907452115,1.05003243158,0.546643858941,-0.0012373386367,1.04970056548
+376,6.266666667,pose2_to_pose3_retreat,0.575995801389,-0.00990924843578,1.05003219396,0.546566253995,-0.00123750496271,1.04970033707
+377,6.283333333,pose2_to_pose3_retreat,0.575930122861,-0.0099092718163,1.05003229785,0.546500575092,-0.00123752970802,1.04970043838
+378,6.300000000,pose2_to_pose3_retreat,0.575875029977,-0.00990925145058,1.05003232375,0.546445482019,-0.00123751004717,1.04970046259
+379,6.316666667,pose2_to_pose3_retreat,0.575828044346,-0.00990920485594,1.05003239621,0.546398495869,-0.00123746535979,1.04970053111
+380,6.333333333,pose2_to_pose3_retreat,0.575788775319,-0.00990919365663,1.05003231435,0.546359226771,-0.00123745449999,1.04970044668
+381,6.350000000,pose2_to_pose3_retreat,0.57575611585,-0.00990924596074,1.05003204054,0.546326568106,-0.00123750398018,1.04970017547
+382,6.366666667,pose2_to_pose3_retreat,0.575729606667,-0.00990925321907,1.05003233078,0.546300058491,-0.00123751261918,1.04970046786
+383,6.383333333,pose2_to_pose3_retreat,0.575709479802,-0.00990931666054,1.05003239151,0.546279932058,-0.00123757512677,1.04970051484
+384,6.400000000,pose2_to_pose3_retreat,0.575694520019,-0.00990932697249,1.05003229021,0.546264971801,-0.00123758686823,1.04970041828
+385,6.416666667,pose2_to_pose3_retreat,0.575684500044,-0.00990932339955,1.05003223197,0.54625495233,-0.00123758136607,1.04970036589
+386,6.433333333,pose2_to_pose3_retreat,0.575677827004,-0.00990928408277,1.0500322352,0.546248279275,-0.00123754199401,1.0497003719
+387,6.450000000,pose2_to_pose3_retreat,0.575673944843,-0.00990918440002,1.05003230301,0.546244395402,-0.00123744817452,1.04970043806
+388,6.466666667,pose2_to_pose3_retreat,0.575671576759,-0.00990913337462,1.05003234927,0.546242026466,-0.00123740008815,1.04970048297
+389,6.483333333,pose2_to_pose3_retreat,0.575670255381,-0.00990916049364,1.05003240288,0.546240705704,-0.00123742522349,1.04970053386
+390,6.500000000,pose2_to_pose3_retreat,0.575669434804,-0.00990917733457,1.05003243617,0.546239885509,-0.00123744083256,1.04970056546
+391,6.516666667,pose2_to_pose3_retreat,0.575668871671,-0.0099091888919,1.05003245902,0.546239322639,-0.00123745154451,1.04970058715
+392,6.533333333,pose2_to_pose3_retreat,0.575668595801,-0.00990919455367,1.05003247021,0.546239046897,-0.00123745679213,1.04970059777
+393,6.550000000,pose2_to_pose3_retreat,0.575668459097,-0.00990919735929,1.05003247576,0.546238910256,-0.00123745939253,1.04970060304
+394,6.566666667,pose2_to_pose3_retreat,0.575668410821,-0.00990919835007,1.05003247772,0.546238862003,-0.00123746031084,1.0497006049
+395,6.583333333,pose2_to_pose3_retreat,0.575668354096,-0.00990919951425,1.05003248002,0.546238805305,-0.00123746138986,1.04970060708
+396,6.600000000,pose2_to_pose3_retreat,0.575668245974,-0.00990920173326,1.0500324844,0.546238697233,-0.00123746344656,1.04970061125
+397,6.616666667,pose2_to_pose3_retreat,0.575667831633,-0.0099092102369,1.05003250121,0.546238283085,-0.00123747132819,1.0497006272
+398,6.633333333,pose2_to_pose3_retreat,0.575667377985,-0.00990918326287,1.05003244764,0.546237829211,-0.00123744503754,1.04970057581
+399,6.650000000,pose2_to_pose3_retreat,0.575666876517,-0.00990914975893,1.05003238111,0.546237327449,-0.00123741242764,1.049700512
+400,6.666666667,pose2_to_pose3_retreat,0.575666651652,-0.00990913473525,1.05003235128,0.546237102451,-0.00123739780486,1.04970048339
+401,6.683333333,pose2_to_pose3_retreat,0.575666636544,-0.00990913372586,1.05003234927,0.546237087334,-0.00123739682241,1.04970048147
+402,6.700000000,pose2_to_pose3_retreat,0.575666554459,-0.00990912824165,1.05003233838,0.546237005202,-0.00123739148455,1.04970047103
+403,6.716666667,pose2_to_pose3_retreat,0.575666193247,-0.00990910410839,1.05003229046,0.546236643777,-0.00123736799528,1.04970042507
+404,6.733333333,pose2_to_pose3_retreat,0.575665519246,-0.00990906802374,1.05003221759,0.546235969448,-0.00123733289706,1.04970035547
+405,6.750000000,pose2_to_pose3_retreat,0.57566534797,-0.00990909543762,1.05003226676,0.546235798366,-0.00123735968159,1.0497004039
+406,6.766666667,pose2_to_pose3_retreat,0.575665291633,-0.00990910445466,1.05003228293,0.546235742093,-0.00123736849163,1.04970041983
+407,6.783333333,pose2_to_pose3_retreat,0.575665194372,-0.0099091200219,1.05003231086,0.546235644943,-0.00123738370148,1.04970044732
+408,6.800000000,pose2_to_pose3_retreat,0.575665188842,-0.00990912090703,1.05003231244,0.546235639419,-0.00123738456629,1.04970044889
+409,6.816666667,pose2_to_pose3_retreat,0.575664932065,-0.00990916200604,1.05003238616,0.546235382932,-0.00123742472178,1.04970052148
+410,6.833333333,pose2_to_pose3_retreat,0.575664746069,-0.00990919177595,1.05003243956,0.546235197146,-0.00123745380824,1.04970057407
+411,6.850000000,pose2_to_pose3_retreat,0.575664643844,-0.00990920510406,1.0500324414,0.546235095022,-0.00123746678945,1.04970057608
+412,6.866666667,pose2_to_pose3_retreat,0.575664642674,-0.00990920511223,1.05003244011,0.546235093852,-0.00123746679502,1.04970057482
+413,6.883333333,pose2_to_pose3_retreat,0.575664574372,-0.00990920558935,1.0500323649,0.546235025575,-0.00123746712012,1.04970050144
+414,6.900000000,pose2_to_pose3_retreat,0.575664514902,-0.00990920600477,1.05003229941,0.546234966126,-0.00123746740318,1.04970043755
+415,6.916666667,pose2_to_pose3_retreat,0.575664424708,-0.00990920663481,1.05003220009,0.546234875964,-0.00123746783249,1.04970034065
+416,6.933333333,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264539,1.04970046032
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd7bd02e42f51f53ce8660210af3b7d14f261e6f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8397d00b661b780b8bb09d378278f99a938db01b14fed38e421b35ca02b99541
+size 26446976
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82319b15ce72fec0954fbbd5aea7db03dbb50957
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
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+14,0.233333333,BASELINE,766.886177753,745,715.886177753,679,662,636,879,788,804.113822247,652,631.113822247,653,0.400979506873,-0.0153858510673,0.0598494973,0.999999947261,0.00020049859802,-0.000254741642309,1.96272793251e-05,1793239540283803904
+15,0.250000000,BASELINE,766.313571204,745,715.313571204,679,662,636,879,788,804.686428796,652,631.686428796,653,0.400979155842,-0.0153862706756,0.059849074849,0.999999947056,0.00020060595177,-0.000255462592768,1.95921403377e-05,1793239540300470528
+16,0.266666667,BASELINE,766,745,715,679,661.732059201,636,879,788,804.732059201,652.267940799,632,653,0.400978869276,-0.0153861008462,0.0598487947229,0.999999946965,0.000200527141579,-0.000255882501859,1.95562530328e-05,1793239540317137152
+17,0.283333333,BASELINE,766,745,715,679,661.139766874,636,879,788,804.139766874,652.860233126,632,653,0.400978660746,-0.0153852174823,0.059848686886,0.999999947013,0.000200222973543,-0.000255937990003,1.9519459866e-05,1793239540333803776
+18,0.300000000,BASELINE,766,745,715.441526894,679,661,636,879,788,804,652.558473106,631.558473106,653,0.400980297579,-0.0153860206244,0.0598497775801,0.999999947826,0.00019926611589,-0.000253492239742,1.95623306278e-05,1793239540350470400
+19,0.316666667,BASELINE,766,745,716,679,661,636,879,788,804,652,631.019350536,653,0.400982425,-0.0153872963677,0.0598511771211,0.999999948812,0.000198186106253,-0.000250422843537,1.96400405868e-05,1793239540367137024
+20,0.333333333,BASELINE,766,745,716,679,661,636,879,788,804,652,631.595072198,653,0.400982270394,-0.0153871835931,0.0598508132619,0.999999948267,0.000199361350447,-0.000251634245127,2.0012007282e-05,1793239540383803648
+21,0.350000000,BASELINE,766,745,715.829305418,678.829305418,661.170694582,636,879,788,804,652,631.829305418,652.829305418,0.400981972439,-0.0153875549514,0.0598504805569,0.999999947983,0.000199606025896,-0.000252547683658,2.02878052586e-05,1793239540400470272
+22,0.366666667,BASELINE,766,745,715.253918488,678.253918488,661.746081512,636,879,788,804,652,631.253918488,652.253918488,0.400981334621,-0.0153890741194,0.0598502217141,0.999999948319,0.000197644456291,-0.000252754694382,2.03356009577e-05,1793239540417136896
+23,0.383333333,BASELINE,766,745,715,678,661.668657935,636,879,788,804,652,631.331342065,652.331342065,0.400980561102,-0.0153887142916,0.0598495895706,0.999999948001,0.000198348920851,-0.000253474889307,2.01444096233e-05,1793239540433803776
+24,0.400000000,BASELINE,766,745,715,678,661.075598432,636,879,788,804,652,631.924401568,652.924401568,0.400979680395,-0.0153868703,0.0598486625678,0.999999947161,0.000201159207869,-0.000254600433494,1.97644494031e-05,1793239540450470400
+25,0.416666667,BASELINE,766,745,715,678.503026224,661,636,879,788,804,652,632,653,0.400980983499,-0.0153862843331,0.0598499697525,0.999999947623,0.000201851298685,-0.000252221073839,1.98394467261e-05,1793239540467137024
+26,0.433333333,BASELINE,766,745,715,679,661,636,879,788,804,652,631.920669467,653,0.400982161419,-0.0153861049087,0.0598512246087,0.999999948131,0.000201966253834,-0.000250096603236,1.99667930267e-05,1793239540483803904
+27,0.450000000,BASELINE,766,745,715,679,661,636,879,788,804,652,631.345686272,653,0.400980563834,-0.0153873172223,0.059850113169,0.999999947773,0.00020040877242,-0.000252763914438,2.00059308855e-05,1793239540500470528
+28,0.466666667,BASELINE,766,745,715,679,661,636,879,788,804.219167459,652,631.219167459,653,0.400979883488,-0.015388219002,0.0598496988709,0.999999947685,0.000199410361327,-0.000253895335837,2.00662192964e-05,1793239540517137152
+29,0.483333333,BASELINE,766,745,715,679,661,636,879,788,804.768750055,652,631.768750055,653,0.400980585967,-0.0153886526231,0.0598503355779,0.999999948014,0.000199254800353,-0.00025271126169,2.01583941114e-05,1793239540533803520
+30,0.500000000,BASELINE,766,744.639238447,715,679,661,636,879.721523106,788,804.639238447,652,632,653,0.400980514214,-0.0153881916833,0.0598502203903,0.999999947998,0.000199648396864,-0.000252479267977,1.99465386514e-05,1793239540550470400
+31,0.516666667,BASELINE,766,744.016404875,715,679,661,636,880.967190249,788,804.016404875,652,632,653,0.400979880027,-0.0153870808978,0.0598495589957,0.999999947732,0.000200440923952,-0.00025293890467,1.95138231011e-05,1793239540567137024
+32,0.533333333,BASELINE,766,744.559348709,715.559348709,679,661.559348709,636,879.881302582,788,804,652,632,653,0.400981228684,-0.015388090802,0.0598510105867,0.999999948459,0.000199361484213,-0.000250870428028,2.00154830522e-05,1793239540583803648
+33,0.550000000,BASELINE,766,745,715.865694084,679,661.865694084,636,879,788,804,652,632,653,0.400982380543,-0.0153884299204,0.0598521348339,0.999999948968,0.000198780542218,-0.000249280151835,2.02498685442e-05,1793239540600470528
+34,0.566666667,BASELINE,766,745,715.289165702,679,661.289165702,636,879,788,804,652,632,653,0.400982707797,-0.0153863714824,0.0598519930449,0.999999948685,0.000200007718317,-0.000249489606002,1.9520986256e-05,1793239540617137408
+35,0.583333333,BASELINE,766,745,715,679,661,636,879,788,804,652,631.7046634,652.7046634,0.400982873955,-0.015386102889,0.0598517980667,0.999999948461,0.000200578992576,-0.000249944443384,1.93551256942e-05,1793239540633803776
+36,0.600000000,BASELINE,766,745,715,679,661,636,879,788,804,652,631.112137074,652.112137074,0.400982878008,-0.0153876353704,0.0598515495655,0.999999948295,0.000200490249605,-0.000250646203698,1.97558195208e-05,1793239540650470144
+37,0.616666667,BASELINE,766,745,715,678.531996456,661,636,879,788,804,652,631.468003544,652.468003544,0.400982800459,-0.0153873775692,0.0598515783321,0.999999948311,0.000200336687063,-0.000250704579058,1.97379332726e-05,1793239540667136768
+38,0.633333333,BASELINE,766,744.954945294,715.045054706,678.045054706,661,636,879,788,804.045054706,652,631.954945294,652.954945294,0.400982716763,-0.0153868904593,0.0598516308636,0.999999948412,0.000199970673506,-0.000250603485378,1.96485860677e-05,1793239540683803648
+39,0.650000000,BASELINE,766,744.380224514,715.619775486,678.619775486,661,636,879,788,804.619775486,652,631.380224514,652.380224514,0.400982784739,-0.0153886204988,0.0598512018931,0.999999948994,0.000197284950503,-0.000250393249003,1.98678122849e-05,1793239540700470272
+40,0.666666667,BASELINE,766,744.199684615,715.800315385,679,661,636,879,788,804.800315385,652,631.199684615,652.199684615,0.400982440095,-0.0153889276735,0.0598510555351,0.999999949138,0.000196642436131,-0.000250317711154,1.99343466968e-05,1793239540717136896
+41,0.683333333,BASELINE,766,744.789736509,715.210263491,679,661,636,879,788,804.210263491,652,631.789736509,652.789736509,0.400981288813,-0.0153864532625,0.0598514616615,0.999999948431,0.000199994229627,-0.000250505498048,1.97023809599e-05,1793239540733803776
+42,0.700000000,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400981675909,-0.0153863883836,0.0598517899121,0.999999948344,0.000200944002027,-0.000250082483474,1.98006667278e-05,1793239540750470400
+43,0.716666667,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400982914703,-0.0153876575017,0.0598520750479,0.999999948605,0.00020056393568,-0.000249321308923,2.00817907024e-05,1793239540767137024
+44,0.733333333,BASELINE,766.52488334,745,715.52488334,679,661,636,879,788,804,652,632,653,0.40098245746,-0.0153887405768,0.0598515585156,0.999999948658,0.00019954513552,-0.000249904874334,2.03144072986e-05,1793239540783803648
+45,0.750000000,BASELINE,766.900281879,745,716,679,661,636,879,788,804,652,631.900281879,653,0.400981792483,-0.0153895516,0.0598510774074,0.999999948728,0.000198363006661,-0.000250559827377,2.04010137967e-05,1793239540800470016
+46,0.766666667,BASELINE,766.325682578,745,716,679,661,636,879,788,804,652,631.325682578,653,0.400980907646,-0.0153891514476,0.0598511286779,0.999999948973,0.000196692833047,-0.00025094469722,1.98142913491e-05,1793239540817136896
+47,0.783333333,BASELINE,766,745,715.745014383,679,661,636,879,788,804,652,631.254985617,653,0.400979885992,-0.0153886318619,0.0598508266293,0.999999948582,0.00019743803947,-0.000251931409962,1.96026283314e-05,1793239540833803776
+48,0.800000000,BASELINE,766,745,715.156405567,679,661,636,879,788,804,652,631.843594433,653,0.400978685324,-0.0153879560095,0.059850062298,0.999999947349,0.000201343529079,-0.00025370557405,1.98816930177e-05,1793239540850470144
+49,0.816666667,BASELINE,766.428662629,745,715,679,661.428662629,636,879,788,804,652,632,653,0.400979574367,-0.0153874666411,0.0598498126333,0.999999947379,0.000201841390255,-0.00025319595271,1.98308021489e-05,1793239540867136768
+50,0.833333333,BASELINE,767,745,715,679,661.987751981,636,879,787.987751981,804,652,632,653,0.400981163144,-0.0153870349704,0.0598497525582,0.999999947861,0.000201097503005,-0.00025189667799,1.96567129383e-05,1793239540883803392
+51,0.850000000,BASELINE,767,745,715,679,661.413413577,636,879,787.413413577,804,652,632,653,0.40098015941,-0.0153861541551,0.0598498458649,0.999999947998,0.000199959077718,-0.000252286335647,1.93085014335e-05,1793239540900470272
+52,0.866666667,BASELINE,767,745,715,679,661,636,879,787.164050187,804,652,632,653,0.400979850636,-0.0153861340743,0.0598502590979,0.99999994817,0.000199401307049,-0.000252052569653,1.91763041414e-05,1793239540917137152
+53,0.883333333,BASELINE,767,745,715,679,661,636,879,787.74954292,804,652,632,653,0.400981327205,-0.0153883252079,0.0598514942172,0.999999948437,0.000200335229721,-0.00025021723734,1.95990442411e-05,1793239540933804032
+54,0.900000000,BASELINE,766.667437497,745,715,679,661,635.667437497,879,788,804,652,632,653,0.400981391713,-0.0153883042228,0.059851595537,0.999999948393,0.000200631616116,-0.000250140347734,1.97492342708e-05,1793239540950470656
+55,0.916666667,BASELINE,766.086266752,745,715,679,661,635.086266752,879,788,804,652,632,653,0.400980400632,-0.0153866295605,0.059850849281,0.99999994812,0.000200451410034,-0.000251377988095,1.96956785407e-05,1793239540967136768
+56,0.933333333,BASELINE,766,745,715,679,661,635.491512172,879,788,804,652,632,653,0.400981135684,-0.0153872050418,0.0598511567763,0.999999948114,0.000201370975865,-0.000250675324745,1.96058284778e-05,1793239540983803648
+57,0.950000000,BASELINE,766,744.931637675,715,679,661,636.068362325,879,788,804,652,632,653,0.400981788217,-0.0153880751403,0.0598515128125,0.999999948157,0.000202026104434,-0.000249983182629,1.95092593106e-05,1793239541000470272
+58,0.966666667,BASELINE,766,744.357286169,715,679,661,636.642713831,879,788,804,652,632,653,0.400979602973,-0.015388222803,0.0598508686103,0.999999948231,0.0001993050864,-0.000251872236211,1.94097840629e-05,1793239541017136896
+59,0.983333333,BASELINE,766,744.223292132,715,679,661,636.776707868,879,788,804,652,632,653,0.400979229475,-0.0153884589747,0.0598508950381,0.999999948622,0.000197275946299,-0.000251912292941,1.94482478612e-05,1793239541033803520
+60,1.000000000,BASELINE,766,744.814119732,715,679,661,636.185880268,879,788,804,652,632,653,0.400981838083,-0.0153888408308,0.0598520253128,0.999999949544,0.000196385626368,-0.000248908929161,1.97137572241e-05,1793239541050470656
+61,1.016666667,BASELINE,766,745,715,679,661,636,878.602655729,788,804,652,632,653,0.400982556367,-0.0153875813756,0.0598520321143,0.999999949227,0.000198075534204,-0.000248851770591,1.95952141123e-05,1793239541067137280
+62,1.033333333,BASELINE,766,745,715,679,661,636,878.022921208,788,804,652,632,653,0.400982406948,-0.0153855685203,0.0598515232154,0.999999948337,0.000200949826574,-0.000250146988828,1.93003819775e-05,1793239541083803904
+63,1.050000000,BASELINE,766,745,715,679,661,636,878.550652219,788,804,652,632,652.449347781,0.400983110269,-0.0153866262487,0.0598520578126,0.999999948667,0.000200256522217,-0.00024934838383,1.9712727932e-05,1793239541100470272
+64,1.066666667,BASELINE,766,745,715,679,661.127542924,636,879,788,804,652,632,652.127542924,0.400983786049,-0.0153877693604,0.0598526454645,0.999999949067,0.000199355394594,-0.000248436083759,2.00506313444e-05,1793239541117136896
+65,1.083333333,BASELINE,766,745,715,679,661.717376644,636,879,788,804,652,632,652.717376644,0.400984234771,-0.0153887638016,0.0598532697223,0.999999949542,0.000198233300328,-0.000247424097057,2.00131957143e-05,1793239541133803520
+66,1.100000000,BASELINE,766.30141783,744.69858217,715,678.69858217,661.69858217,636,879,788,804,652,632,653,0.400984234531,-0.0153888164128,0.0598532180085,0.999999949794,0.000197478200433,-0.000247021497906,1.98768861574e-05,1793239541150470144
+67,1.116666667,BASELINE,766.880130045,744.119869955,715,678.119869955,661.119869955,636,879,788,804,652,632,653,0.400983821259,-0.0153880025717,0.0598525444234,0.999999949842,0.000197060723223,-0.000247179515106,1.96496158762e-05,1793239541167136768
+68,1.133333333,BASELINE,766.542035315,744.457964685,715,678.457964685,661,636,879,788,804,652,632,653,0.400983166961,-0.0153879145556,0.0598527427851,0.999999949619,0.000197357243176,-0.000247851294941,1.95342204155e-05,1793239541183803904
+69,1.150000000,BASELINE,766,745,715.035369762,679,661,636,879.035369762,788,804,652,632,653,0.400982454156,-0.015387970719,0.0598531237546,0.99999994932,0.000197892319601,-0.000248635728293,1.94615107579e-05,1793239541200470528
+70,1.166666667,BASELINE,766,745,715.609721863,679,661,636,879.609721863,788,804,652,632,653,0.400981809329,-0.0153873344708,0.059852816196,0.99999994894,0.000199220235708,-0.0002490915564,1.95938983368e-05,1793239541217137152
+71,1.183333333,BASELINE,766,745,715.815287801,679,661,636,879.815287801,788,804,652,631.815287801,653,0.400981660961,-0.0153875758788,0.0598527457959,0.999999948853,0.000199596520621,-0.000249127902454,1.97478128173e-05,1793239541233803776
+72,1.200000000,BASELINE,766,745,715.238944153,679,661,636,879.238944153,788,804,652,631.238944153,653,0.400982565195,-0.0153896781155,0.0598531782252,0.999999949388,0.000197955133398,-0.000248274852202,1.99473692005e-05,1793239541250470400
+73,1.216666667,BASELINE,766.347802839,745,715,679,661.347802839,636,879,788,804,652,631.347802839,653,0.400983059287,-0.0153895809623,0.0598534001796,0.99999994953,0.000197884183305,-0.000247750434204,2.00245037e-05,1793239541267137024
+74,1.233333333,BASELINE,766.941917376,745,715,679,661.941917376,636,879,788,804,652,631.941917376,653,0.400983262918,-0.0153879262156,0.059853473077,0.999999949396,0.000198925406625,-0.000247458751475,2.00149398094e-05,1793239541283803392
+75,1.250000000,BASELINE,766.481791299,745,715,679,661.481791299,636,879,788,804,652,632,653,0.400982668942,-0.0153898594114,0.0598530339815,0.999999949501,0.000197420307014,-0.000248234079833,2.00865229601e-05,1793239541300470272
+76,1.266666667,BASELINE,766.092552011,745,715,679,661.092552011,636,879,788,804.092552011,652,632,653,0.400982162017,-0.0153914226818,0.0598525355733,0.999999949566,0.000196107828989,-0.000249010957486,2.00855473084e-05,1793239541317137152
+77,1.283333333,BASELINE,766.666808117,745,715,679,661.666808117,636,879,788,804.666808117,652,632,653,0.400982557983,-0.0153890371425,0.0598520172058,0.999999949307,0.000197233915864,-0.000249194144701,1.96611620466e-05,1793239541333803776
+78,1.300000000,BASELINE,766.751785249,745,715,679.248214751,661.751785249,636,879.248214751,788,804.751785249,652,632,653,0.400982280865,-0.0153874391195,0.0598516337579,0.999999948902,0.000198767206669,-0.000249617006238,1.94572859556e-05,1793239541350470400
+79,1.316666667,BASELINE,766.160495416,745,715,679.839504584,661.160495416,636,879.839504584,788,804.160495416,652,632,653,0.400981073428,-0.0153869295785,0.0598514367917,0.999999948293,0.000200863322597,-0.000250371138515,1.95581911479e-05,1793239541367137024
+80,1.333333333,BASELINE,766,745,715,679.578676771,661,636,879.578676771,788,804,652,632,653,0.400981146318,-0.0153876519018,0.0598515768113,0.999999948463,0.000200211490705,-0.000250198702563,1.97585252199e-05,1793239541383803648
+81,1.350000000,BASELINE,766,745,715,679.000386633,661,636,879.000386633,788,804,652,632,653,0.400981696202,-0.0153888331648,0.0598518423774,0.999999948922,0.000198535891855,-0.000249681067215,1.99959022229e-05,1793239541400470272
+82,1.366666667,BASELINE,766.57581487,745,715,679,661,636,879.57581487,788,804,652,632,653,0.400981557365,-0.0153881307192,0.0598522787157,0.999999949038,0.000198393966177,-0.000249346919741,1.97399321965e-05,1793239541417136896
+83,1.383333333,BASELINE,766.845113173,745,715,679,661,636,880,788,804,652,632,653,0.400981156705,-0.0153878184547,0.0598523302918,0.999999949026,0.00019829762544,-0.000249487944127,1.95157109947e-05,1793239541433803520
+84,1.400000000,BASELINE,766.258027423,745,715,679,661,636,880,788,804,652,632,653,0.400980026732,-0.0153885984748,0.0598513079019,0.999999948657,0.00019832562253,-0.000250954553801,1.93810032256e-05,1793239541450470400
+85,1.416666667,BASELINE,766,745,715,679,661,636,880,788,804,652,632,653,0.400980299942,-0.0153883891629,0.0598513566407,0.999999948423,0.000199485027425,-0.000250947047971,1.96107322765e-05,1793239541467137280
+86,1.433333333,BASELINE,766,745,715,679,661,636,880,788,804,652,632,653,0.400981673441,-0.0153874040774,0.0598522452932,0.999999948294,0.000201531613027,-0.000249783630956,2.01262303699e-05,1793239541483803904
+87,1.450000000,BASELINE,766,744.520027363,715,679,661,636,879.520027363,788,804,652,632,653,0.400982009977,-0.0153882948655,0.0598525083051,0.999999948903,0.000199112456748,-0.000249293691947,2.00006048459e-05,1793239541500470528
+88,1.466666667,BASELINE,766,744.056820951,715,679,661,636,879,787.943179049,804,652,631.943179049,653,0.40098207273,-0.0153893283754,0.0598525416899,0.999999949518,0.000196313732766,-0.000249070112414,1.9746541914e-05,1793239541517137152
+89,1.483333333,BASELINE,766,744.632919645,715,679,661,636,879,787.367080355,804,652,631.367080355,653,0.400981547778,-0.0153882031329,0.0598516315483,0.999999948891,0.000198290440075,-0.00025003743728,1.95022930057e-05,1793239541533803776
+90,1.500000000,BASELINE,766,745,715,679,661,636,879,787.213953805,804,652.213953805,631.213953805,653,0.400981084522,-0.0153876551896,0.0598511112619,0.999999948564,0.000199381226245,-0.000250488917989,1.9349281259e-05,1793239541550470144
+91,1.516666667,BASELINE,766,745,715,679,661,636,879,787.803655623,804,652.803655623,631.803655623,653,0.400980729619,-0.0153881211058,0.0598512756438,0.99999994877,0.000198916147812,-0.000250034467443,1.93565012395e-05,1793239541567136768
+92,1.533333333,BASELINE,766,745,715,679,661,636,879,788,804,652.614070076,632,653,0.400980511278,-0.0153887189748,0.0598512851742,0.999999948747,0.000198726802163,-0.00025026788243,1.94996848337e-05,1793239541583803648
+93,1.550000000,BASELINE,766,745,715,679,661,636,879,788,804,652.035503167,632,653,0.400980361101,-0.015389382708,0.0598512174105,0.999999948608,0.000198675088536,-0.000250844645567,1.97107346884e-05,1793239541600470528
+94,1.566666667,BASELINE,766,745,715,678.461162385,661.538837615,636,879,788,804,652,632,653,0.400981218056,-0.0153889668629,0.0598518078646,0.999999948998,0.000197902163656,-0.000249929691105,1.93586134085e-05,1793239541617137152
+95,1.583333333,BASELINE,766,745,715.113589009,678.113589009,661.886410991,636,879,788,804,652,632,653,0.400981581759,-0.0153884802356,0.0598521504249,0.99999994918,0.000197578054786,-0.000249475800254,1.9095034478e-05,1793239541633804032
+96,1.600000000,BASELINE,766,745,715.691146293,678.691146293,661.308853707,636,879,788,804,652,632,653,0.400979661778,-0.015387992775,0.0598513046657,0.99999994838,0.000199279778536,-0.000251303520995,1.93435039756e-05,1793239541650470400
+97,1.616666667,BASELINE,766,745,715.7252166,679,661.2747834,635.7252166,879,788,804,652,631.7252166,653,0.400979095999,-0.0153886420862,0.0598509602492,0.999999948356,0.000198552190761,-0.000251955317287,1.95975520118e-05,1793239541667137024
+98,1.633333333,BASELINE,766,745,715.13459125,679,661.86540875,635.13459125,879,788,804,652,631.13459125,653,0.40098008677,-0.0153905980275,0.0598511920866,0.999999949219,0.000195032299957,-0.000251255480609,1.98580121253e-05,1793239541683803648
+99,1.650000000,BASELINE,766.446234636,745,715,679,661.553765364,635.446234636,879,788,804,652,631.446234636,653,0.400981638586,-0.01538896061,0.0598520333656,0.999999949121,0.000197463001227,-0.000249766307023,1.95912554146e-05,1793239541700470272
+100,1.666666667,BASELINE,766.975999139,745,715,679,661,636,879,788,804.024000861,652,632,653,0.400983196589,-0.015386431485,0.0598529435584,0.999999948737,0.000201354390635,-0.000248219879071,1.91951434481e-05,1793239541717136896
+101,1.683333333,BASELINE,766.402070722,745,715,679,661,636,879,788,804.597929278,652,632,653,0.400981102367,-0.0153877704008,0.0598513115017,0.999999948691,0.000198474240235,-0.00025069937021,1.94003658305e-05,1793239541733803776
+102,1.700000000,BASELINE,766,745,715,679,661,636,879.176811955,788,804.823188045,652,632,652.823188045,0.400980164018,-0.0153883871331,0.0598506522175,0.999999948607,0.000197606742171,-0.000251703596918,1.95915866852e-05,1793239541750470400
+103,1.716666667,BASELINE,766,745,715,679,661,636,879.767285322,788,804.232714678,652,632,652.232714678,0.4009819299,-0.0153873142769,0.0598522687889,0.99999994845,0.000201447956679,-0.000249256360034,1.97500501582e-05,1793239541767136768
+104,1.733333333,BASELINE,766,745,715,679,661,636,879.649111264,788,804,652,632,652.350888736,0.40098281335,-0.0153864524446,0.0598532804532,0.999999948409,0.000203267092731,-0.000247946152405,1.97017048275e-05,1793239541783803392
+105,1.750000000,BASELINE,766,745,715,679,661,636,879.069976556,788,804,652,632,652.930023444,0.400983122795,-0.0153857278789,0.0598538986379,0.999999948451,0.000203770908337,-0.000247375558895,1.95188346004e-05,1793239541800470272
+106,1.766666667,BASELINE,766,745,715,679,661.505537826,636,879,788,804,652,632,653,0.400982862927,-0.0153881687683,0.0598535907522,0.999999948988,0.000200779322118,-0.00024764221751,1.96407681008e-05,1793239541817136896
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,880,788,804,652,631,653,0.400981730466,-0.0153896013094,0.0598519325275,0.999999948623,0.00020018044898,-0.000249571589924,1.98977929536e-05,1793239541860432640
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.408510437,661,636,879.408510437,788,803.408510437,652,631.591489563,653,0.400981093746,-0.0153897939488,0.059851600823,0.999999948706,0.000199229407295,-0.000250004911862,1.98451233883e-05,1793239541877099008
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.821694919,715.178305081,679,661,636,879,788,803.178305081,652,632,653,0.400980814499,-0.0153897432288,0.0598515288982,0.999999948874,0.000198220736792,-0.000250137618709,1.97996747525e-05,1793239541893765376
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.245314337,715.754685663,679,661,636,879,788,803.754685663,652,632,653,0.400981333331,-0.0153891491961,0.0598520369452,0.999999949234,0.000197083406723,-0.000249599186593,1.97703472123e-05,1793239541910432256
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.330802173,715.669197827,679,661,636,879,788,804.330802173,652,631.669197827,652.669197827,0.400981253239,-0.0153893561507,0.0598522826692,0.999999949354,0.000196438337626,-0.000249635838947,1.96538969737e-05,1793239541927099136
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744.906722976,715.093277024,679,661,636,879,788,804.906722976,652,631.093277024,652.093277024,0.400980729355,-0.0153901566229,0.0598523340164,0.999999949297,0.000196158025374,-0.000250098618878,1.94728903396e-05,1793239541943765504
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.508290251,661,636,879.491709749,788,804.016580501,652,631.491709749,652.491709749,0.400981317349,-0.0153895108961,0.0598530071741,0.999999949301,0.000197286873972,-0.000249166215916,1.98108520218e-05,1793239541960432128
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.077856646,745,715,678.077856646,661,636,879.922143354,787.922143354,803.077856646,652,631.922143354,653,0.400982066746,-0.0153887091895,0.0598535430613,0.99999994927,0.000198448343522,-0.000248341074457,2.01135974917e-05,1793239541977099008
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.660167887,745,715,678.660167887,661,636,879.339832113,787.339832113,803.660167887,652,631.339832113,653,0.400982469625,-0.0153887077802,0.0598524109023,0.999999948956,0.000198056619327,-0.000249957960373,1.95383143485e-05,1793239541993765632
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.760698424,744.760698424,715,679,661,636,879,787.239301576,804,652,631.239301576,653,0.400989938935,-0.0153892620504,0.0598555961134,0.999999950301,0.00019789703989,-0.000244637552177,1.96756601965e-05,1793239542010432000
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.18601809,744.18601809,715,679,661,636,879,787.81398191,804,652,631.81398191,653,0.401007311778,-0.0153905950996,0.0598648320755,0.999999953812,0.000198062809008,-0.000229594595682,2.08117484739e-05,1793239542027098624
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.387484737,715,679.387484737,661,636,879,788,804,652,631.612515263,653,0.401040464916,-0.015392564057,0.0598783985499,0.999999959076,0.000198116787793,-0.00020519391088,2.22034835386e-05,1793239542043765504
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.960424046,715,679.960424046,661,636,879,788,804,652,631.039575954,653,0.401081170685,-0.0153948373673,0.0598940376573,0.99999996455,0.000198117262353,-0.000176314510135,2.37175741304e-05,1793239542060432128
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.449783072,745,715,679.449783072,661,636,879,788,804,652.550216928,631.550216928,652.449783072,0.401142347112,-0.0153984641334,0.0599120464751,0.999999969835,0.00019607232767,-0.000145720476681,2.55044278931e-05,1793239542077098752
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.138810061,745,715,679,661,636,879.138810061,788,804,652.861189939,632,652,0.401208632863,-0.0154023965831,0.0599291217128,0.999999973842,0.000194118218229,-0.000117907530188,2.70683029668e-05,1793239542093765376
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.719601419,745,715,679,661,636,879.719601419,788,804,652.280398581,632,652,0.401286350674,-0.015406982584,0.0599426644999,0.999999976064,0.000192936552294,-9.93548588301e-05,2.78577550712e-05,1793239542110432000
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.702437638,715,679,661,635.702437638,879.702437638,788,804,652,632,652.297562362,0.401369214664,-0.0154113170431,0.0599509370477,0.999999977365,0.000192486187486,-8.62238734619e-05,2.8009808584e-05,1793239542127098880
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.12711875,715,679,661,635.12711875,879.12711875,788,804,652,632,652.87288125,0.401456882296,-0.0154154167027,0.0599542901441,0.999999977996,0.000192718448298,-7.81537062299e-05,2.75668888975e-05,1793239542143765504
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.456204952,715,679,661,635.456204952,879,788,804.456204952,652,632,653,0.401558331948,-0.0154196725219,0.0599525711354,0.999999978308,0.000191448929808,-7.77718755084e-05,2.61161083468e-05,1793239542160432384
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.958666355,804.958666355,652,632,653,0.401665443861,-0.015424151632,0.0599494465301,0.999999978555,0.000189655691061,-7.95234717796e-05,2.44372423882e-05,1793239542177099008
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.379591524,804.379591524,652,632,653,0.401795367084,-0.0154309595024,0.0599467506798,0.999999979063,0.000186590293671,-8.06617500803e-05,2.35098802726e-05,1793239542193765632
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.800547627,715,679,661,636,879,787.199452373,804,652,632,653,0.401939420827,-0.0154387138174,0.0599464880785,0.999999979902,0.000183043392533,-7.86442298001e-05,2.24825408612e-05,1793239542210432000
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.221562662,715,679,661,636,879,787.778437338,804,652,632,653,0.402110363146,-0.0154482690958,0.059950855642,0.999999981335,0.000178580251117,-7.0621624567e-05,2.12649574293e-05,1793239542227098624
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744.354982453,715,678.645017547,661,636,879.354982453,788,804,652,631.645017547,653,0.402300750669,-0.015458321751,0.0599541084596,0.99999998293,0.00017313738608,-6.14246156448e-05,1.97631994066e-05,1793239542243765248
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.930015183,715,678.069984817,661,636,879.930015183,788,804,652,631.069984817,653,0.402503192109,-0.0154686827262,0.0599566702572,0.999999984551,0.000167087199154,-5.14996041571e-05,1.80852841129e-05,1793239542260432128
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.483436372,879.483436372,788,804,652,631,653,0.40273461348,-0.0154790188505,0.0599571479458,0.99999998614,0.000158708701295,-4.76613363287e-05,1.61080106094e-05,1793239542277099008
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+134,2.233333333,POSE1_TO_POSE2_PRESS,765.318882373,745,715,679.362235254,661,635.681117627,879.681117627,788,804,652,631.681117627,653,0.40324741815,-0.0155026934429,0.0599619237245,0.999999989418,0.000140817014252,-3.44849135642e-05,1.2032148885e-05,1793239542310432256
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+140,2.333333333,POSE1_TO_POSE2_PRESS,766.164673312,745,715,679,661.164673312,636,879.835326688,788,804,652,631.835326688,652.164673312,0.405233354353,-0.0154950842368,0.0599209962948,0.999999991707,7.40879816915e-05,-0.000104662513144,-1.19544664792e-05,1793239542410432256
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.744553197,745,715,679,661.744553197,636,879.255446803,788,804,652,631.255446803,652.744553197,0.405680963755,-0.0155069198259,0.0599358452557,0.999999995508,5.02587597035e-05,-7.92190002197e-05,-1.34822601779e-05,1793239542427098880
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.678781852,744.678781852,715,679,662,636,879,788,804.321218148,652,631.321218148,653,0.406158045641,-0.0155164829881,0.0599572796246,0.999999998549,2.93517549985e-05,-4.2678937874e-05,-1.48243394046e-05,1793239542443765504
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.104648161,744.104648161,715,679,662,636,879,788,804.895351839,652,631.895351839,653,0.406658333141,-0.0155242569248,0.0599838991068,0.999999999811,1.07455958195e-05,2.59814859685e-06,-1.60201939245e-05,1793239542460432128
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.480698059,715,679,661.519301941,636,879,788,804.519301941,652,632,653,0.407165344965,-0.0155277234982,0.0600007129215,0.999999999552,-2.55507330753e-07,2.39491047606e-05,-1.79775578794e-05,1793239542477098752
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.067444987,636,879,788,804,652,632,653,0.407676516061,-0.015529645311,0.0600121697573,0.999999999142,-1.09009001543e-05,3.43066336928e-05,-2.05030523189e-05,1793239542493765376
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.645869272,636,879,788,804,652,632,653,0.408207843406,-0.0155271376705,0.0599996000827,0.999999999157,-3.1694320553e-05,1.78038066374e-06,-2.6046847663e-05,1793239542510432512
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.773484679,636,879,788,804,652,632,653,0.408749569157,-0.0155257361594,0.0599887217564,0.999999998192,-4.55071724955e-05,-2.35851237172e-05,-3.14611410571e-05,1793239542527099392
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.189330781,636,879,788,804,652,632,653,0.409307712624,-0.0155260810845,0.0599805138527,0.999999997453,-4.82986029395e-05,-3.76447244747e-05,-3.66709672324e-05,1793239542543765504
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.384325754,636,879.384325754,788,804,652,632,653,0.409936569836,-0.0155291217989,0.0599840481989,0.999999996649,-6.60135010696e-05,-2.56478992725e-05,-4.10592756423e-05,1793239542560432128
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.952948441,636,879.952948441,788,804,652,632,653,0.410599336615,-0.0155334552336,0.0599932133432,0.999999994854,-9.08846962324e-05,-1.15615413356e-06,-4.50536388772e-05,1793239542577098752
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.458100236,636,879.458100236,788,804,652,631.458100236,653,0.411259736471,-0.0155393381427,0.0599984920902,0.999999993375,-0.000104072947289,1.09196555374e-05,-4.79518759403e-05,1793239542593765632
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,678.870166824,661.129833176,636,879,788,804,652,631,653,0.411922192728,-0.0155417785122,0.059996824726,0.999999994487,-9.3817697779e-05,9.59381921163e-06,-4.61718404277e-05,1793239542610432256
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,678.292079434,661.707920566,636,879,788,804,652,631,653,0.412592485838,-0.0155318507797,0.0599723860836,0.999999998989,-6.26156870776e-06,-3.4134696946e-05,-2.85812785238e-05,1793239542627099136
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,678.570079695,662,636,879,788,804.285039847,652,631,653,0.413267576613,-0.0155242589537,0.0599470885564,0.999999995849,2.88917609677e-05,-8.29759695049e-05,-2.41408875112e-05,1793239542643766016
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.722341078,662,636,879,788,804.861170539,652,631,653,0.41394756698,-0.0155190526208,0.0599209139084,0.999999990006,1.0529863831e-05,-0.000137038540587,-3.31298251031e-05,1793239542660432640
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.553484807,661.553484807,636,879,788,804.553484807,651.553484807,631.446515193,653,0.414720082101,-0.0155281826019,0.0599469864647,0.999999995314,-1.01725605994e-05,-9.00097401924e-05,-3.41555172632e-05,1793239542677099008
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.034265095,745,715,678.965734905,661,636,879.068530189,788,804.034265095,651.034265095,632,652.965734905,0.41552255282,-0.0155413508524,0.0599888075804,0.999999998907,-3.08773826363e-05,-1.28909309193e-05,-3.26616015147e-05,1793239542693765632
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.613743178,745,715,678.386256822,661,636,880.227486356,788,804.613743178,651.613743178,632,652.386256822,0.416334283053,-0.0155463554761,0.060017290135,0.999999998195,-3.97973440384e-05,3.23515902711e-05,-3.1302512534e-05,1793239542710432256
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.808078817,745,715,678.191921183,661.191921183,636,880.808078817,788,805,652,632,652.191921183,0.417144554758,-0.0155494645841,0.060031584175,0.999999996995,-4.52479718788e-05,5.47344279423e-05,-3.10826282957e-05,1793239542727098880
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.232499751,745,715,678.767500249,661.767500249,636,880.232499751,788,805,652,632,652.767500249,0.417951910761,-0.0155487844823,0.0600175148227,0.999999998,-4.37632670902e-05,3.1419869876e-05,-3.31400586603e-05,1793239542743765760
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.343032946,679,662,636,880,788,804.656967054,652,632,653,0.418755934423,-0.0155483969119,0.0599995292942,0.999999998344,-4.48199710401e-05,2.13017652543e-06,-3.60271654136e-05,1793239542760432384
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.918534197,679,662,636,880,788,804.081465803,652,632,653,0.419557699776,-0.0155482075857,0.059978889832,0.999999997601,-4.75989497661e-05,-3.12087758173e-05,-3.94765313568e-05,1793239542777099264
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715.495788948,679.504211052,662,636,880,788,804,652,631.495788948,653,0.420341759736,-0.0155465635282,0.059954572193,0.999999995879,-4.77703031914e-05,-6.41321830441e-05,-4.29681672665e-05,1793239542793765888
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.090688738,745,715,679.909311262,662,636,880,788,804.090688738,652,631,653,0.421128088602,-0.0155453309798,0.0599296872871,0.999999992737,-4.77610778323e-05,-0.000100532480245,-4.62354107375e-05,1793239542810432512
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.672417016,745,715,679.327582984,662,636,880,788,804.672417016,652,631,653,0.421942510627,-0.0155476254345,0.0599050149639,0.999999985442,-4.91023262753e-05,-0.000156129612899,-4.82499259484e-05,1793239542827099392
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.748817224,745,715,679.251182776,662,636,879.748817224,788,805,651.748817224,631.251182776,653,0.422822591102,-0.0155513937913,0.0599166416753,0.999999987595,-5.21699661031e-05,-0.000140771497233,-4.76655424854e-05,1793239542843765760
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.173869951,745,715,679.826130049,662,636,879.173869951,788,805,651.173869951,631.826130049,653,0.423787302792,-0.0155570619491,0.0599750563794,0.999999996816,-5.74628549275e-05,-3.39549264146e-05,-4.37312831631e-05,1793239542860432384
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.401166625,788,804.598833375,651.401166625,632,653,0.424697500799,-0.0155615722598,0.0600168260328,0.999999996808,-6.09852952286e-05,3.20543973497e-05,-4.04646321287e-05,1793239542877099008
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.976241881,788,804.023758119,651.976241881,632,653,0.425584066675,-0.0155655806351,0.060051379933,0.999999994036,-6.37402330603e-05,8.03734783169e-05,-3.74873944002e-05,1793239542893765632
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.434923164,662.565076836,636,880,788,804,652,631.434923164,653,0.426432331054,-0.015565651289,0.0600392624127,0.999999993974,-6.78194446544e-05,7.63636359932e-05,-4.02734834827e-05,1793239542910432512
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.15167525,745,715,679,663,636,880,788,804,651.84832475,631,653,0.42727879948,-0.01556595377,0.0600221603836,0.999999994501,-7.32744856848e-05,6.12593385871e-05,-4.33194972781e-05,1793239542927099136
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.730308751,745,715,679,663,636,880,788,804,651.269691249,631,653,0.428124858536,-0.0155673865009,0.0599966887217,0.999999995299,-8.24417755785e-05,2.12725020816e-05,-4.63980614708e-05,1793239542943765760
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.692508831,745,715,679.307491169,662.692508831,636,880,788,804.307491169,651.307491169,631.307491169,653,0.428954236952,-0.0155669065487,0.0599689140965,0.999999994804,-8.53438503916e-05,-2.58751671324e-05,-4.93785492859e-05,1793239542960432384
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.116593168,745,715,679.883406832,662.116593168,636,880,788,804.883406832,651.883406832,631.883406832,653,0.429769053956,-0.0155647569191,0.0599391291004,0.999999992066,-8.27767035109e-05,-7.92738849629e-05,-5.22734210846e-05,1793239542977099008
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.533826014,662,636,880,788,805,652,632,653,0.43057162129,-0.0155624769785,0.0599362358446,0.999999992277,-8.1359651006e-05,-7.75154819128e-05,-5.30866469307e-05,1793239542993765632
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.949571812,632,653,0.431382990526,-0.0155607996089,0.0599442023255,0.999999993782,-8.048635648e-05,-5.60285710716e-05,-5.30829589e-05,1793239543010432256
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.367973656,632,653,0.432319823438,-0.0155658176526,0.0599946556147,0.999999995032,-8.22655439233e-05,2.57879941927e-05,-5.00402901045e-05,1793239543027098880
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.211646441,745,715,679,662,636,880.211646441,788,804.788353559,651.211646441,631.788353559,653,0.433206573581,-0.015570210981,0.0600235441553,0.999999992536,-8.7920030204e-05,6.95945613735e-05,-4.85178159049e-05,1793239543043765504
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.787859376,745,715,679,662,636,880.787859376,788,804.212140624,651.787859376,631.212140624,653,0.434007055005,-0.0155735282218,0.0600152868643,0.999999992596,-0.000100249820458,4.79279328638e-05,-4.96139163481e-05,1793239543060432384
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.271707804,745,715,679,662,636,880.635853902,788,804,652,631,653,0.434797365266,-0.0155737202603,0.0599909291761,0.999999993315,-0.000102824704331,6.93547625366e-06,-5.24348670713e-05,1793239543077099008
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.119048439,745,715,679,662,636,880.05952422,788,804,652,631,653,0.435581748864,-0.0155720912805,0.0599571899791,0.999999992419,-9.9715519749e-05,-4.53179084249e-05,-5.62608672937e-05,1793239543093765888
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.529826753,745,715,679,662,636,880,788,804.529826753,651.470173247,631.529826753,653,0.43632629656,-0.0155699103088,0.0599456723717,0.999999991318,-9.86814517391e-05,-6.56054326637e-05,-5.76366760612e-05,1793239543110432256
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.118287079,662,636,880,788,805,651.118287079,632,653,0.437058677109,-0.0155671391921,0.0599364659972,0.999999989871,-9.78583767771e-05,-8.51359751633e-05,-5.86052746171e-05,1793239543127098880
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.697434109,662,636,880,788,805,651.697434109,632,653,0.437761529147,-0.015562316506,0.0599262926539,0.999999986822,-9.69261594895e-05,-0.000116061705442,-5.90868434424e-05,1793239543143765760
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.274063995,636,880,788,805,652,632,653,0.438482182813,-0.0155612893457,0.0599290771453,0.999999986788,-9.74486989485e-05,-0.000116289792488,-5.83450531188e-05,1793239543160432384
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.847940216,636,880,788,805,652,632,653,0.439222310519,-0.0155644143,0.0599460368567,0.999999990022,-9.95626691723e-05,-8.2936199895e-05,-5.62649693882e-05,1793239543177099008
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.433021219,715,680,662.566978781,635.566978781,880,788,805,651.566978781,632,653,0.439944125661,-0.0155729443048,0.0599727454595,0.999999991659,-0.000108744354388,-4.37177781942e-05,-5.42774776324e-05,1793239543193765888
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.978226739,715,680,662,635,880,788,805,651,632,653,0.440654698879,-0.0155831995844,0.0600005613843,0.999999991347,-0.000120457345069,-6.22972657188e-06,-5.251673551e-05,1793239543210432512
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.398903188,715,680,662,635,880,788,805,651,632,653,0.441246441764,-0.0155877398154,0.0599667399885,0.999999987512,-0.000131747251503,-6.71901115017e-05,-5.57076801537e-05,1793239543227099136
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880.179360811,787.820639189,805,651,631.820639189,652.820639189,0.441819701164,-0.0155916424569,0.0599253025061,0.999999978766,-0.000143108868185,-0.000135637472964,-5.99272242657e-05,1793239543243765760
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880.755282285,787.244717715,805,651,631.244717715,652.244717715,0.442352094323,-0.0155941354104,0.0598670261079,0.999999961498,-0.00015462903625,-0.000220638297135,-6.64209676224e-05,1793239543260432128
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.669203724,662,635,880.669203724,787,805,651,631,652.330796276,0.442888361406,-0.0155984959962,0.0598296299513,0.99999994498,-0.000170320647828,-0.000275618956133,-7.11752850643e-05,1793239543277099008
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.093990846,662,635,880.093990846,787,805,651,631,652.906009154,0.443427490799,-0.0156042365259,0.0598076616553,0.999999931775,-0.000189094428191,-0.0003084185063,-7.46443865967e-05,1793239543293765888
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714.504976928,679,661.504976928,635,880.495023072,787.495023072,805,651,631,652.504976928,0.443966605045,-0.0156116695977,0.0598122756071,0.999999931333,-0.00020142527863,-0.000301701775289,-7.5748028008e-05,1793239543310432512
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714.084766479,679.084766479,661.084766479,635,881,787.915233521,805,651.084766479,631.084766479,652,0.444494666194,-0.0156188678885,0.059819045336,0.999999931734,-0.000211806462396,-0.000292928302988,-7.65764856485e-05,1793239543327099136
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714.663062862,679.663062862,661.663062862,635,881,787.336937138,805,651.663062862,631.663062862,652,0.444958390896,-0.0156227745041,0.0598081376814,0.99999992284,-0.000218163013271,-0.000317117153237,-7.84927152375e-05,1793239543343765760
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679.761130048,661.761130048,634.761130048,881,787,805,651.761130048,631.761130048,652.238869952,0.445390490887,-0.0156270693537,0.059786942113,0.999999907193,-0.000229372718665,-0.000355550982046,-8.11529392697e-05,1793239543360432640
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.188798058,661.188798058,634.188798058,881,787,805,651.188798058,631.188798058,652.811201942,0.445778442796,-0.0156319061767,0.0597513846356,0.999999880163,-0.000247357418402,-0.000413870773599,-8.48517779406e-05,1793239543377099520
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.612245419,745,715,679.387754581,661,634.387754581,880.612245419,786.612245419,805,651,631,653,0.446168137576,-0.0156370417499,0.0597290513438,0.999999861554,-0.00026478263253,-0.000446112868475,-8.81196807456e-05,1793239543393766144
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.033615078,745,715,679.966384922,661,634.966384922,880.033615078,786.033615078,805,651,631,653,0.446558690335,-0.0156423243862,0.0597132277759,0.999999847747,-0.00028193243649,-0.000465517982648,-9.11754517915e-05,1793239543410432512
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745.858593764,715,679.858593764,661.141406236,634.141406236,880.858593764,786,805,651.858593764,631,653,0.447307271847,-0.0156562578748,0.0597275710007,0.99999986477,-0.00026852141021,-0.000437239043022,-8.47279782032e-05,1793239543443765504
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.279518274,715,679.279518274,661.720481726,634.720481726,880.279518274,786,805,651.279518274,631,653,0.447644572582,-0.0156615083175,0.0597341584157,0.999999884785,-0.000209249603065,-0.000427222239788,-6.42309537708e-05,1793239543460432128
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.702348276,745,715,679,661.702348276,634.702348276,880,786,805.297651724,651,631,652.702348276,0.447946748744,-0.0156667523487,0.0597329301374,0.999999888683,-0.000186406234605,-0.000429895362683,-5.54642378356e-05,1793239543477098752
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.126956336,745,715,679,661.126956336,634.126956336,880,786,805.873043664,651,631,652.126956336,0.448216149982,-0.015671990397,0.059724408999,0.999999880075,-0.000197554416747,-0.000444409516686,-5.76431290139e-05,1793239543493765376
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679.457735073,661,634,880,786,805.542264927,651.457735073,631,652.457735073,0.448444307317,-0.0156731000028,0.0597033046281,0.999999860632,-0.000217182782347,-0.000477362175,-6.07675900688e-05,1793239543510432256
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.044484864,745.044484864,715,680,661,634,880.044484864,785.955515136,805,652,631,653,0.448658923582,-0.0156726881975,0.059679020975,0.999999837008,-0.000238430846067,-0.000514796155834,-6.41877895153e-05,1793239543527099136
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.624322308,745.624322308,715,680,661,634,880.624322308,785.375677692,805,652,631,653,0.448851101185,-0.015668032908,0.0596593483208,0.999999818763,-0.000250278518843,-0.000543339174613,-6.79454216459e-05,1793239543543765760
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.797611847,715,680,661,634,881,785,805,652,631,653,0.449038959945,-0.0156661784804,0.0596461330608,0.999999805884,-0.00025865516635,-0.000562416096948,-7.08303232782e-05,1793239543560432128
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.222806014,715,680,661,634,881,785,805,652,631,653,0.44921887151,-0.0156694779638,0.0596448001574,0.999999804342,-0.000260644723732,-0.000564074301282,-7.21092992304e-05,1793239543577098752
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.352649531,715,680,661,634,881,785.352649531,805,651.647350469,631,653,0.449380710175,-0.0156739895356,0.0596452817972,0.999999803523,-0.000264279883419,-0.000563776590581,-7.25725611121e-05,1793239543593765376
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.928516382,715,680,661,634,881,785.928516382,805,651.071483618,631,653,0.449531109217,-0.0156792683258,0.0596469119922,0.999999803144,-0.000268956663671,-0.000562240840352,-7.25194988562e-05,1793239543610432000
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715.107341042,680,661,633.107341042,881,785,806,651.107341042,630.107341042,653,0.449779023921,-0.0156824592028,0.0596435284471,0.999999801114,-0.000269312736821,-0.000565533406729,-7.35795536825e-05,1793239543643765504
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715.685963529,680,661,633.685963529,881,785,806,651.685963529,630.685963529,653,0.449872977139,-0.0156860979841,0.0596392010571,0.999999797309,-0.000272654660668,-0.000570538681442,-7.43493551845e-05,1793239543660432128
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.26202727,715.73797273,680,661,634,881,785,805.73797273,651.73797273,630.73797273,653,0.449958470834,-0.0156886338042,0.0596375367376,0.999999795394,-0.000275498304015,-0.000572481348877,-7.46820220269e-05,1793239543677099008
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745.835054007,715.164945993,680,661,634,881,785,805.164945993,651.164945993,630.164945993,653,0.45003392394,-0.0156898605224,0.0596390332097,0.999999795752,-0.000277750539378,-0.000570789015635,-7.44958548663e-05,1793239543693765888
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.592168868,715,680,660.592168868,634,881,785,805,651,630.407831132,653,0.450096454203,-0.0156913754118,0.0596392681655,0.999999795619,-0.000278726370866,-0.000570590058125,-7.4161577955e-05,1793239543710432512
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+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.57704543,633.42295457,881,785,805,651.57704543,630.42295457,652.42295457,0.45019757271,-0.0156938279997,0.0596407378684,0.999999796207,-0.000280999440174,-0.000568497449452,-7.3729657754e-05,1793239543743765760
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745.168225849,715,680,661,633,880.831774151,785,805.168225849,652,630,652,0.450235795396,-0.0156944640334,0.0596415326128,0.99999979637,-0.000282841946638,-0.000567298533752,-7.37027565844e-05,1793239543760432384
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765.680729192,745.680729192,715,680,661,633,880,785,805.680729192,652,630.319270808,652,0.45028236195,-0.0156950537737,0.0596390507469,0.99999979341,-0.000286163799867,-0.00057089296162,-7.32930599845e-05,1793239543793765888
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.067851033,715,680,660,633,880,785,805,651.067851033,630.067851033,653,0.450321198978,-0.015694087021,0.0596398812358,0.999999792993,-0.000291356449126,-0.000568967620825,-7.3496257696e-05,1793239543843766016
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.647430517,715,680,660,633,880,785,805,651.647430517,630.647430517,653,0.450324282776,-0.0156932075615,0.0596387226471,0.999999791547,-0.000290560664349,-0.000571932728368,-7.32982764813e-05,1793239543860432384
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.774114569,715,680,660.225885431,633,880,785,805.225885431,651.774114569,630.774114569,653,0.450326907495,-0.0156923467453,0.0596374193284,0.999999790486,-0.000289578377754,-0.000574305432442,-7.31178205924e-05,1793239543877099008
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.197406259,715,680,660.802593741,633,880,785,805.802593741,651.197406259,630.197406259,653,0.450328819219,-0.0156915148839,0.0596358912294,0.999999790029,-0.000288306435059,-0.000575758073951,-7.2964583316e-05,1793239543893765632
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745.130226374,715.869773626,680,660.869773626,633,881,784.869773626,805.869773626,651,630,653,0.450331661603,-0.0156897148174,0.0596340952033,0.999999788503,-0.000288162273939,-0.000578537313989,-7.24688779163e-05,1793239543960432128
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745.709165424,715.290834576,680,660.290834576,633,881,784.290834576,805.290834576,651,630,653,0.45033428936,-0.0156879890978,0.0596349722269,0.999999790088,-0.000285167834014,-0.000577243706797,-7.27568159268e-05,1793239543977098752
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.714859553,715.285140447,680,660,633,880.714859553,784.285140447,805.285140447,651,630,653,0.450334702185,-0.015687556173,0.0596344019248,0.999999790031,-0.000284128334181,-0.000577852239466,-7.27727595088e-05,1793239543993765632
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.141876576,715.858123424,680,660,633,880.141876576,784.858123424,805.858123424,651,630,653,0.450332879089,-0.0156884282938,0.059632370582,0.99999978832,-0.000285062299735,-0.000580380937141,-7.25141311888e-05,1793239544010432256
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715.555760595,680,660,633,880,785,805.555760595,651,630,653,0.450334586808,-0.0156880909288,0.0596335830663,0.999999789123,-0.000285567934781,-0.000578794792441,-7.2119963391e-05,1793239544027098880
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.034013333,715,680.034013333,660,633,880,785,805,651,630,653,0.450337255838,-0.0156874707603,0.0596356655385,0.999999790604,-0.000285982178378,-0.000576077275516,-7.17060085628e-05,1793239544043765504
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.613144479,715,680.613144479,660,633,880,785,805,651,630,653,0.450336708724,-0.0156886974439,0.059634581935,0.999999789766,-0.000287190885934,-0.00057693075659,-7.16898147453e-05,1793239544060432128
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.808536381,746,715,680.808536381,660.191463619,633,880.191463619,785,805.191463619,651.191463619,630,653,0.450336203059,-0.0156887030581,0.0596337730919,0.999999789062,-0.000287597498759,-0.000577928120776,-7.18543421548e-05,1793239544077098752
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.231851019,746,715,680.231851019,660.768148981,633,880.768148981,785,805.768148981,651.768148981,630,653,0.450335780791,-0.0156862519003,0.0596335170623,0.999999788626,-0.000286390309727,-0.000579214975433,-7.23824777869e-05,1793239544093765376
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+243,4.050000000,POSE1_TO_POSE2_PRESS,765.915401639,745.084598361,715,680,660.084598361,633,880.084598361,785,806,652,630,653,0.450336415669,-0.0156854426575,0.0596336732522,0.999999788832,-0.000284414060427,-0.000579822780539,-7.24526065609e-05,1793239544127099136
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+259,4.316666667,HOLD_POSE2,765,745.904439502,715,679.904439502,660,633,880,784,805.904439502,651,630,652.095560498,0.450341755242,-0.015683081251,0.0596350458162,0.999999792342,-0.000280573735907,-0.000575808360276,-7.09847006636e-05,1793239544413835520
+260,4.333333333,HOLD_POSE2,765,745.519621735,715,680,660,633,880,784.480378265,805.519621735,651,630,652,0.450340198628,-0.0156828868586,0.0596344425686,0.999999790646,-0.000282091598671,-0.000577947696827,-7.14766426405e-05,1793239544430502400
+261,4.350000000,HOLD_POSE2,765.058143082,745,715,680,660.058143082,633,880,784.941856918,805,651,630,652,0.450338397853,-0.0156827884853,0.0596336617903,0.999999788599,-0.000284182019215,-0.000580395618844,-7.19975942705e-05,1793239544447168768
+262,4.366666667,HOLD_POSE2,765.649934854,745,715,680,660.649934854,633,880,784.350065146,805,651,630,652,0.450339669537,-0.0156831976963,0.0596337860598,0.999999789898,-0.00028335314061,-0.000578635159994,-7.13873441156e-05,1793239544463835392
+263,4.383333333,HOLD_POSE2,765.763654269,745,715,680,660.763654269,633,880.236345731,784,805,651,630,652.236345731,0.450340735644,-0.0156837113585,0.0596337440037,0.999999790638,-0.00028318640223,-0.000577478675269,-7.10538998305e-05,1793239544480502016
+264,4.400000000,HOLD_POSE2,765.18503598,745,715,680,660.18503598,633,880.81496402,784,805,651,630,652.81496402,0.450341504039,-0.0156843762853,0.059633461077,0.999999790571,-0.000283978566067,-0.000577196857523,-7.11213219588e-05,1793239544497168640
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+266,4.433333333,HOLD_POSE2,765,745,715,680,660,633.963241002,880.036758998,784,805,651,630,653,0.450339773538,-0.0156794141718,0.0596334039517,0.999999792124,-0.000276979879075,-0.000577859007783,-7.15010651613e-05,1793239544530502144
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+269,4.483333333,HOLD_POSE2,765.281073665,745,715,680.281073665,660.718926335,633,880.281073665,784,805,651.718926335,630,653,0.450341450972,-0.0156818098362,0.0596340334463,0.999999789937,-0.000283938533507,-0.000578279562754,-7.13952435335e-05,1793239544580502272
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+271,4.516666667,HOLD_POSE2,765.873371844,745,715,680,660.126628156,633,880,784,805,651.126628156,630,653,0.450341388177,-0.0156834156519,0.0596341346522,0.999999790121,-0.000284935154929,-0.000577524207907,-7.09580552606e-05,1793239544613835264
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.843326132,715,680,660,633.843326132,880,784,805.156673868,651.156673868,630,653,0.450342963834,-0.0156791492644,0.0596353343351,0.999999792021,-0.000280361315272,-0.000576403295867,-7.151085684e-05,1793239544679229952
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.540464464,715,680,660,633,881.080928929,784,805,651,630.540464464,653,0.45034057285,-0.0156816792748,0.0596335313547,0.999999790636,-0.000281294193651,-0.000578425175554,-7.08873269682e-05,1793239544745896448
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.147669143,745.852330857,715,680,660,633,880,784.852330857,806,651.147669143,630,653,0.449822053836,-0.0156521120047,0.0595296034498,0.999999701033,-0.000269248985661,-0.000720609418187,-7.84927977377e-05,1793239544929229824
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.435867677,745.564132323,715,680,660,633,880.435867677,785,805.564132323,651.435867677,630.435867677,653,0.449710186889,-0.0156459510286,0.0595305369528,0.999999701247,-0.000266886888939,-0.000721272584224,-7.77328853897e-05,1793239544945896448
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.02150673,633,881,784.97849327,805,651.97849327,630.97849327,653,0.449591372314,-0.0156393297073,0.0595324068653,0.999999701523,-0.000264190945131,-0.000721978837416,-7.68372301482e-05,1793239544962563328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.600690872,633,881,784.399309128,805,651.399309128,630.399309128,653,0.449436810327,-0.0156294473539,0.0595285759787,0.99999970108,-0.000257635080432,-0.000725014987007,-7.62718286608e-05,1793239544979229952
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.820936552,633,880.820936552,784.179063448,805,651,630,653,0.449273609714,-0.0156193928124,0.059525549667,0.999999700587,-0.000251915513082,-0.00072775687134,-7.57256282478e-05,1793239544995896576
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.244365669,633,880.244365669,784.755634331,805,651,630,653,0.44909123202,-0.0156089560278,0.0595243094521,0.999999700069,-0.000248052464071,-0.000729845508505,-7.52220528629e-05,1793239545012563200
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.093241035,660,633,880,785,805,651,630.906758965,652.093241035,0.448677385593,-0.0155864500467,0.059530252708,0.999999705231,-0.000235931626508,-0.00072710405324,-7.20722158764e-05,1793239545045896448
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,880.261938885,787.738061115,805,651.738061115,632,652,0.437420426038,-0.015412109883,0.0598404895117,0.999999955543,0.000129587126698,-0.000267582133061,2.28369118313e-05,1793239545429229568
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d30eea69a32a568a1aee177592ddf6f44156718
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,418 @@
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+386,6.433333333,pose2_to_pose3_retreat,0.575695152625,-0.00990913627433,1.05003239167,0.546265603885,-0.00123739807596,1.04970051644
+387,6.450000000,pose2_to_pose3_retreat,0.575686104161,-0.00990923005004,1.05003238083,0.546256555495,-0.00123749150125,1.0497005083
+388,6.466666667,pose2_to_pose3_retreat,0.575679473928,-0.00990926511252,1.05003237948,0.546249925227,-0.00123752666627,1.04970050726
+389,6.483333333,pose2_to_pose3_retreat,0.57567500341,-0.00990917672784,1.05003239948,0.546245454179,-0.00123744025533,1.04970052239
+390,6.500000000,pose2_to_pose3_retreat,0.575671920261,-0.00990918393022,1.0500323588,0.54624237132,-0.00123744638163,1.04970048405
+391,6.516666667,pose2_to_pose3_retreat,0.575669985746,-0.00990925206413,1.05003228243,0.546240437598,-0.00123751156554,1.04970041446
+392,6.533333333,pose2_to_pose3_retreat,0.575668919085,-0.00990928963207,1.05003224033,0.546239371375,-0.00123754750689,1.0497003761
+393,6.550000000,pose2_to_pose3_retreat,0.575668379785,-0.00990930777259,1.05003222042,0.54623883229,-0.00123756484743,1.04970035804
+394,6.566666667,pose2_to_pose3_retreat,0.575668262114,-0.00990929817608,1.05003223803,0.546238714567,-0.00123755543222,1.04970037549
+395,6.583333333,pose2_to_pose3_retreat,0.575668219147,-0.00990929467192,1.05003224446,0.546238671581,-0.00123755199425,1.04970038186
+396,6.600000000,pose2_to_pose3_retreat,0.575668043602,-0.0099092803556,1.05003227072,0.546238495959,-0.00123753794839,1.04970040788
+397,6.616666667,pose2_to_pose3_retreat,0.575667855749,-0.00990926503542,1.05003229883,0.546238308023,-0.00123752291763,1.04970043572
+398,6.633333333,pose2_to_pose3_retreat,0.575667736052,-0.00990925527372,1.05003231674,0.546238188274,-0.00123751334035,1.04970045347
+399,6.650000000,pose2_to_pose3_retreat,0.575667713583,-0.00990925344129,1.0500323201,0.546238165795,-0.00123751154253,1.0497004568
+400,6.666666667,pose2_to_pose3_retreat,0.575667643845,-0.00990924775385,1.05003233053,0.546238096026,-0.00123750596253,1.04970046713
+401,6.683333333,pose2_to_pose3_retreat,0.575667358769,-0.00990922450486,1.05003237318,0.546237810826,-0.00123748315275,1.04970050939
+402,6.700000000,pose2_to_pose3_retreat,0.575667200033,-0.00990921155927,1.05003239693,0.546237652019,-0.00123747045172,1.04970053292
+403,6.716666667,pose2_to_pose3_retreat,0.575667145185,-0.00990920708622,1.05003240514,0.546237597147,-0.00123746606317,1.04970054105
+404,6.733333333,pose2_to_pose3_retreat,0.575667093398,-0.00990920286276,1.05003241289,0.546237545337,-0.00123746191951,1.04970054873
+405,6.750000000,pose2_to_pose3_retreat,0.575666855557,-0.00990918346594,1.05003244847,0.546237307392,-0.00123744288912,1.04970058398
+406,6.766666667,pose2_to_pose3_retreat,0.575666504668,-0.00990915484963,1.05003250097,0.54623695635,-0.00123741481341,1.049700636
+407,6.783333333,pose2_to_pose3_retreat,0.575666255557,-0.00990913453363,1.05003253824,0.546236707129,-0.00123739488122,1.04970067292
+408,6.800000000,pose2_to_pose3_retreat,0.575666144376,-0.00990912546639,1.05003255488,0.546236595899,-0.00123738598527,1.0497006894
+409,6.816666667,pose2_to_pose3_retreat,0.575665718213,-0.0099090990702,1.05003256985,0.546236169374,-0.00123736085384,1.04970070347
+410,6.833333333,pose2_to_pose3_retreat,0.57566520941,-0.00990908844959,1.05003246579,0.546235659699,-0.00123735326347,1.04970059752
+411,6.850000000,pose2_to_pose3_retreat,0.575664977741,-0.0099090836138,1.05003241841,0.546235427634,-0.00123734980741,1.04970054927
+412,6.866666667,pose2_to_pose3_retreat,0.575664762284,-0.00990907911642,1.05003237434,0.546235211808,-0.00123734659321,1.04970050441
+413,6.883333333,pose2_to_pose3_retreat,0.575664617726,-0.00990912061125,1.05003231057,0.546235067832,-0.00123738599893,1.04970044365
+414,6.900000000,pose2_to_pose3_retreat,0.575664531675,-0.00990915412938,1.05003226583,0.546234982291,-0.0012374176891,1.04970040141
+415,6.916666667,pose2_to_pose3_retreat,0.575664381396,-0.00990925747307,1.05003226191,0.546234833168,-0.00123751693171,1.04970040207
+416,6.933333333,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.0012375826454,1.04970046032
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a9adf38da3f7e56307d3a8df9eb510c7c1d8bbb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:473155db3cb3c4576652937b13a49bb7a1480dd9aaed93638ed3e204efa36475
+size 26453074
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95b7ca33f2fc9c2f4c6b61ea2dc708e74528d6a4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
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+39,0.650000000,BASELINE,766,744.366894378,715.633105622,678.366894378,661,636,879.633105622,788,803.633105622,652,631.366894378,653,0.400986146757,-0.015384003896,0.0598532915613,0.999999949264,0.000198577821786,-0.000248498184441,1.69378174248e-05,1793239547852637952
+40,0.666666667,BASELINE,765.778651099,744.221348901,715.778651099,678.221348901,661.221348901,636,879.778651099,788,804,652,631,653,0.400985725863,-0.0153835486271,0.059852943798,0.999999949219,0.000198729408829,-0.000248555772036,1.70115750821e-05,1793239547869304832
+41,0.683333333,BASELINE,765.199287125,744.800712875,715.199287125,678.800712875,661.800712875,636,879.199287125,788,804,652,631,653,0.400986803785,-0.015384862511,0.059853945756,0.999999949626,0.000199659733441,-0.000246115676996,1.76511604832e-05,1793239547885971712
+42,0.700000000,BASELINE,765.377997327,745,715,679,661.622002673,636,879,788,803.622002673,652,631,653,0.400986752379,-0.0153844996917,0.0598539459024,0.999999949492,0.000200130112499,-0.000246289391828,1.74964312638e-05,1793239547902638336
+43,0.716666667,BASELINE,765.954191397,745,715,679,661.045808603,636,879,788,803.045808603,652,631,653,0.400986108826,-0.0153832577203,0.059853420765,0.999999949074,0.000200359326568,-0.000247833615382,1.69252160877e-05,1793239547919305216
+44,0.733333333,BASELINE,766,745,715,679,661,636,879,788,803.538846583,652,631.538846583,652.461153417,0.400986931937,-0.0153849010518,0.059854141116,0.999999949964,0.000197656443749,-0.000246384047913,1.72706917971e-05,1793239547935971840
+45,0.750000000,BASELINE,766,745,715,679.12309511,661,636,879,788,804,652,632,652.12309511,0.400987461684,-0.0153865004301,0.0598546747722,0.999999950601,0.000195730872285,-0.000245309304375,1.76131315473e-05,1793239547952638208
+46,0.766666667,BASELINE,766,745,715,679.703121325,661,636,879,788,804,652,632,652.703121325,0.400986432243,-0.0153870116206,0.0598541161084,0.999999949913,0.000197630728532,-0.000246585727419,1.76504093225e-05,1793239547969304832
+47,0.783333333,BASELINE,766,744.718197674,715,680,661,636,879,788,804,652,632,652.718197674,0.400986684003,-0.0153866778536,0.0598541712956,0.999999949709,0.000198904709942,-0.000246403535114,1.7470224855e-05,1793239547985971200
+48,0.800000000,BASELINE,766,744.140927053,715,680,661,636,879,788,804,652,632,652.140927053,0.400988279096,-0.015385458153,0.0598548701024,0.999999950013,0.000199522465026,-0.000244691992244,1.70620323439e-05,1793239548002637824
+49,0.816666667,BASELINE,766,744.434414863,715,679.565585137,661,636,879.434414863,788,804,652,632,652.434414863,0.400988622039,-0.0153852667521,0.0598550153083,0.999999950236,0.000199031405978,-0.000244190974281,1.69176122302e-05,1793239548019304704
+50,0.833333333,BASELINE,766,745,715,679,661,636,879.990597246,788,804,652,632,653,0.400988533084,-0.0153854095345,0.0598549669338,0.999999950427,0.000198166982973,-0.000244112375136,1.6859259482e-05,1793239548035971584
+51,0.850000000,BASELINE,766,745,715,679,661,636,879.398956673,788,804,652,632,653,0.40098674208,-0.0153856805257,0.059854003206,0.999999950326,0.000196358413931,-0.000245981369019,1.68551555697e-05,1793239548052638208
+52,0.866666667,BASELINE,766,745,715,679,661,636,879,787.811378804,804,652,631.811378804,652.811378804,0.400985553374,-0.0153857149021,0.0598533419288,0.999999950053,0.000196214584472,-0.000247199915932,1.69370491559e-05,1793239548069304832
+53,0.883333333,BASELINE,766,745,715,679,661,636,879,787.232212896,804,652,631.232212896,652.232212896,0.40098561174,-0.0153852593617,0.059853306883,0.999999949426,0.000199517638352,-0.000247071696686,1.71970026258e-05,1793239548085971456
+54,0.900000000,BASELINE,766,745,715,679,661,636,879,787,804,652,631,652.342958441,0.400986105989,-0.0153855691977,0.059853299644,0.999999949455,0.000199625731104,-0.000246870281507,1.71711303663e-05,1793239548102638080
+55,0.916666667,BASELINE,766,745,715,679,661,636,879,787,804,652,631,652.91545622,0.40098689197,-0.0153863912938,0.0598533110159,0.999999949924,0.000197595461816,-0.000246619876883,1.69539572234e-05,1793239548119304704
+56,0.933333333,BASELINE,766,745,715,678.509745819,661,636,879,787.490254181,804,652,631,653,0.400986491798,-0.0153852864082,0.059853584982,0.999999949699,0.00019862017666,-0.000246711551374,1.6922745095e-05,1793239548135971584
+57,0.950000000,BASELINE,766,745,715,678.064716418,661,636,879,788,803.935283582,652,631.064716418,652.935283582,0.400985934058,-0.0153841618294,0.0598538555371,0.999999949462,0.000199738011807,-0.00024676702348,1.6942228241e-05,1793239548152638464
+58,0.966666667,BASELINE,766,745,715,678.633459779,661,636,879,788,803.366540221,652,631.633459779,652.366540221,0.400985749747,-0.0153854841543,0.0598537451793,0.999999950081,0.000197458680908,-0.000246078939686,1.71056017337e-05,1793239548169305088
+59,0.983333333,BASELINE,766,744.785497037,715,678.785497037,661,635.785497037,879,787.785497037,803.214502963,652,631.785497037,652,0.400985839935,-0.0153855409587,0.059853556019,0.999999950247,0.00019693904982,-0.00024582527197,1.70847017815e-05,1793239548185971712
+60,1.000000000,BASELINE,766,744.182157458,715,678.182157458,661,635.182157458,879,787.182157458,803.817842542,652,631.182157458,652,0.400986427713,-0.0153833037126,0.0598532240106,0.999999949592,0.000199609284395,-0.00024635908453,1.67297632886e-05,1793239548202638592
+61,1.016666667,BASELINE,765.600223007,744.399776993,715,678,661,635.399776993,879,787.399776993,804,652,631,652.399776993,0.400986833811,-0.0153835774,0.0598536145403,0.999999949575,0.000200075647087,-0.00024604285823,1.68361553055e-05,1793239548219305216
+62,1.033333333,BASELINE,765.027546115,744.972453885,715,678,661,635.972453885,879,787.972453885,804,652,631,652.972453885,0.400987161333,-0.0153849370433,0.0598543175612,0.999999949835,0.00019958885515,-0.000245358997851,1.71420685778e-05,1793239548235971584
+63,1.050000000,BASELINE,765.561792624,745,715,678.561792624,661,636,879.561792624,788,804,652,631,653,0.40098692631,-0.0153844357697,0.059853634776,0.999999949273,0.000201464302311,-0.000246112411505,1.71789767564e-05,1793239548252638208
+64,1.066666667,BASELINE,766,745,715.148937391,678.851062609,661,636,879.851062609,788,804,652,631.148937391,653,0.400986732181,-0.0153842311873,0.059853319362,0.999999949075,0.000202035298247,-0.000246445597155,1.71957953866e-05,1793239548269304832
+65,1.083333333,BASELINE,766,745,715.727328218,678.272671782,661,636,879.272671782,788,804,652,631.727328218,653,0.400986737931,-0.0153851532431,0.0598542651624,0.999999950051,0.00019850078682,-0.000245357659735,1.71938819834e-05,1793239548285971456
+66,1.100000000,BASELINE,766,745,715.695558061,678,661,636,879.304441939,788,804,652,632,653,0.400986656934,-0.0153854978892,0.0598546799038,0.999999950362,0.000197345884013,-0.000245018756788,1.72230260328e-05,1793239548302638336
+67,1.116666667,BASELINE,766,745,715.119583425,678,661,636,879.880416575,788,804,652,632,653,0.400986498565,-0.015385327542,0.0598546209919,0.999999950089,0.000198313361598,-0.000245347920039,1.72798703192e-05,1793239548319304960
+68,1.133333333,BASELINE,766,745,715,678.455202486,661,636,879.544797514,788,804,652,632,652.544797514,0.400988040996,-0.0153859342432,0.0598552172247,0.999999950602,0.000197501246654,-0.000243891401645,1.74916076999e-05,1793239548335971840
+69,1.150000000,BASELINE,766,744.969365745,715,678.969365745,661,636,879,788,804,652,632,652.030634255,0.400989847783,-0.0153866992457,0.059855903526,0.999999951256,0.000196309991191,-0.000242150560503,1.77087956112e-05,1793239548352638464
+70,1.166666667,BASELINE,766,744.376360578,715,678.376360578,661,636,879,788,804,652,632,652.623639422,0.400988326573,-0.0153866326371,0.0598550919925,0.999999950787,0.000196718555727,-0.000243779454412,1.72809988172e-05,1793239548369305088
+71,1.183333333,BASELINE,766,744,715,678,661,636,879,788,804,652,631.796020433,652.796020433,0.400986900666,-0.0153864538928,0.0598542022985,0.999999950343,0.000197065234042,-0.000245341160824,1.69579980021e-05,1793239548385971712
+72,1.200000000,BASELINE,766,744,715,678,661,636,879,788,804,652,631.237682202,652.237682202,0.400985640323,-0.0153860803431,0.0598531768221,0.999999949942,0.000197304402059,-0.000246786147616,1.68170514459e-05,1793239548402638336
+73,1.216666667,BASELINE,766,744.343628333,715,678.343628333,661,636,879,788,803.656371667,651.656371667,631,652.343628333,0.400985868837,-0.015386033615,0.059853210696,0.999999950128,0.000196545460938,-0.000246648324822,1.66819449667e-05,1793239548419304704
+74,1.233333333,BASELINE,766,744.941966759,715,678.941966759,661,636,879,788,803.058033241,651.058033241,631,652.941966759,0.400987200948,-0.0153862291392,0.0598540297998,0.999999950746,0.000195046684209,-0.00024533726464,1.65511673782e-05,1793239548435971328
+75,1.250000000,BASELINE,766,745,715,678.48012874,661,636,879,788,803.51987126,651.51987126,631.51987126,653,0.400986941689,-0.0153864023131,0.0598539123648,0.999999950649,0.000194915607476,-0.000245824711761,1.67262320408e-05,1793239548452638208
+76,1.266666667,BASELINE,766,745,715,678.097915896,661,636,879,788,804,652,631.902084104,652.902084104,0.400986385982,-0.0153864358835,0.059853530568,0.999999950402,0.000195128385519,-0.000246646342746,1.69017576468e-05,1793239548469305088
+77,1.283333333,BASELINE,766,745,715,678.687689379,661,636,879,788,804,652,631.312310621,652.312310621,0.400985199744,-0.0153857802478,0.0598523261119,0.999999949788,0.000196330508319,-0.00024817630102,1.69145844786e-05,1793239548485972224
+78,1.300000000,BASELINE,766,744.728191467,715,678.728191467,661,636,879,788,804,652,631.271808533,652.271808533,0.400985102124,-0.015385314571,0.0598523838482,0.999999949787,0.000196608038696,-0.000247965998424,1.68315758027e-05,1793239548502639104
+79,1.316666667,BASELINE,766,744.150436834,715,678.150436834,661,636,879,788,804,652,631.849563166,652.849563166,0.400986229846,-0.0153850627108,0.0598538623008,0.999999950476,0.000195844853148,-0.000245796868232,1.66406952371e-05,1793239548519305728
+80,1.333333333,BASELINE,766,744,715,678,661,636,879,788,804,652,632,652.575541309,0.400986776993,-0.0153852400087,0.0598536571574,0.999999950141,0.00019758303097,-0.00024576019277,1.67789638549e-05,1793239548535971840
+81,1.350000000,BASELINE,766,744,715,678,661,636,879,788,804,652,632,652.001652284,0.400987119749,-0.0153855683913,0.0598528593054,0.99999994944,0.000200201811658,-0.000246474246075,1.7033109158e-05,1793239548552638208
+82,1.366666667,BASELINE,766,744,715,678,661,636,879,788,804,652,631.428081124,652.571918876,0.400987179313,-0.0153857418055,0.059854192558,0.99999995014,0.000198090916932,-0.00024534785186,1.68927841614e-05,1793239548569304832
+83,1.383333333,BASELINE,766,744.151605897,715,678.151605897,661,636,879.151605897,788,804,652,631,653,0.400987326255,-0.0153858374822,0.0598550755436,0.999999950694,0.000196266749548,-0.000244563600258,1.67476844027e-05,1793239548585971712
+84,1.400000000,BASELINE,766,744.74929082,715,678.74929082,661,636,879.74929082,788,804,652,631,653,0.400987732698,-0.0153857057444,0.0598546155763,0.999999950822,0.00019532641894,-0.000244801690985,1.65918868878e-05,1793239548602638336
+85,1.416666667,BASELINE,766,744.666498575,715,679,661,636,879.666498575,788,804,652,631.333501425,653,0.400987490632,-0.0153849270306,0.0598542313403,0.99999995046,0.000196372619553,-0.000245444312607,1.65775879183e-05,1793239548619305216
+86,1.433333333,BASELINE,766,744.092023946,715,679,661,636,879.092023946,788,804,652,631.907976054,653,0.400986779982,-0.0153836808409,0.0598539018242,0.999999949738,0.000198854198783,-0.000246379230137,1.66655294748e-05,1793239548635972096
+87,1.450000000,BASELINE,766,744.48425251,715,679,661,636,879,788,804,652,631.51574749,653,0.400986985029,-0.0153854391324,0.0598543326023,0.99999995016,0.00019744920404,-0.000245772468515,1.6997655748e-05,1793239548652638464
+88,1.466666667,BASELINE,766,745,715,678.937596232,661,636,879,788,804,652,631.062403768,653,0.400987364628,-0.015387317882,0.0598548930545,0.999999950725,0.000195628558885,-0.000244910643482,1.72791232343e-05,1793239548669305088
+89,1.483333333,BASELINE,766,745,715,678.346472466,661,636,879,788,804,652,631.653527534,653,0.400987743295,-0.015385361738,0.0598553234822,0.99999995068,0.000196567302752,-0.000244379253826,1.67367588285e-05,1793239548685971712
+90,1.500000000,BASELINE,766,745,715,678.238846333,661,636,879,788,804,652,632,653,0.400987961588,-0.0153841458409,0.0598555851405,0.99999995045,0.000198286085765,-0.000243944249805,1.65539930876e-05,1793239548702638080
+91,1.516666667,BASELINE,766,745,715,678.815944153,661,636,879,788,804,652,632,653,0.400987952763,-0.0153839782732,0.0598556077891,0.999999949953,0.000201109551355,-0.000243645746085,1.68804869743e-05,1793239548719304704
+92,1.533333333,BASELINE,766,745,715,679,661,636,879,787.608846451,804,652,632,653,0.400986692656,-0.0153842708343,0.059854583188,0.999999949606,0.000200964164075,-0.000245184384792,1.68848456818e-05,1793239548735971840
+93,1.550000000,BASELINE,766,745,715,679,661,636,879,787.034521327,804,652,632,653,0.400984846591,-0.0153847788671,0.0598530681749,0.999999949325,0.000199428505984,-0.000247583330824,1.67383531509e-05,1793239548752638464
+94,1.566666667,BASELINE,766,744.459269102,715,678.459269102,661,636,879,787.540730898,804,652,631.459269102,653,0.400984935069,-0.0153856242604,0.05985330239,0.99999994973,0.000198016525176,-0.000247060179077,1.70610788205e-05,1793239548769305088
+95,1.583333333,BASELINE,765.880732161,744.119267839,715,678.119267839,661.119267839,636,879,787.880732161,804,652,631.119267839,652.880732161,0.400985238743,-0.015386241012,0.0598536495953,0.999999950083,0.000197002794793,-0.000246420232914,1.73407080952e-05,1793239548785972224
+96,1.600000000,BASELINE,765.289429553,744.710570447,715,678.710570447,661.710570447,636,879,787.289429553,804,652,631.710570447,652.289429553,0.400985904466,-0.0153858674648,0.0598540012502,0.999999950068,0.000197533944448,-0.00024605764106,1.73310099491e-05,1793239548802638592
+97,1.616666667,BASELINE,765.295953473,744.704046527,715,679,661.704046527,636,879,787.295953473,804,652,632,652,0.400986301935,-0.0153862050592,0.0598539598723,0.999999950274,0.000196503169334,-0.000246049044928,1.72649563928e-05,1793239548819305216
+98,1.633333333,BASELINE,765.875660893,744.124339107,715,679,661.124339107,636,879,787.875660893,804,652,632,652,0.400986442209,-0.015387224481,0.0598535416629,0.999999950688,0.000193974853665,-0.000246379852447,1.71448704585e-05,1793239548835971584
+99,1.650000000,BASELINE,766,744.450001939,715,679,661,636,879,788,803.549998061,652,631.549998061,652,0.400986720724,-0.0153878214633,0.0598537677499,0.999999950878,0.000193204765561,-0.000246219694093,1.70963681993e-05,1793239548852638208
+100,1.666666667,BASELINE,766,745,715,678.976451546,661,636,879,788,803.023548454,651.976451546,631,652.023548454,0.400987027309,-0.0153882253112,0.0598541806528,0.999999950982,0.000193084915552,-0.000245893504685,1.70709892596e-05,1793239548869304832
+101,1.683333333,BASELINE,766,745,715,678.386779056,661,636,879,788,803.613220944,651.386779056,631,652.613220944,0.400987101233,-0.0153867591097,0.0598548553546,0.999999950475,0.000197055634476,-0.000244798682975,1.71316108642e-05,1793239548885971456
+102,1.700000000,BASELINE,766,744.80057873,715,678.19942127,661.19942127,636,879,788,804,651,631.19942127,653,0.400987332245,-0.015385740323,0.0598552698284,0.999999950242,0.000199278410884,-0.000243943781164,1.71645234379e-05,1793239548902638336
+103,1.716666667,BASELINE,766,744.220997513,715,678.779002487,661.779002487,636,879,788,804,651,631.779002487,653,0.400987862713,-0.0153855744502,0.0598551882254,0.99999995056,0.000198169056137,-0.000243546242617,1.71446138375e-05,1793239548919305216
+104,1.733333333,BASELINE,766,744.355731277,715,679,661.644268723,636,879.355731277,788,804,651.355731277,631.644268723,653,0.400987579481,-0.015385567185,0.059854940854,0.999999950687,0.000197072295042,-0.000243917951234,1.7087117332e-05,1793239548935971840
+105,1.750000000,BASELINE,766,744.930702154,715,679,661.069297846,636,879.930702154,788,804,651.930702154,631.069297846,653,0.40098679476,-0.0153856576706,0.0598545913183,0.999999950696,0.000195983295392,-0.000244763752056,1.70064557603e-05,1793239548952638464
+106,1.766666667,BASELINE,766,745,715,679,661,636,879.484870342,787.484870342,804,652,631.515129658,653,0.400986028525,-0.0153859003075,0.0598542666462,0.999999950417,0.000196260182153,-0.000245683127734,1.69738783958e-05,1793239548969305088
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,715,679,661,636,879,788,804,652,631,652,0.400987041527,-0.0153875024271,0.0598551576659,0.999999950663,0.000196004925391,-0.000244849065416,1.74659766957e-05,1793239549011859712
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.420209278,744.579790722,715,679,661,636,879.579790722,788,803.420209278,652,631.579790722,652,0.400989134329,-0.0153875961061,0.0598558420848,0.999999951618,0.000194388648585,-0.000242228438712,1.74098438827e-05,1793239549028526336
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.157734035,744.842265965,715,679,661,636,880,788,803.157734035,651.842265965,632,652.157734035,0.400990001175,-0.0153870793882,0.0598559774999,0.999999951908,0.000194228345047,-0.000241170429738,1.72368102451e-05,1793239549045192960
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.730812882,744.269187118,715,679,661,636,880,788,803.730812882,651.269187118,632,652.730812882,0.400987639838,-0.0153849553749,0.0598546672797,0.999999950454,0.000197901905813,-0.000244227100738,1.67559536778e-05,1793239549061860096
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744,715,678.686994981,661,636,879.686994981,788,804,651.313005019,631.686994981,652.686994981,0.400987293962,-0.0153840202983,0.0598547283658,0.999999950074,0.000199172509197,-0.000244757306136,1.66099602522e-05,1793239549078526720
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744,715,678.096730332,661,636,879.096730332,788,804,651.903269668,631.096730332,652.096730332,0.40098873338,-0.0153841383812,0.0598560041541,0.999999950659,0.000198314574378,-0.000243049569871,1.67605883952e-05,1793239549095193344
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744.483568206,715,678.483568206,661,636,879,788,804,652,631,652.483568206,0.400988678971,-0.0153849817205,0.0598558481002,0.999999950858,0.00019721961693,-0.000243114428137,1.68459516442e-05,1793239549111859712
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.938282391,879.061717609,788,803.938282391,652,631.061717609,652.938282391,0.400988580971,-0.0153859488099,0.0598555157795,0.999999951016,0.000196109673801,-0.00024335554022,1.69206693149e-05,1793239549128526336
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.361766389,879.638233611,788,803.361766389,652,631.638233611,652.361766389,0.40099056152,-0.0153867624505,0.0598560540081,0.999999951469,0.000195262224629,-0.00024216892302,1.70132873877e-05,1793239549145192960
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.214398704,635.214398704,879.785601296,788,803.214398704,652,631.785601296,652.214398704,0.400998226879,-0.0153874366237,0.0598594535194,0.99999995277,0.00019516888589,-0.00023678156021,1.74303549277e-05,1793239549161859840
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.789972596,635.789972596,879.210027404,788,803.789972596,652,631.210027404,652.789972596,0.401015468846,-0.0153878758509,0.0598676731357,0.999999955396,0.000196345918603,-0.000224317638428,1.83939887169e-05,1793239549178526720
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,678.625659932,661.625659932,636,879,787.625659932,804,652,631.374340068,653,0.401051300064,-0.0153895844395,0.0598820915917,0.999999960804,0.000196624280565,-0.000198348030593,1.97405030998e-05,1793239549195193344
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678.036239989,661.036239989,636,879,787.036239989,804,652,631.963760011,653,0.401097811877,-0.0153920223493,0.059900071638,0.99999996694,0.000196386304492,-0.000164618628857,2.13070044547e-05,1793239549211859968
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678.540709444,661,636,879,787.540709444,804,652,632,653,0.401162997834,-0.0153954269802,0.0599180281267,0.999999971293,0.00019518473856,-0.000137105328274,2.2794644492e-05,1793239549228526592
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.116739902,652,632,652.883260098,0.401232538788,-0.0153993307386,0.0599345629865,0.999999974688,0.000193825443273,-0.000111670430611,2.41873245685e-05,1793239549245193216
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.692369555,652,632,652.307630445,0.401314389741,-0.0154049475553,0.0599455156749,0.999999976925,0.00019209427743,-9.28046943021e-05,2.52270379191e-05,1793239549261859840
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.733911288,652,632,652.266088712,0.4014009789,-0.0154095289069,0.0599528525202,0.999999978356,0.000190558017124,-7.95866917859e-05,2.53396232421e-05,1793239549278526464
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.162385182,652,632,652.837614818,0.401493006936,-0.0154129216704,0.0599560388181,0.999999979142,0.000189245484767,-7.2851600134e-05,2.43879785887e-05,1793239549295193088
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.570917003,715,679,661,636,879.429082997,787.570917003,804,652,631.570917003,652.570917003,0.401594185051,-0.0154184276504,0.0599540460611,0.99999997939,0.000187418842079,-7.44630970054e-05,2.3438152601e-05,1793239549311859712
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.027318834,715,678.972681166,661,636,879.972681166,787.027318834,804,652,631.027318834,652.027318834,0.401700454161,-0.0154248218805,0.0599500351257,0.999999979436,0.000185287442727,-7.93302436788e-05,2.24415976919e-05,1793239549328526336
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.602546383,715,678.397453617,661,636,879.397453617,787.602546383,804,652,631.602546383,652.602546383,0.401835993006,-0.0154322094746,0.0599467733297,0.999999979936,0.000181136197652,-8.30531327123e-05,2.0493366635e-05,1793239549345193216
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.822357675,744.822357675,715,678.177642325,661,636,879,788,804,652,631.822357675,652.822357675,0.401985285015,-0.0154396275288,0.059945248895,0.999999980654,0.000177316388251,-8.30929633513e-05,1.86233176697e-05,1793239549361859840
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.247556044,744.247556044,715,678.752443956,661,636,879,788,804,652,631.247556044,652.247556044,0.40216532529,-0.0154471136824,0.0599476087216,0.999999981872,0.000174237578272,-7.48984894806e-05,1.69280625859e-05,1793239549378526464
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.336148799,744.336148799,715,678.663851201,661,636,879,788,804,652,631,652.336148799,0.402360754671,-0.0154571577743,0.0599500219858,0.999999983516,0.000168277320208,-6.63832225936e-05,1.56033147834e-05,1793239549395193088
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.926588843,744.926588843,715,678.073411157,661,636,879,788,804,652,631,652.926588843,0.402567825685,-0.0154691369067,0.0599524756749,0.999999985412,0.000160137291954,-5.76252800011e-05,1.4558849693e-05,1793239549411859712
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.494457651,715,678.505542349,661,636,879,788,804,652,631,652.494457651,0.402806974468,-0.0154797540063,0.0599577454878,0.999999987101,0.000153247851493,-4.63793844791e-05,1.27365126634e-05,1793239549428526592
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744.08292014,715,678.91707986,661,636,879,788,804.08292014,652,631.08292014,652.08292014,0.40305459827,-0.0154903359518,0.0599622213938,0.999999988537,0.000146498233871,-3.67190735418e-05,1.07454309627e-05,1793239549445193216
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744.66062767,715,678.33937233,661,636,879,788,804.66062767,652,631.66062767,652.66062767,0.403325615377,-0.0155018621028,0.0599595741029,0.999999989485,0.00013952339482,-3.86278871809e-05,8.40648639779e-06,1793239549461859584
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,678.23563058,661,636,879,788,804.76436942,652,631.76436942,653,0.403609346775,-0.0155106376974,0.0599524246122,0.999999990013,0.000132831874147,-4.79758631036e-05,5.24248749746e-06,1793239549478526208
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,678.806782267,661,636,879,788,804.193217733,652,631.193217733,653,0.403911182399,-0.0155154966955,0.0599388643109,0.999999989687,0.000126543778985,-6.79166743809e-05,9.03670321655e-07,1793239549495192832
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.39611752,653,0.40423331549,-0.0155088192455,0.0599278474008,0.999999992318,8.82767644795e-05,-8.6940892924e-05,-3.40432417298e-06,1793239549511859712
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.994749056,653,0.404565825597,-0.0154962438172,0.0599181307931,0.999999993839,3.3660613553e-05,-0.000105496505059,-7.69656051255e-06,1793239549528526592
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744.43290997,715,679,661,636,879,788,803.43290997,652,631.43290997,653,0.404947425741,-0.015490821837,0.0599157317779,0.999999992513,5.2548787804e-05,-0.00010984994154,-1.21005872064e-05,1793239549545193216
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.140302561,715,678.859697439,661,636,879,788,803.140302561,652,631,652.859697439,0.40534785755,-0.0154906052444,0.0599183733096,0.999999992326,6.1742198682e-05,-0.000106253578201,-1.57185726457e-05,1793239549561859840
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.71694909,715,678.28305091,661,636,879,788,803.71694909,652,631,652.28305091,0.405805505147,-0.0155063806482,0.0599364896613,0.999999996039,3.87617566147e-05,-7.83240274571e-05,-1.68888755226e-05,1793239549578526464
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.69966233,715,678.30033767,661,636,879,788,804,652,631,652,0.406292445813,-0.0155181091661,0.0599597270785,0.999999998874,1.86887710907e-05,-3.97636248787e-05,-1.79095570733e-05,1793239549595193088
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744.109773775,715,678.890226225,661,636,879,788,804,652,631,652,0.406807627526,-0.0155259361458,0.0599879016376,0.999999999782,1.4188165663e-06,9.04582025386e-06,-1.87859911442e-05,1793239549611859712
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.470835625,715,679,661,636,879,788,804,652,631,652,0.407325812032,-0.0155255666729,0.0600010161471,0.999999999432,-8.29224912147e-06,2.45791679823e-05,-2.14979436075e-05,1793239549628526592
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.048966839,788,804,652,631,652,0.407845238027,-0.0155234742409,0.0600089558359,0.999999999109,-1.72015789265e-05,2.9513315863e-05,-2.47947427426e-05,1793239549645192960
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.623272766,788,804,652,631,652,0.408370617901,-0.0155230027019,0.0599983194015,0.999999998901,-3.60511998878e-05,2.35937709745e-06,-2.98635914438e-05,1793239549661859840
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.803014546,788,804,651.803014546,631.196985454,652.196985454,0.408914027792,-0.0155230673558,0.0599878633012,0.999999997858,-5.04305934189e-05,-2.24507408246e-05,-3.51695757609e-05,1793239549678526976
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.230433034,788,804,651.230433034,631.769566966,652.769566966,0.40949181584,-0.0155241543791,0.0599777510481,0.999999996663,-5.62865149195e-05,-4.27918476084e-05,-4.092771098e-05,1793239549695193344
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.644349368,661,636,879,787.644349368,804,651.355650632,631.644349368,653,0.41012500429,-0.0155274244231,0.0599811781368,0.999999995699,-7.46130337531e-05,-3.09174110798e-05,-4.55997475269e-05,1793239549711859712
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,678.049172181,661,636,879,787.049172181,804,651.950827819,631.049172181,653,0.410795504241,-0.0155321647061,0.0599937238148,0.999999993635,-0.000101338354159,2.6538191136e-06,-4.9540308991e-05,1793239549728526336
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879,787.529380182,804,652,631,653,0.411465249717,-0.0155368062697,0.059994734019,0.999999991554,-0.000118018452788,7.97647703482e-06,-5.38455762719e-05,1793239549745192960
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.893993356,715,678.106006644,661,636,879,788,804.106006644,651.893993356,631,653,0.412129644845,-0.0155394737436,0.0599892814958,0.999999992468,-0.000110833574842,-1.05031931369e-06,-5.27123233795e-05,1793239549761859584
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.319262626,715,678.680737374,661,636,879,788,804.680737374,651.319262626,631,653,0.412770682854,-0.015533451796,0.0599598465526,0.999999997684,-2.12622092574e-06,-6.2276624089e-05,-2.73866179836e-05,1793239549778526464
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.262783764,715,678.737216236,661,636,879,788,804.737216236,651.262783764,631.262783764,653,0.413446840087,-0.0155263159441,0.0599357076227,0.999999992296,5.40611416991e-05,-0.000110414196259,-1.7129929536e-05,1793239549795193600
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.853972733,715,678.146027267,661,636,879,788,804.146027267,651.853972733,631.853972733,653,0.41416688648,-0.0155177880267,0.0599181872041,0.999999988565,4.46134194314e-05,-0.00014219457264,-2.57052371638e-05,1793239549811860736
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,678.435909938,661,636,879.435909938,788,804,652,631.564090062,653,0.414976176761,-0.0155219755631,0.0599537807284,0.999999996383,2.03127404268e-05,-7.73734046152e-05,-2.88995114656e-05,1793239549828527104
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.985220318,788,804,651.985220318,631.014779682,653,0.415813680024,-0.0155303558393,0.0600058958162,0.999999999355,-8.50214319392e-06,1.73281189238e-05,-3.02832397394e-05,1793239549845193216
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.407590232,788,804,651.407590232,631.592409768,653,0.416610746543,-0.0155395611797,0.0600236791739,0.999999998339,-2.36819564602e-05,4.31748241149e-05,-2.99382119479e-05,1793239549861859840
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.836053977,715,679,661.163946023,636,879.163946023,787.836053977,804.163946023,651,631.836053977,653,0.417396859745,-0.0155457363446,0.0600306757215,0.999999997506,-3.43360249496e-05,5.35960585714e-05,-3.05945775581e-05,1793239549878526464
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.279124833,715,679,661.720875167,636,879.720875167,787.279124833,804.720875167,651,631.279124833,653,0.418156717497,-0.0155446480951,0.0600118159879,0.999999998485,-3.41417580271e-05,2.70420145161e-05,-3.36513107172e-05,1793239549895193088
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.303880571,744.303880571,715,679,662,636,880,787.303880571,805,651.303880571,631,653,0.418961726445,-0.0155433554307,0.0599923587509,0.999999998725,-3.41159189623e-05,-4.00541728707e-06,-3.70091344981e-05,1793239549911859712
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.913086152,744.913086152,715,679,662,636,880,787.913086152,805,651.913086152,631,653,0.419812101161,-0.0155418573798,0.0599723011717,0.999999997803,-3.42593083424e-05,-3.95675936932e-05,-4.06694798774e-05,1793239549928526592
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.50366685,745,715,678.50366685,661.50366685,636,880,788,804.50366685,652,631.49633315,653,0.420613950288,-0.0155432536102,0.0599432845491,0.999999994565,-4.1957733471e-05,-8.4698553926e-05,-4.39858904049e-05,1793239549945193216
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,678.149413387,661.074706694,636,880,787.925293306,804,652,631.925293306,652.925293306,0.421412941636,-0.0155447159174,0.0599153232536,0.999999989413,-4.9096894319e-05,-0.000128628698904,-4.70945813623e-05,1793239549961860096
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.298748574,661.649374287,636,880,787.350625713,804,652,631.350625713,652.350625713,0.422246848421,-0.015543397188,0.0599044018779,0.999999985981,-4.40795416042e-05,-0.000153866221184,-4.91961722919e-05,1793239549978526720
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679.776315227,662,636,880,787.223684773,804.223684773,652,631,652.223684773,0.423122199725,-0.0155455360184,0.0599232133181,0.999999989956,-4.35662551165e-05,-0.000125985399366,-4.81502678624e-05,1793239549995193344
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679.202563527,662,636,880,787.797436473,804.797436473,652,631,652.797436473,0.424062411877,-0.0155530859339,0.0599885566478,0.999999997743,-5.01018363852e-05,-1.49743102741e-05,-4.21785294924e-05,1793239550011859712
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804.617215318,652,631,653,0.424977625953,-0.0155571142304,0.0600270523605,0.999999996579,-5.48317918949e-05,4.75663565048e-05,-3.96594267254e-05,1793239550028526336
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804.025538738,652,631,653,0.425879198113,-0.0155592207209,0.0600508968829,0.999999994024,-5.8576387512e-05,8.36559098278e-05,-3.90244845063e-05,1793239550045192960
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.445105765,880,788,804.554894235,651.445105765,631.554894235,652.445105765,0.426749036119,-0.015560828495,0.0600315645141,0.999999994647,-6.56101854042e-05,6.82572093823e-05,-4.17445215814e-05,1793239550061859840
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.133653516,880.133653516,788,804.866346484,651,631.866346484,652.133653516,0.427611032215,-0.0155623710408,0.0600105202807,0.9999999953,-7.19651866133e-05,4.72941205895e-05,-4.45403084316e-05,1793239550078526720
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.708561625,880.708561625,788,804.291438375,651,631.291438375,652.708561625,0.428451864555,-0.0155637725114,0.0599902547516,0.999999995912,-7.55892875522e-05,1.56285230148e-05,-4.70865200466e-05,1793239550095193600
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.709983134,788,804.290016866,651,631.290016866,652.709983134,0.429262390454,-0.015562759733,0.0599645610583,0.999999995387,-7.67270322759e-05,-2.96935643187e-05,-4.95807507195e-05,1793239550111860224
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.121796752,788,804.878203248,651,631.878203248,652.121796752,0.430041757917,-0.0155592648389,0.0599332866113,0.999999991846,-7.53085265686e-05,-8.90560363858e-05,-5.20215389679e-05,1793239550128526592
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.458349959,662,636,880,788,805,651,632,652.458349959,0.43093147309,-0.0155608938873,0.0599444096447,0.999999993726,-7.69495762173e-05,-6.23906799845e-05,-5.22833465807e-05,1793239550145193472
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.036285278,635.963714722,880.036285278,788,805,651,632,653,0.431846915029,-0.0155638736651,0.0599675506691,0.999999995436,-7.92142727327e-05,-1.29786080597e-05,-5.18183502833e-05,1793239550161859840
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.612555473,635.387444527,880.612555473,788,805,651,632,653,0.432716366801,-0.0155670412709,0.0600047692778,0.999999994864,-7.88694687337e-05,4.06108988789e-05,-4.90055169051e-05,1793239550178526464
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,635.18767758,880.81232242,788,805,651.18767758,631.81232242,653,0.433561385121,-0.0155691041376,0.060024093754,0.999999993315,-8.13449900684e-05,6.68525146254e-05,-4.77786637356e-05,1793239550195193088
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,635.760444073,880.239555927,788,805,651.760444073,631.239555927,653,0.434356269473,-0.0155689002303,0.0600067019065,0.999999994061,-8.96074363605e-05,3.6979980531e-05,-4.98060263294e-05,1793239550211859968
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.654984668,663,636,880,788,805,652,631,653,0.435128028856,-0.0155694485862,0.0599810493061,0.999999994378,-9.1654705162e-05,-8.12224100274e-06,-5.26961410015e-05,1793239550228526848
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.061926614,663,636,880,788,805,652,631,653,0.435883162901,-0.0155705377685,0.0599494577835,0.99999999238,-8.92336804382e-05,-6.41735773868e-05,-5.62065159205e-05,1793239550245193728
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.479485454,636,880,788,805,651.479485454,631.520514546,652.479485454,0.436665131842,-0.0155675935814,0.0599447526158,0.999999991043,-9.78309317322e-05,-7.09505416565e-05,-5.75212734386e-05,1793239550261860096
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651,631.899496365,652.100503635,0.437436022899,-0.015563953632,0.0599408622778,0.99999998987,-0.000103318253104,-7.86437782756e-05,-5.83099594008e-05,1793239550278526720
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651,631.325230918,652.674769082,0.438139945449,-0.0155592507191,0.0599260359723,0.999999987517,-8.80900053522e-05,-0.00011773783431,-5.78255388959e-05,1793239550295193344
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651,631.255022416,653,0.43885828877,-0.0155582921869,0.0599295904671,0.999999987966,-8.24535854211e-05,-0.000118531885599,-5.67471604007e-05,1793239550311859968
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651,631.843095691,653,0.439595465087,-0.0155622236929,0.0599571496814,0.9999999921,-8.93437772381e-05,-6.93073917516e-05,-5.48930924152e-05,1793239550328526592
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.423971444,662,636,880,788,805,651,631.576028556,652.576028556,0.440304753943,-0.0155703308086,0.0599788217743,0.999999992601,-0.000101429661873,-4.01094486398e-05,-5.38636361593e-05,1793239550345193216
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.997775857,745,715,680,662,635.997775857,880.002224143,787.997775857,805,651,631,652.002224143,0.441003475232,-0.0155799376785,0.0599980589198,0.999999991753,-0.000115415919099,-1.86245403118e-05,-5.3159275061e-05,1793239550361859840
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.420529209,745,715,680,662,635.420529209,880.579470791,787.420529209,805,651,631,652.579470791,0.44159380444,-0.015584433406,0.0599416483894,0.999999983832,-0.000131893348495,-0.000107091517823,-5.89222945348e-05,1793239550378526976
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.155792955,744.844207045,715,679.844207045,661.844207045,635.155792955,880.844207045,787,805.155792955,651.155792955,631.155792955,652.844207045,0.442174061126,-0.0155887826397,0.0598880075988,0.999999969403,-0.000147395988164,-0.000187874412172,-6.45956200437e-05,1793239550395193856
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.729634518,744.270365482,715,679.270365482,661.270365482,635.729634518,880.270365482,787,805.729634518,651.729634518,631.729634518,652.270365482,0.442727289736,-0.0155927387792,0.0598417990047,0.999999953941,-0.000160282921692,-0.000248038165015,-7.00282665743e-05,1793239550411860224
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.312394129,715,679.312394129,661.312394129,635.687605871,880.312394129,787,805.687605871,651.687605871,631.687605871,652.312394129,0.443274680174,-0.0155976312283,0.0598159955432,0.999999941536,-0.000172798537204,-0.000285728323788,-7.36696011941e-05,1793239550428526592
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,744.903098754,715,679.903098754,661.903098754,635.096901246,880.903098754,787,805.096901246,651.096901246,631.096901246,652.903098754,0.443816869377,-0.0156033578313,0.0598083709233,0.999999933999,-0.000184983346777,-0.000303396857794,-7.5715064088e-05,1793239550445193472
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.516552881,635,880.516552881,787,805,651,631,652.516552881,0.444353989384,-0.0156114706046,0.0598118575861,0.999999932597,-0.000199709894345,-0.000298291156013,-7.71033774444e-05,1793239550461860096
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,880,787,805,651,631.061598113,652.061598113,0.444881435734,-0.0156194108483,0.0598142802265,0.999999930343,-0.000214284858627,-0.000295337043528,-7.85613551854e-05,1793239550478526464
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,880,787,805,651,631.638368191,652.638368191,0.445336296616,-0.0156219919801,0.0597895682041,0.999999911239,-0.000223420579131,-0.000347754570028,-8.1680477109e-05,1793239550495193344
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.787767968,745,715,680,661.212232032,634.787767968,880.212232032,786.787767968,805,651,631.787767968,653,0.445771124731,-0.015626028987,0.0597624271904,0.999999889647,-0.000236990717533,-0.000396645784031,-8.49349325424e-05,1793239550511859968
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.218789362,745,715,680,661.781210638,634.218789362,880.781210638,786.218789362,805,651,631.218789362,653,0.446172279181,-0.0156325132135,0.0597312032218,0.999999866177,-0.000258014788775,-0.000439609519257,-8.8416873613e-05,1793239550528526848
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.733337592,745,715,680,661.633331204,634.366668796,881,786,805,651,631,653,0.446575191907,-0.0156392695595,0.0597179750163,0.999999855028,-0.000272140458374,-0.000455797920898,-9.0178216017e-05,1793239550545193472
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.924846035,745,715,680,661.037576982,634.962423018,881,786,805,651,631,653,0.446979203201,-0.0156461959195,0.0597159901073,0.999999852492,-0.000281956182719,-0.000455257773295,-9.08645721442e-05,1793239550561859584
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679.878038671,661,634,880,786,805,651,631,653,0.447742622309,-0.0156604614043,0.059734102432,0.999999869284,-0.000264762496743,-0.000429418396196,-8.32622056844e-05,1793239550595193088
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679.30127694,661,634,880,786,805,651,631,653,0.448074472051,-0.0156667325312,0.0597309603311,0.999999882563,-0.000210301691242,-0.000431955002936,-6.37342852108e-05,1793239550611860480
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.279978126,660.720021874,634,880.279978126,785.720021874,805,651.279978126,631,653,0.448363543647,-0.0156693158713,0.0597165880127,0.999999877673,-0.000189110418976,-0.000453653141221,-5.55935716997e-05,1793239550628527360
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.866147178,660.133852822,634,880.866147178,785.133852822,805,651.866147178,631,653,0.448605831996,-0.015667866157,0.0596899340538,0.999999854175,-0.000204303525599,-0.000496306799493,-5.99061875204e-05,1793239550645193728
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679.553706077,660.446293923,634,880.553706077,785.446293923,805.446293923,651.553706077,630.553706077,653,0.448834167592,-0.0156680111709,0.0596664504549,0.999999831773,-0.000221770365477,-0.000532211513884,-6.34270734825e-05,1793239550661860864
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.049354991,661,634,880,785.975322505,805.975322505,651.024677495,630.024677495,653,0.44905809804,-0.0156687976619,0.0596447131774,0.99999980959,-0.000239489307328,-0.00056482181551,-6.66382538936e-05,1793239550678528000
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680.206975507,661,634,880,785.396512247,805.396512247,651.603487753,630.603487753,653,0.449275827745,-0.0156733914629,0.0596411223171,0.999999805501,-0.000247760139526,-0.000568303208537,-6.81560863076e-05,1793239550695194368
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680.820228964,661,634,880,785.179771036,805,651.820228964,631,652.820228964,0.449484691955,-0.0156768975188,0.0596392795304,0.999999802732,-0.000254609019244,-0.000569997329199,-6.93813805336e-05,1793239550711860736
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680.249442122,661,634,880,785.750557878,805,651.249442122,631,652.249442122,0.449674273006,-0.0156780376453,0.0596412389386,0.999999802975,-0.000258365042098,-0.000567803994875,-6.99703815522e-05,1793239550728526592
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.215606617,745,715,680,660,633,880,784,805,651.215606617,630,653,0.450807064629,-0.015683478846,0.0596189580005,0.999999775031,-0.00028965662878,-0.000600764342328,-7.1547887594e-05,1793239551947956480
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.96425878,715,680,660,633,880,784,805.96425878,651.03574122,630,653,0.450715907445,-0.0156803477202,0.0595789210379,0.999999737844,-0.000285981683618,-0.000661047811796,-7.44418875227e-05,1793239551997957120
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,744.197833189,715,679,661,636,880,787.802166811,804.197833189,651.197833189,631.197833189,652.197833189,0.417453463079,-0.0153705021993,0.0597685149749,0.999999918279,0.000184758634757,-0.000359301538879,1.4413817537e-05,1793239552981290240
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,744.676287276,715,679,661,636,880,788,804,652,632,653,0.412810842634,-0.0153659665256,0.059821117818,0.999999929667,0.000199708395526,-0.000316701031567,2.19705238214e-05,1793239553081289984
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.426142362,745,715,679,661,636,879.426142362,788,804.426142362,652,632,652.573857638,0.410681994239,-0.0153588946481,0.059759627615,0.999999896011,0.000210975148509,-0.0004040200462,1.53068212377e-05,1793239553131290112
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.994644486,744.994644486,715,679,661,636,880,788,804.994644486,652,631.994644486,652.005355514,0.410056300951,-0.0153620397903,0.0597811288659,0.999999911974,0.000210480563075,-0.000362543874195,1.76693636404e-05,1793239553147956992
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.196015196,744.098007598,715,679,661,636,879.098007598,788,804,652,631,652.098007598,0.40717203844,-0.0153644447322,0.0598368210991,0.999999937044,0.000208494841548,-0.000286213921673,2.28594854401e-05,1793239553231290368
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.483178981,744.483178981,715,679,661,635.516821019,879.483178981,788,804,652,631,652.483178981,0.406667230673,-0.0153642089251,0.059829933924,0.999999934765,0.000211738338304,-0.000291819366637,2.18714778171e-05,1793239553247956736
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,744.211049706,715,678,661,635,879.788950294,787.211049706,804,652,631.211049706,652,0.405296473941,-0.0153645087665,0.0598372836831,0.999999941392,0.000210392423223,-0.00026908268782,2.33383390941e-05,1793239553297956864
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,744.631103227,715,678.368896773,661,635,879,788,804,652.368896773,631.631103227,652.368896773,0.404462362654,-0.015362640873,0.0598170102293,0.999999925767,0.000238159121513,-0.000302001728206,2.32702412741e-05,1793239553331290624
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744.03749039,715,678.96250961,661,635,879,788,804,652.96250961,631.03749039,652.96250961,0.404068931561,-0.0153615292704,0.0597962997776,0.999999913862,0.000238218773089,-0.000339151322944,2.24333350513e-05,1793239553347956992
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.697810442,661,636,879.302189558,787.697810442,804,652,631,653,0.403158337154,-0.0153614931642,0.0598014961602,0.999999915157,0.00025412095919,-0.000323192401568,2.5592572242e-05,1793239553397956864
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,744.727394811,715,678.727394811,661,636,879.272605189,788,804,652,631,652.727394811,0.402913437305,-0.0153619019478,0.0598190854045,0.999999923114,0.000259559619883,-0.000292541724191,2.86380625922e-05,1793239553414623488
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,744.433855713,715,678.433855713,661,636,879.566144287,788,804,652,631.433855713,652.433855713,0.402468637576,-0.015357148111,0.0598427062688,0.999999931701,0.000265403846131,-0.000255032728078,3.34094289651e-05,1793239553447956992
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.975236097,678.975236097,661,636,879.024763903,788,803.975236097,652,631.975236097,653,0.402267939085,-0.0153523118045,0.0598481116253,0.999999932083,0.000271996707336,-0.000246265511581,3.47255660627e-05,1793239553464623872
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,714.752562074,678.752562074,661,636,879.247437926,788,803,652,631.752562074,653,0.401748651115,-0.0153539302564,0.0598330302615,0.999999943959,0.000183691864246,-0.000279606602252,1.26264175937e-05,1793239553514623488
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,744.664639002,715,679,661,636,879.335360998,788,803.335360998,652,632,653,0.4016166679,-0.0153649289017,0.0598328861801,0.999999947339,0.000162332671583,-0.000280963015515,5.46696345963e-06,1793239553531290112
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,744.831720073,715,679,661,636,879,788,804,651.168279927,631.168279927,652.168279927,0.401149324342,-0.015378253536,0.0598444156262,0.999999948523,0.000186682502302,-0.00026078338998,9.78844035104e-06,1793239553631290368
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,651.992917292,631.992917292,652.992917292,0.401070405635,-0.0153747541593,0.0598443010897,0.999999947098,0.000189816064814,-0.000263957635325,1.00388405288e-05,1793239553664623360
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,744.430362861,715,679,661,636,879,788,804,652,631.430362861,652.430362861,0.401042963687,-0.0153750694672,0.0598405389513,0.999999945665,0.000190205744466,-0.000269058387528,9.98210598695e-06,1793239553681290240
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,744.145146648,715,679,661,636,879.145146648,788,804,652,631,652.145146648,0.401019781308,-0.0153754446443,0.0598381217201,0.999999944803,0.000190376319215,-0.000272121545545,1.0084856928e-05,1793239553697956864
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d7735d0473c0bd295ed31c4c38ee481a314a1d83
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b7b6a42a3a9ba91ae9e50579f6c13ac00cebf2e8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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+size 26695493
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a65771aa89cfebb44726cf63f88f721255b87a7f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/franka_data.csv
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+2,0.033333333,BASELINE,766,744.8141608,715,678.8141608,661,636,879.8141608,788,804,652,632,653,0.400983885533,-0.015377951709,0.0598503532208,0.999999949407,0.0001935979384,-0.000252128015842,1.16998630039e-05,1793239554388184064
+3,0.050000000,BASELINE,766,744.240419706,715,678.240419706,661,636,879.240419706,788,804,652,632,653,0.400983838842,-0.0153807139007,0.0598504579814,0.999999950316,0.000190277809165,-0.000251039395952,1.18832287928e-05,1793239554404850432
+4,0.066666667,BASELINE,766,744.334530826,715,678.334530826,661,636,878.665469174,788,804,652,632,653,0.400983900693,-0.0153803985248,0.0598505303706,0.999999950037,0.000191636973026,-0.000251111071913,1.19872404882e-05,1793239554421516800
+5,0.083333333,BASELINE,766,744.910353673,715,678.910353673,661,636,878.089646327,788,804,652,632,653,0.400984040833,-0.0153778633456,0.0598505794107,0.99999994889,0.000196371240362,-0.000252019651771,1.2034015266e-05,1793239554438183424
+6,0.100000000,BASELINE,766,745,715,679,661,636,878.994997872,787.502501064,804,652,632,653,0.400983877785,-0.0153780790743,0.0598502609596,0.999999949078,0.000194898041699,-0.000252424203648,1.18492911552e-05,1793239554454850304
+7,0.116666667,BASELINE,766.085232634,745,715,679,661,636,879.914767366,787.085232634,804,652,631.914767366,653,0.400983660763,-0.0153787617049,0.0598499250178,0.999999949441,0.00019269427451,-0.000252687674693,1.16894732113e-05,1793239554471516928
+8,0.133333333,BASELINE,766.664279742,745,715,679,661,636,879.335720258,787.664279742,804,652,631.335720258,653,0.400983454925,-0.0153792106202,0.0598498803341,0.999999949404,0.000192889278642,-0.00025267221921,1.19212668404e-05,1793239554488184064
+9,0.150000000,BASELINE,766.757941381,745,715,679,661,636,879.242058619,788,804,652,631,653,0.400983714139,-0.0153800396993,0.0598502816774,0.999999949544,0.000192958609261,-0.000252049300889,1.22377637838e-05,1793239554504850688
+10,0.166666667,BASELINE,766.181912341,745,715,679,661,636,879.818087659,788,804,652,631,653,0.400984614988,-0.0153813932936,0.059851298408,0.999999949926,0.000192854547001,-0.000250588260705,1.2671126621e-05,1793239554521517056
+11,0.183333333,BASELINE,766,745,715,679,661,636,879.606297642,788,804,652,631.393702358,653,0.400984426044,-0.0153807147806,0.0598507778301,0.999999949636,0.000193999586156,-0.000250872020859,1.24336137823e-05,1793239554538183680
+12,0.200000000,BASELINE,766,745,715,679,661,636,879.03087414,788,804,652,631.96912586,653,0.400983734084,-0.0153790983083,0.0598495476771,0.999999949034,0.00019572117287,-0.000251961128135,1.18864449879e-05,1793239554554850304
+13,0.216666667,BASELINE,766,745,715,679,661.558747825,636,879.558747825,788,804,652,632,653,0.400982772596,-0.015379048368,0.0598496413026,0.999999948635,0.000196536777575,-0.000252898783752,1.20580252831e-05,1793239554571516928
+14,0.233333333,BASELINE,766.146214077,745,715,678.853785923,661.853785923,636,879.853785923,788,804,652,631.853785923,653,0.400982507665,-0.0153791242688,0.0598500434668,0.999999948644,0.000196353688073,-0.000252999851799,1.21824813482e-05,1793239554588183552
+15,0.250000000,BASELINE,766.724922795,745,715,678.275077205,661.275077205,636,879.275077205,788,804,652,631.275077205,653,0.400984348318,-0.0153793096847,0.0598511362686,0.999999949819,0.000193368445162,-0.000250651731164,1.20470074254e-05,1793239554604850176
+16,0.266666667,BASELINE,766.698682302,745,715,678,661,636,879,788,804,652,631.301317698,653,0.400984764993,-0.0153785584491,0.0598513064748,0.999999949916,0.000193302372591,-0.000250319308523,1.19589736804e-05,1793239554621516800
+17,0.283333333,BASELINE,766.124383651,745,715,678,661,636,879,788,804,652,631.875616349,653,0.400983891606,-0.0153769586473,0.0598506408487,0.999999949039,0.000195880943714,-0.000251813022223,1.19139187162e-05,1793239554638183424
+18,0.300000000,BASELINE,766,744.538856585,715,678.461143415,661,636,879,788,804,652,632,653,0.400984028227,-0.0153782008266,0.0598505203338,0.999999949499,0.000193828818505,-0.000251573971234,1.19426559961e-05,1793239554654850816
+19,0.316666667,BASELINE,766,744.048999999,715,679,661,636,879,788,804,652,632,653,0.400984318932,-0.0153801505544,0.0598505092336,0.999999950236,0.000190697600143,-0.000251034751099,1.20021754071e-05,1793239554671518208
+20,0.333333333,BASELINE,766,744.628469888,715,679,661,636,879,788,804,652,632,653,0.400983254828,-0.0153812542746,0.0598500511652,0.999999950064,0.000189743589067,-0.000252431979454,1.21740841045e-05,1793239554688184064
+21,0.350000000,BASELINE,766,745,715,679,661,636,879.206572951,788,804.206572951,652,632,653,0.400982984296,-0.0153817483943,0.0598498940387,0.999999949957,0.00018989891803,-0.000252728979128,1.23292661544e-05,1793239554704850176
+22,0.366666667,BASELINE,766,745,715,679,661,636,879.782233819,788,804.782233819,652,632,653,0.400984131653,-0.0153811533286,0.0598502746109,0.999999949968,0.000192036326561,-0.000251060178623,1.24545623588e-05,1793239554721516800
+23,0.383333333,BASELINE,766,745,715,679,661,636,879.640982957,788,804.640982957,652,632,653,0.400984237524,-0.0153790445674,0.0598504248537,0.999999949512,0.000194794791462,-0.000250772112493,1.19977223163e-05,1793239554738183680
+24,0.400000000,BASELINE,766,745,715,679,661,636,879.063516764,788,804.063516764,652,632,653,0.400983709688,-0.0153760147762,0.0598504349493,0.999999948767,0.000197931147366,-0.000251324174146,1.11866730045e-05,1793239554754850560
+25,0.416666667,BASELINE,766,745,715,679,661,636,879,788,803.476053705,652,632,653,0.400984251208,-0.0153768167146,0.0598508314879,0.999999948753,0.000198479168642,-0.00025093380309,1.14944876591e-05,1793239554771517440
+26,0.433333333,BASELINE,766,745,715,679,661,636,879,788,803.110798775,652,631.889201225,653,0.400984852608,-0.0153779117756,0.0598511406907,0.999999948921,0.000198141949465,-0.000250512196366,1.18782566673e-05,1793239554788184064
+27,0.450000000,BASELINE,766,745,715,679,661,636,879,788,803.68984976,652,631.31015024,653,0.400985148558,-0.0153782443374,0.0598508789637,0.999999949472,0.000195415436524,-0.000250450807356,1.19986472841e-05,1793239554804850688
+28,0.466666667,BASELINE,766.269213266,745,715,679.269213266,661,636,879,788,804.269213266,652,631,653,0.400985108054,-0.0153789911359,0.0598508756756,0.999999949676,0.000194233602043,-0.000250547862146,1.21287572242e-05,1793239554821517312
+29,0.483333333,BASELINE,766.848937201,745,715,679.848937201,661,636,879,788,804.848937201,652,631,653,0.400984679483,-0.0153802157152,0.059851170471,0.999999949487,0.000194833400356,-0.00025082766607,1.22700774279e-05,1793239554838183680
+30,0.500000000,BASELINE,766.56915113,745,715,679.56915113,661,636,879.43084887,788,804.56915113,652,631.43084887,653,0.400985329443,-0.0153800209659,0.0598515841556,0.999999949769,0.000194912149283,-0.000249652347119,1.2078934366e-05,1793239554854850304
+31,0.516666667,BASELINE,766,745,715,679,661,636,879.986576356,788,804,652,631.986576356,653,0.400986292095,-0.0153793848468,0.0598519919929,0.999999950207,0.000194713778993,-0.000248059918828,1.17796921457e-05,1793239554871516928
+32,0.533333333,BASELINE,766,745,715,679,661,636,879.408538122,788,804,652,631.408538122,653,0.400984420336,-0.015381222357,0.059850391635,0.999999950396,0.00019058276048,-0.000250492108509,1.1861647176e-05,1793239554888183808
+33,0.550000000,BASELINE,766,745,715,679,661,636,879.16952477,788,804,652,631.16952477,653,0.400983604886,-0.015382183987,0.0598496884623,0.999999950498,0.000188706417859,-0.000251494456575,1.19876949649e-05,1793239554904850944
+34,0.566666667,BASELINE,766,745,715,679,661,636,879.747647011,788,804,652,631.747647011,653,0.400985335403,-0.0153810345245,0.0598511477328,0.999999950429,0.000192264413648,-0.000249050525226,1.22200174159e-05,1793239554921517824
+35,0.583333333,BASELINE,766,744.674872141,715,679,661,636,879.674872141,788,804,652,632,653,0.400985087762,-0.015380565521,0.059851406833,0.999999950026,0.000194105901308,-0.000249237494058,1.23169085241e-05,1793239554938184192
+36,0.600000000,BASELINE,766,744.097888079,715,679,661,636,879.097888079,788,804,652,632,653,0.400983307765,-0.0153806236264,0.0598507362366,0.99999994937,0.00019461771793,-0.000251462456347,1.23088894719e-05,1793239554954850816
+37,0.616666667,BASELINE,766,744,715,679,661.48742565,636,879.48742565,788,804,652,631.51257435,652.51257435,0.400983399866,-0.0153796038897,0.0598509927393,0.999999949429,0.000195753531659,-0.000250355012673,1.20599403907e-05,1793239554971517184
+38,0.633333333,BASELINE,766,744.073628551,715,679,661.926371449,636,879.926371449,788,804,652,631,652.073628551,0.400983919903,-0.0153787295404,0.0598513961662,0.999999949662,0.000196583118161,-0.000248776738272,1.18581660553e-05,1793239554988183552
+39,0.650000000,BASELINE,766,744.654235569,715,679,661.345764431,636,879.345764431,788,804,652,631,652.654235569,0.400984752773,-0.0153803726447,0.0598515069598,0.999999950111,0.000194426264066,-0.000248644724924,1.23201736576e-05,1793239555004850176
+40,0.666666667,BASELINE,766,745,715.231973639,679,661.231973639,636,879,788,804.231973639,652,631,653,0.400984955708,-0.0153806987218,0.0598514400718,0.999999950211,0.000193666523623,-0.0002488322484,1.24031299944e-05,1793239555021516800
+41,0.683333333,BASELINE,766,745,715.805487655,679,661.805487655,636,879,788,804.805487655,652,631,653,0.400984231175,-0.0153790857079,0.059851111579,0.999999949801,0.00019496378739,-0.000249490233643,1.19279999952e-05,1793239555038183680
+42,0.700000000,BASELINE,766.389302438,745,715.610697562,679,662,636,879.389302438,788,804.610697562,651.610697562,631,652.610697562,0.400984182638,-0.0153786443131,0.0598512808937,0.999999949754,0.000195380644209,-0.000249355634612,1.18469752673e-05,1793239555054850560
+43,0.716666667,BASELINE,766.978403792,745,715.021596208,679,662,636,879.978403792,788,804.021596208,651.021596208,631,652.021596208,0.400984481038,-0.01537880422,0.0598517056947,0.999999949894,0.000195345656004,-0.000248814263181,1.19682143939e-05,1793239555071517696
+44,0.733333333,BASELINE,766.44186576,744.44186576,715,679,661.44186576,636,880,788,803.44186576,651.55813424,631.55813424,652,0.400983433619,-0.0153804433193,0.0598506751675,0.99999994947,0.000194810795761,-0.000250903705625,1.24540576679e-05,1793239555088184320
+45,0.750000000,BASELINE,766,744.137389926,715,678.862610074,661,636,879.862610074,788,803,652,631.862610074,652.137389926,0.400982992743,-0.0153814640705,0.059850166913,0.999999949345,0.000194125568694,-0.00025191535426,1.27763636901e-05,1793239555104850688
+46,0.766666667,BASELINE,766,744.716265817,715,678.283734183,661,636,879.283734183,788,803,652,631.283734183,652.716265817,0.400984665493,-0.0153803169525,0.0598515148825,0.999999950258,0.000193018282441,-0.000249141935514,1.25285771101e-05,1793239555121517056
+47,0.783333333,BASELINE,766,744.707950228,715,678.292049772,661,636,879,788,803.292049772,652,631.292049772,653,0.400985681104,-0.0153802282377,0.0598524082983,0.999999950856,0.000192120845705,-0.000247435656117,1.23805402241e-05,1793239555138183936
+48,0.800000000,BASELINE,766,744.135138636,715,678.864861364,661,636,879,788,803.864861364,652,631.864861364,653,0.400986064974,-0.0153811570177,0.0598528647293,0.999999951158,0.000191425147508,-0.000246755269979,1.23283975996e-05,1793239555154850560
+49,0.816666667,BASELINE,766,744.438745171,715,679,661,636,879,788,804,652,632,653,0.400985874528,-0.0153807378986,0.0598526290152,0.999999951113,0.000191258513194,-0.000247074778193,1.2159067718e-05,1793239555171517184
+50,0.833333333,BASELINE,766,745,715,678.986616185,661,636,879,788,804,652,632,653,0.400985491652,-0.0153799396005,0.0598521838899,0.999999950947,0.000191299127505,-0.000247724965112,1.19677011201e-05,1793239555188183808
+51,0.850000000,BASELINE,766,745,715,678.39362374,661,636,879,788,804,652,632,653,0.400984454849,-0.0153807439373,0.0598519249735,0.999999950171,0.000193240539428,-0.000249325522124,1.23889829065e-05,1793239555204850688
+52,0.866666667,BASELINE,766,745,715,678.194256091,661,636,879,788,804,652,632,653,0.400983438033,-0.0153811587443,0.0598515752708,0.999999949648,0.000194362211133,-0.000250532866086,1.2663927986e-05,1793239555221517312
+53,0.883333333,BASELINE,766,745,715,678.772041795,661,636,879,788,804,652,632,653,0.400982460676,-0.015380804483,0.0598510463244,0.999999949637,0.000193865428203,-0.000250963869563,1.26499530881e-05,1793239555238183936
+54,0.900000000,BASELINE,766,745,715,679,661.348035159,636,879,788,804,652,631.651964841,653,0.400983005643,-0.0153797516342,0.059851185816,0.999999949818,0.000193722606106,-0.000250367568826,1.23330658727e-05,1793239555254850560
+55,0.916666667,BASELINE,766,745,715,679,661.92286056,636,879,788,804,652,631.07713944,653,0.400984542602,-0.0153782435645,0.0598517608822,0.999999950123,0.000193810435615,-0.000249101845563,1.1818791826e-05,1793239555271516928
+56,0.933333333,BASELINE,766,745,715.509170122,679,661.490829878,636,879.509170122,788,804,652,631,653,0.400985345876,-0.0153784748847,0.0598523516553,0.99999995028,0.000194414425703,-0.000247992792844,1.19528721793e-05,1793239555288183808
+57,0.950000000,BASELINE,766,744.904070575,715.904070575,678.904070575,661,636,879.904070575,788,804,652,631.095929425,653,0.400985704376,-0.0153792115983,0.0598526632565,0.999999950347,0.000194835145513,-0.000247381083027,1.2170869195e-05,1793239555304850432
+58,0.966666667,BASELINE,766,744.324024758,715.324024758,678.324024758,661,636,879.324024758,788,804,652,631.675975242,653,0.400984392171,-0.0153811382703,0.0598515537059,0.999999950081,0.000193927233352,-0.000249156710799,1.2305214796e-05,1793239555321517312
+59,0.983333333,BASELINE,766,744.254200223,715,678,661,636,879,788,804,652,632,653,0.400983948297,-0.0153809146486,0.0598512773143,0.99999994984,0.000194477403021,-0.000249701306412,1.2190572727e-05,1793239555338184192
+60,1.000000000,BASELINE,766,744.830120802,715,678,661,636,879,788,804,652,632,653,0.400984603399,-0.0153779695769,0.0598520553836,0.999999949629,0.000196872947049,-0.000248687885914,1.17608074212e-05,1793239555354851328
+61,1.016666667,BASELINE,766,745,715,678,661,636,879,788,804,652,632,653,0.400985309827,-0.0153785092744,0.0598523476623,0.999999949883,0.000196452942357,-0.000247979830464,1.20775325398e-05,1793239555371517440
+62,1.033333333,BASELINE,766,745,715,678,661.000973906,636,879,787.999026094,804,652,631.999026094,652.999026094,0.400986033892,-0.0153805018469,0.0598524358115,0.999999950331,0.000194857778012,-0.00024740241786,1.27048989514e-05,1793239555388183808
+63,1.050000000,BASELINE,766,745,715,678,661.57958442,636,879,787.42041558,804,652,631.42041558,652.42041558,0.400984482225,-0.015379481875,0.0598519991373,0.999999950041,0.000194927353716,-0.000248535828179,1.23390339919e-05,1793239555404850432
+64,1.066666667,BASELINE,766,745,715,678.158427698,661.841572302,636,879.158427698,787.158427698,804,652,631,652.158427698,0.400983992492,-0.0153792271085,0.0598519957621,0.999999950012,0.000194690344469,-0.000248844174077,1.21934086875e-05,1793239555421517312
+65,1.083333333,BASELINE,766,745,715,678.737889528,661.262110472,636,879.737889528,787.737889528,804,652,631,652.737889528,0.400986324928,-0.0153810059363,0.0598531439133,0.999999950678,0.000193638561473,-0.00024695984599,1.26330876972e-05,1793239555438183936
+66,1.100000000,BASELINE,766,745,715,679,661,636,879.686010912,788,804,652,631.313989088,653,0.400986323618,-0.0153822524223,0.0598528723978,0.999999950792,0.000192875859432,-0.000247094962684,1.26284432389e-05,1793239555454850304
+67,1.116666667,BASELINE,766,745,715,679,661,636,879.112688386,788,804,652,631.887311614,653,0.400984394792,-0.0153830592304,0.0598514283351,0.99999995045,0.000192351918476,-0.00024889800227,1.2256818067e-05,1793239555471517184
+68,1.133333333,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.4009845206,-0.0153820405863,0.0598519021374,0.999999950463,0.000192855522248,-0.000248448760619,1.24023623747e-05,1793239555488184064
+69,1.150000000,BASELINE,766,744.938597007,715,679,661.061402993,635.938597007,879,788,804,652,632,653,0.400985088929,-0.0153807736083,0.0598527045064,0.999999950528,0.000193586996174,-0.000247603312265,1.26414988839e-05,1793239555504850944
+70,1.166666667,BASELINE,766,744.358478366,715,679,661.641521634,635.358478366,879,788,804,652,632,653,0.400985149384,-0.0153811813098,0.0598523189976,0.999999950311,0.000194119898861,-0.000248065452198,1.2602478227e-05,1793239555521517568
+71,1.183333333,BASELINE,766,744,715,679,661.781730903,635.218269097,879,788,804,652,631.781730903,653,0.40098562399,-0.0153814350282,0.0598525101728,0.999999950493,0.000193664812197,-0.000247694081696,1.24342321452e-05,1793239555538184448
+72,1.200000000,BASELINE,766,744,715,679,661.210435853,635.789564147,879,788,804,652,631.210435853,653,0.400986768441,-0.0153814396963,0.0598536340698,0.999999951318,0.000191611762884,-0.000245974600974,1.20569783254e-05,1793239555554850816
+73,1.216666667,BASELINE,766,744.372022387,715,679,661,635.627977613,879,788,804.372022387,652.372022387,631,652.627977613,0.400986160976,-0.0153808896181,0.0598535718183,0.999999951203,0.00019194765128,-0.000246182290695,1.20270227863e-05,1793239555571517184
+74,1.233333333,BASELINE,766,744.96099043,715,679,661,635.03900957,879,788,804.96099043,652.96099043,631,652.03900957,0.400984531879,-0.0153800160385,0.0598528178618,0.999999950539,0.000193676653977,-0.00024751381412,1.21995950114e-05,1793239555588183808
+75,1.250000000,BASELINE,766,745,715,679,661,635.542697132,879.542697132,788,804.457302868,652.457302868,631.542697132,652.542697132,0.400984613841,-0.0153820228194,0.0598527084334,0.999999950781,0.000192006685289,-0.000247811308787,1.26749979849e-05,1793239555604850176
+76,1.266666667,BASELINE,766,745,715,679.123072559,661,636,880,787.876927441,804,652,631.876927441,653,0.400984569184,-0.0153834698449,0.059852533664,0.999999950914,0.000190709546982,-0.000248260424291,1.29943271616e-05,1793239555621517056
+77,1.283333333,BASELINE,766,745,715,679.700435114,661,636,880,787.299564886,804,652,631.299564886,653,0.400983609143,-0.0153820965262,0.0598519489511,0.999999950414,0.000191678554071,-0.000249539944132,1.26582618822e-05,1793239555638183936
+78,1.300000000,BASELINE,766,744.724036992,715,679.724036992,661.275963008,636,880,787.275963008,804,652,631,653,0.400983441974,-0.0153814847058,0.0598516525826,0.999999950225,0.000192278065227,-0.00024984307945,1.25419928661e-05,1793239555654850560
+79,1.316666667,BASELINE,766,744.150487554,715,679.150487554,661.849512446,636,880,787.849512446,804,652,631,653,0.400984129804,-0.0153816940517,0.059851667152,0.999999950372,0.00019247912808,-0.000249093324351,1.26627425421e-05,1793239555671517184
+80,1.333333333,BASELINE,766,744,715,678.563997424,661.563997424,636,879.563997424,788,804,652,631.436002576,652.563997424,0.400984050288,-0.0153823911168,0.0598517721728,0.999999950657,0.00019136269393,-0.000248805315331,1.27436622285e-05,1793239555688183552
+81,1.350000000,BASELINE,766,744,715,678,661,636,879,788,804,652,631.973428584,652.026571416,0.400983760171,-0.0153832101761,0.0598519115723,0.999999950982,0.000189842750358,-0.000248658186532,1.28002609823e-05,1793239555704850176
+82,1.366666667,BASELINE,766,744,715,678,661,636,879,788,804,652,631.393776695,652.606223305,0.400984767923,-0.0153829574209,0.0598520968546,0.999999951173,0.000189678650264,-0.000248024662266,1.26455265498e-05,1793239555721517056
+83,1.383333333,BASELINE,766,744,715,678,661,636,879,788,804,652,631,652.815470398,0.400985182233,-0.0153825809485,0.0598520132539,0.99999995111,0.000190142310594,-0.00024792943569,1.24896276512e-05,1793239555738183680
+84,1.400000000,BASELINE,766,744,715,678,661,636,879,788,804,652,631,652.240014631,0.400984339335,-0.0153819423809,0.0598513600243,0.99999995051,0.000191935882045,-0.000248974593247,1.2331261801e-05,1793239555754850048
+85,1.416666667,BASELINE,766,744,715,678.342129931,661,636,879,788,804,652,631.342129931,652.342129931,0.400983633948,-0.0153813226995,0.0598509929626,0.999999950087,0.000193169524527,-0.000249724382877,1.22033245147e-05,1793239555771516928
+86,1.433333333,BASELINE,766,744,715,678.929060421,661,636,879,788,804,652,631.929060421,652.929060421,0.400983026953,-0.0153807165316,0.0598508306596,0.999999949793,0.000194002526935,-0.000250262831001,1.2097159462e-05,1793239555788184064
+87,1.450000000,BASELINE,766,744,715,679,661,636,879,788,804,652,632,653,0.400984331526,-0.0153795042302,0.0598516465869,0.999999949884,0.000195260231561,-0.000248926645885,1.19124888109e-05,1793239555804850944
+88,1.466666667,BASELINE,766,744.088340199,715,679,661,636,879,788,804,652,631.911659801,653,0.400985530582,-0.0153788350413,0.0598523639064,0.999999950055,0.000195957608912,-0.000247693961141,1.18000194123e-05,1793239555821517056
+89,1.483333333,BASELINE,766,744.666918059,715,679,661,636,879,788,804,652,631.333081941,653,0.400984685654,-0.0153816422645,0.0598517876701,0.999999950391,0.000193221464177,-0.000248465891807,1.21481214191e-05,1793239555838183936
+90,1.500000000,BASELINE,766,745,715,679,661.24308006,636,879,788,804,652.24308006,631,653,0.400984111477,-0.0153828071522,0.0598513692811,0.999999950359,0.000192113280005,-0.00024943756838,1.24460291988e-05,1793239555854850560
+91,1.516666667,BASELINE,766,745,715,679,661.815964247,636,879,788,804,652.815964247,631,653,0.400983904646,-0.0153817437654,0.0598511650548,0.999999949834,0.000193213866739,-0.000250680254471,1.26758348477e-05,1793239555871517696
+92,1.533333333,BASELINE,766,744.611297635,715.388702365,679,661.611297635,636,879.388702365,788,804,652.611297635,631.388702365,653,0.40098431627,-0.0153810958125,0.0598518545709,0.999999950097,0.000193881675117,-0.000249111204653,1.25904395102e-05,1793239555888184320
+93,1.550000000,BASELINE,766,744.038628599,715.961371401,679,661.038628599,636,879.961371401,788,804,652.038628599,631.961371401,653,0.400985020599,-0.0153806444778,0.059852967081,0.999999950729,0.000194344656453,-0.000246211404882,1.23558645594e-05,1793239555904850432
+94,1.566666667,BASELINE,766.557455393,744.557455393,715.442544607,678.442544607,661.557455393,636,879.442544607,788,804,652,631.442544607,653,0.400985013712,-0.0153812739492,0.0598528249496,0.999999950733,0.000193398409806,-0.000246939060414,1.23702007916e-05,1793239555921517312
+95,1.583333333,BASELINE,766.850745665,744.850745665,715,678.149254335,661.850745665,636,879,788,804,652,631.149254335,653,0.400985129674,-0.0153817991296,0.0598527559532,0.999999950769,0.000192441916127,-0.000247537897431,1.23646827802e-05,1793239555938183936
+96,1.600000000,BASELINE,766.275990954,744.275990954,715,678.724009046,661.275990954,636,879,788,804,652,631.724009046,653,0.400985742521,-0.0153818041212,0.059853154171,0.999999951032,0.000191746805173,-0.000247021479317,1.22512357356e-05,1793239555954850560
+97,1.616666667,BASELINE,766.299786715,744.299786715,715,678.700213285,661.299786715,636,879,788,804,652,632,653,0.400985854015,-0.0153820829292,0.0598534052685,0.999999951299,0.000190646903823,-0.000246797253858,1.21579063642e-05,1793239555971517184
+98,1.633333333,BASELINE,766.876509334,744.876509334,715,678.123490666,661.876509334,636,879,788,804,652,632,653,0.400985502371,-0.0153826146823,0.0598535204597,0.999999951568,0.000189173066683,-0.00024684294912,1.20831612319e-05,1793239555988183808
+99,1.650000000,BASELINE,766.538842042,745,715,678.461157958,661.538842042,636,879,788,804,651.538842042,632,653,0.400986014812,-0.0153822628151,0.0598537619218,0.999999951374,0.000190973951455,-0.000246232230423,1.22651401805e-05,1793239556004850432
+100,1.666666667,BASELINE,766,745,715,678.952412998,661,636,879,788,804,651.047587002,631.952412998,653,0.400986584565,-0.015381688628,0.0598539570789,0.999999951031,0.000193519894292,-0.000245625444255,1.25121572813e-05,1793239556021517056
+101,1.683333333,BASELINE,766,745,715,678.370243224,661,636,879,788,804,651.629756776,631.370243224,653,0.400985153334,-0.0153813215614,0.0598532455597,0.999999950499,0.000194412278762,-0.000247072011509,1.27040092702e-05,1793239556038183680
+102,1.700000000,BASELINE,766,745,715,678.209344748,661,636,879,788,804,652,631.209344748,653,0.400984242724,-0.0153811394612,0.0598525602221,0.99999995025,0.000194224584204,-0.000248227419558,1.26488037664e-05,1793239556054850304
+103,1.716666667,BASELINE,766,745,715,678.784422161,661,636,879,788,804,652,631.784422161,653,0.400984241657,-0.015381280504,0.0598519206246,0.999999950496,0.00019214995336,-0.000248874162047,1.21619800811e-05,1793239556071517184
+104,1.733333333,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400984486487,-0.0153805958042,0.0598519202402,0.999999950556,0.000192096010588,-0.000248680179827,1.20120962336e-05,1793239556088183808
+105,1.750000000,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400984878771,-0.0153794159387,0.059852303167,0.999999950506,0.000193253795563,-0.000247982047802,1.20642620388e-05,1793239556104850944
+106,1.766666667,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400985306229,-0.0153806033952,0.0598530264557,0.999999950735,0.000193146615769,-0.000247129870858,1.23072503445e-05,1793239556121517312
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,715,679,661,636,879,788,804,652,632,652,0.400983888408,-0.0153824513341,0.0598523776704,0.999999950436,0.000192867340714,-0.000248538883682,1.25962152185e-05,1793239556163813888
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744.574840726,715.574840726,679,661,636,879,788,804,652,632,652.574840726,0.400985212669,-0.0153826012184,0.0598531060547,0.999999950833,0.000192382642296,-0.000247317206797,1.24996326395e-05,1793239556180480512
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.847027943,678.847027943,661,636,879,788,804,652,632,653,0.400985780531,-0.0153827284142,0.0598533495799,0.999999951016,0.000192175783473,-0.000246739072053,1.24803875709e-05,1793239556197147136
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.259549752,678.259549752,661,636,879,788,804,652,632,653,0.400984199892,-0.0153827911648,0.0598522158977,0.999999950593,0.000192758107946,-0.000247988872236,1.2680814121e-05,1793239556213814016
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.67455176,715,678.32544824,661.32544824,636,879,788,804,652,632,653,0.400984529078,-0.0153832651278,0.0598522420175,0.999999950891,0.000191456954191,-0.000247789405479,1.27231541241e-05,1793239556230480640
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744.091516838,715,678.908483162,661.908483162,636,879,788,804,652,632,653,0.400986369858,-0.0153840645583,0.0598531861006,0.999999951756,0.000188665059801,-0.000246442868807,1.26403713341e-05,1793239556247147264
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744.484714476,715,679,661.515285524,636,879,788,804,652,632,653,0.400987025475,-0.0153837373414,0.0598541920226,0.999999952031,0.000188894848812,-0.000245151919654,1.25174479776e-05,1793239556263814144
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.057285207,652,632,653,0.400987402626,-0.0153832764007,0.059855034355,0.999999952129,0.000189673393236,-0.000244156570395,1.23946367433e-05,1793239556280480512
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.609187168,652,632,653,0.400987280722,-0.0153834720896,0.0598543647956,0.999999951645,0.000190332279479,-0.000245624150018,1.23373250365e-05,1793239556297147136
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.179495833,788,805,652,631.820504167,653,0.400991636312,-0.0153838300574,0.0598559222528,0.999999952132,0.000190804244128,-0.000243248024348,1.26267270892e-05,1793239556313813504
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.794460287,788,805,652,631.205539713,653,0.401006854598,-0.0153845817242,0.0598628825978,0.999999954892,0.000190822724663,-0.000231546818254,1.37572793836e-05,1793239556330480128
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.385358762,679,661,636,880,788,805,652.385358762,631.385358762,652.614641238,0.401041356798,-0.0153853693436,0.059876982688,0.999999960423,0.000191389537161,-0.000205670693063,1.49597602294e-05,1793239556347147008
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.964175668,679,661,636,880,788,805,652.964175668,631.964175668,652.035824332,0.401085539927,-0.015386175012,0.0598946670801,0.999999966483,0.000192231623587,-0.000172678461298,1.61983507987e-05,1793239556363813888
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.460562843,679.539437157,661,636,879.460562843,788,804.460562843,652.460562843,631.460562843,652.539437157,0.401148527443,-0.0153896206206,0.0599144694152,0.999999971697,0.000191273966232,-0.000140348116996,1.7953525694e-05,1793239556380480512
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.882872856,661.117127144,636,879,788,804,652,631,653,0.40121530236,-0.0153935285534,0.0599330375236,0.999999975588,0.00019019182465,-0.000110742363571,1.96648479341e-05,1793239556397147136
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.294467438,661.705532562,636,879,788,804,652,631,653,0.401292324593,-0.0153985959107,0.05994607731,0.999999977676,0.000189086568276,-9.19236858725e-05,2.10625891237e-05,1793239556413813504
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.720445067,636,879,788,804.279554933,652,631.279554933,652.720445067,0.401376263046,-0.0154040685774,0.0599549769149,0.999999979374,0.000186437906861,-7.76285345467e-05,2.16267552927e-05,1793239556430480128
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.160831684,636,879,788,804.839168316,652,631.839168316,652.160831684,0.401467130171,-0.0154099472831,0.0599597288804,0.999999980863,0.000182243060618,-6.78650582462e-05,2.13558449754e-05,1793239556447146752
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.426015502,636,879.426015502,788,804.573984498,652,631.573984498,652,0.401568372752,-0.0154138248164,0.0599585640272,0.999999980865,0.000182425841069,-6.77510333228e-05,2.0019837349e-05,1793239556463813376
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.977120934,636,880,788,804,652,631.022879066,652.022879066,0.401674732035,-0.0154169883134,0.0599549892594,0.999999980306,0.000184212775428,-7.15568796476e-05,1.82431656164e-05,1793239556480480000
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.403538271,636,880,788,804,652,631.596461729,652.596461729,0.401803529661,-0.0154223915863,0.0599508460331,0.999999980395,0.000182115355461,-7.60408892708e-05,1.61992588355e-05,1793239556497146624
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715.175359384,679,661,636,879.824640616,788,804,652,632,653,0.401943424961,-0.0154289489302,0.0599486377608,0.999999980926,0.000178884527866,-7.7064181376e-05,1.44871384972e-05,1793239556513813504
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715.76687015,679,661,636,879.23312985,788,804,652,632,653,0.402109656513,-0.0154382450392,0.0599510213946,0.999999982509,0.000172963971981,-6.98747251851e-05,1.35623922581e-05,1793239556530480640
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715.648744609,679,661.351255391,636,879,788,804,652,631.648744609,653,0.402303771609,-0.015449024949,0.0599547059292,0.999999984319,0.000166221920242,-5.98487915484e-05,1.22722375488e-05,1793239556547147008
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.068994526,679,661.931005474,636,879,788,804,652,631.068994526,653,0.402516025208,-0.0154607700852,0.0599592367112,0.99999998616,0.000158945477684,-4.7977703895e-05,1.07443813521e-05,1793239556563813376
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.493752887,636,879,788,804,652,631.506247113,653,0.402748568022,-0.0154713436846,0.0599612370596,0.999999987513,0.000152277026012,-4.13304347133e-05,8.85106745497e-06,1793239556580480000
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.082691924,745,715,678.917308076,661,636,879,788,804,652,631.917308076,653,0.402986972248,-0.0154817748689,0.0599625213091,0.999999988705,0.000145741966462,-3.60916934243e-05,6.85767229643e-06,1793239556597146624
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.670199999,745,715,678.329800001,661,636,879,788,804,652,631.329800001,653,0.403244427643,-0.0154923027567,0.0599615206639,0.999999989639,0.000139519851944,-3.51438631454e-05,4.55467814184e-06,1793239556613813504
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,715,678.254386719,661,636,879,788,804,652,631.254386719,653.254386719,0.403518203278,-0.0155003827515,0.0599563734338,0.999999990096,0.000134470508651,-4.15119087657e-05,1.40944267014e-06,1793239556630480128
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,715,678.834322925,661,636,879,788,804,652,631.834322925,653.834322925,0.403812864602,-0.0155053300728,0.0599459196433,0.999999989787,0.000130922010855,-5.72423915122e-05,-2.81364464511e-06,1793239556647146752
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.587467972,745,715,679,661,636,879.412532028,788,804,652,632,653.587467972,0.404135197053,-0.0154996814241,0.0599349396717,0.99999999351,8.43631886155e-05,-7.62729570697e-05,-6.67016459884e-06,1793239556663813632
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.009949613,745,715,679,661,636,879.990050387,788,804,652,632,653.009949613,0.404468596173,-0.0154897950675,0.0599237492617,0.999999995066,2.06029971913e-05,-9.66233432544e-05,-1.03800810114e-05,1793239556680480512
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.564592069,745,715,679,661,636,879.435407931,788,804,652,631.435407931,653,0.404845728595,-0.0154852522083,0.0599203968761,0.999999993876,3.99332338269e-05,-0.000102134853612,-1.49013129639e-05,1793239556697146880
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.858045111,744.858045111,715,679,661,636,879,788,804,652,631.141954889,653,0.405235797655,-0.0154851404845,0.0599210050968,0.999999993289,5.28639729362e-05,-0.000101377343783,-1.86876716132e-05,1793239556713813504
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.271687206,744.271687206,715,679,661,636,879,788,804,652,631.728312794,653,0.405663965908,-0.0154986075925,0.0599335822144,0.999999995602,4.1200478908e-05,-8.18084387723e-05,-2.01289149837e-05,1793239556730480128
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.311105035,715,679,661,636,879,788,804,652,631.688894965,652.688894965,0.406134515038,-0.0155083233795,0.0599545266862,0.999999998338,2.52844764969e-05,-4.71651555599e-05,-2.14397135833e-05,1793239556747146752
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744.89081874,715,679,661,636,879,788,804,652,631.10918126,652.10918126,0.406641655944,-0.0155148002703,0.0599826955486,0.999999999727,5.696849025e-06,4.93376330737e-07,-2.26378860476e-05,1793239556763813376
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.46777731,679,661,636,879,788,804,652,631.46777731,652.46777731,0.407169692699,-0.015517752076,0.0599993620421,0.999999999408,-6.16694554474e-06,2.32571321851e-05,-2.46162901898e-05,1793239556780480256
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.955902825,679,661,636,879,788,804,652,631.955902825,653,0.407701193729,-0.0155194841525,0.0600113283359,0.999999998826,-1.6969069596e-05,3.64487324039e-05,-2.70404096553e-05,1793239556797146624
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.37957538,679,661,636,879,788,804,652,631.37957538,653,0.408215986779,-0.0155163669943,0.0599987788977,0.99999999879,-3.65885626167e-05,3.82904667728e-06,-3.26589880645e-05,1793239556813813760
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.798652387,715,679,661,636,879.201347613,788,804,652,631.201347613,653,0.408748133859,-0.0155150827301,0.05998851035,0.999999997774,-5.04506937523e-05,-2.15033224051e-05,-3.80018439914e-05,1793239556830480640
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,744.208863668,715,679,661,636,879.791136332,788,804,652,631.791136332,653,0.409313760415,-0.015517334497,0.0599826421117,0.999999997131,-5.32056843453e-05,-3.27769515477e-05,-4.28127740756e-05,1793239556847147008
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,744.374150532,715,679,661,636,879.625849468,788,804.374150532,652,631.625849468,652.625849468,0.409933671661,-0.0155207119694,0.0599856827488,0.999999995917,-7.39499996502e-05,-2.18006780709e-05,-4.71418562289e-05,1793239556863813632
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,744.953450202,715,679,661,636,879.046549798,788,804.953450202,652,631.046549798,652.046549798,0.410583347534,-0.0155247066734,0.0599936081797,0.999999993222,-0.00010455797694,1.37536016585e-06,-5.12067378571e-05,1793239556880480000
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678.473953936,661.526046064,636,879.526046064,788,804.473953936,652,631,652,0.411261604456,-0.0155282308089,0.0599969551766,0.999999991736,-0.000115286170379,9.63719432046e-06,-5.60660132619e-05,1793239556897146880
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,678.10133253,662,636,879.89866747,788,804,652,631,652.10133253,0.4119363244,-0.0155297943698,0.059995568712,0.999999993251,-0.000101813395624,8.87787867646e-06,-5.52532638205e-05,1793239556913813504
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,678.692455073,662,636,879.307544927,788,804,652,631,652.692455073,0.412581877439,-0.0155220802438,0.059973236722,0.999999999013,2.02386819228e-05,-2.91863312015e-05,-2.6689324011e-05,1793239556930480384
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.721899999,636,879.556200001,788,804.278100001,652,631,653,0.413247287754,-0.0155155602058,0.059950695697,0.999999994455,7.40598408497e-05,-7.3160485932e-05,-1.59258182595e-05,1793239556947147008
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.142195569,636,880.715608861,788,804.857804431,652,631,653,0.41393423372,-0.0155103351765,0.0599279279671,0.999999990617,5.38833627138e-05,-0.000123544086786,-2.44671986174e-05,1793239556963813888
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.435082757,636,880.564917243,788,804.564917243,652,631,653,0.414722512404,-0.0155155724847,0.0599523020719,0.999999995947,3.10930754216e-05,-7.95729646402e-05,-2.84240241708e-05,1793239556980480512
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,652,631,653,0.415543712199,-0.0155242267576,0.0599917476412,0.999999999481,7.5448557898e-06,-5.57359611178e-06,-3.08384470452e-05,1793239556997147136
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,652,631,653,0.416364268883,-0.0155336904622,0.0600189801767,0.999999998768,-1.15325952046e-05,3.72740929856e-05,-3.06965228963e-05,1793239557013813504
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715.163484669,679,662.163484669,636,880,788,804,652,631.163484669,653,0.417170765417,-0.0155399817697,0.0600332017339,0.999999997453,-2.55978993925e-05,5.87480754532e-05,-3.14273814465e-05,1793239557030479872
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715.755353211,679,662.755353211,636,880,788,804,652,631.755353211,653,0.417940419665,-0.0155379603477,0.0600133302252,0.999999998762,-2.6529721023e-05,2.42158788039e-05,-3.44452193145e-05,1793239557047146496
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.659886018,745,715.659886018,679,662.659886018,636,880.340113982,788,804,652,631.659886018,653,0.418743706173,-0.015538539397,0.0599982012775,0.999999998903,-2.88110309147e-05,1.12594929608e-06,-3.69088140298e-05,1793239557063813376
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.080133293,745,715.080133293,679,662.080133293,636,880.919866707,788,804,652,631.080133293,653,0.419570689388,-0.0155409506961,0.0599864138616,0.99999999863,-3.20431681135e-05,-1.39019446406e-05,-3.89818979798e-05,1793239557080480000
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.494193664,745,715,679,662,636,880.505806336,788,804.494193664,652,631.494193664,653,0.420370186849,-0.0155403021143,0.0599595108365,0.999999997007,-3.6314762305e-05,-5.32174938178e-05,-4.2846249484e-05,1793239557097146880
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679.06780948,662,636,880.06780948,788,804.93219052,652,632,652.93219052,0.421169763851,-0.0155390754804,0.059930992903,0.99999999341,-3.92458527644e-05,-9.72199063437e-05,-4.67709255578e-05,1793239557113813760
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.642614481,662,636,880.642614481,788,804.357385519,652,632,652.357385519,0.422002895739,-0.0155371962615,0.0599085271558,0.999999987497,-3.09078058152e-05,-0.00014713939955,-4.89985654934e-05,1793239557130480384
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.775066417,788.224933583,804.224933583,652,632,652.224933583,0.422879851131,-0.0155390432146,0.0599186712822,0.999999989254,-2.95883182919e-05,-0.000135178305506,-4.84018802799e-05,1793239557147147008
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.180395838,788.819604162,804.819604162,652,632,652.819604162,0.423828842012,-0.015547015103,0.0599824182354,0.999999998045,-3.98056618429e-05,-2.15003376343e-05,-4.31626803028e-05,1793239557163813632
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.599009179,662,636,880,788.198018358,805,652,631.599009179,653,0.424742097741,-0.0155531339376,0.060027044582,0.999999996762,-4.75890173713e-05,5.10970459216e-05,-4.00024201967e-05,1793239557180480000
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.023407035,662,636,880,787.04681407,805,652,631.023407035,653,0.425639792552,-0.0155584458601,0.0600633448628,0.999999992215,-5.43124930275e-05,0.000105805895432,-3.77474341495e-05,1793239557197146624
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.551594309,662,636,880,787.551594309,804.448405691,651.448405691,631.551594309,653,0.426505841234,-0.015558008174,0.0600445563279,0.999999993693,-5.67745300328e-05,8.79820798288e-05,-4.06229935114e-05,1793239557213813504
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.870579757,662,636,880,788.129420243,804.129420243,651.129420243,632,653,0.427368235718,-0.0155576430735,0.0600233338425,0.999999995199,-5.97900258036e-05,6.42119805577e-05,-4.3642806091e-05,1793239557230480640
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.282656833,662,636,880,788.717343167,804.717343167,651.717343167,632,653,0.428222436688,-0.0155583985647,0.0600017613808,0.999999996326,-6.54062392136e-05,3.02682160224e-05,-4.6403198295e-05,1793239557247147520
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.301073972,636,880,788.698926028,804.698926028,652,631.698926028,653,0.429049565828,-0.0155569465245,0.0599733498403,0.999999996379,-6.69437899505e-05,-1.8014669738e-05,-4.93553433271e-05,1793239557263813888
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.880923111,636,880,788.119076889,804.119076889,652,631.119076889,653,0.429851628146,-0.0155534504518,0.0599386057531,0.999999993363,-6.47047604867e-05,-7.95746591322e-05,-5.24850389103e-05,1793239557280480512
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715.457287422,679,662.542712578,636,880.457287422,788,804,652,631.457287422,652.542712578,0.430718381188,-0.0155532289853,0.0599422011332,0.999999994237,-6.51779138449e-05,-6.65527595913e-05,-5.33683106474e-05,1793239557297147136
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715.966579275,679.033420725,662,636,880.966579275,788,804.033420725,652,632,652.033420725,0.431603244967,-0.0155541381828,0.0599575317768,0.999999995861,-6.63514142525e-05,-3.19372869828e-05,-5.34381808759e-05,1793239557313813248
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715.379351376,679.620648624,662,636,880.379351376,788,804.620648624,652,632,652.620648624,0.432511187075,-0.0155597602887,0.0600031411014,0.999999995643,-6.75156418272e-05,4.11132828993e-05,-4.96493719609e-05,1793239557330480128
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.795041274,662,635.795041274,880.204958726,788,805,652,631.795041274,653,0.433384759968,-0.0155637654994,0.0600283151275,0.99999999316,-7.24553197007e-05,7.83560625908e-05,-4.78666764162e-05,1793239557347146752
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.216055725,662,635.216055725,880.783944275,788,805,652,631.216055725,653,0.434195613032,-0.0155648200575,0.0600161970201,0.999999993948,-8.42847741002e-05,5.0253630484e-05,-4.97449138139e-05,1793239557363813376
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.362493159,880.637506841,788,805,651.637506841,631,653,0.434992339312,-0.0155660206543,0.0599931696287,0.999999994838,-8.64843735541e-05,1.02956369098e-05,-5.23286737277e-05,1793239557380480512
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.940782058,880.059217942,788,805,651.059217942,631,653,0.43578065573,-0.0155673081892,0.059963647834,0.999999994355,-8.29512248903e-05,-3.6720087239e-05,-5.53324379407e-05,1793239557397147392
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.516147678,662,636,880,788,805,651.516147678,631.516147678,653,0.43654994909,-0.0155651956845,0.0599565825503,0.999999993303,-8.99323635074e-05,-4.55488987287e-05,-5.684552742e-05,1793239557413814272
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.909100712,662,636,880.090899288,788,805,651.909100712,632,653,0.43730853695,-0.0155621597026,0.0599502293882,0.999999992216,-9.49980159579e-05,-5.64794713263e-05,-5.79141678126e-05,1793239557430480640
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.335837656,662,636,880.664162344,788,805,651.335837656,632,653,0.438021831792,-0.0155562815976,0.0599340600319,0.999999989687,-8.35336741166e-05,-0.000101681463617,-5.7526757345e-05,1793239557447147008
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.245426066,662,636,881,788,805,651,632,652.754573934,0.438761011157,-0.0155543248589,0.0599344046168,0.999999989151,-7.96166025365e-05,-0.000110206000941,-5.66892869106e-05,1793239557463813632
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765.50683239,745.49316761,715,680,660.50683239,633,880.50683239,784.49316761,806,651.50683239,629.98633522,653,0.451312401995,-0.0156998866602,0.0596271812827,0.999999782144,-0.000300391028468,-0.000583695534664,-6.91085449461e-05,1793239558447147008
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.06944031,746,715.06944031,680,660.06944031,633,880.06944031,785,806,651.06944031,630.93055969,653,0.451312639788,-0.0156995022378,0.0596258266247,0.99999978242,-0.000298456113775,-0.000584221328151,-6.90628158198e-05,1793239558463813376
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.657620445,746,715.657620445,680,660.657620445,633,880.657620445,785,806,651.657620445,630.342379555,653,0.451313123923,-0.0157016947651,0.0596270515471,0.999999781331,-0.00030329564595,-0.000583626550757,-6.87727106896e-05,1793239558480480000
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.757591491,745.757591491,715.757591491,680,660.757591491,633,881,785,806,652,630,653,0.451313233829,-0.0157027257086,0.0596276233928,0.999999780759,-0.000305296624869,-0.000583590813641,-6.85339651145e-05,1793239558497146624
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.177528212,745.177528212,715.177528212,680,660.177528212,633,881,785,806,652,630,653,0.451312822466,-0.0157021386634,0.0596272855575,0.999999780931,-0.000303343737317,-0.000584333772784,-6.83667590625e-05,1793239558513813248
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.400173607,745.400173607,715,680,660,633,881,784.599826393,805.599826393,652,630,653,0.4513136221,-0.0157021541986,0.0596279451334,0.999999781596,-0.00030299875644,-0.000583396417831,-6.8171911152e-05,1793239558530480384
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.976833928,745.976833928,715,680,660,633,881,784.023166072,805.023166072,652,630,653,0.451314955814,-0.0157024354871,0.0596290445929,0.999999782478,-0.000303362903317,-0.000581718001686,-6.79648724908e-05,1793239558547147776
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.437910974,745.437910974,715,680.562089026,660.562089026,633,881,784,805.562089026,651.437910974,630,653,0.45131528722,-0.0157038267435,0.059628585088,0.999999781136,-0.000306356675998,-0.000582458926506,-6.79364812618e-05,1793239558563814400
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680.854000449,660.854000449,633,880.854000449,784,805.854000449,651,630,653,0.451315482673,-0.0157053978784,0.0596282753911,0.99999978007,-0.000308986529397,-0.000582919349439,-6.77735119615e-05,1793239558580481024
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680.275142849,660.275142849,633,880.275142849,784,805.275142849,651,630,653,0.451315399428,-0.0157073645805,0.059628603294,0.999999780121,-0.00031021113066,-0.00058224792948,-6.71893787251e-05,1793239558597147136
+254,4.233333333,POSE1_TO_POSE2_PRESS,765.30367378,745.30367378,715,680,660,633,880,784,805,651,630,653,0.451315466356,-0.0157080653586,0.0596284368806,0.999999780103,-0.000310434607049,-0.000582221246108,-6.66504468598e-05,1793239558613813504
+255,4.250000000,POSE1_TO_POSE2_PRESS,765.882453259,745.882453259,715,680,660,633,880,784,805,651,630,653,0.45131566933,-0.0157076193042,0.0596278226535,0.999999780024,-0.000309751139217,-0.00058277864583,-6.6152464083e-05,1793239558630480128
+256,4.266666667,HOLD_POSE2,766,745,715,680,660,633,880,784,806,651,630,653,0.451315455536,-0.0157177686144,0.0596279526755,0.999999777012,-0.000319637603543,-0.000582982121716,-6.27740223442e-05,1793239558662822656
+257,4.283333333,HOLD_POSE2,765.424906236,745,715,680,660,633,880.575093764,784,806,651.575093764,630,653,0.45131539673,-0.0157217515744,0.0596269652884,0.999999775177,-0.000324168335668,-0.000583706565932,-6.2031066271e-05,1793239558679489280
+258,4.300000000,HOLD_POSE2,765.154484252,745,715,679.845515748,660,632.845515748,881,784,806,651.845515748,630,653,0.451315276155,-0.0157248340292,0.0596264567508,0.99999977386,-0.000327718049671,-0.000584043761253,-6.14336085053e-05,1793239558696155904
+259,4.316666667,HOLD_POSE2,765.746031043,745,715,679.253968957,660,632.253968957,881,784,806,651.253968957,630,653,0.451314980824,-0.0157253688004,0.0596273029604,0.99999977406,-0.000328492295601,-0.000583285362992,-6.12477903291e-05,1793239558712822784
+260,4.333333333,HOLD_POSE2,765.672229763,745,715,679.327770237,660,632.327770237,881,784,805.672229763,651.327770237,629.672229763,652.672229763,0.451315572251,-0.0157243804368,0.0596279483456,0.999999774935,-0.000327349232019,-0.000582442724705,-6.11033717536e-05,1793239558729489152
+261,4.350000000,HOLD_POSE2,765.097869127,745,715,679.902130873,660,632.902130873,881,784,805.097869127,651.902130873,629.097869127,652.097869127,0.451316830812,-0.0157222461777,0.0596284426451,0.999999776312,-0.000324763724673,-0.000581536710417,-6.09900992264e-05,1793239558746155776
+262,4.366666667,HOLD_POSE2,765.47786131,745.47786131,715,680,660,633,880.52213869,784,805,652,629.47786131,652.47786131,0.451316250894,-0.0157222949949,0.0596279122405,0.99999977568,-0.000325272980241,-0.000582331289216,-6.106264023e-05,1793239558762822400
+263,4.383333333,HOLD_POSE2,765.944858005,746,715,679.944858005,660,633,880,784,805,652,630,653,0.451315386849,-0.015723005563,0.0596271895174,0.999999774723,-0.000326262302936,-0.000583415769933,-6.1094813874e-05,1793239558779489024
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+265,4.416666667,HOLD_POSE2,765,746,715,679.459809185,660,633,880,784,805,651.770095408,630,653,0.451316354429,-0.0157270942811,0.0596271017203,0.999999775171,-0.000325673219949,-0.000583102443293,-5.98866709138e-05,1793239558812822272
+266,4.433333333,HOLD_POSE2,765,746,715,680.616847247,660,633,880,784,805,651.191576377,630,653,0.451318619673,-0.0157261783665,0.0596290858812,0.999999776631,-0.000326282182592,-0.000580261958919,-5.97862567713e-05,1793239558829488896
+267,4.450000000,HOLD_POSE2,765,745.614399884,715,680.614399884,660,633,880,784,805,651,630,653,0.451317839421,-0.0157260551026,0.0596286922405,0.999999775926,-0.000327053197396,-0.000581017730777,-6.00194310551e-05,1793239558846155776
+268,4.466666667,HOLD_POSE2,765,745.037888035,715,680.037888035,660,633,880,784,805,651,630,653,0.451315551335,-0.0157263242822,0.0596271213435,0.999999774147,-0.000327904444749,-0.000583554019253,-6.04177659253e-05,1793239558862822656
+269,4.483333333,HOLD_POSE2,765.550001918,745.550001918,715,680,660,633,880,784,805,651,630,653,0.451315745305,-0.0157243867622,0.0596276880451,0.999999775033,-0.000326331781576,-0.000582894753128,-6.06253585847e-05,1793239558879489024
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+272,4.533333333,HOLD_POSE2,766,745.293557204,715,680,660,633,881,784,805,651.293557204,630,653,0.451316290033,-0.0157256469979,0.0596270234735,0.999999774487,-0.000326274514194,-0.000583915319849,-6.01184695332e-05,1793239558929488896
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,716,681,660,633,880,784,806,651,630,653,0.451318320218,-0.0157243658679,0.0596285969733,0.999999775574,-0.000326239241449,-0.00058206500597,-6.01685963244e-05,1793239558978970624
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.408038505,680.408038505,660,633,880.591961495,784.591961495,805.408038505,651,630,653,0.451317288018,-0.0157240755438,0.0596276401598,0.999999775026,-0.000325637935437,-0.000583322661601,-6.03588069217e-05,1793239558995637248
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.179288526,660,633,881,785,805,651.179288526,630,652.820711474,0.451316893105,-0.0157238846725,0.0596271287997,0.999999774964,-0.000325145170188,-0.000583690257926,-6.04829671339e-05,1793239559012303872
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.756333977,660,633,881,785,805,651.756333977,630,652.243666023,0.451317912031,-0.0157239144406,0.0596276056912,0.999999775984,-0.000324893205738,-0.000582083231455,-6.04605926393e-05,1793239559028970240
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.332594072,715,680.667405928,660,633,881,784.667405928,805,651.667405928,630,652,0.451318761657,-0.0157244790009,0.059628318493,0.999999776748,-0.000324888918694,-0.000580798221685,-6.02126504759e-05,1793239559045637120
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.083090819,745.916909181,715,680.916909181,660,633,881,784,805,651,630,653,0.451314539139,-0.0157222131418,0.0596256213145,0.999999774296,-0.000324855263619,-0.000584981916913,-6.06058349485e-05,1793239559095636992
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.662588694,745.337411306,715,680.337411306,660,633,881,784,805,651,630,653,0.451310634067,-0.0157229055421,0.0596237826579,0.999999772541,-0.000325417750661,-0.000587667944822,-6.05627615784e-05,1793239559112303616
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.761093397,745,715,680,660,633,881,784,805,651,630,653,0.451299099798,-0.0157223797969,0.0596188595885,0.999999767871,-0.000325412442667,-0.000595518033822,-6.1022144017e-05,1793239559128970240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.189207652,745,715,680,660,633,881,784,805,651,630,653,0.451276932239,-0.0157201562456,0.0596096375795,0.999999758984,-0.000324615762964,-0.000610565598863,-6.21818306757e-05,1793239559145637120
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.38604029,745,715,680,660,633,880.61395971,784,805.38604029,651.38604029,630,653,0.451238905291,-0.015718834162,0.0595957468606,0.999999745749,-0.000325324440362,-0.000631397915743,-6.32620101518e-05,1793239559162303488
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.962950656,745,715,680,660,633,880.037049344,784,805.962950656,651.962950656,630,653,0.451193036977,-0.0157179577914,0.0595795477884,0.999999729969,-0.000326777411953,-0.000655090391191,-6.43028789346e-05,1793239559178969856
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.555238773,715,680,660,633,880.555238773,784.555238773,805.444761227,652,630,653,0.451125703946,-0.0157130464758,0.0595622210262,0.999999715995,-0.000321278006739,-0.000678586361539,-6.56647264756e-05,1793239559195636736
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.855739234,745.855739234,715,680,660,633,880.855739234,784.855739234,805.144260766,651.855739234,630,653,0.451053881086,-0.0157081567671,0.0595474698767,0.999999703532,-0.00031674692736,-0.000698681510893,-6.6713091961e-05,1793239559212303360
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.295792223,745,715,680.295792223,660.295792223,633,880.295792223,784,806,651,630,653,0.450883113701,-0.0157000454931,0.059536803246,0.99999969272,-0.000315046923181,-0.000714785492692,-6.62418978478e-05,1793239559245636864
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.8706322,745,715,680.8706322,660.8706322,633,880.8706322,784,806,651,630,653,0.450784651305,-0.015695818112,0.059535732039,0.999999691809,-0.000312332961271,-0.000717342140822,-6.51989897613e-05,1793239559262303488
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.553938656,660.553938656,633,881,784,805.553938656,651,630,653,0.450668951958,-0.0156890691464,0.0595345262907,0.999999692219,-0.000310037087056,-0.000717792597462,-6.49113494783e-05,1793239559278970112
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.97762242,745.02237758,715,680,660,633.02237758,881,784,805,651,630,652.97762242,0.450547149377,-0.0156815658012,0.0595332102557,0.999999692926,-0.000307771359838,-0.000717789802482,-6.48196453508e-05,1793239559295636992
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,660,633.794455763,880.794455763,784,805.205544237,651.205544237,630,652.205544237,0.450233931964,-0.0156647428207,0.0595278058185,0.999999689884,-0.000298540333339,-0.000726021067049,-6.32401416242e-05,1793239559328970496
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.205277731,745,715,679,661,636,879.205277731,788,804,652,631,652.205277731,0.401908719435,-0.0153509448517,0.0598384826518,0.999999931733,0.00025093325279,-0.000269525350516,3.0387708712e-05,1793239560678969856
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,744.105553912,715,679,661,636,879.894446088,788,804,652,631.105553912,652.894446088,0.400998770302,-0.0153781769584,0.0598439300283,0.999999948414,0.000187711145254,-0.000260446159799,1.02161866405e-05,1793239560928970240
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.478613197,744.478613197,715,679,661,636,879.521386803,788,804,652,631.478613197,653,0.400995419222,-0.0153775745473,0.0598457132676,0.999999948805,0.000188233853468,-0.000258548212226,1.05241971523e-05,1793239560945637120
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.935768623,745,715.064231377,679,661,636,879.064231377,788,804,652,632,653,0.400991992058,-0.0153774051967,0.0598469155314,0.999999949025,0.000188098800296,-0.000257778431534,1.08745525309e-05,1793239560962303744
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.354856129,745,715.645143871,679,661,636,879.645143871,788,804,652,632,653,0.40098912512,-0.0153784114418,0.0598461543516,0.99999994919,0.00018725127046,-0.000257755084881,1.08844039777e-05,1793239560978970368
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.224364223,745,715.775635777,678.775635777,661,636,879.775635777,788,804,652,632,653,0.400987884184,-0.015378501288,0.0598463365549,0.999999949296,0.000187834454887,-0.000256917729034,1.09609583982e-05,1793239560995636992
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.80092827,745,715.19907173,678.19907173,661,636,879.19907173,788,804,652,632,653,0.400989195692,-0.0153771526002,0.0598479996508,0.999999949299,0.000190663529125,-0.000254802567434,1.11422210256e-05,1793239561012303616
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.623532204,745,715,678,661,636,879,788,804,652,631.623532204,652.623532204,0.400989475982,-0.0153771015216,0.0598489456893,0.999999949468,0.000191213178458,-0.000253723753976,1.11878237584e-05,1793239561028970240
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.048532981,745,715,678,661,636,879,788,804,652,631.048532981,652.048532981,0.400989212456,-0.0153777347411,0.0598495135853,0.999999949728,0.000190560766109,-0.000253191461899,1.11618858312e-05,1793239561045636864
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.87083553,636,879.12916447,788,804,652,632,653,0.400986941105,-0.0153763391423,0.0598489181619,0.999999949363,0.000191782871192,-0.00025372149056,1.09123561204e-05,1793239561078970112
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.709383441,788,804.290616559,652,631.709383441,653,0.400989016099,-0.0153798177838,0.0598504948141,0.999999950746,0.000187886824451,-0.000251148701466,1.1432715823e-05,1793239561112303104
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.134937824,788,804.865062176,652,631.134937824,653,0.400989250821,-0.0153801980328,0.0598507696611,0.999999950563,0.00018952900084,-0.000250638398139,1.15782690972e-05,1793239561128969728
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.438958306,788,804.561041694,652,631.438958306,653,0.400988879246,-0.0153795603903,0.059850852752,0.999999950556,0.000189048750945,-0.000251027241287,1.15997432598e-05,1793239561145636352
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.809977873,745,715.190022127,679,661,636,879,787.809977873,804,652,631,652.190022127,0.400989149405,-0.0153801491349,0.0598519733006,0.999999951276,0.000187309897107,-0.000249447669559,1.18056818353e-05,1793239561195636736
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.231096246,745,715.768903754,679,661,636,879,787.231096246,804,652,631,652.768903754,0.400990533671,-0.0153797111818,0.0598530298369,0.999999951857,0.000187045789665,-0.000247322125055,1.1494444126e-05,1793239561212303872
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d28af673f4b2d2f913c59eaf8a21f7b961f91f51
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,422 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dba1b824c115cff303e8e307d96a438761b9f647
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62ababf4e34c12835f941f65f1512897112ba3cc30d3a5f9bd22eccb108fa585
+size 26164438
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aadb08c5e8f27f0cf2dff14441ffa71760b9d85d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
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+18,0.300000000,BASELINE,766,745,715,678.441893635,663.441893635,636,879.558106365,787.558106365,804,652.441893635,631.558106365,653,0.400940160498,-0.0154249825907,0.049938363544,0.999999973676,7.85740670643e-05,-0.000213085572044,-3.26887703979e-05,1793239563041009664
+19,0.316666667,BASELINE,766,745,715,678.98080311,663.98080311,636,879,787,804,652.98080311,631.01919689,653,0.400939867992,-0.0154240237388,0.0499385682561,0.999999973561,7.97910915521e-05,-0.000213177285278,-3.2648821915e-05,1793239563057676288
+20,0.333333333,BASELINE,766,745,715,678.405785988,663.405785988,636,879,787,804,652.405785988,631.594214012,653,0.40094189632,-0.0154242501449,0.0499393199913,0.999999973941,8.02176879367e-05,-0.000211223010406,-3.26680643726e-05,1793239563074342912
+21,0.350000000,BASELINE,766,745,715,678,663,636,879,787.169461261,804,652,632,653,0.400942867107,-0.0154246700541,0.0499394941079,0.999999974158,7.99618768812e-05,-0.000210289138567,-3.26838293714e-05,1793239563091009792
+22,0.366666667,BASELINE,766,745,715,678,663,636,879,787.74526023,804,652,632,653,0.400941302098,-0.0154255539486,0.0499382831985,0.999999973988,7.80697751217e-05,-0.00021180201046,-3.26912560449e-05,1793239563107676416
+23,0.383333333,BASELINE,766.33080667,745,715,678,663,636,879,788,804,652,632,653,0.400940469537,-0.0154249032233,0.0499377105623,0.999999973708,7.93938594589e-05,-0.000212601312663,-3.28696763821e-05,1793239563124343040
+24,0.400000000,BASELINE,766.924087164,745,715,678,663,636,879,788,804,652,632,653,0.400940218127,-0.0154230348759,0.0499376443548,0.999999973333,8.32697804674e-05,-0.000212834443357,-3.31837691973e-05,1793239563141009664
+25,0.416666667,BASELINE,766.497183986,744.497183986,715,678,663,636,879,788,804,652,632,653,0.400940228135,-0.0154241165447,0.049937762686,0.999999973472,8.08687955445e-05,-0.000213100439359,-3.32348905644e-05,1793239563157676544
+26,0.433333333,BASELINE,766,744.078941293,715,678,663,636,879,788,804,652,632,653,0.400940389265,-0.0154253304953,0.0499379896578,0.999999973678,7.81474876136e-05,-0.000213150308879,-3.32174587392e-05,1793239563174343168
+27,0.450000000,BASELINE,766,744.652134019,715,678,663,636,879,788,804,652,632,653,0.400941256407,-0.0154246625702,0.0499387272976,0.999999973887,7.9187042522e-05,-0.000211816818251,-3.30123994269e-05,1793239563191009792
+28,0.466666667,BASELINE,766,745,715,678.232880552,663,636,879,788,804,652,632,653,0.400941159667,-0.0154242674562,0.0499388891235,0.999999973856,8.03485073469e-05,-0.000211558381338,-3.27787084738e-05,1793239563207676416
+29,0.483333333,BASELINE,766,745,715,678.825288837,663,636,879,788,804,652,632,653,0.400939574858,-0.0154242935163,0.0499381619912,0.999999973459,8.16981801653e-05,-0.000212959643528,-3.25008151777e-05,1793239563224343040
+30,0.500000000,BASELINE,766,745,715,678.591825022,663,636,879,788.408174978,804,652,632,653,0.400940270052,-0.0154231189871,0.0499377818539,0.999999973343,8.21695654698e-05,-0.000213257745492,-3.29132814517e-05,1793239563241009920
+31,0.516666667,BASELINE,766,745,715,678.012921746,663,636,879,788.987078254,804,652,632,653,0.400941918907,-0.0154214422848,0.0499375468551,0.999999973346,8.2273587377e-05,-0.000213094426023,-3.36145060373e-05,1793239563257676800
+32,0.533333333,BASELINE,766,745,715,678.562967135,663,636,879.562967135,788.437032865,804,652,632,653,0.400943004772,-0.0154229982736,0.0499388568522,0.999999973672,8.40310718371e-05,-0.000210976906146,-3.29041685483e-05,1793239563274343424
+33,0.550000000,BASELINE,766,745,715,678.858488139,663,636,879.858488139,788,804,652,632,653,0.40094307737,-0.0154245018531,0.0499394249947,0.999999973855,8.43631637949e-05,-0.000210057004927,-3.23795941284e-05,1793239563291009792
+34,0.566666667,BASELINE,766,745,715,678.271363714,663,636,879.271363714,788,804,652,632,653,0.400939999726,-0.0154256079928,0.0499375460068,0.999999973569,8.00879063544e-05,-0.000213048827473,-3.25414575903e-05,1793239563307676416
+35,0.583333333,BASELINE,766,745,715,678.311502963,663,636,879,788,804.311502963,652,632,653,0.400939728697,-0.0154261187692,0.0499371733781,0.999999973675,7.80388985345e-05,-0.000213283771673,-3.27105078416e-05,1793239563324342784
+36,0.600000000,BASELINE,766,745,715,678.890710609,663,636,879,788,804.890710609,652,632,653,0.400941869666,-0.0154261178924,0.0499380953096,0.999999974133,7.79031222797e-05,-0.000211149463482,-3.28857344159e-05,1793239563341009408
+37,0.616666667,BASELINE,766,745,715,678.531944666,663,636,879,788,804.531944666,652,632,653,0.400941843062,-0.0154258513998,0.0499378219521,0.999999973943,7.90510639771e-05,-0.000211624905801,-3.28488422354e-05,1793239563357676288
+38,0.633333333,BASELINE,766,745,715,678.044836688,663,636,879.044836688,788,804,652.044836688,631.955163312,652.955163312,0.400941231698,-0.0154255604822,0.0499372615215,0.999999973606,8.03029091275e-05,-0.000212754999455,-3.27741063784e-05,1793239563374343424
+39,0.650000000,BASELINE,766,745,715,678.62007932,663,636,879.62007932,788,804,652.62007932,631.37992068,652.37992068,0.400939666316,-0.0154257113991,0.0499365936372,0.999999973326,7.92520722321e-05,-0.000214449358727,-3.28352823409e-05,1793239563391010304
+40,0.666666667,BASELINE,766,745,715,678.804211899,663,636,879.804211899,788.195788101,804,652.804211899,631.195788101,652.195788101,0.400939463757,-0.0154258971801,0.0499367144715,0.999999973338,7.8559096754e-05,-0.000214655654204,-3.27963620217e-05,1793239563407676928
+41,0.683333333,BASELINE,766,745,715,678.227596448,663,636,879.227596448,788.772403552,804,652.227596448,631.772403552,652.772403552,0.400941912028,-0.0154261507754,0.0499383694421,0.999999973919,7.85621974291e-05,-0.000211967517331,-3.25627444636e-05,1793239563424343296
+42,0.700000000,BASELINE,766,745,715,678.35907763,663,636.35907763,879.35907763,788.64092237,804,652.35907763,632,653,0.400942479393,-0.0154258512779,0.0499384730622,0.999999974053,7.89723155047e-05,-0.000211183125999,-3.25366761067e-05,1793239563441009408
+43,0.716666667,BASELINE,766,745,715,678.952310947,663,636.952310947,879.952310947,788.047689053,804,652.952310947,632,653,0.400941820214,-0.0154251911068,0.0499375650413,0.999999973899,7.96478509479e-05,-0.000211640173414,-3.26459512667e-05,1793239563457675776
+44,0.733333333,BASELINE,766,745,715,679,663.529675307,636.470324693,879.470324693,788,804,652.470324693,631.470324693,653,0.40094243753,-0.0154247593493,0.04993806914,0.999999974006,7.96062974476e-05,-0.000211119238871,-3.28500079691e-05,1793239563474342912
+45,0.750000000,BASELINE,766,745,715,679,663.894299327,636,879,787.894299327,804,652,631.105700673,653,0.400942656122,-0.015424621107,0.0499383130309,0.999999974056,7.90165938182e-05,-0.000211082114416,-3.30066172144e-05,1793239563491009792
+46,0.766666667,BASELINE,766,745,715,679,663.318059557,636,879,787.318059557,804,652,631.681940443,653,0.400940603019,-0.0154257005972,0.049936849063,0.999999973742,7.62657833305e-05,-0.000213579300774,-3.29151250527e-05,1793239563507676416
+47,0.783333333,BASELINE,766,744.7379261,715,679,663.2620739,636,879,787.2620739,803.7379261,652,632,653,0.400939704773,-0.0154264162593,0.0499362501185,0.999999973593,7.51593025432e-05,-0.00021468370221,-3.27887048151e-05,1793239563524343040
+48,0.800000000,BASELINE,766,744.152995823,715,679,663.847004177,636,879,787.847004177,803.152995823,652,632,653,0.40094022923,-0.0154266837111,0.049936716821,0.999999973661,7.60785184635e-05,-0.000214072292156,-3.2619255664e-05,1793239563541009920
+49,0.816666667,BASELINE,766,744.428780745,715,679,664,636,879,788.428780745,803.428780745,652.428780745,632,653,0.400940567053,-0.0154261569655,0.0499371890554,0.999999973793,7.65625667321e-05,-0.000213276138392,-3.26410931107e-05,1793239563557676800
+50,0.833333333,BASELINE,766,745,715,678.990626869,663.990626869,636,879,788.990626869,804,652.990626869,632,653,0.400940837179,-0.0154253529928,0.0499376514764,0.999999973941,7.69244333933e-05,-0.000212435826386,-3.2727861165e-05,1793239563574343424
+51,0.850000000,BASELINE,766,745,715,678.414092704,663.414092704,636,879,788.414092704,804,652.414092704,632,653,0.400941011083,-0.0154247962684,0.0499374015346,0.99999997367,7.92201432397e-05,-0.000212883145741,-3.26436812934e-05,1793239563591009792
+52,0.866666667,BASELINE,766,745,715,678.163646296,663,636,879,788,804,652,631.836353704,653,0.400941056307,-0.0154249688103,0.049937281383,0.999999973552,8.02353912109e-05,-0.0002130812382,-3.24791515416e-05,1793239563607676416
+53,0.883333333,BASELINE,766,745,715,678.744456604,663,636,879,788,804,652,631.255543396,653,0.400940773504,-0.0154270003839,0.0499374920904,0.999999973835,7.79865100955e-05,-0.000212644006193,-3.21097954156e-05,1793239563624343040
+54,0.900000000,BASELINE,766.326480722,745,715,678.673519278,663,636,879,788,804,652,631.326480722,653,0.400940728043,-0.0154279737444,0.0499374421317,0.999999973938,7.62979231939e-05,-0.000212789041788,-3.20055083762e-05,1793239563641009664
+55,0.916666667,BASELINE,766.909458433,745,715,678.090541567,663,636,879,788,804,652,631.909458433,653,0.400940869049,-0.0154281157282,0.0499371873828,0.9999999739,7.50495271024e-05,-0.000213391531326,-3.2109470779e-05,1793239563657676288
+56,0.933333333,BASELINE,766.509932286,745,715,678.490067714,663.490067714,636,879.490067714,788,804,652,632,653,0.40094171052,-0.0154273792393,0.0499374893634,0.999999974012,7.77342046691e-05,-0.000211883095222,-3.22474824747e-05,1793239563674343424
+57,0.950000000,BASELINE,766,745,715,679,663.930377122,636,879.930377122,788,804,652,632,653,0.400942507272,-0.015426663597,0.0499378071331,0.99999997413,8.04378996467e-05,-0.000210292846565,-3.2366638879e-05,1793239563691010048
+58,0.966666667,BASELINE,766,745,715,679,663.35531344,636,879.35531344,788,804,652,632,653,0.400942044391,-0.0154272718812,0.049937496403,0.999999974189,7.80297841665e-05,-0.000210926329723,-3.23034625447e-05,1793239563707676672
+59,0.983333333,BASELINE,766,745,715,678.775013352,663,636,879.224986648,788,804,652,632,653,0.40094145719,-0.0154272139448,0.0499371111252,0.999999974163,7.63093826384e-05,-0.000211644429688,-3.25292288008e-05,1793239563724343296
+60,1.000000000,BASELINE,766,745,715,678.186246445,663,636,879.813753555,788,804,652,632,653,0.400940668975,-0.0154260787984,0.0499366053115,0.999999974005,7.57009434313e-05,-0.000212499346424,-3.32221854854e-05,1793239563741009664
+61,1.016666667,BASELINE,766,745,714.604103245,678,663.395896755,636,879.604103245,788,804,652.395896755,631.604103245,653,0.400940487503,-0.0154261423251,0.0499368397244,0.999999973969,7.54897305502e-05,-0.000212784286617,-3.29457790618e-05,1793239563757676288
+62,1.033333333,BASELINE,766,745,714.025024873,678,663.974975127,636,879.025024873,788,804,652.974975127,631.025024873,653,0.400940586773,-0.0154267604784,0.0499374166406,0.999999973991,7.54623145165e-05,-0.000212805498339,-3.22208478231e-05,1793239563774342912
+63,1.050000000,BASELINE,766,745,714.551956678,678,663.448043322,636,879.551956678,788,804,652.448043322,631.551956678,653,0.400941271291,-0.0154259893262,0.0499372194109,0.999999974017,7.65139472899e-05,-0.000212252041385,-3.25574418466e-05,1793239563791009280
+64,1.066666667,BASELINE,766,745,714.871480902,678,663.128519098,636,879.871480902,788,804,652,632,653,0.400941902445,-0.0154253937464,0.0499372064157,0.999999974066,7.75617957531e-05,-0.000211612342605,-3.27572495459e-05,1793239563807676160
+65,1.083333333,BASELINE,766,745,714.296046667,678,663.703953333,636,879.296046667,788,804,652,632,653,0.400942256105,-0.0154256269163,0.0499379556724,0.999999974192,7.84270044376e-05,-0.000210763004589,-3.23146657006e-05,1793239563824343040
+66,1.100000000,BASELINE,766,745,714.286496402,678.286496402,663.713503598,636,879,788,804,652,632,653,0.400943044224,-0.0154259429681,0.0499385474848,0.999999974343,7.90359826271e-05,-0.000209843263036,-3.2154696143e-05,1793239563841009920
+67,1.116666667,BASELINE,766,745,714.876572148,678.876572148,663.123427852,636,879,788,804,652,632,653,0.400944292708,-0.0154263468436,0.049938972465,0.99999997452,7.93734519937e-05,-0.000208848920046,-3.22941923627e-05,1793239563857676544
+68,1.133333333,BASELINE,766,745,715,678.541646893,663,636,879,788,804,652,632,652.541646893,0.4009430247,-0.0154263910695,0.0499385042915,0.999999974243,8.00572054234e-05,-0.000209899315427,-3.23565713254e-05,1793239563874343168
+69,1.150000000,BASELINE,766,745,715,678,663,636,879.037487976,788.037487976,804,652.037487976,632,652.037487976,0.400941234169,-0.0154263553951,0.0499378493042,0.999999973893,8.06033723418e-05,-0.000211345460967,-3.24173437545e-05,1793239563891009536
+70,1.166666667,BASELINE,766,745,715,678,663,636,879.610167461,788.610167461,804,652.610167461,632,652.610167461,0.400941486389,-0.0154265371013,0.0499378999165,0.99999997423,7.78777090874e-05,-0.000210720379167,-3.27463815618e-05,1793239563907675904
+71,1.183333333,BASELINE,766,745,715,678.188297719,663.188297719,636,879.811702281,788.811702281,804.188297719,652.811702281,632,652.811702281,0.40094223444,-0.0154263672703,0.0499381364245,0.999999974491,7.64423698909e-05,-0.000209979577739,-3.29150746983e-05,1793239563924343040
+72,1.200000000,BASELINE,766,745,715,678.778049221,663.778049221,636,879.221950779,788.221950779,804.778049221,652.221950779,632,652.221950779,0.400944039614,-0.0154254479562,0.0499387692651,0.999999974602,7.77580219397e-05,-0.000208992060082,-3.2741910466e-05,1793239563941010432
+73,1.216666667,BASELINE,766,745,715,678.638818008,663.638818008,636,879.361181992,788,804.638818008,652,632,652.361181992,0.400943895239,-0.0154264901142,0.0499383959011,0.999999974615,7.64221478376e-05,-0.000209469695991,-3.24408205196e-05,1793239563957677056
+74,1.233333333,BASELINE,766,745,715,678.05967937,663.05967937,636,879.94032063,788,804.05967937,652,632,652.94032063,0.4009425744,-0.01542871593,0.0499374153389,0.999999974561,7.34862001214e-05,-0.000210831484447,-3.20625333251e-05,1793239563974343424
+75,1.250000000,BASELINE,766,745,715,678,663,636,880,787.483088937,804,652,632,653,0.400942487112,-0.0154272163427,0.0499378723713,0.999999974402,7.61385744468e-05,-0.000210583812875,-3.24585946077e-05,1793239563991010304
+76,1.266666667,BASELINE,766,744.906956075,715,678,663.093043925,636,879.906956075,787.093043925,803.906956075,652,632,653,0.400942342991,-0.0154256643134,0.0499381610699,0.999999974193,7.88702569937e-05,-0.000210508970784,-3.2867450005e-05,1793239564007676672
+77,1.283333333,BASELINE,766,744.33167744,715,678,663.66832256,636,879.33167744,787.66832256,803.33167744,652,632,653,0.400941169801,-0.0154260587636,0.0499367213048,0.999999973831,7.86854336827e-05,-0.00021228823,-3.28815320963e-05,1793239564024343040
+78,1.300000000,BASELINE,766,744.243322788,715,678.243322788,664,636,879,788,803.243322788,652,632,653,0.400941082979,-0.0154263220008,0.0499365338646,0.999999973912,7.83175829592e-05,-0.000212052721794,-3.28044085383e-05,1793239564041009408
+79,1.316666667,BASELINE,766,744.8179439,715,678.8179439,664,636,879,788,803.8179439,652,632,653,0.400942475312,-0.0154264065837,0.0499380515389,0.999999974594,7.77005296351e-05,-0.000209073988787,-3.2603103109e-05,1793239564057676032
+80,1.333333333,BASELINE,766,745,715,679,663.593393607,636,879,788,804,652.406606393,632,653,0.400941442546,-0.0154269511549,0.0499371655014,0.999999974252,7.73784956319e-05,-0.000210831394996,-3.25339174367e-05,1793239564074342912
+81,1.350000000,BASELINE,766,745.001717381,715,679,663.001717381,636,879,788,804,652.998282619,632,653,0.400939294857,-0.0154277050756,0.0499351720109,0.999999973428,7.71955492306e-05,-0.000214769652712,-3.25260191591e-05,1793239564091009536
+82,1.366666667,BASELINE,766,745.575704417,715,679,663.575704417,636,879,788,804,652.424295583,632,653,0.400940393173,-0.0154271344271,0.049935608934,0.999999973653,7.77687996386e-05,-0.000213515449223,-3.25232813691e-05,1793239564107676160
+83,1.383333333,BASELINE,766,745.850845219,715,679,663.850845219,636,879,788,804,652.149154781,631.850845219,652.850845219,0.400941418971,-0.0154265978855,0.0499363332353,0.999999973886,7.83862575703e-05,-0.000212196396378,-3.25063498991e-05,1793239564124343296
+84,1.400000000,BASELINE,766,745.278915908,715,679,663.278915908,636,879,788,804,652.721084092,631.278915908,652.278915908,0.40094223922,-0.015426158019,0.0499378721012,0.999999974147,7.91290204689e-05,-0.000210693529793,-3.24491868894e-05,1793239564141010432
+85,1.416666667,BASELINE,766,745,715,679,663.303649465,636,879.607298931,788,804,652.696350535,631.303649465,652.303649465,0.400941642417,-0.0154258834211,0.0499378677977,0.999999974078,7.8801245567e-05,-0.000211127319744,-3.25487722745e-05,1793239564157677056
+86,1.433333333,BASELINE,766,745,715,679,663.896339141,636,880.792678281,788,804,652.103660859,631.896339141,652.896339141,0.400939696738,-0.0154257661404,0.04993639457,0.999999973692,7.74544387906e-05,-0.000213404589437,-3.27975645414e-05,1793239564174343424
+87,1.450000000,BASELINE,766,745,715,678.521669827,664,636,880.043339654,788,803.521669827,652.478330173,632,653,0.400940138173,-0.0154249564484,0.0499364609077,0.999999973704,7.83339669566e-05,-0.000213027308791,-3.27945198181e-05,1793239564191010048
+88,1.466666667,BASELINE,766,745,715,678.057743774,663.942256226,636,879,788,803.057743774,652.942256226,632,653,0.400941024193,-0.0154241813313,0.0499368306339,0.999999973799,7.94799097632e-05,-0.000212162178466,-3.27392837307e-05,1793239564207676416
+89,1.483333333,BASELINE,766,745,715,678.634375245,663.365624755,636,879,788,803.634375245,652.365624755,632,653,0.400941358311,-0.0154250358077,0.0499369940622,0.999999973897,7.87791497025e-05,-0.000211969590703,-3.26947522994e-05,1793239564224343040
+90,1.500000000,BASELINE,766,745,715,678.785898501,663,636,879,788,804,652,632,653,0.400941833062,-0.0154249565945,0.0499370738149,0.999999973964,7.85936160142e-05,-0.000211699869303,-3.28295725599e-05,1793239564241009920
+91,1.516666667,BASELINE,766,745,715,678.200809781,663,636,879,788,804,652,632,653,0.400942551495,-0.0154232595183,0.0499370085778,0.999999973979,7.93008477487e-05,-0.000211296493586,-3.32751668545e-05,1793239564257676544
+92,1.533333333,BASELINE,766.380948598,745,715,678,663.380948598,636,879,788,804,652,631.619051402,653,0.400942265306,-0.0154240665185,0.0499367903466,0.999999974012,7.84247426539e-05,-0.000211450841178,-3.33728934012e-05,1793239564274343424
+93,1.550000000,BASELINE,766.960966719,745,715,678,663.960966719,636,879,788,804,652,631.039033281,653,0.400941454138,-0.0154261820554,0.0499364921664,0.999999974053,7.67212448733e-05,-0.000211896634124,-3.32888372832e-05,1793239564291010304
+94,1.566666667,BASELINE,766.461556073,745,715.538443927,678,664,636,879.538443927,788,804,652,631.538443927,653,0.400941586914,-0.0154256595858,0.0499368449586,0.999999973916,7.92277748479e-05,-0.00021167941116,-3.29113775596e-05,1793239564307676928
+95,1.583333333,BASELINE,766,745,715.887575709,678.112424291,663.887575709,636,880,788,804,652,632,653,0.400941631531,-0.0154252622805,0.049937120336,0.999999973786,8.12195650094e-05,-0.000211588542957,-3.25762584121e-05,1793239564324343296
+96,1.600000000,BASELINE,766,745,715.326809276,678.673190724,663.326809276,636,880,788,804,652,632,653,0.400941052959,-0.0154261231816,0.0499368996765,0.999999973763,7.99472098387e-05,-0.000212192346612,-3.24944149133e-05,1793239564341009408
+97,1.616666667,BASELINE,766,745,715,679,663,636,879.747549887,788,804,652,632,653,0.400941052298,-0.0154264248054,0.0499370266058,0.999999973875,7.86222564295e-05,-0.000212153660584,-3.25384618617e-05,1793239564357676032
+98,1.633333333,BASELINE,766,745,715,679,663,636,879.142458156,788,804,652,632,653,0.400941858906,-0.0154259451879,0.0499376390735,0.999999974175,7.72238298562e-05,-0.000211217495814,-3.27583622161e-05,1793239564374342912
+99,1.650000000,BASELINE,766,745,715,679,663,636,879,788,804,652,632,653.442360134,0.400941297234,-0.0154259542971,0.0499369752866,0.999999973896,7.74357774756e-05,-0.00021247294125,-3.2669466479e-05,1793239564391009536
+100,1.666666667,BASELINE,766,745,715,679,663.020804027,636,879,788,804,652,632,653.979195973,0.400940380433,-0.0154261255135,0.0499359823204,0.99999997347,7.80616486287e-05,-0.000214267502921,-3.24859001975e-05,1793239564407676160
+101,1.683333333,BASELINE,766,745,715,679,663.595742281,636,879,788,804,652,632,653.404257719,0.400941227027,-0.015426606089,0.0499366891568,0.999999973985,7.65045233085e-05,-0.000212446414863,-3.23134312832e-05,1793239564424343296
+102,1.700000000,BASELINE,766,745,715,678.825332545,663.825332545,636,879,788,804,652,631.825332545,653,0.40094145343,-0.0154270900212,0.0499369354292,0.999999974255,7.52060534117e-05,-0.000211652754568,-3.22028247917e-05,1793239564441010176
+103,1.716666667,BASELINE,766,745,715,678.236964413,663.236964413,636,879,788,804,652,631.236964413,653,0.400940210909,-0.0154275819038,0.0499360908536,0.999999973957,7.45202103052e-05,-0.000213292561944,-3.22387397595e-05,1793239564457676800
+104,1.733333333,BASELINE,766.346054529,745,715,678.346054529,663.346054529,636,879.346054529,788.346054529,804,652,631.346054529,653,0.400941564083,-0.0154277491196,0.0499367567667,0.999999974188,7.48816498187e-05,-0.000212056473765,-3.2395168344e-05,1793239564474343168
+105,1.750000000,BASELINE,766.925466374,745,715,678.925466374,663.925466374,636,879.925466374,788.925466374,804,652,631.925466374,653,0.40094466763,-0.0154276974007,0.0499384412579,0.999999974768,7.59493105122e-05,-0.000208881063437,-3.2632863703e-05,1793239564491009536
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,745,715,679,664,636,880,788,804,652,631,653,0.400939399185,-0.0154255475239,0.0499351150944,0.999999973474,7.65373110926e-05,-0.000214705470718,-3.30991247627e-05,1793239564522121472
+107,1.783333333,POSE1_TO_POSE2_PRESS,766.425898268,745,715,678.425898268,663.425898268,636,879.425898268,788,803.425898268,652,631.574101732,653,0.400941366225,-0.0154263072845,0.0499371852568,0.999999973997,7.73969226462e-05,-0.000212007632163,-3.26747190575e-05,1793239564538788864
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.847093239,745,715,678,663,636,879,788,803.152906761,652,632,653,0.400942895543,-0.0154265813011,0.0499384838851,0.999999974348,7.81600967925e-05,-0.000210115346711,-3.23392713914e-05,1793239564555456256
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.254772018,745,715,678,663,636,879,788,803.745227982,652,632,653,0.400943166965,-0.0154254594153,0.0499375653244,0.999999974224,7.86461349877e-05,-0.000210538011793,-3.22594660107e-05,1793239564572122880
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.330602527,745,715,678,663.330602527,636,879,788,804,652,631.669397473,652.669397473,0.40094342382,-0.0154250338296,0.0499374456169,0.999999974275,7.84963881805e-05,-0.000210323362994,-3.24518995042e-05,1793239564588789504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.910733895,745,715,678,663.910733895,636,879,788,804,652,631.089266105,652.089266105,0.400943669679,-0.0154251337902,0.0499379288596,0.999999974457,7.78667699537e-05,-0.000209627688826,-3.28498107137e-05,1793239564605455616
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663.513117818,636,879.486882182,788,804,652,631,652.486882182,0.400944363059,-0.0154258824382,0.0499375797758,0.999999974375,7.8816389024e-05,-0.000209696829933,-3.26511160258e-05,1793239564622121472
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663.063492698,636,879.936507302,788,804,652,631,653,0.400946029671,-0.0154266388524,0.0499374527647,0.999999974419,7.99333572899e-05,-0.000209102139682,-3.23866457775e-05,1793239564638787584
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663.649875159,636,879.350124841,788,804,652,631,653,0.400955041043,-0.0154264877181,0.0499404011525,0.999999975887,8.00633719799e-05,-0.000201895085339,-3.24739928653e-05,1793239564655454464
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663.766367049,636,879.233632951,788,804,652,631.233632951,653,0.400968571897,-0.0154265243671,0.0499441341879,0.999999977786,8.01627347271e-05,-0.000192245335567,-3.23025923515e-05,1793239564672121088
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663.186498967,636,879.813501033,788,804,652,631.813501033,653,0.40098880045,-0.0154268393039,0.0499490300409,0.999999980263,8.02166724466e-05,-0.000178975604873,-3.17477377418e-05,1793239564688787968
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.608934845,745,715,678.391065155,663,636,879.608934845,788,804,652,632,653,0.401018679733,-0.0154283204611,0.0499541614661,0.999999983308,8.02940794032e-05,-0.000161177623447,-3.09593911575e-05,1793239564705454592
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.032462997,745,715,678.967537003,663,636,879.032462997,788,804,652,632,653,0.401053134496,-0.0154303545315,0.0499594045782,0.999999986344,8.03826132696e-05,-0.000141232765819,-3.00603443559e-05,1793239564722121472
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.543891237,745,715,679,663.543891237,636,879.543891237,788,804,652,631.456108763,653,0.401101664389,-0.0154333340203,0.0499660846216,0.999999989865,7.82816448878e-05,-0.000115137429885,-2.97543523479e-05,1793239564738788608
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.877244122,636.122755878,879.877244122,788,804,652,631.122755878,653,0.40115278104,-0.0154362474523,0.049971818851,0.999999992444,7.64279958154e-05,-9.16404723474e-05,-2.95538922948e-05,1793239564755455232
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.288829793,636.711170207,879.288829793,788,804,652,631.711170207,653,0.401210524131,-0.0154386962981,0.04997363999,0.999999993521,7.60081449323e-05,-7.93923662713e-05,-2.96195075671e-05,1793239564772121600
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,678.704461837,663,636.704461837,879,788,803.704461837,652,631.704461837,653,0.401275302673,-0.0154422091311,0.0499739615395,0.999999994014,7.41672158309e-05,-7.48296828306e-05,-2.9517853504e-05,1793239564788788224
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,678.123995029,663,636.123995029,879,788,803.123995029,652,631.123995029,653,0.401346864097,-0.0154467477549,0.0499728373331,0.999999994038,7.09562237965e-05,-7.76765239663e-05,-2.9254934902e-05,1793239564805454848
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.548224445,879,788,803.451775555,652,631.451775555,652.548224445,0.401436952787,-0.0154519318492,0.0499738140109,0.999999994208,7.05030015212e-05,-7.61959213896e-05,-2.84149982654e-05,1793239564822121472
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.973673155,715,678.026326845,663,635.026326845,879,788,803.973673155,652,631.973673155,652.026326845,0.401533444402,-0.0154573337022,0.0499754937963,0.999999994447,7.06040787016e-05,-7.32701518151e-05,-2.74280699846e-05,1793239564838787840
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.397945148,715,678.602054852,663,635.602054852,879,788,803.397945148,652,631.397945148,652.602054852,0.401658530381,-0.0154636208916,0.0499799371488,0.99999999533,6.66396575681e-05,-6.47167931994e-05,-2.66445739097e-05,1793239564855454720
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.181802565,715,678.818197435,663,636,879,788,803.181802565,652,631.181802565,653,0.401789287087,-0.0154708581365,0.0499824142849,0.999999995899,6.240425314e-05,-6.03976612969e-05,-2.5697521011e-05,1793239564872121856
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.770547821,715,678.229452179,663,636,879,788,803.770547821,652,631.770547821,653,0.401932737002,-0.0154802219628,0.0499804902868,0.999999995897,5.75622864627e-05,-6.55563264942e-05,-2.4384366379e-05,1793239564888788480
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.645976813,744.645976813,715,678,663,636,879,788,804,652,632,653,0.402097780153,-0.0154888303744,0.0499785399307,0.999999996075,5.25313327115e-05,-6.72969338893e-05,-2.37155552313e-05,1793239564905454848
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.065866855,744.065866855,715,678,663,636,879,788,804,652,632,653,0.402276613221,-0.0154969563628,0.0499765727416,0.999999996368,4.73796873011e-05,-6.68546970439e-05,-2.34582354716e-05,1793239564922121216
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.507780075,744.507780075,715,678.507780075,663,636,879,788.507780075,803.492219925,652,632,653,0.402483625494,-0.0155083130407,0.0499783228553,0.999999996959,4.1509431972e-05,-6.23378277418e-05,-2.17519327161e-05,1793239564938787840
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.079934307,745,715,679,663,636,879,788.920065693,803,652,631.920065693,653,0.402700856068,-0.0155198204643,0.0499811952858,0.99999999761,3.59487188152e-05,-5.56166411936e-05,-1.9853645355e-05,1793239564955454464
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.648028354,745,715,679,663,636,879,788.351971646,803,652,631.351971646,653,0.402958447771,-0.0155297213993,0.0499880139816,0.999999998554,3.28404895652e-05,-3.86209079868e-05,-1.79163239725e-05,1793239564972121088
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.771503284,745,715,679,663,636,879,788,803,652,631.228496716,653,0.403233645841,-0.0155371278794,0.0499941784912,0.999999999042,3.37030166408e-05,-2.3106802989e-05,-1.56657099871e-05,1793239564988787968
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.170882449,745,715,679,663,636,879,788,803,652,631.829117551,653,0.403537517191,-0.0155404719511,0.0499992776089,0.999999999025,4.10322197791e-05,-1.00056421988e-05,-1.29048755125e-05,1793239565005455104
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.41356058,636,879,788,803,652,632,653,0.403865004556,-0.0155364385219,0.0500050535935,0.999999998472,5.41357078557e-05,2.72566110898e-06,-1.08208879238e-05,1793239565022121728
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.991570603,636,879,788,803,652,632,653,0.404201882656,-0.0155294714816,0.0500110987295,0.999999997425,6.95352993619e-05,1.53098928875e-05,-9.00604378128e-06,1793239565038788352
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.433125996,636,879,788,803.566874004,652,632,652.433125996,0.40457256569,-0.0155264958044,0.0500159114667,0.99999999676,7.57419955499e-05,2.63961136334e-05,-6.78877130107e-06,1793239565055454720
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,632,652,0.404950406407,-0.0155248918634,0.0500172339523,0.999999996225,8.13316220731e-05,3.023404843e-05,-4.64090581898e-06,1793239565072121088
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,632,652,0.405348533696,-0.0155272879268,0.0500079763983,0.999999996272,8.54554629021e-05,1.20523072068e-05,-2.72268847016e-06,1793239565088787712
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.682255268,745,715,679,663,636,879.317744732,788,804,652,632,652,0.405754265581,-0.0155286136478,0.0499914632824,0.999999995429,9.35899269304e-05,-1.94941364237e-05,-1.61153410028e-06,1793239565105454592
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.102721471,745,715,679,663,636,879.897278529,788,804,652,632,652,0.406166262916,-0.0155290575169,0.0499689723266,0.999999992559,0.00010502873339,-6.20517258364e-05,-1.16531662333e-06,1793239565122121216
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.474820486,745,715,678.525179514,663.474820486,636,880,788,804,652,632,652.474820486,0.406632026059,-0.0155287932735,0.0499568122792,0.999999989616,0.00012090756962,-7.84176656941e-05,4.64392090743e-07,1793239565138788096
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.948831889,745,715,678,663.948831889,636,879.948831889,788,804,652,631.948831889,653,0.407114873989,-0.0155285451839,0.0499490703118,0.999999986867,0.00013756271469,-8.56475862107e-05,2.6349063599e-06,1793239565155454976
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.380222259,745,715,678,663.380222259,636,879.380222259,788,804,652,631.380222259,653,0.407653359799,-0.015530003136,0.0499634996961,0.999999986702,0.00015239534727,-5.75496885144e-05,7.6960173299e-06,1793239565172121600
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.196429727,745,715,678,663,636,879.196429727,788,804,652,631,652.803570273,0.408214187484,-0.0155308604608,0.0499806710569,0.999999985481,0.000167791256949,-2.68106011401e-05,1.28414499569e-05,1793239565188788224
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.789313563,745,715,678,663,636,879.789313563,788,804,652,631,652.210686437,0.408820107741,-0.0155305055393,0.0500033765477,0.999999982805,0.00018432402798,9.25919749838e-06,1.81570686789e-05,1793239565205454848
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678.374121761,663,636,880,788,804,652,631.374121761,652.374121761,0.409426763197,-0.0155341563291,0.0500136870901,0.999999982375,0.000185224229524,2.28872150846e-05,2.04280502838e-05,1793239565222121216
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.954478243,663,636,880,788,804,652,631.954478243,652.954478243,0.410033823913,-0.0155400152683,0.0500171649133,0.999999983733,0.000177506972517,2.41441936844e-05,2.1020674699e-05,1793239565238787840
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.468061504,745,715,678.468061504,663,636,880,788,804,652,632,653,0.410632225712,-0.0155409966574,0.0499971320327,0.999999985009,0.000171277747862,-1.7378994332e-05,1.8560304978e-05,1793239565255454464
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.11122017,745,715,678.11122017,663,636,880,788,804,652.11122017,632,653,0.411239241347,-0.0155415402846,0.0499765205813,0.999999984332,0.000166455357087,-5.79919023244e-05,1.6324048978e-05,1793239565272120832
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.699369274,745,715,678.699369274,663,636,880,788,804,652.699369274,632,653,0.411886354585,-0.015541986933,0.0499620090824,0.999999982777,0.000167122583428,-7.9087457051e-05,1.61631104688e-05,1793239565288787712
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,678.718421961,663.281578039,636,880,788,804,652.718421961,632,653,0.412598859881,-0.0155442826901,0.0499696621429,0.999999983736,0.000169516541565,-5.89097767533e-05,1.79642360406e-05,1793239565305454592
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,678.142424374,663.857575626,636,880,788,804,652.142424374,632,653,0.413379739551,-0.0155485118855,0.0500004905869,0.999999984664,0.000173715979608,4.42342292424e-06,2.18169065524e-05,1793239565322121216
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663.58362373,636,879.58362373,788,804.41637627,652,632,653,0.41411006932,-0.0155507881841,0.0500012927004,0.999999984019,0.000177247997543,3.22471373756e-06,2.31391641237e-05,1793239565338788096
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663.030472138,636,879.030472138,788,804.969527862,652,632,653,0.41482379392,-0.0155524229759,0.0499922314713,0.999999983236,0.000180560774652,-1.91720674302e-05,2.36302068529e-05,1793239565355454464
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.417551338,879.582448662,788,804.417551338,652,632,653,0.41553759576,-0.0155545140558,0.0499644115352,0.999999982169,0.000176877389608,-6.26684413176e-05,2.11729527836e-05,1793239565372121088
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663.186267311,635.186267311,880.186267311,788,804,652,631.813732689,653,0.416281638577,-0.0155567737903,0.0499489467436,0.999999981259,0.000172507624072,-8.55962632935e-05,1.99300132335e-05,1793239565388787712
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663.763656549,635.763656549,880.763656549,788,804,652,631.236343451,653,0.417089171553,-0.0155593318059,0.0499617215333,0.999999983761,0.000167553057248,-6.27515214164e-05,2.15978000533e-05,1793239565405454592
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,678.340993053,664,636,880.659006947,788,804.340993053,652,631.340993053,653,0.41792164068,-0.0155612654606,0.0499799346683,0.999999985026,0.000168944856525,-2.91050028681e-05,2.36370768657e-05,1793239565422121216
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,678.918292987,664,636,880.081707013,788,804.918292987,652,631.918292987,653,0.418771390431,-0.0155627664354,0.0500019165552,0.999999984325,0.000174734663267,1.20271046964e-05,2.59337947271e-05,1793239565438787840
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.506632307,636,880,788,804.506632307,652,632,653,0.419560106139,-0.0155602186551,0.0499866709694,0.9999999839,0.000176292601349,-2.19082877752e-05,2.53101217536e-05,1793239565455454720
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,632,653,0.420349201401,-0.0155578650359,0.0499701643101,0.999999982354,0.000177444087448,-5.66082989351e-05,2.45098041861e-05,1793239565472121344
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,632,653,0.421216008241,-0.0155619241271,0.0499899496853,0.999999983313,0.000180763074755,-4.8927662829e-06,2.59781097625e-05,1793239565488787712
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.243960276,636,879.756039724,788,804,652,631.756039724,653,0.422082990068,-0.0155644882545,0.0500050264745,0.999999982609,0.000181777344428,3.15056348986e-05,2.7316190198e-05,1793239565505454336
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.825012491,636,879.174987509,788,804,652,631.174987509,653,0.422950213808,-0.0155649867171,0.0500135971813,0.999999982373,0.00017960707311,4.67396078762e-05,2.84743324188e-05,1793239565522120960
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.598392438,636,879.803215124,788,804,652,631,653,0.423807497738,-0.0155638767554,0.0500036007468,0.999999982853,0.000180788720422,2.8672966934e-05,2.80657899337e-05,1793239565538787840
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.023718142,636,880.952563715,788,804,652,631,653,0.424660498205,-0.0155620736674,0.0499856030817,0.999999982808,0.000183414826598,-3.74407330315e-06,2.69821081619e-05,1793239565555454464
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.550834025,636,880.449165975,788,804,652,631,653,0.425534540003,-0.0155644109367,0.0500026774572,0.999999982424,0.000183992426193,2.09377227726e-05,2.93328838106e-05,1793239565572121088
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,880,788,804,652,631.129160413,653,0.426396216748,-0.0155671319801,0.0500167709023,0.999999981794,0.00018441981388,3.74898441377e-05,3.15418214478e-05,1793239565588787968
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,880,788,804,652,631.721026412,653,0.427210351773,-0.015570589337,0.0500147766427,0.999999982292,0.000184625000635,1.61123869892e-05,3.27129771752e-05,1793239565605454592
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.306298255,745,715,678.693701745,663.693701745,636,880,788,804,652,632,653,0.428026544553,-0.0155687974951,0.0499947682845,0.999999981693,0.00018751461199,-2.12449347887e-05,3.16431471361e-05,1793239565622121216
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.885690743,745,715,678.114309257,663.114309257,636,880,788,804,652,632,653,0.428844571975,-0.0155623254895,0.049958698632,0.999999978353,0.000192797644669,-7.28498353872e-05,2.85752635084e-05,1793239565638787840
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.538694851,745,715,678.461305149,663.461305149,636,880,788,804.461305149,652,632,653,0.429728572376,-0.0155610411194,0.0499662757736,0.999999979394,0.000194834611399,-4.91030493576e-05,2.89866500351e-05,1793239565655454464
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.036805303,715,679,664,636,880,788,805,652,632,653,0.430621037517,-0.0155608068644,0.0499824259743,0.999999980225,0.000196227626073,-1.17494488115e-05,3.01230000183e-05,1793239565672121088
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.624493339,715,679,664,636,880,788,805,652,632,653,0.431397499847,-0.0155572062108,0.0499663279134,0.999999978437,0.000199923744818,-4.79356497565e-05,2.93108852142e-05,1793239565688787712
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.79075578,715,679,663.79075578,636,880,788,805,652,632,652.79075578,0.43218486929,-0.0155543421147,0.0499544577347,0.999999976409,0.00020294453177,-7.19333499948e-05,2.86393076824e-05,1793239565705454592
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.367403189,636,880.367403189,788.367403189,805,652,632,652,0.433811593668,-0.0155526793836,0.0499678344947,0.999999976625,0.000209130203588,-4.59446151544e-05,3.00581174541e-05,1793239565738788352
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.945466204,636,880.945466204,788.945466204,805,652,632,652,0.434639317179,-0.0155534134551,0.0499983009052,0.999999976349,0.000214943427546,1.5595695162e-07,3.31982176441e-05,1793239565755455232
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.519212887,745,715,679,664,635.480787113,881,788.480787113,805,652,632,652.519212887,0.435395867931,-0.0155509433121,0.0499934385302,0.999999975332,0.000218620514986,-1.99834901316e-05,3.38034027845e-05,1793239565772121856
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.904698135,744.904698135,715,679,663.904698135,635.095301865,881.095301865,788,805,651.904698135,632,653,0.436137520633,-0.0155481624085,0.0499829829989,0.99999997373,0.000221520830993,-4.8205259248e-05,3.38203248163e-05,1793239565788787968
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.314099239,744.314099239,715,679,663.314099239,635.685900761,881.685900761,788,805,651.314099239,632,653,0.436840276427,-0.0155455010849,0.0499625847798,0.999999971534,0.000221540585065,-8.25720360652e-05,3.21522728032e-05,1793239565805454592
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,744.271448621,715,679,663,635.728551379,881.457102758,788,805,651.271448621,632,653,0.437571930277,-0.0155476322522,0.049965451888,0.999999973098,0.000218776086961,-6.99159497939e-05,3.24508472487e-05,1793239565822121216
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,744.851258545,715,679,663,635.148741455,880.297482909,788,805,651.851258545,632,653,0.438336411809,-0.0155552076128,0.0499947480381,0.999999976728,0.000212848722316,-3.84263868824e-06,3.49834780207e-05,1793239565838787840
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.997647923,788,805,652,632,653,0.439688077344,-0.0155512758352,0.0499934339308,0.999999974887,0.000220751168519,-1.52057312743e-05,3.55591244201e-05,1793239565872121088
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.423034339,788,805,652,632,653,0.440311687178,-0.015551077143,0.0499645096379,0.999999973704,0.00021986591443,-5.59174451824e-05,3.35331634243e-05,1793239565888787968
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714.843630308,679,663,635.843630308,880.156369692,788,805,652,632,653,0.440926844091,-0.0155521648813,0.04994377148,0.999999972194,0.000217334226288,-8.5684375534e-05,3.2193286817e-05,1793239565905454848
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.390277562,715,679,662,635,880,787,805.609722438,651.609722438,632,653,0.445351795502,-0.0155879471252,0.0498159610667,0.999999949151,0.00015620965625,-0.000277171390109,2.17224914071e-05,1793239566055454720
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.962282445,715,679,662,635,880,787,805.037717555,651.037717555,632,653,0.445765704481,-0.0155941173886,0.0498219751643,0.999999955414,0.000148659068105,-0.000258009318155,2.24579756236e-05,1793239566072121088
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.46301276,715,679.53698724,662,635,880,787,806.073974479,651.53698724,632,653,0.446133655968,-0.0156021444178,0.0498202593011,0.999999957018,0.000139610306847,-0.000256844066358,2.24546301517e-05,1793239566088787712
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.884624406,745,715,679.884624406,662,634.884624406,880.115375594,787,806.769248812,652,631.884624406,653,0.446482259166,-0.0156092723306,0.0498129223892,0.999999955508,0.0001312597828,-0.000266956434668,2.2095138339e-05,1793239566105454336
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.291780668,745,715,679.291780668,662,634.291780668,880.708219332,787,805.583561335,652,631.291780668,653,0.446764218157,-0.015612136914,0.0497845817098,0.999999941107,0.000126236511672,-0.000318482200346,2.047762302e-05,1793239566122120960
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.29251816,745,715,679,662,634,881,787,805,652,631,652.70748184,0.44702883284,-0.0156135348591,0.0497539037209,0.999999925731,0.000121019968103,-0.000365485065473,1.7683158641e-05,1793239566138787584
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.8685355,745,715,679,662,634,881,787,805,652,631,652.1314645,0.447276637963,-0.0156135113856,0.0497209604887,0.999999909947,0.000115616111484,-0.000408104478099,1.37480332487e-05,1793239566155454208
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.554942269,745.445057731,715,679,662,634.445057731,881,787,805,651.554942269,631,652,0.447519413062,-0.0156173858329,0.0497118190496,0.999999905293,0.000108478114457,-0.000421276517361,1.31292198322e-05,1793239566172121088
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,715,679,662,635,881,787,805.020507873,651.020507873,631,652.020507873,0.447759834186,-0.0156223605134,0.049710132541,0.999999904469,0.00010103736464,-0.000425052345451,1.35311653847e-05,1793239566188787968
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,715,679,662,635,881,787,805.564765062,651.564765062,631,652.564765062,0.447978126392,-0.0156259951267,0.049719075158,0.999999910425,9.896163766e-05,-0.000411258773735,1.49559259793e-05,1793239566205454592
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.126635509,745.873364491,715,679,662,634.873364491,881,787,805.873364491,652,631,653,0.4481917179,-0.0156298507473,0.0497272576289,0.999999915779,9.62481839151e-05,-0.000398639960716,1.62439203463e-05,1793239566222121216
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.758820853,745.241179147,715,679,662,634.241179147,881,787,805.241179147,652,631,653,0.44838654339,-0.0156345886646,0.0497324054689,0.999999919389,9.09888203278e-05,-0.000390710981697,1.69859210482e-05,1793239566238787584
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.355931814,715,679,662,634,881,787,805.355931814,652,631,652.644068186,0.448549623029,-0.0156373529557,0.0497332106503,0.999999919266,8.8187170792e-05,-0.00039164660595,1.74171759479e-05,1793239566255454464
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.931408364,715,679,662,634,881,787,805.931408364,652,631,652.068591636,0.448693121313,-0.0156388998813,0.0497313372073,0.999999916846,8.69014801647e-05,-0.000398050066029,1.76567576751e-05,1793239566272121088
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,715,679.504750572,662,634,880.495249428,787,805.495249428,652,631,652.504750572,0.448811460133,-0.0156404961299,0.0497285268362,0.999999915278,8.32528497755e-05,-0.000402735896827,1.77937252457e-05,1793239566288787968
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.919435389,715.080564611,680,662,634,880.080564611,787,805,652,631,652.919435389,0.44892312306,-0.0156423250491,0.0497254363417,0.999999913707,7.9414725671e-05,-0.000407378117247,1.79310952249e-05,1793239566305454592
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.326048585,715.673951415,680,662,634,880.673951415,787,805,652,631,652.326048585,0.44901396296,-0.0156455925152,0.0497213697939,0.99999991154,7.64057452913e-05,-0.000413222239993,1.81594143812e-05,1793239566322121472
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715.739919227,679.739919227,662,634,880.739919227,786.739919227,805,652,631,652.260080773,0.449094953674,-0.0156493721691,0.0497178321319,0.999999909178,7.28218469441e-05,-0.000419507850302,1.88250705672e-05,1793239566338788096
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715.162641162,679.162641162,662,634,880.162641162,786.162641162,805,652,631,652.837358838,0.449163932211,-0.0156537764926,0.0497149395051,0.999999906571,6.85367726789e-05,-0.000426331903207,2.00241076547e-05,1793239566355454720
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.413538088,662,634,880.413538088,786,805,652,631,653,0.449224502118,-0.0156582824667,0.0497138712084,0.999999906317,6.27453592338e-05,-0.000427785412441,2.07276699361e-05,1793239566372121344
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.989286316,662,634,880.989286316,786,805,652,631,653,0.449281773741,-0.0156628283131,0.0497135185045,0.999999906965,5.63630849852e-05,-0.000427132328034,2.12368824068e-05,1793239566388787968
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715.566158089,679.433841911,662,634,881,786,805,652,631,653,0.449320477744,-0.0156630991467,0.0497124288789,0.999999906471,5.39344388393e-05,-0.000428595589255,2.13214373806e-05,1793239566405454592
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.854161323,745,715.854161323,679,662,634,881,786,805.145838677,652,631,653,0.449355661697,-0.0156631330071,0.0497114773006,0.999999905855,5.25280707401e-05,-0.000430200991947,2.1419536078e-05,1793239566422121216
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.266026955,745,715.266026955,679,662,634,881,786,805.733973045,652,631,653,0.449381237857,-0.0156626940149,0.0497109867652,0.999999904947,5.39946885226e-05,-0.000432115777313,2.15831296385e-05,1793239566438787840
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.316925924,745,715,679,662,633.683074076,881,786,805.683074076,652,631,653,0.449402233664,-0.0156627144012,0.0497100500461,0.999999904493,5.35155929258e-05,-0.000433219621437,2.16793801806e-05,1793239566455454464
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.8955995,745,715,679,662,633.1044005,881,786,805.1044005,652,631,653,0.449419446581,-0.0156631141859,0.049708744826,0.999999904414,5.14295418257e-05,-0.000433653713157,2.17200124538e-05,1793239566472121344
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,633.47026399,880.52973601,786,805,652,631,653,0.449430816688,-0.015660526639,0.0497083174118,0.999999904031,5.33686480031e-05,-0.000434329985851,2.11338620799e-05,1793239566488788480
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.954633228,745,715,679.045366772,661.954633228,634,880.045366772,786,805,651.954633228,631,653,0.449440462761,-0.0156575574508,0.049708116184,0.999999903602,5.58447699449e-05,-0.00043503947016,2.04659129519e-05,1793239566505455616
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.363644855,745,715,679.636355145,661.363644855,634,880.636355145,786,805,651.363644855,631,653,0.449444842604,-0.0156579071095,0.0497083113295,0.999999903492,5.4123125625e-05,-0.000435507225783,2.04735536561e-05,1793239566522121728
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.221849681,745,715,679.778150319,661,634,880.778150319,786,805.221849681,651,631,653,0.44944858621,-0.0156588242824,0.0497082187274,0.999999903288,5.2510135216e-05,-0.000436164334894,2.06561805359e-05,1793239566538788096
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.798556574,745,715,679.201443426,661,634,880.201443426,786,805.798556574,651,631,653,0.449451312128,-0.0156606492165,0.0497076658621,0.999999902934,5.1070941076e-05,-0.000437124322262,2.11187046233e-05,1793239566555454720
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.375621476,661.375621476,634,880.375621476,786,805.624378524,651,631,653,0.449452973707,-0.0156601146275,0.0497073735651,0.999999902646,5.16583245053e-05,-0.000437719621268,2.09942533789e-05,1793239566572121344
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.952878541,661.952878541,634,880.952878541,786,805.047121459,651,631,653,0.449454063944,-0.0156583134341,0.0497072211425,0.999999902392,5.33335855029e-05,-0.000438119153608,2.05547106672e-05,1793239566588787968
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.474101427,661.474101427,633.474101427,880.474101427,786,805,651.525898573,630.474101427,653,0.449454502497,-0.0156585258158,0.0497067430173,0.999999902053,5.17927763515e-05,-0.00043907668532,2.0571127662e-05,1793239566605454592
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.897634399,745,715,679,661.102365601,633.102365601,880,786,805,651.897634399,630.102365601,653,0.449454675942,-0.0156585536244,0.0497060643849,0.999999901588,5.06661693061e-05,-0.000440269769437,2.05000533309e-05,1793239566622121216
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.302771566,745,715,679,661.697228434,633.697228434,880,786,805,651.302771566,630.697228434,653,0.449453852598,-0.0156568323307,0.0497045603647,0.999999900564,5.29076855711e-05,-0.000442357508842,1.98130562174e-05,1793239566638787840
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.284557201,745,715,679,661.715442799,634,880,786,805,651,630.715442799,653,0.449454183994,-0.0156563472073,0.0497040488841,0.999999900364,5.32993758205e-05,-0.000442760119327,1.98442703774e-05,1793239566655454464
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.864076489,745,715,679,661.135923511,634,880,786,805,651,630.135923511,653,0.449455712355,-0.0156571434548,0.0497045662354,0.999999901023,5.17736011016e-05,-0.000441415984105,2.06199572535e-05,1793239566672121344
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.438881514,715,679,661,634,880.438881514,786,805,651.438881514,630,653,0.449455232427,-0.0156571773999,0.0497040114344,0.999999900524,5.16998706967e-05,-0.00044255862625,2.05315317372e-05,1793239566688787968
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745.987428695,715.012571305,679,661,634,880.987428695,786,805,652,630.012571305,652.987428695,0.449454208914,-0.0156569656781,0.0497031930365,0.99999989971,5.20744297217e-05,-0.000444366297058,2.01880390684e-05,1793239566705454592
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.398644629,715.601355371,679,661,634,880.398644629,786,805,652,630.601355371,652.398644629,0.449456475545,-0.0156561999173,0.049705350487,0.999999900848,5.26031889359e-05,-0.000441730113403,2.02895222399e-05,1793239566722121472
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.187142876,715.812857124,679.187142876,661.187142876,633.812857124,880,786,805,651.812857124,631,652.187142876,0.449457945689,-0.0156556032675,0.0497064801669,0.999999901518,5.22499807596e-05,-0.000440248038072,2.03638760514e-05,1793239566738788096
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.766647783,715.233352217,679.766647783,661.766647783,633.233352217,880,786,805,651.233352217,631,652.766647783,0.449457745921,-0.0156553611745,0.0497054550323,0.999999901218,5.00476478501e-05,-0.000441185655778,2.03813506915e-05,1793239566755454720
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.656250448,745.656250448,715,679.656250448,661.656250448,633,880.343749552,786,805,651.343749552,631,653,0.449457486514,-0.015655803376,0.049704543846,0.999999900871,4.95350224616e-05,-0.0004420407284,2.01283917168e-05,1793239566772121600
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.080768731,745.080768731,715,679.080768731,661.080768731,633,880.919231269,786,805,651.919231269,631,653,0.449457186903,-0.0156567068816,0.0497037094758,0.999999900494,5.01614810662e-05,-0.000442840154803,1.9693125109e-05,1793239566788788224
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.491611013,745,715,679.491611013,661,633,880.508388987,786,805,652,631,653,0.449457439965,-0.0156552942105,0.0497032795504,0.999999900286,5.08814844198e-05,-0.000443242964639,1.93738258442e-05,1793239566805454848
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.934188142,661.065811858,633.065811858,880.065811858,786,805,652,631,653,0.449457759861,-0.0156536470211,0.0497030361242,0.99999990015,5.16828211913e-05,-0.000443467290051,1.91270525992e-05,1793239566822121216
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.341348431,661.658651569,633.658651569,880.658651569,786,805,652,631,653,0.449457892398,-0.0156531500324,0.0497037574173,0.999999900381,5.30131801154e-05,-0.000442780843884,1.93094555401e-05,1793239566838787840
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.245658577,661.754341423,633.754341423,880.754341423,786,805,652,631,653,0.449457757376,-0.0156535660385,0.0497040680337,0.999999900529,5.28761211317e-05,-0.000442453489038,1.95167886613e-05,1793239566855454464
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.824748956,661.175251044,633.175251044,880.175251044,786,805,652,631,653,0.449457259199,-0.0156552212503,0.0497038212395,0.999999900564,5.07473395013e-05,-0.000442613527891,1.97579594828e-05,1793239566872121088
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.599722029,745,715,679.599722029,661.400277971,633.400277971,880,786,805,652,630.599722029,653,0.449458047386,-0.0156551392109,0.0497037500699,0.999999900669,5.0377949923e-05,-0.000442419072864,1.97346616567e-05,1793239566888787712
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.025738545,745,715,679.025738545,661.974261455,633.974261455,880,786,805,652,630.025738545,653,0.449459393807,-0.01565430327,0.0497037551147,0.999999900806,5.07720701337e-05,-0.000442070780882,1.95965944177e-05,1793239566905454592
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+251,4.183333333,HOLD_POSE2,766,745,716,679,662,633,880,786,805,651,630,653,0.449460629174,-0.0156541563821,0.0497049562491,0.999999901509,4.92810139046e-05,-0.00044065192262,1.94814105425e-05,1793239566963275776
+252,4.200000000,HOLD_POSE2,766,745,715.424640105,679,661.424640105,633.575359895,880.575359895,786.575359895,805,651.575359895,630.575359895,653,0.449460038679,-0.0156536477084,0.0497046185739,0.999999901098,4.9199560359e-05,-0.000441590328897,1.95142813773e-05,1793239566979942400
+253,4.216666667,HOLD_POSE2,765.8490468,745,715,679.1509532,661.1509532,634,880.8490468,786.8490468,805,651.8490468,631,653,0.449460003673,-0.0156530798505,0.0497045999502,0.999999901031,4.92875690055e-05,-0.000441731662949,1.95405752445e-05,1793239566996609024
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+255,4.250000000,HOLD_POSE2,765,745,715,680,662,634,880.310997482,786,805.310997482,651.310997482,631,653,0.44946168825,-0.0156524563751,0.0497054488522,0.999999901877,4.93726861222e-05,-0.000439814339301,1.92852857631e-05,1793239567029942272
+256,4.266666667,HOLD_POSE2,765,745,715,680,662,634,880.901570846,786,805.901570846,651.901570846,631,653,0.449460606266,-0.015653327789,0.0497045979335,0.999999900965,4.79522197219e-05,-0.000442061230828,1.87787773036e-05,1793239567046609152
+257,4.283333333,HOLD_POSE2,765.481672465,745,715,680,661.518327535,634,880.518327535,786.481672465,805.518327535,652,630.518327535,653,0.449459328815,-0.0156540050664,0.0497033689642,0.99999990022,4.80291934803e-05,-0.000443724812652,1.90381053248e-05,1793239567063276032
+258,4.300000000,HOLD_POSE2,766,745.059436952,715,679.940563048,661,633.940563048,880.059436952,786.940563048,805,652,630.059436952,653,0.449458398814,-0.0156545460813,0.0497024259893,0.999999899711,4.83944270159e-05,-0.000444813541846,1.94044036796e-05,1793239567079942656
+259,4.316666667,HOLD_POSE2,766,745.635092915,715,679.364907085,661,633.364907085,880.635092915,786.364907085,805,652,630.635092915,653,0.449460825996,-0.0156542408577,0.0497046236071,0.999999900981,4.86621332223e-05,-0.000441922818208,1.93694701656e-05,1793239567096609280
+260,4.333333333,HOLD_POSE2,766,745.789564803,715,679.210435197,661.210435197,633.210435197,881,786,805.210435197,652,631,653,0.44946208903,-0.0156534152875,0.0497058718823,0.999999901628,4.89220105922e-05,-0.000440433347964,1.92317682252e-05,1793239567113275904
+261,4.350000000,HOLD_POSE2,766,745.21476571,715,679.78523429,661.78523429,633.78523429,881,786,805.78523429,652,631,653,0.449461336368,-0.0156516887489,0.0497054763915,0.999999901209,4.91683324775e-05,-0.000441370117339,1.89161250274e-05,1793239567129942528
+262,4.366666667,HOLD_POSE2,766,745,715,679.628284849,662,633.628284849,881,786,805.628284849,652,630.628284849,653,0.449460824755,-0.0156518398215,0.0497050094365,0.999999900879,4.9553344814e-05,-0.00044207311114,1.89282492838e-05,1793239567146609152
+263,4.383333333,HOLD_POSE2,766,745,715,679.034835567,662,633.034835567,881,786,805.034835567,652,630.034835567,653,0.449460456931,-0.0156531109195,0.0497044998519,0.999999900602,5.00210882828e-05,-0.000442636654101,1.9135892124e-05,1793239567163275776
+264,4.400000000,HOLD_POSE2,766,745,715,679.54262614,662,633.54262614,881,786,805,652,630.54262614,653,0.449461088428,-0.0156514235449,0.0497041441828,0.999999900516,5.06642508002e-05,-0.000442777973958,1.86913952717e-05,1793239567179942144
+265,4.416666667,HOLD_POSE2,766,745,715,679.881712773,661.881712773,633.881712773,881,786,805,652,631,653,0.449461739828,-0.0156502727903,0.0497039915818,0.999999900557,5.1017878534e-05,-0.000442655207376,1.8441076987e-05,1793239567196609024
+266,4.433333333,HOLD_POSE2,766,745,715,679.309137876,661.309137876,633.309137876,881,786,805,652,631,653,0.44946222833,-0.0156518915019,0.0497045820109,0.999999901043,5.02175217165e-05,-0.000441619326581,1.90926975583e-05,1793239567213275904
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,661,634,880,786,805,652,631,653,0.449460574084,-0.0156506255431,0.0497033848707,0.99999989981,5.15300373669e-05,-0.000444268425145,1.87179146272e-05,1793239567250809088
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.588809943,715.411190057,680,661.588809943,633.411190057,880.588809943,786.588809943,805,652,631,653,0.449461819264,-0.0156506824267,0.0497039592544,0.999999900637,5.13183725258e-05,-0.000442433576342,1.85576981853e-05,1793239567267475968
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.826246056,715,679.826246056,661.826246056,633.173753944,880.826246056,786.826246056,805.173753944,652,631,653,0.449462512274,-0.0156508293452,0.0497041837747,0.99999990111,5.12224253204e-05,-0.000441378368194,1.84634694684e-05,1793239567284142592
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.250251594,715,679.250251594,661.250251594,633.749748406,880.250251594,786.250251594,805.749748406,652,631,653,0.449461927009,-0.0156511846944,0.0497035983607,0.999999900769,5.13943644907e-05,-0.000442128028407,1.85220023547e-05,1793239567300808960
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.324294431,661.324294431,633.675705569,880.324294431,786,805.675705569,652,630.675705569,653,0.449461935156,-0.0156513680044,0.0497040390015,0.999999900664,5.11344416134e-05,-0.000442385512743,1.87770871123e-05,1793239567317475328
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.897727663,661.897727663,633.102272337,880.897727663,786,805.102272337,652,630.102272337,653,0.449462399191,-0.0156514191457,0.0497052679075,0.99999990074,5.05427412353e-05,-0.00044226488352,1.91831726017e-05,1793239567334141952
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.515383347,662,633.484616653,881,786,805,652,630.484616653,653,0.449462912544,-0.0156509290369,0.0497049388497,0.999999901229,5.04176872188e-05,-0.000441175918208,1.9082924658e-05,1793239567350808832
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,880.926628576,786,805,652,631,652.926628576,0.44946314567,-0.0156506474715,0.049704275541,0.999999901641,5.01445643256e-05,-0.000440279738569,1.88991844246e-05,1793239567367475712
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,880.345179304,786,805,652,631,652.345179304,0.449461364165,-0.0156526235751,0.0497036394316,0.999999900904,4.8144680104e-05,-0.000442174069734,1.88983594595e-05,1793239567384142336
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.766893428,634,880,786,805,652,631,652.233106572,0.449458060501,-0.0156527113498,0.0497023724034,0.999999899763,4.75097887128e-05,-0.000444829042606,1.85561230515e-05,1793239567400808960
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.193229174,634,880,786,805,652,631,652.806770826,0.449452533036,-0.0156500403652,0.0497001836328,0.99999989803,4.8869087496e-05,-0.00044859527689,1.77151006644e-05,1793239567417475328
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.618827774,745,715,679,661,634,880,786.381172226,805,652,631,653,0.449431206825,-0.0156476067307,0.0496914276838,0.999999890632,5.09603201714e-05,-0.000464601127093,1.68706239979e-05,1793239567434141952
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.044051913,745,715,679,661,634,880,786.955948087,805,652,631,653,0.449401856171,-0.0156452936499,0.0496793361569,0.999999879946,5.34233141952e-05,-0.000486823679411,1.60243927631e-05,1793239567450808832
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.547055365,745.547055365,715,679,661.547055365,634,880,786.452944635,805,652,631,652.452944635,0.449345381645,-0.0156429707158,0.0496596603323,0.999999861316,5.27370305569e-05,-0.000523814457736,1.4307134625e-05,1793239567467475456
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.864261242,746,715,679,661.864261242,634,880,786,805,651.864261242,631,652.135738758,0.449283617035,-0.0156403059133,0.0496404108522,0.999999842817,5.23823771014e-05,-0.000558090635845,1.25297986349e-05,1793239567484141824
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.28784765,746,715,679,661.28784765,634,880,786,805,651.28784765,631,652.71215235,0.449211987262,-0.0156365338924,0.0496245892319,0.999999830533,5.39529943788e-05,-0.000579574302579,1.07921356015e-05,1793239567500808704
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.287454743,746,715,679.287454743,661.287454743,634,880,786,805,651,630.712545257,653,0.449135687923,-0.0156322354173,0.0496147347712,0.99999982319,5.49124187623e-05,-0.000592044620431,9.31635797371e-06,1793239567517475584
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.861648669,746,715,679.861648669,661.861648669,634,880,786,805,651,630.138351331,653,0.449054730647,-0.0156274117987,0.049610832617,0.999999821116,5.52621716173e-05,-0.000595524025225,8.10181394837e-06,1793239567534141952
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745.551716738,715.448283262,679.551716738,662,633.551716738,880,786,805,651.448283262,630,653,0.448955147027,-0.0156199443982,0.0496090950386,0.999999819136,5.96673360093e-05,-0.000598426001227,7.38622751227e-06,1793239567550808832
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.038102487,715.961897513,679,661.961897513,633.038102487,880,786,805.038102487,652,630,653,0.44884833897,-0.0156117887068,0.0496083935303,0.999999817451,6.50731934478e-05,-0.000600680666813,6.86203599437e-06,1793239567567475968
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.617070302,715.382929698,679,661.382929698,633.617070302,880,786,805.617070302,652,630,653,0.448722909896,-0.0156057755474,0.0496126455104,0.999999819956,6.6410290724e-05,-0.000596348636959,6.80640375025e-06,1793239567584142336
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,679,661.194835649,634,880.194835649,786,805.805164351,652,630.194835649,653,0.448588006403,-0.0155984564634,0.0496164720936,0.999999822733,6.93841063924e-05,-0.000591334245245,6.5547382823e-06,1793239567600808704
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,661.770252098,634,880.770252098,786,805.229747902,652,630.770252098,653,0.448434596135,-0.0155885864616,0.0496194677301,0.999999826023,7.55549938879e-05,-0.000584986967439,5.92015274655e-06,1793239567617475584
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.656757875,715.343242125,679,662,634,880.656757875,786,805,651.656757875,631,653,0.448256022533,-0.0155768401876,0.0496181314174,0.999999824612,8.14222445803e-05,-0.000586623896317,4.37533614887e-06,1793239567634142208
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.085380507,715.914619493,679,662,634,880.085380507,786,805,651.085380507,631,653,0.448060724153,-0.0155638468516,0.049613915883,0.999999820044,8.70876842474e-05,-0.000593567512726,2.22553609843e-06,1793239567650808576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.491710843,679,661.491710843,634,880,786,805,651,631,653,0.447824241175,-0.0155504660731,0.0496072175899,0.999999813346,9.25090818181e-05,-0.000603945467103,3.13142382449e-07,1793239567667475456
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.101786125,634,880,786.101786125,805,651.101786125,630.898213875,653,0.447577258167,-0.0155366314786,0.0496016423366,0.999999807687,9.79404264937e-05,-0.000612397651,-1.56359601254e-06,1793239567684142080
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.67629279,634,880,786.67629279,805,651.67629279,630.32370721,653,0.44731511312,-0.0155210053598,0.0496033084642,0.999999809122,0.000103617085795,-0.000609103969567,-3.46844441333e-06,1793239567700808704
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.748865314,745,715,679.251134686,661.748865314,634,880,786.748865314,804.748865314,651.748865314,630.251134686,653,0.447035826251,-0.0155066707686,0.0496046894237,0.99999981064,0.000107436859131,-0.000605926197397,-5.55522423504e-06,1793239567717475328
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.173590769,745,715,679.826409231,661.173590769,634,880,786.173590769,804.173590769,651.173590769,630.826409231,653,0.446734414425,-0.0154940031548,0.049605702316,0.999999812301,0.000108859947051,-0.000602898029679,-7.87682305924e-06,1793239567734141952
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.400575289,745.400575289,715,679.599424711,661.400575289,634,880,786.400575289,804.400575289,651.400575289,631,653,0.446411334061,-0.0154862047165,0.0496118108808,0.99999981957,0.000102835153791,-0.000591760966113,-1.01489778834e-05,1793239567750808832
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.97426229,745.97426229,715,679.02573771,661.97426229,634,880,786.97426229,804.97426229,651.97426229,631,653,0.44607888948,-0.0154805105306,0.0496201215799,0.99999982901,9.35917009405e-05,-0.000577119580341,-1.23997650374e-05,1793239567767475456
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745.432223873,715,679.567776127,662,634,880,787,805,652,631,653,0.445707901483,-0.0154834033238,0.0496394657402,0.999999848304,7.85029807774e-05,-0.000545060201002,-1.17699111021e-05,1793239567784142336
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.842558857,662,634.157441143,880.157441143,787,805,652,631,653,0.445325293078,-0.015483882766,0.0496608016088,0.9999998666,6.58053410947e-05,-0.00051219209124,-1.13540806582e-05,1793239567800808960
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.265630099,662,634.734369901,880.734369901,787,805,652,631,653,0.444916546921,-0.0154768573939,0.0496860633638,0.999999883229,6.02100552457e-05,-0.000479349059285,-1.18690083897e-05,1793239567817475584
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634.690413294,881,787,805.309586706,652,631,653,0.444474275975,-0.0154654009913,0.049702966213,0.999999893539,5.6752854263e-05,-0.000457724566092,-1.37778229186e-05,1793239567834142464
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634.116657228,881,787,805.883342772,652,631,653,0.444003398388,-0.0154501636037,0.0497127364369,0.999999899026,5.51200737576e-05,-0.000445672813222,-1.68760367144e-05,1793239567850808832
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.471088729,715,679,662,634.471088729,881,787,805.528911271,652,631.471088729,653,0.443492139012,-0.0154390263685,0.0497119037425,0.999999897138,4.90341801324e-05,-0.000450424909261,-2.08817509086e-05,1793239567867475456
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2d883b96e6ab558c7bff232bb4b12b36182e38e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d671e132285d41f7203d1a67efdfe093e56721d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f001f91523eb53a1e6f6220fbf1829b089a0b0dbcd93ef42acff1626ad9bd6a6
+size 26289961
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe04d0348753846bcd0599ef64c2be84c399812d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
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+49,0.816666667,BASELINE,766.414785987,745,715,678,663,636,879.414785987,788,804,652,632,653,0.400992700429,-0.0154044808156,0.0498624603068,0.999999963302,-8.33181191638e-05,-0.000253454178949,-4.70632211314e-05,1793239570623824384
+50,0.833333333,BASELINE,766.988191419,745,715,678,663,636,879.988191419,788,803.988191419,652.011808581,632,652.988191419,0.400991963184,-0.0154054020672,0.0498625488388,0.999999963171,-8.38298955723e-05,-0.000253835328384,-4.68830987321e-05,1793239570640491008
+51,0.850000000,BASELINE,766.408481787,745,715,678,663,636,879.408481787,788,803.408481787,652.591518213,632,652.408481787,0.400991030528,-0.0154053694642,0.0498614382969,0.999999962738,-8.19225095114e-05,-0.000256127437958,-4.7016625866e-05,1793239570657157632
+52,0.866666667,BASELINE,766,745,715,678.174140046,663,636,879.174140046,788,803.174140046,653,631.825859954,652,0.400990857032,-0.0154052208321,0.049860927775,0.99999996254,-8.08380861488e-05,-0.000257237200389,-4.70492391498e-05,1793239570673824256
+53,0.883333333,BASELINE,766,745,715,678.763709199,663,636,879.763709199,788,803.763709199,653,631.236290801,652,0.40099249459,-0.0154047954006,0.0498618486627,0.999999962917,-8.1716925622e-05,-0.000255526351165,-4.68411119895e-05,1793239570690490880
+54,0.900000000,BASELINE,766,744.656078988,715,679,663,636,879.656078988,788,804,653,631.343921012,652.343921012,0.400992436489,-0.0154045472759,0.0498622060621,0.999999963005,-8.12830449684e-05,-0.000255298856793,-4.69685399876e-05,1793239570707157760
+55,0.916666667,BASELINE,766,744.082125871,715,679,663,636,879.082125871,788,804,653,631.917874129,652.917874129,0.400991244242,-0.0154044177433,0.0498621865714,0.999999962898,-7.99711493742e-05,-0.000256063506695,-4.73204045853e-05,1793239570723824384
+56,0.933333333,BASELINE,766,744,715,678.494812493,663,636,879,788,803.494812493,652.494812493,632,653,0.400991727146,-0.0154040734763,0.0498631848702,0.999999963464,-7.92936121625e-05,-0.000254126622307,-4.69461212118e-05,1793239570740491008
+57,0.950000000,BASELINE,766,744.18579789,715,678,663,636,879,788,803.092898945,652.092898945,631.907101055,652.907101055,0.400992707005,-0.0154037694782,0.0498643109162,0.999999964108,-7.88182088908e-05,-0.00025180086153,-4.65724272275e-05,1793239570757157376
+58,0.966666667,BASELINE,766,745.342073295,715,678,663,636,879,788,803.671036648,652.671036648,631.328963352,652.328963352,0.400994821553,-0.0154038631063,0.0498652165152,0.999999964595,-7.88453290683e-05,-0.000249800141474,-4.68351524375e-05,1793239570773824000
+59,0.983333333,BASELINE,766,745.751667003,715,678.248332997,663,636,879,788,804,652.751667003,631.248332997,652,0.400995208263,-0.0154036924706,0.0498651209983,0.999999964603,-7.91972050864e-05,-0.000249612075955,-4.70714740866e-05,1793239570790490624
+60,1.000000000,BASELINE,766,745.175481339,715,678.824518661,663,636,879,788,804,652.175481339,631.824518661,652,0.400993313858,-0.0154031729502,0.0498637037945,0.999999963978,-7.99778282728e-05,-0.00025181710182,-4.72729374247e-05,1793239570807157248
+61,1.016666667,BASELINE,766,745,715,679,663,636,879,788,804,652,631.601305408,652.398694592,0.400992887885,-0.015403974834,0.0498633040153,0.999999963688,-8.11499935109e-05,-0.000252640450099,-4.70227758287e-05,1793239570823823872
+62,1.033333333,BASELINE,766,745,715,679,663,636,879,788,804,652,631.028009639,652.971990361,0.400993104986,-0.0154053554032,0.0498633497992,0.999999963544,-8.24936275529e-05,-0.000252858717218,-4.65748331445e-05,1793239570840490752
+63,1.050000000,BASELINE,766,745,715,678.434913341,663,635.434913341,879,788,804,652,631.565086659,652.434913341,0.400992327566,-0.0154064173218,0.0498628229138,0.999999963205,-8.41596475498e-05,-0.000253627470185,-4.66837979325e-05,1793239570857157632
+64,1.066666667,BASELINE,766,745,715,678,663.155003794,635.155003794,879,788,804.155003794,652,631.844996206,652.155003794,0.400992064761,-0.0154067196058,0.049862630612,0.999999963151,-8.43091357977e-05,-0.00025377635368,-4.67648827677e-05,1793239570873824256
+65,1.083333333,BASELINE,766,745,715,678,663.733457294,635.733457294,879,788,804.733457294,652,631.266542706,652.733457294,0.400993347372,-0.0154049913846,0.0498634327091,0.999999963897,-8.02704217684e-05,-0.000252154588088,-4.66916538882e-05,1793239570890491136
+66,1.100000000,BASELINE,766.310456751,745,715,678.310456751,663.689543249,636,879,788,804.689543249,652,631.310456751,653,0.40099326063,-0.0154055096516,0.0498636712013,0.99999996394,-8.07797685811e-05,-0.000251854385869,-4.65206423256e-05,1793239570907157504
+67,1.116666667,BASELINE,766.886213631,745,715,678.886213631,663.113786369,636,879,788,804.113786369,652,631.886213631,653,0.400992003709,-0.0154079476505,0.0498634280662,0.999999963378,-8.51756509112e-05,-0.000252683522781,-4.62660707914e-05,1793239570923824128
+68,1.133333333,BASELINE,766.539735185,745,715,678.539735185,663,636,879.92052963,788,804.460264815,652,632,652.539735185,0.400992177599,-0.015406515559,0.0498638000328,0.999999963637,-8.32215405018e-05,-0.00025226798081,-4.64770426531e-05,1793239570940490752
+69,1.150000000,BASELINE,766,745,715,678.035113555,663,636,880.92977289,788,804.964886445,652,632,652.035113555,0.400992755555,-0.0154042777212,0.0498642947605,0.999999964071,-7.99609118413e-05,-0.000251546210761,-4.67734992596e-05,1793239570957157376
+70,1.166666667,BASELINE,766,745,715,678.629351093,663,636,879.741297813,788,804.370648907,652,632,652.629351093,0.400994155911,-0.0154043882935,0.0498643318133,0.999999964192,-8.0800963705e-05,-0.000250829927204,-4.66052870615e-05,1793239570973824000
+71,1.183333333,BASELINE,766.217114632,745,715,679,663.217114632,635.782885368,879,788,804,652,632,653,0.400994417629,-0.0154045289041,0.0498643114152,0.999999964169,-8.11201290367e-05,-0.00025082719243,-4.65550326895e-05,1793239570990490880
+72,1.200000000,BASELINE,766.794146138,745,715,679,663.794146138,635.205853862,879,788,804,652,632,653,0.400992791794,-0.0154047193102,0.0498641957791,0.999999963909,-8.05758066257e-05,-0.000252007326915,-4.67003202113e-05,1793239571007157760
+73,1.216666667,BASELINE,766.632134469,744.632134469,715,679,663.632134469,635.367865531,879.367865531,788,804,652,632,653,0.400991959168,-0.0154042785398,0.0498636408,0.999999963645,-8.11152647674e-05,-0.000252833179037,-4.69736564899e-05,1793239571023824640
+74,1.233333333,BASELINE,766.060251996,744.060251996,715,679,663.060251996,635.939748004,879.939748004,788,804,652,632,653,0.400991566453,-0.0154034877213,0.0498628421628,0.999999963376,-8.2255783859e-05,-0.000253462547324,-4.73180081542e-05,1793239571040491264
+75,1.250000000,BASELINE,766.527642866,744,715,679,663.527642866,636,879.472357134,788,804,652,632,653,0.400991611671,-0.0154038484738,0.0498625513783,0.999999963342,-8.08125228164e-05,-0.000254068488314,-4.72677742104e-05,1793239571057157632
+76,1.266666667,BASELINE,766.884573865,744.115426135,715,679,663.884573865,636,879,788,804,652,632,653,0.400991851996,-0.0154044397664,0.0498625710987,0.999999963397,-7.97081591832e-05,-0.000254230259492,-4.71099343675e-05,1793239571073824256
+77,1.283333333,BASELINE,766.304825066,744.695174934,715,679,663.304825066,636,879,788,804,652,632,653,0.400992669715,-0.0154054129147,0.0498635992962,0.999999963706,-8.11910859849e-05,-0.000252616374842,-4.6706157173e-05,1793239571090490880
+78,1.300000000,BASELINE,766,745,715,678.725585409,663,636,879,788.274414591,804,652,632,653,0.400993388178,-0.0154053848425,0.0498641048376,0.999999963996,-8.13209988143e-05,-0.000251454114445,-4.65432234534e-05,1793239571107157504
+79,1.316666667,BASELINE,766,745,715,678.146910306,663,636,879,788.853089694,804,652,632,653,0.40099399659,-0.0154042466548,0.0498640308778,0.999999964267,-7.99507408681e-05,-0.000250792598032,-4.66473278887e-05,1793239571123824128
+80,1.333333333,BASELINE,766,744.572186494,715,678,663,636,879.427813506,788.572186494,804,652,632,653,0.400993972877,-0.0154033529753,0.0498644185719,0.999999964528,-7.92128987524e-05,-0.000249988297993,-4.66359723759e-05,1793239571140491008
+81,1.350000000,BASELINE,766,744.001228145,715,678,663,636,879.998771855,788,804,652,631.998771855,653,0.400993733388,-0.0154025481839,0.0498649601993,0.999999964783,-7.86952515974e-05,-0.000249140876662,-4.65856478696e-05,1793239571157157888
+82,1.366666667,BASELINE,766,744.591540726,715,678,663,636,879.408459274,788,804,652,631.408459274,653,0.400993161994,-0.0154044740616,0.0498639924701,0.999999964185,-8.05816762984e-05,-0.000250913169225,-4.66873170037e-05,1793239571173824512
+83,1.383333333,BASELINE,766,745,715,678.178424735,663,636,879,788,804,652,631.178424735,653,0.400993069825,-0.0154053565687,0.0498635330732,0.999999963917,-8.09336711881e-05,-0.000251852235448,-4.67611337205e-05,1793239571190491136
+84,1.400000000,BASELINE,766,745,715,678.757607965,663,636,879,788,804,652,631.757607965,653,0.400994054039,-0.015403895569,0.0498642154376,0.999999964396,-7.78391948309e-05,-0.000250919798407,-4.67723913462e-05,1793239571207157504
+85,1.416666667,BASELINE,766,745,715,679,663,636,879,788,804,652,632,653,0.400993395137,-0.015403995581,0.049863889476,0.999999964155,-7.84347950598e-05,-0.000251684866397,-4.68269421629e-05,1793239571223824128
+86,1.433333333,BASELINE,766,745,715,679,663,636,879,788,804,652,632,653,0.400991553668,-0.0154052190687,0.0498628378121,0.999999963389,-8.1686180582e-05,-0.000253671645826,-4.69126515222e-05,1793239571240490752
+87,1.450000000,BASELINE,766,745,715,678.513712059,663,636,879.486287941,788,804,652,632,653,0.400993576409,-0.0154052142559,0.049864586439,0.999999964151,-8.15907772273e-05,-0.000250716146187,-4.67087049557e-05,1793239571257157376
+88,1.466666667,BASELINE,766,745,715,678.062449424,663.062449424,636,879.937550576,788,804,652.062449424,632,653,0.400995916126,-0.0154051019903,0.049866459449,0.999999965051,-8.07622786617e-05,-0.000247420754037,-4.64517043993e-05,1793239571273824000
+89,1.483333333,BASELINE,766,745,715,678.653853066,663.653853066,636,879.346146934,788,804,652.653853066,632,653,0.400995012715,-0.0154059638801,0.0498650901694,0.999999964866,-7.88585687168e-05,-0.000248828212011,-4.61896813301e-05,1793239571290490880
+90,1.500000000,BASELINE,766,745,715,678.7606331,664,636,879.478733799,788,804,653,632,653,0.400993974271,-0.0154061269163,0.0498641484714,0.999999964491,-7.82545171747e-05,-0.000250518217531,-4.61977696782e-05,1793239571307157760
+91,1.516666667,BASELINE,766,745,715,678.183431992,664,636,880.633136016,788,804,653,632,653,0.400992745246,-0.0154053036143,0.0498638102476,0.999999963851,-7.94847589616e-05,-0.000252607000818,-4.65870840127e-05,1793239571323824384
+92,1.533333333,BASELINE,766.390214217,745,715,678,663.609785783,636,880.219571566,788,804,652.609785783,632,652.609785783,0.40099168315,-0.0154048682432,0.04986319095,0.999999963586,-7.97234685555e-05,-0.000253554994585,-4.6708366081e-05,1793239571340491008
+93,1.550000000,BASELINE,766.962204475,745,715,678,663.037795525,636,879.075591051,788,804,652.037795525,632,652.037795525,0.400990698817,-0.0154046135843,0.0498624407179,0.999999963498,-7.95002863315e-05,-0.000253971567092,-4.67047889602e-05,1793239571357157376
+94,1.566666667,BASELINE,766.446286002,745,715,678,663,636,879,788,804,652,632,652.553713998,0.400992046426,-0.0154061479616,0.0498632905265,0.999999963686,-8.17708779655e-05,-0.000252496706896,-4.67562482025e-05,1793239571373824000
+95,1.583333333,BASELINE,766,745,715,678,663,636,879,788,804,652,632,653,0.400992867886,-0.0154073568444,0.0498638758267,0.999999963809,-8.31970700177e-05,-0.000251553985933,-4.6693065142e-05,1793239571390490624
+96,1.600000000,BASELINE,766,745,715,678,663,636,879,788,804,652,632,653,0.400991585415,-0.0154071895496,0.0498633113059,0.999999963694,-8.15156736254e-05,-0.000252638553877,-4.62690400476e-05,1793239571407157504
+97,1.616666667,BASELINE,766,745,715,678.299356711,663,636,879,788,804,652,632,653,0.400991330724,-0.0154071909577,0.0498629956857,0.999999963581,-8.15337256646e-05,-0.0002531222374,-4.60421988921e-05,1793239571423824384
+98,1.633333333,BASELINE,766,745,715,678.873131052,663,636,879,788,804,652,632,653,0.400992018189,-0.0154073470144,0.0498629082306,0.99999996347,-8.31096470482e-05,-0.000253055095461,-4.59961145228e-05,1793239571440491520
+99,1.650000000,BASELINE,766.44746443,745,715,679,663.44746443,636,879,788,804,652,631.55253557,653,0.400991977619,-0.0154063475193,0.0498627881035,0.99999996331,-8.28459465653e-05,-0.000253694526367,-4.64305129236e-05,1793239571457157888
+100,1.666666667,BASELINE,766.977293745,745,715,679,663.977293745,636,879,788,804,652.022706255,631.022706255,653,0.400991780005,-0.0154050810513,0.0498627108848,0.999999963172,-8.19825152536e-05,-0.000254416868861,-4.69710628642e-05,1793239571473824256
+101,1.683333333,BASELINE,766.383184375,745,715,679,663.383184375,636,879,788,804,652.616815625,631.616815625,653,0.400992831406,-0.0154053513797,0.0498639468622,0.999999963976,-7.91689709714e-05,-0.000252177979694,-4.67503850187e-05,1793239571490490880
+102,1.700000000,BASELINE,766,745,715,679,663,636,879,788,804.205114353,653,632,653,0.400993457785,-0.0154055117257,0.0498644171568,0.999999964323,-7.83925066973e-05,-0.00025105508893,-4.6696319677e-05,1793239571507157504
+103,1.716666667,BASELINE,766,745,715,679,663,636,879,788,804.782856909,653,632,653,0.400993312032,-0.0154054722682,0.0498634964469,0.99999996385,-8.13167757816e-05,-0.000251959616166,-4.69449368257e-05,1793239571523824128
+104,1.733333333,BASELINE,766,745,715,679,663,636,879.344567338,788,804.655432662,652.655432662,631.655432662,653,0.400993558696,-0.0154054380536,0.0498635802114,0.999999963878,-8.16144090844e-05,-0.000251762696036,-4.68968047888e-05,1793239571540490752
+105,1.750000000,BASELINE,766,745,715,679,663,636,879.896623714,788,804.103376286,652.103376286,631.103376286,653,0.400994041662,-0.0154054069961,0.0498642688427,0.999999964208,-8.03303543588e-05,-0.000250902514481,-4.66699785232e-05,1793239571557157632
+106,1.766666667,BASELINE,766.497384492,745,715,679,663.497384492,636,880,788,803.502615508,652,631.497384492,653,0.400994395437,-0.0154064355009,0.0498651928973,0.999999964323,-8.26880209712e-05,-0.000249693680529,-4.65746082624e-05,1793239571573824512
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,632,653,0.400991240127,-0.0154042589033,0.0498622616193,0.999999963741,-7.83686085898e-05,-0.000253317369898,-4.69668572156e-05,1793239571616201472
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,678.423693559,663,636,879,788,804,652.576306441,631.423693559,653,0.40099257781,-0.0154049333398,0.049864163659,0.999999964261,-7.896135706e-05,-0.000251112343983,-4.67493630641e-05,1793239571632867328
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879,788,804,652.848447218,631,653,0.400993604763,-0.0154055108524,0.0498654562222,0.999999964584,-7.97545920819e-05,-0.000249602420086,-4.65843428189e-05,1793239571649533440
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879,788,804,652.276143861,631,653,0.400993769046,-0.0154058192786,0.049865056718,0.999999964371,-8.11044308903e-05,-0.000250022282595,-4.65650039572e-05,1793239571666200064
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.306222311,788,804,652,631.306222311,653,0.400992849114,-0.0154059742403,0.0498642513536,0.999999964028,-8.15043911257e-05,-0.000251263505371,-4.65529621861e-05,1793239571682866688
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.897971177,788,804,652,631.897971177,653,0.400990918244,-0.0154059861091,0.0498630675589,0.999999963562,-8.10186693811e-05,-0.000253270577508,-4.65477243396e-05,1793239571699533312
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.520677681,788.479322319,803.520677681,652,632,653,0.400991243601,-0.0154057181831,0.0498624367283,0.999999963466,-8.03641963565e-05,-0.00025380991893,-4.68064038431e-05,1793239571716200192
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678.058116466,663,636,879.058116466,788.941883534,803.058116466,652.058116466,631.941883534,653,0.400992521832,-0.0154055379147,0.0498623257214,0.99999996357,-7.99296434617e-05,-0.000253495824869,-4.70138075077e-05,1793239571732867072
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,678.633433467,663,636,879.633433467,788.366566533,803.633433467,652.633433467,631.366566533,653,0.400998096754,-0.015406656514,0.0498658155679,0.999999964758,-8.17651263118e-05,-0.000248308013479,-4.62755570233e-05,1793239571749533696
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,678.786858889,663,636,879.786858889,788,804,653,631,653,0.401007903818,-0.0154067681717,0.049870174836,0.99999996668,-8.16592395253e-05,-0.0002405932586,-4.56763034749e-05,1793239571766200320
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,678.199441324,663,636,879.199441324,788,804,653,631,653,0.401025142538,-0.0154051116365,0.049876060811,0.999999969827,-7.81443014165e-05,-0.000228441183619,-4.53211290535e-05,1793239571782866944
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,678.38272831,663,635.61727169,879,788,804,652.61727169,631,653,0.401062618399,-0.015407670228,0.0498885886069,0.999999975652,-7.80379310388e-05,-0.000201691285229,-4.38895394341e-05,1793239571799533568
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678.962200268,663,635.037799732,879,788,804,652.037799732,631,653,0.401110497278,-0.015412395629,0.0499045306688,0.99999998193,-7.96837537517e-05,-0.000167437292025,-4.19046124337e-05,1793239571816200192
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678.460514147,663,635.539485853,879,788,804,652,631,653,0.401179195791,-0.015417435752,0.0499203221371,0.999999986911,-8.10583446806e-05,-0.000134247919468,-3.98187595488e-05,1793239571832866816
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744.883741764,715,678,663,636,879,788,804,652,631,653,0.401251358946,-0.0154222007945,0.0499348655582,0.999999990355,-8.21722183847e-05,-0.000105393974857,-3.78244652116e-05,1793239571849533696
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744.308393289,715,678,663,636,879,788,804,652,631,653,0.40133146639,-0.0154257928509,0.0499445220898,0.999999991596,-8.23312932114e-05,-9.33667472761e-05,-3.62195362333e-05,1793239571866200576
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.273407821,715,678.273407821,663,636,879.273407821,788,804,652,631.273407821,653,0.401414466897,-0.0154302126307,0.049949473598,0.999999992047,-8.35795365205e-05,-8.76738492902e-05,-3.51264859372e-05,1793239571882867200
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.862663141,715,678.862663141,663,636,879.862663141,788,804,652,631.862663141,653,0.401500809537,-0.0154355886167,0.0499489897456,0.999999991708,-8.60860142886e-05,-8.92985267701e-05,-3.46247706976e-05,1793239571899534592
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678.555021255,663,636,879.555021255,788,804.444978745,652,632,653,0.401611480054,-0.0154427207627,0.0499508430839,0.999999991568,-8.98131600164e-05,-8.74620503005e-05,-3.38863368158e-05,1793239571916200960
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.975161267,715,678,663,636,879,787.975161267,804.975161267,652,631.975161267,653,0.401730489466,-0.0154503875723,0.0499531523701,0.999999991451,-9.37020517182e-05,-8.49974186323e-05,-3.30731301581e-05,1793239571932867072
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.402940451,715,678,663,636,879,787.402940451,804.402940451,652,631.402940451,653,0.401870340081,-0.0154580757884,0.0499498571321,0.999999990939,-9.29804506505e-05,-9.18696214538e-05,-3.2197456157e-05,1793239571949533696
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.170025643,715,678.170025643,663,636,879,787.170025643,804,652,631.170025643,653,0.402021173541,-0.0154664992368,0.0499480490607,0.999999990588,-9.35841760904e-05,-9.53861053134e-05,-3.1105555638e-05,1793239571966200064
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.744765647,715,678.744765647,663,636,879,787.744765647,804,652,631.744765647,653,0.402198149592,-0.0154766727678,0.0499497809128,0.999999990694,-9.73425944503e-05,-9.09149244621e-05,-2.94989683085e-05,1793239571982866688
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,632,653,0.402389384441,-0.0154869043169,0.0499522945628,0.999999990798,-9.99446760694e-05,-8.73889013862e-05,-2.79049289471e-05,1793239571999534080
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,632,653,0.40259200983,-0.0154971822143,0.0499554327458,0.99999999091,-0.000101623028174,-8.4617909202e-05,-2.63209132519e-05,1793239572016201472
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.498503759,879,788,804,652,632,653,0.402843097412,-0.0155093986227,0.0499627649208,0.999999992297,-0.00010004421761,-6.95035917356e-05,-2.38105165643e-05,1793239572032867584
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,879,788,804,652,632,653,0.403107446884,-0.0155209679344,0.0499704989658,0.999999993692,-9.69581744364e-05,-5.26236888341e-05,-2.11156415292e-05,1793239572049533696
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,879,788,804,652,632,653,0.403406302809,-0.0155267327398,0.0499766686753,0.999999995304,-8.77951683293e-05,-3.67916708258e-05,-1.81823309012e-05,1793239572066200064
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.234386133,745,715,678.765613867,663,635.234386133,879.234386133,788,804,652,631.765613867,653,0.403714384055,-0.0155267748836,0.049982263689,0.999999997037,-7.16721036598e-05,-2.33613323354e-05,-1.55915525665e-05,1793239572082866432
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.822934906,745,715,678.177065094,663,635.822934906,879.822934906,788,804,652,631.177065094,653,0.404036404947,-0.0155181699583,0.0499869903242,0.999999998803,-4.50322368263e-05,-1.35599857609e-05,-1.35183482903e-05,1793239572099533312
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.592847922,745,715,678.407152078,663,636,879.592847922,788,804.407152078,652,631.407152078,653,0.40438966181,-0.0155109718884,0.0499911516354,0.999999999758,-1.79397589293e-05,-5.35977447421e-06,-1.15394263844e-05,1793239572116199936
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.010494692,745,715,678.989505308,663,636,879.010494692,788,804.989505308,652,631.989505308,653,0.40475635978,-0.015504379201,0.0499950696826,0.999999999908,9.3474808419e-06,2.15145383865e-06,-9.60107506753e-06,1793239572132866560
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678.435872248,663,636,879.564127752,788.564127752,804.435872248,652,632,653,0.405147526847,-0.0155129280578,0.0499868529704,0.999999999745,1.59677890659e-05,-1.41908612345e-05,-7.35081318329e-06,1793239572149533184
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678.137526573,663,635.862473427,880,788.862473427,804,652,632,652.862473427,0.405545486448,-0.0155203667889,0.0499759767221,0.999999999044,2.50378492754e-05,-3.54738442582e-05,-5.22161108844e-06,1793239572166199808
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678.707523584,663,635.292476416,880,788.292476416,804,652,632,652.292476416,0.405963393885,-0.0155234407637,0.0499574375108,0.999999996555,4.30041644539e-05,-7.09168182454e-05,-3.49109824421e-06,1793239572182866688
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.289955501,879.710044499,788,804,652,632,652.289955501,0.406406115478,-0.0155235574001,0.0499433901785,0.999999993529,6.44581468588e-05,-9.37220214887e-05,-1.81438338436e-06,1793239572199533312
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.885492525,879.114507475,788,804,652,632,652.885492525,0.406874988543,-0.0155205573243,0.0499340767954,0.999999990661,8.95877529648e-05,-0.000103208395004,-1.94365531093e-07,1793239572216199936
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.467225794,745,715,679,663,636,879,788,804.467225794,652,632,653,0.407398313883,-0.0155215707423,0.0499408400414,0.999999989344,0.000115496345601,-8.92007680168e-05,3.98869130244e-06,1793239572232866816
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.954616637,744.954616637,715,679,663,636,879.045383363,788,804.954616637,652,632,652.954616637,0.407938924597,-0.0155236186939,0.0499523135982,0.999999987642,0.000141327414936,-6.82908746071e-05,8.86117193004e-06,1793239572249533952
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.379838675,744.379838675,715,679,663,636,879.620161325,788,804.379838675,652,632,652.379838675,0.408529965527,-0.015526589752,0.0499740910797,0.999999985914,0.000164091108482,-3.21045711916e-05,1.46586976428e-05,1793239572266201344
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.199351963,715,678.800648037,663,636,879.800648037,788,804,652,632,652.199351963,0.409127657758,-0.0155296220355,0.0499916670114,0.999999982439,0.000186286331015,-4.24831637262e-06,2.00386303678e-05,1793239572282868480
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,744.787140652,715,678.212859348,663,636,879.212859348,788,804,652,632,652.787140652,0.409738309997,-0.0155327736162,0.0500010562342,0.999999978168,0.000207373888478,7.37686045345e-06,2.46048840473e-05,1793239572299535104
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.370204871,663,636,879.370204871,787.629795129,804,652,631.629795129,652.629795129,0.410340942297,-0.0155339241945,0.0499917767387,0.9999999742,0.000224964264972,-1.64515381878e-05,2.68442170144e-05,1793239572316201728
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,678.950586838,663,636,879.950586838,787.049413162,804,652,631.049413162,652.049413162,0.410939021402,-0.0155339387398,0.0499718984171,0.999999968853,0.000240569179391,-6.04080610602e-05,2.77624827919e-05,1793239572332868096
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,787.527046887,804,652,631.527046887,652.527046887,0.411581393713,-0.0155314845169,0.0499535925215,0.999999983973,0.000153710117431,-8.90510906889e-05,2.227354664e-05,1793239572349534464
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.896596558,715,679,663.103403442,636,880,788,803.896596558,652,632,653,0.412249065783,-0.0155313703225,0.0499438131285,0.999999992222,7.18162925517e-05,-0.000100583301997,1.68024367903e-05,1793239572366201088
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.319041136,715,679,663.680958864,636,880,788,803.319041136,652,632,653,0.41301384723,-0.0155430397316,0.0499724606425,0.999999997501,5.64151401598e-05,-4.01893684148e-05,1.41472357831e-05,1793239572382867200
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.263617061,715,679,663.736382939,636,880,788,803.263617061,652,632,653,0.413762304855,-0.0155503061604,0.0499885675626,0.999999997883,6.25454251417e-05,-1.04898882119e-05,1.45892444946e-05,1793239572399533568
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.85257284,715,679,663.14742716,636,880,788,803.85257284,652,632,653,0.414490616802,-0.0155521387239,0.0499891977162,0.999999995112,9.52483822864e-05,-1.8671461614e-05,1.88536240101e-05,1793239572416200192
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,631.566742111,653,0.415217278257,-0.0155509312959,0.04996457928,0.999999990906,0.000119477509924,-5.96218087094e-05,1.89179504619e-05,1793239572432866816
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,631.011127091,653,0.415944685161,-0.015548809967,0.0499324105506,0.999999983915,0.000140510223247,-0.000110078900732,1.76188331284e-05,1793239572449533696
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,631.586249035,653,0.416737812148,-0.0155518159639,0.0499448588382,0.999999985761,0.000142941621529,-8.78107379525e-05,1.82945217369e-05,1793239572466200320
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804.161388554,652,631.838611446,652.838611446,0.417544580027,-0.0155553704882,0.049961692811,0.999999988228,0.000141009374888,-5.72323338979e-05,1.96208094883e-05,1793239572482866944
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804.736573104,652,631.263426896,652.263426896,0.418386322747,-0.0155603314226,0.0499897715639,0.999999991552,0.000127888857552,-5.34669177249e-06,2.2615216222e-05,1793239572499533824
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,678.680297424,663,636,880,788,804.680297424,652,631.319702576,652,0.419198051914,-0.0155606690523,0.0499907508523,0.999999991401,0.000128716041132,-8.13860390307e-06,2.37570899239e-05,1793239572516200192
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,678.090454734,663,636,880,788,804.090454734,652,631.909545266,652,0.419984420392,-0.0155571001131,0.0499688318175,0.999999988109,0.000141328659015,-5.71315873867e-05,2.33336226789e-05,1793239572532866816
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,678.490632027,662.509367973,636,879.509367973,788,804,652,632,652.490632027,0.420853163949,-0.0155590465056,0.049977598912,0.999999988086,0.000149550793824,-2.92258403903e-05,2.46600851909e-05,1793239572549533440
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.069572437,745,715,679,662.139144875,636,879.069572437,788,804,652,632,653,0.421733466362,-0.015561680039,0.0499915856452,0.99999998751,0.000155551131313,9.92056706112e-06,2.61870167537e-05,1793239572566200064
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.644442567,745,715,679,663.288885135,636,879.644442567,788,804,652,632,653,0.422589351605,-0.0155620485802,0.050003113325,0.999999987773,0.000151190619869,2.95435643688e-05,2.68678357195e-05,1793239572582866944
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.775906342,745,715,679,663.775906342,636,880,788,804,652,631.775906342,652.775906342,0.423440994415,-0.0155615328227,0.0500028284608,0.999999988006,0.000149877262778,2.82078421324e-05,2.70140086106e-05,1793239572599533568
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.188504097,745,715,679,663.188504097,636,880,788,804,652,631.188504097,652.188504097,0.424285759375,-0.0155595834089,0.0499833926832,0.999999987847,0.000153504059661,-7.10689650098e-06,2.62933944204e-05,1793239572616200192
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.39468763,636,880,788,804,652,631.39468763,652.39468763,0.425162186121,-0.015562194377,0.0499893079146,0.999999987555,0.000155364841159,2.11802133553e-06,2.73342281384e-05,1793239572632866816
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+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.091259813,636,881,788.091259813,805.908740187,652,632,653,0.437389944821,-0.0155442671266,0.0499555605772,0.999999973325,0.00021131713134,-8.75151805015e-05,3.21876182201e-05,1793239572882866944
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+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745.196225264,715,679,662,634,880,786,805.803774736,651.803774736,630.196225264,653,0.449946987521,-0.0156679910761,0.0497131530918,0.999999905389,3.61497103716e-05,-0.000432923095062,2.2205243853e-05,1793239573632867328
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745.789658768,715,679,662,634,880,786,805.210341232,651.210341232,630.789658768,653,0.449949241934,-0.0156672301492,0.0497134062125,0.999999905608,3.69341522558e-05,-0.000432344264321,2.23171106276e-05,1793239573649533696
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745.62777517,715,679,662,633.62777517,880,786,805,651.37222483,630.62777517,653,0.449950350472,-0.0156652010168,0.0497132375669,0.999999905129,3.85851653358e-05,-0.00043331692673,2.2121145546e-05,1793239573666200320
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745.051176022,715,679,662,633.051176022,880,786,805,651.948823978,630.051176022,653,0.449950829855,-0.0156624755615,0.0497128373457,0.999999904261,4.0711979259e-05,-0.000435141454292,2.17561618438e-05,1793239573682866944
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,633.524071029,880.524071029,786,805,652,630,652.475928971,0.44994875405,-0.0156650630197,0.0497104945706,0.999999903144,3.5809563835e-05,-0.000438124193721,2.18246174281e-05,1793239573699533568
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634,881,786,805,651.901365564,630.098634436,652.098634436,0.449947449958,-0.0156672154008,0.0497087650855,0.999999902382,3.16228244862e-05,-0.000440179916917,2.18412161959e-05,1793239573716199936
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634,881,786,805,651.329450775,630.670549225,652.670549225,0.449951042983,-0.0156647971194,0.0497108862303,0.999999903595,3.415528349e-05,-0.0004372462149,2.14064187442e-05,1793239573732866560
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715.253921417,679,662,633.746078583,881,786.253921417,805,651,630.746078583,653,0.44995305974,-0.0156633548919,0.049711672551,0.999999904051,3.56464129688e-05,-0.000436094598942,2.11827201165e-05,1793239573749533440
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715.852861573,679,662,633.147138427,881,786.852861573,805,651,630.147138427,653,0.449952934725,-0.0156632388891,0.0497106451639,0.999999903492,3.5722623953e-05,-0.00043736441316,2.12458544608e-05,1793239573766200320
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715.565240924,679.434759076,662,633,880.565240924,786.565240924,805,651,630.434759076,653,0.449952505056,-0.0156632904923,0.0497097555604,0.999999903262,3.3756290632e-05,-0.000438057438638,2.10392009797e-05,1793239573782866944
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.01108106,715,679.98891894,662,633.01108106,880.01108106,786,805,651.01108106,631,653,0.449951996551,-0.015663378005,0.0497089348419,0.999999903131,3.12454913226e-05,-0.000438554525495,2.07585080686e-05,1793239573799533824
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.586120714,715,679.413879286,662,633.586120714,880.586120714,786,805,651.586120714,631,653,0.449952525281,-0.0156625150846,0.0497093362396,0.999999902965,3.4879113525e-05,-0.000438639595679,2.11812937179e-05,1793239573816200192
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.835492983,715.164507017,679,662,634,880.835492983,786,805,652,630.835492983,653,0.449952984823,-0.0156623235543,0.0497095764792,0.999999902946,3.66117442493e-05,-0.000438522544426,2.15854232371e-05,1793239573832866816
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.248512118,715.751487882,679,662,634,880.248512118,786,805,652,630.248512118,653,0.449953266683,-0.0156638562353,0.0497094028453,0.999999903327,3.34623995223e-05,-0.000437886420965,2.19416415408e-05,1793239573849533440
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715.665668426,679.334331574,662,634,880,786,805,651.665668426,630,652.665668426,0.44995355821,-0.0156636879684,0.049709192982,0.999999903445,3.24504548342e-05,-0.000437708194058,2.16391394672e-05,1793239573866200064
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715.085862375,679.914137625,662,634,880,786,805,651.085862375,630,652.085862375,0.449953856834,-0.0156622708235,0.0497089565182,0.999999903374,3.30078420475e-05,-0.000437866166111,2.08529886496e-05,1793239573882866688
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.490007422,715.490007422,679.509992578,662,634,880,786,805,651.490007422,630.490007422,652.490007422,0.449953400915,-0.0156634460755,0.0497091574488,0.999999903111,3.27107300953e-05,-0.000438452106262,2.16182462116e-05,1793239573899533312
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745.934870937,716,679,662,633.934870937,880.065129063,786,805,652,631,653,0.449952908886,-0.0156647861603,0.0497093618917,0.999999902845,3.21488745793e-05,-0.000439060457814,2.24301111041e-05,1793239573916200192
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745.360249607,716,679,662,633.360249607,880.639750393,786,805,652,631,653,0.449953160438,-0.0156638904522,0.0497089990224,0.999999902823,3.06779640547e-05,-0.000439262160432,2.14969064823e-05,1793239573932866816
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,715.778704291,679,662,633.221295709,881,786,805,652,630.778704291,653,0.449953411113,-0.0156627132989,0.0497088755593,0.99999990284,3.04104357011e-05,-0.00043926641666,2.09749881881e-05,1793239573949533440
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745,715.185523188,679,662,633.814476812,881,786,805,652,630.185523188,653,0.449953660315,-0.0156610631793,0.0497091544161,0.999999902925,3.2165179732e-05,-0.000438938866085,2.11442326176e-05,1793239573966200064
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.605316203,745,715,679.394683797,662,633.605316203,880.605316203,786,805.394683797,652,630,652.605316203,0.449953798257,-0.0156621560653,0.0497091865167,0.99999990309,2.96425081871e-05,-0.000438741209045,2.11689127102e-05,1793239573982866688
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.031013714,745,715,679.968986286,662,633.031013714,880.031013714,786,805.968986286,652,630,652.031013714,0.449953885565,-0.01566449728,0.0497091063197,0.999999903274,2.51732053297e-05,-0.000438602665939,2.11278022595e-05,1793239573999533312
+251,4.183333333,HOLD_POSE2,765,745,715,679,662,633,881,785,806,652,631,653,0.449956740019,-0.0156618766453,0.0497108000437,0.999999904347,3.02092590889e-05,-0.000435823155602,2.12575807357e-05,1793239574029374208
+252,4.200000000,HOLD_POSE2,765.572544115,745,715,679.572544115,661.427455885,633,881,785.572544115,805.427455885,652,631,653,0.449956265266,-0.0156604313369,0.0497100685188,0.999999903865,3.23388866056e-05,-0.000436794873105,2.08252398109e-05,1793239574046041344
+253,4.216666667,HOLD_POSE2,766,745,715,680,661,633,880.848119102,786,805,652,630.848119102,652.848119102,0.449955739568,-0.0156597516829,0.0497094444564,0.99999990346,3.31022812657e-05,-0.000437681914702,2.04521880849e-05,1793239574062708224
+254,4.233333333,HOLD_POSE2,766,745,715,680,661,633,880.248769758,786,805,652,630.248769758,652.248769758,0.449955063781,-0.0156613277843,0.0497091369978,0.999999903288,2.9840508691e-05,-0.000438319486086,2.02538129002e-05,1793239574079374848
+255,4.250000000,HOLD_POSE2,766,745,715.335869499,680,661,633.335869499,880,786,805,652,630.335869499,652.335869499,0.449955023097,-0.0156611185166,0.0497093107303,0.999999903137,2.98377429836e-05,-0.000438658027686,2.03655085523e-05,1793239574096041472
+256,4.266666667,HOLD_POSE2,766,745,715.910070506,680,661,633.910070506,880,786,805,652,630.910070506,652.910070506,0.44995543308,-0.0156596423588,0.0497098259139,0.999999903003,3.21475543093e-05,-0.00043878437904,2.06972291084e-05,1793239574112708096
+257,4.283333333,HOLD_POSE2,766,745,715.51655198,680,661,634,880,786,805,652,631,652.51655198,0.449954985347,-0.0156607830791,0.049709691759,0.999999902663,3.14412798447e-05,-0.000439596989646,2.09582678495e-05,1793239574129374720
+258,4.300000000,HOLD_POSE2,766,745,715,680,661,633.941568124,880,786,805.058431876,652,630.941568124,652.058431876,0.449954559396,-0.0156621810889,0.0497094872966,0.999999902372,3.02214341181e-05,-0.000440335117903,2.11397677675e-05,1793239574146041344
+259,4.316666667,HOLD_POSE2,766,745,715,680,661,633.350549126,880,786,805.649450874,652,630.350549126,652.649450874,0.449955783758,-0.0156614948812,0.0497097410748,0.99999990289,2.94255805402e-05,-0.000439232802697,2.07159337294e-05,1793239574162707712
+260,4.333333333,HOLD_POSE2,766,745,715,679.763695184,661.236304816,633,880.236304816,785.763695184,806,652,630,653,0.449956571026,-0.0156602646549,0.0497097912748,0.999999903119,2.98808791911e-05,-0.000438695421075,2.03660394352e-05,1793239574179374336
+261,4.350000000,HOLD_POSE2,766,745,715,679.182912974,661.817087026,633,880.817087026,785.182912974,806,652,630,653,0.44995672111,-0.0156582413763,0.0497095447051,0.999999902928,3.21600665069e-05,-0.000438981581155,2.01239321061e-05,1793239574196041216
+262,4.366666667,HOLD_POSE2,766,745,715,679.394950862,662,633.394950862,880.605049138,785.394950862,805.605049138,652,630.394950862,652.605049138,0.449958161125,-0.0156591861159,0.0497103478415,0.999999903807,3.09602080718e-05,-0.000437049902342,2.03713958284e-05,1793239574212707840
+263,4.383333333,HOLD_POSE2,766,745,715,679.971473082,662,633.971473082,880.028526918,785.971473082,805.028526918,652,630.971473082,652.028526918,0.449960194163,-0.0156614953469,0.0497116335607,0.999999905165,2.81609228736e-05,-0.000434098613123,2.08439307684e-05,1793239574229374720
+264,4.400000000,HOLD_POSE2,766,745,715,679.454702274,662,633.454702274,880,786,805,652,630.454702274,652.545297726,0.449959896701,-0.0156608719739,0.0497118221357,0.999999904738,2.98042660393e-05,-0.000434978658474,2.07063950244e-05,1793239574246041088
+265,4.416666667,HOLD_POSE2,766,745,715,679.123365831,661.876634169,633,880,786,805.123365831,652,630.123365831,653,0.449959435664,-0.0156602618707,0.0497118539337,0.999999904275,3.10952719486e-05,-0.000435957960419,2.05819099753e-05,1793239574262707712
+266,4.433333333,HOLD_POSE2,766,745,715,679.718187606,661.281812394,633,880,786,805.718187606,652,630.718187606,653,0.449958813139,-0.0156602858946,0.049711504859,0.999999904043,3.01559624145e-05,-0.000436554373105,2.06286675864e-05,1793239574279374336
+267,4.450000000,HOLD_POSE2,766,745,715,680,661.303420841,633,880,786,805.696579159,651.696579159,630.696579159,653,0.44995876438,-0.0156607850223,0.049711321713,0.999999904022,2.91354882418e-05,-0.000436664352336,2.07919220994e-05,1793239574296040960
+268,4.466666667,HOLD_POSE2,766,745,715,680,661.880021171,633,880,786,805.119978829,651.119978829,630.119978829,653,0.449959232201,-0.0156617119011,0.0497112879581,0.99999990419,2.80419390045e-05,-0.00043633637993,2.10600624973e-05,1793239574312707584
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,633,881,786,805,652,631,653,0.44995741087,-0.0156586000462,0.0497096721708,0.999999902949,3.13313656017e-05,-0.000438974145211,2.05510258046e-05,1793239574345327104
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.57191422,662,633,880.42808578,786,805,652,630.42808578,653,0.44995745711,-0.0156590875668,0.049709779944,0.999999903047,2.99795473458e-05,-0.00043884928636,2.04678726161e-05,1793239574361993728
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.849479975,745,715.150520025,679.849479975,661.849479975,633.150520025,880,786,805,652,630.150520025,653,0.449957436825,-0.0156598898745,0.0497097388199,0.999999903109,2.85546712758e-05,-0.000438803360419,2.04690148804e-05,1793239574378660096
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.250957433,745,715.749042567,679.250957433,661.250957433,633.749042567,880,786,805,652,630.749042567,653,0.449957218535,-0.0156616291037,0.0497092545227,0.999999903066,2.6912348171e-05,-0.000438992367597,2.07210511509e-05,1793239574395326720
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.335350082,745.335350082,715.664649918,679,661.335350082,633.664649918,880.335350082,786,805,652,630.664649918,653,0.449957080814,-0.0156610849561,0.0497092300499,0.999999903027,2.74554687361e-05,-0.000439053394546,2.05882566391e-05,1793239574411993600
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.91283777,745.91283777,715.08716223,679,661.91283777,633.08716223,880.91283777,786,805,652,630.08716223,653,0.449957001267,-0.0156588921093,0.0497095375907,0.999999902989,2.95765764832e-05,-0.000439022014091,2.01775972504e-05,1793239574428660224
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,662,633,881,786,805,652,630.484743093,653,0.449956462673,-0.0156592601878,0.0497092128574,0.999999902787,2.82732448587e-05,-0.000439564101962,2.02326829547e-05,1793239574445326848
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.942034694,745.942034694,715,679,662,633.057965306,881,786,805.057965306,652,631,652.942034694,0.449955568695,-0.0156598853693,0.0497086364617,0.999999902468,2.68756624376e-05,-0.000440371817806,2.03625438813e-05,1793239574461993472
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.347433864,745.347433864,715,679,662,633.652566136,881,786,805.652566136,652,631,652.347433864,0.449952140078,-0.0156586762204,0.0497067707525,0.999999901345,3.02411762151e-05,-0.000442694917453,2.0418179781e-05,1793239574478660096
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.608796092,745,715,680,662,633.608796092,880,786,805.608796092,652,630.391203908,652.391203908,0.44988438417,-0.0156561237229,0.0496796241263,0.999999878569,2.69369255372e-05,-0.00049176290106,1.74615411341e-05,1793239574528660480
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.032393524,745,715,680,662,633.032393524,880,786,805.032393524,652,630.967606476,652.967606476,0.449835698025,-0.015653014199,0.0496618431146,0.999999861658,2.82921523109e-05,-0.000525006076288,1.58903999562e-05,1793239574545327104
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.540277437,745,715.540277437,679.459722563,661.459722563,633,880,786,805,651.459722563,631,652.459722563,0.449767728654,-0.0156511345554,0.0496430879632,0.999999846081,2.87771041155e-05,-0.000553896105288,1.446996591e-05,1793239574561993472
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.023684415,745,715,679,662,633.023684415,880.976315585,786,805,652,631,653,0.449187234409,-0.0156126277308,0.0496094807749,0.999999818955,4.43141824612e-05,-0.000600056410196,7.62198005259e-06,1793239574661993216
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.676901371,662,634,880.676901371,786.323098629,805.323098629,652,631,652.676901371,0.44746107741,-0.0155134720646,0.0496061141142,0.999999815631,8.49555455166e-05,-0.000601247322831,-4.65012171288e-06,1793239574795326720
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.737495774,745,715,680,662,634,881,786.262504226,805,652,631,653,0.44715040587,-0.0155027983614,0.0496045642864,0.999999814893,8.43946935995e-05,-0.000602527359476,-7.27943117804e-06,1793239574811993344
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.159640998,745,715,680,662,634,881,786.840359002,805,652,631,653,0.446819400583,-0.0154956500782,0.049605256326,0.999999814989,8.00266969872e-05,-0.000602923712443,-1.00517889812e-05,1793239574828660224
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.323388287,634.323388287,880.323388287,787,805,651,631.323388287,652.323388287,0.444384085397,-0.0154578986016,0.0497062121576,0.999999895299,3.69014849943e-05,-0.000455766860338,-1.78004108809e-05,1793239574928660224
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.898813259,634.898813259,880.898813259,787,805,651,631.898813259,652.898813259,0.4438892729,-0.0154472751565,0.0497188403334,0.999999902476,3.13163846347e-05,-0.000440046556176,-2.06401572925e-05,1793239574945326848
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.391999263,635,881,788,805,651.608000737,632,653,0.433571854563,-0.0153692745642,0.0497875614762,0.999999936139,-6.25981210584e-05,-0.000345523206231,-6.64574853538e-05,1793239575195326720
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.194354954,745,715,679,663.194354954,635,881,788.194354954,805,652,631.805645046,653,0.432750066379,-0.015370153133,0.0497914678229,0.999999939829,-6.71068925817e-05,-0.000333204953046,-6.93743343213e-05,1793239575211993344
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.795636135,662.795636135,636,879.795636135,787.204363865,804,652,631.204363865,652.204363865,0.415575461321,-0.0153709916963,0.049826731872,0.999999958411,-4.82391929781e-05,-0.00027889562299,-5.53973202314e-05,1793239575545326848
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745.944130363,715,679,662.055869637,636,879.055869637,787.944130363,805.888260725,652,631.944130363,652.944130363,0.41402793555,-0.0153680779194,0.049823780013,0.999999956826,-5.5148083199e-05,-0.000283057252021,-5.6437348036e-05,1793239575578660096
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,715,678.651320565,662.651320565,636,879.651320565,788,804,652.651320565,631.651320565,652.651320565,0.405050481114,-0.0153663026722,0.049782736828,0.999999917031,-0.000106457270245,-0.000388331832398,-6.16672698254e-05,1793239575828662016
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.799133144,663,636,879,788,804,652,631,652,0.40165674366,-0.0153730867734,0.0498281442275,0.999999946203,-4.38773070001e-06,-0.000324734557972,-4.60681029461e-05,1793239576045327616
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.506306117,663,636,879,788,804,652,631.506306117,652.493693883,0.40128766303,-0.0153864821283,0.0498468584562,0.999999956664,-4.10355596115e-05,-0.000287664162267,-4.72916070468e-05,1793239576111994112
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.083150084,745,715,679,662.916849916,636,879,788,804,652,631.916849916,652,0.401215221983,-0.0153927226639,0.0498463311658,0.999999955776,-5.24396494091e-05,-0.000288855402031,-4.75395320232e-05,1793239576128660736
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,631,652.256659182,0.400999258282,-0.0153984541212,0.0498483637286,0.999999958204,-6.23525227076e-05,-0.000278235744017,-4.78404848103e-05,1793239576261993728
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,744.101396413,715,678.101396413,663,636,879.898603587,788,803.101396413,652,631.898603587,652,0.400991328467,-0.0153978820461,0.0498513238025,0.999999959177,-6.13679128307e-05,-0.000274970660746,-4.76506819252e-05,1793239576295327232
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,744.475448743,715,678.475448743,663,635.524551257,879.524551257,788,803.475448743,652,632,652,0.400991711019,-0.0153984119598,0.0498528042003,0.999999960051,-6.14593507886e-05,-0.000271730413299,-4.77935055748e-05,1793239576311993856
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0c49ce79ab7e619b195d5f4ba93f25cc33822bd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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+385,6.416666667,pose2_to_pose3_retreat,0.575672353294,-0.00990924806766,1.04003241657,0.546242804598,-0.00123750940551,1.03970054917
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+388,6.466666667,pose2_to_pose3_retreat,0.575668997604,-0.00990924731363,1.04003232501,0.546239449062,-0.00123750801344,1.03970046076
+389,6.483333333,pose2_to_pose3_retreat,0.575668824752,-0.00990924725792,1.04003231477,0.546239276217,-0.00123750790035,1.03970045131
+390,6.500000000,pose2_to_pose3_retreat,0.575668683822,-0.0099092472125,1.04003230642,0.546239135294,-0.00123750780814,1.03970044361
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+392,6.533333333,pose2_to_pose3_retreat,0.575668527836,-0.00990924716223,1.04003229719,0.546238979315,-0.00123750770608,1.03970043509
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+394,6.566666667,pose2_to_pose3_retreat,0.575668163864,-0.00990924704493,1.04003227563,0.546238615359,-0.00123750746795,1.03970041521
+395,6.583333333,pose2_to_pose3_retreat,0.57566796946,-0.00990924698228,1.04003226412,0.546238420964,-0.00123750734075,1.03970040459
+396,6.600000000,pose2_to_pose3_retreat,0.575667891274,-0.00990924695708,1.04003225949,0.546238342782,-0.0012375072896,1.03970040032
+397,6.616666667,pose2_to_pose3_retreat,0.575667769753,-0.00990924691792,1.04003225229,0.546238221266,-0.00123750721009,1.03970039368
+398,6.633333333,pose2_to_pose3_retreat,0.575667589096,-0.0099092468597,1.04003224159,0.546238040617,-0.00123750709189,1.03970038381
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+400,6.666666667,pose2_to_pose3_retreat,0.575667346497,-0.00990924678152,1.04003222722,0.54623779803,-0.00123750693316,1.03970037056
+401,6.683333333,pose2_to_pose3_retreat,0.57566712909,-0.00990924671145,1.04003221435,0.546237580632,-0.00123750679092,1.03970035868
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+404,6.733333333,pose2_to_pose3_retreat,0.575666167309,-0.0099092320555,1.04003222698,0.546236618505,-0.00123749337858,1.03970036954
+405,6.750000000,pose2_to_pose3_retreat,0.575665641449,-0.00990920984337,1.04003230278,0.546236092069,-0.0012374733933,1.03970043824
+406,6.766666667,pose2_to_pose3_retreat,0.5756653469,-0.00990919740172,1.04003234523,0.546235797197,-0.00123746219897,1.03970047672
+407,6.783333333,pose2_to_pose3_retreat,0.575665213197,-0.00990919175415,1.0400323645,0.546235663348,-0.00123745711759,1.03970049418
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..03f7f23ecae976b4f19464da3a6412627576c692
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c62c4206168f46f3778e64732e9ce26720bdbd1edbccc191132a45f5e80cea31
+size 26354324
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5470e2a2b289f8dd6ef0f8544c26dfcdecd545c0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
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+11,0.183333333,BASELINE,766.368346362,745,715.631653638,679,663,635.368346362,879,788,804,653,631.631653638,653,0.40099111945,-0.0154023296034,0.0498611149619,0.999999964612,-5.75879465226e-05,-0.000255660165674,-4.57976232961e-05,1793239577055631872
+12,0.200000000,BASELINE,766.958627436,745,715.041372564,679,663,635.958627436,879,788,804,653,631.041372564,653,0.400989337078,-0.0154015693747,0.0498600626635,0.99999996415,-5.58018174265e-05,-0.000257814499634,-4.60173131639e-05,1793239577072298240
+13,0.216666667,BASELINE,766.46161155,745,715,678.46161155,663,635.46161155,879,788,804,652.46161155,631.53838845,653,0.400989805373,-0.0154033527892,0.0498605402613,0.999999964063,-5.91785268339e-05,-0.000257438959189,-4.58011514239e-05,1793239577088964864
+14,0.233333333,BASELINE,766,745,715,678,663,635.116404949,879,788,804,652,632,653,0.400990231978,-0.0154049778958,0.0498608733345,0.99999996398,-6.20125411841e-05,-0.000257131730318,-4.55781367209e-05,1793239577105631232
+15,0.250000000,BASELINE,766,745,715,678,663,635.690678622,879,788,804,652,632,653,0.400989827339,-0.0154052261963,0.0498601843634,0.999999963854,-6.11812818254e-05,-0.000257843232931,-4.54573837104e-05,1793239577122298112
+16,0.266666667,BASELINE,766,744.728192554,715,678,663,636,879.271807446,788.271807446,804,652.271807446,631.728192554,652.728192554,0.40099043899,-0.015404581789,0.0498603787475,0.999999964222,-5.9150410863e-05,-0.000256874502135,-4.55295628879e-05,1793239577138964736
+17,0.283333333,BASELINE,766,744.139060645,715,678,663,636,879.860939355,788.860939355,804,652.860939355,631.139060645,652.139060645,0.400992237119,-0.0154028951806,0.0498616044138,0.999999965154,-5.57190407619e-05,-0.000253944165119,-4.58269827846e-05,1793239577155631360
+18,0.300000000,BASELINE,766,744.442836909,715,678,663,636,879.557163091,788.557163091,804,652.557163091,631,652.442836909,0.400992605005,-0.0154033507502,0.0498623013837,0.999999965204,-5.65964954776e-05,-0.000253586428911,-4.56307095343e-05,1793239577172297728
+19,0.316666667,BASELINE,766,745,715,678.02236956,663,636,879.02236956,788,804,652,631,653,0.400992507033,-0.0154044510774,0.049862803099,0.999999964978,-5.88058507035e-05,-0.00025403327456,-4.5300333836e-05,1793239577188964608
+20,0.333333333,BASELINE,766,745,715,678.598691291,663,636,879.598691291,788,804,652,631,653,0.400991815978,-0.0154051274226,0.0498625148365,0.999999964665,-6.10296326664e-05,-0.000254720655414,-4.54265071924e-05,1793239577205631488
+21,0.350000000,BASELINE,766,745,715,679,663,636,879.825936931,788,804,652,631.174063069,653,0.400991301801,-0.0154051624208,0.0498621311792,0.999999964472,-6.13153418673e-05,-0.000255382020528,-4.55687365254e-05,1793239577222297856
+22,0.366666667,BASELINE,766,745,715,679,663,636,879.252743496,788,804,652,631.747256504,653,0.400991193209,-0.0154037267962,0.0498615287797,0.999999964556,-5.71570081586e-05,-0.000255983730893,-4.5747782542e-05,1793239577238964480
+23,0.383333333,BASELINE,766,745,715,679,663,636,879,788.331358886,804,652.331358886,632,653,0.400991102146,-0.0154035229975,0.0498615984503,0.999999964675,-5.65863142916e-05,-0.000255672687922,-4.55931852939e-05,1793239577255631104
+24,0.400000000,BASELINE,766,745,715,679,663,636,879,788.924065374,804,652.924065374,632,653,0.40099102491,-0.0154042907579,0.0498621981924,0.999999964827,-5.88452440257e-05,-0.000254641743103,-4.51754387396e-05,1793239577272297728
+25,0.416666667,BASELINE,766,745,715,679,663,636,879.505307454,787.989385092,803.494692546,652.494692546,632,652.494692546,0.400990607491,-0.0154034741811,0.049861539251,0.999999964803,-5.65890960838e-05,-0.000255205645545,-4.54013387309e-05,1793239577288964352
+26,0.433333333,BASELINE,766.084094659,745,715,678.915905341,663,636,879.915905341,787.084094659,803.084094659,652,632,652.084094659,0.400990397284,-0.0154025888167,0.0498609421398,0.999999964778,-5.44405716766e-05,-0.000255716844555,-4.56968658878e-05,1793239577305630976
+27,0.450000000,BASELINE,766.658391939,745,715,678.341608061,663,636,879.341608061,787.658391939,803.658391939,652,632,652.658391939,0.400991686337,-0.0154026595276,0.0498617835614,0.999999964938,-5.67867523161e-05,-0.000254554774048,-4.58469524967e-05,1793239577322297856
+28,0.466666667,BASELINE,766.765481151,744.765481151,715,678,663.234518849,636,879,788,803.765481151,652.234518849,631.765481151,653,0.400992582837,-0.0154027944557,0.0498622295486,0.999999965002,-5.85837560675e-05,-0.000253877396804,-4.59338857445e-05,1793239577338964480
+29,0.483333333,BASELINE,766.18666822,744.18666822,715,678,663.81333178,636,879,788,803.18666822,652.81333178,631.18666822,653,0.400992903035,-0.0154030236603,0.0498620950036,0.999999964935,-5.95745202058e-05,-0.000253911591533,-4.59281043523e-05,1793239577355631104
+30,0.500000000,BASELINE,766.399041006,744,715,678.399041006,663.600958994,635.600958994,879,788,803.399041006,652.600958994,631.399041006,652.600958994,0.400992289118,-0.0154031706036,0.0498617371761,0.999999964944,-5.81545431969e-05,-0.000254256477388,-4.5639445011e-05,1793239577372297984
+31,0.516666667,BASELINE,766.988032979,744,715,678.988032979,663.011967021,635.011967021,879,788,803.988032979,652.011967021,631.988032979,652.011967021,0.400991230545,-0.0154032783889,0.049861273062,0.999999964984,-5.55870083703e-05,-0.000254749258017,-4.52161304849e-05,1793239577388964608
+32,0.533333333,BASELINE,766.435795809,744.564204191,715,679,663,635.564204191,879,788,804,652.564204191,632,652,0.400991609027,-0.0154036341241,0.0498619842886,0.999999965116,-5.69028725129e-05,-0.000253908207925,-4.53956490715e-05,1793239577405630976
+33,0.550000000,BASELINE,766,745,715,678.860774451,663,636,879,788,804,652.860774451,631.860774451,652,0.400991817694,-0.0154036367257,0.0498624712097,0.999999965238,-5.74079096312e-05,-0.000253293524068,-4.55004049026e-05,1793239577422297856
+34,0.566666667,BASELINE,766,745,715,678.288502673,663,636,879,788,804,652.288502673,631.288502673,652,0.400991405469,-0.0154025249482,0.0498621846344,0.999999965329,-5.51404490727e-05,-0.000253468969829,-4.53337321658e-05,1793239577438964480
+35,0.583333333,BASELINE,766,745,715,678,663,636,879.292745881,788,804,652.292745881,631.292745881,652.292745881,0.400991090832,-0.0154027959647,0.0498620538163,0.999999965215,-5.5694155793e-05,-0.000253808261919,-4.52780390556e-05,1793239577455631104
+36,0.600000000,BASELINE,766,745,715,678,663,636,879.883121026,788,804,652.883121026,631.883121026,652.883121026,0.400990875411,-0.0154044728416,0.0498620813534,0.999999964887,-5.91160902601e-05,-0.000254314133527,-4.53351768359e-05,1793239577472297728
+37,0.616666667,BASELINE,766.46574831,745,715,678.46574831,663,636,880,788,804,652.53425169,632,652.53425169,0.400991068616,-0.0154039670225,0.0498619588121,0.99999996494,-5.77367545643e-05,-0.000254419120754,-4.53628593571e-05,1793239577488964352
+38,0.633333333,BASELINE,766.953870481,745,715,678.953870481,663,636,880,788,804,652.046129519,632,652.046129519,0.400991316431,-0.0154030626773,0.0498617543393,0.999999965053,-5.55186952758e-05,-0.000254465827794,-4.53641669343e-05,1793239577505630976
+39,0.650000000,BASELINE,766.377324409,745,715,678.377324409,663,636,880,788,804,652.622675591,632,652.622675591,0.400991032382,-0.0154037710537,0.0498610337526,0.999999964833,-5.72840761493e-05,-0.000254980234324,-4.51458071823e-05,1793239577522297856
+40,0.666666667,BASELINE,766,745,715,678,663,636,880,788,804,652.801651815,631.801651815,653,0.400991197595,-0.0154042447689,0.0498611714907,0.999999964893,-5.78386269199e-05,-0.000254644163837,-4.49910824089e-05,1793239577538964736
+41,0.683333333,BASELINE,766,745,715,678,663,636,880,788,804,652.227633618,631.227633618,653,0.400992213704,-0.0154042740372,0.0498629348901,0.999999965488,-5.60998742138e-05,-0.000252697296059,-4.49568818332e-05,1793239577555631360
+42,0.700000000,BASELINE,766,745,715,678,663,636,880,788,804.356380597,652,631,653,0.400991620719,-0.0154041869732,0.0498625934879,0.999999965273,-5.68129254185e-05,-0.000253345683392,-4.52022746536e-05,1793239577572297728
+43,0.716666667,BASELINE,766,745,715,678,663,636,880,788,804.946963875,652,631,653,0.400989970285,-0.0154040234592,0.0498608688729,0.999999964519,-5.91372289639e-05,-0.000255699594916,-4.5631407901e-05,1793239577588964352
+44,0.733333333,BASELINE,766,745,715,678.526731924,663,635.473268076,879.473268076,788,804.473268076,652,631.526731924,653,0.400990831037,-0.0154034333863,0.0498614203408,0.999999964861,-5.71674637119e-05,-0.000254842645655,-4.54530811002e-05,1793239577605631232
+45,0.750000000,BASELINE,766,745,715,679.104683684,663,635.104683684,879,788,804,652.104683684,632,652.895316316,0.400991895362,-0.0154028855903,0.0498620655057,0.999999965251,-5.52625185828e-05,-0.000253761600619,-4.52608922871e-05,1793239577622297856
+46,0.766666667,BASELINE,766,745,715,679.679272149,663,635.679272149,879,788,804,652.679272149,632,652.320727851,0.400992761328,-0.0154027164824,0.049862123226,0.999999965403,-5.55502964144e-05,-0.000253096659502,-4.52755115762e-05,1793239577638964736
+47,0.783333333,BASELINE,766,745,715,679.479629098,663,636,879.260185451,788,804,652.739814549,632,652.260185451,0.400992934202,-0.0154036732694,0.0498621720507,0.999999965347,-5.72295596696e-05,-0.000252972425469,-4.51252420033e-05,1793239577655631360
+48,0.800000000,BASELINE,766,745,715,678.301820717,663,636,879.849089641,788,804,652.150910359,632,652.849089641,0.400992231424,-0.0154060525139,0.0498622096366,0.999999965019,-6.06668280018e-05,-0.00025353132159,-4.4766651565e-05,1793239577672297984
+49,0.816666667,BASELINE,766,745,715,678,663,636,879.568661511,788,804,652,631.568661511,653,0.400991648096,-0.0154048300143,0.0498622300785,0.999999965104,-5.85947713247e-05,-0.000253636039978,-4.50308238699e-05,1793239577688964608
+50,0.833333333,BASELINE,766.011196499,744.988803501,715,678.011196499,663,636,879,788,804,652.011196499,631,653,0.400991150862,-0.0154024400266,0.0498622724677,0.999999965326,-5.4719937972e-05,-0.000253543976171,-4.5491619319e-05,1793239577705630976
+51,0.850000000,BASELINE,766.586134887,744.413865113,715,678.586134887,663,636,879,788,804,652.586134887,631,653,0.400992916182,-0.0154037502086,0.0498637173061,0.99999996583,-5.56512874185e-05,-0.000251423031186,-4.50486786546e-05,1793239577722297600
+52,0.866666667,BASELINE,766.835133581,744.164866419,715,679,663,636,879,788,804,653,631,652.835133581,0.400993716765,-0.015404501236,0.0498642723395,0.999999966011,-5.62645466619e-05,-0.000250599419242,-4.48666973578e-05,1793239577738964224
+53,0.883333333,BASELINE,766.246655899,744.753344101,715,679,663,636,879,788,804,653,631,652.246655899,0.400992038532,-0.0154038155598,0.0498625410886,0.999999965368,-5.60604981577e-05,-0.000253109202368,-4.53552306039e-05,1793239577755631104
+54,0.900000000,BASELINE,766,745,714.663443742,678.663443742,663,636,879,788,803.663443742,652.663443742,631.336556258,652,0.400990300581,-0.015404030667,0.0498610934966,0.999999964799,-5.6178261928e-05,-0.000255283479824,-4.55568202826e-05,1793239577772297728
+55,0.916666667,BASELINE,766,745,714.084031172,678.084031172,663,636,879,788,803.084031172,652.084031172,631.915968828,652,0.400988519539,-0.0154048957723,0.0498598505907,0.999999964285,-5.65282428789e-05,-0.000257215658955,-4.55513537493e-05,1793239577788964352
+56,0.933333333,BASELINE,766,745,714.493870826,678.493870826,663,636,879,788,803.493870826,652,632,652.493870826,0.400990394587,-0.0154047299969,0.0498613622165,0.999999964992,-5.61123085096e-05,-0.000254573574914,-4.53839396614e-05,1793239577805630976
+57,0.950000000,BASELINE,766,745,715,678.928868772,663,636,879,788,804,652,632,653,0.400992544372,-0.0154043288056,0.0498630000555,0.999999965754,-5.54899527363e-05,-0.000251731867165,-4.52021489513e-05,1793239577822297856
+58,0.966666667,BASELINE,766,745,715,678.354335866,663,636,879,788,804,652,632,653,0.400992249439,-0.0154034991091,0.0498622243536,0.99999996551,-5.43262019599e-05,-0.000252968720665,-4.51130286457e-05,1793239577838964480
+59,0.983333333,BASELINE,766,745,715,678.218923405,663,636,879,788,804,652,632,653,0.400992161471,-0.0154035545162,0.0498620043627,0.999999965341,-5.46422039204e-05,-0.000253596121101,-4.49538916414e-05,1793239577855631104
+60,1.000000000,BASELINE,766,745,715,678.790133264,663,636,879,788,804,652,632,653,0.400992406547,-0.0154050342112,0.0498626786088,0.999999965292,-5.73393893924e-05,-0.00025324280403,-4.46820853799e-05,1793239577872297728
+61,1.016666667,BASELINE,766,745,715,678.621285684,663,636,879,788,804,652,631.621285684,653,0.400992278095,-0.0154047446876,0.0498628618615,0.999999965449,-5.73338979819e-05,-0.000252569763334,-4.49898531051e-05,1793239577888964352
+62,1.033333333,BASELINE,766,745,715,678.022615544,663,636,879,788,804,652,631.022615544,653,0.400991932698,-0.0154034276085,0.0498627599472,0.999999965725,-5.57587020244e-05,-0.000251711028404,-4.56342351993e-05,1793239577905630976
+63,1.050000000,BASELINE,766,745,715,678.553368315,663,636,879,788,804,652,631.553368315,653,0.400991922792,-0.0154047079366,0.0498622929645,0.999999965377,-5.68297625297e-05,-0.000252941673681,-4.5126557926e-05,1793239577922297600
+64,1.066666667,BASELINE,766,745,715,679,663,636,879.127651811,788,804,652,632,652.872348189,0.40099208832,-0.0154056378477,0.0498620841973,0.999999965183,-5.75766682857e-05,-0.000253613122327,-4.47122303975e-05,1793239577938964480
+65,1.083333333,BASELINE,766,745,715,679,663,636,879.699120089,788,804,652,632,652.300879911,0.400992817995,-0.015404994903,0.0498628230171,0.999999965616,-5.68353579304e-05,-0.000252055178786,-4.4779710295e-05,1793239577955631104
+66,1.100000000,BASELINE,766,745,715,678.719269374,663.280730626,636,879.719269374,788,804,652,632,652,0.400992640109,-0.0154052609675,0.0498630628208,0.999999965643,-5.72946777026e-05,-0.000251841606697,-4.47996676809e-05,1793239577972297728
+67,1.116666667,BASELINE,766,745,715,678.126381222,663.873618778,636,879.126381222,788,804,652,632,652,0.400991453064,-0.0154065378021,0.0498627477449,0.999999965217,-5.90890343795e-05,-0.000253122904277,-4.47667825566e-05,1793239577988964352
+68,1.133333333,BASELINE,766,745,715,678,663.54412367,636,879.45587633,788,804,652,632,652.45587633,0.400991824061,-0.0154065192751,0.0498632191572,0.999999965328,-5.89587697056e-05,-0.000252718920443,-4.4740369659e-05,1793239578005631232
+69,1.150000000,BASELINE,766.034947916,745,715,678,663,636,880,788,804,652,632,653,0.400992467852,-0.0154061549428,0.0498637806571,0.999999965543,-5.83189537342e-05,-0.000252013865215,-4.47343676294e-05,1793239578022297856
+70,1.166666667,BASELINE,766.609295365,745,715,678,663,636,880,788,804,652,632,653,0.400990807349,-0.0154058696431,0.0498624440399,0.999999965129,-5.78619922638e-05,-0.000253708665887,-4.50163323195e-05,1793239578038964736
+71,1.183333333,BASELINE,766.623912906,745,715,678.188043547,663,636,879.811956453,788,804,652,631.811956453,653,0.400990329631,-0.0154058019151,0.0498619955659,0.999999965016,-5.81959506155e-05,-0.00025404263195,-4.52125137439e-05,1793239578055631360
+72,1.200000000,BASELINE,765.447690989,745,715,678.776154505,663,636,879.223845495,788,804,652,631.223845495,653,0.400992368316,-0.0154061970762,0.049863436639,0.999999965543,-6.02126108477e-05,-0.000251481388217,-4.52261891499e-05,1793239578072297984
+73,1.216666667,BASELINE,765.718081578,745,715,679,663,636,879,788,804,652.359040789,631.359040789,653,0.400992401698,-0.0154058642468,0.0498634927951,0.999999965547,-5.95301481429e-05,-0.000251639506167,-4.51596962212e-05,1793239578088964608
+74,1.233333333,BASELINE,766.877432825,745,715,679,663,636,879,788,804,652.938716412,631.938716412,653,0.400991202798,-0.0154050840587,0.0498626979031,0.999999965227,-5.71890421736e-05,-0.000253468704366,-4.50439388967e-05,1793239578105631232
+75,1.250000000,BASELINE,766.485005633,745.514994367,714.485005633,678.485005633,663,636,879,788,804.514994367,652.485005633,631.485005633,653,0.400990526654,-0.0154051537649,0.0498623780206,0.999999965135,-5.6432524144e-05,-0.000253977728295,-4.51676845257e-05,1793239578122297600
+76,1.266666667,BASELINE,766,745.909190686,714.090809314,678,663,636,879,788,804.909190686,652,631.090809314,653,0.400990196289,-0.0154049905052,0.0498622756035,0.999999965156,-5.5616549353e-05,-0.000254056689769,-4.52761682294e-05,1793239578138964224
+77,1.283333333,BASELINE,766,745.333703142,714.666296858,678,663,636,879,788,804.333703142,652,631.666296858,653,0.400991381608,-0.0154030475741,0.0498630341512,0.999999965629,-5.34834068306e-05,-0.000252673261811,-4.51520749007e-05,1793239578155630848
+78,1.300000000,BASELINE,766,745,715,678.248407091,663,636,879,788,804,652,632,652.751592909,0.400991864578,-0.0154021577135,0.0498632698702,0.999999965803,-5.22253146471e-05,-0.000252261148805,-4.5063950716e-05,1793239578172297728
+79,1.316666667,BASELINE,766,745,715,678.839657699,663,636,879,788,804,652,632,652.160342301,0.400991378189,-0.0154027212673,0.0498627839978,0.999999965573,-5.21749391106e-05,-0.000253189613728,-4.50254700035e-05,1793239578188964352
+80,1.333333333,BASELINE,766.422058188,744.577941812,715,678.577941812,663,636,879.422058188,788,804,652,632,652.422058188,0.400990510167,-0.0154034349883,0.0498621457606,0.999999965201,-5.39094829902e-05,-0.000254262583968,-4.5199469857e-05,1793239578205630976
+81,1.350000000,BASELINE,766.998845776,744.001154224,715,678,663,636,879.998845776,788,804,652,632,653,0.400989504363,-0.0154042019515,0.0498614536944,0.999999964772,-5.63011117349e-05,-0.000255384263908,-4.54513534265e-05,1793239578222297600
+82,1.366666667,BASELINE,766.425375258,744.574624742,715,678,663,636,879.425375258,788,804,652,632,653,0.400990593337,-0.0154036621748,0.0498621829152,0.999999965203,-5.51775373911e-05,-0.000253996341044,-4.51176566223e-05,1793239578238965504
+83,1.383333333,BASELINE,766,745,715,678,663,636,879,788,803.851711538,652,632,653,0.400991445838,-0.0154033214645,0.0498625934269,0.999999965549,-5.40481568472e-05,-0.000252906158549,-4.49260982949e-05,1793239578255633408
+84,1.400000000,BASELINE,766,745,715,678,663,636,879,788,803.277492751,652,632,653,0.400991619114,-0.0154035525344,0.0498620885073,0.99999996566,-5.29020988405e-05,-0.000252671178159,-4.51428055573e-05,1793239578272299776
+85,1.416666667,BASELINE,766,745,714.692739343,678,663.307260657,636,879.307260657,788,803.307260657,652,631.692739343,653,0.40099175761,-0.0154048810868,0.049862262368,0.999999965727,-5.36311767701e-05,-0.000252273103753,-4.50289650154e-05,1793239578288966400
+86,1.433333333,BASELINE,766,745,714.098134186,678,663.901865814,636,879.901865814,788,803.901865814,652,631.098134186,653,0.40099186358,-0.0154072359848,0.0498630710113,0.999999965749,-5.61138473104e-05,-0.000251722506845,-4.4606002251e-05,1793239578305633024
+87,1.450000000,BASELINE,766,745,714.48093568,678.48093568,663.51906432,636,880,788,804,652.48093568,631.48093568,653,0.400990568963,-0.0154079564489,0.0498622953028,0.999999965117,-5.85845703096e-05,-0.0002536760125,-4.45272148066e-05,1793239578322299136
+88,1.466666667,BASELINE,766,744.943175228,715,679,663,635.943175228,880,788,803.943175228,652.943175228,631.943175228,653,0.400989246816,-0.0154082983401,0.049861382407,0.999999964473,-6.08777309416e-05,-0.000255665142846,-4.45232499411e-05,1793239578338965248
+89,1.483333333,BASELINE,766,744.368289091,715,679,663,635.368289091,880,788,803.368289091,652.368289091,631.368289091,653,0.400990197615,-0.0154081342015,0.0498620739014,0.999999964988,-6.15736173159e-05,-0.000253466506743,-4.45812036487e-05,1793239578355631872
+90,1.500000000,BASELINE,766,744.211466532,715,678.788533468,663,635.211466532,879.788533468,788,803.211466532,652,631.211466532,653,0.400991297863,-0.0154069460246,0.049862716634,0.999999965519,-6.0001190898e-05,-0.000251725066475,-4.46889262514e-05,1793239578372298240
+91,1.516666667,BASELINE,766,744.799902654,715,678.200097346,663,635.799902654,879.200097346,788,803.799902654,652,631.799902654,653,0.400992664523,-0.0154039323516,0.0498632724415,0.999999966064,-5.43851697292e-05,-0.000250798643948,-4.48853690802e-05,1793239578388964608
+92,1.533333333,BASELINE,766,745,715,678.382938505,663,636,879,788,804,652,632,653,0.400992177974,-0.0154035458342,0.0498626638921,0.999999965791,-5.42573193153e-05,-0.000251863520678,-4.5145898665e-05,1793239578405631488
+93,1.550000000,BASELINE,766,745,715,678.963191839,663,636,879,788,804,652,632,653,0.40099073653,-0.0154045129981,0.0498614553903,0.999999965099,-5.69573309834e-05,-0.000253954444238,-4.54394499335e-05,1793239578422298112
+94,1.566666667,BASELINE,766,745,715,679,663,636,879,788,804,652,632,653,0.400992009824,-0.0154058185983,0.0498625300954,0.999999965651,-5.66641364592e-05,-0.000251931664216,-4.49281579617e-05,1793239578438964480
+95,1.583333333,BASELINE,766.116925199,745,715,679,663,636,879,788,804,652,632,652.883074801,0.400993109176,-0.0154066303026,0.0498635394792,0.999999966142,-5.60322221268e-05,-0.000250183845358,-4.45434861923e-05,1793239578455631360
+96,1.600000000,BASELINE,766.6998375,745,715,679,663,636,879,788,804,652,632,652.3001625,0.400992782512,-0.0154053823073,0.0498636722254,0.999999966077,-5.48583545348e-05,-0.000250642260238,-4.48806921184e-05,1793239578472298496
+97,1.616666667,BASELINE,766.717365883,745,715,679,663,636,879,788,804,652,632,652.282634117,0.400992788468,-0.0154044168295,0.049863868863,0.999999966084,-5.38885733486e-05,-0.000250805496051,-4.49984512992e-05,1793239578488965120
+98,1.633333333,BASELINE,766.13469211,745,715,679,663,636,879,788,804,652,632,652.86530789,0.400993147527,-0.0154037512675,0.0498641333268,0.999999966167,-5.31354469509e-05,-0.000250655374674,-4.48832494626e-05,1793239578505631744
+99,1.650000000,BASELINE,766,745,715,679,663,636,879.44434931,788,804,652,632,653,0.400991936466,-0.0154043060309,0.0498633438663,0.999999965819,-5.3915045627e-05,-0.000251897924066,-4.47571962317e-05,1793239578522298112
+100,1.666666667,BASELINE,766,745,715,679,663,636,879.977811001,788,804,652,632,653,0.400990361483,-0.0154051584358,0.0498622988412,0.999999965358,-5.51300210109e-05,-0.000253476730351,-4.46557743939e-05,1793239578538964736
+101,1.683333333,BASELINE,766,745,715,679,663,636,879.402702488,788,804,652,632,653,0.400991481674,-0.0154042848048,0.0498627816472,0.99999996542,-5.57105918606e-05,-0.000253000508977,-4.52494333618e-05,1793239578555631360
+102,1.700000000,BASELINE,766,745,715,679,663,636,879,788,804.176313087,652,632,653,0.400992297003,-0.015403814861,0.0498632276657,0.999999965601,-5.53349547303e-05,-0.00025233346834,-4.54407088316e-05,1793239578572297984
+103,1.716666667,BASELINE,766,745,715,679,663,636,879,788,804.764454616,652,632,653,0.400992400244,-0.0154042878412,0.0498635877566,0.999999966055,-5.27258268139e-05,-0.000251220716107,-4.46921052153e-05,1793239578588965120
+104,1.733333333,BASELINE,766.347739232,745,715,679,663.347739232,636,879.347739232,788,804.652260768,652.347739232,632,653,0.400992980756,-0.0154039223965,0.0498637705609,0.999999966291,-5.18659091356e-05,-0.000250484683114,-4.45547723913e-05,1793239578605632256
+105,1.750000000,BASELINE,766.927779336,745,715,679,663.927779336,636,879.927779336,788,804.072220664,652.927779336,632,653,0.4009938801,-0.0154029968572,0.049863834932,0.999999966384,-5.21745192906e-05,-0.000250000310449,-4.48257878305e-05,1793239578622298880
+106,1.766666667,BASELINE,767,745,715,678.49644829,663.49644829,636,880,788,804,652.49644829,632,653,0.400992510946,-0.0154027204632,0.049863438514,0.999999966071,-5.2323569838e-05,-0.000251203978956,-4.49139996537e-05,1793239578638965248
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,880,788,804,652,631,653,0.400993970553,-0.0154035770679,0.0498634082598,0.999999966313,-5.45409919784e-05,-0.000249717196145,-4.51795017209e-05,1793239578682309888
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.42986022,663,636,880,788,804,652,631.57013978,653,0.40099329378,-0.0154045557231,0.0498637626563,0.999999966174,-5.60156035665e-05,-0.000249981207428,-4.4990621465e-05,1793239578698976768
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.147668083,745,715,679,663,636,879.852331917,788,804,652,632,652.852331917,0.400993001144,-0.0154052021938,0.0498640213428,0.999999966113,-5.68929731613e-05,-0.000250049786853,-4.48614080671e-05,1793239578715643136
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.747837266,745,715,679,663,636,879.252162734,788,804,652,632,652.252162734,0.400993885625,-0.0154048307474,0.0498639867441,0.999999966297,-5.59402072315e-05,-0.000249519502132,-4.49150325001e-05,1793239578732309504
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.667529025,745,715,679,663,636,879,788,804,652,632,652,0.400993264394,-0.0154050332465,0.0498635467297,0.999999966112,-5.59684059296e-05,-0.000250248616675,-4.49337626753e-05,1793239578748976128
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.094152234,745,715,679,663,636,879,788,804,652,632,652,0.400991552137,-0.0154056516218,0.0498628129542,0.999999965659,-5.67074038305e-05,-0.000251890281912,-4.49272087461e-05,1793239578765642752
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.519107928,663,636,879,788,804,652,632,652.480892072,0.40099307664,-0.0154059099684,0.0498637715756,0.999999966195,-5.60654888613e-05,-0.000249935700043,-4.47060879444e-05,1793239578782309376
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.057865832,788,804,652.057865832,631.942134168,653,0.400994942413,-0.0154060290673,0.0498648808562,0.999999966808,-5.51114164527e-05,-0.000247728143674,-4.44657751606e-05,1793239578798976000
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.649618669,788,804,652.649618669,631.350381331,653,0.400994089657,-0.0154055160385,0.0498643124048,0.99999996639,-5.3780427768e-05,-0.000249705379607,-4.44373304603e-05,1793239578815642112
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,678.235616737,663,636,880,788,804,653,631.235616737,653,0.400999193858,-0.0154053701503,0.0498662897795,0.999999967264,-5.31968911963e-05,-0.000246333780349,-4.42869880163e-05,1793239578832308736
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,678.813260976,663,636,880,788,804,653,631.813260976,653,0.401012945335,-0.015405757213,0.0498719627432,0.999999969933,-5.36983760436e-05,-0.000235197669902,-4.39596955741e-05,1793239578848975360
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636.389499892,879.610500108,788,804,652.610500108,632,653,0.401042467408,-0.0154077550535,0.0498818805044,0.999999974633,-5.57378600653e-05,-0.000213980109089,-4.28964303028e-05,1793239578865641728
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636.965067523,879.034932477,788,804,652.034932477,632,653,0.401079523244,-0.0154105223777,0.0498938260455,0.999999979766,-5.85120606815e-05,-0.000187946544114,-4.14815838806e-05,1793239578882308608
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636.446669823,879,788,804.553330177,652.553330177,632,653,0.401144840661,-0.0154147674086,0.0499131457325,0.999999986727,-5.97658718223e-05,-0.000146426573928,-3.91477986918e-05,1793239578898974976
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.14009108,788,804.71981784,652.85990892,632,653,0.401213585525,-0.0154188258023,0.0499306651964,0.999999991368,-6.03796351182e-05,-0.000110660487285,-3.70485028784e-05,1793239578915641344
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.719569244,788,803.560861512,652.280430756,632,653,0.401287352975,-0.0154219993533,0.0499410439527,0.999999992983,-5.92940459274e-05,-9.60795242292e-05,-3.58708976991e-05,1793239578932307968
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.703234666,788,803.296765334,652.296765334,632,653,0.401366502541,-0.0154261840872,0.0499475746794,0.999999993835,-5.91114532118e-05,-8.73441714536e-05,-3.47511485731e-05,1793239578948975360
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.128178618,788,803.871821382,652.871821382,632,653,0.401450699164,-0.0154313170543,0.0499504969282,0.99999999411,-5.977564254e-05,-8.40905213542e-05,-3.36856538462e-05,1793239578965643008
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715.446083592,678.553916408,663,636,879,788,804,652.553916408,632,653,0.401552548847,-0.0154369846732,0.0499522089689,0.999999994318,-6.06780792455e-05,-8.13385730952e-05,-3.26632400948e-05,1793239578982309376
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715.979236187,678.020763813,663,636,879.020763813,788,804.020763813,652,632,652.979236187,0.401660317976,-0.0154429073709,0.0499535087361,0.99999999447,-6.17640732591e-05,-7.90176113821e-05,-3.1655598069e-05,1793239578998975488
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715.386777298,678.613222702,663,636,879.613222702,788,804.613222702,652,632,652.386777298,0.401791655289,-0.0154516308575,0.04995301478,0.99999999377,-6.6022458954e-05,-8.4600961823e-05,-3.07144411309e-05,1793239579015642112
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.799321666,788.200678334,805,652.200678334,631.799321666,652,0.40193274741,-0.0154611529719,0.049951710926,0.999999993059,-7.02018077225e-05,-8.98430008653e-05,-2.97110462422e-05,1793239579032308736
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.221274556,788.778725444,805,652.778725444,631.221274556,652,0.402092183099,-0.0154721768778,0.0499488840864,0.999999992376,-7.42325297641e-05,-9.44432148135e-05,-2.85906151132e-05,1793239579048975616
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+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.06768629,663,636,879,788.06768629,804.06768629,652.06768629,631.93231371,652.93231371,0.402467402518,-0.0154918763538,0.0499499913804,0.999999992673,-7.66401930052e-05,-8.99905598348e-05,-2.61283886096e-05,1793239579082308608
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.518794658,663,636,879,788,804,652,632,652.481205342,0.402697049626,-0.0155023900152,0.0499561016582,0.99999999363,-7.66242298462e-05,-7.9307608156e-05,-2.4059620398e-05,1793239579098975232
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.894978516,663,636,879,788,804,652,632,652,0.40294137543,-0.0155131375865,0.0499635027663,0.999999994729,-7.5709343504e-05,-6.59100925505e-05,-2.1565360603e-05,1793239579115641856
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678.315893469,663,636,879,788,804,652,632,652,0.403230722187,-0.0155243754553,0.0499738744582,0.999999996335,-7.10674113113e-05,-4.43668968959e-05,-1.76377124282e-05,1793239579132308736
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,678.262091697,663,636,879,788,804.262091697,652,632,652.262091697,0.403530208107,-0.0155275948071,0.0499810048056,0.999999997757,-5.84707339892e-05,-2.93227264254e-05,-1.44026344422e-05,1793239579148975360
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,678.838756706,663,636,879,788,804.838756706,652,632,652.838756706,0.403841863451,-0.0155211900019,0.0499842447561,0.999999999024,-3.63264422982e-05,-2.20789565221e-05,-1.19988081263e-05,1793239579165641728
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,678.58586731,663,636,879,788,804.58586731,652,632,653,0.404183359257,-0.0155109808707,0.049989080739,0.999999999835,-8.26322778107e-06,-1.21839678023e-05,-1.06760069734e-05,1793239579182308352
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,678.010991668,663,636,879,788,804.010991668,652,632,653,0.404536437441,-0.0154992951149,0.0499945362115,0.999999999707,2.20973782339e-05,-1.2599256289e-06,-9.77279886606e-06,1793239579198975232
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.420318704,879.579681296,788,804,652,632,653,0.404918446503,-0.0155076468586,0.049993816523,0.999999999423,3.3342895867e-05,-1.88968423384e-06,-6.18987202524e-06,1793239579215641856
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.166985832,880,788,804.166985832,652,632,653,0.405306815726,-0.0155148403521,0.049987889296,0.999999998859,4.55330168294e-05,-1.40821511507e-05,-3.22455831354e-06,1793239579232308480
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.745235882,880,788,804.745235882,652,632,653,0.405709460219,-0.0155182192624,0.0499694330425,0.999999996671,6.09672507317e-05,-5.41973762541e-05,-1.9089937312e-06,1793239579248975104
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,880,788,804.675015906,652,632,653,0.406131397398,-0.0155207564112,0.0499532044288,0.99999999363,7.77414087802e-05,-8.18268748441e-05,-6.90321050304e-07,1793239579265641728
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,880,788,804.09408774,652,632,653,0.406568528743,-0.0155226306237,0.0499387302105,0.999999990471,9.55708375186e-05,-9.96231344401e-05,4.52043704479e-07,1793239579282308352
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,880,788,804,652,632,653,0.407057579905,-0.0155215355457,0.0499328376412,0.999999986921,0.000120462329255,-0.000107875161008,3.18066236005e-06,1793239579298975232
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.06505042,744.93494958,715.06505042,678.06505042,663,636,879.93494958,788,804,652,632,653,0.40756710068,-0.0155201622657,0.0499318961916,0.999999983345,0.000146888704031,-0.00010812948803,6.53608065293e-06,1793239579315642112
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.648156444,744.351843556,715.648156444,678.648156444,663,636,879.351843556,788,804,652,632,653,0.40815972899,-0.0155211435056,0.0499571768105,0.999999982905,0.00017466939443,-5.93805967009e-05,1.2441839462e-05,1793239579332308736
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.771422714,744.228577286,715.771422714,679,663,636,879,788,804,652,632,653,0.408764496284,-0.0155237292367,0.0499797812486,0.99999997963,0.00019997976471,-2.03517152045e-05,1.82584695647e-05,1793239579348975360
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.195087152,744.804912848,715.195087152,679,663,636,879,788,804,652,632,653,0.409387731835,-0.0155287560464,0.0499983141345,0.999999975168,0.000221531780286,3.88910655213e-06,2.39394986286e-05,1793239579365641984
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.379970425,745,715,679,663,636,879,788,804,652,631.620029575,653,0.409992453455,-0.0155328476048,0.0499981127129,0.999999969926,0.000243674248081,-8.79266025276e-07,2.77540639289e-05,1793239579382308608
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.954374031,745,715,679,663,636,879,788,804,652,631.045625969,653,0.410587701365,-0.0155364605893,0.0499883248314,0.999999963912,0.000266118853116,-2.04918208192e-05,3.06135481651e-05,1793239579398975232
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.459777648,745,715,679,663,636,879,788,804,652,631.540222352,653,0.411180722912,-0.0155312387064,0.049960560149,0.999999952797,0.000295086930206,-7.97381487489e-05,3.11697724745e-05,1793239579415642880
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.125645556,788,804,652,632,653,0.411805417687,-0.0155273186897,0.0499413655564,0.99999994982,0.000291953450283,-0.000118618388509,3.24470622366e-05,1793239579432310528
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.705956814,788,804,652,632,653,0.412545421396,-0.0155308682259,0.0499587960362,0.999999982207,0.000170619202353,-7.14260031715e-05,3.70527889514e-05,1793239579448976128
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.284063348,636,879.715936652,788,804,652,631.715936652,652.715936652,0.413295504924,-0.0155354980173,0.0499748164904,0.999999996029,7.46752304818e-05,-3.87117226607e-05,2.94302469086e-05,1793239579465642240
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.859905349,636,879.140094651,788,804,652,631.140094651,652.140094651,0.414055942134,-0.0155412374043,0.0499893886241,0.999999999728,4.81113411718e-06,-2.08687744843e-05,9.24731108104e-06,1793239579482309120
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,678.566063025,663.566063025,636,879.433936975,788,804,652,631,652.433936975,0.414783053923,-0.0155494205601,0.0499742490412,0.999999998977,6.93334212941e-06,-4.4252048843e-05,6.23731690408e-06,1793239579498976000
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.00764099,745,715,678.00764099,662.99235901,636,880.00764099,788,804,652,631.00764099,653,0.415499948857,-0.0155582773091,0.049949753471,0.999999996192,3.23169520644e-05,-8.05938254569e-05,8.75816188429e-06,1793239579515643392
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.600845929,745,715,678.600845929,662.399154071,636,880.600845929,788,804,652,631.600845929,653,0.416254965941,-0.0155585442129,0.0499403132292,0.999999993261,6.67048435201e-05,-9.42591486127e-05,1.20196458559e-05,1793239579532309248
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,715,679,662.18956839,636,881,788,804,652,631.81043161,653,0.417039788888,-0.0155582487491,0.0499445095361,0.999999991356,9.84978316322e-05,-8.56397088244e-05,1.58814750834e-05,1793239579548975616
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,715,679,662.769070556,636,881,788,804,652,631.230929444,653,0.417885921128,-0.01555679652,0.0499767556202,0.999999991487,0.000124953216475,-3.1181498643e-05,2.0978187689e-05,1793239579565642752
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,880.65386059,788,804.34613941,652,631.34613941,653,0.418713069456,-0.0155549357271,0.0499864350009,0.999999989699,0.000140032653745,-2.13543255351e-05,2.31667015453e-05,1793239579582309376
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,880.07840383,788,804.92159617,652,631.92159617,653,0.419527640909,-0.0155528042608,0.0499811639398,0.999999987992,0.000147575525147,-4.10952156122e-05,2.34285336268e-05,1793239579598975488
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.493172709,745,715,678.493172709,662.493172709,635.493172709,880,788.506827291,804.493172709,652,632,653,0.420351144786,-0.0155556803378,0.0499749846883,0.999999988243,0.000146625590963,-3.85935908347e-05,2.29064565392e-05,1793239579615642112
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,678.092487082,662.184974164,635.092487082,880.092487082,788.907512918,804,652,632,653,0.421185867867,-0.0155592173525,0.0499733752541,0.999999988856,0.00014515817552,-2.64198023045e-05,2.27946461545e-05,1793239579632308480
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,678.672281758,663.344563515,635.672281758,880.672281758,788.327718242,804,652,632,653,0.422072280002,-0.0155620749947,0.0499965986548,0.999999988553,0.000148022617171,1.82299980614e-05,2.54960129785e-05,1793239579648975104
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.748455772,636,880.748455772,788,804,652,631.748455772,653,0.422938854431,-0.0155619043087,0.0500020165485,0.999999988333,0.000147579285348,2.90957556854e-05,2.65865445462e-05,1793239579665641728
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.169885128,636,880.169885128,788,804,652,631.169885128,653,0.423779638473,-0.0155577965685,0.0499842859471,0.999999989464,0.000142835599802,-3.96027705299e-06,2.55828695303e-05,1793239579682308608
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.404435734,745,715,678.595564266,663,636,880,788,804,652,631,652.595564266,0.424660673231,-0.0155585708327,0.0499859329094,0.999999988654,0.000148233998646,-1.84306342861e-06,2.67416472577e-05,1793239579698975232
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.976989983,745,715,678.023010017,663,636,880,788,804,652,631,652.023010017,0.425558439621,-0.0155613744808,0.0499956348663,0.999999987016,0.000157848326357,1.48951993994e-05,2.87993276751e-05,1793239579715642112
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.433601674,745,715,678.566398326,663.566398326,636,880.566398326,788.566398326,804.566398326,652,631.566398326,652.566398326,0.426420028577,-0.0155662720426,0.0500130673153,0.999999986171,0.000160431081005,3.092359976e-05,3.10414578318e-05,1793239579732308736
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.153349654,745,715,679.153349654,663.846650346,636,880.846650346,789,805,652,632,653,0.427263044056,-0.0155684782547,0.0500160784193,0.999999985898,0.000163212296753,2.31648872338e-05,3.20715719294e-05,1793239579748975104
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.731538967,745,715,679.731538967,663.268461033,636,880.268461033,789,805,652,632,653,0.428058800124,-0.0155629854619,0.0499782399151,0.999999984283,0.000167358988017,-5.04112657055e-05,2.97225221754e-05,1793239579765641728
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.690967613,745,715,679.690967613,663,636,880,788.690967613,804.690967613,652,632,653,0.428904060479,-0.0155603947934,0.0499609012293,0.99999998301,0.000166413506417,-7.4057954064e-05,2.83239905073e-05,1793239579782308352
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.114077396,745,715,679.114077396,663,636,880,788.114077396,804.114077396,652,632,653,0.429792229276,-0.015560319579,0.0499613310289,0.999999985165,0.000161054318256,-5.44276278405e-05,2.77493329311e-05,1793239579798975232
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.470658414,663.941316828,636,880,788,804.470658414,652,631.529341586,653,0.430644463033,-0.0155597197242,0.0499640456394,0.999999984347,0.000166919732997,-5.12628354088e-05,2.85616833425e-05,1793239579815642880
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.943384178,664.886768356,635.943384178,880,788,804.943384178,652,631,653,0.43148568024,-0.0155588004432,0.0499655202694,0.999999982676,0.000175619503405,-5.41841037527e-05,2.95099100088e-05,1793239579832310272
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.364003674,663.728007348,635.364003674,880,788,804.364003674,652,631,653,0.432306961402,-0.0155561257816,0.0499503453686,0.999999979615,0.000184943785092,-7.5826556377e-05,2.85559949713e-05,1793239579848976128
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.214275998,635.214275998,880.214275998,788,804.214275998,652,631.214275998,652.785724002,0.433133645606,-0.0155545069944,0.0499499877036,0.999999978765,0.000190162491701,-7.39999399546e-05,2.88526488304e-05,1793239579865641984
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.790695272,635.790695272,880.790695272,788,804.790695272,652,631.790695272,652.209304728,0.433969461508,-0.0155546727178,0.0499746723291,0.999999981228,0.000188442455229,-3.25087560561e-05,3.12628622311e-05,1793239579882308608
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.365962088,745,715,679,663.634037912,636,880.634037912,788,805,652,632,652,0.434777848901,-0.0155542029897,0.049990339956,0.999999981958,0.000186591098131,-1.23818931222e-05,3.3374750715e-05,1793239579898975488
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.940571814,745,715,679,663.059428186,636,880.059428186,788,805,652,632,652,0.435570598303,-0.0155533709689,0.0500008666787,0.999999982316,0.000184664870821,-4.43557062737e-06,3.5316553726e-05,1793239579915642368
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.469947411,745,715,679,663,636,880.530052589,788,805,652,632,652.530052589,0.436302015802,-0.015548711958,0.0499729588981,0.999999977774,0.000198086642589,-6.39838811229e-05,3.34527261531e-05,1793239579932308992
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.118911899,635.881088101,880.881088101,788,805,652,632,653,0.43704072731,-0.0155451815618,0.0499518355365,0.999999971918,0.000209767773183,-0.000105617729164,3.17210529549e-05,1793239579948975872
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.698713619,635.301286381,880.301286381,788,805,652,632,653,0.437835131037,-0.0155477366007,0.0499741918989,0.999999976748,0.000207840287129,-4.76402298494e-05,3.22030912726e-05,1793239579965642240
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,635.27547485,880,788.27547485,805,652,632.27547485,653,0.438585832539,-0.0155499244435,0.0499885003812,0.99999997926,0.00020035799403,-1.61859635893e-05,3.27953008301e-05,1793239579982308608
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,635.848946966,880,788.848946966,805,652,632.848946966,653,0.439289258735,-0.0155517150686,0.0499941029993,0.999999981889,0.000186866741727,-1.34234346472e-05,3.35066891189e-05,1793239579998975232
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.424315425,745,715,679,663.575684575,636,880,788.575684575,805.424315425,651.575684575,632.575684575,653,0.439953687905,-0.0155512254672,0.0499761156469,0.999999981666,0.000184147375367,-4.08512013241e-05,3.30117873083e-05,1793239580015642112
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,880.000372054,788,806,651,632,653,0.440604165709,-0.0155499239614,0.0499497069997,0.999999979196,0.000185282854024,-7.90544039598e-05,3.2086257353e-05,1793239580032308736
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,880.592343767,788,806,651,632,653,0.441244381414,-0.0155541607362,0.0499459663307,0.999999977618,0.000191063773192,-8.49329590854e-05,3.23211801765e-05,1793239580048975616
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.820452151,745,715,679,663,636,881,788,805.820452151,651,632,653,0.44187420817,-0.0155583120006,0.0499437157556,0.999999976289,0.000197171398063,-8.63405748109e-05,3.30306035826e-05,1793239580065642496
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.243792673,745,715,679,663,636,881,788,805.243792673,651,632,653,0.442481057487,-0.0155622741399,0.0499447608674,0.999999975555,0.000204001609341,-7.78596743206e-05,3.47894949048e-05,1793239580082309376
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.668252859,635.668252859,881,788,805,651.331747141,632,653,0.443036554856,-0.0155670086009,0.0499320768977,0.999999973532,0.000204824057389,-9.87299821715e-05,3.51402853061e-05,1793239580098976000
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.093533123,635.093533123,881,788,805,651.906466877,632,653,0.443554441869,-0.0155723087124,0.0499093377076,0.999999969202,0.000201246401069,-0.000141097202786,3.44597782467e-05,1793239580115642880
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880.508102163,787.508102163,805,652,631.508102163,652.508102163,0.444026592069,-0.0155763077004,0.0498631144761,0.999999955068,0.000202117418218,-0.000218968575299,3.26503988282e-05,1793239580132308992
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.078279884,662,635,880.078279884,787,805,652,631,652.078279884,0.444492219417,-0.0155798687517,0.0498178084706,0.999999935865,0.000204074879127,-0.000292694556706,3.08697623608e-05,1793239580148975872
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.657425586,662,635,880.657425586,787,805,652,631,652.657425586,0.44497299482,-0.0155822459449,0.0498075788458,0.999999934281,0.000207450936198,-0.000295739412847,3.06770386753e-05,1793239580165642240
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715.236242005,679.763757995,662,635,880.763757995,787,805.236242005,652,631,653,0.445448229286,-0.015585890158,0.0498053649458,0.999999936158,0.000208227331347,-0.000288692283473,3.13436521529e-05,1793239580182308608
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715.814581547,679.185418453,662,635,880.185418453,787,805.814581547,652,631,653,0.445915439988,-0.0155913691184,0.0498147584646,0.999999942733,0.000205239205348,-0.000267031142216,3.32546553747e-05,1793239580198975488
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715.610640464,679,662,635,880.389359536,787,805.610640464,652,631,653,0.446326694629,-0.0155974794763,0.049811260854,0.999999948345,0.000173153319813,-0.000268663720581,3.38774636808e-05,1793239580215642368
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715.037543114,679,662,635,880.962456886,787,805.037543114,652,631,653,0.446711543783,-0.0156038877897,0.0498016799517,0.999999951757,0.00012733627196,-0.000281288546038,3.38923760579e-05,1793239580232309248
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+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,679,662.281862478,634.281862478,880.281862478,787,805.718137522,652,631,653,0.447638055721,-0.0156164556636,0.0497071074649,0.99999990523,4.90451239261e-05,-0.000432557811869,5.37081579979e-06,1793239580282308608
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715,679.299499623,662,634,880.299499623,787,805.700500377,651.700500377,631,652.700500377,0.447929941246,-0.0156226240468,0.049700906216,0.999999902421,2.39726904394e-05,-0.000441113184396,-1.416807517e-06,1793239580298975488
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715,679.884210682,662,634,880.884210682,787,805.115789318,651.115789318,631,652.115789318,0.448216771534,-0.015632623709,0.0497086654357,0.999999909222,2.26069088349e-05,-0.000425489713974,1.97656599406e-06,1793239580315642624
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715.464725485,680,662,634,881,787,805.464725485,651.464725485,631,652.464725485,0.448487227754,-0.0156360212498,0.0497209187257,0.999999916286,2.89998937157e-05,-0.000408129735761,4.15102259411e-06,1793239580332308992
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,715.95581705,679.95581705,662,634,881,786.95581705,806,652,631,653,0.448750126051,-0.0156379885009,0.0497335399531,0.999999922728,3.6797295355e-05,-0.000391348075835,6.1032973827e-06,1793239580348975360
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715.37661588,679.37661588,662,634,881,786.37661588,806,652,631,653,0.448970463989,-0.0156423769857,0.049737178988,0.99999992443,3.84017103804e-05,-0.000386761648928,9.00979049184e-06,1793239580365642752
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.798123842,715,679.201876158,662,634,880.798123842,786.201876158,805.798123842,652,631,653,0.449171797377,-0.0156456507606,0.0497357667356,0.999999922925,4.00303663106e-05,-0.000390415649682,1.11049824884e-05,1793239580382309632
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.220950178,715,679.779049822,662,634,880.220950178,786.779049822,805.220950178,652,631,653,0.449337800366,-0.0156468522359,0.0497249638964,0.999999915262,4.17040870642e-05,-0.000409389002953,1.16919262985e-05,1793239580398975744
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,880.354644495,787,805,652,630.645355505,652.645355505,0.449491944048,-0.0156487189226,0.0497172583731,0.999999909794,4.29443880072e-05,-0.000422389672748,1.2472901896e-05,1793239580415642112
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,880.929259842,787,805,652,630.070740158,652.070740158,0.449638731924,-0.0156509982115,0.0497114739818,0.99999990577,4.39158572953e-05,-0.000431685743628,1.33742271926e-05,1793239580432308736
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.517920419,715,680,662,634,881,786.482079581,805,652,630.517920419,652.517920419,0.449765664131,-0.0156542055104,0.0497148855198,0.999999907806,4.3905979973e-05,-0.000426886660007,1.50827803974e-05,1793239580448975616
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,715.106535831,680,662,634,881,786.106535831,805,652,631,653,0.449886337483,-0.0156580728181,0.049719694193,0.999999910639,4.24799500139e-05,-0.000420271764572,1.69930964667e-05,1793239580465642240
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,715.686193969,680,662,634,881,786.686193969,805,652,631,653,0.449991595061,-0.0156642926122,0.0497249740472,0.999999913332,3.53766777745e-05,-0.000414380914882,1.92961472966e-05,1793239580482308864
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.736636005,715.736636005,679.736636005,662,634,881,786.736636005,805,652,631,653,0.450083428495,-0.0156688212672,0.0497274635606,0.999999914718,3.08188983492e-05,-0.000411312784616,2.08950967546e-05,1793239580498975744
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.421699525,715.421699525,679.421699525,662,634,881,786,805.421699525,652,631,653,0.45021797384,-0.0156734921681,0.0497253456096,0.999999913458,2.72070738192e-05,-0.000414562845559,2.19407373766e-05,1793239580532308992
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.99044944,715.99044944,680,662,634,880.99044944,786,805.99044944,652,630.99044944,652.99044944,0.450269410536,-0.0156754844191,0.049723812943,0.999999911817,2.49205169552e-05,-0.000418638717559,2.20362077126e-05,1793239580548975616
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.411149442,715.411149442,680,662,634,880.411149442,786,805.411149442,652,630.411149442,652.411149442,0.450306099634,-0.0156780260518,0.0497212137927,0.999999909775,2.09334630632e-05,-0.000423664768464,2.27831405737e-05,1793239580565641984
+221,3.683333333,POSE1_TO_POSE2_PRESS,766.167552742,745,715.167552742,680.167552742,662,634,880.167552742,786,805,652,630.167552742,652,0.450340595814,-0.0156798374255,0.0497195872675,0.999999908304,1.75963366385e-05,-0.000427247503769,2.32871932585e-05,1793239580582308608
+222,3.700000000,POSE1_TO_POSE2_PRESS,766.744793113,745,715.744793113,680.744793113,662,634,880.744793113,786,805,652,630.744793113,652,0.450369730027,-0.0156798632232,0.0497203389339,0.999999908312,1.5848365591e-05,-0.000427301149338,2.3197373111e-05,1793239580598975488
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+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.606106207,715,679.606106207,661.606106207,634,880,786,805,652,630.606106207,653,0.450443686093,-0.0156784089608,0.0497127939412,0.999999902883,7.8314159767e-06,-0.000440000541964,2.3916319343e-05,1793239580882308608
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+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745.409231166,716,680,662,633.409231166,881,786,805.590768834,652,631,652.409231166,0.450446348791,-0.0156794598743,0.0497128341922,0.99999990273,4.73575069413e-06,-0.000440333351427,2.49662043712e-05,1793239581048975104
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745.996083185,716,680,662,633.996083185,881,786,805.003916815,652,631,652.996083185,0.450445549047,-0.0156796212916,0.0497126463821,0.999999902635,3.39454572731e-06,-0.000440595377059,2.43644605201e-05,1793239581065641728
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715.424466136,679.424466136,661.424466136,633.424466136,881,786,805,652,631,653,0.450446603646,-0.0156795353285,0.0497121594597,0.999999902906,2.44286916123e-06,-0.000439989967659,2.42888840281e-05,1793239581082308864
+252,4.200000000,HOLD_POSE2,766,745,716,679,662,633,880,786,806,651,630,653,0.45044945678,-0.0156818458541,0.0497138280065,0.9999999037,-2.84385232386e-06,-0.000438140080701,2.50152774902e-05,1793239581123437312
+253,4.216666667,HOLD_POSE2,766,745.575766705,716,679,661.424233295,633,880,786,805.424233295,651.575766705,630,653,0.450448380569,-0.0156803319823,0.0497129743426,0.999999903233,-1.2989984757e-06,-0.000439235426215,2.45865880446e-05,1793239581140103424
+254,4.233333333,HOLD_POSE2,766,745.844798238,715.844798238,679.155201762,661.155201762,633.155201762,880.155201762,786,805.155201762,652,630,653,0.450447292328,-0.0156793024778,0.0497120920311,0.999999902731,1.66023902444e-07,-0.000440392678679,2.4322520525e-05,1793239581156769536
+255,4.250000000,HOLD_POSE2,766,745.255093124,715.255093124,679.744906876,661.744906876,633.744906876,880.744906876,786,805.744906876,652,630,653,0.450446170403,-0.0156796290091,0.0497111295174,0.999999902139,1.40755019142e-06,-0.000441723246293,2.45193289833e-05,1793239581173436160
+256,4.266666667,HOLD_POSE2,766,745.328753265,715.328753265,679.671246735,662,633.671246735,881,786,805.671246735,652,630,653,0.450446468788,-0.0156793560612,0.0497111240738,0.999999902127,1.42466234224e-06,-0.000441746700599,2.45823918725e-05,1793239581190102784
+257,4.283333333,HOLD_POSE2,766,745.908133191,715.908133191,679.091866809,662,633.091866809,881,786,805.091866809,652,630,653,0.450447849954,-0.0156786260975,0.0497118482571,0.999999902558,5.08336309834e-07,-0.000440773670599,2.45434931607e-05,1793239581206769408
+258,4.300000000,HOLD_POSE2,766,746,716,679.483898161,662,633.483898161,881,786,805.483898161,652,630.483898161,653,0.450447839816,-0.0156791313929,0.0497120742706,0.999999902715,-1.15054239461e-06,-0.0004404282075,2.43417737103e-05,1793239581223436288
+259,4.316666667,HOLD_POSE2,766,746,715.939707548,679.939707548,661.939707548,633.939707548,880.939707548,786,806,652,630.939707548,653,0.450447616039,-0.0156796139431,0.0497121533801,0.99999990279,-2.46989168317e-06,-0.000440264192441,2.41239304531e-05,1793239581240102656
+260,4.333333333,HOLD_POSE2,766,746,715.351845943,679.351845943,661.351845943,633.351845943,880.351845943,786,806,652,630.351845943,653,0.450447816967,-0.0156778606758,0.0497117684763,0.999999902624,4.06078214897e-07,-0.000440653096552,2.40334728392e-05,1793239581256769536
+261,4.350000000,HOLD_POSE2,766,745.767349516,715,679.232650484,661,633,880.232650484,786,806,652,630,653,0.450447871927,-0.0156779246007,0.0497115206043,0.999999902486,1.24471288775e-06,-0.000440950775777,2.42552627857e-05,1793239581273436160
+262,4.366666667,HOLD_POSE2,766,745.187869862,715,679.812130138,661,633,880.812130138,786,806,652,630,653,0.450447709282,-0.0156806975479,0.049711477016,0.999999902398,-9.53858015814e-07,-0.000441112459334,2.4942543122e-05,1793239581290102784
+263,4.383333333,HOLD_POSE2,766,745.390223625,715,680,661.390223625,633.390223625,881.390223625,786,805.609776375,652,630,653,0.45044930008,-0.0156815865493,0.0497128553858,0.9999999031,-2.5651000418e-06,-0.000439508357336,2.50085799676e-05,1793239581306769152
+264,4.400000000,HOLD_POSE2,766,745.967652165,715,680,661.967652165,633.967652165,881.967652165,786,805.032347835,652,630,653,0.450451732069,-0.0156815717515,0.0497149159223,0.999999904176,-3.89457856067e-06,-0.000437057141757,2.47765830591e-05,1793239581323436032
+265,4.416666667,HOLD_POSE2,766,745.458870062,715,679.458870062,661.458870062,634,880.917740125,786,805,652,630,653,0.450450717565,-0.015683428883,0.0497143775303,0.9999999039,-5.70043861405e-06,-0.000437619993044,2.56185880389e-05,1793239581340102656
+266,4.433333333,HOLD_POSE2,766,745,715.118003159,679.118003159,661,633.881996841,880.118003159,786,805,652,630,653,0.450449663291,-0.0156848447954,0.0497136286351,0.999999903477,-7.33137870818e-06,-0.00043853102212,2.61321865678e-05,1793239581356769280
+267,4.450000000,HOLD_POSE2,766,745,715.709439891,679.709439891,661,633.290560109,880.709439891,786,805,652,630,653,0.450449270052,-0.0156840448226,0.0497126539835,0.999999902799,-8.14710926834e-06,-0.000440121321665,2.50724908335e-05,1793239581373435904
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,633,882,786,805,652,630,653,0.45044626506,-0.0156822815638,0.0497107520703,0.999999901448,-5.68994474016e-06,-0.000443227973936,2.49298567966e-05,1793239581411408640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.40420361,715,680,662,633,881.40420361,786.59579639,805,652,630,653,0.450448922468,-0.0156829020532,0.0497120670784,0.999999902422,-4.86321117405e-06,-0.000440996670754,2.55813561359e-05,1793239581428075264
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.185085984,680,662,633,881.185085984,786.814914016,805,652,630,653,0.450450788268,-0.0156840020498,0.0497131958154,0.999999903109,-5.35669795003e-06,-0.000439390274341,2.62567146661e-05,1793239581444742144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.760648288,680,662,633,881.760648288,786.239351712,805,652,630,653,0.45045098401,-0.0156861136638,0.0497139315762,0.999999903193,-8.63545642565e-06,-0.000439102244742,2.6982409107e-05,1793239581461410048
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.656706865,680,662,633.343293135,881.656706865,786,805.343293135,652,630.343293135,653,0.45045054648,-0.0156876009896,0.0497138514876,0.999999902981,-1.13100342536e-05,-0.000439504529066,2.73183009552e-05,1793239581478076672
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.06901992,680,662,633.93098008,881.06901992,786,805.93098008,652,630.93098008,653,0.450449658116,-0.0156886438784,0.0497131905874,0.999999902558,-1.35544896496e-05,-0.000440398254782,2.73766884022e-05,1793239581494742272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.514249752,680,662,634,881,786,806,652,630.485750248,653,0.450449445934,-0.0156891671895,0.0497129078575,0.999999902492,-1.40730514742e-05,-0.000440539082282,2.72569253765e-05,1793239581511408896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.09517203,716,680,661.90482797,633.90482797,881,786,805.90482797,652,630,652.90482797,0.450449094792,-0.0156894331952,0.0497125651363,0.999999902442,-1.38377954832e-05,-0.000440666065729,2.71735523065e-05,1793239581528075520
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.667276564,716,680,661.332723436,633.332723436,881,786,805.332723436,652,630,652.332723436,0.450447596374,-0.015688756259,0.0497116695977,0.999999902225,-1.0975882789e-05,-0.000441225749169,2.7391340121e-05,1793239581544742400
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.759324954,715.759324954,680,661.240675046,633,880.759324954,786,805,652,630,652,0.450442170973,-0.0156885316505,0.0497088903771,0.999999900364,-1.00756968564e-05,-0.000445438752462,2.74716474956e-05,1793239581561409280
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.184128023,715.184128023,680,661.815871977,633,880.184128023,786,805,652,630,652,0.450431287335,-0.0156889357464,0.0497034929672,0.999999896165,-1.19021774598e-05,-0.000454729620916,2.73608664233e-05,1793239581578075648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.597906778,661.597906778,633,880.402093222,786,805,652,630,652.402093222,0.450404578436,-0.0156878452758,0.0496926940993,0.99999988705,-1.1538822848e-05,-0.000474409701194,2.64891481677e-05,1793239581594742016
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.006494874,661.006494874,633,880.993505126,786,805,652,630,652.993505126,0.450370418483,-0.0156860511143,0.0496793520473,0.999999875138,-1.01444221191e-05,-0.000498981363884,2.52591556955e-05,1793239581611408640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.574023855,633,881,786,805,652,630,653,0.450307938328,-0.0156858937606,0.0496568243771,0.999999855039,-1.32720368967e-05,-0.00053776212404,2.36142253777e-05,1793239581628075520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.152531836,662,633,881,786,805,652,630,653,0.450242701407,-0.0156841787391,0.0496364731877,0.999999836744,-1.47803395435e-05,-0.000570801390052,2.18784539917e-05,1793239581644742144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.72582691,662,633,881,786,805,652,630,653,0.450170727318,-0.0156781167122,0.0496224072351,0.999999827116,-1.16832147054e-05,-0.000587567366791,1.99048044883e-05,1793239581661408768
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715.307233715,679.692766285,661.692766285,633,880.692766285,786,804.692766285,652,630,653,0.450094098225,-0.0156728390644,0.0496142074842,0.999999821542,-9.22175778762e-06,-0.000597065291467,1.85685440075e-05,1793239581678075648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715.896075638,679.103924362,661.103924362,633,880.103924362,786,804.103924362,652,630,653,0.450013202393,-0.0156682803732,0.0496113846523,0.999999819873,-7.34294969141e-06,-0.000599901371121,1.78165098323e-05,1793239581694742272
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,716,679.477035992,661.477035992,633,880.477035992,786,804.477035992,652,630,653,0.449908804876,-0.0156619512278,0.0496109381816,0.999999819858,-4.87209208764e-06,-0.00059996956553,1.7241897576e-05,1793239581711408384
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,661.944517028,633,881,786,805,652,630,653,0.44979698236,-0.0156548871022,0.0496109465298,0.999999820119,-1.97157325723e-06,-0.000599567303598,1.66376746373e-05,1793239581728075264
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,661.373725372,633,881,786,805,652,630,653,0.449662978308,-0.015644520755,0.0496104490018,0.999999819691,3.74104530233e-06,-0.000600305001027,1.54052825272e-05,1793239581744742656
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715.801150602,679.801150602,661.198849398,633.198849398,881,786,805,652,630.198849398,653,0.449517909056,-0.0156349464063,0.0496097411892,0.999999819173,8.08240561635e-06,-0.000601152589309,1.43122338408e-05,1793239581761409792
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715.225194318,679.225194318,661.774805682,633.774805682,881,786,805,652,630.774805682,653,0.44935185528,-0.0156268740401,0.0496086345837,0.999999818533,9.82324986287e-06,-0.000602208579464,1.34834423912e-05,1793239581778075904
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.637342724,745,715,679,662,633.637342724,881,786,805.362657276,652,631,652.637342724,0.449162479422,-0.0156155093066,0.0496056653935,0.999999815994,1.57188693864e-05,-0.000606312075526,1.22453667952e-05,1793239581794742528
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.041854107,745,715,679,662,633.041854107,881,786,805.958145893,652,631,652.041854107,0.448958130425,-0.0156020308236,0.0496015003961,0.999999812148,2.42819163126e-05,-0.000612372115546,1.07445246356e-05,1793239581811409152
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.537475889,715.537475889,679,662,633,881,786,806,652,631,652.537475889,0.448719726019,-0.0155872303886,0.0496008533501,0.999999809589,2.97652163669e-05,-0.000616325483937,8.84194660859e-06,1793239581828075776
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.114911217,745.885088783,716,679,662,633,880.885088783,786,805.885088783,652,631,653,0.448474311267,-0.0155728685834,0.0496017013733,0.999999808966,3.45312767e-05,-0.000617112165769,6.99779976869e-06,1793239581844742400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.689653244,745.310346756,716,679,662,633,880.310346756,786,805.310346756,652,631,653,0.448211146073,-0.0155606619161,0.0496074678509,0.999999815751,3.73588966121e-05,-0.000605864283579,5.50900379602e-06,1793239581861409024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.270882538,715.729117462,679,662,633.270882538,880.270882538,786,805,652,631,653,0.447927545161,-0.0155488485858,0.0496087475726,0.999999818596,3.79356836837e-05,-0.000601129870064,3.40277671066e-06,1793239581878075392
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.859726542,715.140273458,679,662,633.859726542,880.859726542,786,805,652,631,653,0.447619956855,-0.0155374969546,0.0496047607476,0.999999816924,3.58704468004e-05,-0.000604040955828,5.71810117204e-07,1793239581894742016
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.558639441,745.558639441,715,679.441360559,662,634,880.558639441,786.441360559,805,652,631,653,0.447272823105,-0.0155289606712,0.0496019115057,0.999999816019,3.21455513205e-05,-0.00060574091789,-2.58885032306e-06,1793239581911408640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.020572797,745,715,679.979427203,662,634,880,786.979427203,805,652,631,652.979427203,0.446911883855,-0.015521566278,0.0495996032426,0.999999815433,2.75791805618e-05,-0.000606909706178,-5.81965419108e-06,1793239581928075520
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.595283594,745,715,679.404716406,662,634,880,786.404716406,805,652,631,652.404716406,0.446512179989,-0.0155212154184,0.0496022845797,0.999999817473,1.43266601496e-05,-0.000603972433702,-8.16277831238e-06,1793239581944742144
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,880.16968894,786.16968894,805,651.83031106,631,652.16968894,0.446109811279,-0.015517934118,0.0496093771433,0.999999823939,4.14270457688e-06,-0.000593292299868,-1.04546155242e-05,1793239581961408768
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,880.743366997,786.743366997,805,651.256633003,631,652.743366997,0.445701098262,-0.0155076761331,0.0496269717903,0.999999840771,1.26427591099e-06,-0.000564178250076,-1.26243504327e-05,1793239581978075392
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.32819711,662,634.32819711,881,787,805,651,631,653,0.445273448717,-0.0154943455072,0.0496524002067,0.9999998613,2.26025300554e-06,-0.000526476613467,-1.47487588904e-05,1793239581994742272
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.92205435,662,634.92205435,881,787,805,651,631,653,0.444830470898,-0.0154785277218,0.0496841696931,0.999999883761,6.39237910279e-06,-0.00048182372534,-1.68364779365e-05,1793239582011408896
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.496722465,662,635,880.496722465,787,805,651,631,652.496722465,0.444324103694,-0.0154597620379,0.0497052122537,0.999999896053,9.41862606758e-06,-0.000455411855096,-2.01498891256e-05,1793239582028075520
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.081771295,662,635,880.081771295,787.081771295,805,651.081771295,631.081771295,652.081771295,0.443797217517,-0.015441872932,0.0497208053931,0.99999990421,1.04944133261e-05,-0.000436925382164,-2.38102240163e-05,1793239582044742400
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.655329891,662,635,880.655329891,787.655329891,805,651.655329891,631.655329891,652.655329891,0.443204524618,-0.0154319343013,0.0497133716807,0.999999898557,8.44634502232e-07,-0.000449529103848,-2.84433061286e-05,1793239582061409024
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,881,788,805,651.764901726,632,653,0.442621064764,-0.0154240013924,0.0497134248634,0.999999899076,-1.00215840883e-05,-0.000448002176615,-3.2271843651e-05,1793239582078075648
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.475981257,745,715,678.524018743,663,636,879,788.475981257,804,652,631.524018743,653,0.402416161904,-0.0153926080401,0.049837501962,0.999999945323,-7.71561306476e-05,-0.000315811690371,-6.05274977458e-05,1793239583061409024
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.945670736,745,715,678.054329264,663,636,879,788.945670736,804,652,631,653,0.402190684032,-0.0153934496181,0.0498287131849,0.999999939293,-8.69400714582e-05,-0.000331698741118,-6.18940319437e-05,1793239583078075648
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+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.80498626,663.80498626,635.80498626,879.19501374,788,804,652.19501374,632,653,0.400989230303,-0.0154084959537,0.0498568451818,0.999999963314,-4.48932324864e-05,-0.000264010976402,-4.06898132615e-05,1793239583628075520
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.232097894,663.232097894,635.232097894,879.767902106,788,804,652.767902106,632,653,0.400989707925,-0.0154095583434,0.0498570904285,0.999999963658,-4.47677577198e-05,-0.000262786254168,-4.0295839568e-05,1793239583644742144
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.950391781,663,635.950391781,879.049608219,788,804,653,631.049608219,653,0.400990828223,-0.0154091779225,0.04985851222,0.99999996412,-4.63292931437e-05,-0.000260730295784,-4.04237012676e-05,1793239583678075392
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,632,652.258293747,0.400990187897,-0.0154110295574,0.0498573938724,0.99999996386,-4.53153166574e-05,-0.000261947876406,-4.01259893676e-05,1793239583744742656
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+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,745,715,678.587071241,663,636,880,788,804,652,631.587071241,653,0.400988880062,-0.0154103072927,0.0498579380878,0.999999963732,-4.78306570412e-05,-0.000261954918508,-4.03548306989e-05,1793239583811408896
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..43363d5b67f49e02fc584c5014b7bd378926c20c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,416 @@
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+381,6.350000000,pose2_to_pose3_retreat,0.575714083539,-0.00990908117244,1.04003215956,0.546284533611,-0.00123734653982,1.03970029621
+382,6.366666667,pose2_to_pose3_retreat,0.575698503234,-0.00990911671258,1.04003227668,0.546268954179,-0.00123737926496,1.0397004097
+383,6.383333333,pose2_to_pose3_retreat,0.575688113425,-0.00990925618667,1.04003239832,0.546258565887,-0.00123751389883,1.03970052332
+384,6.400000000,pose2_to_pose3_retreat,0.575680634094,-0.00990916736302,1.04003236647,0.546251085191,-0.00123742947624,1.03970049744
+385,6.416666667,pose2_to_pose3_retreat,0.575675869501,-0.00990914318072,1.04003235898,0.546246320676,-0.00123740496656,1.03970049152
+386,6.433333333,pose2_to_pose3_retreat,0.575672949633,-0.00990918239328,1.04003237757,0.546243402309,-0.00123743918518,1.03970050741
+387,6.450000000,pose2_to_pose3_retreat,0.575671061907,-0.00990920774461,1.0400323896,0.546241515554,-0.00123746130787,1.03970051769
+388,6.466666667,pose2_to_pose3_retreat,0.575669856789,-0.00990923869159,1.04003238707,0.54624031018,-0.0012374931346,1.03970051482
+389,6.483333333,pose2_to_pose3_retreat,0.575668953055,-0.0099092649682,1.04003238306,0.546239406072,-0.00123752068235,1.0397005107
+390,6.500000000,pose2_to_pose3_retreat,0.575668356886,-0.00990928230217,1.04003238041,0.546238809657,-0.00123753885485,1.03970050799
+391,6.516666667,pose2_to_pose3_retreat,0.575668136225,-0.00990928871803,1.04003237943,0.546238588904,-0.00123754558108,1.03970050698
+392,6.533333333,pose2_to_pose3_retreat,0.575668049747,-0.00990929123242,1.04003237904,0.546238502391,-0.00123754821711,1.03970050659
+393,6.550000000,pose2_to_pose3_retreat,0.575667852954,-0.0099092969543,1.04003237817,0.546238305516,-0.00123755421578,1.03970050569
+394,6.566666667,pose2_to_pose3_retreat,0.575667761946,-0.00990929960041,1.04003237776,0.54623821447,-0.0012375569899,1.03970050528
+395,6.583333333,pose2_to_pose3_retreat,0.575667665269,-0.00990930241136,1.04003237733,0.546238117753,-0.00123755993683,1.03970050484
+396,6.600000000,pose2_to_pose3_retreat,0.5756673051,-0.0099093128835,1.04003237573,0.546237757435,-0.00123757091557,1.0397005032
+397,6.616666667,pose2_to_pose3_retreat,0.575666803393,-0.00990929772163,1.0400323492,0.546237255146,-0.00123755766788,1.03970047833
+398,6.633333333,pose2_to_pose3_retreat,0.575666618532,-0.00990928296597,1.04003233194,0.546237069954,-0.00123754399001,1.03970046221
+399,6.650000000,pose2_to_pose3_retreat,0.575666579905,-0.00990927988272,1.04003232833,0.546237031258,-0.00123754113197,1.03970045884
+400,6.666666667,pose2_to_pose3_retreat,0.575666416521,-0.00990926684138,1.04003231307,0.546236867582,-0.0012375290432,1.03970044459
+401,6.683333333,pose2_to_pose3_retreat,0.575666070123,-0.00990923919183,1.04003228071,0.546236520566,-0.00123750341324,1.03970041437
+402,6.700000000,pose2_to_pose3_retreat,0.575665548157,-0.00990919752836,1.04003223196,0.546235997667,-0.00123746479297,1.03970036885
+403,6.716666667,pose2_to_pose3_retreat,0.575665269299,-0.00990918174282,1.04003221075,0.546235718585,-0.00123744970835,1.03970034919
+404,6.733333333,pose2_to_pose3_retreat,0.575665176312,-0.00990918583987,1.04003221067,0.54623562592,-0.00123745270162,1.03970034939
+405,6.750000000,pose2_to_pose3_retreat,0.575665074525,-0.00990919032467,1.04003221058,0.546235524485,-0.00123745597817,1.03970034961
+406,6.766666667,pose2_to_pose3_retreat,0.575665067965,-0.00990919061371,1.04003221057,0.546235517947,-0.00123745618935,1.03970034963
+407,6.783333333,pose2_to_pose3_retreat,0.575664807274,-0.00990920209983,1.04003221034,0.54623525816,-0.001237464581,1.03970035019
+408,6.800000000,pose2_to_pose3_retreat,0.575664607256,-0.00990921091272,1.04003221016,0.546235058834,-0.00123747101961,1.03970035062
+409,6.816666667,pose2_to_pose3_retreat,0.575664525127,-0.00990921453136,1.04003221009,0.546234976989,-0.00123747366336,1.03970035079
+410,6.833333333,pose2_to_pose3_retreat,0.575664529906,-0.00990920600352,1.04003224561,0.546234981682,-0.00123746573309,1.03970037836
+411,6.850000000,pose2_to_pose3_retreat,0.575664532851,-0.0099091952329,1.04003227085,0.546234984404,-0.00123745594062,1.0397003978
+412,6.866666667,pose2_to_pose3_retreat,0.575664486147,-0.00990918465001,1.04003224606,0.546234937276,-0.00123744660515,1.03970037808
+413,6.883333333,pose2_to_pose3_retreat,0.575664453242,-0.00990917719373,1.04003222858,0.546234904071,-0.00123744002775,1.03970036419
+414,6.900000000,pose2_to_pose3_retreat,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449792,1.03970035251
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07b8f92a3cd985f2b6dfa6298bd6ac7a7539fe63
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6a78f178dbf3cb19473adf48afeea7dd91a7adea81411b834cc42cf63b89e61
+size 26479761
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..beb4766fa75d3fdb1b8bb32500fbda5237b13d0e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
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+39,0.650000000,BASELINE,766.36938337,745,715,678.63061663,663.63061663,636,879.63061663,788,804,652.36938337,632,653,0.400991813679,-0.0154127600492,0.049861201325,0.999999965759,-4.92418871061e-05,-0.000253923513939,-3.97581957911e-05,1793239584616739072
+40,0.666666667,BASELINE,766,745.207033775,715,678.792966225,663.792966225,636,879.792966225,788,804,652.207033775,632,653,0.400991424905,-0.0154131204086,0.0498609409141,0.999999965531,-5.06696065633e-05,-0.00025454966769,-3.96951282716e-05,1793239584633405184
+41,0.683333333,BASELINE,766,745.780849778,715,678.219150222,663.219150222,636,879.219150222,788,804,652.780849778,632,653,0.400990405933,-0.0154123520058,0.0498602277577,0.999999965201,-4.81716653118e-05,-0.00025626523542,-4.00646486337e-05,1793239584650071552
+42,0.700000000,BASELINE,766.362626624,745.637373376,715,678,663.362626624,636,879,788.362626624,804,652.637373376,632,653,0.400990085949,-0.0154132134801,0.0498600003037,0.999999964982,-4.86109750038e-05,-0.00025704237169,-4.00354325995e-05,1793239584666738176
+43,0.716666667,BASELINE,766.949322502,745.050677498,715,678,663.949322502,636,879,788.949322502,804,652.050677498,632,653,0.400990197874,-0.0154150820658,0.0498600729683,0.99999996483,-5.08652304797e-05,-0.00025723964524,-3.97598348434e-05,1793239584683404800
+44,0.733333333,BASELINE,766.467626156,745,715,678,663.467626156,636,879,788.467626156,804,652,632,653,0.400991557426,-0.0154147560552,0.0498609024727,0.999999965406,-5.00373482551e-05,-0.00025514630953,-3.98073213344e-05,1793239584700071680
+45,0.750000000,BASELINE,766,745,715,678.113386704,663,636,879.113386704,788,804,652,631.886613296,653,0.400992474855,-0.0154139910528,0.0498615066893,0.999999965881,-4.83416887816e-05,-0.000253589758886,-3.99093122988e-05,1793239584716738560
+46,0.766666667,BASELINE,766,745,715,678.687516262,663,636,879.687516262,788,804,652,631.312483738,653,0.400991116421,-0.0154122853375,0.0498609046964,0.999999965678,-4.43039355678e-05,-0.00025509441655,-4.01086585292e-05,1793239584733405440
+47,0.783333333,BASELINE,766,745,715,678.737938981,663,636,879.737938981,788,804,652,631,653,0.40099053863,-0.0154112586432,0.0498605182815,0.999999965556,-4.32623440825e-05,-0.000255727729304,-4.02559853951e-05,1793239584750072320
+48,0.800000000,BASELINE,766,745,715,678.162898275,663,636,879.162898275,788,804,652,631,653,0.400990893159,-0.0154110429042,0.0498603893315,0.999999965543,-4.57990704537e-05,-0.00025532039432,-4.03411855184e-05,1793239584766738944
+49,0.816666667,BASELINE,766.423053905,745,715,678,663.846107811,636,879,788,804,652,631.423053905,652.576946095,0.400991109202,-0.0154118076363,0.0498606148787,0.999999965585,-4.70554152417e-05,-0.00025495379412,-4.01820140505e-05,1793239584783405056
+50,0.833333333,BASELINE,766.986937037,745,715,678.013062963,664.973874075,636,879.013062963,788,804,652.013062963,632,652.013062963,0.400991272971,-0.0154129364586,0.0498609764307,0.99999996565,-4.77739089919e-05,-0.000254604607049,-3.99297229189e-05,1793239584800071424
+51,0.850000000,BASELINE,766.408009691,745,715,678.591990309,663.816019382,636,879.591990309,788,804,652.591990309,632,652.591990309,0.400991543395,-0.0154130499603,0.0498611599744,0.99999996576,-4.7115604785e-05,-0.000254312287496,-3.98276415061e-05,1793239584816738048
+52,0.866666667,BASELINE,766,745,715,679,663,636,879.830047441,788,804,653,632,653,0.400991633949,-0.0154131161633,0.0498613083705,0.999999965838,-4.64300282953e-05,-0.000254136972102,-3.978436261e-05,1793239584833404672
+53,0.883333333,BASELINE,766,745,715,679,663,636,879.254389073,788,804,653,632,653,0.400991295121,-0.0154130694562,0.049861372863,0.999999965842,-4.56793482446e-05,-0.000254240965654,-3.98814553783e-05,1793239584850071296
+54,0.900000000,BASELINE,766,745,715,679,663,636,879,788,804,652.672477433,632,652.672477433,0.400991894584,-0.0154126394831,0.0498615648455,0.999999965899,-4.63718633113e-05,-0.000253856791167,-4.01108816912e-05,1793239584866738176
+55,0.916666667,BASELINE,766,745,715,679,663,636,879,788,804,652.085614323,632,652.085614323,0.400993237011,-0.0154119060303,0.0498618577777,0.999999965994,-4.82071363244e-05,-0.00025308607304,-4.04450930028e-05,1793239584883405312
+56,0.933333333,BASELINE,766.494777196,745,715,679,663,636,879,788,804,652,632,652.494777196,0.400992735409,-0.0154124746359,0.0498617009161,0.999999966041,-4.67090231575e-05,-0.000253257441255,-3.996911642e-05,1793239584900071936
+57,0.950000000,BASELINE,766.925926388,745,715,679,663,635.925926388,879.148147224,788,804,652,632,653,0.400991894867,-0.0154131657137,0.0498614276806,0.999999965998,-4.51695226947e-05,-0.000253782366922,-3.94687959031e-05,1793239584916738560
+58,0.966666667,BASELINE,766.346560284,745,715,679,663,635.346560284,880.306879431,788,804,652,632,653,0.400990890768,-0.0154131751733,0.0498608846675,0.999999965424,-4.7231510809e-05,-0.000255621433386,-3.97463836969e-05,1793239584933404928
+59,0.983333333,BASELINE,766,745,715,678.770031881,663,635.229968119,880.540063761,788,804,652,632,653,0.400990775386,-0.0154135861646,0.0498609563456,0.999999965324,-4.818080967e-05,-0.000255829976592,-3.97629046234e-05,1793239584950071552
+60,1.000000000,BASELINE,766,745,715,678.197727659,663,635.802272341,879.395455319,788,804,652,632,653,0.400991982969,-0.015414594886,0.0498619430677,0.999999965938,-4.74737327168e-05,-0.000253611283733,-3.93907951414e-05,1793239584966738176
+61,1.016666667,BASELINE,766,745,715,678.386002823,663,636,879,788,804,652,632,653,0.400991580914,-0.0154132638974,0.0498614499407,0.999999965742,-4.7021738416e-05,-0.000254410332149,-3.97595356931e-05,1793239584983404800
+62,1.033333333,BASELINE,766,745,715,678.975764849,663,636,879,788,804,652,632,653,0.40099032918,-0.0154106978469,0.0498601756461,0.999999965115,-4.67043945658e-05,-0.000256802354938,-4.05193485667e-05,1793239585000071424
+63,1.050000000,BASELINE,766,745,715,679,663,636,879.555855917,788,804,652.555855917,632,653,0.400990485036,-0.0154117306544,0.0498605619662,0.999999965364,-4.67813561555e-05,-0.000255828871447,-4.04449253781e-05,1793239585016738304
+64,1.066666667,BASELINE,766.134850884,745,715,678.865149116,663,635.865149116,879.865149116,788,804,653,632,652.865149116,0.400990861361,-0.0154128197933,0.049861123078,0.999999965637,-4.73623655059e-05,-0.00025467672306,-4.02782503709e-05,1793239585033405184
+65,1.083333333,BASELINE,766.711612001,745,715,678.288387999,663,635.288387999,879.288387999,788,804,653,632,652.288387999,0.400991762499,-0.0154135881292,0.0498620237802,0.999999965867,-4.9539779936e-05,-0.000253411716742,-3.99264187357e-05,1793239585050071808
+66,1.100000000,BASELINE,766.707127627,745,715,678.292872373,663,635.292872373,879.292872373,788,804,652.707127627,631.707127627,652.292872373,0.40099178482,-0.0154138350962,0.0498620483492,0.999999965856,-5.00426598919e-05,-0.000253376573331,-3.98061806994e-05,1793239585066738432
+67,1.116666667,BASELINE,766.121367804,745,715,678.878632196,663,635.878632196,879.878632196,788,804,652.121367804,631.121367804,652.878632196,0.40099092828,-0.0154135606673,0.0498611967398,0.999999965606,-4.88709190354e-05,-0.00025457135622,-3.99175482058e-05,1793239585083404800
+68,1.133333333,BASELINE,766,745.459428815,715,679,663,636,879.540571185,788,804,652.459428815,631.459428815,653,0.40099066086,-0.0154124712966,0.0498609024252,0.999999965661,-4.61043878332e-05,-0.00025486874579,-3.9921540899e-05,1793239585100071424
+69,1.150000000,BASELINE,766,745.961174923,715,679,663.038825077,636,879,788,804,653,632,653,0.400990610248,-0.0154114270163,0.0498608038007,0.999999965786,-4.33881018362e-05,-0.000254861902362,-3.98937178191e-05,1793239585116738048
+70,1.166666667,BASELINE,766,745.383212825,715,679,663.616787175,636,879,788,804,653,632,653,0.400991432281,-0.0154139664275,0.0498614000803,0.999999965866,-4.71572817873e-05,-0.000253887165334,-3.98137710029e-05,1793239585133404928
+71,1.183333333,BASELINE,766.193629846,745,715,678.806370154,663.806370154,636,879,788,804,652.806370154,632,653,0.400991646745,-0.0154153475059,0.0498614088098,0.99999996575,-4.99204383506e-05,-0.000253798305752,-3.99197787691e-05,1793239585150071808
+72,1.200000000,BASELINE,766.768269899,745,715,678.231730101,663.231730101,636,879,788,804,652.231730101,632,653,0.400990665684,-0.0154144493049,0.0498602614025,0.999999965271,-5.07040186466e-05,-0.000255452608822,-4.03916939235e-05,1793239585166738432
+73,1.216666667,BASELINE,766.64836934,745,715,678,663,636,879,788,804,652,632,653,0.400990534587,-0.0154137771695,0.0498602762592,0.999999965266,-4.93794400119e-05,-0.000255739440525,-4.03291222906e-05,1793239585183405312
+74,1.233333333,BASELINE,766.059115374,745,715,678,663,636,879,788,804,652,632,653,0.400990977874,-0.0154132578036,0.0498610765451,0.999999965578,-4.66302196455e-05,-0.000255102168787,-3.99053576728e-05,1793239585200071936
+75,1.250000000,BASELINE,766,745,715,678.521357664,663,636,879,788,804,652,632,652.478642336,0.400990878142,-0.0154141571721,0.049861006493,0.999999965681,-4.7906197922e-05,-0.000254451602033,-3.99672218504e-05,1793239585216738304
+76,1.266666667,BASELINE,766,745,715,678.900023059,663.099976941,636,879.099976941,788,804,652,632,652.099976941,0.40099066858,-0.0154148800513,0.0498609028132,0.999999965732,-4.91454110106e-05,-0.000254000681394,-4.00468862194e-05,1793239585233404928
+77,1.283333333,BASELINE,766,745,715,678.325554687,663.674445313,636,879.674445313,788,804,652,632,652.674445313,0.400990225149,-0.0154140144826,0.0498611001402,0.99999996566,-4.80799043025e-05,-0.000254504319017,-3.99540240212e-05,1793239585250071552
+78,1.300000000,BASELINE,766.254479103,745,715,678.254479103,663.745520897,636,879.745520897,788,804,652.254479103,632,653,0.400990528738,-0.0154135207419,0.0498614748104,0.99999996571,-4.82732539843e-05,-0.000254276272113,-3.99163675299e-05,1793239585266738176
+79,1.316666667,BASELINE,766.841791864,745,715,678.841791864,663.158208136,636,879.158208136,788,804,652.841791864,632,653,0.400991809358,-0.0154135133156,0.0498620814283,0.999999965919,-5.01130642046e-05,-0.000253091253707,-3.9950914686e-05,1793239585283404800
+80,1.333333333,BASELINE,767,745,715,678.576488117,663,636,879,788.423511883,804,653,632,653,0.400992610701,-0.0154131021741,0.0498626388613,0.999999966275,-4.93560683821e-05,-0.000251821422093,-4.00099550598e-05,1793239585300071680
+81,1.350000000,BASELINE,766.996838986,745,714.996838986,678,663,636,879,788.996838986,804,652.996838986,632,652.996838986,0.400993227805,-0.0154125401704,0.0498631716551,0.999999966679,-4.76441916464e-05,-0.000250532079057,-4.00789955568e-05,1793239585316738560
+82,1.366666667,BASELINE,766.418813448,745,714.418813448,678,663,636,879,788.418813448,804,652.418813448,632,652.418813448,0.400992474964,-0.0154116117423,0.0498625214341,0.999999966514,-4.63951567189e-05,-0.00025138119633,-4.03243727887e-05,1793239585333405184
+83,1.383333333,BASELINE,766,745,714.158560986,678,663.158560986,636,879.158560986,788,804,652,632,652.158560986,0.40099179134,-0.015411371891,0.049861975028,0.999999966295,-4.61548232773e-05,-0.000252279052952,-4.04351982208e-05,1793239585350071808
+84,1.400000000,BASELINE,766,745,714.734222788,678,663.734222788,636,879.734222788,788,804,652,632,652.734222788,0.400991289794,-0.0154129433674,0.0498617017111,0.999999965931,-4.85679179002e-05,-0.000253305120505,-4.01920799843e-05,1793239585366738432
+85,1.416666667,BASELINE,766,745,715,678,663.683182287,636,879.683182287,788,804,652,631.683182287,653,0.400990334328,-0.0154135968022,0.0498609946984,0.9999999655,-4.96728980979e-05,-0.000254817887851,-4.00100060757e-05,1793239585383404800
+86,1.433333333,BASELINE,766,745,715,678,663.094641099,636,879.094641099,788,804,652,631.094641099,653,0.400988989552,-0.0154134628646,0.04985991572,0.999999965012,-4.96559541522e-05,-0.000256748080527,-3.98802877671e-05,1793239585400071424
+87,1.450000000,BASELINE,766.485695159,745,715,678.485695159,663,636,879,788,803.514304841,652,631.485695159,653,0.400989162416,-0.0154129458776,0.0498601517487,0.999999965142,-4.90853605879e-05,-0.000256328060304,-4.00398096474e-05,1793239585416738048
+88,1.466666667,BASELINE,766.935909789,745,715,679,663,636,879,788,803.064090211,652,632,653,0.400989671753,-0.0154125435209,0.049860729844,0.999999965409,-4.84610548575e-05,-0.000255375787175,-4.01963614686e-05,1793239585433404672
+89,1.483333333,BASELINE,766.360458706,745,715,679,663,636,879,788,803.639541294,652,632,653,0.400990545427,-0.0154136414134,0.0498620267064,0.999999965841,-4.82546620413e-05,-0.000253770010849,-3.98869992228e-05,1793239585450071552
+90,1.500000000,BASELINE,766,745,715.214966234,679,663,636,879.214966234,788,804,652,632,652.785033766,0.400991351303,-0.0154139740898,0.0498626790363,0.999999966175,-4.79616029759e-05,-0.000252515803889,-3.9806071489e-05,1793239585466738176
+91,1.516666667,BASELINE,766,745,715.790347283,679,663,636,879.790347283,788,804,652,632,652.209652717,0.400992043508,-0.0154130237961,0.0498622507357,0.999999966352,-4.75232383195e-05,-0.000251851042265,-4.01081396694e-05,1793239585483404800
+92,1.533333333,BASELINE,766,745,715.624057922,679,663,636,879.624057922,788,804,652.375942078,631.624057922,652.375942078,0.400992125716,-0.0154133703201,0.0498621067055,0.99999996625,-4.76215911956e-05,-0.000252269034645,-3.9910179829e-05,1793239585500071680
+93,1.550000000,BASELINE,766,745,715.032608073,679,663,636,879.032608073,788,804,652.967391927,631.032608073,652.967391927,0.400991858243,-0.0154144602413,0.0498621256325,0.999999965987,-4.80276158942e-05,-0.000253307712749,-3.94255803159e-05,1793239585516738304
+94,1.566666667,BASELINE,766.546674664,745,715,679,663.546674664,636,879.546674664,788,804,652.453325336,631.546674664,653,0.400992211491,-0.0154141489897,0.0498622767871,0.999999966056,-4.90523961468e-05,-0.000252826908303,-3.95055542161e-05,1793239585533404928
+95,1.583333333,BASELINE,766.87545153,745.12454847,715,679,663.87545153,636,880,788,804,652,632,652.87545153,0.400992363909,-0.0154139927206,0.0498622098324,0.999999966065,-4.98888994348e-05,-0.000252605359323,-3.96463151393e-05,1793239585550071552
+96,1.600000000,BASELINE,766.300107504,745.699892496,715,679,663.300107504,636,880,788,804,652,632,652.300107504,0.400991658344,-0.0154146933171,0.0498613255191,0.999999965791,-4.99132698475e-05,-0.00025364307204,-3.9887857602e-05,1793239585566738176
+97,1.616666667,BASELINE,766,745.724902584,715,679,663,636,879.724902584,788,804,652,632,652.275097416,0.400991567274,-0.015415331353,0.0498613973623,0.999999965886,-4.98894876034e-05,-0.00025329009017,-3.97936157785e-05,1793239585583405568
+98,1.633333333,BASELINE,766,745.149849373,715,679,663,636,879.149849373,788,804,652,632,652.850150627,0.400992146226,-0.015415901175,0.0498625117624,0.99999996638,-4.98132015261e-05,-0.000251420747575,-3.93332474838e-05,1793239585600073728
+99,1.650000000,BASELINE,766,745,715,679,663,636,879.437878152,788,804,652.437878152,632,653,0.400991393427,-0.0154153629642,0.0498622090546,0.999999966173,-4.90740343788e-05,-0.000252336434251,-3.96424675697e-05,1793239585616740352
+100,1.666666667,BASELINE,766,745,715,678.970664397,663.029335603,636,879.970664397,788.029335603,804,653,632,653,0.400990282212,-0.0154145327735,0.0498614996277,0.999999965752,-4.82016053943e-05,-0.000254084177908,-4.01602457735e-05,1793239585633406208
+101,1.683333333,BASELINE,766,745,715,678.392977906,663.607022094,636,879.392977906,788.607022094,804,653,632,653,0.400991244271,-0.015415543973,0.0498625228843,0.999999965995,-4.92049369902e-05,-0.000253038601089,-3.95067910299e-05,1793239585650072064
+102,1.700000000,BASELINE,766,745,715,678,663.816517465,636,879.183482535,788.816517465,804.183482535,652.816517465,632,653,0.400991741994,-0.0154160999988,0.0498629955432,0.999999966085,-4.99795291865e-05,-0.000252589943367,-3.91178330127e-05,1793239585666738176
+103,1.716666667,BASELINE,766,745,715,678,663.242665588,636,879.757334412,788.242665588,804.757334412,652.242665588,632,653,0.40099125182,-0.0154156876169,0.0498622967747,0.999999965856,-5.02674654047e-05,-0.0002534112645,-3.92916066397e-05,1793239585683405056
+104,1.733333333,BASELINE,766,745,715,678.338455899,663,636,880,788,804.661544101,652,632,653,0.400990544186,-0.0154150827462,0.0498615509603,0.999999965615,-5.0278393683e-05,-0.000254328086447,-3.94910735496e-05,1793239585700071680
+105,1.750000000,BASELINE,766,745,715,678.924904008,663,636,880,788,804.075095992,652,632,653,0.400989677215,-0.0154143368358,0.0498607706745,0.999999965364,-5.00863537125e-05,-0.000255314883495,-3.97093663688e-05,1793239585716738304
+106,1.766666667,BASELINE,766,745,715,678.492654353,663,636,879.492654353,788,804,652,632,653,0.40099032315,-0.0154140668436,0.0498617278946,0.999999965673,-4.98352074281e-05,-0.000254126947555,-3.98700193986e-05,1793239585733405184
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,631,653,0.400990811483,-0.0154139176363,0.0498615584185,0.999999965774,-4.82816225648e-05,-0.000254060916279,-3.96781592091e-05,1793239585776657920
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.578504573,678.421495427,663,636,879,788,804,652.578504573,631.578504573,653,0.400989610803,-0.015412415469,0.0498610941952,0.999999965536,-4.67872533872e-05,-0.000255222856662,-4.00095448603e-05,1793239585793324800
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.840058708,678.159941292,663,636,879,788,804,652.840058708,632,652.840058708,0.400989221655,-0.0154115483014,0.0498610450551,0.999999965515,-4.56541494689e-05,-0.000255489236121,-4.01407415345e-05,1793239585809991424
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.250750431,678.749249569,663,636,879,788,804,652.250750431,632,652.250750431,0.40099101109,-0.0154123858082,0.0498621102178,0.999999966082,-4.54908721663e-05,-0.000253351456859,-3.97345252329e-05,1793239585826657024
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.332930954,715,679,663,636,879,788,804,652.332930954,632,652.332930954,0.400990719129,-0.0154127673122,0.0498618429556,0.999999966036,-4.61542482955e-05,-0.000253400291053,-3.98257425706e-05,1793239585843323392
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.912444787,715,679,663,636,879,788,804,652.912444787,632,652.912444787,0.400988885596,-0.0154128110808,0.0498605888426,0.999999965534,-4.7429879261e-05,-0.000255068624659,-4.02853805242e-05,1793239585859989760
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.511982059,715,679,663,636,879,788.488017941,804,652.511982059,632,653,0.400990142193,-0.0154136830531,0.0498612885046,0.999999965822,-4.91887025968e-05,-0.000253639266773,-4.0043466818e-05,1793239585876656640
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.064298601,745,715,679,663,636,879,788.935701399,804,652,632,653,0.40099182519,-0.0154145478803,0.0498622325497,0.999999966204,-5.05651672007e-05,-0.000251916799842,-3.9673709473e-05,1793239585893323520
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.652048549,745,715,679,663,636,879,788.347951451,804,652,632,653,0.400992502315,-0.015414154584,0.0498623353457,0.999999966244,-4.81287895838e-05,-0.000252296288412,-3.92796385202e-05,1793239585909990400
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,879,788,804,652,632,653,0.400997764799,-0.0154143161036,0.0498643041124,0.999999967223,-4.68878275484e-05,-0.000248679996875,-3.8902676778e-05,1793239585926657024
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,879,788,804,652,632,653,0.401009680712,-0.0154152826699,0.0498689804319,0.99999996951,-4.73814325768e-05,-0.000239265765362,-3.8550540802e-05,1793239585943323648
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,715,678.606737581,663.393262419,636,879,788,804,652,632,653,0.401039421783,-0.0154167155775,0.0498797639687,0.99999997456,-4.80374724089e-05,-0.000217156931737,-3.76080525142e-05,1793239585959990272
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,715,678.03032377,663.96967623,636,879,788,804,652,632,653,0.401077464443,-0.0154183656712,0.0498933917779,0.999999980262,-4.8769161894e-05,-0.000189135927712,-3.63906234638e-05,1793239585976656640
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,715,678.543107968,663.456892032,636,879.543107968,788,804,652,632,652.456892032,0.401142421235,-0.015422286031,0.0499126212379,0.999999987507,-4.87435619161e-05,-0.00014643256835,-3.41653116237e-05,1793239585993323264
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,715,678.879732072,663,636,879.879732072,788,804,652,632,652,0.401209854916,-0.0154264443943,0.0499302537427,0.999999992359,-4.89276895488e-05,-0.000108911875721,-3.20238773684e-05,1793239586009989888
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,715,678.287284583,663,636,879.287284583,788,804,652,632,652,0.401281145487,-0.0154310422345,0.0499403952896,0.999999993775,-5.01003180804e-05,-9.49395508642e-05,-3.04314798678e-05,1793239586026656768
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.701994146,745,715,678.298005854,663,636,879,787.701994146,803.701994146,652.298005854,632,652.298005854,0.40136006792,-0.015435369252,0.0499477624253,0.999999994679,-5.11483293764e-05,-8.47325139903e-05,-2.9099060763e-05,1793239586043323392
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.123441492,745,715,678.876558508,663,636,879,787.123441492,803.123441492,652.876558508,632,652.876558508,0.401446175089,-0.0154394413131,0.0499525176916,0.999999995204,-5.20790242313e-05,-7.80701717424e-05,-2.80113889864e-05,1793239586059990272
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.905987786,803.452993893,652.547006107,632,653,0.401547972819,-0.0154457896579,0.0499547862274,0.99999999537,-5.40987311215e-05,-7.48799981818e-05,-2.6961969414e-05,1793239586076656896
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.029457868,745,715,679,663,636,879,788.970542132,804,652,632,653,0.401655125764,-0.015452809484,0.0499562411293,0.999999995409,-5.64538200324e-05,-7.29594699023e-05,-2.59301702848e-05,1793239586093323264
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.617350536,745,715,679,663,636,879,788.382649464,804,652,632,653,0.401783120248,-0.0154608544395,0.0499550581819,0.999999994928,-5.95672915463e-05,-7.7254509767e-05,-2.50357178028e-05,1793239586109989888
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.79794942,745,715,678.79794942,663,636,879,788,804,652.20205058,632,653,0.401920171717,-0.0154685345857,0.0499530589835,0.999999994363,-6.15889285799e-05,-8.29952373913e-05,-2.43610306709e-05,1793239586126657024
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.219201676,745,715,678.219201676,663,636,879,788,804,652.780798324,632,653,0.402074108747,-0.0154755345915,0.0499495379908,0.999999993634,-6.15749811362e-05,-9.14312623215e-05,-2.40960677013e-05,1793239586143324928
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.357372288,788,804,652.642627712,632,652.642627712,0.402254011283,-0.0154854866516,0.0499506476888,0.999999993766,-6.31201879493e-05,-8.92375431824e-05,-2.28042146669e-05,1793239586159991552
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.932621035,788,804,652.067378965,632,652.067378965,0.402449744026,-0.0154972384692,0.0499545805446,0.999999994384,-6.56159525416e-05,-8.05632691868e-05,-2.08863053073e-05,1793239586176657408
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.50791985,663,636,880,788,804,652.50791985,632,652,0.40268001643,-0.0155097898105,0.0499611364008,0.999999995076,-6.83929635887e-05,-6.95275724204e-05,-1.83245260643e-05,1793239586193324288
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.085644388,745,715,678.914355612,663,636,879.914355612,788.085644388,804,653,632,652.085644388,0.40292052608,-0.0155219719956,0.0499677517305,0.99999999571,-7.03225881245e-05,-5.82013208154e-05,-1.57556035616e-05,1793239586209990912
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.677672287,745,715,678.322327713,663,636,879.322327713,788.677672287,804,653,632,652.677672287,0.403194471027,-0.0155313443333,0.0499726611548,0.999999996556,-6.70213142839e-05,-4.70094856111e-05,-1.36495135313e-05,1793239586226657024
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.735916344,745,715,678.264083656,663,636,879,788.735916344,804,652.735916344,632,653,0.403488023085,-0.0155345267581,0.0499785125983,0.999999997834,-5.49636770088e-05,-3.4573388809e-05,-1.07669761167e-05,1793239586243323392
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.156217514,745,715,678.843782486,663,636,879,788.156217514,804,652.156217514,632,653,0.403805008238,-0.0155303114112,0.0499854898801,0.999999999236,-3.24410182915e-05,-2.06502341822e-05,-6.95648069153e-06,1793239586259990016
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.418371368,745,715,679,663,636,879,788,804,652,632.418371368,653,0.404143219968,-0.0155198867608,0.0499908376389,0.999999999934,-2.91800500049e-06,-9.74523513588e-06,-5.36092567951e-06,1793239586276656640
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.991075235,745,715,679,663,636,879,788,804,652,632.991075235,653,0.404489261936,-0.0155071715683,0.0499955842847,0.999999999564,2.91873599612e-05,4.63999178123e-08,-4.58243738617e-06,1793239586293323520
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.434696471,745,715,679,663,636,879.565303529,788,804,652,632.434696471,653,0.404872695899,-0.0155146535342,0.0499946284635,0.999999999118,4.19012745008e-05,-2.61090785829e-06,-1.34518039077e-06,1793239586309989888
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678.856216039,663,636,879.856216039,788,804,652.143783961,631.856216039,653,0.405258555041,-0.0155216970046,0.0499889451441,0.999999998407,5.45062318523e-05,-1.45729459962e-05,1.39190259884e-06,1793239586326656768
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678.264566099,663,636,879.264566099,788,804,652.735433901,631.264566099,653,0.40565012443,-0.015526378724,0.0499688175429,0.999999996196,6.77279724998e-05,-5.49040120725e-05,2.44977697519e-06,1793239586343323392
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.320885022,745,715,678,663,636,879,788,804,652.679114978,631.320885022,653,0.406076520408,-0.0155275902448,0.0499528398742,0.999999993014,8.54755460586e-05,-8.15733527443e-05,3.55098301075e-06,1793239586359990272
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.901322209,745,715,678,663,636,879,788,804,652.098677791,631.901322209,653,0.406531086384,-0.0155259948493,0.0499402189319,0.999999989554,0.000106883901883,-9.71922275407e-05,4.68723855731e-06,1793239586376656896
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.524289243,745,715,678.475710757,663,636,879,788,804,652,632,653,0.407017739336,-0.0155251596242,0.049935659715,0.999999985759,0.000132395237603,-0.000104412148625,7.14638121849e-06,1793239586393323520
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.050201282,788,804,652,632,653,0.40751882661,-0.0155247964471,0.0499348222922,0.999999981808,0.000158495232367,-0.00010564471149,1.01640900769e-05,1793239586409990144
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.639080649,788,804,652,632,653,0.4081042765,-0.0155278277546,0.0499562023833,0.999999981459,0.000181893920552,-6.10906204546e-05,1.6267874697e-05,1793239586426656768
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678.775642768,663,636,880,788,804,652,632,653,0.408699135393,-0.0155307910985,0.0499774752488,0.999999978133,0.000206668118924,-2.31031770179e-05,2.20980599116e-05,1793239586443323648
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678.196070353,663,636,880,788,804,652,632,653,0.409308891121,-0.0155336468384,0.0499985783471,0.999999972323,0.000233620102578,4.4875720645e-06,2.74950665888e-05,1793239586459990272
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.382788974,745,715,678.382788974,663.382788974,636,879.617211026,788,804,652,632,653,0.40991334823,-0.0155356878715,0.050000227366,0.999999966123,0.000258418178789,2.53231606587e-06,3.11012646282e-05,1793239586476657152
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.961283708,745,715,678.961283708,663.961283708,636,879.038716292,788,804,652,632,653,0.410515096334,-0.0155373123751,0.0499919302374,0.999999959529,0.000282115041387,-1.45287138098e-05,3.37918886721e-05,1793239586493323776
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.465594545,745,715,678.465594545,662.931189091,636,879.534405455,787.465594545,804,652,632,652.465594545,0.411114252037,-0.0155352426095,0.0499624612649,0.999999948659,0.000309361856192,-7.60154346017e-05,3.46219257576e-05,1793239586509990144
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.889390093,745,715,678.110609907,662.110609907,636,879.889390093,787.110609907,804.110609907,652,632,652.110609907,0.411738535368,-0.015533487638,0.04993983071,0.999999942616,0.000314296572467,-0.000121195099131,3.60316564484e-05,1793239586526657024
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.298114902,745,715,678.701885098,662.701885098,636,879.298114902,787.701885098,804.701885098,652,632,652.701885098,0.412472820931,-0.0155342521115,0.0499535162349,0.999999971387,0.000221165561654,-8.1663795086e-05,4.05404297979e-05,1793239586543323392
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.287254129,745,715,679,663.287254129,636,879.287254129,788,804.712745871,652,632,653,0.413216320015,-0.0155352899488,0.0499693764982,0.999999991784,0.000114491821301,-4.83235189975e-05,3.1434975643e-05,1793239586559990016
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+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,678.557559781,663.557559781,636,879.557559781,788,804.442440219,652,631.557559781,653,0.414694567175,-0.0155478287501,0.0499733975251,0.99999999865,-2.53647603528e-05,-4.51822689337e-05,3.98845912895e-06,1793239586593323520
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,678.017594814,663,636,879.017594814,788,804.982405186,652,631,653,0.415412725263,-0.0155615264238,0.0499501188922,0.999999996397,-1.3618721586e-05,-8.36376394562e-05,5.08201136239e-06,1793239586609990144
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,678.605402963,663,636,879.605402963,788,804.394597037,652,631,653,0.416163321408,-0.0155593987689,0.0499391298617,0.999999994567,2.85974134455e-05,-9.98805927282e-05,8.48966862205e-06,1793239586626657024
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.190394073,788,804,652,631.190394073,653,0.416950348325,-0.0155577257512,0.0499425257257,0.999999993251,6.96367756079e-05,-9.20890718591e-05,1.29775331635e-05,1793239586643323904
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.769631879,788,804,652,631.769631879,653,0.417811778131,-0.0155569812436,0.0499753000055,0.999999993325,0.000108272800081,-3.5211701264e-05,1.96715157147e-05,1793239586659990784
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.652445418,788,804.347554582,652,632,653,0.41863549883,-0.01555509962,0.0499869621471,0.999999990676,0.000132937297301,-2.1394255339e-05,2.27586512183e-05,1793239586676657408
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.075391136,788,804.924608864,652,632,653,0.419434319151,-0.0155524671278,0.049984683371,0.999999988069,0.000148376015512,-3.60104457236e-05,2.34640877425e-05,1793239586693323776
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,678.491718533,662.491718533,636,880,788,804.491718533,652,632,653,0.420241144568,-0.015552702586,0.0499720698358,0.999999987304,0.000151174742232,-4.52624158139e-05,2.21190703243e-05,1793239586709990400
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,678.092342873,662.092342873,636,880,788,804,652,631.907657127,653,0.4210653914,-0.0155540479464,0.0499646356785,0.99999998729,0.000151878268292,-4.35915088061e-05,2.12617875648e-05,1793239586726656512
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,678.673199186,662.673199186,636,880,788,804,652,631.326800814,653,0.42197543667,-0.0155589848313,0.0499928179362,0.999999988147,0.000151546856056,1.15990506687e-05,2.4614889237e-05,1793239586743323136
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.252790474,745,715,679,663,636,880,788.252790474,804,652,631,653,0.422864651699,-0.015560123229,0.0500026545616,0.999999988353,0.000147138277639,3.10157285253e-05,2.61162263599e-05,1793239586759990016
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.830754596,745,715,679,663,636,880,788.830754596,804,652,631,653,0.423727072151,-0.015556375494,0.0499888925322,0.999999990221,0.000137485091336,4.41515956102e-06,2.52355714295e-05,1793239586776657408
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.591920582,745,715,679,663,636,880,788.591920582,804.408079418,652,631.408079418,653,0.424599248526,-0.0155556685612,0.0499872264602,0.999999989083,0.000145501600447,3.14055027515e-07,2.57554203823e-05,1793239586793324032
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.014860521,745,715,679,663,636,880,788.014860521,804.985139479,652,631.985139479,653,0.425475464658,-0.0155562207874,0.0499905691756,0.99999998669,0.000160834912596,5.52970220205e-06,2.68552007344e-05,1793239586809990656
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.559197276,745,715,679,663,636,880,788,804.440802724,652,631.440802724,653,0.426357842073,-0.0155618991142,0.0500105406486,0.999999985445,0.000165703421566,2.78316588694e-05,2.96381478855e-05,1793239586826657280
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.863136748,745,715,679,663,636,880,788,804.136863252,652,631.136863252,652.863136748,0.427217690783,-0.0155652119788,0.0500171921505,0.999999984821,0.000169241858629,2.72545092368e-05,3.1192578661e-05,1793239586843323392
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.273265306,745,715,679,663,636,880,788,804.726734694,652,631.726734694,652.273265306,0.428002431884,-0.0155602468344,0.0499783005746,0.999999983985,0.000169293420935,-5.0545846468e-05,2.85334406084e-05,1793239586859989760
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.6888558,663,636,880,788,804.6888558,652,632,652.3111442,0.428857914949,-0.0155579018194,0.0499606320622,0.999999982932,0.000166246038209,-7.58755360538e-05,2.72414743384e-05,1793239586876656384
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678.109160564,663,636,880,788,804.109160564,652,632,652.890839436,0.429774455928,-0.0155578182593,0.0499612813468,0.999999985185,0.00016052393195,-5.59173722984e-05,2.7129525151e-05,1793239586893323008
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663.465915724,635.534084276,880,788,804.465915724,652,632,652.534084276,0.430632402773,-0.0155551714391,0.0499640756647,0.999999983334,0.000172996991039,-5.14110259546e-05,2.75823688779e-05,1793239586909990144
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.040923517,745,715,678.040923517,663.959076483,635.040923517,880,788,805,652,632,652.040923517,0.43147357224,-0.0155518899323,0.0499658816987,0.999999980332,0.000189174045812,-5.25675881911e-05,2.80363634072e-05,1793239586926657536
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.629350477,745,715,678.629350477,663.370649523,635.629350477,880,788,805,652,632,652.629350477,0.432272143466,-0.0155480728885,0.049947808107,0.999999976631,0.000198432315003,-8.1527781025e-05,2.67527723565e-05,1793239586943324416
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.785542028,745,715,679,663.214457972,635.785542028,880,788,805,652,632,653,0.433094211376,-0.0155465913585,0.0499460132766,0.999999976504,0.000198516433546,-8.27660070286e-05,2.70640277774e-05,1793239586959990784
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.206084051,745,715,679,663.793915949,635.206084051,880,788,805,652,632,653,0.433956269954,-0.0155490847913,0.0499719243283,0.999999982127,0.000182986468435,-3.68224150391e-05,3.00896561658e-05,1793239586976657152
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.62809103,635.37190897,880,788,805,651.62809103,632,653,0.434789791873,-0.0155501352828,0.0499876792282,0.99999998271,0.000182415628391,-1.67609886931e-05,3.19864694276e-05,1793239586993323264
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.050906627,635.949093373,880,788,805,651.050906627,632,653,0.43560756291,-0.0155503893417,0.0499978284308,0.999999981317,0.000190101489667,-1.09852457623e-05,3.32602321814e-05,1793239587009989888
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,805,651.52470012,632,653,0.436346578585,-0.0155456612126,0.0499716708146,0.99999997688,0.000202112444825,-6.62798678501e-05,3.15733750885e-05,1793239587026656512
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.897434544,880.102565456,788,805,652,631.897434544,652.897434544,0.437086770286,-0.0155418892036,0.0499511051434,0.999999971344,0.000212138232594,-0.000106780341262,3.0119848058e-05,1793239587043323136
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.308126469,880.691873531,788,805,652,631.308126469,652.308126469,0.437868695445,-0.0155449416934,0.0499737435948,0.999999976104,0.000210757634583,-4.90383553614e-05,3.11326957742e-05,1793239587059990528
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.276256301,635,880.723743699,788,805,651.723743699,631.276256301,652.276256301,0.438626129831,-0.0155463440124,0.0499885851932,0.999999978949,0.00020193581621,-1.70498097747e-05,3.21568344709e-05,1793239587076657664
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.855241749,635,880.144758251,788,805,651.144758251,631.855241749,652.855241749,0.439356726512,-0.0155459380293,0.049994882787,0.999999982256,0.000184959707359,-1.32825865326e-05,3.31933461436e-05,1793239587093324288
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.568330451,635.431669549,880.431669549,788,805,651,632,653,0.440045775383,-0.0155455149274,0.0499751820837,0.999999981311,0.000186221764438,-4.08262625125e-05,3.21229630872e-05,1793239587109990400
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,881,788,805,651.00719352,632,653,0.440720574499,-0.0155451599732,0.0499471751683,0.999999977745,0.000193525359235,-7.83226707224e-05,3.03885110211e-05,1793239587126656512
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,881,788,805,651.578698378,632,653,0.44136407129,-0.0155505987033,0.0499474749946,0.999999976913,0.000197807395125,-7.77423687319e-05,3.16590826086e-05,1793239587143323392
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.844196977,881,788,804.844196977,652,631.844196977,653,0.441997271217,-0.0155556315532,0.0499478891851,0.999999975994,0.00020273371927,-7.62743550378e-05,3.30600875444e-05,1793239587159990016
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.25138548,881,788,804.25138548,652,631.25138548,653,0.442601589837,-0.0155595259594,0.0499486241534,0.99999997484,0.000209467194361,-7.23164181655e-05,3.48269424024e-05,1793239587176656640
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880.666479784,787.666479784,804.333520216,651.666479784,631.333520216,652.666479784,0.443160343504,-0.0155639331361,0.0499285636669,0.999999971611,0.000210406166367,-0.000106371919003,3.45204945696e-05,1793239587193323776
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880.087395014,787.087395014,804.912604986,651.087395014,631.912604986,652.087395014,0.443685548531,-0.0155687178557,0.0498931918849,0.999999963843,0.000207078755552,-0.000168415986836,3.26875134136e-05,1793239587209991168
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880,787.487060499,805,651.487060499,631.512939501,652.487060499,0.444182683796,-0.015573598279,0.049848095235,0.99999994891,0.000206913229749,-0.000241689125638,3.08639014223e-05,1793239587226658048
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.937590774,745,715,679,662.937590774,635,880,787.937590774,805,652,631.062409226,653,0.444675139268,-0.0155785821331,0.0498060099455,0.999999930687,0.000207371418011,-0.000307838142548,2.93129053666e-05,1793239587243324928
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.347739185,745,715,679,662.347739185,635,880,787.347739185,805,652,631.652260815,653,0.445170209985,-0.0155842963527,0.0498039832141,0.999999933765,0.00020835112412,-0.000296910631351,3.00518096089e-05,1793239587259991296
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.237851289,745,715,679,662,635,880.237851289,787,805.237851289,652,632,653,0.445658956856,-0.0155909192692,0.0498065268687,0.999999938483,0.000206822964976,-0.000281545556694,3.14730034012e-05,1793239587276657664
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.817321596,745,715,679,662,635,880.817321596,787,805.817321596,652,632,653,0.446138620925,-0.0155988473207,0.0498156348382,0.999999945336,0.000201692830436,-0.0002598069372,3.38741501258e-05,1793239587293324032
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.606201366,745,715,679,662,634.606201366,881,787,805.606201366,652,632,653,0.446550918857,-0.0156054112085,0.0498035085224,0.999999945656,0.000169804695697,-0.000280469426915,3.45217858751e-05,1793239587309990144
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.031102344,745,715,679,662,634.031102344,881,787,805.031102344,652,632,653,0.44693220223,-0.0156113470515,0.0497816061852,0.999999940113,0.000125597482648,-0.000320652899848,3.43621253304e-05,1793239587326656768
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634.858504665,880.141495335,786.858504665,805,651.141495335,631,652.858504665,0.447594716486,-0.0156169549376,0.0497113647624,0.999999907623,8.89905180813e-05,-0.000419857157936,2.35395734612e-05,1793239587359990528
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634.278873036,880.721126964,786.278873036,805,651.721126964,631,652.278873036,0.447918014282,-0.0156239438381,0.049700645712,0.999999904043,2.59474021423e-05,-0.000437284208769,4.89742638997e-06,1793239587376657152
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.299464291,715,679.299464291,662,634,881,786.299464291,805.299464291,651.700535709,631,652.299464291,0.448237025973,-0.0156337617873,0.0497016405008,0.999999905562,-4.46117997655e-06,-0.000434570133021,-2.05493610157e-06,1793239587393324032
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.876601465,715,679.876601465,662,634,881,786.876601465,805.876601465,651.123398535,631,652.876601465,0.448552063433,-0.0156462029209,0.0497134967374,0.999999914629,-4.60997315283e-06,-0.000413180559734,1.8318452433e-06,1793239587409990656
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.549131145,745.549131145,715,679.549131145,662,634,881,787,805.549131145,651.450868855,631,652.549131145,0.448830939906,-0.0156570374845,0.0497251050535,0.999999920531,-5.63882180142e-06,-0.000398579817162,6.42702428779e-06,1793239587426657024
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.025138477,745.025138477,715,679,662,634,881,786.974861523,805,651.974861523,631,652.025138477,0.449097738916,-0.0156672235849,0.0497358516685,0.999999925042,-6.75540476319e-06,-0.000386970313557,1.11194438547e-05,1793239587443323648
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.617055134,745.617055134,715,679,662,634,881,786.382944866,805,651.382944866,631,652.617055134,0.449313963625,-0.0156726402269,0.0497286903286,0.999999919426,-4.45386199341e-06,-0.000401175170359,1.36606160046e-05,1793239587459990016
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+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.215989643,715,679,662,634,880.215989643,786.784010357,805,651.784010357,630.215989643,653,0.449710452828,-0.0156801757955,0.0497163165154,0.999999910418,-1.31982220435e-07,-0.000422937991261,1.69518494123e-05,1793239587493323520
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+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.935530803,715,679,662,634,881.871061606,786.064469197,805,652,630,653,0.450044439693,-0.0156753535865,0.0497178675264,0.999999911471,1.34045912537e-05,-0.000420162958623,1.84586543692e-05,1793239587526657024
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+216,3.600000000,POSE1_TO_POSE2_PRESS,765.262412325,745.262412325,715.737587675,680,661.737587675,633.262412325,880.262412325,786.737587675,805.737587675,652,630.737587675,653,0.450504725407,-0.0156804142748,0.0497184518988,0.999999907849,1.84362400552e-05,-0.000428361522443,2.16622554558e-05,1793239587593323264
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.842738541,745.842738541,715.157261459,680,661.157261459,633.842738541,880.842738541,786.157261459,805.157261459,652,630.157261459,653,0.450584227206,-0.0156840291874,0.0497167112102,0.999999906241,1.35928235385e-05,-0.000432258742629,2.20381962366e-05,1793239587609989888
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.581804968,745.581804968,715,679.581804968,661,633.581804968,881,786,805,652,630,652.581804968,0.450649136001,-0.0156859533299,0.0497148771469,0.999999904305,1.03363678481e-05,-0.000436801777133,2.20921438801e-05,1793239587626656768
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.008158661,745.008158661,715,679.008158661,661,633.008158661,881,786,805,652,630,652.008158661,0.450708620291,-0.0156872489799,0.0497130083744,0.999999902229,7.66981664599e-06,-0.000441584873356,2.20264003675e-05,1793239587643323648
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.579637338,745,715,679,661.579637338,633.579637338,880.420362662,786,805,652,630,652,0.450748083389,-0.0156871710851,0.0497083940587,0.999999898909,6.24585671997e-06,-0.000449064409854,2.20242577635e-05,1793239587659990272
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.834648143,745,715,679,662,633.834648143,880,786,805,652,630,652.165351857,0.450785212322,-0.0156872462445,0.0497049162294,0.999999896363,4.91922758156e-06,-0.000454711661443,2.20660393713e-05,1793239587676657152
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.254665082,745,715,679,662,633.254665082,880,786,805,652,630,652.745334918,0.450817212503,-0.0156877548908,0.0497043875481,0.99999989593,3.79170743647e-06,-0.000455666778192,2.22156630022e-05,1793239587693323520
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.323466921,745,715.323466921,679.323466921,662,633,880,786,805,651.676533079,630,652.676533079,0.450842796775,-0.0156864818118,0.0497040116883,0.999999895716,3.57052585649e-06,-0.000456143720967,2.20834412109e-05,1793239587709990144
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.900149943,745,715.900149943,679.900149943,662,633,880,786,805,651.099850057,630,652.099850057,0.450863358555,-0.0156838139644,0.0497037554598,0.999999895675,4.05884334146e-06,-0.000456246340103,2.17305854418e-05,1793239587726656768
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745.474225089,715.525774911,679.525774911,662,633,880,786,805.474225089,651.474225089,630,652.474225089,0.450876776854,-0.0156834974873,0.0497029923375,0.999999895415,5.08307730005e-06,-0.000456811404823,2.16321910663e-05,1793239587743323392
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.95073046,715.04926954,679,662,633,880,786,805.95073046,652,630,653,0.450888078809,-0.0156835195648,0.049701975887,0.999999894968,6.12018237636e-06,-0.000457781090542,2.15372833316e-05,1793239587759990016
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.359000949,715.640999051,679,662,633,880,786,805.359000949,652,630,653,0.450892549241,-0.0156818479848,0.0496993389426,0.999999892977,6.06342709149e-06,-0.000462139489821,2.08940946556e-05,1793239587776656640
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,716,679,662,633,880.227744355,786,805,652,630,653,0.450896028718,-0.0156811194721,0.04969757241,0.999999891454,5.59974988509e-06,-0.000465439638827,2.06656691553e-05,1793239587793323264
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662,633,880.806801119,786,805,652,630,653,0.450897979575,-0.0156818457098,0.0496971485518,0.999999890673,4.50836570391e-06,-0.000467107358735,2.10770463834e-05,1793239587809990400
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715.616562767,679.383437233,662,633.383437233,881,786,805,651.616562767,630,653,0.450900560824,-0.0156817032657,0.0496969989351,0.999999890652,3.06630230193e-06,-0.00046716739828,2.09951737474e-05,1793239587826657024
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715.041138689,679.958861311,662,633.958861311,881,786,805,651.041138689,630,653,0.450903457709,-0.0156811258729,0.0496969866311,0.99999989101,1.44865400956e-06,-0.000466422472962,2.06663311208e-05,1793239587843323392
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.454294203,662,634,881,786,805,651.545705797,630,653,0.450903013433,-0.0156796454411,0.0496961708466,0.999999890086,3.01186697659e-06,-0.000468387640222,2.07800621065e-05,1793239587859990016
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,633.868466892,880.868466892,786,805,652,630,653,0.450902767376,-0.0156785742994,0.0496956127031,0.999999889362,4.09760279813e-06,-0.000469917185074,2.08929676225e-05,1793239587876656640
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,633.289096881,880.289096881,786,805,652,630,653,0.450904072112,-0.0156791334252,0.0496961424004,0.999999889679,2.72376354552e-06,-0.000469253074997,2.08870386903e-05,1793239587893323520
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.288628297,661.711371703,633,880.288628297,786,805,652,630,652.711371703,0.450905051538,-0.0156789277517,0.0496966893783,0.999999889911,1.21318956634e-06,-0.000468771876475,2.07460351056e-05,1793239587909989888
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.864715377,661.135284623,633,880.864715377,786,805,652,630,652.135284623,0.450905706974,-0.015677960378,0.0496972535669,0.999999890057,-4.33565258386e-07,-0.000468472848277,2.04705041868e-05,1793239587926656512
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.56073051,745,715,679.56073051,661.43926949,633,880.56073051,786,805.43926949,651.56073051,630.43926949,652.43926949,0.45090678529,-0.0156770917433,0.0496971615573,0.999999890071,9.19003084979e-08,-0.00046844572017,2.03961613312e-05,1793239587943323392
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.013786067,745,715,679,662,633,880,786,805.986213933,651.013786067,631,653,0.450907965961,-0.015676249287,0.0496968804944,0.99999989005,1.27183940202e-06,-0.000468489534503,2.0384856512e-05,1793239587959990016
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.606484356,745,715,679,662,633,880,786,805.393515644,651.606484356,631,653,0.450907994789,-0.0156752335982,0.0496971175147,0.999999890274,1.93978779186e-06,-0.00046800822592,2.04278206476e-05,1793239587976656640
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715.194345466,679.194345466,662,633,880,786,805,652,630.805654534,653,0.450907779426,-0.0156746979802,0.0496970628618,0.999999890194,2.40642262924e-06,-0.000468175631499,2.04154475261e-05,1793239587993323264
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715.772649956,679.772649956,662,633,880,786,805,652,630.227350044,653,0.450907081623,-0.0156751108154,0.0496964319642,0.999999889517,2.47533188726e-06,-0.000469624670589,2.02937472344e-05,1793239588009990400
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.650519372,745,715.650519372,680,662,633,880.349480628,786,805,652,630.349480628,653,0.450906782637,-0.0156765060085,0.0496956684826,0.999999889189,4.48225070855e-07,-0.000470327174114,2.03689556002e-05,1793239588026657024
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.074643467,745,715.074643467,680,662,633,880.925356533,786,805,652,630.925356533,653,0.450906742006,-0.015678537578,0.0496948191127,0.999999889077,-2.93669130722e-06,-0.000470546068156,2.05717223705e-05,1793239588043323136
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.497141681,745,715,680,662,633,881,786,805.497141681,652,630.502858319,653,0.450907742113,-0.0156770576851,0.0496953924914,0.999999889282,-1.97372861183e-06,-0.000470126372435,2.03179074055e-05,1793239588059989760
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745.071337166,715.071337166,680,661.928662834,633,880.928662834,786,805.928662834,652,630,652.928662834,0.450908887655,-0.0156754473972,0.049696115788,0.999999889533,-5.14683735896e-07,-0.000469607782908,2.00464177277e-05,1793239588076656640
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745.66775789,715.66775789,680,661.33224211,633,880.33224211,786,805.33224211,652,630,652.33224211,0.45090996289,-0.0156767263734,0.0496963830389,0.999999889788,-1.70057758827e-07,-0.000469061259451,2.01453084713e-05,1793239588093323520
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.74494176,715.74494176,679.74494176,661,633,880,785.74494176,805,651.74494176,630,652.25505824,0.450910631556,-0.015677438062,0.0496965220194,0.999999889838,-4.05323730351e-07,-0.000468947688619,2.03057367924e-05,1793239588109990144
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745.169111498,715.169111498,679.169111498,661,633,880,785.169111498,805,651.169111498,630,652.830888502,0.450910788903,-0.0156774363059,0.0496964996816,0.99999988963,-1.36988627926e-06,-0.000469378617233,2.05435573853e-05,1793239588126656768
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745,715.405481755,679.405481755,661.405481755,633,880.405481755,785.405481755,805.405481755,651.405481755,630,653,0.450910277696,-0.0156764215329,0.0496963307982,0.99999988945,-1.08674825905e-06,-0.000469767677876,2.04176210552e-05,1793239588143323392
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745,715.979560633,679.979560633,661.979560633,633,880.979560633,785.979560633,805.979560633,651.979560633,630,653,0.450909488509,-0.0156749855529,0.0496961009818,0.999999889282,-2.8482302964e-07,-0.000470139330017,2.01404365488e-05,1793239588159990016
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.432109606,745.567890394,715.432109606,679.432109606,661.432109606,633,880.432109606,786,806,652,630,653,0.450908672047,-0.0156742653518,0.0496951212609,0.999999888537,-8.47333795919e-07,-0.000471743315131,1.95796196199e-05,1793239588176656896
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.154129243,746,715.154129243,679,661,633,880.154129243,786,805.845870757,651.845870757,630,653,0.450908057502,-0.0156739343565,0.0496944066462,0.999999888055,-1.19757170551e-06,-0.000472775651823,1.93031887438e-05,1793239588193323520
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.733153579,746,715.733153579,679,661,633,880.733153579,786,805.266846421,651.266846421,630,653,0.450908002369,-0.0156746034551,0.0496944991827,0.99999988836,-8.23763175037e-07,-0.000472106679718,1.98396042785e-05,1793239588209990144
+254,4.233333333,HOLD_POSE2,766,745,715,680,661,633,880,786,805,652,630,653,0.450906867539,-0.0156750814012,0.0496925930668,0.999999887249,3.23012026397e-07,-0.000474432845544,2.03774337043e-05,1793239588246596608
+255,4.250000000,HOLD_POSE2,766,745,715.573442875,679.426557125,661.573442875,633,880.573442875,786,805.573442875,652,630,652.426557125,0.450909148336,-0.0156739802146,0.0496940114923,0.999999888273,9.60381262289e-07,-0.000472274889939,2.02273054136e-05,1793239588263262720
+256,4.266666667,HOLD_POSE2,766,745,715.848160425,679.151839575,662,633,881,786,806,652,630,652.151839575,0.450910933506,-0.015673153224,0.0496952076568,0.999999889077,1.46791675902e-06,-0.000470575087151,2.00741896779e-05,1793239588279928576
+257,4.283333333,HOLD_POSE2,766,745,715.255377645,679.744622355,662,633,881,786,806,652,630,652.744622355,0.450911279368,-0.0156731225003,0.049695758374,0.999999889254,1.59841430421e-06,-0.000470205762895,1.99123983459e-05,1793239588296594944
+258,4.300000000,HOLD_POSE2,766,745.328449834,715.328449834,680,662,633,881,786,806,652,630.328449834,653,0.450910584825,-0.0156736097943,0.0496951983775,0.999999888874,6.28452500204e-07,-0.000471017360514,1.98570589864e-05,1793239588313261824
+259,4.316666667,HOLD_POSE2,766,745.905499126,715.905499126,680,662,633,881,786,806,652,630.905499126,653,0.450909102811,-0.0156744891694,0.049693797696,0.999999888068,-1.17443284909e-06,-0.000472722782743,1.98822917663e-05,1793239588329928448
+260,4.333333333,HOLD_POSE2,766,745.518078939,716,680,662,633,881,786,805.518078939,652,630.518078939,653,0.450910809387,-0.0156748396952,0.049695124185,0.999999888691,-9.50783285672e-07,-0.000471393653749,2.01046962514e-05,1793239588346595072
+261,4.350000000,HOLD_POSE2,766,745.059484268,715.940515732,680,661.940515732,633,881,786,805.059484268,652,630,653,0.450912834069,-0.0156748763848,0.0496967022101,0.999999889477,-3.27773196356e-07,-0.000469717568016,2.02858813878e-05,1793239588363261696
+262,4.366666667,HOLD_POSE2,766,745.648296547,715.351703453,680,661.351703453,633,881,786,805.648296547,652,630,653,0.450912132768,-0.0156730419794,0.049695765974,0.999999889241,3.17393110613e-07,-0.00047024229751,1.97566639258e-05,1793239588379928576
+263,4.383333333,HOLD_POSE2,766,745.766489073,715,680,661.233510927,633,881,786,806,652,630,653,0.450911799242,-0.0156726433209,0.0496953234322,0.999999889006,-7.95540132974e-07,-0.000470755552912,1.94012867198e-05,1793239588396595200
+264,4.400000000,HOLD_POSE2,766,745.186611509,715,680,661.813388491,633,881,786,806,652,630,653,0.450912011239,-0.0156743743053,0.0496956131871,0.999999888764,-4.51626159796e-06,-0.000471251788748,1.93037667232e-05,1793239588413261824
+265,4.416666667,HOLD_POSE2,766,745,715.390691714,680,661.609308286,633,881,786,806,652,630,653,0.450912770648,-0.0156747743462,0.0496956865125,0.999999889059,-5.5906994812e-06,-0.000470608020725,1.94796878846e-05,1793239588429928704
+266,4.433333333,HOLD_POSE2,766,745,715.966773417,680,661.033226583,633,881,786,806,652,630,653,0.450913789815,-0.0156745428314,0.0496956571385,0.999999889611,-5.40943026612e-06,-0.000469423301155,1.97853616064e-05,1793239588446595072
+267,4.450000000,HOLD_POSE2,765.459323428,745.540676572,715.459323428,679.459323428,661.540676572,633,880.459323428,786,806,652,630,653,0.45091372813,-0.0156737930232,0.0496963729666,0.999999889886,-2.09519947323e-06,-0.000468863591965,1.97560511542e-05,1793239588463261696
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+269,4.483333333,HOLD_POSE2,765.705391217,745.294608783,715,679,661.294608783,633,880.705391217,786,805.294608783,652,630,653,0.450912034004,-0.0156750725441,0.0496956180071,0.999999888798,-3.56484131141e-06,-0.000471140182367,2.04363147935e-05,1793239588496594944
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.159965993,663,636,879.159965993,788,804,652,631.840034007,653,0.411537209556,-0.0153863809985,0.0498127454175,0.999999947135,-7.26499249355e-05,-0.000312542598905,-5.2617683246e-05,1793239589850223360
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffbfa8e53be0c2e3f6bd6d167a8d63201e5efbda
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/fem_node.csv
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--- /dev/null
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39556ae5325cc1d0bd966493a857191b7223d122
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+60,1.000000000,BASELINE,766,745,715,679,663,636,880,788,804,652,631.206328815,653,0.400995741195,-0.0154137582494,0.0498642080918,0.999999967564,-3.7122131332e-05,-0.000249221144483,-3.71759676762e-05,1793239592089804800
+61,1.016666667,BASELINE,766,745,715,678.620015676,663,636,879.620015676,788,804,652,631,653,0.400995993005,-0.0154133308552,0.0498642344762,0.99999996766,-3.5917530302e-05,-0.000249012877892,-3.7170344341e-05,1793239592106471680
+62,1.033333333,BASELINE,766,745,715,678.025190753,663,636,879.025190753,788,804,652,631,653,0.400996192086,-0.0154129525113,0.0498643951395,0.999999967791,-3.48081133954e-05,-0.000248642997558,-3.71848670873e-05,1793239592123138560
+63,1.050000000,BASELINE,766,744.445824683,715,678.554175317,663.554175317,636,879,788,804,652.554175317,631.554175317,652.445824683,0.400995276637,-0.0154124065183,0.0498642666761,0.999999967668,-3.330532252e-05,-0.000249337020034,-3.7215513783e-05,1793239592139805184
+64,1.066666667,BASELINE,766,744.132155282,715,678.867844718,663.867844718,636,879.132155282,788,804,652.867844718,632,652.132155282,0.400994820277,-0.0154124458227,0.0498643581954,0.999999967628,-3.29667415994e-05,-0.000249550029494,-3.71629634724e-05,1793239592156472064
+65,1.083333333,BASELINE,766,744.707777962,715,678.292222038,663.292222038,636,879.707777962,788,804,652.292222038,632,652.707777962,0.400996069849,-0.0154144740615,0.0498652308054,0.999999967903,-3.65932216501e-05,-0.000247991046727,-3.68288400663e-05,1793239592173138432
+66,1.100000000,BASELINE,766,745,715,678,663,636,880,788,804.289365846,652,632,653,0.400996190722,-0.0154154190612,0.0498654934096,0.999999967924,-3.77086464622e-05,-0.000247749413166,-3.67407033328e-05,1793239592189804800
+67,1.116666667,BASELINE,766,745,715,678,663,636,880,788,804.877104575,652,632,653,0.400995147761,-0.0154152471039,0.0498651270204,0.999999967695,-3.62348546605e-05,-0.000248866133794,-3.69062100747e-05,1793239592206471424
+68,1.133333333,BASELINE,766,744.541474769,715,678.458525231,663,636,880,788,804.541474769,652,632,653,0.400994959175,-0.0154144882801,0.0498645253616,0.999999967538,-3.61654137308e-05,-0.000249458012109,-3.72336198984e-05,1793239592223138304
+69,1.150000000,BASELINE,766,744.038132586,715,679,663.038132586,636,879.961867414,788,804,652,632,653,0.400995019604,-0.01541349347,0.049863933146,0.999999967428,-3.62350990023e-05,-0.000249836392664,-3.75965669531e-05,1793239592239804672
+70,1.166666667,BASELINE,766,744.615717371,715,679,663.615717371,636,879.384282629,788,804,652,632,653,0.400995407323,-0.0154113551733,0.0498643544611,0.999999967699,-3.30205231127e-05,-0.000249157447708,-3.78567125826e-05,1793239592256471552
+71,1.183333333,BASELINE,766,745,715,679,663.809036915,636,879,788,804,652,631.809036915,653,0.40099551925,-0.0154104561339,0.0498646807831,0.999999967857,-3.11231169918e-05,-0.000248749857053,-3.79506258659e-05,1793239592273138432
+72,1.200000000,BASELINE,766,745,715,679,663.238441148,636,879,788,804,652,631.238441148,653,0.400995082909,-0.0154120207251,0.0498648182602,0.999999967811,-3.18442304842e-05,-0.000248881715891,-3.77140709723e-05,1793239592289805056
+73,1.216666667,BASELINE,766,745,715,679,663,636,879.345914415,788,804,652,631.345914415,653,0.400993925229,-0.0154136354446,0.0498639231559,0.999999967392,-3.39942204897e-05,-0.00025029786337,-3.75655925628e-05,1793239592306471680
+74,1.233333333,BASELINE,766,745,715,679,663,636,879.940147574,788,804,652,631.940147574,653,0.400992249729,-0.0154152861493,0.0498622868008,0.999999966694,-3.71699463203e-05,-0.000252635952597,-3.74803409108e-05,1793239592323138304
+75,1.250000000,BASELINE,766,745,715,678.480946541,663,636,879.480946541,788,804,652,632,653,0.400994179562,-0.0154132295973,0.0498632835338,0.999999967234,-3.46917479645e-05,-0.000250839316911,-3.75170583642e-05,1793239592339806208
+76,1.266666667,BASELINE,766.095869439,745,715,678.095869439,663,636,879,788,804,652,632,653,0.40099606452,-0.0154113846275,0.0498643834503,0.999999967772,-3.26174161648e-05,-0.000248960351411,-3.75730188581e-05,1793239592356473856
+77,1.283333333,BASELINE,766.670820446,745,715,678.670820446,663,636,879,788,804,652,632,653,0.400995707301,-0.0154126719572,0.0498645252426,0.999999967656,-3.5725835559e-05,-0.000248984196865,-3.76568743536e-05,1793239592373139456
+78,1.300000000,BASELINE,767,745,715,678.753155126,663,636,879,788,804.493689748,652,631.753155126,653,0.400996415728,-0.0154136996527,0.0498650054884,0.999999967868,-3.67847660673e-05,-0.000247999534028,-3.75137787731e-05,1793239592389805312
+79,1.316666667,BASELINE,767,745,715,678.175693034,663,636,879,788,805.648613932,652,631.175693034,653,0.400998551451,-0.0154143796013,0.0498659390493,0.999999968522,-3.50986674309e-05,-0.000245664102993,-3.70667111739e-05,1793239592406471936
+80,1.333333333,BASELINE,767,745,715,678.411899315,663,636,879.411899315,788,805.17620137,652,631.411899315,653,0.400998247232,-0.0154139705922,0.0498658413245,0.999999968459,-3.42506932486e-05,-0.000246049418638,-3.69818808239e-05,1793239592423138560
+81,1.350000000,BASELINE,767,745,715,679,663,636,879.99618654,788,804,652,632,653,0.400996880159,-0.0154130861522,0.0498652937158,0.999999968085,-3.3782379455e-05,-0.000247619155774,-3.70588467842e-05,1793239592439804928
+82,1.366666667,BASELINE,767,745,715,679,663,636,879.42049869,788,804,652,632,653,0.400996132136,-0.0154123170035,0.0498649104695,0.999999967821,-3.52860378673e-05,-0.000248385504328,-3.76442551429e-05,1793239592456472064
+83,1.383333333,BASELINE,766.844940193,745,715,678.844940193,663,636,879.155059807,788,804,652,632,653,0.400995373858,-0.0154122516453,0.0498646162387,0.99999996759,-3.67212627375e-05,-0.00024905909403,-3.79621243296e-05,1793239592473139200
+84,1.400000000,BASELINE,766.269732066,745,715,678.269732066,663,636,879.730267934,788,804,652,632,653,0.400994587795,-0.0154140932695,0.0498645632031,0.999999967453,-3.79710611806e-05,-0.000249481345554,-3.75550724937e-05,1793239592489805312
+85,1.416666667,BASELINE,766,745,715,678,663,636,880,788,804,652.311986722,632,653,0.400994984705,-0.0154144023786,0.0498643919737,0.999999967483,-3.75417188683e-05,-0.000249440490462,-3.74776469902e-05,1793239592506471680
+86,1.433333333,BASELINE,766,745,715,678,663,636,880,788,804,652.899454318,632,653,0.400996426168,-0.0154133582937,0.0498641163804,0.999999967657,-3.56297135054e-05,-0.000248990717253,-3.76912779679e-05,1793239592523138304
+87,1.450000000,BASELINE,766.48060655,745,715,678.48060655,663.48060655,636,879.51939345,788,804,653,632,653,0.400997027962,-0.0154138671129,0.0498650106483,0.999999968004,-3.55095509541e-05,-0.000247633082144,-3.75328484282e-05,1793239592539805184
+88,1.466666667,BASELINE,766.93983747,745,715,679,663.93983747,636,879.06016253,788,804,652.93983747,632,653,0.400997357109,-0.0154145323346,0.0498659839638,0.999999968321,-3.56392237614e-05,-0.000246362009432,-3.73251913628e-05,1793239592556471808
+89,1.483333333,BASELINE,766.362791694,745,715,679,663.362791694,636,879.637208306,788,804,652.362791694,632,653,0.400996833459,-0.0154137863204,0.0498655609993,0.999999968084,-3.47364915462e-05,-0.000247445242532,-3.73546595351e-05,1793239592573138432
+90,1.500000000,BASELINE,766.212963311,745,715,679,663,636,880,788,804,652.212963311,632,653,0.400996407672,-0.0154137699193,0.0498653021374,0.999999967943,-3.45113272317e-05,-0.000248063227252,-3.72513996061e-05,1793239592589805312
+91,1.516666667,BASELINE,766.786532625,745,715,679,663,636,880,788,804,652.786532625,632,653,0.400996147595,-0.0154149889556,0.0498653211471,0.999999967965,-3.54334735547e-05,-0.000247893417207,-3.69233941542e-05,1793239592606472192
+92,1.533333333,BASELINE,766.628349575,745,715,678.25669915,663,636,879.628349575,788,804,652.628349575,631.628349575,652.628349575,0.400996364687,-0.0154150235223,0.049865677288,0.999999968064,-3.70479795224e-05,-0.000247261958029,-3.69047935453e-05,1793239592623138816
+93,1.550000000,BASELINE,766.03638581,745,715,677.07277162,663,636,879.03638581,788,804,652.03638581,631.03638581,652.03638581,0.400996864644,-0.0154143559389,0.0498662332794,0.999999968204,-3.90729144536e-05,-0.000246356834509,-3.70696072371e-05,1793239592639805440
+94,1.566666667,BASELINE,766,745,715,677.543442128,663,636,879,788,804,652,631.543442128,652.543442128,0.400996413157,-0.0154140431304,0.0498652414087,0.999999967986,-3.69814742556e-05,-0.000247563013748,-3.70459646446e-05,1793239592656471808
+95,1.583333333,BASELINE,766,745,715,678.121435438,663,636,879.121435438,788,804,652,632,653,0.400996055064,-0.0154138624549,0.0498646152558,0.999999967846,-3.51805064899e-05,-0.000248397897423,-3.69860052663e-05,1793239592673138432
+96,1.600000000,BASELINE,766,745,715,678.695552674,663,636,879.695552674,788,804,652,632,653,0.400996277399,-0.0154140877248,0.0498657303008,0.999999968106,-3.54673105275e-05,-0.00024733323353,-3.68366749886e-05,1793239592689805056
+97,1.616666667,BASELINE,766.276480133,745,715,679,663,636,880,788,804,652.276480133,632,653,0.400995943477,-0.0154140241009,0.0498656233142,0.999999968107,-3.56340546677e-05,-0.000247306613597,-3.68131281568e-05,1793239592706471936
+98,1.633333333,BASELINE,766.865096044,745,715,679,663,636,880,788,804,652.865096044,632,653,0.400994981562,-0.0154136343264,0.0498641366992,0.999999967818,-3.56652556356e-05,-0.00024845190672,-3.69315861623e-05,1793239592723138816
+99,1.650000000,BASELINE,766.55333127,745,715,679,663,636,879.55333127,788,804,653,632,653,0.400995837437,-0.0154141420943,0.0498646975816,0.999999967989,-3.50299466213e-05,-0.0002478321396,-3.70798907738e-05,1793239592739805696
+100,1.666666667,BASELINE,766.026015078,745,715,678.973984922,663,636,879,788,804.026015078,652.973984922,632,653,0.400997036654,-0.0154148729991,0.0498657320905,0.999999968239,-3.43233430466e-05,-0.000246893693525,-3.72405950357e-05,1793239592756472576
+101,1.683333333,BASELINE,766.602565064,745,715,678.397434936,663,636,879,788,804.602565064,652.397434936,632,653,0.400994063764,-0.0154146784252,0.0498639062393,0.999999967309,-3.63018235025e-05,-0.000250317471015,-3.74759010401e-05,1793239592773138944
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+104,1.733333333,BASELINE,766.337419988,745,715.662580012,678.662580012,663,636,879,788,804,652.662580012,632,652.662580012,0.400995599445,-0.0154153388926,0.0498650717156,0.99999996784,-3.79363117731e-05,-0.000248002925226,-3.70933003227e-05,1793239592823138304
+105,1.750000000,BASELINE,766.928390318,745,715.071609682,678.071609682,663,636,879,788,804,652.071609682,632,652.071609682,0.400995536657,-0.0154146879402,0.0498652574132,0.999999967751,-3.81363176191e-05,-0.000248335200551,-3.70499745671e-05,1793239592839804928
+106,1.766666667,BASELINE,766.491434575,745,715,678.508565425,663,636,879,788,804,652,632,652.508565425,0.400994837189,-0.0154135816868,0.049864111674,0.999999967481,-3.58720270828e-05,-0.00024969620406,-3.74697427972e-05,1793239592856471552
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,879,788,804,652,632,653,0.400996451364,-0.0154135216275,0.0498648121102,0.99999996828,-3.51000610914e-05,-0.000246597535783,-3.73742629844e-05,1793239592899762944
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,715,678.408774058,663.591225942,636,879,788,804,652,632,652.408774058,0.400996267829,-0.015414929517,0.0498656186386,0.999999968167,-3.74310887362e-05,-0.000246736816622,-3.72281285537e-05,1793239592916429056
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+110,1.833333333,POSE1_TO_POSE2_PRESS,766.244677083,745,715,678,663.244677083,636,879,788,804,652.755322917,632,652.755322917,0.400995775998,-0.0154156873275,0.0498657206688,0.999999968062,-3.68169061284e-05,-0.000247254643562,-3.72130048254e-05,1793239592949762048
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678.33139184,663,636,879,788,804,652.66860816,632,653,0.400995385225,-0.0154157369607,0.0498653245982,0.999999967945,-3.71762342906e-05,-0.000247645756657,-3.74140475615e-05,1793239592966428928
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678.906628759,663,636,879,788,804,652.093371241,632,653,0.400994912114,-0.0154159443491,0.0498648932754,0.999999967753,-3.90515557466e-05,-0.000248087635126,-3.77147127589e-05,1793239592983095296
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.482907077,788,804,652,631.517092923,653,0.400995267396,-0.0154141682844,0.0498654876956,0.999999967905,-3.69164459787e-05,-0.0002478253245,-3.7538657635e-05,1793239592999761664
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+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.235683833,788,804.235683833,653,632,653,0.401003207785,-0.0154151120697,0.0498688275795,0.999999969411,-3.58419638212e-05,-0.00024196913639,-3.6673770877e-05,1793239593049762048
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+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,632,652.290006466,0.401275077578,-0.0154308380668,0.0499401808543,0.999999994065,-4.02064802242e-05,-9.72404952823e-05,-2.82317936232e-05,1793239593149762048
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.296394468,715,678.703605532,663,636,880,788,804,652,632,652.296394468,0.401356720812,-0.0154359452943,0.049948555706,0.999999995198,-4.16990958929e-05,-8.45396042291e-05,-2.68004073077e-05,1793239593166429184
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.87554673,715,678.12445327,663,636,880,788,804,652,632,652.87554673,0.401444239974,-0.0154404280897,0.0499522829721,0.999999995679,-4.30595396264e-05,-7.81847354207e-05,-2.59687935427e-05,1793239593183096064
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.548472666,715,678,663,636,879.548472666,788,804,652,632,653,0.401544082121,-0.0154452995836,0.0499542176456,0.999999995802,-4.35461305293e-05,-7.65337885421e-05,-2.5355302963e-05,1793239593199762688
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.026511255,745,715,678.026511255,663,636,879,788,804,652.026511255,632,653,0.401648345563,-0.0154504227043,0.0499555168024,0.999999995806,-4.39210750583e-05,-7.64578685501e-05,-2.47756152315e-05,1793239593216429312
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.598847948,745,715,678.598847948,663,636,879,788,804,652.598847948,632,653,0.401774194716,-0.0154585360531,0.0499538331956,0.999999995232,-4.69216902346e-05,-8.23019728174e-05,-2.36627175323e-05,1793239593233095424
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.821866198,745,715,678.821866198,663,636,879,788,803.821866198,653,631.821866198,653,0.401908512092,-0.0154670757303,0.0499518807463,0.999999994652,-4.97286397165e-05,-8.78326587272e-05,-2.25655858352e-05,1793239593249761536
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.226295848,745,715,678.226295848,663,636,879,788,803.226295848,653,631.226295848,653,0.402062673776,-0.0154766144594,0.0499492982952,0.999999994122,-5.20817549857e-05,-9.26288831169e-05,-2.15054001502e-05,1793239593266428160
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.357328513,663,636,879,788.357328513,803.357328513,652.642671487,631.357328513,653,0.40224588993,-0.0154874062431,0.0499510820825,0.999999994446,-5.42199485682e-05,-8.80783610597e-05,-2.02511871011e-05,1793239593283095040
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.933632283,663,636,879,788.933632283,803.933632283,652.066367717,631.933632283,653,0.402446911032,-0.015498965915,0.0499555415536,0.999999995215,-5.62264357511e-05,-7.7800039579e-05,-1.88780716199e-05,1793239593299761920
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.509227359,788.490772641,804,652.509227359,632,652.490772641,0.402670891405,-0.0155098052862,0.0499584958015,0.999999995584,-5.72125146337e-05,-7.26141704836e-05,-1.69355671481e-05,1793239593316429056
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.913030092,788,804,652.913030092,631.913030092,652.086969908,0.402903373248,-0.0155204529542,0.0499613713495,0.999999995977,-5.73414329255e-05,-6.73571662701e-05,-1.48444334245e-05,1793239593333095936
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.322314503,788,804,652.322314503,631.322314503,652.677685497,0.403167789474,-0.015530533243,0.049964925763,0.999999996832,-5.32747522381e-05,-5.78492001827e-05,-1.23216434109e-05,1793239593349762560
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.263206404,636,879,788,804,652.263206404,631.263206404,653,0.403455844616,-0.0155349572147,0.0499712713128,0.999999998052,-4.17653891798e-05,-4.54898644418e-05,-9.03633575031e-06,1793239593366428928
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.842489147,636,879,788,804,652.842489147,631.842489147,653,0.40377228698,-0.0155325886915,0.0499809686508,0.99999999932,-2.13183419088e-05,-2.97064086314e-05,-4.83534464803e-06,1793239593383095296
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.581934939,715,678.581934939,663.581934939,636,879.418065061,788,803.581934939,653,631.581934939,652.581934939,0.404118621832,-0.015521257709,0.0499871191917,0.9999999998,9.86106241175e-06,-1.70290268752e-05,-3.60992024386e-06,1793239593399761920
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.007743352,715,678.007743352,663.007743352,636,879.992256648,788,803.007743352,653,631.007743352,652.007743352,0.404476120036,-0.0155065796933,0.04999194518,0.999999998964,4.50484682763e-05,-5.51160975918e-06,-3.49572222141e-06,1793239593416428288
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744.580278062,715,678.580278062,663,636,879.419721938,788,803.580278062,652.419721938,631.580278062,652.580278062,0.404852775414,-0.0155102539756,0.0499923107724,0.999999998327,5.76514069671e-05,-4.68405124605e-06,-6.59752547325e-07,1793239593433094912
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652.165926492,631.834073508,653,0.405232008348,-0.0155143510875,0.0499866032135,0.999999997427,6.99556069581e-05,-1.58111704806e-05,1.56749715126e-06,1793239593449761792
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652.745192538,631.254807462,653,0.405617009813,-0.0155188765523,0.049965918716,0.999999995024,8.22846940267e-05,-5.63545668934e-05,2.18567834538e-06,1793239593466428672
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,678.67721422,663,636,879.32278578,788,804,652.67721422,631,653,0.4060364172,-0.0155204983694,0.0499486027331,0.999999991186,0.000100885596588,-8.62511818954e-05,3.33365746243e-06,1793239593483095552
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,678.100934621,663,636,879.899065379,788,804,652.100934621,631,653,0.406482844681,-0.0155198398612,0.0499339321484,0.99999998644,0.000124411954322,-0.000107786549156,4.89770360693e-06,1793239593499762432
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.526649855,880,788,804,652,631.473350145,653,0.406980509272,-0.0155200022978,0.0499295711244,0.999999982389,0.000149005317376,-0.000113857671836,7.45897029224e-06,1793239593516428800
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,678.048700624,663,635.048700624,880,788,804,652,631.951299376,653,0.407494224152,-0.0155202533829,0.0499294496743,0.999999978443,0.000174119629332,-0.000112641502893,1.04023457066e-05,1793239593533095680
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,678.640664852,663,635.640664852,880,788,804,652,631.359335148,653,0.408065618474,-0.0155195487976,0.0499522012754,0.999999977148,0.000202517832373,-6.67643052721e-05,1.52461085039e-05,1793239593549762048
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.2275111,745,715,679,663,636,880,788,804,652,631.2275111,653,0.408648492988,-0.0155206550596,0.0499730454629,0.999999973166,0.000228780479583,-3.01689077769e-05,2.04296375822e-05,1793239593566428672
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.806451724,745,715,679,663,636,880,788,804,652,631.806451724,653,0.409249100573,-0.0155245584829,0.0499909433249,0.999999967939,0.000251744397085,-7.91082955262e-06,2.61379931255e-05,1793239593583095296
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.617254297,745,715,679,663,636,879.617254297,788,804,652,632,653,0.409854253399,-0.0155284185338,0.0499950822145,0.999999961695,0.000275040185137,-5.2674934084e-06,3.05656870857e-05,1793239593599761920
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.04228951,745,715,679,663,636,879.04228951,788,804,652,632,653,0.410461688877,-0.0155322568025,0.049992311197,0.99999995478,0.000298502641472,-1.24748962653e-05,3.4350218593e-05,1793239593616428544
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788.544401365,804,652,632,653,0.411063803489,-0.0155303009237,0.0499609196046,0.99999994307,0.000326492246796,-7.76734513899e-05,3.50745872171e-05,1793239593633095424
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,678.869756147,663,636,879.130243853,788.869756147,804,652,632,653,0.411692254764,-0.0155285148417,0.0499368526063,0.999999929343,0.000352781485561,-0.000124676265287,3.62525314496e-05,1793239593649762048
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,678.290054076,663,636,879.709945924,788.290054076,804,652,632,653,0.412413048793,-0.015528902131,0.0499459032047,0.999999925704,0.000371962631281,-9.29996159022e-05,3.9834110442e-05,1793239593666428672
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.28802343,745,715,678,663.28802343,636,880,788,804,652,632,653,0.413147167552,-0.0155335192952,0.0499617935015,0.999999967414,0.00024590327431,-6.21353354954e-05,2.90185319361e-05,1793239593683095040
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.864474164,745,715,678,663.864474164,636,880,788,804,652,632,653,0.413894629812,-0.0155423722656,0.0499845330886,0.99999999915,-2.56002596232e-05,-3.20845555697e-05,3.78560641535e-06,1793239593699761920
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.558666902,745,715,678.441333098,663.558666902,636,880.441333098,788.441333098,804.441333098,652,631.558666902,653,0.414627590012,-0.0155492034404,0.0499735728692,0.999999996853,-6.31159292116e-05,-4.80572432643e-05,2.63253589391e-07,1793239593716428288
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.981436515,636,880.981436515,788.981436515,805,652,631.018563485,653,0.41535721367,-0.0155551466265,0.0499525897213,0.999999996565,-2.84018860851e-05,-7.77942302732e-05,3.42353847174e-06,1793239593733094912
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.396702712,636,880.396702712,788.396702712,805,652,631.603297288,653,0.416121025621,-0.0155529601248,0.0499418324561,0.999999995255,1.57525682699e-05,-9.58865920924e-05,6.87420077051e-06,1793239593749761792
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.187445861,745,715,678.812554139,662.187445861,636,880,788,805,652,632,653,0.41691131584,-0.0155516719802,0.0499438719901,0.999999994158,5.74230632521e-05,-9.08669012494e-05,1.13929963857e-05,1793239593766428672
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.770359698,745,715,678.229640302,662.770359698,636,880,788,805,652,632,653,0.417757469112,-0.0155522791644,0.0499729098499,0.999999994743,9.38529683155e-05,-3.70860544906e-05,1.81653092531e-05,1793239593783095040
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.650493577,745,715,678,663,636,880,788,804.650493577,652,631.650493577,653,0.418574593075,-0.0155516792426,0.0499837562757,0.99999999207,0.00012184617409,-2.35532461075e-05,2.14376330327e-05,1793239593799761920
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.073795629,745,715,678,663,636,880,788,804.073795629,652,631.073795629,653,0.419372846928,-0.0155502946593,0.0499827776255,0.999999988675,0.000144355225947,-3.61830869113e-05,2.2434840001e-05,1793239593816428544
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.500530045,715,678.500530045,662.499469955,636,880,788,804.500530045,652,631,653,0.420201263452,-0.0155502478628,0.0499682867575,0.999999986335,0.000156484706606,-4.89682526369e-05,2.11031265757e-05,1793239593833094912
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.076230442,745.923769558,715,679,662.152460883,636,880,788.076230442,804.923769558,652,631.076230442,653,0.42104325735,-0.0155509222638,0.0499576608188,0.999999984688,0.000165568290438,-5.30211982876e-05,2.00034020713e-05,1793239593849761536
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.663479735,745.336520265,715,679,663.326959471,636,880,788.663479735,804.336520265,652,631.663479735,653,0.421946597704,-0.0155551153289,0.0499862356005,0.999999986219,0.000164443592078,1.61601617269e-06,2.27497617603e-05,1793239593866428160
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,715,679,663.751749505,636,880,788.751749505,804.248250495,652,632,653,0.422827535797,-0.0155563034754,0.049996842181,0.999999987198,0.000156622374735,2.22469369873e-05,2.40376569142e-05,1793239593883095040
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,663.170305269,636,880,788.170305269,804.829694731,652,632,653,0.42367840643,-0.0155534585183,0.0499833324303,0.999999989949,0.000139813307682,-2.76427574039e-06,2.33680488509e-05,1793239593899761664
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.59394986,745,715,679,663,636,880.40605014,788.40605014,805,652,631.59394986,653,0.424542306885,-0.0155527832014,0.049980188927,0.999999988795,0.000147552106468,-8.15459624494e-06,2.39154909456e-05,1793239593916428288
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.019702419,745,715,679,663,636,880.980297581,788.980297581,805,652,631.019702419,653,0.425411604604,-0.0155530066103,0.0499813394135,0.999999985985,0.000165459317375,-5.41739410474e-06,2.49670692205e-05,1793239593933095168
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,881.566048281,788.433951719,805,652,631.566048281,653,0.426311289292,-0.0155580654387,0.0500039229617,0.999999984783,0.00017104357985,1.9853554007e-05,2.79942750536e-05,1793239593949761536
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.150532223,745,715,679,663,636,881.849467777,788,805,652,632,653,0.427189060796,-0.0155607635691,0.0500122076257,0.99999998415,0.000174362796542,2.04075164012e-05,2.96690442815e-05,1793239593966428160
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.73023932,745,715,679,663,636,881.26976068,788,805,652,632,653,0.428001278631,-0.0155562414283,0.0499775543966,0.999999983413,0.000172472505969,-5.17904347665e-05,2.72878281153e-05,1793239593983094784
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,715,679.309682798,663,636,880.690317202,788,805,652,632,653,0.428858602295,-0.0155536917346,0.04996023351,0.999999982332,0.000169892182018,-7.61705597593e-05,2.5911367254e-05,1793239593999761664
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,715,679.888896805,663,636,880.111103195,788,805,652,632,653,0.429755183599,-0.0155528587528,0.0499579977614,0.999999984044,0.000166711290852,-5.8932623693e-05,2.54093914395e-05,1793239594016428288
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.535700626,745,715,679.535700626,663.464299374,636,880.464299374,788,805,652,632,652.535700626,0.430610464585,-0.015551191825,0.0499569276801,0.999999981926,0.000178792778215,-5.92132937751e-05,2.5993158054e-05,1793239594033094912
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,678.960279218,663.960279218,636,881,787.960279218,805,652,632,652.039720782,0.4314555299,-0.0155492655826,0.0499552376729,0.999999978727,0.000193915342536,-6.50381303593e-05,2.67018658139e-05,1793239594049761792
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,678.372107594,663.372107594,636,881,787.372107594,805,652,632,652.627892406,0.432294887682,-0.01554649179,0.0499411678628,0.99999997542,0.000201010758036,-9.00036042443e-05,2.55775640694e-05,1793239594066428416
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766.79229976,745,715,678.79229976,663.79229976,636,880.20770024,787.79229976,805,652,632,653,0.434003724697,-0.0155466483726,0.0499679377244,0.999999982525,0.000179560057861,-4.32601118475e-05,2.89352019416e-05,1793239594099761664
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745,715,679,663.629973496,636,880,788,805,652,632,653,0.434830276736,-0.0155465280925,0.0499847322259,0.999999982585,0.000182697673826,-2.19958951205e-05,3.11189520664e-05,1793239594116428032
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+182,3.033333333,POSE1_TO_POSE2_PRESS,766.46995181,745,715,679,663,636,880.53004819,788,805,652,632,653,0.43636271213,-0.015539926974,0.0499666024485,0.999999974166,0.00021190756596,-7.66429247259e-05,2.98300658645e-05,1793239594149761536
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+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.188010116,715,679.811989884,661,633,880.188010116,786,805,652,630,652,0.451379659726,-0.0156926923972,0.0496879320562,0.999999879031,-5.08969106405e-06,-0.000491255435621,2.40707374978e-05,1793239595116428544
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.767266483,715,679.232733517,661,633,880.767266483,786,805,652,630,652,0.451378280787,-0.0156908741286,0.0496867217835,0.999999877449,-5.72107078739e-06,-0.000494467777714,2.38965122802e-05,1793239595133095168
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,679,661.345036528,633,880.654963472,785.654963472,805,652,630,652,0.451378627453,-0.0156906582077,0.0496865752857,0.999999877136,-5.44570329158e-06,-0.000495097065088,2.40320818554e-05,1793239595149761792
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,679,661.921808299,633,880.078191701,785.078191701,805,652,630,652,0.451380133079,-0.0156915184641,0.0496871432462,0.999999877679,-4.56134144991e-06,-0.000493991507585,2.43757174406e-05,1793239595166428416
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,679,662,633,880.493212594,785.493212594,805.493212594,652,630,652.493212594,0.451379820927,-0.0156893888102,0.0496869100911,0.999999877654,-4.06433231853e-06,-0.000494078761917,2.36851536679e-05,1793239595183095040
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.933468066,745.933468066,715.066531934,679,662,633,880.933468066,785.933468066,805.933468066,652,630.066531934,653,0.451379260777,-0.0156872604061,0.0496865557499,0.999999877526,-4.07755568025e-06,-0.000494372543271,2.29538377006e-05,1793239595199761664
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.338242055,745.338242055,715.661757945,679,662,633,880.338242055,785.338242055,805.338242055,652,630.661757945,653,0.451378995313,-0.0156888680664,0.0496862367844,0.999999877278,-7.66259433853e-06,-0.00049482096123,2.31875418257e-05,1793239595216428288
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.24885813,745,715.75114187,679.24885813,661.75114187,633,880,785,805,652,630.75114187,652.75114187,0.451379376611,-0.0156891882557,0.0496862012138,0.999999877277,-8.29403413352e-06,-0.000494802545075,2.34007028175e-05,1793239595233095168
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.82526319,745,715.17473681,679.82526319,661.17473681,633,880,785,805,652,630.17473681,652.17473681,0.451380609177,-0.0156878138764,0.0496865386472,0.999999877607,-5.03794927564e-06,-0.000494169682185,2.35868249815e-05,1793239595249762048
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745,715.401693715,680,661,633,880,785.401693715,805.401693715,652,630,652,0.451380465389,-0.0156883804605,0.0496866145723,0.999999877344,-5.23352842337e-06,-0.000494707362862,2.34449784127e-05,1793239595266428672
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745,715.978135282,680,661,633,880,785.978135282,805.978135282,652,630,652,0.451379722849,-0.0156897914173,0.0496865767341,0.999999876822,-6.93067688038e-06,-0.000495754262339,2.31604563816e-05,1793239595283095296
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745.566773033,715.433226967,680,661,633,880.566773033,786,805.433226967,651.433226967,630,652.566773033,0.451380037293,-0.0156890624417,0.0496858827021,0.999999876943,-4.7960091334e-06,-0.000495521938765,2.34340135247e-05,1793239595299761664
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.846808026,745.846808026,715,680,661.153191974,633,881,786,805.153191974,651.153191974,630,653,0.451380602092,-0.0156882781722,0.0496855954275,0.999999877086,-3.41082873765e-06,-0.00049523937484,2.35527695758e-05,1793239595316428544
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.267891534,745.267891534,715,680,661.732108466,633,881,786,805.732108466,651.732108466,630,653,0.451381746824,-0.015687574703,0.0496865104385,0.99999987723,-4.52832929217e-06,-0.000494957350707,2.31801829512e-05,1793239595333095168
+254,4.233333333,HOLD_POSE2,765,745,715,679,661,633,881,785,806,652,630,652,0.451383245642,-0.0156870560975,0.0496879744865,0.999999878216,-5.42109929656e-06,-0.000492949281224,2.32420591304e-05,1793239595369940736
+255,4.250000000,HOLD_POSE2,765.577821174,745,715,679,661,633,881,785.577821174,806,652,630,652.577821174,0.451384271909,-0.0156887437948,0.0496887573764,0.999999879051,-8.3407771957e-06,-0.000491185068683,2.37990165075e-05,1793239595386607360
+256,4.266666667,HOLD_POSE2,766,745.15984314,715,679,661.15984314,633,880.84015686,786,805.84015686,652,630,653,0.451384721299,-0.0156895081055,0.0496890979526,0.999999879471,-9.69070528772e-06,-0.000490290886167,2.40521463384e-05,1793239595403274240
+257,4.283333333,HOLD_POSE2,766,745.753259861,715,679,661.753259861,633,880.246740139,786,805.246740139,652,630,653,0.451383605912,-0.015687767736,0.0496882387558,0.999999878789,-6.78269687886e-06,-0.000491756654611,2.34811458557e-05,1793239595419940864
+258,4.300000000,HOLD_POSE2,766,745.662697543,715.337302457,679.337302457,662,633,880,785.662697543,805,652,630,653,0.451382530749,-0.0156878144668,0.0496874648476,0.999999877925,-5.85131478316e-06,-0.000493523481974,2.34630277923e-05,1793239595436607488
+259,4.316666667,HOLD_POSE2,766,745.085326827,715.914673173,679.914673173,662,633,880,785.085326827,805,652,630,653,0.451381484214,-0.0156891331305,0.0496867516418,0.999999876933,-6.32675699887e-06,-0.0004955045819,2.38384127369e-05,1793239595453274112
+260,4.333333333,HOLD_POSE2,766,745.488587176,716,679.511412824,662,633.488587176,880,785.488587176,805.488587176,652,630,653,0.451383708282,-0.0156870742627,0.0496881389141,0.999999878059,-5.09662687782e-06,-0.000493249939492,2.3675170293e-05,1793239595469940736
+261,4.350000000,HOLD_POSE2,765.937584686,745.937584686,715.937584686,679,661.937584686,633.937584686,880.062415314,785.937584686,806,652,630,652.937584686,0.45138607932,-0.0156847611554,0.0496895831959,0.999999879313,-4.08396687458e-06,-0.000490721774677,2.34202315881e-05,1793239595486607104
+262,4.366666667,HOLD_POSE2,765.359513552,745.359513552,715.359513552,679,661.359513552,633.359513552,880.640486448,785.359513552,806,652,630,652.359513552,0.451384978829,-0.0156851865367,0.0496884891506,0.999999878671,-7.31152378982e-06,-0.000492002334957,2.31794100565e-05,1793239595503273728
+263,4.383333333,HOLD_POSE2,765,745.222967068,715,679.222967068,661,633,880.777032932,785.222967068,805.777032932,652,630,652.222967068,0.451383830335,-0.0156863176083,0.0496874337016,0.999999877943,-9.31684321586e-06,-0.000493453497955,2.3034720554e-05,1793239595519940608
+264,4.400000000,HOLD_POSE2,765,745.812700957,715,679.812700957,661,633,880.187299043,785.812700957,805.187299043,652,630,652.812700957,0.451382602879,-0.015688609496,0.0496864417415,0.999999877087,-9.31165842777e-06,-0.000495185291588,2.30481622251e-05,1793239595536607232
+265,4.416666667,HOLD_POSE2,765.396117263,745.603882737,715.396117263,680,661.396117263,633.396117263,880.396117263,786,805.396117263,652,630,653,0.451383171815,-0.0156881668993,0.0496865347359,0.99999987731,-8.26230770654e-06,-0.00049475243018,2.30460183114e-05,1793239595553273856
+266,4.433333333,HOLD_POSE2,765.976593325,745.023406675,715.976593325,680,661.976593325,633.976593325,880.976593325,786,805.976593325,652,630,653,0.451384576817,-0.0156864516334,0.049687132684,0.999999878034,-6.72698680579e-06,-0.000493312106638,2.30366206384e-05,1793239595569940480
+267,4.450000000,HOLD_POSE2,766,745,715.449591628,680,662,633.449591628,881,786,806,652,630,653,0.451383635019,-0.0156870928639,0.0496869627278,0.999999877492,-8.2651891092e-06,-0.000494378135536,2.32029048534e-05,1793239595586607360
+268,4.466666667,HOLD_POSE2,766,745,715.127002693,679.872997307,661.872997307,633,880.872997307,785.872997307,805.872997307,652,630,653,0.451382952004,-0.0156875916877,0.0496869007718,0.999999877124,-9.64998588027e-06,-0.000495091536528,2.33199844278e-05,1793239595603273984
+269,4.483333333,HOLD_POSE2,766,745,715.714693921,679.285306079,661.285306079,633,880.285306079,785.285306079,805.285306079,652,630,653,0.451383565378,-0.0156872147838,0.0496873476142,0.999999877591,-1.00098731176e-05,-0.000494143815007,2.3231803155e-05,1793239595619940608
+270,4.500000000,HOLD_POSE2,766,745,716,679,661.299125319,633,880.299125319,785.299125319,804.700874681,652,630,653,0.451383249019,-0.0156867459439,0.0496870755245,0.999999877247,-9.79526015212e-06,-0.000494855744016,2.29872623394e-05,1793239595636607488
+271,4.516666667,HOLD_POSE2,766,745,716,679,661.88048097,633,880.88048097,785.88048097,804.11951903,652,630,653,0.45138205544,-0.0156861903606,0.049686125109,0.999999876133,-9.03859547985e-06,-0.00049713358439,2.25951933763e-05,1793239595653274112
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,633,880,786,806,652,630,653,0.451383787456,-0.0156845694041,0.0496866772603,0.999999876522,-1.02443230853e-05,-0.000496332720561,2.24638261925e-05,1793239595685687296
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.573089389,633,880.573089389,786,805.426910611,652,630,653,0.451384711168,-0.0156825844359,0.0496867677218,0.999999877165,-6.31763115078e-06,-0.000495112213043,2.22221177022e-05,1793239595702354688
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.151031188,679.848968812,662,633,881,786,805,652,629.848968812,653,0.451385636142,-0.0156817571684,0.0496870347159,0.999999877819,-4.03652182917e-06,-0.000493818571054,2.21038040852e-05,1793239595719022080
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.743144439,679.256855561,662,633,881,786,805,652,629.256855561,653,0.451386564799,-0.0156843109308,0.0496878172686,0.999999878544,-6.56128632286e-06,-0.000492311341767,2.23458614441e-05,1793239595735688192
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.672512057,679.327487943,662,633,880.672512057,786,805,651.672512057,629.327487943,653,0.451385692271,-0.0156856157057,0.0496876513686,0.999999878253,-7.43118387577e-06,-0.000492873422036,2.27050419721e-05,1793239595752354560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.09412133,679.90587867,662,633,880.09412133,786,805,651.09412133,629.90587867,653,0.451383439777,-0.0156859635766,0.0496867588176,0.999999877184,-7.03321559924e-06,-0.000495020890617,2.31539556493e-05,1793239595769020928
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.518806388,745,715.481193612,680,662,632.518806388,880.481193612,785.518806388,805,651,630,653,0.451382433818,-0.0156860636047,0.0496858529914,0.999999876611,-7.91555973178e-06,-0.000496162443251,2.32187256052e-05,1793239595785688832
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.057258242,745.057258242,715.942741758,679.942741758,662,632.057258242,881,785.057258242,805.057258242,651.057258242,630,653,0.451381412076,-0.0156860517936,0.0496849620025,0.999999876101,-9.02371845048e-06,-0.000497170200122,2.31829364768e-05,1793239595802356480
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.645826511,745.645826511,715.354173489,679.354173489,662,632.645826511,881,785.645826511,805.645826511,651.645826511,630,653,0.451377995769,-0.0156854491849,0.0496842326328,0.999999875312,-9.91823711753e-06,-0.000498750588968,2.29068356839e-05,1793239595819022592
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.769000548,715,679.230999452,662,633,881,786,805.769000548,652,630,653,0.45136706794,-0.0156842579418,0.0496794033548,0.999999871182,-9.72179981541e-06,-0.000506995104289,2.23235650089e-05,1793239595835688448
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.188958042,715,679.811041958,662,633,881,786,805.188958042,652,630,653,0.451344790108,-0.0156821772651,0.0496683790642,0.999999861768,-7.87691435411e-06,-0.000525309197564,2.12761568306e-05,1793239595852354560
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.611321739,745,715,679.611321739,661.611321739,633,881,786,805.388678261,652,630,653,0.451306400653,-0.0156801917365,0.0496525616836,0.999999846591,-7.56625940881e-06,-0.00055350864999,1.97446777245e-05,1793239595869020928
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.034847977,745,715,679.034847977,661.034847977,633,881,786,805.965152023,652,630,653,0.451260226633,-0.01567825218,0.0496344284516,0.999999827824,-7.99688987272e-06,-0.000586484357303,1.7979312666e-05,1793239595885687552
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.54018643,745,715,679,661.54018643,633,881,786,805.45981357,652,630,653,0.451193801693,-0.0156744964881,0.0496140965378,0.999999807962,-7.90473470048e-06,-0.000619484534473,1.58618688421e-05,1793239595902354432
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.118286416,715.118286416,679.118286416,661.881713584,633,880.881713584,786,805,652,630,653,0.451125587862,-0.0156706099769,0.049596101521,0.999999790705,-7.00883293205e-06,-0.000646796793441,1.39277443664e-05,1793239595919021312
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.709000141,715.709000141,679.709000141,661.290999859,633,880.290999859,786,805,652,630,653,0.451055433138,-0.0156666676699,0.0495880048846,0.999999787762,-3.03716490083e-06,-0.00065138564659,1.28162562307e-05,1793239595935687936
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.705989341,745.705989341,716,679.705989341,661,633,880.294010659,786,805,651.705989341,630,653,0.450975477986,-0.0156599510067,0.0495845521656,0.999999786913,1.82893707965e-06,-0.000652710979053,1.18232671685e-05,1793239595952354816
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.126516249,745.126516249,716,679.126516249,661,633,880.873483751,786,805,651.126516249,630,653,0.450886007354,-0.0156505406505,0.0495856083446,0.999999788097,7.5634675139e-06,-0.000650867675922,1.09453319405e-05,1793239595969021440
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.448274534,745,715.551725466,679,661,633,881,786,805,651.448274534,630,653,0.45077708943,-0.0156439282626,0.0495879394123,0.999999791725,9.78563588863e-06,-0.000645250127982,1.03137610644e-05,1793239595985687808
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.021778019,679.021778019,661.021778019,633,881,786,805,652,630,653,0.450661771128,-0.015637986464,0.0495906156288,0.999999795977,1.11081101028e-05,-0.000638613392828,9.74326370796e-06,1793239596002354432
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.595802207,679.595802207,661.595802207,633,881,786,805,652,630,653,0.450521893136,-0.0156292320429,0.0495930143606,0.999999799596,1.44934665988e-05,-0.000632864295552,8.97652133651e-06,1793239596019021056
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.825061806,679.825061806,661.825061806,633,880.825061806,786,805.174938194,652,630,653,0.450372688972,-0.0156199634191,0.0495953934885,0.999999802691,1.83934584746e-05,-0.000627862279174,8.28286778244e-06,1793239596035687680
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715.233759492,679.233759492,661.233759492,633,880.233759492,786,805.766240508,652,630,653,0.450201287942,-0.0156094709607,0.0495977259578,0.999999804607,2.35183150805e-05,-0.000624638364113,7.76317041162e-06,1793239596052354560
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715.349578782,679.349578782,661.349578782,633,880.349578782,786,805.650421218,651.650421218,630,652.650421218,0.45000596204,-0.0155991741979,0.0495989496502,0.99999980585,2.84307946858e-05,-0.000622447492272,7.16207877448e-06,1793239596069020928
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715.927710267,679.927710267,661.927710267,633,880.927710267,786,805.072289733,651.072289733,630,652.072289733,0.449794994172,-0.0155890053786,0.0495994484303,0.999999806649,3.32044238727e-05,-0.00062093201814,6.50777195758e-06,1793239596085687552
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.496743319,745,715.496743319,679.496743319,662,633,880.496743319,785.496743319,805,651.503256681,630,652.503256681,0.449545519038,-0.0155735905515,0.0495993818624,0.999999806026,3.92859148798e-05,-0.000621600299773,4.14914065743e-06,1793239596102354944
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.080303342,745,715.080303342,679.080303342,661.919696658,633,880,785.080303342,805,652,630.080303342,652.919696658,0.449286435085,-0.0155579950259,0.049599204311,0.999999805426,4.47012626463e-05,-0.000622211482505,1.62682830958e-06,1793239596119022080
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.751286279,715,678.751286279,662.751286279,635.751286279,880,788,804.248713721,652,632,653,0.40845206811,-0.0153891972175,0.0498074083583,0.999999944162,-8.84331358459e-05,-0.00031831330365,-5.03144612258e-05,1793239597085687552
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.475448731,745,715,679,663.475448731,635.524551269,879,788,804,652,631.475448731,653,0.406831172592,-0.0153950227319,0.0498302080505,0.999999950162,-0.000109649020113,-0.000291931179283,-4.92859648485e-05,1793239597135687936
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,880,788,804,653,632,653,0.401031156395,-0.0154228547164,0.0498493129117,0.999999960355,-1.70511595697e-05,-0.000279163129459,-3.26538032632e-05,1793239597585688832
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.681279321,788,804,652.681279321,632,653,0.401010915753,-0.0154212837277,0.0498536635784,0.99999996246,-1.54524027078e-05,-0.000271601596058,-3.2764570117e-05,1793239597619021568
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.103999283,788,804,652.103999283,632,653,0.401002793234,-0.0154232038791,0.0498533335133,0.999999962564,-1.74520047571e-05,-0.000271130132266,-3.24805165303e-05,1793239597635687936
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,880,788,804,652.794256067,632,653,0.400995126207,-0.0154236950675,0.0498574318909,0.999999964892,-2.12342203538e-05,-0.000262037128039,-3.3180235949e-05,1793239597719021568
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.621659824,788,804,653,632,653,0.40099466175,-0.0154234579641,0.0498578222595,0.999999964997,-2.05199321134e-05,-0.000261715564291,-3.30242862105e-05,1793239597735688448
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+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.538405363,788,804.538405363,652.461594637,632,653,0.400993166,-0.0154237598484,0.0498574062074,0.999999965028,-2.01206881312e-05,-0.000261628648873,-3.30192354899e-05,1793239597769021184
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.721697031,745,715,678.278302969,663,636,880,788,804,652.721697031,632,653,0.40099254132,-0.0154262051243,0.0498578990222,0.999999965039,-2.24281110064e-05,-0.0002614306004,-3.27421196468e-05,1793239597819021056
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.434017985,745,715,678.565982015,663,636,880,788,804,652,632,653,0.400993559157,-0.0154250641299,0.0498593003287,0.999999965744,-2.01666981758e-05,-0.00025890625876,-3.27623469326e-05,1793239597852354560
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..59cd14e5f38b614f1f738430d768350d284fa12d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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+349,5.816666667,pose2_to_pose3_retreat,0.586583928238,-0.00990916627644,1.04003218371,0.557154379489,-0.00123742723821,1.03970032967
+350,5.833333333,pose2_to_pose3_retreat,0.585920822451,-0.00990927497155,1.04003221785,0.556491275112,-0.00123753139182,1.03970035738
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+353,5.883333333,pose2_to_pose3_retreat,0.584063137069,-0.00990909730311,1.04003234546,0.554633586247,-0.00123736619641,1.03970046796
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+355,5.916666667,pose2_to_pose3_retreat,0.582941918632,-0.00990929799067,1.04003245481,0.553512371459,-0.00123755383982,1.03970059449
+356,5.933333333,pose2_to_pose3_retreat,0.582413779283,-0.00990941397572,1.0400324854,0.552984233465,-0.0012376655316,1.03970061763
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+358,5.966666667,pose2_to_pose3_retreat,0.581415402096,-0.00990933686783,1.04003219874,0.551985856702,-0.0012375867244,1.03970033831
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+366,6.100000000,pose2_to_pose3_retreat,0.578284588953,-0.00990927269119,1.04003222068,0.548855040935,-0.00123753185616,1.03970034913
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+368,6.133333333,pose2_to_pose3_retreat,0.577741552147,-0.00990912896272,1.04003206014,0.548312002177,-0.00123739425155,1.03970020157
+369,6.150000000,pose2_to_pose3_retreat,0.577488198307,-0.00990930357676,1.04003251407,0.548058650915,-0.00123756085504,1.03970063617
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+371,6.183333333,pose2_to_pose3_retreat,0.577025070346,-0.00990934219606,1.040032477,0.547595525011,-0.00123759210011,1.03970060952
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+373,6.216666667,pose2_to_pose3_retreat,0.576647163995,-0.00990925696413,1.04003239294,0.547217616272,-0.00123751523293,1.03970051872
+374,6.233333333,pose2_to_pose3_retreat,0.576492712048,-0.00990925400331,1.04003240083,0.547063162937,-0.00123751704343,1.0397005251
+375,6.250000000,pose2_to_pose3_retreat,0.576360497502,-0.0099093747647,1.04003236189,0.546930950587,-0.00123763005273,1.03970049401
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+377,6.283333333,pose2_to_pose3_retreat,0.576145755862,-0.00990923945983,1.04003245783,0.546716208655,-0.00123749600332,1.03970058384
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+379,6.316666667,pose2_to_pose3_retreat,0.575983288797,-0.00990922050893,1.04003219212,0.546553740303,-0.00123748098815,1.03970032942
+380,6.333333333,pose2_to_pose3_retreat,0.575918998997,-0.00990912278444,1.04003210487,0.546489449466,-0.00123738655163,1.03970024811
+381,6.350000000,pose2_to_pose3_retreat,0.575863673713,-0.00990930128074,1.04003241773,0.546434127111,-0.00123755517799,1.03970055905
+382,6.366666667,pose2_to_pose3_retreat,0.575817146408,-0.0099090820747,1.04003249256,0.546387597561,-0.00123734394674,1.03970062457
+383,6.383333333,pose2_to_pose3_retreat,0.575778841842,-0.00990920760028,1.04003232473,0.546349293474,-0.00123746792473,1.03970045466
+384,6.400000000,pose2_to_pose3_retreat,0.575748051348,-0.0099092749681,1.04003225404,0.546318503188,-0.00123753461226,1.03970038332
+385,6.416666667,pose2_to_pose3_retreat,0.575724516882,-0.0099092119247,1.04003231554,0.546294967825,-0.00123747468237,1.03970044305
+386,6.433333333,pose2_to_pose3_retreat,0.57570672427,-0.00990912124628,1.04003242172,0.546277174216,-0.00123738748529,1.0397005467
+387,6.450000000,pose2_to_pose3_retreat,0.575694170989,-0.00990906994364,1.04003251893,0.546264620936,-0.00123733627863,1.03970064144
+388,6.466666667,pose2_to_pose3_retreat,0.575685538548,-0.00990913286522,1.04003242575,0.546255989571,-0.00123739533134,1.03970055399
+389,6.483333333,pose2_to_pose3_retreat,0.575680272517,-0.00990917068276,1.04003234342,0.546250724158,-0.00123743089874,1.03970047568
+390,6.500000000,pose2_to_pose3_retreat,0.575676405197,-0.00990912556317,1.04003222221,0.546246856274,-0.00123738764065,1.03970035578
+391,6.516666667,pose2_to_pose3_retreat,0.575673725035,-0.00990909429402,1.04003213821,0.546244175721,-0.00123735766157,1.03970027269
+392,6.533333333,pose2_to_pose3_retreat,0.575672535292,-0.00990909183274,1.04003213855,0.546242985915,-0.00123735542511,1.03970027273
+393,6.550000000,pose2_to_pose3_retreat,0.57567166736,-0.0099091056337,1.04003219021,0.546242118088,-0.00123736891498,1.03970032319
+394,6.566666667,pose2_to_pose3_retreat,0.575670784743,-0.00990911966814,1.04003224273,0.546241235578,-0.00123738263308,1.0397003745
+395,6.583333333,pose2_to_pose3_retreat,0.575670354547,-0.00990912650868,1.04003226834,0.546240805433,-0.00123738931943,1.03970039952
+396,6.600000000,pose2_to_pose3_retreat,0.575670169607,-0.0099091294494,1.04003227934,0.546240620516,-0.00123739219387,1.03970041027
+397,6.616666667,pose2_to_pose3_retreat,0.575669765787,-0.00990913587053,1.04003230337,0.546240216745,-0.00123739847025,1.03970043374
+398,6.633333333,pose2_to_pose3_retreat,0.57566945408,-0.00990914082697,1.04003232193,0.546239905076,-0.00123740331497,1.03970045187
+399,6.650000000,pose2_to_pose3_retreat,0.575669453521,-0.00990914083585,1.04003232196,0.546239904517,-0.00123740332366,1.0397004519
+400,6.666666667,pose2_to_pose3_retreat,0.575669395726,-0.00990914175485,1.0400323254,0.546239846729,-0.00123740422194,1.03970045526
+401,6.683333333,pose2_to_pose3_retreat,0.575669315983,-0.00990914302284,1.04003233014,0.546239766995,-0.00123740546135,1.03970045989
+402,6.700000000,pose2_to_pose3_retreat,0.575669008152,-0.00990914791765,1.04003234846,0.546239459201,-0.00123741024583,1.03970047779
+403,6.716666667,pose2_to_pose3_retreat,0.575668736584,-0.00990915223584,1.04003236463,0.546239187667,-0.00123741446668,1.03970049358
+404,6.733333333,pose2_to_pose3_retreat,0.57566850738,-0.00990915588041,1.04003237827,0.54623895849,-0.0012374180291,1.0397005069
+405,6.750000000,pose2_to_pose3_retreat,0.575668226567,-0.00990916458235,1.04003237927,0.546238677715,-0.00123742662826,1.03970050724
+406,6.766666667,pose2_to_pose3_retreat,0.575668122495,-0.009909168938,1.04003237545,0.546238573658,-0.00123743094524,1.03970050309
+407,6.783333333,pose2_to_pose3_retreat,0.57566774414,-0.00990918477318,1.04003236157,0.546238195357,-0.00123744663986,1.03970048803
+408,6.800000000,pose2_to_pose3_retreat,0.57566722256,-0.00990920660264,1.04003234243,0.546237673853,-0.00123746827555,1.03970046726
+409,6.816666667,pose2_to_pose3_retreat,0.575667123266,-0.00990921075836,1.04003233878,0.546237574573,-0.00123747239439,1.0397004633
+410,6.833333333,pose2_to_pose3_retreat,0.575667101839,-0.00990921165512,1.040032338,0.54623755315,-0.00123747328318,1.03970046245
+411,6.850000000,pose2_to_pose3_retreat,0.575666876022,-0.00990922110616,1.04003232971,0.546237327365,-0.00123748265033,1.03970045346
+412,6.866666667,pose2_to_pose3_retreat,0.575666836279,-0.0099092227695,1.04003232825,0.546237287628,-0.00123748429891,1.03970045187
+413,6.883333333,pose2_to_pose3_retreat,0.575666628904,-0.00990923144868,1.04003232064,0.546237080283,-0.00123749290105,1.03970044362
+414,6.900000000,pose2_to_pose3_retreat,0.575666160292,-0.00990925106131,1.04003230344,0.546236611739,-0.00123751233958,1.03970042496
+415,6.916666667,pose2_to_pose3_retreat,0.575665499423,-0.00990922789971,1.04003239492,0.54623595068,-0.0012374898258,1.03970051632
+416,6.933333333,pose2_to_pose3_retreat,0.57566492354,-0.00990919421525,1.04003250539,0.546235374556,-0.00123745694319,1.03970062721
+417,6.950000000,pose2_to_pose3_retreat,0.575664576187,-0.00990920190324,1.0400323368,0.546235027456,-0.00123746352619,1.03970046502
+418,6.966666667,pose2_to_pose3_retreat,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449793,1.03970035251
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..496d6acf4733444cd47052bd3023b761112215e3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:208c7a306652b5018ac0d289f39d518ee76480d7e5812f86a57844ce02c1c4fa
+size 26342151
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67be7aab70542a00447c97b857de17f541dc9246
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/franka_data.csv
@@ -0,0 +1,416 @@
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+18,0.300000000,BASELINE,766,745,715,678,661.544671047,635.544671047,880.544671047,788,804,652,631.544671047,653,0.401022302786,-0.0154953797629,0.069851184552,0.999999986166,5.5052497587e-05,-0.000156686860685,9.29436702564e-06,1793239600035987968
+19,0.316666667,BASELINE,766,745,715.02993877,678.02993877,661,635.02993877,880,788,804,652,631,653,0.401022746651,-0.0154960844262,0.0698513968278,0.99999998641,5.38695336618e-05,-0.000155543320414,9.17158497525e-06,1793239600052654592
+20,0.333333333,BASELINE,766,745,715.621431215,678.621431215,661,635.621431215,880,788,804,652,631,653,0.401022189011,-0.0154960464908,0.0698514070814,0.99999998631,5.41173974583e-05,-0.000156099185802,9.21777209373e-06,1793239600069321216
+21,0.350000000,BASELINE,766,745,715.791603684,678.791603684,661,635.791603684,880,788,804,652,631.208396316,653,0.401021994009,-0.0154956965634,0.0698515611539,0.999999986264,5.48324828939e-05,-0.000156135741682,9.27569318311e-06,1793239600085987840
+22,0.366666667,BASELINE,766,745,715.212688061,678.212688061,661,635.212688061,880,788,804,652,631.787311939,653,0.401022443763,-0.0154947919281,0.0698519709301,0.999999986316,5.63782674265e-05,-0.000155248988486,9.35447674165e-06,1793239600102654464
+23,0.383333333,BASELINE,766,744.635980931,715,678.364019069,661,635.364019069,879.635980931,788.364019069,804,652,631.635980931,653,0.40102152851,-0.0154949081959,0.069851125306,0.999999986067,5.67956582913e-05,-0.000156679332145,9.5333912175e-06,1793239600119320832
+24,0.400000000,BASELINE,766,744.060556337,715,678.939443663,661,635.939443663,879.060556337,788.939443663,804,652,631.060556337,653,0.401019820525,-0.0154956173571,0.0698495506033,0.99999998564,5.65577301824e-05,-0.000159455338952,9.77045713005e-06,1793239600135987712
+25,0.416666667,BASELINE,766,744.525820303,715,678.474179697,661,636,880.051640605,788.474179697,804,652,631.525820303,653,0.401019897402,-0.0154961553364,0.0698496654777,0.999999985782,5.57203257591e-05,-0.000158872718135,9.51421478236e-06,1793239600152654336
+26,0.433333333,BASELINE,766,745,715,678.111933448,661,636,880.776133104,788,804,652,632,653,0.401020455079,-0.0154965045352,0.0698501955512,0.999999985995,5.51579419762e-05,-0.000157737235965,9.27784533619e-06,1793239600169320960
+27,0.450000000,BASELINE,766,745,715,678.691563565,661,636,879.61687287,788,804,652,632,653,0.401022144556,-0.0154961490688,0.0698516301501,0.999999986227,5.60392941491e-05,-0.000155942261455,9.36694159352e-06,1793239600185987584
+28,0.466666667,BASELINE,766,745,715,678.730637375,661,635.730637375,879.269362625,788,804,652,632,653.269362625,0.401022810157,-0.015495732674,0.0698523995931,0.999999986368,5.64617663895e-05,-0.000154876961118,9.40132497389e-06,1793239600202654464
+29,0.483333333,BASELINE,766,745,715,678.154920863,661,635.154920863,879.845079137,788,804,652,632,653.845079137,0.401022311276,-0.0154952469836,0.0698524125351,0.999999986411,5.63623411885e-05,-0.000154641540377,9.37348181521e-06,1793239600219321088
+30,0.500000000,BASELINE,766,745,715,678,661,635.420164132,879.579835868,788,804,652,631.579835868,653.579835868,0.40102187303,-0.0154959220437,0.0698520923935,0.999999986412,5.49189699127e-05,-0.000155163553916,9.2173130267e-06,1793239600235987712
+31,0.516666667,BASELINE,766,745,715,678,661,635.995016615,879.004983385,788,804,652,631.004983385,653.004983385,0.401021457106,-0.0154970244478,0.0698516496234,0.999999986393,5.29808091371e-05,-0.00015596442577,9.01389965385e-06,1793239600252654080
+32,0.533333333,BASELINE,765.413311232,745,715,678.586688768,661,636,879,788,804,652,631.586688768,653,0.401020541498,-0.0154961996899,0.0698511123239,0.999999986232,5.34715213707e-05,-0.000156818881771,9.17887135256e-06,1793239600269320704
+33,0.550000000,BASELINE,765.174507386,745,715,679,661,635.825492614,879,788,804,652,631.825492614,653,0.401020161597,-0.0154954006612,0.0698508828317,0.999999986125,5.45537082962e-05,-0.000157123112381,9.26683543672e-06,1793239600285987328
+34,0.566666667,BASELINE,765.753063027,745,715,679,661,635.246936973,879,788,804,652,631.246936973,653,0.40102103217,-0.0154947002247,0.0698513679396,0.999999986144,5.69561965211e-05,-0.000156152285439,9.16903994776e-06,1793239600302653952
+35,0.583333333,BASELINE,766,745,715.328494131,678.671505869,661,635,879.328494131,788,804,652,631.328494131,653,0.401021839986,-0.0154946756024,0.0698517851116,0.999999986268,5.6943204104e-05,-0.000155358208254,9.18861634707e-06,1793239600319321600
+36,0.600000000,BASELINE,766,745,715.901598635,678.098401365,661,635,879.901598635,788,804,652,631.901598635,653,0.401022601069,-0.0154951542192,0.0698521516957,0.999999986472,5.51315447273e-05,-0.000154695746176,9.29559271912e-06,1793239600335989504
+37,0.616666667,BASELINE,766,745,715.522092783,678.477907217,661,635.477907217,879.522092783,788,804,652,631.522092783,653,0.401022769809,-0.015495077192,0.0698527377226,0.99999998647,5.5096196181e-05,-0.000154716835321,9.35401434869e-06,1793239600352655872
+38,0.633333333,BASELINE,766,745,715.056359227,678.943640773,661,636,879.056359227,788,804,652,631,653,0.401022693264,-0.0154949264431,0.0698531945268,0.999999986405,5.55493766585e-05,-0.000154973514599,9.39109141494e-06,1793239600369321728
+39,0.650000000,BASELINE,766,745,715.648884268,678.351115732,661,636,879.648884268,788,804,652,631,653,0.401021451342,-0.0154951700993,0.0698519892411,0.999999986136,5.71471765635e-05,-0.000156123466296,9.320861241e-06,1793239600385988096
+40,0.666666667,BASELINE,766,745,715.764954228,678,661,636,879.764954228,788,804,652,631,653,0.401021148668,-0.0154953109625,0.0698515904492,0.999999986131,5.6823029664e-05,-0.000156288223611,9.16962734228e-06,1793239600402654720
+41,0.683333333,BASELINE,766,745,715.188048151,678,661,636,879.188048151,788,804,652,631,653,0.401022212075,-0.0154953023194,0.0698523646554,0.999999986503,5.37035236339e-05,-0.000155020073345,8.90057827544e-06,1793239600419321344
+42,0.700000000,BASELINE,766,745,715,678.38696559,661.38696559,636,879.38696559,788.38696559,804,652,631.38696559,653,0.401022076559,-0.0154948501978,0.0698524091095,0.999999986526,5.39682071932e-05,-0.000154787568419,8.76630026122e-06,1793239600435987968
+43,0.716666667,BASELINE,766,745,715,678.961064197,661.961064197,636,879.961064197,788.961064197,804,652,631.961064197,653,0.401021361253,-0.0154941836141,0.0698521006623,0.99999998638,5.58694539548e-05,-0.00015505589214,8.69719630237e-06,1793239600452654592
+44,0.733333333,BASELINE,766,745,715,678.449079658,661.449079658,635.449079658,880,788.449079658,804,652,632,653,0.401021049115,-0.0154960427696,0.0698517216413,0.999999986259,5.55949844837e-05,-0.00015590746399,9.18867115062e-06,1793239600469321216
+45,0.750000000,BASELINE,766,745,715,678,661,635.138092692,879.861907308,788,804,652,631.861907308,653,0.401020841469,-0.0154972424107,0.0698513416046,0.999999986132,5.57427903531e-05,-0.000156643743067,9.54501933065e-06,1793239600485988352
+46,0.766666667,BASELINE,766,745,715,678,661,635.713145104,879.286854896,788,804,652,631.286854896,653,0.401020871648,-0.0154957737199,0.0698509746007,0.999999985984,5.77276636702e-05,-0.000156880934314,9.34473918222e-06,1793239600502654976
+47,0.783333333,BASELINE,766.288236128,745,715,678,661,636,879.576472257,787.711763872,804,652,631.288236128,653,0.40102085975,-0.0154952159319,0.069850942474,0.999999985989,5.76629385784e-05,-0.000156877452157,9.31977049777e-06,1793239600519321600
+48,0.800000000,BASELINE,766.863365653,745,715,678,661,636,880.726731307,787.136634347,804,652,631.863365653,653,0.40102080597,-0.0154955648032,0.0698512436644,0.999999986145,5.5558163255e-05,-0.000156634417788,9.46929657473e-06,1793239600535987968
+49,0.816666667,BASELINE,766.563254428,745,715,678.436745572,661,635.563254428,880.126508855,787.436745572,804,652,632,653,0.401021946822,-0.0154948416177,0.0698522211102,0.999999986325,5.67025177297e-05,-0.000155066715372,9.45688601068e-06,1793239600552654592
+50,0.833333333,BASELINE,765.990018392,745,715,679,661,635.009981608,879,788,804,652,631.990018392,653,0.401023409557,-0.0154938148021,0.0698533765078,0.9999999865,5.87981027506e-05,-0.000153146049332,9.39240043988e-06,1793239600569321216
+51,0.850000000,BASELINE,765.393187172,745,715,679,661,635.606812828,879,788,804,652,631.393187172,653,0.401021911362,-0.0154945765185,0.0698526053713,0.999999986344,5.72959853361e-05,-0.000154741242697,9.23291519743e-06,1793239600585987840
+52,0.866666667,BASELINE,765.196231378,745,715,678.803768622,661.196231378,636,879.196231378,788,804,652,631,653,0.401020958437,-0.0154948945953,0.0698519824667,0.999999986183,5.68422142627e-05,-0.000155947387282,9.11464210206e-06,1793239600602654720
+53,0.883333333,BASELINE,765.771337828,745,715,678.228662172,661.771337828,636,879.771337828,788,804,652,631,653,0.401021058298,-0.0154943561121,0.0698516457619,0.999999986022,5.84125451309e-05,-0.000156402373185,9.07593965054e-06,1793239600619321344
+54,0.900000000,BASELINE,766,745,715,678,661.653832143,635.653832143,880,788,804,652,631,653,0.401020363392,-0.0154942212494,0.0698511536686,0.999999985858,5.79928117521e-05,-0.000157598059034,9.10161069905e-06,1793239600635987968
+55,0.916666667,BASELINE,766,745,715,678,661.079184582,635.079184582,880,788,804,652,631,653,0.40101914392,-0.0154943527867,0.0698505590149,0.99999998569,5.62595846299e-05,-0.000159282625914,9.1697699178e-06,1793239600652654848
+56,0.933333333,BASELINE,766,745,715,678.510188411,661,635.510188411,879.489811589,788.510188411,804,652,631.510188411,653,0.401020592873,-0.0154938456157,0.0698513627196,0.999999985956,5.70380259885e-05,-0.000157308522507,9.37253636421e-06,1793239600669321472
+57,0.950000000,BASELINE,766,745,715.099837796,678.900162204,661,635.900162204,879,788.900162204,804,652,632,653,0.401022157404,-0.0154934258731,0.0698521956115,0.999999986244,5.78980796714e-05,-0.000155143548011,9.49910007735e-06,1793239600685987840
+58,0.966666667,BASELINE,766,745,715.679504664,678.320495336,661,635.320495336,879,788.320495336,804,652,632,653,0.401022227783,-0.015493916915,0.0698520946929,0.999999986328,5.72211419591e-05,-0.000154871476948,9.15603421991e-06,1793239600702654464
+59,0.983333333,BASELINE,766,745,716,678.256032621,661.256032621,635.256032621,879.256032621,788,804,652,632,653,0.401021240112,-0.015494232115,0.0698516087128,0.999999986122,5.7870385205e-05,-0.000155969219404,9.03289118698e-06,1793239600719321344
+60,1.000000000,BASELINE,766,745,716,678.828679029,661.828679029,635.828679029,879.828679029,788,804,652,632,653,0.40101894404,-0.0154943298665,0.0698506465598,0.999999985546,6.01596036694e-05,-0.000158760893815,9.18170797891e-06,1793239600735988224
+61,1.016666667,BASELINE,766,745,715.586803151,679,661.586803151,636,879.586803151,788,804.413196849,652,632,653,0.401019690701,-0.0154942509916,0.0698512864553,0.999999985758,5.9559933877e-05,-0.000157653978844,9.09553077191e-06,1793239600752654592
+62,1.033333333,BASELINE,766,745,715,678.997265735,661,636,879,788.002734265,804.997265735,652,631.997265735,653,0.401021730317,-0.0154940906295,0.0698526057691,0.999999986296,5.77492521498e-05,-0.000154896618811,8.90957783765e-06,1793239600769321216
+63,1.050000000,BASELINE,766,745,715,678.417879088,661,636,879,788.582120912,804.417879088,652,631.417879088,653,0.401022514969,-0.0154926463902,0.0698529809603,0.999999986103,6.06246039211e-05,-0.000155052901255,8.83758487334e-06,1793239600785987840
+64,1.066666667,BASELINE,766,745,715,678,661.160568182,636,879.160568182,788.839431818,804,652,631.160568182,653,0.401022535533,-0.0154918719589,0.0698528271098,0.999999985917,6.22664259623e-05,-0.000155603293686,8.7417171585e-06,1793239600802654720
+65,1.083333333,BASELINE,766,745,715,678,661.736584904,636,879.736584904,788.263415096,804,652,631.736584904,653,0.401020579125,-0.015492830566,0.0698513044354,0.999999985768,6.07166558131e-05,-0.000157173392614,8.5840767471e-06,1793239600819321600
+66,1.100000000,BASELINE,766,745,715,678,661.687768525,636,879.687768525,788,804.312231475,652,632,653,0.401019829856,-0.0154938690569,0.0698508369226,0.999999985772,5.84274683772e-05,-0.000158013841186,8.62750071734e-06,1793239600835987968
+67,1.116666667,BASELINE,766,745,715,678,661.112433894,636,879.112433894,788,804.887566106,652,632,653,0.401020097787,-0.0154949748623,0.0698512585464,0.9999999859,5.55152079533e-05,-0.000158239446755,8.84035243681e-06,1793239600852654336
+68,1.133333333,BASELINE,766,745,715.475525552,678.475525552,661,636,879,788,804.524474448,652,632,653,0.401019649001,-0.0154944797894,0.0698510669876,0.999999985905,5.62412191449e-05,-0.000157948885737,8.83631690957e-06,1793239600869320960
+69,1.150000000,BASELINE,766,745,716,679,661,636,879,788,804.065087679,652,632,653,0.401019201955,-0.0154937801297,0.0698508577245,0.999999985893,5.75524508053e-05,-0.000157555590532,8.80248697275e-06,1793239600885987584
+70,1.166666667,BASELINE,766,745,716,679,661,636,879,788,804.64311398,652,632,653,0.401020140536,-0.015494532497,0.0698516826618,0.999999985985,5.65114497886e-05,-0.000157340695214,8.94901002817e-06,1793239600902654208
+71,1.183333333,BASELINE,766,745,715.779431048,678.779431048,661,636,879.220568952,788,804.779431048,652,632,653,0.401021025639,-0.0154946286508,0.0698523287105,0.999999986061,5.65565248507e-05,-0.000156841883905,8.97845715977e-06,1793239600919321088
+72,1.200000000,BASELINE,766,745,715.202898019,678.202898019,661,636,879.797101981,788,804.202898019,652,632,653,0.401021824437,-0.0154936657779,0.0698526860609,0.999999986108,5.8354358077e-05,-0.000155884876193,8.81896193316e-06,1793239600935987968
+73,1.216666667,BASELINE,766,745,715.373334685,678,661.373334685,636,880,788.373334685,804,652,631.626665315,653,0.401021259865,-0.0154934904457,0.0698522964276,0.999999985951,5.9174287863e-05,-0.000156592179249,8.73238496432e-06,1793239600952654592
+74,1.233333333,BASELINE,766,745,715.949404267,678,661.949404267,636,880,788.949404267,804,652,631.050595733,653,0.40101995493,-0.015493742778,0.069851501154,0.99999998568,5.94631788737e-05,-0.000158203266247,8.68540538536e-06,1793239600969321216
+75,1.250000000,BASELINE,766,745,715.464530466,678.535469534,661.464530466,636,880,788.464530466,804,652,631,653,0.401019590369,-0.0154935054912,0.0698510654164,0.999999985603,5.98456031886e-05,-0.000158545989064,8.68963460927e-06,1793239600985987840
+76,1.266666667,BASELINE,766,745,715.121537637,679,661,636,880.121537637,788,804.121537637,652,631,653,0.401019470335,-0.0154932886833,0.0698508224565,0.999999985583,5.98159915834e-05,-0.000158682543187,8.70484423056e-06,1793239601002654464
+77,1.283333333,BASELINE,766,745,715.70396672,679,661,636,880.70396672,788,804.70396672,652,631,653,0.401019934227,-0.0154933283106,0.0698511792641,0.999999985708,5.81897174197e-05,-0.000158500391598,8.74299538629e-06,1793239601019321088
+78,1.300000000,BASELINE,766,745,715.717935962,679,661,636,880.717935962,788,804.717935962,652,631,653,0.401020390684,-0.0154931525236,0.069851781046,0.999999985839,5.76262646511e-05,-0.000157874945418,8.72915318225e-06,1793239601035987712
+79,1.316666667,BASELINE,766,745,715.14431621,679,661,636,880.14431621,788,804.14431621,652,631,653,0.401020839456,-0.0154927540735,0.0698526360458,0.999999985979,5.8161398145e-05,-0.000156791287448,8.66156799908e-06,1793239601052654336
+80,1.333333333,BASELINE,766,745,715.428980434,678.571019566,661,636,880,788.428980434,804,652,631.428980434,653,0.401020376038,-0.0154931327038,0.0698523413025,0.999999985822,5.93431526959e-05,-0.000157354116722,8.65237738871e-06,1793239601069321216
+81,1.350000000,BASELINE,766,745,716,678.002256359,661,636,880,788.997743641,804,652,631.997743641,653,0.401019612892,-0.0154937658783,0.0698516634468,0.999999985563,6.07372203742e-05,-0.000158463188906,8.66233549984e-06,1793239601085988096
+82,1.366666667,BASELINE,766,745,716,678.59866543,661,636,880,788.40133457,804,652,631.40133457,653,0.401020671104,-0.0154926395116,0.0698518780635,0.999999985686,6.07995478242e-05,-0.00015766416338,8.54552766013e-06,1793239601102654720
+83,1.383333333,BASELINE,766,745,715.812031375,679,661,636,880,788.187968625,804,652.187968625,631.187968625,653,0.401021726179,-0.0154924589738,0.0698521765764,0.999999985855,6.00718645122e-05,-0.000156868099283,8.54798129051e-06,1793239601119321344
+84,1.400000000,BASELINE,766,745,715.237347275,679,661,636,880,788.762652725,804,652.762652725,631.762652725,653,0.401022774802,-0.0154942243278,0.0698526476924,0.999999986115,5.77188600417e-05,-0.000156078127711,8.79579635706e-06,1793239601135988224
+85,1.416666667,BASELINE,766.338579852,745,715,678.661420148,661.338579852,636,880,788.661420148,803.661420148,652.661420148,631.661420148,653,0.401021641862,-0.0154941242064,0.0698522624331,0.999999985936,5.87258308775e-05,-0.000156839743456,8.96950502022e-06,1793239601152654592
+86,1.433333333,BASELINE,766.915381529,745,715,678.084618471,661.915381529,636,880,788.084618471,803.084618471,652.084618471,631.084618471,653,0.401018973995,-0.0154927115526,0.0698512746355,0.999999985439,6.20968511105e-05,-0.000158693042519,9.09107305075e-06,1793239601169320960
+87,1.450000000,BASELINE,766.499620307,745,715.500379693,678,661.499620307,636,879.499620307,788,803.500379693,652,631.500379693,653,0.401018113007,-0.0154945468634,0.0698504252774,0.999999985424,5.94089470764e-05,-0.000159813843554,9.01257281342e-06,1793239601185987840
+88,1.466666667,BASELINE,766,745,716,678.08607723,661,636,879.08607723,788,804,652,631.91392277,653,0.401018001016,-0.0154963173602,0.0698499713465,0.999999985545,5.63967479885e-05,-0.000160157151023,8.89670642063e-06,1793239601202654464
+89,1.483333333,BASELINE,766,745,716,678.667688523,661,636,879.667688523,788,804,652,631.332311477,653,0.401020412536,-0.0154945000725,0.0698516568121,0.999999986022,5.75144236172e-05,-0.000156749528178,8.76374522153e-06,1793239601219321344
+90,1.500000000,BASELINE,766,745,715.752786238,678.752786238,661,636,880,788,804,652,631.247213762,652.752786238,0.401022261644,-0.0154934859845,0.0698530524687,0.999999986337,5.79597951034e-05,-0.000154566767141,8.69979212839e-06,1793239601235988224
+91,1.516666667,BASELINE,766,745,715.176041712,678.176041712,661,636,880,788,804,652,631.823958288,652.176041712,0.401023361067,-0.0154935425449,0.0698540618157,0.999999986448,5.75089991656e-05,-0.000154016721505,8.72782540528e-06,1793239601252654592
+92,1.533333333,BASELINE,766,745,715,678.397034537,661,636,880,788,804,652,632,652.397034537,0.401022123646,-0.0154937376797,0.0698535075109,0.999999986212,5.7617008173e-05,-0.000155496041695,8.73363289254e-06,1793239601269321216
+93,1.550000000,BASELINE,766,745,715,678.968499243,661,636,880,788,804,652,632,652.968499243,0.401019859575,-0.0154939936947,0.0698522662433,0.999999985821,5.79705183052e-05,-0.000157866928162,8.72967587084e-06,1793239601285987840
+94,1.566666667,BASELINE,766,745,715,679,661,636,880,788.559582376,804.559582376,652,631.440417624,653,0.401020639976,-0.0154932074018,0.0698520316046,0.999999985854,5.83741648703e-05,-0.000157520544578,8.49197793888e-06,1793239601302654464
+95,1.583333333,BASELINE,766,745,715,679,661,636,880,788.851284753,804.851284753,652,631.148715247,653,0.401021256206,-0.0154929555837,0.0698519433312,0.999999985912,5.83741698669e-05,-0.000157157896056,8.36892567577e-06,1793239601319321344
+96,1.600000000,BASELINE,766,745,715,679,661,636,880,788.271130027,804.271130027,652,631.728869973,653,0.401020880893,-0.0154944307434,0.069852109311,0.99999998597,5.71946804183e-05,-0.000157207950439,8.61803311117e-06,1793239601335987968
+97,1.616666667,BASELINE,766,745,715.305497428,679,661.305497428,636,880,788,804,652,632,653,0.401020238948,-0.0154948875792,0.0698521030569,0.999999985957,5.67362385916e-05,-0.000157444176561,8.82729094663e-06,1793239601352654592
+98,1.633333333,BASELINE,766,745,715.879030114,679,661.879030114,636,880,788,804,652,632,653,0.401019363066,-0.0154944509649,0.0698519456893,0.999999985883,5.69104246995e-05,-0.000157843744777,9.00158579591e-06,1793239601369321728
+99,1.650000000,BASELINE,766,745,716,678.535623554,661.535623554,636,880,788,804.464376446,652,632,653,0.401019417288,-0.0154942116218,0.0698518608141,0.99999998585,5.68274846077e-05,-0.000158095960286,8.77383341533e-06,1793239601385988352
+100,1.666666667,BASELINE,765.94799943,745,715.94799943,678,661,636,880.05200057,788.05200057,804.94799943,652,632,653,0.401019703058,-0.0154939666809,0.069851771719,0.999999985811,5.68964798571e-05,-0.000158332518513,8.46469920445e-06,1793239601402654720
+101,1.683333333,BASELINE,765.369288636,745,715.369288636,678,661,636,880.630711364,788.630711364,804.369288636,652,632,653,0.401019815938,-0.0154931309383,0.0698514436097,0.999999985602,5.92005767238e-05,-0.000158809436796,8.41978078495e-06,1793239601419321088
+102,1.700000000,BASELINE,765.208267638,745,715,678.208267638,661,636,880.791732362,788.791732362,804,652,631.791732362,653,0.401019909285,-0.0154929199643,0.0698514127526,0.999999985521,6.05379343119e-05,-0.000158809046741,8.52426693188e-06,1793239601435987712
+103,1.716666667,BASELINE,765.783788006,745,715,678.783788006,661,636,880.216211994,788.216211994,804,652,631.216211994,653,0.401019968187,-0.0154938106879,0.0698519060611,0.999999985673,6.01705734209e-05,-0.000157966985829,8.89220848926e-06,1793239601452654592
+104,1.733333333,BASELINE,766,745,715,679,661,635.643738569,879.643738569,788.356261431,804,652,631.356261431,653,0.401020425405,-0.01549421044,0.0698520094431,0.999999985808,5.90252474887e-05,-0.000157538061778,9.02405616496e-06,1793239601469321216
+105,1.750000000,BASELINE,766,745,715,679,661,635.073098571,879.073098571,788.926901429,804,652,631.926901429,653,0.401021122308,-0.0154943147524,0.0698518781888,0.999999985931,5.74117848782e-05,-0.000157357740723,9.01383554229e-06,1793239601485987584
+106,1.766666667,BASELINE,766,745,715,679,661,635.520370323,879.520370323,789,804,652,631.479629677,653,0.401021612689,-0.015492633264,0.0698525714968,0.99999998597,5.83890178195e-05,-0.000156775312014,8.49214043966e-06,1793239601502654208
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,715,678,662,635,880,788,805,652,631,653,0.401018896508,-0.0154958033395,0.0698518355879,0.99999998583,5.61012472169e-05,-0.000158477755175,8.77935560987e-06,1793239601547248896
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.376487587,744.623512413,715,678.623512413,662,635.623512413,879.376487587,788,804.376487587,652,631.623512413,653,0.40102086508,-0.0154930805326,0.0698524495925,0.999999985873,5.97934753548e-05,-0.000156836251398,9.03299731331e-06,1793239601563915520
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.228383955,745.228383955,715.228383955,678.771616045,661.771616045,636,879.456767911,788,804,652,631.771616045,653.228383955,0.401021843758,-0.0154916972998,0.0698530010276,0.999999985922,6.17487392705e-05,-0.000155758390887,9.09704172932e-06,1793239601580582144
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.804845256,745.804845256,715.804845256,678.195154744,661.195154744,636,880.609690513,788,804,652,631.195154744,653.804845256,0.401021313751,-0.0154923556957,0.0698534571014,0.999999986,6.10567166624e-05,-0.000155539572315,8.87212315079e-06,1793239601597248768
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.606910926,715.606910926,678.393089074,661,636,880.213821852,788,804,652,631.393089074,653.606910926,0.401021533099,-0.0154923811419,0.0698530841745,0.999999985973,6.08786133093e-05,-0.000155796432905,8.66183067847e-06,1793239601613915392
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.012636788,715.012636788,678.987363212,661,636,879.025273577,788,804,652,631.987363212,653.012636788,0.401022135971,-0.0154920826411,0.0698522869607,0.999999985892,6.09635365856e-05,-0.000156296748612,8.45902393801e-06,1793239601630582016
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.560916928,745,715,679,661.560916928,636,879.560916928,788,804,652.560916928,631.439083072,653,0.401021872789,-0.0154930245529,0.0698529912728,0.999999986041,5.99167942352e-05,-0.000155737879944,8.60330960009e-06,1793239601647249152
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.865421063,744.865421063,715.134578937,678.865421063,662,635.865421063,880,788,804,652.865421063,631,653,0.401021415555,-0.0154938174979,0.0698533337755,0.999999986052,5.89583942574e-05,-0.00015602670346,8.72331404677e-06,1793239601663915776
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.289929405,744.289929405,715.710070595,678.289929405,662,635.289929405,880,788,804,652.289929405,631,653,0.401020384211,-0.0154940340987,0.0698523840252,0.999999985591,5.83699773657e-05,-0.000159168162035,8.73906127748e-06,1793239601680582400
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.293092621,716,678.293092621,661.706907379,635.293092621,880.293092621,788,804,652,631.293092621,653,0.401021779257,-0.0154949979913,0.0698533741198,0.99999998527,5.7233860434e-05,-0.000161564943146,9.02124620775e-06,1793239601697248768
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.883760143,716,678.883760143,661.116239857,635.883760143,880.883760143,788,804,652,631.883760143,653,0.401025637799,-0.0154967206042,0.0698563337254,0.999999985094,5.55416674936e-05,-0.000163205658213,9.573943482e-06,1793239601713915392
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.535165389,679,661.464834611,636,880.070330777,788,804,652,631.535165389,653,0.401043991445,-0.015495874196,0.0698649226125,0.999999985559,5.82550078194e-05,-0.000159335339465,1.00170064098e-05,1793239601730582016
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.043305002,678.956694998,661.956694998,635.956694998,879,788,804.043305002,652,631.043305002,653,0.401067909761,-0.0154947341106,0.0698753429272,0.999999986335,6.16089295511e-05,-0.00015305134808,1.04786157354e-05,1793239601747248640
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.618658164,678.381341836,661.381341836,635.381341836,879,788,804.618658164,652,631.618658164,653,0.401116562545,-0.0154977192025,0.0698913189105,0.999999989221,5.95714584901e-05,-0.000133702230682,1.14981102501e-05,1793239601763915264
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.806241564,678.193758436,661,635.193758436,879,788,804.806241564,652,632,653,0.401170769241,-0.0155007126535,0.0699055755448,0.999999991519,5.78731126262e-05,-0.000116031171617,1.22309458644e-05,1793239601780581888
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.231638262,678.768361738,661,635.768361738,879,788,804.231638262,652,632,653,0.401235892524,-0.0155037225353,0.069916452689,0.99999999314,5.6841339161e-05,-0.000101658442472,1.24003348668e-05,1793239601797249024
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.354068027,679,661.354068027,636,879.354068027,788,804,652,631.645931973,653,0.401311457254,-0.0155062830591,0.069924489292,0.999999993945,5.85759053369e-05,-9.23861359779e-05,1.19709818507e-05,1793239601813915904
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.947273227,679,661.947273227,636,879.947273227,788,804,652,631.052726773,653,0.401394074122,-0.0155085400867,0.0699306073958,0.999999994259,6.21788544583e-05,-8.65586504393e-05,1.11372390964e-05,1793239601830582272
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.4721784,715.4721784,678.4721784,661.4721784,636,880,788,804,652,631.5278216,653,0.401492409415,-0.0155119288544,0.069931642709,0.999999994309,6.14668154129e-05,-8.67120444549e-05,9.2211557893e-06,1793239601847248896
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.106291807,715,678.106291807,661,636,880,788,804,652,631.893708193,653,0.401597076002,-0.0155154188325,0.0699321617713,0.999999994316,6.05936396085e-05,-8.74429356471e-05,7.06848708691e-06,1793239601863915520
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.68104478,715,678.68104478,661,636,880,788,804,652,631.31895522,653,0.401722888302,-0.015518868275,0.0699325909444,0.999999994253,6.08655501106e-05,-8.81475065207e-05,4.33847440864e-06,1793239601880582144
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.261623947,745,715.261623947,678.738376053,661,636,880,788,804,652,631,653.261623947,0.401861617079,-0.0155206089504,0.0699340961323,0.999999994352,6.20542463002e-05,-8.62804043236e-05,1.27499930437e-06,1793239601897248768
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.849467777,745,715.849467777,678.150532223,661,636,880,788,804,652,631,653.849467777,0.40201645145,-0.0155202189575,0.069936943007,0.999999994628,6.43860859847e-05,-8.12066732621e-05,-2.20427114699e-06,1793239601913915392
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.566822576,745,715.566822576,678.433177424,661.433177424,636,880,788,804.433177424,652,631.433177424,653.566822576,0.402198001536,-0.0155216173472,0.0699380965081,0.999999994662,6.311042377e-05,-8.15911407075e-05,-6.06515115678e-06,1793239601930582016
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.015242802,679,662,636,880,788,804.984757198,652,632,653,0.402389527849,-0.0155235926895,0.0699386662829,0.999999994625,6.02708540717e-05,-8.3757245661e-05,-1.00812073485e-05,1793239601947248896
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715.589198805,679,662,636,880,788,804.410801195,652,632,653,0.402609647334,-0.015524151418,0.0699392056329,0.999999995456,4.56239959451e-05,-8.23607782589e-05,-1.49702757386e-05,1793239601963915520
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715.834501063,679,662,636,880,788.165498937,804,652,632,653,0.402839291162,-0.0155228910684,0.0699408771625,0.999999996128,3.30223869626e-05,-7.91109136377e-05,-1.9854878732e-05,1793239601980582144
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715.252298614,679,662,636,880,788.747701386,804,652,632,653,0.403092916022,-0.0155170505312,0.0699453993644,0.999999996833,2.55704303277e-05,-7.11944500386e-05,-2.47282395106e-05,1793239601997248768
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.669590676,636,879.669590676,788.669590676,804,652,632,653,0.403380703437,-0.0155131903258,0.0699545221905,0.999999997734,2.46984693113e-05,-5.59057811613e-05,-2.82266846336e-05,1793239602013915392
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.086496192,636,879.086496192,788.086496192,804,652,632,653,0.403694617131,-0.0155108446074,0.0699671634082,0.999999998501,2.88586525534e-05,-3.49791154903e-05,-3.06736434495e-05,1793239602030582272
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.492743727,635.507256273,879,788,804.492743727,652,631.507256273,653,0.40402675434,-0.0155167956194,0.0699653384122,0.999999998505,1.85593047426e-05,-4.10292151099e-05,-3.10142820123e-05,1793239602047248896
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.929154645,635.070845355,879.070845355,788,805,652,631,653,0.404368049305,-0.0155232240161,0.0699624937226,0.999999998315,6.98566558036e-06,-4.85058331472e-05,-3.11111296113e-05,1793239602063915776
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.35437424,635.64562576,879.64562576,788,805,652,631,653,0.404751906863,-0.0155227688692,0.0699703187436,0.999999998941,4.26245978809e-06,-3.27065655076e-05,-3.20834832298e-05,1793239602080582400
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804.774410782,652,631.225589218,653,0.405139901608,-0.0155220957718,0.069974523252,0.999999999137,4.71856963451e-06,-2.45821090996e-05,-3.31563235089e-05,1793239602097249024
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804.186113948,652,631.813886052,653,0.405534548181,-0.0155210722486,0.0699729066152,0.999999998941,1.02864577487e-05,-2.87973951302e-05,-3.4390728506e-05,1793239602113915648
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804,652,631.603874806,653,0.405962408883,-0.0155191536269,0.0699657791966,0.999999998521,8.7502901528e-06,-3.89579543005e-05,-3.69262550326e-05,1793239602130582016
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804,652,631.024438869,653,0.406405639778,-0.0155168207896,0.0699561016105,0.999999997844,3.92665293584e-06,-5.1869746163e-05,-4.00638881641e-05,1793239602147248640
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.552100669,745,715,678.447899331,661.552100669,636,880,788,804,652,631.552100669,653,0.40689925495,-0.0155171438096,0.0699429914063,0.999999996682,5.09834555521e-06,-6.94355207249e-05,-4.23012350984e-05,1793239602163915264
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.872248584,745,715,678,662,636,880,788.127751416,804.127751416,652,631.872248584,653,0.407408013342,-0.015517852016,0.0699347432133,0.999999995911,5.5078382348e-06,-7.87861484686e-05,-4.40589560907e-05,1793239602180581888
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.299250832,745,715,678,662,636,880,788.700749168,804.700749168,652,631.299250832,653,0.407961817357,-0.0155194950993,0.0699439671742,0.999999997289,2.3407631555e-06,-5.87906455144e-05,-4.42832261326e-05,1793239602197248512
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,880,789,805,652,631,653,0.408531534133,-0.0155213865896,0.0699546416246,0.99999999838,5.71068852485e-07,-3.5630113702e-05,-4.43942488667e-05,1793239602213915648
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,880,789,805,652,631,653,0.409118646161,-0.01552354963,0.0699669017002,0.999999998975,3.28943749185e-07,-9.00968147583e-06,-4.43814734847e-05,1793239602230582528
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661.542369022,636,880,788.542369022,804.542369022,651.542369022,631,653,0.409712207731,-0.0155210031682,0.0699612085503,0.999999998808,1.76725726254e-06,-1.56710592972e-05,-4.62086612728e-05,1793239602247249152
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,880,788,804,651,631,653,0.410310821356,-0.015517242667,0.0699512778807,0.999999998348,3.70601679346e-06,-3.07644375097e-05,-4.84027364742e-05,1793239602263916032
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,880,788,804,651,631,653,0.41095825514,-0.0155140581786,0.0699492592853,0.999999998004,6.4235887084e-06,-3.96275260286e-05,-4.87994332299e-05,1793239602280582656
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.178815692,678,661.178815692,636,880,788,804,651.178815692,631,653,0.411629540973,-0.015512844726,0.0699572670715,0.999999998383,6.6498573118e-06,-2.86666409067e-05,-4.86527168266e-05,1793239602297249280
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.754643667,678,661.754643667,636,880,788,804,651.754643667,631,653,0.412353783799,-0.01551600743,0.0699875357493,0.999999998534,1.34485476169e-06,2.63080616881e-05,-4.72994971181e-05,1793239602313916160
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.657747306,678.342252694,661.657747306,636,880,788,804,651.657747306,631,653,0.413079669738,-0.0155193589579,0.070013700467,0.999999996696,-3.41293965841e-06,6.71572757853e-05,-4.56647404664e-05,1793239602330582784
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.061391458,678.938608542,661.061391458,636,880,788,804,651.061391458,631,653,0.413806775671,-0.0155228506772,0.0700368182309,0.999999994255,-7.76446372472e-06,9.7519124021e-05,-4.38209585511e-05,1793239602347248896
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.516578533,744.483421467,715,679,661.516578533,636,880,788,804,651,631.516578533,653,0.414506715744,-0.015520799237,0.0700109095551,0.999999997735,-6.62406889368e-06,4.76461286048e-05,-4.70687061963e-05,1793239602363915520
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.907655547,744.092344453,715.092344453,679,661.907655547,636,880,788,804.092344453,651.092344453,631.907655547,653,0.415212512837,-0.0155177861762,0.0699778598011,0.999999998614,-4.90996315651e-06,-1.14985530403e-05,-5.113867504e-05,1793239602380582656
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.332381761,744.667618239,715.667618239,679,661.332381761,636,880,788,804.667618239,651.667618239,631.332381761,653,0.415965243815,-0.0155130708698,0.0699368876331,0.999999995881,-3.49149361779e-06,-7.09784447117e-05,-5.64529229317e-05,1793239602397249280
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,716,679,661.2482677,635.7517323,880,788,805,652,631,653.2482677,0.41674302004,-0.0155107144221,0.0699239229239,0.999999994331,-4.01641791343e-06,-8.87921477259e-05,-5.86304281542e-05,1793239602413915904
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,716,679,661.836273385,635.163726615,880,788,805,652,631,653.836273385,0.417555068992,-0.0155115859172,0.0699492845785,0.999999997148,-7.20074868906e-06,-4.9588414143e-05,-5.65155075929e-05,1793239602430582528
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744.579536843,715.579536843,679,662,635.420463157,880,788,804.579536843,652,631,653.579536843,0.418379684728,-0.0155134096395,0.0699730290683,0.999999998288,-1.17674693071e-05,-1.50123010124e-05,-5.53188177461e-05,1793239602447248896
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.996864967,744.003135033,715,679.003135033,662,636,880,788,804,652,631,653,0.419209285355,-0.0155156115257,0.0699961171052,0.999999998215,-1.69126493565e-05,1.77523966972e-05,-5.4481101736e-05,1793239602463915264
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.422455912,744.577544088,715,679.577544088,662,636,880,788,804,652,631,653,0.420063571245,-0.0155197642153,0.0700133013652,0.999999997007,-3.02585859421e-05,4.58439651677e-05,-5.44878808421e-05,1793239602480581888
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.151831338,745,715,679.848168662,662,636,880.151831338,788.151831338,804.151831338,651.848168662,631.151831338,653,0.420917981862,-0.0155233139444,0.0700257086407,0.999999995709,-3.90017460117e-05,6.39896562842e-05,-5.44642477649e-05,1793239602497248768
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.72577985,745,715,679.27422015,662,636,880.72577985,788.72577985,804.72577985,651.27422015,631.72577985,653,0.421772739098,-0.0155251873396,0.0700248350772,0.999999996428,-3.49483953296e-05,5.44840969688e-05,-5.43560637214e-05,1793239602513915648
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.691441811,789,805,651,631.691441811,652.691441811,0.422576651516,-0.0155235075379,0.0699928105464,0.999999997803,-3.26194512378e-05,-2.07132757478e-06,-5.76721063549e-05,1793239602530582528
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.100585033,789,805,651,631.100585033,652.100585033,0.423334046322,-0.0155185769315,0.0699322861269,0.999999992268,-3.18681587644e-05,-0.000101672476947,-6.41209591227e-05,1793239602547249152
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.480592736,662,635.519407264,880,788.519407264,804.519407264,651.480592736,631,652.480592736,0.424153138199,-0.0155156676868,0.0698924622799,0.999999985536,-4.12411560216e-05,-0.000149224897951,-7.04196912399e-05,1793239602563915520
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.059268437,880,788,804.059268437,652,631,653,0.424993283929,-0.0155141881874,0.0698666077148,0.999999980778,-5.11905442059e-05,-0.00017363970721,-7.53164288832e-05,1793239602580581888
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.633458836,880,788,804.633458836,652,631,653,0.425906374026,-0.0155215273086,0.0699252202382,0.999999992478,-4.81016827205e-05,-8.98094656461e-05,-6.8300275234e-05,1793239602597248768
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.213159249,745,715,680,662.213159249,635.786840751,880.213159249,788.213159249,804.786840751,652,631.213159249,653,0.426810734322,-0.0155265262829,0.0699751770162,0.999999996712,-4.66447485423e-05,-2.15265771403e-05,-6.27494936645e-05,1793239602613915392
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.802585869,745,715,680,662.802585869,635.197414131,880.802585869,788.802585869,804.197414131,652,631.802585869,653,0.427699684772,-0.0155273944439,0.0700098547232,0.999999996871,-4.80684828381e-05,1.93122153955e-05,-5.97853787441e-05,1793239602630582016
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.61472116,745,715.38527884,680,662.61472116,635.38527884,881,788.61472116,804,652,631.61472116,653,0.428587303072,-0.0155298923077,0.0700337096148,0.999999995189,-5.12894147464e-05,6.01120604314e-05,-5.81275180636e-05,1793239602647248640
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.035419215,745,715.964580785,680,662.035419215,635.964580785,881,788.035419215,804,652,631.035419215,653,0.429474250488,-0.0155332108757,0.0700521142288,0.999999991743,-5.54153998079e-05,0.000100892290546,-5.712747581e-05,1793239602663915008
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.459507405,745,715.459507405,680,662.540492595,636,881,788,804.540492595,652,631,653,0.430272111547,-0.015532073766,0.0700267063107,0.999999995101,-5.58858760975e-05,5.57769165599e-05,-5.96902922397e-05,1793239602680582400
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.116041867,745,715,680,662.883958133,636,881.116041867,788,805,652,631.116041867,653,0.431052211244,-0.0155295513381,0.0699898528602,0.999999996477,-5.47131403369e-05,-7.61249788689e-06,-6.32004871268e-05,1793239602697249792
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.691030318,745,715,680,662.308969682,636,881.691030318,788,805,652,631.691030318,653,0.431785009622,-0.0155226975766,0.0699190166631,0.999999989092,-4.79830053803e-05,-0.000121152478431,-6.95399157667e-05,1793239602713915904
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.72615451,881.72615451,788,804.72615451,651.72615451,631.72615451,653,0.432579134057,-0.0155185190617,0.0698956636816,0.999999984575,-4.65564225157e-05,-0.000153188503296,-7.22171274233e-05,1793239602730582272
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.134248853,881.134248853,788,804.134248853,651.134248853,631.134248853,653,0.433444486256,-0.0155174477338,0.0699274604742,0.999999992089,-5.12896947452e-05,-9.05610834931e-05,-7.06408275379e-05,1793239602747248896
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.55337998,745,715,680,662,635,881,788,804.44662002,651,631.44662002,653,0.434288455368,-0.0155229994696,0.0699789555364,0.999999996259,-5.51821700678e-05,-1.00428647999e-05,-6.58557407049e-05,1793239602763915520
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.024186578,745,715,680,662,635.024186578,881,788,805,651,632,653,0.435122818173,-0.0155301787401,0.0700338606535,0.99999999384,-5.86754562434e-05,7.23363194349e-05,-6.03697230865e-05,1793239602780581888
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.600275589,745,715,680,662,635.600275589,881,788,805,651,632,653,0.43588110966,-0.0155301639747,0.0700347263635,0.999999993458,-5.86877831795e-05,7.74266293798e-05,-6.03677637488e-05,1793239602797248768
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715.176194787,680,662,636,881,788,805,651.176194787,632,653,0.43662826528,-0.0155314178918,0.0700294554154,0.999999993408,-6.21592209248e-05,7.50589934253e-05,-6.07181442867e-05,1793239602813915392
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715.751729072,680,662,636,881,788,805,651.751729072,632,653,0.43735018179,-0.0155355472349,0.0700102759405,0.999999993831,-7.34706157878e-05,5.57881761284e-05,-6.18670911667e-05,1793239602830582528
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715.665239896,680,662,635.665239896,881,788,805,651.665239896,631.665239896,653,0.438034373463,-0.0155359497335,0.069977795258,0.999999994591,-7.99538125619e-05,1.30142576971e-05,-6.52318152868e-05,1793239602847249152
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715.076521654,680,662,635.076521654,881,788,805,651.076521654,631.076521654,653,0.438689946013,-0.0155335249459,0.0699352239177,0.999999992972,-8.27742059549e-05,-4.75897529685e-05,-7.02774881856e-05,1793239602863915520
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.49562503,662,635,880.49562503,788,804.49562503,651,631,653,0.439280830798,-0.0155325146504,0.0698812216187,0.99999998395,-8.03882029395e-05,-0.000142056042584,-7.38835896076e-05,1793239602880582144
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.083437353,662.083437353,635,880,788,804.083437353,651,631.083437353,653,0.439868619628,-0.0155328966527,0.0698331673999,0.999999968105,-8.01411025036e-05,-0.000226822680155,-7.6934743223e-05,1793239602897248768
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.658576484,662.658576484,635,880,788,804.658576484,651,631.658576484,653,0.440495115829,-0.0155402382143,0.0698302296516,0.999999967021,-9.70825053241e-05,-0.000224615639281,-7.79829800187e-05,1793239602913915136
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.76139597,635,880.23860403,788,805,651,631.76139597,653,0.441124972153,-0.015550095155,0.0698434509122,0.999999970118,-0.000112525576832,-0.000202836093812,-7.71994225614e-05,1793239602930581760
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.174227094,635,880.825772906,788,805,651,631.174227094,653,0.441759737208,-0.0155636266902,0.0698802780708,0.999999977748,-0.000125779812437,-0.000152464042132,-7.37398873587e-05,1793239602947248384
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.592768539,805,651,631,653,0.442315138828,-0.0155791580604,0.0698814377007,0.999999974104,-0.000145032266853,-0.000160613413954,-7.0435736413e-05,1793239602963915264
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.013719298,805,651,631,653,0.442837055646,-0.0155955331938,0.0698675486002,0.999999965116,-0.000166815469428,-0.000193453958098,-6.71971448571e-05,1793239602980582400
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.436859619,745,714.436859619,679.436859619,661.436859619,635,881,787.563140381,805,651.563140381,631,653,0.443298908566,-0.0156092426021,0.0698284445437,0.999999948681,-0.000180492414051,-0.00025601451974,-6.72102537564e-05,1793239602997249024
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.139863561,745,714.139863561,679.139863561,661.139863561,634.860136439,881,787.860136439,805,651.860136439,631,653,0.443754739386,-0.0156196689591,0.069790601068,0.999999929473,-0.000192185358575,-0.00031537307496,-6.82522525325e-05,1793239603013915904
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.716326482,745,714.716326482,679.716326482,661.716326482,634.283673518,881,787.283673518,805,651.283673518,631,653,0.444196321651,-0.0156200488529,0.0697586027811,0.99999991203,-0.000198299116925,-0.000362484791835,-7.22597130006e-05,1793239603030582272
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.70086384,634.29913616,881,787,805,651,631,653,0.444621751723,-0.0156224861298,0.0697371733074,0.999999898978,-0.000204232040465,-0.000393360673815,-7.48438559929e-05,1793239603047248896
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.111905043,634.888094957,881,787,805,651,631,653,0.445031532473,-0.0156269167339,0.0697259835916,0.999999891622,-0.00020998975937,-0.000408506217021,-7.60489959859e-05,1793239603063915264
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.53050307,745,715,680.46949693,661,634.53050307,881,787,805,651,631,653,0.445444548181,-0.0156320372213,0.0697228186515,0.999999890638,-0.000217169204935,-0.000407180438663,-7.59263752474e-05,1793239603080582144
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.048469513,745,715,681,661,634,880.951530487,786.951530487,805.048469513,651,631,653,0.445851405852,-0.0156372432417,0.0697212225689,0.999999890387,-0.00022458253092,-0.000403835102097,-7.55431716546e-05,1793239603097248768
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,880.198652174,786,806,651,631,653,0.446498179464,-0.0156455499628,0.0697077638833,0.999999871487,-0.000236507091905,-0.000441963826632,-7.58855454394e-05,1793239603130582016
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,880.789639122,786,806,651,631,653,0.446778121333,-0.0156485710325,0.0696923857781,0.999999856116,-0.000240611897959,-0.000473376094303,-7.60813881685e-05,1793239603147248640
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+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.949896473,715,680.050103527,661,634,881,786.949896473,805.050103527,651,631,653,0.447313140078,-0.0156493109819,0.0696579358142,0.999999828758,-0.000244888263525,-0.000525714224622,-7.83534006659e-05,1793239603180582400
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745.476683649,715,680,661,634,880.476683649,785.953367299,805,651,631,653,0.447549395492,-0.0156520951848,0.0696561145253,0.999999826286,-0.00024649828146,-0.000529667564501,-7.82249471632e-05,1793239603197249024
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634,880.097018417,785,805,651,631,653,0.44777929805,-0.0156553087737,0.0696568613731,0.999999825628,-0.00024883150486,-0.000529870356101,-7.78670675272e-05,1793239603213915392
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634,880.674164744,785,805,651,631,653,0.447991182765,-0.0156592431641,0.069662891414,0.999999828633,-0.000254791858076,-0.000521418048982,-7.70636145361e-05,1793239603230582016
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.741392375,745.258607625,715,680,660.741392375,634,881,785,805,651,631,653,0.448185521173,-0.0156645225032,0.0696661885399,0.999999830208,-0.000260437380735,-0.00051566142648,-7.64783509071e-05,1793239603247248640
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680.839160865,660.160839135,633,880.839160865,785,805,651,631,653,0.448856733019,-0.0156768853621,0.0696505169513,0.999999813055,-0.000273204366018,-0.000541696179739,-7.62590279886e-05,1793239603330582016
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680.268337348,660.731662652,633,880.268337348,785,805,651,631,653,0.448946238129,-0.0156776635333,0.0696508103467,0.999999812074,-0.00027349032922,-0.000543472215499,-7.54479613682e-05,1793239603347248640
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765.815764306,745.815764306,715,680.815764306,660,633,880.815764306,784,805.815764306,651,630.815764306,653,0.449344246393,-0.0156757573336,0.069635658889,0.999999802481,-0.000265398596527,-0.000565292625521,-7.10310909906e-05,1793239603647248896
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+256,4.266666667,HOLD_POSE2,765,745,715,680.69325189,660,633,881,784,805.30674811,651,630,652.30674811,0.449351928412,-0.01567316728,0.0696364561346,0.999999804458,-0.000261953019154,-0.000563557335931,-6.97641586141e-05,1793239604052795648
+257,4.283333333,HOLD_POSE2,765,745,715,680.1191354,660,633,881,784,805.8808646,651,630,652.8808646,0.449353486917,-0.0156735260732,0.069636855932,0.999999805126,-0.000262251164957,-0.000562281619639,-6.93634361332e-05,1793239604069462016
+258,4.300000000,HOLD_POSE2,765,745,714.529292657,680,660,633,881,784,805.529292657,651,630.470707343,653,0.449352650789,-0.0156735763994,0.0696358624518,0.999999803955,-0.000263277341954,-0.000563877970939,-6.94079188617e-05,1793239604086128640
+259,4.316666667,HOLD_POSE2,765.062838725,745,714.062838725,680,660,633,881,784,805.062838725,651,631,653,0.449351244933,-0.0156734768404,0.0696346708187,0.999999802466,-0.000264197468083,-0.000566068376327,-6.95249939424e-05,1793239604102795264
+260,4.333333333,HOLD_POSE2,765.639998303,745,714.639998303,680,660,633,881,784,805.639998303,651,631,653,0.449350308067,-0.0156728115985,0.0696348433631,0.999999802372,-0.000262689305655,-0.000566965685738,-6.92820759004e-05,1793239604119462400
+261,4.350000000,HOLD_POSE2,765.784208621,745.215791379,715,680,660,633,880.784208621,784,805.784208621,651,630.784208621,652.784208621,0.449350579572,-0.0156728481558,0.0696354652185,0.99999980284,-0.000262048457723,-0.000566473019653,-6.89899807161e-05,1793239604136129280
+262,4.366666667,HOLD_POSE2,765.210680973,745.789319027,715,680,660,633,880.210680973,784,805.210680973,651,630.210680973,652.210680973,0.449352854297,-0.015674048147,0.0696368319363,0.999999804237,-0.000262845433142,-0.00056367606936,-6.86163603003e-05,1793239604152796160
+263,4.383333333,HOLD_POSE2,765,745.627452311,715,680,659.627452311,633,880.372547689,784.372547689,805,651,630.372547689,652.372547689,0.449353496215,-0.0156736783192,0.0696370134671,0.999999804478,-0.000262708427576,-0.000563296543667,-6.87333898526e-05,1793239604169462528
+264,4.400000000,HOLD_POSE2,765,745.038590858,715,680,659.038590858,633,880.961409142,784.961409142,805,651,630.961409142,652.961409142,0.44935319007,-0.0156723970018,0.0696365068386,0.999999804052,-0.0002620291212,-0.000564320656028,-6.9135307302e-05,1793239604186128896
+265,4.416666667,HOLD_POSE2,765.541679422,745.541679422,715,680.541679422,659.541679422,633,881,784.458320578,805,651,630.458320578,653,0.449353180345,-0.0156734697592,0.0696355278081,0.999999803753,-0.000261954456229,-0.000564888913358,-6.90994883898e-05,1793239604202795520
+266,4.433333333,HOLD_POSE2,765.879195079,745.879195079,715,681,660,633,881,784,805,651,630.120804921,653,0.449352978101,-0.0156741409459,0.069634754016,0.999999803366,-0.000262001838757,-0.000565549084333,-6.91119876284e-05,1793239604219462144
+267,4.450000000,HOLD_POSE2,765.302117561,745.302117561,715,681,660,633,881,784,805,651,630.697882439,653,0.449351970208,-0.0156726718807,0.0696348805257,0.999999802615,-0.000262350030076,-0.000566677154048,-6.94229287361e-05,1793239604236128768
+268,4.466666667,HOLD_POSE2,765,745.273651694,715,680.726348306,660.273651694,633,881,784,805,651.273651694,631,653,0.449351830046,-0.0156719077804,0.0696354872505,0.999999802875,-0.00026190094555,-0.000566419228955,-6.94770658852e-05,1793239604252795392
+269,4.483333333,HOLD_POSE2,765,745.847983434,715,680.152016566,660.847983434,633,881,784,805,651.847983434,631,653,0.449352643319,-0.0156719182739,0.0696366216208,0.999999804244,-0.000260575838884,-0.000564638415426,-6.92490347424e-05,1793239604269462272
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633,881,784,805,651,631,653,0.4493532894,-0.0156739643292,0.069636416364,0.999999803849,-0.000263284874912,-0.00056411128245,-6.90071046398e-05,1793239604302085632
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633,880.422765487,784,805,651,631,652.422765487,0.449354062292,-0.0156735718177,0.0696368450536,0.999999804266,-0.000263301426188,-0.000563392924034,-6.87708071164e-05,1793239604318752512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.154295785,745,715,681,660,633,880.154295785,784,805,651,631,652.154295785,0.449354602607,-0.0156729020325,0.069636969992,0.999999804574,-0.000262812679821,-0.000563079157625,-6.87271992721e-05,1793239604335419136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.730883045,745,715,681,660,633,880.730883045,784,805,651,631,652.730883045,0.449354506386,-0.015671473378,0.0696362635951,0.999999804584,-0.0002609409865,-0.000563872717188,-6.92109629316e-05,1793239604352084736
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.687910102,745,714.687910102,681,660,633,881,784,805,651,631,653,0.449354462149,-0.0156710692524,0.0696359483523,0.999999804491,-0.000260441897964,-0.000564226354732,-6.95419854946e-05,1793239604368750848
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.102659931,745,714.102659931,681,660,633,881,784,805,651,631,653,0.449354463411,-0.0156715618575,0.0696359754716,0.999999804312,-0.000261144197667,-0.000564194945422,-6.97393196275e-05,1793239604385417472
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.478035535,714.478035535,680.521964465,660,633,881,784,805,651,630.521964465,653,0.449353219427,-0.0156728546306,0.0696351998685,0.999999803247,-0.000263907971268,-0.000564849389432,-6.93035895979e-05,1793239604402084352
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.942506522,715,680.057493478,659.942506522,633,880.942506522,784,805,651,630,653,0.449351881394,-0.0156740518154,0.0696343843062,0.999999802214,-0.000266459130278,-0.000565544136242,-6.87810172556e-05,1793239604418750976
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.365475869,715,680.634524131,659.365475869,633,880.365475869,784,805,651,630,653,0.449352087231,-0.0156728470611,0.0696347507243,0.99999980325,-0.000263126242558,-0.000565284663803,-6.86906356231e-05,1793239604435417856
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.788561291,659.211438709,633,880.211438709,784,805,651,630,653,0.449345616174,-0.0156715830042,0.0696317176773,0.999999800982,-0.000260900407543,-0.000570262726017,-6.90435080252e-05,1793239604452084736
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.211847299,659.788152701,633,880.788152701,784,805,651,630,653,0.449327610311,-0.0156702164979,0.0696228118143,0.999999792889,-0.000260587084474,-0.000584288998727,-7.0162133038e-05,1793239604468751104
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.372424977,745,715,680.372424977,660,633,880.627575023,784,805,651,630.372424977,653,0.449294633832,-0.0156684898016,0.0696082312237,0.999999777936,-0.000260835920655,-0.000609125029711,-7.11312570459e-05,1793239604485417472
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.961085767,745,715,680.961085767,660,633,880.038914233,784,805,651,630.961085767,653,0.449252965174,-0.0156665539733,0.069590355796,0.999999758287,-0.000261411155142,-0.00064023737766,-7.20135784688e-05,1793239604502084096
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.458361684,745,715,681,660.541638316,633,880.541638316,784,805,651,630.458361684,653,0.449183269559,-0.0156625461114,0.0695700219337,0.999999734779,-0.000257494544893,-0.00067737060602,-7.28546178031e-05,1793239604518750720
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.119957084,715,680.880042916,660.880042916,633,881,784,805,651,630,653,0.449109847375,-0.0156585079357,0.0695516527521,0.999999713153,-0.000253768024665,-0.000709852942081,-7.35140846118e-05,1793239604535417344
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.692020278,715,680.307979722,660.307979722,633,881,784,805,651,630,653,0.449029857262,-0.0156549082958,0.0695413441194,0.999999704049,-0.000251956288514,-0.000723200272542,-7.35002369254e-05,1793239604552084224
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.727688006,715,680,660,633,881,784,805,651,630.272311994,652.727688006,0.448945898082,-0.0156515877366,0.0695359347526,0.999999699186,-0.000251858173036,-0.000729989022218,-7.28769035041e-05,1793239604568751360
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.13780005,715,680,660,633,881,784,805,651,630.86219995,652.13780005,0.448857310097,-0.0156485926471,0.069536239013,0.99999969943,-0.0002537585181,-0.000729129016647,-7.15427750393e-05,1793239604585418496
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.443807032,715,680,659.556192968,633,881,784,805,651,631,652.443807032,0.448745520055,-0.0156417283901,0.0695362662544,0.999999700279,-0.000249553051728,-0.000729609093868,-6.953328969e-05,1793239604602085120
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.977106164,715,680,659.022893836,633,880.977106164,784,805,651,631,653,0.448625218001,-0.0156337944113,0.0695361365348,0.999999701143,-0.000243693133456,-0.00073061340454,-6.73157538204e-05,1793239604618751744
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.397926832,715,680,659.602073168,633,880.397926832,784,805,651,631,653,0.448469930026,-0.0156285243139,0.0695342446059,0.999999698701,-0.000242854465649,-0.000734430639314,-6.50448508817e-05,1793239604635418368
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.179344097,715,680,660,633,880.179344097,784.179344097,805,651.179344097,631,653,0.448306115131,-0.0156219381353,0.0695321259741,0.999999695864,-0.00023996528062,-0.000739436935391,-6.26205270325e-05,1793239604652084736
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.75242519,715,680,660,633,880.75242519,784.75242519,805,651.75242519,631,653,0.448123580021,-0.0156124625963,0.0695295096327,0.999999692118,-0.000232574333405,-0.00074705372905,-5.9859378965e-05,1793239604668751104
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.664331069,715,680,660,633.335668931,881,785,805,651.664331069,630.664331069,653,0.44792708101,-0.0156034993975,0.069529573986,0.999999692088,-0.000225065186505,-0.000749627441156,-5.68127748849e-05,1793239604685417728
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.073357721,715,680,660,633.926642279,881,785,805,651.073357721,630.073357721,653,0.44771996126,-0.0155949258755,0.0695316772326,0.999999694895,-0.000217466138038,-0.000748365466952,-5.35490572387e-05,1793239604702084608
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.507138005,633.492861995,881.507138005,785,805,651,630,653,0.447472758259,-0.0155820377626,0.0695332036523,0.999999697223,-0.000202340233821,-0.000749796497185,-4.9162182954e-05,1793239604718751232
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.914600789,633,881.914600789,785,805,651,630.085399211,653,0.447213973405,-0.0155687965791,0.0695349712788,0.999999700144,-0.00018603207055,-0.000750416884365,-4.44720260024e-05,1793239604735418368
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.340627886,633,881.340627886,785,805,651,630.659372114,653,0.446921427586,-0.0155570337315,0.0695385865557,0.999999708021,-0.000169062918146,-0.000744216045953,-3.89574274279e-05,1793239604752084736
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,633,881,785,804.765316698,651,631,653,0.4466143131,-0.0155455612095,0.0695411686344,0.999999716936,-0.000142050544494,-0.000738118950842,-3.36013367427e-05,1793239604768751104
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.985116565,745.985116565,715,680,660,633.985116565,880.014883435,785,804.985116565,651,631,653,0.445615461944,-0.0155135009791,0.0695678310535,0.999999762496,-5.97075855952e-05,-0.000686425477158,-1.62188861518e-05,1793239604818750976
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,634,881,786,805.719549497,651.280450503,631,652.280450503,0.444340423331,-0.0155202879458,0.0696031563578,0.999999800823,-4.37495688605e-05,-0.000629626728992,-3.0550116292e-06,1793239604868751360
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.567119731,635,881.134239463,787,804.432880269,651,631.567119731,652.432880269,0.434959133997,-0.0153797537796,0.0698211940803,0.999999953074,0.00013934838705,-0.00027263637444,1.02086053389e-05,1793239605118750720
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,744.987453192,715,680,661,635,880,787,805,651,631.012546808,653,0.434174696455,-0.0153893317937,0.0698460505932,0.99999996027,0.000135931089615,-0.00024653613576,1.42393810288e-05,1793239605135417600
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.770675481,661.229324519,635.229324519,880,787.229324519,804,652,631.770675481,653,0.426492059618,-0.0153845735081,0.0698618796798,0.999999959635,0.00016357951349,-0.00023133805801,2.1310480526e-05,1793239605285417472
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.183598147,661.816401853,635.816401853,880,787.816401853,804,652,631.183598147,653,0.425616810622,-0.0153841132352,0.0698731388881,0.999999962308,0.000166625828769,-0.000216938145238,2.35942223247e-05,1793239605302084352
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.397872907,662,636,880,788,804,651.602127093,631,653,0.424725354697,-0.0153824055308,0.0698584791944,0.999999956564,0.000170592532674,-0.000239312329796,2.23755311575e-05,1793239605318750976
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.976792858,662,636,880,788,804,651.023207142,631,653,0.423826524064,-0.0153801301985,0.0698320254307,0.999999945741,0.000174978047413,-0.00027842010378,1.95631019086e-05,1793239605335417856
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.878458971,745,715,679,661.878458971,635,880.121541029,788,804.121541029,651.878458971,632,653,0.419443936666,-0.0153777251047,0.0698030399722,0.999999931497,0.000172736947418,-0.000326950993895,1.6479687613e-05,1793239605418751232
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.936018821,635.936018821,880,788,804.936018821,651.063981179,632,653,0.413722639285,-0.0153621489046,0.0697501715384,0.999999891574,0.000213504186169,-0.000413572833197,1.50248402879e-05,1793239605535417600
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.821915866,745,715,678.178084134,661,635.178084134,879,788,804,652,632,652.821915866,0.401619334668,-0.0153468964308,0.0698105230635,0.999999923145,0.000231683600279,-0.000316097688217,1.06808811708e-05,1793239606002084352
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.24592889,745,715,678.75407111,661,635.75407111,879,788,804,652,632,652.24592889,0.401506237536,-0.0153465149497,0.0698116761135,0.999999924648,0.000231408820008,-0.000311533942188,1.00494914826e-05,1793239606018750976
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.338428221,745,715.338428221,679,661,636,879.338428221,788,804,652,631.661571779,652.338428221,0.401409219065,-0.0153472929093,0.0698124096707,0.99999992686,0.000228015002023,-0.000306935368656,8.96248670048e-06,1793239606035417856
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715.491183217,678.491183217,661,636,879.491183217,788,804,652,631.508816783,653,0.401251194062,-0.0153478634641,0.0698137921699,0.99999992819,0.00022790534329,-0.000302702837217,7.11231524832e-06,1793239606068751360
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.837523541,744.162476459,715.837523541,678.837523541,661.837523541,636,879.837523541,788.837523541,803.837523541,652,631,653,0.400967489972,-0.0153547402252,0.0698230767467,0.999999932065,0.000233420765472,-0.00028517993826,7.59595104517e-06,1793239606518751488
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.259947898,744.740052102,715.259947898,678.259947898,661.259947898,636,879.259947898,788.259947898,803.259947898,652,631,653,0.400968809113,-0.0153543481713,0.0698242992997,0.999999932428,0.000234254348583,-0.000283212722686,7.68044355198e-06,1793239606535417600
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.323420004,745,715.323420004,678.323420004,661,635.676579996,879.323420004,788,803.323420004,652,631.323420004,652.676579996,0.40096976171,-0.0153547168403,0.0698250377301,0.99999993281,0.000233780735672,-0.000282251371701,7.8112259434e-06,1793239606552084224
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.351203558,636,879.648796442,788,804.648796442,652,632,653,0.400968070958,-0.015355400596,0.0698247846718,0.999999932818,0.000233457148363,-0.000282494872905,7.66485136962e-06,1793239606618751232
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+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.8147522,679,661,635.1852478,879.1852478,788,805,652,632,653,0.400967890229,-0.0153547780024,0.0698266049366,0.999999932562,0.00023492558399,-0.000282178171354,7.81809412341e-06,1793239606652085248
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6d1e4fa04d09234648ad3ceae5e50c99beb81c2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,416 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.575689948196,-0.00990914544823,1.06003250353,0.546260397691,-0.00123741334953,1.05970062506
+384,6.400000000,pose2_to_pose3_retreat,0.575681838377,-0.00990925330805,1.0600323857,0.546252289747,-0.00123751448391,1.05970051679
+385,6.416666667,pose2_to_pose3_retreat,0.575676916669,-0.00990934858743,1.06003230785,0.546247369523,-0.00123760463292,1.05970044146
+386,6.433333333,pose2_to_pose3_retreat,0.575673597844,-0.00990944475898,1.06003224857,0.546244052069,-0.00123769622224,1.05970038035
+387,6.450000000,pose2_to_pose3_retreat,0.575671444923,-0.00990946624148,1.0600322307,0.5462418994,-0.00123771689331,1.05970036133
+388,6.466666667,pose2_to_pose3_retreat,0.575669969163,-0.00990935650197,1.06003228107,0.546240421873,-0.00123761317344,1.05970041105
+389,6.483333333,pose2_to_pose3_retreat,0.575668974619,-0.00990928254631,1.06003231501,0.546239426137,-0.00123754327454,1.05970044455
+390,6.500000000,pose2_to_pose3_retreat,0.575668297466,-0.0099092321923,1.06003233812,0.546238748173,-0.00123749568263,1.05970046737
+391,6.516666667,pose2_to_pose3_retreat,0.575667852394,-0.00990919909615,1.06003235332,0.546238302568,-0.00123746440194,1.05970048236
+392,6.533333333,pose2_to_pose3_retreat,0.575667600957,-0.00990918498482,1.06003235894,0.54623805091,-0.00123745105663,1.05970048763
+393,6.550000000,pose2_to_pose3_retreat,0.575667337324,-0.00990919208396,1.06003235072,0.546237787423,-0.00123745771957,1.05970047787
+394,6.566666667,pose2_to_pose3_retreat,0.575667100619,-0.00990919845797,1.06003234335,0.546237550849,-0.00123746370192,1.05970046911
+395,6.583333333,pose2_to_pose3_retreat,0.575667062518,-0.00990919948395,1.06003234216,0.546237512769,-0.00123746466486,1.0597004677
+396,6.600000000,pose2_to_pose3_retreat,0.5756669945,-0.00990920131556,1.06003234004,0.546237444788,-0.00123746638393,1.05970046518
+397,6.616666667,pose2_to_pose3_retreat,0.575666929907,-0.00990920305492,1.06003233803,0.546237380231,-0.00123746801642,1.05970046279
+398,6.633333333,pose2_to_pose3_retreat,0.575666827053,-0.00990920582458,1.06003233482,0.546237277434,-0.00123747061589,1.05970045898
+399,6.650000000,pose2_to_pose3_retreat,0.575666691275,-0.00990920948082,1.06003233059,0.546237141731,-0.00123747404747,1.05970045395
+400,6.666666667,pose2_to_pose3_retreat,0.575666599395,-0.00990921195497,1.06003232772,0.546237049902,-0.0012374763696,1.05970045055
+401,6.683333333,pose2_to_pose3_retreat,0.575666445548,-0.00990921609777,1.06003232293,0.546236896141,-0.00123748025784,1.05970044485
+402,6.700000000,pose2_to_pose3_retreat,0.575666357732,-0.00990921846247,1.06003232019,0.546236808374,-0.00123748247724,1.0597004416
+403,6.716666667,pose2_to_pose3_retreat,0.575666151025,-0.0099092240287,1.06003231375,0.546236601781,-0.00123748770146,1.05970043395
+404,6.733333333,pose2_to_pose3_retreat,0.575665891824,-0.00990923100849,1.06003230567,0.546236342724,-0.00123749425237,1.05970042435
+405,6.750000000,pose2_to_pose3_retreat,0.575665650953,-0.00990923749469,1.06003229816,0.546236101986,-0.00123750034002,1.05970041543
+406,6.766666667,pose2_to_pose3_retreat,0.575665527424,-0.00990924082107,1.06003229431,0.546235978526,-0.00123750346202,1.05970041086
+407,6.783333333,pose2_to_pose3_retreat,0.575665440235,-0.00990924949695,1.06003229058,0.546235891454,-0.00123751173485,1.05970040731
+408,6.800000000,pose2_to_pose3_retreat,0.575665251015,-0.00990929462325,1.06003227828,0.546235702771,-0.00123755491099,1.05970039828
+409,6.816666667,pose2_to_pose3_retreat,0.575664999778,-0.00990935453942,1.06003226194,0.546235452247,-0.00123761223786,1.05970038628
+410,6.833333333,pose2_to_pose3_retreat,0.575664766145,-0.0099094102573,1.06003224675,0.546235219278,-0.00123766554786,1.05970037513
+411,6.850000000,pose2_to_pose3_retreat,0.57566456722,-0.00990938131792,1.06003229862,0.546235020185,-0.00123763706966,1.05970042984
+412,6.866666667,pose2_to_pose3_retreat,0.575664468245,-0.00990928684774,1.06003239236,0.546234920359,-0.00123754546165,1.05970052437
+413,6.883333333,pose2_to_pose3_retreat,0.575664394818,-0.00990925306655,1.06003246387,0.546234846625,-0.00123751271565,1.059700596
+414,6.900000000,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632643,1.05970060642
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..752e6100a82303434addd00f0b456801207d215f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e1e18f204e53cbea82df02b680881732713514703ad23881eb9401b14b46de
+size 26468722
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e6a3e55c130bdc93ff1c1d6f8eefc0314b53553
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
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+39,0.650000000,BASELINE,765.364480804,744.635519196,715,679,661.635519196,635.635519196,879.364480804,788.635519196,804,652,631.635519196,653,0.400968243661,-0.0153559716703,0.0698274568431,0.999999933642,0.000234689574877,-0.000278540035505,7.23244769904e-06,1793239607479939840
+40,0.666666667,BASELINE,765.220469958,745,715.220469958,678.779530042,662,636,879.440939915,789,804,652,631.779530042,653,0.400968091785,-0.0153558335988,0.0698272604755,0.999999933338,0.000235635938666,-0.000278833208879,7.22642029372e-06,1793239607496606720
+41,0.683333333,BASELINE,765.799561227,745,715.799561227,678.200438773,662,636,880.599122454,789,804,652,631.200438773,653,0.400967774537,-0.0153551395912,0.0698267781147,0.999999933287,0.000235327393197,-0.000279290765936,6.62362805164e-06,1793239607513273600
+42,0.700000000,BASELINE,766,745,715.623410142,678.376589858,662,636,880.246820285,788.623410142,804,652,631.376589858,653,0.400968397746,-0.0153556796505,0.0698271564428,0.999999933948,0.000233326370325,-0.00027860079804,6.58761800592e-06,1793239607529939968
+43,0.716666667,BASELINE,766,745,715.047473383,678.952526617,662,636,879.094946767,788.047473383,804,652,631.952526617,653,0.400969518783,-0.01535687296,0.0698279903745,0.999999934979,0.000230429438772,-0.000277303390657,6.85163272088e-06,1793239607546606592
+44,0.733333333,BASELINE,766,745,715.526547502,679,662,636,879,788,804,652,632,653,0.400969546568,-0.0153576209317,0.0698280713739,0.999999935248,0.0002293744107,-0.000277206703173,6.86223743902e-06,1793239607563272960
+45,0.750000000,BASELINE,766,745,715.896224308,679,661.896224308,636,879,788,804.103775692,652,632,653,0.400969449107,-0.0153580805479,0.0698280629042,0.999999935334,0.000228873384921,-0.000277313179686,6.85080579109e-06,1793239607579939584
+46,0.766666667,BASELINE,766,745,715.303059545,679,661.303059545,636,879,788,804.696940455,652,632,653,0.400969224147,-0.0153573689885,0.0698279514828,0.999999934874,0.000230204644461,-0.000277869074721,6.84280813336e-06,1793239607596606208
+47,0.783333333,BASELINE,766,745,715,678.717172186,661,636,879,788,804.717172186,652,632,653,0.400969129642,-0.0153574340445,0.0698276956804,0.999999934751,0.000230298278342,-0.000278230787088,6.89506993876e-06,1793239607613272576
+48,0.800000000,BASELINE,766,745,715,678.138887125,661,636,879,788,804.138887125,652,632,653,0.400969171419,-0.0153583103946,0.0698272890497,0.999999934982,0.000229099021615,-0.000278389645794,7.01028204089e-06,1793239607629939456
+49,0.816666667,BASELINE,766,745,715,678,661,636,879,788,804,652,631.563619391,653,0.400968077947,-0.0153574833048,0.0698267377912,0.999999934075,0.000231992782326,-0.000279252323054,6.94555984853e-06,1793239607646606336
+50,0.833333333,BASELINE,766,745,715,678,661,636,879,788,804,652,631,653,0.400966706304,-0.015356138452,0.0698261832668,0.999999932834,0.000236085141043,-0.00028026759931,6.82508165559e-06,1793239607663273216
+51,0.850000000,BASELINE,766,745,715,678,661,636,879,788,804,652,631,653,0.400969585679,-0.0153558828849,0.0698278658578,0.999999933795,0.000235163305965,-0.000277600760547,6.76355186558e-06,1793239607679939584
+52,0.866666667,BASELINE,766,744.837148437,715,678.162851563,661.162851563,636,879,788,804,652,631.162851563,653,0.400971403681,-0.0153558208846,0.0698288696531,0.999999934413,0.000234448641315,-0.000275974397658,6.74705407912e-06,1793239607696605696
+53,0.883333333,BASELINE,766,744.245187714,715,678.754812286,661.754812286,636,879,788,804,652,631.754812286,653,0.400970424997,-0.0153562689275,0.0698280848409,0.999999934144,0.000234279864813,-0.000277089658788,6.84921432433e-06,1793239607713272320
+54,0.900000000,BASELINE,766,744.339306251,715.339306251,679,661.660693749,636,879.339306251,788,804,652,632,653,0.400969643924,-0.0153570059558,0.0698279370845,0.999999934336,0.000232916749402,-0.000277539333395,6.98649122744e-06,1793239607729939456
+55,0.916666667,BASELINE,766,744.918520782,715.918520782,679,661.081479218,636,879.918520782,788,804,652,632,653,0.400969002573,-0.0153579473127,0.0698282397617,0.999999934853,0.000230709170354,-0.000277518401485,7.14859754481e-06,1793239607746606336
+56,0.933333333,BASELINE,766,745,716,679,661.490936442,636,880,788,804,652,631.509063558,653,0.400969137574,-0.0153576519923,0.0698281522129,0.999999934725,0.000231228351237,-0.000277546622974,7.17204409413e-06,1793239607763272960
+57,0.950000000,BASELINE,766,745,715.935560121,679,661.935560121,636,880,788,804.064439879,652,631.064439879,653,0.400969257009,-0.0153571667583,0.0698279267157,0.999999934445,0.000232254722889,-0.000277699370856,7.14342909583e-06,1793239607779939584
+58,0.966666667,BASELINE,766,745,715.344056745,679,661.344056745,636,880,788,804.655943255,652,631.655943255,653,0.400968209649,-0.0153567840124,0.0698270954009,0.999999933784,0.000233778553643,-0.000278804826131,6.87465003022e-06,1793239607796606464
+59,0.983333333,BASELINE,766,745,715,679,661,636,880,788,805,652,631.75849808,653,0.4009678396,-0.0153568907781,0.0698269075053,0.999999933633,0.000234196695995,-0.000278999230306,6.80256609478e-06,1793239607813273088
+60,1.000000000,BASELINE,766,745,715,679,661,636,880,788,805,652,631.181205024,653,0.400968411304,-0.0153576781744,0.0698276142379,0.999999934191,0.000233077457979,-0.000277926883289,7.00397262151e-06,1793239607829939456
+61,1.016666667,BASELINE,766,745,715,678.619419747,661.380580253,636,879.619419747,788,804.619419747,652,631.380580253,653,0.400968763677,-0.0153581825565,0.0698278561593,0.999999934511,0.000231992618829,-0.000277682144454,7.05810653984e-06,1793239607846606336
+62,1.033333333,BASELINE,766,745,715,678.064729106,661.935270894,636,879.064729106,788,804.064729106,652,631.935270894,653,0.400969015708,-0.0153585574634,0.0698278854356,0.999999934721,0.000230923516767,-0.000277816025383,7.04486519273e-06,1793239607863272704
+63,1.050000000,BASELINE,766,745,715.541959693,678,662,636,879.541959693,788,804,652,632,653,0.400968434085,-0.015358983905,0.0698270510959,0.999999934778,0.000229389282963,-0.000278885702947,6.93547189583e-06,1793239607879939328
+64,1.066666667,BASELINE,766,745,715.853075974,678,661.853075974,636,879.853075974,788,804,652,632,653,0.400968183358,-0.0153592233345,0.0698267142727,0.999999934842,0.000228637468653,-0.000279271848164,6.89809194366e-06,1793239607896606208
+65,1.083333333,BASELINE,766,745,715.273423112,678,661.273423112,636,879.273423112,788,804,652,632,653,0.40096923158,-0.0153588919133,0.0698281787953,0.999999934997,0.000230371062453,-0.000277280697771,7.11022238868e-06,1793239607913272832
+66,1.100000000,BASELINE,766,745,715,678,661.610497317,636,879.305248658,788,804,652,632,653,0.400968705381,-0.0153582739594,0.0698282617257,0.999999934686,0.000231609416682,-0.000277372343154,7.03647663568e-06,1793239607929939456
+67,1.116666667,BASELINE,766,745,715,678,662.766088824,636,879.883044412,788,804,652,632,653,0.400966773428,-0.0153574001691,0.069827111075,0.99999993396,0.000232405586707,-0.000279323652636,6.70748084755e-06,1793239607946606080
+68,1.133333333,BASELINE,766,745,715,678.45848975,662.083020501,636,880.45848975,788,804,652,632,653,0.400968549464,-0.01535724474,0.0698279930445,0.999999934297,0.000232883196663,-0.000277709654822,6.93254347796e-06,1793239607963272704
+69,1.150000000,BASELINE,766,745,715.034217102,679,661.034217102,636,880.931565797,788,804,652,631.965782898,653,0.400971037743,-0.015357311108,0.0698292436206,0.999999934845,0.000233228650598,-0.000275430832716,7.27391870952e-06,1793239607979939584
+70,1.166666667,BASELINE,766,745,715.624213324,679,661.624213324,636,879.751573352,788,804,652,631.375786676,653,0.40096980969,-0.0153580188354,0.0698281024949,0.999999934511,0.0002327406997,-0.00027705038284,7.22058481279e-06,1793239607996605952
+71,1.183333333,BASELINE,766,745,715.789691732,678.789691732,661.789691732,636,879.210308268,788.210308268,804,652,631.210308268,653,0.400968815813,-0.0153580333479,0.0698276135396,0.999999934306,0.000232490464137,-0.000278003162183,7.13143937183e-06,1793239608013272320
+72,1.200000000,BASELINE,766,745,715.210440685,678.210440685,661.210440685,636,879.789559315,788.789559315,804,652,631.789559315,653,0.400968232752,-0.0153568317568,0.0698282686836,0.999999934328,0.000232657251357,-0.000277786229031,6.97946990299e-06,1793239608029939200
+73,1.216666667,BASELINE,765.634148501,745,715.365851499,678,661,636,880,788.634148501,804,652,631.634148501,653,0.400968957736,-0.0153573536636,0.069828828637,0.99999993489,0.000231087986043,-0.000277076800592,6.83843025422e-06,1793239608046606080
+74,1.233333333,BASELINE,765.059544659,745,715.940455341,678,661,636,880,788.059544659,804,652,631.059544659,653,0.40097042908,-0.0153588589864,0.0698293342754,0.999999935753,0.000228528141111,-0.000276086357747,6.70362709451e-06,1793239608063272704
+75,1.250000000,BASELINE,765,745,716,678,661,636,878.967984046,788,804,652,631.516007977,653,0.400968257086,-0.0153583553398,0.069827343821,0.999999934727,0.000229987039981,-0.000278582051551,6.677243235e-06,1793239608079940352
+76,1.266666667,BASELINE,765.094247769,745,715.905752231,678,661,636,878.094247769,788,804,652,631.905752231,653,0.400966288492,-0.0153575264799,0.069825594403,0.999999933638,0.000232054925866,-0.000280767240999,6.65402592987e-06,1793239608096608000
+77,1.283333333,BASELINE,765.68609582,745,715.31390418,678,661,636,878.68609582,788,804,652,631.31390418,653,0.400967617582,-0.0153562068101,0.0698266411333,0.999999933421,0.000234885150485,-0.000279185216257,6.58135089598e-06,1793239608113274112
+78,1.300000000,BASELINE,766,744.72829048,715,678.27170952,661,636,879,787.72829048,804,652,631.27170952,653,0.400968363189,-0.0153557700866,0.0698271595452,0.999999933495,0.000235391514794,-0.000278493089398,6.55596667191e-06,1793239608129939968
+79,1.316666667,BASELINE,766,744.149717767,715,678.850282233,661,636,879,787.149717767,804,652,631.850282233,653,0.400968449821,-0.0153563305446,0.0698270812852,0.999999933904,0.000233273358461,-0.000278805995171,6.58399172924e-06,1793239608146606336
+80,1.333333333,BASELINE,766,744.425243126,715.425243126,679,661.425243126,636,879,787.425243126,804,652,632,652.574756874,0.400968745367,-0.0153574164413,0.0698274604413,0.999999934402,0.000231771849912,-0.000278268781344,6.71600554242e-06,1793239608163272960
+81,1.350000000,BASELINE,766,744.998943141,715.998943141,679,661.998943141,636,879,787.998943141,804,652,632,652.001056859,0.400969113848,-0.0153586857743,0.0698279992862,0.999999934929,0.000230485619477,-0.000277434781764,6.88432293637e-06,1793239608179939584
+82,1.366666667,BASELINE,766,745,716,678.429355765,661.429355765,636,879,788,804,652,632,652.570644235,0.400970116915,-0.0153580769167,0.069828573645,0.999999934998,0.000231893406813,-0.000276008586969,7.03846160083e-06,1793239608196605952
+83,1.383333333,BASELINE,766,745,715.851980014,678,661.148019986,636,879.148019986,788,804.148019986,652,632,653,0.400970342371,-0.0153577073566,0.069828751906,0.999999934972,0.000232620011877,-0.000275488268662,7.08630129991e-06,1793239608213272576
+84,1.400000000,BASELINE,766,745,715.257476098,678,661.742523902,636,879.742523902,788,804.742523902,652,632,653,0.400968218728,-0.0153580700633,0.0698277351897,0.999999934673,0.000231276917954,-0.000277703710806,6.81358232397e-06,1793239608229939712
+85,1.416666667,BASELINE,766,745,715,678.327925836,661.672074164,636,880,788,804.672074164,651.672074164,631.672074164,653,0.400968193728,-0.0153580662426,0.0698273506267,0.999999934711,0.000230842146049,-0.000277928776401,6.68916319601e-06,1793239608246606592
+86,1.433333333,BASELINE,766,745,715,678.906374176,661.093625824,636,880,788,804.093625824,651.093625824,631.093625824,653,0.400969772009,-0.0153577824094,0.069827449004,0.999999935011,0.000231101296694,-0.000276633272084,6.6780393638e-06,1793239608263273216
+87,1.450000000,BASELINE,766,745,715,678.518687493,661,636,880,788,804,651.481312507,631.481312507,653,0.400969543434,-0.0153574193365,0.0698270220042,0.999999934931,0.000230570512151,-0.000277369356623,6.38304674485e-06,1793239608279939584
+88,1.466666667,BASELINE,766,745,715,678.057123619,661,636,879.942876381,788,804,652,632,653,0.400968934877,-0.0153570745727,0.0698265517605,0.999999934733,0.000230138545997,-0.0002784476297,6.07408523092e-06,1793239608296605952
+89,1.483333333,BASELINE,766,745,715,678.647407292,661,636,879.352592708,788,804,652,632,653,0.400968036482,-0.0153570435189,0.0698266248491,0.99999993412,0.000232052686595,-0.000279057934139,6.1463951381e-06,1793239608313272832
+90,1.500000000,BASELINE,766,745,715,678.766685421,661,636,879.233314579,788,804,652,631.766685421,653,0.400968325656,-0.0153574167056,0.0698273753379,0.999999934253,0.000232355564735,-0.000278325542512,6.35401674696e-06,1793239608329939456
+91,1.516666667,BASELINE,766,745,715,678.187270152,661,636,879.812729848,788,804,652,631.187270152,653,0.40097037648,-0.0153583895458,0.0698291306874,0.999999935487,0.000230268283235,-0.00027560138487,6.7623607973e-06,1793239608346606080
+92,1.533333333,BASELINE,765.610702731,745,715.389297269,678.389297269,661,636,879.610702731,788.389297269,804,652,631.389297269,653,0.400970119173,-0.0153584223091,0.0698292342538,0.9999999356,0.000229695711493,-0.000275667573009,6.90725314473e-06,1793239608363272704
+93,1.550000000,BASELINE,765.035495259,745,715.964504741,678.964504741,661,636,879.035495259,788.964504741,804,652,631.964504741,653,0.400968759611,-0.0153580061356,0.0698285490059,0.999999935178,0.000229846494241,-0.000277066299799,6.9263332928e-06,1793239608379939584
+94,1.566666667,BASELINE,765.538859766,745,715.461140234,679,661.538859766,636,879,788.461140234,804,652,631.461140234,653,0.400969722555,-0.0153589138614,0.0698287981718,0.999999935375,0.000230009458466,-0.000276217118575,7.00898462467e-06,1793239608396606208
+95,1.583333333,BASELINE,766,745,715,679,661.883687536,636,879,788,804,652,631.116312464,653,0.400970404634,-0.0153592179677,0.0698288303478,0.999999935387,0.000230760928979,-0.000275548030087,7.0286606322e-06,1793239608413272832
+96,1.600000000,BASELINE,766,745,715,679,661.29338267,636,879,788,804,652,631.70661733,653,0.400969319683,-0.0153567074057,0.069827727821,0.999999934473,0.000233907394579,-0.000276215313698,6.77466407256e-06,1793239608429939456
+97,1.616666667,BASELINE,766,745,715.291675376,679,661,636,879.291675376,788,804,652,632,653,0.400968563684,-0.0153568491378,0.0698272032597,0.99999993423,0.000233847895253,-0.000277143478395,6.75677724068e-06,1793239608446606080
+98,1.633333333,BASELINE,766,745,715.871549113,679,661,636,879.871549113,788,804,652,632,653,0.400968132714,-0.0153596115466,0.0698272497742,0.999999934649,0.00023062064861,-0.000278329414218,6.9721855252e-06,1793239608463272960
+99,1.650000000,BASELINE,766,744.552895266,715.552895266,679,661.447104734,636,879.552895266,788,804,652,632,653,0.400969176099,-0.0153593597312,0.0698281702857,0.99999993506,0.000230058240566,-0.000277320348783,6.83963008616e-06,1793239608479939328
+100,1.666666667,BASELINE,766,744,715,679,661.978066614,636,879.021933386,788,804,652,632,653,0.400970564838,-0.0153582410096,0.0698292841699,0.999999935417,0.000230381405675,-0.000275764037654,6.62339998675e-06,1793239608496605952
+101,1.683333333,BASELINE,766,744,715,679,661.390293907,636,879.609706093,788,804,652,632,653,0.400970040149,-0.015356884462,0.0698289708963,0.999999934458,0.000233988720982,-0.000276202812763,6.80284202884e-06,1793239608513272832
+102,1.700000000,BASELINE,766,744.194784956,715,679,661.194784956,636,879.805215044,788,804,652,632,653,0.400969311678,-0.0153563496681,0.0698286390875,0.999999933952,0.000235464700118,-0.000276773726702,6.97642156216e-06,1793239608529939456
+103,1.716666667,BASELINE,766,744.774539678,715,679,661.774539678,636,879.225460322,788,804,652,632,653,0.400968180452,-0.0153574389745,0.0698282706459,0.999999934361,0.000232728341254,-0.00027760579759,7.13841450893e-06,1793239608546606080
+104,1.733333333,BASELINE,766,745,715,679,661.647623532,636,879,788,804,652,632,653,0.40096788819,-0.015357637661,0.0698280095436,0.999999934324,0.000232229049905,-0.000278160097896,6.91855467497e-06,1793239608563272704
+105,1.750000000,BASELINE,766,745,715,679,661.071007188,636,879,788,804,652,632,653,0.400968129815,-0.0153572695887,0.0698278167483,0.999999934007,0.000233153348643,-0.000278537634944,6.45569730224e-06,1793239608579939328
+106,1.766666667,BASELINE,766,745,715.503501173,678.496498827,661,636,879,788,804,652,632,653,0.40096777942,-0.015357559369,0.0698276130402,0.999999934149,0.000232540025559,-0.000278535117845,6.68582071278e-06,1793239608596605952
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635,879,788,804,652,632,653,0.400966546043,-0.0153612796117,0.0698269877034,0.999999935414,0.000227103324814,-0.000278464617501,7.28373553419e-06,1793239608639206144
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.579376536,745,715,678,661,635,879.579376536,788,804.579376536,652,632,653,0.400968779626,-0.0153593188182,0.069828657541,0.999999935036,0.000231170586402,-0.000276476648531,6.94471595424e-06,1793239608655872768
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,678.156610795,661,635.156610795,879.843389205,788,804.843389205,652,632,653,0.400970170211,-0.0153578290086,0.0698298348322,0.999999934854,0.000233569497812,-0.00027512201189,6.72823892285e-06,1793239608672539648
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,678.728169119,661,635.728169119,879.271830881,788,804.271830881,652,632,653,0.400969327233,-0.0153575870919,0.0698297070998,0.999999935234,0.000231548039363,-0.000275445418053,6.83644395354e-06,1793239608689206272
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.3103188,679,661.3103188,636,879,788,804,652,631.6896812,653,0.400969055764,-0.0153584478207,0.0698294720342,0.999999935494,0.000229883658749,-0.000275887372647,7.14187367267e-06,1793239608705872896
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715.902074032,679,661.902074032,636,879,788,804,652,631.097925968,653,0.400969302613,-0.0153603085681,0.0698291396252,0.999999935646,0.000228543121711,-0.000276436841969,7.62617173888e-06,1793239608722539520
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.516520816,678.516520816,661.516520816,636,879,788,804,652,631.483479184,653,0.400969798444,-0.0153594856832,0.0698292508518,0.999999935897,0.000227488978997,-0.000276417848233,6.97710104425e-06,1793239608739206144
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.937870314,745,715,678.062129686,661,636,879,788,804,652,631.937870314,653,0.400970184642,-0.0153582249914,0.0698293863065,0.999999936025,0.000226935698999,-0.000276427966162,6.21718164355e-06,1793239608755872768
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.36499264,745,715,678.63500736,661,636,879,788,804,652,631.36499264,653,0.400969263702,-0.0153577399639,0.0698289977381,0.99999993499,0.00023003298206,-0.000277604083799,6.39357624413e-06,1793239608772539392
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.207692951,745,715,679,661,636,879.207692951,788,804,652,631,653,0.400972896633,-0.0153574450438,0.0698305807296,0.999999935011,0.000232592494569,-0.000275377535452,6.71765901077e-06,1793239608789206272
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.780041236,745,715,679,661,636,879.780041236,788,804,652,631,653,0.40098452499,-0.0153574839034,0.0698356252723,0.999999936855,0.000234207820154,-0.000267176781835,7.30104414223e-06,1793239608805873152
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.632086478,715,678.632086478,661,636,880,788,804,652,631,653,0.401010598619,-0.015359180241,0.0698470259321,0.999999941643,0.000234455014708,-0.000248340848316,8.47191334142e-06,1793239608822539776
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.034524173,715,678.034524173,661,636,880,788,804,652,631,653,0.401045688878,-0.0153619111636,0.0698623940317,0.999999947773,0.000233848232468,-0.00022286651663,1.00094856159e-05,1793239608839206144
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744.545193433,715,678,661,635.454806567,879.454806567,788,804,652,631,653,0.401102491211,-0.0153656576003,0.069881713214,0.999999954975,0.000231206667131,-0.000190956588669,1.13566838625e-05,1793239608855873024
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,678.122897383,661,635.122897383,879,788,804.122897383,652,631.122897383,653,0.401162455576,-0.0153692264975,0.0698989307516,0.999999960351,0.000228957115516,-0.000163483216929,1.22815921269e-05,1793239608872539392
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,678.69722411,661,635.69722411,879,788,804.69722411,652,631.69722411,653,0.401229144521,-0.0153719145258,0.0699075385719,0.999999961981,0.00022860581816,-0.000153755802445,1.16982146102e-05,1793239608889206272
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,678.729225009,661,635.729225009,879.270774991,788,804.729225009,652,631.729225009,653,0.401304920629,-0.0153751359338,0.069913868003,0.999999963394,0.000227742778353,-0.000145698701296,1.08653497853e-05,1793239608905873408
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,678.156539222,661,635.156539222,879.843460778,788,804.156539222,652,631.156539222,653,0.401390828807,-0.0153789520534,0.0699176570577,0.999999964614,0.000226309152018,-0.000139503979635,9.75430970561e-06,1793239608922540800
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.430615049,879.569384951,788,804,651.569384951,631,653,0.401488369846,-0.0153826635632,0.0699192649258,0.999999965287,0.000224829100715,-0.000137187878856,7.62362417859e-06,1793239608939207424
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.977357047,715,678,661.022642953,635.977357047,879.022642953,788,804,651.022642953,631,652.977357047,0.401591457376,-0.0153864396955,0.069920133141,0.999999965777,0.000223342753645,-0.000136153001974,5.12124316175e-06,1793239608955873280
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.399283587,715,678,661.600716413,635.399283587,879.600716413,788,804,651.600716413,631,652.399283587,0.401723260468,-0.0153927662771,0.0699229841167,0.999999966776,0.000222130346994,-0.000130757376685,2.9097392795e-06,1793239608972540160
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.178084473,715,678,662,635.178084473,879.821915527,788,804.178084473,652,631,652.178084473,0.401864076542,-0.0153986537982,0.0699253112471,0.999999967995,0.000219350874193,-0.000126075157149,1.99236710933e-07,1793239608989206784
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.753877117,715,678,662,635.753877117,879.246122883,788,804.753877117,652,631,652.753877117,0.402025020889,-0.0154035607839,0.0699264684965,0.999999969731,0.000213071742096,-0.000122986155821,-3.62565723601e-06,1793239609005873408
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.336913797,661.663086203,636,879.336913797,788,804.663086203,652,631,653,0.402203458993,-0.0154105552656,0.0699280445584,0.999999971844,0.000204267688504,-0.00012053546653,-7.5696000687e-06,1793239609022539776
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.925358749,661.074641251,636,879.925358749,788,804.074641251,652,631,653,0.402394957501,-0.0154191082186,0.0699299332948,0.999999974168,0.000193578592954,-0.000118561324215,-1.16024221303e-05,1793239609039206400
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.494171844,661,635.494171844,880,788.505828156,804,652,631,653,0.402624301726,-0.0154297237049,0.0699342591518,0.99999997892,0.000174330973233,-0.000107234803325,-1.63868955612e-05,1793239609055873024
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.084644011,661,635.084644011,879.915355989,788.915355989,804,652,631,653,0.402864418914,-0.0154405680103,0.0699393987658,0.999999984085,0.00014996094397,-9.43073622093e-05,-2.11473281946e-05,1793239609072539648
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678.660587377,661,635.660587377,879.339412623,788.339412623,804,652,631,653,0.403135154139,-0.0154510013231,0.0699472066878,0.999999991174,0.000103075462286,-7.99736370921e-05,-2.51344288458e-05,1793239609089206528
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,678.764336758,661,636,879.235663242,788,804,652,631,653,0.403419307782,-0.0154608104861,0.0699538353839,0.999999994633,7.22248283e-05,-6.82698927019e-05,-2.92736966549e-05,1793239609105873408
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,678.190505759,661,636,879.809494241,788,804,652,631,653,0.403722716327,-0.0154697240175,0.0699587719353,0.999999995541,6.43835917199e-05,-6.03400713258e-05,-3.36313183555e-05,1793239609122540032
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.604017799,879.604017799,788,804,651.604017799,631.395982201,653,0.404052923869,-0.0154781498123,0.0699604909512,0.999999996016,5.91304509247e-05,-5.81073825607e-05,-3.30849789321e-05,1793239609139206656
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.011239573,879.011239573,788,804,651.011239573,631.988760427,653,0.404396450022,-0.0154863332107,0.0699606109096,0.999999996302,5.51635473703e-05,-5.87060663617e-05,-3.01014589992e-05,1793239609155873280
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.567471216,879,788,804,651.567471216,631.432528784,653,0.404782776022,-0.0154843753298,0.0699673650072,0.999999996781,5.6493640774e-05,-4.8477071853e-05,-2.99542222717e-05,1793239609172539648
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661.145145267,636,879.145145267,788,804,652,631.145145267,653,0.405176896959,-0.0154795937254,0.0699724617088,0.999999996886,6.05894378992e-05,-4.00595802884e-05,-3.08567594948e-05,1793239609189206272
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661.720551922,636,879.720551922,788,804,652,631.720551922,653,0.405591672622,-0.015467022639,0.0699722652185,0.999999996056,7.25802686423e-05,-3.76323685351e-05,-3.47086954062e-05,1793239609205872896
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.296124491,678.296124491,661.703875509,635.703875509,879.703875509,788,804,652,632,653,0.406016777258,-0.0154628117392,0.0699644900387,0.99999999524,7.4590829243e-05,-5.05608991506e-05,-3.74244954662e-05,1793239609222539520
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715.871853785,678.871853785,661.128146215,635.128146215,879.128146215,788,804,652,632,653,0.406451634701,-0.0154664946406,0.0699495589564,0.999999993939,6.71778833545e-05,-7.79885318575e-05,-3.90675409149e-05,1793239609239206400
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,716,678.540213993,661,635.459786007,879,788.459786007,804,652,632,653,0.406940455397,-0.0154743531817,0.0699403851188,0.999999993606,5.74566042074e-05,-8.82349818779e-05,-4.12363867895e-05,1793239609255873280
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.950076697,678.049923303,661.049923303,636,879,788.950076697,804.049923303,652,631.950076697,652.950076697,0.407449891631,-0.0154827919708,0.0699343590247,0.999999993761,4.74765707189e-05,-9.13492101473e-05,-4.3354926432e-05,1793239609272539904
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.373533078,678.626466922,661.626466922,636,879,788.373533078,804.626466922,652,631.373533078,652.373533078,0.408013816682,-0.0154847405645,0.0699441495141,0.99999999566,4.17385163913e-05,-7.11180779419e-05,-4.33548194753e-05,1793239609289206784
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678.797851023,661.797851023,636,879,788,804.797851023,652,631,652.202148977,0.408586418212,-0.0154851050606,0.0699530915886,0.999999996907,4.0546434711e-05,-5.13027785167e-05,-4.36987673035e-05,1793239609305873920
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678.223754249,661.223754249,636,879,788,804.223754249,652,631,652.776245751,0.409174984158,-0.0154825548664,0.0699604726056,0.999999997343,4.77188008728e-05,-3.22525996447e-05,-4.46757651909e-05,1793239609322541312
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661.348952332,636,879.348952332,788,804,652,631,653,0.409765746948,-0.0154795230688,0.0699569092062,0.99999999701,5.00769120496e-05,-3.6570497156e-05,-4.6202459911e-05,1793239609339207680
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661.920771012,636,879.920771012,788,804,652,631,653,0.410357912781,-0.0154761836842,0.0699463559059,0.999999996068,4.93602894197e-05,-5.58129492691e-05,-4.80802309826e-05,1793239609355873280
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,880,788,804.515322072,652,631,653,0.411014441552,-0.015480610521,0.0699482403897,0.999999996275,4.41587232698e-05,-5.63584768699e-05,-4.8210000654e-05,1793239609372539904
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,678.109167934,662,636,880,788,804.890832066,652,631,653,0.411693289323,-0.0154864497696,0.0699575082487,0.999999997174,3.83157786558e-05,-4.37430445877e-05,-4.76410955031e-05,1793239609389206528
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,678.684393532,662,636,880,788,804.315606468,652,631,653,0.412423225136,-0.0154929860847,0.0699897565114,0.999999998361,3.28143176641e-05,1.22204288592e-05,-4.52897081259e-05,1793239609405873664
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.746494203,745,715,679,662,635.746494203,880,788,804.253505797,652,631.253505797,653,0.4131439718,-0.0154988343622,0.0700143648499,0.999999997486,2.22029506301e-05,5.13089534286e-05,-4.36133357448e-05,1793239609422540800
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+156,2.600000000,POSE1_TO_POSE2_PRESS,765.408491531,745,715,679,662,635.408491531,880,788,804.591508469,652,631.591508469,653,0.41457115216,-0.0155061776209,0.0700063617299,0.99999999864,3.4901576147e-07,2.60633496948e-05,-4.51707138875e-05,1793239609455873536
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,744.984095907,715.015904093,679,662,636,880,788,804.015904093,652,631.015904093,653,0.415292917652,-0.015507394971,0.0699644086486,0.999999997665,8.32240846511e-07,-4.74980781002e-05,-4.91193305767e-05,1793239609472539904
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.42456863,715.57543137,679,662,636,880,788,804.57543137,652,631.57543137,653,0.416022340285,-0.0155154637102,0.0699334652978,0.999999994469,-7.88172612228e-06,-9.17807971409e-05,-5.07563196323e-05,1793239609489206272
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.142209602,715.857790398,679,661.857790398,635.857790398,880,788,804.857790398,652,631.857790398,653,0.41678014586,-0.01552391503,0.069916837199,0.99999999195,-1.75180527141e-05,-0.000114673444889,-5.14093436448e-05,1793239609505872640
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.731798694,715.268201306,679,661.268201306,635.268201306,880,788,804.268201306,652,631.268201306,653,0.41762724175,-0.0155335699154,0.0699452436848,0.99999999588,-3.00560448841e-05,-7.02747187536e-05,-4.8966896217e-05,1793239609522539520
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,880,788,804,652,631,653,0.418459663263,-0.0155389317506,0.0699706253422,0.999999997558,-3.93894490643e-05,-3.32539863362e-05,-4.71941924703e-05,1793239609539206400
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,880,788,804,652,631,653,0.419279838824,-0.0155407109925,0.0699934827488,0.99999999788,-4.60485923568e-05,-2.39026469074e-06,-4.59803965774e-05,1793239609555873280
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.494220355,635.494220355,880.494220355,788,804,651.505779645,631.494220355,653,0.420158177006,-0.0155429956942,0.0700127545357,0.999999997136,-5.28547798948e-05,2.94697621932e-05,-4.54576749226e-05,1793239609572540416
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,881,788,804,651,631.926507339,653,0.421039198682,-0.0155453020367,0.0700285048603,0.999999995685,-5.89952229685e-05,5.57057005099e-05,-4.52355398114e-05,1793239609589207040
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,881,788,804,651,631.353985291,653,0.421869681303,-0.0155471577666,0.070024582699,0.999999996198,-6.0441293117e-05,4.25751386267e-05,-4.6237455323e-05,1793239609605873408
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.779501779,745,715,679,662,636,880.779501779,788,804.220498221,651.220498221,631,653,0.422674495959,-0.0155462676796,0.0699936213901,0.999999996874,-6.03544436899e-05,-1.16044150668e-05,-4.97500787572e-05,1793239609622539776
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.201841003,745,715,679,662,636,880.201841003,788,804.798158997,651.798158997,631,653,0.42343773383,-0.0155409299246,0.0699188621258,0.999999987939,-5.77845739656e-05,-0.00013227504213,-5.73295413214e-05,1793239609639206144
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.384892975,745,715,679,662,635.615107025,880,788,805,652,631.384892975,653,0.424257288673,-0.0155409416067,0.0698835877466,0.999999980574,-6.45400171685e-05,-0.000175463722649,-6.24464896911e-05,1793239609655873024
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.976499848,745,715,679,662,635.023500152,880,788,805,652,631.976499848,653,0.425107089543,-0.0155438263031,0.0698695194605,0.999999979223,-7.63037927794e-05,-0.000177039282921,-6.6240899077e-05,1793239609672539648
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.556382766,662,635,880,788,804.443617234,651.443617234,631.443617234,653,0.426044478934,-0.0155467276377,0.0699280183576,0.999999991217,-7.11753527319e-05,-9.50130366796e-05,-5.89351284273e-05,1793239609689206528
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.865648873,745,715,679.865648873,662,635,880.134351127,788,804,651.134351127,631.134351127,653,0.426972091163,-0.0155494034598,0.0699821368014,0.999999996072,-6.81269725708e-05,-2.08652937449e-05,-5.2727603214e-05,1793239609705873664
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.29235123,745,715,679.29235123,662,635,880.70764877,788,804,651.70764877,631.70764877,653,0.427855922347,-0.0155513402481,0.0700121362623,0.999999995787,-7.41574374811e-05,1.6243464665e-05,-5.16083942613e-05,1793239609722540032
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.288950918,745,715,679.288950918,662,635.288950918,881,788.288950918,804,652,632,653,0.428728017871,-0.0155538249923,0.0700347067554,0.999999994373,-7.77725046957e-05,5.13334772004e-05,-5.06984712235e-05,1793239609739206656
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.878582472,745,715,679.878582472,662,635.878582472,881,788.878582472,804,652,632,653,0.429587901282,-0.0155568799363,0.0700495467061,0.999999992084,-7.88741228407e-05,8.43227922611e-05,-5.000632997e-05,1793239609755873536
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,744.539635544,715,680,662,636,881,789,804,651.539635544,632,653,0.430392547333,-0.015552962941,0.070019106994,0.999999995041,-7.76883560196e-05,3.25008854088e-05,-5.31612300544e-05,1793239609772539904
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,744.039694307,715,680,662,636,881,788.960305693,804.039694307,651,631.960305693,653,0.431181263183,-0.0155472420577,0.0699755172466,0.999999994565,-7.55298377331e-05,-4.3237174359e-05,-5.74046681828e-05,1793239609789206272
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,744.613419087,715,680,662,636,881,788.386580913,804.613419087,651,631.386580913,653,0.43194837156,-0.0155415760601,0.0699129837286,0.999999985204,-6.82645424064e-05,-0.000144844483556,-6.28713190141e-05,1793239609805872896
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.81296022,662.18703978,635.81296022,880.81296022,788,805.18703978,651,631,653,0.432752127614,-0.0155395059061,0.06988855652,0.999999979349,-6.71178263811e-05,-0.000180411290894,-6.51797593605e-05,1793239609822539776
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.239554436,662.760445564,635.239554436,880.239554436,788,805.760445564,651,631,653,0.433631586507,-0.0155448636454,0.0699428450818,0.999999991887,-7.86101914329e-05,-7.95589835287e-05,-6.09643209084e-05,1793239609839206656
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.34471012,662.65528988,635.34471012,880.34471012,788,805.65528988,651.34471012,631.34471012,653,0.434468020956,-0.0155507636448,0.0699896268334,0.999999994822,-8.45176274991e-05,-3.33591477142e-06,-5.65770195304e-05,1793239609855873280
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.936766334,662.063233666,635.936766334,880.936766334,788,805.063233666,651.936766334,631.936766334,653,0.435273583244,-0.0155570527416,0.0700310220842,0.999999993386,-8.64176078741e-05,5.52144842545e-05,-5.20663986461e-05,1793239609872539904
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.482130241,881,788,805,651.482130241,632,653.517869759,0.436054066112,-0.0155591019735,0.0700324269874,0.999999992523,-9.07516144908e-05,6.26808941218e-05,-5.28072241997e-05,1793239609889206528
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.0967786,880.9032214,788,805,651,631.9032214,653.9032214,0.436824301135,-0.015560302724,0.0700255162861,0.99999999219,-9.54430460272e-05,5.9638039349e-05,-5.43467869737e-05,1793239609905872896
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.671318938,880.328681062,788,805,651,631.328681062,653.328681062,0.437558750449,-0.0155598176009,0.0700011605595,0.999999992737,-0.000100462159898,3.48693754369e-05,-5.67295209056e-05,1793239609922539520
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.748337122,745,715,680,662,635.748337122,880.251662878,788,805,651,631.251662878,653,0.438245665963,-0.015560042296,0.0699658139447,0.999999992674,-0.000104550959094,-1.28962038862e-05,-5.96270224523e-05,1793239609939206400
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.160234589,745,715,680,662,635.160234589,880.839765411,788,805,651,631.839765411,653,0.438869035075,-0.0155612159235,0.0699157739823,0.999999988058,-0.000107396051031,-9.14055857137e-05,-6.32126991372e-05,1793239609955873024
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.404066362,745,715,680,662,635,881,788,805,651,632,653,0.439476571081,-0.015562628429,0.0698691280015,0.999999977004,-0.000113819576891,-0.000169069697989,-6.67226065025e-05,1793239609972539904
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.959453776,745,715,680,662,635,881,788,805,651,632,653,0.44007817771,-0.0155641303933,0.0698237530477,0.999999959784,-0.000121583210109,-0.000246417266389,-7.02041386388e-05,1793239609989206784
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680.555062874,662,635,880.444937126,787.444937126,804.444937126,651,632,653,0.440725545236,-0.0155696319972,0.0698323465017,0.999999961991,-0.000129312283223,-0.000233109035444,-7.04027997438e-05,1793239610005873408
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.148677307,715,680.851322693,662,635,880.148677307,787.148677307,804.148677307,651,631.851322693,653,0.441373132304,-0.0155769437479,0.0698493785392,0.999999966375,-0.000138343644461,-0.000207978806014,-6.9679222305e-05,1793239610022539776
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.727361351,715,680.272638649,662,635,880.727361351,787.727361351,804.727361351,651,631.272638649,653,0.442010931262,-0.0155885798122,0.0698785240767,0.999999971998,-0.000151149376618,-0.000169306013371,-6.70360914465e-05,1793239610039206400
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.687914736,715,680,662,635,881,788,805,651,631.312085264,653,0.442576776037,-0.0155973517388,0.0698776256342,0.999999968526,-0.000162003259524,-0.000179911825411,-6.58402317694e-05,1793239610055872768
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.097810278,715,680,662,635,881,788,805,651,631.902189722,653,0.443078520844,-0.0156035721658,0.0698499626994,0.99999995571,-0.000171118348834,-0.000234417174383,-6.59336645929e-05,1793239610072539392
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880.516410304,787.516410304,805,651,632,653,0.443555842701,-0.015607917845,0.0698118177693,0.99999993788,-0.000180562543867,-0.000294882240312,-6.84297323776e-05,1793239610089206016
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787,805,651,631.937072919,653,0.444026519373,-0.015611768806,0.0697729978355,0.999999916851,-0.000189702244619,-0.000353853490804,-7.14109276947e-05,1793239610105872640
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787,805,651,631.360455173,653,0.444482561203,-0.0156146219033,0.0697456684028,0.999999901628,-0.0001958225051,-0.000390964273516,-7.44555192124e-05,1793239610122539264
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.219575224,715,680,661.780424776,634.780424776,880.219575224,787,805,651,631,653,0.444931857181,-0.0156192152651,0.06972594623,0.999999890251,-0.000203006061159,-0.00041523479281,-7.65905734653e-05,1793239610139206400
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.805296223,715,680,661.194703777,634.194703777,880.805296223,787,805,651,631,653,0.44536990428,-0.0156267105503,0.0697189093075,0.999999887154,-0.000211962682149,-0.000418093930809,-7.72089572299e-05,1793239610155873280
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+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.033122351,715,680,661,634,881,786.033122351,805,651,631,653.966877649,0.446164355882,-0.0156369582275,0.0697130168421,0.999999874745,-0.000230627699282,-0.000437600975159,-7.63331703838e-05,1793239610189206528
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.120389531,714.120389531,680.879610469,660.240779063,634,881,786,805,651,631,653,0.44682669493,-0.0156467978494,0.0696902778517,0.999999852464,-0.000238190999037,-0.000482162949665,-7.65216446211e-05,1793239610222539520
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.694777162,714.694777162,680.305222838,661.389554325,634,881,786,805,651,631,653,0.447118535718,-0.0156497188243,0.069670979659,0.999999832787,-0.000246439282364,-0.000517408708097,-7.73452665648e-05,1793239610239206400
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+207,3.450000000,POSE1_TO_POSE2_PRESS,765.970599619,745.970599619,714.970599619,681,660.970599619,633.970599619,880.970599619,785,805.029400381,651,630.970599619,652.970599619,0.448197909886,-0.0156577627891,0.0696675384268,0.999999828733,-0.000251532947396,-0.000522610724488,-7.83770005711e-05,1793239610305873152
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+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.753648423,714.753648423,681,660,633,880,785,805.246351577,651,630.753648423,652.753648423,0.448769811775,-0.0156621471653,0.0696595799612,0.999999823859,-0.000245568213154,-0.000535785591956,-7.0089809902e-05,1793239610355873536
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.362493166,714.362493166,681,659.362493166,633,880,783.362493166,805.637506834,651,630.362493166,653,0.449810734085,-0.0156736417316,0.069614795117,0.999999779083,-0.000266883940841,-0.000604732326798,-7.00472053014e-05,1793239611558630912
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.21328814,681,659.21328814,633,880.21328814,783.21328814,805.78671186,651,630,653,0.449800936547,-0.015673191524,0.0696099473511,0.999999774813,-0.000266296770961,-0.000611962724825,-7.04432826537e-05,1793239611575297792
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.788233648,681,659.788233648,633,880.788233648,783.788233648,805.211766352,651,630,653,0.449782036854,-0.0156712275847,0.0696014120218,0.999999766566,-0.00026530419632,-0.00062563769728,-7.11296386029e-05,1793239611591964416
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.374027661,745,715,681,659.625972339,633,880.625972339,783.625972339,805,651,630,653,0.449743550941,-0.0156689639077,0.0695855039682,0.999999749169,-0.000263988972632,-0.000653251412142,-7.23488005386e-05,1793239611608631040
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.966147391,745,715,681,659.033852609,633,880.033852609,783.033852609,805,651,630,653,0.449693644482,-0.0156665254562,0.0695652969464,0.999999725466,-0.00026248561492,-0.000688992679408,-7.38786367107e-05,1793239611625297920
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.454098063,745.545901937,715,680.454098063,659,633,880.545901937,783.545901937,805,651,630,653,0.449629243616,-0.0156632900826,0.0695490470447,0.99999970845,-0.00026210430009,-0.000713342920746,-7.44497294026e-05,1793239611641964288
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,633,880.87586135,784,805.12413865,651,630,653,0.449562073739,-0.0156600418517,0.0695351798946,0.999999694229,-0.000261592568182,-0.000733166685787,-7.46877124699e-05,1793239611658630912
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,633,880.30041663,784,805.69958337,651,630,653,0.449488032428,-0.0156569225597,0.069529102878,0.99999969028,-0.000260359348588,-0.000739045629324,-7.3926032756e-05,1793239611675297280
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.726410838,715,680.273589162,659.273589162,633,880.273589162,784,805.726410838,651,630,653,0.449404482048,-0.0156526579561,0.0695259752716,0.999999689308,-0.00025864058618,-0.000741059178687,-7.29434740565e-05,1793239611691964160
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.153976841,715,680.846023159,659.846023159,633,880.846023159,784,805.153976841,651,630,653,0.449310544799,-0.0156471423146,0.0695260693429,0.99999969161,-0.000256391459413,-0.000738850509693,-7.17196465477e-05,1793239611708630784
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.432949734,715,680.567050266,660,633,881,784,805,651,630.432949734,653,0.449193637676,-0.0156419714637,0.0695271476433,0.999999692402,-0.000253645177909,-0.000738909100157,-6.98112503631e-05,1793239611725297408
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.975406509,714.975406509,680,660,633,881.024593491,784,805,651,630.975406509,653,0.449067190162,-0.0156367719884,0.0695286844033,0.999999692805,-0.000250617542425,-0.000739599322735,-6.76234970919e-05,1793239611741964288
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.397608687,714.397608687,680,660,633,881.602391313,784,805,651,630.397608687,653,0.448916261935,-0.0156280748267,0.0695323873148,0.999999697144,-0.000245376068082,-0.000735731466184,-6.48180370994e-05,1793239611758631168
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.179709157,680.179709157,660,633,881.820290843,784,805,651,630.179709157,653,0.448754799671,-0.0156199508856,0.0695349364976,0.999999700215,-0.000240256569324,-0.000733502590803,-6.18122348386e-05,1793239611775298048
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.755967795,680.755967795,660,633,881.244032205,784,805,651,630.755967795,653,0.448570092833,-0.0156130918248,0.0695349398414,0.999999700557,-0.000235406224811,-0.000734890321523,-5.83643540756e-05,1793239611791964416
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.339174011,745.339174011,715,680.660825989,660,633.339174011,881,784,805,651,631,653,0.44836124817,-0.0156034353945,0.0695333993362,0.999999699561,-0.000226040272158,-0.000739426211451,-5.50706377783e-05,1793239611808631040
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.927483534,745.927483534,715,680.072516466,660,633.927483534,881,784,805,651,631,653,0.448134673389,-0.0155917241949,0.0695307248184,0.99999969743,-0.00021335744236,-0.000746274537591,-5.18901604591e-05,1793239611825297920
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.492089007,745.492089007,715,680.507910993,660,633.492089007,881,784.507910993,805,651,630.492089007,653,0.447878853791,-0.0155791047393,0.0695292659869,0.999999696821,-0.000200353341907,-0.000750945884614,-4.79181958082e-05,1793239611841964544
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633.086700059,881,785,805,651,630.086700059,653,0.447613697354,-0.0155665501344,0.0695289106253,0.999999697386,-0.000185948707883,-0.000754153452951,-4.36310503717e-05,1793239611858630912
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633.662498153,881,785,805,651,630.662498153,653,0.44731906381,-0.0155550817191,0.0695338160478,0.999999703966,-0.000163898092821,-0.000750830060336,-3.81936275521e-05,1793239611875297792
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.810390185,715,681,660,634,881,785,805,651,631,653,0.446674258959,-0.0155351579301,0.0695353636869,0.999999716872,-9.22340224329e-05,-0.000746333374119,-2.71271671995e-05,1793239611908631552
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.605085675,715,680.605085675,660,634,881,785,805,651,631,653,0.446315803848,-0.0155259342252,0.0695417418058,0.999999728001,-6.99856096166e-05,-0.000733916638116,-2.16161064734e-05,1793239611925298176
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.01495289,715,680.01495289,660,634,881,785,805,651,631,653,0.445945217636,-0.0155167666894,0.069551737021,0.99999974172,-5.72763221927e-05,-0.000716253031906,-1.61356393511e-05,1793239611941964544
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.565382655,745,715,680,660,634,881,785.565382655,805,651,631,653,0.44555427794,-0.0155167986597,0.0695698628348,0.99999976777,-5.39893159863e-05,-0.000679287302399,-1.06889907981e-05,1793239611958631424
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.855940587,745,715,680,660.144059413,634,881,786,805,651.144059413,631,653,0.445149608169,-0.0155183212906,0.0695876123493,0.999999790387,-4.82678767136e-05,-0.000645654176601,-5.20022916845e-06,1793239611975298048
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.292107013,661,634,881,786,805,651.707892987,631,653,0.444231195746,-0.015521168248,0.0696153198457,0.999999813761,-4.10278451619e-05,-0.000608926697776,-1.41771944783e-06,1793239612008631296
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.952937176,745,715,681,661,634.047062824,881,787,805,651,631,653,0.442619136715,-0.0154893938108,0.0696432140405,0.999999834685,-1.56125751837e-05,-0.00057479297006,-4.63587621659e-07,1793239612058631680
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.203347989,745,714.796652011,681,661.203347989,635,881.203347989,787,805.203347989,651.203347989,631,653,0.441487513958,-0.0154720835208,0.0696989495273,0.999999885039,1.96405529514e-05,-0.000479007400861,9.40870242464e-06,1793239612091964672
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.776380282,745,714.223619718,681,661.776380282,635,881.776380282,787,805.776380282,651.776380282,631,653,0.440903155283,-0.0154684086649,0.0697275713378,0.999999909721,2.5863368479e-05,-0.000423999179366,1.06356396466e-05,1793239612108630784
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745.950250062,714.950250062,681,662,635,881.049749938,787,805.049749938,652,631.950250062,653,0.439668239835,-0.0154589278396,0.069781493102,0.999999945449,4.25186031045e-05,-0.000327145368254,1.64358718311e-05,1793239612141964544
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745.469142068,715,680.469142068,661.469142068,635,881,787,805,651.469142068,631.469142068,653,0.438919279086,-0.0154461957337,0.0697667528407,0.999999934138,5.99253270517e-05,-0.000357613378712,1.56490278437e-05,1793239612158631168
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,662,635,881,787.259912127,805,651.259912127,631.259912127,652.259912127,0.436694897033,-0.0153839642654,0.0697377664106,0.999999918331,0.000120213440364,-0.000385855873351,-1.1175677632e-06,1793239612208631552
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,662,635,881,787.829926449,805,651.829926449,631.829926449,652.829926449,0.435961241682,-0.0153692457053,0.0697700855402,0.999999932254,0.000143887675792,-0.000338794119826,2.74145413386e-06,1793239612225297920
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.418563318,745,715,680,662,635,881,788,805,651.581436682,632,653,0.435205920858,-0.0153695425776,0.0698061288873,0.999999945787,0.000151592071247,-0.000292201988572,7.93138812018e-06,1793239612241964544
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.744364236,661.255635764,635,881,787.255635764,804.255635764,652,631.255635764,653,0.431897012918,-0.0153808970556,0.0698331840464,0.999999953637,0.000154863947782,-0.000261790255029,1.44487033945e-05,1793239612308631040
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.41073261,636,880,788,804,652,631.41073261,653,0.409839112318,-0.015365331132,0.0698596232339,0.999999949275,0.000224151868079,-0.000225053602884,2.35981515471e-05,1793239612758631168
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.998640451,636,880,788,804,652,631.998640451,653,0.40918054801,-0.0153608370372,0.069823553871,0.999999933981,0.00022079558939,-0.000287960890017,1.91101728528e-05,1793239612775297792
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..141a4cec58ebb68922d7d08b342040ace49515a8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,418 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d1726bc8915d16a5085aa2ca37b8be7178a4e7b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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+size 26592709
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..402a7eef917bc6c60f06956a1f6eb73f02449170
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/franka_data.csv
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+2,0.033333333,BASELINE,765.142930967,745.857069033,715,679,661,636,879,788,804,652,631.857069033,652.857069033,0.400971171504,-0.0153552897729,0.0698280320345,0.999999934325,0.00023188452451,-0.000278444752846,6.94725638096e-06,1793239613986145792
+3,0.050000000,BASELINE,765.733332944,745.266667056,715,679,661,636,879,788,804,652,631.266667056,652.266667056,0.400969822142,-0.0153538187301,0.0698274002694,0.999999933355,0.00023417217746,-0.00028000573969,7.12730316476e-06,1793239614002812416
+4,0.066666667,BASELINE,765.682099547,745,715,679,661.317900453,636,879,788,804,652,631,652,0.400969168621,-0.0153525430423,0.0698268856234,0.999999932982,0.000235131437698,-0.000280538476798,6.87758257596e-06,1793239614019479040
+5,0.083333333,BASELINE,765.102338044,745,715,679,661.897661956,636,879,788,804,652,631,652,0.400969088278,-0.0153514282724,0.0698264674509,0.999999933106,0.000234996473776,-0.000280224223649,6.27385387398e-06,1793239614036145664
+6,0.100000000,BASELINE,765.474617079,745,715,679,662,636,879.474617079,788,804,652,631,652.474617079,0.40096980429,-0.0153514075063,0.0698267603071,0.999999933208,0.000235181812151,-0.000279700322341,6.46941935877e-06,1793239614052812288
+7,0.116666667,BASELINE,766,745,715,679,662,636,879.948247405,788,804,652,631,653,0.40097052742,-0.0153515976014,0.069827179905,0.999999933245,0.000235569258685,-0.00027923270453,6.80881401898e-06,1793239614069479168
+8,0.133333333,BASELINE,766,745,715,679,662,636,879.363051791,788,804,652,631,653,0.400969564395,-0.0153515439865,0.069827334898,0.999999932667,0.000237332247163,-0.000279808444775,6.86471547181e-06,1793239614086145792
+9,0.150000000,BASELINE,766,744.780010511,715,678.780010511,661.780010511,635.780010511,879.219989489,788,804,652,631,653,0.400968919244,-0.0153519847362,0.0698273106036,0.999999932544,0.000237398771435,-0.000280191116339,6.90735761457e-06,1793239614102812416
+10,0.166666667,BASELINE,766,744.200490135,715,678.200490135,661.200490135,635.200490135,879.799509865,788,804,652,631,653,0.400968793594,-0.015353233431,0.0698269932981,0.999999933163,0.00023469274815,-0.00028025825389,6.92832993686e-06,1793239614119479040
+11,0.183333333,BASELINE,766,744.377843156,715,678,661.377843156,635.377843156,879.622156844,788,804,652,631.377843156,653,0.40097023029,-0.0153526766871,0.0698278413743,0.999999933388,0.000235560536164,-0.000278728194735,6.77323102365e-06,1793239614136145664
+12,0.200000000,BASELINE,766,744.955548584,715,678,661.955548584,635.955548584,879.044451416,788,804,652,631.955548584,653,0.400972493397,-0.0153511649464,0.0698293058858,0.999999933395,0.000238318711614,-0.000276353289361,6.52499823713e-06,1793239614152812544
+13,0.216666667,BASELINE,766,745,715,678,661.470102425,636,879,788.529897575,804,652,632,653,0.40097064764,-0.0153531208228,0.0698285032733,0.999999933535,0.000235903030158,-0.000277907139264,6.81853902098e-06,1793239614169479424
+14,0.233333333,BASELINE,766,745,715,678,661.106863359,636,879,788.786273281,804,652,632,653,0.400968937582,-0.015354878061,0.0698276530279,0.999999933628,0.000233646071291,-0.00027947014091,7.09226744406e-06,1793239614186146048
+15,0.250000000,BASELINE,766,745,715,678,661.696926695,636,879,787.606146609,804,652,632,653,0.400969389814,-0.0153544301089,0.069827441927,0.999999933497,0.000234056933162,-0.000279593696564,7.07220571536e-06,1793239614202812672
+16,0.266666667,BASELINE,765.71824936,745,715,678,661.71824936,636,879,787.28175064,804,652,631.71824936,653,0.400970192354,-0.0153538682832,0.0698277998617,0.999999933563,0.000234591363553,-0.000278910699893,7.02805236202e-06,1793239614219479296
+17,0.283333333,BASELINE,765.138958464,745,715,678,661.138958464,636,879,787.861041536,804,652,631.138958464,653,0.400971364834,-0.0153531862021,0.0698287587211,0.999999933834,0.000235256287353,-0.000277375950804,6.95845726399e-06,1793239614236145664
+18,0.300000000,BASELINE,765.437344321,744.562655679,715,678,661,635.562655679,879.437344321,788,804,652,631.437344321,653,0.400970680333,-0.0153531638623,0.0698285234155,0.999999933749,0.000235151995463,-0.000277776521168,6.76510823365e-06,1793239614252812288
+19,0.316666667,BASELINE,766,744,715.012934628,678.012934628,661,635,880,788,804,652,632,653,0.400969421885,-0.0153533377412,0.0698279116891,0.999999933545,0.000234820757864,-0.000278794738915,6.53747321431e-06,1793239614269479168
+20,0.333333333,BASELINE,766,744,715.598734069,678.598734069,661,635,880,788,804,652,632,653,0.400968698131,-0.0153529810416,0.0698273189737,0.999999933088,0.000235189312183,-0.000280118841196,6.52100088496e-06,1793239614286145792
+21,0.350000000,BASELINE,766,744.18285764,715.81714236,678.81714236,661,635.18285764,879.81714236,788,804,652,632,653,0.400968881188,-0.0153531774046,0.0698274138381,0.999999933092,0.000235135562045,-0.000280148676185,6.6407761572e-06,1793239614302812416
+22,0.366666667,BASELINE,766,744.763336977,715.236663023,678.236663023,661,635.763336977,879.236663023,788,804,652,632,653,0.400971036096,-0.0153545763958,0.0698290038364,0.999999934093,0.000234163515989,-0.000277364142637,7.05682017183e-06,1793239614319479040
+23,0.383333333,BASELINE,765.656426623,745,715,678,661,636,879.343573377,788,804,652,632,653,0.400970358519,-0.015354675038,0.0698284127259,0.999999934017,0.000233623135298,-0.000278097695528,6.95714559942e-06,1793239614336145664
+24,0.400000000,BASELINE,765.076357389,745,715,678,661,636,879.923642611,788,804,652,632,653,0.400967731224,-0.0153538785958,0.0698263202676,0.999999933194,0.000233379887751,-0.000281252893491,6.50248049638e-06,1793239614352812288
+25,0.416666667,BASELINE,765.496678054,745,715,678.496678054,661,636,879.503321946,788,804,651.503321946,631.503321946,653,0.400968546792,-0.0153530523911,0.0698268331222,0.999999932989,0.000234947449969,-0.000280678542698,6.46505727793e-06,1793239614369478912
+26,0.433333333,BASELINE,766,745,715,678.92920575,661,636,879.07079425,788,804,651.07079425,631,653,0.400969905845,-0.0153522308866,0.0698278330933,0.99999993298,0.000236628241512,-0.000279293756439,6.45454637796e-06,1793239614386145792
+27,0.450000000,BASELINE,766,745,715,678.339347446,661,636,879.660652554,788,804,651.660652554,631,653,0.400971423151,-0.015351476924,0.0698295089197,0.999999933747,0.000237126598838,-0.000276112075282,6.17761127289e-06,1793239614402812672
+28,0.466666667,BASELINE,766,745,715,678,661,636,879.754014595,787.754014595,804,651.754014595,631.245985405,653,0.400971741008,-0.0153513617646,0.0698299442812,0.999999933877,0.000237490510737,-0.000275329337981,6.11073345621e-06,1793239614419479296
+29,0.483333333,BASELINE,766,745,715,678,661,636,879.174812056,787.174812056,804,651.174812056,631.825187944,653,0.400970434064,-0.0153521119418,0.0698286992821,0.999999933151,0.000237672299933,-0.000277796261943,6.32840378827e-06,1793239614436145920
+30,0.500000000,BASELINE,766,744.596613589,715,678.403386411,661,636,879.403386411,787.403386411,804,651.403386411,631.596613589,653,0.400969050861,-0.0153539886779,0.0698276572395,0.999999933065,0.000235887883001,-0.000279611943402,6.62740243832e-06,1793239614452812288
+31,0.516666667,BASELINE,766,744.018849182,715,678.981150818,661,636,879.981150818,787.981150818,804,651.981150818,631.018849182,653,0.400967634692,-0.0153563524089,0.0698267029318,0.999999933251,0.000233253504156,-0.000281146102267,6.96155811494e-06,1793239614469478912
+32,0.533333333,BASELINE,766,744,715,679,661,636,880,788,804,652,631.556613489,653,0.400969079339,-0.015354219396,0.0698276204098,0.999999933591,0.000234601497172,-0.000278811176771,6.67634010772e-06,1793239614486145536
+33,0.550000000,BASELINE,765.864843603,744,715,678.864843603,661,636,879.864843603,788,804,652,632,653,0.400970098741,-0.0153525659033,0.0698282556668,0.999999933748,0.000235816123235,-0.000277224182575,6.47809054992e-06,1793239614502812160
+34,0.566666667,BASELINE,765.275693479,744,715,678.275693479,661,636,879.275693479,788,804,652,632,653,0.400969365654,-0.0153530325307,0.069827730897,0.999999933293,0.000236131636143,-0.000278587805411,6.64213397187e-06,1793239614519479040
+35,0.583333333,BASELINE,765.307290315,744.307290315,715,678,661,636,879.307290315,788,804,652,632,653,0.40097025102,-0.0153539207912,0.0698284620702,0.999999933815,0.000235253820601,-0.000277449728261,6.83635274313e-06,1793239614536145920
+36,0.600000000,BASELINE,765.884850721,744.884850721,715,678,661,636,879.884850721,788,804,652,632,653,0.400972559859,-0.0153551798893,0.0698302978789,0.999999935186,0.000233326440643,-0.000274111338885,7.0571115636e-06,1793239614552812544
+37,0.616666667,BASELINE,766,745,715,678,661,636,880,788,804,652,631.53948867,653,0.400971619492,-0.0153552665469,0.0698296098687,0.999999935159,0.0002322245445,-0.000275148597137,6.86508656818e-06,1793239614569479168
+38,0.633333333,BASELINE,766,745,715,678,661.036558149,636,879.963441851,788,804,652,631,653,0.400969998743,-0.0153550608854,0.0698284283247,0.999999934804,0.000231409913279,-0.000277125640575,6.58380191261e-06,1793239614586145792
+39,0.650000000,BASELINE,766,745,715,678,661.625591422,636,879.374408578,788,804,652,631,653,0.400970323424,-0.0153548498033,0.0698292861101,0.999999934787,0.000231830003988,-0.000276838339705,6.5070075232e-06,1793239614602812416
+40,0.666666667,BASELINE,766,745,715,678,662,636,879.211120109,788,804,652,631.211120109,653,0.400970660088,-0.0153543626117,0.0698299844018,0.999999934712,0.000232787080214,-0.00027630272887,6.52758285788e-06,1793239614619479040
+41,0.683333333,BASELINE,766,745,715,678,662,636,879.790535082,788,804,652,631.790535082,653,0.400971017656,-0.0153533937525,0.0698304044599,0.999999934535,0.000234680917049,-0.000275333946214,6.71801775875e-06,1793239614636145664
+42,0.700000000,BASELINE,765.631099184,745,715,678.368900816,662,636,879.631099184,788,804,652,632,653,0.400970481899,-0.0153535554494,0.0698293920238,0.999999934251,0.000235066145594,-0.000276036325071,6.71480346263e-06,1793239614652812288
+43,0.716666667,BASELINE,765.053327547,745,715,678.946672453,662,636,879.053327547,788,804,652,632,653,0.400969440344,-0.0153543572646,0.0698275685126,0.999999933906,0.000234597203415,-0.00027768491189,6.60194541552e-06,1793239614669479168
+44,0.733333333,BASELINE,765,744.480328215,715,679,661.480328215,636,879.519671785,788,804,652,631.480328215,653,0.400969798835,-0.0153540831247,0.0698284870254,0.999999933998,0.00023446048428,-0.000277468035774,6.66572100927e-06,1793239614686145792
+45,0.750000000,BASELINE,765.094730169,744.094730169,715,679,661,636,880,788,804,651.905269831,631.094730169,653,0.400970181729,-0.0153540424486,0.0698293863688,0.999999934175,0.000233943999892,-0.000277264150443,6.76201475223e-06,1793239614702812416
+46,0.766666667,BASELINE,765.683045361,744.683045361,715,679,661,636,880,788,804,651.316954639,631.683045361,653,0.400969950002,-0.0153557882789,0.0698287330594,0.999999934558,0.000231272757341,-0.000278116307226,6.93415849944e-06,1793239614719479040
+47,0.783333333,BASELINE,765.731461003,744.731461003,715,678.731461003,661.268538997,636,879.731461003,787.731461003,804.268538997,651.268538997,631.731461003,653,0.400969568107,-0.0153561170637,0.0698282599385,0.999999934487,0.000231269801691,-0.000278373473956,6.92494051324e-06,1793239614736145664
+48,0.800000000,BASELINE,765.149262927,744.149262927,715,678.149262927,661.850737073,636,879.149262927,787.149262927,804.850737073,651.850737073,631.149262927,653,0.400969010812,-0.0153547907105,0.0698279972815,0.999999933886,0.000234383459749,-0.000277935680162,6.70388830958e-06,1793239614752812288
+49,0.816666667,BASELINE,765.426081166,744.426081166,715,678.426081166,661.573918834,636,879,787.426081166,804.573918834,652,631.426081166,653,0.400969563143,-0.0153545927123,0.0698280342576,0.999999934285,0.000233244358537,-0.000277457473917,6.67228261262e-06,1793239614769478912
+50,0.833333333,BASELINE,765.999062179,744.999062179,715,678.999062179,661.000937821,636,879,787.999062179,804.000937821,652,631.999062179,653,0.400970498041,-0.0153547837367,0.0698281745381,0.999999935025,0.000230639034891,-0.000276965334712,6.70599233118e-06,1793239614786145792
+51,0.850000000,BASELINE,765.427275001,744.427275001,715,679,661,636,879.572724999,788,804,652,631.427275001,653,0.400970213062,-0.0153539205019,0.069828419758,0.999999934163,0.000234310946861,-0.000277003384356,6.46728464631e-06,1793239614802812416
+52,0.866666667,BASELINE,765,744.151358283,715,679,661,636,879.848641717,788,804,652,631.151358283,653,0.400969871149,-0.015353567948,0.0698285416445,0.999999933565,0.000236787543255,-0.000277058099995,6.38219788374e-06,1793239614819478784
+53,0.883333333,BASELINE,765,744.744495885,715,679,661,636,879.255504115,788,804,652,631.744495885,653,0.400969368901,-0.0153547109964,0.0698283030478,0.999999933781,0.000235745256543,-0.000277158922769,6.74679811085e-06,1793239614836145664
+54,0.900000000,BASELINE,765.329788727,745,715.329788727,679,661,636,878.670211273,788,804,652,632,653,0.400969490652,-0.0153550121589,0.0698283701493,0.999999933844,0.00023512158865,-0.000277455267992,6.9402583286e-06,1793239614852812544
+55,0.916666667,BASELINE,765.909145023,745,715.909145023,679,661,636,878.090854977,788,804,652,632,653,0.400970084616,-0.0153546762244,0.069828668588,0.999999933792,0.000234814710531,-0.000277899574794,7.00420835411e-06,1793239614869479168
+56,0.933333333,BASELINE,766,745,715.514297642,678.514297642,661,636,878.485702358,788,804,652,632,653,0.40097128128,-0.0153550182365,0.0698296087201,0.99999993451,0.000233621389421,-0.000276317789825,6.98160695467e-06,1793239614886146048
+57,0.950000000,BASELINE,765.937159514,745,715,678,661,636,879,788,804,652,632,653,0.400972255481,-0.0153555444258,0.0698304174874,0.999999935206,0.000232446801694,-0.00027478635624,6.94887360624e-06,1793239614902812672
+58,0.966666667,BASELINE,765.350847174,745,715,678,661,636,879,788,804,652,632,653,0.400970442773,-0.0153565544951,0.0698291377842,0.999999934565,0.000232801637128,-0.00027681339244,6.96583394763e-06,1793239614919479296
+59,0.983333333,BASELINE,765,744.76725095,715,678,661,636,879,788,804,652,632,653,0.400969918538,-0.0153568115918,0.0698289108884,0.99999993461,0.000232622782355,-0.000276802855172,6.90141041043e-06,1793239614936145920
+60,1.000000000,BASELINE,765,744.187701696,715,678,661,636,879,788,804,652,632,653,0.400971314151,-0.015355946746,0.0698302526937,0.999999935676,0.000231648719784,-0.000273756297691,6.71572345664e-06,1793239614952812544
+61,1.016666667,BASELINE,765,744.389420926,715,678.389420926,661,636,879.389420926,788,804,652,632,653,0.400970882522,-0.0153552201211,0.0698294987968,0.999999935219,0.000231779265994,-0.000275310603311,6.6801377355e-06,1793239614969479168
+62,1.033333333,BASELINE,765,744.965381117,715,678.965381117,661,636,879.965381117,788,804,652,632,653,0.400969575614,-0.0153545597064,0.0698277410228,0.999999934024,0.000232438938702,-0.000279068800988,6.71645307528e-06,1793239614986145792
+63,1.050000000,BASELINE,765.540411422,745,715,678.459588578,661,635.459588578,880,788,804,652,632,653,0.400969471243,-0.015355361088,0.0698278147084,0.999999933761,0.000234349985695,-0.000278408046704,6.91391517207e-06,1793239615002812416
+64,1.066666667,BASELINE,766.118480086,745,715,678.118480086,661,635.118480086,879.881519914,788,804,651.881519914,632,653,0.40096949989,-0.0153559270874,0.0698280363964,0.999999933679,0.00023569011791,-0.000277566979726,7.00927630826e-06,1793239615019479296
+65,1.083333333,BASELINE,766.708887926,745,715,678.708887926,661,635.708887926,879.291112074,788,804,651.291112074,632,653,0.400969752057,-0.0153551831601,0.0698283810861,0.999999934096,0.000234437435878,-0.000277133313277,6.65690256824e-06,1793239615036145920
+66,1.100000000,BASELINE,766.706848607,745,715,678.706848607,661,636,879.293151393,788,804,651.293151393,631.706848607,653,0.400970317101,-0.0153555070779,0.0698289337772,0.999999934843,0.000232131848308,-0.0002763805818,6.44883051997e-06,1793239615052812288
+67,1.116666667,BASELINE,766.12856154,745,715,678.12856154,661,636,879.87143846,788,804,651.87143846,631.12856154,653,0.400971186469,-0.0153568696424,0.0698296887824,0.999999935905,0.000228802145151,-0.000275317509601,6.38111450374e-06,1793239615069478912
+68,1.133333333,BASELINE,766,745,715,678,661,636,879.553785975,788,804,652,631,653,0.400970576212,-0.0153563559617,0.0698295452409,0.99999993555,0.000229891698125,-0.000275693537445,6.53673087317e-06,1793239615086145792
+69,1.150000000,BASELINE,766,745,715,678,661.02054297,636,879.02054297,788,804,652,631.02054297,653,0.400969642065,-0.0153553444363,0.0698292041484,0.999999934824,0.000232209612683,-0.000276376732014,6.75725349751e-06,1793239615102812672
+70,1.166666667,BASELINE,766,745,715,678,661.610310123,636,879.610310123,788,804,652,631.610310123,653,0.400971453488,-0.0153554000241,0.0698305065689,0.999999935115,0.000233558915356,-0.000274171986532,7.00722941377e-06,1793239615119479296
+71,1.183333333,BASELINE,765.803394499,745,715,678.196605501,661.803394499,636,879.803394499,788,804,651.803394499,631.803394499,653,0.400972148993,-0.0153552620607,0.0698308323687,0.999999935171,0.000234173147192,-0.000273445535179,6.93309403067e-06,1793239615136145920
+72,1.200000000,BASELINE,765.223860985,745,715,678.776139015,661.223860985,636,879.223860985,788,804,651.223860985,631.223860985,653,0.400970671026,-0.0153547471181,0.0698292560072,0.999999934776,0.000233355683745,-0.000275598353008,6.2276879709e-06,1793239615152812544
+73,1.216666667,BASELINE,765,745,715,678.645500733,661,636,879.354499267,788,804,651.354499267,631,653,0.400969964787,-0.0153547344121,0.0698285878012,0.999999934584,0.000232832222536,-0.000276737251718,6.15364030836e-06,1793239615169479168
+74,1.233333333,BASELINE,765,745,715,678.06787897,661,636,879.93212103,788,804,651.93212103,631,653,0.400969744276,-0.0153550378148,0.0698284911899,0.999999934522,0.000232493806932,-0.000277237987726,6.47697083371e-06,1793239615186146048
+75,1.250000000,BASELINE,765.506997194,745,715.506997194,678,661,636,879.493002806,787.493002806,804,652,631.506997194,653,0.400969948749,-0.0153552482049,0.069828777809,0.999999934438,0.000233252146272,-0.000276902142732,6.50602981329e-06,1793239615202812672
+76,1.266666667,BASELINE,766,744.916363514,715.916363514,678.083636486,661,636,879.083636486,787.083636486,804,652,631.916363514,652.916363514,0.40097032219,-0.0153554817992,0.0698291605966,0.999999934445,0.000233936148323,-0.000276299311956,6.54755121502e-06,1793239615219479040
+77,1.283333333,BASELINE,766,744.326848455,715.326848455,678.673151545,661,636,879.673151545,787.673151545,804,652,631.326848455,652.326848455,0.400971375338,-0.0153559306623,0.0698298163932,0.999999935019,0.000233287145052,-0.000274755425254,6.90147094143e-06,1793239615236145664
+78,1.300000000,BASELINE,766,744.257950062,715,678.742049938,661,636,879.742049938,788,804,652,631.257950062,652.257950062,0.400970989817,-0.0153560533174,0.0698295636134,0.999999934984,0.000232790604633,-0.000275304457407,6.93614194402e-06,1793239615252812544
+79,1.316666667,BASELINE,766,744.836879519,715,678.163120481,661,636,879.163120481,788,804,652,631.836879519,652.836879519,0.400968814091,-0.0153557700568,0.0698281802489,0.999999934185,0.000232483780957,-0.000278457807053,6.57355671567e-06,1793239615269479168
+80,1.333333333,BASELINE,766,745,715,678,661,635.587770775,879,788,804,652,631.587770775,653,0.400969523646,-0.0153563193109,0.0698290331157,0.999999934358,0.000233410745363,-0.00027704869074,6.82805878936e-06,1793239615286145792
+81,1.350000000,BASELINE,766,745,715,678,661,635.013825346,879,788,804,652,631.013825346,653,0.400971365087,-0.015357195158,0.0698307632486,0.999999934906,0.000234821720851,-0.000273849733913,7.3246422036e-06,1793239615302812416
+82,1.366666667,BASELINE,766,745,715,678,661,635.575255166,879,788,804,652,631,653,0.400971759986,-0.0153547760863,0.069830669863,0.9999999351,0.000233934624702,-0.000273916231132,6.74233754702e-06,1793239615319479296
+83,1.383333333,BASELINE,765.83817166,745,715,678.16182834,661,635.83817166,879,788,803.83817166,652,631,653,0.400971752125,-0.0153533635484,0.0698304130948,0.999999935119,0.00023334499004,-0.000274355220481,6.39413400575e-06,1793239615336145920
+84,1.400000000,BASELINE,765.259027533,745,715,678.740972467,661,635.259027533,879,788,803.259027533,652,631,653,0.40097079772,-0.0153547563401,0.0698298510717,0.999999934714,0.00023366871025,-0.000275546926775,6.71829224935e-06,1793239615352812544
+85,1.416666667,BASELINE,765.318227482,744.681772518,715,678.681772518,661,635.318227482,879,788,803.318227482,651.681772518,631,653,0.400971077251,-0.0153554716423,0.0698298530516,0.999999934797,0.000233598534491,-0.000275305340969,6.68775295101e-06,1793239615369479168
+86,1.433333333,BASELINE,765.893953857,744.106046143,715,678.106046143,661,635.893953857,879,788,803.893953857,651.106046143,631,653,0.400972355241,-0.0153556387428,0.0698303114038,0.999999935275,0.000233209631443,-0.000273903983699,6.37020440246e-06,1793239615386145792
+87,1.450000000,BASELINE,766,744,715,678.468843978,661,636,879.468843978,788,804,651.468843978,631,652.531156022,0.400971732004,-0.0153558203716,0.0698297139597,0.99999993502,0.000233995971519,-0.000274157801217,6.61987655242e-06,1793239615402813952
+88,1.466666667,BASELINE,766,744.044575752,715,678.955424248,661,636,879.955424248,787.955424248,804,652,631.044575752,652,0.400970771674,-0.0153559906395,0.0698289959259,0.999999934652,0.000234884917438,-0.000274729968261,6.96251965927e-06,1793239615419482112
+89,1.483333333,BASELINE,766,744.632876995,715,678.367123005,661,636,879.367123005,787.367123005,804,652,631.632876995,652,0.400970935651,-0.0153559823206,0.0698297146929,0.999999934938,0.000233788735943,-0.000274626841885,6.8770420551e-06,1793239615436147456
+90,1.500000000,BASELINE,765.780757872,745,715,678,661,636,879,787.219242128,804,652,631.780757872,652.219242128,0.400971141137,-0.0153560856457,0.0698302319968,0.999999935212,0.000232687714212,-0.000274564464835,6.82601663192e-06,1793239615452813056
+91,1.516666667,BASELINE,765.197606453,745,715,678,661,636,879,787.802393547,804,652,631.197606453,652.802393547,0.400971415523,-0.0153563742835,0.0698304149016,0.999999935468,0.000231578658518,-0.000274569725608,6.83217670838e-06,1793239615469479680
+92,1.533333333,BASELINE,765.378389367,744.621610633,715,678,661,636,879,788,804.378389367,652,631.378389367,653.378389367,0.40097045124,-0.0153565337242,0.0698297755371,0.999999935196,0.000231075058598,-0.000275985182784,6.64552280223e-06,1793239615486145792
+93,1.550000000,BASELINE,765.950717722,744.049282278,715,678,661,636,879,788,804.950717722,652,631.950717722,653.950717722,0.400968852092,-0.0153566269466,0.0698287147281,0.99999993465,0.000230881777761,-0.000278123419422,6.36004437383e-06,1793239615502812416
+94,1.566666667,BASELINE,765.474057055,744.525942945,715,678.525942945,661,636,879,788,804.474057055,651.474057055,632,653.474057055,0.400968736427,-0.0153554966768,0.0698283079065,0.99999993418,0.000232784432448,-0.000278223854813,6.51221817994e-06,1793239615519479040
+95,1.583333333,BASELINE,765,745,715,678.895784436,661,635.895784436,879.104215564,788,804,651.104215564,631.895784436,653,0.400968902366,-0.015354567936,0.0698282496512,0.999999933888,0.000234484507802,-0.000277843539387,6.6956070072e-06,1793239615536145920
+96,1.600000000,BASELINE,765,745,715,678.304545993,661,635.304545993,879.695454007,788,804,651.695454007,631.304545993,653,0.400969731098,-0.0153551197121,0.0698295323616,0.999999934405,0.000234315004265,-0.000276113849722,6.83216407401e-06,1793239615552812800
+97,1.616666667,BASELINE,765,745,715,678,661,635.280487868,879.719512132,788,804,652,631,652.719512132,0.400969977599,-0.0153556876069,0.0698300409426,0.999999934819,0.000233185000252,-0.000275574406399,6.78442883034e-06,1793239615569479680
+98,1.633333333,BASELINE,765,745,715,678,661,635.858930727,879.141069273,788,804,652,631,652.141069273,0.40096960561,-0.0153562726241,0.069829727186,0.999999935119,0.000231034681491,-0.000276299331019,6.54092463383e-06,1793239615586146560
+99,1.650000000,BASELINE,765.435871766,744.564128234,715,678,661,635.564128234,879,788,804,652,631,652.435871766,0.400971178512,-0.0153563155516,0.0698303410361,0.999999935603,0.000230793101303,-0.000274747308794,6.5487812584e-06,1793239615602813184
+100,1.666666667,BASELINE,766,744.01255879,715,678,661,635.01255879,879,788,804,652,631,653,0.400973314176,-0.0153562071814,0.0698312292089,0.999999936129,0.000231140040081,-0.000272529291072,6.63747493657e-06,1793239615619479552
+101,1.683333333,BASELINE,766,744.59978802,715,678,661,635.59978802,879,788,804,652,631,653,0.400972496692,-0.0153571762638,0.0698309795933,0.999999936086,0.000230245995984,-0.000273441361642,6.71536172471e-06,1793239615636146432
+102,1.700000000,BASELINE,766,744.815499948,715,678,661,636,879.184500052,788,804.184500052,652,631,653,0.400971818475,-0.015357133232,0.0698307508319,0.999999935753,0.000230928924868,-0.000274081278602,6.77352031305e-06,1793239615652813056
+103,1.716666667,BASELINE,766,744.236174725,715,678,661,636,879.763825275,788,804.763825275,652,631,653,0.400971438289,-0.0153549243026,0.0698305666979,0.999999934792,0.000234986533815,-0.000274138794004,6.78946107199e-06,1793239615669479680
+104,1.733333333,BASELINE,765.658436238,744.341563762,715,678,661.341563762,635.658436238,879.658436238,787.658436238,804.658436238,652,631,653,0.400971482159,-0.0153542801625,0.0698303675609,0.999999934625,0.000235639605127,-0.000274189832041,6.67341449898e-06,1793239615686146304
+105,1.750000000,BASELINE,765.081789769,744.918210231,715,678,661.918210231,635.081789769,879.081789769,787.081789769,804.081789769,652,631,653,0.400971817886,-0.0153547129951,0.0698301580981,0.99999993501,0.000233949489394,-0.000274236412011,6.46652708704e-06,1793239615702813184
+106,1.766666667,BASELINE,765.494718483,745,715,678,662,635,879,787.494718483,804,652,631.494718483,653,0.400971021527,-0.0153560241474,0.0698301277933,0.999999935148,0.000232785709349,-0.000274719843881,6.63226586001e-06,1793239615719479808
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804,651,631,653,0.400970409434,-0.0153550617786,0.0698296424894,0.99999993491,0.000232324994922,-0.000275986583607,6.08349845048e-06,1793239615762358784
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.421779681,744.421779681,715,678.421779681,661,636,880,788,804,651.578220319,631.578220319,652.421779681,0.400970824099,-0.0153543095424,0.0698300477467,0.999999934716,0.000234091983392,-0.000275193221523,6.14122117507e-06,1793239615779025152
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.155915558,744.155915558,715.155915558,678.155915558,661,636,879.844084442,788,804.155915558,652,631.844084442,652.155915558,0.400971122234,-0.0153542093913,0.0698302438881,0.999999934702,0.000234765515349,-0.000274667738519,6.22568841951e-06,1793239615795691776
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+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.68537389,679,661,636,879,788,804.68537389,652,631.31462611,653,0.400971102846,-0.0153565276092,0.0698302541315,0.999999935444,0.000231768905344,-0.000274506326435,6.42241076376e-06,1793239615829024768
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715.097602903,679,661,636,879,788,804.097602903,652,631.902397097,653,0.400971110524,-0.0153563217694,0.0698312792903,0.999999935529,0.000232394615546,-0.000273666424562,6.36148555497e-06,1793239615845691904
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+123,2.050000000,POSE1_TO_POSE2_PRESS,765.722619519,744.277380481,715,678,661,636,879,788,804.277380481,652,631.722619519,653,0.401321241505,-0.0153723395251,0.0699162430832,0.999999963141,0.000229804697943,-0.000144217718925,1.04523956266e-05,1793239616029024768
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.13666714,744.86333286,715,678,661,636,879,788,804.86333286,652,631.13666714,653,0.401402080236,-0.0153761500153,0.0699176422747,0.999999963919,0.000228088756293,-0.000141645272177,8.55547135433e-06,1793239616045691392
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,879,787.556098388,804.556098388,652,631,653,0.401505103604,-0.0153807402462,0.0699198945294,0.999999965023,0.000225762697133,-0.000137625489117,6.60635551953e-06,1793239616062358016
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.022810981,745,715,678.022810981,661,636,879,787.022810981,804,652,631.022810981,653,0.401615891909,-0.0153855917258,0.0699223286165,0.99999996618,0.000223261370463,-0.000133318303264,4.5932765819e-06,1793239616079024640
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.60119091,745,715,678.60119091,661,636,879,787.60119091,804,652,631.60119091,653,0.401751440815,-0.0153910292189,0.0699228712933,0.999999966767,0.000221011459653,-0.000132734057181,1.40902073978e-06,1793239616095691264
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678.821096876,661,636,879,788,804,652,631.821096876,653,0.401896410566,-0.0153969621724,0.069924501123,0.999999967956,0.000217244212944,-0.000129961761386,-1.79995604223e-06,1793239616112357888
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,678.244867665,661,636,879,788,804,652,631.244867665,653,0.402062303062,-0.0154039954934,0.0699285454114,0.999999970432,0.000210107114054,-0.00012233002437,-5.06383515434e-06,1793239616129025024
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.337855288,661,636,879,788,804,652,631.337855288,653,0.402242251878,-0.0154113045744,0.0699308640091,0.99999997265,0.000201938287039,-0.000117657635314,-8.81210116742e-06,1793239616145691648
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.925377011,661,636,879,788,804,652,631.925377011,653,0.402432587973,-0.0154188174357,0.069931907366,0.999999974658,0.000193007038523,-0.00011517212807,-1.29183170771e-05,1793239616162358016
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.493847194,661.506152806,636,879,788,804,652,631.493847194,653,0.402665102124,-0.0154275125907,0.0699366450224,0.999999978497,0.000178483222736,-0.000104124550914,-1.75231680772e-05,1793239616179024640
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.085401416,661.914598584,636,879.085401416,788,804,652,631,653,0.402909933362,-0.0154369149556,0.0699420065814,0.999999983254,0.000156645242695,-9.19923452763e-05,-2.21906359821e-05,1793239616195691264
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678.661514682,661.338485318,636,879.661514682,788,804,652,631,653,0.403190277457,-0.0154493925245,0.0699478646455,0.999999991629,9.74558152582e-05,-8.07857469213e-05,-2.68010437729e-05,1793239616212357888
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.762542035,745,715,679,661.237457965,636,880,788,804.237457965,652,631.237457965,653,0.403482578793,-0.0154612608904,0.0699535186347,0.999999995297,5.9242013275e-05,-7.00824951425e-05,-3.13743209072e-05,1793239616229024512
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.186840916,745,715,679,661.813159084,636,880,788,804.813159084,652,631.813159084,653,0.403791912412,-0.0154722614862,0.0699588819322,0.999999996254,5.09066053557e-05,-6.00962282359e-05,-3.58947077115e-05,1793239616245691136
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.601489461,636,879.601489461,788,804.601489461,652,632,653,0.404115161663,-0.0154804429481,0.0699598553467,0.999999996807,3.34839996647e-05,-6.10619569605e-05,-3.91917984708e-05,1793239616262358016
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.011501196,636,879.011501196,788,804.011501196,652,632,653,0.404445097136,-0.0154872698626,0.069958719495,0.99999999679,1.16951459034e-05,-6.72899387907e-05,-4.1901115559e-05,1793239616279024896
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.567873669,744.432126331,715,678.432126331,661,636,879.567873669,788,804,652,631.432126331,652.432126331,0.404840834653,-0.0154807006141,0.0699660246646,0.999999996981,4.54160380987e-05,-5.30483026472e-05,-3.40683979815e-05,1793239616295691776
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.854173687,744.145826313,715,678.145826313,661,636,879.854173687,788,804,652,631.145826313,652.145826313,0.405246036977,-0.0154727540579,0.0699717760484,0.99999999599,7.38269444765e-05,-4.13928884963e-05,-2.92470681858e-05,1793239616312358656
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.279780751,744.720219249,715,678.720219249,661,636,879.279780751,788,804,652,631.720219249,652.720219249,0.405675210419,-0.015461542486,0.0699724678303,0.999999995206,8.33890083638e-05,-3.85341121963e-05,-3.38918247213e-05,1793239616329025024
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.301741849,745,715,678.698258151,661,636,879.301741849,788,804,651.698258151,631.698258151,653,0.406103356064,-0.0154596613044,0.0699632370586,0.999999994655,8.00079038813e-05,-5.3639214644e-05,-3.75609125474e-05,1793239616345691392
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.890035257,745,715,678.109964743,661,636,879.890035257,788,804,651.109964743,631.109964743,653,0.406530525701,-0.0154666408013,0.0699445832548,0.999999993437,6.43352170718e-05,-8.58038578565e-05,-4.03034492899e-05,1793239616362358016
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.529044336,745,715,678.470955664,661.470955664,636,879.529044336,788,804,651.470955664,631,653,0.407015418498,-0.0154773494855,0.0699352094076,0.99999999283,5.25868881981e-05,-9.9194142544e-05,-4.16512490854e-05,1793239616379024640
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.049900126,745,715,679,661.950099874,636,879,788,804,652,631,653,0.407520441962,-0.0154886935719,0.0699297952893,0.999999992761,4.1309906554e-05,-0.000104775251136,-4.23605128309e-05,1793239616395691264
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.625883142,745,715,679,661.374116858,636,879,788,804,652,631,653,0.408097793848,-0.015497698085,0.0699436355972,0.999999996183,2.54907154192e-05,-7.35299241767e-05,-3.97183022236e-05,1793239616412358144
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.200945432,635.799054568,879,788,804,652,631,653,0.408685288756,-0.0155077131069,0.0699552502177,0.999999998116,1.27701135508e-05,-4.67219336669e-05,-3.77054521424e-05,1793239616429024768
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.774301315,635.225698685,879,788,804,652,631,653,0.409291581604,-0.0155196008959,0.0699627399898,0.999999998908,5.79210167227e-06,-2.8137622859e-05,-3.68589907666e-05,1793239616445691392
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.640405688,662,635.359594312,879.359594312,788,804,652,631.359594312,653,0.409888470498,-0.0155224328001,0.0699591726364,0.99999999875,3.9247754618e-06,-3.25433305714e-05,-3.77626616589e-05,1793239616462358016
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,678.047363151,662,635.952636849,879.952636849,788,804,652,631.952636849,653,0.41047925433,-0.0155193856336,0.0699484270094,0.999999997848,5.37530093543e-06,-5.18741332817e-05,-3.98025164878e-05,1793239616479024640
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678.529946679,661.470053321,636,880,788,804,652,632,653,0.41112514123,-0.0155202037489,0.0699504207155,0.999999997728,-1.74561719987e-07,-5.42259728109e-05,-4.00488200281e-05,1793239616495691776
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.897491385,745,715.102508615,678.897491385,661,636,880,788,804,652,631.897491385,653,0.411786878653,-0.0155216921288,0.0699586687987,0.99999999817,-5.15117006267e-06,-4.5296858932e-05,-3.97599570881e-05,1793239616512359168
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.339943961,745,715.660056039,678.339943961,661,636,880,788,804,652,631.339943961,653,0.412497746011,-0.0155246665667,0.0699897718719,0.999999999248,-4.88588307183e-06,7.16686910413e-06,-3.77865168045e-05,1793239616529025280
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.231475352,745,715.768524648,678.231475352,661.231475352,636,880,788,804,652,631,653,0.413235148803,-0.0155277022041,0.07001410055,0.999999998148,-9.7253729628e-06,4.77203301837e-05,-3.65029342781e-05,1793239616545691392
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.824565668,745,715.175434332,678.824565668,661.824565668,636,880,788,804,652,631,653,0.414014005838,-0.015530833449,0.070027846151,0.99999999666,-2.25396371859e-05,6.96673658785e-05,-3.62970597714e-05,1793239616562358272
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.582199236,636,880,788,804,652,631,653,0.414718934284,-0.0155284063375,0.0699998017325,0.999999998781,-2.29314278683e-05,1.65774110988e-05,-4.0471495019e-05,1793239616579025152
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880.010793866,788,804,651.989206134,631,653,0.415394386729,-0.0155236547325,0.069954508566,0.999999996496,-1.8159647869e-05,-6.72264822637e-05,-4.6459252091e-05,1793239616595692032
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880.587901678,788,804,651.412098322,631,653,0.416152598408,-0.0155194417678,0.0699252144821,0.999999992647,-1.62434919404e-05,-0.000108796415186,-5.10511416709e-05,1793239616612358400
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.164635777,636,880.835364223,788,804,651.164635777,631,653,0.416933437082,-0.0155178699417,0.0699136046426,0.999999990832,-1.58313969348e-05,-0.000123439599403,-5.33761608865e-05,1793239616629024768
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.740436522,636,880.259563478,788,804,651.740436522,631,653,0.417770784861,-0.0155228941527,0.0699461598213,0.999999996055,-1.91755765198e-05,-7.0835333788e-05,-5.00398486e-05,1793239616645691136
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.676255043,880.323744957,788,804.323744957,651.676255043,631,653,0.418610127803,-0.0155275603387,0.0699727422546,0.99999999796,-2.61780749722e-05,-3.28745610318e-05,-4.81141492044e-05,1793239616662357760
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.086784421,880.913215579,788,804.913215579,651.086784421,631,653,0.419451108309,-0.0155319326622,0.0699944223344,0.999999998201,-3.61832739808e-05,-6.93298004604e-06,-4.73462628002e-05,1793239616679024384
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.506294817,635,880.506294817,788,804.506294817,651.493705183,631,652.506294817,0.420317906188,-0.0155364001041,0.0700142948799,0.999999997311,-4.77148488929e-05,2.94172331346e-05,-4.72775219884e-05,1793239616695691008
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.072261216,635.072261216,880,788,804.072261216,652,631,652.072261216,0.421183519878,-0.0155403095848,0.0700298550989,0.999999995459,-5.76211112861e-05,5.92482118486e-05,-4.74473451206e-05,1793239616712357632
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.64814711,635.64814711,880,788,804.64814711,652,631,652.64814711,0.422009815847,-0.0155402159039,0.0700175354084,0.999999996865,-5.43631773488e-05,3.11194377318e-05,-4.84386116067e-05,1793239616729024256
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,652,631.223702056,653,0.422812190535,-0.0155376530449,0.0699795367576,0.999999996634,-5.24291461016e-05,-3.53267805478e-05,-5.22993437499e-05,1793239616745690880
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,652,631.798737326,653,0.423576996001,-0.0155312122408,0.0699012082495,0.999999983664,-5.25743570528e-05,-0.000161952113855,-6.06666885223e-05,1793239616762357504
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.384795652,788,804.615204348,652,631.615204348,653,0.424425164061,-0.0155314240707,0.0698741800495,0.999999977638,-5.78557372063e-05,-0.00019272493133,-6.5061235434e-05,1793239616779024384
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.97678945,788,804.02321055,652,631.02321055,653,0.425318219731,-0.015535218097,0.0698747751618,0.99999998079,-6.59027536973e-05,-0.000171884728076,-6.73165783217e-05,1793239616795690752
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.446856464,788,804,652,631,653,0.426232976699,-0.0155392050843,0.0699344776082,0.99999999218,-6.31322675441e-05,-8.99544005361e-05,-5.96822814924e-05,1793239616812357632
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.129114652,662,636,880.129114652,788,804.129114652,651.870885348,631.129114652,653,0.427142075826,-0.0155425148935,0.0699883802446,0.999999996463,-6.24999701548e-05,-1.75093346312e-05,-5.34910375581e-05,1793239616829024256
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.705970871,662,636,880.705970871,788,804.705970871,651.294029129,631.705970871,653,0.428028483773,-0.0155434490898,0.0700138060527,0.999999995961,-7.08132451926e-05,1.33979670136e-05,-5.37034831264e-05,1793239616845691136
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,881,788,804.71929482,651.28070518,631.71929482,653,0.428911775345,-0.01554482098,0.0700323238202,0.999999995013,-7.28511668356e-05,4.29646221939e-05,-5.31045235777e-05,1793239616862358272
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,881,788,804.146766499,651.853233501,631.146766499,653,0.429791827056,-0.0155466479,0.070043659937,0.999999993798,-6.83651850576e-05,7.11375296502e-05,-5.16620213801e-05,1793239616879025664
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.556636521,662,636,881,788,804.443363479,651.556636521,631,653,0.43060031924,-0.0155437027459,0.0700070279796,0.999999995952,-7.05930050516e-05,7.80819718499e-06,-5.52381012903e-05,1793239616895692032
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.961818446,745,715,679,662,636,881,788,804.961818446,651,631.038181554,653,0.431383478389,-0.015539106371,0.0699540539825,0.999999991738,-7.42961078362e-05,-8.56949950354e-05,-6.04979820636e-05,1793239616912357888
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.38641044,745,715,679,662,636,881,788,804.38641044,651,631.61358956,653,0.432157274398,-0.0155344225514,0.0699037995039,0.999999982898,-6.61932966027e-05,-0.000159945141553,-6.51080980114e-05,1793239616929024512
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.189391518,745,715,679.189391518,662,635.810608482,881,788,804.189391518,651,632,653,0.432969470114,-0.0155331417595,0.0698905819835,0.999999980731,-6.33953272788e-05,-0.00017343526226,-6.66291627301e-05,1793239616945691136
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.765999024,745,715,679.765999024,662,635.234000976,881,788,804.765999024,651,632,653,0.433860175189,-0.0155388185469,0.0699530874989,0.999999993571,-7.14432468191e-05,-6.26999094231e-05,-6.18345810541e-05,1793239616962357760
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.652112004,745,715,680,662,635.347887996,880.652112004,788,804.652112004,651,631.652112004,653,0.434713845381,-0.0155436377559,0.069999049911,0.999999995439,-7.51572290671e-05,1.2744970026e-05,-5.75332514321e-05,1793239616979024640
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.066615815,745,715,680,662,635.933384185,880.066615815,788,804.066615815,651,631.066615815,653,0.435542220621,-0.0155478712367,0.0700337133471,0.99999999363,-7.59111233368e-05,6.40863792651e-05,-5.35688144646e-05,1793239616995691264
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.515376212,745,715,680,662,636,880,788,804.515376212,651,631.515376212,653,0.436322706366,-0.0155502904783,0.0700307870405,0.999999993122,-8.41989162682e-05,6.06114038493e-05,-5.47139750151e-05,1793239617012357888
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.095597364,788,805,651,631.904402636,653,0.437086916799,-0.015552168144,0.0700194520508,0.999999993014,-9.26874618049e-05,4.65844570851e-05,-5.66561967132e-05,1793239617029024256
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.669213073,788,805,651,631.330786927,653,0.437800488488,-0.015552502422,0.0699902020277,0.999999993391,-9.73433660265e-05,1.49841635648e-05,-5.93038238002e-05,1793239617045691136
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.755660752,745,715,680,662,635.755660752,880.755660752,788,804.755660752,651,631,653,0.438475447152,-0.0155516629522,0.0699487685255,0.999999992284,-9.71689554999e-05,-4.5695314849e-05,-6.24642009442e-05,1793239617062358272
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.178477034,745,715,680,662,635.178477034,880.178477034,788,804.178477034,651,631,653,0.439097806218,-0.0155492245763,0.0698907384137,0.999999983057,-9.04145795775e-05,-0.000145987116388,-6.63230572646e-05,1793239617079024896
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.408128915,745,715,680,662,635,880.408128915,788,804.408128915,651,631.408128915,653,0.439731095875,-0.0155521021391,0.0698475719228,0.999999969716,-9.83867594389e-05,-0.00021454552795,-6.97029890256e-05,1793239617095691264
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.998952682,745,715,680,662,635,880.998952682,788,804.998952682,651,631.998952682,653,0.440369278555,-0.0155573593289,0.0698110589789,0.999999954813,-0.000112951135047,-0.000268898811564,-7.28685353168e-05,1793239617112357888
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880.425761726,787.425761726,805,651,631.425761726,653,0.441040225725,-0.015564627674,0.06983867491,0.999999964129,-0.000120366535565,-0.000228429116835,-7.12265148042e-05,1793239617129024512
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.84993755,745,715,680,662,635,880.15006245,787,805,651,631,653,0.441694393838,-0.0155730881068,0.0698624641366,0.999999969982,-0.000130529964502,-0.000195304154919,-6.96775293919e-05,1793239617145691392
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.272500787,745,715,680,662,635,880.727499213,787,805,651,631,653,0.442300610045,-0.0155849334075,0.0698750306799,0.999999969775,-0.000148555870894,-0.000183576368016,-6.84178194432e-05,1793239617162358016
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.688603179,635,881,787,804.688603179,651,631,653,0.442854614961,-0.0155921641528,0.0698631629986,0.99999996312,-0.000159624318342,-0.0002089180113,-6.80684990268e-05,1793239617179024896
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.098931983,635,881,787,804.098931983,651,631,653,0.443361962125,-0.01559527118,0.0698294600952,0.999999948378,-0.000164475351662,-0.000267386109017,-6.85327323644e-05,1793239617195691776
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.482542661,745,715,680,661.482542661,635,880.517457339,787,804.482542661,651,631,653,0.443862249386,-0.0156006031988,0.069791016801,0.999999928519,-0.000174812674384,-0.00032772501574,-7.06998934386e-05,1793239617212357888
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.938308012,745.061691988,715,680,661.938308012,635,880.061691988,787,805,651,631,653,0.444357580354,-0.0156062204353,0.0697538545895,0.999999906185,-0.000185459813409,-0.000384530689502,-7.32838005032e-05,1793239617229024512
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.36474195,745.63525805,715,680,661.36474195,635,880.63525805,787,805,651,631,653,0.444823596895,-0.015610482432,0.0697352511372,0.999999895524,-0.00018950061744,-0.000408890924889,-7.64770544881e-05,1793239617245691136
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.7891957,715,680,661,634.7891957,881,786.7891957,805,651,631,652.7891957,0.445282804757,-0.0156155567589,0.0697222601286,0.999999887879,-0.000196916859395,-0.000423452591992,-7.84488382121e-05,1793239617262357504
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.210190821,715,680,661,634.210190821,881,786.210190821,805,651,631,652.210190821,0.445730120212,-0.0156220499391,0.0697190720768,0.999999886259,-0.000210228797662,-0.000420899622571,-7.82871449929e-05,1793239617279024128
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.37520926,745,715,680,661,634,881,786,805,651,631,652.37520926,0.446134605468,-0.0156268692811,0.0697148571376,0.999999880805,-0.000215944929071,-0.000430893841331,-7.80328105581e-05,1793239617295691008
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.964254086,745,715,680,661,634,881,786,805,651,631,652.964254086,0.446514681402,-0.0156307346864,0.0697100569645,0.999999872993,-0.000217332134235,-0.000448038829729,-7.7725678925e-05,1793239617312357632
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.881718617,715,680,660.881718617,634,880.236562765,786,805,651.881718617,631,653,0.447190896028,-0.0156451067557,0.0696751466099,0.999999834212,-0.000237845513212,-0.000518523293082,-7.83521124991e-05,1793239617345691392
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.303584665,715,680,660.303584665,634,881.39283067,786,805,651.303584665,631,653,0.447498656833,-0.0156477804071,0.0696566347719,0.999999818483,-0.000249205821069,-0.000542513536629,-8.12966322051e-05,1793239617362358016
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.728829436,680,660,633.728829436,881.457658871,785.728829436,804.728829436,651,631,653,0.447798219564,-0.0156509259093,0.0696498598602,0.999999811888,-0.000256312084735,-0.000551043581257,-8.29420907868e-05,1793239617379024640
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.157810285,680,660,633.157810285,880.31562057,785.157810285,804.157810285,651,631,653,0.448088717202,-0.0156545931634,0.0696560631311,0.999999815935,-0.000258714411274,-0.000542478410893,-8.31511040877e-05,1793239617395691264
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.431634447,680,660.431634447,633,880.431634447,785,804.431634447,651.431634447,631,653,0.448354385679,-0.0156557492438,0.0696616674831,0.99999982262,-0.000254964639175,-0.000532030087033,-8.18411870993e-05,1793239617412358144
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.027149624,745,715,680.027149624,660.972850376,633,881,785.027149624,805,651.972850376,630.972850376,653,0.448608702791,-0.0156559496953,0.0696666611751,0.999999829876,-0.000248377905212,-0.000521735619894,-7.96812490698e-05,1793239617429024768
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.603126435,745,715,680.603126435,660.396873565,633,881,785.603126435,805,651.396873565,630.396873565,653,0.448825243197,-0.0156562193564,0.0696639342991,0.999999830537,-0.000231938649927,-0.000529089969151,-7.20648986828e-05,1793239617445691136
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.82133575,745,715,681,660,633,881,785.82133575,805,651,630,653,0.449030535385,-0.0156576497057,0.0696609366452,0.999999829045,-0.00022521608256,-0.000535395897602,-6.73749173076e-05,1793239617462357760
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680.664153797,660,633,881,785,805,651,630.335846203,653,0.449369529337,-0.0156660594731,0.0696525273375,0.999999817239,-0.00024953528554,-0.000546110380119,-7.08402199538e-05,1793239617495691008
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680.075475022,660,633,881,785,805,651,630.924524978,653,0.449511789113,-0.0156707719367,0.0696468017933,0.999999810887,-0.00025505751845,-0.000554911633345,-7.24178053311e-05,1793239617512357376
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.08856629,745,715,680,660,633,880.08856629,784,805,651,630.08856629,653,0.44974715834,-0.0156752181875,0.0696380479472,0.999999801381,-0.000262569859375,-0.000568089908814,-7.46199984476e-05,1793239617545691136
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.661615502,745,715,680,660,633,880.661615502,784,805,651,630.661615502,653,0.449835168643,-0.0156767626977,0.0696296840234,0.999999792113,-0.000265716031946,-0.000582584498577,-7.59277933941e-05,1793239617562358016
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,714.765612232,680.234387768,660,633,881,784,805.234387768,651,630.765612232,653,0.449914870944,-0.0156779724498,0.0696226821905,0.9999997843,-0.000267882841913,-0.000594754617524,-7.68439239022e-05,1793239617579024384
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+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.647252318,660,633,880.676373841,784,805,651,630.676373841,653,0.450267418793,-0.0156721328525,0.0695922443923,0.999999752415,-0.000274579935443,-0.000643592349427,-7.46033876287e-05,1793239618012357632
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681.8234661,660,633,880.08826695,784,805,651,630.08826695,653,0.450268818879,-0.0156718725885,0.0695924679209,0.999999752247,-0.000275618116459,-0.000643382229645,-7.48308131032e-05,1793239618029024256
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681.014699732,660,633,880.492650134,784,805,651,630.492650134,653,0.450267204662,-0.0156721049997,0.0695914987144,0.999999751527,-0.000275467529274,-0.000644555973844,-7.49059765175e-05,1793239618045690880
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.071717463,745.071717463,715,680,660,633,880.928282537,784,805,651,630.928282537,653,0.450265670227,-0.0156724259358,0.0695907667223,0.999999751061,-0.000275165325121,-0.000645414950862,-7.48464277481e-05,1793239618062357504
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.646713611,745.646713611,715,680,660,633,880.353286389,784,805,651,630.353286389,653,0.450268431065,-0.0156727575604,0.069593177456,0.999999753065,-0.000275272299513,-0.000642350121093,-7.40302208135e-05,1793239618079024128
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.778096374,746,715,680.221903626,660,633,880.221903626,784,805,651,630,653,0.450269630988,-0.0156722587665,0.0695940197785,0.999999754006,-0.0002740320537,-0.00064147076871,-7.35515128475e-05,1793239618095691008
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.202597349,746,715,680.797402651,660,633,880.797402651,784,805,651,630,653,0.450268343651,-0.0156704367307,0.0695923628948,0.999999753251,-0.00027064506125,-0.000644073894991,-7.36105971498e-05,1793239618112357632
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.38336501,745.61663499,715,681,659.61663499,633,880.61663499,783.61663499,805,651,630,653,0.450267200366,-0.0156702380339,0.0695910439302,0.999999751773,-0.000271863340435,-0.000645833958059,-7.37807613134e-05,1793239618129024256
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.975012058,745.024987942,715,681,659.024987942,633,880.024987942,783.024987942,805,651,630,653,0.450266135345,-0.0156709212966,0.0695899085568,0.999999749895,-0.000275583661847,-0.0006471359851,-7.40112751124e-05,1793239618145690880
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680.445616606,659.554383394,632.445616606,880,783,805,651,630,653,0.4502674952,-0.0156715158686,0.0695913083095,0.999999751149,-0.000274951663686,-0.000645446879052,-7.41768322859e-05,1793239618162357760
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.867547327,745.132452673,715,680.132452673,659.867547327,632.132452673,880.132452673,783,805,651,630,653,0.450268171697,-0.0156718466039,0.0695920198313,0.99999975176,-0.000274597077242,-0.000644638618215,-7.42845797023e-05,1793239618179024128
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.29202284,745.70797716,715,680.70797716,659.29202284,632.70797716,880.70797716,783,805,651,630,653,0.450266204575,-0.0156713078532,0.0695900551723,0.999999749765,-0.00027581248143,-0.000647218124513,-7.42085275452e-05,1793239618195691008
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659,632.71042825,881,783,805,651,630,653,0.4502661957,-0.0156701174334,0.0695898261239,0.999999749761,-0.00027508647458,-0.00064753245037,-7.42142246856e-05,1793239618212357632
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,746,715,681,659,632.122581144,881,783,805,651,630,653,0.45026820393,-0.0156682557574,0.0695913848531,0.999999751805,-0.00027236070398,-0.000645513511508,-7.43041282519e-05,1793239618229024512
+256,4.266666667,HOLD_POSE2,766,746,714,681,660,632,880,783,805,651,630,654,0.450271116914,-0.0156716320225,0.0695930857947,0.999999752133,-0.000278492405307,-0.00064242082467,-7.39642624114e-05,1793239618261293312
+257,4.283333333,HOLD_POSE2,765.423144506,745.423144506,714,680.423144506,659.423144506,632.576855494,880.576855494,783,805,651,630,653.423144506,0.450270723299,-0.0156694982837,0.0695928230729,0.999999752754,-0.000274799858641,-0.000643028776249,-7.41018798189e-05,1793239618277959936
+258,4.300000000,HOLD_POSE2,765,745,714.153047493,680,659,633,881,783.153047493,805,651.153047493,630,653,0.450270335873,-0.0156680326834,0.0695924439832,0.999999752982,-0.000272168841255,-0.000643786629551,-7.41510311206e-05,1793239618294626560
+259,4.316666667,HOLD_POSE2,765,745,714.727413113,680,659,633,881,783.727413113,805,651.727413113,630,653,0.450269965485,-0.0156684063732,0.0695917445492,0.999999752163,-0.000272460063183,-0.000644957141282,-7.39566477647e-05,1793239618311293184
+260,4.333333333,HOLD_POSE2,765,745.310470157,715,680.310470157,659.310470157,633,881,784,805.310470157,651.689529843,630,653,0.450269455333,-0.0156686794666,0.0695916911825,0.999999751993,-0.000271992199115,-0.000645422559074,-7.39164210264e-05,1793239618327959808
+261,4.350000000,HOLD_POSE2,765,745.901377846,715,680.901377846,659.901377846,633,881,784,805.901377846,651.098622154,630,653,0.450268818936,-0.0156688616946,0.0695922213874,0.99999975241,-0.000270838677493,-0.000645251088513,-7.40154389278e-05,1793239618344626432
+262,4.366666667,HOLD_POSE2,765,745.517020619,715,680.517020619,660,633,881,784,805.517020619,651,630,653,0.450269946766,-0.0156676872669,0.0695925710537,0.999999753184,-0.000270185267402,-0.000644347084763,-7.38179057407e-05,1793239618361293056
+263,4.383333333,HOLD_POSE2,765,745,715,680.124546128,659.937726936,632.937726936,881,784,805,651,630.062273064,653,0.450271227246,-0.0156665882042,0.0695927977216,0.999999753832,-0.000269804830545,-0.00064352382728,-7.36100577352e-05,1793239618377959680
+264,4.400000000,HOLD_POSE2,765,745,715,681.27582131,659.362089345,632.362089345,881,784,805,651,630.637910655,653,0.450270852488,-0.0156683509729,0.0695923085821,0.999999752858,-0.000270848778293,-0.000644576014004,-7.38069359222e-05,1793239618394626304
+265,4.416666667,HOLD_POSE2,764.782315685,745.217684315,714.782315685,681.564631369,659.217684315,632.217684315,881,784,805,651,630.782315685,653,0.450270516504,-0.0156694575129,0.0695919471656,0.999999751988,-0.000272168008236,-0.000645349009161,-7.39745113148e-05,1793239618411293184
+266,4.433333333,HOLD_POSE2,764.195529024,745.804470976,714.195529024,680.391058047,659.804470976,632.804470976,881,784,805,651,630.195529024,653,0.450270246267,-0.015669451361,0.0695918023145,0.999999751299,-0.00027395400254,-0.000645648611071,-7.40924012977e-05,1793239618427960064
+267,4.450000000,HOLD_POSE2,764.386164719,745.613835281,714.386164719,680.386164719,660,633,881,784,805,651,630,653,0.450270386425,-0.0156691199504,0.0695916628553,0.999999751328,-0.000273747152989,-0.000645706842717,-7.39601440829e-05,1793239618444626944
+268,4.466666667,HOLD_POSE2,764.965313353,745.034686647,714.965313353,680.965313353,660,633,881,784,805,651,630,653,0.450270731675,-0.0156686259934,0.0695915260908,0.999999751715,-0.000272544389697,-0.00064564445079,-7.37028770491e-05,1793239618461293568
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+270,4.500000000,HOLD_POSE2,765,745.116552736,715,680.116552736,659.883447264,633,881,783.883447264,805,651,630.883447264,653,0.450271214237,-0.0156677454646,0.0695928086663,0.99999975358,-0.000269498660629,-0.000644037260331,-7.36674213931e-05,1793239618494627072
+271,4.516666667,HOLD_POSE2,765,745.693845651,715,680.693845651,659.306154349,633,881,783.306154349,805,651,630.306154349,653,0.450272071011,-0.0156681462731,0.0695929010743,0.999999753561,-0.000271023838851,-0.000643476296382,-7.32212470439e-05,1793239618511293696
+272,4.533333333,HOLD_POSE2,765.275544937,746,715,681,659.275544937,633.275544937,880.724455063,783,805,651,630,653,0.450272060078,-0.0156686346804,0.0695927127201,0.999999753255,-0.000271759532042,-0.000643659599709,-7.30745248984e-05,1793239618527960064
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,633,881,784,805,651,630,653,0.450268906272,-0.0156669549061,0.0695898987581,0.999999751083,-0.000267950812393,-0.000648537990189,-7.37245804203e-05,1793239618577239808
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.575084993,659,633,881,784,805,651,630,653,0.450269191964,-0.0156669499211,0.0695904051132,0.999999751401,-0.000269276553459,-0.000647487840129,-7.38108184228e-05,1793239618593906432
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.84995941,715,680.84995941,659.15004059,633,880.84995941,784,805,651,630,653,0.45026946825,-0.0156671109286,0.0695907431362,0.999999751538,-0.00027053931289,-0.000646750100472,-7.38019744748e-05,1793239618610573312
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.275369816,715,680.275369816,659.724630184,633,880.275369816,784,805,651,630,653,0.450269717924,-0.0156677416218,0.069590604853,0.99999975117,-0.000271623862241,-0.000646896344877,-7.35240903664e-05,1793239618627239936
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.941509271,633,880.941509271,783,805,651.941509271,630,653,0.45027112764,-0.0156665484408,0.0695917100764,0.999999752999,-0.000268306153543,-0.000645502193846,-7.3073046356e-05,1793239618693906944
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.787460912,659,632.787460912,880,783,805,651,630,653,0.45025512293,-0.0156661619519,0.0695829806665,0.999999745028,-0.00026983012774,-0.000657048864305,-7.36425692231e-05,1793239618727239936
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.19895932,659,632.19895932,880,783,805,651,630,653,0.450234272431,-0.0156644562373,0.069573154394,0.999999734734,-0.000270061040547,-0.000672360833225,-7.43668499695e-05,1793239618743906560
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.383375846,632.383375846,880.766751692,783,805,651,630,653,0.450193523422,-0.0156624463914,0.0695571229451,0.999999715592,-0.000269750477108,-0.000700246502547,-7.5535096714e-05,1793239618760573184
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.962561553,632.962561553,881.925123105,783,805,651,630,653,0.450142611212,-0.0156602812099,0.0695379221911,0.999999691031,-0.000269163353542,-0.00073455421132,-7.69300998387e-05,1793239618777239808
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.883938552,633,881,783,804.883938552,651.116061448,630,653,0.450005286489,-0.0156538153555,0.0695064873631,0.999999661655,-0.000265454452645,-0.000774662822278,-7.82398446163e-05,1793239618810573056
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.446573966,681,659.553426034,632.446573966,881,783.446573966,805,652,630.553426034,653.553426034,0.449646819784,-0.0156370239638,0.0695129406748,0.999999673924,-0.000257008023349,-0.000762237641177,-7.13672776104e-05,1793239618877239808
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.174690576,680.174690576,660,633,881,784.825309424,805,651.174690576,630.825309424,653,0.447128783084,-0.0155317142931,0.0695375901528,0.99999971729,-9.94630771081e-05,-0.000744797875993,-2.83540463858e-05,1793239619060572928
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.407888121,714.407888121,680.407888121,660,633,881,785,805,651.407888121,630.592111879,653,0.446763978289,-0.0155262786716,0.0695378934008,0.999999722296,-8.21596914095e-05,-0.000740360575655,-2.29062501823e-05,1793239619077239808
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.987603097,714.987603097,680.987603097,660,633,881,785,805,651.987603097,630.012396903,653,0.446383713844,-0.0155219598147,0.069536430452,0.999999725971,-6.59506457877e-05,-0.00073715495017,-1.76289792643e-05,1793239619093906688
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.436521565,715,681,660,633,881,785,805,651.436521565,630.563478435,653,0.445981195315,-0.0155215747189,0.0695499681165,0.999999743955,-5.44981953274e-05,-0.000713426014642,-1.19939943432e-05,1793239619110573056
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.859535312,660,633.140464688,881,785.140464688,805,651,631,653,0.44557255646,-0.015521157112,0.0695662912922,0.999999764327,-4.47417265219e-05,-0.000685056687733,-6.48249849034e-06,1793239619127239680
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.278804179,660,633.721195821,881,785.721195821,805,651,631,653,0.445146258608,-0.0155203681759,0.0695903178409,0.999999792123,-3.99752864185e-05,-0.00064354839097,-1.38256280562e-06,1793239619143906304
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.890335932,745,715,680,660.890335932,634,881,785.109664068,804.109664068,651,631,653,0.444166619749,-0.0155101708763,0.0696186788836,0.99999981772,-6.92678129737e-05,-0.000599622483754,-1.46492428083e-05,1793239619177239296
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.530049509,745,714.530049509,680,660.530049509,634,881,785.469950491,804,651,631,653,0.443624524665,-0.0155021378179,0.069626092245,0.999999825637,-5.86107265255e-05,-0.000587507740791,-1.12291927949e-05,1793239619193906176
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.620924565,680,660.620924565,634,881,786.620924565,804.620924565,651,631,653,0.442491614825,-0.0154843931904,0.0696525643949,0.999999847863,-7.99784022899e-06,-0.000551549399315,1.72425716526e-06,1793239619227240192
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.199001958,745,714.800998042,680,661,634.199001958,881,786.800998042,805,651.199001958,631,653,0.441905958404,-0.0154756025786,0.0696749442425,0.999999865467,1.35229441001e-05,-0.000518498571033,6.47940877332e-06,1793239619243906816
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,714.371377306,680.371377306,661,635,881,786.371377306,804.628622694,651.628622694,631,653,0.440696746097,-0.0154645786486,0.0697395868622,0.999999919519,2.62942319941e-05,-0.000400166840767,1.16924138126e-05,1793239619277239552
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,714.954522869,680.954522869,661,635,881,786.954522869,804.045477131,651.045477131,631,653,0.440071914398,-0.0154640559573,0.0697785439475,0.999999946363,4.23144189889e-05,-0.000324362330972,1.64975791572e-05,1793239619293906176
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.470679769,745,715,681,661.529320231,635,880.470679769,787,804.529320231,651,631,653,0.439370022529,-0.0154560462865,0.0697832180545,0.999999945932,5.57096576742e-05,-0.000323573610851,1.82217080275e-05,1793239619310572800
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.896868232,661.896868232,635,880.103131768,787,805,651,631,653,0.438651359124,-0.0154467596536,0.0697786899255,0.999999941122,6.77999989348e-05,-0.000335877769482,1.8575997234e-05,1793239619327239680
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.324329998,661.324329998,635,880.675670002,787,805,651,631,653,0.437886026328,-0.0154345432205,0.0697454757885,0.999999925313,7.49616129471e-05,-0.000378895069899,1.38815603082e-05,1793239619343906304
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.849232855,745,715,680.849232855,661,635,880.150767145,787,805,651,631,653,0.436360773314,-0.0154226594752,0.069750650386,0.999999927072,9.17433900343e-05,-0.000370569151657,1.08306438145e-05,1793239619377239808
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.567869249,661,635,880,787.432130751,805,651,631.432130751,653,0.43559414947,-0.0154101004875,0.069788146921,0.999999944504,0.000106584706894,-0.000315439876745,1.13384504212e-05,1793239619393906688
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.335907469,745,715,680,661,635,880.335907469,787.335907469,804.664092531,651.335907469,631,653,0.431434364528,-0.015369678143,0.0698196976734,0.999999945576,0.000169545846852,-0.00028273386946,1.27919836749e-05,1793239619477239552
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.225943057,662,635.774056943,880,788,804.774056943,652,631.774056943,653,0.427049124109,-0.0153775165929,0.0698280967388,0.999999948356,0.000169617901789,-0.00027246143212,1.68312094573e-05,1793239619560573184
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.815713654,662,635.184286346,880,788,804.184286346,652,631.184286346,653,0.426189989896,-0.0153778293129,0.0698738427206,0.999999962285,0.000178420719225,-0.000207568036737,2.26320342575e-05,1793239619577239808
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.282241689,880,788,804.282241689,651.282241689,632,653,0.420711047785,-0.0153607783509,0.0697110277539,0.999999866332,0.000191529861812,-0.000480169591778,9.41238991599e-06,1793239619677239808
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.809154581,744.190845419,715,679,661,635,879.809154581,788,805,652,631,653,0.416683256068,-0.0153640612802,0.0698633015778,0.999999949246,0.000213983968976,-0.000234825736245,2.39919642096e-05,1793239619760572672
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.223688386,744.776311614,715,679,661,635,879.223688386,788,805,652,631,653,0.415876501207,-0.0153610806817,0.0698280772696,0.99999993971,0.000216731666721,-0.000270590379366,1.97053114666e-05,1793239619777239552
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.938256401,744.061743599,715,679,661,635,879.938256401,788,804.061743599,651.061743599,631.938256401,653,0.414189539521,-0.0153559103019,0.0697713238555,0.999999906805,0.000216869075038,-0.000372970527942,1.58408035234e-05,1793239619810573312
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b725a6b4673dcc19ab15e73ac8b414ef9fef5f9c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,420 @@
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+355,5.916666667,pose2_to_pose3_retreat,0.583240085633,-0.00990926212849,1.0600322741,0.553810537134,-0.00123752279683,1.05970040554
+356,5.933333333,pose2_to_pose3_retreat,0.582675759851,-0.00990925008228,1.0600323514,0.553246211636,-0.00123750982632,1.05970048197
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+359,5.983333333,pose2_to_pose3_retreat,0.581164096173,-0.00990924178491,1.06003231953,0.551734547995,-0.00123750114473,1.05970045683
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+379,6.316666667,pose2_to_pose3_retreat,0.576026758265,-0.00990914313718,1.06003224589,0.546597206962,-0.00123741349868,1.05970037407
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+382,6.366666667,pose2_to_pose3_retreat,0.575837978607,-0.0099091675108,1.06003231427,0.546408430587,-0.00123742661024,1.05970044541
+383,6.383333333,pose2_to_pose3_retreat,0.575795823401,-0.00990923859499,1.06003242441,0.546366275813,-0.00123749636469,1.05970055194
+384,6.400000000,pose2_to_pose3_retreat,0.575763080042,-0.00990921533821,1.06003233385,0.546333530948,-0.00123747813334,1.05970046363
+385,6.416666667,pose2_to_pose3_retreat,0.575737595471,-0.00990911714675,1.06003207554,0.546308044661,-0.00123738539462,1.05970021506
+386,6.433333333,pose2_to_pose3_retreat,0.57571819221,-0.00990912058011,1.06003205175,0.54628864098,-0.00123739008412,1.05970019578
+387,6.450000000,pose2_to_pose3_retreat,0.575702967549,-0.00990918758313,1.06003234149,0.546273418154,-0.00123745130571,1.0597004738
+388,6.466666667,pose2_to_pose3_retreat,0.575690975228,-0.00990917476375,1.06003238044,0.546261426167,-0.00123743741749,1.05970051119
+389,6.483333333,pose2_to_pose3_retreat,0.575682213843,-0.00990910701028,1.06003221148,0.546252663962,-0.00123737220134,1.05970034871
+390,6.500000000,pose2_to_pose3_retreat,0.575675947605,-0.00990913016986,1.06003223683,0.546246399042,-0.00123739114915,1.05970036724
+391,6.516666667,pose2_to_pose3_retreat,0.575671817331,-0.00990918929334,1.06003225106,0.546242268282,-0.001237452044,1.05970037819
+392,6.533333333,pose2_to_pose3_retreat,0.575669915109,-0.00990922814989,1.06003225696,0.546240365477,-0.00123749292192,1.05970038289
+393,6.550000000,pose2_to_pose3_retreat,0.575669474024,-0.00990923715991,1.06003225833,0.546239924257,-0.00123750240065,1.05970038399
+394,6.566666667,pose2_to_pose3_retreat,0.575669260377,-0.00990924152406,1.06003225899,0.546239710545,-0.00123750699183,1.05970038451
+395,6.583333333,pose2_to_pose3_retreat,0.575668891143,-0.00990924237306,1.06003227622,0.54623934134,-0.00123750774002,1.05970040177
+396,6.600000000,pose2_to_pose3_retreat,0.575668613123,-0.00990923942069,1.06003229781,0.546239063418,-0.00123750444713,1.05970042353
+397,6.616666667,pose2_to_pose3_retreat,0.575668482122,-0.00990923802956,1.06003230799,0.546238932464,-0.00123750289554,1.05970043378
+398,6.633333333,pose2_to_pose3_retreat,0.575668054391,-0.00990923348739,1.06003234121,0.546238504884,-0.00123749782945,1.05970046726
+399,6.650000000,pose2_to_pose3_retreat,0.575667481361,-0.00990922740225,1.06003238572,0.546237932057,-0.00123749104243,1.05970051211
+400,6.666666667,pose2_to_pose3_retreat,0.575667172112,-0.00990922411826,1.06003240974,0.546237622918,-0.00123748737966,1.05970053632
+401,6.683333333,pose2_to_pose3_retreat,0.575666907494,-0.00990922130822,1.0600324303,0.546237358393,-0.0012374842455,1.05970055703
+402,6.700000000,pose2_to_pose3_retreat,0.575666560267,-0.00990921762094,1.06003245727,0.546237011289,-0.00123748013291,1.05970058421
+403,6.716666667,pose2_to_pose3_retreat,0.575666224501,-0.00990921405536,1.06003248335,0.546236675643,-0.00123747615608,1.05970061049
+404,6.733333333,pose2_to_pose3_retreat,0.575666054807,-0.00990920996216,1.06003248501,0.546236505759,-0.00123747271099,1.05970061201
+405,6.750000000,pose2_to_pose3_retreat,0.575666021781,-0.0099092091365,1.06003248519,0.546236472693,-0.00123747202231,1.05970061216
+406,6.766666667,pose2_to_pose3_retreat,0.575666012222,-0.00990920889751,1.06003248524,0.546236463122,-0.00123747182297,1.0597006122
+407,6.783333333,pose2_to_pose3_retreat,0.575666012093,-0.00990920889429,1.06003248524,0.546236462993,-0.00123747182029,1.0597006122
+408,6.800000000,pose2_to_pose3_retreat,0.575665947257,-0.00990920727334,1.06003248559,0.546236398078,-0.00123747046827,1.05970061249
+409,6.816666667,pose2_to_pose3_retreat,0.575665879026,-0.00990920556751,1.06003248596,0.546236329765,-0.00123746904546,1.0597006128
+410,6.833333333,pose2_to_pose3_retreat,0.575665729563,-0.00990920183083,1.06003248677,0.546236180121,-0.00123746592874,1.05970061347
+411,6.850000000,pose2_to_pose3_retreat,0.575665457581,-0.00990919503109,1.06003248823,0.546235907809,-0.00123746025716,1.05970061469
+412,6.866666667,pose2_to_pose3_retreat,0.575665227066,-0.00990918926804,1.06003248948,0.546235677015,-0.00123745545028,1.05970061572
+413,6.883333333,pose2_to_pose3_retreat,0.575665157185,-0.00990918752095,1.06003248985,0.546235607048,-0.00123745399305,1.05970061603
+414,6.900000000,pose2_to_pose3_retreat,0.575665026287,-0.00990918424842,1.06003249056,0.546235475992,-0.00123745126348,1.05970061662
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+417,6.950000000,pose2_to_pose3_retreat,0.575664436391,-0.00990938275472,1.06003251094,0.546234888277,-0.0012376422807,1.05970063931
+418,6.966666667,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632648,1.05970060642
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..813770e0d255ee491cf82a3cb5977225e4b6a620
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86fdb562f1af9f891b21d10a2dcc7724230c4f2c7d913849b7e3415fceb07657
+size 26600307
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ecf77f1e24fa717964226e07e5f3a2a119f5392c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
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+19,0.316666667,BASELINE,765,744.029485448,715,678.029485448,661,635.029485448,879,788,804,652,631.970514552,653,0.400972556139,-0.0153505085353,0.0698312649293,0.999999934226,0.000236776840077,-0.000274688721348,5.55064158728e-06,1793239621450235392
+20,0.333333333,BASELINE,765,744.604116748,715,678.604116748,661,635.604116748,879,788,804,652,631.395883252,653,0.400970872177,-0.0153504977924,0.0698305997693,0.999999933673,0.000237514224075,-0.000276061309005,5.60372665233e-06,1793239621466901760
+21,0.350000000,BASELINE,765.178295768,744.821704232,715.178295768,678.821704232,661.178295768,636,879,788,804,652,631.178295768,652.821704232,0.400969693111,-0.0153501542925,0.0698300957847,0.999999933123,0.000238359163001,-0.000277323824112,5.545683249e-06,1793239621483568384
+22,0.366666667,BASELINE,765.75147302,744.24852698,715.75147302,678.24852698,661.75147302,636,879,788,804,652,631.75147302,652.24852698,0.40096963227,-0.0153490738174,0.0698299487642,0.999999932583,0.000239442309675,-0.000278342555288,5.24151748267e-06,1793239621500234752
+23,0.383333333,BASELINE,765.66523778,744,715.66523778,678.33476222,661.66523778,636,879,788,804.33476222,651.66523778,631.66523778,652.33476222,0.400970469297,-0.0153486059986,0.0698305049214,0.999999932786,0.000239664518529,-0.000277418597475,5.22306243975e-06,1793239621516901376
+24,0.400000000,BASELINE,765.074207597,744,715.074207597,678.925792403,661.074207597,636,879,788,804.925792403,651.074207597,631.074207597,652.925792403,0.400971993662,-0.0153486071818,0.0698315993767,0.999999933556,0.000239227660347,-0.000275007467914,5.42332531113e-06,1793239621533568256
+25,0.416666667,BASELINE,765,744.509025063,715,678.490974937,661,635.490974937,879,788,804.490974937,651,631.509025063,653,0.400971933808,-0.0153499611174,0.0698316766198,0.999999933759,0.000238713744916,-0.00027471030598,5.56768282661e-06,1793239621550235136
+26,0.433333333,BASELINE,765.090014821,745,715,678,661,635.090014821,878.909985179,788,804,651.090014821,631.909985179,652.909985179,0.4009713963,-0.015350910797,0.0698312845202,0.999999933669,0.000238576836319,-0.00027515830249,5.65164878461e-06,1793239621566902272
+27,0.450000000,BASELINE,765.664953407,745,715,678,661,635.664953407,878.335046593,788,804,651.664953407,631.335046593,652.335046593,0.400969511008,-0.0153486363184,0.0698291508234,0.99999993242,0.000240530526255,-0.000277985406204,5.453519524e-06,1793239621583568640
+28,0.466666667,BASELINE,766,744.759596434,715,678,661,636,878.480807132,787.759596434,804,652,631,652.240403566,0.400968852201,-0.0153483002109,0.0698282065045,0.999999932091,0.000240524233304,-0.000279171272514,5.45152060556e-06,1793239621600235008
+29,0.483333333,BASELINE,766,744.183431819,715,678,661,636,879.633136362,787.183431819,804,652,631,652.816568181,0.400969906369,-0.0153506713408,0.0698289233371,0.999999933054,0.000237780518651,-0.000278064894821,5.72344829073e-06,1793239621616901632
+30,0.500000000,BASELINE,765.598993919,744.401006081,715,678,661,636,879.598993919,787.401006081,804,652,631,653,0.400970842125,-0.015350791191,0.06982960471,0.999999933441,0.000237793318614,-0.000276658712626,5.65805495916e-06,1793239621633568256
+31,0.516666667,BASELINE,765.010691872,744.989308128,715,678,661,636,879.010691872,787.989308128,804,652,631,653,0.400971722574,-0.0153498595469,0.0698302695209,0.999999933559,0.000239093590567,-0.000275112502226,5.43511072839e-06,1793239621650234880
+32,0.533333333,BASELINE,765.568693829,745,715,678.568693829,661,635.431306171,879,788,804,652,631.568693829,653,0.400971248105,-0.015350022694,0.0698305403058,0.999999933408,0.000239298484437,-0.000275472968125,5.84372960641e-06,1793239621666901760
+33,0.550000000,BASELINE,766,744.853040133,715,679,661,635.146959867,879,788,804,652,631.853040133,653,0.400970454495,-0.0153500856012,0.0698304981606,0.999999933168,0.000239360841583,-0.000276283126404,6.09238572252e-06,1793239621683568640
+34,0.566666667,BASELINE,766,744.27755778,715,679,661,635.72244222,879,788,804,652,631.27755778,653,0.400968803429,-0.0153497971255,0.0698295648052,0.999999932681,0.000239066696905,-0.000278301636272,5.84051523255e-06,1793239621700235776
+35,0.583333333,BASELINE,765.696090843,744.303909157,715,678.696090843,661,635.696090843,879,788,804,652,631,653,0.400968323461,-0.0153497121912,0.0698292696798,0.99999993267,0.000238451061256,-0.000278872700929,5.52179978293e-06,1793239621716902144
+36,0.600000000,BASELINE,765.109048373,744.890951627,715,678.109048373,661,635.109048373,879,788,804,652,631,653,0.400968934533,-0.0153498168839,0.0698295691536,0.999999933107,0.000237535912375,-0.000278095270889,5.14080900091e-06,1793239621733568256
+37,0.616666667,BASELINE,765.472020395,745,715,678,661,635.472020395,879,788,804,652,631.472020395,653,0.400970294098,-0.0153503321973,0.0698306439044,0.999999933991,0.000236108904548,-0.000276122339913,5.23058799974e-06,1793239621750234880
+38,0.633333333,BASELINE,766,745,715,678,661,636,879.051534282,788,804,652,632,653,0.400971664249,-0.015350827507,0.0698317732158,0.999999934772,0.000235104180273,-0.000274138443844,5.43921335336e-06,1793239621766901504
+39,0.650000000,BASELINE,766,745,715,678,661,636,879.629088224,788,804,652,632,653,0.40097139947,-0.0153501624484,0.0698316540969,0.999999933514,0.00023960171425,-0.000274826515201,5.76467142931e-06,1793239621783568384
+40,0.666666667,BASELINE,766,745,715,678.205723269,661,635.794276731,879.794276731,788,804,652,631.794276731,653,0.400971494587,-0.0153499506055,0.0698317058087,0.999999932913,0.000241928857258,-0.000274968784102,6.03432257229e-06,1793239621800235264
+41,0.683333333,BASELINE,766,745,715,678.780708909,661,635.219291091,879.219291091,788,804,652,631.219291091,653,0.400972235695,-0.0153505522609,0.0698320641525,0.99999993352,0.000240360263192,-0.000274131366471,6.20380320757e-06,1793239621816901888
+42,0.700000000,BASELINE,766,744.635267984,715.364732016,679,661,635.364732016,879.364732016,788,804,652,631,653,0.400972121253,-0.0153499170078,0.0698315366869,0.999999933641,0.000239305611937,-0.000274624162822,5.72051608207e-06,1793239621833568512
+43,0.716666667,BASELINE,766,744.045673162,715.954326838,679,661,635.954326838,879.954326838,788,804,652,631,653,0.400971479351,-0.0153485191817,0.0698304631065,0.99999993346,0.000238567814259,-0.000275937056243,4.83478775171e-06,1793239621850235392
+44,0.733333333,BASELINE,766,744.533717218,715.466282782,678.466282782,661,635.466282782,880,788,804,652,631,652.466282782,0.400972147972,-0.0153490224517,0.0698318221189,0.99999993382,0.000238876995578,-0.000274349106008,5.45839501093e-06,1793239621866902016
+45,0.750000000,BASELINE,766,745,715,678.111687741,661,635.111687741,879.888312259,787.888312259,804,651.888312259,631,652,0.400972471478,-0.0153498629061,0.0698326866316,0.999999934083,0.000239009950286,-0.000273262944469,6.0318742348e-06,1793239621883568384
+46,0.766666667,BASELINE,766,745,715,678.687319481,661,635.687319481,879.312680519,787.312680519,804,651.312680519,631,652,0.400970904273,-0.0153514408884,0.0698306485186,0.999999933762,0.000238045677121,-0.000275273016415,5.87065815413e-06,1793239621900235008
+47,0.783333333,BASELINE,765.737418729,744.737418729,715,679,661,635.737418729,879.262581271,787.262581271,804,651.262581271,631.262581271,652.262581271,0.400970304925,-0.0153516824497,0.069830122308,0.999999933697,0.000237919591215,-0.000275620087803,5.78711613483e-06,1793239621916901632
+48,0.800000000,BASELINE,765.162596778,744.162596778,715,679,661,635.162596778,879.837403222,787.837403222,804,651.837403222,631.837403222,652.837403222,0.400970856475,-0.0153503348463,0.0698313939305,0.999999933938,0.000238790210538,-0.000273989651994,5.79593788534e-06,1793239621933568512
+49,0.816666667,BASELINE,765.425302484,744,715,678.574697516,661,635.425302484,879.574697516,788,804,651.574697516,631.574697516,653,0.400970481074,-0.0153486448248,0.0698312118565,0.999999933471,0.00024051782878,-0.000274188313234,5.4072414517e-06,1793239621950235136
+50,0.833333333,BASELINE,766,744.017847586,715,678,661,636,879,788,804,651.017847586,631,653,0.40096979245,-0.0153469342727,0.0698305067835,0.999999932775,0.000242448100519,-0.00027503612888,4.88704232717e-06,1793239621966901760
+51,0.850000000,BASELINE,766,744.594356883,715,678,661,636,879,788,804,651.594356883,631,653,0.400970744015,-0.0153488087639,0.0698313790773,0.999999933719,0.000240140787217,-0.000273620550697,5.15856220421e-06,1793239621983568384
+52,0.866666667,BASELINE,766,745,715,678.170424749,661,636,879,787.829575251,804,651.829575251,631,653,0.400971323134,-0.0153500863963,0.06983177186,0.999999934154,0.00023899794017,-0.000273022244467,5.5021878853e-06,1793239622000235264
+53,0.883333333,BASELINE,766,745,715,678.745444609,661,636,879,787.254555391,804,651.254555391,631,653,0.400971018054,-0.0153499470625,0.069831026264,0.999999933395,0.000240619582309,-0.000274364174334,6.01699558707e-06,1793239622016902144
+54,0.900000000,BASELINE,766,744.672699122,715,678.672699122,661,636,879.327300878,787.327300878,804.327300878,651.327300878,631,652.672699122,0.400970825015,-0.0153504924961,0.0698307012245,0.999999933375,0.000239855308105,-0.000275107646608,5.98177066365e-06,1793239622033568768
+55,0.916666667,BASELINE,766,744.085412498,715,678.085412498,661,636,879.914587502,787.914587502,804.914587502,651.914587502,631,652.085412498,0.400970720974,-0.0153515818628,0.0698307102468,0.999999933938,0.000237195822775,-0.000275375744459,5.50963688974e-06,1793239622050235136
+56,0.933333333,BASELINE,765.519481274,744.480518726,715.480518726,678.480518726,661,635.519481274,879.519481274,788,804.519481274,652,631,652.480518726,0.400972290405,-0.0153523477371,0.0698319806538,0.99999993503,0.000234848482712,-0.000273411627688,5.68961960072e-06,1793239622066901760
+57,0.950000000,BASELINE,765.045427843,745,715.954572157,679,661.045427843,635.045427843,879,788,804,652,631.045427843,653,0.40097382608,-0.0153528594251,0.0698332401082,0.999999935975,0.000233066997332,-0.000271467921462,5.92555702077e-06,1793239622083568128
+58,0.966666667,BASELINE,765.642031598,745,715.357968402,679,661.642031598,635.642031598,879,788,804,652,631.642031598,653,0.40097149668,-0.0153509550435,0.0698317620658,0.999999934138,0.000237506485057,-0.000274381112756,5.49385052731e-06,1793239622100235008
+59,0.983333333,BASELINE,765.772359606,745,715,679,661.772359606,635.772359606,879,788,804,652,632,653,0.400969843548,-0.0153501229035,0.0698307838757,0.999999933141,0.000239574893262,-0.000276212382145,5.27279819204e-06,1793239622116901632
+60,1.000000000,BASELINE,765.203243871,745,715,679,661.203243871,635.203243871,879,788,804,652,632,653,0.400969204863,-0.0153508991952,0.0698305554964,0.999999933439,0.000238086529208,-0.000276420699011,5.36774068026e-06,1793239622133568512
+61,1.016666667,BASELINE,765.382662091,745,715,678.234675818,661,635.382662091,879.382662091,788,804,651.617337909,631.617337909,653,0.400969142151,-0.0153516924448,0.0698303388364,0.999999933847,0.000235999243213,-0.000276731808968,5.41983983237e-06,1793239622150234880
+62,1.033333333,BASELINE,765.977895082,745,715,677.044209837,661,635.977895082,879.977895082,788,804,651.022104918,631.022104918,653,0.400969399395,-0.0153524951144,0.0698301286864,0.999999934313,0.00023357925287,-0.000277100021043,5.4481392695e-06,1793239622166901248
+63,1.050000000,BASELINE,766,745,715.558065044,677.558065044,661,636,879.441934956,788,804,651.558065044,631,653,0.400971554898,-0.0153513133292,0.0698316839872,0.999999934552,0.000235694882824,-0.000274432964168,5.57316764706e-06,1793239622183568128
+64,1.066666667,BASELINE,765.863312968,744.863312968,715.863312968,678,661,636,879,788,804,652,631,653,0.400972823044,-0.0153503371504,0.0698327831179,0.99999993458,0.000237588314789,-0.00027269031067,5.71913767451e-06,1793239622200234752
+65,1.083333333,BASELINE,765.287795575,744.287795575,715.287795575,678,661,636,879,788,804,652,631,653,0.400971007302,-0.0153502667898,0.0698321991196,0.999999933993,0.000238206764533,-0.000274291272339,5.9203629352e-06,1793239622216902400
+66,1.100000000,BASELINE,765.293582182,744.293582182,715,678,661,636,879.293582182,788,804,652,631,653,0.400971137152,-0.0153507033069,0.0698325051259,0.999999933926,0.00023858890645,-0.00027419997986,6.08853888337e-06,1793239622233569280
+67,1.116666667,BASELINE,765.880821771,744.880821771,715,678,661,636,879.880821771,788,804,652,631,653,0.400973213095,-0.0153516468315,0.069833701365,0.999999934378,0.000238734679951,-0.000272415999529,6.22365703862e-06,1793239622250235136
+68,1.133333333,BASELINE,765.538289489,745,715,678.461710511,661.461710511,636,879.538289489,788,804,652,631,653,0.400973244924,-0.0153508953012,0.0698334224026,0.999999934484,0.000238338202506,-0.000272378897995,6.05853395213e-06,1793239622266901760
+69,1.150000000,BASELINE,765.040696815,745,715,678.959303185,661.959303185,636,879,788,804,652,631,652.959303185,0.400972719667,-0.0153498926279,0.0698327578892,0.999999934505,0.000237724832771,-0.000272840863214,5.81754690507e-06,1793239622283568640
+70,1.166666667,BASELINE,765.615934226,745,715,678.384065774,661.384065774,636,879,788,804,652,631,652.384065774,0.40097171352,-0.0153512601573,0.0698319628999,0.999999934576,0.000236076135824,-0.000274015711601,5.58422747818e-06,1793239622300235520
+71,1.183333333,BASELINE,766,745,715,678,661,636,879.192206004,788,804.192206004,652,631,652,0.400971049538,-0.015351965264,0.0698316360841,0.99999993456,0.000235318899332,-0.000274727073302,5.45115756826e-06,1793239622316902144
+72,1.200000000,BASELINE,766,745,715,678,661,636,879.770555942,788,804.770555942,652,631,652,0.400971072966,-0.0153513395567,0.0698322498338,0.999999934376,0.000236352616211,-0.00027450728547,5.51948997688e-06,1793239622333568512
+73,1.216666667,BASELINE,766,745,715.353299476,678.353299476,661,636,879.646700524,788,804.646700524,652,631.353299476,652.353299476,0.400970880506,-0.0153507214411,0.0698320442716,0.999999933749,0.000238695044889,-0.000274760398513,5.70766588927e-06,1793239622350235136
+74,1.233333333,BASELINE,766,745,715.93893225,678.93893225,661,636,879.06106775,788,804.06106775,652,631.93893225,652.93893225,0.400970546076,-0.0153501083179,0.0698312999215,0.999999932823,0.000241898095574,-0.000275324495949,5.97465209383e-06,1793239622366901504
+75,1.250000000,BASELINE,766,745,715.481334454,679,661,636,879,788,804,652,631.481334454,653,0.400969976208,-0.0153515582012,0.0698309345924,0.999999933735,0.00023807330667,-0.000275352093549,5.71379288315e-06,1793239622383568128
+76,1.266666667,BASELINE,766,745,715.097558377,679,661,636,879.097558377,788,804.097558377,652,631.097558377,653,0.400969749761,-0.0153528257042,0.0698308935424,0.999999934624,0.000234605806261,-0.000275105919026,5.45637790115e-06,1793239622400234752
+77,1.283333333,BASELINE,766,745,715.6756942,679,661,636,879.6756942,788,804.6756942,652,631.6756942,653,0.400971350043,-0.0153520117181,0.0698322325507,0.999999934429,0.000236928588678,-0.000273818796419,5.51863337023e-06,1793239622416901888
+78,1.300000000,BASELINE,766,745,715.748040983,678.748040983,661.251959017,636,879.748040983,788,804.748040983,652,632,653,0.400971760058,-0.0153510099807,0.0698324969788,0.999999934125,0.000238279905068,-0.000273756144925,5.46117975054e-06,1793239622433568768
+79,1.316666667,BASELINE,766,745,715.174166698,678.174166698,661.825833302,636,879.174166698,788,804.174166698,652,632,653,0.400970649328,-0.0153497683629,0.06983138847,0.999999933688,0.000238390028374,-0.000275257938216,5.25077989042e-06,1793239622450235392
+80,1.333333333,BASELINE,766,745,715,678.411448767,661.588551233,636,879,788,803.588551233,652,632,652.588551233,0.400971089443,-0.0153497532665,0.0698316271464,0.999999933526,0.000239354689388,-0.000275006045522,5.3660547388e-06,1793239622466902016
+81,1.350000000,BASELINE,766,745,715,679,661,635.997861973,879.002138027,788,803.002138027,652,632,652.002138027,0.400972199661,-0.0153502696936,0.0698324491454,0.999999933485,0.000240678681327,-0.000273994197569,5.62111720658e-06,1793239622483568128
+82,1.366666667,BASELINE,766,745,715,679,661,635.418592061,879.581407939,788,803.581407939,652,632,652.581407939,0.40097178373,-0.0153499992166,0.0698322740797,0.999999933979,0.000238487714823,-0.000274112760649,5.30381566117e-06,1793239622500235008
+83,1.383333333,BASELINE,766,745,715,679,661.159729625,635.159729625,879.840270375,788,804,652,632,653,0.400971622391,-0.0153500660822,0.0698322081589,0.99999993439,0.000236790320546,-0.000274087677729,5.14770694527e-06,1793239622516901888
+84,1.400000000,BASELINE,766,745,715,679,661.735581156,635.735581156,879.264418844,788,804,652,632,653,0.400972124306,-0.0153510117801,0.0698324265784,0.999999934595,0.00023637876251,-0.000273688373416,5.41153195345e-06,1793239622533568256
+85,1.416666667,BASELINE,765.682627452,745,715,679,661.682627452,635.682627452,879,788,804,652,631.682627452,652.682627452,0.400972044008,-0.015351421282,0.069832382338,0.999999934769,0.000235627764219,-0.000273700108292,5.49236434288e-06,1793239622550235136
+86,1.433333333,BASELINE,765.095792914,745,715,679,661.095792914,635.095792914,879,788,804,652,631.095792914,652.095792914,0.400971469389,-0.0153513755322,0.0698321150888,0.999999934915,0.000234588567598,-0.000274060831905,5.41782866266e-06,1793239622566902272
+87,1.450000000,BASELINE,765.485104742,745,715,679,661,635,879,788,804,652,631.485104742,652.485104742,0.400970044689,-0.0153517719867,0.0698312514343,0.999999934256,0.000235491633743,-0.000275686214092,5.37568201306e-06,1793239622583569152
+88,1.466666667,BASELINE,766,745,715,678.935412632,661.064587368,635.064587368,879.064587368,788,804,652,632,652.935412632,0.400968675242,-0.0153520947443,0.069830381504,0.999999933531,0.000236707042664,-0.000277271654518,5.32594503226e-06,1793239622600235776
+89,1.483333333,BASELINE,766,745,715,678.357969562,661.642030438,635.642030438,879.642030438,788,804,652,632,652.357969562,0.400969061339,-0.0153511473183,0.0698303855955,0.99999993356,0.000237393964985,-0.000276580930726,5.16576515085e-06,1793239622616902144
+90,1.500000000,BASELINE,766,745,715,678,662,635.782373295,879.782373295,787.782373295,804,652,632,652.217626705,0.400969889958,-0.0153507049601,0.0698308253667,0.999999933736,0.000237666252181,-0.000275710196655,5.20493538152e-06,1793239622633568512
+91,1.516666667,BASELINE,766,745,715,678,662,635.20978929,879.20978929,787.20978929,804,652,632,652.79021071,0.400971440345,-0.0153510863861,0.0698319757475,0.99999993415,0.000237262253903,-0.000274545859152,5.56925312071e-06,1793239622650235136
+92,1.533333333,BASELINE,766,745,715,678.37517874,661.62482126,635.37517874,879.37517874,787.37517874,803.62482126,652,632,653,0.400972349683,-0.0153513805507,0.0698327077177,0.999999934798,0.000236195660195,-0.000273102985569,5.55939268613e-06,1793239622666901760
+93,1.550000000,BASELINE,766,745,715,678.967307999,661.032692001,635.967307999,879.967307999,787.967307999,803.032692001,652,632,653,0.400972888329,-0.0153516242554,0.0698331977382,0.999999935577,0.00023474591461,-0.000271499045852,5.33316035343e-06,1793239622683568384
+94,1.566666667,BASELINE,765.453994754,745,715,678.453994754,661,636,879.453994754,788,803.546005246,652,632,653,0.400971183259,-0.0153511168988,0.0698319131084,0.999999934658,0.000236705860131,-0.000273181849701,5.00869163818e-06,1793239622700235264
+95,1.583333333,BASELINE,765.123348446,745,715,678.123348446,661,636,879.123348446,788,804,652,632,653,0.400969914635,-0.0153506751724,0.0698310299931,0.999999933858,0.000238579251347,-0.000274481300659,4.8445005374e-06,1793239622716902144
+96,1.600000000,BASELINE,765.698606744,745,715,678.698606744,661,636,879.698606744,788,804,652,632,653,0.400970725379,-0.0153506346935,0.0698319978448,0.99999993388,0.000239405534769,-0.000273672589781,5.2885480352e-06,1793239622733569024
+97,1.616666667,BASELINE,766,745,715,679,661,636,879.719661446,788,804,652,631.719661446,653,0.40097145768,-0.0153506331637,0.0698325627207,0.99999993415,0.000239082511972,-0.000272966212291,5.41622886636e-06,1793239622750235648
+98,1.633333333,BASELINE,766,745,715,679,661,636,879.130805459,788,804,652,631.130805459,653,0.400972103654,-0.0153506744979,0.0698326841148,0.999999934691,0.000237494657725,-0.000272372454517,5.19574267487e-06,1793239622766901760
+99,1.650000000,BASELINE,765.549398918,744.549398918,715,679,661,636,879,788,804,652,631,653,0.400971535444,-0.0153489098885,0.0698322952595,0.999999934243,0.000237968827852,-0.000273611809416,4.67119676462e-06,1793239622783568384
+100,1.666666667,BASELINE,765,744.029741543,715,678.970258457,661.029741543,636,879,788,804,652,631.029741543,653,0.40097076346,-0.0153469164882,0.0698318562295,0.999999933595,0.000238904817414,-0.000275167573406,4.13210623196e-06,1793239622800235008
+101,1.683333333,BASELINE,765,744.606331162,715,678.393668838,661.606331162,636,879,788,804,652,631.606331162,653,0.400972620028,-0.0153501988182,0.0698331738112,0.999999934542,0.000237505097769,-0.000272915958089,4.92210903362e-06,1793239622816901888
+102,1.700000000,BASELINE,765.182149489,745,715,678,661.817850511,636,879,787.817850511,804,652,631.817850511,653,0.400973326103,-0.0153517515495,0.0698337969154,0.999999934804,0.000237533132673,-0.000271920666822,5.38289989269e-06,1793239622833568512
+103,1.716666667,BASELINE,765.756307824,745,715,678,661.243692176,636,879,787.243692176,804,652,631.243692176,653,0.400971556169,-0.0153495819643,0.0698329254158,0.999999933598,0.000240633876974,-0.000273629144845,5.13518471603e-06,1793239622850235392
+104,1.733333333,BASELINE,766,745,715,678,661,636,879,787,804,652,631.340455699,653,0.400970863366,-0.0153495786417,0.0698325446478,0.999999933817,0.000239175925315,-0.000274110434314,5.01811035543e-06,1793239622866902272
+105,1.750000000,BASELINE,766,745,715,678,661,636,879,787,804,652,631.931970117,653,0.40097096486,-0.0153511727635,0.0698325257548,0.999999935074,0.000234356302043,-0.000273686771018,4.9973730725e-06,1793239622883569152
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787,804,652,632,653,0.400970092646,-0.0153521779971,0.0698310207754,0.999999933987,0.000237186233517,-0.000275215029495,5.13104121124e-06,1793239622914288384
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.425271966,745,715.574728034,678.425271966,661,636,879.574728034,787,804,652,632,653,0.400968813918,-0.0153509247745,0.0698304183041,0.999999933617,0.000237588270172,-0.000276212486842,5.00677888881e-06,1793239622930955776
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.14951694,745,715.85048306,678,661,636,880,787.14951694,804,652,632,653,0.400968418684,-0.0153504389297,0.0698303334336,0.99999993356,0.000237738061461,-0.000276287473894,5.03301446562e-06,1793239622947622912
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.724479189,745,715.275520811,678,661,636,880,787.724479189,804,652,632,653,0.4009705374,-0.0153521366318,0.0698317213784,0.999999934394,0.00023717009733,-0.000273737603695,5.48748660661e-06,1793239622964289024
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.691203791,745,715,678,661.308796209,636,879.691203791,788,804,652,632,653,0.400972001775,-0.0153522410603,0.0698328910512,0.999999935059,0.000236583150077,-0.00027180624452,5.67907802517e-06,1793239622980955392
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.098279332,745,715,678,661.901720668,636,879.098279332,788,804,652,632,653,0.400972864079,-0.0153508794925,0.0698338598884,0.999999935571,0.00023597873619,-0.000270443987222,5.62878872808e-06,1793239622997622272
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.482581374,745,715,678,661.517418626,636,879,788,804,651.517418626,632,653,0.400972566768,-0.0153514878877,0.0698332305829,0.999999935093,0.00023685343815,-0.000271444926025,5.58881108663e-06,1793239623014288896
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.939617431,744.939617431,715,678.120765139,661,636,879,788,804,651.060382569,631.939617431,653,0.400972088255,-0.0153523372998,0.0698324037074,0.999999934446,0.000238035741234,-0.000272792737066,5.58268234585e-06,1793239623030955264
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.367432447,744.367432447,715,679.265135106,661,636,879,788,804,651.632567553,631.367432447,653,0.40097202674,-0.0153519120206,0.0698325936066,0.99999993405,0.000239334341015,-0.000273100856807,5.84609123673e-06,1793239623047621888
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.210520477,715,679.789479523,661,635.789479523,879.421040953,788,804,652,631,653,0.400973991139,-0.0153517039714,0.0698339313186,0.999999934326,0.000239631968119,-0.000271825638652,5.94488009531e-06,1793239623064288512
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.798824019,715,679.201175981,661,635.201175981,880.597648038,788,804,652,631,653,0.400979591079,-0.0153518857457,0.0698373288025,0.999999935796,0.000238133330258,-0.000267709089999,5.74825509491e-06,1793239623080955136
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.380898799,745,715,679,661,635.380898799,880.619101201,788,804.380898799,652,631,653,0.400997916469,-0.0153525319857,0.0698455028476,0.999999939469,0.000237619809475,-0.000254080621101,6.47467251297e-06,1793239623097621760
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.959736772,745,715,679,661,635.959736772,880.040263228,788,804.959736772,652,631,653,0.401022854811,-0.0153534195916,0.0698561590972,0.999999944007,0.000237618217805,-0.000235509154694,7.680761297e-06,1793239623114288384
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678.463232697,661,636,879.463232697,788,804.463232697,652,631.536767303,653,0.401072863047,-0.0153557672067,0.0698734234464,0.999999950645,0.000238946108885,-0.000203805140392,8.8973014787e-06,1793239623130955008
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.886685453,744.886685453,715,678,661,635.886685453,879,787.886685453,803.886685453,652,632,653,0.401126941827,-0.0153585108211,0.0698900898396,0.999999956008,0.000239530352249,-0.000174670206395,9.97110286477e-06,1793239623147621888
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.31155698,744.31155698,715,678,661,635.31155698,879,787.31155698,803.31155698,652,632,653,0.401189971843,-0.0153624234972,0.0699023059103,0.999999959136,0.000236678790608,-0.000160006785877,1.04599877437e-05,1793239623164288512
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.27083503,744.27083503,715,678.27083503,661,635.27083503,879,787.27083503,803,652,631.72916497,653,0.401258111826,-0.0153654389504,0.0699105167635,0.99999996114,0.000234607690232,-0.000150262191515,1.00108745057e-05,1793239623180955136
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.861812932,744.861812932,715,678.861812932,661,635.861812932,879,787.861812932,803,652,631.138187068,653,0.401332292084,-0.0153673938336,0.0699139932143,0.999999962006,0.000233459141008,-0.000146331938729,8.45299251704e-06,1793239623197621504
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.556206673,744.556206673,715,678.556206673,661,636,879,788,803.443793327,652,631,653,0.401423843657,-0.0153717658337,0.0699160833764,0.99999996296,0.000232141201947,-0.000141942441631,6.61719499405e-06,1793239623214288128
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.022880953,715,678.022880953,661,636,879,788,804,652,631,653,0.401521567511,-0.015376859726,0.0699177201095,0.99999996391,0.000230722869833,-0.00013756608366,4.67250456363e-06,1793239623230954752
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.598422473,715,678.598422473,661,636,879,788,804,652,631,653,0.401640322906,-0.0153815723098,0.0699186238248,0.999999964607,0.000228128321971,-0.00013689238903,2.14628877206e-06,1793239623247621376
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.173141596,744.826858404,715,679,661,636,879,788,804,652,631,653,0.401767989692,-0.0153870152929,0.0699194429591,0.999999965647,0.000224298554211,-0.000135634060177,-6.46343529983e-07,1793239623264288000
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.745962225,744.254037775,715,679,661,636,879,788,804,652,631,653,0.40191622746,-0.0153941443248,0.0699200668469,0.999999967465,0.000217617412522,-0.000133026165245,-4.05396977347e-06,1793239623280954880
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.669528459,744,715,678.669528459,661,635.669528459,879,788,804,652,631.330471541,652.669528459,0.40208559836,-0.0154014376998,0.0699238639215,0.999999969701,0.000211161429962,-0.00012631380737,-7.34275480797e-06,1793239623297621504
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.075704375,744,715,678.075704375,661,635.075704375,879,788,804,652,631.924295625,652.075704375,0.402271810254,-0.0154088620405,0.0699301897064,0.999999972189,0.000204884875819,-0.000116330605502,-1.05368357313e-05,1793239623314288128
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.503152371,715,678,661.503152371,635.503152371,879,788,804,652,631.496847629,652.503152371,0.402483164969,-0.0154177344743,0.0699324232237,0.999999974979,0.000194271508941,-0.000109860154356,-1.51994790312e-05,1793239623330954752
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.920271046,715,678,661.920271046,636,879,788,804,651.920271046,631,653,0.402702997477,-0.0154268909883,0.0699346167546,0.999999979058,0.000175433828226,-0.000103468827707,-2.0037723727e-05,1793239623347621376
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.344274514,715,678,661.344274514,636,879,788,804,651.344274514,631,653,0.402952732779,-0.0154364987394,0.0699402832085,0.999999989265,0.00010934866962,-9.43752450345e-05,-2.46333691734e-05,1793239623364288000
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+135,2.250000000,POSE1_TO_POSE2_PRESS,765.82647926,744.82647926,715,678,661,636,879,788,804,651.82647926,631,653,0.403528602675,-0.0154596738718,0.0699587528956,0.99999999597,5.73798896933e-05,-6.04285012918e-05,-3.34008490493e-05,1793239623397621504
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879,788,804,652,631,652.591254058,0.403840967871,-0.0154689055906,0.0699601919999,0.999999996339,4.6598837271e-05,-6.06281471613e-05,-3.83951832667e-05,1793239623414288128
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879,788,804,652,631,652.011953462,0.404156733081,-0.0154768021898,0.0699577435889,0.999999996025,3.50296394987e-05,-6.93948862331e-05,-4.36819834214e-05,1793239623430954752
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.437243646,745,715,678.562756354,661,635.437243646,879,788,803.437243646,652,631,652.562756354,0.404528364669,-0.0154820574821,0.0699643155735,0.999999996992,4.04069952255e-05,-5.68268240574e-05,-3.39737702451e-05,1793239623447621632
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,678.859494082,661,635.140505918,879,788,803.140505918,652,631,653,0.404906042806,-0.0154832625836,0.069970043969,0.999999997247,5.22783816186e-05,-4.5598090984e-05,-2.63551763822e-05,1793239623464288000
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,678.271761322,661,635.728238678,879,788,803.728238678,652,631,653,0.40529922036,-0.015471753159,0.0699724823123,0.999999995348,8.36836310527e-05,-4.00631713444e-05,-2.63933900327e-05,1793239623480954624
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,879,787.688445938,804,652,631,653,0.405717698558,-0.0154765732758,0.0699685980895,0.99999999592,7.3362930379e-05,-4.46769244691e-05,-2.79609303246e-05,1793239623497621504
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,879,787.108929793,804,652,631,653,0.406157937429,-0.0154954381381,0.0699592759408,0.999999997473,2.71544889812e-05,-5.80193690365e-05,-3.08438171072e-05,1793239623514288128
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.468278292,745,715,678,661,636,879,787.468278292,804,652,631.468278292,652.531721708,0.406614411941,-0.0155116202254,0.0699427031834,0.999999995954,7.13401985839e-06,-8.32314448904e-05,-3.33844819146e-05,1793239623530954752
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,678.044846783,661,636,879.044846783,788,804,652,631.955153217,652.044846783,0.407081126979,-0.0155256496435,0.0699263632278,0.999999993544,-5.16228348075e-06,-0.000107757706325,-3.56908694761e-05,1793239623547621376
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,678.620169777,661,636,879.620169777,788,804,652,631.379830223,652.620169777,0.407624519774,-0.0155215615171,0.0699326295409,0.999999995142,2.20366172576e-06,-9.1672053401e-05,-3.61631013647e-05,1793239623564288256
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.799562925,715,678.799562925,661,636,880,787.799562925,803.799562925,651.799562925,631,653,0.408182231346,-0.0155181710441,0.0699421794527,0.99999999684,7.59171608819e-06,-7.01973911278e-05,-3.65292789072e-05,1793239623580954880
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.209689186,715,678.209689186,661,636,880,787.209689186,803.209689186,651.209689186,631,653,0.408767763373,-0.0155161360678,0.0699581091907,0.999999998554,9.13685217202e-06,-3.82522227071e-05,-3.66893994727e-05,1793239623597621760
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.626666822,744.373333178,715.373333178,678.373333178,661,635.626666822,880,787.373333178,803.373333178,651.373333178,631,653,0.409364426088,-0.0155136241162,0.0699596047478,0.999999998694,1.25079242547e-05,-3.19336882823e-05,-3.79005308012e-05,1793239623614288896
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.047423325,744.952576675,715.952576675,678.952576675,661,635.047423325,880,787.952576675,803.952576675,651.952576675,631,653,0.409967227868,-0.0155108490909,0.0699531391935,0.99999999828,1.68860834933e-05,-3.97494154906e-05,-3.96913426346e-05,1793239623630956288
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.52685927,745,715.47314073,679,661,635.52685927,879.47314073,788,804,652,631,653,0.410586623095,-0.0155128508934,0.0699481970259,0.999999997831,1.02777965222e-05,-5.05763860845e-05,-4.09083014891e-05,1793239623647622656
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744.899035873,715,679,661.100964127,636,879,788,804.100964127,652,631,653,0.411221894312,-0.0155153503113,0.0699476124621,0.999999997691,3.30920625768e-06,-5.35937682942e-05,-4.16482694965e-05,1793239623664288768
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.323687796,715,679,661.676312204,636,879,788,804.676312204,652,631,653,0.411924807038,-0.0155181864137,0.0699668640104,0.99999999901,-7.49213758312e-07,-1.86558451815e-05,-4.03875078939e-05,1793239623680955136
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.258006905,715.258006905,679,662,636,879,788,804.741993095,652,631,653,0.412639463476,-0.0155213457466,0.0699908285873,0.999999998991,-4.90276170583e-06,2.09735931158e-05,-3.9432061643e-05,1793239623697621760
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.847864771,715.847864771,679,662,636,879,788,804.152135229,652,631,653,0.413369224886,-0.0155249208221,0.0700208551098,0.999999996982,-9.17866466637e-06,6.66373081194e-05,-3.88693147503e-05,1793239623714288640
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.574252433,744.574252433,715.574252433,678.574252433,662,636,879.425747567,788,804.425747567,652,631,653,0.414093621064,-0.0155238613043,0.0700184474954,0.999999997685,-8.33413710151e-06,5.43122835854e-05,-4.01358768026e-05,1793239623730955264
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.000531736,744.000531736,715.000531736,678.000531736,662,636,879.999468264,788,804.999468264,652,631,653,0.414816152453,-0.0155211909836,0.0700047670473,0.999999998862,-5.70994876626e-06,2.18326483363e-05,-4.20382347999e-05,1793239623747622144
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.581279041,715,678.581279041,661.418720959,635.418720959,880,788,805,652,631,653,0.415531454251,-0.0155167770685,0.0699513396707,0.999999996806,-7.98969966797e-06,-6.35723423767e-05,-4.7779484839e-05,1793239623764288768
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.164637792,745,715,679,661.164637792,635.164637792,880,788,804.835362208,651.835362208,631,653,0.416269032084,-0.0155146416176,0.0699160170724,0.99999999142,-1.0872211179e-05,-0.000119825011784,-5.1807903387e-05,1793239623780955136
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.751951367,745,715,679,661.751951367,635.751951367,880,788,804.248048633,651.248048633,631,653,0.417063816514,-0.0155183598366,0.0699272696671,0.999999993449,-1.5290514901e-05,-0.000101108664484,-5.14298149297e-05,1793239623797621760
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.665400722,745,715.334599278,679,662,636,880,788,804,651.334599278,631.334599278,653,0.417887739281,-0.0155200473337,0.0699507778241,0.99999999659,-1.71268665431e-05,-6.33367448606e-05,-5.0144660005e-05,1793239623814288384
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.086164069,745,715.913835931,679,662,636,880,788,804,651.913835931,631.913835931,653,0.418732966081,-0.0155202500978,0.069983246456,0.999999998625,-1.70754614072e-05,-1.16326225508e-05,-4.81963166015e-05,1793239623830954752
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.491570546,745,715.508429454,679,661.508429454,636,880,788,804,652,632,653,0.419604455777,-0.0155247828252,0.0700030024108,0.999999998343,-2.8765803623e-05,1.50813550413e-05,-4.75208270344e-05,1793239623847621632
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.931294099,745,715,679,661.068705901,636,880,788,804,652,631.931294099,653,0.420478192857,-0.0155299788134,0.0700196561389,0.999999997377,-4.12376512571e-05,3.64440276811e-05,-4.70882123699e-05,1793239623864288512
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.356639087,745,715,679,661.643360913,636,880,788,804,652,631.356639087,653,0.421334682753,-0.0155344870242,0.0700298244287,0.999999996643,-4.4354609793e-05,5.05583517014e-05,-4.68061520258e-05,1793239623880955392
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,880,788,804,651.776042044,631,653,0.422159252134,-0.0155358151139,0.0700176329663,0.999999997325,-4.61268096606e-05,2.9021201972e-05,-4.87832274186e-05,1793239623897622272
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,880,788,804,651.185724696,631,653,0.422931604792,-0.0155319410346,0.0699688645278,0.999999996181,-4.56991997505e-05,-5.08360541207e-05,-5.44558872743e-05,1793239623914288896
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.396808704,745,715,678.603191296,662,635.603191296,880.396808704,788,804,651.396808704,631.396808704,653,0.423732213908,-0.0155273727901,0.0699106853249,0.999999987301,-5.16490817829e-05,-0.000137386029014,-6.20924392993e-05,1793239623930955264
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.975768916,745,715,678.024231084,662,635.024231084,880.975768916,788,804,651.975768916,631.975768916,653,0.424545793853,-0.0155224858953,0.0698481861971,0.999999969908,-6.05264945593e-05,-0.000227008231422,-7.063049791e-05,1793239623947621632
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.101999307,662,635.550999654,881,788,804,651.449000346,631.449000346,653,0.425485102405,-0.0155290919493,0.0698949885905,0.99999998469,-5.82929096799e-05,-0.000151349599087,-6.56933328161e-05,1793239623964288512
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,881,788,804,651,631,653,0.426420459742,-0.0155352389242,0.0699453821601,0.999999993825,-5.69961226031e-05,-7.39613738646e-05,-6.02520583231e-05,1793239623980954880
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,881,788,804,651,631,653,0.427322184403,-0.015537962851,0.0699915616012,0.999999996505,-6.07643996932e-05,-1.61263666456e-05,-5.51117426216e-05,1793239623997621504
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.716351993,745,715,680,662,636,880.716351993,788,804,651,631,653,0.428215876486,-0.0155400946334,0.0700245212154,0.999999996046,-6.4185425405e-05,3.21271139725e-05,-5.24904722339e-05,1793239624014288384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.122653558,745,715,680,662,636,880.122653558,788,804,651,631,653,0.429100788246,-0.0155415791532,0.0700430304766,0.999999993912,-6.7226876869e-05,6.99071999406e-05,-5.26227244653e-05,1793239624030955520
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.457725424,745,715,680,662,636,880.457725424,788,804.457725424,651,631,653,0.429955453274,-0.0155414817182,0.0700335712745,0.999999994685,-6.75548145207e-05,5.61021852962e-05,-5.40225657223e-05,1793239624047622144
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.965491947,745,715,680,662.034508053,636,880.965491947,788,805,651,631,652.965491947,0.430796910712,-0.0155406056875,0.0700132482842,0.999999995953,-6.6638291614e-05,2.27264674296e-05,-5.60087605895e-05,1793239624064289024
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.390716384,745,715,680,662.609283616,636,880.390716384,788,805,651,631,652.390716384,0.431554891661,-0.0155339888702,0.0699368572531,0.999999990737,-5.7300272522e-05,-0.000106757725283,-6.20075151905e-05,1793239624080955392
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.188362012,745,715,680,662.811637988,636,880.188362012,787.811637988,805,651.188362012,631.188362012,652.188362012,0.432342686473,-0.0155296409163,0.0698909811525,0.999999980088,-5.27580896863e-05,-0.000180773315464,-6.60370265929e-05,1793239624097621760
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.776574468,745,715,680,662.223425532,636,880.776574468,787.223425532,805,651.776574468,631.776574468,652.776574468,0.433193769594,-0.0155301092506,0.0699098814133,0.999999986734,-5.83963950096e-05,-0.000137041489905,-6.58862778247e-05,1793239624114288384
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.640416663,787.359583337,805,652,631.640416663,653,0.434058896556,-0.0155349541673,0.0699556974303,0.999999993938,-6.75437463906e-05,-6.05699512568e-05,-6.23919915851e-05,1793239624130955008
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.060594933,787.939405067,805,652,631.060594933,653,0.43493262507,-0.0155424796627,0.0700179988678,0.99999999463,-7.88403252204e-05,3.59540766899e-05,-5.68498477408e-05,1793239624147621376
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.486037533,880,788,805,651.486037533,631,653,0.435740433874,-0.0155471599448,0.0700301166689,0.999999993806,-7.8354420062e-05,5.67100817962e-05,-5.50635710323e-05,1793239624164288512
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.090243548,880.090243548,788,805,651,631.090243548,653,0.436533937012,-0.0155507666653,0.0700322414064,0.999999993451,-7.81393574027e-05,6.3568344713e-05,-5.4324418769e-05,1793239624180955648
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.679451851,880.679451851,788,805,651,631.679451851,653,0.437290877984,-0.0155502734619,0.0700114949472,0.99999999369,-8.70245409829e-05,4.24746003937e-05,-5.69514116674e-05,1793239624197622528
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.528544147,635.735727926,881,788,804.735727926,651,632,653,0.438015879632,-0.0155496805778,0.0699789982703,0.999999993808,-9.33910939762e-05,7.75047849805e-07,-6.05150911766e-05,1793239624214288896
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663.687713354,635.156143323,881,788,804.156143323,651,632,653,0.438702773269,-0.015548968761,0.0699324819869,0.999999991048,-9.67525772053e-05,-6.55100352289e-05,-6.51963648692e-05,1793239624230955008
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663.157968202,635.421015899,880.578984101,787.578984101,804.421015899,651,631.578984101,653,0.439331996097,-0.0155485370671,0.0698760202424,0.999999980063,-9.81594643009e-05,-0.000159552668305,-6.91519869357e-05,1793239624247621632
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.005438373,635.997280813,880.002719187,787.002719187,804.997280813,651,631.002719187,653,0.439939952952,-0.0155482086681,0.0698158911194,0.999999957659,-9.8845596301e-05,-0.000263830862564,-7.28400257986e-05,1793239624264288256
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.572589455,787.572589455,805,651,631,653,0.440625653336,-0.0155546703209,0.0698233401275,0.999999960693,-0.000108338738053,-0.000247939965986,-7.34987484621e-05,1793239624280954880
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.851768433,745,715,680,662,635.851768433,880.851768433,788,805,651,631,653,0.441307983769,-0.0155624809045,0.0698367181678,0.999999964737,-0.000118968073888,-0.000225817647859,-7.33412682897e-05,1793239624297621504
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.275149356,745,715,680,662,635.275149356,880.275149356,788,805,651,631,653,0.44197951004,-0.0155740968508,0.0698663051246,0.999999971129,-0.000132760330696,-0.000187333082622,-7.0866477592e-05,1793239624314288640
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,880,787.691360287,804.691360287,651,631,653,0.442585847539,-0.0155828452866,0.0698690020083,0.999999968776,-0.000144263350602,-0.000191814047805,-6.9590339437e-05,1793239624330955520
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,880,787.10102725,804.10102725,651,631,653,0.443132687656,-0.0155889765647,0.0698471565073,0.999999958051,-0.000153676998994,-0.000235509356491,-6.94082032563e-05,1793239624347621888
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.520775152,635,880,787,804.479224848,651,631,653,0.443645213436,-0.0155949047459,0.0698090324337,0.999999939067,-0.000166932711938,-0.000298158341663,-7.14250278601e-05,1793239624364288512
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714.943040312,680,661,634.943040312,880,787,805,651,631.056959688,653,0.444149116194,-0.0156005786695,0.069768838542,0.999999915578,-0.000180048836205,-0.000361868654035,-7.40067599914e-05,1793239624380954880
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714.369260025,680,661,634.369260025,880,787,805,651,631.630739975,653,0.444639062922,-0.0156043260838,0.0697403605357,0.999999900052,-0.00018470069485,-0.000399701066168,-7.75946200662e-05,1793239624397621760
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.210335099,714.210335099,680.210335099,661,634.210335099,880.210335099,786.789664901,805,651,631.789664901,653,0.445125179073,-0.0156090954934,0.0697196643809,0.999999887828,-0.000192863888449,-0.000425094429858,-8.02651674124e-05,1793239624414288384
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.800428812,714.800428812,680.800428812,661,634.800428812,880.800428812,786.199571188,805,651,631.199571188,653,0.445604379089,-0.0156157101084,0.0697130183099,0.999999883592,-0.000207366773659,-0.000428029171617,-8.12795125404e-05,1793239624430955008
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.383405419,746,715,681,661,634.616594581,880.616594581,786,805,651,631,653,0.446048210152,-0.0156214131407,0.0697100444956,0.999999878731,-0.000213406764769,-0.000436438447463,-8.07253124029e-05,1793239624447621888
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.962744979,746,715,681,661,634.037255021,880.037255021,786,805,651,631,653,0.446473966434,-0.0156266503216,0.0697089473375,0.999999873518,-0.000215121909881,-0.000447645409991,-7.93695285601e-05,1793239624464288768
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.461218132,745.461218132,715,680.461218132,661,634,880.538781868,786,805,651,631,653,0.446835802466,-0.0156316634882,0.0696914683148,0.999999855148,-0.000220177464995,-0.000484700717463,-7.93119421848e-05,1793239624480955648
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,880.296267645,786,805,651,631.703732355,653,0.447526623834,-0.0156409863542,0.0696513096909,0.999999815847,-0.000241301855488,-0.000550528758015,-8.36503554828e-05,1793239624514289152
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.287018037,745,715,680,661,634,880.287018037,786,805,651,631.712981963,653,0.447858580108,-0.0156453358513,0.0696431358509,0.999999808088,-0.000250325532291,-0.000560208758437,-8.5601644167e-05,1793239624530955776
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.866591097,745,715,680,661,634,880.866591097,786,805,651,631.133408903,653,0.448185015612,-0.015649596417,0.0696481011485,0.999999812627,-0.000254187690837,-0.000550236080422,-8.58752709863e-05,1793239624547621632
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.555702051,745,715,680,661,634,881,785.555702051,805,651.444297949,631,653,0.448487018502,-0.0156524701637,0.069658235103,0.999999821586,-0.000257270456902,-0.00053238219394,-8.49036660456e-05,1793239624564288256
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.97866138,634,881,785,805,651.97866138,631,653,0.448779374731,-0.0156549441122,0.0696693076818,0.999999831094,-0.000259394026594,-0.000513408276385,-8.32930231035e-05,1793239624580955136
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.404422961,634,881,785,805,651.404422961,631,653,0.449011074221,-0.0156578035858,0.0696646557652,0.999999829165,-0.000242702559102,-0.000526474380904,-7.47720472082e-05,1793239624597621760
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.174762835,715,680.174762835,660,633.825237165,881,784.825237165,805,651.174762835,631,653,0.449235615117,-0.0156597400328,0.0696595565296,0.999999826414,-0.000230826597711,-0.000537687296665,-6.9166764725e-05,1793239624614288640
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.765730944,715,680.765730944,660,633.234269056,881,784.234269056,805,651.765730944,631,653,0.449443107474,-0.0156594782513,0.0696533919851,0.999999822735,-0.000230418975669,-0.000544486761664,-7.05053339024e-05,1793239624630955264
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.349402761,746,715,681,660,633.349402761,881,784,805,651.650597239,630.650597239,653,0.449625851109,-0.0156620692911,0.0696461087906,0.999999816473,-0.000235227111566,-0.000553652078165,-7.20491996803e-05,1793239624647621888
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.928282653,746,715,681,660,633.928282653,881,784,805,651.071717347,630.071717347,653,0.449792340557,-0.0156665339775,0.0696380909,0.999999808388,-0.000243460798938,-0.000564371214745,-7.37278981596e-05,1793239624664288512
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.496313583,745.496313583,715,681,660,633.496313583,881,784.503686417,805,651,630,653,0.449921336117,-0.0156678945591,0.0696261264662,0.99999979431,-0.000248268543327,-0.000586580375002,-7.52704714895e-05,1793239624680955136
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.921188707,633,881,784.921188707,805,651,630.078811293,653,0.450042581284,-0.015669037496,0.0696143130625,0.999999779651,-0.00025324746304,-0.000608838577158,-7.66711984429e-05,1793239624697621504
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.344720686,633,881,784.344720686,805,651,630.655279314,653,0.450148365873,-0.0156715778622,0.0696069773335,0.999999769683,-0.0002623664128,-0.000621146656595,-7.72977828057e-05,1793239624714288128
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,633,881,784,805,651,631,653,0.450248995877,-0.0156744927876,0.0696014442505,0.999999761907,-0.000270958113861,-0.000629823023799,-7.80446109646e-05,1793239624730954752
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,633,881,784,805,651,631,653,0.450341958505,-0.0156779648642,0.0695985925766,0.999999757621,-0.000278765539974,-0.000633097273422,-7.89702999303e-05,1793239624747621632
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.409922671,715,681,659.409922671,633,880.590077329,784,805,651,630.590077329,653,0.450420415119,-0.0156802350047,0.0695972363314,0.999999755821,-0.000283443163143,-0.000633855635243,-7.90274183314e-05,1793239624764288768
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.985999198,715,681,659.985999198,633,880.014000802,784,805,651,630.014000802,653,0.450492992011,-0.0156820179648,0.0695964862279,0.999999755038,-0.000286852183872,-0.000633594232809,-7.8732479219e-05,1793239624780955648
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.137619641,715,681,660,633,881.724760717,784,805,651.862380359,630,653,0.450586250229,-0.015679676381,0.0695875185991,0.999999745866,-0.000288858332303,-0.000646879207959,-7.98499645214e-05,1793239624814288128
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.711317228,715,681,660,633,880.577365545,784,805,651.288682772,630,653,0.450620974787,-0.015679336847,0.0695838052514,0.999999741521,-0.000289711961869,-0.000653204210504,-7.96828558932e-05,1793239624830954752
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.703793367,715,681,660,633,880.296206633,784,805,651,630,653,0.450651543139,-0.0156781771114,0.0695814509231,0.999999739194,-0.000289785351215,-0.000656711892229,-7.97877583557e-05,1793239624847621376
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.107568038,715,681,660,633,880.892431962,784,805,651,630,653,0.450677901799,-0.0156761866186,0.0695804731039,0.999999738941,-0.00028906845907,-0.000657365996114,-8.0168172566e-05,1793239624864288256
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714.52962036,681,660,632.52962036,881,783.52962036,805,651,630,652.52962036,0.450695826676,-0.0156764711488,0.0695798953017,0.999999738259,-0.000289396900143,-0.000658307112304,-7.97718608826e-05,1793239624880954880
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.630544182,714.630544182,681,659.369455818,632,881,783,805,651,630.630544182,652.630544182,0.450719129539,-0.0156772065855,0.0695786477136,0.999999736568,-0.000289357828333,-0.000660955339477,-7.92065639005e-05,1793239624914288896
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659,632.21386721,880.78613279,783,805,651,630.78613279,653,0.450726019858,-0.0156769866981,0.0695776626184,0.999999735825,-0.000288475089054,-0.000662496420774,-7.89348194686e-05,1793239624930955776
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,715,681,659,632.793708345,880.206291655,783,805,651,630.206291655,653,0.450731237884,-0.0156763734902,0.0695762557656,0.999999735355,-0.000286962669124,-0.000663939942079,-7.8264458212e-05,1793239624947622656
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.627197024,714.627197024,680.627197024,659.372802976,633,880,783,805,651,630,653,0.450733406941,-0.0156773715788,0.0695747446553,0.999999733537,-0.0002877577612,-0.000666368157721,-7.79432640562e-05,1793239624964288768
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.527503347,680.527503347,660.527503347,633,880.527503347,783,805,651,630.527503347,653,0.450735247448,-0.015678446214,0.0695727799293,0.999999730549,-0.000289256029211,-0.000670212717272,-7.77691918516e-05,1793239624997621504
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.789154906,632.894577453,881,783,805,651,630.894577453,653,0.450736331811,-0.015677015009,0.0695723685157,0.99999973034,-0.000288149770958,-0.000670998803055,-7.77770287224e-05,1793239625014288128
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.613690091,632.306845045,881,783,805,651,630.306845045,653,0.450735812717,-0.0156738876867,0.0695713958381,0.999999730174,-0.00028570081274,-0.000672268258562,-7.79952117592e-05,1793239625030955008
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.277013727,715,681,659.277013727,632.277013727,880.722986273,783,805,651,630,653,0.450735438994,-0.0156723573034,0.0695708879682,0.999999729832,-0.000284059084344,-0.000673466596638,-7.80294577294e-05,1793239625047621888
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.856640961,715,681,659.856640961,632.856640961,880.143359039,783,805,651,630,653,0.450735224079,-0.0156725714372,0.0695708878603,0.999999729305,-0.000283299184317,-0.000674587245239,-7.78627684108e-05,1793239625064288512
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659.56562494,633,880,783,805,651,630,653,0.450736978955,-0.0156738638348,0.0695713813296,0.999999729841,-0.000284566491632,-0.000673325827969,-7.72843775497e-05,1793239625080955136
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.988598697,715,681,659.011401303,633,880.011401303,783.011401303,805,651,630,653,0.450739326336,-0.0156754608637,0.0695720102909,0.999999730688,-0.000286462211516,-0.000671338765808,-7.66037108737e-05,1793239625097621760
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.415793798,715,681,659.584206202,633,880.584206202,783.584206202,805,651,630,653,0.450738976609,-0.0156746111757,0.0695713245822,0.99999973005,-0.000286499911183,-0.000672163767302,-7.75484913622e-05,1793239625114288384
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.838520926,633,881,783.838520926,805,651,630,653,0.450738742336,-0.015673876208,0.0695707072364,0.99999972968,-0.000286210054948,-0.000672771605443,-7.81197180334e-05,1793239625130955008
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.249416088,633,881,783.249416088,805,651,630,653,0.450738813803,-0.0156734450403,0.0695702709282,0.999999730021,-0.000285052771496,-0.00067280435574,-7.77017066467e-05,1793239625147621632
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.334058285,745.334058285,715,681,659,633,880.665941715,783,805,651,630,653,0.450739860235,-0.0156728426907,0.0695708169386,0.99999973104,-0.000283586474094,-0.000671958656537,-7.72701085724e-05,1793239625164288000
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.91339847,745.91339847,715,681,659,633,880.08660153,783,805,651,630,653,0.450741622534,-0.015672114651,0.0695720842153,0.999999732553,-0.000281893283614,-0.000670467956824,-7.68285345068e-05,1793239625180954880
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765.065145943,745.934854057,715,681,659.934854057,632,881,783,805.065145943,651,630,653,0.450741419613,-0.0156737256518,0.0695725259458,0.999999732757,-0.000281884666837,-0.000670174015688,-7.67751369156e-05,1793239625214288896
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+256,4.266666667,HOLD_POSE2,765,746,714,681,659,633,881,783,805,651,631,653,0.450742554371,-0.01566866906,0.0695705290599,0.999999730878,-0.000277875782547,-0.000674631757165,-7.68162708014e-05,1793239625441793792
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+259,4.316666667,HOLD_POSE2,765,745,715,680,659.263323905,633,881,783,805.736676095,651,630,653,0.450743170263,-0.015669283524,0.0695704913388,0.999999731404,-0.000279276465019,-0.00067329580889,-7.66095279071e-05,1793239625491795200
+260,4.333333333,HOLD_POSE2,765,745,715,680.312573234,659.312573234,633,880.687426766,783,805.687426766,651.312573234,630,653,0.450743299888,-0.0156689020136,0.0695709221395,0.999999731937,-0.000278301252451,-0.000672945470853,-7.6274861705e-05,1793239625508461568
+261,4.350000000,HOLD_POSE2,765,745,715,680.886554484,659.886554484,633,880.113445516,783,805.113445516,651.886554484,630,653,0.450743601375,-0.0156678994713,0.0695717472355,0.999999733204,-0.000275902370738,-0.000672120545454,-7.56505338138e-05,1793239625525128192
+262,4.366666667,HOLD_POSE2,765,745,714.526229808,681,659.526229808,633,880.473770192,783,805,651.526229808,630,653,0.450742478788,-0.0156676387366,0.0695705981074,0.999999732057,-0.000276920091288,-0.000673365525686,-7.60255316519e-05,1793239625541794560
+263,4.383333333,HOLD_POSE2,765,745,714.063040974,680.936959026,659,632.936959026,881,783,805,651,630,652.936959026,0.450741367795,-0.0156676736918,0.069569370985,0.999999730679,-0.000278639496545,-0.000674641579364,-7.65566930448e-05,1793239625558460672
+264,4.400000000,HOLD_POSE2,765,745,714.642441646,680.357558354,659,632.357558354,881,783,805,651,630,652.357558354,0.450743225085,-0.0156686338672,0.0695714883863,0.999999732316,-0.00027921267401,-0.000671995733269,-7.63506432531e-05,1793239625575127296
+265,4.416666667,HOLD_POSE2,765,745,715,680.220500561,659,632.220500561,880.779499439,783.220500561,805.220500561,651,630,652.220500561,0.450744440964,-0.01566907966,0.0695725974273,0.999999733299,-0.000279334734702,-0.000670495381934,-7.62192822025e-05,1793239625591793664
+266,4.433333333,HOLD_POSE2,765,745,715,680.796396822,659,632.796396822,880.203603178,783.796396822,805.796396822,651,630,652.796396822,0.450744623036,-0.0156686963874,0.0695720812254,0.999999733237,-0.000278729699862,-0.000670841302405,-7.62083020791e-05,1793239625608460288
+267,4.450000000,HOLD_POSE2,765,745,714.628359394,681,659.371640606,632.628359394,880.371640606,783.628359394,805.628359394,651,630,653,0.450743972119,-0.0156683051571,0.0695713047856,0.999999732771,-0.000277413948211,-0.000672080536981,-7.62085590734e-05,1793239625625127680
+268,4.466666667,HOLD_POSE2,765,745,714.053472389,681,659.946527611,632.053472389,880.946527611,783.053472389,805.053472389,651,630,653,0.450742865648,-0.0156679095747,0.0695703860243,0.999999732079,-0.000275709512838,-0.000673808315818,-7.62149615297e-05,1793239625641794816
+269,4.483333333,HOLD_POSE2,765,745.533466689,714.533466689,681,660,632,881,782.466533311,805,651,630,653,0.450743514744,-0.0156673975117,0.0695702045696,0.999999732091,-0.000275299755564,-0.000673933442965,-7.64306580258e-05,1793239625658461184
+270,4.500000000,HOLD_POSE2,765,745.879969754,715,681,660,632,881,782.120030246,805,651,630.120030246,653,0.450744161821,-0.0156669883601,0.0695700946217,0.99999973207,-0.000275378338029,-0.000673911480512,-7.66168607737e-05,1793239625675127808
+271,4.516666667,HOLD_POSE2,765,745.299586595,715,681,660,632,881,782.700413405,805,651,630.700413405,653,0.450744110654,-0.0156670197194,0.0695699689262,0.999999731643,-0.000276820630079,-0.000673955739963,-7.66076263562e-05,1793239625691793920
+272,4.533333333,HOLD_POSE2,765.278881111,745,715,681,659.721118889,632,881,783,805,651,630.721118889,653,0.450744327102,-0.0156673630399,0.0695701980126,0.99999973158,-0.000277695903518,-0.000673692844785,-7.65645102507e-05,1793239625708460544
+273,4.550000000,HOLD_POSE2,765.855305155,745,715,681,659.144694845,632,881,783,805,651,630.144694845,653,0.450744829075,-0.0156680391973,0.0695708056216,0.999999731909,-0.000277966215213,-0.000673102241183,-7.64852452054e-05,1793239625725127424
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632,882,783,805,652,630,653,0.450744560889,-0.0156670162145,0.0695709029078,0.999999733019,-0.000274450863103,-0.000672943221161,-7.60621782172e-05,1793239625758343680
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.590377717,632.590377717,881.409622283,783,805,651.409622283,630,653,0.450746635487,-0.0156683525141,0.0695723431857,0.999999733607,-0.000277055022299,-0.000671041752411,-7.56865859184e-05,1793239625775010560
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.822668174,659.822668174,633,881,783,805,651,630.177331826,653,0.450747582617,-0.0156687580547,0.0695727790508,0.999999733614,-0.000278537152796,-0.000670423399446,-7.56408685821e-05,1793239625791677440
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.243472423,659.243472423,633,881,783,805,651,630.756527577,653,0.450745974712,-0.0156670543382,0.0695709387469,0.999999732318,-0.000277476576921,-0.000672712803596,-7.63427036544e-05,1793239625808344064
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633,880.666183285,783,805,651.333816715,630.666183285,653,0.450745981047,-0.0156659063248,0.0695711652936,0.999999732769,-0.000276790036334,-0.000672267570793,-7.68416344177e-05,1793239625825010432
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.49595849,659,633,880.49595849,783,805,651.50404151,630,653,0.450745934882,-0.0156664591641,0.0695713904438,0.999999732604,-0.000278214548558,-0.000671925522128,-7.68375274948e-05,1793239625858342912
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.082816246,715,680.917183754,659,633,881,783,805,651.082816246,630,653,0.450744607896,-0.0156680047119,0.069569811557,0.99999973069,-0.00027999378531,-0.000674090014627,-7.63238891685e-05,1793239625875009792
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.661897435,715,680.338102565,659,633,881,783,805,651.661897435,630,653,0.450745332534,-0.0156687589132,0.0695713552085,0.99999973266,-0.000278898061728,-0.000671693183128,-7.56532680614e-05,1793239625891676416
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.18513372,715,680,659,633,881,783,805,651.18513372,630,653,0.450723583891,-0.0156678381379,0.0695602167769,0.999999721366,-0.000278564002644,-0.000688338401445,-7.65579878447e-05,1793239625925010176
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.96620413,659.96620413,632.03379587,880.03379587,783,805,651,630,653,0.450649303459,-0.0156615585039,0.069526981288,0.99999968309,-0.000274345352051,-0.000743168725069,-7.90839453323e-05,1793239625958343424
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.554031077,715,681,660,632,880.554031077,783,805,651,630,653,0.450586267574,-0.0156592255112,0.0695083463789,0.99999966195,-0.000273851507361,-0.000771177301404,-7.99431026485e-05,1793239625975009792
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.858973918,715,681,660,632.141026082,881,783,805,651,630,653,0.450519420673,-0.0156567455173,0.0694920391658,0.999999643413,-0.000273320138821,-0.000794976232246,-8.05096222726e-05,1793239625991676416
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.699261799,633,881,783,805,651,630,653,0.450363518349,-0.015648838519,0.0694798667336,0.999999631648,-0.000270141210624,-0.000810822800036,-7.93395404709e-05,1793239626025009408
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.125532333,633,881,783,805,651,630,653,0.450275899941,-0.01564270298,0.069481810411,0.999999633354,-0.000267034833118,-0.000809893035836,-7.78304745825e-05,1793239626041676032
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.54252259,681,659,633,880.54252259,783,805,651.45747741,630,653,0.450174178242,-0.0156375236585,0.0694875119839,0.999999640614,-0.000263090783652,-0.000802383687585,-7.57352851538e-05,1793239626058343168
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.957349214,659,632.957349214,880,783,805,651.957349214,630,653,0.450065943701,-0.0156325138642,0.0694941688645,0.999999649121,-0.000259061721073,-0.000793254710953,-7.34279053902e-05,1793239626075009792
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.377660787,659,632.377660787,880,783,805,651.377660787,630,653,0.449925440226,-0.0156262664138,0.0694996016704,0.999999654876,-0.000256916403425,-0.000786936162003,-7.05157908467e-05,1793239626091676672
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,632,880.201447121,783.201447121,805,651,630,653,0.449775243289,-0.0156196894662,0.06950423251,0.999999660111,-0.000253883474758,-0.000781520684454,-6.74298455017e-05,1793239626108343552
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,632,880.779469773,783.779469773,805,651,630,653,0.449606925873,-0.0156124965731,0.0695073641919,0.999999664421,-0.000249191289125,-0.000777793365764,-6.40189495721e-05,1793239626125009664
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.355030162,680,659,632.355030162,881,784,805,651,630.355030162,653,0.449422290033,-0.0156039716451,0.0695132542547,0.999999673194,-0.000242666516249,-0.000768823389794,-6.02945357806e-05,1793239626141676032
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.517404662,633,880.482595338,784,805,651,631,652.482595338,0.448994927526,-0.0155831225946,0.069527945795,0.999999691936,-0.000224288281595,-0.000750397436431,-5.22059124452e-05,1793239626175009536
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,633,880,783.894285864,805,651,631,652.105714136,0.44874743739,-0.0155716266445,0.0695340931054,0.99999969889,-0.000211802939548,-0.000745032153209,-4.78140856757e-05,1793239626191676160
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,633,880,783.31510521,805,651,631,652.68489479,0.44845749419,-0.0155615208197,0.0695362845917,0.999999706801,-0.000193361372691,-0.00073972614789,-4.25921012179e-05,1793239626208343040
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.423075098,680.423075098,660,633,880,784.423075098,805,651,630,653,0.447476702119,-0.0155322912163,0.0695398631425,0.999999718334,-8.59390845688e-05,-0.000745164051188,-2.602908129e-05,1793239626258343168
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.045603863,660.045603863,634.954396137,881,786.045603863,805,651,631,652.954396137,0.440905419809,-0.0154614053508,0.0697282160807,0.999999910254,2.29297566448e-05,-0.00042294692924,9.08904690305e-06,1793239626475009536
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.542197999,635,880.457802001,786.542197999,805,651,631,653,0.440273252374,-0.0154573580395,0.0697609371035,0.999999932579,4.12559496271e-05,-0.00036462593016,1.37327750743e-05,1793239626491676416
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.128770904,745,715,680.128770904,661,635,880,787,804.871229096,651,631,653,0.439611770737,-0.0154524773006,0.0697845877112,0.999999945475,5.95123506743e-05,-0.000324329585444,1.78276178486e-05,1793239626508343552
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.707697386,745,715,680.707697386,661,635,880,787,804.292302614,651,631,653,0.438853624896,-0.0154444284277,0.0697757002894,0.99999993696,7.13813822507e-05,-0.000347322960757,1.87614058545e-05,1793239626525012736
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.715571791,745,715,680.715571791,661,635,880,787.284428209,804,651,631,653,0.438081033898,-0.0154363314966,0.0697586692121,0.999999927857,7.87514882138e-05,-0.000371202003697,1.70998627862e-05,1793239626541679360
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.141080058,745,715,680.141080058,661,635,880,787.858919942,804,651,631,653,0.437293711451,-0.0154281855544,0.0697333331294,0.999999918193,8.15335337453e-05,-0.000395984264601,1.27915680149e-05,1793239626558343936
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787.556839064,804,651,631,653,0.436534060119,-0.0154272668551,0.0697485336747,0.999999926696,8.48897828341e-05,-0.000373094372093,1.42331853004e-05,1793239626575009792
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.03025317,787.03025317,804.03025317,651,631,653,0.435781463416,-0.0154287178682,0.0697774212978,0.99999994013,8.85435032484e-05,-0.000334049625261,1.76403509876e-05,1793239626591676160
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.611477319,787.611477319,804.611477319,651,631,653,0.434993304908,-0.0154304815641,0.0698152688842,0.999999955145,9.42107860116e-05,-0.000283402569767,2.27574747704e-05,1793239626608343040
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.190944823,744.809055177,715,680,661,635,881,787.809055177,804.809055177,651,631,653,0.434183900664,-0.0154307198393,0.0698400406178,0.999999962415,0.00010168808075,-0.000253239485656,2.64459578826e-05,1793239626625009920
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.766870562,744.233129438,715,680,661,635,881,787.233129438,804.233129438,651,631,653,0.433331661042,-0.0154278825777,0.0698384489543,0.999999958318,0.000112814702391,-0.000264375970455,2.7254030699e-05,1793239626641676544
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,744,715,680,661,635,880.659701367,787,804.340298633,651,631.340298633,652.659701367,0.432469647755,-0.0154261765089,0.0698376125495,0.999999958688,0.000115605730739,-0.000261745202818,2.73806252997e-05,1793239626658343168
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,661,635,880.087971937,787,804.912028063,651,631.912028063,652.087971937,0.431600987615,-0.0154252397436,0.0698372897822,0.999999962093,0.000112727876021,-0.000249751581336,2.70437591547e-05,1793239626675009792
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,744.503719972,715,680,661,635,880,787,805,651,632,652,0.430668878522,-0.0154184081782,0.0697935377295,0.999999937916,0.000124267050603,-0.000328846156381,2.42065783387e-05,1793239626691676416
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.903586461,745,715,680.096413539,661,635,880,787,804.903586461,651.096413539,632,652.096413539,0.429734923337,-0.015411632781,0.0697478047685,0.999999906124,0.000135584125984,-0.000411009650127,2.0965575361e-05,1793239626708343040
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.324064211,745,715,680.675935789,661,635,880,787,804.324064211,651.675935789,632,652.675935789,0.428849534055,-0.0154105102939,0.0697317195338,0.999999900494,0.000132651220059,-0.000425549456176,1.79794404623e-05,1793239626725009664
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.756749959,661,635,880,787,804,651.756749959,631.756749959,652.756749959,0.427993049983,-0.0154133239585,0.06975393596,0.999999916389,0.000129547119978,-0.000387366589208,1.9641904111e-05,1793239626741676288
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.204922228,661,635,880,787,804,651.204922228,631.204922228,652.204922228,0.427173233836,-0.0154211308742,0.069824740405,0.999999951816,0.000126225848128,-0.000282301755964,2.7201401407e-05,1793239626758342912
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.377393198,745,715,680,661,635,880,787.377393198,804,651,631,652,0.426300206372,-0.0154237456322,0.0698618388712,0.999999965057,0.000127047073202,-0.000229621963933,3.19213633278e-05,1793239626775009792
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.977718123,745,715,680,661,635,880,787.977718123,804,651,631,652,0.425395746248,-0.0154232933057,0.0698790267145,0.999999969289,0.00013031533299,-0.000207886795342,3.49639695097e-05,1793239626791676416
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.430127478,745,715,679.430127478,661,635,880,787.430127478,804,651,631,652.569872522,0.424498422682,-0.0154197233565,0.0698535041944,0.999999960332,0.000133481133492,-0.000245987266499,3.17676604676e-05,1793239626808343808
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,880,787,804,651,631.157967681,653,0.4235860157,-0.0154155816019,0.0698204155337,0.999999945678,0.000137676121594,-0.000298142565814,2.82868949626e-05,1793239626825010432
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,880,787,804,651,631.736103604,653,0.422632757636,-0.015410238585,0.0697715812244,0.999999916449,0.000144619085469,-0.000381546524995,2.46891913893e-05,1793239626841676544
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,880,787,804.311180773,651,632,652.688819227,0.421703680297,-0.0154065438856,0.0697323013776,0.999999888811,0.000148469604278,-0.00044708319372,2.12241791593e-05,1793239626858343168
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,880,787,804.883689192,651,632,652.116310808,0.420794909824,-0.0154042334332,0.0697010453104,0.999999864821,0.000149723107261,-0.00049761502157,1.787060052e-05,1793239626875009792
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.469252981,661,635,880,787,804.530747019,651,631.530747019,652.469252981,0.419993193502,-0.0154065977769,0.0697513425482,0.999999903201,0.000148270498392,-0.000413720422781,2.11966318282e-05,1793239626891676416
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.942574647,715,679.942574647,661,635.057425353,880,787,804,651,631.057425353,653,0.419217091623,-0.0154097059183,0.0698204111683,0.999999944108,0.000147305267288,-0.000298979720359,2.63858624062e-05,1793239626908342784
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.360974563,715,679.360974563,661,635.639025437,880,787,804,651,631.639025437,653,0.418425657439,-0.0154087240615,0.0698710302733,0.999999963892,0.000157086550909,-0.000215519330106,3.30372537147e-05,1793239626925009664
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,660.781661717,635.781661717,880,787,804,651,632,653,0.417611799949,-0.0154064431665,0.0698902780677,0.999999968374,0.000165760457508,-0.00018572564018,3.58086686658e-05,1793239626941676288
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,660.206091025,635.206091025,880,787,804,651,632,653,0.416761254622,-0.0154020368602,0.0698581979548,0.999999954877,0.000172622540831,-0.000243738274807,3.22318930708e-05,1793239626958342656
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.375861273,715,679,660.375861273,635,880,787.375861273,804.375861273,651,632,653,0.41592574528,-0.0153987281605,0.0698259135999,0.999999943057,0.000175237305421,-0.000286997022425,2.84865201514e-05,1793239626975009536
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.961373115,715,679,660.961373115,635,880,787.961373115,804.961373115,651,632,653,0.415098622866,-0.0153960316918,0.0697935153234,0.999999932449,0.000175482970069,-0.000322026238826,2.46471060453e-05,1793239626991675904
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.540857153,880,787.459142847,804.459142847,651,631.459142847,652.459142847,0.414274298023,-0.0153920535082,0.0697685282502,0.999999912453,0.000183847688914,-0.000375155631689,2.35194567503e-05,1793239627008342784
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.119938406,745,715,679.119938406,661,635.880061594,880,787.119938406,804.119938406,651.119938406,631,652,0.413476198265,-0.01538922464,0.0697539317363,0.999999897896,0.000190699975392,-0.000409035675318,2.30579678418e-05,1793239627025009408
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.699107554,745,715,679.699107554,661,635.300892446,880,787.699107554,804.699107554,651.699107554,631,652,0.412777754896,-0.0153911429952,0.0697771152482,0.999999915371,0.000189565634615,-0.00036431715401,2.44137707724e-05,1793239627041676032
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.724677128,744.724677128,715,679.724677128,661,635.275322872,880,787.724677128,805,652,631,652.275322872,0.4121170167,-0.0153941270121,0.0698146372819,0.999999938092,0.000185305688649,-0.000297873565205,2.73702962935e-05,1793239627058342656
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.151655736,744.151655736,715,679.151655736,661,635.848344264,880,787.151655736,805,652,631,652.848344264,0.411497048044,-0.0153982632975,0.069867663136,0.999999962084,0.000177666117012,-0.000207939301703,3.20576358463e-05,1793239627075009536
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.425089202,715,679,661,636,879.574910798,787.425089202,804.574910798,652,631,653,0.410834744842,-0.0153985465745,0.0698800116941,0.999999964197,0.000182620417176,-0.000192799490436,3.29275402747e-05,1793239627091676416
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.003247261,745,715,678.996752739,661,636,879.003247261,788,804,651.996752739,631,653,0.410157237511,-0.0153974356129,0.0698775217468,0.999999960056,0.000192020167127,-0.000204858003503,3.24022376516e-05,1793239627108342784
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.594611027,745,715,678.405388973,661,636,879.594611027,788,804,651.405388973,631,653,0.40948566285,-0.0153949692666,0.0698391455769,0.999999946632,0.000185613929992,-0.000267391017527,2.80272869358e-05,1793239627125009664
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.817330469,744.817330469,715,678.182669531,661,636,879.817330469,788,804,651.182669531,631,653,0.408841001554,-0.0153920539998,0.0698048568651,0.999999930591,0.000184418322133,-0.000322838036718,2.41569890869e-05,1793239627141676288
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.236476687,744.236476687,715,678.763523313,661,636,879.236476687,788,804,651.763523313,631,653,0.408255006066,-0.0153881601725,0.069779478014,0.999999915014,0.000194580878355,-0.000362838971054,2.13867362362e-05,1793239627158342912
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.337854807,715,678.662145193,661,636,879.337854807,787.662145193,804,652,631,653,0.407699417732,-0.0153886024914,0.0697799908178,0.99999991662,0.000194623860176,-0.000358392424027,2.08776269089e-05,1793239627175010048
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.907707547,715,678.092292453,661,636,879.907707547,787.092292453,804,652,631,653,0.407164709399,-0.0153920223526,0.0697982828887,0.999999929839,0.000187717938195,-0.000323424705231,2.19211983952e-05,1793239627191677440
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.494169205,745,715,678.494169205,661,635.505830795,880,787,804,652,631,653,0.406661179101,-0.0153904447313,0.0698130672544,0.999999935501,0.000187888715817,-0.000305206843813,2.33224318346e-05,1793239627208343808
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.917709787,745,715,679,661,635,880,787,804,652,631,653,0.406166421213,-0.0153879884459,0.0698234762637,0.999999937689,0.000190744119696,-0.000296041507516,2.44375585262e-05,1793239627225009920
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.338943065,745,715,679,661,635,880,787,804,652,631,653,0.405688236622,-0.0153860579011,0.0698115775929,0.999999927586,0.000201545274086,-0.000321962335126,2.3409510708e-05,1793239627241676800
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715.238462634,678.761537366,661,635,880,787,804,652,631.238462634,653,0.405247562298,-0.0153871735317,0.0698094331244,0.999999925413,0.000202722222009,-0.000327944578424,2.30079512799e-05,1793239627258343424
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715.813944749,678.186055251,661,635,880,787,804,652,631.813944749,653,0.404859901314,-0.0153925943254,0.0698210742807,0.999999934877,0.000190297268432,-0.000305747598419,2.34918086202e-05,1793239627275010304
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715.601959955,678.398040045,661,635,879.601959955,787,804,652,632,652.601959955,0.40450565308,-0.0153933791939,0.0698346259687,0.999999943162,0.000186624816938,-0.000279754120509,2.41751896272e-05,1793239627291676416
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715.013749513,678.986250487,661,635,879.013749513,787,804,652,632,652.013749513,0.404167368321,-0.0153919491709,0.0698490904467,0.99999995044,0.000187134020888,-0.000251946799109,2.49538964892e-05,1793239627308342784
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.434315619,661,635,879,787.565684381,804,652,632,652.565684381,0.403835303926,-0.0153896167382,0.0698557850952,0.999999951862,0.000196556184258,-0.000238769099202,2.51057052192e-05,1793239627325009664
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.144198862,745,715,678.144198862,661,635.144198862,879.144198862,788,804.144198862,652,631.855801138,652.855801138,0.403509660774,-0.0153870534454,0.0698568881412,0.999999951597,0.000201565835305,-0.000235732952114,2.46235063939e-05,1793239627341676032
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.720587436,745,715,678.720587436,661,635.720587436,879.720587436,788,804.720587436,652,631.279412564,652.279412564,0.403202816928,-0.015383862959,0.069841789538,0.99999994685,0.000192711018724,-0.000262043368988,2.22860452579e-05,1793239627358342656
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.703713869,745,715,678.703713869,661,636,880,788,804.703713869,652,631.296286131,652.296286131,0.402921831135,-0.0153800348092,0.0698320598848,0.999999941288,0.000197565156436,-0.000279185177527,2.11339448304e-05,1793239627375009792
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.128664289,745,715,678.128664289,661,636,880,788,804.128664289,652,631.871335711,652.871335711,0.402665174142,-0.0153756067085,0.0698273816569,0.999999935211,0.000215317486669,-0.000287700617607,2.10971017456e-05,1793239627391676672
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.543820327,636,879.543820327,788,804,652,631.543820327,653,0.402441718717,-0.015374049481,0.0698232604431,0.999999930743,0.000225192585196,-0.000295533090361,2.15258914196e-05,1793239627408343296
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.626571169,660.626571169,635.373428831,879,787.373428831,804,652,631,652.373428831,0.402038410124,-0.0153763631725,0.06981358897,0.999999925797,0.000225147955227,-0.000311744133022,2.3002251601e-05,1793239627441676544
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.206235108,744.793764892,715,678.793764892,661,635,879,787,804,651.793764892,631.206235108,652.206235108,0.401863105704,-0.0153804111788,0.0698101515659,0.999999925633,0.000217459891858,-0.000317591799308,2.40818364101e-05,1793239627458342912
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..759fcd27f5b0ba7422504274f3bdd2ce0435d218
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,420 @@
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+387,6.450000000,pose2_to_pose3_retreat,0.575716240736,-0.00990927252552,1.06003220258,0.546286693669,-0.00123752811606,1.05970034105
+388,6.466666667,pose2_to_pose3_retreat,0.575701355292,-0.00990929720873,1.06003221867,0.546271808892,-0.00123755067443,1.05970035362
+389,6.483333333,pose2_to_pose3_retreat,0.575691229866,-0.00990927290906,1.0600322357,0.546261682125,-0.00123753110226,1.05970036616
+390,6.500000000,pose2_to_pose3_retreat,0.575683221252,-0.00990926290222,1.06003226158,0.546253672999,-0.00123752281992,1.05970039226
+391,6.516666667,pose2_to_pose3_retreat,0.575677378986,-0.0099092908382,1.06003230414,0.546247832208,-0.00123754539742,1.0597004437
+392,6.533333333,pose2_to_pose3_retreat,0.575673876665,-0.00990926499099,1.06003224561,0.546244328917,-0.00123752289157,1.0597003839
+393,6.550000000,pose2_to_pose3_retreat,0.575671891004,-0.00990923259153,1.0600321774,0.546242341933,-0.00123749511685,1.05970031223
+394,6.566666667,pose2_to_pose3_retreat,0.575670722204,-0.00990921352057,1.06003213726,0.546241172355,-0.0012374787681,1.05970027004
+395,6.583333333,pose2_to_pose3_retreat,0.575670171042,-0.00990920452742,1.06003211833,0.546240620826,-0.00123747105865,1.05970025015
+396,6.600000000,pose2_to_pose3_retreat,0.575670110859,-0.00990920354543,1.06003211626,0.546240560603,-0.00123747021683,1.05970024797
+397,6.616666667,pose2_to_pose3_retreat,0.575669970337,-0.00990920125256,1.06003211143,0.546240419986,-0.00123746825125,1.0597002429
+398,6.633333333,pose2_to_pose3_retreat,0.575669806259,-0.00990920724083,1.06003211952,0.546240255986,-0.00123747397791,1.05970025104
+399,6.650000000,pose2_to_pose3_retreat,0.575669562051,-0.00990921894448,1.06003213598,0.546240011952,-0.00123748508485,1.05970026768
+400,6.666666667,pose2_to_pose3_retreat,0.575669346711,-0.00990922926469,1.0600321505,0.546239796764,-0.00123749487889,1.05970028236
+401,6.683333333,pose2_to_pose3_retreat,0.575669302599,-0.00990923137873,1.06003215347,0.546239752684,-0.00123749688515,1.05970028537
+402,6.700000000,pose2_to_pose3_retreat,0.575669035085,-0.00990924419935,1.06003217151,0.54623948536,-0.00123750905212,1.0597003036
+403,6.716666667,pose2_to_pose3_retreat,0.575668506015,-0.009909269555,1.06003220717,0.546238956667,-0.00123753311502,1.05970033965
+404,6.733333333,pose2_to_pose3_retreat,0.575668264529,-0.00990928112823,1.06003222345,0.546238715352,-0.0012375440982,1.05970035611
+405,6.750000000,pose2_to_pose3_retreat,0.57566802848,-0.00990929244086,1.06003223936,0.546238479471,-0.00123755483407,1.0597003722
+406,6.766666667,pose2_to_pose3_retreat,0.575667398867,-0.00990932261508,1.0600322818,0.546237850306,-0.00123758346987,1.0597004151
+407,6.783333333,pose2_to_pose3_retreat,0.575667053379,-0.00990933917256,1.06003230509,0.546237505064,-0.00123759918318,1.05970043865
+408,6.800000000,pose2_to_pose3_retreat,0.575666792092,-0.00990935169475,1.0600323227,0.546237243962,-0.00123761106693,1.05970045645
+409,6.816666667,pose2_to_pose3_retreat,0.575666413902,-0.00990935640573,1.06003234109,0.546236866032,-0.00123761493412,1.05970047388
+410,6.833333333,pose2_to_pose3_retreat,0.575665939924,-0.00990934490107,1.06003235492,0.546236392367,-0.00123760247616,1.05970048487
+411,6.850000000,pose2_to_pose3_retreat,0.575665527518,-0.00990933489091,1.06003236696,0.546235980233,-0.00123759163654,1.05970049443
+412,6.866666667,pose2_to_pose3_retreat,0.575665415936,-0.00990933218253,1.06003237021,0.546235868725,-0.00123758870375,1.05970049702
+413,6.883333333,pose2_to_pose3_retreat,0.575665093796,-0.00990932361368,1.06003237487,0.546235546769,-0.00123757957002,1.05970050014
+414,6.900000000,pose2_to_pose3_retreat,0.575664784917,-0.00990930115859,1.06003228921,0.546235237519,-0.00123755815032,1.05970042037
+415,6.916666667,pose2_to_pose3_retreat,0.57566461865,-0.00990928907113,1.06003224309,0.546235071051,-0.00123754662021,1.05970037743
+416,6.933333333,pose2_to_pose3_retreat,0.575664554612,-0.00990928441571,1.06003222533,0.546235006936,-0.00123754217944,1.05970036089
+417,6.950000000,pose2_to_pose3_retreat,0.575664486791,-0.00990932650982,1.06003233264,0.546234938968,-0.00123758485419,1.0597004661
+418,6.966666667,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632648,1.05970060642
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..19acce321535ac30f09e48145463a44d6883d64d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d60c5208b31179f65811893c13dae357448d974f81f3f57beca1ece0972a9d
+size 26789194
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e0f582a2023e5bffc5e6c28ed2c9f034e6d7d08
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/franka_data.csv
@@ -0,0 +1,423 @@
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+39,0.650000000,BASELINE,765.644483174,744.355516826,715,678.355516826,661,635.355516826,879.355516826,788,804.644483174,652,631,653,0.400969136289,-0.0153911270253,0.0698299307408,0.999999942625,0.000193957972339,-0.000277422488735,1.29372758802e-05,1793239628964655104
+40,0.666666667,BASELINE,766,744,715.232943612,678,661,635.232943612,879,788,804.767056388,652,631.232943612,653,0.400968451027,-0.015390395797,0.0698297985239,0.999999942273,0.000194980505473,-0.000277976474941,1.28808625697e-05,1793239628981321728
+41,0.683333333,BASELINE,766,744,715.812606635,678,661,635.812606635,879,788,804.187393365,652,631.812606635,653,0.400969822868,-0.0153906453298,0.0698304508101,0.999999942614,0.000195205539684,-0.000276583506871,1.30004724438e-05,1793239628997988352
+42,0.700000000,BASELINE,766,744.389755223,715.610244777,678,661,636,879.389755223,788,804,652,632,653,0.400969870482,-0.0153920784165,0.0698304881057,0.999999943094,0.000193056090752,-0.000276359487555,1.29466011324e-05,1793239629014655232
+43,0.716666667,BASELINE,766,744.96570261,715.03429739,678,661,636,879.96570261,788,804,652,632,653,0.400969285492,-0.0153940769054,0.0698302316108,0.999999943631,0.000189772314089,-0.000276693893372,1.28098551428e-05,1793239629031322112
+44,0.733333333,BASELINE,766,745,715,678.537083133,661,636,880,788,804,652,632,653,0.400970838509,-0.0153938175674,0.0698316536094,0.999999944099,0.000189703126489,-0.000275045318129,1.28598994549e-05,1793239629047988736
+45,0.750000000,BASELINE,766,745,715,678.887240024,661,636,879.887240024,787.887240024,804,652,631.887240024,653,0.400972023997,-0.0153934900825,0.0698326903496,0.999999944505,0.000189369008637,-0.000273795637723,1.288241705e-05,1793239629064655360
+46,0.766666667,BASELINE,766,745,715,678.291940388,661,636,879.291940388,787.291940388,804,652,631.291940388,653,0.400971057366,-0.015393482775,0.0698316236121,0.999999944674,0.000187030105381,-0.000274790296657,1.27365236398e-05,1793239629081321984
+47,0.783333333,BASELINE,765.706197656,745,715,678.293802344,661,636,879.293802344,787.293802344,804,652,631.293802344,653,0.400970805129,-0.0153937119026,0.069831154373,0.999999944576,0.000186928051614,-0.000275214857532,1.27696645401e-05,1793239629097988608
+48,0.800000000,BASELINE,765.129652023,745,715,678.870347977,661,636,879.870347977,787.870347977,804,652,631.870347977,653,0.400971240396,-0.0153941685658,0.0698312601415,0.999999944222,0.000188978649492,-0.000275090779607,1.29751006772e-05,1793239629114655488
+49,0.816666667,BASELINE,765.890273376,744.554863312,715,678.554863312,661,636,879.554863312,788,804,652,631.554863312,653,0.400971602983,-0.0153928828941,0.0698311308948,0.999999943916,0.000191055923044,-0.000274763801501,1.30721573932e-05,1793239629131322112
+50,0.833333333,BASELINE,766.960179295,744.019910352,715.019910352,678,661,636,879,788,804,652,631,653,0.400971953598,-0.0153911457572,0.0698309717533,0.999999943644,0.0001930344442,-0.000274367400102,1.3132331414e-05,1793239629147988480
+51,0.850000000,BASELINE,765.782356474,744.608821763,715.608821763,678,661,636,879,788,804,652,631,653,0.400972564702,-0.0153909523512,0.0698319067966,0.999999944041,0.000191969638964,-0.000273669263235,1.3037044989e-05,1793239629164655360
+52,0.866666667,BASELINE,765.194547004,745,715.805452996,678.194547004,661,636,879,788,804,652,631.194547004,653,0.400972720101,-0.0153909315816,0.0698323929043,0.999999944194,0.000191438163842,-0.000273489524182,1.29546749734e-05,1793239629181322240
+53,0.883333333,BASELINE,765.773968967,745,715.226031033,678.773968967,661,636,879,788,804,652,631.773968967,653,0.400971973976,-0.0153912523411,0.0698319908767,0.999999943862,0.000191961782939,-0.00027433533855,1.28978576704e-05,1793239629197988608
+54,0.900000000,BASELINE,766,745,715,678.660395508,661,635.660395508,879,788,804,652,631.660395508,653,0.400971750141,-0.0153921458406,0.0698319150305,0.999999943968,0.000191222038374,-0.000274466156116,1.29323156219e-05,1793239629214655232
+55,0.916666667,BASELINE,766,745,715,678.103577896,661,635.103577896,879,788,804,652,631.103577896,653,0.400971860366,-0.0153934056683,0.0698320478118,0.999999944351,0.000189674238623,-0.000274139657298,1.30251537896e-05,1793239629231322112
+56,0.933333333,BASELINE,766,744.513965147,715,678.486034853,661,635,879,788,804,652.486034853,631,653,0.400970778756,-0.0153938726795,0.0698310009382,0.999999943988,0.000189492335296,-0.000275583184221,1.30569811743e-05,1793239629247988736
+57,0.950000000,BASELINE,765.917787411,744.082212589,715,678.917787411,661,635.082212589,879,788,804,652.917787411,631.082212589,653,0.400969672456,-0.015394207962,0.0698299641553,0.999999943577,0.000189510689176,-0.000277055052858,1.31069452338e-05,1793239629264655360
+58,0.966666667,BASELINE,765.327356591,744.672643409,715,678.327356591,661,635.672643409,879,788,804,652.327356591,631.672643409,653,0.400970097234,-0.0153948489436,0.0698306562541,0.999999943937,0.000188837377605,-0.000276201600578,1.33552159477e-05,1793239629281321984
+59,0.983333333,BASELINE,765,744.742425665,715,678.257574335,661,636,879,787.742425665,804,651.742425665,632,653,0.400970341915,-0.0153947263007,0.0698311118001,0.999999944104,0.00018884471181,-0.000275589399607,1.34300172482e-05,1793239629297988352
+60,1.000000000,BASELINE,765,744.164338455,715,678.835661545,661,636,879,787.164338455,804,651.164338455,632,653,0.400970362494,-0.0153936534411,0.0698312729915,0.99999994403,0.000189699008155,-0.000275277399823,1.32889617497e-05,1793239629314655488
+61,1.016666667,BASELINE,765.411422101,744.411422101,715.411422101,678.588577899,661,636,879.411422101,787.411422101,804,651.411422101,632,653,0.400971746409,-0.0153939436382,0.0698321423405,0.999999944352,0.000189984505666,-0.000273906201792,1.33347020843e-05,1793239629331322112
+62,1.033333333,BASELINE,765.98625849,744.98625849,715.98625849,678.01374151,661,636,879.98625849,787.98625849,804,651.98625849,632,653,0.400973671834,-0.0153947752332,0.0698332929653,0.999999944828,0.000190044079783,-0.000272114296853,1.34546365654e-05,1793239629347988992
+63,1.050000000,BASELINE,765.439097557,745,715.439097557,678.560902443,661,636,879.439097557,788,804,652,631.439097557,653,0.400972341828,-0.0153932588822,0.0698321047712,0.999999944077,0.000191373163494,-0.000273940927324,1.33893282431e-05,1793239629364655360
+64,1.066666667,BASELINE,765.13932207,744.86067793,715,679,661,636,879,788,804.13932207,652,631,653,0.400971119737,-0.0153919507655,0.0698310822776,0.999999943489,0.000192192599266,-0.000275514752095,1.32315696006e-05,1793239629381321472
+65,1.083333333,BASELINE,765.72998851,744.27001149,715,679,661,636,879,788,804.72998851,652,631,653,0.400970505527,-0.0153915035226,0.069830782143,0.999999943545,0.000191260270447,-0.000275982502916,1.27890081301e-05,1793239629397988096
+66,1.100000000,BASELINE,766,744.314132721,715,678.685867279,661,636,879.314132721,788,804.685867279,652,631,653,0.400970574255,-0.015391478268,0.0698309686635,0.999999943668,0.000190983923835,-0.000275729490091,1.27202511998e-05,1793239629414654976
+67,1.116666667,BASELINE,766,744.89278478,715,678.10721522,661,636,879.89278478,788,804.10721522,652,631,653,0.40097121806,-0.0153918083537,0.0698315649779,0.999999943849,0.000191259955191,-0.000274869549313,1.29662610217e-05,1793239629431321856
+68,1.133333333,BASELINE,766,745,715.468804263,678.468804263,661.468804263,636,879.531195737,788,804,652,631.468804263,653,0.400970993525,-0.015392287463,0.0698313220345,0.999999944068,0.000190008292538,-0.000274944349091,1.28965271142e-05,1793239629447988480
+69,1.150000000,BASELINE,766,744.954753721,715.954753721,678.954753721,661.954753721,636,879,788,804,652,632,653,0.400970662237,-0.0153926731799,0.0698309668245,0.999999944243,0.000188789148761,-0.000275153880379,1.27732637052e-05,1793239629464655360
+70,1.166666667,BASELINE,766,744.366045918,715.366045918,678.366045918,661.366045918,636,879,788,804,652,632,653,0.400971420677,-0.0153915300688,0.0698315556845,0.999999943804,0.000192133662501,-0.000274428349185,1.28695366211e-05,1793239629481321728
+71,1.183333333,BASELINE,766,744.218831984,715,678.218831984,661,636,879,788,804,652,632,653,0.400971657469,-0.0153909244199,0.0698318228625,0.99999994356,0.000193777482348,-0.00027415938879,1.28864102246e-05,1793239629497988352
+72,1.200000000,BASELINE,766,744.797413795,715,678.797413795,661,636,879,788,804,652,632,653,0.400971036697,-0.0153912023341,0.0698315612101,0.999999943652,0.000192625439325,-0.000274641009909,1.27727549853e-05,1793239629514654976
+73,1.216666667,BASELINE,765.625533455,745,715,679,661.374466545,636,879,788,804,652,632,653,0.400971122857,-0.0153912268588,0.0698319017026,0.999999943938,0.000191653919716,-0.000274282778769,1.26971176516e-05,1793239629531321600
+74,1.233333333,BASELINE,765.049304598,745,715,679,661.950695402,636,879,788,804,652,632,653,0.400971589912,-0.0153911148573,0.0698325666304,0.999999944328,0.000190779666064,-0.000273472035789,1.26419643459e-05,1793239629547988480
+75,1.250000000,BASELINE,765,745,715,679,661.463205402,636,879,788,804,652,631.463205402,653,0.400971310595,-0.0153915818642,0.0698324094723,0.999999944149,0.00019091801669,-0.000274026350576,1.26955951713e-05,1793239629564655872
+76,1.266666667,BASELINE,765,745,715,679,661,636,879.122281132,788,804,652,631.122281132,653,0.400971237667,-0.01539200468,0.0698322770245,0.999999944026,0.000191166625726,-0.000274299582083,1.27599972711e-05,1793239629581323520
+77,1.283333333,BASELINE,765,745,715,679,661,636,879.702020533,788,804,652,631.702020533,653,0.400972198115,-0.0153920594929,0.0698325247907,0.99999994431,0.000191473252482,-0.000273043430775,1.28266151182e-05,1793239629597989632
+78,1.300000000,BASELINE,765.280262628,745,715,679,661.280262628,636,879.719737372,788,804,652,632,653,0.400972518561,-0.0153923464502,0.0698328236948,0.99999994449,0.000191437711405,-0.000272406319397,1.29033664868e-05,1793239629614656000
+79,1.316666667,BASELINE,765.856921188,745,715,679,661.856921188,636,879.143078812,788,804,652,632,653,0.400972162165,-0.015392878915,0.0698331766807,0.99999994456,0.000191040305604,-0.000272423883027,1.29908347084e-05,1793239629631322624
+80,1.333333333,BASELINE,766,745,715,679,661.566847772,636,879.433152228,788,804,652,632,653,0.40097193346,-0.0153934657129,0.069833042227,0.999999944623,0.000190383271742,-0.000272651533102,1.30343933041e-05,1793239629647988736
+81,1.350000000,BASELINE,766,745,715,679,661,636,879.990549649,788,804.009450351,652,632,653,0.400971764219,-0.0153940513836,0.069832748032,0.999999944682,0.0001896605269,-0.000272936229917,1.30597027363e-05,1793239629664655104
+82,1.366666667,BASELINE,766,745,715,679,661,636,879.401487251,788,804.598512749,652,632,653,0.400972657595,-0.0153934682559,0.0698325219732,0.999999944717,0.000190162272176,-0.00027246772918,1.28544490552e-05,1793239629681321728
+83,1.383333333,BASELINE,766,745,715.184488221,678.815511779,661,636,879.184488221,788,804.815511779,652,632,653,0.400972948988,-0.0153927875426,0.0698324024842,0.999999944588,0.000190961268946,-0.000272389480506,1.27448706477e-05,1793239629697988352
+84,1.400000000,BASELINE,766,745,715.76385652,678.23614348,661,636,879.76385652,788,804.23614348,652,632,653,0.400971951893,-0.0153918979564,0.069832511098,0.999999944105,0.000192396505314,-0.000273146530418,1.28400763303e-05,1793239629714655232
+85,1.416666667,BASELINE,766,745,715.659719774,678.340280226,661,636,880,788,804,652,632,653,0.400971859231,-0.0153919614631,0.0698327308192,0.999999944107,0.000192389949481,-0.000273139960788,1.28801507849e-05,1793239629731322112
+86,1.433333333,BASELINE,766,745,715.085322022,678.914677978,661,636,880,788,804,652,632,653,0.400972388832,-0.015392680711,0.069833026984,0.999999944444,0.000191391420489,-0.000272608010256,1.28822941825e-05,1793239629747988992
+87,1.450000000,BASELINE,766,745,715,678.508787107,661,636,879.508787107,788,804,652,632,653,0.400972783936,-0.0153916741658,0.0698329532064,0.99999994455,0.000191656355558,-0.000272039362572,1.27454912552e-05,1793239629764655616
+88,1.466666667,BASELINE,766,745,715,678.06983867,661,636,879,788,804,652,632,653,0.400973004823,-0.0153906285822,0.0698327468071,0.999999944558,0.000192043694045,-0.000271742655145,1.26106637368e-05,1793239629781321984
+89,1.483333333,BASELINE,766,745,715,678.661296208,661,636,879,788,804,652,632,653,0.400972099751,-0.015391540121,0.0698320318997,0.999999944138,0.000191698967008,-0.000273524861664,1.2671636573e-05,1793239629797988608
+90,1.500000000,BASELINE,766,745,715,678.753465057,661,636,879.246534943,788,804,652,632,653,0.400971794437,-0.0153922684946,0.0698318776383,0.999999943941,0.000191810644343,-0.000274153568677,1.28971935775e-05,1793239629814655232
+91,1.516666667,BASELINE,766,745,715,678.176559903,661,636,879.823440097,788,804,652,632,653,0.400972292834,-0.0153927514169,0.0698324746729,0.999999944047,0.000192533928343,-0.000273236523577,1.3343302299e-05,1793239629831321856
+92,1.533333333,BASELINE,765.601945687,745,715.398054313,678,661,636,879.601945687,788,804,652,632,653,0.400972351206,-0.0153935918103,0.0698325985164,0.99999994417,0.000192080581645,-0.000273106369666,1.33266543846e-05,1793239629847988480
+93,1.550000000,BASELINE,765.028341769,745,715.971658231,678,661,636,879.028341769,788,804,652,632,653,0.40097221552,-0.0153945898553,0.0698325136737,0.9999999443,0.000191108318246,-0.000273323249817,1.31059219344e-05,1793239629864655360
+94,1.566666667,BASELINE,765.54872054,745,715.45127946,678.54872054,661.54872054,636,879,788,804,651.45127946,632,653,0.40097085161,-0.0153932849829,0.0698312134038,0.999999943641,0.000192124064546,-0.000275027841605,1.2893820239e-05,1793239629881321984
+95,1.583333333,BASELINE,765.871053634,745,715,678.871053634,661.871053634,636,879,788,804,651.128946366,631.871053634,653,0.400970072537,-0.0153922146316,0.0698304911397,0.999999943314,0.000192542601094,-0.000275929470164,1.27335341112e-05,1793239629897988864
+96,1.600000000,BASELINE,765.280137907,745,715,678.280137907,661.280137907,636,879,788,804,651.719862093,631.280137907,653,0.400971617442,-0.0153924133355,0.0698320660023,0.999999944333,0.00019045133937,-0.000273677323843,1.27572776174e-05,1793239629914655488
+97,1.616666667,BASELINE,765,745,715,678,661,636,879.606849328,788,804,652,631.303424664,652.696575336,0.400971681807,-0.0153928464533,0.0698325646406,0.999999944638,0.00018934066434,-0.000273331830136,1.27954476321e-05,1793239629931322112
+98,1.633333333,BASELINE,765,745,715,678,661,636,880.760717998,788,804,652,631.880358999,652.119641001,0.400970411598,-0.015393490874,0.0698320931606,0.999999944304,0.000189113898939,-0.000274705010068,1.28466218277e-05,1793239629947988736
+99,1.650000000,BASELINE,765.45631042,745,715,678.45631042,661,636,880.08737916,788,804,652,632,652.45631042,0.400969808259,-0.0153939465589,0.0698311887639,0.999999944228,0.000188341880397,-0.00027551052292,1.28468410516e-05,1793239629964655360
+100,1.666666667,BASELINE,765.967203883,745,715.032796117,679,661,636,879,788,804,652,631.967203883,653,0.40096946358,-0.0153943791692,0.0698302875607,0.999999944256,0.00018739848798,-0.000276053358546,1.28367887081e-05,1793239629981321472
+101,1.683333333,BASELINE,765.377273333,745,715.622726667,679,661,636,879,788,804,652,631.377273333,653,0.400970549095,-0.0153952586285,0.0698313647062,0.999999944907,0.000185967203966,-0.000274656877024,1.28787141375e-05,1793239629997988352
+102,1.700000000,BASELINE,765.208408833,745,715.791591167,679,661,636,879,788,804.208408833,652,631.208408833,653,0.400971402435,-0.0153955096217,0.0698323235421,0.999999945246,0.000185827394927,-0.000273509434775,1.29605472268e-05,1793239630014655232
+103,1.716666667,BASELINE,765.786553916,745,715.213446084,679,661,636,879,788,804.786553916,652,631.786553916,653,0.400971843877,-0.0153946456585,0.0698330724856,0.999999945035,0.000187978780258,-0.000272803811031,1.31131801344e-05,1793239630031322368
+104,1.733333333,BASELINE,766,745,715,679,661,636,879,788,804.636916897,652,632,653,0.400972281193,-0.0153943775757,0.0698330754971,0.999999945178,0.000188195617306,-0.000272131209455,1.30973488267e-05,1793239630047988992
+105,1.750000000,BASELINE,766,745,715,679,661,636,879,788,804.061333384,652,632,653,0.400972716093,-0.0153944582419,0.0698326419398,0.999999945529,0.000187280228085,-0.000271477934588,1.29829210566e-05,1793239630064655616
+106,1.766666667,BASELINE,766,745,715,678.487592167,661,636,879,788,804,652,632,653,0.400972713945,-0.0153939962664,0.0698324659484,0.999999945036,0.000188957146844,-0.000272136499313,1.28712233435e-05,1793239630081321984
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,880,788,805,652,631,653,0.400972379877,-0.0153918091547,0.0698328215702,0.999999945119,0.00018959508737,-0.000271394529799,1.26725907704e-05,1793239630123705600
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.579667533,744.420332467,715,678,661,636,879.420332467,788,804.420332467,652,631.579667533,653,0.400971890982,-0.0153920619016,0.0698327092713,0.999999944328,0.000191935016984,-0.00027265224732,1.2899746572e-05,1793239630140372224
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.158130376,715,678,661,635.841869624,879.158130376,788,804,651.841869624,631.841869624,653,0.400971215964,-0.0153923709994,0.0698323157553,0.999999943648,0.000193540149428,-0.000274001377793,1.30231040716e-05,1793239630157038592
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.733415321,715,678,661,635.266584679,879.733415321,788,804,651.266584679,631.266584679,653,0.400970049943,-0.0153928287529,0.069831180377,0.999999943277,0.000193206856616,-0.000275591659745,1.28726373437e-05,1793239630173705216
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.315624789,879.684375211,788,804,651.315624789,631,653,0.400970224358,-0.0153934946696,0.0698309789916,0.999999943492,0.000192465658767,-0.000275332661454,1.28582254891e-05,1793239630190371584
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.903814043,879.096185957,788,804,651.903814043,631,653,0.400971556335,-0.01539434035,0.0698315841754,0.99999994421,0.000191372205916,-0.000273476677991,1.29613067079e-05,1793239630207038464
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.515218785,879,788,804,652,631,652.515218785,0.400971246721,-0.0153927793153,0.0698315525281,0.999999943835,0.000192154555021,-0.000274305328457,1.27973254027e-05,1793239630223704832
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.063789845,678.063789845,661,635.063789845,879,788,804,652,631.063789845,652.063789845,0.400970979462,-0.0153909812581,0.0698316296134,0.99999994342,0.000192983944215,-0.000275242625874,1.26171309374e-05,1793239630240370944
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.638420928,678.638420928,661,635.638420928,879,788,804,652,631.638420928,652.638420928,0.40097362144,-0.0153910530101,0.0698335744669,0.999999944407,0.000191253302506,-0.000272846952585,1.27252088251e-05,1793239630257037824
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.786239003,745,715.786239003,679,661.213760997,636,879.213760997,788,803.786239003,652,632,653,0.400980256962,-0.0153919357778,0.069836983659,0.999999945917,0.000190560228696,-0.00026773194586,1.31538153374e-05,1793239630273704448
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.209695744,745,715.209695744,679,661.790304256,636,879.790304256,788,803.209695744,652,632,653,0.400993670089,-0.0153941949524,0.0698428780384,0.999999948257,0.000191628052673,-0.000258001850767,1.41264036758e-05,1793239630290370816
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.376308807,744.623691193,715,679,661.623691193,636,879.623691193,788,803.376308807,651.623691193,631.623691193,653,0.401024606302,-0.0153952302469,0.0698558677762,0.999999953745,0.000191830580155,-0.000235557490916,1.49879430093e-05,1793239630307037696
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.967721635,744.032278365,715,679,661.032278365,636,879.032278365,788,803.967721635,651.032278365,631.032278365,653,0.401065558989,-0.0153955659524,0.069872913333,0.999999960346,0.000191538490548,-0.000205845456675,1.57860050699e-05,1793239630323704576
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.452723266,744.547276734,715,679,661,636,879.547276734,787.452723266,804,651.547276734,631.547276734,653,0.401122469105,-0.0153991563258,0.0698876305679,0.999999964712,0.000190808776304,-0.000184078433078,1.68097797282e-05,1793239630340371456
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.124968065,745,715,678.875031935,661,636,879.875031935,787.124968065,804,652,631.875031935,653,0.401183251758,-0.0154032343764,0.0699008169107,0.999999968287,0.000189279334001,-0.000165201856417,1.75405743318e-05,1793239630357037824
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.698427475,745,715,678.301572525,661,636,879.301572525,787.698427475,804,652,631.301572525,653,0.401254626294,-0.0154083883214,0.0699089915036,0.999999970725,0.000184970457182,-0.000155052591082,1.71731450711e-05,1793239630373704448
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.727333697,745,715.272666303,678.272666303,661,636,879.272666303,788,804,652,631.272666303,653,0.401333311141,-0.0154118257983,0.0699143407785,0.999999971995,0.000184286577645,-0.000147613955761,1.60571413315e-05,1793239630390371072
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.152230382,745,715.847769618,678.847769618,661,636,879.847769618,788,804,652,631.847769618,653,0.401420104463,-0.0154133593966,0.0699165562562,0.999999972049,0.000187623486168,-0.000143181907605,1.41108310286e-05,1793239630407037440
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.437259953,745,716,679,661,636,879.562740047,787.562740047,804,652,632,653,0.401521169138,-0.0154172286371,0.0699170744742,0.999999972436,0.000186406857232,-0.000142271886187,1.17742205875e-05,1793239630423704064
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.969083446,745,715.969083446,678.969083446,661,636,879,787.030916554,804,652,631.969083446,653,0.401629092722,-0.0154220268789,0.0699171518466,0.999999972996,0.000183516239148,-0.00014228164644,9.29927512628e-06,1793239630440370944
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.393279001,745,715.393279001,678.393279001,661,636,879,787.606720999,804,652,631.393279001,653,0.401767354281,-0.0154283794506,0.0699202280659,0.999999974505,0.000180013039922,-0.000136156052007,6.86256436565e-06,1793239630457037568
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.818236564,715,678.181763436,661,636,879,788,804,652,631,653,0.401916269038,-0.0154350244049,0.0699233062997,0.999999976261,0.000174941245528,-0.000129838039672,4.02776547558e-06,1793239630473704448
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.244836067,715,678.755163933,661,636,879,788,804,652,631,653,0.402088137721,-0.0154422993415,0.0699263888738,0.999999978563,0.000166489673908,-0.000123105434395,3.35225271998e-07,1793239630490371072
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.338449691,744.338449691,715,679,661,635.661550309,879.338449691,788,804,652,631,653,0.402271186155,-0.0154495716633,0.0699272512891,0.999999980264,0.000157921082907,-0.000120489637016,-3.91959181711e-06,1793239630507037952
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.929101702,744.929101702,715,679,661,635.070898298,879.929101702,788,804,652,631,653,0.402462565415,-0.0154568420376,0.0699264593108,0.99999998151,0.000149265291767,-0.000120941557798,-8.5934007668e-06,1793239630523704320
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.491298281,745,715,679,661,635.508701719,879.491298281,788,804,652,631,653,0.402693796925,-0.0154689107931,0.0699309415583,0.999999984971,0.000133469650452,-0.000109912680224,-1.27725226782e-05,1793239630540370944
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.086480669,745,715,679,661,636,879.086480669,788,804,652,631.086480669,653,0.402937509727,-0.0154811048719,0.0699370805214,0.999999989269,0.000109180833229,-9.62151224011e-05,-1.68416937721e-05,1793239630557037312
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.662485322,745,715,679,661,636,879.662485322,788,804,652,631.662485322,653,0.403221101688,-0.0154903033509,0.0699485249153,0.999999995981,4.2329298383e-05,-7.6276214403e-05,-2.06704547879e-05,1793239630573704192
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.243456325,678.756543675,661,636,879.756543675,788,804,652,631.756543675,653,0.403514391676,-0.0155003640866,0.0699567703701,0.999999997743,5.94339339219e-07,-6.2367018199e-05,-2.49722512123e-05,1793239630590371072
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.831455745,678.168544255,661,636,879.168544255,788,804,652,631.168544255,653,0.403821406445,-0.0155116451004,0.0699604886369,0.999999997912,-5.59525519688e-06,-5.69911634849e-05,-2.99434944312e-05,1793239630607037696
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.586540902,678,661,636,879.413459098,788,804,652,631.413459098,653,0.404154840341,-0.0155181061582,0.0699607705892,0.999999997357,-2.25357891994e-05,-5.92759605751e-05,-3.55676636963e-05,1793239630623704320
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.006946886,678,661,636,879.993053114,788,804,652,631.993053114,653,0.404498889885,-0.0155226304751,0.0699596717717,0.999999996093,-4.37962339066e-05,-6.46389383377e-05,-4.14541896495e-05,1793239630640370944
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879.430233385,788,804,651.430233385,631.430233385,653,0.404892273075,-0.015517876892,0.0699684636779,0.999999998505,1.11171702586e-05,-4.72428520942e-05,-2.5207997274e-05,1793239630657037824
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.85909665,715,678,661,636,879,788,804,651.14090335,631.14090335,653,0.405292401535,-0.0155101632381,0.0699743099936,0.999999997836,5.35976367619e-05,-3.4992644613e-05,-1.51800035354e-05,1793239630673704448
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.304241033,715,678,661,636,879,788,804,651.695758967,631.695758967,653,0.405710588255,-0.0154940840147,0.0699711501175,0.999999997344,5.6837243523e-05,-3.86713596802e-05,-2.42089193195e-05,1793239630690370816
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.275493176,715,678.275493176,661,636,879,788,804,651.724506824,631.724506824,653,0.406139329484,-0.0154905699595,0.0699619293328,0.99999999702,4.61152898986e-05,-5.37686951901e-05,-3.06912643911e-05,1793239630707037184
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744.885429574,715,678.885429574,661,636,879,788,804,651.114570426,631.114570426,653,0.406580883734,-0.015502309766,0.0699453507255,0.999999995827,1.84442807121e-05,-8.27280086856e-05,-3.4082124559e-05,1793239630723703808
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.470699481,636,879.470699481,788,804,651.470699481,631.470699481,653,0.407076741092,-0.0155102394048,0.069936278477,0.999999994956,1.26603723419e-05,-9.29789447662e-05,-3.58204632498e-05,1793239630740370688
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.949944371,745,715,679,662,636,880,787.949944371,804,652,631.949944371,653,0.407590722647,-0.0155165417728,0.069930848903,0.999999994644,1.15280829297e-05,-9.59439313832e-05,-3.7074042249e-05,1793239630757037824
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.372786397,745,715,679,662,636,880,787.372786397,804,652,631.372786397,653,0.408163303037,-0.0155149881145,0.0699454961449,0.999999996993,6.07281584001e-06,-6.77497411919e-05,-3.72476604318e-05,1793239630773704448
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.202042366,745,715,679,661.797957634,636,880,787.202042366,804,652,631,653,0.408742622823,-0.0155126085991,0.0699570282072,0.999999998332,7.2868269282e-06,-4.33151938517e-05,-3.75003008603e-05,1793239630790371072
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.772622472,745,715,679,661.227377528,636,880,787.772622472,804,652,631,653,0.409334235651,-0.0155087226693,0.069962877989,0.999999998737,2.06660131361e-05,-2.57384687384e-05,-3.78970827627e-05,1793239630807037952
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.357886795,636,880,788,804,652,631,653,0.409935128029,-0.0155076389689,0.0699574988201,0.999999998404,2.05530067895e-05,-3.43660835636e-05,-3.9863009432e-05,1793239630823704320
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.952879638,636,880,788,804,652,631,653,0.410542168244,-0.0155084117931,0.0699446802816,0.999999997194,1.15011944317e-05,-6.03545169141e-05,-4.28685209832e-05,1793239630840370688
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.466618528,745,715,678.466618528,661.466618528,636,880,788,804,651.466618528,631,653,0.41120866695,-0.0155113624015,0.0699506383856,0.999999997764,4.88073272682e-06,-5.12851975761e-05,-4.26398983723e-05,1793239630857037312
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.111874337,745,715,678,661.111874337,636,879.888125663,788,804,651.111874337,631,653,0.411891807272,-0.0155150347119,0.0699633312121,0.999999998654,-8.48481607849e-07,-3.06823447836e-05,-4.1838294797e-05,1793239630873703936
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.687207618,745,715,678,661.687207618,636,879.312792382,788,804,651.687207618,631,653,0.412622703437,-0.0155209208641,0.0699972337712,0.999999998883,-3.75182507482e-06,2.52092702509e-05,-3.98153241185e-05,1793239630890370560
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,678.268206759,662,636,879.268206759,788,804,652,631.268206759,653,0.413357821987,-0.015523954843,0.0700204489613,0.999999997332,-7.31328531403e-06,6.14987995152e-05,-3.87267715382e-05,1793239630907037184
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,678.855956307,662,636,879.855956307,788,804,652,631.855956307,653,0.414097971202,-0.0155235907302,0.0700309311742,0.999999996411,-1.16588293547e-05,7.44343193307e-05,-3.87514889039e-05,1793239630923704064
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.562340846,715,679,661.562340846,636,880,788,804,651.562340846,631.562340846,653,0.414800790587,-0.0155181813895,0.0699969286567,0.999999998956,-9.06227709043e-06,1.28826729709e-05,-4.28848009337e-05,1793239630940371200
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,744.017304998,715,679,661,636,880,788,804.017304998,651.017304998,631,653,0.415493923009,-0.0155113779045,0.0699492014296,0.999999996282,-4.56314763955e-06,-7.1283796498e-05,-4.8306758278e-05,1793239630957037568
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.593913403,715,679,661,636,880,788,804.593913403,651.593913403,631,653,0.41626565055,-0.0155124517578,0.0699246385927,0.999999993075,-1.14113483823e-05,-0.000104819758453,-5.226915446e-05,1793239630973703936
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.830086058,745,715,679,661.169913942,636,880.169913942,788,804.830086058,652,631,653,0.417053651036,-0.015514218316,0.0699170954236,0.999999991973,-1.61963713176e-05,-0.000113347054254,-5.42647769964e-05,1793239630990370560
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.255533143,745,715,679,661.744466857,636,880.744466857,788,804.255533143,652,631,653,0.417880404433,-0.0155176345059,0.0699500834851,0.999999996599,-1.60680704416e-05,-6.23178405357e-05,-5.15766561508e-05,1793239631007037440
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.671902797,636,880.671902797,788,804,651.671902797,631,652.671902797,0.418724594344,-0.0155207188943,0.0699766194059,0.999999998267,-2.03993319201e-05,-2.37005362256e-05,-4.9883331396e-05,1793239631023704064
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.081001504,636,880.081001504,788,804,651.081001504,631,652.081001504,0.41958275077,-0.0155235375115,0.0699979871953,0.999999998387,-2.83026787927e-05,4.97489313224e-06,-4.89868331124e-05,1793239631040370688
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.499236443,745,715,679,661.499236443,636,880,788,804,651.499236443,631,652.499236443,0.420454023112,-0.0155291862974,0.0700186317129,0.9999999974,-3.89761957081e-05,3.73538528506e-05,-4.78054635898e-05,1793239631057037568
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.922799368,745,715,679,662,636,880,788,804,652,631,653,0.421321406997,-0.0155344253776,0.0700338474033,0.999999995848,-4.83527082142e-05,6.1202410042e-05,-4.71224939429e-05,1793239631073704704
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.348568315,745,715,679,662,636,880,788,804,652,631,653,0.422150341635,-0.01553413214,0.0700148511269,0.999999997323,-4.65456901712e-05,2.63430186739e-05,-4.99396584927e-05,1793239631090371072
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.226269761,745,715,679,662,635.773730239,880,788,804.226269761,652,631,653,0.42295497186,-0.0155310211067,0.0699733875324,0.999999996669,-4.4244549043e-05,-4.12782951521e-05,-5.47805678763e-05,1793239631107037696
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.802045556,745,715,679,662,635.197954444,880,788,804.802045556,652,631,653,0.423722060568,-0.0155235575847,0.0698972199463,0.999999984463,-4.11801634312e-05,-0.000159505093107,-6.27474408361e-05,1793239631123704064
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.61258228,745,715,679,662,635.38741772,880,788,804.61258228,652,631,652.61258228,0.424587015361,-0.0155233912188,0.0698797472619,0.999999980767,-4.62395936041e-05,-0.000178751242699,-6.61546511211e-05,1793239631140370688
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.022182262,745,715,679,662,635.977817738,880,788,804.022182262,652,631,652.022182262,0.425503245726,-0.0155270481001,0.0698930269855,0.999999985523,-5.55553879921e-05,-0.000146137808305,-6.71728873372e-05,1793239631157037056
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.557523285,662,636,880,788,804.557523285,652,631.557523285,652.557523285,0.42642790629,-0.0155310572006,0.0699496234836,0.999999994558,-5.33049812379e-05,-6.67184675271e-05,-5.99331309751e-05,1793239631173704192
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.134988559,745,715,680,662,636,880,788,805.134988559,652,632,653,0.42734656606,-0.0155349728431,0.0700003260462,0.999999997129,-5.30174792251e-05,4.17330765522e-06,-5.39719443495e-05,1793239631190371328
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.70655855,745,715,680,662,636,880,788,805.70655855,652,632,653,0.428244753571,-0.0155385417523,0.0700264972818,0.999999995889,-6.05387525508e-05,4.15755080729e-05,-5.31885616771e-05,1793239631207037952
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.711921258,662,635.711921258,880.288078742,788,805.711921258,651.711921258,632,653,0.429127574398,-0.0155411288776,0.0700424249014,0.999999994336,-6.43536806712e-05,6.63550776736e-05,-5.27614535549e-05,1793239631223704576
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.119903074,662,635.119903074,880.880096926,788,805.119903074,651.119903074,632,653,0.429994182445,-0.0155426801648,0.0700475449224,0.999999993519,-6.42582035932e-05,7.78170522207e-05,-5.27102354332e-05,1793239631240370944
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.461216521,745,715,679.461216521,662,635.461216521,880.538783479,788,804.538783479,651,632,653,0.430798581931,-0.0155379558247,0.0699943279496,0.999999996469,-6.02416501212e-05,-1.08154981702e-05,-5.75858844055e-05,1793239631257037568
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.960534649,745,715,680,662,635.960534649,880,788,804.039465351,651,631.960534649,653,0.431589036039,-0.0155317926143,0.0699290482693,0.999999989249,-5.55818555418e-05,-0.000119894651054,-6.35432894324e-05,1793239631273703936
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.383686882,745,715,680,662,635.383686882,880,788,804.616313118,651,631.383686882,653,0.432404730771,-0.0155277393069,0.069901256946,0.999999983191,-5.57232025999e-05,-0.000161239405432,-6.71924120976e-05,1793239631290370816
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.192270559,880.192270559,788,805,651,631,653,0.433250147673,-0.0155270021904,0.0699039280897,0.999999984563,-5.85582513252e-05,-0.000151125378118,-6.78731174196e-05,1793239631307037440
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.766459593,880.766459593,788,805,651,631,653,0.434154603641,-0.0155328522209,0.0699671086429,0.999999995057,-6.67439599954e-05,-3.87957107867e-05,-6.26574786374e-05,1793239631323704064
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.648205727,745,715,679.648205727,662,636,881,788,804.648205727,651,631.351794273,653,0.435007461152,-0.0155382117159,0.0700085299102,0.999999995572,-6.82407726275e-05,2.87291037022e-05,-5.80763958238e-05,1793239631340370944
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.055229901,745,715,679.055229901,662,636,881,788,804.055229901,651,631.944770099,653,0.435824943966,-0.0155432349113,0.0700350335392,0.999999994276,-6.51518415044e-05,6.55367995559e-05,-5.39303496926e-05,1793239631357038080
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.522973137,662,636,880.477026863,788,804.522973137,651,631.477026863,653,0.436628241168,-0.0155444279191,0.0700251008036,0.999999994092,-7.36982310411e-05,5.71670942611e-05,-5.58307549024e-05,1793239631373704704
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,805,651,631.099526219,653,0.437415879572,-0.0155452034233,0.0700077225961,0.999999994078,-8.32167980032e-05,3.86319255619e-05,-5.85426138242e-05,1793239631390371328
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,805,651,631.675444117,653,0.438135539476,-0.0155458634791,0.0699726185413,0.999999993846,-9.16687033076e-05,-6.35137651962e-06,-6.21660556366e-05,1793239631407037440
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.256146996,745,715,680,662,635.743853004,880.256146996,788,804.743853004,651,631.743853004,653,0.438806052752,-0.0155456310961,0.0699233033957,0.999999989988,-9.34783841864e-05,-8.31035504789e-05,-6.6179508329e-05,1793239631423704064
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.843028146,745,715,680,662,635.156971854,880.843028146,788,804.156971854,651,631.156971854,653,0.439413108394,-0.0155442464062,0.0698556390507,0.999999973566,-8.67116973043e-05,-0.000200875334726,-7.06965379376e-05,1793239631440370688
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.575423764,745,715,680,662,635,880.575423764,788,804.424576236,651,631.424576236,653,0.440077493608,-0.0155477706382,0.0698268223462,0.99999996262,-9.70668324987e-05,-0.000244837080925,-7.34318085984e-05,1793239631457037312
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.004143798,745,715,680,661.995856202,635,880.004143798,787.995856202,805,651,631.995856202,653,0.440763022103,-0.0155531502867,0.0698125673417,0.999999956541,-0.000113661655406,-0.000261343571841,-7.54827545602e-05,1793239631473703936
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.579120348,745,715,680,661.420879652,635,880.579120348,787.420879652,805,651,631.420879652,653,0.441477562369,-0.0155672129436,0.0698502939808,0.999999967388,-0.000128607839082,-0.000208261640582,-7.2883712595e-05,1793239631490370816
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.155036898,635,880.844963102,787,805,651,631,653,0.442161132675,-0.0155791934668,0.0698762666218,0.999999972104,-0.000141879582167,-0.000175067645821,-7.08102096537e-05,1793239631507037696
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.73352097,635,880.26647903,787,805,651,631,653,0.442760115915,-0.0155854871301,0.0698701359634,0.999999966955,-0.000150577985046,-0.00019619290651,-7.01720940587e-05,1793239631523704320
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.68230999,745,715,679.68230999,662,635,880.31769001,787,805.31769001,651,631,653,0.443314563566,-0.0155897019429,0.0698430774612,0.999999955136,-0.000159980605213,-0.000243032579923,-7.11972678742e-05,1793239631540370944
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.093285538,745,715,679.093285538,662,635,880.906714462,787,805.906714462,651,631,653,0.443830973981,-0.0155921412392,0.0697981447905,0.999999934221,-0.000169984686122,-0.000311834559319,-7.36430329194e-05,1793239631557037312
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.485710663,745,715,679.971421326,661.514289337,635,881,787,805.514289337,651.485710663,631,653,0.444343173891,-0.0155976937812,0.0697596864572,0.999999913454,-0.000175171081348,-0.000369564552863,-7.63530519001e-05,1793239631573704192
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.9372917,745.0627083,715,680.9372917,661,634.9372917,880.9372917,787,805,651.9372917,631,653,0.44485493265,-0.015603914459,0.0697254524172,0.999999892521,-0.000180518904976,-0.000419665765278,-7.90615446725e-05,1793239631590371072
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.361206865,745.638793135,715,680.361206865,661,634.361206865,880.361206865,787,805,651.361206865,631,653,0.44536956628,-0.0156108089191,0.0697158276053,0.99999988771,-0.000194610129982,-0.00042436895039,-8.13504511052e-05,1793239631607037440
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.785370559,714.785370559,680,661,634,880.214629441,786.785370559,805,651,631,653,0.445859598987,-0.0156175564343,0.0697088551722,0.999999881999,-0.000206095185371,-0.000432140318609,-8.23485745163e-05,1793239631623704064
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.209952083,714.209952083,680,661,634,880.790047917,786.209952083,805,651,631,653,0.446308277837,-0.0156240569365,0.0697063413513,0.999999874935,-0.000213199305362,-0.000445069258529,-8.11769098338e-05,1793239631640371200
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.375247058,680.375247058,661,634,881,786,805,651,631,653,0.446714516855,-0.0156291908799,0.0696954918438,0.999999861263,-0.000218497132493,-0.000472497191465,-8.04977912957e-05,1793239631657038080
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714.966065024,680.966065024,661,634,881,786,805,651,631,653,0.447096375194,-0.0156335397669,0.0696798536737,0.99999984282,-0.000222757285881,-0.000508254467187,-8.01016291363e-05,1793239631673704960
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634,881,785.454539126,805,651,631,653,0.4474621114,-0.0156370814355,0.0696579312303,0.999999824019,-0.000231640406689,-0.000539836432103,-8.29514880583e-05,1793239631690371072
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.122926018,715,681,660.877073982,634,880.877073982,785,804.877073982,651,631,653,0.447825871192,-0.0156407537825,0.0696418284009,0.999999809704,-0.000240330986617,-0.000561708348458,-8.55393782222e-05,1793239631707037440
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.695871315,715,681,660.304128685,634,880.304128685,785,804.304128685,651,631,653,0.448185992258,-0.0156450846086,0.0696484324916,0.999999815008,-0.000247285381881,-0.000548964254792,-8.64440898111e-05,1793239631723704064
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.730909047,715,680.730909047,660,634,880.269090953,785,804.269090953,651,631,653,0.448519162264,-0.0156497863915,0.0696557252601,0.999999819685,-0.000254828616644,-0.000536884903937,-8.62985743283e-05,1793239631740370944
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.157379065,715,680.157379065,660,634,880.842620935,785,804.842620935,651,631,653,0.448821840866,-0.0156549078599,0.0696637971714,0.999999823691,-0.000263038041087,-0.000525557618006,-8.49648727669e-05,1793239631757037568
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.433555241,633.566444759,881,785,805,651,631,653,0.449105650113,-0.0156585922702,0.0696656801895,0.999999825799,-0.000259792005021,-0.000523765257958,-8.11189556452e-05,1793239631773704192
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680.029910792,660.970089208,633,880.970089208,785,805,651,630.970089208,653,0.449379658804,-0.0156617233655,0.0696648664827,0.99999982698,-0.000251994996989,-0.00052602194334,-7.64217964293e-05,1793239631790370816
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680.605106795,660.394893205,633,880.394893205,785,805,651,630.394893205,653,0.449605091201,-0.0156646748683,0.0696575587033,0.999999824607,-0.00024020971849,-0.000536357378888,-7.35262025776e-05,1793239631807037440
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680.819642722,660,633,880,784.819642722,805,651,630,653,0.449814165536,-0.0156669816564,0.0696462330717,0.999999816926,-0.000231817778834,-0.000554283444904,-7.19538523236e-05,1793239631823704320
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680.244272994,660,633,880,784.244272994,805,651,630,653,0.449987412963,-0.0156678764116,0.0696261076759,0.999999797304,-0.000230857817339,-0.000588834253116,-7.327962608e-05,1793239631840370944
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880,784,805,651,630,653,0.450146153196,-0.0156689806396,0.0696106824095,0.999999781137,-0.000236594338026,-0.000613322947903,-7.47326324846e-05,1793239631857037568
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880,784,805,651,630,653,0.450294190482,-0.0156702394102,0.0695987247528,0.999999767825,-0.000247271318648,-0.0006303881266,-7.62795074105e-05,1793239631873704192
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.911497232,714.911497232,681,660,633,880.088502768,784,805,651,630,653,0.45055966422,-0.015674956998,0.0695907610224,0.999999748006,-0.000292098174577,-0.000642389555246,-7.74785829569e-05,1793239631907037440
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+216,3.600000000,POSE1_TO_POSE2_PRESS,765.245535147,745,714.245535147,680.754464853,660,633,881,783.754464853,805,651,630,653,0.450773701988,-0.0156817906479,0.0695856626749,0.999999743748,-0.00029546028016,-0.000647292597016,-7.88621824066e-05,1793239631940371200
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765.58619461,745,715,680,659.58619461,632.58619461,880.58619461,783,805,651,630,653,0.450930918032,-0.0156835954033,0.0695819463923,0.99999973854,-0.000293939073113,-0.000655879768882,-7.96331581755e-05,1793239631973704192
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714.430979944,680.569020056,659.569020056,632,880.569020056,783,805,651,630,653,0.451044638184,-0.015687178032,0.0695793507895,0.999999735649,-0.000295749379611,-0.000659512812452,-7.92243108321e-05,1793239632007037184
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.144907146,714.144907146,681,660,632,881,783,805,651,630,653,0.45108944314,-0.0156878433306,0.0695767176681,0.999999733354,-0.000297125067551,-0.000662331911127,-7.95241652155e-05,1793239632023703808
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.720841238,714.720841238,681,660,632,881,783,805,651,630,653,0.45112317213,-0.0156848525478,0.0695739059199,0.99999973217,-0.000293389656703,-0.000665666540451,-8.04337887544e-05,1793239632040370688
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,715,681,659.69709644,632.30290356,880.69709644,783,805,651,630,653,0.451150990923,-0.0156842564489,0.0695721084742,0.999999731005,-0.000292252987698,-0.000667913895789,-8.04334226517e-05,1793239632057037312
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659.109269591,632.890730409,880.109269591,783,805,651,630,653,0.45117325035,-0.0156859128856,0.0695712651219,0.999999729872,-0.000293560799513,-0.000669138517818,-7.95770837463e-05,1793239632073704192
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.528494924,714.528494924,681,659,632.528494924,880,783,805,651,630,653,0.451189112433,-0.0156855847596,0.0695719749962,0.999999729808,-0.000293560575455,-0.00066927957931,-7.9186390278e-05,1793239632090370816
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.94956318,659,632.05043682,880.05043682,783,805.05043682,651,630,653,0.4512027986,-0.0156848074698,0.0695727347874,0.999999729877,-0.00029308465737,-0.000669414926581,-7.89328285526e-05,1793239632107037696
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.373058031,659,632.626941969,880.626941969,783,805.626941969,651,630,653,0.451209025034,-0.0156840716297,0.0695703161371,0.999999728768,-0.000290762288432,-0.000672071227587,-7.90006258281e-05,1793239632123704832
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.207178444,680.207178444,659,633,880.792821556,783,805.792821556,651,630.207178444,653,0.451214179752,-0.0156836066099,0.0695680683663,0.999999727542,-0.000289339557345,-0.000674493333288,-7.9105832771e-05,1793239632140371712
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714.794256963,680.794256963,659,633,880.205743037,783,805.205743037,651,630.794256963,653,0.451217369278,-0.0156836381896,0.0695661339352,0.999999726116,-0.000289566479134,-0.000676485998345,-7.92796372698e-05,1793239632157038080
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765.465317267,745.534682733,714.465317267,680.465317267,660,632.465317267,880.534682733,783,805,651,630,653,0.451224241029,-0.0156841349953,0.0695667038732,0.999999725886,-0.000290874197913,-0.000676380498825,-7.82927814644e-05,1793239632207037440
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.887587889,714.112412111,680.112412111,659.887587889,632.112412111,881,783.112412111,805,651,630,653,0.451223484512,-0.0156836004594,0.0695652963748,0.999999724927,-0.000289750414172,-0.000678262529063,-7.84218874665e-05,1793239632223704576
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714.056128884,680.943871116,659,632,880.943871116,783,805,651,630,653,0.451231203622,-0.0156757110082,0.0695611978759,0.999999723376,-0.000281103887112,-0.000684335160757,-7.69079710823e-05,1793239633084157952
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714.640068966,680.359931034,659,632,880.359931034,783,805,651,630,653,0.451229654482,-0.0156763080239,0.0695614281565,0.999999723196,-0.000281850416453,-0.000684281632625,-7.69851129594e-05,1793239633100825088
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.774792276,715,680.225207724,659.225207724,632.225207724,880.225207724,782.774792276,805,651,630,653,0.451221998051,-0.0156763847459,0.069558202918,0.999999719632,-0.000282316712647,-0.000689258096741,-7.7178563107e-05,1793239633117491712
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.391331937,714.608668063,680.608668063,659.608668063,633,880.608668063,782.391331937,805,651,630,653,0.451166379175,-0.0156731445628,0.0695335491645,0.999999691281,-0.000281476581168,-0.000729384888835,-7.87796054637e-05,1793239633150824704
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.966628279,714.033371721,680.033371721,659.033371721,633,880.033371721,782.966628279,805,651,630,653,0.451118508111,-0.0156698543087,0.0695143357266,0.999999666395,-0.00028021041177,-0.000763039150949,-8.03953784912e-05,1793239633167491072
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.446302439,714.553697561,680.553697561,659,633,880,783,805,651,630.553697561,653,0.451054991082,-0.0156679767333,0.0694976755662,0.999999649446,-0.000279989767502,-0.000784963553394,-8.09075139285e-05,1793239633184157952
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.139235331,714.860764669,680.860764669,659,632.860764669,880,783,805,651,630.860764669,653,0.450986812773,-0.0156655291014,0.0694827121574,0.99999963414,-0.000279470851213,-0.000804373069668,-8.12357590424e-05,1793239633200824576
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.71765568,714.28234432,680.28234432,659,632.28234432,880,783,805,651,630.28234432,653,0.45090697061,-0.015661008962,0.0694726047996,0.999999623448,-0.000277808024018,-0.000818128379864,-8.11983358099e-05,1793239633217490944
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.704270092,714.295729908,680.295729908,659,632,880.295729908,783,805,651,630,653,0.450820636533,-0.0156566085814,0.0694690822627,0.999999619574,-0.000275021783619,-0.000823874932808,-8.02852897069e-05,1793239633234158080
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.126525968,714.873474032,680.873474032,659,632,880.873474032,783,805,651,630,653,0.450728111636,-0.0156523224056,0.069471839149,0.999999622322,-0.00027116423306,-0.000821984166866,-7.85372313617e-05,1793239633250824960
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632,881,783,805,651,630,653,0.450617782013,-0.0156463345612,0.0694760501847,0.999999626844,-0.00026808003644,-0.000817675028351,-7.64980716046e-05,1793239633267491584
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632.611529405,881,783,805,651.611529405,630.611529405,653,0.450351733995,-0.015632188455,0.0694801642242,0.999999631537,-0.000260814823654,-0.000814719740225,-7.16513439078e-05,1793239633300824576
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745.916153484,715,680.083846516,659.916153484,633,881,783,805,651,630,653,0.44914528891,-0.0155769428918,0.0695190171959,0.999999685555,-0.000214424048557,-0.000762012702147,-4.74191714687e-05,1793239633400824576
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.162437325,745,715,681,659,633,881,783.837562675,805.837562675,651,630.837562675,653,0.448223063157,-0.0155418100385,0.0695405101172,0.999999718582,-0.000129204888755,-0.000738338868533,-3.1581069306e-05,1793239633450824192
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.10304515,745,714.10304515,680.10304515,661.10304515,635,880,787,805,651,631.10304515,653,0.439890569888,-0.0154477412424,0.0697822711671,0.999999946538,6.39554335031e-05,-0.000320275517885,1.60685709107e-05,1793239633717491456
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.697580432,745,714.697580432,680.697580432,661.697580432,635,880,787,805,651,631.697580432,653,0.439128499835,-0.0154373416915,0.0697857520842,0.999999942666,8.2015614245e-05,-0.000328038536692,1.82343507253e-05,1793239633734157824
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.716161398,745,715,681,661.716161398,635,880.283838602,787.283838602,805,651,632,653,0.438350104792,-0.0154271197651,0.0697698353031,0.999999932901,9.26060971627e-05,-0.000354039114725,1.6699475146e-05,1793239633750824448
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.762951806,745,715,680,661.762951806,635,880,787.237048194,804.237048194,651.237048194,631.237048194,653,0.433550692858,-0.0153714958053,0.0698369125492,0.999999950816,0.000169265155758,-0.000263594755973,1.53367991956e-05,1793239633850824960
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.731469021,661,635.268530979,880,787,805,652,632,652.731469021,0.422852812136,-0.0153679161645,0.0697874495036,0.99999992077,0.000185404751795,-0.000351909381794,1.56445102413e-05,1793239634050824704
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.690367692,745,715,679.690367692,661,635,880,787,805,652,631.690367692,653,0.421893356098,-0.0153628884115,0.0697435095574,0.999999890562,0.000190620564914,-0.000427077262155,1.20361897456e-05,1793239634067491328
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.541227486,715,679.458772514,661,635,880,787.458772514,804.541227486,652,631,653,0.420122440424,-0.0153595725767,0.0697395203105,0.999999886451,0.000194074811622,-0.000435100007447,1.09696394371e-05,1793239634100824576
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.031197367,744.031197367,715,679.968802633,661,635,880,788,804,651.968802633,631.031197367,653,0.419352667108,-0.015362736913,0.0698029867871,0.999999928825,0.000189267907657,-0.000326052885565,1.47220579271e-05,1793239634117491200
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,880,788,804.209107896,651.209107896,632,653,0.417785332056,-0.0153661510548,0.0698843153995,0.999999958373,0.000207117126426,-0.000199137975717,2.64842552806e-05,1793239634150824960
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.940926774,879.059073226,788,805,652,632,653,0.415240051825,-0.0153596187315,0.0698012038667,0.999999927421,0.000219861242461,-0.000310603827384,1.85606628709e-05,1793239634200824832
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.526962281,787.473037719,805,652,632,653,0.4144268423,-0.0153543398718,0.0697738902569,0.999999907279,0.000225197506135,-0.000366670269639,1.6777668214e-05,1793239634217491200
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.307474248,745,715,679,661,635.307474248,880,787,804.307474248,652,632,653,0.412925252472,-0.0153524910687,0.0697716776792,0.999999902228,0.000232830892762,-0.000375571111322,1.67550443142e-05,1793239634250824448
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879.729726609,787.270273391,804.270273391,652,632,653,0.412251874637,-0.0153560665735,0.0698063994275,0.999999924605,0.000228543560571,-0.000313349906496,1.92033575315e-05,1793239634267491328
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879.154218284,787.845781716,804.845781716,652,632,653,0.411620680232,-0.0153610788809,0.0698621421841,0.999999952609,0.000216825674178,-0.000217320644791,2.32526773292e-05,1793239634284158464
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.421179709,745,715,679,661.421179709,635.421179709,879.421179709,788,805,652,632,652.578820291,0.41095379494,-0.0153606289499,0.069880419127,0.999999956727,0.000223258287957,-0.000190003737514,2.45211052169e-05,1793239634300824832
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.99653736,745,715,679,661.99653736,635.99653736,879.99653736,788,805,652,632,652.00346264,0.410273844515,-0.0153581795006,0.0698849812588,0.999999954124,0.000236335111995,-0.000187839813687,2.47715542653e-05,1793239634317491456
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804.17539469,652,631.82460531,653,0.408964215236,-0.015353263554,0.0698134629098,0.999999925048,0.000231970458173,-0.000309464932891,1.80403027173e-05,1793239634350824448
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804.754882404,652,631.245117596,653,0.408349479425,-0.015349406511,0.0697840685188,0.999999907602,0.000239649111586,-0.000356582050567,1.46273985868e-05,1793239634367491072
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.907742434,745,715,679,661.907742434,636,879.907742434,788,804.092257566,652,631.907742434,653,0.407254488708,-0.0153477188015,0.0697964546868,0.99999991718,0.000238564468471,-0.000329454959737,1.36205959284e-05,1793239634400824832
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.517630462,636,879.517630462,788,804.482369538,652,632,653,0.406749077043,-0.0153481572589,0.0698132253231,0.999999924184,0.000237315658339,-0.000308359359991,1.50644174855e-05,1793239634417491712
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.941946945,879.058053055,788,804.941946945,652,632,653,0.406251295115,-0.0153485805589,0.0698272218979,0.999999928694,0.00023716871833,-0.000293413060038,1.64804140716e-05,1793239634434158080
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.354928453,879.645071547,788,804.354928453,652,632,653,0.405781209635,-0.0153480412011,0.0698141467701,0.999999919026,0.000244455503785,-0.000319290644557,1.56135722716e-05,1793239634450824704
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.230503757,880,788,804,652,631.769496243,653,0.405339488575,-0.0153497106565,0.0698099737847,0.999999916715,0.000243332829637,-0.00032730782038,1.51498489664e-05,1793239634467491328
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.609724959,661,636,880,788,804,652,631,653,0.404576258966,-0.0153547716348,0.0698330068334,0.999999933879,0.000227543254475,-0.000283206208417,1.61126234036e-05,1793239634500824320
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.035895348,661,636,880,788,804,652,631,653,0.404227109801,-0.0153524178411,0.069848551601,0.999999940345,0.000231463529011,-0.000255809732454,1.72317702526e-05,1793239634517490944
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.462835292,745,715,678.537164708,661,636,880,788,804,652,631.537164708,653,0.403892537611,-0.0153488413052,0.0698542247646,0.999999940618,0.000242613782426,-0.000244193867612,1.64771024267e-05,1793239634534157824
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.711878105,745,715,678.288121895,661,636,879.288121895,788,804,652,632,653,0.403262375412,-0.0153410154847,0.0698464781349,0.999999937686,0.000241861634888,-0.000256761876349,1.43017971129e-05,1793239634567491072
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.701829482,744.701829482,715,678,661,635.701829482,879.298170518,788,804,652.298170518,632,652.701829482,0.402980672536,-0.0153383740368,0.0698379647328,0.99999993306,0.000244666572184,-0.000271714141694,1.37900026432e-05,1793239634584157696
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.021721293,661,636,880,788,804.021721293,651.021721293,632,653,0.402265652269,-0.0153309159857,0.0698198694098,0.999999913832,0.000283717893965,-0.000302694910214,1.46687180071e-05,1793239634634157824
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.612714136,661,636,880,788,804.612714136,651.612714136,632,653,0.402079313806,-0.0153320147659,0.0698167717104,0.999999914393,0.000276003390219,-0.000307869190768,1.59066776449e-05,1793239634650824448
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.644588621,661,635.355411379,880,787,804,652,632,653,0.401617903317,-0.0153429567826,0.0698131666056,0.999999916483,0.000256849198805,-0.000317343217685,1.88524878533e-05,1793239634700824320
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.068277976,661,635.931722024,880,787,804,652,632,653,0.401500201251,-0.0153452324035,0.0698141483929,0.999999917397,0.000256396451799,-0.000314796939715,1.92511338316e-05,1793239634717490944
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.493666426,745,715.506333574,678.506333574,661,635.493666426,879.493666426,787,804,652,631.493666426,653,0.401405346217,-0.0153453003918,0.0698130833837,0.99999992119,0.000246359378136,-0.000311219124361,8.34292669221e-06,1793239634734157568
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.261456159,745,715,678,661.261456159,636,878.522912317,787.261456159,804,652,632,653,0.401178592851,-0.0153524222119,0.0698139089057,0.999999926314,0.000226935250026,-0.000309633311988,-6.19248759979e-07,1793239634784157696
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,661.587516563,636,879.587516563,788,804,652,631.587516563,653,0.401084646068,-0.0153475987794,0.0698135442483,0.999999925002,0.000235011674873,-0.000307833797765,1.70381553098e-06,1793239634817491200
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,661.011184733,636,879.011184733,788,804,652,631.011184733,653,0.401049187392,-0.0153458012079,0.0698127864715,0.999999924466,0.000238465005276,-0.000306917164621,2.25035845084e-06,1793239634834157824
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.423584436,745,715,678,661.576415564,636,879,788,804,652,631,653,0.401027832385,-0.0153474909443,0.069814052327,0.99999992624,0.000234869094515,-0.000303888126926,2.89647496265e-06,1793239634850824192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,661.838026719,636,879,788,804,652,631,653,0.401008456841,-0.0153481974263,0.069815286918,0.999999927349,0.00023305766101,-0.000301621159362,3.37310726629e-06,1793239634867491072
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..acac9b1dfbc769f434f787aeba12c8165361ddce
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,423 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c4fd67ede396c124b02aa64e838fc6a061650d9
--- /dev/null
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@@ -0,0 +1,3 @@
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+size 26358150
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c0d0ba06f7e026da7ee3ce05503d5436a5753ad7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/franka_data.csv
@@ -0,0 +1,416 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,744,716,679,661,636,879,789,805,652,631,653,0.401051105618,-0.0154880233007,0.0798770476036,0.999999984526,0.00011938592702,-0.000122990248761,3.96124067673e-05,1793239636729737984
+1,0.016666667,BASELINE,766,744.5767103,716,679,661,636,879.5767103,788.4232897,805,652,631,653,0.401051291015,-0.0154885040614,0.0798771817124,0.999999984459,0.000119484116248,-0.000123439776083,3.95906615238e-05,1793239636746405376
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+3,0.050000000,BASELINE,765.271321748,745,715.271321748,678.271321748,661,636,879.271321748,788,804.271321748,652,631.728678252,653.728678252,0.40105093452,-0.0154881667825,0.0798777294099,0.999999984531,0.000119255986497,-0.000122919428835,4.00930193897e-05,1793239636779738880
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+6,0.100000000,BASELINE,765,745,715.523362291,678.476637709,661,636,880,788,804,652,632,653.476637709,0.401050691942,-0.015488453087,0.0798771504886,0.999999984413,0.000118633620326,-0.000124570612485,3.97659089595e-05,1793239636829737984
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+9,0.150000000,BASELINE,765.787515657,745,716,678.212484343,661,636,879.787515657,788,804.212484343,652,632,653,0.401053674812,-0.0154903558768,0.0798790550555,0.999999985121,0.000116007528217,-0.000121283432614,3.98719223282e-05,1793239636879737600
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+21,0.350000000,BASELINE,765.176343734,745,715.176343734,678.823656266,661,636,879.823656266,788,804,652,631,653,0.401052537542,-0.0154885589787,0.0798797227013,0.999999984591,0.000120800140321,-0.000120922908479,4.00448984659e-05,1793239637079738112
+22,0.366666667,BASELINE,765.750880938,745,715.750880938,678.249119062,661,636,879.249119062,788,804,652,631,653,0.401051628403,-0.0154888905984,0.0798792874543,0.999999984511,0.000120390704678,-0.000122003568856,3.99884509014e-05,1793239637096404736
+23,0.383333333,BASELINE,765.665356702,745,715.665356702,678.334643298,661,635.665356702,879.334643298,788,804,652,631.334643298,653,0.401050754261,-0.0154884722567,0.0798786619302,0.99999998428,0.000121300858113,-0.000123023830827,3.98866184943e-05,1793239637113071360
+24,0.400000000,BASELINE,765.074532097,745,715.074532097,678.925467903,661,635.074532097,879.925467903,788,804,652,631.925467903,653,0.40104990691,-0.015487479793,0.079877890742,0.999999983931,0.000123221203721,-0.00012399785579,3.97500423752e-05,1793239637129737984
+25,0.416666667,BASELINE,765,744.498263771,715,678.498263771,661,635.501736229,880,788,804,652,631.498263771,653,0.401050829673,-0.0154878291425,0.0798788490861,0.999999984299,0.000121119888208,-0.000123043555554,3.98934320796e-05,1793239637146404864
+26,0.433333333,BASELINE,765,744.076904041,715,678.076904041,661,636,879.923095959,788,804,652,631.076904041,653,0.401051600821,-0.0154883461781,0.0798796916095,0.999999984671,0.000118799244353,-0.000122238357977,4.00382060664e-05,1793239637163071488
+27,0.450000000,BASELINE,765,744.658642045,715,678.658642045,661,636,879.341357955,788,804,652,631.658642045,653,0.401049699253,-0.0154886924171,0.0798781348455,0.999999984423,0.000118849943855,-0.000124239312173,3.99267582375e-05,1793239637179737856
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+29,0.483333333,BASELINE,765.808785518,744.191214482,715,679,661,636,878.191214482,788,804,652,631.191214482,653,0.401049583373,-0.0154876642896,0.0798777100962,0.999999983916,0.000122994982967,-0.000124334949427,3.97511117225e-05,1793239637213071616
+30,0.500000000,BASELINE,766,744.393715883,715,679,661,635.606284117,878.393715883,788.393715883,804,652,631.393715883,653,0.401050145542,-0.0154871211094,0.0798779881807,0.999999983976,0.000122950828094,-0.000123992427966,3.9461425121e-05,1793239637229738240
+31,0.516666667,BASELINE,766,744.984981718,715,679,661,635.015018282,878.984981718,788.984981718,804,652,631.984981718,653,0.401050634757,-0.0154867425541,0.0798782322685,0.999999984194,0.000121423392335,-0.00012386096402,3.90655301343e-05,1793239637246404608
+32,0.533333333,BASELINE,765.435146004,745,715.564853996,678.435146004,661,635.564853996,879,788.435146004,804.564853996,652,632,653,0.401050820959,-0.0154874556644,0.0798783415838,0.999999984336,0.000120302353509,-0.000123724296004,3.93294090461e-05,1793239637263071232
+33,0.550000000,BASELINE,765.1434408,745,715.8565592,678.1434408,661,635.8565592,879.1434408,788,804.8565592,652,631.8565592,653,0.401050671372,-0.0154882816626,0.0798783322323,0.999999984444,0.0001193173968,-0.000123734515127,3.95575282157e-05,1793239637279737600
+34,0.566666667,BASELINE,765.719049181,745,715.280950819,678.719049181,661,635.280950819,879.719049181,788,804.280950819,652,631.280950819,653,0.401049533887,-0.0154893620572,0.0798779759367,0.999999984457,0.000118710526121,-0.000124187693837,3.96261014212e-05,1793239637296404224
+35,0.583333333,BASELINE,765.699371786,744.699371786,715,679,661,635.300628214,879.699371786,788,803.699371786,652,631,653.300628214,0.401048615387,-0.015489331927,0.0798772246341,0.999999984246,0.000119421607984,-0.000125207787008,3.96102636997e-05,1793239637313071104
+36,0.600000000,BASELINE,765.112099772,744.112099772,715,679,661,635.887900228,879.112099772,788,803.112099772,652,631,653.887900228,0.401047905686,-0.0154882429308,0.0798760966992,0.999999983817,0.000121389334717,-0.000126768423361,3.95139416281e-05,1793239637329737984
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+38,0.633333333,BASELINE,765,745,715,679,661,635.04862633,879.04862633,788.95137367,804,652,631,653,0.401050233623,-0.0154870193189,0.0798786103447,0.999999984045,0.000123024641192,-0.000123334183251,3.95306553744e-05,1793239637363071488
+39,0.650000000,BASELINE,765,745,715,679,661,635.625024892,879.625024892,788.374975108,804,652,631,653,0.401049611838,-0.0154872470644,0.0798776619083,0.999999984022,0.00012202199994,-0.000124551352949,3.94096197836e-05,1793239637379738368
+40,0.666666667,BASELINE,765,744.79876348,715.20123652,679,660.79876348,636,879.79876348,788,804,652,631,653,0.401048728312,-0.0154870440403,0.0798770086762,0.999999983901,0.000121918301438,-0.000125636197223,3.93511366966e-05,1793239637396404736
+41,0.683333333,BASELINE,765,744.222899887,715.777100113,679,660.222899887,636,879.222899887,788,804,652,631,653,0.401047357523,-0.0154860390844,0.079876905004,0.999999983601,0.00012348809791,-0.000126474701016,3.94091029642e-05,1793239637413071104
+42,0.700000000,BASELINE,765,744.361665034,715.638334966,679,660.361665034,636,879,788,804,652,631.361665034,653,0.401048468944,-0.0154860285626,0.0798776968044,0.999999983843,0.000122821681621,-0.000125198384088,3.94121941769e-05,1793239637429737728
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+44,0.733333333,BASELINE,765,745,715.530826442,679,661,636,879,788,804,652,631.469173558,653,0.401052259944,-0.0154872635294,0.0798801680321,0.999999984618,0.000120564608108,-0.000121137157031,3.94321018874e-05,1793239637463071232
+45,0.750000000,BASELINE,765,745,716,679,661,636,879,788,804,652,631,653,0.401052655554,-0.0154878773926,0.079880662974,0.999999984705,0.00012041970442,-0.000120538630215,3.94890750076e-05,1793239637479737600
+46,0.766666667,BASELINE,765,745,716,679,661,636,879,788,804,652,631,653,0.401050567272,-0.015488475611,0.0798785857843,0.999999984472,0.000119690246915,-0.000123158058808,3.95378830553e-05,1793239637496404224
+47,0.783333333,BASELINE,765,745,716,679,661,636,879.262231754,788,804,652,631.262231754,653,0.401048869067,-0.0154888084965,0.0798773715139,0.999999984206,0.000119894887113,-0.000125097025601,3.95532328145e-05,1793239637513070848
+48,0.800000000,BASELINE,765,745,716,679,661,636,879.849107014,788,804,652,631.849107014,653,0.401047653775,-0.0154888128994,0.0798772255391,0.999999983905,0.000121255942292,-0.000126193579492,3.95271611428e-05,1793239637529737472
+49,0.816666667,BASELINE,765,745,715.569116292,678.569116292,660.569116292,636,880,788.430883708,804,652,631.569116292,653,0.401048410467,-0.0154879250947,0.0798780626161,0.999999983971,0.000121893514365,-0.000125012685642,3.96472852733e-05,1793239637546404096
+50,0.833333333,BASELINE,765,745,715.010830895,678.010830895,660.010830895,636,879.989169105,788.989169105,804,651.989169105,631,653.010830895,0.401049853623,-0.0154867555483,0.0798792186467,0.99999998416,0.000122276374785,-0.000123056382396,3.98139400322e-05,1793239637563070720
+51,0.850000000,BASELINE,765,745,715.58739009,678.58739009,660.58739009,636,879.41260991,788.41260991,804,651.41260991,631,653.58739009,0.401051503853,-0.0154869989148,0.0798792631877,0.9999999843,0.000122433854671,-0.000121769319801,3.97681342349e-05,1793239637579738368
+52,0.866666667,BASELINE,765,745,715.842060951,678.842060951,661,636,879.315878098,788,804.157939049,651.157939049,631.157939049,653.842060951,0.401052169973,-0.0154870910219,0.0798790567707,0.999999984304,0.0001227603507,-0.000121430556032,3.9698065132e-05,1793239637596405504
+53,0.883333333,BASELINE,765,745,715.286637942,678.286637942,661,636,880.426724117,788,804.713362058,651.713362058,631.713362058,653.286637942,0.401050359389,-0.0154868024555,0.0798782187694,0.999999983966,0.000123512208318,-0.000123478368524,3.95669327623e-05,1793239637613071616
+54,0.900000000,BASELINE,765,745,715.29657799,678.29657799,660.70342201,635.70342201,880.406844019,788,804.70342201,652,632,653.29657799,0.401049665594,-0.0154863159189,0.0798781113981,0.999999983698,0.000124906519519,-0.000124247885073,3.95694026239e-05,1793239637629738240
+55,0.916666667,BASELINE,765,745,715.909432829,678.909432829,660.090567171,635.090567171,879.181134343,788,804.090567171,652,632,653.909432829,0.401050162763,-0.0154856182629,0.0798787831856,0.999999983503,0.000126985956342,-0.000123654200495,3.97143486523e-05,1793239637646405376
+56,0.933333333,BASELINE,765.493620753,745,715.506379247,678.506379247,660.493620753,635,879,788,804,652,631.506379247,653.506379247,0.401049712633,-0.0154860005849,0.0798778228074,0.999999983744,0.000124293209977,-0.000124540827709,3.9408967895e-05,1793239637663072000
+57,0.950000000,BASELINE,765.92758438,745,715.07241562,678,660.92758438,635.07241562,879,788,804.07241562,652,631,653,0.401049156831,-0.0154864725531,0.0798768094061,0.999999983984,0.000121467749524,-0.000125489327787,3.91053080787e-05,1793239637679738624
+58,0.966666667,BASELINE,765.351724155,745,715.648275845,678,660.351724155,635.648275845,879,788,804.648275845,652,631,653,0.401049008383,-0.0154862658017,0.0798773950159,0.99999998378,0.000123472684367,-0.000125083406708,3.93564982159e-05,1793239637696404992
+59,0.983333333,BASELINE,765,745,716,678,660.224161184,636,879,788,804.775838816,652,631,653,0.401049018901,-0.0154865115334,0.0798776569802,0.999999983767,0.000123743700156,-0.000124871389955,3.95112808808e-05,1793239637713071360
+60,1.000000000,BASELINE,765,745,716,678,660.800086022,636,879,788,804.199913978,652,631,653,0.401049278877,-0.0154874673215,0.0798774110659,0.999999984055,0.000121293773717,-0.000124963656392,3.9514776711e-05,1793239637729737984
+61,1.016666667,BASELINE,765,745,716,678,661,636,879,788,804,652,631,653.383796723,0.401049943682,-0.0154879934297,0.0798778806154,0.999999984238,0.000120428618897,-0.000124364565742,3.94226858711e-05,1793239637746404864
+62,1.033333333,BASELINE,765,745,716,678,661,636,879,788,804,652,631,653.971646903,0.401050823722,-0.0154882910897,0.079878730556,0.999999984366,0.000120406040799,-0.000123397900809,3.92797744025e-05,1793239637763071488
+63,1.050000000,BASELINE,765,745,716,678,661,636,879.550416112,788,804,652,631.550416112,653.449583888,0.401049679912,-0.0154880909588,0.0798786888482,0.999999984316,0.000120640214254,-0.000123561584044,3.9337380323e-05,1793239637779738112
+64,1.066666667,BASELINE,765,745,715.871736773,678.128263227,661,636,879.871736773,788,804,652,632,653,0.401048732696,-0.0154879007516,0.0798786487831,0.999999984235,0.000120974458466,-0.000123870181599,3.93953195637e-05,1793239637796404480
+65,1.083333333,BASELINE,765,745,715.295502935,678.704497065,661,636,879.295502935,788,804,652,632,653,0.401048830305,-0.015487833308,0.0798787722687,0.99999998408,0.000121612765992,-0.000124484844246,3.94189332712e-05,1793239637813071104
+66,1.100000000,BASELINE,765,745,715,679,661,636,879.286622965,788.286622965,804,652,632,653,0.40104928447,-0.015487373655,0.07987888106,0.999999984002,0.000122095252945,-0.000124673452192,3.93148704822e-05,1793239637829737728
+67,1.116666667,BASELINE,765,745,715,679,661,636,879.874950929,788.874950929,804,652,632,653,0.401050113955,-0.0154865011548,0.0798789743838,0.999999984005,0.000122413720043,-0.000124413586502,3.90764128875e-05,1793239637846404352
+68,1.133333333,BASELINE,765.455168881,745,715.455168881,678.544831119,661,635.544831119,880,788.544831119,804,652,631.544831119,653,0.401050398664,-0.0154857164336,0.0798789994847,0.999999984133,0.000122145510004,-0.00012368925546,3.89237852634e-05,1793239637863070976
+69,1.150000000,BASELINE,766,744.966698048,716,678.033301952,661,635.033301952,879.966698048,788,804,652,631,653,0.401050455823,-0.0154850896175,0.0798789559849,0.999999984272,0.000121763667508,-0.00012297573726,3.88220849287e-05,1793239637879737344
+70,1.166666667,BASELINE,766,744.386855788,716,678.613144212,661,635.613144212,879.386855788,788,804,652,631,653,0.401049191787,-0.0154866654381,0.0798780888515,0.999999984027,0.000122115828639,-0.000124497195464,3.91759709489e-05,1793239637896404224
+71,1.183333333,BASELINE,765.805302333,744.194697667,716,679,661,636,879,788,804,652,631,653,0.401048623085,-0.0154872593528,0.0798777161591,0.99999998382,0.000122929444807,-0.000125254078766,3.94984582862e-05,1793239637913071104
+72,1.200000000,BASELINE,765.220318552,744.779681448,716,679,661,636,879,788,804,652,631,653,0.401049448229,-0.0154858849635,0.0798783346104,0.999999983691,0.000124668082358,-0.000124478314465,3.97580046669e-05,1793239637929737728
+73,1.216666667,BASELINE,765.361426362,745,715.638573638,678.638573638,661,636,879.361426362,788,804,652,631,653,0.401049958856,-0.0154871262302,0.0798789178521,0.999999984159,0.000121837903427,-0.000123536964735,3.96988524515e-05,1793239637946404352
+74,1.233333333,BASELINE,765.941214428,745,715.058785572,678.058785572,661,636,879.941214428,788,804,652,631,653,0.401050279462,-0.0154899477888,0.0798794798213,0.999999984963,0.000116247398487,-0.000122495573878,3.94471532016e-05,1793239637963071232
+75,1.250000000,BASELINE,766,745,715,678,661,636,880,788,804.519628085,652,631.519628085,653,0.40104958155,-0.0154889549411,0.0798788673221,0.999999984625,0.000118334664595,-0.00012336004232,3.90925315439e-05,1793239637979738112
+76,1.266666667,BASELINE,765.901677422,745,715,678.098322578,661,636,880,788,805,652,632,653,0.401048980296,-0.0154877148253,0.0798782870361,0.999999984207,0.000120997072873,-0.000124254571086,3.88255017446e-05,1793239637996405248
+77,1.283333333,BASELINE,765.320843736,745,715,678.679156264,661,636,880,788,805,652,632,653,0.401049417359,-0.0154873733466,0.0798785151526,0.99999998405,0.000122230666194,-0.000124241318963,3.90453123307e-05,1793239638013071616
+78,1.300000000,BASELINE,765,745,715.253950792,678.746049208,661.253950792,635.746049208,879.746049208,788,805,652,632,653,0.401050050853,-0.0154870719655,0.0798788262759,0.999999984032,0.00012284656478,-0.00012372752967,3.92057703216e-05,1793239638029737984
+79,1.316666667,BASELINE,765,745,715.821292582,678.178707418,661.821292582,635.178707418,879.178707418,788,805,652,632,653,0.401050926756,-0.0154868200675,0.0798792398348,0.999999984185,0.000122700189736,-0.000122596046529,3.92929835202e-05,1793239638046404608
+80,1.333333333,BASELINE,765,745,716,678.406032478,661.593967522,635.406032478,879.406032478,788,804.593967522,651.593967522,632,653,0.401050838627,-0.0154865193645,0.0798794185422,0.999999984162,0.000122933249226,-0.000122480797162,3.95174567622e-05,1793239638063071488
+81,1.350000000,BASELINE,765,745,716,678.998772672,661.001227328,635.998772672,879.998772672,788,804.001227328,651.001227328,632,653,0.401050307203,-0.0154861962193,0.0798794892567,0.999999984057,0.000123340785769,-0.000122832846983,3.98050469065e-05,1793239638079738368
+82,1.366666667,BASELINE,765.577148721,745,715.422851279,679,661,636,880,788.577148721,804.577148721,651.577148721,632,653.577148721,0.401049886835,-0.0154879991853,0.0798789969099,0.999999984088,0.000122293632591,-0.000123607134819,3.98655429817e-05,1793239638096405248
+83,1.383333333,BASELINE,765.84593511,745,715,678.84593511,661,636,879.84593511,789,804.84593511,652,632,653.84593511,0.401049453462,-0.0154890934559,0.0798785651901,0.999999984086,0.000121676352942,-0.000124228140662,3.98714840602e-05,1793239638113071872
+84,1.400000000,BASELINE,765.272907748,745,715,678.272907748,661,636,879.272907748,789,804.272907748,652,632,653.272907748,0.401048984099,-0.0154882485113,0.0798783015157,0.999999983998,0.000122236274713,-0.000124429930749,3.97303502241e-05,1793239638129737984
+85,1.416666667,BASELINE,765.309933424,745,715,678.309933424,661,636,879,789,804,652,631.690066576,653,0.401048866428,-0.0154879237145,0.0798787239366,0.999999984113,0.00012166168851,-0.000124069931641,3.9732665419e-05,1793239638146404352
+86,1.433333333,BASELINE,765.901698553,745,715,678.901698553,661,636,879,789,804,652,631.098301447,653,0.40104906856,-0.0154880719038,0.0798797702442,0.99999998441,0.000120055460342,-0.000123199080852,3.98654231036e-05,1793239638163070976
+87,1.450000000,BASELINE,765.517844616,745,715,679,661,636,879.482155384,788.517844616,804.482155384,652,631.482155384,653,0.401049137425,-0.0154874215683,0.0798789638143,0.999999984116,0.000121764993963,-0.000124017936997,3.95096461202e-05,1793239638179738112
+88,1.466666667,BASELINE,765,744.939906281,715,678.939906281,661,636,879.939906281,788,804.939906281,652,631.939906281,653,0.401049109015,-0.0154867030057,0.0798778477962,0.999999983749,0.00012378819985,-0.000125104074649,3.90929609185e-05,1793239638196404736
+89,1.483333333,BASELINE,765,744.364248331,715,678.364248331,661,636,879.364248331,788,804.364248331,652,631.364248331,653,0.401048473815,-0.0154867638299,0.0798772421645,0.999999983809,0.00012283565546,-0.000125595492449,3.89886607864e-05,1793239638213071616
+90,1.500000000,BASELINE,765,744.210806716,715.210806716,678,661,636,879.210806716,788,804,652,631.210806716,653,0.401048253456,-0.0154865261507,0.0798770138904,0.99999998379,0.000122725202158,-0.000125878755332,3.89099751839e-05,1793239638229738240
+91,1.516666667,BASELINE,765,744.784822931,715.784822931,678,661,636,879.784822931,788,804,652,631.784822931,653,0.401048747846,-0.0154857741649,0.0798774357847,0.999999983635,0.000124065630064,-0.000125803377578,3.88754221538e-05,1793239638246405120
+92,1.533333333,BASELINE,765,745,715.63045565,678,661,636,880,788,804,652,631.63045565,653.36954435,0.401048752759,-0.0154861920971,0.0798779465887,0.999999983847,0.00012303280503,-0.000125088355961,3.90003175352e-05,1793239638263072000
+93,1.550000000,BASELINE,765,745,715.039314825,678,661,636,880,788,804,652,631.039314825,653.960685175,0.401048464158,-0.0154873115681,0.0798785107072,0.999999984275,0.000120576864093,-0.000123989773264,3.92208258105e-05,1793239638279738368
+94,1.566666667,BASELINE,765,745,715,678,661,636,880,788,804,652,631,653.458857684,0.401049601425,-0.0154866960318,0.0798787922825,0.999999984346,0.000120770267655,-0.000123236744506,3.91844937339e-05,1793239638296404992
+95,1.583333333,BASELINE,765,745,715,678,661,636,879.880457974,788,804,652,631.119542026,653,0.401050235062,-0.015486448017,0.0798787286461,0.999999984335,0.000120975860433,-0.00012314204968,3.91173334014e-05,1793239638313071360
+96,1.600000000,BASELINE,765,745,715,678,661,636,879.306980411,788,804,652,631.693019589,653,0.40104857052,-0.0154880649714,0.0798774305798,0.999999984109,0.000120510991789,-0.000125453753012,3.900259427e-05,1793239638329737984
+97,1.616666667,BASELINE,765,745,715,678,661,636,879,788,804,652,632,653,0.401048379445,-0.0154875437111,0.0798774810019,0.999999983867,0.000122201956952,-0.000125759654328,3.89547236464e-05,1793239638346404608
+98,1.633333333,BASELINE,765,745,715,678,661,636,879,788,804,652,632,653,0.401049885668,-0.0154845594226,0.0798790847596,0.999999983597,0.000126376245772,-0.000123755054788,3.89838794427e-05,1793239638363071232
+99,1.650000000,BASELINE,765.444484235,745,715,678,661,636,879.444484235,788,804,652,631.555515765,653,0.401048618198,-0.0154857523246,0.0798786789163,0.999999983613,0.000125058890107,-0.000124897506715,3.91709703947e-05,1793239638379738112
+100,1.666666667,BASELINE,765.975820875,745,715.024179125,678,661,636,879.975820875,788,804,652,631,653.024179125,0.401046597654,-0.0154880818363,0.0798776680401,0.999999983705,0.000122177838858,-0.000126928207136,3.93869688801e-05,1793239638396404992
+101,1.683333333,BASELINE,765.398761474,745,715.601238526,678,661,636,879.398761474,788,804,652,631,653.601238526,0.401046666953,-0.0154873207473,0.0798768127028,0.999999983708,0.000121772464964,-0.000127360792877,3.9164470813e-05,1793239638413071616
+102,1.700000000,BASELINE,765,745,715.822459701,678.177540299,661,636,879,788,804,652,631,653.822459701,0.40104735895,-0.0154869772885,0.079876703685,0.99999998386,0.000121194142736,-0.000126748481837,3.90739366784e-05,1793239638429738240
+103,1.716666667,BASELINE,765,745,715.247852437,678.752147563,661,636,879,788,804,652,631,653.247852437,0.401049443606,-0.0154875678557,0.0798782638025,0.999999984338,0.000120229023475,-0.000123799270341,3.9278538487e-05,1793239638446404864
+104,1.733333333,BASELINE,765.335954017,745,715,678.664045983,661,636,879,788,804,652,631.335954017,653,0.401049604774,-0.0154870024937,0.0798787713728,0.999999984228,0.000121263539755,-0.000123627791976,3.94324787131e-05,1793239638463071488
+105,1.750000000,BASELINE,765.92673837,745,715,678.07326163,661,636,879,788,804,652,631.92673837,653,0.401048306925,-0.0154855603279,0.0798784805573,0.99999998367,0.00012381483433,-0.000125563300057,3.95479907609e-05,1793239638479737856
+106,1.766666667,BASELINE,765.498014994,744.498014994,715,678,661,636,879,788,804,652,632,653,0.401048592527,-0.0154857712578,0.0798789048761,0.999999983743,0.000123692372957,-0.000125100919145,3.9546632242e-05,1793239638496404736
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,716,679,660,635,879,788,804,652,631,653,0.401049001158,-0.0154876123083,0.079878865769,0.999999984005,0.00012256489629,-0.000124174742155,3.93409773666e-05,1793239638539717120
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.588059933,715.411940067,678.411940067,660.588059933,635.588059933,879,788,804,652,631,653.588059933,0.401050077657,-0.0154875962352,0.0798796663202,0.99999998443,0.000120554024962,-0.000122724998364,3.9319800177e-05,1793239638556383744
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.825604844,745,715.174395156,678,661,636,879,788,804,652,631.174395156,653.825604844,0.401050532146,-0.0154876335022,0.0798799105749,0.999999984626,0.000119355879856,-0.00012232323053,3.92339789797e-05,1793239638573050368
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.243303559,745,715.756696441,678,661,636,879,788,804,652,631.756696441,653.243303559,0.401049531765,-0.0154877955304,0.079878853665,0.999999984298,0.000120058681693,-0.0001243726533,3.8996956979e-05,1793239638589716992
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.669588908,745,715.665205546,678,661,636,879.334794454,788,804,652,632,653,0.401048398683,-0.0154874575504,0.0798780368194,0.999999984061,0.000120706711319,-0.000125673344932,3.89099418543e-05,1793239638606383360
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.819751363,745,715.090124318,678,661,636,879.909875682,788,804,652,632,653,0.401047170361,-0.0154867607072,0.0798773922714,0.99999998389,0.000121315430101,-0.000126436661378,3.89305888271e-05,1793239638623049984
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.514792981,745,715.485207019,678,661,636,879.514792981,788,804,652,631.514792981,653,0.40104822275,-0.0154866423669,0.0798781500627,0.999999983891,0.000121776054862,-0.000125995278409,3.89062864931e-05,1793239638639716608
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715.9380547,678,661.0619453,636,879,788.0619453,804,652,631,653,0.401049393805,-0.0154865775028,0.0798789677646,0.999999983857,0.00012221311068,-0.000125842960807,3.89119170337e-05,1793239638656383488
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715.349756467,678,661.650243533,636,879,788.650243533,804,652,631,653,0.401047971713,-0.0154860535194,0.0798780801062,0.999999983248,0.00012268375394,-0.000130049180552,3.92428681114e-05,1793239638673050624
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715.234762602,678.234762602,661.765237398,636,879,788.765237398,804,652,631.234762602,653,0.401050364048,-0.0154862911178,0.0798794574211,0.99999998293,0.00012284051062,-0.000132259169505,3.94588584425e-05,1793239638689716992
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715.813740507,678.813740507,661.186259493,636,879,788.186259493,804,652,631.813740507,653,0.401058349199,-0.0154876453681,0.0798841557017,0.99999998306,0.000122537038232,-0.000131542230274,3.95062901763e-05,1793239638706383360
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.390969387,744.609030613,716,679,661,636,879.390969387,788,804,652,632,653,0.401081988096,-0.0154886293086,0.0798930446479,0.999999984007,0.000122478113984,-0.000124045270773,3.9980514192e-05,1793239638723049728
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.967368786,744.032631214,716,679,661,636,879.967368786,788,804,652,632,653,0.401113051293,-0.0154894376176,0.0799039211547,0.999999985244,0.000122535174646,-0.000113332664964,4.06571583984e-05,1793239638739715840
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.458327198,744.541672802,716,679,661,636,879.458327198,788,804,651.458327198,631.458327198,653,0.401165516232,-0.0154924930484,0.0799162886001,0.999999986919,0.000120639009051,-9.97171747951e-05,4.07962428428e-05,1793239638756382464
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.119658118,745,716,678.880341882,661,636,879,788,804,651.119658118,631,653,0.401223571202,-0.015495613098,0.0799281356712,0.999999988434,0.000118795882206,-8.58771927793e-05,4.05606812461e-05,1793239638773049088
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.712704938,745,716,678.287295062,661,636,879,788,804,651.712704938,631,653,0.401298660398,-0.0154984553073,0.0799375700926,0.999999989742,0.000117626296855,-7.18382448947e-05,3.89705745542e-05,1793239638789715712
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.702881557,716,678.297118443,661,636,879.297118443,788,804,652,631.297118443,653,0.401382469806,-0.0155011029897,0.0799454436471,0.999999990638,0.000117384728897,-5.97381071388e-05,3.71030782872e-05,1793239638806382592
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.126580253,716,678.873419747,661,636,879.873419747,788,804,652,631.873419747,653,0.401474473024,-0.0155035678878,0.0799518505561,0.999999991201,0.000118015158557,-4.94597439158e-05,3.49749371884e-05,1793239638823049728
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.450280651,715.549719349,679,660.549719349,636,879.549719349,788,804,652,632,653,0.401579687059,-0.0155056078577,0.0799542144086,0.999999991244,0.000119287214186,-4.75534619458e-05,3.19623185462e-05,1793239638839715840
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.972089997,745,715,678.972089997,660,636,879,788,804,652,631.972089997,653,0.40168974851,-0.0155076456182,0.0799555340013,0.999999991192,0.000120467689687,-4.77792588521e-05,2.86584443782e-05,1793239638856382208
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.382157985,745,715,678.382157985,660,636,879,788,804,652,631.382157985,653,0.401822545546,-0.0155120473031,0.079958740721,0.999999992007,0.000116167400619,-4.3487132785e-05,2.4502635764e-05,1793239638873048832
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715.203964932,678.203964932,660.203964932,636,879,788,804,651.796035068,631.203964932,653,0.401969517968,-0.0155154201296,0.0799625812324,0.999999992771,0.000112407932261,-3.77115329999e-05,1.99943623159e-05,1793239638889715712
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715.783081731,678.783081731,660.783081731,636,879,788,804,651.216918269,631.783081731,653,0.402142563103,-0.0155169005807,0.0799675874738,0.999999993453,0.000109643193697,-2.9207386545e-05,1.48378021984e-05,1793239638906383104
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.359363812,745,715.640636188,679,661,636,879,788,804,651.359363812,632,653,0.402322394206,-0.0155189696731,0.0799672243642,0.999999994416,0.000100176455864,-3.2509369109e-05,8.69020744775e-06,1793239638923049728
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.933948256,745,715.066051744,679,661,636,879,788,804,651.933948256,632,653,0.402506289396,-0.015521391299,0.079963645586,0.999999995321,8.66959343186e-05,-4.28819641212e-05,1.94908805552e-06,1793239638939715840
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.49217575,715.50782425,678.49217575,661,636,879,788,804,652,631.49217575,653,0.402718152333,-0.0155232640019,0.0799568902327,0.9999999969,5.58498811813e-05,-5.51732613135e-05,-6.03173485769e-06,1793239638956382976
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.915929093,744.084070907,716,678,661,636,879,788,804,652,631.084070907,653,0.402940586547,-0.0155245815769,0.0799510457967,0.999999997422,2.58466342995e-05,-6.55182268858e-05,-1.39708674309e-05,1793239638973050112
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.324829863,744.675170137,716,678,661,636,879,788,804,652,631.675170137,653,0.40320486747,-0.015522981193,0.0799531834117,0.99999999772,1.45294704233e-05,-6.26219472248e-05,-2.06874577719e-05,1793239638989716736
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715.739115305,678,661,635.739115305,879.260884695,788,804,652,631.739115305,653,0.403493950428,-0.0155209527645,0.0799556023441,0.99999999791,7.21450243375e-06,-5.95647158491e-05,-2.4064853069e-05,1793239639006383104
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715.159969705,678,661,635.159969705,879.840030295,788,804,652,631.159969705,653,0.403813290103,-0.0155184021518,0.0799583644637,0.99999999813,4.78193151286e-06,-5.631113493e-05,-2.33686657928e-05,1793239639023049216
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715.41691914,678.41691914,661,635.41691914,880,788,804,652,631.41691914,653,0.404151634776,-0.0155212689472,0.0799588062167,0.999999998093,2.58791988784e-06,-5.63583765557e-05,-2.51188458879e-05,1793239639039715840
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715.992946727,678.992946727,661,635.992946727,880,788,804,652,631.992946727,653,0.404497232302,-0.0155262031828,0.0799583624504,0.999999997951,4.84949471638e-07,-5.76653079673e-05,-2.78026308101e-05,1793239639056382464
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,716,679,661,636,880,788,804,652,631.420656453,653,0.404877951323,-0.0155344195927,0.0799577629651,0.999999998005,-1.58617815672e-05,-5.36569639935e-05,-2.93095807863e-05,1793239639073049088
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,716,679,661,636,879.83634943,788,804,652,631,653,0.405271794154,-0.0155414304779,0.0799557393328,0.999999997628,-3.05242340361e-05,-5.33840675307e-05,-3.10167827257e-05,1793239639089715968
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,716,679,661,636,879.25766838,788,804,652,631,653,0.405697815757,-0.0155452808719,0.0799501088495,0.999999996659,-4.04674223216e-05,-6.27516588365e-05,-3.32688367069e-05,1793239639106382848
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.320341224,745,716,679,661,636,879,788,804.320341224,652,631,653,0.406148625671,-0.0155467618493,0.0799435682734,0.999999996207,-2.98519194983e-05,-7.52347348192e-05,-3.21535814638e-05,1793239639123049472
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.897811939,745,716,679,661,636,879,788,804.897811939,652,631,653,0.406619332558,-0.0155463409587,0.0799362971891,0.999999995525,-2.73449609727e-06,-9.02185295278e-05,-2.833547573e-05,1793239639139716352
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.526726163,679,661,635.526726163,879.473273837,788,804.053452326,652,631,653,0.4071132403,-0.0155421174825,0.0799371591741,0.999999995281,-1.08733950393e-05,-9.09574406373e-05,-3.23626277578e-05,1793239639156382720
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.950376927,745,715,678.950376927,661,635.049623073,880.049623073,788,803.099246146,652,631.049623073,653,0.407613880628,-0.015537433243,0.0799388550812,0.999999994919,-2.45998803296e-05,-9.02232848076e-05,-3.76260988784e-05,1793239639173049088
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.359641657,745,715,678.359641657,661,635.640358343,880.640358343,788,804.280716686,652,631.640358343,653,0.408133541836,-0.0155366398259,0.0799305763982,0.999999993435,-1.65971624609e-05,-0.000106823400649,-3.79776752564e-05,1793239639189715968
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,678.218095108,661,636,880.563809784,788,804.781904892,651.781904892,632,653,0.40868873975,-0.0155370051058,0.0799309818136,0.999999993311,-1.45204673217e-05,-0.00010809464247,-3.85125418193e-05,1793239639206382336
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,678.775602792,661,636,879.448794417,788,804.224397208,651.224397208,632,653,0.409299241967,-0.015539173619,0.0799449019396,0.999999995336,-2.1666201623e-05,-8.55101780243e-05,-3.93326554473e-05,1793239639223048960
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715.356149606,678.643850394,661,635.643850394,879,788,804.356149606,651.356149606,631.643850394,653.356149606,0.409957197011,-0.0155417960639,0.0799720582709,0.999999998069,-2.94261982276e-05,-3.84475706487e-05,-3.89500640502e-05,1793239639239716096
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715.952216523,678.047783477,661,635.047783477,879,788,804.952216523,651.952216523,631.047783477,653.952216523,0.410647118244,-0.0155447242962,0.0800081310646,0.999999998265,-3.75999873035e-05,2.51045395663e-05,-3.77572799591e-05,1793239639256383488
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,716,678.542800513,661,635.542800513,879.542800513,788,805,651.457199487,631,654,0.411272891903,-0.0155418393776,0.0799974679203,0.999999998775,-3.06459541719e-05,4.50664809288e-07,-3.88609449637e-05,1793239639273050112
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715.869477645,678.869477645,661,636,879.869477645,788,804.869477645,651,631.130522355,654,0.411901820903,-0.0155387328795,0.0799784910703,0.999999998256,-2.50637402476e-05,-3.42971455865e-05,-4.1030431747e-05,1793239639289716480
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715.289957954,678.289957954,661,636,879.289957954,788,804.289957954,651,631.710042046,654,0.412560835584,-0.0155366069301,0.0799449264778,0.999999995531,-2.87359104745e-05,-7.73239756399e-05,-4.61778735694e-05,1793239639306382592
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715.288097974,678,661,635.711902026,879.288097974,788,803.711902026,651,632,653.711902026,0.413257813432,-0.0155369497787,0.0799272187152,0.999999993584,-3.41986065954e-05,-9.58242851047e-05,-4.98035112389e-05,1793239639323049216
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715.864688206,678,661,635.135311794,879.864688206,788,803.135311794,651,632,653.135311794,0.413992806483,-0.0155397648036,0.0799253894796,0.999999993765,-4.14542795614e-05,-8.97645128612e-05,-5.19052627332e-05,1793239639339715584
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715.5600612,678.879877601,661,635.4399388,880,788,803.4399388,651,631.5600612,653.4399388,0.414774568303,-0.0155404707102,0.0799472340829,0.999999996476,-4.22561586327e-05,-5.19656649853e-05,-5.06094665571e-05,1793239639356382464
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.01517271,745,715,679.98482729,661,636,880,788,804.01517271,651.01517271,631,653.98482729,0.415568917524,-0.0155404611048,0.079975307903,0.999999997964,-4.10996245656e-05,-6.48094103909e-06,-4.83843580635e-05,1793239639373049088
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.605342962,745,715,679.394657038,661,636,880,788,804.605342962,651.605342962,631,653.394657038,0.416296813434,-0.0155378449296,0.0799643468825,0.999999997157,-4.07219281592e-05,-3.85505503012e-05,-5.04225512683e-05,1793239639389715968
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.808415862,745,715,679,661,636,880.191584138,788,804.808415862,651.808415862,631,653,0.41705555847,-0.0155365123618,0.0799600291591,0.999999996539,-4.16515987176e-05,-4.99069146811e-05,-5.19265709933e-05,1793239639406382848
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.230105834,745,715,679,661,636,880.769894166,788,804.230105834,651.230105834,631,653,0.417876574563,-0.0155377708453,0.079969121393,0.999999997418,-4.52202803656e-05,-1.94521537293e-05,-5.23523243813e-05,1793239639423049472
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.347181704,661,636,880.652818296,788,804,651.347181704,631,653,0.418717487889,-0.0155390170835,0.0799843920095,0.999999997498,-4.54959686339e-05,1.40188750853e-05,-5.23191505133e-05,1793239639439716096
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.923793519,661,636,880.076206481,788,804,651.923793519,631,653,0.419571549985,-0.0155402552297,0.0800037455222,0.999999996474,-4.35955286966e-05,4.94831605782e-05,-5.19827010211e-05,1793239639456382720
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.496558377,715,679.503441623,661,635.503441623,880,788,804.496558377,652,631.496558377,653,0.420396680844,-0.015540049349,0.0799883343447,0.999999997156,-4.60561316934e-05,2.7060291777e-05,-5.32350097954e-05,1793239639473049088
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.92848084,715,679.07151916,661.07151916,635.07151916,880,788,805,651.92848084,631.92848084,653,0.421220970842,-0.0155396882611,0.0799717766145,0.999999997344,-4.84146021326e-05,1.54708288295e-06,-5.44507627508e-05,1793239639489715712
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.333146267,715,679.666853733,661.666853733,635.666853733,880,788,805,651.333146267,631.333146267,653,0.422071371396,-0.0155398010661,0.0799855975048,0.999999997381,-4.51607858718e-05,1.79664650404e-05,-5.36266943839e-05,1793239639506382336
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679.747390363,662,636,880,788,805,651,631.252609637,653,0.422924104206,-0.0155401804562,0.0800013923203,0.999999997108,-4.03979242468e-05,3.7618318344e-05,-5.23106169052e-05,1793239639523049216
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679.173805396,662,636,880,788,805,651,631.826194604,653,0.423779800584,-0.0155408985792,0.0800196952816,0.999999996279,-3.37176122233e-05,6.13774736189e-05,-5.03693739739e-05,1793239639539715840
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.401466318,715,679.401466318,662,635.598533682,880.401466318,788,804.598533682,651,631.598533682,653,0.424595556804,-0.0155389717141,0.0799931817196,0.999999998103,-3.07328640469e-05,9.01787027838e-06,-5.26072035543e-05,1793239639556383232
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.977471315,715,679.977471315,662,635.022528685,880.977471315,788,804.022528685,651,631.022528685,653,0.425393948871,-0.0155358949324,0.0799471840393,0.999999995043,-2.93547734961e-05,-7.64345920109e-05,-5.66618971797e-05,1793239639573050368
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.566435805,745.433564195,715,680.566435805,662,635,880.433564195,788,804.566435805,651.566435805,631,653,0.426268229292,-0.0155386358024,0.0799332431986,0.99999999471,-3.91890141179e-05,-7.38935097953e-05,-5.9858103474e-05,1793239639589716736
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.846743735,745,715,680.69348747,662,635.153256265,880,788,804.846743735,652,631.153256265,653,0.42713593153,-0.0155406450905,0.0799241667222,0.999999994263,-4.70195419969e-05,-7.35801022576e-05,-6.20467353853e-05,1793239639606382848
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.267351624,745,715,679.534703248,662,635.732648376,880,788,804.267351624,652,631.732648376,653,0.427976753806,-0.0155399617452,0.0799249876597,0.999999992957,-4.80096543804e-05,-8.94198827809e-05,-6.15309247402e-05,1793239639623049216
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679.310705427,662,636,880,788,804.310705427,651.689294573,632,653,0.428827516363,-0.0155401700828,0.0799367071018,0.999999993828,-4.84442586451e-05,-7.97723173872e-05,-6.02819206717e-05,1793239639639715840
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.887618588,662,636,880,788,804.887618588,651.112381412,632,653,0.429686795561,-0.015541142401,0.0799577642186,0.999999995957,-4.84029118314e-05,-4.82875766319e-05,-5.84047274995e-05,1793239639656382464
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,805,651,631.538668008,653,0.430565837363,-0.0155431278398,0.0799963486435,0.999999997298,-4.72941954012e-05,9.91258971161e-06,-5.53904315728e-05,1793239639673049344
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.035454739,745,715,680,662,636,880,788,805,651,631,653,0.431444044361,-0.0155450150301,0.0800357138662,0.999999995247,-4.53660913164e-05,6.86081091674e-05,-5.23545723925e-05,1793239639689716224
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.628177837,745,715,680,662,636,880,788,805,651,631,653,0.432233981794,-0.0155415055816,0.0800207038314,0.999999997419,-3.4617742076e-05,3.3503989826e-05,-5.33036272369e-05,1793239639706383104
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680.215456762,662,635.784543238,880.215456762,788,805,651,631.215456762,653,0.433006334352,-0.0155380541061,0.0799868087833,0.999999997768,-2.96032037558e-05,-2.01963013695e-05,-5.63925599814e-05,1793239639723049728
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680.793572104,662,635.206427896,880.793572104,788,805,651,631.793572104,653,0.433749088032,-0.0155347002105,0.0799211263242,0.999999991891,-3.42398609661e-05,-0.000105197826449,-6.30833526536e-05,1793239639739716096
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.629822254,745.370177746,715,681,662,635.370177746,881,788,804.629822254,651,631.629822254,653.370177746,0.434529353623,-0.0155385599455,0.0799100898524,0.999999990582,-4.54473814573e-05,-0.000111983857803,-6.50328347643e-05,1793239639756382720
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.054055106,745.945944894,715,681,662,635.945944894,881,788,804.054055106,651,631.054055106,653.945944894,0.435330452543,-0.0155464259885,0.0799294026857,0.999999993274,-6.03042292932e-05,-7.5330545146e-05,-6.43490864054e-05,1793239639773049344
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,746,715,681,662,636,881,788,804.52589901,651,631.52589901,653.47410099,0.436096376127,-0.0155510750175,0.0799601253326,0.999999994941,-6.70242421741e-05,-4.35486022943e-05,-6.10623219674e-05,1793239639789715968
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.107546649,745.892453351,715,681,662,635.892453351,881,788,804.892453351,651,631.892453351,653,0.436850955809,-0.0155554717065,0.0799844953328,0.999999995371,-7.35105362569e-05,-2.0588438838e-05,-5.85611326307e-05,1793239639806382592
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.694813289,745.305186711,715,681,662,635.305186711,881,788,804.305186711,651,631.305186711,653,0.437571191926,-0.0155602296038,0.0799752556556,0.99999999413,-8.27148680571e-05,-3.4727117771e-05,-6.07670831963e-05,1793239639823049216
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.725054204,745,715,681,662,635,881,788,804.274945796,651,631.274945796,653,0.438260640729,-0.0155642233128,0.0799583889972,0.999999992634,-8.62017984071e-05,-5.85773926444e-05,-6.22106516579e-05,1793239639839716096
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.152640264,745,715,681,662,635,881,788,804.847359736,651,631.847359736,653,0.43891678021,-0.0155673902343,0.0799332705897,0.999999990221,-8.35029823374e-05,-9.29347936219e-05,-6.28293868521e-05,1793239639856382976
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.57460254,635,880.57460254,787.57460254,805,651,631.57460254,653,0.439527625668,-0.0155697221,0.0798883860837,0.999999980684,-8.88144035758e-05,-0.000162158876482,-6.67038406949e-05,1793239639873049600
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,880,787.005571805,805,651,631.005571805,653,0.440121440833,-0.0155717546359,0.079836096195,0.99999996284,-9.71274492442e-05,-0.000244404805119,-7.17865823286e-05,1793239639889715968
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,880,787.595353066,805,651,631.595353066,653,0.440656508489,-0.0155742398286,0.0797609563289,0.999999924499,-0.000114761806355,-0.000362660522968,-7.94304751671e-05,1793239639906382592
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634.818648438,880.181351562,787.818648438,805,651,631.818648438,653,0.44120088432,-0.0155785024676,0.0797052908803,0.999999887298,-0.000130389388698,-0.000448513044689,-8.50807755066e-05,1793239639923049216
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634.240917797,880.759082203,787.240917797,805,651,631.240917797,653,0.441765605078,-0.0155866500613,0.0796921905408,0.999999878804,-0.000141630781234,-0.000463542117168,-8.63736956112e-05,1793239639939715840
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634.334572207,881,787,805,651,631,653,0.442347600716,-0.0155960640249,0.0797162986097,0.999999894984,-0.000152031765278,-0.000424051750743,-8.42465038938e-05,1793239639956382464
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634.908459479,881,787,805,651,631,653,0.442941952814,-0.0156063838057,0.0797670213607,0.999999924024,-0.000161831614872,-0.00034556434929,-7.96729510365e-05,1793239639973049088
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.507941147,745,714.507941147,681,661,635,880.507941147,787,805,651,631,653,0.443444042175,-0.0156166614613,0.0797824976835,0.99999992855,-0.000177013643025,-0.000324744202687,-7.81507905791e-05,1793239639989715968
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.077267182,745,714,681,661,635,880.077267182,786.922732818,805.077267182,651,631,653,0.443921992546,-0.0156262266334,0.0797862569238,0.999999926714,-0.000191034978527,-0.00032263313995,-7.73621466042e-05,1793239640006382592
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.660940435,745,714,681,661,635,880.660940435,786.339059565,805.660940435,651,631,653,0.444356495251,-0.0156311746127,0.0797570631098,0.999999909823,-0.000190754713375,-0.000371412938031,-7.7585554809e-05,1793239640023049216
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714.241819185,681,660.758180815,634.758180815,880.758180815,786,805.758180815,651,631,653,0.444774016617,-0.0156353571259,0.0797310976455,0.99999989251,-0.000192690376454,-0.000414356766125,-7.84722742506e-05,1793239640039716096
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714.818824422,681,660.181175578,634.181175578,880.181175578,786,805.181175578,651,631,653,0.445168000078,-0.0156384786247,0.0797096070055,0.99999987634,-0.00019769754239,-0.000449211341253,-8.02784108242e-05,1793239640056383232
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.605465528,681,660,634,880,786,805.394534472,651,631,653,0.445551042789,-0.015642891841,0.07970064184,0.999999869012,-0.000205610416516,-0.000461730348083,-8.06600636893e-05,1793239640073049600
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714.030348248,681,660,634,880,786,805.969651752,651,631,653,0.445929077831,-0.0156478962911,0.0796974097213,0.999999866028,-0.000214853266037,-0.000464026120517,-8.03897147283e-05,1793239640089715968
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.858180849,634,880.858180849,785.858180849,805,651,630.858180849,653,0.446602117683,-0.0156571652836,0.0796950692019,0.999999868633,-0.000226915522128,-0.000452604592849,-7.99532217071e-05,1793239640123049216
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.27556503,634,880.27556503,785.27556503,805,651,630.27556503,653,0.446907975712,-0.0156618343759,0.0796878227376,0.999999863908,-0.000232817053548,-0.000459963548736,-8.00853970412e-05,1793239640139716608
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.697824,681,659.302176,634,880.302176,785,805,651,630,653,0.447182998991,-0.0156648237523,0.0796788353511,0.999999857589,-0.0002372318228,-0.000471200720689,-8.07023839749e-05,1793239640156383488
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.12445792,681,659.87554208,634,880.87554208,785,805,651,630,653,0.447430349378,-0.015666305655,0.0796682855617,0.999999849725,-0.000240312285995,-0.000485918425766,-8.17544686382e-05,1793239640173050112
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.548421649,880.548421649,785,805,651,630.451578351,653,0.447652746498,-0.0156696509384,0.079660018874,0.999999841369,-0.000245018369168,-0.000500488709789,-8.20902676889e-05,1793239640189716224
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.971054591,745.028945409,714.028945409,681,660,633,880.028945409,785,805,651,631,653,0.447866487682,-0.0156735189489,0.0796523987396,0.99999983275,-0.000250416544893,-0.000514805913294,-8.2252874982e-05,1793239640206382592
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.382266566,745.617733434,714.617733434,681,660,633,880.617733434,785,805,651,631,653,0.448046618592,-0.0156775051882,0.0796450411186,0.999999824815,-0.000260483645085,-0.000525018725476,-8.29066642257e-05,1793239640223049216
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.406338689,746,715,681,659.796830656,633,880.796830656,785,805.203169344,651.203169344,631,653,0.44821964972,-0.0156818504526,0.079638436756,0.999999817432,-0.000268536544928,-0.000534908086242,-8.30449217151e-05,1793239640239716096
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.564801004,746,715,681,659.217599498,633,880.217599498,785,805.782400502,651.782400502,631,653,0.448379539293,-0.0156868602636,0.0796332266585,0.999999811316,-0.000272861204906,-0.00054419874482,-8.2228941656e-05,1793239640256382720
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.641106039,745.641106039,714.641106039,681,659,633,880,784.641106039,805.641106039,651.641106039,630.641106039,653,0.448523388791,-0.0156884464428,0.0796308998122,0.999999810032,-0.000273209106777,-0.000546441534898,-8.18146926695e-05,1793239640273049600
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.066259841,745.066259841,714.066259841,681,659,633,880,784.066259841,805.066259841,651.066259841,630.066259841,653,0.448657586734,-0.0156879725685,0.0796303078637,0.999999811693,-0.000271164130111,-0.000544443510681,-8.16421716196e-05,1793239640289716736
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.520233081,714.520233081,681,659,633,880.520233081,784,805,651,630,653,0.448770391805,-0.0156915490022,0.0796344551278,0.999999813041,-0.000276073007969,-0.000539618937345,-8.07004930689e-05,1793239640306383360
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.89330649,714.89330649,681,659.10669351,633,881,784,805,651,630.10669351,653,0.44887519342,-0.0156958212171,0.0796382467576,0.999999813577,-0.000281833994321,-0.000535762766457,-7.98306532765e-05,1793239640323049472
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.313715296,714.313715296,681,659.686284704,633,881,784,805,651,630.686284704,653,0.448956874677,-0.0157008384915,0.0796377254501,0.999999810904,-0.000287356275653,-0.000537831037148,-7.97233746133e-05,1793239640339715840
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.734899144,633,881,784,805,651,631,653,0.449029570393,-0.0157030634893,0.079634761424,0.999999807907,-0.000289575899719,-0.000542225944241,-7.95143713075e-05,1793239640356382208
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.417407115,633,881,784,805,651,630.582592885,653,0.449139871475,-0.0157014002005,0.0796250041318,0.999999801619,-0.000288102100341,-0.000554519329857,-7.9171525691e-05,1793239640389715712
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+220,3.666666667,POSE1_TO_POSE2_PRESS,764.41869318,745,714.58130682,681.58130682,659.41869318,633,881,784,805,651,630.58130682,653,0.449213225035,-0.0157013480501,0.0796217403977,0.999999797054,-0.000290640741816,-0.000561375072507,-7.92293740914e-05,1793239640423049472
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.168790663,745.168790663,714.831209337,681.831209337,659,633,881,784,805,651,630.831209337,653,0.449240262894,-0.0157023171498,0.0796213595889,0.999999795447,-0.000292387192784,-0.000563362105563,-7.8980297841e-05,1793239640439716352
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.229796349,659.229796349,633,880.229796349,784,805,651,630.770203651,653,0.449311098399,-0.0156956154408,0.0796099806526,0.999999788517,-0.000284682738882,-0.000579642196596,-7.70462860753e-05,1793239640773049344
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.653112255,745,715,680.346887745,659,633,880,784,805,651,630.653112255,653,0.44931187427,-0.0156972685847,0.0796101827928,0.999999788592,-0.000285463554799,-0.000579190873023,-7.6585588462e-05,1793239640789715968
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+244,4.066666667,POSE1_TO_POSE2_PRESS,764.508137777,745,714.491862223,681,659,633,880.508137777,783.491862223,805,651,630,653,0.449312834263,-0.0156994925159,0.079610432192,0.999999788457,-0.000287398950422,-0.000578580143956,-7.57218962631e-05,1793239640823049216
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.905257846,783,804.905257846,651,630.094742154,653,0.449312269645,-0.0156979822391,0.079610173359,0.99999978841,-0.000286739844272,-0.000578970574702,-7.5852576354e-05,1793239640839715840
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+247,4.116666667,POSE1_TO_POSE2_PRESS,764.747854443,745,714,681,659,632.747854443,880,783,804.252145557,651,630.747854443,653,0.4493121348,-0.0156940075664,0.0796107362267,0.99999978913,-0.000284501938218,-0.000578752129289,-7.64509134504e-05,1793239640873050112
+248,4.133333333,POSE1_TO_POSE2_PRESS,764.172027643,745,714,681,659,632.172027643,880,783,804.827972357,651,630.172027643,653,0.449315392069,-0.0156944699849,0.0796131909084,0.999999791241,-0.000284308803496,-0.00057524013402,-7.60651415249e-05,1793239640889716736
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+250,4.166666667,POSE1_TO_POSE2_PRESS,764.999069751,745.999069751,714.999069751,680.000930249,659,632,880,783.999069751,805,651,630,653,0.449313047145,-0.0156974989273,0.0796101987363,0.999999787177,-0.000289436289714,-0.000579748595424,-7.59205794221e-05,1793239640923049216
+251,4.183333333,POSE1_TO_POSE2_PRESS,764.422192582,745.422192582,714.422192582,680,659,632,880,784,805,651,630,653,0.449313067782,-0.0156949921075,0.0796101142369,0.999999788527,-0.00028580712109,-0.00057920682054,-7.60199705606e-05,1793239640939715840
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+253,4.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680.734545269,659,632.734545269,880,783.265454731,804.265454731,651,630,653,0.449313540071,-0.0156941452486,0.0796102922629,0.999999789249,-0.00028374681797,-0.000578937604378,-7.62973373243e-05,1793239640973049344
+254,4.233333333,HOLD_POSE2,764,745,714,681,658,633,880,783,805,651,630,653,0.449316387631,-0.015694666557,0.0796125616583,0.999999790898,-0.00028327925693,-0.000576415103895,-7.55095911864e-05,1793239641009715968
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+256,4.266666667,HOLD_POSE2,764.845317534,745,714,680,659,633,880.845317534,784,805.154682466,651,630,653,0.449313490195,-0.0156976864849,0.0796098552518,0.99999978666,-0.000290039725496,-0.000580406302543,-7.54003627521e-05,1793239641043048448
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+259,4.316666667,HOLD_POSE2,764.907586734,745.907586734,714,680.907586734,659,633,880,783.092413266,805.092413266,651,630,653,0.44931595207,-0.0156954215558,0.0796120189614,0.999999789964,-0.000284352360125,-0.000577506151688,-7.551687392e-05,1793239641093047808
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+262,4.366666667,HOLD_POSE2,764.648714496,745,714,680,658.351285504,633,880,783,805,651,630,653,0.449316864358,-0.015696707484,0.0796123655707,0.999999790681,-0.000284377117179,-0.000576363835514,-7.46507731047e-05,1793239641143047680
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,658.673854459,633,881,783,805,651,630.673854459,653,0.44931845158,-0.0156949802102,0.0796124789847,0.999999790748,-0.000285721972143,-0.000575587645917,-7.46007808753e-05,1793239641363368704
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.483138844,745,714.483138844,681,658,633,881,783,805,651,630,653,0.449320551863,-0.0156941455158,0.0796140156524,0.999999792398,-0.000284415298477,-0.000573377208334,-7.45025309364e-05,1793239641396701952
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.388140944,714.388140944,681,659,633,880.388140944,783.611859056,805.388140944,651,630.388140944,653,0.449263163698,-0.0156901508086,0.0795827694024,0.999999764085,-0.000282424651644,-0.000621415099231,-7.68714360154e-05,1793239641480035584
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,745,714.010791185,681,659,633,881,784,804.989208815,651,630.010791185,653,0.445688941762,-0.0155390070463,0.0795658899256,0.999999759887,-5.47345434615e-05,-0.00069078508025,-6.74778916237e-06,1793239641813368576
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.564811864,745,714,680.435188136,659,633.564811864,880.435188136,784.564811864,805,651,630.564811864,653,0.445273687724,-0.0155313014597,0.0795732245396,0.999999766211,-5.20902159961e-05,-0.000681761135626,-8.13217974665e-06,1793239641830035200
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.143535116,659,634,880.143535116,785,805,651,631,653,0.444853058176,-0.0155260847096,0.0795818150417,0.999999774442,-4.81114706077e-05,-0.000669878244409,-8.00378496819e-06,1793239641846701824
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.732101737,659,634,880.732101737,785,805,651,631,653,0.444418542203,-0.0155282372481,0.0795944396043,0.999999788487,-3.91794392368e-05,-0.00064921666188,-2.96801943195e-06,1793239641863368704
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.315297098,681,659,633.684702902,881,785,805,651,631,653,0.443956862737,-0.0155306305661,0.0796036470794,0.999999796611,-3.57387224624e-05,-0.000636789460827,1.8866074108e-07,1793239641880035328
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.894005174,681,659,633.105994826,881,785,805,651,631,653,0.443472489826,-0.0155332250405,0.0796099997934,0.999999800085,-3.68856541319e-05,-0.000631241567681,1.77548333694e-06,1793239641896701952
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.528883097,681,659.471116903,633.471116903,881,785.471116903,805,651,631,653,0.442954761716,-0.0155225824834,0.0796182271633,0.999999808639,-2.34048881561e-05,-0.000618194093105,3.26704895085e-06,1793239641913368832
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.047743707,714.047743707,681,660,634,881,786,804.952256293,651,631,653,0.442426828071,-0.0155090300014,0.0796279274995,0.999999819091,-6.66810342205e-06,-0.000601456621976,4.81477419663e-06,1793239641930035456
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.203273889,745.796726111,715,681,660,634.203273889,880.796726111,786.203273889,804.203273889,651,631,653,0.441295499519,-0.0154847270807,0.0796650679054,0.999999857458,2.61694664615e-05,-0.000533206795177,9.41981557855e-06,1793239641963369216
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.793246769,745.206753231,715,681,660,634.793246769,880.206753231,786.793246769,804.793246769,651,631,653,0.440693279309,-0.0154762194236,0.0796703787911,0.99999986272,4.23288979978e-05,-0.000522152272078,1.12339559554e-05,1793239641980035584
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.046827513,745,714.046827513,681,660.953172487,635,880,787,805,651,631,653,0.439338520143,-0.015458012891,0.0796185932832,0.999999819029,6.30098727543e-05,-0.000598230748509,9.57727651465e-06,1793239642013369856
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.104129892,661,635,881,787,804.104129892,651,631,653,0.438032757622,-0.0154402154521,0.0796821592318,0.999999876161,9.06825724482e-05,-0.000489165394981,1.30900205595e-05,1793239642046703104
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.694584035,661,635,881,787,804.694584035,651,631,653,0.437379058741,-0.0154293934696,0.079761798343,0.999999921836,0.000111229525422,-0.000378976129389,1.82444889393e-05,1793239642063369728
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880.143354882,787.856645118,805,651,631.856645118,653,0.435972643051,-0.0154010798925,0.0798630069228,0.99999996121,0.000159390669708,-0.000226822010795,2.69657535731e-05,1793239642096702208
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.437850258,745,715,681,661,635,880,788,805,651,631.562149742,653,0.435201707241,-0.0153903962092,0.0798571842578,0.999999956341,0.000176663946471,-0.000235336694652,2.69224109644e-05,1793239642113368832
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.980305367,745,714.980305367,681,661,635,880,787.980305367,805,651,631.019694633,653,0.434411872309,-0.0153817234719,0.0798359781328,0.999999945616,0.000190647648051,-0.000267896564522,2.55416697439e-05,1793239642130035200
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.161833918,681,661,635,880,787.161833918,805,651.161833918,631.838166082,653,0.432687509573,-0.0153890137825,0.0797819617732,0.999999920621,0.000185633661598,-0.000351734808136,2.41056203418e-05,1793239642163368704
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787.656310524,805,651,631.343689476,653,0.427602713524,-0.0153827168106,0.0798645804341,0.999999946918,0.00022697887852,-0.000230185713039,4.07295105684e-05,1793239642263368960
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.450454538,880.549545462,788,805,651.450454538,631.450454538,653.450454538,0.423054071777,-0.0153744183019,0.0797435268107,0.999999880859,0.000246342430058,-0.000419981660357,3.48294396798e-05,1793239642346702336
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.741394128,787.870697064,805,651.129302936,631,653,0.422198142029,-0.0153700537286,0.0797567995329,0.999999889939,0.000251556339808,-0.000394360827325,3.63566661764e-05,1793239642363369216
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879.560485914,787.280242957,805,651.719757043,631,653,0.421405420429,-0.0153749417563,0.0798184824192,0.999999928776,0.000249516313983,-0.000280152483885,4.12724202271e-05,1793239642380035840
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.45736871,788,804.54263129,651.54263129,632,653,0.418879995564,-0.015376821482,0.0798508940991,0.999999943063,0.000241063259026,-0.000232099843191,4.34957652905e-05,1793239642430035712
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.609028619,880.390971381,788,804,651,632,653,0.417172300068,-0.0153731611814,0.0798064651048,0.999999922129,0.000241408207555,-0.000309798652438,3.85845761088e-05,1793239642463368960
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.189050248,745,715,679.810949752,661,635.810949752,880,788,804,651.189050248,632,653,0.416355298179,-0.015370553205,0.0798067768134,0.999999920502,0.000245364841828,-0.000311971405739,3.82821558866e-05,1793239642480035840
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715.336159002,680,661,636,879.663840998,788,804.336159002,652,631.663840998,653.336159002,0.41185581476,-0.0153666531235,0.0798138234227,0.999999922169,0.000250695514143,-0.000302115229287,3.92539196266e-05,1793239642580035584
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.686817084,661,636,879,787,803.686817084,652,631.686817084,653,0.400995274979,-0.0153479676783,0.0798394692286,0.999999918419,0.000288015344673,-0.000280786371096,3.69798371334e-05,1793239643230035712
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.108031233,661,636,879,787,803.108031233,652,631.108031233,653,0.400994375002,-0.0153481252862,0.0798416348698,0.999999919547,0.000288276366288,-0.000276486238717,3.68457843192e-05,1793239643246702592
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.533695418,715.466304582,678,661,636,879.466304582,787.466304582,803.466304582,652,631,653,0.400993457335,-0.0153466153813,0.0798433347874,0.999999919642,0.000289784117535,-0.000274579913936,3.66963478e-05,1793239643263368960
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.039901084,715.960098916,678.039901084,661,636,879.960098916,788,804,652,631,653,0.400992544199,-0.0153449535613,0.0798447850554,0.99999991957,0.000291221587388,-0.000273339941781,3.65324185731e-05,1793239643280035328
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.617295517,715.382704483,678.617295517,661,636,879.382704483,788,804,652,631,653,0.400991746771,-0.0153464001526,0.0798443120814,0.999999920464,0.000287858290078,-0.000273676156915,3.62208189555e-05,1793239643296702208
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.199412534,745,715,679,661,635.800587466,879,788,804,652,631,653,0.400991008691,-0.0153477010551,0.0798438381252,0.999999921131,0.000285284767704,-0.000273974054845,3.59051952581e-05,1793239643313369088
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.790812756,745,715,679,661,635.209187244,879,788,804,652,631,653,0.400990387272,-0.0153487155751,0.0798433622381,0.999999921372,0.000284263715914,-0.000274196632157,3.55816613966e-05,1793239643330035712
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.627105879,745,715,679,660.627105879,635.372894121,879,788,804,651.627105879,631,653,0.400990834076,-0.0153485366581,0.0798444044953,0.999999921903,0.000284311258526,-0.00027220912041,3.55404262399e-05,1793239643346702080
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.050124792,745,715,679,660.050124792,635.949875208,879,788,804,651.050124792,631,653,0.400991865525,-0.0153477045665,0.0798462776412,0.999999922584,0.000284943648651,-0.000269012014985,3.56536946978e-05,1793239643363368960
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.523165357,745,715,679,660.523165357,636,879.523165357,788,804,651,631.523165357,653,0.400990045773,-0.0153471596163,0.079845533077,0.999999921635,0.000286261333442,-0.00027111560907,3.57870354548e-05,1793239643380035584
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.900369463,745,715,679,661,636,879.900369463,788,804,651,631.900369463,653,0.400988611693,-0.0153468685063,0.0798447576726,0.999999920892,0.000287131641417,-0.00027292132914,3.58545352144e-05,1793239643396702464
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.306408837,745,715,679,661,636,879.306408837,788,804,651,631.306408837,653,0.400990437077,-0.0153477013135,0.079845064932,0.999999921972,0.000285458738621,-0.000270746929232,3.55858810509e-05,1793239643413369088
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744,715.183947973,678.183947973,661,635,879,788,804,652,631.816052027,653,0.400987295803,-0.0153496499837,0.0798451766968,0.999999922321,0.000284132357162,-0.000270850193254,3.56029895148e-05,1793239643513368832
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744,715.763491549,678.763491549,661,635,879,788,804,652,631.236508451,653,0.400988926569,-0.0153499066591,0.0798466022614,0.999999923076,0.000283408919105,-0.000268848404952,3.53157176e-05,1793239643530035712
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744.340676708,715.659323292,679,661,635.340676708,879,788,803.659323292,651.659323292,631,653,0.400989287204,-0.0153500248456,0.0798470877746,0.999999923545,0.000282581177063,-0.000267993364473,3.51839292302e-05,1793239643546702080
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+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.022867974,745,715.977132026,678.022867974,661,635.022867974,879.022867974,787.977132026,804,652,631.022867974,653,0.400990648998,-0.015350285403,0.0798472515761,0.9999999235,0.000284597625928,-0.000266000758285,3.53239680112e-05,1793239643680036608
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.552052661,745,715.447947339,678.552052661,661,635.552052661,879,788,804,652,631.552052661,653,0.400990123197,-0.0153518655704,0.0798474523836,0.999999923909,0.000282828774131,-0.00026632510381,3.55128488747e-05,1793239643696702720
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c150aa563853657508e601dc6ed8070674aa284
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,416 @@
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+363,6.050000000,pose2_to_pose3_retreat,0.57799874447,-0.00990926953124,1.07003231573,0.548569197442,-0.00123752532416,1.06970044442
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+365,6.083333333,pose2_to_pose3_retreat,0.577479043445,-0.00990914748514,1.07003227237,0.548049494404,-0.0012374099516,1.06970040508
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+367,6.116666667,pose2_to_pose3_retreat,0.577049285791,-0.00990921723445,1.070032265,0.547619735662,-0.00123748357413,1.06970039326
+368,6.133333333,pose2_to_pose3_retreat,0.57686241191,-0.00990926222995,1.0700323882,0.547432862106,-0.00123752762381,1.06970051238
+369,6.150000000,pose2_to_pose3_retreat,0.576694550501,-0.00990917752085,1.070032425,0.547265000737,-0.00123744221569,1.06970056384
+370,6.166666667,pose2_to_pose3_retreat,0.576544705925,-0.00990939263772,1.07003222234,0.547115159504,-0.00123764594178,1.06970036233
+371,6.183333333,pose2_to_pose3_retreat,0.576412854644,-0.00990921614956,1.07003222325,0.546983305754,-0.00123747816068,1.06970035486
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+376,6.266666667,pose2_to_pose3_retreat,0.575943775676,-0.00990931062953,1.07003220307,0.54651422782,-0.0012375689455,1.06970034021
+377,6.283333333,pose2_to_pose3_retreat,0.575882266744,-0.00990930367521,1.07003222815,0.546452718724,-0.00123756284654,1.06970035741
+378,6.300000000,pose2_to_pose3_retreat,0.575831473189,-0.00990925515496,1.07003224467,0.546401923894,-0.00123751883158,1.06970036919
+379,6.316666667,pose2_to_pose3_retreat,0.575789948142,-0.0099092127694,1.07003223403,0.546360399523,-0.00123747404029,1.06970036146
+380,6.333333333,pose2_to_pose3_retreat,0.57575726114,-0.00990925333822,1.07003215078,0.546327713257,-0.00123751184745,1.06970028512
+381,6.350000000,pose2_to_pose3_retreat,0.575731008078,-0.00990926981671,1.07003209664,0.546301459471,-0.00123753057989,1.06970023627
+382,6.366666667,pose2_to_pose3_retreat,0.575710386224,-0.00990917263085,1.07003223344,0.546280836422,-0.00123743746384,1.06970037269
+383,6.383333333,pose2_to_pose3_retreat,0.575694904115,-0.00990928259649,1.07003255993,0.546265356628,-0.00123753978798,1.06970069371
+384,6.400000000,pose2_to_pose3_retreat,0.575683617034,-0.00990927001577,1.07003233826,0.546254068894,-0.00123752924914,1.0697004767
+385,6.416666667,pose2_to_pose3_retreat,0.575676753317,-0.00990921136176,1.07003233006,0.546247203838,-0.00123747530255,1.06970046425
+386,6.433333333,pose2_to_pose3_retreat,0.575672240549,-0.00990920759128,1.07003234316,0.546242690768,-0.00123747265866,1.06970047467
+387,6.450000000,pose2_to_pose3_retreat,0.575669728975,-0.00990926263555,1.07003233802,0.546240179999,-0.0012375249404,1.06970047014
+388,6.466666667,pose2_to_pose3_retreat,0.575668511083,-0.00990928070554,1.0700323367,0.5462389624,-0.00123754201305,1.06970046888
+389,6.483333333,pose2_to_pose3_retreat,0.575667945598,-0.00990925117319,1.07003234126,0.54623839662,-0.00123751352305,1.06970047238
+390,6.500000000,pose2_to_pose3_retreat,0.575667417035,-0.0099092235691,1.07003234552,0.546237867781,-0.00123748689325,1.06970047566
+391,6.516666667,pose2_to_pose3_retreat,0.575667069329,-0.00990920541022,1.07003234833,0.546237519893,-0.00123746937529,1.06970047781
+392,6.533333333,pose2_to_pose3_retreat,0.575666979372,-0.00990920071227,1.07003234905,0.54623742989,-0.00123746484315,1.06970047837
+393,6.550000000,pose2_to_pose3_retreat,0.575666753909,-0.00990918893752,1.07003235087,0.54623720431,-0.00123745348399,1.06970047977
+394,6.566666667,pose2_to_pose3_retreat,0.575666436193,-0.00990917234488,1.07003235343,0.546236886428,-0.001237437477,1.06970048174
+395,6.583333333,pose2_to_pose3_retreat,0.575666429592,-0.00990917200012,1.07003235349,0.546236879823,-0.0012374371444,1.06970048178
+396,6.600000000,pose2_to_pose3_retreat,0.575666421733,-0.0099091715897,1.07003235355,0.546236871961,-0.00123743674847,1.06970048182
+397,6.616666667,pose2_to_pose3_retreat,0.575666111803,-0.00990915540367,1.07003235605,0.546236561869,-0.00123742113372,1.06970048375
+398,6.633333333,pose2_to_pose3_retreat,0.575665987951,-0.00990914893551,1.07003235705,0.546236437952,-0.00123741489386,1.06970048451
+399,6.650000000,pose2_to_pose3_retreat,0.575665948059,-0.0099091515945,1.07003235475,0.546236398156,-0.00123741723148,1.06970048213
+400,6.666666667,pose2_to_pose3_retreat,0.575665641081,-0.00990918525966,1.07003232981,0.546236092238,-0.00123744732416,1.06970045651
+401,6.683333333,pose2_to_pose3_retreat,0.575665256253,-0.00990922746229,1.07003229853,0.546235708739,-0.00123748504833,1.06970042438
+402,6.700000000,pose2_to_pose3_retreat,0.575665189807,-0.00990923474918,1.07003229313,0.546235642522,-0.00123749156194,1.06970041884
+403,6.716666667,pose2_to_pose3_retreat,0.575665170358,-0.00990923688214,1.07003229155,0.54623562314,-0.00123749346856,1.06970041721
+404,6.733333333,pose2_to_pose3_retreat,0.575665149967,-0.00990923911825,1.07003228989,0.54623560282,-0.00123749546738,1.06970041551
+405,6.750000000,pose2_to_pose3_retreat,0.575664948077,-0.00990926125887,1.07003227348,0.546235401626,-0.00123751525848,1.06970039866
+406,6.766666667,pose2_to_pose3_retreat,0.575664610289,-0.0099092734918,1.07003223721,0.546235063691,-0.00123752782745,1.06970036673
+407,6.783333333,pose2_to_pose3_retreat,0.575664413553,-0.00990927065345,1.07003221253,0.546234866341,-0.00123752689832,1.06970034664
+408,6.800000000,pose2_to_pose3_retreat,0.57566430432,-0.00990926907752,1.07003219883,0.546234756767,-0.00123752638244,1.06970033549
+409,6.816666667,pose2_to_pose3_retreat,0.575664303812,-0.00990926907018,1.07003219877,0.546234756257,-0.00123752638004,1.06970033544
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5334cc36abe8fbff8c2b5739a7300c03e4ded309
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad11fa79af441acf0aef54cee5b01d33fea5dcf72263fca9ccb1f08551e09b98
+size 26417634
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd190ba913aa0a24fb24af6d1fe417ef3b478ef8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
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+28,0.466666667,BASELINE,765,745,715,679,661,635.759078342,879,787.759078342,804,652,632,653,0.400988141231,-0.0153525594649,0.0798480106215,0.999999924335,0.00028209320454,-0.000265565727635,3.50333561429e-05,1793239644319528704
+29,0.483333333,BASELINE,765,745,715,679,661,635.172049905,879,787.172049905,804,652,632,653,0.40098980914,-0.0153539011938,0.0798496638542,0.999999924712,0.000282550452823,-0.000263610397806,3.53679545682e-05,1793239644336195584
+30,0.500000000,BASELINE,765,744.590334837,715.409665163,679,661,635.409665163,878.590334837,787.409665163,804.409665163,651.590334837,632,653,0.400989974686,-0.0153543313076,0.0798496526271,0.999999924969,0.000282076103591,-0.000263128380081,3.54650210115e-05,1793239644352862208
+31,0.516666667,BASELINE,765,744.010822702,715.989177298,679,661,635.989177298,878.010822702,787.989177298,804.989177298,651.010822702,632,653,0.400989517354,-0.0153543834663,0.0798489513159,0.999999925178,0.000281215514485,-0.000263257196864,3.54636068059e-05,1793239644369528832
+32,0.533333333,BASELINE,765,744.566789302,715.433210698,679,661.566789302,636,878.566789302,788,804.433210698,651.566789302,631.433210698,653,0.400989457605,-0.0153545829285,0.0798484636051,0.999999925337,0.000280043479072,-0.000263951794374,3.50947728129e-05,1793239644386195456
+33,0.550000000,BASELINE,765,745,715,679,661.85908575,635.85908575,879,788,804,652,631.14091425,653,0.400989298346,-0.0153543929167,0.0798481072736,0.999999925223,0.000279882125048,-0.000264582358651,3.48759112399e-05,1793239644402862336
+34,0.566666667,BASELINE,765,745,715,679,661.295316345,635.295316345,879,788,804,652,631.704683655,653,0.40098881777,-0.0153530257599,0.0798481329865,0.999999924294,0.000282771407698,-0.000264988461402,3.51280692493e-05,1793239644419528704
+35,0.583333333,BASELINE,765,744.713434733,715,679,661,635.286565267,879,788,804,651.713434733,631.713434733,653,0.400987984394,-0.015352605794,0.0798479911825,0.99999992394,0.000283284290479,-0.000265769298053,3.51731536702e-05,1793239644436195328
+36,0.600000000,BASELINE,765,744.111628404,715,679,661,635.888371596,879,788,804,651.111628404,631.111628404,653,0.400986762915,-0.0153532278018,0.0798476650985,0.999999924221,0.000281182973993,-0.000266962367247,3.49904432528e-05,1793239644452861696
+37,0.616666667,BASELINE,764.528236183,744.471763817,715,679,661,636,879,788,804,651.471763817,631,653,0.400988578956,-0.0153531825458,0.0798486591497,0.999999924569,0.000282220987966,-0.000264542830636,3.50841734646e-05,1793239644469528320
+38,0.633333333,BASELINE,764.050662428,745,715,679,661,636,879,788,804,651.949337572,631,653,0.40099082526,-0.0153529235037,0.0798498447462,0.999999924878,0.00028382648278,-0.000261623491789,3.5210040541e-05,1793239644486194944
+39,0.650000000,BASELINE,764.626450238,745,715,679,661,636,879,788,804,651.373549762,631,653,0.400990361342,-0.0153520235828,0.0798498996092,0.999999924751,0.000283903735422,-0.000262051046301,3.50164831954e-05,1793239644502862080
+40,0.666666667,BASELINE,765,745,715,678.793819195,661,635.793819195,879,788,804,651.206180805,631.206180805,653,0.40098955792,-0.0153519459712,0.0798493841025,0.999999924661,0.000283353491697,-0.00026301748284,3.48077982876e-05,1793239644519528960
+41,0.683333333,BASELINE,765,745,715,678.206806079,661,635.206806079,879,788,804,651.793193921,631.793193921,653,0.40098812741,-0.0153533872303,0.0798478150779,0.999999924634,0.000281644212374,-0.000264979277229,3.45711715828e-05,1793239644536195840
+42,0.700000000,BASELINE,765,744.62489712,715,678,661,635.37510288,879,788,804,651.62489712,631.62489712,653,0.400988864122,-0.0153533104674,0.0798482475663,0.999999924754,0.000282045474008,-0.000264106476272,3.45021796733e-05,1793239644552862464
+43,0.716666667,BASELINE,765,744.045764485,715,678,661,635.954235515,879,788,804,651.045764485,631.045764485,653,0.400990779651,-0.0153524080066,0.079849768738,0.99999992495,0.000283594722498,-0.000261691853455,3.45243693862e-05,1793239644569529344
+44,0.733333333,BASELINE,765,744.530890892,715,678.530890892,661.530890892,636,879,788,804,651.530890892,631.530890892,653,0.400989778747,-0.0153534007963,0.0798493091718,0.999999925114,0.000281564280824,-0.00026321772089,3.4779656214e-05,1793239644586195712
+45,0.750000000,BASELINE,765.106994427,745,715,678.893005573,661.893005573,636,879,788,804.106994427,652,632,653,0.400988931535,-0.0153543903891,0.0798487801855,0.999999925339,0.000279468477267,-0.000264568609202,3.49797367452e-05,1793239644602862080
+46,0.766666667,BASELINE,765.681614924,745,715,678.318385076,661.318385076,636,879,788,804.681614924,652,632,653,0.400989849726,-0.0153546552775,0.0798486905846,0.999999925868,0.000278429413936,-0.000263677029053,3.48511215172e-05,1793239644619528704
+47,0.783333333,BASELINE,765.736575465,745,715,678.263424535,661,636,879,788,804.736575465,652,631.736575465,653,0.400990285824,-0.0153549700729,0.0798489961852,0.999999926255,0.000277871176383,-0.000262797243185,3.48468473106e-05,1793239644636195328
+48,0.800000000,BASELINE,765.145832951,745,715,678.854167049,661,636,879,788,804.145832951,652,631.145832951,653,0.400990122896,-0.0153553468803,0.0798497928431,0.999999926466,0.00027791038844,-0.000261932112176,3.49970729395e-05,1793239644652861952
+49,0.816666667,BASELINE,765,744.564017005,715,679,661,636,879,788,804,652,631.435982995,653,0.400990381849,-0.0153549381386,0.07984992916,0.999999926153,0.000279185481894,-0.000261769394363,3.50144749878e-05,1793239644669528832
+50,0.833333333,BASELINE,765,744.014724897,715.014724897,679,661,636,879,788,804,652,632,653.014724897,0.400990743552,-0.0153542806806,0.0798498383805,0.999999925671,0.000280829508806,-0.000261858124525,3.49862640753e-05,1793239644686196224
+51,0.850000000,BASELINE,765,744.587852479,715.587852479,679,661,636,879,788,804,652,632,653.587852479,0.400989757691,-0.0153539558709,0.079849343763,0.999999925363,0.000281102073392,-0.000262751195391,3.48793300941e-05,1793239644702862848
+52,0.866666667,BASELINE,765,744.838009876,716,678.838009876,660.838009876,635.838009876,879,788,804.161990124,652,631.838009876,653.838009876,0.400989118105,-0.0153539490444,0.0798490266761,0.999999925253,0.000280957039984,-0.000263330814762,3.48420298622e-05,1793239644719529472
+53,0.883333333,BASELINE,765,744.26128626,716,678.26128626,660.26128626,635.26128626,879,788,804.73871374,652,631.26128626,653.26128626,0.400989365068,-0.0153547563311,0.0798491641105,0.999999925647,0.000279742855745,-0.000263107923223,3.4983008702e-05,1793239644736195328
+54,0.900000000,BASELINE,765,744.32408357,715.67591643,678,660.32408357,635,879,788,804.67591643,652,631,653,0.400989639454,-0.0153547551616,0.0798494520044,0.999999925723,0.00027983750871,-0.00026271105432,3.50407815946e-05,1793239644752861696
+55,0.916666667,BASELINE,765,744.916615288,715.083384712,678,660.916615288,635,879,788,804.083384712,652,631,653,0.400989936555,-0.0153540843234,0.0798498645284,0.999999925535,0.000281016310879,-0.000262170074755,3.50296324968e-05,1793239644769528576
+56,0.933333333,BASELINE,765,745,715,678.495905478,660.504094522,635.495905478,879,788,804,651.504094522,631,653,0.400989699963,-0.0153536265313,0.0798495520697,0.999999925308,0.000281334238951,-0.000262699725346,3.49759691556e-05,1793239644786194944
+57,0.950000000,BASELINE,765,744.927252747,715,679,660.072747253,635.927252747,879,788,804,651.072747253,631,653,0.400989338974,-0.0153534381954,0.0798491410394,0.999999925188,0.000281136208648,-0.000263378699244,3.49144822766e-05,1793239644802861824
+58,0.966666667,BASELINE,765,744.352342699,715,679,660.647657301,635.352342699,879,788,804,651.647657301,631,653,0.400988722624,-0.0153548690257,0.0798488691787,0.999999925838,0.000278349818648,-0.000263878078925,3.48470532e-05,1793239644819528960
+59,0.983333333,BASELINE,765.228587175,744.228587175,715,679,661,635.228587175,878.771412825,787.771412825,804,651.771412825,631,653,0.400988534623,-0.0153552166798,0.079848652026,0.99999992597,0.000277748312116,-0.000264022327291,3.4754330312e-05,1793239644836196096
+60,1.000000000,BASELINE,765.819047028,744.819047028,715,679,661,635.819047028,878.180952972,787.180952972,804,651.180952972,631,653,0.400989024733,-0.0153538495752,0.0798485214807,0.999999925287,0.000280605659018,-0.000263604373067,3.46215651877e-05,1793239644852862464
+61,1.016666667,BASELINE,765.59839233,745,715,679,661,636,878.40160767,787.40160767,804,651.40160767,631.40160767,653,0.400989972376,-0.0153539594446,0.0798488942643,0.999999925432,0.000280766585137,-0.000262882226171,3.46165722643e-05,1793239644869528832
+62,1.033333333,BASELINE,765.019322227,745,715,679,661,636,878.980677773,787.980677773,804,651.980677773,631.980677773,653,0.400991122194,-0.0153547219593,0.0798494894589,0.999999925944,0.000279736016428,-0.000262025662616,3.46680393406e-05,1793239644886195200
+63,1.050000000,BASELINE,765,744.444553044,715,679,661,636,880.110893912,787.444553044,804,651.444553044,632,653,0.400989983474,-0.015355045258,0.0798495138536,0.999999925603,0.000280096336956,-0.000262909441388,3.49115834741e-05,1793239644902862080
+64,1.066666667,BASELINE,765,744,715,679,661,636,880.741592599,787.1292037,804,651.1292037,631.8707963,653,0.400989275533,-0.0153552536408,0.0798495258324,0.999999925529,0.000279941899882,-0.000263341481923,3.50099395098e-05,1793239644919528704
+65,1.083333333,BASELINE,765,744,715,679,661,636,879.599985047,787.700007476,804,651.700007476,631.299992524,653,0.40099030994,-0.0153551210777,0.0798495627204,0.999999926469,0.000277863992616,-0.000262024214089,3.45894012347e-05,1793239644936195328
+66,1.100000000,BASELINE,765,744.28202547,715,679,661,636,879.28202547,788,804,652,631,653,0.400990633856,-0.0153550159806,0.0798494110372,0.999999926607,0.000277559546557,-0.000261831694827,3.45182810832e-05,1793239644952862464
+67,1.116666667,BASELINE,765,744.876466029,715,679,661,636,879.876466029,788,804,652,631,653,0.400990170721,-0.0153549413092,0.0798490504631,0.999999925857,0.000279219660937,-0.00026288512137,3.48342305906e-05,1793239644969529344
+68,1.133333333,BASELINE,765,744.541696896,715,679,661,636.458303104,879.541696896,788,804,651.541696896,631,653,0.400991376421,-0.015354201565,0.0798498797177,0.999999925906,0.000280224809563,-0.000261626763378,3.4838379286e-05,1793239644986196224
+69,1.150000000,BASELINE,765,744.036572872,715.036572872,679,661,636.926854257,879,788.036572872,804,651.036572872,631,653,0.400992774744,-0.0153533503768,0.0798508573242,0.999999926084,0.000281086675555,-0.000260027887797,3.4761145587e-05,1793239645002862848
+70,1.166666667,BASELINE,765,744.611003501,715.611003501,679,661,635.777992998,879,788.611003501,804,651.611003501,631,653,0.400990567529,-0.0153534260805,0.0798494263278,0.999999925121,0.000282368204177,-0.000262340022698,3.46899858248e-05,1793239645019528960
+71,1.183333333,BASELINE,765,744.809764924,715.809764924,678.809764924,661,635,879,788.809764924,804,652,631,653,0.400989342181,-0.0153533088953,0.079848582844,0.999999924468,0.000283507378677,-0.000263605140202,3.46292053585e-05,1793239645036195584
+72,1.200000000,BASELINE,765,744.220462002,715.220462002,678.220462002,661,635,879,788.220462002,804,652,631,653,0.400990176556,-0.015352787075,0.0798489718214,0.999999924476,0.000284347928403,-0.000262673865208,3.45901981684e-05,1793239645052862208
+73,1.216666667,BASELINE,765,744,715,678,661,635,879,788,804,651.637472206,631.362527794,653,0.400990123965,-0.0153530866698,0.0798493359111,0.999999924624,0.000283812529404,-0.000262668993142,3.473683457e-05,1793239645069528576
+74,1.233333333,BASELINE,765,744,715,678,661,635,879,788,804,651.058255899,631.941744101,653,0.40098954122,-0.0153538772372,0.0798496851251,0.999999924856,0.000282454704355,-0.000263217846601,3.49944330418e-05,1793239645086195200
+75,1.250000000,BASELINE,765,744,715,678,661,635.518502044,879,788,804,651.518502044,631.481497956,652.481497956,0.400990219318,-0.0153549541436,0.0798500886987,0.99999992592,0.000279574330775,-0.000262308890247,3.45312339657e-05,1793239645102862080
+76,1.266666667,BASELINE,765,744.09480179,715,678.09480179,660.90519821,636,879,788.09480179,804,652,631.09480179,652.09480179,0.400990782977,-0.0153557334366,0.079850369463,0.999999926802,0.000277165590974,-0.000261552441574,3.41329883133e-05,1793239645119529216
+77,1.283333333,BASELINE,765,744.670172377,715,678.670172377,660.329827623,636,879,788.670172377,804,652,631.670172377,652.670172377,0.400990051807,-0.015354841756,0.0798499968682,0.999999926335,0.000278010723726,-0.000262395455208,3.44725940706e-05,1793239645136195840
+78,1.300000000,BASELINE,765,744.748035369,715,679,660.251964631,636,879,788.748035369,804,652,631.748035369,653,0.40098914849,-0.0153551666269,0.0798494346104,0.999999926221,0.000277509122434,-0.000263339725959,3.46344796524e-05,1793239645152862208
+79,1.316666667,BASELINE,765,744.157617204,715,679,660.842382796,636,879,788.157617204,804,652,631.157617204,653,0.400988013933,-0.0153571256403,0.0798486175861,0.999999926577,0.00027519850965,-0.000264420011088,3.45576411394e-05,1793239645169528576
+80,1.333333333,BASELINE,765,744.424521985,715,679,661,635.575478015,879,788,804,652,631,653,0.400988724595,-0.0153565550098,0.0798490744095,0.99999992681,0.00027531035197,-0.000263431750765,3.44803300414e-05,1793239645186195200
+81,1.350000000,BASELINE,765,745,715,678.996376426,661,635.003623574,879.003623574,788,804,652,631.003623574,653,0.400990098048,-0.0153550758456,0.0798499855708,0.999999926991,0.000276302500102,-0.000261706814974,3.44039901894e-05,1793239645202861824
+82,1.366666667,BASELINE,765,745,715,678.420844173,661,635.579155827,879.579155827,788,804,652,631.579155827,653,0.400990019482,-0.0153556028023,0.0798493860778,0.99999992656,0.000276994365768,-0.00026260917421,3.45081065492e-05,1793239645219528448
+83,1.383333333,BASELINE,765,745,715,678.1534722,660.8465278,636,879.8465278,788,804,652,632,653,0.400989840933,-0.0153558398989,0.0798488818966,0.999999926184,0.000277690566077,-0.000263307539112,3.44735896257e-05,1793239645236195584
+84,1.400000000,BASELINE,765,745,715,678.724480782,660.275519218,636,879.275519218,788,804,652,632,653,0.400989390373,-0.0153552884026,0.0798486370206,0.999999925964,0.000278398559362,-0.000263450917346,3.40619070939e-05,1793239645252862720
+85,1.416666667,BASELINE,765,744.691545421,715,678.691545421,660,636,879.308454579,788,804,652,631.691545421,653,0.400989048079,-0.0153543689275,0.0798486134744,0.999999925628,0.000279592702131,-0.000263486151257,3.3858873717e-05,1793239645269529344
+86,1.433333333,BASELINE,765,744.095482675,715,678.095482675,660,636,879.904517325,788,804,652,631.095482675,653,0.400988806736,-0.0153531063429,0.0798487962998,0.999999925184,0.000281240138697,-0.000263420549595,3.38503882974e-05,1793239645286195968
+87,1.450000000,BASELINE,765,744.484089851,715,678,660.484089851,635.515910149,879.515910149,788,804,652,631.484089851,653,0.400988402901,-0.0153533479654,0.0798486607331,0.999999925111,0.000280947979884,-0.000263957271059,3.42461588984e-05,1793239645302862336
+88,1.466666667,BASELINE,764.939647545,744.939647545,715,678.060352455,661.060352455,635.060352455,879,788,804,652,632,653,0.400988150318,-0.0153538936761,0.0798485517032,0.999999925165,0.00028034988312,-0.000264334180341,3.4673100571e-05,1793239645319528960
+89,1.483333333,BASELINE,764.364787383,744.364787383,715,678.635212617,661.635212617,635.635212617,879,788,804,652,632,653,0.400989451397,-0.0153545857588,0.079849186638,0.999999925695,0.000280297631209,-0.000262369243521,3.4708415411e-05,1793239645336195328
+90,1.500000000,BASELINE,764.209849823,744.209849823,715,678.790150177,661.790150177,635.790150177,879,788,804,652,631.790150177,653,0.400990372997,-0.0153546204421,0.0798497703694,0.999999926051,0.000280325188809,-0.000260984601354,3.46684377606e-05,1793239645352861952
+91,1.516666667,BASELINE,764.784099811,744.784099811,715,678.215900189,661.215900189,635.215900189,879,788,804,652,631.215900189,653,0.400990635637,-0.0153535135637,0.0798502651869,0.999999926109,0.000280491334094,-0.000260607629848,3.4497716151e-05,1793239645369528576
+92,1.533333333,BASELINE,765.371838772,745,715,678,661,635.743677544,879,788,804,652,631.371838772,653,0.400990253727,-0.0153544368519,0.079850471285,0.999999926129,0.00028001628173,-0.000261017366707,3.46925276567e-05,1793239645386195456
+93,1.550000000,BASELINE,765.967704688,745,715,678,661,636.935409375,879,788,804,652,631.967704688,653,0.400989483484,-0.0153565832843,0.0798505034341,0.999999926124,0.000279154917657,-0.000261901083224,3.51075672283e-05,1793239645402862336
+94,1.566666667,BASELINE,765.456165437,745,715,678,661,635.912330873,879,788,804,652,631.456165437,653,0.400989846921,-0.0153552908227,0.0798496951736,0.999999925705,0.0002802008171,-0.000262446326202,3.46365964543e-05,1793239645419528960
+95,1.583333333,BASELINE,765,744.881494837,715,678.118505163,661.118505163,635.118505163,879,788,804,651.881494837,631.118505163,653,0.400990029386,-0.0153543337871,0.0798489572098,0.999999925505,0.000280578989338,-0.000262855392496,3.42452092228e-05,1793239645436195840
+96,1.600000000,BASELINE,765,744.308084338,715,678.691915662,661.691915662,635.691915662,879,788,804,651.308084338,631.691915662,653,0.400989267766,-0.0153554208229,0.0798486739635,0.999999926239,0.000277974408103,-0.000262816173992,3.43542197336e-05,1793239645452862208
+97,1.616666667,BASELINE,765,744,715,679,661.726458684,636,879,787.726458684,804,651.273541316,631.726458684,653,0.400989055865,-0.0153556793901,0.0798485833229,0.999999926354,0.000277407447271,-0.000262959319602,3.44998788129e-05,1793239645469528832
+98,1.633333333,BASELINE,765,744,715,679,661.135294011,636,879,787.135294011,804,651.864705989,631.135294011,653,0.400989482271,-0.0153549759785,0.0798487163271,0.999999925753,0.000279206475912,-0.000263314217879,3.46880924863e-05,1793239645486195200
+99,1.650000000,BASELINE,765,744.448503187,715,679,661,636,878.551496813,787.448503187,804,651.551496813,631.448503187,653,0.400990050907,-0.0153554104672,0.0798493764161,0.999999925832,0.000279494155063,-0.000262684940499,3.48715539093e-05,1793239645502861824
+100,1.666666667,BASELINE,765,744.970318406,715,679,661,636,878.029681594,788,804,651,631.970318406,653,0.400990633301,-0.015356101939,0.0798501413854,0.9999999261,0.000279337001889,-0.000261809119376,3.50175913016e-05,1793239645519528704
+101,1.683333333,BASELINE,765,744.397056158,715,679,661,636,878.602943842,788,804,651,631.397056158,653,0.400990694592,-0.0153553150398,0.0798499623053,0.999999926154,0.000279247762429,-0.000261767331832,3.4504084535e-05,1793239645536195584
+102,1.700000000,BASELINE,765,744,715,678.819565553,661,636,879.180434447,788,804,651.180434447,631.180434447,653,0.400990632614,-0.0153549395513,0.0798497902133,0.999999926263,0.000278836625985,-0.000261824620084,3.42238794179e-05,1793239645552862464
+103,1.716666667,BASELINE,765,744,715,678.232547006,661,636,879.767452994,788,804,651.767452994,631.767452994,653,0.400990292867,-0.0153554911205,0.0798496338682,0.999999926498,0.00027770013917,-0.00026210516196,3.44693874091e-05,1793239645569529088
+104,1.733333333,BASELINE,764.649834951,744,715,678.350165049,661,635.649834951,879.649834951,788,804,652,631.649834951,653,0.400989618941,-0.0153553461001,0.0798491018979,0.999999926324,0.000277606314764,-0.000262857754774,3.45309455574e-05,1793239645586195456
+105,1.750000000,BASELINE,764.069948066,744,715,678.930051934,661,635.069948066,879.069948066,788,804,652,631.069948066,653,0.400988725779,-0.01535474409,0.0798483235028,0.999999925882,0.000278196517178,-0.000263920031317,3.44718255065e-05,1793239645602862080
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635,879,788,804,652,632,653,0.400990061942,-0.0153552462712,0.0798495417987,0.999999926236,0.000279324212788,-0.000261348784596,3.46761210517e-05,1793239645633488640
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744.428832796,715,678.571167204,661,635.571167204,879,788,804,652,631.428832796,653,0.400991104537,-0.0153550708017,0.0798504459103,0.999999926233,0.00028052880263,-0.000260045978634,3.48336289355e-05,1793239645650156032
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,715,679,661,636,879,787.853522995,804,652,631,653,0.400991825744,-0.015355091134,0.0798510719426,0.99999992633,0.000280930862597,-0.000259221411638,3.49536319077e-05,1793239645666823424
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,715,679,661,636,879,787.265732011,804,652,631,653,0.400991578657,-0.0153557013888,0.0798508601628,0.999999926734,0.000278915016695,-0.000259837709,3.49606380569e-05,1793239645683490560
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,715,679,661,635.682425558,879,787.317574442,803.682425558,652,631,653,0.400990071705,-0.0153555929478,0.0798497142771,0.999999926412,0.00027825449122,-0.000261792534808,3.48630966803e-05,1793239645700157184
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,715,679,661,635.102819342,879,787.897180658,803.102819342,652,631,653,0.400987525234,-0.0153548915083,0.0798477976573,0.999999925485,0.00027871224545,-0.000264851785039,3.46792927772e-05,1793239645716823296
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,715,678.527040563,661,635.472959437,879,787.527040563,803.472959437,651.527040563,631,653,0.400988639804,-0.0153552649105,0.0798487341605,0.999999926101,0.000277746998274,-0.000263568427766,3.44314771265e-05,1793239645733489664
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,715,678.048953543,661,636,879,787.048953543,804.048953543,651.048953543,631,653,0.400990590739,-0.0153558473562,0.0798502653148,0.999999927036,0.000276527248198,-0.000261323711782,3.42090879098e-05,1793239645750155776
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,715,678.636395567,661,636,879,787.636395567,804.636395567,651.636395567,631,653,0.40099305714,-0.0153561795893,0.0798515695797,0.999999927862,0.000275883546658,-0.000258805391675,3.4418234889e-05,1793239645766822144
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.220739517,715,678.779260483,661,636,879,788,804.558520965,652,631.220739517,653,0.400997127906,-0.0153558926013,0.0798537310273,0.999999928534,0.000276736777914,-0.000255226221184,3.47545349861e-05,1793239645783488768
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.800050866,715,678.199949134,661,636,879,788,803.399898268,652,631.800050866,653,0.401003804818,-0.0153545997433,0.0798572848922,0.99999992894,0.000280021644218,-0.000249923793274,3.52973840611e-05,1793239645800155392
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,678.377923263,660.622076737,636,879,788,803,651.622076737,631.622076737,653,0.401021368236,-0.0153558095275,0.0798648200815,0.999999931972,0.000280322500937,-0.000237027306232,3.59548208383e-05,1793239645816822016
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,678.955037289,660.044962711,636,879,788,803,651.044962711,631.044962711,653,0.401044669569,-0.0153583383709,0.0798744536946,0.999999936165,0.000279050585835,-0.00022012824303,3.66726530182e-05,1793239645833488640
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.530135012,636,879,788,803.530135012,651,631.530135012,653,0.401097597421,-0.0153604343183,0.0798921040771,0.999999943084,0.000278383575578,-0.000186947960125,3.72247271071e-05,1793239645850155520
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.892064843,744.892064843,715,679,661,636,879,788,804,651,631.892064843,653,0.401156246869,-0.0153628788385,0.079909942568,0.999999948897,0.000277713322298,-0.000153808773953,3.77310718866e-05,1793239645866822144
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.301416705,744.301416705,715,679,661,636,879,788,804,651,631.301416705,653,0.401229289743,-0.0153670458427,0.0799255930294,0.9999999529,0.000276799990448,-0.000127005570478,3.80955392548e-05,1793239645883488512
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.283689268,744,715,679,661,635.716310732,879,788,804,651,631,653,0.401306949871,-0.015369767531,0.0799365116155,0.999999955169,0.000276770546936,-0.000108081897641,3.71187628321e-05,1793239645900155392
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.863019551,744,715,679,661,635.136980449,879,788,804,651,631,653,0.401389421775,-0.0153709830124,0.0799424989729,0.999999956108,0.000277662229909,-9.73697194473e-05,3.47442364037e-05,1793239645916822016
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,715,679,661,635.43829933,879,788,804,651.43829933,631,653,0.401482165028,-0.0153739161011,0.0799447328177,0.999999957342,0.000274678936555,-9.41276480909e-05,3.17447778521e-05,1793239645933488896
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,715,678.987644219,661.012355781,636,879,788,804,651.987644219,631,653,0.401578740201,-0.0153774081343,0.0799458416614,0.999999958649,0.000270595972622,-9.3087462431e-05,2.8542467506e-05,1793239645950155520
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,715,678.41217571,661.58782429,636,879,788,804,651.41217571,631,653,0.401704995527,-0.0153821334723,0.079948651904,0.999999959164,0.000271083050221,-8.69726036948e-05,2.49148537803e-05,1793239645966821888
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,715,678,661.831834229,636,879,788,804,651,631.168165771,653,0.401839370193,-0.0153870754216,0.0799519004178,0.999999960456,0.000268839007797,-7.98326033936e-05,2.0981167586e-05,1793239645983488512
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,715,678,661.239192717,636,879,788,804,651,631.760807283,653,0.401994239278,-0.0153925641296,0.0799562551934,0.999999963688,0.000259701206909,-7.01049922688e-05,1.62749089198e-05,1793239646000155136
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,715,678.344547215,661,635.655452785,879,788,804.344547215,651,632,653,0.402164157476,-0.0153982044924,0.0799588259071,0.999999966487,0.000250172790488,-6.57503529952e-05,1.0748266305e-05,1793239646016822016
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,715,678.922263157,661,635.077736843,879,788,804.922263157,651,632,653,0.40234426002,-0.0154039474867,0.0799601892758,0.999999968983,0.000240380028166,-6.50318152689e-05,4.66643695686e-06,1793239646033488640
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.496729866,715,678.503270134,661,635,879,788,804.503270134,651,631.503270134,653,0.402538622033,-0.0154116287899,0.0799540117715,0.999999975485,0.000208160632283,-7.54426617038e-05,-2.82560047355e-06,1793239646050155520
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.927689089,715,678,661,635.072310911,879,788,804,651.072310911,631,653,0.40274157052,-0.0154195826541,0.0799475226627,0.999999981382,0.000172338952741,-8.61523266759e-05,-1.05862656669e-05,1793239646066821888
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.340577921,715,678,661,635.659422079,879,788,804,651.659422079,631,653,0.402989864589,-0.015427331434,0.0799471621788,0.999999986863,0.000135695790901,-8.66702051405e-05,-1.86984007969e-05,1793239646083488512
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,715,678.244403757,661,636,879,788,804,652,631.244403757,653,0.403259028804,-0.0154362448615,0.0799488548417,0.999999990381,0.000108973227767,-8.21921256728e-05,-2.46529478469e-05,1793239646100155136
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,715,678.826443576,661,636,879,788,804,652,631.826443576,653,0.403557024454,-0.0154467672123,0.0799533838619,0.999999992507,9.59556604712e-05,-7.08122883577e-05,-2.76268547169e-05,1793239646116821760
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.403976838,715.403976838,678.596023162,661,635.596023162,879.403976838,788,804,652,631.596023162,653,0.403879532475,-0.0154555672538,0.0799585253761,0.999999993923,8.67313248827e-05,-6.26784533932e-05,-2.65136712889e-05,1793239646133488640
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.979595338,715.979595338,678.020404662,661,635.020404662,879.979595338,788,804,652,631.020404662,653,0.404212455305,-0.0154636355203,0.0799639271266,0.999999995026,7.911865776e-05,-5.5923780066e-05,-2.36639650244e-05,1793239646150155264
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.447009495,715.447009495,678.552990505,661,635.552990505,879.447009495,788,804,652,631,653,0.404575320828,-0.0154718259407,0.0799590773469,0.999999995743,6.45690616399e-05,-5.95037346971e-05,-2.83727110461e-05,1793239646166821888
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.130202573,715,679,660.869797427,635.869797427,879,788,804,652,631,653,0.404950118672,-0.0154804025359,0.0799542527766,0.999999996192,5.08070535511e-05,-6.31835438336e-05,-3.22896963709e-05,1793239646183488512
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.721212301,715,679,660.278787699,635.278787699,879,788,804,652,631,653,0.405363252208,-0.0154903299734,0.079950850818,0.999999996475,4.07347142854e-05,-6.58725535888e-05,-3.24214074127e-05,1793239646200155136
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,678.693686274,660.612627452,635,879,788,804,652,631,653,0.405794300764,-0.0154977612643,0.079946281761,0.999999996155,3.24121090862e-05,-7.47331522524e-05,-3.24741098977e-05,1793239646216822016
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,678.113860394,661.772279212,635,879,788,804,652,631,653,0.406241345959,-0.0155029637094,0.0799406705838,0.999999995174,2.56518667199e-05,-8.91044561806e-05,-3.24562644598e-05,1793239646233488896
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,678.461723146,661.538276854,635,879,788,804,651.538276854,631.461723146,653,0.406713103993,-0.0155014991872,0.0799373004111,0.999999994459,3.1384594283e-05,-9.50530636231e-05,-3.2599631644e-05,1793239646250155520
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,678.963628565,661,635.036371435,879,788,804,651.036371435,631.963628565,653,0.407192957712,-0.0154990150913,0.0799344226843,0.999999993763,3.91807449696e-05,-9.93123307294e-05,-3.28137496306e-05,1793239646266821888
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,678.387475149,661,635.612524851,879,788,804,651.612524851,631.387475149,653,0.407703339617,-0.0155055768352,0.0799307264556,0.999999992972,3.22951700854e-05,-0.000109044551991,-3.34932448161e-05,1793239646283488512
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635.806487677,879.193512323,788,804,652,631,653,0.408237204263,-0.0155119906519,0.0799284601407,0.999999992534,2.13143332374e-05,-0.00011523434261,-3.46193677247e-05,1793239646300155136
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635.215572886,879.784427114,788,804,652,631,653,0.408819293711,-0.0155181006804,0.0799291303383,0.999999992811,1.92334911073e-06,-0.000114149295238,-3.66626981233e-05,1793239646316822016
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,678.365568856,661,635.365568856,880,788,804,651.634431144,631,653,0.409442872905,-0.0155183398924,0.0799490610634,0.999999996073,1.54489080938e-06,-8.06133195531e-05,-3.67868336063e-05,1793239646333488640
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,678.941097551,661,635.941097551,880,788,804,651.058902449,631,653,0.410090281188,-0.0155152072751,0.0799800538282,0.999999998881,1.20860364178e-05,-2.84395643294e-05,-3.58087036632e-05,1793239646350155264
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.518180366,745,715,679,661,636,880,788,804,651,631,653,0.410744700177,-0.0155135716666,0.0799935438271,0.999999999244,1.39330424107e-05,-7.22266611152e-06,-3.55648645175e-05,1793239646366822400
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.902572705,745,715,679,661,635.902572705,879.902572705,788,804,651,631.097427295,653,0.411395997636,-0.0155124567437,0.0799984530752,0.999999999259,1.31124069645e-05,1.39506828001e-07,-3.62017304858e-05,1793239646383489024
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.313295224,745,715,679,661,635.313295224,879.313295224,788,804,651,631.686704776,653,0.412027500943,-0.0155131087862,0.0799701177334,0.999999998162,3.82871046192e-06,-4.46239832817e-05,-4.08620858085e-05,1793239646400155648
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.270738524,879,788,804,651,631.729261476,653,0.41269869902,-0.0155158162603,0.0799437197499,0.999999995736,-6.72360895663e-06,-8.00658787688e-05,-4.5530038255e-05,1793239646416822272
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.848819658,879,788,804,651,631.151180342,653,0.413414958714,-0.0155208570621,0.0799195210536,0.99999999306,-1.87160714011e-05,-0.000104925897682,-5.02066156114e-05,1793239646433488640
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.424540706,788,804,651.424540706,631,653,0.41416351806,-0.0155214706019,0.0799301301639,0.999999995153,-1.6658363362e-05,-8.31722438292e-05,-4.99868117498e-05,1793239646450155264
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.999425931,788,804,651.999425931,631,653,0.414923515784,-0.0155205162951,0.0799530659215,0.999999997792,-9.62500421232e-06,-4.49110777883e-05,-4.8033029941e-05,1793239646466822144
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679.588267254,661,636,880,788,804.588267254,652,631,653,0.415670470177,-0.0155209244551,0.0799665468206,0.999999998417,-7.52414179616e-06,-3.07890770874e-05,-4.64879761132e-05,1793239646483488768
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679.825721493,661,636,880,788,805,651.825721493,631,653.174278507,0.41642613278,-0.0155204570071,0.0799711343208,0.999999998479,-9.16937158731e-06,-2.78631900392e-05,-4.67096115265e-05,1793239646500155392
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679.246321386,661,636,880,788,805,651.246321386,631,653.753678614,0.41720206844,-0.0155179509859,0.0799550705116,0.999999997211,-1.9511172754e-05,-5.09073008876e-05,-5.10370801085e-05,1793239646516821760
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,880,788,805,651,631,653.667927491,0.418042929281,-0.0155204549248,0.0799663116704,0.999999998045,-2.4271067738e-05,-2.56985166687e-05,-5.15717751041e-05,1793239646533488384
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,880,788,805,651,631,653.090277746,0.41893180414,-0.0155266638742,0.0799977456444,0.999999997855,-2.49029809381e-05,3.51946818572e-05,-4.93016038765e-05,1793239646550155264
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.484242273,636,880,788,804.515757727,651.484242273,631,653,0.419749891337,-0.0155288381053,0.0799922566541,0.999999997927,-2.76051336152e-05,3.06214656645e-05,-4.94633621836e-05,1793239646566821888
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.057619856,745,715.057619856,679,662,636,880,788,804,651.942380144,631,653.057619856,0.42055688829,-0.0155300435607,0.0799804849839,0.999999998161,-3.07036349515e-05,1.4076393985e-05,-5.03646883201e-05,1793239646583488768
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.626008986,745,715.626008986,679,662,636,880,788,804,651.373991014,631,653.626008986,0.421381808856,-0.0155292863364,0.0799736481646,0.999999997975,-3.39162237586e-05,-1.09702939687e-06,-5.38286637504e-05,1793239646600155136
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.795004056,745,715.795004056,679,661.795004056,635.795004056,880,788,804.204995944,651,631,653.795004056,0.422225487794,-0.0155293904252,0.0799796270479,0.999999997995,-3.23560754538e-05,3.33408296436e-06,-5.43293144868e-05,1793239646616821760
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.195628459,745,715.195628459,679,661.195628459,635.195628459,880,788,804.804371541,651,631,653.195628459,0.42310525501,-0.0155311515436,0.0800102613073,0.999999997525,-2.16139391647e-05,4.548120716e-05,-4.91289995075e-05,1793239646633488384
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.389019925,745,715.389019925,679.389019925,661.389019925,635.389019925,880.389019925,788,804.610980075,651.389019925,631.389019925,653,0.423958391916,-0.0155293224712,0.0800054152799,0.999999998277,-1.63630173224e-05,2.76289007926e-05,-4.91402528704e-05,1793239646650155008
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.966532465,745,715.966532465,679.966532465,661.966532465,635.966532465,880.966532465,788,804.033467535,651.966532465,631.966532465,653,0.424798625529,-0.0155257538363,0.0799833779149,0.999999998384,-1.37727654241e-05,-1.92950544079e-05,-5.16766783061e-05,1793239646666821632
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715.458893606,680,662,636,880.458893606,788,804,652,632,653,0.425636666437,-0.015528628478,0.0799497176789,0.999999996534,-1.83284917042e-05,-5.95470123758e-05,-5.5233830319e-05,1793239646683488256
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.881256712,745,715,680.118743288,662,636,880,788,804.118743288,651.881256712,631.881256712,653,0.426476611733,-0.015531746025,0.0799226114116,0.999999993904,-2.46632983311e-05,-9.0479959716e-05,-5.8279523234e-05,1793239646700155136
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.290732082,745,715,680.709267918,662,636,880,788,804.709267918,651.290732082,631.290732082,653,0.427324659274,-0.0155342538569,0.0799243856067,0.999999993898,-3.63200496776e-05,-8.60180661536e-05,-5.90436511509e-05,1793239646716821760
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.70578195,661.70578195,635.70578195,880.29421805,788,805,651.29421805,631,653,0.428176136225,-0.015535818833,0.0799292120933,0.99999999404,-3.76815138985e-05,-8.40741682777e-05,-5.85814300725e-05,1793239646733488384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.126237876,661.126237876,635.126237876,880.873762124,788,805,651.873762124,631,653,0.42903093889,-0.0155364694487,0.0799369986231,0.999999994381,-2.90588403563e-05,-8.45721660509e-05,-5.69299233764e-05,1793239646750155008
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.449039868,715,680,661,635.449039868,880.550960132,788,804.550960132,651.550960132,631,653,0.429930443479,-0.0155376668055,0.0799703671088,0.999999997399,-3.20111105486e-05,-3.44291070727e-05,-5.47036926907e-05,1793239646766822400
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.023706985,745.976293015,715,680.023706985,661.023706985,636,880,788,804,651.023706985,631.023706985,653,0.430839098258,-0.0155390332386,0.0800100526972,0.999999997515,-3.7888520959e-05,2.82509631425e-05,-5.2312466849e-05,1793239646783490048
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.612128814,745.387871186,715,680.612128814,661.612128814,636,880,788,804,651.612128814,631.612128814,653,0.431669178692,-0.015540800292,0.0800305143571,0.999999996649,-3.666071443e-05,5.36364031384e-05,-4.98034680691e-05,1793239646800155904
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.81045417,745,715,681,662,636,880,788,804.18954583,651.81045417,631.81045417,653,0.432468252264,-0.015540231361,0.0800223426855,0.999999997327,-3.7641121318e-05,3.70007699378e-05,-5.06013937186e-05,1793239646816822272
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.254320706,745,715,681,662,636,880,788,804.745679294,651.254320706,631.254320706,653,0.433207357729,-0.0155351445628,0.0799587932483,0.999999995555,-4.28922824265e-05,-6.09049445677e-05,-5.77950151641e-05,1793239646833489152
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.675567303,662,635.675567303,880,788,805,651,631,653,0.433976861138,-0.0155349325972,0.079920342234,0.999999990628,-5.0214549145e-05,-0.000111039970401,-6.23944920286e-05,1793239646850155776
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.07775338,662,635.07775338,880,788,805,651,631,653,0.434771979145,-0.0155388283797,0.0799030402561,0.999999988832,-5.92820202769e-05,-0.000120921312378,-6.48080287507e-05,1793239646866822400
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.500494749,662,635,880,788,804.499505251,651,631,653,0.435581934742,-0.0155446486757,0.079933909248,0.999999992903,-6.21554222953e-05,-8.07831107803e-05,-6.16793232793e-05,1793239646883489024
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.921753615,661.921753615,635,880.078246385,788,804.078246385,651,631.078246385,652.921753615,0.436383747429,-0.0155503071135,0.0799678954296,0.999999995505,-6.35987507384e-05,-3.95026390214e-05,-5.81866741901e-05,1793239646900155648
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.328000732,661.328000732,635,880.671999268,788,804.671999268,651,631.671999268,652.328000732,0.437117297619,-0.0155530035487,0.0799749701299,0.999999995629,-6.17215463348e-05,-3.99657477809e-05,-5.77553715331e-05,1793239646916822016
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.258347616,661.258347616,635,881,788,804.741652384,651,631.741652384,652.258347616,0.437830253599,-0.0155572883481,0.0799703802137,0.99999999476,-6.69364100509e-05,-5.06352709086e-05,-5.86058673561e-05,1793239646933488640
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680.83555698,661.83555698,635,881,788,804.16444302,651,631.16444302,652.83555698,0.438517791425,-0.0155635335624,0.0799513934156,0.999999992134,-8.09045547176e-05,-7.3901910909e-05,-6.10384041154e-05,1793239646950155264
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680.588610054,661.588610054,635.411389946,880.588610054,788,804.411389946,651,631,653,0.439167060523,-0.015567723616,0.0799142136597,0.999999985715,-8.87791320463e-05,-0.000128774989569,-6.40770118513e-05,1793239646966821888
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680.013325388,661.013325388,635.986674612,880.013325388,788,804.986674612,651,631,653,0.439801083701,-0.0155710949093,0.0798697859621,0.999999974037,-9.42260779208e-05,-0.000196239841795,-6.7357073759e-05,1793239646983488768
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680.576012627,661,635.423987373,880,787.423987373,804.423987373,651,631,653,0.440358885036,-0.0155707197257,0.0797953877382,0.999999943453,-0.000101282616402,-0.000311903206341,-7.4517005223e-05,1793239647000155392
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,880,787.162731939,804.162731939,651,631,653,0.440919689272,-0.0155723248862,0.0797314669762,0.999999906401,-0.000110596605305,-0.000410422217396,-8.07489021858e-05,1793239647016822272
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,880,787.741897317,804.741897317,651,631,653,0.441492803263,-0.0155792251141,0.0796961767992,0.999999881766,-0.000125589776991,-0.000462143906911,-8.43705170481e-05,1793239647033488896
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680.68114195,661,634.68114195,880.31885805,787.68114195,805,651,631.31885805,653,0.442084195515,-0.0155890678341,0.0797036911973,0.999999885589,-0.00014003329294,-0.000449685116875,-8.36388438467e-05,1793239647050155520
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680.105953569,661,634.105953569,880.894046431,787.105953569,805,651,631.894046431,653,0.442690281647,-0.0156012760262,0.0797456162416,0.999999910628,-0.000154034938904,-0.000385631566133,-7.94075573112e-05,1793239647066822144
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680.939308281,661,634.469654141,881,787,804.530345859,651,631.530345859,653,0.443251619887,-0.0156120094923,0.0797717229042,0.999999923736,-0.000168070886146,-0.000343942111216,-7.73542558344e-05,1793239647083488768
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681.907254601,660.9536273,634.9536273,881,786.9536273,804.0463727,651,631,653,0.443795317109,-0.0156219914576,0.0797906505566,0.999999931598,-0.000181151225769,-0.000313400019396,-7.59544838543e-05,1793239647100155136
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,680.73005371,660.365026855,634.365026855,881,786.365026855,804.634973145,651,631,653,0.444250886633,-0.0156270798999,0.0797673997709,0.999999917627,-0.000182967254024,-0.000354155305315,-7.64458960257e-05,1793239647116821760
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.220060362,745,715,680.220060362,660,634.220060362,881,786,805,651,631,653,0.444692092197,-0.0156311963117,0.0797435350632,0.999999901316,-0.000186135187524,-0.000395851015757,-7.76075257217e-05,1793239647133488384
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.799411502,745,715,680.799411502,660,634.799411502,881,786,805,651,631,653,0.445109845794,-0.0156337256965,0.0797186680124,0.999999882076,-0.000191510365803,-0.000439082146033,-7.98634141853e-05,1793239647150155264
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.624515062,745.375484938,714.624515062,681,660.375484938,634.624515062,880.624515062,786,805,651,631,653,0.445514497664,-0.0156375272515,0.0797041548966,0.999999870544,-0.000199248216603,-0.00046117708842,-8.07892616848e-05,1793239647166821888
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.05017741,745.94982259,714.05017741,681,660.94982259,634.05017741,880.05017741,786,805,651,631,653,0.44591221104,-0.0156420025341,0.0796951251091,0.999999863608,-0.00020823731351,-0.000472078541163,-8.10107342909e-05,1793239647183488768
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.474013383,714.525986617,681.525986617,660.474013383,634,880.525986617,786,805,651,631,653,0.446292320768,-0.0156486915488,0.0796930334968,0.999999864735,-0.000216445597429,-0.000465863464067,-8.15591146533e-05,1793239647200155392
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681.894969259,659.894969259,634,880.894969259,785.894969259,805,651,631,653,0.446662525085,-0.0156554114895,0.0796910697467,0.999999865822,-0.000223907378023,-0.000459906364608,-8.18967898459e-05,1793239647216822016
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,681.303393072,659.303393072,634,880.303393072,785.303393072,805,651,631,653,0.446994650066,-0.0156612930002,0.0796866215261,0.999999863598,-0.000228257308755,-0.000462734759383,-8.11134231465e-05,1793239647233488384
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.282326764,634,880.282326764,785,805,651,631,653,0.447297454982,-0.0156646085482,0.0796784473221,0.999999857945,-0.00023134081393,-0.000473279206828,-8.12269203572e-05,1793239647250155008
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.861881122,634,880.861881122,785,805,651,631,653,0.44756939234,-0.0156652227052,0.0796663504823,0.999999848443,-0.000233091052982,-0.000491946949631,-8.2284616786e-05,1793239647266821888
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.564075861,681,660,633.564075861,880.564075861,785,805,651,630.564075861,653,0.447809629859,-0.015663853706,0.0796540873207,0.999999836005,-0.000238928992279,-0.000513624174983,-8.42219133232e-05,1793239647283488768
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.008291573,681,659.991708427,633,880.008291573,784.991708427,805,650.991708427,630,653,0.448039733819,-0.0156618812467,0.0796418647681,0.999999822375,-0.000245937750608,-0.000536001229142,-8.64091952036e-05,1793239647300155648
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.584001701,681,659.415998299,633,880.584001701,784.415998299,805,650.415998299,630,653,0.448255115969,-0.0156610749689,0.0796359824481,0.99999981929,-0.000245544507088,-0.000541831499648,-8.68699813244e-05,1793239647316822272
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.834825787,681,659,633,881,784,805,650.165174213,630,653,0.448462604246,-0.0156620683712,0.0796318379664,0.999999817394,-0.000244490885277,-0.000545858233442,-8.646003416e-05,1793239647333488896
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.239425604,681,659,633,881,784,805,650.760574396,630,653,0.448649531476,-0.0156677493644,0.0796322199986,0.999999818662,-0.000241717189403,-0.000545187330331,-8.37821053443e-05,1793239647350155264
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.655487373,784,805,651,630,653,0.448820464745,-0.0156729720437,0.0796353344356,0.999999819855,-0.000245855585384,-0.000541485362919,-8.14835653427e-05,1793239647366821888
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.079258302,784,805,651,630,653,0.448980640622,-0.0156778864652,0.0796402866664,0.999999820912,-0.000254642998921,-0.000535744725718,-7.94401989559e-05,1793239647383488512
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.505158523,745.494841477,714,681,659.494841477,633,880.494841477,784,805,651,630,653,0.449109455151,-0.0156817573674,0.0796380976801,0.999999817192,-0.000263893693745,-0.000538085514247,-8.02532136587e-05,1793239647400155136
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.070789732,746,714,681,659.929210268,633,880.929210268,784,804.929210268,651,630,653,0.449229831953,-0.015685247989,0.0796342452443,0.999999812357,-0.000272313488455,-0.000542670330197,-8.14937786568e-05,1793239647416821760
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.662850398,746,714,681,659.337149602,633,880.337149602,784,804.337149602,651,630,653,0.449324906338,-0.015687163843,0.0796265302176,0.999999805419,-0.000274070762492,-0.000554288752416,-8.25282104755e-05,1793239647433488640
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.624431401,783,805,651,630,653,0.449785680521,-0.0156929072204,0.0796142927133,0.999999788301,-0.000284995702273,-0.000579276185709,-8.13288854675e-05,1793239647633488640
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714.313610293,681,659,632.686389707,880,783,805,651,630,653,0.449796637037,-0.0156885970723,0.0796105381124,0.999999785885,-0.000280164127733,-0.00058587483338,-8.05578604479e-05,1793239647750155264
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.589711939,714.589711939,681,659,633,880.410288061,783,805.410288061,651,630.589711939,653,0.449799393225,-0.0156891306701,0.0796110751648,0.999999785582,-0.000282997572434,-0.000585158934959,-7.96077500194e-05,1793239647833488384
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.824107901,714.824107901,681,658.824107901,633,880.175892099,783,805,651,630.824107901,653,0.449799609187,-0.0156887308275,0.0796108421751,0.999999785594,-0.000282563397147,-0.000585314287066,-7.98558072327e-05,1793239647850155008
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,633,881,783,805,651,630,653,0.449800638634,-0.015689030403,0.0796120615709,0.999999785792,-0.000282513303472,-0.00058501345737,-7.97546997189e-05,1793239647883489024
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,633,881,783,805,651,630,653,0.449800434359,-0.0156888247205,0.0796115488043,0.99999978603,-0.000280943105344,-0.000585406874475,-7.94319904583e-05,1793239647900156672
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633,882,783,806,651,630,653,0.44980316903,-0.0156856027263,0.0796091396767,0.999999785287,-0.000278774840612,-0.000587866264074,-7.82529620296e-05,1793239648419885312
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.423781089,680.576218911,658.423781089,633,880.847562177,783,806,651,630,653,0.449804124481,-0.0156832911175,0.0796094879334,0.999999785515,-0.000277530713751,-0.00058797525615,-7.89354466339e-05,1793239648436552704
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.844299962,658,633,880.155700038,783,805.844299962,651,630.155700038,653,0.449805007918,-0.0156819258098,0.0796099708038,0.999999786036,-0.000276292891117,-0.000587614777377,-7.93611824577e-05,1793239648453220096
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.255749657,658,633,880.744250343,783,805.255749657,651,630.744250343,653,0.449805691156,-0.015683191244,0.0796108279037,0.999999787373,-0.000275072594125,-0.000585949157124,-7.90731499672e-05,1793239648469886720
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.328132716,680.656265433,658,632.671867284,880.671867284,783,805,651,630.671867284,653,0.449805185238,-0.0156847417167,0.0796108117255,0.99999978685,-0.00027647461907,-0.000586208094285,-7.88782492692e-05,1793239648486553088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.908427856,681.816855713,658,632.091572144,880.091572144,783,805,651,630.091572144,653,0.44980376548,-0.0156865112349,0.079610124453,0.999999784889,-0.000279891838006,-0.00058794600952,-7.87549182223e-05,1793239648503219200
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.514858209,681.514858209,658,632.485141791,880,783,805.485141791,651,630,653,0.449802479689,-0.0156857316097,0.0796093677341,0.999999784162,-0.000279721301269,-0.000589267917069,-7.87083168789e-05,1793239648519885824
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.939114196,745.060885804,714,681,658,632.939114196,880,783,805.939114196,651,630,653,0.44980145533,-0.0156844739162,0.0796086746982,0.999999783823,-0.000278778924132,-0.000590292223693,-7.86792499762e-05,1793239648536551936
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.365885448,745.634114552,714,681,658,632.365885448,880,783,805.365885448,651,630,653,0.449802419659,-0.0156832125631,0.0796086270391,0.999999784805,-0.00027699841621,-0.000589468186448,-7.86767535155e-05,1793239648553218560
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.214345917,745.785654083,714,681,658.214345917,632,880,783,804.785654083,651.214345917,630,653,0.449799256709,-0.015682801214,0.0796066453443,0.999999783666,-0.000276431028789,-0.000591648700864,-7.87783607193e-05,1793239648569885184
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.806934286,745.193065714,714,681,658.806934286,632,880,783,804.193065714,651.806934286,630,653,0.449788810616,-0.0156838898121,0.0796012507812,0.999999778752,-0.000278004357255,-0.000599131154401,-7.90636729611e-05,1793239648586552064
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.610483647,658.610483647,632,880.389516353,783,804.389516353,651.610483647,630,653,0.449759437314,-0.0156819265925,0.0795868763304,0.99999976488,-0.000277465320131,-0.000621962996985,-8.00989922211e-05,1793239648603218944
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.032736986,658.032736986,632,880.967263014,783,804.967263014,651.032736986,630,653,0.449720917608,-0.0156784886094,0.0795681624283,0.999999745927,-0.000275905501072,-0.000652212295364,-8.14967456603e-05,1793239648619886080
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.541813138,658.541813138,632.541813138,880.458186862,783,805,651,630,653,0.449656118269,-0.0156763257169,0.0795447676144,0.999999719372,-0.000274322973286,-0.000692292061221,-8.20618030853e-05,1793239648636552448
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.119375644,714,681,659,633,880,783,805,651,630,653,0.449587706587,-0.0156737657847,0.0795231138045,0.99999969427,-0.000272912622184,-0.000728125944329,-8.25250599866e-05,1793239648653218816
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.709576639,714,681,659,633,880,783,805,651,630,653,0.449511273407,-0.0156693378232,0.0795094355637,0.999999682104,-0.000272186728069,-0.000744884893664,-8.27840813876e-05,1793239648669885440
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.705628585,714,680.705628585,659,633,880.294371415,783,805,651,630,653,0.449429328769,-0.0156656441937,0.0795020860553,0.999999676095,-0.000270615240701,-0.000753596315845,-8.16715839346e-05,1793239648686552320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.126071365,714,680.126071365,659,633,880.873928635,783,805,651,630,653,0.449342044658,-0.0156626619823,0.0795008677972,0.999999676245,-0.000268224546198,-0.000754511326295,-7.92303647151e-05,1793239648703218944
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.450915424,658.549084576,633,880.549084576,783,805,651.450915424,630,653,0.449241686221,-0.0156581948227,0.0795062072627,0.999999682554,-0.000265948646736,-0.000747255144618,-7.59759764521e-05,1793239648719885568
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.027022182,680.972977818,658.027022182,633,880,783,805.027022182,651.972977818,630,653,0.449136017318,-0.0156532991922,0.0795129155068,0.999999690029,-0.00026366545172,-0.000738351586626,-7.25162719235e-05,1793239648736552192
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.599787893,680.400212107,658.599787893,633,880,783,805.599787893,651.400212107,630,653,0.448996504958,-0.015648087537,0.0795104486139,0.99999968831,-0.000260590383289,-0.0007420555932,-6.94756130316e-05,1793239648753219328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.17299292,658.82700708,633,880,783,805.82700708,651,630,653,0.448846373764,-0.015641649764,0.0795083547092,0.99999968655,-0.000256176785964,-0.000746253007004,-6.61866874332e-05,1793239648769886208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.747216792,658.252783208,633,880,783,805.252783208,651,630,653,0.448671613807,-0.0156323681963,0.0795071258946,0.999999684695,-0.000248658673435,-0.000751594803851,-6.23219451249e-05,1793239648786552576
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.333588139,715,681.333588139,658.333588139,633,880,783.333588139,805,651,630,653.333588139,0.448480171567,-0.0156232512594,0.0795093723684,0.999999687992,-0.000238424673645,-0.0007509360095,-5.71445416519e-05,1793239648803218944
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.92951241,715,681.92951241,658.92951241,633,880,783.92951241,805,651,630,653.92951241,0.448275610242,-0.0156142637883,0.0795143518339,0.999999695224,-0.000226054879572,-0.000745558307175,-5.09348514936e-05,1793239648819885312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.507835723,745.492164277,714.492164277,680.984328554,659,633,880,784,805,651,630,654,0.448038955047,-0.0156055305657,0.0795144306823,0.999999696372,-0.000212480803086,-0.000748399437154,-4.47848545838e-05,1793239648836552192
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.829299323,745.085350339,714.085350339,680.085350339,659,633,880.170700677,784,805,651,630.085350339,653.914649661,0.447794313879,-0.0155965331576,0.079514551529,0.999999698245,-0.000194563443018,-0.000751114442026,-3.84873874768e-05,1793239648853218560
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.656033452,745.671983274,714.671983274,680.671983274,659,633,881.343966548,784,805,651,630.671983274,653.328016726,0.44752805579,-0.0155857838002,0.0795187802244,0.99999970923,-0.000152085803076,-0.000746613089796,-3.12767585634e-05,1793239648869885184
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880.416089388,784,805,650.583910612,630.583910612,653,0.446589260734,-0.0155529680284,0.0795405844138,0.999999743914,-7.35912669829e-05,-0.00071176932612,-1.19028097135e-05,1793239648919885568
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880.990378476,784,805,650.009621524,630.009621524,653,0.446240753145,-0.0155448047582,0.0795501981963,0.999999751266,-6.69222517523e-05,-0.000702091228401,-7.56292739658e-06,1793239648936552448
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.566949342,714.566949342,681,659,633,880.433050658,784.566949342,805,650.566949342,630.566949342,653,0.445840263577,-0.0155368569007,0.079562967143,0.999999759605,-6.47173545733e-05,-0.000690265254243,-1.16271249878e-05,1793239648953219072
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.853678265,745.853678265,714.853678265,681,659,633,880.146321735,785,805.146321735,651,631,653,0.445431297515,-0.0155310927036,0.0795751886444,0.999999768326,-6.21559861e-05,-0.000677722658857,-1.32872120031e-05,1793239648969885440
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.265972365,745.265972365,714.265972365,681,659,633,880.734027635,785,805.734027635,651,631,653,0.444999433763,-0.0155319045167,0.0795855965833,0.999999778405,-5.82898575738e-05,-0.000663128754896,-7.26325667451e-06,1793239648986552064
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.316937052,745,714.316937052,681,659.316937052,633,880.683062948,785,805.683062948,651,631,653,0.44453293163,-0.0155349343163,0.0795959471867,0.999999789064,-5.48563179633e-05,-0.000647190551984,-2.72563633825e-06,1793239649003218944
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.895881351,745,714.895881351,681,659.895881351,633,880.104118649,785,805.104118649,651,631,653,0.444037794405,-0.0155397976932,0.0796062503927,0.99999980012,-5.17803928831e-05,-0.000630141035052,5.83253160096e-07,1793239649019885568
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714.530156,681,659.530156,633.469844,880,785.469844,805,651,631,653,0.443525921753,-0.0155328627579,0.079614581396,0.999999807537,-4.03745341991e-05,-0.000619106146686,2.08543000768e-06,1793239649036552448
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.044028738,634,880,786,805,651,631,653,0.443008539845,-0.0155227150891,0.0796226384685,0.999999814395,-2.65790425001e-05,-0.000608681969887,3.23813357367e-06,1793239649053219328
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.634528527,634,880,786,805,651,631,653,0.442468325585,-0.0155048023176,0.0796326631611,0.999999826234,-5.79495428601e-06,-0.000589468299196,4.97044421173e-06,1793239649069885952
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880,786,805,651,631,653,0.441906896355,-0.0154914389206,0.0796466571828,0.999999839784,1.08507940596e-05,-0.000565914493095,7.37389435586e-06,1793239649086552576
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.621428741,660,634.378571259,880.378571259,786.378571259,805,651,631,653,0.440656082213,-0.0154770957223,0.0796661345996,0.999999857703,3.42412309405e-05,-0.000532254299575,1.12703043701e-05,1793239649119885568
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.042710257,660,634.957289743,880.957289743,786.957289743,805,651,631,653,0.439969936381,-0.0154674616386,0.0796538553034,0.999999850883,4.95792566149e-05,-0.000543759660103,1.00393365767e-05,1793239649136551936
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.531700515,680.531700515,660,635,881,787,805,651,631.531700515,653,0.439275703158,-0.0154619757299,0.0796376645889,0.999999839698,5.95454302936e-05,-0.000562983313014,1.03582118245e-05,1793239649153218816
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.108526739,635,880.891473261,787,805.108526739,651,631.891473261,653,0.438591164822,-0.0154570334156,0.0796359074953,0.999999839815,6.96319414121e-05,-0.000561590257415,1.17380183856e-05,1793239649169885440
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.697567236,635,880.302432764,787,805.697567236,651,631.302432764,653,0.437952405077,-0.0154530344453,0.0796994367604,0.99999988781,8.2146451163e-05,-0.000466191488282,1.72684256081e-05,1793239649186552320
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.717950524,681,661,635,880,787,805.717950524,651,631,653,0.437286062856,-0.0154471177459,0.0797655352632,0.99999992698,9.81781811316e-05,-0.00036858474817,2.33940328902e-05,1793239649203219456
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.928489324,745,715,680.928489324,661,635,880.071510676,787.071510676,804,651,631,653,0.429062717278,-0.0153852705969,0.0798308307629,0.999999937108,0.000217129294766,-0.000278360424692,3.39873237935e-05,1793239649369885696
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.338420201,745,715,680.338420201,661,635,880.661579799,787.661579799,804,651,631,653,0.428228482626,-0.0153864513555,0.0798631759701,0.999999947666,0.000217943224457,-0.000235899335065,3.90021992287e-05,1793239649386552320
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764.247302938,745,715,680.247302938,661,635,880.752697062,787.752697062,804,651,631.247302938,653,0.427356996901,-0.0153846425619,0.0798627385658,0.999999946577,0.000221891650949,-0.000236651933415,4.00702187485e-05,1793239649403218944
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.827181632,745,715,680.827181632,661,635,880.172818368,787.172818368,804,651,631.827181632,653,0.426435415397,-0.0153788133854,0.0798182147435,0.99999992923,0.000230055383776,-0.00029551877657,3.583046297e-05,1793239649419885312
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.596251374,715,680.596251374,661,635,880,787.403748626,804,651,632,653,0.425514136202,-0.0153771035438,0.0797838553095,0.999999912177,0.000233661908644,-0.000346246374505,3.40697340344e-05,1793239649436551936
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.021090406,715,680.021090406,661,635,880,787.978909594,804,651,632,653,0.424592985408,-0.015377142575,0.0797538111911,0.999999894324,0.000235333660412,-0.000393518434589,3.33614814727e-05,1793239649453218560
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.105867322,715,680.552933661,661,635,880,787.447066339,804.552933661,651.552933661,631.447066339,653,0.423649724971,-0.0153744150796,0.0797396894827,0.999999877731,0.000244751077031,-0.000428333492525,3.41461071234e-05,1793239649469885184
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.869086035,715,681,660.869086035,635,880,787.130913965,804.869086035,651.869086035,631,653,0.4227392731,-0.0153718796351,0.0797374994889,0.999999872379,0.000251308457664,-0.000436866759018,3.51140521749e-05,1793239649486552064
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.277017161,715,681,660.277017161,635,880,787.722982839,804.277017161,651.277017161,631,653,0.421947356651,-0.0153703916562,0.079775204956,0.999999906058,0.000246752553437,-0.000354490610224,3.65275816003e-05,1793239649503218944
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.692963625,660,635,880,788,804,651,631,653,0.42115753623,-0.015371928312,0.0798239251391,0.99999993472,0.000243684787769,-0.000263744992633,4.02094367324e-05,1793239649519885824
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.11595781,660,635,880,788,804,651,631,653,0.420369558837,-0.0153761244539,0.0798823302859,0.999999955965,0.000241925504804,-0.000165640313202,4.588577399e-05,1793239649536552192
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.460532014,635,880.460532014,787.539467986,804.460532014,651.460532014,631,653,0.419500801594,-0.0153757486779,0.0798720663371,0.999999951249,0.000243593001282,-0.000190059311236,4.51770920319e-05,1793239649553218816
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.962497555,787.037502445,804.962497555,652,631,653.037502445,0.418613023416,-0.0153741971668,0.0798441363808,0.999999938873,0.000245696334562,-0.000245087248543,4.26604275804e-05,1793239649569885440
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.376602219,787.623397781,804.376602219,652,631,653.623397781,0.417744196553,-0.0153722675745,0.0798104289781,0.999999925999,0.000241569897389,-0.000297089785959,3.71886113307e-05,1793239649586552320
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.791828489,635,880.208171511,788,804.208171511,651.791828489,631.208171511,653.791828489,0.416895835093,-0.0153702312041,0.0797953459994,0.999999917814,0.000239873605713,-0.000324980336469,3.4929483421e-05,1793239649603218944
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.209072882,635,880.790927118,788,804.790927118,651.209072882,631.790927118,653.209072882,0.416084298959,-0.0153680026967,0.0798137758287,0.999999921955,0.000242550121355,-0.000309483755267,3.84512704482e-05,1793239649619885568
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.630860582,715,680,660.369139418,635,880.630860582,788,805,651,631.630860582,653,0.415286653378,-0.0153658559006,0.079808121906,0.99999991748,0.0002462976284,-0.000320744595872,3.87257637081e-05,1793239649636552448
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744.055190264,715,680,660.944809736,635,880.055190264,788,805,651,631.055190264,653,0.414496779511,-0.0153637548215,0.0797889932929,0.999999907701,0.000250644347298,-0.000346976025918,3.71834187922e-05,1793239649653219328
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.481489041,661,635,880,788,804.481489041,651.518510959,631.518510959,653,0.413771165087,-0.0153643299356,0.0797989667538,0.999999915877,0.000249258980693,-0.000323685283996,3.6666570817e-05,1793239649669885952
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,661,635,879.905462527,787.905462527,804,652,632,653,0.413052884788,-0.0153650822649,0.0798113524607,0.999999924171,0.000248225058526,-0.00029782218168,3.66518583936e-05,1793239649686552320
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,661,635,879.316174163,787.316174163,804,652,632,653,0.412337327078,-0.0153652769198,0.0798202126597,0.999999926554,0.000252211307411,-0.000285978445926,3.86959315668e-05,1793239649703218944
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.269117912,744,715,679,661,635.269117912,879,787.269117912,804.269117912,652,631.730882088,653,0.411621010219,-0.0153631529157,0.0798166634087,0.999999922971,0.000256144265202,-0.000294823756378,3.90674066691e-05,1793239649719885568
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.849783592,744,715,679,661,635.849783592,879,787.849783592,804.849783592,652,631.150216408,653,0.410903814569,-0.0153583446864,0.0797987481999,0.999999911825,0.000260015529434,-0.000327620004501,3.75025772093e-05,1793239649736552192
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.148201092,744.425899454,715,679,661,636,879.425899454,787.574100546,805,652,631.425899454,653,0.410245570712,-0.0153568370876,0.0797953414076,0.999999908926,0.000260510183919,-0.000336031172018,3.6939570516e-05,1793239649753218816
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.000427278,745,715,679,661,635.999572722,879.999572722,787.000427278,804.999572722,652,631.999572722,653,0.409607949319,-0.0153564822275,0.0797970184357,0.999999909157,0.000259827279544,-0.000335895828983,3.67284338038e-05,1793239649769885440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.574540599,745,715,679,661,635.425459401,879.425459401,787.574540599,804.425459401,652,631.425459401,653,0.409037139404,-0.0153573334581,0.0798265325533,0.999999924328,0.000260213733341,-0.000286477149906,3.95490330063e-05,1793239649786552320
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.15287205,744.84712795,715,679,661,635,879,788,804,651.84712795,631.15287205,653,0.408464162389,-0.015356539447,0.0798471153884,0.999999932383,0.000263756659541,-0.000252840423288,4.17021209052e-05,1793239649803218688
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.743276264,744.256723736,715,679,661,635,879,788,804,651.256723736,631.743276264,653,0.407884982825,-0.0153510366209,0.0798421361778,0.999999925994,0.000276333666583,-0.000264372910789,4.19447383735e-05,1793239649819885568
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.671567255,744,715,679.328432745,660.671567255,635.328432745,879,788,804,651.328432745,632,653,0.40731084889,-0.0153478838567,0.0798202000059,0.99999991399,0.000278454108674,-0.000304761633903,4.00483847693e-05,1793239649836552192
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.484080178,715,679.515919822,660.484080178,635.515919822,879.968160356,788,804,652,632,653,0.406259492253,-0.0153505135407,0.0797770079539,0.999999893089,0.000269804424191,-0.000373855707182,3.54786458219e-05,1793239649869885184
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.058941193,744.941058807,715,679,661,635.058941193,880.882117614,788,804,652,632,653,0.40580016004,-0.0153547961047,0.0797763809323,0.999999896465,0.00026823477812,-0.000365905211915,3.51120276765e-05,1793239649886552064
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.767235356,744.232764644,715,679,661,635.767235356,879,787.767235356,804,652,632,653,0.404986765016,-0.015351486675,0.079818607202,0.999999920155,0.000272560907412,-0.000289804031926,3.75963930967e-05,1793239649919885312
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.187723726,744.812276274,715,679,661,635.187723726,879,787.187723726,804,652,632,653,0.404598523309,-0.0153502547454,0.0798315276554,0.99999992402,0.000269340138956,-0.000279212724325,3.81710254626e-05,1793239649936552192
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.610035413,661,635.389964587,879,787.389964587,804,652,631.610035413,653,0.404229601453,-0.01534645129,0.0798350283212,0.999999921228,0.000279698618106,-0.000278777186845,3.9950059688e-05,1793239649953219328
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.033220686,661,635.966779314,879,787.966779314,804,652,631.033220686,653,0.403869936601,-0.015341415697,0.0798340155306,0.999999915027,0.000296563544946,-0.000283207749381,4.23061788094e-05,1793239649969886208
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.45853654,715,678.54146346,660.45853654,635.45853654,879,788,804,652,631,653,0.40354763865,-0.0153359871539,0.0798318803497,0.999999914549,0.000290840642328,-0.000291240063527,3.86493341235e-05,1793239649986552320
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744,715,678.880671217,660,635,879,788,804,651.880671217,631.119328783,653,0.403238905952,-0.0153316785738,0.0798317819502,0.999999914811,0.000286000662172,-0.000295459377766,3.58491908907e-05,1793239650003218944
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,715,678.289718111,660,635,879,788,804,651.289718111,631.710281889,653,0.402974761724,-0.0153318913456,0.0798400046413,0.999999916948,0.000290106075118,-0.000283738578723,3.78873534079e-05,1793239650019885568
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.295343103,715,678.295343103,660,635.295343103,879.295343103,788,804.295343103,651.295343103,631.704656897,653,0.40272603606,-0.0153330411441,0.0798446684059,0.999999918189,0.000290638706518,-0.000278681701122,3.85602465462e-05,1793239650036551936
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.024189443,715,678.975810557,660,635.975810557,879,787.024189443,803.975810557,652,630.975810557,653,0.402094367443,-0.0153577151756,0.0798404439956,0.999999923182,0.000265309020925,-0.000286039475705,3.78076132249e-05,1793239650086552064
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.613266651,715,678.386733349,660,635.386733349,879,787.613266651,803.386733349,652,630.386733349,653,0.401941960398,-0.0153599936301,0.0798411407358,0.999999924569,0.000263472787844,-0.000282764351125,3.85794941328e-05,1793239650103218944
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..36e94e4d602550f03e2aa7dd7ed9dcfad5089fb5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,417 @@
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+412,6.866666667,pose2_to_pose3_retreat,0.575664567786,-0.00990918903406,1.07003222808,0.546235019223,-0.00123744976175,1.0697003649
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+414,6.900000000,pose2_to_pose3_retreat,0.575664368639,-0.00990913418614,1.07003233451,0.546234817909,-0.00123740251135,1.06970046491
+415,6.916666667,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385433,1.06970035116
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e4cb741fb7cc32ac7871b13144efad3f422c90f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4ca7f2aef59e615bd4373ee167f31faae900c6cd197a5e2c55ddc995969dd39
+size 26477708
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7159384cb587c47a6b23db3b7b1d42658042de84
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
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+55,0.916666667,BASELINE,765,744.91656419,715,679,661,636,879.91656419,788,804,651.91656419,631.08343581,653,0.400990462295,-0.0153549259779,0.0798508948452,0.999999926999,0.000276884781252,-0.000261110028599,3.4032498572e-05,1793239651892542976
+56,0.933333333,BASELINE,765,745,715,679,661,636,879.507847416,788,804.492152584,651.507847416,631.492152584,653,0.400989553938,-0.0153555111557,0.0798500588133,0.999999927033,0.000275667099445,-0.000262327815521,3.35588950358e-05,1793239651909209856
+57,0.950000000,BASELINE,765,745,715.067149296,679,661,636,879,788,804.932850704,651,631.932850704,653,0.400988727756,-0.0153560690653,0.0798492772983,0.999999927137,0.000274299795728,-0.00026342036063,3.30958151223e-05,1793239651925876224
+58,0.966666667,BASELINE,765,745,715.642736447,679,661,636,879,788,804.357263553,651,631.357263553,653,0.400989551401,-0.0153576461273,0.0798501693184,0.999999928104,0.0002718624872,-0.000262215566607,3.35449599803e-05,1793239651942543104
+59,0.983333333,BASELINE,765,745,715.77717417,679,661,636,879,788,804,651.22282583,631.22282583,653,0.400989478058,-0.0153571073738,0.0798504223899,0.999999927951,0.000272590461296,-0.000262015110062,3.37753653571e-05,1793239651959209728
+60,1.000000000,BASELINE,765,745,715.189717265,679,661,636,879,788,804,651.810282735,631.810282735,653,0.400987936891,-0.0153531063106,0.0798496298893,0.999999925948,0.000278498087663,-0.000263458146154,3.36478266114e-05,1793239651975876608
+61,1.016666667,BASELINE,765,745,715,679,661,636,879,788,804,652,632,653,0.400988027097,-0.0153532518558,0.0798494568557,0.999999925622,0.00027952628215,-0.000263573333162,3.38999347016e-05,1793239651992543232
+62,1.033333333,BASELINE,765,745,715,679,661,636,879,788,804,652,632,653,0.40098889545,-0.0153553752856,0.0798495793007,0.999999926106,0.000278227043447,-0.00026305515136,3.43331299705e-05,1793239652009209856
+63,1.050000000,BASELINE,765,745,715,679,661,636,879,788,804.551864066,652,631.448135934,653.551864066,0.40098863458,-0.0153552808083,0.0798497750708,0.999999926776,0.000275686191162,-0.000263271193141,3.3674732713e-05,1793239652025876480
+64,1.066666667,BASELINE,765,745,715.127285179,679,660.872714821,636,879.127285179,788,804.872714821,652,631.127285179,653.872714821,0.40098854346,-0.0153549439026,0.0798501106568,0.999999927175,0.000274280438936,-0.000263291231532,3.31414945774e-05,1793239652042543104
+65,1.083333333,BASELINE,765,745,715.698608062,679,660.301391938,636,879.698608062,788,804.301391938,652,631.698608062,653.301391938,0.400989221055,-0.0153541080235,0.0798509225301,0.999999926619,0.00027702862531,-0.000262512719523,3.32155352784e-05,1793239652059209728
+66,1.100000000,BASELINE,765,744.720822753,715.720822753,679,660.279177247,636,879.720822753,788,804,652,632,653.279177247,0.40098960631,-0.015354045837,0.0798509389654,0.99999992656,0.000277511698259,-0.000262204898263,3.34071301265e-05,1793239652075876352
+67,1.116666667,BASELINE,765,744.129929631,715.129929631,679,660.870070369,636,879.129929631,788,804,652,632,653.870070369,0.400989665149,-0.0153548475188,0.0798500672526,0.999999927058,0.00027546565441,-0.000262422627687,3.37299802717e-05,1793239652092542976
+68,1.133333333,BASELINE,765,744.452700193,715,679,661,636,879,788,804,651.547299807,632,653.547299807,0.400991443647,-0.0153558814686,0.0798517717718,0.999999928086,0.000274227662588,-0.000259757709197,3.39554941771e-05,1793239652109209856
+69,1.150000000,BASELINE,765.032761073,744.967238927,715,679,661,636,879,788,804,651.032761073,631.967238927,653,0.400993511739,-0.0153568615887,0.0798540122189,0.999999929169,0.000273269951044,-0.00025655679885,3.41182542306e-05,1793239652125876736
+70,1.166666667,BASELINE,765.60884417,744.39115583,715,679,661,636,879,788,804,651.60884417,631.39115583,653,0.400992343917,-0.0153558632224,0.0798530979389,0.999999928851,0.000273183226196,-0.000257941915919,3.3695284651e-05,1793239652142543616
+71,1.183333333,BASELINE,765.811472945,744.188527055,715.188527055,678.811472945,661,636,879.188527055,788,804,652,631,653,0.400991520545,-0.0153549066907,0.0798524605917,0.999999928342,0.00027410079827,-0.000258963950853,3.3517202395e-05,1793239652159210496
+72,1.200000000,BASELINE,765.224175725,744.775824275,715.775824275,678.224175725,661,636,879.775824275,788,804,652,631,653,0.400991425749,-0.0153540386466,0.0798524090094,0.999999927426,0.000277142647127,-0.000259217999071,3.38571027876e-05,1793239652175876608
+73,1.216666667,BASELINE,765.357348195,745,716,678.357348195,661,636,879.642651805,788,804,652,631,653,0.400991249234,-0.0153538926435,0.0798521540457,0.99999992734,0.000277098626593,-0.000259598226865,3.38267833549e-05,1793239652192542976
+74,1.233333333,BASELINE,765.935307893,745,716,678.935307893,661,636,879.064692107,788,804,652,631,653,0.400991022267,-0.0153541923977,0.0798517735229,0.999999927768,0.000275149522007,-0.000260056352521,3.35679060052e-05,1793239652209209600
+75,1.250000000,BASELINE,765.486765887,744.486765887,715.486765887,679,661,636,879.513234113,787.486765887,804,652,631,653,0.400990639871,-0.0153554092959,0.0798518087396,0.999999927651,0.000275531083393,-0.000260042513036,3.40312544348e-05,1793239652225876480
+76,1.266666667,BASELINE,765,744.090588197,715,679,661,635.909411803,879.909411803,787.090588197,804,651.909411803,631,653,0.400990312682,-0.0153563805114,0.0798518448846,0.999999927484,0.000276089255838,-0.000260036999519,3.44573167713e-05,1793239652242543360
+77,1.283333333,BASELINE,765,744.664909645,715,679,661,635.335090355,879.335090355,787.664909645,804,651.335090355,631,653,0.400990384914,-0.0153554225265,0.0798516061764,0.999999927419,0.000276021881601,-0.000260393598038,3.41981866887e-05,1793239652259210240
+78,1.300000000,BASELINE,765,745,715,679,661,635.24559563,879,788,804,651.24559563,631.24559563,653,0.400990315788,-0.0153551880863,0.0798515303189,0.999999927536,0.000275442812863,-0.00026057982331,3.40293881754e-05,1793239652275877120
+79,1.316666667,BASELINE,765,745,715,679,661,635.835196354,879,788,804,651.835196354,631.835196354,653,0.400990048662,-0.0153559671132,0.0798516825662,0.999999927907,0.000274147015109,-0.000260527407236,3.39871168541e-05,1793239652292543744
+80,1.333333333,BASELINE,765.418440467,745,715,679,661,635.581559533,879,788,804.418440467,652,631.581559533,653,0.400989527507,-0.0153558997201,0.0798510729423,0.999999927529,0.000274745542525,-0.000261342800202,3.40101361134e-05,1793239652309210112
+81,1.350000000,BASELINE,765.999218528,745,715,679,661,635.000781472,879,788,804.999218528,652,631.000781472,653,0.4009889078,-0.0153555039512,0.0798501677439,0.999999926858,0.000276078989643,-0.000262494867176,3.40584854136e-05,1793239652325876480
+82,1.366666667,BASELINE,765.428157287,745,715,679,661,635.571842713,879,788,804.428157287,652,631.571842713,653.571842713,0.400989036734,-0.0153544212712,0.0798505333153,0.999999926896,0.000276219920367,-0.000262252277788,3.36821713341e-05,1793239652342543104
+83,1.383333333,BASELINE,765,744.851017757,715,679,661,636,879,788,804,652,632,653.851017757,0.400988868857,-0.0153536888405,0.0798505238597,0.999999926842,0.000276297502417,-0.000262414349446,3.33903298387e-05,1793239652359209728
+84,1.400000000,BASELINE,765,744.260462353,715,679,661,636,879,788,804,652,632,653.260462353,0.400987818262,-0.0153539972676,0.0798493977749,0.999999926513,0.000276192085715,-0.000263781378241,3.33505551065e-05,1793239652375876352
+85,1.416666667,BASELINE,765,744.323726724,715,679,661,636,879,787.676273276,804,652,631.676273276,653,0.400988326814,-0.0153543554624,0.0798498661193,0.999999926489,0.000277033559422,-0.000262957082364,3.35989828072e-05,1793239652392542976
+86,1.433333333,BASELINE,765,744.90289237,715,679,661,636,879,787.09710763,804,652,631.09710763,653,0.400990065621,-0.0153547529267,0.0798515925597,0.999999926699,0.000278622183887,-0.000260403705764,3.40748187319e-05,1793239652409209856
+87,1.450000000,BASELINE,765,745,715,678.520620572,661,636,879,787.479379428,804,652,631,653,0.400991523155,-0.0153556569795,0.0798529734531,0.999999927789,0.000276385777483,-0.000258590382172,3.41135532692e-05,1793239652425876992
+88,1.466666667,BASELINE,765,744.943611368,715,678.056388632,661,636,879,788,804,652,631,653,0.400992430839,-0.0153564633807,0.0798538644012,0.999999928804,0.000273702950911,-0.000257531633161,3.40003086479e-05,1793239652442543616
+89,1.483333333,BASELINE,765,744.35661136,715,678.64338864,661,636,879,788,804,652,631,653,0.40098869767,-0.0153553906188,0.079850800021,0.999999927522,0.000274069955902,-0.00026217053553,3.32855101616e-05,1793239652459210240
+90,1.500000000,BASELINE,765,744.227391553,715,679,660.772608447,636,879,788,804.227391553,652,631,653,0.400986904295,-0.0153548789544,0.079849407703,0.999999926744,0.000274863407697,-0.000264333813024,3.30230393865e-05,1793239652475876608
+91,1.516666667,BASELINE,765,744.8067553,715,679,660.1932447,636,879,788,804.8067553,652,631,653,0.400988113463,-0.0153552357956,0.0798506035175,0.999999926768,0.000276316942994,-0.000262665148626,3.34607124413e-05,1793239652492542976
+92,1.533333333,BASELINE,765,744.614284547,715,679,660.385715453,636,879,788,804.614284547,652,631,653,0.40098839983,-0.0153549000457,0.0798503610734,0.999999926416,0.000277444934779,-0.00026279615879,3.36176344699e-05,1793239652509209856
+93,1.550000000,BASELINE,765,744.035526332,715,679,660.964473668,636,879,788,804.035526332,652,631,653,0.400988224353,-0.0153542176681,0.0798493988102,0.999999925876,0.00027840999877,-0.00026382786942,3.36340463432e-05,1793239652525876480
+94,1.566666667,BASELINE,765.540601908,744.540601908,715,679,661.540601908,636,879,788,804.540601908,651.459398092,631.540601908,653,0.400988539205,-0.0153534472368,0.0798496239313,0.999999926059,0.000278348043921,-0.000263193898571,3.36628179223e-05,1793239652542543104
+95,1.583333333,BASELINE,765.88421583,745,715,679,661.88421583,636,879,787.88421583,804.88421583,651,631.88421583,653,0.400988843489,-0.0153530389472,0.07984990472,0.999999926361,0.000277817901915,-0.000262609919156,3.36245732554e-05,1793239652559209984
+96,1.600000000,BASELINE,765.312083944,745,715,679,661.312083944,636,879,787.312083944,804.312083944,651,631.312083944,653,0.400988979737,-0.0153540806864,0.0798500988577,0.999999926945,0.000275707185331,-0.000262652316413,3.33190072752e-05,1793239652575876864
+97,1.616666667,BASELINE,765,744.729178835,715,679,661,635.729178835,879,787.270821165,804,651.270821165,631,653,0.400988940557,-0.015355047497,0.0798501627936,0.999999927565,0.000273408779468,-0.000262724538113,3.30684898413e-05,1793239652592543488
+98,1.633333333,BASELINE,765,744.133344802,715,679,661,635.133344802,879,787.866655198,804,651.866655198,631,653,0.400988690845,-0.0153559243857,0.0798500704743,0.999999928229,0.000270885127558,-0.000262832552171,3.28840362652e-05,1793239652609209856
+99,1.650000000,BASELINE,765,744.446605071,715,679,661,635.446605071,879.446605071,788,804.446605071,651.553394929,631,653,0.400989082168,-0.0153561370465,0.0798502795755,0.999999927888,0.0002723255714,-0.000262614895038,3.30970043357e-05,1793239652625876480
+100,1.666666667,BASELINE,765,745,715,679,661,636,879.978049467,788,804.978049467,651.021950533,631.021950533,653,0.400989623123,-0.0153561382698,0.0798505650172,0.999999927283,0.000274787644634,-0.000262314634235,3.3409696266e-05,1793239652642543104
+101,1.683333333,BASELINE,765,745,715,679,661,636,879.403325589,788,804.403325589,651.596674411,631.596674411,653,0.400989277845,-0.0153556376669,0.0798505844044,0.999999927452,0.000274195112315,-0.000262298781076,3.33481567875e-05,1793239652659209728
+102,1.700000000,BASELINE,765,745,715,679,661,635.824410653,879,788,804,652,631.824410653,652.824410653,0.400989009938,-0.0153551280319,0.0798506175159,0.999999927477,0.000274103664347,-0.000262302092414,3.33272181299e-05,1793239652675876608
+103,1.716666667,BASELINE,765,745,715,679,661,635.235633617,879,788,804,652,631.235633617,652.235633617,0.4009889241,-0.0153545971427,0.079850682923,0.999999927163,0.000275191342012,-0.00026235050065,3.34018192145e-05,1793239652692543232
+104,1.733333333,BASELINE,765,744.65241244,715,678.65241244,661,635.34758756,879,788,804,651.65241244,631,652.34758756,0.400990125455,-0.0153555362576,0.0798517577891,0.999999927524,0.000275447602297,-0.000260658865379,3.37269162813e-05,1793239652709210368
+105,1.750000000,BASELINE,765,744.07289833,715,678.07289833,661,635.92710167,879,788,804,651.07289833,631,652.92710167,0.400992185686,-0.0153574562273,0.0798535062133,0.999999928329,0.000275149102435,-0.000257806192343,3.42191558979e-05,1793239652725877248
+106,1.766666667,BASELINE,765,744,715,678.504177542,661,636,879,788,804,651.504177542,631,653,0.400990057861,-0.0153568708985,0.0798516360696,0.999999927848,0.0002743803516,-0.000260521058406,3.38808512974e-05,1793239652742543872
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,678,662,636,880,788,804,651,631,653,0.400989678497,-0.0153561102687,0.0798515711886,0.999999928097,0.000273355921644,-0.000260683978075,3.35622251335e-05,1793239652785879808
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.590414547,744.590414547,715,678.590414547,661.409585453,636,880,788,804,651.590414547,631,653,0.400989477499,-0.0153564270542,0.0798508745505,0.999999927814,0.000273611067488,-0.000261505429643,3.35244567477e-05,1793239652802546176
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.822919893,744.822919893,715,678.822919893,661,635.822919893,879.822919893,788,804.177080107,651.822919893,631,653,0.400989190851,-0.0153566732298,0.0798504263214,0.999999927662,0.000273426998172,-0.000262283792704,3.34929033284e-05,1793239652819212800
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.244745829,744.244745829,715,678.244745829,661,635.244745829,879.244745829,788,804.755254171,651.244745829,631,653,0.400988710204,-0.0153567594713,0.0798505407489,0.999999927805,0.000272248087936,-0.000262964558635,3.34754270646e-05,1793239652835879424
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.331270318,715,678.331270318,661,635.331270318,879.331270318,788,804.668729682,651.331270318,631.331270318,653,0.400988794181,-0.0153566956336,0.0798506994532,0.999999927847,0.00027243390321,-0.000262602307413,3.35416607769e-05,1793239652852545792
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.905702457,715,678.905702457,661,635.905702457,879.905702457,788,804.094297543,651.905702457,631.905702457,653,0.400989292609,-0.0153565216333,0.0798508906577,0.999999927814,0.000273621465838,-0.000261474451937,3.36693399901e-05,1793239652869212416
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.509185346,788,804.490814654,652,631.509185346,653,0.400989692022,-0.0153567032579,0.0798511809247,0.999999927798,0.000273972587331,-0.000261134180171,3.39498285059e-05,1793239652885878784
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.077502776,744.922497224,715,679,661,636,878.922497224,788,804.922497224,651.922497224,631,653,0.400990430434,-0.0153569733359,0.0798516366776,0.999999927919,0.000273935673355,-0.00026068128442,3.41566911095e-05,1793239652902545664
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.660786836,744.339213164,715,679,661,636,878.339213164,788,804.339213164,651.339213164,631,653,0.40099350806,-0.0153573648588,0.0798530454201,0.999999928914,0.000272438507017,-0.00025848396932,3.3687218656e-05,1793239652919212288
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.75928556,744.24071444,715,678.75928556,661,636,878.24071444,787.75928556,804,651.24071444,631,653,0.401002523729,-0.0153578297694,0.0798569531964,0.999999930776,0.000271689527213,-0.000251988418254,3.36928668819e-05,1793239652935878912
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.184022854,744.815977146,715,678.184022854,661,636,878.815977146,787.184022854,804,651.815977146,631,653,0.401019792172,-0.0153583966751,0.0798643341644,0.999999933738,0.000271980387518,-0.000239519119432,3.43588444479e-05,1793239652952545536
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,678.390055914,661,636,879,787.390055914,804,652,631.390055914,653,0.401055998631,-0.0153589525495,0.0798780081078,0.999999939208,0.000272767279372,-0.00021438144971,3.49744263744e-05,1793239652969212160
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,678.963577859,661,636,879,787.963577859,804,652,631.963577859,653,0.401101112745,-0.0153595032353,0.079894642005,0.999999945091,0.00027378748359,-0.000183285105533,3.55663043264e-05,1793239652985878784
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.448120861,715,679,660.448120861,636,879,788,803.448120861,652,631.448120861,653.551879139,0.401166330784,-0.0153621964942,0.079911076511,0.999999950565,0.000273450785544,-0.000151022590322,3.58842371591e-05,1793239653002545408
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.139095835,715,679,660.139095835,636,879,788,803.139095835,652,631,653.860904165,0.401236300324,-0.015365226414,0.0799264022372,0.999999954502,0.000273297753825,-0.000122500894439,3.60342683069e-05,1793239653019212032
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.719689038,715,679,660.719689038,636,879,788,803.719689038,652,631,653.280310962,0.401317024203,-0.0153688637446,0.0799382515604,0.99999995619,0.000274019749753,-0.000106103752266,3.57103351444e-05,1793239653035878912
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,652,631,653,0.401404232991,-0.0153722010828,0.079945160829,0.999999957496,0.00027337635584,-9.55115989701e-05,3.39332229868e-05,1793239653052545792
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,652,631,653,0.401497495382,-0.0153752583804,0.0799474585979,0.9999999586,0.000271458382082,-9.03383545875e-05,3.07995805799e-05,1793239653069213440
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.543215592,715,678.543215592,660.543215592,636,879,788,804,651.543215592,631,653,0.401603346655,-0.015379646092,0.0799480848389,0.999999959825,0.000267955094197,-8.84048688649e-05,2.7099987825e-05,1793239653085879552
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.044037124,715,678.044037124,660.044037124,636,879,788,804,651.044037124,631,653,0.401715362043,-0.0153843765472,0.0799485060679,0.999999961123,0.000263975713101,-8.67844609051e-05,2.32027444417e-05,1793239653102545664
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.623127166,715,678.623127166,660.623127166,636,879,788,804,651.623127166,631,653,0.401858359084,-0.0153886305934,0.0799522670264,0.999999963073,0.000259741681451,-7.76670145135e-05,1.8878188533e-05,1793239653119212544
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,651.798041689,631.201958311,653.201958311,0.402011035409,-0.0153931746872,0.0799555444702,0.999999965027,0.000254524589891,-7.04519319339e-05,1.4156653082e-05,1793239653135879424
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,651.219693116,631.780306884,653.780306884,0.402181751022,-0.015398259343,0.0799579207862,0.99999996711,0.000247475367368,-6.67822910655e-05,8.69526624971e-06,1793239653152546304
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.342185922,788.342185922,804,651.342185922,632,653.657814078,0.402362255756,-0.0154048504532,0.0799555878377,0.999999969593,0.00023563101589,-7.27130145078e-05,2.31962903795e-06,1793239653169212672
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.893976657,788.893976657,804,651.893976657,632,653.106023343,0.402548756799,-0.0154123643372,0.0799503702457,0.99999997203,0.000220849423851,-8.45244078343e-05,-4.6160296401e-06,1793239653185879296
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,678.502489958,661,636,879.502489958,788.502489958,804,651.502489958,632,653.497510042,0.402770541319,-0.0154197690862,0.0799480016694,0.999999982896,0.000162626684772,-8.72081519183e-05,-1.24658460084e-05,1793239653202545664
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.893967077,715,678,661,636,879,788,804,651.106032923,632,653.893967077,0.403009021403,-0.0154276799491,0.0799471538058,0.999999990546,0.000105165670735,-8.62778002969e-05,-2.00929318851e-05,1793239653219212544
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.317881769,715,678,661,636,879,788,804,651.682118231,632,653.317881769,0.403284311994,-0.0154379495283,0.0799500434262,0.999999991858,9.68850663897e-05,-7.89499219623e-05,-2.57687655537e-05,1793239653235878912
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.258533384,715,678.258533384,661,636,879,788,804,652,631.741466616,653,0.403578648554,-0.0154475330784,0.0799536406962,0.999999992418,9.65310405828e-05,-7.20112178645e-05,-2.57007164585e-05,1793239653252545536
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.835354584,715,678.835354584,661,636,879,788,804,652,631.164645416,653,0.40389643313,-0.0154562720381,0.0799581091735,0.999999992068,0.000105935652026,-6.55516377027e-05,-1.85612092475e-05,1793239653269212416
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,652,631.409153584,653,0.404241219053,-0.0154640867838,0.079956015218,0.999999993265,9.0932528153e-05,-6.8768941088e-05,-2.17371735534e-05,1793239653285879296
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,652,631.98174534,653,0.404596790775,-0.015471532348,0.0799512998703,0.999999994512,6.61796284354e-05,-7.58517176263e-05,-2.90336977853e-05,1793239653302546176
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,803.421890003,652,632,653.578109997,0.404993206085,-0.015484256753,0.0799515588834,0.999999995888,4.93392862515e-05,-6.98226958288e-05,-3.02483305162e-05,1793239653319212800
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715.16916689,679,661,636,879.16916689,788,803.16916689,651.83083311,631.83083311,653.83083311,0.405398560691,-0.0154958845938,0.0799504173561,0.999999996552,3.45403123367e-05,-6.86898461161e-05,-3.13852678934e-05,1793239653335879168
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715.745562003,679,661,636,879.745562003,788,803.745562003,651.254437997,631.254437997,653.254437997,0.405822196651,-0.0155044542538,0.0799455100378,0.999999995942,2.40281916283e-05,-8.03827476115e-05,-3.28172989013e-05,1793239653352545792
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715.678904065,679,661,636,879.678904065,788,804,651,631.321095935,653,0.406271830415,-0.0155121425888,0.0799410902252,0.999999995355,2.15645486501e-05,-8.85347681925e-05,-3.14129643662e-05,1793239653369212416
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715.10405065,679,661,636,879.10405065,788,804,651,631.89594935,653,0.406742009916,-0.0155191344263,0.0799370556808,0.999999994883,2.54615002736e-05,-9.38884829818e-05,-2.77670912574e-05,1793239653385878784
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.51909662,636,879,788,804,651,631.51909662,653,0.407238037944,-0.0155088345264,0.0799354907323,0.999999994284,3.00720141514e-05,-9.81252995425e-05,-2.99796419999e-05,1793239653402545664
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,636,879.067160407,788,804,651,631,653,0.407744761898,-0.0154972263053,0.0799339105846,0.999999993566,3.34680452622e-05,-0.000103167456269,-3.32341404338e-05,1793239653419212544
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,636,879.64633295,788,804,651,631,653,0.408289476812,-0.0155047785567,0.0799280535525,0.999999992299,2.64029250756e-05,-0.000116231158794,-3.45613315529e-05,1793239653435879680
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.224537204,636,879.775462796,788,804,651.224537204,631,653,0.408863499992,-0.0155117701274,0.0799328200528,0.999999993121,1.87385047197e-05,-0.00011029825432,-3.52314669185e-05,1793239653452546560
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.801222825,636,879.198777175,788,804,651.801222825,631,653,0.409483488173,-0.0155178823652,0.0799542477572,0.99999999656,1.01341843804e-05,-7.45724016054e-05,-3.48711219755e-05,1793239653469212928
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,651.623430675,631,653,0.410136287092,-0.0155200515686,0.0799807914193,0.999999998985,4.69701398044e-06,-2.91814849274e-05,-3.39993025217e-05,1793239653485879040
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,651.048788563,631,653,0.410806344207,-0.0155201467638,0.080010026038,0.999999999233,9.25742202503e-07,2.12931856164e-05,-3.2858451066e-05,1793239653502545408
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,651.541210609,631.541210609,653,0.411448802132,-0.0155165525599,0.0799936839075,0.999999999279,6.1735159932e-06,-1.04165387719e-05,-3.59898163983e-05,1793239653519212032
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.870881193,715.129118807,679,661.129118807,636,879.129118807,788,804,652,631.870881193,653,0.412094951139,-0.0155137774696,0.0799704681589,0.999999997911,9.39424404026e-06,-5.01550012195e-05,-3.96823259312e-05,1793239653535878912
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.295134437,715.704865563,679,661.704865563,636,879.704865563,788,804,652,631.295134437,653,0.412762725023,-0.0155150197686,0.0799381031733,0.999999994864,2.70884785304e-06,-9.12898379269e-05,-4.39447783364e-05,1793239653552545536
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.279933491,715.720066509,679.279933491,661.720066509,636,880,788,804,652,631,653,0.413463679394,-0.015516735398,0.0799242342756,0.999999993434,-1.19638192221e-06,-0.000104694581287,-4.65744159857e-05,1793239653569212416
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.854287532,715.145712468,679.854287532,661.145712468,636,880,788,804,652,631,653,0.414199531483,-0.0155189488539,0.0799298186674,0.999999994915,-2.17756753046e-06,-8.89341546373e-05,-4.74867383786e-05,1793239653585879296
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679.558064108,661.441935892,635.558064108,879.558064108,788,804,651.558064108,631,653,0.41497919427,-0.015521676241,0.0799530805767,0.999999997705,-5.86161997491e-06,-4.94247597764e-05,-4.59601521458e-05,1793239653602545920
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.966700143,745,715,679,661.966700143,635,879.033299857,788,804,651.033299857,631,653,0.415770959986,-0.0155242099247,0.0799796982561,0.999999998957,-1.04547081475e-05,-6.73688321449e-06,-4.39372300536e-05,1793239653619212800
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.388486664,745,715,679,661.388486664,635,879.611513336,788,804,651.611513336,631,653,0.416517070041,-0.0155207150213,0.0799628940618,0.999999997793,-1.48878094684e-05,-4.41458030669e-05,-4.73593270488e-05,1793239653635879168
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.189016197,745,715,679,661.189016197,635.189016197,880,788,804,651.810983803,631,653,0.417296431375,-0.0155192708784,0.079957709592,0.999999997121,-1.90227983379e-05,-5.41394814518e-05,-4.965573217e-05,1793239653652545536
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.765063958,745,715,679,661.765063958,635.765063958,880,788,804,651.234936042,631,653,0.418143878332,-0.0155220258945,0.0799763177942,0.999999998481,-2.25473687482e-05,-7.99741948811e-06,-4.96471585561e-05,1793239653669212160
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.34000607,662,636,880,788,804.34000607,651.34000607,631,653,0.418977935183,-0.0155251985764,0.0799889366231,0.999999998306,-2.35477266126e-05,1.98105347779e-05,-4.94013528185e-05,1793239653685878784
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.914186657,662,636,880,788,804.914186657,651.914186657,631,653,0.419802769749,-0.0155286589198,0.0799974303524,0.999999997928,-2.28095675729e-05,3.49911218633e-05,-4.89921567514e-05,1793239653702545664
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,679.495372201,662,635.495372201,879.495372201,788,805,651.495372201,631,653,0.420636261399,-0.0155294184506,0.0799802035821,0.999999998206,-2.88476324078e-05,9.79351956507e-06,-5.15806532949e-05,1793239653719212544
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.904957081,635.095042919,879.190085837,788,804.904957081,651,631,653,0.421478117154,-0.0155298107661,0.0799661930145,0.999999997942,-3.35448645935e-05,-1.1095166706e-05,-5.35444304866e-05,1793239653735879424
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.329127416,635.670872584,880.341745168,788,804.329127416,651,631,653,0.422354588434,-0.0155307461619,0.0799913143526,0.999999998112,-2.5436100556e-05,2.57045506525e-05,-4.96834080978e-05,1793239653752546048
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.247394848,745,715,679,661.247394848,636,880.752605152,788,804,651,631.247394848,653,0.423223209769,-0.0155306336273,0.0800088761537,0.999999997558,-1.96452035863e-05,4.71370360623e-05,-4.77126764908e-05,1793239653769212672
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.824841194,745,715,679,661.824841194,636,880.175158806,788,804,651,631.824841194,653,0.424081358552,-0.0155291230403,0.0800163527178,0.999999997536,-1.69465910033e-05,4.80679763569e-05,-4.82637968688e-05,1793239653785879296
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.602725603,745,715,679,662,636,880,788,804,651.397274397,631.602725603,653,0.424892424052,-0.0155280928375,0.0799836127442,0.999999998517,-1.52004004444e-05,-1.1295978471e-05,-5.10639004648e-05,1793239653802545664
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.032475192,745,715,679,662,636,880,788,804,651.967524808,631.032475192,653,0.425682989113,-0.0155272717972,0.0799333622121,0.999999993704,-1.38689010753e-05,-9.6912746814e-05,-5.48432265269e-05,1793239653819212288
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.559395733,745,715,680.118791466,661.440604267,636,880,788,804.559395733,651.440604267,631,653,0.426582149133,-0.0155312199706,0.0799266138981,0.999999994197,-2.22992396504e-05,-8.85207908864e-05,-5.72140162909e-05,1793239653835878912
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.851157414,745,715,680.851157414,661.148842586,636,880.148842586,788,804.851157414,651,631,653,0.427472696408,-0.0155343888997,0.0799245574171,0.999999994636,-2.80475065749e-05,-8.06924974572e-05,-5.85732194527e-05,1793239653852545792
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.272481341,745,715,680.272481341,661.727518659,636,880.727518659,788,804.272481341,651,631,653,0.428319433439,-0.0155344757883,0.0799284638027,0.999999993934,-2.43480045236e-05,-9.08862435275e-05,-5.72567588489e-05,1793239653869212672
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880.695875221,788,804,651.304124779,631,653,0.429185731924,-0.015534485177,0.0799451380988,0.999999995581,-2.69065556723e-05,-7.06467458834e-05,-5.58919459517e-05,1793239653885879296
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880.121111174,788,804,651.878888826,631,653,0.430069438012,-0.0155344255989,0.0799731745005,0.99999999763,-3.50341202634e-05,-2.33248413845e-05,-5.44841045426e-05,1793239653902545920
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.533246637,636,880,788.466753363,804.466753363,651.533246637,631,653,0.430943010605,-0.0155380432456,0.0800099833858,0.999999997694,-3.42277000975e-05,2.83549382557e-05,-5.13430313317e-05,1793239653919212544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.056836448,636,880,788.943163552,805,651,631,653,0.431806149757,-0.0155419422321,0.080041344388,0.999999995924,-3.25087260465e-05,6.88808245035e-05,-4.84893504129e-05,1793239653935878912
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.63518462,636,880,788.36481538,805,651,631,653,0.432598377784,-0.015539414911,0.0800012282578,0.999999997633,-4.43012898111e-05,-3.61273256857e-06,-5.25184349957e-05,1793239653952545536
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,804.787700769,651,631,653,0.433384948854,-0.0155373299436,0.0799581742319,0.999999994855,-5.00309289455e-05,-6.76106196483e-05,-5.67138110174e-05,1793239653969212160
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,804.212693571,651,631,653,0.434161855284,-0.0155360007261,0.0799101008774,0.999999990242,-4.54022140247e-05,-0.000117093877219,-6.11932927945e-05,1793239653985878784
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,804.361532229,651,631,653,0.434962968652,-0.0155402266427,0.0799128232763,0.99999999129,-4.92018411356e-05,-0.00010572758561,-6.18203147418e-05,1793239654002545664
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,804.935299282,651,631,653,0.435778292476,-0.0155477136598,0.0799453649497,0.99999999479,-5.79492643749e-05,-5.86400128473e-05,-6.01857782972e-05,1793239654019212544
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.526480327,745,715,681.052960654,662,636,880,788,805,651,631,653,0.436540147891,-0.0155515102108,0.0799647721604,0.999999995261,-6.21326266472e-05,-4.70548188782e-05,-5.83404292548e-05,1793239654035879168
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.883211282,745.116788718,715,681.766422564,662,636,880.116788718,787.883211282,805,651,631,653,0.437292787954,-0.0155552734181,0.079976556499,0.99999999508,-6.77799745638e-05,-4.41639104334e-05,-5.74032094959e-05,1793239654052545792
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.305092666,745.694907334,715,680.610185331,662,636,880.694907334,787.305092666,805,651,631,653,0.438035869934,-0.0155607577057,0.0799648236818,0.999999993199,-8.15016256203e-05,-5.77926004956e-05,-6.01590509758e-05,1793239654069212416
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.271468737,745.728531263,715,680,661.728531263,635.728531263,880.728531263,787.271468737,805,651,631,653,0.438739804212,-0.0155660722708,0.0799426643691,0.99999999014,-8.87663572623e-05,-8.94141406276e-05,-6.20093668444e-05,1793239654085879296
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.846289994,745.153710006,715,680,661.153710006,635.153710006,880.153710006,787.846289994,805,651,631,653,0.439399992872,-0.0155711971793,0.0799088539784,0.99999998412,-8.88158084869e-05,-0.000141141775398,-6.2847803568e-05,1793239654102545920
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.568801258,745,715,680,661,635.431198742,880.431198742,788,805,651,631,653,0.439990592354,-0.0155735977992,0.079847787135,0.999999965278,-9.67814161627e-05,-0.000235373229547,-6.83800731901e-05,1793239654119212544
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.019437887,745,715,680.019437887,661,635.980562113,880.980562113,787.980562113,805,651,631,653,0.440555965145,-0.0155750050697,0.0797770873114,0.999999931998,-0.000107603170256,-0.000344545810104,-7.558790355e-05,1793239654135879168
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.59756859,745,715,680.59756859,661,635.40243141,880.40243141,787.40243141,805,651,631,653,0.441126340245,-0.0155764423521,0.0797154676806,0.999999894172,-0.000117466841711,-0.000437242679355,-8.17110724357e-05,1793239654152545792
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,635,880,787,805,651,631,653,0.441719606877,-0.0155821409743,0.0796825900394,0.999999869988,-0.000131253704167,-0.000485333378859,-8.5132254605e-05,1793239654169212672
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,635,880,787,805,651,631,653,0.442365305672,-0.0155976000085,0.0797155446518,0.999999891755,-0.000154026467145,-0.000431255628309,-8.23646571552e-05,1793239654185879296
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.671287712,745,715,681,661,635,880.328712288,787,805,651,631,653,0.442975511376,-0.0156092275837,0.0797503851808,0.999999912031,-0.000167720921172,-0.000376132980639,-7.95728117472e-05,1793239654202546176
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.098578094,745,715,681,661,635,880.901421906,787,805,651,631,653,0.443559371145,-0.0156180111334,0.0797866255904,0.999999930523,-0.000174676705199,-0.000320234727316,-7.67629676226e-05,1793239654219212544
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,881,786.50868947,805,651,631,653,0.444055283885,-0.0156236372471,0.07978087758,0.999999925054,-0.000179754246983,-0.000334359653943,-7.6046708661e-05,1793239654235879168
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.082232306,715,681,661,634.917767694,880.917767694,786,805,651,631,653,0.444527364757,-0.0156281644825,0.0797640302111,0.999999912991,-0.000184294772208,-0.000366404629289,-7.61658601386e-05,1793239654252545792
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.657920659,715,681,661,634.342079341,880.342079341,786,805,651,631,653,0.444966162198,-0.0156300369453,0.0797329645215,0.999999891619,-0.000187956152924,-0.000418620076351,-7.86860759156e-05,1793239654269212416
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.766751692,714.766751692,681.233248308,660.766751692,634,880,786,805,651,631,653,0.445404910671,-0.0156341475499,0.0797099497084,0.999999874496,-0.000194434973645,-0.000454694890215,-8.03429279186e-05,1793239654285879040
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.191952282,714.191952282,681.808047718,660.191952282,634,880,786,805,651,631,653,0.445843587401,-0.0156415355192,0.0796987239899,0.999999866613,-0.000205039439716,-0.0004671345837,-8.07355356165e-05,1793239654302545920
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.383207522,681.616792478,660,634,880.383207522,786,805,651,631,653,0.446256058233,-0.0156485712797,0.0796937979393,0.999999864745,-0.000215892135528,-0.000466066198777,-8.17539144309e-05,1793239654319212544
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714.958548072,681.041451928,660,634,880.958548072,786,805,651,631,653,0.446655389961,-0.0156554304499,0.0796920304224,0.999999865828,-0.000226869289994,-0.000458225119049,-8.30860431176e-05,1793239654335879168
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.142607568,745.857392432,715,681,660,633.857392432,881,785,806,651.857392432,631,653.142607568,0.447343061489,-0.0156643446724,0.0796822647544,0.999999860231,-0.00023335061309,-0.000467391322736,-8.14285383526e-05,1793239654369212416
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765.706583726,745.293416274,715,680.706583726,660,633,880.706583726,785,805.706583726,651,631,653.706583726,0.447915731012,-0.0156661846471,0.0796512060885,0.999999833002,-0.000244761952055,-0.000516620886423,-8.47965879202e-05,1793239654402545664
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.624386805,746,714.375613195,681.624386805,659,633.375613195,880.375613195,784,805.624386805,651,631,653,0.448859727138,-0.0156690259072,0.0796279486485,0.999999812667,-0.000247040746495,-0.000553699757315,-8.39845931457e-05,1793239654469212672
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.796911415,745.796911415,714,681.796911415,659,633,880.203088585,784,805.796911415,651,630.796911415,653,0.449062763759,-0.0156755627068,0.0796328677034,0.999999815751,-0.000252347864322,-0.000546113519864,-8.11092126719e-05,1793239654485879552
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.219989747,745.219989747,714,681.219989747,659,633,880.780010253,784,805.219989747,651,630.219989747,653,0.449243792,-0.0156811067547,0.079636023129,0.999999816648,-0.00026113087573,-0.000540511794858,-7.97559503071e-05,1793239654502546176
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.355102557,714,681.355102557,659,633,880.644897443,784,805,651,630.355102557,653,0.449400431689,-0.0156857929002,0.0796337449512,0.999999812034,-0.000269975638866,-0.000544680133117,-7.98036834533e-05,1793239654519212544
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.969153249,714,681,658.030846751,633,880.030846751,783,805,651.969153249,630,653,0.450295856345,-0.015697618251,0.0796120811033,0.999999780564,-0.000294290089236,-0.000588216643235,-7.91616738778e-05,1793239654969212416
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.386209651,714,681,658.613790349,633,880.613790349,783,805,651.386209651,630,653,0.450295010455,-0.0156975407427,0.0796107927453,0.99999977975,-0.000292566833728,-0.00059048905551,-7.89149519976e-05,1793239654985879040
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714.193326487,681.193326487,658.806673513,632.806673513,880.806673513,783,805,651,630,653,0.450294774698,-0.0156974508725,0.079610313972,0.99999977951,-0.000291727405752,-0.000591314884868,-7.88829990432e-05,1793239655002545664
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714.766173385,681.766173385,658.233826615,632.233826615,880.233826615,783,805,651,630,653,0.450295736701,-0.0156973367343,0.0796114244996,0.999999780406,-0.000292623025127,-0.000589300918303,-7.92726602987e-05,1793239655019212288
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714.658773143,681.658773143,658.341226857,632.341226857,880,783,804.658773143,651,630,653,0.450296508985,-0.0156982370014,0.0796114805547,0.999999780549,-0.000293509742178,-0.000588625513979,-7.92128588342e-05,1793239655035878912
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.505420993,714,681,658.494579007,633,880.505420993,783,804.505420993,651,630,653,0.450299005884,-0.0156981072507,0.0796118784264,0.999999781424,-0.000293619896453,-0.000587098097225,-7.90888683682e-05,1793239655069212416
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680.748945418,658.748945418,633,880.748945418,783,805,651,630,653,0.450298342067,-0.0156956731402,0.0796114679746,0.999999781752,-0.000290373689787,-0.000588235017675,-7.84812563554e-05,1793239655119212288
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.105588288,881,783,805,651,630,653,0.448239967777,-0.0156024563451,0.0795153022129,0.999999698497,-0.000203161550412,-0.000748600986843,-3.64463354594e-05,1793239656005271296
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.829675521,714.829675521,681,658.170324479,633,881,783.829675521,805,651,630,653,0.447350368725,-0.0155676241773,0.0795186741048,0.999999715709,-9.76917033777e-05,-0.000747495462744,-1.70036482445e-05,1793239656055271680
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.595338346,715,681,658.404661654,633,881,784,805,651,630,653,0.447013192777,-0.0155580713957,0.0795256109781,0.999999726119,-8.0239215116e-05,-0.000735644232791,-1.22609584474e-05,1793239656071938304
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.018032013,715,681,658.981967987,633,881,784,805,651,630,653,0.446663933103,-0.0155482335817,0.0795345883201,0.99999973801,-6.50079346634e-05,-0.000720891410316,-8.27635527707e-06,1793239656088604928
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.425574416,681,659,633,880.425574416,784,805,651,630.574425584,653,0.446268949474,-0.0155434146254,0.0795511826936,0.99999975159,-6.95016420358e-05,-0.000701335080041,-1.08892234441e-05,1793239656105271296
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.31938056,745,714.68061944,681,659,633,880,785,805,651,630.31938056,653.31938056,0.444947634922,-0.0155424252931,0.0795963189206,0.999999789133,-6.44453312194e-05,-0.000646198031393,-2.81984147575e-06,1793239656155271424
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.892477773,745,714.107522227,681,659,633,880,785,805,651,630.892477773,653.892477773,0.444459546268,-0.0155456348245,0.0796016719918,0.999999796356,-6.11683786577e-05,-0.00063525150033,1.4172561183e-06,1793239656171938304
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.225135526,745,714.225135526,681,660,634,880.774864474,786,805,651,631,653,0.442260669868,-0.015498170762,0.0796384465093,0.999999829655,6.14483678861e-06,-0.000583608721895,7.29374408439e-06,1793239656238604800
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.626171979,745,715,681,660.373828021,634.373828021,880,786,805,651,631,653,0.441053530395,-0.0154841078051,0.0796704686272,0.999999862379,2.53422465051e-05,-0.000523895151494,1.15471638199e-05,1793239656271938048
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.461932488,634.461932488,880,786.538067512,805,651,631,653,0.439678101065,-0.0154689354229,0.0796465681549,0.99999984481,5.28729651772e-05,-0.000554463418564,1.24452841409e-05,1793239656305271296
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.282355533,635,880.282355533,787,805,651,631,653,0.437600154778,-0.015446675726,0.0797314810981,0.999999908367,9.48965168366e-05,-0.000416926072151,2.08300525172e-05,1793239656355271424
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.86265291,635,880.86265291,787,805,651,631,653,0.436917241322,-0.0154416782897,0.0798149272663,0.999999948036,0.000112627688959,-0.000300712592764,2.85632728068e-05,1793239656371938048
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.173113538,661,635,880,787.173113538,804.173113538,651,631.173113538,653,0.426744348299,-0.0153802918394,0.0798381220738,0.999999935651,0.000229721964938,-0.000272848832986,3.84737035347e-05,1793239656571938816
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.843160447,715,680,661,635,880,787.843160447,805,651.843160447,631.843160447,653,0.423068638636,-0.0153764423478,0.0797392253933,0.999999876524,0.000244969721675,-0.000430923977766,3.53164936971e-05,1793239656638605056
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.265844129,715,680,661,635,880,787.265844129,805,651.265844129,631.265844129,653,0.422215997435,-0.0153726820032,0.0797658681755,0.999999898248,0.000247309225902,-0.000375464586139,3.69919776443e-05,1793239656655272192
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.309395359,715,680,661,635.309395359,880,787.309395359,804.690604641,651,631.309395359,653,0.421402690831,-0.0153722990278,0.0798123452281,0.999999927224,0.000244380348054,-0.000290246776809,3.98285513395e-05,1793239656671938816
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744.882862226,715,680,661,635.882862226,880,787.882862226,804.117137774,651,631.882862226,653,0.420622956675,-0.0153747986654,0.0798757509937,0.99999995484,0.000236954860366,-0.000179629911326,4.36561243969e-05,1793239656688605952
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.752489786,715,679,661,635.752489786,880,787.247510214,804,651,631,653,0.408076941193,-0.0153556236651,0.079850124618,0.999999930879,0.000269158167023,-0.000253036470462,4.20443695289e-05,1793239656971938560
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.67319247,635.67319247,879.67319247,787,804,651,631,653,0.407493792077,-0.015353266826,0.0798315610905,0.999999920741,0.000270048808529,-0.0002897789802,4.02511850191e-05,1793239656988605184
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.098473884,635.098473884,879.098473884,787,804,651,631,653,0.406903350817,-0.0153495667834,0.0797942498456,0.9999998998,0.000267173014136,-0.000357347798199,3.63557163284e-05,1793239657005272064
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.510463865,715,679,660.489536135,635,879.489536135,787.489536135,804,651.489536135,631,653,0.406410243423,-0.0153515390136,0.0797814367757,0.999999895318,0.000266273618739,-0.00037047568438,3.47934433144e-05,1793239657021938688
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.078834197,715,679,661,635.078834197,879.921165803,788,804.078834197,652,631,653,0.405945119241,-0.0153545346849,0.0797774911485,0.999999896991,0.000265598286121,-0.000366480489709,3.41649268506e-05,1793239657038605312
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.658848892,715,679,661,635.658848892,879.341151108,788,804.658848892,652,631,653,0.40552994725,-0.0153565804096,0.0797977158192,0.999999911681,0.000263749373617,-0.00032519125031,3.64056186256e-05,1793239657055271680
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804.763758255,651.763758255,631,653,0.405123672045,-0.0153561891293,0.0798149847667,0.999999921077,0.000262903630696,-0.000295496400819,3.75321237734e-05,1793239657071938560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804.190110034,651.190110034,631,653,0.404730103493,-0.0153523172559,0.0798280322734,0.999999924735,0.000263490640762,-0.000282360958413,3.70673190777e-05,1793239657088605184
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.607985501,661,636,879,788,804,651.392014499,631.392014499,653.392014499,0.40435517603,-0.015346856349,0.0798330913405,0.99999992213,0.000275651455963,-0.000279745045818,3.87188395887e-05,1793239657105271808
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.021659424,661,636,879,788,804,651.978340576,631.978340576,653.978340576,0.403989488444,-0.0153406077983,0.0798341907432,0.999999916198,0.00029354911082,-0.00028234339429,4.14193684132e-05,1793239657121938688
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,636,879,787.440142897,804,652,632,653.440142897,0.403656534913,-0.015334021792,0.0798353117534,0.999999915801,0.000291437690596,-0.000286324151968,3.8488111025e-05,1793239657138605056
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.140942044,660.859057956,636,879,787.140942044,804,652,631.859057956,653,0.403338972426,-0.0153287998015,0.079837056922,0.999999915588,0.000290754219705,-0.0002880196395,3.64865839518e-05,1793239657155271680
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.721256818,660.278743182,636,879,787.721256818,804,652,631.278743182,653,0.40306547566,-0.0153278703444,0.0798407452584,0.999999915314,0.000296914860584,-0.000282425722674,3.80568289367e-05,1793239657171938304
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.298197789,745,715,679,660.298197789,635.701802211,879,787.701802211,804,652,631,653,0.402809317853,-0.015326896946,0.0798427862124,0.999999915044,0.000298892393359,-0.000281248718934,3.83999169562e-05,1793239657188604928
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.872020312,745,715,679,660.872020312,635.127979688,879,787.127979688,804,652,631,653,0.402569186493,-0.0153258829327,0.0798433044877,0.999999914815,0.000297003471684,-0.00028415427598,3.76087415664e-05,1793239657205271808
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.543635267,744.543635267,715,679,661,635,879,787,804.456364733,652,631.456364733,653,0.402357089893,-0.0153362738607,0.0798416162463,0.999999916711,0.000288213810294,-0.000286545574663,3.74461460074e-05,1793239657221938688
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744,715,678.9567426,661,635,879,787.0432574,804.9567426,652,631.9567426,653,0.402155883504,-0.0153498124156,0.079839488981,0.999999919271,0.000277196723629,-0.000288458557036,3.75798042615e-05,1793239657238605568
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744,715,678.375718616,661,635,879,787.624281384,804.375718616,652,631.375718616,653,0.401990018177,-0.0153617823994,0.0798397779451,0.999999923646,0.00026311445339,-0.000286260376152,3.91533024477e-05,1793239657255272192
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,715,678.203555111,661,635.203555111,879.203555111,787.796444889,804,651.796444889,631,653,0.40183863762,-0.0153670699248,0.0798424356142,0.999999926882,0.000256952182628,-0.000280311567804,4.04653598349e-05,1793239657271938560
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,715,678.779625724,661,635.779625724,879.779625724,787.220374276,804,651.220374276,631,653,0.401713764894,-0.0153601282332,0.0798494281256,0.999999928182,0.000265283887855,-0.000267498933725,4.12989680025e-05,1793239657288605184
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.354621882,715,679,660.645378118,635.645378118,879.645378118,787.354621882,804,651,631,653,0.40160040501,-0.0153573099119,0.0798553312579,0.999999930409,0.000265185708447,-0.000259253123731,4.05783332433e-05,1793239657305271808
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.928952409,715,679,660.071047591,635.071047591,879.071047591,787.928952409,804,651,631,653,0.401494177982,-0.0153570462551,0.0798605594578,0.999999933262,0.000259864731636,-0.000253836722606,3.88947557091e-05,1793239657321938432
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.517368008,879,787.482631992,804,651.517368008,631,653,0.401399055659,-0.0153573218301,0.0798578888356,0.999999931351,0.000263991589352,-0.000257615986016,3.52216114145e-05,1793239657338604800
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.894315058,715,678.894315058,660.105684942,636,879,787.105684942,804,652,631,653,0.401309653649,-0.0153567853121,0.0798537870449,0.999999928384,0.000269919448954,-0.000263336545853,3.20990354281e-05,1793239657355271424
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.315344212,715,678.315344212,660.684655788,636,879,787.684655788,804,652,631,653,0.401238848449,-0.0153522711234,0.0798482696477,0.999999923865,0.000277939860182,-0.000271937353638,3.26998368701e-05,1793239657371938304
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.262178133,715,678.262178133,661,636,879,788,804,652,631.262178133,653,0.401178914417,-0.0153510764302,0.0798449009613,0.999999921897,0.000279741001154,-0.000277214367205,3.32261253504e-05,1793239657388605184
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.837967778,715,678.837967778,661,636,879,788,804,652,631.837967778,653,0.401131984236,-0.0153538524422,0.0798441025141,0.999999923082,0.000274102792214,-0.000278515533331,3.366328309e-05,1793239657405272064
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.578158673,715,679,661,635.578158673,879,788,804,652,632,653,0.401094462535,-0.0153529692935,0.0798436192026,0.999999922718,0.000274571028299,-0.000279323806153,3.39406093726e-05,1793239657421938688
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.0087872,715,679,661,635.0087872,879,788,804,652,631.9912128,653,0.401060847988,-0.0153506945567,0.0798432838129,0.999999921773,0.000277395012878,-0.000279890349951,3.4162530791e-05,1793239657438605312
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.589651514,715,679,661,635.589651514,879,788,804,652,631.410348486,653,0.401041730735,-0.0153511139073,0.0798445441799,0.999999922334,0.00027790089906,-0.000277285947676,3.48523507351e-05,1793239657455271680
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715.170162975,678.829837025,661,636,879,787.829837025,804,652,631.170162975,653,0.401024589134,-0.0153513072836,0.0798449436539,0.999999922602,0.000278121795842,-0.000276046650438,3.52616703845e-05,1793239657471938304
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715.749825206,678.250174794,661,636,879,787.250174794,804,652,631.749825206,653,0.401012201969,-0.0153509568501,0.079843271378,0.999999922173,0.00027765686212,-0.000278092495356,3.4995962583e-05,1793239657488604928
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.675236539,715.675236539,678.324763461,660.675236539,636,879,787.324763461,804.324763461,652,631.675236539,653,0.401003934469,-0.0153513129346,0.0798431117064,0.999999922424,0.000276682231761,-0.000278170054445,3.49397462738e-05,1793239657505271808
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.103885065,715.103885065,678.896114935,660.103885065,636,879,787.896114935,804.896114935,652,631.103885065,653,0.400998794968,-0.0153522054674,0.0798441005322,0.999999923189,0.000275320596361,-0.00027675312392,3.50425936761e-05,1793239657521938432
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.480306055,715,678.519693945,660.480306055,636,879,788,804.519693945,651.519693945,631,653,0.400995157091,-0.0153523983381,0.0798443183861,0.999999923225,0.000275999995166,-0.00027594350229,3.5068204491e-05,1793239657538605056
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.066610642,661,636,879,788,804,651,631.066610642,653,0.40099224625,-0.0153524119921,0.0798445899926,0.999999923248,0.000276870915565,-0.000274991920689,3.50211410973e-05,1793239657555271680
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.647206353,661,636,879,788,804,651,631.647206353,653,0.400992370449,-0.0153522425334,0.0798465984183,0.999999924427,0.000275719732884,-0.000271903534618,3.45457486889e-05,1793239657571938304
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.775412695,879.224587305,788,804.224587305,651.224587305,631.775412695,653,0.400992636621,-0.0153517345534,0.0798479639343,0.999999925009,0.000275988205086,-0.000269511048889,3.42993601269e-05,1793239657588604928
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.203010428,879.796989572,788,804.796989572,651.796989572,631.203010428,653,0.400993122667,-0.0153507023105,0.0798483337858,0.999999924675,0.000278455275408,-0.000268196293681,3.44076263879e-05,1793239657605271808
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.373115629,879.626884371,788,805,652,631,653,0.400992753985,-0.0153509378642,0.0798487437813,0.999999924692,0.00027877775419,-0.000267776595137,3.45763970602e-05,1793239657621938432
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.951288188,879.048711812,788,805,652,631,653,0.400991915561,-0.0153518701738,0.0798491758391,0.999999924904,0.000277921608021,-0.000267848801983,3.47784197505e-05,1793239657638605056
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.459336863,715,679,661,636,879,788,805,651.459336863,631,653,0.400992008048,-0.0153511846923,0.0798492483438,0.999999925239,0.000277539224485,-0.000267026212923,3.45173379979e-05,1793239657655271680
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,661,635.871116969,879.128883031,788,804.871116969,651.128883031,631.128883031,653,0.400991804728,-0.0153507727039,0.0798491259484,0.999999925373,0.000277296657425,-0.00026680759265,3.42590497918e-05,1793239657671938304
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,661,635.290557115,879.709442885,788,804.290557115,651.709442885,631.709442885,653,0.400990264592,-0.0153518408061,0.0798484364463,0.999999924765,0.000277391329779,-0.000268994117592,3.41598695561e-05,1793239657688604928
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.285894076,715,679,661,635,879.714105924,788,804,652,632,653,0.400989666482,-0.0153526769285,0.0798481423058,0.999999924849,0.000276430005336,-0.000269682025021,3.4047666028e-05,1793239657705271552
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.858228818,715,679,661,635,879.141771182,788,804,652,632,653,0.400990012201,-0.0153532806277,0.0798482442825,0.999999925629,0.000274410665184,-0.000268868450046,3.3922414297e-05,1793239657721938176
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.444566215,879,788,804,652,632,653,0.400990886636,-0.0153520090181,0.0798488510967,0.999999925466,0.000276036556838,-0.000267833074799,3.37297914995e-05,1793239657738605056
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715.034702519,679,660.965297481,636,879.034702519,788,804.034702519,652,631.965297481,653.034702519,0.400991818546,-0.0153502411234,0.079849587463,0.999999925007,0.000278711007287,-0.000266795929565,3.35439978001e-05,1793239657755272192
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.612144123,679,660.387855877,636,879.612144123,788,804.612144123,652,631.387855877,653.612144123,0.400990926619,-0.0153503686972,0.0798497502383,0.999999924894,0.000279012868238,-0.000266873302916,3.38119492168e-05,1793239657771938560
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.810710409,679,660.189289591,636,879.810710409,788,804.810710409,651.810710409,631,654,0.400990932848,-0.0153512067944,0.0798500803277,0.999999925143,0.000278638797784,-0.000266289611649,3.41209764667e-05,1793239657788605184
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.234170814,679,660.765829186,636,879.234170814,788,804.234170814,651.234170814,631,654,0.400992776531,-0.0153534984853,0.0798507527094,0.999999926131,0.000276881901989,-0.000264353509639,3.45140369353e-05,1793239657805271552
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744.660479805,715,678.660479805,660.660479805,636,879.339520195,788,804,651.339520195,631,653.660479805,0.400992156404,-0.0153532410645,0.0798507164208,0.999999925916,0.000277159376903,-0.000264870394289,3.45588099914e-05,1793239657821938176
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,744.088737176,715,678.088737176,660.088737176,636,879.911262824,788,804,651.911262824,631,653.088737176,0.400989851101,-0.0153512401215,0.0798501954213,0.999999924875,0.00027882830526,-0.00026706505414,3.43653640615e-05,1793239657838605056
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,744.501409564,715,678.501409564,660.501409564,636,879.498590436,788,804.501409564,652,631,653,0.40099016743,-0.0153511122713,0.0798505008291,0.999999925632,0.000277368487425,-0.000265789745137,3.40502757466e-05,1793239657855271936
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804.90700511,652,631,653.09299489,0.400990784144,-0.0153513189316,0.0798508153802,0.999999926503,0.000275683423293,-0.000264298237431,3.37467196664e-05,1793239657871938816
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804.325622066,652,631,653.674377934,0.400990448922,-0.0153514751129,0.0798503805915,0.999999926275,0.000275834186651,-0.000265019301619,3.36210950051e-05,1793239657888605184
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.252963737,636,879,788,804,652,631,653.747036263,0.40099059158,-0.0153523441319,0.0798504361709,0.999999926152,0.000276287664247,-0.000264987431764,3.38052712123e-05,1793239657905271808
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc9d2e77083eb95cd58d749928cf927e697749db
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,418 @@
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+382,6.366666667,pose2_to_pose3_retreat,0.575793008262,-0.00990927181001,1.07003219328,0.546363459404,-0.00123753337741,1.06970033423
+383,6.383333333,pose2_to_pose3_retreat,0.575758862951,-0.00990922735411,1.07003244759,0.546329314152,-0.00123748944569,1.06970056964
+384,6.400000000,pose2_to_pose3_retreat,0.575732239403,-0.00990920837769,1.07003248355,0.546302690379,-0.00123747104556,1.06970061055
+385,6.416666667,pose2_to_pose3_retreat,0.575711813987,-0.00990916431245,1.07003237187,0.546282264779,-0.00123742717802,1.06970051002
+386,6.433333333,pose2_to_pose3_retreat,0.575696569667,-0.00990916554828,1.07003233904,0.546267020694,-0.00123742751851,1.06970047985
+387,6.450000000,pose2_to_pose3_retreat,0.575686200915,-0.00990925216185,1.07003244519,0.546256652622,-0.00123751207376,1.06970057956
+388,6.466666667,pose2_to_pose3_retreat,0.575678696751,-0.00990935116969,1.07003238633,0.54624915024,-0.00123760532627,1.0697005132
+389,6.483333333,pose2_to_pose3_retreat,0.57567362714,-0.00990933797348,1.07003228385,0.546244079709,-0.00123759511599,1.0697004141
+390,6.500000000,pose2_to_pose3_retreat,0.575670572529,-0.00990929869559,1.07003219755,0.546241023712,-0.00123756032619,1.06970033316
+391,6.516666667,pose2_to_pose3_retreat,0.575668941175,-0.00990922377475,1.07003219428,0.546239391891,-0.00123748698208,1.06970033011
+392,6.533333333,pose2_to_pose3_retreat,0.575668125371,-0.00990918459072,1.07003219401,0.546238575863,-0.00123744856041,1.06970032987
+393,6.550000000,pose2_to_pose3_retreat,0.575667779751,-0.00990916799016,1.07003219389,0.546238230148,-0.00123743228283,1.06970032977
+394,6.566666667,pose2_to_pose3_retreat,0.57566773219,-0.00990916570577,1.07003219388,0.546238182574,-0.00123743004289,1.06970032975
+395,6.583333333,pose2_to_pose3_retreat,0.575667680069,-0.00990916320232,1.07003219386,0.546238130438,-0.00123742758815,1.06970032974
+396,6.600000000,pose2_to_pose3_retreat,0.575667560424,-0.00990915745564,1.07003219382,0.546238010761,-0.00123742195327,1.0697003297
+397,6.616666667,pose2_to_pose3_retreat,0.575667149369,-0.00990913771217,1.07003219368,0.546237599592,-0.00123740259393,1.06970032958
+398,6.633333333,pose2_to_pose3_retreat,0.575666729733,-0.00990913631915,1.07003221081,0.546237180096,-0.00123740075225,1.06970034608
+399,6.650000000,pose2_to_pose3_retreat,0.575666485775,-0.00990914749196,1.0700322318,0.546236936382,-0.00123741112724,1.06970036628
+400,6.666666667,pose2_to_pose3_retreat,0.575666342041,-0.0099091540747,1.07003224417,0.546236792792,-0.00123741723993,1.06970037819
+401,6.683333333,pose2_to_pose3_retreat,0.57566634027,-0.00990915415581,1.07003224432,0.546236791023,-0.00123741731525,1.06970037833
+402,6.700000000,pose2_to_pose3_retreat,0.575666255417,-0.00990915804194,1.07003225162,0.546236706254,-0.00123742092388,1.06970038536
+403,6.716666667,pose2_to_pose3_retreat,0.575666093104,-0.00990916547557,1.07003226559,0.546236544103,-0.0012374278267,1.06970039881
+404,6.733333333,pose2_to_pose3_retreat,0.575665738794,-0.00990918170231,1.07003229608,0.546236190147,-0.00123744289474,1.06970042816
+405,6.750000000,pose2_to_pose3_retreat,0.575665576045,-0.00990918915591,1.07003231008,0.546236027561,-0.0012374498161,1.06970044164
+406,6.766666667,pose2_to_pose3_retreat,0.575665323873,-0.0099092007049,1.07003233178,0.546235775641,-0.00123746054041,1.06970046252
+407,6.783333333,pose2_to_pose3_retreat,0.575665226566,-0.00990920516137,1.07003234015,0.546235678432,-0.00123746467866,1.06970047058
+408,6.800000000,pose2_to_pose3_retreat,0.575665207506,-0.00990920603427,1.07003234179,0.546235659391,-0.00123746548923,1.06970047216
+409,6.816666667,pose2_to_pose3_retreat,0.575664955261,-0.00990921801875,1.07003233423,0.54623540742,-0.00123747645294,1.06970046695
+410,6.833333333,pose2_to_pose3_retreat,0.575664790167,-0.00990922591233,1.07003232592,0.546235242508,-0.00123748365589,1.06970046053
+411,6.850000000,pose2_to_pose3_retreat,0.575664632804,-0.0099092334363,1.07003231799,0.546235085318,-0.00123749052155,1.06970045442
+412,6.866666667,pose2_to_pose3_retreat,0.57566451104,-0.00990923925814,1.07003231186,0.546234963688,-0.00123749583402,1.06970044969
+413,6.883333333,pose2_to_pose3_retreat,0.575664491339,-0.0099092402001,1.07003231087,0.546234944009,-0.00123749669356,1.06970044892
+414,6.900000000,pose2_to_pose3_retreat,0.57566443098,-0.00990921421257,1.07003231735,0.546234882796,-0.001237473665,1.06970045379
+415,6.916666667,pose2_to_pose3_retreat,0.575664394403,-0.00990916709555,1.07003233163,0.546234844702,-0.00123743183012,1.06970046458
+416,6.933333333,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385427,1.06970035116
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..69d8797f484f39a551502944b4d69260bbacf409
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59d1ee3f3c39f7bd0a6d6beecc7f7c56d74ff1eb7f50bf396c5a685c31dfefc7
+size 26605835
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c81017cdee28dcd76994ceb2baa12b304704b537
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
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+23,0.383333333,BASELINE,765.646742484,744.353257516,715.646742484,679,661,635.646742484,879,788,804,651,631.646742484,653,0.40099101111,-0.0153550106284,0.0798527143237,0.999999927848,0.000274287926564,-0.000260657623128,3.35735798682e-05,1793239658511341824
+24,0.400000000,BASELINE,765.06834273,744.93165727,715.06834273,679,661,635.06834273,879,788,804,651,631.06834273,653,0.400991721193,-0.0153563913961,0.0798530579503,0.999999928453,0.000273274644087,-0.000259358997297,3.38719777267e-05,1793239658528008448
+25,0.416666667,BASELINE,765,745,715,678.495127362,660.495127362,635.504872638,879,788,804,651.504872638,631,653,0.400991825152,-0.0153554844753,0.0798531120089,0.999999928115,0.000274235589569,-0.000259664509072,3.37521213245e-05,1793239658544676096
+26,0.433333333,BASELINE,765,745,715,678.079960445,660.079960445,636,879,788,804,652,631.079960445,653,0.400991659494,-0.0153543901968,0.0798530364408,0.999999927703,0.00027516890562,-0.000260286888992,3.35793845443e-05,1793239658561343232
+27,0.450000000,BASELINE,765,745,715,678.67147163,660.67147163,636,879,788,804,652,631.67147163,653,0.400990288511,-0.0153540583165,0.0798523797996,0.999999927632,0.000274233134154,-0.000261561365714,3.34268745937e-05,1793239658578009088
+28,0.466666667,BASELINE,765.257731011,745,715,679,661,635.742268989,879.257731011,788,804.257731011,652,632,653,0.4009889692,-0.0153536714365,0.0798515983159,0.999999927388,0.000273594586151,-0.000263178204293,3.32615612931e-05,1793239658594675456
+29,0.483333333,BASELINE,765.8374296,745,715,679,661,635.1625704,879.8374296,788,804.8374296,652,632,653,0.400987714438,-0.0153532158488,0.0798506608738,0.999999926927,0.000273327341287,-0.000265222734507,3.30802535601e-05,1793239658611342080
+30,0.500000000,BASELINE,765.586889474,745,715,679,661,635.413110526,879.586889474,788,804.173778948,651.586889474,631.586889474,653,0.400989446851,-0.0153531149491,0.0798514864206,0.999999926942,0.000275472670038,-0.000262901366637,3.33575212823e-05,1793239658628008448
+31,0.516666667,BASELINE,765.012774393,745,715,679,661,635.987225607,879.012774393,788,803.025548787,651.012774393,631.012774393,653,0.400992343478,-0.0153531522845,0.0798529990696,0.999999927122,0.000278558268562,-0.000258878445667,3.38135129381e-05,1793239658644675328
+32,0.533333333,BASELINE,765,744.439493865,715,679,661,636,879,788,803.560506135,651,631,653,0.400991634683,-0.0153547520554,0.07985312129,0.999999928143,0.000274464351156,-0.000259361803596,3.33781083058e-05,1793239658661341952
+33,0.550000000,BASELINE,764.861222823,744,715,679,661,636,879,787.861222823,804,651,631.138777177,653,0.400990905108,-0.015355602051,0.0798529164986,0.9999999286,0.000272086786775,-0.000260142013896,3.30980540889e-05,1793239658678008832
+34,0.566666667,BASELINE,764.266493167,744,715,679,661,636,879,787.266493167,804,651,631.733506833,653,0.400990376833,-0.0153538718389,0.0798517412695,0.999999927179,0.000275885099389,-0.000261560607591,3.33950516721e-05,1793239658694675456
+35,0.583333333,BASELINE,764.318421142,744,715,679.318421142,660.681578858,635.681578858,879,787.318421142,804,651.318421142,631.681578858,653,0.400989546925,-0.0153530811301,0.0798510507871,0.999999926487,0.000277779678324,-0.000262189371813,3.34718896705e-05,1793239658711342080
+36,0.600000000,BASELINE,764.895366497,744,715,679.895366497,660.104633503,635.104633503,879,787.895366497,804,651.895366497,631.104633503,653,0.400988472121,-0.0153530531983,0.0798507538676,0.999999926397,0.000278128627743,-0.000262176878387,3.33699814578e-05,1793239658728008704
+37,0.616666667,BASELINE,765,744,715,679.529211558,660.470788442,635.470788442,879,788,804,652,631,653,0.400989461918,-0.0153540113611,0.07985160793,0.999999927032,0.000276428298461,-0.000261552451647,3.33852238974e-05,1793239658744675072
+38,0.633333333,BASELINE,765.046825758,744,715.046825758,679,661,636,879,788,804,652,631.046825758,653,0.400990829087,-0.0153551641432,0.0798526680395,0.999999927804,0.000274359573504,-0.000260770945396,3.34393815739e-05,1793239658761341696
+39,0.650000000,BASELINE,765.633856153,744,715.633856153,679,661,636,879,788,804,652,631.633856153,653,0.400991273218,-0.0153560419539,0.0798531636062,0.999999928361,0.000273278264331,-0.000259741231162,3.36430785698e-05,1793239658778008320
+40,0.666666667,BASELINE,766,744.219334431,715.780665569,679,661,636,879,788,804,652,632,653,0.400991296636,-0.0153565795694,0.0798533440514,0.999999928661,0.000272519114722,-0.00025937882151,3.36808093653e-05,1793239658794674944
+41,0.683333333,BASELINE,766,744.802239868,715.197760132,679,661,636,879,788,804,652,632,653,0.400990622677,-0.0153565532735,0.079853002148,0.999999928537,0.000272293980183,-0.000260122542854,3.34434328697e-05,1793239658811341568
+42,0.700000000,BASELINE,765.620304094,744.620304094,715,679,661,636,879,788,804,652,631.620304094,653.379695906,0.400991631832,-0.0153555568975,0.0798531550815,0.999999928594,0.000272878039794,-0.000259302112979,3.33363924658e-05,1793239658828008960
+43,0.716666667,BASELINE,765.04564617,744.04564617,715,679,661,636,879,788,804,652,631.04564617,653.95435383,0.400993505213,-0.0153540624155,0.0798535620984,0.999999928742,0.000273877595394,-0.000257678540163,3.32962755913e-05,1793239658844676608
+44,0.733333333,BASELINE,765,744,715,679,661,636,879,787.473554729,804,651.473554729,631,653.473554729,0.400992909965,-0.0153548061229,0.0798537387754,0.999999928867,0.000273527889976,-0.0002575407632,3.34721142968e-05,1793239658861343488
+45,0.750000000,BASELINE,765,744,715,679,660.898184523,636,879.101815477,787.101815477,804,651.101815477,631,653,0.400992016487,-0.0153556128545,0.079853771225,0.999999928895,0.000273072295127,-0.00025789746092,3.36288070443e-05,1793239658878010112
+46,0.766666667,BASELINE,765,744,715,679,660.305955026,636,879.694044974,787.694044974,804,651.694044974,631,653,0.400990712521,-0.0153557929351,0.0798532047073,0.999999928457,0.000272667432504,-0.000260018377381,3.36035257706e-05,1793239658894676736
+47,0.783333333,BASELINE,765,744.280227656,715,678.719772344,660,635.719772344,879.719772344,788,804,652,631,653,0.400990593062,-0.0153551063079,0.0798534008325,0.999999927981,0.00027402666154,-0.00026042651719,3.35429423649e-05,1793239658911343104
+48,0.800000000,BASELINE,765,744.859947895,715,678.140052105,660,635.140052105,879.140052105,788,804,652,631,653,0.400991739543,-0.0153534933891,0.0798544120304,0.999999927459,0.000277271258924,-0.000259004131646,3.34446298935e-05,1793239658928009472
+49,0.816666667,BASELINE,765,744.566559453,715,678,660.433440547,635,878.566559453,788,804,652,631,653,0.40099102199,-0.0153539242977,0.0798536822712,0.999999927422,0.000276466067941,-0.000260010556846,3.34116621766e-05,1793239658944675840
+50,0.833333333,BASELINE,765,744,715,678.005117341,661,635.005117341,878.005117341,788,804,652,631.005117341,653,0.400989744381,-0.0153550058908,0.0798524255129,0.999999927542,0.000274388086901,-0.000261748436238,3.34024966665e-05,1793239658961342464
+51,0.850000000,BASELINE,765,744,715,678.596015219,661,635.596015219,878.596015219,788,804,652,631.596015219,653,0.40099232618,-0.0153560465747,0.0798543242325,0.999999928365,0.000274282580617,-0.000258653372637,3.37352814441e-05,1793239658978008832
+52,0.866666667,BASELINE,765,744,715,678.816743768,661,635.816743768,879,788,804,652,631.816743768,653,0.400993999806,-0.0153563034451,0.0798554720496,0.999999928777,0.000274775587819,-0.000256495285383,3.39647667057e-05,1793239658994675456
+53,0.883333333,BASELINE,765,744,715,678.237406558,661,635.237406558,879,788,804,652,631.237406558,653,0.400993710556,-0.0153548662197,0.0798549969029,0.999999928319,0.00027656219255,-0.000256362332765,3.39709854697e-05,1793239659011342336
+54,0.900000000,BASELINE,765,744.340463599,715.340463599,678.340463599,660.659536401,635,879,787.659536401,804,651.659536401,631,653,0.400992836688,-0.0153540424849,0.0798542521787,0.999999927809,0.000277410132827,-0.000257471904114,3.36777408441e-05,1793239659028008960
+55,0.916666667,BASELINE,765,744.91731514,715.91731514,678.91731514,660.08268486,635,879,787.08268486,804,651.08268486,631,653,0.400991556915,-0.0153536447042,0.0798533202838,0.999999927261,0.000277606347093,-0.000259444174694,3.3176575211e-05,1793239659044675584
+56,0.933333333,BASELINE,765.492690509,744.507309491,715.507309491,679,660,635.492690509,879.492690509,787.492690509,804,651.492690509,631,653,0.400992081017,-0.0153544677395,0.0798540888314,0.999999927881,0.000276532437809,-0.000258171036287,3.34001211412e-05,1793239659061342208
+57,0.950000000,BASELINE,765.930426507,744.069573493,715,679,660.069573493,636,879.930426507,788,804,651.930426507,631,653,0.400992962453,-0.0153553113777,0.0798550834769,0.999999928652,0.000275340068321,-0.000256412042878,3.37078745126e-05,1793239659078008832
+58,0.966666667,BASELINE,765.340418713,744.659581287,715,679,660.659581287,636,879.340418713,788,804,651.340418713,631,653,0.400994259091,-0.015354781126,0.079855641096,0.999999929126,0.00027485129524,-0.000255080722254,3.37384611407e-05,1793239659094675712
+59,0.983333333,BASELINE,765,744.755122981,715,679,661,636,879,788,804,651.244877019,631,653,0.400993962758,-0.0153540854502,0.0798551873342,0.99999992888,0.000275352610694,-0.000255517043718,3.36476734444e-05,1793239659111342336
+60,1.000000000,BASELINE,765,744.176254027,715,679,661,636,879,788,804,651.823745973,631,653,0.400991493744,-0.0153531641496,0.0798533541328,0.999999927645,0.000277204324693,-0.000258364282138,3.33913412442e-05,1793239659128008704
+61,1.016666667,BASELINE,765,744.401325204,715,678.598674796,660.598674796,635.598674796,879,788,804,651.598674796,631,653,0.400991157489,-0.0153534578085,0.0798530216723,0.999999927547,0.000276957345667,-0.0002590172092,3.33336391785e-05,1793239659144675584
+62,1.033333333,BASELINE,765,744.978339795,715,678.021660205,660.021660205,635.021660205,879,788,804,651.021660205,631,653,0.400991754898,-0.0153542833442,0.079853346196,0.999999927948,0.000275791615138,-0.000258709525564,3.33628920619e-05,1793239659161342464
+63,1.050000000,BASELINE,765,744.435922231,715,678.564077769,660.564077769,635.564077769,878.435922231,788,804,651,631,653,0.400991039281,-0.0153546160487,0.0798527209735,0.999999928019,0.00027479005601,-0.000259496584011,3.33734059758e-05,1793239659178009344
+64,1.066666667,BASELINE,765,744,715,678.851360757,661,636,878.148639243,787.851360757,803.851360757,651,631.148639243,653,0.400990542347,-0.0153549808596,0.0798525816771,0.999999928098,0.000274093757203,-0.000259920695069,3.343903337e-05,1793239659194676224
+65,1.083333333,BASELINE,765,744,715,678.271202592,661,636,878.728797408,787.271202592,803.271202592,651,631.728797408,653,0.400990828952,-0.0153554946822,0.0798539606259,0.999999928239,0.000274265079587,-0.000259167166075,3.36667841166e-05,1793239659211342336
+66,1.100000000,BASELINE,765,744.307057765,715,678.307057765,661,636,879.307057765,787.307057765,803,651.307057765,632,653,0.400991390944,-0.0153552874464,0.0798544772441,0.999999928288,0.000274784000008,-0.000258415816126,3.37497641955e-05,1793239659228008704
+67,1.116666667,BASELINE,765,744.883652185,715,678.883652185,661,636,879.883652185,787.883652185,803,651.883652185,632,653,0.400992194671,-0.0153544472624,0.0798542369046,0.999999928256,0.000275608043506,-0.000257666378993,3.37056639338e-05,1793239659244675328
+68,1.133333333,BASELINE,765,745,715,678.54027006,661,636,879.54027006,788,803.45972994,652,631.54027006,652.54027006,0.4009916136,-0.0153550187139,0.0798535285898,0.999999928654,0.000273792468639,-0.00025807733022,3.35413070883e-05,1793239659261341952
+69,1.150000000,BASELINE,765,745,715,678.036445956,660.963554044,636,878.963554044,788,804,652,631,652.036445956,0.400990726953,-0.0153559226456,0.0798527733497,0.999999929101,0.000271496909401,-0.000258795213465,3.33606616528e-05,1793239659278008576
+70,1.166666667,BASELINE,765,745,715,678.624804575,660.375195425,636,878.375195425,788,804,652,631,652.624804575,0.400990514079,-0.0153564574828,0.0798530989867,0.999999928713,0.000272037645628,-0.000259718927133,3.33937130845e-05,1793239659294675456
+71,1.183333333,BASELINE,765,745,715,679,660.209839092,636,878.209839092,788,804,652,631,653,0.400990363212,-0.0153564384961,0.0798531622829,0.999999928294,0.000273151673715,-0.000260162731999,3.34003304437e-05,1793239659311342592
+72,1.200000000,BASELINE,765,745,715,679,660.789022846,636,878.789022846,788,804,652,631,653,0.400990321483,-0.015355444706,0.0798527638247,0.999999927817,0.000275274771679,-0.000259761833815,3.33604203313e-05,1793239659328009472
+73,1.216666667,BASELINE,765,745,715,679,661,635.633837277,879,788,804,651.633837277,631,653,0.400990958239,-0.0153542214156,0.0798531379544,0.999999927624,0.00027678408038,-0.00025890806435,3.33014219407e-05,1793239659344675584
+74,1.233333333,BASELINE,765,745,715,679,661,635.057868548,879,788,804,651.057868548,631,653,0.400991983757,-0.015352866625,0.079853954766,0.999999927593,0.000277941696481,-0.000257794806138,3.3231486242e-05,1793239659361341696
+75,1.250000000,BASELINE,765,745,715,679,661,635.517768889,879,788,804,651.517768889,631,653,0.400992423908,-0.0153544059252,0.0798536932764,0.999999928262,0.000275567789678,-0.000257741487605,3.32838005903e-05,1793239659378008576
+76,1.266666667,BASELINE,765,745,715,679,661,636,879,788,804,652,631.095423324,653,0.400992704855,-0.0153559596175,0.0798534028919,0.999999928774,0.000273613577905,-0.000257820991083,3.33913752235e-05,1793239659394675200
+77,1.283333333,BASELINE,765,745,715,679,661,636,879,788,804,652,631.683686195,653,0.400992501223,-0.0153559181201,0.0798535853136,0.999999928106,0.00027586423314,-0.00025797503968,3.37138338396e-05,1793239659411341824
+78,1.300000000,BASELINE,765,745,715,679,661,636,879,788,804,652,631.731545227,653,0.400992450343,-0.0153554772611,0.0798538476506,0.999999928052,0.000276260640715,-0.000257750921478,3.37622184134e-05,1793239659428008704
+79,1.316666667,BASELINE,765,745,715,679,661,636,879,788,804,652,631.150841026,653,0.400992577133,-0.0153545718902,0.0798542029398,0.999999928717,0.000274500305818,-0.000257086943822,3.34918175627e-05,1793239659444675584
+80,1.333333333,BASELINE,765,745,715,679,661,636,879,788,804,652,631.42450754,653,0.400991487525,-0.0153536064057,0.0798537322852,0.999999927955,0.000276362850791,-0.000258059005332,3.34394752435e-05,1793239659461342208
+81,1.350000000,BASELINE,765,745,715,679,661,636,879,788,804,652,631.997976835,653,0.400989971077,-0.015352619827,0.079852971803,0.999999926683,0.000279496681734,-0.000259605160862,3.34636506984e-05,1793239659478009088
+82,1.366666667,BASELINE,765,745,715,679,661,636,879,788,804,651.414120134,631.414120134,653,0.400991896291,-0.0153537326466,0.0798536158049,0.999999928003,0.00027629115977,-0.000257995471321,3.31119328898e-05,1793239659494675456
+83,1.383333333,BASELINE,765,745,715,679,661,636,879,788,804.171423322,651.171423322,631.171423322,653,0.40099298803,-0.0153548330709,0.0798539471268,0.999999928916,0.000273752508441,-0.000257178316274,3.29711931726e-05,1793239659511342080
+84,1.400000000,BASELINE,765,745,715,679,661,636,879,788,804.751224009,651.751224009,631.751224009,653,0.400992065174,-0.0153558862595,0.0798535217134,0.999999928866,0.000272855993051,-0.000258275812679,3.33362314422e-05,1793239659528008704
+85,1.416666667,BASELINE,765,744.671308283,715,678.671308283,660.671308283,636,879,788,804.671308283,651.671308283,632,653,0.400993025657,-0.015356421968,0.0798544903553,0.99999992917,0.000273594300126,-0.000256261377961,3.37026910971e-05,1793239659544675328
+86,1.433333333,BASELINE,765,744.09559392,715,678.09559392,660.09559392,636,879,788,804.09559392,651.09559392,632,653,0.400995401533,-0.0153565687731,0.0798565066758,0.999999929724,0.000275561230157,-0.000251908224478,3.40702189471e-05,1793239659561342208
+87,1.450000000,BASELINE,764.519051113,744.480948887,715,678,660.480948887,636,879,788,804,651.480948887,631.519051113,653,0.400993815424,-0.015356003677,0.0798557342305,0.999999929517,0.000274190143451,-0.000254256583898,3.37492241232e-05,1793239659578008832
+88,1.466666667,BASELINE,764.058883601,744.941116399,715,678.058883601,661,635.941116399,879,787.941116399,803.941116399,651.941116399,631.058883601,653,0.400991714304,-0.0153553174812,0.0798545446706,0.999999929178,0.000272410772715,-0.000257536537473,3.3328370886e-05,1793239659594675200
+89,1.483333333,BASELINE,764.647864008,744.352135992,715,678.647864008,661,635.352135992,879,787.352135992,803.352135992,651.352135992,631.647864008,653,0.400992078379,-0.0153548171201,0.0798545987082,0.999999929126,0.000272938987751,-0.000257191166548,3.32426720103e-05,1793239659611341824
+90,1.500000000,BASELINE,765.23319033,744.23319033,715,679,661,635.23319033,879,787.23319033,803.23319033,651,632,653,0.400992389008,-0.0153548505229,0.079854566462,0.999999929005,0.000273671642454,-0.000256883423467,3.32507774701e-05,1793239659628008448
+91,1.516666667,BASELINE,765.813083774,744.813083774,715,679,661,635.813083774,879,787.813083774,803.813083774,651,632,653,0.400992620175,-0.0153556775161,0.0798544059306,0.99999992878,0.000274708254261,-0.000256631624808,3.33983495056e-05,1793239659644675072
+92,1.533333333,BASELINE,765.61029749,745,715,679,660.61029749,635.61029749,879,788,804,651.38970251,631.61029749,653.38970251,0.400992277475,-0.0153560042413,0.0798542410171,0.999999928884,0.00027403471008,-0.000256930021008,3.35109792063e-05,1793239659661342208
+93,1.550000000,BASELINE,765.035236288,745,715,679,660.035236288,635.035236288,879,788,804,651.964763712,631.035236288,653.964763712,0.40099166182,-0.0153560930185,0.0798540740192,0.999999929144,0.000272547744808,-0.000257490112698,3.36069888949e-05,1793239659678009600
+94,1.566666667,BASELINE,765,745,715,679,660.539932239,635.539932239,879,788,804,652,631.539932239,653.460067761,0.400991898443,-0.0153547599563,0.0798546723955,0.999999928851,0.000274122003818,-0.000256979133714,3.34249701066e-05,1793239659694676224
+95,1.583333333,BASELINE,765,744.881472725,715,679,661,635.881472725,879,788,804,652,632,653,0.400992138317,-0.0153538539906,0.0798550622743,0.99999992869,0.00027507389424,-0.000256602971641,3.32934687311e-05,1793239659711342592
+96,1.600000000,BASELINE,765,744.289210292,715,679,661,635.289210292,879,788,804,652,632,653,0.400992168835,-0.0153550260045,0.0798544191441,0.999999929211,0.00027273963687,-0.000257045081473,3.3436411936e-05,1793239659728009216
+97,1.616666667,BASELINE,765,744.293849262,715,678.706150738,661.293849262,635,879,788,803.706150738,652,631.706150738,653,0.400992157713,-0.0153552788717,0.0798540911656,0.9999999292,0.000272548823683,-0.000257279586818,3.35341297223e-05,1793239659744676096
+98,1.633333333,BASELINE,765,744.868126245,715,678.131873755,661.868126245,635,879,788,803.131873755,652,631.131873755,653,0.400992106853,-0.015354654574,0.0798540639445,0.999999928681,0.00027440355317,-0.000257315969968,3.35886877489e-05,1793239659761342976
+99,1.650000000,BASELINE,765,744.555480377,715,678.444519623,661.555480377,635.444519623,878.555480377,788,803.444519623,651.555480377,631,653,0.400992348307,-0.0153553681796,0.0798545318869,0.999999929064,0.000274081816334,-0.000256145160695,3.37751811478e-05,1793239659778009600
+100,1.666666667,BASELINE,765,744,715,679,660.978071483,636,878.021928517,787.978071483,804,651.021928517,631,653,0.40099266518,-0.0153563698594,0.0798550843856,0.999999929656,0.000273204197275,-0.000254741930247,3.39739039222e-05,1793239659794675712
+101,1.683333333,BASELINE,765,744,715,679,660.390744683,636,878.609255317,787.390744683,804,651.609255317,631,653,0.400992680004,-0.015354516392,0.0798540113627,0.999999928776,0.00027472161772,-0.000256624180662,3.34739252226e-05,1793239659811342080
+102,1.700000000,BASELINE,765.194417022,744.194417022,715,679,660.194417022,636,879,787.194417022,804,652,631,653,0.400992672927,-0.0153537720015,0.0798535031428,0.999999928318,0.000275443322646,-0.000257670848457,3.31688965605e-05,1793239659828008704
+103,1.716666667,BASELINE,765.775275116,744.775275116,715,679,660.775275116,636,879,787.775275116,804,652,631,653,0.40099262232,-0.0153552321142,0.0798541175776,0.99999992871,0.000274583390383,-0.000257056635521,3.32513685002e-05,1793239659844675584
+104,1.733333333,BASELINE,765.646541479,745,715,679,661,636,879,788,804.353458521,652,631,653,0.400992825913,-0.015355081967,0.0798547506924,0.999999928792,0.00027485568343,-0.000256440265866,3.32886747339e-05,1793239659861342464
+105,1.750000000,BASELINE,765.070045782,745,715,679,661,636,879,788,804.929954218,652,631,653,0.400993189909,-0.015353915724,0.0798553955946,0.999999928679,0.000275842426098,-0.000255822535232,3.32974807955e-05,1793239659878009088
+106,1.766666667,BASELINE,765,745,715,679,661,635.492491808,879.507508192,788,804.492491808,652,631,653,0.40099467709,-0.015355893794,0.0798559008386,0.999999929541,0.000273866027769,-0.000254522072102,3.36801859277e-05,1793239659894675968
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,716,678,661,635,879,788,805,652,632,653,0.400989637239,-0.015355265813,0.0798534288285,0.999999928469,0.000273359289393,-0.00025925774851,3.3499726148e-05,1793239659937345792
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715.419316497,678.580683503,661,635.580683503,879,788,803.838632993,652,631.419316497,653,0.400991348202,-0.0153553763945,0.0798540516043,0.999999928828,0.000273456678543,-0.000257773806711,3.344339946e-05,1793239659954012672
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.840366434,636,879,788,803.159633566,652,631.159633566,653.159633566,0.400992809663,-0.0153553401497,0.0798546768778,0.999999929111,0.000273625014577,-0.000256510806408,3.33133067231e-05,1793239659970679552
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.265920639,636,879,788,803.734079361,652,631.734079361,653.734079361,0.400993622782,-0.0153549223725,0.0798553086414,0.999999929201,0.000273977708068,-0.000255821928361,3.29915308592e-05,1793239659987346432
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.308294893,745,715,679,660.308294893,636,879,788,804,651.691705107,632,653.691705107,0.400993497839,-0.015354997067,0.079855226288,0.999999929191,0.000273860197906,-0.000255985991357,3.30034486268e-05,1793239660004013568
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.882311924,745,715,679,660.882311924,636,879,788,804,651.117688076,632,653.117688076,0.400992564373,-0.0153554962272,0.0798545284306,0.999999929094,0.000273337414971,-0.000256885211941,3.33029799523e-05,1793239660020680704
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.527289165,745,715,678.527289165,661,636,879,788,804,651.472710835,632,653,0.400991902511,-0.0153546286784,0.0798538822585,0.999999928378,0.00027466763633,-0.000258241459697,3.33648266301e-05,1793239660037347072
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,879,787.934850192,804,651.934850192,631.934850192,653,0.400991820685,-0.0153536448698,0.0798536221742,0.999999927737,0.000276187735712,-0.000259095847159,3.33977311889e-05,1793239660054012928
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,879,787.359520501,804,651.359520501,631.359520501,653,0.400995732524,-0.0153545108476,0.0798562811118,0.999999928958,0.000275452424767,-0.00025509721987,3.36840207904e-05,1793239660070679040
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.78404543,715,678.21595457,661,636,879,787.21595457,804,651.21595457,631,653,0.401005446172,-0.0153558688832,0.0798612505768,0.999999931228,0.000274256509773,-0.000247316676212,3.4087964624e-05,1793239660087344896
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.208328228,715,678.791671772,661,636,879,787.791671772,804,651.791671772,631,653,0.401024825159,-0.0153580466465,0.0798700691911,0.999999935127,0.000272293266186,-0.000233235769879,3.46879107433e-05,1793239660104011264
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.377850821,744,715,678.622149179,661,635.622149179,879.755701643,788,804,652,631.377850821,653,0.401062312893,-0.0153598721221,0.0798835851758,0.999999940925,0.000271689041893,-0.000207566111413,3.53723819638e-05,1793239660120677888
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.969962326,744,715,678.030037674,661,635.030037674,880.939924652,788,804,652,631.969962326,653,0.401110069211,-0.0153614978326,0.07989976481,0.999999947026,0.000271855450447,-0.000175325038069,3.61047832558e-05,1793239660137344512
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.450527902,744.549472098,715,678.549472098,661,635,879.901055804,788,804,652,631.450527902,653,0.401176050673,-0.015363593636,0.0799151143878,0.999999951928,0.000272098101102,-0.000144212930841,3.61867928106e-05,1793239660154010880
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.126984309,879,788,804,652,631.126984309,653,0.401244652233,-0.0153659305521,0.0799287011291,0.999999955391,0.000271988620746,-0.000118105351227,3.59220965879e-05,1793239660170677504
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.699847327,879,788,804,652,631.699847327,653,0.401319033861,-0.0153690258741,0.0799362538018,0.999999956803,0.000270628400643,-0.000109358264336,3.45620595039e-05,1793239660187344640
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,652,632,653,0.401401277384,-0.0153718597765,0.0799415363239,0.999999958066,0.000269282173686,-0.000101463077191,3.25577845183e-05,1793239660204011776
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,652,632,653,0.401492173925,-0.0153744059528,0.0799443202543,0.99999995919,0.000267951348065,-9.45055152718e-05,2.98444433532e-05,1793239660220678656
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.55126436,879,788,804,652,632,653.44873564,0.401604938706,-0.0153786737454,0.079946242599,0.999999960364,0.000265454428982,-9.00542824431e-05,2.636637216e-05,1793239660237345024
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.028251,879,788,804,652,631.971749,653.971749,0.401725352922,-0.0153834696429,0.0799480981656,0.99999996156,0.000262621582761,-8.60050622963e-05,2.26499944516e-05,1793239660254011136
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.605624696,879,788,804,652,631.394375304,653.394375304,0.401870467602,-0.0153887696162,0.0799535405803,0.999999963205,0.000259870489398,-7.55600328322e-05,1.86372853926e-05,1793239660270677504
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.818911238,715,679,661,636,879,788,804,652,631.181088762,653,0.402021765321,-0.015394100772,0.0799571005691,0.999999965055,0.000254974480004,-6.84235062012e-05,1.39968486916e-05,1793239660287344384
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.247562644,715,679,661,636,879,788,804,652,631.752437356,653,0.402186387933,-0.0153994991281,0.0799566037883,0.999999967503,0.000245456016465,-6.84170521054e-05,8.00361247263e-06,1793239660304010752
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.336097148,715,678.663902852,661.336097148,636,879.336097148,788,804.336097148,651.663902852,632,653,0.402363597828,-0.0154049873285,0.0799535755797,0.999999969507,0.000235316509755,-7.49063988916e-05,1.35387012455e-06,1793239660320677376
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.929169988,715,678.070830012,661.929169988,636,879.929169988,788,804.929169988,651.070830012,632,653,0.402550431818,-0.0154105442234,0.079948611873,0.999999971008,0.000224702160126,-8.63623541138e-05,-5.79782926764e-06,1793239660337344256
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.488670588,715,678.511329412,661.488670588,636,879.488670588,788,803.977341175,651.511329412,631.488670588,653,0.402780879373,-0.0154179435415,0.0799459656888,0.999999983123,0.000160078643419,-8.91427927861e-05,-1.35412995944e-05,1793239660354011392
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.091121877,715,679,661,636,879,788,803.091121877,652,631,653,0.403023842248,-0.0154258028238,0.0799446733937,0.999999990962,9.85521020209e-05,-8.89773504516e-05,-2.11358000474e-05,1793239660370678272
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.666204588,715,679,661,636,879,788,803.666204588,652,631,653,0.403301859579,-0.0154347778866,0.0799489024054,0.999999992201,9.23785023094e-05,-7.94151787928e-05,-2.75128330444e-05,1793239660387344640
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,678.759248046,661,636,879,788,804,652,631.240751954,653,0.403595687396,-0.0154442505165,0.0799532974581,0.999999992547,9.51628276895e-05,-7.13570932796e-05,-2.754414877e-05,1793239660404011008
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,678.185441308,661,636,879,788,804,652,631.814558692,653,0.403911387323,-0.015454411477,0.0799579222108,0.999999991599,0.000110339492386,-6.53797519396e-05,-1.87968375304e-05,1793239660420677632
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,678.398953751,661,636,879,788,804,651.601046249,631.601046249,653,0.404250126523,-0.0154630273171,0.0799596772518,0.999999993277,9.5708190767e-05,-6.2060836137e-05,-2.08321979786e-05,1793239660437344256
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,678.988404629,661,636,879,788,804,651.011595371,631.011595371,653,0.404599866775,-0.0154709053746,0.079960062029,0.999999995573,6.68438304147e-05,-6.00112967492e-05,-2.80161955244e-05,1793239660454011136
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.56871782,745,715,679,661,636,879,788,804,651,631.56871782,653,0.405004576396,-0.0154822952377,0.0799554077281,0.999999996262,5.15951490362e-05,-6.24428481776e-05,-3.02385739237e-05,1793239660470677760
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.853903308,745,715,678.853903308,661,636,879,788,804,651.146096692,632,653,0.405414434405,-0.0154927239104,0.079950316815,0.999999996457,3.81962606008e-05,-6.77522833223e-05,-3.21932916763e-05,1793239660487344384
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.284495375,745,715,678.284495375,661,636,879,788,804,651.715504625,632,653,0.405836013673,-0.0155001633771,0.0799442538093,0.99999999571,2.93654668255e-05,-8.11397723575e-05,-3.36609445622e-05,1793239660504011520
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,678.291330293,661,636,879,788,804.291330293,652,631.708669707,653,0.406284680433,-0.0155047904643,0.0799399695016,0.999999994985,2.95404951442e-05,-8.99764381911e-05,-3.25856219074e-05,1793239660520678144
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,678.873564368,661,636,879,788,804.873564368,652,631.126435632,653,0.40676039508,-0.0155066092903,0.0799374612871,0.999999994388,3.87081599096e-05,-9.4268944877e-05,-2.89710468271e-05,1793239660537345024
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.462749538,679,661,636,879,788,804.537250462,651.537250462,631,653,0.407249155433,-0.0155044033313,0.079934306844,0.999999993996,3.5176883143e-05,-9.9170596183e-05,-3.05863665893e-05,1793239660554011904
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715.947444068,679,661,636,879,788,804,651.052555932,631,653,0.407747404501,-0.0155021083709,0.0799308053853,0.999999993544,2.78951133707e-05,-0.000104947273394,-3.34592398844e-05,1793239660570678016
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715.370673516,679,661,636,879,788,804,651.629326484,631,653,0.408304202871,-0.0155100616069,0.0799256306584,0.999999992305,1.83403076426e-05,-0.000117766418976,-3.44051928348e-05,1793239660587344640
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.205069967,745,715,679.205069967,661,636,879.205069967,788,804,652,631.205069967,653,0.408884440511,-0.0155161367703,0.0799302387519,0.999999992969,1.17245825004e-05,-0.000112696436655,-3.49780508816e-05,1793239660604011264
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.778966191,745,715,679.778966191,661,636,879.778966191,788,804,652,631.778966191,653,0.409506834547,-0.0155188341468,0.0799524416262,0.999999996491,1.03949078836e-05,-7.54521659753e-05,-3.48798832565e-05,1793239660620677888
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.636244432,745,715,679.636244432,661,636,879.636244432,788,804,652,631.636244432,653,0.410147484338,-0.0155194951077,0.079977387275,0.999999998818,6.89418700511e-06,-3.39361965453e-05,-3.41314360361e-05,1793239660637344768
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.04463158,745,715,679.04463158,661,636,879.04463158,788,804,652,631.04463158,653,0.410799569549,-0.0155188804534,0.080004051003,0.999999999402,2.03351804593e-06,1.02555729438e-05,-3.29756522251e-05,1793239660654011392
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.536205964,715,679,661,636,879,788,804,652,631.536205964,653,0.411445182086,-0.0155166267723,0.0799882268231,0.999999999148,4.186098455e-06,-1.94508934304e-05,-3.61572845893e-05,1793239660670678016
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.885427344,715,679,661,636,879,788,804,652,631.885427344,653,0.412097265076,-0.0155147384613,0.0799658766372,0.999999997584,4.89363621513e-06,-5.66789852368e-05,-3.99535851418e-05,1793239660687344640
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.313415492,715,679,661,636,879,788,804,652,631.313415492,653,0.412777290289,-0.0155148428751,0.0799313125691,0.999999994008,-2.4530234299e-06,-9.98632294754e-05,-4.47909536052e-05,1793239660704011264
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.267045779,788,804.267045779,651.732954221,631,653,0.413481849299,-0.0155159560572,0.0799162438108,0.999999992247,-6.44297748134e-06,-0.000114916319116,-4.75216723528e-05,1793239660720677632
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.857747717,788,804.857747717,651.142252283,631,653,0.414216143058,-0.0155182918539,0.0799248031206,0.999999994246,-6.36464713239e-06,-9.58748055773e-05,-4.76991585902e-05,1793239660737344256
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.560308956,880,788,804.560308956,651.439691044,631,653.439691044,0.414986198143,-0.0155211182157,0.079948941632,0.999999997441,-7.23618130552e-06,-5.41518347999e-05,-4.61787622471e-05,1793239660754011136
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,678.981232323,661,635.018767677,880,788,804,651.981232323,631,653.981232323,0.415766676837,-0.0155239098829,0.0799765515429,0.99999999895,-8.56492441487e-06,-8.00974552974e-06,-4.4294232829e-05,1793239660770678272
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,678.404780931,661,635.595219069,880,788,804,651.404780931,631,653.404780931,0.416519812923,-0.01552104658,0.0799604664989,0.999999997779,-1.45263555848e-05,-4.43461730862e-05,-4.75935227727e-05,1793239660787344896
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,678.171077912,661,636,880,788,804.171077912,651.171077912,631,653,0.417307710971,-0.0155190608738,0.0799556033698,0.999999997106,-1.79124482798e-05,-5.46258765822e-05,-4.98356860156e-05,1793239660804011264
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,678.745539552,661,636,880,788,804.745539552,651.745539552,631,653,0.418177574025,-0.0155191444485,0.0799772003371,0.999999998649,-1.52261632777e-05,-3.46656222007e-06,-4.95852554944e-05,1793239660820677888
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.328019972,745,715,679.328019972,661.328019972,635.671980028,880,788,804.671980028,652,631.328019972,653,0.419016521942,-0.0155221953086,0.0799903138317,0.999999998352,-1.60969898261e-05,2.50490105557e-05,-4.90787355307e-05,1793239660837344512
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.916876785,745,715,679.916876785,661.916876785,635.083123215,880,788,804.083123215,652,631.916876785,653,0.419830886538,-0.0155276057121,0.0799966813878,0.999999998002,-1.97963812954e-05,3.55585980008e-05,-4.83685769476e-05,1793239660854011136
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.50230266,745,715,680,661.50230266,635,879.50230266,788,804,651.50230266,631.50230266,653,0.420652722189,-0.0155279412604,0.0799815050549,0.999999998192,-2.90611986296e-05,1.25902504155e-05,-5.11210320152e-05,1793239660870677760
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.076673297,745,715,680,661.076673297,635.076673297,879.076673297,788,804.076673297,651,631.076673297,653,0.421483778742,-0.015528075616,0.0799685004201,0.999999997875,-3.66009306884e-05,-7.56761166297e-06,-5.3419626459e-05,1793239660887344128
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.652241107,745,715,680,661.652241107,635.652241107,879.652241107,788,804.652241107,651,631.652241107,653,0.422366843083,-0.0155323282216,0.0799926668631,0.999999998085,-2.69639395069e-05,2.63650443464e-05,-4.90619272295e-05,1793239660904010752
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679.767717175,661.767717175,635.767717175,880,788,805,651,632,653,0.423239741701,-0.0155337340506,0.0800088507238,0.999999997634,-2.04788152203e-05,4.5921843903e-05,-4.69409580028e-05,1793239660920677632
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679.180845779,661.180845779,635.180845779,880,788,805,651,632,653,0.424097122092,-0.0155307941673,0.0800128488727,0.999999997712,-1.88051342487e-05,4.35333568079e-05,-4.82344416415e-05,1793239660937344256
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.401087774,635.401087774,880,788,805,651,631.598912226,653,0.424926443408,-0.0155296277968,0.07997987924,0.999999998398,-1.79968743711e-05,-1.55510863204e-05,-5.13586981464e-05,1793239660954010880
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.980821952,635.980821952,880,788,805,651,631.019178048,653,0.425743267028,-0.0155292513576,0.0799304439812,0.999999993328,-1.75740771614e-05,-9.98881780186e-05,-5.5298389217e-05,1793239660970677248
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.559804671,661.440195329,636,880,788,805,651,631,653,0.426631840715,-0.0155340667037,0.0799270205201,0.999999994194,-2.82875652593e-05,-8.69138338713e-05,-5.70711967823e-05,1793239660987344128
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.862552061,745,715,680,661,635.862552061,880,788,804.862552061,651.137447939,631,653,0.427511917998,-0.0155369442087,0.0799258538535,0.999999994641,-3.42564148197e-05,-7.85531881429e-05,-5.80834789331e-05,1793239661004010752
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.289076428,745,715,680,661,635.289076428,880,788,804.289076428,651.710923572,631,653,0.428357254754,-0.0155331107982,0.0799268526515,0.999999993543,-2.39651391592e-05,-9.53901182897e-05,-5.69183153995e-05,1793239661020677376
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.28372345,635.28372345,880.28372345,788,804,651.71627655,631.28372345,653,0.429237003102,-0.0155336928678,0.079943507823,0.999999995189,-2.39991940834e-05,-7.73169923858e-05,-5.53970202883e-05,1793239661037344256
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.855836424,635.855836424,880.855836424,788,804,651.144163576,631.855836424,653,0.430151728917,-0.0155387630341,0.0799760768504,0.99999999769,-3.45283890139e-05,-2.37596836959e-05,-5.35137366763e-05,1793239661054010880
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.446841444,715,680,662,636,881,788.446841444,804.446841444,651,631.553158556,653,0.431041683684,-0.0155418637794,0.0800122723546,0.999999997642,-3.65317897256e-05,2.81769249678e-05,-5.08736461404e-05,1793239661070677504
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.957435096,715,679.957435096,662,635.957435096,880.957435096,788.957435096,805,651,631.042564904,653,0.431914570528,-0.01554375987,0.0800435217904,0.999999995712,-3.62625201016e-05,7.0033729796e-05,-4.85318515627e-05,1793239661087344128
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.382303467,715,679.382303467,662,635.382303467,880.382303467,788.382303467,805,651,631.617696533,653,0.432678311845,-0.0155388843483,0.0799976014278,0.999999997616,-4.34931093418e-05,-7.39569263697e-06,-5.31121546241e-05,1793239661104010752
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.193303032,745,715.193303032,679.386606064,662,635.193303032,880,788,805,651,631.806696968,653,0.433452397455,-0.0155348262861,0.0799521796713,0.999999994382,-4.70016057802e-05,-7.55014932054e-05,-5.76766165455e-05,1793239661120677376
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.769851118,745,715.769851118,680.539702236,662,635.769851118,880,788,805,651,631.230148882,653,0.43424699193,-0.0155323889284,0.0799077464496,0.999999989307,-4.31306352635e-05,-0.000125122176177,-6.22096728826e-05,1793239661137344256
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715.647083252,681,662,636,880.352916748,788,805,651,631,653,0.435044094301,-0.0155386507084,0.0799116518973,0.999999990402,-4.96408989563e-05,-0.000113331561988,-6.23503040905e-05,1793239661154010880
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715.059687377,681,662,636,880.940312623,788,805,651,631,653,0.435842862879,-0.0155506922261,0.0799476737295,0.999999994393,-6.30484912682e-05,-6.07390632856e-05,-5.95725922766e-05,1793239661170677248
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.479249731,745,715,680.479249731,662,635.479249731,881.520750269,788,805,651.520750269,631,653,0.436648519207,-0.0155538738565,0.0799663653896,0.999999994966,-6.50821908852e-05,-4.95236703036e-05,-5.81347933088e-05,1793239661187344128
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.900110709,715,680.099889291,662,635,881.900110709,788,804.900110709,651.900110709,631.099889291,653,0.437441175533,-0.015556428412,0.0799779199681,0.999999994963,-6.80942426136e-05,-4.62145412836e-05,-5.74579624731e-05,1793239661204010752
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.323413753,715,680.676586247,662,635,881.323413753,788,804.323413753,651.323413753,631.676586247,653,0.438168059439,-0.0155607731581,0.0799647632248,0.999999993164,-8.19170779853e-05,-5.83053987243e-05,-5.96900894485e-05,1793239661220677376
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.252045615,715,681,661.747954385,635,881,788,804.252045615,651,631.747954385,653,0.43886814781,-0.0155661360277,0.0799397148578,0.999999989688,-9.04040534558e-05,-9.27738440278e-05,-6.20082360171e-05,1793239661237344256
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.825924681,715,681,661.174075319,635,881,788,804.825924681,651,631.174075319,653,0.439534021289,-0.0155727989241,0.0798994822471,0.999999981546,-9.20777442223e-05,-0.000155815911041,-6.44362194515e-05,1793239661254010880
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.412359789,635,881,788,805,651.412359789,631,653,0.44014170563,-0.0155759657509,0.0798301789834,0.999999957422,-0.000101948257836,-0.000264167825133,-7.05482696113e-05,1793239661270677504
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.00412077,745,715.00412077,681,661.99587923,635,880.99587923,787.99587923,805,651.99587923,631.00412077,653,0.44072410125,-0.0155776262421,0.0797484761783,0.999999913536,-0.000115343233558,-0.000391793142912,-7.82409239831e-05,1793239661287344128
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.576426072,745,715.576426072,681,661.423573928,635,880.423573928,787.423573928,805,651.423573928,631.576426072,653,0.441312962456,-0.0155814735209,0.079702331163,0.999999884759,-0.000122609287874,-0.000456737043618,-8.27008730645e-05,1793239661304010752
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715.848778969,681,661,635,880.151221031,787,805,651,631.848778969,653,0.441919115773,-0.015587236871,0.0796803021095,0.999999869328,-0.000133950366676,-0.000485968495789,-8.50650076022e-05,1793239661320677376
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715.266893553,681,661,635,880.733106447,787,805,651,631.266893553,653,0.442574515659,-0.0155984570266,0.0797269532139,0.999999898885,-0.000156896764475,-0.000413494008488,-8.14604456047e-05,1793239661337344256
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.318185412,714.681814588,681,661,635,880.681814588,786.681814588,805,651,631,653,0.443194993299,-0.0156085224814,0.0797631640633,0.999999918169,-0.000168593581273,-0.000359240068569,-7.864425931e-05,1793239661354010880
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.905970246,714.094029754,681,661,635,880.094029754,786.094029754,805,651,631,653,0.443785881179,-0.0156176095544,0.0797905288515,0.999999931159,-0.000170758594508,-0.000320424456567,-7.64960664448e-05,1793239661370677504
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.51285603,714.48714397,681.48714397,660.51285603,634.51285603,880.48714397,786,805,651,631.48714397,653,0.444295645444,-0.0156248005937,0.079775691686,0.999999921436,-0.00017839357861,-0.000345627844668,-7.64521167185e-05,1793239661387343872
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.933642689,745,714.933642689,681.933642689,660.066357311,634,880.933642689,786,805,651,631.933642689,653,0.444785256206,-0.015631396772,0.0797525536773,0.999999905927,-0.000187061471238,-0.000383695810231,-7.70167494468e-05,1793239661404010496
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.359793355,745,714.359793355,681.359793355,660.640206645,634,880.359793355,786,805,651,631.359793355,653,0.445238887731,-0.0156362050009,0.0797273967417,0.999999886598,-0.000195662201429,-0.000426910213927,-7.91710267077e-05,1793239661420677376
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.780761138,745,714,681,660.780761138,634,880,785.780761138,805,651,631,653,0.445684274041,-0.0156422065677,0.0797078907505,0.999999871288,-0.000205227616534,-0.000456930319513,-8.07433614245e-05,1793239661437344000
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.193017393,745,714,681,660.193017393,634,880,785.193017393,805,651,631,653,0.446115801441,-0.015650213941,0.0796978830803,0.999999865268,-0.000216414509764,-0.00046477295194,-8.13375453251e-05,1793239661454010624
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.390009921,745,714.390009921,681,660,634,880,785.390009921,805,651,631,653,0.446544189753,-0.0156570226164,0.0796935193198,0.999999864192,-0.0002272752806,-0.000461874123382,-8.14454482281e-05,1793239661470677504
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.970730996,745,714.970730996,681,660,634,880,785.970730996,805,651,631,653,0.446971043118,-0.0156632451406,0.0796919153768,0.999999865445,-0.000237976581656,-0.000453722822851,-8.13155643771e-05,1793239661487344128
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.451005324,681.548994676,660,634,880.548994676,785.451005324,805,651,631,653,0.44732499784,-0.0156659800621,0.0796817408512,0.999999858598,-0.00024001422755,-0.000467367204835,-8.22524555598e-05,1793239661504010752
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,681.874239958,660,633.874239958,880.874239958,785,805,651,631,653,0.447662726576,-0.0156681446645,0.0796691683786,0.99999984885,-0.000242487458127,-0.000486369559087,-8.33388395342e-05,1793239661520677376
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,681.30232721,660,633.30232721,880.30232721,785,805,651,631,653,0.447956617799,-0.0156689426759,0.0796497026308,0.999999830279,-0.00024813732279,-0.000520276092456,-8.47547025484e-05,1793239661537344000
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+264,4.400000000,HOLD_POSE2,764,745,714,680.630550398,658,632,880,782.369449602,804.369449602,651,630,653,0.450789812848,-0.0157007607267,0.0796069927958,0.999999775729,-0.00029379904882,-0.000596872096658,-7.7252228409e-05,1793239662569488384
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787,805,651.740216224,631.740216224,653,0.434148364063,-0.0153852988444,0.0798410535066,0.999999952042,0.000183171313459,-0.000248220053753,2.73986070009e-05,1793239663606730240
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.324547241,745,715,680.675452759,661,635,880,787,805,652,631.675452759,653,0.433261539159,-0.0153869114299,0.0798082520086,0.999999935564,0.000185309046882,-0.000306389187933,2.56506850564e-05,1793239663623397120
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.915965168,745,715,680.084034832,661,635,880,787,805,652,631.084034832,653,0.432347940787,-0.0153914927538,0.0797703544382,0.99999991088,0.000184512986732,-0.000378988301181,2.37407878981e-05,1793239663640063744
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.502543714,745,715,680.497456286,661,635,880,787,804.502543714,652,631.497456286,653,0.431420053176,-0.015385500697,0.079732915069,0.999999880812,0.000196378533904,-0.000446394809757,2.33016591866e-05,1793239663656730368
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787,804.076533495,652,632,653,0.430509405986,-0.015379191451,0.0797091239655,0.999999858377,0.000209053461695,-0.000488847416945,2.38853194788e-05,1793239663673396992
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787,804.650606079,652,632,653,0.429726223407,-0.0153822046536,0.079773565984,0.999999906615,0.000213357227736,-0.000374667303648,2.95344705131e-05,1793239663690063872
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.225300098,745,715,681,661,635,880,787,805,651.774699902,631.774699902,653,0.428914104244,-0.0153846145763,0.0798283696359,0.999999935296,0.000217531835644,-0.000284343990624,3.51660410621e-05,1793239663706730496
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.800960589,745,715,681,661,635,880,787,805,651.199039411,631.199039411,653,0.428056986166,-0.0153860863491,0.0798681848359,0.999999947928,0.000221505595642,-0.00023111997401,4.07702737897e-05,1793239663723397120
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.614265885,661,635,880,787,805,651,631.385734115,653,0.427146877039,-0.0153835199453,0.0798528070258,0.999999941526,0.000228378887715,-0.000251394815767,3.98875411081e-05,1793239663740063744
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.024676272,661,635,880,787,805,651,631.975323728,653,0.426208762877,-0.0153788194172,0.0798082604201,0.999999923125,0.000236784544365,-0.000310512857791,3.55765305594e-05,1793239663756730368
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.444362395,745,715,680,661,635.555637605,880,787,805,651,631.444362395,653,0.425271066869,-0.0153778741389,0.0797732958352,0.999999905861,0.000234757962038,-0.000363338051667,3.39457327292e-05,1793239663773396736
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.133008714,661,635.866991286,880,787.133008714,805,651.133008714,631,653,0.424337360482,-0.0153763750423,0.0797430129569,0.999999886611,0.000234993044473,-0.000412892936025,3.27968091307e-05,1793239663790063616
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.702060797,661,635.297939203,880,787.702060797,805,651.702060797,631,653,0.423416673472,-0.0153725226027,0.0797267059922,0.999999867223,0.000244136470868,-0.000452627886935,3.28438071406e-05,1793239663806730240
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.283336256,745,715,680.716663744,661,635.283336256,880,788,805,651.716663744,631,653,0.422544048016,-0.0153702260271,0.0797397974801,0.999999876965,0.000247666105905,-0.000428461690908,3.39437556223e-05,1793239663823396864
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.878044542,745,715,680.121955458,661,635.878044542,880,788,805,651.121955458,631,653,0.421724239809,-0.0153696392663,0.0797851963624,0.999999913524,0.000245026469959,-0.000334071403337,3.62008425484e-05,1793239663840063488
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.539067,745,715,680,661.460933,635.539067,880,788,804.539067,651.460933,631.460933,653,0.420919637133,-0.0153723397814,0.079841261337,0.999999942009,0.000241791388593,-0.000236305610215,4.09614327391e-05,1793239663856730368
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.959518451,635,880,788,804,651.959518451,631.959518451,653,0.42011320999,-0.01537551331,0.0798940682521,0.999999959454,0.000238733182154,-0.000148315297736,4.58368114196e-05,1793239663873396992
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.383814752,635,880,788,804,651.383814752,631.383814752,653,0.419230800102,-0.0153737288011,0.0798674201632,0.999999950018,0.000240044420977,-0.000201083350293,4.36911421187e-05,1793239663890063360
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.808358202,635,880,787.808358202,804,651,631,653,0.418353381442,-0.015373103605,0.0798386092456,0.999999938452,0.000238848488999,-0.000253747525617,4.07285550493e-05,1793239663906729984
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.233395894,635,880,787.233395894,804,651,631,653,0.417485946038,-0.0153747972575,0.0798054722492,0.999999925407,0.000232637733413,-0.000306203936485,3.61319748316e-05,1793239663923396608
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.351379631,635,880,787,804,651,631,653,0.416645606133,-0.01537212022,0.0798009836533,0.999999920415,0.000233913814428,-0.000321228207777,3.55971296587e-05,1793239663940063232
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.942860594,635,880,787,804,651,631,653,0.415823780914,-0.0153664566447,0.0798160708075,0.999999922151,0.000240305728893,-0.000310674708637,3.78377103215e-05,1793239663956729856
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.478888976,661,635,880,787.521111024,804,651.521111024,631.521111024,653,0.415023646795,-0.015362523279,0.0797992656312,0.999999912264,0.000248174642607,-0.000335441376555,3.68834484185e-05,1793239663973396736
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879.902327246,787.902327246,804,652,631.902327246,653,0.414239608849,-0.015359971346,0.0797846956155,0.999999904481,0.000253585520853,-0.000354183173903,3.58655884942e-05,1793239663990063616
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879.32710472,787.32710472,804,652,631.32710472,653,0.413522928879,-0.0153632690201,0.0797977282572,0.999999916223,0.00024620614562,-0.000325001166486,3.62071451845e-05,1793239664006730496
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.745517338,715,679.254482662,660.745517338,635,879.254482662,787.254482662,804,651.745517338,631.254482662,653,0.412816096704,-0.0153649700948,0.0798098116357,0.999999924337,0.000243599022123,-0.000301045067062,3.68317006615e-05,1793239664023397376
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.155538931,715,679.844461069,660.155538931,635,879.844461069,787.844461069,804,651.155538931,631.844461069,653,0.412122247369,-0.0153645663017,0.0798206435575,0.999999928388,0.000247283369871,-0.000283978515764,3.78293459514e-05,1793239664040063744
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.426990986,715,679.573009014,660,635,879.573009014,787.573009014,804,651,631.573009014,653,0.411395772448,-0.0153618096739,0.0798096092577,0.999999920577,0.000251196421626,-0.00030715630788,3.74400618402e-05,1793239664056730112
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879,787,804,651,631,653,0.410658863788,-0.0153582563702,0.0797910347449,0.999999907543,0.000255150957605,-0.000344202041119,3.6567071324e-05,1793239664073396736
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879,787,804,651,631,653,0.410026203698,-0.0153585228201,0.07979656853,0.999999910155,0.000255728338848,-0.000336068534182,3.67679211505e-05,1793239664090063360
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.156691106,635,879,787.156691106,804,651,631,653,0.409412405476,-0.0153586001874,0.0798083367375,0.999999916235,0.000256236176786,-0.000316945994298,3.76724317376e-05,1793239664106729984
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.7291215,635,879,787.7291215,804,651,631,653,0.408848652204,-0.0153581758725,0.0798366463723,0.99999993018,0.000256559499352,-0.000268666897742,4.04439240063e-05,1793239664123396608
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.3015133,879.3015133,788,804,651.3015133,631,653,0.408280982754,-0.0153561977706,0.0798467820765,0.999999932521,0.000261455787128,-0.000254695369802,4.1579394428e-05,1793239664140063488
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.873870395,879.873870395,788,804,651.873870395,631,653,0.407709795509,-0.0153528239307,0.0798405924746,0.999999925708,0.000270459884901,-0.000271541696577,4.12452567055e-05,1793239664156730368
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.534437715,715,679,660.534437715,635.534437715,879.534437715,788,804,651.534437715,631.465562285,653,0.407132450482,-0.0153510348209,0.0798087996379,0.999999909834,0.0002690010911,-0.000326371257686,3.81132420561e-05,1793239664173396736
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.060574545,715,679,660.060574545,635,879,788,804,651,631.939425455,653,0.40656579205,-0.0153500919613,0.0797742326449,0.999999890676,0.00026509383324,-0.000383633450225,3.46159790289e-05,1793239664190063616
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.637311153,715,679,660.637311153,635,879,788,804,651,631.362688847,653,0.406105026532,-0.0153525431772,0.0797776935812,0.999999895643,0.000265523417484,-0.000370139642177,3.47452385774e-05,1793239664206730240
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.788583759,715,679,660.788583759,635,879,787.788583759,804.211416241,651,631.211416241,653,0.405664519648,-0.015354364714,0.0797867468074,0.999999903227,0.000265747325094,-0.000348831099295,3.52426017736e-05,1793239664223396608
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.218937654,715,679,660.218937654,635,879,787.218937654,804.781062346,651,631.781062346,653,0.405258339634,-0.015355119304,0.0798052757726,0.999999914675,0.000265622728003,-0.000314281042243,3.63636905275e-05,1793239664240063232
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.649412249,744.350587751,715,679,660.350587751,635,879,787,804.649412249,651.350587751,631.649412249,653,0.404869164703,-0.0153531005328,0.0798174316397,0.999999919916,0.000266661716278,-0.000296119931857,3.70569406075e-05,1793239664256729856
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.079962137,744.920037863,715,679,660.920037863,635,879,787,804.079962137,651.920037863,631.079962137,653,0.40449060554,-0.015349350428,0.0798256089574,0.999999921744,0.000268427099236,-0.000288189990153,3.74831028118e-05,1793239664273396480
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.520468131,745,715,679,661,635.520468131,879,787,804,651.479531869,631,653,0.404119724986,-0.0153430857869,0.0798312760831,0.999999918159,0.000283002015025,-0.000286421747773,3.94358638204e-05,1793239664290063360
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.880590421,635.880590421,879,787.119409579,804.119409579,651.119409579,631,653,0.403762512375,-0.0153367748449,0.0798358985209,0.999999914602,0.000295808932581,-0.000285720734056,4.07029563945e-05,1793239664306730240
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.306583775,635.306583775,879,787.693416225,804.693416225,651.693416225,631,653,0.403452558635,-0.0153318514552,0.0798381049135,0.999999915384,0.000293918596177,-0.000285250660144,3.84102702557e-05,1793239664323396864
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.724138125,660,635.275861875,879.275861875,787.724138125,804.724138125,652,631,653,0.40316457601,-0.0153281139441,0.079839796957,0.999999915371,0.000294448471587,-0.000284869062269,3.75207189413e-05,1793239664340063488
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.132017715,660,635.867982285,879.867982285,787.132017715,804.132017715,652,631,653,0.402901781924,-0.0153257359696,0.0798408993312,0.999999914445,0.000297752969878,-0.00028458889671,3.82397748325e-05,1793239664356730112
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.450495433,660,635.549504567,879.549504567,787.450495433,804.450495433,651.549504567,631.450495433,653,0.40265947855,-0.0153262942813,0.0798398077532,0.999999913323,0.000297509491991,-0.0002888130392,3.77953309767e-05,1793239664373396992
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.970066602,715,678.970066602,660,635,879,788,804.970066602,651.029933398,632,653,0.402425190857,-0.0153285325656,0.0798381634964,0.999999912473,0.000295463499472,-0.000293905578343,3.70782948542e-05,1793239664390063360
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.39641492,715,678.39641492,660,635,879,788,804.39641492,651.60358508,632,653,0.402229706717,-0.0153459827205,0.079837914875,0.999999917904,0.000279167813129,-0.000291295945072,3.74738536204e-05,1793239664406730240
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,715,678,660.177795905,635,879,788,804,651.822204095,632,653,0.402047834702,-0.0153599944651,0.079839196754,0.999999923021,0.000264891464611,-0.00028692742326,3.8252966765e-05,1793239664423397120
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,715,678,660.753257255,635,879,788,804,651.246742745,632,653,0.401896408138,-0.015366315721,0.0798439018118,0.999999927842,0.000255131650294,-0.000278624901326,3.98899529646e-05,1793239664440064000
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.338837735,715,678,661,635.338837735,879,787.661162265,804,651.338837735,632,653,0.401761025727,-0.0153657120307,0.0798487498195,0.999999929659,0.000255886126173,-0.000271124605109,4.11882942724e-05,1793239664456730368
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.932013898,715,678,661,635.932013898,879,787.067986102,804,651.932013898,632,653,0.401637686364,-0.0153599103371,0.0798537051286,0.999999929212,0.000264532839002,-0.000264226474797,4.22324420757e-05,1793239664473396736
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744.490685036,715,678.509314964,661,635.490685036,879.509314964,787,804,651.490685036,631.490685036,653,0.401535999957,-0.0153597182099,0.0798585550994,0.999999933268,0.000257567353538,-0.000256017972773,3.97264373674e-05,1793239664490063360
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744,715,678.916265529,660.916265529,635,879.916265529,787,804,651.083734471,631.083734471,653,0.401438360165,-0.0153599476453,0.0798618933171,0.999999936352,0.000251585160356,-0.000250312285891,3.66644084106e-05,1793239664506729984
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744,715,678.346641872,660.346641872,635,879.346641872,787,804,651.653358128,631.653358128,653,0.401347936792,-0.0153584095763,0.0798565383564,0.99999993103,0.000263036121702,-0.0002601140842,3.30426732783e-05,1793239664523396608
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.826487218,715,678.826487218,660,635.826487218,879,787.826487218,804,652,631.173512782,653,0.401207045616,-0.0153554320592,0.0798496244367,0.999999926412,0.000272199339486,-0.000268384062559,3.24557646983e-05,1793239664556730112
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.589055755,660.410944245,635.589055755,879,787.589055755,804,652,631,653,0.401157159954,-0.0153545064081,0.0798480702228,0.999999925902,0.00027176470683,-0.000270635825113,3.30973851777e-05,1793239664573396736
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b8a54c24653a7d2cc57a0732559813e53664661
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,420 @@
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+400,6.666666667,pose2_to_pose3_retreat,0.575666536434,-0.00990918450032,1.07003250163,0.546236987372,-0.00123744747632,1.06970062382
+401,6.683333333,pose2_to_pose3_retreat,0.575666393044,-0.00990919609719,1.07003250296,0.546236844081,-0.0012374587562,1.06970062476
+402,6.700000000,pose2_to_pose3_retreat,0.575666330374,-0.00990920116576,1.07003250354,0.546236781454,-0.00123746368623,1.06970062516
+403,6.716666667,pose2_to_pose3_retreat,0.57566632359,-0.00990920171442,1.0700325036,0.546236774674,-0.00123746421988,1.06970062521
+404,6.733333333,pose2_to_pose3_retreat,0.575666277773,-0.00990920542,1.07003250402,0.546236728888,-0.00123746782418,1.06970062551
+405,6.750000000,pose2_to_pose3_retreat,0.575666251628,-0.00990920753453,1.07003250426,0.546236702761,-0.0012374698809,1.06970062568
+406,6.766666667,pose2_to_pose3_retreat,0.575666111333,-0.0099092188811,1.07003250556,0.546236562562,-0.00123748091734,1.06970062659
+407,6.783333333,pose2_to_pose3_retreat,0.575666089356,-0.00990922065855,1.07003250576,0.5462365406,-0.0012374826462,1.06970062674
+408,6.800000000,pose2_to_pose3_retreat,0.575665906054,-0.00990923548345,1.07003250745,0.546236357423,-0.00123749706587,1.06970062793
+409,6.816666667,pose2_to_pose3_retreat,0.575665586926,-0.00990926129354,1.07003251039,0.546236038512,-0.00123752217047,1.06970063001
+410,6.833333333,pose2_to_pose3_retreat,0.575665224182,-0.0099092738455,1.07003249119,0.546235676595,-0.00123753173001,1.06970061567
+411,6.850000000,pose2_to_pose3_retreat,0.575664988884,-0.00990927991292,1.07003247595,0.546235441905,-0.00123753558563,1.06970060431
+412,6.866666667,pose2_to_pose3_retreat,0.575664737081,-0.00990928640596,1.07003245964,0.546235190753,-0.00123753971171,1.06970059214
+413,6.883333333,pose2_to_pose3_retreat,0.575664448646,-0.00990926302042,1.07003245311,0.54623490222,-0.0012375166142,1.06970058678
+414,6.900000000,pose2_to_pose3_retreat,0.575664445179,-0.00990925976495,1.07003245421,0.546234898671,-0.00123751365163,1.06970058754
+415,6.916666667,pose2_to_pose3_retreat,0.575664384088,-0.00990920238641,1.0700324735,0.546234836125,-0.00123746143544,1.06970060098
+416,6.933333333,pose2_to_pose3_retreat,0.575664355825,-0.00990917584112,1.07003248242,0.546234807189,-0.00123743727844,1.06970060719
+417,6.950000000,pose2_to_pose3_retreat,0.575664350147,-0.00990917050785,1.07003248421,0.546234801375,-0.00123743242501,1.06970060844
+418,6.966666667,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385425,1.06970035116
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..96067aa00802bdb21cd61d5b9cf83f5020434f69
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df2fa3adb303e20ba3ded62c888cd651e9316ff5e899ee85ba73dbdf34d36a7
+size 26679304
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a95629fe0d6ac40c2b56b2d47e5fbc6a2758d6d4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/franka_data.csv
@@ -0,0 +1,421 @@
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+21,0.350000000,BASELINE,765,745,715,678,660.821861036,635.178138964,879.821861036,788,804,651.821861036,631.821861036,653,0.400990103906,-0.015354972726,0.0798510245834,0.99999992786,0.000272641745198,-0.000262399734772,3.30707110099e-05,1793239665658298112
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+29,0.483333333,BASELINE,765,745,715,678,661,636,879,788,805,652,631.171340167,653,0.400991779652,-0.015357553769,0.0798532505357,0.99999992893,0.000271108417557,-0.000259849677922,3.34414994626e-05,1793239665791631616
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+47,0.783333333,BASELINE,765,745,715,678.274176203,661,636,879,788,804,652,631.725823797,653,0.400992531218,-0.0153577938987,0.0798548638985,0.999999929831,0.000269845504236,-0.000257684768243,3.34543069372e-05,1793239666091631872
+48,0.800000000,BASELINE,765,745,715,678.854181405,661,636,879,788,804,652,631.145818595,653,0.400989597084,-0.0153574004704,0.0798527097713,0.999999928703,0.000270446575518,-0.000261411009594,3.34091636785e-05,1793239666108297984
+49,0.816666667,BASELINE,765.432944096,744.567055904,715,678.567055904,661,635.567055904,879,788,803.567055904,651.567055904,631.432944096,653,0.400990109888,-0.0153571037165,0.0798527835351,0.99999992885,0.000270207684875,-0.000261107757569,3.33315655998e-05,1793239666124964352
+50,0.833333333,BASELINE,765.98873112,744.01126888,715,678,660.98873112,635.01126888,879,788,803.01126888,651.01126888,632,653,0.400991749104,-0.0153568339674,0.0798535903845,0.999999929405,0.00026972714258,-0.000259485254214,3.32377544244e-05,1793239666141631232
+51,0.850000000,BASELINE,765.411440204,744.588559796,715,678,660.411440204,635.588559796,879,788,803.588559796,651.588559796,632,653,0.400991820228,-0.0153562898319,0.0798536369554,0.999999928975,0.000271278041153,-0.000259571849478,3.28770590199e-05,1793239666158297856
+52,0.866666667,BASELINE,765,745,715,678.164777655,660,636,879,788,804,652,632,653.164777655,0.400991784508,-0.0153562879577,0.0798535507762,0.999999928794,0.000271770571204,-0.000259777344414,3.26884421713e-05,1793239666174964736
+53,0.883333333,BASELINE,765,745,715,678.738333453,660,636,879,788,804,652,632,653.738333453,0.400991483731,-0.0153576313176,0.0798531352725,0.999999929233,0.000269637515067,-0.000260277804018,3.29267154629e-05,1793239666191631360
+54,0.900000000,BASELINE,765,744.677909778,715,679,660.322090222,636,879,788,804,652,631.677909778,653.677909778,0.400991309946,-0.0153581340007,0.0798527349723,0.999999929246,0.000269125625618,-0.000260742967347,3.305954296e-05,1793239666208297728
+55,0.916666667,BASELINE,765,744.085594703,715,679,660.914405297,636,879,788,804,652,631.085594703,653.085594703,0.400991242704,-0.0153579313789,0.0798523474274,0.999999928902,0.000269973850614,-0.000261178518046,3.31039043187e-05,1793239666224964352
+56,0.933333333,BASELINE,765,744.495410649,715,678.504589351,661,635.504589351,879,788,804,652,631,653,0.400991366507,-0.015355894759,0.079852610673,0.999999928523,0.000271791187606,-0.000260758993772,3.29915377128e-05,1793239666241630976
+57,0.950000000,BASELINE,765,745,715,678,660.926064973,635,879,788,804,652,631.073935027,653,0.40099148466,-0.0153541505073,0.0798529320279,0.999999928233,0.000273332763122,-0.000260274342945,3.28714865457e-05,1793239666258297856
+58,0.966666667,BASELINE,765,745,715,678,660.351404909,635,879,788,804,652,631.648595091,653,0.400991345991,-0.0153564844221,0.0798529024221,0.99999992861,0.00027189807469,-0.000260326832068,3.28786891887e-05,1793239666274964480
+59,0.983333333,BASELINE,765,745,715,678.228452458,660.228452458,635.228452458,879,787.771547542,804,652,631.771547542,653,0.400991060348,-0.0153579094029,0.079852661749,0.999999928917,0.000270396594415,-0.000260716011177,3.28574137053e-05,1793239666291631104
+60,1.000000000,BASELINE,765,745,715,678.816490501,660.816490501,635.816490501,879,787.183509499,804,652,631.183509499,653,0.400990543365,-0.0153579037163,0.0798520888544,0.999999929112,0.000268789983143,-0.00026163514242,3.27913134753e-05,1793239666308297728
+61,1.016666667,BASELINE,765,745,715,678.602252553,661,636,879,787,804,652,631.397747447,653,0.400991537135,-0.0153579129021,0.0798526848575,0.999999929278,0.000269637877417,-0.000260081336116,3.31221826377e-05,1793239666324964608
+62,1.033333333,BASELINE,765,745,715,678.024071805,661,636,879,787,804,652,631.975928195,653,0.40099321624,-0.0153579288345,0.0798538111169,0.999999929422,0.000271599228431,-0.000257405711653,3.36331321499e-05,1793239666341631232
+63,1.050000000,BASELINE,765,745,715,678,660.448823804,635.448823804,879,787.551176196,804,651.448823804,632,653,0.400993506383,-0.0153571047759,0.0798539565688,0.99999992949,0.000271298132108,-0.00025749636671,3.33627983704e-05,1793239666358298112
+64,1.066666667,BASELINE,765,744.873742103,715.126257897,678.126257897,660.126257897,635.126257897,879,788,804,651,631.873742103,653,0.400993271071,-0.0153566139559,0.079853800648,0.999999929516,0.000270630029522,-0.00025813523692,3.30835105119e-05,1793239666374964736
+65,1.083333333,BASELINE,765,744.298798652,715.701201348,678.701201348,660.701201348,635.701201348,879,788,804,651,631.298798652,653,0.400991382867,-0.0153574370532,0.0798527251511,0.9999999294,0.000269006969921,-0.000260295247623,3.28930185341e-05,1793239666391631360
+66,1.100000000,BASELINE,765,744.285388722,715.714611278,678.714611278,660.714611278,636,879,788,804,651.285388722,631,653,0.400991247971,-0.0153572934543,0.0798524980343,0.999999929402,0.000268702567346,-0.00026061040909,3.28118865836e-05,1793239666408297984
+67,1.116666667,BASELINE,765,744.879578318,715.120421682,678.120421682,660.120421682,636,879,788,804,651.879578318,631,653,0.400993010217,-0.015356103855,0.0798531888953,0.999999929535,0.00026982499926,-0.000258929377118,3.28490861326e-05,1793239666424964608
+68,1.133333333,BASELINE,765,745,715,678.458282584,660.458282584,636,879,788,804,652,631.458282584,653,0.400993556557,-0.0153567429402,0.0798534563795,0.999999929462,0.000270243733845,-0.000258736753261,3.31724183801e-05,1793239666441631232
+69,1.150000000,BASELINE,765,745,715,679,661,636,879,788,804,651.966940318,631.966940318,653,0.400993622996,-0.01535775819,0.079853512843,0.999999929317,0.000270418137869,-0.000259068645706,3.35112556321e-05,1793239666458298112
+70,1.166666667,BASELINE,765,745,715,679,661,636,879,788,804,651.39201851,631.39201851,653,0.400990889246,-0.015357320462,0.079851874415,0.999999928869,0.000269519530575,-0.000261796731649,3.2912169957e-05,1793239666474964736
+71,1.183333333,BASELINE,765,744.812665987,715,679,660.812665987,635.812665987,878.812665987,788,804,651.187334013,631,653,0.400989830859,-0.0153573549257,0.0798514329168,0.999999928975,0.000268575901539,-0.0002623989761,3.26212135239e-05,1793239666491631360
+72,1.200000000,BASELINE,765,744.223816955,715,679,660.223816955,635.223816955,878.223816955,788,804,651.776183045,631,653,0.400992363295,-0.0153584014427,0.0798535568111,0.999999930271,0.00026753577675,-0.00025844488197,3.29906737197e-05,1793239666508297984
+73,1.216666667,BASELINE,765,744.359254855,715,679,660.359254855,635.359254855,878.359254855,788,804,651.640745145,631.359254855,653,0.40099370984,-0.0153586472043,0.0798545496198,0.99999993077,0.000267423807752,-0.000256618560507,3.30389498496e-05,1793239666524964864
+74,1.233333333,BASELINE,765,744.938784365,715,679,660.938784365,635.938784365,878.938784365,788,804,651.061215635,631.938784365,653,0.400994329264,-0.0153584019881,0.079854848911,0.999999930786,0.00026788093119,-0.000256096868528,3.28902941459e-05,1793239666541631488
+75,1.250000000,BASELINE,765,744.483471375,715,678.483471375,661,635.483471375,879,788,804,651.516528625,631.483471375,653,0.400992864815,-0.0153572601383,0.0798540331831,0.999999929818,0.000269564724884,-0.000258098622549,3.29144038013e-05,1793239666558298112
+76,1.266666667,BASELINE,765,744.093472188,715,678.093472188,660.906527812,635.093472188,879,788,804,652,631.093472188,653,0.400991534533,-0.0153562837182,0.0798533095304,0.999999928899,0.000271195253461,-0.000259934538013,3.30052939563e-05,1793239666574964480
+77,1.283333333,BASELINE,765,744.667383965,715,678.667383965,660.332616035,635.667383965,879,788,804,652,631.667383965,653,0.400992158878,-0.015356701896,0.0798537360116,0.999999928864,0.000271807350915,-0.000259386193527,3.33345529912e-05,1793239666591631360
+78,1.300000000,BASELINE,765,744.751686893,715,678.751686893,660.248313107,635.751686893,879,788,804,652,631.751686893,653,0.400992817504,-0.0153572037342,0.0798542755113,0.999999929208,0.000271268168453,-0.000258618643247,3.3389521544e-05,1793239666608297984
+79,1.316666667,BASELINE,765,744.161084655,715,678.161084655,660.838915345,635.161084655,879,788,804,652,631.161084655,653,0.400993523386,-0.0153578208945,0.0798549708023,0.999999930069,0.000269141995197,-0.000257548927083,3.30663922242e-05,1793239666624964608
+80,1.333333333,BASELINE,765,744.420555329,715,678,661,635.420555329,879,788,804,652,631,653,0.400994679676,-0.0153584061123,0.0798556251652,0.999999930936,0.000267669538927,-0.000255706274308,3.3090094385e-05,1793239666641631232
+81,1.350000000,BASELINE,765,744.99883419,715,678,661,635.99883419,879,788,804,652,631,653,0.400996004884,-0.0153589793505,0.0798562641785,0.999999931802,0.000266442250108,-0.000253573742124,3.32438709287e-05,1793239666658297856
+82,1.366666667,BASELINE,765,745,715,678.572948546,661,635.427051454,879,788,804.572948546,652,631.572948546,653,0.400995136466,-0.0153583207985,0.0798558748021,0.99999993099,0.000267985936868,-0.000255171862146,3.30255668325e-05,1793239666674964736
+83,1.383333333,BASELINE,765,745,715,679,660.849050233,635.150949767,879,788,804.849050233,652,632,653,0.40099424094,-0.0153576057564,0.0798552816679,0.999999930248,0.000269463002508,-0.000256542597817,3.28687130464e-05,1793239666691631360
+84,1.400000000,BASELINE,765,745,715,679,660.259736851,635.740263149,879,788,804.259736851,652,632,653,0.400993279558,-0.0153567338911,0.0798541028468,0.999999929728,0.000270730342809,-0.000257231116072,3.28924959058e-05,1793239666708298240
+85,1.416666667,BASELINE,765,745,715,678.675804902,660.324195098,636,879.324195098,787.675804902,804,652,632,653,0.400992014869,-0.0153565052432,0.0798529850001,0.999999929314,0.000271117734505,-0.000258424351365,3.29222722024e-05,1793239666724964864
+86,1.433333333,BASELINE,765,745,715,678.096114056,660.903885944,636,879.903885944,787.096114056,804,652,632,653,0.400990511146,-0.0153567835104,0.0798519152069,0.999999928983,0.000270811645167,-0.000260015350363,3.29567718806e-05,1793239666741631488
+87,1.450000000,BASELINE,765,744.519274876,715,678.480725124,661,636,880,787.480725124,804,652,631.519274876,653,0.400990320294,-0.0153570593239,0.0798521511479,0.999999928584,0.000271996720205,-0.000260272067375,3.33014662559e-05,1793239666758298368
+88,1.466666667,BASELINE,765,744.056812758,715,679,661,635.943187242,879.943187242,788,804,652,631,653,0.4009906238,-0.0153573007171,0.0798527786387,0.99999992832,0.000273229304528,-0.000259948600935,3.36519518041e-05,1793239666774964992
+89,1.483333333,BASELINE,765,744.631217181,715,679,661,635.368782819,879.368782819,788,804,652,631,653,0.400993053832,-0.0153572329675,0.079854608954,0.999999929432,0.000272194568445,-0.000256755458456,3.34935070661e-05,1793239666791631616
+90,1.500000000,BASELINE,765,745,715,679,661,635.211733869,879,788,804,652,631,653,0.40099427579,-0.0153573398031,0.0798555407848,0.999999930024,0.000271327162632,-0.000255384876365,3.33390839806e-05,1793239666808298240
+91,1.516666667,BASELINE,765,745,715,679,661,635.803212852,879,788,804,652,631,653,0.400993331062,-0.0153577597575,0.0798548611817,0.999999929696,0.000270759864111,-0.000257283060307,3.31918737542e-05,1793239666824964864
+92,1.533333333,BASELINE,765,744.612962592,715,679,661,635.612962592,879,788,804,651.612962592,631,653,0.400992142279,-0.0153569913167,0.0798540468159,0.999999929329,0.000270399827991,-0.000259139681506,3.27565473335e-05,1793239666841631744
+93,1.550000000,BASELINE,765,744.032954362,715,679,661,635.032954362,879,788,804,651.032954362,631,653,0.400990831814,-0.0153556303607,0.0798531652593,0.99999992894,0.000270143129626,-0.000260975580339,3.2177570653e-05,1793239666858298624
+94,1.566666667,BASELINE,765.540133373,744.540133373,715,679,661,635.540133373,879,788,804,651.540133373,631,653.540133373,0.400991953333,-0.0153563662184,0.0798538929766,0.999999929177,0.000270805763873,-0.000259298500036,3.27791397605e-05,1793239666874964992
+95,1.583333333,BASELINE,765.886824272,745,715.113175728,678.886824272,661,635.886824272,879,788,804,652,631.113175728,653.886824272,0.400992852835,-0.0153574560001,0.0798545236166,0.999999929516,0.000270925804035,-0.000257792456868,3.33249049924e-05,1793239666891631104
+96,1.600000000,BASELINE,765.312267223,745,715.687732777,678.312267223,661,635.312267223,879,788,804,652,631.687732777,653.312267223,0.400992250007,-0.0153594736861,0.0798543633004,0.999999930126,0.000268608093619,-0.000257846387456,3.33532597237e-05,1793239666908297984
+97,1.616666667,BASELINE,765,744.728409384,715.728409384,678.271590616,661,635.271590616,879,788,804,652,632,653,0.400992117794,-0.015359621886,0.0798541529072,0.999999930335,0.000267751752252,-0.000257938873583,3.32505148818e-05,1793239666924964864
+98,1.633333333,BASELINE,765,744.133478594,715.133478594,678.866521406,661,635.866521406,879,788,804,652,632,653,0.400992545868,-0.0153575443831,0.079853882895,0.999999930071,0.000268635232996,-0.000258077261718,3.29916904236e-05,1793239666941631488
+99,1.650000000,BASELINE,765,744.448581047,715,678.551418953,661,636,878.551418953,787.551418953,804,652,632,653,0.400993031861,-0.0153576072892,0.0798542598418,0.999999930141,0.000269104030564,-0.000257309659704,3.30639163038e-05,1793239666958297856
+100,1.666666667,BASELINE,765,745,715,678.026590015,661,636,878.026590015,787.026590015,804,651.973409985,632,653,0.40099346251,-0.0153582665358,0.0798547316199,0.9999999303,0.000269343370021,-0.000256421133901,3.31964629847e-05,1793239666974964480
+101,1.683333333,BASELINE,765,745,715,678.597888262,661,636,878.597888262,787.597888262,804,651.402111738,632,653,0.400992416218,-0.0153584589349,0.0798533124577,0.999999930342,0.00026733939352,-0.000258423940056,3.26030454939e-05,1793239666991631104
+102,1.700000000,BASELINE,765,745,715,679,660.828836221,636,879,788,804,651,631.828836221,653,0.400991781312,-0.0153584751627,0.0798525413531,0.99999993024,0.000266516007987,-0.00025970390918,3.22997146069e-05,1793239667008297728
+103,1.716666667,BASELINE,765,745,715,679,660.250861336,636,879,788,804,651,631.250861336,653,0.400992124166,-0.0153580726783,0.0798533105104,0.999999929811,0.000268498575722,-0.000259265885276,3.26858430613e-05,1793239667024964608
+104,1.733333333,BASELINE,765,745,715,678.663333233,660.336666767,636,879,788,804,651.336666767,631,653,0.400992543467,-0.0153573423359,0.0798539260627,0.999999929758,0.000269425900528,-0.00025847832884,3.29123451343e-05,1793239667041631232
+105,1.750000000,BASELINE,765,745,715,678.068478765,660.931521235,636,879,788,804,651.931521235,631,653,0.400993021394,-0.0153563605613,0.0798544238163,0.999999929995,0.000269543966139,-0.000257422717979,3.30164307446e-05,1793239667058297856
+106,1.766666667,BASELINE,765,744.494074649,715,678.505925351,661,636,879,788,804,651.494074649,631,653,0.400992337083,-0.0153562890156,0.0798541775098,0.999999929566,0.000270402756695,-0.000258205148977,3.28806756257e-05,1793239667074964480
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,661,636,879,788,805,652,631,653,0.400991023085,-0.0153555293603,0.0798528758234,0.999999928931,0.000272307657164,-0.000258685099541,3.26946364998e-05,1793239667118349056
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.591452704,715,679,661,636,879,788,804.408547296,652,631,653,0.400993006107,-0.015356528768,0.0798545523592,0.999999929579,0.000271525141721,-0.000256974315867,3.28668144105e-05,1793239667135015680
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.820447117,745,715,678.820447117,661,636,879.179552883,788,804,651.820447117,631,652.820447117,0.400993780765,-0.0153575520653,0.0798552412403,0.999999930021,0.000270284487543,-0.000256544484581,3.30110442579e-05,1793239667151682304
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.239835204,745,715,678.239835204,661,636,879.760164796,788,804,651.239835204,631,652.239835204,0.400991856355,-0.0153586287237,0.0798537240429,0.999999930001,0.000268020509765,-0.000258975857482,3.30928478336e-05,1793239667168348928
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.336487977,745,715,678,661,636,879.663512023,788,804,651.336487977,631.336487977,652.336487977,0.400991157759,-0.0153583900549,0.0798533831866,0.999999929633,0.000268575391995,-0.000259823351409,3.30735944323e-05,1793239667185015552
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.909792759,745,715,678,661,636,879.090207241,788,804,651.909792759,631.909792759,652.909792759,0.400991321879,-0.0153572256723,0.0798538702272,0.99999992902,0.000271114159267,-0.000259556127335,3.2983218157e-05,1793239667201682176
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.504671246,715,678.495328754,661,635.504671246,879,788,804,651.504671246,631.504671246,653,0.400990946953,-0.0153570542439,0.07985333613,0.999999929084,0.000270302988316,-0.000260166854541,3.29001994299e-05,1793239667218349312
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,715,678.918247399,661,635,879,788,804,651,631,653,0.400991250852,-0.0153572258795,0.0798530397344,0.999999929387,0.000269035246263,-0.000260317107521,3.28930459569e-05,1793239667235016192
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,715,678.34029684,661,635,879,788,804,651,631,653,0.400996285806,-0.0153583543892,0.0798553433659,0.999999930378,0.000268792959638,-0.000256677492389,3.33380185519e-05,1793239667251682560
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.238266168,715,678.238266168,661.238266168,635,879,787.761733832,804,651.238266168,631,653,0.40100711546,-0.0153588454095,0.0798603720522,0.999999932547,0.00026855386135,-0.000248304785099,3.36234990024e-05,1793239667268348928
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.817706094,715,678.817706094,661.817706094,635,879,787.182293906,804,651.817706094,631,653,0.401026242556,-0.0153584236072,0.0798693027493,0.999999936255,0.000268319328426,-0.000233154754839,3.36806023188e-05,1793239667285015552
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.39256273,745,715,679,661.60743727,635.39256273,879,787.39256273,804,652,631,653,0.401063221514,-0.0153596692776,0.0798826044907,0.99999994169,0.000268467227911,-0.000208269313856,3.41946612959e-05,1793239667301682176
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.965315642,745,715,679,661.034684358,635.965315642,879,787.965315642,804,652,631,653,0.401108394655,-0.0153616803346,0.0798979125854,0.999999947261,0.000268790667461,-0.000178915221454,3.49184674301e-05,1793239667318348800
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.446854895,745,715,679,661,635.446854895,879,788,804,652,631.553145105,653,0.401177308955,-0.0153655188252,0.0799158450491,0.999999952892,0.000268115791409,-0.000145123651038,3.56109813778e-05,1793239667335015680
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.860012889,715,678.860012889,661,635,879,788,804,652,632,653,0.401249688929,-0.0153692768322,0.0799315513,0.999999956951,0.000267007066611,-0.000116302229587,3.57643438371e-05,1793239667351682816
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.279338732,715,678.279338732,661,635,879,788,804,652,632,653,0.401328161346,-0.0153724106394,0.0799397167629,0.999999958961,0.000264735147407,-0.000104027580419,3.42267783476e-05,1793239667368349696
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.298411061,715,678.298411061,661,635,879,788,804,652,631.701588939,653,0.401412012648,-0.0153753056296,0.0799444549336,0.999999960112,0.000263516077259,-9.64712609584e-05,3.20716350665e-05,1793239667385016064
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.873449927,715,678.873449927,661,635,879,788,804,652,631.126550073,653,0.401500850186,-0.0153779792355,0.0799460159954,0.999999960562,0.000263273001002,-9.32888457758e-05,2.93439957115e-05,1793239667401682432
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.549021385,715,679,661,635.450978615,879,788,804.450978615,652,631.450978615,653,0.401610419584,-0.0153823757986,0.0799470644233,0.999999961427,0.000261241684735,-9.06518770815e-05,2.61052286296e-05,1793239667418349056
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.029691059,715,679,661,636,879,788,804.970308941,651.970308941,631.970308941,653,0.401727344626,-0.0153872212042,0.0799481544155,0.99999996245,0.000258588611127,-8.78515167427e-05,2.26710949934e-05,1793239667435015680
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.617448199,715,679,661,636,879,788,804.382551801,651.382551801,631.382551801,653,0.401872571133,-0.0153913650707,0.0799527444469,0.999999964515,0.000253733243222,-7.90872553374e-05,1.82757141129e-05,1793239667451682304
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.202111892,745,715,678.797888108,661,635.797888108,879,788,804.202111892,651.202111892,631.202111892,653,0.402026651481,-0.0153961113404,0.0799562396002,0.999999966468,0.00024845099339,-7.18134923672e-05,1.34047094366e-05,1793239667468349184
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.781008592,745,715,678.218991408,661,635.218991408,879,788,804.781008592,651.781008592,631.781008592,653,0.402197237486,-0.0154019806331,0.0799576936387,0.999999968333,0.000242372934324,-6.73183752483e-05,7.64702896869e-06,1793239667485015808
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.642382036,745,715,678,661,635.357617964,879.357617964,787.642382036,804.642382036,652,631.642382036,653,0.402380566152,-0.0154081642813,0.0799559397373,0.999999970838,0.000230947268333,-7.0611908018e-05,9.63779465172e-07,1793239667501682432
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.067164379,745,715,678,661,635.932835621,879.932835621,787.067164379,804.067164379,652,631.067164379,653,0.402571648358,-0.015414539206,0.0799522339017,0.999999973502,0.000216267744957,-7.86445977438e-05,-6.28265130118e-06,1793239667518349056
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635.492253636,879.492253636,787.507746364,804,651.492253636,631,653,0.402794826605,-0.0154221999049,0.0799490985584,0.999999985029,0.000150903547305,-8.35062853673e-05,-1.40341153925e-05,1793239667535015680
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.085671958,745,715,678,661,635,879.085671958,788,804,651,631,653,0.40303003427,-0.015430142686,0.0799467678028,0.999999992118,8.84890038468e-05,-8.63933062469e-05,-2.16547415787e-05,1793239667551682304
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.68180292,745,715,678,661,635,879.68180292,788,804,651,631,653,0.403311635342,-0.0154387534154,0.0799487816508,0.999999992912,8.35728492593e-05,-8.00124265868e-05,-2.80979936801e-05,1793239667568349184
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.73305298,745,715.26694702,678.26694702,661,635.26694702,879.73305298,788,804,651.26694702,631.26694702,653.26694702,0.403611061042,-0.0154480804913,0.0799533020149,0.999999993023,9.04520049382e-05,-7.11015001858e-05,-2.67918533587e-05,1793239667585015808
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.160487401,745,715.839512599,678.839512599,661,635.839512599,879.160487401,788,804,651.839512599,631.839512599,653.839512599,0.403930893532,-0.0154582276873,0.079960692004,0.999999991962,0.0001108352102,-5.92940097246e-05,-1.66136969718e-05,1793239667601682432
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715.5766494,679,661,636,879.4233506,788,804,652,632,653.5766494,0.404270834215,-0.0154648277603,0.0799631507817,0.999999993584,9.68848126595e-05,-5.53361073177e-05,-1.95747855299e-05,1793239667618349056
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.011401587,745,715,678.988598413,661,636,879.988598413,787.988598413,804,652,631.988598413,653,0.404619748695,-0.0154702246995,0.0799635882193,0.999999995706,6.97015584211e-05,-5.45018639898e-05,-2.75413043328e-05,1793239667635015680
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.590630435,745,715,678.409369565,661,636,879.409369565,787.409369565,804,652,631.409369565,653,0.40502556229,-0.0154845026146,0.0799590037051,0.999999996707,4.94239428913e-05,-5.69829365269e-05,-2.99418058762e-05,1793239667651682304
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.830079266,745,715,678.169920734,661,636,879,787.169920734,803.830079266,651.830079266,631.169920734,653,0.405437384157,-0.0154964589668,0.0799535335202,0.99999999698,3.23427183387e-05,-6.2933880199e-05,-3.21474064577e-05,1793239667668349184
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.250640951,745,715,678.749359049,661,636,879,787.749359049,803.250640951,651.250640951,631.749359049,653,0.405863686209,-0.0155028202329,0.0799459288245,0.999999996179,2.29649609834e-05,-7.72473888187e-05,-3.38832855178e-05,1793239667685015808
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.324631433,745,715,679,661,636,879,788,803.324631433,651,631.675368567,653,0.406311942196,-0.0155057356605,0.0799412628706,0.999999995384,2.67200460698e-05,-8.64344556171e-05,-3.23455947522e-05,1793239667701682688
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.896728205,745,715,679,661,636,879,788,803.896728205,651,631.103271795,653,0.406776933632,-0.0155060243388,0.0799388371079,0.999999994574,4.048624735e-05,-9.17136563e-05,-2.83124740078e-05,1793239667718349824
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.515874963,744.515874963,715,679,661,636,879,788,804,651.484125037,631,653,0.407266810229,-0.0155030746648,0.0799374687716,0.999999994339,3.67136111407e-05,-9.52338759957e-05,-3.0077008126e-05,1793239667735016192
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.073158857,715,679,661,636,879,788,804,652,631,653,0.407769555503,-0.0155009804293,0.0799353100176,0.999999994023,2.86096319238e-05,-0.000100263280726,-3.29150058012e-05,1793239667751682304
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.65025372,715,679,661,636,879,788,804,652,631,653,0.40832318464,-0.0155096923031,0.0799261022111,0.999999992256,1.72824732942e-05,-0.000118357271711,-3.43503391896e-05,1793239667768349184
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.774956948,715.225043052,679,661,636,879,788,804.225043052,651.774956948,631.225043052,653,0.408903929224,-0.0155169876331,0.0799307704452,0.999999993037,8.20221487985e-06,-0.000112370012574,-3.50963284716e-05,1793239667785015808
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.203714409,715.796285591,679,661,636,879,788,804.796285591,651.203714409,631.796285591,653,0.409526387365,-0.0155221037939,0.079956785165,0.999999996988,2.57852108824e-06,-6.93368788218e-05,-3.47818513285e-05,1793239667801682688
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.373247248,715.626752752,679,661,636,879,788,804.626752752,651,632,653,0.410182080496,-0.0155216692793,0.0799842472335,0.999999999169,2.64566502908e-06,-2.27065538032e-05,-3.37611288882e-05,1793239667818349312
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.953378893,715.046621107,679,661,636,879,788,804.046621107,651,632,653,0.410856195178,-0.0155181581225,0.0800125115411,0.999999999124,5.86714059263e-06,2.59176297617e-05,-3.23489470484e-05,1793239667835015936
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.545821077,745,715,679,661,636,879,788,804.545821077,651,631.454178923,653,0.411483702927,-0.0155162018016,0.0799950013302,0.999999999327,7.56367554714e-06,-8.53661949823e-06,-3.48666106868e-05,1793239667851682560
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.864636124,745,715,679,661,635.864636124,879.135363876,788,804.864636124,651.135363876,631,653,0.412122171991,-0.0155151373631,0.07997027702,0.999999997945,6.77164289487e-06,-5.08851256813e-05,-3.84050400437e-05,1793239667868348928
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.28805054,745,715,679,661,635.28805054,879.71194946,788,804.28805054,651.71194946,631,653,0.412809644875,-0.0155165371644,0.0799350763839,0.999999994483,-1.69757737914e-06,-9.53014748609e-05,-4.41513201945e-05,1793239667885015808
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.287650151,879.712349849,788,804,651.712349849,631,653,0.413526268922,-0.0155185023969,0.0799222678447,0.999999993215,-6.27061478569e-06,-0.000106405917681,-4.69912715118e-05,1793239667901682432
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.862467502,879.137532498,788,804,651.137532498,631,653,0.41427199527,-0.0155210321115,0.0799318138031,0.999999995325,-6.95401183737e-06,-8.42543885969e-05,-4.69297743172e-05,1793239667918349056
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679.436691357,661,636,879,788,804,651.436691357,631,653,0.415038420086,-0.0155235510677,0.0799527529459,0.999999997751,-8.62023771782e-06,-4.86517606488e-05,-4.53526014632e-05,1793239667935015680
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679.988920313,661,636,879.011079687,788,804,651.988920313,631.011079687,653,0.415810816086,-0.0155259569087,0.0799765426235,0.99999999895,-1.06342333582e-05,-1.01845564877e-05,-4.34001917653e-05,1793239667951682816
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679.396093318,661,636,879.603906682,788,804,651.396093318,631.603906682,653,0.416554925068,-0.0155226012259,0.0799618567568,0.999999997855,-1.46778815622e-05,-4.34396435135e-05,-4.67752942706e-05,1793239667968349184
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.19170113,745,715,679,661,636,880,788,804.19170113,651,631.80829887,653,0.417343644842,-0.0155204649662,0.0799596762551,0.999999997496,-1.74577998371e-05,-4.80824974145e-05,-4.88924473936e-05,1793239667985015808
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.769363273,745,715,679,661,636,880,788,804.769363273,651,631.230636727,653,0.418222181602,-0.0155207838291,0.0799826734013,0.999999998657,-1.76933902153e-05,4.88102229966e-06,-4.84769109124e-05,1793239668001682688
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679.6891491,661,635.65542545,880,788,805,651,631,653,0.41907186315,-0.0155234461418,0.0799963195685,0.999999998115,-1.87935412175e-05,3.33704937675e-05,-4.79879856789e-05,1793239668018349312
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680.836313862,661,635.081843069,880,788,805,651,631,653,0.419902367188,-0.0155276659356,0.0800037509768,0.999999997625,-2.04682882192e-05,4.55942559888e-05,-4.7450285591e-05,1793239668035015936
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.493220808,745,715,679.986441615,661,635.506779192,880,788,805,651.506779192,631,653,0.420719290977,-0.015530672262,0.0799913133806,0.999999997849,-3.09717354407e-05,2.98711111563e-05,-4.94947924658e-05,1793239668051682304
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679.095953255,661,636,880,788,804.904046745,651.904046745,631,653,0.421544914894,-0.0155329440274,0.0799810989607,0.999999997781,-3.93324271987e-05,1.66793662991e-05,-5.11105399811e-05,1793239668068348928
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679.675296541,661,636,880,788,804.324703459,651.324703459,631,653,0.422425754298,-0.0155325326953,0.0799987438532,0.999999997607,-2.94958580594e-05,3.96727333735e-05,-4.84012072129e-05,1793239668085015808
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.252900263,745,715,679.747099737,661.252900263,636,880,788.252900263,804,651,631.252900263,653,0.423306855155,-0.0155323715843,0.0800111671527,0.999999997298,-2.23914821307e-05,5.18567660557e-05,-4.7037332237e-05,1793239668101682432
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.828285861,745,715,679.171714139,661.828285861,636,880,788.828285861,804,651,631.828285861,653,0.424188289522,-0.015532529542,0.0800169321491,0.999999997438,-1.87710563573e-05,5.02572977154e-05,-4.73891151143e-05,1793239668118349056
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.599557728,745,715,679.400442272,662,636,880.400442272,788.199115456,804,651,631.599557728,653,0.425017046772,-0.0155321891275,0.0799840233569,0.999999998547,-1.71699799437e-05,-8.66408901439e-06,-5.03576369416e-05,1793239668135015680
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.028774986,745,715,679.971225014,662,636,880.971225014,787.057549971,804,651,631.028774986,653,0.425823396133,-0.015531636715,0.0799346634757,0.999999994154,-1.6427896172e-05,-9.19691213983e-05,-5.44392690628e-05,1793239668151682304
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.566714171,745,715,680,662,636,880.433285829,787.566714171,804,651.566714171,631,653.566714171,0.426710103519,-0.0155350917265,0.0799316680683,0.999999995046,-2.71896842877e-05,-7.73970528502e-05,-5.63741358768e-05,1793239668168349184
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.841157882,880.158842118,788,804.158842118,652,631,654,0.427592845974,-0.0155374038673,0.0799319213433,0.99999999553,-3.32226991856e-05,-6.74118588198e-05,-5.73830334779e-05,1793239668185015552
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.26141223,880.73858777,788,804.73858777,652,631,654,0.428453777401,-0.0155361238458,0.079934260586,0.99999999463,-2.5106957395e-05,-8.33502379255e-05,-5.62402791494e-05,1793239668201682176
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.685414692,745,715,680,662,635.314585308,880.685414692,788,805,652,631,653.685414692,0.429348267584,-0.0155371416845,0.0799534519105,0.999999996359,-2.55533920979e-05,-6.05978070006e-05,-5.43820797887e-05,1793239668218348800
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.112495098,745,715,680,662,635.887504902,880.112495098,788,805,652,631,653.112495098,0.430270315837,-0.0155400465029,0.0799864819949,0.999999998087,-3.3031000268e-05,-6.07287153921e-06,-5.19363641098e-05,1793239668235015424
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880.473730704,788,805,651.526269296,631,653,0.43115680014,-0.0155443137354,0.0800232028367,0.99999999693,-3.77498504678e-05,4.73392652319e-05,-4.97396796941e-05,1793239668251682560
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880.937801383,788,805,651,631,653,0.432023774548,-0.0155477875466,0.0800516882992,0.999999994233,-4.19513773719e-05,8.62090983052e-05,-4.83855846053e-05,1793239668268349440
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880.357734652,788,805,651,631,653,0.432800655766,-0.0155418837485,0.0800040975636,0.999999997421,-4.745777178e-05,6.26286921871e-06,-5.35403204583e-05,1793239668285015808
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.220979694,715,680.220979694,662,636,880,788,804.779020306,651,631.220979694,653,0.433586772629,-0.0155383803711,0.0799579732911,0.999999995044,-5.21626018086e-05,-6.14996980721e-05,-5.8389943981e-05,1793239668301682432
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.797518127,715,680.797518127,662,636,880,788,804.202481873,651,631.797518127,653,0.434387749868,-0.0155387392957,0.0799142085663,0.999999990474,-5.55777071812e-05,-0.000109658632972,-6.2748639601e-05,1793239668318349056
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.373477833,745.626522167,715,680.626522167,662,635.626522167,880,788,804.373477833,651,631.626522167,653,0.435219478311,-0.0155431873064,0.0799214631367,0.999999991651,-6.07441623747e-05,-9.5504015729e-05,-6.23467505201e-05,1793239668335015680
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.949124231,745.050875769,715,680.050875769,662,635.050875769,880,788,804.949124231,651,631.050875769,653,0.436067852746,-0.0155498487942,0.0799563351393,0.999999994869,-6.68586464721e-05,-4.76182329665e-05,-5.93678926866e-05,1793239668351682304
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.461868706,745,715,680,662,635.538131294,880,788,805,651.538131294,631,653,0.436836823391,-0.0155534086624,0.079968963854,0.999999995234,-6.53461146486e-05,-4.43535806419e-05,-5.74075243844e-05,1793239668368348928
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.125895932,662,635.874104068,880,788,805,651.874104068,631,653,0.437596149191,-0.0155573225955,0.0799764773654,0.99999999518,-6.67396765364e-05,-4.46941574757e-05,-5.64657049301e-05,1793239668385015808
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.704534476,662,635.295465524,880,788,805,651.295465524,631,653,0.438348474087,-0.0155635911629,0.0799733507282,0.999999994068,-8.1243139375e-05,-4.24428835202e-05,-5.8831666374e-05,1793239668401682688
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.719788112,745,714.719788112,680.719788112,662,635,880.280211888,788,805,651,631,653,0.439057508972,-0.0155697358723,0.0799478462862,0.99999999079,-9.22308508573e-05,-7.80124748063e-05,-6.18747235857e-05,1793239668418349312
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.147200409,745,714.147200409,680.147200409,662,635,880.852799591,788,805,651,631,653,0.43972137459,-0.0155757513469,0.0798989926249,0.99999998118,-9.95501918324e-05,-0.000153044725395,-6.56242687245e-05,1793239668435015936
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.429066924,745,714.429066924,680.429066924,662,635,881,788,804.570933076,651,631,653,0.440332494005,-0.0155782211719,0.0798204230835,0.999999953136,-0.000109721538945,-0.000276537785229,-7.22175151107e-05,1793239668451682560
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680.993258711,661.993258711,635,881,787.993258711,804.006741289,651,631,653,0.440925474891,-0.0155794952154,0.0797321918436,0.999999903104,-0.000120819679013,-0.000415733937039,-7.97503159531e-05,1793239668468349440
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680.404032541,661.404032541,635,881,787.404032541,804.595967459,651,631,653,0.441528275166,-0.0155834607752,0.0796976313334,0.999999881396,-0.000126723955007,-0.000462802433905,-8.34402039459e-05,1793239668485016064
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680.181642181,661,634.818357819,880.818357819,787,805.181642181,651,631,653.181642181,0.442153006829,-0.0155904272071,0.0796913708113,0.999999877737,-0.000137580064639,-0.00046738229206,-8.4569526685e-05,1793239668501682688
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680.759568906,661,634.240431094,880.240431094,787,805.759568906,651,631,653.759568906,0.44282558581,-0.0156039405725,0.0797468517122,0.999999912191,-0.000159239476109,-0.000379265678365,-8.01125240365e-05,1793239668518349312
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.335316708,745,715,681,661,634.335316708,880.335316708,787,805.664683292,651,631,653.664683292,0.443441197064,-0.0156151037954,0.079777600232,0.999999926118,-0.000172971839393,-0.000334405206992,-7.7577604888e-05,1793239668535015936
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.909512216,745,715,681,661,634.909512216,880.909512216,787,805.090487784,651,631,653.090487784,0.444016224608,-0.0156245927815,0.079790729461,0.999999929374,-0.000181056992353,-0.000320360311958,-7.64119738879e-05,1793239668551682560
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.006378251,745,714.503189125,681,660.503189125,634.503189125,881.496810875,786.503189125,805,651,631,653,0.444531401918,-0.0156293272443,0.0797699167466,0.999999916654,-0.000184495477003,-0.000356027449248,-7.67999591736e-05,1793239668568349440
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.084712914,745,714,681,660,634,881.830574172,786,805,651,631,653,0.445030679158,-0.0156333812325,0.079743625133,0.999999899425,-0.000188252534732,-0.000399614204085,-7.75816044124e-05,1793239668585016064
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.661873212,745,714,681,660,634,880.676253577,786,805,651,631,653,0.445502612507,-0.015638649932,0.0797223947862,0.999999882409,-0.000198914612369,-0.000435178421533,-7.89621372243e-05,1793239668601682688
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,805,651,631,653,0.445967485623,-0.0156448267775,0.0797064474545,0.999999870538,-0.000210508111764,-0.000456188791377,-8.06299485207e-05,1793239668618349056
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,805,651,631,653,0.44642237159,-0.0156522882478,0.0796979732555,0.999999867375,-0.000223419160545,-0.00045661189872,-8.27041318624e-05,1793239668635015680
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.61128626,659.61128626,634,880.38871374,785.61128626,805,651,630.61128626,653.38871374,0.44685133517,-0.0156595061568,0.079691692752,0.999999864805,-0.000232356886314,-0.000457786088069,-8.26622185071e-05,1793239668651682560
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680.036366773,659.036366773,634,880.963633227,785.036366773,805,651,630.036366773,653.963633227,0.447267881175,-0.015666607393,0.0796864630949,0.999999862529,-0.000239391270211,-0.000459320068671,-8.16066304201e-05,1793239668668349440
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.558245,680.558245,659.558245,634,881,785,805,651,630.558245,653.441755,0.447628173006,-0.0156682035969,0.0796714382122,0.999999849821,-0.000242209377652,-0.000484614774236,-8.2713447477e-05,1793239668685015808
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.148831659,715,681,660,633.851168341,880.851168341,784.851168341,805,651,630.851168341,653,0.447972298045,-0.0156692043818,0.0796546746128,0.99999983466,-0.000246270542338,-0.000512762475964,-8.429521441e-05,1793239668701682432
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.724076376,715,681,660,633.275923624,880.275923624,784.275923624,805,651,630.275923624,653,0.448280987631,-0.0156695643039,0.0796348245391,0.99999981556,-0.000254708872768,-0.000544487249737,-8.68193874816e-05,1793239668718349312
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,746,714.700462824,681,659.700462824,633,880.299537176,784.299537176,805,651,630.299537176,653,0.448582112895,-0.0156734079254,0.0796234695615,0.999999804149,-0.000261412540195,-0.00056189716207,-8.73885576343e-05,1793239668735015936
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,746,714.124802865,681,659.124802865,633,880.875197135,784.875197135,805,651,630.875197135,653,0.448876265113,-0.0156804629302,0.0796199456318,0.999999800532,-0.000266517140427,-0.000566111183763,-8.61555445697e-05,1793239668751682560
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.551090012,714,681,659,633,881,784.551090012,805,651,630.551090012,653,0.449151976325,-0.0156836287364,0.0796241955922,0.999999804392,-0.000270325431113,-0.000557613061967,-8.49032388735e-05,1793239668768349184
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.977158697,745,714,681,659,633,881,784,805.022841303,651,630,653,0.449420831804,-0.015685813038,0.0796303244348,0.999999809805,-0.00027382244521,-0.000546270980133,-8.36657595052e-05,1793239668785015808
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.384325601,745,714,681,659,633,881,784,805.615674399,651,630,653,0.449645991336,-0.0156903698636,0.079629640029,0.999999805553,-0.000278506245805,-0.000551771137454,-8.29315302723e-05,1793239668801682432
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.202993856,745,714,681,659,633,880.797006144,784,805.797006144,651,630,653,0.449860087485,-0.015694282906,0.0796299069195,0.999999802473,-0.000282285902114,-0.000555601637004,-8.170377448e-05,1793239668818348800
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.780150391,745,714,681,659,633,880.219849609,784,805.219849609,651,630,653,0.450053791341,-0.0156970093128,0.0796319272597,0.999999801628,-0.000284399019571,-0.000556354586571,-7.95663399167e-05,1793239668835015680
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.643047549,633,880,783.643047549,805.356952451,651,630,653,0.45022757757,-0.0156999661141,0.0796307061215,0.999999799681,-0.000288123232968,-0.000557991192365,-7.91808322417e-05,1793239668851682560
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.066463541,633,880,783.066463541,805.933536459,651,630,653,0.450389108573,-0.0157030646767,0.0796274905136,0.999999797037,-0.000292838748097,-0.000560171508717,-7.98732786618e-05,1793239668868349184
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.520991824,633,880.520991824,783,805.479008176,651,630,653,0.450524573063,-0.0157071924583,0.0796259906236,0.99999979371,-0.000297271917013,-0.000563850323891,-7.92621592544e-05,1793239668885015808
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.891856454,633,880.891856454,783,805,651,630,653,0.450650921855,-0.0157109891989,0.079624467909,0.999999790095,-0.00030132104785,-0.000568161123025,-7.87957757897e-05,1793239668901682432
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.312204101,633,880.312204101,783,805,651,630,653,0.450752333538,-0.0157127579267,0.0796218710352,0.999999785706,-0.000303856155348,-0.000574376142291,-7.9700958086e-05,1793239668918349312
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.734815205,745,714,681,658.265184795,632.734815205,880.265184795,783,805,651,630,653,0.4508450661,-0.0157145206236,0.0796195375351,0.999999782715,-0.000305719811891,-0.000578449069335,-8.06398534731e-05,1793239668935015680
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.160068575,745,714,681,658.839931425,632.160068575,880.839931425,783,805,651,630,653,0.450927667138,-0.0157162762804,0.0796175114829,0.999999781394,-0.000306799654166,-0.000580021437885,-8.16181035779e-05,1793239668951682304
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.157010325,745.842989675,714,681,658,632,880,782,804.842989675,651,630,653,0.450860651754,-0.015685239938,0.0794930038188,0.999999651033,-0.000295328998847,-0.000777439028959,-7.93875953799e-05,1793239670215815936
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.430385607,745.569614393,714,680.569614393,658,632,880,782,804.569614393,651,630,653,0.45077021179,-0.015681877924,0.0794988865914,0.999999657844,-0.000293678013328,-0.000769575165091,-7.62825596985e-05,1793239670232482816
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.022491288,714.022491288,680,658,632,880,782.022491288,804.022491288,651,630,653,0.450672110677,-0.0156787945088,0.0795058115692,0.999999665525,-0.000292681631529,-0.000760271728679,-7.26231637554e-05,1793239670249149184
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.600942338,714.600942338,680,658,632,880,782.600942338,804.600942338,651,630,653,0.450545035447,-0.0156736285983,0.0795088760882,0.999999669783,-0.000290477736195,-0.000755808470609,-6.93536072124e-05,1793239670265815808
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,714.822543945,680.177456055,658,632,880.177456055,782.822543945,805,651,630.177456055,653,0.450407112394,-0.0156676498974,0.0795093029517,0.999999671656,-0.000287206655498,-0.000754872021149,-6.60960355269e-05,1793239670282482432
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714.250339872,680.749660128,658,632,880.749660128,782.250339872,805,651,630.749660128,653,0.450245058559,-0.0156598631583,0.0795038623941,0.99999966823,-0.000281561639146,-0.000761780898896,-6.28651243932e-05,1793239670299149312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.332687274,746,714.332687274,681,658,632,880.667312726,782,805,651,630.667312726,653,0.450065318906,-0.0156524560579,0.0795009656663,0.999999666334,-0.00027416797099,-0.00076728463512,-5.86289834267e-05,1793239670315816192
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.494371538,745.494371538,714.494371538,681,658,632,880,782,805,651,630,653,0.449641961015,-0.0156343320678,0.0795011440645,0.99999967115,-0.000252192258424,-0.00076931267692,-4.75033882996e-05,1793239670349149184
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,782.0851168,805,651,630,653,0.449402693594,-0.0156227709422,0.0795026676665,0.999999677702,-0.000236229919912,-0.00076621706027,-4.12756866329e-05,1793239670365815808
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.763750911,658.236249089,632,880,783,805,651,630,653,0.448860933058,-0.0156006341035,0.0795068245658,0.999999692729,-0.000176127689848,-0.000763354596731,-2.84827642025e-05,1793239670399149312
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.191204589,658.808795411,632,880,783,805,651,630,653,0.448558434255,-0.0155909066045,0.0795081391529,0.999999699961,-0.000138121154458,-0.000761957014844,-2.05436760524e-05,1793239670415815680
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.988492199,658.011507801,632.988492199,880.988492199,783.988492199,805,651,630.988492199,653,0.447881984091,-0.0155670785079,0.0795088516813,0.999999704229,-9.26103097209e-05,-0.000763465416375,-9.26851515387e-06,1793239670449149440
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.432114025,745,714,681,658,633,880.432114025,784,805,651,631,653,0.447491199035,-0.015558256307,0.0795087275381,0.99999970531,-9.11425789171e-05,-0.000762165169551,-1.32962192348e-05,1793239670465815808
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.145865397,745,714,681,658.145865397,633,880,784,805,651,631,653,0.447095845725,-0.0155522860835,0.0795126523047,0.999999710626,-9.00947217805e-05,-0.000755240495007,-1.56000172444e-05,1793239670482482432
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.720496752,745,714,681,658.720496752,633,880,784,805,651,631,653,0.446689703786,-0.0155544938996,0.0795284954551,0.999999728085,-8.92211259998e-05,-0.000731927546728,-1.23013320417e-05,1793239670499149056
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.698131076,745,714,681,659,633,880,784,805,651,631,652.698131076,0.446262444583,-0.0155572470231,0.0795461108558,0.999999744719,-8.66778425598e-05,-0.000709215469738,-7.82973619869e-06,1793239670515815680
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.471130117,745,714,681,659,633,880.471130117,784,805,651,631,652.471130117,0.445314811007,-0.0155547897344,0.0795809191275,0.99999977327,-7.81400596057e-05,-0.000668844646178,-1.04180395118e-06,1793239670549148928
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.686600141,681,660,634.686600141,880.686600141,786.686600141,805,651,631,653,0.439777223665,-0.0154726021799,0.0796440401218,0.999999842067,5.45964715117e-05,-0.000559155528009,1.5157245149e-05,1793239670699149056
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.579539304,715,681,660.420460696,635,880,787,805,651,631.579539304,653,0.437634610611,-0.0154377295498,0.0797175462778,0.999999898607,9.98427370933e-05,-0.000438741388887,1.79865477677e-05,1793239670749149184
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.010790864,661,635,880,787,805,651,631,653,0.436945401838,-0.015422318717,0.0797939001042,0.999999936565,0.000127476900315,-0.000331917708879,2.12345550331e-05,1793239670765816064
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.589125911,661,635,880,787,805,651,631,653,0.436193921269,-0.0154036072396,0.0798481158168,0.999999958255,0.000153046025074,-0.000243698108723,2.60527365307e-05,1793239670782482688
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.666079162,661,635,880,787,805,651,631,653,0.435404471537,-0.0153888888247,0.0798794340034,0.99999996556,0.000174731559342,-0.000193618077859,2.93517708446e-05,1793239670799149056
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.912266209,745,715,680.912266209,661,635,880,787,804.087733791,651,631,653,0.432771665763,-0.0153901157742,0.0797849845192,0.999999922281,0.000191065612289,-0.000343891206656,2.58847140275e-05,1793239670849149440
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.507197734,745,715,680.507197734,661,635,880,787,804.492802266,651,631,653,0.43182526692,-0.0153869339033,0.07973462809,0.999999884104,0.000197415007858,-0.000438471852949,2.37147100033e-05,1793239670865815808
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.072057401,661,635,880,787,805,651,631,653,0.430883623096,-0.0153828385801,0.0796945470233,0.999999845476,0.000205114266175,-0.000516210935219,2.24036088163e-05,1793239670882482432
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.64976317,661,635,880,787,805,651,631,653,0.430065996513,-0.0153828760606,0.0797422736911,0.999999885064,0.00021347389751,-0.000428418259289,2.75375949328e-05,1793239670899149312
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.55482717,745,715,681,661,635,880,787.55482717,805,651,631.44517283,653,0.425649173457,-0.0153779379442,0.0797841189682,0.999999913157,0.000225817982586,-0.000348525756242,3.49604956566e-05,1793239670982482688
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.867064429,745,715,680.867064429,660.867064429,635,880,787.867064429,804.867064429,651,631,653,0.42470785145,-0.0153762419183,0.0797437950699,0.999999888834,0.000230936160175,-0.00040984282867,3.20777187971e-05,1793239670999149312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.292598789,745,715,680.292598789,660.292598789,635,880,787.292598789,804.292598789,651,631,653,0.423773789526,-0.015375351678,0.0797333905995,0.999999875192,0.000243446160345,-0.000434966809087,3.39796192941e-05,1793239671015815936
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.480311386,715,680,660,635,879,788,804,651,631.519688614,653,0.415324002255,-0.0153638671244,0.0798024058395,0.999999916187,0.000242528955253,-0.000327793128368,3.6838350272e-05,1793239671182482432
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.097313888,715,680,660,635,879,788,804,651,631.902686112,653,0.414522335615,-0.0153587918012,0.0797879995248,0.999999907221,0.000246952095151,-0.000351140496314,3.56745433994e-05,1793239671199149312
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.674529135,715,680,660,635,879,788,804,651,631.325470865,653,0.413789466496,-0.0153610715468,0.079790504711,0.999999910896,0.000248899014982,-0.000339154315958,3.51084729181e-05,1793239671215815936
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.250971188,635,879.250971188,788,804,651.250971188,631,653,0.413070425654,-0.0153629974288,0.0798005701255,0.999999917743,0.000250014278657,-0.000317371443374,3.57968251978e-05,1793239671232482304
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.826413564,635,879.826413564,788,804,651.826413564,631,653,0.412369262927,-0.0153644658135,0.079820409874,0.999999927988,0.000250054325119,-0.000282922797478,3.81069733887e-05,1793239671249148928
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.587461608,715,680,660.587461608,635.412538392,880,788,804,652,631,653,0.411651110573,-0.0153629971901,0.0798154954968,0.999999924304,0.000249390895443,-0.000296236216148,3.79383047863e-05,1793239671265815552
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.003191324,715,680,660.003191324,635.996808676,880,788,804,652,631,653,0.410926026827,-0.0153602718835,0.0797999669231,0.999999914011,0.000248445289287,-0.00033000964308,3.67059922107e-05,1793239671282482176
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.578366301,715,680,660.578366301,635.421633699,880,788,804,652,631,653,0.410273987215,-0.0153596960021,0.0797985335524,0.99999991226,0.000251388744885,-0.000333065714653,3.67480914786e-05,1793239671299148800
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.846558659,660.846558659,635,879.846558659,788,804,652,631,653,0.409642159089,-0.0153592483302,0.0798037816933,0.999999914587,0.000253541291105,-0.000324277585658,3.72341779961e-05,1793239671315815936
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.27175792,660.27175792,635,879.27175792,788,804,652,631,653,0.409065832806,-0.0153591527291,0.0798273776772,0.999999927071,0.000253521951731,-0.000282964550894,3.89394808873e-05,1793239671332482816
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.303712575,635,879,788,804,652,631,653,0.408492710784,-0.0153573649554,0.0798431036939,0.999999931967,0.000260133634718,-0.000258354860301,4.06211198308e-05,1793239671349149440
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.879783651,635,879,788,804,652,631,653,0.407922462261,-0.0153540597023,0.0798517722059,0.999999930994,0.000272691779999,-0.000248724129973,4.22815377323e-05,1793239671365816064
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.531578247,635,879.468421753,788,804,652,631,653,0.407341124513,-0.0153523086706,0.079821950934,0.99999991746,0.000268979133241,-0.000301968941183,3.92964300145e-05,1793239671382482432
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.058810981,879.941189019,787.941189019,804,651.941189019,631,653,0.406766944819,-0.0153514301347,0.0797852395941,0.999999898393,0.000261754363261,-0.000365299587225,3.54139437432e-05,1793239671399149056
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.635438382,879.364561618,787.364561618,804,651.364561618,631,653,0.406281538718,-0.0153546248738,0.0797772345582,0.999999896263,0.000261386314477,-0.000371439176229,3.44169761252e-05,1793239671415815936
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.212500189,635.787499811,879,787.212500189,804.212500189,651,631,653,0.405823328381,-0.0153564506735,0.0797795815986,0.999999900289,0.000262143427326,-0.00035989904837,3.42886335045e-05,1793239671432482560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.790308723,635.209691277,879,787.790308723,804.790308723,651,631,653,0.405411870238,-0.0153559231336,0.0797997248585,0.999999913745,0.000264834801399,-0.000317965779051,3.56535411901e-05,1793239671449149184
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.625725839,745,715,679,660.625725839,635.374274161,879,788,804.625725839,651.374274161,631,653,0.405010972148,-0.0153539012291,0.0798142453523,0.999999920265,0.000265783161879,-0.000295832401032,3.62245257333e-05,1793239671465815808
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.038253176,745,715,679,660.038253176,635.961746824,879,788,804.038253176,651.961746824,631,653,0.404616089362,-0.0153510280868,0.0798255629412,0.999999923425,0.000265738646624,-0.000284977668926,3.63432664792e-05,1793239671482482432
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.541694979,745,715,678.458305021,660,636,879.541694979,788,804,651.458305021,631,653,0.404251366481,-0.0153460400562,0.0798325067135,0.999999921231,0.000279024544536,-0.00027955700161,3.91380174282e-05,1793239671499149312
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.120261832,660,635.879738168,879.879738168,787.879738168,804,651,631,653,0.403897080898,-0.0153404013293,0.0798381775241,0.999999918747,0.000290640950946,-0.000276308897017,4.10807090296e-05,1793239671515815936
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.695585203,660,635.304414797,879.304414797,787.304414797,804,651,631,653,0.403574340485,-0.0153328577956,0.079840184269,0.999999917321,0.00029242689672,-0.000279849451097,3.90940105038e-05,1793239671532482560
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.730214924,660,635.269785076,879,787.269785076,804,651,631,653,0.403275595924,-0.0153283840468,0.079841421574,0.999999916738,0.000294108075476,-0.000280300045491,3.81660036401e-05,1793239671549149184
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.15727754,660,635.84272246,879,787.84272246,804,651,631,653,0.40300381506,-0.0153273597568,0.079841794274,0.999999917109,0.000295671529445,-0.000277278511315,3.84276283855e-05,1793239671565815808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.430888876,744.569111124,715,678.430888876,660.430888876,636,879.430888876,787.569111124,804,651,631,653,0.402749975942,-0.0153270853788,0.0798411277456,0.999999916269,0.000295611788431,-0.000280400823383,3.80807403288e-05,1793239671582482432
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.975884452,744,715,678.975884452,660.975884452,636,879.975884452,787,804,651.024115548,631,653,0.40250483352,-0.0153274927344,0.0798400117691,0.999999915032,0.000294711879574,-0.000285786157776,3.75080996847e-05,1793239671599149056
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.39875813,744,715,678.39875813,660.39875813,636,879.39875813,787,804,651.60124187,631,653,0.402303442222,-0.0153370264869,0.0798376064677,0.999999915681,0.00028862980127,-0.000289756867141,3.70385765894e-05,1793239671615815936
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.178107714,715,678.178107714,660.178107714,636,879,787.178107714,804,652,631,653.178107714,0.402115120756,-0.0153485223594,0.0798378054268,0.999999918746,0.000278612969684,-0.000288906124854,3.76408275773e-05,1793239671632482304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.754391159,715,678.754391159,660.754391159,636,879,787.754391159,804,652,631,653.754391159,0.401956018094,-0.0153644047255,0.0798438264438,0.999999926985,0.000259799645821,-0.000277276595383,4.06391254827e-05,1793239671649149184
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879.338129482,787.661870518,804,652,631,653.661870518,0.401816618979,-0.015367956567,0.0798504526207,0.999999930871,0.000256094874583,-0.000266226523797,4.23901666986e-05,1793239671665815808
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879.927404984,787.072595016,804,652,631,653.072595016,0.401691854678,-0.0153623499004,0.0798575282814,0.999999931653,0.000263611994392,-0.00025560684397,4.3214807046e-05,1793239671682482432
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.492470341,660.492470341,635.492470341,879.492470341,787.507529659,804,652,631,653,0.401579365023,-0.0153603370452,0.0798606160476,0.999999932527,0.000264545753228,-0.000251270101159,4.2727712413e-05,1793239671699149056
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.085948269,660.085948269,635,879,788,804,651.914051731,631.085948269,653,0.401470895039,-0.0153591391068,0.0798617623887,0.999999932883,0.000264694134022,-0.000249965360913,4.10868179143e-05,1793239671715815424
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.661970302,660.661970302,635,879,788,804,651.338029698,631.661970302,653,0.401375511295,-0.0153597086424,0.079855033665,0.999999930104,0.000265638520745,-0.000260915462998,3.3917885073e-05,1793239671732482048
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879,788,804,651.235276297,631.764723703,653,0.40129219903,-0.0153587850109,0.0798498063529,0.999999927352,0.000268530599819,-0.000268847689448,3.01349098756e-05,1793239671749148928
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879,788,804,651.804724564,631.195275436,653,0.401226032356,-0.0153557405768,0.0798467115536,0.999999924798,0.000274189061224,-0.000272493510467,3.11611409571e-05,1793239671765816064
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.392763984,745,715,679,660.607236016,635.392763984,879,787.607236016,804,652,631,653.392763984,0.40117410966,-0.0153555220267,0.0798464330518,0.999999925219,0.000273314983367,-0.000271714529884,3.21398664716e-05,1793239671782482688
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.990505839,745,715,679,660.009494161,635.990505839,879,787.009494161,804,652,631,653.990505839,0.401129620691,-0.0153567782651,0.0798476243352,0.999999927183,0.000269031667075,-0.000268626308891,3.30937994818e-05,1793239671799149312
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.432228291,744.432228291,715,679,660,636,879,787.567771709,803.432228291,652,631,653.432228291,0.401094188167,-0.0153563455084,0.079847017431,0.999999926654,0.000269315168122,-0.000270267477036,3.34143739014e-05,1793239671815815936
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,660.144201459,635.855798541,879.144201459,788,803.288402917,652,631,653,0.401062161392,-0.015355425081,0.0798462287508,0.999999925844,0.000270605074516,-0.000271938617736,3.36889792062e-05,1793239671832482304
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,660.719120787,635.280879213,879.719120787,788,804.438241575,652,631,653,0.40103987072,-0.0153531294445,0.079844983808,0.999999924309,0.000274680873284,-0.000273471289037,3.38568114825e-05,1793239671849148928
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.300338031,744.300338031,715,679,661.300338031,635.300338031,879.699661969,788,804.699661969,652,631,653,0.401022614404,-0.0153531415759,0.0798438532097,0.999999924154,0.000273920900455,-0.00027479809709,3.38428255955e-05,1793239671865815552
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.887571372,744.887571372,715,679,661.887571372,635.887571372,879.112428628,788,804.112428628,652,631,653,0.401010167111,-0.0153553581825,0.0798428318381,0.999999925308,0.000268541599068,-0.000275928256235,3.36551594987e-05,1793239671882482176
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.529893425,745,715,679,661.529893425,636,879,788,804,652,631.470106575,653,0.401003559887,-0.0153548783821,0.0798428586559,0.999999925164,0.000269261986081,-0.000275729801117,3.38061386505e-05,1793239671899149056
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.949011764,661,635.949011764,879,787.949011764,804,651.949011764,632,653,0.400998532328,-0.0153538893962,0.0798432266514,0.999999924785,0.000271265864161,-0.000275117395336,3.3990142629e-05,1793239671915815936
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.373693755,661,635.373693755,879,787.373693755,804,651.373693755,632,653,0.400995528529,-0.0153542299901,0.0798445507698,0.999999925148,0.000271615674739,-0.00027348334728,3.36891562033e-05,1793239671932482560
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.201764022,660.798235978,635.201764022,879,787.201764022,804,651,631.798235978,653,0.400992796407,-0.0153545497406,0.0798450568018,0.999999925296,0.00027191535143,-0.0002726684427,3.35074718825e-05,1793239671949149440
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.777480812,660.222519188,635.777480812,879,787.777480812,804,651,631.222519188,653,0.400990567817,-0.0153548308594,0.0798440465788,0.999999925046,0.000272122109127,-0.000273371752259,3.35469040703e-05,1793239671965816064
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.361475555,635.638524445,879.361475555,787.638524445,804,651.361475555,631.361475555,653,0.400990812998,-0.0153550891973,0.0798448950788,0.999999925331,0.000272359990909,-0.000272058844412,3.37965254134e-05,1793239671982482432
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.950685497,635.049314503,879.950685497,787.049314503,804,651.950685497,631.950685497,653,0.400992616689,-0.0153553331829,0.0798469145988,0.999999925947,0.000272617481269,-0.000269475692868,3.41785687063e-05,1793239671999149056
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.468884936,715,679,660.468884936,635.531115064,879.468884936,787,804.531115064,652,632,653,0.400992038325,-0.0153554223659,0.0798469197948,0.999999926363,0.000271178596387,-0.000269429889404,3.38209253751e-05,1793239672015815424
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.109600799,715,679,660.109600799,636,879,787.109600799,804.890399201,652,632,653,0.400991545225,-0.0153555853727,0.0798469189986,0.999999926804,0.000269790561065,-0.00026923088543,3.34579460927e-05,1793239672032482304
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.683251883,715,679,660.683251883,636,879,787.683251883,804.316748117,652,632,653,0.400992334365,-0.0153561208184,0.0798476718453,0.999999927437,0.000269273875435,-0.000267401942007,3.33584390672e-05,1793239672049148928
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,878.736473444,787.736473444,804.263526556,651.736473444,631.736473444,653,0.400992313133,-0.0153559905384,0.079847779703,0.999999927706,0.000268849093452,-0.000266844096195,3.32100537963e-05,1793239672065815552
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,878.148032149,787.148032149,804.851967851,651.148032149,631.148032149,653,0.400991292756,-0.015355039453,0.0798470923225,0.999999927526,0.000268537623886,-0.000267853448357,3.30014041405e-05,1793239672082482432
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.565628383,660.565628383,635.565628383,878.868743235,787,804.565628383,651.434371617,631,653.434371617,0.400991608514,-0.0153548003474,0.0798477141195,0.999999927638,0.000269131955384,-0.000266820436874,3.31474997019e-05,1793239672099149056
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.014643921,660,635,879.985356079,787.014643921,804,652,631.014643921,653.985356079,0.400992378658,-0.0153548174345,0.0798487789131,0.999999927832,0.000270064617068,-0.000265111630935,3.34111965467e-05,1793239672115815680
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdaf79067d518671b0347d2894bbab9ec6c4ada2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,421 @@
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+361,6.016666667,pose2_to_pose3_retreat,0.581029642995,-0.00990916110472,1.07003221365,0.551600093649,-0.00123742454998,1.06970034769
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+367,6.116666667,pose2_to_pose3_retreat,0.578670575876,-0.00990919395392,1.07003208405,0.54924102594,-0.00123745900827,1.06970022843
+368,6.133333333,pose2_to_pose3_retreat,0.578350790514,-0.00990923368701,1.07003233343,0.548921240421,-0.00123749976902,1.06970046498
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+370,6.166666667,pose2_to_pose3_retreat,0.577777093677,-0.00990908025873,1.07003217698,0.548347543023,-0.0012373479382,1.06970031664
+371,6.183333333,pose2_to_pose3_retreat,0.57752097299,-0.00990923897497,1.07003232436,0.548091424196,-0.00123750074517,1.06970045354
+372,6.200000000,pose2_to_pose3_retreat,0.577287242892,-0.00990920150704,1.0700323849,0.547857693377,-0.00123746604856,1.06970050563
+373,6.216666667,pose2_to_pose3_retreat,0.577073782811,-0.00990919445754,1.07003227373,0.547644233164,-0.00123745915414,1.06970040209
+374,6.233333333,pose2_to_pose3_retreat,0.576881281637,-0.00990918838062,1.0700322193,0.547451731807,-0.00123745356634,1.06970035113
+375,6.250000000,pose2_to_pose3_retreat,0.576709983143,-0.00990913864595,1.07003240638,0.547280433961,-0.00123740186517,1.06970053227
+376,6.266666667,pose2_to_pose3_retreat,0.576560891496,-0.0099091604498,1.07003251997,0.547131343872,-0.0012374183677,1.06970064628
+377,6.283333333,pose2_to_pose3_retreat,0.576428252443,-0.00990930859206,1.07003230499,0.54699870588,-0.00123756240316,1.06970044458
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+379,6.316666667,pose2_to_pose3_retreat,0.576204284122,-0.00990929120801,1.07003243205,0.546774735061,-0.00123755383587,1.06970056269
+380,6.333333333,pose2_to_pose3_retreat,0.576108681927,-0.00990921151427,1.07003235887,0.546679133003,-0.00123747360848,1.06970049204
+381,6.350000000,pose2_to_pose3_retreat,0.576023806694,-0.00990929879955,1.07003223039,0.546594259862,-0.00123755351783,1.06970037093
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+383,6.383333333,pose2_to_pose3_retreat,0.575888570345,-0.00990931894938,1.07003229011,0.546459022903,-0.00123757615124,1.06970041962
+384,6.400000000,pose2_to_pose3_retreat,0.575837815277,-0.00990914340446,1.07003220217,0.546408266104,-0.00123740633509,1.06970033558
+385,6.416666667,pose2_to_pose3_retreat,0.575796510909,-0.00990912028449,1.07003221187,0.546366961744,-0.00123738292209,1.06970035214
+386,6.433333333,pose2_to_pose3_retreat,0.575763295223,-0.00990928614235,1.07003243974,0.546333747674,-0.0012375435263,1.06970057396
+387,6.450000000,pose2_to_pose3_retreat,0.575736497895,-0.00990921829451,1.07003235538,0.546306948909,-0.00123748059911,1.06970048856
+388,6.466666667,pose2_to_pose3_retreat,0.575715540615,-0.00990919230816,1.07003224735,0.546285992042,-0.00123745321764,1.06970038043
+389,6.483333333,pose2_to_pose3_retreat,0.575699819657,-0.00990923038326,1.07003215108,0.546270271464,-0.00123749003814,1.06970028335
+390,6.500000000,pose2_to_pose3_retreat,0.575688960654,-0.00990925882181,1.07003215539,0.546259412381,-0.00123751882077,1.06970028587
+391,6.516666667,pose2_to_pose3_retreat,0.575681605649,-0.00990921499026,1.07003232889,0.546252056988,-0.00123747642327,1.06970045652
+392,6.533333333,pose2_to_pose3_retreat,0.575676675206,-0.0099092567129,1.070032409,0.546247127401,-0.00123751520029,1.06970053736
+393,6.550000000,pose2_to_pose3_retreat,0.575673438998,-0.00990930516315,1.07003245085,0.546243892087,-0.00123756055968,1.06970058048
+394,6.566666667,pose2_to_pose3_retreat,0.575671431646,-0.00990930221496,1.07003240355,0.546241884587,-0.00123755806485,1.06970053438
+395,6.583333333,pose2_to_pose3_retreat,0.575670538678,-0.00990928718518,1.07003235206,0.546240991262,-0.00123754422216,1.06970048359
+396,6.600000000,pose2_to_pose3_retreat,0.57567001183,-0.00990927831766,1.07003232167,0.546240464203,-0.00123753605503,1.06970045362
+397,6.616666667,pose2_to_pose3_retreat,0.575669822964,-0.0099092751388,1.07003231078,0.546240275261,-0.00123753312724,1.06970044288
+398,6.633333333,pose2_to_pose3_retreat,0.575669556303,-0.00990927065056,1.0700322954,0.546240008493,-0.00123752899349,1.06970042772
+399,6.650000000,pose2_to_pose3_retreat,0.575669329857,-0.00990926683918,1.07003228235,0.546239781957,-0.00123752548316,1.06970041484
+400,6.666666667,pose2_to_pose3_retreat,0.575669130008,-0.00990926347548,1.07003227082,0.546239582028,-0.00123752238513,1.06970040347
+401,6.683333333,pose2_to_pose3_retreat,0.575669065128,-0.00990926238347,1.07003226708,0.546239517122,-0.00123752137937,1.06970039978
+402,6.700000000,pose2_to_pose3_retreat,0.575668939321,-0.00990926026598,1.07003225983,0.546239391265,-0.00123751942912,1.06970039262
+403,6.716666667,pose2_to_pose3_retreat,0.575668785822,-0.00990925768239,1.07003225097,0.546239237704,-0.0012375170496,1.06970038389
+404,6.733333333,pose2_to_pose3_retreat,0.575668618228,-0.00990925486157,1.07003224131,0.546239070043,-0.00123751445157,1.06970037436
+405,6.750000000,pose2_to_pose3_retreat,0.575668617891,-0.0099092548559,1.07003224129,0.546239069706,-0.00123751444635,1.06970037434
+406,6.766666667,pose2_to_pose3_retreat,0.575668440991,-0.00990925187844,1.07003223109,0.546238892735,-0.00123751170406,1.06970036428
+407,6.783333333,pose2_to_pose3_retreat,0.575668176208,-0.00990924742182,1.07003221582,0.546238627846,-0.00123750759943,1.06970034922
+408,6.800000000,pose2_to_pose3_retreat,0.575667629539,-0.00990922831838,1.07003224047,0.546238080977,-0.00123748921433,1.06970037281
+409,6.816666667,pose2_to_pose3_retreat,0.575666922063,-0.00990920121209,1.0700322859,0.546237373247,-0.00123746303564,1.06970041649
+410,6.833333333,pose2_to_pose3_retreat,0.575666666577,-0.00990919142339,1.0700323023,0.546237117669,-0.00123745358192,1.06970043227
+411,6.850000000,pose2_to_pose3_retreat,0.575666595622,-0.00990918870481,1.07003230686,0.546237046689,-0.00123745095638,1.06970043665
+412,6.866666667,pose2_to_pose3_retreat,0.575666418468,-0.00990918191729,1.07003231823,0.54623686947,-0.00123744440113,1.06970044759
+413,6.883333333,pose2_to_pose3_retreat,0.575666244406,-0.00990917524829,1.07003232941,0.546236695347,-0.00123743796035,1.06970045834
+414,6.900000000,pose2_to_pose3_retreat,0.575665616698,-0.00990915803897,1.07003235475,0.546236067713,-0.00123742050712,1.0697004834
+415,6.916666667,pose2_to_pose3_retreat,0.575665095318,-0.00990915500317,1.07003235117,0.54623554689,-0.00123741551278,1.06970048168
+416,6.933333333,pose2_to_pose3_retreat,0.575664639456,-0.00990916749963,1.07003232879,0.546235091502,-0.0012374263185,1.06970046142
+417,6.950000000,pose2_to_pose3_retreat,0.575664313608,-0.00990925778212,1.07003220944,0.546234765929,-0.00123751550884,1.06970034629
+418,6.966666667,pose2_to_pose3_retreat,0.57566436282,-0.00990914439108,1.07003222088,0.546234812804,-0.00123741033504,1.06970035017
+419,6.983333333,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385426,1.06970035116
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5631d31582445921f87faa1073945e8ae58081d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aed10063417566072fc518aacda9301ddfbbd64026a75b8754fdacf644167f31
+size 26282256
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc7bdcd125bf8d2ba39e2ee65843a65bc8e3f4a9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
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+8,0.133333333,BASELINE,765,745.633805478,714,680,666,635.633805478,879,787,803.366194522,653,631,652.366194522,0.400925508092,0.00441089533752,0.0599381842816,0.999999971703,-0.000121529188014,-0.000201387644517,-3.55949453046e-05,1793239674345697536
+9,0.150000000,BASELINE,765,746,714,680,666,636,879,787,803.21558195,653,631.21558195,652.21558195,0.400924500237,0.00441097206219,0.0599373512816,0.999999971506,-0.000121053367669,-0.000202674532244,-3.54571239275e-05,1793239674362364160
+10,0.166666667,BASELINE,765,746,714,680,666,636,879,787,803.809898654,653,631.809898654,652.809898654,0.400925186134,0.0044095624374,0.0599376796334,0.999999971381,-0.000123027670219,-0.000202191356908,-3.49472559538e-05,1793239674379030784
+11,0.183333333,BASELINE,765,745.61129963,714.38870037,679.61129963,665.61129963,635.61129963,879,787,804,653,631.61129963,653,0.400925572027,0.004410586398,0.0599383810765,0.999999971579,-0.00012284831029,-0.000201300555284,-3.50578497319e-05,1793239674395697664
+12,0.200000000,BASELINE,765,745.039794517,714.960205483,679.039794517,665.039794517,635.039794517,879,787,804,653,631.039794517,653,0.400925816829,0.00441275486716,0.0599392579835,0.999999971928,-0.000121656088846,-0.000200218048067,-3.54602449634e-05,1793239674412364288
+13,0.216666667,BASELINE,765,745.53605784,715,679,665.53605784,635.53605784,879,787,803.46394216,653,631,653,0.400924120267,0.00441221380448,0.0599380636945,0.999999971558,-0.000121541939964,-0.000202120848444,-3.548347449e-05,1793239674429031424
+14,0.233333333,BASELINE,765,745.884730584,714.884730584,679,666,635.884730584,879,787,803.230538832,653,631.115269416,653,0.400922928836,0.00441164360137,0.0599370901094,0.999999971283,-0.000121432726948,-0.000203537806477,-3.55136126576e-05,1793239674445698304
+15,0.250000000,BASELINE,765,745.292977921,714.292977921,679,666,635.292977921,879,787,804.414044158,653,631.707022079,653,0.400924426044,0.00441179119592,0.0599376696064,0.999999971635,-0.000121010391233,-0.000202022892127,-3.56896120965e-05,1793239674462364416
+16,0.266666667,BASELINE,765,745.291992331,714,679,666,635.291992331,879,787,804.416015337,653,632,653,0.400925272912,0.00441218338837,0.0599379287808,0.9999999718,-0.000120732925492,-0.000201382660773,-3.56218698301e-05,1793239674479031040
+17,0.283333333,BASELINE,765,745.870311731,714,679,666,635.870311731,879,787,803.259376539,653,632,653,0.400925482059,0.00441281543301,0.0599378738476,0.999999971783,-0.000120597518969,-0.000201600141822,-3.53151149479e-05,1793239674495697664
+18,0.300000000,BASELINE,765,745.552757176,714,679,666,635.552757176,879,787,803.447242824,653,631.552757176,653,0.400924130266,0.00441238353683,0.0599372824393,0.999999971472,-0.00012132340078,-0.000202724760057,-3.51951899683e-05,1793239674512364288
+19,0.316666667,BASELINE,765.023661905,745.023661905,714,679.023661905,666,635,879,787,803.976338095,653,631.023661905,653,0.400922539822,0.00441166425231,0.0599366419146,0.999999971124,-0.000122244540001,-0.000203896978369,-3.51425518091e-05,1793239674529031168
+20,0.333333333,BASELINE,765.597507524,745.597507524,714,679.597507524,666,635,879,787,803.402492476,653,631.597507524,653,0.400925892242,0.00441141397884,0.0599384652841,0.999999971926,-0.000121916589918,-0.000200078622209,-3.53986723386e-05,1793239674545697792
+21,0.350000000,BASELINE,766,745.823087303,714,680,666,635.176912697,879.176912697,787,803.176912697,653,631.823087303,653,0.40092781909,0.00441105692784,0.0599394576024,0.999999972279,-0.00012250197397,-0.000197921793774,-3.55225800989e-05,1793239674562364672
+22,0.366666667,BASELINE,766,745.230623345,714,680,666,635.769376655,879.769376655,787,803.769376655,653,631.230623345,653,0.400926397407,0.00441044906649,0.0599384978595,0.9999999716,-0.000125232693928,-0.000199667738017,-3.53359324812e-05,1793239674579031296
+23,0.383333333,BASELINE,766,745.352902607,714.352902607,679.647097393,666,636,880,787,804,653.352902607,631,653,0.400926555871,0.00441113524134,0.0599390883636,0.99999997191,-0.000123477403282,-0.000199229262824,-3.52172488633e-05,1793239674595697664
+24,0.400000000,BASELINE,766,745.930731874,714.930731874,679.069268126,666,636,880,787,804,653.930731874,631,653,0.400927721461,0.00441264618543,0.0599406669359,0.999999972835,-0.000118862900874,-0.000197398522183,-3.51418828875e-05,1793239674612364288
+25,0.416666667,BASELINE,766,746,714.494009162,679.505990838,666,636,880,787,804,653.494009162,631.505990838,653,0.400926772938,0.00441306836209,0.0599397245488,0.999999972627,-0.000118444652973,-0.000198652710335,-3.54116046998e-05,1793239674629031168
+26,0.433333333,BASELINE,766,746,714,679.917080764,666,636,879.917080764,787,804,653,632,653,0.400925850238,0.0044132655125,0.0599386847894,0.999999972317,-0.000118679187839,-0.000200028865112,-3.56444950387e-05,1793239674645697536
+27,0.450000000,BASELINE,766,746,714,679.327820033,666,636,879.327820033,787,804,653,632,653,0.400926843579,0.00441299410577,0.059939147171,0.999999972328,-0.000119409783187,-0.000199583997783,-3.5365458959e-05,1793239674662364416
+28,0.466666667,BASELINE,766,746,714,679,666,636,879,787,804,653,631.742751618,653,0.400926911108,0.00441280427197,0.0599391806486,0.999999972213,-0.00012030813062,-0.000199652562383,-3.52014406056e-05,1793239674679031040
+29,0.483333333,BASELINE,766,746,714,679,666,636,879,787,804,653,631.162939974,653,0.400925817763,0.00441271672232,0.0599386763242,0.999999971937,-0.000121416822032,-0.000200364918338,-3.51816427793e-05,1793239674695697664
+30,0.500000000,BASELINE,765.586888469,746,714,679.413111531,666,636,879.413111531,787,804,652.586888469,631,653,0.400924812265,0.00441235632153,0.0599379858549,0.999999971472,-0.000123357354461,-0.000201482297161,-3.52782325865e-05,1793239674712364288
+31,0.516666667,BASELINE,765.01230668,746,714,679.98769332,666,636,879.98769332,787,804,652.01230668,631,653,0.400923841104,0.00441188927316,0.0599372226284,0.999999970927,-0.000125623023235,-0.000202757984662,-3.54203140829e-05,1793239674729030912
+32,0.533333333,BASELINE,765.563376886,746,714.563376886,680,666,635.436623114,880,787,804,652.563376886,631.563376886,653,0.400924277847,0.00441372228111,0.0599374400373,0.999999971468,-0.000121542160532,-0.000202511399781,-3.5786880962e-05,1793239674745697536
+33,0.550000000,BASELINE,765.857109058,745.857109058,714.857109058,679.857109058,666,635,879.857109058,787,803.857109058,653,631.857109058,653,0.400925058984,0.00441448031249,0.0599377348454,0.999999971948,-0.000118799603805,-0.000201732324314,-3.59753253439e-05,1793239674762364416
+34,0.566666667,BASELINE,765.265645901,745.265645901,714.265645901,679.265645901,666,635,879.265645901,787,803.265645901,653,631.265645901,653,0.400926824528,0.00441170567285,0.0599382052502,0.999999972206,-0.000120694411952,-0.000199386216323,-3.55891719505e-05,1793239674779031296
+35,0.583333333,BASELINE,765,745.319249477,714,679.319249477,666,635.319249477,879,787,803.319249477,653,631.319249477,653,0.400927124819,0.00441006590131,0.0599383262578,0.999999972005,-0.000122940672079,-0.000199080353403,-3.52439272962e-05,1793239674795697920
+36,0.600000000,BASELINE,765,745.898790065,714,679.898790065,666,635.898790065,879,787,803.898790065,653,631.898790065,653,0.400926230456,0.00440935141237,0.0599381623941,0.99999997143,-0.000125473478935,-0.000200437946847,-3.49320363931e-05,1793239674812364288
+37,0.616666667,BASELINE,765,746,714,680,666,636,879,787,804,653,632,653,0.400925085834,0.00441061108822,0.0599373643199,0.999999971191,-0.000124848748195,-0.000201999686787,-3.50363289428e-05,1793239674829031168
+38,0.633333333,BASELINE,765.049424311,745.950575689,714,680,666,636,879,787,803.950575689,653,631.950575689,652.950575689,0.400924136298,0.00441207786689,0.0599366154664,0.99999997108,-0.00012356727111,-0.000203303698349,-3.51942014575e-05,1793239674845697792
+39,0.650000000,BASELINE,765.63414279,745.36585721,714,680,666,636,879,787,803.36585721,653,631.36585721,652.36585721,0.400925873165,0.0044112636119,0.0599378530846,0.999999971626,-0.000122408792974,-0.000201348531375,-3.49786328544e-05,1793239674862364416
+40,0.666666667,BASELINE,765.782216192,745.217783808,714,680,666,636,879,787,803,653,631.217783808,652.217783808,0.400926785125,0.00441075065511,0.0599384393134,0.999999971882,-0.00012234431594,-0.0002001096483,-3.49743481096e-05,1793239674879031296
+41,0.683333333,BASELINE,765.200376334,745.799623666,714,680,666,636,879,787,803,653,631.799623666,652.799623666,0.400926318137,0.00441074136038,0.0599379366538,0.999999971661,-0.000124108614603,-0.000200068133916,-3.5323253854e-05,1793239674895697664
+42,0.700000000,BASELINE,765.377477955,746,714,679.622522045,666,636,879,787,803.377477955,653,632,653,0.400925912732,0.00441095851396,0.0599375112599,0.999999971642,-0.000123534748961,-0.000200540227184,-3.5198548107e-05,1793239674912364288
+43,0.716666667,BASELINE,765.953238673,746,714,679.046761327,666,636,879,787,803.953238673,653,632,653,0.400925539676,0.00441129461701,0.0599371264523,0.999999971727,-0.000121732685231,-0.000201282109835,-3.48250622696e-05,1793239674929031168
+44,0.733333333,BASELINE,766,746,714.528529404,679,666,636,879,787,803.471470596,653.528529404,631.471470596,653,0.400924962329,0.00441287678374,0.0599368146482,0.999999971629,-0.000121579616523,-0.000201790056177,-3.52180611016e-05,1793239674945697792
+45,0.750000000,BASELINE,766,746,714.893804128,679.106195872,666,636,879,787.106195872,803,653.893804128,631.106195872,653,0.400924702275,0.00441423086187,0.0599368284861,0.999999971615,-0.000121377934825,-0.000201923887483,-3.55677969022e-05,1793239674962364416
+46,0.766666667,BASELINE,766,746,714.30515602,679.69484398,666,636,879,787.69484398,803,653.30515602,631.69484398,653,0.400925965737,0.00441404832203,0.0599382924127,0.999999972047,-0.000120293189334,-0.000200452044072,-3.54131774712e-05,1793239674979031040
+47,0.783333333,BASELINE,765.7204304,746,714,680,666,636,879,788,803.2795696,653,632,653,0.400926288904,0.00441311918627,0.0599384727728,0.999999972033,-0.000120766574471,-0.000200261383854,-3.5275802009e-05,1793239674995697664
+48,0.800000000,BASELINE,765.139926942,746,714,680,666,636,879,788,803.860073058,653,632,653,0.400925599919,0.00441138640091,0.0599372714784,0.999999971537,-0.000122917159925,-0.000201449812592,-3.51569882523e-05,1793239675012364544
+49,0.816666667,BASELINE,765.436430181,746,714,680,666,636,879,788,804,653,631.563569819,653,0.400925045329,0.00441099054875,0.059937082486,0.999999971444,-0.000122785068849,-0.000202028879827,-3.49440153954e-05,1793239675029031168
+50,0.833333333,BASELINE,765.988527271,746,714,680,666,636,879,787.988527271,803.988527271,653,631.011472729,653,0.400924588787,0.00441105832083,0.0599372418246,0.999999971496,-0.000121907107119,-0.000202342943099,-3.47097904236e-05,1793239675045697792
+51,0.850000000,BASELINE,765.413370119,746,714,680,666,636,879,787.413370119,803.413370119,653,631.586629881,653,0.400926852428,0.00441304298694,0.0599387191118,0.999999972361,-0.000120002596187,-0.00019914545643,-3.49006979445e-05,1793239675062364416
+52,0.866666667,BASELINE,765.166238076,746,714.166238076,680,666,636,879,787,803.166238076,653,632,653,0.400927914447,0.00441431121726,0.0599393149516,0.999999972767,-0.000118864611428,-0.000197768358406,-3.50011241251e-05,1793239675079031040
+53,0.883333333,BASELINE,765.757218764,746,714.757218764,680,666,636,879,787,803.757218764,653,632,653,0.40092590629,0.00441374893534,0.0599376586699,0.999999972021,-0.000119685121118,-0.000201042400977,-3.48703681143e-05,1793239675095697664
+54,0.900000000,BASELINE,766,746,714.658711997,680,666,636,879.341288003,787.341288003,804,653,631.658711997,653,0.400925423003,0.00441374134846,0.0599368776239,0.999999971803,-0.000119835898911,-0.000202012014866,-3.50006179093e-05,1793239675112364288
+55,0.916666667,BASELINE,766,746,714.079461776,680,666,636,879.920538224,787.920538224,804,653,631.079461776,653,0.400926002926,0.00441412052133,0.0599367068339,0.999999971958,-0.000119519707753,-0.0002013748714,-3.53128533648e-05,1793239675129030912
+56,0.933333333,BASELINE,766,746,714,679.504531197,666,636,879.504531197,788,804,653,631,653,0.40092588151,0.00441242824294,0.0599366723814,0.999999971951,-0.000120298782791,-0.000200980870057,-3.5108449639e-05,1793239675145697536
+57,0.950000000,BASELINE,766,746,714,679,666,636,879,787.928561598,804,653,631,653,0.400925884694,0.00441097615743,0.0599367581737,0.999999971971,-0.000120947185709,-0.000200526843645,-3.49063562482e-05,1793239675162364416
+58,0.966666667,BASELINE,766,746,714,679,666,636,879,787.340102124,804,653,631,653,0.400927596648,0.00441364596529,0.0599375573352,0.999999972378,-0.000119389591465,-0.00019935862313,-3.53154617453e-05,1793239675179030784
+59,0.983333333,BASELINE,766,746,714,679.244730411,666,636,879,787,803.755269589,653,631.244730411,653,0.400928332156,0.00441476140714,0.0599381499922,0.999999972609,-0.000118537349655,-0.000198681178599,-3.54392898772e-05,1793239675195697664
+60,1.000000000,BASELINE,766,746,714,679.824596274,666,636,879,787,803.175403726,653,631.824596274,653,0.400927730514,0.00441374829025,0.0599384598606,0.999999972606,-0.000118651021939,-0.000198675805797,-3.51724573466e-05,1793239675212364288
+61,1.016666667,BASELINE,765.598111896,746,714,679.598111896,666,635.598111896,879,787,803.401888104,653,631.598111896,653,0.400926815314,0.00441380553433,0.0599376257206,0.999999972361,-0.000118476866221,-0.000200013668032,-3.51671098173e-05,1793239675229031168
+62,1.033333333,BASELINE,765.021936385,746,714,679.021936385,666,635.021936385,879,787,803.978063615,653,631.021936385,653,0.400925764132,0.00441432696349,0.0599362954568,0.999999972006,-0.000118177887702,-0.000201934052986,-3.52751608898e-05,1793239675245697792
+63,1.050000000,BASELINE,765,746,714.563778443,679.563778443,666,635.563778443,879,787.563778443,804,653,631.563778443,653,0.400925810142,0.00441526968116,0.0599362961142,0.999999972138,-0.000117317234267,-0.000201768606059,-3.53691549402e-05,1793239675262364416
+64,1.066666667,BASELINE,765,746,714.851755475,680,666,635.851755475,879,788,803.851755475,653,632,653,0.40092604739,0.0044156135765,0.0599365494211,0.999999972226,-0.000117383441411,-0.000201275736724,-3.54534968308e-05,1793239675279031040
+65,1.083333333,BASELINE,765,746,714.272023031,680,666,635.272023031,879,788,803.272023031,653,632,653,0.400926714867,0.00441416597659,0.0599373847785,0.99999997213,-0.00012021212104,-0.000200070146198,-3.55113640473e-05,1793239675295697664
+66,1.100000000,BASELINE,765,746,714,679.693613086,666,635,879,787.693613086,803,653,632,653,0.400926525089,0.00441347693198,0.0599374026049,0.99999997208,-0.000120528462496,-0.000200153415274,-3.53862375221e-05,1793239675312364544
+67,1.116666667,BASELINE,765,746,714,679.116372295,666,635,879,787.116372295,803,653,632,653,0.400925577476,0.00441345846978,0.059936697713,0.999999972072,-0.000118623832536,-0.0002013760693,-3.50993398407e-05,1793239675329030912
+68,1.133333333,BASELINE,765,746,714,679,666,635.45924316,879.45924316,787,803,653,631.54075684,653,0.400924920048,0.00441320201776,0.0599362071276,0.999999971908,-0.00011924375541,-0.000201831562269,-3.50649900641e-05,1793239675345697536
+69,1.150000000,BASELINE,765,745.964674852,714,679.035325148,666,636,879.964674852,787,803,653,631,653,0.400924405557,0.00441299574087,0.059935808451,0.999999971736,-0.000120297869498,-0.000202050672603,-3.51057161555e-05,1793239675362364416
+70,1.166666667,BASELINE,765,745.374827611,714,679.625172389,666,636,879.374827611,787,803,653,631,653,0.400924984626,0.00441452043107,0.059936003068,0.999999972074,-0.000118161043633,-0.000201599971832,-3.53239180141e-05,1793239675379031040
+71,1.183333333,BASELINE,765.210402867,745.210402867,714,679.789597133,665.789597133,635.789597133,879,787,803.210402867,653,631,653,0.400925922663,0.00441511058898,0.0599366863514,0.999999972391,-0.000117194932816,-0.000200577857639,-3.53683953801e-05,1793239675395697920
+72,1.200000000,BASELINE,765.787585386,745.787585386,714,679.212414614,665.212414614,635.212414614,879,787,803.787585386,653,631,653,0.400927486462,0.00441407164658,0.0599382214903,0.999999972677,-0.000118269642013,-0.000198559640905,-3.51100318102e-05,1793239675412364544
+73,1.216666667,BASELINE,765.6357514,746,714.3642486,679,665.3642486,635.3642486,879,787,804,653,631,653,0.400926677678,0.00441336540523,0.0599379509381,0.999999972412,-0.000119539058695,-0.000199175146587,-3.48668550653e-05,1793239675429031936
+74,1.233333333,BASELINE,765.059390626,746,714.940609374,679,665.940609374,635.940609374,879,787,804,653,631,653,0.40092448727,0.0044128529051,0.0599366288812,0.999999971824,-0.000120921858938,-0.000201324342803,-3.46325220498e-05,1793239675445699840
+75,1.250000000,BASELINE,765,745.485951657,714.485951657,679,666,636,879.514048343,787,804,653,631.514048343,653,0.400924574926,0.0044124586659,0.0599363915958,0.999999971776,-0.000120892393971,-0.000201580974215,-3.46258032593e-05,1793239675462365440
+76,1.266666667,BASELINE,765,745,714,679.090026497,666,636,880,787,803.909973503,653,631.909973503,653,0.400924883171,0.00441227752432,0.0599363460277,0.99999997182,-0.000120542074941,-0.000201561931897,-3.46770165888e-05,1793239675479031040
+77,1.283333333,BASELINE,765,745,714,679.682034594,666,636,880,787,803.317965406,653,631.317965406,653,0.400924962142,0.00441320884553,0.0599366745847,0.999999972029,-0.000119307357137,-0.000201218081087,-3.49054515153e-05,1793239675495697664
+78,1.300000000,BASELINE,765.26832194,745.26832194,714,680,666,636,880,787,803.26832194,653,631.26832194,653,0.40092531585,0.00441307589153,0.0599369866278,0.999999972066,-0.00011971963404,-0.000200768533329,-3.50354431683e-05,1793239675512364288
+79,1.316666667,BASELINE,765.847971591,745.847971591,714,680,666,636,880,787,803.847971591,653,631.847971591,653,0.400925988329,0.00441170808368,0.0599372795105,0.999999971899,-0.000122042880717,-0.000200196347883,-3.50512133629e-05,1793239675529030912
+80,1.333333333,BASELINE,765.575802279,745.575802279,714,680,666,636,879.575802279,787,804,652.575802279,631.575802279,653,0.400925280209,0.00441202342767,0.0599365300501,0.999999971793,-0.000121228197604,-0.000201219898403,-3.50385733165e-05,1793239675545697792
+81,1.350000000,BASELINE,765.000793236,745.000793236,714,680,666,636,879.000793236,787,804,652.000793236,631.000793236,653,0.400924081256,0.00441293716788,0.0599354100145,0.999999971705,-0.000119297913828,-0.000202810766989,-3.50158328256e-05,1793239675562364416
+82,1.366666667,BASELINE,765,745.586201497,714,679.413798503,666,636,879,787,804,652.586201497,631,653,0.400924809889,0.0044138221284,0.0599363447588,0.99999997211,-0.000117741761644,-0.000201734351337,-3.49259075779e-05,1793239675579031040
+83,1.383333333,BASELINE,765,745.829835734,714,679.170164266,666,636,879,787.170164266,804,653,631,653,0.400925711983,0.00441412486344,0.0599371733355,0.999999972344,-0.000117841533509,-0.000200518838673,-3.48848856476e-05,1793239675595697920
+84,1.400000000,BASELINE,765,745.253155645,714,679.746844355,666,636,879,787.746844355,804,653,631,653,0.400927022107,0.0044130367796,0.0599377415009,0.999999972163,-0.000121896008602,-0.000198979830918,-3.49609135467e-05,1793239675612364544
+85,1.416666667,BASELINE,765,745,714.32628963,680,666,636,879.32628963,787.67371037,803.67371037,653,631.32628963,653,0.40092735826,0.00441345025428,0.0599380764331,0.999999972354,-0.000120993128726,-0.0001985702054,-3.49568215117e-05,1793239675629031168
+86,1.433333333,BASELINE,765,745,714.907898609,680,666,636,879.907898609,787.092101391,803.092101391,653,631.907898609,653,0.400926932285,0.00441503868805,0.0599382288619,0.99999997283,-0.000116211153068,-0.00019904431366,-3.48900361849e-05,1793239675645698048
+87,1.450000000,BASELINE,765.473261579,745.473261579,715,679.526738421,666.473261579,636,879.526738421,787,803,653,632,653,0.400926236432,0.00441432805544,0.0599372486393,0.999999972376,-0.000118054367559,-0.000200228826855,-3.49315778919e-05,1793239675662364672
+88,1.466666667,BASELINE,766,745.961901752,714.961901752,679.038098248,666.961901752,635.961901752,879,787,803.038098248,653,632,653,0.400925495666,0.0044132715976,0.0599361079377,0.999999971773,-0.000120935785801,-0.000201503922119,-3.49891016525e-05,1793239675679031040
+89,1.483333333,BASELINE,766,745.359591265,714.359591265,679.640408735,666.359591265,635.359591265,879,787,803.640408735,653,632,653,0.400924841745,0.00441349980532,0.0599357466647,0.99999997167,-0.000120731916391,-0.000202141007812,-3.49814670624e-05,1793239675695697664
+90,1.500000000,BASELINE,766,745.233545714,714,679.766454286,666,635,879,787,804,653,632,653,0.400924610659,0.00441380906439,0.059935797539,0.999999971702,-0.000120491348683,-0.000202116481211,-3.50272597277e-05,1793239675712364288
+91,1.516666667,BASELINE,766,745.813091985,714,679.186908015,666,635,879,787,804,653,632,653,0.400925006006,0.00441423840192,0.0599364590142,0.999999971936,-0.00012019641206,-0.000201111768626,-3.51522054632e-05,1793239675729030912
+92,1.533333333,BASELINE,765.609296958,745.609296958,714,679,665.609296958,635,878.609296958,787,803.609296958,653,631.609296958,653,0.400926051529,0.00441454958034,0.0599371683491,0.999999972217,-0.000119573694499,-0.000200123689119,-3.49130567475e-05,1793239675745697792
+93,1.550000000,BASELINE,765.032607072,745.032607072,714,679,665.032607072,635,878.032607072,787,803.032607072,653,631.032607072,653,0.400927406557,0.00441480451138,0.0599379004667,0.99999997252,-0.000118794942952,-0.000199143527386,-3.45005877181e-05,1793239675762364672
+94,1.566666667,BASELINE,765,745,714,679,666.104234405,635,878.552117202,787,803.552117202,652.447882798,631,653,0.400926080995,0.00441378040661,0.0599372106368,0.999999972213,-0.000119387014451,-0.00020029779895,-3.46590569907e-05,1793239675779031296
+95,1.583333333,BASELINE,765,745.136170811,714,679.136170811,666.863829189,635,879,787,804,652.136170811,631,653,0.400925238549,0.00441333452835,0.0599366500673,0.999999972006,-0.000119817929925,-0.000201038233614,-3.48625551873e-05,1793239675795697920
+96,1.600000000,BASELINE,765,745.716466733,714,679.716466733,666.283533267,635,879,787,804,652.716466733,631,653,0.40092649576,0.00441502455881,0.0599367890251,0.999999972247,-0.000119455283078,-0.000200011721227,-3.51013183725e-05,1793239675812364288
+97,1.616666667,BASELINE,765,745.705001401,714.294998599,679.705001401,666,635.294998599,879,787,803.705001401,653,631.294998599,653,0.400927138334,0.00441563435272,0.0599370089342,0.999999972397,-0.000119028871302,-0.000199512548009,-3.51033299994e-05,1793239675829030912
+98,1.633333333,BASELINE,765,745.128154985,714.871845015,679.128154985,666,635.871845015,879,787,803.128154985,653,631.871845015,653,0.400927193671,0.00441521206599,0.059937306186,0.999999972462,-0.000118541537204,-0.000199517205694,-3.48791442344e-05,1793239675845697536
+99,1.650000000,BASELINE,765,745.447134457,715,679.447134457,666,636,879,787,803,653,632,652.552865543,0.400926733348,0.00441372292734,0.0599371297971,0.999999972341,-0.000119080504389,-0.000199854934553,-3.45849058107e-05,1793239675862364160
+100,1.666666667,BASELINE,765,746,714.977420362,679.977420362,666,635.977420362,879.022579638,787,803.045159276,653,632,652.022579638,0.400926159055,0.00441203158481,0.0599368444987,0.999999972173,-0.000119892164096,-0.000200258580648,-3.42898368793e-05,1793239675879031040
+101,1.683333333,BASELINE,765,746,714.38687146,679.38687146,666,635.38687146,879.61312854,787,804.226257081,653,632,652.61312854,0.400926422696,0.00441291877641,0.059937222546,0.999999972197,-0.000120189699276,-0.000199927367532,-3.44771694152e-05,1793239675895697920
+102,1.700000000,BASELINE,765,746,714.19978582,679.19978582,666,635.19978582,879.80021418,787,804.80021418,653,632,653,0.400926284877,0.00441349743085,0.0599369886309,0.999999972071,-0.000120627416676,-0.000200257783576,-3.47012515561e-05,1793239675912364544
+103,1.716666667,BASELINE,765,746,714.779051161,679.779051161,666,635.779051161,879.220948839,787,804.220948839,653,632,653,0.400925384511,0.00441349003992,0.0599355923349,0.999999971656,-0.000121331400594,-0.000201844919059,-3.49951370403e-05,1793239675929031168
+104,1.733333333,BASELINE,765,746,714.64439784,679.64439784,666,636,879.35560216,787,803.64439784,653,632,653,0.400926237014,0.00441298063375,0.0599358616006,0.999999971922,-0.000121110215917,-0.000200653628527,-3.50244892987e-05,1793239675945697792
+105,1.750000000,BASELINE,765,746,714.069520532,679.069520532,666,636,879.930479468,787,803.069520532,653,632,653,0.40092817039,0.00441216166964,0.0599371579022,0.999999972601,-0.000120318544105,-0.000197749075842,-3.48907223221e-05,1793239675962364160
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679,667,635,880,787,804,653,632,653,0.400925821,0.00441510158605,0.0599360803644,0.999999972069,-0.000119267105179,-0.000200991186879,-3.52216408689e-05,1793239675993382144
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.410722519,746,714.410722519,679.589277481,667,635.589277481,880,787,804,653,632,653,0.400925255067,0.00441485330344,0.0599362201091,0.99999997211,-0.000118165281005,-0.000201481408739,-3.49521470954e-05,1793239676010049280
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,746,714.1755531,680,666.8244469,636,879.8244469,787,804,653,632,653,0.40092504331,0.00441423644535,0.059936307206,0.999999972089,-0.000118071362059,-0.000201667406223,-3.48010139843e-05,1793239676026716160
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,746,714.754923776,680,666.245076224,636,879.245076224,787,804,653,632,653,0.400925646251,0.00441277176819,0.0599362731991,0.999999971923,-0.000120295885831,-0.000201153608987,-3.49221409828e-05,1793239676043382784
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,746,715,680,666,636,879,787.331311252,804,653,631.668688748,653,0.400926799656,0.00441270012751,0.0599367032161,0.999999972211,-0.000119707015028,-0.000200094456974,-3.47808630764e-05,1793239676060049408
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,746,715,680,666,636,879,787.905511666,804,653,631.094488334,653,0.400928356614,0.0044136497425,0.0599374734158,0.999999972828,-0.00011705560306,-0.000198635497367,-3.44472122592e-05,1793239676076716032
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.479510685,745.520489315,714.520489315,680,666,636,879.479510685,787.520489315,804,653,631,653,0.400930165486,0.00441458083338,0.0599381764287,0.999999973119,-0.000116917138735,-0.000197204154697,-3.46835073934e-05,1793239676093382400
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.055417426,714,679.944582574,666,635.944582574,879.944582574,787,803.944582574,653,631.055417426,653,0.400932920705,0.00441526880472,0.0599391796813,0.999999973467,-0.00011742446361,-0.00019507342614,-3.49960900425e-05,1793239676110048768
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.650280543,714,679.349719457,666,635.349719457,879.349719457,787,803.349719457,653,631.650280543,653,0.400944404872,0.00441362571288,0.0599432343551,0.999999974948,-0.000119399873233,-0.000186081766968,-3.49584929235e-05,1793239676126715648
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.238015394,879,787,803.238015394,653,631.761984606,653,0.400959753258,0.00441265716817,0.059947361569,0.999999976628,-0.00012077230987,-0.000175857804825,-3.51102705087e-05,1793239676143382272
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.815581084,879,787,803.815581084,653,631.184418916,653,0.400980614296,0.00441265092557,0.0599515922676,0.999999978586,-0.00012128455132,-0.00016387585279,-3.55322080894e-05,1793239676160048896
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.609392589,746,714,679,666,636,879,787,803.609392589,653,631,653,0.401011771023,0.0044142888827,0.0599567431926,0.999999981533,-0.000119067963412,-0.000146379131355,-3.64582643065e-05,1793239676176715776
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.035557388,746,714,679,666,636,879,787,803.035557388,653,631,653,0.401047757298,0.00441669810807,0.0599623257817,0.999999984639,-0.000115571324592,-0.000126295517252,-3.76207946713e-05,1793239676193383168
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,746,714,679,666,636,879,787.554055445,803.554055445,653,631,653,0.401092514736,0.00441641429094,0.0599630051999,0.999999985833,-0.000117921146262,-0.000113744659696,-3.86006124008e-05,1793239676210049280
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.858018194,714,679,666,635.858018194,879.141981806,787.858018194,804,653,631,653,0.401141143009,0.00441615931266,0.05996360079,0.999999986592,-0.000120493817592,-0.000103625582712,-3.94894940899e-05,1793239676226715392
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.278500558,714,679,666,635.278500558,879.721499442,787.278500558,804,653,631,653,0.401199914278,0.00441654141572,0.0599649361694,0.999999986737,-0.000122563092541,-9.94669484802e-05,-4.01353385192e-05,1793239676243382016
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.29897428,666,635.29897428,879.70102572,787,804,653,631.29897428,653,0.401267281839,0.00441568088896,0.05996580039,0.999999986777,-0.00012487954848,-9.58602763678e-05,-4.07759178838e-05,1793239676260048640
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.874559091,666,635.874559091,879.125440909,787,804,653,631.874559091,653,0.401342602672,0.00441367068304,0.0599662286953,0.999999986721,-0.000127424695757,-9.27642789834e-05,-4.14116259803e-05,1793239676276715776
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.44906357,714,680,666,636,879,787,804,653,631.55093643,653,0.40144176567,0.00441508574013,0.0599700662672,0.9999999874,-0.000127805312801,-8.40690498352e-05,-4.23956977988e-05,1793239676293382400
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,636,879.024009812,787,803.975990188,653,631,653,0.401548616114,0.00441735516309,0.0599747874034,0.999999988187,-0.000127604465928,-7.38528744812e-05,-4.34674503185e-05,1793239676310048768
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,636,879.616545308,787,803.383454692,653,631,653,0.401680172816,0.00441725321899,0.0599779341095,0.999999988752,-0.000127917981558,-6.45692441741e-05,-4.43166860829e-05,1793239676326715392
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.203757376,745.796242624,714,679.796242624,666,636,879.796242624,787,803,653,631.203757376,653,0.401820058179,0.00441697699496,0.0599807262511,0.999999989087,-0.000128943825343,-5.60813418552e-05,-4.5315442261e-05,1793239676343382272
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.781206203,745.218793797,714,679.218793797,666,636,879.218793797,787,803,653,631.781206203,653,0.401975218308,0.00441638114115,0.0599828681201,0.999999989095,-0.000131276080422,-4.9052807344e-05,-4.65884190985e-05,1793239676360048896
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.642388033,745.357611967,714,679.357611967,666,635.642388033,879,787,803,653,631.642388033,653,0.402145994915,0.00441664832982,0.0599828501734,0.999999989342,-0.000130689851359,-4.45037219118e-05,-4.7498581811e-05,1793239676376715264
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.066618523,745.933381477,714,679.933381477,666,635.066618523,879,787,803,653,631.066618523,653,0.40232629821,0.00441744200871,0.0599815146535,0.999999989746,-0.000128323230959,-4.14671984916e-05,-4.81874135803e-05,1793239676393381888
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745.482792904,714,680,666,635.517207096,879.517207096,787,803,653,631,653,0.402541374322,0.00441860705045,0.059979671556,0.99999998994,-0.000126903613939,-3.9958259187e-05,-4.91784311821e-05,1793239676410048768
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.101883897,714,680,666,635.898116103,880,787,803,652.898116103,631,653,0.402768388829,0.0044195584854,0.0599779939853,0.999999990115,-0.00012581410004,-3.76626376255e-05,-5.02281798665e-05,1793239676426715392
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.685601339,714,680,666,635.314398661,880,787,803,652.314398661,631,653,0.40303034606,0.00441926992885,0.059977413311,0.999999990309,-0.000125699731401,-3.07013588856e-05,-5.13686942619e-05,1793239676443382272
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,746,714.263856893,680,666,635.263856893,879.736143107,787,803.263856893,652.263856893,631.263856893,653,0.403305870226,0.00441965199086,0.0599781424203,0.999999990828,-0.000122881545318,-2.35881084577e-05,-5.18404480504e-05,1793239676460048640
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,746,714.835736285,680,666,635.835736285,879.164263715,787,803.835736285,652.835736285,631.835736285,653,0.403597232211,0.00442081692273,0.0599804005508,0.999999991706,-0.000116906964126,-1.62974490233e-05,-5.15315008691e-05,1793239676476715264
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.41090428,745.58909572,714.58909572,680,666,636,879,787,804,653,631.58909572,653,0.403902004371,0.00442238171631,0.0599716860462,0.999999991876,-0.000112884634642,-2.85183272258e-05,-5.18917388986e-05,1793239676493382144
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.987397524,745.012602476,714.012602476,680,666,636,879,787,804,653,631.012602476,653,0.404212180646,0.00442410764882,0.0599585497153,0.999999991428,-0.000109649036762,-4.86020959878e-05,-5.25216496656e-05,1793239676510048768
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.422637325,745,714.577362675,680,666,635.422637325,879,787,803.422637325,653,631,653,0.404563027659,0.00442359756944,0.0599463221669,0.999999990164,-0.000109049970008,-7.06492340689e-05,-5.28107101064e-05,1793239676526715392
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.164845963,714.835154037,679.835154037,666,635,879,787,803,653,631.164845963,653,0.404929920358,0.00442359142764,0.0599362942747,0.999999988867,-0.00010773862761,-8.85096310337e-05,-5.31503081513e-05,1793239676543382016
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.745312604,714.254687396,679.254687396,666,635,879,787,803,653,631.745312604,653,0.405334976737,0.00442498184222,0.0599317610966,0.999999988524,-0.000104482884692,-9.57035004496e-05,-5.36365312838e-05,1793239676560048896
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,746,714,679,666,635.322386579,879,787,803,652.677613421,631.677613421,653,0.405781624051,0.00442520398102,0.0599419035342,0.99999999018,-0.000103516846056,-7.73690520899e-05,-5.42017869689e-05,1793239676576715776
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,746,714,679,666,635.896808299,879,787,803,652.103191701,631.103191701,653,0.406260786339,0.00442451278621,0.0599635190633,0.99999999229,-0.000104340850283,-3.90770949774e-05,-5.48288286566e-05,1793239676593382144
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,746,714.47163246,679,666,635.52836754,879.47163246,787,803,652,631,652.52836754,0.406772784187,0.00442656822871,0.0599867009522,0.999999993184,-0.000102792576235,1.0659105141e-06,-5.53517377265e-05,1793239676610048768
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.95203533,715,679,666,635,879.95203533,787,803.04796467,652.04796467,631.04796467,652,0.407293518787,0.00442903379858,0.0600088963451,0.99999999258,-0.000101127443867,3.86941961874e-05,-5.58260734689e-05,1793239676626715648
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.359583987,715,679,666,635,879.359583987,787,803.640416013,652.640416013,631.640416013,652,0.407831807104,0.00442932729487,0.0600159994634,0.999999992088,-0.000104032920422,4.31743886663e-05,-5.60078739916e-05,1793239676643382272
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.227054516,745.227054516,714.772945484,679.227054516,666,635.227054516,879,787,804,652.772945484,632,652.227054516,0.408371178908,0.0044300740449,0.0600142216495,0.999999992033,-0.000108389813718,3.23286812035e-05,-5.60360202425e-05,1793239676660048640
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.80471704,745.80471704,714.19528296,679.80471704,666,635.80471704,879,787,804,652.19528296,632,652.80471704,0.408912223755,0.00443152069022,0.059998730274,0.999999991828,-0.000114987923277,-2.18263495774e-06,-5.582689999e-05,1793239676676715264
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.620138552,746,714,679.620138552,666,635.620138552,879,787,803.620138552,652.379861448,631.620138552,653,0.40949086048,0.00443262871266,0.0599898145632,0.999999991345,-0.000117134560484,-2.20197761959e-05,-5.57168845429e-05,1793239676693381888
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.046280174,746,714,679.046280174,666,635.046280174,879,787,803.046280174,652.953719826,631.046280174,653,0.410088695528,0.00443356379883,0.0599842570742,0.999999991015,-0.000117007810812,-3.43627500414e-05,-5.56574823833e-05,1793239676710048768
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.456704091,745.456704091,714,679.543295909,666,635.543295909,879,787,803,653,631,653,0.410744559021,0.00443405890373,0.0599952907635,0.999999991729,-0.000115173806375,-7.0635994468e-06,-5.6804490866e-05,1793239676726715392
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.131629699,745.131629699,714,680,666,636,879,787,803.131629699,652.868370301,631,653,0.411412563151,0.00443483089331,0.0600035342785,0.999999991909,-0.000112309539835,1.49211052676e-05,-5.78503412906e-05,1793239676743382016
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.711046781,745.711046781,714,680,666,636,879,787,803.711046781,652.288953219,631,653,0.41210455125,0.00443667610773,0.0599973348566,0.999999992617,-0.000106449931094,6.99678556447e-06,-5.81920492746e-05,1793239676760048896
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,746,714,679.711852895,666,635.711852895,879.288147105,787,804,652,631.288147105,653,0.41277311657,0.00443833020151,0.0599771154,0.9999999928,-9.96616345569e-05,-3.29615671785e-05,-5.81549734846e-05,1793239676776715520
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714,679.137057211,666,635.137057211,879.862942789,787,804,652,631.862942789,653,0.413418381006,0.0044397941688,0.0599429488201,0.999999988615,-9.1949478832e-05,-0.000104787358881,-5.77410836259e-05,1793239676793382400
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.444188578,746,714.444188578,679.444188578,666,635.444188578,880,787,804,652.444188578,631.555811422,652.555811422,0.414117063316,0.00444006923412,0.0599309628028,0.999999986616,-8.93400799614e-05,-0.000124067878324,-5.82491545693e-05,1793239676810049024
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.972534478,746,714.972534478,679.972534478,666,635.972534478,880,787,804,653,631,652.027465522,0.41483920291,0.00443994502488,0.0599288448897,0.999999986902,-8.84914172822e-05,-0.000121994619262,-5.90125329132e-05,1793239676826715648
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.389021788,746,714.389021788,679.389021788,666,635.389021788,880,787,804,653,631,652.610978212,0.415697634435,0.0044392736703,0.0599859100871,0.999999993904,-9.09437016847e-05,-2.06851086988e-05,-5.91005028263e-05,1793239676843382528
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.192859922,745.807140078,714.192859922,679,666,635.192859922,880,787,804,652.807140078,631,653,0.416538834676,0.00443929388823,0.0600263555697,0.99999999295,-9.16646835292e-05,4.73229967935e-05,-5.88102525561e-05,1793239676860049152
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.771479301,745.228520699,714.771479301,679,666,635.771479301,880,787,804,652.228520699,631,653,0.417345568754,0.00444069739327,0.0600335582062,0.999999993191,-8.89227060695e-05,4.87214458812e-05,-5.77634852413e-05,1793239676876715776
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.653545718,745.346454282,715,679.346454282,666,635.653545718,880,787,804,652,631.346454282,653,0.418140053891,0.00444151159185,0.0600223735855,0.999999993806,-8.89469846166e-05,3.2586093317e-05,-5.84308298873e-05,1793239676893382400
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.080949576,745.919050424,715,679.919050424,666,635.080949576,880,787,804,652,631.919050424,653,0.418926543717,0.0044419411311,0.0599991870101,0.999999994054,-9.07768875431e-05,5.00586402275e-06,-6.02170305832e-05,1793239676910049024
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,714.494770314,679.494770314,666,635,880,787,803.494770314,652,631.494770314,652.494770314,0.419713332148,0.00444402907853,0.0599781462741,0.999999993548,-9.08389093637e-05,-2.88389590157e-05,-6.1808114017e-05,1793239676926715648
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.90774522,714,679.09225478,666,635.09225478,880,787,803.09225478,652,631.09225478,652.09225478,0.420501346592,0.00444608043793,0.0599561213243,0.999999991719,-9.01886161614e-05,-6.67663209446e-05,-6.30129242188e-05,1793239676943382272
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.328067647,714,679.671932353,666,635.671932353,880,787,803.671932353,652,631.671932353,652.671932353,0.421295578556,0.00444649580585,0.0599270296399,0.999999986947,-8.73127604428e-05,-0.000120813842791,-6.23466178659e-05,1793239676960048896
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.250433764,745.250433764,714,680,666.250433764,635.749566236,880,787,804.250433764,652,631.749566236,653,0.422126933339,0.00444640430395,0.0599120576698,0.999999983539,-8.56441210036e-05,-0.000147312620496,-6.23408845789e-05,1793239676976715520
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.827401688,745.827401688,714,680,666.827401688,635.172598312,880,787,804.827401688,652,631.172598312,653,0.423006691722,0.00444565190757,0.0599154960286,0.999999984837,-8.55495397483e-05,-0.000137891305522,-6.31964556512e-05,1793239676993382400
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.599910117,746,714,679.599910117,667,635,880,787,804.599910117,652.400089883,631,653,0.423913910587,0.00444351612126,0.0599594942929,0.999999991814,-8.96120115536e-05,-6.605347445e-05,-6.30756751837e-05,1793239677010049280
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.029048685,746,714,679.029048685,667,635,880,787,804.029048685,652.970951315,631,653,0.424832850439,0.00444078985859,0.0600208048614,0.999999992964,-9.54488498858e-05,3.24257828934e-05,-6.25381551272e-05,1793239677026715904
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.564637179,746,714,679.564637179,667,635.564637179,880,787,804,652.435362821,631,653,0.425688619874,0.00444220203068,0.0600354887673,0.999999992319,-8.99780890758e-05,5.84332417563e-05,-6.20571695662e-05,1793239677043382528
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.845179143,746,714,680,666.845179143,635.845179143,880,787,804,652,631,652.845179143,0.426541196753,0.00444282767001,0.0600379580958,0.999999991977,-8.70949443644e-05,6.77419260006e-05,-6.22201667876e-05,1793239677060049152
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.267891261,746,714,680,666.267891261,635.267891261,880,787,804,652,631,652.267891261,0.427394303659,0.00444070161215,0.060013918349,0.99999999274,-9.29270384422e-05,4.20864031077e-05,-6.4132159504e-05,1793239677076716032
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.308727885,746,714,680,666.308727885,635,880,787,804,652,631.308727885,652.308727885,0.428241491592,0.00443948177029,0.059992298926,0.999999993165,-9.56637928326e-05,1.495509649e-05,-6.55330033734e-05,1793239677093382656
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.884767975,746,714,680,666.884767975,635,880,787,804,652,631.884767975,652.884767975,0.429083554536,0.00443904657615,0.0599727751427,0.999999993118,-9.57204453744e-05,-1.34540169214e-05,-6.64912686283e-05,1793239677110049280
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.540696567,714,680,666.540696567,635,879.540696567,787,804,652,631.540696567,653,0.429875432797,0.00444103212462,0.0599465658029,0.999999991705,-9.16326903292e-05,-6.18505362149e-05,-6.6089658593e-05,1793239677126715648
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.034666042,714,679.965333958,666,635,879.069332084,787,804.034666042,652,631,653,0.430659821669,0.00444321114806,0.0599218590064,0.999999988121,-8.73850822811e-05,-0.00010878274291,-6.5487723639e-05,1793239677143382272
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.62947285,714,679.37052715,666,635,880.258945701,787,804.62947285,652,631,653,0.431525970892,0.00443873511863,0.0599484443071,0.999999991697,-9.73004478286e-05,-5.12930875495e-05,-6.71436167815e-05,1793239677160049152
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.783082794,746,714,679,666.216917206,635,880.783082794,787,804.783082794,652,631.216917206,653,0.432384204867,0.00443503958676,0.0599792184231,0.999999992309,-0.00010375964923,3.94516618059e-06,-6.78333436715e-05,1793239677176715776
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.207801682,746,714,679,666.792198318,635,880.207801682,787,804.207801682,652,631.792198318,653,0.433229362381,0.0044326334962,0.0600169127884,0.999999990761,-0.000104509003508,5.54639402343e-05,-6.6926890058e-05,1793239677193382400
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.365500885,746,714,679.365500885,666.634499115,635,880,787,804.365500885,652,632,653,0.434030103891,0.00443208744039,0.0600162899529,0.999999991403,-0.000102101665075,4.88721434014e-05,-6.61847425633e-05,1793239677210049280
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.937684591,746,714,679.937684591,666.062315409,635,880,787,804.937684591,652,632,653,0.434805729063,0.00443259319405,0.0599939995692,0.999999993015,-9.79092853151e-05,9.42007613068e-06,-6.55355066519e-05,1793239677226715904
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.472687518,714,680,666,635,880.527312482,787,805,652,631.472687518,652.472687518,0.435535240084,0.00443090815127,0.0599639597653,0.999999991681,-0.000103142301834,-3.93688842555e-05,-6.67011729767e-05,1793239677243382272
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.88356617,745,714,680.11643383,666.11643383,635,881,787,805,652,631,652.11643383,0.436259313502,0.00442922663169,0.0599394175969,0.999999988713,-0.000108399409233,-7.89097650929e-05,-6.78029314554e-05,1793239677260048896
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.304919209,745,714,680.695080791,666.695080791,635,881,787,805,652,631,652.695080791,0.436984174515,0.0044286220232,0.0599404595082,0.999999988763,-0.000109179163093,-7.72080369777e-05,-6.77704428101e-05,1793239677276715776
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.27167622,714.27167622,680.72832378,667,635,880.72832378,787,804.72832378,652,631,653,0.437684199348,0.00442744684351,0.0599361860993,0.999999987647,-0.000108727580081,-9.17966675333e-05,-6.6770119556e-05,1793239677293382400
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.845986303,714.845986303,680.154013697,667,635,880.154013697,787,804.154013697,652,631,653,0.438356557857,0.00442563607578,0.0599259916868,0.999999984439,-0.000106904348591,-0.000124531951535,-6.4691676392e-05,1793239677310049280
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,714.579782275,680,667,635,880.420217725,787,804.420217725,652,631.420217725,653,0.439059685789,0.00442530295915,0.0599361533427,0.999999986065,-0.000106986709598,-0.000110768538098,-6.44462105704e-05,1793239677326715648
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,746,714.00557963,680,667,635,880.99442037,787,804.99442037,652,631.99442037,653,0.439774088947,0.00442551131401,0.0599537742917,0.999999988892,-0.000107767357231,-7.99661074227e-05,-6.48724222245e-05,1793239677343382272
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.588907586,745.411092414,714,680,666.411092414,635,880.411092414,787,805,652,631.411092414,653,0.440418202756,0.00442809628314,0.0599687242917,0.999999990829,-0.000101954668655,-6.20159594729e-05,-6.40385598953e-05,1793239677360048896
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.822139734,745.177860266,714.177860266,680,666,634.822139734,880,787.177860266,804.822139734,652,631.177860266,653,0.44102886406,0.0044312713329,0.0599668273179,0.999999990952,-9.58392067196e-05,-6.98618954945e-05,-6.34905937648e-05,1793239677376715520
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.246025233,745.753974767,714.753974767,680,666,634.246025233,880,787.753974767,804.246025233,652,631.753974767,653,0.441566164981,0.00443571543884,0.0599272662803,0.999999984862,-8.91906575577e-05,-0.000135186514603,-6.36104751578e-05,1793239677393382400
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.328807042,746,714.671192958,680,665.671192958,634.328807042,880.328807042,787.671192958,804,652,631.671192958,653,0.442080721418,0.00443973655945,0.0598794208347,0.999999972539,-8.29723277604e-05,-0.000209560175149,-6.42097152971e-05,1793239677410049280
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.902683604,746,714.097316396,680,665.097316396,634.902683604,880.902683604,787.097316396,804,652,631.097316396,653,0.442578325693,0.00444344241644,0.0598254007795,0.999999952659,-7.70746532178e-05,-0.000290678346736,-6.51662353553e-05,1793239677426716160
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.507899035,745.507899035,714,680,665,634.507899035,880.507899035,787,804.492100965,652,631,653,0.44308674108,0.00445082808002,0.0598060586379,0.999999945521,-6.60616321137e-05,-0.000316623286467,-6.59081170817e-05,1793239677443382528
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+195,3.250000000,POSE1_TO_POSE2_PRESS,765.660067287,745,714.660067287,680.660067287,665,634,880.660067287,787,805,652,631,653,0.444090755664,0.00446836742728,0.0598076610013,0.999999948809,-4.31027689837e-05,-0.000309786078719,-6.75102087527e-05,1793239677476715776
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.763355478,745,714.763355478,681,664.763355478,634,881,786.763355478,805,652,631.236644522,653,0.444557835351,0.00447846589581,0.0598133508249,0.999999951555,-3.15040775014e-05,-0.000301929986904,-6.88154083041e-05,1793239677493382400
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.188138814,745,714.188138814,681,664.188138814,634,881,786.188138814,805,652,631.811861186,653,0.444984187301,0.00448978680661,0.0598120207327,0.999999950148,-1.9114432994e-05,-0.00030714132655,-7.07314072756e-05,1793239677510049280
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.387734102,745.387734102,714,680.612265898,664,634,880.612265898,786.387734102,805,652,632,653,0.445360142434,0.00450128699582,0.0597912001347,0.99999993655,-6.40814414378e-06,-0.000348723729107,-7.2461784652e-05,1793239677526715904
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.963926041,745.963926041,714,680.036073959,664,634,880.036073959,786.963926041,805,652,632,653,0.445711602274,0.00451287432416,0.0597609061925,0.999999914008,6.45205055065e-06,-0.000407984255803,-7.41019407596e-05,1793239677543382784
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.447161568,746,714,680,664,634,880,786.447161568,804.447161568,652,632,652.447161568,0.446043458852,0.00452391143249,0.0597348656955,0.999999898201,2.27908381777e-05,-0.000444309687033,-7.52864162552e-05,1793239677560048896
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.318347792,714,680,663.318347792,634,880.681652208,786.681652208,804.681652208,652,632,652.681652208,0.446693362806,0.00453797293368,0.059717955525,0.999999889604,3.96026175052e-05,-0.000461842491375,-7.69690119692e-05,1793239677593382400
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.256014595,745.256014595,714,680,663,633.743985405,880.743985405,787,805,652,631.743985405,652.743985405,0.44700344475,0.00454203645243,0.0597238636462,0.999999894618,4.37176508995e-05,-0.000450397168538,-7.74344353573e-05,1793239677610048768
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765.023507064,746,714,680,663,633,880,787,805,652,631,652.976492936,0.447793266515,0.00455417907209,0.0597362480564,0.999999900502,5.72465440741e-05,-0.000435410077105,-7.83439254485e-05,1793239677660049664
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714,680,663,633,880,787,805,652,631,652.404465692,0.447998143627,0.00455519788259,0.0597254934568,0.999999893855,5.94572479198e-05,-0.000450148529009,-7.82368359114e-05,1793239677676716288
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.798361392,714,680.201638608,662.798361392,632.798361392,880,787,805,652.201638608,631,652.201638608,0.448188500213,0.00455683562436,0.0597150008511,0.999999887211,6.29499492813e-05,-0.000464223790891,-7.81726242657e-05,1793239677693382912
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.222130129,714,680.777869871,662.222130129,632.222130129,880,787,805,652.777869871,631,652.777869871,0.448354968422,0.00455991685735,0.0597058315267,0.999999881209,6.89831998399e-05,-0.000476134463245,-7.82274819215e-05,1793239677710049536
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764.686110496,745.686110496,714,680,662,633,880,786.686110496,804.686110496,652,631,653,0.448925971736,0.00456817418392,0.0596582322947,0.999999842976,8.49130184618e-05,-0.000548547776404,-7.70327849367e-05,1793239677793382656
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+242,4.033333333,POSE1_TO_POSE2_PRESS,765.917188437,746,714,681,661,632,881,786,805,652,631,653,0.44934975318,0.00458115892228,0.0596406867987,0.999999827484,0.000103547630912,-0.000573457352362,-7.38643578863e-05,1793239678260049152
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,714,680.496384032,661,632,881,786.503615968,805.503615968,652,631,653,0.449349589206,0.00458047981676,0.0596406073391,0.999999827276,0.000102058458496,-0.000574104136429,-7.37364546158e-05,1793239678276715776
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.909093505,746,714,680.090906495,661.090906495,632,881,786.909093505,805.909093505,652,631.090906495,653,0.449349501485,0.00457965477346,0.0596405805266,0.999999827123,0.000100440971191,-0.000574678863307,-7.35537179351e-05,1793239678293382144
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.327198378,746,714,680.672801622,661.672801622,632,881,786.327198378,805.327198378,652,631.672801622,653,0.449350622208,0.00458015885642,0.0596411474956,0.999999827543,0.000100994154868,-0.000573871671779,-7.33921137317e-05,1793239678310048768
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.74861606,714,680.74861606,661.74861606,632,880.74861606,786,804.74861606,652,631.74861606,653,0.449351058264,0.00458001496203,0.059641318665,0.999999827737,0.000100815729646,-0.000573592372864,-7.31755131507e-05,1793239678326715392
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.174289491,714,680.174289491,661.174289491,632,880.174289491,786,804.174289491,652,631.174289491,653,0.449350614758,0.00457903863781,0.0596409813672,0.999999827641,9.96974365798e-05,-0.000573991235808,-7.28882609588e-05,1793239678343382016
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745,714.398966669,680,661.398966669,632,880.398966669,786.398966669,804.398966669,652.398966669,631,653,0.449351151395,0.00457922494262,0.059641406289,0.999999828086,9.9268021241e-05,-0.000573278124236,-7.29739339426e-05,1793239678360048896
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745,714.971756434,680,661.971756434,632,880.971756434,786.971756434,804.971756434,652.971756434,631,653,0.449352115064,0.00457991778549,0.0596421632972,0.999999828767,9.91387384592e-05,-0.000572080543965,-7.32220841977e-05,1793239678376715776
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.564147711,714.435852289,680,661.435852289,632,881,787,805,653,631.564147711,653,0.449350508125,0.00458071981946,0.0596400122092,0.999999827266,9.95075085712e-05,-0.000574612424273,-7.33961753666e-05,1793239678393382400
+251,4.183333333,HOLD_POSE2,765,745,714,681,662,632,881,786,805,652,631,653,0.449352064584,0.00457771481249,0.059642041437,0.999999828523,9.9728583578e-05,-0.000572448781454,-7.28670985719e-05,1793239678434393856
+252,4.200000000,HOLD_POSE2,765,745.576202536,714,681,661.423797464,632,881,786.576202536,805,652,631.576202536,653,0.449351645279,0.00457999103191,0.0596415083013,0.999999827927,0.000101016187971,-0.000573235004569,-7.30985986429e-05,1793239678451060480
+253,4.216666667,HOLD_POSE2,765,746,714,681,661,632,880.844963742,786.844963742,805,652,631.844963742,653,0.449351695073,0.00458207257743,0.0596413977304,0.999999827707,0.000102207703214,-0.000573384083661,-7.32882928177e-05,1793239678467726848
+254,4.233333333,HOLD_POSE2,765,746,714,681,661,632,880.25881327,786.25881327,805,652,631.25881327,653,0.449353049303,0.00458361278762,0.0596424621987,0.999999828535,0.000103132020613,-0.000571761436435,-7.33617360696e-05,1793239678484393472
+255,4.250000000,HOLD_POSE2,765,746,714.323808732,681,661,632,880.323808732,786,805,652,631.323808732,653,0.449352786408,0.0045828035535,0.059641717644,0.999999828178,0.000102624184703,-0.000572504841986,-7.31462701868e-05,1793239678501060352
+256,4.266666667,HOLD_POSE2,765,746,714.903640871,681,661,632,880.903640871,786,805,652,631.903640871,653,0.449351244912,0.00458013670188,0.0596395427626,0.999999826877,0.000100983998889,-0.000575118996725,-7.27023746935e-05,1793239678517727232
+257,4.283333333,HOLD_POSE2,765.480904507,745.519095493,714.519095493,681,661.480904507,632,880.519095493,786,805,652,631.519095493,653,0.44935135953,0.00457812923385,0.0596393618004,0.999999827224,9.78699035558e-05,-0.000575096057358,-7.23724753581e-05,1793239678534393856
+258,4.300000000,HOLD_POSE2,765.942447603,745,714,681,661.942447603,632,880,786,805,652,631,653,0.449351775932,0.00457661396549,0.059639664695,0.999999827848,9.49580915873e-05,-0.000574529413322,-7.2128909139e-05,1793239678551060480
+259,4.316666667,HOLD_POSE2,765.366734472,745,714,681,661.366734472,632,880,786,805,652,631,653,0.449351937644,0.00457834690727,0.0596407459841,0.999999828095,9.65122927619e-05,-0.000573799668697,-7.24580688471e-05,1793239678567727104
+260,4.333333333,HOLD_POSE2,765,745.213984832,714,680.786015168,661,632,880.213984832,786,805,652,631,653,0.449352367621,0.00457928860526,0.0596416140633,0.999999828251,9.81649833752e-05,-0.000573231144622,-7.2584955856e-05,1793239678584393728
+261,4.350000000,HOLD_POSE2,765,745.803489355,714,680.196510645,661,632,880.803489355,786,805,652,631,653,0.449353268372,0.0045788417578,0.0596421079825,0.99999982825,9.99905118865e-05,-0.000572945544846,-7.23568766358e-05,1793239678601060352
+262,4.366666667,HOLD_POSE2,765,746,714,680,661,632,881,786,805,652,631.386381443,653,0.449352608359,0.00457871393839,0.0596413144593,0.999999827725,9.91960653166e-05,-0.000573996212076,-7.23750027652e-05,1793239678617727232
+263,4.383333333,HOLD_POSE2,765,746,714,680,661,632,881,786,805,652,631.965967135,653,0.449351167909,0.00457874564413,0.0596398771698,0.999999826933,9.70915396423e-05,-0.000575715059566,-7.25162401685e-05,1793239678634393856
+264,4.400000000,HOLD_POSE2,765.541404973,746,714,680.541404973,661,632,881,786.541404973,805,652,631.458595027,653,0.449351672486,0.00457927046725,0.059640166299,0.999999826888,9.96622406416e-05,-0.000575398852073,-7.2162225186e-05,1793239678651060480
+265,4.416666667,HOLD_POSE2,765.88095916,746,714,680.88095916,661,632,881,786.88095916,804.88095916,652,631,652.88095916,0.449352503091,0.0045797216234,0.0596407584168,0.999999827232,0.000101661736205,-0.00057448697165,-7.18784919248e-05,1793239678667727104
+266,4.433333333,HOLD_POSE2,765.293659126,746,714,680.293659126,661,632,881,786.293659126,804.293659126,652,631,652.293659126,0.449354138875,0.00457976199849,0.05964211873,0.999999828943,0.00010026709708,-0.000571731327939,-7.19927474497e-05,1793239678684393728
+267,4.450000000,HOLD_POSE2,765,745.710155849,714,680,661,632,881,786,804.289844151,652,631,652.289844151,0.449354972346,0.00457972889308,0.059642487558,0.999999829412,9.91714507787e-05,-0.000571074653367,-7.22098911899e-05,1793239678701060352
+268,4.466666667,HOLD_POSE2,765,745.130449598,714,680,661,632,881,786,804.869550402,652,631,652.869550402,0.449355003453,0.00457962230262,0.0596418648392,0.999999828643,9.83748158971e-05,-0.000572517078076,-7.252992951e-05,1793239678717726720
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,880,786,804,652,631,652,0.449354376666,0.00457960005505,0.0596411243962,0.999999828496,9.76583607242e-05,-0.000572815864158,-7.31617195411e-05,1793239678750507008
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.575450879,746,714,680.424549121,661,631.424549121,880,786,804.575450879,652,631,652.575450879,0.449354122597,0.00458026892508,0.0596410338874,0.99999982803,9.92402643002e-05,-0.000573383822779,-7.29608774121e-05,1793239678767174656
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.844528289,746,714,680.155471711,661,631.155471711,880.155471711,786.155471711,805,652.155471711,631,653,0.449354018263,0.00458089400015,0.0596411464241,0.999999827797,0.000100343598721,-0.000573613721976,-7.28293115866e-05,1793239678783841792
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.251650155,746,714,680.748349845,661,631.748349845,880.748349845,786.748349845,805,652.748349845,631,653,0.449354335198,0.00458139586198,0.0596418302122,0.99999982823,0.000100100519923,-0.000572892519889,-7.28926486987e-05,1793239678800508160
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.668009178,661,632,881,786.668009178,804.668009178,652.668009178,631.331990822,653,0.44935419977,0.00458139856596,0.0596417968736,0.999999828286,0.000100117522373,-0.000572771803448,-7.30496642057e-05,1793239678817174528
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.091180491,661,632,881,786.091180491,804.091180491,652.091180491,631.908819509,653,0.449353730731,0.00458103314907,0.0596412346657,0.999999828064,0.000100326330554,-0.000573093935505,-7.3275766011e-05,1793239678833840896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.48399276,661,632,881,786.48399276,804.967985521,652,631.51600724,653,0.449354609986,0.00458156923636,0.0596414838038,0.999999828706,0.000101589281504,-0.000571772638506,-7.31052170779e-05,1793239678850507520
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,881,786.942062973,805.942062973,652.057937027,631,652.942062973,0.449355291755,0.00458215941695,0.059641672111,0.999999829284,0.000102862926698,-0.000570560763645,-7.28756879525e-05,1793239678867174144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,881,786.376168702,805.376168702,652.623831298,631,652.376168702,0.449352022684,0.00458173990673,0.0596399915486,0.999999827927,0.000102495128741,-0.000573013453362,-7.27819748136e-05,1793239678883840768
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,880.798381541,786.201618459,805,653,631,652,0.449343821597,0.00458147159614,0.0596358267715,0.999999824569,0.000101755877615,-0.000578980864084,-7.27184557206e-05,1793239678900507136
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,880.197014429,786.802985571,805,653,631,652,0.449325841809,0.0045815030689,0.0596267365454,0.999999817145,0.000100280146817,-0.000591916907143,-7.27148023257e-05,1793239678917174016
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.388553917,746,714,681,661,631.611446083,880.388553917,787,805,652.611446083,631,652.388553917,0.449291859772,0.00458147333332,0.0596127096126,0.99999980494,0.000100228068491,-0.000612156357223,-7.30652944949e-05,1793239678933840640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.966424615,746,714,681,661,631.033575385,880.966424615,787,805,652.033575385,631,652.966424615,0.44925008089,0.00458141377495,0.0595962773464,0.999999789986,0.000100869642257,-0.000635954278352,-7.3588338487e-05,1793239678950507264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.459064555,746,714,681,661,631.540935445,881,786.459064555,805,652,631,653,0.449190962389,0.0045822811238,0.0595798152145,0.999999778875,0.000102785969988,-0.000652881158013,-7.36983132255e-05,1793239678967174144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,881,786.118406841,805,652.118406841,631.118406841,653,0.449127855109,0.00458294436779,0.0595653721672,0.999999768814,0.000104213566662,-0.000667885346509,-7.37614186577e-05,1793239678983841024
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,881,786.708497712,805,652.708497712,631.708497712,653,0.449053119054,0.00458256677222,0.0595589796537,0.999999762828,0.000103381013847,-0.000676918762839,-7.37393203024e-05,1793239679000507648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.706779067,714,680.706779067,661,632,880.706779067,786.706779067,805,652.706779067,631.706779067,652.706779067,0.448968611388,0.00458270673557,0.0595548584319,0.999999758718,0.000103957734597,-0.000682911914419,-7.34038086119e-05,1793239679017174528
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.127296143,714,680.127296143,661,632,880.127296143,786.127296143,805,652.127296143,631.127296143,652.127296143,0.448874564021,0.00458335197474,0.0595529545981,0.99999975649,0.000105910283023,-0.000685936954607,-7.27623217538e-05,1793239679033841408
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.450095981,714,680,661,632,880,786.450095981,805,652,631.450095981,652.450095981,0.448765425836,0.0045836490098,0.0595547212277,0.999999758235,0.000108421270114,-0.000683077985518,-7.19686820703e-05,1793239679050507520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.02674715,746,714,680.02674715,661.02674715,632,880.02674715,786.97325285,805.02674715,652,631.97325285,653,0.448650894445,0.00458385944737,0.0595576115734,0.999999761132,0.000111156300747,-0.000678472654446,-7.11058935624e-05,1793239679067173888
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.600283625,746,714,680.600283625,661.600283625,632,880.600283625,786.399716375,805.600283625,652,631.399716375,653,0.448512956828,0.00458430347082,0.0595623506849,0.999999765117,0.000115257657697,-0.00067202866819,-6.97051308751e-05,1793239679083840768
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.820670345,746,714,681,662,632,881,786.179329655,805.820670345,652,631.179329655,652.820670345,0.448364887668,0.00458443155207,0.0595674917711,0.999999769287,0.000118612750258,-0.000665367912606,-6.8132395266e-05,1793239679100507392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.228954637,746,714,681,662,632,881,786.771045363,805.228954637,652,631.771045363,652.228954637,0.448193520053,0.00458383309331,0.0595735572368,0.999999773962,0.000120251734426,-0.000658208675723,-6.61641913285e-05,1793239679117174272
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,713.645927718,681,662,632.354072282,881,787,805.354072282,652,632,652.354072282,0.448001605836,0.0045845815784,0.0595800148325,0.999999778764,0.000124593989256,-0.000650243597896,-6.42769489309e-05,1793239679133841152
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,713.068384624,681,662,632.931615376,881,787,805.931615376,652,632,652.931615376,0.447796723725,0.00458618017979,0.0595867199195,0.999999783583,0.000130642398949,-0.000641769917156,-6.24408047763e-05,1793239679150508032
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.493663188,713.506336812,681,661.493663188,633,881,787,805.493663188,652,632,653,0.447555757186,0.00458661933108,0.05959275888,0.999999788257,0.000135202947363,-0.000633661699198,-6.06487854921e-05,1793239679167174400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.082904661,745.082904661,714,681,661.082904661,633,881,787,805,652,631.917095339,653,0.447304712905,0.00458679449765,0.0595985392358,0.99999979248,0.000139359919827,-0.000626237858342,-5.86972190704e-05,1793239679183840512
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.673089542,745.673089542,714,681,661.673089542,633,881,787,805,652,631.326910458,653,0.447021659204,0.00458630723891,0.059603284667,0.999999794448,0.000142270226079,-0.000622701264056,-5.57331462563e-05,1793239679200507392
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.741520103,746,714,681,662,633,880.741520103,787,805,652,631,653,0.446712981766,0.00458634223958,0.059607347572,0.999999795649,0.000148722314833,-0.00061953683258,-5.25182652283e-05,1793239679217174016
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.162083193,746,714,681,662,633,880.162083193,787,805,652,631,653,0.446372487099,0.00458702573488,0.0596105629774,0.999999795826,0.000159572269319,-0.000616834519469,-4.8991953366e-05,1793239679233840384
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.585860415,662,633,880.414139585,787,805,652,631,653,0.446006422167,0.00458772709047,0.0596080762689,0.999999791709,0.000166080450195,-0.000622004414312,-4.59331845351e-05,1793239679250507264
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.010885889,662,633,880.989114111,787,805,652,631,653,0.445630426794,0.00458843538225,0.0596033750916,0.999999785873,0.000170902462834,-0.000630231554024,-4.30559904485e-05,1793239679267174400
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.563556247,662.563556247,633,881,787,805,652,631.563556247,653,0.445216381796,0.00459010580204,0.0596030426175,0.999999784675,0.000181373645569,-0.00062941287652,-3.9901200895e-05,1793239679283841280
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.857561264,663.142438736,633.142438736,881,787,805,652,631.857561264,653,0.444799686867,0.00459133239334,0.0596066250887,0.999999788121,0.000191160401152,-0.000621187200721,-3.66370167581e-05,1793239679300507904
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.264601963,663.735398037,633.735398037,881,787,805,652,631.264601963,653,0.444376933013,0.00459109646906,0.0596223235122,0.999999805665,0.000198437558518,-0.000590086015499,-3.30437722378e-05,1793239679317174528
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.317590781,746,714,680.317590781,663.682409219,634,881,787,805.317590781,652,631.317590781,653,0.443931382115,0.00459053668925,0.0596490582424,0.999999829989,0.000206473212769,-0.000544577306938,-2.87364465658e-05,1793239679333840896
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.891107515,746,714,680.891107515,663.108892485,634,881,787,805.891107515,652,631.891107515,653,0.443467460501,0.00458971593511,0.0596846864229,0.999999857769,0.000215120091177,-0.000487458498885,-2.38536884426e-05,1793239679350507264
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745.533954881,714,680.533954881,663.466045119,634,880.533954881,787,805.533954881,652,631.533954881,653,0.442946848202,0.00458874622177,0.059701116406,0.999999866075,0.000223627294564,-0.000466368500006,-1.8462680157e-05,1793239679367173632
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.958575966,745.041424034,714,680,664,634,880.041424034,787,805,652,631.041424034,653,0.442408488315,0.00458788608271,0.0597117928187,0.99999986919,0.000232357194244,-0.000455477618038,-1.30286515703e-05,1793239679383840256
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.38179683,745.61820317,714,680,664,634,880.61820317,787,805,652,631.61820317,653,0.441812472725,0.00458889323974,0.0597062608705,0.99999986093,0.000244388240479,-0.000467270042036,-8.57807462433e-06,1793239679400507136
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.799501835,714,680.200498165,664.200498165,634,881,787,804.799501835,652,632,653,0.441209896986,0.00458929548588,0.0597045560445,0.99999985556,0.00025530425917,-0.000472953972228,-3.81324540903e-06,1793239679417174272
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.206406216,714,680.793593784,664.793593784,634,881,787,804.206406216,652,632,653,0.440594475794,0.00458851324989,0.0597103451447,0.999999856247,0.00026403693069,-0.000466676799295,1.5669240363e-06,1793239679433840640
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.376894982,745.376894982,714,681,665,634.376894982,880.623105018,787,804.376894982,652,632,653,0.439971258561,0.00458761780493,0.0597408866162,0.999999875223,0.000273731607456,-0.000417820043794,7.12874722485e-06,1793239679450507264
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.954968115,745.954968115,714,681,665,634.954968115,880.045031885,787,804.954968115,652,632,653,0.439343879997,0.00458666193156,0.0597846403524,0.999999899668,0.00028393977976,-0.000346235253225,1.27875329371e-05,1793239679467173888
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.47233128,745.47233128,714.52766872,680.47233128,665.52766872,635,880.52766872,787,804.47233128,652,631.47233128,653,0.43869970329,0.00458533330362,0.0598288136146,0.999999918302,0.000292757070365,-0.000278101782706,1.86927309966e-05,1793239679483840768
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.103350942,745,714.896649058,680,665.896649058,635,880.896649058,787,804,652,631.103350942,652.896649058,0.438031382574,0.0045854917799,0.0598594392115,0.999999926748,0.000303241034222,-0.000232308165571,2.4122891155e-05,1793239679500507136
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.695273626,745,714.304726374,680,665.304726374,635,880.304726374,787,804,652,631.695273626,652.304726374,0.437255634533,0.00459282912257,0.0598258532624,0.999999905471,0.000322159351651,-0.00029074359696,2.72089900777e-05,1793239679517173760
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.718762574,745.281237426,714,680,665,635,880.281237426,787,804.281237426,652,632,652.281237426,0.43646777853,0.00459684510942,0.0597893342268,0.999999884878,0.000331303215904,-0.000345880717655,2.91220318051e-05,1793239679533840384
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.139121309,745.860878691,714,680,665,635,880.860878691,787,804.860878691,652,632,652.860878691,0.435667075413,0.00459733700959,0.0597497030682,0.999999866071,0.000330076008176,-0.00039751821001,2.97904146716e-05,1793239679550507264
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745.563558609,714,680,665.436441391,635,880.563558609,787,804.563558609,652,631.563558609,652.563558609,0.434877787311,0.00459622105541,0.0597534053516,0.999999883282,0.000299321453308,-0.000378637120719,2.18511650073e-05,1793239679567174400
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.010773245,745.010773245,714,680,666,635,880,787.010773245,804,652,631,652,0.434091688136,0.00459463817146,0.0597708129771,0.999999909044,0.000260176653544,-0.000337769795315,1.14939754978e-05,1793239679583841536
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.588115695,745.588115695,714,680,666,635,880,787.588115695,804,652,631,652,0.433283705345,0.00459520356163,0.0597892797712,0.999999914727,0.000270195032809,-0.000311856433144,1.69375540625e-05,1793239679600507648
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.830776743,745.830776743,714,680.169223257,665.830776743,635,880,787.830776743,804,652,631.169223257,652.169223257,0.43247423112,0.00459617085894,0.0598054183113,0.999999918711,0.00027947086928,-0.000289832281193,2.17197022638e-05,1793239679617174016
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.240296508,745.240296508,714,680.759703492,665.240296508,635,880,787.240296508,804,652,631.759703492,652.759703492,0.431661044234,0.0045981386463,0.0598157609965,0.999999920036,0.00028689825201,-0.000277489761159,2.48553143386e-05,1793239679633840640
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.343076454,745.343076454,714,680.313847092,665.343076454,635,880,787.343076454,804,652,632,653,0.430829533562,0.00459942048468,0.0598292923643,0.999999925403,0.000286580648317,-0.000257614577294,2.64609242182e-05,1793239679650507264
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745.504499495,714,679.495500505,666,635,880.495500505,787.504499495,804,652,632,653,0.429053904496,0.00460196706504,0.0598137827196,0.999999917676,0.000275825209688,-0.000296373530031,2.70525547308e-05,1793239679683840512
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.931012257,745.068987743,714,680,665.931012257,635,881,787,804,652,631.931012257,653,0.428119478192,0.00460324344891,0.0597785995887,0.999999896963,0.000270389661551,-0.000363645744545,2.69198657622e-05,1793239679700507392
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.35550262,745.64449738,714,680,665.35550262,635,881,787,804,652,631.35550262,653,0.427264605365,0.00460008500311,0.0597684466134,0.99999990263,0.000262074794769,-0.000354081163391,2.61478542965e-05,1793239679717174528
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.227578935,635,880.772421065,787,804,652,631,652.772421065,0.426413409316,0.00459823368204,0.0597750749123,0.999999911507,0.000255606987217,-0.000333106217333,2.62880189586e-05,1793239679733841408
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.822895815,635,880.177104185,787,804,652,631,652.177104185,0.425568154329,0.00459849450394,0.0598088195649,0.9999999247,0.000252123785503,-0.000293693604558,2.79021414029e-05,1793239679750507520
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.596463839,714,680,665.596463839,635,880,787,804,652,631.403536161,652.403536161,0.424701207316,0.00459854452898,0.0598314046675,0.999999932064,0.000248115747262,-0.000270994353055,2.95513139211e-05,1793239679767174144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.022038728,714,680,665.022038728,635,880,787,804,652,631.977961272,652.977961272,0.423825074246,0.00459850528604,0.0598492639369,0.999999937165,0.000243885452218,-0.000255372855691,3.12153293062e-05,1793239679783840512
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,880,787,804,652,631.446566686,653,0.422952178098,0.00459683893104,0.0598562186117,0.999999944225,0.000235857636303,-0.000234327091217,3.17981714531e-05,1793239679800507136
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745.131857813,714,679.868142187,665,635,880,787,804,652,631,653,0.422074665033,0.00459535396032,0.0598563152572,0.999999947263,0.000228460218219,-0.000228526644003,3.24878107471e-05,1793239679817173760
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.720362508,714,679.279637492,665,635,880,787,804,652,631,653,0.421180715562,0.00459472197583,0.0598341680398,0.999999936232,0.000223770688371,-0.000276272901302,3.36966946183e-05,1793239679833840896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.304447601,746,714,679,665,635,880,787,804,652,631,652.695552399,0.420280284812,0.00459449505469,0.0597953562359,0.999999915933,0.000218129501648,-0.000345577746933,3.36142594468e-05,1793239679850507520
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.884531312,746,714,679,665,635,880,787,804,652,631,652.115468688,0.419373986189,0.00459463486361,0.0597414569049,0.999999882731,0.000211626717659,-0.000434400973101,3.23627093904e-05,1793239679867174400
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.538373987,745.538373987,714,679.461626013,665,635,880,787.461626013,804,652.461626013,631.461626013,652.461626013,0.418553363803,0.00459393664395,0.0597495404402,0.99999989665,0.000201624523505,-0.00040629378264,3.12041729066e-05,1793239679883841024
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.962292396,665.037707604,635,880,787.962292396,804,653,631.962292396,653,0.417754374796,0.00459297856544,0.0597741084851,0.99999992022,0.00019123825113,-0.000349385805441,3.03050129966e-05,1793239679900507392
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.390042684,665.609957316,635,880,787.390042684,804,653,631.390042684,653,0.41696021567,0.00459128918676,0.059813989195,0.999999937987,0.000187736054552,-0.000296155222496,3.27550758382e-05,1793239679917174016
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.188785684,745,714,679.188785684,665.811214316,635,879.811214316,787,804,652.811214316,631.188785684,653,0.416170296714,0.00458965264063,0.0598429200959,0.999999948089,0.000183485337826,-0.000262555427062,3.49223129866e-05,1793239679933840640
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.781696806,745,714,679.781696806,665.218303194,635,879.218303194,787,804,652.218303194,631.781696806,653,0.415389454358,0.00458812919058,0.0598484112169,0.999999946843,0.000177632296333,-0.000270978410102,3.64841179013e-05,1793239679950507008
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.635071871,745.364928129,714,680,665,635,879.364928129,787,804,652.364928129,632,653,0.414628179122,0.00458695327573,0.0598507278484,0.999999940295,0.000214641300579,-0.000268311736298,3.67127154945e-05,1793239679967173888
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.057481496,745.942518504,714,680,665,635,879.942518504,787,804,652.942518504,632,653,0.413878306691,0.00458597988746,0.0598511945426,0.999999927497,0.000276628206214,-0.000259182552088,3.61643849259e-05,1793239679983840768
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.518179821,635,879.481820179,787.518179821,804,653,631.481820179,653,0.413101100868,0.0045864806963,0.0598288279061,0.999999914596,0.000282402023116,-0.000299570300372,3.62659926813e-05,1793239680000507648
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.904086956,714,679.904086956,666,635,879,787.904086956,804,652.904086956,631.095913044,653,0.412328082128,0.00458654749655,0.059802100917,0.999999900245,0.000279394311816,-0.000346614511617,3.61599814367e-05,1793239680017174528
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.314594353,714,679.314594353,666,635,879,787.314594353,804,652.314594353,631.685405647,653,0.411592156195,0.00458354240467,0.0597659212664,0.999999884872,0.000263166444081,-0.000399751419209,3.46158936527e-05,1793239680033840896
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.270276985,665.729723015,635,879,787.270276985,803.729723015,652.270276985,631.729723015,653,0.410908912466,0.00458234826917,0.0597613755768,0.999999887874,0.000248973121088,-0.000401420887106,3.35372763123e-05,1793239680050507264
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.849859693,665.150140307,635,879,787.849859693,803.150140307,652.849859693,631.150140307,653,0.410285958446,0.00458322659733,0.0597930318814,0.999999912112,0.000237108137877,-0.000344190871962,3.29913447421e-05,1793239680067173888
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.426498219,714.426498219,680,665.426498219,635.426498219,879,787.573501781,803.426498219,653,631,653,0.409692417827,0.0045812536676,0.0598298713466,0.999999931733,0.000228020832632,-0.000288739888293,3.41957614962e-05,1793239680083840512
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,746,714.997891821,680,666,635.997891821,879,787.002108179,804,653,631,652.997891821,0.409109115978,0.00457828329607,0.0598683708611,0.999999947763,0.00021991615265,-0.000234125811184,3.60064102805e-05,1793239680100507136
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,746,714.422084755,680,666,635.422084755,879,787.577915245,804,653,631,652.422084755,0.408513676381,0.0045751513582,0.0598654863935,0.99999994792,0.000214941863915,-0.00023800121755,3.62606536778e-05,1793239680117173760
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.157774814,745.842225186,714,680,666,635,879,787.842225186,804,652.842225186,631.157774814,652,0.407926119024,0.00457309386739,0.0598587851545,0.999999946509,0.000210079994329,-0.000248072799488,3.61729168279e-05,1793239680133840640
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.74876172,745.25123828,714,680,666,635,879,787.25123828,804,652.25123828,631.74876172,652,0.407360204289,0.00457398655182,0.059841603969,0.999999940406,0.00020552679978,-0.0002751576058,3.51461836444e-05,1793239680150507520
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.667098125,745,714,679.667098125,665.667098125,635,879.332901875,787,804,652.332901875,631.667098125,652.332901875,0.406833134695,0.00457276296484,0.0598331466519,0.999999939005,0.000200021368254,-0.000284255990197,3.43480663164e-05,1793239680167174144
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.480880213,714.480880213,679.480880213,665,635,879.519119787,787.480880213,804,653,631.480880213,653,0.405890211089,0.00456898522469,0.0598394641196,0.999999945852,0.000193327265258,-0.000264147841948,3.38493877807e-05,1793239680200507136
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745.951010623,714.951010623,680,665,635,879.048989377,787.951010623,803.951010623,653,631.951010623,653,0.405455315631,0.00456799769969,0.0598476703305,0.999999949677,0.00019331221111,-0.000249235989526,3.40395008156e-05,1793239680217174016
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.371731707,714.371731707,680,665,635,879.628268293,787.371731707,803.371731707,653,631.371731707,653,0.405020924813,0.00456353716544,0.0598345626781,0.999999946051,0.000187270483222,-0.00026779251287,3.34026496378e-05,1793239680233840640
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.213352127,714,680,665,635.213352127,880,787.213352127,803,652.786647873,631,652.786647873,0.404592416383,0.00456047187332,0.0598159012184,0.999999937918,0.000184526302958,-0.000298409887251,3.26322435948e-05,1793239680250507008
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745.808832914,714,680,665,635.808832914,880,787.808832914,803,652.191167086,631,652.191167086,0.404174443771,0.00455990555845,0.0597872925007,0.999999920416,0.000187688262738,-0.000350629091414,3.16226314247e-05,1793239680267173888
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745.609704829,714,679.609704829,665.390295171,635.609704829,880,787.609704829,803.390295171,652.390295171,631.390295171,652.390295171,0.403827514959,0.00455862505335,0.0597805897295,0.999999917794,0.000186073135903,-0.000358962829383,3.05635904119e-05,1793239680283841024
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745.034870745,714,679.034870745,665.965129255,635.034870745,880,787.034870745,803.965129255,652.965129255,631.965129255,652.965129255,0.403514176959,0.00455700686558,0.0597842445001,0.99999992292,0.000182199312885,-0.000346546696622,2.94811784435e-05,1793239680300507904
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745.540596791,714,679,665.459403209,635,880,787,804,653,632,653,0.40325172271,0.00455545299494,0.059802828191,0.999999932954,0.000183170945715,-0.000315690132214,2.96633394235e-05,1793239680317174528
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.119124874,746,714,679.119124874,665.119124874,635.119124874,879.880875126,787,804,653,631.880875126,653,0.40299829804,0.0045539796484,0.059822278282,0.999999942539,0.000183422654542,-0.000283526186585,2.98599068908e-05,1793239680333841152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.709601191,746,714,679.709601191,665.709601191,635.709601191,879.290398809,787,804,653,631.290398809,653,0.402767599145,0.00455280848306,0.0598413417732,0.999999951955,0.000179587628167,-0.000250901262546,2.97903434596e-05,1793239680350507264
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.707201197,636,879,787,804,653,631.292798803,653,0.402543711448,0.00455157809296,0.0598511740371,0.999999955992,0.000176948748184,-0.000236236825001,2.99421911623e-05,1793239680367173888
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.131047557,636,879,787,804,653,631.868952443,653,0.402326415276,0.00455029038841,0.0598520728177,0.999999955597,0.000175467434319,-0.000238953576568,3.03083086069e-05,1793239680383840512
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714.446484894,680,665.446484894,635.553515106,879,787,804,653,631.553515106,653,0.402125200342,0.00454863731511,0.0598452136257,0.999999951778,0.000173980979137,-0.000255454905033,3.02840683148e-05,1793239680400507136
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.975754126,746,714.975754126,680,666,635,879.024245874,787.024245874,803.975754126,653,631,653,0.401930874798,0.00454688907486,0.0598363990169,0.999999946814,0.000172376533066,-0.000275229949082,3.01180903656e-05,1793239680417173760
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.402013877,746,714.402013877,680,666,635,879.597986123,787.597986123,803.402013877,653,631,653,0.401785383744,0.00454542196086,0.0598350333128,0.99999994701,0.000168132316713,-0.000277220526489,2.93445281827e-05,1793239680433840640
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.178077385,745.821922615,714,679.821922615,666,635.178077385,880,787.821922615,803.178077385,653,631,653,0.401647130926,0.00454454091693,0.0598344705139,0.999999947341,0.000165092750306,-0.000277906435043,2.88148046798e-05,1793239680450507520
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.773036371,745.226963629,714,679.226963629,666,635.773036371,880,787.226963629,803.773036371,653,631,653,0.401525822941,0.0045450318713,0.0598357873276,0.999999948031,0.000164873286556,-0.000275538095638,2.88559109824e-05,1793239680467174144
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,636,880,787,803.643184108,653,631.356815892,653,0.40142543997,0.00454451655412,0.0598383931523,0.999999949478,0.000163533066377,-0.000271045445402,2.89124503824e-05,1793239680483840768
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,636,880,787,803.066299542,653,631.933700458,653,0.401337962635,0.00454338061204,0.0598417939836,0.999999951362,0.00016150161188,-0.000265242611504,2.89785082553e-05,1793239680500507136
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,635.49248166,879.49248166,787.50751834,803.50751834,653,631.49248166,653,0.401266503516,0.00454060673345,0.0598408000853,0.999999951854,0.000157601227328,-0.000265735167324,2.89688402691e-05,1793239680517173760
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.08306156,666,635.08306156,879.08306156,787.91693844,804,653,631.08306156,652.91693844,0.401198901805,0.00453828416198,0.0598389175345,0.999999951798,0.00015426171941,-0.000267906534671,2.88603065574e-05,1793239680533840384
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.671526125,666,635.671526125,879.671526125,787.328473875,804,653,631.671526125,652.328473875,0.401142115214,0.00454000177674,0.0598351000777,0.999999949563,0.000155811599804,-0.000275318967361,2.82100372879e-05,1793239680550507264
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.743757985,745.256242015,714,680,666,635.743757985,879.743757985,787.256242015,804.256242015,653,631.743757985,652.256242015,0.401093640314,0.00454056881441,0.0598332622611,0.999999948103,0.000157268549806,-0.000279779940416,2.8012906728e-05,1793239680567173888
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.163778228,745.836221772,714,680,666,635.163778228,879.163778228,787.836221772,804.836221772,653,631.163778228,652.836221772,0.401055666457,0.00453968220581,0.0598339255343,0.999999947675,0.000158608090898,-0.000280512020736,2.83882744483e-05,1793239680583841024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,746,714.412703741,680,665.587296259,635,879,788,804.587296259,653,631,653,0.401029161193,0.00453923118797,0.0598332771746,0.999999947523,0.000157855631971,-0.000281491168566,2.82519971463e-05,1793239680600507392
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,746,714.987809292,680,665.012190708,635,879,788,804.012190708,653,631,653,0.401007168902,0.00453895157816,0.0598321126782,0.999999947476,0.000156279956363,-0.00028256753917,2.79143839382e-05,1793239680617174016
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,746,714.439348926,679.439348926,665.560651074,635.560651074,879,787.439348926,804,653,631.560651074,653,0.400995103054,0.00453915218786,0.059833428807,0.999999947898,0.000156909996147,-0.000280711995306,2.79904928956e-05,1793239680633840384
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.138700055,746,714.138700055,679.138700055,665.861299945,635.861299945,879.138700055,787,804,653,632,653,0.400984648079,0.00453892899371,0.0598350478588,0.999999948608,0.000156282220364,-0.000278528598304,2.79557600249e-05,1793239680650507008
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.734054448,746,714.734054448,679.734054448,665.265945552,635.265945552,879.734054448,787,804,653,632,653,0.400978788956,0.00453727623269,0.059837487378,0.999999950224,0.000151355957846,-0.000275474831275,2.75265939706e-05,1793239680667173632
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.680674654,714.680674654,679.680674654,665.319325346,635,879.680674654,787.319325346,804,653,632,653,0.40097378536,0.00453670178881,0.0598386393393,0.999999950681,0.000151032972339,-0.000274001949587,2.73819680641e-05,1793239680683840256
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.10354452,714.10354452,679.10354452,665.89645548,635,879.10354452,787.89645548,804,653,632,653,0.400969472465,0.00453699791552,0.0598387518011,0.999999950214,0.000154426405509,-0.000273805382821,2.7467063344e-05,1793239680700506880
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.469078511,665.530921489,635.469078511,879.469078511,788,804,653,631.530921489,653,0.400968656106,0.00453574501215,0.0598390096986,0.999999950757,0.000153000915266,-0.00027261802271,2.7501447216e-05,1793239680717174016
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.040735056,679.959264944,665.040735056,635.959264944,879.959264944,787.959264944,803.959264944,653,631,653,0.400968630695,0.00453423437534,0.0598393346043,0.999999951512,0.000150588266391,-0.000271187240924,2.75226862474e-05,1793239680733840896
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.61263913,679.38736087,665.61263913,635.38736087,879.38736087,787.38736087,803.38736087,653,631,653,0.400968950384,0.00453377923722,0.0598401186389,0.999999952225,0.00014904207564,-0.000269407060248,2.75170986105e-05,1793239680750507520
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.19432185,714.80567815,679.19432185,666,635.19432185,879,787,803,653,631.19432185,653,0.400969003338,0.00453337009632,0.059840796161,0.99999995265,0.000148161446031,-0.000268312901344,2.75153350248e-05,1793239680767174144
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.79653016,714.20346984,679.79653016,666,635.79653016,879,787,803,653,631.79653016,653,0.400968496408,0.00453305750476,0.0598412501105,0.99999995248,0.000148677846129,-0.000268658719537,2.75215982193e-05,1793239680783840512
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.620125905,879,787,803.379874095,653,632,653,0.400968048863,0.0045331892457,0.0598415486234,0.999999952362,0.00014959152716,-0.000268581921425,2.75942280151e-05,1793239680800507136
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.046408175,879,787,803.953591825,653,632,653,0.40096763162,0.00453354772237,0.0598417678196,0.99999995227,0.000150707934239,-0.000268289469007,2.77007236188e-05,1793239680817173760
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.536800294,879.536800294,787.536800294,804,653,632,653,0.400965950643,0.00453500513745,0.0598407495514,0.999999951807,0.000152155249224,-0.000269233489263,2.73538803482e-05,1793239680833840384
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.879818846,879.879818846,788,804,653,631.879818846,653,0.400964873579,0.00453616471057,0.059840173759,0.999999951554,0.000153126358767,-0.000269655333707,2.70208425214e-05,1793239680850507008
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.298978992,879.298978992,788,804,653,631.298978992,653,0.400966537649,0.00453581192513,0.0598417114428,0.999999952241,0.000152160525806,-0.000267658543695,2.6893652274e-05,1793239680867173888
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.719706171,746,714,680,666,635,879.280293829,787.719706171,804,653,631,653,0.400966982909,0.00453541438884,0.0598425308819,0.999999952626,0.000151499648684,-0.000266603276117,2.68103546894e-05,1793239680883840768
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.142095484,746,714,680,666,635,879.857904516,787.142095484,804,653,631,653,0.400966135337,0.00453496938382,0.0598425884556,0.999999952693,0.000151162248105,-0.000266546712028,2.67736154765e-05,1793239680900507392
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.434262315,746,714,679.565737685,666,635.434262315,879.565737685,787,804,653,631,653,0.400965958903,0.00453455970957,0.0598425562841,0.999999952836,0.00015047291829,-0.000266400961252,2.67814419424e-05,1793239680917174272
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.010443516,665.989556484,635.989556484,879,787,804,653,631,653,0.400966003754,0.00453416053451,0.0598425046961,0.999999953006,0.000149646390153,-0.000266226266963,2.68001398255e-05,1793239680933840384
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.599490279,665.400509721,635.400509721,879,787,804,653,631,653,0.400966176716,0.0045337043938,0.0598429996393,0.999999953362,0.000147580246922,-0.000266060182445,2.66155626448e-05,1793239680950507008
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.814477712,714,680,665.185522288,635.185522288,879,787,804,653,631.185522288,653,0.400966492143,0.00453400411559,0.0598435662088,0.99999995355,0.000147267772027,-0.000265550469953,2.63840131331e-05,1793239680967173888
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.234849988,714,680,665.765150012,635.765150012,879,787,804,653,631.765150012,653,0.400967110211,0.0045359095179,0.0598442849343,0.999999953378,0.000150680619068,-0.000264310787752,2.60526801979e-05,1793239680983840512
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.341716061,714,680,666,635.658283939,879,787,804,653,631.658283939,653,0.400966671239,0.00453553434986,0.0598440220572,0.999999953242,0.000150824028469,-0.000264726670205,2.62403664077e-05,1793239681000507136
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.916196586,714,680,666,635.083803414,879,787,804,653,631.083803414,653,0.400965512249,0.00453360574073,0.0598430905483,0.99999995313,0.000148740416562,-0.000266270262713,2.67815894622e-05,1793239681017174272
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.508022643,746,714,680,666,635,879,787,803.508022643,653,631,653,0.400966711898,0.00453487912354,0.0598439654369,0.999999953309,0.000149654695805,-0.000265098334058,2.66234382538e-05,1793239681033841152
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.069922355,746,714,680,666,635,879,787.069922355,803.069922355,653,631.069922355,653,0.400967968777,0.00453635602611,0.0598448288926,0.999999953469,0.000150817152071,-0.000263853594703,2.6403313826e-05,1793239681050508032
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.662380963,746,714,680,666,635,879,787.662380963,803.662380963,653,631.662380963,653,0.400966642917,0.0045352670202,0.0598433013315,0.999999953141,0.000150007929946,-0.000265530662658,2.66126970814e-05,1793239681067174144
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.751150165,746,714.248849835,680,666,635.248849835,879.248849835,787.751150165,804,653,632,653,0.400965569668,0.00453456054303,0.0598425079055,0.99999995296,0.000149396416134,-0.000266553693183,2.66422163803e-05,1793239681083840512
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.172616595,746,714.827383405,680,666,635.827383405,879.827383405,787.172616595,804,653,632,653,0.400964831088,0.00453436085125,0.0598426870836,0.999999952976,0.000149046832121,-0.000266710235508,2.64334465367e-05,1793239681100507392
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.403748112,746,714.192503777,680,666,636,879.596251888,787,804,653,631.596251888,653,0.40096589219,0.00453402375657,0.0598434107578,0.999999953215,0.000149379108071,-0.000265598114549,2.67052499299e-05,1793239681117174016
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..91a2741ddbb384755d60a6b398ed403bf563355d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
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+242,4.033333333,pose1_to_pose2_press,0.618183596211,0.0100908296867,1.05003237277,0.58875404613,0.0187625653223,1.0497004968
+243,4.050000000,pose1_to_pose2_press,0.618183723031,0.0100908249702,1.05003232615,0.588754173031,0.0187625610437,1.04970045457
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+245,4.083333333,pose1_to_pose2_press,0.618183956072,0.0100908163032,1.0500322405,0.588754406222,0.0187625531815,1.04970037698
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+269,4.483333333,pose2_to_pose3_retreat,0.618184294821,0.0100908123166,1.05003250233,0.588754744509,0.0187625471709,1.04970062658
+270,4.500000000,pose2_to_pose3_retreat,0.618184294165,0.0100908122535,1.05003249927,0.588754743842,0.0187625470749,1.04970062365
+271,4.516666667,pose2_to_pose3_retreat,0.618184291368,0.0100908119843,1.05003248621,0.588754740997,0.0187625466657,1.04970061113
+272,4.533333333,pose2_to_pose3_retreat,0.618184281151,0.0100908110011,1.05003243854,0.588754730609,0.0187625451714,1.04970056543
+273,4.550000000,pose2_to_pose3_retreat,0.618184273442,0.0100908102592,1.05003240256,0.588754722771,0.0187625440439,1.04970053095
+274,4.566666667,pose2_to_pose3_retreat,0.618184209776,0.0100908083314,1.05003236661,0.588754659174,0.0187625423833,1.04970049621
+275,4.583333333,pose2_to_pose3_retreat,0.618184041082,0.0100908048438,1.0500323721,0.588754491098,0.0187625409357,1.04970050068
+276,4.600000000,pose2_to_pose3_retreat,0.618182928688,0.010090796214,1.05003237778,0.588753379005,0.0187625333086,1.04970050338
+277,4.616666667,pose2_to_pose3_retreat,0.61817912473,0.0100907975146,1.05003223904,0.588749575281,0.0187625354418,1.04970037054
+278,4.633333333,pose2_to_pose3_retreat,0.618169663082,0.0100908420719,1.05003211859,0.588740112528,0.0187625766242,1.04970025919
+279,4.650000000,pose2_to_pose3_retreat,0.618152852491,0.0100908613301,1.05003234699,0.588723301531,0.0187625941447,1.04970047867
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+281,4.683333333,pose2_to_pose3_retreat,0.618089965505,0.0100907995187,1.05003235578,0.588660416966,0.0187625406107,1.0497004922
+282,4.700000000,pose2_to_pose3_retreat,0.61804366217,0.0100907332737,1.05003235517,0.58861411374,0.0187624750735,1.04970049543
+283,4.716666667,pose2_to_pose3_retreat,0.617988433199,0.0100906443944,1.05003219673,0.588558885017,0.018762387406,1.04970034452
+284,4.733333333,pose2_to_pose3_retreat,0.61792391576,0.0100906019732,1.05003232003,0.588494368616,0.0187623476531,1.04970045414
+285,4.750000000,pose2_to_pose3_retreat,0.617850446444,0.0100907342748,1.05003227823,0.588420898017,0.0187624751733,1.04970040855
+286,4.766666667,pose2_to_pose3_retreat,0.617767920986,0.010090838215,1.0500322365,0.588338372666,0.0187625797112,1.04970036967
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+288,4.800000000,pose2_to_pose3_retreat,0.617569209079,0.0100907073963,1.05003209594,0.588139659983,0.0187624463441,1.04970023047
+289,4.816666667,pose2_to_pose3_retreat,0.617450595957,0.0100906435984,1.05003212334,0.588021048082,0.0187623866373,1.04970025833
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+291,4.850000000,pose2_to_pose3_retreat,0.617168330363,0.0100907896571,1.05003212276,0.587738781843,0.0187625302784,1.0497002552
+292,4.866666667,pose2_to_pose3_retreat,0.617000944306,0.0100908471827,1.05003218852,0.587571394527,0.0187625835719,1.04970032509
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+349,5.816666667,pose2_to_pose3_retreat,0.583317565205,0.0100907800723,1.0500324486,0.55388801747,0.0187625217395,1.04970057342
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+353,5.883333333,pose2_to_pose3_retreat,0.581287206937,0.0100908274981,1.05003223592,0.551857658119,0.0187625658109,1.04970036908
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+355,5.916666667,pose2_to_pose3_retreat,0.580391476548,0.0100907986176,1.05003233195,0.550961926427,0.0187625324223,1.04970046348
+356,5.933333333,pose2_to_pose3_retreat,0.579980357125,0.0100908622129,1.05003245314,0.550550807689,0.0187625981542,1.04970057997
+357,5.950000000,pose2_to_pose3_retreat,0.579586568932,0.0100909018776,1.05003233961,0.550157019132,0.0187626367243,1.04970047013
+358,5.966666667,pose2_to_pose3_retreat,0.579207032194,0.0100908331494,1.05003221581,0.549777483589,0.0187625722883,1.04970035226
+359,5.983333333,pose2_to_pose3_retreat,0.578844798453,0.0100907706852,1.05003231798,0.549415251467,0.0187625153175,1.04970045412
+360,6.000000000,pose2_to_pose3_retreat,0.578504002002,0.0100907757096,1.05003237211,0.549074454794,0.0187625196503,1.04970050993
+361,6.016666667,pose2_to_pose3_retreat,0.578193527558,0.0100907089425,1.05003218673,0.548763980382,0.0187624531859,1.0497003295
+362,6.033333333,pose2_to_pose3_retreat,0.577913875052,0.0100906749128,1.05003228563,0.548484326838,0.0187624149871,1.04970041151
+363,6.050000000,pose2_to_pose3_retreat,0.577667213724,0.0100907624489,1.05003250712,0.548237664017,0.0187624973051,1.04970062907
+364,6.066666667,pose2_to_pose3_retreat,0.577442149468,0.0100907718531,1.05003216398,0.548012600714,0.0187625105698,1.04970030261
+365,6.083333333,pose2_to_pose3_retreat,0.57723407686,0.0100907024108,1.05003225359,0.547804529007,0.018762444032,1.04970038805
+366,6.100000000,pose2_to_pose3_retreat,0.577036861642,0.0100907048694,1.05003239896,0.547607313691,0.0187624461785,1.04970053394
+367,6.116666667,pose2_to_pose3_retreat,0.576850164435,0.0100907467227,1.05003249748,0.547420616396,0.0187624877643,1.04970063328
+368,6.133333333,pose2_to_pose3_retreat,0.576678543408,0.01009067698,1.05003257546,0.547248996863,0.0187624227896,1.04970070332
+369,6.150000000,pose2_to_pose3_retreat,0.576521940436,0.0100905432539,1.05003245281,0.547092395518,0.0187622949822,1.04970059101
+370,6.166666667,pose2_to_pose3_retreat,0.576382405223,0.010090639611,1.05003260843,0.546952858897,0.0187623860285,1.04970073297
+371,6.183333333,pose2_to_pose3_retreat,0.576260495056,0.0100906255713,1.05003215292,0.54683094848,0.0187623713369,1.04970028256
+372,6.200000000,pose2_to_pose3_retreat,0.576157455054,0.0100906621539,1.05003211931,0.546727906741,0.0187624020158,1.04970024873
+373,6.216666667,pose2_to_pose3_retreat,0.576067518092,0.0100907083939,1.05003209811,0.546637969472,0.0187624473837,1.04970023247
+374,6.233333333,pose2_to_pose3_retreat,0.575990014575,0.0100907054894,1.05003217347,0.546560467738,0.0187624505002,1.04970030729
+375,6.250000000,pose2_to_pose3_retreat,0.575923764402,0.0100907241425,1.05003222497,0.546494217761,0.018762469886,1.04970036051
+376,6.266666667,pose2_to_pose3_retreat,0.575866616783,0.0100907618974,1.05003223322,0.546437068744,0.0187625030913,1.04970037382
+377,6.283333333,pose2_to_pose3_retreat,0.57581830773,0.0100907387691,1.05003234945,0.546388760689,0.0187624831443,1.04970048453
+378,6.300000000,pose2_to_pose3_retreat,0.575777910399,0.0100908915739,1.0500323887,0.546348360141,0.0187626246071,1.04970051275
+379,6.316666667,pose2_to_pose3_retreat,0.575745466475,0.0100909027105,1.05003236547,0.546315915444,0.0187626333952,1.04970049669
+380,6.333333333,pose2_to_pose3_retreat,0.575720906586,0.0100907638183,1.05003223051,0.546291358115,0.0187625034101,1.04970036749
+381,6.350000000,pose2_to_pose3_retreat,0.575702844017,0.0100907775569,1.05003238975,0.546273295341,0.0187625163764,1.04970052494
+382,6.366666667,pose2_to_pose3_retreat,0.575690388571,0.0100908108849,1.05003235173,0.546260839066,0.0187625466926,1.04970048171
+383,6.383333333,pose2_to_pose3_retreat,0.57568157204,0.0100908337128,1.05003223467,0.546252022406,0.0187625690783,1.04970036462
+384,6.400000000,pose2_to_pose3_retreat,0.575675595763,0.0100908471518,1.05003219498,0.546246047225,0.0187625866327,1.04970033521
+385,6.416666667,pose2_to_pose3_retreat,0.575671667731,0.0100908009608,1.05003230684,0.546242119752,0.0187625419683,1.04970043731
+386,6.433333333,pose2_to_pose3_retreat,0.57566933383,0.0100907635165,1.05003239836,0.546239786153,0.0187625052168,1.04970052005
+387,6.450000000,pose2_to_pose3_retreat,0.575668021773,0.0100907671813,1.050032372,0.546238474148,0.0187625093248,1.04970050069
+388,6.466666667,pose2_to_pose3_retreat,0.575667386233,0.0100907694416,1.0500323577,0.54623783863,0.0187625118007,1.04970049001
+389,6.483333333,pose2_to_pose3_retreat,0.575667256513,0.0100907699029,1.05003235478,0.546237708915,0.0187625123061,1.04970048784
+390,6.500000000,pose2_to_pose3_retreat,0.575667175809,0.0100907701899,1.05003235297,0.546237628214,0.0187625126205,1.04970048648
+391,6.516666667,pose2_to_pose3_retreat,0.57566704303,0.0100907706621,1.05003234998,0.54623749544,0.0187625131378,1.04970048425
+392,6.533333333,pose2_to_pose3_retreat,0.575666644359,0.01009077208,1.05003234101,0.546237096783,0.0187625146909,1.04970047756
+393,6.550000000,pose2_to_pose3_retreat,0.575666119453,0.0100907688624,1.05003235553,0.546236571973,0.0187625118492,1.04970049342
+394,6.566666667,pose2_to_pose3_retreat,0.575665882653,0.0100907647105,1.05003237606,0.546236335256,0.0187625079719,1.04970051369
+395,6.583333333,pose2_to_pose3_retreat,0.575665753787,0.010090762451,1.05003238724,0.546236206436,0.0187625058618,1.04970052471
+396,6.600000000,pose2_to_pose3_retreat,0.575665572897,0.0100907592794,1.05003240292,0.54623602561,0.0187625028999,1.04970054019
+397,6.616666667,pose2_to_pose3_retreat,0.575665571898,0.0100907592619,1.05003240301,0.546236024611,0.0187625028836,1.04970054028
+398,6.633333333,pose2_to_pose3_retreat,0.575665435268,0.0100907568663,1.05003241486,0.546235888029,0.0187625006464,1.04970055197
+399,6.650000000,pose2_to_pose3_retreat,0.575665391634,0.0100907561012,1.05003241864,0.546235844411,0.018762499932,1.04970055571
+400,6.666666667,pose2_to_pose3_retreat,0.575665332303,0.010090755061,1.05003242379,0.546235785101,0.0187624989605,1.04970056078
+401,6.683333333,pose2_to_pose3_retreat,0.575665214448,0.0100907529945,1.050032434,0.546235667288,0.0187624970307,1.04970057087
+402,6.700000000,pose2_to_pose3_retreat,0.575665128332,0.0100907514846,1.05003244147,0.546235581202,0.0187624956207,1.04970057824
+403,6.716666667,pose2_to_pose3_retreat,0.575665068912,0.0100907504428,1.05003244662,0.546235521803,0.0187624946477,1.04970058332
+404,6.733333333,pose2_to_pose3_retreat,0.575665004212,0.0100907493084,1.05003245223,0.546235457127,0.0187624935883,1.04970058886
+405,6.750000000,pose2_to_pose3_retreat,0.575664856685,0.0100907566498,1.0500324674,0.546235309528,0.0187625006095,1.04970060193
+406,6.766666667,pose2_to_pose3_retreat,0.575664817071,0.0100907613629,1.05003247213,0.546235269861,0.018762505101,1.04970060557
+407,6.783333333,pose2_to_pose3_retreat,0.575664723687,0.0100907724734,1.05003248327,0.546235176353,0.0187625156889,1.04970061413
+408,6.800000000,pose2_to_pose3_retreat,0.575664665943,0.0100907793436,1.05003249016,0.546235118531,0.0187625222359,1.04970061943
+409,6.816666667,pose2_to_pose3_retreat,0.575664596453,0.0100907876112,1.05003249845,0.546235048949,0.0187625301147,1.04970062581
+410,6.833333333,pose2_to_pose3_retreat,0.575664575246,0.0100907901344,1.05003250099,0.546235027713,0.0187625325192,1.04970062775
+411,6.850000000,pose2_to_pose3_retreat,0.575664536467,0.0100907947481,1.05003250561,0.546234988882,0.0187625369159,1.04970063131
+412,6.866666667,pose2_to_pose3_retreat,0.575664446667,0.0100907996937,1.05003247312,0.546234899054,0.0187625417607,1.04970059871
+413,6.883333333,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ac0755db2cafb1dc1c00fd525c5405d7ed343d7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a30ca922b44207f4c8823b647d680a604b3dac380d5d8e2ac1af7dea3c50257f
+size 26339481
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e11d001c1cf9d382f5e10260c0317b7a88f0b84
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,416 @@
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+28,0.466666667,BASELINE,765.240161668,745.240161668,714,680,665.240161668,635,879,787.759838332,803.759838332,653,631.759838332,653,0.400967430725,0.00453465220685,0.0598467201902,0.999999954795,0.000147863061416,-0.000260514529726,2.60623119629e-05,1793239681744432384
+29,0.483333333,BASELINE,765.816794057,745.816794057,714,680,665.816794057,635,879,787.183205943,803.183205943,653,631.183205943,653,0.400968455118,0.00453523574379,0.0598477717164,0.999999954772,0.000150503210977,-0.000259044227497,2.6488496592e-05,1793239681761099008
+30,0.500000000,BASELINE,765.600664278,746,714,680,666,635.399335722,879.399335722,787.399335722,803.399335722,653,631,652.600664278,0.400969396466,0.0045340612369,0.0598482706008,0.99999995519,0.000149606673698,-0.000257940567191,2.65435975213e-05,1793239681777765888
+31,0.516666667,BASELINE,765.01537087,746,714,680,666,635.98462913,879.98462913,787.98462913,803.98462913,653,631,652.01537087,0.400970299143,0.00453206806605,0.0598485121377,0.999999955811,0.000147063216067,-0.000257007640172,2.64258968036e-05,1793239681794432512
+32,0.533333333,BASELINE,765.567195257,746,714.567195257,680,666,636,879.432804743,788,803.432804743,653,631,652.567195257,0.40096986376,0.00453324658324,0.0598481362887,0.999999955691,0.000147784507166,-0.000257081819154,2.6208229477e-05,1793239681811099136
+33,0.550000000,BASELINE,766,746,714.852613292,680,666,636,879.147386708,787.852613292,803.147386708,653,631,653,0.400969292682,0.00453402153786,0.0598477645302,0.999999955567,0.000148023123726,-0.000257442821124,2.60557960469e-05,1793239681827765504
+34,0.566666667,BASELINE,766,746,714.279075361,680,666,636,879.720924639,787.279075361,803.720924639,653,631,653,0.400968433601,0.0045333823079,0.0598474527437,0.999999955487,0.000146611555914,-0.000258554602803,2.60997742293e-05,1793239681844432128
+35,0.583333333,BASELINE,766,745.704410816,714,680,666,635.704410816,879.704410816,787,803.704410816,653,631.295589184,653,0.400967509339,0.0045331234997,0.0598468979692,0.999999955276,0.000146046466853,-0.000259686827513,2.60972572562e-05,1793239681861098752
+36,0.600000000,BASELINE,766,745.128678459,714,680,666,635.128678459,879.128678459,787,803.128678459,653,631.871321541,653,0.400966523302,0.00453322523423,0.0598461129039,0.999999954943,0.000146283623634,-0.000260838427136,2.60506747372e-05,1793239681877765632
+37,0.616666667,BASELINE,765.542411444,745.457588556,714.457588556,680,666.457588556,635.457588556,879,787.457588556,803.457588556,653,632,653,0.400967801106,0.00453335367953,0.0598470042902,0.999999955357,0.000146775998623,-0.000258962442324,2.60836070909e-05,1793239681894432256
+38,0.633333333,BASELINE,765.046217368,745.953782632,715,679.953782632,666.953782632,636,879,787.953782632,804,653,631.953782632,653,0.400969517623,0.00453350688309,0.0598482157119,0.999999955886,0.000147366661725,-0.000256570876306,2.61239026312e-05,1793239681911099136
+39,0.650000000,BASELINE,765.627090503,745.372909497,715,679.372909497,666.372909497,636,879,787.372909497,804,653,631.372909497,653,0.400968771209,0.00453385755652,0.0598475471868,0.999999955316,0.000148244530867,-0.000258296094883,2.59846109559e-05,1793239681927765760
+40,0.666666667,BASELINE,765.794171921,745,715,679.411656158,665.794171921,636,879,787.205828079,803.794171921,653,631,653,0.400968123185,0.00453402356934,0.0598471996452,0.999999955113,0.000147922588862,-0.000259281818392,2.58083615825e-05,1793239681944432384
+41,0.683333333,BASELINE,765.219263752,745,715,680.561472495,665.219263752,636,879,787.780736248,803.219263752,653,631,653,0.400967651587,0.00453385845846,0.0598474276744,0.99999995557,0.000145449208532,-0.000258941518113,2.55658416162e-05,1793239681961099008
+42,0.700000000,BASELINE,765.362602394,745.362602394,714.637397606,681,665,635.637397606,879,787.637397606,803.362602394,653,631,653,0.400967780593,0.00453390476437,0.0598472785359,0.999999955462,0.000145826888068,-0.000259133935542,2.56855600946e-05,1793239681977765632
+43,0.716666667,BASELINE,765.948758288,745.948758288,714.051241712,681,665,635.051241712,879,787.051241712,803.948758288,653,631,653,0.400968279887,0.00453408141404,0.0598468968641,0.999999955005,0.000147962317838,-0.000259654786854,2.60286076974e-05,1793239681994432256
+44,0.733333333,BASELINE,766,745.469709388,714,679.939418776,665.530290612,635,879,787,804,653,631.530290612,653,0.400968995697,0.00453409324982,0.059847600753,0.99999995533,0.000148781327906,-0.000257934222823,2.59510212925e-05,1793239682011098880
+45,0.750000000,BASELINE,765.89016991,745.10983009,714,679.10983009,665.89016991,635,879,787,804,653,632,653,0.400969486487,0.00453392902229,0.0598482510316,0.999999955655,0.000149117278251,-0.000256480216629,2.59041361627e-05,1793239682027765504
+46,0.766666667,BASELINE,765.317166937,745.682833063,714,679.682833063,665.317166937,635,879,787,804,653,632,653,0.400968940854,0.00453308888643,0.0598482366802,0.999999955675,0.000147947889269,-0.000257055822405,2.61566520527e-05,1793239682044432128
+47,0.783333333,BASELINE,765.257125468,746,714,680,665.257125468,635.257125468,879.257125468,787.257125468,803.742874532,653,632,652.742874532,0.400968753066,0.0045329256446,0.0598482280521,0.999999955724,0.000147394556848,-0.000257173460408,2.62528510031e-05,1793239682061099008
+48,0.800000000,BASELINE,765.833016495,746,714,680,665.833016495,635.833016495,879.833016495,787.833016495,803.166983505,653,632,652.166983505,0.40096900891,0.00453360156693,0.0598482265197,0.999999955811,0.000147604966641,-0.000256723343166,2.61552595508e-05,1793239682077765632
+49,0.816666667,BASELINE,766,745.592844962,714,680,666,636,880,787.592844962,803.407155038,653,632,652.407155038,0.400968232776,0.00453365934492,0.0598474158871,0.999999955537,0.000147696090924,-0.00025774815068,2.60195918914e-05,1793239682094432256
+50,0.833333333,BASELINE,766,745.019422108,714,680,666,636,880,787.019422108,803.980577892,653,632,652.980577892,0.400967035219,0.00453346469444,0.0598462748464,0.999999955114,0.00014773850318,-0.000259375265686,2.58683752524e-05,1793239682111098880
+51,0.850000000,BASELINE,766,745,714.577709461,680,666,636,879.422290539,787,804,653,632,653,0.400969628156,0.00453187346131,0.0598474093751,0.999999955783,0.000147111092907,-0.000257111542499,2.61793720635e-05,1793239682127765248
+52,0.866666667,BASELINE,765.831198281,745.168801719,714.831198281,680,666,636,879,787,804,653,632,653,0.400971066654,0.0045308410506,0.0598481329576,0.999999956167,0.000146820101043,-0.000255768488758,2.63271408621e-05,1793239682144432128
+53,0.883333333,BASELINE,765.256621717,745.743378283,714.256621717,680,666,636,879,787,804,653,632,653,0.400969410605,0.00453126966381,0.0598476769128,0.999999955782,0.00014739425899,-0.000256966487957,2.60435805417e-05,1793239682161098752
+54,0.900000000,BASELINE,765,746,714,679.67430584,666,635.67430584,879,787,803.67430584,653,631.67430584,653,0.400968324822,0.00453193467926,0.0598474134478,0.999999955602,0.000147195960646,-0.000257792768033,2.59353447232e-05,1793239682177765376
+55,0.916666667,BASELINE,765,746,714,679.085743584,666,635.085743584,879,787,803.085743584,653,631.085743584,653,0.400967699303,0.0045327904952,0.0598473054141,0.999999955586,0.000146374212,-0.000258319033162,2.59686135063e-05,1793239682194432512
+56,0.933333333,BASELINE,765.495313303,746,714,679.495313303,665.504686697,635.495313303,879,787,803.495313303,653,631,653,0.400967773943,0.00453417532152,0.059847058404,0.999999955341,0.000147502420895,-0.000258652479427,2.57058884432e-05,1793239682211099136
+57,0.950000000,BASELINE,766,746,714,679.925507165,665.074492835,636,879,787,803.925507165,653,631,653,0.400968030183,0.00453521422766,0.0598469483419,0.999999955174,0.000148482747496,-0.000258758130317,2.54778691029e-05,1793239682227765760
+58,0.966666667,BASELINE,766,746,714,679.3503437,665.6496563,636,879,787,803.3503437,653,631,653,0.400968704504,0.00453332187742,0.0598479179975,0.999999955807,0.000146234274215,-0.000257553747672,2.58223517831e-05,1793239682244432128
+59,0.983333333,BASELINE,766,746,714.225242842,679.225242842,666,636,879,787,803.225242842,653,631,653,0.400969213423,0.00453279918356,0.059848306277,0.999999955981,0.000146255580368,-0.000256847679854,2.60271505502e-05,1793239682261098752
+60,1.000000000,BASELINE,766,746,714.801488768,679.801488768,666,636,879,787,803.801488768,653,631,653,0.40096946459,0.00453441086851,0.0598477885797,0.999999955436,0.000149813955661,-0.000256918151693,2.60142754855e-05,1793239682277765120
+61,1.016666667,BASELINE,766,746,714.6130558,679.6130558,665.6130558,636,879,787,803.6130558,653,631,653,0.40096973879,0.00453361298466,0.0598483332009,0.999999955611,0.000149856263369,-0.000256193975639,2.61746255477e-05,1793239682294431744
+62,1.033333333,BASELINE,766,746,714.022760524,679.022760524,665.022760524,636,879,787,803.022760524,653,631,653,0.400970025095,0.00453154879821,0.0598494361033,0.999999956166,0.000148050769231,-0.000255052187678,2.64260107415e-05,1793239682311098624
+63,1.050000000,BASELINE,766,746,714,679.552847977,665.552847977,635.447152023,879,787,803.552847977,653,631,653,0.400969550879,0.00453060685418,0.0598484581264,0.999999956055,0.000146869368608,-0.000256156591022,2.65263481703e-05,1793239682327765248
+64,1.066666667,BASELINE,766,746,714,680,666,635.128055958,879,787,803.871944042,653,631,653,0.400969116046,0.00453042027788,0.0598476286277,0.999999955869,0.000146532758891,-0.000257076954819,2.64842099178e-05,1793239682344431872
+65,1.083333333,BASELINE,766,746,714,680,666,635.703923034,879,787,803.296076966,653,631,653,0.400968925594,0.0045327178312,0.0598476101878,0.999999955519,0.000149062853792,-0.000257038717802,2.59650184067e-05,1793239682361098752
+66,1.100000000,BASELINE,765.719740767,745.719740767,714.280259233,679.719740767,665.719740767,635.719740767,879,787.280259233,803.280259233,652.719740767,631.280259233,653,0.400968476076,0.0045337031384,0.0598476500795,0.999999955404,0.000149440625683,-0.00025728259159,2.57863714498e-05,1793239682377765376
+67,1.116666667,BASELINE,765.142908173,745.142908173,714.857091827,679.142908173,665.142908173,635.142908173,879,787.857091827,803.857091827,652.142908173,631.857091827,653,0.400967752413,0.00453329981237,0.0598477516983,0.999999955542,0.000147540785843,-0.000257824998096,2.59680924689e-05,1793239682394432000
+68,1.133333333,BASELINE,765,745,715,679.444969631,665.444969631,635,879.444969631,788,804,652.444969631,631.555030369,653,0.40096840641,0.00453279822215,0.0598478748875,0.999999955786,0.000146650509533,-0.000257377780416,2.60312905197e-05,1793239682411098624
+69,1.150000000,BASELINE,765.035623314,745,715,680,666,635,879.964376686,787.964376686,803.964376686,653,631.035623314,653,0.400969451362,0.00453233208735,0.0598480231141,0.999999956055,0.000146199722628,-0.000256588288969,2.60521835174e-05,1793239682427765248
+70,1.166666667,BASELINE,765.613167069,745,715,680,666,635,879.386832931,787.386832931,803.386832931,653,631.613167069,653,0.400969541526,0.00453289763052,0.0598484441514,0.999999956149,0.000147376690064,-0.000255550042263,2.60233188493e-05,1793239682444431872
+71,1.183333333,BASELINE,766,745.18986505,715,680,666,635.18986505,879,787,803.18986505,653,631.81013495,653,0.400969087078,0.00453337627363,0.0598481730398,0.999999955858,0.000148738933709,-0.000255903826869,2.59776782037e-05,1793239682461098752
+72,1.200000000,BASELINE,766,745.76484759,715,680,666,635.76484759,879,787,803.76484759,653,631.23515241,653,0.400967527951,0.00453367865097,0.0598464979909,0.999999954781,0.000150476987169,-0.000259081172581,2.58980095821e-05,1793239682477765632
+73,1.216666667,BASELINE,766,746,714.65311226,679.65311226,666,635.65311226,879,787,803.65311226,653,631,652.65311226,0.400967437827,0.00453374264053,0.0598464943291,0.999999954776,0.000150132337489,-0.000259315118142,2.57838948144e-05,1793239682494432256
+74,1.233333333,BASELINE,766,746,714.066188488,679.066188488,666,635.066188488,879,787,803.066188488,653,631,652.066188488,0.400968364208,0.00453364167279,0.0598476472179,0.999999955512,0.00014834651887,-0.000257512317867,2.56459443396e-05,1793239682511098880
+75,1.250000000,BASELINE,766,746,714,679.517073985,666,635.517073985,879,787.517073985,803,653,631,652.517073985,0.400968606091,0.00453302390132,0.0598478370193,0.999999955569,0.000148071577814,-0.00025744632022,2.56700714105e-05,1793239682527765504
+76,1.266666667,BASELINE,765.901127439,745.901127439,714,680,665.901127439,636,879,787.901127439,803.098872561,653,631.098872561,653,0.400968522228,0.0045325685381,0.0598477955066,0.999999955504,0.000148114051276,-0.000257667595453,2.57078049137e-05,1793239682544432128
+77,1.283333333,BASELINE,765.324157233,745.324157233,714,680,665.324157233,636,879,787.324157233,803.675842767,653,631.675842767,653,0.400967283934,0.00453321613654,0.0598472274082,0.999999955268,0.000148762765953,-0.000258210504274,2.57117162256e-05,1793239682561098752
+78,1.300000000,BASELINE,765.251820285,745,714,680,665.251820285,635.748179715,879.251820285,787,804,653,631.748179715,653,0.400967358725,0.00453352189161,0.0598475193526,0.999999955368,0.000148841733666,-0.00025776562427,2.58441846904e-05,1793239682577765632
+79,1.316666667,BASELINE,765.826524934,745,714,680,665.826524934,635.173475066,879.826524934,787,804,653,631.173475066,653,0.400969117156,0.00453338933455,0.0598489140452,0.999999955896,0.00014819017088,-0.000256054199845,2.61414893376e-05,1793239682594432000
+80,1.333333333,BASELINE,766,745.41020437,714,680,666,635,879.58979563,787.41020437,804,653,631,653,0.400969267855,0.00453248746271,0.0598489006054,0.999999956005,0.000147313882798,-0.00025612803157,2.61979515639e-05,1793239682611098880
+81,1.350000000,BASELINE,766,745.997764182,714,680,666,635,879.002235818,787.997764182,804,653,631,653,0.400968723436,0.00453125297089,0.0598482783475,0.999999955933,0.000146340432715,-0.000256973734241,2.61502834911e-05,1793239682627766016
+82,1.366666667,BASELINE,766,746,714,679.420271185,666,635,879,787.420271185,804,652.420271185,631,652.420271185,0.400968738146,0.00453296294707,0.0598480564309,0.999999955935,0.000146740199428,-0.000256776660077,2.57592058429e-05,1793239682644432384
+83,1.383333333,BASELINE,765.840586349,746,714,679.159413651,666,635.159413651,879,787,804,652.159413651,631,652.159413651,0.400968487658,0.00453435260602,0.0598477779188,0.999999955811,0.000147291490366,-0.000256972286667,2.54526863331e-05,1793239682661099008
+84,1.400000000,BASELINE,765.266772228,746,714,679.733227772,666,635.733227772,879,787,804,652.733227772,631,652.733227772,0.400967542227,0.0045348803537,0.0598473483096,0.99999995536,0.000148223037485,-0.000258199104798,2.53693880489e-05,1793239682677765632
+85,1.416666667,BASELINE,765.306597505,745.693402495,714,679.693402495,666,636,879,787.306597505,804,653,631.306597505,653,0.400967611766,0.00453423751062,0.0598475136553,0.99999995536,0.000148188475323,-0.000258193256365,2.56318463332e-05,1793239682694432256
+86,1.433333333,BASELINE,765.879581099,745.120418901,714,679.120418901,666,636,879,787.879581099,804,653,631.879581099,653,0.400968563156,0.00453257760416,0.0598481959251,0.999999955752,0.000147314512692,-0.000257116410154,2.61947139153e-05,1793239682711098880
+87,1.450000000,BASELINE,766,745.471549738,714.471549738,679,666,636,879,787.528450262,804,653,632,653,0.400968867731,0.00453432932482,0.0598481886601,0.999999955647,0.000149198202308,-0.000256468185643,2.58844814795e-05,1793239682727765248
+88,1.466666667,BASELINE,765.933972471,746,714.933972471,679.066027529,666,635.933972471,879,787.066027529,803.933972471,653,631.933972471,652.933972471,0.400968909027,0.00453651626057,0.0598479539772,0.999999955411,0.000151363819994,-0.00025616274624,2.54400735338e-05,1793239682744432128
+89,1.483333333,BASELINE,765.359088317,746,714.359088317,679.640911683,666,635.359088317,879,787.640911683,803.359088317,653,631.359088317,652.359088317,0.400968247665,0.00453506134579,0.0598473806154,0.999999955227,0.000150047296263,-0.000257620121995,2.57520035764e-05,1793239682761099008
+90,1.500000000,BASELINE,765,746,714,680,666,635,879,788,803.215798328,653,631,652.215798328,0.400967691741,0.00453380986842,0.0598469548722,0.999999955167,0.000148615016551,-0.000258663589759,2.59259926074e-05,1793239682777765888
+91,1.516666667,BASELINE,765,746,714,680,666,635,879,788,803.790689061,653,631,652.790689061,0.400967311267,0.00453289691484,0.0598467747687,0.999999955317,0.00014699011688,-0.000259018306834,2.58704452161e-05,1793239682794432512
+92,1.533333333,BASELINE,765.374475428,746,714,679.625524572,665.625524572,635,879,787.625524572,804,653,631,653,0.400967632896,0.00453321651423,0.0598471335097,0.999999955459,0.000147058759812,-0.000258445276222,2.57356594124e-05,1793239682811099136
+93,1.550000000,BASELINE,765.963355002,746,714,679.036644998,665.036644998,635,879,787.036644998,804,653,631,653,0.40096835651,0.00453424180596,0.0598478007634,0.999999955595,0.000148097032456,-0.000257341068063,2.55555060227e-05,1793239682827765504
+94,1.566666667,BASELINE,766,746,714,679,665.544453554,635,879,787,803.455546446,653,631,653,0.40096837692,0.00453470952654,0.0598486078406,0.999999955527,0.000149288484169,-0.00025688870745,2.58212448321e-05,1793239682844431872
+95,1.583333333,BASELINE,766,745.876413409,714,679,666,635.123586591,879.123586591,787,803.123586591,653,631.123586591,653,0.400968205115,0.00453486148749,0.059848992687,0.999999955408,0.000150143198425,-0.000256834214637,2.60040390442e-05,1793239682861098496
+96,1.600000000,BASELINE,766,745.30256007,714,679,666,635.69743993,879.69743993,787,803.69743993,653,631.69743993,653,0.400967503013,0.00453399783203,0.0598478054033,0.999999955157,0.000149734034283,-0.000258071692904,2.57768386045e-05,1793239682877765120
+97,1.616666667,BASELINE,765.727981086,745,714,679.272018914,666,635.727981086,879.727981086,787,804,653,632,653,0.400967082001,0.00453432834326,0.0598471523284,0.999999955075,0.000149717893199,-0.000258412103126,2.56611639669e-05,1793239682894432000
+98,1.633333333,BASELINE,765.15259286,745,714,679.84740714,666,635.15259286,879.15259286,787,804,653,632,653,0.400966974477,0.00453599064989,0.0598470950303,0.999999955181,0.00015014007142,-0.000257752057417,2.56698685828e-05,1793239682911098880
+99,1.650000000,BASELINE,765.434883196,745.434883196,714,680,665.565116804,635,879,787,803.565116804,653,631.565116804,652.565116804,0.400966602003,0.004533937061,0.0598467104201,0.99999995531,0.000147658732667,-0.000258658155608,2.59540574744e-05,1793239682927765504
+100,1.666666667,BASELINE,765.973851254,746,714,680,665.026148746,635.026148746,879,787,803.026148746,653,631,652.026148746,0.400966221359,0.00453070990771,0.0598463119005,0.999999955445,0.00014436716337,-0.000259953133091,2.63249913749e-05,1793239682944432128
+101,1.683333333,BASELINE,765.394707001,746,714,680,665.605292999,635.605292999,879,787,803.605292999,653,631,652.605292999,0.400967690191,0.00453102622068,0.0598481174793,0.99999995582,0.00014610227786,-0.00025751834642,2.64277428799e-05,1793239682961098752
+102,1.700000000,BASELINE,765,745.816851622,714.183148378,679.816851622,666,636,879,787,803.816851622,653,631,652.816851622,0.400968476261,0.00453158140832,0.0598489805064,0.999999955888,0.000147734069105,-0.000256322868837,2.64063830522e-05,1793239682977765376
+103,1.716666667,BASELINE,765,745.241754584,714.758245416,679.241754584,666,636,879,787,803.241754584,653,631,652.241754584,0.400967801175,0.00453264780225,0.0598478264153,0.999999955312,0.000149144742109,-0.000257779588341,2.61194174172e-05,1793239682994432000
+104,1.733333333,BASELINE,765,745.340754327,714.659245673,679.340754327,666,635.659245673,879,787,803.340754327,653,631,652.340754327,0.400968428209,0.00453259783596,0.0598483896474,0.999999955565,0.00014881829527,-0.000256976862095,2.62076680369e-05,1793239683011098624
+105,1.750000000,BASELINE,765,745.928638714,714.071361286,679.928638714,666,635.071361286,879,787,803.928638714,653,631,652.928638714,0.400969999599,0.00453173823614,0.0598501983578,0.999999956414,0.000147232012685,-0.000254535486333,2.65680419961e-05,1793239683027765504
+106,1.766666667,BASELINE,765.509042964,746,714,679.490957036,666,635.509042964,879,787,803.490957036,653,631,653,0.400969595881,0.00453304921322,0.0598502743832,0.999999956096,0.000148993501086,-0.000254794070384,2.62328575392e-05,1793239683044431872
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666,635,880,787,804,654,631,653,0.400967069701,0.00453289898914,0.059847199117,0.999999955465,0.000148716318548,-0.000257408194225,2.63384519063e-05,1793239683087597568
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.424502446,714,680,666,635,879.424502446,787.575497554,804,653.424502446,631,653,0.400968769769,0.00453272538897,0.0598485098564,0.999999955883,0.000149133678567,-0.000255544914002,2.62841158978e-05,1793239683104263936
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.844581414,745.155418586,714,680,666,635.155418586,879,787.844581414,803.844581414,653,631,653,0.400969574546,0.00453288007688,0.059849279399,0.999999956011,0.000149680383024,-0.000254727117474,2.62154761143e-05,1793239683120930304
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.252224236,745.747775764,714,680,666,635.747775764,879,787.252224236,803.252224236,653,631,653,0.400967862333,0.00453395770281,0.0598485274391,0.999999955335,0.000150590722183,-0.000256848558265,2.61066231658e-05,1793239683137596160
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635.667263828,879,787.332736172,803,653,631,653,0.400967357925,0.00453422951193,0.0598482991202,0.999999955294,0.000149798390498,-0.000257486036759,2.59654054659e-05,1793239683154262528
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635.087788499,879,787.912211501,803,653,631,653,0.40096774916,0.00453390377081,0.0598484591051,0.999999955723,0.000147743450117,-0.000257023088917,2.58001878228e-05,1793239683170929152
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.485809147,746,714,680,666,635.485809147,879,788,803.485809147,653,631,653,0.400969898765,0.0045339356038,0.0598496016548,0.999999956353,0.000147429865732,-0.000254744220705,2.57837381748e-05,1793239683187596032
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.941371566,714,680,666,635.941371566,879,788,804,653,631.058628434,653,0.400972159416,0.00453392806535,0.0598507547484,0.999999956921,0.00014735864361,-0.000252540736125,2.58060691532e-05,1793239683204262656
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.36616379,714,680,666,635.36616379,879,788,804,653,631.63383621,653,0.400972632271,0.00453301109469,0.0598504549969,0.999999956684,0.000146683430337,-0.000253858227538,2.59360605185e-05,1793239683220929536
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.785150399,745.214849601,714,680,666,635,879.214849601,788,803.785150399,653,631.785150399,653,0.400979017018,0.00453249339671,0.0598532718211,0.999999957876,0.000146402193436,-0.000249268130636,2.60671388492e-05,1793239683237596160
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.193967888,745.806032112,714,680,666,635,879.806032112,788,803.193967888,653,631.193967888,653,0.400995757098,0.00453267506923,0.0598615476737,0.999999961425,0.00014681104991,-0.000234330237293,2.62001211032e-05,1793239683254262784
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,746,714,679.610388807,666,635.389611193,880,787.610388807,803.389611193,653,631.389611193,653,0.401028615446,0.00453153692442,0.0598743803623,0.99999996668,0.000145880629957,-0.00021133692434,2.63789168512e-05,1793239683270929408
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,746,714,679.03052258,666,635.96947742,880,787.03052258,803.96947742,653,631.96947742,653,0.401069344672,0.00452975428612,0.0598894382469,0.999999972233,0.00014429621417,-0.000184409985474,2.65800842533e-05,1793239683287596032
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.54382492,746,714,679.54382492,666,636,879.45617508,787.54382492,804,653,632,653,0.401131369064,0.00452996599967,0.0599078307606,0.999999977418,0.000143584144201,-0.000154392823459,2.6658484824e-05,1793239683304262656
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.879243452,745.879243452,714,679.879243452,666,636,879.120756548,788,804,653,631.879243452,652.879243452,0.401197195264,0.00453036185953,0.0599252073575,0.999999981435,0.00014314326233,-0.000126210435104,2.66721949034e-05,1793239683320929536
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.29112357,745.29112357,714,679.29112357,666,636,879.70887643,788,804,653,631.29112357,652.29112357,0.401273156268,0.00453104155257,0.0599379349814,0.999999983748,0.000143564368282,-0.000105793676144,2.64619337517e-05,1793239683337595904
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.293381133,666,635.706618867,879.706618867,787.706618867,804,653,631,652.293381133,0.401355059997,0.00453168619928,0.0599449384653,0.999999985039,0.000143257335241,-9.34068193883e-05,2.59899936121e-05,1793239683354262784
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.87434211,666,635.12565789,879.12565789,787.12565789,804,653,631,652.87434211,0.401442788937,0.0045322964926,0.0599463309969,0.999999985614,0.000142236561372,-8.88910835697e-05,2.52615489203e-05,1793239683370929664
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.451112372,745.451112372,714,679.548887628,666,635.451112372,879.451112372,787,804,653,631.451112372,653,0.401551738609,0.00453152271941,0.0599483158715,0.999999986207,0.000140696348121,-8.48505161221e-05,2.43009017112e-05,1793239683387596032
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.973330879,879.973330879,787,804,653,631.973330879,653,0.401667585182,0.00453042136559,0.0599504923912,0.999999986822,0.00013889023694,-8.07695540879e-05,2.32616947243e-05,1793239683404262912
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.398943163,879.398943163,787,804,653,631.398943163,653,0.401804795901,0.00453043734082,0.0599532473718,0.999999988029,0.000134567468857,-7.31656802681e-05,2.19252099919e-05,1793239683420929280
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.820258102,714,679.179741898,665.820258102,635,879,787,804,653,631,653,0.401947431457,0.00453001313239,0.0599541004059,0.999999988965,0.000130421919384,-6.81091397097e-05,2.05005248554e-05,1793239683437595904
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.231801391,714,679.768198609,665.231801391,635,879,787,804,653,631,653,0.402102402521,0.00452858799105,0.0599506286062,0.999999989428,0.000126679347631,-6.88449772101e-05,1.88752811468e-05,1793239683454262528
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.647310442,745.352689558,714,680,665,635,878.647310442,787,804,653,631,653,0.40228516675,0.00452771478139,0.0599500269294,0.99999999008,0.000122397971026,-6.75521755086e-05,1.71977533538e-05,1793239683470929408
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.065396908,745.934603092,714,680,665,635,878.065396908,787,804,653,631,653,0.40248599464,0.00452720028925,0.059951290635,0.999999990837,0.000117766407921,-6.49408978018e-05,1.54862443374e-05,1793239683487596032
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,746,714.509022125,679.490977875,665,635,878.509022125,787.509022125,803.490977875,653,631,653,0.402726936884,0.00452886839856,0.0599529293295,0.999999991666,0.000115621805363,-5.60095169056e-05,1.27196501699e-05,1793239683504262912
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.084726599,746,714.915273401,679,665.084726599,635.084726599,879.084726599,787.915273401,803,653,631,653,0.402976333013,0.00453050828399,0.0599551505012,0.999999992474,0.000113278238574,-4.60573808901e-05,9.88953295397e-06,1793239683520929792
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.673729626,746,714.326270374,679,665.673729626,635.673729626,879.673729626,787.326270374,803,653,631,653,0.40324581629,0.00453033545091,0.0599605558863,0.999999993548,0.000107876383138,-3.47925230866e-05,7.47641478756e-06,1793239683537596416
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.741455416,745.741455416,714.258544584,679,666,636,879.741455416,787.258544584,803.258544584,653,631,653,0.403524882796,0.00452982562225,0.0599593480838,0.999999994231,0.000101415306824,-3.50574130809e-05,4.81881329447e-06,1793239683554262784
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.16184138,745.16184138,714.83815862,679,666,636,879.16184138,787.83815862,803.83815862,653,631,653,0.403815850066,0.00452889730102,0.0599499277999,0.999999994382,9.36388543339e-05,-4.96403365312e-05,1.85760423956e-06,1793239683570929152
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.415228234,714.584771766,679.415228234,666,635.584771766,879,787.584771766,804,653,631,652.584771766,0.404138085773,0.00452770370374,0.0599414783245,0.999999994224,8.69311317168e-05,-6.31909327868e-05,-1.15965010896e-06,1793239683587595776
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.991312148,714.008687852,679.991312148,666,635.008687852,879,787.008687852,804,653,631,652.008687852,0.404472434583,0.00452640734092,0.0599334049318,0.999999993826,8.06374256012e-05,-7.63416144343e-05,-4.19861583056e-06,1793239683604262400
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.43338573,714,679.43338573,666,635,879,787,804,653,631.56661427,652.56661427,0.404847182215,0.00452439068675,0.0599231433793,0.999999992773,7.1552192901e-05,-9.63100864128e-05,-7.70718263968e-06,1793239683620929024
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.145760781,745.145760781,714.145760781,679.145760781,666,635.145760781,879,787,803.854239219,653,632,653,0.405236505114,0.00452276800507,0.0599172178682,0.999999992095,6.23073839185e-05,-0.000108634435307,-1.12364694025e-05,1793239683637595904
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.736684763,745.736684763,714.736684763,679.736684763,666,635.736684763,879,787,803.263315237,653,632,653,0.405668452608,0.00452238222533,0.0599246372454,0.999999993768,5.27057609034e-05,-9.72942940067e-05,-1.4807075576e-05,1793239683654262528
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.679040517,746,714.679040517,680,666,635.679040517,879,787,803.320959483,653,631.679040517,653,0.406137051718,0.00452010140639,0.0599419008969,0.99999999658,4.19062478421e-05,-6.89824986127e-05,-1.80235414651e-05,1793239683670929408
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.100110074,746,714.100110074,680,666,635.100110074,879,787,803.899889926,653,631.100110074,653,0.406635109585,0.00451629745099,0.0599670768777,0.999999998961,3.01439303946e-05,-2.70297467586e-05,-2.09553677105e-05,1793239683687596288
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.474682614,746,714.474682614,680,666,635.474682614,879,787.474682614,804,653,631.474682614,653,0.40716746002,0.00451611470933,0.0599916433041,0.999999999406,2.19340404745e-05,9.88858499257e-06,-2.46659386278e-05,1793239683704262912
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.951390088,746,715,680,666,635.951390088,879.048609912,788,804,653,632,653,0.40770638564,0.00451641152688,0.0600133979541,0.999999998659,1.42517694562e-05,4.08514088944e-05,-2.84661660175e-05,1793239683720929024
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.377465451,746,715,680,666,635.377465451,879.622534549,788,804,653,632,653,0.40823888612,0.00451370891896,0.0600061437309,0.999999999318,4.24485403221e-06,1.88295745101e-05,-3.14757674806e-05,1793239683737596160
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.797345651,714.797345651,680,666,635,880,787.797345651,804,653,632,653,0.40878011768,0.00451134450277,0.0599967918742,0.999999999372,-5.42686574358e-06,-5.1157798286e-06,-3.4649408984e-05,1793239683754263040
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.205322856,714.205322856,680,666,635,880,787.205322856,804,653,632,653,0.409338124602,0.00450962986894,0.0599834097452,0.999999998632,-1.44545592127e-05,-3.27568737974e-05,-3.81382274463e-05,1793239683770929408
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.376645523,745.376645523,714,680,666,635,880,787,804,652.623354477,631.623354477,653,0.409947166503,0.00450753339633,0.0599826880536,0.999999998393,-2.29736419705e-05,-3.07217752503e-05,-4.17317203059e-05,1793239683787596032
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.953275373,745.953275373,714,680,666,635,880,787,804,652.046724627,631.046724627,653,0.410583306003,0.00450523418202,0.059988688569,0.999999998399,-3.12226716577e-05,-1.29297557639e-05,-4.53807911433e-05,1793239683804262656
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.471533726,746,714,679.471533726,666,635.528466274,880,787,804,652,631,653,0.41126144652,0.0045056780201,0.0599967148365,0.999999999283,1.55220804708e-05,5.09902811553e-06,-3.41536775739e-05,1793239683820929536
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.893569295,714.106430705,679.106430705,666,636,879.893569295,787,804,652.106430705,631,652.893569295,0.411940445822,0.00450547379154,0.0599999459753,0.999999998068,5.54500949609e-05,1.36218409016e-05,-2.45630976628e-05,1793239683837596160
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.302394983,714.697605017,679.697605017,666,636,879.302394983,787,804,652.697605017,631,652.302394983,0.412606488723,0.00450121630554,0.0599805239343,0.999999998479,4.22454885919e-05,-2.12458242575e-05,-2.84004538133e-05,1793239683854262784
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.282806727,745.282806727,714.717193273,680,666,636,879,787,804,653,631,652.282806727,0.413274937834,0.00449456765645,0.0599538058199,0.999999996339,2.95092075449e-05,-7.42120530014e-05,-3.07089286524e-05,1793239683870929408
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.861754304,745.861754304,714.138245696,680,666,636,879,787,804,653,631,652.861754304,0.413945906689,0.00448541510219,0.0599194476252,0.99999998868,1.72633312991e-05,-0.000146130183015,-3.14164369642e-05,1793239683887596032
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,714,679.562606316,666,636,879.437393684,787,804.437393684,653,631,653,0.414714321761,0.0044860827332,0.0599356605228,0.999999992472,1.95094451403e-05,-0.000116326101761,-3.38056990271e-05,1793239683904262656
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.987966036,746,714,679.012033964,666.012033964,635.987966036,880,787.012033964,804.987966036,653,631,653,0.415513890711,0.00448971227702,0.0599679010666,0.9999999975,2.62811277558e-05,-5.44775777041e-05,-3.66348633014e-05,1793239683920929280
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.411510817,746,714,679.588489183,666.588489183,635.411510817,880,787.588489183,804.411510817,653,631,653,0.416340925626,0.00448777808826,0.0600078233449,0.999999998766,3.20919507096e-05,1.36915982029e-05,-3.535283874e-05,1793239683937596160
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,746,714.169363772,680,667,635.169363772,880,787.830636228,804,652.830636228,631.169363772,653,0.417156314412,0.00448689363565,0.0600317998855,0.99999999722,3.80356604499e-05,5.38868959854e-05,-3.47868346409e-05,1793239683954262784
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,746,714.761263971,680,667,635.761263971,880,787.238736029,804,652.238736029,631.761263971,653,0.41794264786,0.00448862811253,0.0600159942734,0.999999998075,4.4310902129e-05,2.4291689122e-05,-3.60071912964e-05,1793239683970929664
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.654679161,714.654679161,679.654679161,666.654679161,635.654679161,880,787,804,652.345320839,632,653,0.41874601588,0.00448863327659,0.0599987961014,0.999999998225,4.60649951607e-05,-3.49005181498e-06,-3.76174241021e-05,1793239683987596288
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.075924343,714.075924343,679.075924343,666.075924343,635.075924343,880,787,804,652.924075657,632,653,0.419560899094,0.00448746943968,0.0599806565712,0.999999997767,4.47628295054e-05,-3.00459038443e-05,-3.94912098482e-05,1793239684004262400
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.497774199,714,679,666,635,880,787,804,652.502225801,631.502225801,652.502225801,0.420362115631,0.004488091763,0.0599604494515,0.999999997369,-1.78234073536e-05,-5.68692321081e-05,-4.13512486082e-05,1793239684020929280
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.070874498,746,714,679.070874498,666,635.070874498,880.070874498,787,804,652,631,652.070874498,0.421160285019,0.00448906686043,0.0599388194323,0.999999992054,-7.90377014701e-05,-8.8332490822e-05,-4.29300719132e-05,1793239684037595904
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.645148051,746,714,679.645148051,666,635.645148051,880.645148051,787,804,652,631,652.645148051,0.421951468077,0.00449063201127,0.0599093004314,0.999999985375,-6.47826583632e-05,-0.000152464833228,-4.25262547086e-05,1793239684054262528
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.772190666,746,714.227809334,679.772190666,666,635.772190666,880.772190666,787,804,652,631,653,0.422800926,0.00449039895693,0.0599082053485,0.99999998499,-5.66575688905e-05,-0.000157994177531,-4.29883946475e-05,1793239684070929152
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.175964527,746,714.824035473,679.175964527,666,635.175964527,880.175964527,787,804,652,631,653,0.423744627068,0.00448725781741,0.059953077864,0.999999994923,-5.84459337671e-05,-6.87498500444e-05,-4.48509739162e-05,1793239684087596032
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.40649334,746,715,679.40649334,666,635,880,787,804,652,631,653,0.424659363838,0.00448541726675,0.0599985904062,0.999999997582,-5.33221856178e-05,3.9667941888e-06,-4.44567202332e-05,1793239684104262656
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.983186364,746,715,679.983186364,666,635,880,787,804,652,631,653,0.425561973133,0.00448412127578,0.0600443709264,0.999999995611,-4.53043198712e-05,6.97632544823e-05,-4.31175252893e-05,1793239684120929024
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.443034831,745.443034831,714.443034831,680,666,635.556965169,880,787,804,652,631.556965169,653,0.426415685879,0.00448411757406,0.0600377026277,0.99999999571,-4.11668119605e-05,6.9393209624e-05,-4.54892628406e-05,1793239684137595648
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.13407976,745.13407976,714,680,666.13407976,636,880,787,804,652,631.86592024,653,0.427267304726,0.00448361837307,0.0600255053004,0.999999996425,-3.77738260401e-05,5.86535458519e-05,-4.77700725623e-05,1793239684154262272
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.722802188,745.722802188,714,680,666.722802188,636,880,787,804,652,631.277197812,653,0.428116802574,0.00448130742135,0.0599999007798,0.999999997925,-3.65102579505e-05,1.94899004021e-05,-4.93646777698e-05,1793239684170928896
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,714.306756119,680,667,635.693243881,880,787.306756119,804,652.306756119,631,653,0.428939294623,0.00448111414696,0.059974096076,0.999999998029,-3.07348592055e-05,-2.16350597314e-05,-5.02892206312e-05,1793239684187595776
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,714.886466961,680,667,635.113533039,880,787.886466961,804,652.886466961,631,653,0.429737756591,0.00448280520357,0.0599481132485,0.999999996419,-2.09447875937e-05,-6.45052155479e-05,-5.06175350754e-05,1793239684204262656
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666.537834396,635.462165604,880,787.537834396,804,652.537834396,631,652.537834396,0.430562054986,0.00448106160622,0.0599368035438,0.999999995082,-1.97424071126e-05,-8.24660244042e-05,-5.14308198731e-05,1793239684220929024
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680.037759648,666.037759648,635.962240352,880,787.037759648,804,652,631,652.037759648,0.431395906967,0.00447855904532,0.0599327591147,0.999999994568,-2.05788485232e-05,-8.77318944649e-05,-5.23707117575e-05,1793239684237595648
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680.626075068,666.626075068,635.373924932,880,787.626075068,804,652,631,652.626075068,0.432277310652,0.00447718666504,0.0599825428165,0.999999998353,-2.06479710971e-05,3.64947352919e-06,-5.34344975377e-05,1793239684254262272
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,714.788813182,680.577626364,666.788813182,635,880,787.788813182,804.422373636,651.788813182,631,653,0.433136521766,0.00447611215394,0.0600152083706,0.999999996625,-1.9210596319e-05,5.89289249499e-05,-5.3922737565e-05,1793239684270928896
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,714.209288957,679.418577914,666.209288957,635,880,787.209288957,805.581422086,651.209288957,631,653,0.433957026281,0.00447555716538,0.0600180176461,0.999999997146,-1.51456935539e-05,5.12419314025e-05,-5.34071513994e-05,1793239684287595520
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.632356649,714,679.367643351,666,635,880.367643351,787,805.264713299,651.367643351,631.367643351,653,0.434734653541,0.00447340651125,0.059997720812,0.999999998275,-1.59712032177e-05,1.61486250793e-05,-5.41742454433e-05,1793239684304262400
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.056889552,714,679.943110448,666,635,880.943110448,787,804.113779103,651.943110448,631.943110448,653,0.435488042828,0.00447035384926,0.0599643624105,0.999999997666,-1.956119621e-05,-3.44370938031e-05,-5.56664209477e-05,1793239684320929024
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.480041176,745.519958824,714,680,666,635,880.480041176,787,804.519958824,652,631.480041176,653,0.436228887663,0.00446861631926,0.0599479243791,0.99999999605,-1.96413972163e-05,-6.6277958091e-05,-5.58634995973e-05,1793239684337595648
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.099135792,746,714.099135792,680,666.099135792,635,880.099135792,787.099135792,805,652,631.099135792,653,0.43696052147,0.00446696630552,0.0599349365699,0.999999993876,-1.90111649944e-05,-9.36331547417e-05,-5.58583762394e-05,1793239684354262272
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.689091338,746,714.689091338,680,666.689091338,635,880.689091338,787.689091338,805,652,631.689091338,653,0.43765336497,0.00446503528507,0.0599298406574,0.99999999238,-1.6769891174e-05,-0.000108960927234,-5.55555706537e-05,1793239684370928896
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.725732572,714.725732572,680,667,635,880.725732572,787.725732572,805,652,631.725732572,653,0.438358843357,0.00446408362177,0.0599268710097,0.999999991342,-1.48702187122e-05,-0.000118392397686,-5.54811719346e-05,1793239684387595776
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.145881698,714.145881698,680,667,635,880.145881698,787.145881698,805,652,631.145881698,653,0.439078399242,0.00446422313931,0.0599262704051,0.99999999101,-1.33511520071e-05,-0.000121254321839,-5.56612597441e-05,1793239684404262400
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.429798989,714,680,667,635,880.429798989,787.429798989,805,652,631.429798989,653,0.439784558527,0.00446206006614,0.0599491354816,0.999999994454,-2.17870780699e-05,-8.70586867701e-05,-5.51131556273e-05,1793239684420929024
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666.995921774,635,880.995921774,788,805,652,631.995921774,653,0.440485462072,0.00445917235973,0.0599795592924,0.999999997115,-3.37874251797e-05,-4.09506372624e-05,-5.43301008162e-05,1793239684437595648
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666.421594888,635,880.421594888,788,805,652,631.421594888,653,0.44108115397,0.00446319193822,0.0599639215305,0.999999993062,-7.62675975812e-05,-7.10123868448e-05,-5.49224130839e-05,1793239684454263040
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.843206283,745.843206283,714,680,665.843206283,634.843206283,880,787.843206283,805,652,631,653,0.44165316784,0.00446674213341,0.0599360722195,0.999999985892,-0.000105498197748,-0.000118268157643,-5.56700771511e-05,1793239684470930176
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.253605746,745.253605746,714,680,665.253605746,634.253605746,880,787.253605746,805,652,631,653,0.442159822007,0.00446899666344,0.0598745146556,0.999999970886,-9.81552424149e-05,-0.000212985592176,-5.68465680023e-05,1793239684487596288
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.327983256,745,714,680,665,634.327983256,880,787,805,652,631,653,0.44268094113,0.00447243644604,0.0598302198238,0.999999956172,-8.78900888477e-05,-0.000276779659648,-5.76491780838e-05,1793239684504262912
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.903525193,745,714,680,665,634.903525193,880,787,805,652,631,653,0.443212978235,0.00447677084602,0.0597989547438,0.999999945146,-7.54192882911e-05,-0.00031723305529,-5.81695866003e-05,1793239684520929280
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.517201973,745.482798027,714,680.482798027,665,634.517201973,880.482798027,787,805,652,631,653,0.443735054183,0.0044815154898,0.0597985919499,0.99999994495,-6.57258771656e-05,-0.000319836302714,-5.90329994259e-05,1793239684537596160
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.936384771,714,680.936384771,664.936384771,634,881,786.936384771,805,652,631,653,0.444248827381,0.00448689162097,0.0598044206945,0.999999947162,-5.64193551095e-05,-0.000314425524996,-6.02399509364e-05,1793239684554263296
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.349038618,714,680.349038618,664.349038618,634,881,786.349038618,805,652,631,653,0.444710760626,0.00449678650315,0.0598099894387,0.999999950173,-4.56933086188e-05,-0.000305789623688,-6.37065096705e-05,1793239684570930176
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.235323875,745.235323875,714,680.235323875,664,634,881,786.235323875,804.764676125,652,631.235323875,653,0.445144036188,0.00450841646581,0.0598023709212,0.999999944873,-3.33311904547e-05,-0.000323465226364,-6.71763518209e-05,1793239684587596800
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.815316281,745.815316281,714,680.815316281,664,634,881,786.815316281,804.184683719,652,631.815316281,653,0.445535338059,0.00452258772364,0.059775437601,0.999999925254,-1.85727909274e-05,-0.000379678131851,-7.06510026001e-05,1793239684604263168
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.607604368,745.607604368,714,680.607604368,664,634,880.607604368,787,804,652,631.607604368,653,0.445906396376,0.00453503615855,0.0597454776028,0.999999905775,-4.98903932415e-06,-0.000427660874528,-7.43750524116e-05,1793239684620929280
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.031885913,745.031885913,714,680.031885913,664,634,880.031885913,787,804,652,631.031885913,653,0.446267997167,0.00454667971124,0.0597141035723,0.999999885612,8.04593128554e-06,-0.000471798582372,-7.82156188921e-05,1793239684637595648
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.542413541,714,680,663.457586459,633.457586459,881.084827082,787,804,652,631,653,0.446620820485,0.00454859664291,0.0597120616669,0.999999886485,1.26895343067e-05,-0.00046968232518,-7.91638984605e-05,1793239684654262528
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,714,680.120217046,663.120217046,633,881.759565907,787,804.120217046,652,631,653,0.446966688925,0.00454981213662,0.0597144292101,0.999999890128,2.09972375083e-05,-0.00046172999368,-7.81520235991e-05,1793239684670929664
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,714,680.712094978,663.712094978,633,880.575810044,787,804.712094978,652,631,653,0.447287289769,0.00455051308285,0.0597273493618,0.999999899032,4.56110369954e-05,-0.000441520459912,-7.0114990061e-05,1793239684687596544
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.7035355,714,680.7035355,663.7035355,633,880.592929001,786.7035355,805,652,631,653,0.447587166492,0.00455376740658,0.0597331918744,0.999999901958,6.51081729489e-05,-0.000433072978641,-6.55185214356e-05,1793239684704263168
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.12627753,714,680.12627753,663.12627753,633,881.747444941,786.12627753,805,652,631,653,0.447867414544,0.00455944013693,0.059732330869,0.999999899814,7.97591093228e-05,-0.000435765812535,-6.41807509473e-05,1793239684720929536
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663,632.549128744,881.549128744,786,805,652,631,652.549128744,0.448109482892,0.0045616708436,0.0597237904044,0.99999989401,8.23387208605e-05,-0.000448228821969,-6.55048435846e-05,1793239684737596160
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.028362278,745.028362278,714,680,662.971637722,632.028362278,880.971637722,786,805,652,631.028362278,652.028362278,0.448338389317,0.00456295886202,0.0597129674759,0.999999886953,8.15314389143e-05,-0.000463556964041,-6.75396839013e-05,1793239684754262528
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.613167651,745.613167651,714,680,662.386832349,632.613167651,880.386832349,786,805,652,631.613167651,652.613167651,0.448518810064,0.00456466087032,0.0596995516021,0.999999878495,8.058992179e-05,-0.000481424186548,-6.88958652802e-05,1793239684770929408
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.804911237,714,680,662,633,880,786,805,652,631.804911237,652.804911237,0.448688361,0.00456637937946,0.0596850153812,0.999999868168,7.99940505434e-05,-0.000502347606758,-7.00816960416e-05,1793239684787596032
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.228625939,714,680,662,633,880,786,805,652,631.228625939,652.228625939,0.44883667269,0.00456813013046,0.0596682900432,0.999999854229,8.00735592159e-05,-0.000529242726978,-7.09346675717e-05,1793239684804262656
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.649106815,745.350893185,714,680,662,632.649106815,880.350893185,786,805,652,631,652.350893185,0.44897624215,0.00456952544961,0.0596582778666,0.999999845108,8.12264405154e-05,-0.000545923433937,-7.17877041436e-05,1793239684820929536
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.067461023,745.932538977,714,680,662,632.067461023,880.932538977,786,805,652,631,652.932538977,0.449110062605,0.00457068703164,0.0596526803637,0.999999839405,8.30851877421e-05,-0.000555886992717,-7.26407835908e-05,1793239684837596160
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714,680.507370336,662,632,880.492629664,786,805,652,631,653,0.449229145356,0.00457227998202,0.0596508894036,0.999999838423,8.46072471544e-05,-0.000557348971866,-7.31932610208e-05,1793239684854263040
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714.083769015,681,661.916230985,632,880,786.083769015,805,652,631,653,0.44934257567,0.00457388522956,0.0596498813304,0.999999838278,8.60212753773e-05,-0.000557329007307,-7.36853888705e-05,1793239684870929664
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714.675081001,681,661.324918999,632,880,786.675081001,805,652,631,653,0.449433474122,0.00457522208114,0.0596505907472,0.999999839408,8.70484003354e-05,-0.000555088255568,-7.40508229352e-05,1793239684887595776
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.739538741,714.739538741,680.739538741,661,631.739538741,880.260461259,786.739538741,805,652,631,653,0.449513559078,0.00457543922389,0.0596502930819,0.999999839217,8.66097454571e-05,-0.000555498734958,-7.40669561076e-05,1793239684904262400
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.161393432,714.161393432,680.161393432,661,631.161393432,880.838606568,786.161393432,805,652,631,653,0.449580454831,0.00457429066007,0.0596487670804,0.999999837407,8.43832819385e-05,-0.000559142915501,-7.36570476951e-05,1793239684920929024
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.414978969,714,680,661,631.414978969,881,786,805,652,631,653,0.449631676008,0.00457460308685,0.0596440453018,0.999999832795,8.60729712694e-05,-0.000567112190452,-7.33795295579e-05,1793239684937595648
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.990664771,714,680,661,631.990664771,881,786,805,652,631,653,0.449676826968,0.00457548130418,0.0596380859105,0.999999827015,8.9279249607e-05,-0.000576756422989,-7.3153281545e-05,1793239684954262272
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.434985757,714,680,661,632,881,786,804.434985757,652,631.565014243,652.434985757,0.449709757945,0.00457651975282,0.0596327010353,0.99999982288,8.90579868303e-05,-0.000583860579945,-7.35920971101e-05,1793239684970929152
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.143467754,714,680.143467754,661,632,880.856532246,786,804.143467754,652,631.856532246,652.143467754,0.449741279839,0.00457767058722,0.0596295202179,0.999999820484,8.93003955514e-05,-0.000587861293903,-7.39995713356e-05,1793239684987596288
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.73480158,714,680.73480158,661,632,880.26519842,786,804.73480158,652,631.26519842,652.73480158,0.449769031753,0.00457916401347,0.0596331902893,0.999999823547,9.11666231686e-05,-0.000582304629734,-7.42749853053e-05,1793239685004262912
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.680092587,880,786,805,652.319907413,631,653,0.449788273615,0.00458016477459,0.0596336755869,0.999999823894,9.21383340541e-05,-0.000581545995135,-7.43486450541e-05,1793239685020929536
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.10005101,880,786,805,652.89994899,631,653,0.449800595493,0.00458076492299,0.0596315711716,0.999999822045,9.2382664805e-05,-0.000584688899455,-7.42582474739e-05,1793239685037595648
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714,680.524578521,661,631.475421479,880,786,805,652.524578521,631,652.524578521,0.449808187778,0.00458147118337,0.0596297119403,0.999999820903,9.19070069246e-05,-0.000586670971359,-7.45956651607e-05,1793239685054262272
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,680.051124639,661,632,880.051124639,786,805,652,631,652.051124639,0.449814487099,0.00458210860436,0.0596279247671,0.999999819859,9.1373064406e-05,-0.000588485544582,-7.4949418594e-05,1793239685070929152
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,680.63925496,661,632,880.63925496,786,805,652,631,652.63925496,0.449817560595,0.00458179061888,0.0596263576603,0.999999818319,9.18032959115e-05,-0.000591082335931,-7.45380753476e-05,1793239685087595776
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.775781506,714,680.775781506,661,631.775781506,881,786.224218494,805,652,631,653,0.449820067457,0.0045813473227,0.0596250860746,0.999999817171,9.1627481068e-05,-0.000593089852789,-7.42112314151e-05,1793239685104262400
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.195842092,714,680.195842092,661,631.195842092,881,786.804157908,805,652,631,653,0.449821675359,0.00458070522205,0.0596242833309,0.999999816652,9.04901783132e-05,-0.00059416249003,-7.40184450217e-05,1793239685120929536
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.381418212,714,680.381418212,661.381418212,631.381418212,881,786.618581788,805,652.381418212,631,653,0.449823715193,0.0045812794859,0.0596243968069,0.999999816803,9.03949496674e-05,-0.000593943047715,-7.38513972531e-05,1793239685137596416
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.957312483,714,680.957312483,661.957312483,631.957312483,881,786.042687517,805,652.957312483,631,653,0.449825975259,0.00458247394506,0.0596249774415,0.999999817296,9.08310498175e-05,-0.000593064804782,-7.36974730019e-05,1793239685154263040
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661.470196195,631.470196195,881,786,805,652.470196195,631,653,0.449824044853,0.00458131816328,0.0596234945749,0.999999815579,9.03218959918e-05,-0.000596022993329,-7.37584797873e-05,1793239685170929408
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.105472597,881,786,805,652,631,652.894527403,0.449822788842,0.00458026795029,0.0596223546489,0.99999981429,8.96488384242e-05,-0.000598278196868,-7.37969363731e-05,1793239685187595776
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.697040931,881,786,805,652,631,652.302959069,0.449826187086,0.00458057143782,0.0596235566108,0.99999981583,8.85691588114e-05,-0.000595878008334,-7.36521625002e-05,1793239685204262656
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.717328481,746,714,680.717328481,661,632,881,786,805,652,631,652,0.449827882169,0.00458082208375,0.0596242502838,0.999999816774,8.77178000532e-05,-0.000594415727296,-7.36691973633e-05,1793239685220929280
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.137930796,746,714,680.137930796,661,632,881,786,805,652,631,652,0.449827789409,0.00458101726078,0.0596244103955,0.999999817098,8.71061143068e-05,-0.000593937986945,-7.38560862006e-05,1793239685237595904
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.875801291,746,714,680.437900645,661,632,881,786.437900645,805,652,631.437900645,652.437900645,0.449828576227,0.00457989557227,0.059624617048,0.999999817411,8.65470800774e-05,-0.00059357922779,-7.3147315776e-05,1793239685254262528
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.98707396,746,714,680.98707396,661,632,881,786.98707396,805,652.01292604,631.98707396,653,0.449829585775,0.00457844646964,0.0596247984847,0.999999817686,8.60624396967e-05,-0.00059330349118,-7.21956607217e-05,1793239685270929408
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.398318139,746,714,680.398318139,661,632,881,786.398318139,805,652.601681861,631.398318139,653,0.449828275098,0.00458074046815,0.0596232088307,0.999999816403,8.81590693041e-05,-0.000595070208602,-7.28901814972e-05,1793239685287596288
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714,680,661,632,881,786,805,652.812403317,631,653,0.449828272887,0.00458268052194,0.0596228065262,0.999999816042,9.04307698368e-05,-0.000595277692241,-7.33730954973e-05,1793239685304262656
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,680,661,632,881,786,805,652.232430745,631,653,0.449831007455,0.00458388026732,0.0596248876737,0.99999981761,9.30686473466e-05,-0.000592223893474,-7.34134142279e-05,1793239685320929024
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,680.344846068,661,632,880.655153932,786.344846068,805,652,631,653,0.449832351532,0.00458320310211,0.0596257486747,0.999999818473,9.28021788883e-05,-0.000590832792464,-7.32051683597e-05,1793239685337595648
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,680.920319976,661,632,880.079680024,786.920319976,805,652,631,653,0.449832765669,0.0045812706874,0.0596257936599,0.999999818867,9.05933276293e-05,-0.000590553678712,-7.28306862424e-05,1793239685354262272
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,632,880,786.504178707,805,652,631,653,0.449832247591,0.0045812168929,0.0596253612951,0.999999818553,8.87248375909e-05,-0.000591355808691,-7.29461181912e-05,1793239685370929152
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.073306138,746,714,681,661,632,880.073306138,786.073306138,805,652,631,653,0.449831406168,0.00458147561426,0.0596247666671,0.999999817995,8.7171187221e-05,-0.00059250997956,-7.30986164856e-05,1793239685387595776
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.664780231,746,714,681,661,632,880.664780231,786.664780231,805,652,631,653,0.449829338169,0.00458180925542,0.0596235673442,0.999999816547,8.74563465492e-05,-0.000594924274516,-7.29565773352e-05,1793239685404262656
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.749950169,746,714,680.749950169,661,631.749950169,881,786.749950169,805,652,631,653,0.449828613896,0.00458165197855,0.0596230865253,0.999999815896,8.73330623833e-05,-0.000596039425139,-7.29303501288e-05,1793239685420929536
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.172796911,746,714,680.172796911,661,631.172796911,881,786.172796911,805,652,631,653,0.449829647423,0.00458085250585,0.0596235456193,0.999999816292,8.66754716938e-05,-0.000595455096607,-7.30556226404e-05,1793239685437596416
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680,661,631.40328457,881,786,805,652.40328457,631,653,0.449829809753,0.00458108199876,0.059622884356,0.99999981587,8.76561955092e-05,-0.000595998845033,-7.32288299805e-05,1793239685454263040
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714,680,661,631.978908005,881,786,805,652.978908005,631,653,0.449829599787,0.00458175120794,0.0596217443212,0.999999815095,8.9337033589e-05,-0.000597024663768,-7.34225216921e-05,1793239685470929408
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714,680.552549659,661,632,880.447450341,786.552549659,805,652.447450341,631,653,0.449830241165,0.00458125332695,0.0596220358598,0.999999815281,8.86927727637e-05,-0.000596890208289,-7.27585295866e-05,1793239685487595776
+252,4.200000000,HOLD_POSE2,765,746,714,681,661,631,881,786,805,652,631,653,0.449829724858,0.0045842194915,0.0596229776773,0.999999815347,9.14525245229e-05,-0.000596338379214,-7.29539738508e-05,1793239685528728576
+253,4.216666667,HOLD_POSE2,765,746,714,681,661,631.578444319,881,786,805,652,631,652.421555681,0.449831951899,0.00458263066707,0.059624462174,0.999999816837,9.00435849984e-05,-0.000594106383381,-7.24978873994e-05,1793239685545395712
+254,4.233333333,HOLD_POSE2,765,746,714,680.844508803,661,632,881,786.155491197,805,652,631,652.155491197,0.449833658334,0.0045814233171,0.0596254899285,0.999999817873,8.92224157122e-05,-0.000592534301295,-7.2092435918e-05,1793239685562062592
+255,4.250000000,HOLD_POSE2,765,746,714,680.271216687,661,632,881,786.728783313,805,652,631,652.728783313,0.449833965914,0.00458124097904,0.0596252904286,0.999999817705,8.9980569902e-05,-0.000592735390293,-7.18230392221e-05,1793239685578729728
+256,4.266666667,HOLD_POSE2,765,746,714,680,661,632,881,786.688528415,805,652,631,653,0.449834502693,0.00458181566349,0.0596252299946,0.999999817619,9.02957331509e-05,-0.000592778482283,-7.22623942457e-05,1793239685595396352
+257,4.283333333,HOLD_POSE2,765,746,714,680,661,632,881,786.097403894,805,652,631,653,0.449835245255,0.00458307003619,0.0596252944202,0.999999817607,9.02131595374e-05,-0.000592679717573,-7.33380978582e-05,1793239685612062464
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+259,4.316666667,HOLD_POSE2,764.063267255,745,714,680.936732745,660.063267255,632,881,786,805,652,631.936732745,652.063267255,0.449832444957,0.00458246353174,0.0596241427621,0.999999816577,8.73206963403e-05,-0.000594955539044,-7.24492954331e-05,1793239685645395200
+260,4.333333333,HOLD_POSE2,764.640088276,745,714,680.359911724,660.640088276,632,881,786,805,652,631.359911724,652.640088276,0.449831902628,0.00458242382898,0.0596227326424,0.99999981608,8.63794584818e-05,-0.000595898939942,-7.26838906257e-05,1793239685662061824
+261,4.350000000,HOLD_POSE2,765.21544991,745,714,680.21544991,661,631.78455009,880.78455009,786,804.78455009,652,631,653,0.4498321447,0.00458241363155,0.0596221448152,0.999999816075,8.63474572958e-05,-0.000595908746374,-7.27090024294e-05,1793239685678728448
+262,4.366666667,HOLD_POSE2,765.788389968,745,714,680.788389968,661,631.211610032,880.211610032,786,804.211610032,652,631,653,0.449833688305,0.00458245239151,0.0596229213957,0.999999816886,8.78241277604e-05,-0.000594369464932,-7.23865241483e-05,1793239685695395072
+263,4.383333333,HOLD_POSE2,765.625608485,745.374391515,714,680.625608485,661,631,880.374391515,786,804.374391515,652,631.374391515,653,0.449833809727,0.00458220014495,0.0596231666887,0.999999817256,8.68004821181e-05,-0.000593867363992,-7.26331533271e-05,1793239685712061952
+264,4.400000000,HOLD_POSE2,765.031957525,745.968042475,714,680.031957525,661,631,880.968042475,786,804.968042475,652,631.968042475,653,0.449833098259,0.00458177747272,0.0596231008372,0.999999817364,8.43125461623e-05,-0.000593972679505,-7.32130757809e-05,1793239685728728832
+265,4.416666667,HOLD_POSE2,765,746,714,680,661,631,881,786.545645772,805,652,631.454354228,653,0.449832678053,0.00458226138803,0.0596229138963,0.999999816801,8.54082127704e-05,-0.000594781803554,-7.30639102091e-05,1793239685745395712
+266,4.433333333,HOLD_POSE2,765,745.877958168,714,680,660.877958168,631.122041832,880.877958168,787,804.877958168,652,631,653,0.44983231604,0.0045827839768,0.0596227499693,0.999999816219,8.70354041821e-05,-0.000595545197286,-7.28854373366e-05,1793239685762062336
+267,4.450000000,HOLD_POSE2,765,745.302654616,714,680,660.302654616,631.697345384,880.302654616,787,804.302654616,652,631,653,0.449832108608,0.00458325863004,0.059622697103,0.999999815712,8.98794312164e-05,-0.000595990029731,-7.27521789731e-05,1793239685778728448
+268,4.466666667,HOLD_POSE2,765.278244999,745.278244999,714,680.278244999,660.278244999,632,880.278244999,786.721755001,804.278244999,652,631,653,0.449832351592,0.00458273521508,0.0596228465509,0.999999815718,8.97181412938e-05,-0.00059603185013,-7.252982757e-05,1793239685795395072
+269,4.483333333,HOLD_POSE2,765.865356504,745.865356504,714,680.865356504,660.865356504,632,880.865356504,786.134643496,804.865356504,652,631,653,0.449833094564,0.00458110389217,0.0596232205781,0.999999816291,8.62207921553e-05,-0.000595626306048,-7.22085782399e-05,1793239685812061696
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,714,681,661,631,880,787,805,652,631,653,0.449834647849,0.00458070298961,0.0596246160713,0.999999817288,8.39548135745e-05,-0.000594242331274,-7.24705260136e-05,1793239685844634112
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.42302189,745.42302189,714,681,661,631,880,786.42302189,805,652,631,653,0.449835478002,0.00458279138296,0.0596250621127,0.999999817629,8.6999129962e-05,-0.000593237925011,-7.2404424996e-05,1793239685861300736
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.153349939,714,681,660.846650061,631.153349939,880,786,805,652,631.153349939,653,0.449836039778,0.00458350249173,0.0596253603307,0.999999817867,8.83307207876e-05,-0.000592650157564,-7.23125840626e-05,1793239685877967360
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.728056035,714,681,660.271943965,631.728056035,880,786,805,652,631.728056035,653,0.449835864138,0.00458042926731,0.0596252523777,0.999999817841,8.49562950518e-05,-0.000593207178948,-7.21500181317e-05,1793239685894633728
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.690239094,714,680.690239094,660,632,880,786,805,652,632,653,0.449834679672,0.0045799680628,0.0596242815272,0.99999981703,8.52745633977e-05,-0.000594531713505,-7.21146294642e-05,1793239685911300352
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.102247888,714,680.102247888,660,632,880,786,805,652,632,653,0.44983258907,0.00458185300052,0.0596225356139,0.999999815508,8.89096461759e-05,-0.000596545635922,-7.21934726779e-05,1793239685927966464
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.478706351,714,680.478706351,660.478706351,632,880,786,805,652,632,652.521293649,0.449832637899,0.00458238040873,0.059622383718,0.999999815371,8.91836789246e-05,-0.000596717487474,-7.23301426029e-05,1793239685944632832
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.942199934,661,632,880.057800066,786,805,652,631.942199934,652.057800066,0.449832809487,0.00458267873293,0.0596224186429,0.999999815443,8.88661405325e-05,-0.000596624979748,-7.24951955217e-05,1793239685961299456
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.366504383,661,632,880.633495617,786,805,652,631.366504383,652.633495617,0.449830045853,0.00458348485326,0.0596211210525,0.999999814751,8.95872807867e-05,-0.000597638083873,-7.28054973532e-05,1793239685977966080
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.786595188,714,680.213404812,660.786595188,631.786595188,880.786595188,786,805,652,631,652.786595188,0.449822821845,0.00458379721408,0.0596178306989,0.999999812284,8.98444721978e-05,-0.000601688842318,-7.30054896781e-05,1793239685994632960
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.199303721,714,680.800696279,660.199303721,631.199303721,880.199303721,786,805,652,631,652.199303721,0.44980778323,0.00458324450484,0.0596110490111,0.99999980665,8.92888220614e-05,-0.00061106159124,-7.30122189752e-05,1793239686011300096
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.38311359,745.38311359,714,680.61688641,660,631,880.38311359,786,805,652,631,652,0.449774344227,0.00458245676981,0.0595971550483,0.999999793822,8.84710903978e-05,-0.000631846620598,-7.27894869846e-05,1793239686027966720
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.96302717,745.96302717,714,680.03697283,660,631,880.96302717,786,805,652,631,652,0.449731453205,0.00458154830532,0.0595796076105,0.999999776739,8.75187310892e-05,-0.000658493976259,-7.2448883961e-05,1793239686044633088
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.459337976,746,714,680.540662024,660,631,880.459337976,786,805,652,631,652.540662024,0.449672991796,0.00458283774197,0.0595650452886,0.999999766021,9.00994843673e-05,-0.000674175806229,-7.29808638474e-05,1793239686061299712
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.882546315,714,681,660.117453685,631.117453685,880.117453685,786,805,652,631.117453685,652.882546315,0.449610006196,0.00458403226307,0.0595524450294,0.999999756558,9.22259769877e-05,-0.000687743288455,-7.34048519699e-05,1793239686077966336
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.308429513,714,681,660.691570487,631.691570487,880.691570487,786,805,652,631.691570487,652.308429513,0.44953355288,0.00458427582446,0.0595466829668,0.999999750919,9.16508503921e-05,-0.000695993414634,-7.31779365368e-05,1793239686094632960
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.273483055,714,681,661,631.726516945,881,786,805,652,631.726516945,652,0.44945081469,0.00458455965689,0.0595440922703,0.999999748062,9.2518390792e-05,-0.000700026667226,-7.26560578384e-05,1793239686111299584
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.864445492,714,681,661,631.135554508,881,786,805,652,631.135554508,652,0.449360780556,0.00458489023892,0.0595451831307,0.999999748489,9.5060685916e-05,-0.000699164660225,-7.17917639558e-05,1793239686127966208
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.553268044,661,631,880.553268044,786,805,652,631,652.446731956,0.44925138416,0.00458554657672,0.0595472716079,0.999999749544,9.83378135719e-05,-0.000697308457131,-7.07281737584e-05,1793239686144633344
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,631.026209323,880,786,804.973790677,652,631,652.973790677,0.44913506193,0.004586268251,0.059549703516,0.999999750882,0.000101752532085,-0.000695009231335,-6.9608085126e-05,1793239686161300224
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,631.600943387,880,786,804.399056613,652,631,652.399056613,0.448994408924,0.00458632802866,0.0595531082962,0.999999754502,0.000103469191672,-0.000689631508172,-6.85470804857e-05,1793239686177966848
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.178912838,661,631.821087162,880,786,804,652,631,652.178912838,0.448842078721,0.00458691874311,0.0595549601539,0.999999756025,0.000106292353887,-0.000687103300552,-6.738598368e-05,1793239686194633216
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.764231487,661,631.235768513,880,786,804,652,631,652.764231487,0.448663223439,0.0045887154962,0.0595532845018,0.999999752818,0.000111628969374,-0.000691047852661,-6.59975247019e-05,1793239686211299840
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.346021004,746,714,681,661,631.346021004,880,786.346021004,804.346021004,652,631,653,0.448466125085,0.00458903822662,0.0595523631306,0.999999750262,0.000114985431047,-0.000694342192749,-6.43610397344e-05,1793239686227966464
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.92543021,746,714,681,661,631.92543021,880,786.92543021,804.92543021,652,631,653,0.448256721917,0.00458836674157,0.0595519505151,0.999999748156,0.000117006296476,-0.000697197970805,-6.25572632235e-05,1793239686244632832
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.494629508,746,714,681,661.505370492,632,880,786.494629508,805,652,631.505370492,653,0.448030003891,0.00458743605828,0.0595648028414,0.999999760721,0.000120501213323,-0.000678516577989,-6.04322838399e-05,1793239686261299712
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.915297765,714,680.915297765,662,632,880.084702235,786,804.915297765,652,631.915297765,653,0.447793835033,0.00458691319665,0.059579376242,0.999999774716,0.000124944533267,-0.000656946444973,-5.81238609001e-05,1793239686277966592
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.339945238,714,680.339945238,662,632,880.660054762,786,804.339945238,652,631.339945238,653,0.447517735873,0.00458897448044,0.0595925693228,0.999999786629,0.000133620375874,-0.000637070732892,-5.50276444808e-05,1793239686294633472
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.240526687,745.240526687,714,680.240526687,662,632,880.759473313,786,804.240526687,652,631,652.759473313,0.447220978802,0.0045901191822,0.0596027715603,0.999999794612,0.00014073482787,-0.000623106385644,-5.20438933127e-05,1793239686311300352
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.828391361,745.828391361,714,680.828391361,662,632,880.171608639,786,804.828391361,652,631,652.171608639,0.446894390225,0.00458994027286,0.0596086548023,0.999999797426,0.000145594518085,-0.000617678479625,-4.92225503408e-05,1793239686327966976
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.589322864,745.589322864,714,680.589322864,662.410677136,632,880,786,805,652,631,652.410677136,0.44653341371,0.00459022788325,0.0596107964833,0.999999796505,0.000153869350511,-0.000617435731658,-4.56938452236e-05,1793239686344633088
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.009337098,745.009337098,714,680.009337098,662.990662902,632,880,786,805,652,631,652.990662902,0.446158260192,0.00459070782433,0.0596113956421,0.999999793963,0.000163552133223,-0.000619330653312,-4.18735181059e-05,1793239686361299456
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,662.434269869,632.565730131,880,786,805,652,631,653,0.445738792679,0.00459241372931,0.0596037696775,0.999999785373,0.000172221091162,-0.000630930501897,-3.89915212129e-05,1793239686377966080
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.140549315,714,680,662.140549315,633,880.140549315,786.140549315,804.859450685,652,631,653,0.445311205774,0.00459375462416,0.0595986283879,0.999999779767,0.000180449850997,-0.000637662774059,-3.59094862812e-05,1793239686394632960
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.714851266,714,680,662.714851266,633,880.714851266,786.714851266,804.285148734,652,631,653,0.444860799172,0.00459390714587,0.0596015704503,0.999999784182,0.000187371297337,-0.000628883039808,-3.21627278191e-05,1793239686411299584
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,663.297181927,633,881,787,804,652,631,653,0.444408336062,0.00459330924118,0.0596179836257,0.999999801476,0.000193683662587,-0.00059894635263,-2.82411489624e-05,1793239686427966464
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,663.887430181,633,881,787,804,652,631,653,0.443953844872,0.00459197130258,0.0596476813562,0.999999829597,0.000199395382226,-0.000548145707841,-2.41471702558e-05,1793239686444633344
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.469295448,746,714,680,664,633.469295448,881,787,804,652,631,653,0.443458440167,0.00459286699345,0.0596806528444,0.999999855517,0.000211207574205,-0.000493954310719,-1.91595485142e-05,1793239686461300224
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.951484501,745.951484501,714,680.048515499,664,633.951484501,880.951484501,787,804.048515499,652,631.048515499,652.951484501,0.442947285841,0.00459411723849,0.0597117593935,0.999999876243,0.000224160895805,-0.000443928458129,-1.39395052963e-05,1793239686477966592
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.107278521,665.107278521,634.107278521,881,787.892721479,804.107278521,652,631,652.107278521,0.438558708972,0.00459515528745,0.0598407215952,0.999999922976,0.000297155698211,-0.000255433954332,2.23783156181e-05,1793239686594633472
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.679894965,665.679894965,634.679894965,881,787.320105035,804.679894965,652,631,652.679894965,0.437828775148,0.00459705179994,0.059849062234,0.999999920764,0.00030689948049,-0.000252076117467,2.72554299697e-05,1793239686611300096
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.260163755,714,680.739836245,666,635,880.739836245,787,805,652,631,653,0.437050626534,0.00459962968259,0.0598291662006,0.999999907575,0.000317301440246,-0.000288431902767,3.12461126538e-05,1793239686627966720
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745.850133391,714,680.149866609,666,635,880.149866609,787,805,652,631,653,0.43621135662,0.00460307132874,0.0597734749415,0.999999875088,0.000328537761836,-0.000375132078571,3.41130790549e-05,1793239686644633088
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.432210913,745.567789087,714,680,666,635,880,787,804.567789087,652,631.432210913,653,0.435415170786,0.004605283744,0.059757422268,0.999999869639,0.000338692821687,-0.000380340075007,3.67554822487e-05,1793239686661299456
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.988470976,745.011529024,714,679.988470976,666,635,879.988470976,787,804,652,632,653,0.434633213632,0.00460711483826,0.059755278606,0.999999875127,0.000346779831875,-0.000357748664911,3.88076833904e-05,1793239686677966080
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.412672166,745.587327834,714,679.412672166,666,635,879.412672166,787,804,652,632,653,0.433829592854,0.00461076978066,0.0597732523899,0.999999907613,0.000271670303801,-0.000332749890444,1.57160721605e-05,1793239686694632704
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.836903501,714,679.163096499,665.836903501,635,879.163096499,787,804,652,631.836903501,653,0.433015878866,0.0046107129133,0.0597878444928,0.999999926766,0.000218735175496,-0.000314039068896,1.4213552328e-06,1793239686711299328
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.261211132,714,679.738788868,665.261211132,635,879.738788868,787,804,652,631.261211132,653,0.432176631473,0.00460126603805,0.0597938817357,0.999999926903,0.00022189608381,-0.000311235299136,9.38071828738e-06,1793239686727966208
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,880,787,804,652,631,653,0.43133825139,0.00459895729512,0.0598086910699,0.999999931441,0.000232381385246,-0.000287882161828,1.55212618742e-05,1793239686744632832
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,880,787,804,652,631,653,0.430500591743,0.00460257755315,0.0598307865863,0.99999993819,0.000248950396675,-0.000247460524407,2.01510763207e-05,1793239686761299712
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.494509378,745,714,680,665.494509378,635,879.505490622,787,804,652,631,653,0.429601938896,0.00460910618069,0.0598230180992,0.999999929196,0.000259786681689,-0.00027126291432,2.31173256459e-05,1793239686777966080
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.927822305,745.072177695,714,679.927822305,665.927822305,635,879.072177695,787,803.927822305,652,631,653,0.428694067722,0.00461474571658,0.0598072122541,0.999999916672,0.000266755949257,-0.000307985592074,2.53272533806e-05,1793239686794632704
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.353160676,745.646839324,714,679.353160676,665.353160676,635,879.646839324,787,803.353160676,652,631,653,0.427793798057,0.00461077303221,0.0597705962323,0.999999903094,0.000253550236392,-0.000359077321668,2.42295341366e-05,1793239686811299328
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.22629314,745.77370686,714,679.22629314,665,635,880,787,803.22629314,652,631,653,0.426919905742,0.0046082162488,0.0597576676817,0.999999900391,0.000242987961645,-0.00037365965518,2.35248940933e-05,1793239686827965952
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.8133877,745.1866123,714,679.8133877,665,635,880,787,803.8133877,652,631,653,0.426088069292,0.00460791697499,0.0597825063918,0.999999917265,0.00023664037893,-0.000330031474611,2.34469787836e-05,1793239686844632576
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.604650074,745,714,679.604650074,665,635,879.604650074,787,804,652.395349926,631.395349926,653,0.425206481299,0.00461003304719,0.0598090655349,0.999999926472,0.000238050770848,-0.000299544084075,2.57085887701e-05,1793239686861299456
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.025079392,745,714,679.025079392,665,635,879.025079392,787,804,652.974920608,631.974920608,653,0.424301710685,0.00461327459544,0.0598364263447,0.999999932173,0.0002430761378,-0.000275179895206,2.90603447096e-05,1793239686877966080
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745.551783745,714,679.551783745,665,635,879.551783745,787,804,652.448216255,631.448216255,653,0.423437534342,0.00461024272418,0.0598427662268,0.999999938983,0.000232992311996,-0.000258591867592,2.96538319963e-05,1793239686894632704
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.87144728,714,680,665.12855272,635,880,787,804,652,631,653,0.422571170257,0.0046083060141,0.0598466670818,0.999999943643,0.000224845183534,-0.00024748944303,3.01240865229e-05,1793239686911299328
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.294579641,714,680,665.705420359,635,880,787,804,652,631,653,0.421690773602,0.00461117809974,0.0598453777764,0.999999941699,0.000225835323888,-0.000254290956704,3.05996506028e-05,1793239686927965952
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.711561625,665.711561625,635,879.711561625,787,804,652,631,652.711561625,0.420790668818,0.00461261519886,0.0598166470002,0.999999926911,0.00022453723653,-0.000307885711643,3.11046273088e-05,1793239686944632832
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.122125464,665.122125464,635,879.122125464,787,804,652,631,652.122125464,0.419869997812,0.00461255482798,0.0597592798751,0.999999890934,0.000220851283832,-0.000410311213332,3.16402970775e-05,1793239686961299456
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.459185263,665,635,879,787.459185263,804,652,631,652.459185263,0.419008779951,0.00461013388318,0.0597457854662,0.999999892879,0.000209289276124,-0.00041176218915,2.98732876913e-05,1793239686977966080
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.961926052,665,635,879.038073948,787.961926052,804,652,631,652.961926052,0.4181672601,0.00460739168433,0.0597466458792,0.999999906184,0.000196453583737,-0.000385051687304,2.78161368749e-05,1793239686994632448
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.387245936,665,635,879.612754064,787.387245936,804,652,631,652.387245936,0.417384381433,0.00460881632691,0.0597882270299,0.999999925035,0.000194676143235,-0.000333351198009,3.01510817173e-05,1793239687011299328
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.187265294,665,635,880,787,803.812734706,652,631,652.187265294,0.416599280026,0.00460966841987,0.0598212786418,0.999999937517,0.000192258042988,-0.000294900704778,3.2199487368e-05,1793239687027965952
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.761427703,665,635,880,787,803.238572297,652,631,652.761427703,0.41580958621,0.00460933760412,0.0598367079144,0.999999941386,0.000188516316249,-0.000283825192001,3.3655892876e-05,1793239687044632832
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,879.652441705,787,803.347558295,652.347558295,631,652.652441705,0.415041768346,0.00460708892359,0.0598433424994,0.999999944727,0.000181936621826,-0.000276170165674,3.42834389119e-05,1793239687061299200
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,879.057802924,787,803.942197076,652.942197076,631,652.057802924,0.414289502225,0.00460347682587,0.0598437249074,0.999999947682,0.000173339405826,-0.000270946776571,3.43217455724e-05,1793239687077966080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.519217483,714,680,665,635,879,787.519217483,803.480782517,653,631,652.519217483,0.413510329275,0.0046044976903,0.0598363810873,0.999999927142,0.000250163977978,-0.000286252817126,3.45442816228e-05,1793239687094632448
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.906180494,714,680,665,635,879,787.906180494,803.093819506,652.906180494,631.093819506,653,0.412732660438,0.00460554057573,0.0598220686228,0.999999899253,0.000320389246392,-0.000312494781959,3.45247266393e-05,1793239687111299072
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.334235417,714,680,665,635,879,787.334235417,803.665764583,652.334235417,631.665764583,653,0.41197742145,0.0046041534492,0.0597764819569,0.999999877943,0.000310109639003,-0.000383203643232,3.31703298586e-05,1793239687127965952
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.246230055,714,679.753769945,665,635,879,787,804,652,631.753769945,652.753769945,0.411271533,0.00460132404589,0.0597539545105,0.999999869817,0.000296864861154,-0.000413770162293,3.21194642032e-05,1793239687144632320
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.838675712,714,679.161324288,665,635,879,787,804,652,631.161324288,652.161324288,0.410635034706,0.00459646670698,0.0597638498425,0.999999885227,0.000279450861631,-0.000387893912216,3.14953834906e-05,1793239687161299200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.5791366,714,679.4208634,665.4208634,635,879,787,803.5791366,652,631,652,0.410025829061,0.00459499365961,0.0597991774752,0.999999907691,0.000267915592712,-0.000334325082914,3.26366080033e-05,1793239687177966080
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.000787365,714,679.999212635,665.999212635,635,879,787,803.000787365,652,631,652,0.409426836193,0.00459478700369,0.0598440218001,0.999999929419,0.000258580125,-0.000270393769385,3.44384043311e-05,1793239687194632960
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.574110552,745,714,680,665.425889448,635,879.574110552,787,803.574110552,652,631,652.574110552,0.408823130989,0.00459258442532,0.0598581081254,0.999999937211,0.000248206883604,-0.000250447626454,3.53147309259e-05,1793239687211299584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.85101954,745,714,679.85101954,665,635,879.85101954,787.14898046,804,652,631.14898046,653,0.408228192897,0.00459098823354,0.0598639637569,0.999999941596,0.000238319637774,-0.000242367919132,3.5629830533e-05,1793239687227965952
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.276216106,745,714,679.276216106,665,635,879.276216106,787.723783894,804,652,631.723783894,653,0.407658331599,0.00459113302111,0.0598464138837,0.999999937079,0.000229825528888,-0.00026803402402,3.43444110437e-05,1793239687244632576
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.308982469,665,635,879,787.691017531,804,652,632,653,0.4071180837,0.00459023835561,0.0598322304437,0.999999934065,0.000220832854785,-0.000286355536836,3.32305562379e-05,1793239687261299456
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.903797309,665,635,879,787.096202691,804,652,632,653,0.40660523049,0.00458838211664,0.0598211612124,0.999999932772,0.000211378970386,-0.000297882739893,3.22754119492e-05,1793239687277966336
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.482634626,745,714,679.517365374,665,635,879.482634626,787,803.517365374,652,631.517365374,652.517365374,0.406138073153,0.00458535054421,0.0598273882236,0.999999939232,0.000199530088196,-0.000284113768027,3.16563836778e-05,1793239687294632960
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.941706136,745.058293864,714,679,665,635,879.941706136,787,803.058293864,652.058293864,631,652,0.405681453408,0.004582233009,0.05983563322,0.999999946088,0.00018766749648,-0.000267652200832,3.11067031906e-05,1793239687311299328
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.366891833,745.633108167,714,679,665,635,879.366891833,787,803.633108167,652.633108167,631,652,0.40524008269,0.00458036311399,0.0598321895572,0.999999946766,0.000179777866528,-0.000270578334825,3.05968712463e-05,1793239687327966208
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.213005186,746,714,679,665,635,879,787,804,653,631.213005186,652.213005186,0.404810406081,0.00457903945896,0.0598220893792,0.999999943036,0.00017512473475,-0.000286919732574,3.05946191872e-05,1793239687344632832
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.801870904,746,714,679,665,635,879,787,804,653,631.801870904,652.801870904,0.404401364481,0.00457867967763,0.0598002433783,0.999999930541,0.000176182600374,-0.000326933173857,3.14880225527e-05,1793239687361299456
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.615298602,745.615298602,714.384701398,679.384701398,665,635,879,787,804,653,632,653,0.404029402683,0.00457724248584,0.0597843928363,0.999999921833,0.000173815544265,-0.000353715230714,3.17583404326e-05,1793239687377966080
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.035528311,745.035528311,714.964471689,679.964471689,665,635,879,787,804,653,632,653,0.403676242745,0.0045752589761,0.0597715823841,0.999999915237,0.000169711827858,-0.000373788109689,3.17127131048e-05,1793239687394632960
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745.542030962,714.457969038,680,665,635,879,787,803.457969038,653,631.457969038,652.457969038,0.403399598921,0.0045734361521,0.0597880709391,0.999999926611,0.000169171568736,-0.000342167605586,3.287538954e-05,1793239687411299584
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.118702035,746,714,679.881297965,665.118702035,635,879,787,803.118702035,653,631.118702035,652,0.403134204488,0.00457173901083,0.0598074414609,0.999999938031,0.000169471591922,-0.000306700164647,3.39492264231e-05,1793239687427965952
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.692521214,746,714,679.307478786,665.692521214,635,879,787,803.692521214,653,631.692521214,652,0.402892790027,0.00457048353257,0.0598305284602,0.999999948306,0.000172101447737,-0.000269421577708,3.43800136154e-05,1793239687444632576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,665.725533885,635,879,787,803.725533885,653,632,652.274466115,0.402661778594,0.00456903603087,0.0598454066535,0.999999950043,0.000194356799461,-0.000247088090125,3.29710051612e-05,1793239687461299200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,665.134208214,635,879,787,803.134208214,653,632,652.865791786,0.40244277703,0.0045673668463,0.0598508081251,0.999999941658,0.00023926895834,-0.000242008091669,2.94380301875e-05,1793239687477965824
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.55248128,745.55248128,714,679.44751872,665,635,879,787,803.44751872,653,631.55248128,653,0.402236498383,0.0045627745506,0.0598462480596,0.999999942481,0.000226005329636,-0.000251682009217,2.48121272683e-05,1793239687494632704
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.02628931,745.02628931,714,679.97371069,665,635.02628931,879.02628931,787,804,653,631,652.97371069,0.402035829935,0.00455764159087,0.0598389518252,0.999999945161,0.000197069674838,-0.000265399381071,2.01166804321e-05,1793239687511299328
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.602171229,745.602171229,714,679.397828771,665,635.602171229,879.602171229,787,804,653,631,652.397828771,0.401874354977,0.00455914722974,0.0598355964149,0.999999942979,0.000197573170926,-0.000273090777494,2.06755552297e-05,1793239687527965952
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.818393401,714,679.181606599,665,635.818393401,879.818393401,787,804,653,631,652.181606599,0.401722726083,0.00456027127255,0.0598331456426,0.999999940985,0.000199491985677,-0.00027887772629,2.14669507372e-05,1793239687544632832
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.231018544,714,679.768981456,665,635.231018544,879.231018544,787,804,653,631,652.768981456,0.401593096526,0.00456054270533,0.0598327161266,0.999999939501,0.000204573082992,-0.000280409518145,2.27778731278e-05,1793239687561300480
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.351680016,745.351680016,714,680,665,635,879.351680016,787.351680016,804,653,631,653,0.401481727792,0.00455902020464,0.0598336241201,0.999999940261,0.000203109176401,-0.000278678315922,2.3730005606e-05,1793239687577967104
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.493330892,746,714,680,665.506669108,635,880,787.493330892,804,653,631,653,0.401304402155,0.00455676512403,0.0598357355797,0.999999943098,0.000196074581195,-0.000273430912963,2.4368302205e-05,1793239687611299584
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+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.01187245,714,680,665.98812755,635,879.01187245,788,803.01187245,653,631,653,0.400967193244,0.00454891700048,0.0598422484048,0.999999948212,0.000178184747931,-0.00026683723842,2.50011064436e-05,1793239688027965952
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.585490622,714,680,665.414509378,635,879.585490622,788,803.585490622,653,631,653,0.400968714045,0.00454922616705,0.0598437023946,0.99999994864,0.000179118409102,-0.000264574870634,2.52211913134e-05,1793239688044632832
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.836919179,746,714,680,665,635,879.673838359,788,804,653,631,653,0.400969639474,0.00454974808244,0.0598447237301,0.999999948907,0.000179807822091,-0.00026308802214,2.53026836698e-05,1793239688061299712
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.248981115,746,714,680,665,635,878.49796223,788,804,653,631,653,0.400969013845,0.00455082424985,0.0598446179168,0.999999948764,0.000179860921034,-0.000263621552317,2.50231155707e-05,1793239688077966336
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.335950917,746,714,680,665.335950917,635,878.335950917,788,804,653,631,652.664049083,0.400969191105,0.00455099432648,0.0598450667331,0.999999948944,0.000179667781084,-0.00026308946198,2.48193251273e-05,1793239688094632960
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.918674841,746,714,680,665.918674841,635,878.918674841,788,804,653,631,652.081325159,0.400969958127,0.00455049883337,0.059845922953,0.99999994936,0.000179293766165,-0.000261774619246,2.4671197232e-05,1793239688111299584
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745.506370862,714,680,666,635.493629138,879,788,804.493629138,653,631,652.493629138,0.400969487839,0.00455027166636,0.0598457419031,0.99999994949,0.000178199008681,-0.000262023150909,2.46951309503e-05,1793239688127966208
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.067684352,714,680,665.932315648,635.932315648,879.067684352,787.932315648,804.932315648,652.932315648,631,653,0.400968765493,0.00454998035068,0.0598453463892,0.999999949513,0.000177167247526,-0.000262626645703,2.47636208928e-05,1793239688144632576
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.644455443,714,680,665.355544557,635.355544557,879.644455443,787.355544557,804.355544557,652.355544557,631,653,0.400967656759,0.00454887919515,0.0598446032145,0.999999949091,0.000177488589125,-0.000263992737204,2.49573316325e-05,1793239688161299200
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.774218323,746,714,679.774218323,665,635,879.774218323,787,803.774218323,652.225781677,631,653,0.400967338419,0.00454868364217,0.0598445251378,0.999999949011,0.000177931345606,-0.000264000088621,2.49454016548e-05,1793239688177965824
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.185571192,746,714,679.185571192,665,635,879.185571192,787,803.185571192,652.814428808,631,653,0.400968290362,0.00454994352992,0.0598455159746,0.999999949478,0.000178569234296,-0.000261823738533,2.46029758358e-05,1793239688194632704
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,745.60463463,714,679.39536537,665,635,879,787,803,653,631,652.60463463,0.400968502526,0.00454944147951,0.0598454132964,0.999999949602,0.00017760632052,-0.000261997906753,2.46885255111e-05,1793239688211299584
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765,745.027247952,714,679.972752048,665,635,879,787,803,653,631,652.027247952,0.400968374106,0.00454812825459,0.0598448071776,0.999999949565,0.000175906417126,-0.000263254224547,2.49711098106e-05,1793239688227966720
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.54742431,745,714.54742431,680,665.54742431,635.54742431,879.54742431,787,803.54742431,653,631,652.54742431,0.400970778516,0.00454957603609,0.0598464546596,0.999999949774,0.000178725454598,-0.000260536853411,2.50965559434e-05,1793239688244633344
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78bdb96b50e941872504c8fc61524f0199c10493
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,416 @@
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+278,4.633333333,pose2_to_pose3_retreat,0.619177723827,0.0100908174866,1.05003228237,0.589748174404,0.0187625564933,1.04970041984
+279,4.650000000,pose2_to_pose3_retreat,0.619168781899,0.0100909170978,1.05003220183,0.589739231113,0.0187626516705,1.04970034237
+280,4.666666667,pose2_to_pose3_retreat,0.619152313908,0.0100908334435,1.05003225315,0.589722765184,0.0187625747876,1.04970038835
+281,4.683333333,pose2_to_pose3_retreat,0.61912596209,0.0100907692134,1.0500323491,0.589696413883,0.0187625120414,1.04970047798
+282,4.700000000,pose2_to_pose3_retreat,0.619089758977,0.0100907623459,1.05003224637,0.589660210517,0.0187625045493,1.04970038352
+283,4.716666667,pose2_to_pose3_retreat,0.619042585869,0.0100907467984,1.05003221849,0.589613038071,0.0187624912694,1.04970035992
+284,4.733333333,pose2_to_pose3_retreat,0.618986477167,0.0100907563879,1.05003229281,0.589556929218,0.0187625002108,1.04970043568
+285,4.750000000,pose2_to_pose3_retreat,0.618921896305,0.0100907784459,1.05003225061,0.589492347164,0.0187625176099,1.04970038227
+286,4.766666667,pose2_to_pose3_retreat,0.61884814552,0.0100908238337,1.05003218646,0.589418595638,0.018762560163,1.04970030824
+287,4.783333333,pose2_to_pose3_retreat,0.618764854282,0.0100909571834,1.05003243052,0.589335302887,0.0187626884989,1.04970055139
+288,4.800000000,pose2_to_pose3_retreat,0.61866997212,0.0100907763435,1.05003223023,0.589240423313,0.0187625164824,1.04970035273
+289,4.816666667,pose2_to_pose3_retreat,0.618562651682,0.0100906882855,1.0500321063,0.589133104011,0.0187624326066,1.0497002391
+290,4.833333333,pose2_to_pose3_retreat,0.618439548524,0.010090733111,1.05003230757,0.589009999836,0.0187624740292,1.04970044252
+291,4.850000000,pose2_to_pose3_retreat,0.618300805542,0.0100907295038,1.05003246855,0.588871256464,0.0187624687191,1.0497005939
+292,4.866666667,pose2_to_pose3_retreat,0.618145426107,0.0100908259033,1.05003232767,0.588715876418,0.0187625635294,1.04970046609
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+296,4.933333333,pose2_to_pose3_retreat,0.617364406566,0.0100907334346,1.05003205536,0.587934858795,0.0187624767599,1.04970019135
+297,4.950000000,pose2_to_pose3_retreat,0.617122399427,0.0100907386401,1.05003222304,0.587692851318,0.0187624806274,1.04970035803
+298,4.966666667,pose2_to_pose3_retreat,0.61685638957,0.0100907722509,1.050032289,0.587426841112,0.0187625129131,1.04970042501
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+304,5.066666667,pose2_to_pose3_retreat,0.614776431877,0.010090739279,1.05003229227,0.585346883888,0.0187624799133,1.0497004121
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+307,5.116666667,pose2_to_pose3_retreat,0.613505195051,0.0100907964439,1.05003226544,0.584075646161,0.0187625344869,1.04970040036
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+384,6.400000000,pose2_to_pose3_retreat,0.575687447812,0.0100908813112,1.05003238693,0.546257897523,0.0187626143516,1.0497005143
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+390,6.500000000,pose2_to_pose3_retreat,0.575668432146,0.010090777735,1.0500322324,0.546238884183,0.0187625188657,1.04970036455
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+394,6.566666667,pose2_to_pose3_retreat,0.575667113619,0.0100908410668,1.05003226047,0.546237564197,0.0187625769703,1.04970038538
+395,6.583333333,pose2_to_pose3_retreat,0.575667098291,0.0100908418031,1.05003226079,0.546237548852,0.0187625776458,1.04970038562
+396,6.600000000,pose2_to_pose3_retreat,0.575667029701,0.0100908450976,1.05003226225,0.546237480186,0.0187625806684,1.0497003867
+397,6.616666667,pose2_to_pose3_retreat,0.575666907801,0.0100908509527,1.05003226485,0.546237358152,0.0187625860402,1.04970038863
+398,6.633333333,pose2_to_pose3_retreat,0.575666799115,0.0100908439888,1.05003227534,0.546237249644,0.0187625797127,1.04970039987
+399,6.650000000,pose2_to_pose3_retreat,0.57566667937,0.0100908353986,1.0500322875,0.54623713012,0.018762571904,1.04970041297
+400,6.666666667,pose2_to_pose3_retreat,0.575666656878,0.0100908337851,1.05003228979,0.546237107669,0.0187625704373,1.04970041543
+401,6.683333333,pose2_to_pose3_retreat,0.575666579064,0.0100908282028,1.0500322977,0.546237029998,0.0187625653629,1.04970042395
+402,6.700000000,pose2_to_pose3_retreat,0.57566652073,0.0100908240181,1.05003230363,0.546236971771,0.0187625615589,1.04970043033
+403,6.716666667,pose2_to_pose3_retreat,0.575666343884,0.0100908113314,1.0500323216,0.546236795249,0.0187625500265,1.04970044968
+404,6.733333333,pose2_to_pose3_retreat,0.575665964869,0.0100907841416,1.05003236012,0.54623641693,0.0187625253104,1.04970049115
+405,6.750000000,pose2_to_pose3_retreat,0.575665858796,0.0100907765322,1.0500323709,0.546236311051,0.0187625183932,1.04970050276
+406,6.766666667,pose2_to_pose3_retreat,0.575665738989,0.0100907679375,1.05003238308,0.546236191464,0.0187625105805,1.04970051587
+407,6.783333333,pose2_to_pose3_retreat,0.575665552958,0.0100907545919,1.05003240198,0.546236005774,0.0187624984491,1.04970053622
+408,6.800000000,pose2_to_pose3_retreat,0.575665298988,0.0100907363726,1.05003242779,0.546235752271,0.0187624818874,1.04970056401
+409,6.816666667,pose2_to_pose3_retreat,0.575665070368,0.0100907199719,1.05003245103,0.546235524071,0.0187624669788,1.04970058903
+410,6.833333333,pose2_to_pose3_retreat,0.575664977934,0.0100907308285,1.05003242619,0.54623543146,0.0187624772214,1.04970056378
+411,6.850000000,pose2_to_pose3_retreat,0.575664944685,0.0100907368119,1.05003241319,0.546235398106,0.0187624828392,1.0497005505
+412,6.866666667,pose2_to_pose3_retreat,0.575664679481,0.0100907845365,1.0500323095,0.546235132069,0.018762527648,1.04970044454
+413,6.883333333,pose2_to_pose3_retreat,0.575664458907,0.0100908057329,1.05003228208,0.546234911148,0.0187625475774,1.04970041477
+414,6.900000000,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164433,1.04970035091
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cabeeac3087f76d1a46ae84df78063425f5050f4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e05c2987043655f2e95b7eed5e01824fd85a35641f3614f28a84825c4b67d0ea
+size 26462585
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae312c902e8243a607c14655c4b87a6a11ab0bac
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
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+0,0.000000000,BASELINE,766,746,715,680,665,635,879,788,804,653,632,653,0.400968437539,0.00455001658173,0.059845555733,0.999999949311,0.000180473775957,-0.0002611284796,2.48768430265e-05,1793239688372622080
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+21,0.350000000,BASELINE,765,745.801442273,714,679.801442273,665,635,879,787,804,652.198557727,631.198557727,653,0.400972186115,0.00454726303763,0.0598483158618,0.999999951435,0.00017525043884,-0.000256553838413,2.44354835717e-05,1793239688722622208
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+28,0.466666667,BASELINE,766,745.739087803,714,680,665.260912197,635,879.260912197,787,803.260912197,653,631.260912197,653,0.400971706026,0.00454877661274,0.0598494341713,0.99999995116,0.000178250529759,-0.000255505678351,2.49617913978e-05,1793239688839289344
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+44,0.733333333,BASELINE,766,745.538440109,714,679.538440109,666,635,879,787.461559891,804,653,632,653,0.400971466259,0.0045501746828,0.0598488417441,0.999999951265,0.000177494377545,-0.000255708955973,2.40689788832e-05,1793239689105955840
+45,0.750000000,BASELINE,765.872489859,746,714,680,665.872489859,635,879.127510141,787.127510141,803.872489859,653,631.872489859,653,0.400972214594,0.00455070146184,0.0598491180714,0.99999995121,0.000178982975837,-0.000254893018539,2.39518376132e-05,1793239689122622720
+46,0.766666667,BASELINE,765.293254897,746,714,680,665.293254897,635,879.706745103,787.706745103,803.293254897,653,631.293254897,653,0.40096950352,0.004550197812,0.0598476558077,0.999999950549,0.000177782954855,-0.000258271500315,2.42984646925e-05,1793239689139289344
+47,0.783333333,BASELINE,765.28515392,745.71484608,714,679.71484608,665.28515392,635,879.71484608,787.71484608,803.28515392,652.71484608,631,653,0.400968726718,0.00454954183179,0.0598470311172,0.999999950445,0.000176903607954,-0.000259269712388,2.439539295e-05,1793239689155955968
+48,0.800000000,BASELINE,765.862715648,745.137284352,714,679.137284352,665.862715648,635,879.137284352,787.137284352,803.862715648,652.137284352,631,653,0.400969933392,0.0045487296461,0.0598472653066,0.999999950919,0.000176353092453,-0.000257827104692,2.42362704663e-05,1793239689172622336
+49,0.816666667,BASELINE,766,745.436453076,714,679,666,635.436453076,879,787.436453076,804,652.436453076,631,653,0.40096990926,0.00454782846919,0.0598476434376,0.999999951148,0.000175302887998,-0.000257632129465,2.4456638934e-05,1793239689189288704
+50,0.833333333,BASELINE,765.990677176,746,714,679,666,635.990677176,879,787.990677176,804,653,631.009322824,653,0.400969510463,0.00454693260968,0.059848059924,0.999999951294,0.000174161103909,-0.000257808151979,2.47857278624e-05,1793239689205955584
+51,0.850000000,BASELINE,765.397463728,746,714,679,666,635.397463728,879,787.397463728,804,653,631.602536272,653,0.400969682625,0.00454810768101,0.0598480675965,0.99999995104,0.000177042057525,-0.000256854908988,2.45129494101e-05,1793239689222622464
+52,0.866666667,BASELINE,765.191006976,745.808993024,714.191006976,679,665.808993024,635,879.191006976,787,804,653,632,653,0.400969872902,0.00454899780983,0.0598480172953,0.999999950922,0.000178585415193,-0.000256275141998,2.423016125e-05,1793239689239289600
+53,0.883333333,BASELINE,765.769847649,745.230152351,714.769847649,679,665.230152351,635,879.769847649,787,804,653,632,653,0.400970099961,0.0045493093717,0.0598478492806,0.999999951092,0.000177412825905,-0.000256453706425,2.39270487074e-05,1793239689255956480
+54,0.900000000,BASELINE,766,745.345593125,714.654406875,679.345593125,665.345593125,635,879.654406875,787,803.654406875,653,631.654406875,653,0.40096935412,0.00454874300194,0.0598473115987,0.999999950829,0.000176692905977,-0.000257933212469,2.43269867447e-05,1793239689272623104
+55,0.916666667,BASELINE,766,745.919295589,714.080704411,679.919295589,665.919295589,635,879.080704411,787,803.080704411,653,631.080704411,653,0.400967966113,0.00454759715188,0.0598465299173,0.999999950276,0.000176271771285,-0.000260271407266,2.51909745425e-05,1793239689289288960
+56,0.933333333,BASELINE,766,746,714,680,666,635,879,787.492797803,803.492797803,653,631,653,0.40096813743,0.00454788261056,0.0598467221123,0.99999995016,0.00017764597263,-0.000259805920667,2.49620129473e-05,1793239689305955584
+57,0.950000000,BASELINE,766,745.931100695,714,679.931100695,665.931100695,635,879,787.931100695,804,653,631.068899305,653,0.400968629263,0.00454837441525,0.0598470976839,0.999999950192,0.000178939254194,-0.000258826952267,2.45860906135e-05,1793239689322622208
+58,0.966666667,BASELINE,766,745.33485393,714,679.33485393,665.33485393,635,879,787.33485393,804,653,631.66514607,653,0.400969620528,0.00454865220887,0.0598476565796,0.999999950837,0.000177363716003,-0.000257430728318,2.44547597076e-05,1793239689339288832
+59,0.983333333,BASELINE,766,745.251947984,714.251947984,679.251947984,665.251947984,635,879,787.251947984,804,653,632,653,0.400970128527,0.00454877415862,0.0598482791016,0.999999951212,0.000176732373316,-0.00025642202613,2.42983082809e-05,1793239689355955456
+60,1.000000000,BASELINE,766,745.82665077,714.82665077,679.82665077,665.82665077,635,879,787.82665077,804,653,632,653,0.400970017446,0.00454869646658,0.0598489831315,0.999999951245,0.000177310580216,-0.000255909753641,2.41096765083e-05,1793239689372622080
+61,1.016666667,BASELINE,765.598498445,746,714.598498445,680,666,635,879.401501555,787.598498445,804,653,631.598498445,653,0.400970621285,0.00454868109392,0.0598493240948,0.999999951527,0.000176676230061,-0.000255235586081,2.42279174631e-05,1793239689389289216
+62,1.033333333,BASELINE,765.023583771,746,714.023583771,680,666,635,879.976416229,787.023583771,804,653,631.023583771,653,0.400971533906,0.00454869263773,0.0598495082454,0.999999951914,0.000175518162599,-0.000254491494219,2.44787002731e-05,1793239689405956352
+63,1.050000000,BASELINE,765.565178846,746,714,679.434821154,666,635.565178846,880,787,804,653,631,653,0.400971374264,0.00454865873017,0.0598495093083,0.999999951604,0.000177097676367,-0.000254617968691,2.44688991428e-05,1793239689422622464
+64,1.066666667,BASELINE,765.848108096,746,714,679.151891904,666,636,880,787.151891904,803.848108096,652.848108096,631.151891904,653,0.400971435992,0.00454895055778,0.0598494143296,0.999999951336,0.000178382542941,-0.00025478115351,2.43675100887e-05,1793239689439289088
+65,1.083333333,BASELINE,765.268828797,746,714,679.731171203,666,636,880,787.731171203,803.268828797,652.268828797,631.731171203,653,0.400972249661,0.00455016439664,0.0598490711494,0.99999995128,0.000178508843188,-0.000254942849669,2.40397788854e-05,1793239689455955712
+66,1.100000000,BASELINE,765,745.691315468,714,679.691315468,665.691315468,636,879.691315468,788,803.308684532,652.308684532,632,653,0.400971629013,0.00454991119359,0.0598486164758,0.999999951223,0.000177746972523,-0.000255693376271,2.40816356208e-05,1793239689472622336
+67,1.116666667,BASELINE,765,745.115331377,714,679.115331377,665.115331377,636,879.115331377,788,803.884668623,652.884668623,632,653,0.400969766345,0.00454838763315,0.0598480652568,0.999999951163,0.000176216006973,-0.0002569537895,2.44435300889e-05,1793239689489288704
+68,1.133333333,BASELINE,765.458548924,745,714,679,665.458548924,635.541451076,879,787.541451076,804,653,631.541451076,653,0.400970639176,0.00454912453701,0.0598486799823,0.999999951314,0.000176856841635,-0.000255925479109,2.44039021396e-05,1793239689505955840
+69,1.150000000,BASELINE,766,745.033024034,714,679.033024034,666,635,879,787.033024034,804,653,631,653,0.400972058496,0.0045502718776,0.0598494593206,0.999999951495,0.000177939760304,-0.000254475791919,2.42809458362e-05,1793239689522622720
+70,1.166666667,BASELINE,766,745.626532953,714,679.626532953,666,635,879,787.626532953,804,653,631,653,0.40097112915,0.00454877998608,0.0598480781335,0.999999951318,0.000177297317282,-0.000255599741722,2.44498892519e-05,1793239689539289344
+71,1.183333333,BASELINE,766,745.78575718,714,679.78575718,666,635,879,787.78575718,803.78575718,653,631,653,0.400970849385,0.00454792061313,0.0598476261153,0.999999951269,0.000177138398168,-0.000255894231304,2.45203098937e-05,1793239689555955968
+72,1.200000000,BASELINE,766,745.207889687,714,679.207889687,666,635,879,787.207889687,803.207889687,653,631,653,0.400971672123,0.00454813478519,0.0598487511331,0.999999951439,0.000177800142265,-0.000254780915658,2.44235123035e-05,1793239689572622848
+73,1.216666667,BASELINE,766,745.363564889,714,679,666,635.363564889,879.363564889,787.363564889,803.363564889,653,631,653,0.400971299107,0.00454838155307,0.0598491024975,0.999999951418,0.000177734449317,-0.000254906677681,2.44308848391e-05,1793239689589289216
+74,1.233333333,BASELINE,766,745.931416027,714,679,666,635.931416027,879.931416027,787.931416027,803.931416027,653,631,653,0.400970254198,0.00454864663646,0.0598490191478,0.999999951291,0.000177260011175,-0.000255728674576,2.44967903276e-05,1793239689605955584
+75,1.250000000,BASELINE,766,745.474728073,714.525271927,679,666,636,879.474728073,787.474728073,804,653,631.525271927,653,0.400970000384,0.0045486068828,0.0598485426686,0.999999951143,0.00017781218365,-0.000255925478194,2.44545750571e-05,1793239689622622464
+76,1.266666667,BASELINE,766,745.119020163,714.880979837,679,665.880979837,635.880979837,879,787.119020163,804,653,632,653,0.40096994734,0.00454849913456,0.0598481317912,0.99999995108,0.000178014238453,-0.000256037094549,2.43988386179e-05,1793239689639288832
+77,1.283333333,BASELINE,766,745.698530732,714.301469268,679,665.301469268,635.301469268,879,787.698530732,804,653,632,653,0.400970250628,0.00454829033028,0.0598481836702,0.999999951353,0.000176316057403,-0.000256151400207,2.43482530043e-05,1793239689655955456
+78,1.300000000,BASELINE,766,745.723997549,714,679.276002451,665.276002451,635.276002451,879,787.723997549,803.723997549,653,631.723997549,653,0.400970209023,0.00454858035176,0.0598481792219,0.999999951316,0.000176413404912,-0.000256226992983,2.43905422355e-05,1793239689672622336
+79,1.316666667,BASELINE,766,745.148736511,714,679.851263489,665.851263489,635.851263489,879,787.148736511,803.148736511,653,631.148736511,653,0.400969793465,0.00454941123038,0.0598481137004,0.999999950941,0.000178457573423,-0.000256260610898,2.45335320057e-05,1793239689689289472
+80,1.333333333,BASELINE,766,745.425071152,714.425071152,680,666,635.574928848,879,787.425071152,803.425071152,653,631.425071152,653,0.400968847962,0.00454808234932,0.059847284734,0.999999950961,0.000175575904623,-0.000258159901156,2.45681300376e-05,1793239689705956096
+81,1.350000000,BASELINE,766,745.998372043,714.998372043,680,666,635.001627957,879,787.998372043,803.998372043,653,631.998372043,653,0.400967717659,0.00454600032238,0.059846189541,0.999999951097,0.000170976510416,-0.000260709783968,2.45649299866e-05,1793239689722622464
+82,1.366666667,BASELINE,766,745.407516265,715,680,666,635.592483735,879.592483735,788,803.407516265,653,631.407516265,653,0.40096780711,0.00454815003174,0.0598465170755,0.999999950415,0.000176652493265,-0.000259535544776,2.46093887728e-05,1793239689739288832
+83,1.383333333,BASELINE,765.817890328,745.182109672,714.817890328,680,666,635.817890328,880,788,803.182109672,653,631,653,0.400968373034,0.00454963803298,0.0598471977864,0.999999950213,0.000180051738555,-0.000257977230042,2.45447438877e-05,1793239689755955712
+84,1.400000000,BASELINE,765.238187249,745.761812751,714.238187249,680,666,635.238187249,880,788,803.761812751,653,631,653,0.400969971642,0.00454965504147,0.0598486407288,0.999999951123,0.00017841638182,-0.000255603530928,2.42416006365e-05,1793239689772622336
+85,1.416666667,BASELINE,765.336814011,746,714,679.663185989,666,635,879.663185989,788,804,653,631,653,0.400969620728,0.00454852271292,0.0598483474649,0.99999995141,0.000176325101557,-0.000255938767137,2.41947224684e-05,1793239689789288960
+86,1.433333333,BASELINE,765.908535994,746,714,679.091464006,666,635,879.091464006,788,804,653,631,653,0.400967910138,0.00454658878934,0.059846843299,0.999999951257,0.000173915841535,-0.000258163326615,2.43265741477e-05,1793239689805955840
+87,1.450000000,BASELINE,766,746,714,679.493819138,665.506180862,635.493819138,879,788,804,653,631.493819138,653,0.400968242541,0.00454651781473,0.0598467826538,0.999999951026,0.000175012097486,-0.000258305368436,2.4442805981e-05,1793239689822622464
+88,1.466666667,BASELINE,766,746,714.080538499,680.080538499,665.080538499,635.919461501,879,787.919461501,804,653,631.919461501,653,0.400968918982,0.00454682772031,0.0598470482268,0.999999950832,0.000176570958769,-0.000257984458539,2.45382531383e-05,1793239689839289088
+89,1.483333333,BASELINE,766,746,714.660153464,680.660153464,665.660153464,635.339846536,879,787.339846536,804,653,631.339846536,653,0.400969316292,0.00454729927365,0.0598476317118,0.99999995097,0.00017685941337,-0.000257252449781,2.45233368266e-05,1793239689855955968
+90,1.500000000,BASELINE,765.761238836,746,714.761238836,680.522477673,666,635,879,787,804,653,631,653,0.400970064613,0.00454786905546,0.0598482140576,0.99999995128,0.000177002840926,-0.000255967765313,2.42956988216e-05,1793239689872622336
+91,1.516666667,BASELINE,765.184058876,746,714.184058876,679.368117752,666,635,879,787,804,653,631,653,0.400971310454,0.00454857806572,0.0598487947886,0.999999951831,0.000176940707899,-0.000253899721311,2.3766550227e-05,1793239689889288704
+92,1.533333333,BASELINE,765.391463864,746,714,679.391463864,666,635,879.391463864,787.391463864,804,653,631,653.391463864,0.400971290241,0.00454898087013,0.0598490810743,0.999999951967,0.00017633923509,-0.000253787926102,2.37248313011e-05,1793239689905955584
+93,1.550000000,BASELINE,765.966210746,746,714,679.966210746,666,635,879.966210746,787.966210746,804,653,631,653.966210746,0.400970677263,0.0045492403093,0.0598492295009,0.999999951908,0.000175485243891,-0.000254592044584,2.39113264475e-05,1793239689922622208
+94,1.566666667,BASELINE,766,746,714.555443874,680,666,635,879.444556126,787.444556126,804,653,631,653.444556126,0.400969394955,0.0045477394663,0.0598481711396,0.99999995163,0.00017530562028,-0.000255763036957,2.43653863418e-05,1793239689939289088
+95,1.583333333,BASELINE,766,746,714.857106281,679.857106281,666,635.142893719,879.142893719,787,803.857106281,653,631,652.857106281,0.400968910581,0.00454663907594,0.0598475528819,0.999999951524,0.000175050984031,-0.000256318715873,2.46870080524e-05,1793239689955955456
+96,1.600000000,BASELINE,766,746,714.277864876,679.277864876,666,635.722135124,879.722135124,787,803.277864876,653,631,652.277864876,0.400970990489,0.00454709727909,0.0598485087263,0.999999951991,0.000174438658433,-0.000254925465523,2.45531752704e-05,1793239689972622336
+97,1.616666667,BASELINE,766,746,714.299570366,679.299570366,666,635.700429634,879.700429634,787.299570366,803,653,631,652.599140732,0.400971941694,0.00454797896778,0.0598490753385,0.999999952047,0.000175102392953,-0.000254254647449,2.44908092322e-05,1793239689989289216
+98,1.633333333,BASELINE,766,746,714.875340319,679.875340319,666,635.124659681,879.124659681,787.875340319,803,653,631,653.750680638,0.40097185225,0.00454925110405,0.0598492830842,0.999999951724,0.000176942636663,-0.000254249901671,2.44943345163e-05,1793239690005956096
+99,1.650000000,BASELINE,765.549724112,745.549724112,714.549724112,679.549724112,666,635,879,787.549724112,803.450275888,653,631.450275888,653.549724112,0.400971011064,0.00454860759422,0.0598486718545,0.999999951706,0.000176159549466,-0.000254872273154,2.44266870117e-05,1793239690022622720
+100,1.666666667,BASELINE,765.025605051,745,714,679,665.974394949,635,879,787,804,653,632,653,0.400970012098,0.00454749965051,0.059847888096,0.999999951754,0.000174795154823,-0.000255629335918,2.43435815705e-05,1793239690039288832
+101,1.683333333,BASELINE,765.614669704,745,714,679,665.385330296,635,879,787,804,653,632,653,0.400970112483,0.00454782065741,0.059848287957,0.999999951462,0.000176591299749,-0.00025553684045,2.43531189938e-05,1793239690055955456
+102,1.700000000,BASELINE,765.799793248,745.200206752,714,679.200206752,665.200206752,635.200206752,879,787,804,653,631.799793248,653,0.400969680256,0.00454814982457,0.0598481322852,0.999999951064,0.000177881139032,-0.000256199449418,2.43491550315e-05,1793239690072622336
+103,1.716666667,BASELINE,765.220928154,745.779071846,714,679.779071846,665.779071846,635.779071846,879,787,804,653,631.220928154,653,0.400968240681,0.00454849442548,0.0598469259137,0.999999950467,0.000178213383759,-0.000258290215001,2.43196554044e-05,1793239690089289216
+104,1.733333333,BASELINE,765,745.644329741,714,680,665.644329741,635.644329741,879,787.355670259,804,653,631,653,0.400968887995,0.00454813988829,0.059847539111,0.999999950972,0.000176971880679,-0.0002571793386,2.43924940696e-05,1793239690105956096
+105,1.750000000,BASELINE,765,745.069130329,714,680,665.069130329,635.069130329,879,787.930869671,804,653,631,653,0.400970823393,0.00454735382448,0.0598492753945,0.999999952147,0.00017475901858,-0.000254092323719,2.45284986506e-05,1793239690122623232
+106,1.766666667,BASELINE,765,745,714,680,665.517811011,635.517811011,879.517811011,787.482188989,804,653,631,652.482188989,0.400970695468,0.0045474344481,0.0598491889909,0.999999952071,0.000174618577986,-0.000254502346264,2.43851148082e-05,1793239690139289600
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,879,788,803,653,631,653,0.40097009074,0.00454656799519,0.0598485787548,0.999999952218,0.000171860843047,-0.000255785196721,2.4525470775e-05,1793239690181717760
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.428392671,746,714,679,665.428392671,635.428392671,879,787.428392671,803,653,631,653,0.400970147782,0.0045477564609,0.0598481941083,0.999999951526,0.00017583668566,-0.000255814336367,2.42607724169e-05,1793239690198384384
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.855677044,714,679.144322956,665.144322956,635.144322956,879,787,803.144322956,653,631.144322956,653,0.400970481181,0.00454886143524,0.059848292214,0.999999951134,0.000178638281293,-0.000255417109055,2.41171792373e-05,1793239690215051008
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.279646073,714,679.720353927,665.720353927,635.720353927,879,787,803.720353927,653,631.720353927,653,0.40097164124,0.00454971666513,0.0598498343591,0.999999951682,0.000177927395542,-0.000253744505768,2.43358435182e-05,1793239690231717376
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.306369031,745.306369031,714.306369031,679.693630969,666,635.693630969,879.306369031,787,804,653,631.693630969,653,0.40097155482,0.00454992231204,0.0598501129132,0.999999951666,0.000177514308925,-0.000254080788715,2.44720592689e-05,1793239690248384000
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.901804362,745.901804362,714.901804362,679.098195638,666,635.098195638,879.901804362,787,804,653,631.098195638,653,0.400970292321,0.00454951506228,0.0598491992396,0.999999951119,0.000177382202751,-0.000256312502598,2.45304829026e-05,1793239690265050880
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.517900208,746,714.517900208,679.482099792,666,635.482099792,879.517900208,787,804,653,631,653,0.40096884066,0.00454863712986,0.0598484363946,0.999999951143,0.000175974239958,-0.000257181688358,2.45859171315e-05,1793239690281717760
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745.939747303,714,679.939747303,666,636,879.060252697,787,803.939747303,653,631,653,0.400967615127,0.00454782530223,0.059847745943,0.999999951232,0.00017459289336,-0.000257775479907,2.45894819915e-05,1793239690298384128
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.354207342,714,679.354207342,666,636,879.645792658,787,803.354207342,653,631,653,0.400968686668,0.00454840013517,0.059847426947,0.999999950921,0.000175640176823,-0.000258314172233,2.41459927663e-05,1793239690315050752
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.228880586,714,679.228880586,665.771119414,635.771119414,879.771119414,787,803,653,631,653,0.400974263016,0.00454877329581,0.0598497483171,0.999999951725,0.00017674642508,-0.00025442324979,2.40738203518e-05,1793239690331717376
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.808214005,714,679.808214005,665.191785995,635.191785995,879.191785995,787,803,653,631,653,0.400986736945,0.00454883766379,0.0598561125107,0.999999954159,0.00017794295777,-0.000243749877661,2.45701934799e-05,1793239690348384000
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.38748329,746,714,680,665,635.38748329,879,787.38748329,803.38748329,653,631.38748329,653,0.401012644822,0.00454893580763,0.059867285485,0.999999958742,0.000177939255261,-0.000224146800162,2.47481692421e-05,1793239690365050624
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.966720889,746,714,680,665,635.966720889,879,787.966720889,803.966720889,653,631.966720889,653,0.401045200775,0.00454905066617,0.0598808381868,0.999999963943,0.000177341590982,-0.000200124667845,2.47685793606e-05,1793239690381717248
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.456936784,714,679.456936784,665,635.456936784,879,788,804,653,631.456936784,653,0.401103610915,0.00454786913033,0.0599006411467,0.999999970822,0.000175083970082,-0.000164581231912,2.4800899704e-05,1793239690398383872
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.88127688,745,714,679,665.11872312,635,879.11872312,787.88127688,803.88127688,653,631,653,0.401165762918,0.00454701769833,0.0599195009447,0.999999975969,0.000173427610284,-0.00013178584949,2.48603515079e-05,1793239690415050752
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.307555793,745,714,679,665.692444207,635,879.692444207,787.307555793,803.307555793,653,631,653,0.401236215636,0.00454773421267,0.0599332860419,0.999999978172,0.000174463319023,-0.000112213637732,2.50210005122e-05,1793239690431717632
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.275300631,714,679.275300631,666,635,880,787,803.275300631,653,631,653,0.401313943146,0.00454714403163,0.0599430743813,0.999999980073,0.000172689408878,-9.70211340862e-05,2.48659032498e-05,1793239690448384256
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.868712964,714,679.868712964,666,635,880,787,803.868712964,653,631,653,0.401400076722,0.00454504395538,0.0599482444396,0.999999981872,0.000167668965502,-8.68894133469e-05,2.43459590835e-05,1793239690465050624
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.448848508,745.551151492,714,679.551151492,665.551151492,635.448848508,879.551151492,787,804,653,631,652.551151492,0.401499781161,0.00454493729259,0.0599504765044,0.999999982451,0.000166947040355,-8.16515657018e-05,2.3675624845e-05,1793239690481717248
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.974835148,745,714,679.025164852,665,635.974835148,879,787,804,653,631,652.025164852,0.401604447589,0.00454530259408,0.0599519406523,0.999999982741,0.000167183847497,-7.77315500689e-05,2.29342864391e-05,1793239690498384128
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.399553614,745,714,679.600446386,665,635.399553614,879,787,804,653,631,652.600446386,0.401733304629,0.00454360529991,0.0599548639806,0.999999984088,0.000161683338633,-7.22269057957e-05,2.15747488462e-05,1793239690515050496
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.179320478,714.179320478,679.820679522,665.179320478,635.179320478,879,787,803.820679522,652.820679522,631,653,0.40186798908,0.00454284422341,0.0599562554738,0.999999984954,0.000158307021066,-6.80041827834e-05,2.0163149505e-05,1793239690531717120
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.766362906,714.766362906,679.233637094,665.766362906,635.766362906,879,787,803.233637094,652.233637094,631,653,0.402015923326,0.00454421183035,0.0599541640249,0.999999984841,0.000159760489641,-6.66961719188e-05,1.86331772694e-05,1793239690548384000
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.348869866,745.651130134,714.651130134,679,666,635.651130134,879,787,803.348869866,652.348869866,631.348869866,652.651130134,0.402192080933,0.00454473221609,0.0599548746328,0.999999985634,0.00015668006255,-6.24766014734e-05,1.6759543158e-05,1793239690565050624
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.928378475,745.071621525,714.071621525,679,666,635.071621525,879,787,803.928378475,652.928378475,631.928378475,652.071621525,0.402386897088,0.0045446925019,0.0599574376875,0.999999986965,0.000150602265813,-5.63321915617e-05,1.46587131662e-05,1793239690581717248
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.493267777,745,714,679,665.493267777,635,879,787,804,653,631.493267777,652.506732223,0.402611484315,0.00454354489475,0.05995919849,0.999999988027,0.000146508004104,-4.81245103284e-05,1.28672138146e-05,1793239690598384128
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.084075768,745,714,679.084075768,665.084075768,635,879,787,803.915924232,653,631.084075768,653,0.402844602494,0.00454226655922,0.0599608367282,0.999999989047,0.000142047494634,-4.00828416302e-05,1.10035832255e-05,1793239690615050496
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.656497807,745,714,679.656497807,665.656497807,635,879,787,803.343502193,653,631.656497807,653,0.403102886715,0.00454113636729,0.0599624201834,0.999999990406,0.000133834967151,-3.4695449791e-05,8.46761365605e-06,1793239690631717376
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.763262865,745.236737135,714,679.763262865,666,635,879,787.236737135,803,653,632,653,0.403372444999,0.00454003440739,0.059962835521,0.999999991452,0.000126567845763,-3.22606392706e-05,5.90615543555e-06,1793239690648384000
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.171293458,745.828706542,714,679.171293458,666,635,879,787.828706542,803,653,632,653,0.403658920388,0.0045389748107,0.0599614980575,0.999999992121,0.000120719339475,-3.42562796212e-05,3.30645076412e-06,1793239690665050624
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.591091282,714,679,666,635,879,787.591091282,803.408908718,653,632,653,0.403974322383,0.00453930278838,0.0599531759039,0.999999992285,0.000115320461913,-4.61576393203e-05,-8.16394955814e-08,1793239690681717248
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.015680574,714,679,666,635,879,787.015680574,803.984319426,653,632,653,0.404301502885,0.00454019576724,0.0599420096811,0.999999992004,0.000110104667084,-6.20924712497e-05,-3.79074942919e-06,1793239690698383872
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.562483791,714,679.562483791,666,635.562483791,879.562483791,787.562483791,804,653,631.437516209,653,0.404651196866,0.00453802192167,0.0599303326469,0.999999991403,9.99965606082e-05,-8.45148486879e-05,-7.1553669758e-06,1793239690715050496
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.85997058,714,680,665.85997058,635.85997058,879.85997058,788,804,653,631,653,0.405016365907,0.00453555914763,0.0599212851479,0.999999990637,8.99106890971e-05,-0.000102635770829,-1.03573400509e-05,1793239690731717120
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.284588557,714,680,665.284588557,635.284588557,879.284588557,788,804,653,631,653,0.405427686106,0.0045324652055,0.0599204573875,0.999999990984,8.03200559662e-05,-0.000106818381046,-1.30836538991e-05,1793239690748383744
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.298029485,714,679.701970515,665.298029485,635.298029485,879,787.701970515,803.701970515,653,631,653,0.405871827475,0.00453003000671,0.0599315966941,0.999999993332,7.09804624875e-05,-8.96473593739e-05,-1.61562190892e-05,1793239690765050368
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.887729217,714,679.112270783,665.887729217,635.887729217,879,787.112270783,803.112270783,653,631,653,0.406348089737,0.00452823949489,0.0599544477187,0.999999996563,6.18865508566e-05,-5.15783418414e-05,-1.95676477494e-05,1793239690781717248
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,746,714.469074459,679.469074459,666.469074459,636,879,787,803,653,631,653,0.406884192032,0.00452726972314,0.0599819352103,0.999999998459,5.00707288303e-05,-5.23126769624e-06,-2.34034505872e-05,1793239690798383616
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.047779862,746,715,680,666.952220138,636,879,787,803.047779862,652.952220138,631.047779862,653,0.407431628387,0.00452637320806,0.0600082399367,0.999999998164,3.79409038825e-05,3.86004952463e-05,-2.72498137504e-05,1793239690815050496
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.61908723,746,715,680,666.38091277,636,879,787,803.61908723,652.38091277,631.61908723,653,0.407949067443,0.00452416462493,0.0600096385627,0.999999998552,2.93838826001e-05,3.35423247799e-05,-3.01184338832e-05,1793239690831717376
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.802731326,745.802731326,715,679.802731326,666,636,879,787,803.802731326,652,631.802731326,652.802731326,0.408473009453,0.0045213229737,0.0600053145683,0.999999999101,1.85266072247e-05,1.86672447813e-05,-3.32539778447e-05,1793239690848384000
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.210797303,745.210797303,715,679.210797303,666,636,879,787,803.210797303,652,631.210797303,652.210797303,0.409009961558,0.00451721477564,0.0599895416197,0.999999999188,3.06733161535e-06,-1.58480238052e-05,-3.69235424622e-05,1793239690865050624
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.373457427,715,679,666,635.626542573,879,787,803.373457427,652.373457427,631,652.373457427,0.409599792493,0.00451465087535,0.0599828943437,0.999999998703,-9.04558978615e-06,-2.93595222788e-05,-4.06216586252e-05,1793239690881716992
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.95346491,715,679,666,635.04653509,879,787,803.95346491,652.95346491,631,652.95346491,0.410218869382,0.00451294108806,0.0599812942518,0.999999998342,-1.93077250094e-05,-3.12543543666e-05,-4.4335565836e-05,1793239690898383616
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,746,714.470289299,679,666,635.529710701,879,787.529710701,804,653,631,652.470289299,0.410903863783,0.00450515103666,0.059991179242,0.999999998243,-3.43807643565e-05,-7.97494249551e-06,-4.76279694642e-05,1793239690915050496
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,746,714,679,666,636,879,787.894234144,804,653,631,652,0.411591218008,0.0044977295582,0.0599988802137,0.99999999831,-3.33482721509e-05,1.10755140307e-05,-4.63176029726e-05,1793239690931717120
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,746,714,679,666,636,879,787.317566965,804,653,631,652,0.412263477861,0.00449431051153,0.05999239674,0.999999998843,4.12593254504e-05,1.52029850354e-06,-2.46780241593e-05,1793239690948383744
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714,679.264807835,666,635.735192165,879,787.264807835,804,653,631,652.264807835,0.412917401312,0.0044970867586,0.0599714473597,0.999999995386,8.59939604657e-05,-4.00142626662e-05,-1.52212778061e-05,1793239690965050624
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,714,679.854178275,666,635.145821725,879,787.854178275,804,653,631,652.854178275,0.413548850781,0.00450745628763,0.0599327677918,0.999999988067,9.41147091763e-05,-0.000120744416618,-2.06964578376e-05,1793239690981717248
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,879,787.564714558,804,652.564714558,631,653,0.414285253971,0.00450469935641,0.0599285734351,0.999999988167,8.24944431078e-05,-0.0001272658879,-2.57772519165e-05,1793239690998383872
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,879,787,804,652,631,653,0.415058245674,0.00449779612753,0.0599368266574,0.999999991652,6.47577052815e-05,-0.000107526588167,-3.06634092036e-05,1793239691015050240
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,879,787,804,652,631,653,0.415917283704,0.00449787862312,0.0599909217206,0.999999997451,6.24483756497e-05,-1.08254371322e-05,-3.28664724051e-05,1793239691031717120
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,746,714,679.833578232,666,635,879.166421768,787.166421768,804,652,631.166421768,653,0.416750207692,0.00449860089626,0.060029164131,0.999999995881,6.42164910906e-05,5.42479926946e-05,-3.421652962e-05,1793239691048383744
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,746,714,679.243175517,666,635,879.756824483,787.756824483,804,652,631.756824483,653,0.417516602732,0.00450095308532,0.0600270198581,0.999999995775,7.63724258924e-05,3.87457117673e-05,-3.33934444447e-05,1793239691065050624
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,746,714,679,666,635,880,787.659170791,804,652,631.659170791,653,0.418305711003,0.00450009553909,0.0600144788264,0.999999995931,8.11041171669e-05,1.97601531836e-05,-3.42087849859e-05,1793239691081717248
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,714,679,666,635,880,787.079646828,804,652,631.079646828,653,0.419110726121,0.00449699010159,0.0599946565768,0.999999996093,8.06363474969e-05,-1.66486733469e-06,-3.61715730538e-05,1793239691098383872
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.505249739,714,679.494750261,666,635,880,787,804,652.494750261,631,652.505249739,0.419918062299,0.00449957872561,0.0599717769043,0.999999994821,8.63554838102e-05,-3.7513703071e-05,-3.86552968426e-05,1793239691115050752
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.93135198,666,635,879.93135198,787,804,653,631,652.06864802,0.420726136313,0.00450243736315,0.0599478390622,0.999999991859,9.21801328191e-05,-7.81751255713e-05,-4.09090496202e-05,1793239691131717632
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.355106492,666,635,879.355106492,787,804,653,631,652.644893508,0.421536931079,0.0045005841363,0.0599196789806,0.999999985537,9.14959243167e-05,-0.000137428513777,-4.08486139272e-05,1793239691148384256
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,665.773742132,635,879.226257868,787,804,652.773742132,631,653,0.422372161955,0.00449954545551,0.059908293654,0.999999985217,5.12120350639e-05,-0.000158833315892,-4.14181612481e-05,1793239691165050880
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,665.18415776,635,879.81584224,787,804,652.18415776,631,653,0.423246632635,0.00449981477832,0.0599238453447,0.999999990554,-5.26613053095e-05,-0.000119460596087,-4.29993396276e-05,1793239691181717504
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714.39866705,679.39866705,665.39866705,635,880.39866705,787,804.39866705,652,631,653,0.424158599462,0.00449911618129,0.0599697925353,0.999999994916,-8.0118963046e-05,-4.3599207834e-05,-4.29986536552e-05,1793239691198384128
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714.978421414,679.978421414,665.978421414,635,880.978421414,787,804.978421414,652,631,653,0.425087598186,0.00449797792413,0.0600295463325,0.999999995259,-7.28661690744e-05,4.88364973694e-05,-4.22794340926e-05,1793239691215050752
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.552297365,714.447702635,680,666,635.552297365,880.447702635,787.552297365,804.447702635,652,631.552297365,652.447702635,0.425958873787,0.0044957244361,0.0600356607097,0.999999994741,-7.03903612531e-05,6.08582259015e-05,-4.31254389092e-05,1793239691231717376
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666.126064563,635.873935437,880.126064563,787.873935437,804,652,631.873935437,652,0.426829499949,0.00449411100633,0.0600341870357,0.999999994815,-6.68457541099e-05,6.27150385919e-05,-4.43737276525e-05,1793239691248384000
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666.700252969,635.299747031,880.700252969,787.299747031,804,652,631.299747031,652,0.427705749933,0.00449492606024,0.0600131112356,0.999999996392,-5.88454037757e-05,3.94891204062e-05,-4.68369251913e-05,1793239691265050624
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.284532411,746,714.284532411,680,666.715467589,635,880.715467589,787,804,652,631,652.284532411,0.428550193255,0.00449438123058,0.0599912933234,0.999999997406,-5.21252533137e-05,1.14545451725e-05,-4.83674014716e-05,1793239691281717248
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.879833322,746,714.879833322,680,666.120166678,635,880.120166678,787,804,652,631,652.879833322,0.429359897038,0.00449235112551,0.0599686648721,0.999999997472,-4.68033475639e-05,-2.18320809632e-05,-4.88791522002e-05,1793239691298383872
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.538761981,714.538761981,680,666,635,880,787,804,652,631,653,0.43016302163,0.00449123068967,0.059943757544,0.999999995632,-4.00758364018e-05,-6.8805541046e-05,-4.89389247336e-05,1793239691315050496
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680,666.038741346,635,880,787,804,652.038741346,631.038741346,653,0.430971692021,0.00449027577767,0.0599228742601,0.999999992184,-3.33526964873e-05,-0.000110072512713,-4.9026288574e-05,1793239691331717120
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,666.610917288,635,880,787,804,652.610917288,631.610917288,653,0.431879633562,0.00448843218618,0.0599653344646,0.999999997882,-3.15845833559e-05,-2.51035142724e-05,-5.10675147104e-05,1793239691348383744
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.188752031,714,680,666.811247969,635,880.188752031,787,804,652.811247969,631.811247969,653,0.432764756878,0.00448661954173,0.0600015706832,0.999999997357,-2.96437974458e-05,4.10501798124e-05,-5.21785721744e-05,1793239691365050368
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.778612131,714,680,666.221387869,635,880.778612131,787,804,652.221387869,631.221387869,653,0.433601390427,0.00448487266103,0.0600245806098,0.999999996051,-2.73360727915e-05,6.72203707274e-05,-5.13129729367e-05,1793239691381716992
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666.361643566,635.361643566,880.638356434,787,804,652,631,653,0.434399289953,0.00448345284498,0.0600137158071,0.999999997381,-2.33731541079e-05,4.51858857541e-05,-5.14846562365e-05,1793239691398383616
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666.940572124,635.940572124,880.059427876,787,804,652,631,653,0.435173917007,0.0044822295381,0.0599824981722,0.999999998447,-1.84157512957e-05,-5.81124141354e-06,-5.22795661971e-05,1793239691415050496
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.482101076,714.517898924,680,666.482101076,635.482101076,880,787.517898924,804.517898924,652,631,653,0.435922716455,0.00447974894203,0.0599583111186,0.999999997141,-2.0389092673e-05,-4.99838908151e-05,-5.29599471433e-05,1793239691431717376
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.905351401,745.094648599,715,680,666,635,879.905351401,787.905351401,804.905351401,652,631.094648599,652.905351401,0.436665853034,0.00447770758874,0.0599379816509,0.99999999447,-2.19089023567e-05,-8.77503888978e-05,-5.36553807159e-05,1793239691448384000
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.330599757,745.669400243,715,680,666,635,879.330599757,787.330599757,804.330599757,652,631.669400243,652.330599757,0.437395251599,0.00447862384289,0.0599331401264,0.999999993666,-1.71065324833e-05,-9.69818043087e-05,-5.44936256673e-05,1793239691465050624
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.24985008,746,714.75014992,680,666.24985008,635,879.499700159,787.24985008,804.24985008,652,632,652.24985008,0.438113724888,0.00447775471483,0.0599276851089,0.999999992195,-1.22348514702e-05,-0.000111830934,-5.43480944658e-05,1793239691481717504
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.838015643,746,714.161984357,680,666.838015643,635,880.676031286,787.838015643,804.838015643,652,632,652.838015643,0.438817404486,0.00447446804714,0.059921399377,0.999999989559,-7.26931843546e-06,-0.00013428686347,-5.28704575219e-05,1793239691498383872
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.579583232,714,680,666.579583232,635,881,787.579583232,804.579583232,652,631.579583232,653,0.439541227644,0.00447326887248,0.059939136427,0.999999992946,-5.16028566929e-06,-0.000106232885295,-5.28848698039e-05,1793239691515050496
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714,680,666,635,880.999381946,787,804.000618054,652,631,652.999381946,0.44027259304,0.00447286526848,0.0599659728008,0.999999996819,-4.13025711481e-06,-5.90438857975e-05,-5.3465217476e-05,1793239691531717120
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,680,666,635,880.427427119,787,804.572572881,652,631,652.427427119,0.440898526217,0.00447444865045,0.059963841213,0.999999996139,3.09677794601e-06,-7.0051153041e-05,-5.2966268829e-05,1793239691548384256
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.149226471,714,680,665.850773529,634.850773529,880,787,805,652,631,652.298452942,0.441505497075,0.00447616409863,0.0599474701922,0.999999993424,1.09609832451e-05,-0.000101212512245,-5.28055145298e-05,1793239691565050880
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.73977635,714,680,665.26022365,634.26022365,880,787,805,652,631,653.479552701,0.442056388787,0.00447827012071,0.0598889873728,0.999999979919,2.07095619394e-05,-0.000191977726085,-5.36449381882e-05,1793239691581717248
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.675644429,745.675644429,714,680,665,634,880,787,805,652,631,653.675644429,0.442600282492,0.00448100312887,0.0598417788344,0.999999964329,2.72025094874e-05,-0.000259863517223,-5.54424498116e-05,1793239691598383872
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.095768796,745.095768796,714,680,665,634,880,787,805,652,631,653.095768796,0.44313866329,0.00448423006251,0.059803451926,0.999999949869,3.1130743123e-05,-0.000309725406072,-5.7994721797e-05,1793239691615050240
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.48162515,745,714,680,665,634,880,787,804.51837485,652,631.48162515,653,0.443674788858,0.00448669424627,0.0597984615853,0.999999946276,3.26098416345e-05,-0.000320776577683,-5.90587180264e-05,1793239691631717120
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.058430493,714,679.941569507,664.941569507,634.058430493,880,787,804.058430493,652,631.941569507,653,0.444206697735,0.00448921597657,0.0598006168884,0.999999945832,2.71741536776e-05,-0.000322484396723,-6.00127162932e-05,1793239691648384000
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.634370899,714,679.365629101,664.365629101,634.634370899,880,787,804.634370899,652,631.365629101,653,0.444705211468,0.00449358381131,0.0598076506541,0.999999949544,-3.52135780583e-05,-0.000309440307945,-6.26001054686e-05,1793239691665050624
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.78466735,746,714,679.21533265,664,634.78466735,880.21533265,786.78466735,805,652,631,653,0.445172341668,0.00449875673487,0.0598017424469,0.999999942764,-7.89013941986e-05,-0.000322473044798,-6.52558786296e-05,1793239691681717248
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.194975985,746,714,679.805024015,664,634.194975985,880.805024015,786.194975985,805,652,631,653,0.445584911121,0.00450532931573,0.0597733344447,0.999999921109,-9.0079148488e-05,-0.000380840697027,-6.80305382096e-05,1793239691698383872
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714,680.387435147,663.612564853,634,881,786.387435147,805,652,631,653,0.445974800199,0.00451883070804,0.0597436011964,0.999999901879,-8.37362391888e-05,-0.000428805717716,-7.31784198438e-05,1793239691715050496
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,680.966250143,663.033749857,634,881,786.966250143,805,652,631,653,0.446353485977,0.00453575469927,0.0597132133189,0.999999883259,-6.87387160324e-05,-0.000471632195456,-7.94985930518e-05,1793239691731717120
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,746,714,680.457052856,663,633.457052856,881,787,805,652,631,653,0.446729806712,0.00455005925941,0.0597100542177,0.99999988384,-5.41523274911e-05,-0.000471573917086,-8.36974599983e-05,1793239691748384000
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,714,680,663,633.11853622,881,786.88146378,805,652,631,653,0.447100412571,0.00456154995038,0.0597115369792,0.99999988729,-4.19502182602e-05,-0.000464854121622,-8.700863773e-05,1793239691765050624
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,714,680,663,633.690389961,881,786.309610039,805,652,631,653,0.447449723196,0.0045628998502,0.0597243239207,0.999999897385,-3.8768938066e-05,-0.000442813668903,-8.74273483995e-05,1793239691781717248
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,746,714,679.727109234,662.727109234,633.727109234,880.727109234,786.272890766,805,652,631,653,0.447779722222,0.00456372178504,0.0597321689612,0.999999904392,-8.71732721347e-06,-0.000430107568078,-7.84092879982e-05,1793239691798383872
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,746,714,679.132038335,662.132038335,633.132038335,880.132038335,786.867961665,805,652,631,653,0.448086921576,0.00456392039409,0.0597341794968,0.999999905123,5.30579172696e-05,-0.000428421784415,-5.82499923177e-05,1793239691815050496
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.448131701,745.551868299,714,679.448131701,662,633,880.448131701,787,804.551868299,652,631.448131701,653,0.448338481693,0.00456916451059,0.0597222940409,0.999999895986,6.80314601423e-05,-0.000447433035456,-5.66029553359e-05,1793239691831717120
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.975959602,745.024040398,714,680,662,632.975959602,880.975959602,786.975959602,804.024040398,652,631.975959602,653,0.448572340833,0.00457553533633,0.0597060690931,0.999999883978,6.94571692213e-05,-0.000472862158589,-6.01714161684e-05,1793239691848383744
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.400330878,745.599669122,714,680,662,632.400330878,880.400330878,786.400330878,804.599669122,652,631.400330878,653,0.448764099806,0.00457474602103,0.0596811961906,0.99999986575,6.62512727654e-05,-0.000510128376111,-6.22839143059e-05,1793239691865050368
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.179060294,746,714,680.179060294,662,632,880,786.179060294,805.179060294,652,631,653,0.448949753105,0.00457475904637,0.0596604886653,0.999999849406,6.35838021525e-05,-0.000541290009423,-6.44199638773e-05,1793239691881716992
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.767043756,746,714,680.767043756,662,632,880,786.767043756,805.767043756,652,631,653,0.449121462745,0.00457660439138,0.0596492936889,0.999999839884,6.21459447947e-05,-0.000558510491663,-6.6609798144e-05,1793239691898383616
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.649973026,745.649973026,714,680.649973026,662,632,880.350026974,786.649973026,805.649973026,652,631,653,0.449288852807,0.00457653891389,0.0596451322412,0.999999836656,5.87247632378e-05,-0.000564459335569,-6.80142600168e-05,1793239691915050240
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.070270734,745.070270734,714,680.070270734,662,632,880.929729266,786.070270734,805.070270734,652,631,653,0.449453408531,0.00457521962245,0.0596455859453,0.999999837677,5.40021943581e-05,-0.000563012130868,-6.89033885297e-05,1793239691931717120
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.506495913,714.506495913,680,661.493504087,632,881,786.506495913,805,652,631,652.493504087,0.449587120118,0.00457613470063,0.0596454110762,0.999999836789,5.40888736488e-05,-0.000564470929883,-6.97753055597e-05,1793239691948384000
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714.917242545,680,661,632,881,786.917242545,805,652,631.082757455,652.082757455,0.449712973931,0.00457779190438,0.0596448098552,0.999999835559,5.54992114273e-05,-0.000566400732156,-7.06515139657e-05,1793239691965050624
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714.341577342,680,661,632,881,786.341577342,805,652,631.658422658,652.658422658,0.44981736725,0.00458203354547,0.0596421856802,0.999999833851,6.08421714025e-05,-0.000568748355647,-7.15674229179e-05,1793239691981717504
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,680,661,632,881,786,805.240111826,652,631.759888174,653,0.449909588755,0.00458408238859,0.0596390318115,0.99999983153,6.36020679796e-05,-0.000572463251403,-7.198078692e-05,1793239691998384128
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,680,661,632,881,786,805.830591036,652,631.169408964,653,0.449984049335,0.00458293153527,0.0596351050223,0.999999828331,6.25927989263e-05,-0.000578173249118,-7.16608452153e-05,1793239692015050496
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.413235361,746,714,680.413235361,661,632,880.586764639,786,805.586764639,652.413235361,631,653,0.450048085773,0.00458310309711,0.0596319294959,0.99999982484,6.31439288177e-05,-0.000584110526281,-7.17443953242e-05,1793239692031717120
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.992727467,746,714,680.992727467,661,632,880.007272533,786,805.007272533,652.992727467,631,653,0.450107928269,0.00458380670552,0.0596290562246,0.999999821208,6.43228531441e-05,-0.000590139244503,-7.19902820691e-05,1793239692048384000
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.433891406,745.433891406,714,681,661,631.433891406,881.132217187,786.566108594,805,652.433891406,631,653,0.450158283249,0.00458406279969,0.0596309852798,0.999999824683,6.5880808814e-05,-0.000584055514725,-7.19163272727e-05,1793239692065050624
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661,631.139788496,881.720423008,787,805,652,631,653,0.450204562422,0.00458411046412,0.0596330668299,0.999999828047,6.7138643952e-05,-0.00057811889033,-7.19469187404e-05,1793239692081717248
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661,631.714639888,880.570720223,787,805,652,631,653,0.450238531755,0.00458352713535,0.0596354330316,0.999999830878,6.74474228086e-05,-0.000573119212707,-7.23155403372e-05,1793239692098384384
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.297428061,714,680.702571939,661,632,880.297428061,786.702571939,805,652,631,653,0.450263170865,0.0045841454284,0.0596354908482,0.999999830585,6.81313189532e-05,-0.000573526031332,-7.24920937047e-05,1793239692115051008
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.888039822,714,680.111960178,661,632,880.888039822,786.111960178,805,652,631,653,0.4502786129,0.00458594819581,0.059633273221,0.999999827208,6.91849794201e-05,-0.000579262193777,-7.24793197402e-05,1793239692131717376
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714,680.469794497,661,632,880.530205503,786,805,652,631,653,0.450290008574,0.00458697183223,0.0596304061401,0.999999824199,7.17056781338e-05,-0.000584171368464,-7.21426344861e-05,1793239692148384256
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,632,880,786,805,652,631,653,0.450300137036,0.0045876867973,0.0596276025027,0.999999821508,7.41566975357e-05,-0.000588499807443,-7.178038183e-05,1793239692165051136
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661,632,880,786,805,652,631,653,0.450306828437,0.00458704695891,0.0596271066393,0.999999821535,7.21837793594e-05,-0.000588677929268,-7.19560550586e-05,1793239692181717760
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.796131905,880.203868095,786,805,652,631,653,0.450312951947,0.00458695458741,0.0596272565973,0.999999822044,7.17621442089e-05,-0.00058786858453,-7.19170454064e-05,1793239692198384128
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.207686096,880.792313904,786,805,652,631,653,0.450318004185,0.00458789496006,0.059628624836,0.999999823461,7.42668566407e-05,-0.000585196478298,-7.14730569657e-05,1793239692215050752
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.374890776,746,714,681,661,631,881,786,805.374890776,652.374890776,631,653,0.450321001463,0.00458846844314,0.0596290656152,0.99999982372,7.51091004824e-05,-0.000584664386142,-7.13216805615e-05,1793239692231717376
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.954266406,746,714,681,661,631,881,786,805.954266406,652.954266406,631,653,0.450322877859,0.00458884180562,0.05962900051,0.999999823352,7.5044547734e-05,-0.000585299568635,-7.13299099382e-05,1793239692248384256
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.468485582,746,714.531514418,681,661,631,880.468485582,786.531514418,805.468485582,652.468485582,631,653,0.450321909622,0.00458870521518,0.0596280534646,0.999999822311,7.57805013943e-05,-0.000586979848975,-7.13480072211e-05,1793239692265050880
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.107667149,746,714.892332851,680.892332851,661,631,880.107667149,786.892332851,805,652,631,653,0.450321498751,0.00458840217085,0.0596274880514,0.999999821678,7.6431198239e-05,-0.000587986334409,-7.12385581779e-05,1793239692281717248
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.679880691,746,714.320119309,680.320119309,661,631,880.679880691,786.320119309,805,652,631,653,0.450324544577,0.00458756950093,0.059628895363,0.999999823068,7.64180383595e-05,-0.000585699182692,-7.05751421294e-05,1793239692298383872
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.738555889,714,680.261444111,661,631.261444111,880.738555889,786,805,652,631,653,0.450325878864,0.0045870264091,0.059629003446,0.999999823311,7.63909191935e-05,-0.000585302902387,-7.04546023766e-05,1793239692315050496
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.145119539,714,680.854880461,661,631.854880461,880.145119539,786,805,652,631,653,0.450325039769,0.00458685103505,0.0596274617165,0.999999822098,7.63460739629e-05,-0.000587307726274,-7.10234286692e-05,1793239692331717376
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.563942223,745.436057777,714,681,660.563942223,632,880,786,805,652,631,653,0.450324547889,0.00458731132386,0.0596265739957,0.999999821498,7.59388150525e-05,-0.000588362988857,-7.11808370743e-05,1793239692348384256
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.013202623,746,714,681,660.013202623,632,880.013202623,786.013202623,805,652,631.013202623,652.986797377,0.450324204537,0.00458797378666,0.0596259138124,0.999999821109,7.55079584849e-05,-0.000589076482015,-7.12012082029e-05,1793239692365051392
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.587618305,746,714,681,660.587618305,632,880.587618305,786.587618305,805,652,631.587618305,652.412381695,0.45032539721,0.00458848368197,0.0596259267666,0.999999821285,7.90607158686e-05,-0.000588327808882,-7.10574202712e-05,1793239692381717760
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,714,681,661,632,881,786.83432988,805,652.16567012,631.83432988,652.16567012,0.450326155837,0.00458904263642,0.0596259445222,0.999999821253,8.17204805388e-05,-0.000588038832225,-7.08929493126e-05,1793239692398383872
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,714,681,661,632,881,786.247024024,805,652.752975976,631.247024024,652.752975976,0.450325809803,0.00458972644791,0.0596259744972,0.999999820718,8.21075500835e-05,-0.000588919797807,-7.06758394015e-05,1793239692415050752
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.662173805,714,680.662173805,661,631.662173805,880.662173805,786.337826195,805,652.662173805,631,653,0.450324754602,0.00458980124667,0.0596255670814,0.999999820168,8.19173649369e-05,-0.000589885240795,-7.06313417486e-05,1793239692431717632
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.079106254,714,680.079106254,661,631.079106254,880.079106254,786.920893746,805,652.079106254,631,653,0.450323184589,0.00458943393905,0.0596248421464,0.999999819606,8.13081278321e-05,-0.000590912009225,-7.07121501496e-05,1793239692448384000
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.49598569,714,680.49598569,661,631.49598569,880,786.50401431,805,652,631,653,0.450324124844,0.00458938300616,0.0596247931137,0.999999819638,8.11751856949e-05,-0.000590839076886,-7.10203414759e-05,1793239692465050880
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.930490733,746,714,681,661,632,880,786,805,652,631.069509267,653,0.450325233811,0.00458929992327,0.0596248378887,0.99999981973,8.08875542865e-05,-0.000590688490418,-7.13045763153e-05,1793239692481718016
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.359251606,746,714,681,661,632,880,786,805,652,631.640748394,653,0.450324716357,0.00458862631459,0.0596247939679,0.99999981958,7.8943693276e-05,-0.000591223375619,-7.11582575727e-05,1793239692498384384
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714.220606983,681,661,631.779393017,880.220606983,786,805,652,631.779393017,653,0.450324830076,0.00458829686846,0.0596248483044,0.999999819611,7.80800046378e-05,-0.000591300807099,-7.10255490534e-05,1793239692515051008
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714.815072921,681,661,631.184927079,880.815072921,786,805,652,631.184927079,653,0.450326013429,0.00458855066875,0.059625069156,0.999999819955,7.90468656948e-05,-0.000590602999513,-7.09159055276e-05,1793239692531717376
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.399236443,746,714.600763557,680.600763557,661,631,881,786,805,652,631,653,0.450327243117,0.00458890724263,0.0596256843257,0.999999820575,7.94742277373e-05,-0.000589512289301,-7.0777432402e-05,1793239692548383744
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.978747878,746,714.021252122,680.021252122,661,631,881,786,805,652,631,653,0.450328493726,0.00458931022384,0.0596264775494,0.999999821318,7.96579792436e-05,-0.000588244164172,-7.06259412935e-05,1793239692565050368
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.44643892,745.44643892,714,680.55356108,660.44643892,631,880.44643892,786.55356108,805,652,631,653,0.450327924676,0.0045902980176,0.0596253545471,0.99999982061,8.07080269642e-05,-0.000589294881796,-7.0697636276e-05,1793239692581717248
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.130816156,714,680.869183844,660,631,880,786.869183844,805,652,631,653,0.450327584091,0.00459075489683,0.059624671829,0.999999820163,8.1276415173e-05,-0.000589968651411,-7.074739712e-05,1793239692598384128
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.717197853,714,680.282802147,660,631,880,786.282802147,805,652,631,653,0.45032828037,0.00458928534265,0.0596257764348,0.999999820824,8.00525827369e-05,-0.000589022288031,-7.06911841124e-05,1793239692615051008
+254,4.233333333,HOLD_POSE2,765,746,714,681,660,631,881,787,806,652,631,653,0.450325460474,0.00458909940818,0.059623421547,0.999999818768,8.21699814606e-05,-0.00059221243893,-7.06794399425e-05,1793239692651844864
+255,4.250000000,HOLD_POSE2,765.579580331,746,714,681,660,631,881,786.420419669,805.420419669,652,631,653,0.450325719694,0.00458823036589,0.0596238461065,0.999999819182,8.16274984944e-05,-0.000591617440719,-7.04338059272e-05,1793239692668512000
+256,4.266666667,HOLD_POSE2,766,746,714,681,660,631,881,786.157619936,805,652,631,653,0.450325726153,0.00458766149373,0.0596238534442,0.999999819155,8.09850196082e-05,-0.000591770876916,-7.02712573059e-05,1793239692685178880
+257,4.283333333,HOLD_POSE2,766,746,714,681,660,631,881,786.731589874,805,652,631,653,0.450325064948,0.00458788551497,0.0596227586986,0.999999817961,8.00784033218e-05,-0.00059390128794,-7.03281770855e-05,1793239692701844992
+258,4.300000000,HOLD_POSE2,766,746,714,681,660,631,880.686444267,786.686444267,804.686444267,652,631,653,0.450326309919,0.00458757486319,0.0596240060832,0.999999818979,7.91273741551e-05,-0.000592346502274,-7.00460251112e-05,1793239692718511360
+259,4.316666667,HOLD_POSE2,766,746,714,681,660,631,880.09745466,786.09745466,804.09745466,652,631,653,0.450329229316,0.0045867945435,0.0596273108437,0.999999821924,7.81373318445e-05,-0.000587554563094,-6.94660254554e-05,1793239692735178240
+260,4.333333333,HOLD_POSE2,765.518410671,746,714,681,660.481589329,631,880.481589329,786,804.481589329,652,631,653,0.450329173875,0.00458764952435,0.0596264779428,0.999999821614,7.89118015865e-05,-0.000587914526194,-7.00043043979e-05,1793239692751844864
+261,4.350000000,HOLD_POSE2,765.058564445,746,714,681,660.941435555,631,881,786,805,652,631,653,0.450328502623,0.00458867360469,0.0596249389239,0.999999820679,7.9975437967e-05,-0.000589285050177,-7.06287636673e-05,1793239692768511744
+262,4.366666667,HOLD_POSE2,765.634682416,746,714,681,660.365317584,631,881,786,805,652,631,653,0.450327601586,0.00458832679392,0.059624409476,0.999999819926,8.05028596469e-05,-0.000590559370194,-7.0055443675e-05,1793239692785178368
+263,4.383333333,HOLD_POSE2,765.790667095,746,714,680.790667095,660,631,881,786.209332905,805,652,631,653,0.450327684626,0.00458784391767,0.0596249013825,0.999999820128,8.00696813644e-05,-0.000590306650969,-6.97950491982e-05,1793239692801844736
+264,4.400000000,HOLD_POSE2,765.218559817,746,714,680.218559817,660,631,881,786.781440183,805,652,631,653,0.450329473074,0.00458712523968,0.0596271632984,0.999999821981,7.79717812287e-05,-0.000587407569318,-7.00769553712e-05,1793239692818511616
+265,4.416666667,HOLD_POSE2,765.365846496,746,714,680.365846496,660,631,881,786.634153504,805,652,631,653,0.450330019781,0.00458726349344,0.0596272190994,0.999999822234,7.81395312728e-05,-0.000586928702739,-7.02909237495e-05,1793239692835178240
+266,4.433333333,HOLD_POSE2,765.957856015,746,714,680.957856015,660,631,881,786.042143985,805,652,631,653,0.450329798855,0.00458793149466,0.0596259111001,0.999999821501,7.97078857468e-05,-0.000587945991143,-7.04628936197e-05,1793239692851844864
+267,4.450000000,HOLD_POSE2,765.462028252,746,714,681,660,631.537971748,881,786,805,652,631,653,0.450329040181,0.00458838479158,0.0596253836276,0.999999820329,8.15996235594e-05,-0.000589703584233,-7.02402449207e-05,1793239692868511744
+268,4.466666667,HOLD_POSE2,765,746,714,680.887384581,660,631.887384581,880.887384581,786,805,652,631,653,0.450328323998,0.00458892115669,0.0596249973682,0.999999819373,8.30262781982e-05,-0.000591144499069,-7.00627821428e-05,1793239692885178368
+269,4.483333333,HOLD_POSE2,765,746,714,680.330722835,660,631.330722835,880.330722835,786,805,652,631,653,0.450327937874,0.0045898499484,0.0596249320336,0.999999819425,8.25213652122e-05,-0.00059111301376,-7.01827467426e-05,1793239692901844992
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+271,4.516666667,HOLD_POSE2,765,746,714.859557727,680,660.859557727,631,880.859557727,786,804.140442273,652,631,652.140442273,0.450328995957,0.00458893498573,0.0596261059943,0.999999820458,8.12714571205e-05,-0.000589560051025,-6.99851721656e-05,1793239692935178240
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,631,880,786,804.849861361,652,631,652.150138639,0.450329351197,0.00458955643584,0.0596254659433,0.999999820246,8.05962512402e-05,-0.000590016361289,-6.99563863587e-05,1793239693001095936
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,631,880,786,804.276817744,652,631,652.723182256,0.450327136056,0.0045887771328,0.0596236941673,0.999999818478,8.12167148556e-05,-0.000592957554957,-6.964006301e-05,1793239693017762560
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.307357929,745,714,681,660,631,880,786,804.307357929,652,631,653,0.450325933296,0.00458842203503,0.0596230498371,0.999999817509,8.16816966154e-05,-0.00059452370067,-6.96537365463e-05,1793239693034429440
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.901936273,745,714,681,660,631,880,786,804.901936273,652,631,653,0.450325676588,0.00458846334944,0.0596234590848,0.999999817293,8.20013833614e-05,-0.00059480488881,-6.99757862123e-05,1793239693051096064
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.519745994,745,714,680.519745994,660,631,880,786,805,652,631,652.519745994,0.450327522087,0.00458877852595,0.0596246962001,0.999999818701,8.18239321797e-05,-0.000592447546773,-7.00589031195e-05,1793239693067762944
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.055563487,631,880,786,805,652,631,652.055563487,0.450329220034,0.00458899773411,0.0596257683835,0.999999820164,8.16127825255e-05,-0.000590003546331,-7.00577457537e-05,1793239693084429568
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.632781552,631,880,786,805,652,631,652.632781552,0.450325634658,0.00458780813825,0.0596237570345,0.99999981919,8.20070781086e-05,-0.000591638470996,-6.97084269594e-05,1793239693101096192
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.213566141,745,714,680.213566141,660.786433859,631,880.213566141,786,805,652,631,653,0.450316694881,0.00458764836194,0.0596195768705,0.999999815732,8.21444770003e-05,-0.000597428968217,-6.97652235378e-05,1793239693117762560
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.800587315,745,714,680.800587315,660.199412685,631,880.800587315,786,805,652,631,653,0.450298392063,0.00458928939226,0.059611604182,0.999999807818,8.18326503151e-05,-0.00061048615773,-7.05321787343e-05,1793239693134429184
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.383600366,714,681,660,631,881,786,805,652,631,652.616399634,0.450260322647,0.00459046523314,0.0595960207868,0.999999793542,8.3340807017e-05,-0.000633218531375,-7.0746302228e-05,1793239693151096064
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.964551413,714,681,660,631,881,786,805,652,631,652.035448587,0.450212083916,0.00459140174839,0.0595765219143,0.99999977541,8.5785289555e-05,-0.00066092849282,-7.06760107096e-05,1793239693167762688
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.464654598,746,714,681,660.535345402,631,881,786,805,652,631,652.535345402,0.450152974051,0.00459091203144,0.0595618167752,0.999999765016,8.52560675472e-05,-0.000676512662198,-7.09195262777e-05,1793239693184429312
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,660.893159229,631,881,786,804.893159229,652,631,653,0.450089960324,0.0045906487839,0.0595491321201,0.999999755511,8.52321353582e-05,-0.000690409678929,-7.10550592154e-05,1793239693201095936
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,660.315666384,631,881,786,804.315666384,652,631,653,0.450012861396,0.00459179145061,0.059543975774,0.999999748367,8.82853535231e-05,-0.000700345666947,-7.06250787759e-05,1793239693217762560
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.730616912,660,631,881,786,804.269383088,652,631,653,0.449929187942,0.0045923827594,0.0595411282479,0.999999744241,9.04460481514e-05,-0.000705991608495,-7.00930975026e-05,1793239693234429440
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.136456965,660,631,881,786,804.863543035,652,631,653,0.449837588034,0.00459230933341,0.0595410643092,0.999999743854,9.15306877066e-05,-0.000706465332389,-6.94381407974e-05,1793239693251095808
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.555775967,714,680.444224033,660.444224033,631,881,786,805,652,631,653,0.449720717872,0.00459299652571,0.0595397411183,0.999999742027,9.33227894847e-05,-0.000708886047195,-6.86760019868e-05,1793239693267762432
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,661,631,880.979168703,786,805,652,631,653,0.44959546371,0.00459390218027,0.0595380842666,0.999999739843,9.54034923051e-05,-0.000711763529958,-6.78589522626e-05,1793239693284429056
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,661,631,880.404029945,786,805,652,631,653,0.449447589703,0.00459458686704,0.0595375387692,0.999999739829,9.95512716062e-05,-0.000711349520315,-6.64310511195e-05,1793239693301095680
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.171487656,714,680.828512344,661,631,880,786,805,652,631,652.828512344,0.449290280854,0.00459500000916,0.0595375806462,0.999999739677,0.000103363666092,-0.000711155972328,-6.49614317484e-05,1793239693317762560
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.747899713,714,680.252100287,661,631,880,786,805,652,631,652.252100287,0.449110694046,0.00459477196771,0.059539009458,0.999999739228,0.000106384134212,-0.000711482988442,-6.3393305617e-05,1793239693334429440
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.665475566,714,680.334524434,661,631,880,786.334524434,805,652,631,652.334524434,0.448915482373,0.00459571855978,0.0595411208539,0.999999740099,0.000111321436926,-0.000709614319801,-6.21069147769e-05,1793239693351096064
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.070912076,714,680.929087924,661,631,880,786.929087924,805,652,631,652.929087924,0.448708124854,0.00459757824086,0.0595437628495,0.999999741959,0.000117748771198,-0.000706038858682,-6.1039527737e-05,1793239693367762688
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.505956753,745.505956753,714,681,661,631,880.505956753,786.494043247,805,652,631.505956753,652.494043247,0.448464164143,0.00459682223477,0.0595484962253,0.999999744704,0.000121684568521,-0.000701703455346,-5.82805550122e-05,1793239693384429312
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.919299974,745.919299974,714,681,661,631.080700026,881,786.080700026,805,652,631.919299974,652.080700026,0.448211908667,0.00459602366716,0.0595544996032,0.999999748897,0.000125556936316,-0.000695251540915,-5.53713638069e-05,1793239693401095936
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.342894097,745.342894097,714,681,661,631.657105903,881,786.657105903,805,652,631.342894097,652.657105903,0.447939149073,0.00459713943736,0.0595665644176,0.999999761224,0.000131112190275,-0.000676430932918,-5.29465345846e-05,1793239693417762560
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.238084423,714,680.761915577,661.238084423,632,880.761915577,786.761915577,805,652,631,652.761915577,0.44765378221,0.00459764290167,0.0595808769808,0.999999775412,0.000137217394972,-0.000654087520676,-5.01683533867e-05,1793239693434429184
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.825777481,714,680.174222519,661.825777481,632,880.174222519,786.174222519,805,652,631,652.174222519,0.447349902562,0.00459724724187,0.0595984901892,0.999999792219,0.000144130159609,-0.000626571142819,-4.68713021715e-05,1793239693451095808
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.407905538,661.592094462,632,880.407905538,786.407905538,805,652,631.407905538,652.407905538,0.446996385886,0.00459843355765,0.0596084084767,0.999999798704,0.000152854337687,-0.000614271269,-4.35712974611e-05,1793239693467762432
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.987688676,661.012311324,632,880.987688676,786.987688676,805,652,631.987688676,652.987688676,0.446621953853,0.00460028646445,0.0596150843844,0.999999800947,0.00016234178398,-0.000608383116221,-4.02700483364e-05,1793239693484429312
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,661.564431048,632.564431048,880.435568952,786.435568952,804.435568952,652,631.435568952,653,0.446187619713,0.00460093444723,0.059609434467,0.999999792017,0.000169481090056,-0.000621200642228,-3.67787241144e-05,1793239693501095936
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.85951565,714,681,662,633,880,786,804.14048435,652,631,653,0.445744266385,0.00460162737444,0.0596032488199,0.999999783022,0.000177025199719,-0.000633646971388,-3.33074553638e-05,1793239693517762560
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.285385836,714,681,662,633,880,786,804.714614164,652,631,653,0.445277084336,0.00460253972686,0.0595962349248,0.999999775088,0.0001859761014,-0.000643694810373,-2.99108232396e-05,1793239693534429184
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.296210302,745,714,681,662.296210302,633,880,786,805,652,631,653,0.444815328269,0.00460225431887,0.0596008558442,0.99999978209,0.000194767942934,-0.000630246112523,-2.59997043702e-05,1793239693551095808
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.885185999,745,714,681,662.885185999,633,880,786,805,652,631,653,0.444358935024,0.00460078508047,0.0596169762649,0.999999802916,0.000203402575067,-0.000593574141672,-2.15800817738e-05,1793239693567762432
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745.467529429,714,680.532470571,663.467529429,633.467529429,880,786,805,652,631,653,0.443863527927,0.00459966884162,0.0596484789655,0.999999829251,0.000211922481633,-0.000544359266402,-1.60932791142e-05,1793239693584429312
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.952356347,745.952356347,714,680,663.952356347,634,880,786.047643653,804.952356347,652,631,652.952356347,0.443353277336,0.00459873699354,0.0596829919073,0.999999853929,0.000220505986255,-0.000493366053621,-1.03941196516e-05,1793239693601095936
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.37911741,745.37911741,714,680,663.37911741,634,880,786.62088259,804.37911741,652,631,652.37911741,0.44278349172,0.00459889635642,0.0597096233161,0.999999869428,0.000230097564028,-0.000456259804386,-5.20298492642e-06,1793239693617762560
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.199339812,745,714,680,663.199339812,634,880,787,804.199339812,652,631,652.199339812,0.442192232992,0.00459934519575,0.0597236195243,0.999999874504,0.000239996428835,-0.000439765289119,-2.49617221425e-07,1793239693634429184
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.787988258,745,714,680,663.787988258,634,880,787,804.787988258,652,631,652.787988258,0.441559037525,0.00460035937964,0.0597129393119,0.999999861189,0.000250495421989,-0.00046352528474,4.2393935781e-06,1793239693651095808
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.62894119,745,714,680.37105881,664.37105881,634,880,787,805,652.37105881,631.37105881,653,0.440908925884,0.00459997867782,0.0597128987824,0.999999857149,0.000259186585553,-0.000467385629606,8.69019690716e-06,1793239693667762432
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.049010498,745,714,680.950989502,664.950989502,634,880,787,805,652.950989502,631.950989502,653,0.440249292019,0.00459881278399,0.0597188474133,0.999999858486,0.000266860107507,-0.000460044306016,1.31194928038e-05,1793239693684429056
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.473211599,665,634.526788401,880,787,804.473211599,652.473211599,631.473211599,652.473211599,0.439605439398,0.00460012354867,0.0597629622329,0.999999887936,0.000276909774023,-0.000383578956524,1.77976688423e-05,1793239693701096192
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.898811791,665,635,880.101188209,787,804.101188209,652,631.101188209,652.101188209,0.438950492182,0.00460147269573,0.0598088549514,0.999999911641,0.000287129505968,-0.000306201920643,2.26981250766e-05,1793239693717763072
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.329123979,665,635,880.670876021,787,804.670876021,652,631.670876021,652.670876021,0.438237432411,0.0046019410168,0.059846666891,0.999999923157,0.000297121066896,-0.000254147755128,2.85213611739e-05,1793239693734429184
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.252059848,745,714.252059848,679.252059848,665.252059848,635,880.747940152,787,804.747940152,652,632,653,0.437475642366,0.00460463228959,0.0598477363718,0.999999918044,0.00030971779043,-0.000258633931174,3.31106401017e-05,1793239693751095808
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.848971867,745,714.848971867,679.848971867,665.848971867,635,880.151028133,787,804.151028133,652,632,653,0.436647182574,0.00461036486287,0.0597985371744,0.999999888291,0.000325878731733,-0.000340474980446,3.60116984673e-05,1793239693767762688
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.567528359,745,714.567528359,680,665.567528359,634.567528359,880,787,804,652,632,652.567528359,0.435841228145,0.00461159977983,0.0597697054131,0.999999874531,0.000333824660091,-0.000371492442297,3.86241125492e-05,1793239693784429312
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,665.011354634,634,880,787,804,652,631.988645366,652,0.435042813181,0.00461138697288,0.0597485883223,0.999999868261,0.00033787878403,-0.000384258471867,4.07677343187e-05,1793239693801095936
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,665.586572786,634,880,787,804,652,631.413427214,652,0.434240250839,0.00461493365159,0.0597679876318,0.999999898859,0.000286848498103,-0.000345544894726,2.44865674598e-05,1793239693817762560
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,665.834451975,634.165548025,880,787,804,652,631,652.165548025,0.433425999007,0.00461447926804,0.0597855585908,0.999999921653,0.000240322863035,-0.000314319627628,1.19127652202e-05,1793239693834429440
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,665.245876223,634.754123777,880,787,804,652,631,652.754123777,0.432581876871,0.00460380090084,0.0597984575331,0.999999933214,0.000205308045613,-0.000302229373738,8.8124569583e-06,1793239693851095808
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.337519216,745,714,680,665,635,880,787,804,652,631.337519216,653,0.431736776739,0.00460129802459,0.059811393721,0.999999939364,0.000202358148422,-0.000283191702164,1.11838342823e-05,1793239693867762432
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.917197919,745,714,680,665,635,880,787,804,652,631.917197919,653,0.430890974962,0.00460466080798,0.059824356631,0.999999941529,0.000222413830575,-0.000259169476088,1.74809750907e-05,1793239693884429056
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.505374825,745,714,680,665,635,880,787,804,652,632,653,0.430015439713,0.00461100514126,0.0598304229465,0.999999937597,0.00023928510048,-0.000258992236169,2.16975408236e-05,1793239693901095680
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.071170623,714,680,665,635,880,787,804,652,632,653,0.429128631477,0.00461676650879,0.0598290771805,0.999999930877,0.000252549080217,-0.000271734292109,2.50088371834e-05,1793239693917762560
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.644143791,714,680,665,635,880,787,804,652,632,653,0.428197277029,0.00461491434216,0.0597835743204,0.99999990951,0.000244120710627,-0.000347549380274,2.43819529772e-05,1793239693934429440
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.224482252,745.775517748,714,680,665.224482252,635,880,787,804,652,631.775517748,653,0.427290584643,0.00461415513129,0.0597597457501,0.999999899375,0.000236195943515,-0.000380677485209,2.3353371549e-05,1793239693951096320
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.816892573,745.183107427,714,680,665.816892573,635,880,787,804,652,631.183107427,653,0.426424313411,0.0046151872827,0.0597714414938,0.999999914409,0.000229096584898,-0.000343841323596,2.1666405471e-05,1793239693967762944
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.599712521,745,714,680,666,635,880,787.400287479,804,652,631.400287479,652.599712521,0.425544812099,0.00461556383061,0.0597958133872,0.999999924413,0.000227789617041,-0.000314187151331,2.39039085291e-05,1793239693984429312
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.020350822,745,714,680,666,635,880,787.979649178,804,652,631.979649178,652.020350822,0.424659392175,0.00461564708504,0.0598258561333,0.999999931975,0.000229073956831,-0.000287745944911,2.78970780057e-05,1793239694001095680
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,665.446879844,635,879.446879844,787.446879844,803.446879844,652,631.446879844,652,0.423795805068,0.00461473860817,0.0598356101057,0.999999937526,0.000224701231448,-0.00027133180422,2.89055297127e-05,1793239694017762560
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,879.126633674,787,803.126633674,652,631,652.126633674,0.422932967519,0.00461407751224,0.0598444122141,0.999999942724,0.000220108980468,-0.000255397732497,2.9596516672e-05,1793239694034429184
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,879.701055914,787,803.701055914,652,631,652.701055914,0.422069969947,0.00461441884589,0.05985246025,0.999999947581,0.000215468710338,-0.000239870429567,2.95491462177e-05,1793239694051096064
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.283975655,745,714,680,665,634.716024345,880,787,804,652,631,653,0.421160894495,0.00461552888924,0.0598305077979,0.999999937503,0.000212194137212,-0.000281207507187,2.98282382326e-05,1793239694067762432
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.876116695,745,714,680,665,634.123883305,880,787,804,652,631,653,0.420201816194,0.00461747312281,0.0597759993434,0.999999903577,0.000210401593133,-0.000384252809386,3.04616013529e-05,1793239694084429056
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.541854704,745,714,679.541854704,665,634.458145296,879.541854704,787,804,652,631,652.541854704,0.419326964218,0.00461638710876,0.0597491599786,0.999999893936,0.000201194765167,-0.000413312974457,2.86486321317e-05,1793239694101095680
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.037157061,665,635,879,787,804,652,631.037157061,652,0.418479207154,0.00461462573085,0.0597335428389,0.999999894015,0.000190702683124,-0.000418212766788,2.6472304705e-05,1793239694117762560
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.611234015,665,635,879,787,804,652,631.611234015,652,0.417700981698,0.00461468975505,0.0597743100829,0.999999917885,0.000189982937596,-0.000356834667682,2.83975986477e-05,1793239694134429184
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.809813989,665,635,879,787.190186011,803.809813989,652,631.809813989,652.190186011,0.416916820612,0.00461407951941,0.0598111089724,0.99999993539,0.000188373344266,-0.000304650749614,3.03926906024e-05,1793239694151095808
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.220634478,665,635,879,787.779365522,803.220634478,652,631.220634478,652.779365522,0.416120206951,0.00461205474606,0.0598395826115,0.999999945452,0.000184896929609,-0.000271755404251,3.25342131644e-05,1793239694167762432
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.362785125,665,635,879,787.637214875,803.362785125,652.362785125,631,653,0.415332655395,0.00461027162595,0.0598465416192,0.999999935855,0.000236334309327,-0.000267066595954,3.33450598302e-05,1793239694184429056
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.942756446,665,635,879,787.057243554,803.942756446,652.942756446,631,653,0.414550529038,0.00460863317493,0.0598406206018,0.999999909042,0.000320646569767,-0.000279264011067,3.33592791586e-05,1793239694201095680
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.517931541,745.517931541,714,680,665,635,879,787,804,653,631,653,0.413794035933,0.00460892988932,0.0598404650726,0.999999908346,0.000323532225131,-0.000278395662285,3.36141018509e-05,1793239694217762560
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.907685738,745.907685738,714,680,665,635,879,787.092314262,804,652.907685738,631.092314262,653,0.413037346795,0.00460909585984,0.0598335065395,0.999999907624,0.000316330226259,-0.000289049977735,3.37337162149e-05,1793239694234429184
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.334694028,745.334694028,714,680,665,635,879,787.665305972,804,652.334694028,631.665305972,653,0.412265020558,0.00460747759758,0.0597878374326,0.99999988614,0.000303032514636,-0.000367152688888,3.30121100839e-05,1793239694251095808
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.245921065,714.245921065,680,665,635,879,787.754078935,803.754078935,652,631.754078935,653,0.411532642832,0.00460658997132,0.0597594326267,0.999999873582,0.000290740885151,-0.000409012953545,3.18390001219e-05,1793239694267762432
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.83724331,714.83724331,680,665,635,879,787.16275669,803.16275669,652,631.16275669,653,0.410856373674,0.00460672853843,0.0597552758893,0.9999998804,0.00027986232184,-0.000399969954843,3.00317440557e-05,1793239694284429312
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.579421079,714.579421079,680,665,635,879.420578921,787,803.420578921,652.420578921,631,653,0.41023286252,0.00460463050583,0.0597858295981,0.999999902623,0.000266733385868,-0.000350237417896,3.06868278671e-05,1793239694301095936
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.000872255,745,714,680,665.000872255,635,879.999127745,787,803.999127745,653,631.000872255,653,0.409629407717,0.00460168259226,0.0598295321874,0.999999926893,0.000252758035617,-0.000285107424305,3.22774873519e-05,1793239694317762304
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.575094445,745,714,680,665.575094445,635,879.424905555,787,803.424905555,653,631.575094445,653,0.409039396295,0.00459841560063,0.0598514527324,0.999999936761,0.000244181738203,-0.00025629380725,3.41644879614e-05,1793239694334429184
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.846874433,745.153125567,714,679.846874433,665.846874433,635,879.306251134,787,803.153125567,653,631.846874433,652.846874433,0.408456543418,0.00459612727316,0.0598649099636,0.999999943182,0.000235936852941,-0.000238180245252,3.52051954869e-05,1793239694351096064
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.258004221,745.741995779,714,679.258004221,665.258004221,635,880.483991558,787,803.741995779,653,631.258004221,652.258004221,0.407894061258,0.004596623899,0.0598542834118,0.999999941912,0.000228635055427,-0.000250515489745,3.3837633715e-05,1793239694367762688
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745.67426616,714,679,665,635,880.34853232,787,804,653,631,652.32573384,0.40733625552,0.00459492182429,0.0598408727713,0.99999993953,0.000217776831194,-0.00026915704334,3.2668642801e-05,1793239694384429312
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.094530107,714,679,665,635,879.189060213,787,804,653,631,652.905469893,0.406782096419,0.00459150523685,0.0598252911422,0.99999993582,0.000204145360707,-0.000292716158439,3.16544944395e-05,1793239694401095936
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.479539869,714,679,665,635,879,787,804,653,631,653,0.406306434066,0.00459002013687,0.0598296267505,0.999999940312,0.000197399964543,-0.0002818789087,3.08659188418e-05,1793239694417762304
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.053056982,746,714,679.053056982,665.053056982,635,879.053056982,787.053056982,804,652.946943018,631,653,0.40584777518,0.00458884700915,0.0598369212407,0.999999945732,0.000191917308513,-0.000266062104796,3.02315417898e-05,1793239694434429184
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.632036161,746,714,679.632036161,665.632036161,635,879.632036161,787.632036161,804,652.367963839,631,653,0.405406070037,0.00458703622409,0.0598350815691,0.999999946568,0.00018565318568,-0.000267311559691,3.06900210578e-05,1793239694451095808
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.784712211,746,714,680,665.784712211,635,879.784712211,787.784712211,803.784712211,652,631,652.784712211,0.404973550713,0.00458572119147,0.0598270237924,0.999999943757,0.000181749113126,-0.000280128814647,3.13324413835e-05,1793239694467762432
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.19401044,746,714,680,665.19401044,635,879.19401044,787.19401044,803.19401044,652,631,652.19401044,0.404557049458,0.00458527064093,0.0598081230245,0.999999933902,0.000181960443444,-0.000313117737616,3.22956138997e-05,1793239694484429312
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.389034067,745.610965933,714.389034067,679.610965933,665.389034067,635,879,787.389034067,803.389034067,652.389034067,631,652.389034067,0.404162879728,0.00458423372563,0.0597889740636,0.99999992336,0.000181277455486,-0.00034547791879,3.26198787552e-05,1793239694501095936
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.968333677,745.031666323,714.968333677,679.031666323,665.968333677,635,879,787.968333677,803.968333677,652.968333677,631,652.968333677,0.403779631677,0.00458291003591,0.0597697037168,0.999999911975,0.00018015708172,-0.000377530602928,3.26316720418e-05,1793239694517762816
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.457513574,745.542486426,714.457513574,679,666,635,879.542486426,787.457513574,803.457513574,653,631,653,0.403493440519,0.00458145681182,0.0597828016723,0.999999921629,0.000177693917042,-0.000352196156567,3.3548459588e-05,1793239694534429440
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.116531875,745.883468125,714,679.116531875,666,635,880,787.116531875,803.116531875,653,631,653,0.403221816513,0.00457984786621,0.0597997597311,0.999999932515,0.000175561120031,-0.000320850263462,3.46880571572e-05,1793239694551095808
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.691325893,745.308674107,714,679.691325893,666,635,880,787.691325893,803.691325893,653,631,653,0.40298540776,0.00457765599978,0.0598245373446,0.999999945119,0.000175032836191,-0.000278913750619,3.64980671866e-05,1793239694567762432
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,665.726348899,635,879.726348899,788,804,653,631,653,0.4027573927,0.00457598649185,0.0598431586475,0.999999953221,0.000174263761893,-0.000248506027887,3.78749864321e-05,1793239694584429056
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,665.135288255,635,879.135288255,788,804,653,631,653,0.40253911355,0.00457492287078,0.0598546392076,0.999999957458,0.000173215393574,-0.000231470620474,3.87495610344e-05,1793239694601095680
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.553329777,745,714,680,665,635,879,787.553329777,803.553329777,653,631,652.553329777,0.402319158337,0.00457412299055,0.0598511274682,0.999999954762,0.000173607374929,-0.000242422204493,3.95936093359e-05,1793239694617762560
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745.025674995,714.025674995,680,665,635,879,787.025674995,803,653,631,652.025674995,0.402100917046,0.00457318518654,0.059843262476,0.999999950364,0.000171470790139,-0.00026133183281,3.96950479473e-05,1793239694634429184
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745.599304307,714.599304307,680,665,635,879,787.599304307,803,653,631,652.599304307,0.401929871981,0.00456763302455,0.0598374667002,0.999999956859,0.000106245084519,-0.00027278424243,2.41411361101e-05,1793239694651096064
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.177752243,746,714.822247757,680,665,635,879,787.822247757,803.177752243,653,631,653,0.401772751223,0.00456300070605,0.0598335747733,0.999999958838,6.18477486327e-05,-0.000279833510635,1.3852769567e-05,1793239694667762944
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.767365085,746,714.232634915,680,665,635,879,787.232634915,803.767365085,653,631,653,0.401647893786,0.00456049971045,0.0598340941576,0.999999959441,6.57107693746e-05,-0.000276680486723,1.57649301788e-05,1793239694684429568
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,714.350782901,680,665,635,879,787,803.649217099,653,631,653,0.401532718134,0.00456087348151,0.0598350221876,0.99999995424,0.000125074598576,-0.00027494970694,1.67041363476e-05,1793239694701095936
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,746,714.930163606,680,665,635,879,787,803.069836394,653,631,653,0.401423851886,0.00456312067699,0.0598362165233,0.999999937944,0.000220607131494,-0.000274145771279,1.70092887317e-05,1793239694717762560
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.492063616,746,714.492063616,680,665.507936384,635,879,787.507936384,803.507936384,653,631,653,0.40133861782,0.00456075714003,0.0598376259258,0.999999936412,0.000231158713772,-0.000270916292029,1.86024452696e-05,1793239694734429440
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,746,714,679.915161271,666,635,878.915161271,787.915161271,803.915161271,653,631,653,0.401259021457,0.00455831058508,0.0598382618956,0.999999937062,0.000230481985739,-0.000268974804135,2.01611198998e-05,1793239694751096320
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,746,714,679.34200034,666,635,878.34200034,787.34200034,803.34200034,653,631,653,0.40119323204,0.00455902351148,0.0598342764112,0.99999993464,0.000232216322407,-0.000276360315573,2.05052376265e-05,1793239694767762688
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.238723064,745.761276936,714,679.238723064,665.761276936,635,878.477446128,787,803.238723064,653,631,653,0.401136512402,0.00455980114869,0.0598321987581,0.999999933059,0.000234212385842,-0.000280342071285,2.0854261554e-05,1793239694784429568
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.830635055,745.169364945,714,679.830635055,665.169364945,635,879.66127011,787,803.830635055,653,631,653,0.401093211435,0.004560674525,0.0598329437271,0.999999932785,0.000236595671918,-0.000279287996294,2.12105441481e-05,1793239694801096448
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.412032271,680,665,635,879.587967729,787,803.587967729,653,631.412032271,653,0.40105806764,0.00455819290478,0.0598322267631,0.999999932731,0.000234177024668,-0.000281482679675,2.16106239362e-05,1793239694817763072
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.989214949,680,665,635,879.010785051,787,803.010785051,653,631.989214949,653,0.401026193396,0.00455436653781,0.0598309238286,0.999999932739,0.000229833670715,-0.00028497952751,2.20282584675e-05,1793239694834429440
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.43396123,745,714.43396123,679.43396123,665.56603877,635,879,787.56603877,803.56603877,653,632,653.56603877,0.401009616272,0.00455638328962,0.0598327923751,0.999999933162,0.000230915284672,-0.000282614270334,2.19715586315e-05,1793239694851095808
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.145004779,745.145004779,714.145004779,679,665.854995221,635,879,787.854995221,804,653,631.854995221,653.709990443,0.400995677896,0.0045577690574,0.0598347508922,0.999999933762,0.000231916527353,-0.000279652364883,2.20204669739e-05,1793239694867762688
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.730498884,745.730498884,714.730498884,679,665.269501116,635,879,787.269501116,804,653,631.269501116,652.539002232,0.400988870562,0.00455690006258,0.0598367992683,0.999999934881,0.000232359822782,-0.000275217071334,2.24176244588e-05,1793239694884429312
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9caa6868ba08078dfbecf630335229491c5d3d5f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,418 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56cb40c47661175997c266ed05ff65f675dab874
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 26476980
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c212e4b840eacf785ae2aebe2782547b0711ea2a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,714,680,667,636,879,788,804,653,631,652,0.400972598436,0.00455527759944,0.0598477011086,0.999999941163,0.000225866467865,-0.000257250374374,2.19106091778e-05,1793239695524093440
+1,0.016666667,BASELINE,766,745.58051662,714,679.41948338,665.838966759,636,879.58051662,787.41948338,804,653,631,652.58051662,0.400972521909,0.00455386599731,0.0598483490588,0.999999941708,0.000223912026409,-0.000256824083457,2.21123575427e-05,1793239695540759808
+2,0.033333333,BASELINE,766,746,714,679,665.159862332,636,879.840137668,787,804,652.840137668,631.159862332,653,0.400971926609,0.00455289125841,0.0598485829323,0.999999942007,0.000222417621059,-0.000256944758529,2.22611883761e-05,1793239695557426176
+3,0.050000000,BASELINE,766,746,714,679,665.736158012,636,879.263841988,787,804,652.263841988,631.736158012,653,0.400969979928,0.00455305452593,0.0598477381569,0.999999941674,0.000222121586237,-0.000258490252441,2.22721717404e-05,1793239695574092544
+4,0.066666667,BASELINE,765.682036613,745.682036613,714.317963387,679.317963387,665.682036613,635.682036613,879,787.317963387,804,652.317963387,631.682036613,653,0.40097047874,0.00455386623408,0.0598478622133,0.99999994148,0.00022347641814,-0.000258070701964,2.23043159323e-05,1793239695590759424
+5,0.083333333,BASELINE,765.095578779,745.095578779,714.904421221,679.904421221,665.095578779,635.095578779,879,787.904421221,804,652.904421221,631.095578779,653,0.400973042572,0.00455522549804,0.0598488043699,0.999999941395,0.00022622527392,-0.000255991829822,2.23543287364e-05,1793239695607425792
+6,0.100000000,BASELINE,765.4852381,745.4852381,714.5147619,680,665,635.4852381,879,787.5147619,804,653,631,653,0.400973011848,0.00455448700572,0.0598485347498,0.999999941638,0.000224896561092,-0.000256228432704,2.22118067776e-05,1793239695624092160
+7,0.116666667,BASELINE,766,746,714,680,665.064653466,635.935346534,879,787,804,653,631,653,0.400972509688,0.00455348278296,0.059848157798,0.999999941928,0.000222972443709,-0.000256788144349,2.20912345462e-05,1793239695640758784
+8,0.133333333,BASELINE,766,746,714,680,665.641666359,635.358333641,879,787,804,653,631,653,0.400972274967,0.00455360959323,0.0598488000625,0.999999942114,0.000222621668663,-0.000256335585969,2.24416911996e-05,1793239695657425920
+9,0.150000000,BASELINE,766,745.78158066,714,680,666,635,879,787.21841934,804,653,631,652.78158066,0.400972214523,0.00455364915427,0.0598491358691,0.999999942261,0.000222250398209,-0.000256078585153,2.25103529263e-05,1793239695674092544
+10,0.166666667,BASELINE,766,745.205253633,714,680,666,635,879,787.794746367,804,653,631,652.205253633,0.400972439655,0.00455354574639,0.0598489695058,0.999999942343,0.000221845543475,-0.000256142030159,2.21172580252e-05,1793239695690759168
+11,0.183333333,BASELINE,765.620748693,745.379251307,714.379251307,680,665.620748693,635,879,788,804,653,631,652.379251307,0.400972856321,0.00455314518325,0.059848885564,0.99999994239,0.000221863304784,-0.00025593362354,2.22311863698e-05,1793239695707425536
+12,0.200000000,BASELINE,765.031720208,745.968279792,714.968279792,680,665.031720208,635,879,788,804,653,631,652.968279792,0.400973378933,0.00455258025313,0.0598488472126,0.999999942417,0.000222114829787,-0.000255574846275,2.26255669885e-05,1793239695724092160
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+14,0.233333333,BASELINE,765.126725602,745,715,680,665.873274398,635.126725602,879,787,803.873274398,653,631,653,0.400969665332,0.00455562859872,0.059847991404,0.99999994108,0.000225731556557,-0.000257703164301,2.17799653023e-05,1793239695757425408
+15,0.250000000,BASELINE,765.701288554,745,715,680,665.298711446,635.701288554,879,787,803.298711446,653,631,653,0.400969351633,0.00455478986921,0.0598472919907,0.999999941051,0.000225474202404,-0.000258015586621,2.20789075949e-05,1793239695774092288
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+17,0.283333333,BASELINE,766,745.845594797,714.154405203,680,665.845594797,636,879.845594797,787,803.845594797,653,631,652.154405203,0.40096946587,0.00455413131558,0.0598476329946,0.999999941057,0.000224836305429,-0.00025854743188,2.20782694557e-05,1793239695807425792
+18,0.300000000,BASELINE,766,746,714,679.566819311,666,635.566819311,879.566819311,787.433180689,803.566819311,653,631.433180689,652.433180689,0.40097068955,0.00455336347916,0.0598485722463,0.999999941696,0.000223701146218,-0.000257040534122,2.22659313512e-05,1793239695824092416
+19,0.316666667,BASELINE,766,745.973973376,714,679.026026624,666,635.026026624,879,788,803.026026624,653,631.973973376,653,0.400972144603,0.00455242022135,0.059849584909,0.99999994249,0.000222363975445,-0.000255078611592,2.25481369778e-05,1793239695840759296
+20,0.333333333,BASELINE,766,745.397398279,714,679.602601721,666,635.602601721,879,788,803.602601721,653,631.397398279,653,0.400970375073,0.00455260402731,0.0598485216464,0.999999941797,0.000222978626416,-0.000257252461078,2.25340054261e-05,1793239695857425664
+21,0.350000000,BASELINE,766,745,714,680,666,635.820900805,879,788,803.820900805,653,631,653,0.400970022554,0.00455286358536,0.059848178256,0.999999941567,0.00022329548,-0.000257875236248,2.24659397846e-05,1793239695874092288
+22,0.366666667,BASELINE,766,745,714,680,666,635.244575572,879,788,803.244575572,653,631,653,0.400972812843,0.00455329115475,0.0598494314779,0.999999942371,0.000222951845459,-0.000255057866655,2.2278253144e-05,1793239695890758912
+23,0.383333333,BASELINE,765.660689061,745,714.339310939,680,666,635.339310939,879,788,803.339310939,653,631,653,0.400973038918,0.00455222472916,0.0598495128643,0.999999942693,0.000222110701476,-0.00025451255304,2.24740918123e-05,1793239695907425536
+24,0.400000000,BASELINE,765.071228092,745,714.928771908,680,666,635.928771908,879,788,803.928771908,653,631,653,0.400971374578,0.00455005688647,0.0598487303393,0.999999942661,0.000220902778823,-0.000255642265799,2.29526766277e-05,1793239695924092160
+25,0.416666667,BASELINE,765.509459241,745,715,680,666,636,879,788,804,653,631.509459241,653,0.400971473636,0.00455176654851,0.0598492562682,0.999999942395,0.000222078156082,-0.000255674377994,2.28454945185e-05,1793239695940759040
+26,0.433333333,BASELINE,766,745,714.911836239,679.911836239,666,635.911836239,879.088163761,787.911836239,803.911836239,653,632,652.911836239,0.400971930474,0.00455378566268,0.0598498935064,0.999999942179,0.000223399846001,-0.000255387875444,2.26140151286e-05,1793239695957425664
+27,0.450000000,BASELINE,766,745,714.337416538,679.337416538,666,635.337416538,879.662583462,787.337416538,803.337416538,653,632,652.337416538,0.400973023842,0.00455457215649,0.0598501527749,0.999999942426,0.000223721830967,-0.000254176136439,2.21410339248e-05,1793239695974092544
+28,0.466666667,BASELINE,766,745.243271798,714,679,665.756728202,635,879.756728202,787,803,653,631.756728202,652.243271798,0.400972830069,0.00455463334676,0.0598500397706,0.999999942363,0.000223929199174,-0.000254243884034,2.21086869278e-05,1793239695990758912
+29,0.483333333,BASELINE,766,745.832884626,714,679,665.167115374,635,879.167115374,787,803,653,631.167115374,652.832884626,0.400970803822,0.00455366193735,0.0598493967691,0.999999941858,0.000223973389849,-0.000256133210326,2.27036617713e-05,1793239696007425280
+30,0.500000000,BASELINE,766,746,714,679,665.41505316,635.41505316,879.41505316,787,803.83010632,653,631,653,0.400971033974,0.0045530513021,0.0598491710217,0.999999942366,0.000221943100039,-0.000255931999841,2.2537414925e-05,1793239696024091904
+31,0.516666667,BASELINE,766,746,714,679,665.994277151,635.994277151,879.994277151,787,804.988554302,653,631,653,0.400972156626,0.0045525833681,0.0598491103158,0.999999943268,0.000219092266695,-0.000254903894844,2.20700731459e-05,1793239696040758784
+32,0.533333333,BASELINE,765.429273096,746,714.570726904,679,665.429273096,635.429273096,879.429273096,787,804.429273096,653,631.570726904,653,0.400971414255,0.00455322530259,0.0598488007519,0.999999942256,0.000222627976965,-0.000255797129982,2.21941070354e-05,1793239696057425408
+33,0.550000000,BASELINE,765.146592233,745.853407767,714.853407767,679,665,635,879.146592233,787,804,653,631.853407767,653,0.400971199874,0.00455380218031,0.0598489552344,0.999999941695,0.000224916923354,-0.000255982096005,2.22672632317e-05,1793239696074092032
+34,0.566666667,BASELINE,765.720833298,745.279166702,714.279166702,679,665,635,879.720833298,787,804,653,631.279166702,653,0.400972580075,0.00455415696073,0.0598504707087,0.999999942535,0.000223382807267,-0.000254044919276,2.21747801141e-05,1793239696090758912
+35,0.583333333,BASELINE,766,745.302562848,714.302562848,679.302562848,665.302562848,635,879.697437152,787.302562848,803.697437152,653,631,653,0.400972709014,0.00455419012213,0.0598506554084,0.999999942701,0.000223076382592,-0.000253653531558,2.22518545531e-05,1793239696107425536
+36,0.600000000,BASELINE,766,745.891377242,714.891377242,679.891377242,665.891377242,635,879.108622758,787.891377242,803.108622758,653,631,653,0.400971654147,0.00455391900318,0.0598495810763,0.999999942232,0.000223931463744,-0.000254724598438,2.24893456129e-05,1793239696124092416
+37,0.616666667,BASELINE,766,746,714.527036194,679.527036194,665.527036194,635,879,787.527036194,803.472963806,653,631,653,0.400970569179,0.00455384183951,0.0598489343424,0.999999942135,0.000222940336665,-0.00025598565802,2.23388182978e-05,1793239696140759040
+38,0.633333333,BASELINE,765.947533473,745.947533473,714,679.052466527,665,635.052466527,879,787,803.947533473,653,631,653,0.40096981146,0.00455366080112,0.0598485814844,0.999999942212,0.00022150580585,-0.000256946518112,2.21383465751e-05,1793239696157425408
+39,0.650000000,BASELINE,765.372500981,745.372500981,714,679.627499019,665,635.627499019,879,787,803.372500981,653,631,653,0.40097238096,0.00455200818673,0.0598501922395,0.999999943209,0.000219814522321,-0.000254489338502,2.23146421494e-05,1793239696174092032
+40,0.666666667,BASELINE,765.201727216,745,714.201727216,680,665,636,879.201727216,787.201727216,803,653,631.201727216,653,0.400973703807,0.00455161415756,0.0598509290068,0.999999943578,0.000219556721002,-0.000253257452988,2.2338364167e-05,1793239696190758656
+41,0.683333333,BASELINE,765.774476098,745,714.774476098,680,665,636,879.774476098,787.774476098,803,653,631.774476098,653,0.400972733779,0.00455353494945,0.059850058314,0.9999999428,0.000221935415587,-0.00025427915872,2.20814691293e-05,1793239696207425536
+42,0.700000000,BASELINE,766,745.359167915,714.640832085,679.640832085,665.359167915,635.640832085,879.640832085,787.640832085,803.359167915,653,632,653.359167915,0.400973067181,0.00455324246387,0.05985018671,0.999999943074,0.000221339884528,-0.000253711548817,2.21640975717e-05,1793239696224092416
+43,0.716666667,BASELINE,766,745.951616688,714.048383312,679.048383312,665.951616688,635.048383312,879.048383312,787.048383312,803.951616688,653,632,653.951616688,0.400974247168,0.00455151244649,0.0598509640177,0.999999944028,0.000218812583069,-0.000252111672622,2.24672477515e-05,1793239696240759296
+44,0.733333333,BASELINE,766,745.468622544,714,679.531377456,666,635,879.531377456,787,803.468622544,653,631.468622544,653.468622544,0.400973594113,0.00455220701707,0.0598511659872,0.99999994344,0.00022135460628,-0.000252215573927,2.25590056971e-05,1793239696257425664
+45,0.750000000,BASELINE,765.890765467,745,714,680,666,635.109234533,879.890765467,787,803,653,631,653,0.400973024922,0.00455302639411,0.0598513218632,0.999999942879,0.000223674263004,-0.000252393762506,2.25771093926e-05,1793239696274092544
+46,0.766666667,BASELINE,765.316211428,745,714,680,666,635.683788572,879.316211428,787,803,653,631,653,0.400973507368,0.00455345893564,0.0598514993399,0.999999943044,0.000223126303488,-0.000252242972268,2.23615393128e-05,1793239696290758912
+47,0.783333333,BASELINE,765,745,714,680,665.741347965,635.741347965,879,787,803.258652035,653,631.258652035,652.741347965,0.400972847777,0.0045532953431,0.0598508463285,0.99999994305,0.000222114635873,-0.000253115937909,2.22847452375e-05,1793239696307425536
+48,0.800000000,BASELINE,765,745,714,680,665.16610569,635.16610569,879,787,803.83389431,653,631.83389431,652.16610569,0.40097079033,0.00455240208219,0.0598491767993,0.999999942857,0.000220535389204,-0.000255241981315,2.2377813043e-05,1793239696324092416
+49,0.816666667,BASELINE,765.422091632,745,714,680,665,635,879,787.422091632,803.577908368,653,631.577908368,652.422091632,0.400970989174,0.00455266886502,0.0598497807463,0.999999942879,0.000221137145175,-0.000254649419862,2.22130016837e-05,1793239696340759040
+50,0.833333333,BASELINE,766,745.015167296,714,680.015167296,665.015167296,635.015167296,879,788,803.015167296,653,631,653,0.400972089365,0.0045533808145,0.0598512612827,0.999999942987,0.000222556481062,-0.000253006578782,2.19573898601e-05,1793239696357425664
+51,0.850000000,BASELINE,766,745.594072623,714,680.594072623,665.594072623,635.594072623,879,788,803.594072623,653,631,653,0.400972643735,0.00455313381435,0.0598510164395,0.999999943139,0.000221452592936,-0.000253350323937,2.22182678205e-05,1793239696374092288
+52,0.866666667,BASELINE,765.830359759,746,714,680.830359759,665.830359759,635.830359759,879,787.830359759,804,653,631.169640241,653,0.400972923209,0.004553359184,0.0598505710665,0.999999943079,0.000221302435021,-0.000253704355869,2.23688487766e-05,1793239696390759168
+53,0.883333333,BASELINE,765.262624777,746,714,680.262624777,665.262624777,635.262624777,879,787.262624777,804,653,631.737375223,653,0.400972557583,0.00455469306388,0.0598496551099,0.999999942522,0.000223390395782,-0.000254082527755,2.22605957462e-05,1793239696407426048
+54,0.900000000,BASELINE,765,745.679394169,714,680,665.320605831,635,879.320605831,787,803.679394169,653,632,653,0.400972194479,0.00455520107747,0.0598496875051,0.999999942413,0.000224048349778,-0.000253942327725,2.21123689848e-05,1793239696424092416
+55,0.916666667,BASELINE,765,745.082825671,714,680,665.917174329,635,879.917174329,787,803.082825671,653,632,653,0.400971833544,0.0045549982235,0.0598505361974,0.999999942694,0.000223475420003,-0.000253355937114,2.19297346909e-05,1793239696440759040
+56,0.933333333,BASELINE,765,745.498840563,714,679.501159437,665.501159437,635.498840563,879.501159437,787.498840563,803,653,631.501159437,653,0.400971840952,0.0045530999746,0.0598502218935,0.999999943102,0.000221048735469,-0.000253863482244,2.20497837906e-05,1793239696457425920
+57,0.950000000,BASELINE,765.077618431,745.922381569,714.077618431,679,665.077618431,635.922381569,879,787.922381569,803.077618431,653,631.077618431,653,0.400971949509,0.00455148059141,0.0598498711198,0.999999943452,0.000218870137009,-0.000254363646105,2.21454955182e-05,1793239696474092544
+58,0.966666667,BASELINE,765.653278742,745.346721258,714.653278742,679,665.653278742,635.346721258,879,787.346721258,803.653278742,653,631.653278742,653,0.400972326052,0.00455340440699,0.0598504894283,0.999999943341,0.000220201058181,-0.000253684797761,2.17719268674e-05,1793239696490759168
+59,0.983333333,BASELINE,766,745.228327693,714.771672307,679,665.771672307,635.228327693,879,787,803.771672307,653,631.771672307,653,0.400972449583,0.00455446251421,0.0598508836668,0.999999943173,0.000221179262367,-0.000253506798061,2.16403360146e-05,1793239696507425792
+60,1.000000000,BASELINE,766,745.802450842,714.197549158,679,665.197549158,635.802450842,879,787,803.197549158,653,631.197549158,653,0.400972189936,0.00455420953232,0.0598509385584,0.999999942922,0.000221623287433,-0.00025408731854,2.18752132381e-05,1793239696524092416
+61,1.016666667,BASELINE,766,746,714.388901597,679.388901597,665,635.611098403,879.388901597,787.388901597,803.388901597,653,631,653,0.400971757767,0.00455365599564,0.0598505934347,0.999999942751,0.00022207378911,-0.000254347093806,2.21303385259e-05,1793239696540759040
+62,1.033333333,BASELINE,766,746,714.981819327,679.981819327,665,635.018180673,879.981819327,787.981819327,803.981819327,653,631,653,0.400971235094,0.00455294478919,0.0598500384649,0.99999994262,0.000222527688364,-0.000254438607456,2.23960858485e-05,1793239696557425664
+63,1.050000000,BASELINE,766,745.442047757,714.442047757,680,665.557952243,635,880,787.442047757,804,652.442047757,631,653,0.400973551409,0.00455324722887,0.0598512023305,0.999999943051,0.000223567328639,-0.000251841778047,2.21463745097e-05,1793239696574092288
+64,1.066666667,BASELINE,766,745.133562705,714.133562705,680,666,635,880,787.133562705,803.866437295,652.133562705,631.133562705,653,0.40097509623,0.00455288253895,0.0598518302779,0.999999943461,0.000223459770273,-0.000250313138731,2.20543621445e-05,1793239696590758912
+65,1.083333333,BASELINE,766,745.70920127,714.70920127,680,666,635,880,787.70920127,803.29079873,652.70920127,631.70920127,653,0.40097379026,0.00455020360327,0.059850504438,0.999999943753,0.000219493799831,-0.000252601548459,2.25382829141e-05,1793239696607425536
+66,1.100000000,BASELINE,766,746,714.707525469,679.707525469,666,635,879.707525469,788,803.292474531,653,631.707525469,653,0.400973250933,0.00454942972489,0.0598501935464,0.999999943877,0.000218106731241,-0.000253290913596,2.28043455839e-05,1793239696624092160
+67,1.116666667,BASELINE,766,746,714.11645783,679.11645783,666,635,879.11645783,788,803.88354217,653,631.11645783,653,0.400973494287,0.00455060075784,0.059850918836,0.999999943842,0.000219352515478,-0.000252347781935,2.28479925248e-05,1793239696640758784
+68,1.133333333,BASELINE,766,746,714.464098741,679.464098741,666,635,879,788,804,653,631.464098741,653,0.400973242007,0.00455169215595,0.0598512322069,0.999999943574,0.000220962455128,-0.000252028070809,2.25915305654e-05,1793239696657425664
+69,1.150000000,BASELINE,765.957866143,746,714.957866143,680,666,635,879,787.957866143,804,653,631.957866143,653,0.400972975253,0.00455269595962,0.0598514387087,0.999999943288,0.000222494998084,-0.000251842165514,2.2273905043e-05,1793239696674092032
+70,1.166666667,BASELINE,765.379096573,746,714.379096573,680,666,635,879,787.379096573,804,653,631.379096573,653,0.400974073112,0.00455283299645,0.0598515714143,0.999999943531,0.000221903715273,-0.000251412146329,2.2115179031e-05,1793239696690758656
+71,1.183333333,BASELINE,765.19742036,745.80257964,714,679.80257964,666,635,879,787.19742036,804,653,631.19742036,653,0.400974238399,0.00455302274838,0.0598515253219,0.999999943547,0.000221749009015,-0.000251490107189,2.20439649938e-05,1793239696707425280
+72,1.200000000,BASELINE,765.769660562,745.230339438,714,679.230339438,666,635,879,787.769660562,804,653,631.769660562,653,0.400972633115,0.00455331258455,0.0598511397658,0.999999943133,0.000222423181471,-0.000252532512581,2.21389000775e-05,1793239696724092416
+73,1.216666667,BASELINE,766,745.352484697,714,679.352484697,666,635.352484697,879,787.647515303,804,653,632,653,0.40097229087,0.00455321373212,0.0598508143646,0.999999943153,0.000221832371978,-0.00025297166514,2.21446422682e-05,1793239696740759296
+74,1.233333333,BASELINE,766,745.94243922,714,679.94243922,666,635.94243922,879,787.05756078,804,653,632,653,0.400972799536,0.00455285301918,0.0598505294899,0.999999943465,0.000220389340932,-0.000253004404685,2.20902949771e-05,1793239696757425664
+75,1.250000000,BASELINE,766,746,714.52268743,680,666,636,879,787,804,653,631.47731257,653,0.400972696496,0.00455289665213,0.0598508601621,0.999999943634,0.000220074700026,-0.000252620745312,2.19384825416e-05,1793239696774092288
+76,1.266666667,BASELINE,766,746,714.898771016,679.898771016,666,635.898771016,879,787,804,653,631,653,0.400972422268,0.00455301450727,0.0598511122454,0.999999943655,0.000220190423869,-0.000252448123125,2.18342451717e-05,1793239696790758912
+77,1.283333333,BASELINE,766,746,714.323308488,679.323308488,666,635.323308488,879,787,804,653,631,653,0.400971655895,0.00455327527364,0.0598506843832,0.999999943046,0.000221750771689,-0.000253475066481,2.20022518783e-05,1793239696807425536
+78,1.300000000,BASELINE,766,746,714.257558359,679.257558359,665.742441641,635.257558359,879,787.257558359,804,653,631.257558359,653,0.400971284781,0.00455364753095,0.0598503750672,0.999999942778,0.00022240007207,-0.000253965145506,2.20061961633e-05,1793239696824092416
+79,1.316666667,BASELINE,766,746,714.845354505,679.845354505,665.154645495,635.845354505,879,787.845354505,804,653,631.845354505,653,0.400971420466,0.00455416274039,0.0598502177495,0.999999942948,0.000221881239827,-0.000253766864386,2.17997818537e-05,1793239696840759296
+80,1.333333333,BASELINE,766,746,714.572683119,680,665,635.572683119,879,787.572683119,804,653,632,653,0.400971739454,0.00455444777433,0.0598502999095,0.999999942877,0.000222372939011,-0.000253620507738,2.17482828455e-05,1793239696857426176
+81,1.350000000,BASELINE,766,745.992841452,714,680,665,635.007158548,879,787,804,653,632,653,0.400972129326,0.00455463330783,0.0598504699719,0.999999942731,0.00022318415756,-0.000253484579752,2.17540901959e-05,1793239696874092544
+82,1.366666667,BASELINE,766,745.416020197,714,680,665,635.583979803,879,787,804,653,632,653,0.400972952075,0.00455344038236,0.059850831261,0.999999943474,0.000220711558085,-0.000252703302275,2.19188755824e-05,1793239696890758912
+83,1.383333333,BASELINE,766,745,714.160353417,679.839646583,665.160353417,636,879,787,804,653,632,652.839646583,0.400973088071,0.00455285562745,0.0598507177722,0.999999943767,0.000219517344759,-0.000252577963687,2.19846811005e-05,1793239696907425536
+84,1.400000000,BASELINE,766,745,714.735569028,679.264430972,665.735569028,636,879,787,804,653,632,652.264430972,0.400971447319,0.00455384431533,0.0598493759503,0.999999942906,0.000221630538354,-0.000254149652991,2.17944085091e-05,1793239696924092416
+85,1.416666667,BASELINE,765.682865979,745,714.682865979,679,666,636,879,787.317134021,803.682865979,653,631.682865979,652.317134021,0.400970527955,0.00455404862139,0.0598488650696,0.999999942432,0.000222774910399,-0.000255013239157,2.17882765843e-05,1793239696940758784
+86,1.433333333,BASELINE,765.095898655,745,714.095898655,679,666,636,879,787.904101345,803.095898655,653,631.095898655,652.904101345,0.400970222383,0.00455358553655,0.0598490611946,0.999999942291,0.000223094961047,-0.000255274336072,2.19388206542e-05,1793239696957425408
+87,1.450000000,BASELINE,765.485021948,745,714,679.485021948,666,636,879,788,803.485021948,653,631,653,0.400971242024,0.00455256732533,0.0598498581028,0.999999942825,0.000221876277717,-0.000254230222559,2.21069180019e-05,1793239696974092544
+88,1.466666667,BASELINE,765.935446369,745,714,679.935446369,666,635.935446369,879,788,804,652.935446369,631.064553631,653,0.400972354106,0.00455152498517,0.0598506210805,0.999999943426,0.000220402174928,-0.000253133526871,2.22502875395e-05,1793239696990759680
+89,1.483333333,BASELINE,765.357569313,745,714,679.357569313,666,635.357569313,879,788,804,652.357569313,631.642430687,653,0.400972143352,0.00455115282447,0.0598501812957,0.999999943543,0.000219286489072,-0.000253645551659,2.21697659293e-05,1793239697007426304
+90,1.500000000,BASELINE,765.218582352,745.218582352,714,679.218582352,666.218582352,635,879,788,804,652.218582352,631.781417648,653,0.400972444826,0.00455168478089,0.059850445666,0.999999943479,0.000220161303249,-0.00025314267852,2.21165015915e-05,1793239697024092672
+91,1.516666667,BASELINE,765.791933575,745.791933575,714,679.791933575,666.791933575,635,879,788,804,652.791933575,631.208066425,653,0.400973577665,0.00455368415962,0.0598518529113,0.999999943109,0.000224266787546,-0.000250992580887,2.21074770259e-05,1793239697040759040
+92,1.533333333,BASELINE,766,746,714,680,666.623190761,635.376809239,879,788,804,653,631,653,0.400973524823,0.00455310134828,0.0598517646619,0.999999943455,0.000222585711963,-0.000251096879383,2.22498538105e-05,1793239697057425664
+93,1.550000000,BASELINE,766,746,714,680,666.031750713,635.968249287,879,788,804,653,631,653,0.400972796615,0.00455104771984,0.059850824578,0.999999944196,0.000217608608155,-0.000252485283304,2.24784689105e-05,1793239697074092288
+94,1.566666667,BASELINE,766,746,714.548020712,679.451979288,666,636,879,788,804,653,631.548020712,653,0.400972337718,0.00455133963829,0.0598509684938,0.999999943789,0.000219080245606,-0.000252838007867,2.23338435736e-05,1793239697090759168
+95,1.583333333,BASELINE,766,746,715,679.125991823,666,636,879,788,804,653,631.874008177,653,0.400971994493,0.00455158307377,0.059851072669,0.999999943519,0.000220109397294,-0.000253024669717,2.21934445651e-05,1793239697107425792
+96,1.600000000,BASELINE,766,746,715,679.699915926,666,636,879,788,804,653,631.300084074,653,0.40097200819,0.00455118107561,0.0598508169289,0.999999943974,0.00021826477956,-0.000252829819744,2.21433486528e-05,1793239697124092416
+97,1.616666667,BASELINE,766,746,714.725146177,680,665.725146177,636,879.274853823,788,804,653,631.274853823,653,0.4009725583,0.0045521123357,0.0598508561979,0.99999994387,0.000219435366804,-0.000252240002081,2.19949017012e-05,1793239697140759296
+98,1.633333333,BASELINE,766,746,714.149097361,680,665.149097361,636,879.850902639,788,804,653,631.850902639,653,0.400973696232,0.00455450462957,0.059851218749,0.999999943141,0.000223910127375,-0.00025121736421,2.17386780431e-05,1793239697157426176
+99,1.650000000,BASELINE,766,746,714.43990021,680,665.43990021,636,879.56009979,787.56009979,803.56009979,653,631.56009979,653,0.400973806686,0.00455395577367,0.0598515643012,0.999999943683,0.000221676041092,-0.000251048224491,2.16432208705e-05,1793239697174093312
+100,1.666666667,BASELINE,766,745.967572606,715,679.967572606,666,636,879,787.032427394,803,653,631.032427394,653,0.40097344552,0.00455255485294,0.0598518192055,0.999999944535,0.000217515903425,-0.000251296783552,2.16006402794e-05,1793239697190760192
+101,1.683333333,BASELINE,766,745.391675345,715,679.391675345,666,636,879,787.608324655,803,653,631.608324655,653,0.400971193697,0.0045540872859,0.0598506543802,0.99999994335,0.000220340673731,-0.000253550550781,2.15033345577e-05,1793239697207426304
+102,1.700000000,BASELINE,766,745.183800834,714.816199166,679,666,636,879,787.816199166,803.183800834,653,631.816199166,652.816199166,0.400970379531,0.00455479784526,0.0598503350887,0.999999942848,0.000222035749883,-0.000254047482831,2.15516569067e-05,1793239697224092416
+103,1.716666667,BASELINE,766,745.758381672,714.241618328,679,666,636,879,787.241618328,803.758381672,653,631.241618328,652.241618328,0.400972621977,0.00455376101423,0.0598518134917,0.999999943814,0.000221328976473,-0.000250809197256,2.19095999437e-05,1793239697240759040
+104,1.733333333,BASELINE,766,746,714,679.341133019,666,636,879,787,803.658866981,653,631,652.341133019,0.400972587138,0.00455335762929,0.0598515549908,0.999999943735,0.000220823641276,-0.000251554392899,2.20772871487e-05,1793239697257425664
+105,1.750000000,BASELINE,766,746,714,679.929813458,666,636,879,787,803.070186542,653,631,652.929813458,0.400970899759,0.00455341391229,0.0598500360843,0.999999942892,0.000220464482152,-0.000255190250905,2.21069128791e-05,1793239697274092544
+106,1.766666667,BASELINE,765.486780165,746,714.513219835,679.486780165,666,635.486780165,879,787.513219835,803,653,631.513219835,653,0.400971208579,0.00455246698871,0.0598510277948,0.999999943513,0.00021927006136,-0.000253776599517,2.2161238056e-05,1793239697290759424
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,714,680,665,636,879,787,803,653,631,652,0.400973508456,0.0045518741668,0.0598516227933,0.999999944102,0.00021962266557,-0.00025114001888,2.21664858338e-05,1793239697333734400
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.586338845,746,714,679.413661155,665,635.413661155,879,787,803.586338845,653,631,652,0.400973763239,0.00455230405623,0.0598514118585,0.999999944017,0.000219846058187,-0.000251292116965,2.20265670958e-05,1793239697350400768
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.829303674,745.829303674,714,679.170696326,665.170696326,635.170696326,879.170696326,787,804,653,631,652.170696326,0.400973612887,0.00455253750988,0.0598511584412,0.999999943809,0.000220407537232,-0.000251636488059,2.19613081901e-05,1793239697367066880
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.249692566,745.249692566,714,679.750307434,665.750307434,635.750307434,879.750307434,787,804,653,631,652.750307434,0.400972492004,0.0045523003882,0.059850803254,0.9999999433,0.000221778925606,-0.000252441462388,2.20749020163e-05,1793239697383733248
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.672158613,665.672158613,635.672158613,879.672158613,787,804,653,631,653,0.400972089386,0.00455227108752,0.0598506036578,0.999999943201,0.000221736676918,-0.000252877583468,2.19886015094e-05,1793239697400399872
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.096196751,665.096196751,635.096196751,879.096196751,787,804,653,631,653,0.400972230372,0.00455239907218,0.0598505218178,0.999999943413,0.00022062454401,-0.000253034544983,2.1751014798e-05,1793239697417066752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.47991834,745,714,679,665.47991834,635,879.47991834,787,804,653,631,653,0.400973298971,0.00455328193845,0.0598515552124,0.999999943587,0.000221009417004,-0.00025199978873,2.18358755218e-05,1793239697433733632
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.943900448,745,714,679,666,635,880,787.056099552,804,653,631,653,0.400974816478,0.00455409386143,0.0598528748334,0.999999943849,0.000221491373213,-0.000250523010066,2.19671135368e-05,1793239697450400256
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.367390847,745,714,679,666,635,880,787.632609153,804,653,631,653,0.400978772923,0.00455284357953,0.059854775287,0.999999944995,0.000220089462802,-0.000247162411273,2.19288133701e-05,1793239697467066880
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.215460839,745,714.215460839,679,666,635,880,787.784539161,803.784539161,652.784539161,631.215460839,652.784539161,0.400988164735,0.00455223638916,0.0598589324473,0.999999946827,0.000219665248003,-0.00024001283564,2.20519113638e-05,1793239697483732992
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.809454572,745,714.809454572,679,666,635,880,787.190545428,803.190545428,652.190545428,631.809454572,652.190545428,0.401007105683,0.00455275901581,0.0598670543082,0.999999949752,0.000220958700216,-0.000226206587266,2.24585621053e-05,1793239697500399616
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.390949047,715,679.390949047,666,635.390949047,879.609050953,787.390949047,803.390949047,652.390949047,631.609050953,652.390949047,0.401046294259,0.00455315385279,0.0598818240378,0.999999955609,0.00022129571048,-0.00019826722524,2.23598759515e-05,1793239697517066240
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.966540273,715,679.966540273,666,635.966540273,879.033459727,787.966540273,803.966540273,652.966540273,631.033459727,652.966540273,0.401095045635,0.00455348833577,0.0598997335046,0.999999961906,0.000221181000593,-0.000163652902706,2.2022523147e-05,1793239697533732864
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.461669903,745.461669903,714.461669903,679.461669903,666,635.461669903,879.538330097,788,803.461669903,653,631.538330097,653,0.401156934183,0.00455283428111,0.0599151868161,0.999999965762,0.000218843736334,-0.000141708569368,2.24077179647e-05,1793239697550399744
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.113761288,745,714,679,666,635.113761288,879.886238712,787.886238712,803,653,631.886238712,653,0.401222521965,0.00455219210843,0.0599294168204,0.999999968883,0.000216855502441,-0.000121211799939,2.26975679538e-05,1793239697567066368
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.705477143,745,714,679,666,635.705477143,879.294522857,787.294522857,803,653,631.294522857,653,0.40130024513,0.00455185618836,0.0599391441413,0.999999970867,0.000216909995882,-0.000103511408423,2.23994783383e-05,1793239697583733248
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,714,679,666,635.708847532,879,787,803,653,631,653,0.401383647536,0.00455119074341,0.0599443231678,0.999999972251,0.000215041255112,-9.3684342114e-05,2.186200274e-05,1793239697600399872
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,714,679,666,635.129158501,879,787,803,653,631,653,0.401472678153,0.00455019873429,0.0599449947641,0.99999997326,0.000211266559773,-9.16598629765e-05,2.10872919821e-05,1793239697617066496
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.55264807,745.44735193,714,679,666,635,879,787,803.44735193,653,631,652.55264807,0.401584735893,0.00455063942586,0.0599485096143,0.999999974178,0.000210183359939,-8.40748996385e-05,1.99578190709e-05,1793239697633733376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.976578215,714,679,666,635,879.023421785,787,804,653,631,652.023421785,0.401704377864,0.00455144464959,0.0599527169483,0.999999975006,0.000209782167212,-7.50323977212e-05,1.87142020447e-05,1793239697650399744
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.389174762,714,679,666,635,879.610825238,787,804,653,631,652.610825238,0.401847684964,0.00455113750856,0.0599539716064,0.999999975982,0.000207223625996,-6.92778350938e-05,1.71710233965e-05,1793239697667066368
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.195548704,745,714,679,665.804451296,635.195548704,880,787,804,653,631,653,0.401998831516,0.0045502980724,0.0599543577328,0.999999976982,0.000203749651908,-6.53810206587e-05,1.57274845604e-05,1793239697683733248
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.775010589,745,714,679,665.224989411,635.775010589,880,787,804,653,631,653,0.402165368943,0.00454841360191,0.0599530387046,0.999999978077,0.000198478444299,-6.51314518356e-05,1.44795648832e-05,1793239697700399872
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.647139706,745.352860294,714,679.352860294,665.352860294,635.647139706,879.647139706,787,804,653,631,653,0.402355263856,0.00454779377078,0.0599538956113,0.9999999794,0.000193324733093,-6.0588764088e-05,1.2464820816e-05,1793239697717066752
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.070313221,745.929686779,714,679.929686779,665.929686779,635.070313221,879.070313221,787,804,653,631,653,0.402559984165,0.00454797662672,0.0599561336193,0.999999980811,0.000188245598245,-5.33211636128e-05,9.96336066104e-06,1793239697733733632
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,746,714,679.494222984,666,635.505777016,879,787,804,653,631,653,0.402799723087,0.00454706165109,0.0599579037333,0.999999982429,0.000181625217551,-4.57521488085e-05,7.86691192644e-06,1793239697750400256
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.916768033,714,679.083231967,666,635.916768033,879,787,804,653,631,653,0.40304953564,0.00454606031624,0.0599600197737,0.99999998392,0.00017519551314,-3.78629646701e-05,5.78654367293e-06,1793239697767066880
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.330446144,714,679.669553856,666,635.330446144,879,787,804,653,631,653,0.403330854366,0.00454545815334,0.0599646193425,0.999999984937,0.000171211559026,-2.82914454529e-05,3.46353630861e-06,1793239697783733248
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.254325864,714,679.745674136,666,635.254325864,879,787.254325864,803.745674136,653,631,653,0.403620522606,0.00454582937559,0.0599632419239,0.999999985785,0.000165986759978,-2.96379412482e-05,6.3179488497e-07,1793239697800399616
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.83709627,714,679.16290373,666,635.83709627,879,787.83709627,803.16290373,653,631,653,0.403920973658,0.00454745765855,0.0599541456328,0.999999986314,0.000159159494383,-4.50843108409e-05,-2.85694180854e-06,1793239697817066496
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.586460001,714,679.413539999,666,635.586460001,879,787.586460001,803.413539999,653,631,653,0.40423993221,0.0045458292072,0.0599411808753,0.999999986461,0.000150175625139,-6.69871895841e-05,-6.12981113675e-06,1793239697833733376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.012470968,714,679.987529032,666,635.012470968,879,787.012470968,803.987529032,653,631,653,0.404566071465,0.00454293717822,0.0599267151949,0.99999998593,0.000140355017153,-9.13951234463e-05,-9.31892618425e-06,1793239697850400000
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.560135755,745.560135755,714,680,665.439864245,635,879.560135755,787,803.439864245,653,631,652.439864245,0.40494088477,0.00454168839567,0.0599191877099,0.999999985681,0.000130647304504,-0.000106805268435,-1.27228223097e-05,1793239697867066624
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.862563529,745.862563529,714,680,665.137436471,635,879.862563529,787,803.137436471,653,631.137436471,652,0.405335840178,0.00454052427959,0.0599163148879,0.999999986126,0.00012098488306,-0.000113364421702,-1.6125136939e-05,1793239697883733504
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.269603257,745.269603257,714,680,665.730396743,635,879.269603257,787,803.730396743,653,631.730396743,652,0.405793972169,0.00453951982321,0.0599283588996,0.999999989434,0.00011146426789,-9.12499046679e-05,-1.95063987702e-05,1793239697900399872
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.31661623,745.31661623,714,680,666,635.31661623,879,787,804,653,631.68338377,652.31661623,0.406282951752,0.004537520184,0.0599502252737,0.999999993242,0.000100049428081,-5.4668236919e-05,-2.27266559943e-05,1793239697917066240
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.897215562,745.897215562,714,680,666,635.897215562,879,787,804,653,631.102784438,652.897215562,0.406797650988,0.00453469079741,0.0599802811779,0.999999995859,8.7055251422e-05,-6.02438234081e-06,-2.58126737663e-05,1793239697933733120
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.528369346,714,680,666,635.528369346,879,787,803.528369346,652.528369346,631,653,0.407322479453,0.00452993190464,0.059999902808,0.999999996662,7.37198723218e-05,2.14476974354e-05,-2.7969058251e-05,1793239697950399744
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.954053156,745.045946844,714,679.954053156,666,635.045946844,879,787,803.045946844,652.045946844,631,652.954053156,0.407847947976,0.00452438284639,0.0600150560296,0.99999999694,6.00204016081e-05,4.03378113672e-05,-2.9845385307e-05,1793239697967066112
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.365185815,745.634814185,714,679.365185815,666,635.634814185,879,787,803.634814185,652.634814185,631,652.365185815,0.408355233132,0.00451440146862,0.0600039315823,0.999999998539,4.28859966203e-05,1.1636351127e-05,-3.0775457871e-05,1793239697983732736
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.779814273,714.220185727,679,666,635.779814273,879,787,804,652.779814273,631.220185727,652,0.408897723291,0.00450480447515,0.0599926193297,0.999999999037,2.51560289513e-05,-1.52369003734e-05,-3.25686019852e-05,1793239698000399360
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.200150061,714.799849939,679,666,635.200150061,879,787,804,652.200150061,631.799849939,652,0.409497689632,0.00449583503381,0.059981000464,0.999999998574,6.45373787689e-06,-3.91253894044e-05,-3.57708094943e-05,1793239698017066240
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.377562389,745.377562389,715,679.377562389,666,635.377562389,879,787,804,652.377562389,631.622437611,652.377562389,0.410133822207,0.00449446180959,0.0599830375904,0.999999998669,-5.69836184806e-06,-3.12138908009e-05,-4.06907509692e-05,1793239698033732864
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.954245491,745.954245491,715,679.954245491,666,635.954245491,879,787,804,652.954245491,631.045754509,652.954245491,0.41078902829,0.00449709471606,0.0599922766817,0.999999998793,-1.43959887935e-05,-6.53155728846e-06,-4.65165993329e-05,1793239698050399488
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.460486219,745.460486219,715,679.460486219,666,635.460486219,879,787,803.460486219,653,631,653,0.411450832805,0.00449634151014,0.0599980573771,0.999999998374,-2.42995319428e-05,5.83917879004e-06,-5.12621499094e-05,1793239698067066368
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.875839969,679,666,635,879,787,803,652.875839969,631,653,0.412117321993,0.00449551482709,0.0599977093127,0.999999998324,-2.35092283044e-05,5.63220948158e-06,-5.26174307429e-05,1793239698083732992
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.296190076,679,666,635,879,787,803,652.296190076,631,653,0.412798910972,0.0044954891114,0.0599759708332,0.999999998302,1.68934634909e-05,-3.68246401564e-05,-4.18768031527e-05,1793239698100399616
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.283454853,745.283454853,714.283454853,679,666,635,879.283454853,787.283454853,803.283454853,652,631,652.716545147,0.413483873565,0.00450181283903,0.0599511752127,0.999999993626,6.84517528651e-05,-8.41427089468e-05,-3.13355615537e-05,1793239698117066240
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.863094667,745.863094667,714.863094667,679,666,635,879.863094667,787.863094667,803.863094667,652,631,652.136905333,0.414172361368,0.00451477116684,0.0599231851507,0.99999998179,0.000131666648359,-0.000136540321784,-2.10026590973e-05,1793239698133732864
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.561596437,746,714.561596437,679.438403563,666,635,879.561596437,788,804,652,631,652.438403563,0.414963952992,0.00451112165988,0.0599480639369,0.999999993691,6.30576870787e-05,-9.02155515936e-05,-2.24319802378e-05,1793239698150399488
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.012391232,746,714,679.987608768,666,635,879.012391232,787.987608768,803.987608768,652,631.012391232,653,0.415786926445,0.0045025202027,0.0599889737255,0.999999998555,-4.40210483714e-05,-1.41109108504e-05,-2.74502629412e-05,1793239698167066112
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.587197839,746,714,679.412802161,666,635,879.587197839,787.412802161,803.412802161,652,631.587197839,653,0.416587179646,0.00450225362929,0.060015474772,0.999999998044,-4.69938671815e-05,2.8055852282e-05,-3.02793976684e-05,1793239698183732992
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.833536716,745.833536716,714,679.166463284,666,635,880,787,803.166463284,652,631.833536716,653,0.417387825146,0.00450330873864,0.0600296202667,0.999999997208,-4.50113781929e-05,4.98559769325e-05,-3.27506238782e-05,1793239698200399616
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.242909774,745.242909774,714,679.757090226,666,635,880,787,803.757090226,652,631.242909774,653,0.418189470212,0.00450773161646,0.0600122826853,0.999999998754,-3.04023121638e-05,1.97600434828e-05,-3.43098664118e-05,1793239698217066240
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.339986146,714,679.660013854,666.339986146,635.339986146,880,787,804,652,631,653,0.418997541653,0.00450677726712,0.0599934287681,0.999999998977,-2.53078773774e-05,-1.05178870811e-05,-3.59851912059e-05,1793239698233732864
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.917481273,714,679.082518727,666.917481273,635.917481273,880,787,804,652,631,653,0.419810102426,0.00450206647117,0.0599735155631,0.99999999809,-2.68602150893e-05,-4.09229566971e-05,-3.77416091706e-05,1793239698250399488
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,714,679.493648913,666.506351087,635.506351087,880,787,804,652,631,653,0.420616959803,0.00450519070504,0.0599498750714,0.999999996293,-1.57097669795e-05,-7.45754646243e-05,-4.00778970353e-05,1793239698267066112
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.071213306,745.928786694,714.071213306,680,666,635,880,787,804,652,631,653,0.421421354646,0.00450858723752,0.0599256392955,0.999999992927,-4.08908892803e-06,-0.00011115468568,-4.21148242265e-05,1793239698283732992
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.66054986,745.33945014,714.66054986,680,666,635,880,787,804,652,631,653,0.422214750422,0.00450446148271,0.059901593433,0.999999985511,-4.45492804493e-06,-0.000165088682971,-4.12703578481e-05,1793239698300399616
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714.754314627,680,666,635.245685373,880.245685373,787,804.245685373,652,631,653,0.423087515717,0.00450219211562,0.0599136007888,0.999999988056,-2.81937947952e-06,-0.000148923999432,-4.12511197496e-05,1793239698317066240
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714.174885801,680,666,635.825114199,880.825114199,787,804.825114199,652,631,653,0.424068098113,0.00450244449863,0.0599745834845,0.999999998397,1.53489027089e-06,-3.7536006968e-05,-4.23528863138e-05,1793239698333733120
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.40075673,714.40075673,680,666,635.59924327,880.59924327,787,804.59924327,652,631,652.59924327,0.424986968131,0.00450334839927,0.0600177930009,0.999999998514,7.08436957879e-06,3.31663392141e-05,-4.26855663982e-05,1793239698350399744
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.974762394,714.974762394,680,666,635.025237606,880.025237606,787,804.025237606,652,631,652.025237606,0.425879159551,0.0045045339539,0.0600533190882,0.99999999528,1.31505430776e-05,8.62800911496e-05,-4.2685766925e-05,1793239698367066368
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.450437158,714.450437158,680,666,635.549562842,880,787,804,652,631,652,0.426742027667,0.00450077088805,0.0600372806605,0.999999996367,7.59637376103e-06,7.21939695125e-05,-4.46724715054e-05,1793239698383732736
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.127746401,714,679.872253599,666,635.872253599,880,787,804,652,631,652,0.427596497317,0.00449764085201,0.0600175508118,0.999999997639,3.61568008599e-06,5.04191838892e-05,-4.65436786349e-05,1793239698400399616
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.718047426,714,679.281952574,666,635.281952574,880,787,804,652,631,652,0.428425440072,0.00449762700045,0.0599930414319,0.999999998766,7.26740810527e-06,1.19949660418e-05,-4.76658848207e-05,1793239698417066240
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.697279364,714.302720636,679.302720636,666,635,880,787,804,652,631.302720636,652.302720636,0.429250732403,0.00449832881756,0.0599652149006,0.999999998147,9.77211217634e-06,-3.56832381445e-05,-4.83521382708e-05,1793239698433732864
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.117752237,714.882247763,679.882247763,666,635,880,787,804,652,631.882247763,652.882247763,0.430072686757,0.00449968503913,0.0599343551811,0.999999994538,1.12279821068e-05,-9.18232467643e-05,-4.86397582242e-05,1793239698450399488
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714.541946787,679.541946787,666,635,880,787,804,652,632,653,0.430934619199,0.00449851039857,0.0599360717933,0.999999995454,4.36027218688e-06,-8.09033341963e-05,-5.02734035593e-05,1793239698467066112
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.033695086,714.033695086,679.033695086,666.033695086,635,880,787.033695086,804,652,632,653,0.431806638029,0.00449665027935,0.0599481469868,0.999999997367,-4.22634100965e-06,-5.02997464385e-05,-5.21269264618e-05,1793239698483732992
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.622270769,714.622270769,679.622270769,666.622270769,635,880,787.622270769,804,652,632,653,0.432676877381,0.00449412963004,0.0599940079967,0.999999998371,-6.16652806889e-06,2.28472485782e-05,-5.19490267439e-05,1793239698500399360
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.792483123,746,714.792483123,680,666.792483123,635,880,787.792483123,804.207516877,652,631.792483123,653,0.433526047752,0.00449187228415,0.0600205544899,0.999999996694,-7.2162162013e-06,6.22549042418e-05,-5.18034733281e-05,1793239698517066240
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.213201816,746,714.213201816,680,666.213201816,635,880,787.213201816,804.786798184,652,631.213201816,653,0.4343374734,0.00449008664332,0.0600124992252,0.999999997791,-6.67058469619e-06,4.12188799861e-05,-5.17158683553e-05,1793239698533732864
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.364140268,746,714,680,666,635,880,787.364140268,804.635859732,652,631.364140268,653,0.43513366205,0.00448802772558,0.0599881508783,0.99999999859,-7.87324536543e-06,-5.49588694702e-07,-5.25120155584e-05,1793239698550399744
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.940352929,746,714,680,666,635,880,787.940352929,804.059647071,652,631.940352929,653,0.435920976744,0.00448580965366,0.0599543135704,0.999999997021,-1.00940974955e-05,-5.43924667116e-05,-5.38228528836e-05,1793239698567066368
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666,635,880,788,804,652,632,653,0.436667425303,0.00448398892307,0.0599462475017,0.999999996254,-7.82032056311e-06,-6.69847380107e-05,-5.42587478686e-05,1793239698583732992
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666,635.11136486,880,788,804,652,632,653,0.437401477534,0.00448250551876,0.0599390912931,0.999999995212,-5.0052942397e-06,-8.11960107939e-05,-5.43845471104e-05,1793239698600399360
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666,635.691141389,880,788,804,652,632,653,0.438103237098,0.00448224796473,0.0599232456737,0.999999991087,-2.09663530746e-06,-0.000122251234195,-5.36309878484e-05,1793239698617066240
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.729908172,746,714,680,666,635.729908172,880.270091828,787.729908172,804.270091828,652,631.729908172,653,0.438826047989,0.00448094743768,0.0599218227214,0.999999990029,-2.49269063751e-07,-0.00013076602611,-5.33147571716e-05,1793239698633732864
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.151899552,746,714,680,666,635.151899552,880.848100448,787.151899552,804.848100448,652,631.151899552,653,0.439572858288,0.00447845787465,0.0599368422573,0.999999993348,3.88175735745e-07,-0.000102183264628,-5.34971007862e-05,1793239698650399488
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,881,787,804.576165811,652.423834189,631.423834189,653,0.440296318302,0.00447911271605,0.0599572647301,0.999999995842,5.3544441623e-06,-7.39597461014e-05,-5.30749150129e-05,1793239698667066112
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,881,787,804.001242972,652.998757028,631.998757028,653,0.441011454453,0.00448088847631,0.0599796132461,0.999999997503,1.18638541135e-05,-4.5864288341e-05,-5.24372262503e-05,1793239698683732736
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680,665.412156667,635,881,787,804,652.412156667,631.412156667,653,0.441583437798,0.00448296740659,0.0599368159632,0.999999991535,1.7835762761e-05,-0.000117793123808,-5.23080568173e-05,1793239698700399616
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.174115633,745.825884367,714,680,665,635,880.825884367,787,804.174115633,652,631.174115633,652.825884367,0.44214687995,0.00448511466264,0.0598903225339,0.999999980052,1.8211153098e-05,-0.000191682185036,-5.31164168837e-05,1793239698717066240
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.753762502,745.246237498,714,680,665,635,880.246237498,787,804.753762502,652,631.753762502,652.246237498,0.442691151398,0.00448741952615,0.0598355491822,0.99999996206,5.55445407267e-06,-0.000269632047845,-5.61058030457e-05,1793239698733732864
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.669071116,745.330928884,714,680,665,634.669071116,880,787,805,652,632,652,0.443240654475,0.00448949640779,0.0598052232048,0.99999994872,-3.03978097371e-05,-0.000313480471225,-5.80171202419e-05,1793239698750399488
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.093736717,745.906263283,714,680,665,634.093736717,880,787,805,652,632,652,0.443794021308,0.00449140491467,0.0597929526902,0.999999939601,-8.35548703815e-05,-0.000332143479481,-5.91322360249e-05,1793239698767066368
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.479771617,746,714,680.479771617,664.520228383,634,880.479771617,787.479771617,805,652,631.520228383,652.479771617,0.444343617212,0.00449312191046,0.0597984572026,0.999999942435,-8.91922604224e-05,-0.000321717886829,-6.05967890958e-05,1793239698783732992
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.945422729,746,714,680.945422729,664,634,880.945422729,787.945422729,805,652,631,653,0.444882956776,0.00449503770481,0.0598050807763,0.999999946129,-8.57564951997e-05,-0.000310680980966,-6.21740004065e-05,1793239698800399616
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.354371244,746,714,680.354371244,664,634,880.354371244,787.354371244,805,652,631,653,0.445328694966,0.00449927401552,0.0597886969662,0.999999933407,-8.40500540624e-05,-0.000349287662693,-6.4190053631e-05,1793239698817066240
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,746,714,680.232082677,663.767917323,634,880.232082677,787,805,652,631,653,0.445756458187,0.00450357904547,0.0597654202226,0.999999917053,-8.1351185213e-05,-0.000393519174826,-6.64732948789e-05,1793239698833732864
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,746,714,680.811652809,663.188347191,634,880.811652809,787,805,652,631,653,0.446157308217,0.00450798696543,0.0597318229861,0.999999895096,-7.716639698e-05,-0.000446172501141,-6.91565851207e-05,1793239698850399744
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714,681,663,634,881,786.612056923,805,652,631.387943077,653,0.446557352073,0.0045165951003,0.0597131048839,0.999999883866,-6.94758392465e-05,-0.00047126444909,-7.31497422745e-05,1793239698867066368
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,681,663,634,881,786.037345635,805,652,631.962654365,653,0.446957007846,0.00452722535343,0.0597015500701,0.999999878483,-6.00974915774e-05,-0.000483087472576,-7.77735115591e-05,1793239698883733248
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.4499459,714,681,663.5500541,633.4499459,881,786.5500541,805,652,632,653,0.447349574224,0.00454444418348,0.0597158262468,0.999999891311,-4.39822824575e-05,-0.000456649836188,-8.31591203579e-05,1793239698900400128
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.136325677,745.136325677,714,681,663.727348645,633,880.863674323,786.863674323,805,652,631.863674323,652.863674323,0.447727794436,0.0045602860302,0.059728683062,0.999999901682,-2.46691912098e-05,-0.000434202123439,-8.65754773329e-05,1793239698917066496
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.71605983,745.71605983,714,681,662.56788034,633,880.28394017,786.28394017,805,652,631.28394017,652.28394017,0.448060955397,0.00457015983057,0.0597310843275,0.999999902605,3.52239314862e-06,-0.000433380558749,-8.3414500777e-05,1793239698933733120
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.705670997,746,714,680.705670997,662,632.705670997,880,786,805,652,631,652.294329003,0.448360031425,0.00457524640003,0.0597247742694,0.999999897794,4.32259903012e-05,-0.000443937081762,-7.39085078551e-05,1793239698950399488
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.12880813,746,714,680.12880813,662,632.12880813,880,786,805,652,631,652.87119187,0.448626388442,0.00457573758469,0.059710101991,0.999999885578,9.39802583331e-05,-0.000465415718542,-5.831177307e-05,1793239698967066112
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,680,662,632,880.446851368,786.446851368,805,652,631,653,0.448853926214,0.00457939521005,0.0596844482422,0.999999865761,0.000103867561339,-0.000504385175297,-5.73103849007e-05,1793239698983732736
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.022614691,746,714,680,662,632,880.977385309,786.977385309,805,652,631,653,0.449069813723,0.00458374027635,0.0596562334825,0.999999843179,0.00010190926217,-0.000547357325627,-6.04750987673e-05,1793239699000399616
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.609602771,746,714,680,662,632,880.390397229,786.390397229,805,652,631,653,0.449273463158,0.00458252371356,0.059642891903,0.999999833804,9.75291412801e-05,-0.000564734075899,-6.28958175887e-05,1793239699017066240
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.805834709,746,714,680,662,632,880.194165291,786,805,652,631,653,0.449471589457,0.00458211778049,0.0596342772716,0.999999827689,9.34135982756e-05,-0.000575899981927,-6.50785174411e-05,1793239699033732608
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.226089022,746,714,680,662,632,880.773910978,786,805,652,631,653,0.449658747689,0.00458332162513,0.0596350495848,0.999999828577,8.98234640956e-05,-0.000574732169011,-6.67885504364e-05,1793239699050399488
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,714,680.352179225,661.647820775,632,881,786,805,652,631,653,0.449826414875,0.00458456056822,0.0596364800733,0.999999829481,8.88759357442e-05,-0.000573134756303,-6.82281527537e-05,1793239699067066112
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,714,680.929503016,661.070496984,632,881,786,805,652,631,653,0.449981621654,0.00458582194951,0.0596383313268,0.999999830399,8.96177978374e-05,-0.000571262704743,-6.94948716814e-05,1793239699083732736
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714,681,661,632,881,786.51402738,805,652,631,653,0.450109054988,0.00458854460379,0.0596350743683,0.999999827742,9.03291017178e-05,-0.000575640286157,-7.06767328625e-05,1793239699100399616
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.901524573,881,786.901524573,805,652,631,653,0.450229417809,0.00459081313974,0.0596322031611,0.999999825568,9.07523206871e-05,-0.000579224932591,-7.15998155565e-05,1793239699117065984
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.322338021,881,786.322338021,805,652,631,653,0.450334123781,0.00458987268418,0.0596346834663,0.999999828288,8.97899925917e-05,-0.000574695365846,-7.13172808156e-05,1793239699133732608
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631,881,786.256594085,805,652,631,653,0.450427581137,0.00458914076885,0.0596370309044,0.999999830567,8.98447411083e-05,-0.000570735850272,-7.10886851306e-05,1793239699150399232
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631,881,786.835206835,805,652,631,653,0.450506921778,0.00458867056597,0.0596392115975,0.999999832305,9.11758934331e-05,-0.000567491733841,-7.09277815255e-05,1793239699167065856
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631,881,786.588712641,805,652,631,652.588712641,0.450570152268,0.00458976711971,0.0596382196947,0.999999831619,9.09935970502e-05,-0.000568655274754,-7.15035587482e-05,1793239699183732736
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631,881,786.013640526,805,652,631,652.013640526,0.450626967298,0.00459148759455,0.059635964386,0.999999829964,9.02086080839e-05,-0.000571574053455,-7.23727004239e-05,1793239699200399360
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.424891918,714,681,661,631.575108082,881,786,805,652,631.575108082,652.575108082,0.450667832477,0.00459128243336,0.0596341529855,0.999999827956,9.07712013692e-05,-0.000575029912327,-7.20343707878e-05,1793239699217065984
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.8384776,660.8384776,631.8384776,881,786,805,652,631.8384776,653,0.450704290693,0.00459145068649,0.0596321294245,0.99999982583,9.18170708677e-05,-0.000578573435082,-7.1845925822e-05,1793239699233732864
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.258963995,660.258963995,631.258963995,881,786,805,652,631.258963995,653,0.45073034729,0.00459270634121,0.0596295289203,0.999999823436,9.4028845634e-05,-0.000582310047618,-7.21212738775e-05,1793239699250399488
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+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745.801098404,714,681,661,631.198901596,880.198901596,786.801098404,805,652,631.801098404,653,0.450804051725,0.00459536578671,0.0596219287144,0.999999818019,9.96152373277e-05,-0.000590651027491,-7.19081006653e-05,1793239699367066112
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.622787329,746,714,681,660.622787329,631.377212671,880.377212671,786.622787329,804.622787329,652,631.622787329,653,0.450804771549,0.00459547996409,0.0596213945829,0.999999817295,9.9921976913e-05,-0.000591837215199,-7.17935579063e-05,1793239699383732992
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.047396963,746,714,681,660.047396963,631.952603037,880.952603037,786.047396963,804.047396963,652,631.047396963,653,0.450804034266,0.00459447465799,0.0596203261347,0.999999815912,9.9731087823e-05,-0.000594240953931,-7.1470312609e-05,1793239699400399616
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.538166926,746,714,681,660.538166926,631.461833074,881,786.538166926,804.538166926,652,631,653,0.450804201722,0.00459497393738,0.0596192350034,0.99999981505,9.99047822904e-05,-0.00059568800213,-7.1243800165e-05,1793239699417066240
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.876819036,746,714,681,661,631.123180964,881,786.876819036,805,652,631,652.876819036,0.450804523836,0.00459551798492,0.0596183839149,0.999999814383,0.000100323215747,-0.000596760603738,-7.10285508908e-05,1793239699433732864
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.29722627,746,714,681,661,631.70277373,881,786.29722627,805,652,631,652.29722627,0.450805118064,0.00459572746771,0.059618429781,0.999999814275,0.000101527195292,-0.000596764005194,-7.08228598083e-05,1793239699450399488
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714,681,660.71891668,631.71891668,881,786,805,652,631,652.28108332,0.450805264736,0.00459534276408,0.0596181333988,0.999999813883,0.000101912010432,-0.000597360646358,-7.0772139141e-05,1793239699467066112
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660.141957725,631.141957725,881,786,805,652,631,652.858042275,0.450804940298,0.00459433260437,0.0596174767571,0.999999813193,0.000101434551897,-0.000598581747119,-7.08845443507e-05,1793239699483732992
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,881,786,805,652,631,653,0.450806551569,0.0045950623458,0.059618291545,0.999999813853,0.000102068784486,-0.000597375866714,-7.08381940063e-05,1793239699500399616
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.00811312,746,714,680.99188688,660,631,881,786,805,652.00811312,631,653,0.450808767423,0.00459631689741,0.0596195597723,0.999999814934,0.000103028300857,-0.000595410958772,-7.07349272621e-05,1793239699517066240
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.59943463,746,714,680.40056537,660,631,881,786,805,652.59943463,631,653,0.450809034193,0.00459448136297,0.0596189054471,0.999999814902,0.000101291859709,-0.00059581753514,-7.02644503755e-05,1793239699533732864
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.813612717,746,714,680.186387283,660,631,881,786,805,652.813612717,631,653,0.450809246758,0.00459375447065,0.0596185744442,0.999999814933,0.000100039392881,-0.000595988391726,-7.0177061677e-05,1793239699550399232
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.235834184,746,714,680.764165816,660,631,881,786,805,652.235834184,631,653,0.450809345497,0.00459535559576,0.0596189223801,0.999999815099,9.98032149915e-05,-0.000595664264628,-7.08941128926e-05,1793239699567066112
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,880.659208039,786,805,652,631,653,0.45080881803,0.00459605452563,0.0596188432665,0.999999814432,0.00010136809583,-0.000596503756813,-7.10262219821e-05,1793239699583732736
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,880.083376702,786,805,652,631,653,0.450807858678,0.0045961312242,0.0596184696229,0.999999813181,0.0001041751413,-0.000598145780697,-7.07549047649e-05,1793239699600399360
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,880,786,805,652,631,653,0.450810131522,0.00459590527075,0.0596193131051,0.999999814705,0.000103049506311,-0.000595791742504,-7.07298837538e-05,1793239699617066240
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,880.066992016,786,805,652,631,653,0.450812275402,0.00459565282351,0.0596199891273,0.999999816172,0.000101557883339,-0.000593586365581,-7.06917247655e-05,1793239699633732608
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,880.658110534,786,805,652,631,653,0.450809128866,0.00459559399567,0.0596177427588,0.999999813585,0.000102412185506,-0.000597837340701,-7.02245289029e-05,1793239699650399232
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.2443563,746,714,681,660,631,880.7556437,786,805,652,631,652.7556437,0.450807950674,0.0045959109405,0.0596166696073,0.99999981255,0.000103266744351,-0.000599420670339,-7.02165051832e-05,1793239699667066112
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.823917766,746,714,681,660,631,880.176082234,786,805,652,631,652.176082234,0.450809472632,0.00459674336597,0.0596172058611,0.99999981366,0.000104121655427,-0.000597344555153,-7.08383684707e-05,1793239699683732736
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.601220787,745.601220787,714,681,660,631,880,786,805,652,631,652.398779213,0.450809568605,0.00459643275135,0.0596171964597,0.999999813623,0.000103680948781,-0.000597497987813,-7.07195188009e-05,1793239699700399616
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.028410509,745.028410509,714,681,660,631,880,786,805,652,631,652.971589491,0.450809042264,0.00459562330305,0.0596169489292,0.999999813084,0.000102674822108,-0.000598624416617,-7.027741487e-05,1793239699717066240
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.560791624,714,680.439208376,660.560791624,631,880,786,805,652,631,653,0.450811317054,0.0045950523001,0.0596185799672,0.999999814601,0.00010266786731,-0.000596099250538,-7.01606531508e-05,1793239699733732864
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.851771768,714,680.148228232,660.851771768,631,880.148228232,786,805,652,631,653,0.450813116812,0.00459479767766,0.0596198916794,0.99999981585,0.000102970504638,-0.000593953619666,-7.01136953572e-05,1793239699750399488
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.271966316,714,680.728033684,660.271966316,631,880.728033684,786,805,652,631,653,0.450813107862,0.00459542798925,0.0596199882108,0.999999816022,0.000104022721879,-0.000593467877608,-7.02205423704e-05,1793239699767065856
+254,4.233333333,HOLD_POSE2,765,745,714,681,660,631,880,786,805,652,631,653,0.450812979668,0.00459524844758,0.0596187458708,0.999999815041,0.000101990312092,-0.000595531924386,-6.97002163731e-05,1793239699803827200
+255,4.250000000,HOLD_POSE2,765,745.574750034,714,681,660,631,880.574750034,786,805,652,631,653,0.450812469386,0.00459440063635,0.0596188523797,0.999999814765,0.000102841032753,-0.000595840102193,-6.97673507656e-05,1793239699820494592
+256,4.266666667,HOLD_POSE2,765,746,714,681,660,631,881,786.153991788,805,652,631,653,0.450812033554,0.00459413849241,0.059618815387,0.999999814485,0.000103483286356,-0.000596188653504,-6.98628314378e-05,1793239699837161984
+257,4.283333333,HOLD_POSE2,765,746,714,681,660,631,881,786.746010287,805,652,631,653,0.450811809495,0.00459554226778,0.059618370207,0.999999814191,0.000103532559571,-0.000596652046547,-7.00389425793e-05,1793239699853828096
+258,4.300000000,HOLD_POSE2,765,746,714,681,660,631,881,786.669513952,805,652,631,652.669513952,0.450812237319,0.00459564421686,0.0596182966071,0.999999814255,0.000102693854265,-0.00059667619051,-7.01516464437e-05,1793239699870494464
+259,4.316666667,HOLD_POSE2,765,746,714,681,660,631,881,786.090705724,805,652,631,652.090705724,0.450813154958,0.00459476799343,0.0596185022069,0.999999814587,0.00010118793543,-0.000596370289383,-7.02167070357e-05,1793239699887161088
+260,4.333333333,HOLD_POSE2,765,746,714,680.516203641,660,631,880.516203641,786.483796359,805,652,631,652.483796359,0.450812170199,0.00459513636626,0.0596177928403,0.999999813901,0.000101925698045,-0.000597391260876,-7.02364444061e-05,1793239699903827968
+261,4.350000000,HOLD_POSE2,765.058751606,746,714,680.058751606,660.058751606,631,880.058751606,786.941248394,805,652,631,653,0.450811069195,0.00459573789688,0.0596170546242,0.999999813149,0.000103202995783,-0.000598429851644,-7.023852263e-05,1793239699920495104
+262,4.366666667,HOLD_POSE2,765.644959459,746,714,680.644959459,660.644959459,631,880.644959459,786.355040541,805,652,631,653,0.450812098448,0.00459635621857,0.0596175838993,0.999999813514,0.000105580822526,-0.00059741291943,-7.01576773017e-05,1793239699937161728
+263,4.383333333,HOLD_POSE2,765.770000836,746,714,680.770000836,660.770000836,631,880.770000836,786.229999164,805,652,631,653,0.450812927108,0.00459575923977,0.0596181214231,0.999999814043,0.000105403542495,-0.000596587604597,-6.99088682494e-05,1793239699953828352
+264,4.400000000,HOLD_POSE2,765.186755299,746,714,680.186755299,660.186755299,631,880.186755299,786.813244701,805,652,631,653,0.450813447686,0.00459329573023,0.0596186716157,0.999999814819,0.00010130197753,-0.000596056587214,-6.94020905432e-05,1793239699970494720
+265,4.416666667,HOLD_POSE2,765,745.608475556,714,680.391524444,660,631,880,786.608475556,805,652,631,652.608475556,0.450813841082,0.00459333327322,0.0596189740251,0.999999814986,0.00010178287171,-0.000595682510625,-6.95016107935e-05,1793239699987161088
+266,4.433333333,HOLD_POSE2,765,745.032534757,714,680.967465243,660,631,880,786.032534757,805,652,631,652.032534757,0.450814174572,0.00459454886503,0.0596191597234,0.999999814866,0.000104422201425,-0.000595382356448,-6.98867102553e-05,1793239700003827456
+267,4.450000000,HOLD_POSE2,765,745.538391059,714,681,660,631,880.538391059,786,805,652,631,652.538391059,0.450813284653,0.00459543963309,0.0596181391573,0.999999814232,0.000104414388741,-0.000596418360649,-7.0130080939e-05,1793239700020494080
+268,4.466666667,HOLD_POSE2,765,746,714,681,660.11317124,630.88682876,881,786.11317124,805,652,631,653,0.450812664108,0.00459598834935,0.0596173926317,0.999999813796,0.000104415651288,-0.000597143081097,-7.01839278969e-05,1793239700037160704
+269,4.483333333,HOLD_POSE2,765,746,714,681,660.705543513,630.294456487,881,786.705543513,805,652,631,653,0.45081349433,0.00459517106368,0.0596181122826,0.999999814327,0.000105126433065,-0.000596210995894,-6.94712049897e-05,1793239700053827584
+270,4.500000000,HOLD_POSE2,765,746,714,681,660.710315624,630.289684376,881,786.710315624,804.710315624,652,631.289684376,653,0.450813525063,0.00459464493367,0.0596179493495,0.999999814252,0.00010438615212,-0.000596499977579,-6.91970456657e-05,1793239700070494464
+271,4.516666667,HOLD_POSE2,765,746,714,681,660.134310627,630.865689373,881,786.134310627,804.134310627,652,631.865689373,653,0.450812765589,0.00459440657853,0.0596169140807,0.999999813572,0.000102211657847,-0.000597995847434,-6.93563574593e-05,1793239700087161088
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,881,786,805,652,631,653,0.45081584239,0.00459392763309,0.0596199336583,0.999999816506,0.000101413781931,-0.000593168339201,-6.96787959319e-05,1793239700119802880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.587184991,745.412815009,714,681.587184991,660,631,881,786,805,652,631,653,0.450814306445,0.00459583453879,0.0596185351752,0.999999814629,0.00010435787057,-0.000595813781328,-6.96943932217e-05,1793239700136469504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.82795866,745.17204134,714,681.82795866,660.17204134,631,881,786,805,652,631,652.82795866,0.450813551244,0.00459673979594,0.059617914525,0.999999813657,0.00010576486592,-0.00059719070762,-6.97289771228e-05,1793239700153136384
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.248615172,745.751384828,714,681.248615172,660.751384828,631,881,786,805,652,631,652.248615172,0.450814644431,0.00459527368388,0.059619135368,0.999999814855,0.000103532844664,-0.00059556446544,-6.98085111991e-05,1793239700169802496
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.33070575,746,714,681,660.66929425,631,881,786,805,652,631,652.33070575,0.450814834714,0.00459482230536,0.059619150464,0.999999815202,0.000102396283616,-0.000595194851561,-6.96776881493e-05,1793239700186468864
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.910009674,746,714,681,660.089990326,631,881,786,805,652,631,652.910009674,0.450814346268,0.00459513372255,0.0596182591757,0.999999814911,0.000102083202208,-0.000595769870589,-6.93887354057e-05,1793239700203135488
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,660,631,881,786,805.483344238,652,631,653,0.450813504249,0.00459649107638,0.0596179630674,0.999999814145,0.000103883623065,-0.000596727643897,-6.95325741524e-05,1793239700219802368
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.942867479,746,714,681,659.942867479,631,881,786,805.942867479,652,631,653,0.450812427795,0.00459774049318,0.0596176242013,0.999999813332,0.000105652719988,-0.000597754875427,-6.97353338786e-05,1793239700236469248
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.354656636,746,714,681,659.354656636,631,881,786,805.354656636,652,631,653,0.450809776596,0.00459619848705,0.0596158703827,0.999999812945,0.000103517490021,-0.000598773419052,-6.9745914684e-05,1793239700253135616
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.230986243,746,714,681,659.230986243,631,881,786,805,652,631,653,0.450800950627,0.00459528438073,0.0596117399448,0.999999809667,0.000102215060589,-0.000604441541082,-6.97786195778e-05,1793239700269801984
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.812729568,746,714,681,659.812729568,631,881,786,805,652,631,653,0.450782748149,0.00459532375257,0.0596040005644,0.999999801891,0.000102177255068,-0.000617170137743,-6.98449203195e-05,1793239700286468608
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.608682987,745.608682987,714,681,660,631,880.608682987,786.391317013,805,652,631,653,0.450748588456,0.00459622659154,0.059591675021,0.999999789989,0.000103074754047,-0.000635992343656,-7.00758171776e-05,1793239700303135232
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.031593699,745.031593699,714,681,660,631,880.031593699,786.968406301,805,652,631,653,0.450706853297,0.00459753934947,0.0595771722602,0.999999775782,0.000104416275705,-0.000657707406175,-7.03848537196e-05,1793239700319802112
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.540679165,745.540679165,714,681,660,631,880.540679165,786.459320835,805,652,631,653,0.45064524873,0.00459886784871,0.059561971384,0.999999764178,0.000105622265463,-0.000674850028892,-7.11764518804e-05,1793239700336468480
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.883505671,746,714,681,660,631,880.883505671,786,805,652,631.116494329,653,0.450580288513,0.0045995759116,0.059549083679,0.999999753917,0.000106561678068,-0.000689696989295,-7.16162067378e-05,1793239700353135104
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.292112675,746,714,681,660,631,880.292112675,786,805,652,631.707887325,653,0.450506339965,0.00459775099874,0.0595457906303,0.999999749456,0.000106446367322,-0.000696265076564,-7.05077086161e-05,1793239700369801728
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,880,786,805,652,632,653,0.450423051468,0.00459726390393,0.0595442047019,0.999999747249,0.000108265519946,-0.000699245028325,-6.95469534056e-05,1793239700386468352
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,880,786,805,652,632,653,0.450330646716,0.0045980825869,0.059544285009,0.999999747262,0.00011197280607,-0.000698722779077,-6.87304027714e-05,1793239700403134976
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.448387793,746,714,681.448387793,660,631,880.448387793,786.448387793,805,652,631.551612207,653,0.450216453914,0.00459923478234,0.0595437958543,0.999999745408,0.000115972078276,-0.000700814986676,-6.77653913588e-05,1793239700419801600
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.976736252,746,714,682,660.023263748,631,880.976736252,787,805,652,631,653,0.45009478945,0.00460043302252,0.0595430864065,0.999999742926,0.000119927360802,-0.000703781643562,-6.67660642198e-05,1793239700436468480
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.402491185,746,714,682,660.597508815,631,880.402491185,787,805,652,631,653,0.449941765834,0.00460049306501,0.0595409649892,0.999999738477,0.000120889565054,-0.000709987519307,-6.59461015033e-05,1793239700453135104
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,660.822398003,631,880,787,805,652,631.177601997,653,0.449779384217,0.00460023126154,0.0595377751708,0.999999733771,0.000122361670444,-0.000716442045901,-6.47840578761e-05,1793239700469801728
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,660.228600322,631,880,787,805,652,631.771399678,653,0.449595072916,0.00459921523847,0.0595320816426,0.9999997285,0.000125028687115,-0.000723479264481,-6.28203758659e-05,1793239700486468608
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714,681.645555282,660.708889436,631,880,787,805,652,631.645555282,653,0.449391800341,0.00460034600679,0.0595301539087,0.999999725542,0.000131067118198,-0.000726633053792,-6.11770001154e-05,1793239700503135232
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,681.06924095,661.8615181,631,880,787,805,652,631.06924095,653,0.449176658676,0.004602820589,0.0595305834255,0.999999724002,0.000139215933403,-0.000727355957066,-5.97341243411e-05,1793239700519801856
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.504524244,746,714,681,661.495475756,631.504524244,880.504524244,786.495475756,805,652,631,653,0.448934072775,0.00460330430079,0.0595336659468,0.999999724102,0.000144606073071,-0.000726346255991,-5.74991166277e-05,1793239700536468992
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,746,714,681,661,632,880.9199221,786,805,652,631,653,0.44868345412,0.0046036013898,0.0595377800611,0.999999725666,0.000149612949172,-0.000723355910538,-5.51357587947e-05,1793239700553136384
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,661,632,880.330786074,786,805,652,631,653,0.448405593932,0.00460444029482,0.059546149099,0.999999735129,0.00015457808726,-0.000709278530858,-5.26440870942e-05,1793239700569802240
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.745559278,746,714,681,661,631.745559278,880.254440722,786.254440722,805,652,631.254440722,653,0.44811238578,0.00460486438252,0.0595570845495,0.99999974665,0.000159430195417,-0.000691951218808,-4.98603613365e-05,1793239700586468352
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.165337814,746,714,681,661,631.165337814,880.834662186,786.834662186,805,652,631.834662186,653,0.447799526425,0.00460475734647,0.059571305982,0.999999760679,0.000164137582028,-0.000670462760011,-4.67026956294e-05,1793239700603135232
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.410089485,746,714,681.410089485,661.410089485,631.410089485,880.589910515,786.589910515,805,652,631.589910515,653,0.447459169498,0.0046056702893,0.0595879325258,0.999999776579,0.000172579327457,-0.000644335971755,-4.34580119637e-05,1793239700619802112
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.983606219,746,714,681.983606219,661.983606219,631.983606219,880.016393781,786.016393781,805,652,631.016393781,653,0.447107854355,0.0046069897101,0.0596055175447,0.999999792588,0.000182509274656,-0.000616360734784,-4.0178650291e-05,1793239700636468992
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.428121497,746,714,681.428121497,662,632,880,786.571878503,805,652,631,653,0.44670762369,0.00460644984784,0.0596142335142,0.99999979627,0.000189569978608,-0.00060845793583,-3.60884112884e-05,1793239700653135616
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,746,713.841873605,681,662,632.158126395,880.158126395,787,804.841873605,652,631,653,0.44628371512,0.00460619773812,0.0596182635625,0.99999979557,0.00019718306631,-0.000607417025859,-3.19936948792e-05,1793239700669802496
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,746,713.262180426,681,662,632.737819574,880.737819574,787,804.262180426,652,631,653,0.445800518446,0.0046068586399,0.0596104966621,0.999999784166,0.000206493904926,-0.000623095319517,-2.79506552373e-05,1793239700686469120
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,746,713.316142427,680.683857573,662.316142427,633,881,787,804,652,631,652.683857573,0.445304696224,0.00460748989428,0.0596037351217,0.999999776007,0.00021552306142,-0.00063320990831,-2.41164640152e-05,1793239700703135744
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,713.89333382,680.10666618,662.89333382,633,881,787,804,652,631,652.10666618,0.444798448627,0.00460809666793,0.0595978037387,0.999999770643,0.000224319624973,-0.000638730368893,-2.04547252092e-05,1793239700719802368
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.466569799,745.533430201,714,680,663,633,881,787,804,652,631,652.466569799,0.44430147202,0.00460664926938,0.0596182578863,0.999999791644,0.000231728437601,-0.000602292454818,-1.60759515285e-05,1793239700736468992
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.959665095,745.040334905,714,680.040334905,663.040334905,633,881,787,804.040334905,652,631,653,0.443804215253,0.00460501683672,0.0596457382764,0.999999817339,0.000239186327148,-0.000554958801797,-1.1500199136e-05,1793239700753135360
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.366352204,745.633647796,714,680.633647796,663.633647796,633,881,787,804.633647796,652,631,653,0.443274303607,0.00460723186158,0.0596875418397,0.99999984893,0.000251630083406,-0.00048865172022,-6.45242239391e-06,1793239700769802496
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.221699028,746,714,681,664,633.221699028,880.778300972,787,805,652,631,652.778300972,0.442702187419,0.00460865620112,0.0597150985037,0.999999865593,0.000263791891329,-0.000446346463634,-1.40271091691e-06,1793239700786469632
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.801257034,746,714,681,664,633.801257034,880.198742966,787,805,652,631,652.198742966,0.442061946137,0.00460880424334,0.0597196583082,0.999999864015,0.000275498588633,-0.000442784137617,3.65012320387e-06,1793239700803136256
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,746,714.377031224,681,664.377031224,634,880,787,804.622968776,652,631,652.377031224,0.441401403456,0.00460835704543,0.0597195175793,0.999999858757,0.000283921946906,-0.000449222910787,8.55706324222e-06,1793239700819802880
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,746,714.950830668,681,664.950830668,634,880,787,804.049169332,652,631,652.950830668,0.440730265729,0.00460759919861,0.0597169236966,0.999999851471,0.000290631768254,-0.000460881141592,1.33878626933e-05,1793239700836469504
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.47503513,746,714.47503513,681,665,634.52496487,880,787,804,652,631.52496487,653,0.440061034149,0.0046075546627,0.0597390881838,0.99999986472,0.000298118883983,-0.000425872264895,1.78159253312e-05,1793239700853135872
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.102772529,745.897227471,714.102772529,680.897227471,665,634.897227471,880,787,804.102772529,652,631.897227471,653,0.439393161641,0.00460760362875,0.0597688390643,0.999999881645,0.000305846906213,-0.000377717584136,2.22851753568e-05,1793239700869802240
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.698032937,745.301967063,714.698032937,680.301967063,665,634.301967063,880,787,804.698032937,652,631.301967063,653,0.438730945958,0.00460778029783,0.0598238246683,0.999999908879,0.000314380258868,-0.000287526974297,2.71326707515e-05,1793239700886468864
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.716161659,745.283838341,714.716161659,680,665.283838341,634.283838341,880.283838341,787,804.716161659,651.716161659,631.283838341,653,0.437989968707,0.00460986229669,0.0598446752169,0.999999913392,0.000326790726285,-0.000255712605956,3.21617721149e-05,1793239700903135488
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.140090808,745.859909192,714.140090808,680,665.859909192,634.859909192,880.859909192,787,804.140090808,651.140090808,631.859909192,653,0.437167900531,0.00461390597314,0.0598303812142,0.999999900082,0.000343192972164,-0.000284000875277,3.73778509641e-05,1793239700919802112
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.436324559,665.563675441,634.563675441,880.563675441,787,804,651.436324559,632,652.563675441,0.436338763437,0.00461747708268,0.0597934195345,0.999999878745,0.000355062728028,-0.000338830849434,4.04130940119e-05,1793239700936468992
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.986925129,714,680.986925129,665.013074871,634.013074871,880,787,804,652,632,652.013074871,0.435508493939,0.00462085170057,0.0597503828096,0.999999852964,0.000363741127573,-0.000399978412967,4.22170956852e-05,1793239700953136128
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.400337079,714,680.400337079,665.599662921,634.599662921,880,787,804,652,632,652.599662921,0.43472818334,0.00462226804662,0.0597603606507,0.999999889581,0.0002963177622,-0.000364148013396,2.07519612979e-05,1793239700969802752
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.184060261,714,680,665.815939739,635,880,787,804,652,631.815939739,652.815939739,0.433929303662,0.00461967171691,0.0597732898584,0.999999915961,0.000241074640846,-0.000331549625547,5.9376662705e-06,1793239700986469120
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.763748748,714,680,665.236251252,635,880,787,804,652,631.236251252,652.236251252,0.433090510735,0.00460845034346,0.0597925628788,0.999999930724,0.000212012345389,-0.000305898289441,5.41901572433e-06,1793239701003135488
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.671106039,714,680,665,634.671106039,880,787,804,652.328893961,631,652.328893961,0.432239633262,0.00460697325751,0.0598055197004,0.999999935109,0.000214123714463,-0.000289576364671,8.86509148276e-06,1793239701019802112
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.1159652,714,680,665,634.1159652,880,787,804,652.8840348,631,652.8840348,0.431380442838,0.00461219928881,0.0598141315942,0.999999932533,0.000237679517106,-0.000279672163576,1.50385111999e-05,1793239701036468736
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.47307333,745,714,680,665,634.47307333,880,787.47307333,804,652.52692667,631,652.52692667,0.430510809647,0.00461464401836,0.0598333866769,0.99999993716,0.000248473211728,-0.000252075048097,1.99632215012e-05,1793239701053135104
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.069833811,714,680,665,635,880,788,804,652,631,652.069833811,0.429631485843,0.00461653800582,0.0598475478027,0.999999939747,0.000255225916186,-0.000234055619347,2.41556423602e-05,1793239701069801984
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745.657482436,714,680,665,635,880,788,804,652,631,652.657482436,0.428700753291,0.0046197938693,0.0598030987692,0.999999914909,0.000257002214217,-0.000321695928201,2.53630560553e-05,1793239701086468864
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.757268803,746,714,680,665,635,880,787.757268803,804,652,631.242731197,653,0.427787605397,0.00462130437935,0.0597723726443,0.999999900144,0.000251431838982,-0.000368640699744,2.44616696201e-05,1793239701103135744
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.17537325,746,714,680,665,635,880,787.17537325,804,652,631.82462675,653,0.426899028125,0.00462037613587,0.0597608213103,0.999999907694,0.000235596078931,-0.000358722273516,2.06136914088e-05,1793239701119801856
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.40290851,746,714,680,665.40290851,635,879.59709149,787,804,652,631.59709149,653,0.426003280229,0.00462038147741,0.0597795600142,0.999999917998,0.000231762247012,-0.000331380800273,2.18292207762e-05,1793239701136468480
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.979631248,746,714,680,665.979631248,635,879.020368752,787,804,652,631.020368752,653,0.425104438987,0.00462078956642,0.0598113658032,0.99999992855,0.00023310603264,-0.000296523046577,2.52291412041e-05,1793239701153135104
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.446828404,746,714,680,665.446828404,635,879.553171596,787,804,652,631.553171596,653,0.42422681165,0.00462055848396,0.059828726018,0.99999993372,0.000228726548083,-0.000281933057557,2.75222910248e-05,1793239701169801728
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.130413169,745.869586831,714,680,665,635,879.869586831,787,804,652.130413169,631.869586831,653,0.423359524112,0.00462063863162,0.0598446802116,0.999999939649,0.000223904790599,-0.000264045523208,2.91168070072e-05,1793239701186468352
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.721129706,745.278870294,714,680,665,635,879.278870294,787,804,652.721129706,631.278870294,653,0.422525990443,0.00462189988502,0.0598575384275,0.999999948889,0.000218261568339,-0.000231900010316,2.83884596181e-05,1793239701203134976
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.69439993,745.30560007,714,680,665,635,879.30560007,787,804,653,631,653,0.421634222538,0.00462238989571,0.0598447201434,0.999999944416,0.000215521395306,-0.000252756832127,2.88491298498e-05,1793239701219801856
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.115515273,745.884484727,714,680,665,635,879.884484727,787,804,653,631,653,0.420690378383,0.00462219021816,0.0598089405035,0.999999924821,0.000215377290117,-0.000321011291889,3.03730857562e-05,1793239701236468480
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.460328441,745.539671559,714.460328441,680,665,634.539671559,880,787,804,652.539671559,631,652.539671559,0.419773705544,0.00462244808474,0.0597663539574,0.999999903886,0.000205729721987,-0.000386095971363,2.88793341626e-05,1793239701253135104
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.963740168,745,714.963740168,680,665,634.036259832,880,787.036259832,804,652.036259832,631,652.036259832,0.418871977332,0.00462265973246,0.0597267920379,0.999999882893,0.000193845751779,-0.000442629001135,2.67995293234e-05,1793239701269801728
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.374920885,745,714.374920885,680,665,634.625079115,880,787.625079115,804,652.625079115,631,652.625079115,0.418094766753,0.00462042886194,0.0597591813091,0.999999910166,0.0001839848512,-0.000380886243896,2.72530949403e-05,1793239701286468352
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.210589029,714.210589029,680,665.210589029,635,879.789410971,788,804,652.789410971,631,653,0.417315101586,0.0046192836954,0.0597937816615,0.999999931688,0.00017629266159,-0.00032363679641,2.83531538655e-05,1793239701303134976
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.790298379,714.790298379,680,665.790298379,635,879.209701621,788,804,652.209701621,631,653,0.41653113389,0.00462004154976,0.0598322576011,0.999999947061,0.000172401786347,-0.000274263210866,3.05863860493e-05,1793239701319801600
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,746,714.633395618,679.633395618,665.633395618,635,879,788,803.633395618,652,631,652.633395618,0.415740436129,0.00461799671064,0.0598443101163,0.999999950823,0.000163752742418,-0.000265549683679,3.19880721552e-05,1793239701336468480
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,746,714.059018493,679.059018493,665.059018493,635,879,788,803.059018493,652,631,652.059018493,0.414945924155,0.00461436344717,0.0598413871745,0.999999948678,0.000152407010513,-0.000279880215421,3.29184800686e-05,1793239701353135104
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,746,714.51655065,679.51655065,665.51655065,635,879,787.48344935,803.51655065,652,631,652.51655065,0.414172433492,0.00461499635858,0.0598435021483,0.999999951398,0.000148432968003,-0.000272237010817,3.25258053494e-05,1793239701369801728
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,746,714.905039041,680,666,635,879,787,804,652.094960959,631,653,0.413400384932,0.00461564322317,0.0598400808751,0.999999948133,0.000166402775909,-0.00027388859499,3.20779329936e-05,1793239701386468352
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,746,714.312455574,680,666,635,879,787,804,652.687544426,631,653,0.412623278252,0.00461380301678,0.0598046247667,0.999999899058,0.000294940765847,-0.000337434258965,3.21348088283e-05,1793239701403134976
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.273400427,746,714,680,665.726599573,635,879,787.273400427,804,653,631,653,0.411880798348,0.00461266162986,0.0597736729774,0.99999986147,0.000355618020036,-0.000386809260984,3.12187376206e-05,1793239701419801600
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.851752553,746,714,680,665.148247447,635,879,787.851752553,804,653,631,653,0.41117694131,0.00461229970853,0.0597477453221,0.999999853209,0.00034060319229,-0.000420378263458,2.92174387434e-05,1793239701436468224
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.57348379,745.57348379,714,680,665.42651621,635,879,787.57348379,803.57348379,653,631.42651621,653,0.410542576191,0.00461056068317,0.0597695819337,0.999999873385,0.000327691335561,-0.000380776722016,2.92666903912e-05,1793239701453134848
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,666,635,879,787.000044085,803.000044085,653,632,653,0.409932164905,0.00460834697305,0.0598078815547,0.999999899864,0.000315504441469,-0.000315956119584,3.00227954201e-05,1793239701469801472
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,666,635,879,787.587376695,803.587376695,653,632,653,0.409342739979,0.0046057644759,0.0598426334847,0.999999917366,0.000304886369375,-0.000267026749752,3.17726065045e-05,1793239701486469120
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.827623061,666,635,879,787.827623061,803.827623061,653,632,653,0.408753778333,0.00460368626133,0.0598654715379,0.999999928512,0.000294407442644,-0.000234988081901,3.28913088193e-05,1793239701503136768
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.248131217,666,635,879,787.248131217,803.248131217,653,632,653,0.40816591073,0.00460279904637,0.0598601717458,0.999999929584,0.000284257144796,-0.0002428413806,3.2519477067e-05,1793239701519802880
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.32970202,745.32970202,714,679.32970202,665.67029798,635,879,787.32970202,803,653,631.67029798,653,0.407597813915,0.00460028854727,0.0598476534712,0.999999927634,0.000271743768453,-0.000264275483673,3.2343732532e-05,1793239701536469504
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.906293214,745.906293214,714,679.906293214,665.093706786,635,879,787.906293214,803,653,631.093706786,653,0.407044522,0.00459656249217,0.0598297298154,0.999999922563,0.000257460859796,-0.000295879234367,3.23148230379e-05,1793239701553136128
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.491208291,635,879,787.508791709,803,652.508791709,631,653,0.40654903908,0.00459612412381,0.0598290331974,0.999999927295,0.000247555040124,-0.000288379886368,3.1033983761e-05,1793239701569802496
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.343489258,746,714.656510742,680,665.343489258,635,879.656510742,787.656510742,803.656510742,652.656510742,631,653,0.405626715346,0.00459268765571,0.0598389408403,0.999999938528,0.000228967093948,-0.000263743257452,3.09396954684e-05,1793239701603135488
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.235078429,746,714.764921571,680,665,635,879.764921571,787.764921571,804,652.764921571,631,653,0.405189910807,0.00459026785212,0.0598366539626,0.999999939075,0.000222441269708,-0.000267157270094,3.15611686807e-05,1793239701619802112
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.812028417,746,714.187971583,680,665,635,879.187971583,787.187971583,804,652.187971583,631,653,0.404762794594,0.00458896407187,0.0598212667893,0.999999933102,0.000220205742661,-0.000290365951672,3.15101741358e-05,1793239701636468736
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.611304867,746,714.388695133,680,665,635,879.388695133,787.388695133,803.611304867,652.388695133,631,653,0.404357363497,0.00458806833001,0.0598005367553,0.999999922212,0.000218124421211,-0.000327068520463,3.19911041322e-05,1793239701653135616
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.03477499,746,714.96522501,680,665,635,879.96522501,787.96522501,803.03477499,652.96522501,631,653,0.403962411573,0.00458736977029,0.0597772248125,0.999999907553,0.00021611761825,-0.000370291936248,3.27290836333e-05,1793239701669802496
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.539527116,745.460472884,715,679.460472884,665.539527116,635.539527116,879.460472884,787.460472884,803.539527116,653,631,653,0.403660002473,0.0045866459889,0.0597862309048,0.999999916292,0.000214420650493,-0.000346881695358,3.33644069429e-05,1793239701686469120
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,714.882882558,679,665.882882558,635.882882558,879,787,803.882882558,653,631,653,0.403370599039,0.00458571097578,0.0597989057091,0.99999992568,0.000213312757713,-0.000319320780321,3.4236406055e-05,1793239701703135744
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,714.291394297,679,665.291394297,635.291394297,879,787,803.291394297,653,631,653,0.40310981305,0.00458392694991,0.0598180377737,0.99999993363,0.000214510290985,-0.000292272266921,3.60937235536e-05,1793239701719802112
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.29331905,714,679,665,635,879,787.29331905,803.29331905,653,631,653,0.402866391239,0.00458259873973,0.0598346473913,0.999999940798,0.000214996087615,-0.000266033799151,3.75034878122e-05,1793239701736468480
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.87145385,714,679,665,635,879,787.87145385,803.87145385,653,631,653,0.402639830234,0.00458171313128,0.0598488076862,0.999999947252,0.000214790780736,-0.000240581895487,3.84786732591e-05,1793239701753135104
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,714.447013194,679.447013194,665,635,879,787.552986806,803.552986806,653,631,653,0.402423320839,0.00458072154783,0.059850243435,0.999999946644,0.000216415797687,-0.000241450796413,3.97143109021e-05,1793239701769801984
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.977587716,714.977587716,679.977587716,665,635,879.022412284,787.022412284,803,652.977587716,631,653,0.402210641386,0.00457970261666,0.0598478070001,0.999999944007,0.000218518940502,-0.000250113453685,4.09844113866e-05,1793239701786468864
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.387598589,714.387598589,679.387598589,665,635,879.612401411,787.612401411,803,652.387598589,631,653,0.402022171686,0.00457875845778,0.0598394449597,0.999999939802,0.000219477438695,-0.000265566227602,4.12413981047e-05,1793239701803135744
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.801117597,745,714,679,665,635,879.801117597,787.801117597,803.198882403,652.198882403,631,653,0.401849491835,0.00457744178157,0.0598334174804,0.999999937463,0.000216965996043,-0.00027643311429,3.98038565315e-05,1793239701819802368
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.22135511,745,714,679,665,635,879.22135511,787.22135511,803.77864489,652.77864489,631,653,0.401707051176,0.00457541169676,0.0598318609245,0.999999939005,0.000207809262797,-0.000278517557614,3.51211204701e-05,1793239701836469248
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.354694826,665.354694826,635,879.354694826,787,804,653,631,653,0.401583751478,0.00456949383065,0.0598324839076,0.999999941015,0.000200300556702,-0.00027780099186,2.6006313512e-05,1793239701853135872
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.928451918,665.928451918,635,879.928451918,787,804,653,631,653,0.401472273372,0.00456117484054,0.0598344529906,0.999999943209,0.000193809684009,-0.000275354501418,1.41542248466e-05,1793239701869802496
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745.501799515,714,679.498200485,665.498200485,635.501799515,879.498200485,787,804,653,631,652.498200485,0.401385660418,0.00456204811591,0.0598392702076,0.999999944666,0.0001957816632,-0.00026862713912,1.32939361535e-05,1793239701886468864
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.077598435,745.922401565,714,679,665,635.922401565,879,787,804,653,631,652.077598435,0.401304488259,0.00456387218035,0.0598435664625,0.999999945672,0.000198901931277,-0.000262484835637,1.39741425997e-05,1793239701903135232
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.670048788,745.329951212,714,679,665,635.329951212,879,787,804,653,631,652.670048788,0.401235911202,0.00456331565076,0.0598417140525,0.999999944646,0.000201641454526,-0.000264270749387,1.4485355139e-05,1793239701919801856
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.743683256,745,714,679,665,635,879,787.256316744,804,653,631,653,0.40117336433,0.00456191616253,0.0598393745408,0.999999943635,0.000201528387705,-0.000268118726119,1.51393204304e-05,1793239701936468480
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.165186368,745,714,679,665,635,879,787.834813632,804,653,631,653,0.401118397171,0.00455945710823,0.0598364227614,0.999999942613,0.000197829726314,-0.000274558635436,1.59727203292e-05,1793239701953135104
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.409423839,745,714,679,665,635,879.409423839,788,804,653,631,653,0.401077334149,0.00455984731459,0.059834933535,0.999999941243,0.000199115076889,-0.000278563689198,1.6413747711e-05,1793239701969802240
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.982480656,745,714,679,665,635,879.982480656,788,804,653,631,653,0.401041828146,0.00456137627494,0.0598340288422,0.999999939731,0.000202392369999,-0.000281595612692,1.66979569359e-05,1793239701986469120
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.574082911,665,635,879.425917089,788,804,653,631,653,0.401021123113,0.00455852521173,0.0598342962114,0.999999940403,0.000200593421938,-0.000280439253579,1.76091321485e-05,1793239702003135744
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.162781664,680,665,635,879,788,804,653,631.162781664,653,0.40100426809,0.00455678666697,0.0598355446152,0.999999941309,0.000199659300362,-0.000277821716269,1.82667771368e-05,1793239702019802112
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,714.742544574,680,665,635,879,788,804,653,631.742544574,653,0.400996079597,0.00455825177591,0.0598392113541,0.999999942625,0.000201350586988,-0.000271799566017,1.82243316938e-05,1793239702036468736
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.319303556,714.680696444,679.680696444,665,635.319303556,879,787.680696444,804,652.680696444,632,653,0.400988007451,0.00455828138144,0.0598408151367,0.999999943279,0.000201486597634,-0.000269274489479,1.83588446455e-05,1793239702053135360
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.893663099,714.106336901,679.106336901,665,635.893663099,879,787.106336901,804,652.106336901,632,653,0.400980028239,0.00455716432363,0.059840771054,0.999999943424,0.00020038027201,-0.000269542834319,1.86347099113e-05,1793239702069801728
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.53083874,746,714,679,665,636,879,787,803.53083874,652.46916126,631.53083874,653,0.400976169193,0.00455748707168,0.0598412555675,0.999999943202,0.000201773577127,-0.00026933183271,1.85464735214e-05,1793239702086468608
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.046230716,745.953769284,714.046230716,679,665,635.953769284,879,787,803,653,631,653,0.400973446249,0.00455806714527,0.0598418873152,0.999999943017,0.000203277087661,-0.000268900126279,1.83791298018e-05,1793239702103135232
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.638812786,745.361187214,714.638812786,679,665,635.361187214,879,787,803,653,631,653,0.400973086675,0.00455782226885,0.0598428397404,0.999999944275,0.000199371270838,-0.00026714723296,1.82545461075e-05,1793239702119802112
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.224811073,715,679.224811073,665,635,879,787,803,652.775188927,631,653,0.400973083569,0.00455749057848,0.0598440067911,0.99999994514,0.000197744689954,-0.000265109611795,1.82680518381e-05,1793239702136468992
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.800532616,715,679.800532616,665,635,879,787,803,652.199467384,631,653,0.400973636881,0.00455702337913,0.0598455088535,0.999999945407,0.000199675797731,-0.000262627555411,1.84971031198e-05,1793239702153135872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714.623395313,679.623395313,665,635,879,787.376604687,803.376604687,652.376604687,631,653,0.400972777091,0.00455745342387,0.0598456547557,0.999999945014,0.000201811624225,-0.000262481012417,1.86412123983e-05,1793239702169802240
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,714.047137433,679.047137433,665,635,879,787.952862567,803.952862567,652.952862567,631,653,0.400971168158,0.00455835913357,0.0598450817031,0.99999994427,0.000204055980229,-0.00026357261848,1.8740290519e-05,1793239702186468352
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.539077231,664.460922769,635,879,787.460922769,803.460922769,653,631.539077231,653,0.4009712739,0.00455694082869,0.0598447898551,0.999999945282,0.000199829551858,-0.000262983932562,1.85557723567e-05,1793239702203135232
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,714.124553043,679.875446957,664.124553043,635,879,787.124553043,803.124553043,653,631.875446957,653,0.400971800904,0.00455583397881,0.0598449231481,0.999999946177,0.000196739505155,-0.000261913993946,1.84816487321e-05,1793239702219801856
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.717258071,746,715,679,665,635,879,788,803.717258071,653,631,653,0.400973468382,0.00455694414102,0.0598470804666,0.999999946057,0.000200993280051,-0.000259084501505,1.90749947692e-05,1793239702253135616
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.139528011,746,715,679,665,635,879,788,803.139528011,653,631,653,0.400972221403,0.00455678285391,0.0598465660192,0.999999945948,0.000199910225692,-0.000260343892563,1.89865912554e-05,1793239702269802752
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d596373ad8e512a85d5f57e5704936cd3269023
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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+218,3.633333333,pose1_to_pose2_press,0.620962579264,0.0100908438184,1.05003220147,0.591533030448,0.0187625864156,1.04970033591
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+220,3.666666667,pose1_to_pose2_press,0.621051849133,0.0100906842996,1.05003238731,0.59162230096,0.0187624285865,1.04970051495
+221,3.683333333,pose1_to_pose2_press,0.621084034245,0.0100908404761,1.05003245993,0.591654485555,0.0187625829035,1.04970059303
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+273,4.550000000,pose2_to_pose3_retreat,0.621184183947,0.0100908699893,1.05003222556,0.59175463296,0.0187626046801,1.04970035089
+274,4.566666667,pose2_to_pose3_retreat,0.621184149508,0.0100908723948,1.05003225211,0.591754598408,0.0187626066456,1.049700376
+275,4.583333333,pose2_to_pose3_retreat,0.621184097828,0.0100908077147,1.05003219247,0.591754547483,0.0187625447087,1.04970032111
+276,4.600000000,pose2_to_pose3_retreat,0.621184070118,0.0100907730344,1.0500321605,0.591754520178,0.0187625114992,1.04970029168
+277,4.616666667,pose2_to_pose3_retreat,0.621184031311,0.0100907244656,1.05003211571,0.591754481938,0.0187624649903,1.04970025046
+278,4.633333333,pose2_to_pose3_retreat,0.621183458002,0.0100906566311,1.05003220981,0.591753909462,0.0187623999963,1.04970034491
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+288,4.800000000,pose2_to_pose3_retreat,0.620830589806,0.0100907992191,1.05003224127,0.591401040726,0.0187625411881,1.04970038137
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+332,5.533333333,pose2_to_pose3_retreat,0.599346401047,0.0100907812087,1.05003203359,0.569916852668,0.0187625209286,1.04970016653
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+341,5.683333333,pose2_to_pose3_retreat,0.592072909411,0.0100906035583,1.05003206997,0.562643364651,0.0187623557616,1.04970020856
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+343,5.716666667,pose2_to_pose3_retreat,0.590573872065,0.0100907446186,1.05003219057,0.561144323896,0.0187624852464,1.04970032791
+344,5.733333333,pose2_to_pose3_retreat,0.589855656946,0.0100907290003,1.05003239066,0.560426108864,0.0187624700372,1.04970053086
+345,5.750000000,pose2_to_pose3_retreat,0.589138080077,0.0100908064509,1.05003236088,0.559708531364,0.0187625453387,1.04970050087
+346,5.766666667,pose2_to_pose3_retreat,0.588421943714,0.010090914799,1.0500323797,0.558992393917,0.0187626495223,1.04970050703
+347,5.783333333,pose2_to_pose3_retreat,0.587707050361,0.0100909088322,1.05003238419,0.558277500406,0.0187626429381,1.04970051001
+348,5.800000000,pose2_to_pose3_retreat,0.587001025776,0.0100908691794,1.05003235813,0.557571475686,0.0187626030166,1.0497004884
+349,5.816666667,pose2_to_pose3_retreat,0.586311617843,0.0100908711818,1.05003230815,0.556882067517,0.0187626043016,1.04970044001
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+352,5.866666667,pose2_to_pose3_retreat,0.584413586127,0.0100907126622,1.05003228916,0.554984038798,0.0187624558593,1.04970041779
+353,5.883333333,pose2_to_pose3_retreat,0.583841759969,0.0100908786504,1.05003258662,0.554412210834,0.018762615866,1.04970071938
+354,5.900000000,pose2_to_pose3_retreat,0.583291167619,0.0100907127959,1.0500324863,0.553861621808,0.0187624613622,1.04970062055
+355,5.916666667,pose2_to_pose3_retreat,0.582752799153,0.0100907896797,1.05003230427,0.55332325032,0.0187625278849,1.04970043592
+356,5.933333333,pose2_to_pose3_retreat,0.582225007229,0.0100907531862,1.05003231153,0.552795458577,0.0187624920521,1.04970044417
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+359,5.983333333,pose2_to_pose3_retreat,0.58076010553,0.0100906860346,1.05003245909,0.551330558543,0.0187624302749,1.0497005854
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+361,6.016666667,pose2_to_pose3_retreat,0.579903428202,0.0100906407333,1.05003215808,0.550473881676,0.0187623868385,1.04970029233
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+365,6.083333333,pose2_to_pose3_retreat,0.578427778062,0.0100908021077,1.05003260335,0.548998228675,0.0187625380897,1.04970072612
+366,6.100000000,pose2_to_pose3_retreat,0.578126272373,0.0100907728045,1.05003250206,0.54869672497,0.0187625158826,1.04970063438
+367,6.116666667,pose2_to_pose3_retreat,0.577854548515,0.0100906313926,1.05003237876,0.548425002282,0.0187623785144,1.04970051309
+368,6.133333333,pose2_to_pose3_retreat,0.57761360673,0.010090633854,1.05003230408,0.548184060806,0.0187623817722,1.04970043206
+369,6.150000000,pose2_to_pose3_retreat,0.577388383077,0.0100907642558,1.050032246,0.547958835661,0.018762507179,1.04970037581
+370,6.166666667,pose2_to_pose3_retreat,0.577177238777,0.0100908490186,1.05003220724,0.547747689256,0.0187625851411,1.04970034584
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+372,6.200000000,pose2_to_pose3_retreat,0.576794651074,0.0100908985637,1.0500323639,0.547365100482,0.0187626306826,1.04970049288
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+379,6.316666667,pose2_to_pose3_retreat,0.575967105534,0.0100908971862,1.05003221757,0.546537554658,0.0187626285517,1.04970035298
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+381,6.350000000,pose2_to_pose3_retreat,0.575848722141,0.0100907950678,1.05003220913,0.546419174304,0.0187625368039,1.04970034589
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+383,6.383333333,pose2_to_pose3_retreat,0.57576402679,0.0100907873968,1.05003224165,0.546334477713,0.0187625247249,1.04970037319
+384,6.400000000,pose2_to_pose3_retreat,0.575734423555,0.0100907136342,1.05003225931,0.546304875008,0.0187624525208,1.04970038463
+385,6.416666667,pose2_to_pose3_retreat,0.575713235302,0.0100907739748,1.05003222174,0.546283688402,0.0187625188253,1.04970035697
+386,6.433333333,pose2_to_pose3_retreat,0.575697922035,0.0100907642875,1.05003236292,0.546268374772,0.018762507962,1.04970049965
+387,6.450000000,pose2_to_pose3_retreat,0.575687492715,0.0100907519177,1.05003238857,0.546257944684,0.0187624928762,1.04970052268
+388,6.466666667,pose2_to_pose3_retreat,0.575680053591,0.0100907651329,1.05003224311,0.546250505097,0.0187625043923,1.04970037405
+389,6.483333333,pose2_to_pose3_retreat,0.575675078197,0.0100907914023,1.05003207201,0.546245530284,0.0187625328355,1.04970020772
+390,6.500000000,pose2_to_pose3_retreat,0.575671435969,0.0100908131267,1.05003202799,0.546241888347,0.0187625556211,1.04970016535
+391,6.516666667,pose2_to_pose3_retreat,0.575669193623,0.0100908299879,1.05003216219,0.546239645858,0.0187625718722,1.04970029653
+392,6.533333333,pose2_to_pose3_retreat,0.575668233308,0.0100908372089,1.05003221966,0.546238685481,0.0187625788319,1.04970035271
+393,6.550000000,pose2_to_pose3_retreat,0.575667749323,0.0100908362826,1.05003225709,0.546238201488,0.0187625778671,1.04970038976
+394,6.566666667,pose2_to_pose3_retreat,0.575667447498,0.0100908313597,1.05003228847,0.546237899681,0.0187625730089,1.04970042119
+395,6.583333333,pose2_to_pose3_retreat,0.575667207322,0.0100908274424,1.05003231344,0.54623765952,0.018762569143,1.04970044621
+396,6.600000000,pose2_to_pose3_retreat,0.575667037381,0.0100908246706,1.05003233112,0.54623748959,0.0187625664076,1.0497004639
+397,6.616666667,pose2_to_pose3_retreat,0.575666993907,0.0100908239615,1.05003233564,0.546237446118,0.0187625657079,1.04970046843
+398,6.633333333,pose2_to_pose3_retreat,0.575666902318,0.0100908224677,1.05003234516,0.546237354534,0.0187625642336,1.04970047797
+399,6.650000000,pose2_to_pose3_retreat,0.575666762773,0.0100908201917,1.05003235967,0.546237214998,0.0187625619875,1.0497004925
+400,6.666666667,pose2_to_pose3_retreat,0.57566655485,0.0100908168004,1.05003238129,0.546237007088,0.0187625586408,1.04970051415
+401,6.683333333,pose2_to_pose3_retreat,0.575666258785,0.0100908119715,1.05003241208,0.54623671104,0.0187625538753,1.04970054499
+402,6.700000000,pose2_to_pose3_retreat,0.575666217768,0.0100908113025,1.05003241634,0.546236670026,0.0187625532151,1.04970054926
+403,6.716666667,pose2_to_pose3_retreat,0.575666179551,0.0100908106791,1.05003242032,0.546236631812,0.0187625526,1.04970055324
+404,6.733333333,pose2_to_pose3_retreat,0.575666116734,0.0100908096546,1.05003242685,0.546236568998,0.0187625515889,1.04970055978
+405,6.750000000,pose2_to_pose3_retreat,0.575666050099,0.0100908085677,1.05003243378,0.546236502367,0.0187625505163,1.04970056672
+406,6.766666667,pose2_to_pose3_retreat,0.575665789999,0.0100908043254,1.05003246082,0.546236242283,0.0187625463297,1.0497005938
+407,6.783333333,pose2_to_pose3_retreat,0.575665582998,0.0100907843412,1.0500324751,0.546236035646,0.0187625275269,1.04970060667
+408,6.800000000,pose2_to_pose3_retreat,0.5756654622,0.0100907659768,1.05003248051,0.546235915203,0.0187625103107,1.04970061067
+409,6.816666667,pose2_to_pose3_retreat,0.575665247053,0.0100907332685,1.05003249015,0.546235700687,0.0187624796476,1.04970061779
+410,6.833333333,pose2_to_pose3_retreat,0.575665000097,0.0100906957246,1.05003250121,0.546235454455,0.0187624444512,1.04970062597
+411,6.850000000,pose2_to_pose3_retreat,0.575664878356,0.0100906772166,1.05003250666,0.546235333071,0.0187624271005,1.04970063
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+413,6.883333333,pose2_to_pose3_retreat,0.575664745305,0.0100906610511,1.05003250943,0.546235200339,0.0187624119622,1.04970063137
+414,6.900000000,pose2_to_pose3_retreat,0.57566457567,0.010090834196,1.05003236087,0.546235027692,0.0187625750897,1.04970048816
+415,6.916666667,pose2_to_pose3_retreat,0.575664410363,0.0100909696279,1.0500322292,0.546234860106,0.0187627029839,1.04970036156
+416,6.933333333,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae75917001854e0745daf4216a23de8c1cd35225
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c08cc5c7fddbcb45e9562dd95afa38bf5702a254be0ccfbd84530b871a077ce
+size 26599739
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00ed83551ca7a5a12fa409ec6dfda7a893c9c1cf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+13,0.216666667,BASELINE,766,746,714,679,665.460114104,635,879,787,804,653,631,653,0.400975015539,0.00455854656661,0.0598517005602,0.999999947679,0.000202547800138,-0.000251508700532,1.89634781696e-05,1793239702892527872
+14,0.233333333,BASELINE,765.885444254,746,714,679,665.114555746,635.114555746,879,787,804,653,631.114555746,653,0.400975034843,0.00455882265167,0.0598513060332,0.999999947743,0.000202272903725,-0.000251473681085,1.90022511709e-05,1793239702909194240
+15,0.250000000,BASELINE,765.308616471,746,714,679,665.691383529,635.691383529,879,787,804,653,631.691383529,653,0.400972611786,0.00455615309136,0.0598501839401,0.999999947806,0.000198240295975,-0.000254407039007,1.91240293575e-05,1793239702925860864
+16,0.266666667,BASELINE,765,745.724664687,714,679.275335313,666,636,879,787,804,653,632,652.724664687,0.400971762909,0.00455547364764,0.0598500169752,0.999999947704,0.000197431028659,-0.000255424144027,1.92772574691e-05,1793239702942527232
+17,0.283333333,BASELINE,765,745.13251573,714,679.86748427,666,636,879,787,804,653,632,652.13251573,0.400972725358,0.00455708412499,0.0598509490255,0.999999947426,0.000200330687324,-0.000254236318974,1.94666733234e-05,1793239702959193856
+18,0.300000000,BASELINE,765.446526985,745.446526985,714,679.553473015,665.553473015,635.553473015,879,787,804,653,631.553473015,652.446526985,0.400973195762,0.00455610304664,0.0598513476837,0.999999947875,0.000199081114702,-0.000253456453795,1.93997300589e-05,1793239702975860736
+19,0.316666667,BASELINE,766,746,714,679.021730604,665.021730604,635.021730604,879.021730604,787,803.978269396,653,631.021730604,653,0.400973493906,0.00455448604424,0.0598515656536,0.999999948477,0.000196820831082,-0.000252854895134,1.92633601247e-05,1793239702992527872
+20,0.333333333,BASELINE,766,746,714,679.595398654,665.595398654,635.595398654,879.595398654,787,803.404601346,653,631.595398654,653,0.400973019871,0.00455569446153,0.0598511002036,0.999999947754,0.000199273186811,-0.00025379477128,1.92408694661e-05,1793239703009194752
+21,0.350000000,BASELINE,765.826049939,746,714,679.826049939,666,636,879.826049939,787,803.173950061,653,631.826049939,653,0.400972496954,0.00455576842349,0.059850754796,0.999999947563,0.000199488944297,-0.000254370666766,1.9346970348e-05,1793239703025861120
+22,0.366666667,BASELINE,765.235812033,746,714,679.235812033,666,636,879.235812033,787,803.764187967,653,631.235812033,653,0.400971857053,0.00455312746836,0.0598506966675,0.999999948641,0.000194352195874,-0.000254075503355,1.97608095302e-05,1793239703042527232
+23,0.383333333,BASELINE,765.348109866,745.651890134,714,679,665.651890134,635.651890134,879,787,803.651890134,652.651890134,631,652.651890134,0.400971538203,0.00455360528693,0.0598503371303,0.999999948379,0.000195021768877,-0.000254598180998,1.97263267075e-05,1793239703059194112
+24,0.400000000,BASELINE,765.92782956,745.07217044,714,679,665.07217044,635.07217044,879,787,803.07217044,652.07217044,631,652.07217044,0.40097143296,0.00455615813589,0.0598497770553,0.999999947219,0.000199554492733,-0.000255664997241,1.93935594118e-05,1793239703075860736
+25,0.416666667,BASELINE,766,745,714,679,665,635,879.504136658,787,803.504136658,652.504136658,631,652.504136658,0.400971202275,0.00455666587886,0.0598498520889,0.999999947379,0.000199055475685,-0.000255457117522,1.90026844024e-05,1793239703092527104
+26,0.433333333,BASELINE,765.919975573,745.080024427,714,679.080024427,665.080024427,635.080024427,879.919975573,787,804,653,631,653,0.400971138077,0.00455683796438,0.0598500525159,0.999999947687,0.000198086322145,-0.000255025232054,1.8688779356e-05,1793239703109193984
+27,0.450000000,BASELINE,765.343678737,745.656321263,714,679.656321263,665.656321263,635.656321263,879.343678737,787,804,653,631,653,0.400972216965,0.00455673187667,0.0598504705218,0.999999947751,0.000198638688381,-0.000254328221393,1.89034446482e-05,1793239703125860864
+28,0.466666667,BASELINE,765,745.76182323,714,679.76182323,666,635.76182323,879,787,803.76182323,653,631.23817677,653,0.400972479813,0.00455668683201,0.0598507839917,0.99999994769,0.000199150595872,-0.000254151298553,1.91350995507e-05,1793239703142527744
+29,0.483333333,BASELINE,765,745.171755166,714,679.171755166,666,635.171755166,879,787,803.171755166,653,631.828244834,653,0.400971537009,0.00455673197464,0.0598509430163,0.999999947444,0.000199602728067,-0.000254742773002,1.93918555279e-05,1793239703159194112
+30,0.500000000,BASELINE,765.409773864,745,714,679,665.590226136,635,879,787,803.409773864,653,631.590226136,652.590226136,0.40097265884,0.00455710172193,0.0598516916484,0.999999947652,0.000200800090295,-0.000252982856396,1.93495205071e-05,1793239703175860992
+31,0.516666667,BASELINE,765.987796837,745,714,679,665.012203163,635,879,787,803.987796837,653,631.012203163,652.012203163,0.400974628389,0.00455760474869,0.0598526823675,0.999999948038,0.000202303436614,-0.000250257481789,1.91843816648e-05,1793239703192527616
+32,0.533333333,BASELINE,766,745.562606098,714,679.562606098,665,635,879,787,803.437393902,653,631,652.562606098,0.4009723246,0.00455734596534,0.0598511079173,0.999999947587,0.000200316809894,-0.000253652621409,1.8942106292e-05,1793239703209193984
+33,0.550000000,BASELINE,765.862593915,746,714.137406085,679.862593915,665,635.137406085,879,787.137406085,803.137406085,653,631,653,0.400970917367,0.00455695002018,0.05985010686,0.999999947341,0.000198766152606,-0.000255844409593,1.87984404028e-05,1793239703225860608
+34,0.566666667,BASELINE,765.287602845,746,714.712397155,679.287602845,665,635.712397155,879,787.712397155,803.712397155,653,631,653,0.400972658826,0.00455616959157,0.0598511080205,0.999999947848,0.000198843591572,-0.0002537836137,1.89741054351e-05,1793239703242527744
+35,0.583333333,BASELINE,765.295321966,745.704678034,714.704678034,679.295321966,665,636,879,788,804,653,631.295321966,653,0.400972767452,0.0045560707092,0.0598513052855,0.999999947907,0.000198842216465,-0.000253552702221,1.89649350304e-05,1793239703259194624
+36,0.600000000,BASELINE,765.886186515,745.113813485,714.113813485,679.886186515,665,636,879,788,804,653,631.886186515,653,0.400971242023,0.00455665388211,0.0598506980545,0.999999947519,0.000198761968418,-0.000255153041906,1.87707911304e-05,1793239703275861248
+37,0.616666667,BASELINE,766,745,714,679.532906806,665.467093194,636,879,788,804,653,631.532906806,653,0.400972266405,0.0045575057536,0.0598512456675,0.999999947761,0.000199493147466,-0.000253638390037,1.86719216667e-05,1793239703292527616
+38,0.633333333,BASELINE,766,745.045218979,714.045218979,679.045218979,666,635.954781021,879,787.954781021,804,653,631,653,0.40097367722,0.00455821791158,0.0598519310068,0.999999948104,0.000200296074967,-0.000251645815901,1.86348947649e-05,1793239703309193984
+39,0.650000000,BASELINE,766,745.618612612,714.618612612,679.618612612,666,635.381387388,879,787.381387388,804,653,631,653,0.40097249625,0.00455654938964,0.0598510068726,0.999999947942,0.000199675871906,-0.000252751384349,1.90547136627e-05,1793239703325860864
+40,0.666666667,BASELINE,766,746,714.802079197,679.802079197,665.802079197,635,879,787,804,653,631,653,0.400971670712,0.00455532216497,0.0598504559553,0.999999947725,0.000199407407263,-0.000253795816482,1.93700204531e-05,1793239703342527744
+41,0.683333333,BASELINE,766,746,714.211022786,679.211022786,665.211022786,635,879,787,804,653,631,653,0.40097155118,0.00455497150148,0.0598506463696,0.999999947402,0.000199837610484,-0.000254718811784,1.94777319059e-05,1793239703359194112
+42,0.700000000,BASELINE,766,746,714,679.372278406,665,635.372278406,879.744556811,787.372278406,803.627721594,653,631,653,0.400971870267,0.00455503361135,0.0598509671464,0.99999994753,0.000199334467936,-0.000254609591593,1.95075235371e-05,1793239703375860480
+43,0.716666667,BASELINE,766,746,714,679.951273307,665,635.951273307,880.902546614,787.951273307,803.048726693,653,631,653,0.400972432907,0.00455532492352,0.0598513603102,0.999999947906,0.000198313062792,-0.000253927209009,1.94940483185e-05,1793239703392527104
+44,0.733333333,BASELINE,766,745.472761402,714,680,665.527238598,635.472761402,879.945522804,788,803.527238598,653,631,653,0.400971750734,0.00455716350785,0.0598511202084,0.999999947173,0.000201636389395,-0.000254210842333,1.93117066507e-05,1793239703409193984
+45,0.750000000,BASELINE,766,745.10503067,714,680,666,635,878.89496933,787.89496933,803.89496933,653,631,653,0.400971503873,0.00455852760477,0.0598510238133,0.999999946742,0.000203956114248,-0.000254066078426,1.91811552928e-05,1793239703425860608
+46,0.766666667,BASELINE,766,745.69249213,714,680,666,635,878.30750787,787.30750787,803.30750787,653,631,653,0.400973781912,0.00455705920198,0.0598518547823,0.999999948208,0.000199832251806,-0.000251545852547,1.93597635843e-05,1793239703442527488
+47,0.783333333,BASELINE,766,745.723689357,714,680,665.723689357,635,878.276310643,787.276310643,803,653,631,653,0.400974032738,0.00455685407802,0.0598518204636,0.999999948574,0.000198359157614,-0.000251267686306,1.92513092925e-05,1793239703459194368
+48,0.800000000,BASELINE,766,745.143872272,714,680,665.143872272,635,878.856127728,787.856127728,803,653,631,653,0.400972056821,0.00455803657055,0.0598508356916,0.999999947744,0.000199797732278,-0.000253452253482,1.88275383855e-05,1793239703475860992
+49,0.816666667,BASELINE,766,745.433284693,714,679.566715307,665.433284693,635.433284693,879,788,803,653,631,653,0.400971665845,0.00455775415481,0.0598506600669,0.999999947315,0.00020091152665,-0.00025426323994,1.8824348496e-05,1793239703492527360
+50,0.833333333,BASELINE,766,746,714.009554174,679.009554174,666,635.990445826,879,787.990445826,803.009554174,653,631,653,0.40097180747,0.00455700698591,0.0598507545252,0.999999947029,0.000201901794987,-0.000254592033637,1.89622251082e-05,1793239703509193728
+51,0.850000000,BASELINE,766,746,714.585258052,679.585258052,666,635.414741948,879,787.414741948,803.585258052,653,631,653,0.400972514011,0.00455736802277,0.0598510294243,0.999999947371,0.000201923767897,-0.000253209605436,1.92342982311e-05,1793239703525860608
+52,0.866666667,BASELINE,766,745.834798279,714.834798279,679.834798279,665.834798279,635.165201721,879,787,804.165201721,653,631.165201721,653,0.400973226448,0.00455717550314,0.059851328291,0.999999947693,0.000201708889693,-0.000252091613195,1.94297271032e-05,1793239703542527232
+53,0.883333333,BASELINE,766,745.243930204,714.243930204,679.243930204,665.243930204,635.756069796,879,787,804.756069796,653,631.756069796,653,0.400973954074,0.00455555666441,0.0598516889135,0.999999947969,0.000200883730016,-0.000251654978888,1.94276708579e-05,1793239703559193856
+54,0.900000000,BASELINE,766,745.339594267,714,679,665.339594267,635.660405733,879.339594267,787.339594267,804.660405733,653,631.660405733,653,0.400973252853,0.00455523101935,0.0598514413766,0.999999947791,0.000200577616429,-0.000252597400174,1.95000451805e-05,1793239703575860736
+55,0.916666667,BASELINE,766,745.917955464,714,679,665.917955464,635.082044536,879.917955464,787.917955464,804.082044536,653,631.082044536,653,0.400971547017,0.00455581461198,0.0598507662461,0.999999947292,0.000200636441436,-0.000254509428162,1.96247512414e-05,1793239703592527616
+56,0.933333333,BASELINE,766,746,714,679.493032288,666,635.493032288,879.506967712,788,804,653,631,653,0.400972792665,0.00455666748913,0.0598515065116,0.999999947789,0.000200188571785,-0.000252937188225,1.92251604133e-05,1793239703609194496
+57,0.950000000,BASELINE,765.932284753,745.932284753,714,679.932284753,666,635.932284753,879,788,804,653,631,653,0.400974332774,0.00455738517768,0.0598523701913,0.999999948365,0.000199775190313,-0.000251009546609,1.88240186589e-05,1793239703625860864
+58,0.966666667,BASELINE,765.356483636,745.356483636,714,679.356483636,666,635.356483636,879,788,804,653,631,653,0.400974421456,0.00455675450418,0.059852404305,0.999999948334,0.000200249057975,-0.000250736914888,1.90615476152e-05,1793239703642527488
+59,0.983333333,BASELINE,765.224556545,745.224556545,714,679.224556545,666,635,879.224556545,788,804,653,631,653,0.400974369005,0.00455631923048,0.0598524781331,0.999999948374,0.000200245717994,-0.000250569517482,1.92235174867e-05,1793239703659194112
+60,1.000000000,BASELINE,765.814112512,745.814112512,714,679.814112512,666,635,879.814112512,788,804,653,631,653,0.400974087153,0.00455620156406,0.0598526165139,0.999999948528,0.00019946671371,-0.000250573170331,1.92626719059e-05,1793239703675860736
+61,1.016666667,BASELINE,766,746,714,679.60349533,666,635,880,788,804,653,631,653,0.400974216317,0.00455680174437,0.0598525844305,0.999999948481,0.00019974000157,-0.000250540811544,1.9255928596e-05,1793239703692527360
+62,1.033333333,BASELINE,766,746,714,679.024402109,666,635,880,788,804,653,631,653,0.400974534751,0.00455773248977,0.0598524738491,0.999999948342,0.000200497865102,-0.000250491869566,1.92280495934e-05,1793239703709193984
+63,1.050000000,BASELINE,766,746,714,679,665.450285873,635,880,788,803.450285873,653,631,653,0.400973364709,0.00455695461396,0.0598520815032,0.999999948253,0.000199982582687,-0.000251271491576,1.90537072408e-05,1793239703725860864
+64,1.066666667,BASELINE,766,746,714,679,665.126979941,635.126979941,879.873020059,787.873020059,803,653,631.126979941,653,0.400972414115,0.00455622191437,0.0598517697282,0.999999948186,0.000199597798232,-0.00025185293635,1.89381941036e-05,1793239703742527744
+65,1.083333333,BASELINE,766,746,714,679,665.716516436,635.716516436,879.283483564,787.283483564,803,653,631.716516436,653,0.400972501451,0.00455592759214,0.0598517966065,0.999999948194,0.000199892410951,-0.000251579690587,1.9060452449e-05,1793239703759194624
+66,1.100000000,BASELINE,765.698998582,746,714.301001418,679.301001418,665.698998582,636,879.301001418,787.301001418,803.301001418,653,631.698998582,653,0.400972661471,0.00455582078697,0.0598514625129,0.999999948019,0.00020036083681,-0.000251894727135,1.91519916166e-05,1793239703775860992
+67,1.116666667,BASELINE,765.119192632,746,714.880807368,679.880807368,665.119192632,636,879.880807368,787.880807368,803.880807368,653,631.119192632,653,0.400972888816,0.00455588767071,0.0598507940666,0.999999947674,0.000200990258209,-0.000252754664037,1.92150769381e-05,1793239703792527104
+68,1.133333333,BASELINE,765.458765327,745.541234673,714.541234673,679.541234673,665.458765327,635.541234673,879.541234673,787.541234673,804,653,631,653,0.400973246197,0.00455561881595,0.0598513103927,0.999999947769,0.000201226307751,-0.000252178196101,1.9417564141e-05,1793239703809193984
+69,1.150000000,BASELINE,766,745.035898072,714.035898072,679.035898072,666,635.035898072,879,787,804,653,631.035898072,653,0.400973527904,0.00455531203925,0.0598520043923,0.999999947961,0.000201234383963,-0.000251392005556,1.96354573749e-05,1793239703825860608
+70,1.166666667,BASELINE,766,745.607848384,714.607848384,679.607848384,666,635.607848384,879,787,804,653,631.607848384,653,0.400972177135,0.00455573631781,0.0598507734391,0.999999947926,0.000199358251202,-0.000253024527233,1.95447392372e-05,1793239703842527488
+71,1.183333333,BASELINE,766,746,714.814640736,680,665.814640736,635.814640736,879,787,803.814640736,653,632,653,0.400971398207,0.00455605539323,0.0598500979319,0.999999947924,0.000198241500392,-0.000253919715598,1.94111861591e-05,1793239703859194112
+72,1.200000000,BASELINE,766,746,714.225001819,680,665.225001819,635.225001819,879,787,803.225001819,653,632,653,0.400971866497,0.00455614501437,0.0598506338856,0.999999948002,0.000198781006735,-0.00025320673617,1.91842074939e-05,1793239703875860992
+73,1.216666667,BASELINE,766,746,714.356561662,679.643438338,665.356561662,635,879,787.356561662,803,653,632,653,0.400973032829,0.0045558261937,0.0598516244177,0.999999948503,0.000197911025883,-0.000251913760269,1.90741031989e-05,1793239703892527616
+74,1.233333333,BASELINE,766,746,714.933142105,679.066857895,665.933142105,635,879,787.933142105,803,653,632,653,0.400974629891,0.00455525534123,0.0598528954503,0.999999949261,0.000196171311406,-0.000250262893672,1.90361170374e-05,1793239703909194496
+75,1.250000000,BASELINE,766,745.488367517,714.488367517,679.511632483,666,635,879.511632483,787.488367517,803,653,632,653,0.400974502258,0.00455601159139,0.0598524214767,0.999999948675,0.000198774869862,-0.00025055143824,1.90147321838e-05,1793239703925860864
+76,1.266666667,BASELINE,766,745.089644299,714,680,666,635.089644299,880,787.089644299,803.089644299,653,632,653,0.400974104226,0.00455682060054,0.0598518257254,0.999999947988,0.000201545487542,-0.00025107870073,1.90456878577e-05,1793239703942526976
+77,1.283333333,BASELINE,766,745.663716235,714,680,666,635.663716235,880,787.663716235,803.663716235,653,632,653,0.400973467459,0.00455697405992,0.0598518087661,0.999999947751,0.000202140352618,-0.000251521308822,1.93477187699e-05,1793239703959193856
+78,1.300000000,BASELINE,766,746,714,679.754360123,666,635.754360123,879.754360123,787.754360123,804,653,631.754360123,653,0.400973289859,0.00455712357799,0.059851770994,0.999999947677,0.000202253680729,-0.000251716676678,1.94274680619e-05,1793239703975860736
+79,1.316666667,BASELINE,766,746,714,679.161332526,666,635.161332526,879.161332526,787.161332526,804,653,631.161332526,653,0.400973761622,0.00455726752219,0.0598517037882,0.999999947835,0.000201686011757,-0.000251562393525,1.91928632179e-05,1793239703992527360
+80,1.333333333,BASELINE,765.579604748,746,714,679,666,635,879,787.420395252,803.579604748,653,631.420395252,653,0.400974094908,0.0045561886007,0.0598517674893,0.999999948328,0.000199758251722,-0.000251133346037,1.92954965322e-05,1793239704009193984
+81,1.350000000,BASELINE,765.002099877,746,714,679,666,635,879,787.997900123,803.002099877,653,631.997900123,653,0.400974376444,0.0045546526713,0.0598518801128,0.999999948941,0.000197322200005,-0.000250601613929,1.95241620755e-05,1793239704025860864
+82,1.366666667,BASELINE,765.573710429,746,714.573710429,679.573710429,666,635,879,788,803.573710429,653,631.426289571,653,0.400975715796,0.00455503988066,0.0598530274393,0.999999949389,0.000197368500822,-0.000248778613197,1.93883874736e-05,1793239704042527232
+83,1.383333333,BASELINE,765.84696953,745.84696953,714.84696953,680,665.84696953,635,879.15303047,788,804.15303047,653,631,653,0.400976156859,0.00455511405618,0.0598535559079,0.999999949637,0.000197076686791,-0.000248021724519,1.9301444717e-05,1793239704059193856
+84,1.400000000,BASELINE,765.257624911,745.257624911,714.257624911,680,665.257624911,635,879.742375089,788,804.742375089,653,631,653,0.400974025756,0.00455427571239,0.0598523091485,0.999999949315,0.000195795024861,-0.000250317925664,1.93575212631e-05,1793239704075860480
+85,1.416666667,BASELINE,765.326180238,745.326180238,714,680,665,635,880,787.673819762,804.673819762,653,631,653,0.400973292997,0.00455445870696,0.0598520796974,0.999999948998,0.000196631145308,-0.000250930893389,1.93445217817e-05,1793239704092527104
+86,1.433333333,BASELINE,765.90568321,745.90568321,714,680,665,635,880,787.09431679,804.09431679,653,631,653,0.400973646241,0.0045554349079,0.0598526403228,0.999999948682,0.000199112008092,-0.000250236604306,1.92778754906e-05,1793239704109193728
+87,1.450000000,BASELINE,766,745.51884416,714,680,665,635,879.51884416,787,804,653,631,653,0.400973279873,0.00455558732492,0.059851994721,0.999999948347,0.000199514895677,-0.000251255033973,1.92749654502e-05,1793239704125860352
+88,1.466666667,BASELINE,765.942900034,745,714.057099966,680,665,635,879.057099966,787.057099966,804,653,631,653,0.400973053926,0.00455554368841,0.0598514044749,0.999999948134,0.000199412233631,-0.000252177881854,1.93062901444e-05,1793239704142526976
+89,1.483333333,BASELINE,765.355296237,745,714.644703763,680,665,635,879.644703763,787.644703763,804,653,631,653,0.400975432261,0.00455516636647,0.0598535070518,0.999999949104,0.000198365573088,-0.000249119418895,1.95405708096e-05,1793239704159193856
+90,1.500000000,BASELINE,765.229285553,745.229285553,715,679.770714447,665.229285553,635.229285553,879.770714447,788,803.770714447,653,631,653,0.400975853509,0.00455491013455,0.0598540214852,0.99999994945,0.000197607706693,-0.000248328497904,1.95954249376e-05,1793239704175860480
+91,1.516666667,BASELINE,765.809245364,745.809245364,715,679.190754636,665.809245364,635.809245364,879.190754636,788,803.190754636,653,631,653,0.400973281545,0.00455483910035,0.0598521069776,0.999999948848,0.000197291528378,-0.000251005604684,1.93758602364e-05,1793239704192526848
+92,1.533333333,BASELINE,766,746,715,679,666,636,879,788,803.386704367,653,631,653,0.400973387938,0.00455525281581,0.0598523062362,0.999999948991,0.000197011958121,-0.000250673987071,1.91612469994e-05,1793239704209193728
+93,1.550000000,BASELINE,766,746,715,679,666,636,879,788,803.962937742,653,631,653,0.40097480703,0.0045559041136,0.0598535414799,0.999999949498,0.000196750329936,-0.000248867753432,1.89490605219e-05,1793239704225860608
+94,1.566666667,BASELINE,766,745.459749277,714.459749277,679,665.459749277,635.459749277,879,788,803.459749277,653,631,652.459749277,0.400974629052,0.00455590139354,0.059853654341,0.999999949355,0.000198034406669,-0.00024841720841,1.90290416325e-05,1793239704242527232
+95,1.583333333,BASELINE,765.880771797,745,714,679,665,635,879,787.880771797,803.119228203,653,631,652.119228203,0.40097421943,0.00455585535326,0.0598535010884,0.999999949147,0.000199056300435,-0.000248428022721,1.91174344311e-05,1793239704259193856
+96,1.600000000,BASELINE,765.295579026,745,714,679,665,635,879,787.295579026,803.704420974,653,631,652.704420974,0.400973333547,0.00455581570873,0.0598526093395,0.999999948868,0.000198638291669,-0.000249877710207,1.9160212167e-05,1793239704275860480
+97,1.616666667,BASELINE,765.288562281,745.288562281,714.288562281,679.288562281,665,635.288562281,879.288562281,787.288562281,803.711437719,653,631,653,0.400972735664,0.00455630056399,0.0598519824904,0.999999948491,0.000199072012658,-0.00025104612812,1.90894012267e-05,1793239704292527104
+98,1.633333333,BASELINE,765.871630429,745.871630429,714.871630429,679.871630429,665,635.871630429,879.871630429,787.871630429,803.128369571,653,631,653,0.400972431712,0.0045573207223,0.0598516259974,0.999999948013,0.00020037500671,-0.000251927482998,1.89026619941e-05,1793239704309193728
+99,1.650000000,BASELINE,766,745.55238062,715,679.55238062,665.44761938,636,879.55238062,787.55238062,803,653,631.44761938,653,0.400973749855,0.00455624808586,0.0598526043223,0.999999948568,0.000199528079597,-0.00025037358331,1.91407670272e-05,1793239704325860352
+100,1.666666667,BASELINE,766,745.02168041,715,679,666,635.97831959,879,787,803.02168041,653,631.97831959,652.97831959,0.400975383983,0.00455469000794,0.0598538522358,0.999999949346,0.000198174010465,-0.00024830374957,1.94769190182e-05,1793239704342526976
+101,1.683333333,BASELINE,766,745.597547903,715,679,666,635.402452097,879,787,803.597547903,653,631.402452097,652.402452097,0.400973389353,0.00455582592451,0.0598523585491,0.999999948535,0.000199371487579,-0.00025061983508,1.92534190949e-05,1793239704359193856
+102,1.700000000,BASELINE,766,745.822667097,715,679,666,635,879,787,803.822667097,653,631.177332903,652.177332903,0.400972102328,0.00455639789164,0.0598513909679,0.99999994808,0.000199770234464,-0.000252116828377,1.91833525672e-05,1793239704375860480
+103,1.716666667,BASELINE,766,745.233790664,715,679,666,635,879,787,803.233790664,653,631.766209336,652.766209336,0.400972457473,0.00455566107873,0.0598516443409,0.999999948466,0.000198315336136,-0.000251712921435,1.94693650624e-05,1793239704392527104
+104,1.733333333,BASELINE,766,745.349615631,714.650384369,679,666,635,879,787.349615631,803.349615631,653,632,653,0.400973466376,0.004555490508,0.0598523450109,0.999999948721,0.000198479363336,-0.000250561939312,1.95723449702e-05,1793239704409193728
+105,1.750000000,BASELINE,766,745.929420412,714.070579588,679,666,635,879,787.929420412,803.929420412,653,632,653,0.400974905717,0.00455569275465,0.0598533401839,0.999999948887,0.000199709301232,-0.000248919078109,1.95548150897e-05,1793239704425860352
+106,1.766666667,BASELINE,766,745.495168124,714.504831876,679.504831876,665.495168124,635,879,788,804,653,631.495168124,653,0.400975717346,0.00455627041089,0.0598535983787,0.999999948849,0.000200620766998,-0.00024833908235,1.95111875075e-05,1793239704442526976
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666,636,879,787,803,653,631,653,0.400973635323,0.00455303188048,0.0598528178109,0.999999949365,0.000195437896328,-0.000250359823776,1.98618119006e-05,1793239704485242880
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679.420279479,666,636,879,787.579720521,803,653,631.579720521,652.420279479,0.400973519798,0.00455471842769,0.0598527635388,0.999999948852,0.000197752880687,-0.000250597420898,1.97638371148e-05,1793239704501909504
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.84116809,746,714.84116809,679.15883191,666,636,879,788,803,653,631.84116809,652.15883191,0.400973678668,0.00455585637509,0.0598528788605,0.999999948601,0.00019913254507,-0.000250513682409,1.96627474159e-05,1793239704518576128
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.263662218,746,714.263662218,679.736337782,666,636,879,788,803,653,631.263662218,652.736337782,0.40097456083,0.00455554823773,0.0598534412243,0.999999949052,0.000198046747447,-0.000249582917375,1.95534469219e-05,1793239704535242752
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.312135642,745.687864358,714,680,666,635.687864358,879,788,803.312135642,653,631,653,0.400974500407,0.00455588719537,0.0598535396918,0.999999949085,0.000198174871755,-0.00024935584731,1.94442339765e-05,1793239704551909376
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.886498555,745.113501445,714,680,666,635.113501445,879,788,803.886498555,653,631,653,0.40097364811,0.00455676978193,0.059853248437,0.999999948768,0.000199322820177,-0.00024971995622,1.93350945878e-05,1793239704568576000
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.471253431,714,680,666,635,879.471253431,787.528746569,804,653,631,653,0.400974492709,0.00455552499539,0.0598537243223,0.999999949232,0.000197911412943,-0.000248967335386,1.95668713974e-05,1793239704585242880
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714,679.942180624,666,635,879.942180624,787,803.942180624,653,631,653,0.400975991339,0.00455405544729,0.0598544291372,0.999999949825,0.000196284060041,-0.000247850253199,1.98254444315e-05,1793239704601909504
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714,679.362370029,666,635,879.362370029,787,803.362370029,653,631,653,0.400979621641,0.00455528679595,0.0598554950488,0.999999949888,0.000198397670502,-0.00024592578227,1.9567934188e-05,1793239704618576128
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.783324588,745.783324588,714,679.216675412,666,635,879,787,803.216675412,653,631.216675412,653,0.400989090836,0.00455574592368,0.0598593435288,0.999999951317,0.000199402830915,-0.000239211169045,1.9575790951e-05,1793239704635242752
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.205554352,745.205554352,714,679.794445648,666,635,879,787,803.794445648,653,631.794445648,653,0.401008290687,0.00455491812643,0.0598678292261,0.999999954883,0.000198560732232,-0.000224513667819,2.00258882815e-05,1793239704651909376
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.376752454,745.376752454,714,680,665.623247546,635.376752454,879,787,804,652.623247546,632,653,0.401044638812,0.00455464093708,0.059881375448,0.999999960427,0.000197488488757,-0.000199363746381,1.99756670095e-05,1793239704668576000
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.961564613,745.961564613,714,680,665.038435387,635.961564613,879,787,804,652.038435387,632,653,0.401090456989,0.0045546678182,0.0598977163207,0.999999966356,0.000196289148725,-0.00016844152534,1.96491472571e-05,1793239704685242624
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,714.54119823,679.45880177,665,635.45880177,879,787,804,652.54119823,632,653,0.401154343605,0.00455388233012,0.0599149729655,0.999999970861,0.000194082485149,-0.000142195762406,1.9757430762e-05,1793239704701909248
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714.880256969,679.119743031,665.119743031,635.119743031,879,787,804,653,631.880256969,653,0.40122247804,0.00455347482608,0.0599305791102,0.999999974287,0.000192476758844,-0.000118262319322,1.98163397914e-05,1793239704718575872
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,714.304471367,679.695528633,665.695528633,635.695528633,879,787,804,653,631.304471367,653,0.401301949584,0.00455472452233,0.0599396539656,0.999999975911,0.000193429583352,-0.000101882478039,1.95707161549e-05,1793239704735242752
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.729090763,714.270909237,679.729090763,665.729090763,636,879.270909237,787,803.729090763,653,631,653,0.401387313034,0.00455471819577,0.059945934275,0.999999977091,0.000193098857471,-9.036587359e-05,1.90898608845e-05,1793239704751909632
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.154164686,714.845835314,679.154164686,665.154164686,636,879.845835314,787,803.154164686,653,631,653,0.40147928843,0.00455330234879,0.0599490785185,0.999999977975,0.000191327719512,-8.43068392828e-05,1.83450265281e-05,1793239704768576256
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.433232993,665.433232993,636,880,787,803.433232993,653,631.433232993,653,0.401587533642,0.00455281388213,0.0599520112061,0.999999978842,0.000189394208729,-7.83949784671e-05,1.73353815299e-05,1793239704785242880
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.975374941,745,714.975374941,680,666,636,880,787,803.975374941,653,631.975374941,653,0.40170286813,0.00455262757097,0.0599547481524,0.999999979695,0.000187274450113,-7.2628696334e-05,1.62222632251e-05,1793239704801909504
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.396917828,745,714.396917828,680,666,636,880,787,803.396917828,653,631.396917828,653,0.401843574413,0.00455159490295,0.0599548260751,0.999999980895,0.000182303889215,-6.89237891149e-05,1.49641222784e-05,1793239704818576128
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.180729177,745.180729177,714.180729177,679.819270823,666,635.819270823,880,787,803,653,631,652.819270823,0.401993894283,0.00455092534598,0.0599548304973,0.999999981907,0.000178111315117,-6.54019302564e-05,1.35875156359e-05,1793239704835243008
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.756604882,745.756604882,714.756604882,679.243395118,666,635.243395118,880,787,803,653,631,652.243395118,0.402165233293,0.00455104969568,0.0599546742177,0.999999982568,0.000175619733131,-6.2280289084e-05,1.19518955937e-05,1793239704851909632
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.660806836,746,714.660806836,679.339193164,666,635,879.321613672,787.339193164,803.339193164,652.660806836,631,652.339193164,0.402354636275,0.00455160796904,0.0599562291318,0.999999983526,0.000172236654505,-5.6457422148e-05,9.80118553111e-06,1793239704868576000
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.073304498,746,714.073304498,679.926695502,666,635,878.146608996,787.926695502,803.926695502,652.073304498,631,652.926695502,0.402557263155,0.00455248389983,0.0599590367394,0.999999984644,0.000168200948084,-4.86571001175e-05,7.2733993682e-06,1793239704885242624
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.507320317,745.492679683,714,679.492679683,666,635.507320317,878.507320317,788,804,652.507320317,631,652.492679683,0.40279465824,0.00455204774659,0.0599608521588,0.99999998567,0.000164333604121,-4.0342244004e-05,5.16222353396e-06,1793239704901909248
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,714,679,666,635.913486826,879,788,803.913486826,653,631,652,0.403041790445,0.00455143073186,0.0599623597563,0.99999998664,0.000160071809773,-3.29836730452e-05,3.00657256829e-06,1793239704918576128
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,714,679,666,635.336851569,879,788,803.336851569,653,631,652,0.40331600586,0.00455084878714,0.0599629247944,0.999999987733,0.000153439361059,-3.14582926503e-05,2.62481620977e-07,1793239704935243008
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.239506306,714,679.239506306,666,635.239506306,879.239506306,787.760493694,803.239506306,653,631,652.239506306,0.403602472207,0.00454987963778,0.0599593002815,0.999999988538,0.000146607224684,-3.7738904436e-05,-2.47786241276e-06,1793239704951909632
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.815474478,714,679.815474478,666,635.815474478,879.815474478,787.184525522,803.815474478,653,631,652.815474478,0.403906148819,0.00454836653787,0.0599497902276,0.999999988745,0.000139494564609,-5.49854851759e-05,-5.21294256397e-06,1793239704968576000
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.611754632,714.388245368,680,666,636,879.611754632,787.388245368,804,653,631,653,0.404230626555,0.00454698137304,0.0599414775083,0.999999988912,0.000131905146421,-6.86200252461e-05,-8.23758210416e-06,1793239704985242624
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.040490952,714.959509048,680,666,636,879.040490952,787.959509048,804,653,631,653,0.404564909902,0.00454565651668,0.059933729211,0.999999988991,0.000124090985332,-8.05518540075e-05,-1.13987194489e-05,1793239705001909248
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,666,636,879.556346299,787.443653701,804,653,631,653,0.404930862619,0.00454337290507,0.0599217298009,0.99999998803,0.000114461663898,-0.000103132233051,-1.42440121741e-05,1793239705018575872
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.149121356,715,680,666,636,880,787,804,653,631,653,0.405320183312,0.00453868053362,0.05991557537,0.999999988044,0.000101746819242,-0.000115241551346,-1.67169562331e-05,1793239705035242496
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.724699979,715,680,666,636,880,787,804,653,631,653,0.405769422528,0.00452730875781,0.0599270638578,0.999999992066,8.0604001327e-05,-9.50825839727e-05,-1.81939632701e-05,1793239705051909120
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.701847712,746,714.701847712,679.701847712,666,636,880,787,804,653,631,653,0.406255496553,0.0045156471394,0.0599478071468,0.999999996241,5.9281080842e-05,-6.02006626182e-05,-1.94628982479e-05,1793239705068576000
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.130344775,746,714.130344775,679.130344775,666,636,880,787,804,653,631,653,0.406775341356,0.00450371978747,0.0599770353826,0.999999999005,3.77930369977e-05,-1.18205058982e-05,-2.0541069669e-05,1793239705085242624
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.45679674,746,714.45679674,679,666,635.54320326,879.54320326,787,803.54320326,652.54320326,631,653,0.407298073825,0.00450185629044,0.0599976087678,0.999999999167,2.90602567799e-05,1.6924740672e-05,-2.31200877851e-05,1793239705101908992
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715,679.047567959,666,635.047567959,879.047567959,787,803.047567959,652,631,653,0.407822043008,0.00450299698318,0.0600135396615,0.999999998712,2.3990248556e-05,3.62251647075e-05,-2.6217285595e-05,1793239705118575616
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,679.62725515,666,635.62725515,879.62725515,787,803.62725515,652,631,653,0.408350302851,0.00450448131482,0.0600061430621,0.999999999279,1.77355461251e-05,1.47677547018e-05,-3.01505527226e-05,1793239705135242496
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.794614839,746,714.794614839,680,666,636,879.794614839,787,804,652,631,652.794614839,0.408894019911,0.00450410101442,0.059996494351,0.999999999338,8.37985271651e-06,-8.89379958441e-06,-3.42758004653e-05,1793239705151909376
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.219289655,746,714.219289655,680,666,636,879.219289655,787,804,652,631,652.219289655,0.4094655785,0.00450036213627,0.059982789134,0.999999998561,-6.56134933054e-06,-3.65254601445e-05,-3.87468437084e-05,1793239705168576000
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,746,714,679.643689269,666,635.643689269,879,787.356310731,804,652,631,652.356310731,0.410097924632,0.00449948641255,0.0599824739893,0.999999998355,-1.78578603953e-05,-3.22431883362e-05,-4.3939672516e-05,1793239705185242624
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,746,714,679.067919401,666,635.067919401,879,787.932080599,804,652,631,652.932080599,0.410767711047,0.00450037416492,0.0599904060671,0.999999998375,-2.69095304609e-05,-8.304465505e-06,-4.95770637866e-05,1793239705201909248
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.521625504,746,714,679,666.521625504,635.521625504,879,788,804,652.521625504,631.521625504,653,0.411436825529,0.00449913353392,0.0599972313621,0.999999997826,-3.72088219033e-05,5.21500316796e-06,-5.41929095587e-05,1793239705218575872
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.889960909,635.889960909,879.110039091,787.889960909,804,653,631.889960909,653,0.412103474455,0.00449859362336,0.0599982595772,0.999999997982,-3.17692767907e-05,6.83384825206e-06,-5.45904798182e-05,1793239705235242496
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.314134427,635.314134427,879.685865573,787.314134427,804,653,631.314134427,653,0.412760067052,0.00450222470472,0.0599753757343,0.9999999978,4.09978983753e-05,-3.60233604605e-05,-3.77107024323e-05,1793239705251909120
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.737710122,746,714,679.262289878,666,635,880,787,804,652.737710122,631,653,0.413430993995,0.00450998627351,0.0599508387301,0.999999990776,0.00010403504067,-8.34820913023e-05,-2.55865996899e-05,1793239705268575744
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.160568117,746,714,679.839431883,666,635,880,787,804,652.160568117,631,653,0.414119127937,0.00452270606977,0.0599243172723,0.999999978432,0.000155392284968,-0.000136464483723,-1.91711950384e-05,1793239705285242368
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,880,787,804,652,631,653,0.414917858811,0.00451906426312,0.0599454808964,0.999999983596,0.000151587666425,-9.68862713464e-05,-2.10254619243e-05,1793239705301909248
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,880,787,804,652,631,653,0.415759219144,0.00450911588855,0.0599850246999,0.999999991423,0.000126520946946,-2.16306421125e-05,-2.60672675862e-05,1793239705318575872
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.583071959,745.416928041,714,680,666,635,879.416928041,787,804,652.583071959,631,653,0.416562739064,0.00450892579781,0.0600128491383,0.999999992472,0.000116523336179,2.32005009024e-05,-3.06547865534e-05,1793239705335242496
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.827329031,745.172670969,714,680,666,635,879.172670969,787.172670969,804,652.827329031,631,653,0.41735945244,0.004509599957,0.0600273095439,0.999999992051,0.000112503520846,4.55748494267e-05,-3.41201961668e-05,1793239705351909120
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.252886556,745.747113444,714,680,666,635,879.747113444,787.747113444,804,652.252886556,631,653,0.418142297532,0.00451177722514,0.0600112843507,0.999999991844,0.000121608652718,1.7279957945e-05,-3.49983186235e-05,1793239705368575744
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635.322029457,880,788,804,652,631,653,0.41894663101,0.00451085767932,0.0599938058062,0.999999993548,0.000106987317285,-1.08521359675e-05,-3.66091053572e-05,1793239705385242368
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635.897317857,880,788,804,652,631,653,0.419767863918,0.00450750265485,0.0599751842796,0.999999995776,7.37063839265e-05,-3.88561969518e-05,-3.87960932768e-05,1793239705401909248
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,714,679.516059358,666,635.516059358,879.516059358,787.516059358,803.516059358,652,631,653,0.420580758864,0.00451120058888,0.0599514533426,0.99999999658,2.13467709654e-07,-7.1970880699e-05,-4.07510679023e-05,1793239705418575872
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.072024607,746,714,679.072024607,666,635.072024607,879.072024607,787,803.072024607,652,631,653,0.421393312966,0.00451549866405,0.0599269562218,0.999999990752,-7.10289204381e-05,-0.000107974178254,-4.23479238961e-05,1793239705435242752
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.65303147,746,714,679.65303147,666,635.65303147,879.65303147,787,803.65303147,652,631,653,0.422216259961,0.00451320879931,0.059904889569,0.999999984786,-6.46264111408e-05,-0.000156543895894,-4.17702637896e-05,1793239705451909376
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,714.231450022,680,666,635.768549978,880,787,804,652,631,653,0.423087549005,0.00451133444099,0.0599151576912,0.999999987012,-5.91508695856e-05,-0.000143935803374,-4.19430234368e-05,1793239705468576000
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,714.806031415,680,666,635.193968585,880,787,804,652,631,653,0.424030506659,0.00451007608266,0.0599733630521,0.999999996725,-5.50495833676e-05,-4.06298392561e-05,-4.32283018553e-05,1793239705485242624
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,714.611261395,680,666,635,880,787.388738605,804,652,631,653,0.424950688156,0.00451096013275,0.060016738888,0.999999997592,-4.61063267423e-05,2.84182416764e-05,-4.33879069482e-05,1793239705501909248
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,714.024413158,680,666,635,880,787.975586842,804,652,631,653,0.425859262372,0.00451293600075,0.0600525572725,0.999999995274,-3.46954972096e-05,8.00077553352e-05,-4.29738444575e-05,1793239705518575872
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,714.555484455,680,666,635,880.555484455,787.444515545,804,652,631,653,0.426735354102,0.00450799550464,0.0600376047187,0.999999995839,-3.51106998097e-05,7.12259515774e-05,-4.49061221473e-05,1793239705535242752
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.865580242,746,715,680,666,635,880.865580242,787,804,652,631,653,0.42760372754,0.00450439056709,0.0600186128669,0.999999996912,-3.39316779836e-05,5.31508044403e-05,-4.68967258595e-05,1793239705551909376
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.288818865,746,715,680,666,635,880.288818865,787,804,652,631,653,0.428451341736,0.00450616854244,0.0599935807631,0.999999998393,-2.58172479704e-05,1.31169695553e-05,-4.87441172404e-05,1793239705568576000
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.285207271,745.714792729,714.714792729,680,666,635,880,787,804.285207271,652,631,652.714792729,0.429270750034,0.00450717192435,0.0599659654726,0.999999998021,-1.77300937211e-05,-3.4196729132e-05,-4.97400374745e-05,1793239705585242624
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.856489808,745.143510192,714.143510192,680,666,635,880,787,804.856489808,652,631,652.143510192,0.430061866541,0.00450739835534,0.0599357591355,0.999999994765,-9.67029871966e-06,-8.88124445814e-05,-4.98818950455e-05,1793239705601909248
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.554746695,745.445253305,714,680,666,635.445253305,880,787,805,652,631,652.445253305,0.430936435617,0.00450417882019,0.0599357284633,0.999999995297,-8.76181829477e-06,-8.20905982667e-05,-5.09038404179e-05,1793239705618576128
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.03881681,745.96118319,714,680,666,635.96118319,880,787.03881681,804.96118319,652,631.03881681,653,0.431838527913,0.00450005324102,0.0599480930386,0.999999997241,-9.95240539078e-06,-5.1976863104e-05,-5.21189121119e-05,1793239705635242752
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.61757185,745.38242815,714,680,666,635.38242815,880,787.61757185,804.38242815,652,631.61757185,653,0.432734030551,0.00449940539077,0.0599920586311,0.999999998479,-6.96898491097e-06,1.72821331336e-05,-5.19133932778e-05,1793239705651909376
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.19553288,714.19553288,680,666,635.19553288,880,787.80446712,804,652,631.80446712,653,0.433600727457,0.00449792159306,0.0600179404529,0.999999997109,-4.19989493052e-06,5.55433083812e-05,-5.17711592564e-05,1793239705668576000
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.771947349,714.771947349,680,666,635.771947349,880,787.228052651,804,652,631.228052651,653,0.434411313379,0.00449480943997,0.0600085966196,0.999999998101,-1.84830224195e-06,3.34233503917e-05,-5.1752199072e-05,1793239705685242624
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,714.65475039,680,666,635.65475039,880,787,804,652,631,653,0.435194943095,0.00449288873075,0.0599855777186,0.9999999986,-1.04890084032e-06,-4.65404518421e-06,-5.26946132793e-05,1793239705701909760
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,714.08348555,680,666,635.08348555,880,787,804,652,631,653,0.435960926071,0.00449174799207,0.0599536065313,0.999999997113,-1.26563069433e-06,-5.31778637888e-05,-5.42663843885e-05,1793239705718577152
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.493793544,746,714.506206456,680.506206456,666.506206456,635,880.506206456,787.506206456,804.506206456,652,631.506206456,653,0.436738251049,0.00449061694328,0.0599426875357,0.999999995883,-9.38170097333e-07,-7.20932878349e-05,-5.51028438404e-05,1793239705735243520
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.096605084,745.903394916,715,680.903394916,666.903394916,635,880.903394916,788,805,652,631.903394916,652.903394916,0.437506827361,0.00448924701768,0.0599343460803,0.999999994419,1.1452336897e-07,-8.98956664572e-05,-5.55032257638e-05,1793239705751909632
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.674803644,745.325196356,715,680.325196356,666.325196356,635,880.325196356,788,805,652,631.325196356,652.325196356,0.438222112618,0.00448667798107,0.0599208916571,0.999999990396,4.31830906961e-06,-0.000127412228992,-5.43570773014e-05,1793239705768577024
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.74863289,745.25136711,714.74863289,680.25136711,666,635,880.25136711,787.74863289,804.74863289,652,631,652,0.438952931448,0.00448508893892,0.059921081316,0.999999989459,6.97008264183e-06,-0.000134611587774,-5.39816870765e-05,1793239705785244160
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.174171136,745.825828864,714.174171136,680.825828864,666,635,880.825828864,787.174171136,804.174171136,652,631,652,0.439703716295,0.00448475953257,0.0599388083928,0.999999993192,7.62697753712e-06,-0.000102842734388,-5.45969908635e-05,1793239705801910784
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.411473537,746,714.411473537,680.588526463,666.411473537,635,881,787,804.411473537,652,631,652.411473537,0.440415897772,0.00448485854224,0.0599586851657,0.999999995645,1.23460657331e-05,-7.51050324791e-05,-5.40104356162e-05,1793239705818576640
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.998056136,745.998056136,714.998056136,680,666.996112272,635,880.998056136,787,805,652,631,652.998056136,0.441110987799,0.00448514919031,0.0599792571576,0.999999997199,1.88456154305e-05,-4.94786480393e-05,-5.29052828117e-05,1793239705835242752
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.419514874,745.419514874,714.419514874,680,665.839029749,635,880.419514874,787,805,652,631,652.419514874,0.441718653166,0.00448699105092,0.0599285975931,0.999999989735,2.91873599485e-05,-0.000129841639155,-5.30891104047e-05,1793239705851909376
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.158290645,745.158290645,714.158290645,680,665,634.841709355,880.158290645,787,805,652,631,652,0.442313819918,0.00448944902745,0.0598783491127,0.999999976602,3.75677757734e-05,-0.000206045134648,-5.41379978485e-05,1793239705868576000
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.734155387,745.734155387,714.734155387,680,665,634.265844613,880.734155387,787,805,652,631,652,0.442876015188,0.00449353233132,0.0598291850696,0.999999960722,4.07741672787e-05,-0.000271275811001,-5.74689323146e-05,1793239705885242624
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.691366791,634,880.691366791,787,805,652,631,652.308633209,0.443438088468,0.00449566941004,0.0598022525809,0.999999948876,4.31685090878e-05,-0.000311256533662,-5.92012369142e-05,1793239705901909760
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.118078298,634,880.118078298,787,805,652,631,652.881921702,0.444000057106,0.00449613758589,0.0597943838194,0.999999942906,4.48665121206e-05,-0.000329585229065,-5.95627043943e-05,1793239705918577152
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680.469167708,664,634,880.469167708,787,805,652,631.469167708,653,0.444543640105,0.00449843413681,0.0597996213638,0.999999945443,4.53686856791e-05,-0.000321390170262,-6.13551610139e-05,1793239705935244288
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.360753573,745.360753573,714.360753573,681,664,634,880.360753573,787,805,652,631.360753573,652.360753573,0.445545682207,0.00450225290364,0.0597797100978,0.999999929882,4.28802545424e-05,-0.000366326665893,-6.48184975579e-05,1793239705968577536
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.217391447,714,680.782608553,664,634,880.217391447,787,805,652,631,652.217391447,0.445996650108,0.00450478021146,0.0597521122224,0.999999911114,2.50675292876e-05,-0.000415556589023,-6.6750353468e-05,1793239705985244160
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.792016323,714,680.207983677,664,634,880.792016323,787,805,652,631,652.792016323,0.446416014925,0.00450947738658,0.0597204404899,0.999999892328,-1.80470577406e-05,-0.000458449610152,-6.95900843315e-05,1793239706001910272
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714,680.366007992,663.633992008,633.633992008,881,787,805,652,631.366007992,653,0.446834398405,0.00451232930798,0.0597092965214,0.999999884661,-6.05004724355e-05,-0.000471094153501,-7.13322735262e-05,1793239706018576640
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,680.939640517,663.060359483,633.060359483,881,787,805,652,631.939640517,653,0.447252225242,0.00451413447689,0.0597097972886,0.999999883266,-0.000102578829405,-0.000466579714706,-7.24518629832e-05,1793239706035243264
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.87838201,746,714,680,662.87838201,632.87838201,880.87838201,787,804.12161799,652.12161799,631.12161799,652.87838201,0.448033897828,0.0045318847102,0.0597293269172,0.999999899972,-6.8817463193e-05,-0.000436042128983,-7.20288724633e-05,1793239706068576768
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.299134848,746,714,680,662.299134848,632.299134848,880.299134848,787,804.700865152,652.700865152,631.700865152,652.299134848,0.448380418717,0.00455311216993,0.0597278921287,0.999999903716,1.18411097232e-05,-0.000434692013736,-5.89050682337e-05,1793239706085242880
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765.851431649,746,714,680.851431649,662,632,880,787,805,652.148568351,631.148568351,652.851431649,0.448932826423,0.00459694289146,0.0596796344103,0.999999864275,8.33269133664e-05,-0.000510793279364,-5.99745663536e-05,1793239706118576896
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,714,681,661.973386593,632,880,786,805,652,631,652.973386593,0.449386757767,0.00459288403592,0.0596356031332,0.99999982865,7.12812521626e-05,-0.000577567882189,-6.35227259788e-05,1793239706151910144
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,714,681,661.394018389,632,880,786,805,652,631,652.394018389,0.449624893255,0.00459529673562,0.0596315758569,0.999999826227,7.12115241285e-05,-0.000581530181119,-6.55619255536e-05,1793239706168576256
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.816191829,746,714,680.816191829,661.183808171,632,880.183808171,786,805,652,631.183808171,652.183808171,0.449850316988,0.00459767856696,0.0596292638752,0.999999825118,7.12354990458e-05,-0.000583219233269,-6.74152702518e-05,1793239706185242624
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.241642584,746,714,680.241642584,661.758357416,632,880.758357416,786,805,652,631.758357416,652.758357416,0.450048717927,0.00459999477776,0.0596305982828,0.999999826831,7.14586685573e-05,-0.000580075796324,-6.88735227112e-05,1793239706201909760
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.341102133,746,714,680.341102133,661.658897867,631.658897867,881,786,805,652,631.658897867,653,0.45022616418,0.00460016108984,0.0596322022235,0.999999828219,6.96858591876e-05,-0.000577805189481,-6.96240755889e-05,1793239706218576384
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631,881,786.910514043,805,652,631,653,0.450665873585,0.00460581496412,0.0596416146224,0.999999837254,7.2589631697e-05,-0.000561329755704,-7.16418396956e-05,1793239706268575744
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765.599115558,746,714.599115558,681,660.599115558,631,881,786.400884442,805,652,631.599115558,653,0.451012636533,0.00460771294737,0.0596279097196,0.999999824597,7.48878440507e-05,-0.000583050966397,-7.24518084193e-05,1793239706335242752
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+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.652657514,714,681,660,631,881,786.347342486,805,652,631,653,0.451294698577,0.00461820991308,0.0596161963504,0.999999812599,9.68607501395e-05,-0.000600425185981,-7.00737631042e-05,1793239706801909248
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,680.770252765,660,631,880.770252765,786,805,652,631,653,0.451294286348,0.00461812011077,0.0596161414382,0.999999812585,9.71478868434e-05,-0.000600429872361,-6.98321736356e-05,1793239706818576384
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,680.196556521,660,631,880.196556521,786,805,652,631,653,0.451295152903,0.00461829510373,0.059616989962,0.999999813663,9.64925019978e-05,-0.000598726203178,-6.99263329749e-05,1793239706835243776
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680.387624775,660,631,880.387624775,786,805,652,631,653,0.451295757169,0.00461814902256,0.0596170035023,0.999999813771,9.70828756622e-05,-0.000598444996904,-6.9970068117e-05,1793239706851910400
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714,680.977270603,660,631,880.977270603,786,805,652,631,653,0.451296224737,0.00461783560498,0.0596165818685,0.999999813374,9.83225098446e-05,-0.000598905145449,-6.99875233298e-05,1793239706868576256
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714.557066448,681,660,631,881,786,805,652,631,653,0.451297424234,0.00461893427358,0.0596175233795,0.999999814176,9.91611961794e-05,-0.00059739301591,-7.02657079257e-05,1793239706885242880
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,714.864371704,681,660,631,881,786.135628296,805,652,631,653,0.451298183345,0.00461977134425,0.059618030157,0.999999814553,0.000100000781574,-0.000596604016744,-7.04041793287e-05,1793239706901909504
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,714.288533299,681,660,631,881,786.711466701,805,652,631,653,0.451297417846,0.00461957558861,0.0596169485287,0.999999813404,0.000100895460496,-0.000598418742333,-7.00552534134e-05,1793239706918576128
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660.29310501,631,880.70689499,786.70689499,805.29310501,652.29310501,631,653,0.451297263653,0.00461998365062,0.0596168457065,0.999999813006,0.000101812241489,-0.000598929061884,-7.00492368669e-05,1793239706935242752
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,746,714,681,660.880567981,631,880.119432019,786.119432019,805.880567981,652.880567981,631,653,0.451297723379,0.00462099811147,0.0596177258747,0.999999813364,0.000102751218981,-0.000598129399269,-7.03875955649e-05,1793239706951909120
+256,4.266666667,HOLD_POSE2,766,746,715,681,660,631,881,786,804,653,631,653,0.451296958553,0.00462151730453,0.0596174712616,0.999999813177,0.000104080255478,-0.000598288473696,-6.97390898138e-05,1793239706984046080
+257,4.283333333,HOLD_POSE2,765.423396503,745.423396503,713.846793006,681,660,631,880.423396503,786,804.576603497,652.423396503,631.576603497,653,0.4512968255,0.0046198395534,0.0596173845068,0.999999813363,9.99336723007e-05,-0.000598656632666,-6.99851879499e-05,1793239707000712448
+258,4.300000000,HOLD_POSE2,765.152797142,745.152797142,713.152797142,681,660,631,880.152797142,786,805,652,631.847202858,653,0.451296798478,0.00461854910011,0.0596172786631,0.999999813451,9.69725928332e-05,-0.000598978117107,-7.01389331757e-05,1793239707017379328
+259,4.316666667,HOLD_POSE2,765.727858264,745.727858264,713.727858264,681,660,631,880.727858264,786,805,652,631.272141736,653,0.451297064477,0.00461832896705,0.0596171200658,0.999999813312,9.72877223871e-05,-0.000599170613822,-7.00374557044e-05,1793239707034045952
+260,4.333333333,HOLD_POSE2,765.690742203,746,714.309257797,681,660,631,881,786.309257797,805.309257797,652,631,653,0.451297365457,0.00461925666757,0.0596171084416,0.999999813167,9.98297246274e-05,-0.000599017692541,-6.98349941369e-05,1793239707050712320
+261,4.350000000,HOLD_POSE2,765.103648298,746,714.896351702,681,660,631,881,786.896351702,805.896351702,652,631,653,0.451297697864,0.00462121557773,0.0596172288574,0.999999813001,0.000104372341365,-0.000598554448934,-6.95418088203e-05,1793239707067378944
+262,4.366666667,HOLD_POSE2,765,746,714.522569261,681,660,631,881.477430739,786.522569261,805.522569261,652,631,653,0.451298395204,0.00462141576521,0.0596178297709,0.999999813416,0.000105153557594,-0.000597714257617,-6.96281023074e-05,1793239707084045568
+263,4.383333333,HOLD_POSE2,765,746,714,681,659.943036363,630.943036363,881.886072726,786,805,652,631,653,0.451299005164,0.00462123083547,0.059618372905,0.999999813837,0.000105017314436,-0.000597016807529,-6.97730810773e-05,1793239707100712448
+264,4.400000000,HOLD_POSE2,765,746,714,681,659.365846683,630.365846683,880.731693367,786,805,652,631,653,0.451298102576,0.00462097233397,0.0596174475575,0.999999813158,0.000103867041366,-0.000598361013004,-6.97109959169e-05,1793239707117379072
+265,4.416666667,HOLD_POSE2,765,746,714,681,659.209663367,630.419326734,880.209663367,786.209663367,805.209663367,652,631.209663367,653,0.45129723173,0.00462046802428,0.0596165131372,0.999999812562,0.000102907437061,-0.000599532365396,-6.96194900903e-05,1793239707134045696
+266,4.433333333,HOLD_POSE2,765,746,714,681,659.782265824,631.564531649,880.782265824,786.782265824,805.782265824,652,631.782265824,653,0.451296415834,0.00461953820684,0.0596155630114,0.999999812113,0.000102277891243,-0.000600404499234,-6.94770554416e-05,1793239707150712576
+267,4.450000000,HOLD_POSE2,765,745.632455602,714,681,660,631.632455602,880.632455602,786.632455602,805.632455602,652,631.632455602,653,0.451296692841,0.00462109552924,0.0596154428529,0.999999811929,0.000103898795394,-0.000600425415094,-6.95438245004e-05,1793239707167379200
+268,4.466666667,HOLD_POSE2,765,745.03939937,714,681,660,631.03939937,880.03939937,786.03939937,805.03939937,652,631.03939937,653,0.451297640414,0.00462417886981,0.0596158319319,0.9999998119,0.000106900493484,-0.000599924054737,-6.97389533077e-05,1793239707184046080
+269,4.483333333,HOLD_POSE2,765,745.539646398,714,681,660,631,880.539646398,786,805,652.539646398,631,653,0.451297100188,0.00462178579596,0.0596158055617,0.999999811954,0.000104553255075,-0.000600264665952,-6.95930245075e-05,1793239707200713472
+270,4.500000000,HOLD_POSE2,765,746,714,681,659.88279658,631,881,786,805,653,631,653,0.45129688813,0.00461949651162,0.0596158519916,0.999999812178,0.000102261386999,-0.000600298451164,-6.94850899013e-05,1793239707217381120
+271,4.516666667,HOLD_POSE2,765,746,714,681,659.307162752,631,881,786,805,653,631,653,0.451298373785,0.00461913751623,0.0596162988095,0.999999813068,0.00010167493798,-0.000598897757134,-6.96206973528e-05,1793239707234047232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,630,881,787,805,652,631,653,0.451295988576,0.00461862053369,0.0596149581506,0.99999981105,0.000101305993427,-0.000602365044616,-6.92305923771e-05,1793239707272860416
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.610016274,745.389983726,714,681,660,630.610016274,881,787,804.389983726,652,631,653,0.451296458641,0.00462080066167,0.0596152529656,0.99999981095,0.000101928075773,-0.000602385384145,-6.95916320479e-05,1793239707289527552
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.791127702,745.208872298,714,681,660,631,881,786.791127702,804.208872298,652.208872298,631,653,0.45129734942,0.00462156176063,0.0596157087773,0.999999811507,0.000101928553716,-0.000601442080193,-6.97366617496e-05,1793239707306194176
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.21205191,745.78794809,714,681,660,631,881,786.21205191,804.78794809,652.78794809,631,653,0.45129898587,0.0046198077849,0.0596164499381,0.999999813227,0.000100827305381,-0.000598790822692,-6.94988372698e-05,1793239707322860032
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,681.363620805,660,631,881,786,805,652.636379195,631,653,0.451299027037,0.00462003662564,0.0596167133835,0.999999813328,0.000101406425199,-0.000598497056975,-6.97245903031e-05,1793239707339526400
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,681.937327322,660,631,881,786,805,652.062672678,631,653,0.451298146513,0.00462141105937,0.0596167008238,0.999999812495,0.000102956395311,-0.000599565356884,-7.02181800945e-05,1793239707356193024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.525645613,745.474354387,714,681.474354387,660,630.474354387,880.474354387,786.525645613,805,652,631,653,0.45129886407,0.00461999034319,0.0596169128261,0.999999813078,0.000102085003196,-0.000598792686264,-6.97856041657e-05,1793239707372859904
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.886297976,745.113702024,714,681,660,630.113702024,880.113702024,786.886297976,805,652,631,653,0.451299382293,0.00461887536077,0.0596170820443,0.999999813573,0.000101424421952,-0.000598135600747,-6.92908657701e-05,1793239707389526784
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.306658036,745.693341964,714,681,660,630.693341964,880.693341964,786.306658036,805,652,631,653,0.451298280544,0.00462041797278,0.0596169630829,0.999999813003,0.000102844600904,-0.000598877369094,-6.90068471094e-05,1793239707406193664
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,881,786,805,652.271455571,631,653,0.451294507907,0.00462096015604,0.059614867522,0.999999811272,0.000103462716517,-0.000601661506776,-6.89614944659e-05,1793239707422860032
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,881,786,805,652.847854511,631,653,0.451287734891,0.00462037849373,0.0596105515208,0.999999808217,0.00010317982309,-0.000606739968226,-6.91842506106e-05,1793239707439526656
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,881,786.422719122,805,652.577280878,631,653,0.451267663801,0.00462101137677,0.0596016386059,0.999999799805,0.000104098364115,-0.00062029837076,-6.91558523441e-05,1793239707456193024
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,881,786.99703354,805,652.00296646,631,653,0.451242823762,0.00462207981934,0.059591077148,0.999999789238,0.000105447762844,-0.000636897845297,-6.90373852249e-05,1793239707472859648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.411198506,714,681,660,631,881,786.411198506,804.411198506,652.588801494,631,653,0.451195572717,0.00462139908375,0.0595753288506,0.999999776002,0.000104121267898,-0.00065749931343,-6.96370663275e-05,1793239707489526272
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.176359265,660.176359265,631,881,786.176359265,804.176359265,653,631,653,0.451143101494,0.00462122504933,0.0595607463568,0.999999763353,0.000104242378718,-0.000676378264133,-7.02800620417e-05,1793239707506192896
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.754128138,660.754128138,631,881,786.754128138,804.754128138,653,631,653,0.451079013509,0.00462222498337,0.0595488786298,0.99999975274,0.000107689993252,-0.000691289320409,-7.10131591364e-05,1793239707522859520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.329394279,714,681.341211442,660.341211442,631,881,786.670605721,805,652.670605721,631.329394279,653,0.451004290036,0.00462235337932,0.0595413077152,0.999999745813,0.000108396850883,-0.000701139749247,-7.09025144582e-05,1793239707539526144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.902806342,714,680.194387316,659.194387316,631,881,786.097193658,805,652.097193658,631.902806342,653,0.450921687718,0.00462183613318,0.0595369199127,0.999999741711,0.000107073334787,-0.000707241226012,-7.01668194285e-05,1793239707556193024
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.488888376,659.977776751,631,881,786,805,652,631.511111624,653,0.450827863262,0.00462152687928,0.059536196479,0.999999740311,0.000108440082447,-0.000709108151394,-6.91651466566e-05,1793239707572859904
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.076372152,746,714,681,660.923627848,631,880.923627848,786,804.923627848,652,631,653,0.450728702911,0.00462158410149,0.0595368841643,0.999999740235,0.000110839944658,-0.000708949833136,-6.80818749247e-05,1793239707589526528
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.656052271,746,714,681,660.343947729,631,880.343947729,786,804.343947729,652,631,653,0.450609471992,0.00462377672084,0.0595419427401,0.999999745191,0.000116429767841,-0.00070114032831,-6.68185963279e-05,1793239707606193152
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.765048236,714,681,660,631,880.234951764,786,804.234951764,652,631,653,0.450474040159,0.00462502730498,0.0595445489494,0.999999746501,0.000120723682914,-0.000698665377532,-6.54968948926e-05,1793239707622859776
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.187287775,714,681,660,631,880.812712225,786,804.812712225,652,631,653,0.45031497023,0.00462490340315,0.0595435770087,0.999999742577,0.000123126789951,-0.000703973861389,-6.40899511526e-05,1793239707639526400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.611976748,745,714,681,660,631,880.611976748,786.388023252,805,652,631,652.611976748,0.450127917856,0.00462518168577,0.059538935521,0.999999735457,0.000125582159257,-0.000713677956983,-6.30831583049e-05,1793239707656193024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.037840525,745,714,681,660,631,880.037840525,786.962159475,805,652,631,652.037840525,0.449927443859,0.00462565287369,0.0595325339577,0.999999726693,0.000128062596038,-0.000725490381147,-6.22682952433e-05,1793239707672859648
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,631,881.104107061,786.44794647,805,652,631,652.55205353,0.449701191987,0.00462663594575,0.0595248304796,0.999999716513,0.000136240762202,-0.000738106662326,-6.00849915091e-05,1793239707689526528
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.140005983,714,681,660,631,881.859994017,786,805,652,631,653,0.449466773131,0.00462790378325,0.0595194803836,0.999999709433,0.000144218784579,-0.000746308686767,-5.79495107667e-05,1793239707706193152
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.718397608,714,681,660,631,881.281602392,786,805,652,631,653,0.449212477034,0.00462995018376,0.0595217868146,0.999999712942,0.000150311298301,-0.000740511229146,-5.62661075556e-05,1793239707722859776
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.870668088,746,714,681,660.870668088,631.870668088,881,786.870668088,804.129331912,652.870668088,631,653,0.448647969055,0.00462910055846,0.0595365414957,0.999999727587,0.000156303484116,-0.00071957012027,-5.11296682883e-05,1793239707756193024
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.553934872,746,714,680.553934872,660.553934872,631.553934872,880.553934872,787,804.446065128,652.553934872,631,653,0.448325139316,0.00463002621902,0.0595469011457,0.999999737111,0.000164936399703,-0.000704457851489,-4.80853370584e-05,1793239707772859648
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+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.114403158,714,680,665,635,879,788,803.114403158,652.114403158,631,652.885596842,0.40689352139,0.00456175507366,0.059826171923,0.999999939251,0.000178545931005,-0.000297779246678,3.07682604846e-05,1793239708739526912
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.694694398,714,680,665,635,879,788,803.694694398,652.694694398,631,652.305305602,0.406408265544,0.00456200048906,0.059830686796,0.999999945207,0.000172010314187,-0.000281244137391,2.99952516872e-05,1793239708756193280
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.727518189,746,714,679.727518189,665,635,879.272481811,788,803.727518189,653,631,652.272481811,0.405938054925,0.00456117866984,0.0598360611343,0.999999949747,0.000167514382116,-0.000267496398647,2.98326750425e-05,1793239708772859904
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.152510713,746,714,679.152510713,665,635,879.847489287,788,803.152510713,653,631,652.847489287,0.405484548453,0.00455917194267,0.0598423897024,0.999999952896,0.000165283030959,-0.000256843367153,3.0347836874e-05,1793239708789526528
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.420953331,745.579046669,714,679,665,635,880,787.579046669,803,652.579046669,631.420953331,653,0.405050601264,0.00455666936346,0.0598308301982,0.999999948645,0.000162475882443,-0.000274519505236,3.08359363036e-05,1793239708806193152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.993860282,745.006139718,714,679,665,635,880,787.006139718,803,652.006139718,631.993860282,653,0.40462371445,0.00455398779391,0.059812813548,0.999999941066,0.000159460885198,-0.000302421763679,3.13142669052e-05,1793239708822859776
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745.584943024,714,679,665,635,879.415056976,787.584943024,803.584943024,652.584943024,632,653,0.404238511111,0.00455451209349,0.0597912668347,0.999999928656,0.000161226345802,-0.000340108019364,3.19344085206e-05,1793239708839526656
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.827482478,745.827482478,714,679,665,635,879,787.827482478,804,653,631.827482478,653,0.40387678265,0.00455449292657,0.0597782207317,0.999999921025,0.000162246466691,-0.000361346236815,3.24926727369e-05,1793239708856193536
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.248634573,745.248634573,714,679,665,635,879,787.248634573,804,653,631.248634573,653,0.403569280937,0.00455311193689,0.0597852861735,0.999999927407,0.000161389118584,-0.000343594776104,3.29015791145e-05,1793239708872859648
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745.327890457,714,679,665,635,879,787,804,653,631,652.672109543,0.403289764818,0.00455197430234,0.0598013406219,0.999999936745,0.000160618039949,-0.000315515070281,3.41036650823e-05,1793239708889526784
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745.902666442,714,679,665,635,879,787,804,653,631,652.097333558,0.403031320505,0.00455101990242,0.0598241633536,0.999999947465,0.000159911917938,-0.000279658700266,3.59029765551e-05,1793239708906194176
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.489604757,745.510395243,714,679.489604757,665,635,879,787.489604757,803.510395243,653,631.489604757,652.489604757,0.402802974097,0.00454866742366,0.0598409257627,0.99999995467,0.000160178863932,-0.000252175150846,3.75529969644e-05,1793239708922860288
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.077723633,714,680,665,635.077723633,879.077723633,787.922276367,803.077723633,653,631.922276367,653,0.402581110571,0.00454636599572,0.0598536463149,0.999999959506,0.000160737114578,-0.00023158264327,3.90092017228e-05,1793239708939526400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.657453073,714,680,665,635.657453073,879.657453073,787.342546927,803.657453073,653,631.342546927,653,0.402361488195,0.00454623519204,0.0598482409101,0.999999956235,0.000161895591308,-0.000244473630399,3.94101553535e-05,1793239708956193024
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.764558265,746,714,679.764558265,665,635.764558265,879.764558265,787.235441735,804,653,631.235441735,653,0.402156685902,0.00454557267046,0.0598428950359,0.999999953258,0.000161867972807,-0.000256335571529,3.96735063451e-05,1793239708972859648
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.189083741,746,714,679.189083741,665,635.189083741,879.189083741,787.810916259,804,653,631.810916259,653,0.401973287286,0.00454414222422,0.0598376351385,0.999999950823,0.000160127356022,-0.000266711329098,3.97381269958e-05,1793239708989526528
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.393209444,746,714,679.393209444,665,635,879,787.606790556,803.606790556,653,631.606790556,653,0.401815910312,0.00454303919967,0.0598356591832,0.999999951282,0.000149085989092,-0.000271652731479,3.7611431471e-05,1793239709006193152
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.978839455,746,714,679.978839455,665,635,879,787.021160545,803.021160545,653,631.021160545,653,0.401671267244,0.00454209640174,0.059835290254,0.999999952978,0.000133493216539,-0.000273934784323,3.44123957355e-05,1793239709022860288
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.439772862,714,679.439772862,665.560227138,635,879.560227138,787.560227138,803.560227138,653,631,653,0.40155417225,0.00453600233069,0.0598346916926,0.999999959527,7.42477621475e-05,-0.000273861712888,2.08278422457e-05,1793239709039526656
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,665.859013759,635.140986241,879.859013759,787.859013759,804,653,631.140986241,653,0.401445656546,0.00453107470741,0.0598353797963,0.999999962477,2.90239457559e-05,-0.00027220245262,1.04995869735e-05,1793239709056193024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,665.279714291,635.720285709,879.279714291,787.279714291,804,653,631.720285709,653,0.401360602441,0.00453037381713,0.0598400947853,0.999999964059,3.2479604195e-05,-0.000265886358609,1.15052413535e-05,1793239709072859648
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.296385442,714,679,665.296385442,635.703614558,879.296385442,787.296385442,804,653,631.703614558,653,0.401285644498,0.0045292976707,0.0598426785711,0.999999965016,3.40231464078e-05,-0.000262022127924,1.24045032233e-05,1793239709089526528
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.869497637,714,679,665.869497637,635.130502363,879.869497637,787.869497637,804,653,631.130502363,653,0.401220113062,0.00452787115817,0.059843272512,0.999999965426,3.37813992614e-05,-0.000260447133469,1.32044293379e-05,1793239709106193152
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.546848995,746,714,679.453151005,666,635,879.546848995,787.546848995,804.453151005,653,631.453151005,653,0.401160537138,0.00452668232918,0.0598399004688,0.999999963646,3.32906252158e-05,-0.000267212324703,1.40401530848e-05,1793239709122859776
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.039425342,746,714,680,666,635,879.039425342,787,804.921149315,653,632,653,0.401104230722,0.00452571149217,0.0598356420844,0.999999961273,3.31049502715e-05,-0.00027593013455,1.48336571407e-05,1793239709139526656
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.619026338,746,714,680,666,635,879.619026338,787,803.761947324,653,632,653,0.401068661648,0.00452676722593,0.0598352614054,0.999999960602,3.81055198792e-05,-0.000277708773201,1.49040854263e-05,1793239709156193536
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.802629655,635,879.802629655,787,803.197370345,653,631.802629655,653,0.401038551892,0.00452674516743,0.0598353065232,0.999999960404,4.0954427623e-05,-0.000277997865752,1.52077774468e-05,1793239709172860416
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.226696657,635,879.226696657,787,803.773303343,653,631.226696657,653,0.40101891329,0.00452465586865,0.0598361683327,0.999999961155,3.9676378329e-05,-0.000275429960914,1.59588767842e-05,1793239709189526784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.651113249,665,635.348886751,879,787.348886751,804,653,631,653,0.401003475184,0.00452507457585,0.0598365985462,0.999999961556,4.07771221657e-05,-0.000273800135593,1.60601653247e-05,1793239709206193408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.075756711,665,635.924243289,879,787.924243289,804,653,631,653,0.400990763708,0.0045271212827,0.0598367486017,0.999999961729,4.34219909384e-05,-0.000272779237323,1.57396479718e-05,1793239709222860032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,714.513920659,679.513920659,665,635.486079341,879,788,804,653,631.513920659,653,0.400983590462,0.00452662534247,0.0598388344911,0.99999996196,4.45269674399e-05,-0.000271718287802,1.63513043377e-05,1793239709239526656
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.896435317,745.896435317,715,679.896435317,665.103564683,635,879,787.896435317,804,653,631.896435317,653,0.400978010982,0.00452586853769,0.0598409662842,0.999999962233,4.51118551395e-05,-0.000270575518564,1.69680977464e-05,1793239709256193280
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.316923948,745.316923948,715,679.316923948,665.683076052,635,879,787.316923948,804,653,631.316923948,653,0.400975896522,0.00452568476,0.0598419600299,0.999999962668,4.43796879196e-05,-0.000269084644574,1.69589049861e-05,1793239709272859904
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745.257962013,714.742037987,679,665.742037987,635,879,787.257962013,803.742037987,652.742037987,631,653.257962013,0.400975045342,0.00452514740183,0.059843065463,0.999999963372,4.41457172695e-05,-0.000266498453577,1.69245597238e-05,1793239709289526784
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745.827265407,714.172734593,679,665.172734593,635,879,787.827265407,803.172734593,652.172734593,631,653.827265407,0.400975718848,0.00452418329776,0.0598443056946,0.99999996439,4.45130336762e-05,-0.000262590294729,1.68598572221e-05,1793239709306194432
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.405366546,745.594633454,714,679,665,635.405366546,879,787.594633454,803.405366546,652.405366546,631.405366546,653.594633454,0.400975094803,0.0045242587462,0.0598449913613,0.999999964643,4.45578061664e-05,-0.000261604484613,1.70761260238e-05,1793239709322860800
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.987299728,745.012700272,714,679,665,635.987299728,879,787.012700272,803.987299728,652.987299728,631.987299728,653.012700272,0.40097390558,0.00452478699546,0.0598454354746,0.999999964566,4.44620872944e-05,-0.000261891570182,1.74147782808e-05,1793239709339526912
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.575682937,714,679,665,636,879,787.575682937,804,653,632,653,0.40097098035,0.00452482771358,0.0598439374988,0.999999963854,4.44464284942e-05,-0.000264625200433,1.70536739566e-05,1793239709356193280
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.838386779,714,679,665,636,879.161613221,788,803.838386779,653,631.838386779,653,0.400969708292,0.00452456168736,0.059843366708,0.999999963598,4.428205728e-05,-0.000265630458131,1.68412187188e-05,1793239709372859904
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.259166773,714,679,665,636,879.740833227,788,803.259166773,653,631.259166773,653,0.400972808095,0.00452353114426,0.0598453037184,0.999999964569,4.37287992125e-05,-0.000262028571779,1.70532134462e-05,1793239709389526528
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.682938184,745.317061816,714,679.317061816,665,635.682938184,879.682938184,787.682938184,803.317061816,652.682938184,631,653,0.400974232083,0.00452388861354,0.0598463823025,0.999999965111,4.38520584244e-05,-0.000259931018961,1.70552483407e-05,1793239709406193152
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.109131866,745.890868134,714,679.890868134,665,635.109131866,879.109131866,787.109131866,803.890868134,652.109131866,631,653,0.400974299059,0.00452537004191,0.0598467657661,0.999999965312,4.45231353309e-05,-0.000259051617371,1.68872658355e-05,1793239709422859776
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.477034501,746,714,680,665.477034501,635,879,787,804,652,631.477034501,653,0.400973899754,0.00452492010716,0.0598470088564,0.999999965327,4.52142213672e-05,-0.000258866913875,1.70369806861e-05,1793239709439526656
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.934907858,714,679.934907858,665.934907858,635,879,787,804,652.065092142,631.934907858,653,0.400973400238,0.00452415995294,0.0598471391095,0.999999965273,4.59304443888e-05,-0.000258934716014,1.72440562821e-05,1793239709456193536
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.354852695,714,679.354852695,665.354852695,635,879,787,804,652.645147305,631.354852695,653,0.400972974285,0.00452453407134,0.0598466374911,0.99999996503,4.68083564929e-05,-0.000259709401668,1.73146417948e-05,1793239709472859904
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.214976143,714,679.214976143,665.214976143,635,879,787,804,653,631,653,0.400973210559,0.00452463606998,0.0598469140852,0.999999965135,4.72515185601e-05,-0.000259222579331,1.73303500025e-05,1793239709489526528
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.768691275,714,679.768691275,665.768691275,635,879,787,804,653,631,653,0.400974490308,0.00452430928811,0.0598484169125,0.999999965786,4.70096427583e-05,-0.000256747992468,1.72595877608e-05,1793239709506193152
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.65076206,745.65076206,714,680,665.65076206,635,879,787,804,653,631,653,0.40097426907,0.00452406353176,0.0598483360567,0.999999965929,4.59720737739e-05,-0.000256386396635,1.71510645181e-05,1793239709522859520
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.050965283,745.050965283,714,680,665.050965283,635,879,787,804,653,631,653,0.400972970956,0.00452387590674,0.059847118996,0.999999965708,4.43636391086e-05,-0.000257540754686,1.70154498561e-05,1793239709539526144
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.537415721,745,714,680,665,635,879.537415721,787,804,653,631,653,0.400972121016,0.00452449620439,0.0598470260413,0.999999965534,4.50499157117e-05,-0.00025808554792,1.7131845948e-05,1793239709556192768
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,714.123824454,679.876175546,665.123824454,635,880,787,804,653,631,652.876175546,0.400971663581,0.00452489358923,0.0598471335214,0.999999965453,4.57233163373e-05,-0.00025827664093,1.72249507233e-05,1793239709572859648
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.706850212,679.293149788,665.706850212,635,880,787,804,653,631,652.293149788,0.400972507409,0.00452418607608,0.059847597197,0.999999965697,4.55587242729e-05,-0.000257365960467,1.71448936327e-05,1793239709589527040
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.285389854,714.714610146,679,666,635.285389854,880,787,804,653,631,652.285389854,0.400973081103,0.00452395605191,0.0598482215089,0.999999965952,4.51592116155e-05,-0.000256442908616,1.71185697688e-05,1793239709606193920
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..327ebb2556684710fa9db5c25fea05a1b99def8b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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+234,3.900000000,pose1_to_pose2_press,0.6221802544,0.0100907928522,1.0500322887,0.592750705256,0.0187625349686,1.04970042527
+235,3.916666667,pose1_to_pose2_press,0.622180521596,0.0100908035582,1.05003229543,0.592750972442,0.0187625456685,1.0497004327
+236,3.933333333,pose1_to_pose2_press,0.622181050096,0.0100908247343,1.05003230876,0.592751500923,0.0187625668325,1.04970044739
+237,3.950000000,pose1_to_pose2_press,0.622181325975,0.0100908357884,1.05003231571,0.592751776793,0.0187625778802,1.04970045506
+238,3.966666667,pose1_to_pose2_press,0.62218150706,0.0100908430441,1.05003232028,0.592751957871,0.0187625851318,1.0497004601
+239,3.983333333,pose1_to_pose2_press,0.622181748003,0.0100908470139,1.05003232888,0.592752198845,0.0187625892221,1.04970046903
+240,4.000000000,pose1_to_pose2_press,0.62218182757,0.0100908393403,1.05003233572,0.592752278486,0.0187625817873,1.0497004755
+241,4.016666667,pose1_to_pose2_press,0.622181939961,0.0100908285011,1.05003234538,0.592752390981,0.0187625712854,1.04970048465
+242,4.033333333,pose1_to_pose2_press,0.622182020027,0.0100908207793,1.05003235226,0.592752471121,0.018762563804,1.04970049116
+243,4.050000000,pose1_to_pose2_press,0.622182298253,0.0100907939466,1.05003237618,0.592752749603,0.0187625378065,1.0497005138
+244,4.066666667,pose1_to_pose2_press,0.622182485983,0.0100907758415,1.05003239232,0.592752937507,0.0187625202649,1.04970052908
+245,4.083333333,pose1_to_pose2_press,0.622182643362,0.0100907606635,1.05003240585,0.592753095032,0.0187625055593,1.04970054188
+246,4.100000000,pose1_to_pose2_press,0.622182900536,0.0100907358611,1.05003242796,0.592753352443,0.0187624815288,1.04970056281
+247,4.116666667,pose1_to_pose2_press,0.622183046398,0.0100907217938,1.0500324405,0.59275349844,0.0187624678994,1.04970057468
+248,4.133333333,pose1_to_pose2_press,0.622183082135,0.0100907183472,1.05003244357,0.59275353421,0.0187624645601,1.04970057759
+249,4.150000000,pose1_to_pose2_press,0.622183449873,0.0100906990089,1.05003246488,0.592753902005,0.0187624453638,1.04970059722
+250,4.166666667,pose1_to_pose2_press,0.622183913426,0.0100908153406,1.05003240185,0.592754363162,0.0187625534828,1.04970053226
+251,4.183333333,pose1_to_pose2_press,0.622184172013,0.0100908570194,1.05003237044,0.592754620698,0.018762591532,1.04970049935
+252,4.200000000,pose1_to_pose2_press,0.622184283285,0.0100907393449,1.05003237879,0.592754733183,0.0187624778555,1.04970050463
+253,4.216666667,pose1_to_pose2_press,0.622184360065,0.010090658147,1.05003238456,0.5927548108,0.0187623994164,1.04970050828
+254,4.233333333,pose1_to_pose2_press,0.622184360065,0.010090658147,1.05003238456,0.5927548108,0.0187623994165,1.04970050827
+255,4.250000000,pose1_to_pose2_press,0.622184360065,0.010090658147,1.05003238456,0.5927548108,0.0187623994163,1.04970050827
+256,4.266666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810801,0.0187623994157,1.04970050827
+257,4.283333333,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994151,1.04970050827
+258,4.300000000,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994153,1.04970050827
+259,4.316666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.018762399415,1.04970050827
+260,4.333333333,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994151,1.04970050827
+261,4.350000000,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994149,1.04970050827
+262,4.366666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994148,1.04970050827
+263,4.383333333,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994145,1.04970050827
+264,4.400000000,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994143,1.04970050827
+265,4.416666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994141,1.04970050827
+266,4.433333333,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994139,1.04970050827
+267,4.450000000,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994138,1.04970050827
+268,4.466666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810803,0.0187623994135,1.04970050827
+269,4.483333333,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810803,0.0187623994133,1.04970050827
+270,4.500000000,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810803,0.0187623994133,1.04970050827
+271,4.516666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810803,0.0187623994132,1.04970050827
+272,4.533333333,pose2_to_pose3_retreat,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.018762399413,1.04970050827
+273,4.550000000,pose2_to_pose3_retreat,0.622184122462,0.0100907847638,1.0500323535,0.592754573931,0.0187625288157,1.049700485
+274,4.566666667,pose2_to_pose3_retreat,0.622183989493,0.0100908845904,1.05003236713,0.592754438863,0.0187626214584,1.0497004971
+275,4.583333333,pose2_to_pose3_retreat,0.622183712259,0.0100908529469,1.0500323906,0.592754162345,0.0187625922797,1.04970052136
+276,4.600000000,pose2_to_pose3_retreat,0.622183403228,0.0100908176743,1.05003241677,0.592753854113,0.0187625597546,1.0497005484
+277,4.616666667,pose2_to_pose3_retreat,0.622183142061,0.0100907878647,1.05003243889,0.592753593621,0.018762532267,1.04970057125
+278,4.633333333,pose2_to_pose3_retreat,0.622183051446,0.010090777522,1.05003244656,0.59275350324,0.0187625227299,1.04970057918
+279,4.650000000,pose2_to_pose3_retreat,0.622182430924,0.0100907143951,1.05003246909,0.592752883405,0.0187624619617,1.04970060232
+280,4.666666667,pose2_to_pose3_retreat,0.622180934495,0.0100905742105,1.05003247644,0.592751387195,0.0187623225222,1.04970060936
+281,4.683333333,pose2_to_pose3_retreat,0.622176246786,0.0100907478803,1.05003226583,0.592746697664,0.0187624899686,1.04970039737
+282,4.700000000,pose2_to_pose3_retreat,0.622167003286,0.0100906545807,1.05003232048,0.592737454586,0.0187623983643,1.04970045921
+283,4.716666667,pose2_to_pose3_retreat,0.622149519305,0.010090854589,1.05003210033,0.59271996923,0.0187625937076,1.04970023929
+284,4.733333333,pose2_to_pose3_retreat,0.622123124052,0.0100907770636,1.05003208653,0.592693574452,0.0187625177565,1.04970022482
+285,4.750000000,pose2_to_pose3_retreat,0.622086206755,0.0100907619039,1.05003210433,0.592656658652,0.0187625073072,1.04970023793
+286,4.766666667,pose2_to_pose3_retreat,0.622039022639,0.0100908075378,1.0500320955,0.592609474558,0.0187625529186,1.04970023513
+287,4.783333333,pose2_to_pose3_retreat,0.621981222762,0.0100908598923,1.05003227256,0.592551672235,0.0187625970237,1.04970041039
+288,4.800000000,pose2_to_pose3_retreat,0.621914750031,0.0100907315419,1.05003251284,0.592485200646,0.0187624723686,1.0497006436
+289,4.816666667,pose2_to_pose3_retreat,0.621839408686,0.0100907299303,1.05003206703,0.592409858723,0.0187624691128,1.04970020635
+290,4.833333333,pose2_to_pose3_retreat,0.621753763342,0.010090786886,1.05003200445,0.592324214129,0.0187625284196,1.04970014063
+291,4.850000000,pose2_to_pose3_retreat,0.621656979032,0.0100907313758,1.05003225404,0.592227430696,0.0187624754588,1.04970038139
+292,4.866666667,pose2_to_pose3_retreat,0.621545976625,0.0100907744448,1.05003226674,0.592116426919,0.018762513669,1.04970039058
+293,4.883333333,pose2_to_pose3_retreat,0.621417719359,0.0100907237488,1.05003220955,0.591988170676,0.0187624668265,1.04970034677
+294,4.900000000,pose2_to_pose3_retreat,0.62127079219,0.010090825403,1.05003241787,0.59184124175,0.0187625621012,1.04970054696
+295,4.916666667,pose2_to_pose3_retreat,0.621103929886,0.0100906824399,1.05003241916,0.59167438148,0.0187624258372,1.04970054589
+296,4.933333333,pose2_to_pose3_retreat,0.62091862523,0.0100906951368,1.05003228193,0.591489077897,0.0187624422715,1.04970041517
+297,4.950000000,pose2_to_pose3_retreat,0.620715714822,0.0100907324485,1.05003207437,0.591286166969,0.0187624779084,1.04970021424
+298,4.966666667,pose2_to_pose3_retreat,0.620496838599,0.0100907264706,1.0500321229,0.591067290591,0.0187624712069,1.04970026186
+299,4.983333333,pose2_to_pose3_retreat,0.620261031053,0.0100907124859,1.05003231367,0.59083148316,0.0187624572406,1.04970044727
+300,5.000000000,pose2_to_pose3_retreat,0.620007220025,0.0100906778085,1.05003222567,0.590577671745,0.0187624210727,1.04970035905
+301,5.016666667,pose2_to_pose3_retreat,0.619735241955,0.0100908912346,1.05003224519,0.590305692119,0.0187626291309,1.04970038159
+302,5.033333333,pose2_to_pose3_retreat,0.619445103134,0.010090826768,1.05003246739,0.590015553013,0.0187625634227,1.04970060191
+303,5.050000000,pose2_to_pose3_retreat,0.619136660677,0.0100909765166,1.05003226702,0.589707109504,0.0187627092673,1.04970039856
+304,5.066666667,pose2_to_pose3_retreat,0.618806770883,0.0100907897835,1.0500321492,0.589377221494,0.0187625283789,1.04970027997
+305,5.083333333,pose2_to_pose3_retreat,0.618453556656,0.0100907634262,1.05003210331,0.589024007697,0.0187625033969,1.04970023704
+306,5.100000000,pose2_to_pose3_retreat,0.618073724393,0.0100908256417,1.0500320948,0.588644175515,0.0187625657821,1.04970023301
+307,5.116666667,pose2_to_pose3_retreat,0.617661761955,0.010090794769,1.05003208732,0.588232214781,0.0187625404991,1.0497002281
+308,5.133333333,pose2_to_pose3_retreat,0.617220307452,0.0100907651153,1.05003207395,0.587790761073,0.0187625133117,1.04970021565
+309,5.150000000,pose2_to_pose3_retreat,0.616757752612,0.0100908348748,1.05003211965,0.587328204055,0.0187625753171,1.04970025945
+310,5.166666667,pose2_to_pose3_retreat,0.616280737667,0.0100907358834,1.05003226996,0.586851189179,0.0187624759264,1.04970040045
+311,5.183333333,pose2_to_pose3_retreat,0.615792661469,0.0100906888293,1.05003233234,0.586363112436,0.018762426811,1.04970046313
+312,5.200000000,pose2_to_pose3_retreat,0.615292256151,0.0100906973169,1.05003207586,0.585862708723,0.0187624409932,1.04970022174
+313,5.216666667,pose2_to_pose3_retreat,0.614776093312,0.0100909426584,1.05003228965,0.585346543243,0.0187626768867,1.04970042666
+314,5.233333333,pose2_to_pose3_retreat,0.614227621749,0.0100908017664,1.050032346,0.584798072645,0.0187625390712,1.04970047995
+315,5.250000000,pose2_to_pose3_retreat,0.61364717189,0.0100907746198,1.05003211669,0.584217622228,0.0187625101675,1.04970025466
+316,5.266666667,pose2_to_pose3_retreat,0.613036257849,0.0100907674404,1.05003209434,0.583606709128,0.0187625061557,1.04970023142
+317,5.283333333,pose2_to_pose3_retreat,0.612408243796,0.0100907203102,1.05003235552,0.582978696517,0.0187624635861,1.04970048374
+318,5.300000000,pose2_to_pose3_retreat,0.611769853472,0.0100907466408,1.05003242215,0.582340305761,0.0187624884338,1.04970054951
+319,5.316666667,pose2_to_pose3_retreat,0.611116103593,0.0100907608216,1.05003222861,0.581686556641,0.0187625056469,1.04970036788
+320,5.333333333,pose2_to_pose3_retreat,0.61044225598,0.0100907450305,1.05003232268,0.581012708575,0.0187624880507,1.04970045519
+321,5.350000000,pose2_to_pose3_retreat,0.609739678308,0.0100906370743,1.05003194187,0.580310131157,0.0187623814181,1.0497000871
+322,5.366666667,pose2_to_pose3_retreat,0.609008971161,0.0100906986829,1.05003212614,0.579579423589,0.0187624409686,1.04970025585
+323,5.383333333,pose2_to_pose3_retreat,0.608252381455,0.0100908530938,1.0500323922,0.578822830859,0.0187625847272,1.04970050978
+324,5.400000000,pose2_to_pose3_retreat,0.607486824423,0.010090741856,1.05003236787,0.578057276979,0.0187624846253,1.04970049776
+325,5.416666667,pose2_to_pose3_retreat,0.606716349227,0.0100907325115,1.05003226675,0.577286801624,0.0187624747669,1.04970039844
+326,5.433333333,pose2_to_pose3_retreat,0.605942115258,0.0100906982977,1.05003204316,0.576512567706,0.0187624410287,1.04970018266
+327,5.450000000,pose2_to_pose3_retreat,0.605161038421,0.0100907678509,1.05003217953,0.575731489421,0.0187625055341,1.04970031528
+328,5.466666667,pose2_to_pose3_retreat,0.604370530406,0.010090841986,1.05003240884,0.57494098145,0.0187625797327,1.04970054237
+329,5.483333333,pose2_to_pose3_retreat,0.60356512971,0.0100908729986,1.05003236781,0.574135581131,0.0187626121334,1.04970050437
+330,5.500000000,pose2_to_pose3_retreat,0.60273792657,0.0100909110296,1.05003222463,0.573308376341,0.0187626444543,1.04970035866
+331,5.516666667,pose2_to_pose3_retreat,0.601907596918,0.0100908910507,1.05003225051,0.572478047137,0.0187626260159,1.04970038484
+332,5.533333333,pose2_to_pose3_retreat,0.601077616207,0.010090874824,1.05003235122,0.571648066347,0.0187626095182,1.04970048416
+333,5.550000000,pose2_to_pose3_retreat,0.600241420267,0.0100907722875,1.05003232807,0.570811871904,0.0187625123222,1.04970046644
+334,5.566666667,pose2_to_pose3_retreat,0.599407311837,0.0100907890681,1.05003237794,0.569977762718,0.0187625260735,1.04970050557
+335,5.583333333,pose2_to_pose3_retreat,0.598584324407,0.010090670529,1.05003232564,0.569154777682,0.0187624160776,1.04970046404
+336,5.600000000,pose2_to_pose3_retreat,0.597765015017,0.0100908889532,1.05003226357,0.568335465439,0.018762624503,1.04970039561
+337,5.616666667,pose2_to_pose3_retreat,0.596948277905,0.0100909352337,1.05003224872,0.567518728683,0.0187626718937,1.04970037826
+338,5.633333333,pose2_to_pose3_retreat,0.596129397539,0.0100908457217,1.05003215289,0.566699848147,0.0187625820354,1.04970028712
+339,5.650000000,pose2_to_pose3_retreat,0.595306425735,0.0100907730985,1.05003231386,0.565876876486,0.0187625098705,1.04970044656
+340,5.666666667,pose2_to_pose3_retreat,0.594477086277,0.0100906979824,1.05003238042,0.565047538054,0.0187624380736,1.04970050879
+341,5.683333333,pose2_to_pose3_retreat,0.593648134794,0.0100907061586,1.05003231739,0.564218585654,0.0187624430148,1.04970044325
+342,5.700000000,pose2_to_pose3_retreat,0.592830847937,0.0100907644018,1.05003233292,0.563401298177,0.0187624992266,1.04970046066
+343,5.716666667,pose2_to_pose3_retreat,0.592035506424,0.010090727433,1.05003227342,0.562605958865,0.0187624699666,1.04970040609
+344,5.733333333,pose2_to_pose3_retreat,0.591264610111,0.0100907720773,1.05003235151,0.561835061634,0.0187625112702,1.04970047961
+345,5.750000000,pose2_to_pose3_retreat,0.590520391762,0.0100906611986,1.050032217,0.561090845547,0.0187624084553,1.04970035425
+346,5.766666667,pose2_to_pose3_retreat,0.589793016821,0.0100907695813,1.05003234095,0.560363468639,0.0187625100368,1.0497004748
+347,5.783333333,pose2_to_pose3_retreat,0.589069624795,0.0100907211346,1.05003237703,0.559640077084,0.0187624628713,1.04970050259
+348,5.800000000,pose2_to_pose3_retreat,0.588348037676,0.0100908241176,1.05003240062,0.558918489353,0.0187625635768,1.049700521
+349,5.816666667,pose2_to_pose3_retreat,0.587627164142,0.010090890637,1.05003257497,0.558197614463,0.0187626254888,1.04970069515
+350,5.833333333,pose2_to_pose3_retreat,0.586919775232,0.0100907540661,1.05003247022,0.557490227314,0.018762495103,1.04970059653
+351,5.850000000,pose2_to_pose3_retreat,0.586230210233,0.0100907293352,1.05003235096,0.556800663342,0.0187624741682,1.04970048454
+352,5.866666667,pose2_to_pose3_retreat,0.585569521442,0.0100907905324,1.05003235634,0.556139973549,0.0187625319183,1.04970048865
+353,5.883333333,pose2_to_pose3_retreat,0.584939449899,0.0100908032037,1.05003233463,0.555509901139,0.0187625413976,1.04970046079
+354,5.900000000,pose2_to_pose3_retreat,0.584342403752,0.0100907751084,1.0500322241,0.554912855602,0.0187625154608,1.04970035149
+355,5.916666667,pose2_to_pose3_retreat,0.583767569218,0.0100907370234,1.05003216505,0.554338022304,0.018762481909,1.04970030096
+356,5.933333333,pose2_to_pose3_retreat,0.583211667971,0.0100908543997,1.05003246933,0.553782118768,0.0187625913298,1.04970060067
+357,5.950000000,pose2_to_pose3_retreat,0.582668157888,0.0100909375885,1.05003224185,0.553238607299,0.018762670005,1.04970037787
+358,5.966666667,pose2_to_pose3_retreat,0.582139205542,0.0100908049951,1.05003248352,0.552709656288,0.018762541466,1.04970060715
+359,5.983333333,pose2_to_pose3_retreat,0.58163203858,0.0100908110882,1.05003226528,0.552202489614,0.0187625490658,1.0497004026
+360,6.000000000,pose2_to_pose3_retreat,0.581147128003,0.0100907440568,1.05003232939,0.551717579214,0.0187624823712,1.04970045999
+361,6.016666667,pose2_to_pose3_retreat,0.580685942828,0.010090852464,1.0500325622,0.551256392734,0.0187625858962,1.049700681
+362,6.033333333,pose2_to_pose3_retreat,0.580246376493,0.0100908106654,1.05003240279,0.550816827465,0.0187625476458,1.04970052016
+363,6.050000000,pose2_to_pose3_retreat,0.579826766853,0.0100907385316,1.0500322394,0.55039721871,0.0187624789219,1.0497003678
+364,6.066666667,pose2_to_pose3_retreat,0.579425792228,0.0100908060153,1.05003232717,0.549996243036,0.0187625432078,1.0497004648
+365,6.083333333,pose2_to_pose3_retreat,0.579045073868,0.0100908546171,1.05003228627,0.549615525056,0.0187625931186,1.04970042401
+366,6.100000000,pose2_to_pose3_retreat,0.578691383445,0.0100908929092,1.05003223633,0.549261834708,0.0187626317501,1.04970037628
+367,6.116666667,pose2_to_pose3_retreat,0.578366241428,0.0100908525296,1.0500323598,0.548936690659,0.0187625843711,1.04970049705
+368,6.133333333,pose2_to_pose3_retreat,0.578072406506,0.0100907008422,1.05003249176,0.548642857745,0.0187624391894,1.04970062095
+369,6.150000000,pose2_to_pose3_retreat,0.577807727478,0.0100908441494,1.05003246723,0.548378177741,0.0187625793201,1.04970059994
+370,6.166666667,pose2_to_pose3_retreat,0.577568731903,0.0100908103464,1.0500321806,0.5481391817,0.0187625439837,1.04970031469
+371,6.183333333,pose2_to_pose3_retreat,0.577346206507,0.010090748872,1.05003209601,0.547916658711,0.0187624908461,1.04970023459
+372,6.200000000,pose2_to_pose3_retreat,0.577137577873,0.0100906983042,1.05003223293,0.547708030789,0.0187624425812,1.04970036852
+373,6.216666667,pose2_to_pose3_retreat,0.576942850026,0.0100907290407,1.05003236204,0.547513302279,0.0187624709049,1.0497004934
+374,6.233333333,pose2_to_pose3_retreat,0.576761312464,0.0100908008632,1.05003233949,0.5473317635,0.0187625384545,1.04970046712
+375,6.250000000,pose2_to_pose3_retreat,0.576594161166,0.0100908403559,1.05003227704,0.547164610419,0.0187625716561,1.04970039848
+376,6.266666667,pose2_to_pose3_retreat,0.576446008554,0.0100909168843,1.05003228424,0.547016458234,0.0187626497479,1.04970040886
+377,6.283333333,pose2_to_pose3_retreat,0.576315663297,0.0100908211028,1.05003237386,0.546886114511,0.0187625591427,1.04970049754
+378,6.300000000,pose2_to_pose3_retreat,0.576203470394,0.0100906734861,1.05003222683,0.546773923584,0.0187624186761,1.04970036211
+379,6.316666667,pose2_to_pose3_retreat,0.576106607356,0.0100907012979,1.05003200924,0.546677058583,0.0187624397855,1.04970014443
+380,6.333333333,pose2_to_pose3_retreat,0.576024452522,0.0100907559785,1.0500322085,0.546594902919,0.0187624913257,1.04970033517
+381,6.350000000,pose2_to_pose3_retreat,0.575952962628,0.0100907145945,1.05003235804,0.546523413963,0.0187624529826,1.04970048086
+382,6.366666667,pose2_to_pose3_retreat,0.575891017878,0.0100907428633,1.05003228635,0.546461469573,0.0187624828889,1.04970042
+383,6.383333333,pose2_to_pose3_retreat,0.575838263406,0.0100907757104,1.05003220292,0.546408715253,0.0187625165067,1.04970034318
+384,6.400000000,pose2_to_pose3_retreat,0.575793874327,0.0100907444225,1.05003216878,0.546364326726,0.0187624870103,1.04970030685
+385,6.416666667,pose2_to_pose3_retreat,0.575757937407,0.0100907520101,1.05003217598,0.546328389083,0.0187624920599,1.04970031195
+386,6.433333333,pose2_to_pose3_retreat,0.575730204282,0.0100907763087,1.050032327,0.546300654915,0.0187625124227,1.04970045259
+387,6.450000000,pose2_to_pose3_retreat,0.575710267323,0.0100906896077,1.05003217459,0.546280720885,0.0187624357113,1.04970030155
+388,6.466666667,pose2_to_pose3_retreat,0.575695546459,0.0100908573039,1.0500325648,0.546265997141,0.0187625936054,1.04970069124
+389,6.483333333,pose2_to_pose3_retreat,0.575685295231,0.0100908145051,1.05003243029,0.546255746339,0.0187625524277,1.04970056136
+390,6.500000000,pose2_to_pose3_retreat,0.575678148574,0.0100907862216,1.05003225717,0.546248599983,0.0187625251898,1.04970038867
+391,6.516666667,pose2_to_pose3_retreat,0.575673500406,0.0100907855807,1.05003213043,0.54624395176,0.0187625242905,1.04970025969
+392,6.533333333,pose2_to_pose3_retreat,0.575671200264,0.01009086673,1.05003226313,0.546241650496,0.0187626014647,1.0497003881
+393,6.550000000,pose2_to_pose3_retreat,0.5756699014,0.010090912554,1.05003233807,0.546240350999,0.0187626450441,1.04970046061
+394,6.566666667,pose2_to_pose3_retreat,0.575669273743,0.0100909346978,1.05003237428,0.546239723036,0.0187626661032,1.04970049565
+395,6.583333333,pose2_to_pose3_retreat,0.575668529772,0.0100909413631,1.05003239268,0.546238979077,0.0187626728106,1.04970051415
+396,6.600000000,pose2_to_pose3_retreat,0.575667745135,0.0100908887722,1.05003233742,0.546238195592,0.0187626243074,1.04970046353
+397,6.616666667,pose2_to_pose3_retreat,0.575667317205,0.0100908600899,1.05003230728,0.54623776829,0.0187625978545,1.04970043592
+398,6.633333333,pose2_to_pose3_retreat,0.575667190371,0.0100908515888,1.05003229834,0.546237641642,0.0187625900141,1.04970042774
+399,6.650000000,pose2_to_pose3_retreat,0.575667132523,0.0100908477115,1.05003229427,0.546237583879,0.0187625864381,1.049700424
+400,6.666666667,pose2_to_pose3_retreat,0.575666703321,0.0100908189439,1.05003226404,0.546237155308,0.0187625599066,1.04970039631
+401,6.683333333,pose2_to_pose3_retreat,0.575666160542,0.0100907825638,1.05003222581,0.546236613326,0.0187625263541,1.04970036129
+402,6.700000000,pose2_to_pose3_retreat,0.57566613611,0.0100907809262,1.05003222409,0.546236588929,0.0187625248438,1.04970035972
+403,6.716666667,pose2_to_pose3_retreat,0.575665989473,0.0100907723742,1.05003221599,0.546236442478,0.0187625169521,1.04970035242
+404,6.733333333,pose2_to_pose3_retreat,0.575665967557,0.0100907731388,1.05003221835,0.546236420542,0.0187625176494,1.04970035478
+405,6.750000000,pose2_to_pose3_retreat,0.575665925236,0.0100907746151,1.05003222291,0.546236378183,0.0187625189959,1.04970035935
+406,6.766666667,pose2_to_pose3_retreat,0.575665876044,0.0100907763312,1.0500322282,0.546236328946,0.018762520561,1.04970036466
+407,6.783333333,pose2_to_pose3_retreat,0.575665778266,0.0100907797422,1.05003223873,0.54623623108,0.018762523672,1.04970037521
+408,6.800000000,pose2_to_pose3_retreat,0.575665600995,0.0100907859264,1.05003225782,0.546236053648,0.0187625293122,1.04970039434
+409,6.816666667,pose2_to_pose3_retreat,0.575665373771,0.0100907938531,1.05003228229,0.546235826217,0.0187625365418,1.04970041886
+410,6.833333333,pose2_to_pose3_retreat,0.57566523764,0.0100907986021,1.05003229694,0.546235689962,0.018762540873,1.04970043355
+411,6.850000000,pose2_to_pose3_retreat,0.575665190582,0.0100908002437,1.05003230201,0.546235642862,0.0187625423703,1.04970043863
+412,6.866666667,pose2_to_pose3_retreat,0.575665006693,0.0100908066587,1.05003232181,0.546235458806,0.018762548221,1.04970045847
+413,6.883333333,pose2_to_pose3_retreat,0.57566477945,0.0100908055796,1.05003234719,0.546235231245,0.0187625459631,1.04970048117
+414,6.900000000,pose2_to_pose3_retreat,0.575664710891,0.0100908012278,1.05003235526,0.546235162541,0.0187625410405,1.0497004872
+415,6.916666667,pose2_to_pose3_retreat,0.575664687676,0.0100907997542,1.05003235799,0.546235139277,0.0187625393736,1.04970048924
+416,6.933333333,pose2_to_pose3_retreat,0.575664597236,0.0100907940136,1.05003236864,0.546235048646,0.01876253288,1.0497004972
+417,6.950000000,pose2_to_pose3_retreat,0.575664491855,0.0100907880797,1.05003237142,0.546234943445,0.0187625275182,1.04970049899
+418,6.966666667,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164433,1.04970035091
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a1c40fc1812ca5c9ceb87b9cbc6281785cdd8a81
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41b93916b87e7f36597ac3e5474894152c593215636e4b4ff5d89a4242081c42
+size 26154822
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee0bd3f9e3ced37880ba16e31789c08e1affff3e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
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+22,0.366666667,BASELINE,766,745.225188188,714,679,666,635.225188188,879,788,804,653,631,653,0.400935545039,0.0045636612321,0.0499349036468,0.999999972257,9.59517482812e-05,-0.000213877903172,-2.31601075839e-05,1793239711429678336
+23,0.383333333,BASELINE,766,745.353810985,714,679,666.353810985,635.353810985,879.353810985,788,803.646189015,653,631.353810985,653,0.400935031867,0.00456332938264,0.0499345925514,0.999999972238,9.53521359674e-05,-0.000214246970034,-2.30169999499e-05,1793239711446344960
+24,0.400000000,BASELINE,766,745.932482351,714,679,666.932482351,635.932482351,879.932482351,788,803.067517649,653,631.932482351,653,0.4009345195,0.00456321535025,0.0499340432176,0.999999972227,9.54533835073e-05,-0.000214274289481,-2.28141820522e-05,1793239711463011840
+25,0.416666667,BASELINE,766,746,714,679,666.494376373,635.494376373,879.494376373,788,803.505623627,653,631.494376373,653,0.400935285207,0.00456322110859,0.0499346111007,0.999999972302,9.7274650028e-05,-0.000213104133548,-2.27875845449e-05,1793239711479678464
+26,0.433333333,BASELINE,766,746,714,679.080595779,666,635,879.080595779,788,804,653,631,653,0.400936084697,0.00456338572439,0.0499351887068,0.999999972365,9.90508148219e-05,-0.000211986540975,-2.28199744632e-05,1793239711496345088
+27,0.450000000,BASELINE,766,746,714,679.671795191,666,635,879.671795191,788,804,653,631,653,0.400936028686,0.00456445651559,0.0499348929905,0.999999972308,9.91018806445e-05,-0.000212204039534,-2.30786046595e-05,1793239711513011968
+28,0.466666667,BASELINE,766,745.742790442,714,679.742790442,666,635,879.742790442,788,803.742790442,653,631,653,0.400935808139,0.00456440840592,0.0499344885842,0.999999972311,9.79742339969e-05,-0.000212699956275,-2.31748538275e-05,1793239711529678336
+29,0.483333333,BASELINE,766,745.164595573,714,679.164595573,666,635,879.164595573,788,803.164595573,653,631,653,0.400935382259,0.00456296396105,0.0499339485381,0.999999972385,9.53756101745e-05,-0.000213543325669,-2.30684591699e-05,1793239711546344960
+30,0.500000000,BASELINE,766,745.412403126,714,679.412403126,666,635,879,788,803.412403126,653,631.412403126,653,0.400934958514,0.00456267433882,0.0499333336734,0.999999972121,9.51008542949e-05,-0.000214912168019,-2.29475260906e-05,1793239711563011584
+31,0.516666667,BASELINE,766,745.988925784,714,679.988925784,666,635,879,788,803.988925784,653,631.988925784,653,0.400934535617,0.00456284428869,0.0499326890341,0.999999971721,9.57509026192e-05,-0.000216490127036,-2.28208073182e-05,1793239711579678208
+32,0.533333333,BASELINE,766,746,714,679.43742509,666,635,879.56257491,788,804,653,631.43742509,653,0.400935226952,0.00456373926615,0.0499336660818,0.999999971858,9.88120900385e-05,-0.000214487589041,-2.26978054536e-05,1793239711596345088
+33,0.550000000,BASELINE,766,746,714,679,666,635.140131096,879.859868904,788,804,653,631.140131096,653,0.400936111356,0.00456425804163,0.0499346575278,0.999999972086,0.000100596881759,-0.000212592951061,-2.26370851885e-05,1793239711613011712
+34,0.566666667,BASELINE,766,746,714,679,666,635.730418985,879.269581015,788,804,653,631.730418985,653,0.400937545874,0.00456352269197,0.0499355931992,0.999999972608,9.81296873104e-05,-0.000211270195653,-2.27762043616e-05,1793239711629678592
+35,0.583333333,BASELINE,766,746,714,679,666,636,879.315110217,788,804,653,632,653,0.400937429232,0.00456346922434,0.0499354923519,0.999999972699,9.70215154893e-05,-0.00021133522712,-2.29274415935e-05,1793239711646345472
+36,0.600000000,BASELINE,766,746,714,679,666,636,879.895097052,788,804,653,632,653,0.40093600871,0.00456398893579,0.0499345202235,0.999999972431,9.70557161239e-05,-0.000212566809935,-2.30888650876e-05,1793239711663012096
+37,0.616666667,BASELINE,766,746,714,679,666,635.52842004,880,788,803.52842004,653,632,653,0.400936346946,0.00456361046907,0.0499344568017,0.9999999725,9.67726198368e-05,-0.000212396176569,-2.28752633147e-05,1793239711679678720
+38,0.633333333,BASELINE,766,746,714,679,666,635.048219489,880,788,803.048219489,653,632,653,0.400936957841,0.00456307500287,0.0499345567238,0.999999972625,9.63939144707e-05,-0.000212006875032,-2.26146143679e-05,1793239711696345088
+39,0.650000000,BASELINE,766,746,714,679,666,635.635255074,880,788,803.635255074,653,632,653,0.400936275989,0.00456300132989,0.0499342397705,0.999999972552,9.57297409772e-05,-0.000212633917362,-2.27535772009e-05,1793239711713011712
+40,0.666666667,BASELINE,766,745.780552603,714,679,666,636,879.780552603,788,804,653,632,653,0.400935685999,0.00456282981893,0.0499339507867,0.999999972469,9.53197860033e-05,-0.000213205548711,-2.2802119397e-05,1793239711729678336
+41,0.683333333,BASELINE,766,745.201025672,714,679,666,636,879.201025672,788,804,653,632,653,0.400935246739,0.00456249777086,0.0499337076964,0.999999972368,9.53269646842e-05,-0.0002136862591,-2.27022951826e-05,1793239711746345216
+42,0.700000000,BASELINE,766,745.376649288,714,679,666,635.623350712,879,788,804,653,631.623350712,653,0.40093521425,0.00456272782175,0.0499337172757,0.999999972237,9.67567703161e-05,-0.000213667076207,-2.26102286867e-05,1793239711763011840
+43,0.716666667,BASELINE,766,745.953340631,714,679,666,635.046659369,879,788,804,653,631.046659369,653,0.400935397801,0.00456325640878,0.0499338610502,0.999999972086,9.89421467851e-05,-0.000213382395173,-2.25222823927e-05,1793239711779678720
+44,0.733333333,BASELINE,766,746,714,679.526531476,666,635.526531476,880.053062952,788,804,653.526531476,631,653,0.400935298848,0.00456421950849,0.0499340488458,0.999999972128,9.97445138238e-05,-0.000212812267964,-2.25106468062e-05,1793239711796345344
+45,0.750000000,BASELINE,765.897083871,746,714,679.897083871,666,636,880.897083871,788,804,653.897083871,631.102916129,653,0.400935336794,0.00456478780586,0.0499342570707,0.999999972209,9.98679425826e-05,-0.000212372055879,-2.25045359707e-05,1793239711813011968
+46,0.766666667,BASELINE,765.304021012,746,714,679.304021012,666,636,880.304021012,788,804,653.304021012,631.695978988,653,0.400936145176,0.0045632936514,0.0499345441359,0.999999972395,9.7337705645e-05,-0.000212670250763,-2.24927434929e-05,1793239711829678336
+47,0.783333333,BASELINE,765.281993092,745.718006908,714,679,666,635.718006908,879.718006908,788,804,653,632,653,0.400936191366,0.00456323525153,0.0499343612668,0.999999972368,9.68250100352e-05,-0.000213018967295,-2.26311076994e-05,1793239711846344960
+48,0.800000000,BASELINE,765.860593222,745.139406778,714,679,666,635.139406778,879.139406778,788,804,653,632,653,0.400935435863,0.00456468701229,0.0499336841098,0.999999972118,9.84344120474e-05,-0.00021342082373,-2.29274102748e-05,1793239711863011584
+49,0.816666667,BASELINE,766,745.436700767,714,679,666,635.436700767,879.436700767,788,804,653,631.563299233,653,0.400935862674,0.00456345016515,0.0499335293038,0.999999972249,9.71254007553e-05,-0.000213425098372,-2.27498822214e-05,1793239711879678208
+50,0.833333333,BASELINE,766,746,714,679.012290777,666,635.987709223,880,788,803.987709223,653,631.012290777,653,0.400936615342,0.00456141203039,0.0499335266296,0.999999972486,9.49563366766e-05,-0.000213327826695,-2.24256069106e-05,1793239711896344832
+51,0.850000000,BASELINE,766,746,714,679.600709718,666,635.399290282,880,788,803.399290282,653,631.600709718,653,0.40093505109,0.00456181692159,0.0499328831482,0.999999972173,9.58949197345e-05,-0.000214386127517,-2.22726080289e-05,1793239711913011456
+52,0.866666667,BASELINE,766,745.813571889,714,679.813571889,666,635,880,788,803.186428111,653,632,653,0.400934516479,0.00456224482707,0.0499327709443,0.999999972071,9.69241022185e-05,-0.00021441054889,-2.21827249875e-05,1793239711929678336
+53,0.883333333,BASELINE,766,745.233554953,714,679.233554953,666,635,880,788,803.766445047,653,632,653,0.400936155657,0.00456272132049,0.0499337803789,0.999999972411,9.81445590271e-05,-0.000212252233943,-2.22260927252e-05,1793239711946344960
+54,0.900000000,BASELINE,766,745.343945517,714,679.343945517,666,635.343945517,880,788,804,653,632,653,0.40093567524,0.00456241922939,0.0499338511193,0.999999972423,9.73988926907e-05,-0.000212538898571,-2.22353852848e-05,1793239711963011328
+55,0.916666667,BASELINE,766,745.919749579,714,679.919749579,666,635.919749579,880,788,804,653,632,653,0.400933765974,0.00456159228342,0.0499332890727,0.99999997221,9.53278348439e-05,-0.000214473758649,-2.22217072823e-05,1793239711979677952
+56,0.933333333,BASELINE,766,746,714,679.509339248,666.490660752,635.509339248,880,788,804,653.490660752,632,653,0.40093456997,0.00456332270467,0.0499334610863,0.999999972151,9.67977238834e-05,-0.000214057659678,-2.2538928455e-05,1793239711996345856
+57,0.950000000,BASELINE,766,745.936761534,714,679,666.936761534,635.063238466,880,788,804,653.936761534,631.936761534,653,0.40093569663,0.00456507670674,0.0499337558698,0.99999997215,9.84128302119e-05,-0.000213292482823,-2.28463726966e-05,1793239712013013248
+58,0.966666667,BASELINE,766,745.343578319,714,679,666.343578319,635.656421681,880,788,804,653.343578319,631.343578319,653,0.40093584514,0.00456355776169,0.0499340832972,0.999999972454,9.64395176312e-05,-0.000212792441327,-2.26228279219e-05,1793239712029679104
+59,0.983333333,BASELINE,766,745.243852858,714,679,666,636,879.756147142,788,804,653.243852858,631,653,0.400935483702,0.00456249638293,0.0499338242984,0.999999972426,9.59420841016e-05,-0.000213178368651,-2.22971305728e-05,1793239712046345216
+60,1.000000000,BASELINE,766,745.823366504,714,679,666,636,879.176633496,788,804,653.823366504,631,653,0.400934420324,0.00456206483894,0.0499327580903,0.999999971945,9.74761816326e-05,-0.000214783822275,-2.18308212924e-05,1793239712063011584
+61,1.016666667,BASELINE,766,746,714,679.400964524,666,636,879.400964524,788,804,653.599035476,631,653,0.400935138011,0.00456315738456,0.049933122425,0.999999971906,9.91580844104e-05,-0.000214150077238,-2.22451811545e-05,1793239712079678720
+62,1.033333333,BASELINE,766,746,714,679.977722647,666,636,879.977722647,788,804,653.022277353,631,653,0.400936636566,0.00456491813197,0.049934113948,0.999999972058,0.00010090478888,-0.000212534607367,-2.30456500111e-05,1793239712096345856
+63,1.050000000,BASELINE,766,746,714,678.872626129,666,635.436313065,879.436313065,788,803.436313065,653,631,653,0.400935759537,0.00456356415276,0.0499331420303,0.999999972087,9.95464959497e-05,-0.000213059233918,-2.28463452405e-05,1793239712113012480
+64,1.066666667,BASELINE,766,746,714,678.296703286,666,635.148351643,879.148351643,788,803.148351643,653,631.148351643,653,0.400934937599,0.00456268501457,0.0499324751766,0.999999972089,9.83823514506e-05,-0.000213608664383,-2.2688271346e-05,1793239712129678848
+65,1.083333333,BASELINE,766,746,714,679.456321936,666,635.728160968,879.728160968,788,803.728160968,653,631.728160968,653,0.400934553471,0.00456355082863,0.0499329249794,0.999999972031,9.81456716594e-05,-0.000213980166209,-2.2766933048e-05,1793239712146345216
+66,1.100000000,BASELINE,766,745.693537609,714,680,666,635.693537609,880,788,803.693537609,653,631.693537609,653,0.400934728932,0.00456349415088,0.0499332817634,0.999999972074,9.81173765592e-05,-0.00021379870468,-2.26920770189e-05,1793239712163011840
+67,1.116666667,BASELINE,766,745.116567209,714,680,666,635.116567209,880,788,803.116567209,653,631.116567209,653,0.400935398332,0.00456262320866,0.0499335564418,0.999999972206,9.82730183239e-05,-0.000213129153828,-2.24817140625e-05,1793239712179678464
+68,1.133333333,BASELINE,766,745.458507526,714,680,666,635.458507526,879.541492474,788,803,653,631.458507526,653,0.400935561187,0.00456234143971,0.0499333667301,0.999999972306,9.6306149861e-05,-0.000213564361612,-2.24526067955e-05,1793239712196345088
+69,1.150000000,BASELINE,766,745.966193668,714,679.966193668,666,636,879,788,803.033806332,653,631.966193668,653,0.400935642675,0.00456222968666,0.0499331177633,0.999999972394,9.40360479206e-05,-0.000214160416758,-2.24741731863e-05,1793239712213011712
+70,1.166666667,BASELINE,766,745.379379034,714,679.379379034,666,636,879,788,803.620620966,653,631.379379034,653,0.400936491065,0.00456245893584,0.0499338228274,0.999999972531,9.5596276666e-05,-0.000212812127283,-2.25739710899e-05,1793239712229678592
+71,1.183333333,BASELINE,766,745,714,679,666,635.794925819,879.205074181,788,804,653,631,653,0.400937663225,0.00456244560762,0.0499346398222,0.999999972842,9.58932181979e-05,-0.000211207585736,-2.26113537223e-05,1793239712246345472
+72,1.200000000,BASELINE,766,745,714,679,666,635.214791306,879.785208694,788,804,653,631,653,0.400939427529,0.00456198862944,0.0499356615271,0.999999973471,9.3879733018e-05,-0.000209134384347,-2.25345850331e-05,1793239712263011840
+73,1.216666667,BASELINE,766,745.363245134,714,679,666.363245134,635.363245134,880,788,803.636754866,653,631.363245134,653,0.400939052246,0.00456197592838,0.0499351981305,0.999999973339,9.41973311416e-05,-0.000209624626959,-2.24931737815e-05,1793239712279678464
+74,1.233333333,BASELINE,766,745.940048049,714,679,666.940048049,635.940048049,880,788,803.059951951,653,631.940048049,653,0.400937419066,0.00456222442518,0.0499338616181,0.999999972759,9.58854115492e-05,-0.00021162196053,-2.24725497528e-05,1793239712296345088
+75,1.250000000,BASELINE,766,745.483936504,714,679,666.483936504,635.483936504,880,788,803,653,632,653,0.400936515283,0.00456312991773,0.0499339886035,0.999999972468,9.70914938156e-05,-0.000212456679364,-2.23345953501e-05,1793239712313011712
+76,1.266666667,BASELINE,766,745,714,679,666,635.094164593,879.905835407,788,803.094164593,653,631.905835407,653,0.400935588643,0.00456375445434,0.0499340137618,0.999999972171,9.82484214127e-05,-0.000213339972557,-2.21800805616e-05,1793239712329678592
+77,1.283333333,BASELINE,766,745,714,679,666,635.683718585,879.316281415,788,803.683718585,653,631.316281415,653,0.400934096651,0.00456249999138,0.0499326101423,0.999999971661,9.9440883868e-05,-0.000215188278124,-2.20100425325e-05,1793239712346345216
+78,1.300000000,BASELINE,766,745.268460412,714,679,666,635.731539588,879,788,804,653,631.268460412,653,0.400933730309,0.0045624448361,0.0499321045229,0.999999971525,9.95686874462e-05,-0.000215749162827,-2.20775271168e-05,1793239712363011840
+79,1.316666667,BASELINE,766,745.847632673,714,679,666,635.152367327,879,788,804,653,631.847632673,653,0.400934666774,0.00456377774073,0.0499326382347,0.999999971827,9.84642715361e-05,-0.000214820006784,-2.24199166425e-05,1793239712379678720
+80,1.333333333,BASELINE,765.57579994,746,714,679,666,635.42420006,879,788,804,653,631.57579994,653,0.400935287906,0.00456329544376,0.0499324742165,0.999999971908,9.75634753255e-05,-0.000214836713734,-2.2597782075e-05,1793239712396345600
+81,1.350000000,BASELINE,765.000162433,746,714,679,666,635.999837567,879,788,804,653,631.000162433,653,0.400935796466,0.00456216512839,0.049932061112,0.99999997191,9.67353703093e-05,-0.000215191089293,-2.27169132003e-05,1793239712413011968
+82,1.366666667,BASELINE,765.587551705,746,714,679,666,635.412448295,879.587551705,788,804,653,631,653,0.400935850658,0.00456205206067,0.0499325784663,0.999999972076,9.75492323909e-05,-0.000214065196751,-2.25348498373e-05,1793239712429678592
+83,1.383333333,BASELINE,766,746,714,679,666,635.172821321,879.827178679,788,803.827178679,653,631,653,0.400936147366,0.00456233817513,0.0499328834082,0.999999972183,9.81934759235e-05,-0.000213275972592,-2.24940948506e-05,1793239712446344960
+84,1.400000000,BASELINE,766,746,714,679,666,635.752330514,879.247669486,788,803.247669486,653,631,653,0.400937015073,0.00456356298032,0.0499326878776,0.999999972151,9.84374779692e-05,-0.000213279988705,-2.27860706342e-05,1793239712463011584
+85,1.416666667,BASELINE,766,745.669981719,714,679,666,636,879.330018281,788,803.330018281,653,631.330018281,653,0.400937057115,0.0045636031184,0.0499328534838,0.999999972347,9.7085985677e-05,-0.00021296943187,-2.2885991074e-05,1793239712479678208
+86,1.433333333,BASELINE,766,745.093653411,714,679,666,636,879.906346589,788,803.906346589,653,631.906346589,653,0.400936482919,0.00456275907695,0.0499332886254,0.999999972708,9.45436919061e-05,-0.000212424092672,-2.28425704772e-05,1793239712496345088
+87,1.450000000,BASELINE,766,745.48166783,713.51833217,679,666,636,880.48166783,788.48166783,803.51833217,653,631.51833217,653,0.400936998353,0.00456242312611,0.0499339170027,0.999999972867,9.51073619818e-05,-0.00021145229696,-2.25701847837e-05,1793239712513011968
+88,1.466666667,BASELINE,766,745.941630893,713.058369107,679,666,636,880.883261787,788.941630893,803.058369107,653,631,653,0.400937623752,0.00456225312656,0.0499344712952,0.999999972948,9.61175641187e-05,-0.00021063810209,-2.22960021383e-05,1793239712529679104
+89,1.483333333,BASELINE,766,745.350551236,713.649448764,679,666,636,879.701102472,788.350551236,803.649448764,653,631,653,0.400937323198,0.00456269795281,0.0499340072586,0.999999972694,9.57029412588e-05,-0.000212017446956,-2.24108779609e-05,1793239712546345728
+90,1.500000000,BASELINE,766,745.235461698,714,679,666.235461698,635.764538302,879.235461698,787.764538302,803.764538302,653,631,653,0.400936879245,0.00456239004577,0.0499334839016,0.999999972584,9.45427089054e-05,-0.000213050870307,-2.24149451753e-05,1793239712563012096
+91,1.516666667,BASELINE,766,745.814090232,714,679,666.814090232,635.185909768,879.814090232,787.185909768,803.185909768,653,631,653,0.4009362263,0.00456098508938,0.04993287409,0.999999972685,9.22958096155e-05,-0.000213580140239,-2.22575175813e-05,1793239712579678464
+92,1.533333333,BASELINE,766,746,714,679,666.610535418,635.389464582,879.610535418,787.389464582,803.389464582,653,631,653,0.400936685995,0.00456088511713,0.0499334055162,0.999999972748,9.29305380019e-05,-0.00021300601377,-2.22641912569e-05,1793239712596344832
+93,1.550000000,BASELINE,766,746,714,679,666.03670152,635.96329848,879.03670152,787.96329848,803.96329848,653,631,653,0.400937672405,0.00456140291349,0.049934477195,0.999999972792,9.49294049267e-05,-0.000211909548606,-2.23485491041e-05,1793239712613011456
+94,1.566666667,BASELINE,766,746,714,679,666,635.46138216,879.53861784,788,804,653,631,653,0.40093666518,0.00456268826979,0.0499336625187,0.999999972494,9.51871738642e-05,-0.000213168010132,-2.25938617841e-05,1793239712629678336
+95,1.583333333,BASELINE,766,745.882860309,714,679,666.117139691,635.117139691,879.882860309,788,803.882860309,653,631,653,0.400936306072,0.00456372897048,0.0499332406077,0.999999972349,9.55245132912e-05,-0.000213674000652,-2.27973732058e-05,1793239712646345216
+96,1.600000000,BASELINE,766,745.291792167,714,679,666.708207833,635.708207833,879.291792167,788,803.291792167,653,631,653,0.400939120271,0.00456356764466,0.0499349292386,0.999999972916,9.66651030472e-05,-0.000210484602526,-2.27872680666e-05,1793239712663012096
+97,1.616666667,BASELINE,766,745,714,679,667,636,879.293538688,788,803.293538688,653,631,653,0.400939844787,0.00456243968313,0.0499352793708,0.99999997322,9.61564379452e-05,-0.000209300715265,-2.25249419995e-05,1793239712679678976
+98,1.633333333,BASELINE,766,745,714,679,667,636,879.87327569,788,803.87327569,653,631,653,0.400938531875,0.00456036925807,0.0499343244754,0.999999973271,9.40397600087e-05,-0.000210072188252,-2.20167021677e-05,1793239712696345856
+99,1.650000000,BASELINE,765.551696411,745,714,679,666.551696411,635.551696411,880,788,804,653,631.448303589,653,0.400937122009,0.00456072141991,0.0499335564977,0.999999973074,9.29216612159e-05,-0.000211479248864,-2.22266304345e-05,1793239712713012224
+100,1.666666667,BASELINE,765.02262477,745,714,679,666,635,879.97737523,788,803.97737523,653,631.97737523,653,0.400935766978,0.0045617312723,0.0499328963408,0.999999972813,9.22066379537e-05,-0.000212978333327,-2.26228271579e-05,1793239712729678848
+101,1.683333333,BASELINE,765.612248153,745,714,679,666,635,879.387751847,788,803.387751847,653,631.387751847,653,0.400936465831,0.00456224000348,0.0499336278959,0.999999972728,9.45925636891e-05,-0.000212327854466,-2.26523927827e-05,1793239712746345216
+102,1.700000000,BASELINE,766,745,714,679,666,635.198362846,879,788,803.198362846,653.198362846,631.198362846,653,0.400936513844,0.00456242279712,0.0499335799702,0.999999972524,9.58522038584e-05,-0.000212718181676,-2.27071000859e-05,1793239712763011840
+103,1.716666667,BASELINE,766,745,714,679,666,635.777738033,879,788,803.777738033,653.777738033,631.777738033,653,0.400935311733,0.00456197953484,0.0499320348294,0.999999972097,9.4948491544e-05,-0.000215107673462,-2.28100991398e-05,1793239712779678464
+104,1.733333333,BASELINE,766.354177818,745.354177818,714,679,666,635.645822182,878.645822182,788,804,653.645822182,631.645822182,653,0.400935438068,0.00456123908385,0.0499318425483,0.999999972258,9.4192341075e-05,-0.00021471801126,-2.25323803598e-05,1793239712796345344
+105,1.750000000,BASELINE,766.928790708,745.928790708,714,679,666,635.071209292,878.071209292,788,804,653.071209292,631.071209292,653,0.400936391208,0.00456031366692,0.0499324922671,0.999999972785,9.35280308434e-05,-0.000212598644661,-2.20177084008e-05,1793239712813012224
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679,666,636,879,788,804,653,631,653,0.400940314531,0.00456170431044,0.0499348915833,0.999999973445,9.48341296298e-05,-0.000208864681191,-2.22021477361e-05,1793239712844055808
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.589296942,714,679,666,635.410703058,879,788,804,653,631.589296942,653,0.400937955268,0.00456293426919,0.0499339618278,0.999999973017,9.4973205866e-05,-0.000210797233597,-2.26019850882e-05,1793239712860722432
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.824295933,714,678.824295933,666,635.175704067,879,788,803.824295933,653,631.824295933,653,0.400936056455,0.00456371800063,0.0499332077777,0.999999972688,9.48837827585e-05,-0.000212364250154,-2.28532998637e-05,1793239712877388800
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.244534253,714,678.244534253,666,635.755465747,879,788,803.244534253,653,631.244534253,653,0.400935216516,0.00456347556633,0.0499328577881,0.999999972594,9.42688914819e-05,-0.00021309066309,-2.27630649817e-05,1793239712894055424
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.333170763,714,678.333170763,666,636,879,788,803.333170763,653,631,653,0.400935164809,0.00456336260325,0.0499327477946,0.999999972473,9.53532493479e-05,-0.000213205405869,-2.24788020919e-05,1793239712910721792
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.909375496,714,678.909375496,666,636,879,788,803.909375496,653,631,653,0.400935688086,0.00456334408397,0.0499328128683,0.999999972329,9.76771375773e-05,-0.000212873961112,-2.20530039883e-05,1793239712927388160
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.505793242,879.494206758,788,804,653,631.494206758,653,0.400937401185,0.00456347363207,0.0499328045776,0.999999972336,9.81851333149e-05,-0.00021259074768,-2.22227787852e-05,1793239712944055040
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.07965238,879.92034762,788,804,653,631.92034762,653.07965238,0.40094063611,0.00456357232474,0.0499333213026,0.999999972647,9.81777440749e-05,-0.000211100081432,-2.24508622697e-05,1793239712960721664
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.658853852,879.341146148,788,804,653,631.341146148,653.658853852,0.400952022681,0.0045633041941,0.0499372165952,0.999999974642,9.70635246651e-05,-0.000201980281752,-2.234752914e-05,1793239712977389056
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.237372096,635.762627904,879.237372096,788,804,653,631,653.762627904,0.400968363068,0.00456290823311,0.0499417920949,0.999999977114,9.55175563902e-05,-0.000190104877737,-2.25347962294e-05,1793239712994055936
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.814911188,635.185088812,879.814911188,788,804,653,631,653.185088812,0.400991802536,0.00456232908437,0.0499473423674,0.999999980188,9.33528688323e-05,-0.000174280545105,-2.31385090866e-05,1793239713010722304
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.6085786,714,679,666.6085786,635,880,788,803.6085786,653.3914214,631.3914214,653,0.401025363914,0.00456202810668,0.0499532940005,0.999999983646,9.21239958499e-05,-0.000153808701014,-2.37446170993e-05,1793239713027388672
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.032553581,714,679,666.032553581,635,880,788,803.032553581,653.967446419,631.967446419,653,0.401063699028,0.00456185832101,0.0499594349253,0.999999986933,9.13364750001e-05,-0.000131144978808,-2.4351854769e-05,1793239713044055296
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.55582182,714,679,666,635,880,788,803,653.44417818,631.44417818,653,0.401111599758,0.00456215668599,0.0499633948888,0.99999998954,9.11796206129e-05,-0.000109414299921,-2.52005288355e-05,1793239713060721920
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635,879.857420824,788,803.285158353,653,631.142579176,653,0.401163303269,0.0045625053755,0.0499671056934,0.999999991413,9.14791663966e-05,-9.02164046209e-05,-2.58101389389e-05,1793239713077388288
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635,879.277889183,788,804.444221634,653,631.722110817,653,0.401224904955,0.00456292235307,0.0499704532764,0.999999992251,9.30616390214e-05,-7.860927134e-05,-2.5642786295e-05,1793239713094055168
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.299389535,879.299389535,788,804.700610465,653,632,653,0.401294465589,0.0045623786167,0.0499736351351,0.999999992877,9.208173165e-05,-7.15782924065e-05,-2.53548005795e-05,1793239713110722048
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.874592704,879.874592704,788,804.125407296,653,632,653,0.401371358428,0.00456094981931,0.0499766643196,0.999999993387,8.87412228337e-05,-6.87631120589e-05,-2.49556812454e-05,1793239713127388928
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,879.551048886,788,804,653,631.551048886,653,0.401465069088,0.00456006841429,0.0499776089798,0.999999993604,8.79217776536e-05,-6.69690619801e-05,-2.40016746274e-05,1793239713144055552
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.023739387,746,714,679,666,636,879,788,804,653,631.023739387,653,0.401564395495,0.00455930254822,0.0499779063426,0.999999993743,8.76926434427e-05,-6.55587095706e-05,-2.29201203508e-05,1793239713160721920
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.614418618,746,714,679,666,636,879,788,804,653,631.614418618,653,0.401685855125,0.00455765116433,0.0499766248138,0.999999993942,8.47747706748e-05,-6.65125855055e-05,-2.24871985003e-05,1793239713177388288
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.79858022,746,714,679,666,636,879.20141978,788,803.79858022,653,632,653,0.401819072082,0.00455625804714,0.049976634753,0.999999994215,8.23714632033e-05,-6.56443233898e-05,-2.18073800942e-05,1793239713194055168
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.218493845,746,714,679,666,636,879.781506155,788,803.218493845,653,632,653,0.401974392651,0.00455535046824,0.0499790726355,0.999999994629,8.09355321994e-05,-6.135046507e-05,-2.06633993884e-05,1793239713210721792
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.642648247,879.642648247,787.642648247,803.357351753,653,631.642648247,653,0.402140025839,0.00455476381847,0.0499769409464,0.999999994511,7.95210605495e-05,-6.53335316288e-05,-1.9668715754e-05,1793239713227388416
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.069365103,879.069365103,787.069365103,803.930634897,653,631.069365103,653,0.402311890488,0.00455437109147,0.0499720480736,0.999999994011,7.81195556674e-05,-7.43179665726e-05,-1.87642454301e-05,1793239713244055040
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.500425394,635.500425394,879.500425394,787.500425394,804,653,631,653,0.402525175146,0.00455045151635,0.049972225974,0.999999994857,7.17963614781e-05,-6.95533963708e-05,-1.71287140026e-05,1793239713260721920
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.073543538,746,714,679,667,635.926456462,880,788,803.926456462,653,631,653,0.40274995244,0.00454634984289,0.0499736008475,0.999999995815,6.5146468481e-05,-6.23607561081e-05,-1.54172386603e-05,1793239713277388544
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.673945034,746,714,679,667,635.326054966,880,788,803.326054966,653,631,653,0.403016216716,0.00454442153297,0.049978550312,0.999999996725,6.10095177608e-05,-5.13318622584e-05,-1.38826231006e-05,1793239713294055168
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.737081446,745.737081446,714,679,666.737081446,635.262918554,880.262918554,788,803,653,631.262918554,653,0.403298236262,0.00454248968772,0.0499842402611,0.999999997583,5.66157729786e-05,-3.84590277704e-05,-1.22314290138e-05,1793239713310722048
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.161689863,745.161689863,714,679,666.161689863,635.838310137,880.838310137,788,803,653,631.838310137,653,0.40359898059,0.00454055364092,0.0499908102599,0.999999998324,5.19168342401e-05,-2.33947102822e-05,-1.04416839546e-05,1793239713327388672
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.411778085,714,679.411778085,666,636,880.588221915,787.588221915,803,653,632,653,0.403930129789,0.00453704060855,0.0499999112904,0.999999998864,4.67325384248e-05,-4.79355257648e-06,-8.06289820614e-06,1793239713344055552
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.984494193,714,679.984494193,666,636,880.015505807,787.015505807,803,653,632,653,0.404273162322,0.00453291123226,0.050010001541,0.999999999014,4.13585473066e-05,1.51899320316e-05,-5.45389372884e-06,1793239713360722432
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,714,679.424398496,666,635.424398496,880,787.575601504,803.575601504,653,631.424398496,653,0.404656419996,0.00452855095975,0.0500151411163,0.999999999064,3.47299606626e-05,2.56795514623e-05,-2.60380397679e-06,1793239713377388544
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.164222278,635.164222278,879.835777722,788,804,653,631,653,0.405047669616,0.00452442446828,0.0500168124848,0.999999999157,2.82715611479e-05,2.97655491037e-05,1.09562948523e-07,1793239713394055168
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.745233353,635.745233353,879.254766647,788,804,653,631,653,0.405456361475,0.00452090761038,0.0500100313409,0.999999999581,2.23336959713e-05,1.82699447423e-05,2.45890632772e-06,1793239713410722304
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.673105375,714,679,666.673105375,636,879,788,803.673105375,653,631,653,0.40586013538,0.00451749999497,0.0499956357745,0.999999999772,1.83944419873e-05,-9.52364877809e-06,5.26225521271e-06,1793239713427389184
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.090936298,714,679,666.090936298,636,879,788,803.090936298,653,631,653,0.406260068862,0.00451417768746,0.0499752940478,0.999999998584,1.60159177394e-05,-5.00444648609e-05,8.42014062986e-06,1793239713444056064
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.479515124,714,679.479515124,666.479515124,636,879.479515124,788,803.479515124,653,631.479515124,653,0.406734320363,0.0045090568261,0.0499603603982,0.999999997373,1.15252119628e-05,-7.06531493977e-05,1.13727103572e-05,1793239713460722176
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714,679.950266806,667,635.950266806,880,788.049733194,804,653,632,653,0.407227884584,0.00450363502876,0.0499481649417,0.999999996268,7.5776109891e-06,-8.48590135019e-05,1.43031125748e-05,1793239713477388288
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714,679.358968582,667,635.358968582,880,788.641031418,804,653,632,653,0.407781940636,0.00449856179416,0.0499548850058,0.999999997339,1.3801897983e-05,-6.94814659876e-05,1.74060076356e-05,1793239713494054912
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788.774993314,804,653,631.774993314,653,0.408354319016,0.0044924108847,0.0499692881005,0.999999998616,2.28227732941e-05,-4.26878895639e-05,2.05965251491e-05,1793239713510721536
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788.202332655,804,653,631.202332655,653,0.408955006881,0.00448459487861,0.0499955621137,0.999999999058,3.61646088889e-05,1.7443966156e-06,2.39224264033e-05,1793239713527388416
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.62649125,746,714,679,667,635.37350875,880,788,804,653,631.37350875,653,0.409563293103,0.0044764088106,0.0500084182879,0.999999999313,2.07236193222e-05,1.85546893841e-05,2.44879034044e-05,1793239713544055552
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.04891203,746,714,679,667,635.95108797,880,788,804,653,631.95108797,653,0.410175730751,0.00446802055558,0.0500139434826,0.999999999463,-1.04431727864e-05,2.02734113292e-05,2.35451931984e-05,1793239713560722944
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.538794207,746,714,679,667,636,880,788,804,653,631.461205793,652.461205793,0.410773591758,0.00446043629986,0.0499991389008,0.999999999366,-2.37961330423e-05,-1.04751159193e-05,2.43188059793e-05,1793239713577389568
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804.12577282,653,631.12577282,652.12577282,0.411387033451,0.00445347826965,0.0499812274051,0.999999998117,-3.31568198878e-05,-4.50204064825e-05,2.52783968513e-05,1793239713594055936
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804.706727088,653,631.706727088,652.706727088,0.412061743467,0.00444851739191,0.0499588788789,0.999999995676,-3.40338590274e-05,-8.24352884725e-05,2.63363711839e-05,1793239713610722048
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,714,679.285953941,667,636,880,788,804.714046059,653,631.714046059,653,0.412782178216,0.00444303373941,0.0499625246079,0.999999996599,-3.36669068594e-05,-7.02771949547e-05,2.7029914711e-05,1793239713627388160
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,714,679.863419874,667,636,880,788,804.136580126,653,631.136580126,653,0.413549226524,0.00443701715042,0.0499926698366,0.999999999084,-3.203178412e-05,-7.58258645179e-06,2.7351944113e-05,1793239713644054784
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.562873648,746,714,679.562873648,667,635.562873648,880.437126352,787.562873648,804,653,631.437126352,653,0.414280248594,0.00443498149005,0.0499958562472,0.999999998837,-3.85247505259e-05,-5.19183927928e-06,2.85621844891e-05,1793239713660721408
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.009981815,746,714,679,667,635,880.990018185,787.009981815,804,653,631.990018185,653,0.415000116836,0.00443437780508,0.049990237974,0.999999998191,-4.72384792868e-05,-2.20329593206e-05,3.0006050741e-05,1793239713677388288
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.601097461,746,714,679,667,635,880.398902539,787.601097461,804,653,631.398902539,653,0.415720371175,0.00444534464462,0.0499582331486,0.999999996316,-3.86492686169e-05,-7.09292077272e-05,2.90321225415e-05,1793239713694055168
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.811516105,714,679,666.811516105,635,880,788,804,653,631.188483895,653,0.416475814336,0.00445609658606,0.0499409474651,0.999999994626,-2.53137672866e-05,-9.6405435986e-05,2.85017078068e-05,1793239713710722304
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.231868988,714,679,666.231868988,635,880,788,804,653,631.768131012,653,0.417304285296,0.00446640254586,0.0499542086217,0.999999996896,-2.12822429317e-06,-7.32777714614e-05,2.88917228312e-05,1793239713727389440
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.345180741,714,679,666.345180741,635.345180741,880,788,804.345180741,653,632,653,0.418135838833,0.00446431342198,0.0499737013632,0.999999998899,-2.1692584769e-06,-3.61916190206e-05,2.97761758115e-05,1793239713744055808
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.92049873,714,679,666.92049873,635.92049873,880,788,804.92049873,653,632,653,0.418969447536,0.00445396030697,0.0499973487967,0.999999999311,-1.76958056661e-05,1.02008686261e-05,3.0990278035e-05,1793239713760721664
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,714,679.506265976,667,635.493734024,880,788,804.493734024,653,632,653,0.41973941982,0.00444864396001,0.0499836513499,0.999999998814,-2.76995032482e-05,-2.4075448621e-05,3.20275666818e-05,1793239713777388544
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880.092453458,788,804.092453458,653,631.907546542,653,0.42051986559,0.00444497022288,0.0499691588629,0.999999997204,-3.53464924858e-05,-5.72580789672e-05,3.26323941156e-05,1793239713794055168
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880.672027097,788,804.672027097,653,631.327972903,653,0.421409255474,0.0044456959162,0.0499820272862,0.999999998759,-3.5242249692e-05,-1.65273752322e-05,3.11080394585e-05,1793239713810721792
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.749579421,746,714,679.749579421,667,635,880.749579421,788,804.749579421,653,631,653,0.422295721018,0.00444636960191,0.0499941544633,0.999999998849,-3.38793951806e-05,1.46658395439e-05,3.06502207665e-05,1793239713827388416
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.172724246,746,714,679.172724246,667,635,880.172724246,788,804.172724246,653,631,653,0.423178374673,0.00444697549342,0.050005315394,0.999999998466,-3.08758831844e-05,3.34265100217e-05,3.1582679965e-05,1793239713844055296
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.401788102,746,714,679,667,635,880,788,804,653,631,653,0.424022729753,0.0044494487873,0.0499955739367,0.999999998937,-2.90778198598e-05,1.58665476541e-05,3.20634133545e-05,1793239713860722176
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.975299098,746,714,679,667,635,880,788,804,653,631,653,0.424850716096,0.0044527202027,0.0499768988677,0.999999998942,-2.77949614329e-05,-1.72167331908e-05,3.23510805572e-05,1793239713877388800
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.433242862,746,714,679,667,635,880,788,804.566757138,652.433242862,631,653,0.425712410162,0.00444872051633,0.0499924345254,0.999999998814,-3.46198270361e-05,7.31562237631e-06,3.34528062907e-05,1793239713894055680
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.155138477,746,714,679.310276955,667,635.155138477,880,788,805,652.155138477,631.155138477,653,0.426571080002,0.00444493565855,0.0500062313573,0.999999998308,-3.9971541676e-05,2.3869974533e-05,3.48736395306e-05,1793239713910722048
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.73293694,746,714,680.465873881,667,635.73293694,880,788,805,652.73293694,631.73293694,653,0.42741737733,0.00444262766556,0.0500110959944,0.999999998433,-4.03156252596e-05,1.16241700825e-05,3.70640306421e-05,1793239713927388672
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.690048973,746,714,680.690048973,667,636,880,788,804.690048973,653,632,653,0.428253289441,0.00444151149317,0.0499935259469,0.999999998351,-3.7092435112e-05,-2.25970115076e-05,3.75731443336e-05,1793239713944055296
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.113709052,746,714,680.113709052,667,636,880,788,804.113709052,653,632,653,0.429080275885,0.0044414196368,0.0499566743021,0.999999995989,-3.08033343838e-05,-7.57050355019e-05,3.6637275907e-05,1793239713960721920
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,746,714.471834407,680,667,635.528165593,880,788,804,653,632,653,0.429935804632,0.00444029728472,0.049962387693,0.999999997349,-3.4997884931e-05,-5.24792971663e-05,3.63705576617e-05,1793239713977388544
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.058875131,745.941124869,715,679.941124869,667,635,880,788,804,652.941124869,631.941124869,653,0.430791422865,0.00443914080002,0.0499756778399,0.999999998352,-4.05522162439e-05,-1.81124608845e-05,3.638342942e-05,1793239713994055168
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.639142021,745.360857979,715,679.360857979,667,635,880,788,804,652.360857979,631.360857979,653,0.431585705807,0.0044399250912,0.0499634168442,0.999999997363,-3.53291588202e-05,-5.12347547376e-05,3.74158007531e-05,1793239714010721792
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.782236593,745.217763407,714.782236593,679.217763407,667,635.217763407,880,788,804,652.217763407,631,653,0.432383574819,0.00444036487718,0.0499521731785,0.999999995848,-3.32140767362e-05,-7.58347455393e-05,3.80662613447e-05,1793239714027388416
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.206321447,745.793678553,714.206321447,679.793678553,667,635.793678553,880,788,804,652.793678553,631,653,0.433187341902,0.00444023806148,0.049942602696,0.999999994885,-3.62106276024e-05,-8.64182560296e-05,3.80886001077e-05,1793239714044055040
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.367671606,746,714.367671606,679.632328394,667,635.632328394,880,788,804.367671606,652.632328394,631.367671606,653,0.434009768386,0.00443979591517,0.0499580710656,0.999999996662,-3.90352470827e-05,-6.04223504325e-05,3.87491582128e-05,1793239714060721920
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.940591639,746,714.940591639,679.059408361,667,635.059408361,880,788,804.940591639,652.059408361,631.940591639,653,0.434842611217,0.00443917773918,0.0499875170856,0.999999998239,-4.17638876063e-05,-1.40064076412e-05,3.97659948245e-05,1793239714077389056
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,714.470778809,679,667,635.529221191,880.529221191,788,805,652,631.470778809,653,0.435574818112,0.00443992268515,0.0499860870264,0.999999997972,-4.02039152436e-05,-2.80776455005e-05,4.06379171698e-05,1793239714094055424
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.882576924,880.882576924,788,804.882576924,652,631.117423076,653,0.436292962923,0.00444065348403,0.0499776259651,0.99999999701,-3.81862222236e-05,-5.30363600275e-05,4.1346444031e-05,1793239714110721792
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.303207391,880.303207391,788,804.303207391,652,631.696792609,653,0.437001589412,0.00444070823012,0.0499555573261,0.999999994128,-3.63197165829e-05,-9.32972561238e-05,4.14781221815e-05,1793239714127388416
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.726150053,745.726150053,714,679.273849947,667,635,880,787.726150053,804.273849947,652,632,653,0.437735468545,0.00443920287622,0.0499585372261,0.999999995093,-3.71210731661e-05,-8.19123148204e-05,4.15401368701e-05,1793239714144055040
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.151631387,745.151631387,714,679.848368613,667,635,880,787.151631387,804.848368613,652,632,653,0.438497073326,0.00443598463808,0.0499890187289,0.999999998208,-4.08515620697e-05,-1.38237344251e-05,4.15256656945e-05,1793239714160721920
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.433148763,714,680,667,635,880,787.433148763,805,652.433148763,632,653,0.439185403277,0.00443513245271,0.0499941229104,0.999999998611,-3.11703326918e-05,-6.2354963828e-06,4.20532185317e-05,1793239714177388800
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.021250723,746,714,680,667,635,880.021250723,788,805,653,632,653,0.43984513434,0.00443523079267,0.0499890878547,0.999999998706,-1.71626828512e-05,-2.16039809134e-05,4.27422099451e-05,1793239714194055424
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.599971277,746,714,680,667,635,880.599971277,788,805,653,632,653,0.440443864315,0.00443800878633,0.049956773407,0.999999996511,-1.58128591009e-05,-7.01201066179e-05,4.25678521682e-05,1793239714210721792
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.821980845,746,714.178019155,680,667,635,881,788,805,652.821980845,631.821980845,652.821980845,0.441037520301,0.0044411894728,0.0499324734092,0.999999993238,-1.46859255491e-05,-0.00010726507827,4.24465293748e-05,1793239714227388416
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.245438742,746,714.754561258,680,667,635,881,788,805,652.245438742,631.245438742,652.245438742,0.441619817507,0.00444527164891,0.0499261149698,0.999999991925,-1.40579654048e-05,-0.000118954002277,4.24439336085e-05,1793239714244055040
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.330365979,746,715,680,667,635,881,788,805,652.330365979,631,652.330365979,0.442192119188,0.00445133979428,0.0499238818429,0.999999991959,-1.02739446205e-05,-0.000119175915859,4.21033270384e-05,1793239714260721664
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.905624064,746,715,680,667,635,881,788,805,652.905624064,631,652.905624064,0.442757011397,0.00445888008913,0.0499247067082,0.999999992981,-4.15041441635e-06,-0.000110897618382,4.15121614441e-05,1793239714277388800
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.508508818,746,714.508508818,680,666.508508818,635,881,787.508508818,805,652.508508818,631.491491182,653,0.443256384854,0.00446594377152,0.0499096989339,0.999999989979,2.6071159148e-06,-0.000135441783243,4.11102036949e-05,1793239714294055424
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,634.921597312,881,787.078402688,805,652.078402688,631.921597312,653,0.443734083562,0.0044726953393,0.0498881231008,0.999999984233,1.01903916983e-05,-0.000172532928213,4.07714017054e-05,1793239714310722048
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,634.341328235,881,787.658671765,805,652.658671765,631.341328235,653,0.444155347866,0.00447804776825,0.0498443941431,0.999999968001,2.22629083467e-05,-0.000248705449475,4.05991741161e-05,1793239714327388672
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.237282503,746,714,680,666,634,881,788,804.762717497,652.762717497,631.237282503,653,0.444576770787,0.00448493438543,0.0498123041183,0.999999953453,3.31616808201e-05,-0.000300699938704,3.96653661294e-05,1793239714344055296
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.813524246,746,714,680,666,634,881,788,804.186475754,652.186475754,631.813524246,653,0.444998420255,0.0044940125977,0.0497968403708,0.999999947782,4.23837530068e-05,-0.000318155983789,3.76436370259e-05,1793239714360721920
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666,634,881,787.610783481,804.389216519,652.389216519,632,653,0.445415586025,0.00449799280015,0.049796393311,0.999999950489,4.79268061729e-05,-0.000308825864282,3.67523551682e-05,1793239714377388288
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666,634,881,787.035354039,804.964645961,652.964645961,632,653,0.445830606697,0.00449953396175,0.0498031306861,0.999999956908,5.17097064742e-05,-0.000286680437149,3.64019131801e-05,1793239714394054912
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666,634,880.445538849,787,805,652.445538849,632,652.445538849,0.446202897223,0.00450354036094,0.0498068592905,0.999999958861,5.54796616282e-05,-0.000279099565806,3.60929099204e-05,1793239714410721536
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.857408404,746,714,680,665.857408404,633.857408404,880.142591596,787.142591596,805,652,632,652.142591596,0.446550973865,0.00450765567561,0.0498037887595,0.999999957425,5.9576336117e-05,-0.000283425624718,3.56384253288e-05,1793239714427388416
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.27733596,746,714,680,665.27733596,633.27733596,880.72266404,787.72266404,805,652,632,652.72266404,0.446833342648,0.00451161003371,0.0497804622938,0.99999994567,6.467800883e-05,-0.000321357822649,3.47292713284e-05,1793239714444055296
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.30017088,745.69982912,714,680.30017088,665,633.30017088,880.69982912,787.69982912,805,652,632,653,0.44709310348,0.00451789453986,0.0497534002305,0.999999930932,7.18036896601e-05,-0.000363119579064,3.35200360548e-05,1793239714460721920
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.875327343,745.124672657,714,680.875327343,665,633.875327343,880.124672657,787.124672657,805,652,632,653,0.447332153224,0.00452631368695,0.0497229159996,0.999999912833,8.07835574959e-05,-0.000408389579232,3.20358973209e-05,1793239714477388544
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.550897998,745.449102002,714.449102002,680.550897998,665,633.550897998,880,787,805,652.449102002,632,653,0.447563591391,0.0045330688023,0.049708110617,0.99999990332,8.67339585426e-05,-0.000430010743894,3.04738335885e-05,1793239714494055168
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714.976689555,680.023310445,665,633,880.023310445,787,805,652.976689555,632,653,0.447792556668,0.00453952859573,0.0496983353477,0.999999896769,9.20969611774e-05,-0.000444014714232,2.88371204307e-05,1793239714510721536
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714.382491627,680.617508373,665,633,880.617508373,787,805,652.382491627,632,653,0.448012549535,0.00455003433004,0.0497054818288,0.99999990109,0.000103607481227,-0.000431757073159,2.59003591565e-05,1793239714527388160
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.205286399,745.794713601,714,680.794713601,665,632.794713601,881,787,805,652,632,653,0.448218329325,0.00456428899172,0.0497117971822,0.999999903877,0.000119094203843,-0.000421375005227,2.24871772876e-05,1793239714544055040
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.78146547,745.21853453,714,680.21853453,665,632.21853453,881,787,805,652,632,653,0.448398430205,0.00458531687102,0.0497166109293,0.999999903929,0.000141764763979,-0.000414381552484,1.8213242625e-05,1793239714560721664
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.643623944,745.356376056,714,680,664.643623944,632,881,787,805,652,631.643623944,653,0.448557016502,0.0045963945953,0.0497186580012,0.999999903501,0.000153455939297,-0.000411317970436,1.63119564148e-05,1793239714577388544
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.069488394,745.930511606,714,680,664.069488394,632,881,787,805,652,631.069488394,653,0.448702456578,0.00460139239375,0.0497190145285,0.999999903004,0.000158438289932,-0.000410655690128,1.58604493633e-05,1793239714594055936
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.518130144,746,714,680.518130144,664,632,880.481869856,787,805,652,631.518130144,652.481869856,0.448818916103,0.00459857721653,0.0497168793573,0.999999900289,0.00015641401096,-0.000417947395574,1.66151739358e-05,1793239714610722304
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,714,681,664,632,880,787,805,652.10581177,632,652.10581177,0.448927490952,0.00459601790176,0.0497147212911,0.999999897631,0.000154797028241,-0.000424825382677,1.72807496029e-05,1793239714627388672
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,714,681,664,632,880,787,805,652.685462167,632,652.685462167,0.449018627379,0.00459942204436,0.0497139971405,0.999999896877,0.000159324430232,-0.000424946064861,1.6803313157e-05,1793239714644055296
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.736899676,745.736899676,714,681,664,632,880.263100324,787.263100324,805,653,632,653,0.449097132518,0.00460096262441,0.0497115999663,0.999999894802,0.000161898338255,-0.0004288453356,1.66096301951e-05,1793239714660721408
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.161648938,745.161648938,714,681,664,632,880.838351062,787.838351062,805,653,632,653,0.449160651497,0.00460029221563,0.0497072178649,0.999999891129,0.000162154559946,-0.000437227641407,1.67526012282e-05,1793239714677388032
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.42114234,745.42114234,714,680.15771532,664.42114234,632,881,787.57885766,805,652.57885766,632,653,0.44921645577,0.00460073467152,0.0497057314176,0.999999890414,0.000161995374391,-0.000438933206422,1.63195199947e-05,1793239714694054656
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.993174718,746,714,679.006825282,664.993174718,632,881,787,805,652.006825282,631.993174718,653,0.449269079885,0.00460163323278,0.0497053893626,0.999999890858,0.000161733211003,-0.000438042983881,1.56684044637e-05,1793239714710721536
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.412153286,746,714,679.587846714,664.412153286,632,881,787,805,652.587846714,631.412153286,653,0.449307822799,0.00460431210212,0.049706113809,0.999999889967,0.000166466282108,-0.000438305170191,1.56150603311e-05,1793239714727388672
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714,680,664,632,881,787,805,653,631.16812183,653,0.449342387281,0.00460531225518,0.049706502545,0.999999889348,0.000168852134017,-0.000438797057182,1.57944267828e-05,1793239714744055808
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,714,680,664,632,881,787,805,653,631.746575344,653,0.449366753541,0.00460221519764,0.0497060719189,0.999999889433,0.000165509172957,-0.000439849570141,1.65417654442e-05,1793239714760722176
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,714,680.32215151,664,632,880.67784849,787,805,653,632,653,0.449384827558,0.00460157016297,0.0497046652078,0.999999888327,0.00016567923487,-0.000442289919003,1.66395412495e-05,1793239714777388544
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714,680.895484272,664,632,880.104515728,787,805,653,632,653,0.44939799552,0.00460283696807,0.0497024974439,0.999999886283,0.000168588397377,-0.00044581236242,1.62308535412e-05,1793239714794055168
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714.4804173,680.5195827,664,632,880.4804173,787,804.5195827,652.5195827,631.5195827,652.5195827,0.449405743529,0.00460561154351,0.0496997089748,0.999999883979,0.000171138558548,-0.00045001419157,1.54986238078e-05,1793239714810721792
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.646359117,746,714.353640883,680,664,631.353640883,880.353640883,787,804.646359117,652.646359117,631.646359117,652.646359117,0.44941617187,0.00460785595032,0.0496975681968,0.999999882015,0.000171797096988,-0.000454129042677,1.49011919269e-05,1793239714844055296
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.775134709,745.775134709,714,680,664,631.224865291,880,787,805,653,632,653,0.449419328769,0.0046069232108,0.0496973695325,0.999999881801,0.000171338127712,-0.00045476391157,1.52319165913e-05,1793239714860721920
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.197974931,745.197974931,714,680,664,631.802025069,880,787,805,653,632,653,0.449420908778,0.00460524058356,0.049696231014,0.999999881051,0.000172303014118,-0.000456021358878,1.59208108625e-05,1793239714877388544
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.383364474,745,714.383364474,680,664,632,880.383364474,787,805,653,631.616635526,652.616635526,0.449422528627,0.00460638049586,0.0496960158184,0.999999880839,0.000173211104688,-0.000456154715539,1.55936769842e-05,1793239714894055424
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745.549671851,714.450328149,680,664,632,881,787,805,653,631,652.549671851,0.449424903259,0.00460864755494,0.0496968251974,0.999999880459,0.000175502461503,-0.000456130836544,1.50157282829e-05,1793239714927388416
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.868452858,746,714,680,664,631.868452858,880.868452858,787,805,653,631,653,0.449425237594,0.00460814315883,0.049696873718,0.999999880019,0.000176101702286,-0.000456857954691,1.51877928574e-05,1793239714944055040
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.289523642,746,714,680,664,631.289523642,880.289523642,787,805,653,631,653,0.449424398267,0.00460770749816,0.0496951858513,0.999999879711,0.00017382432128,-0.000458415997702,1.47612378233e-05,1793239714960721664
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.712679325,714,680,664,631.287320675,880.287320675,787,804.712679325,652.712679325,631,652.712679325,0.449424760098,0.0046083383823,0.0496946825871,0.999999879399,0.000174297984468,-0.000458922909729,1.45253180072e-05,1793239714977388288
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.137920689,714,680,664,631.862079311,880.862079311,787,804.137920689,652.137920689,631,652.137920689,0.44942632358,0.00461003624656,0.0496953644087,0.999999879082,0.000177523814562,-0.000458378261884,1.44801111758e-05,1793239714994054912
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.445083455,714,680,664,632,881,787,804.445083455,652.445083455,631.445083455,652.445083455,0.449427285378,0.00460953710736,0.0496952607964,0.999999879433,0.000177394418491,-0.000457661183028,1.45724360182e-05,1793239715010721792
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714.030405058,680,664,632,881.030405058,787,805,652.969594942,631.969594942,652.969594942,0.449428031129,0.00460842812867,0.0496949344138,0.999999879976,0.000176231198887,-0.000456917421745,1.47007603034e-05,1793239715027388416
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714.610558836,680,664,632,881.610558836,787,805,652.389441164,631.389441164,652.389441164,0.449428305337,0.00460883449525,0.0496950638653,0.999999880211,0.000175529137881,-0.000456675553875,1.46948751884e-05,1793239715044055040
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.809709598,714.809709598,680.190290402,664,632,881.809709598,787,805,652.190290402,631,652.190290402,0.449428080414,0.00460917653053,0.0496947732923,0.99999988009,0.0001750782295,-0.000457114416563,1.45981811639e-05,1793239715060721920
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.230840237,714.230840237,680.769159763,664,632,881.230840237,787,805,652.769159763,631,652.769159763,0.44942683625,0.00460938719927,0.0496936250158,0.999999879246,0.000175140182687,-0.000458943352383,1.43160525019e-05,1793239715077388544
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.344234999,714.344234999,681,664,632,881,787,805,653,631.344234999,653,0.449426078755,0.00460983992165,0.0496930515529,0.999999878336,0.000176280536277,-0.000460494074025,1.40901036333e-05,1793239715094054912
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.916793649,714.916793649,681,664,632,881,787,805,653,631.916793649,653,0.449425644057,0.00461045319298,0.0496928593514,0.99999987738,0.000178136169597,-0.000461860262129,1.39014176214e-05,1793239715110721536
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,714,681,664,632,881,787,805,653,631.904571018,652.904571018,0.44943008885,0.00460677770165,0.0496961123749,0.999999880509,0.000174746163988,-0.000456332058078,1.43586984351e-05,1793239715144054784
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765.174286169,746,714.825713831,681,664,631.174286169,881,787,805,653,631,652.825713831,0.44942978093,0.00460775267244,0.0496939922423,0.999999879593,0.000175077378325,-0.000458207565492,1.44189219891e-05,1793239715194054656
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+258,4.300000000,HOLD_POSE2,766,746,714.052486659,681,664,632,881,788,805,653,632,653,0.449429329545,0.0046105744284,0.0496933496674,0.999999878538,0.000174301259285,-0.000460834312758,1.31863033243e-05,1793239715401739008
+259,4.316666667,HOLD_POSE2,766,746,714.628655915,681,664,632,881,788,805,653,632,653,0.449430537461,0.00461000829159,0.0496935699268,0.999999878655,0.000175648010599,-0.000460061369431,1.34651901012e-05,1793239715418405888
+260,4.333333333,HOLD_POSE2,766,746,715,681,664,632,881.21012647,787.78987353,805,653,632,653,0.449431427288,0.00460927643534,0.0496938922033,0.999999878884,0.00017614528289,-0.000459364922711,1.37243267656e-05,1793239715435072512
+261,4.350000000,HOLD_POSE2,766,746,715,681,664,632,881.801208112,787.198791888,805,653,632,653,0.449431740429,0.00460824413308,0.0496943994347,0.99999987932,0.00017510246621,-0.000458807162925,1.39476568327e-05,1793239715451739136
+262,4.366666667,HOLD_POSE2,765.61544195,746,714.61544195,680.61544195,664,631.61544195,881.61544195,787.38455805,805,652.61544195,631.61544195,653,0.44943222368,0.00460802726183,0.0496947356119,0.999999879871,0.000174555158212,-0.00045781646213,1.38986195291e-05,1793239715468406016
+263,4.383333333,HOLD_POSE2,765.036009981,746,714.036009981,680.036009981,664,631.036009981,881.036009981,787.963990019,805,652.036009981,631.036009981,653,0.449432793135,0.00460822360831,0.0496949851077,0.999999880478,0.000174258948019,-0.000456606369409,1.37115606992e-05,1793239715485072640
+264,4.400000000,HOLD_POSE2,765.538057149,746,714.538057149,680.538057149,664,631.538057149,881,787.461942851,805,652.538057149,631.538057149,653,0.449431770967,0.00460959255239,0.0496937216267,0.999999878875,0.000177464765346,-0.000458882309906,1.35577942349e-05,1793239715501739264
+265,4.416666667,HOLD_POSE2,765.885144594,746,714.885144594,681,664,632,881,787,805,652.885144594,631.885144594,653,0.449431138696,0.00461037100107,0.0496929789624,0.999999877803,0.000179354658921,-0.000460480688739,1.35246135153e-05,1793239715518405888
+266,4.433333333,HOLD_POSE2,765.295589045,746,714.295589045,681,664,632,881,787,805,652.295589045,631.295589045,653,0.449432553787,0.00460838777248,0.0496948032125,0.999999879586,0.000174846688697,-0.000458323949757,1.39806985483e-05,1793239715535072512
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,664,632,881,787,805,653,632,653,0.449428982907,0.00460896971048,0.0496924650444,0.999999877917,0.000175137918812,-0.000461862019007,1.32974125296e-05,1793239715572199680
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.575972605,746,715,680.424027395,664,631.424027395,881,787,805,653,632,653,0.449431669501,0.00460874283392,0.0496941714089,0.999999879244,0.000175200830088,-0.000458948237645,1.35267561002e-05,1793239715588866560
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.848251439,746,715,680.151748561,664,631.151748561,880.848251439,787,805,653,632,653,0.449433483349,0.00460828423371,0.0496952421719,0.999999880092,0.000175256088894,-0.000457069123434,1.37445266573e-05,1793239715605533184
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.273024134,746,715,680.726975866,664,631.726975866,880.273024134,787,805,653,632,653,0.449432861657,0.00460717897137,0.0496945391875,0.999999879622,0.000175289992272,-0.000458077413515,1.39300009128e-05,1793239715622199808
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,664,631.691073037,880.308926963,787,805,653,631.691073037,653,0.449432925547,0.00460755585756,0.0496944191252,0.999999879603,0.000175088178033,-0.000458204102483,1.37054626438e-05,1793239715638866688
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,664,631.103047394,880.896952606,787,805,653,631.103047394,653,0.449433608822,0.00460927178426,0.0496948257013,0.99999987999,0.000174673405768,-0.000457534312823,1.31105003878e-05,1793239715655533312
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.520133922,664,631.479866078,881,787,805,653,631,653,0.449432908531,0.00460833917153,0.0496947981234,0.999999879732,0.000174830048638,-0.000458021423177,1.3689217096e-05,1793239715672199680
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714.93904821,680,664,631.93904821,880.93904821,787,805,652.93904821,631,653,0.449432049847,0.00460696483091,0.0496946469299,0.999999879405,0.000175030823923,-0.000458635341835,1.44062671994e-05,1793239715688866048
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714.364214319,680,664,631.364214319,880.364214319,787,805,652.364214319,631,653,0.449432334261,0.00460661088502,0.049694231282,0.999999879666,0.000174580046654,-0.000458245909347,1.41870759977e-05,1793239715705532672
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,664,631,880,787,805,652.214847262,631,653,0.449430939145,0.0046066394773,0.0496933736192,0.999999879534,0.000173946872533,-0.000458782347848,1.38861983982e-05,1793239715722199552
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,664,631,880,787,805,652.801219525,631,653,0.449426639699,0.00460732957441,0.0496917516015,0.999999878722,0.000172998288385,-0.000460919850403,1.34440644761e-05,1793239715738866432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.616695384,714,680,664,631.383304616,880.383304616,787,805,653,631,653,0.449407723157,0.00460799547137,0.049684252094,0.999999872216,0.000174210688479,-0.000474382360483,1.34210913644e-05,1793239715755533056
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,632,881,787,804.459296715,652.459296715,631,653,0.449328843637,0.00460971608525,0.0496577718142,0.99999984836,0.000175309682521,-0.000521905967596,1.27105539006e-05,1793239715788866560
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.117965161,745.117965161,714,680,664,632,880.882034839,787,804.117965161,652.117965161,631,653,0.449270908149,0.00461053830631,0.0496418504381,0.999999834202,0.000174506145236,-0.000548639084757,1.18108504302e-05,1793239715805533184
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.694879181,745.694879181,714,680,664,632,880.305120819,787,804.694879181,652.694879181,631,653,0.449198565232,0.00461029862984,0.0496275422037,0.999999823607,0.000176263554961,-0.00056709065462,1.12107874516e-05,1793239715822199808
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.722904721,746,714,680,664,632,880.277095279,787,805,652.722904721,631.277095279,653,0.449119900478,0.00461023428858,0.0496183396102,0.999999816095,0.000177509437242,-0.000579812378613,1.08888066054e-05,1793239715838866432
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.134736432,746,714,680,664,632,880.865263568,787,805,652.134736432,631.865263568,653,0.449034138699,0.00461036678233,0.0496148687177,0.999999812309,0.000178181067959,-0.000586101655722,1.087900667e-05,1793239715855533056
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,714.446675988,680.446675988,664.446675988,632,880.553324012,787.446675988,805,652.446675988,632,653,0.448936985828,0.00461135223714,0.0496163514843,0.999999813567,0.000180524950508,-0.0005832349265,1.06263320569e-05,1793239715872199680
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.025925371,746,715,680.974074629,664.974074629,632,880.025925371,787.974074629,805,652.974074629,631.974074629,653,0.448835146083,0.00461257207804,0.0496192666844,0.999999816243,0.000183331408408,-0.000577751572703,1.0294670504e-05,1793239715888866560
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.601874993,746,715,680.398125007,664.398125007,632,880.601874993,787.398125007,805,652.398125007,631.398125007,653,0.448705682845,0.00461338734282,0.0496213430798,0.999999817752,0.000185409508368,-0.000574476040932,9.81837775098e-06,1793239715905533184
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.824426474,746,714.824426474,680.175573526,664,632,880.824426474,787,805,652.175573526,631,653,0.448565920407,0.00461534720301,0.0496219892434,0.999999817628,0.000188973017312,-0.00057354298483,9.06797509471e-06,1793239715922200064
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.255767895,746,714.255767895,680.744232105,664,632,880.255767895,787,805,652.744232105,631,653,0.448403099488,0.00461986965528,0.0496194333136,0.999999813831,0.000195862153034,-0.000577854411017,7.70387801058e-06,1793239715938866944
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714.329384201,680.670615799,664,632,880.329384201,787,805,652.670615799,631,653,0.448215821742,0.00462237674956,0.0496155460597,0.999999809472,0.000200556084549,-0.00058377093356,6.62645796314e-06,1793239715955533312
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714.928018747,680.071981253,664,632,880.928018747,787,805,652.071981253,631,653,0.448008552098,0.00462323641912,0.0496105705339,0.999999804646,0.000203455578929,-0.000590999519338,5.78337775842e-06,1793239715972199680
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.492056666,714.492056666,680,664,632,880.492056666,787,805,652,631.507943334,652.492056666,0.447772711023,0.00462481095893,0.0496058114454,0.999999798304,0.00020855502887,-0.00059989019989,5.35489744424e-06,1793239715988866304
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.084686947,714,680,664,632.084686947,880.084686947,787,805,652.084686947,632,652.084686947,0.447529214221,0.00462661363167,0.0496021597241,0.999999792856,0.000213662973072,-0.00060713543693,4.80428619399e-06,1793239716005532928
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.657833075,714,680,664,632.657833075,880.657833075,787,805,652.657833075,632,652.657833075,0.44726408408,0.00462916858355,0.0496047244741,0.999999794277,0.00021708562859,-0.000603579779555,3.22240508602e-06,1793239716022199296
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.230608864,746,714,680,664,632.769391136,881,787,804.769391136,652.769391136,632,653,0.446985550037,0.00463208965145,0.0496078604899,0.999999795952,0.000222356469648,-0.000598873085474,1.91606527974e-06,1793239716038866176
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.802836006,746,714,680,664,632.197163994,881,787,804.197163994,652.197163994,632,653,0.446687159801,0.00463555307445,0.0496118427642,0.99999979796,0.000230365166932,-0.000592461274211,1.01790565153e-06,1793239716055533056
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.608788713,746,714.391211287,680,664.391211287,632.391211287,880.608788713,787,804.391211287,652.391211287,632,653,0.446355413849,0.00463741226817,0.0496185445766,0.999999801458,0.000236812339492,-0.000583954746433,1.45707886448e-07,1793239716072199936
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.011924663,746,714.988075337,680,664.988075337,632.988075337,880.011924663,787,804.988075337,652.988075337,632,653,0.446006133404,0.00463842814721,0.0496266760013,0.999999805674,0.000242438646221,-0.000574347063881,-7.12842164075e-07,1793239716088866560
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.287991235,714,680,665,633,881,787.712008765,804,652,632,653,0.444835636083,0.00464749390186,0.0496893679371,0.99999984768,0.000261675069973,-0.000485954677678,-3.87458704437e-06,1793239716138865920
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.298590072,714,680,665,633.298590072,881,788,804.298590072,652,632,653,0.444384797541,0.00465041899818,0.0496996947245,0.999999851963,0.000267731130196,-0.00047367090187,-5.38824232178e-06,1793239716155532544
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.468066082,746,714,680,665.468066082,634,880.531933918,787.531933918,805,652,631.531933918,652.531933918,0.443381935335,0.00465603889414,0.0496985646416,0.999999848004,0.000279703238979,-0.000475051947055,-9.17072378623e-06,1793239716188866048
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.570579856,745,714.570579856,680,667,635,880,788,804,652,632,653,0.435596088743,0.00461292089345,0.0498132718205,0.999999946131,0.000104321305432,-0.000309046590292,-3.6671218764e-05,1793239716388866560
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,667,635,880.009514957,788,804,652,632,653,0.434784605599,0.00462398507864,0.0498089223173,0.999999938039,0.00012742125292,-0.000325758727557,-3.95821914613e-05,1793239716405532672
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,667,635,880.587827749,788,804,652,632,653,0.433957709512,0.00462185329222,0.0497954393594,0.999999934543,0.000128931137386,-0.000335337975374,-4.28800634786e-05,1793239716422199296
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.163963237,745.163963237,714,680,667,635,881,788,804.163963237,652,631.836036763,652.836036763,0.433140557715,0.00461979538596,0.0497930664379,0.999999935182,0.00012907403253,-0.000333012256775,-4.56017829138e-05,1793239716438866176
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.734697095,745.734697095,714,680,667,635,881,788,804.734697095,652,631.265302905,652.265302905,0.432347580232,0.00461792076655,0.049818256015,0.999999945638,0.000125825611861,-0.000301151925547,-4.68941454815e-05,1793239716455533056
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.682395992,714,680,666.682395992,635,880.682395992,788,804.682395992,652,631,652.317604008,0.431526899094,0.00461390072329,0.0498233556307,0.999999947891,0.000127660157989,-0.000293608573292,-4.14109901137e-05,1793239716472199936
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745.088915372,714,680,666.088915372,635,880.088915372,788,804.088915372,652,631,652.911084628,0.430682154099,0.00460801712598,0.0498110047394,0.999999943401,0.000133909861648,-0.000307187392565,-3.00424967131e-05,1793239716488866816
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.507941687,745,714,680,666,635,880,787.507941687,804,652,631.492058313,653,0.429783890305,0.00460292845294,0.049784973631,0.999999928668,0.000142227944649,-0.000348742339362,-2.85269929395e-05,1793239716505533440
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.070346346,745,714,680,666.070346346,635,880.070346346,787.070346346,804,652.070346346,632,652.929653654,0.428880312814,0.00459908171022,0.049763023021,0.999999914272,0.000149501907399,-0.000385042023049,-2.91246670202e-05,1793239716522200064
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.645179895,745,714,680,666.645179895,635,880.645179895,787.645179895,804,652.645179895,632,652.354820105,0.428006264195,0.00460313684316,0.0497876242762,0.999999928062,0.000146674027004,-0.000348298292217,-3.24250327245e-05,1793239716538866432
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.779352827,745.220647173,714,680,666.779352827,635,880.779352827,788,804,652.779352827,632,652.220647173,0.427123592287,0.00460789257092,0.0497975855812,0.999999932847,0.000144949228978,-0.000334721892451,-3.54553638679e-05,1793239716555532800
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.615603289,714,679.615603289,666.384396711,635,880.384396711,788,804,652.384396711,632,652.615603289,0.425387309805,0.00461354366944,0.0497959429401,0.999999935969,0.000142394108794,-0.000325866496409,-3.99658982566e-05,1793239716588866048
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.022495111,714,679.022495111,666.977504889,635,880.977504889,788,804,652.977504889,632,652.022495111,0.424578487421,0.004609986223,0.0498218787606,0.999999955093,0.000138338679581,-0.00026258731038,-4.1512841496e-05,1793239716605532928
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.555287718,745,714,679.555287718,667,635,880.444712282,788,804,653,632,652.555287718,0.423714638647,0.00460619708433,0.049845214863,0.999999963849,0.000135970466109,-0.000228527695488,-3.98577490103e-05,1793239716622199552
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.868403438,666.868403438,635,879.868403438,788,804,652.868403438,631.868403438,653,0.422832563721,0.00460330109216,0.0498550139345,0.999999966223,0.000134745626827,-0.000218905619499,-3.84409519954e-05,1793239716638866432
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.295014752,666.295014752,635,879.295014752,788,804,652.295014752,631.295014752,653,0.421896583206,0.00460343420964,0.0498197109505,0.99999994855,0.000137135989119,-0.000287457361509,-3.82479390955e-05,1793239716655533312
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745.285969733,714,679,666,635,879.285969733,788,804,652,631.285969733,652.714030267,0.421008218253,0.00460454197264,0.0498030611154,0.999999939273,0.000136754035282,-0.000318198368792,-3.8759214127e-05,1793239716672199936
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.875004047,714,679,666,635,879.875004047,788,804,652,631.875004047,652.124995953,0.420170315309,0.00460668264402,0.0498061794893,0.999999942597,0.000133434040716,-0.00030886836834,-4.00168785337e-05,1793239716688866048
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.542469099,746,714,679.457530901,666,635,880,788,804,652.457530901,632,652.457530901,0.419309019159,0.00460956386897,0.0498078799236,0.999999939508,0.000138022138131,-0.000316857242917,-3.91736460653e-05,1793239716705532928
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,666,635,880,788,804,652.96206198,631.96206198,653,0.41844403125,0.00461237633752,0.049808317995,0.999999934513,0.000144293138341,-0.000329715014845,-3.7966374264e-05,1793239716722199296
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,666,635,880,788,804,652.386850776,631.386850776,653,0.417616000565,0.00461139007996,0.0497962876899,0.999999929143,0.000144230026486,-0.000345458804523,-3.96179591828e-05,1793239716738865920
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,679.808058716,666,635,879.808058716,788,804,652.191941284,631.191941284,653,0.416809125513,0.0046096444825,0.0497961762258,0.999999931226,0.000143612342925,-0.000339486270743,-4.08878674874e-05,1793239716755532544
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,679.221912264,666,635,879.221912264,788,804,652.778087736,631.778087736,653,0.416045699329,0.00460633936774,0.0498205434364,0.999999947347,0.000141855690894,-0.000288913188679,-4.1373896247e-05,1793239716772199424
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.639806738,714,679,666,635,879.360193262,788,804,653,632,653,0.415268757485,0.00460598863649,0.0498285218412,0.999999951825,0.000141279846639,-0.000273226204466,-4.16797705545e-05,1793239716788866560
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.06016321,714,679,666,635,879.93983679,788,804,653,632,653,0.414483581178,0.00460743788426,0.0498265152497,0.99999995026,0.000141423418041,-0.000278793822899,-4.18758845152e-05,1793239716805533440
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.519593332,666,635,879.480406668,788,804,652.480406668,632,653,0.413693556711,0.00460942344988,0.0497996091302,0.999999934862,0.000142437092645,-0.000328954662063,-4.21551823808e-05,1793239716822200064
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.098325163,714,680,666,635,879,788,804,652.098325163,632,653,0.41291971698,0.00461131677784,0.0497775929373,0.999999920329,0.000143814163862,-0.000369946808513,-4.2401094345e-05,1793239716838866688
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.672039363,714,680,666,635,879,788,804,652.672039363,632,653,0.412226843017,0.0046124638398,0.0497931612861,0.999999930015,0.000146460999828,-0.000341639742831,-4.2439011923e-05,1793239716855533056
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.252333007,746,714,680,666,635,879.252333007,788,804,653,632,653,0.411541406848,0.00461286142907,0.049809446134,0.999999938643,0.000147747210375,-0.000314768485722,-4.24874308925e-05,1793239716872199680
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.841406939,746,714,680,666,635,879.841406939,788,804,653,632,653,0.410865896548,0.00461225883943,0.0498266871558,0.999999946262,0.000147217652515,-0.000289813331948,-4.25498640885e-05,1793239716888866304
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.57651055,745.57651055,714,680,666,635,879.57651055,788,804,653,631.57651055,653,0.410190241565,0.00460926364458,0.0498143976887,0.999999938276,0.00014171682328,-0.000318723157998,-4.21904903041e-05,1793239716905533184
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.002967071,745.002967071,714,680,666,635,879.002967071,788,803.997032929,653,631.002967071,653,0.409515079725,0.00460540253306,0.0497913964218,0.999999922726,0.000134405910318,-0.000367076219222,-4.1683863221e-05,1793239716922199808
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.576819838,745.576819838,714,680,666,635,879.576819838,788,803.423180162,653,631.576819838,653,0.408945068201,0.00460453164734,0.0498006237822,0.999999933272,0.000131208403618,-0.000338251740962,-4.27442666073e-05,1793239716938866176
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.848624918,666,635,880,788,803.151375082,653,632,652.848624918,0.40838124322,0.00460395475225,0.0498122358807,0.999999942443,0.000129917919431,-0.000310419691885,-4.32977269323e-05,1793239716955532544
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.272096556,666,635,880,788,803.727903444,653,632,652.272096556,0.407834793681,0.00460420356137,0.0498305457758,0.999999949405,0.000133983513564,-0.000285374981409,-4.24273831925e-05,1793239716972199424
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.688936875,714,679.311063125,666.311063125,635,879.688936875,788,804,653,632,652.311063125,0.407291624358,0.00460557047699,0.049834160463,0.999999948924,0.000138607335775,-0.000284903573508,-4.20638964405e-05,1793239716988866048
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.099850257,714,679.900149743,666.900149743,635,879.099850257,788,804,653,632,652.900149743,0.406751386875,0.00460793673921,0.0498246407954,0.999999941843,0.000143730093522,-0.000306395411512,-4.21534308158e-05,1793239717005532672
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.519187095,667,635,879,788.480812905,803.519187095,653,631.519187095,653,0.40623241044,0.00460934380162,0.0498022258576,0.999999929108,0.00013962469169,-0.000347152473667,-4.21129105385e-05,1793239717022199552
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.059353376,714,679.059353376,667,635,879.059353376,788.940646624,803.059353376,653,631,653,0.405725995703,0.00461060255821,0.049779796024,0.999999915041,0.000134558959949,-0.000387356226141,-4.20362035839e-05,1793239717038867200
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.634388016,714,679.634388016,667,635,879.634388016,788.365611984,803.634388016,653,631,653,0.405291020165,0.00461227367299,0.0497801031177,0.999999914167,0.000137513273052,-0.000388590876143,-4.18757132386e-05,1793239717055533312
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.785646275,667,635.214353725,879.785646275,788,803.785646275,653,631.214353725,653,0.404882663266,0.00461389593195,0.0497882549446,0.999999919378,0.000140953784426,-0.000373652713433,-4.19523604193e-05,1793239717072199936
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.197071923,667,635.802928077,879.197071923,788,803.197071923,653,631.802928077,653,0.404520777466,0.00461543289782,0.0498101021758,0.999999933943,0.000145243104549,-0.000330479910724,-4.24430043525e-05,1793239717088867072
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.385891886,666.614108114,635.614108114,879.385891886,788,803.385891886,653,632,653,0.404181026858,0.0046144611666,0.0498344461253,0.999999945896,0.000145338429641,-0.000292111460483,-4.19013592063e-05,1793239717105533696
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.456399495,714,679.456399495,666.543600505,635.543600505,880,788,804,653.543600505,631.456399495,653,0.403532959532,0.00461300369197,0.0498564213451,0.999999953112,0.000146736456677,-0.00026562049853,-4.11019288319e-05,1793239717138866176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,666.881014511,635.881014511,880,788,804,653.881014511,631,653,0.403221760487,0.00461198209764,0.0498496227141,0.999999949009,0.000147338797834,-0.000280306498255,-4.12532673099e-05,1793239717155532800
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,666.313263424,635.313263424,880,788,804,653.313263424,631,653,0.402939568245,0.00460347023515,0.0498377119561,0.999999943691,0.000136063625524,-0.000304054609919,-4.06774688037e-05,1793239717172199424
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.266513638,714,679,666,635,880,788,804,653,631.266513638,653,0.402670816813,0.00459381543868,0.0498267820901,0.999999938528,0.000121838015418,-0.000326348826265,-3.99390695079e-05,1793239717188866048
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.822024059,666.822024059,635.822024059,879.177975941,788,804,653,632,653,0.401734892887,0.00459029403489,0.049832047571,0.999999943099,0.000115464759406,-0.00031478812806,-3.7128852138e-05,1793239717272199936
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b414feeaccc4817b09e2028adb9c4e82cf2da97d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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+406,6.766666667,pose2_to_pose3_retreat,0.575665072057,0.010090735266,1.04003243447,0.546235524161,0.0187624763961,1.03970056066
+407,6.783333333,pose2_to_pose3_retreat,0.575664819073,0.0100907734846,1.04003233638,0.546235271054,0.0187625144889,1.03970047014
+408,6.800000000,pose2_to_pose3_retreat,0.5756647138,0.0100907893884,1.04003229557,0.54623516573,0.0187625303402,1.03970043247
+409,6.816666667,pose2_to_pose3_retreat,0.575664610852,0.0100908049409,1.04003225565,0.546235062732,0.0187625458416,1.03970039564
+410,6.833333333,pose2_to_pose3_retreat,0.57566444052,0.0100908346935,1.04003223485,0.546234892279,0.0187625752317,1.03970037616
+411,6.850000000,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..983a2f446425ef3d33710fd7e28406ed7fe2eb5e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1dc97ebcaa652236cdff91506e4e66fbd374b350d9e7948cfa0164b7114fa07
+size 26288104
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e136eebd7d07f313ca57e068b3e0d35e5be01f9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
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+27,0.450000000,BASELINE,766,745.681601391,714,679,667.363202782,635,879.318398609,788,803.681601391,653,631.318398609,653,0.400991178524,0.00459100763784,0.0498591736435,0.999999960334,0.000121249530499,-0.000251624331975,-3.6267119134e-05,1793239718550120960
+28,0.466666667,BASELINE,766,746,714,679.259847072,667.740152928,635,879,788,804,653.259847072,631,653,0.400990382275,0.00459119431239,0.0498588420242,0.999999960245,0.000121018926962,-0.000252088251257,-3.62631731454e-05,1793239718566787584
+29,0.483333333,BASELINE,766,746,714,679.836558714,667.163441286,635,879,788,804,653.836558714,631,653,0.400989975345,0.00459020345063,0.0498586845371,0.999999960114,0.000119587653962,-0.0002533146534,-3.60951896981e-05,1793239718583454208
+30,0.500000000,BASELINE,766,746,714,679.590809524,667,635.409190476,879,788,804,653.590809524,631.409190476,653,0.400991442779,0.00458956225872,0.0498596913434,0.999999960655,0.000118700396416,-0.000251624419926,-3.58527048002e-05,1793239718600120576
+31,0.516666667,BASELINE,766,746,714,679.019791297,667,635.980208703,879,788,804,653.019791297,631.980208703,653,0.400993651491,0.0045890593552,0.0498611586077,0.999999961456,0.000118028287599,-0.000248780707527,-3.5580755872e-05,1793239718616786944
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+40,0.666666667,BASELINE,766,746,714,679,667,636,880,788,804,653,632,653,0.400991872616,0.00458871754101,0.0498600949477,0.999999961139,0.000118117661709,-0.000249969321327,-3.58476884543e-05,1793239718766787072
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+42,0.700000000,BASELINE,766,746,714,679.378896823,666.621103177,636,880,788,804,653.378896823,632,653,0.400992222676,0.00458876948961,0.0498605568304,0.999999961373,0.000118259671226,-0.000248991119645,-3.56749973632e-05,1793239718800120320
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+54,0.900000000,BASELINE,765.344559983,745.655440017,714,679.344559983,667,635.344559983,879,788,804,653,631.655440017,653,0.400992188963,0.00458903229182,0.0498600312719,0.999999961142,0.000118996536069,-0.000249601687946,-3.54305134773e-05,1793239719000120320
+55,0.916666667,BASELINE,765.91923471,745.08076529,714,679.91923471,667,635.91923471,879,788,804,653,631.08076529,653,0.400992183996,0.00458653086327,0.0498606116869,0.999999961562,0.000118476288043,-0.000248247598141,-3.4809682074e-05,1793239719016786944
+56,0.933333333,BASELINE,766,745,714,679.495885775,666.495885775,635.495885775,879.504114225,788,804,653,631,653,0.400992503685,0.00458728593347,0.0498610487189,0.999999961626,0.000117920578085,-0.00024821885664,-3.50785458544e-05,1793239719033453568
+57,0.950000000,BASELINE,766,745,714,679,666.089584476,635.089584476,880,788,803.910415524,653,631,653,0.400992750787,0.00458853671176,0.0498613021898,0.999999961596,0.000117458887031,-0.000248494948051,-3.55177965997e-05,1793239719050120192
+58,0.966666667,BASELINE,766,745,714,679,666.669158417,635.669158417,880,788,803.330841583,653,631,653,0.400992310495,0.00458958619469,0.0498606799002,0.999999961377,0.00011754315725,-0.000249252956909,-3.60932496443e-05,1793239719066786816
+59,0.983333333,BASELINE,765.751619447,745,714,679,666.751619447,635.751619447,880.248380553,788,803,653,631.248380553,653,0.400992029569,0.00458964877111,0.0498605552143,0.99999996135,0.00011714431573,-0.000249531257658,-3.62025501757e-05,1793239719083453440
+60,1.000000000,BASELINE,765.172865171,745,714,679,666.172865171,635.172865171,880.827134829,788,803,653,631.827134829,653,0.40099196062,0.00458839865239,0.0498610923967,0.99999996158,0.000116102881949,-0.000249171493449,-3.56918161696e-05,1793239719100120320
+61,1.016666667,BASELINE,765.402287327,745,714,679,666,635,880.195425346,788,803,653,631.597712673,653,0.400992183784,0.00458774830902,0.0498612813057,0.999999961566,0.000116556079423,-0.000249055119166,-3.54205084104e-05,1793239719116786944
+62,1.033333333,BASELINE,765.97590582,745,714,679,666,635,879.048188361,788,803,653,631.02409418,653,0.400992531357,0.00458735340555,0.0498613218877,0.999999961447,0.000117645829239,-0.000249042402853,-3.52511705308e-05,1793239719133453568
+63,1.050000000,BASELINE,766,745.562293051,714,679.562293051,666.562293051,635,879,788,803.562293051,653,631,653,0.400992525964,0.00458767648982,0.0498612980778,0.999999961318,0.00011867962521,-0.000249077365929,-3.5213976552e-05,1793239719150120192
+64,1.066666667,BASELINE,766,746,714,679.851825893,667,635,879.148174107,788,804,653,631.148174107,653,0.400992313482,0.00458758001957,0.0498610285688,0.999999961242,0.000118972047371,-0.000249252459721,-3.51321712512e-05,1793239719166786816
+65,1.083333333,BASELINE,766,746,714,679.269071422,667,635,879.730928578,788,804,653,631.730928578,653,0.400991539016,0.00458616070695,0.0498600467286,0.999999961327,0.000117097286965,-0.000249832412066,-3.49025322435e-05,1793239719183453440
+66,1.100000000,BASELINE,766,745.690389255,714,679,667,635.309610745,879.690389255,788,804,653,631.690389255,653,0.400991611179,0.00458629985113,0.0498602084637,0.999999961554,0.000116745539552,-0.000249063044401,-3.50832971634e-05,1793239719200120064
+67,1.116666667,BASELINE,766,745.115200264,714,679,667,635.884799736,879.115200264,788,804,653,631.115200264,653,0.400992409566,0.00458777581016,0.0498613511359,0.999999961901,0.000117700203996,-0.000247136255501,-3.56160988277e-05,1793239719216786688
+68,1.133333333,BASELINE,766,745.458969064,714,679,667,635.541030936,879.458969064,788,804,653,631,653,0.400992184868,0.00458924324167,0.0498607124197,0.999999961443,0.000119248536275,-0.000248203751508,-3.58855480538e-05,1793239719233453312
+69,1.150000000,BASELINE,766,745.966168906,714,679.033831094,667,635.033831094,879.966168906,788,804,653.033831094,631.033831094,653,0.400991664902,0.00459058808765,0.0498596980647,0.999999960794,0.000120891844864,-0.000249993651683,-3.60623286986e-05,1793239719250119936
+70,1.166666667,BASELINE,766,745.375708844,714,679.624291156,667,635.624291156,879.375708844,788,804,653.624291156,631.624291156,653,0.400990502546,0.00458995114859,0.0498598435757,0.999999960376,0.000121651570541,-0.000251331267987,-3.57995755764e-05,1793239719266786560
+71,1.183333333,BASELINE,766,745.210554574,714,679.789445426,666.789445426,636,879,788,803.789445426,653.789445426,632,653,0.400990427224,0.00458957324974,0.0498602147169,0.999999960428,0.00012132936924,-0.000251294295444,-3.56965375384e-05,1793239719283453440
+72,1.200000000,BASELINE,766,745.789476028,714,679.210523972,666.210523972,636,879,788,803.210523972,653.210523972,632,653,0.400992253679,0.00458964854368,0.0498609806,0.999999961299,0.000119114328324,-0.000248852469138,-3.58729222511e-05,1793239719300120064
+73,1.216666667,BASELINE,766,746,714,679,666.365790107,635.634209893,879,788,803.365790107,653,632,653,0.400991981892,0.00458902334532,0.0498604549008,0.999999961211,0.000118703723532,-0.00024941151753,-3.58050721397e-05,1793239719316786688
+74,1.233333333,BASELINE,766,746,714,679,666.940614145,635.059385855,879,788,803.940614145,653,632,653,0.400990511045,0.00458799784455,0.0498591911155,0.999999960574,0.000119324279553,-0.000251685441951,-3.55976519083e-05,1793239719333453568
+75,1.250000000,BASELINE,766,746,714,679,667,635,879.528092341,788,804,653,632,653,0.400992544806,0.00458869698597,0.0498608368304,0.99999996124,0.000119303207376,-0.000249066168232,-3.53845217188e-05,1793239719350120192
+76,1.266666667,BASELINE,766,746,714,679,667,635.11517721,880,788,804,653,632,653,0.400994196534,0.00458906840116,0.0498622059789,0.999999961824,0.000118893163045,-0.000246929262482,-3.52339746624e-05,1793239719366786816
+77,1.283333333,BASELINE,766,746,714,679,667,635.694796971,880,788,804,653,632,653,0.40099267953,0.00458731703224,0.0498611081651,0.999999961503,0.000117212716182,-0.000249010807214,-3.5338441713e-05,1793239719383453440
+78,1.300000000,BASELINE,766,746,714,679,666.727492986,636,880,788,804,653,632,653,0.400992311018,0.00458722915235,0.0498608544606,0.999999961457,0.000116730109772,-0.000249409658494,-3.54131647281e-05,1793239719400120064
+79,1.316666667,BASELINE,766,746,714,679,666.151906949,636,880,788,804,653,632,653,0.400993219845,0.00458899138508,0.0498615395644,0.999999961723,0.000117579727221,-0.000247937038216,-3.5454806778e-05,1793239719416786944
+80,1.333333333,BASELINE,766,745.577883605,714,679,666.422116395,636,879.577883605,788,804,653.422116395,632,653,0.400993138818,0.00458884864458,0.0498615175978,0.999999961782,0.000116951444623,-0.000247983431377,-3.55296409916e-05,1793239719433453824
+81,1.350000000,BASELINE,766,745.004420506,714,679,666.995579494,636,879.004420506,788,804,653.995579494,632,653,0.400992702886,0.00458802289019,0.0498612421164,0.999999961767,0.000115793271991,-0.000248574455425,-3.5616376013e-05,1793239719450120192
+82,1.366666667,BASELINE,766,745.588523729,714,679.588523729,666.411476271,636,879.588523729,787.411476271,804,654,632,653,0.400992248995,0.00458816792203,0.0498610095768,0.999999961565,0.000116876974803,-0.000248900180522,-3.54779472764e-05,1793239719466786816
+83,1.383333333,BASELINE,766,746,714,679.822802392,666,635.822802392,880,787.177197608,804,653.822802392,631.822802392,653,0.400991662434,0.00458859859595,0.049860652333,0.999999961295,0.000117903520256,-0.000249502243314,-3.5460383749e-05,1793239719483453440
+84,1.400000000,BASELINE,766,746,714,679.244146175,666,635.244146175,880,787.755853825,804,653.244146175,631.244146175,653,0.400990775611,0.00458965933441,0.0498600118036,0.999999960876,0.00011876111353,-0.000250735045627,-3.5720615073e-05,1793239719500120320
+85,1.416666667,BASELINE,766,746,714,679,666.332607602,635.332607602,880,788,804,653,631,653,0.400992048621,0.00458931611604,0.0498607554913,0.999999961278,0.00011811276673,-0.000249448820647,-3.5606272868e-05,1793239719516787200
+86,1.433333333,BASELINE,766,746,714,679,666.907972826,635.907972826,880,788,804,653,631,653,0.40099489801,0.00458794820299,0.0498625094662,0.999999962272,0.00011636529157,-0.000246324053508,-3.52185436937e-05,1793239719533453824
+87,1.450000000,BASELINE,766,746,714,679.480162035,666.519837965,635.519837965,879.519837965,788,804,653,631,653,0.400994091612,0.00458786572235,0.0498626267526,0.999999962087,0.000117182398775,-0.000246717348374,-3.50062732768e-05,1793239719550121216
+88,1.466666667,BASELINE,765.945966592,746,714,679.945966592,666,635.054033408,879.054033408,788,803.945966592,653,631,653,0.400992679552,0.00458806911545,0.0498623368735,0.999999961704,0.000118344266735,-0.000247724478048,-3.49180511123e-05,1793239719566788608
+89,1.483333333,BASELINE,765.34912158,746,714,679.34912158,666,635.65087842,879.65087842,788,803.34912158,653,631,653,0.400992175596,0.00458868567878,0.0498610872001,0.999999961598,0.00011806421697,-0.000248169026466,-3.57403954574e-05,1793239719583455488
+90,1.500000000,BASELINE,765.239011451,746,714,679,666.239011451,636,880,788,803.239011451,653,631.239011451,653,0.400992047857,0.00458860982508,0.049860538882,0.999999961625,0.000116986007049,-0.000248524588344,-3.60476549003e-05,1793239719600121856
+91,1.516666667,BASELINE,765.814866464,746,714,679,666.814866464,636,880,788,803.814866464,653,631.814866464,653,0.400992450328,0.00458755813434,0.049860978998,0.999999961838,0.000114782934271,-0.000248754739696,-3.56289949431e-05,1793239719616787712
+92,1.533333333,BASELINE,766,746,714,679,667,635.609230384,880,788,804,653,631.609230384,653,0.400993063277,0.00458690450221,0.0498613230413,0.999999961916,0.000115261566251,-0.000248273171542,-3.52602298211e-05,1793239719633454080
+93,1.550000000,BASELINE,766,746,714,679,667,635.033304372,880,788,804,653,631.033304372,653,0.400993775954,0.00458643948009,0.0498616215631,0.999999961928,0.000117010856681,-0.000247454372942,-3.49151060802e-05,1793239719650120704
+94,1.566666667,BASELINE,766,746,714,679,666.446825789,635.553174211,879.446825789,788,803.446825789,653,631,653,0.400991956916,0.00458641274713,0.0498608393035,0.999999961804,0.000114288819562,-0.000249186046267,-3.51650952058e-05,1793239719666787328
+95,1.583333333,BASELINE,766,746,714,679,666,635.8615486,879.1384514,788,803,653,631.1384514,653,0.400990500331,0.00458698821526,0.0498601037526,0.999999961578,0.000113109533122,-0.000250589341732,-3.5440257303e-05,1793239719683453952
+96,1.600000000,BASELINE,766,746,714,679,666,635.28216016,879.71783984,788,803,653,631.71783984,653,0.400990692956,0.00458939588745,0.0498597282199,0.999999961073,0.000117717582032,-0.000250448282448,-3.5679262226e-05,1793239719700120576
+97,1.616666667,BASELINE,765.703840474,745.703840474,714,679,666.296159526,635.296159526,879.703840474,788,803,653,631.703840474,653,0.400991693293,0.0045896150444,0.049860309185,0.999999961221,0.000118712053856,-0.000249396999271,-3.55886328681e-05,1793239719716787200
+98,1.633333333,BASELINE,765.126535395,745.126535395,714,679,666.873464605,635.873464605,879.126535395,788,803,653,631.126535395,653,0.400993460394,0.00458775663396,0.0498617981578,0.999999961997,0.000116276140639,-0.000247481636523,-3.51850802106e-05,1793239719733454080
+99,1.650000000,BASELINE,765.457145692,745.457145692,714,679,666.542854308,635.542854308,879,788,803.457145692,653,631,653,0.400992992374,0.00458842259473,0.0498617681909,0.999999961979,0.000117053794034,-0.000247141362556,-3.55151129262e-05,1793239719750120704
+100,1.666666667,BASELINE,765.95781256,746,714,679,666.04218744,635,879.04218744,788,803.95781256,653,631,653,0.400992040016,0.00458965296905,0.0498613773711,0.999999961764,0.000118526006838,-0.000247241293754,-3.59954677102e-05,1793239719766787584
+101,1.683333333,BASELINE,765.378237243,746,714,679,666.621762757,635,879.621762757,788,803.378237243,653,631,653,0.400992910249,0.0045890464868,0.0498618212574,0.999999961892,0.000117354812811,-0.000247316545726,-3.57675533718e-05,1793239719783454208
+102,1.700000000,BASELINE,765.201329134,746,714,679.201329134,666.798670866,635.201329134,880,788,803.201329134,653,631.201329134,653,0.400993218597,0.0045886703657,0.0498619748132,0.999999961932,0.000116583358983,-0.000247551825678,-3.55439408864e-05,1793239719800120576
+103,1.716666667,BASELINE,765.78087865,746,714,679.78087865,666.21912135,635.78087865,880,788,803.78087865,653,631.78087865,653,0.400992471377,0.00458872700508,0.0498615829495,0.999999961809,0.000116562864111,-0.000248087736941,-3.53284099619e-05,1793239719816786944
+104,1.733333333,BASELINE,766,746,714,679.643089707,666.356910293,635.643089707,880,788,804,653,631.643089707,653,0.400992790039,0.00458876860114,0.0498615229582,0.999999961824,0.000116788882962,-0.0002479201231,-3.53162109369e-05,1793239719833453568
+105,1.750000000,BASELINE,766,746,714,679.06919669,666.93080331,635.06919669,880,788,804,653,631.06919669,653,0.400993756701,0.00458880105166,0.0498616647279,0.999999961924,0.000117164769215,-0.000247324802974,-3.54276270135e-05,1793239719850120448
+106,1.766666667,BASELINE,766,746,714,679,666.485110023,635.514889977,879.485110023,788,804,653,631,653,0.40099325168,0.00458873665234,0.0498616711957,0.999999961799,0.000117431689285,-0.000247689639677,-3.55298250719e-05,1793239719866787328
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635,880,788,803,653,632,653,0.400990763486,0.00459004976117,0.0498599762093,0.99999996079,0.000121424737553,-0.000249782144471,-3.58437449696e-05,1793239719909351168
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.423601239,714,679,666,635.576398761,880,788,803.576398761,653,632,653,0.40099226103,0.0045883686983,0.0498614626274,0.999999961585,0.000117988398771,-0.000248270874056,-3.5640761159e-05,1793239719926017792
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.153258479,714,679,666,636,879.846741521,788,803.846741521,653,631.846741521,653,0.400993451154,0.00458752953071,0.0498625309909,0.999999962136,0.000116036567044,-0.000246981681753,-3.55407250065e-05,1793239719942684416
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.731396241,714,679,666,636,879.268603759,788,803.268603759,653,631.268603759,653,0.400993789012,0.00458902435347,0.0498624403795,0.999999962042,0.000118200241235,-0.000246308157434,-3.57260911424e-05,1793239719959351040
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714.314675522,679,666,635.685324478,879,788,803.314675522,653.314675522,631,653,0.400993813869,0.00458881420575,0.0498624399321,0.999999962157,0.000118299697988,-0.000245833242926,-3.54430024215e-05,1793239719976017664
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714.902416412,679,666,635.097583588,879,788,803.902416412,653.902416412,631,653,0.400993567115,0.004587124539,0.0498625177261,0.999999962455,0.000116607892636,-0.00024553067571,-3.47534035239e-05,1793239719992684288
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.516227898,714.516227898,679,666.483772102,635,879.483772102,788,804,653.516227898,631.483772102,653,0.4009933124,0.00458845369955,0.0498620883693,0.99999996192,0.000118872818735,-0.000246574517382,-3.50786911277e-05,1793239720009351424
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679,667,635,880,788,804,653,632,653,0.400993073154,0.0045900088305,0.0498616149436,0.999999961307,0.000121382828953,-0.000247767401491,-3.55385807369e-05,1793239720026018048
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714,679,667,635,880,788,804,653,632,653,0.400992971779,0.00458853209898,0.0498616014893,0.999999961479,0.000119505986955,-0.00024799819522,-3.54532091507e-05,1793239720042684672
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.782781311,745,714,679,667,635.217218689,880,788,804,653,631.782781311,653,0.4009969362,0.00458802249778,0.0498633710869,0.999999962396,0.00011857129475,-0.000244734266646,-3.54073443372e-05,1793239720059351296
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.194830352,745,714,679,667,635.805169648,880,788,804,653,631.194830352,653,0.40100783981,0.00458916352093,0.0498681838612,0.999999964531,0.000119244592047,-0.000235505812894,-3.54289066732e-05,1793239720076017920
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.387491677,745.387491677,714,679,667,636,880,788,804,653.387491677,631.387491677,653,0.401032377572,0.00458991564061,0.0498771869561,0.999999968618,0.000119592773791,-0.000217279022488,-3.53760411865e-05,1793239720092684800
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.967024063,745.967024063,714,679,667,636,880,788,804,653.967024063,631.967024063,653,0.401063672415,0.00459047502001,0.0498882667725,0.999999973271,0.00011977982842,-0.00019459265937,-3.52862892907e-05,1793239720109351424
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,653.455294357,632,653,0.401126038894,0.00458968213269,0.0499084396636,0.999999980679,0.000119138396517,-0.000152337960853,-3.52299745124e-05,1793239720126017792
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,653,631.878380971,653,0.401191675468,0.00458855585599,0.0499276901018,0.999999985967,0.000117903296446,-0.000113770754526,-3.49328712128e-05,1793239720142684672
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,653,631.303912009,653,0.401262507921,0.00458649199226,0.0499414629815,0.999999988504,0.000114643789358,-9.3330071054e-05,-3.37316773203e-05,1793239720159351808
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,714.278181187,679,667,635.721818813,880,788,804,653,631,653,0.401338655259,0.00458474428896,0.049951780829,0.999999990178,0.000111769846604,-7.8040024724e-05,-3.2569671441e-05,1793239720176018688
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,714.868838521,679,667,635.131161479,880,788,804,653,631,653,0.401420772713,0.00458335172337,0.0499582176972,0.99999999118,0.000109329001869,-6.85356018414e-05,-3.14516848655e-05,1793239720192685056
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.450160201,745.549839799,714.549839799,679,666.549839799,635,879.549839799,788,804,653.450160201,631,653,0.401513592382,0.00458258352003,0.0499580758821,0.999999991205,0.000107587665669,-7.12323148834e-05,-3.06609245333e-05,1793239720209351424
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.97136728,745.02863272,714,679,666.02863272,635.02863272,879.02863272,788,804.02863272,653.97136728,631.02863272,653,0.401610888927,0.0045819677372,0.0499560905151,0.999999990945,0.000106007182923,-7.72895665142e-05,-2.99663795928e-05,1793239720226017792
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.396411691,745.603588309,714,679,666.603588309,635.603588309,879.603588309,788,804.603588309,653.396411691,631.603588309,653,0.401735317112,0.00458085965186,0.0499547597959,0.999999990913,0.000103686022716,-8.10145721324e-05,-2.93254466684e-05,1793239720242684416
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.822136358,879.822136358,788,804.644272716,653,632,653,0.401870248664,0.00457963708832,0.0499549830812,0.999999991097,0.000101699960106,-8.15764616134e-05,-2.84157336018e-05,1793239720259351040
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.249371439,879.249371439,788,803.498742878,653,632,653,0.402028500271,0.00457816035497,0.0499586566408,0.999999991771,0.00010045789735,-7.51154504393e-05,-2.69092622275e-05,1793239720276017664
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,714,679.334671455,667,635.334671455,879.334671455,788,803,653,632,653,0.402198135557,0.00457594838991,0.0499588428389,0.99999999201,9.7954505734e-05,-7.57763340203e-05,-2.5363673345e-05,1793239720292684544
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,714,679.927410953,667,635.927410953,879.927410953,788,803,653,632,653,0.402376548912,0.00457316948118,0.049956339903,0.999999991898,9.44784924263e-05,-8.19289713586e-05,-2.37879204543e-05,1793239720309351168
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,714,679.491441763,667,635.491441763,879.491441763,788,803.508558237,653,631.491441763,653,0.402593308911,0.00457221976301,0.0499582618593,0.999999992607,9.07059162651e-05,-7.77258118331e-05,-2.27246970526e-05,1793239720326017536
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.912616544,746,714,679,667,635,879.087383456,788,804.087383456,653,631,653.087383456,0.402821944515,0.00457123462548,0.0499606413885,0.999999993368,8.69896541971e-05,-7.23264159344e-05,-2.15752463223e-05,1793239720342684160
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.337720537,746,714,679,667,635,879.662279463,788,804.662279463,653,631,653.662279463,0.403086978623,0.0045686277267,0.0499621286226,0.999999993963,8.38184626226e-05,-6.83159436309e-05,-1.95456916506e-05,1793239720359350784
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.24241337,746,714,679.24241337,667,635,880,788,804.75758663,653,631,653.75758663,0.403369048254,0.00456584527165,0.0499674866192,0.999999995061,7.98209394041e-05,-5.65813595377e-05,-1.74561179446e-05,1793239720376017408
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.830005628,746,714,679.830005628,667,635,880,788,804.169994372,653,631,653.169994372,0.403675375203,0.00456281283745,0.0499783562982,0.999999996524,7.46467805939e-05,-3.38482060642e-05,-1.52810816441e-05,1793239720392684032
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714,679.588025441,667,635,880,788,804,653,631.411974559,653,0.404010151166,0.00455933102097,0.0499880666505,0.999999997369,6.95525187719e-05,-1.61813865951e-05,-1.27681841511e-05,1793239720409350656
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,714,679.00834565,667,635,880,788,804,653,631.99165435,653,0.40435650805,0.00455566627152,0.0499973050676,0.999999997869,6.44907812704e-05,-5.76954069162e-07,-1.01177513003e-05,1793239720426017280
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714,679.567099369,667,635.567099369,880,788,804,653,631.432900631,653,0.404741469158,0.00455191134982,0.0500016748534,0.999999998192,5.90100090553e-05,8.57526117385e-06,-7.82420722566e-06,1793239720442683904
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,714,679.857155426,667,636,879.857155426,788,804,653.142844574,631,653,0.40513398584,0.00454780911386,0.0500022124361,0.99999999852,5.3192871234e-05,1.02051568023e-05,-5.2071019478e-06,1793239720459350784
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,714,679.280310333,667,636,879.280310333,788,804,653.719689667,631,653,0.405547745038,0.00454265564574,0.0499913228214,0.999999998866,4.63723617368e-05,-1.07334388423e-05,-1.59109143545e-06,1793239720476017408
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,879,788,804,653.696655381,631,653,0.405960272125,0.00453839559338,0.0499747216856,0.999999998207,4.07664160262e-05,-4.38300102551e-05,1.63185344059e-06,1793239720492684032
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,879,788,804,653.106563089,631,653,0.406371634561,0.00453498007455,0.049952721523,0.999999995422,3.63085806169e-05,-8.84193583743e-05,4.48323896937e-06,1793239720509350656
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.526352733,879.473647267,788,804,653,631,653,0.406842995786,0.00452981321783,0.0499410749162,0.999999994146,3.01930777031e-05,-0.0001036549239,7.27766045631e-06,1793239720526017280
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714.051345344,679,667,635.051345344,880,788,804,653,631.051345344,653,0.407334556967,0.00452428221438,0.049933826473,0.99999999373,2.38440813366e-05,-0.00010894432238,1.00922274789e-05,1793239720542684160
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714.625637598,679,667,635.625637598,880,788,804,653,631.625637598,653,0.407897179082,0.00451897347932,0.0499481331748,0.999999996629,1.88377891247e-05,-7.88208185272e-05,1.32398384862e-05,1793239720559350784
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,879.800527685,788,804,652.800527685,631.800527685,653,0.408480483463,0.00451292856777,0.0499667922702,0.999999998714,1.66464864868e-05,-4.48214963064e-05,1.69362484485e-05,1793239720576017664
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,879.227549726,788,804,652.227549726,631.227549726,653,0.409102514701,0.00450550518918,0.0499936010852,0.999999999565,1.97261637276e-05,-3.56482776125e-06,2.16602670316e-05,1793239720592684288
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.642353139,746,714.642353139,679,667,635.642353139,879,788,804,652.357646861,631,653,0.409714979449,0.00449933152427,0.0500062449346,0.999999998138,5.36674718652e-05,1.44046587892e-05,2.52139127921e-05,1793239720609350912
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.049107596,746,714.049107596,679,667,635.049107596,879,788,804,652.950892404,631,653,0.410321142279,0.00449398110441,0.0500095576589,0.999999993638,0.000107938776742,1.70337898068e-05,2.79965791114e-05,1793239720626017280
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.468179244,714,679,667,635,879.531820756,788,804,653,631,653,0.410922446534,0.00448595449873,0.0499882990725,0.999999995073,8.9350578922e-05,-3.11322981725e-05,3.00236971559e-05,1793239720642683904
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.110474575,745.110474575,714,679,667,635,880,788,804,653,631,652.889525425,0.411537556506,0.0044772322644,0.0499666339544,0.99999999506,5.562751137e-05,-7.69397879938e-05,2.94096753108e-05,1793239720659350528
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.684251222,745.684251222,714,679,667,635,880,788,804,653,631,652.315748778,0.412212402819,0.00446660562354,0.0499525636731,0.999999995357,-1.39915386647e-05,-9.36309932881e-05,1.80053479111e-05,1793239720676017408
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.735191771,714,679,667,635,880,788,804,653,631,652.264808229,0.412931899467,0.00445716669851,0.0499579611096,0.999999995817,-4.91242242234e-05,-7.59939548975e-05,1.33452067599e-05,1793239720692684032
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.146337559,714,679,667,635,880,788,804,653,631,652.853662441,0.413706034847,0.00444918118062,0.0499871812017,0.999999998839,-4.20559347654e-05,-1.63494271738e-05,1.69379287762e-05,1793239720709350656
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.435459374,714,679,667,635,880,788,803.564540626,652.564540626,631,653,0.414446001114,0.00444524783766,0.0499877560375,0.999999998881,-3.89283570781e-05,-1.79513226055e-05,2.00246840735e-05,1793239720726017280
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,714,679.014854229,667,635.014854229,880,788,803.014854229,652.014854229,631,653,0.415174918837,0.00444291878867,0.0499784185042,0.999999998244,-3.69706618464e-05,-4.02632320124e-05,2.28956605067e-05,1793239720742684160
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,714,679.591667319,667,635.591667319,880,788,803.591667319,652.591667319,631,653,0.415913332918,0.00445058727273,0.0499524517897,0.999999996078,-2.99705087156e-05,-7.98337798983e-05,2.39333725167e-05,1793239720759350528
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.828907587,746,714,680,667,635.828907587,880,788,804,653,631.171092413,653,0.416676883567,0.00446376213039,0.049939740211,0.999999994868,-1.44693220901e-05,-9.73980629002e-05,2.38220206906e-05,1793239720776017152
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.243152019,746,714,680,667,635.243152019,880,788,804,653,631.756847981,653,0.417501355681,0.0044902823499,0.0499591540583,0.999999997648,2.16351467801e-05,-6.16274994201e-05,2.09257736757e-05,1793239720792683776
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.33907329,746,714,679.66092671,667,635,880,788,804,652.66092671,632,653,0.418331908137,0.00449788360719,0.0499795815097,0.999999999018,2.95590055927e-05,-2.58819272646e-05,2.05066743273e-05,1793239720809350656
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.918793085,746,714,679.081206915,667,635,880,788,804,652.081206915,632,653,0.419166775888,0.00449205773038,0.0500007283336,0.99999999956,1.74825693201e-05,9.8459065364e-06,2.18456520385e-05,1793239720826017280
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.503358979,635,880,788,804,652,631.503358979,653,0.419966901555,0.00448166151821,0.0499832346759,0.999999999499,3.00008031969e-06,-2.20068782144e-05,2.2533776391e-05,1793239720842684160
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.073698635,635,880,788,804,652,631,653,0.42077294818,0.00447164859301,0.0499655142282,0.999999998291,-9.93948340125e-06,-5.2819554787e-05,2.30049936216e-05,1793239720859350784
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.647462404,635,880,788,804,652,631,653,0.421657570465,0.00446928801212,0.0499889646376,0.999999999693,-9.75044341588e-06,-1.87732095462e-06,2.27238315847e-05,1793239720876017408
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788,804,652.227862299,631.227862299,653,0.422533871275,0.00446695566826,0.050003374543,0.999999999253,-1.03639818709e-05,2.92677904931e-05,2.30134612508e-05,1793239720892684032
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788,804,652.818837365,631.818837365,653,0.423396911433,0.0044646683215,0.0500033778456,0.999999999215,-1.22564790668e-05,2.88649621822e-05,2.4212683083e-05,1793239720909350912
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,714,679.401991607,667,635,880,788,804,652.598008393,631.598008393,653,0.424249769824,0.00446944065467,0.0499928887068,0.99999999959,-9.03534085272e-06,1.1941105216e-05,2.44077500083e-05,1793239720926017280
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679.981688522,667,635,880,788,804,652.018311478,631.018311478,653,0.425098127187,0.00447733380586,0.0499777612559,0.999999999626,-3.55365742466e-06,-1.22860745755e-05,2.41589178869e-05,1793239720942684160
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.443023782,746,714.556976218,680,667,635,880,788,804,652,631.556976218,653,0.425981648639,0.00448123368172,0.0499986942863,0.999999999534,7.79713117659e-07,1.66962553559e-05,2.55415142192e-05,1793239720959350784
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.132042025,746,714.867957975,680,667,635,880,787.867957975,804,652.132042025,632,653,0.426849530924,0.00448230394091,0.0500130920036,0.999999999147,3.04069216745e-06,3.08795179994e-05,2.72529731941e-05,1793239720976017152
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.706846019,746,714.293153981,680,667,635,880,787.293153981,804,652.706846019,632,653,0.427661125973,0.00447432272502,0.050001631438,0.999999999498,-1.52185363169e-06,-1.03811239584e-05,2.9888732546e-05,1793239720992683776
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.711493632,714,679.711493632,667,635,880,787.288506368,804.288506368,653,632,653,0.428485326533,0.00446923621764,0.0499809231684,0.999999998235,-5.65676244794e-06,-5.06946686896e-05,3.04757910392e-05,1793239721009351168
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.122696919,714,679.122696919,667,635,880,787.877303081,804.877303081,653,632,653,0.429322647422,0.00446716265298,0.0499505894752,0.999999995486,-9.34656725886e-06,-9.00224296242e-05,2.89304697938e-05,1793239721026018816
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.460046893,714,679,667,635,880,788,805,652.539953107,631.539953107,653,0.430197952292,0.00446703654232,0.0499594764787,0.999999997471,-1.16305868258e-05,-6.41569475455e-05,2.84017068418e-05,1793239721042685184
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714.040666876,679.040666876,667,635.040666876,880.040666876,788,805,652,631.040666876,653,0.431076969747,0.00446760638096,0.049976050219,0.999999999169,-1.27661658276e-05,-2.65252835067e-05,2.82178655458e-05,1793239721059351296
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714.614333894,679.614333894,667,635.614333894,880.614333894,788,805,652,631.614333894,653,0.431873593884,0.00447057861495,0.0499580517942,0.999999997795,-3.69992089861e-06,-5.96084448328e-05,2.90474333199e-05,1793239721076017920
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.807316648,714.807316648,680,667,635.807316648,881,788,804.807316648,652,631.807316648,653,0.432671255048,0.00447246969622,0.0499468075765,0.999999996427,7.9286607946e-07,-7.91765316918e-05,2.96162280054e-05,1793239721092684544
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.219361499,714.219361499,680,667,635.219361499,881,788,804.219361499,652,631.219361499,653,0.433471043721,0.00447214289479,0.0499494189767,0.99999999703,-4.09636464658e-06,-7.10197190592e-05,2.96500714056e-05,1793239721109351424
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.636663867,745.363336133,714.363336133,680,667.363336133,635,880.636663867,788,804,652,631,653,0.434300224068,0.00446865487099,0.0499685847436,0.999999998561,-8.87774047608e-06,-4.29195101983e-05,3.09496347966e-05,1793239721126017792
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.05709518,745.94290482,714.94290482,680,667.94290482,635,880.05709518,788,804,652,631,653,0.43514689626,0.00446328550615,0.0499976025251,0.999999999359,-1.35949282216e-05,-2.95037078167e-06,3.30024672005e-05,1793239721142684160
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,746,714.479882729,680,667.479882729,635,880.520117271,788,804,652,631.520117271,653,0.435875023691,0.00446533692803,0.0499829358277,0.999999998422,-1.37007570913e-05,-4.3317792214e-05,3.30329484935e-05,1793239721159351040
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.096852709,746,714,680,667,635,881,788,804.096852709,652,632,653,0.436594761061,0.00446783074422,0.0499656840419,0.999999995807,-1.36858640874e-05,-8.43906763603e-05,3.28116621137e-05,1793239721176017920
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.672502885,746,714,680,667,635,881,788,804.672502885,652,632,653,0.437337062543,0.00446850266477,0.0499592521884,0.999999995693,-1.55653496439e-05,-8.55511836691e-05,3.24382727668e-05,1793239721192684800
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.745577839,714,680,667,635,881,788,804.745577839,652,632,653,0.438078169229,0.0044672706164,0.0499665951707,0.999999997274,-1.53565137541e-05,-6.43681127885e-05,3.27490585273e-05,1793239721209351680
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.155385037,714,680,667,635,881,788,804.155385037,652,632,653,0.438817699037,0.00446352582749,0.0499921173303,0.999999999253,-1.23916401341e-05,-1.36973683869e-05,3.3962776271e-05,1793239721226018304
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.426077144,714,680,667,635,880.573922856,787.573922856,804,652,631.573922856,653,0.439506046719,0.00446324100295,0.0499860676672,0.999999999167,6.06334341095e-06,-2.05839476418e-05,3.47224164076e-05,1793239721242684928
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714.0043929,680,667,635,880.0043929,787.0043929,804.008785801,652,631.0043929,653,0.440175581858,0.0044641837982,0.049968661462,0.999999997771,2.9817558398e-05,-4.8171069664e-05,3.5325830559e-05,1793239721259351296
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,714.579273024,680,667,635,880.579273024,787.579273024,805.158546048,652,631.579273024,653,0.440777340057,0.00446397726295,0.0499416608863,0.999999994754,2.28725254901e-05,-9.28449973821e-05,3.67143334805e-05,1793239721276017920
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.846268346,746,714.846268346,680,667,635,881,787.846268346,805.692536691,652,632,653,0.441378373425,0.00446550927274,0.0499226329451,0.999999991415,1.88310649902e-05,-0.000123991529597,3.79671744615e-05,1793239721292684032
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.27295996,746,714.27295996,680,667,635,881,787.27295996,804.54591992,652,632,653,0.44197742866,0.00447178625871,0.0499253645497,0.999999992,2.27142651735e-05,-0.000118218022136,3.88497565076e-05,1793239721309350656
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.310451142,745.689548858,714.310451142,680,667,635,881,787.310451142,804.310451142,652,632,653,0.442551150112,0.0044808377194,0.0499245300356,0.999999991899,3.20697279517e-05,-0.000116688029283,3.94665774858e-05,1793239721326017792
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.903043669,745.096956331,714.903043669,680,667,635,881,787.903043669,804.903043669,652,632,653,0.44310184791,0.0044924106526,0.0499204545937,0.999999991048,4.63984424268e-05,-0.000119014589122,3.98418718487e-05,1793239721342684672
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.516523264,745.483476736,714.516523264,680,666.516523264,634.516523264,880.516523264,787.516523264,805,652.483476736,632,653,0.443595862557,0.00450760375341,0.0498915596627,0.999999982771,6.62144695338e-05,-0.00016878851079,3.97960133054e-05,1793239721359351552
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.93863699,714,680,666,634,880.06136301,787.06136301,805,652.93863699,631.93863699,653,0.444073955661,0.00452206950976,0.0498575089323,0.999999969696,8.47345328201e-05,-0.00022773879654,3.95281306169e-05,1793239721376018432
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.362162325,714,680,666,634,880.637837675,787.637837675,805,652.362162325,631.362162325,653,0.444511476606,0.00452448478466,0.0498209347128,0.999999954957,8.33647451599e-05,-0.00028580525955,3.80880561251e-05,1793239721392684544
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.218606339,714,680,666,634,881,787.781393661,805,652,631.218606339,653,0.444946013048,0.00452556293171,0.0497959170156,0.999999945382,6.45782228946e-05,-0.000322549323714,3.20472894674e-05,1793239721409351168
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.806631291,714,680,666,634,881,787.193368709,805,652,631.806631291,653,0.445375505991,0.0045243814921,0.0497904284649,0.999999947451,1.63594990075e-05,-0.000323261074527,1.82319026088e-05,1793239721426018048
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.388933074,746,714,680,665.611066926,634,880.611066926,787,805,652,631.611066926,652.611066926,0.445806390564,0.00452268272089,0.0497956900556,0.999999953223,-1.16204392257e-06,-0.000305526482971,1.43703313823e-05,1793239721442684672
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.968430741,746,714,680,665.031569259,634,880.031569259,787,805,652,631.031569259,652.031569259,0.446237957028,0.00452073047387,0.0498062188664,0.999999961023,-3.64296795092e-06,-0.000278753781979,1.53858057976e-05,1793239721459351296
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,746,714,680,665,634,880.544990989,787.544990989,805,652,631,652.544990989,0.446596278612,0.00452405361702,0.0497969249219,0.999999957232,2.56619773017e-06,-0.00029202545351,1.58423986829e-05,1793239721476018176
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.880198756,745.880198756,714,680,665,633.880198756,880.880198756,788,805,652,631.119801244,653,0.446932628831,0.00452884672565,0.0497817468981,0.999999950031,1.05206327524e-05,-0.00031555930895,1.58132848963e-05,1793239721492684800
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.311313894,745.311313894,714,680,665,633.311313894,880.311313894,788,805,652,631.688686106,653,0.447202437078,0.00453801074692,0.0497487932244,0.999999931585,2.31404828932e-05,-0.000368913063588,1.40841699392e-05,1793239721509351680
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.270816954,714,680,665,633,880,787.729183046,805,652,632,653,0.447466155644,0.00454689994109,0.049720740049,0.999999912866,6.41856233188e-05,-0.000412292506918,1.27985570579e-05,1793239721526018048
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.868957567,714,680,665,633,880,787.131042433,805,652,632,653,0.447722513885,0.00455545696419,0.0496986098766,0.999999891787,0.000139587068378,-0.000443616467262,1.20489842638e-05,1793239721542684416
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,680.45056646,665,632.54943354,880.45056646,787,805,652,631.54943354,652.54943354,0.447979844547,0.00456738129306,0.0496992254632,0.999999889061,0.000164656812526,-0.000441118873893,1.34458788187e-05,1793239721559351296
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714.027529829,680.972470171,665,632,881,787,805,652.027529829,631,652,0.448236009122,0.00458070368702,0.0497062149801,0.999999892309,0.000175985356199,-0.00042915991838,1.524178408e-05,1793239721576017664
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,714.604341307,680.395658693,665,632,881,787,805,652.604341307,631,652,0.448463464569,0.00460307206126,0.0497130589061,0.999999893673,0.000194878728206,-0.000417742310072,1.29839599651e-05,1793239721592684288
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,746,714.816325302,680,664.816325302,632,881,787,805,652.816325302,631.183674698,652.183674698,0.448674390477,0.00461731893408,0.0497188807799,0.999999894787,0.000205979070745,-0.00040970409406,1.18417748153e-05,1793239721609351168
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,746,714.231483838,680,664.231483838,632,881,787,805,652.231483838,631.768516162,652.768516162,0.448849213935,0.0046138275064,0.0497224703726,0.999999896242,0.000200058534091,-0.000409046863191,1.31362743913e-05,1793239721626018304
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.649686955,714,680,664,632,881,787.350313045,805,652,632,653,0.449004626663,0.00460999562201,0.0497214309743,0.999999896541,0.000193175937346,-0.000411588722618,1.39786168252e-05,1793239721642685184
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.069884514,714,680,664,632,881,787.930115486,805,652,632,653,0.449147323476,0.00460594070473,0.0497173591333,0.999999896037,0.000185663096301,-0.00041622629981,1.45247521199e-05,1793239721659351808
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.508600292,714,680,664,632,880.491399708,787.491399708,805,652,632,653,0.449266403744,0.00460832829812,0.0497138623562,0.999999892802,0.000187795813559,-0.000422985272101,1.4560542832e-05,1793239721676017920
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,680.086233799,664.086233799,632,880,787,805,652,632,653,0.449379663462,0.00461087987439,0.0497108609155,0.999999889697,0.000190167237565,-0.000429218290478,1.46020869287e-05,1793239721692684288
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,680.660074987,664.660074987,632,880,787,805,652,632,653,0.449478312673,0.00460936606935,0.0497102146984,0.999999889703,0.00018641360474,-0.000430833341137,1.50716547233e-05,1793239721709350912
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714.240801861,681,664.759198139,632,880.240801861,787,804.759198139,652,632,653,0.449566927504,0.00460859465439,0.0497098740696,0.999999889742,0.000184622238739,-0.000431504984971,1.52925924506e-05,1793239721726017792
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714.831534917,681,664.168465083,632,880.831534917,787,804.168465083,652,632,653,0.449640960457,0.0046089020744,0.0497099775193,0.999999889849,0.000185682422267,-0.000430805678021,1.51522230714e-05,1793239721742684416
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.586309919,714.586309919,680.586309919,664,631.586309919,880.586309919,787.413690081,804.413690081,652.413690081,632,652.586309919,0.44970033997,0.00461070494971,0.0497078810792,0.99999988783,0.000187715191303,-0.000434602168673,1.49686097595e-05,1793239721759351296
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.007576946,714.007576946,680.007576946,664,631.007576946,880.007576946,787.992423054,804.992423054,652.992423054,632,652.007576946,0.449753873448,0.00461310444136,0.0497049069865,0.99999988493,0.000190135976198,-0.000440192271199,1.47677441547e-05,1793239721776018176
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.566788881,745.566788881,714,680,664,631.566788881,880.566788881,787.433211119,805,653,632,652.566788881,0.449794293333,0.00461266141947,0.0497046193244,0.999999884718,0.000191042677882,-0.00044028370575,1.47293959132e-05,1793239721792685056
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,714,680,664,632,881,787,805.141795425,653,632,653,0.449831710041,0.00461311847928,0.0497046014042,0.999999884503,0.000192741035996,-0.000440038257246,1.45284938032e-05,1793239721809351680
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,714,680,664,632,881,787,805.718946943,653,632,653,0.44986044018,0.00461645484775,0.0497053022557,0.999999884161,0.000196931695278,-0.000438982437457,1.38218812768e-05,1793239721826017792
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765.468500769,746,714.531499231,680,663.468500769,631,880.468500769,787,805.531499231,652,631,653,0.449933582841,0.00461505921077,0.049701768998,0.999999881358,0.000196520212941,-0.000445491564706,1.4190792229e-05,1793239721992684288
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714.890166716,680,663.219666569,631,880,787,805.890166716,652,631,653,0.44993725903,0.00461467597444,0.0497035108617,0.999999882941,0.000195461347773,-0.00044239825096,1.40333802627e-05,1793239722009350912
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714.30434982,680,664.391300359,631,880,787,805.30434982,652,631,653,0.449936319053,0.00461810699984,0.0497023211769,0.999999881181,0.000200397599538,-0.000444178330264,1.35501596646e-05,1793239722026017536
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.721722708,714,680,664.721722708,631,880.278277292,787,805,652.278277292,631.278277292,653,0.449936627678,0.00461909676535,0.049702211592,0.999999880727,0.000201847247793,-0.000444546164991,1.34892367837e-05,1793239722042684416
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.14254463,714,680,664.14254463,631,880.85745537,787,805,652.85745537,631.85745537,653,0.449938286414,0.00461744680093,0.0497032699173,0.999999881702,0.000199526837922,-0.000443386942167,1.38849436827e-05,1793239722059351296
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.436908638,745,714,680,664,631,880.563091362,787,805,653,631.563091362,653,0.449938317632,0.00461650562981,0.049703251828,0.999999881955,0.00019794290769,-0.000443535177444,1.36328902045e-05,1793239722076017920
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.983706825,745.016293175,714,680,664,631,880,786.983706825,805,653,631,653,0.449937799774,0.00461579616144,0.0497028780268,0.999999881948,0.000196629063254,-0.000444146760556,1.31863988928e-05,1793239722092684544
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.40974841,745.59025159,714,680,664,631,880,786.40974841,805,653,631,653,0.449936674322,0.00461509723396,0.0497023569636,0.999999881177,0.000196330129907,-0.000446008012511,1.332285645e-05,1793239722109351168
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714,680.167933614,664,631,880,786.167933614,804.832066386,652.832066386,631,653,0.449936098692,0.00461499139357,0.0497020814163,0.999999880662,0.000196450729993,-0.000447103850979,1.3460572482e-05,1793239722126017792
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,680.754907016,664,631,880,786.754907016,804.245092984,652.245092984,631,653,0.449936895013,0.00461636546592,0.0497024184976,0.999999880794,0.000197618179488,-0.000446289775664,1.36014287405e-05,1793239722142684416
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.339369803,746,714,681,664,631,880,787,804.339369803,652,631,653,0.449937721583,0.00461618892698,0.0497028141825,0.999999881359,0.000197136824384,-0.000445236945732,1.35029988093e-05,1793239722159350784
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.922032712,746,714,681,664,631,880,787,804.922032712,652,631,653,0.449938569838,0.00461490075978,0.0497032518801,0.999999882234,0.000195473446577,-0.000444012953428,1.32330253809e-05,1793239722176017408
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,714,680.500358608,664,631,880,787,805.499641392,652,631,653,0.449939624407,0.00461508717584,0.0497040415296,0.999999882402,0.000195949488709,-0.000443422755743,1.32723025774e-05,1793239722192684288
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,714,680,664,631,880,787,805.924243103,652.075756897,631,653,0.44994042777,0.00461555191305,0.0497045545807,0.999999882317,0.000196790302319,-0.000443239153868,1.33385025333e-05,1793239722209351168
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,714,680,664,631,880,787,805.352789135,652.647210865,631,653,0.449939378881,0.00461634722842,0.0497029020129,0.999999881293,0.000197855325574,-0.000445075357241,1.32682660159e-05,1793239722226018048
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.773896838,746,714,680.226103162,664,631,880,787,805,653,631,652.773896838,0.449938550615,0.00461697959872,0.0497016562786,0.999999880529,0.000198383884235,-0.000446554702949,1.32519279962e-05,1793239722242684672
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.183003611,746,714,680.816996389,664,631,880,787,805,653,631,652.183003611,0.449938078297,0.00461734907701,0.0497010669205,0.99999988019,0.000198046922417,-0.000447458302322,1.33225486633e-05,1793239722259351296
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714.401141981,680.598858019,664,631,880.401141981,787,805,652.598858019,631.401141981,652,0.449939469627,0.00461627037021,0.0497020831267,0.999999880758,0.000198376152785,-0.000446036486383,1.35297025206e-05,1793239722276017664
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714.982260147,680.017739853,664,631,880.982260147,787,805,652.017739853,631.982260147,652,0.4499416971,0.0046145419213,0.0497038196848,0.999999881726,0.000199004276665,-0.000443571350574,1.37981132948e-05,1793239722292684288
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714.443704138,680,664,631,881,787,804.443704138,652.556295862,631.443704138,652,0.449939964264,0.00461638143198,0.0497029774922,0.999999880613,0.000200496173771,-0.000445415397741,1.34225901974e-05,1793239722309350912
+252,4.200000000,HOLD_POSE2,766,746,714,680,664,631,881,788,805,652,631,653,0.449940781171,0.00461686499111,0.0497018923776,0.999999880704,0.000200615839286,-0.000445165071158,1.31478311777e-05,1793239722350577408
+253,4.216666667,HOLD_POSE2,765.420744866,746,714.579255134,680,664,631.579255134,881,787.420744866,805,652.579255134,631.579255134,653,0.4499409641,0.00461834508567,0.0497024907128,0.999999881021,0.000199330649867,-0.000445046028838,1.2630403847e-05,1793239722367244288
+254,4.233333333,HOLD_POSE2,765,746,714.842129434,680,664,631.842129434,880.842129434,787,805,652.842129434,631.842129434,653,0.449941116935,0.00461896834932,0.0497028015853,0.99999988121,0.00019824005925,-0.000445116929416,1.23599867567e-05,1793239722383910912
+255,4.250000000,HOLD_POSE2,765,746,714.265211879,680,664,631.265211879,880.265211879,787,805,652.265211879,631.265211879,653,0.449941189888,0.00461731726649,0.0497023494256,0.999999881062,0.000197666005691,-0.000445692008809,1.27452262699e-05,1793239722400577792
+256,4.266666667,HOLD_POSE2,765,745.689462416,714,680,664,631,880.310537584,787,804.689462416,652,631,652.689462416,0.449940327572,0.00461768317324,0.049701531003,0.999999880354,0.000198368147608,-0.000446973274263,1.25678204595e-05,1793239722417244160
+257,4.283333333,HOLD_POSE2,765,745.114706847,714,680,664,631,880.885293153,787,804.114706847,652,631,652.114706847,0.44993866949,0.00461976521673,0.049700400949,0.999999879162,0.000200156128488,-0.000448855391456,1.19116931401e-05,1793239722433910528
+258,4.300000000,HOLD_POSE2,765.472592711,745,714,680,664,631,881,787,804.472592711,652,631.472592711,652.472592711,0.449938594992,0.00461917670139,0.049700580385,0.999999879038,0.000200864948326,-0.000448810087255,1.21178961856e-05,1793239722450577152
+259,4.316666667,HOLD_POSE2,766,745.061794266,714,680,664,631,881,787,805,652.061794266,631.938205734,653,0.449939043344,0.00461802145278,0.0497011446463,0.999999879247,0.000201193174991,-0.000448186383482,1.24905521332e-05,1793239722467244032
+260,4.333333333,HOLD_POSE2,766,745.640738309,714,680,664,631,881,787,805,652.640738309,631.359261691,653,0.449940562951,0.00461769584622,0.0497021969975,0.999999880015,0.000200588109531,-0.000446744005426,1.24568366023e-05,1793239722483910656
+261,4.350000000,HOLD_POSE2,765.781859085,746,714.218140915,680,663.781859085,631,881,787,805.218140915,652.781859085,631.218140915,653,0.449941613395,0.00461757329227,0.0497029018696,0.999999880615,0.000199881456196,-0.000445713235863,1.25310676125e-05,1793239722500577280
+262,4.366666667,HOLD_POSE2,765.206977356,746,714.793022644,680,663.206977356,631,881,787,805.793022644,652.206977356,631.793022644,653,0.449941896584,0.00461778280421,0.0497030384848,0.999999880945,0.000199008669293,-0.000445355598072,1.27818310163e-05,1793239722517244416
+263,4.383333333,HOLD_POSE2,765.363469423,746,714.636530577,680,663.363469423,631,881,787,805.636530577,652.363469423,631.636530577,653,0.449942078324,0.00461812443471,0.0497029448174,0.99999988084,0.000199300961526,-0.000445464721169,1.26944261815e-05,1793239722533911040
+264,4.400000000,HOLD_POSE2,765.931421219,746,714.068578781,680,663.931421219,631,881,787,805.068578781,652.931421219,631.068578781,653,0.449942202989,0.00461854039312,0.0497027215966,0.999999880488,0.000200248709491,-0.000445836436815,1.24167730588e-05,1793239722550577664
+265,4.416666667,HOLD_POSE2,765.474836763,746,714,680,664,631,881,787,805,653,631.525163237,653,0.449942153986,0.00461944747669,0.04970325948,0.99999988075,0.000200385633579,-0.000445189264594,1.23475413326e-05,1793239722567244288
+266,4.433333333,HOLD_POSE2,765.118795174,746,714.118795174,680,664,631,880.881204826,787,805,653,631.881204826,653,0.449942013223,0.00461996256691,0.0497034565112,0.999999880953,0.000200045852616,-0.000444887996525,1.22917503551e-05,1793239722583910912
+267,4.450000000,HOLD_POSE2,765.698265802,746,714.698265802,680,664,631,880.301734198,787,805,653,631.301734198,653,0.449941609112,0.00461869599856,0.0497019264262,0.999999880598,0.000198289263371,-0.000446470718381,1.21770862425e-05,1793239722600577280
+268,4.466666667,HOLD_POSE2,766,746,715,680,664,631.275412128,880.275412128,787,805,653,631.275412128,653,0.449941621792,0.00461825631902,0.0497015583865,0.999999880408,0.000198260346061,-0.000446906522522,1.22699033041e-05,1793239722617243904
+269,4.483333333,HOLD_POSE2,766,746,715,680,664,631.850033284,880.850033284,787,805,653,631.850033284,653,0.449942087274,0.00461871497544,0.0497024527983,0.999999880398,0.000200108379767,-0.000446096309776,1.25881288951e-05,1793239722633910784
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,714,679,664,631,881,787,805,653,631,653,0.449939437416,0.0046183036364,0.0497021341393,0.99999987992,0.000199408391095,-0.00044748322895,1.24140976554e-05,1793239722666559744
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,679.579813394,664,631,881,787,805,653,631,653,0.449941512157,0.00461871467956,0.0497030294484,0.999999880222,0.000199695849225,-0.000446690016999,1.20870177405e-05,1793239722683226368
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,664,631,881,787,805,653,631,653,0.449942748137,0.00461861495559,0.0497033332009,0.999999880466,0.000199530529859,-0.000446218338116,1.20163380674e-05,1793239722699892736
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,664,631,881,787,805,653,631,653,0.449941776242,0.00461717073577,0.0497020797951,0.999999880561,0.000198173361116,-0.000446593032852,1.26205825127e-05,1793239722716559104
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714.311269674,680,663.688730326,631,880.688730326,787,805,653,631,653,0.449941186273,0.0046168592455,0.0497014018815,0.999999880324,0.000198181133454,-0.000447117097278,1.27686014943e-05,1793239722733225472
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714.883767321,680,663.116232679,631,880.116232679,787,805,653,631,653,0.449940916831,0.00461749838002,0.0497012069405,0.999999879807,0.000199334410308,-0.000447766517747,1.25337406952e-05,1793239722749892096
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.469750718,746,715,680,663,631,880.469750718,787,805,653,631.469750718,653,0.449940949536,0.00461897639552,0.0497013137232,0.999999879571,0.000200702413123,-0.000447696227916,1.20564240861e-05,1793239722766558720
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.941525628,746,714.941525628,680,663.058474372,631,881,787,805,653,631.941525628,653,0.449940531751,0.00462021122264,0.0497012838951,0.999999879364,0.000201600783721,-0.000447764450917,1.16511266128e-05,1793239722783225344
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.359032098,746,714.359032098,680,663.640967902,631,881,787,805,653,631.359032098,653,0.449935387111,0.00461735160579,0.0496993410124,0.999999878787,0.000197800332281,-0.000450717007864,1.24447396965e-05,1793239722799892480
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.795039506,746,714,680.795039506,664,631,881,787,805,653,631.795039506,653,0.449895408074,0.0046179444695,0.0496820078867,0.999999864802,0.000199653327373,-0.000479982311441,1.23404521405e-05,1793239722833226240
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,663.623571906,631,881,787,805,653,631.623571906,653,0.449851899826,0.00461933925441,0.0496655109614,0.999999849885,0.000201070145149,-0.000509568586373,1.18779432947e-05,1793239722849892608
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.437727001,664,631.437727001,881,787,805,653,631.562272999,653,0.449251967215,0.0046268543973,0.0496064475448,0.999999798177,0.000212937422498,-0.000598536330884,7.57986308195e-06,1793239722966559488
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,714.666984896,680.333969791,664,632,880.666984896,787,805.333015104,653,631.666984896,653,0.448408548159,0.00463369967093,0.0496125519072,0.999999797944,0.000230683522457,-0.000592346350221,4.70690251326e-06,1793239723049891840
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.915107023,745.915107023,714,679.084892977,664,632,880,787,805,653,631,652.084892977,0.447643110601,0.00463854407839,0.0495977932192,0.999999781617,0.000243708324739,-0.000614303997222,1.36707289948e-06,1793239723099892992
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.241955674,714.241955674,680,664.241955674,632.241955674,880.241955674,787,805,652.758044326,631,653,0.447031154917,0.00464614063141,0.0496021749192,0.999999783629,0.000258443608096,-0.000604936205822,-1.12620615545e-06,1793239723133225984
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.172495059,667,635,880,788,804,653,631,653,0.410230788453,0.00460378213616,0.0498125149807,0.999999937903,0.000137627968035,-0.00032196644869,-3.98750752126e-05,1793239723983226112
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.411665344,666.588334656,635,880,788,804,653,631,653,0.409605915463,0.00459889887236,0.0498042968833,0.999999935466,0.000126208386889,-0.000333939760799,-4.02961288614e-05,1793239723999892736
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.999840663,666.000159337,635,880,788,804,653,631,653,0.409004384286,0.00459343848233,0.0497969417206,0.999999934312,0.000112565194934,-0.000342117523175,-4.07610955407e-05,1793239724016559360
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.420674587,745.420674587,714,679.420674587,666,635,880,788,803.420674587,653,631.579325413,653,0.408445351257,0.00459440266337,0.0498156618272,0.99999994501,0.00011657699571,-0.000307746910999,-4.10077360218e-05,1793239724033225984
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.158211109,745.158211109,714,679.158211109,666.158211109,635,880,788,803.158211109,653,631.841788891,653,0.407889820575,0.00459577903227,0.0498317974281,0.999999952532,0.000121736660142,-0.000280085128078,-4.08580613698e-05,1793239724049892352
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.735516302,745.735516302,714,679.735516302,666.735516302,635,880,788,803.735516302,653,631.264483698,653,0.407343536829,0.00459824265691,0.0498410680776,0.999999954263,0.000129924292076,-0.000270225265358,-3.96587226958e-05,1793239724066558976
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.688798715,635.311201285,880,788,804,653,631.311201285,653,0.406803015756,0.00460079676094,0.0498305001006,0.999999946756,0.000134595053149,-0.000294686186393,-3.91531693827e-05,1793239724083225600
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.11448362,635.88551638,880,788,804,653,631.88551638,653,0.406267366929,0.00460342736315,0.0498031590028,0.999999929333,0.000136292376832,-0.000348164571841,-3.9234196254e-05,1793239724099892224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,636,880,788,804,653,631.529863254,653,0.405790722484,0.00460660690084,0.0497863864064,0.999999919692,0.000136755518259,-0.00037453879177,-4.04204777219e-05,1793239724116559360
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.943205499,714,679.943205499,666.056794501,635.943205499,879.943205499,788,804,653,631.056794501,653,0.405334804126,0.00460987403692,0.0497749096632,0.999999913729,0.000137019837333,-0.000389896294772,-4.18220750543e-05,1793239724133226496
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.36143104,714,679.36143104,666.63856896,635.36143104,879.36143104,788,804,653,631.63856896,653,0.404934678076,0.00461268760102,0.049788063404,0.999999922624,0.000138286616856,-0.000365796722046,-4.26703761942e-05,1793239724149892864
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.791744811,714,679,667,635,879.791744811,788,804,653,632,653,0.404217358843,0.00461219087827,0.0498405043874,0.999999949005,0.000140132688659,-0.000283874662111,-4.20379020116e-05,1793239724183225600
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746,714.373708728,679,666.626291272,635,879.626291272,788,804,653,631.626291272,653,0.403896018548,0.0046144537084,0.0498584187517,0.999999955513,0.000145230519381,-0.000257067563833,-4.24100000216e-05,1793239724199892224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,746,714.960061497,679,666.039938503,635,879.039938503,788,804,653,631.039938503,653,0.403585281557,0.00461893048987,0.0498682566176,0.999999957946,0.000152791984392,-0.000242637360705,-4.3472347778e-05,1793239724216559104
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,714.459534801,679.540465199,666,635,879,788,804,653,631,653,0.403275095907,0.00461888526544,0.0498573638277,0.999999951523,0.000155114735506,-0.000266414704309,-4.37783370253e-05,1793239724233225472
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635,879.120095513,788,804,653,631,653,0.402973636243,0.00461836409465,0.0498450213998,0.999999944224,0.000156305394794,-0.000291843941178,-4.41354076376e-05,1793239724249891840
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635,879.698434172,788,804,653,631,653,0.402705318089,0.00461728803591,0.0498329293008,0.999999938076,0.00015463742731,-0.000312920392276,-4.48983310631e-05,1793239724266558720
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.724738632,714,680,666,635,879.724738632,788,803.724738632,653.275261368,631.275261368,653,0.402457037301,0.00461233997916,0.0498229607776,0.999999933746,0.000149305731728,-0.00032950656724,-4.05000995906e-05,1793239724283225600
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.149558331,714,680,666,635,879.149558331,788,803.149558331,653.850441669,631.850441669,653,0.402230588818,0.00460317307579,0.0498153060581,0.999999931529,0.000139982116024,-0.00034120023157,-3.047838343e-05,1793239724299892480
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.435554214,714,679.564445786,666,635,879.435554214,788,803.435554214,653.564445786,632,653,0.402051007048,0.00458833792049,0.0498180337998,0.999999935557,0.000119247602631,-0.000337537962522,-2.70924152465e-05,1793239724316559104
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,714.023783225,679,666,635.023783225,880,788,804,653,632,653,0.401889191219,0.00457243831107,0.0498245083576,0.999999941236,9.58078809938e-05,-0.000328121429847,-2.61854782456e-05,1793239724333225728
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,714.603282933,679,666,635.603282933,880,788,804,653,632,653,0.40175769384,0.00457820589278,0.0498332855548,0.999999946146,0.000102847588702,-0.000310331087963,-2.87205926491e-05,1793239724349892096
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,714.818454629,679,666,635.818454629,880,788,804,653,631.818454629,653,0.40163394558,0.0045822311869,0.0498409272009,0.999999950287,0.000107586847788,-0.000294796356896,-3.07666184201e-05,1793239724366558720
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,714.242877676,679,666,635.242877676,880,788,804,653,631.242877676,653,0.401527016258,0.0045824749664,0.0498461042112,0.999999953363,0.00010733314252,-0.000284157274503,-3.17511110673e-05,1793239724383225344
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.33919806,635.33919806,880,788,804,653,631.33919806,653,0.401428336973,0.00458169824475,0.0498468896966,0.999999953818,0.000107920601723,-0.000282290853227,-3.20843662447e-05,1793239724399892224
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.926018108,635.926018108,880,788,804,653,631.926018108,653,0.401335680382,0.004580176535,0.0498444692734,0.999999952401,0.000109122129328,-0.000286828664976,-3.19422039563e-05,1793239724416559360
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.493644825,635.493644825,879.493644825,788,804,653,632,653.506355175,0.401260490273,0.00458389962514,0.0498428973527,0.99999995115,0.000113444404513,-0.000289394478293,-3.28755693581e-05,1793239724433225728
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.914385472,714,679,666,635,879.085614528,788,804,653,632,653.914385472,0.401191969167,0.00458717655082,0.0498418014556,0.999999950376,0.000116796180365,-0.000290631318925,-3.37646891542e-05,1793239724449892608
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.335946052,714,679,666,635,879.664053948,788,804,653,632,653.335946052,0.401147332711,0.00458352990013,0.0498427411028,0.999999952313,0.00011196996402,-0.000285855722776,-3.35059931529e-05,1793239724466558976
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.240599985,714,679,666.240599985,635,880,788,804,653,632,653,0.401109783679,0.00458258889023,0.0498450865169,0.999999954256,0.00011126622881,-0.00027924307749,-3.36242529604e-05,1793239724483225600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.814522928,714,679,666.814522928,635,880,788,804,653,632,653,0.401082053439,0.00458539622735,0.0498493794556,0.99999995618,0.00011627370621,-0.000270085417162,-3.42647406813e-05,1793239724499892224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.600510753,635,880,788,804,653,632,653,0.401059301509,0.0045851620975,0.0498517703871,0.999999957412,0.000116218945416,-0.000265508034537,-3.42667414018e-05,1793239724516558848
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.010271404,635,880,788,804,653,632,653,0.401038926647,0.00458347571287,0.0498532531386,0.999999958339,0.000113747041944,-0.000263117665837,-3.39638741734e-05,1793239724533225472
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.431269327,714,679,666,635,879.431269327,788,803.431269327,653,632,653,0.401023867133,0.00458143704605,0.0498528041218,0.999999958394,0.00011050884093,-0.000264310691442,-3.37483426121e-05,1793239724549892352
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.146581103,714,679,666.146581103,635,879.146581103,788,803,653,631.853418897,653,0.401010591348,0.00458051168856,0.0498519650144,0.999999958122,0.000109011256095,-0.000265962210851,-3.37175504593e-05,1793239724566559232
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.72164671,714,679,666.72164671,635,879.72164671,788,803,653,631.27835329,653,0.401002254569,0.00458285898461,0.0498500856071,0.999999956952,0.00011264149635,-0.000268768480449,-3.42222654304e-05,1793239724583226368
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,667,635,879.702873064,788,803.297126936,653,631,653,0.400997645667,0.00458434233585,0.0498498708354,0.999999956833,0.000113733492176,-0.000268719430899,-3.44631484729e-05,1793239724599893248
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,667,635,879.127003805,788,803.872996195,653,631,653,0.400996533982,0.0045850151988,0.0498512177006,0.999999957709,0.000112444296888,-0.000265991734295,-3.4456524144e-05,1793239724616559104
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.541009519,714,679,667,635,879.917980962,788,804,653.458990481,631,653,0.400995172735,0.00458498350821,0.0498515726243,0.999999958153,0.000111882376882,-0.000264602095988,-3.40894595099e-05,1793239724633225472
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.047176075,714,679,667,635,880.952823925,788,804,653.952823925,631,653,0.400993940538,0.0045847555739,0.0498518061649,0.999999958513,0.000111630560273,-0.000263396639507,-3.36739481085e-05,1793239724649891840
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.627747113,714,679,667,635,880.372252887,788,804,653.372252887,631,653,0.400994965801,0.00458456275175,0.0498538406107,0.999999959294,0.000112558293235,-0.000259993048219,-3.38637584991e-05,1793239724666558464
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.793481945,635,879.793481945,788,803.793481945,653,631,653,0.400995769588,0.00458445066473,0.0498554531863,0.999999959844,0.000113562390771,-0.000257427291457,-3.38771554804e-05,1793239724683225600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.217927705,635,879.217927705,788,803.217927705,653,631,653,0.400996177611,0.00458448284688,0.0498563119035,0.999999959998,0.000114702947463,-0.000256358698216,-3.35753115805e-05,1793239724699893248
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.636312711,714,679,666.363687289,635,879,788,803.363687289,653,631.363687289,653,0.40099524065,0.00458430627732,0.049855903272,0.999999959921,0.000113779262328,-0.000257059280326,-3.36483021986e-05,1793239724716560128
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.051004484,714,679,666.948995516,635,879,788,803.948995516,653,631.948995516,653,0.400993484093,0.00458400250026,0.0498547223532,0.999999959698,0.000111597685481,-0.000258837948825,-3.39497065785e-05,1793239724733226752
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.529278495,666.470721505,635.529278495,879.529278495,788,804,653,631.470721505,653,0.400994508997,0.00458342676303,0.0498563351213,0.999999960332,0.000111696578162,-0.000256362951886,-3.37291169056e-05,1793239724749892864
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.108604246,714,679.891395754,666,635.891395754,879.891395754,788,804,653,631,653,0.400995401647,0.00458303303737,0.0498577490436,0.999999960838,0.000112333898868,-0.00025413542929,-3.34705915631e-05,1793239724766558976
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.685869188,714,679.314130812,666,635.314130812,879.314130812,788,804,653,631,653,0.400994577789,0.00458353677851,0.0498571540583,0.999999960465,0.000114355289794,-0.000254728081852,-3.32633914175e-05,1793239724783225600
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.262096053,635.262096053,879.262096053,788,804,653,631.262096053,653,0.400994782945,0.00458420178362,0.049857203339,0.999999960383,0.000115951247554,-0.000254337262837,-3.32006048989e-05,1793239724799892224
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.837083731,635.837083731,879.837083731,788,804,653,631.837083731,653,0.400996216544,0.00458505930658,0.0498580217477,0.999999960649,0.000117039321265,-0.00025277237044,-3.33102200886e-05,1793239724816558848
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.576931067,746,714,679,667,635.576931067,880,788,804,653,631.576931067,653,0.40099510677,0.00458391032193,0.0498575859431,0.999999960652,0.00011487517835,-0.000253769158881,-3.31768613622e-05,1793239724833225984
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.013169964,746,714,679,666.986830036,635.013169964,879.986830036,788,804,653,631.013169964,653,0.400993055961,0.00458203026359,0.0498567103409,0.999999960552,0.000111506527739,-0.000255688957943,-3.29512340434e-05,1793239724849892864
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.593279196,746,714,679,666.406720804,635.593279196,879.406720804,788,804,653,631.593279196,653,0.400993782219,0.00458282854474,0.0498582483192,0.999999961035,0.000111637078268,-0.000253744190892,-3.28889043891e-05,1793239724866559488
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.745284204,666,635.254715796,879,788,804,653,632,653,0.400992226698,0.00458160038203,0.0498573695969,0.999999960718,0.000110640648864,-0.000255420296925,-3.2905483351e-05,1793239724899892480
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.680320766,714,679.680320766,666,635,879,788,804,653,632,653,0.400992717609,0.00458149362542,0.0498574510311,0.999999960946,0.000109978350503,-0.000254792350369,-3.30791374577e-05,1793239724916559104
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..02f591eb30dd36119e10c3244376d1be198890e3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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+354,5.900000000,pose2_to_pose3_retreat,0.581229000759,0.0100908525911,1.040032069,0.551799451697,0.0187625902188,1.03970020607
+355,5.916666667,pose2_to_pose3_retreat,0.580762026153,0.0100908595399,1.04003218282,0.55133247703,0.0187625968874,1.03970031793
+356,5.933333333,pose2_to_pose3_retreat,0.58031263427,0.0100908451956,1.04003237886,0.550883084561,0.018762580334,1.0397005081
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+358,5.966666667,pose2_to_pose3_retreat,0.579494319246,0.0100908517897,1.04003236329,0.550064770017,0.0187625886295,1.03970049546
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+360,6.000000000,pose2_to_pose3_retreat,0.578801045939,0.0100907796839,1.04003224075,0.549371497377,0.018762518953,1.03970037646
+361,6.016666667,pose2_to_pose3_retreat,0.57849375407,0.0100908386978,1.04003237334,0.549064205984,0.0187625793014,1.03970050152
+362,6.033333333,pose2_to_pose3_retreat,0.578202381591,0.0100907415959,1.04003241645,0.548772834185,0.0187624842227,1.03970053728
+363,6.050000000,pose2_to_pose3_retreat,0.5779244414,0.0100906964502,1.04003229079,0.548494894456,0.0187624409862,1.03970042061
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+365,6.083333333,pose2_to_pose3_retreat,0.577406870036,0.0100907685216,1.04003236475,0.547977322221,0.0187625101147,1.03970049491
+366,6.100000000,pose2_to_pose3_retreat,0.577169464304,0.0100906942227,1.04003218122,0.547739916733,0.0187624367454,1.03970031425
+367,6.116666667,pose2_to_pose3_retreat,0.576955132083,0.0100906638648,1.04003216929,0.547525584338,0.018762405828,1.0397003032
+368,6.133333333,pose2_to_pose3_retreat,0.576765411339,0.0100907851015,1.04003221256,0.547335862738,0.018762524404,1.03970035279
+369,6.150000000,pose2_to_pose3_retreat,0.576599824294,0.0100908207199,1.04003228082,0.547170275728,0.0187625601258,1.03970042067
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+373,6.216666667,pose2_to_pose3_retreat,0.576128906219,0.0100907569386,1.04003254872,0.546699358319,0.0187624980994,1.03970067622
+374,6.233333333,pose2_to_pose3_retreat,0.576042685324,0.0100907462472,1.04003247843,0.546613137342,0.0187624872535,1.0397006093
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+376,6.266666667,pose2_to_pose3_retreat,0.575900722279,0.0100907162846,1.04003248025,0.546471174943,0.0187624592257,1.03970060404
+377,6.283333333,pose2_to_pose3_retreat,0.575845985148,0.0100907641629,1.04003242115,0.546416436271,0.018762501932,1.0397005464
+378,6.300000000,pose2_to_pose3_retreat,0.575802664959,0.010090820728,1.04003249345,0.546373116926,0.0187625615725,1.03970062415
+379,6.316666667,pose2_to_pose3_retreat,0.575768560483,0.0100907203535,1.04003251506,0.54633901431,0.018762467317,1.03970064073
+380,6.333333333,pose2_to_pose3_retreat,0.575742697449,0.0100906506761,1.04003233427,0.546313152135,0.018762400699,1.03970046377
+381,6.350000000,pose2_to_pose3_retreat,0.575721972134,0.0100906862246,1.04003230505,0.546292426352,0.0187624347256,1.03970043627
+382,6.366666667,pose2_to_pose3_retreat,0.575705489877,0.0100907504822,1.04003235077,0.546275943104,0.0187624955694,1.03970048075
+383,6.383333333,pose2_to_pose3_retreat,0.575692459002,0.0100907111979,1.04003228239,0.546262911941,0.0187624551665,1.03970040868
+384,6.400000000,pose2_to_pose3_retreat,0.575682545682,0.0100905786038,1.04003201108,0.546253,0.0187623278673,1.03970015353
+385,6.416666667,pose2_to_pose3_retreat,0.575675928352,0.0100905840739,1.04003218559,0.546246383294,0.0187623351971,1.03970032104
+386,6.433333333,pose2_to_pose3_retreat,0.575671585737,0.0100906372412,1.04003241201,0.546242040387,0.0187623869341,1.0397005358
+387,6.450000000,pose2_to_pose3_retreat,0.575669199964,0.0100906827711,1.04003242112,0.54623965313,0.0187624272744,1.03970054114
+388,6.466666667,pose2_to_pose3_retreat,0.57566815561,0.0100907027015,1.0400324251,0.546238608126,0.0187624449331,1.03970054347
+389,6.483333333,pose2_to_pose3_retreat,0.575667894833,0.0100907076363,1.04003241094,0.546238347212,0.0187624494155,1.03970052969
+390,6.500000000,pose2_to_pose3_retreat,0.575667848601,0.0100907084934,1.040032402,0.546238300966,0.0187624502411,1.03970052116
+391,6.516666667,pose2_to_pose3_retreat,0.575667839791,0.0100907086567,1.04003240029,0.546238292153,0.0187624503984,1.03970051954
+392,6.533333333,pose2_to_pose3_retreat,0.575667780577,0.0100907097545,1.04003238884,0.546238232921,0.0187624514559,1.03970050861
+393,6.550000000,pose2_to_pose3_retreat,0.575667721316,0.0100907108532,1.04003237739,0.546238173643,0.0187624525142,1.03970049768
+394,6.566666667,pose2_to_pose3_retreat,0.575667673583,0.0100907117381,1.04003236816,0.546238125896,0.0187624533666,1.03970048887
+395,6.583333333,pose2_to_pose3_retreat,0.57566746604,0.0100907155858,1.04003232802,0.54623791829,0.018762457073,1.03970045058
+396,6.600000000,pose2_to_pose3_retreat,0.575667406663,0.0100907166866,1.04003231654,0.546237858895,0.0187624581333,1.03970043962
+397,6.616666667,pose2_to_pose3_retreat,0.575667052185,0.0100907232584,1.040032248,0.546237504311,0.0187624644637,1.03970037421
+398,6.633333333,pose2_to_pose3_retreat,0.575666974637,0.0100907246961,1.040032233,0.546237426739,0.0187624658486,1.03970035991
+399,6.650000000,pose2_to_pose3_retreat,0.575666670334,0.0100907303376,1.04003217416,0.546237122345,0.0187624712829,1.03970030376
+400,6.666666667,pose2_to_pose3_retreat,0.575666567125,0.010090732251,1.0400321542,0.546237019105,0.018762473126,1.03970028472
+401,6.683333333,pose2_to_pose3_retreat,0.575666441722,0.0100907345759,1.04003212995,0.546236893665,0.0187624753655,1.03970026158
+402,6.700000000,pose2_to_pose3_retreat,0.575665924124,0.0100907441718,1.04003202986,0.546236375911,0.0187624846089,1.03970016607
+403,6.716666667,pose2_to_pose3_retreat,0.575665621612,0.0100907506586,1.04003198913,0.54623607334,0.0187624909705,1.03970012726
+404,6.733333333,pose2_to_pose3_retreat,0.575665414668,0.0100907578423,1.04003201678,0.546235866457,0.0187624983212,1.03970015386
+405,6.750000000,pose2_to_pose3_retreat,0.575665287083,0.0100907622712,1.04003203383,0.54623573891,0.0187625028531,1.03970017026
+406,6.766666667,pose2_to_pose3_retreat,0.575665186821,0.0100907657517,1.04003204723,0.546235638677,0.0187625064145,1.03970018315
+407,6.783333333,pose2_to_pose3_retreat,0.575664749334,0.0100907809384,1.04003210569,0.546235201319,0.0187625219541,1.03970023939
+408,6.800000000,pose2_to_pose3_retreat,0.575664472192,0.0100908211828,1.04003220198,0.546234924398,0.0187625629464,1.03970033562
+409,6.816666667,pose2_to_pose3_retreat,0.575664436307,0.0100908292685,1.04003222001,0.546234888555,0.0187625711781,1.03970035376
+410,6.833333333,pose2_to_pose3_retreat,0.575664406623,0.0100908359571,1.04003223492,0.546234858906,0.0187625779875,1.03970036877
+411,6.850000000,pose2_to_pose3_retreat,0.575664375609,0.0100908247952,1.04003224016,0.546234828087,0.018762567528,1.03970037501
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+413,6.883333333,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2dd779815a7b21d910eb671b1ab66159388d2023
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d24621ca09676705b16709e30dbc69df4636b1a66b7d1319b115eab64f28ac06
+size 26213517
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea6eb439e8d2dd401acc750311c2231f2a69644c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,414 @@
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+25,0.416666667,BASELINE,766,746,714.493010572,679,667,635.493010572,879.493010572,787.493010572,804,653,632,653,0.400997832785,0.00458369441084,0.0498621744591,0.999999963321,0.000111230052873,-0.000244745995828,-3.29300381233e-05,1793239725610993408
+26,0.433333333,BASELINE,766,746,714,679.08345161,667,635,879,787.08345161,804,653,631.91654839,653,0.400998631382,0.00458369385054,0.0498632181289,0.999999963724,0.000110843850384,-0.00024327499752,-3.29004716168e-05,1793239725627659776
+27,0.450000000,BASELINE,766,746,714,679.65832168,667,635,879,787.65832168,804,653,631.34167832,653,0.400996621323,0.00458197068233,0.0498620667188,0.999999963489,0.000108631130374,-0.000245239924239,-3.28356433375e-05,1793239725644326144
+28,0.466666667,BASELINE,766,746,714,679.759989104,667,635.240010896,879,788,804,653,631,653,0.400995891195,0.00458178165305,0.0498614773194,0.999999963235,0.000108932669719,-0.000246143797821,-3.28248774603e-05,1793239725660992768
+29,0.483333333,BASELINE,766,746,714,679.168308344,667,635.831691656,879,788,804,653,631,653,0.400997036454,0.00458384048193,0.0498617113917,0.99999996295,0.0001129181638,-0.000245492990148,-3.28933251473e-05,1793239725677659392
+30,0.500000000,BASELINE,766,746,714,679,666.587242474,635.587242474,879.412757526,788,803.587242474,653,631.412757526,653.412757526,0.400996930856,0.00458284113512,0.0498613429539,0.999999963068,0.000111025106154,-0.000245877750555,-3.28846938045e-05,1793239725694326272
+31,0.516666667,BASELINE,766,746,714,679,666.010396484,635.010396484,879.989603516,788,803.010396484,653,631.989603516,653.989603516,0.400996327989,0.0045806260349,0.0498607349931,0.999999963334,0.000106795077016,-0.00024667419281,-3.28454203055e-05,1793239725710992896
+32,0.533333333,BASELINE,766,746,714,679,666.564857797,635.564857797,880,788,803.564857797,653,632,653.435142203,0.400996471377,0.00458184152351,0.0498613972646,0.999999963024,0.000110796157345,-0.000246149106771,-3.2955890427e-05,1793239725727659520
+33,0.550000000,BASELINE,766,746,714,679,666.856927721,635.856927721,879.856927721,788,804,653,632,653,0.400996468645,0.004582683205,0.0498617646111,0.999999962762,0.000113531733334,-0.000245962279717,-3.29928655409e-05,1793239725744326400
+34,0.566666667,BASELINE,766,746,714,679,666.269427268,635.269427268,879.269427268,788,804,653,632,653,0.400995969467,0.00458216813492,0.0498611434066,0.999999962725,0.000111866970541,-0.000246901537031,-3.27930043948e-05,1793239725760993024
+35,0.583333333,BASELINE,766,746,714,679,666,635.313829248,879.313829248,788,804,653,631.686170752,653,0.400996301454,0.00458154402965,0.0498614806746,0.999999963074,0.000110020291502,-0.000246341989574,-3.26129170555e-05,1793239725777659648
+36,0.600000000,BASELINE,766,746,714,679,666,635.893490954,879.893490954,788,804,653,631.106509046,653,0.400997337489,0.00458082756488,0.049862629827,0.999999963746,0.000108019518155,-0.000244512863422,-3.24495793109e-05,1793239725794326016
+37,0.616666667,BASELINE,766,746,714,679,666.472302112,635.527697888,880,788,804,653,631.472302112,653,0.400998186036,0.00458174415103,0.0498630981426,0.999999963954,0.000108859508595,-0.000243262056803,-3.26233158815e-05,1793239725810992384
+38,0.633333333,BASELINE,766,746,714,679,666.949705565,635.050294435,879.949705565,788.050294435,804,653,632,653,0.400998843545,0.00458282662279,0.0498633297741,0.999999964037,0.000110121119365,-0.000242324472301,-3.28419984232e-05,1793239725827659264
+39,0.650000000,BASELINE,766,746,714,679,666.378214249,635.621785751,879.378214249,788.621785751,804,653,632,653,0.400997958707,0.00458181866398,0.0498626968876,0.999999963916,0.000109125171527,-0.000243283709321,-3.27401442636e-05,1793239725844325888
+40,0.666666667,BASELINE,766,745.799685781,714.200314219,679.200314219,666.200314219,636,879.200314219,788.799685781,804,653,632,653.200314219,0.400997289709,0.00458145228585,0.0498621393221,0.999999963647,0.000109138709815,-0.000244397462713,-3.26419618223e-05,1793239725860992512
+41,0.683333333,BASELINE,766,745.207386697,714.792613303,679.792613303,666.792613303,636,879.792613303,788.207386697,804,653,632,653.792613303,0.400997043081,0.00458234138491,0.0498617291488,0.999999963083,0.000111127661008,-0.000245813581394,-3.25509643886e-05,1793239725877659648
+42,0.700000000,BASELINE,766,745.376458613,714.623541387,679.623541387,667,636,879.623541387,788,804,653.376458613,632,653.623541387,0.40099604937,0.00458252407286,0.0498613719716,0.999999962789,0.000111642789578,-0.000246769661712,-3.2587091892e-05,1793239725894326528
+43,0.716666667,BASELINE,766,745.955749101,714.044250899,679.044250899,667,636,879.044250899,788,804,653.955749101,632,653.044250899,0.400994653139,0.00458232615402,0.0498610433482,0.999999962642,0.000111363838215,-0.000247477878233,-3.26917129553e-05,1793239725910993152
+44,0.733333333,BASELINE,766.531004498,746,714.531004498,679.531004498,667,636,879.531004498,788.531004498,804.531004498,653.468995502,632,653,0.400996035211,0.00458206083843,0.049862342075,0.999999963179,0.000111618241472,-0.000245218525512,-3.24089671236e-05,1793239725927659776
+45,0.750000000,BASELINE,767,746,714.894194135,679.894194135,667,635.894194135,880,788.894194135,804.894194135,653,632,653,0.400997111634,0.00458168523605,0.0498633198055,0.999999963635,0.000111293413209,-0.000243531713263,-3.21733435557e-05,1793239725944326144
+46,0.766666667,BASELINE,767,746,714.319925587,679.319925587,667,635.319925587,880,788.319925587,804.319925587,653,632,653,0.400995817398,0.00458084601121,0.0498622803908,0.999999963497,0.000108208690952,-0.000245466545277,-3.22882053508e-05,1793239725960992768
+47,0.783333333,BASELINE,766.736974393,746,714,678.736974393,667,635,880,788,804,653,631.736974393,653,0.400995353386,0.00458063097058,0.0498618142015,0.999999963417,0.000106963351125,-0.000246333452879,-3.23354752788e-05,1793239725977659648
+48,0.800000000,BASELINE,766.143101642,746,714,678.143101642,667,635,880,788,804,653,631.143101642,653,0.400995933671,0.00458120106086,0.0498620690443,0.99999996342,0.000108031680763,-0.000245857070462,-3.22977246939e-05,1793239725994326272
+49,0.816666667,BASELINE,766,745.563596805,714,678.436403195,667,635.436403195,880,788,804,653.436403195,631,653,0.400995938933,0.00458119956207,0.0498619616747,0.999999963332,0.000108538797473,-0.000245978576505,-3.23890787775e-05,1793239726010992896
+50,0.833333333,BASELINE,766,745.011362115,714,679.011362115,667,636,880,788,804,653.988637885,631.011362115,653.011362115,0.400995783801,0.00458101135837,0.0498617443528,0.99999996322,0.0001088698955,-0.000246273930882,-3.25158113702e-05,1793239726027659776
+51,0.850000000,BASELINE,766,745.587083534,714,679.587083534,667,636,880,788,804,653.412916466,631.587083534,653.587083534,0.400996729024,0.00458056246257,0.0498617771471,0.999999963299,0.000109307476657,-0.000245776691178,-3.23640424481e-05,1793239726044326656
+52,0.866666667,BASELINE,766.166392627,746,714,680,667,635.833607373,880,788,804,653,632,653.833607373,0.400997017644,0.00458031366292,0.0498617870446,0.99999996335,0.000109197313733,-0.000245624229987,-3.23272640376e-05,1793239726060993536
+53,0.883333333,BASELINE,766.75480098,746,714,680,667,635.24519902,880,788,804,653,632,653.24519902,0.400995640944,0.00458057236003,0.0498617388699,0.999999963327,0.000107697926883,-0.000246346218355,-3.25821319969e-05,1793239726077659904
+54,0.900000000,BASELINE,766.662160709,746,714,679.662160709,667,635,880,788,803.662160709,653,632,653,0.400996541484,0.00458189168233,0.0498623595573,0.999999963421,0.000109288377877,-0.000245246803679,-3.26784103219e-05,1793239726094326016
+55,0.916666667,BASELINE,766.08295894,746,714,679.08295894,667,635,880,788,803.08295894,653,632,653,0.400999068953,0.00458396874694,0.0498634580997,0.999999963585,0.000113086301349,-0.000242846124248,-3.26613874655e-05,1793239726110992640
+56,0.933333333,BASELINE,766,746,714,679,667,635,880,788,803.493159386,653,632,653,0.400996760685,0.00458319579049,0.0498617168277,0.999999963031,0.000111414511697,-0.000245897201954,-3.25483610576e-05,1793239726127659264
+57,0.950000000,BASELINE,766,746,714,679,666.931217609,635.068782391,880,788,803.931217609,653,632,653,0.400994276976,0.0045820710348,0.0498600416564,0.999999962525,0.000109082341482,-0.00024899476234,-3.24438230307e-05,1793239726144326144
+58,0.966666667,BASELINE,766,746,714,679,666.355446369,635.644553631,880,788,803.355446369,653,632,653,0.400996458823,0.00458186506672,0.0498623529991,0.999999963383,0.000108622485011,-0.00024571714777,-3.25201501674e-05,1793239726160992768
+59,0.983333333,BASELINE,766,746,714,679.226373752,666.226373752,635.773626248,879.773626248,788,803,653.226373752,631.773626248,653.226373752,0.400997332337,0.00458215258295,0.0498633491367,0.999999963687,0.000109100451855,-0.000244252461281,-3.2621229993e-05,1793239726177659648
+60,1.000000000,BASELINE,766,746,714,679.817952522,666.817952522,635.182047478,879.182047478,788,803,653.817952522,631.182047478,653.817952522,0.400996095142,0.00458323622919,0.0498622234757,0.999999963105,0.000111091393417,-0.000245712541065,-3.27622429333e-05,1793239726194326528
+61,1.016666667,BASELINE,766,746,714,679.600530329,667,635,879.399469671,788,803.399469671,653.600530329,631,653.600530329,0.400996955184,0.00458291179255,0.049862371251,0.999999963522,0.000109636854861,-0.000244655218698,-3.28588417323e-05,1793239726210993152
+62,1.033333333,BASELINE,766,746,714,679.023485872,667,635,879.976514128,788,803.976514128,653.023485872,631,653.023485872,0.400998747503,0.00458196142594,0.0498630851022,0.999999964372,0.000106650709553,-0.000242478844704,-3.2935697267e-05,1793239726227659520
+63,1.050000000,BASELINE,765.447513459,746,714.552486541,679,667.552486541,635.552486541,880,788,803.447513459,653,631.552486541,653,0.400996173586,0.00458208059736,0.0498616808307,0.999999963346,0.000108854935014,-0.000245786141424,-3.23743895047e-05,1793239726244326144
+64,1.066666667,BASELINE,765.127658664,745.872341336,714.872341336,679.127658664,667.872341336,635.872341336,880,788,803.127658664,653,631.872341336,653,0.400994563997,0.00458214966974,0.0498607283123,0.999999962641,0.000110646665595,-0.000247887366867,-3.20368763196e-05,1793239726260992512
+65,1.083333333,BASELINE,765.700200306,745.299799694,714.299799694,679.700200306,667.299799694,635.299799694,880,788,803.700200306,653,631.299799694,653,0.400996960606,0.00458188601237,0.0498616633043,0.999999963387,0.000110233448723,-0.000244974711356,-3.25736303683e-05,1793239726277659136
+66,1.100000000,BASELINE,766.282859866,745.282859866,714,679.717140134,667,635.282859866,879.717140134,788,804,653,631,653,0.400997886076,0.00458218787354,0.0498625004617,0.999999963721,0.000110296964181,-0.000243561714507,-3.2716992554e-05,1793239726294326016
+67,1.116666667,BASELINE,766.876641067,745.876641067,714,679.123358933,667,635.876641067,879.123358933,788,804,653,631,653,0.400997194463,0.00458311135626,0.0498632300787,0.999999963608,0.000110884506828,-0.00024379715204,-3.24279359057e-05,1793239726310992640
+68,1.133333333,BASELINE,766.542259574,745.542259574,714,679,667,635.542259574,879,788,804,653,631.457740426,653,0.400995547865,0.00458256937164,0.0498619606012,0.99999996337,0.000109376846925,-0.000245431683439,-3.25433730637e-05,1793239726327659264
+69,1.150000000,BASELINE,766,745.035421921,714.035421921,679,667,635,879.035421921,788,804,653,631.964578079,653,0.400993816406,0.00458170311411,0.0498603020774,0.999999963118,0.00010748549413,-0.000247260829189,-3.27435060796e-05,1793239726344325888
+70,1.166666667,BASELINE,766,745.61169341,714.61169341,679,667,635,879.61169341,788,804,653,631.38830659,653,0.400994612929,0.00458175324269,0.0498607075386,0.999999963251,0.000108124677403,-0.000246459614566,-3.26172741345e-05,1793239726360992512
+71,1.183333333,BASELINE,766,746,714.807871634,679,667,635,880,788,803.807871634,653,631.192128366,653,0.400995480888,0.00458200748776,0.0498615140537,0.999999963413,0.000109145438955,-0.000245363432659,-3.25311602517e-05,1793239726377659136
+72,1.200000000,BASELINE,766,746,714.218835488,679,667,635,880,788,803.218835488,653,631.781164512,653,0.400996496422,0.00458268340627,0.0498631490845,0.999999963631,0.000110954482911,-0.000243657893376,-3.25279241184e-05,1793239726394325760
+73,1.216666667,BASELINE,766.364377659,746,714,679,667,635,880,788,803,653.364377659,632,653,0.400996661317,0.00458311233146,0.0498629816322,0.999999963571,0.000111493017951,-0.000243659645517,-3.25279112105e-05,1793239726410992384
+74,1.233333333,BASELINE,766.944148641,746,714,679,667,635,880,788,803,653.944148641,632,653,0.400996323377,0.0045833952523,0.0498617486842,0.999999963347,0.000111280521279,-0.000244670623121,-3.25298036371e-05,1793239726427659264
+75,1.250000000,BASELINE,766.481141199,746,714.518858801,679.518858801,667,635.518858801,880,788,803.518858801,654,632,653,0.400996516762,0.00458266586767,0.0498625046436,0.999999963643,0.000110444934711,-0.000243844131868,-3.24893620885e-05,1793239726444325888
+76,1.266666667,BASELINE,766,746.095345621,714.904654379,680,666.904654379,636,880,788,804,653.904654379,631.904654379,653.095345621,0.400996638232,0.00458202548327,0.0498632226497,0.99999996386,0.000109965789576,-0.000243176995964,-3.2444730375e-05,1793239726460992256
+77,1.283333333,BASELINE,766,746.683811418,714.316188582,680,666.316188582,636,880,788,804,653.316188582,631.316188582,653.683811418,0.400996094821,0.00458240352778,0.0498626477959,0.999999963387,0.000111673667611,-0.000244347107403,-3.24017679527e-05,1793239726477659136
+78,1.300000000,BASELINE,766,746.463603294,714.268198353,679.731801647,666.268198353,636,880,788,804,653,631.268198353,653.731801647,0.400996294691,0.00458226363045,0.0498627101359,0.999999963352,0.000111435518216,-0.000244587891432,-3.24637998487e-05,1793239726494325760
+79,1.316666667,BASELINE,766,745.304302863,714.847848569,679.152151431,666.847848569,636,880,788,804,653,631.847848569,653.152151431,0.400997357714,0.00458152226055,0.049863512433,0.999999963826,0.000108937497002,-0.000243749471314,-3.26477589542e-05,1793239726510992384
+80,1.333333333,BASELINE,766,745,715,679,667,635.575256627,880,788,804,653.424743373,631.575256627,653,0.400997516332,0.00458158878179,0.0498632112144,0.999999963917,0.000108124716838,-0.000243742224089,-3.26264877234e-05,1793239726527659008
+81,1.350000000,BASELINE,766,745.000657074,715,679,667,635.000657074,880,788,804,653.999342926,631.000657074,653,0.400997351972,0.00458194227839,0.0498625178743,0.999999963873,0.000107913471725,-0.000244031402873,-3.25322773902e-05,1793239726544325632
+82,1.366666667,BASELINE,766,745.576159199,715,679,667,635.576159199,880,788,804,653.423840801,631.576159199,653,0.400996232173,0.00458180423348,0.0498623771246,0.999999963531,0.000109224118122,-0.000244847754114,-3.25295744241e-05,1793239726560992256
+83,1.383333333,BASELINE,766.154337153,745.845662847,715,679,667,636,879.845662847,788,804.154337153,653,632,653,0.400995471423,0.00458177298729,0.0498622307028,0.999999963245,0.000110217115344,-0.00024556962306,-3.2524641388e-05,1793239726577659136
+84,1.400000000,BASELINE,766.739993257,745.260006743,715,679,667,636,879.260006743,788,804.739993257,653,632,653,0.400995714089,0.00458204020656,0.0498620684294,0.999999963121,0.000110322393305,-0.000246027446861,-3.25134760767e-05,1793239726594325760
+85,1.416666667,BASELINE,766.675671981,745.324328019,714.675671981,679.324328019,666.675671981,636,879,788,804.675671981,653,632,653,0.400996086132,0.00458304801155,0.0498622698054,0.999999963092,0.000111313397432,-0.000245687271475,-3.25958268536e-05,1793239726610992640
+86,1.433333333,BASELINE,766.092392248,745.907607752,714.092392248,679.907607752,666.092392248,636,879,788,804.092392248,653,632,653,0.400996561475,0.00458464711894,0.0498627615282,0.999999963136,0.000113011587782,-0.000244709953277,-3.27528432471e-05,1793239726627659264
+87,1.450000000,BASELINE,766,745.516436889,714,679.516436889,666.483563111,635.516436889,879.483563111,788,804,653,632,653,0.400996969129,0.00458286070403,0.049863192776,0.999999963544,0.000110945347825,-0.000243981820884,-3.28133408487e-05,1793239726644325888
+88,1.466666667,BASELINE,766,745.057997139,714,679,667,635.057997139,880,788,804,653,631.942002861,653,0.400997318723,0.00458066414535,0.0498635393063,0.999999963977,0.000108433041452,-0.000243332184553,-3.28210901058e-05,1793239726660992512
+89,1.483333333,BASELINE,766,745.631162963,714,679,667,635.631162963,880,788,804,653,631.368837037,653,0.400997265748,0.00458048449459,0.0498632344253,0.999999964096,0.000108252030573,-0.000242963201336,-3.25216585481e-05,1793239726677658880
+90,1.500000000,BASELINE,766,745.788666193,714,679,667,636,880,788.211333807,804,653,631.211333807,653,0.400996672243,0.00458031008284,0.0498627988749,0.999999964014,0.000107932230646,-0.00024347139432,-3.23309597193e-05,1793239726694325760
+91,1.516666667,BASELINE,766,745.195850542,714,679,667,636,880,788.804149458,804,653,631.804149458,653,0.400995103019,0.00458014512813,0.0498621274516,0.999999963563,0.000107361900535,-0.000245562991331,-3.23365360114e-05,1793239726710992640
+92,1.533333333,BASELINE,766,745.386665167,714.386665167,679,667,635.613334833,880,788.613334833,804,653,632,653,0.400995198379,0.0045817261113,0.0498620381376,0.999999963212,0.000109701261853,-0.000245939662367,-3.2481143231e-05,1793239726727659008
+93,1.550000000,BASELINE,766,745.964099249,714.964099249,679,667,635.035900751,880,788.035900751,804,653,632,653,0.400996114995,0.00458416848747,0.0498622360187,0.999999962899,0.000113476176986,-0.000245470240907,-3.26943441111e-05,1793239726744325632
+94,1.566666667,BASELINE,766,746,714.458147846,679,667,635.541852154,880,788,804,653,631.458147846,653,0.400996557035,0.00458344988382,0.0498628649809,0.999999963452,0.000111793025615,-0.00024400285419,-3.25635020873e-05,1793239726760992512
+95,1.583333333,BASELINE,766,746,714,679.121681844,667,636,880,788,804,653,631.121681844,653,0.400996874063,0.00458267717838,0.049863266188,0.999999963903,0.000110202946172,-0.000242892426784,-3.24387671555e-05,1793239726777659392
+96,1.600000000,BASELINE,766,746,714,679.709384491,667,636,880,788,804,653,631.709384491,653,0.40099683281,0.00458249983575,0.0498626856814,0.999999963763,0.000110355103452,-0.000243402473054,-3.24247728245e-05,1793239726794325760
+97,1.616666667,BASELINE,766,746,714,680,667,636,879.707455394,788,804,653.292544606,631.707455394,653,0.400996410912,0.00458282386684,0.0498623723436,0.999999963576,0.000111121470884,-0.000243798531504,-3.25969951278e-05,1793239726810992640
+98,1.633333333,BASELINE,766,746,714,680,667,636,879.128738894,788,804,653.871261106,631.128738894,653,0.400995616661,0.00458363834988,0.0498623203545,0.999999963342,0.000112488668677,-0.000244083085183,-3.29513775747e-05,1793239726827659264
+99,1.650000000,BASELINE,766,746,714,679.551888411,667,636,879.448111589,788,804.448111589,654,631.448111589,653,0.40099765564,0.00458293438224,0.0498636044441,0.999999963978,0.000111251452792,-0.000242062984498,-3.27557708606e-05,1793239726844325888
+100,1.666666667,BASELINE,766,746,714,679.024362132,666.975637868,635.975637868,880,788,804.975637868,653.975637868,631.975637868,653,0.40100030636,0.00458185920539,0.0498651414404,0.999999964799,0.000109310385043,-0.000239586014908,-3.24334955451e-05,1793239726860992768
+101,1.683333333,BASELINE,766,746,714,679.599120158,666.400879842,635.400879842,880,788,804.400879842,653.400879842,631.400879842,653,0.400998464655,0.0045822123238,0.0498637562091,0.999999964392,0.000108301759078,-0.000241683849556,-3.28044338071e-05,1793239726877659136
+102,1.700000000,BASELINE,766,746,714,679.821880519,666.178119481,635.178119481,880,788,804,653,631,653,0.400997234815,0.00458252293939,0.0498629107421,0.99999996407,0.00010825567392,-0.00024301943021,-3.291047352e-05,1793239726894325760
+103,1.716666667,BASELINE,766,746,714,679.23310288,666.76689712,635.76689712,880,788,804,653,631,653,0.40099741564,0.00458273556376,0.0498633097129,0.999999963951,0.00011042874671,-0.00024259761818,-3.24057840808e-05,1793239726910992384
+104,1.733333333,BASELINE,766,746,714,679.350755172,667,635.649244828,879.649244828,788,803.649244828,653,631,653,0.400998415844,0.00458225307824,0.0498639348948,0.999999964159,0.000110919583536,-0.000241531657287,-3.22784285421e-05,1793239726927659264
+105,1.750000000,BASELINE,766,746,714,679.931389071,667,635.068610929,879.068610929,788,803.068610929,653,631,653,0.400999953055,0.00458131503001,0.0498647083315,0.999999964581,0.000110307912919,-0.000240043532593,-3.23983709094e-05,1793239726944325888
+106,1.766666667,BASELINE,766,746,714,679.492995802,666.492995802,635.507004198,879.507004198,788,803.507004198,653,631,653,0.400997394653,0.0045821235321,0.0498633775147,0.999999964007,0.000110120211947,-0.000242485878244,-3.25665164609e-05,1793239726960992512
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804,653,631,653,0.400997489114,0.00458423876884,0.049864217886,0.999999963956,0.000112888486295,-0.000241413646667,-3.26119174977e-05,1793239727004343296
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,714,679.407542213,666.407542213,635.592457787,880.592457787,788,804,653,631.592457787,653,0.40099842387,0.00458167000869,0.0498642677022,0.999999964415,0.000109278445538,-0.000241217181059,-3.22817268932e-05,1793239727021009920
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679.180354628,666.180354628,636,880.819645372,788,804,653,631.819645372,653,0.400998898266,0.00458033936143,0.0498642351667,0.999999964655,0.000107316051648,-0.000241126866716,-3.21117468e-05,1793239727037676800
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,714,679.758199541,666.758199541,636,880.241800459,788,804,653,631.241800459,653,0.400998358056,0.0045817374368,0.0498640211331,0.999999964434,0.000108984967403,-0.000241270503067,-3.22948605611e-05,1793239727054343424
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666.665584999,635.665584999,880,788,804,653,631.334415001,653,0.400997235766,0.00458194945656,0.0498633788129,0.999999964063,0.00010992835138,-0.000242371330964,-3.23435131618e-05,1793239727071010048
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666.090542046,635.090542046,880,788,804,653,631.909457954,653,0.400995694641,0.00458130805122,0.0498624283196,0.999999963583,0.000110349679651,-0.000244160904993,-3.22954143691e-05,1793239727087676672
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.503140512,714,679.503140512,666,635,880,788,804,653.496859488,631.503140512,653,0.400996040873,0.00458025701126,0.0498628386724,0.999999963862,0.000108048014856,-0.000244064286108,-3.21522122582e-05,1793239727104343296
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679,666.084941525,635,880,788,803.915058475,653.915058475,631.084941525,653,0.400997130385,0.00457951143978,0.049863557435,0.999999964253,0.000105982857441,-0.000243381254101,-3.20589878717e-05,1793239727121009920
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714,679,666.663555782,635,880,788,803.336444218,653.336444218,631.663555782,653,0.401000489892,0.00458098613372,0.0498645906165,0.999999964495,0.000108249736953,-0.000241338657836,-3.23595225568e-05,1793239727137676544
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,714,679.241491461,666.758508539,635,880,788.241491461,803.241491461,653.241491461,632,653,0.401010838811,0.00458158188781,0.0498685560169,0.999999966254,0.000109315849157,-0.000233435940525,-3.24077399203e-05,1793239727154343168
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714,679.818484352,666.181515648,635,880,788.818484352,803.818484352,653.818484352,632,653,0.401030898041,0.00458095654032,0.0498765951165,0.999999969946,0.000108713748338,-0.00021739182164,-3.21054155733e-05,1793239727171010048
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.402122094,714,679.597877906,666,635,880,788.597877906,804,653.597877906,632,653,0.401070078376,0.00458096365712,0.0498902107311,0.99999997586,0.000108338750754,-0.000188432769496,-3.21684298791e-05,1793239727187676672
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.988809731,714,679.011190269,666,635,880,788.011190269,804,653.011190269,632,653,0.401118034895,0.00458126106161,0.0499063858489,0.999999981848,0.000108067988601,-0.000153546034304,-3.23991268497e-05,1793239727204343296
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.568236392,635.568236392,880.568236392,788,804,653,631.431763608,653,0.401187199787,0.00457982429242,0.0499254813645,0.999999986899,0.000107602693741,-0.000116747013341,-3.15153244495e-05,1793239727221009920
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,881,788,804,653,631.146924795,653,0.401257880179,0.00457867844025,0.0499421426089,0.999999990013,0.00010688872075,-8.72832307128e-05,-3.05039655444e-05,1793239727237676800
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,881,788,804,653,631.723865835,653,0.401331789157,0.00457848272866,0.0499515130874,0.999999990862,0.000105457993161,-7.93968811903e-05,-2.91827028874e-05,1793239727254343424
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880.400409619,788,804,653,632,653,0.401411436297,0.00457779034986,0.049955916057,0.99999999126,0.000104164520621,-7.63965776465e-05,-2.81616134989e-05,1793239727271010048
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,879.250408386,788,804,653,632,653,0.401496350939,0.00457664204143,0.0499557589616,0.999999991287,0.000102997045301,-7.78815578938e-05,-2.74160766842e-05,1793239727287676672
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,714,679.459334906,667,636,879,788,804,653,631.540665094,653,0.40160313197,0.00457590981122,0.0499554320997,0.999999991458,0.000100712716909,-7.88617994055e-05,-2.68690522322e-05,1793239727304343296
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714,679.953809418,666.953809418,636,879.046190582,788,804,653,631,653,0.401718211709,0.00457522875389,0.0499551426448,0.999999991655,9.82906578607e-05,-7.95962137322e-05,-2.63266714286e-05,1793239727321009920
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714,679.370887365,666.370887365,636,879.629112635,788,804,653,631,653,0.401858995159,0.00457379651876,0.0499558369651,0.999999991763,9.78806332791e-05,-7.91067077226e-05,-2.51961621774e-05,1793239727337676544
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.208532583,746,714.208532583,679,666.208532583,635.791467417,879.791467417,788,804,653,631.208532583,653,0.402011647077,0.00457201612391,0.0499577417763,0.999999992186,9.57389495863e-05,-7.6748024251e-05,-2.39163541551e-05,1793239727354343168
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.781826652,746,714.781826652,679,666.781826652,635.218173348,879.218173348,788,804,653,631.781826652,653,0.402185059095,0.0045696267344,0.0499617639565,0.999999993119,9.05682786138e-05,-7.11198088556e-05,-2.23753954951e-05,1793239727371010048
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.641878469,746,714.641878469,679.358121531,667,635.358121531,879.358121531,788,803.641878469,653,632,653,0.402373311505,0.00456781938577,0.0499615235685,0.999999993433,8.73789791737e-05,-7.10967324565e-05,-2.10987609379e-05,1793239727387676672
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.063739945,746,714.063739945,679.936260055,667,635.936260055,879.936260055,788,803.063739945,653,632,653,0.402570681335,0.00456636962189,0.0499586644123,0.999999993377,8.54069626713e-05,-7.45172514033e-05,-1.99845174578e-05,1793239727404343296
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.477445293,714,680,666.477445293,635.477445293,879.477445293,788,803.522554707,653,631.477445293,653,0.402805742423,0.00456447640797,0.0499594662131,0.999999994037,8.06291057636e-05,-7.13371779905e-05,-1.83505013645e-05,1793239727421009920
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.891839188,745,714,679.891839188,666,635,879,788,804,653,631.108160812,653,0.403054491084,0.00456224425473,0.0499618742695,0.999999994863,7.56923403558e-05,-6.53527315436e-05,-1.65409005316e-05,1793239727437676544
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.313617465,745,714,679.313617465,666,635,879,788,804,653,631.686382535,653,0.403342428031,0.00455877789282,0.049969291552,0.99999999605,7.15759470293e-05,-5.07351377869e-05,-1.42481218423e-05,1793239727454343424
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.263786734,745.263786734,714.263786734,679,666.527573468,635.263786734,879,788,804,653,632,653,0.403648193413,0.00455539542623,0.0499770769647,0.999999997054,6.69099382561e-05,-3.56226724803e-05,-1.20909176268e-05,1793239727471010048
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.840221942,745.840221942,714.840221942,679,667.680443884,635.840221942,879,788,804,653,632,653,0.40397508961,0.00455211239526,0.0499852986968,0.999999997854,6.15925079254e-05,-1.99236704645e-05,-1.00944007517e-05,1793239727487676672
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714.575077087,679,667.575077087,635.575077087,879.424922913,788,804,653,631.575077087,653,0.404323794748,0.00454899853824,0.0499922895505,0.99999999824,5.83745110875e-05,-7.64530172758e-06,-7.34676630489e-06,1793239727504343296
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.987376036,746,714,679,667,635,880,788,803.987376036,653,631,653,0.40468215028,0.00454593102354,0.0499987531056,0.999999998424,5.58750640769e-05,3.24728851256e-06,-4.31854628907e-06,1793239727521009920
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.407299952,746,714,679,667,635,880,788,803.407299952,653,631,653,0.405098365696,0.00454203049196,0.0500027315343,0.999999998716,4.94859345242e-05,1.08114302396e-05,-1.62520673128e-06,1793239727537676544
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.1714993,746,714,679,667,635.1714993,880,788,803,653,631,653,0.405509452729,0.00453759511075,0.0499994285772,0.999999999063,4.30927813053e-05,4.01608370656e-06,1.23138352838e-06,1793239727554343680
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.747288482,746,714,679,667,635.747288482,880,788,803,653,631,653,0.405908450129,0.00453189888359,0.0499789605897,0.999999998646,3.66901436194e-05,-3.66301066511e-05,4.47281816848e-06,1793239727571011584
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,714,679.321969881,667,635.678030119,879.678030119,788,803.321969881,653,631.321969881,653,0.406338407683,0.00452719142296,0.0499592178865,0.999999996986,3.18088896934e-05,-7.04630183984e-05,7.18293370481e-06,1793239727587677952
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,714,679.895784832,667,635.104215168,879.104215168,788,803.895784832,653,631.895784832,653,0.406792582336,0.00452325737561,0.049940042499,0.999999994663,2.81176625564e-05,-9.89665831116e-05,9.47745140694e-06,1793239727604343552
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714,679.517982358,667,635.482017642,879.482017642,788,804,653,632,653,0.407282273922,0.0045194764411,0.0499332727136,0.999999993568,2.43594870574e-05,-0.000110067072648,1.24656672476e-05,1793239727621009920
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.92979276,880,788,804,653,631.92979276,653,0.407794486855,0.00451516267576,0.0499328958245,0.999999993632,1.96982232818e-05,-0.000110009499999,1.56744358508e-05,1793239727637677056
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.347431655,880,788,804,653,631.347431655,653,0.408413492145,0.00450671409275,0.0499590708868,0.999999998167,8.55741401414e-06,-5.672907158e-05,1.93690814269e-05,1793239727654344192
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714.231759032,679,667,635,880,788,804,653,631,653,0.409031113837,0.00449837158761,0.0499823754994,0.999999999594,5.91197475493e-06,-1.50093323882e-05,2.34987052016e-05,1793239727671010816
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,714.806261029,679,667,635,880,788,804,653,631,653,0.409646689322,0.00449018595903,0.0500014350699,0.999999999429,1.58301384254e-05,9.61357294521e-06,2.8271607806e-05,1793239727687677184
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,714.611745928,679,667,635,880,788,804,653,631,652.611745928,0.410245415605,0.00448485964736,0.0500023906293,0.999999997404,6.43144272675e-05,6.09673181951e-06,3.19287557322e-05,1793239727704343808
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,714.025941325,679,667,635,880,788,804,653,631,652.025941325,0.410835568699,0.00448098820688,0.0499941345475,0.99999999055,0.000132421841358,-1.17381101983e-05,3.50181876974e-05,1793239727721010432
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.554112322,880,788,804,653,631,652.554112322,0.411461771636,0.00447340924071,0.0499670699259,0.999999989767,0.000119147420599,-6.88026649329e-05,3.9186502349e-05,1793239727737676800
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.866532299,746,714,679,667,635.866532299,880,788,804,653,631,653,0.412118734351,0.00446541106709,0.0499486052904,0.999999988998,9.64657095284e-05,-0.000104806747099,4.13982836924e-05,1793239727754343680
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.288614932,746,714,679,667,635.288614932,880,788,804,653,631,653,0.412872565134,0.00445658898623,0.0499616808528,0.999999995717,5.50145167182e-05,-6.46260792042e-05,3.69283080094e-05,1793239727771010304
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714,679,667,635.286978505,880,788,804,653,631,653,0.413624231807,0.00444500538304,0.049977631152,0.99999999906,-6.85719607363e-06,-3.2202739775e-05,2.81984496409e-05,1793239727787677184
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,714,679,667,635.860253603,880,788,804,653,631,653,0.414373739602,0.00443066681831,0.0499964493587,0.999999995886,-8.91009110779e-05,-7.51829116037e-06,1.52188301836e-05,1793239727804344320
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.446712209,745.553287791,714,679,667,635.553287791,880,788,804,652.553287791,631.446712209,653,0.415088361205,0.00442586258951,0.049977583808,0.999999994415,-9.72118984118e-05,-3.87123564691e-05,1.4893921199e-05,1793239727821011200
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679.036691886,667,635,880,788,804,652.036691886,632,653,0.415796930252,0.00442556755036,0.0499480127829,0.999999992988,-7.98263938333e-05,-8.54742408555e-05,1.86066823763e-05,1793239727837677568
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679.615899492,667,635,880,788,804,652.615899492,632,653,0.416582280425,0.0044465022991,0.0499397589919,0.999999994395,-3.87825881643e-05,-9.60937355165e-05,2.17054022589e-05,1793239727854343936
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.19437219,714,680,667,635,880,788,804,653,631.80562781,653,0.417393746853,0.00446834200847,0.0499448962181,0.999999996162,-1.57956107985e-06,-8.44551402765e-05,2.32583091249e-05,1793239727871010048
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.771398068,714,680,667,635,880,788,804,653,631.228601932,653,0.418256627388,0.00449196328071,0.0499763958689,0.999999998949,2.80622578973e-05,-2.8997826481e-05,2.1768028146e-05,1793239727887676672
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,714,679.65366887,667,635,880,788,804,653,631,653,0.419076983621,0.00449424498107,0.0499857545589,0.999999999205,2.63862445063e-05,-1.97661614335e-05,2.2409003026e-05,1793239727904343552
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,714,679.080108931,667,635,880,788,804,653,631,653,0.419869439509,0.00448252572865,0.0499805865022,0.999999998858,4.16251399887e-06,-4.08632739207e-05,2.444830082e-05,1793239727921010176
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.490432739,745.490432739,714,679,667,635,880.509567261,788,804,652.490432739,631,653,0.420698448907,0.00447381804019,0.0499757580066,0.999999999011,-6.51931734528e-06,-3.68218866937e-05,2.4084256816e-05,1793239727937677056
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.099378573,745.099378573,714,679.198757145,667,635,880.900621427,788,804,652.099378573,631,653,0.421544149937,0.00446631951513,0.0499757233187,0.999999999386,-1.35107312221e-05,-2.21968291463e-05,2.35270765831e-05,1793239727954343680
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.67724296,745.67724296,714,680.35448592,667,635,880.32275704,788,804,652.67724296,631,653,0.42244164509,0.00446228885302,0.0499985043353,0.999999999363,-1.17553432148e-05,2.37367058897e-05,2.39185643356e-05,1793239727971010304
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,714,680.494402463,667,635.252798768,880,788,804,652.747201232,631.252798768,653,0.423316454477,0.00446041876755,0.0500024712952,0.999999999106,-1.23122480951e-05,3.20058553665e-05,2.47499122406e-05,1793239727987676928
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679.349132233,667,635.825433884,880,788,804,652.174566116,631.825433884,653,0.424162562373,0.00446128220333,0.0499826350601,0.999999999506,-1.57946231318e-05,-7.3772759726e-06,2.61377631868e-05,1793239728004343296
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,652,631.590802297,653,0.425019811323,0.00447016454404,0.0499821171784,0.999999999563,-9.43267096116e-06,-9.70597734122e-06,2.62815450032e-05,1793239728021010176
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,652,631.002158217,653,0.425881945934,0.00448256343289,0.0499900710184,0.999999999655,1.24633608406e-06,4.2148851039e-06,2.58797623433e-05,1793239728037677056
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.419875996,714,679.580124004,667,635.419875996,879.419875996,788,804,652,631,653,0.426763625684,0.00448085204787,0.0500081259301,0.999999999309,3.47087033759e-06,2.44649531229e-05,2.77791055956e-05,1793239728054343680
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714.160241096,680,667,635,879.160241096,788,804,652.160241096,631.160241096,653,0.427622148619,0.00447730536245,0.0500103954403,0.999999999394,4.32987579562e-06,1.78052966454e-05,2.95951993474e-05,1793239728071010048
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714.734820275,680,667,635,879.734820275,788,804,652.734820275,631.734820275,653,0.428420608558,0.00446914737236,0.0499717522587,0.999999997802,1.73845652858e-06,-5.84955100733e-05,3.11741375786e-05,1793239728087676928
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,667,635,880,788,804,652.691076823,631.691076823,653,0.429276060808,0.00446266117914,0.0499562324372,0.999999996404,-7.31901004085e-06,-7.8648325977e-05,3.08578041915e-05,1793239728104343808
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,667,635,880,788,804,652.11738216,631.11738216,653,0.430180359915,0.00445760784789,0.049960531158,0.999999998058,-2.19183881458e-05,-5.06778889523e-05,2.89170738037e-05,1793239728121010432
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714.52925186,679.52925186,667,635.47074814,880,788,804.47074814,652,631,653,0.431019253828,0.0044592049645,0.0499623041548,0.999999998174,-1.91489480359e-05,-4.90409599528e-05,2.96660169046e-05,1793239728137677056
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.06118463,714.06118463,679.06118463,667,635.93881537,880.06118463,788,804.93881537,652,631,653,0.43183995111,0.00446263443541,0.0499615235284,0.999999997865,-1.21445278083e-05,-5.62695160049e-05,3.0918673747e-05,1793239728154343424
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.639721675,714.639721675,679.639721675,667,635.360278325,880.639721675,788,804.360278325,652,631,653,0.432649048901,0.00446709200532,0.0499446442602,0.999999996212,-7.1101581447e-06,-8.11823891003e-05,3.05801574271e-05,1793239728171010048
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,714.782356088,679.782356088,667,635,880.782356088,788,804.217643912,652,631.217643912,653,0.433472361665,0.00446894561765,0.0499452134066,0.99999999648,-4.72495684208e-06,-7.80245157381e-05,3.04771846626e-05,1793239728187676672
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,714.205448619,679.205448619,667,635,880.205448619,788,804.794551381,652,631.794551381,653,0.434319139132,0.00446650089286,0.0499745845483,0.999999999097,-6.71272177802e-06,-2.85304258471e-05,3.07630222171e-05,1793239728204343552
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,714,679.368486639,667,635,880.368486639,788,805,652.368486639,631.631513361,653,0.43512799384,0.0044635117977,0.0499878003818,0.999999999344,-1.09789391239e-05,-1.3292105642e-05,3.18632859458e-05,1793239728221010432
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,714,679.940777974,667,635,880.940777974,788,805,652.940777974,631.059222026,653,0.43591587396,0.00446022161922,0.0499920809433,0.999999999161,-1.65053358356e-05,-1.70001652609e-05,3.3413997167e-05,1793239728237677312
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.466836957,745.466836957,714,680,667,635,880.466836957,788,805,652.466836957,631,653,0.436635839219,0.00446216480357,0.0499668410646,0.999999996706,-1.91078735713e-05,-7.1101499978e-05,3.41640057853e-05,1793239728254343936
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.1240221,714,680,667,635,880.1240221,787.8759779,805,652.1240221,631.1240221,653,0.437362710763,0.00446406556473,0.0499498157222,0.9999999937,-2.02478699111e-05,-0.000104826813999,3.46550012033e-05,1793239728271010560
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.700841903,714,680,667,635,880.700841903,787.299158097,805,652.700841903,631.700841903,653,0.438143417244,0.00446360601154,0.0499752216151,0.999999998333,-1.72803748063e-05,-4.29238244811e-05,3.45377842138e-05,1793239728287676928
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,714,680,667.276417244,635,880.723582756,787.276417244,805,652.723582756,632,653,0.438885471598,0.00446302075314,0.0499894334227,0.999999999308,-1.40539258427e-06,-1.19688773558e-05,3.52052963677e-05,1793239728304343552
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,714,680,667.85065174,635,880.14934826,787.85065174,805,652.14934826,632,653,0.43958588136,0.00446230005759,0.0499915845061,0.99999999882,2.83763641292e-05,-1.43579500797e-05,3.6718290878e-05,1793239728321010176
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.435184414,746,714,679.564815586,667.564815586,635,880,788,805,652,632,653,0.440237294249,0.00446048551136,0.0499697251209,0.999999997754,2.8328403626e-05,-4.71554355693e-05,3.82864423782e-05,1793239728337676800
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.976902171,745.976902171,714,679.023097829,667,635,880,788,805,652,632,653,0.440870920517,0.0044585365537,0.0499401761503,0.999999995012,1.83432033216e-05,-8.97247569e-05,3.98525921101e-05,1793239728354343424
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.394776425,745.394776425,714,679.605223575,667,635,880,788,805,652,632,653,0.441490891981,0.00446264016671,0.049928782507,0.999999992868,2.16200497486e-05,-0.00011010564604,4.09010570981e-05,1793239728371010304
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.184729246,745,714,680,666.815270754,635,880.184729246,788,805,652,631.815270754,653,0.442102722506,0.00446963828134,0.0499218569603,0.999999991535,2.85249180364e-05,-0.000119882656975,4.17649554377e-05,1793239728387677184
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.758714088,745,714,680,666.241285912,635,880.758714088,788,805,652,631.241285912,653,0.442697398818,0.00448273559854,0.0499243464429,0.999999992422,4.30746393061e-05,-0.000107315516619,4.22399410177e-05,1793239728404343808
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.660074448,745,714,680,666,634.660074448,880.660074448,787.660074448,804.660074448,652,631,653,0.443247041482,0.00449673038017,0.0499126690082,0.999999989226,6.12767678301e-05,-0.000126299754005,4.29228692424e-05,1793239728421010432
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.073622,745,714,680,666,634.073622,880.073622,787.073622,804.073622,652,631,653,0.443764024001,0.00451137603625,0.0498907171879,0.99999998153,8.21277595903e-05,-0.000168166247188,4.37566052614e-05,1793239728437676800
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.506825311,745.506825311,714,680.506825311,666,634,880.506825311,787.506825311,804,652,631,653,0.444227899731,0.00451905525797,0.0498466077425,0.999999965583,9.10649734536e-05,-0.000242174398184,4.34956435384e-05,1793239728454343680
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,714,680.913638857,666.086361143,634,880.913638857,787.913638857,804,652,631.086361143,653,0.444686144676,0.00452430182122,0.0498045833424,0.999999946319,9.7051255052e-05,-0.000309960549492,4.32135180948e-05,1793239728471010304
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,714,680.334384865,666.665615135,634,880.334384865,787.334384865,804,652,631.665615135,653,0.445155765688,0.00452137229106,0.0497926138026,0.999999944544,9.59570703043e-05,-0.000315900432269,4.37075427531e-05,1793239728487676928
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.757261042,745.757261042,714,680,666.514522084,633.757261042,880.242738958,787,804.242738958,652,632,652.757261042,0.445616734665,0.00451946295945,0.0497895046706,0.999999946688,9.32153143582e-05,-0.000309877044427,4.37248679227e-05,1793239728504343808
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.183046152,745.183046152,714,680,665.366092304,633.183046152,880.816953848,787,804.816953848,652,632,652.183046152,0.446065888681,0.00451894677596,0.0497984950064,0.999999953847,8.82236921831e-05,-0.000287517027092,4.30912286904e-05,1793239728521010432
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.401443293,714,680,665,633,881,787,805,652.401443293,632,652.401443293,0.446474978151,0.00451877706096,0.0497978814873,0.999999957384,4.24828782301e-05,-0.00028729630429,2.97884428883e-05,1793239728537677312
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.990740735,714,680,665,633,881,787,805,652.990740735,632,652.990740735,0.446865319578,0.00451876947479,0.0497927738749,0.999999955461,-2.23263947019e-05,-0.000297435592903,1.0557168928e-05,1793239728554343936
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.570807498,746,714,680,665,633,881,787.570807498,805,652.429192502,632,653,0.447171218427,0.00451833827383,0.0497572042724,0.999999937677,-2.15321648773e-05,-0.000352228712895,1.08619718985e-05,1793239728571010560
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.850456863,746,714,680,665,633,880.850456863,787.850456863,805,652,632,653,0.447471196163,0.00451962293341,0.0497247680701,0.999999919205,-7.60831843351e-06,-0.000401747209888,1.14271166706e-05,1793239728587677184
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.275091863,746,714,680,665,633,880.275091863,787.275091863,805,652,632,653,0.447758152024,0.0045258127357,0.0497026388191,0.999999904829,4.0719911241e-05,-0.000434216572099,1.18455691961e-05,1793239728604343552
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.700414778,714,680,665,633,880.299585222,787,805,652,632,653,0.448041768566,0.00453278049802,0.0496957736168,0.999999898215,8.40051699131e-05,-0.000443107714636,1.29942513941e-05,1793239728621010176
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.126367952,714,680,665,633,880.873632048,787,805,652,632,653,0.448322325809,0.00454046097924,0.0497028924009,0.999999899745,0.000122670365039,-0.000430397937206,1.48119252091e-05,1793239728637676800
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.459679619,714,680,664.540320381,632.540320381,881,787,805,652,631.540320381,652.540320381,0.448584637935,0.00456116923921,0.0497116644322,0.999999902755,0.000148465281514,-0.000415008719372,1.4722335142e-05,1793239728654343680
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.04827762,746,714,680,664,632,881,787.04827762,804.95172238,652,631,652.04827762,0.448837399451,0.00458522558975,0.0497205106055,0.99999990542,0.000170083650006,-0.000400051847813,1.37862107336e-05,1793239728671010304
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.627666971,746,714,680,664,632,881,787.627666971,804.372333029,652,631,652.627666971,0.449041750282,0.00460565915834,0.0497250385211,0.999999903439,0.000185721688596,-0.00039817190057,9.45991269448e-06,1793239728687676928
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,714,680,664.205034524,631.794965476,881,787.794965476,804,652,631.205034524,653,0.449231237818,0.0046198829882,0.0497257866081,0.999999900335,0.000197250160445,-0.00040046806137,6.88027621739e-06,1793239728704343552
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,714,680,664.778766375,631.221233625,881,787.221233625,804,652,631.778766375,653,0.449393997847,0.00462294033511,0.0497197377285,0.999999895531,0.000201388722679,-0.000410273786434,7.4415231887e-06,1793239728721010176
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,714,680,664.637695293,631,880.637695293,787,804.362304707,652,631.637695293,653,0.449539309053,0.00461955537339,0.0497144066518,0.999999892447,0.000195967024648,-0.000420270171956,8.76473132021e-06,1793239728737676800
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,714,680,664.048002196,631,880.048002196,787,804.951997804,652,631.048002196,653,0.449673669108,0.00461212711317,0.0497095260792,0.9999998903,0.0001845451505,-0.000430386220015,1.05661588547e-05,1793239728754343424
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.467678377,746,714,680,664,631,880,787,805,652,631,653,0.449794831294,0.00461527247911,0.0497070838386,0.999999887821,0.00018880026373,-0.000434291202442,1.01665434722e-05,1793239728771010304
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.11118054,745.88881946,714.11118054,680,664.11118054,631,880.11118054,787,805,652.11118054,631,653,0.449910352095,0.00461885352665,0.0497064306796,0.99999988632,0.000193945737632,-0.000435487223577,9.80904632176e-06,1793239728787676928
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.687385188,745.312614812,714.687385188,680,664.687385188,631,880.687385188,787,805,652.687385188,631,653,0.450007168955,0.00462033781415,0.0497123567878,0.999999889096,0.000197004667154,-0.000427654825408,1.04435148582e-05,1793239728804343808
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.736843226,745.263156774,714.736843226,680.263156774,664.473686452,631,881,787,805,653,631,653,0.450095238658,0.00462086898762,0.0497177461886,0.999999892454,0.000196965237206,-0.000419735568455,1.09047743358e-05,1793239728821010688
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.161585281,745.838414719,714.161585281,680.838414719,663.323170561,631,881,787,805,653,631,653,0.450172934318,0.00462026977777,0.0497224990598,0.999999896511,0.000193251185269,-0.000411713298368,1.11606096497e-05,1793239728837677312
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.422938095,746,714.422938095,680.577061905,663.422938095,631,880.577061905,787,805,653,631,653,0.450230228077,0.00462091460372,0.0497226478668,0.999999896552,0.00019293920939,-0.000411761660916,1.11105316956e-05,1793239728854343936
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.978070996,746,714.989035498,680,664,631,880.010964502,787,804.989035498,652.989035498,631.010964502,653,0.450279250856,0.00462200297655,0.0497209440393,0.999999894998,0.000193947230523,-0.000415052019708,1.09476787873e-05,1793239728871010560
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+221,3.683333333,POSE1_TO_POSE2_PRESS,764.171394364,746,714,680,664,631,880.828605636,787,804.171394364,652,631.828605636,653,0.450343872996,0.00462033653282,0.0497133340703,0.999999889308,0.00019507361411,-0.000428025411253,1.11705534311e-05,1793239728904343808
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.741640165,746,714,680,664,631,880.258359835,787,804.741640165,652,631.258359835,653,0.450370550377,0.00462111978709,0.0497136186133,0.99999988995,0.000195740252426,-0.000426226179264,1.08546108207e-05,1793239728921010432
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714.316322332,680,664,631,880.316322332,787,805,652.316322332,631,653,0.450390868702,0.00462090163956,0.0497137848392,0.999999890491,0.000194388891116,-0.000425573261724,1.09011753087e-05,1793239728937676800
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714.894679556,680,664,631,880.894679556,787,805,652.894679556,631,653,0.450405919319,0.00461985395152,0.0497138530538,0.999999890944,0.000191365860645,-0.000425869927212,1.12480331593e-05,1793239728954343424
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714.074157767,680.074157767,664,631,881,787,805,652.074157767,631,652.925842233,0.450422061296,0.00462146737391,0.0497141796327,0.999999888955,0.000196832066803,-0.000428041422619,1.13054930552e-05,1793239728987677440
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714.653531443,680.653531443,664,631,881,787,805,652.653531443,631,652.346468557,0.450426970345,0.00462302756196,0.0497139562041,0.999999888504,0.000198212313193,-0.000428464316287,1.10363528665e-05,1793239729004344064
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714.768974585,680.768974585,663.768974585,631,881,787,805,653,631,652,0.450430016189,0.00462423528237,0.0497132249332,0.999999887694,0.000199568154389,-0.000429728798288,1.0867006768e-05,1793239729021010688
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714.194276887,680.194276887,663.194276887,631,881,787,805,653,631,652,0.450430290337,0.00462491867356,0.0497117381987,0.999999886345,0.000200887690456,-0.000432245222967,1.08461138883e-05,1793239729037677312
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,680,663.389727003,631,881,787,805,652.610272997,631.389727003,652,0.450431508782,0.00462351600826,0.0497117492019,0.999999886745,0.000198286101279,-0.000432517635411,1.10230618934e-05,1793239729054343680
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,680,663.978483449,631,881,787,805,652.021516551,631.978483449,652,0.45043320947,0.00462104801604,0.0497125250839,0.999999888021,0.000193682035034,-0.000431644054551,1.13010451381e-05,1793239729071010304
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714,680,664,631,880.441534703,787,805,652.558465297,631.441534703,652.558465297,0.450431830559,0.00462232090888,0.0497108458553,0.99999988631,0.000195854934479,-0.00043461568973,1.14182605295e-05,1793239729087677184
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.13705419,746,714,680.13705419,663.86294581,631,880.13705419,787,805,652.86294581,631,652.86294581,0.45043112182,0.00462398974087,0.0497096140997,0.999999884842,0.000198475781157,-0.000436800608522,1.13629350552e-05,1793239729104344064
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.7122539,746,714,680.7122539,663.2877461,631,880.7122539,787,805,652.2877461,631,652.2877461,0.450432928983,0.00462647070699,0.0497101105774,0.999999884549,0.000201706857905,-0.000436004204066,1.07755128216e-05,1793239729121010944
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.712387805,746,714.287612195,680.712387805,663.287612195,631,881,787,805,652.287612195,631,652.287612195,0.450433914507,0.0046276850972,0.049709994792,0.999999884267,0.000203407691201,-0.00043586782441,1.05374781815e-05,1793239729137677312
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.136870696,746,714.863129304,680.136870696,663.863129304,631,881,787,805,652.863129304,631,652.863129304,0.450434077558,0.00462763162272,0.0497092661204,0.999999884002,0.000203576724017,-0.000436392141206,1.06491866564e-05,1793239729154343680
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714.550954058,680,663.550954058,631,881,787,805,653,631,653,0.450434624836,0.00462730845959,0.0497093238107,0.999999884193,0.000202316207706,-0.000436543107535,1.05633205637e-05,1793239729171010304
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.03759686,746,714.03759686,680,663.03759686,631,880.96240314,787,805,652.96240314,631,653,0.450435218578,0.0046268772625,0.0497095795507,0.999999884512,0.000200645933884,-0.000436586070212,1.04340930907e-05,1793239729187676928
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.617342265,746,714.617342265,680,663.617342265,631,880.382657735,787,805,652.382657735,631,653,0.450434753508,0.00462610166981,0.0497091529546,0.999999884668,0.000199499167311,-0.000436751499102,1.05685756834e-05,1793239729204343552
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.804279475,746,715,680.195720525,664,631,880.195720525,787,805,652.195720525,631,653,0.450434890646,0.00462600922095,0.0497090825339,0.999999884727,0.000199585320335,-0.00043657677673,1.0613646059e-05,1793239729221010176
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.228555645,746,715,680.771444355,664,631,880.771444355,787,805,652.771444355,631,653,0.450436197009,0.0046272431374,0.0497097036495,0.999999884594,0.000202065261828,-0.000435741629982,1.04851171677e-05,1793239729237677056
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714.645875274,680.645875274,664,631,881,787,805,653,631,653,0.450436458541,0.00462704204941,0.0497097964135,0.999999884438,0.000203336010933,-0.000435507692819,1.05368485781e-05,1793239729254343936
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714.058615138,680.058615138,664,631,881,787,805,653,631,653,0.450436032215,0.00462589623675,0.0497095413409,0.999999884269,0.00020381069702,-0.000435669557602,1.0707253038e-05,1793239729271010816
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714.521584716,680,664,631,880.478415284,787,805,653,631,653,0.450435768332,0.00462680007051,0.0497092602133,0.999999884368,0.000202592559921,-0.000436024637274,1.01616244015e-05,1793239729287677184
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714.89937786,680,663.89937786,631,880.10062214,787,805,653,631.10062214,653,0.450435472075,0.0046273329164,0.0497089211161,0.999999884413,0.000201255658701,-0.000436548994896,9.79287388079e-06,1793239729304343808
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714.322138668,680,663.322138668,631,880.677861332,787,805,653,631.677861332,653,0.450434937162,0.0046250320363,0.0497083211185,0.999999884071,0.00020024527226,-0.000437773695783,1.06380003653e-05,1793239729321010176
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,680,663.253595274,631,881,787,805,653,631.746404726,653,0.450435023578,0.00462431536271,0.0497083225893,0.999999883986,0.000199802814947,-0.000438164178083,1.08770149756e-05,1793239729337676544
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,680,663.827428481,631,881,787,805,653,631.172571519,653,0.450435894604,0.00462559921117,0.0497090835893,0.999999884227,0.000200077533518,-0.000437501216492,1.0350636838e-05,1793239729354343168
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680.413669106,663.586330894,631,881,787,805,653,631,653,0.450436393907,0.00462696002217,0.0497088210824,0.999999883879,0.000201150159989,-0.000437811867631,1.00682745136e-05,1793239729371010304
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+252,4.200000000,HOLD_POSE2,766,746,715,680,664,631,881,787,805,652,631,653,0.45043902425,0.00462653385773,0.0497094637272,0.999999884446,0.000203193249827,-0.000435554947761,1.06111544254e-05,1793239729445314816
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+256,4.266666667,HOLD_POSE2,765.326048064,746,715,680.673951936,663.673951936,631,881,787,805,652,631,653,0.450437407535,0.00462834003947,0.0497083132675,0.999999883342,0.000202516146236,-0.000438409000333,1.00059286694e-05,1793239729511980288
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+261,4.350000000,HOLD_POSE2,765.768355633,746,714.231644367,680,664,631,880.231644367,787,805,652.231644367,631,652.768355633,0.45043637069,0.00462862756621,0.0497072492424,0.999999882244,0.000203404465755,-0.000440500134854,9.89981343022e-06,1793239729595314176
+262,4.366666667,HOLD_POSE2,765.189812544,746,714.810187456,680,664,631,880.810187456,787,805,652.810187456,631,652.189812544,0.450437301846,0.00462935952349,0.0497075746151,0.999999882565,0.00020456990726,-0.000439231468957,9.81870562739e-06,1793239729611980288
+263,4.383333333,HOLD_POSE2,765.38657843,745.61342157,714.61342157,680.38657843,664,631,881,787,805,653,631,652.38657843,0.450438990328,0.00462965035618,0.0497087641173,0.999999883741,0.000203551468986,-0.000437027185913,9.63338889851e-06,1793239729628646656
+264,4.400000000,HOLD_POSE2,765.961918603,745.038081397,714.038081397,680.961918603,664,631,881,787,805,653,631,652.961918603,0.450441048604,0.00462972579294,0.0497103755639,0.999999885324,0.000201466667767,-0.000434366051804,9.39718815808e-06,1793239729645313280
+265,4.416666667,HOLD_POSE2,766,745.537342025,714,680.462657975,663.462657975,631,881,787,805,652.462657975,631.537342025,653,0.450440207319,0.00462829676024,0.0497093892078,0.999999884511,0.00020172220037,-0.000436109850268,9.69390409227e-06,1793239729661980160
+266,4.433333333,HOLD_POSE2,765.883867903,746,714,680,663.116132097,631,881,787,805.116132097,652,632,653,0.450439188145,0.00462685890775,0.0497084210599,0.999999883763,0.000201527015922,-0.000437905389963,9.97703214211e-06,1793239729678647040
+267,4.450000000,HOLD_POSE2,765.291289774,746,714,680,663.708710226,631,881,787,805.708710226,652,632,653,0.450438282348,0.00462582236661,0.0497082830483,0.999999883989,0.000198802146714,-0.000438632261197,1.00494434636e-05,1793239729695313920
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,664,631,881,787,805,652,631,653,0.450439488779,0.00462804739303,0.049709271302,0.999999883501,0.000204367854006,-0.000437192299112,9.77981135971e-06,1793239729732403456
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.423930224,746,714,680,663.423930224,631,881,787,804.423930224,652.576069776,631.576069776,652.423930224,0.450438601915,0.00462712708604,0.0497083784834,0.999999883674,0.000201160060363,-0.000438275031712,1.00859268314e-05,1793239729749070336
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.151437205,746,714,680,663.151437205,631,880.848562795,787,804.151437205,653,631.848562795,652.151437205,0.450437726588,0.00462653546683,0.0497074941177,0.999999883529,0.000198913295195,-0.000439625551178,1.02507327834e-05,1793239729765737216
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.724847704,746,714,680,663.724847704,631,880.275152296,787,804.724847704,653,631.275152296,652.724847704,0.450436883407,0.0046268597218,0.0497066333051,0.999999882521,0.000199344394039,-0.000441722247544,1.00217858737e-05,1793239729782403584
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.689856285,746,714,680,663.689856285,631,880.310143715,787,805,653,631,653,0.450437502363,0.00462732763713,0.0497067859672,0.999999882489,0.000200458225822,-0.000441296810506,9.79810609959e-06,1793239729799069952
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.093595562,746,714,680,663.093595562,631,880.906404438,787,805,653,631,653,0.450439470187,0.00462792808348,0.0497078735906,0.999999883351,0.000202201899473,-0.000438544628591,9.57928543193e-06,1793239729815736576
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.482609253,746,714,680,663.482609253,631,880.517390747,787,805,653,631.482609253,652.517390747,0.450438546714,0.00462904762702,0.0497076627717,0.99999988283,0.000203965095195,-0.000438914095341,9.64104162248e-06,1793239729832403456
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.944296137,745.944296137,714,680,664,631,880,787,805,653,632,652.055703863,0.450437141769,0.0046299753802,0.0497071727266,0.999999882141,0.000205342130079,-0.000439837966407,9.75215141068e-06,1793239729849070336
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.365338298,745.365338298,714,680,664,631,880,787,805,653,632,652.634661702,0.450436271151,0.00462819362165,0.0497063308201,0.999999882311,0.000203057619853,-0.000440509693785,9.83611937769e-06,1793239729865736704
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.216843344,745,714,680,663.783156656,630.783156656,880.216843344,787,805,652.783156656,631.783156656,653,0.450431532299,0.00462743287116,0.0497040649171,0.999999880959,0.000202175334338,-0.000443972438832,9.77241620068e-06,1793239729882403328
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.804538364,745,714,680,663.195461636,630.195461636,880.804538364,787,805,652.195461636,631.195461636,653,0.450420177886,0.00462841827796,0.0496993636546,0.999999876964,0.000203691173778,-0.000452208461892,9.45616160837e-06,1793239729899069696
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.965577418,680,663.965577418,630.965577418,881,787.965577418,805,652.965577418,631,653,0.450354004232,0.00462877446963,0.0496707944403,0.999999852858,0.000202563552175,-0.000503158249187,9.18875369514e-06,1793239729932403200
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.541910873,714.458089127,680,663.458089127,631,881,787.458089127,805,653,631,652.458089127,0.450294220086,0.00462896728409,0.0496519897563,0.999999836319,0.000202363932446,-0.000535102085689,8.79888616817e-06,1793239729949069824
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.879721035,746,714.120278965,680,663.120278965,631,881,787,805,652.879721035,631,652.120278965,0.450230225176,0.00462931242544,0.0496341178188,0.999999820489,0.000202700673363,-0.00056379587856,8.2944079495e-06,1793239729965736448
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.292783297,746,714.707216703,680,663.707216703,631,881,787,805,652.292783297,631,652.707216703,0.450155376617,0.00463020547133,0.0496205043656,0.999999811275,0.0002049273747,-0.000579137095781,7.41700275161e-06,1793239729982403328
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.290539556,746,714.709460444,680,664,631,881,787.290539556,804.709460444,652,631.290539556,652.709460444,0.450071540908,0.00463168301269,0.0496115966741,0.99999980423,0.00020755940934,-0.000590267335671,6.59827673956e-06,1793239729999069952
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,714.977941407,680,663.977941407,631,881,787,805,653,632,653,0.449765423761,0.00463312152785,0.0496140110062,0.999999802415,0.000211723471384,-0.000591864962805,6.18715164356e-06,1793239730049069824
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714.401057954,680,663.401057954,631,881,787,805,653,632,653,0.449627616255,0.0046369384009,0.0496142015859,0.999999802931,0.000217505019098,-0.000588902846434,4.77109815602e-06,1793239730065736448
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.17878672,746,714,680,663.357573439,631,881,787,805,653,631.82121328,653,0.449477803556,0.00463959919798,0.0496124767881,0.999999800888,0.000222053703153,-0.000590680489466,3.60657930353e-06,1793239730082403072
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.765385856,746,714,680,664.530771711,631,881,787,805,653,631.234614144,653,0.449300607036,0.00463962298582,0.0496063830156,0.999999792987,0.000223790225033,-0.00060326952167,3.01581101901e-06,1793239730099069696
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.650740065,746,714,680,664.650740065,631.349259935,881,787,805.349259935,653,631,653,0.449102955327,0.00464145079693,0.0496030044818,0.999999787499,0.000227592423279,-0.000610898729983,2.38522940159e-06,1793239730115736576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.068682302,746,714,680,664.068682302,631.931317698,881,787,805.931317698,653,631,653,0.448891669276,0.00464448107261,0.049601435779,0.999999783658,0.000232771490114,-0.000615221988592,1.72811030577e-06,1793239730132403456
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714.507534094,680.507534094,664,631.492465906,880.492465906,787,804.984931811,652.492465906,631,653,0.448661677532,0.00464729448123,0.0496051913923,0.999999785582,0.000238045655587,-0.000610056854154,7.5410040465e-07,1793239730149069824
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.917291161,664,631.082708839,880,787,804.082708839,652.082708839,631.082708839,653,0.448422565344,0.00464995962173,0.049608668706,0.999999787577,0.000243495528284,-0.00060461166655,-2.94345632776e-07,1793239730165736704
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.343660374,664,631.656339626,880,787,804.656339626,652.656339626,631.656339626,653,0.448144172279,0.00465191692357,0.0496062661709,0.999999785735,0.000249912804249,-0.000605038855975,-1.53297092049e-06,1793239730182403328
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.762886944,714.762886944,680,664,632,880,787,805,652.762886944,631.762886944,653,0.447850753003,0.0046545463441,0.0496040220302,0.999999783174,0.000256719570017,-0.00060641419196,-2.86148589357e-06,1793239730199069952
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.171439817,714.171439817,680,664,632,880,787,805,652.171439817,631.171439817,653,0.447534879061,0.00465818015688,0.0496020145893,0.999999779548,0.00026410837635,-0.000609206407441,-4.32432902727e-06,1793239730215736832
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.411223445,745.411223445,714,680,664,632.411223445,880.411223445,787,805.411223445,652,631,653,0.447183147272,0.00466137146272,0.0496024141024,0.999999777714,0.000270350468542,-0.000609468975986,-5.4462003221e-06,1793239730232403200
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.990301269,745.990301269,714,680,664,632.990301269,880.990301269,787,805.990301269,652,631,653,0.446816778932,0.0046643821447,0.0496037960932,0.9999997766,0.000276124491444,-0.000608698985834,-6.42889270704e-06,1793239730249069824
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.434968821,746,714,680,664,633,881,787,804.869937642,652,631.565031179,653,0.446423083221,0.0046664707433,0.0496059684007,0.999999775953,0.000283085524831,-0.000606546277818,-7.66620845496e-06,1793239730265736448
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.139412307,746,714,680,664.139412307,633,881.139412307,787,804,652,632,653,0.446025280203,0.0046681135815,0.0496137361262,0.99999978196,0.000288665262961,-0.000593861645528,-9.02051944918e-06,1793239730282403328
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.109664747,714,680,665,633,882,787,804.890335253,652.890335253,632,653,0.444729114953,0.00467340723457,0.0496977021873,0.999999843033,0.000302443444375,-0.000471515441048,-1.15876419722e-05,1793239730332403200
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,634,880.798707292,787.201292708,804.798707292,652.798707292,632,652.798707292,0.442504155368,0.00467460483683,0.0497085750993,0.99999984447,0.000314222142763,-0.000460374530301,-1.9500110027e-05,1793239730399069440
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745.588151275,714,680,667,635,880.411848725,787.588151275,805,652,632,653,0.434663304127,0.00460130524422,0.0498027473979,0.999999946223,4.70960846005e-05,-0.000322178369296,-3.92077634674e-05,1793239730582403584
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.831833001,714,680,667,635,880,788,804.831833001,652.168166999,632,653,0.433816659473,0.00460822330714,0.049786079963,0.999999934985,6.4767512929e-05,-0.000352086438847,-4.32502003235e-05,1793239730599070208
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.244552145,714,680,667,635,880,788,804.244552145,652.755447855,632,653,0.433026458778,0.00460700508827,0.0498003169489,0.999999943445,7.30387528199e-05,-0.000324981678457,-4.64943838158e-05,1793239730615736576
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745.338683609,714,679.661316391,667,635,880,787.661316391,804,653,632,653,0.432208425704,0.00460340165759,0.04981535276,0.99999995104,7.31049345393e-05,-0.000300140873078,-4.99127051635e-05,1793239730632403200
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745.919032977,714,679.080967023,667,635,880,787.080967023,804,653,632,653,0.431370533029,0.00459809627267,0.0498309585676,0.999999957964,6.73164433883e-05,-0.000276915501048,-5.34552814438e-05,1793239730649069824
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745.505184385,714,679.494815615,666.505184385,635,880,787.494815615,804,652.505184385,631.505184385,653,0.430466140463,0.00458597359287,0.0498032999177,0.999999946639,2.61642240316e-05,-0.000320860081123,-5.55608345652e-05,1793239730665736448
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,666,635,880,787.930091045,804,652.069908955,631.069908955,652.930091045,0.42955348549,0.00457535249656,0.0497735095322,0.99999993115,-1.22083458617e-06,-0.000367066801281,-5.44154753356e-05,1793239730682403072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,666,635,880,787.354628264,804,652.645371736,631.645371736,652.354628264,0.428659051059,0.00458358348095,0.0497790304916,0.99999993163,0.00011241643439,-0.000350876226192,-3.14457051108e-05,1793239730699069696
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,666.22716138,634.77283862,880,787.22716138,804,653,632,652.22716138,0.42776141314,0.00459288314808,0.0497825071563,0.999999922418,0.000183230706377,-0.000348198197345,-1.86871177537e-05,1793239730715736576
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,666.819111143,634.180888857,880,787.819111143,804,653,632,652.819111143,0.426858630738,0.0046038989667,0.04978270098,0.999999915162,0.000185277447138,-0.000367219370659,-2.23262128984e-05,1793239730732403712
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.401896724,714,680,666.598103276,634.401896724,880,788,804,653,632,653,0.425988116223,0.00460332963462,0.0497836359439,0.999999921745,0.000167833583294,-0.000357234891439,-2.69143790818e-05,1793239730749070336
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745.980649538,714,680,666.019350462,634.980649538,880,788,804,653,632,653,0.42513180136,0.00459766221488,0.0497848970491,0.999999933495,0.000141812808901,-0.000334486369601,-3.19201871271e-05,1793239730765736960
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.446177122,746,714,679.446177122,666.553822878,635,880,788,804,653,632,653,0.424299024273,0.00459679852948,0.0498270947095,0.999999956506,0.000133292130551,-0.000260836995926,-3.4420804234e-05,1793239730782403328
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.129893888,746,714,679,666.870106112,635,880.129893888,788,804,653,631.870106112,653,0.42345044618,0.00459683353276,0.0498574855741,0.99999996927,0.000128963305713,-0.000208610494979,-3.61944920478e-05,1793239730799069952
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.71683988,746,714,679,666.28316012,635,880.71683988,788,804,653,631.28316012,653,0.422543404902,0.00459944602733,0.049841349774,0.999999961631,0.000137254156412,-0.000237959150529,-3.57152843926e-05,1793239730815736576
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.699959729,714,679.300040271,666.300040271,635,880.699959729,788,804,652.699959729,631.300040271,653,0.421636498059,0.00459957931033,0.0498208710773,0.999999952136,0.00013840822787,-0.000274411665501,-3.56155569985e-05,1793239730832403200
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745.120250661,714,679.879749339,666.879749339,635,880.120250661,788,804,652.120250661,631.879749339,653,0.420729716575,0.00459740170968,0.0497963443495,0.999999940126,0.000132910076863,-0.000317485715798,-3.58695447475e-05,1793239730849069824
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.458500944,680,667,635,880,788,804,652.458500944,632,653,0.419870065501,0.00459994281668,0.0498065182658,0.999999941739,0.000133322743519,-0.000312201914235,-3.57463012874e-05,1793239730865736704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.963417592,745,714.963417592,680,666.963417592,635,879.963417592,788,804,652.963417592,631.963417592,653,0.419021703209,0.00460346030149,0.0498232731374,0.99999994582,0.000135350889021,-0.000297956067053,-3.55362447134e-05,1793239730882403328
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.391476622,745,714.391476622,680,666.391476622,635,879.391476622,788,804,652.391476622,631.391476622,653,0.41815802979,0.00460319313163,0.0498034277281,0.99999993275,0.000138381250594,-0.000337773774599,-3.55005830035e-05,1793239730899070208
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,666,635,879,788,804,652,631.186919027,653,0.417318093326,0.0046017816553,0.0497940450337,0.999999927103,0.000138295287059,-0.000354066962212,-3.61165029326e-05,1793239730915736832
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,666,635,879,788,804,652,631.779316756,653,0.416529648672,0.00459788786393,0.049807358838,0.999999939647,0.00013144915939,-0.000319329013786,-3.81458824483e-05,1793239730932403200
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.363510708,714,679.636489292,666,635,879.727021417,788,804,652.363510708,631.636489292,653,0.415753145346,0.00459737351881,0.0498225613094,0.999999950565,0.000129707102672,-0.000283745263305,-3.91870719491e-05,1793239730949069568
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.942834124,714,679.057165876,666,635,880.885668248,788,804,652.942834124,631.057165876,653,0.414983731517,0.00459886551768,0.0498388850629,0.999999959967,0.000130995282668,-0.000247659370456,-3.96415826815e-05,1793239730965736192
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.481750268,714,679,666,635,880.481750268,788,804,652.481750268,631.518249732,653,0.414191704061,0.00460379405926,0.0498163812333,0.999999946621,0.000132943844096,-0.000295837842327,-3.95575621981e-05,1793239730982403072
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.093073442,666,635,879.906926558,788,803.906926558,652.093073442,631.906926558,653,0.413407825645,0.00460875224475,0.0497935412479,0.999999931026,0.000135338434942,-0.000343600211733,-3.96262823137e-05,1793239730999069696
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.247933166,745,714,680,666,635,879,788,803.247933166,652.752066834,631.247933166,653,0.411971709447,0.00461313974817,0.0498003441858,0.999999935998,0.000144654092088,-0.00032466358481,-4.0909840607e-05,1793239731032403456
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.8383593,745,714,680,666,635,879,788,803.8383593,652.1616407,631.8383593,653,0.41129475212,0.0046116699144,0.0498263771845,0.999999946612,0.000150561920772,-0.000287296029728,-3.95920648278e-05,1793239731049070336
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.421922937,714,679.578077063,666,635,879,788,803.578077063,652.421922937,631.578077063,653,0.410606905796,0.00460481192256,0.0498210558604,0.999999943015,0.000141928103785,-0.000303819289625,-3.89920438967e-05,1793239731065736704
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746.002866483,714,679,666,635,879,788,803.002866483,653,631,653,0.409915408793,0.00459595664157,0.0498039826521,0.999999933125,0.00012783689812,-0.000340460058706,-3.86693939521e-05,1793239731082403072
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746.577199167,714,679,666,635,879,788,803.577199167,653,631,653,0.409314469806,0.00459386047286,0.0498004386353,0.999999935174,0.000118615319664,-0.000337647818881,-3.97017186489e-05,1793239731099069696
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746.690603789,714,679.154698105,666.154698105,635,879.154698105,788,804,653,631.154698105,653,0.408726387599,0.00459296920599,0.0498038854547,0.999999939621,0.000113221338644,-0.000326053857679,-4.03447680797e-05,1793239731115736320
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.517936826,714,679.741031587,666.741031587,635,879.741031587,788,804,653,631.741031587,653,0.408174177967,0.00459543983024,0.0498268379566,0.999999950144,0.000118507036737,-0.000289957322699,-3.99016701205e-05,1793239731132402944
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.676390006,745,714,679.676390006,666.676390006,635,879.676390006,788,804,653,631.676390006,653,0.407630869258,0.00459681430187,0.049838428983,0.999999954032,0.00012222044633,-0.000274684404471,-3.93355659371e-05,1793239731149069824
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.096782157,745,714,679.096782157,666.096782157,635,879.096782157,788,804,653,631.096782157,653,0.407094601829,0.00459732164094,0.0498410322964,0.999999953422,0.000124690066906,-0.000275884407613,-3.8672155392e-05,1793239731165736704
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.478544053,745.478544053,714,679,666.478544053,635,879,788,803.521455947,653,631.478544053,653,0.406562219947,0.0045996472956,0.0498186017367,0.999999940575,0.000127880517105,-0.000317759835725,-3.90446942193e-05,1793239731182403584
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.946714142,714,679,666.946714142,635,879.053285858,788,803,652.946714142,631.946714142,653,0.406036765712,0.0046026282694,0.0497926063459,0.99999992399,0.000131529110495,-0.000364889906974,-3.96863803817e-05,1793239731199070464
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745.369278594,714,679,666.369278594,635,879.630721406,788,803,652.369278594,631.369278594,653,0.405571794407,0.0046084700968,0.0497809054043,0.999999916065,0.000138262976873,-0.000383506502214,-4.09329356043e-05,1793239731215736832
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,635,880,788,803,652.212653011,631.212653011,653,0.405136200191,0.00461235366657,0.0497808613815,0.999999916334,0.00014215087564,-0.000381247525848,-4.21360889085e-05,1793239731232403200
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,635,880,788,803,652.802560733,631.802560733,653,0.404752722124,0.00461276321052,0.049801497187,0.999999930659,0.000140989916396,-0.000341954471405,-4.32622453681e-05,1793239731249069824
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.385000959,666.385000959,635,879.614999041,788,803,653,631.614999041,653,0.40440329421,0.00461418573201,0.0498279812769,0.999999943579,0.000142807355965,-0.000300943960863,-4.33734661304e-05,1793239731265736448
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.963684561,666.963684561,635,879.036315439,788,803,653,631.036315439,653,0.40407099589,0.0046161178527,0.0498574074683,0.999999954842,0.000146123140016,-0.000259069444921,-4.29741026962e-05,1793239731282403328
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.461367331,666.461367331,635,879.538632669,787.461367331,803,653,631,653,0.403749817332,0.00461820749325,0.049862358446,0.99999995592,0.0001498885246,-0.000252498050068,-4.4014760963e-05,1793239731299069952
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.116327387,714,679,666.116327387,635,879.883672613,787.116327387,803,653,631.116327387,653,0.403433478647,0.0046199485531,0.0498629204464,0.999999955052,0.000153438345515,-0.000253630913719,-4.49854316681e-05,1793239731315737088
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.706221914,714,679,666.706221914,635,879.293778086,787.706221914,803,653,631.706221914,653,0.403133811874,0.00462022760943,0.0498522864793,0.999999948581,0.000155988057997,-0.000276504718048,-4.52786607646e-05,1793239731332403456
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.290681196,666.709318804,635,879,788,803,653,632,653,0.402849534961,0.00461975580034,0.0498412424393,0.999999942178,0.000154799119651,-0.000299304373666,-4.58016332374e-05,1793239731349070080
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.552817539,666,635,879,788,803,653,631.552817539,653,0.402356605228,0.00461820241997,0.0498247713612,0.999999936904,0.000121366076408,-0.00033044689194,-4.76246018238e-05,1793239731382403072
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.975912988,714,679,666,635.024087012,879.024087012,788,803,653,631,653,0.402147740853,0.00461725563997,0.0498219579122,0.999999939304,8.58194052184e-05,-0.000334151091152,-4.86841452105e-05,1793239731399069440
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.400290328,714,679,666,635.599709672,879.599709672,788,803,653,631,653,0.401984027106,0.00459648949439,0.0498269409263,0.999999944958,4.67932253341e-05,-0.000325046816776,-4.73227242074e-05,1793239731415736320
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.179724629,745.179724629,714,679.179724629,666.179724629,635.820275371,879.820275371,788,803.179724629,653,631.179724629,653,0.401831424422,0.00457875453476,0.0498325559589,0.999999949346,3.42583962522e-05,-0.000313649833191,-4.19188492005e-05,1793239731432403200
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.769767284,745.769767284,714,679.769767284,666.769767284,635.230232716,879.230232716,788,803.769767284,653,631.769767284,653,0.401704188733,0.00456793988846,0.0498396139124,0.999999952139,8.22043138177e-05,-0.00029701851071,-2.72859012916e-05,1793239731449069824
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.647240565,746,714,679.647240565,666.647240565,635,879,788,803.647240565,653.352759435,631.647240565,653,0.401587862204,0.00457123855242,0.0498443876011,0.999999952779,0.000110066738264,-0.000285958925966,-2.35357437194e-05,1793239731465736448
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a5182c8d87ab40c996566c27af18d51390a9731
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,414 @@
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+410,6.833333333,pose2_to_pose3_retreat,0.575664364803,0.0100908156046,1.04003223879,0.546234817385,0.0187625587163,1.03970037437
+411,6.850000000,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816514,0.0187625591101,1.03970037496
+412,6.866666667,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aaea6c1a41b4f4887c62cffd65dfafa4c4bafbae
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae9ae8579ff869eafce464ac70caafd31bc2c00b8125e48dae0e13bd72afe38c
+size 26345996
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec3f8c0b0bf5b261fe6379dd16ac437800104701
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/franka_data.csv
@@ -0,0 +1,416 @@
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+55,0.916666667,BASELINE,766,745.914748358,714,679,666.085251642,635,880,788.085251642,803.085251642,653,631.914748358,653,0.401000513276,0.0045798289334,0.0498633218291,0.999999964442,0.000110202782368,-0.000240973282226,-3.00561010983e-05,1793239733205237504
+56,0.933333333,BASELINE,766,746,714,679.495181263,666,635,880,788,803.495181263,653,631.504818737,653,0.401000101688,0.00458002422186,0.0498629617397,0.999999964383,0.000110033356809,-0.000241266561763,-3.02846457409e-05,1793239733221904384
+57,0.950000000,BASELINE,766,746,714,679.926384314,666,635,879.926384314,788,803.926384314,653,631,653,0.400999632578,0.00458035721106,0.0498626002309,0.999999964225,0.000110497224167,-0.00024168059037,-3.04993212395e-05,1793239733238571008
+58,0.966666667,BASELINE,766,746,714,679.350827296,666,635,879.350827296,788,803.350827296,653,631,653,0.401000018624,0.00458058522235,0.0498626337528,0.999999963969,0.000113385636537,-0.000241450145556,-3.01150732748e-05,1793239733255237120
+59,0.983333333,BASELINE,766,746,714,679,666,635,879.448275332,788,803.224137666,653,631.224137666,653,0.401000540888,0.00458078793486,0.0498628905227,0.999999963882,0.00011482648376,-0.000241148562079,-2.99668511463e-05,1793239733271903744
+60,1.000000000,BASELINE,766,746,714,679,666,635,880.596356912,788,803.798178456,653,631.798178456,653,0.401001275802,0.00458095115324,0.0498634958066,0.999999964069,0.000114007525765,-0.000240735923431,-3.0187090801e-05,1793239733288570368
+61,1.016666667,BASELINE,766,745.615694758,714,679,666.384305242,635,880.615694758,788.384305242,804,653.384305242,631.615694758,653,0.400999911334,0.00458181222369,0.0498632169483,0.999999963731,0.000114092392028,-0.000242080109225,-3.02971544053e-05,1793239733305236992
+62,1.033333333,BASELINE,766,745.023014841,714,679,666.976985159,635,880.023014841,788.976985159,804,653.976985159,631.023014841,653,0.400997408557,0.00458305167746,0.0498624586979,0.999999963105,0.000114667322136,-0.000244376865242,-3.03474792884e-05,1793239733321903616
+63,1.050000000,BASELINE,766.555165756,745.555165756,714,679,666.444834244,635,880,788.444834244,803.444834244,653.444834244,631,653,0.400999493766,0.00458162719325,0.0498630949079,0.999999963623,0.000113859159331,-0.000242671858255,-2.99915534095e-05,1793239733338570240
+64,1.066666667,BASELINE,766.86784641,745.86784641,714,679,666.13215359,635,880,788,803.13215359,653,631.13215359,653,0.401001114807,0.00458031123025,0.0498635031445,0.999999964074,0.000112913313871,-0.000241278716094,-2.97819090163e-05,1793239733355237120
+65,1.083333333,BASELINE,766.292892388,745.292892388,714,679,666.707107612,635,880,788,803.707107612,653,631.707107612,653,0.401000559518,0.00457971949705,0.049862958756,0.999999964154,0.000111693369202,-0.000241472236377,-3.0117396246e-05,1793239733371904000
+66,1.100000000,BASELINE,766,745.288433441,714,679,666.711566559,635,879.711566559,788,803.711566559,653,631.711566559,653,0.401000094208,0.004580042889,0.0498628915236,0.999999964193,0.000111297712132,-0.000241467766867,-3.03441029567e-05,1793239733388570368
+67,1.116666667,BASELINE,766,745.87637571,714,679,666.12362429,635,879.12362429,788,803.12362429,653,631.12362429,653,0.400999722332,0.00458131654547,0.0498633197693,0.999999964189,0.000111757994071,-0.00024125770506,-3.04578521287e-05,1793239733405236992
+68,1.133333333,BASELINE,766,746,714,679,666,635.456618028,879.456618028,787.543381972,803,653,631,653,0.40099864073,0.00458056935477,0.0498625715003,0.999999963933,0.000111714788117,-0.000242339665422,-3.04191057694e-05,1793239733421903616
+69,1.150000000,BASELINE,766,746,714,679,666,635.965250552,879.965250552,787.034749448,803.034749448,653,631,653,0.400997546159,0.00457933794269,0.0498616550471,0.999999963654,0.0001115535379,-0.000243575747881,-3.03251697712e-05,1793239733438570240
+70,1.166666667,BASELINE,766,746,714,679,666,635.388068773,879.388068773,787.611931227,803.611931227,653,631,653,0.400999198838,0.00457894677015,0.0498630029859,0.999999964073,0.000111642185159,-0.000241847872453,-3.00035206563e-05,1793239733455236864
+71,1.183333333,BASELINE,766,745.807611873,714,679,666.192388127,635,879,788,804,653.192388127,631,653,0.401000492392,0.00457885742092,0.0498639436766,0.999999964306,0.000112497675314,-0.00024051472866,-2.97567848971e-05,1793239733471903488
+72,1.200000000,BASELINE,766,745.220434164,714,679,666.779565836,635,879,788,804,653.779565836,631,653,0.401001049005,0.00457938742739,0.0498640486751,0.999999964158,0.000114926763571,-0.000239991592639,-2.96637748465e-05,1793239733488570368
+73,1.216666667,BASELINE,766,745.361821414,714,679,667,635,879,788,803.638178586,653.638178586,631,653,0.401000551389,0.0045797948101,0.0498638514831,0.999999964039,0.000115149835938,-0.000240364737389,-2.97978126868e-05,1793239733505237248
+74,1.233333333,BASELINE,766,745.941118472,714,679,667,635,879,788,803.058881528,653.058881528,631,653,0.400999420119,0.00458012848879,0.0498634726571,0.999999963937,0.000114046964734,-0.000241276598866,-3.00683194762e-05,1793239733521904128
+75,1.250000000,BASELINE,766,746,714,679,667,635,879.518495453,788,803.518495453,653,631,653,0.400999820021,0.00458048043984,0.0498636730628,0.999999964134,0.000113125038682,-0.000240888177036,-3.01181122831e-05,1793239733538571008
+76,1.266666667,BASELINE,766,746,713.904574484,679.095425516,666.904574484,635,880,788,803.904574484,653,631,653,0.401000059083,0.0045808504462,0.0498637714361,0.99999996427,0.00011242467698,-0.000240645342363,-3.01900721004e-05,1793239733555237632
+77,1.283333333,BASELINE,766,746,713.328800553,679.671199447,666.328800553,635,880,788,803.328800553,653,631,653,0.40099861646,0.00458130093171,0.0498630263113,0.999999963928,0.000112736560704,-0.000241875914678,-3.04993195685e-05,1793239733571904000
+78,1.300000000,BASELINE,766,745.749228501,713.250771499,679.749228501,666.250771499,635.250771499,879.749228501,788,803.250771499,653.250771499,631.250771499,653,0.400998851229,0.00458046226569,0.0498628530502,0.999999964119,0.000111311873587,-0.000241742168841,-3.05308073662e-05,1793239733588570368
+79,1.316666667,BASELINE,766,745.164599982,713.835400018,679.164599982,666.835400018,635.835400018,879.164599982,788,803.835400018,653.835400018,631.835400018,653,0.401001319143,0.00457790732686,0.0498634411226,0.999999965008,0.000107575255589,-0.000239792079365,-3.01925082366e-05,1793239733605236992
+80,1.333333333,BASELINE,766,745.417281582,714,679,666.582718418,635.582718418,879,788,804,653.582718418,631.582718418,653,0.400999910506,0.00457846390284,0.0498627027953,0.999999964461,0.000109156452075,-0.000241353742725,-3.01849459058e-05,1793239733621903872
+81,1.350000000,BASELINE,766,745.998086723,714,679,666.001913277,635.001913277,879,788,804,653.001913277,631.001913277,653,0.400996982734,0.00458023981343,0.049861444681,0.999999963337,0.000112821583852,-0.000244291585326,-3.03069920901e-05,1793239733638571008
+82,1.366666667,BASELINE,766,746,714,679,666,635,879,788,804,653,631,653,0.400998589458,0.00457999146014,0.0498626260067,0.999999964072,0.000111415372496,-0.000241945004092,-3.00849472804e-05,1793239733655237632
+83,1.383333333,BASELINE,765.846003701,746,714,679,666.153996299,635,879.153996299,788,804,653,631,653,0.400999567949,0.00457987157582,0.0498632043394,0.999999964461,0.000110612839679,-0.000240715359241,-2.99766645918e-05,1793239733671904512
+84,1.400000000,BASELINE,765.272052817,746,714,679,666.727947183,635,879.727947183,788,804,653,631,653,0.400998792353,0.00458012027676,0.0498621162978,0.999999963906,0.000111502272426,-0.000242579276647,-3.01817174034e-05,1793239733688570624
+85,1.416666667,BASELINE,765.310295655,745.689704345,714,679,667,635.310295655,880,788,804,653,631.310295655,653,0.400999177215,0.00458010638571,0.0498622395476,0.999999963954,0.000111364733333,-0.000242430399063,-3.0299696813e-05,1793239733705237248
+86,1.433333333,BASELINE,765.900211506,745.099788494,714,679,667,635.900211506,880,788,804,653,631.900211506,653,0.401000607814,0.00457985586221,0.0498634543422,0.999999964544,0.000110301747562,-0.000240467708901,-3.03392107815e-05,1793239733721903872
+87,1.450000000,BASELINE,766,745.481728764,714,679,667,635.518271236,879.518271236,788,804,653.481728764,632,653,0.40100080813,0.00458022430749,0.0498636767695,0.999999964429,0.000111774503732,-0.000240270689393,-3.03037055592e-05,1793239733738570240
+88,1.466666667,BASELINE,766,745.938859308,714,679,666.938859308,635,879.061140692,788,803.938859308,653.938859308,631.938859308,653,0.401000529729,0.00458061404155,0.0498635939239,0.999999964169,0.000113421261851,-0.000240589376952,-3.02544079943e-05,1793239733755237120
+89,1.483333333,BASELINE,766,745.36277752,714,679,666.36277752,635,879.63722248,788,803.36277752,653.36277752,631.36277752,653,0.400998329082,0.00458012170299,0.0498626416522,0.999999963914,0.000112185362193,-0.000242223799899,-3.02175866589e-05,1793239733771903744
+90,1.500000000,BASELINE,766,745.211859741,714,679,666.211859741,635.211859741,879.788140259,788,803.211859741,653,631.211859741,653,0.400997338057,0.00457946445126,0.049862205949,0.999999963844,0.00011101390091,-0.000243070498793,-3.00830430735e-05,1793239733788570368
+91,1.516666667,BASELINE,766,745.784040163,714,679,666.784040163,635.784040163,879.215959837,788,803.784040163,653,631.784040163,653,0.400998404301,0.00457852672333,0.0498626488003,0.99999996409,0.000109952033388,-0.000242577475006,-2.97822982713e-05,1793239733805237248
+92,1.533333333,BASELINE,766,746,714,679,666.629872209,635.629872209,879.370127791,788,803.629872209,653,632,653,0.400999314116,0.00457892039335,0.0498632254187,0.99999996422,0.000110921726338,-0.000241569315471,-3.00098019948e-05,1793239733821904128
+93,1.550000000,BASELINE,766,746,714,679,666.035353236,635.035353236,879.964646764,788,803.035353236,653,632,653,0.401000129095,0.00458012122765,0.0498638831338,0.999999964275,0.000113123059354,-0.000240248853157,-3.05575580829e-05,1793239733838570752
+94,1.566666667,BASELINE,766,746,713.458261348,679,666.541738652,635.541738652,879.458261348,788,803.541738652,653,631.458261348,653,0.401000420171,0.00458053890848,0.0498646539485,0.999999964777,0.000110909059366,-0.000239160557737,-3.07644703727e-05,1793239733855237120
+95,1.583333333,BASELINE,765.882122464,745.882122464,713.117877536,679,666.882122464,635.882122464,879.117877536,788,804,653,631,653,0.401000516584,0.00458105846708,0.0498650657013,0.999999965065,0.000109396741849,-0.000238634867865,-3.09201858155e-05,1793239733871903488
+96,1.600000000,BASELINE,765.305404122,745.305404122,713.694595878,679,666.305404122,635.305404122,879.694595878,788,804,653,631,653,0.400999984201,0.00458216732476,0.0498640519646,0.999999964424,0.000111702370963,-0.000240241994382,-3.09604997056e-05,1793239733888570112
+97,1.616666667,BASELINE,765.268638465,745.268638465,714,679,666,635,879.731361535,788,804.268638465,653,631,653,0.400999885804,0.00458228372228,0.0498635217619,0.999999964147,0.000112451860805,-0.000241062187368,-3.08232054163e-05,1793239733905236736
+98,1.633333333,BASELINE,765.839669061,745.839669061,714,679,666,635,879.160330939,788,804.839669061,653,631,653,0.401000275921,0.00458128295973,0.049863535848,0.999999964285,0.000111449686726,-0.000240996570752,-3.04859869783e-05,1793239733921903360
+99,1.650000000,BASELINE,766,746,714,679,666,635,879.429716294,788,804.570283706,653,631,653,0.40099974308,0.00458104285405,0.0498634666273,0.999999964284,0.000111857599417,-0.000240819819135,-3.04284408268e-05,1793239733938570240
+100,1.666666667,BASELINE,766,746,714,679.026286361,666.026286361,635,880,788,804,653,631,653,0.40099886447,0.0045811245501,0.0498633586031,0.999999964216,0.000112816510349,-0.000240647955808,-3.04690848285e-05,1793239733955237120
+101,1.683333333,BASELINE,766,746,714,679.603957775,666.603957775,635,880,788,804,653,631,653,0.400998290865,0.00458172756054,0.049863118812,0.99999996391,0.000113786364426,-0.000241488686119,-3.02792083244e-05,1793239733971903744
+102,1.700000000,BASELINE,766,746,714,680,667,635,880,788.180438869,804,653,631.180438869,653,0.400997994194,0.00458231662869,0.0498629136225,0.999999963638,0.000114844878421,-0.000242122660374,-3.01757691299e-05,1793239733988570624
+103,1.716666667,BASELINE,766,746,714,680,667,635,880,788.754324397,804,653,631.754324397,653,0.400998301375,0.00458287529562,0.0498627838817,0.999999963447,0.000116096715095,-0.000242305803273,-3.02608063728e-05,1793239734005236992
+104,1.733333333,BASELINE,766,746,714.336939172,679.663060828,667,635,879.663060828,788.663060828,803.663060828,653,632,653,0.400999046584,0.00458098792687,0.0498628053854,0.999999963853,0.000113244660641,-0.000241996618887,-3.0118346909e-05,1793239734021903616
+105,1.750000000,BASELINE,766,746,714.92608813,679.07391187,667,635,879.07391187,788.07391187,803.07391187,653,632,653,0.401000119672,0.00457726962194,0.0498629401004,0.99999996468,0.000107320712078,-0.000241318911739,-2.98055988662e-05,1793239734038570240
+106,1.766666667,BASELINE,765.494285598,746,714.494285598,679,666.494285598,635.505714402,879.505714402,788,803,653,631.494285598,653,0.401000469216,0.0045794970914,0.0498633305701,0.999999964496,0.000110032076404,-0.000240817921527,-3.01359546628e-05,1793239734055236608
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,667,635,880,788,803,653,631,653,0.40099924616,0.00457968722625,0.0498625639227,0.99999996401,0.000112541058299,-0.00024165310634,-3.02889696896e-05,1793239734098464768
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679.589633619,667,635.589633619,880,788,803,653,631.589633619,653,0.400998008164,0.00457972844828,0.049862017421,0.999999963538,0.000112276509275,-0.000243752812136,-3.00399206424e-05,1793239734115131648
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.17611924,714,679.82388076,667,636,879.82388076,788,803.17611924,653.17611924,631.82388076,653,0.400997560946,0.00458017523217,0.0498617241335,0.999999963348,0.000112518241625,-0.000244427952406,-2.99686535635e-05,1793239734131798272
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.755398796,714,679.244601204,667,636,879.244601204,788,803.755398796,653.755398796,631.244601204,653,0.400998923923,0.00458155040101,0.0498620104866,0.999999963808,0.000113918919182,-0.000241842073533,-3.03043529561e-05,1793239734148464640
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.666755055,635.666755055,879.333244945,788,804,653.666755055,631,653,0.400999350985,0.00458122134967,0.0498625574088,0.999999964031,0.000113726637417,-0.000241003313749,-3.03618978255e-05,1793239734165131008
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.089956552,635.089956552,879.910043448,788,804,653.089956552,631,653,0.400999094029,0.00457964676132,0.0498632947692,0.999999964083,0.000112370134124,-0.000241441443921,-3.02161521976e-05,1793239734181797632
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714,679.483795635,666,635,880,788,803.516204365,653,631,652.516204365,0.400999019084,0.00458006187423,0.049863253346,0.999999964043,0.00011229948691,-0.00024165342949,-3.01191269051e-05,1793239734198464512
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714.058644165,679.941355835,666,635,879.941355835,788,803.058644165,653,631,652.058644165,0.400999069223,0.0045807629116,0.0498630981199,0.999999964004,0.000112338495954,-0.000241798882823,-3.00847099186e-05,1793239734215131136
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714.648523019,679.351476981,666,635,879.351476981,788,803.648523019,653,631,652.648523019,0.400999947808,0.00458072364359,0.0498632155355,0.999999964135,0.000111218558312,-0.000241720169836,-3.05358885932e-05,1793239734231798016
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.766285941,714.766285941,679,666.233714059,635,879,788,803.766285941,653,631,653,0.401005324568,0.00458048014391,0.0498651503851,0.999999965071,0.000110615985887,-0.000238085921927,-3.06024626139e-05,1793239734248464640
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.188006217,714.188006217,679,666.811993783,635,879,788,803.188006217,653,631,653,0.401017333008,0.00457993554458,0.0498697646855,0.999999967143,0.000110776167371,-0.000229209733233,-3.01020122598e-05,1793239734265131264
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.390390462,714,679,666.609609538,635.390390462,879.390390462,788,803,653,631,653,0.401050385415,0.0045800285322,0.0498821971082,0.999999972447,0.000111677212997,-0.000204323977634,-2.97653464247e-05,1793239734281797632
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.968843535,714,679,666.031156465,635.968843535,879.968843535,788,803,653,631,653,0.401093575324,0.00458042866423,0.0498983957517,0.999999978443,0.000112935154669,-0.000171725940092,-2.95075803568e-05,1793239734298464000
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,714,679.554990276,666.554990276,635.445009724,880,788,803,653,631,653,0.401154386062,0.00458022969607,0.0499157174749,0.999999984378,0.000110615171273,-0.00013462004615,-2.97626204734e-05,1793239734315130880
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.139652025,746,714,680,666.860347975,635,880,788,803.139652025,653,631.139652025,653,0.401219241436,0.00457940952392,0.049931971754,0.999999988463,0.000108086659644,-0.000102570130125,-2.95063963568e-05,1793239734331797760
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.718269471,746,714,680,666.281730529,635,880,788,803.718269471,653,631.718269471,653,0.401293657172,0.00457674393684,0.0499446697974,0.999999990247,0.000105542920629,-8.7219197384e-05,-2.75513640093e-05,1793239734348464128
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.703844172,745.703844172,714,679.703844172,666.296155828,635.296155828,879.703844172,788,803.703844172,653,631.703844172,652.703844172,0.401372690114,0.00457463941842,0.0499524305279,0.999999991182,0.000104247983996,-7.79599573095e-05,-2.62756838074e-05,1793239734365130752
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.126651613,745.126651613,714,679.126651613,666.873348387,635.873348387,879.126651613,788,803.126651613,653,631.126651613,652.126651613,0.401456104543,0.00457306732561,0.0499555060003,0.999999991475,0.000104138097108,-7.44814228733e-05,-2.5644674159e-05,1793239734381797632
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714,679.449275805,667,635.550724195,879.449275805,788,803,653,631.449275805,652.449275805,0.401557545676,0.00457274194082,0.0499554762801,0.999999991517,0.000102834981864,-7.595843972e-05,-2.49355290638e-05,1793239734398464256
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714,679.974660753,667,635.025339247,879.974660753,788,803.025339247,653.025339247,632,653,0.401664967154,0.00457268841591,0.0499546051949,0.999999991499,0.000101084854738,-7.87353121839e-05,-2.41938190576e-05,1793239734415131136
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714,679.387699774,667,635.612300226,879.387699774,788,803.612300226,653.612300226,632,653,0.401792621326,0.00457089274059,0.0499544330788,0.999999991884,9.68615824575e-05,-7.94464923925e-05,-2.32171638396e-05,1793239734431797248
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.196589941,714,679,666.803410059,635.803410059,879.196589941,788,804,653.803410059,631.803410059,653,0.40193286515,0.00456915563364,0.0499556304105,0.999999992329,9.3587893806e-05,-7.80670561488e-05,-2.21269955903e-05,1793239734448463872
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.775682151,714,679,666.224317849,635.224317849,879.775682151,788,804,653.224317849,631.224317849,653,0.402097604467,0.00456753248258,0.0499594922572,0.9999999929,9.21617970816e-05,-7.26199369645e-05,-2.08159667568e-05,1793239734465130496
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.646235759,745.646235759,714,679.353764241,666,635,879.646235759,788,804,653,631,653,0.402275876211,0.00456734048758,0.0499582058429,0.999999992716,9.24012058356e-05,-7.51407586688e-05,-1.95852959806e-05,1793239734481797632
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.068792294,745.068792294,714,679.931207706,666,635,879.068792294,788,804,653,631,653,0.402462704298,0.00456805338852,0.0499536642694,0.999999992022,9.36936857557e-05,-8.26995758372e-05,-1.84054341338e-05,1793239734498464256
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.501148867,745,714,679.498851133,666.501148867,635,879,788,804,653.501148867,631,653,0.402690967491,0.00456350387437,0.0499562973196,0.999999993056,8.65833666849e-05,-7.82470911322e-05,-1.64210353415e-05,1793239734515131136
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.073542084,714,679,667,635,879.073542084,788,804,653.926457916,631,653,0.402929396035,0.00455877457984,0.0499600980302,0.99999999423,7.8847969178e-05,-7.15217166105e-05,-1.4395991022e-05,1793239734531798016
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.670614269,714,679,667,635,879.670614269,788,804,653.329385731,631,653,0.403200296872,0.0045578319947,0.0499653035047,0.999999995313,7.47527873837e-05,-6.01803296942e-05,-1.28561882597e-05,1793239734548464640
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.259247047,880,788,804,653,631.259247047,653,0.403489358007,0.00455547875853,0.0499708185289,0.999999996302,7.03351138696e-05,-4.82663916759e-05,-1.09375293966e-05,1793239734565131264
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.837495176,880,788,804,653,631.837495176,653,0.403800765205,0.00455138972943,0.0499767144507,0.999999997182,6.55206175363e-05,-3.56479355268e-05,-8.5526917132e-06,1793239734581797632
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714.410932767,679,667,635.589067233,880,788,803.589067233,653,632,653,0.404143031751,0.00454852281986,0.0499838398633,0.999999997811,6.1762562409e-05,-2.2919024151e-05,-6.23409492917e-06,1793239734598464256
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,714.982490013,679,667,635.017509987,880,788,803.017509987,653,632,653,0.404497360522,0.00454613360973,0.0499914458565,0.999999998234,5.8417446756e-05,-1.01469385778e-05,-3.94139029456e-06,1793239734615131136
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714.425238797,679.574761203,667,635,879.425238797,788,803.574761203,653,632,653,0.404896630335,0.00454255685016,0.0499982114421,0.999999998518,5.41107869021e-05,5.85691962361e-06,-1.4759135683e-06,1793239734631797504
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.836098318,746,714.163901682,679.836098318,667,635,879.163901682,788,804,653,632,653,0.405298850136,0.00453815999676,0.0499994167981,0.999999998733,4.93036867646e-05,1.01097359732e-05,1.32591135403e-06,1793239734648464128
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.256557226,746,714.743442774,679.256557226,667,635,879.743442774,788,804,653,632,653,0.405704949,0.00453177863756,0.0499865892819,0.999999998927,4.330457957e-05,-1.56960065542e-05,4.9668369178e-06,1793239734665131008
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.320030119,746,714.679969881,679,667,635.320030119,879.679969881,788,803.679969881,653,632,653,0.406123084904,0.00452713215167,0.04996856781,0.999999997996,3.81434778749e-05,-4.98969564307e-05,7.94812917455e-06,1793239734681797632
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.894271263,746,714.105728737,679,667,635.894271263,879.105728737,788,803.105728737,653,632,653,0.40655078229,0.00452386373513,0.0499464205975,0.99999999526,3.36480323383e-05,-9.0766513464e-05,1.04054521975e-05,1793239734698464512
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.480302872,746,714,679,667,636,879.960605745,788,803.480302872,653,632,653,0.407036347697,0.00451858030584,0.0499331944663,0.99999999348,2.65443750541e-05,-0.000110253310146,1.33926936182e-05,1793239734715131136
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.932122582,746,714,679,667,635.932122582,880.932122582,788,804,653,631.932122582,653,0.407544598183,0.00451282269183,0.0499259735313,0.999999992711,1.88805414642e-05,-0.000118101330462,1.65291435704e-05,1793239734731797504
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.352967467,746,714,679,667,635.352967467,880.352967467,788,804,653,631.352967467,653,0.40812535594,0.00450691850428,0.0499488216877,0.999999996952,1.14307458904e-05,-7.46287004998e-05,1.98887216498e-05,1793239734748464128
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788,804,653,631,653,0.408720389727,0.00450067951387,0.0499722741738,0.999999999149,3.05756596557e-06,-3.36994725637e-05,2.35927071733e-05,1793239734765131008
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788,804,653,631,653,0.409337701327,0.00449391806155,0.0499966697196,0.999999999584,-6.75656134325e-06,3.2607556811e-06,2.78341427897e-05,1793239734781797632
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.623030417,714,679.376969583,667.376969583,635,879.623030417,788,804,653,631.376969583,653,0.409946710624,0.00448668522653,0.0500040819434,0.999999997631,5.97265531937e-05,1.20720340122e-05,3.20204883761e-05,1793239734798464256
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.048836437,714,679.951163563,667.951163563,635,879.048836437,788,804,653,631.951163563,653,0.41055137627,0.0044792057719,0.0500026087667,0.999999985528,0.000166127152119,6.15623514722e-06,3.61780113325e-05,1793239734815131136
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.473215123,745,714,679.473215123,667.473215123,635,879.526784877,788,803.473215123,653,631.473215123,653,0.411160674321,0.00447406263736,0.0499772038304,0.999999984604,0.000163581556009,-4.94286390947e-05,3.98708106946e-05,1793239734831798016
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.106024847,714,679,667,635,880,788,803,653,631,653,0.411789384933,0.00446872887289,0.0499543211589,0.999999983204,0.000149709113583,-9.64658076089e-05,4.32926497731e-05,1793239734848464384
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.701352339,714,679,667,635,880,788,803,653,631,653,0.41250569665,0.00446151307138,0.0499533454632,0.999999987045,0.00013030158918,-8.27473475051e-05,4.56633788724e-05,1793239734865131008
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.287201759,746,714,679.287201759,667,635,880,788,803.287201759,653,631,653,0.413245186798,0.00445213605866,0.04996398513,0.99999999626,5.47252855845e-05,-5.74521271447e-05,3.44236861301e-05,1793239734881797632
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.863510312,746,714,679.863510312,667,635,880,788,803.863510312,653,631,653,0.414008009206,0.00444058349838,0.0499863172049,0.99999999675,-7.73923730837e-05,-2.05033542991e-05,9.48329216465e-06,1793239734898464256
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804,653,631.43775677,653,0.414737646181,0.00442820711022,0.049979778737,0.999999992676,-0.000116750516484,-3.09113686144e-05,7.86753217109e-06,1793239734915130880
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804,653,631.988325881,653,0.415457929665,0.00441618117317,0.0499641666323,0.999999990382,-0.000126079935372,-5.61886192312e-05,1.34904440061e-05,1793239734931797760
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804,653,631.399027481,653,0.416224972868,0.00443414498857,0.0499429042003,0.999999993032,-7.39308215926e-05,-9.00223215911e-05,1.91282713415e-05,1793239734948464384
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.812845976,746,714,680,667,635,880,787.812845976,804,653,631.187154024,653,0.417014641721,0.00445726307023,0.049937718726,0.999999994852,-2.18325099825e-05,-9.64977181518e-05,2.25296888632e-05,1793239734965131264
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.233201117,746,714,680,667,635,880,787.233201117,804,653,631.766798883,653,0.417851760003,0.00449119044162,0.0499662491114,0.99999999828,3.01592581701e-05,-4.5598528722e-05,2.12410100066e-05,1793239734981797888
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,746,714,679.656383232,667,635,879.656383232,787,804,653,631.656383232,653,0.418673767564,0.00449885985528,0.0499816673835,0.999999998763,3.78916644398e-05,-2.36015589953e-05,2.1946307112e-05,1793239734998464256
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,714,679.081468286,667,635,879.081468286,787,804,653,631.081468286,653,0.419485603637,0.00448885429255,0.0499882595197,0.999999999365,1.58318387324e-05,-2.10594940264e-05,2.39938060056e-05,1793239735015130880
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,714,679,667,635,879.495359265,787.495359265,804,653,631.495359265,653,0.420303917652,0.0044770766415,0.0499748900681,0.99999999905,-3.50351231976e-06,-3.62813550153e-05,2.38992400971e-05,1793239735031797504
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.074119541,746,714,679,666.925880459,635,880,788,804,652.925880459,631.925880459,653,0.42113565746,0.00446592923437,0.0499639928781,0.999999998531,-1.86623735716e-05,-4.50941793788e-05,2.35935485952e-05,1793239735048464384
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.664134018,746,714,679,666.335865982,635,880,788,804,652.335865982,631.335865982,653,0.422053400406,0.00446120492214,0.04999324227,0.999999999612,-7.88239574113e-06,1.11153076592e-05,2.42799127617e-05,1793239735065131008
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.751440696,746,714,679.248559304,666.248559304,635,880,788,804.248559304,652,631.248559304,653,0.422938222587,0.00445834412493,0.0500055643027,0.999999999089,-6.22856127871e-06,3.3951466868e-05,2.51023568906e-05,1793239735081797632
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.174401638,746,714,679.825598362,666.825598362,635,880,788,804.825598362,652,631.825598362,653,0.423779538963,0.0044579460269,0.0499955162463,0.99999999944,-1.66352408101e-05,1.26836219406e-05,2.6104635585e-05,1793239735098464256
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,746,714,679.598893096,667,635,880,788,804.197786191,652.401106904,632,653,0.424639394914,0.00446422589326,0.0499889701354,0.999999999511,-1.63324913634e-05,3.40199792225e-06,2.64700165699e-05,1793239735115131136
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,746,714,679.024047527,667,635,880,788,803.048095054,652.975952473,632,653,0.425507281194,0.00447339830675,0.0499839408858,0.999999999582,-1.13909732599e-05,-6.87816878241e-07,2.65595265116e-05,1793239735131798016
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.448535315,714,679.551464685,667,635,880,788,803.551464685,652.448535315,632,653,0.426390840476,0.00447753904571,0.0500061895111,0.999999999276,-5.60952129727e-07,2.61337631092e-05,2.76591151698e-05,1793239735148464384
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.131174209,745.131174209,714,680,667,635.131174209,880.131174209,788,804,652,632,653,0.427262400266,0.00447810037188,0.0500176640526,0.999999998994,6.73817845209e-06,3.34955886134e-05,2.90484007971e-05,1793239735165131008
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.725604174,745.725604174,714,680,667,635.725604174,880.725604174,788,804,652,632,653,0.428089165932,0.00446679644206,0.049986882844,0.999999998977,6.59654486258e-07,-3.26329570113e-05,3.1305040258e-05,1793239735181797376
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.690187696,880.690187696,787.690187696,804,652.309812304,632,653,0.42893562242,0.00446044294426,0.049965638804,0.999999997227,-7.46532848642e-06,-6.69740672952e-05,3.16891401018e-05,1793239735198464256
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.114743751,880.114743751,787.114743751,804,652.885256249,632,653,0.429798961685,0.00445833392461,0.0499525718899,0.999999996643,-1.73449356631e-05,-7.40607738233e-05,3.04677330811e-05,1793239735215131136
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,787.461245536,804,653,632,653,0.430663250855,0.00445887006903,0.0499579784067,0.999999997434,-1.36804950765e-05,-6.29589557186e-05,3.13228730349e-05,1793239735231797504
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804.03806156,652.96193844,632,653,0.431523318551,0.00446035519508,0.0499660897756,0.999999998181,-6.73619059692e-06,-5.03254080066e-05,3.25515129895e-05,1793239735248464384
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804.624837478,652.375162522,632,653,0.432319115698,0.00446602351106,0.0499468644109,0.999999996223,-1.13938048192e-06,-8.09179246666e-05,3.17086058527e-05,1793239735265131008
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.790529822,746,714.209470178,679.790529822,667,635,880,788,805,652.209470178,631.790529822,653,0.433144033149,0.00446914878375,0.0499427836286,0.999999995856,4.47212684912e-07,-8.56443588439e-05,3.08544729954e-05,1793239735281797632
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.209696668,746,714.790303332,679.209696668,667,635,880,788,805,652.790303332,631.209696668,653,0.434020577186,0.00446776557727,0.0499655521886,0.999999998547,-5.0757785551e-06,-4.45136479738e-05,2.99804382848e-05,1793239735298464256
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,746,714.632169124,679,667.367830876,635,880.367830876,788,805,652.632169124,631.367830876,653,0.434851781041,0.00446527275394,0.0499834487106,0.999999999304,-8.06337803602e-06,-1.88764502681e-05,3.11558708228e-05,1793239735315130880
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,746,714.056509324,679,667.943490676,635,880.943490676,788,805,652.056509324,631.943490676,653,0.435657367088,0.00446215298364,0.0499985924705,0.999999999391,-9.61844998041e-06,-1.99327858996e-06,3.34892773698e-05,1793239735331797248
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.517780476,746,714,679,667.482219524,635,880.482219524,787.482219524,804.482219524,652,631.482219524,653,0.436387463422,0.00446267316319,0.0499729946609,0.999999997461,-1.3980609584e-05,-6.0480769301e-05,3.4996695072e-05,1793239735348464128
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.905373265,746,714,679.094626735,667,635,880.094626735,787,804.094626735,652,631.094626735,653,0.43711835011,0.00446308099251,0.049950320842,0.999999993279,-1.75014112727e-05,-0.000108779546371,3.61059434348e-05,1793239735365130752
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.314333496,746,714,679.685666504,667,635,880.685666504,787,804.685666504,652,631.685666504,653,0.437896489601,0.00446082092373,0.0499662508269,0.999999997418,-1.50055178915e-05,-6.05895674579e-05,3.5598052534e-05,1793239735381797632
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,714,679.729292687,667,635,881,787.270707313,805,652.270707313,631.729292687,653,0.438662484134,0.0044598264289,0.0499790295837,0.9999999989,-2.48942514991e-06,-2.97652087972e-05,3.61528687854e-05,1793239735398464256
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,714,679.151066631,667,635,881,787.848933369,805,652.848933369,631.151066631,653,0.439414682154,0.00446026960397,0.0499882285999,0.999999998878,2.14094375573e-05,-1.86678925572e-05,3.79149017511e-05,1793239735415131136
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,746,714.426027138,679.426027138,667,635,880.573972862,788,805,653,631.426027138,653,0.440089141128,0.00446132960137,0.0499686443606,0.999999997757,2.3860694483e-05,-4.93769936234e-05,3.84493603381e-05,1793239735431797760
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,746,714.997228936,679.997228936,666.997228936,635,880,788,804.997228936,652.997228936,632,653,0.440735977342,0.00446260395466,0.0499389709893,0.999999994594,1.87415098099e-05,-9.47355389508e-05,3.85575794803e-05,1793239735448464128
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714.409820418,679.409820418,666.409820418,635,880,788,804.409820418,652.409820418,632,653,0.44135536757,0.00446307956686,0.0499283244338,0.999999992832,1.67005166163e-05,-0.000111492615255,4.033193994e-05,1793239735465130752
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714,679.174875084,666,634.825124916,880.174875084,788,804.174875084,652,632,653,0.441977463808,0.00446566315452,0.0499223762508,0.999999991871,1.8730953911e-05,-0.000118922557312,4.20145223932e-05,1793239735481797632
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,746,714,679.753309867,666,634.246690133,880.753309867,788,804.753309867,652,632,653,0.442605804837,0.00447311132288,0.0499272705123,0.999999993105,3.01570418298e-05,-0.000104828250091,4.3485308862e-05,1793239735498464000
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,634.331593477,881,788,805,652,632,653,0.443190956125,0.00448677212901,0.0499165000374,0.999999990541,4.91894783153e-05,-0.000120591114918,4.42252956391e-05,1793239735515130624
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666,634.909764638,881,788,805,652,632,653,0.44374399086,0.00450505274157,0.0498940810389,0.999999983714,7.38781043403e-05,-0.000158556203369,4.4421849093e-05,1793239735531797248
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714.483997636,680,666,634.516002364,881,787.516002364,805,652,632,652.516002364,0.444225143759,0.00451505032172,0.04984945178,0.999999967694,8.80821975222e-05,-0.000234235056788,4.45699374963e-05,1793239735548464128
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.940733744,714.940733744,680,666,634,881,787,805,652,632,652.059266256,0.444693717064,0.00452247756036,0.0498042822114,0.999999946213,9.88006817126e-05,-0.000309542747129,4.46729931726e-05,1793239735565131264
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.349636436,714.349636436,680,666,634,881,787,805,652,632,652.650363564,0.445168695006,0.00452058539771,0.0497911223056,0.999999943579,9.56399500686e-05,-0.000318933359246,4.44523743024e-05,1793239735581797632
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.236758304,745.236758304,714,680.236758304,666,634,881,787,805,652,632,653,0.445647117545,0.00451926223055,0.0497873364501,0.999999945005,9.43451673141e-05,-0.000314800129362,4.46180436597e-05,1793239735598464256
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.816343653,745.816343653,714,680.816343653,666,634,881,787,805,652,632,653,0.446130527833,0.00451876297149,0.049797124261,0.999999952023,9.57522868528e-05,-0.000291084316981,4.53430600441e-05,1793239735615130880
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.609273841,745.609273841,714.390726159,680.609273841,665.609273841,633.609273841,881,787,805,652,631.609273841,652.609273841,0.446563737128,0.00451986632724,0.0497949739438,0.999999952831,8.96697721435e-05,-0.000290644091996,4.26980104117e-05,1793239735631797504
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.037304686,745.037304686,714.962695314,680.037304686,665.037304686,633.037304686,881,787,805,652,631.037304686,652.037304686,0.446973660134,0.00452171307496,0.049787285984,0.99999995075,8.01131012242e-05,-0.00030100052424,3.8489715455e-05,1793239735648464128
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.552186823,745,714.447813177,680,665,633,881,787,805,652,631.552186823,652.552186823,0.447298123825,0.00452220463023,0.0497510724408,0.999999935712,3.11469331708e-05,-0.00035651061893,2.24996774039e-05,1793239735665131008
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.859759845,745.140240155,714,680,665,633,881,787,805,652.140240155,631.859759845,653,0.447614952448,0.00452307288501,0.0497178838259,0.999999916759,-7.12295578019e-06,-0.000407837773727,9.93067696274e-06,1793239735681797376
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.280044446,745.719955554,714,680,665,633,881,787,805,652.719955554,631.280044446,653,0.447926540331,0.00452541792489,0.0497004115621,0.99999990481,-3.25679146836e-06,-0.00043618400516,1.06583383461e-05,1793239735698464000
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.29775112,746,714.29775112,680,665,632.70224888,880.70224888,787,805,653,631,652.70224888,0.448235645834,0.00453053013393,0.0496939720473,0.999999901033,7.34558876779e-06,-0.000444685912586,1.16340782968e-05,1793239735715130880
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.873752554,746,714.873752554,680,665,632.126247446,880.126247446,787,805,653,631,652.126247446,0.448542431517,0.00453822828,0.0496978427076,0.999999905166,2.42430053671e-05,-0.000434643171514,1.28416492046e-05,1793239735731797504
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,714.550586931,680,665,632,880.449413069,787,805,653,631.449413069,652,0.448828806416,0.00455474037862,0.0497100945105,0.999999908409,9.14592014e-05,-0.00041787737874,1.39789039453e-05,1793239735748464128
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.975177889,746,714,680,664.975177889,632,881,787,804.975177889,652.975177889,631.975177889,652,0.449106557816,0.0045735463874,0.0497240254354,0.999999905414,0.000169768786683,-0.000400156052063,1.49934093877e-05,1793239735765130752
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.403202447,746,714,680,664.403202447,632,881,787,804.403202447,652.403202447,631.403202447,652,0.449320514198,0.00458838035042,0.0497231105791,0.999999902285,0.000181260396808,-0.00040297110002,1.37372404905e-05,1793239735781797632
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.176605566,746,714.176605566,680.176605566,664.176605566,632,880.823394434,787,804,652,631,652.176605566,0.449523205375,0.00460317854594,0.0497193512804,0.9999998969,0.000193242613381,-0.000410758014493,1.16519157493e-05,1793239735798464512
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.775125679,746,714.775125679,680.775125679,664.775125679,632,880.224874321,787,804,652,631,652.775125679,0.449698983698,0.00461789128996,0.0497087965468,0.999999886039,0.000206396897792,-0.000430422826051,7.58571979496e-06,1793239735815131136
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.642453286,746,715,680.642453286,664.642453286,632,880.357546714,787,804.357546714,652,631,652.642453286,0.449868004898,0.00462711812009,0.049705823659,0.999999882369,0.000213501680788,-0.000435479470177,6.02652267247e-06,1793239735831797504
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.069721237,746,715,680.069721237,664.069721237,632,880.930278763,787,804.930278763,652,631,652.069721237,0.450032959419,0.00463304331811,0.0497074138158,0.999999883243,0.00021696564297,-0.000431744360486,5.97613327269e-06,1793239735848464384
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714.494225461,680.505774539,664,631.494225461,881,787,804.494225461,652,631.505774539,652.505774539,0.450176390025,0.00462751913777,0.0497130750519,0.999999888789,0.000208785108835,-0.000422816224595,7.57801528839e-06,1793239735865131008
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.916312212,714,680.916312212,664,631,881,787,804.167375577,652,631.916312212,653,0.450310994955,0.00462190515187,0.0497182767082,0.999999893571,0.000200882950255,-0.000415234314866,9.18145045037e-06,1793239735881797376
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.326085049,714,680.326085049,664,631,881,787,805.347829902,652,631.326085049,653,0.450410238136,0.00462535311233,0.0497172812026,0.999999890793,0.000204434932334,-0.000420157458967,9.40810511596e-06,1793239735898464000
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.258961781,745.258961781,714.258961781,680.258961781,664,631,881,787,805.741038219,652.258961781,631,653,0.45050131466,0.00462828022785,0.0497164129048,0.999999888675,0.000207395646064,-0.000423730116602,9.4859337215e-06,1793239735915130880
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.837613423,745.837613423,714.837613423,680.837613423,664,631,881,787,805.162386577,652.837613423,631,653,0.450582309389,0.00463056435697,0.0497157016458,0.999999887402,0.000209626435289,-0.000425635590365,9.38003565595e-06,1793239735931797248
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.58516737,746,715,680.58516737,664,631,881,787,805,652.58516737,631,653,0.450648502183,0.00462868183199,0.0497133453246,0.999999886165,0.00020820445225,-0.000429219840088,9.54499359542e-06,1793239735948464128
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.008506975,746,715,680.008506975,664,631,881,787,805,652.008506975,631,653,0.450708920685,0.00462517387956,0.0497103472585,0.999999884923,0.00020535750899,-0.000433458986557,9.81561348085e-06,1793239735965131008
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.577583883,746,715,680,664,631,881,787,805,652.577583883,631,652.422416117,0.450753892335,0.00462801549942,0.0497109223819,0.99999988465,0.00020497499682,-0.000434273532347,9.61107528836e-06,1793239735981797632
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745.837099902,715,680.162900098,664,631,881,787,805,653,631,652.162900098,0.450793830722,0.0046307097722,0.0497104863012,0.999999883533,0.00020588392094,-0.000436412280803,9.49209166708e-06,1793239735998464512
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+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714.63847746,680.36152254,664,631,881,787,805.63847746,652.36152254,631.36152254,652.63847746,0.450890244018,0.00463253477233,0.0496993719568,0.999999874631,0.000210563885332,-0.000454204493777,9.97257159196e-06,1793239736098464000
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.223362426,746,715,680.223362426,664,631,880.776637574,787,805.776637574,652.223362426,631.223362426,653,0.450894231854,0.00463269096214,0.0496978469342,0.999999873706,0.000210130851764,-0.000456440426899,9.78855871427e-06,1793239736115130880
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.048608215,746,714.048608215,680.048608215,664,631,880.951391785,787,805,652.048608215,632,653,0.450899916986,0.00463716202056,0.0496943502648,0.999999870895,0.000215148618813,-0.000460263138662,8.92962677365e-06,1793239736165130752
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.539380111,746,714.539380111,680.539380111,663.460619889,631,881,787,805,652,631.460619889,652.460619889,0.45090029827,0.00463510300081,0.0496938456554,0.999999870979,0.000212155656173,-0.000461466841801,9.00231764778e-06,1793239736181797632
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.873593738,746,714.873593738,680.873593738,663.126406262,631,880.873593738,787,805,652.126406262,631,652.126406262,0.450900256473,0.00463347703839,0.049693337064,0.999999870793,0.00021018757256,-0.000462764754937,9.16085873261e-06,1793239736198464512
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.294858494,746,714.294858494,680.294858494,663.705141506,631,880.294858494,787,805,652.705141506,631,652.705141506,0.450899315719,0.00463475294491,0.0496927391925,0.99999986951,0.000213293638526,-0.000464109549017,9.35041656558e-06,1793239736215130880
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714.283523788,680,663.716476212,631,880.283523788,787,805,653,631,653,0.450899902756,0.00463496472805,0.049692856127,0.999999869143,0.000214728523219,-0.00046423707133,9.45566842596e-06,1793239736231797248
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714.861539524,680,663.138460476,631,880.861539524,787,805,653,631,653,0.450902076687,0.00463407122217,0.0496937155197,0.999999869735,0.000214427577118,-0.000463100231699,9.47335294774e-06,1793239736248463872
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,715,680,663.434898957,631,881,787,805,653,631.434898957,653,0.450901850151,0.00463435942094,0.0496925573466,0.999999869101,0.000214514474186,-0.000464432572458,9.17146727426e-06,1793239736265130752
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,715,680.007053866,663.992946134,631,881,787,805,653,631.992946134,653,0.45090088244,0.00463501632174,0.0496907879277,0.999999868092,0.000214716270207,-0.000466513578967,8.77454125539e-06,1793239736281797120
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,715,680.601029669,663.398970331,631,881,787,805,653,631.398970331,653,0.450901160666,0.00463537897182,0.0496910395735,0.999999868338,0.000214312983237,-0.000466170874725,8.84561867675e-06,1793239736298464000
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714.810564739,680.810564739,663,630.810564739,881,787,805,653,631,653,0.450901156172,0.004635566265,0.0496908919828,0.999999868317,0.000214095628612,-0.000466314428625,8.92874854789e-06,1793239736315130624
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714.233555522,680.233555522,663,630.233555522,881,787,805,653,631,653,0.450900573252,0.00463539478772,0.049689927577,0.99999986775,0.000214258681197,-0.000467452839528,9.03653705337e-06,1793239736331797248
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714.343399648,680,663.343399648,630.343399648,881,787,805,652.656600352,631,653,0.450900692017,0.00463504546303,0.0496895233655,0.999999867596,0.000214303813298,-0.00046775942971,9.12104054886e-06,1793239736348464128
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.506005697,714.506005697,680,664,631,881,787,804.506005697,652.493994303,631,653,0.450902166872,0.00463458022883,0.0496907249687,0.999999868437,0.000213269529825,-0.000466432775214,9.07168782647e-06,1793239736381797376
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.069377222,714,680,663.930622778,631,881,787,804.069377222,653,631,653,0.450902948809,0.00463484865216,0.0496919024206,0.999999869041,0.000212461212145,-0.00046550869097,8.9129733255e-06,1793239736398464000
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.661535051,714,680,663.338464949,631,881,787,804.661535051,653,631,653,0.450902658123,0.00463652789474,0.0496912153816,0.999999868132,0.00021425573255,-0.000466642290174,8.67306280756e-06,1793239736415130624
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.247756577,746,714.247756577,680,663.247756577,630.752243423,881,787,805,653,631.247756577,653,0.450902730765,0.0046368480429,0.0496908435137,0.999999867788,0.000214618690898,-0.000467213101886,8.62966673236e-06,1793239736431797248
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.826058252,746,714.826058252,680,663.826058252,630.173941748,881,787,805,653,631.826058252,653,0.45090328814,0.00463535495186,0.0496908921319,0.999999868201,0.000213071727163,-0.000467033069324,8.84845089155e-06,1793239736448463872
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,714.596969722,679.596969722,664,630.403030278,881,787,805,653,631.596969722,653,0.450902983372,0.00463578682673,0.049690687635,0.999999868069,0.000213578677036,-0.000467087222833,8.69108887482e-06,1793239736465130752
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,714.0205697,679.0205697,664,630.9794303,881,787,805,653,631.0205697,653,0.45090230774,0.00463704675572,0.0496903742566,0.999999867701,0.000214969149892,-0.000467242115134,8.37192171584e-06,1793239736481797632
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.434872881,745.434872881,714,679.565127119,664,630.434872881,880.434872881,787,805,652.434872881,631.565127119,653,0.450902516031,0.00463774309014,0.0496891867693,0.999999866962,0.000216129163979,-0.000468295038312,8.02719132345e-06,1793239736498464256
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+253,4.216666667,HOLD_POSE2,765.425019662,745.425019662,714.425019662,680.574980338,664,630.574980338,881,787,805,653,631,653,0.450904458531,0.00463525144139,0.0496906198076,0.999999868485,0.000212744567975,-0.00046657663944,8.72745138802e-06,1793239736556192256
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+256,4.266666667,HOLD_POSE2,766,746,714.689975924,680,664,631,881,787,805,652.310024076,631.689975924,653,0.450905162841,0.00463852255982,0.0496909630741,0.999999867723,0.000217299681299,-0.000466119100681,8.21045848156e-06,1793239736606192128
+257,4.283333333,HOLD_POSE2,766,746,714.098680484,680,664,631,881,787,805,652.901319516,631.098680484,653,0.450903256173,0.0046371260647,0.0496894765225,0.99999986676,0.000214885408285,-0.00046928701718,8.56355065804e-06,1793239736622858752
+258,4.300000000,HOLD_POSE2,766,746,714,680.482835779,664,631,880.517164221,787,805,653,631,653,0.450903544758,0.00463525866623,0.0496896159515,0.999999867501,0.000212755337249,-0.000468677807039,8.59888392846e-06,1793239736639525376
+259,4.316666667,HOLD_POSE2,765.938286418,746,714,680.938286418,664,631,880.061713582,787,805,653,631,652.938286418,0.450904396709,0.00463352286667,0.049690167237,0.999999868546,0.000211044914636,-0.000467219304009,8.59600376436e-06,1793239736656192256
+260,4.333333333,HOLD_POSE2,765.365040832,746,714,680.365040832,664,631,880.634959168,787,805,653,631,652.365040832,0.450906273259,0.00463365975846,0.049691432524,0.999999869308,0.000212340984751,-0.000464992760145,8.80399033999e-06,1793239736672858880
+261,4.350000000,HOLD_POSE2,765,746,714,680,664,631,881,787,805,653,631,652.209079978,0.450907685459,0.00463445944433,0.0496922638644,0.999999869557,0.000213827723416,-0.000463772693255,8.91745747194e-06,1793239736689525504
+262,4.366666667,HOLD_POSE2,765,746,714,680,664,631,881,787,805,653,631,652.784735239,0.450908283527,0.00463642119235,0.0496923343757,0.999999868913,0.000215648756883,-0.000464317260331,8.86520574067e-06,1793239736706192128
+263,4.383333333,HOLD_POSE2,765,746,714.371395531,680.371395531,663.628604469,630.628604469,881,787,805,653,631,653,0.450907098709,0.00463660076431,0.0496916196483,0.999999868241,0.000215291775856,-0.000465926663786,8.89976435578e-06,1793239736722859008
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+265,4.416666667,HOLD_POSE2,765.542149132,746,715,681,663.542149132,630.542149132,881.542149132,787.542149132,805,653,631.542149132,653,0.45090739806,0.00463531509871,0.0496922492964,0.999999868949,0.000213409589477,-0.00046526943449,9.09598704463e-06,1793239736756192000
+266,4.433333333,HOLD_POSE2,765.882083545,746,714.882083545,680.882083545,664,630.882083545,881.882083545,787.882083545,805,653,631.882083545,653,0.450909125875,0.00463526953481,0.049693354737,0.99999986977,0.000213626379833,-0.000463401734979,9.08674835225e-06,1793239736772858880
+267,4.450000000,HOLD_POSE2,765.309233522,746,714.309233522,680.309233522,664,630.309233522,881.309233522,787.309233522,805,653,631.309233522,653,0.450906511194,0.00463647577577,0.0496909956129,0.999999867864,0.000215194067357,-0.000466786379878,8.61247833426e-06,1793239736789525504
+268,4.466666667,HOLD_POSE2,765.271644912,746,714,680,663.728355088,630.271644912,881,787,805,653,631,653,0.450905637977,0.00463662571307,0.0496899853616,0.999999867185,0.000215552307688,-0.000468078589062,8.38745354945e-06,1793239736806192128
+269,4.483333333,HOLD_POSE2,765.861940983,746,714,680,663.138059017,630.861940983,881,787,805,653,631,653,0.450906807572,0.0046355365607,0.0496905573962,0.999999867955,0.000214491814383,-0.000466916281013,8.45480416511e-06,1793239736822858752
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,631,882,787,804,653,631,653,0.45090712351,0.00463594148178,0.049692177327,0.999999868024,0.000216789198138,-0.000465707321006,8.40668167527e-06,1793239736855532800
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.424144271,745.575855729,714.424144271,680.575855729,663.575855729,630.424144271,881.424144271,787,804.575855729,653,631,653,0.450907140138,0.0046364550904,0.0496918415374,0.999999867453,0.000217433385362,-0.000466631273859,8.47706750157e-06,1793239736872199168
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.154674113,746,714,681,663.845325887,630,881,787,805,653,631,653,0.450907066492,0.00463686250007,0.0496914612584,0.999999867147,0.000217721317806,-0.000467152766008,8.5030051799e-06,1793239736888865792
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.675745746,746,714,680.675745746,663,630,881,787,804.675745746,652.675745746,631,653,0.450906406052,0.00463634914028,0.0496906416023,0.999999867821,0.000215716410321,-0.000466642850345,8.25230117593e-06,1793239736922199296
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.554103418,745.554103418,714,680,663.445896582,631,880.445896582,787,804.554103418,652,631,652.554103418,0.450309949279,0.00464358643896,0.0496145391942,0.999999800238,0.000225694705485,-0.000590394200364,4.5239469222e-06,1793239737155533056
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.026820927,714,680,663.973179073,631,881,787,804.026820927,652.026820927,631,652.026820927,0.450194798257,0.00464558486343,0.0496181041469,0.999999802425,0.000229979517556,-0.000585014636379,4.13633754972e-06,1793239737172199680
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.60062237,714,680,663.39937763,631,881,787,804.60062237,652.60062237,631,652.60062237,0.450041418637,0.00464556097473,0.0496143429626,0.999999797852,0.000231521749789,-0.000592182219159,3.64777374604e-06,1793239737188866304
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.250564086,714,680,663,630.250564086,880.250564086,787,805,653,631,653,0.449692457572,0.00464957149728,0.0496106707842,0.999999792373,0.000239475473463,-0.000598247421678,2.15201826478e-06,1793239737222199552
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745.504550718,714,680,667,635,880,788,804.504550718,652.504550718,632,653,0.430454109353,0.00458275880731,0.0498047747244,0.99999994729,1.55874533332e-05,-0.000319187932145,-5.74068988162e-05,1793239737788866304
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.023903112,635,880,788,804.976096888,652,632,653.976096888,0.425088707555,0.00460011234409,0.0497853610989,0.999999933786,0.000145076982206,-0.000332196524505,-3.20381714894e-05,1793239737888866304
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.094449819,746,714.094449819,680,666.094449819,635,879.905550181,788,803.094449819,652,632,653,0.413343841304,0.00461352648578,0.0497918169225,0.999999931173,0.000134044735103,-0.000343591128744,-4.03789425951e-05,1793239738122199552
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.682254181,746,714.682254181,680,666.682254181,635,879.317745819,788,803.682254181,652,632,653,0.412633322301,0.00461575302594,0.0497893785061,0.99999993027,0.000144028669474,-0.000342095967517,-4.10694935846e-05,1793239738138866176
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,635,879.844423573,788,804,652.844423573,632,653,0.411269135625,0.00461192759445,0.0498264352979,0.999999945549,0.000154705593002,-0.000288676757328,-4.04335542119e-05,1793239738172199424
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746,714.578020865,679.578020865,667,635,879.578020865,788,804,653,632,653,0.410584385133,0.00460520621405,0.049821176209,0.999999942416,0.000143869268192,-0.000304802946741,-3.95530981774e-05,1793239738188866304
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.57424117,666.42575883,635,879,788,804,653,631.42575883,653,0.40928109867,0.00459607550402,0.0498022519691,0.999999936734,0.000116939981959,-0.000333638867811,-3.92667844534e-05,1793239738222199808
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.153424037,635.153424037,879.153424037,788,804,653,631.153424037,653,0.408685791257,0.00459499470417,0.049805543337,0.999999941544,0.000110315712455,-0.000321181681053,-3.98194114939e-05,1793239738238866432
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.09393097,714,679.09393097,666.09393097,635.09393097,879.09393097,788,803.09393097,653,631.09393097,653,0.40707070398,0.00459898831468,0.0498359133848,0.99999995084,0.000129640839794,-0.00028274990359,-3.95597115682e-05,1793239738288866304
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.061771804,714,679.938228196,666.061771804,635,880,788,803.061771804,653,631.061771804,653,0.406008576757,0.00460825370601,0.0497878274972,0.999999919929,0.00014387829665,-0.000371166305991,-4.09565056287e-05,1793239738322199808
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.633050566,714,679.366949434,666.633050566,635,880,788,803.633050566,653,631.633050566,653,0.405538050845,0.00460999367966,0.0497785813908,0.999999913962,0.000143100781741,-0.000387131534213,-4.15652420866e-05,1793239738338866944
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.804937317,746,714,679,666.195062683,635,880,788.804937317,804,653,632,653,0.404730920914,0.00461628353847,0.0498000773787,0.999999927833,0.000148229458098,-0.000347038906735,-4.38862882646e-05,1793239738372199680
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.612170344,746,714.387829656,679.387829656,666,635,880,788.612170344,803.612170344,653,631.612170344,653,0.404388367701,0.00461826010144,0.0498259432987,0.999999940766,0.00015179192479,-0.000305751201574,-4.40909160518e-05,1793239738388866304
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,714.28778712,680,666.71221288,635,879.28778712,788.28778712,803.28778712,653,632,653,0.40283572255,0.00462511884997,0.049840432206,0.999999940159,0.000165061976207,-0.000300458665392,-4.64842998092e-05,1793239738472199680
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.179069381,679,667,635,880,788,803.179069381,653,631.820930619,653,0.401827236487,0.00461001491608,0.04983208429,0.999999947827,5.74132467452e-05,-0.000314850959049,-4.38131179212e-05,1793239738555533312
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,714.767597054,679,667,635,880,788,803.767597054,653,631.232402946,653,0.401695370104,0.00458593154232,0.0498371136134,0.999999949224,9.98483205853e-05,-0.000301367826012,-2.75787346751e-05,1793239738572199936
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.350296821,714.649703179,679.350296821,667,635,880,788,803.649703179,653,631.350296821,653,0.401578556851,0.00457710132928,0.0498402169362,0.99999994999,0.000118110319094,-0.000292552111545,-2.19646328745e-05,1793239738588866304
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.929193422,714.070806578,679.929193422,667,635,880,788,803.070806578,653,631.929193422,653,0.401471567089,0.00457822515558,0.0498420633732,0.999999951335,0.000120597243897,-0.000286782301081,-2.32812061242e-05,1793239738605532672
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.492952642,635,880,788,803.507047358,653,632,653,0.401381340282,0.00458207235373,0.0498405297285,0.999999950261,0.00012502641236,-0.000288499078633,-2.47882140643e-05,1793239738622199552
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.083760306,746,714,679.916239694,666,635,879.916239694,788,804,653,632,653,0.401296687913,0.00458483192145,0.0498389471893,0.999999949201,0.000128287659094,-0.000290631206373,-2.59699050254e-05,1793239738638866176
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.654682452,746,714,679.345317548,666,635,879.345317548,788,804,653,632,653,0.401230870389,0.00457905830907,0.0498398199221,0.999999950305,0.000123181866453,-0.000289110982805,-2.51051542262e-05,1793239738655533312
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.76555218,745.76555218,714,679,666,635,879.23444782,788,804,653,631.76555218,653,0.401173447188,0.00457812474497,0.0498408862142,0.999999951102,0.000122695048345,-0.000286528242757,-2.53784953205e-05,1793239738672199936
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.172251131,745.172251131,714,679,666,635,879.827748869,788,804,653,631.172251131,653,0.401128872603,0.00458459951179,0.0498422487744,0.999999951416,0.000129278178691,-0.000282319181552,-2.73938358257e-05,1793239738688866048
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.411833715,745,714.411833715,679.411833715,666.411833715,635,879.588166285,788,804,653,631,653,0.401097014385,0.00458390081149,0.0498450695985,0.999999953245,0.000128945096549,-0.000275901300345,-2.75916539332e-05,1793239738705535744
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.992148206,745,714.992148206,679.992148206,666.992148206,635,879.007851794,788,804,653,631,653,0.401070358422,0.00458026745255,0.0498484869971,0.999999955656,0.000125782598371,-0.000268579793094,-2.70459253276e-05,1793239738722206208
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.438715667,745.561284333,714.438715667,678.877431335,667,635,879,788,803.438715667,653,631,653,0.401050493922,0.00458221066884,0.0498495000195,0.99999995595,0.000127617092089,-0.000266593480868,-2.72281121375e-05,1793239738738869248
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,714,678.272444185,666.863777908,635,879.136222092,788,803.136222092,653,631,653,0.401031744286,0.0045839542992,0.0498499951605,0.999999955954,0.00012912079627,-0.000265826654311,-2.75021970525e-05,1793239738755532800
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.462429828,666.268785086,635,879.731214914,788,803.731214914,653,631,653,0.401016435597,0.00458476816578,0.0498488572362,0.999999955091,0.00012927963958,-0.000268920384493,-2.80521535845e-05,1793239738772199424
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.682122657,666.317877343,635,879.682122657,788,803.682122657,653,631,653,0.401006783136,0.00458388185504,0.0498487704159,0.999999955209,0.000128013758691,-0.00026908259924,-2.81001278298e-05,1793239738788866048
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.52538432,635,879.47461568,788,803.47461568,653.47461568,631,653,0.400999602704,0.00458345773064,0.0498504165879,0.9999999566,0.000126897964627,-0.000264374051839,-2.83564090255e-05,1793239738822199552
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.050564976,746,714,679,666.050564976,635,880,788,804,653.949435024,631.050564976,653,0.400998082773,0.00458585964841,0.0498513657145,0.99999995702,0.000128611538109,-0.000261864100846,-2.90979728523e-05,1793239738838866176
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.622617194,746,714,679,666.622617194,635,880,788,804,653.377382806,631.622617194,653,0.400997262296,0.00458464595777,0.0498529689695,0.99999995804,0.000126024080262,-0.000259236849604,-2.88907232458e-05,1793239738855533312
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.798997644,746,714,679,667,635,879.798997644,788,803.798997644,653,632,653,0.400996197688,0.0045840734838,0.0498536869285,0.999999958531,0.000124744486545,-0.000257962601299,-2.88327921399e-05,1793239738872200448
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.208335579,746,714,679,667,635,879.208335579,788,803.208335579,653,632,653,0.400994659812,0.0045847440615,0.0498526886676,0.999999958018,0.000126000295886,-0.000259311261371,-2.90643273231e-05,1793239738888866816
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714.47142588,679,666.47142588,635,879.52857412,788,803.47142588,653,631,653,0.40099543968,0.00458546853529,0.0498544921965,0.999999958367,0.000128560331482,-0.000256739309196,-2.86987640786e-05,1793239738938866688
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6f03740c215f0ef3a7e0cb507f86c50ff0ec36d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,416 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.575713253221,0.0100908182033,1.04003238333,0.54628370527,0.0187625594562,1.03970051772
+384,6.400000000,pose2_to_pose3_retreat,0.575697938803,0.0100908852133,1.0400325115,0.546268391182,0.0187626273514,1.03970063986
+385,6.416666667,pose2_to_pose3_retreat,0.575686494877,0.0100906854226,1.04003238779,0.54625694801,0.0187624302593,1.0397005199
+386,6.433333333,pose2_to_pose3_retreat,0.575678270758,0.0100907012934,1.04003229503,0.546248723118,0.0187624434461,1.03970042554
+387,6.450000000,pose2_to_pose3_retreat,0.575672984181,0.0100907121976,1.04003219704,0.546243436488,0.0187624542948,1.03970033066
+388,6.466666667,pose2_to_pose3_retreat,0.575670041441,0.0100906805499,1.04003210985,0.546240494412,0.0187624251446,1.03970024979
+389,6.483333333,pose2_to_pose3_retreat,0.57566850576,0.0100906859444,1.04003204632,0.546238958267,0.0187624290714,1.03970018896
+390,6.500000000,pose2_to_pose3_retreat,0.575667502092,0.0100906975249,1.04003199818,0.546237953999,0.018762438674,1.03970014237
+391,6.516666667,pose2_to_pose3_retreat,0.575666774192,0.0100907059236,1.04003196326,0.546237225664,0.0187624456382,1.03970010857
+392,6.533333333,pose2_to_pose3_retreat,0.575666343367,0.0100907070028,1.04003195674,0.546236794718,0.0187624462981,1.03970010174
+393,6.550000000,pose2_to_pose3_retreat,0.575666128586,0.0100906986796,1.04003198569,0.546236580191,0.0187624387441,1.03970012831
+394,6.566666667,pose2_to_pose3_retreat,0.57566605107,0.0100906956757,1.04003199614,0.546236502767,0.0187624360179,1.03970013791
+395,6.583333333,pose2_to_pose3_retreat,0.575665936621,0.0100906912405,1.04003201157,0.546236388453,0.0187624319926,1.03970015207
+396,6.600000000,pose2_to_pose3_retreat,0.575665791109,0.0100906856016,1.04003203118,0.546236243112,0.0187624268748,1.03970017007
+397,6.616666667,pose2_to_pose3_retreat,0.575665738623,0.0100906835677,1.04003203826,0.546236190688,0.0187624250289,1.03970017657
+398,6.633333333,pose2_to_pose3_retreat,0.575665701187,0.0100906821169,1.0400320433,0.546236153296,0.0187624237123,1.0397001812
+399,6.650000000,pose2_to_pose3_retreat,0.575665699748,0.0100906820611,1.0400320435,0.546236151859,0.0187624236616,1.03970018138
+400,6.666666667,pose2_to_pose3_retreat,0.575665641388,0.0100906797996,1.04003205136,0.546236093567,0.0187624216091,1.0397001886
+401,6.683333333,pose2_to_pose3_retreat,0.575665570994,0.0100906770716,1.04003206085,0.546236023257,0.0187624191333,1.03970019731
+402,6.700000000,pose2_to_pose3_retreat,0.575665411311,0.0100906708835,1.04003208238,0.546235863762,0.0187624135171,1.03970021707
+403,6.716666667,pose2_to_pose3_retreat,0.575665371872,0.0100906693552,1.04003208769,0.546235824369,0.01876241213,1.03970022195
+404,6.733333333,pose2_to_pose3_retreat,0.575665116756,0.0100906594689,1.04003212208,0.546235569555,0.0187624031575,1.03970025352
+405,6.750000000,pose2_to_pose3_retreat,0.575665090653,0.0100906584573,1.0400321256,0.546235543482,0.0187624022394,1.03970025675
+406,6.766666667,pose2_to_pose3_retreat,0.575664878521,0.0100906718182,1.04003215604,0.546235331517,0.0187624162035,1.03970028821
+407,6.783333333,pose2_to_pose3_retreat,0.575664850963,0.0100906749719,1.04003216012,0.546235303975,0.0187624194253,1.03970029265
+408,6.800000000,pose2_to_pose3_retreat,0.575664787565,0.0100906822273,1.04003216949,0.546235240613,0.0187624268373,1.03970030284
+409,6.816666667,pose2_to_pose3_retreat,0.575664783394,0.0100906827046,1.04003217011,0.546235236445,0.0187624273249,1.03970030351
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+411,6.850000000,pose2_to_pose3_retreat,0.575664416279,0.0100907530997,1.04003225735,0.546234869173,0.0187624972931,1.03970039347
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+413,6.883333333,pose2_to_pose3_retreat,0.575664400001,0.010090833113,1.04003235045,0.546234851884,0.0187625736742,1.0397004813
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..436badb3d20be3fffcfd29b930134501043a559d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8c5e9b8fcc6edb20f1db9b0195cf67b44086704565650a2d8ccc1828601866a
+size 26457546
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8bf93c1320297637c6cd2640bf8795f2ace9b3e3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/franka_data.csv
@@ -0,0 +1,418 @@
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+16,0.266666667,BASELINE,765,746,714,679,666,635.271507013,879.728492987,788,803,653,631,653,0.400992905674,0.00458384702728,0.0498581200489,0.999999960636,0.000123424595651,-0.000250356565767,-2.85699613314e-05,1793239739678424064
+17,0.283333333,BASELINE,765,746,714,679,666,635.84701908,879.15298092,788,803,653,631,653,0.400994704919,0.00458402605671,0.0498596456002,0.999999961205,0.00012394877984,-0.000247810336482,-2.85880293807e-05,1793239739695090432
+18,0.300000000,BASELINE,765.43349675,746,714,679,666.43349675,635.56650325,879.43349675,788,803,653,631,653,0.400995349631,0.0045836252429,0.0498595846594,0.999999961308,0.000123476363604,-0.0002476315961,-2.85772366108e-05,1793239739711757056
+19,0.316666667,BASELINE,766,746,714,679,666.976567756,635,880,788,803.023432244,653,631.023432244,653,0.400995541136,0.00458302802906,0.0498589639896,0.999999961237,0.000122698984422,-0.00024830401668,-2.85571053823e-05,1793239739728423680
+20,0.333333333,BASELINE,766,746,714,679,666.398753988,635,880,788,803.601246012,653,631.601246012,653,0.400994899882,0.00458275108685,0.0498586904827,0.999999961038,0.000123243299267,-0.000248834292191,-2.85632554476e-05,1793239739745090560
+21,0.350000000,BASELINE,766,746,714,679.178794136,666.178794136,635.178794136,880,788,803.821205864,653,631.821205864,653,0.400994927034,0.00458240133585,0.0498589061709,0.999999961237,0.000122564611512,-0.000248370803915,-2.85727381813e-05,1793239739761757440
+22,0.366666667,BASELINE,766,746,714,679.755750615,666.755750615,635.755750615,880,788,803.244249385,653,631.244249385,653,0.400996442681,0.00458188944469,0.0498602112633,0.999999962309,0.000119162380326,-0.00024569427141,-2.85896425389e-05,1793239739778424320
+23,0.383333333,BASELINE,766,746,714,679.660639747,666.660639747,635.660639747,879.660639747,788,803,653,631,653,0.400996184675,0.00458167769005,0.0498599846757,0.999999962257,0.000118482996634,-0.000246240126395,-2.85315345517e-05,1793239739795090688
+24,0.400000000,BASELINE,766,746,714,679.072145781,666.072145781,635.072145781,879.072145781,788,803,653,631,653,0.400994624581,0.00458168627385,0.0498586336399,0.999999961382,0.000119802529966,-0.000249151624556,-2.84183579368e-05,1793239739811757056
+25,0.416666667,BASELINE,766,746,714,679,666,635,879.507572719,788,803.507572719,653,631,653,0.400995938496,0.0045815948977,0.0498594018484,0.999999961818,0.000120216483784,-0.00024719597472,-2.8380006304e-05,1793239739828423680
+26,0.433333333,BASELINE,766,745.914178098,714,679,666.085821902,635,879.914178098,788,803.914178098,653,631,653,0.40099730179,0.00458158890052,0.049860244911,0.999999962298,0.000120385854111,-0.000245166565194,-2.8371565111e-05,1793239739845090560
+27,0.450000000,BASELINE,766,745.337320068,714,679,666.662679932,635,879.337320068,788,803.337320068,653,631,653,0.400996650021,0.00458215131675,0.0498598220568,0.999999962002,0.000119879775375,-0.000246606105667,-2.84744408516e-05,1793239739861757184
+28,0.466666667,BASELINE,766,745,714,679.238441887,666.761558113,635,879.238441887,788,803,653,631,653,0.400995418084,0.00458185629233,0.0498589701033,0.999999961663,0.000119072227114,-0.000248370756156,-2.84232800095e-05,1793239739878423808
+29,0.483333333,BASELINE,766,745,714,679.812660304,666.187339696,635,879.812660304,788,803,653,631,653,0.400993369147,0.00458035381036,0.0498575138874,0.999999961262,0.000117840146126,-0.000250593230116,-2.81552031246e-05,1793239739895090432
+30,0.500000000,BASELINE,766,745,714,680,666.397018632,635,880,788,803.397018632,653,631.397018632,653,0.400994258844,0.00458152536784,0.0498584896364,0.999999961387,0.000120145517177,-0.000248976393554,-2.83281620392e-05,1793239739911757312
+31,0.516666667,BASELINE,766,745,714,680,666.986287029,635,880,788,803.986287029,653,631.986287029,653,0.400996571526,0.00458399178514,0.0498606430247,0.999999961744,0.000124163841433,-0.000245500433728,-2.87146853183e-05,1793239739928424448
+32,0.533333333,BASELINE,766,745.567867148,714,679.432132852,667,635,879.432132852,788,804,653,632,653,0.400994526465,0.00458299047141,0.0498592410068,0.999999961449,0.000120957344544,-0.000248284787959,-2.87518631203e-05,1793239739945090560
+33,0.550000000,BASELINE,766,746,714.147477657,679,666.852522343,635,879.147477657,788,804,653,631.852522343,653,0.400993300563,0.00458214926991,0.0498583258185,0.999999961261,0.00011883180822,-0.000250061455582,-2.87573029631e-05,1793239739961757184
+34,0.566666667,BASELINE,766,746,714.721916186,679,666.278083814,635,879.721916186,788,804,653,631.278083814,653,0.400994746785,0.0045820108024,0.0498590652876,0.999999961475,0.000120334097731,-0.000248488961153,-2.86949555109e-05,1793239739978423808
+35,0.583333333,BASELINE,766,745.697535787,714.697535787,679,666,635,880,788,804,653,631.302464213,653,0.400996325324,0.00458220127812,0.0498597006818,0.999999961801,0.000121419953124,-0.000246653493314,-2.85703095419e-05,1793239739995090432
+36,0.600000000,BASELINE,766,745.111254859,714.111254859,679,666,635,880,788,804,653,631.888745141,653,0.400998028024,0.00458270041709,0.0498602384179,0.999999962233,0.000122115048531,-0.000244571264694,-2.83872058716e-05,1793239740011757056
+37,0.616666667,BASELINE,766,745,714,679,666.469811465,635,879.530188535,788,803.530188535,653,632,653,0.400996550462,0.00458253157359,0.0498598462111,0.999999962185,0.000119818028168,-0.000245874678547,-2.86137847988e-05,1793239740028423680
+38,0.633333333,BASELINE,766,745.049177292,714,679,666.950822708,635,879.049177292,788,803,653,631.950822708,653,0.40099461536,0.00458227211266,0.0498593302164,0.999999962028,0.000117345738842,-0.000247667485664,-2.88942479329e-05,1793239740045090304
+39,0.650000000,BASELINE,766,745.623427082,714,679,666.376572918,635,879.623427082,788,803,653,631.376572918,653,0.400995747828,0.00458271552013,0.0498598179997,0.999999962017,0.000120484368385,-0.000246219240265,-2.87255595938e-05,1793239740061757184
+40,0.666666667,BASELINE,766,746,714.198037345,679.198037345,666.198037345,635,880,788,803,653,631.198037345,653,0.400996394566,0.00458302682,0.0498598945517,0.999999961924,0.000122244011484,-0.000245736095656,-2.8660226999e-05,1793239740078423808
+41,0.683333333,BASELINE,766,746,714.773334269,679.773334269,666.773334269,635,880,788,803,653,631.773334269,653,0.400996115993,0.00458308645588,0.0498591877114,0.999999961692,0.000121376696096,-0.000247091460533,-2.87917862926e-05,1793239740095090688
+42,0.700000000,BASELINE,766,745.640495768,714.640495768,679.640495768,666.640495768,635,880,788,803,653,632,653,0.400996643667,0.00458319382791,0.0498595504795,0.999999961793,0.000122017018678,-0.000246370614123,-2.87708565651e-05,1793239740111757312
+43,0.716666667,BASELINE,766,745.047256623,714.047256623,679.047256623,666.047256623,635,880,788,803,653,632,653,0.400997695529,0.00458333223603,0.0498606086631,0.999999962105,0.000123637545696,-0.000244299900193,-2.86507847219e-05,1793239740128423936
+44,0.733333333,BASELINE,766,745.531415446,714.531415446,679,666.531415446,635,879.468584554,788,803,653,632,653,0.400997859041,0.00458434740065,0.0498609957449,0.999999962084,0.000124469398949,-0.000243957892428,-2.87208078691e-05,1793239740145090560
+45,0.750000000,BASELINE,766,746,714.89217085,679,667,635,879.10782915,788,803,653.10782915,631.89217085,653,0.40099795295,0.00458501806827,0.0498612197022,0.999999962092,0.000124556956257,-0.000243869112462,-2.88156637851e-05,1793239740161756928
+46,0.766666667,BASELINE,766,746,714.320052475,679,667,635,879.679947525,788,803,653.679947525,631.320052475,653,0.400998078238,0.00458387865547,0.0498609913863,0.999999962348,0.000121733657567,-0.000244226422591,-2.89465996155e-05,1793239740178423808
+47,0.783333333,BASELINE,766,745.747056197,714,679.252943803,666.747056197,635,879.747056197,788,803,654,631,653,0.400997160637,0.0045826355315,0.0498604974304,0.999999962368,0.000119830328238,-0.000245087548329,-2.89263214869e-05,1793239740195090432
+48,0.800000000,BASELINE,766,745.172945151,714,679.827054849,666.172945151,635,879.172945151,788,803,654,631,653,0.400994918862,0.00458126072346,0.0498596661867,0.999999962093,0.000119095099974,-0.000246588377755,-2.87140443248e-05,1793239740211757056
+49,0.816666667,BASELINE,766,745,714,679.583505609,666.416494391,635,879.416494391,788,803.416494391,653.583505609,631,653,0.400995430134,0.00458198290974,0.0498598332824,0.999999961981,0.000120295817226,-0.000246471515074,-2.86122867561e-05,1793239740228423680
+50,0.833333333,BASELINE,766,745.012210029,714,679.012210029,667,635,880,788,804,653,631.012210029,653,0.400997094304,0.00458355608774,0.0498604260004,0.999999961948,0.000122241826476,-0.000245654749117,-2.85599563845e-05,1793239740245090304
+51,0.850000000,BASELINE,766,745.592476151,714,679.592476151,667,635,880,788,804,653,631.592476151,653,0.400997178576,0.00458266184823,0.0498607968843,0.999999962443,0.000120032977546,-0.000244721392793,-2.85905080015e-05,1793239740261756928
+52,0.866666667,BASELINE,766,746,714,679.829214016,666.829214016,635,879.829214016,788,803.829214016,653,632,653,0.400996967034,0.00458261928669,0.0498607609139,0.999999962542,0.000119617226757,-0.000244512033666,-2.86625634644e-05,1793239740278423552
+53,0.883333333,BASELINE,766,746,714,679.255519387,666.255519387,635,879.255519387,788,803.255519387,653,632,653,0.400996057624,0.00458458595579,0.0498597651155,0.999999961706,0.000123431651953,-0.000246010687887,-2.88325324546e-05,1793239740295090432
+54,0.900000000,BASELINE,766,745.673584696,714,679,666.326415304,635,879.326415304,788,803,653,631.673584696,653,0.40099527523,0.0045855291485,0.0498594829144,0.999999961368,0.000124921450639,-0.000246622042625,-2.89160657123e-05,1793239740311757056
+55,0.916666667,BASELINE,766,745.085032624,714,679,666.914967376,635,879.914967376,788,803,653,631.085032624,653,0.400994594838,0.00458565041032,0.0498597737874,0.99999996144,0.000124544394033,-0.000246520827097,-2.89301843751e-05,1793239740328423680
+56,0.933333333,BASELINE,766,745.495155921,714.495155921,679,667,635.495155921,880,788,803.495155921,653,631,653,0.400994048765,0.00458416820922,0.0498591227401,0.999999961498,0.000122026850033,-0.000247560718209,-2.87531381055e-05,1793239740345090560
+57,0.950000000,BASELINE,766,745.926888056,714.926888056,679,666.926888056,635.926888056,880,788,803.926888056,653,631,653,0.400993866169,0.00458271265499,0.0498586478716,0.999999961628,0.000119597432844,-0.000248239345372,-2.86016748799e-05,1793239740361757440
+58,0.966666667,BASELINE,766,745.354532479,714.354532479,679,666.354532479,635.354532479,880,788,803.354532479,653,631,653,0.400996010687,0.00458328812552,0.0498604622314,0.99999996231,0.000120238136412,-0.000245135196851,-2.88453508892e-05,1793239740378424064
+59,0.983333333,BASELINE,766.225040865,745.225040865,714,679,666.225040865,635,879.774959135,788,803.225040865,653,631,653,0.400997186383,0.00458381294107,0.0498615241792,0.999999962675,0.000121142363381,-0.000243179525691,-2.89449610369e-05,1793239740395090944
+60,1.000000000,BASELINE,766.816362061,745.816362061,714,679,666.816362061,635,879.183637939,788,803.816362061,653,631,653,0.400996785212,0.00458425530978,0.0498613614887,0.999999962538,0.000122475505612,-0.000243093135284,-2.88100871823e-05,1793239740411757568
+61,1.016666667,BASELINE,766.600248985,746,714,679,667,635,879.399751015,788,804,653,631.399751015,653,0.400996672622,0.00458389553734,0.0498612076341,0.999999962528,0.000121815863674,-0.000243476021355,-2.87110798005e-05,1793239740428423936
+62,1.033333333,BASELINE,766.020433084,746,714,679,667,635,879.979566916,788,804,653,631.979566916,653,0.400996690021,0.00458317444632,0.0498610577597,0.999999962574,0.000120258586784,-0.000244070289545,-2.86282282139e-05,1793239740445090560
+63,1.050000000,BASELINE,766,745.441285144,714,679,666.441285144,635.558714856,879.441285144,788,804,653,632,653,0.400997258784,0.0045823590203,0.0498614701233,0.99999996268,0.000120565865009,-0.000243501174998,-2.84840394893e-05,1793239740461757184
+64,1.066666667,BASELINE,766,745.136518152,714.136518152,679,666.136518152,636,879,788,803.863481848,653,632,653,0.400997435257,0.0045821385368,0.0498614768305,0.999999962575,0.00012149383217,-0.000243474289226,-2.84496780592e-05,1793239740478423808
+65,1.083333333,BASELINE,766,745.710094695,714.710094695,679,666.710094695,636,879,788,803.289905305,653,632,653,0.400996291342,0.00458383377418,0.0498601190927,0.999999961784,0.00012419086813,-0.000245319380508,-2.87740980661e-05,1793239740495090432
+66,1.100000000,BASELINE,766,745.710024844,714.710024844,679.289975156,667,635.710024844,879,788,803,653,632,653,0.400995407481,0.00458421977076,0.0498594163157,0.999999961504,0.000124085783556,-0.000246502810601,-2.88216066349e-05,1793239740511757056
+67,1.116666667,BASELINE,766,745.123701965,714.123701965,679.876298035,667,635.123701965,879,788,803,653,632,653,0.400994789388,0.00458326775423,0.0498593828933,0.99999996175,0.000121116998174,-0.000247010038558,-2.85861182699e-05,1793239740528423936
+68,1.133333333,BASELINE,766,745,714,680,667,635,879.459676023,788,803.459676023,653,632,653,0.400995550846,0.00458330448381,0.0498601631069,0.999999961998,0.000121192190327,-0.000245968190026,-2.85672543429e-05,1793239740545090560
+69,1.150000000,BASELINE,766,745.041641392,714.041641392,680,667,635,880,788,803.958358608,653,632,653,0.400996658353,0.00458357356561,0.0498611133672,0.999999962255,0.000121925416174,-0.000244554415261,-2.85965919153e-05,1793239740561756928
+70,1.166666667,BASELINE,766,745.615614176,714.615614176,680,667,635,880,788,803.384385824,653,632,653,0.400997473971,0.00458343315498,0.0498614562159,0.999999962623,0.00012066557124,-0.000243681229362,-2.85016394361e-05,1793239740578423808
+71,1.183333333,BASELINE,766.189719023,746,714.810280977,679.810280977,667,635,879.810280977,788,803.189719023,653,631.810280977,653,0.400997734042,0.00458334464264,0.0498615141234,0.999999962713,0.000120513132781,-0.000243393392584,-2.84631129322e-05,1793239740595090432
+72,1.200000000,BASELINE,766.764091729,746,714.235908271,679.235908271,667,635,879.235908271,788,803.764091729,653,631.235908271,653,0.400996867745,0.0045833613536,0.0498609943151,0.999999962237,0.00012260595117,-0.000244292345941,-2.85389895899e-05,1793239740611757312
+73,1.216666667,BASELINE,766.652131751,746,714,679,666.652131751,635.347868249,879.347868249,788,804,653,631,653,0.400996301539,0.00458357507779,0.0498607767237,0.999999962086,0.000123022684024,-0.000244686825966,-2.8670240411e-05,1793239740628423936
+74,1.233333333,BASELINE,766.061800847,746,714,679,666.061800847,635.938199153,879.938199153,788,804,653,631,653,0.400995944495,0.00458392611934,0.0498607697762,0.999999962163,0.000122271192436,-0.000244729690221,-2.88400867785e-05,1793239740645090560
+75,1.250000000,BASELINE,766,746,714,679,666.513307949,635.486692051,880.513307949,788,803.486692051,653,631.513307949,653,0.40099565995,0.00458372721192,0.0498604117455,0.999999962182,0.000121101497536,-0.000245193774092,-2.91561715965e-05,1793239740661757184
+76,1.266666667,BASELINE,766,745.912289418,714.087710582,679.087710582,666.912289418,635,880.912289418,788,803,653,631.912289418,653,0.400995340708,0.00458347129631,0.0498600792703,0.999999962179,0.000120322874636,-0.00024556502135,-2.93564567988e-05,1793239740678424064
+77,1.283333333,BASELINE,766,745.331854874,714.668145126,679.668145126,666.331854874,635,880.331854874,788,803,653,631.331854874,653,0.40099477893,0.00458325637331,0.0498601209698,0.999999962095,0.000122015845584,-0.000245138063967,-2.88101657689e-05,1793239740695090432
+78,1.300000000,BASELINE,766,745,714.747780198,679.747780198,666.252219802,635.252219802,880,788,803.252219802,653.252219802,631,653,0.400994413258,0.00458247265678,0.0498599993277,0.999999962122,0.00012135319135,-0.00024539635835,-2.84771563685e-05,1793239740711757056
+79,1.316666667,BASELINE,766,745,714.15884598,679.15884598,666.84115402,635.84115402,880,788,803.84115402,653.84115402,631,653,0.400994309387,0.0045809295987,0.0498596596236,0.999999962289,0.0001175457682,-0.000246569466539,-2.84288788162e-05,1793239740728423680
+80,1.333333333,BASELINE,766.42312827,745.42312827,714,679,666.57687173,635.57687173,879.57687173,788,803.57687173,653.57687173,631,653,0.40099513067,0.00458179052575,0.0498599455899,0.999999962212,0.000119155801263,-0.000246113349105,-2.84029124683e-05,1793239740745090304
+81,1.350000000,BASELINE,766.997480299,746,714,679,666.002519701,635,879.002519701,788,803,653,631,653,0.400996282841,0.00458352560384,0.0498604604692,0.999999962036,0.000122748563326,-0.000245062746617,-2.83845363499e-05,1793239740761757184
+82,1.366666667,BASELINE,766.420894974,746,714,679,666.579105026,635,879.579105026,788,803,653,631,653,0.400994973942,0.00458213455437,0.0498604813824,0.999999961959,0.000122213218414,-0.000245662227036,-2.82180603332e-05,1793239740778423808
+83,1.383333333,BASELINE,766,746,714,679.155077491,667,635,880,788,803.155077491,653,631,653,0.400994339003,0.00458115089238,0.0498606251759,0.999999962044,0.000121097597387,-0.000245877336715,-2.81348643668e-05,1793239740795090688
+84,1.400000000,BASELINE,766,746,714,679.729393274,667,635,880,788,803.729393274,653,631,653,0.400995526059,0.00458126856611,0.0498611011653,0.999999962564,0.000118413251052,-0.000245053334198,-2.82768086188e-05,1793239740811757312
+85,1.416666667,BASELINE,766,745.686962881,714,680,667,635,880,788,804,653,631,653,0.40099591153,0.0045816429842,0.0498610993418,0.999999962713,0.000117417455697,-0.000244906290945,-2.84265133706e-05,1793239740828423936
+86,1.433333333,BASELINE,766,745.095007708,714,680,667,635,880,788,804,653,631,653,0.400995582784,0.00458224616314,0.0498606717839,0.999999962537,0.000117926170106,-0.000245362422728,-2.85831327684e-05,1793239740845090560
+87,1.450000000,BASELINE,766,745.486117776,714,679.513882224,666.513882224,635,880,788,804,653,631,653,0.400996464654,0.00458295974021,0.0498610147459,0.999999962738,0.000117838492707,-0.000244555562954,-2.88183853601e-05,1793239740861757184
+88,1.466666667,BASELINE,766,746,714,679,666.064495646,635,879.935504354,788,803.935504354,653,631,653,0.400997358883,0.00458348314676,0.0498614089429,0.999999962972,0.000117591071035,-0.000243691546454,-2.90211344864e-05,1793239740878423808
+89,1.483333333,BASELINE,766,746,714,679,666.637534145,635,879.362465855,788,803.362465855,653,631,653,0.400996525602,0.0045823406539,0.049861045596,0.999999962905,0.000116983115147,-0.000244280761874,-2.88490601547e-05,1793239740895090432
+90,1.500000000,BASELINE,766,746,714,679,666.788623152,635.211376848,879.211376848,788,803,653,631,653,0.400996115804,0.00458162657039,0.0498607645748,0.999999962851,0.000116853730322,-0.000244573620439,-2.87714185767e-05,1793239740911757312
+91,1.516666667,BASELINE,766,746,714,679,666.213396205,635.786603795,879.786603795,788,803,653,631,653,0.400996434961,0.00458164992248,0.0498606252637,0.99999996282,0.000117548126084,-0.000244356349888,-2.88563273016e-05,1793239740928424192
+92,1.533333333,BASELINE,766,745.626147527,714,679,666,635.626147527,879.626147527,788,803,653,631,653,0.400996151778,0.00458210954498,0.0498605821836,0.999999962785,0.000117944737341,-0.000244283501445,-2.9045017578e-05,1793239740945090816
+93,1.550000000,BASELINE,766,745.031808761,714,679,666,635.031808761,879.031808761,788,803,653,631,653,0.400995513352,0.00458282646589,0.0498605958575,0.999999962749,0.000118165724838,-0.000244295828547,-2.92949149193e-05,1793239740961757696
+94,1.566666667,BASELINE,766,745.545847048,714,679,666.545847048,635,879,788,803.545847048,653,631,653,0.400996384427,0.00458342497943,0.0498609958454,0.999999962621,0.000119467492509,-0.000244206328888,-2.91333785585e-05,1793239740978424320
+95,1.583333333,BASELINE,766,745.877528675,714,679.122471325,666.877528675,635,879,788,804,653.122471325,631.122471325,652.877528675,0.400996913742,0.00458363856844,0.0498611099236,0.999999962494,0.000120559268295,-0.000244210040091,-2.89548088634e-05,1793239740995090944
+96,1.600000000,BASELINE,766,745.301230982,714,679.698769018,666.301230982,635,879,788,804,653.698769018,631.698769018,652.301230982,0.400995860353,0.00458245060242,0.0498600835959,0.999999962398,0.000120646443156,-0.00024458048713,-2.879933058e-05,1793239741011757312
+97,1.616666667,BASELINE,766,745.279611373,714,680,666.279611373,635.279611373,879,788,803.720388627,653.720388627,631.720388627,652.279611373,0.400995947133,0.00458262909905,0.0498602305013,0.999999962423,0.000121202486834,-0.000244210519142,-2.87322053014e-05,1793239741028423680
+98,1.633333333,BASELINE,766,745.865430642,714,680,666.865430642,635.865430642,879,788,803.134569358,653.134569358,631.134569358,652.865430642,0.400997282533,0.00458430403579,0.0498616622374,0.999999962579,0.000122271997939,-0.000243029708118,-2.87618371399e-05,1793239741045090304
+99,1.650000000,BASELINE,766,746,714,679.553197928,667,635.553197928,879.446802072,788,803,653,631,653,0.400996381894,0.00458320994652,0.0498613725297,0.999999962515,0.000121143378172,-0.000243884973761,-2.85537290653e-05,1793239741061757184
+100,1.666666667,BASELINE,766,746,714.026661751,679,667,635,880,788,803.026661751,653,631.026661751,653,0.400994891963,0.00458139785814,0.0498606011646,0.999999962397,0.000119389420151,-0.000245258241888,-2.83018313155e-05,1793239741078424320
+101,1.683333333,BASELINE,766,746,714.602702562,679,667,635,880,788,803.602702562,653,631.602702562,653,0.400994999528,0.00458180632596,0.0498604830436,0.999999962636,0.000118257267833,-0.000244793797164,-2.86085049027e-05,1793239741095090944
+102,1.700000000,BASELINE,766,746,714.821791921,679,667,635,880,788,803.821791921,653.178208079,632,653,0.400995523794,0.00458251911651,0.0498607835239,0.999999962837,0.000118322616519,-0.000243917335782,-2.88269357137e-05,1793239741111757312
+103,1.716666667,BASELINE,766,746,714.247476296,679,667,635,880,788,803.247476296,653.752523704,632,653,0.40099697427,0.00458390833272,0.0498620144395,0.999999962945,0.000121049680739,-0.000242125074752,-2.88492270614e-05,1793239741128423936
+104,1.733333333,BASELINE,766,746,714,679,667,635,880,788,803.336716237,653.663283763,631.663283763,653,0.400996392971,0.00458431414236,0.0498613979103,0.999999962608,0.000121426143327,-0.00024332084108,-2.88840511135e-05,1793239741145090304
+105,1.750000000,BASELINE,766,746,714,679,667,635,880,788,803.928387433,653.071612567,631.071612567,653,0.400994273253,0.00458397533589,0.0498593825321,0.999999961929,0.000120022776548,-0.000246779083185,-2.89283646867e-05,1793239741161756928
+106,1.766666667,BASELINE,766,746,714,679.503755792,667,635,880,788,803.496244208,653,631,653,0.400995376886,0.00458205454704,0.0498601682271,0.999999962735,0.000116749094728,-0.000245081058188,-2.88940464796e-05,1793239741178423808
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,879,788,804,653,631,653,0.400996343794,0.00458239003073,0.0498604876067,0.999999962573,0.000118220020679,-0.000245010796767,-2.91278523165e-05,1793239741221755392
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.407407733,714,679.592592267,666.407407733,635.592592267,879.592592267,788,804,653,631.592592267,653,0.400996122021,0.00458372823696,0.049860682983,0.999999962443,0.000119929607312,-0.000244733288739,-2.89140794988e-05,1793239741238421760
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.18103914,745.18103914,714,679.81896086,666.18103914,635.81896086,880,788,803.81896086,653,632,653,0.400996110532,0.00458450303004,0.0498610657935,0.999999962424,0.00012111897127,-0.000244243668681,-2.87700398648e-05,1793239741255088128
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.760366215,745.760366215,714,679.239633785,666.760366215,635.239633785,880,788,803.239633785,653,632,653,0.400996561668,0.00458403830874,0.0498618609611,0.999999962651,0.000121163840413,-0.000243287399963,-2.8779413898e-05,1793239741271754752
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.661727456,746,714.338272544,679.338272544,667,635.338272544,880,788,803.338272544,653.338272544,632,653,0.400996475589,0.00458296355996,0.0498618719585,0.999999962795,0.000119832476307,-0.000243363489251,-2.86959979536e-05,1793239741288421120
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.084823416,746,714.915176584,679.915176584,667,635.915176584,880,788,803.915176584,653.915176584,632,653,0.400996010536,0.00458145847249,0.0498613297696,0.999999962877,0.000117530260125,-0.000244167846796,-2.85471241061e-05,1793239741305087744
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714.510210581,680,667,636,880,788,804,653.510210581,632,653,0.400995144799,0.00458169268416,0.0498609887733,0.99999996261,0.000117933417353,-0.000245041714011,-2.87551002484e-05,1793239741321755136
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.934553918,880,788,804,653,631.934553918,653,0.400994918339,0.00458199830853,0.0498609577645,0.999999962457,0.000118581550194,-0.000245330064485,-2.89417093305e-05,1793239741338422272
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.347428535,880,788,804,653,631.347428535,653,0.401000338209,0.00458048330596,0.0498631212607,0.99999996369,0.000117465123916,-0.000240855675197,-2.84676725429e-05,1793239741355088640
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.236943752,880,788,803.763056248,653,631,653,0.40101153753,0.00458033944626,0.0498675120557,0.999999965748,0.00011744022126,-0.00023218279229,-2.83236020778e-05,1793239741371755264
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.817325517,880,788,803.182674483,653,631,653,0.401031113874,0.00458218298908,0.0498751312077,0.999999968872,0.000118997427092,-0.000217424405114,-2.86578011832e-05,1793239741388421888
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.604179333,714,680,666.604179333,635.604179333,880,788,803.395820667,653,631,653,0.40107126148,0.00458145229928,0.0498893041468,0.999999975081,0.00011661957675,-0.000188233807293,-2.83736466627e-05,1793239741405088256
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.026550689,714,680,666.026550689,635.026550689,880,788,803.973449311,653,631,653,0.401120857861,0.00457953921554,0.0499064873658,0.999999981678,0.000112434280123,-0.000152414218567,-2.78054705363e-05,1793239741421754880
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.548742828,714,679.451257172,666.548742828,635,880,788,803.451257172,653.548742828,631.548742828,653,0.401188532325,0.00457910622599,0.0499243577914,0.999999986199,0.000113422392429,-0.000118271029804,-2.73782454761e-05,1793239741438421504
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.87311627,714.12688373,679,667,635,879.87311627,788,803.12688373,653.87311627,632,653,0.401258670848,0.00457879820869,0.0499401899219,0.999999989032,0.000114501389657,-9.00662433409e-05,-2.67251444599e-05,1793239741455088128
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.284197035,714.715802965,679,667,635,879.284197035,788,803.715802965,653.284197035,632,653,0.401334610389,0.00457868559648,0.0499484792283,0.999999989609,0.000115003706503,-8.31914869238e-05,-2.52248081211e-05,1793239741471754752
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.299610281,714.700389719,679,667,635,879.599220562,788,804,653.299610281,632,653,0.401417011659,0.00457783014197,0.0499530098787,0.999999990185,0.000113124522657,-7.90102822135e-05,-2.42934312819e-05,1793239741488421632
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.878649965,714.121350035,679,667,635,880.75729993,788,804,653.878649965,632,653,0.401505439411,0.00457628188087,0.0499540350449,0.999999990781,0.000109024249052,-7.73411998145e-05,-2.38926905755e-05,1793239741505088256
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.547024001,635.452975999,880.094048003,788,803.547024001,653.547024001,631.547024001,653,0.401610150138,0.00457559846587,0.0499528747212,0.999999990678,0.000108039255813,-8.02572057338e-05,-2.30382521115e-05,1793239741521754880
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.973117769,714,679,666,636,879.026882231,788,803.026882231,653.026882231,631,653,0.4017205112,0.00457508409744,0.0499513348482,0.999999990416,0.000107759538546,-8.40825698824e-05,-2.20456216981e-05,1793239741538422016
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.381784608,714,679,666,636,879.618215392,788,803.618215392,653.618215392,631,653,0.40185886429,0.00457330453679,0.0499539923707,0.99999999096,0.000104945520551,-8.14762049666e-05,-2.06771350878e-05,1793239741555088384
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.204902835,714.204902835,679.204902835,666.204902835,635.795097165,880,788,803.795097165,653.795097165,631,653,0.402009098148,0.00457129397926,0.0499556479303,0.999999991405,0.000101701964217,-8.04646930713e-05,-1.92836862916e-05,1793239741571755008
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.783126003,714.783126003,679.783126003,666.783126003,635.216873997,880,788,803.216873997,653.216873997,631,653,0.402180978016,0.00456886255984,0.049955477975,0.999999991679,9.76758158186e-05,-8.2358905337e-05,-1.78447580815e-05,1793239741588421632
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.640294042,714.640294042,679.640294042,667,635,879.640294042,788,803.359705958,653,631.359705958,653,0.40237234536,0.00456761560297,0.0499553856509,0.999999991967,9.56180759942e-05,-8.14622046254e-05,-1.69315032851e-05,1793239741605088256
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.064700252,714.064700252,679.064700252,667,635,879.064700252,788,803.935299748,653,631.935299748,653,0.402575408685,0.00456707953499,0.0499553399194,0.999999992267,9.47417325591e-05,-7.88904577476e-05,-1.63337463035e-05,1793239741621754880
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.510668429,714,679.510668429,667,635,879,788,803.489331571,653,631.489331571,653,0.402810078517,0.00456474803108,0.0499573412662,0.999999993055,9.00754040411e-05,-7.45902634119e-05,-1.45875139362e-05,1793239741638421504
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666.911737311,635,879,788,803,653,631.088262689,653,0.403054676177,0.00456197464526,0.0499599601653,0.999999993919,8.48783477627e-05,-6.92740643243e-05,-1.26259162396e-05,1793239741655088384
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666.32131856,635,879,788,803,653,631.67868144,653,0.403332984025,0.00455798086485,0.0499646175968,0.99999999503,7.93925050161e-05,-5.94228267795e-05,-1.02665146264e-05,1793239741671755008
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,714,679.73570489,666.26429511,635.26429511,879.26429511,788,803,653,631.73570489,653,0.403639534372,0.00455443535773,0.0499720067998,0.999999996201,7.45280736692e-05,-4.44972444098e-05,-7.9542814801e-06,1793239741688421632
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714,679.155828752,666.844171248,635.844171248,879.844171248,788,803,653,631.155828752,653,0.403979807599,0.00455142511065,0.0499826578686,0.999999997229,7.04056376282e-05,-2.35126517119e-05,-5.6983698837e-06,1793239741705088256
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.579808513,880,788,803,653,631.420191487,653,0.404335017976,0.00454835698771,0.0499892799263,0.999999997647,6.75389640544e-05,-1.15707221076e-05,-3.29096605265e-06,1793239741721754880
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.00520525,880,788,803,653,631.99479475,653,0.404695717442,0.00454526759664,0.0499944214045,0.999999997874,6.51337575914e-05,-2.9517866676e-06,-8.27891974452e-07,1793239741738421504
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.416774199,714,679,667,635.583225801,880,788,803,653,632,653,0.40508707423,0.00454006153431,0.0499975153092,0.999999998238,5.92513178617e-05,2.57230635341e-06,2.58232783073e-06,1793239741755088128
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.163136594,714,679,667,636,880,788,803.163136594,653,632,653,0.405483570561,0.00453498753904,0.0499941337344,0.999999998551,5.33570952583e-05,-4.12245320729e-06,5.79031135384e-06,1793239741771754752
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.722069082,714,679,667,636,880,788,803.722069082,653,632,653,0.405891856243,0.00453028090674,0.0499750870069,0.99999999802,4.75114085148e-05,-4.03934948351e-05,8.48662936116e-06,1793239741788421376
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.699261084,880,788,804,653,631.699261084,653,0.406330277404,0.00452648223043,0.0499568892374,0.999999996456,4.19546175148e-05,-7.21597769145e-05,1.1004009352e-05,1793239741805088000
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.101069513,880,788,804,653,631.101069513,653,0.406798504792,0.00452358158804,0.0499395311468,0.999999994291,3.66835647346e-05,-9.9470528595e-05,1.33444069586e-05,1793239741821754880
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714.475635413,679.475635413,667,635,880,788,804,653,631.475635413,653,0.407297613422,0.00451975868139,0.0499331834507,0.999999993413,3.05600390549e-05,-0.000109462402801,1.60888898596e-05,1793239741838421760
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714.950697673,679.950697673,667,635,880,788,804,653,631.950697673,653,0.40780931181,0.0045153772579,0.0499315046922,0.999999993358,2.37245106656e-05,-0.000111187567281,1.89557443634e-05,1793239741855088640
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714.362487937,679.362487937,667,635,880,788,804,653,631.362487937,653,0.408389997469,0.00450694042243,0.0499563920743,0.999999997829,1.10007676429e-05,-6.10399169477e-05,2.22622031201e-05,1793239741871755008
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788.221958721,804,653,631.221958721,653,0.408987914066,0.00449975906172,0.049979669688,0.999999999468,1.05938121289e-06,-1.95062026926e-05,2.61207664588e-05,1793239741888421376
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788.800362194,804,653,631.800362194,653,0.409613501891,0.0044945938755,0.0500003621642,0.99999999948,-4.41380239498e-06,8.19434020881e-06,3.08659575024e-05,1793239741905088000
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.620385193,746,714,679,667,635,880,788.620385193,804,653,631.620385193,653,0.410240467347,0.00448813720402,0.0500018612829,0.999999996693,7.31560983865e-05,6.0162684289e-06,3.50238870683e-05,1793239741921754624
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.040685037,746,714,679,667,635,880,788.040685037,804,653,631.040685037,653,0.410868158897,0.00448099982356,0.0499932440683,0.999999980259,0.000194495904568,-1.19100651899e-05,3.88722854128e-05,1793239741938421504
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.532680098,746,714.532680098,679,667,635,880,788.532680098,804,653,631,653,0.411483198864,0.00447338811655,0.0499636794855,0.999999978277,0.000190436371033,-7.31654887021e-05,4.27496498329e-05,1793239741955088128
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.890686345,715,679.109313655,667,635,880,788.890686345,803.890686345,653,631,653,0.412117845513,0.0044658459663,0.0499412802529,0.999999976917,0.000174004125123,-0.000117415361557,4.58427201186e-05,1793239741971755008
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.297467703,715,679.702532297,667,635,880,788.297467703,803.297467703,653,631,653,0.412843513314,0.00445877021727,0.049957599502,0.999999985912,0.000144700959749,-7.19080945832e-05,4.54542317397e-05,1793239741988421632
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.288541555,714.711458445,680,667,635.288541555,880,788,803,652.711458445,631,653,0.413588578977,0.0044480854102,0.0499750103822,0.999999996785,6.28449539724e-05,-3.63202371134e-05,3.40913790535e-05,1793239742005088256
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.86729965,714.13270035,680,667,635.86729965,880,788,803,652.13270035,631,653,0.414353155197,0.00443377059363,0.0499935192326,0.999999997292,-7.18689660277e-05,-1.07093653742e-05,1.169045536e-05,1793239742021754880
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.555612815,746,714,679.555612815,667,635.555612815,880,788,803.444387185,652.444387185,631.444387185,653,0.415101993635,0.00442547924394,0.0499751055596,0.999999993374,-0.000107177054503,-4.08666027413e-05,9.69704549791e-06,1793239742038422016
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.020781366,746,714,679,667,635,880,788,804,653,631.979218634,653,0.41584726298,0.0044201565063,0.0499466102668,0.999999990075,-0.000110613898508,-8.61610507323e-05,1.37886688751e-05,1793239742055089152
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.591975466,746,714,679,667,635,880,788,804,653,631.408024534,653,0.416622007912,0.00444599850808,0.049942023185,0.999999994099,-5.31751483156e-05,-9.29564148208e-05,1.82479640925e-05,1793239742071755520
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880.169250669,788,804,653,631,653,0.417412572976,0.00447209937357,0.049947646453,0.999999996457,-5.08803643009e-07,-8.14391721801e-05,2.12746031054e-05,1793239742088421888
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880.761732346,788,804,653,631,653,0.418242698076,0.00449884755639,0.0499788018899,0.999999998685,4.02235814775e-05,-2.41291236852e-05,2.07187182309e-05,1793239742105088512
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.65275128,745.65275128,714.34724872,679,667,635,880.65275128,788,803.65275128,653,631,653,0.419061412922,0.00449984024328,0.0499874193256,0.999999998919,3.75273222193e-05,-1.61483920875e-05,2.21856887587e-05,1793239742121755136
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.071920251,745.071920251,714.928079749,679,667,635,880.071920251,788,803.071920251,653,631,653,0.419872452447,0.00448350808998,0.0499808762195,0.999999998816,5.6181012351e-06,-4.13498030538e-05,2.50133648046e-05,1793239742138421760
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.498918139,679.501081861,667,635,880,788,803.501081861,652.498918139,631,652.498918139,0.420736254099,0.00447435750277,0.0499760940172,0.999999999047,-7.57189884761e-06,-3.5361631377e-05,2.44448260027e-05,1793239742155088384
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.075400735,745.075400735,714,679.924599265,667,635,880,788,804,652.075400735,631.075400735,652.075400735,0.421608614097,0.00446679832825,0.0499750887138,0.999999999387,-1.53420693448e-05,-2.07920511999e-05,2.36327901819e-05,1793239742171755264
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.666285499,745.666285499,714,679.333714501,667,635,880,788,804,652.666285499,631.666285499,652.666285499,0.422488506933,0.00446318045222,0.0499982032126,0.999999999444,-4.14484135812e-06,2.23109732392e-05,2.44373530467e-05,1793239742188421632
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.748958353,746,714.251041647,679.251041647,667,635.251041647,880.251041647,788,804,652.748958353,632,653,0.423348639046,0.00446054694147,0.0500023190874,0.999999999214,-2.96158061841e-06,3.03768763764e-05,2.53180369492e-05,1793239742205088256
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.172154865,746,714.827845135,679.827845135,667,635.827845135,880.827845135,788,804,652.172154865,632,653,0.424183128966,0.0044591907826,0.049981781579,0.99999999952,-1.47728491643e-05,-7.02280688995e-06,2.62974987364e-05,1793239742221754880
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.595860767,715,679.595860767,666.595860767,635.595860767,881,788,804,652.404139233,632,653,0.425059209567,0.00446542562129,0.0499824454141,0.999999999495,-1.58489876497e-05,-6.60894846898e-06,2.67245578594e-05,1793239742238421504
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.019783419,715,679.019783419,666.019783419,635.019783419,881,788,804,652.980216581,632,653,0.425952984573,0.00447488999506,0.0499921292087,0.999999999512,-1.23579419736e-05,9.89241006565e-06,2.69166012096e-05,1793239742255088384
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.569462725,714.430537275,680.138925449,666.569462725,635,881,788,804,653,631.430537275,653,0.426834577226,0.00447984321348,0.0500048131815,0.999999999421,7.35416363271e-06,1.71080562132e-05,2.84647629415e-05,1793239742271755008
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.156000599,746,714,680.843999401,667,635,880.843999401,788,804,653,631,653,0.427698749555,0.0044802364703,0.05000454282,0.999999999373,1.83940785123e-05,3.96010933639e-06,3.00148121122e-05,1793239742288421632
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.733946509,746,714,680.266053491,667,635,880.266053491,788,804,653,631,653,0.428516975726,0.00446873001717,0.0499689454138,0.999999997488,4.41744193765e-06,-6.33734307178e-05,3.14395220966e-05,1793239742305088256
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,714,679.688268603,667,635,880,788,804,652.688268603,631,653,0.429379447889,0.00446164839641,0.0499568748751,0.999999996603,-6.95546437062e-06,-7.58434603647e-05,3.15263211048e-05,1793239742321754880
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,714,679.1106211,667,635,880,788,804,652.1106211,631,653,0.430279663149,0.00445834128919,0.0499648734525,0.999999998544,-1.61073109893e-05,-4.15132888194e-05,3.04718424487e-05,1793239742338421504
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,714,679.464370878,667,635,880,788,804,652.464370878,631.464370878,652.535629122,0.431131043261,0.00445946261646,0.049962524314,0.999999998281,-1.28019748495e-05,-4.81592621892e-05,3.09120347755e-05,1793239742355088128
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804.039901618,652.960098382,632,652.039901618,0.431970377194,0.00446173339396,0.049957009858,0.999999997371,-6.77616112788e-06,-6.49107257116e-05,3.16142859514e-05,1793239742371755008
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804.631579997,652.368420003,632,652.631579997,0.43280308702,0.00446539419762,0.0499416173364,0.999999995709,-3.93315316576e-06,-8.71904035651e-05,3.10446961941e-05,1793239742388421632
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,714.217995252,679.782004748,667,635,880.217995252,788,805,652.217995252,631.782004748,653,0.433644973508,0.00446761196376,0.0499431266486,0.999999996067,-2.26717941114e-06,-8.31577335205e-05,3.07581622589e-05,1793239742405088256
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,714.795725412,679.204274588,667,635,880.795725412,788,805,652.795725412,631.204274588,653,0.434502003421,0.00446744843566,0.0499725272978,0.999999998881,-2.54354242645e-06,-3.57045338443e-05,3.09387258109e-05,1793239742421754880
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.628200201,746,715,679,667,635,880.628200201,788,804.628200201,652.628200201,631,653,0.435305987915,0.00446665999047,0.0499827731065,0.999999999079,-5.121839319e-06,-2.77487993407e-05,3.23260196499e-05,1793239742438421504
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.053031531,746,715,679,667,635,880.053031531,788,804.053031531,652.053031531,631,653,0.436080957314,0.00446552972509,0.0499825415049,0.999999998512,-8.9592592396e-06,-4.1397584245e-05,3.43733767288e-05,1793239742455088128
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.519141909,745.480858091,714.480858091,679.519141909,666.480858091,635,880,788,804,652,631,653,0.436835841004,0.00446274594372,0.0499618315803,0.9999999962,-1.67024783418e-05,-7.79763285204e-05,3.52165326009e-05,1793239742471755008
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.905373253,745.094626747,714,680,666.094626747,635,880.094626747,788,804.094626747,652,631.094626747,653,0.437598942618,0.00446033259366,0.0499474193965,0.999999994161,-1.84158989034e-05,-0.000100286168556,3.58075939618e-05,1793239742488421632
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.310785321,745.689214679,714,680,666.689214679,635,880.689214679,788,804.689214679,652,631.689214679,653,0.438416242192,0.00446076374069,0.0499772705849,0.999999998658,1.3825124955e-05,-3.49013166234e-05,3.5712918099e-05,1793239742505088512
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,714.275695556,680,667,635,880.724304444,788,805,652,632,653,0.439179629468,0.00446092018965,0.0499881515986,0.999999998901,2.71613707947e-05,-1.06451089946e-05,3.67125904307e-05,1793239742521755136
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,714.853298556,680,667,635,880.146701444,788,805,652,632,653,0.439883978653,0.00446077582347,0.0499782588371,0.999999998553,1.97954555856e-05,-3.14278759773e-05,3.89106567962e-05,1793239742538421760
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.571275155,714.571275155,680,667,635,880.428724845,787.571275155,805,652.428724845,632,652.571275155,0.440543918531,0.0044630705869,0.0499536819614,0.999999996476,1.88797001162e-05,-7.14848798122e-05,3.97726691526e-05,1793239742555088640
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.003507868,745.003507868,714,680,667,635,881,787.003507868,805,652.996492132,632,652.003507868,0.441188829808,0.00446620224675,0.0499242783935,0.999999992049,2.01787173537e-05,-0.000117816407313,4.0183565469e-05,1793239742571755008
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.594667082,745.594667082,714,680,667,635,881,787.594667082,805,652.405332918,632,652.594667082,0.441848918785,0.00447042093314,0.0499237812977,0.99999999212,2.46272911877e-05,-0.000115995057202,4.12221255717e-05,1793239742588421632
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,634.817951278,881,788,805,652.182048722,632,653,0.44249199093,0.00447601546592,0.0499219194107,0.999999991861,3.14660039416e-05,-0.000116199143749,4.22652075185e-05,1793239742605088256
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,634.238809345,881,788,805,652.761190655,632,653,0.443097945289,0.00448461106015,0.0499170805769,0.999999990816,4.35182006373e-05,-0.000120821207359,4.33181529194e-05,1793239742621754880
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666.661587593,634.338412407,881,788,805,653,631.661587593,653,0.443647396819,0.00449746127663,0.0498900853419,0.999999983163,6.19568576276e-05,-0.000167057992794,4.38923487626e-05,1793239742638421504
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666.085713255,634.914286745,881,788,805,653,631.085713255,653,0.444157200619,0.00451329693519,0.049847543095,0.999999966022,8.48768540167e-05,-0.00024249557479,4.41306086725e-05,1793239742655088384
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666,634.511482354,880.511482354,787.511482354,805,653,631.488517646,653,0.444652602408,0.00452243037909,0.0498124269638,0.999999950836,9.75878545917e-05,-0.000294822081579,4.34154187373e-05,1793239742671755264
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.935882141,714,680,666,634,880.064117859,787,805,652.935882141,632,653,0.445148087088,0.00452896315678,0.0497826399986,0.999999937057,0.000106540884755,-0.000335727912823,4.26791948614e-05,1793239742688422144
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.346715558,714,680,666,634,880.653284442,787,805,652.346715558,632,653,0.44566487361,0.00452379686128,0.0497858586688,0.999999944142,9.9339460368e-05,-0.000316206098688,4.31360271121e-05,1793239742705088768
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.76177726,745.23822274,714,680,665.76177726,633.76177726,881,787,805,652,632,653,0.446161538553,0.00452255059462,0.0497902121201,0.999999949524,9.69395527288e-05,-0.000299556805203,4.26579509128e-05,1793239742721755136
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.182885646,745.817114354,714,680,665.182885646,633.182885646,881,787,805,652,632,653,0.446629428719,0.00452691014009,0.0497961883573,0.999999952835,0.000101406023427,-0.000287015342918,4.08429149639e-05,1793239742738421504
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.394569972,746,714,680,665,633,880.605430028,787,805,652,631.605430028,652.605430028,0.447029764466,0.00452953094804,0.0497755849409,0.999999946443,6.38582582842e-05,-0.000319787472653,2.77947771041e-05,1793239742755088128
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.971362461,746,714,680,665,633,880.028637539,787,805,652,631.028637539,652.028637539,0.447398901892,0.00453134876286,0.0497427063603,0.999999930184,6.90724312041e-06,-0.000373486576813,9.55890479947e-06,1793239742771754752
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.141933329,746,714,680,665,632.858066671,880.141933329,787,805,652.858066671,631.141933329,653,0.44806035982,0.00453131868743,0.0496904012266,0.999999898065,4.97351652235e-06,-0.000451368966097,1.05311807868e-05,1793239742805088000
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.72007793,746,714,680,665,632.27992207,880.72007793,787,805,652.27992207,631.72007793,653,0.448404476841,0.00453585014475,0.0496897945218,0.999999898461,1.25073560252e-05,-0.000450317876248,1.15942327159e-05,1793239742821755136
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,714.299079458,680,665,632,881,787,805,652.299079458,631.700920542,653,0.448734255383,0.00454179489583,0.0496975324332,0.999999903674,2.11301410445e-05,-0.00043820995539,1.33200531166e-05,1793239742838421760
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+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.545005364,632,881,787,805,653,631.454994636,653,0.449322580581,0.00456176814761,0.0497199363574,0.999999916026,4.73493646203e-05,-0.000406723381406,1.68179372894e-05,1793239742871755008
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.030853277,632,881,787,805,653,632,653,0.449580289353,0.00457600074503,0.0497237641747,0.999999916456,6.97751294843e-05,-0.000402381530132,1.75490083173e-05,1793239742888421632
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.619833163,632,881,787,805,653,632,653,0.449791046817,0.00459198335306,0.0497149527714,0.999999898942,0.00016495366371,-0.000417894891932,1.64243799831e-05,1793239742905088256
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.794843224,746,715,680,664.794843224,632,881,787,805,653,631.794843224,653,0.449995815962,0.00460486109039,0.0497085148965,0.999999882196,0.000226887864996,-0.000428850534551,1.47254721077e-05,1793239742921754880
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.216176318,746,715,680,664.216176318,632,881,787,805,653,631.216176318,653,0.450189682698,0.00461208607262,0.049706398288,0.999999880769,0.000228297149759,-0.000431508359934,1.19810264838e-05,1793239742938421504
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,715,680,664,631.640183513,881,787,805,653,631.359816487,653,0.450362423602,0.00462435475687,0.049706913671,0.99999987812,0.000237599598544,-0.000432681960283,9.60014534501e-06,1793239742955088128
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,715,680,664,631.065785391,881,787,805,653,631.934214609,653,0.450522565839,0.00463963132463,0.0497089986791,0.999999874587,0.000251609247102,-0.000432970422291,7.43608074942e-06,1793239742971755008
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,715,680,664,631,881,787,804.478622818,653,632,653,0.45065351385,0.00464137947391,0.0497112620392,0.999999874502,0.000252216066436,-0.000432806171575,7.89420167643e-06,1793239742988421888
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,715,680,664,630.891509025,880.891509025,787,804,652.891509025,631.891509025,653,0.450776453579,0.00464064405873,0.0497128715434,0.99999987486,0.000250115510745,-0.000433182494161,8.7181208513e-06,1793239743005088512
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,715,680,664,630.311778139,880.311778139,787,804,652.311778139,631.311778139,653,0.450881010341,0.00463672148914,0.0497115407691,0.999999875119,0.000243785102253,-0.000436161182675,9.65774235344e-06,1793239743021754880
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,715,680,664,630.267006044,880.267006044,787,804.267006044,652,631.267006044,653,0.450973431402,0.00463657059935,0.0497082920158,0.99999987301,0.000241745510914,-0.000442088962209,9.84263235682e-06,1793239743038421504
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765.419297624,746,715,680,664,631,881,787,805,652,631.580702376,653,0.451112009837,0.00464082145594,0.0496972437944,0.999999864269,0.000243057090529,-0.000460762199217,9.10679544449e-06,1793239743071754752
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,714,680.045275456,664,630,881.909449087,787,805,653,631.045275456,653,0.451351363195,0.00464094257444,0.0496889868719,0.999999856529,0.000236546847547,-0.000480503515703,1.01590880581e-05,1793239743205088256
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765.772282842,746,714.227717158,681,664,630.227717158,880.227717158,787,805,653,631.772282842,653,0.451361782197,0.00464496689133,0.0496883342817,0.999999853877,0.00024396337841,-0.000482320087288,9.79974702242e-06,1793239743238421504
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.954716463,746,715,680.045283537,663.045283537,630.045283537,881,787,804.045283537,653,631,653,0.451367507258,0.00464087556447,0.0496848460623,0.99999985261,0.000237550656535,-0.000488100002094,1.03983796082e-05,1793239743288421888
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,714.137628206,680.862371794,664,630.862371794,881,787,805.862371794,652,631.137628206,653,0.451372974304,0.00464454104212,0.0496853602841,0.999999852978,0.000240638534153,-0.000485838322666,9.89407315605e-06,1793239743371755008
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+252,4.200000000,POSE1_TO_POSE2_PRESS,765.842946069,746,714.157053931,680,663,630.157053931,881,787,804.157053931,652.157053931,631.842946069,652.842946069,0.451371982847,0.00464394166226,0.0496815229291,0.999999850238,0.000239801247669,-0.000491858850981,9.75628281495e-06,1793239743638421760
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.264443799,746,714.735556201,680,663,630.735556201,881,787,804.735556201,652.735556201,631.264443799,652.264443799,0.451373016503,0.00464524613372,0.0496828627176,0.999999850916,0.000240830738103,-0.000489977774521,9.48756759138e-06,1793239743655088384
+254,4.233333333,HOLD_POSE2,766,745,714,680,664,631,881,787,805,653,631,652,0.45137544976,0.00464134679028,0.0496848905085,0.999999853826,0.00023260766173,-0.000488011152328,9.29581432057e-06,1793239743691759872
+255,4.250000000,HOLD_POSE2,765.409879251,745.590120749,714,680.590120749,663.409879251,630.409879251,881,787,805,653,631,652.590120749,0.451375013908,0.00464456074291,0.0496847782032,0.999999852669,0.000237271747827,-0.000488142127076,9.05347347365e-06,1793239743708426496
+256,4.266666667,HOLD_POSE2,765,746,714.176695037,680.823304963,663.176695037,630,880.823304963,787,805,653,631.176695037,653,0.451374537389,0.0046462978147,0.0496843674218,0.999999851811,0.000240091477007,-0.000488521419594,8.94466905207e-06,1793239743725093120
+257,4.283333333,HOLD_POSE2,765,746,714.75520459,680.24479541,663.75520459,630,880.24479541,787,805,653,631.75520459,653,0.451373968387,0.00464467637647,0.0496832778891,0.999999851677,0.000238717035088,-0.000489465400815,9.13953397328e-06,1793239743741759744
+258,4.300000000,HOLD_POSE2,765.33182587,746,714.66817413,680,663.66817413,630,880.33182587,787,805,652.66817413,631.66817413,653,0.451373836248,0.00464494367619,0.0496825782605,0.999999851157,0.00023867933905,-0.000490548150746,9.00037908791e-06,1793239743758426368
+259,4.316666667,HOLD_POSE2,765.907061975,746,714.092938025,680,663.092938025,630,880.907061975,787,805,652.092938025,631.092938025,653,0.451374024568,0.00464659645613,0.0496821646454,0.999999850353,0.000239622210493,-0.000491732694141,8.61620459662e-06,1793239743775092992
+260,4.333333333,HOLD_POSE2,766,746,714.482793963,680,663.482793963,630,881,787,804.517206037,652.482793963,631,653,0.451374778433,0.00464605868606,0.0496826425826,0.999999851025,0.000239798863952,-0.000490277245341,8.69136157004e-06,1793239743791759872
+261,4.350000000,HOLD_POSE2,766,746,715,680.059957961,664,630,881,787,804.059957961,653,631,653,0.451375533943,0.00464516080396,0.0496832256181,0.999999851842,0.000239791247671,-0.000488607585147,8.87549718161e-06,1793239743808426496
+262,4.366666667,HOLD_POSE2,766,746,715,680.648913268,664,630,881,787,804.648913268,653,631,653,0.451375342467,0.00464480996441,0.0496832201517,0.999999851464,0.000239460533001,-0.000489536334563,9.24020243544e-06,1793239743825093120
+263,4.383333333,HOLD_POSE2,766,746,715,680.765605713,663.765605713,630,881,787,805,653,631,653,0.451374870275,0.00464448420847,0.0496828656988,0.999999851206,0.000238529854711,-0.000490513535967,9.34051642649e-06,1793239743841759488
+264,4.400000000,HOLD_POSE2,766,746,715,680.185252687,663.185252687,630,881,787,805,653,631,653,0.451373983755,0.00464419547519,0.0496819961528,0.999999851126,0.000236713648648,-0.00049156225093,9.05059703523e-06,1793239743858426368
+265,4.416666667,HOLD_POSE2,766,746,714.608598838,680,663,630,881,787,805,653,631,653,0.451374384586,0.0046432892541,0.0496818396245,0.999999851446,0.00023553859335,-0.00049147537576,8.98398839282e-06,1793239743875093248
+266,4.433333333,HOLD_POSE2,766,746,714.03367939,680,663,630,881,787,805,653,631,653,0.451375389025,0.00464209350828,0.0496820174123,0.999999851956,0.000234664157563,-0.00049085605067,9.02208458961e-06,1793239743891759872
+267,4.450000000,HOLD_POSE2,766,745.459285799,714,680,663,630.540714201,881,787,805,653,631.540714201,653,0.451375644716,0.00464332125784,0.0496830668645,0.999999851917,0.000235966592474,-0.000490308727829,9.10727843423e-06,1793239743908426496
+268,4.466666667,HOLD_POSE2,765.881285558,745,714.118714442,680,663,630.881285558,881,787,805,653,631.881285558,653,0.451375590109,0.00464443422519,0.0496836761896,0.999999851677,0.000237270519235,-0.000490167420737,9.17383311181e-06,1793239743925093376
+269,4.483333333,HOLD_POSE2,765.288759738,745,714.711240262,680,663,630.288759738,881,787,805,653,631.288759738,653,0.451374482996,0.00464448718406,0.049682312402,0.999999850777,0.000238039759846,-0.000491628715465,9.15429841407e-06,1793239743941760256
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,663,630,881,787,805,652,632,653,0.451375807619,0.00464229833308,0.0496829925754,0.999999851924,0.000235831241962,-0.000490350389303,9.5581672867e-06,1793239743978852096
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.578306832,745.421693168,714,680,663,630.578306832,880.421693168,787,805,652.578306832,632,653,0.451376225147,0.00464334779602,0.0496833269701,0.99999985218,0.000235616625189,-0.000489943532232,8.91013919554e-06,1793239743995519232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.845471239,745.154528761,714.154528761,680,663,630.845471239,880,787,805,652.845471239,631.845471239,653,0.451376410606,0.00464436249198,0.0496834994542,0.999999852162,0.00023612790693,-0.000489740710325,8.5542999654e-06,1793239744012186112
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.27486293,745.72513707,714.72513707,680,663,630.27486293,880,787,805,652.27486293,631.27486293,653,0.451375971201,0.00464528357565,0.0496832359825,0.999999851403,0.000238593721371,-0.000490087267341,8.9851996315e-06,1793239744028852480
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.689690872,715,680,663,630,880.310309128,787,805,652.310309128,631.310309128,653,0.451375633248,0.00464491327443,0.0496827841959,0.999999850988,0.000239037660879,-0.000490713545969,9.20941400647e-06,1793239744045518848
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.090983441,715,680,663,630,880.909016559,787,805,652.909016559,631.909016559,653,0.451375389584,0.00464334277253,0.0496821573912,0.999999850895,0.000237602489225,-0.000491599795139,9.24153704453e-06,1793239744062185216
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.487843362,745,714.512156638,680,663,630,880.512156638,787,804.512156638,653,631.512156638,652.512156638,0.451376618286,0.0046432267476,0.0496836738006,0.999999852073,0.000236372595618,-0.000489792037339,9.2528189964e-06,1793239744078851840
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.93683563,745.06316437,714,680.06316437,663,630,880,787.06316437,804.06316437,652.93683563,631.06316437,652,0.451377834634,0.00464340052981,0.0496852515994,0.99999985325,0.000235448225367,-0.0004878296317,9.25499682131e-06,1793239744095518720
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.361053743,745.638946257,714,680.638946257,663,630,880,787.638946257,804.638946257,652.361053743,631.638946257,652,0.451376809446,0.00464381101912,0.0496842107203,0.999999852612,0.000236704826913,-0.000488530076036,9.21359841175e-06,1793239744112185344
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.219249447,746,714,681,663,630.219249447,880.438498894,787.780750553,805,652,631.780750553,652.219249447,0.451373402827,0.0046445671523,0.0496819540476,0.999999850987,0.000237978587654,-0.000491232797045,9.05224318069e-06,1793239744128852224
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.807154903,746,714,681,663,630.807154903,881.614309807,787.192845097,805,652,631.192845097,652.807154903,0.45136599196,0.00464590446677,0.0496776530844,0.99999984768,0.000239281200514,-0.000497302237192,8.6891870886e-06,1793239744145519104
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.610300926,745.610300926,714,680.610300926,663,631,881.610300926,787,805,652.389699074,631.389699074,652.610300926,0.451342233224,0.0046454676468,0.0496671150454,0.999999838638,0.000238396276527,-0.000515573373381,8.68111560525e-06,1793239744162185728
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.030373766,745.030373766,714,680.030373766,663,631,881.030373766,787,805,652.969626234,631.969626234,652.030373766,0.451310494422,0.00464416479924,0.0496535324338,0.999999826316,0.00023644352617,-0.000539800657666,8.84632661835e-06,1793239744178852352
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.545226301,714.545226301,680.545226301,663.545226301,630.454773699,881,787,805,653,631.454773699,652,0.45125510958,0.00464613160138,0.0496340771787,0.99999980639,0.000239899002114,-0.000574104257845,8.52257237073e-06,1793239744195518720
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.120311786,746,714.879688214,680.879688214,663.879688214,630,881,787,805.120311786,652.879688214,631,652.120311786,0.451195788336,0.00464810607039,0.0496155867775,0.999999787497,0.000243032410324,-0.000604878461729,7.98058943561e-06,1793239744212185344
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.694358725,746,714.305641275,680.305641275,663.305641275,630,881,787,805.694358725,652.305641275,631,652.694358725,0.451126550415,0.00464942792548,0.0496019592499,0.999999777902,0.000243823901902,-0.000620241851685,6.71751494389e-06,1793239744228851968
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,714.275461881,680,663,630,880.724538119,787,806,652,631.275461881,652.724538119,0.451052877104,0.0046501829913,0.0495935322434,0.99999977204,0.0002446900512,-0.000629295689488,5.75054559966e-06,1793239744245518592
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,714.86460012,680,663,630,880.13539988,787,806,652,631.86460012,652.13539988,0.45097415309,0.00465029263779,0.0495910272204,0.999999770633,0.00024564121539,-0.00063116465818,5.12075977113e-06,1793239744262185216
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,714.55212555,680,663,630,880.44787445,787,805.55212555,652,631.55212555,652.44787445,0.450877487085,0.00465026055231,0.0495922807285,0.999999771844,0.000247340017473,-0.000628578645269,4.87217898566e-06,1793239744278852096
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,714.028987516,680,663,630,880.971012484,787,805,652.028987516,631.028987516,653,0.450774529812,0.00465022539349,0.0495948837792,0.999999774012,0.000249218471957,-0.000624374831357,4.72044435048e-06,1793239744295518976
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,714.60237413,680,663,630,880.39762587,787,805,652.60237413,631.60237413,653,0.450653971359,0.00465092682046,0.0496017680439,0.999999779709,0.000250280917245,-0.000614754884557,4.25114902964e-06,1793239744312185600
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.822899365,715,680,663.177100635,630.177100635,880.177100635,787,805,652.822899365,631.822899365,653,0.45052255581,0.00465236291287,0.0496078209552,0.999999784485,0.000252641062815,-0.000605961131382,3.65679270263e-06,1793239744328852224
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.245141688,715,680,663.754858312,630.754858312,880.754858312,787,805,652.245141688,631.245141688,653,0.450366578129,0.00465546104822,0.0496119930845,0.999999787308,0.000257937012294,-0.000599036488042,2.77950931867e-06,1793239744345518848
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.671305782,745.328694218,715,680.328694218,664,631,881,787,805,652.328694218,631,653,0.450189926174,0.00465777846809,0.0496128096557,0.99999978687,0.000262730955558,-0.000597684873176,2.07654749048e-06,1793239744362185216
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.100360206,745.899639794,715,680.899639794,664,631,881,787,805,652.899639794,631,653,0.449998037031,0.00465952049216,0.049611153143,0.999999784048,0.000267154915121,-0.000600440642647,1.5020625301e-06,1793239744378851840
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714.507598678,681,663.507598678,631,881,787,805,653,631,653,0.449766367197,0.00466061649687,0.0496077391,0.99999977942,0.000271797537546,-0.000606039657209,1.08675679001e-06,1793239744395518464
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714.086713635,681,663.086713635,631,880.913286365,787,805,653,631,653,0.449521640988,0.00466209076903,0.0496043797977,0.999999774805,0.000276535812975,-0.000611487697642,4.65094352894e-07,1793239744412185344
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,746,714.663495944,681,663.663495944,631,880.336504056,787,805,653,631,653,0.449251072996,0.00466648149136,0.0496034482037,0.99999977269,0.000281551127698,-0.000612655555272,-1.51466634874e-06,1793239744428852224
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.244888784,746,714.755111216,680.755111216,664,631,880.244888784,787,804.755111216,652.755111216,631,652.755111216,0.448971230084,0.00466966306669,0.0496041814761,0.999999772342,0.000286655445819,-0.000610848782419,-3.02706984326e-06,1793239744445518592
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.832738529,746,714.167261471,680.167261471,664,631,880.832738529,787,804.167261471,652.167261471,631,652.167261471,0.448678397885,0.00467115125995,0.0496072463547,0.999999774457,0.000291884410796,-0.00060487610973,-3.88495048518e-06,1793239744462185216
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,664,631,881,787,804.99017419,652.99017419,631,652.99017419,0.447999608076,0.00467881998653,0.0496098197821,0.999999775173,0.000308738934119,-0.000595223217744,-6.52827187635e-06,1793239744495518464
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745.434133328,714,680,664.565866672,631.565866672,881,787,805,652.434133328,631,652.434133328,0.447597871035,0.00468192239087,0.0496054724451,0.99999976932,0.000315741224419,-0.000601329353899,-8.38208272958e-06,1793239744512185344
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.265633661,745.734366339,714,680.734366339,664.265633661,632,881,787,804.265633661,652.734366339,631,652.734366339,0.446768109198,0.00468892888047,0.0495998398519,0.999999759786,0.00032583654715,-0.000611651985886,-1.18828848256e-05,1793239744545518592
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,665,633.208122763,880.791877237,787,805,652,631.791877237,653,0.443771105991,0.00469549824,0.0497130085914,0.999999833455,0.000355055123332,-0.000454597569163,-1.91780521757e-05,1793239744645518848
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745.316559677,714,680,666.683440323,634,880.316559677,788,804.683440323,653,632,652.316559677,0.439986858294,0.00463213715201,0.049837869285,0.999999926587,0.000295914557157,-0.000241143356986,-3.33364131014e-05,1793239744745518848
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.945465954,666,635,880,788,803.945465954,653,631.054534046,653,0.416095138485,0.00459689560069,0.0498194671129,0.999999947495,0.000135074789102,-0.000291968891017,-3.8983868241e-05,1793239745212185088
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714.288733755,679,666.288733755,635,880,788,803.711266245,653,631,653,0.403580190804,0.00462198320894,0.0498622587116,0.99999995299,0.000163597203804,-0.000255503082634,-4.44221688332e-05,1793239745578851840
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.294818129,666,635,880,788,804,653,631,653,0.403274784553,0.0046228468413,0.0498585953806,0.99999994968,0.000165666154599,-0.000266819232483,-4.47489786373e-05,1793239745595518720
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.874371479,666,635,880,788,804,653,631,653,0.402972499127,0.00462262784801,0.0498473930969,0.99999994288,0.000165562673506,-0.000291227217614,-4.48976439023e-05,1793239745612185344
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.585847241,746,714,679,666.414152759,635,879,788,804,653.585847241,631,653,0.401156812082,0.00458497797425,0.0498433780869,0.999999951833,0.000127851385577,-0.000281559100068,-2.66959869129e-05,1793239745828852224
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.009988568,746,714,679,666.990011432,635,879,788,804,653.009988568,631,653,0.401116189833,0.00458568562999,0.0498455328596,0.999999953214,0.000128447965689,-0.000276277132195,-2.72796538486e-05,1793239745845518848
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,635,879.621661022,788,803,653.621661022,631.378338978,653,0.40100412593,0.00458311695237,0.0498545259175,0.999999958916,0.00012291311593,-0.00025743467029,-2.8064922061e-05,1793239745978851840
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.956177068,714,679.956177068,666.956177068,635,880,788,803.956177068,653.956177068,631,653,0.400999309628,0.00458479423919,0.049856777482,0.999999960163,0.000120920365446,-0.000253377022507,-2.91870527136e-05,1793239746045518848
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.468097883,666.468097883,635,880,788,804,653.468097883,631,653,0.401001131887,0.00458596738862,0.0498581475787,0.999999960442,0.00012319781615,-0.000251187138362,-2.90479219237e-05,1793239746062185472
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.109996074,635,879.890003926,788,804,653,631,653,0.401002325798,0.00458680852988,0.0498592140801,0.9999999606,0.000125234991071,-0.000249568125895,-2.8842458952e-05,1793239746078852096
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.830601352,746,714,679,667,635,879,788,803.830601352,653.169398648,631,653,0.400997114847,0.00458484417928,0.0498573531576,0.999999960184,0.000122564628195,-0.00025262172471,-2.81304638273e-05,1793239746195519232
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.238453489,746,714,679,667,635,879,788,803.238453489,653.761546511,631,653,0.400998733629,0.00458591739842,0.0498597850993,0.999999960696,0.000125027879426,-0.000249298899138,-2.87368108707e-05,1793239746212185600
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.653781087,746,714,679,667,635,879,788,803.346218913,653.653781087,631.346218913,653,0.400999108578,0.00458557906594,0.0498604585609,0.999999960945,0.000125047838817,-0.000248288649656,-2.87427543281e-05,1793239746228852224
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.07414851,746,714,679,667,635,879,788,803.92585149,653.07414851,631.92585149,653,0.400998644959,0.00458428909438,0.0498599464913,0.999999961022,0.000123420581053,-0.0002488374915,-2.83439180243e-05,1793239746245518848
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.499852602,745.500147398,714,679.499852602,666.500147398,635,879.999705205,788,804,653,632,653,0.400999826287,0.00458302353163,0.049860429431,0.999999961704,0.000121091659409,-0.000247238479275,-2.83219142381e-05,1793239746262185472
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+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.179855022,635.820144978,879.179855022,788,804,653,631.179855022,653,0.40099858077,0.00458447850602,0.049859725232,0.999999961484,0.00012126367376,-0.000247985531344,-2.88069629877e-05,1793239746328851968
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745.722210531,714.277789469,679,666,635,879,788,804,653,631.277789469,653,0.400999876716,0.00458392332959,0.0498613692305,0.999999962083,0.000121338997803,-0.000245581142476,-2.82851869972e-05,1793239746412185600
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e942a3eacb29b0b161bd3611ad1d4482a449d58a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+2,0.033333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+3,0.050000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+4,0.066666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+5,0.083333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
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+376,6.266666667,pose2_to_pose3_retreat,0.576142051352,0.0100908559686,1.04003211614,0.546712501278,0.0187625899501,1.03970024805
+377,6.283333333,pose2_to_pose3_retreat,0.576053380211,0.0100907395254,1.04003232937,0.546623832388,0.0187624811883,1.03970046306
+378,6.300000000,pose2_to_pose3_retreat,0.575976120602,0.0100907511759,1.0400322331,0.54654657217,0.018762491039,1.03970037381
+379,6.316666667,pose2_to_pose3_retreat,0.575909880477,0.0100907145937,1.04003221598,0.546480333242,0.0187624584675,1.03970035526
+380,6.333333333,pose2_to_pose3_retreat,0.575854837207,0.0100907524167,1.04003230605,0.546425289535,0.0187624946273,1.03970044056
+381,6.350000000,pose2_to_pose3_retreat,0.575809673927,0.0100907275032,1.04003243895,0.546380126653,0.0187624708257,1.03970056721
+382,6.366666667,pose2_to_pose3_retreat,0.575773372812,0.0100906646061,1.04003250953,0.546343826498,0.0187624111224,1.03970063604
+383,6.383333333,pose2_to_pose3_retreat,0.575745296511,0.0100906991738,1.04003246914,0.546315749563,0.0187624437178,1.03970060045
+384,6.400000000,pose2_to_pose3_retreat,0.57572307106,0.0100907723441,1.04003239933,0.546293524579,0.0187625182886,1.03970052587
+385,6.416666667,pose2_to_pose3_retreat,0.575705838926,0.0100908860591,1.04003229178,0.546276289221,0.0187626211067,1.03970041952
+386,6.433333333,pose2_to_pose3_retreat,0.575692746013,0.0100907995529,1.04003226269,0.546263196337,0.0187625346854,1.0397003902
+387,6.450000000,pose2_to_pose3_retreat,0.575683404517,0.0100906752431,1.04003222442,0.546253856279,0.0187624153045,1.0397003532
+388,6.466666667,pose2_to_pose3_retreat,0.575676742956,0.0100906146815,1.04003212911,0.546247195983,0.0187623591927,1.03970026219
+389,6.483333333,pose2_to_pose3_retreat,0.575672569511,0.0100906925297,1.04003227799,0.546243022236,0.0187624360844,1.03970041257
+390,6.500000000,pose2_to_pose3_retreat,0.575670306322,0.0100907373919,1.04003235761,0.546240758824,0.0187624802336,1.03970049309
+391,6.516666667,pose2_to_pose3_retreat,0.575668896757,0.010090732717,1.04003224573,0.546239348847,0.0187624742704,1.0397003841
+392,6.533333333,pose2_to_pose3_retreat,0.575667937487,0.0100907295355,1.04003216959,0.546238389298,0.0187624702121,1.03970030993
+393,6.550000000,pose2_to_pose3_retreat,0.575667498112,0.0100907280783,1.04003213471,0.546237949795,0.0187624683533,1.03970027596
+394,6.566666667,pose2_to_pose3_retreat,0.575667441836,0.0100907278916,1.04003213025,0.546237893502,0.0187624681152,1.0397002716
+395,6.583333333,pose2_to_pose3_retreat,0.575667114869,0.0100907268072,1.0400321043,0.54623756644,0.018762466732,1.03970024632
+396,6.600000000,pose2_to_pose3_retreat,0.575666749216,0.0100907333825,1.04003210116,0.546237200701,0.0187624730006,1.03970024277
+397,6.616666667,pose2_to_pose3_retreat,0.575666526993,0.0100907442918,1.04003212223,0.546236978444,0.018762483748,1.03970026255
+398,6.633333333,pose2_to_pose3_retreat,0.575666243633,0.0100907582024,1.04003214909,0.546236695042,0.0187624974522,1.03970028777
+399,6.650000000,pose2_to_pose3_retreat,0.575666032685,0.0100907685583,1.04003216909,0.546236484063,0.0187625076543,1.03970030654
+400,6.666666667,pose2_to_pose3_retreat,0.575665864713,0.0100907768043,1.04003218501,0.546236316066,0.018762515778,1.03970032149
+401,6.683333333,pose2_to_pose3_retreat,0.575665746132,0.0100907826257,1.04003219626,0.546236197467,0.018762521513,1.03970033205
+402,6.700000000,pose2_to_pose3_retreat,0.575665597651,0.0100907899149,1.04003221033,0.546236048964,0.018762528694,1.03970034526
+403,6.716666667,pose2_to_pose3_retreat,0.575665573327,0.010090791109,1.04003221264,0.546236024636,0.0187625298704,1.03970034743
+404,6.733333333,pose2_to_pose3_retreat,0.575665313033,0.0100908038873,1.04003223732,0.546235764303,0.0187625424591,1.03970037059
+405,6.750000000,pose2_to_pose3_retreat,0.57566513315,0.0100908090098,1.04003224817,0.546235584498,0.0187625478246,1.03970038088
+406,6.766666667,pose2_to_pose3_retreat,0.57566472337,0.0100908065242,1.0400322492,0.546235175296,0.0187625473207,1.03970038246
+407,6.783333333,pose2_to_pose3_retreat,0.575664651617,0.0100908060889,1.04003224938,0.546235103644,0.0187625472324,1.03970038274
+408,6.800000000,pose2_to_pose3_retreat,0.575664585952,0.0100908056906,1.04003224955,0.546235038072,0.0187625471517,1.03970038299
+409,6.816666667,pose2_to_pose3_retreat,0.575664578963,0.0100908056482,1.04003224957,0.546235031092,0.0187625471431,1.03970038302
+410,6.833333333,pose2_to_pose3_retreat,0.575664558176,0.0100908055221,1.04003224962,0.546235010334,0.0187625471175,1.0397003831
+411,6.850000000,pose2_to_pose3_retreat,0.575664532247,0.0100908053648,1.04003224969,0.546234984442,0.0187625470856,1.0397003832
+412,6.866666667,pose2_to_pose3_retreat,0.575664475724,0.0100908097167,1.04003226146,0.546234927926,0.0187625514496,1.03970039465
+413,6.883333333,pose2_to_pose3_retreat,0.575664448777,0.0100908251351,1.04003230012,0.546234900776,0.0187625661313,1.03970043203
+414,6.900000000,pose2_to_pose3_retreat,0.575664407534,0.0100908487327,1.0400323593,0.546234859224,0.0187625886014,1.03970048924
+415,6.916666667,pose2_to_pose3_retreat,0.575664399854,0.0100908531273,1.04003237032,0.546234851485,0.018762592786,1.03970049989
+416,6.933333333,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb9159f8a40ad9f82c4dc14042f1b8bd16269156
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca73337194ed6c1f96f1f0a0832d54c132a80a180322e2a699b6f103f76aecd9
+size 26219633
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9acd54eae3ab18b2188fee637420b8ff4ca0fb66
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
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+36,0.600000000,BASELINE,766,746,715,680,664.8948991,635,879.1051009,788,804,653,632,653,0.401034932976,0.00447406497723,0.0698590927219,0.999999989393,4.13187676222e-06,-0.000144210597387,2.00254101994e-05,1793239748657732608
+37,0.616666667,BASELINE,766,746,715,680,665,635,879.482840667,788,804,653,632,653,0.401035037155,0.00447269139374,0.0698586411525,0.999999989376,2.19985137877e-06,-0.000144333528392,2.02654042604e-05,1793239748674399488
+38,0.633333333,BASELINE,766,745.927343568,715,680,665.072656432,635,879.927343568,788,803.927343568,653,632,653,0.401035115585,0.00447143193067,0.0698581456569,0.999999989345,1.01675795386e-07,-0.000144542019577,2.04322423121e-05,1793239748691066112
+39,0.650000000,BASELINE,766,745.348012143,715,680,665.651987857,635,879.348012143,788,803.348012143,653,632,653,0.401034547878,0.00447299347877,0.0698583452345,0.999999989325,1.21616683193e-06,-0.00014474766224,1.98997993222e-05,1793239748707732736
+40,0.666666667,BASELINE,766,745.229551486,715,680,665.770448514,635.229551486,879.229551486,788,803.229551486,653,631.770448514,653,0.4010340573,0.00447398252868,0.0698582355563,0.999999989242,2.48066856055e-06,-0.000145326429896,1.97748886498e-05,1793239748724399360
+41,0.683333333,BASELINE,766,745.80445549,715,680,665.19554451,635.80445549,879.80445549,788,803.80445549,653,631.19554451,653,0.40103368276,0.00447411027415,0.0698576606131,0.999999989061,3.97085628177e-06,-0.000146466551587,2.02630967254e-05,1793239748741066240
+42,0.700000000,BASELINE,766,746,715,680,665,635.620440953,880,788,803.620440953,653,631,652.620440953,0.40103366368,0.00447471725548,0.0698575467315,0.999999989043,5.55051490146e-06,-0.00014653044344,2.0313412127e-05,1793239748757732864
+43,0.716666667,BASELINE,766,746,715,680,665,635.045234553,880,788,803.045234553,653,631,652.045234553,0.401033827826,0.00447557126353,0.0698576705086,0.999999989108,7.17629210834e-06,-0.000146039582261,2.01380115323e-05,1793239748774399488
+44,0.733333333,BASELINE,766,746,715,680,664.457132264,635,879.457132264,788,803,653,631.542867736,652.542867736,0.401033435097,0.00447473662505,0.0698577467935,0.999999989066,5.3296808184e-06,-0.000146407084914,2.01274804769e-05,1793239748791066112
+45,0.750000000,BASELINE,766,746,715,680,664.260142412,635,879.130071206,787.869928794,803.130071206,653,631.869928794,653,0.401033491324,0.00447421795898,0.0698579556627,0.999999989079,4.17035827646e-06,-0.000146359162358,2.01015360063e-05,1793239748807732736
+46,0.766666667,BASELINE,766,746,715,680,665.420707345,635,879.710353672,787.289646328,803.710353672,653,631.289646328,653,0.401035266027,0.00447529183287,0.0698586374721,0.999999989323,6.4157697681e-06,-0.000144619756548,1.99735343865e-05,1793239748824399360
+47,0.783333333,BASELINE,766,745.711334009,715,680,665.711334009,635,880,787.288665991,804,652.711334009,631,653,0.401036433198,0.00447544023479,0.0698593478791,0.999999989515,6.51136785175e-06,-0.000143275129538,1.99799475202e-05,1793239748841066240
+48,0.800000000,BASELINE,766,745.134985059,715,680,665.134985059,635,880,787.865014941,804,652.134985059,631,653,0.401036994906,0.00447466631651,0.0698600867863,0.99999998966,4.46447383885e-06,-0.000142323936727,2.01203176518e-05,1793239748857732864
+49,0.816666667,BASELINE,766,745.43913856,715,680,665,635,879.56086144,788,803.56086144,652,631,653,0.401035775837,0.00447463606556,0.0698591965905,0.99999998938,3.21373007792e-06,-0.000144352196247,1.98221278158e-05,1793239748874399488
+50,0.833333333,BASELINE,766,746,715,679.987016106,665,635,879.012983894,788,803,652.012983894,631,653,0.401034040336,0.00447480022793,0.0698578413746,0.999999988973,2.20754923098e-06,-0.000147215488932,1.94108574848e-05,1793239748891065856
+51,0.850000000,BASELINE,766,746,715,679.395235351,665,635,879.604764649,788,803,652.604764649,631,653,0.401033561624,0.00447349210753,0.0698579669799,0.999999989043,1.24912380961e-06,-0.000146682331677,1.9937821516e-05,1793239748907732736
+52,0.866666667,BASELINE,766,745.807893539,715,679,665,635,879.807893539,788,803,653,631,653,0.401033578676,0.00447256949506,0.0698582826741,0.999999989155,4.82764479306e-07,-0.000145882986718,2.02103291918e-05,1793239748924399360
+53,0.883333333,BASELINE,766,745.229478082,715,679,665,635,879.229478082,788,803,653,631,653,0.401034592664,0.00447242210476,0.0698589806205,0.999999989353,1.02633021691e-07,-0.000144548362011,1.99711477518e-05,1793239748941065984
+54,0.900000000,BASELINE,766,745,715,679,664.654850777,635.345149223,879,787.654850777,803.345149223,653,631,653,0.401034654175,0.00447205287911,0.0698589958445,0.999999989318,6.41573690195e-07,-0.000144792194212,1.99535621332e-05,1793239748957732608
+55,0.916666667,BASELINE,766,745,715,679,664.082714766,635.917285234,879,787.082714766,803.917285234,653,631,653,0.401034089292,0.00447153776383,0.0698585620774,0.999999989128,1.7849405625e-06,-0.000146074095913,2.00817086313e-05,1793239748974399232
+56,0.933333333,BASELINE,766,745.506207346,715,679,664.506207346,635.493792654,879,787.506207346,804,653,631,653,0.401033180826,0.00447290514112,0.0698579758961,0.999999989016,2.43015940525e-06,-0.000146858885448,1.98549884745e-05,1793239748991066112
+57,0.950000000,BASELINE,766,746,714.904078114,679.095921886,664.904078114,635,879,787.904078114,804,653,631,653,0.401032472419,0.00447429557036,0.0698575122473,0.999999988954,2.93743498018e-06,-0.000147300213461,1.96526443763e-05,1793239749007732736
+58,0.966666667,BASELINE,766,746,714.324668988,679.675331012,664.324668988,635,879,787.324668988,804,653,631,653,0.401033065079,0.00447419857317,0.0698577960501,0.999999989076,3.17376912274e-06,-0.000146433817878,1.98754623454e-05,1793239749024399360
+59,0.983333333,BASELINE,765.748315234,745.748315234,714.251684766,680,664.251684766,635,879.251684766,787,803.748315234,652.748315234,631,653,0.401033787674,0.00447422424045,0.0698584466152,0.999999989233,3.17119754585e-06,-0.000145349764689,1.99520644099e-05,1793239749041065984
+60,1.000000000,BASELINE,765.175855504,745.175855504,714.824144496,680,664.824144496,635,879.824144496,787,803.175855504,652.175855504,631,653,0.401034675872,0.00447440624492,0.0698595646227,0.999999989433,2.86413807086e-06,-0.000143988304404,1.98423127486e-05,1793239749057732864
+61,1.016666667,BASELINE,765,745,715,680,665,635.398965297,879.601034703,787,803,652,631.398965297,653,0.401034555044,0.00447358995537,0.0698588348732,0.999999989283,1.83043392889e-06,-0.000145024545669,1.99778201561e-05,1793239749074399488
+62,1.033333333,BASELINE,765,745,715,680,665,635.974832969,879.025167031,787,803,652,631.974832969,653,0.40103398681,0.00447233101932,0.0698572858228,0.999999988973,4.74533442721e-07,-0.000147123934867,2.02220761558e-05,1793239749091066112
+63,1.050000000,BASELINE,765.564606718,745.564606718,715,680,665,636,879,787.564606718,803,652.564606718,632,653,0.401033357851,0.00447420398136,0.0698579393813,0.999999989064,4.77823949683e-06,-0.000146426328323,2.02278330897e-05,1793239749107732736
+64,1.066666667,BASELINE,766,745.848341051,715,680,665,636,879,787.848341051,803.151658949,653,631.848341051,653,0.401032944914,0.00447589590324,0.0698583351817,0.999999989107,8.01378622233e-06,-0.000146000805598,2.01226193857e-05,1793239749124399616
+65,1.083333333,BASELINE,766,745.270717726,715,680,665,636,879,787.270717726,803.729282274,653,631.270717726,653,0.401033146513,0.00447667733471,0.0698577242953,0.999999989017,7.52274083076e-06,-0.000146698500238,1.9736335708e-05,1793239749141066240
+66,1.100000000,BASELINE,766.301326195,745.301326195,714.698673805,679.698673805,664.698673805,635.698673805,879.60265239,787.301326195,804,652.698673805,631,652.698673805,0.401033489112,0.00447581462004,0.0698575395673,0.999999989028,4.82781206278e-06,-0.000146762012005,1.95233648198e-05,1793239749157733120
+67,1.116666667,BASELINE,766.868448563,745.868448563,714.131551437,679.131551437,664.131551437,635.131551437,880.736897126,787.868448563,804,652.131551437,631,652.131551437,0.401033956086,0.004473501624,0.0698577307483,0.999999989114,1.8886459546e-07,-0.000146266118734,1.94632710556e-05,1793239749174399744
+68,1.133333333,BASELINE,766.550604142,745.550604142,714.449395858,679.449395858,664,635,880.101208283,787.550604142,804,652,631,652.449395858,0.401034719074,0.00447305345878,0.0698588027435,0.999999989328,1.59974675362e-06,-0.000144733266319,1.98625686242e-05,1793239749191066112
+69,1.150000000,BASELINE,766,745,714.964869661,680,664,635,879,787,804,652.035130339,631.035130339,653,0.401035470458,0.00447323680585,0.0698600215706,0.999999989542,4.72108839682e-06,-0.000143106751005,2.03563716695e-05,1793239749207732736
+70,1.166666667,BASELINE,766,745,714.369377598,680,664,635,879,787,804,652.630622402,631.630622402,653,0.401034610703,0.00447450951837,0.0698593391705,0.999999989269,5.98072403199e-06,-0.000144981790726,2.01445012881e-05,1793239749224399360
+71,1.183333333,BASELINE,766,745,714.218867058,680,664,635,879,787.218867058,804,653,632,652.781132942,0.401033836013,0.00447502118146,0.0698586837761,0.999999989091,6.14887881567e-06,-0.000146226388899,1.99509397615e-05,1793239749241065984
+72,1.200000000,BASELINE,766,745,714.795272537,680,664,635,879,787.795272537,804,653,632,652.204727463,0.401033200288,0.00447428960416,0.0698580724979,0.999999989071,4.53400467272e-06,-0.000146441106139,1.97872873117e-05,1793239749257732608
+73,1.216666667,BASELINE,766,745,715,680,664,635,879.73978702,787.63010649,803.63010649,653,631.63010649,652.36989351,0.401033337444,0.00447373040874,0.0698579161678,0.999999989087,3.01890292189e-06,-0.000146367649399,1.98112650543e-05,1793239749274399488
+74,1.233333333,BASELINE,766,745,715,680,664,635,880.887063018,787.056468491,803.056468491,653,631.056468491,652.943531509,0.401033900318,0.00447326616462,0.0698580104318,0.999999989122,1.55875782829e-06,-0.000146135460854,1.99385931402e-05,1793239749291066112
+75,1.250000000,BASELINE,766,745.530781409,714.469218591,680,664,635,879.938437181,787,803.530781409,653,631,653,0.401035047523,0.00447314870416,0.0698594003772,0.999999989323,2.69972466519e-06,-0.000144692160776,2.02605295924e-05,1793239749307732480
+76,1.266666667,BASELINE,766,746,714.118000795,679.881999205,664.118000795,635,879.118000795,787.118000795,804,653,631,653,0.401035897857,0.00447298635365,0.0698604913349,0.999999989486,3.89309019207e-06,-0.000143507984672,2.04633771171e-05,1793239749324399616
+77,1.283333333,BASELINE,766,746,714.69926543,679.30073457,664.69926543,635,879.69926543,787.69926543,804,653,631,653,0.401035332211,0.00447249911404,0.069859853074,0.999999989441,4.17716734342e-06,-0.000143860272955,2.01152672975e-05,1793239749341066240
+78,1.300000000,BASELINE,766,745.722719148,715,679.277280852,665,635,880,787.722719148,803.722719148,653,631,653,0.401034740569,0.00447319269544,0.0698593629391,0.999999989321,5.86309931393e-06,-0.000144650796339,1.99855729749e-05,1793239749357732864
+79,1.316666667,BASELINE,766,745.148186995,715,679.851813005,665,635,880,787.148186995,803.148186995,653,631,653,0.401034121057,0.0044751521435,0.0698590315989,0.999999989112,9.05185112265e-06,-0.000145911117577,2.00900249936e-05,1793239749374399488
+80,1.333333333,BASELINE,766,745,715,680,665,635,879.574136568,787.425863432,803,653,631,652.574136568,0.401034969245,0.00447368048611,0.0698596608615,0.999999989356,5.84518704056e-06,-0.000144388868729,2.01499245578e-05,1793239749391066112
+81,1.350000000,BASELINE,766,745,715,680,665,635,879.00025353,787.99974647,803,653,631,652.00025353,0.401036327569,0.0044710162614,0.0698606240058,0.999999989728,4.15634681232e-07,-0.000141899467375,2.01943387975e-05,1793239749407732736
+82,1.366666667,BASELINE,766,745.592057063,715,680,665,635,879,787.407942937,803.592057063,652.407942937,631,652.592057063,0.401035298484,0.00447363328243,0.0698594219601,0.999999989491,4.21365342116e-06,-0.000143555601072,1.98012654105e-05,1793239749424399360
+83,1.383333333,BASELINE,766,746,715,679.819575592,665,635,879.180424408,787.180424408,803.819575592,652.180424408,631,653,0.401034566423,0.00447530773422,0.0698587858249,0.999999989344,6.55182599207e-06,-0.000144522488967,1.95770585262e-05,1793239749441066240
+84,1.400000000,BASELINE,766,746,715,679.239950837,665,635,879.760049163,787.760049163,803.239950837,652.760049163,631,653,0.401034493881,0.00447489152832,0.0698594039192,0.999999989427,5.65097422678e-06,-0.000143960323597,1.97269071406e-05,1793239749457732864
+85,1.416666667,BASELINE,765.664704731,746,715,679.335295269,665,635,879.664704731,788,803.335295269,653,631.335295269,653,0.401034117506,0.00447422619372,0.069859290122,0.999999989385,4.8044315461e-06,-0.000144278612545,1.97644440314e-05,1793239749474400000
+86,1.433333333,BASELINE,765.092551804,746,715,679.907448196,665,635,879.092551804,788,803.907448196,653,631.907448196,653,0.401033526498,0.00447338487085,0.0698586593056,0.999999989253,3.99625367973e-06,-0.000145218867798,1.972264221e-05,1793239749491067648
+87,1.450000000,BASELINE,765.494494836,745.505505164,715,680,665,635,879,788,804,653,631.505505164,653,0.401034470776,0.00447355399766,0.069858885412,0.999999989329,3.85622909738e-06,-0.000144730222054,1.94884922086e-05,1793239749507734016
+88,1.466666667,BASELINE,766,745,715,680,665,635,879.082955927,788,804,653,631,653,0.401035413729,0.00447406352765,0.0698592205019,0.999999989403,3.98496028483e-06,-0.000144249032126,1.92645220226e-05,1793239749524399872
+89,1.483333333,BASELINE,766,745,715,680,665,635,879.66267599,788,804,653,631,653,0.401034574572,0.00447544381498,0.0698592179571,0.999999989221,4.95096102333e-06,-0.000145463727699,1.93237890662e-05,1793239749541066752
+90,1.500000000,BASELINE,766,745.241319039,715,680,665,635,880,788,804,653,631,653,0.401034935498,0.00447593799119,0.0698598198495,0.999999989298,5.00935889325e-06,-0.00014490955153,1.94816260066e-05,1793239749557733632
+91,1.516666667,BASELINE,766,745.818463242,715,680,665,635,880,788,804,653,631,653,0.401036966488,0.00447519903449,0.0698612628905,0.99999998973,3.80471550338e-06,-0.000141893772362,1.97766350942e-05,1793239749574400512
+92,1.533333333,BASELINE,766,746,715,680,665,635.393778602,880,787.606221398,803.606221398,653,631,653,0.401036624543,0.00447567606077,0.0698608980593,0.999999989723,5.5303031429e-06,-0.000141887489272,1.97639528951e-05,1793239749591066880
+93,1.550000000,BASELINE,766,746,715,680,665,635.968254791,880,787.031745209,803.031745209,653,631,653,0.401035193705,0.00447671107867,0.0698597036297,0.999999989509,8.60051852706e-06,-0.000143262207004,1.96100769836e-05,1793239749607733248
+94,1.566666667,BASELINE,766,746,715,680,665,635.442106305,880,787.557893695,803,653,631,653,0.401033158722,0.00447464520211,0.069858689839,0.999999989131,5.13120042779e-06,-0.000146005085006,1.98306143561e-05,1793239749624399872
+95,1.583333333,BASELINE,766,745.854597834,715,679.854597834,664.854597834,635,880,788,803.145402166,652.854597834,631,653,0.401031736705,0.00447315466636,0.0698580018648,0.999999988872,2.58468967209e-06,-0.000147811495341,2.00179730802e-05,1793239749641066240
+96,1.600000000,BASELINE,766,745.276077116,715,679.276077116,664.276077116,635,880,788,803.723922884,652.276077116,631,653,0.40103224583,0.00447391821083,0.0698582529474,0.999999989047,3.92640220927e-06,-0.000146590013229,2.00412655321e-05,1793239749657733120
+97,1.616666667,BASELINE,766,745,715,679.300809107,664.300809107,635.300809107,880,788,804,652.300809107,631,653,0.401033544876,0.00447425040983,0.069859025722,0.99999998928,4.69105063647e-06,-0.000144989484419,1.98863764042e-05,1793239749674399744
+98,1.633333333,BASELINE,766,745,715,679.876203292,664.876203292,635.876203292,880,788,804,652.876203292,631,653,0.401035564981,0.00447418886729,0.0698602747083,0.999999989566,4.9289423447e-06,-0.000143042953633,1.95688392633e-05,1793239749691066368
+99,1.650000000,BASELINE,766,745.459264125,715,680,665,636,880,788,804,653,631.459264125,653,0.401034573201,0.00447333531393,0.0698598855987,0.999999989452,3.52128723222e-06,-0.000143884586262,1.95113600152e-05,1793239749707732992
+100,1.666666667,BASELINE,766,746,715,679.955969876,665,635.955969876,880,788,803.955969876,653,631.955969876,652.955969876,0.401033055283,0.00447239464316,0.06985918838,0.999999989263,1.79020752594e-06,-0.000145223710458,1.95199519708e-05,1793239749724399616
+101,1.683333333,BASELINE,766,746,715,679.376029735,665,635.376029735,880,788,803.376029735,653,631.376029735,652.376029735,0.401035182862,0.00447303622312,0.0698602066434,0.99999998954,1.61305798353e-06,-0.000143315135972,1.94650256319e-05,1793239749741066240
+102,1.700000000,BASELINE,766,745.796333382,715,679.203666618,664.796333382,635,879.796333382,788,803.203666618,653,631,652.203666618,0.401035929688,0.00447382615855,0.0698604686874,0.999999989577,1.95932075405e-06,-0.000143053392965,1.94236211552e-05,1793239749757732864
+103,1.716666667,BASELINE,766,745.217086663,715,679.782913337,664.217086663,635,879.217086663,788,803.782913337,653,631,652.782913337,0.401034130279,0.00447488967512,0.0698593361926,0.999999989173,3.27080431315e-06,-0.000145828559899,1.94071522502e-05,1793239749774399488
+104,1.733333333,BASELINE,766,745,715,680,664.358913743,635,879.358913743,788,804,653,631,653,0.401034193562,0.00447460207654,0.0698592403348,0.999999989112,3.85550561622e-06,-0.000146203775128,1.96615449293e-05,1793239749791066112
+105,1.750000000,BASELINE,766,745,715,680,664.932968294,635,879.932968294,788,804,653,631,653,0.401035373384,0.00447350458984,0.0698597658599,0.999999989258,4.00455774314e-06,-0.000145140406675,2.007829801e-05,1793239749807732736
+106,1.766666667,BASELINE,766,745.519900301,715,680,665,635,880,788,803.480099699,652.480099699,631,653,0.401035371164,0.00447413263239,0.069859510751,0.99999998936,4.32966012451e-06,-0.000144471416265,1.97106905549e-05,1793239749824399360
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,880,788,804,653,632,653,0.401033698699,0.00447396711071,0.0698589396864,0.999999989338,3.22345004732e-06,-0.000144635503313,1.98557118598e-05,1793239749866726400
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.424546856,715,680,665,635,880,787.424546856,803.424546856,653,631.424546856,653,0.401033890245,0.00447530152212,0.0698593643357,0.999999989377,6.00077247471e-06,-0.000144306094668,1.96462719897e-05,1793239749883393024
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.154028591,715,680,665,635,880,787.154028591,803.154028591,653,631,653,0.401033990764,0.00447599499655,0.069859632025,0.999999989375,7.32410561523e-06,-0.000144275637341,1.94999130864e-05,1793239749900059648
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.741388192,715,680,665,635,880,787.741388192,803.741388192,653,631,653,0.401033835198,0.00447488531341,0.0698594581364,0.999999989274,4.55690892345e-06,-0.000145086224289,1.95310207908e-05,1793239749916726272
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,880,788,803.676390362,653,631,653,0.401033503199,0.00447408844606,0.0698592193374,0.999999989204,3.61210642056e-06,-0.000145601967199,1.94663325278e-05,1793239749933392896
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,880,788,803.098210917,653,631,653,0.401033032408,0.00447353765753,0.0698589294761,0.999999989164,4.10090333621e-06,-0.000145885768917,1.9326285689e-05,1793239749950059520
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.519114162,715,680,664.519114162,635,879.519114162,787.519114162,803.480885838,653,631.480885838,653,0.401032825765,0.00447437086757,0.0698587413112,0.999999989001,4.65299943982e-06,-0.000146957062326,1.94864206113e-05,1793239749966725888
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879.05938391,787,804,652.94061609,632,653,0.401032532059,0.00447526623921,0.069858555128,0.999999988761,5.10966345399e-06,-0.000148536834249,1.9702109516e-05,1793239749983392512
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879.631097558,787,804,652.368902442,632,653,0.401031020912,0.00447425468012,0.0698582065135,0.99999998807,4.63125065805e-06,-0.000153113273522,1.98671636238e-05,1793239750000059392
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.21047454,635,879.78952546,787.21047454,804,652.21047454,631.78952546,653,0.401034577605,0.00447390694973,0.0698603775967,0.999999987749,4.45709823329e-06,-0.000155168922783,2.01239875883e-05,1793239750016726016
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.803790642,635,879.196209358,787.803790642,804,652.803790642,631.196209358,653,0.401047352421,0.00447476668718,0.0698671318707,0.999999988128,4.83637866961e-06,-0.000152639393754,2.0547735836e-05,1793239750033392640
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.387520877,715,680,665,635,879.387520877,787.612479123,803.612479123,653,631,653,0.40107500783,0.00447392018548,0.069878612529,0.999999989529,4.07142951094e-06,-0.000143106169568,2.11110172437e-05,1793239750050059264
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.966514813,715,680,665,635,879.966514813,787.033485187,803.033485187,653,631,653,0.401110015704,0.00447223063551,0.0698924284821,0.999999991295,2.74111951325e-06,-0.000130112437538,2.17432416584e-05,1793239750066726144
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,715,679.456719742,665,635,880,787.543280258,803,653,631,653,0.401168052802,0.00447260600498,0.0699089840129,0.999999993825,1.44728405372e-06,-0.000109020522146,2.14973553828e-05,1793239750083392768
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,715,679.120911846,664.879088154,635,880,787.879088154,803.120911846,652.879088154,631.120911846,653,0.401230146321,0.00447301090705,0.069923830239,0.999999995725,3.46147313327e-07,-9.00221052946e-05,2.11174465039e-05,1793239750100059392
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,715,679.702363668,664.297636332,635,880,787.297636332,803.702363668,652.297636332,631.702363668,653,0.401302306025,0.00447304551201,0.0699315253953,0.99999999652,-2.95493286818e-08,-8.08909660159e-05,2.04323647916e-05,1793239750116726016
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.283960591,635.283960591,879.716039409,787,803.716039409,652.283960591,632,653,0.401383636035,0.00447342759261,0.0699366786156,0.999999997046,-9.7936751483e-07,-7.44413675044e-05,1.9136023075e-05,1793239750133392640
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.865709648,635.865709648,879.134290352,787,803.134290352,652.865709648,632,653,0.401474582907,0.00447417406966,0.0699391661163,0.999999997342,-2.53126490437e-06,-7.08038918312e-05,1.71986552034e-05,1793239750150059264
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.554727383,715,680,665,636,879.445272617,787,803,653,631.554727383,653,0.401576536327,0.00447533601285,0.0699365665618,0.999999996859,-4.04903458978e-06,-7.77951673196e-05,1.46385814871e-05,1793239750166726144
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635.975911162,879.975911162,787.024088838,803,652.975911162,631,653,0.401683155482,0.00447657936077,0.0699326530848,0.999999996079,-5.58757659225e-06,-8.75704600471e-05,1.18928384894e-05,1793239750183392512
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635.399174773,879.399174773,787.600825227,803,652.399174773,631,653,0.401821032631,0.00447682968318,0.0699336215295,0.999999996052,-7.83765909416e-06,-8.80344715786e-05,9.17498910533e-06,1793239750200059136
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.180607649,715,680,665,635.180607649,879.180607649,788,803.180607649,652,631.180607649,653,0.401970074756,0.00447705461782,0.0699351457971,0.999999996086,-1.14718371323e-05,-8.75107924749e-05,6.14870850795e-06,1793239750216726016
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.767237756,715,680,665,635.767237756,879.767237756,788,803.767237756,652,631.767237756,653,0.402144216749,0.0044772224784,0.0699379196051,0.999999996238,-1.82175877862e-05,-8.47666947354e-05,2.42904679745e-06,1793239750233392640
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.650166453,879.650166453,788,804,652.349833547,632,653,0.402336083871,0.00447828453729,0.0699406665691,0.999999996383,-2.2129485603e-05,-8.21031751871e-05,-1.62765671031e-06,1793239750250059264
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.070224239,879.070224239,788,804,652.929775761,632,653,0.40253961,0.00447993476958,0.0699433958763,0.999999996531,-2.41773716106e-05,-7.94926569734e-05,-5.90605527453e-06,1793239750266725888
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.494013771,635,880.011972457,788,804,653,631.494013771,653,0.402773198569,0.00447880844097,0.069943239735,0.999999996207,-3.08278947839e-05,-8.07611286147e-05,-1.0611691698e-05,1793239750283392512
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680.081686012,664.081686012,635,880.836627976,787.918313988,803.918313988,653,631.081686012,653,0.403016622985,0.00447779762667,0.0699433734663,0.999999995885,-3.74244705026e-05,-8.12039934507e-05,-1.53542364649e-05,1793239750300059136
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680.657406853,664.657406853,635,879.685186293,787.342593147,803.342593147,653,631.657406853,653,0.4032944854,0.00447979896406,0.0699476645942,0.999999996311,-3.98597029236e-05,-7.34215049471e-05,-1.99640148347e-05,1793239750316726016
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680.76613017,665,635.23386983,879,787.23386983,803.23386983,653,631.76613017,653,0.403592731462,0.00448107388624,0.0699551361635,0.999999997045,-4.07712090942e-05,-6.06975131237e-05,-2.37465024149e-05,1793239750333392640
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680.188576623,665,635.811423377,879,787.811423377,803.811423377,653,631.188576623,653,0.403920932322,0.00448128130385,0.0699672815546,0.999999998047,-3.94435211883e-05,-4.07117290287e-05,-2.63132434421e-05,1793239750350059264
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.602977958,745.602977958,715,679.602977958,665,635.602977958,879.397022042,787.602977958,804,652.602977958,631,653,0.404267733868,0.00448454338362,0.0699707748847,0.999999998567,-2.64506029951e-05,-3.79843058325e-05,-2.69167883769e-05,1793239750366726144
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.013479023,745.013479023,715,679.013479023,665,635.013479023,879.986520977,787.013479023,804,652.013479023,631,653,0.404623553046,0.00448928636828,0.069970073682,0.999999998665,-7.80236337743e-06,-4.36237629329e-05,-2.65685727678e-05,1793239750383392768
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.562658474,745.562658474,714.437341526,679.562658474,665,635,879.437341526,787,803.437341526,652,631,653,0.405025944237,0.00449333290892,0.0699762133698,0.999999999174,-2.27997957836e-07,-2.94942275833e-05,-2.79531652915e-05,1793239750400059392
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.858875991,714.141124009,680,664.858875991,635,879,787,803,652,631,652.858875991,0.405432319106,0.00449707110859,0.0699808177629,0.999999999371,4.45670634544e-06,-1.96339219495e-05,-2.92116886795e-05,1793239750416726016
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.272071025,714.727928975,680,664.272071025,635,879,787,803,652,631,652.272071025,0.405847833002,0.00449988700909,0.0699800680294,0.999999999246,8.33985960708e-07,-2.47171168043e-05,-2.99440209416e-05,1793239750433392640
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.689316832,745,715,680,664,635,879.310683168,787,803.310683168,652,631,652.310683168,0.406289999449,0.00450397552495,0.0699726717017,0.999999998757,5.02652034512e-06,-3.88247343802e-05,-3.08651961891e-05,1793239750450059520
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.110064255,745,715,680,664,635,879.889935745,787,803.889935745,652,631,652.889935745,0.406755205685,0.00450916415081,0.0699595297396,0.999999997518,1.59749348311e-05,-6.07334957041e-05,-3.19496164257e-05,1793239750466726144
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.468972944,745.468972944,715,680,664.468972944,635.468972944,880,787,803.531027056,652,631,652.531027056,0.407259970006,0.00451358091935,0.0699487900835,0.999999996679,2.28798488187e-05,-7.0485194792e-05,-3.39313303552e-05,1793239750483392768
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.952408906,880,787.047591094,803.047591094,652,631,652.047591094,0.407779296642,0.00451800350462,0.069940517839,0.999999996128,2.880999733e-05,-7.49465976457e-05,-3.60089774832e-05,1793239750500059392
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.377870792,880,787.622129208,803.622129208,652,631,652.622129208,0.408357114692,0.00452449532735,0.0699533259539,0.999999997355,3.44497946131e-05,-5.24086619247e-05,-3.68181968407e-05,1793239750516726016
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,879.798612448,788,804,652,631.201387552,653,0.40894133381,0.00453045674101,0.0699639740164,0.999999998028,3.97087150926e-05,-3.04752371293e-05,-3.79221633754e-05,1793239750533392640
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,879.210284831,788,804,652,631.789715169,653,0.409537851716,0.00453539904206,0.0699704718175,0.999999998191,4.42358298654e-05,-9.70330306954e-06,-3.959244836e-05,1793239750550059520
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.372596776,879.372596776,788,804,652.372596776,632,653,0.410152175641,0.00454041419557,0.0699659931851,0.999999997784,5.06328825006e-05,-1.63337789048e-05,-4.00296175446e-05,1793239750566726144
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.952449042,879.952449042,788,804,652.952449042,632,653,0.410776404074,0.0045454698728,0.0699554089545,0.999999996793,5.80700805425e-05,-3.82067380186e-05,-3.97808708551e-05,1793239750583392768
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.472446441,746,715,680,665,635.472446441,880,788,804,652.472446441,631.472446441,653,0.411437654042,0.00455244515129,0.0699583279741,0.99999999637,6.57087493641e-05,-3.50373696449e-05,-4.1409537317e-05,1793239750600059392
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.102547873,746,715,680,665,635,880,787.897452127,804,652,631,653,0.412115974299,0.00455927126075,0.0699677400993,0.999999996131,7.4018788811e-05,-2.06084028335e-05,-4.28358693875e-05,1793239750616726272
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.678992706,746,715,680,665,635,880,787.321007294,804,652,631,653,0.412857896862,0.00456461557749,0.0700015839461,0.999999994822,8.53482107757e-05,3.55157855571e-05,-4.2552137162e-05,1793239750633392896
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.738440779,715,680,665,635,880,787.261559221,804,652,631,653,0.413593497417,0.00457158445667,0.070026549231,0.999999991652,9.57514882629e-05,7.55358831619e-05,-4.26817544219e-05,1793239750650059520
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.148181091,715,680,665,635,880,787.851818909,804,652,631,653,0.414321153231,0.00458059491795,0.0700403568659,0.999999989007,0.000104990885324,9.53180394529e-05,-4.33308264752e-05,1793239750666726144
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635,880,788,804,652,631,653,0.41503305355,0.00458768645881,0.0700070996931,0.999999992101,0.000112736018291,3.39193281312e-05,-4.40125344889e-05,1793239750683392768
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.010983485,715,680.010983485,665,635,880,787.989016515,804,652,631,653,0.415740869149,0.0045940803698,0.0699585198321,0.999999990372,0.000119906978388,-5.36190177725e-05,-4.47496686832e-05,1793239750700059392
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.585864104,715,680.585864104,665,635,880,787.414135896,804,652,631,653,0.416510110299,0.00459768016808,0.0699331994222,0.999999987545,0.000123314339282,-8.61452456466e-05,-4.77707968244e-05,1793239750716726016
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,680.835690376,665,635,880,787,804,652,631,653,0.417291679277,0.00460059074523,0.069924095758,0.999999986347,0.000125260271752,-9.56949745938e-05,-4.95738939214e-05,1793239750733392640
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,680.248060433,665,635,880,787,804,652,631,653,0.418105009103,0.00460172564219,0.0699567722285,0.999999990157,0.000123441042151,-4.60490282206e-05,-4.82389075593e-05,1793239750750059264
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.663088164,746,715,680,665,635.336911836,880,787,804,652,631,652.663088164,0.418940123065,0.00460150359837,0.069982740975,0.999999991511,0.000120629205307,-9.31987190763e-06,-4.83807017162e-05,1793239750766726144
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.080057388,746,715,680,665,635.919942612,880,787,804,652,631,652.080057388,0.419791150616,0.00460029028977,0.0700038096313,0.999999991753,0.000117092254769,1.7973381392e-05,-4.96013053606e-05,1793239750783392768
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.49592124,745.50407876,715,680,665,635.50407876,880.49592124,787.49592124,804,652,631,652.49592124,0.420666605493,0.00459148011619,0.0700210202953,0.999999991956,0.000105995428066,4.74976736255e-05,-5.09598513813e-05,1793239750800059648
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.070866672,715,680,664.929133328,635,880.929133328,787.929133328,804,652,631,653,0.421538912091,0.00458245991027,0.070033556766,0.999999991653,9.5378767749e-05,6.98557920959e-05,-5.21342465034e-05,1793239750816726272
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.64644768,715,680,664.35355232,635,880.35355232,787.35355232,804,652,631,653,0.42236110529,0.00458055566303,0.0700171769212,0.999999993229,9.6751751087e-05,3.86471077132e-05,-5.18407420439e-05,1793239750833392640
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.227273577,635,880,787,804,652,631,652.772726423,0.4231522182,0.00458279790069,0.0699790509103,0.999999993181,0.000101018072997,-2.59641925518e-05,-5.25332742708e-05,1793239750850059520
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.816451381,635,880,787,804,652,631,652.183548619,0.423893839835,0.00459164288717,0.0699062968967,0.999999982126,0.000109891667467,-0.000143764909313,-5.47959438554e-05,1793239750866726144
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680.398815861,665.398815861,635,880,787,804.398815861,652,631,652.398815861,0.424736911196,0.00459616074082,0.0698859081182,0.999999978805,0.000108813577243,-0.000164905261752,-5.79212720199e-05,1793239750883392768
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680.978097254,665.978097254,635,880,787,804.978097254,652,631,652.978097254,0.425625888858,0.00459872055161,0.0698892147908,0.999999982659,0.000103232315761,-0.000142306464479,-6.14369561914e-05,1793239750900059392
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665.447452638,635,880.552547362,787,805,652.552547362,631,653,0.426548966973,0.00459978923493,0.069947140746,0.999999990695,0.0001073688373,-6.12652775006e-05,-5.76892162075e-05,1793239750916726016
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,681,665,635,880.872905088,787.127094912,804.872905088,652.872905088,631,653,0.427462391637,0.00460122493238,0.0699993095385,0.999999992172,0.00011200001147,1.02508073726e-05,-5.48296954968e-05,1793239750933392640
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665,635,880.297343832,787.702656168,804.297343832,652.297343832,631,653,0.428337024788,0.00460416243276,0.0700235901507,0.999999990776,0.000117029152065,4.00530702995e-05,-5.61114848628e-05,1793239750950059264
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.713192461,715,681.286807539,665,635,880.286807539,787.713192461,804,652,631,653,0.429199964541,0.00460536123103,0.0700403487981,0.99999998903,0.000119475867302,6.6288951413e-05,-5.71937344954e-05,1793239750966725888
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.119860475,715,681.880139525,665,635,880.880139525,787.119860475,804,652,631,653,0.430050406966,0.00460470179795,0.0700490683731,0.999999987279,0.000119162625154,8.87132738698e-05,-5.80627267484e-05,1793239750983392768
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.459292269,715,681.081415462,665,635,881,787.459292269,804,652,631,653,0.430830143651,0.00460465626032,0.0700112411518,0.999999990706,0.000121044946784,2.42178640192e-05,-5.78828776802e-05,1793239751000059392
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680.069720745,665,635,880.965139628,788,804,652,631,652.965139628,0.431592717007,0.00460471150547,0.0699616262794,0.999999988862,0.000123039995445,-6.186822623e-05,-5.75215006445e-05,1793239751016726272
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,681.221006652,665,635,880.389496674,788,804,652,631,652.389496674,0.432366706945,0.0046039193418,0.069911946076,0.999999981293,0.000118161551257,-0.000141543336024,-5.8463032415e-05,1793239751033392896
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681.809978564,665.190021436,635,880.190021436,787.809978564,804.190021436,652,631,652.190021436,0.433167883314,0.00460133031015,0.0698970979446,0.999999979115,0.000111660296976,-0.000160579792186,-5.92907281819e-05,1793239751050059520
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681.22235188,665.77764812,635,880.77764812,787.22235188,804.77764812,652,631,652.77764812,0.434025945345,0.00459498147028,0.0699551332368,0.999999991639,0.000101763436849,-5.27345421107e-05,-5.98802312326e-05,1793239751066726144
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.63961375,715,681,666,635.36038625,880.63961375,787.36038625,804.63961375,652,631,653,0.434847499746,0.00459160045869,0.0699998367286,0.999999993259,9.75902824003e-05,2.12469874067e-05,-5.92237884688e-05,1793239751083392512
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.05985144,715,681,666,635.94014856,880.05985144,787.94014856,804.05985144,652,631,653,0.435646830995,0.00459002603825,0.0700364248189,0.99999999085,9.69012906028e-05,7.46148225917e-05,-5.78089076663e-05,1793239751100059392
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.483059102,745.516940898,715,681,666,635.483059102,880.516940898,788,804,652,631,653,0.43639906969,0.00458942419118,0.0700323093992,0.999999990902,9.85860982195e-05,7.09989594293e-05,-5.86217220886e-05,1793239751116726016
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.093193114,746,715,681,665.906806886,635,880.906806886,787.906806886,804.093193114,652,631,653,0.437139117559,0.00458969504255,0.0700198121655,0.999999991522,0.000100961697025,5.65961931047e-05,-5.96620570995e-05,1793239751133392896
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.668420027,746,715,681,665.331579973,635,880.331579973,787.331579973,804.668420027,652,631,653,0.437844150224,0.00459390074464,0.0699881972551,0.999999992395,0.000105496897308,2.032952813e-05,-6.05527607294e-05,1793239751150059264
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,714.749405635,681,665.250594365,635,880.250594365,787,805,652,631.250594365,653,0.438505976732,0.00459805516678,0.0699488126969,0.999999991746,0.0001074761745,-3.47608924773e-05,-6.12335647789e-05,1793239751166726144
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,714.15777657,681,665.84222343,635,880.84222343,787,805,652,631.84222343,653,0.439109003779,0.00460213980151,0.0698988544019,0.999999985819,0.000105977086805,-0.000115468621209,-6.16287155274e-05,1793239751183393024
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,714.424180883,681,665.151638233,635,880.575819117,787,804.575819117,652,631.575819117,653,0.439692177609,0.00460731843159,0.0698497374289,0.999999972302,0.000114355830167,-0.000196355684774,-6.13483527586e-05,1793239751200059392
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.997404736,715,681,663.997404736,635,880,787,804.002595264,652,631.002595264,653,0.440268395428,0.00461290135769,0.0698012274841,0.999999951863,0.000126308921875,-0.000276803108029,-6.08256781188e-05,1793239751216726272
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.424680894,715,681,663.424680894,635,880,787,804.575319106,652,631.575319106,653,0.440902574447,0.00461990095014,0.0698188575186,0.999999958772,0.000134337526301,-0.00024634187714,-6.10385900958e-05,1793239751233392896
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663.151989253,634.848010747,880.151989253,787,805,652,631.848010747,653,0.441529599022,0.00462669280942,0.0698406512705,0.99999996552,0.000141863653868,-0.000212325106589,-6.12596079624e-05,1793239751250059520
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663.739980037,634.260019963,880.739980037,787,805,652,631.260019963,653,0.442136100264,0.00463288875992,0.0698743892073,0.999999973034,0.00014794836127,-0.000168108787468,-6.15038787828e-05,1793239751266726144
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.322528762,715,681,663.677471238,634,881,787,804.677471238,652,631,653,0.44267849121,0.00463870639029,0.0698748222877,0.999999970353,0.000156133652849,-0.000176730524373,-6.06767249418e-05,1793239751283392768
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.900762908,715,681,663.099237092,634,881,787,804.099237092,652,631,653,0.443170054565,0.00464422408273,0.0698488508026,0.999999958664,0.000165984316892,-0.000227243025237,-5.90001303376e-05,1793239751300059392
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.520686687,746,714.520686687,681,662.041373375,634,880.520686687,787,804,652,631,653,0.443621238087,0.00465122599245,0.0698107919575,0.999999940584,0.000181485154927,-0.000287237318546,-5.82189730904e-05,1793239751316726016
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,714.057276015,681,661,634,880,787.057276015,804.057276015,652,631,653,0.444062735215,0.0046585472377,0.0697717696081,0.999999918776,0.000197500642234,-0.000346570642269,-5.77068859671e-05,1793239751333392640
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,714.629367373,681,661,634,880,787.629367373,804.629367373,652,631,653,0.444492362142,0.00466597490602,0.0697465957153,0.999999903689,0.000207620371953,-0.000382306237616,-5.79458310472e-05,1793239751350059520
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.208893975,746,714.791106025,681.208893975,660.791106025,634,880,787.791106025,805,652,631,653,0.444916370641,0.00467254766718,0.0697270538039,0.999999891585,0.000214787809083,-0.000408950211358,-5.87924842877e-05,1793239751366726144
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.802099463,746,714.197900537,681.802099463,660.197900537,634,880,787.197900537,805,652,631,653,0.445330042619,0.00467754761689,0.0697178733016,0.999999886988,0.000216523781848,-0.000418867922284,-6.07571652845e-05,1793239751383392768
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.61383996,745.61383996,714,682,660,634,880.38616004,787,805,652,631.38616004,653,0.445718610246,0.00468436522724,0.0697151092094,0.999999885056,0.000222441777087,-0.000420227522844,-6.17707660783e-05,1793239751400059648
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.034357524,745.034357524,714,682,660,634,880.965642476,787,805,652,631.965642476,653,0.446094609978,0.00469209280922,0.0697155573488,0.999999884434,0.00023045340857,-0.000417302697582,-6.2308229998e-05,1793239751416726272
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.880360548,714,682,659.880360548,633,881,786.880360548,804.880360548,652,631,653,0.446715163657,0.00471946981154,0.0697021033388,0.999999862148,0.000259784061929,-0.00045153706824,-6.58001643338e-05,1793239751450059776
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.292950705,714,682,659.292950705,633,881,786.292950705,804.292950705,652,631,653,0.446987809016,0.00473474929337,0.0696892596115,0.999999843715,0.000279535700656,-0.000479389742472,-6.79394642619e-05,1793239751466726400
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.651573169,714,682,658,632.651573169,880.348426831,786,805,652,631,653,0.448607222104,0.00476667526258,0.0696643390245,0.999999814203,0.000312377951874,-0.000518569809606,-7.14165768743e-05,1793239751600059648
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.071660255,714,682,658,632.071660255,880.928339745,786,805,652,631,653,0.448728247752,0.00476909669483,0.0696581410185,0.999999807146,0.000317491347831,-0.000529048647504,-7.08164808597e-05,1793239751616726272
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658,632,881,786,805,652,631,653,0.448827635718,0.00477010133303,0.0696546839857,0.999999802668,0.000320326830237,-0.000535796805542,-7.05395476013e-05,1793239751633392896
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681.920258631,657.920258631,632,881,786.079741369,804.920258631,652,631,653,0.448921986369,0.0047711104176,0.0696522568689,0.999999799217,0.000322682557823,-0.000540821949371,-7.03814325329e-05,1793239751650059520
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681.348492288,657.348492288,632,881,786.651507712,804.348492288,652,631,653,0.449004079566,0.00477337950005,0.0696538000465,0.999999800025,0.000324059781329,-0.000538461214044,-7.06753159714e-05,1793239751666726144
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.232143874,714,681.232143874,657,632,881,787,804.232143874,652,631.232143874,653,0.449079083224,0.00477475160592,0.0696547948374,0.999999800665,0.000324962635053,-0.000536711528989,-7.07826719117e-05,1793239751683393024
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.826624259,714,681.826624259,657,632,881,787,804.826624259,652,631.826624259,653,0.449143021334,0.00477472368606,0.0696549336912,0.999999801052,0.000325125079364,-0.00053591558806,-7.05988906122e-05,1793239751700059648
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,881,786.590386242,805,652,631.590386242,653,0.449190229126,0.00477492238565,0.0696534481848,0.999999799355,0.000325897898544,-0.000538662760275,-7.0167215052e-05,1793239751716726016
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,881,786.012127746,805,652,631.012127746,653,0.449230548769,0.00477521438822,0.0696512939024,0.999999796783,0.000326922019113,-0.000542868690606,-6.96334773404e-05,1793239751733392640
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714,682,657.563473324,632,880.436526676,786,805,652,631,653,0.449261872488,0.00477396783493,0.0696535252871,0.99999979888,0.00032524947235,-0.000540106036072,-6.88310147886e-05,1793239751750059520
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,714,682,658,632,880.141624438,786,805,652,631,653,0.449289585005,0.00477290069388,0.0696545864482,0.999999799935,0.000323956547366,-0.000539006092749,-6.82178714424e-05,1793239751766726144
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,714,682,658,632,880.72796155,786,805,652,631,653,0.449306563167,0.00477250041727,0.0696516779956,0.999999797425,0.000324037064912,-0.000543595961959,-6.8217282941e-05,1793239751783392768
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.689948379,714,682,657.689948379,632,880.689948379,786,805,652,631,653,0.449320444819,0.00477236727141,0.069649451831,0.999999795508,0.000324156563485,-0.000547017305179,-6.83975944664e-05,1793239751800059392
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.111534233,714,682,657.111534233,632,880.111534233,786,805,652,631,653,0.449331646314,0.00477246533824,0.0696478162145,0.999999794114,0.000324309801766,-0.00054942724125,-6.87344824616e-05,1793239751816726272
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.467077869,714,682.467077869,657.467077869,632,880.467077869,786,805,652,631,653,0.449337632451,0.00477337526454,0.0696467931469,0.999999792858,0.000325630077085,-0.000550964142268,-6.84633578399e-05,1793239751833392640
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,682.909177318,657.954588659,632,881,786,805,652,631,653,0.449342357763,0.00477421386814,0.069646042306,0.999999791825,0.000327051485046,-0.000552047511895,-6.80556515753e-05,1793239751850059520
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,681.760104615,657.380052307,632,881,786,805,652,631,653,0.449346909298,0.00477196159218,0.0696467583509,0.999999793033,0.000326402783643,-0.000550276539152,-6.77489450124e-05,1793239751866725888
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,681.399789751,657,632,881,786,805,652,631,653,0.449349940016,0.00477102594835,0.069646772855,0.999999793341,0.00032640218241,-0.000549736799657,-6.76014192339e-05,1793239751883392512
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714,682.58083127,657,632,881,786,805,652,631,653,0.449349998818,0.00477266320997,0.0696454164383,0.999999791888,0.000327668070422,-0.000551603082811,-6.77649576488e-05,1793239751900059392
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,682.626082786,657,632,880.626082786,786,804.626082786,652,631,653,0.449351223824,0.00477266325786,0.0696448811747,0.999999791719,0.000326759122468,-0.000552462440359,-6.76422159455e-05,1793239751916726272
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,682.046443053,657,632,880.046443053,786,804.046443053,652,631,653,0.449353090454,0.00477176254019,0.0696447976948,0.999999792255,0.00032465361888,-0.000552767805506,-6.73619680701e-05,1793239751933392896
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.472226955,714,682,657,632,880,786,804.527773045,652,631.527773045,653,0.449352695472,0.00477178866453,0.0696441437516,0.999999791923,0.000324072398111,-0.000553709807285,-6.73535289803e-05,1793239751950059520
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.104281062,745,714,682.104281062,657,632,880.104281062,786,805,652,631.895718938,653,0.44935231587,0.00477204033734,0.0696434907796,0.999999791498,0.000323980531193,-0.000554528378201,-6.73673021186e-05,1793239751966726144
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.693647793,745,714,682.693647793,657,632,880.693647793,786,805,652,631.306352207,653,0.449352924172,0.00477296566076,0.069643073465,0.999999790996,0.000325547392012,-0.000554514832315,-6.73742691248e-05,1793239751983393024
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.721563764,745,714,682.443127528,657.278436236,632,881,786,805,652,631,653,0.449353014074,0.00477196556777,0.0696425712459,0.999999790946,0.000324541474512,-0.000555213412341,-6.72170535668e-05,1793239752000059648
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.141731066,745,714,681.283462133,657.858268934,632,881,786,805,652,631,653,0.449352542826,0.00476888128607,0.0696419771209,0.999999791375,0.000320750624129,-0.000556682841135,-6.688211673e-05,1793239752016726272
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681.434547611,657.565452389,632,881,786,805,652,631,653,0.449352260453,0.00476859161228,0.0696421348628,0.999999791408,0.00032012260156,-0.000556990655534,-6.68324940972e-05,1793239752033392896
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.009671116,714,682,657.009671116,632,881,786,805,652,631,653,0.449352052586,0.0047692032795,0.0696425274223,0.999999791309,0.0003205423814,-0.000556922849973,-6.68717443392e-05,1793239752050059520
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.584480855,714,682,657.584480855,632,881,786,805,652,631,653,0.449352627867,0.00476965438242,0.069642427949,0.999999790755,0.000322399105925,-0.000556865331844,-6.67105806847e-05,1793239752066726144
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714,682.163316576,657.836683424,632,881,786.163316576,805,652,631,653,0.449353551134,0.00476970919566,0.0696427350794,0.999999790808,0.000322984954713,-0.000556451922269,-6.65251652682e-05,1793239752083393024
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,682.752654283,657.247345717,632,881,786.752654283,805,652,631,653,0.449355382141,0.00476873026337,0.0696441028599,0.999999792448,0.000320255647454,-0.000555110148415,-6.62764876789e-05,1793239752100059648
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,682.662780881,657,632,881,786.662780881,805,652,631,653,0.449355855333,0.00476801962469,0.0696440995852,0.999999792816,0.000319722171542,-0.000554786564707,-6.60128150883e-05,1793239752116726016
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,682.08166805,657,632,881,786.08166805,805,652,631,653,0.449355346483,0.00476750302939,0.0696431046949,0.999999792267,0.000320776830679,-0.00055519938704,-6.57382973744e-05,1793239752133392640
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.506850277,714,682,657,632,880.506850277,786.493149723,804.506850277,652,631,653,0.449354271468,0.00476741566063,0.0696421032166,0.999999791038,0.000321923486638,-0.000556774350046,-6.55093417519e-05,1793239752150059264
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.068562336,714,682,657,632,880.068562336,786.931437664,804.068562336,652,631,653,0.449353370017,0.00476764045589,0.0696412641524,0.999999789915,0.000322916562535,-0.000558225374635,-6.54114076924e-05,1793239752166726144
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.6562729,714,682,657,632,880.6562729,786.3437271,804.6562729,652,631,653,0.44935448377,0.00476969748738,0.0696416630318,0.999999790468,0.000322632837422,-0.000557299051832,-6.62491456296e-05,1793239752183392768
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.759766397,714,682,657,631.759766397,880.759766397,786,805,652,631,653,0.449355520353,0.00477045514467,0.06964226438,0.999999790964,0.000322387434398,-0.000556523973483,-6.64715844136e-05,1793239752200059648
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.181088461,714,682,657,631.181088461,880.181088461,786,805,652,631,653,0.449356448216,0.00476938222638,0.0696431509693,0.999999791381,0.000322196020011,-0.000555961970223,-6.5827181594e-05,1793239752216726272
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.39851873,714,682,657.39851873,631.39851873,880,786,805,652,631,653,0.449355586794,0.0047691096105,0.0696418637846,0.999999790909,0.000321846685593,-0.000556973465147,-6.61579614809e-05,1793239752233392896
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.978549129,714,682,657.978549129,631.978549129,880,786,805,652,631,653,0.449353910414,0.0047692015051,0.0696395865201,0.999999790029,0.000321425424002,-0.000558701634783,-6.693290382e-05,1793239752250059520
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714,681.447864468,657.447864468,632,880.552135532,786,805,652,631,653,0.449354063916,0.00476818975225,0.0696399957316,0.999999790037,0.000320650887797,-0.00055918529493,-6.64956649149e-05,1793239752266726144
+252,4.200000000,HOLD_POSE2,765,745,714,682,658,632,881,785,804,652,631,653,0.449356259256,0.00476415482586,0.0696414111873,0.999999792198,0.000316248226751,-0.000557900589964,-6.58627425428e-05,1793239752308070144
+253,4.216666667,HOLD_POSE2,765,745.580863054,714,682,657.419136946,632,880.419136946,785.580863054,804.580863054,652,631.580863054,653,0.449356581029,0.00476536587823,0.0696420809176,0.999999792183,0.000318109686815,-0.000556929730218,-6.53430150999e-05,1793239752324736768
+254,4.233333333,HOLD_POSE2,765,745.840113339,714,682,657,632,880.159886661,786,805,652,631.840113339,653,0.449356782506,0.00476595213945,0.0696425395089,0.999999792311,0.000318881718962,-0.000556305206697,-6.49448379483e-05,1793239752341403648
+255,4.250000000,HOLD_POSE2,765,745.265856802,714,682,657,632,880.734143198,786,805,652,631.265856802,653,0.449356672219,0.00476491916247,0.0696424509024,0.999999792816,0.000316830338297,-0.000556578264407,-6.48616762019e-05,1793239752358070272
+256,4.266666667,HOLD_POSE2,765,745,714,682.308603198,657,631.691396802,881,786,804.691396802,652,631,653,0.449356728785,0.00476537967157,0.0696422977824,0.999999792457,0.000317422653592,-0.000556868036086,-6.50064842226e-05,1793239752374736896
+257,4.283333333,HOLD_POSE2,765,745,714,682.88323856,657,631.11676144,881,786,804.11676144,652,631,653,0.449356929186,0.00476712764418,0.0696420890484,0.99999979135,0.000320293973762,-0.000557172216065,-6.53478141592e-05,1793239752391403520
+258,4.300000000,HOLD_POSE2,765,745.469581744,714,682.530418256,657,631.469581744,880.530418256,786,804.469581744,652,631,653,0.449358862091,0.0047678164706,0.069643288936,0.99999979218,0.000321118184662,-0.000555236305069,-6.50876012136e-05,1793239752408070144
+259,4.316666667,HOLD_POSE2,765,745.941937042,714,682,657,632,880.058062958,786,805,652.058062958,631,653,0.449360780764,0.004768048627,0.069644548945,0.999999793269,0.000321218839907,-0.000553251368507,-6.47497068739e-05,1793239752424737024
+260,4.333333333,HOLD_POSE2,765,745.361087,714,682,657,632,880.638913,786,805,652.638913,631,653,0.449358593405,0.00476660086006,0.0696431160249,0.999999792289,0.000319504989295,-0.00055596835137,-6.50935508115e-05,1793239752441403648
+261,4.350000000,HOLD_POSE2,765,745,714,681.782534066,656.782534066,632,881,786,805,652.782534066,631,653,0.449357039924,0.00476615738552,0.0696420149243,0.999999791471,0.000318427386778,-0.000558000465115,-6.55478226472e-05,1793239752458070272
+262,4.366666667,HOLD_POSE2,765,745,714,681.20775551,656.20775551,632,881,786,805,652.20775551,631,653,0.44935652795,0.00476736403785,0.069641459028,0.999999790933,0.000318395187143,-0.000558907287957,-6.6183535659e-05,1793239752474736896
+263,4.383333333,HOLD_POSE2,765,745,714,681.367046354,656.367046354,632,880.632953646,786,805,652,631,653,0.449356961372,0.00476735293856,0.0696419139292,0.999999791045,0.000319736614974,-0.000557967826167,-6.59556797377e-05,1793239752491403520
+264,4.400000000,HOLD_POSE2,765,745,714,681.941861465,656.941861465,632,880.058138535,786,805,652,631,653,0.449357929939,0.00476665252387,0.0696429409983,0.999999791518,0.00032185559274,-0.000555983264136,-6.52389955793e-05,1793239752508069888
+265,4.416666667,HOLD_POSE2,765,745,714,682,657,632,880,786,805,652,631,653,0.449359562297,0.00476619898013,0.0696432942497,0.999999792387,0.00032013167776,-0.000555412434114,-6.5257208778e-05,1793239752524737024
+266,4.433333333,HOLD_POSE2,765,745,714,682,656.876763078,632,880.123236922,786,804.876763078,652,631,653,0.449360569459,0.00476588787463,0.0696434151812,0.999999792895,0.000318704987575,-0.000555325447237,-6.51951686061e-05,1793239752541403392
+267,4.450000000,HOLD_POSE2,765,745,714,682,656.300103401,632,880.699896599,786,804.300103401,652,631,653,0.449359001539,0.00476599863247,0.0696429603089,0.999999791921,0.000319962853945,-0.00055643335805,-6.45336013769e-05,1793239752558070016
+268,4.466666667,HOLD_POSE2,765,745.275488212,714,682,656.275488212,632,881,786,804,652,631.275488212,653,0.449357814263,0.00476539402087,0.0696425350228,0.999999791641,0.00031904397922,-0.000557477161629,-6.44106143697e-05,1793239752574736896
+269,4.483333333,HOLD_POSE2,765,745.849920787,714,682,656.849920787,632,881,786,804,652,631.849920787,653,0.449357040041,0.00476401313047,0.0696421418419,0.999999792109,0.000315763027015,-0.000558451399562,-6.48720644643e-05,1793239752591403520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,657,632,881,786,804,652,631,653,0.449356454609,0.00476616441135,0.0696409184823,0.999999790997,0.000318536612679,-0.000558909679765,-6.45004549272e-05,1793239752624091904
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,681.579639551,656.420360449,632,881,786,804.579639551,652,631.579639551,653,0.449358418132,0.00476487400508,0.0696421677142,0.999999792466,0.000316782177919,-0.000557241480071,-6.48005017963e-05,1793239752640758528
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.841388789,714,682,656.158611211,632,881,786,805,652,631.841388789,653,0.449359575638,0.0047636434045,0.0696429342117,0.999999793492,0.000315355984981,-0.000556187312279,-6.497420813e-05,1793239752657425152
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.264179664,714,682,656.735820336,632,881,786,805,652,631.264179664,653,0.449358605954,0.00476257063955,0.0696424267035,0.999999793364,0.000314796069283,-0.000556753663078,-6.48144835957e-05,1793239752674091776
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,632,881,786,804.688838174,652,631,652.688838174,0.449358974757,0.00476286125071,0.0696426042485,0.999999793523,0.000315355471739,-0.000556155088617,-6.47849092273e-05,1793239752690758400
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,632,881,786,804.115072899,652,631,652.115072899,0.449360473169,0.00476430247632,0.0696433599405,0.99999979392,0.000316859517121,-0.000554573381338,-6.48651744425e-05,1793239752707425280
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.472688861,714,682,657,632,881,786,804.472688861,652,631,652.472688861,0.449360011675,0.0047636785788,0.069643285091,0.99999979357,0.000317248611824,-0.000555010660614,-6.46201983935e-05,1793239752724091904
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,713.937267034,682,657,632,880.937267034,786,805,652,631,653,0.449358734504,0.00476285736944,0.0696428099666,0.999999792956,0.000317277680747,-0.000556126047181,-6.43953870312e-05,1793239752740758272
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,713.35735474,682,657,632,880.35735474,786,805,652,631,653,0.449354786292,0.00476468062399,0.0696407526644,0.999999791707,0.000316644610919,-0.000558656135272,-6.500948684e-05,1793239752757424896
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.220829547,746,713.220829547,682,657,632,880.220829547,786,805,652,631,653,0.449345327477,0.00476537283296,0.0696360794733,0.999999787856,0.000316543638231,-0.000565539757146,-6.52178138995e-05,1793239752774091776
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.796239162,746,713.796239162,682,657,632,880.796239162,786,805,652,631,653,0.449327020436,0.00476424895226,0.0696272060202,0.999999779703,0.000317297039641,-0.000579413730895,-6.47746024941e-05,1793239752790758400
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,657,632,881,786,805,652,631,653,0.449233190358,0.00476722859145,0.0695861350443,0.999999733964,0.000322559555362,-0.00065100570047,-6.49567077043e-05,1793239752824091904
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.124408898,714,682,657,631.875591102,880.875591102,786,805,652,631,653,0.449092137075,0.00476666975919,0.0695524597841,0.999999698192,0.00032257595198,-0.000703917020104,-6.3729044241e-05,1793239752857425152
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.849024223,745.150975777,714,682,657,631.849024223,880,786,804.150975777,652,631,653,0.448823588671,0.00476282128769,0.0695397917293,0.999999684598,0.000324646267082,-0.000722429074486,-5.9195563329e-05,1793239752907425024
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.563818904,745,714,682,657,632,880.436181096,786,804,651.563818904,631,653,0.448708950266,0.00476090709423,0.0695419978696,0.999999686327,0.000324936017841,-0.000720096149182,-5.67716826673e-05,1793239752924091648
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.027702006,714,682,657,632,880.972297994,786.027702006,804.027702006,651.027702006,631,653,0.448587768003,0.00475886854514,0.0695455529027,0.999999689462,0.000325001493088,-0.000715908343181,-5.40839042536e-05,1793239752940758528
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.60789707,714,682,657,632,880.39210293,786.60789707,804.60789707,651.60789707,631,653,0.448438940236,0.00476063065399,0.0695424806415,0.999999683478,0.000329850474736,-0.00072216345698,-5.21824285022e-05,1793239752957425152
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.760291966,746,714,682,657,632,880,786.239708034,805,652,631,653,0.448079799727,0.00475708651785,0.0695358098995,0.999999670928,0.000336161913154,-0.000736932529104,-4.54902077719e-05,1793239752990758400
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.665786622,746,714,682,657.334213378,632,880.334213378,786,805,652,631,653,0.447870731965,0.00475520825906,0.0695344915803,0.999999665843,0.000339267845999,-0.000742623859504,-4.14822885267e-05,1793239753007425280
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.908692097,714,682,658,632,881,786.908692097,805,652,631.908692097,653,0.447136520037,0.00474649152279,0.0695447382964,0.999999667422,0.00034500852754,-0.000738473471839,-2.79707637185e-05,1793239753057425152
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.43145035,746,714,682,659.1370993,633,881,786.56854965,804.43145035,652,631,653,0.445115698019,0.00471608117876,0.0695972920874,0.999999735527,0.000345772556183,-0.000639822035567,3.89624127654e-06,1793239753157425152
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,659.27660569,633,881,786.27660569,804.72339431,652,631.72339431,653,0.44421440265,0.00470118521465,0.0696082327278,0.999999759551,0.000293136163369,-0.0006284650882,2.39810951959e-07,1793239753190758400
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,659.874018005,633,881,786.874018005,805,652,632,653,0.443222378409,0.00468341559839,0.0696237481799,0.99999978274,0.000260102449928,-0.000605680068228,4.33006157962e-06,1793239753224091904
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.461087166,745.538912834,714,682,660.461087166,633.461087166,881,787,804.538912834,652,632,653,0.442711857616,0.00467457567649,0.0696474197338,0.999999805752,0.00025004463811,-0.000570866032179,9.25752609683e-06,1793239753240758528
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.949515899,745.050484101,714,682,661.050484101,634,880.949515899,787,804,652,631.949515899,653,0.442194729026,0.00466600873845,0.0696748444549,0.999999831188,0.000238384690493,-0.000529725296113,1.3719880111e-05,1793239753257424896
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.370790642,745.629209358,714,682,661.629209358,634,880.370790642,787,804,652,631.370790642,653,0.441625292785,0.00465802526558,0.0697002188875,0.99999986166,0.00021150413844,-0.000481441503062,1.26441368776e-05,1793239753274091776
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.366858218,746,714,682,662.366858218,634,880,787,804.633141782,652,631,653,0.439832353057,0.00463047123995,0.0697726684205,0.999999927428,0.000147868548374,-0.000350733717366,1.62691953272e-05,1793239753324091904
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.952956994,746,714,682,662.952956994,634,880,787,804.047043006,652,631,653,0.439172098195,0.00462540492895,0.0697717731875,0.999999925361,0.000136258736409,-0.00036108470604,1.81336774361e-05,1793239753340758528
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,746,714.533914934,681.466085066,663,634.533914934,880,787,804.533914934,652,631,653,0.438440569442,0.00461793148089,0.069742799001,0.999999901823,0.00019277730481,-0.000398669074427,1.59309316505e-05,1793239753357425152
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,746,714.886501901,681,663,635,880,787,805,652,631,653,0.437707063068,0.00461039315435,0.0697228813581,0.999999882816,0.000237136975014,-0.000421822286238,1.41068354732e-05,1793239753374091776
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,746,714.310691334,681,663,635,880,787,805,652,631,653,0.436990837479,0.00460344623567,0.0697498351463,0.999999907422,0.000207751822834,-0.00037651220971,1.52708914948e-05,1793239753390758400
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.0179445,746,714.9820555,681,663.0179445,635,880,787,804,652,632,653,0.433975491843,0.00458462844705,0.0698465406667,0.999999959803,0.000131821079465,-0.000249852885946,2.42864860169e-05,1793239753457425152
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.596795621,746,714.403204379,681,663.596795621,635,880,787,804,652,632,653,0.433142804324,0.00457881910145,0.0698367852723,0.999999956962,0.000131422842009,-0.00026120013487,2.40437199654e-05,1793239753474091776
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,746,714,681,664,635,880,787,804.348444733,652,632,652.825777634,0.432295472737,0.00457387666791,0.0698269507513,0.999999953366,0.00013217356896,-0.000274234377585,2.43672876348e-05,1793239753490758400
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,664,635,880,787,805.496758723,652,632,652.251620639,0.431414525135,0.0045709242671,0.0698169345924,0.999999948092,0.000135561791132,-0.000291141183473,2.59908977384e-05,1793239753507425024
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.388887278,745.388887278,714.388887278,680,663,635,880,787.388887278,804,653,632,653,0.424477098316,0.00451778704564,0.0698436149848,0.999999961893,8.04719930532e-05,-0.000262037389117,3.2768550313e-05,1793239753640758272
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.978982188,745.978982188,714.978982188,680,663,635,880,787.978982188,804,653,632,653,0.423593203368,0.00451085416196,0.0698176261791,0.999999951429,7.60048546233e-05,-0.000300625326072,3.14581731661e-05,1793239753657425152
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.558931057,663.558931057,635,880,788,804,652.441068943,632,653,0.422627611897,0.00450702447923,0.0697563963469,0.999999911703,7.0597859999e-05,-0.000412968086802,3.26604262772e-05,1793239753674091520
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.86223198,745.86223198,715,680.86223198,663.724463961,635,880,787.86223198,804,652,631.86223198,652.86223198,0.421688300453,0.00450181303652,0.069710059628,0.999999875184,6.17521870413e-05,-0.000494690999652,3.31569910762e-05,1793239753690758144
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.2857426,745.2857426,715,680.2857426,662.571485199,635,880,787.2857426,804,652,631.2857426,652.2857426,0.420842286233,0.00449183641031,0.0697152947513,0.999999888073,4.20666078081e-05,-0.000470230660015,3.11107781751e-05,1793239753707425024
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.295458392,714.704541608,680,662.590916784,635,879.704541608,787.295458392,804,652,631.295458392,652.295458392,0.420043126179,0.0044831714582,0.0697599789305,0.999999922743,2.65326560661e-05,-0.000390966761177,3.08913029369e-05,1793239753724091648
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.881289866,714.118710134,680,663.762579732,635,879.118710134,787.881289866,804,652,631.881289866,652.881289866,0.419290013906,0.00447579560477,0.0698434331844,0.999999966118,1.50788764875e-05,-0.000257842555936,3.24671240266e-05,1793239753740758272
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.537932631,714.462067369,680,664,635,879.462067369,787.537932631,804,652.462067369,631.537932631,652.537932631,0.418484993459,0.00446850136369,0.0698780700649,0.999999977847,1.60188307844e-05,-0.000207010087275,3.45880166455e-05,1793239753757425152
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.958613906,635,879.958613906,787,804,653,631.041386094,652.041386094,0.417664963996,0.00446124505359,0.0698957658577,0.999999982353,1.89140494237e-05,-0.00018329118189,3.66029119488e-05,1793239753774091776
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.381553131,635,879.381553131,787,804,653,631.618446869,652.618446869,0.416821410456,0.0044542112562,0.0698547626684,0.999999970592,6.35010446522e-06,-0.000239829619375,3.54529347768e-05,1793239753790758400
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.194907144,635,879,787,804,652.805092856,631.805092856,653,0.415985545617,0.00444836486,0.0698199991728,0.999999957919,-3.97417264479e-06,-0.000288027205068,3.44499140037e-05,1793239753807425024
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.770195584,635,879,787,804,652.229804416,631.229804416,653,0.415164685918,0.00444483579783,0.0697974130726,0.999999948199,-9.92751028189e-06,-0.000319946773598,3.37336936898e-05,1793239753824091904
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.345906655,745,715,680,663.654093345,635,879.345906655,787,804,652,631,652.654093345,0.414340096944,0.00444625929218,0.0697730309463,0.999999932956,-8.1449634144e-06,-0.000364459214699,3.45259621359e-05,1793239753840758272
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.921898813,745,715,680,663.078101187,635,879.921898813,787,804,652,631,652.078101187,0.413513027431,0.00445097706118,0.069747454165,0.99999991225,-1.21676532942e-06,-0.000417348009597,3.63216266794e-05,1793239753857424896
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.486900524,745,715,680,663,635,880,787,804.513099476,652,631,652.513099476,0.412842945172,0.00447007005292,0.0697851713324,0.999999939539,2.00502233024e-05,-0.000345435104211,3.45763097821e-05,1793239753874091520
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.206777691,745.103388845,715,680.103388845,663.206777691,635,879.896611155,787.103388845,804.896611155,652,631.103388845,653,0.412198815375,0.0044871637111,0.069831557517,0.999999965134,3.95057383555e-05,-0.000259024158193,3.28147695736e-05,1793239753890758144
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.357262568,745.678631284,715,680.678631284,664.357262568,635,879.321368716,787.678631284,804.321368716,652,631.678631284,653,0.411560740973,0.00448484133272,0.0698721953788,0.999999979454,4.04286686364e-05,-0.000195792488281,3.35142048326e-05,1793239753907424768
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.746939804,746,715,680.746939804,664.746939804,635,879,788,804,652,631.746939804,652.746939804,0.410899321295,0.0044783772467,0.0698855756043,0.999999982788,3.46389853795e-05,-0.000179048338175,3.41524610073e-05,1793239753924091648
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.173540746,746,715,680.173540746,664.173540746,635,879,788,804,652,631.173540746,652.173540746,0.410208349809,0.00446667033751,0.0698644514668,0.999999974737,2.03520710397e-05,-0.00022115090004,3.47132730382e-05,1793239753940758528
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.587841546,635,879.412158454,787.587841546,804,652,631.412158454,652,0.409533901025,0.00446513023136,0.0698284680639,0.999999959464,1.6376441158e-05,-0.000282247833489,3.37574587551e-05,1793239753957425152
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.996866428,745.996866428,714.996866428,680,663.003133572,635,879.996866428,787,804,652.003133572,631.996866428,652.003133572,0.408867097068,0.00446799149704,0.0697862424575,0.999999937669,1.68766173422e-05,-0.000351204401386,3.21458545297e-05,1793239753974091776
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.417380124,745.417380124,714.417380124,680,663.582619876,635,879.417380124,787,804,652.582619876,631.417380124,652.582619876,0.40828746395,0.00446881522813,0.069782054055,0.999999938283,1.74965078603e-05,-0.000349526202798,3.09820476197e-05,1793239753990758400
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.16078793,745.16078793,714.16078793,680,664,635,879,787,803.83921207,652.83921207,631.16078793,653,0.407726643951,0.00447045580561,0.0697852227239,0.999999941888,1.81910339269e-05,-0.000339089928896,3.01932664605e-05,1793239754007425024
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.735561967,745.735561967,714.735561967,680,664,635,879,787,803.264438033,652.264438033,631.735561967,653,0.407214262598,0.00447419954522,0.069807333892,0.999999952507,1.90777267792e-05,-0.000306103942386,3.03700764849e-05,1793239754024091904
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.682641526,746,715,680,664,635,879,787,803,652,632,653,0.406703133273,0.0044803318824,0.0698164971154,0.9999999553,2.36218368305e-05,-0.000296510994306,3.03811568055e-05,1793239754040758272
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.09486119,746,715,680,664,635,879,787,803,652,632,653,0.406193070834,0.00448849954868,0.069814627365,0.999999951974,3.1282440165e-05,-0.000306851308423,3.0251018483e-05,1793239754057424896
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,746,715,680,663.51374241,635,879,787,803.48625759,652,632,653,0.405726895281,0.00448681894933,0.0698100486175,0.999999948901,2.96043040698e-05,-0.000316890114063,3.00383914291e-05,1793239754074091776
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.06581764,746,715,680,663.06581764,635,879,787,803.93418236,652,632,653,0.405277781118,0.00448327320469,0.0698072641591,0.999999947242,2.61519524632e-05,-0.000322409812109,2.97425531412e-05,1793239754090758400
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.643226721,746,715,680,663.643226721,635,879,787,803.356773279,652,632,653,0.404895633692,0.00447996166761,0.0698224787691,0.999999956321,2.28784081993e-05,-0.000293254127525,2.89233178162e-05,1793239754107425024
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.780386778,715,680,664,635,879,787,803.219613222,652,631.780386778,653,0.404529415535,0.00447770989488,0.0698372080782,0.999999964109,2.09824168578e-05,-0.00026559591544,2.83035736217e-05,1793239754124091648
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.205653868,715,680,664,635,879,787,803.794346132,652,631.205653868,653,0.404188955411,0.00447717178607,0.0698511526432,0.999999970494,2.13139609601e-05,-0.000240359154245,2.80064113238e-05,1793239754140758528
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.378516754,715,680,664,635,879,787,804,652.378516754,631.378516754,653,0.403850591699,0.0044745934758,0.0698526589254,0.999999971509,1.73354541101e-05,-0.000236487044395,2.74767716823e-05,1793239754157425152
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.967946202,715,680,664,635,879,787,804,652.967946202,631.967946202,653,0.403513396094,0.00447087834821,0.0698472344938,0.999999969686,1.09553509356e-05,-0.000244519494246,2.68175937015e-05,1793239754174091776
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787,804,653,632,653,0.403212373411,0.00447071697635,0.0698368128037,0.999999965272,8.21041151696e-06,-0.000262091608328,2.63760733911e-05,1793239754190758400
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745.872319605,715,680,664,635.127680395,879,787.127680395,803.872319605,653,631.872319605,653,0.40292357208,0.0044712626818,0.0698272177125,0.999999960822,6.14019760194e-06,-0.000278651495849,2.59066558069e-05,1793239754207425024
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745.297453798,715,680,664,635.702546202,879,787.702546202,803.297453798,653,631.297453798,653,0.402670288675,0.00447356905668,0.0698215242131,0.999999957688,5.70094718323e-06,-0.000289744740083,2.5295691412e-05,1793239754224091648
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.276536719,715,680,663.723463281,635.723463281,879,787.723463281,803,653,631.276536719,653,0.402436326638,0.00447598337154,0.0698151803741,0.999999954177,6.86886090363e-06,-0.000301618914884,2.49861850208e-05,1793239754240758272
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.849588675,715,680,663.150411325,635.150411325,879,787.150411325,803,653,631.849588675,653,0.402223081865,0.0044785134244,0.0698081392118,0.999999950238,9.76004907249e-06,-0.000314330438251,2.49999156359e-05,1793239754257425152
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,714.561151445,680,663.438848555,635,879,787,803.438848555,652.561151445,631.561151445,653,0.402035208392,0.0044851112026,0.0698058534211,0.999999949164,1.93682428774e-05,-0.000317293059668,2.49354318295e-05,1793239754274091776
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,714.032788046,680,664,635.032788046,879,787.032788046,804,652.032788046,631,653,0.401858446662,0.00449304665546,0.069805342658,0.999999949045,3.12560085503e-05,-0.000316729770454,2.48134815055e-05,1793239754290758400
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,714.608696471,680,664,635.608696471,879,787.608696471,804,652.608696471,631,653,0.401716180405,0.00449916056149,0.0698062011854,0.999999949168,4.13066405616e-05,-0.000315231811786,2.4200702595e-05,1793239754307425024
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.815296845,715,679.815296845,664,635.815296845,879,787.815296845,804,653,631,653,0.401585132954,0.00450263378452,0.0698071872308,0.999999949743,4.63613200995e-05,-0.000312754814714,2.34515551289e-05,1793239754324091648
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.239081958,715,679.239081958,664,635.239081958,879,787.239081958,804,653,631,653,0.401477865811,0.00450050960166,0.0698084435739,0.999999951421,4.08261737709e-05,-0.000308202568956,2.24133499336e-05,1793239754340758272
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.342804655,664,635,879,787,804,653,631,653,0.401383350782,0.00449788962791,0.0698090242371,0.999999952335,3.57772384263e-05,-0.000305902381133,2.17498991027e-05,1793239754357424896
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.928713503,664,635,879,787,804,653,631,653,0.401297879061,0.00449491805766,0.0698091257336,0.999999952716,3.10731050923e-05,-0.000305199267794,2.13522098927e-05,1793239754374091520
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.4901643,745.5098357,715,680,664,635,879.5098357,787,804,653,631,653,0.401226299443,0.00449334640066,0.0698089071532,0.999999952798,3.00350148321e-05,-0.000305030338612,2.14210130115e-05,1793239754390758144
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.089284577,746,715,680,664,635.089284577,880,787.089284577,804,653,631.089284577,653,0.401160373044,0.0044921606946,0.0698087969088,0.999999952836,2.92198385521e-05,-0.000304972827354,2.1565338472e-05,1793239754407425024
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.663249475,746,715,680,664,635.663249475,880,787.663249475,804,653,631.663249475,653,0.401114688674,0.00449201743277,0.0698095154513,0.999999952854,2.68580123839e-05,-0.000305118459256,2.17688503076e-05,1793239754424092672
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,880,787.756607297,803.756607297,653,631.756607297,653,0.401077577917,0.00449204576972,0.0698113025819,0.99999995393,2.61484546671e-05,-0.000301619616847,2.1939367591e-05,1793239754440759808
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,880,787.16769332,803.16769332,653,631.16769332,653,0.401052638298,0.00449231770901,0.0698146066845,0.999999956462,2.77844641229e-05,-0.000292947063818,2.20630456603e-05,1793239754457425664
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.585772098,715,680,663.585772098,635.585772098,880,787,803.414227902,652.585772098,631,653,0.401032408053,0.0044914393626,0.0698180686126,0.999999958086,2.62543871962e-05,-0.000287489628921,2.21033546869e-05,1793239754474092032
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.006634794,715,680,663.006634794,635.006634794,880,787,803.993365206,652.006634794,631,653,0.401014052672,0.00449010307281,0.069821593373,0.999999959347,2.34638509297e-05,-0.000283312173694,2.2110473433e-05,1793239754490758656
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.570835102,715,679.429164898,663.570835102,635,879.429164898,787,803.429164898,652.570835102,631,653,0.401002568985,0.00449129498317,0.0698225629963,0.999999959457,2.61755079067e-05,-0.000282684593109,2.2137818682e-05,1793239754507425280
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.147475579,664,635,879.147475579,787.147475579,803.147475579,652.852524421,631.147475579,652.852524421,0.400992910525,0.00449213993355,0.0698236125224,0.999999959717,2.83551483223e-05,-0.000281552614717,2.21290828764e-05,1793239754524092160
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.721771394,664,635,879.721771394,787.721771394,803.721771394,652.278228606,631.721771394,652.278228606,0.400988304112,0.00449189592238,0.0698249790028,0.999999960466,2.8810490244e-05,-0.000278841754505,2.20152437393e-05,1793239754540759040
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e228e3a247df55d1f7608c4f71f516c76a3d892
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f4221a2ae03d5dd454d5fa31b382c66c8345bcb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
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+size 26334825
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1444253f94bd6d991165f695626f1720a27a6ff
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
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+2,0.033333333,BASELINE,766,745.85074403,715,680,664.14925597,635,879,787,804,653,631.14925597,652.14925597,0.400984674327,0.00449071546772,0.0698381588032,0.999999966486,2.78968294065e-05,-0.000256516645011,2.11796857587e-05,1793239755185071616
+3,0.050000000,BASELINE,766,745.259468378,715,680,664.740531622,635,879,787,804,653,631.740531622,652.740531622,0.400984020707,0.00449121272817,0.0698378869278,0.999999966151,2.60260103546e-05,-0.000258018794558,2.11515582503e-05,1793239755201737984
+4,0.066666667,BASELINE,766,745.325111144,715,680,664.674888856,635,879,787,803.674888856,653,632,653,0.4009837123,0.00449132847441,0.0698377565973,0.999999965985,2.60348086845e-05,-0.000258668978966,2.10554346388e-05,1793239755218404864
+5,0.083333333,BASELINE,766,745.904454355,715,680,664.095545645,635,879,787,803.095545645,653,632,653,0.400983673844,0.00449114588218,0.0698377369528,0.999999965952,2.75134398987e-05,-0.000258652939244,2.09061390901e-05,1793239755235071488
+6,0.100000000,BASELINE,766,746,715,680,664.48082343,635.48082343,879,787.48082343,803,652.51917657,631.51917657,653,0.400983092667,0.0044904341518,0.0698374713816,0.999999965817,2.71967194272e-05,-0.000259202397574,2.10002164748e-05,1793239755251738112
+7,0.116666667,BASELINE,766,745.942255634,715,680,664.942255634,635.942255634,879.057744366,787.942255634,803.057744366,652,631,653,0.400982606812,0.00448960445352,0.0698372495706,0.999999965716,2.63833054958e-05,-0.000259666045771,2.11280791934e-05,1793239755268404480
+8,0.133333333,BASELINE,766,745.354885801,715,680,664.354885801,635.354885801,879.645114199,787.354885801,803.645114199,652,631,653,0.400983978304,0.00448865122899,0.069837874586,0.999999966118,2.42663103786e-05,-0.000258318327631,2.11249798625e-05,1793239755285071104
+9,0.150000000,BASELINE,766,745.229342149,715,680,664.229342149,635,879.770657851,787,804,652.229342149,631.229342149,653,0.400984297432,0.00448892820339,0.0698378831128,0.999999966224,2.42407615954e-05,-0.000257918354165,2.10546204408e-05,1793239755301737472
+10,0.166666667,BASELINE,766,745.808773977,715,680,664.808773977,635,879.191226023,787,804,652.808773977,631.808773977,653,0.400983010131,0.00449108307056,0.0698369505727,0.999999965875,2.74077956953e-05,-0.000258965108473,2.08815888167e-05,1793239755318404096
+11,0.183333333,BASELINE,766,746,715,680,664.611645282,635,879,787,803.611645282,653,631.611645282,653,0.400982611442,0.00449191347001,0.0698369785226,0.999999965763,2.79417902712e-05,-0.000259355467843,2.06918860127e-05,1793239755335070720
+12,0.200000000,BASELINE,766,746,715,680,664.031991135,635,879,787,803.031991135,653,631.031991135,653,0.400982650473,0.00449209145085,0.0698374795997,0.999999965771,2.71787776976e-05,-0.0002594224941,2.04939711464e-05,1793239755351737344
+13,0.216666667,BASELINE,766,746,715,680,664.540332452,635,879,787,803.540332452,652.459667548,631,653,0.400983698983,0.00449149896522,0.0698383299866,0.999999966138,2.66216625032e-05,-0.000258036046576,2.08020050148e-05,1793239755368404480
+14,0.233333333,BASELINE,766,745.887648798,715,680,664.887648798,635,879,787.112351202,804,652,631.112351202,653,0.400984518859,0.00449087856934,0.0698387825984,0.999999966382,2.63472869509e-05,-0.000257093049641,2.10788860797e-05,1793239755385071104
+15,0.250000000,BASELINE,766,745.315124567,715,680,664.315124567,635,879,787.684875433,804,652,631.684875433,653,0.40098416077,0.00449032819459,0.0698375224125,0.999999966045,2.71817069498e-05,-0.000258314106595,2.11071198276e-05,1793239755401737728
+16,0.266666667,BASELINE,766,745.268969959,715,680,664,635,879.268969959,787.731030041,803.731030041,652.268969959,631.731030041,653,0.40098351033,0.00449038080901,0.0698364769566,0.999999965687,2.81544563879e-05,-0.000259585836677,2.11971509499e-05,1793239755418404352
+17,0.283333333,BASELINE,766,745.867229519,715,680,664,635,879.867229519,787.132770481,803.132770481,652.867229519,631.132770481,653,0.400982501976,0.00449117163996,0.0698356943867,0.999999965303,2.92965572013e-05,-0.000260919603855,2.13628382248e-05,1793239755435070976
+18,0.300000000,BASELINE,766,746,715,680,664,635.448516338,879.551483662,787.448516338,803.448516338,653,631,653,0.400983505721,0.00449230987494,0.0698367389508,0.999999965696,2.86102905154e-05,-0.000259521891988,2.09484061731e-05,1793239755451737856
+19,0.316666667,BASELINE,766,745.975217515,715,680,664,635.975217515,879,788,804,653,631,653,0.400984933377,0.00449341937308,0.0698381903897,0.999999966263,2.74165948142e-05,-0.000257499875508,2.04133239624e-05,1793239755468404224
+20,0.333333333,BASELINE,766,745.402918437,715,680,664,635.402918437,879,788,804,653,631,653,0.400983047185,0.004491704823,0.069837117169,0.999999965916,2.65337995518e-05,-0.000258897604233,2.08683578187e-05,1793239755485071104
+21,0.350000000,BASELINE,766,745.175657078,715,680,664,635,879,787.824342922,803.824342922,653,631,653,0.400981890378,0.00449079142518,0.0698365753227,0.9999999657,2.58613125498e-05,-0.000259784809229,2.10678129305e-05,1793239755501737984
+22,0.366666667,BASELINE,766,745.769162743,715,680,664,635,879,787.230837257,803.230837257,653,631,653,0.400982468612,0.00449178378819,0.0698372974967,0.999999965798,2.56891016087e-05,-0.000259457593176,2.06593037677e-05,1793239755518404608
+23,0.383333333,BASELINE,766,746,714.648315445,679.648315445,664,635.351684555,879,787.351684555,803,653,631.351684555,653,0.400982997731,0.00449180207018,0.0698380861977,0.99999996598,2.7145915203e-05,-0.000258599731133,2.07347321099e-05,1793239755535071232
+24,0.400000000,BASELINE,766,746,714.072784763,679.072784763,664,635.927215237,879,787.927215237,803,653,631.927215237,653,0.400983495588,0.00449120035272,0.069838917243,0.999999966209,2.96395978433e-05,-0.00025740411453,2.11181851324e-05,1793239755551737856
+25,0.416666667,BASELINE,766,746,714,679,664,635.49686535,879.50313465,788,803.50313465,653,632,653,0.400983422761,0.0044907938016,0.0698381779485,0.999999966246,2.7414736399e-05,-0.000257514685362,2.10171906206e-05,1793239755568404736
+26,0.433333333,BASELINE,766,746,714.080650464,679.080650464,664.080650464,635,879.919349536,787.919349536,804,653,631.919349536,653,0.4009833927,0.00449060499361,0.0698374813949,0.999999966263,2.50921707254e-05,-0.000257698840968,2.08564931422e-05,1793239755585071104
+27,0.450000000,BASELINE,766,746,714.66783953,679.66783953,664.66783953,635,879.33216047,787.33216047,804,653,631.33216047,653,0.400984150159,0.00449160629649,0.0698384811604,0.99999996637,2.64464335087e-05,-0.000257157468092,2.0761319623e-05,1793239755601737728
+28,0.466666667,BASELINE,766,745.74754312,715,680,664.74754312,635,879.25245688,787,803.74754312,652.74754312,631,653,0.400985004465,0.00449213124838,0.0698393167606,0.99999996654,2.73475319292e-05,-0.000256404328721,2.07305072233e-05,1793239755618404352
+29,0.483333333,BASELINE,766,745.166275322,715,680,664.166275322,635,879.833724678,787,803.166275322,652.166275322,631,653,0.400985984908,0.00449203577977,0.0698399385446,0.999999966793,2.76584091164e-05,-0.000255375375403,2.07835215754e-05,1793239755635071232
+30,0.500000000,BASELINE,766,745.41117733,715,680,664,635,879.58882267,787,803.41117733,652.41117733,631,653,0.400985429676,0.0044912535209,0.0698392608136,0.999999966555,2.79658025877e-05,-0.000256271099182,2.08306077716e-05,1793239755651737856
+31,0.516666667,BASELINE,766,745.987101352,715,680,664,635,879.012898648,787,803.987101352,652.987101352,631,653,0.400984259145,0.00449019608533,0.069838062405,0.999999966116,2.82718002289e-05,-0.000257937984624,2.08753187283e-05,1793239755668404480
+32,0.533333333,BASELINE,766,746,715,680,664.560759321,635,880.121518643,787,804,652.439240679,631.560759321,652.439240679,0.400983777821,0.00449107779033,0.0698382933537,0.999999966128,2.80894266031e-05,-0.000257926617834,2.07112654082e-05,1793239755685071104
+33,0.550000000,BASELINE,766,746,715,679.861647063,664.861647063,635,880.723294127,787.138352937,803.861647063,652.138352937,631.861647063,652.138352937,0.400983438211,0.00449160919399,0.0698384957636,0.999999966199,2.82629811843e-05,-0.000257640356913,2.06279206222e-05,1793239755701737728
+34,0.566666667,BASELINE,766,746,715,679.271018224,664.271018224,635,879.542036448,787.728981776,803.271018224,652.728981776,631.271018224,652.728981776,0.400983510253,0.00449085023727,0.069838497834,0.999999966427,2.96366402588e-05,-0.000256581153245,2.08240467823e-05,1793239755718404608
+35,0.583333333,BASELINE,766,746,715,679.313681717,664,635,879,788,803.313681717,652.686318283,631,653,0.400984501087,0.00449091721488,0.0698390381827,0.999999966758,2.91921714397e-05,-0.000255338765234,2.08235805118e-05,1793239755735071232
+36,0.600000000,BASELINE,766,746,715,679.89335423,664,635,879,788,803.89335423,652.10664577,631,653,0.400986271023,0.00449168455498,0.069840034972,0.999999967174,2.72059958117e-05,-0.000253941043382,2.06564109635e-05,1793239755751737856
+37,0.616666667,BASELINE,765.531453445,746,715,680,664,635,879,787.531453445,804,652,631,652.531453445,0.400985690932,0.00449150686013,0.069839680195,0.999999966921,2.61496095576e-05,-0.000255044442246,2.06307167652e-05,1793239755768404480
+38,0.633333333,BASELINE,765,745.956221109,715,680,664,635,879.043778891,787,803.956221109,652.043778891,631,652.043778891,0.400984556637,0.00449117592896,0.0698390211915,0.999999966515,2.54729975465e-05,-0.000256700271625,2.06368941612e-05,1793239755785071104
+39,0.650000000,BASELINE,765,745.367927514,715,680,664,635,879.632072486,787,803.367927514,652.632072486,631,652.632072486,0.400983119086,0.00449158909837,0.0698383682744,0.999999966088,2.69126767394e-05,-0.000258213600177,2.06427657315e-05,1793239755801737728
+40,0.666666667,BASELINE,765,745.217050156,715,680,664,635,879.782949844,787,803.217050156,653,631.217050156,653,0.400982549031,0.00449148391248,0.0698378930626,0.999999965879,2.73152823082e-05,-0.00025897659927,2.0667535068e-05,1793239755818404352
+41,0.683333333,BASELINE,765,745.796491457,715,680,664,635,879.203508543,787,803.796491457,653,631.796491457,653,0.400983427366,0.00449051327049,0.0698377145508,0.99999996604,2.5986369577e-05,-0.000258486833677,2.07238564807e-05,1793239755835070976
+42,0.700000000,BASELINE,765.37490296,746,715,680,664,635,879,787,803.62509704,653,631.62509704,653,0.400984014832,0.00449055382605,0.0698383643699,0.999999966325,2.67700722584e-05,-0.000257302752391,2.0718702352e-05,1793239755851737856
+43,0.716666667,BASELINE,765.952756969,746,715,680,664,635,879,787,803.047243031,653,631.047243031,653,0.400984444839,0.00449114178625,0.0698394626002,0.999999966672,2.86974243041e-05,-0.000255742808261,2.06802688746e-05,1793239755868404480
+44,0.733333333,BASELINE,766,745.473329814,715,680,664,635.526670186,879,787.526670186,803,652.473329814,631,652.473329814,0.400985264647,0.0044920587804,0.0698394112083,0.999999966622,2.92571101861e-05,-0.000255899328385,2.04010132802e-05,1793239755885071104
+45,0.750000000,BASELINE,766,745,714.896781398,680,664.103218602,635.896781398,879,787.896781398,803,652.103218602,631,652.103218602,0.400985705389,0.00449262003141,0.0698392058403,0.999999966512,2.91265336705e-05,-0.000256357315213,2.02047293987e-05,1793239755901737728
+46,0.766666667,BASELINE,766,745,714.306132004,680,664.693867996,635.306132004,879,787.306132004,803,652.693867996,631,652.693867996,0.400984192173,0.00449136300786,0.0698387567098,0.999999966286,2.63113583774e-05,-0.000257517231822,2.05015183686e-05,1793239755918404608
+47,0.783333333,BASELINE,766,745,714.279032085,680,664.720967915,635,879,787,803.279032085,652.720967915,631,653,0.400983718491,0.00449126392575,0.0698390364718,0.999999966296,2.61433831563e-05,-0.000257487432712,2.06253878967e-05,1793239755935071232
+48,0.800000000,BASELINE,766,745,714.858294225,680,664.141705775,635,879,787,803.858294225,652.141705775,631,653,0.400984363315,0.00449241075334,0.0698401004999,0.99999996656,2.88237145224e-05,-0.00025617753574,2.05632013903e-05,1793239755951737856
+49,0.816666667,BASELINE,766,745,715,680,664.434599281,635,879,787,803.565400719,652,631,653,0.400985319307,0.00449264294725,0.0698402410448,0.9999999667,2.97405865445e-05,-0.000255519159226,2.06318324425e-05,1793239755968404480
+50,0.833333333,BASELINE,766,745,715,680,664.990073902,635,879,787,803,652.009926098,631,653,0.400986358457,0.0044925781366,0.0698400816521,0.999999966801,3.00569050048e-05,-0.00025507620102,2.07431529136e-05,1793239755985071360
+51,0.850000000,BASELINE,766,745,715,680,664.415914064,635,879,787,803,652.584085936,631,653,0.400986396258,0.00449246819905,0.0698398733243,0.999999966887,2.86994932731e-05,-0.000254884416797,2.08728462587e-05,1793239756001737984
+52,0.866666667,BASELINE,765.837355995,745,715,680,664,635,879,787,803,653,631,653,0.400986536257,0.0044921920535,0.0698399024583,0.999999966982,2.75608684066e-05,-0.000254628871396,2.09718246345e-05,1793239756018404608
+53,0.883333333,BASELINE,765.247238187,745,715,680,664,635,879,787,803,653,631,653,0.400986944861,0.00449147906699,0.0698405557082,0.999999967105,2.6997276522e-05,-0.000254205743853,2.09900754975e-05,1793239756035071232
+54,0.900000000,BASELINE,765.337218547,745.337218547,715,679.662781453,664,635,879.337218547,787.337218547,803,653,631,653,0.400985958025,0.00449152743719,0.0698402634727,0.999999966874,2.74715460788e-05,-0.000255063923333,2.09454398503e-05,1793239756051737856
+55,0.916666667,BASELINE,765.917593258,745.917593258,715,679.082406742,664,635,879.917593258,787.917593258,803,653,631,653,0.400983964988,0.00449212479435,0.0698392894815,0.999999966386,2.86941802098e-05,-0.000256846007231,2.08554590018e-05,1793239756068404480
+56,0.933333333,BASELINE,766,746,714.50611479,679.49388521,664,635.49388521,879.50611479,787.50611479,803,652.50611479,631,653,0.400985292178,0.00449140569348,0.0698397495976,0.999999966705,2.7079361912e-05,-0.00025579789035,2.06043987032e-05,1793239756085071104
+57,0.950000000,BASELINE,766,745.929237019,714.070762981,680,664,635.929237019,879.070762981,787,803,652.070762981,631,653,0.400986767144,0.00449058537845,0.0698403059578,0.999999967055,2.53749260559e-05,-0.000254618736833,2.03794050746e-05,1793239756101737728
+58,0.966666667,BASELINE,766,745.343173527,714.656826473,680,664,635.343173527,879.656826473,787,803,652.656826473,631,653,0.400985317098,0.00449061445285,0.0698398349602,0.999999966698,2.64372469991e-05,-0.000255895984655,2.05383443152e-05,1793239756118404352
+59,0.983333333,BASELINE,766,745.240175793,714.759824207,680,664,635,879.759824207,787,803.240175793,652.759824207,631,653,0.400984679333,0.00449078036217,0.0698395862626,0.99999996658,2.70720989823e-05,-0.000256282987659,2.06400741046e-05,1793239756135070976
+60,1.000000000,BASELINE,766,745.819690406,714.180309594,680,664,635,879.180309594,787,803.819690406,652.180309594,631,653,0.400985189222,0.00449113960241,0.0698396516476,0.999999966802,2.71029901183e-05,-0.000255412184544,2.06609740073e-05,1793239756151737600
+61,1.016666667,BASELINE,766,746,714.397612231,680,664,635,879.397612231,787.397612231,804,652,631.397612231,653,0.400984379956,0.00449066812511,0.0698390068641,0.999999966528,2.67071047617e-05,-0.000256512936588,2.07912942285e-05,1793239756168404224
+62,1.033333333,BASELINE,766,746,714.974814605,680,664,635,879.974814605,787.974814605,804,652,631.974814605,653,0.400982974865,0.00448982143628,0.0698380413176,0.999999966027,2.61184565938e-05,-0.000258504184101,2.09710364957e-05,1793239756185071104
+63,1.050000000,BASELINE,766,746,715,680,664.549932139,635.549932139,879.450067861,788,804,652.549932139,632,653,0.400983715585,0.00449009311427,0.0698389469124,0.999999966424,2.4387936671e-05,-0.000257152147715,2.07434783445e-05,1793239756201737984
+64,1.066666667,BASELINE,766,745.87189354,714.87189354,680,664.87189354,635.87189354,879.12810646,787.87189354,804,653,631.87189354,653,0.400984232904,0.00448997220058,0.069839663381,0.999999966724,2.29777643598e-05,-0.000256123081203,2.06098194689e-05,1793239756218404352
+65,1.083333333,BASELINE,766,745.282366554,714.282366554,680,664.282366554,635.282366554,879.717633446,787.282366554,804,653,631.282366554,653,0.40098359294,0.00448825344621,0.0698393911565,0.999999966545,2.29090829765e-05,-0.000256806713137,2.0881304418e-05,1793239756235070976
+66,1.100000000,BASELINE,766,745,714.301864639,680,664,635.301864639,879.698135361,787,804,653,631,653,0.400983654035,0.00448888602029,0.06983944164,0.999999966527,2.43094841985e-05,-0.000256749738458,2.08339194303e-05,1793239756251737600
+67,1.116666667,BASELINE,766,745,714.88122748,680,664,635.88122748,879.11877252,787,804,653,631,653,0.400984359598,0.00449168012429,0.0698397887823,0.999999966653,2.70603840573e-05,-0.000256011938706,2.04934035901e-05,1793239756268404224
+68,1.133333333,BASELINE,766,745,715,680.457109958,664.457109958,635.542890042,879.457109958,787.457109958,803.542890042,652.542890042,631.457109958,653,0.400984389952,0.00449102079943,0.0698389559275,0.999999966615,2.67129852613e-05,-0.000256195141164,2.05145334538e-05,1793239756285071104
+69,1.150000000,BASELINE,765.967199693,745.032800307,715,680.967199693,664.967199693,635,880,787.967199693,803.032800307,652.032800307,631.967199693,652.967199693,0.400984239628,0.00448953617887,0.0698379364953,0.999999966535,2.56661269561e-05,-0.000256604883054,2.0638996336e-05,1793239756301737984
+70,1.166666667,BASELINE,765.379578955,745.620421045,715,680.379578955,664.379578955,635,880,787.379578955,803.620421045,652.620421045,631.379578955,652.379578955,0.400983978309,0.00448915511314,0.0698389081209,0.999999966454,2.63023122437e-05,-0.000256829241739,2.09338848954e-05,1793239756318404608
+71,1.183333333,BASELINE,765.205725854,745.794274146,715,680,664,635.205725854,880,787,804,653,631,652,0.400984095543,0.00448919413921,0.0698397569741,0.999999966585,2.66669178787e-05,-0.000256268236613,2.11162868472e-05,1793239756335071232
+72,1.200000000,BASELINE,765.786805276,745.213194724,715,680,664,635.786805276,880,787,804,653,631,652,0.40098490346,0.00448999963646,0.0698403818251,0.999999967098,2.65360176387e-05,-0.000254274309495,2.10934533445e-05,1793239756351737856
+73,1.216666667,BASELINE,766,745,715,680,664.364951334,635.635048666,879.635048666,787,804,653,631.364951334,652,0.400985262085,0.00449048578419,0.0698404875655,0.999999967114,2.69489225979e-05,-0.000254190086814,2.08189060484e-05,1793239756368404480
+74,1.233333333,BASELINE,766,745,715,680,664.941397427,635.058602573,879.058602573,787,804,653,631.941397427,652,0.400985360338,0.00449078686406,0.0698402924734,0.999999966842,2.76769708169e-05,-0.000255212566554,2.03984868433e-05,1793239756385071104
+75,1.250000000,BASELINE,766,745.515702677,715,680,664.484297323,635,879,787,804,653,631.484297323,652,0.400985758789,0.0044898540826,0.0698404284076,0.999999967089,2.63508601647e-05,-0.00025437752681,2.04919459459e-05,1793239756401737728
+76,1.266666667,BASELINE,766,746,715,680.09208529,664.09208529,635.09208529,879,787,803.90791471,652.90791471,631.09208529,652.09208529,0.400986070547,0.00448924421318,0.0698404059852,0.999999967302,2.53174987274e-05,-0.000253639768094,2.05504191066e-05,1793239756418404352
+77,1.283333333,BASELINE,766,746,715,680.68098262,664.68098262,635.68098262,879,787,803.31901738,652.31901738,631.68098262,652.68098262,0.400985731303,0.00449112982779,0.0698393271002,0.99999996703,2.71177202631e-05,-0.000254560958391,2.0106391088e-05,1793239756435070976
+78,1.300000000,BASELINE,766,746,715,680.734347101,665,635.734347101,879,787.265652899,803.265652899,652.265652899,632,653,0.400985308589,0.0044924730305,0.0698389552122,0.999999966887,2.89621618788e-05,-0.000254929756396,1.99592041511e-05,1793239756451737856
+79,1.316666667,BASELINE,766,746,715,680.15467354,665,635.15467354,879,787.84532646,803.84532646,652.84532646,632,653,0.400984787205,0.00449317506353,0.0698394190449,0.999999966898,3.08588746536e-05,-0.00025464558727,2.01629045639e-05,1793239756468404480
+80,1.333333333,BASELINE,766,746,715,680,664.576684027,635,879,788,803.576684027,652.576684027,631.576684027,653,0.400984124005,0.00449211465876,0.0698390381275,0.999999966515,2.90053653994e-05,-0.000256348652476,2.03615069876e-05,1793239756485070848
+81,1.350000000,BASELINE,765.999298159,746,715,680,664,635,879.000701841,787.999298159,803,652.000701841,631,653,0.40098341057,0.00449041403801,0.0698383515269,0.999999965975,2.57898495114e-05,-0.00025877009762,2.05579321846e-05,1793239756501737472
+82,1.366666667,BASELINE,765.414255322,746,715,680,664,635,879.585744678,787.414255322,803,652.585744678,631,653,0.400983843551,0.00448971398532,0.0698391247365,0.999999966415,2.49396132486e-05,-0.000257153684524,2.04863553684e-05,1793239756518404352
+83,1.383333333,BASELINE,765.169217405,745.830782595,715,680,664,635,879.830782595,787,803,652.830782595,631,653,0.40098476157,0.00448915785722,0.0698399598254,0.999999966885,2.430350842e-05,-0.000255381755241,2.04671124505e-05,1793239756535070976
+84,1.400000000,BASELINE,765.748881853,745.251118147,715,680,664,635,879.251118147,787,803,652.251118147,631,653,0.400986856083,0.00448895082674,0.0698409450063,0.999999967432,2.41867921548e-05,-0.000253232611715,2.05748085519e-05,1793239756551737600
+85,1.416666667,BASELINE,766,745.327218616,715,680,664,635,879,787,803.327218616,652,631.327218616,653,0.400986986737,0.00449006743525,0.0698408279073,0.999999967464,2.57618983074e-05,-0.000252971489679,2.03170288243e-05,1793239756568404224
+86,1.433333333,BASELINE,766,745.904540553,715,680,664,635,879,787,803.904540553,652,631.904540553,653,0.400985616353,0.00449219574204,0.0698398683016,0.999999967098,2.86301167265e-05,-0.000254153441058,1.97799045973e-05,1793239756585071104
+87,1.450000000,BASELINE,766,745.520473341,715,680,664,635,879,787,804,652,631.520473341,653,0.400985998526,0.00449239543147,0.0698402603386,0.999999967179,2.97873703229e-05,-0.000253651562403,2.03616736555e-05,1793239756601737728
+88,1.466666667,BASELINE,766,745,715,680,664,635,879,787.055243281,804,652,631.055243281,653,0.400986490408,0.00449217177951,0.0698407733402,0.999999967302,3.04041536168e-05,-0.000253037333191,2.10701740768e-05,1793239756618404608
+89,1.483333333,BASELINE,766,745,715,680,664,635,879,787.642450352,804,652,631.642450352,653,0.400984695463,0.00449155069676,0.0698398727092,0.999999966961,2.90804115396e-05,-0.000254553383257,2.08645756979e-05,1793239756635071232
+90,1.500000000,BASELINE,766,745,715,680,664,635,879,787.772140941,803.772140941,652,632,653,0.400984036799,0.00449121645306,0.0698394219171,0.999999966805,2.84268302582e-05,-0.000255250801721,2.06886332171e-05,1793239756651737856
+91,1.516666667,BASELINE,766,745,715,680,664,635,879,787.189532128,803.189532128,652,632,653,0.400985147194,0.00449132878408,0.0698396714715,0.999999966944,2.88166106309e-05,-0.000254673706933,2.05588615006e-05,1793239756668404480
+92,1.533333333,BASELINE,766,745.387967627,715,679.612032373,664,635.387967627,879,787,803.387967627,652.387967627,632,652.612032373,0.400984793517,0.00449137056823,0.0698396246963,0.999999966909,2.87001889127e-05,-0.000254823330561,2.05830739567e-05,1793239756685071104
+93,1.550000000,BASELINE,766,745.963003968,715,679.036996032,664,635.963003968,879,787,803.963003968,652.963003968,632,652.036996032,0.400983733899,0.00449137833636,0.0698394350379,0.99999996679,2.83396886833e-05,-0.000255323360383,2.06815338877e-05,1793239756701737984
+94,1.566666667,BASELINE,766.547522775,746,715,679.547522775,664.547522775,635.452477225,879,787,803.452477225,653,631.452477225,652.547522775,0.400984457599,0.00449003462586,0.0698387975487,0.99999996674,2.73430717182e-05,-0.000255614247575,2.08087879028e-05,1793239756718404352
+95,1.583333333,BASELINE,766.737311685,746,715,679.868655843,664.868655843,635,879,787,803.131344157,653,631,653,0.40098510117,0.00448907931273,0.0698384439554,0.999999966742,2.63826078983e-05,-0.000255710916691,2.0791172528e-05,1793239756735071232
+96,1.600000000,BASELINE,765.578871674,746,715,679.289435837,664.289435837,635,879,787,803.710564163,653,631,653,0.400985053374,0.00448976529255,0.0698391634335,0.999999966902,2.56945741682e-05,-0.000255194351341,2.02728097443e-05,1793239756751737856
+97,1.616666667,BASELINE,765.290082645,745.709917355,715,679,664,635,879,787,804,653,631,653,0.4009844959,0.00449060890424,0.0698391441836,0.999999966725,2.70632720214e-05,-0.000255748136102,2.0238831298e-05,1793239756768404480
+98,1.633333333,BASELINE,765.869899211,745.130100789,715,679,664,635,879,787,804,653,631,653,0.400983429361,0.00449160995825,0.0698383870937,0.999999966201,3.04862289849e-05,-0.000257370984275,2.0688654914e-05,1793239756785071104
+99,1.650000000,BASELINE,766,745.445527027,715,679.445527027,664,635,879,787,803.554472973,653,631,653,0.400983171096,0.00449151080346,0.0698384005474,0.999999966272,3.03325743554e-05,-0.000257118383615,2.06234864721e-05,1793239756801737728
+100,1.666666667,BASELINE,766,746,715,680,664.020011275,635.020011275,879.020011275,787,803.020011275,653,631.020011275,652.979988725,0.40098315846,0.0044911141377,0.069838664198,0.999999966517,2.91357207253e-05,-0.000256321754876,2.04183185358e-05,1793239756818404096
+101,1.683333333,BASELINE,766,746,715,680,664.59639246,635.59639246,879.59639246,787,803.59639246,653,631.59639246,652.40360754,0.40098347385,0.00449129506347,0.0698396863625,0.999999966771,2.77025131409e-05,-0.000255484282994,2.04629709178e-05,1793239756835070720
+102,1.700000000,BASELINE,766,745.82257799,715,680,664.82257799,635.82257799,880,787,803.82257799,653,632,652.17742201,0.400984084082,0.00449163888895,0.069840429953,0.99999996701,2.7100203745e-05,-0.000254613037844,2.04568910762e-05,1793239756851737344
+103,1.716666667,BASELINE,766,745.230689717,715,680,664.230689717,635.230689717,880,787,803.230689717,653,632,652.769310283,0.400985383079,0.00449236325585,0.0698405227807,0.999999967216,2.84389122759e-05,-0.000253662896846,2.03322983392e-05,1793239756868404224
+104,1.733333333,BASELINE,766,745.351406756,714.648593244,679.648593244,664,635,879.648593244,787.351406756,803.351406756,653,631.648593244,653,0.400985305525,0.00449204654618,0.0698404575929,0.999999967214,2.86477553256e-05,-0.000253649126961,2.0352389359e-05,1793239756885071360
+105,1.750000000,BASELINE,766,745.927249472,714.072750528,679.072750528,664,635,879.072750528,787.927249472,803.927249472,653,631.072750528,653,0.400984348798,0.00449106492328,0.0698402914839,0.999999967077,2.81349776464e-05,-0.00025423339714,2.04648867803e-05,1793239756901739008
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636,879,787,804,653,631,652,0.400983673757,0.00449145724769,0.0698404975528,0.999999967085,2.71288417401e-05,-0.000254311997034,2.04816259973e-05,1793239756932258048
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.420231705,745.579768295,715,680,664.420231705,635.420231705,879,787,804,653,631,652.579768295,0.400985085311,0.00449191076306,0.0698408336093,0.999999967269,2.78950045765e-05,-0.000253526901877,2.02087439201e-05,1793239756948925440
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.158978211,745.841021789,714.841021789,680,664,635,879,787,803.841021789,652.841021789,631,653,0.400985725993,0.00449256228771,0.069840825147,0.999999967289,2.90688702302e-05,-0.000253321834791,2.01130940022e-05,1793239756965592832
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.736717443,745.263282557,714.263282557,680,664,635,879,787,803.263282557,652.263282557,631,653,0.400984336137,0.00449373538437,0.0698399091954,0.999999966878,3.13166571022e-05,-0.000254644606757,2.04842873696e-05,1793239756982259200
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680,664,635,879.313332773,787,803.313332773,652.313332773,631,653,0.40098414965,0.0044936654867,0.069839866617,0.999999966923,3.08642948517e-05,-0.000254518901882,2.05265708767e-05,1793239756998925312
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,664,635,879.889007067,787,803.889007067,652.889007067,631,653,0.400984970697,0.00449255487745,0.0698405552803,0.999999967348,2.81512010907e-05,-0.000253180442783,2.02934707409e-05,1793239757015591424
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.465459242,714.465459242,680,664,635,879.534540758,787,804,653,631,653,0.400985034892,0.00449151639888,0.0698405528933,0.999999967346,2.64507719901e-05,-0.000253372264068,2.02770909438e-05,1793239757032257792
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.956984038,715,680,664,635,879,787.043015962,803.956984038,652.956984038,631,652.956984038,0.400984900925,0.00449055088102,0.0698403389409,0.999999967219,2.52113848224e-05,-0.000253994400926,2.03186520628e-05,1793239757048924416
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.367761279,715,680,664,635,879,787.632238721,803.367761279,652.367761279,631,652.367761279,0.400984546244,0.00449029303151,0.0698395345133,0.999999966809,2.6754824541e-05,-0.000255439297777,2.04386282155e-05,1793239757065591040
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787.782612791,803.217387209,652.217387209,631,652,0.400986243613,0.00449021338454,0.0698401450842,0.999999966939,2.78037628577e-05,-0.000254806837809,2.05495457044e-05,1793239757082258176
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787.204230138,803.795769862,652.795769862,631,652,0.400991348633,0.00449042966258,0.0698431054166,0.999999967963,2.8031526889e-05,-0.000250724697526,2.06454202708e-05,1793239757098925568
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787,804,653,631.371069994,652.371069994,0.401009159747,0.00448996882566,0.0698516683488,0.999999971384,2.7575654109e-05,-0.000236723593591,2.08036769361e-05,1793239757115592192
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787,804,653,631.944687593,652.944687593,0.40103390645,0.00448913838729,0.0698632894461,0.99999997581,2.67466199394e-05,-0.000217308248309,2.09959847127e-05,1793239757132258304
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.466436609,745,715,680,664,635,879,787,804,652.466436609,631.466436609,653,0.401079389624,0.00448941012115,0.0698801784019,0.999999981578,2.56379553784e-05,-0.000189093536701,2.07402596981e-05,1793239757148925184
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.121781365,745,715,680,664,635,879,787,804,652.121781365,631.121781365,653,0.401130113203,0.00448979274793,0.0698968065672,0.999999986217,2.44453253247e-05,-0.000162939050449,2.04541040345e-05,1793239757165592064
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.701404649,745,715,680,664,635,879,787,804,652.701404649,631.701404649,653,0.401192218634,0.00449015007869,0.069910340768,0.999999988569,2.30492138771e-05,-0.000148060449515,2.02332983126e-05,1793239757182258688
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787.279442385,803.720557615,652.720557615,631.720557615,653,0.401261707756,0.00449070103511,0.0699194002288,0.999999990316,2.25178777194e-05,-0.000135967042896,1.93336617609e-05,1793239757198925056
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787.855795426,803.144204574,652.144204574,631.144204574,653,0.401339042129,0.00449145772091,0.0699237052276,0.999999991538,2.29053750519e-05,-0.000126832937255,1.77127598868e-05,1793239757215591680
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.42991199,635,879,787.57008801,803,652,631,653,0.40142701885,0.00449197824145,0.0699243676437,0.999999991676,2.17847276561e-05,-0.000126208271868,1.56200787869e-05,1793239757232258304
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.996607572,635,879,787,803.003392428,652,631.003392428,652.996607572,0.401518657861,0.00449241053702,0.0699238003533,0.999999991458,2.01432036521e-05,-0.000128448786711,1.33713588373e-05,1793239757248925184
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.40398995,635,879,787,803.59601005,652,631.59601005,652.40398995,0.401629580147,0.00449120695881,0.0699207658266,0.999999990684,1.54412035305e-05,-0.000135143783424,1.13640926617e-05,1793239757265591808
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879.183835214,787,804,652,631.816164786,652,0.401754475228,0.00449002871083,0.0699207438119,0.999999990618,1.04344777381e-05,-0.000136277359358,9.13351886738e-06,1793239757282258432
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879.76139614,787,804,652,631.23860386,652,0.401909296272,0.00448890471355,0.0699271737903,0.999999992093,4.77511190663e-06,-0.000125499862992,6.42468031525e-06,1793239757298925312
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.662758672,664,635,879.662758672,787,803.662758672,652.337241328,631.337241328,652,0.402082230294,0.00448739966219,0.069931494067,0.999999993161,-1.6221592957e-06,-0.000116901577462,3.1678086365e-06,1793239757315591936
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.088121195,664,635,879.088121195,787,803.088121195,652.911878805,631.911878805,652,0.402267914699,0.00448562637322,0.0699343292505,0.999999993931,-8.53886887617e-06,-0.000109837314736,-4.74843302211e-07,1793239757332258304
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.497069416,664,635,879,787,803,652.502930584,632,652.497069416,0.402470283,0.00447952479956,0.0699352485282,0.999999993998,-2.15299351181e-05,-0.000107363057493,-3.81686833915e-06,1793239757348924928
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.082999746,715,679.917000254,664,635,879,787,803,652.082999746,631.917000254,653,0.402681754526,0.00447217072365,0.0699359349779,0.999999993765,-3.6151180003e-05,-0.000105417198119,-7.04894998628e-06,1793239757365591808
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.661929103,715,679.338070897,664,635,879,787,803,652.661929103,631.338070897,653,0.402929562489,0.00446201712339,0.0699373037461,0.999999993328,-5.39389160126e-05,-0.000101661036048,-9.9494656162e-06,1793239757382258176
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.759735051,715,679.240264949,664.240264949,635,879,787,803.240264949,652.759735051,631,653,0.403200901673,0.00445782646697,0.0699433620127,0.99999999384,-6.36739685913e-05,-8.98804082745e-05,-1.37054896226e-05,1793239757398924544
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.182232295,715,679.817767705,664.817767705,635,879,787,803.817767705,652.182232295,631,653,0.403505269452,0.00446200544691,0.0699560024967,0.999999995664,-6.21062091487e-05,-6.6836576404e-05,-1.86623118623e-05,1793239757415591168
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635,879.392322451,787,804,652.392322451,631,652.607677549,0.403828789216,0.0044649505596,0.0699633521313,0.999999996508,-5.83735818202e-05,-5.54920659856e-05,-2.23182977676e-05,1793239757432258304
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635,879.965518055,787,804,652.965518055,631,652.034481945,0.404161138646,0.00446732682005,0.0699682625152,0.999999997012,-5.36428814522e-05,-4.95413162591e-05,-2.53745565303e-05,1793239757448925440
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.44383336,745,714.44383336,680,665,635,879.44383336,787,803.44383336,653,631.55616664,652.55616664,0.404519320561,0.00447130317278,0.0699692117148,0.99999999837,-2.15147561124e-05,-4.83810406243e-05,-2.13777779534e-05,1793239757465592064
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.144605777,714.144605777,680,664.855394223,635,879,787,803,652.855394223,631.855394223,653,0.404890176296,0.00447628457763,0.0699705199639,0.999999998721,6.63343419543e-06,-4.63591346542e-05,-1.9113913147e-05,1793239757482258432
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.723064249,714.723064249,680,664.276935751,635,879,787,803,652.276935751,631.276935751,653,0.405294095667,0.00448397410308,0.0699736661526,0.999999998738,1.75794533504e-05,-4.0832167291e-05,-2.34036757238e-05,1793239757498925056
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.300183437,746,715,680,664,635,878.699816563,787,803,652.300183437,631,653,0.405718084353,0.00448758746949,0.0699756945036,0.999999998687,2.54151308071e-05,-3.62427141526e-05,-2.58289779318e-05,1793239757515592192
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.876072614,746,715,680,664,635,878.123927386,787,803,652.876072614,631,653,0.406160505901,0.0044874570578,0.0699766961688,0.999999998657,3.03940927498e-05,-3.25143273876e-05,-2.65418529571e-05,1793239757532259328
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.550826489,746,714.550826489,679.550826489,664.449173511,635,878.898347022,787,803,653,631,652.550826489,0.406620232118,0.00449603200415,0.0699621278547,0.999999997901,9.31732537124e-06,-5.75671023488e-05,-2.82414341398e-05,1793239757548925952
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.022436903,746,714.022436903,679.022436903,665,635,880,787,803,653,631,652.022436903,0.407086971506,0.00450673973073,0.0699437314801,0.999999995403,-1.70512788354e-05,-8.93924041038e-05,-3.02126931618e-05,1793239757565592320
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.619440927,746,714.619440927,679.619440927,665,635,880,787,803,653,631,652.619440927,0.407611797291,0.004510937412,0.0699366336211,0.99999999519,4.02203094953e-06,-9.25562827834e-05,-3.22127447203e-05,1793239757582258688
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,679.790769589,665,635,880,787,803,652.790769589,631,653,0.408161315216,0.00451567340684,0.0699385663019,0.999999995791,2.19738446218e-05,-8.23000041723e-05,-3.40961736417e-05,1793239757598925568
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,679.213664929,665,635,880,787,803,652.213664929,631,653,0.408754247461,0.0045213558781,0.0699563767086,0.999999997594,3.44373628754e-05,-4.84480622455e-05,-3.57745535371e-05,1793239757615592704
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.63910536,746,714.63910536,679.721789281,665,635,879.63910536,787.36089464,803,652,631,653,0.409352469308,0.00452789899035,0.0699629968871,0.999999997892,4.27474101484e-05,-3.19885616899e-05,-3.69449797759e-05,1793239757632259072
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.06604206,746,714.06604206,680.86791588,665,635,879.06604206,787.93395794,803,652,631,653,0.409953800872,0.00453494807014,0.0699630383701,0.999999997772,4.86156463642e-05,-2.57540160091e-05,-3.78167818466e-05,1793239757648924928
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,746,714.520998054,680.479001946,665,635,879,787.479001946,803,652,631,653,0.410569104432,0.00454219668507,0.069952668535,0.999999996964,4.94611503035e-05,-4.55837633456e-05,-3.93448168605e-05,1793239757665591552
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.108068872,746,715,679.891931128,665,635,879,787.108068872,803.108068872,652.108068872,631.108068872,653,0.411201138593,0.00454957753557,0.069945818647,0.999999995983,5.29532243529e-05,-5.97985106796e-05,-4.06796884306e-05,1793239757682257920
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.687335502,746,715,679.312664498,665,635,879,787.687335502,803.687335502,652.687335502,631.687335502,653,0.411898185532,0.00455742162981,0.0699602292313,0.999999996056,7.0837347095e-05,-3.47281729477e-05,-4.07996394312e-05,1793239757698924544
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.734597049,746,715,679,665,635,879,787.734597049,803.734597049,653,631.734597049,652.734597049,0.412616744692,0.00456371642266,0.0699842326256,0.999999995643,8.36715609458e-05,4.05854361568e-06,-4.118732107e-05,1793239757715591680
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.157935896,746,715,679,665,635,879,787.157935896,803.157935896,653,631.157935896,652.157935896,0.413360532959,0.00456819423307,0.0700194862387,0.999999993284,9.05833652137e-05,5.89315029267e-05,-4.18889907269e-05,1793239757732258816
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,715,679.425581592,664.574418408,635,879,787,803.425581592,652.574418408,631,652.425581592,0.414096639287,0.0045766896434,0.0700284143815,0.999999991688,9.88005203292e-05,7.11741257436e-05,-4.2378920624e-05,1793239757748925696
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.988442814,714.988442814,680,664.011557186,635,879,787.011557186,804,652,631.011557186,653,0.414829101956,0.00458665061314,0.0700263176325,0.99999999116,0.000107520497643,6.54608564613e-05,-4.2819487384e-05,1793239757765592576
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.408756914,714.408756914,680,664.591243086,635,879,787.591243086,804,652,631.591243086,653,0.415524886783,0.00459416307444,0.0699703740635,0.999999991654,0.000116755011664,-3.24960055148e-05,-4.47594442593e-05,1793239757782258944
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.170596068,745.170596068,714.170596068,680,665,635,879.170596068,788,804,652,631.829403932,653,0.416253372792,0.00460092411493,0.0699298239643,0.999999985972,0.000124273863017,-0.00010211032587,-4.67449797694e-05,1793239757798925568
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.74915288,745.74915288,714.74915288,680,665,635,879.74915288,788,804,652,631.25084712,653,0.417060059849,0.00460588821911,0.0699260855686,0.999999985253,0.000127689907522,-0.000103946734759,-4.88395120739e-05,1793239757815591936
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.32538583,879.67461417,788,804,652,631,652.67461417,0.417877075883,0.00461087336091,0.0699424440351,0.999999987213,0.000131635262608,-7.64733145274e-05,-4.89603628901e-05,1793239757832258304
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.899839941,879.100160059,788,804,652,631,652.100160059,0.418701998251,0.00461587460583,0.0699741857499,0.99999998927,0.000135985780827,-2.65645323931e-05,-4.75704487193e-05,1793239757848924928
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.472729303,787.527270697,804,652,631,652.472729303,0.419545619358,0.00461902847928,0.0699951495744,0.999999988936,0.000140599380888,1.73453586847e-06,-4.85538854137e-05,1793239757865591808
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,714.952785769,680.047214231,665,635.952785769,880.047214231,787,804,652,631,653,0.420395550882,0.00462083976208,0.0700135618121,0.999999988049,0.000144044719047,2.55426607923e-05,-5.00074944232e-05,1793239757882258688
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,714.355877726,680.644122274,665,635.355877726,880.644122274,787,804,652,631,653,0.421272977524,0.00461156189066,0.0700287660156,0.999999988558,0.000133241688493,5.01952474067e-05,-5.10998909191e-05,1793239757898925312
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.76765537,714.23234463,680.76765537,665,635,880.53531074,787,803.76765537,652,631,653,0.42212022827,0.00459728702014,0.0700230621489,0.999999991223,0.000114880560084,4.07987458648e-05,-5.18844258842e-05,1793239757915591936
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.192257217,714.807742783,680.192257217,665,635,879.384514434,787,803.192257217,652,631,653,0.42292292487,0.00457563415058,0.069986487818,0.999999994816,8.53600064306e-05,-1.88707437319e-05,-5.22144077486e-05,1793239757932258304
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.616143683,635,879.383856317,787,803.383856317,652,631.383856317,653,0.423702938151,0.00457363719369,0.0699235973695,0.999999988334,8.38047852428e-05,-0.000115822283194,-5.37906512089e-05,1793239757948924928
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.039671211,635,879.960328789,787,803.960328789,652,631.960328789,653,0.424471569069,0.00458150342431,0.0698475016972,0.999999967005,9.6282354313e-05,-0.00023148166456,-5.59922586313e-05,1793239757965591296
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.453447232,745,714.453447232,680,664.546552768,635,879.453447232,787,804,652.546552768,631.453447232,653,0.4253876383,0.00458951929584,0.0698813075631,0.999999979196,9.59845696366e-05,-0.000170306262226,-5.82225203767e-05,1793239757982258176
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.131860918,714.131860918,680.131860918,665,635.131860918,879.131860918,787,804,652.868139082,631,652.868139082,0.426309567822,0.00459634807904,0.0699257134952,0.999999988796,9.77909065365e-05,-9.67245518719e-05,-5.90708626093e-05,1793239757998924800
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.711610402,714.711610402,680.711610402,665,635.711610402,879.711610402,787,804,652.288389598,631,652.288389598,0.427214392196,0.00459910714615,0.0699785364359,0.999999992108,0.000109951184437,-2.53924944662e-05,-5.52180822076e-05,1793239758015591424
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.288873441,746,715,680.711126559,665,635.711126559,880,787,804,652,631,652,0.428109658174,0.00460160273921,0.0700170917575,0.999999991267,0.000117212944213,2.83891699355e-05,-5.40493352361e-05,1793239758032258304
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.863675349,746,715,680.136324651,665,635.136324651,880,787,804,652,631,652,0.428995463148,0.00460383754409,0.0700415249108,0.999999989203,0.000119626124326,6.47993578175e-05,-5.55372591985e-05,1793239758048925184
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.56345494,746,715,680.43654506,665,635,880,787.43654506,804,652,631.43654506,652.43654506,0.429837430215,0.00460390829239,0.070040069463,0.999999989209,0.000119433392728,6.46758501032e-05,-5.59922556301e-05,1793239758065591808
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.009178592,745.990821408,715,680.990821408,665,635,880,787.990821408,804,652,631.990821408,652.990821408,0.43066464323,0.00460337856191,0.0700296190684,0.999999990071,0.000118557972489,5.14910338574e-05,-5.61358093247e-05,1793239758082258176
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665.020652291,635,880.020652291,787,804,652,631.020652291,652.979347709,0.439648331291,0.00460406204351,0.0698361464826,0.999999964525,0.000115394853073,-0.000232262413437,-6.07315175234e-05,1793239758282258944
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714.264770046,681.735229954,664,634.264770046,880,787,804,652,631,652.264770046,0.44155792971,0.00462531952419,0.0698398604623,0.999999964764,0.000134170998077,-0.000220913091367,-6.05642619034e-05,1793239758332258816
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765.886169464,746,714.886169464,682,663.113830536,634,880,787,804.886169464,652,631.886169464,652.886169464,0.442737196977,0.00463888887221,0.0698701227869,0.999999967324,0.000157554075542,-0.000191966133933,-6.06384169687e-05,1793239758365592064
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.219548319,745,714,682,660.780451681,634,880,786.780451681,804.780451681,652,631.219548319,653,0.44461912866,0.00466227234321,0.0697371223083,0.999999894783,0.00021457699281,-0.000401372367703,-5.73649081323e-05,1793239758432260096
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.427123471,714,682,656.427123471,631,880.572876529,786,804,652,631,653,0.449827005032,0.00478155525338,0.0696278873629,0.999999775234,0.000330744592095,-0.000579526495368,-6.54846811061e-05,1793239759098924544
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714,682,656.984175667,631.015824333,880,786,804.015824333,652,631,653,0.449829023312,0.00478033261086,0.0696289490882,0.999999775793,0.000331276176535,-0.000578298221306,-6.51202885612e-05,1793239759115591168
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656.404761526,631.595238474,880,786,804.595238474,652,631,653,0.449828313689,0.00478086097302,0.0696286689522,0.999999775458,0.000330138041677,-0.000579481010644,-6.55363706231e-05,1793239759132257792
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.826658281,714,682.173341719,656,632,880.173341719,786,805,652,631,653,0.449827515194,0.00478154478825,0.0696281040481,0.999999774735,0.00033016005717,-0.000580685627475,-6.57957702409e-05,1793239759148924416
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.251593106,714,682.748406894,656,632,880.748406894,786,805,652,631,653,0.449826510734,0.00478258886953,0.0696268791873,0.999999773113,0.0003328707481,-0.000581940829953,-6.56920546328e-05,1793239759165591296
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765.073447733,745.926552267,714,682,656.926552267,632,881,786,804.073447733,652,631,652.073447733,0.449831914983,0.00478289487993,0.0696300980898,0.999999775754,0.000332560940559,-0.000577574552816,-6.55945265112e-05,1793239759232257792
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.806331516,713.193668484,682,656.806331516,632,880.193668484,786,804.193668484,652,631,653,0.449830059644,0.00478027237055,0.0696286833922,0.999999776558,0.000326942682629,-0.000579450158496,-6.5042474392e-05,1793239759282257920
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+256,4.266666667,HOLD_POSE2,765,746,714,682.750814562,656.750814562,631.750814562,881,786,804.750814562,652,631,653,0.449831091249,0.00478258293665,0.0696280779503,0.999999775243,0.000330045462553,-0.000579972402443,-6.4933994633e-05,1793239759452842240
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+267,4.450000000,HOLD_POSE2,765,745.13984014,714,682,656,631.86015986,880.86015986,786,804.86015986,652,631,653,0.44983233523,0.00478035322556,0.0696285942594,0.999999776525,0.000324977664235,-0.000580680696535,-6.44120522041e-05,1793239759636175616
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.245920367,714,682,656,631.245920367,881,786,804,652,631,653,0.449835142167,0.00478050279902,0.0696288576958,0.999999777247,0.000326341057315,-0.000578662373187,-6.44702120532e-05,1793239759768845056
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,631.620488045,880.379511955,786,804.620488045,652,631,652.620488045,0.448980516604,0.00477777621575,0.0695438772279,0.999999680744,0.000340659396565,-0.000720944838624,-5.19789927798e-05,1793239760052178176
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.19923721,656,631.80076279,880.19923721,786,805,652,631,653,0.44882304318,0.00477672380428,0.069544674805,0.999999679941,0.000343294601317,-0.000721015835083,-4.90234722269e-05,1793239760068844800
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.77739216,656,631.22260784,880.77739216,786,805,652,631,653,0.448643367748,0.00477640678319,0.0695446100533,0.999999676792,0.000348692093087,-0.000723007979057,-4.57040997827e-05,1793239760085511424
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.645888566,656.354111434,631.354111434,880.645888566,786,804.645888566,652.354111434,631,653,0.448440330298,0.00477452145013,0.0695416622131,0.999999670981,0.000352400613032,-0.000729438780417,-4.20812688504e-05,1793239760102178304
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.070068112,656.929931888,631.929931888,880.070068112,786,804.070068112,652.929931888,631,653,0.44822266588,0.00477165419757,0.0695369092725,0.999999663436,0.000355051668928,-0.00073864862345,-3.82684423595e-05,1793239760118844928
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.501475864,745.501475864,714,682,657,632,880,786,804,652.498524136,631,653,0.447971142567,0.00476888014434,0.069535148578,0.999999657251,0.000357787446799,-0.000745918569327,-3.30314867671e-05,1793239760135511296
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.924575115,746,714,682,657.075424885,632,880,786,804.075424885,652,631,653,0.447711893879,0.00476635020547,0.0695349277449,0.999999652421,0.000360795413588,-0.000751145068457,-2.76709734882e-05,1793239760152178176
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.329993617,746,714,682,657.670006383,632,880,786,804.670006383,652,631,653,0.447431758417,0.00476541165255,0.0695424525167,0.999999656025,0.000365596092981,-0.000744156220055,-2.28180479325e-05,1793239760168844800
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.742532027,632,880.257467973,786,805,652,631,653,0.447130720998,0.00476330221686,0.0695457231143,0.999999658182,0.000369094747978,-0.000739652585989,-1.78557603513e-05,1793239760185511168
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.163950411,632,880.836049589,786,805,652,631,653,0.446803614709,0.00475973245809,0.0695436879121,0.999999658604,0.000370969519975,-0.000738248507724,-1.27570769205e-05,1793239760202177792
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.412245927,632.412245927,881,786,805,652,631,653,0.446456485259,0.00475630865185,0.069549019008,0.999999667326,0.00037268734748,-0.000725530372697,-7.59784783838e-06,1793239760218844672
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.987499082,632.987499082,881,786,805,652,631,653,0.446101438406,0.00475294255715,0.069557262831,0.999999679059,0.000374343117012,-0.000708338517055,-2.41467836271e-06,1793239760235511552
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,658.575982743,633,881,786.575982743,804.424017257,652,631,652.424017257,0.445718024493,0.00474364932674,0.0695758432061,0.999999705461,0.000368238206609,-0.000673404238855,2.37899824199e-06,1793239760252178176
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.162161702,746,714,682,659,633,881,786.837838298,804,652,631,652.162161702,0.445318035805,0.00473130733029,0.0695928860007,0.999999729466,0.000357557094162,-0.000642787522597,6.66483677582e-06,1793239760268844800
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.741652962,746,714,682,659,633,881,786.258347038,804,652,631,652.741652962,0.44487701304,0.0047114580597,0.0696053808447,0.999999748786,0.000335542611593,-0.000624296534781,9.66599983916e-06,1793239760285511424
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,659.318851617,633,881.318851617,786.318851617,804.318851617,652,631,653,0.444404818035,0.0046885264915,0.069615757748,0.999999770851,0.000288663169199,-0.000612307626424,7.13676671453e-06,1793239760302177792
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,682,659.89420603,633,881.89420603,786.89420603,804.89420603,652,631,653,0.44390754622,0.00466311534157,0.0696244308579,0.999999792062,0.000221780902804,-0.000605549365297,1.58561352943e-07,1793239760318844416
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.52061342,745.52061342,714,682,660,633,881.04122684,787,805,652,631,653,0.443372798609,0.0046557219742,0.06963279595,0.999999800744,0.000211881992438,-0.000594644954844,3.95301635645e-06,1793239760335511296
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.065948112,714,681.934051888,660.065948112,633,880,787,805,652,631.065948112,653,0.442828587217,0.00465256565493,0.0696434356693,0.999999809514,0.000213929653339,-0.000578884892468,9.90000785709e-06,1793239760352177920
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.646016903,714,681.353983097,660.646016903,633,880,787,805,652,631.646016903,653,0.442276421259,0.00465079360059,0.0696723490264,0.999999836254,0.000209023259542,-0.000532553396461,1.37063455386e-05,1793239760368845056
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.225520898,745.774479102,714,681.225520898,661,633.225520898,880.225520898,787,804.774479102,652,632,653,0.441712605297,0.00464587424352,0.0697003694266,0.99999986445,0.000191987848104,-0.000483747748299,1.50937841489e-05,1793239760385511936
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.804140558,745.195859442,714,681.804140558,661,633.804140558,880.804140558,787,804.195859442,652,632,653,0.441130548922,0.00463602714501,0.0697269917194,0.999999894847,0.000155961996856,-0.000431068315337,1.26939448337e-05,1793239760402178560
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745.379029213,714,682,661.379029213,634.379029213,880.620970787,787,804,652,631.620970787,653,0.440525344331,0.00462875143538,0.0697576263815,0.999999919229,0.000134927622044,-0.000378327974901,1.43137224358e-05,1793239760418845184
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745.952008684,714,682,661.952008684,634.952008684,880.047991316,787,804,652,631.047991316,653,0.439908294754,0.00462279151259,0.0697903141828,0.999999939456,0.00012156442664,-0.000325556469194,1.79903487804e-05,1793239760435511808
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,662.526065709,635,880,787,804.526065709,652,631,653,0.439185814298,0.00461737913161,0.0697710653277,0.999999930314,0.000104244270343,-0.000357962746606,1.91946623505e-05,1793239760452178176
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745.89604639,714,681.89604639,663.10395361,635,880.10395361,787,804.89604639,652,631.10395361,653,0.438452628985,0.00461135734676,0.0697490474153,0.999999917342,0.000104991312411,-0.000392314667534,1.95250289306e-05,1793239760468844544
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745.300508727,714,681.300508727,663.699491273,635,880.699491273,787,804.300508727,652,631.699491273,653,0.437714398239,0.0046022170716,0.0697363864721,0.999999901638,0.000192886496428,-0.00039904611061,1.67913522743e-05,1793239760485511424
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.714134889,745,714,681,664,635,880.714134889,787,804.285865111,652,631.714134889,653,0.436979635182,0.00459575314825,0.0697458444952,0.999999900467,0.000235854294073,-0.000378368048113,1.6640059587e-05,1793239760502178304
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.137095012,745,714,681,664,635,880.137095012,787,804.862904988,652,631.137095012,653,0.436248404133,0.00459201528614,0.0697778323203,0.999999918284,0.000233060236034,-0.000329771378698,1.91191157775e-05,1793239760518845184
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.43627645,745.43627645,714,681.43627645,663.56372355,635,880,787,804.56372355,652,631,652.56372355,0.435500966113,0.00459006743725,0.0698161771281,0.999999937759,0.000214488010154,-0.000279329553395,2.12801184794e-05,1793239760535511552
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,746,714,681.991195177,663.008804823,635,880,787,804.008804823,652,631,652.008804823,0.434747031646,0.00458857140185,0.0698557721689,0.999999955207,0.00019084309588,-0.000229391449696,2.33415520112e-05,1793239760552178432
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,746,714,681.398775632,663.601224368,635,880,787,804.601224368,652,631,652.601224368,0.433897244633,0.00458005010514,0.0698469325937,0.999999955886,0.000156863359063,-0.000250953651632,2.5372653835e-05,1793239760568844800
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.811588324,745.811588324,714.188411676,681,663.811588324,635,880,787,804.811588324,652,631.188411676,653,0.433054534116,0.00457290723143,0.0698411075543,0.99999995664,0.000131648893771,-0.000262041811521,2.687180289e-05,1793239760585511424
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.235175923,745.235175923,714.764824077,681,663.235175923,635,880,787,804.235175923,652,631.764824077,653,0.432226396447,0.00456860297809,0.069841490422,0.999999960238,0.00012448496684,-0.000251560522375,2.72754886733e-05,1793239760602178048
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.658471408,681,663.341528592,635,880,787,804,652,631.658471408,652.658471408,0.431341299196,0.00456617586422,0.0698167935369,0.999999948827,0.000125978336832,-0.000292761887096,2.76580245731e-05,1793239760618844672
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.081565596,681,663.918434404,635,880,787,804,652,631.081565596,652.081565596,0.430416946151,0.00456504245148,0.0697748120007,0.999999922409,0.00013343820696,-0.00036958228756,2.8025984093e-05,1793239760635511296
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.497096796,663.497096796,635,880,787,804,652,631,652,0.429545009286,0.00455756989177,0.0697447509643,0.999999908069,0.000123732955373,-0.000409638813421,2.73491115586e-05,1793239760652177920
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.087492745,714,680,663.087492745,635,880,787,804,652,631.087492745,652,0.428685717828,0.00454933939535,0.0697315653431,0.99999990407,0.000111547356721,-0.000422716262406,2.69864896824e-05,1793239760668844800
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.665773512,714,680,663.665773512,635,880,787,804,652,631.665773512,652,0.427848944553,0.00454271267276,0.0698020310629,0.999999943744,0.000101303545703,-0.000318413697338,2.93517469482e-05,1793239760685511680
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.244585651,745.755414349,714.244585651,680.244585651,664,635,880,787,804.244585651,652,631.755414349,652.244585651,0.427003104669,0.00453606793314,0.0698543884474,0.999999965906,9.41994962279e-05,-0.000241462840161,3.17882186901e-05,1793239760702178560
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.824125574,745.175874426,714.824125574,680.824125574,664,635,880,787,804.824125574,652,631.175874426,652.824125574,0.426144848162,0.00452939851868,0.0698819469045,0.999999974839,9.13952756378e-05,-0.000201969489304,3.43222176288e-05,1793239760718844672
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.599221823,745,714.599221823,681,663.599221823,635,880,787.400778177,804.599221823,652,631,653,0.425255213901,0.00452074553903,0.0698699209765,0.999999972148,8.33528718539e-05,-0.000218142732049,3.42177485995e-05,1793239760735511296
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.02382724,745,714.02382724,681,663.02382724,635,880,787.97617276,804.02382724,652,631,653,0.424351908612,0.00451122833352,0.0698406483917,0.999999963361,7.30282263345e-05,-0.000258569544089,3.29637163164e-05,1793239760752177920
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.564161749,745,714,681,663.564161749,635,880,787.435838251,804,652,631,653,0.423451742715,0.00450616257351,0.069805785251,0.99999994637,6.67621098852e-05,-0.000318948433337,3.27827733382e-05,1793239760768844544
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.849619554,745.150380446,714,680.849619554,663.849619554,635,879.849619554,787.150380446,804,652,631.150380446,653,0.42253140006,0.00450085969784,0.0697672329068,0.999999922912,6.09568786527e-05,-0.000386481265633,3.30510884924e-05,1793239760785511168
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.270006787,745.729993213,714,680.270006787,663.270006787,635,879.270006787,787.729993213,804,652,631.729993213,653,0.421553079641,0.00449433114106,0.0697188397727,0.99999988646,5.59667252541e-05,-0.00047197349723,3.44694095927e-05,1793239760802178048
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,746,714.307802445,680.307802445,663,635,879.307802445,788,804,652,631.692197555,653,0.420682067741,0.00448616287939,0.0697281252861,0.999999894961,4.03164029107e-05,-0.000455324268678,3.36500914638e-05,1793239760818844928
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,746,714.884038788,680.884038788,663,635,879.884038788,788,804,652,631.115961212,653,0.419904639437,0.00447656463469,0.0697877122355,0.999999938296,1.53693686069e-05,-0.000349597670052,3.08793324069e-05,1793239760835511552
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.459908024,746,715,680.540091976,663.459908024,635,880,788,804,652,631,653,0.419127053184,0.00446996164564,0.0698476816799,0.999999967361,1.30999692299e-05,-0.000252970090228,3.33395590129e-05,1793239760852178176
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879.96340252,787.96340252,804,652.03659748,631.03659748,652.96340252,0.41834550295,0.00446387678529,0.0699025835253,0.999999985152,1.59609235379e-05,-0.000167564010958,3.69235344402e-05,1793239760868844800
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879.372899802,787.372899802,804,652.627100198,631.627100198,652.372899802,0.417504560756,0.00445421259879,0.0698793283648,0.999999975635,9.99775749477e-06,-0.000217300626125,3.75691876157e-05,1793239760885511424
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.787105303,746,714.787105303,680.212894697,664,635,879.212894697,787.212894697,804,652.787105303,631.787105303,652.212894697,0.41666266717,0.00444542165451,0.0698522461657,0.999999965895,-3.99115391691e-07,-0.000258560081413,3.68349962009e-05,1793239760902178048
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.209379048,746,714.209379048,680.790620952,664,635,879.790620952,787.790620952,804,652.209379048,631.209379048,652.790620952,0.415819143075,0.00443812715891,0.0698186056763,0.999999958566,-1.83939059068e-05,-0.000285292478817,3.37362047622e-05,1793239760918844672
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,746,714.365537562,680.634462438,663.634462438,635,879.634462438,787.634462438,804,652,631.365537562,653,0.414986536023,0.00443312471751,0.0697881417395,0.999999943517,-2.51496145134e-05,-0.000333493657824,3.33998181657e-05,1793239760935511296
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,746,714.938857056,680.061142944,663.061142944,635,879.061142944,787.061142944,804,652,631.938857056,653,0.414160134578,0.00442942514526,0.0697594834475,0.999999921497,-2.55167086199e-05,-0.000393898299565,3.46336610357e-05,1793239760952177920
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,746,714.486667262,680,662.486667262,635,879,787,804,652,631.486667262,652.486667262,0.413431742499,0.00442821201221,0.069771333321,0.999999929819,-2.79143435622e-05,-0.00037190411539,3.56459460637e-05,1793239760968844544
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.909771561,714.090228439,680,662.180456878,635,879,787,804,652,631,652,0.412729252664,0.00443193646716,0.0697936777467,0.999999944382,-2.52109742031e-05,-0.00033059481261,3.61672936588e-05,1793239760985511168
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.320248057,714.679751943,680,663.359503886,635,879,787,804,652,631,652,0.412105352229,0.00446134139182,0.0698473358249,0.999999971348,7.06108835359e-06,-0.000236834780621,3.41183135699e-05,1793239761002178048
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.264513386,715,680,664,635,879.264513386,787.264513386,804,652,631,652.264513386,0.411451539246,0.00447997047294,0.0698811089765,0.99999998254,3.16232394521e-05,-0.0001810786326,3.36213851597e-05,1793239761018844672
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.84361129,715,680,664,635,879.84361129,787.84361129,804,652,631,652.84361129,0.410762151456,0.00448578389225,0.0698912330751,0.999999983745,4.70160271517e-05,-0.000170520332518,3.49703049058e-05,1793239761035511296
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,746,714.582108879,680,663.582108879,635,879.582108879,787.582108879,804,652.417891121,631,653,0.410081446647,0.00447741787082,0.0698654862518,0.999999975428,3.29211049897e-05,-0.00021650639415,3.44231483332e-05,1793239761052178176
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,746,714.009611532,680,663.009611532,635,879.009611532,787.009611532,804,652.990388468,631,653,0.409403954203,0.00446380591449,0.0698264683461,0.999999959257,7.91668311618e-06,-0.000283412042653,3.31745046866e-05,1793239761068845312
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.583865029,745.416134971,714.583865029,680,663,635,879.583865029,787,804,653,631.583865029,653,0.408786120991,0.0044644903132,0.0697971375483,0.999999944363,1.06707986435e-05,-0.000331813031087,3.25596162818e-05,1793239761085511680
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.827045942,745.172954058,715,680,663.172954058,635,879.827045942,787,803.827045942,653,631.827045942,652.827045942,0.408190855026,0.00446519212161,0.0697807032312,0.999999935828,1.22986225363e-05,-0.000356622571907,3.18301565956e-05,1793239761102178304
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.249070355,745.750929645,715,680,663.750929645,635,879.249070355,787,803.249070355,653,631.249070355,652.249070355,0.407646051019,0.00446536303058,0.0697940823575,0.999999946033,1.01789294939e-05,-0.00032692593066,3.08070533842e-05,1793239761118845184
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.326379145,745.673620855,714.673620855,680,664,635,879,787,803,653,631,652,0.407117339395,0.00447084656005,0.0698077714376,0.999999952493,1.43155693576e-05,-0.000306391826375,3.05375495986e-05,1793239761135511808
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.89991568,745.10008432,714.10008432,680,664,635,879,787,803,653,631,652,0.406600814095,0.00448035318176,0.069821695236,0.999999956391,2.31899474403e-05,-0.000292796245459,3.08387247069e-05,1793239761152178432
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.489110293,714.489110293,680,664,635.489110293,879,787,803.489110293,653,631.489110293,652.489110293,0.40611007088,0.00448834198918,0.069814616311,0.999999950772,3.33599451309e-05,-0.000310432591891,3.12305161233e-05,1793239761168845056
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.920159828,664,635.920159828,879,787,804,652.920159828,632,653,0.405636249667,0.00449385442535,0.0698066970514,0.999999944967,4.1324058647e-05,-0.00032766863935,3.14965315753e-05,1793239761185511680
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.340539361,664,635.340539361,879,787,804,652.340539361,632,653,0.405234239528,0.00448587384644,0.0698213097141,0.999999953632,3.37654165754e-05,-0.000301070727036,3.08553102228e-05,1793239761202178304
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.763109571,745.763109571,714.763109571,679.236890429,664,635,879,787,803.763109571,652,631.763109571,652.763109571,0.404847182212,0.00447986194058,0.0698343755557,0.999999961055,2.82215063862e-05,-0.000276016603582,3.01528485321e-05,1793239761218844928
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.18880016,745.18880016,714.18880016,679.81119984,664,635,879,787,803.18880016,652,631.18880016,652.18880016,0.404481423243,0.00447665414893,0.0698452381545,0.999999967197,2.55473150836e-05,-0.000253161404931,2.93631581758e-05,1793239761235511296
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.385560991,745,714.385560991,680,664,635,879,787,803,652,631.385560991,652,0.404129640358,0.00447465670652,0.0698527175389,0.999999970873,1.90850269137e-05,-0.000238874224508,2.87760686695e-05,1793239761252178176
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.959947533,745,714.959947533,680,664,635,879,787,803,652,631.959947533,652,0.403784702119,0.00447325202311,0.0698585400209,0.999999973371,1.07675469904e-05,-0.000228783163551,2.82882013127e-05,1793239761268845312
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.447553112,663.447553112,635,879,787,803,652,631.447553112,652,0.403466352043,0.00447046069069,0.06984759406,0.999999968953,2.66511891562e-06,-0.000247607902421,2.78935058324e-05,1793239761285511936
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.14223026,663.14223026,635,879,787,803,652,631.14223026,652.14223026,0.40316037239,0.00446796027261,0.0698367638717,0.999999964034,-5.67985755245e-06,-0.000266734916039,2.74085524237e-05,1793239761302178304
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.719552132,663.719552132,635,879,787,803,652,631.719552132,652.719552132,0.402886137911,0.00446666773909,0.0698301328497,0.999999960292,-1.4816118794e-05,-0.000280156204244,2.66261297193e-05,1793239761318844928
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.295471297,715,680,664,635,879,787,803.295471297,652,631.704528703,652.704528703,0.402633928654,0.00446601642205,0.0698236558411,0.999999957215,-2.05246019451e-05,-0.000290645634095,2.59659289403e-05,1793239761335511296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.870065333,715,680,664,635,879,787,803.870065333,652,631.129934667,652.129934667,0.402402525971,0.00446597084278,0.0698173243246,0.999999954902,-2.29949669317e-05,-0.000298365425835,2.54211875444e-05,1793239761352177920
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787,804,652.454702301,631,652,0.40219791939,0.00446844896989,0.0698126646821,0.999999952765,-1.52103882404e-05,-0.000305881412695,2.59659692394e-05,1793239761368844800
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.958324913,714.958324913,680,664,635,879,787,803.958324913,652.958324913,631,652.041675087,0.402003870409,0.00447244374629,0.0698088724599,0.999999950705,-1.52477694302e-06,-0.000312842129818,2.67948771215e-05,1793239761385511168
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.379076598,714.379076598,680,664,635,879,787,803.379076598,652.379076598,631,652.620923402,0.401845003363,0.00448648944793,0.0698099674575,0.999999949287,4.96253632112e-05,-0.00031340853857,2.71820511743e-05,1793239761402178048
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.199140472,714.199140472,680,663.800859528,635,879,787.199140472,803,652.199140472,631,653,0.401697395658,0.00449918343039,0.0698105194414,0.999999947048,8.3960512698e-05,-0.000313262151176,2.68641869085e-05,1793239761418844928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.775404549,714.775404549,680,663.224595451,635,879,787.775404549,803,652.775404549,631,653,0.401571110424,0.004509317584,0.0698100430897,0.999999947346,8.64521552122e-05,-0.00031176590252,2.52111516646e-05,1793239761435511808
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.648741825,745.648741825,714.648741825,679.648741825,663,635,879,787.648741825,803,653,631,653,0.401461667143,0.00450735567428,0.0698088290758,0.999999949151,6.79078383857e-05,-0.00031080140591,2.20929425359e-05,1793239761452178176
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.073150282,745.073150282,714.073150282,679.073150282,663,635,879,787.073150282,803,653,631,653,0.401362980075,0.00449766853425,0.069807143949,0.999999951087,3.59287664164e-05,-0.000310176515875,1.80389901807e-05,1793239761468844544
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.030349403,745,714.515174702,679.515174702,663,635,879,787,803.515174702,652.484825298,631,653,0.401282072823,0.00449758662411,0.0698064921067,0.999999950754,3.27309639809e-05,-0.000311596002636,1.81448296835e-05,1793239761485511424
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.8967188,745,715,680,663.1032812,635,879,787.1032812,803.8967188,652.1032812,631,652.8967188,0.401207785544,0.00449865673815,0.0698063877693,0.999999950363,3.40720965233e-05,-0.00031265864543,1.89323331702e-05,1793239761502178048
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.318148799,745,715,680,663.681851201,635,879,787.681851201,803.318148799,652.681851201,631,652.318148799,0.401152050363,0.00449859295355,0.0698081107011,0.999999950843,3.70178077583e-05,-0.000310709423846,2.00697695457e-05,1793239761518844672
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787.739755569,803,652.739755569,631.260244431,652.260244431,0.401106737769,0.00449793780553,0.0698105009393,0.999999952221,3.72641928938e-05,-0.000306170267036,2.0720176207e-05,1793239761535511296
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787.161578331,803,652.161578331,631.838421669,652.838421669,0.401074158141,0.00449656020658,0.0698137064055,0.999999954658,3.42128922047e-05,-0.000298467064233,2.0775593221e-05,1793239761552178176
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.411910096,745.411910096,715,679.588089904,664,635,879,787,803.411910096,652,631.588089904,653,0.401048193795,0.00449641313362,0.0698160217877,0.999999955904,3.49628241974e-05,-0.000294146845752,2.11686601845e-05,1793239761568845056
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.98357995,745.98357995,715,679.01642005,664,635,879,787,803.98357995,652,631.01642005,653,0.401024795195,0.00449674332148,0.0698179919498,0.999999956692,3.71870682926e-05,-0.000291138721424,2.16926850295e-05,1793239761585511936
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.42629132,746,715,679.57370868,664,635,879.57370868,787,804,652.57370868,631,653,0.401010072027,0.00449600130382,0.0698206772671,0.999999957916,3.5861731068e-05,-0.000287052020391,2.19994707988e-05,1793239761602178560
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.83893669,715,680,664,635,879.83893669,787,803.83893669,653,631,653,0.400997342698,0.00449569392557,0.0698227917302,0.999999958754,3.53924801913e-05,-0.000284169347567,2.20866493107e-05,1793239761618844928
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.260191759,715,680,664,635,879.260191759,787,803.260191759,653,631,653,0.400989118633,0.00449659591412,0.0698233709659,0.999999958599,3.74155126671e-05,-0.000284491768188,2.16209854554e-05,1793239761635511296
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.317092722,715,680.317092722,664,635.317092722,879.317092722,787,803,653,631,653,0.400985383974,0.00449696548635,0.0698250602186,0.999999959418,3.72305424569e-05,-0.000281656325292,2.11375966136e-05,1793239761652178176
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.893184382,715,680.893184382,664,635.893184382,879.893184382,787,803,653,631,653,0.400985316228,0.00449690018504,0.0698276561248,0.999999961011,3.52420925699e-05,-0.000276241563383,2.06397300855e-05,1793239761668844800
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.520443624,664.479556376,635.520443624,879.520443624,787,803.479556376,653,631,653,0.400985375924,0.00449637804138,0.0698296870275,0.999999961997,3.39772767645e-05,-0.000272795392606,2.08203397583e-05,1793239761685511424
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.932829382,715,679.932829382,664.932829382,635,879,787,803.932829382,652.932829382,631,653,0.400985176374,0.00449578373089,0.0698313127681,0.999999962709,3.31650474179e-05,-0.000270249593273,2.11273865374e-05,1793239761702178048
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.353583469,715,679.353583469,664.353583469,635,879,787,803.353583469,652.353583469,631,653,0.400982779308,0.00449543198955,0.069830830176,0.999999962416,3.45474284092e-05,-0.000271151786991,2.12210043539e-05,1793239761718845184
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.224712372,664,635,879,787,803,652.224712372,631,653,0.400981668623,0.00449483182527,0.0698310820935,0.999999962518,3.45576239229e-05,-0.000270779157426,2.11620329692e-05,1793239761735512320
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.801519539,664,635,879,787,803,652.801519539,631,653,0.400982573527,0.00449384241488,0.069832484891,0.999999963235,3.24177848007e-05,-0.000268409047037,2.0863974327e-05,1793239761752178432
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.622422399,664,635,878.622422399,787.377577601,803,652.622422399,631,653,0.400982603133,0.00449405871123,0.0698329074333,0.999999963355,3.24075681221e-05,-0.000267969196378,2.07791911038e-05,1793239761768844800
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.046757356,664,635,878.046757356,787.953242644,803,652.046757356,631,653,0.400982173535,0.00449490755404,0.0698328157071,0.999999963165,3.35146091636e-05,-0.000268542012364,2.08062979552e-05,1793239761785511424
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.541263604,715,679.541263604,664,635.541263604,878.541263604,787.458736396,803.541263604,652.541263604,631,652.458736396,0.400982035983,0.00449479140588,0.0698326573017,0.999999963242,3.30723185231e-05,-0.000268291174104,2.10087887485e-05,1793239761802178304
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.872126505,879,787.127873495,804,653,631,652.127873495,0.400981868187,0.00449505667607,0.069832741727,0.999999963337,3.31553862266e-05,-0.000267921364351,2.10845133214e-05,1793239761818845440
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.294324983,879,787.705675017,804,653,631,652.705675017,0.400981503139,0.0044969641442,0.0698337013029,0.999999963406,3.55688707454e-05,-0.000267389147754,2.06596523345e-05,1793239761835512576
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.716777595,715,679.716777595,664,635,879,787.716777595,803.716777595,652.716777595,631,653,0.40098103756,0.00449792608634,0.0698336015119,0.999999963324,3.65472645028e-05,-0.000267577509842,2.04806515584e-05,1793239761852179712
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.139493998,715,679.139493998,664,635,879,787.139493998,803.139493998,652.139493998,631,653,0.400980467603,0.00449790631792,0.0698324018128,0.99999996309,3.60356475469e-05,-0.000268514026762,2.05569198956e-05,1793239761868846080
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.445959927,664,635,879,787,803.445959927,652.445959927,631.445959927,653,0.400980331612,0.00449720754924,0.0698325676592,0.999999963151,3.59730789716e-05,-0.000268309433359,2.03504970897e-05,1793239761885512192
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c62e430c89bb2feda007fe3e0ac7170f0217e9d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,417 @@
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+274,4.566666667,pose2_to_pose3_retreat,0.61956559617,0.0100908144778,1.06003238169,0.590136046501,0.0187625526098,1.05970051476
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+276,4.600000000,pose2_to_pose3_retreat,0.619565519732,0.0100908025484,1.0600323276,0.590135970057,0.0187625406107,1.05970045941
+277,4.616666667,pose2_to_pose3_retreat,0.619565246438,0.0100907825276,1.06003225408,0.590135696739,0.0187625204175,1.05970038344
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+288,4.800000000,pose2_to_pose3_retreat,0.619136649674,0.0100908215522,1.0600323196,0.589707100501,0.0187625609486,1.05970045113
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+334,5.566666667,pose2_to_pose3_retreat,0.595836452135,0.010090780164,1.06003222232,0.566406903284,0.0187625183314,1.05970035795
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+339,5.650000000,pose2_to_pose3_retreat,0.591950899962,0.0100908465556,1.06003229663,0.562521350514,0.0187625825433,1.05970042621
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+342,5.700000000,pose2_to_pose3_retreat,0.5897462477,0.0100906757164,1.06003232347,0.560316701106,0.018762421612,1.05970045896
+343,5.716666667,pose2_to_pose3_retreat,0.588992854452,0.0100907681813,1.06003218022,0.55956330559,0.0187625066301,1.05970032323
+344,5.733333333,pose2_to_pose3_retreat,0.58825965386,0.0100906897109,1.06003217763,0.558830106192,0.0187624323477,1.05970032177
+345,5.750000000,pose2_to_pose3_retreat,0.587551603961,0.0100908314389,1.0600323095,0.558122056261,0.0187625736551,1.05970044749
+346,5.766666667,pose2_to_pose3_retreat,0.586883158523,0.0100907194353,1.06003224221,0.557453610287,0.0187624597502,1.05970037677
+347,5.783333333,pose2_to_pose3_retreat,0.586246932778,0.0100907764821,1.06003240678,0.55681738307,0.0187625115756,1.05970053489
+348,5.800000000,pose2_to_pose3_retreat,0.585635357003,0.0100908564724,1.06003235158,0.556205806476,0.0187625887355,1.05970047838
+349,5.816666667,pose2_to_pose3_retreat,0.585032454313,0.0100908570666,1.06003234347,0.555602904532,0.0187625918169,1.05970046902
+350,5.833333333,pose2_to_pose3_retreat,0.584434143065,0.0100907844981,1.06003242327,0.555004594559,0.0187625235491,1.05970054793
+351,5.850000000,pose2_to_pose3_retreat,0.583836893852,0.0100907258531,1.06003225754,0.554407345395,0.0187624653047,1.05970038838
+352,5.866666667,pose2_to_pose3_retreat,0.583250264309,0.0100907242616,1.06003231649,0.553820716342,0.0187624654078,1.05970044802
+353,5.883333333,pose2_to_pose3_retreat,0.58268975828,0.0100907877581,1.06003211377,0.553260209431,0.0187625260616,1.05970024942
+354,5.900000000,pose2_to_pose3_retreat,0.582156640236,0.0100910153332,1.06003251946,0.552727087814,0.0187627408668,1.0597006383
+355,5.916666667,pose2_to_pose3_retreat,0.581652522236,0.0100907824487,1.06003261599,0.552222973408,0.0187625203135,1.05970073822
+356,5.933333333,pose2_to_pose3_retreat,0.581171281886,0.0100907577777,1.06003232424,0.551741733774,0.0187624982526,1.05970045225
+357,5.950000000,pose2_to_pose3_retreat,0.58071196478,0.0100907818978,1.06003221297,0.551282415953,0.018762520207,1.05970034772
+358,5.966666667,pose2_to_pose3_retreat,0.580278468725,0.0100907418734,1.06003221462,0.550848920649,0.0187624827335,1.05970034902
+359,5.983333333,pose2_to_pose3_retreat,0.579870529273,0.0100907222906,1.06003226028,0.550440982331,0.0187624671466,1.05970039825
+360,6.000000000,pose2_to_pose3_retreat,0.579489704358,0.0100908342535,1.06003231277,0.550060156019,0.0187625744564,1.05970045293
+361,6.016666667,pose2_to_pose3_retreat,0.579133909612,0.0100909596405,1.06003229796,0.549704358736,0.0187626911195,1.05970043516
+362,6.033333333,pose2_to_pose3_retreat,0.578801480291,0.0100907900628,1.06003215176,0.549371931864,0.0187625302851,1.05970030028
+363,6.050000000,pose2_to_pose3_retreat,0.578484197879,0.010090746466,1.06003210838,0.549054648819,0.0187624838776,1.05970023963
+364,6.066666667,pose2_to_pose3_retreat,0.578181532786,0.0100907229834,1.06003211695,0.548751985184,0.0187624652848,1.05970024673
+365,6.083333333,pose2_to_pose3_retreat,0.577895320901,0.0100908133339,1.06003228211,0.548465771946,0.0187625511101,1.05970041407
+366,6.100000000,pose2_to_pose3_retreat,0.577627155922,0.0100907243787,1.06003242662,0.548197608772,0.0187624683085,1.05970055906
+367,6.116666667,pose2_to_pose3_retreat,0.577379539005,0.0100908020511,1.06003237912,0.547949991672,0.0187625454546,1.05970051383
+368,6.133333333,pose2_to_pose3_retreat,0.577152404551,0.0100908481292,1.06003240906,0.547722855288,0.018762584899,1.05970054162
+369,6.150000000,pose2_to_pose3_retreat,0.576945413805,0.0100908425028,1.06003241381,0.547515863388,0.018762575354,1.05970054635
+370,6.166666667,pose2_to_pose3_retreat,0.576759294808,0.0100908773757,1.06003235173,0.547329744509,0.018762610576,1.05970048312
+371,6.183333333,pose2_to_pose3_retreat,0.576592086772,0.010090823984,1.06003233137,0.547162537828,0.0187625615522,1.0597004567
+372,6.200000000,pose2_to_pose3_retreat,0.576443693716,0.0100907179423,1.06003225539,0.547014146357,0.0187624610703,1.05970038549
+373,6.216666667,pose2_to_pose3_retreat,0.576312457854,0.0100907766255,1.06003234656,0.546882909683,0.0187625172468,1.05970048321
+374,6.233333333,pose2_to_pose3_retreat,0.576198614776,0.0100907535279,1.06003247181,0.546769065741,0.0187624908662,1.05970059937
+375,6.250000000,pose2_to_pose3_retreat,0.576098625154,0.0100908174038,1.06003220802,0.546669074661,0.0187625500925,1.0597003444
+376,6.266666667,pose2_to_pose3_retreat,0.576011984073,0.010090765029,1.06003248301,0.546582435521,0.0187625037711,1.05970060524
+377,6.283333333,pose2_to_pose3_retreat,0.575937922937,0.0100907445329,1.06003247145,0.546508374048,0.0187624824185,1.05970060101
+378,6.300000000,pose2_to_pose3_retreat,0.575875430961,0.0100907624084,1.06003216465,0.546445882206,0.0187625011042,1.05970030347
+379,6.316666667,pose2_to_pose3_retreat,0.575824874703,0.0100907615766,1.06003217851,0.546395326249,0.0187625011022,1.05970031236
+380,6.333333333,pose2_to_pose3_retreat,0.575784124646,0.0100907503264,1.0600322289,0.546354576901,0.0187624921901,1.05970036095
+381,6.350000000,pose2_to_pose3_retreat,0.575752396215,0.0100907222157,1.06003221356,0.546322849196,0.0187624666506,1.05970034843
+382,6.366666667,pose2_to_pose3_retreat,0.575727981499,0.0100907109593,1.06003220739,0.546298434108,0.0187624541483,1.05970034268
+383,6.383333333,pose2_to_pose3_retreat,0.575709420328,0.0100907699651,1.06003222975,0.546279870707,0.0187625054139,1.0597003607
+384,6.400000000,pose2_to_pose3_retreat,0.575695083607,0.0100906885117,1.0600320026,0.546265535494,0.0187624292629,1.05970013854
+385,6.416666667,pose2_to_pose3_retreat,0.575684686686,0.0100906869545,1.06003204129,0.546255138596,0.0187624278656,1.05970017915
+386,6.433333333,pose2_to_pose3_retreat,0.575678297494,0.0100907012729,1.06003212432,0.54624874925,0.0187624416274,1.05970026116
+387,6.450000000,pose2_to_pose3_retreat,0.575674432228,0.0100907133583,1.0600321934,0.546244883977,0.0187624535742,1.05970032728
+388,6.466666667,pose2_to_pose3_retreat,0.575672538126,0.0100907247425,1.06003222457,0.546242989779,0.018762464583,1.05970035707
+389,6.483333333,pose2_to_pose3_retreat,0.575671611823,0.010090763314,1.0600322236,0.546242062877,0.0187625011126,1.05970035587
+390,6.500000000,pose2_to_pose3_retreat,0.575671068936,0.01009078592,1.06003222302,0.546241519639,0.0187625225219,1.05970035517
+391,6.516666667,pose2_to_pose3_retreat,0.575670668172,0.0100908026079,1.0600322226,0.546241118616,0.0187625383265,1.05970035465
+392,6.533333333,pose2_to_pose3_retreat,0.575670263012,0.0100908194788,1.06003222217,0.546240713194,0.0187625543044,1.05970035412
+393,6.550000000,pose2_to_pose3_retreat,0.575669824237,0.0100908377495,1.06003222171,0.546240274135,0.0187625716079,1.05970035356
+394,6.566666667,pose2_to_pose3_retreat,0.575669715622,0.0100908422723,1.0600322216,0.54624016545,0.0187625758912,1.05970035342
+395,6.583333333,pose2_to_pose3_retreat,0.575669686462,0.0100908434865,1.06003222157,0.546240136271,0.0187625770412,1.05970035338
+396,6.600000000,pose2_to_pose3_retreat,0.575669530057,0.0100908499993,1.0600322214,0.546239979764,0.0187625832092,1.05970035318
+397,6.616666667,pose2_to_pose3_retreat,0.575669301295,0.010090859525,1.06003222116,0.546239750855,0.0187625922306,1.05970035288
+398,6.633333333,pose2_to_pose3_retreat,0.575669052024,0.0100908699047,1.0600322209,0.546239501423,0.0187626020609,1.05970035256
+399,6.650000000,pose2_to_pose3_retreat,0.575668802982,0.0100908802749,1.06003222063,0.546239252219,0.0187626118821,1.05970035224
+400,6.666666667,pose2_to_pose3_retreat,0.575668573777,0.010090889819,1.06003222039,0.546239022866,0.018762620921,1.05970035194
+401,6.683333333,pose2_to_pose3_retreat,0.575668311567,0.0100909007375,1.06003222012,0.546238760487,0.0187626312615,1.0597003516
+402,6.700000000,pose2_to_pose3_retreat,0.575668059626,0.0100909014929,1.0600322158,0.546238508544,0.0187626319947,1.05970034685
+403,6.716666667,pose2_to_pose3_retreat,0.575667855313,0.010090893953,1.0600322089,0.546238304365,0.0187626248832,1.05970033928
+404,6.733333333,pose2_to_pose3_retreat,0.575667853103,0.0100908938715,1.06003220882,0.546238302156,0.0187626248063,1.0597003392
+405,6.750000000,pose2_to_pose3_retreat,0.575667513865,0.0100908813524,1.06003219737,0.54623796314,0.0187626129986,1.05970032664
+406,6.766666667,pose2_to_pose3_retreat,0.57566711358,0.0100908665806,1.06003218385,0.546237563117,0.0187625990661,1.05970031182
+407,6.783333333,pose2_to_pose3_retreat,0.575666684942,0.0100908507624,1.06003216937,0.546237134759,0.0187625841468,1.05970029595
+408,6.800000000,pose2_to_pose3_retreat,0.575666038112,0.0100908268922,1.06003214753,0.546236488352,0.0187625616329,1.05970027201
+409,6.816666667,pose2_to_pose3_retreat,0.575665641804,0.0100908133126,1.0600321852,0.54623609247,0.0187625494871,1.05970030943
+410,6.833333333,pose2_to_pose3_retreat,0.575665355585,0.0100908041348,1.06003224314,0.546235806657,0.0187625417077,1.05970036782
+411,6.850000000,pose2_to_pose3_retreat,0.575664986481,0.0100907922992,1.06003231787,0.546235438079,0.0187625316756,1.05970044312
+412,6.866666667,pose2_to_pose3_retreat,0.575664674242,0.0100907809981,1.06003236204,0.54623512623,0.0187625217353,1.05970048819
+413,6.883333333,pose2_to_pose3_retreat,0.575664408665,0.0100907545729,1.06003215123,0.546234860293,0.0187624943177,1.05970028348
+414,6.900000000,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+415,6.916666667,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a8ccf4a6aceb71160a4401be349b4e2cb02369d8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:593aeba700f6e194c13de7b3a6b437bdfbbb0ec2c3cf37445688e9a5b5a92af1
+size 26535206
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3fb37da02077ac86a9f78f268c88dcdfd73d0637
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,420 @@
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+14,0.233333333,BASELINE,766,745,714.883635375,679.883635375,664,635,879,787.116364625,803.883635375,652.883635375,631.883635375,653,0.400981942706,0.00449581624573,0.0698370201485,0.999999965233,3.45315370313e-05,-0.000260627054789,2.03799956718e-05,1793239762479311872
+15,0.250000000,BASELINE,766,745,714.310274132,679.310274132,664,635,879,787.689725868,803.310274132,652.310274132,631.310274132,653,0.400982632601,0.00449640078636,0.0698376737517,0.999999965421,3.46658286228e-05,-0.000259903032709,2.01785962352e-05,1793239762495978496
+16,0.266666667,BASELINE,766,745,714.270790719,679.270790719,664,635.270790719,879,787.729209281,803,652.270790719,631,652.729209281,0.400982398621,0.00449660306185,0.0698377231997,0.999999965378,3.47007369387e-05,-0.00026006797597,2.00903380043e-05,1793239762512645120
+17,0.283333333,BASELINE,766,745,714.860940853,679.860940853,664,635.860940853,879,787.139059147,803,652.860940853,631,652.139059147,0.40098107506,0.00449635450958,0.0698370601319,0.999999965064,3.46184367059e-05,-0.000261281328367,2.01355138614e-05,1793239762529311744
+18,0.300000000,BASELINE,766,745,715,680,664,635.572440481,879,787,803,653,631,652.427559519,0.400980932022,0.00449590930883,0.0698367978139,0.999999964861,3.39097544747e-05,-0.000262140919286,2.02406083386e-05,1793239762545978368
+19,0.316666667,BASELINE,766,745,715,680,664,635.01307594,879,787,803,653,631,652.98692406,0.400981152906,0.00449540348669,0.0698366590361,0.999999964692,3.30079756364e-05,-0.000262891455098,2.03641741032e-05,1793239762562644992
+20,0.333333333,BASELINE,765.414878293,745.585121707,715,680,664,635,879.585121707,787,803,653,631,653,0.400982860286,0.00449486403964,0.0698382238634,0.999999965336,3.22900652147e-05,-0.000260514768992,2.04541612821e-05,1793239762579311872
+21,0.350000000,BASELINE,765.175263686,745.824736314,714.824736314,680,664,635,879.824736314,787,803,653,631,653,0.400983630508,0.00449476857975,0.0698389083202,0.999999965675,3.24030915337e-05,-0.000259194285873,2.04675289175e-05,1793239762595978752
+22,0.366666667,BASELINE,765.745173417,745.254826583,714.254826583,680,664,635,879.254826583,787,803,653,631,653,0.400982210388,0.0044956746703,0.0698375186024,0.999999965293,3.43772509758e-05,-0.000260420632961,2.0310180009e-05,1793239762612645632
+23,0.383333333,BASELINE,766,745,714.329495861,680,664.329495861,635.329495861,879,787,803.329495861,652.670504139,631.329495861,653,0.400982530489,0.00449586934682,0.0698375744569,0.999999965409,3.52841870767e-05,-0.000259850518199,2.03662987099e-05,1793239762629312000
+24,0.400000000,BASELINE,766,745,714.925474791,680,664.925474791,635.925474791,879,787,803.925474791,652.074525209,631.925474791,653,0.40098425801,0.00449548866024,0.0698387994323,0.999999965926,3.53279958521e-05,-0.000257827497103,2.05950614554e-05,1793239762645978368
+25,0.416666667,BASELINE,766,745.505026103,715,680,664.494973897,636,879,787,804,652,631.494973897,653,0.400983825833,0.00449558240523,0.0698383894251,0.999999965845,3.488405325e-05,-0.000258231087486,2.02534196696e-05,1793239762662644992
+26,0.433333333,BASELINE,766,746,715,679.917827025,664.082172975,635.917827025,879,787,804,652.082172975,631,652.917827025,0.400983095417,0.00449566219285,0.069837691158,0.999999965659,3.42639484676e-05,-0.00025906093389,1.98973000923e-05,1793239762679311616
+27,0.450000000,BASELINE,766,746,715,679.341020822,664.658979178,635.341020822,879,787,804,652.658979178,631,652.341020822,0.400982427738,0.00449524981953,0.0698366642828,0.99999996536,3.30030547955e-05,-0.000260369018089,1.99447422398e-05,1793239762695978240
+28,0.466666667,BASELINE,766,745.759536045,715,679.240463955,664.759536045,635,879,787,804,652.759536045,631,652.240463955,0.400982636023,0.00449551156535,0.0698367833426,0.999999965379,3.33521234824e-05,-0.000260253301143,1.99553607225e-05,1793239762712644864
+29,0.483333333,BASELINE,766,745.171284594,715,679.828715406,664.171284594,635,879,787,804,652.171284594,631,652.828715406,0.400984111231,0.00449674830227,0.0698385597897,0.99999996585,3.6029710779e-05,-0.000258078314014,1.99127204506e-05,1793239762729312000
+30,0.500000000,BASELINE,766,745,714.588992827,680,664,635,879,787,804,652,631.411007173,653,0.400982990353,0.00449701267965,0.0698381289773,0.999999965531,3.60008323733e-05,-0.00025930581284,2.00686679999e-05,1793239762745978880
+31,0.516666667,BASELINE,766,745,714.009149236,680,664,635,879,787,804,652,631.990850764,653,0.400980803036,0.0044968776243,0.0698367914513,0.999999964882,3.48601728792e-05,-0.000261931008838,2.03061928527e-05,1793239762762645760
+32,0.533333333,BASELINE,766,745,714.57030327,680,664,635,879,787,803.42969673,652,632,652.42969673,0.400982657239,0.00449579566253,0.0698382154749,0.999999965644,3.25284673641e-05,-0.000259317959379,2.02021310751e-05,1793239762779311872
+33,0.550000000,BASELINE,766,745.147674482,715,680,664,635,879,787,803,652,631.852325518,652,0.400983823074,0.00449533582528,0.0698391930602,0.999999966092,3.16419362162e-05,-0.000257701270413,2.01034376852e-05,1793239762795978240
+34,0.566666667,BASELINE,766,745.71909144,715,680,664,635,879,787,803,652,631.28090856,652,0.400982827762,0.00449670469441,0.069838762582,0.9999999656,3.49570315025e-05,-0.000259184544983,2.00358622669e-05,1793239762812645120
+35,0.583333333,BASELINE,766,746,714.70153951,680,664,635,879,787,803.29846049,652,631,652.29846049,0.400982333658,0.00449680415246,0.0698382214837,0.999999965436,3.49050693977e-05,-0.000259826260912,1.9999043824e-05,1793239762829311744
+36,0.600000000,BASELINE,766,746,714.114481077,680,664,635,879,787,803.885518923,652,631,652.885518923,0.400982324197,0.00449567614694,0.0698375734209,0.999999965591,3.15973137947e-05,-0.000259654227452,1.99919659927e-05,1793239762845978112
+37,0.616666667,BASELINE,766,746,714.467082524,680,664,635,879,787,803.532917476,652,631,652.532917476,0.400983143081,0.00449597513282,0.0698383268696,0.999999965858,3.24205572251e-05,-0.000258534010418,1.98399203386e-05,1793239762862645248
+38,0.633333333,BASELINE,766,745.953064994,715,680,664,635,879,787,803,652,631,652.046935006,0.400984040873,0.00449660796097,0.0698392640371,0.999999966109,3.4048626272e-05,-0.000257363149388,1.96644094132e-05,1793239762879312384
+39,0.650000000,BASELINE,766,745.377492156,715,680,664,635,879,787,803,652,631,652.622507844,0.400983567307,0.00449710738811,0.0698384464555,0.999999965911,3.34702152774e-05,-0.000258208982681,1.96201476399e-05,1793239762895979008
+40,0.666666667,BASELINE,765.802336921,745,715,679.802336921,664,635,879.197663079,787,803,652.197663079,631,653,0.400983388809,0.00449694260808,0.0698382762396,0.999999965906,3.28440062288e-05,-0.000258308674096,1.96475459912e-05,1793239762912645888
+41,0.683333333,BASELINE,765.227977571,745,715,679.227977571,664,635,879.772022429,787,803,652.772022429,631,653,0.400983772637,0.0044955120157,0.0698393397403,0.999999966267,3.21267061076e-05,-0.00025698640611,1.98115105766e-05,1793239762929312000
+42,0.700000000,BASELINE,765.357054122,745,715,679.357054122,664,635.357054122,879.642945878,787,803.357054122,653,631.357054122,653,0.40098379553,0.00449526045554,0.0698395081165,0.999999966285,3.39585175492e-05,-0.000256668537797,1.99728346483e-05,1793239762945978112
+43,0.716666667,BASELINE,765.949109993,745,715,679.949109993,664,635.949109993,879.050890007,787,803.949109993,653,631.949109993,653,0.400983580865,0.00449578489721,0.0698390873501,0.999999966068,3.74680737513e-05,-0.000257011733682,2.0132420811e-05,1793239762962644736
+44,0.733333333,BASELINE,766,745,715,680.528262598,664.528262598,635.471737402,879,787,803.471737402,652.471737402,631.471737402,653,0.40098287645,0.00449406342423,0.0698387201951,0.999999965996,3.27408195154e-05,-0.000257929423104,2.02095251649e-05,1793239762979311616
+45,0.750000000,BASELINE,766,745.105302309,715,681,664.894697691,635,879,787,803,652,631,653,0.400982264816,0.00449280092983,0.0698384291694,0.999999965918,2.88953776642e-05,-0.000258690007957,2.02060118364e-05,1793239762995978496
+46,0.766666667,BASELINE,766,745.678346359,715,681,664.321653641,635,879,787,803,652,631,653,0.400982269879,0.00449451530169,0.0698384539077,0.999999965863,3.24074172508e-05,-0.000258512781445,1.98788563717e-05,1793239763012645120
+47,0.783333333,BASELINE,766,746,714.740268066,680.740268066,664,635,879,787,803,652.259731934,631,652.740268066,0.400982356728,0.00449637176025,0.0698382928784,0.999999965757,3.54587906371e-05,-0.000258538076093,1.96689944555e-05,1793239763029312000
+48,0.800000000,BASELINE,766,746,714.148209441,680.148209441,664,635,879,787,803,652.851790559,631,652.148209441,0.400982548221,0.0044984100188,0.0698378941594,0.999999965594,3.79207426641e-05,-0.000258822496297,1.96092094463e-05,1793239763045978880
+49,0.816666667,BASELINE,766,745.565360937,714,680,664,635,879,787,803.434639063,653,631,652,0.4009833857,0.00449776374178,0.0698386022086,0.999999965837,3.78263870785e-05,-0.000257896509379,1.96311581381e-05,1793239763062645248
+50,0.833333333,BASELINE,765.985713864,745,714.014286136,680,664,635,879,787,803.985713864,652.985713864,631,652,0.400984408428,0.00449628955001,0.0698396447051,0.999999966201,3.69222820822e-05,-0.000256605235546,1.96854574878e-05,1793239763079311616
+51,0.850000000,BASELINE,765.411008204,745,714.588991796,680,664,635,879,787,803.411008204,652.411008204,631,652,0.400984236326,0.00449750253593,0.0698393093911,0.999999966106,3.77382891788e-05,-0.000256839558336,1.99381836478e-05,1793239763095978240
+52,0.866666667,BASELINE,765,745.167439764,715,680,664,635,879,787,803,652.167439764,631,652,0.400983765389,0.00449746212132,0.0698389604086,0.99999996598,3.74757999975e-05,-0.000257350173331,2.01621473939e-05,1793239763112644864
+53,0.883333333,BASELINE,765,745.755283807,715,680,664,635,879,787,803,652.755283807,631,652,0.400982544139,0.00449427469462,0.0698385771073,0.999999965773,3.4505444728e-05,-0.000258554497035,2.03138950534e-05,1793239763129311488
+54,0.900000000,BASELINE,765.338356179,745.661643821,715,680,664.338356179,635,879.338356179,787,803,653,631,652.338356179,0.400981979452,0.00449416519206,0.0698383798912,0.999999965655,3.3803774286e-05,-0.000259113216959,2.01774702095e-05,1793239763145978368
+55,0.916666667,BASELINE,765.918025406,745.081974594,715,680,664.918025406,635,879.918025406,787,803,653,631,652.918025406,0.400981883019,0.00449625084167,0.0698383153898,0.999999965605,3.47201127012e-05,-0.000259211497136,1.9835522926e-05,1793239763162645248
+56,0.933333333,BASELINE,765.504619416,745,714.504619416,680,664.504619416,635,879.504619416,787,803,652.504619416,631,653,0.40098233697,0.00449564778318,0.0698383136079,0.999999965681,3.515800996e-05,-0.00025885500027,1.98895934823e-05,1793239763179312128
+57,0.950000000,BASELINE,765.07199751,745.07199751,714.07199751,680,664,635,879,787.07199751,803,652,631,652.92800249,0.400982663299,0.00449481169947,0.0698382064486,0.999999965714,3.53152543306e-05,-0.000258703510458,1.99414848958e-05,1793239763195979008
+58,0.966666667,BASELINE,765.646123586,745.646123586,714.646123586,680,664,635,879,787.646123586,803,652,631,652.353876414,0.40098146732,0.00449543901032,0.0698372923141,0.999999965298,3.40647497876e-05,-0.000260504202086,1.95232651816e-05,1793239763212645376
+59,0.983333333,BASELINE,765.774405358,745.774405358,715,680,664,635,879,787.774405358,803,652.225594642,631,652.225594642,0.400981248596,0.00449582746982,0.0698371469635,0.999999965233,3.33946871431e-05,-0.000260849930923,1.9377073708e-05,1793239763229312000
+60,1.000000000,BASELINE,765.1863464,745.1863464,715,680,664,635,879,787.1863464,803,652.8136536,631,652.8136536,0.400982600034,0.00449583216547,0.0698382368226,0.999999965736,3.36572239123e-05,-0.000258857962275,1.96679516354e-05,1793239763245978368
+61,1.016666667,BASELINE,765.396819213,745,715,680,664.396819213,635.396819213,879.396819213,787,803.396819213,652.603180787,631,653,0.400983119833,0.00449612497097,0.0698384011732,0.999999965798,3.48443769688e-05,-0.000258459394155,1.97129412099e-05,1793239763262645248
+62,1.033333333,BASELINE,765.977714867,745,715,680,664.977714867,635.977714867,879.977714867,787,803.977714867,652.022285133,631,653,0.400983253851,0.00449655142482,0.0698381361991,0.999999965654,3.64604408842e-05,-0.00025879997257,1.96438681119e-05,1793239763279311872
+63,1.050000000,BASELINE,765.445831032,745.554168968,715,680,664.445831032,636,879.445831032,787,803.445831032,652.554168968,631,652.445831032,0.400984030742,0.00449695938664,0.0698391669022,0.999999966055,3.59718626819e-05,-0.000257305590606,1.97421872626e-05,1793239763295978240
+64,1.066666667,BASELINE,765.132418463,746,715,680.132418463,664,635.867581537,879,787,803.132418463,652.867581537,631.132418463,652.132418463,0.400984401443,0.00449684738771,0.0698399448655,0.999999966343,3.50708992081e-05,-0.000256301045962,1.98387177062e-05,1793239763312645120
+65,1.083333333,BASELINE,765.717409723,746,715,680.717409723,664,635.282590277,879,787,803.717409723,652.282590277,631.717409723,652.717409723,0.400983296236,0.00449496081582,0.0698396823666,0.999999966175,3.30474691952e-05,-0.000257220832998,1.99063113424e-05,1793239763329311744
+66,1.100000000,BASELINE,766,746,715,680.700238055,664,635,879,787,803.700238055,652,631.700238055,653,0.400982998855,0.00449544653074,0.0698395197017,0.999999966111,3.27992134028e-05,-0.000257522309125,1.96268376804e-05,1793239763345978112
+67,1.116666667,BASELINE,766,746,715,680.120352016,664,635,879,787,803.120352016,652,631.120352016,653,0.400983456379,0.00449814912053,0.0698394503307,0.999999966146,3.42098376348e-05,-0.00025724598076,1.90230336125e-05,1793239763362644736
+68,1.133333333,BASELINE,766,745.541940154,715,679.541940154,664,635,879,787,803,652,631,653,0.400982880264,0.0044984621903,0.0698388757948,0.999999965971,3.4717139337e-05,-0.000257862063441,1.8964576561e-05,1793239763379311360
+69,1.150000000,BASELINE,766,745.036017596,715,679.036017596,664,635,879,787,803,652,631,653,0.400982172578,0.00449804479253,0.0698382902617,0.999999965787,3.4926438012e-05,-0.000258538679653,1.90583556559e-05,1793239763395977984
+70,1.166666667,BASELINE,766,745.612953064,715,679.612953064,664,635,879,787,803,652,631,653,0.400983554494,0.00449605571565,0.069839526515,0.999999966303,3.42132799962e-05,-0.00025661431502,1.92934509447e-05,1793239763412644608
+71,1.183333333,BASELINE,765.806980578,745.806980578,715,680,664,635,879,787,803.193019422,652,631,652.806980578,0.400984414545,0.00449504176906,0.0698402765542,0.99999996661,3.38423148831e-05,-0.000255445662762,1.95594710887e-05,1793239763429311488
+72,1.200000000,BASELINE,765.22053247,745.22053247,715,680,664,635,879,787,803.77946753,652,631,652.22053247,0.400984210885,0.00449601541603,0.0698400355506,0.999999966497,3.41688364705e-05,-0.000255817367723,1.98885249596e-05,1793239763445978368
+73,1.216666667,BASELINE,765.362227441,745,715,680,664,635,879,787,804,652.362227441,631.362227441,652.362227441,0.400984379967,0.00449610115236,0.0698401634582,0.999999966449,3.49657939441e-05,-0.000255887723272,2.00076784595e-05,1793239763462644992
+74,1.233333333,BASELINE,765.94276449,745,715,680,664,635,879,787,804,652.94276449,631.94276449,652.94276449,0.400984773695,0.00449565175682,0.0698405137038,0.99999996644,3.60462767802e-05,-0.000255776459561,2.00003278089e-05,1793239763479311616
+75,1.250000000,BASELINE,766,745.518954611,714.481045389,680,664,635.518954611,879,787,803.481045389,653,631.481045389,653,0.400984404605,0.00449653295638,0.0698403590239,0.999999966364,3.65014431282e-05,-0.000256014247431,1.98929035732e-05,1793239763495978240
+76,1.266666667,BASELINE,765.905345063,745.905345063,714.094654937,680,664,636,879,787,803,653,631,653,0.40098391948,0.00449706970184,0.0698400106303,0.999999966257,3.63500571688e-05,-0.000256458481472,1.9838444366e-05,1793239763512645120
+77,1.283333333,BASELINE,765.329717691,745.329717691,714.670282309,680,664,636,879,787,803,653,631,653,0.400983268695,0.00449511666736,0.0698389585346,0.999999966018,3.3464110629e-05,-0.000257757745128,2.01087349513e-05,1793239763529311744
+78,1.300000000,BASELINE,765.250676584,745.250676584,715,680,664,636,879,787,803.250676584,653,631,653,0.400983062861,0.00449461197717,0.0698386315498,0.999999965932,3.2886938425e-05,-0.000258162752874,2.01750770583e-05,1793239763545978368
+79,1.316666667,BASELINE,765.837462316,745.837462316,715,680,664,636,879,787,803.837462316,653,631,653,0.400983453622,0.00449604923863,0.0698392767995,0.999999966055,3.54053893391e-05,-0.000257368735119,1.99679634112e-05,1793239763562644992
+80,1.333333333,BASELINE,766,746,715,680,664,636,879,787,803.580372448,653,631.419627552,653,0.400985021835,0.00449613828952,0.0698401410692,0.99999996651,3.47767483446e-05,-0.000255693156039,1.97939284277e-05,1793239763579311616
+81,1.350000000,BASELINE,766,746,715,680,664,635.999977477,879,787,803,652.999977477,631.999977477,653,0.400987040995,0.00449571085266,0.0698410891738,0.999999967088,3.2942556792e-05,-0.000253679992365,1.96325729958e-05,1793239763595978496
+82,1.366666667,BASELINE,766,746,715,680,664,635.422468784,879,787,803,652.422468784,631.422468784,653,0.400985014099,0.00449625733488,0.0698400877669,0.999999966484,3.52559063687e-05,-0.0002557404978,1.96374948063e-05,1793239763612645120
+83,1.383333333,BASELINE,766,745.845979275,715,680,664,635.154020725,879,787,803,652,631,653,0.400983551799,0.00449633702414,0.069839412803,0.999999966069,3.62554167618e-05,-0.000257214193943,1.97226067961e-05,1793239763629312000
+84,1.400000000,BASELINE,766,745.272266818,715,680,664,635.727733182,879,787,803,652,631,653,0.400983627964,0.00449514474738,0.0698396273648,0.999999966185,3.36748416612e-05,-0.000257088891401,2.00262293496e-05,1793239763645979648
+85,1.416666667,BASELINE,766,745.310526917,715,680,664,635.689473083,879.931580751,787,803,652.310526917,631,653,0.400983747915,0.00449492142762,0.0698397002843,0.999999966271,3.3115962332e-05,-0.00025682215008,2.00799670164e-05,1793239763662646016
+86,1.433333333,BASELINE,766,745.901522862,715,680,664,635.098477138,881.704568586,787,803,652.901522862,631,653,0.400983907413,0.00449557327338,0.0698396452717,0.999999966333,3.43830860446e-05,-0.000256427660751,1.99080077372e-05,1793239763679311616
+87,1.450000000,BASELINE,766,745.522194546,715,680,664,635.477805454,880.566583638,787,803,653,631,653,0.400983690285,0.00449641741405,0.0698392619966,0.99999996612,3.76379795975e-05,-0.000256800283758,1.99114795398e-05,1793239763695978240
+88,1.466666667,BASELINE,766,745.051714822,715,680,664,635.948285178,879,787,803.051714822,652.948285178,631,653,0.400983468207,0.0044972611567,0.0698388207483,0.999999965871,4.07075237838e-05,-0.000257303146119,1.99233102416e-05,1793239763712645120
+89,1.483333333,BASELINE,766,745.631430066,715,680,664,635.368569934,879,787,803.631430066,652.368569934,631,653,0.400983964443,0.00449770828153,0.0698384577239,0.99999996592,3.78268113789e-05,-0.000257569735859,1.96623559465e-05,1793239763729312000
+90,1.500000000,BASELINE,766,745.7852579,715,680,664,635,879,787,803.7852579,652,631,653,0.400984806133,0.00449741550656,0.0698389080651,0.99999996621,3.60820903688e-05,-0.000256694596289,1.96684167941e-05,1793239763745978368
+91,1.516666667,BASELINE,766,745.195667458,715,680,664,635,879,787,803.195667458,652,631,653,0.400986250836,0.00449583118128,0.0698407781964,0.999999966924,3.6320327308e-05,-0.000253826483088,2.01405725016e-05,1793239763762644992
+92,1.533333333,BASELINE,765.612913297,745.387086703,715,679.612913297,664,635,879,787,803,652,631,652.612913297,0.400984688858,0.00449613232734,0.0698402753527,0.999999966545,3.69331129919e-05,-0.000255248275911,1.98440758408e-05,1793239763779311872
+93,1.550000000,BASELINE,765.033554765,745.966445235,715,679.033554765,664,635,879,787,803,652,631,652.033554765,0.400981633416,0.00449737001543,0.0698385938164,0.999999965616,3.77319427308e-05,-0.000258800929766,1.91657779501e-05,1793239763795978496
+94,1.566666667,BASELINE,765.541957935,745.458042065,715,680.08391587,664,635.541957935,879.541957935,787,803,652,631.541957935,652.541957935,0.400983406355,0.00449697883157,0.0698402231413,0.99999996629,3.54355043712e-05,-0.000256498243652,1.93355327443e-05,1793239763812645376
+95,1.583333333,BASELINE,766,745.116665293,715,680.766669413,664,635.883334707,880,787,803.116665293,652,632,653,0.400984812371,0.00449666473771,0.069841456942,0.999999966797,3.39786728409e-05,-0.000254696324739,1.95439997973e-05,1793239763829312000
+96,1.600000000,BASELINE,766,745.689150055,715,679.62169989,664,635.310849945,880,787,803.689150055,652,632,653,0.40098362503,0.00449704309104,0.0698403501418,0.999999966304,3.65457195653e-05,-0.000256257376848,1.97000181051e-05,1793239763845978880
+97,1.616666667,BASELINE,766,746,715,679.27208136,664,635.27208136,879.72791864,787,803.72791864,652.27208136,631.72791864,653,0.400983275644,0.00449733791103,0.069839874656,0.999999966099,3.74185975593e-05,-0.000256929256137,1.9704528835e-05,1793239763862645760
+98,1.633333333,BASELINE,766,746,715,679.867424233,664,635.867424233,879.132575767,787,803.132575767,652.867424233,631.132575767,653,0.400983921836,0.00449753348451,0.0698401492386,0.999999966244,3.62786232661e-05,-0.000256544703718,1.95290324844e-05,1793239763879312384
+99,1.650000000,BASELINE,766,746,715,680,664,635.551988366,879,787.448011634,803.448011634,653,631,653,0.40098504013,0.00449794230905,0.0698411428563,0.999999966644,3.67805620959e-05,-0.000254920049091,1.93677470273e-05,1793239763895979008
+100,1.666666667,BASELINE,766,746,715,680,664.024293206,635,879.024293206,787.975706794,803.975706794,652.975706794,631,652.975706794,0.400986184793,0.00449831003711,0.0698422394139,0.999999967076,3.75810773201e-05,-0.00025311045132,1.92322055969e-05,1793239763912645632
+101,1.683333333,BASELINE,766,746,715,680,664.598794588,635,879.598794588,787.401205412,803.401205412,652.401205412,631,652.401205412,0.400984863427,0.00449636330763,0.0698410019688,0.99999996666,3.44904006915e-05,-0.000255158536651,1.95875241316e-05,1793239763929312000
+102,1.700000000,BASELINE,766,746,715,680,665,635,879.822567816,787,803,652.177432184,631.177432184,652.177432184,0.400984121916,0.00449516956829,0.0698402236441,0.999999966383,3.30298364725e-05,-0.000256415285848,1.98571012634e-05,1793239763945978368
+103,1.716666667,BASELINE,766,746,715,680,665,635,879.234354364,787,803,652.765645636,631.765645636,652.765645636,0.40098472285,0.00449571911074,0.06984050825,0.99999996645,3.53432195835e-05,-0.000255839976728,1.99281745499e-05,1793239763962644992
+104,1.733333333,BASELINE,766,746,715,680,665,635,879,787,803,653,631.651248922,653,0.400984281414,0.00449647901065,0.0698402991708,0.999999966382,3.55019480577e-05,-0.000256105248698,1.96612175707e-05,1793239763979311616
+105,1.750000000,BASELINE,766,746,715,680,665,635,879,787,803,653,631.071526365,653,0.400983149634,0.00449737822653,0.0698397631331,0.999999966224,3.42336882827e-05,-0.00025692722214,1.9170389317e-05,1793239763995978240
+106,1.766666667,BASELINE,766,746,715,680,664.493869445,635.506130555,879.506130555,787,803.506130555,653,631,653,0.400983992736,0.00449623071222,0.0698404403854,0.999999966568,3.3090268425e-05,-0.000255709657605,1.95454674302e-05,1793239764012644864
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635,879,787,804,653,631,653,0.400983795387,0.00449681101065,0.0698395895912,0.999999966265,3.48634069046e-05,-0.000256705766219,1.88762897629e-05,1793239764056077824
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635.594629589,879,787,804,653,631,653,0.400984309223,0.00449616812801,0.0698398451521,0.999999966339,3.491697208e-05,-0.00025637197118,1.94062715962e-05,1793239764072744704
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635.8162125,879,787,804,653,631,653,0.400984562687,0.00449573489601,0.0698399361082,0.999999966339,3.48448211435e-05,-0.000256359440043,1.96779709189e-05,1793239764089411328
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635.238774157,879,787,804,653,631,653,0.400984258465,0.00449575071048,0.069839674501,0.999999966183,3.45034013405e-05,-0.000257035017696,1.93964600929e-05,1793239764106077952
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680.337904708,664,635.337904708,879.337904708,787.337904708,803.662095292,652.662095292,631.337904708,653,0.400984530157,0.00449575082148,0.0698399725204,0.999999966312,3.46796848089e-05,-0.000256509889808,1.9370700424e-05,1793239764122744576
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680.914048072,664,635.914048072,879.914048072,787.914048072,803.085951928,652.085951928,631.914048072,653,0.400985207895,0.00449573986078,0.0698406651027,0.999999966641,3.52209733657e-05,-0.000255138208203,1.9525257323e-05,1793239764139411200
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680.512203167,664,636,879.512203167,787.512203167,803,652.487796833,631.512203167,653,0.400985169533,0.00449704612779,0.0698408285372,0.999999966674,3.54838029528e-05,-0.00025499530328,1.9261307383e-05,1793239764156077824
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680.063058649,664,635.936941351,879,787.063058649,803,653,631.063058649,652.936941351,0.400984924831,0.00449830970745,0.0698408823627,0.99999996662,3.56511369292e-05,-0.00025520104862,1.90062829528e-05,1793239764172744448
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680.65451751,664,635.34548249,879,787.65451751,803,653,631.65451751,652.34548249,0.40098400326,0.00449728019572,0.069840795192,0.999999966281,3.54274026868e-05,-0.000256522878086,1.94409587666e-05,1793239764189411328
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.75907025,746,715,680.518140501,664,635,879,787.75907025,803.24092975,653,632,652.24092975,0.400988212152,0.00449644949194,0.0698428292507,0.999999967008,3.52866190367e-05,-0.000253673310825,1.9734298317e-05,1793239764206077696
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.179746216,746,715,679.359492432,664,635,879,787.179746216,803.820253784,653,632,652.820253784,0.40099962696,0.00449589802098,0.0698478426502,0.999999969178,3.52623424201e-05,-0.000244964870411,1.98291260901e-05,1793239764222744320
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.760563047,745.619718477,715,679.380281523,664,635,879,787.380281523,803.619718477,653,632,653,0.401025971571,0.00449617509239,0.0698587025561,0.999999973553,3.51746023434e-05,-0.000226406876237,1.99066885154e-05,1793239764239411456
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.863258117,745.068370941,715,679.931629059,664,635,879,787.931629059,803.068370941,653,632,653,0.401059032212,0.00449682487564,0.0698721924573,0.999999978496,3.50583138181e-05,-0.000203418153505,1.99764842889e-05,1793239764256078592
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.461918926,745.538081074,715,680,664,635,879.538081074,787.461918926,803,652.461918926,632,653,0.401115208928,0.00449657231493,0.0698912553289,0.999999984335,3.28469331383e-05,-0.000172856033563,1.92807791391e-05,1793239764272744960
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.144003676,746,714.855996324,680,664,635.144003676,879.855996324,787,803.144003676,652,631.855996324,653,0.401176095571,0.0044963508568,0.06990841916,0.999999988567,3.11896135146e-05,-0.000146797421737,1.85531239023e-05,1793239764289411584
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.724667232,746,714.275332768,680,664,635.724667232,879.275332768,787,803.724667232,652,631.275332768,653,0.401241341368,0.00449661104587,0.0699174323437,0.999999989848,3.21116916209e-05,-0.000137645630422,1.80571817795e-05,1793239764306078208
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.697712342,746,714.302287658,680,664,636,879.302287658,787,804,652,631.302287658,653,0.401314372504,0.00449630543055,0.06992234836,0.99999999085,3.02452823117e-05,-0.000130743893321,1.70453336245e-05,1793239764322744832
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.1228361,746,714.8771639,680,664,636,879.8771639,787,804,652,631.8771639,653,0.401394424083,0.00449548959983,0.0699235697457,0.999999991623,2.58643480675e-05,-0.000125871148287,1.55682660595e-05,1793239764339411456
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,714.547242419,680,664,636,879.547242419,787,803.547242419,652.452757581,631.547242419,653,0.401485765777,0.00449649288311,0.0699210149206,0.999999990912,2.40590080631e-05,-0.000131989522097,1.3295015948e-05,1793239764356078080
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714,680,664,635.970638252,879,787,803,652.970638252,631,653,0.401582075149,0.00449794487515,0.0699177587489,0.999999989826,2.29722080863e-05,-0.000140366366206,1.0799293221e-05,1793239764372744448
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714,680,664,635.378399847,879,787,803,652.378399847,631,653,0.401714803237,0.00449852246498,0.0699207289364,0.999999990636,2.22430393192e-05,-0.000134782843256,8.18624238599e-06,1793239764389411072
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.79125824,714,680,664,635,879,787,803.20874176,652.20874176,631.20874176,653,0.40185768079,0.00449957622674,0.0699237222362,0.999999991391,2.08267353916e-05,-0.000129450329433,5.23814268284e-06,1793239764406077696
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.213135779,714,680,664,635,879,787,803.786864221,652.786864221,631.786864221,653,0.4020185184,0.00450147260242,0.0699267564341,0.999999992075,1.81945058531e-05,-0.000124561991475,1.69715476985e-06,1793239764422744576
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.361073263,714.361073263,680,664.361073263,635,879,787,803.638926737,652.638926737,631.638926737,652.638926737,0.402200419433,0.00450182113639,0.0699313212854,0.999999993214,1.30338776358e-05,-0.000115747669864,-2.07010645349e-06,1793239764439411200
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.932997099,714.932997099,680,664.932997099,635,879,787,803.067002901,652.067002901,631.067002901,652.067002901,0.402394620575,0.00450126580049,0.0699367799697,0.999999994487,6.39677786572e-06,-0.000104640749599,-5.96950146648e-06,1793239764456077824
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,715,679.479700476,665,635,879,787.520299524,803,652.520299524,631,652.520299524,0.402607900852,0.00450208322582,0.0699355840785,0.999999994439,2.29825668165e-06,-0.000104865636089,-1.09171017962e-05,1793239764472744448
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715,679,664.892162331,635,879,787.892162331,803.107837669,652.892162331,631,653,0.402834681261,0.00450360704219,0.06993461641,0.999999994416,-9.23519347806e-07,-0.00010444300281,-1.60685046389e-05,1793239764489411328
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715,679,664.312521167,635,879,787.312521167,803.687478833,652.312521167,631,653,0.403109449598,0.00450742441381,0.0699385107477,0.999999995292,-1.78326914786e-06,-9.46083864073e-05,-2.15030056103e-05,1793239764506077952
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.733311745,715,679,664,635,879.266688255,787,803.733311745,652,631,653,0.403400588332,0.00450922573429,0.0699454669948,0.999999996341,-5.76171140972e-06,-8.10710441257e-05,-2.66825446989e-05,1793239764522744576
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.154607482,715,679,664,635,879.845392518,787,803.154607482,652,631,653,0.403710879844,0.00450866834464,0.0699560055692,0.999999997415,-1.33889156365e-05,-6.32016415589e-05,-3.15637868964e-05,1793239764539411968
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.41718947,715,679.41718947,664,635.41718947,879.58281053,787,803.41718947,652,631.41718947,653,0.404040756022,0.00450904749094,0.0699615872952,0.999999997688,-1.57238185271e-05,-5.5684923343e-05,-3.5723136124e-05,1793239764556078592
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.986468299,715,679.986468299,664,635.986468299,879.013531701,787,803.986468299,652,631.986468299,653,0.404377771922,0.00450976805803,0.0699653619671,0.999999997736,-1.61293755147e-05,-5.19423495379e-05,-3.96193140792e-05,1793239764572744960
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.419662589,714.419662589,679.419662589,664,635.419662589,879,787,804,652,631.419662589,653,0.404753989212,0.00450497304486,0.069971020855,0.999999998349,2.1488331789e-05,-4.48016693701e-05,-2.88490428737e-05,1793239764589411840
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.170011987,714.170011987,679.170011987,664,635,879.170011987,787,804,652.170011987,631,653,0.405145772859,0.00449786384192,0.0699746224679,0.99999999803,4.38457230178e-05,-3.92907584227e-05,-2.17712948489e-05,1793239764606078464
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.748179051,714.748179051,679.748179051,664,635,879.748179051,787,804,652.748179051,631,653,0.405572635758,0.00448552127762,0.0699731749498,0.99999999861,2.73443672151e-05,-3.78911415281e-05,-2.44156730629e-05,1793239764622745088
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.676186288,715,680,664,635.323813712,879.676186288,787,803.676186288,652.676186288,631,653,0.406004879081,0.0044854384673,0.0699677512612,0.999999998044,3.37355649204e-05,-4.55192650854e-05,-2.64970374346e-05,1793239764639411712
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.102505665,715,680,664,635.897494335,879.102505665,787,803.102505665,652.102505665,631,653,0.406441274189,0.0044948157457,0.0699592594087,0.999999996127,5.77915213125e-05,-6.01135345817e-05,-2.81439592918e-05,1793239764656078592
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.484646542,715,680,664.484646542,635.515353458,879,787,803.484646542,652,631,653,0.406903276037,0.00450201014694,0.0699433340534,0.999999996066,9.7487708464e-06,-8.30521487867e-05,-2.95863098903e-05,1793239764672745216
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.926470382,745.926470382,715,680,664.926470382,635,879,787,804,652.073529618,631,653,0.407382678877,0.00450843972721,0.0699285454716,0.999999993277,-4.29569693908e-05,-0.000103122799683,-3.11016019053e-05,1793239764689412096
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.345861969,745.345861969,715,680,664.345861969,635,879,787,804,652.654138031,631,653,0.407943665729,0.00451286988824,0.0699327488614,0.999999995117,-1.96500303229e-05,-9.08962256646e-05,-3.34268365175e-05,1793239764706078976
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.232466966,745.232466966,715,680,664.232466966,635.232466966,879,787.232466966,804,653,631.232466966,653,0.408529921738,0.00451986007545,0.06994327995,0.99999999704,6.49113699145e-06,-6.79116294717e-05,-3.55816963306e-05,1793239764722745600
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.807437411,745.807437411,715,680,664.807437411,635.807437411,879,787.807437411,804,653,631.807437411,653,0.409153407839,0.00453062205796,0.0699631339067,0.999999998197,3.68080920697e-05,-2.90767817506e-05,-3.74855355254e-05,1793239764739412224
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.616218123,746,715,680,665,635.616218123,879,787.616218123,804,652.616218123,631.616218123,652.616218123,0.409756606704,0.00453583600573,0.069963333131,0.999999997761,4.81548656795e-05,-2.63923438077e-05,-3.82444448839e-05,1793239764756078592
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.039181782,746,715,680,665,635.039181782,879,787.039181782,804,652.039181782,631.039181782,652.039181782,0.410349589855,0.00453825622439,0.0699536351579,0.999999997136,4.99491491703e-05,-4.19115494689e-05,-3.84268215088e-05,1793239764772745472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.546579827,746,715,680,664.453420173,635,879,787,804,652,631,652.546579827,0.410967773721,0.00454715866836,0.0699485318181,0.99999999639,5.35110724871e-05,-5.26085092123e-05,-3.98500479105e-05,1793239764789412096
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.131776815,635.131776815,879.131776815,787,803.868223185,652.131776815,631.131776815,653,0.411612371304,0.00455610017142,0.0699504331511,0.999999996015,6.08609624271e-05,-5.08553828014e-05,-4.0981015494e-05,1793239764806078720
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.712881137,635.712881137,879.712881137,787,803.287118863,652.712881137,631.712881137,653,0.412340773486,0.00456356470048,0.0699750774638,0.999999995881,8.06878407458e-05,-7.84825313354e-06,-4.08072286217e-05,1793239764822745088
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.708821958,635.708821958,879.708821958,787,803.291178042,653,631.708821958,653,0.413087375474,0.00457055715926,0.0700003839335,0.999999994236,9.36865822081e-05,3.21782947772e-05,-4.1411679323e-05,1793239764839411456
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.133266829,635.133266829,879.133266829,787,803.866733171,653,631.133266829,653,0.413851752266,0.00457708857464,0.0700263370974,0.999999991683,0.000100016671875,6.92938825305e-05,-4.27761905471e-05,1793239764856078080
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.548805019,746,715,680,664,635,879,787,804,652.548805019,631,653,0.414560300415,0.00458542189864,0.0700175189818,0.999999992613,0.000103420775244,4.69430373536e-05,-4.32958076744e-05,1793239764872744704
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.037851181,746,715,680,664,635,879.037851181,787,804,652,631,653,0.415253813295,0.00459423716243,0.0699958105087,0.999999993325,0.000106892274094,3.7279133722e-06,-4.37083087135e-05,1793239764889411328
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.617504058,746,715,680,664,635,879.617504058,787,804,652,631,653,0.41597289987,0.00460217932157,0.0699395573441,0.999999987915,0.000123948198264,-8.16608816414e-05,-4.62315632543e-05,1793239764906078208
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.803888879,715,680,664.196111121,635,879.803888879,787,803.803888879,652.196111121,631,653,0.416732592706,0.00460921685219,0.0699109778488,0.999999981774,0.000135633469884,-0.000125431867215,-4.81998207625e-05,1793239764922744832
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.227310789,715,680,664.772689211,635,879.227310789,787,803.227310789,652.772689211,631,653,0.417571064005,0.00461449935048,0.0699360868832,0.999999985512,0.000136899363941,-8.84618805801e-05,-4.90913521576e-05,1793239764939411456
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.347016936,715,680,664.652983064,635,879.347016936,787,803.347016936,652.652983064,631,652.652983064,0.418415802392,0.00461994212604,0.0699623123248,0.999999987751,0.000139940441252,-4.96945532428e-05,-4.94390694159e-05,1793239764956078080
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.919880053,715,680,664.080119947,635,879.919880053,787,803.919880053,652.080119947,631,652.080119947,0.419264619503,0.00462548921333,0.0699892643477,0.999999988343,0.000144136846345,-9.75747884565e-06,-4.94328605203e-05,1793239764972744704
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.491925565,714.491925565,680,664.508074435,635,879.491925565,787,804,652,631,652.508074435,0.420110095737,0.00462790227847,0.0700067536688,0.999999987493,0.00014888063675,1.79247888314e-05,-5.02764432175e-05,1793239764989411328
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.903058886,745.096941114,714.096941114,680,665,635,879.096941114,787.096941114,804,652.096941114,631,653,0.420955597632,0.0046267758696,0.070020601592,0.999999986693,0.000149798065954,3.93899733527e-05,-5.1210481399e-05,1793239765006077952
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.32326052,745.67673948,714.67673948,680,665,635,879.67673948,787.67673948,804,652.67673948,631,653,0.421803932819,0.004610557816,0.0700239757796,0.999999989252,0.000131213315871,3.98134245367e-05,-5.19068268523e-05,1793239765022744832
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.748058114,715,680,664.748058114,635,880,787.748058114,804,652.748058114,631,653,0.422621194073,0.00459262718652,0.0700002978835,0.999999992763,0.000108192386891,-1.09753742158e-06,-5.26036701929e-05,1793239765039411200
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.178646952,715,680,664.178646952,635,880,787.178646952,804,652.178646952,631,653,0.423399299511,0.0045725385563,0.0699425319464,0.999999990986,7.95814730284e-05,-9.40935516235e-05,-5.33011406703e-05,1793239765056078080
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.399103426,715,680,664,635,880,787,804,652,631,652.600896574,0.424235032382,0.00457510751262,0.0698954527877,0.999999982729,7.90868830976e-05,-0.000158548295932,-5.61153786277e-05,1793239765072744960
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.980666234,715,680,664,635,880,787,804,652,631,652.019333766,0.425097110925,0.00458803491111,0.0698532593409,0.999999971984,9.14463241934e-05,-0.00020995473147,-5.98973458897e-05,1793239765089411584
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.572206326,745.427793674,715,680,664.572206326,635,879.427793674,787,803.427793674,652,631,652,0.42600877042,0.00459260299153,0.0699101197721,0.999999986137,9.41772924747e-05,-0.00012409243321,-5.87990166447e-05,1793239765106078208
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.160234107,714.839765893,680,665,635,879.160234107,787,803.160234107,652,631,652,0.426915879299,0.00459691655603,0.0699644059423,0.999999992316,9.96465855883e-05,-4.64426929766e-05,-5.72783065241e-05,1793239765122745088
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.73821052,714.26178948,680,665,635,879.73821052,787,803.73821052,652,631,652,0.427806679333,0.00460131600212,0.0700031005074,0.999999992081,0.000113118103141,-2.51003576148e-06,-5.50939439034e-05,1793239765139411456
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.685483231,714.314516769,680,665,635,880,787,804,652,631,652.314516769,0.4287000134,0.00460414939133,0.0700307714322,0.999999990643,0.000118760757727,4.01522808584e-05,-5.47536441563e-05,1793239765156078080
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.110559836,714.889440164,680,665,635,880,787,804,652,631,652.889440164,0.429595445493,0.00460568615124,0.0700493152455,0.99999998814,0.000117921443166,8.17628068103e-05,-5.59401508266e-05,1793239765172744704
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.462913705,715,680.462913705,665,635,879.537086295,787,803.537086295,652,631,653,0.430430830717,0.00460576508045,0.0700258228878,0.999999990521,0.000118400525692,4.24667023302e-05,-5.60049799005e-05,1793239765189411584
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.962593853,745.962593853,715,680.962593853,664.962593853,635,879.037406147,787.037406147,803.037406147,652,631,652.962593853,0.431246279987,0.00460577052168,0.0699900251288,0.999999991083,0.000119683520056,-1.96621996909e-05,-5.58815230444e-05,1793239765206078720
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.367774796,745.367774796,715,680.367774796,664.367774796,635,879.632225204,787.632225204,803.632225204,652,631,652.367774796,0.4319776912,0.00460985313218,0.0699199975518,0.999999981042,0.000128268559864,-0.000134987236593,-5.6931916943e-05,1793239765222745344
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.220194187,714.779805813,680.220194187,664.220194187,635,880,787.779805813,804.220194187,652,631,652,0.432762125915,0.00460888539882,0.0698892675261,0.999999974111,0.000125824300566,-0.000180467358661,-5.81176914897e-05,1793239765239411712
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.797067251,714.202932749,680.797067251,664.797067251,635,880,787.202932749,804.797067251,652,631,652,0.433632450223,0.00459973692794,0.0699221931505,0.999999986299,0.00010551436824,-0.000112810063836,-5.95227617003e-05,1793239765256078336
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.369124843,745.630875157,714.369124843,681,665.369124843,635,880,787,804.630875157,652,631.369124843,652,0.434487136918,0.00458967606781,0.0699704112083,0.999999993673,9.00651969793e-05,-3.22748419066e-05,-5.91639631408e-05,1793239765272744960
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.938569102,745.061430898,714.938569102,681,665.938569102,635,880,787,804.061430898,652,631.938569102,652,0.435333337225,0.00457912006604,0.0700269282757,0.999999993816,7.72539005219e-05,5.52490654131e-05,-5.78479347907e-05,1793239765289411328
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680.468764549,665.468764549,635,880,787,804,652,631.468764549,652.531235451,0.436130210277,0.00457884606289,0.0700328009852,0.999999992545,8.245192416e-05,6.9008487105e-05,-5.78771853255e-05,1793239765306077952
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.122750809,714.877249191,680.122750809,665.122750809,635,880,787,804.122750809,652,631,653,0.436907851633,0.00458025771593,0.0700277895796,0.999999992099,8.89663922079e-05,6.71158742313e-05,-5.81639033302e-05,1793239765322744576
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.699619447,714.300380553,680.699619447,665.699619447,635,880,787,804.699619447,652,631,653,0.437636412091,0.00458330572881,0.0700051684788,0.999999993199,9.22944324251e-05,4.03175912245e-05,-5.88013023992e-05,1793239765339411200
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.724818392,745.724818392,714,680.724818392,665.449636785,635,880,787,804.724818392,652,631,652.724818392,0.438323226048,0.00458799147889,0.0699674338425,0.999999993558,9.55905981027e-05,-1.34402520574e-05,-5.97087114296e-05,1793239765356078080
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.150675643,745.150675643,714,680.150675643,664.301351286,635,880,787,804.150675643,652,631,652.150675643,0.438964685977,0.00459445648934,0.0699132796516,0.999999988604,9.88521341903e-05,-9.64873363933e-05,-6.09094627439e-05,1793239765372744960
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.420562706,714,680.420562706,664,635,880,787,804,652,631.420562706,652.420562706,0.439576413795,0.00460167069403,0.0698609037461,0.999999976039,0.000105267957232,-0.000182074897594,-6.07377613874e-05,1793239765389411584
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.990767675,714,680.990767675,664,635,880,787,804,652,631.990767675,652.990767675,0.440177562554,0.00460915147334,0.0698091605756,0.999999955769,0.000112806120692,-0.000268566402804,-6.0077721417e-05,1793239765406078464
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.591974443,745.408025557,714,681.591974443,663.408025557,635,880.591974443,787,804,652,631.408025557,652.408025557,0.440849839274,0.00461631512819,0.0698150858545,0.99999995737,0.000124164863949,-0.000257272570416,-6.04418739678e-05,1793239765422744832
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.815736206,745.184263794,714,682,663,634.815736206,881,787,804,652,631,652,0.441512887309,0.00462305414786,0.0698315104979,0.999999962013,0.000134638315318,-0.000232713504142,-6.07472275676e-05,1793239765439411456
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.243306775,745.756693225,714,682,663,634.243306775,881,787,804,652,631,652,0.442154028581,0.00462890963721,0.069868053518,0.999999971051,0.000143114376974,-0.000183600375567,-6.08932085646e-05,1793239765456078080
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.669147827,714,682,662.669147827,634,881,787,804.330852173,652,631,652.330852173,0.44272898002,0.0046341511935,0.069871459102,0.999999968585,0.000155178926213,-0.000187600832629,-5.96220676346e-05,1793239765472744960
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.093710353,714,682,662.093710353,634,881,787,804.906289647,652,631,652.906289647,0.44325500002,0.00463893889417,0.0698503675506,0.999999957276,0.000169896295031,-0.000230865965188,-5.73033071669e-05,1793239765489411584
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+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.75623174,714,682,660.75623174,634,880.75623174,787,804,652,631,653,0.445165881112,0.00466603412602,0.0697198865425,0.999999883093,0.000223955121659,-0.000424636584957,-5.78154757636e-05,1793239765556078848
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.182406654,714,682,660.182406654,634,880.182406654,787,804,652,631,653,0.445619369258,0.00466937337736,0.0697153018337,0.999999882305,0.000229214145669,-0.000423526787957,-5.89546244921e-05,1793239765572745728
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.85875469,682,659,633,881,786,804.85875469,652,631,653,0.44712451423,0.00468656407508,0.0696876927548,0.999999841326,0.000277381629148,-0.000487300490813,-5.42707670757e-05,1793239765639411200
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.617152313,714,682.617152313,658,632,880.382847687,787,804.382847687,652,631,653,0.448777648685,0.00476837406055,0.0696689242524,0.999999825736,0.000279925164682,-0.000515235433023,-6.85665833332e-05,1793239765739411200
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+246,4.100000000,POSE1_TO_POSE2_PRESS,765.324710131,746,714,682,656.324710131,631.324710131,880.675289869,786,804.675289869,652,631,653,0.450283385021,0.00478658538831,0.0696066749634,0.999999751299,0.000331625521376,-0.000618915017975,-6.61157370068e-05,1793239766372744704
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.749846102,714,682,656,631,880.749846102,786,804.749846102,652,631,653,0.450283042726,0.0047865726691,0.0696064283976,0.999999750828,0.000332420789902,-0.000619255530478,-6.60514301504e-05,1793239766389411584
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.176125884,714,682,656,631,880.176125884,786,804.176125884,652,631,653,0.450283256328,0.00478642065921,0.0696064052067,0.999999750778,0.00033355001728,-0.000618748096776,-6.58712859038e-05,1793239766406078208
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.400633755,714,682,656,631.400633755,880,786,804,652,631,653,0.450283670628,0.00478576212667,0.0696064810941,0.999999750584,0.000333519805972,-0.000619092960975,-6.57251541083e-05,1793239766422744832
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.978739758,714,682,656,631.978739758,880,786,804,652,631,653,0.450284173833,0.00478487921535,0.069606600871,0.999999750327,0.000332975987871,-0.000619815375084,-6.55940891174e-05,1793239766439411456
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714,682.569940857,656,632,880.569940857,786,804,652,631,653,0.450283324577,0.00478561669473,0.0696057056976,0.999999749933,0.000333364941093,-0.000620234408873,-6.56514717272e-05,1793239766456078080
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,714,682.841669934,656,632,881,786.158330066,804,652.158330066,631,653,0.450282939224,0.0047861948891,0.0696049914429,0.999999749911,0.000332949447817,-0.000620480269215,-6.57728814736e-05,1793239766472744448
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,714,682.262092177,656,632,881,786.737907823,804,652.737907823,631,653,0.4502839255,0.00478618469605,0.0696048616329,0.999999750887,0.000330298920268,-0.000620296207352,-6.60454972059e-05,1793239766489411328
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,746,714,682.313616675,656,632,881,786.686383325,804,652.686383325,631,653,0.450285709264,0.00478695017896,0.0696060295462,0.999999751765,0.000331495053356,-0.000618229018759,-6.61333884791e-05,1793239766506077952
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,746,714,682.886131623,656,632,881,786.113868377,804,652.113868377,631,653,0.450288151374,0.00478835600143,0.0696082687621,0.999999752543,0.000335866699473,-0.000614607262759,-6.60687851559e-05,1793239766522744576
+256,4.266666667,HOLD_POSE2,765,745,714,683,656,631,881,786,805,652,631,653,0.450285153343,0.00478568639036,0.0696063615871,0.999999751942,0.000329856532927,-0.000618899427791,-6.5377022839e-05,1793239766554967808
+257,4.283333333,HOLD_POSE2,765,745,714,682.406081156,656,631,881,786,805,652,631,653,0.450285879029,0.00478561585782,0.0696066804612,0.999999752718,0.000329074862427,-0.000618016667249,-6.580092577e-05,1793239766571634176
+258,4.300000000,HOLD_POSE2,765,745.181822456,714,682,656,631.181822456,880.818177544,786,804.818177544,652,631,653,0.45028616695,0.00478572072416,0.0696067665527,0.999999752669,0.000329472630877,-0.000617878374084,-6.58502197594e-05,1793239766588300544
+259,4.316666667,HOLD_POSE2,765,745.756722013,714,682,656,631.756722013,880.243277987,786,804.243277987,652,631,653,0.450285508483,0.00478620478066,0.0696063493976,0.999999750833,0.000332420196682,-0.000619349524844,-6.5089656784e-05,1793239766604966656
+260,4.333333333,HOLD_POSE2,765.331989763,746,714,682.331989763,656,631.668010237,880,785.668010237,804,652,631,653,0.450285475159,0.00478612054416,0.069605877755,0.999999750339,0.000332502719618,-0.000620102580101,-6.50916063262e-05,1793239766621632768
+261,4.350000000,HOLD_POSE2,765.907527586,746,714,682.907527586,656,631.092472414,880,785.092472414,804,652,631,653,0.450285900441,0.00478561940726,0.0696053661402,0.999999750831,0.000330483443743,-0.000620328839611,-6.56529359452e-05,1793239766638299392
+262,4.366666667,HOLD_POSE2,765.503657845,746,714,683,656,631,880.496342155,785.496342155,804,652,631,653,0.450285433682,0.00478541332192,0.0696055969722,0.999999751287,0.000328993550304,-0.000620378263566,-6.57271658432e-05,1793239766654966016
+263,4.383333333,HOLD_POSE2,765,746,714,682.91426369,656,631,880.91426369,786,804.08573631,652,631,653,0.450285049046,0.00478543810131,0.0696059933186,0.999999751709,0.000327949023083,-0.000620250731317,-6.57227413112e-05,1793239766671632640
+264,4.400000000,HOLD_POSE2,765,746,714,682.336137212,656,631,880.336137212,786,804.663862788,652,631,653,0.450286116745,0.00478646437843,0.0696065239904,0.999999751987,0.000328880271514,-0.000619301336912,-6.58021097868e-05,1793239766688299520
+265,4.416666667,HOLD_POSE2,765.240710291,746,714,682,656,631,880.240710291,786,805,652,631,653,0.450286678926,0.00478672583087,0.069606670169,0.999999751959,0.000329719175351,-0.000618908741536,-6.57182021525e-05,1793239766704966400
+266,4.433333333,HOLD_POSE2,765.815781175,746,714,682,656,631,880.815781175,786,805,652,631,653,0.450286538913,0.00478592489726,0.0696062822638,0.999999751509,0.0003304298071,-0.000619289572474,-6.54074944987e-05,1793239766721632768
+267,4.450000000,HOLD_POSE2,766,746,714,682,656,631,881,786,804.600635309,652,631.399364691,653,0.450286494822,0.00478641592605,0.0696061957486,0.999999751136,0.000331177097078,-0.000619478820042,-6.55468570461e-05,1793239766738299392
+268,4.466666667,HOLD_POSE2,766,746,714,682,656,631,881,786,804.013039514,652,631.986960486,653,0.450286495941,0.00478751589069,0.0696062512865,0.999999750798,0.000331941665109,-0.000619577769352,-6.58983495117e-05,1793239766754966016
+269,4.483333333,HOLD_POSE2,765.433421593,746,714,682,656,631.566578407,881,786,804.566578407,652.566578407,631.433421593,653,0.450287849043,0.00478758401118,0.0696072564789,0.999999751544,0.000332176140324,-0.000618285621058,-6.55265487033e-05,1793239766771632640
+270,4.500000000,HOLD_POSE2,765,746,714,682,656,631.855196203,880.855196203,786,805,653,631,653,0.450288604106,0.00478733373408,0.0696078687339,0.999999751971,0.000332412018008,-0.000617507379793,-6.51493532713e-05,1793239766788299520
+271,4.516666667,HOLD_POSE2,765,746,714,682,656,631.28056673,880.28056673,786,805,653,631,653,0.450287492915,0.00478620785872,0.069607250646,0.999999751382,0.000332687769014,-0.000618348297439,-6.48048701445e-05,1793239766804966144
+272,4.533333333,HOLD_POSE2,765,746,714,682,656,631,880.295177425,786,805,652.704822575,631,653,0.450286876675,0.00478565278919,0.069606407488,0.999999751043,0.000332129384062,-0.000619185706701,-6.49094017914e-05,1793239766821633024
+273,4.550000000,HOLD_POSE2,765,746,714,682,656,631,880.871985071,786,805,652.128014929,631,653,0.450286732668,0.00478564232835,0.0696053495895,0.99999975094,0.000330775145911,-0.000620019768546,-6.54423406435e-05,1793239766838300416
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,631,880,786,805,652,632,653,0.450285246632,0.00478821036099,0.0696049311224,0.999999749811,0.000331831960793,-0.000621269215705,-6.54991977467e-05,1793239766870177024
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655.420944146,631,880.579055854,786,804.420944146,652,631.420944146,653,0.450287173723,0.00478740437408,0.0696061520413,0.999999750917,0.000332136127253,-0.000619332017202,-6.54175451211e-05,1793239766886843392
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.156690766,745,714,682.156690766,655.156690766,631,880.843309234,786,804,652,631,653,0.450288651906,0.00478654480879,0.0696071978214,0.999999752079,0.00033166700033,-0.000617717593961,-6.53037258999e-05,1793239766903509760
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.730542801,745,714,682.730542801,655.730542801,631,880.269457199,786,804,652,631,653,0.450288934958,0.0047855426004,0.0696077773262,0.999999753393,0.000329139117509,-0.000616962501975,-6.51042688266e-05,1793239766920175872
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.694364521,745.305635479,714,682.694364521,656,631,880,786,804,652,631,653,0.450288891414,0.00478512136607,0.0696077741244,0.999999753354,0.000328622004598,-0.000617312933642,-6.50001038749e-05,1793239766936842240
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.118173633,745.881826367,714,682.118173633,656,631,880,786,804,652,631,653,0.450288558761,0.00478521442312,0.0696072550978,0.999999752118,0.000329884870648,-0.000618641999788,-6.49802936673e-05,1793239766953508864
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.531245911,713.531245911,682,656,631.468754089,880.468754089,786,804.468754089,652,631.468754089,652.531245911,0.45028776338,0.00478539377684,0.0696068660384,0.999999751924,0.000329982547156,-0.000618892135093,-6.50907566591e-05,1793239766970176256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.057486852,713.057486852,682,656,632,881,786,805,652,631.942513148,652.057486852,0.450286658018,0.00478569993255,0.0696064053924,0.999999751846,0.000329882713524,-0.000619057041912,-6.52247985495e-05,1793239766986843392
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.637447516,713.637447516,682,656,632,881,786,805,652,631.362552484,652.637447516,0.450283820445,0.00478695617634,0.0696049893595,0.999999750376,0.000330720111839,-0.000620977388526,-6.52676541861e-05,1793239767003510016
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,713.785757811,682,655.785757811,631.785757811,880.785757811,786,805,652,631,652.785757811,0.450272809832,0.00478707555749,0.069599725885,0.999999745176,0.000331108543088,-0.000629109780193,-6.50833632552e-05,1793239767020176384
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,713.214242841,682,655.214242841,631.214242841,880.214242841,786,805,652,631,652.214242841,0.450248169762,0.00478529909307,0.0695880463719,0.999999733528,0.000330748271448,-0.000647601450506,-6.45202800321e-05,1793239767036842752
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.630162981,713.369837019,682,655.739674039,631,880,786,804.630162981,652,631,652.369837019,0.45020787332,0.00478538538532,0.0695711312939,0.999999714774,0.00033156517815,-0.00067555294026,-6.43749849594e-05,1793239767053509120
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.038548365,713.961451635,682,656.92290327,631,880,786,804.038548365,652,631,652.961451635,0.450158188327,0.00478658870375,0.0695510766401,0.999999690981,0.000333087994915,-0.000709177135475,-6.44802219002e-05,1793239767070175488
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.541206935,714,682.541206935,656.458793065,631,880.541206935,786,804.541206935,652.541206935,631,653,0.450091445472,0.00478627803608,0.0695351683063,0.999999674607,0.000335144782768,-0.000731005897587,-6.39844585158e-05,1793239767086842112
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.880362273,714.119637727,682.880362273,656,631,881,786,805,652.880362273,631,653,0.45002168422,0.00478579783985,0.0695219908623,0.999999660994,0.000336537290122,-0.000748829099043,-6.33274315889e-05,1793239767103508736
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.303832854,714.696167146,682.303832854,656,631,881,786,805,652.303832854,631,653,0.449944936253,0.00478507321212,0.0695181389092,0.999999657237,0.00033525080595,-0.000754494929213,-6.22145192877e-05,1793239767120175616
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.270939767,745,714.729060233,682,655.729060233,631,881,786,805,652,631,653,0.449862780548,0.00478538271464,0.0695193592278,0.999999658522,0.000336955041634,-0.000752123324527,-6.10583015224e-05,1793239767136842496
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.843754967,745,714.156245033,682,655.156245033,631,881,786,805,652,631,653,0.449774599658,0.00478684442356,0.0695262309658,0.99999966534,0.000341991474995,-0.00074079657732,-5.98538337748e-05,1793239767153509376
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.56975567,745,714,682,655.43024433,631,880.56975567,786,805,652,631,652.56975567,0.449666270363,0.00478635774461,0.0695320309962,0.999999671025,0.000343376165236,-0.000732611614098,-5.7641460127e-05,1793239767170176000
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.021408329,714,682,656,631,880.021408329,786,805,652,631,652.021408329,0.449548716266,0.00478515831013,0.0695372437621,0.999999675954,0.000343532524583,-0.000725981435422,-5.50331201792e-05,1793239767186842368
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.600735792,714,682,656,631,880.600735792,786,805,652,631,652.600735792,0.449387701944,0.00478442890646,0.069537627614,0.999999672479,0.00034737249209,-0.000729160036272,-5.19576108781e-05,1793239767203508992
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.821342416,714,682,656.178657584,631.178657584,880.821342416,786,805,652.178657584,631,653,0.44921798835,0.00478340303314,0.0695380405812,0.999999669129,0.000350971865087,-0.000732253032742,-4.86489328996e-05,1793239767220175616
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.246537574,714,682,656.753462426,631.753462426,880.246537574,786,805,652.753462426,631,653,0.449028985401,0.00478171978151,0.0695385181076,0.999999666097,0.00035403775419,-0.000735156213536,-4.48232376383e-05,1793239767236842240
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,656.664387034,632,880.335612966,786,804.664387034,652.664387034,631.335612966,653,0.448825019417,0.00477904756669,0.0695395978439,0.99999966564,0.00035689183826,-0.000734634527822,-4.07451556645e-05,1793239767253508864
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,656.076719616,632,880.923280384,786,804.076719616,652.076719616,631.923280384,653,0.448609815768,0.00477563261349,0.0695411298563,0.999999667107,0.000359586851313,-0.000731540674631,-3.64775240122e-05,1793239767270175744
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.502991235,714,682,656.502991235,632,881,786,804,652,631.497008765,653,0.448351008368,0.00477645816072,0.0695396297702,0.999999660679,0.000365361446829,-0.000737632969238,-3.24099408628e-05,1793239767286842368
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,880.918951314,786,804.081048686,652,631,653,0.448079461882,0.00477716516712,0.0695378370494,0.999999653371,0.000371155467299,-0.00074478946226,-2.81145590648e-05,1793239767303509504
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,880.343690694,786,804.656309306,652,631,653,0.447770158738,0.00477326682077,0.0695370360588,0.999999648453,0.000374248328938,-0.000750024470031,-2.22469631524e-05,1793239767320175872
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.768953414,714,682,657,632,880,786,804.768953414,652,631,653,0.447450370629,0.00476894749259,0.069537508752,0.999999646659,0.000377554510904,-0.000750916238147,-1.60757835549e-05,1793239767336842240
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.194992899,714,682,657,632,880,786,804.194992899,652,631,653,0.447115020999,0.00476400335327,0.0695398718168,0.999999649525,0.000381177297723,-0.000745361871456,-9.45403251905e-06,1793239767353508864
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.39371662,714,682,657,632,880.39371662,786.39371662,804,652,631,653,0.446752680281,0.00476085994092,0.0695402488863,0.999999651656,0.000384933261341,-0.000740605968587,-4.01530049509e-06,1793239767370175488
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.990015031,714,682,657,632,880.990015031,786.990015031,804,652,631,653,0.446376451659,0.00475864306948,0.0695396040876,0.999999653393,0.000388757749242,-0.0007362609051,8.14724204378e-07,1793239767386842112
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,746,713.435013549,682,657.564986451,632,880.435013549,787,804.564986451,652,631,653,0.445986731563,0.0047531422411,0.0695592019285,0.999999683477,0.000384119383938,-0.00069675697267,5.26802755148e-06,1793239767403508992
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,746,713.140401466,682,658,632.140401466,880.140401466,786.859598534,805,652,631,653,0.44558082397,0.00474690749285,0.0695790878142,0.999999711011,0.000377318323075,-0.000659940109086,9.34261742549e-06,1793239767420175616
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,713.718330556,682,658,632.718330556,880.718330556,786.281669444,805,652,631,653,0.445125187979,0.00473855994002,0.0695987970377,0.99999973302,0.000364226865931,-0.000633362752045,1.22570290949e-05,1793239767436842240
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.705959089,714,682,658.294040911,633,881,786,805,652,631,653,0.444643967212,0.0047257209929,0.0696125963799,0.999999756678,0.000328362938332,-0.000615426967112,8.47780275875e-06,1793239767453509120
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.132358131,714,682,658.867641869,633,881,786,805,652,631,653,0.444138421608,0.00470861184176,0.0696207768918,0.999999779879,0.000270848031952,-0.000605707171587,-1.66541437095e-06,1793239767470175744
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.455884238,714,682,659.455884238,633.455884238,880.544115762,786.455884238,804.544115762,652,631,653,0.443605867311,0.00467721184983,0.0696296667638,0.999999798008,0.000229529430764,-0.000592700345606,2.46354700761e-06,1793239767486842368
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,660.047025023,634,880,787,804,652,631,653,0.443062466213,0.0046437743623,0.0696399016742,0.999999814288,0.000195073110713,-0.000577285889677,1.05680777857e-05,1793239767503508992
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,660.621417009,634,880,787,804,652,631,653,0.442488279585,0.00463556163088,0.0696628343701,0.999999834104,0.000183090042187,-0.000545928406723,1.52453407571e-05,1793239767520175616
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.196152185,746,714,682,661,634,880.196152185,786.803847815,804,652,631,653,0.441903168799,0.00463063564255,0.0696866781983,0.999999857589,0.000167648666351,-0.000506382768359,1.70800063088e-05,1793239767536842496
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.771550859,746,714,682,661,634,880.771550859,786.228449141,804,652,631,653,0.441296936953,0.00463206434193,0.0697122836359,0.999999887619,0.000145520896543,-0.000451005907488,1.34187088477e-05,1793239767553509376
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.642204692,745.642204692,714.357795308,682,661.357795308,634,880.642204692,786.357795308,804,652,631.357795308,653,0.440685868778,0.00462448908317,0.0697463740879,0.999999916621,0.000122758062126,-0.000389205450053,1.43785478441e-05,1793239767570176000
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.04881886,745.04881886,714.95118114,682,661.95118114,634,880.04881886,786.95118114,804,652,631.95118114,653,0.440071616144,0.004610985163,0.0697860515015,0.999999942652,9.95770696629e-05,-0.000323175373141,1.83811768844e-05,1793239767586842368
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745.531833395,714.468166605,682,662,634,880,787,804,652,631.468166605,652.468166605,0.439346221369,0.00460961810598,0.0697740809261,0.999999935682,8.59784391802e-05,-0.000347627071211,1.99666405222e-05,1793239767603508992
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.88938561,714,681.88938561,662.11061439,634,880,787,804,652,631,652.11061439,0.438608076418,0.00460780322244,0.0697570050057,0.999999925016,8.37957309706e-05,-0.000377519130465,2.06129750015e-05,1793239767620175616
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.313673061,714,681.313673061,662.686326939,634,880,787,804,652,631,652.686326939,0.437858214891,0.00459953053285,0.0697379308085,0.999999913416,0.000126001379717,-0.000396180188933,1.82216914239e-05,1793239767636842240
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.261025417,745.261025417,714,681,663.261025417,634.261025417,880,787,804,652,631.261025417,653,0.437105287975,0.00459157949054,0.0697412107505,0.999999910574,0.000172277010978,-0.000385804668966,1.81018772872e-05,1793239767653508864
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.834510084,745.834510084,714,681,663.834510084,634.834510084,880,787,804,652,631.834510084,653,0.436348691552,0.00458401347351,0.069771249607,0.999999916798,0.000223424600976,-0.000340671051173,2.07011146282e-05,1793239767670175488
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.579361965,745.579361965,714.420638035,681,664,635,880,787,804,652,631.579361965,653,0.435590745857,0.00458381053704,0.0698083292827,0.999999932383,0.000226249283464,-0.000289002218579,2.28694097044e-05,1793239767686842112
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.988372451,681,664,635,880,787,804,652,631,653,0.434830739313,0.00458633937295,0.0698473912505,0.999999949978,0.000209068414056,-0.00023604404648,2.48534456391e-05,1793239767703508736
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.410375678,681,664,635,880,787,804,652,631,653,0.433997006144,0.00457645593748,0.0698439014582,0.999999953731,0.000172164041349,-0.000249401413794,2.63766361398e-05,1793239767720175360
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.166284309,745.166284309,714.166284309,681,663.833715691,635,880,787,804,652,631.166284309,653,0.433162073832,0.00456810560105,0.0698411518344,0.999999956873,0.000139854362934,-0.000256787300113,2.74604094537e-05,1793239767736842240
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.739671496,745.739671496,714.739671496,681,663.260328504,635,880,787,804,652,631.739671496,653,0.432324205788,0.00456350865021,0.0698402143167,0.999999961428,0.000118793573424,-0.000249553604323,2.7468386713e-05,1793239767753508864
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.685794147,745.685794147,715,681,663.314205853,635,880,787,804,652,632,653,0.431423893841,0.00456013175344,0.0698159693847,0.999999951123,0.000114524904707,-0.00028958475842,2.7904084683e-05,1793239767770175488
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.110305873,745.110305873,715,681,663.889694127,635,880,787,804,652,632,653,0.430471655803,0.0045577694105,0.0697723428354,0.999999923822,0.000124219967434,-0.000368919681127,2.86954598669e-05,1793239767786842112
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.479009543,714.520990457,681,663.520990457,634.520990457,880,787,804,652,632,653,0.429578429358,0.00455113179863,0.0697423255732,0.999999908394,0.000120830409246,-0.000409629274181,2.85687610651e-05,1793239767803508736
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.930213395,714,681,663.069786605,634.069786605,880,787,804.069786605,652.069786605,631.930213395,653,0.428706303408,0.00454351511016,0.0697265960711,0.999999902418,0.000113097051695,-0.000426101774647,2.84685186331e-05,1793239767820175616
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.352657912,714,681,663.647342088,634.647342088,880,787,804.647342088,652.647342088,631.352657912,653,0.427885891788,0.0045361508449,0.0697913442816,0.999999939506,9.63332599532e-05,-0.000332865644358,3.01447437129e-05,1793239767836842240
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.224005009,745.224005009,714.224005009,681,664,635,880,787,804.775994991,652.775994991,631.224005009,652.775994991,0.42705082316,0.0045296949701,0.069844246541,0.999999962863,8.46563266303e-05,-0.000257046507642,3.21475702651e-05,1793239767853508864
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.79926841,745.79926841,714.79926841,681,664,635,880,787,804.20073159,652.20073159,631.79926841,652.20073159,0.426192771002,0.00452466352555,0.0698785733785,0.999999974378,8.09560065823e-05,-0.000208538646909,3.46625355026e-05,1793239767870175488
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.615887136,746,714.615887136,681,663.615887136,635,880,787,804,652.384112864,632,652.384112864,0.425298466586,0.00451699535583,0.0698718749923,0.999999972851,7.58994921945e-05,-0.00021753003694,3.48937155374e-05,1793239767886842112
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.02590772,746,714.02590772,681,663.02590772,635,880,787,804,652.97409228,632,652.97409228,0.424384732705,0.00450791402488,0.0698431890004,0.999999963856,7.01161211785e-05,-0.000257338342309,3.3900893215e-05,1793239767903508736
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.445913895,663.554086105,635,880,787.554086105,804,652.445913895,632,653,0.42344335891,0.00450263341572,0.0698047116208,0.999999945481,6.22136124438e-05,-0.000322557627152,3.35227164742e-05,1793239767920175360
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.13247927,663.86752073,635,879.86752073,788,804,652,632,653,0.422504028858,0.0044970452101,0.069764170632,0.999999921076,5.50867770682e-05,-0.000392020995525,3.36482150196e-05,1793239767936842240
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.707061302,663.292938698,635,879.292938698,788,804,652,632,653,0.421575755615,0.00448984795615,0.0697182438493,0.999999886805,5.08732884615e-05,-0.000471752635052,3.53603426593e-05,1793239767953509120
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.712130608,714,680.712130608,663,635,879.287869392,787.712130608,804,652,631.712130608,652.712130608,0.420714333166,0.00448110767293,0.069723471816,0.999999892337,3.61297016284e-05,-0.000461317477014,3.47291700764e-05,1793239767970175744
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.124846798,714,680.124846798,663,635,879.875153202,787.124846798,804,652,631.124846798,652.124846798,0.419922442624,0.00447076247759,0.0697819061002,0.999999935684,1.0433706309e-05,-0.000357099368242,3.16607187996e-05,1793239767986842624
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.456932069,745.456932069,714.456932069,680,663.456932069,635,879.543067931,787,804,652.456932069,631,652.456932069,0.419137658727,0.00446414782006,0.0698409448892,0.99999996577,7.04571847496e-06,-0.000259369864207,3.37169233829e-05,1793239768003509248
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.96299892,745.96299892,714.96299892,680,663.96299892,635,879,787,804,652.96299892,631,652.96299892,0.418350188579,0.00445829239928,0.0698949487122,0.999999984377,9.0629068121e-06,-0.000172617065696,3.69871961825e-05,1793239768020175616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.386193415,745.386193415,714.386193415,680,663.386193415,635,879,787,804,652.386193415,631,652.386193415,0.417495539334,0.00444882013574,0.0698731170095,0.999999974986,2.07224849028e-06,-0.000220445954188,3.77851659831e-05,1793239768036842240
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,635,879,787,804,652,631,652.190109095,0.416653425921,0.00444074320227,0.0698480553695,0.99999996509,-7.2271664365e-06,-0.000261497061343,3.72454948748e-05,1793239768053508864
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,635,879,787,804,652,631,652.76539261,0.41583671083,0.0044354933041,0.0698164496451,0.99999995749,-2.1204286144e-05,-0.000288815915468,3.3995669327e-05,1793239768070175488
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.349520961,745.349520961,714,680,663,635,879,787.349520961,804,652.349520961,631.349520961,652.650479039,0.415002411319,0.00443141950635,0.06978687924,0.99999994272,-2.65229887885e-05,-0.00033576146945,3.34790059428e-05,1793239768086842112
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.939740292,745.939740292,714,680,663,635,879,787.939740292,804,652.939740292,631.939740292,652.060259708,0.414156002307,0.00442815563304,0.069758710464,0.999999920562,-2.58790527789e-05,-0.000396222990534,3.48445407427e-05,1793239768103508736
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.480468255,746,714,680,663,635,879,787.480468255,804,652.480468255,632,652.519531745,0.413419911102,0.00443201838319,0.0697681073042,0.999999927253,-2.22087974059e-05,-0.000379034762325,3.65092648992e-05,1793239768120175360
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.902603442,714.097396558,680,663,635,879,787.097396558,804,652,631.902603442,653,0.412711820638,0.00444135831089,0.0697888161108,0.99999994108,-1.25436591496e-05,-0.000340997957416,3.74500556879e-05,1793239768136841984
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.328366111,714.671633889,680,663,635,879,787.671633889,804,652,631.328366111,653,0.412079405247,0.00447354645587,0.0698439943891,0.999999969295,2.47869152875e-05,-0.00024411615286,3.46800075058e-05,1793239768153508864
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.247233345,745.247233345,715,680,663.247233345,635,879,787.752766655,804,652,631.247233345,653,0.411433285145,0.00448943138548,0.0698803740035,0.999999981494,4.63057391407e-05,-0.00018365784018,3.37173727444e-05,1793239768170175488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.824651903,745.824651903,715,680,663.824651903,635,879,787.175348097,804,652,631.824651903,653,0.41076886217,0.0044835430334,0.0698916476115,0.999999983526,4.67076425413e-05,-0.000171843859665,3.51685763517e-05,1793239768186842112
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.590581137,746,715,680,663.590581137,635,879.409418863,787,804,652.409418863,631.590581137,653,0.410085740108,0.00447339335437,0.0698670884599,0.99999997552,2.93152340126e-05,-0.000216479975084,3.51656398188e-05,1793239768203508736
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.002609395,746,715,680,663.002609395,635,879.997390605,787,804,652.997390605,631.002609395,653,0.409394463074,0.00446138525484,0.0698269021777,0.999999958573,4.1624950043e-06,-0.000285734707989,3.45285338626e-05,1793239768220175360
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.578003305,746,715,680,663.578003305,635,880,787.578003305,803.421996695,652.421996695,631.578003305,652.421996695,0.408764945456,0.00446496693557,0.0697964540801,0.999999943583,1.39551164528e-05,-0.00033395561687,3.33543857882e-05,1793239768236841984
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,714.843341037,680.156658963,664,635,879.843341037,787.843341037,803,652.156658963,631.843341037,652.156658963,0.40816091043,0.00446687075161,0.0697781544142,0.999999933897,1.99424868884e-05,-0.000361612307351,3.23141539104e-05,1793239768253508864
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,714.269805731,680.730194269,664,635,879.269805731,787.269805731,803,652.730194269,631.269805731,652.730194269,0.407623952946,0.0044641247674,0.069792066732,0.999999943337,1.53893898789e-05,-0.000334796235333,3.16366493177e-05,1793239768270175488
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.696796147,714,681,664,635,879.303203853,787.303203853,803.303203853,652.696796147,631.303203853,653,0.407109098421,0.00446832466177,0.0698058859876,0.999999950391,1.62346306518e-05,-0.00031301107614,3.12913303735e-05,1793239768286842112
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.124253601,714,681,664,635,879.875746399,787.875746399,803.875746399,652.124253601,631.875746399,653,0.406613878182,0.00447869464234,0.0698196225743,0.999999955555,2.1875263408e-05,-0.000295694923468,3.12410949583e-05,1793239768303508992
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.466267562,714.466267562,680.533732438,663.533732438,635,879.533732438,787.533732438,804,652.466267562,631.533732438,653,0.406113091436,0.00448853379943,0.0698162787675,0.999999951087,3.61369350362e-05,-0.00030905963776,3.16600453719e-05,1793239768320175616
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.940064865,746,714.940064865,680,663.059935135,635,879,787,803.940064865,652.940064865,631.059935135,653,0.405620705459,0.0044962701841,0.0698098289242,0.999999944767,5.04287135172e-05,-0.00032694883568,3.20612834662e-05,1793239768336842240
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.362267684,746,714.362267684,680,663.637732316,635,879,787,803.362267684,652.362267684,631.637732316,653,0.40521423634,0.00448710908512,0.0698174472331,0.99999995034,4.43342844929e-05,-0.00031045431328,3.11858374645e-05,1793239768353508864
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.426966092,746,714,680,664,635,879,787.213483046,803,652,631.786516954,653,0.404827415879,0.00448021425868,0.0698284643634,0.999999957371,3.64758877483e-05,-0.000288094033964,3.04705576865e-05,1793239768370175232
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.571587976,746,714,680,664,635,879,787.785793988,803,652,631.214206012,653,0.404473621441,0.00447712864342,0.0698451943211,0.999999966484,2.56525684437e-05,-0.000255874438294,3.00244895707e-05,1793239768386842112
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.629932663,745.629932663,714,680,663.629932663,635,879,787.629932663,803.370067337,652.370067337,631,653,0.404130370788,0.00447566582807,0.0698535954201,0.99999997061,1.73358681371e-05,-0.000240031305768,2.94003055369e-05,1793239768403508992
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.03850376,745.03850376,714,680,663.03850376,635,879,787.03850376,803.96149624,652.96149624,631,653,0.403793427031,0.00447517371558,0.0698570144837,0.999999972159,1.05185401708e-05,-0.000233984007887,2.86695786498e-05,1793239768420175616
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,714.541932621,680,663,635,879,787,804,652.458067379,631,653,0.403467246132,0.00447010469887,0.0698464831313,0.999999967994,-1.5168318263e-06,-0.000251455727006,2.79215087707e-05,1793239768436842496
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635,879,787.120229228,803.879770772,652.120229228,631,653,0.403152972706,0.00446519215903,0.0698360109662,0.999999963234,-1.42286434049e-05,-0.000269424374698,2.72069695631e-05,1793239768453509120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635,879,787.693349183,803.306650817,652.693349183,631,653,0.40288073013,0.00446206963186,0.0698294211283,0.999999959179,-2.81197726627e-05,-0.000283095556414,2.66232859542e-05,1793239768470175744
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.26800578,635,879.26800578,787.73199422,803.26800578,653,631,652.73199422,0.402627304193,0.00446065639303,0.0698222086799,0.99999995531,-3.55638620646e-05,-0.000295659779039,2.64751297163e-05,1793239768486842368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.844430701,635,879.844430701,787.155569299,803.844430701,653,631,652.155569299,0.402395532328,0.0044612101912,0.0698142797361,0.999999951898,-3.55887431521e-05,-0.000306950120286,2.68281753122e-05,1793239768503508992
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.432894524,715,680,663.567105476,635,879.567105476,787,804,653,631,652.432894524,0.402195538304,0.00446248271903,0.0698111883469,0.999999950757,-3.22463097845e-05,-0.000310924594333,2.77948635258e-05,1793239768520175360
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,635,879,787,803.97486265,652.97486265,631,653,0.402008484811,0.00446425014768,0.069810028229,0.999999950568,-2.51181158095e-05,-0.000312079245157,2.89929372162e-05,1793239768536842240
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,635,879,787,803.397367739,652.397367739,631,653,0.401847664401,0.00447105441278,0.0698120118471,0.999999950559,3.7845664759e-05,-0.000310695670644,3.02910451072e-05,1793239768553508864
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.820507131,714.820507131,680,663,635,879,787.179492869,803,652,631,653,0.401697916422,0.00448192630327,0.0698130365359,0.999999947941,8.59739506217e-05,-0.000309515734341,3.04473922619e-05,1793239768570175488
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.2450459,714.2450459,680,663,635,879,787.7549541,803,652,631,653,0.401572594684,0.0045017715352,0.0698119457886,0.999999946793,0.000101374540754,-0.000308785034406,2.80849701525e-05,1793239768586841856
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,714.336452352,680.336452352,663.336452352,635,879,787.663547648,803.336452352,652.336452352,631,652.663547648,0.401463728174,0.00450911712043,0.0698102215603,0.999999947914,8.88229130284e-05,-0.000309436319673,2.30498781595e-05,1793239768603508480
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,714.922427902,680.922427902,663.922427902,635,879,787.077572098,803.922427902,652.922427902,631,652.077572098,0.401367065342,0.00450719259328,0.0698080275232,0.999999949934,5.5541080223e-05,-0.000311112526471,1.60326534209e-05,1793239768620175360
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.505477795,714.494522205,680.494522205,664,635,879.505477795,787,804,653,631,652,0.401289271335,0.0045015115461,0.0698089985727,0.999999951164,4.6028452972e-05,-0.000308645189914,1.70524825729e-05,1793239768636842240
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,714.08670932,680,664,635,879.91329068,787,803.91329068,652.91329068,631,652,0.401216676976,0.00449663947581,0.069810308668,0.999999952089,4.16844610584e-05,-0.000306143052924,1.8978305652e-05,1793239768653508864
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,714.66023829,680,664,635,879.33976171,787,803.33976171,652.33976171,631,652,0.401157111587,0.00449952730491,0.0698108109524,0.999999951637,4.59974842242e-05,-0.00030699506481,1.9105851869e-05,1793239768670175488
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.765115269,714.765115269,680,664,635.234884731,879,787.234884731,803.234884731,652.234884731,631.234884731,652.234884731,0.401109725911,0.00450039250423,0.0698132051312,0.999999952839,4.74915936344e-05,-0.000302795438997,1.95555103602e-05,1793239768686842112
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.188844711,714.188844711,680,664,635.811155289,879,787.811155289,803.811155289,652.811155289,631.811155289,652.811155289,0.401080042462,0.00449831797568,0.0698183490245,0.999999956369,4.48886412127e-05,-0.000291253669124,2.04733328e-05,1793239768703508992
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.396690184,714.396690184,680.396690184,664,635.603309816,879.396690184,787.603309816,803.603309816,653,632,653,0.401055064195,0.0044970569525,0.0698213845689,0.999999958059,4.14223360766e-05,-0.000285891581287,2.07920268929e-05,1793239768720175360
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.986740819,714.986740819,680.986740819,664,635.013259181,879.986740819,787.013259181,803.013259181,653,632,653,0.401032379397,0.00449619245989,0.0698233924314,0.999999958881,3.75352031865e-05,-0.000283541683535,2.08186851801e-05,1793239768736842240
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.434401013,715,680.434401013,663.434401013,635,879.434401013,787,803.565598987,653,631.434401013,653,0.401017147209,0.00449428082917,0.0698249310546,0.999999959683,3.67723022015e-05,-0.000280766718425,2.12334039885e-05,1793239768753508864
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.143409085,715,680,663.143409085,635,879,787,804,653,631,653,0.401003789921,0.00449306482315,0.0698264329208,0.99999996032,3.66421730981e-05,-0.000278480068803,2.15693288297e-05,1793239768770175232
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.718836858,715,680,663.718836858,635,879,787,804,653,631,653,0.400995564662,0.00449401689613,0.0698278565516,0.999999960479,3.82019091703e-05,-0.000277693902268,2.16410139784e-05,1793239768786842112
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.699106746,745.699106746,715,680,663.699106746,635,879,787.300893254,803.699106746,652.699106746,631.300893254,653,0.400990149184,0.00449561906709,0.069828921558,0.999999960905,3.99650345249e-05,-0.000275924490037,2.1389320399e-05,1793239768803508736
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.110716784,745.110716784,715,680,663.110716784,635,879,787.889283216,803.110716784,652.110716784,631.889283216,653,0.400987418387,0.0044978423921,0.069829643907,0.999999961581,4.19224939285e-05,-0.00027321560865,2.08286457559e-05,1793239768820175360
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.470649562,745,715,680,663.470649562,635.470649562,879.470649562,787.529350438,803.470649562,652.470649562,632,653,0.400986892246,0.00449628705493,0.0698314552676,0.999999962337,4.05197185653e-05,-0.000270620434351,2.11913415497e-05,1793239768836842240
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.950001926,745.049998074,715,679.950001926,664,635.950001926,879.950001926,787,803.950001926,653,631.950001926,653,0.400986782624,0.00449411332173,0.0698332746328,0.999999963029,3.84762224974e-05,-0.000268309786839,2.16915077456e-05,1793239768853508864
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.37474885,745.62525115,715,679.37474885,664,635.37474885,879.37474885,787,803.37474885,653,631.37474885,653,0.400985680415,0.00449464407866,0.0698325263455,0.999999962951,3.78838127896e-05,-0.000268711357964,2.13874603788e-05,1793239768870175488
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.204638151,745.795361849,715,679.204638151,663.795361849,635,879,787,803,653,631.204638151,653,0.400984981291,0.00449480410821,0.0698326249538,0.999999963086,3.74271999542e-05,-0.000268281333732,2.12482284954e-05,1793239768886842112
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.791751559,745.208248441,715,679.791751559,663.208248441,635,879,787,803,653,631.791751559,653,0.400985035547,0.00449427123638,0.0698343064373,0.999999963621,3.72243958557e-05,-0.000266297031135,2.14170420446e-05,1793239768903508736
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.374195082,715,679.625804918,663.374195082,635,879,787,803.374195082,653,632,653,0.400986156088,0.00449482091428,0.069835868171,0.999999964285,3.72497609145e-05,-0.000263792388751,2.13760317613e-05,1793239768920175360
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.954071719,715,679.045928281,663.954071719,635,879,787,803.954071719,653,632,653,0.400987862727,0.00449596563076,0.0698373640825,0.999999965015,3.74005423448e-05,-0.000261001734399,2.12196888715e-05,1793239768936841984
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.531830214,664,635,879,787,803.468169786,653,632,653,0.400985243669,0.00449415632188,0.0698358089535,0.999999964128,3.5174142886e-05,-0.000264673060874,2.13198416678e-05,1793239768953508864
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.890806894,745.890806894,715,680,664,635,879.109193106,787.109193106,803.109193106,653,631.890806894,653,0.400982978391,0.00449267207218,0.0698345611997,0.999999963345,3.38519650066e-05,-0.000267779645294,2.14053076905e-05,1793239768970175232
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.314357377,745.314357377,715,680,664,635,879.685642623,787.685642623,803.685642623,653,631.314357377,653,0.400983819198,0.00449366612274,0.0698357517822,0.999999963676,3.72741004666e-05,-0.000266091079289,2.1333515741e-05,1793239768986841856
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.260802904,745.260802904,715,679.739197096,664,635,879.739197096,788,803.739197096,653,631.260802904,653,0.400984592691,0.00449480295515,0.0698364102754,0.999999964001,3.95882365484e-05,-0.000264541929578,2.11933414471e-05,1793239769003508736
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.83441693,745.83441693,715,679.16558307,664,635,879.16558307,788,803.16558307,653,631.83441693,653,0.400985285446,0.00449611104246,0.0698364305723,0.99999996433,4.05734211319e-05,-0.000263159997752,2.09711482803e-05,1793239769020175360
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.420087346,664,635,879,787.579912654,803,652.579912654,631.579912654,653,0.400984309931,0.00449535654979,0.0698356720666,0.999999964139,3.92569356976e-05,-0.000264081418041,2.10019550295e-05,1793239769036841984
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787.010455865,803,652,631,653,0.400982718627,0.00449378004026,0.0698346484609,0.999999963752,3.70223870844e-05,-0.000265853283722,2.11358338937e-05,1793239769053508608
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787.590235696,803,652,631,653,0.400984460247,0.00449302021705,0.0698363988728,0.999999964544,3.56578191394e-05,-0.000263036197078,2.12916131976e-05,1793239769070175232
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.166643157,879.166643157,787.833356843,803.166643157,652.166643157,631,653,0.400985395315,0.00449313705918,0.0698374605547,0.99999996495,3.57746858647e-05,-0.000261467439381,2.13417971671e-05,1793239769086842112
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.734922638,879.734922638,787.265077362,803.734922638,652.734922638,631,653,0.400984386462,0.00449536680326,0.0698368622884,0.999999964438,3.94620441751e-05,-0.000262907351752,2.11374796958e-05,1793239769103508992
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.682671388,787,804,653,631,652.682671388,0.400984973616,0.00449612925049,0.0698370493558,0.999999964587,4.01150245359e-05,-0.000262257848553,2.0933668334e-05,1793239769120175872
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.087915225,787,804,653,631,652.087915225,0.400986956093,0.00449560889941,0.0698379230088,0.999999965315,3.81151709718e-05,-0.000259781653879,2.0730299454e-05,1793239769136842240
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.506445122,879.493554878,787.493554878,803.506445122,652.506445122,631,652.493554878,0.400985846657,0.00449506139246,0.0698382140096,0.999999965247,3.64867526261e-05,-0.000260265988986,2.08781555922e-05,1793239769153508864
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.927702869,715,680,664,635,879.927702869,787.927702869,803.072297131,652,631.072297131,653,0.400984434985,0.00449448211586,0.0698384122475,0.99999996509,3.5150552936e-05,-0.000261039354057,2.10549272745e-05,1793239769170175744
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.351908773,715,680,664,635,879.351908773,787.351908773,803.648091227,652,631.648091227,653,0.400984653502,0.00449371439142,0.0698386683049,0.999999965288,3.54007494802e-05,-0.000260249271885,2.10087935469e-05,1793239769186842368
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c92f1d31628b682478a77d2c347d8514257c865
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,420 @@
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+237,3.950000000,pose1_to_pose2_press,0.620561286981,0.0100908251331,1.06003209785,0.591131737427,0.0187625646294,1.05970023197
+238,3.966666667,pose1_to_pose2_press,0.620561617394,0.0100908330931,1.06003209661,0.591132067879,0.0187625727198,1.05970023076
+239,3.983333333,pose1_to_pose2_press,0.620561950531,0.0100908411187,1.06003209535,0.591132401055,0.0187625808768,1.05970022954
+240,4.000000000,pose1_to_pose2_press,0.620562306994,0.0100908497062,1.06003209401,0.591132757561,0.018762589605,1.05970022823
+241,4.016666667,pose1_to_pose2_press,0.62056265166,0.0100908580096,1.06003209272,0.591133102268,0.0187625980444,1.05970022696
+242,4.033333333,pose1_to_pose2_press,0.62056310148,0.0100908688461,1.06003209103,0.591133552141,0.0187626090585,1.05970022531
+243,4.050000000,pose1_to_pose2_press,0.620563539035,0.0100908703264,1.06003208815,0.591133989452,0.0187626097106,1.05970022311
+244,4.066666667,pose1_to_pose2_press,0.620563711504,0.0100908681556,1.06003208665,0.591134161735,0.0187626069092,1.05970022207
+245,4.083333333,pose1_to_pose2_press,0.620563798688,0.0100908670582,1.06003208589,0.591134248825,0.0187626054931,1.05970022154
+246,4.100000000,pose1_to_pose2_press,0.6205639306,0.0100908653979,1.06003208474,0.591134380594,0.0187626033504,1.05970022074
+247,4.116666667,pose1_to_pose2_press,0.620563982762,0.0100908647414,1.06003208428,0.5911344327,0.0187626025032,1.05970022043
+248,4.133333333,pose1_to_pose2_press,0.620563984824,0.0100908647154,1.06003208427,0.59113443476,0.0187626024697,1.05970022042
+249,4.150000000,pose1_to_pose2_press,0.620563992268,0.0100908646217,1.0600320842,0.591134442196,0.0187626023487,1.05970022037
+250,4.166666667,pose1_to_pose2_press,0.620564005016,0.0100908644613,1.06003208409,0.591134454929,0.0187626021417,1.05970022029
+251,4.183333333,pose1_to_pose2_press,0.620564087431,0.0100908634239,1.06003208337,0.591134537255,0.018762600803,1.05970021979
+252,4.200000000,pose1_to_pose2_press,0.620564338508,0.0100908602637,1.06003208118,0.591134788062,0.0187625967248,1.05970021827
+253,4.216666667,pose1_to_pose2_press,0.620564828435,0.0100908535768,1.06003207969,0.591135277485,0.0187625883329,1.05970021798
+254,4.233333333,pose1_to_pose2_press,0.620565425142,0.0100908246026,1.06003218943,0.591135874637,0.0187625607414,1.05970032473
+255,4.250000000,pose1_to_pose2_press,0.620565795788,0.0100908643801,1.06003234701,0.591136246554,0.0187626046693,1.05970047784
+256,4.266666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246556,0.0187626046671,1.05970047784
+257,4.283333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046665,1.05970047784
+258,4.300000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046669,1.05970047784
+259,4.316666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246556,0.0187626046672,1.05970047785
+260,4.333333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046666,1.05970047785
+261,4.350000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046666,1.05970047785
+262,4.366666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046665,1.05970047785
+263,4.383333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046665,1.05970047785
+264,4.400000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246558,0.0187626046664,1.05970047785
+265,4.416666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046667,1.05970047784
+266,4.433333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046654,1.05970047785
+267,4.450000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046654,1.05970047785
+268,4.466666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246558,0.0187626046658,1.05970047785
+269,4.483333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046648,1.05970047784
+270,4.500000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246558,0.0187626046656,1.05970047785
+271,4.516666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246558,0.0187626046657,1.05970047785
+272,4.533333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246558,0.0187626046656,1.05970047785
+273,4.550000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246559,0.0187626046639,1.05970047785
+274,4.566666667,pose2_to_pose3_retreat,0.620565795788,0.0100908643801,1.06003234701,0.591136246558,0.0187626046652,1.05970047784
+275,4.583333333,pose2_to_pose3_retreat,0.620565503917,0.0100909205704,1.06003219596,0.591135953322,0.0187626565168,1.05970033466
+276,4.600000000,pose2_to_pose3_retreat,0.620565195225,0.0100908964935,1.06003219378,0.591135643855,0.0187626297736,1.05970033176
+277,4.616666667,pose2_to_pose3_retreat,0.620564821256,0.0100908920109,1.06003220499,0.591135270328,0.0187626267009,1.05970034107
+278,4.633333333,pose2_to_pose3_retreat,0.620564754679,0.0100908912129,1.06003220699,0.591135203829,0.0187626261539,1.05970034273
+279,4.650000000,pose2_to_pose3_retreat,0.620564529551,0.0100908885144,1.06003221373,0.591134978967,0.0187626243042,1.05970034834
+280,4.666666667,pose2_to_pose3_retreat,0.620563895247,0.0100908669633,1.06003222708,0.591134345165,0.0187626043423,1.05970035898
+281,4.683333333,pose2_to_pose3_retreat,0.620561690843,0.0100907451525,1.06003225436,0.591132141675,0.0187624853559,1.05970037857
+282,4.700000000,pose2_to_pose3_retreat,0.620555443623,0.0100907371412,1.06003219247,0.591125894257,0.018762476991,1.05970032392
+283,4.716666667,pose2_to_pose3_retreat,0.62054247293,0.0100907584556,1.06003254894,0.591112923505,0.0187624977912,1.05970067382
+284,4.733333333,pose2_to_pose3_retreat,0.620520736217,0.0100909235382,1.06003248556,0.591091183853,0.0187626529122,1.05970061304
+285,4.750000000,pose2_to_pose3_retreat,0.620487490125,0.0100907379715,1.06003234866,0.591057940139,0.0187624754486,1.05970048114
+286,4.766666667,pose2_to_pose3_retreat,0.620443378979,0.0100908218422,1.06003230292,0.591013829868,0.0187625621073,1.0597004331
+287,4.783333333,pose2_to_pose3_retreat,0.620389769006,0.0100908041037,1.06003228887,0.590960219854,0.0187625442244,1.05970042214
+288,4.800000000,pose2_to_pose3_retreat,0.620328396068,0.0100909198683,1.06003249705,0.590898845547,0.0187626552195,1.05970062813
+289,4.816666667,pose2_to_pose3_retreat,0.620259876985,0.0100908639875,1.06003239603,0.590830326797,0.0187626005535,1.05970052828
+290,4.833333333,pose2_to_pose3_retreat,0.620183697288,0.0100907504648,1.06003219443,0.590754148143,0.0187624904389,1.05970032253
+291,4.850000000,pose2_to_pose3_retreat,0.620098677371,0.010090741313,1.06003225779,0.590669128943,0.0187624834436,1.05970037845
+292,4.866666667,pose2_to_pose3_retreat,0.619998220634,0.0100907774464,1.06003250643,0.59056867212,0.0187625193399,1.05970062965
+293,4.883333333,pose2_to_pose3_retreat,0.619881918068,0.0100907808914,1.06003247238,0.590452369688,0.0187625233799,1.05970059884
+294,4.900000000,pose2_to_pose3_retreat,0.619747306536,0.0100907337329,1.06003218002,0.590317757694,0.0187624751499,1.05970032306
+295,4.916666667,pose2_to_pose3_retreat,0.619595264099,0.0100908491285,1.06003231019,0.590165714412,0.0187625873126,1.05970044655
+296,4.933333333,pose2_to_pose3_retreat,0.619425190822,0.0100907700951,1.06003235248,0.589995641524,0.0187625091525,1.0597004836
+297,4.950000000,pose2_to_pose3_retreat,0.619237247423,0.0100908544449,1.06003242989,0.589807698669,0.0187625953676,1.05970056224
+298,4.966666667,pose2_to_pose3_retreat,0.61903070659,0.0100908769647,1.06003231525,0.589601157675,0.0187626171864,1.05970044689
+299,4.983333333,pose2_to_pose3_retreat,0.618802208243,0.0100908636201,1.06003221122,0.589372658546,0.0187626011718,1.0597003464
+300,5.000000000,pose2_to_pose3_retreat,0.618552574304,0.0100908787074,1.06003226519,0.589123023656,0.0187626128843,1.05970040075
+301,5.016666667,pose2_to_pose3_retreat,0.618280982465,0.0100908466219,1.0600322886,0.588851432699,0.0187625835333,1.05970042296
+302,5.033333333,pose2_to_pose3_retreat,0.617990418042,0.0100907050421,1.06003220577,0.588560870542,0.0187624496085,1.05970034255
+303,5.050000000,pose2_to_pose3_retreat,0.61768070841,0.0100906321584,1.06003223168,0.588251161267,0.0187623777664,1.05970036753
+304,5.066666667,pose2_to_pose3_retreat,0.61735628936,0.0100908293111,1.06003233353,0.587926741815,0.0187625728866,1.05970046824
+305,5.083333333,pose2_to_pose3_retreat,0.617016083417,0.0100906162677,1.06003237937,0.58758653643,0.018762361344,1.05970050329
+306,5.100000000,pose2_to_pose3_retreat,0.61665373808,0.0100906798623,1.06003223263,0.58722419045,0.0187624229419,1.05970036599
+307,5.116666667,pose2_to_pose3_retreat,0.616269746523,0.0100907342084,1.06003214011,0.58684019882,0.0187624767585,1.05970027342
+308,5.133333333,pose2_to_pose3_retreat,0.615862166457,0.010090676359,1.06003209571,0.58643261906,0.0187624198116,1.05970023025
+309,5.150000000,pose2_to_pose3_retreat,0.615428451258,0.0100907451162,1.0600322139,0.585998902283,0.0187624830096,1.05970034785
+310,5.166666667,pose2_to_pose3_retreat,0.614969614803,0.01009079354,1.06003234111,0.585540065133,0.0187625289002,1.0597004743
+311,5.183333333,pose2_to_pose3_retreat,0.614489125237,0.0100907302232,1.06003233706,0.585059576468,0.0187624686347,1.0597004708
+312,5.200000000,pose2_to_pose3_retreat,0.613989568941,0.0100908361974,1.06003232382,0.584560018415,0.018762568577,1.05970045573
+313,5.216666667,pose2_to_pose3_retreat,0.613471641932,0.0100907886491,1.06003221167,0.584042092799,0.0187625258869,1.05970034781
+314,5.233333333,pose2_to_pose3_retreat,0.61293923157,0.0100907629923,1.06003231278,0.583509683149,0.0187625027891,1.05970045119
+315,5.250000000,pose2_to_pose3_retreat,0.612393984894,0.0100909458951,1.06003208759,0.582964433575,0.0187626763072,1.05970023645
+316,5.266666667,pose2_to_pose3_retreat,0.611821025565,0.0100907436471,1.0600321692,0.582391477432,0.0187624844271,1.05970030795
+317,5.283333333,pose2_to_pose3_retreat,0.61122012678,0.0100906523322,1.06003231978,0.581790579414,0.018762395251,1.0597004477
+318,5.300000000,pose2_to_pose3_retreat,0.610592959937,0.0100907540387,1.06003242054,0.581163411377,0.0187624929128,1.05970054864
+319,5.316666667,pose2_to_pose3_retreat,0.60993988393,0.0100908282551,1.06003244275,0.580510335024,0.0187625662925,1.05970057912
+320,5.333333333,pose2_to_pose3_retreat,0.609260843871,0.0100908176167,1.06003234532,0.579831294798,0.0187625552935,1.05970048683
+321,5.350000000,pose2_to_pose3_retreat,0.608575764559,0.0100908687149,1.06003223198,0.579146214803,0.0187626038951,1.0597003688
+322,5.366666667,pose2_to_pose3_retreat,0.60788669411,0.0100909168582,1.06003236733,0.57845714436,0.0187626517723,1.05970049727
+323,5.383333333,pose2_to_pose3_retreat,0.607182266469,0.0100909806536,1.06003235536,0.577752716377,0.0187627145005,1.05970048747
+324,5.400000000,pose2_to_pose3_retreat,0.606462862543,0.0100908992541,1.06003255617,0.577033313341,0.0187626362311,1.05970069094
+325,5.416666667,pose2_to_pose3_retreat,0.605728725871,0.010090670402,1.06003228963,0.576299177981,0.0187624117795,1.05970042316
+326,5.433333333,pose2_to_pose3_retreat,0.604968408094,0.0100906571214,1.06003220624,0.575538860117,0.0187623982622,1.05970034144
+327,5.450000000,pose2_to_pose3_retreat,0.604173103845,0.0100907201348,1.06003214272,0.574743555481,0.0187624598077,1.05970027444
+328,5.466666667,pose2_to_pose3_retreat,0.603366903445,0.0100908772852,1.06003215236,0.573937353334,0.0187626112333,1.05970028885
+329,5.483333333,pose2_to_pose3_retreat,0.602553801526,0.0100908777945,1.06003219317,0.573124251771,0.0187626130684,1.05970033148
+330,5.500000000,pose2_to_pose3_retreat,0.601743944994,0.0100907114477,1.0600322027,0.572314397532,0.0187624544249,1.05970033886
+331,5.516666667,pose2_to_pose3_retreat,0.600946014664,0.0100906821384,1.0600323006,0.571516467367,0.0187624255873,1.05970043512
+332,5.533333333,pose2_to_pose3_retreat,0.600165201762,0.0100907984717,1.06003247245,0.570735653088,0.0187625370616,1.05970060245
+333,5.550000000,pose2_to_pose3_retreat,0.599384252349,0.0100907954831,1.06003244461,0.569954704357,0.0187625362824,1.05970057318
+334,5.566666667,pose2_to_pose3_retreat,0.598595532704,0.0100909214424,1.0600322137,0.569165982288,0.0187626542273,1.05970034816
+335,5.583333333,pose2_to_pose3_retreat,0.597784969707,0.010090834507,1.06003226889,0.568355419782,0.018762568543,1.05970039223
+336,5.600000000,pose2_to_pose3_retreat,0.596955251281,0.0100907876386,1.06003222065,0.567525701419,0.0187625223114,1.05970035329
+337,5.616666667,pose2_to_pose3_retreat,0.596112754632,0.0100907577305,1.06003209843,0.566683206972,0.0187625001479,1.05970023778
+338,5.633333333,pose2_to_pose3_retreat,0.595276259691,0.0100907717069,1.06003245261,0.565846712601,0.018762515846,1.05970058783
+339,5.650000000,pose2_to_pose3_retreat,0.59446198721,0.0100907161682,1.06003243259,0.565032441004,0.0187624631557,1.05970056215
+340,5.666666667,pose2_to_pose3_retreat,0.59367631383,0.0100907273917,1.06003250828,0.564246766361,0.0187624699706,1.05970063489
+341,5.683333333,pose2_to_pose3_retreat,0.592918328008,0.0100908192733,1.06003247888,0.56348877867,0.018762555679,1.05970061039
+342,5.700000000,pose2_to_pose3_retreat,0.592173794072,0.0100908785917,1.06003222976,0.562744244338,0.018762614043,1.05970037076
+343,5.716666667,pose2_to_pose3_retreat,0.591432884064,0.0100908610624,1.060032128,0.562003334863,0.0187625984181,1.05970027139
+344,5.733333333,pose2_to_pose3_retreat,0.590687475739,0.0100909063605,1.0600324435,0.5612579256,0.0187626400545,1.05970057438
+345,5.750000000,pose2_to_pose3_retreat,0.589932894271,0.010090803261,1.0600322228,0.560503345602,0.0187625420148,1.05970035549
+346,5.766666667,pose2_to_pose3_retreat,0.5891677417,0.0100907937441,1.06003219483,0.559738192094,0.0187625296241,1.0597003355
+347,5.783333333,pose2_to_pose3_retreat,0.588424264001,0.0100907905631,1.06003220831,0.558994717196,0.0187625358408,1.05970034719
+348,5.800000000,pose2_to_pose3_retreat,0.587705178904,0.010090836828,1.06003228553,0.558275630991,0.0187625784893,1.0597004263
+349,5.816666667,pose2_to_pose3_retreat,0.58701987626,0.0100909208117,1.0600323407,0.557590325682,0.0187626530846,1.05970047363
+350,5.833333333,pose2_to_pose3_retreat,0.5863688979,0.0100908738214,1.06003227783,0.556939347573,0.0187626068727,1.05970040828
+351,5.850000000,pose2_to_pose3_retreat,0.585751095626,0.0100908490144,1.06003234328,0.556321546133,0.0187625849978,1.05970047556
+352,5.866666667,pose2_to_pose3_retreat,0.585142997495,0.0100908602098,1.06003241178,0.555713448401,0.0187625976968,1.05970054785
+353,5.883333333,pose2_to_pose3_retreat,0.584538041835,0.0100908313749,1.0600322859,0.555108492979,0.0187625697863,1.05970042516
+354,5.900000000,pose2_to_pose3_retreat,0.583933656208,0.0100907945824,1.06003216879,0.554504107118,0.018762532072,1.05970030452
+355,5.916666667,pose2_to_pose3_retreat,0.583337023809,0.0100907581749,1.06003202046,0.553907476516,0.0187625015828,1.05970015134
+356,5.933333333,pose2_to_pose3_retreat,0.582763556971,0.0100908573632,1.06003233347,0.553334009553,0.0187626005698,1.05970047006
+357,5.950000000,pose2_to_pose3_retreat,0.582221066694,0.0100906689058,1.06003237982,0.552791519012,0.0187624107608,1.05970050476
+358,5.966666667,pose2_to_pose3_retreat,0.581714169961,0.0100906769231,1.06003221556,0.552284623243,0.0187624226386,1.05970035596
+359,5.983333333,pose2_to_pose3_retreat,0.581231056017,0.0100907007705,1.06003221939,0.55180150868,0.0187624441008,1.05970035296
+360,6.000000000,pose2_to_pose3_retreat,0.580768237447,0.0100908696606,1.06003218574,0.551338687087,0.0187626023608,1.05970030985
+361,6.016666667,pose2_to_pose3_retreat,0.58032932026,0.0100908349635,1.06003219414,0.550899769597,0.0187625668435,1.05970032329
+362,6.033333333,pose2_to_pose3_retreat,0.579913766622,0.0100906993047,1.06003233838,0.550484218718,0.0187624407169,1.0597004717
+363,6.050000000,pose2_to_pose3_retreat,0.579524010507,0.0100907127849,1.06003241597,0.550094463665,0.0187624578184,1.05970054962
+364,6.066666667,pose2_to_pose3_retreat,0.579163098085,0.0100908068656,1.06003235461,0.54973354973,0.0187625466813,1.05970048606
+365,6.083333333,pose2_to_pose3_retreat,0.578830611259,0.0100907408371,1.06003240298,0.549401063227,0.018762481261,1.05970052169
+366,6.100000000,pose2_to_pose3_retreat,0.578512706804,0.0100907810634,1.06003233073,0.549083156984,0.0187625159672,1.05970046376
+367,6.116666667,pose2_to_pose3_retreat,0.578208168596,0.0100909629122,1.06003225829,0.548778617981,0.0187626949049,1.05970038591
+368,6.133333333,pose2_to_pose3_retreat,0.577918673872,0.0100908952325,1.06003211821,0.548489122876,0.018762626176,1.05970025258
+369,6.150000000,pose2_to_pose3_retreat,0.577645516507,0.0100907436803,1.06003247567,0.548215966683,0.0187624783778,1.05970060395
+370,6.166666667,pose2_to_pose3_retreat,0.577391615422,0.0100907489987,1.06003223476,0.547962067001,0.0187624887382,1.05970037021
+371,6.183333333,pose2_to_pose3_retreat,0.577160910206,0.010090821446,1.06003225647,0.547731360311,0.0187625560813,1.05970038932
+372,6.200000000,pose2_to_pose3_retreat,0.576953370932,0.0100907864959,1.06003236219,0.547523822439,0.0187625257872,1.05970049242
+373,6.216666667,pose2_to_pose3_retreat,0.576766156211,0.0100907932166,1.060032232,0.547336607347,0.0187625312905,1.05970036345
+374,6.233333333,pose2_to_pose3_retreat,0.576597890013,0.0100907642007,1.06003220084,0.547168341134,0.0187625023138,1.05970033476
+375,6.250000000,pose2_to_pose3_retreat,0.576449046123,0.0100906788511,1.06003237055,0.547019499365,0.0187624242632,1.05970050701
+376,6.266666667,pose2_to_pose3_retreat,0.576316920241,0.0100907557889,1.06003245857,0.546887372242,0.0187624968692,1.05970059192
+377,6.283333333,pose2_to_pose3_retreat,0.57620132762,0.0100908281031,1.06003248069,0.546771780252,0.018762571145,1.05970060941
+378,6.300000000,pose2_to_pose3_retreat,0.576100857139,0.010090826047,1.06003245467,0.546671307992,0.0187625631473,1.05970058615
+379,6.316666667,pose2_to_pose3_retreat,0.576014407368,0.0100908079126,1.06003233953,0.546584859058,0.0187625479375,1.05970047414
+380,6.333333333,pose2_to_pose3_retreat,0.575939888162,0.0100907072211,1.06003223166,0.546510340065,0.0187624479308,1.05970036483
+381,6.350000000,pose2_to_pose3_retreat,0.575876836713,0.0100908333413,1.06003230675,0.546447287133,0.0187625691608,1.05970044351
+382,6.366666667,pose2_to_pose3_retreat,0.575825846906,0.0100908078722,1.06003243342,0.54639629832,0.0187625469601,1.05970056743
+383,6.383333333,pose2_to_pose3_retreat,0.575784494639,0.0100907899876,1.06003257971,0.546354946398,0.0187625299476,1.05970070587
+384,6.400000000,pose2_to_pose3_retreat,0.575752173933,0.0100907861862,1.06003237691,0.546322625014,0.0187625239411,1.05970050569
+385,6.416666667,pose2_to_pose3_retreat,0.57572782478,0.010090761041,1.0600323244,0.546298276002,0.0187624994198,1.059700457
+386,6.433333333,pose2_to_pose3_retreat,0.575709550607,0.0100907497849,1.0600324274,0.546280002395,0.0187624901602,1.05970056204
+387,6.450000000,pose2_to_pose3_retreat,0.575695097714,0.0100908164098,1.06003231515,0.546265548897,0.0187625549344,1.05970045514
+388,6.466666667,pose2_to_pose3_retreat,0.575684313891,0.010090754186,1.06003246155,0.546254767105,0.0187624992439,1.0597005923
+389,6.483333333,pose2_to_pose3_retreat,0.575677001012,0.0100906967316,1.0600323777,0.546247454649,0.0187624433706,1.05970051192
+390,6.500000000,pose2_to_pose3_retreat,0.575672188586,0.010090674904,1.06003234106,0.546242641597,0.018762419343,1.05970047317
+391,6.516666667,pose2_to_pose3_retreat,0.575669548289,0.0100906802956,1.06003237435,0.54624000034,0.0187624212004,1.05970049941
+392,6.533333333,pose2_to_pose3_retreat,0.575668124595,0.0100907019657,1.06003233874,0.546238576269,0.0187624416078,1.05970046421
+393,6.550000000,pose2_to_pose3_retreat,0.575667430374,0.010090721686,1.06003229524,0.546237881933,0.0187624610261,1.05970042297
+394,6.566666667,pose2_to_pose3_retreat,0.575667110279,0.0100907307788,1.06003227519,0.546237561785,0.0187624699796,1.05970040395
+395,6.583333333,pose2_to_pose3_retreat,0.575667011388,0.0100907335879,1.06003226899,0.546237462878,0.0187624727457,1.05970039808
+396,6.600000000,pose2_to_pose3_retreat,0.575666866294,0.0100907377095,1.0600322599,0.54623731776,0.0187624768042,1.05970038946
+397,6.616666667,pose2_to_pose3_retreat,0.575666807625,0.0100907393761,1.06003225623,0.546237259081,0.0187624784453,1.05970038598
+398,6.633333333,pose2_to_pose3_retreat,0.575666538568,0.010090747019,1.06003223937,0.54623698998,0.0187624859712,1.05970036999
+399,6.650000000,pose2_to_pose3_retreat,0.575666375172,0.0100907516605,1.06003222914,0.546236826556,0.0187624905416,1.05970036029
+400,6.666666667,pose2_to_pose3_retreat,0.57566616538,0.0100907569887,1.06003221711,0.546236616762,0.0187624958896,1.05970034894
+401,6.683333333,pose2_to_pose3_retreat,0.57566582345,0.0100907546454,1.06003221703,0.546236275404,0.0187624955198,1.05970034984
+402,6.700000000,pose2_to_pose3_retreat,0.575665699571,0.0100907537964,1.06003221701,0.546236151731,0.0187624953858,1.05970035016
+403,6.716666667,pose2_to_pose3_retreat,0.575665665108,0.0100907535602,1.060032217,0.546236117325,0.0187624953485,1.05970035026
+404,6.733333333,pose2_to_pose3_retreat,0.575665580059,0.0100907529774,1.06003221698,0.546236032419,0.0187624952565,1.05970035048
+405,6.750000000,pose2_to_pose3_retreat,0.575665473575,0.0100907522476,1.06003221696,0.546235926112,0.0187624951413,1.05970035076
+406,6.766666667,pose2_to_pose3_retreat,0.575665354306,0.0100907514303,1.06003221693,0.546235807042,0.0187624950123,1.05970035108
+407,6.783333333,pose2_to_pose3_retreat,0.575665266255,0.0100907508268,1.06003221691,0.546235719138,0.0187624949171,1.05970035131
+408,6.800000000,pose2_to_pose3_retreat,0.575664738995,0.0100907501116,1.06003220063,0.546235192371,0.0187624959373,1.05970033675
+409,6.816666667,pose2_to_pose3_retreat,0.57566464019,0.0100907564983,1.06003216119,0.546235092785,0.018762499707,1.05970029813
+410,6.833333333,pose2_to_pose3_retreat,0.57566457175,0.0100907609222,1.06003213388,0.546235023804,0.0187625023182,1.05970027137
+411,6.850000000,pose2_to_pose3_retreat,0.575664552719,0.0100907621523,1.06003212629,0.546235004623,0.0187625030443,1.05970026393
+412,6.866666667,pose2_to_pose3_retreat,0.575664548495,0.0100907624253,1.0600321246,0.546235000366,0.0187625032055,1.05970026228
+413,6.883333333,pose2_to_pose3_retreat,0.575664456491,0.0100907683724,1.06003208788,0.546234907635,0.0187625067157,1.05970022632
+414,6.900000000,pose2_to_pose3_retreat,0.575664448371,0.0100907688972,1.06003208464,0.546234899451,0.0187625070255,1.05970022315
+415,6.916666667,pose2_to_pose3_retreat,0.575664323696,0.0100907786944,1.06003208887,0.546234773423,0.0187625120735,1.05970022328
+416,6.933333333,pose2_to_pose3_retreat,0.575664305098,0.0100907802153,1.06003209135,0.546234754611,0.0187625128365,1.05970022497
+417,6.950000000,pose2_to_pose3_retreat,0.575664295002,0.0100907810409,1.06003209269,0.546234744398,0.0187625132507,1.05970022589
+418,6.966666667,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2d54b19c4b0edaf009d337ec1d8f8f5104bae8d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce74b963cc385aaedf70c9efedeee9665eb695bf65ccb2b792995f3165e5ecbc
+size 26592015
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe633ab583e9cd17d1c7fff6ee346d15ca4b1fc0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/franka_data.csv
@@ -0,0 +1,421 @@
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+22,0.366666667,BASELINE,766,745,715,680,664,635,879,787.174536274,803,652,631.174536274,653,0.400987171816,0.0044938110132,0.0698419966429,0.99999996672,3.35908527959e-05,-0.000254990273809,2.02775212476e-05,1793239769766271488
+23,0.383333333,BASELINE,766,745.40742071,715,680,664,635,879,787,803,652.40742071,631.40742071,653,0.400987701298,0.00449377774612,0.0698417870513,0.999999966782,3.37099787402e-05,-0.000254722650508,2.03820878345e-05,1793239769782938112
+24,0.400000000,BASELINE,766,745.985833311,715,680,664,635,879,787,803,652.985833311,631.985833311,653,0.400987893835,0.0044939684137,0.0698409816388,0.999999966711,3.50150597386e-05,-0.000254802928946,2.06828409106e-05,1793239769799604736
+25,0.416666667,BASELINE,766,745.440706278,715,680,664,635,879,787,803,653,632,652.440706278,0.400987102494,0.00449307131241,0.0698413439611,0.999999966664,3.42542945358e-05,-0.000255066222325,2.09622768813e-05,1793239769816271616
+26,0.433333333,BASELINE,766,745,715,680,664,635,879,787.136731807,803,652.863268193,632,652,0.400986570307,0.00449266309001,0.0698415794106,0.999999966656,3.37387692207e-05,-0.000255159580257,2.10494629943e-05,1793239769832938240
+27,0.450000000,BASELINE,766,745,715,680,664,635,879,787.727800327,803,652.272199673,632,652,0.400986981329,0.00449397007902,0.0698412958626,0.999999966776,3.42104824288e-05,-0.000254673003008,2.04996137849e-05,1793239769849604864
+28,0.466666667,BASELINE,766,745,715,680,664,635.312289698,879,787.687710302,803,652,631.687710302,652.312289698,0.400986747142,0.00449411603741,0.0698409803058,0.999999966603,3.47645201895e-05,-0.000255275059013,2.04813856782e-05,1793239769866271744
+29,0.483333333,BASELINE,766,745,715,680,664,635.891162799,879,787.108837201,803,652,631.108837201,652.891162799,0.400985962179,0.00449327089196,0.069840637425,0.99999996618,3.53888335653e-05,-0.000256806417426,2.09169713686e-05,1793239769882938368
+30,0.500000000,BASELINE,766,745,715,680,664,635.532737382,879,787,803.467262618,652.467262618,631,653,0.400987162465,0.00449395125097,0.069841470994,0.999999966475,3.73199741778e-05,-0.000255371416416,2.10187100667e-05,1793239769899604992
+31,0.516666667,BASELINE,766,745,714.957484089,680,664,635,879,787,803.957484089,653,631,653,0.400988669587,0.00449489131571,0.0698425086688,0.99999996691,3.92904815648e-05,-0.000253365757062,2.10303242968e-05,1793239769916271616
+32,0.533333333,BASELINE,766,745,714.384779293,680,664,635,879,787,803.384779293,653,631,653,0.400988270596,0.00449466507612,0.0698426945907,0.999999967105,3.79784133696e-05,-0.000252809211542,2.08820445051e-05,1793239769932938240
+33,0.550000000,BASELINE,765.805703822,745,714.194296178,680,664,635,878.805703822,787,803,653,631,653,0.400987634835,0.00449423035846,0.0698424062617,0.999999967042,3.70206577474e-05,-0.000253205585124,2.08169352846e-05,1793239769949604864
+34,0.566666667,BASELINE,765.213584408,745,714.786415592,680,664,635,878.213584408,787,803,653,631,653,0.400986514286,0.00449336878005,0.0698411468996,0.999999966451,3.67883605849e-05,-0.000255553069523,2.0922118603e-05,1793239769966271488
+35,0.583333333,BASELINE,765,745,715,680,664,635,878.369706687,787.369706687,803,652.630293313,631.369706687,652.630293313,0.400986045215,0.00449446611313,0.069840382128,0.999999966192,3.80632674014e-05,-0.000256389333741,2.07845718657e-05,1793239769982938112
+36,0.600000000,BASELINE,765,745,715,680,664,635,878.948016549,787.948016549,803,652.051983451,631.948016549,652.051983451,0.400985943733,0.00449666874169,0.0698398964238,0.999999966119,4.01885984583e-05,-0.000256372907816,2.05100672136e-05,1793239769999604736
+37,0.616666667,BASELINE,765.524017376,745,714.475982624,680,664,635,879,787.475982624,803,652,631.475982624,652.524017376,0.400985146949,0.00449423255591,0.0698405325079,0.999999966094,3.78303396894e-05,-0.000256797440349,2.09029782637e-05,1793239770016271360
+38,0.633333333,BASELINE,766,745,714.101758035,680,664,635,879,787,803.101758035,652,631,653,0.400984870458,0.00449221931927,0.0698412286325,0.999999966171,3.59992009604e-05,-0.000256735094754,2.12032826144e-05,1793239770032938496
+39,0.650000000,BASELINE,766,745,714.688885397,680,664,635,879,787,803.688885397,652,631,653,0.400987403239,0.00449440882818,0.0698416826654,0.999999966738,3.87945597521e-05,-0.000254142683859,2.07474483188e-05,1793239770049605120
+40,0.666666667,BASELINE,766,745,715,680,664.272953917,635,879,787,803.727046083,652.272953917,631,652.727046083,0.400987868389,0.00449469160272,0.0698419391477,0.999999966869,3.88815925103e-05,-0.000253625178292,2.06092341705e-05,1793239770066271488
+41,0.683333333,BASELINE,766,745,715,680,664.853574553,635,879,787,803.146425447,652.853574553,631,652.146425447,0.400986002956,0.00449282515459,0.0698419729557,0.999999966512,3.59158688307e-05,-0.000255446453427,2.08290334074e-05,1793239770082937856
+42,0.700000000,BASELINE,766,745,715,680,664.569285047,635,879,787,803,652.569285047,631.430714953,652.430714953,0.400986427501,0.00449335627008,0.0698412914218,0.99999996646,3.6162437689e-05,-0.000255645559006,2.04147939772e-05,1793239770099605504
+43,0.716666667,BASELINE,766,745.006607668,715,680,664,635,879,787,803,652,632,653,0.400987603156,0.0044946780573,0.069840387871,0.999999966513,3.7494475292e-05,-0.000255296641468,1.98030055618e-05,1793239770116273152
+44,0.733333333,BASELINE,766,745.576193973,715,680,664,635,879,787,803,652,632,653,0.400986976872,0.00449447742769,0.0698411219567,0.999999966549,3.90117410923e-05,-0.000254864896321,2.0577476333e-05,1793239770132939264
+45,0.750000000,BASELINE,766,745.846893527,715,680,663.846893527,635,879,787,803.153106473,652,631.846893527,652.846893527,0.400986822097,0.00449424657945,0.06984185351,0.999999966703,3.95006806603e-05,-0.000254149678266,2.10288961474e-05,1793239770149605376
+46,0.766666667,BASELINE,766,745.24868274,715,680,663.24868274,635,879,787,803.75131726,652,631.24868274,652.24868274,0.40098803807,0.00449392788095,0.0698425777011,0.999999967199,3.70001157638e-05,-0.000252610360486,2.05411564809e-05,1793239770166271744
+47,0.783333333,BASELINE,766,745,715,680,663.336068417,635,879,787,803.663931583,652.336068417,631,652.336068417,0.400987574963,0.00449435576176,0.0698423468878,0.999999967141,3.71912108786e-05,-0.000252813591369,2.04877623039e-05,1793239770182938624
+48,0.800000000,BASELINE,766,745,715,680,663.911243354,635,879,787,803.088756646,652.911243354,631,652.911243354,0.400985917223,0.00449531482003,0.0698414366063,0.99999996669,3.92973725142e-05,-0.000254256613535,2.07433969339e-05,1793239770199605248
+49,0.816666667,BASELINE,766,745.486271336,715,680,664,635,879,787,803,652.513728664,631,653,0.400986047871,0.00449463475271,0.069841175918,0.999999966651,3.83466729321e-05,-0.000254539441245,2.09331411135e-05,1793239770216272128
+50,0.833333333,BASELINE,766,746,715,680,664,635,879,787,803,652,631,653,0.400986482262,0.00449375787265,0.0698410672143,0.999999966688,3.70403990263e-05,-0.000254575543594,2.10456673735e-05,1793239770232938752
+51,0.850000000,BASELINE,766,746,715,680,664,635,879,787,803,652,631,653,0.400986727305,0.00449373852617,0.0698412389957,0.999999966748,3.74295243364e-05,-0.000254317985474,2.06115780444e-05,1793239770249605376
+52,0.866666667,BASELINE,766,745.762901606,714.762901606,679.762901606,664,635,879,787,803,652,631.237098394,653,0.400987523784,0.00449380880691,0.0698418949804,0.999999967009,3.71960289509e-05,-0.000253346544257,2.03612897582e-05,1793239770266272000
+53,0.883333333,BASELINE,766,745.183052078,714.183052078,679.183052078,664,635,879,787,803,652,631.816947922,653,0.400989117423,0.00449400865343,0.0698432509329,0.999999967555,3.60624686116e-05,-0.000251343108548,2.03767056005e-05,1793239770282938880
+54,0.900000000,BASELINE,766,745.394393329,714.394393329,679.394393329,664,635.394393329,879,787,803,652.394393329,631.605606671,653,0.400987988227,0.00449397132571,0.0698429090987,0.999999967268,3.70131940519e-05,-0.000252343588883,2.0423169214e-05,1793239770299605248
+55,0.916666667,BASELINE,766,745.970729643,714.970729643,679.970729643,664,635.970729643,879,787,803,652.970729643,631.029270357,653,0.400985602922,0.00449382458389,0.0698417840352,0.999999966589,3.89254499247e-05,-0.000254729846901,2.04839558995e-05,1793239770316271872
+56,0.933333333,BASELINE,766,745.456336573,715,680,664,635.456336573,879.543663427,787,803,652.456336573,631,652.456336573,0.400986927183,0.0044937078293,0.0698424249759,0.999999966799,3.79417750365e-05,-0.000254048625547,2.05496498007e-05,1793239770332938496
+57,0.950000000,BASELINE,766.120514497,745,714.879485503,680,664,635,879.879485503,787.120514497,803,652.120514497,631,652.120514497,0.400988000796,0.00449364223546,0.0698428630972,0.999999966993,3.68516414538e-05,-0.000253441261129,2.05775026358e-05,1793239770349605120
+58,0.966666667,BASELINE,766.713434435,745,714.286565565,680,664,635,879.286565565,787.713434435,803,652.713434435,631,652.713434435,0.400987313878,0.0044937708977,0.0698421357988,0.999999966946,3.5951568408e-05,-0.00025376675658,2.0455992851e-05,1793239770366272000
+59,0.983333333,BASELINE,766.401103341,745.29944833,714.29944833,680,664,635.29944833,879.29944833,788,803.29944833,653,631,653,0.400986663453,0.00449388418778,0.0698414510625,0.999999966842,3.66979808351e-05,-0.000254076893093,2.03571478993e-05,1793239770382938624
+60,1.000000000,BASELINE,765.241995322,745.879002339,714.879002339,680,664,635.879002339,879.879002339,788,803.879002339,653,631,653,0.400986047162,0.00449398309866,0.0698408061388,0.999999966682,3.89845250853e-05,-0.000254372662807,2.02795037479e-05,1793239770399605248
+61,1.016666667,BASELINE,765.449835964,746,714.550164036,680,664,635.550164036,879.550164036,787.550164036,803.550164036,652.550164036,631,653,0.40098610155,0.00449354455915,0.0698411059058,0.999999966678,3.8807919347e-05,-0.000254389584408,2.05682531657e-05,1793239770416271872
+62,1.033333333,BASELINE,766,746,714.018610626,680,664,635,879.018610626,787,803,652,631,653,0.400986366267,0.00449299809369,0.0698416741902,0.999999966732,3.79610365568e-05,-0.000254277962597,2.09333215331e-05,1793239770432938240
+63,1.050000000,BASELINE,766,746,714.594636202,680,664,635,879.594636202,787,803,652,631,653,0.400987630118,0.00449346665696,0.0698428188945,0.999999967236,3.65051115459e-05,-0.000252520067952,2.06885781635e-05,1793239770449604864
+64,1.066666667,BASELINE,766,746,715,680,664,635,879.822848252,787,803.177151748,652.177151748,631.177151748,653,0.400988602457,0.0044939169858,0.0698436702643,0.999999967584,3.60317203832e-05,-0.000251220722627,2.05487429967e-05,1793239770466271488
+65,1.083333333,BASELINE,766,746,715,680,664,635,879.224917463,787,803.775082537,652.775082537,631.775082537,653,0.400988882384,0.00449432400334,0.0698438248921,0.999999967566,3.78920892292e-05,-0.000251010544998,2.06580906693e-05,1793239770482938368
+66,1.100000000,BASELINE,765.640662585,745.640662585,715,680,664,635.359337415,879,787,803.640662585,653,631.640662585,653,0.400988870698,0.00449493536534,0.0698434928628,0.99999996743,3.77448377873e-05,-0.000251590255326,2.04199212976e-05,1793239770499605248
+67,1.116666667,BASELINE,765.06465395,745.06465395,715,680,664,635.93534605,879,787,803.06465395,653,631.06465395,653,0.400988683176,0.00449566994177,0.0698428673918,0.999999967223,3.63870428803e-05,-0.000252646247783,1.99722080824e-05,1793239770516272128
+68,1.133333333,BASELINE,765.508484007,745,714.491515993,680,664,635.491515993,879,787,803.508484007,653,631.508484007,653,0.400987150485,0.00449577443047,0.0698420063558,0.999999966829,3.83177418702e-05,-0.000253903967865,2.01811675009e-05,1793239770532938496
+69,1.150000000,BASELINE,766,745,714.081856703,680,664,635.081856703,879.081856703,787,803.918143297,652.918143297,631.918143297,653,0.400985734467,0.00449579343617,0.0698412888471,0.999999966461,4.02955681222e-05,-0.000255023218129,2.04146807326e-05,1793239770549604864
+70,1.166666667,BASELINE,766,745,714.658844501,680,664,635.658844501,879.658844501,787,803.341155499,652.341155499,631.341155499,653,0.400986052932,0.00449577725719,0.0698416196562,0.999999966441,4.00434672562e-05,-0.000255150619909,2.02945011311e-05,1793239770566271488
+71,1.183333333,BASELINE,766,745,715,680,664,635.757598678,879.757598678,787,803,652,631,652.757598678,0.400986405882,0.00449540465079,0.0698418419628,0.999999966542,3.96096303724e-05,-0.000254823006641,2.03197650956e-05,1793239770582938112
+72,1.200000000,BASELINE,766,745,715,680,664,635.164539006,879.164539006,787,803,652,631,652.164539006,0.400986808719,0.00449451643562,0.0698419073091,0.999999966815,3.89128936806e-05,-0.000253837167508,2.05554280633e-05,1793239770599605248
+73,1.216666667,BASELINE,765.585112627,745.414887373,715,679.585112627,664,635,879,787,803,652,631,652,0.400986888123,0.00449376886735,0.0698422977877,0.999999967035,3.7215830529e-05,-0.000253229711102,2.04861736763e-05,1793239770616271872
+74,1.233333333,BASELINE,765.010921055,745.989078945,715,679.010921055,664,635,879,787,803,652,631,652,0.400986843337,0.0044930753033,0.0698428131071,0.999999967231,3.51346723248e-05,-0.000252767542275,2.02998402367e-05,1793239770632938240
+75,1.250000000,BASELINE,765.562810512,745.437189488,715,679.562810512,664.562810512,635,879,787,803,652.562810512,631,652.562810512,0.400986399828,0.00449332607385,0.0698420787751,0.999999966997,3.61905266654e-05,-0.000253547531178,2.02641436823e-05,1793239770649605120
+76,1.266666667,BASELINE,766,745.141489603,715,680,664.858510397,635,879,787,803.141489603,653,631,653,0.400985893681,0.00449353826795,0.0698414228078,0.999999966779,3.6912551759e-05,-0.000254299357598,2.02887013029e-05,1793239770666271744
+77,1.283333333,BASELINE,766,745.736039568,715,680,664.263960432,635,879,787,803.736039568,653,631,653,0.400985211719,0.00449356830939,0.0698410953538,0.999999966646,3.63708723756e-05,-0.000254883887565,2.04968452024e-05,1793239770682938624
+78,1.300000000,BASELINE,766,746,715,680,664,635,879.323667387,787,804,652.676332613,631,653,0.400984982352,0.00449374638226,0.0698409818778,0.99999996663,3.61908496867e-05,-0.000254964145663,2.0571706095e-05,1793239770699605248
+79,1.316666667,BASELINE,766,746,715,680,664,635,879.905768166,787,804,652.094231834,631,653,0.40098511436,0.00449404265136,0.0698410392533,0.999999966709,3.62995931148e-05,-0.000254641766042,2.05401466806e-05,1793239770716271872
+80,1.333333333,BASELINE,766,745.519682208,715,680,664,635,879.519682208,787.480317792,804,652,631.480317792,652.519682208,0.400985481802,0.00449425315567,0.0698417335823,0.999999966906,3.49629133291e-05,-0.000254085248379,2.01420456639e-05,1793239770732938240
+81,1.350000000,BASELINE,766,745,715,679.946538278,664,635,879,787.946538278,804,652,631.946538278,652,0.400985952081,0.00449436416032,0.0698424659053,0.999999967096,3.37655795774e-05,-0.000253529055415,1.97727761564e-05,1793239770749604864
+82,1.366666667,BASELINE,766,745,715,679.372880915,664,635,879,787.372880915,804,652,631.372880915,652,0.400986980518,0.00449366819484,0.0698423708308,0.999999967011,3.66406402317e-05,-0.000253416060298,2.03729213505e-05,1793239770766271744
+83,1.383333333,BASELINE,766,745,715,679.207542682,664,635.207542682,879,787,803.792457318,652.207542682,631.207542682,652.207542682,0.400987756385,0.00449335415756,0.0698423556664,0.999999966993,3.82347403768e-05,-0.0002532298463,2.06489467237e-05,1793239770782938368
+84,1.400000000,BASELINE,766,745,715,679.800532595,664,635.800532595,879,787,803.199467405,652.800532595,631.800532595,652.800532595,0.40098806318,0.00449374943531,0.0698424889106,0.999999967111,3.74498475666e-05,-0.000252907650545,2.03230184898e-05,1793239770799605248
+85,1.416666667,BASELINE,766,745.383354146,715,680,664,635.616645854,879,787,803,653,632,652.616645854,0.400987643692,0.00449353062407,0.0698429106751,0.99999996712,3.70660885445e-05,-0.00025292755643,2.03644126702e-05,1793239770816272128
+86,1.433333333,BASELINE,766,745.961021555,715,680,664,635.038978445,879,787,803,653,632,652.038978445,0.400986856069,0.00449300054545,0.0698434786837,0.999999967073,3.68856549191e-05,-0.000253120865667,2.05919940241e-05,1793239770832938752
+87,1.450000000,BASELINE,766,746,715,679.465048658,664,635,879.534951342,787,802.465048658,653,632,652.534951342,0.400986848836,0.00449524351498,0.0698426689242,0.999999966937,3.89250817485e-05,-0.000253366900404,2.04133021388e-05,1793239770849605120
+88,1.466666667,BASELINE,766,745.88801406,715,679.11198594,664,635,879.88801406,787,802.11198594,653,631.88801406,653,0.400986885293,0.00449696186824,0.0698419808235,0.99999996684,4.04425617441e-05,-0.000253525753824,2.02412301885e-05,1793239770866271744
+89,1.483333333,BASELINE,766,745.296527324,715,679.703472676,664,635,879.296527324,787,802.703472676,653,631.296527324,653,0.400986867037,0.00449557477092,0.0698422405038,0.999999966954,3.90374108722e-05,-0.00025329497922,2.02233758398e-05,1793239770882938624
+90,1.500000000,BASELINE,766,745,714.711050511,680,664,635,879.288949489,787,803.288949489,652.711050511,631.288949489,653,0.400987893767,0.0044948322392,0.0698432281045,0.999999967455,3.75733121413e-05,-0.000251536238291,2.02164997832e-05,1793239770899605248
+91,1.516666667,BASELINE,766,745,714.131615601,680,664,635,879.868384399,787,803.868384399,652.131615601,631.868384399,653,0.400989971038,0.0044947376994,0.0698449474949,0.999999968334,3.60499522945e-05,-0.000248241409038,2.02206603755e-05,1793239770916271872
+92,1.533333333,BASELINE,766,745.44310056,714.44310056,680,664,635,879.55689944,787,803.55689944,652,631.55689944,653,0.400988711684,0.00449442323651,0.0698439507442,0.999999967871,3.65032096334e-05,-0.000250037932176,2.01555640107e-05,1793239770932939008
+93,1.550000000,BASELINE,766,745.983581463,715,680,664.016418537,635,879,787,803,652.016418537,631,653,0.400986516374,0.00449407875505,0.0698421999032,0.999999967022,3.75551039076e-05,-0.000253264379404,2.00737453411e-05,1793239770949605632
+94,1.566666667,BASELINE,766,745.410648988,715,680,664.589351012,635,879,787,803,652.589351012,631,653,0.400985835818,0.00449490765338,0.0698419469955,0.99999996671,3.92070298241e-05,-0.000254238752462,2.01150537919e-05,1793239770966272256
+95,1.583333333,BASELINE,766.168122644,745.168122644,715,680.168122644,664.831877356,635,879,787,803,653,631,653,0.400985878558,0.00449537824963,0.0698421689088,0.999999966675,4.04143874803e-05,-0.000254188489427,2.01433421108e-05,1793239770982938880
+96,1.600000000,BASELINE,766.761670053,745.761670053,715,680.761670053,664.238329947,635,879,787,803,653,631,653,0.400987751559,0.00449494218311,0.0698435923296,0.99999996734,4.04967908558e-05,-0.000251545443393,2.01386837372e-05,1793239770999605248
+97,1.616666667,BASELINE,766.653555868,745.653555868,715,680.653555868,664,635,879,787.346444132,803,653,631,653,0.400988309833,0.00449427945267,0.0698437425381,0.999999967517,3.85395852714e-05,-0.000251134533882,2.02884378263e-05,1793239771016271616
+98,1.633333333,BASELINE,766.07466821,745.07466821,715,680.07466821,664,635,879,787.92533179,803,653,631,653,0.400987986005,0.00449346464416,0.0698430384965,0.999999967361,3.52139226789e-05,-0.000252221256143,2.05417935469e-05,1793239771032938240
+99,1.650000000,BASELINE,766,745.499698448,715,680,664,635,879,787.500301552,803.499698448,653,631,652.500301552,0.40098709293,0.004494292866,0.0698425512432,0.999999967191,3.5451031019e-05,-0.000252889427114,2.02200497178e-05,1793239771049605120
+100,1.666666667,BASELINE,766,745.924733892,715,680,664,635,879,787,803.924733892,652.924733892,631,652,0.400986430567,0.00449516038827,0.0698422395543,0.999999967072,3.61258119392e-05,-0.000253289518477,1.99034097394e-05,1793239771066271744
+101,1.683333333,BASELINE,766,745.336415931,715,680,664,635,879,787,803.336415931,652.336415931,631,652,0.400987915467,0.00449463727137,0.0698429057678,0.999999967317,3.61876082334e-05,-0.000252284743591,2.02020852465e-05,1793239771082938624
+102,1.700000000,BASELINE,766.2488554,745,715,680,664,635,879,787,803,652,631,652,0.400988712746,0.00449459883107,0.0698433557901,0.999999967455,3.66345271156e-05,-0.000251665144354,2.03143294164e-05,1793239771099605504
+103,1.716666667,BASELINE,766.830057903,745,715,680,664,635,879,787,803,652,631,652,0.400988591702,0.00449520767781,0.0698435170882,0.999999967449,3.75957783168e-05,-0.000251559948384,2.01775939755e-05,1793239771116272640
+104,1.733333333,BASELINE,766.59169108,745.40830892,715,679.59169108,664,635,879,787,803.40830892,652.40830892,631,652.40830892,0.400988220906,0.0044954130974,0.0698432612756,0.999999967442,3.85394997872e-05,-0.00025145273814,2.00478533932e-05,1793239771132939008
+105,1.750000000,BASELINE,766.014659634,745.985340366,715,679.014659634,664,635,879,787,803.985340366,652.985340366,631,652.985340366,0.400987746906,0.00449545181177,0.0698428331034,0.999999967435,3.9475977656e-05,-0.000251344695543,1.99210032336e-05,1793239771149605120
+106,1.766666667,BASELINE,766,746,715,679.559792907,664,635,879,787,804,653,631.559792907,653,0.400988045686,0.00449475859587,0.0698430075611,0.999999967519,3.85688405923e-05,-0.000251136030061,2.01161193109e-05,1793239771166271744
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679,664,635,879,788,803,653,631,653,0.400984673499,0.00449475474525,0.0698410606314,0.999999966474,3.7597218053e-05,-0.000255385099709,2.04101509652e-05,1793239771208564224
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,714.394475084,679.605524916,664.605524916,635,879,787.394475084,803,653,631.605524916,652.394475084,0.400985342241,0.00449490750381,0.0698420232385,0.999999966755,3.7376521739e-05,-0.000254318820532,2.03633050953e-05,1793239771225230848
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.798891233,714.201108767,680,664.798891233,635,879.201108767,787,803.201108767,653,631.798891233,652.201108767,0.400985939763,0.00449513189433,0.0698425769193,0.999999966961,3.73071588629e-05,-0.0002535280857,2.02335834073e-05,1793239771241897472
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.221888214,714.778111786,680,664.221888214,635,879.778111786,787,803.778111786,653,631.221888214,652.778111786,0.400986404166,0.00449549017286,0.0698423662726,0.999999967029,3.75206546745e-05,-0.000253252373165,1.99489577545e-05,1793239771258564096
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.640523711,745.359476289,715,680,664,635.359476289,879.640523711,787,803.640523711,652.640523711,631,653,0.400986530327,0.00449530387506,0.069842252061,0.999999966948,3.81173854065e-05,-0.000253481653854,1.9933814179e-05,1793239771275231232
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.056434034,745.943565966,715,680,664,635.943565966,879.056434034,787,803.056434034,652.056434034,631,653,0.400986445142,0.00449477730686,0.0698421981055,0.999999966775,3.89535747396e-05,-0.000254026472031,2.00870524702e-05,1793239771291898368
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.523540896,745.476459104,715,679.476459104,664,635.476459104,879.523540896,787.523540896,803,652.523540896,631.523540896,653,0.400987769864,0.00449450982741,0.0698436473563,0.999999967382,3.85217322317e-05,-0.000251687676282,2.01551865247e-05,1793239771308564480
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.102570217,715,679.102570217,664,635,880,788,803.102570217,653,632,652.897429783,0.400988635,0.00449446447187,0.0698447108503,0.999999967816,3.78520943059e-05,-0.000250053019819,2.02016710276e-05,1793239771325230592
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.679262763,715,679.679262763,664,635,880,788,803.679262763,653,632,652.320737237,0.400986678705,0.00449531777779,0.0698432480623,0.999999967093,3.67101545652e-05,-0.000253098785894,2.01901559824e-05,1793239771341897216
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.745439706,746,714.745439706,680,664,635,879.745439706,787.745439706,803.745439706,652.745439706,632,652.254560294,0.400989005668,0.00449571115554,0.0698441785554,0.999999967362,3.69920906295e-05,-0.000251987497084,2.02543712369e-05,1793239771358564096
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.171890308,746,714.171890308,680,664,635,879.171890308,787.171890308,803.171890308,652.171890308,632,652.828109692,0.400996699974,0.00449552819798,0.0698481080656,0.999999968853,3.90582833103e-05,-0.000245667009105,2.04134840113e-05,1793239771375230976
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.415211609,746,714.415211609,680,664,635,879,787,803,652.415211609,631.584788391,653,0.401017493905,0.00449561660865,0.0698578134294,0.999999972596,3.84892352302e-05,-0.000230027044534,2.03654581932e-05,1793239771391897856
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635,879,787,803.007929277,653,631.007929277,653,0.401044210195,0.00449581220197,0.0698700470238,0.999999977013,3.68071054108e-05,-0.000210260315961,2.0227356057e-05,1793239771408564480
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635,879,787,803.587376919,653,631.587376919,653,0.401093728886,0.00449536273529,0.0698863492665,0.999999982853,3.6182465341e-05,-0.000180511986739,1.99860984611e-05,1793239771425231104
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,715,679.835229114,664,635,879,787,803.835229114,653,631.835229114,652.835229114,0.401147021458,0.00449481107866,0.0699014821282,0.999999987134,3.50325826529e-05,-0.000155297698841,1.96651435863e-05,1793239771441897728
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,715,679.262914575,664,635,879,787,803.262914575,653,631.262914575,652.262914575,0.401209648338,0.0044940066657,0.0699137226508,0.999999989303,3.25835669013e-05,-0.000141297884782,1.91470657639e-05,1793239771458564352
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.681059638,714.681059638,679,664,635,879,787,803.318940362,653,631,652.318940362,0.401278377371,0.00449404704482,0.0699203622194,0.999999990547,3.16298757732e-05,-0.000132563975562,1.82300409526e-05,1793239771475231232
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.091097722,714.091097722,679,664,635,879,787,803.908902278,653,631,652.908902278,0.401352291741,0.00449480529131,0.069922242342,0.999999991115,3.19468461798e-05,-0.000128304802532,1.69740084935e-05,1793239771491897600
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714,679.490061891,664,635,879.490061891,787,803.509938109,652.509938109,631,652.509938109,0.401440011335,0.00449653970641,0.0699192702494,0.99999999054,3.04912456717e-05,-0.000133326119172,1.46129511709e-05,1793239771508564224
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.06921943,714.06921943,679.93078057,664,635,879.93078057,787,803.06921943,652,631.06921943,652.06921943,0.401533539777,0.00449810921337,0.0699159751804,0.999999989805,2.85015560259e-05,-0.000139399485244,1.2084951287e-05,1793239771525230848
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.645485844,714.645485844,679.354514156,664,635,879.354514156,787,803.645485844,652,631.645485844,652.645485844,0.401651152584,0.00449716495272,0.069916804849,0.999999989733,2.49706455005e-05,-0.000140765207186,9.81220803492e-06,1793239771541897728
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.77930977,715,679.22069023,664,635,879,787,804,652.22069023,632,653,0.401782515285,0.00449690035099,0.0699192768089,0.999999990193,2.12994329692e-05,-0.000138241153113,7.08738261051e-06,1793239771558564352
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.205803298,715,679.794196702,664,635,879,787,804,652.794196702,632,653,0.401935859855,0.00449772231625,0.0699243742908,0.999999991457,1.74039207392e-05,-0.000129498535624,3.6398161499e-06,1793239771575230976
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.380557287,714.619442713,680,664,635,879,787,803.619442713,652.619442713,632,653,0.402112226276,0.00449894161487,0.0699295474306,0.999999992801,1.44511618729e-05,-0.000119117589319,-1.34775803308e-07,1793239771591897344
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.974112369,714.025887631,680,664,635,879,787,803.025887631,652.025887631,632,653,0.402301478035,0.0045003833009,0.0699347629165,0.999999994107,1.20260614043e-05,-0.000107819670056,-4.09240414522e-06,1793239771608563968
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.448608341,714.551391659,679.448608341,664,635,879,787,803.551391659,652,631.448608341,653,0.402514073373,0.00450084916351,0.0699356966828,0.999999994434,6.46540833619e-06,-0.00010494275093,-8.76503686891e-06,1793239771625230848
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.127657123,664,635.127657123,879,787,804,652.127657123,631,653,0.402735815449,0.00450190928068,0.069936935503,0.999999994759,1.49716146722e-06,-0.000101467358928,-1.36035789609e-05,1793239771641897472
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.702970346,664,635.702970346,879,787,804,652.702970346,631,653,0.402985899449,0.00450520932638,0.0699399287825,0.999999995351,-8.92260307786e-07,-9.45466265405e-05,-1.89095756513e-05,1793239771658564864
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.279410877,715,680,664.279410877,635.720589123,879.279410877,787,804,652.720589123,631,653,0.40325946905,0.00450709082189,0.0699449848274,0.999999996135,-4.54191769599e-06,-8.4410194082e-05,-2.41908918655e-05,1793239771675231488
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.857054621,715,680,664.857054621,635.142945379,879.857054621,787,804,652.142945379,631,653,0.403558106299,0.00450745820906,0.0699522425917,0.999999997012,-9.53670396679e-06,-7.08414423426e-05,-2.94458647284e-05,1793239771691897856
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.55681023,635,879.55681023,787,804,652,631,653,0.403884247947,0.004507509185,0.0699596326421,0.999999997587,-1.63239975026e-05,-5.81022473655e-05,-3.44124930153e-05,1793239771708564480
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.968395351,715,680,664,635,879.031604649,787,803.968395351,652.031604649,631,653,0.404221133729,0.00450734822453,0.0699667842176,0.99999999793,-2.20879366317e-05,-4.63587326621e-05,-3.87645724273e-05,1793239771725230848
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.388866587,715,680,664,635,879.611133413,787,803.388866587,652.611133413,631,653,0.404587485953,0.00450531682325,0.0699690472345,0.999999998307,1.08929646826e-07,-4.71478357764e-05,-3.41061842937e-05,1793239771741897472
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.188784191,635,879.811215809,787,803,653,631,652.811215809,0.404966372052,0.00450060345601,0.0699716554768,0.999999998363,2.04341752219e-05,-4.48911738743e-05,-2.90192550895e-05,1793239771758564096
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.762604634,635,879.237395366,787,803,653,631,652.237395366,0.405370821669,0.00449042006464,0.0699749678259,0.999999998388,3.6942139633e-05,-3.64224983671e-05,-2.30582922302e-05,1793239771775230976
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.666183441,635,879,787,803.333816559,652.666183441,631,652.333816559,0.405790187408,0.00448852528636,0.0699727808942,0.999999997956,4.61109732261e-05,-3.78262073062e-05,-2.30416639813e-05,1793239771791897600
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.096812137,635,879,787,803.903187863,652.096812137,631,652.903187863,0.406220078621,0.00449247929465,0.0699667134432,0.999999997307,5.01010148072e-05,-4.61962774348e-05,-2.72196030413e-05,1793239771808563968
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.502868391,745.497131609,715,679.502868391,664,635,879,787,803.502868391,652,631.497131609,653,0.406683272561,0.00450107431714,0.0699515273005,0.999999996354,3.42003479043e-05,-7.27439417715e-05,-2.8819829296e-05,1793239771825230592
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,746,715,679.092291862,664.092291862,635,879,787,803.092291862,652.092291862,632,653,0.407164067275,0.00450930886882,0.0699369843602,0.999999994752,1.2545941188e-05,-9.71183665855e-05,-3.00999489303e-05,1793239771841897472
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,746,715,679.667477736,664.667477736,635,879,787,803.667477736,652.667477736,632,653,0.407701255965,0.00451068255896,0.0699355813092,0.999999995205,-1.78922417196e-05,-9.06369612948e-05,-3.24682912301e-05,1793239771858564352
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.241912064,745.758087936,715,680,665,635,879,787.241912064,803.758087936,653,631.758087936,653,0.408259969151,0.00451537979952,0.0699412648452,0.999999996407,-2.13725371557e-05,-7.44685544938e-05,-3.44086279212e-05,1793239771875231488
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.815316512,745.184683488,715,680,665,635,879,787.815316512,803.184683488,653,631.184683488,653,0.408848177346,0.00452463130503,0.0699566591396,0.999999998274,1.20875939478e-05,-4.50260385725e-05,-3.57624678712e-05,1793239771891898112
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.402238476,715,680,665,635,879,787.597761524,803,652.597761524,631,653,0.409451458226,0.00453219300044,0.0699612332805,0.999999998048,3.75967641183e-05,-3.35361769204e-05,-3.69450565391e-05,1793239771908564992
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.995582671,715,680,665,635,879,787.004417329,803,652.004417329,631,653,0.410061900207,0.00453895185749,0.0699606667064,0.999999997049,5.9328387947e-05,-3.0575721167e-05,-3.80462827475e-05,1793239771925231616
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.424523476,746,715,680,664.424523476,635,879,787,803.575476524,652,631,653,0.410686353245,0.00454500322092,0.0699520211128,0.999999996691,5.31523288592e-05,-4.73430725599e-05,-3.93908722149e-05,1793239771941898240
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.154024763,745.845975237,715,680,664.154024763,635,879.154024763,787.154024763,804,652,631,653,0.411330220775,0.00455205625441,0.0699499138308,0.999999996372,5.38331169221e-05,-5.21524841271e-05,-4.04767771927e-05,1793239771958565120
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.729169689,745.270830311,715,680,664.729169689,635,879.729169689,787.729169689,804,652,631,653,0.412026882166,0.00456186246889,0.0699658486739,0.999999996155,7.38335772792e-05,-2.3863038333e-05,-4.08504201211e-05,1793239771975231488
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.304923308,715,680,665,635,879.695076692,788,803.695076692,652,631,653,0.412748060441,0.00456929155476,0.0699902517687,0.999999995034,8.93358564391e-05,1.50941627437e-05,-4.15037029346e-05,1793239771991898112
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.881218708,715,680,665,635,879.118781292,788,803.118781292,652,631,653,0.413491058045,0.00457460507251,0.0700221913414,0.999999991998,0.000100834898864,6.35453315791e-05,-4.24058563917e-05,1793239772008564992
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.530253247,745.530253247,715,680,664.530253247,635,879.469746753,787.530253247,803.469746753,652.469746753,631,653,0.414229772232,0.00458181281865,0.0700251587021,0.999999991514,0.00010419134723,6.55774681957e-05,-4.26142467489e-05,1793239772025231360
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.059947418,745.059947418,715,680,664.059947418,635,880,787,804,652.940052582,631,653,0.414962860772,0.00458964228081,0.0700148865096,0.999999992348,0.000106604131331,4.58519105541e-05,-4.28641034897e-05,1793239772041897728
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.637176913,745.637176913,715,680,664.637176913,635,880,787,804,652.362823087,631,653,0.415657002452,0.00459859290709,0.069955276734,0.999999990232,0.000119115717359,-5.7628078252e-05,-4.50259875732e-05,1793239772058564352
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.786863822,746,715,680,664.786863822,635,880,787,804,652.213136178,631,652.786863822,0.416395656322,0.00460602582778,0.0699200064097,0.999999983536,0.000129425526413,-0.000118174790584,-4.70337248066e-05,1793239772075230720
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.213054101,746,715,680,664.213054101,635,880,787,804,652.786945899,631,652.213054101,0.417209634619,0.00461089045447,0.0699259238224,0.999999983936,0.000136009442999,-0.000106068900391,-4.87806120261e-05,1793239772091897600
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,746,715,680.360021596,664.720043193,635.360021596,880,787,804,653,631,652,0.418029537182,0.00461549427791,0.0699470406749,0.999999986849,0.000137151006462,-7.14411180722e-05,-4.88712121313e-05,1793239772108564480
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,715,680.932663775,665.86532755,635.932663775,880,787,804,653,631,652,0.418852938453,0.00461994407669,0.0699771339713,0.999999989449,0.000135078439237,-2.3512417818e-05,-4.79836465158e-05,1793239772125231360
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.525012016,746,715,680.474987984,665.474987984,635.474987984,880,787,804,652.474987984,631,652.525012016,0.41972257878,0.00462334952826,0.0699982602201,0.999999988465,0.000143745629463,4.19317990793e-06,-4.88837196894e-05,1793239772141897728
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.883816184,746,715,680,665,635.116183816,880,787,804,652,631,653,0.420595050251,0.00462311298102,0.0700163027636,0.999999987426,0.000147943007146,2.7519871503e-05,-5.00354678942e-05,1793239772158564352
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.307697203,746,715,680,665,635.692302797,880,787,804,652,631,653,0.421454336706,0.00460900982784,0.0700268682492,0.999999989419,0.000128780280614,4.4180093235e-05,-5.1240488997e-05,1793239772175230976
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.266257955,745.733742045,715,680.266257955,665,635.733742045,880,787,804,652,631,653,0.422286143824,0.00459165854781,0.0700149783876,0.999999992867,0.000104963499693,2.38910014508e-05,-5.17517671664e-05,1793239772191897856
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.837732752,745.162267248,715,680.837732752,665,635.162267248,880,787,804,652,631,653,0.423086450937,0.00457058387291,0.0699773475119,0.999999995051,7.58116799368e-05,-3.87538286726e-05,-5.14677938776e-05,1793239772208564480
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.42611799,745.42611799,715.42611799,680.57388201,664.57388201,635,880,787.42611799,804.42611799,652,631,653,0.423874361611,0.00457338188219,0.0699156145028,0.999999986571,7.90496715401e-05,-0.000133036835923,-5.394584969e-05,1793239772225231104
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.979451665,746,715.979451665,680,664.020548335,635,880,788,804.979451665,652,631,653,0.424663251965,0.00458543808611,0.0698484345279,0.99999996665,9.4589015482e-05,-0.000233355728246,-5.74213315213e-05,1793239772241897728
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.402894185,746,715.402894185,680,664.597105815,635,880,788,804.402894185,652,631,653,0.425611663991,0.00459185842144,0.0698924787806,0.999999981341,9.54488368808e-05,-0.000157525405185,-5.8249700425e-05,1793239772258564352
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,879.82663516,788,804,652,631,652.82663516,0.426547270164,0.00459711639464,0.0699386948931,0.999999989848,9.94864584184e-05,-8.40968849475e-05,-5.77384029971e-05,1793239772275231232
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,879.251068577,788,804,652,631,652.251068577,0.427453167046,0.00459967771875,0.0699899496587,0.999999992255,0.000110896491105,-1.62404882833e-05,-5.41191163261e-05,1793239772291898112
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.675167367,715,680,665,635,879.324832633,787.675167367,804,652,631,652.324832633,0.428355082332,0.00460436604649,0.0700236476885,0.999999990731,0.000119998507925,3.51611652423e-05,-5.38789064603e-05,1793239772308564736
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.099007278,715,680,665,635,879.900992722,787.099007278,804,652,631,652.900992722,0.429253916959,0.00461070006594,0.0700437618292,0.999999987588,0.000127314780899,7.38315555406e-05,-5.62531348256e-05,1793239772325231360
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680.492412147,665.492412147,635.492412147,880,787.492412147,804.492412147,652,631,653,0.430101911351,0.00460925822916,0.0700371382156,0.999999988683,0.000124860981258,6.22538681286e-05,-5.62894842319e-05,1793239772341897728
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.084042616,715,680.915957384,665.915957384,635.915957384,880,787.915957384,804.915957384,651.915957384,631.084042616,653,0.430927741332,0.00460696191358,0.0700156585579,0.99999999071,0.000121789902156,2.46454006292e-05,-5.60297046095e-05,1793239772358564352
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.658430723,715,680.341569277,665.341569277,635.341569277,880,787.341569277,804.341569277,651.341569277,631.658430723,653,0.431685801829,0.0046090938572,0.06993987111,0.999999984916,0.000126945280939,-0.000104007340854,-5.68724757648e-05,1793239772375230976
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680.232786407,665,635,880.232786407,787,804,651.232786407,631.767213593,652.767213593,0.432479036647,0.00460759354071,0.069897278591,0.999999975991,0.000123233382832,-0.000171631173664,-5.80970572389e-05,1793239772391897600
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680.807094611,665,635,880.807094611,787,804,651.807094611,631.192905389,652.192905389,0.433323875952,0.00460076432232,0.0699033864636,0.999999981327,0.000106512273251,-0.000149719290729,-5.98817952395e-05,1793239772408564224
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.607546675,714.607546675,681,665.392453325,635,880.607546675,787.392453325,804.392453325,652,631,652,0.434187718127,0.00458976963188,0.0699505646298,0.999999991853,9.09396007686e-05,-6.70995647431e-05,-5.93475598754e-05,1793239772425231104
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.016598885,714.016598885,681,665.983401115,635,880.016598885,787.983401115,804.983401115,652,631,652,0.435061171496,0.00457666813551,0.0700185152684,0.999999994386,7.59477831503e-05,4.62248843195e-05,-5.76404368326e-05,1793239772441897728
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.436703019,745.563296981,714,681,665.436703019,635,880.563296981,787.436703019,805,652,631,652,0.435864072197,0.00457723566799,0.0700273306166,0.999999993124,8.27157788864e-05,6.01322731675e-05,-5.73982606865e-05,1793239772458564352
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.141058388,745.858941612,714.141058388,681,665,635.141058388,880.858941612,787.141058388,804.858941612,652,631.141058388,652,0.436655764825,0.00457938501775,0.0700279248674,0.99999999232,8.99928543518e-05,6.28705372603e-05,-5.75235476742e-05,1793239772475230720
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.713271915,745.286728085,714.713271915,681,665,635.713271915,880.286728085,787.713271915,804.286728085,652,631.713271915,652,0.437419431469,0.00458516183864,0.0700086145157,0.999999992775,9.69037932597e-05,4.02516712637e-05,-5.86426046654e-05,1793239772491897344
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.712512887,745,715,681,665,635.712512887,880,787.712512887,804,652,632,652,0.438139481108,0.00458965155814,0.0699747047864,0.999999993301,9.88831280443e-05,-6.29292906024e-06,-5.98346336406e-05,1793239772508564224
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.136287342,745,715,681,665,635.136287342,880,787.136287342,804,652,632,652,0.438815723849,0.00459284857363,0.0699261321353,0.99999999058,9.59093925991e-05,-7.68674018099e-05,-6.10999519534e-05,1793239772525230848
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.453816349,714.546183651,681,664.546183651,635,880,787,804,652,631.546183651,652,0.43943427415,0.0046002794302,0.0698698715187,0.999999978466,0.00010020641657,-0.000171130062558,-6.11627509208e-05,1793239772541897216
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.95317896,714,681,663.95317896,635,880.04682104,787,804.04682104,652,631,652.04682104,0.440040833619,0.00460863921415,0.0698156452148,0.999999957425,0.000107350648803,-0.000264420617869,-6.08880409178e-05,1793239772558564096
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.376013151,714,681,663.376013151,635,880.623986849,787,804.623986849,652,631,652.623986849,0.440714013362,0.00461266453733,0.0698114386769,0.999999956053,0.000121232425022,-0.000263578587666,-6.10099700478e-05,1793239772575230976
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.20053387,745,714,681,663,635,880.79946613,787,804.79946613,652,631,652.79946613,0.441392696335,0.00461846282803,0.0698237751055,0.999999959855,0.000134063073181,-0.000242072976279,-6.09730707843e-05,1793239772591897600
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.775924296,745,714,681,663,635,880.224075704,787,804.224075704,652,631,652.224075704,0.442081666573,0.00462757531516,0.0698670351841,0.999999971108,0.000144928857136,-0.000181941076983,-6.0639274606e-05,1793239772608564224
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.357910072,714,681.357910072,662.642089928,634.642089928,880,787,804,652,631,652.357910072,0.442680679853,0.00463359272014,0.0698734311068,0.99999996949,0.000156686982296,-0.000181550472012,-5.92316276166e-05,1793239772625230848
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.944102462,714,681.944102462,662.055897538,634.055897538,880,787,804,652,631,652.944102462,0.443222316716,0.00463763601825,0.069856314319,0.999999960046,0.00016901426021,-0.000219264082493,-5.71390567977e-05,1793239772641897472
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.474829849,745.474829849,714,682,661.474829849,634,880,787,804.525170151,652,631,652.474829849,0.443730048262,0.00464338752515,0.0698165517618,0.999999941216,0.000186683065176,-0.000282190550968,-5.55598521524e-05,1793239772658564096
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.104213918,745,714,682,660.895786082,634,880,787,804.895786082,652,631.104213918,652.104213918,0.444230419985,0.00464984519941,0.0697759685943,0.999999918447,0.00020354576027,-0.000344504059968,-5.46928026027e-05,1793239772675230976
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.676592222,745,714,682,660.323407778,634,880,787,804.323407778,652,631.676592222,652.676592222,0.444713784066,0.00465866632871,0.0697424224285,0.999999898554,0.000214257762143,-0.000392124892587,-5.67819025339e-05,1793239772691897344
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.747325156,745.252674844,714,682,660,633.747325156,880,787,804,652,631.747325156,652.747325156,0.445197684823,0.00466562913735,0.0697192824721,0.999999884075,0.000222457636218,-0.00042298603945,-5.86890809269e-05,1793239772708564224
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.166430742,745.833569258,714,682,660,633.166430742,880,787,804,652,631.166430742,652.166430742,0.445682282674,0.00467017802395,0.0697096599761,0.999999878979,0.000227394306202,-0.000432076686973,-6.03599468516e-05,1793239772725230848
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.420633425,745.579366575,714,681.579366575,659.579366575,633,880.420633425,787,804.420633425,652,631,652.420633425,0.446121322846,0.00467282897282,0.0697078767149,0.999999874897,0.000235354617234,-0.000437373830594,-5.93150685177e-05,1793239772741897216
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.009988329,714,681.009988329,659,633,880.990011671,787,804.990011671,652,631,653,0.446541074218,0.00467479137778,0.06970900048,0.999999870949,0.000244621230756,-0.000441580888856,-5.7175435211e-05,1793239772758564096
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,714,682,658.833479466,633,880.166520534,786.833479466,804,652,631,653,0.447257879944,0.00468916135252,0.0696811690734,0.999999836536,0.000270475916721,-0.000500767734704,-5.479094261e-05,1793239772791897600
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,714,682,658.257882575,633,880.742117425,786.257882575,804,652,631,653,0.447588472,0.00470245261693,0.0696594223084,0.999999817711,0.000274027599576,-0.000534612631193,-6.06246838069e-05,1793239772808564224
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765.108931589,745.108931589,714,682,658,632.108931589,880.108931589,786,804,652,631,653,0.448237217014,0.00475383078454,0.0696519053379,0.999999806728,0.000289370811859,-0.000545085898982,-7.54320754904e-05,1793239772841897472
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.478225824,714,682.478225824,658,632,880,786,804,652,631,653,0.448527588675,0.00476285875063,0.0696591905119,0.999999820632,0.000264478471702,-0.000531754377096,-7.76127940554e-05,1793239772858564096
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.067202213,786,804,652,631,653,0.448805832931,0.00476620614406,0.0696672183299,0.999999834749,0.000237508412146,-0.000517755168098,-7.75951111914e-05,1793239772875230464
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.646827921,786,804,652,631,653,0.449049104704,0.00476237579377,0.0696704627866,0.999999831299,0.000254959393172,-0.000517071541013,-7.09488009391e-05,1793239772891897344
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.775595804,714,682.775595804,657.775595804,632,880.775595804,786,804,652,631,652.775595804,0.449276077583,0.00476333760524,0.0696697890146,0.999999824242,0.000277133696454,-0.000519980807323,-6.58229818196e-05,1793239772908564224
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.201215834,714,682.201215834,657.201215834,632,880.201215834,786,804,652,631,652.201215834,0.449477631048,0.00477177316556,0.0696630044605,0.999999811334,0.000306674385986,-0.000528493469912,-6.30684873355e-05,1793239772925230848
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.382701788,745.382701788,714,682,657,632,880,786,804.382701788,652,631,652.382701788,0.449660159953,0.00477444328773,0.0696582996488,0.999999805444,0.00031655464198,-0.000533823452581,-6.27511876672e-05,1793239772941897216
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.971762312,745.971762312,714,682,657,632,880,786,804.971762312,652,631,652.971762312,0.449832430538,0.00477400459707,0.0696547162659,0.999999803673,0.000315833690293,-0.000537437285867,-6.37480609882e-05,1793239772958563840
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.448474849,745.448474849,714,682,657,631.448474849,880,786,805,652,631,653,0.449966767316,0.00477458202382,0.0696464706761,0.999999796494,0.000315252667811,-0.000550770581312,-6.54187962303e-05,1793239772975230720
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.130082878,745.130082878,714,682,657,631.130082878,880.130082878,786,804.869917122,652,631,653,0.450092149953,0.00477621964986,0.0696376482969,0.999999787793,0.00031636447039,-0.000565550019257,-6.69429456799e-05,1793239772991897344
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.706114288,745.706114288,714,682,657,631.706114288,880.706114288,786,804.293885712,652,631,653,0.450193383935,0.00478131644547,0.0696276533207,0.999999775151,0.0003232554418,-0.000583609424653,-6.78482561175e-05,1793239773008563968
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.718374568,745.718374568,714,682,657,632,880.718374568,786,804,652,631,652.718374568,0.45028640436,0.00478255654365,0.069619759119,0.999999766212,0.000324885343053,-0.000597803951367,-6.82290700638e-05,1793239773025230848
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.143405373,745.143405373,714,682,657,632,880.143405373,786,804,652,631,652.143405373,0.450370869459,0.00477977946829,0.0696140531048,0.999999761336,0.00032103526257,-0.000607972782228,-6.80635633686e-05,1793239773041897472
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,682,656.555180718,631.555180718,880.444819282,786,804.444819282,652,631,652.444819282,0.45044329168,0.00478169016841,0.0696107737509,0.999999756738,0.000323525749697,-0.000614093142234,-6.88805919845e-05,1793239773058564096
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,682,656,631,880.387520051,786,805,652,631,653,0.450559399951,0.00478448178362,0.0696049563873,0.99999975027,0.000327372648648,-0.000622422137736,-6.98341805567e-05,1793239773091897344
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.18825898,714,682,656,631,880.18825898,786,805,652,631,653,0.450603619203,0.0047843430932,0.0696020723623,0.99999974799,0.000327429324375,-0.000626053507872,-6.97584347545e-05,1793239773108563712
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,713.905871244,682.905871244,656,632,880,786,804.094128756,652,631,653,0.450723998477,0.00478684495352,0.0695949879671,0.999999740542,0.000332029755958,-0.000635480839867,-6.95485290018e-05,1793239773191897344
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,713.328559392,682.328559392,656,632,880,786,804.671440608,652,631,653,0.450729227897,0.00478711049582,0.0695922742406,0.999999737352,0.000332454139275,-0.000640306284222,-6.9122566196e-05,1793239773208563968
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+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,713.82130876,682,656,632,880.82130876,786,804.17869124,652,631,653,0.45074014663,0.00478873032145,0.0695904454983,0.999999734223,0.000335399937282,-0.000643653256167,-6.90683895265e-05,1793239773241897216
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.998310572,745.001689428,714,682,656,632,881,786,804,652,631,652.001689428,0.450744319431,0.00478657347531,0.0695893253407,0.999999734469,0.000330709178309,-0.000645739504929,-6.86562801979e-05,1793239773275230720
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631.118670283,880,786,805,652,631,653,0.450747553529,0.00478726489635,0.0695871483539,0.99999973206,0.00033506431254,-0.000647318525351,-6.77605822764e-05,1793239773358564352
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,713,682,656,631,881,786,805,652,631,652.943704398,0.450748176529,0.0047871130421,0.0695856907593,0.999999731883,0.000331772546649,-0.000649326685877,-6.73536279772e-05,1793239773391897600
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+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682.922030596,656,631,881,786,804,652,631,653,0.450752437656,0.00478886675096,0.0695860143306,0.999999731184,0.000334949715124,-0.000648817194818,-6.6903805858e-05,1793239773675230976
+256,4.266666667,POSE1_TO_POSE2_PRESS,765,745.503029752,714,683,656,631.503029752,881,786,804.503029752,652,631,653,0.450753744402,0.00478917008743,0.0695871133725,0.999999731849,0.000335641168479,-0.000647442628265,-6.68249885663e-05,1793239773691897600
+257,4.283333333,HOLD_POSE2,765,746,714,682,656,631,881,786,804,652,631,653,0.450753168401,0.00478709488553,0.0695863978475,0.999999732848,0.000331097307047,-0.000648287057748,-6.63486723081e-05,1793239773735066112
+258,4.300000000,HOLD_POSE2,765.573748224,745.426251776,714,682,655.426251776,631.573748224,880.426251776,786,804.573748224,652,631,653,0.450751449308,0.00478700660793,0.0695852687765,0.999999730437,0.000333487661033,-0.000650793606892,-6.61826403324e-05,1793239773751732736
+259,4.316666667,HOLD_POSE2,765.847616172,745,714,682.152383828,655,632,880.152383828,785.847616172,805,652,631,652.847616172,0.450750881048,0.0047872449926,0.0695848559955,0.999999729289,0.000335052134369,-0.000651750915683,-6.62072980784e-05,1793239773768399360
+260,4.333333333,HOLD_POSE2,765.25485633,745,714,682.74514367,655,632,880.74514367,785.25485633,805,652,631,652.25485633,0.450753638598,0.0047884274028,0.0695865132301,0.999999731813,0.000334229885004,-0.00064823105516,-6.67830325025e-05,1793239773785065728
+261,4.350000000,HOLD_POSE2,765,745,713.670737863,682.670737863,655,631.670737863,881,785.329262137,805,652,631.329262137,652,0.450754334195,0.00478867590961,0.0695864095984,0.999999731992,0.000334063986897,-0.000648045746729,-6.67377806762e-05,1793239773801732608
+262,4.366666667,HOLD_POSE2,765,745,713.093136999,682.093136999,655,631.093136999,881,785.906863001,805,652,631.906863001,652,0.450753474608,0.00478822004025,0.0695849778721,0.999999730404,0.000334393127347,-0.000650375451113,-6.62241635889e-05,1793239773818399232
+263,4.383333333,HOLD_POSE2,765,745.479193614,713.479193614,682,655.479193614,631,881,786,805,652,631.520806386,652.479193614,0.450752738223,0.00478818808094,0.0695845738785,0.999999729984,0.00033379470106,-0.000651305659264,-6.64314059444e-05,1793239773835066112
+264,4.400000000,HOLD_POSE2,765,745.949111794,713.949111794,682,655.949111794,631,881,786,805,652,631,653,0.450752112883,0.00478816208469,0.0695844174132,0.99999972982,0.000333072531601,-0.000651897319327,-6.67218667855e-05,1793239773851732992
+265,4.416666667,HOLD_POSE2,765,745.373528256,713.373528256,682,655.373528256,631,881,786,805,652,631,653,0.450752388295,0.00478735729087,0.0695847759603,0.999999729974,0.000332913115096,-0.000651772399739,-6.64414733514e-05,1793239773868399616
+266,4.433333333,HOLD_POSE2,765,745.208879344,713.208879344,682,655,631,880.791120656,786,805,652,631,653,0.450752034146,0.00478729030771,0.069584459229,0.999999729526,0.000333139823049,-0.000652343639499,-6.64378948037e-05,1793239773885066240
+267,4.450000000,HOLD_POSE2,765,745.803902138,713.803902138,682,655,631,880.196097862,786,805,652,631,653,0.450750516162,0.00478858727357,0.0695828941484,0.999999727964,0.000334080337501,-0.000654201829753,-6.69460483384e-05,1793239773901733120
+268,4.466666667,HOLD_POSE2,765,745.638005631,713.638005631,682,655.361994369,631,880,786,805,652,631,653,0.45075101191,0.0047885259677,0.0695828886126,0.999999728145,0.000334322087869,-0.000653822663837,-6.67468170929e-05,1793239773918400000
+269,4.483333333,HOLD_POSE2,765,745.098067155,713.098067155,682,655.901932845,631,880,786,805,652,631,653,0.45075249754,0.0047877969818,0.0695836496957,0.999999729181,0.000334220349687,-0.000652343689963,-6.61998596174e-05,1793239773935067392
+270,4.500000000,HOLD_POSE2,765,745.50374218,713.50374218,682,656,631,880.50374218,786,804.49625782,652,631,653,0.450753456963,0.00478827787511,0.0695850867672,0.999999729933,0.000335010091765,-0.000650801854081,-6.60182910628e-05,1793239773951733504
+271,4.516666667,HOLD_POSE2,765,745.885820607,714,682,655.885820607,631,881,786,804,652,631,653,0.450753992631,0.00478884774864,0.069586201981,0.99999973037,0.000335814265585,-0.000649720490292,-6.59718724786e-05,1793239773968399616
+272,4.533333333,HOLD_POSE2,765,745.296615498,714,682,655.296615498,631,881,786,804,652,631,653,0.450753251191,0.00478867069252,0.0695853539961,0.999999729764,0.000335855349877,-0.000650612891407,-6.6150349713e-05,1793239773985066240
+273,4.550000000,HOLD_POSE2,765,745,714,682,655.278564559,631,881,786,804,652,631,653,0.450753208947,0.00478872151131,0.069585492735,0.999999729603,0.000336422479031,-0.000650565296415,-6.61745615637e-05,1793239774001732864
+274,4.566666667,HOLD_POSE2,765,745,714,682,655.83952655,631,881,786,804,652,631,653,0.450753875519,0.00478900334043,0.0695866317743,0.999999729891,0.000337522891093,-0.000649564771506,-6.60423854254e-05,1793239774018399744
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,632,880,786,805,652,631,653,0.450751876925,0.00479101556389,0.0695836872405,0.99999972857,0.000334975667688,-0.000652856861327,-6.65584045585e-05,1793239774051249408
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.424817838,682.575182162,655.575182162,631.424817838,880,786,805,652,631,653,0.450753139157,0.00478918669696,0.0695848377078,0.999999729212,0.000335779919641,-0.00065150537012,-6.60977549916e-05,1793239774067915776
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,682.844769506,656,631,880.155230494,786,805,652,631,653,0.450754163523,0.00478827633598,0.0695856594032,0.999999729734,0.000336427798627,-0.000650386571894,-6.5915142993e-05,1793239774084582400
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.250972862,656,631,880.749027138,786,805,652,631,653,0.450754515854,0.00478996099063,0.0695855522338,0.999999729925,0.00033663388387,-0.000649925191001,-6.65180586748e-05,1793239774101248768
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.33315461,713.33315461,682.33315461,655.66684539,631,880.66684539,786,805,652,631,653,0.450754583533,0.00478983205294,0.0695855729268,0.999999730347,0.000335475567669,-0.000649888705834,-6.63891380179e-05,1793239774117915648
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.910203482,713.910203482,682.910203482,655.089796518,631,880.089796518,786,805,652,631,653,0.450754442824,0.00478837542898,0.0695856872248,0.999999730933,0.00033331840685,-0.00065016327636,-6.57244580129e-05,1793239774134582272
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,655,631,880,786,804.518108853,652,631,653,0.450754992081,0.00478901218997,0.0695856338032,0.999999730719,0.000334471250824,-0.000649878114942,-6.5946332078e-05,1793239774151248896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.054286938,746,714,682.945713062,655,631,880,786,804,652,631,653,0.450755500371,0.00478985772997,0.069585544094,0.99999973043,0.000335956255231,-0.00064952199311,-6.62978346178e-05,1793239774167915776
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.643392733,746,714,682.356607267,655,631,880,786,804,652,631,653,0.450754352387,0.00478895937785,0.0695854013993,0.999999730874,0.000334704006515,-0.000649483031974,-6.63167830887e-05,1793239774184582656
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,655,631,880.230039602,786,804.230039602,652,631,653,0.450749041171,0.00478818006264,0.0695830857219,0.999999729243,0.000333383509712,-0.000652670433322,-6.62582886598e-05,1793239774201249280
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,655,631,880.812914903,786,804.812914903,652,631,653,0.450737344373,0.00478758332682,0.0695774371146,0.999999724386,0.000331958333808,-0.000660806442861,-6.60810119838e-05,1793239774217915904
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.608893323,745.608893323,714,682,655,631,880.608893323,785.608893323,804.608893323,652,631,652.608893323,0.450706247627,0.00478761061045,0.0695632673933,0.999999708421,0.00033253788773,-0.000684289228737,-6.57660329993e-05,1793239774234582784
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.032915344,745.032915344,714,682,655,631,880.032915344,785.032915344,804.032915344,652,631,652.032915344,0.450665980764,0.00478793286034,0.0695450698459,0.999999686431,0.000334065052333,-0.000715026246712,-6.53859637649e-05,1793239774251249408
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.540434692,714,682,655,631,880.540434692,785.540434692,804,652.540434692,631,652.540434692,0.450604139709,0.0047884596387,0.0695266727711,0.999999664923,0.000334456511148,-0.000744307324435,-6.5570344106e-05,1793239774267915776
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.117759237,745.882240763,714,682,655,631,881,786,804.117759237,652.882240763,631,653,0.450538521848,0.00478892393915,0.0695103043276,0.999999645467,0.000335090568048,-0.000769726744956,-6.55778916602e-05,1793239774284582656
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.711803336,745.288196664,714,682,655,631,881,786,804.711803336,652.288196664,631,653,0.450462917209,0.00478908540505,0.0695021897216,0.999999637016,0.000336984240481,-0.000779884367849,-6.47318566929e-05,1793239774301249280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.703364672,745.296635328,714,682,655.296635328,631,880.703364672,786,805,652,631,653,0.450380934601,0.00478897508576,0.0694985539647,0.999999632944,0.000338220551226,-0.000784654818608,-6.35239923374e-05,1793239774317915904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.127213182,745.872786818,714,682,655.872786818,631,880.127213182,786,805,652,631,653,0.450292942109,0.0047886086663,0.0694991385777,0.999999633072,0.000338837437296,-0.000784348996597,-6.19751802405e-05,1793239774334582784
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.448645294,746,714,682.448645294,656,631,880,786,804.551354706,652,631,653,0.450191578764,0.00478769253128,0.0695052094334,0.999999639061,0.000341298305956,-0.000775773856403,-5.97406030175e-05,1793239774351249408
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.97493364,714,682.97493364,655.97493364,631,880.02506636,786,804,652,631,653,0.450085052122,0.00478661825489,0.0695126571769,0.999999646348,0.000344289674865,-0.000765171026627,-5.72840556239e-05,1793239774367915776
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.383936039,714,682.383936039,655.383936039,631,880.616063961,786,804,652,631,653,0.449947493539,0.00478549043626,0.069516092512,0.999999648079,0.00034746123587,-0.000761692281034,-5.42032746544e-05,1793239774384582656
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.797851627,745.202148373,714,682,655.202148373,631,880.797851627,786,804,652,631,653,0.449800481409,0.00478446888884,0.0695199857728,0.999999650676,0.000350499636589,-0.000757085864442,-5.1171989429e-05,1793239774401249280
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.220877372,745.779122628,714,682,655.779122628,631,880.220877372,786,804,652,631,653,0.449635940414,0.00478364439085,0.0695247281244,0.999999654888,0.000353291129595,-0.000750388507457,-4.82324801354e-05,1793239774417915904
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.644883712,714,682,656,631.355116288,880.355116288,786,804.355116288,652,631,653,0.449445439048,0.00478328145621,0.0695281119814,0.999999656022,0.000356956539317,-0.000747339526013,-4.49620628728e-05,1793239774434582528
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.069498233,714,682,656,631.930501767,880.930501767,786,804.930501767,652,631,653,0.449238835138,0.00478320481696,0.0695306532008,0.999999655249,0.000361164016614,-0.000746553534261,-4.148639191e-05,1793239774451249408
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.505723183,745.505723183,714,682,656,632,880.494276817,786,805,652,631,653,0.44899891489,0.00477998062178,0.0695330980514,0.999999654015,0.000364558271108,-0.000746819174982,-3.64382130853e-05,1793239774467916032
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.916753883,746,714,682,656,631.916753883,880.083246117,786,804.916753883,652,631,653,0.448748572793,0.0047765823343,0.0695354122889,0.999999652755,0.000368075881605,-0.000747019216091,-3.11907139855e-05,1793239774484582656
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.325035213,746,714,682,656,631.325035213,880.674964787,786,804.325035213,652,631,653,0.448462529649,0.00477476185244,0.069537009599,0.999999651875,0.000373029350558,-0.000745936126112,-2.60452730315e-05,1793239774501249280
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,656.261283073,631.261283073,881,786,804.261283073,652,631,653,0.448157249297,0.00477250166646,0.0695369484694,0.999999649058,0.000377663583613,-0.000747546428774,-2.07096019001e-05,1793239774517915904
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,656.841019309,631.841019309,881,786,804.841019309,652,631,653,0.447828522553,0.00476970556694,0.0695348660247,0.999999643876,0.000381908730001,-0.000752439452383,-1.51420775533e-05,1793239774534582528
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,746,713.583867636,682,657,632,881,786,804.583867636,652,631,653,0.447472636007,0.00476610634842,0.0695336248466,0.999999640042,0.00038503759036,-0.000756029034287,-9.10988942666e-06,1793239774551249152
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,746,713.010501442,682,657,632,881,786,804.010501442,652,631,653,0.447106487253,0.00476220367489,0.0695327015375,0.999999636687,0.000387744666718,-0.000759126116194,-2.90213020881e-06,1793239774567915776
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,746,713.578857849,682,657,632,881,786,804.578857849,652,631,653,0.446712852354,0.00475748062096,0.0695342485308,0.999999643268,0.000388970137194,-0.0007497735712,2.27301464179e-06,1793239774584582656
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.165752828,657.165752828,632.165752828,880.834247172,786,804.834247172,652,631,652.834247172,0.446308355733,0.00475218381699,0.0695407317741,0.999999656319,0.000387703517085,-0.0007327998337,7.17280938236e-06,1793239774601249536
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.745743377,657.745743377,632.745743377,880.254256623,786,804.254256623,652,631,652.254256623,0.445877995911,0.00474549138984,0.0695594361615,0.999999684473,0.000380277922585,-0.000697360236543,1.14326151295e-05,1793239774617915904
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,659,633,880.528822922,787,804.528822922,652,631.471177078,653,0.444446656432,0.00469434501241,0.0696098589167,0.999999771712,0.000267463680561,-0.000620495040845,4.99495129757e-06,1793239774667915776
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,746,714,682.047420685,659,633,880.047420685,787,804.047420685,652,631.952579315,653,0.443909411002,0.00466047883361,0.0696164228781,0.999999790179,0.000206602984521,-0.000613961337263,3.05347865627e-06,1793239774684582656
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,746,714,682.638088437,659,633,880.638088437,787,804.638088437,652,631.361911563,653,0.443349022805,0.00464372134952,0.0696297166857,0.999999804529,0.000191343491379,-0.000595178338886,9.57640246019e-06,1793239774701249280
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.777241133,746,714,682.777241133,659.445517734,633.222758867,880.777241133,787,804.777241133,652,631,653,0.442769429239,0.00463533422759,0.0696471282501,0.999999821072,0.000182826960194,-0.000569399018953,1.46932300053e-05,1793239774717915904
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.202059005,746,714,682.202059005,660.59588199,633.797940995,880.202059005,787,804.202059005,652,631,653,0.4421594512,0.00464018972352,0.0696710544512,0.999999840932,0.000184978362767,-0.00053255093101,1.7585494627e-05,1793239774734582784
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,661,634,880,787,804.375442828,652,631,653,0.441551282619,0.00463480419482,0.0696997507315,0.999999872276,0.00015880145928,-0.000479542979771,1.63780856188e-05,1793239774751249408
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,661,634,880,787,804.954200842,652,631,653,0.440944093943,0.00462387279941,0.0697310301729,0.999999905767,0.000117283804403,-0.000417783906784,1.29505623749e-05,1793239774767916288
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.469141144,714,682.530858856,661.530858856,634,880,787,804.469141144,652,631.530858856,653,0.440287687769,0.00461430345456,0.0697620152433,0.999999927543,9.77521683487e-05,-0.000367505053758,1.72568011725e-05,1793239774784582912
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.110324584,745,714,682.889675416,662.110324584,634.110324584,880,787.110324584,804,652,632,653,0.439609410516,0.00460652528255,0.0697824659462,0.999999940298,8.11760331704e-05,-0.000335201768273,2.13268038247e-05,1793239774801249280
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.70285072,745,714,682.29714928,662.70285072,634.70285072,880,787.70285072,804,652,632,653,0.438854026218,0.00460606430834,0.069756984082,0.999999926249,6.92598246839e-05,-0.000377153356743,2.14595108178e-05,1793239774817915904
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.711711123,745.288288877,714,682,663,635,880,787.711711123,804,652,631.711711123,652.711711123,0.438090913071,0.00460125024448,0.0697391158376,0.999999912208,0.0001248924038,-0.000399467152692,2.02957773103e-05,1793239774834582528
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.133403408,745.866596592,714,682,663,635,880,787.133403408,804,652,631.133403408,652.133403408,0.437320024605,0.00459205696893,0.0697289068977,0.999999888158,0.000248479114219,-0.00040202531487,1.78278234418e-05,1793239774851249152
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.012543582,714,681.012543582,664,635,879.987456418,787,804,652,631.012543582,652.987456418,0.435810469415,0.00458518723971,0.0697970190105,0.999999923984,0.000242961193802,-0.00030404409864,2.36541637383e-05,1793239774884582912
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.589783913,714,681.589783913,664,635,879.410216087,787,804,652,631.589783913,652.410216087,0.435011847165,0.00458050213989,0.0698258895104,0.999999941014,0.000212069983039,-0.000268957142208,2.56942038135e-05,1793239774901249536
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.165633743,746,714.165633743,681.834366257,663.834366257,634.834366257,879.165633743,787,804,652,632,652,0.434201182389,0.00457483887762,0.0698441061381,0.999999952475,0.000180418676729,-0.000248499851289,2.73123337038e-05,1793239774917916160
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.738068429,746,714.738068429,681.261931571,663.261931571,634.261931571,879.738068429,787,804,652,632,652,0.433360940892,0.00456677322221,0.0698361565665,0.99999995398,0.000146900557891,-0.000263973416947,2.78942407617e-05,1793239774934582784
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.676462521,745.676462521,714.676462521,681.323537479,663,634.323537479,880,787,804,652,631.676462521,652.323537479,0.43249970246,0.00456214357165,0.0698334065677,0.999999956184,0.000125295041061,-0.00026667738829,2.85620122394e-05,1793239774951249408
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.079998083,745.079998083,714.079998083,681.920001917,663,634.920001917,880,787,804,652,631.079998083,652.920001917,0.431620751657,0.00456041243687,0.0698350427803,0.999999959663,0.000113738656204,-0.000258609294664,2.93022164744e-05,1793239774967916032
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.495134337,745,714.495134337,681.504865663,663.495134337,635,879.504865663,787,804,652.495134337,631,653,0.430685048946,0.00455506296199,0.0697834465551,0.999999932668,0.000120964757363,-0.000345147696275,3.00908866298e-05,1793239774984582656
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.930379653,745.069620347,714.930379653,681,663.930379653,635,879.139240694,787,804,652.930379653,631,652.930379653,0.429751018529,0.00454891024195,0.0697307745486,0.999999897591,0.000127637155109,-0.000433112026705,3.06633849981e-05,1793239775001249280
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.335855294,745.664144706,714.335855294,681,663.335855294,635,880.328289413,787,804,652.335855294,631,652.335855294,0.42889587373,0.00454092706392,0.0697321583705,0.999999904945,0.000108200064778,-0.000421342429041,2.95494532611e-05,1793239775017915904
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.250517805,745.749482195,714.250517805,681,663.250517805,635,881,787,804,652,631,652.250517805,0.428050675015,0.00453457264182,0.0697638228212,0.999999926662,9.36422655773e-05,-0.000370135903746,3.01018069018e-05,1793239775034582784
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.826307405,745.173692595,714.826307405,681,663.826307405,635,881,787,804,652,631,652.826307405,0.427218390155,0.00453033299193,0.0698348035773,0.999999959975,8.541972446e-05,-0.000267724549378,3.28176616436e-05,1793239775051249408
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.597360444,745,714.597360444,681,663.597360444,635,880.597360444,787,804,652,631.402639556,652.597360444,0.426334887042,0.00452360819442,0.0698623336204,0.999999969545,7.96309100398e-05,-0.000231013487931,3.46766008655e-05,1793239775067916032
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.020793963,745,714.020793963,681,663.020793963,635,880.020793963,787,804,652,631.979206037,652.020793963,0.425429259393,0.00451580989587,0.0698710943932,0.999999971748,7.4893385508e-05,-0.000222682779237,3.61653809589e-05,1793239775084582656
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.549732536,745.549732536,714,680.450267464,663,635,880,787,804,652,632,652,0.424533404414,0.00450697616901,0.069847587195,0.999999964966,6.77568083293e-05,-0.000253494257608,3.48965951347e-05,1793239775101249280
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,746,714,680.125680192,663,635,880,787,804,652,631.874319808,652.125680192,0.423622226254,0.004499046602,0.0698152212576,0.999999951814,6.06783981514e-05,-0.000302561192623,3.3873331718e-05,1793239775117915904
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,714,680.72281134,663,635,880,787,804,652,631.27718866,652.72281134,0.422652196307,0.00449465403722,0.0697541532432,0.999999911998,5.41548889677e-05,-0.000414614335569,3.41580928834e-05,1793239775134582528
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.691169773,714.308830227,680.691169773,662.691169773,634.691169773,880.308830227,787,804,652,631,652.691169773,0.421728228311,0.00448952582432,0.0697187672881,0.999999885509,4.76450655677e-05,-0.000474910694542,3.42452775224e-05,1793239775151249152
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.114778248,714.885221752,680.114778248,662.114778248,634.114778248,880.885221752,787,804,652,631,652.114778248,0.420844167065,0.00448376026807,0.0697056315062,0.99999987834,4.11470998732e-05,-0.000490366517093,3.41612880026e-05,1793239775167915776
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.539193088,745,715,680,662.921613824,634.460806912,880.078386176,787,804,652,631.460806912,652.460806912,0.420041856022,0.00447404330954,0.0697660677175,0.999999924341,2.115286996e-05,-0.00038698502368,3.33724893245e-05,1793239775184582656
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.03719345,714.96280655,680,664,635,879.03719345,787,804.03719345,652,632,653,0.419259230419,0.00446347429999,0.0698421806342,0.999999965927,-3.01997223476e-07,-0.000258985924283,3.27309253645e-05,1793239775201249280
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.628505582,714.371494418,680,664,635,879.628505582,787,804.628505582,652,632,653,0.418467049754,0.0044548487683,0.0698793095782,0.999999978399,6.47770702405e-06,-0.0002044476167,3.68938089536e-05,1793239775217915904
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,746,714.215338492,680,663.784661508,635,880,787.215338492,804.569323016,652,631.784661508,653,0.417650619124,0.00444691205246,0.0698884094202,0.999999980546,5.96083506256e-06,-0.000193231028958,3.91600094132e-05,1793239775234582528
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,746,714.794601558,680,663.205398442,635,880,787.794601558,803.410796884,652,631.205398442,653,0.416793205641,0.00444013944207,0.0698501397574,0.999999966675,-6.88733509698e-06,-0.000255228646941,3.82207938781e-05,1793239775251249152
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.629137126,714.629137126,680,663.370862874,635,879.629137126,787.629137126,803.370862874,652,631.370862874,652.629137126,0.415956426067,0.00443484672038,0.069818436722,0.999999954836,-1.67042588859e-05,-0.000297824135868,3.67488579259e-05,1793239775267915776
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.054524983,714.054524983,680,663.945475017,635,879.054524983,787.054524983,803.945475017,652,631.945475017,652.054524983,0.415130982659,0.00443036703879,0.0697903413445,0.999999944708,-2.48558379926e-05,-0.000329760237724,3.49842494706e-05,1793239775284582400
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.518919561,745,714,680,664,635,879,787,804,652,631.481080439,652.518919561,0.41429694626,0.00442582862441,0.0697647605519,0.999999925979,-2.64125330361e-05,-0.000382170100601,3.5920238822e-05,1793239775301249024
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.904805667,745.095194333,714.095194333,680,663.904805667,635,879,787,804,652,631,653,0.413489479416,0.00442581665399,0.069749214315,0.999999912109,-2.42005785491e-05,-0.000416951929141,3.67073543102e-05,1793239775317915648
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.313131628,745.686868372,714.686868372,680,663.313131628,635,879,787,804,652,631,653,0.412825282786,0.00444944416433,0.0697846277196,0.9999999386,-5.93941104344e-06,-0.000348601350405,3.52414051035e-05,1793239775334582528
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.271630599,746,715,680,663.271630599,635,879,787.271630599,804,652.271630599,631,653,0.412174371008,0.00447203488779,0.0698277885717,0.999999961801,2.03115887394e-05,-0.000273459853742,3.47235941403e-05,1793239775351249152
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,714.575523814,680,664,635,879.424476186,787.575523814,804,652.575523814,631,653,0.410868333328,0.00448759316072,0.0698845723166,0.99999998074,4.72392252802e-05,-0.000187192930129,3.5317383753e-05,1793239775384582400
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,714.0000752,680,664,635,879.9999248,787.0000752,804,652.0000752,631,653,0.410186150442,0.00447201933119,0.0698727846155,0.999999976655,2.34486761529e-05,-0.000211900621608,3.51844398601e-05,1793239775401249024
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.409752728,745.409752728,714.590247272,680,663.409752728,635,879.409752728,787.590247272,803.409752728,652,631,653,0.409511832012,0.00446637428942,0.069831208036,0.999999959601,1.14695076631e-05,-0.000281903969444,3.45872817774e-05,1793239775417915904
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.177271482,714.822728518,680,663.177271482,635,879,788,803.177271482,652,631.177271482,653,0.408859476461,0.00446328533105,0.0697966427026,0.999999942424,7.91061689385e-06,-0.00033756653056,3.37428469342e-05,1793239775434582784
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.756806992,714.243193008,680,663.756806992,635,879,788,803.756806992,652,631.756806992,653,0.40825695656,0.00446599368532,0.069777996099,0.999999934159,2.34554951192e-05,-0.00036067359511,3.23374301286e-05,1793239775451249408
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745.086418979,714.913581021,680,664,635,879,787.086418979,804,652,632,653,0.407186637828,0.00446958224552,0.0698077868297,0.99999995127,1.59273470471e-05,-0.000310243590993,3.08943788972e-05,1793239775484582912
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745.488169089,715,680,663.511830911,635,879,787,804,652,632,653,0.406680708627,0.00447978391752,0.0698153843538,0.999999952813,2.3844228766e-05,-0.000304666215069,3.13567584944e-05,1793239775501249536
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.061870178,745.938129822,715,680,663,635,879,787,804,652,631.938129822,653,0.406180601069,0.00449038239744,0.0698191625507,0.999999952106,3.47607841969e-05,-0.000305879982909,3.18977985116e-05,1793239775517916416
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.785803949,745.214196051,715,680,663,635,879,787,803.785803949,652,631.214196051,653,0.405271053664,0.00448993338207,0.0698156102217,0.99999994854,4.88890071195e-05,-0.000315523250752,3.12255811102e-05,1793239775551249408
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.393849131,745.606150869,715,680,663.393849131,635,879,787,803,652.393849131,632,653,0.404521815429,0.00447868244429,0.0698391369553,0.999999962736,2.66717360735e-05,-0.000270017871489,3.01224503025e-05,1793239775584582656
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.968503766,745.031496234,715,680,663.968503766,635,879,787,803,652.968503766,632,653,0.404179613416,0.00447648071631,0.0698553930071,0.999999970323,1.78399183314e-05,-0.000241138830206,2.98077500422e-05,1793239775601249536
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787,803.538835482,653,632,653,0.403852723652,0.00447441036534,0.0698576679005,0.999999971951,1.09061350392e-05,-0.000234754765074,2.94827527565e-05,1793239775617916416
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.886169492,663.886169492,635,878.886169492,787,803.886169492,652.886169492,631.886169492,653,0.403529916642,0.00447204659168,0.0698565477642,0.999999972074,2.81554038515e-06,-0.000234537924982,2.89284532989e-05,1793239775634583040
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.290367927,663.290367927,635,878.290367927,787,803.290367927,652.290367927,631.290367927,653,0.403220636837,0.00446840817676,0.0698444854075,0.999999967078,-1.06391381306e-05,-0.000254910738989,2.74057909547e-05,1793239775651249408
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.702291245,679.297708755,663.297708755,635.297708755,878.297708755,787,803.297708755,652,631.297708755,652.702291245,0.402934436421,0.00446620292527,0.0698348034936,0.999999962357,-2.08096109186e-05,-0.000272288049391,2.66896783498e-05,1793239775667916032
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,714.121558448,679.878441552,663.878441552,635.878441552,878.878441552,787,803.878441552,652,631.878441552,652.121558448,0.402670177006,0.00446536014554,0.0698273846062,0.999999958122,-2.78578731336e-05,-0.000286817610529,2.67403318991e-05,1793239775684582656
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.453857196,714.453857196,680,664,635.546142804,879,787,803.546142804,652,632,652.453857196,0.402437345634,0.00446588084524,0.0698179896743,0.999999953382,-2.92819740663e-05,-0.000302714366924,2.72556966354e-05,1793239775701249280
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.971467931,715,680,663.971467931,635,879,787,803,652,631.971467931,652.971467931,0.402215111008,0.00446674641357,0.0698086235174,0.999999948613,-2.88120339152e-05,-0.000318059277816,2.79682517439e-05,1793239775717916160
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.383722957,715,680,663.383722957,635,879,787,803,652,631.383722957,652.383722957,0.402037498732,0.00446729664841,0.0698100742679,0.999999949569,-2.04015349929e-05,-0.000315494474953,3.01344228183e-05,1793239775734582784
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.798718711,745.201281289,715,680,663,635,879,787,803.201281289,652,631.201281289,652.201281289,0.40187152476,0.00447263611101,0.0698120590111,0.999999950822,1.05190846639e-05,-0.00031181737784,3.18670540646e-05,1793239775751249408
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.21886927,745.78113073,715,680,663,635,879,787,803.78113073,652,631.78113073,652.78113073,0.40172744003,0.00448698311279,0.0698150480833,0.999999949121,8.37765489574e-05,-0.000306048286257,3.27842868981e-05,1793239775767916032
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.363022861,746,715,680,663.363022861,635,879,787,803.636977139,652.363022861,631.636977139,653,0.401601751092,0.00450100677625,0.069815434524,0.999999946151,0.000118633947699,-0.000304252995425,3.24521214083e-05,1793239775784582656
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.946153571,746,715,680,663.946153571,635,879,787,803.053846429,652.946153571,631.053846429,653,0.401487215866,0.00451483439473,0.0698142429388,0.999999944559,0.000130208644254,-0.000304867097671,3.13624214811e-05,1793239775801249280
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.475862621,715,680,663.475862621,635,879,787,803.524137379,653,631,653,0.401391777695,0.00450903149684,0.0698117986928,0.999999949039,8.46048494209e-05,-0.000307037927935,2.21532894675e-05,1793239775817915904
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,714.897664416,680,663.102335584,635,879.102335584,787,803.897664416,653,631,653,0.401302066799,0.00450186448356,0.0698097671475,0.999999951347,4.17458257409e-05,-0.000308803746005,1.42953502683e-05,1793239775834582528
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.316009306,680,663.683990694,635,879.683990694,787,803.316009306,653,631,653,0.401230081471,0.00449766223777,0.0698102655064,0.999999951691,3.8988515564e-05,-0.000307930784893,1.66350665244e-05,1793239775851249152
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.264051132,680,664,635,879.735948868,787,803.264051132,652.735948868,631,653,0.40116944924,0.00449636954064,0.0698117723108,0.999999952411,3.89449262454e-05,-0.000305498931911,1.82073593793e-05,1793239775867916032
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.842214531,680,664,635,879.157785469,787,803.842214531,652.157785469,631,653,0.401122322531,0.00449853801026,0.0698144787505,0.99999995357,4.21295490148e-05,-0.00030121263868,1.88667338151e-05,1793239775884582656
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.581653418,745,715,680,663.581653418,635,879,787,803.581653418,652.418346582,631,653,0.401089813229,0.00449615599512,0.0698193297742,0.999999956231,3.93998024218e-05,-0.000292559307118,1.98771547454e-05,1793239775901249536
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.00628383,745,715,680,663.00628383,635,879,787,803.00628383,652.99371617,631,653,0.401062790454,0.00449206599227,0.0698249857501,0.999999959348,3.44501450397e-05,-0.000282266843097,2.10193381217e-05,1793239775917916416
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.566467705,745.566467705,715,680,663.566467705,635,879,787,803.566467705,652.433532295,631.566467705,653,0.401039161871,0.0044945530463,0.0698251335701,0.999999959259,3.84614875956e-05,-0.000282064101747,2.10552058116e-05,1793239775934583040
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.855093325,715,680,663.855093325,635,879,787,804,652,632,653,0.401018668367,0.0044959638612,0.0698258208612,0.999999959468,4.05445689124e-05,-0.000281023026246,2.1104629433e-05,1793239775951249664
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.25884993,715,680,663.25884993,635,879,787,804,652,632,653,0.401007822876,0.00449379634512,0.0698283778646,0.999999960744,3.63135609369e-05,-0.000277023808139,2.12343238703e-05,1793239775967916032
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.325170025,635,879,787,803.674829975,652,631.674829975,653,0.400999326699,0.00449337200624,0.069830431582,0.999999961418,3.57455241371e-05,-0.00027463787244,2.14677839524e-05,1793239775984582656
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.899812158,635,879,787,803.100187842,652,631.100187842,653,0.400992632925,0.00449428504159,0.0698320991762,0.999999961643,3.79877371291e-05,-0.000273489654843,2.17808535828e-05,1793239776001249280
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.475878074,715,680,664,635,879,787,803,652,631.475878074,653,0.400991857588,0.00449541336403,0.0698334185814,0.999999962541,3.9625931827e-05,-0.000269965287909,2.16013727197e-05,1793239776017915904
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,714.946655466,680,664,635,879,787,803,652.053344534,631.946655466,652.946655466,0.400992088111,0.00449630503787,0.0698346024436,0.999999963484,4.08113159494e-05,-0.000266288619976,2.13632965845e-05,1793239776034582528
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714.358154435,680,664,635,879,787,803,652.641845565,631.358154435,652.358154435,0.400989871773,0.00449436656742,0.0698351641392,0.999999963608,3.87336331162e-05,-0.000266117729983,2.15808154683e-05,1793239776051249408
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,664,635.226974826,879,787,803,653,631.226974826,652,0.400988383514,0.00449338947469,0.0698356536229,0.999999963775,3.74204065677e-05,-0.000265675608513,2.15855684209e-05,1793239776067916032
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,664,635.806861455,879,787,803,653,631.806861455,652,0.400988027309,0.00449390718023,0.0698360308278,0.999999964016,3.72957949787e-05,-0.000264811762797,2.12595022581e-05,1793239776084582656
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,714.383772423,680,664,635.616227577,879,787,803,653,631.616227577,652,0.400987975387,0.00449426107267,0.0698365629745,0.999999964164,3.80363894096e-05,-0.000264143697882,2.12978618267e-05,1793239776101249280
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,714.959197355,680,664,635.040802645,879,787,803,653,631.040802645,652,0.400988075422,0.00449453315831,0.0698371724977,0.999999964264,3.92090599759e-05,-0.000263573404171,2.15182123492e-05,1793239776117915904
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787,803,653,631,652.546033413,0.40098772771,0.00449455816405,0.0698374014235,0.999999964387,3.76609197474e-05,-0.000263356478927,2.12507332077e-05,1793239776134582528
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.868200382,745.868200382,715,680,663.868200382,635,879,787,803.131799618,653,631,653,0.400987431504,0.00449442608289,0.0698376652743,0.999999964548,3.62584408233e-05,-0.000262953818799,2.10838452243e-05,1793239776151249152
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.289021982,745.289021982,715,680,663.289021982,635,879,787,803.710978018,653,631,653,0.400987426126,0.00449382479701,0.069838146272,0.999999964844,3.60552496709e-05,-0.000261829158736,2.13847802999e-05,1793239776167916032
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.289127682,745,715,680,663.289127682,635,879,787,803.710872318,653,631,653,0.400986760842,0.00449361005051,0.0698378503938,0.999999964787,3.62189366244e-05,-0.000262013286655,2.1514013335e-05,1793239776184582912
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.8662527,745,715,680,663.8662527,635,879,787,803.1337473,653,631,653,0.400985438232,0.00449378033214,0.0698367806769,0.999999964378,3.67480673484e-05,-0.000263501085712,2.14722156353e-05,1793239776201250048
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.440717566,714.559282434,680,664,635,879,787,803,653,631,653,0.40098631757,0.00449332344936,0.0698375238918,0.999999964587,3.73779930737e-05,-0.000262626568776,2.13781559699e-05,1793239776217916416
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,746,714.014753354,680,664,635,879.014753354,787.014753354,803.014753354,652.985246646,631.014753354,653,0.400987817224,0.00449270362936,0.069838788213,0.999999964979,3.79869508618e-05,-0.000261048478469,2.12739061988e-05,1793239776234582784
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,714.603312055,680,664,635,879.603312055,787.603312055,803.603312055,652.396687945,631.603312055,653,0.400987608976,0.00449310476756,0.06983905009,0.999999965348,3.65978375418e-05,-0.000259821671791,2.13864858614e-05,1793239776251249408
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,880,787.810378948,804,652,632,653,0.400986986321,0.00449306675261,0.0698391486955,0.999999965531,3.50767126393e-05,-0.000259334233076,2.128660913e-05,1793239776267915776
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,880,787.228721193,804,652,632,653,0.400985506887,0.00449212079969,0.0698389097413,0.999999965333,3.32826572309e-05,-0.000260375418894,2.07474842007e-05,1793239776284582400
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.65112992,745.65112992,715,680,664,635,879.65112992,787,804,652,632,653,0.400986350422,0.00449304019774,0.0698394856944,0.999999965489,3.53248852664e-05,-0.000259502352869,2.07968725485e-05,1793239776301249280
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.076173959,745.076173959,715,680,664,635,879.076173959,787,804,652,632,653,0.400988699361,0.00449516843987,0.0698405897497,0.999999965856,3.98532237248e-05,-0.000257388752462,2.12276479997e-05,1793239776317915904
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.491597785,745.491597785,714.508402215,680,664,635,879,787.491597785,804,652,632,653,0.400987903536,0.00449561268421,0.0698400425844,0.999999965647,3.98911596531e-05,-0.000258204337893,2.11042998278e-05,1793239776334582528
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.938075809,714.061924191,680,664,635.061924191,879,788,804,652,631.938075809,653,0.400986907591,0.00449559338454,0.0698394242322,0.999999965429,3.90859068442e-05,-0.000259185405849,2.0927326761e-05,1793239776351249408
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745.335889026,714.664110974,680,664,635.664110974,879,788,804,652,631.335889026,653,0.400988355829,0.00449377364575,0.0698403849206,0.999999965891,3.69072770179e-05,-0.000257707340324,2.10208230887e-05,1793239776367915776
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745.255363712,714.744636288,680,664,635.744636288,879.255363712,787.744636288,804,652.255363712,631,652.744636288,0.400988366277,0.00449316130025,0.0698402857115,0.999999965869,3.66046476176e-05,-0.000257839438995,2.10083926508e-05,1793239776384582400
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745.832825104,714.167174896,680,664,635.167174896,879.832825104,787.167174896,804,652.832825104,631,652.167174896,0.400986563196,0.00449407187476,0.0698388496231,0.999999965234,3.866827183e-05,-0.000260002484406,2.08623537151e-05,1793239776401249536
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,746,714.408194717,680,664,635,879.591805283,787.408194717,804,653,631,652.408194717,0.400986617771,0.0044940849428,0.0698394465717,0.999999965349,3.8845347523e-05,-0.000259516190697,2.10660516967e-05,1793239776417916416
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,746,714.982711982,680,664,635,879.017288018,787.982711982,804,653,631,652.982711982,0.400987429264,0.00449373231383,0.0698408718993,0.99999996577,3.82537322109e-05,-0.000257950400201,2.14122530877e-05,1793239776434582784
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766,745.43070819,714.43070819,680,664,635,879,787.43070819,803.43070819,652.43070819,631.56929181,653,0.400988141474,0.00449485647306,0.069841295955,0.999999966049,3.77346385399e-05,-0.000257002591786,2.06881137124e-05,1793239776451249152
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..444edfc8d7c975e057c40daf4ec6d54d3d520a55
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,421 @@
+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,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+1,0.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+2,0.033333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+3,0.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+4,0.066666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+5,0.083333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
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+367,6.116666667,pose2_to_pose3_retreat,0.57891726366,0.0100908802548,1.06003220438,0.549487714028,0.0187626159938,1.05970034256
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+371,6.183333333,pose2_to_pose3_retreat,0.577720878707,0.0100908455531,1.06003232154,0.548291329101,0.0187625811617,1.05970045441
+372,6.200000000,pose2_to_pose3_retreat,0.577460553523,0.0100907389449,1.06003230517,0.548031005606,0.0187624801252,1.05970043381
+373,6.216666667,pose2_to_pose3_retreat,0.577218849959,0.0100907100732,1.06003227952,0.54778930345,0.0187624562359,1.05970041343
+374,6.233333333,pose2_to_pose3_retreat,0.577001538363,0.0100907499745,1.06003223452,0.547571990504,0.0187624913787,1.05970036385
+375,6.250000000,pose2_to_pose3_retreat,0.576806467553,0.0100907688722,1.06003231824,0.54737691861,0.0187625063152,1.05970044014
+376,6.266666667,pose2_to_pose3_retreat,0.576633575886,0.0100907106855,1.06003230008,0.54720402768,0.0187624511229,1.05970043497
+377,6.283333333,pose2_to_pose3_retreat,0.576480528866,0.0100907864742,1.06003221091,0.547050980013,0.0187625247867,1.05970034768
+378,6.300000000,pose2_to_pose3_retreat,0.576347378562,0.0100909464799,1.06003226581,0.546917828725,0.0187626812948,1.05970039846
+379,6.316666667,pose2_to_pose3_retreat,0.576229372515,0.0100907452852,1.06003246244,0.546799824732,0.018762486847,1.05970058923
+380,6.333333333,pose2_to_pose3_retreat,0.576125535231,0.0100908497016,1.06003221349,0.546695984542,0.0187625816309,1.05970034633
+381,6.350000000,pose2_to_pose3_retreat,0.576034962628,0.010090891581,1.06003240267,0.546605412066,0.0187626242881,1.05970054547
+382,6.366666667,pose2_to_pose3_retreat,0.575956584854,0.0100907494815,1.06003222922,0.546527036232,0.0187624886502,1.05970036873
+383,6.383333333,pose2_to_pose3_retreat,0.575890616195,0.0100907888431,1.06003224237,0.546461066823,0.018762525075,1.0597003716
+384,6.400000000,pose2_to_pose3_retreat,0.575836292622,0.0100906263853,1.06003223292,0.546406745573,0.0187623704957,1.05970036191
+385,6.416666667,pose2_to_pose3_retreat,0.575793373139,0.0100907415458,1.06003214193,0.546363824674,0.0187624810233,1.05970027548
+386,6.433333333,pose2_to_pose3_retreat,0.575759347924,0.0100908167173,1.06003231959,0.54632979885,0.0187625539901,1.0597004495
+387,6.450000000,pose2_to_pose3_retreat,0.575732682628,0.0100907907425,1.06003243439,0.546303134299,0.0187625304093,1.05970056098
+388,6.466666667,pose2_to_pose3_retreat,0.57571259019,0.0100907583473,1.06003235526,0.546283042471,0.0187625002036,1.05970048499
+389,6.483333333,pose2_to_pose3_retreat,0.575696896242,0.0100907462154,1.06003234329,0.546267348713,0.0187624888895,1.05970047763
+390,6.500000000,pose2_to_pose3_retreat,0.575685074535,0.0100907223744,1.06003236352,0.546255526675,0.0187624636953,1.05970049207
+391,6.516666667,pose2_to_pose3_retreat,0.575677264684,0.0100907330667,1.06003224274,0.546247716685,0.0187624741089,1.05970037578
+392,6.533333333,pose2_to_pose3_retreat,0.575673024436,0.0100907334705,1.06003224369,0.54624347663,0.0187624749152,1.05970037006
+393,6.550000000,pose2_to_pose3_retreat,0.575670235669,0.0100907300743,1.06003228444,0.546240688135,0.0187624720728,1.05970040121
+394,6.566666667,pose2_to_pose3_retreat,0.575668598375,0.0100907888446,1.06003227751,0.546239049912,0.0187625277834,1.05970039677
+395,6.583333333,pose2_to_pose3_retreat,0.575667919565,0.0100908235355,1.06003226939,0.546238370531,0.0187625606306,1.05970039107
+396,6.600000000,pose2_to_pose3_retreat,0.575667347377,0.0100908527774,1.06003226255,0.546237797863,0.0187625883184,1.05970038627
+397,6.616666667,pose2_to_pose3_retreat,0.575666755958,0.0100908830021,1.06003225548,0.546237205946,0.0187626169369,1.05970038131
+398,6.633333333,pose2_to_pose3_retreat,0.575666457065,0.0100908768718,1.0600322622,0.546236907163,0.0187626112131,1.05970038888
+399,6.650000000,pose2_to_pose3_retreat,0.575666334696,0.0100908606816,1.06003227153,0.546236785071,0.0187625959681,1.05970039842
+400,6.666666667,pose2_to_pose3_retreat,0.575666257421,0.0100908504576,1.06003227743,0.54623670797,0.018762586341,1.05970040445
+401,6.683333333,pose2_to_pose3_retreat,0.575666101307,0.0100908298027,1.06003228933,0.546236552208,0.0187625668919,1.05970041663
+402,6.700000000,pose2_to_pose3_retreat,0.57566576233,0.0100907849537,1.06003231518,0.546236213995,0.0187625246611,1.05970044307
+403,6.716666667,pose2_to_pose3_retreat,0.575665581074,0.0100907609724,1.060032329,0.546236033149,0.0187625020798,1.0597004572
+404,6.733333333,pose2_to_pose3_retreat,0.575665531495,0.0100907544127,1.06003233278,0.546235983681,0.0187624959031,1.05970046107
+405,6.750000000,pose2_to_pose3_retreat,0.575665507992,0.0100907513031,1.06003233457,0.546235960231,0.018762492975,1.05970046291
+406,6.766666667,pose2_to_pose3_retreat,0.575665479009,0.0100907474685,1.06003233678,0.546235931314,0.0187624893643,1.05970046517
+407,6.783333333,pose2_to_pose3_retreat,0.575665470184,0.010090746301,1.06003233746,0.546235922509,0.0187624882649,1.05970046585
+408,6.800000000,pose2_to_pose3_retreat,0.575665465962,0.0100907457423,1.06003233778,0.546235918296,0.0187624877388,1.05970046618
+409,6.816666667,pose2_to_pose3_retreat,0.575665352574,0.0100907307404,1.06003234643,0.546235805164,0.0187624736127,1.05970047503
+410,6.833333333,pose2_to_pose3_retreat,0.575665314712,0.010090725731,1.06003234931,0.546235767388,0.0187624688957,1.05970047798
+411,6.850000000,pose2_to_pose3_retreat,0.575665304593,0.0100907243921,1.06003235008,0.546235757291,0.018762467635,1.05970047877
+412,6.866666667,pose2_to_pose3_retreat,0.575664951644,0.0100907313838,1.06003232472,0.546235404295,0.0187624745447,1.05970045547
+413,6.883333333,pose2_to_pose3_retreat,0.575664723524,0.0100908268072,1.06003221979,0.546235174715,0.0187625651603,1.05970035436
+414,6.900000000,pose2_to_pose3_retreat,0.575664481789,0.0100909279257,1.06003210861,0.546234931433,0.018762661184,1.05970024721
+415,6.916666667,pose2_to_pose3_retreat,0.575664377165,0.010090921569,1.06003207504,0.546234826258,0.0187626529461,1.05970021342
+416,6.933333333,pose2_to_pose3_retreat,0.575664357446,0.0100908816135,1.06003207996,0.546234806525,0.0187626128865,1.05970021679
+417,6.950000000,pose2_to_pose3_retreat,0.575664349343,0.0100908651958,1.06003208198,0.546234798417,0.018762596426,1.05970021818
+418,6.966666667,pose2_to_pose3_retreat,0.575664340845,0.0100908479779,1.0600320841,0.546234789913,0.0187625791632,1.05970021963
+419,6.983333333,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3ec41a67c6e8bdead5278c72b85da2278a9fad2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:878132782e582be2655167bbde8d656886edcdcda555350a9ef13575c81b1ecc
+size 26717888
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..86cd9273ce24e8ab32ded3d93fec1a2497fdaebc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/franka_data.csv
@@ -0,0 +1,423 @@
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+32,0.533333333,BASELINE,766,745,714.438430879,679.561569121,664,635,879,787,804,652.438430879,631,652.561569121,0.400990792735,0.00449505046944,0.0698440844549,0.999999967457,3.87439128874e-05,-0.000251310890086,2.06589326621e-05,1793239777140444416
+33,0.550000000,BASELINE,766,745.138220476,714.138220476,680,664,635,879,787,803.861779524,652,631,652.861779524,0.40099076006,0.00449527867003,0.0698440264508,0.999999967504,3.90677654406e-05,-0.000251082997177,2.05441960487e-05,1793239777157111040
+34,0.566666667,BASELINE,766,745.72440618,714.72440618,680,664,635,879,787,803.27559382,652,631,652.27559382,0.400989689149,0.00449430248509,0.0698434108998,0.999999967204,3.83086160344e-05,-0.000252375818003,2.07723942852e-05,1793239777173777664
+35,0.583333333,BASELINE,766,745.694016298,715,680,664,635,879,787.305983702,803,652.305983702,631.305983702,652.305983702,0.400989726833,0.00449426189665,0.0698434576522,0.999999967188,3.89467955542e-05,-0.000252344288506,2.0720110563e-05,1793239777190444288
+36,0.600000000,BASELINE,766,745.116527635,715,680,664,635,879,787.883472365,803,652.883472365,631.883472365,652.883472365,0.400990748193,0.00449505148005,0.0698440920785,0.999999967423,4.08248506209e-05,-0.000251137638779,2.04189500703e-05,1793239777207111168
+37,0.616666667,BASELINE,766,745.464606017,715,679.535393983,664,635,879,787.535393983,803,652.535393983,631.535393983,653,0.400989958179,0.00449448482047,0.0698435344622,0.999999967379,3.98676258037e-05,-0.000251464583443,2.04703758346e-05,1793239777223777792
+38,0.633333333,BASELINE,766,745.954019149,715,679.045980851,664,635,879,787,803,652,631,652.954019149,0.400988975136,0.00449366477478,0.0698428434347,0.9999999673,3.84032754272e-05,-0.000251991445792,2.06065261357e-05,1793239777240444160
+39,0.650000000,BASELINE,766,745.380449085,715,679.619550915,664,635,879,787,803,652,631,652.380449085,0.400991031273,0.00449387122914,0.0698440792365,0.999999967671,3.93440437401e-05,-0.000250363884919,2.06921131902e-05,1793239777257111040
+40,0.666666667,BASELINE,766,745,715,680,664,635,879,787,803.198508578,652.198508578,631,652.198508578,0.400991175933,0.0044937236577,0.0698443443372,0.999999967642,3.93787148913e-05,-0.000250468762863,2.0751609233e-05,1793239777273777920
+41,0.683333333,BASELINE,766,745,715,680,664,635,879,787,803.788079796,652.788079796,631,652.788079796,0.400987554976,0.00449287865409,0.0698426971529,0.999999966822,3.76283711944e-05,-0.000253986551844,2.07597058805e-05,1793239777290444288
+42,0.700000000,BASELINE,766,745.357391296,715,680,664,635,879,787,803.642608704,652.642608704,631,653,0.400987702195,0.00449381528082,0.0698429721634,0.999999966859,3.8374233e-05,-0.000253732652067,2.0692772546e-05,1793239777307110912
+43,0.716666667,BASELINE,766,745.915333965,715,680,664,635,879,787,803.084666035,652.084666035,631,653,0.40098996394,0.00449575167566,0.0698443258202,0.999999967376,4.05208492877e-05,-0.000251362255868,2.05837358751e-05,1793239777323777536
+44,0.733333333,BASELINE,766,745.49268999,714.49268999,680,664,635,879,787,803,652,631,653,0.400989667002,0.00449524369942,0.0698442468025,0.999999967288,3.99582237129e-05,-0.000251809918946,2.04666576125e-05,1793239777340444160
+45,0.750000000,BASELINE,765.896445151,745,714.103554849,679.896445151,664,635.103554849,879,787,803.103554849,652.103554849,631,653,0.400989263233,0.00449453174329,0.0698439907332,0.999999967177,3.92471321393e-05,-0.000252367890716,2.03755316489e-05,1793239777357110784
+46,0.766666667,BASELINE,765.308708018,745,714.691291982,679.308708018,664,635.691291982,879,787,803.691291982,652.691291982,631,653,0.400990500135,0.0044949106162,0.0698441051793,0.999999967466,4.01079784137e-05,-0.000251084497135,2.04124748772e-05,1793239777373777408
+47,0.783333333,BASELINE,765.275101446,745,714.724898554,679.550202891,664,635.724898554,878.724898554,787,804,653,631,653,0.400990622838,0.00449515960951,0.0698442825344,0.999999967541,4.00528398638e-05,-0.000250790928027,2.04168755515e-05,1793239777390443776
+48,0.800000000,BASELINE,765.854565547,745,714.145434453,680.709131093,664,635.145434453,878.145434453,787,804,653,631,653,0.40098951283,0.0044952649086,0.0698445294897,0.999999967383,3.89842877243e-05,-0.000251592466074,2.03852722825e-05,1793239777407110400
+49,0.816666667,BASELINE,765.566748654,745,714.433251346,680.566748654,664,635,878.433251346,787,803.566748654,652.566748654,631,652.566748654,0.400989739231,0.00449486908042,0.0698441495863,0.999999967496,3.79957112819e-05,-0.00025129518697,2.03825330068e-05,1793239777423777024
+50,0.833333333,BASELINE,765.011586864,745,714.988413136,680,664,635,879,787,803,652,631,652.011586864,0.400990380582,0.00449431491638,0.0698435739451,0.999999967692,3.7102588122e-05,-0.000250647255231,2.03956515964e-05,1793239777440443648
+51,0.850000000,BASELINE,765.585580444,745,714.414419556,680,664,635,879,787,803,652,631,652.585580444,0.400989427333,0.00449422582665,0.0698436928715,0.999999967541,3.95418624254e-05,-0.000250850610942,2.07090345499e-05,1793239777457110784
+52,0.866666667,BASELINE,766,745.163086843,714,680,664,635,879,787.163086843,803,652.163086843,631,652.836913157,0.400988515909,0.00449423057181,0.0698435946632,0.999999967293,4.08457445149e-05,-0.000251609487649,2.09154960997e-05,1793239777473777664
+53,0.883333333,BASELINE,766,745.74971613,714,680,664,635,879,787.74971613,803,652.74971613,631,652.25028387,0.400987713108,0.00449447900962,0.0698429325485,0.999999966804,3.92009717286e-05,-0.000253811072507,2.08442788708e-05,1793239777490444288
+54,0.900000000,BASELINE,765.66794077,745.66794077,714,679.66794077,664,635,879,787.66794077,803,652.66794077,631,652.33205923,0.400987996118,0.00449495845941,0.0698431141351,0.99999996678,3.91388827142e-05,-0.000253935689857,2.06186653916e-05,1793239777507110912
+55,0.916666667,BASELINE,765.088787165,745.088787165,714,679.088787165,664,635,879,787.088787165,803,652.088787165,631,652.911212835,0.400989087111,0.00449560981153,0.0698439235429,0.999999967102,4.02545121488e-05,-0.000252514778658,2.02781614337e-05,1793239777523777792
+56,0.933333333,BASELINE,765.489308847,745,714,679.489308847,664,635,879,787,803,652.489308847,631,653,0.400990884735,0.00449519960393,0.0698448156418,0.999999967588,3.92062885691e-05,-0.000250733748384,2.04996404405e-05,1793239777540444672
+57,0.950000000,BASELINE,766,745.066506478,714,680,664.066506478,635,879,787.066506478,803,652.933493522,631,653,0.400992403826,0.00449473355885,0.0698455733616,0.999999967992,3.82367636448e-05,-0.000249238398732,2.08248733815e-05,1793239777557111296
+58,0.966666667,BASELINE,766,745.63833281,714,680,664.63833281,635,879,787.63833281,803,652.36166719,631,653,0.400990834468,0.00449530367287,0.0698451963009,0.99999996759,4.08420644813e-05,-0.000250409092137,2.11652997863e-05,1793239777573777664
+59,0.983333333,BASELINE,766,745.781794409,714.218205591,679.781794409,664.781794409,635,879,787.781794409,803,652,631,653,0.400990106444,0.00449553947964,0.0698449308509,0.999999967452,4.18881173341e-05,-0.000250774633825,2.12850788168e-05,1793239777590444032
+60,1.000000000,BASELINE,766,745.188074233,714.811925767,679.188074233,664.188074233,635,879,787.188074233,803,652,631,653,0.400990826289,0.00449519997017,0.0698448574743,0.99999996778,4.02508279913e-05,-0.000249754573196,2.10251411999e-05,1793239777607110656
+61,1.016666667,BASELINE,766,745.395914074,715,679.395914074,664,635,879,787,803.395914074,652,631.395914074,653,0.400990676768,0.00449626603537,0.0698448901687,0.999999967774,4.19888640206e-05,-0.000249520604533,2.07079171116e-05,1793239777623777280
+62,1.033333333,BASELINE,766,745.975390249,715,679.975390249,664,635,879,787,803.975390249,652,631.975390249,653,0.400990124173,0.00449798378301,0.069844972042,0.999999967604,4.52918402612e-05,-0.000249651100599,2.03641326667e-05,1793239777640443904
+63,1.050000000,BASELINE,766,745.449777687,714.449777687,680,664,635,879,787,803.449777687,652,631.449777687,653,0.400990310965,0.00449516944224,0.0698445695347,0.999999967542,4.07753516083e-05,-0.000250660785746,2.0563829165e-05,1793239777657110784
+64,1.066666667,BASELINE,765.872143698,745,714.127856302,680,664,635,879,787.127856302,803,652,631.127856302,652.872143698,0.400990210138,0.00449309789174,0.0698440924621,0.999999967437,3.72677839952e-05,-0.000251614607267,2.0685448146e-05,1793239777673777664
+65,1.083333333,BASELINE,765.283673496,745,714.716326504,680,664,635,879,787.716326504,803,652,631.716326504,652.283673496,0.400988954993,0.0044944264664,0.0698434241577,0.999999967235,3.86443724972e-05,-0.000252226694507,2.04389461575e-05,1793239777690444288
+66,1.100000000,BASELINE,765.300145413,745,714.699854587,680,664,635,879,787.699854587,803,652,632,652,0.400989172362,0.0044951517568,0.0698440699871,0.999999967361,3.97559378026e-05,-0.000251556118734,2.0402753947e-05,1793239777707110912
+67,1.116666667,BASELINE,765.879635343,745,714.120364657,680,664,635,879,787.120364657,803,652,632,652,0.400990760197,0.00449531557212,0.0698459388774,0.999999967791,4.06208466642e-05,-0.000249691771954,2.05622964877e-05,1793239777723777536
+68,1.133333333,BASELINE,766,745.457562211,714.457562211,679.542437789,664,635,879,787,803,652,631.542437789,652.457562211,0.400990173194,0.00449484512533,0.0698452508491,0.999999967491,4.06348084347e-05,-0.000250865535427,2.08355730459e-05,1793239777740443904
+69,1.150000000,BASELINE,766,745.965163598,715,679.034836402,664.034836402,635,879,787,803,652,631,653,0.400989203105,0.00449428870576,0.0698440485062,0.999999967069,4.04486294272e-05,-0.000252547771764,2.11042660018e-05,1793239777757110784
+70,1.166666667,BASELINE,766,745.391646133,715,679.608353867,664.608353867,635,879,787,803,652,631,653,0.400991125715,0.0044949740701,0.0698452585595,0.999999967764,4.06172407538e-05,-0.000249776604669,2.08410225231e-05,1793239777773777408
+71,1.183333333,BASELINE,766,745,714.812413654,680,664.812413654,635,879,787,803,652,631.187586346,652.812413654,0.400992234857,0.00449516921218,0.0698457928783,0.999999968154,4.01767091365e-05,-0.000248299686426,2.06255951628e-05,1793239777790444032
+72,1.200000000,BASELINE,766,745,714.22087421,680,664.22087421,635,879,787,803,652,631.77912579,652.22087421,0.400991592254,0.00449430869759,0.0698448720535,0.999999967899,3.84244340066e-05,-0.000249609835284,2.05131361696e-05,1793239777807111168
+73,1.216666667,BASELINE,766,745,714,680,664,635,879,787,803,652,631.63708828,652,0.400991052915,0.00449336586869,0.0698445777569,0.999999967859,3.78956965126e-05,-0.000249846469947,2.05647384417e-05,1793239777823777792
+74,1.233333333,BASELINE,766,745,714,680,664,635,879,787,803,652,631.057922594,652,0.400990575108,0.00449237398991,0.0698446567996,0.999999967949,3.80960479122e-05,-0.00024944341259,2.07141025104e-05,1793239777840444416
+75,1.250000000,BASELINE,766,745,714.516095856,680,664,635,879,787,803.516095856,652,631,652.516095856,0.400990669814,0.00449279164854,0.0698450811143,0.999999968004,3.82001750158e-05,-0.000249201875035,2.07432657967e-05,1793239777857111296
+76,1.266666667,BASELINE,765.910002676,745,715,680,664,635,879.089997324,787,803.910002676,652,631,652.910002676,0.400990562683,0.00449326125426,0.069845247457,0.999999967971,3.79255181818e-05,-0.000249380273631,2.07056625123e-05,1793239777873777920
+77,1.283333333,BASELINE,765.33364232,745,715,680,664,635,879.66635768,787,803.33364232,652,631,652.33364232,0.40098902097,0.004493165115,0.0698438123212,0.999999967472,3.56616254353e-05,-0.00025173109043,2.03794245351e-05,1793239777890444288
+78,1.300000000,BASELINE,765.248508602,745,714.751491398,680,664,635,879.751491398,787,803.248508602,652.248508602,631.248508602,652.248508602,0.400988344165,0.00449325750946,0.0698434038902,0.999999967223,3.57145492505e-05,-0.000252718137319,2.02976803725e-05,1793239777907110912
+79,1.316666667,BASELINE,765.838619237,745,714.161380763,680,664,635,879.161380763,787,803.838619237,652.838619237,631.838619237,652.838619237,0.400988856268,0.00449360906397,0.0698444067765,0.999999967321,3.89521889737e-05,-0.000251830534314,2.05520195112e-05,1793239777923777536
+80,1.333333333,BASELINE,766,745.419183802,714,680,664.419183802,635,879,787,803.580816198,653,631.580816198,653,0.400989410985,0.00449446268217,0.0698445806454,0.999999967526,4.00328717197e-05,-0.000250848003082,2.05242000894e-05,1793239777940444160
+81,1.350000000,BASELINE,766,745.996155121,714,680,664.996155121,635,879,787,803.003844879,653,631.003844879,653,0.400989981743,0.00449550528525,0.0698444424587,0.999999967773,4.03016414783e-05,-0.00024982973927,2.03901716741e-05,1793239777957110784
+82,1.366666667,BASELINE,766.570616468,745.429383532,714,680,664.429383532,635,879,787,803,652.429383532,631,652.429383532,0.400989443478,0.00449445182314,0.0698441145377,0.999999967771,3.75953321259e-05,-0.000250272237886,2.02047900311e-05,1793239777973777920
+83,1.383333333,BASELINE,766.850672672,745,714.149327328,680,664,635,879,787,803.149327328,652,631,652,0.400989019194,0.00449387343565,0.0698442007985,0.999999967803,3.60162419886e-05,-0.000250382880396,2.01296355956e-05,1793239777990444800
+84,1.400000000,BASELINE,766.259333182,745,714.740666818,680,664,635,879,787,803.740666818,652,631,652,0.400988954324,0.00449474290205,0.0698455168142,0.999999967956,3.78328227721e-05,-0.000249482214408,2.03817758193e-05,1793239778007110912
+85,1.416666667,BASELINE,766,745,715,680,664,635,879,787,804,652,631.325411339,652.325411339,0.400989398256,0.004494487518,0.0698456727159,0.999999967988,3.84724973164e-05,-0.000249243276811,2.05567720805e-05,1793239778023777024
+86,1.433333333,BASELINE,766,745,715,680,664,635,879,787,804,652,631.905004433,652.905004433,0.400990239617,0.00449335350297,0.0698449224419,0.999999967927,3.81928795865e-05,-0.000249521221335,2.06715104759e-05,1793239778040443648
+87,1.450000000,BASELINE,766,745,715,680,664,635,879,787,803.518364476,652,631.518364476,652.518364476,0.400989803205,0.00449449079177,0.0698443882694,0.99999996775,3.92530630613e-05,-0.000250094826974,2.02960882991e-05,1793239778057110528
+88,1.466666667,BASELINE,766,745.057323536,715,680,664,635,878.942676464,787,803,652.057323536,631,652,0.40098918593,0.00449581730346,0.0698439953185,0.999999967581,4.02381154683e-05,-0.000250644630013,1.99119890259e-05,1793239778073777408
+89,1.483333333,BASELINE,766,745.629754722,715,680,664,635,878.370245278,787,803,652.629754722,631,652,0.400989194253,0.0044948432233,0.0698444907134,0.999999967699,3.81879579017e-05,-0.000250459731119,2.03133444387e-05,1793239778090444032
+90,1.500000000,BASELINE,766,745.791784812,714.791784812,680,664,635,878.208215188,787,803,652.791784812,631,652,0.400989583468,0.0044949018465,0.0698449026976,0.999999967812,3.80285324577e-05,-0.00025002842195,2.03863143104e-05,1793239778107110912
+91,1.516666667,BASELINE,766,745.20228352,714.20228352,680,664,635,878.79771648,787,803,652.20228352,631,652,0.400990670177,0.00449685156837,0.0698451619388,0.999999967912,4.13314381464e-05,-0.000249145883413,1.98579406719e-05,1793239778123777792
+92,1.533333333,BASELINE,766,745,714,680,664,635,879,787,803,652,631,652,0.400990827629,0.00449777259201,0.0698453212226,0.999999967871,4.39463959542e-05,-0.00024886250218,1.98513882937e-05,1793239778140444416
+93,1.550000000,BASELINE,766,745,714,680,664,635,879,787,803,652,631,652,0.400990499634,0.00449815622117,0.0698454282885,0.999999967757,4.62019682947e-05,-0.000248892122207,2.01174366557e-05,1793239778157110784
+94,1.566666667,BASELINE,766,745.538669555,714.538669555,680,664,635,879.538669555,787,803,652,631,652.538669555,0.400989529425,0.00449574891764,0.0698444169166,0.999999967498,4.26173094277e-05,-0.000250537401785,2.04588817531e-05,1793239778173777408
+95,1.583333333,BASELINE,766,745.88428603,714.88428603,679.88428603,664,635,879.88428603,787,803,652.11571397,631,653,0.400988788574,0.00449380674379,0.0698436290429,0.999999967337,3.94111014772e-05,-0.000251682773596,2.07079156952e-05,1793239778190444032
+96,1.600000000,BASELINE,766,745.297269592,714.297269592,679.297269592,664,635,879.297269592,787,803,652.702730408,631,653,0.40098915635,0.00449451719299,0.0698440552977,0.999999967677,3.9332811276e-05,-0.000250353132397,2.05600781199e-05,1793239778207110912
+97,1.616666667,BASELINE,765.714018086,745.285981914,714.285981914,679.285981914,664,635,879,787,803,652.714018086,631,653,0.400989856005,0.00449533309959,0.0698446698844,0.999999967967,3.99318082038e-05,-0.000249098149155,2.05122727646e-05,1793239778223777792
+98,1.633333333,BASELINE,765.134629299,745.865370701,714.865370701,679.865370701,664,635,879,787,803,652.134629299,631,653,0.400990896157,0.00449625720155,0.0698454776927,0.999999968207,4.1225676699e-05,-0.000247919762297,2.05670967789e-05,1793239778240444416
+99,1.650000000,BASELINE,765,745.556923204,715,680,664,635,879,787,803,652.443076796,631,652.556923204,0.400990497413,0.00449593195482,0.0698453949377,0.999999968065,4.17032383794e-05,-0.000248402987518,2.06531958314e-05,1793239778257110784
+100,1.666666667,BASELINE,765.020201114,745,715,679.979798886,664,635,879,787,803,653,631,652.020201114,0.400989707938,0.0044952318277,0.0698450497138,0.99999996782,4.18796915273e-05,-0.000249353312463,2.07353819921e-05,1793239778273777664
+101,1.683333333,BASELINE,765.595336181,745,715,679.404663819,664,635,879,787,803,653,631,652.595336181,0.400990149784,0.00449462232918,0.0698448996923,0.999999967888,4.0572427823e-05,-0.000249318203671,2.04500164723e-05,1793239778290444288
+102,1.700000000,BASELINE,766,745,715,679,664,635,879,787,803,652.82506101,631,653,0.400990555408,0.00449441077875,0.0698450117552,0.999999968001,3.95709938639e-05,-0.00024904014616,2.02906296172e-05,1793239778307110656
+103,1.716666667,BASELINE,766,745,715,679,664,635,879,787,803,652.234852784,631,653,0.400990875046,0.00449514387543,0.0698457459525,0.999999968221,3.92955371024e-05,-0.000248185378286,2.04302902823e-05,1793239778323777280
+104,1.733333333,BASELINE,766,745,714.650974257,679,664,635,879,787,803,652,631,653,0.400990814959,0.00449574818299,0.0698457602415,0.999999968176,4.01816088989e-05,-0.000248227574664,2.04234588953e-05,1793239778340443904
+105,1.750000000,BASELINE,766,745,714.07127894,679,664,635,879,787,803,652,631,653,0.400990503913,0.00449626737447,0.0698452987464,0.999999967952,4.18353297652e-05,-0.00024886257067,2.03198115716e-05,1793239778357110528
+106,1.766666667,BASELINE,766,745,714.503303729,679,664,635.503303729,878.496696271,787,803,652,631,653,0.400990502756,0.00449346140263,0.0698453275478,0.999999968093,3.84412021443e-05,-0.000248797011089,2.08705604891e-05,1793239778373777152
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,715,680,664,635,880,787,803,653,631,652,0.400989780157,0.00449467680896,0.0698443115839,0.999999967863,3.66785458636e-05,-0.000250070975607,1.98182478848e-05,1793239778416517632
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.579932972,745.420067028,715,680,664,635.579932972,879.420067028,787,803,653,631.579932972,652.579932972,0.400989934832,0.00449423615636,0.0698444411702,0.999999967915,3.74735634292e-05,-0.000249711330668,2.02575693699e-05,1793239778433184256
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635.840820047,878.840820047,787,803,652.840820047,631.840820047,652.840820047,0.400989819321,0.00449406796585,0.0698442711852,0.999999967816,3.84955071949e-05,-0.000249928038398,2.05624649321e-05,1793239778449850880
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635.263375461,878.263375461,787,803,652.263375461,631.263375461,652.263375461,0.400988993861,0.00449461570238,0.0698433140405,0.999999967319,4.01137272445e-05,-0.000251659182581,2.05141401752e-05,1793239778466517504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.68795611,745.31204389,715,679.68795611,664,635,878.31204389,787,803,652.31204389,631,652.31204389,0.400988413533,0.00449451387794,0.0698432019797,0.99999996725,4.01966271488e-05,-0.000251908510222,2.06307214849e-05,1793239778483184128
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.114235137,745.885764863,715,679.114235137,664,635,878.885764863,787,803,652.885764863,631,652.885764863,0.400988038771,0.00449386733773,0.0698437985984,0.999999967542,3.89920218586e-05,-0.000250915200284,2.08855914808e-05,1793239778499850752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.473633849,745.526366151,715,679.473633849,664,635,879,787,803.473633849,652.526366151,631,653,0.400989273542,0.00449529050526,0.0698447642563,0.999999967843,4.04981198897e-05,-0.000249507492271,2.04923858676e-05,1793239778516517376
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.06363139,714.93636861,680,664,635.06363139,879,787,804,652.06363139,631,653,0.40099093258,0.00449680372836,0.0698458244494,0.999999968141,4.2112755948e-05,-0.000248083227173,1.99902461777e-05,1793239778533184256
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.642385611,714.357614389,680,664,635.642385611,879,787,804,652.642385611,631,653,0.400992786824,0.00449488040428,0.0698469071994,0.999999968442,3.91503722652e-05,-0.000247358961222,1.99105848359e-05,1793239778549850880
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.780368674,714,680,664,636,879,787,804,652.780368674,631,653,0.400998894809,0.00449352662484,0.0698499162994,0.999999969508,3.67000017629e-05,-0.000243385734976,2.00173225736e-05,1793239778566517504
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.205562484,714,680,664,636,879,787,804,652.205562484,631,653,0.401011881696,0.00449309387967,0.0698560405793,0.999999971761,3.50776291535e-05,-0.000234158481252,2.04254939483e-05,1793239778583184128
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,664,635.6321265,879,787,803.6321265,652.3678735,631,653,0.401041869128,0.00449319705409,0.0698681781988,0.999999976364,3.57272098476e-05,-0.000213472392315,2.06160805391e-05,1793239778599850496
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,664,635.059453273,879,787,803.059453273,652.940546727,631,653,0.401081320975,0.00449359858153,0.0698836635194,0.999999981704,3.76416148762e-05,-0.000186407027093,2.06855350156e-05,1793239778616517120
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,714,680,664,635,879,787,803,653,631,653,0.401137669354,0.00449479977833,0.0698990545907,0.999999985757,3.80844554024e-05,-0.0001631758257,2.02240974713e-05,1793239778633183744
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,714.120450773,680,664,635,879,787.120450773,803.120450773,652.879549227,631,653,0.401198671623,0.00449570233478,0.0699127046362,0.999999988832,3.77244995939e-05,-0.000143283946299,1.95836185294e-05,1793239778649850624
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,714.699984328,680,664,635,879,787.699984328,803.699984328,652.300015672,631,653,0.401269951404,0.00449511358931,0.0699197606014,0.999999990183,3.49545179717e-05,-0.000134426588307,1.8495147187e-05,1793239778666517248
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787.722664454,803.722664454,652.277335546,631,653,0.40134676677,0.00449548315844,0.0699229281484,0.99999999082,3.36686772703e-05,-0.000130149470064,1.69643481725e-05,1793239778683184128
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787.147655644,803.147655644,652.852344356,631,653,0.401429523656,0.00449688131785,0.0699219221294,0.999999990758,3.39758134675e-05,-0.000130788472684,1.49587845448e-05,1793239778699850752
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714.563428204,679.563428204,664,635,879,787,803,652.563428204,631,652.563428204,0.401524232345,0.00449740591714,0.0699189967907,0.999999990173,3.08925063887e-05,-0.000136162499869,1.26553692695e-05,1793239778716517376
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.023670988,714,679.023670988,664,635,879,787,803,652,631.023670988,652.023670988,0.401624609694,0.00449766888246,0.0699156119572,0.999999989398,2.68140245399e-05,-0.000142761334309,1.02267593511e-05,1793239778733184000
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.603408292,714,679.603408292,664,635,879,787,803,652,631.603408292,652.603408292,0.401761144401,0.0044988760057,0.0699170112329,0.999999989854,2.68762425097e-05,-0.000139700467084,7.27468031906e-06,1793239778749850624
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.817990044,714.182009956,679.817990044,664.182009956,635,879,787.182009956,803,652,631.817990044,653,0.401910595935,0.00449994672081,0.0699198200998,0.999999990695,2.51345842687e-05,-0.000134018214501,4.04841431972e-06,1793239778766517248
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.241847622,714.758152378,679.241847622,664.758152378,635,879,787.758152378,803,652,631.241847622,653,0.402088018127,0.00450072205152,0.069925681358,0.999999992287,1.94867321052e-05,-0.000122659497664,2.28412028828e-07,1793239778783184128
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.334682378,715,679.334682378,664.665317622,635,879,787.665317622,803,652,631,652.665317622,0.402277986011,0.00450217689698,0.0699301431926,0.999999993328,1.66567748455e-05,-0.000114241695328,-3.8392466636e-06,1793239778799850496
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.911492833,715,679.911492833,664.088507167,635,879,787.088507167,803,652,631,652.088507167,0.402477030174,0.00450412334175,0.0699335926061,0.999999994015,1.58654408484e-05,-0.000107951514973,-8.0860743371e-06,1793239778816517120
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.501132461,715,680,664,635,879,787,803.498867539,652.498867539,631,652,0.402699417219,0.00450513139826,0.0699344763077,0.999999994342,9.35592189569e-06,-0.000105138020174,-1.32161566095e-05,1793239778833184000
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.913437856,745,714.913437856,679.913437856,664,635,879,787,804,653,631,652.086562144,0.402933257306,0.00450603674421,0.0699353437296,0.99999999462,2.51442690687e-06,-0.000102047812418,-1.8451365668e-05,1793239778849850368
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.334809403,745,714.334809403,679.334809403,664,635,879,787,804,653,631,652.665190597,0.403208151479,0.00450732509539,0.0699387621883,0.999999995327,-3.2247641331e-07,-9.38024168165e-05,-2.33741140555e-05,1793239778866517248
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.24232291,664.24232291,635,879,787,803.75767709,652.75767709,631,653,0.403507625649,0.00450872938415,0.0699468991964,0.999999996525,-4.83425679398e-06,-7.81698149283e-05,-2.85788991368e-05,1793239778883183872
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.817400705,664.817400705,635,879,787,803.182599295,652.182599295,631,653,0.403840852758,0.00451029287694,0.0699615156594,0.999999997976,-1.16459579048e-05,-5.23931912636e-05,-3.41709732842e-05,1793239778899850752
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.391999355,745.391999355,714.391999355,679.608000645,664.608000645,635,879,787.391999355,803,652,631,653,0.404176691687,0.00451115684132,0.0699646960358,0.999999997749,-1.76898702345e-05,-5.13480844113e-05,-3.94016915887e-05,1793239778916517376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.96637507,745.96637507,714.96637507,679.03362493,664.03362493,635,879,787.96637507,803,652,631,653,0.404513745747,0.00451169535246,0.0699625558117,0.999999996828,-2.3376571271e-05,-6.18092318717e-05,-4.44642901699e-05,1793239778933184000
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,679.559173522,664.559173522,635,879,787.440826478,803,652,631,653,0.404907247056,0.00451670652927,0.0699714954,0.999999997588,4.92745852599e-05,-3.95919289098e-05,-2.87749361016e-05,1793239778949850624
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.851367148,714.851367148,680,664.851367148,635,879,787,803,652.148632852,631,652.851367148,0.405308592184,0.0045180878908,0.0699774126986,0.999999994433,0.000101106935316,-2.46072449444e-05,-1.7474073964e-05,1793239778966517248
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.274819361,714.274819361,680,664.274819361,635,879,787,803,652.725180639,631,652.274819361,0.405722414335,0.00450821828347,0.0699726452716,0.999999995969,7.89775795622e-05,-3.629549038e-05,-2.25227718767e-05,1793239778983183872
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,714.301172027,680,664,635,879,787,803.301172027,652.698827973,631,652.301172027,0.406159550036,0.00449962085177,0.0699643287963,0.999999996281,6.39912238513e-05,-5.15649276934e-05,-2.61706376435e-05,1793239778999850496
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,714.876656705,680,664,635,879,787,803.876656705,652.123343295,631,652.876656705,0.406617920166,0.00449218213832,0.0699527797863,0.999999995595,5.55108326173e-05,-7.00961773596e-05,-2.85426020365e-05,1793239779016517376
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.538645724,745.461354276,714.538645724,680,664,635.461354276,879,787,803.538645724,652,631,652.538645724,0.407095608804,0.00450273766329,0.0699401349085,0.999999995795,7.12481268532e-06,-8.6266409829e-05,-3.02819445126e-05,1793239779033184000
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.048008031,745.951991969,714,680,664.048008031,635.951991969,879.048008031,787,803.048008031,652,631,652.048008031,0.407585891614,0.00451692711329,0.0699291154478,0.999999993571,-4.57716579909e-05,-9.87321204593e-05,-3.1871769411e-05,1793239779049850624
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.628483567,745.371516433,714,680,664.628483567,635.371516433,879.628483567,787,803.628483567,652,631,652.628483567,0.408157408197,0.00451697673209,0.0699394395586,0.999999996057,-2.79535910992e-05,-7.72538299304e-05,-3.3717365031e-05,1793239779066517248
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.207117436,714,680,664.792882564,635,879.792882564,787,803.792882564,652.207117436,631,652.792882564,0.408743405161,0.00452033199568,0.0699507894157,0.999999997988,-3.92718384455e-06,-5.24929753835e-05,-3.54092752972e-05,1793239779083183872
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.7824769,714,680,664.2175231,635,879.2175231,787,803.2175231,652.7824769,631,652.2175231,0.409355147316,0.0045295644918,0.0699639629857,0.999999998597,3.11372685967e-05,-2.18959257481e-05,-3.68279423589e-05,1793239779099850752
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.635463404,745.635463404,714.364536596,680,664,635,879,787.364536596,803,652.635463404,631,652.364536596,0.409958136998,0.00453906257055,0.0699612039026,0.999999997408,5.55820128354e-05,-2.52332568973e-05,-3.81955536279e-05,1793239779116517632
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.049330763,745.049330763,714.950669237,680,664,635,879,787.950669237,803,652.049330763,631,652.950669237,0.410555806169,0.00454872209245,0.0699487596105,0.999999995302,7.35712027423e-05,-4.91987638019e-05,-3.95321288404e-05,1793239779133184512
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.530934633,745.530934633,715,680,664,635,879,787.469065367,803.530934633,652,631.530934633,653,0.411208771115,0.00455201037172,0.0699480900267,0.999999995826,6.1119479391e-05,-5.46272286891e-05,-4.0355677082e-05,1793239779149850880
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.88967554,745.88967554,715,680,664,635,879,787,804,652,631.88967554,652.88967554,0.411882534973,0.00455630124827,0.0699551304062,0.999999996658,5.39879040382e-05,-4.56183952744e-05,-4.10856645093e-05,1793239779166517504
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.311711719,745.311711719,715,680,664,635,879,787,804,652,631.311711719,652.311711719,0.412622920861,0.0045673236998,0.0699902648774,0.999999995681,8.12648925854e-05,1.73659716826e-05,-4.16189097934e-05,1793239779183184128
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.264773655,745.264773655,715,680,664,635,879,787,803.735226345,652,631,652,0.413363233189,0.00457443702293,0.0700166566601,0.999999992345,9.95224487458e-05,6.04109034244e-05,-4.19028435045e-05,1793239779199850752
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.839528228,745.839528228,715,680,664,635,879,787,803.160471772,652,631,652,0.414103459491,0.00457697377733,0.0700328130384,0.999999990165,0.000107220605038,8.01119635015e-05,-4.18948985978e-05,1793239779216517888
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.42492141,635.42492141,879.42492141,787.42492141,803.42492141,652,631.42492141,652,0.414812991234,0.00458473845691,0.0700080699717,0.999999993147,0.000104202995139,3.14473672561e-05,-4.31120155903e-05,1793239779233184512
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.985814515,714.985814515,680,664.985814515,635.985814515,879.985814515,787.985814515,803.985814515,652,631.985814515,652,0.415512330295,0.00459451381552,0.0699676458958,0.999999993287,9.78244555944e-05,-4.29726378291e-05,-4.48258672129e-05,1793239779249850624
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.406506791,714.406506791,680,664.406506791,635.406506791,879.406506791,787.406506791,803.406506791,652,631.406506791,652,0.416279268512,0.00460371754888,0.0699336485811,0.999999987408,0.000122910221548,-8.84736735492e-05,-4.74244900319e-05,1793239779266517760
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.828364128,745,714.171635872,680,664,635,879,787,803,652,631,652.171635872,0.417064464312,0.00461147659035,0.069917878129,0.999999983098,0.000140241496063,-0.000108167418005,-4.93524645166e-05,1793239779283184640
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.252962255,745,714.747037745,680,664,635,879,787,803,652,631,652.747037745,0.417892610245,0.00461583705577,0.0699449855887,0.999999986804,0.000139330662265,-6.71506182428e-05,-4.97027677099e-05,1793239779299851008
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.677890161,664.322109839,635,879.322109839,787,803.644219677,652,631,653,0.418727147528,0.00462033037452,0.0699692899321,0.999999988479,0.000139231236768,-3.4435376576e-05,-4.97090688321e-05,1793239779316517376
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.103076815,664.896923185,635,879.896923185,787,804.79384637,652,631,653,0.419566698953,0.00462492791995,0.0699913951569,0.999999988976,0.000139768382191,-8.23292413194e-06,-4.9445491427e-05,1793239779333184000
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.485944708,745,715,679.485944708,665,635,880,787,804.514055292,652,631.485944708,653,0.420441738719,0.00461718558628,0.0700117063474,0.999999989097,0.00013610918601,2.55879280054e-05,-5.12324285438e-05,1793239779349850624
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635,880,787,804.076113143,652,631.923886857,652.923886857,0.421320558053,0.00460475632929,0.0700286356807,0.999999989039,0.000126887701681,5.49625263429e-05,-5.2925197708e-05,1793239779366517504
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635,880,787,804.653391222,652,631.346608778,652.346608778,0.422173204904,0.00457922004241,0.0700258784067,0.999999993933,8.70789313575e-05,4.40999687649e-05,-5.10477612445e-05,1793239779383184128
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.229671313,715,680,665,635,879.770328687,787.229671313,804.770328687,652,631,652.229671313,0.422989676442,0.0045666194408,0.0699936618941,0.999999996341,6.80239583268e-05,-1.13980298891e-05,-5.06024496181e-05,1793239779399850752
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.804451892,715,680,665,635,879.195548108,787.804451892,804.195548108,652,631,652.804451892,0.423751790272,0.0045734562861,0.0699171792687,0.999999986446,8.01540999802e-05,-0.000133966245025,-5.23090801753e-05,1793239779416517632
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.619626721,746,715,680,664.619626721,635.380373279,879.380373279,787.619626721,804,652,631,653,0.424595640284,0.00458262382379,0.0698852187022,0.999999979276,9.07984678459e-05,-0.000173473800103,-5.5762769037e-05,1793239779433184256
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.04311712,746,715,680,664.04311712,635.95688288,879.95688288,787.04311712,804,652,631,653,0.425481636833,0.00459299316325,0.0698762155703,0.999999978649,0.000100676708505,-0.000170151809167,-6.0117314175e-05,1793239779449850624
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.545897129,746,715,680.545897129,664.545897129,635.454102871,880,787,804.545897129,652,631,653,0.42640977793,0.00459342724276,0.0699330886003,0.999999989498,9.81324495862e-05,-9.01202229378e-05,-5.70283514421e-05,1793239779466517504
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.866554577,746,715,681,665,635,880,787,804.866554577,652,631,652.866554577,0.427336777916,0.00459558956398,0.0699880852538,0.999999993421,9.99289026177e-05,-1.47668216018e-05,-5.43522392754e-05,1793239779483184128
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.287280976,746,715,681,665,635,880,787,804.287280976,652,631,652.287280976,0.4282485838,0.00460620892868,0.0700190223333,0.99999999104,0.000119582124093,2.42407135123e-05,-5.50656454808e-05,1793239779499850752
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.293724298,746,715,681,665,635,880.293724298,787,804,652,631,652.293724298,0.429138393593,0.00461029168309,0.0700401974448,0.999999988578,0.000127727829568,5.87108436648e-05,-5.55168491352e-05,1793239779516517632
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.876433267,746,715,681,665,635,880.876433267,787,804,652,631,652.876433267,0.430006562179,0.00460794330336,0.0700517681086,0.999999986756,0.00012455170682,8.87167835388e-05,-5.57100812182e-05,1793239779533184512
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.542975635,715,680.542975635,665,635,880.542975635,787.457024365,804.457024365,652,631,653,0.430824903558,0.00460528373304,0.0700120122281,0.999999990782,0.000122008783529,1.99543137074e-05,-5.61350299602e-05,1793239779549850880
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.037013501,714.962986499,680.037013501,664.962986499,635,880,788,804.962986499,652,631.037013501,652.962986499,0.431628894441,0.00460237091168,0.0699586635172,0.999999988532,0.000119189274417,-7.42941645568e-05,-5.66581366904e-05,1793239779566517504
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.616533131,714.383466869,680.616533131,664.383466869,635,880,788,804.383466869,652,631.616533131,652.383466869,0.432419096017,0.00459697370854,0.0699085457696,0.999999980678,0.000109818173929,-0.000152492311322,-5.77059278991e-05,1793239779583184128
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.805458341,746,714,681,664.194541659,635,880,787.805458341,804,652,631.805458341,652,0.433249327969,0.00459147390302,0.069895638352,0.999999979513,9.89365552381e-05,-0.000166546196717,-5.87139411148e-05,1793239779599851008
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.230405334,746,714,681,664.769594666,635,880,787.230405334,804,652,631.230405334,652,0.434157856979,0.00458577341266,0.0699555120095,0.99999999308,8.51004557424e-05,-5.51379223495e-05,-5.96441513342e-05,1793239779616517632
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.352147425,746,714.352147425,681,665,635,880,787.352147425,804.352147425,652,631.352147425,652.352147425,0.435011209674,0.00458243665478,0.0700003505498,0.999999994725,8.20255423469e-05,1.96991279276e-05,-5.8590621303e-05,1793239779633184256
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.939713913,746,714.939713913,681,665,635,880,787.939713913,804.939713913,652,631.939713913,652.939713913,0.435827675616,0.00458068010954,0.0700351377473,0.999999992254,8.61447430728e-05,7.00874242309e-05,-5.62109131488e-05,1793239779649850624
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.480034474,714.480034474,680.480034474,665,635,880,787.480034474,805,652,632,652.480034474,0.436635764034,0.00458438444701,0.0700309976663,0.999999991864,9.31487541442e-05,6.54849148835e-05,-5.7509223534e-05,1793239779666517248
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.09906411,714,680.09906411,665,635,880.09906411,787,805,652,632,652,0.437428350525,0.0045884082848,0.0700177346779,0.999999992099,9.94132673369e-05,4.92561049114e-05,-5.91004747832e-05,1793239779683184128
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.676632988,714,680.676632988,665,635,880.676632988,787,805,652,632,652,0.438150685347,0.00459095955042,0.0699819038023,0.999999993118,0.000100512645982,7.23866375936e-06,-6.00754736117e-05,1793239779699850752
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,714,681.252281779,665,635,881,787,804.747718221,652,631.747718221,652.252281779,0.438827885018,0.00459467737234,0.0699314827504,0.999999990867,9.89140849687e-05,-6.96785963824e-05,-6.02319403175e-05,1793239779716517632
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,714,681.825488009,665,635,881,787,804.174511991,652,631.174511991,652.825488009,0.439447668784,0.00459987915553,0.0698625017232,0.999999975593,9.38835081726e-05,-0.000190991469915,-5.9347162084e-05,1793239779733184256
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,714.411396187,681.588603813,664.177207626,635,881,787,804,652,631,652.588603813,0.440091471193,0.00460605727457,0.0698231700241,0.999999961167,0.000105653249206,-0.000250901435104,-5.96030572245e-05,1793239779749850880
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.997193349,714.997193349,681.002806651,663.002806651,635,880.997193349,787,804,652,631.002806651,652.002806651,0.440746107047,0.00461266234739,0.0697971264993,0.999999950208,0.000124733751951,-0.000283517860459,-6.03530167035e-05,1793239779766517504
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.417603646,714.417603646,681.582396354,663.582396354,635,880.417603646,787,804,652,631.582396354,652.582396354,0.441466549098,0.00461918571089,0.0698348727135,0.999999962532,0.000135000572732,-0.000230449098993,-6.00304997887e-05,1793239779783184128
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.160463752,714,681.839536248,663.839536248,634.839536248,880,787,804,652,632,653,0.442156005612,0.00462614466031,0.0698638126649,0.999999969046,0.000146063880018,-0.000192427704496,-5.95443089113e-05,1793239779799851008
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.734606739,714,681.265393261,663.265393261,634.265393261,880,787,804,652,632,653,0.442765580856,0.00463422656165,0.0698700498772,0.999999966949,0.000159180550852,-0.000193198757299,-5.8636163117e-05,1793239779816517888
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.692224056,745.692224056,714,681,662.384448112,634,880,787,804.307775944,652,632,652.692224056,0.443331924668,0.00464043410333,0.0698530152313,0.999999957811,0.000172994687586,-0.000226141011102,-5.75482868217e-05,1793239779833184512
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.119891923,745.119891923,714,681,661.239783845,634,880,787,804.880108077,652,632,652.119891923,0.443861107831,0.00464503049375,0.0698159767016,0.999999939745,0.000187408346572,-0.000286736791163,-5.63059187548e-05,1793239779849851392
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.471011214,714,681.471011214,660.528988786,634,880.471011214,787,805,651.528988786,631.528988786,652,0.44436861806,0.00465284155887,0.0697770839339,0.999999918082,0.00020388323022,-0.000345064183889,-5.65523061736e-05,1793239779866518016
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.064721886,746,714,681.935278114,660,634,880.935278114,787,804.935278114,651.064721886,631,652.064721886,0.444871038124,0.00466109019554,0.0697404683146,0.999999895052,0.000219371104602,-0.000398093955665,-5.73972770337e-05,1793239779883184640
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.641703996,746,714,681.358296004,660,634,880.358296004,787,804.358296004,651.641703996,631,652.641703996,0.44537862606,0.00466605986434,0.0697257648095,0.999999887728,0.000222723929069,-0.000413951745918,-5.98574902334e-05,1793239779899851264
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.781484165,745.781484165,714,681.218515835,659.781484165,633.781484165,880.218515835,787,804.218515835,652,631,653,0.445866567141,0.00467069829926,0.0697154559725,0.999999881209,0.000226800781381,-0.000427045971955,-6.14458946359e-05,1793239779916518144
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.204951356,745.204951356,714,681.795048644,659.204951356,633.204951356,880.795048644,787,804.795048644,652,631,653,0.44632231871,0.00467479403916,0.069712347374,0.999999876296,0.000232063882741,-0.000435612364979,-6.16059247679e-05,1793239779933184768
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.37735484,745.37735484,714,682,659,633,881,787,804.62264516,652,631,653,0.446734045632,0.00468105121181,0.0697056098061,0.999999865109,0.000246814682527,-0.000453199567637,-5.89452615996e-05,1793239779949851136
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682.878706498,658,632.878706498,880.121293502,786,805,652,631,653,0.447831766464,0.00472972361781,0.06965366196,0.999999803816,0.000294499059957,-0.000548621468066,-6.82054620538e-05,1793239779999851264
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.849783768,713.150216232,682,658,632,880.150216232,786,804.150216232,652,631,652.150216232,0.448848194536,0.00476068945868,0.0696719365952,0.999999813804,0.000323523889224,-0.000511569059834,-7.76000070594e-05,1793239780049851136
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.563823365,713.436176635,682,657.563823365,632,880,786,804,652,631,652,0.449127042746,0.00476151978443,0.0696769824404,0.999999818739,0.000318434027621,-0.000505596416433,-7.41256504216e-05,1793239780066517760
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.025850002,714,682,657,632,880.025850002,786,804.025850002,652,631,652.025850002,0.449389448829,0.0047642717383,0.0696788917531,0.99999982072,0.000312163417138,-0.000506218745696,-6.96946161329e-05,1793239780083184384
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.602562882,714,682,657,632,880.602562882,786,804.602562882,652,631,652.602562882,0.449616930817,0.00477210540367,0.0696723662363,0.999999819382,0.000301579180877,-0.000515875537554,-6.44870473674e-05,1793239780099851008
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.179262869,745.820737131,713.820737131,682,657.179262869,632,880.820737131,786,804.820737131,652,631,653,0.449833625932,0.00477642451869,0.0696649569089,0.999999816403,0.000294383577372,-0.000526098582134,-6.12534088223e-05,1793239780116517376
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.755934199,745.244065801,713.244065801,682,657.755934199,632,880.244065801,786,804.244065801,652,631,653,0.450026407563,0.00477295221413,0.0696555882594,0.999999810135,0.000294700246767,-0.000537576953175,-6.23957835553e-05,1793239780133184000
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.668054676,745,713.331945324,682.331945324,657.668054676,631.668054676,880,786,804.331945324,652,631,652.668054676,0.450189094934,0.00477413595979,0.0696423008857,0.999999797352,0.000297394089128,-0.000559267621817,-6.38225109078e-05,1793239780149850880
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.092527948,745,713.907472052,682.907472052,657.092527948,631.092527948,880,786,804.907472052,652,631,652.092527948,0.450329699162,0.00477873631367,0.0696261379519,0.999999779168,0.000301832300324,-0.000588452072978,-6.54578962273e-05,1793239780166518016
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.497694802,713.502305198,682.502305198,656.502305198,631,880,786,804.502305198,652,631,652.497694802,0.450455194964,0.00478196835474,0.069617759052,0.999999768724,0.00030551856794,-0.000603942282186,-6.68189913742e-05,1793239780183184640
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.911762784,713.088237216,682,656,631.088237216,880,786,804,652,631,652.911762784,0.450575585724,0.00478450936374,0.0696110860132,0.999999760508,0.000308870178891,-0.000615589658888,-6.80679337697e-05,1793239780199851264
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.33503628,713.66496372,682,656,631.66496372,880,786,804,652,631,652.33503628,0.450683737761,0.00478467591812,0.0696056014371,0.999999756707,0.000311166573374,-0.000620486163767,-6.89868865908e-05,1793239780216517632
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.241124109,745.241124109,714,682,656,632,880.241124109,786,804,652,631,652.241124109,0.450785439162,0.00478539374575,0.0696023042469,0.999999754582,0.000312979800505,-0.000622900273607,-6.98170070855e-05,1793239780233184256
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.816499701,745.816499701,714,682,656,632,880.816499701,786,804,652,631,652.816499701,0.450878198542,0.00478687576035,0.0696020392591,0.999999754813,0.000314123250415,-0.000621873233186,-7.05239862248e-05,1793239780249850880
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.603271689,745.603271689,714,682,656,631.603271689,880.603271689,786,804.396728311,652,631,653,0.450947583325,0.00478772120992,0.0695988862801,0.999999750238,0.000316951928623,-0.000627751195621,-7.06624437157e-05,1793239780266517504
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.020770613,745.020770613,714,682,656,631.020770613,880.020770613,786,804.979229387,652,631,653,0.451006022671,0.00478826858029,0.0695943809648,0.999999743333,0.000320569735035,-0.000636862508021,-7.0534684135e-05,1793239780283184384
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,682,656,631,880,786,805,652,631,652.436795987,0.451051114433,0.00478993857853,0.0695896904366,0.999999737861,0.000321997438709,-0.000644659384287,-7.07797556671e-05,1793239780299851008
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.145360679,714,682,656,631,880.145360679,786,805,652,631,652.145360679,0.451093853667,0.00479102464959,0.0695866368146,0.999999734152,0.000323160550924,-0.000649796267681,-7.09013736948e-05,1793239780316517632
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.721962261,714,682,656,631,880.721962261,786,805,652,631,652.721962261,0.451131077845,0.00479025523729,0.0695884597132,0.999999735665,0.00032377894807,-0.000647185949882,-7.06158442876e-05,1793239780333184256
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631.298265533,880.701734467,786,804.701734467,652,631,653,0.451161210068,0.00479015815733,0.069588974382,0.999999736104,0.000324329969375,-0.000646285324355,-7.01298161077e-05,1793239780349851136
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631.87429107,880.12570893,786,804.12570893,652,631,653,0.451184737907,0.00479068718728,0.0695882707611,0.999999735545,0.00032481824695,-0.000646976850752,-6.94570732612e-05,1793239780366517504
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.539055068,714,682,655.539055068,631.539055068,880.460944932,786,804.460944932,652,631,653,0.451198051723,0.00479075211434,0.0695866793302,0.999999733641,0.000324121638577,-0.000650243211168,-6.96136501882e-05,1793239780383184128
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655,631.049512854,880.950487146,786,805,652,631,653,0.451208193834,0.00479081180701,0.0695849198106,0.999999731399,0.000323375859936,-0.000654015548712,-6.99497490434e-05,1793239780399850752
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655,631.626856664,880.373143336,786,805,652,631,653,0.451214920433,0.00479219684357,0.0695840104573,0.999999729698,0.000325632058558,-0.000655519282556,-6.97316277396e-05,1793239780416517632
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,682,655.203110791,631.796889209,880,786,805,652,631,653,0.451221598237,0.0047921770062,0.0695835497508,0.999999729177,0.00032649423161,-0.000655918325003,-6.94157176112e-05,1793239780433184512
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655.777373665,631.222626335,880,786,805,652,631,653,0.451228186873,0.00478958998911,0.0695839088737,0.999999730821,0.000324809048524,-0.000654298722707,-6.89211142537e-05,1793239780449851392
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.046758172,745,714,682,655.046758172,631,880,785.046758172,804.046758172,652,631,653,0.4512324678,0.00479445121587,0.0695819716184,0.999999727394,0.00033139465238,-0.000656254808772,-6.86960779656e-05,1793239780483184640
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.533892228,745,714,682,655,631,880,785.533892228,804,652,631,652.466107772,0.45123285082,0.00479390692654,0.069581741364,0.99999972714,0.000330002703301,-0.000657320677455,-6.89065070007e-05,1793239780499851008
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713.887220692,682,655,631,880.112779308,786,804,652,631,652,0.451233215845,0.004793207426,0.0695813795604,0.999999726881,0.000328883535966,-0.000658267826371,-6.89704307395e-05,1793239780516517376
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713.31184288,682,655,631,880.68815712,786,804,652,631,652,0.451233749375,0.00479334420715,0.0695801056093,0.999999725812,0.000330955147455,-0.000658917089546,-6.83520191414e-05,1793239780533184000
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713.263800788,682,655,631,880.736199212,786,804.263800788,652,631,652.263800788,0.451234695809,0.00479316356121,0.0695796613936,0.999999725671,0.000331800187513,-0.00065875028296,-6.79294950328e-05,1793239780549850624
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713.839759122,682,655,631,880.160240878,786,804.839759122,652,631,652.839759122,0.451236130838,0.0047926073013,0.0695801990101,0.99999972663,0.000331193816228,-0.000657617814696,-6.77387660493e-05,1793239780566517248
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.426271873,714,682,655,631,880,786,804.573728127,652,631,653,0.451235827732,0.00479319003824,0.0695794026164,0.999999725418,0.000331714706014,-0.000659186500533,-6.78462831454e-05,1793239780583184128
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714,682.01649539,655,631,880,785.98350461,804.01649539,652,631,653,0.451234867692,0.00479415667321,0.0695781196806,0.999999723435,0.000332568757444,-0.000661737187234,-6.806480085e-05,1793239780599851520
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714,682.594549617,655,631,880,785.405450383,804.594549617,652,631,653,0.451234351644,0.00479324631561,0.069577778396,0.999999723934,0.000329972577471,-0.000662273335949,-6.81485005363e-05,1793239780616517888
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.828449986,714,682.828449986,655,631,880,785.171550014,804.828449986,652,631,653,0.451234371428,0.00479271504543,0.0695777331487,0.999999724409,0.000328437096302,-0.000662308399559,-6.82475433542e-05,1793239780633184512
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.253925097,714,682.253925097,655,631,880,785.746074903,804.253925097,652,631,653,0.451235649891,0.00479307426027,0.0695783832998,0.999999724841,0.000329393220864,-0.000661166402859,-6.83826275323e-05,1793239780649850880
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.327284126,745,714,682.327284126,655,631,880.327284126,786,804.327284126,652,631,652.672715874,0.451236420608,0.00479232546758,0.0695788120354,0.999999724987,0.00032942993743,-0.00066097218521,-6.7951512215e-05,1793239780666517504
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.913787522,745,714,682.913787522,655,631,880.913787522,786,804.913787522,652,631,652.086212478,0.451236789176,0.00479069909824,0.0695790654031,0.999999724906,0.000328738454043,-0.000661528638286,-6.70719491712e-05,1793239780683184384
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.50555002,745,714,682.50555002,655,631,881,786,805,652,631,652.49444998,0.451236089561,0.00479286963235,0.0695782098578,0.999999724089,0.000330073557262,-0.000662065335823,-6.74060779461e-05,1793239780699851008
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.073867977,714,682,655.073867977,631,880.926132023,786,804.926132023,652,631,652.926132023,0.451235139187,0.00479496535053,0.0695771657933,0.999999723155,0.000331288198205,-0.000662825017157,-6.78284395268e-05,1793239780716517376
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.651662589,714,682,655.651662589,631,880.348337411,786,804.348337411,652,631,652.348337411,0.451233733894,0.00479208704395,0.0695761392895,0.99999972231,0.000329298595899,-0.00066512911612,-6.74259112565e-05,1793239780733184256
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,682.228699267,655.771300733,631,880.228699267,786,804,652,631,652.228699267,0.451234043775,0.00479027279216,0.0695762166115,0.999999722962,0.000327608150977,-0.000665015196419,-6.71104556635e-05,1793239780749850880
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,682.80458542,655.19541458,631,880.80458542,786,804,652,631,652.80458542,0.451236957452,0.00479007387465,0.0695779696443,0.999999725888,0.000326371854656,-0.000661230498506,-6.69271844807e-05,1793239780766517504
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,682.61102634,655,631,880.61102634,785.61102634,804.38897366,652,631,653,0.451237401962,0.00479055539471,0.0695781009852,0.999999725688,0.000327156132907,-0.000661168209063,-6.67051313259e-05,1793239780783183872
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714,682.022271365,655,631,880.022271365,785.022271365,804.977728635,652,631,653,0.451236578278,0.00479138639529,0.0695773994065,0.999999723882,0.000328978201414,-0.000663017791359,-6.64631593182e-05,1793239780799850496
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,713.442353032,682,655,631,880.557646968,785.557646968,804.442353032,652,631,653,0.451235531386,0.00479349861329,0.069576680416,0.999999722382,0.000331498115271,-0.000663952146613,-6.7176999e-05,1793239780816517120
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,713,682,654.863620845,631,880.863620845,786,804,652,631,653,0.451234672681,0.00479475461486,0.0695760295303,0.999999721312,0.000332606203633,-0.000664957922988,-6.76737493995e-05,1793239780833184000
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,713,682,654.287592536,631,880.287592536,786,804,652,631,653,0.45123444893,0.00479308802534,0.0695756004029,0.999999721602,0.000329074506241,-0.000666309938473,-6.73495224936e-05,1793239780849850880
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745.712988578,713.287011422,682,654.287011422,631,880,786,804,652,631,653,0.451234945723,0.00479198961155,0.0695758467524,0.99999972223,0.000327641376216,-0.000666111049979,-6.69934091503e-05,1793239780866517504
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745.139804841,713.860195159,682,654.860195159,631,880,786,804,652,631,653,0.451236160953,0.00479145771245,0.0695767666039,0.9999997232,0.000328300678402,-0.000664365791652,-6.66055026129e-05,1793239780883184128
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+264,4.400000000,HOLD_POSE2,765,745,714,682,655.086592895,631,880.086592895,786,804.913407105,652,631,653,0.451239617087,0.00478884724816,0.069577807793,0.99999972429,0.00032780463342,-0.000663045592845,-6.58361354212e-05,1793239781056848896
+265,4.416666667,HOLD_POSE2,765,745,714,682,655,631,880.490924337,786,805,652,631,653,0.451239217595,0.00478945034367,0.0695775757888,0.99999972444,0.000327716278449,-0.000662845712522,-6.6006451029e-05,1793239781073514240
+266,4.433333333,HOLD_POSE2,765,745.07025547,713.92974453,682,655,631,880.92974453,785.92974453,805,652,631,653,0.451238445167,0.00479040965875,0.0695771558054,0.999999724263,0.000327809559891,-0.000663044868619,-6.62368151564e-05,1793239781090179072
+267,4.450000000,HOLD_POSE2,765,745.660170674,713.339829326,682,655,631,880.339829326,785.339829326,805,652,631,653,0.451238001096,0.0047903734189,0.0695768890201,0.999999723315,0.000328750853912,-0.00066402582904,-6.60537168508e-05,1793239781106845440
+268,4.466666667,HOLD_POSE2,765.245771936,746,713.245771936,682,655,631,880,785.245771936,804.754228064,652,631,653,0.451238234959,0.00478997484716,0.0695772766101,0.999999723333,0.000328939141775,-0.00066391340531,-6.59675515981e-05,1793239781123512064
+269,4.483333333,HOLD_POSE2,765.82551115,746,713.82551115,682,655,631,880,785.82551115,804.17448885,652,631,653,0.451239390033,0.00478908392059,0.0695785533984,0.999999724664,0.000328104206889,-0.000662315236075,-6.60131038718e-05,1793239781140178688
+270,4.500000000,HOLD_POSE2,765.598732717,745.598732717,714,682,655,631,880,786,804,652,631,653,0.451240375126,0.00478871766053,0.0695789191753,0.999999725117,0.000327732392129,-0.000661839169676,-6.57741344915e-05,1793239781156845312
+271,4.516666667,HOLD_POSE2,765.024691532,745.024691532,714,682,655,631,880,786,804,652,631,653,0.45124128703,0.00478857730637,0.0695788926976,0.999999725193,0.000327559983216,-0.000661846247651,-6.54126584507e-05,1793239781173511936
+272,4.533333333,HOLD_POSE2,765,745,714,682.56395814,654.43604186,631,880.56395814,786,804.56395814,652,631,652.43604186,0.451240431851,0.00478995403189,0.0695776425461,0.999999723976,0.000328493118281,-0.000663189505598,-6.57189818495e-05,1793239781190178816
+273,4.550000000,HOLD_POSE2,765,745.150691187,714,682.849308813,654.150691187,631,880.849308813,785.849308813,804.849308813,652,631,652.150691187,0.451239453994,0.00479123664606,0.0695766200542,0.999999722923,0.000329249089946,-0.000664368625009,-6.60621567544e-05,1793239781206845952
+274,4.566666667,HOLD_POSE2,765,745.730103455,714,682.269896545,654.730103455,631,880.269896545,785.269896545,804.269896545,652,631,652.730103455,0.45123835308,0.00479205751408,0.0695764017381,0.999999722502,0.000329359654896,-0.000664909901323,-6.64247804563e-05,1793239781223512576
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,713,682,655,631,880,785,804,652,631,653,0.45124023324,0.00479110636895,0.0695769584344,0.999999723031,0.000330101245222,-0.000663760668775,-6.62816386161e-05,1793239781261670912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.39575942,713.60424058,682,655,631,880.60424058,785.60424058,804.60424058,652,631,653,0.45124017805,0.00479177870915,0.0695776393706,0.999999722958,0.00033109000005,-0.000663357443523,-6.64889619783e-05,1793239781278337792
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,631,881,786,804.796853732,652,631,653,0.451240448213,0.0047918647489,0.0695780661061,0.999999723211,0.000331214789652,-0.000662911542837,-6.65129345809e-05,1793239781295004928
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,631,881,786,804.208075157,652,631,653,0.451241335995,0.00479083781535,0.0695780102931,0.999999724082,0.000329699515315,-0.000662384631355,-6.61888527003e-05,1793239781311671296
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.37553455,745.37553455,713.62446545,682,654.62446545,631,880.62446545,786,804,652,631,653,0.45124175357,0.00479079062996,0.0695786999817,0.999999725166,0.000328060550505,-0.000661562969989,-6.61694512965e-05,1793239781328337920
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.956319153,745.956319153,713.043680847,682,654.043680847,631,880.043680847,786,804,652,631,653,0.451241914153,0.00479127893028,0.0695797971275,0.999999726364,0.000326353982216,-0.000660580211811,-6.63165743615e-05,1793239781345004544
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.467662898,746,713.532337102,682.532337102,654.532337102,631,880,786,804.532337102,652,631.532337102,653,0.451241479,0.00479127929029,0.0695794347156,0.999999725962,0.000326022867155,-0.000661336700574,-6.64668126939e-05,1793239781361671168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,713.890941484,682.890941484,655,631,880,786,805,652,631.890941484,653,0.451240907394,0.00479085241862,0.069578871709,0.999999725463,0.000325711385213,-0.000662243068365,-6.64802022613e-05,1793239781378337792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,713.309493876,682.309493876,655,631,880,786,805,652,631.309493876,653,0.451239954593,0.00478874687029,0.0695779539779,0.999999725108,0.000325000416421,-0.000663185959097,-6.58997313129e-05,1793239781395004416
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.726804466,713,682,654.726804466,631,880,785.726804466,804.726804466,652,631,653,0.451235695742,0.00478965713321,0.0695754968173,0.999999722183,0.000327171733075,-0.000666533555629,-6.57687709144e-05,1793239781411670784
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.142701878,713,682,654.142701878,631,880,785.142701878,804.142701878,652,631,653,0.451227674478,0.00479399950579,0.0695712877269,0.999999716286,0.000332623201758,-0.000672617800003,-6.6149370894e-05,1793239781428337408
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.43519236,713.43519236,681.56480764,654.43519236,631,880.43519236,785.43519236,804.43519236,652,631,653,0.451203414631,0.00479246000584,0.0695598104954,0.999999705305,0.000329128800951,-0.000690405501303,-6.63630285319e-05,1793239781445004288
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,713.988862281,681.011137719,655,631,881,786,805,652,631,653,0.451173329227,0.00478912646362,0.0695458465518,0.999999691999,0.000322963736503,-0.000712230064422,-6.651702237e-05,1793239781461671168
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,713.409950459,681.590049541,655,631,881,786,805,652,631,653,0.451113894516,0.00479127443011,0.0695249002046,0.999999664999,0.00032808900554,-0.000746962742237,-6.63808288341e-05,1793239781478337536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,713.171476338,682,655,631,880.828523662,786,804.828523662,652,631,653,0.451052106941,0.00479271270832,0.0695063402,0.99999964193,0.000331497362477,-0.00077580565277,-6.61402308373e-05,1793239781495003904
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,713.75900533,682,655,631,880.24099467,786,804.24099467,652,631,653,0.450984610605,0.00479242907188,0.0694935701685,0.999999630818,0.00033073998127,-0.000790358243049,-6.56463166629e-05,1793239781511670528
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,655,631,880.341671268,786,804.341671268,652,631,653,0.450907663743,0.00479122387949,0.0694873673001,0.999999623773,0.000330591422942,-0.000799396410601,-6.42536828499e-05,1793239781528337408
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,655,631,880.920955198,786,804.920955198,652,631,653,0.450824144589,0.0047893777981,0.0694857315155,0.999999619637,0.000330866265885,-0.000804599614377,-6.22360413966e-05,1793239781545004288
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.502577395,713.502577395,682,655,631,880.502577395,785.502577395,804.502577395,652,631,653,0.450724092628,0.0047897609961,0.0694867135411,0.999999619257,0.00033637586913,-0.000802924951793,-6.04091280123e-05,1793239781561670656
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.073376054,682,655,631,880,785.073376054,804,652,631,653,0.450617525058,0.00479051465622,0.0694882934493,0.999999619455,0.000342051939078,-0.000800411885319,-5.8578011726e-05,1793239781578337280
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713.648857975,682,655,631,880,785.648857975,804,652,631,653,0.450484248266,0.00479139288935,0.0694911340402,0.999999619829,0.000343206905004,-0.000799598567585,-5.65119056606e-05,1793239781595003904
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,631,880.229011632,786,804.229011632,652,631,653,0.450343139795,0.00479115256741,0.0694947159063,0.999999621974,0.000344545565138,-0.000796499697112,-5.41157302363e-05,1793239781611670272
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,631,880.816477544,786,804.816477544,652,631,653,0.450189773012,0.00478916145721,0.0694994580331,0.999999626861,0.000346171747557,-0.000789823426918,-5.12029228435e-05,1793239781628336896
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.399126683,745.399126683,714,682,655,631,881,786,804.600873317,652,631,652.600873317,0.450011805845,0.00478709507543,0.0695032386215,0.999999628987,0.000349595146727,-0.000785845537339,-4.74940846333e-05,1793239781645003776
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.979587481,745.979587481,714,682,655,631,881,786,804.020412519,652,631,652.020412519,0.449822662042,0.00478499449553,0.0695065823573,0.99999962984,0.000353835070518,-0.00078309359492,-4.34235877012e-05,1793239781661670400
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.442901472,746,714,682,655,631,881,786,804.557098528,652,631,652.557098528,0.449611696353,0.00478233123685,0.0695160980616,0.999999640948,0.000355394324667,-0.0007682826744,-3.92544071586e-05,1793239781678337280
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.863973873,714,682,655.136026127,631,881,786,804.863973873,652,631,653,0.449388627207,0.00478022604765,0.0695255969669,0.999999650543,0.000358426854171,-0.000754474548099,-3.48197171532e-05,1793239781695003904
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.280027536,714,682,655.719972464,631,881,786,804.280027536,652,631,653,0.449128321587,0.00478002605588,0.0695342998049,0.999999654532,0.000366632461149,-0.000745415822439,-2.95225743183e-05,1793239781711670528
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.301532137,745,714,682.301532137,656,631.301532137,881,786,804.301532137,652,631.301532137,653,0.448842592294,0.00477818095808,0.0695399820247,0.999999657993,0.00037124679935,-0.000738654810492,-2.40425091905e-05,1793239781728337152
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.880892728,745,714,682.880892728,656,631.880892728,881,786,804.880892728,652,631.880892728,653,0.448533437917,0.00477482007736,0.069542881079,0.999999661047,0.000372552180819,-0.000734010887747,-1.83939017578e-05,1793239781745003776
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.540741209,745,714,682.540741209,656,632,881,786,804.540741209,652,631.540741209,653,0.448190594975,0.00477193673605,0.0695412280627,0.999999655033,0.000378556570239,-0.000739241982085,-1.22838645431e-05,1793239781761670400
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.037276237,714,682,656.037276237,632,880.962723763,786,804,652,631,653,0.447836183353,0.0047691699051,0.06953857605,0.999999646917,0.000385410676212,-0.000746717359442,-6.11291118782e-06,1793239781778337024
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.613973332,714,682,656.613973332,632,880.386026668,786,804,652,631,653,0.447440521808,0.00476630075969,0.0695385145816,0.999999644112,0.000386963765839,-0.000749688865371,-7.88440832162e-07,1793239781795003904
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.364650957,632,880.635349043,786,804.635349043,652,631,652.635349043,0.446153653392,0.0047479766114,0.0695425697519,0.999999666094,0.00037220013921,-0.000727432623072,1.09779780313e-05,1793239781845003776
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.944112278,632,880.055887722,786,804.055887722,652,631,652.055887722,0.445709532304,0.00473892358868,0.0695617635229,0.999999698722,0.000355016754344,-0.000690199354323,1.19733987528e-05,1793239781861670400
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.095765907,746,714,682,658.191531815,633,880,786,804.095765907,652,631.095765907,653,0.444728165411,0.00469093428011,0.0696021962138,0.999999772489,0.000245831439484,-0.000628163100999,6.77740634484e-07,1793239781895003904
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.673081798,745.326918202,714,682,662.673081798,634,880,787,804,652,631.326918202,652,0.43905965975,0.00460853851376,0.0697731956411,0.999999932144,0.00011727018025,-0.000348543574688,2.18577635075e-05,1793239782045003776
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.091046801,745.908953199,714,682,662.091046801,634,880,787,804,652,631.908953199,652,0.438261988626,0.00460467178387,0.0697426505983,0.999999899776,0.000203887465004,-0.00039799788492,2.17869613947e-05,1793239782061670400
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.513830501,714,681.513830501,662,634.486169499,880,787,804,652,632,652.486169499,0.437497196156,0.00459791969384,0.0697371748448,0.999999893451,0.000236820843295,-0.000395724378582,2.04208538274e-05,1793239782078337280
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.062325873,714.062325873,681.062325873,662.124651747,634.937674127,880,787,804,652,631.937674127,653,0.436737852015,0.00459126440613,0.0697413259068,0.999999895808,0.000254914417616,-0.000378194054616,1.92929845433e-05,1793239782095003648
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.637114639,714.637114639,681.637114639,663.274229277,634.362885361,880,787,804,652,631.362885361,653,0.43597317486,0.00458980439533,0.0697864082318,0.999999923322,0.000232842949974,-0.000314087378239,2.20989513566e-05,1793239782111670528
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.782846293,714.782846293,682,663.782846293,634.217153707,880,787,804,652,631,653,0.435196540506,0.00458594590338,0.0698233446163,0.999999942628,0.000208656145551,-0.00026565472597,2.51649775988e-05,1793239782128337152
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.193816094,714.193816094,682,663.193816094,634.806183906,880,787,804,652,631,653,0.43439942945,0.00457798000408,0.0698463310465,0.999999953452,0.000180846822041,-0.000244063900898,2.86763564862e-05,1793239782145003776
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.388856673,745,714,681.611143327,663,634.611143327,880,787,804,652,631,653,0.433535157933,0.00457220248519,0.0698473093126,0.999999957941,0.000152292498689,-0.000245111758918,2.90695674368e-05,1793239782161670656
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.968411691,745,714,681.031588309,663,634.031588309,880,787,804,652,631,653,0.432637950426,0.00456749816534,0.0698374946027,0.999999958908,0.000123372822368,-0.000257261804131,2.79336044094e-05,1793239782178337280
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.455099453,745,714,681,663,634.544900547,880,787,804,652,631,652.455099453,0.431745443165,0.00456482773881,0.0698270804006,0.999999955651,0.000118942675577,-0.000271433787484,2.95714049896e-05,1793239782195003904
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.120521531,714,681,663,635,880,787,804,652,631,652.120521531,0.430843060977,0.0045610654375,0.0698064444312,0.999999946669,0.00011856689307,-0.000302723030749,3.10249175956e-05,1793239782211670784
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745.693547534,714,681,663,635,880,787,804,652,631,652.693547534,0.429902585762,0.0045527634264,0.0697475600496,0.999999912168,0.000128113008792,-0.000397842307085,3.11861670529e-05,1793239782228337408
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,663.276313556,635,880,787,804,652,631.276313556,652.723686444,0.428992867936,0.00454527753821,0.0697309379745,0.999999901643,0.000122236552495,-0.000425213365729,3.10914672085e-05,1793239782245004288
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,663.870276763,635,880,787,804,652,631.870276763,652.129723237,0.428118508639,0.00453872986263,0.0697629005763,0.999999924464,9.86303323597e-05,-0.000374701188844,3.07025286297e-05,1793239782261670912
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.549517189,714,681,663.549517189,635,880,787.450482811,804,652,631.549517189,652.450482811,0.427274192018,0.00453228968909,0.069819566223,0.999999954115,9.00926690198e-05,-0.000287312480971,3.32371923714e-05,1793239782278337280
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.02679023,745,714,680.97320977,663,635,880,787.97320977,804.02679023,652,631,653,0.42643504417,0.00452580243653,0.0698795516424,0.99999997657,8.56957231702e-05,-0.000195422569787,3.64260763184e-05,1793239782295003904
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.601983866,745,714,680.398016134,663,635,880,787.398016134,804.601983866,652,631,653,0.425529856175,0.00451773653934,0.069866191444,0.999999971438,7.98676922817e-05,-0.000222326879184,3.62839204346e-05,1793239782311670528
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745.180791173,714,680,663,635,880,787,804.819208827,652,631,653,0.4246275852,0.00450997487982,0.0698487223813,0.999999964703,7.34716165621e-05,-0.000252803107695,3.58637444104e-05,1793239782328337408
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745.767716288,714,680,663,635,880,787,804.232283712,652,631,653,0.423731867148,0.00450289666814,0.0698220230609,0.9999999548,6.57994707033e-05,-0.000291303385695,3.48190168128e-05,1793239782345004032
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,746,714.350065446,680,663,635,880.350065446,787.350065446,804,652,631.350065446,653,0.422767276775,0.00449769875298,0.0697720872389,0.999999925625,6.03178022236e-05,-0.000379320394902,3.50477230362e-05,1793239782361670656
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,746,714.929417412,680,663,635,880.929417412,787.929417412,804,652,631.929417412,653,0.421757576315,0.00449373239821,0.0697069319309,0.99999987288,5.62708563431e-05,-0.00049976995957,3.61105049785e-05,1793239782378337280
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.494704345,745.494704345,714.494704345,680.505295655,662.494704345,635,879.989408691,787.494704345,804,652,632,652.494704345,0.42091372119,0.00448478869138,0.0697227609959,0.999999892512,4.05255310495e-05,-0.000460612926166,3.41868712823e-05,1793239782395004160
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.078321787,714,680.921678213,662.078321787,635,879.078321787,787,804,652,631.921678213,652.078321787,0.420099157172,0.00447529274755,0.0697564533715,0.999999922525,2.39946242995e-05,-0.000391557434106,3.25030196166e-05,1793239782411670784
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.636816562,714,680.363183438,662.636816562,635,879.636816562,787,804,652,631.363183438,652.636816562,0.419323113468,0.00446664457659,0.0698307816397,0.999999961515,1.25973756711e-05,-0.000274952208548,3.48292665112e-05,1793239782428337408
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.786589322,714,680,663,635,880,787,804,652,631,652.786589322,0.418533851642,0.00445863801037,0.0698812960879,0.999999979536,6.86959296913e-06,-0.000198791453163,3.69120931919e-05,1793239782445004288
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.176339192,714,680,663,635,880,787,804,652,631,652.176339192,0.417720010444,0.0044518245136,0.0698875284946,0.999999979619,1.16842413947e-05,-0.000197837610383,3.85422785065e-05,1793239782461670912
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.411668624,714,680,662.588331376,635,880,787,803.588331376,652,631,652.411668624,0.416867550662,0.0044445846981,0.0698609047978,0.999999972415,-2.738924695e-06,-0.00023193147103,3.7017207201e-05,1793239782478337536
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.990637243,714,680,662.009362757,635,880,787,803.009362757,652,631,652.990637243,0.415999396535,0.00443717162927,0.0698209285506,0.999999959828,-2.49802391502e-05,-0.000280268536146,3.42098557759e-05,1793239782495004160
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.56613856,746,714.56613856,680,662.56613856,635,879.43386144,787,803.56613856,652,631,653,0.415168577939,0.00443311228205,0.0697936669862,0.999999944789,-2.30853798171e-05,-0.000329645863163,3.49636467897e-05,1793239782511670784
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.85800229,746,714.85800229,680,663,635,879,787,803.85800229,652,631,653,0.414350780501,0.00443061141633,0.0697709042603,0.999999929906,-2.04038433726e-05,-0.000372111373432,3.61153866303e-05,1793239782528337408
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.280871991,746,714.280871991,680,663,635,879,787,803.280871991,652,631,653,0.413571004087,0.00443271737854,0.069761287177,0.99999992177,-1.65273750014e-05,-0.00039334416677,3.83072127142e-05,1793239782545004288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.697083594,714,680,663,635,879,787,803.302916406,652,631,653,0.412864682277,0.00444837210166,0.0697810347658,0.999999935802,-2.64502995304e-06,-0.000356347571061,3.7484249151e-05,1793239782561670912
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.106982924,714,680,663,635,879,787,803.893017076,652,631,653,0.412228000207,0.0044768719227,0.0698286219556,0.999999964327,2.07235304759e-05,-0.000264145760397,3.3803070449e-05,1793239782578337536
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745.471698257,714.471698257,680,663.471698257,635,879.471698257,787,803.528301743,652.471698257,631,653,0.411569114373,0.00448423739035,0.0698674037035,0.999999977962,4.26278629959e-05,-0.000202655449527,3.44935212486e-05,1793239782595004160
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,746,715,680,663.952207054,635,879.952207054,787.047792946,803.047792946,653,631,653,0.410903367532,0.00448559380432,0.069898626913,0.999999985226,5.97798154975e-05,-0.000157099912374,3.59768771091e-05,1793239782611670784
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,746,715,680,663.376750194,635,879.376750194,787.623249806,803.623249806,653,631,653,0.41021615666,0.00447227718045,0.0698679272413,0.999999976421,2.80423545258e-05,-0.000212388755055,3.55263498684e-05,1793239782628337408
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.796016194,715,680,663,635,879,787.796016194,803.796016194,652.796016194,631,652.796016194,0.409545543093,0.00446407334064,0.0698346026562,0.999999962512,7.76514870512e-06,-0.000271477073916,3.48729341951e-05,1793239782645004032
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.205276569,715,680,663,635,879,787.205276569,803.205276569,652.205276569,631,652.205276569,0.408906398102,0.00446556340028,0.0697963011975,0.999999942341,9.2167229807e-06,-0.000337769256853,3.38348395887e-05,1793239782661670656
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.377283007,745.377283007,714.622716993,680,663.377283007,635,879,787,803.377283007,652,631,652.377283007,0.408315104304,0.00446630759646,0.0697841483504,0.999999937316,1.78709888033e-05,-0.000352099068563,3.28003156633e-05,1793239782678337280
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.955486301,745.955486301,714.044513699,680,663.955486301,635,879,787,803.955486301,652,631,652.955486301,0.407749293471,0.00446665458647,0.0697859208255,0.999999941657,3.0361013981e-05,-0.000338756560904,3.17676933932e-05,1793239782695003904
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.468882332,745.468882332,714,680.531117668,663.468882332,635,879,787,803.468882332,652,631,653,0.407218656604,0.00447122631942,0.0698036426024,0.999999949442,2.38969905581e-05,-0.000315512307813,3.15705584445e-05,1793239782711670528
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745.108864552,714.108864552,680.891135448,663.108864552,635,879,787,803,652,631,652.891135448,0.406699518411,0.00447646227577,0.0698191587031,0.999999955106,1.90374727662e-05,-0.000297363253853,3.16386187388e-05,1793239782728337408
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745.69686642,714.69686642,680.30313358,663.69686642,635,879,787,803,652,631,652.30313358,0.406218076297,0.00448307074617,0.0698191122178,0.999999952476,2.81976809051e-05,-0.000305274197182,3.25671596601e-05,1793239782745004032
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.28074546,746,714.71925454,679.71925454,663.71925454,635,879,787,803.28074546,652.28074546,631,652.28074546,0.40575644076,0.00448673604011,0.0698171927938,0.999999949828,4.02742011853e-05,-0.00031247911297,3.28321455302e-05,1793239782761670912
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.860237284,746,714.139762716,679.139762716,663.139762716,635,879,787,803.860237284,652.860237284,631,652.860237284,0.405315881796,0.00448726944587,0.0698132803414,0.999999947079,5.54540218208e-05,-0.000318932731441,3.23910303045e-05,1793239782778337536
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.562481836,714.437518164,679.437518164,663.437518164,635,879,787,803.562481836,653,631,653,0.404925284769,0.0044837561955,0.0698240547709,0.999999954387,4.50139062588e-05,-0.000297022681391,3.12553529693e-05,1793239782795004160
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,714.985962043,680,664,635,879,787,803,652.985962043,631,652.985962043,0.40455124028,0.00447906920051,0.0698394336607,0.999999963741,2.67415022812e-05,-0.000266284795703,2.99257922753e-05,1793239782811670528
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,714.411773009,680,664,635,879,787,803,652.411773009,631,652.411773009,0.404204040468,0.00447886876426,0.069852275011,0.999999969813,2.08671563896e-05,-0.000243017675085,2.96686207218e-05,1793239782828338176
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,714.160931223,680,663.839068777,635,879,787,803,652,631,652,0.403864233117,0.00447766294889,0.0698591363266,0.999999972985,1.25879362921e-05,-0.000230265436051,2.91591852665e-05,1793239782845005312
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,714.729871159,680,663.270128841,635,879,787,803,652,631,652,0.403543167786,0.00447390819719,0.0698508364707,0.999999969796,-1.78835935359e-06,-0.000244171557393,2.80101854569e-05,1793239782861671168
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.315290712,715,680,663,635,879,787,803,652,631,652,0.403239338964,0.00447015492381,0.0698418545248,0.999999965662,-1.43118325925e-05,-0.00026023835443,2.73465556067e-05,1793239782878337536
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.915608004,715,680,663,635,879,787,803,652,631,652,0.402951092172,0.0044664029871,0.0698322559619,0.999999960602,-2.51603313242e-05,-0.000278258427314,2.71217060792e-05,1793239782895004416
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.505283163,715,680,663.494716837,635,879,787,803,652.494716837,631,652.494716837,0.402698858895,0.00446544878628,0.0698268007704,0.999999957567,-2.82014866016e-05,-0.000288633156521,2.75984651097e-05,1793239782911670784
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,714.929612263,680,663.929612263,635,879.070387737,787,803.070387737,652.929612263,631,652.929612263,0.402456722751,0.00446514053448,0.0698219535039,0.999999954829,-2.92096947513e-05,-0.000297806213546,2.82849585034e-05,1793239782928337408
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,714.353717131,680,663.353717131,635,879.646282869,787,803.646282869,652.353717131,631,652.353717131,0.402244794897,0.00446618469304,0.0698166047848,0.999999952027,-2.47894432825e-05,-0.000307330513998,2.96534987674e-05,1793239782945004288
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.772012534,745,714,679.772012534,663,635,879.772012534,787,803.772012534,652,631.227987466,652.227987466,0.402050791608,0.00446717830285,0.0698129760166,0.999999950443,-9.09423780523e-06,-0.000313135423562,3.12748588777e-05,1793239782961671168
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.401123447,745,714.401123447,679,663,635,879.401123447,787,803,652.401123447,631.598876553,653,0.40173806037,0.00447853755903,0.069810760947,0.99999994779,6.75598104725e-05,-0.000314104730005,3.45670040941e-05,1793239782995004416
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.979431704,745,714.979431704,679,663,635,879.979431704,787,803,652.979431704,631.020568296,653,0.401598835877,0.00449319460633,0.069809244697,0.999999942951,0.000114704363473,-0.000315721665989,3.55015355238e-05,1793239783011670784
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.193694053,745.806305947,714.806305947,679.806305947,663.806305947,635,879,787,803,652,631,653,0.400987682998,0.00449316922554,0.0698395015156,0.999999965665,3.46422828663e-05,-0.000258910989296,2.08402507722e-05,1793239783495003904
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,746,714.610854295,679.610854295,664,635,879,787,803,652.389145705,631.389145705,653,0.400987088952,0.00449287145165,0.069839269216,0.999999965516,3.51233709675e-05,-0.000259413081475,2.09694012966e-05,1793239783511670784
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,746,714.03250823,679.03250823,664,635,879,787,803,652.96749177,631.96749177,653,0.400986476579,0.0044916684013,0.069839076262,0.999999965419,3.54802276767e-05,-0.000259731143687,2.10286660488e-05,1793239783528337664
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.542754093,746,714.542754093,679.542754093,664,635,879,787,803.542754093,653,631.457245907,652.457245907,0.400986899895,0.00449175035316,0.0698394273868,0.999999965545,3.53170796848e-05,-0.000259267081503,2.10683118275e-05,1793239783545004800
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+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.450111513,679,664,635,879,787,803,652.450111513,631,652.549888487,0.400988108762,0.00449248369526,0.069840911942,0.999999966012,3.42737471618e-05,-0.000257622498535,2.07663764824e-05,1793239783628337664
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.973967672,679.026032328,664,635,879,787,803,652.973967672,631,652,0.400990382211,0.00449151469233,0.0698428175205,0.999999966901,3.29544543158e-05,-0.000254313373364,2.0913526779e-05,1793239783645004032
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.400296448,679.599703552,664,635,879,787,803,652.400296448,631,652,0.400989819094,0.00449187992553,0.069842555007,0.999999966758,3.34389066515e-05,-0.000254802085089,2.10267705618e-05,1793239783661670912
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,765.768271765,745,714.768271765,680,664,635,879,787,803.768271765,652.768271765,631,652,0.400986547585,0.00449111936413,0.0698409913777,0.999999965986,3.4629818539e-05,-0.00025764803462,2.11058608904e-05,1793239783695004672
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e938840d608a7b9b21e0c071045995c5a4e31c9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,423 @@
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+276,4.600000000,pose2_to_pose3_retreat,0.622565761383,0.0100908737506,1.06003229666,0.593136211055,0.0187626122773,1.05970043132
+277,4.616666667,pose2_to_pose3_retreat,0.622565689609,0.0100907774375,1.06003233319,0.593136140218,0.0187625191087,1.05970046699
+278,4.633333333,pose2_to_pose3_retreat,0.62256555829,0.0100907227566,1.06003234623,0.593136009763,0.0187624672771,1.05970047784
+279,4.650000000,pose2_to_pose3_retreat,0.622565456655,0.0100906804361,1.06003235633,0.593135908797,0.0187624271617,1.05970048624
+280,4.666666667,pose2_to_pose3_retreat,0.622565411251,0.0100906748776,1.0600323541,0.593135863498,0.018762421954,1.05970048387
+281,4.683333333,pose2_to_pose3_retreat,0.622565249322,0.0100906830909,1.06003233201,0.593135701536,0.0187624300854,1.05970046258
+282,4.700000000,pose2_to_pose3_retreat,0.622564539217,0.0100907191084,1.06003223513,0.593134991287,0.0187624657436,1.05970036922
+283,4.716666667,pose2_to_pose3_retreat,0.622562457547,0.0100907545006,1.06003209111,0.593132907893,0.0187624956062,1.05970023393
+284,4.733333333,pose2_to_pose3_retreat,0.622556603436,0.0100907187269,1.06003221238,0.593127052817,0.0187624562252,1.05970034636
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+286,4.766666667,pose2_to_pose3_retreat,0.622523535498,0.0100906910619,1.06003233804,0.59309398773,0.0187624383021,1.05970047241
+287,4.783333333,pose2_to_pose3_retreat,0.622491083983,0.0100909231894,1.06003209294,0.593061533078,0.0187626601816,1.05970024011
+288,4.800000000,pose2_to_pose3_retreat,0.622447412356,0.010090706031,1.06003235723,0.593017864564,0.0187624528488,1.05970048706
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+292,4.866666667,pose2_to_pose3_retreat,0.622178853801,0.0100906692613,1.06003241096,0.592749305269,0.0187624133051,1.05970053848
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+391,6.516666667,pose2_to_pose3_retreat,0.5756872979,0.0100908576527,1.06003239308,0.546257749789,0.0187625979632,1.05970051734
+392,6.533333333,pose2_to_pose3_retreat,0.575678877977,0.010090745562,1.06003217013,0.54624932929,0.0187624841696,1.05970030085
+393,6.550000000,pose2_to_pose3_retreat,0.575673240439,0.0100907905709,1.0600323227,0.546243690918,0.0187625262411,1.05970045048
+394,6.566666667,pose2_to_pose3_retreat,0.575670057914,0.0100908514619,1.06003248514,0.546240507933,0.018762585445,1.05970060945
+395,6.583333333,pose2_to_pose3_retreat,0.575669194115,0.0100908441181,1.06003245081,0.546239644267,0.0187625785965,1.05970057626
+396,6.600000000,pose2_to_pose3_retreat,0.575668765986,0.0100908404783,1.06003243379,0.546239216205,0.0187625752022,1.05970055981
+397,6.616666667,pose2_to_pose3_retreat,0.575668373843,0.0100908371444,1.06003241821,0.546238824122,0.0187625720932,1.05970054474
+398,6.633333333,pose2_to_pose3_retreat,0.575668306105,0.0100908365685,1.06003241552,0.546238756394,0.0187625715561,1.05970054213
+399,6.650000000,pose2_to_pose3_retreat,0.575668298554,0.0100908365044,1.06003241522,0.546238748845,0.0187625714962,1.05970054184
+400,6.666666667,pose2_to_pose3_retreat,0.575667916773,0.0100908332586,1.06003240004,0.546238367123,0.0187625684694,1.05970052717
+401,6.683333333,pose2_to_pose3_retreat,0.575667573783,0.0100908303426,1.06003238641,0.546238024185,0.01876256575,1.05970051399
+402,6.700000000,pose2_to_pose3_retreat,0.575667385803,0.0100908287444,1.06003237894,0.546237836234,0.0187625642597,1.05970050677
+403,6.716666667,pose2_to_pose3_retreat,0.575667045028,0.0100908261026,1.06003236589,0.546237495511,0.0187625618101,1.05970049416
+404,6.733333333,pose2_to_pose3_retreat,0.575666734767,0.0100908409166,1.06003238786,0.546237185246,0.0187625765847,1.05970051544
+405,6.750000000,pose2_to_pose3_retreat,0.575666669795,0.0100908440187,1.06003239246,0.546237120274,0.0187625796786,1.0597005199
+406,6.766666667,pose2_to_pose3_retreat,0.575666485723,0.0100908528075,1.06003240549,0.546236936199,0.018762588444,1.05970053252
+407,6.783333333,pose2_to_pose3_retreat,0.57566611976,0.010090870281,1.0600324314,0.546236570232,0.0187626058711,1.05970055763
+408,6.800000000,pose2_to_pose3_retreat,0.575665954957,0.0100908781498,1.06003244307,0.546236405427,0.018762613719,1.05970056893
+409,6.816666667,pose2_to_pose3_retreat,0.575665852954,0.0100908830201,1.06003245029,0.546236303422,0.0187626185764,1.05970057593
+410,6.833333333,pose2_to_pose3_retreat,0.575665702302,0.0100908902132,1.06003246095,0.546236152768,0.0187626257504,1.05970058626
+411,6.850000000,pose2_to_pose3_retreat,0.575665592436,0.010090895459,1.06003246873,0.5462360429,0.0187626309822,1.0597005938
+412,6.866666667,pose2_to_pose3_retreat,0.575665493243,0.0100909001951,1.06003247575,0.546235943706,0.0187626357057,1.0597006006
+413,6.883333333,pose2_to_pose3_retreat,0.575665354295,0.0100909068294,1.06003248559,0.546235804757,0.0187626423224,1.05970061013
+414,6.900000000,pose2_to_pose3_retreat,0.57566534296,0.0100909073706,1.06003248639,0.546235793422,0.0187626428621,1.05970061091
+415,6.916666667,pose2_to_pose3_retreat,0.57566517069,0.0100909154638,1.06003249755,0.546235621147,0.0187626509277,1.05970062171
+416,6.933333333,pose2_to_pose3_retreat,0.5756648664,0.010090905388,1.06003232491,0.546235316489,0.0187626397286,1.05970045238
+417,6.950000000,pose2_to_pose3_retreat,0.575664715626,0.0100909003955,1.06003223937,0.546235165533,0.0187626341795,1.05970036847
+418,6.966666667,pose2_to_pose3_retreat,0.575664642719,0.0100908979814,1.060032198,0.546235092537,0.0187626314963,1.0597003279
+419,6.983333333,pose2_to_pose3_retreat,0.575664641856,0.0100908979528,1.06003219752,0.546235091673,0.0187626314645,1.05970032742
+420,7.000000000,pose2_to_pose3_retreat,0.575664483672,0.0100908883298,1.06003211373,0.546234933387,0.0187626215578,1.05970024524
+421,7.016666667,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab95b26e25693d2bd07b3d86d094c261ecc1d07a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e480cb85e01ff042747c4c3afe74d43671b480818a02919d1a6a2d69a1de5d2
+size 26293950
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..35307756926940b76a170f10a2575ec517d93dbe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/franka_data.csv
@@ -0,0 +1,417 @@
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+1,0.016666667,BASELINE,766,745,715,680,661,635.424573737,879,787.575426263,804,652.575426263,631,653,0.401042614278,0.00448670060206,0.0798702717883,0.999999984425,0.00010497146998,-0.000133265970612,4.87030409101e-05,1793239785067992832
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+9,0.150000000,BASELINE,765.20691594,745.79308406,715,680,661.79308406,635,879,787,802.20691594,652,631,652.79308406,0.401041444574,0.00448785780704,0.0798704631383,0.999999984349,0.000105121706946,-0.000133816002658,4.84215355462e-05,1793239785201325824
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+21,0.350000000,BASELINE,765,745.820841967,715,680,661,635,878.820841967,788,804,652,631,653,0.401044105987,0.00448833663639,0.079873500142,0.99999998475,0.000105881733968,-0.000130090550445,4.86390896752e-05,1793239785401325568
+22,0.366666667,BASELINE,765,745.235216834,715,680,661,635,878.235216834,788,804,652,631,653,0.401042504553,0.00448819846087,0.0798717707929,0.999999984528,0.000105049053728,-0.000132620784575,4.81680549048e-05,1793239785417992448
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+27,0.450000000,BASELINE,766.311934625,746,715,680.344032688,661,635.344032688,878.344032688,787.344032688,803.655967312,652,631,653,0.401042038744,0.00448733977932,0.0798715169585,0.999999984026,0.000107616731251,-0.000134193237098,4.8571263836e-05,1793239785501325568
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+40,0.666666667,BASELINE,765,745,715,680,661,635,878.195325875,787,804,652.804674125,631.195325875,653,0.401041860533,0.00448842507138,0.0798712279903,0.999999983855,0.000109913078906,-0.000133819086099,4.79753661291e-05,1793239785717992448
+41,0.683333333,BASELINE,765,745,715,680,661,635,878.763986554,787,804,652.236013446,631.763986554,653,0.401040821546,0.00449037489872,0.0798701732594,0.999999983701,0.000110718992371,-0.000134349223848,4.78439109619e-05,1793239785734659328
+42,0.700000000,BASELINE,765.349380139,745,715,680,661.349380139,635,879,787.349380139,804,652,632,653,0.401040759004,0.0044903425875,0.0798702223462,0.999999983626,0.000111018709984,-0.000134606180561,4.80097707786e-05,1793239785751325952
+43,0.716666667,BASELINE,765.946645706,745,715,680,661.946645706,635,879,787.946645706,804,652,632,653,0.401041389251,0.00448890394764,0.0798710545922,0.999999983605,0.000110959281288,-0.000134669315134,4.83865757699e-05,1793239785767992064
+44,0.733333333,BASELINE,766,745,715,680,662,635.526743212,879.526743212,788,804,652,632,653,0.401041301643,0.00448905381458,0.0798706551461,0.99999998356,0.000110721983078,-0.000135338723957,4.80073081424e-05,1793239785784658688
+45,0.750000000,BASELINE,766,745,714.895592406,680,661.895592406,635.895592406,879.895592406,787.895592406,803.895592406,652,631.895592406,653,0.401041281545,0.00448921566029,0.0798704582488,0.999999983582,0.000110280324561,-0.00013563931859,4.77097557752e-05,1793239785801325568
+46,0.766666667,BASELINE,766,745,714.321299262,680,661.321299262,635.321299262,879.321299262,787.321299262,803.321299262,652,631.321299262,653,0.401041882181,0.00448873013804,0.0798717166761,0.999999983923,0.000108997468253,-0.0001340124157,4.81137458925e-05,1793239785817992704
+47,0.783333333,BASELINE,766,745,714.259549972,680,661.259549972,635,879,787,803,652,631,653,0.401041342762,0.00448794004306,0.0798719428901,0.999999984049,0.000107553626399,-0.000134173336331,4.82820512452e-05,1793239785834659840
+48,0.800000000,BASELINE,766,745,714.848725442,680,661.848725442,635,879,787,803,652,631,653,0.401039355484,0.00448676314415,0.0798708582049,0.999999983902,0.000105905334567,-0.000136604772195,4.81510396939e-05,1793239785851325952
+49,0.816666667,BASELINE,766,745,715,680,661.569570166,635,879,787,803,652,631,653,0.401039591166,0.00448683265807,0.0798708226258,0.999999983913,0.000106354331689,-0.000136205936521,4.80736283783e-05,1793239785867992576
+50,0.833333333,BASELINE,766,745,715,680,661,635,879,787.009485186,803.009485186,652,631,652.990514814,0.401040573928,0.00448734158087,0.079871137724,0.999999983974,0.000107513358446,-0.00013486181204,4.80094508569e-05,1793239785884659712
+51,0.850000000,BASELINE,766,745,715,680,661,635,879,787.584480838,803.584480838,652,631,652.415519162,0.401040313692,0.00448837699905,0.0798707528504,0.999999983881,0.000107808673889,-0.000135451732356,4.76303216285e-05,1793239785901326336
+52,0.866666667,BASELINE,765.840143299,745,715,680,661.159856701,635,879,787.840143299,803.840143299,652.159856701,631,652.159856701,0.401040529502,0.00448891765311,0.0798707471854,0.999999983895,0.00010780763712,-0.000135398719822,4.74844604128e-05,1793239785917992960
+53,0.883333333,BASELINE,765.263776825,745,715,680,661.736223175,635,879,787.263776825,803.263776825,652.736223175,631,652.736223175,0.40104198566,0.0044881691895,0.0798717295558,0.999999984188,0.000107034448822,-0.000133670533084,4.79463836096e-05,1793239785934659328
+54,0.900000000,BASELINE,765,745,715,680,661.679513479,635,879,787,803.320486521,652.679513479,631,652.679513479,0.401042571764,0.00448799382333,0.0798719498914,0.99999998418,0.00010777973304,-0.000133056817122,4.81533055875e-05,1793239785951325952
+55,0.916666667,BASELINE,765,745,715,680,661.088586438,635,879,787,803.911413562,652.088586438,631,652.088586438,0.401042423679,0.00448830206185,0.0798715271886,0.999999983917,0.000109806370714,-0.000133383540352,4.81450463785e-05,1793239785967992576
+56,0.933333333,BASELINE,765.493032218,745.493032218,715,680,661.493032218,635,879,787,803.506967782,652,631,652.493032218,0.401041651625,0.00448857887984,0.079871159828,0.999999983707,0.000110541161083,-0.000134296886241,4.82900751827e-05,1793239785984659200
+57,0.950000000,BASELINE,766,746,715,680,662,635,879,787.072229993,803.072229993,652,631,653,0.401040827159,0.00448886514687,0.0798708557412,0.999999983539,0.000110885946433,-0.000135219019765,4.84023541e-05,1793239786001325824
+58,0.966666667,BASELINE,766,746,715,680,662,635,879,787.646015629,803.646015629,652,631,653,0.401040402822,0.00448925550217,0.0798709232518,0.999999983604,0.000110104497299,-0.000135483834165,4.80995157621e-05,1793239786017992960
+59,0.983333333,BASELINE,766,746,715,680,661.774651732,635,879,787.774651732,804,652,631,653,0.401039992101,0.00448896068938,0.0798706661783,0.999999983661,0.00010914585018,-0.000135880891212,4.79814980192e-05,1793239786034660096
+60,1.000000000,BASELINE,766,746,715,680,661.186385691,635,879,787.186385691,804,652,631,653,0.401039603306,0.00448756243051,0.0798698863699,0.999999983704,0.000107901829998,-0.000136490921793,4.81611291943e-05,1793239786051326720
+61,1.016666667,BASELINE,766,745.60410306,715,680,661.39589694,635,879,787,803.60410306,652,631,652.60410306,0.401040051581,0.00448855503424,0.0798707274411,0.999999983632,0.000109743314041,-0.000135581665559,4.80666747472e-05,1793239786067992832
+62,1.033333333,BASELINE,766,745.024595474,715,680,661.975404526,635,879,787,803.024595474,652,631,652.024595474,0.401040888076,0.00449065648176,0.0798723202504,0.999999983495,0.000113015805492,-0.000133967788448,4.78451037769e-05,1793239786084659200
+63,1.050000000,BASELINE,766,745,715,680,662,635,879,787,803,652,631,652.551463569,0.401040271301,0.00448892862483,0.0798712194285,0.999999983811,0.000108669232362,-0.000135193726021,4.78728086048e-05,1793239786101325568
+64,1.066666667,BASELINE,766,745,715,680,661.870293265,635,879,787,803.129706735,652,631,652.870293265,0.401039789756,0.00448756055194,0.0798704877758,0.999999984044,0.000105428071668,-0.000136009062378,4.79337827585e-05,1793239786117992192
+65,1.083333333,BASELINE,766,745,715,680,661.283820407,635,879,787,803.716179593,652,631,652.283820407,0.40104001126,0.00448805716793,0.0798714765999,0.999999983987,0.000107268878874,-0.000134935200621,4.80730075151e-05,1793239786134658816
+66,1.100000000,BASELINE,765.700930822,745.299069178,715,680,661.299069178,635.299069178,879,787,804,652.299069178,631,652,0.401040113631,0.00448853670667,0.079871952766,0.999999983949,0.000108227511993,-0.00013441812767,4.81662568036e-05,1793239786151325696
+67,1.116666667,BASELINE,765.12140158,745.87859842,715,680,661.87859842,635.87859842,879,787,804,652.87859842,631,652,0.401040104282,0.00448900023072,0.0798719481734,0.999999983932,0.000108358862826,-0.000134423198271,4.82163913676e-05,1793239786167992832
+68,1.133333333,BASELINE,765.456446018,745.543553982,715,680,661.543553982,635.543553982,879,787,803.543553982,653,631.456446018,652.456446018,0.401040738597,0.00448764379885,0.0798718754735,0.999999984126,0.000106720207398,-0.000134240419245,4.83601071442e-05,1793239786184659200
+69,1.150000000,BASELINE,765.966312593,745.033687407,715,680,661,635,879,787,803.033687407,652.966312593,631.966312593,652.966312593,0.401041412396,0.00448597428858,0.0798717622999,0.99999998433,0.00010487796358,-0.000134118061133,4.85078502016e-05,1793239786201325568
+70,1.166666667,BASELINE,765.391650647,745.608349353,715,680,661,635,879,787,803.608349353,652.391650647,631.391650647,652.391650647,0.401039981156,0.00448702192113,0.0798712890017,0.99999998386,0.000107298566506,-0.000135765369709,4.83220341652e-05,1793239786217992192
+71,1.183333333,BASELINE,765,745.812169388,715,680,661.187830612,635,879,787,804,652,631,652.187830612,0.40103918281,0.00448770815177,0.0798710251584,0.999999983544,0.000109374910406,-0.000136461815125,4.82411383692e-05,1793239786234658816
+72,1.200000000,BASELINE,765,745.222374519,715,680,661.777625481,635,879,787,804,652,631,652.777625481,0.401039738878,0.00448762096952,0.079871209556,0.999999983571,0.000110714528076,-0.000135123379525,4.83847756228e-05,1793239786251325440
+73,1.216666667,BASELINE,765,745,715,680.360042604,661.639957396,635,879,787,803.639957396,652,631,652.639957396,0.401040094166,0.0044877409919,0.0798711922747,0.999999983698,0.000110071756656,-0.000134735927169,4.83195117844e-05,1793239786267992320
+74,1.233333333,BASELINE,765,745,715,680.937994446,661.062005554,635,879,787,803.062005554,652,631,652.062005554,0.401040327934,0.00448798642113,0.0798710529309,0.999999983883,0.000108229180217,-0.0001349240402,4.81278143514e-05,1793239786284658944
+75,1.250000000,BASELINE,765.512965064,745,715,681,661.512965064,635,879,787.512965064,803,652.512965064,631,652.512965064,0.401040299853,0.00448753538134,0.0798712671949,0.999999983961,0.000107355366337,-0.000135150253058,4.78320111412e-05,1793239786301325568
+76,1.266666667,BASELINE,766,745,715,680.912425656,661.912425656,635,879,787.912425656,803,653,631,653,0.401040354691,0.00448711192985,0.0798715809348,0.999999984041,0.000106739666532,-0.000135115995096,4.7630752034e-05,1793239786317992448
+77,1.283333333,BASELINE,766,745,715,680.337833402,661.337833402,635,879,787.337833402,803,653,631,653,0.401041045667,0.00448730737676,0.0798722115521,0.999999984206,0.000106911931333,-0.000133607744954,4.80248485465e-05,1793239786334659072
+78,1.300000000,BASELINE,766,745.243714416,715,680,661,635,879,787.243714416,803,653,631,652.756285584,0.401041702252,0.00448778196901,0.079872455403,0.999999984191,0.000108184049225,-0.000132618032042,4.82390720278e-05,1793239786351325696
+79,1.316666667,BASELINE,766,745.835187145,715,680,661,635,879,787.835187145,803,653,631,652.164812855,0.401042309764,0.00448865487626,0.0798721473734,0.999999983915,0.000111025557454,-0.00013236822474,4.8196633015e-05,1793239786367992320
+80,1.333333333,BASELINE,766,745.581333256,715,680,661.418666744,635,879,788,803.418666744,652.581333256,631.418666744,652.418666744,0.401041922782,0.00448864561336,0.0798718091206,0.999999983842,0.000110563154188,-0.000133323833716,4.81398594712e-05,1793239786384658944
+81,1.350000000,BASELINE,766,745.000941245,715,680,661.999058755,635,879,788,803.999058755,652.000941245,631.999058755,652.999058755,0.401041151641,0.00448829558019,0.079871459193,0.999999983845,0.000108824495097,-0.000134745078581,4.80775486894e-05,1793239786401325568
+82,1.366666667,BASELINE,766,745,715,680,662,635,878.427160318,787.427160318,804,652.572839682,632,652.427160318,0.401041806126,0.00448692284846,0.0798722511891,0.999999984084,0.000108232389996,-0.000133400300245,4.81926898357e-05,1793239786417992192
+83,1.383333333,BASELINE,766,745,715,680,661.853567742,635,878.146432258,787.146432258,803.853567742,653,631.853567742,652.146432258,0.401041700675,0.00448598719165,0.0798724329528,0.999999984184,0.000107424288119,-0.000133269935175,4.82824712366e-05,1793239786434659072
+84,1.400000000,BASELINE,766,745,715,680,661.280492521,635,878.719507479,787.719507479,803.280492521,653,631.280492521,652.719507479,0.401039374341,0.00448632983003,0.0798708313477,0.999999983875,0.000105981434579,-0.000136690958076,4.82975250314e-05,1793239786451325952
+85,1.416666667,BASELINE,766,745,715,680,661,635,879,787.696707995,803.303292005,653,631,653,0.401039709767,0.00448744021878,0.0798709489541,0.99999998381,0.000106996529347,-0.000136391172048,4.82560973216e-05,1793239786467992832
+86,1.433333333,BASELINE,766,745,715,680,661,635,879,787.102656732,803.897343268,653,631,653,0.401042596963,0.0044892866326,0.07987271473,0.999999983968,0.000110368004236,-0.000132524329563,4.81605220558e-05,1793239786484659712
+87,1.450000000,BASELINE,766,745,715,680,661,635,879,787,804,653,631,653,0.401041667962,0.00448956316115,0.0798722630523,0.999999983895,0.000110592377273,-0.000132952839239,4.79874682981e-05,1793239786501326080
+88,1.466666667,BASELINE,765.941040992,745.058959008,715,680,661.058959008,635,879,787,803.941040992,653,631,652.941040992,0.401040145589,0.00448943158034,0.0798714549089,0.999999983783,0.000110189179392,-0.000134181049318,4.78235734108e-05,1793239786517992192
+89,1.483333333,BASELINE,765.365588876,745.634411124,715,680,661.634411124,635,879,787,803.365588876,653,631,652.365588876,0.401040409119,0.00448859790207,0.0798715821839,0.999999983746,0.000110047797154,-0.000134553936971,4.78817044105e-05,1793239786534659072
+90,1.500000000,BASELINE,765.213844611,746,715,680,662,635,879,787,803,652.786155389,631,652.213844611,0.40104063701,0.0044876333132,0.07987141978,0.999999983756,0.000109385484366,-0.00013500781842,4.79184691214e-05,1793239786551325696
+91,1.516666667,BASELINE,765.800213717,746,715,680,662,635,879,787,803,652.199786283,631,652.800213717,0.401040802818,0.00448644067379,0.0798707527461,0.999999983846,0.000107815693073,-0.000135602793745,4.79180130337e-05,1793239786567992320
+92,1.533333333,BASELINE,765.619420203,745.619420203,715,680,662,635,879,787,803.380579797,652,631,652.619420203,0.401040467759,0.00448685873638,0.0798706352186,0.999999983866,0.000107247069142,-0.000135956151471,4.77771335934e-05,1793239786584658944
+93,1.550000000,BASELINE,765.04215644,745.04215644,715,680,662,635,879,787,803.95784356,652,631,652.04215644,0.401039873853,0.00448810921103,0.0798708016766,0.99999998385,0.000107195849219,-0.000136184641066,4.75636832439e-05,1793239786601325824
+94,1.566666667,BASELINE,765.534192703,745,714.465807297,680,661.465807297,635,878.465807297,787,803.465807297,652,631,652.534192703,0.401041558835,0.0044892841407,0.0798722173988,0.999999983902,0.000109461328001,-0.000133953848745,4.7656522817e-05,1793239786617992448
+95,1.583333333,BASELINE,766,745,714.112996189,680,661,635,878.112996189,787,803.112996189,652,631,653,0.401043021749,0.00448994278369,0.0798733663201,0.999999983974,0.000111004724866,-0.000132086611966,4.77805864684e-05,1793239786634658816
+96,1.600000000,BASELINE,766,745,714.702452675,680,661,635,878.702452675,787,803.702452675,652,631,653,0.401042791266,0.00448844954528,0.0798729752555,0.999999984152,0.000108733805179,-0.000132569292302,4.79345634538e-05,1793239786651325440
+97,1.616666667,BASELINE,766,745,715,680,661,635,879,787,803.713251436,652,631,652.713251436,0.401041773391,0.004487725959,0.0798721687385,0.999999984037,0.000108192305369,-0.000133826792874,4.8069814928e-05,1793239786667992064
+98,1.633333333,BASELINE,766,745,715,680,661,635,879,787,803.134215855,652,631,652.134215855,0.401039952918,0.00448778689054,0.0798709387451,0.999999983623,0.000109413628735,-0.000135874079043,4.81859792048e-05,1793239786684658944
+99,1.650000000,BASELINE,765.55749253,745,715,680,661.44250747,635,879,787,803.44250747,652,631,652.44250747,0.401040749295,0.00448782906496,0.0798717134859,0.999999983935,0.000108222997439,-0.00013463341502,4.78691690862e-05,1793239786701325568
+100,1.666666667,BASELINE,765.018439303,745.018439303,715,680,661.981560697,635,879,787,804,652,631.018439303,652.981560697,0.401042276653,0.0044878697721,0.0798730404291,0.999999984433,0.000106442182606,-0.000132487984603,4.74494423727e-05,1793239786717992448
+101,1.683333333,BASELINE,765.591549429,745.591549429,715,680,661.408450571,635,879,787,804,652,631.591549429,652.408450571,0.401042041117,0.00448803658774,0.0798727824752,0.999999984095,0.000108799828148,-0.000132968909652,4.78637131517e-05,1793239786734659328
+102,1.700000000,BASELINE,766,745.829495175,715,680,661,635,879,787,803.829495175,652,631.829495175,652,0.401041784519,0.00448790971307,0.0798725074537,0.999999983895,0.00010985243463,-0.000133498087428,4.81767392359e-05,1793239786751325952
+103,1.716666667,BASELINE,766,745.236040231,715,680,661,635,879,787,803.236040231,652,631.236040231,652,0.401041475674,0.00448705431735,0.0798721900943,0.999999984043,0.000107667792618,-0.000134146959674,4.8238620132e-05,1793239786767992576
+104,1.733333333,BASELINE,766,745,715,680,661.348055422,635,879.348055422,787,803,652.348055422,631.348055422,652.348055422,0.401040974598,0.0044876477066,0.0798720768822,0.999999983913,0.000108106734995,-0.000134785020071,4.81646882154e-05,1793239786784658944
+105,1.750000000,BASELINE,766,745,715,680,661.925970163,635,879.925970163,787,803,652.925970163,631.925970163,652.925970163,0.401040346572,0.004489197888,0.0798720984909,0.999999983599,0.000110278318806,-0.000135415940279,4.80010641505e-05,1793239786801325568
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680,661,635,879,787,803,652,631,653,0.401040487285,0.00448907340134,0.0798732391992,0.999999983784,0.000110524390613,-0.000133745253026,4.82455444163e-05,1793239786834852864
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.371063474,715,680,661,635,879,787,803,652,631,653,0.401042260618,0.00448906220997,0.0798736006558,0.999999983936,0.000110818364175,-0.000132351665379,4.82779646966e-05,1793239786851520256
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,803.242615062,652,631,652.757384938,0.401042587033,0.00448906681768,0.0798731400858,0.999999983897,0.000111164739131,-0.000132357558865,4.82667332468e-05,1793239786868187392
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,803.834338375,652,631,652.165661625,0.401040831424,0.00448909415929,0.0798714966699,0.999999983584,0.000111586516531,-0.000134377219983,4.81926896293e-05,1793239786884854528
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.584321998,745,715,679.584321998,661,635,879,787.415678002,804,652,631.415678002,652,0.401040608373,0.00448888510354,0.0798715993068,0.999999983588,0.000111438874952,-0.000134467844685,4.81986731699e-05,1793239786901520896
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.007019799,745,715,679.007019799,661,635,879,787.992980201,804,652,631.992980201,652,0.401040981214,0.0044885841316,0.0798723808452,0.999999983716,0.000111069831482,-0.000133808420043,4.82357729278e-05,1793239786918187264
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.568931913,745,715,679.568931913,661,635,879,787.431068087,803.431068087,652.568931913,632,652.568931913,0.401041118833,0.00448756515805,0.0798721618309,0.999999983867,0.000108912887129,-0.000134441324499,4.82556480077e-05,1793239786934853376
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.852542744,745,715,680,661.147457256,635,879,787,803,652.852542744,631.852542744,652.852542744,0.401040749083,0.00448726337349,0.0798717483492,0.999999983825,0.000107907172081,-0.000135588701768,4.81915343391e-05,1793239786951519488
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.266309838,745,715,680,661.733690162,635,879,787,803,652.266309838,631.266309838,652.266309838,0.401038878217,0.00448912196434,0.079870792856,0.999999983208,0.000110392556354,-0.000138219615525,4.78781336043e-05,1793239786968186112
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879,787,803,652,631,652,0.401039867279,0.00448939942792,0.0798713669597,0.999999982794,0.000111354832546,-0.000140382768313,4.80153523512e-05,1793239786984852480
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879,787,803,652,631,652,0.401043236998,0.00448836073217,0.0798732143276,0.999999982552,0.000111049245608,-0.00014215654819,4.85276750072e-05,1793239787001519104
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.475486262,745,715,680,662,635,879,787,803.475486262,652.475486262,631,652.475486262,0.40105726543,0.00448795131577,0.0798792771303,0.999999983025,0.000110332957995,-0.000139345584708,4.85779250166e-05,1793239787018186240
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.05465926,715,680,661.94534074,635,878.94534074,787,803.94534074,652.94534074,631,652.94534074,0.401076291074,0.00448774844429,0.0798869960907,0.999999983809,0.000109531196963,-0.000134282205501,4.85141916616e-05,1793239787034853120
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.626961045,715,680,661.373038955,635,878.373038955,787,803.373038955,652.373038955,631,652.373038955,0.401120476207,0.00448819297763,0.0799016330303,0.999999986022,0.000108774065802,-0.000117422084302,4.83319214915e-05,1793239787051519744
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.794539853,745.794539853,715,680,661,635,878.410920294,787,803,652,631,652,0.40117158624,0.00448817756379,0.0799150137393,0.999999987938,0.000107937051944,-0.000100926021289,4.78278138803e-05,1793239787068186368
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.204438682,745.204438682,715,680,661,635,879.591122636,787,803,652,631,652,0.401235660354,0.00448730108498,0.0799260426669,0.999999989567,0.000106950489943,-8.51115071021e-05,4.6721195814e-05,1793239787084852736
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.378874479,635,879.621125521,787,803,652,631,652.378874479,0.401310118241,0.00448938475497,0.0799337684762,0.999999990559,0.000106548047263,-7.44431231047e-05,4.45950621303e-05,1793239787101519360
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.958589299,635,879.041410701,787,803,652,631,652.958589299,0.401390080535,0.00449303759191,0.0799397433107,0.999999991243,0.000106455244724,-6.6502689808e-05,4.19284860325e-05,1793239787118185984
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.534568799,715,680,661.465431201,635,879,787,803.534568799,652,631,652.465431201,0.401483785113,0.00449331085446,0.0799412867698,0.999999991363,0.000105671156851,-6.75673960222e-05,3.92715519377e-05,1793239787134852864
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.110260259,745.889739741,715,680,661,635,879,787,804,652,631,652.110260259,0.401584770144,0.00449328390504,0.0799432603773,0.999999991639,0.000104174874016,-6.74294804789e-05,3.63614292668e-05,1793239787151519488
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.685948791,745.314051209,715,680,661,635,879,787,804,652,631,652.685948791,0.401712024773,0.00449308714684,0.0799484887058,0.999999992728,9.98967680341e-05,-5.92908698322e-05,3.23794214178e-05,1793239787168186112
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.268376727,715,680,661.268376727,635.268376727,879,787.268376727,803.731623273,652,631,653,0.401854948726,0.00449423842468,0.079954877201,0.999999993837,9.55961990916e-05,-4.91392143783e-05,2.77894945835e-05,1793239787184852992
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.858894133,715,680,661.858894133,635.858894133,879,787.858894133,803.141105867,652,631,653,0.402016681031,0.00449700779086,0.0799626582792,0.999999994914,9.12686674841e-05,-3.65712411223e-05,2.24698645446e-05,1793239787201519616
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635.559403813,879,787.559403813,803.440596187,652,631,652.559403813,0.402192431878,0.00449915055795,0.0799669833735,0.999999995486,8.81245925925e-05,-3.11480512391e-05,1.71118645189e-05,1793239787218186496
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.98069523,715,680,661.98069523,635.01930477,879,787,803.98069523,652.01930477,631,652.01930477,0.402373318375,0.00450107226052,0.0799700021879,0.999999995907,8.51298015783e-05,-2.83152007445e-05,1.16779375046e-05,1793239787234853120
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.408450744,715,680,661.408450744,635.591549256,879,787,803.408450744,652.591549256,631,652.591549256,0.402575231549,0.00450229721317,0.0799666860181,0.999999996493,7.57678454113e-05,-3.54221047109e-05,4.41434147412e-06,1793239787251521024
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.830661037,745.169338963,715,680,661,635.830661037,879,787,803,652.830661037,631,652.830661037,0.402783883918,0.00450457852466,0.0799618777928,0.999999996637,6.7740711346e-05,-4.61418316005e-05,-2.91091450195e-06,1793239787268187904
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.239043145,745.760956855,715,680,661,635.239043145,879,787,803,652.239043145,631,652.239043145,0.403009341793,0.00450949406815,0.0799533488429,0.999999995789,6.30422082431e-05,-6.5870821428e-05,-1.03899328065e-05,1793239787284853504
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.654958007,715,680.345041993,661,635,879,787.345041993,803.345041993,652,631,652.345041993,0.403274681775,0.00451336075192,0.0799501411886,0.999999995566,5.7584160307e-05,-7.24706008061e-05,-1.73420880218e-05,1793239787301519360
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.075980055,715,680.924019945,661,635,879,787.924019945,803.924019945,652,631,652.924019945,0.403567061523,0.00451651631612,0.0799505413346,0.99999999592,5.16111467989e-05,-7.01688699703e-05,-2.39370334535e-05,1793239787318185984
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.500722079,745.500722079,715,680.499277921,661.500722079,635,878.499277921,787.499277921,803.499277921,652,631,652.499277921,0.403892369995,0.00452220782434,0.0799561300099,0.999999996283,5.26537361527e-05,-6.39332236628e-05,-2.39691012155e-05,1793239787334853120
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.923223799,745.923223799,715,680,661.923223799,635.076776201,878.076776201,787,803.076776201,652,631,652,0.404227665864,0.00452815809851,0.0799615417565,0.999999996543,5.48017730644e-05,-5.79507899977e-05,-2.34929352174e-05,1793239787351520256
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.349140354,745.349140354,715,680,661.349140354,635.650859646,878.650859646,787,803.650859646,652,631,652,0.404595435127,0.00453330323926,0.0799607308369,0.999999996369,5.72458884969e-05,-5.74575835721e-05,-2.61460988735e-05,1793239787368186624
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.232087743,714.767912257,680,661.232087743,635.767912257,879,787,803.767912257,652,631,652,0.404977620578,0.00453729814267,0.079959056801,0.999999996146,6.01085192904e-05,-5.72772144297e-05,-2.85297297358e-05,1793239787384852992
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.824405196,714.175594804,680,661.824405196,635.175594804,879,787,803.175594804,652,631,652,0.405382181754,0.00453950773088,0.0799560430986,0.999999995853,6.36207389521e-05,-5.75824086055e-05,-3.04950111571e-05,1793239787401519872
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.40623881,745.59376119,714.40623881,680,661.59376119,635,878.59376119,787,803,652,631,652.40623881,0.405821876063,0.00453714263972,0.0799525185537,0.999999995888,5.71258969956e-05,-6.32897395425e-05,-3.08934733087e-05,1793239787418187008
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.983654887,745.016345113,714.983654887,680,661.016345113,635,878.016345113,787,803,652,631,652.983654887,0.40627637449,0.00453284991137,0.0799487787543,0.999999995914,4.64143694173e-05,-7.12733744552e-05,-3.06317233658e-05,1793239787434854144
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.442327231,745.557672769,715,680,661,635,878.557672769,787,803.557672769,652,631,653,0.406756189195,0.00454099313682,0.07994543625,0.9999999942,7.00925867706e-05,-7.66974486412e-05,-2.83588133937e-05,1793239787451520512
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.132069228,746,715,680,661.132069228,635.132069228,879,787,803.867930772,652,631.132069228,653,0.407243599974,0.00455040564818,0.0799418978122,0.99999999203,9.11107015448e-05,-8.30232222803e-05,-2.73014282876e-05,1793239787468186624
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.708071134,746,715,680,661.708071134,635.708071134,879,787,803.291928866,652,631.708071134,653,0.407754064995,0.00456286692466,0.0799376618658,0.999999990262,9.98196973349e-05,-9.26305774363e-05,-3.05268027288e-05,1793239787484852992
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.708342041,746,715,680,662,635.708342041,879,787,803,652,631.708342041,653,0.408280217805,0.00457255806943,0.0799306069851,0.999999988212,0.000105282241495,-0.00010692445054,-3.25290989602e-05,1793239787501519360
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.11696058,746,715,680,662,635.11696058,879,787,803,652,631.11696058,653,0.408822492204,0.00457940247619,0.0799206552153,0.999999985736,0.00010740855572,-0.000126034442536,-3.32744936306e-05,1793239787518185728
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.463723725,746,715,680.463723725,662,635,879,787,803,652.463723725,631,652.536276275,0.409461535478,0.00458865378876,0.0799423027312,0.999999988132,0.000119413224861,-9.08451205808e-05,-3.49819212394e-05,1793239787534852352
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.958448437,745.958448437,715,680.958448437,662,635.041551563,879,787,803,652.958448437,631,652.041551563,0.41012500843,0.00459784623322,0.0799713865834,0.999999989565,0.00013293387801,-4.2844345663e-05,-3.69068772815e-05,1793239787551518976
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.3834355,745.3834355,715,680.3834355,662,635.6165645,879,787,803,652.3834355,631,652.6165645,0.410795836917,0.00459866473261,0.0799959263385,0.999999990188,0.00013465129517,-2.22752420567e-06,-3.85796241059e-05,1793239787568185600
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.196374812,745.196374812,715,680,661.803625188,635.803625188,879.196374812,787,803.196374812,652,631,652.803625188,0.411452731886,0.00459577160155,0.0800058078608,0.999999990627,0.000130367649133,1.26246728738e-05,-3.98914758476e-05,1793239787584852480
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.785786834,745.785786834,715,680,661.214213166,635.214213166,879.785786834,787,803.785786834,652,631,652.214213166,0.412081739334,0.00458544977388,0.079986351448,0.999999992384,0.000114073088316,-2.40901153418e-05,-4.04810087655e-05,1793239787601519360
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,661.369021955,635,880,787,804,652,631,652.369021955,0.412743611652,0.00458134492531,0.0799543578856,0.999999990426,0.00011208105978,-6.90930168594e-05,-4.25716124457e-05,1793239787618185984
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680,661.948730539,635,880,787,804,652,631,652.948730539,0.413424247652,0.00458078955118,0.0799152064552,0.999999984912,0.000118254810094,-0.000118827874994,-4.55192262063e-05,1793239787634852608
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.476317288,745.476317288,715,680.523682712,662,635,880,787,803.476317288,652,631,652.476317288,0.414189706168,0.00459112349348,0.0799240904648,0.999999988329,0.00010709888107,-9.80248940685e-05,-4.7578525508e-05,1793239787651519232
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.098470192,745.098470192,715,680.901529808,662,635,879.901529808,787,803.098470192,652,631,652.098470192,0.41496447864,0.00460098708245,0.079939656348,0.999999991428,0.000100220753334,-6.84307767916e-05,-4.91627362743e-05,1793239787668185856
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.674697769,745.674697769,715,680.325302231,662,635,879.325302231,787,803.674697769,652,631,652.674697769,0.415744512809,0.00460344275318,0.0799650298926,0.999999990901,0.000122255142273,-2.93876998898e-05,-4.8860065687e-05,1793239787684852480
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.743727765,746,715,680.256272235,661.743727765,635,879,787,804,652,631,653,0.416505059503,0.00460665994502,0.0799725667516,0.999999989279,0.000136274210355,-2.12808506727e-05,-4.91826125604e-05,1793239787701519104
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.155221574,746,715,680.844778426,661.155221574,635,879,787,804,652,631,653,0.41724034239,0.00461086438049,0.0799569799467,0.999999987528,0.000139902132996,-5.32800471114e-05,-5.03156978518e-05,1793239787718185728
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.428809558,746,715,681,661.428809558,635,879,787,804,652,631,653,0.418076583477,0.00461323551042,0.0799708288548,0.99999998868,0.000139320408281,-2.17015724851e-05,-5.25281743304e-05,1793239787734852608
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.988938654,745.988938654,715,681,662.011061346,635,879,787.011061346,804.011061346,652.011061346,631,653,0.418948321616,0.00461488740331,0.0799947327912,0.999999988578,0.000137148468753,3.16225324582e-05,-5.50821857822e-05,1793239787751519232
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.415641445,745.415641445,715,681,662.584358555,635,879,787.584358555,804.584358555,652.584358555,631,653,0.41978597439,0.00461336419608,0.079993723668,0.999999989384,0.000130801748885,3.25582239871e-05,-5.53412645339e-05,1793239787768186112
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.160731399,715,680.839268601,662.839268601,635,879,787.839268601,804.839268601,652.839268601,631.160731399,652.839268601,0.420611661701,0.00461234799826,0.0799881119299,0.999999989977,0.000127796817995,2.47528368914e-05,-5.56891131206e-05,1793239787784852480
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.745212712,715,680.254787288,662.254787288,635,879,787.254787288,804.254787288,652.254787288,631.745212712,652.254787288,0.421405803305,0.00461266847287,0.0799703659253,0.999999989473,0.000133602131699,-6.09740239671e-06,-5.62709931331e-05,1793239787801519104
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.671722979,715,680.328277021,662.328277021,635.328277021,879.328277021,787,804,652,631.671722979,652.328277021,0.42224750733,0.00461311101774,0.0799774089435,0.999999988818,0.000138909125049,1.83125461208e-06,-5.53535629966e-05,1793239787818185728
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.089753668,715,680.910246332,662.910246332,635.910246332,879.910246332,787,804,652,631.089753668,652.910246332,0.423125967649,0.00461364789845,0.0800036089021,0.999999987448,0.000143831017252,3.97282166846e-05,-5.32774668839e-05,1793239787834852608
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+168,2.800000000,POSE1_TO_POSE2_PRESS,765.065029392,746,715,681,662.934970608,635,879.934970608,787,804,652,631,653,0.424821925237,0.0046196890391,0.0799994966727,0.999999987732,0.000145213538886,2.10524812021e-05,-5.48318500493e-05,1793239787868185856
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.639677865,746,715,681,662.360322135,635,879.360322135,787,804,652,631,653,0.425646261062,0.00462055928211,0.0799519843781,0.999999986792,0.000141367678948,-5.83510155025e-05,-5.50059750187e-05,1793239787884852736
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,714.779659924,681,662.220340076,635,879,787,804.220340076,652,631,653,0.426487123332,0.00462019415564,0.07992317349,0.999999983952,0.000137802073599,-9.97526054921e-05,-5.61716125292e-05,1793239787901519360
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,714.188887543,681,662.811112457,635,879,787,804.811112457,652,631,653,0.427355769552,0.00461775214518,0.0799258031179,0.999999986201,0.000134707629301,-7.72659776507e-05,-5.90041659241e-05,1793239787918185984
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.606580936,714,681.393419064,663,635,879.393419064,787,804.606580936,652,631,652.606580936,0.428197507755,0.00461671319599,0.079930965017,0.999999985908,0.00013773900226,-7.64531888307e-05,-5.80269072947e-05,1793239787934852608
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.028253294,714,681.971746706,663,635,879.971746706,787,804.028253294,652,631,652.028253294,0.429026599055,0.00461633369143,0.0799373170938,0.999999984472,0.000143649534607,-8.58271940887e-05,-5.5259021275e-05,1793239787951518976
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.547778749,714.547778749,681.452221251,663,635,879.452221251,787,804,652,631,652.547778749,0.429900334215,0.0046205549633,0.0799601995483,0.999999987361,0.000142011281107,-4.40610767784e-05,-5.62945670371e-05,1793239787968185856
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.876819764,715,681.123180236,663.123180236,635,879.123180236,787,804,652,631,652.876819764,0.430776842372,0.00462387870307,0.0799869391257,0.999999988404,0.000141253048676,1.52933149501e-06,-5.69038517687e-05,1793239787984852480
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.303292649,715,681.696707351,663.696707351,635,879.696707351,787,804,652,631,652.303292649,0.431655105091,0.00462305712219,0.0800246762308,0.999999986617,0.000145129699628,5.14981435875e-05,-5.52405105633e-05,1793239788001519104
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.719902124,745.280097876,715,682,663.719902124,635,880,787,804,652,631,652.280097876,0.432465962562,0.00462259751131,0.0800237994244,0.999999987306,0.000143903960513,4.1220081868e-05,-5.45975478555e-05,1793239788018185728
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.125441507,745.874558493,715,682,663.125441507,635,880,787,804,652,631,652.874558493,0.433201169096,0.00462254415077,0.0799795850039,0.999999988432,0.00013695164717,-3.66749530228e-05,-5.50997879953e-05,1793239788034852096
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.454157226,746,715,682,663,635.454157226,880,787,804,652,631,652.545842774,0.43395169024,0.0046245073468,0.0799351821351,0.99999998496,0.000136827371272,-9.00615632331e-05,-5.69927610151e-05,1793239788051518976
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.970238725,745.970238725,714.970238725,682,663,635.970238725,880,787,804,652,631,652.029761275,0.434708736255,0.00462672513536,0.0798947894966,0.999999980034,0.000138136870944,-0.000131706141911,-5.91965336351e-05,1793239788068185600
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.394996887,745.394996887,714.394996887,682,663,635.394996887,880,787,804,652,631,652.605003113,0.435510301346,0.00462372395651,0.0799288222368,0.999999986374,0.000132253942247,-7.82782702821e-05,-6.02793573656e-05,1793239788084852224
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.184272565,745.184272565,714,682,662.815727435,635,880,787,804,652,631,653,0.436289834456,0.00462269562605,0.0799561737785,0.999999988903,0.000129556884394,-4.19083201226e-05,-6.04320020465e-05,1793239788101519104
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+188,3.133333333,POSE1_TO_POSE2_PRESS,765.339579951,746,714,683,661.339579951,635,880,787,804,652,631.339579951,653,0.440252145875,0.00465725280663,0.0798288410624,0.999999950809,0.000166456988904,-0.000259466281851,-5.7891406028e-05,1793239788201520640
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714,683,661,634.758322918,880.241677082,787,804.241677082,652,631,653,0.440805503799,0.00466654700672,0.0797698729208,0.999999921766,0.00017241199552,-0.000351033655382,-5.93087438811e-05,1793239788218186752
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714,683,661,634.165566196,880.834433804,787,804.834433804,652,631,653,0.441336638982,0.00467547504212,0.0797056622712,0.999999878198,0.000190973090217,-0.000450986527027,-6.11928326443e-05,1793239788234853376
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765.994761024,746,714,683,660.005238976,634,880.005238976,787,805,652,631,653,0.442475513946,0.00468593943072,0.0797073492883,0.999999879874,0.0002062421629,-0.00044056343022,-6.01613293703e-05,1793239788268186880
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+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,683,656,632,881,786,805,652,631,653,0.449100493248,0.00480740030689,0.0796258913073,0.999999781583,0.000347775539817,-0.000557625138003,-7.02929629712e-05,1793239788684852992
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.075055112,713.924944888,683.075055112,656,632,881,786,804.924944888,652,631,653,0.449151680384,0.0048081791488,0.0796244755497,0.999999780192,0.000348764326988,-0.000559486299005,-7.03873338185e-05,1793239788701519360
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.651789525,713.348210475,683.651789525,656,632,881,786,804.348210475,652,631,653,0.449186071946,0.00480960186026,0.0796181582629,0.999999775261,0.000349460951066,-0.00056776463348,-7.07014124946e-05,1793239788718185984
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.766830417,713,683.766830417,656,632,881,785.766830417,804,652,631,653,0.449216476646,0.00481069003786,0.0796140428938,0.999999771935,0.000350001517638,-0.000573240399011,-7.08883429179e-05,1793239788734852608
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.17837167,713,683.17837167,656,632,881,785.17837167,804,652,631,653,0.449240806415,0.00481126847364,0.0796132826692,0.999999771137,0.000350304293546,-0.000574445785313,-7.08815327973e-05,1793239788751519232
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+223,3.716666667,POSE1_TO_POSE2_PRESS,764.014721354,745,713,683.985278646,656,632,881.985278646,785,804.985278646,652,631,653,0.449277886311,0.0048126839665,0.079613526862,0.999999770123,0.000352930562042,-0.000574622644077,-7.07368686785e-05,1793239788784852736
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.449005274,745.275497363,713.724502637,683.724502637,656,632,881,785,804,652,631,653,0.449296979108,0.00481049904373,0.0796080984821,0.999999767244,0.000349200545243,-0.000581964882236,-6.99177484769e-05,1793239788834853120
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,684.19560117,655.19560117,632,880,785.80439883,804.19560117,652,631,653,0.449304311615,0.00481108916611,0.0796038594347,0.999999764511,0.000347886711046,-0.000587379034761,-7.02765841119e-05,1793239788934852864
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713.950353402,684.049646598,656,632,880.950353402,785.950353402,805,652,631,653,0.449304699047,0.00480993631778,0.0796030040975,0.99999976361,0.00034790147364,-0.000589033459146,-6.9163879993e-05,1793239788984853248
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713.474957647,683.474957647,656,632,881,785.474957647,804.474957647,652,631,653,0.449304617452,0.0048097760338,0.0796028181455,0.999999763677,0.000347006215095,-0.000589403368612,-6.95393526528e-05,1793239789001519616
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.687318623,745,713.687318623,683.687318623,656,632.687318623,881,785,804,652,631,653,0.449305411135,0.00480911667531,0.079602202576,0.999999763379,0.000346080192607,-0.000590407841949,-6.99235757699e-05,1793239789034852864
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.729720385,745.270279615,713.729720385,683.729720385,656,632.729720385,881,785.270279615,804.270279615,652,631,652.729720385,0.449305561731,0.00480921435894,0.0796020249216,0.999999762698,0.00034722506414,-0.000590907094663,-6.97735116214e-05,1793239789051519488
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,713.911545322,684,656,631.088454678,881,785.911545322,804.088454678,652,631,653,0.449307188225,0.00480567821953,0.0796019335504,0.999999762729,0.000344171319367,-0.00059279310565,-6.844956889e-05,1793239789184852480
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+256,4.266666667,HOLD_POSE2,765,745.412621065,713,683.412621065,655,632,881,785.587378935,805.412621065,652,631,653,0.449309700725,0.00480874851696,0.0796028872622,0.99999976251,0.000348613264791,-0.000590600169922,-6.81245967979e-05,1793239789348033792
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+261,4.350000000,HOLD_POSE2,765,745.484144312,713.515855688,683,655,631.484144312,880.515855688,785.484144312,804.484144312,652,631,653,0.44930926652,0.00480603692103,0.0796022259693,0.999999763458,0.000344911343006,-0.000591157122516,-6.82128649604e-05,1793239789431366912
+262,4.366666667,HOLD_POSE2,765,745.939159789,713,683.060840211,655.060840211,632,880,785.939159789,805,652,631,653,0.449309054916,0.00480681339254,0.0796019844521,0.999999763336,0.000344361118524,-0.000591700408398,-6.80692764761e-05,1793239789448033536
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.905379965,745,713.094620035,683,655,631.094620035,880,785,804.094620035,651.905379965,631,653,0.449308484207,0.00480571531228,0.0796010173754,0.999999761801,0.000344014297953,-0.000594531829857,-6.77033442352e-05,1793239789701607936
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.479737911,713,683.479737911,655.479737911,631.479737911,880.479737911,785.479737911,804,652,631,653,0.449310631909,0.00480505182627,0.0796023232293,0.999999763576,0.000342997056625,-0.000592131191851,-6.76808694732e-05,1793239789718274816
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.209757587,655.790242413,632,880.209757587,785.790242413,804,652,631,652.209757587,0.449305896319,0.00480368993155,0.0795990070787,0.999999762041,0.000341743140436,-0.000595429100623,-6.77767248117e-05,1793239789768274944
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.800328057,655.199671943,632,880.800328057,785.199671943,804,652,631,652.800328057,0.449297576695,0.00480532769153,0.0795949405392,0.999999757723,0.000343349397505,-0.000601718478471,-6.78203378298e-05,1793239789784941568
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.383615196,684,655,632,880.616384804,785.383615196,804.383615196,652,631,653,0.449269796005,0.00480551569832,0.0795814933452,0.999999744327,0.000343450563914,-0.000623537712015,-6.77308505903e-05,1793239789801608192
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.963182043,684,655,632,880.036817957,785.963182043,804.963182043,652,631,653,0.449232074551,0.00480496316751,0.079563254488,0.999999725573,0.000342782925949,-0.000653289636836,-6.7573375344e-05,1793239789818274816
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.461872807,684,655,632,880.538127193,785.461872807,804.461872807,652,631,653,0.449169081387,0.00480392890504,0.0795419278593,0.999999699181,0.000343662479843,-0.000692206967018,-6.62024846569e-05,1793239789834941440
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.115514315,684,655,632,881,785.115514315,804.115514315,652,631,653,0.449103189066,0.00480305899059,0.0795225740957,0.99999967438,0.000345082174193,-0.000726605706509,-6.48236783121e-05,1793239789851608064
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.704188411,684,655,632,881,785.704188411,804.704188411,652,631,653,0.449032443557,0.00480299612004,0.0795121593871,0.999999663555,0.000348284438087,-0.000739949061007,-6.37496132782e-05,1793239789868274688
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.288169048,713.711830952,683.711830952,655,632,881,785.711830952,804.711830952,652,631,653,0.448953385515,0.00480245744855,0.0795073740662,0.999999657842,0.000350087285295,-0.000746930800414,-6.20413963189e-05,1793239789884941312
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.867408928,713.132591072,683.132591072,655,632,881,785.132591072,804.132591072,652,631,653,0.44886593124,0.00480143818494,0.07950827482,0.999999657433,0.000350476623931,-0.000747486864312,-5.96926417714e-05,1793239789901607936
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,713,683.443931777,655.443931777,632,881,785,804,652,631,653,0.448765071925,0.00479979542519,0.0795118221519,0.999999661399,0.000350147155999,-0.000742516524992,-5.71641818498e-05,1793239789918274816
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.98036342,713,683.98036342,655.98036342,632,881,785.01963658,804.01963658,651.98036342,631,652.98036342,0.448659175176,0.00479802222093,0.0795160818549,0.999999666401,0.000349723609791,-0.000736149964936,-5.45445850483e-05,1793239789934941440
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.4049831,713,683.4049831,655.4049831,632,881,785.5950169,804.5950169,651.4049831,631,652.4049831,0.448523334088,0.00479779554963,0.0795182674741,0.999999665154,0.00035267656524,-0.000736698404217,-5.08554757963e-05,1793239789951608064
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.174174153,683,655.174174153,632,881,786,805,651.174174153,630.825825847,652,0.44837754826,0.00479718485505,0.0795180838857,0.999999661765,0.000356386223703,-0.000739776567082,-4.68002321586e-05,1793239789968274944
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.762307961,683,655.762307961,632,881,786,805,651.762307961,630.237692039,652,0.448208126788,0.00479566145247,0.0795122694021,0.999999653238,0.00036189433754,-0.000748867123059,-4.1874797568e-05,1793239789984941568
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.6543427,683,655.6543427,632,881,786,804.6543427,652,630.3456573,652.3456573,0.448015939161,0.00479338251023,0.0795095030616,0.999999648209,0.000364958390677,-0.000754350025158,-3.66525954783e-05,1793239790001608960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713.074238436,683,655.074238436,632,881,786,804.074238436,652,630.925761564,652.925761564,0.447808310049,0.00479059111236,0.0795088041665,0.999999645584,0.000366364725563,-0.000757385985808,-3.12291061307e-05,1793239790018276608
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.501870061,683,655,632,881,785.498129939,804,652,631,653,0.44758500668,0.004788007799,0.0795143971,0.999999651144,0.000370852785614,-0.000748030941685,-2.50991439022e-05,1793239790034942720
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.077157961,655.077157961,632,881,785.077157961,804,652,631,653,0.447354002208,0.00478528923319,0.0795209443209,0.999999657342,0.000375366000785,-0.00073760756704,-1.87248504584e-05,1793239790051608576
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713.592076287,683,656.407923713,632.592076287,881,785.407923713,805,652,631,653,0.446145890721,0.00477083026645,0.0795495824099,0.999999674444,0.000380914872448,-0.000711311368152,7.23016123192e-06,1793239790118275072
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713.013157085,683,656.986842915,632.013157085,881,785.986842915,805,652,631,653,0.44577571846,0.00476336564778,0.0795589718969,0.999999683742,0.000371020392386,-0.000703372518464,1.12268366058e-05,1793239790134941696
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,657,632.560399264,880.439600736,786,805,652,631,653,0.445376203125,0.00475758232782,0.0795628562426,0.999999696999,0.000343946434398,-0.00069829849836,9.01907634808e-06,1793239790151608576
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.13770945,683,657.13770945,633,880,786,805,652,631,653,0.444970282831,0.00475095519921,0.0795687713494,0.999999710554,0.000320162968607,-0.000690158174383,8.26461686232e-06,1793239790168274944
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.727759583,683,657.727759583,633,880,786,805,652,631,653,0.444545565421,0.00474142794207,0.079581777521,0.999999726724,0.000308500256747,-0.000671726980802,1.27578302842e-05,1793239790184941568
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.68776573,683.31223427,658,633,880,786,804.68776573,652,631,653,0.44409249274,0.00473273231275,0.0795937589147,0.999999738058,0.000307087185997,-0.000655235740785,1.57146705435e-05,1793239790201608192
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.108066986,683.891933014,658,633,880,786,804.108066986,652,631,653,0.443615130469,0.004724749067,0.0796048624699,0.999999745349,0.000314454107476,-0.00064040629157,1.7355431431e-05,1793239790218274816
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.46803488,745.46803488,713.46803488,683.53196512,658,633,880,786,804.46803488,652,631,653,0.443098306284,0.00471661583332,0.079613167867,0.999999754594,0.000311918523806,-0.000627066612281,1.75214090272e-05,1793239790234941696
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.95666279,745.95666279,714,683,658.04333721,633.04333721,880,786,805,652,631.04333721,653,0.442571529336,0.00470810825275,0.0796219940109,0.999999765918,0.000305582127503,-0.000611943706108,1.75425663313e-05,1793239790251608576
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.38105745,745.38105745,714,683,658.61894255,633.61894255,880,786,805,652,631.61894255,653,0.442033566912,0.00469542503308,0.0796450906399,0.999999797616,0.00028043202345,-0.00057072662148,1.99354175811e-05,1793239790268275200
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.19993898,745,714,683,659,634,880.19993898,786,805,652,632,653,0.441475451188,0.00468436114143,0.0796614283891,0.999999819983,0.000258382259025,-0.000541108147708,2.18012526325e-05,1793239790284941568
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.625995555,745.374004445,714,683.374004445,659,634,881,786.374004445,804.625995555,652,631.625995555,652.625995555,0.440216511745,0.00466695731564,0.0796420486307,0.999999811344,0.00023714025501,-0.000566161374134,2.31917820732e-05,1793239790318275072
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.04841003,745.95158997,714,683.95158997,659,634,881,786.95158997,804.04841003,652,631.04841003,652.04841003,0.439520455419,0.00465656407136,0.079605646655,0.999999779725,0.000237706472308,-0.000619264501977,2.3598158011e-05,1793239790334941696
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.526951349,745.473048651,714,683.473048651,660.053902697,634,880.473048651,786.473048651,804,652,631,652.526951349,0.438863666782,0.00464474346771,0.0796360225953,0.999999815347,0.000218107666346,-0.00056668245345,2.4628079241e-05,1793239790351608320
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.898266718,745.101733282,714,683,661,634.101733282,880,786.101733282,804.101733282,652,631,653,0.438212893858,0.00463356707443,0.0796797126951,0.999999856787,0.000198906529105,-0.000496169041666,2.60545970817e-05,1793239790368274944
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.146422696,714,683,661,635,880,787,804.146422696,652,631.853577304,653,0.436201366562,0.00460402981598,0.0798551637089,0.999999956272,0.00017649138106,-0.000234583412101,3.57466052559e-05,1793239790418275072
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,661,635,880,787,804.433928696,652,631.566071304,652.566071304,0.435421103111,0.00459615716703,0.0798509893368,0.999999955938,0.000169377132742,-0.00024103506318,3.65699106626e-05,1793239790434941696
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.009177846,683,661,635,880,787,804.990822154,652,631,652.009177846,0.4346154794,0.00458965603965,0.0798329316364,0.999999949668,0.000161983156489,-0.000270348808422,3.65546366472e-05,1793239790451608320
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.581858355,683,661,635,880,787,804.418141645,652,631,652.581858355,0.433770334413,0.00457845740745,0.0798089190165,0.999999940623,0.000159613606642,-0.000303005887595,3.826183834e-05,1793239790468275200
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.159464843,745.159464843,714.840535157,683,661,635,880.159464843,787,804,652,631.159464843,652.840535157,0.432911310545,0.00456784118148,0.079779873742,0.999999925714,0.00015486025494,-0.000350697716053,4.00152262369e-05,1793239790484941568
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,682.929684113,661,635,879.070315887,787,804,652,631,652.070315887,0.428744896518,0.00451530575073,0.0798657233054,0.999999967861,9.86866710813e-05,-0.000228451770268,4.84624209985e-05,1793239790568274944
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,660.207100767,635,880,787,804,652,631,652.207100767,0.426029520649,0.00448275896818,0.0797862502117,0.999999938398,7.21792856641e-05,-0.000339871381117,4.98160529149e-05,1793239790618275072
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,682,660.752646246,634.623676877,879.623676877,787,804,652,631.376323123,652.376323123,0.425113651038,0.00447281600577,0.0797597920315,0.999999922858,6.54799084106e-05,-0.000383854437291,5.14978756417e-05,1793239790634941696
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,682,661.945160352,634.027419824,879.027419824,787,804,652,631.972580176,652.972580176,0.42420958042,0.00446268897359,0.0797482569651,0.999999912325,6.42247335606e-05,-0.000410155499358,5.47440292951e-05,1793239790651608064
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.463591952,745,714,682,661.463591952,634.536408048,879.536408048,787,804,652,631.463591952,653,0.42334045518,0.00445767131206,0.0797430614152,0.999999909091,5.82648649612e-05,-0.000418788391245,5.51261630475e-05,1793239790668274688
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.105991122,714.105991122,682,661,635,879.894008878,787,804,652,631.105991122,653,0.422483964105,0.00445632103551,0.0797500516646,0.999999915261,5.51562738782e-05,-0.000404227024324,5.51070582808e-05,1793239790684941568
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.709958026,714.709958026,682,661,635,879.290041974,787,804,652,631.709958026,653,0.421678917725,0.00447104402242,0.0798128584641,0.999999955813,6.65092612164e-05,-0.000284693926316,5.38514444591e-05,1793239790701608448
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.698682974,714.698682974,681.698682974,661.301317026,635,879,787.301317026,804,652,631.698682974,652.698682974,0.42085670548,0.00448417948778,0.0798556967692,0.999999973219,8.29443195797e-05,-0.00020929360298,5.36429391195e-05,1793239790718275072
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.118972716,714.118972716,681.118972716,661.881027284,635,879,787.881027284,804,652,631.118972716,652.118972716,0.42001863337,0.00449584820726,0.0798800857527,0.99999997785,0.000104074811767,-0.00017466850096,5.44018801843e-05,1793239790734941696
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,661.54234143,635,879.45765857,787.54234143,804,652,631,652.45765857,0.419136174969,0.00448910357761,0.079847833314,0.99999996676,9.62423264091e-05,-0.000232960239399,5.42795122238e-05,1793239790751608320
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.033365288,745,714.033365288,681,661,635,879.966634712,787,804,652,631.033365288,653,0.418246362966,0.00447790170671,0.0798037933592,0.99999994712,8.12650664757e-05,-0.000310240412637,5.39065019773e-05,1793239790768274944
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.606974319,745,714.606974319,681,661,635,879.393025681,787,804,652,631.606974319,653,0.417423066799,0.00447151685037,0.0798057148812,0.99999994905,7.16977162838e-05,-0.000306484366418,5.31599749258e-05,1793239790784941568
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.813398519,745.186601481,714.813398519,681.186601481,661.373202962,635,879,786.813398519,804,652,632,653,0.416599219702,0.00446778111155,0.0798074398849,0.999999949515,6.58814319009e-05,-0.000306316581415,5.29213844607e-05,1793239790801608192
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.220673249,745.779326751,714.220673249,681.779326751,662.558653501,635,879,786.220673249,804,652,632,653,0.415774173391,0.00446981097228,0.079808737182,0.999999946941,6.82290522722e-05,-0.000313958370616,5.37882788208e-05,1793239790818274816
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.637682139,714.362317861,681.637682139,661.913046416,635,879.362317861,786.362317861,804,652,631.637682139,652.637682139,0.414983960101,0.00447436246122,0.0798021742042,0.999999942596,7.72291282886e-05,-0.00032548552692,5.38764936027e-05,1793239790834941440
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.060464633,714.939535367,681.060464633,660.181393899,635,879.939535367,786.939535367,804,652,631.060464633,652.060464633,0.414214407183,0.00448040958983,0.0797909491038,0.999999936935,9.01749393833e-05,-0.000339317189571,5.35028542878e-05,1793239790851608064
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.484352103,681,660.515647897,635,879.484352103,787,803.484352103,652,631,652.515647897,0.413501911705,0.00448172300715,0.0798067380964,0.99999994748,9.13986780799e-05,-0.00030629072628,5.3597910799e-05,1793239790868274944
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,661,635,879,787,803.088535202,652,631,652.911464798,0.412796118572,0.00448164538622,0.0798214945866,0.999999956167,8.95853502275e-05,-0.000277030995478,5.37981243822e-05,1793239790884941568
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,661,635,879,787,803.645057731,652,631,652.354942269,0.412090463541,0.00447714267006,0.0798140852845,0.999999951405,7.89684742086e-05,-0.000296663346021,5.42643006869e-05,1793239790901608192
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.222693747,745,714,681,661,635,879,787,804,652,631,652.222693747,0.411377155081,0.00447275803025,0.0798053316023,0.999999946342,6.58823118509e-05,-0.000316228809534,5.45410676451e-05,1793239790918274816
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.8375063,745,714,681,661,635,879,787,804,652,631,652.8375063,0.410650370552,0.00446858129957,0.0797942107386,0.999999941003,4.84482350485e-05,-0.000335676496467,5.44843228817e-05,1793239790934941440
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.422082861,680.577917139,660.577917139,635,879,787,804,652,631,652.577917139,0.41001189363,0.00447098364587,0.0798043347757,0.99999994584,6.85938741284e-05,-0.000317221170221,5.46497975016e-05,1793239790951608064
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,714.995797312,680.004202688,660.004202688,635,879,787,804,652,631,652.004202688,0.409405140806,0.00447574949908,0.0798220909581,0.999999952612,0.000102239875263,-0.000285149338154,5.48951034532e-05,1793239790968274688
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.427986143,745,714.427986143,680.572013857,660.572013857,635,879,787.572013857,803.427986143,652,631,652.572013857,0.408829546299,0.00447950521424,0.0798411829036,0.999999961256,9.4349965799e-05,-0.000256007094683,5.51905089977e-05,1793239790984941568
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.151682399,681,661,635,879,787.848317601,803.151682399,652,631.151682399,652.848317601,0.408247742333,0.00448192278327,0.079848553041,0.999999963943,8.91226414742e-05,-0.000247192625266,5.53811379983e-05,1793239791001607936
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.741263496,681,661,635,879,787.258736504,803.741263496,652,631.741263496,652.258736504,0.407647348071,0.00448049871934,0.0798220545138,0.999999950093,9.24669360002e-05,-0.000297000896996,5.52682156911e-05,1793239791018274816
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.325147152,745.325147152,714.674852848,680.674852848,661,635,879,787,804,652,631.674852848,652,0.407084035155,0.00447942025987,0.079796434693,0.999999937089,9.0441479015e-05,-0.00033860412245,5.46683548503e-05,1793239791034941184
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.904575097,745.904575097,714.095424903,680.095424903,661,635,879,787,804,652,631.095424903,652,0.406549721679,0.00447861207991,0.0797715020647,0.999999925153,8.42166165598e-05,-0.000373790602117,5.36876845624e-05,1793239791051608064
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,714,680.480313726,661,635,879,787,803.519686274,652.480313726,631,652,0.406096919736,0.00447949432114,0.0797850546649,0.999999936011,8.07265287474e-05,-0.000344446213814,5.30828568779e-05,1793239791068274688
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.943464524,714.056535476,680.943464524,661,635,879,787,803.056535476,652.943464524,631,652.056535476,0.405663399306,0.00448093541551,0.0798054520154,0.999999949138,7.91770045638e-05,-0.000304443123277,5.26165753617e-05,1793239791084941568
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.355872121,714.644127879,680.355872121,661,635,879,787,803.644127879,652.355872121,631,652.644127879,0.40526003984,0.00448449540002,0.0798188709901,0.999999954208,9.07911373607e-05,-0.000283828377421,5.27556569547e-05,1793239791101608192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.228480728,715,680,661,635,878.771519272,787,804,652,631,653,0.404857448781,0.00448573998506,0.079829173938,0.99999995709,9.70119804904e-05,-0.000271207272541,5.34296340474e-05,1793239791118274560
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.807858271,715,680,661,635,878.192141729,787,804,652,631,653,0.404456037866,0.00448342861866,0.0798346913434,0.999999957301,9.49499000767e-05,-0.000270862667597,5.49250945736e-05,1793239791134941440
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.613127913,714.613127913,680.386872087,661,635,878.386872087,787,803.613127913,652.386872087,631,652.613127913,0.404085734136,0.00448309125263,0.0798373144092,0.999999956561,9.51098163761e-05,-0.000273251258849,5.62713725186e-05,1793239791151608064
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.034294523,714.034294523,680.965705477,661,635,878.965705477,787,803.034294523,652.965705477,631,652.034294523,0.403730865384,0.00448373336178,0.0798385013387,0.999999955337,9.63722606879e-05,-0.000276996029334,5.75436279843e-05,1793239791168274432
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.461231644,745.538768356,714.538768356,680.461231644,661,635,879,787,803.538768356,652.461231644,631,652.538768356,0.403430976261,0.00448391536989,0.0798400741202,0.999999956967,8.92765928567e-05,-0.00027421390603,5.38815793722e-05,1793239791184941312
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745.884953729,715,680,661,635,879,787,804,652,631,653,0.403140819969,0.00448322255004,0.0798406529341,0.999999957761,8.3628448027e-05,-0.000273624911909,5.11285880587e-05,1793239791201608192
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745.29386869,715,680,661,635,879,787,804,652,631,653,0.402876608714,0.00447902976471,0.0798370183557,0.999999954588,8.61479455034e-05,-0.000283811526854,5.34229489575e-05,1793239791218274560
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,804,652,631.291060601,652.708939399,0.402632869893,0.00447645309426,0.0798359850561,0.99999995403,8.48236375464e-05,-0.000286084220769,5.38673434676e-05,1793239791234941184
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,804,652,631.869903445,652.130096555,0.402409372932,0.00447547433583,0.0798375237361,0.999999956098,7.96988186652e-05,-0.00028053213141,5.24826085281e-05,1793239791251608064
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.445847525,745,715,680,661,635,878.554152475,787,803.554152475,652,631.554152475,652,0.402221850157,0.00447594527546,0.0798425246729,0.999999958409,8.1519264032e-05,-0.000271532485902,5.29818980062e-05,1793239791268274688
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,714.979213086,680,661,635,878.020786914,787,803,652,631,652.020786914,0.402045922035,0.00447684063406,0.0798486151862,0.999999960721,8.53186043375e-05,-0.000261462530962,5.39956002355e-05,1793239791284941568
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.408619326,680,661,635,878.591380674,787,803,652,631,652.591380674,0.401900816506,0.00447784537145,0.0798569758666,0.999999963513,8.8202400713e-05,-0.000249519290068,5.416854907e-05,1793239791301608192
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.168591533,714,680,661.168591533,635,879,787,803,652,631.168591533,653,0.401761097771,0.00448021880422,0.0798619610467,0.999999965022,9.24176977876e-05,-0.000241871318875,5.39764238147e-05,1793239791318274816
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.76249552,714,680,661.76249552,635,879,787,803,652,631.76249552,653,0.401634968535,0.00448604509815,0.0798584307191,0.999999963577,9.9992023332e-05,-0.000245059194397,5.28633118659e-05,1793239791334941440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,714.347612098,680,661.652387902,635,879,787,803,652,631.652387902,653,0.401514642833,0.00449091573601,0.0798522906399,0.99999996027,0.000108247223722,-0.000254946511071,5.23830726844e-05,1793239791351608064
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,714.926872809,680,661.073127191,635,879,787,803,652,631.073127191,653,0.401398184592,0.00449514952549,0.0798444114224,0.999999955531,0.000116956159672,-0.000269298333876,5.23245796309e-05,1793239791368274688
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.4963811,715,680,661,635,879,787,803,652.5036189,631,652.4963811,0.401309660502,0.00449464672669,0.0798379733811,0.999999952917,0.000113474360055,-0.000280408608869,5.15904691175e-05,1793239791384941312
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.332441191,745.667558809,714.332441191,680.667558809,661,635,879,787,803,652.332441191,631,652.667558809,0.401175231383,0.00449008471035,0.0798298960393,0.999999951336,0.000104959146112,-0.000289305464894,5.1118259691e-05,1793239791418274816
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.749057922,661,635,879,787,803.250942078,652,631,653,0.401127026998,0.0044887897675,0.0798287983582,0.999999951319,0.000104598544517,-0.000289441392368,5.14210506598e-05,1793239791434941696
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.169358588,661,635,879,787,803.830641412,652,631,653,0.401086614142,0.00448987038773,0.0798293827932,0.999999950716,0.000108366973006,-0.000290063683861,5.18397408945e-05,1793239791451608320
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745.591268751,714.408731249,680,661.408731249,635,879,787,803.591268751,652,631.408731249,652.591268751,0.4010562238,0.00449016245829,0.079830637101,0.999999951205,0.000107897749088,-0.00028854253051,5.18855676151e-05,1793239791468274944
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745.013843211,714.986156789,680,661.986156789,635,879,787,803.013843211,652,631.986156789,652.013843211,0.401029970017,0.00449012907334,0.0798321678832,0.999999952138,0.000105679532877,-0.000286136720273,5.17775036056e-05,1793239791484941568
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.560650315,745,714.439349685,680.560650315,661.439349685,635,879,787,803.560650315,652,631.439349685,652,0.401012799366,0.00448989237142,0.0798308380987,0.999999951786,0.00010494142007,-0.000287669878035,5.15888849538e-05,1793239791501608192
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.865293852,661,635,879,787,803.865293852,652,631,652.134706148,0.400998383586,0.00448945852165,0.079830130369,0.999999951663,0.000104486199733,-0.000288278918782,5.14876910181e-05,1793239791518274816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.292427565,661,635,879,787,803.292427565,652,631,652.707572435,0.400992202904,0.00448839965122,0.0798316745516,0.999999952395,0.000104832892615,-0.000285567366116,5.16773004301e-05,1793239791534941440
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff01ab0f36a824076708b3c7f6038f24e4d4bea1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,417 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2cbe15644c5f8a5f838392381882197245c62540
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72d630944e4209f5fa9b9315644f32c0c7519a99581697f93e96308e86c6616d
+size 26445442
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38a9eb6255141b7c85cd378ae7036f0a206dbce5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,680,662,635,879,787,804,652,631,653,0.400977656491,0.00449271546306,0.0798391980991,0.9999999558,0.000109426542705,-0.000272008639786,4.93761071016e-05,1793239792174429952
+1,0.016666667,BASELINE,765.423195913,745,715,680.576804087,662,635,879,787,803.423195913,652,631,652.423195913,0.400977683939,0.00449359019043,0.0798402390982,0.999999955993,0.000109780965207,-0.000271178227647,4.92401170535e-05,1793239792191096320
+2,0.033333333,BASELINE,765.152419122,745.152419122,714.847580878,681,661.847580878,635,879,787,803,652,631,652.152419122,0.400977932685,0.00449352757457,0.0798408775665,0.999999956225,0.000109209381381,-0.000270561449885,4.91892246704e-05,1793239792207762432
+3,0.050000000,BASELINE,765.724758404,745.724758404,714.275241596,681,661.275241596,635,879,787,803,652,631,652.724758404,0.400978791113,0.0044908825446,0.0798404070481,0.99999995656,0.000106086616912,-0.000270533242323,4.9372779383e-05,1793239792224428800
+4,0.066666667,BASELINE,765.702604665,745.702604665,714.297395335,680.702604665,661,635,878.702604665,787,803,652,631,652.702604665,0.40097963058,0.00449100248845,0.0798404836392,0.999999956757,0.000105601416672,-0.000270011460205,4.92694453115e-05,1793239792241095424
+5,0.083333333,BASELINE,765.129692017,745.129692017,714.870307983,680.129692017,661,635,878.129692017,787,803,652,631,652.129692017,0.40098045248,0.00449368399973,0.0798410670914,0.999999956831,0.000107559747243,-0.000269032413569,4.89003275484e-05,1793239792257761792
+6,0.100000000,BASELINE,765,745,715,680,661.462659792,635,878.462659792,787.462659792,803,652,631,652.462659792,0.400979592964,0.00449324906634,0.07984072887,0.999999956525,0.000108250553318,-0.000269876001394,4.89703520559e-05,1793239792274428416
+7,0.116666667,BASELINE,765.058331689,745,715,680,662,635,879,787.941668311,803,652,631.058331689,652.941668311,0.400978461528,0.00449207210437,0.0798402357788,0.999999956192,0.000108388408777,-0.000271026616665,4.91262135087e-05,1793239792291095040
+8,0.133333333,BASELINE,765.633040564,745,715,680,662,635,879,787.366959436,803,652,631.633040564,652.366959436,0.400979278364,0.00449239901897,0.079840759156,0.999999956592,0.000106914619554,-0.00027017393892,4.89044153443e-05,1793239792307761920
+9,0.150000000,BASELINE,766,745,715,680,662,635,879,787,803,652,631.792782728,652,0.400979449121,0.00449253330974,0.0798411164134,0.999999956761,0.000106264351986,-0.000269799547832,4.89216174579e-05,1793239792324428544
+10,0.166666667,BASELINE,766,745,715,680,662,635,879,787,803,652,631.219546078,652,0.400978478671,0.00449232735832,0.079841180244,0.999999956527,0.000107068716621,-0.000270269981129,4.9360979063e-05,1793239792341095424
+11,0.183333333,BASELINE,765.633223931,745.366776069,715,680,661.633223931,635,879,787,803,652.366776069,631,652.366776069,0.400978233293,0.00449247174654,0.0798409420267,0.999999956358,0.000107870972769,-0.000270570773216,4.93933099115e-05,1793239792357762048
+12,0.200000000,BASELINE,765.038779174,745.961220826,715,680,661.038779174,635,879,787,803,652.961220826,631,652.961220826,0.400978437988,0.00449283360087,0.0798405163195,0.999999956229,0.000108671920193,-0.000270766264062,4.91729848479e-05,1793239792374428672
+13,0.216666667,BASELINE,765.54036494,745.45963506,715,680.54036494,661.54036494,635,878.45963506,787,803.54036494,652.45963506,631,652.45963506,0.400978343656,0.00449287330134,0.0798409505741,0.99999995631,0.000108877902169,-0.000270444566342,4.88439496074e-05,1793239792391095040
+14,0.233333333,BASELINE,766,745.117966657,715,680.882033343,662,635,878,787,804,652,631,652.117966657,0.400978295097,0.00449284315166,0.0798414341795,0.999999956448,0.000108765508683,-0.000270017626701,4.86303674218e-05,1793239792407761664
+15,0.250000000,BASELINE,766,745.693726818,715,680.306273182,662,635,878,787,804,652,631,652.693726818,0.400978505159,0.00449262918303,0.0798418763984,0.999999956751,0.000107578728773,-0.000269322344104,4.88942659873e-05,1793239792424428544
+16,0.266666667,BASELINE,766,745.7247419,715,680,662,635,878.2752581,787,804,652,631,653,0.400978705655,0.00449216910148,0.0798421009217,0.999999956962,0.000107670248524,-0.000268470003369,4.90604122964e-05,1793239792441095424
+17,0.283333333,BASELINE,766,745.13665175,715,680,662,635,878.86334825,787,804,652,631,653,0.400978895278,0.0044914293115,0.079842078033,0.999999957068,0.000109214561579,-0.000267439165403,4.91154627165e-05,1793239792457762048
+18,0.300000000,BASELINE,765.555532364,745,714.555532364,680,661.555532364,635,878.555532364,787,804,652,631,653,0.40097842051,0.00449175603391,0.0798418531987,0.999999956955,0.000107795739099,-0.000268437701424,4.90949961494e-05,1793239792474428928
+19,0.316666667,BASELINE,765,745,714.023297115,680,661.023297115,635,878.023297115,787,803.976702885,652,631.023297115,653,0.400977843883,0.00449241351285,0.0798416147878,0.999999956791,0.000105654577383,-0.000269904363692,4.90528548224e-05,1793239792491095808
+20,0.333333333,BASELINE,765,745,714.597871402,680,661.597871402,635,878.597871402,787,803.402128598,652,631.597871402,653,0.400979615883,0.00449325840341,0.0798425016151,0.999999957115,0.000107645209999,-0.000267912190386,4.90387411729e-05,1793239792507762176
+21,0.350000000,BASELINE,765.173236039,745,715,680,662,635,879,787,803.173236039,652.173236039,632,653,0.400980518258,0.00449350426205,0.0798427884599,0.999999957302,0.000107973209549,-0.000267105889146,4.89122902489e-05,1793239792524428800
+22,0.366666667,BASELINE,765.750443624,745,715,680,662,635,879,787,803.750443624,652.750443624,632,653,0.400979392741,0.00449235322965,0.0798416761967,0.999999957173,0.00010442409149,-0.000269064939862,4.85238784643e-05,1793239792541095424
+23,0.383333333,BASELINE,766,745.333682153,715,680.333682153,662.333682153,635,879,787,804,652.666317847,631.666317847,652.666317847,0.400978447184,0.00449149726397,0.0798409289725,0.999999956953,0.00010352703337,-0.000270242285084,4.84225550667e-05,1793239792557762048
+24,0.400000000,BASELINE,766,745.921514227,715,680.921514227,662.921514227,635,879,787,804,652.078485773,631.078485773,652.078485773,0.400977638693,0.00449086603656,0.0798404597809,0.999999956673,0.000104649923554,-0.000270824242396,4.85398932809e-05,1793239792574428416
+25,0.416666667,BASELINE,765.497389301,745.497389301,715,680.497389301,662.497389301,635,879,787,803.497389301,652,631,652,0.400978629998,0.00449193954355,0.0798413534891,0.999999957043,0.000106451193167,-0.000268698786511,4.88221567178e-05,1793239792591095040
+26,0.433333333,BASELINE,765,745,715,680,662,635.081721656,879,787,803.081721656,652,631,652.081721656,0.400979592391,0.00449300367266,0.0798421980985,0.999999957385,0.000107885933709,-0.000266808051971,4.90281762982e-05,1793239792607762176
+27,0.450000000,BASELINE,765,745,715,680,662,635.655131406,879,787,803.655131406,652,631,652.655131406,0.400978712218,0.00449243090639,0.079841483745,0.999999957011,0.000106486478199,-0.00026883960972,4.86225622648e-05,1793239792624429056
+28,0.466666667,BASELINE,765.234954019,745,715,680,661.765045981,635.765045981,878.765045981,787,803.765045981,652,631,653,0.400978154788,0.00449221248121,0.0798410912046,0.999999956788,0.000106244341136,-0.000269775072553,4.85501447419e-05,1793239792641095680
+29,0.483333333,BASELINE,765.824453606,745,715,680,661.175546394,635.175546394,878.175546394,787,803.175546394,652,631,653,0.400978084377,0.0044925287567,0.0798411842803,0.9999999568,0.000107748597471,-0.000269056528247,4.89805207135e-05,1793239792657762048
+30,0.500000000,BASELINE,766,745,715,680.406754868,661,635,878,787,803,652,631,653,0.400977440506,0.0044932821184,0.0798407027216,0.999999956507,0.000108206682408,-0.000270002346277,4.87423926956e-05,1793239792674428416
+31,0.516666667,BASELINE,766,745,715,680.9860035,661,635,878,787,803,652,631,653,0.400976553447,0.00449422083656,0.0798399774759,0.999999956084,0.000108221114248,-0.000271653975475,4.82207701649e-05,1793239792691095040
+32,0.533333333,BASELINE,766,745,715,680.437297858,661.562702142,635,878.562702142,787,803.562702142,652,631,652.437297858,0.400976451094,0.00449268322234,0.0798401926629,0.999999956085,0.000107624374921,-0.000271832276765,4.85231423634e-05,1793239792707761664
+33,0.550000000,BASELINE,766,745,715,680,662,635,879,787,803.860778581,652,631,652.139221419,0.400976453585,0.00449192024393,0.0798404314895,0.999999956095,0.000107475834478,-0.000271809209307,4.87777791657e-05,1793239792724428544
+34,0.566666667,BASELINE,766,745,715,680,662,635,879,787,803.284624169,652,631,652.715375831,0.400976724142,0.00449378082538,0.079840671424,0.999999956098,0.000108781418218,-0.000271268660151,4.88185689951e-05,1793239792741095424
+35,0.583333333,BASELINE,766,745.298412651,715,680,662,635,879,787,803,652,631,652.701587349,0.400977192924,0.00449409072116,0.0798409467031,0.999999956377,0.000108874704192,-0.000270207448789,4.87843520046e-05,1793239792757762304
+36,0.600000000,BASELINE,766,745.888168911,715,680,662,635,879,787,803,652,631,652.111831089,0.400977855236,0.0044928866654,0.0798412564897,0.999999956923,0.000107784410455,-0.000268637909027,4.86769050219e-05,1793239792774428928
+37,0.616666667,BASELINE,766,745.530205867,715,680.469794133,662,635,878.530205867,787,803,652.469794133,631,652.469794133,0.400978764244,0.00449203254559,0.0798419789191,0.999999957456,0.000105921722071,-0.000267398174394,4.86505459908e-05,1793239792791095552
+38,0.633333333,BASELINE,766,745,715,680.951065255,662,635,878.048934745,787,803,652.951065255,631,653,0.400979540634,0.00449141624383,0.0798426754484,0.999999957884,0.000104311576089,-0.000266432596885,4.86360311184e-05,1793239792807761920
+39,0.650000000,BASELINE,766,745,715,680.378156138,662,635,878.621843862,787,803,652.378156138,631,653,0.400978278914,0.00449246963923,0.0798420607694,0.999999957262,0.000107340794387,-0.000267576258726,4.85451726139e-05,1793239792824428544
+40,0.666666667,BASELINE,766,745,715,680,661.804694583,635,879,787,803.195305417,652,631,653,0.400977871169,0.00449246555667,0.0798416717515,0.999999957051,0.000107870722217,-0.000268161579188,4.8498501384e-05,1793239792841094912
+41,0.683333333,BASELINE,766,745,715,680,661.230160385,635,879,787,803.769839615,652,631,653,0.400979121604,0.00449040814606,0.0798417209048,0.999999957639,0.000103547723123,-0.000267662755972,4.85376295537e-05,1793239792857761792
+42,0.700000000,BASELINE,766,745,714.643267474,680,661.356732526,635,879,787,803.643267474,652,631,652.643267474,0.400978488748,0.00449043644508,0.0798415578436,0.999999957285,0.00010423928094,-0.000268655828863,4.88707158793e-05,1793239792874428672
+43,0.716666667,BASELINE,766,745,714.048114708,680,661.951885292,635,879,787,803.048114708,652,631,652.048114708,0.400976597204,0.00449185871687,0.07984125295,0.999999956293,0.000108282290731,-0.00027064600241,4.94002675357e-05,1793239792891095552
+44,0.733333333,BASELINE,766,745,714,680.528995698,661.471004302,635,879,787,803.528995698,652,631,652.528995698,0.400978301182,0.00449237441295,0.0798418713974,0.999999956766,0.000108873598359,-0.000268717331651,4.90442933495e-05,1793239792907762944
+45,0.750000000,BASELINE,766,745,714.104284094,681,661.104284094,635,879,787,803.895715906,652,631,653,0.400979790635,0.0044926672427,0.0798423148351,0.999999957215,0.000108946314201,-0.000267077142143,4.86953351408e-05,1793239792924430080
+46,0.766666667,BASELINE,766,745,714.678512892,681,661.678512892,635,879,787,803.321487108,652,631,653,0.400978888241,0.00449231507961,0.0798416036353,0.999999956985,0.000108050167664,-0.000268290232273,4.87289801469e-05,1793239792941095936
+47,0.783333333,BASELINE,766,745,715,680.7406283,662,635,879,787,803.2593717,652,631,652.7406283,0.400978728225,0.00449231141237,0.0798416110463,0.999999957015,0.000107877475058,-0.000268232579635,4.8813638793e-05,1793239792957762048
+48,0.800000000,BASELINE,766,745,715,680.151336046,662,635,879,787,803.848663954,652,631,652.151336046,0.400979512512,0.00449275103147,0.0798425325295,0.999999957375,0.000108625015035,-0.000266558543581,4.89631867444e-05,1793239792974428416
+49,0.816666667,BASELINE,766,745,715,680,662,635,878.569369404,787,803.569369404,652,631,652.430630596,0.400980002852,0.00449254952336,0.0798431424873,0.999999957683,0.000108303827301,-0.000265539400549,4.89177460601e-05,1793239792991095296
+50,0.833333333,BASELINE,765.98998839,745,715,680,662,635,878.01001161,787,803.01001161,652,631.01001161,653,0.400980368206,0.00449214153466,0.079843622332,0.999999957963,0.000107624885669,-0.000264780730345,4.88043165515e-05,1793239793007761920
+51,0.850000000,BASELINE,765.413674477,745,715,680,662,635,878.586325523,787,803.586325523,652,631.586325523,653,0.400979409282,0.00449258548259,0.0798428314424,0.999999957661,0.000107599015924,-0.000265955101782,4.86563609492e-05,1793239793024428800
+52,0.866666667,BASELINE,765.16559198,745.16559198,715,680,661.83440802,635,879,787,803.83440802,652.16559198,631.83440802,653,0.400978595432,0.00449303644871,0.079842129293,0.999999957326,0.000108049342548,-0.000267064691682,4.84843050037e-05,1793239793041095680
+53,0.883333333,BASELINE,765.752368214,745.752368214,715,680,661.247631786,635,879,787,803.247631786,652.752368214,631.247631786,653,0.400978150578,0.00449350526564,0.0798416528552,0.999999956903,0.000109710877667,-0.000268009509256,4.82509496909e-05,1793239793057762304
+54,0.900000000,BASELINE,766,745.665428151,715,680.334571849,661.334571849,635,879,787,803,652.665428151,631,653,0.400978876754,0.00449377227432,0.079842060165,0.999999956985,0.000110584622284,-0.000267345069937,4.82548630444e-05,1793239793074428928
+55,0.916666667,BASELINE,766,745.086563298,715,680.913436702,661.913436702,635,879,787,803,652.086563298,631,653,0.400980457978,0.00449389192946,0.0798431127572,0.999999957433,0.000110883148955,-0.000265505605837,4.84320219313e-05,1793239793091095552
+56,0.933333333,BASELINE,766,745.491729333,715,680.508270667,662,635,879,787,803.491729333,652,631.491729333,653,0.40098001028,0.00449276136362,0.0798431812974,0.999999957569,0.00010967901174,-0.000265466095766,4.85782787397e-05,1793239793107762176
+57,0.950000000,BASELINE,766,746,715,680,662,635,878.930371736,787,804,652,631.930371736,653,0.400979064614,0.00449175665452,0.0798429228327,0.999999957571,0.00010838476197,-0.000265974371247,4.86597584378e-05,1793239793124428544
+58,0.966666667,BASELINE,766,746,715,680,662,635,878.354603579,787,804,652,631.354603579,653,0.400977092441,0.00449326481184,0.0798415450958,0.999999957007,0.000108356124536,-0.00026816395275,4.83098600609e-05,1793239793141095424
+59,0.983333333,BASELINE,766,745.774939636,715,680,662,635,878.225060364,787,803.774939636,652,631.225060364,653,0.40097636135,0.00449385228511,0.0798408421732,0.999999956718,0.00010846555934,-0.000269228827684,4.81148437964e-05,1793239793157761792
+60,1.000000000,BASELINE,766,745.189029305,715,680,662,635,878.810970695,787,803.189029305,652,631.810970695,653,0.400977620145,0.00449296358219,0.0798412212122,0.999999956878,0.000108796371914,-0.000268490407521,4.81681573218e-05,1793239793174428416
+61,1.016666667,BASELINE,766,745,715,680.394352937,662,635,879,787,803.394352937,652,632,652.605647063,0.400978639346,0.00449185892121,0.0798418799459,0.999999957282,0.000107286034534,-0.000267569461828,4.82989972078e-05,1793239793191095552
+62,1.033333333,BASELINE,766,745,715,680.976531049,662,635,879,787,803.976531049,652,632,652.023468951,0.40097954443,0.00449065140227,0.0798426718945,0.999999957796,0.000104898781361,-0.000266561581643,4.84667618874e-05,1793239793207762944
+63,1.050000000,BASELINE,766,745.552606574,715,681,662,635,879,787,804,652,631.447393426,652,0.400979531622,0.00449219346614,0.0798432437667,0.999999957753,0.000107014225538,-0.000265860176036,4.85907168044e-05,1793239793224429312
+64,1.066666667,BASELINE,766,745.871918553,715,680.871918553,662,635.128081447,879,787,804,652,631.128081447,652,0.400979310915,0.00449302630709,0.0798435241492,0.999999957687,0.000108313836481,-0.000265555812811,4.87203744357e-05,1793239793241095680
+65,1.083333333,BASELINE,766,745.297643174,715,680.297643174,662,635.702356826,879,787,804,652,631.702356826,652,0.400978500273,0.00449098608941,0.0798428212811,0.999999957641,0.000106112452916,-0.000266589767959,4.8876309314e-05,1793239793257762048
+66,1.100000000,BASELINE,766,745,715,680,662,635.715894611,879,787,804,652,631.715894611,652,0.400978623486,0.0044906032416,0.0798425783389,0.999999957675,0.000105620949061,-0.000266660297002,4.88467542225e-05,1793239793274428672
+67,1.116666667,BASELINE,766,745,715,680,662,635.126105293,879,787,804,652,631.126105293,652,0.40097975148,0.00449200364534,0.0798428302553,0.9999999578,0.000106969194842,-0.000265694225172,4.86176207086e-05,1793239793291095296
+68,1.133333333,BASELINE,766,745,715,680.455661077,662,635,879,787,804,652,631.455661077,652.455661077,0.400979201961,0.00449197271451,0.0798425100807,0.99999995757,0.000106895789574,-0.000266604182179,4.85324774835e-05,1793239793307761920
+69,1.150000000,BASELINE,765.965073081,745,715,681,662,635,879,787.034926919,803.965073081,652,631.965073081,653,0.400978337914,0.00449162259896,0.0798420961661,0.999999957278,0.000106535623817,-0.000267854212352,4.84682525905e-05,1793239793324428544
+70,1.166666667,BASELINE,765.390728066,745,715,681,662,635,879,787.609271934,803.390728066,652,631.390728066,653,0.400979662246,0.00449235491413,0.0798426374468,0.999999957536,0.000107717981473,-0.000266476583325,4.8122297532e-05,1793239793341095424
+71,1.183333333,BASELINE,765,745,715,680.815495902,662,635,879.369008195,788,803.184504098,652,631,653,0.400980353831,0.00449284092314,0.0798428453893,0.999999957706,0.000108183861622,-0.000265700772547,4.78283112497e-05,1793239793357762304
+72,1.200000000,BASELINE,765,745,715,680.238375821,662,635,880.523248359,788,803.761624179,652,631,653,0.40097969896,0.00449280280446,0.0798423440039,0.999999957694,0.000107125111776,-0.000266205602249,4.76449119975e-05,1793239793374428672
+73,1.216666667,BASELINE,765,745.346977345,715,680,662,635,880.306045311,787.653022655,804,652.346977345,631.346977345,653,0.400979422122,0.00449232429742,0.0798423084875,0.999999957599,0.000106987882031,-0.000266588126874,4.78073765477e-05,1793239793391095296
+74,1.233333333,BASELINE,765,745.938124131,715,680,662,635,879.123751737,787.061875869,804,652.938124131,631.938124131,653,0.40097941131,0.00449153588722,0.079842600805,0.999999957446,0.000107499129984,-0.000266884584861,4.82132269469e-05,1793239793407762176
+75,1.250000000,BASELINE,765.516539301,745.483460699,715,680,662,635,879,787,803.483460699,652.483460699,631.483460699,653,0.400978230411,0.00449271270043,0.0798418002319,0.99999995682,0.000110508588743,-0.000267955983349,4.84412331494e-05,1793239793424428544
+76,1.266666667,BASELINE,766,745.093062498,714.906937502,680,661.906937502,635,879,787,803.093062498,652,631,653,0.400977151612,0.00449360735423,0.079840990908,0.999999956283,0.00011274434941,-0.000268996703632,4.86151183427e-05,1793239793441095168
+77,1.283333333,BASELINE,766,745.6674983,714.3325017,680,661.3325017,635,879,787,803.6674983,652,631,653,0.400977308492,0.00449185411608,0.0798407972076,0.999999956536,0.000109467389053,-0.000269410120451,4.86166032456e-05,1793239793457761792
+78,1.300000000,BASELINE,766,745.75243944,714.24756056,680,661.24756056,635,878.75243944,787,804,652,631,653,0.400977851893,0.00449137335215,0.0798411279397,0.999999956877,0.000108220879696,-0.000268643891475,4.86331304333e-05,1793239793474428672
+79,1.316666667,BASELINE,766,745.164644517,714.835355483,680,661.835355483,635,878.164644517,787,804,652,631,653,0.400978926506,0.00449264141078,0.0798421794247,0.999999957345,0.000109764916901,-0.000266256418616,4.86703309552e-05,1793239793491095552
+80,1.333333333,BASELINE,765.581646538,745,715,680,662,635,878.418353462,787,804,652,631,653,0.400979410697,0.00449305188345,0.0798423797008,0.999999957581,0.000108784352631,-0.000265795345641,4.85423488897e-05,1793239793507762432
+81,1.350000000,BASELINE,765.000514964,745,715,680,662,635,878.999485036,787,804,652,631,653,0.400979665159,0.00449312867612,0.0798422487782,0.999999957725,0.000106821485487,-0.000266083819833,4.83500955537e-05,1793239793524429056
+82,1.366666667,BASELINE,765,745,715,680,662,635,879,787,803.423627293,652,631,652.423627293,0.400979865093,0.00449214371751,0.0798429641502,0.999999957932,0.000106330755322,-0.000265501613369,4.83579214553e-05,1793239793541095680
+83,1.383333333,BASELINE,765.15275962,745.15275962,715,680.15275962,662,635,879,787,803,652,631.15275962,652.15275962,0.400979691581,0.00449157902921,0.0798433300233,0.99999995793,0.000106501738063,-0.000265436752459,4.83769555153e-05,1793239793557762048
+84,1.400000000,BASELINE,765.727772888,745.727772888,715,680.727772888,662,635,879,787,803,652,631.727772888,652.727772888,0.400978485935,0.00449217864251,0.0798427277476,0.999999957349,0.000108498198923,-0.000266804057345,4.84264803214e-05,1793239793574428416
+85,1.416666667,BASELINE,766,745.698550121,715,680.698550121,662,635,879,787,803.301449879,652,631.698550121,653,0.400978218896,0.00449150241266,0.0798424077167,0.999999957304,0.000107984209532,-0.000267138446913,4.86609046187e-05,1793239793591095040
+86,1.433333333,BASELINE,766,745.126074577,715,680.126074577,662,635,879,787,803.873925423,652,631.126074577,653,0.400978795732,0.00448967910572,0.0798423414449,0.999999957739,0.000105213140168,-0.000266544169376,4.90615671871e-05,1793239793607761920
+87,1.450000000,BASELINE,766,745,715,680.463898677,662,635,879,787,804,652,631,652.536101323,0.400979307542,0.00449065789309,0.0798425527321,0.999999957745,0.000106054463458,-0.000266268511999,4.86127944282e-05,1793239793624428800
+88,1.466666667,BASELINE,766,745,715,680.9433978,662,635,878.9433978,787,804,652,631,652.0566022,0.40097977079,0.00449223862422,0.0798427983513,0.999999957663,0.000107641260918,-0.000266048487327,4.80158442158e-05,1793239793641095936
+89,1.483333333,BASELINE,766,745,715,680.370852696,662,635,878.370852696,787,804,652,631,652.629147304,0.400979958795,0.00449209259679,0.0798426423766,0.999999957892,0.00010672360798,-0.00026551532264,4.82549797851e-05,1793239793657762560
+90,1.500000000,BASELINE,766,745,715,680,661.791000678,635,878,787,803.791000678,652,631,653,0.400979715837,0.00449240434619,0.0798423593593,0.999999957885,0.000106402268315,-0.000265668877724,4.82591090313e-05,1793239793674428928
+91,1.516666667,BASELINE,766,745,715,680,661.197713469,635,878,787,803.197713469,652,631,653,0.400978680463,0.0044935578117,0.0798418427485,0.999999957445,0.000107177372349,-0.00026708510725,4.7831131187e-05,1793239793691095296
+92,1.533333333,BASELINE,765.613797792,745,715,680,661.386202208,635,878.772404415,787,803,652,631,653,0.400979829861,0.00449352191669,0.0798427291618,0.999999957724,0.000107284384186,-0.000265994925388,4.78387424801e-05,1793239793707761920
+93,1.550000000,BASELINE,765.034566091,745,715,680,661.965433909,635,879.930867817,787,803,652,631,653,0.40098207124,0.00449289156206,0.079844316827,0.999999958358,0.000107057473875,-0.000263652002706,4.80640675355e-05,1793239793724428544
+94,1.566666667,BASELINE,765.542468474,745.542468474,715,680,662,635.542468474,880,787,803.542468474,652,631.542468474,653,0.400980647191,0.00449177686196,0.0798438063677,0.999999958225,0.000105648103568,-0.000264688569766,4.82624469915e-05,1793239793741095168
+95,1.583333333,BASELINE,766,745.882309188,715,680,662,635.882309188,879.882309188,787,803.882309188,652,631.882309188,653,0.400979291617,0.00449092772707,0.0798432534702,0.999999958041,0.000104620697247,-0.00026575158126,4.84654029327e-05,1793239793757762048
+96,1.600000000,BASELINE,766,745.313498649,715,680,662,635.313498649,879.313498649,787,803.313498649,652,631.313498649,653,0.400979090164,0.00449121434938,0.0798430482915,0.999999957863,0.000105345038132,-0.000266093864528,4.86924557901e-05,1793239793774428928
+97,1.616666667,BASELINE,766,745,715,680,662,635.266766117,879,787,803.266766117,652,631,652.733233883,0.400979006505,0.00449153021452,0.0798426835424,0.999999957694,0.000105716409406,-0.000266589034076,4.86435330772e-05,1793239793791095552
+98,1.633333333,BASELINE,766,745,715,680,662,635.861095544,879,787,803.861095544,652,631,652.138904456,0.400979067487,0.00449188198705,0.0798421228561,0.999999957537,0.000105654367672,-0.000267271933353,4.82557387121e-05,1793239793807762432
+99,1.650000000,BASELINE,766,745.444060708,715,680,662,635.555939292,879,787,804,652,631,652.444060708,0.400979546548,0.00449248574416,0.0798427818382,0.99999995764,0.000106515231368,-0.000266548507417,4.82352578215e-05,1793239793824429056
+100,1.666666667,BASELINE,766,745.976608238,715,680.023391762,662,635.023391762,879,787.023391762,804,652,631,653,0.400980068685,0.00449310056218,0.0798437373419,0.99999995781,0.000107563353015,-0.00026547176775,4.83170642778e-05,1793239793841095424
+101,1.683333333,BASELINE,766,745.401241584,715,680.598758416,662,635.598758416,879,787.598758416,804,652,631,653,0.400978598356,0.00449216283361,0.0798429118208,0.999999957755,0.000106387981901,-0.000266179312319,4.81689622513e-05,1793239793857762048
+102,1.700000000,BASELINE,766,745,715,680.822046168,662,635.822046168,878.822046168,787.822046168,804,652,631,653,0.400977747363,0.00449118426831,0.0798423076987,0.999999957695,0.000105449224256,-0.000266768338291,4.82127510565e-05,1793239793874428672
+103,1.716666667,BASELINE,766,745,715,680.234028104,662,635.234028104,878.234028104,787.234028104,804,652,631,653,0.400978323527,0.00449011160185,0.0798422137527,0.999999957629,0.000105055702126,-0.00026708425829,4.86987195521e-05,1793239793891095552
+104,1.733333333,BASELINE,766,745,715,680,662,635,878.348762063,787,803.651237937,652,631,652.651237937,0.400979362367,0.00449053609794,0.0798429434923,0.99999995786,0.000105529027817,-0.000266019716363,4.87630568309e-05,1793239793907762432
+105,1.750000000,BASELINE,766,745,715,680,662,635,878.928096045,787,803.071903955,652,631,652.071903955,0.400980707091,0.0044919503909,0.0798442177829,0.999999958283,0.000106575439783,-0.000264042530031,4.85486473295e-05,1793239793924429824
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,635,878,787,803,652,631,653,0.400978974112,0.00449038392076,0.0798430794081,0.999999957812,0.000105093258783,-0.000266397550213,4.86179870551e-05,1793239793955667968
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.578415391,715,681,662,635,878.578415391,787,803.578415391,652,631,653,0.400978915178,0.00449088355796,0.0798427288238,0.999999957589,0.000106998699211,-0.000266479313468,4.85993149459e-05,1793239793972334592
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.840234768,745.840234768,715,681,662,635,879,787,803.840234768,652.159765232,631.159765232,653,0.40097891251,0.0044917861746,0.0798426137995,0.99999995744,0.000108458926985,-0.000266461661373,4.85285413965e-05,1793239793989001472
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.250996558,745.250996558,715,681,662,635,879,787,803.250996558,652.749003442,631.749003442,653,0.400979061089,0.00449377206072,0.0798431319959,0.999999957497,0.000108722356587,-0.000266176765886,4.83177113346e-05,1793239794005667840
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.66576518,662,635,879,787,803.33423482,652.66576518,632,652.66576518,0.400979168192,0.00449412249981,0.0798430654021,0.999999957561,0.000108703739465,-0.000265940339716,4.83413677045e-05,1793239794022334208
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.083507158,662,635,879,787,803.916492842,652.083507158,632,652.083507158,0.400979244516,0.0044932593345,0.0798425648574,0.99999995763,0.000108475825965,-0.000265739880836,4.85390277281e-05,1793239794039000576
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.490350854,745,715,680,662,635,879,787,803.509649146,652,631.509649146,652.490350854,0.400978520082,0.00449351567531,0.0798420983804,0.999999957374,0.000108453135847,-0.000266715240587,4.8504847372e-05,1793239794055667200
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680.063271179,662,635,879,787,803,652.063271179,631.063271179,653,0.400977850088,0.00449381611163,0.0798417980627,0.999999957126,0.000108494666826,-0.000267643479893,4.84235521254e-05,1793239794072334080
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680.639995474,662,635,879,787,803,652.639995474,631.639995474,653,0.400978709887,0.0044929532755,0.0798427998576,0.999999957383,0.000108778515338,-0.000266591704771,4.8274923703e-05,1793239794089000960
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,635,879,787,803,652.777857544,631.777857544,653,0.400983033816,0.00449278015601,0.0798452935461,0.999999958259,0.000109042848981,-0.000263186870831,4.82098236053e-05,1793239794105667584
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,635,879,787,803,652.186702712,631.186702712,653,0.400993112193,0.00449375276076,0.0798502654966,0.999999960128,0.000109274765425,-0.000255873248715,4.82834767613e-05,1793239794122334464
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.395325267,715,680.604674733,661.604674733,635,879,787,803.395325267,652,631,653,0.401017519903,0.00449333506125,0.0798609517473,0.999999964891,0.00010832243778,-0.000236989479689,4.8169306484e-05,1793239794139001088
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.973140171,715,680.026859829,661.026859829,635,879,787,803.973140171,652,631,653,0.401048542304,0.00449227557103,0.0798742758277,0.999999970509,0.000106823440586,-0.000212764710792,4.79684333335e-05,1793239794155667200
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.450032755,715,680.549967245,661.549967245,635,879,787,803.450032755,652,631.549967245,653,0.401104893879,0.00449384801474,0.0798929017489,0.99999997724,0.000107580081698,-0.000178160356284,4.69596837427e-05,1793239794172333568
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.129144652,715,680.870855348,662,635,879,787,803,652.129144652,632,653,0.401165079494,0.00449513170065,0.079910436516,0.999999982491,0.000107586000363,-0.000146105918549,4.57950902484e-05,1793239794189000448
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.71683845,715,680.28316155,662,635,879,787,803,652.71683845,632,653,0.401234494036,0.00449493451817,0.0799231792206,0.999999985758,0.000104535906663,-0.000124902071203,4.4216990674e-05,1793239794205667072
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,879,787,803.299551462,652.700448538,632,653,0.401310271054,0.0044959323285,0.0799317001176,0.999999987509,0.000104416587948,-0.000110897771538,4.22025708918e-05,1793239794222333952
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,879,787,803.877633183,652.122366817,632,653,0.401391964054,0.0044980412723,0.0799362954742,0.999999988117,0.000107022375542,-0.000103587788301,3.97824500396e-05,1793239794239000832
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.544631765,746,715,680,662,635,879,787,804,652,631.544631765,653,0.40148707763,0.00449896673347,0.0799372256585,0.999999988416,0.000105234085365,-0.000103574404372,3.69565800359e-05,1793239794255667456
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.067030113,745.966484943,715,680,662,635,879,787,804,652,631,653,0.401587618032,0.00449956365307,0.0799374695629,0.999999988701,0.000102154998966,-0.000104921613452,3.39534448154e-05,1793239794272333824
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.239983093,745.380008454,715,680,662,635,879,787,804,652,631,653,0.401718238989,0.00449998308827,0.0799426281251,0.999999990181,9.72459316445e-05,-9.63915634644e-05,2.98231867289e-05,1793239794289000448
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.796088275,745.203911725,715,680,662,635.203911725,879,787,804,652,631.203911725,652.796088275,0.401860765262,0.00450097185432,0.0799485621862,0.999999991638,9.32093986173e-05,-8.59593888793e-05,2.541887523e-05,1793239794305667072
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.216873101,745.783126899,715,680,662,635.783126899,879,787,804,652,631.783126899,652.216873101,0.402025203484,0.00450300848466,0.0799559235673,0.999999993075,9.07787822744e-05,-7.20263183554e-05,2.05101636151e-05,1793239794322333440
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.639528233,715,680,662,635.639528233,879,787,803.639528233,652,631.639528233,652,0.402204580137,0.00450594129226,0.0799621817046,0.99999999414,8.86048315801e-05,-6.0402419263e-05,1.48268733803e-05,1793239794339000320
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.063302748,715,680,662,635.063302748,879,787,803.063302748,652,631.063302748,652,0.402392897926,0.0045094104904,0.0799677795165,0.999999994956,8.65845031342e-05,-5.01606307466e-05,8.67997294701e-06,1793239794355666944
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680.513029729,662,635,878.486970271,787,803,652,631,652.513029729,0.402598447174,0.00451121353135,0.0799638250626,0.999999995395,7.69974962127e-05,-5.72689326619e-05,1.2124044412e-06,1793239794372341248
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.09143441,715,680.90856559,662,635,878.09143441,787,803.09143441,652,631,653,0.402811008773,0.00451328745338,0.0799583713383,0.999999995478,6.72082983256e-05,-6.69696777979e-05,-6.5084787849e-06,1793239794389014016
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.681057974,715,680.318942026,662,635,878.681057974,787,803.681057974,652,631,653,0.403050190752,0.00451795769264,0.0799511720437,0.999999994876,6.14055964216e-05,-7.91286624419e-05,-1.47215010591e-05,1793239794405671680
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.733986192,745.733986192,715,680.266013808,662,635,879,787,803.733986192,652,631,653,0.403313568364,0.00452191948094,0.0799467599769,0.99999999427,6.09304758141e-05,-8.54940006131e-05,-2.09178437451e-05,1793239794422333440
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.154530346,745.154530346,715,680.845469654,662,635,879,787,803.154530346,652,631,653,0.40360545549,0.00452504650663,0.0799456320797,0.999999993852,6.67328039375e-05,-8.503272866e-05,-2.47379477779e-05,1793239794439000064
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.421027927,745,715,681,662,635,879,787,803.421027927,652,631,653,0.403931060661,0.00453000524526,0.0799513253765,0.999999992944,8.78032631673e-05,-7.66263380209e-05,-2.30628720709e-05,1793239794455666688
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.995168777,745,715,681,662,635,879,787,803.995168777,652,631,653,0.404268927884,0.00453563011286,0.0799594992997,0.999999991131,0.00011442619996,-6.53305894679e-05,-1.93893942956e-05,1793239794472333312
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.570881909,715,681,662,635.570881909,879,787,803.429118091,652,631,653,0.404646835718,0.00453953199799,0.0799600835903,0.999999995264,7.16981056554e-05,-6.13241789851e-05,-2.38904652679e-05,1793239794489000448
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.849894789,745.849894789,715,680.849894789,662.150105211,635.849894789,879,787,803.150105211,652.150105211,631,653,0.405035408484,0.00454156569404,0.079959777943,0.99999999699,4.33450620049e-05,-5.84042649592e-05,-2.70338222107e-05,1793239794505667072
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.260436489,745.260436489,715,680.260436489,662.739563511,635.260436489,879,787,803.739563511,652.739563511,631,653,0.405454202542,0.00453817405692,0.0799570559917,0.999999996224,5.87899137241e-05,-5.84834351587e-05,-2.60001494483e-05,1793239794522333952
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.323253549,745,715,680,662.676746451,635.323253549,879,787,804,652.676746451,631,653,0.405887538875,0.00453476978762,0.0799499160923,0.999999995254,6.2996834671e-05,-6.94661473204e-05,-2.64085669857e-05,1793239794539000576
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.902377793,745,715,680,662.097622207,635.902377793,879,787,804,652.097622207,631,653,0.406332386163,0.00453135551898,0.0799392791747,0.999999993942,5.83083958011e-05,-8.90795361533e-05,-2.79584680791e-05,1793239794555666944
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.522284189,745.477715811,715,680,662,635.522284189,879,787,804,652,631,652.522284189,0.406809365648,0.00454442468492,0.0799357120754,0.999999992224,7.52979570901e-05,-9.54819539066e-05,-2.76780318707e-05,1793239794572333824
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.053536757,746,715,680.053536757,662,635,879,787,804,652,631,652.053536757,0.40729675491,0.00455995747331,0.079933619748,0.999999990149,9.52601316372e-05,-9.94123320921e-05,-2.72712011499e-05,1793239794589000960
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.641849935,746,715,680.641849935,662,635,879,787,804,652,631,652.641849935,0.407823052779,0.00456671682957,0.0799319409676,0.999999988914,0.00010101306415,-0.000105404642554,-2.93086433347e-05,1793239794605667584
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.773477815,746,715,681,661.773477815,635,879,787,803.773477815,652,631,653,0.408364737601,0.004573920218,0.0799291655008,0.999999987441,0.000106855222425,-0.000112874709123,-3.09837824631e-05,1793239794622334464
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.194471141,746,715,681,661.194471141,635,879,787,803.194471141,652,631,653,0.408930365577,0.00458181455138,0.0799246835128,0.999999985598,0.000112836221933,-0.000122644268017,-3.20951523699e-05,1793239794639001856
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,746,715,681,661.383590428,635,879,787,803.383590428,652.383590428,631,653,0.40955609479,0.0045930168324,0.0799437770105,0.999999987136,0.000127589385924,-9.13175055317e-05,-3.33267697507e-05,1793239794655668480
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,746,715,681,661.961174012,635,879,787,803.961174012,652.961174012,631,653,0.410212218978,0.00460589204126,0.0799747933368,0.99999998786,0.000146778895452,-3.92071032042e-05,-3.46191997592e-05,1793239794672334848
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,746,715,680.463860868,662,635,879.536139132,787,803.463860868,652.463860868,631.536139132,653,0.410877236083,0.00460912646644,0.0799956184782,0.999999988113,0.00014975103226,-5.00521783459e-06,-3.63745334639e-05,1793239794689001472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.886096083,715,680,662,635.113903917,879.886096083,787,803.227807835,652,632,652.886096083,0.411540784052,0.00460883026615,0.0800064581392,0.999999988236,0.000148073758487,1.24692280874e-05,-3.80330061733e-05,1793239794705667840
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.295833781,715,680,662,635.704166219,879.295833781,787,804.408332438,652,632,652.295833781,0.412195507547,0.00459667421639,0.0799786089351,0.999999989944,0.000131839853872,-3.46148874481e-05,-3.91468823402e-05,1793239794722334208
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.288985481,745,715,680.288985481,662,635.711014519,879,787,804.711014519,652,631.711014519,652.288985481,0.412870545511,0.00458617896844,0.0799500576835,0.999999989157,0.000119996125291,-7.45966866569e-05,-4.1510756589e-05,1793239794739000576
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.868335796,745,715,680.868335796,662,635.131664204,879,787,804.131664204,652,631.131664204,652.868335796,0.413565994985,0.00457735244798,0.0799208010301,0.999999986874,0.000112563525603,-0.000107442275275,-4.5130595438e-05,1793239794755666944
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662.44389666,635.44389666,879.44389666,787,804,652,631,653,0.414312802397,0.00458486634646,0.0799276629539,0.999999989397,0.000103650743528,-9.13204243559e-05,-4.60663182945e-05,1793239794772333312
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.018370978,714.981629022,681,663,635.981629022,879.981629022,787,804,652,631,652.981629022,0.415074972699,0.00459697396381,0.0799452006361,0.999999992509,9.55523723568e-05,-6.09548139252e-05,-4.62109844637e-05,1793239794789000192
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.593693098,714.406306902,681,663,635.406306902,879.406306902,787,804,652,631,652.406306902,0.415844982918,0.00460265478221,0.0799643544694,0.999999990447,0.000125341975778,-3.53650827921e-05,-4.63053300884e-05,1793239794805667072
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.826830212,714.173169788,681,662.826830212,635.173169788,879.173169788,787,804,652,631,652,0.416616569936,0.0046085443049,0.0799724741881,0.999999987853,0.000146303831766,-2.58706041273e-05,-4.71053344879e-05,1793239794822334208
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.23736611,714.76263389,681,662.23736611,635.76263389,879.76263389,787,804,652,631,652,0.417391947481,0.0046149355453,0.079954068267,0.999999986589,0.000146044080019,-5.50685696755e-05,-4.96017188309e-05,1793239794839000832
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.346183818,715,681,662,635.653816182,879.653816182,787,804,652,631,652.346183818,0.418224693087,0.0046173739783,0.0799649763945,0.999999987881,0.000143912255161,-2.9085293807e-05,-5.17835690836e-05,1793239794855667200
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.925746695,715,681,662,635.074253305,879.074253305,787,804,652,631,652.925746695,0.419096113215,0.00461714763462,0.0799956465241,0.999999988101,0.000140518375948,3.40982956641e-05,-5.37533766269e-05,1793239794872333568
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.49791037,746,715,681,662.50208963,635,879,787,804,652,631,652.49791037,0.419920621565,0.0046117500907,0.0799927866478,0.999999988852,0.000135420111792,3.26002086521e-05,-5.37976154792e-05,1793239794889000192
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,715,681,662.920528242,635.079471758,879.079471758,787,804,652,631,652,0.420737481455,0.00460656299914,0.0799846890979,0.999999989816,0.000130612460868,2.03226269669e-05,-5.38172313018e-05,1793239794905666816
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,746,715,681,662.333487302,635.666512698,879.666512698,787,804,652,631,652,0.421549519259,0.00460757326773,0.0799746080208,0.999999990106,0.000129260485763,-9.66361503741e-08,-5.54867579956e-05,1793239794922333696
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,746,715,681,662.250217679,635.749782321,879.749782321,787,804,652,631,652.250217679,0.42240229935,0.00461109071259,0.0799808881269,0.999999989399,0.000134599462889,4.7634732632e-06,-5.53412006013e-05,1793239794939000576
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,746,715,681,662.829535108,635.170464892,879.170464892,787,804,652,631,652.829535108,0.423308666001,0.00461790573068,0.08000868734,0.999999986625,0.000148738740042,4.2872370494e-05,-5.28083471619e-05,1793239794955667712
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.407122118,746,715,681,663,635,879,787.407122118,804,652,631,653,0.424155569404,0.00462097999041,0.0800049505548,0.999999986799,0.000151390410867,2.78139442208e-05,-5.20580821886e-05,1793239794972334336
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.983987621,746,715,681,663,635,879,787.983987621,804,652,631,653,0.424977680455,0.00462249459732,0.0799880653124,0.999999987463,0.000149252497719,-9.41179250947e-06,-5.205104052e-05,1793239794989000960
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662.439458255,635,879,787.439458255,804,652,631.560541745,653,0.425810674872,0.00462266382943,0.0799487805244,0.999999985718,0.000147013517104,-6.33080276286e-05,-5.42591926178e-05,1793239795005667072
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,681.139979935,662.139979935,635,879.139979935,787,804,652,631.860020065,653,0.426650394251,0.00462211502622,0.0799196377307,0.999999982771,0.00014520206465,-0.000101122069385,-5.61045811848e-05,1793239795022333696
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,681.728692007,662.728692007,635,879.728692007,787,804,652,631.271307993,653,0.42751067564,0.00461938755724,0.0799250570821,0.999999984234,0.000144770385773,-8.58558720264e-05,-5.6584322826e-05,1793239795039000320
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,682,663.312186351,635,880,787,804,652,631,652.687813649,0.428375040005,0.00461844982764,0.0799318744509,0.999999984643,0.000146264627335,-7.88042398438e-05,-5.57661371956e-05,1793239795055666944
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,682,663.891220699,635,880,787,804,652,631,652.108779301,0.429242894335,0.00461904191641,0.0799398868048,0.999999984287,0.000149405090851,-7.87741846964e-05,-5.38385203006e-05,1793239795072333312
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,682,663.532594107,635.467405893,880.467405893,787,804.467405893,652,631,652.467405893,0.430124530649,0.00462122726919,0.0799701523656,0.999999987053,0.000148034285498,-3.20915917527e-05,-5.4321350738e-05,1793239795089000192
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,682,663,635.956148579,880.956148579,787.043851421,805,652,631,653,0.431005349941,0.00462378458429,0.0800048453316,0.999999987516,0.000146135944718,2.3632704517e-05,-5.52610782012e-05,1793239795105667328
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,682,663,635.36829797,880.36829797,787.63170203,805,652,631,653,0.431836483517,0.00462638418501,0.0800306037917,0.999999985482,0.000150638982526,5.76478997279e-05,-5.49517311793e-05,1793239795122333952
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.783593614,746,715,681.783593614,663,635,880,787.783593614,804.783593614,652,631,653,0.432636177038,0.00462862796939,0.080025379723,0.999999985958,0.000152081972712,4.40016632885e-05,-5.49513978195e-05,1793239795139000576
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.204166984,746,715,681.204166984,663,635,880,787.204166984,804.204166984,652,631,653,0.433383130212,0.00463027487469,0.0799681826765,0.999999986222,0.000148391753805,-4.95962963771e-05,-5.54694324905e-05,1793239795155666944
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.374212974,746,715,681.748425949,663,635,880.374212974,787,804.374212974,652,631,652.625787026,0.434170777219,0.00462766686209,0.0799310830553,0.999999983527,0.00014262112474,-9.65621149269e-05,-5.7279806761e-05,1793239795172333568
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.952023436,746,715,682.904046873,663,635,880.952023436,787,804.952023436,652,631,652.047976564,0.434980564412,0.00462274388265,0.0799049178135,0.999999982022,0.000135718610699,-0.000118156849563,-5.97933024084e-05,1793239795188999936
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.474231458,714.474231458,682.474231458,663,635,880.474231458,787,804.474231458,652,631,652.525768542,0.435770327359,0.00461908770732,0.0799366857664,0.999999986565,0.00013364477706,-7.43635336362e-05,-5.89842674722e-05,1793239795205666816
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.897863388,745.102136612,714,682,662.897863388,635,880,787,804,652,631,653,0.43654580311,0.00461713217871,0.0799680955845,0.999999988871,0.000133038744448,-3.4919044015e-05,-5.77895653056e-05,1793239795222333696
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765.249158655,745.249158655,714,682.750841345,661.750841345,634.249158655,881,787,804.750841345,652,631,652.750841345,0.441599940014,0.00468233658997,0.0796929824696,0.999999864703,0.000204128297976,-0.000474651258317,-6.02581495634e-05,1793239795355666944
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,714,683,660,634,880.477616998,786.761191501,804.761191501,652,631,653,0.444775659705,0.00472822842384,0.0797387298245,0.999999878618,0.000271173022292,-0.000407622270147,-5.54454537767e-05,1793239795455667200
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,746,714,683,660,634,881.637008155,786.181495923,804.181495923,652,631,653,0.445182512852,0.00473396727607,0.0797098244098,0.999999857441,0.000271653398156,-0.000456319893166,-5.56203884121e-05,1793239795472333824
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.396695294,745.603304706,714,683,659.206609413,634,881.603304706,786,804,652,631,652.603304706,0.445588904038,0.0047453602674,0.0796958890139,0.999999844746,0.000282077775861,-0.000477111513982,-5.74831997453e-05,1793239795489000192
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.974200885,745.025799115,714,683,658.051598229,634,881.025799115,786,804,652,631,652.025799115,0.445995084702,0.00475933036714,0.0796887768211,0.999999836377,0.000297034544121,-0.00048518382382,-6.011533078e-05,1793239795505666816
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713,683.607423879,655,632,880.607423879,785.607423879,804.607423879,652,630.607423879,653,0.449787196394,0.00480793931383,0.0795979866921,0.999999754032,0.000349250410889,-0.000604396782237,-6.82952453139e-05,1793239796155667456
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713.192967736,684,655,632,881,786,804.807032264,652,631,653,0.449787496298,0.00480892862937,0.079598362871,0.999999753287,0.00035097385797,-0.000604627477371,-6.83245484234e-05,1793239796172333824
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713.772627956,684,655,632,881,786,804.227372044,652,631,653,0.449787631866,0.0048086051908,0.0795983290696,0.999999753411,0.0003508780319,-0.000604468459115,-6.84112910603e-05,1793239796189000448
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.349740882,713.650259118,684,655,631.650259118,881,786,804.349740882,652,631,653,0.449788116594,0.00480775348268,0.0795982923242,0.999999754124,0.000348971577518,-0.000604406679264,-6.82867174911e-05,1793239796205667072
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.925209723,713.074790277,684,655,631.074790277,881,786,804.925209723,652,631,653,0.449788826675,0.00480656082155,0.0795982536787,0.99999975521,0.000345896516735,-0.000604407658525,-6.80257573005e-05,1793239796222333696
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.499752719,745.500247281,713,683.500247281,655,631.499752719,880.500247281,785.500247281,805,652,631,652.500247281,0.449788211339,0.00480701863243,0.079596910199,0.999999754348,0.000345986811452,-0.000605750025137,-6.82921090493e-05,1793239796239000064
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.92352991,745,713,683,655,631.92352991,880.07647009,785,805,652,631,652.07647009,0.44978770261,0.00480763227294,0.079595825828,0.999999753486,0.000346591347468,-0.000606794061182,-6.85812444211e-05,1793239796255666688
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.331212077,745,713,683,655,631.331212077,880.668787923,785,805,652,631,652.668787923,0.449789248601,0.00480763397756,0.0795978041746,0.99999975459,0.000347475206757,-0.000604473965785,-6.84927184853e-05,1793239796272333568
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.255174416,713,683.255174416,655,631.255174416,881,785.255174416,805,652,631,653,0.449789983869,0.00480725863928,0.0795984743244,0.999999755147,0.00034767031854,-0.000603449909806,-6.84119795662e-05,1793239796289000448
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.834037097,713,683.834037097,655,631.834037097,881,785.834037097,805,652,631,653,0.449789690737,0.00480640502276,0.0795974850293,0.999999755013,0.00034699175553,-0.000604069877073,-6.83411184512e-05,1793239796305667328
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.590030741,713,684,655,631.590030741,880.590030741,785.590030741,805,652,631,652.590030741,0.449789969055,0.00480475391333,0.0795974612806,0.999999755775,0.000344774910312,-0.000604117418873,-6.79868396956e-05,1793239796322333696
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.015276519,713,684,655,631.015276519,880.015276519,785.015276519,805,652,631,652.015276519,0.449790477065,0.00480278225591,0.0795978256282,0.999999756891,0.000341939760788,-0.000603934877261,-6.75186427319e-05,1793239796339000064
+250,4.166666667,POSE1_TO_POSE2_PRESS,764.44123274,745,713,683.44123274,654.44123274,631,880.55876726,785,804.44123274,652,631,652,0.449790844285,0.00480423369475,0.0795983250926,0.999999757104,0.000342021296206,-0.000603509167222,-6.774607806e-05,1793239796355666688
+251,4.183333333,POSE1_TO_POSE2_PRESS,764.137554326,745,713.137554326,683,654.137554326,631.137554326,880.862445674,785,804,652,631,652.137554326,0.449790708563,0.00480576554773,0.0795982417315,0.999999756545,0.000342817996305,-0.000603952980666,-6.80204095573e-05,1793239796372333312
+252,4.200000000,POSE1_TO_POSE2_PRESS,764.732166547,745,713.732166547,683,654.732166547,631.732166547,880.267833453,785,804,652,631,652.732166547,0.449788914466,0.00480725402751,0.0795962095312,0.999999753487,0.000345726382649,-0.000607308060625,-6.83874521037e-05,1793239796388999936
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.316913056,713.683086944,683,655,632,880,785.316913056,804,652,631,652.683086944,0.449789614867,0.00480870684799,0.0795969419977,0.999999753237,0.000347419549523,-0.000606727863347,-6.86020350541e-05,1793239796405667072
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745.893573432,713.106426568,683,655,632,880,785.893573432,804,652,631,652.106426568,0.4497923598,0.00481013044144,0.0795999404321,0.99999975529,0.000348116701754,-0.000602922245899,-6.86916595143e-05,1793239796422333952
+255,4.250000000,HOLD_POSE2,766,745,714,684,655,631,881,786,805,652,631,652,0.449792349479,0.0048058768922,0.0795982676543,0.999999756223,0.000345301710049,-0.000603124849769,-6.75328559449e-05,1793239796454456576
+256,4.266666667,HOLD_POSE2,765.411639553,745.588360447,714,683.411639553,655,631.588360447,881,785.411639553,805,652,631,652.588360447,0.449791654209,0.00480572566477,0.0795981039886,0.999999755537,0.000345352811079,-0.000604226657911,-6.7586417467e-05,1793239796471123200
+257,4.283333333,HOLD_POSE2,765,745.82558847,713.82558847,683.17441153,655,631.82558847,881,785,805,652,631,653,0.449791653405,0.00480576920328,0.0795982545622,0.999999755306,0.000345525664917,-0.000604506834816,-6.76161917013e-05,1793239796487789824
+258,4.300000000,HOLD_POSE2,765,745.244916519,713.244916519,683.755083481,655,631.244916519,881,785,805,652,631,653,0.449793270236,0.00480626641412,0.0795991370997,0.999999756136,0.00034598212013,-0.000602873169126,-6.75905577202e-05,1793239796504456448
+259,4.316666667,HOLD_POSE2,765,745.333213629,713,683.666786371,655,631,881,785.333213629,804.666786371,652,631,653,0.449793171444,0.00480581736422,0.0795991896359,0.999999756173,0.00034587035331,-0.000602893882709,-6.74285756147e-05,1793239796521123072
+260,4.333333333,HOLD_POSE2,765,745.909489627,713,683.090510373,655,631,881,785.909489627,804.090510373,652,631,653,0.44979182119,0.00480467806528,0.0795986367284,0.999999755632,0.000345344097435,-0.000604121381795,-6.71671344997e-05,1793239796537789184
+261,4.350000000,HOLD_POSE2,765,745.515275779,713.484724221,683.484724221,655,631,881,786,804,652,631,653,0.449792058118,0.00480543372049,0.0795986393675,0.999999755611,0.000345329651375,-0.000604153149801,-6.72655125012e-05,1793239796554455808
+262,4.366666667,HOLD_POSE2,765,745,713.938705497,684,655,631.061294503,881,785.938705497,804.061294503,652,631,653,0.449792527786,0.00480632874899,0.0795986665907,0.999999755715,0.000345185195333,-0.000604044962304,-6.74297399768e-05,1793239796571122432
+263,4.383333333,HOLD_POSE2,765,745,713.348946289,684,655,631.651053711,881,785.348946289,804.651053711,652,631,653,0.449792454358,0.00480538127563,0.0795980133159,0.999999756057,0.000343097633576,-0.000604650993097,-6.75836740461e-05,1793239796587789056
+264,4.400000000,HOLD_POSE2,765,745,713,684,654.763777999,631.763777999,881,785,804.763777999,652,631,653,0.449792533001,0.0048052037706,0.0795977932061,0.999999756133,0.000342689412299,-0.000604748882433,-6.765742992e-05,1793239796604455680
+265,4.416666667,HOLD_POSE2,765,745,713,684,654.185262161,631.185262161,881,785,804.185262161,652,631,653,0.449792832001,0.00480614197637,0.0795982007676,0.999999755825,0.000344714613561,-0.000604110457196,-6.76150048062e-05,1793239796621122304
+266,4.433333333,HOLD_POSE2,765,745,713,684,654.390695701,631.390695701,881,785.390695701,804,652,631,653,0.44979230553,0.00480599579188,0.0795978709206,0.999999755586,0.000344301599147,-0.000604737937733,-6.76519311875e-05,1793239796637788928
+267,4.450000000,HOLD_POSE2,765,745,713,684,654.965448549,631.965448549,881,785.965448549,804,652,631,653,0.449791390177,0.00480533875011,0.0795971936798,0.999999755376,0.000342739938991,-0.000605961787727,-6.7726240136e-05,1793239796654455808
+268,4.466666667,HOLD_POSE2,765,745,713,683.44639422,655,631.44639422,881,785.44639422,804,652,631,653,0.449792653821,0.00480537152555,0.0795975642961,0.999999755751,0.000343362596452,-0.000605008532238,-6.75613465768e-05,1793239796671122176
+269,4.483333333,HOLD_POSE2,765,745,713,683,655,631.140402683,881,785.140402683,804,652,631,653,0.449793569503,0.00480518806048,0.0795978930205,0.999999756019,0.000343803218184,-0.000604331147492,-6.74169163552e-05,1793239796687788800
+270,4.500000000,HOLD_POSE2,765,745,713,683,655,631.720258519,881,785.720258519,804,652,631,653,0.449792959866,0.00480418967751,0.0795978808523,0.99999975584,0.000343236793704,-0.000604953063814,-6.73844218233e-05,1793239796704455424
+271,4.516666667,HOLD_POSE2,765,745,713,683,655,631.701867845,881,785.701867845,804,652,631,653,0.449792861984,0.00480452805595,0.079597964822,0.999999756071,0.00034287719243,-0.000604767475116,-6.74504296138e-05,1793239796721122304
+272,4.533333333,HOLD_POSE2,765,745,713,683,655,631.125841885,881,785.125841885,804,652,631,653,0.449793241117,0.00480611245137,0.0795981384034,0.999999756684,0.000342710374449,-0.000603829197886,-6.76082530145e-05,1793239796737789184
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,655,631,881,785,804,652,631,653,0.449794812672,0.00480376295794,0.0795988135615,0.999999756649,0.000344063037101,-0.000603178570741,-6.70698342378e-05,1793239796770381568
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.413222842,631,880.413222842,784.413222842,804.586777158,652,631,652.413222842,0.449793174756,0.00480272176044,0.0795973646973,0.99999975629,0.00034137757904,-0.000605294533445,-6.70848390839e-05,1793239796787048192
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.171490268,683,654,631,880,784.171490268,805,652,631,652,0.449792326131,0.00480264876447,0.0795966374934,0.999999755991,0.000340008729019,-0.000606544616525,-6.72054457614e-05,1793239796803714816
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.751289119,683,654,631,880,784.751289119,805,652,631,652,0.449793356761,0.00480488100108,0.0795976285215,0.999999755855,0.000341774647375,-0.00060573308987,-6.75774844019e-05,1793239796820381440
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.67293709,683.32706291,654.32706291,631.32706291,880.32706291,785,805,652,631,652.32706291,0.449793835971,0.0048048472255,0.0795978465723,0.999999755984,0.000342744330308,-0.000605008475196,-6.72594320471e-05,1793239796837048064
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.100186928,683.899813072,654.899813072,631.899813072,880.899813072,785,805,652,631,652.899813072,0.44979390096,0.00480311123808,0.0795974839682,0.999999756311,0.00034311588695,-0.000604349148211,-6.64229883926e-05,1793239796853714944
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.51298406,745,713,683.51298406,655,632,881,785,805,652,631,653,0.449793820771,0.00480321042891,0.0795979069934,0.999999756378,0.000343031775481,-0.000604248612177,-6.67623612321e-05,1793239796870381568
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.075776367,745,713.075776367,683,655,631.924223633,881.075776367,785,805,652,631,653,0.44979324666,0.00480376289238,0.0795981101976,0.999999756152,0.000342944959641,-0.000604613150177,-6.72826686375e-05,1793239796887047936
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.654536899,745,713.654536899,683,655,631.345463101,881.654536899,785,805,652,631,653,0.449789598319,0.00480474150685,0.0795957487086,0.999999754349,0.000343481432412,-0.000607278371493,-6.7349304163e-05,1793239796903714560
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,631.232051091,881.767948909,785,805,652,631,653,0.449779109203,0.00480529993674,0.0795897796557,0.999999749078,0.000343200444755,-0.000616054862187,-6.73322570004e-05,1793239796920381440
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,631.807719674,881.192280326,785,805,652,631,653,0.449758490377,0.00480523616405,0.0795784685808,0.999999738458,0.000341708974833,-0.000633880821051,-6.71912938503e-05,1793239796937048064
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.61701548,683.38298452,655,632,880.61701548,785.38298452,805,652,631,653,0.449717357137,0.00480445597055,0.0795599654358,0.999999718777,0.000341801503188,-0.000664235065898,-6.6411060665e-05,1793239796953714688
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.041953068,683.958046932,655,632,880.041953068,785.958046932,805,652,631,653,0.44966593532,0.00480331647115,0.0795378552571,0.999999693538,0.000342688452337,-0.000700872612013,-6.53102148568e-05,1793239796970381312
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.450752705,655,632,880.549247295,785.450752705,805,652,631,653,0.449598467719,0.00480278011215,0.0795197842906,0.999999672893,0.000342139278648,-0.000730040319721,-6.47798766376e-05,1793239796987048448
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,655,631.861556585,880.861556585,785.138443415,804.861556585,652,631,653,0.449527297318,0.00480254029338,0.0795048233223,0.999999655299,0.000342746594694,-0.000753547216088,-6.39752039172e-05,1793239797003715072
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,655,631.282774433,880.282774433,785.717225567,804.282774433,652,631,653,0.449448365898,0.00480309269596,0.0794987431181,0.999999648229,0.000347391751895,-0.000760918820605,-6.21551733312e-05,1793239797020381440
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.294515428,713.294515428,683,655,631.294515428,880.294515428,785.705484572,804,652,631,653,0.449361625519,0.00480298210389,0.0794959951035,0.999999644898,0.000350769786243,-0.000763919727529,-5.99329402006e-05,1793239797037048064
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.870379678,713.870379678,683,655,631.870379678,880.870379678,785.129620322,804,652,631,653,0.449267425291,0.00480223815699,0.0794964303099,0.999999645184,0.000352937345473,-0.000762745332858,-5.73264855045e-05,1793239797053714944
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.544316935,714,683.455683065,655,632,881,785,804.455683065,652,631,653,0.449152658423,0.00480005596084,0.0794993026892,0.999999648028,0.000352147170189,-0.000759577989061,-5.45607882868e-05,1793239797070381568
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.956921263,684,655,632,881,785,805,652,631,652.956921263,0.449029776135,0.00479765977268,0.0795029501678,0.999999651477,0.000350926079337,-0.0007557957038,-5.16664693591e-05,1793239797087048192
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.377610271,684,655,632,881,785,805,652,631,652.377610271,0.448880237825,0.00479780012851,0.0795074338193,0.99999965341,0.000355035310171,-0.000751564675015,-4.77468733902e-05,1793239797103714816
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,655.200822505,632,881,785.200822505,804.799177495,652,631,652.200822505,0.448718586888,0.00479732206343,0.0795109216533,0.999999654002,0.00035930390239,-0.000749008116188,-4.33881446719e-05,1793239797120381696
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,655.777611082,632,881,785.777611082,804.222388918,652,631,652.777611082,0.448534259542,0.00479568623329,0.0795125451858,0.999999652129,0.000363870839576,-0.000749586385272,-3.82073022872e-05,1793239797137048320
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,656,632,881,785.64627201,804.35372799,652,631,653,0.448328948754,0.00479299397551,0.0795102521523,0.999999647048,0.000369418262102,-0.000753922271707,-3.21754285714e-05,1793239797153714688
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,656,632,881,785.070576523,804.929423477,652,631,653,0.448110470648,0.00478963879974,0.0795055014386,0.999999639873,0.000375580948413,-0.000760616096832,-2.56095245308e-05,1793239797170381312
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,656,632,880.485044377,785,804.485044377,652,631,653,0.447857797687,0.00478680545031,0.0795054190802,0.9999996373,0.000377349983663,-0.000763314420534,-1.89446657774e-05,1793239797187048192
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.899391653,656,632,880.100608347,785,804.100608347,652,631,653,0.447596030326,0.00478418299147,0.0795071342453,0.999999636959,0.000379293489943,-0.000762932903062,-1.22953038161e-05,1793239797203714560
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.31970916,656,632,880.68029084,785,804.68029084,652,631,653,0.447313708177,0.00478221755951,0.0795143028269,0.999999644216,0.0003849910039,-0.000750544196594,-5.78556902571e-06,1793239797220381440
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.257986866,713,683,656,632,881,785.257986866,805,652,631,653,0.447014948058,0.00477887540267,0.0795245207359,0.999999654111,0.000387375077266,-0.000736014483291,4.2104026501e-07,1793239797237048064
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.833239947,713,683,656,632,881,785.833239947,805,652,631,653,0.446695972923,0.00477384018189,0.0795384886361,0.99999966723,0.000385684358521,-0.000718851810575,6.25487251303e-06,1793239797253714688
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.590546361,713.409453639,683.409453639,656,632,881,785.590546361,804.590546361,652,631,653,0.446336761444,0.00476902287148,0.0795479047643,0.999999678653,0.000372227350315,-0.000709986745849,7.77487454914e-06,1793239797270382080
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.01394053,713.98605947,683.98605947,656,632,881,785.01394053,804.01394053,652,631,653,0.445961124198,0.00476429451926,0.0795554627119,0.999999689159,0.000353966962917,-0.000704509032797,7.53383170691e-06,1793239797287049728
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.424091957,656.575908043,632.575908043,880.424091957,785.575908043,804,652,631,653,0.445534011,0.00475602676348,0.079560888604,0.999999700291,0.000331457703398,-0.000699636180928,7.97122859515e-06,1793239797303715840
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,633,880.162972443,785.837027557,804.162972443,652,631,653,0.445097998894,0.00474820346761,0.079569234142,0.999999713986,0.000311396604134,-0.000689184391041,9.17436421372e-06,1793239797320381952
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,633,880.742089664,785.257910336,804.742089664,652,631,653,0.444642520383,0.00474173900508,0.0795851697823,0.999999734819,0.000297855607755,-0.000664448701298,1.22898673638e-05,1793239797337048576
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.318000354,713.681999646,683,657.318000354,633,880.681999646,785.318000354,804.681999646,652,631,653,0.444166047444,0.00473421377244,0.079597175679,0.999999748952,0.000288578312283,-0.000646998153406,1.45237307895e-05,1793239797353715456
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.891336449,713.108663551,683,657.891336449,633,880.108663551,785.891336449,804.108663551,652,631,653,0.443672717154,0.00472583680255,0.0796060262227,0.99999975804,0.000282724518645,-0.000635397147146,1.60496892689e-05,1793239797370382336
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.521592238,713,683,658,633,880.478407762,786,804.956815525,652,631,652.521592238,0.443153795162,0.00471604150984,0.0796123963094,0.999999758307,0.000304468382787,-0.000624797284365,1.77258557598e-05,1793239797387048960
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.067405239,683,658.067405239,633,880.932594761,786,805.932594761,652,631,652.067405239,0.442623014303,0.00470598068743,0.0796202485993,0.999999760117,0.000325614538224,-0.000611036802833,1.93533408393e-05,1793239797403715840
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.646639436,683,658.646639436,633,880.353360564,786,805.353360564,652,631,652.646639436,0.44204762814,0.00469642211719,0.0796437602544,0.999999793499,0.00029321713097,-0.000571499032377,2.034445033e-05,1793239797420382208
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.22466896,713.77533104,683,659,633.22466896,880.22466896,786,805,652,631,652.77533104,0.441452822629,0.00468627816495,0.0796594257649,0.999999817403,0.000263745567923,-0.000543306308514,2.12473021082e-05,1793239797437048832
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.800813837,713.199186163,683,659,633.800813837,880.800813837,786,805,652,631,652.199186163,0.440827637197,0.00467521843179,0.0796628166327,0.999999829262,0.00023885124775,-0.00053286197122,2.20120820262e-05,1793239797453715968
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.624317301,713.375682699,683,659.375682699,634,880.624317301,786,805,652,631,652,0.440151580789,0.00466535192688,0.0796426531228,0.999999813943,0.000235854896653,-0.000562087118856,2.33350939242e-05,1793239797470382848
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.050122708,713.949877292,683,659.949877292,634,880.050122708,786,805,652,631,652,0.439448644019,0.00465611592779,0.0796100434073,0.999999782376,0.000244429500162,-0.000612273743704,2.49530772504e-05,1793239797487049216
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,660,634,880.53751312,786,804.46248688,652,631,652,0.438807176745,0.0046430270789,0.0796432164844,0.999999821956,0.000221886134759,-0.000553377440355,2.50756692705e-05,1793239797503715584
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.12441652,745.12441652,714,683,660,634,880.87558348,786.12441652,804,652,631,652.12441652,0.438161519445,0.00463078073326,0.0796912067846,0.999999866942,0.000199130286054,-0.00047517760813,2.58690350152e-05,1793239797520381440
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.703938246,745.703938246,714,683,660,634,880.296061754,786.703938246,804,652,631,652.703938246,0.437479030654,0.00462296410284,0.0797703833624,0.999999915732,0.000186483709144,-0.000364529377142,2.96391923569e-05,1793239797537048064
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.717554923,745.717554923,714,683,660,634.282445077,880,787,804,651.717554923,631,652.717554923,0.436774024673,0.00461307127098,0.0798286946632,0.999999945063,0.000178530624475,-0.000277342593742,3.28904598287e-05,1793239797553714688
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.140108037,745.140108037,714,683,660,634.859891963,880,787,804,651.140108037,631,652.140108037,0.436045500366,0.00460100993451,0.0798652130838,0.99999996093,0.000175479691543,-0.000214660278363,3.55997696778e-05,1793239797570381312
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.567353787,660.432646213,635,879.567353787,787,804,651.432646213,631,652.432646213,0.43525280609,0.00459131188003,0.0798578097513,0.999999959863,0.000165779911013,-0.000226850172246,3.64594953898e-05,1793239797587047936
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.004053194,661,635,879.004053194,787,804,652,631.004053194,652.995946806,0.43443938082,0.00458236463911,0.0798363184054,0.999999952871,0.000154035834168,-0.000263022601099,3.67394124003e-05,1793239797603714816
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.598188903,661,635,879.598188903,787,804,652,631.598188903,652.401811097,0.433600735297,0.00457250026278,0.0798123485405,0.999999942677,0.000154777200583,-0.000298628118561,3.88730950822e-05,1793239797620381440
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.187094404,745,714,683,661,634.812905596,880,787,804,652,631.812905596,652,0.432725753086,0.00456301638339,0.0797798598818,0.999999925121,0.000151100571786,-0.00035390593108,4.0944407958e-05,1793239797637048064
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.765072742,745,714,683,661,634.234927258,880,787,804,652,631.234927258,652,0.431774855092,0.00455432745163,0.0797295734735,0.999999888154,0.000138193717859,-0.000450283761807,4.28854154409e-05,1793239797653714688
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745.341756804,714,683,661,634.341756804,880,786.658243196,804,652,631.341756804,652.341756804,0.43090945726,0.00454429326082,0.0797283686414,0.999999887827,0.000128358501946,-0.000453779490324,4.42173063756e-05,1793239797670381568
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745.917554501,714,683,661,634.917554501,880,786.082445499,804,652,631.917554501,652.917554501,0.430102611436,0.00453333781401,0.0797607757123,0.999999914219,0.000120626796926,-0.000393667967022,4.51320638926e-05,1793239797687048192
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.495905434,745.495905434,714.504094566,683,661.504094566,635,880,786.504094566,804.504094566,652,632,652.495905434,0.429316259592,0.00452118252304,0.0798196185118,0.999999947447,0.000106117880306,-0.000302650005575,4.74120046234e-05,1793239797703714560
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.908895053,683,661.908895053,635,880,787,804.908895053,652,632,652,0.428514390148,0.00450855614008,0.0798706446919,0.999999969361,9.22782930049e-05,-0.000224269187956,4.96638353254e-05,1793239797720381184
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.328993115,683,661.328993115,635,880,787,804.328993115,652,632,652,0.427610891048,0.00449447802979,0.0798560309098,0.999999965705,8.81062229106e-05,-0.000241399890745,5.05408340616e-05,1793239797737048064
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,661,635,879.751057865,787,804,651.751057865,631.751057865,652,0.426687027707,0.00448264391257,0.0798258943752,0.999999955582,7.95918905359e-05,-0.000282718152802,5.07204391124e-05,1793239797753714944
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,661,635,879.175701267,787,804,651.175701267,631.175701267,652,0.425736462524,0.00447375213097,0.0797754043099,0.999999933334,6.53839561861e-05,-0.000355751293215,4.99856171962e-05,1793239797770381568
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.407874898,714,682.592125102,661,635,879.407874898,787,804,651.407874898,631,652.407874898,0.42482097268,0.00446401153684,0.0797541097845,0.999999919528,5.71933715272e-05,-0.00039373067766,5.1473868206e-05,1793239797787048192
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.995064612,714,682.004935388,661,635,879.995064612,787,804,651.995064612,631,652.995064612,0.423920903133,0.00445389777818,0.0797456505528,0.999999910559,5.16482066585e-05,-0.000416299308861,5.39394530864e-05,1793239797803714816
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,746,714.574707061,682,661,635,879.425292939,787,804,652,631.574707061,652.425292939,0.423054743488,0.00444679179033,0.0797499714626,0.999999915151,4.32111981863e-05,-0.000406063092836,5.4256246473e-05,1793239797820381440
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.153615504,745.846384496,715,682,661,635,879,787,804,652,632,652,0.422209204333,0.00444542207826,0.0797699638267,0.999999930216,3.99762198349e-05,-0.000367461290591,5.42402740726e-05,1793239797837048064
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.730676944,745.269323056,715,682,661,635,879,787,804,652,632,652,0.421419713934,0.00445979431247,0.0798328564314,0.999999965659,5.11483690424e-05,-0.00025143535644,5.33572290993e-05,1793239797853714688
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,635,879.307096261,787.307096261,804.307096261,652,632,652,0.42058606674,0.00447777951474,0.0798667111265,0.999999977199,7.6402017286e-05,-0.000192123285863,5.34232670913e-05,1793239797870381312
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,635,879.882953581,787.882953581,804.882953581,652,632,652,0.41971377494,0.0044989266731,0.0798751527463,0.999999975386,0.000113979353657,-0.000182445425827,5.43199133116e-05,1793239797887047936
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.533418704,682,660.533418704,635,879.533418704,787.533418704,804.533418704,652,631.533418704,652,0.418837112368,0.00449348545733,0.0798391706791,0.999999963467,0.000101645142612,-0.000244769497481,5.31304895007e-05,1793239797903714560
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.948046597,745,714,682,660.051953403,635,879,787,804,652,631.051953403,652.051953403,0.417964588824,0.00448170144472,0.0797969367736,0.999999945304,7.82569529097e-05,-0.000317181681278,5.16037308096e-05,1793239797920381184
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.365106384,745,714,682,660.634893616,635,879,787,804,652,631.634893616,652.634893616,0.417145764666,0.00447441561367,0.0798066330591,0.999999949548,7.20275418314e-05,-0.000304966806289,5.20683142e-05,1793239797937048064
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,661,635,879,787,804,652,631.784252133,653,0.41632482951,0.00446985702148,0.0798103513543,0.999999950114,6.80263370187e-05,-0.000303919625923,5.26931483335e-05,1793239797953714688
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,661,635,879,787,804,652,631.206894023,653,0.415500356024,0.00446986949304,0.0798040500732,0.999999944558,6.77597786014e-05,-0.00032159037033,5.35865752808e-05,1793239797970381312
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.367952216,681.632047784,660.632047784,635,879,787,804,652,631,653,0.414713729251,0.00447425541119,0.0797992828793,0.999999941747,7.52624290945e-05,-0.00032867379411,5.30543113218e-05,1793239797987047936
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.941395608,681.058604392,660.058604392,635,879,787,804,652,631,653,0.413948238873,0.00448108377879,0.0797953724314,0.99999994047,8.71039687771e-05,-0.000329844489888,5.17258382088e-05,1793239798003714560
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.472135077,681,660.527864923,635,879,787,804,652,631,652.472135077,0.413250269799,0.00448328340626,0.0798139757222,0.999999951469,8.93380413349e-05,-0.000293896570202,5.20212421077e-05,1793239798020381184
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.114239486,681,660.885760514,635,879,787,804,652,631,652,0.412551277944,0.00448380592297,0.0798277463853,0.999999958702,8.74955269951e-05,-0.000268685619831,5.24291823547e-05,1793239798037048064
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.69418326,681,660.30581674,635,879,787,804,652,631,652,0.411816784288,0.0044796395018,0.079811369333,0.999999949568,7.349277734e-05,-0.000304469002615,5.25423449652e-05,1793239798053714944
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.727734124,681,660.272265876,635,878.727734124,787,803.727734124,652,631,652.272265876,0.411107732394,0.00447457081317,0.0798006364904,0.999999943205,6.15634141841e-05,-0.000327120565614,5.28385167995e-05,1793239798070381312
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.151727858,681,660.848272142,635,878.151727858,787,803.151727858,652,631,652.848272142,0.410427063435,0.00446849555333,0.0797962003413,0.999999941075,5.19471264324e-05,-0.000335122240511,5.33388541653e-05,1793239798087047936
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.432087264,681,661,635,878.432087264,787,803.432087264,652.432087264,631,652.567912736,0.40980836371,0.00447083889969,0.0798117157852,0.999999948986,6.81949240515e-05,-0.00030736281245,5.38943010243e-05,1793239798103715584
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.981522857,681,661,635,878.981522857,787,804,653,631,652.018477143,0.409212220935,0.0044761767628,0.0798341243326,0.999999958433,9.27181117572e-05,-0.000267526725619,5.44733553676e-05,1793239798120383488
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.40175065,681,661,635,878.40175065,787,804,653,631,652.59824935,0.408628105892,0.00448102571611,0.0798491855378,0.999999963556,8.76542755196e-05,-0.000249320025122,5.5170871602e-05,1793239798137049088
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.177056642,680.822943358,660.822943358,635,878.177056642,787,803.822943358,652.822943358,631.177056642,652.822943358,0.40804154827,0.00448391313051,0.0798482108695,0.999999961935,8.57013839093e-05,-0.000256394342836,5.52046012684e-05,1793239798153715200
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.753686472,680.246313528,660.246313528,635,878.753686472,787,803.246313528,652.246313528,631.753686472,652.246313528,0.407449478233,0.00448237383616,0.0798110471917,0.999999943069,9.07691261575e-05,-0.000320521681561,5.37403283316e-05,1793239798170382592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.329848774,745,715,680,660.329848774,635,879,787,803,652,631.670151226,652,0.406903105347,0.00447991136329,0.079787239697,0.999999931479,8.60073804452e-05,-0.000356165151523,5.28261697084e-05,1793239798187049472
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.90566241,745,715,680,660.90566241,635,879,787,803,652,631.09433759,652,0.406390808395,0.00447676048572,0.079773391774,0.999999927239,7.39158858242e-05,-0.000370568488257,5.23222259012e-05,1793239798203716352
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.509434996,745,715,680,661,635,879,787,803,652,631,652.490565004,0.405948156017,0.00447865392656,0.0797884942214,0.999999939285,7.5462066737e-05,-0.000336220724342,5.187947286e-05,1793239798220382464
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.923787155,680,661,635,879,787,803,652,631,653,0.405521077711,0.00448197754291,0.0798080584955,0.999999951404,8.06259067702e-05,-0.000296710498032,5.15183478724e-05,1793239798237048576
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.344968776,680,661,635,879,787,803,652,631,653,0.405106716227,0.00448821486582,0.0798196395541,0.999999953493,9.20255762303e-05,-0.000286148257426,5.16164739992e-05,1793239798253714944
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.233066896,745,714.233066896,680,661,635,879,787,803,652,631,653,0.404709147898,0.00449098507391,0.0798302349489,0.99999995565,9.83966274875e-05,-0.000276178975387,5.2367753265e-05,1793239798270381568
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.809947888,745,714.809947888,680,661,635,879,787,803,652,631,653,0.404336352421,0.00448864068573,0.0798393763176,0.999999958132,9.73495937355e-05,-0.00026708441108,5.40825466978e-05,1793239798287048192
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.617482622,745,715,680,661,635,878.617482622,787,803,652,631,653,0.403981104217,0.00448541275671,0.0798407416939,0.999999957892,9.09901574695e-05,-0.000270265529143,5.37959661399e-05,1793239798303714816
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.047031356,745,715,680,661,635,878.047031356,787,803,652,631,653,0.403634477096,0.0044817507367,0.0798382866629,0.999999956203,8.20206946891e-05,-0.000279477788601,5.25260944674e-05,1793239798320381696
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.453268377,680,661,635,878,787,803.546731623,652,631,652.453268377,0.403335630561,0.00448013715713,0.0798389618744,0.999999956806,7.93557885177e-05,-0.000278239434198,5.17034484809e-05,1793239798337048576
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.138477025,745.138477025,714.138477025,680,661,635,878,787,804,652,631,652,0.403049515339,0.00447834775336,0.0798395725926,0.999999957179,7.64718497027e-05,-0.000277775960994,5.13240473114e-05,1793239798353715200
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.71715046,745.71715046,714.71715046,680,661,635,878,787,804,652,631,652,0.402790223224,0.00447541433307,0.0798390842013,0.999999956132,7.10908607894e-05,-0.000282760735212,5.22259089106e-05,1793239798370381568
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.705618885,714.705618885,680,661,635,878.294381115,787,804,652,631.294381115,652.294381115,0.402557305073,0.00447334064377,0.079839951308,0.9999999568,6.54902727023e-05,-0.000281736958605,5.23066366944e-05,1793239798387048192
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.129767767,714.129767767,680,661,635,878.870232233,787,804,652,631.870232233,652.870232233,0.402349604178,0.00447208897914,0.0798421144627,0.999999959084,5.96797170523e-05,-0.000274968156858,5.16022443001e-05,1793239798403714816
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.455911276,680,661,635,879,787,803.544088724,652,631.544088724,652.544088724,0.402168278496,0.00447161077231,0.0798475955225,0.999999961535,5.98124127153e-05,-0.000265714418673,5.24281197557e-05,1793239798420381440
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.956222687,745,714.956222687,679.956222687,661,635,879,787,803,652,631,652.043777313,0.401996550904,0.0044715752417,0.0798537459604,0.999999963756,6.26913774842e-05,-0.000256286558385,5.36209182315e-05,1793239798437048320
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.376582223,745,714.376582223,679.376582223,661,635,879,787,803,652,631,652.623417777,0.401848391654,0.0044742041802,0.0798562754119,0.999999963356,7.80233652475e-05,-0.00025357585272,5.3856017969e-05,1793239798453714944
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.201155067,745,714,679.201155067,661,635,878.798844933,787,803,652,631,652.798844933,0.401708467248,0.00448013103719,0.0798562196378,0.999999961539,9.89802376469e-05,-0.000253479057801,5.35960369468e-05,1793239798470381568
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.775362756,745,714,679.775362756,661,635,878.224637244,787,803,652,631,652.224637244,0.401583814809,0.0044921740567,0.079851369427,0.999999956787,0.000130368751887,-0.000258229897682,5.24179026463e-05,1793239798487048448
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,714.34760085,680,661,635,878.34760085,787,803,652,631.34760085,652,0.401471259617,0.00449854719078,0.0798459069052,0.999999953733,0.000136988289838,-0.0002668283306,5.07083674886e-05,1793239798503715328
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,714.918573321,680,661,635,878.918573321,787,803,652,631.918573321,652,0.401366478218,0.00450127680362,0.079840050906,0.99999995205,0.000127691050624,-0.000277899264027,4.86573489724e-05,1793239798520381952
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.512401414,715,680.512401414,661,635,878.487598586,787,803,652,631.487598586,652.512401414,0.401282713936,0.0044969996872,0.079834630432,0.999999951289,0.000115682095706,-0.000285825273982,4.84125883925e-05,1793239798537048320
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.893864994,745.893864994,714.893864994,680.893864994,661,635,878,787,803,652,631,653,0.401207739647,0.00449281053189,0.0798300866612,0.999999950622,0.000105884495569,-0.000291870999327,4.85361718236e-05,1793239798553714688
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.317396635,745.317396635,714.317396635,680.317396635,661,635,878,787,803,652,631,653,0.401156226358,0.00449417576143,0.0798291069451,0.999999950378,0.000107885207005,-0.000291902407262,4.89606834669e-05,1793239798570381568
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.258332459,745,714,680,661,635,878,787,803.258332459,652,631,652.741667541,0.401112185361,0.00449419627433,0.079829518258,0.999999950784,0.000108591617322,-0.000290168294465,4.9416400395e-05,1793239798587048192
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.833155822,745,714,680,661,635,878,787,803.833155822,652,631,652.166844178,0.401077298898,0.00449256933415,0.0798316337625,0.999999951978,0.000107712340094,-0.000286271188843,4.99103478348e-05,1793239798603714816
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.408952574,680,661,635,878,787,804,652,631,652.408952574,0.401048542585,0.00449187524736,0.0798318951878,0.999999951936,0.000107094457723,-0.000286624720387,5.00548242029e-05,1793239798620381440
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.985147381,680,661,635,878,787,804,652,631,652.985147381,0.401022293213,0.00449156265347,0.0798313983824,0.999999951389,0.000106583473491,-0.000288716561303,5.00563834425e-05,1793239798637048576
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.424236225,635,878,787,804,652,631,652.424236225,0.401008258627,0.00449347074474,0.0798315794986,0.999999951438,0.00010850563667,-0.000287837320002,5.00057146889e-05,1793239798653714944
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.836818578,745,714.836818578,680,660.163181422,635,878,787,803.836818578,652,631,652.163181422,0.400997230793,0.00449377693422,0.0798325168426,0.999999952022,0.000108890506005,-0.000285658788638,4.99756693073e-05,1793239798670381568
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.258509258,745,714.258509258,680,660.741490742,635,878,787,803.258509258,652,631,652.741490742,0.400993029841,0.00448985846384,0.0798353323726,0.999999953911,0.000105200774823,-0.00028037489516,5.00016046007e-05,1793239798687048192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.317142141,745,714,680.317142141,661,635,878,787,803,652,631,653,0.400987838996,0.00448919808459,0.0798363389124,0.999999954396,0.000104414847557,-0.000278951078532,4.99190267606e-05,1793239798703714816
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.890645081,745,714,680.890645081,661,635,878,787,803,652,631,653,0.400981847974,0.00449117137207,0.0798358831612,0.999999953766,0.000105976200159,-0.00028064754166,4.97487326924e-05,1793239798720381440
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.522366865,661,635,878.477633135,787,803.477633135,652,631,652.522366865,0.400979909158,0.0044902437098,0.0798364953713,0.999999954412,0.000103718955414,-0.000279199416761,4.96672196122e-05,1793239798737048320
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879,787,803.933461006,652,631,652,0.400979048501,0.00448892416593,0.0798373176229,0.999999955258,0.00010094677268,-0.000277190412286,4.95913437925e-05,1793239798753714944
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879,787,803.354257667,652,631,652,0.400979138951,0.00448985125943,0.0798378195594,0.99999995542,0.000101138879927,-0.000276568229478,4.93977409363e-05,1793239798770382080
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.775582462,745,714,680.224417538,661,635,879,787,803,652,631,652,0.400979382968,0.00449040400629,0.0798383535306,0.99999995565,0.000101574702679,-0.000275583001568,4.93614529312e-05,1793239798787048704
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.197739026,745,714,680.802260974,661,635,879,787,803,652,631,652,0.400979868833,0.00449036721007,0.0798389379516,0.999999955984,0.000102394342884,-0.000274026028979,4.9572913589e-05,1793239798803715328
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.377461107,681,661,635,878.622538893,787,803.377461107,652,631,652.377461107,0.400979800275,0.0044908459598,0.0798393524207,0.999999955988,0.000104266634793,-0.000273336974022,4.93868407871e-05,1793239798820381952
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.951286114,681,661,635,878.048713886,787,803.951286114,652,631,652.951286114,0.400979443294,0.00449159290834,0.0798396784768,0.999999955817,0.000106686540167,-0.000273099429716,4.89939619808e-05,1793239798837048320
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.540068327,715,681,661,635,878.540068327,787,804,652,631,652.459931673,0.40097904204,0.00449100461417,0.079839796313,0.999999956255,0.00010289338589,-0.000272966534723,4.89136350577e-05,1793239798853714944
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.127448905,745.872551095,715,680.872551095,661,635,879,787,803.872551095,652,631,652,0.400978805804,0.00449087559646,0.0798398923587,0.99999995655,0.000100345310416,-0.000272848042836,4.88246233891e-05,1793239798870381312
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.704979392,745.295020608,715,680.295020608,661,635,879,787,803.295020608,652,631,652,0.40097916683,0.00449280593691,0.0798399796667,0.999999956192,0.000104229648759,-0.000272746130954,4.86025468294e-05,1793239798887048192
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803,652,631,652.280596776,0.400978573224,0.00449387467864,0.0798399165512,0.999999955887,0.000106411636043,-0.000273050019543,4.84318936023e-05,1793239798903715328
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803,652,631,652.854216409,0.400976982709,0.00449404366645,0.0798396963507,0.999999955651,0.00010681588502,-0.000273777679256,4.83149409366e-05,1793239798920382720
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.569770405,661,635,879,787,803.430229595,652,631,652.569770405,0.40097625933,0.00449442578965,0.0798392869725,0.999999955186,0.000109106356466,-0.00027454141228,4.84856989903e-05,1793239798937049600
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.014535979,661,635,879,787,804,652.007267989,631,652.007267989,0.400975857147,0.00449485399101,0.0798388316294,0.999999954653,0.000111962736825,-0.00027528538769,4.87496780887e-05,1793239798953716224
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.202459515,661,635,879,787,804,652.601229757,631,652.601229757,0.400977531364,0.00449313924534,0.0798398693959,0.999999955533,0.000108618427499,-0.000273442238698,4.8624949331e-05,1793239798970382080
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,635,879.189269183,787,803.810730817,652.810730817,631,653,0.400978568162,0.0044921172822,0.0798407053782,0.999999956144,0.000106272092172,-0.000272149589992,4.85105830907e-05,1793239798987048448
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,635,879.76520941,787,803.23479059,652.23479059,631,653,0.400978302729,0.0044925106523,0.0798411291216,0.999999956227,0.000105964586841,-0.000271981596337,4.84173871593e-05,1793239799003715072
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.65934967,745,715,680.65934967,661,635,879.65934967,787,803,652,631,652.65934967,0.400978034951,0.00449309260794,0.079841418081,0.999999956228,0.000106397084451,-0.000271823675862,4.83367572509e-05,1793239799020381696
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.084252413,745,715,680.084252413,661,635,879.084252413,787,803,652,631,652.084252413,0.400977765557,0.00449380435442,0.0798416142776,0.999999956171,0.000107338876795,-0.000271672688094,4.82647757029e-05,1793239799037048320
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.495568854,680,661,635,878.495568854,787,803,652,631,652.504431146,0.400977350964,0.00449355854271,0.0798409325539,0.999999956014,0.000107209987333,-0.000272316146575,4.81963909761e-05,1793239799053714944
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df809dfafc7bd3bbdd8c9b2d9e208acdeb7717f1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,419 @@
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+352,5.866666667,pose2_to_pose3_retreat,0.584241773188,0.0100907927304,1.07003231094,0.554812226097,0.0187625371407,1.06970045024
+353,5.883333333,pose2_to_pose3_retreat,0.583663738701,0.0100908189078,1.07003198713,0.554234190809,0.0187625608376,1.06970013271
+354,5.900000000,pose2_to_pose3_retreat,0.58310800541,0.0100907055458,1.07003206617,0.553678457483,0.0187624467981,1.06970019704
+355,5.916666667,pose2_to_pose3_retreat,0.58256845396,0.0100906669805,1.07003226171,0.553138906747,0.0187624105687,1.06970039034
+356,5.933333333,pose2_to_pose3_retreat,0.582042056487,0.0100907769397,1.07003237003,0.552612507995,0.0187625160656,1.06970049562
+357,5.950000000,pose2_to_pose3_retreat,0.581530858297,0.0100908505097,1.07003233673,0.552101308189,0.0187625844162,1.06970046907
+358,5.966666667,pose2_to_pose3_retreat,0.581045347362,0.0100907867337,1.07003219296,0.551615797678,0.0187625225655,1.06970033851
+359,5.983333333,pose2_to_pose3_retreat,0.580588843566,0.0100907373571,1.07003209981,0.551159294506,0.0187624749892,1.06970023789
+360,6.000000000,pose2_to_pose3_retreat,0.580164636705,0.0100907769562,1.07003220764,0.550735087437,0.0187625137128,1.06970034071
+361,6.016666667,pose2_to_pose3_retreat,0.57976741267,0.0100908075469,1.0700321985,0.550337864018,0.0187625464502,1.06970033257
+362,6.033333333,pose2_to_pose3_retreat,0.579395585508,0.0100908766341,1.07003195087,0.549966034228,0.0187626069894,1.06970009447
+363,6.050000000,pose2_to_pose3_retreat,0.579039651949,0.0100908424761,1.07003214738,0.549610102898,0.0187625800759,1.06970028266
+364,6.066666667,pose2_to_pose3_retreat,0.578698372365,0.0100908359307,1.0700322897,0.549268823239,0.0187625731963,1.06970042293
+365,6.083333333,pose2_to_pose3_retreat,0.578378132423,0.0100907903255,1.07003239826,0.548948583304,0.0187625276158,1.06970053152
+366,6.100000000,pose2_to_pose3_retreat,0.578078123402,0.0100907700867,1.07003230444,0.548648574442,0.0187625081201,1.06970044313
+367,6.116666667,pose2_to_pose3_retreat,0.577798706921,0.0100907944929,1.07003211115,0.548369158358,0.0187625341029,1.06970025607
+368,6.133333333,pose2_to_pose3_retreat,0.577541575377,0.0100908602943,1.07003209406,0.548112026259,0.0187625979166,1.06970023639
+369,6.150000000,pose2_to_pose3_retreat,0.577309738124,0.0100909488149,1.0700322472,0.547880186617,0.0187626779703,1.06970037981
+370,6.166666667,pose2_to_pose3_retreat,0.577099182766,0.0100908884765,1.07003238232,0.547669632095,0.0187626201786,1.06970050733
+371,6.183333333,pose2_to_pose3_retreat,0.576909402485,0.0100907148585,1.07003248812,0.547479855646,0.018762459533,1.06970061256
+372,6.200000000,pose2_to_pose3_retreat,0.576739779599,0.0100907545689,1.07003248975,0.547310231677,0.0187624955094,1.0697006128
+373,6.216666667,pose2_to_pose3_retreat,0.57658697417,0.0100907673565,1.0700322751,0.547157426002,0.0187625079594,1.06970041104
+374,6.233333333,pose2_to_pose3_retreat,0.576449330944,0.0100907616636,1.07003217977,0.547019782566,0.0187625017336,1.06970032031
+375,6.250000000,pose2_to_pose3_retreat,0.576324230125,0.0100907791287,1.07003224402,0.546894681223,0.0187625172975,1.0697003813
+376,6.266666667,pose2_to_pose3_retreat,0.576211288152,0.0100907927231,1.07003234104,0.546781738615,0.0187625285317,1.06970047306
+377,6.283333333,pose2_to_pose3_retreat,0.576110090945,0.0100907609049,1.07003238333,0.546680541347,0.0187624963303,1.069700511
+378,6.300000000,pose2_to_pose3_retreat,0.576020762212,0.0100908116019,1.07003244727,0.546591213607,0.0187625505119,1.06970057856
+379,6.316666667,pose2_to_pose3_retreat,0.575944674174,0.0100908138928,1.07003235078,0.546515125163,0.0187625514088,1.06970048162
+380,6.333333333,pose2_to_pose3_retreat,0.575880917748,0.0100906926435,1.07003248765,0.546451370365,0.0187624355088,1.0697006137
+381,6.350000000,pose2_to_pose3_retreat,0.575829912871,0.0100908212816,1.07003235434,0.546400362778,0.0187625551706,1.06970048621
+382,6.366666667,pose2_to_pose3_retreat,0.575788732994,0.0100907600434,1.07003237739,0.546359184735,0.0187624998343,1.06970050082
+383,6.383333333,pose2_to_pose3_retreat,0.575756351991,0.0100908561238,1.0700324278,0.546326802796,0.01876259292,1.06970055599
+384,6.400000000,pose2_to_pose3_retreat,0.575730721885,0.0100908517947,1.07003226856,0.546301173123,0.0187625902764,1.06970040251
+385,6.416666667,pose2_to_pose3_retreat,0.575710981399,0.0100907707843,1.07003212871,0.546281433297,0.0187625114958,1.06970026241
+386,6.433333333,pose2_to_pose3_retreat,0.575696656034,0.0100907501186,1.07003222846,0.546267106756,0.0187624866755,1.06970035805
+387,6.450000000,pose2_to_pose3_retreat,0.575686604398,0.0100907945322,1.07003231678,0.546257056115,0.018762534552,1.06970044876
+388,6.466666667,pose2_to_pose3_retreat,0.575679992067,0.0100907872143,1.07003240022,0.546250444688,0.0187625302537,1.06970053067
+389,6.483333333,pose2_to_pose3_retreat,0.575675392228,0.0100907668658,1.07003246884,0.546245845582,0.0187625123153,1.06970059693
+390,6.500000000,pose2_to_pose3_retreat,0.575672588302,0.010090712107,1.07003223477,0.546243041474,0.0187624572052,1.06970036983
+391,6.516666667,pose2_to_pose3_retreat,0.575670463155,0.0100906654255,1.07003202363,0.546240916113,0.0187624100349,1.069700165
+392,6.533333333,pose2_to_pose3_retreat,0.575669196321,0.0100906440339,1.07003194827,0.546239649221,0.0187623885216,1.06970009172
+393,6.550000000,pose2_to_pose3_retreat,0.575668921652,0.0100906447423,1.07003197389,0.546239374596,0.0187623893446,1.06970011638
+394,6.566666667,pose2_to_pose3_retreat,0.575668906541,0.0100906447812,1.0700319753,0.546239359487,0.0187623893899,1.06970011774
+395,6.583333333,pose2_to_pose3_retreat,0.575668851751,0.0100906449225,1.07003198041,0.546239304706,0.018762389554,1.06970012266
+396,6.600000000,pose2_to_pose3_retreat,0.575668838301,0.0100906449572,1.07003198167,0.546239291259,0.0187623895943,1.06970012386
+397,6.616666667,pose2_to_pose3_retreat,0.575668758201,0.0100906451638,1.07003198914,0.546239211172,0.0187623898343,1.06970013106
+398,6.633333333,pose2_to_pose3_retreat,0.575668660776,0.010090645415,1.07003199823,0.546239113762,0.0187623901262,1.0697001398
+399,6.650000000,pose2_to_pose3_retreat,0.575668490483,0.0100906458542,1.07003201411,0.546238943497,0.0187623906364,1.0697001551
+400,6.666666667,pose2_to_pose3_retreat,0.575668148998,0.0100906467348,1.07003204597,0.546238602067,0.0187623916596,1.06970018576
+401,6.683333333,pose2_to_pose3_retreat,0.575667762808,0.0100906477307,1.07003208199,0.54623821594,0.0187623928167,1.06970022044
+402,6.700000000,pose2_to_pose3_retreat,0.575667353587,0.010090648786,1.07003212017,0.546237806785,0.0187623940427,1.06970025718
+403,6.716666667,pose2_to_pose3_retreat,0.575667126614,0.0100906493714,1.07003214134,0.546237579849,0.0187623947228,1.06970027756
+404,6.733333333,pose2_to_pose3_retreat,0.575667125911,0.0100906493732,1.0700321414,0.546237579146,0.0187623947249,1.06970027763
+405,6.750000000,pose2_to_pose3_retreat,0.575666942716,0.0100906498456,1.07003215849,0.546237395981,0.0187623952738,1.06970029408
+406,6.766666667,pose2_to_pose3_retreat,0.575666696292,0.0100906504811,1.07003218148,0.546237149597,0.0187623960121,1.0697003162
+407,6.783333333,pose2_to_pose3_retreat,0.575666434286,0.0100906525927,1.07003220728,0.546236887607,0.0187623981422,1.06970034111
+408,6.800000000,pose2_to_pose3_retreat,0.575666413365,0.0100906547215,1.0700322112,0.54623686665,0.0187624001485,1.06970034498
+409,6.816666667,pose2_to_pose3_retreat,0.575666225723,0.0100906738145,1.07003224634,0.546236678689,0.0187624181429,1.0697003797
+410,6.833333333,pose2_to_pose3_retreat,0.575666045698,0.0100906921323,1.07003228006,0.546236498358,0.0187624354067,1.069700413
+411,6.850000000,pose2_to_pose3_retreat,0.575665831587,0.0100907139185,1.07003232015,0.546236283882,0.0187624559393,1.06970045262
+412,6.866666667,pose2_to_pose3_retreat,0.57566552816,0.0100907447927,1.07003237698,0.54623597994,0.018762485037,1.06970050875
+413,6.883333333,pose2_to_pose3_retreat,0.575665358342,0.010090762072,1.07003240878,0.546235809834,0.018762501322,1.06970054017
+414,6.900000000,pose2_to_pose3_retreat,0.575665301151,0.0100907678913,1.0700324195,0.546235752545,0.0187625068065,1.06970055075
+415,6.916666667,pose2_to_pose3_retreat,0.575664979215,0.0100907932695,1.07003239082,0.546235430032,0.0187625303381,1.06970052503
+416,6.933333333,pose2_to_pose3_retreat,0.57566459189,0.0100908047368,1.07003212647,0.546235041935,0.0187625396827,1.06970027372
+417,6.950000000,pose2_to_pose3_retreat,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97ba6ec7b06c27b53a039a0f7c45c58bdc3e8203
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ee8ebbcc8e463125263cefc91d1c3210fde8e842fd72d8ac9c2ff5be740553
+size 26434525
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4694e6f88cde46125a9a25b593da973e0424fef
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/franka_data.csv
@@ -0,0 +1,419 @@
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+22,0.366666667,BASELINE,766,745,715,681,661.839126786,635,878,787,803.160873214,652.839126786,631,652.839126786,0.400975644406,0.00449243084378,0.0798413368231,0.99999995645,0.000105331709892,-0.000271559962498,4.75391513903e-05,1793239799666291456
+23,0.383333333,BASELINE,766,745,715,680.578760833,661.578760833,635,878,787,803,653,631,653,0.400976891647,0.00449259777221,0.0798423160527,0.999999956925,0.000105846099076,-0.000269591977931,4.76022228287e-05,1793239799682958080
+24,0.400000000,BASELINE,765.999167258,745,715,680,661,635,878.000832742,787,803.000832742,652.999167258,631.000832742,652.999167258,0.400979267257,0.00449296904709,0.0798440903633,0.999999957724,0.000107106445488,-0.000266080889441,4.77692637316e-05,1793239799699624960
+25,0.416666667,BASELINE,765.421860225,745,715,680,661,635,878.578139775,787,803.578139775,652.421860225,631.578139775,652.421860225,0.40097946896,0.00449313432706,0.079843849307,0.999999957593,0.000107451597151,-0.000266443158824,4.77101918511e-05,1793239799716291584
+26,0.433333333,BASELINE,765.155029168,745,715,680.155029168,661.155029168,635,879,787,804,652,631.844970832,652.155029168,0.400979383738,0.00449344415298,0.0798436425967,0.9999999575,0.000107596288522,-0.000266739311456,4.76723938166e-05,1793239799732958208
+27,0.450000000,BASELINE,765.730785272,745,715,680.730785272,661.730785272,635,879,787,804,652,631.269214728,652.730785272,0.400978519845,0.00449414625593,0.0798435290962,0.999999957511,0.000107196959486,-0.000266856032789,4.7692329937e-05,1793239799749624832
+28,0.466666667,BASELINE,766,745,715,680.686459977,662,635,879,787,804,652,631,652.686459977,0.400977636247,0.00449432632729,0.0798432285711,0.99999995735,0.000107345865968,-0.000267390595449,4.77427242655e-05,1793239799766291456
+29,0.483333333,BASELINE,766,745,715,680.097558819,662,635,879,787,804,652,631,652.097558819,0.400976735342,0.00449404793334,0.0798427637949,0.999999957037,0.000107976250896,-0.000268292120067,4.78198679906e-05,1793239799782958080
+30,0.500000000,BASELINE,765.516364272,745,715,680.483635728,662,635,879,787,803.516364272,652,631.483635728,652.483635728,0.400977874542,0.00449417255181,0.0798430917439,0.999999957056,0.000108476149323,-0.000268015550663,4.78346173519e-05,1793239799799625216
+31,0.516666667,BASELINE,765.062641497,745,714.937358503,680.937358503,662,635,879,787,803.062641497,652,631.937358503,653,0.400978981368,0.00449430744132,0.0798434319514,0.999999957085,0.000108855575337,-0.000267757620644,4.78247281696e-05,1793239799816292096
+32,0.533333333,BASELINE,765.636274935,745,714.363725065,680.363725065,662,635,879,787,803.636274935,652,631.363725065,653,0.400976519752,0.00449387335716,0.0798425881805,0.999999956648,0.000108463608163,-0.000269559897086,4.77149125332e-05,1793239799832958720
+33,0.550000000,BASELINE,765.78890352,745,714.21109648,680.21109648,661.78890352,635.21109648,879,787,804,652,631.21109648,653,0.400975820063,0.00449320449172,0.0798425516352,0.99999995668,0.000107444976345,-0.000269861714321,4.76502663407e-05,1793239799849625344
+34,0.566666667,BASELINE,765.212023307,745,714.787976693,680.787976693,661.212023307,635.787976693,879,787,804,652,631.787976693,653,0.400978173407,0.00449212880205,0.0798439138344,0.999999957521,0.000105340472679,-0.000267563565843,4.76638888629e-05,1793239799866291712
+35,0.583333333,BASELINE,765,745,715,680.625789205,661.374210795,635.625789205,878.625789205,787,804,652,631.625789205,652.625789205,0.400979468665,0.00449241466096,0.0798443442453,0.999999957951,0.000104780471021,-0.000266179475222,4.76124054759e-05,1793239799882958080
+36,0.600000000,BASELINE,765,745,715,680.034119374,661.965880626,635.034119374,878.034119374,787,804,652,631.034119374,652.034119374,0.400980149056,0.00449349173436,0.0798442331815,0.999999958147,0.000105118000506,-0.000265326555963,4.75230881517e-05,1793239799899624704
+37,0.616666667,BASELINE,765,745,714.455481232,680,662,635,878,787,803.455481232,652,631,652,0.400978395463,0.00449303276394,0.0798426749099,0.999999957693,0.000102599107302,-0.000268043143694,4.73251372886e-05,1793239799916291328
+38,0.633333333,BASELINE,765.121211253,745,714.121211253,680,661.878788747,635,878,787,803,652,631,652.121211253,0.400976661065,0.00449265611076,0.079841273845,0.999999957155,0.000101209982204,-0.000270579678504,4.72463011658e-05,1793239799932958208
+39,0.650000000,BASELINE,765.693629813,745,714.693629813,680,661.306370187,635,878,787,803,652,631,652.693629813,0.400975552575,0.00449293579011,0.0798407876501,0.999999956495,0.000104677090963,-0.000271632842677,4.76356145633e-05,1793239799949624832
+40,0.666666667,BASELINE,766,745.273468684,715,680.273468684,661.273468684,635,878,787.273468684,803,652,631,653,0.400975526012,0.00449296196306,0.0798408977709,0.99999995643,0.000106346546191,-0.000271203845301,4.77396867794e-05,1793239799966291456
+41,0.683333333,BASELINE,766,745.861852442,715,680.861852442,661.861852442,635,878,787.861852442,803,652,631,653,0.400976745352,0.00449269620864,0.0798416945837,0.99999995706,0.00010594589876,-0.000269068052754,4.7515287185e-05,1793239799982957824
+42,0.700000000,BASELINE,766,746,715,680.556501019,662,635,878.443498981,787.556501019,803.443498981,652,631.443498981,653,0.400976926116,0.00449370457829,0.0798418320843,0.999999957088,0.000106657217604,-0.000268710170417,4.73643996239e-05,1793239799999625216
+43,0.716666667,BASELINE,765.97698358,745.97698358,715,680,661.97698358,635,879,787,803.97698358,652,631.97698358,652.97698358,0.400976785336,0.00449500715204,0.0798417893787,0.999999956934,0.00010770062102,-0.000268885905854,4.72536238184e-05,1793239800016292864
+44,0.733333333,BASELINE,765.398958417,745.398958417,715,680,661.398958417,635,879,787,803.398958417,652,631.398958417,652.398958417,0.400976575249,0.00449397697955,0.0798422794108,0.99999995686,0.000108524495767,-0.000268774576877,4.75661815036e-05,1793239800032958720
+45,0.750000000,BASELINE,765.17790105,745.17790105,714.82209895,680,661.17790105,635,878.82209895,787,803,652.17790105,631.17790105,652.17790105,0.400976402204,0.00449319016337,0.0798423968909,0.999999956786,0.000108352231671,-0.000269092001949,4.77313526266e-05,1793239800049624832
+46,0.766666667,BASELINE,765.752163286,745.752163286,714.247836714,680,661.752163286,635,878.247836714,787,803,652.752163286,631.752163286,652.752163286,0.400976311686,0.00449294554192,0.0798416843302,0.999999956706,0.000105960583309,-0.000270364685377,4.75681483981e-05,1793239800066291456
+47,0.783333333,BASELINE,766,745.664676882,714.335323118,680.335323118,661.664676882,635,878.335323118,787,803,652.664676882,632,652.664676882,0.400976859786,0.00449278446139,0.0798419111015,0.99999995683,0.000105314985024,-0.00027014454292,4.76438560099e-05,1793239800082957824
+48,0.800000000,BASELINE,766,745.074761539,714.925238461,680.925238461,661.074761539,635,878.925238461,787,803,652.074761539,632,652.074761539,0.400977892753,0.00449268680882,0.0798428510555,0.999999957111,0.000105995065365,-0.000268790980789,4.79009561002e-05,1793239800099624448
+49,0.816666667,BASELINE,766,745,715,680.493823811,661,635,878.493823811,787,803,652,631.493823811,652.506176189,0.400979194434,0.00449401123849,0.0798441662933,0.999999957804,0.000106379394709,-0.000266117936675,4.75017142575e-05,1793239800116291072
+50,0.833333333,BASELINE,766,745,715,680,661,635.085247555,878.085247555,787,803,652,631,652.914752445,0.400980171351,0.00449513953591,0.0798451929168,0.999999958372,0.000106505634219,-0.000264000254544,4.70822854376e-05,1793239800132957952
+51,0.850000000,BASELINE,766,745,715,680,661,635.661076405,878.661076405,787,803,652,631,652.338923595,0.400979054896,0.00449395146701,0.0798442452048,0.999999957911,0.000105393622337,-0.000266180540014,4.70948361161e-05,1793239800149625600
+52,0.866666667,BASELINE,766,745,715,680.241334591,661.241334591,635.758665409,879,787,803,652,631,652,0.400978539609,0.00449369654089,0.0798435533226,0.999999957675,0.000104764425846,-0.000267316932713,4.70707518681e-05,1793239800166292736
+53,0.883333333,BASELINE,766,745,715,680.82792948,661.82792948,635.17207052,879,787,803,652,631,652,0.40097888437,0.0044947765961,0.0798432274377,0.999999957768,0.000104825959187,-0.000266959901871,4.69942566266e-05,1793239800182959360
+54,0.900000000,BASELINE,765.590751941,745,715,680.590751941,662,635,879,787,803.409248059,652,631.409248059,652,0.400979768642,0.00449480483752,0.0798439408726,0.99999995801,0.000105956328876,-0.000265550918859,4.72958920606e-05,1793239800199625728
+55,0.916666667,BASELINE,765.011623592,745,715,680.011623592,662,635,879,787,803.988376408,652,631.988376408,652,0.400980876868,0.00449439646736,0.0798450857328,0.999999958308,0.000107530376243,-0.000263705266853,4.77544908527e-05,1793239800216291584
+56,0.933333333,BASELINE,765.564428936,745,715,680,662,635,879,787,803.435571064,652,632,652,0.400979434584,0.00449438753595,0.0798443905289,0.999999958135,0.000106190431981,-0.000264956103708,4.7448762292e-05,1793239800232958464
+57,0.950000000,BASELINE,765.859461748,745,715,680,662,635,879,787,803,652,631.859461748,652.140538252,0.400978256319,0.0044942965232,0.0798438887518,0.999999957972,0.000105373748641,-0.00026591415957,4.73469793871e-05,1793239800249625088
+58,0.966666667,BASELINE,765.282980966,745,715,680,662,635,879,787,803,652,631.282980966,652.717019034,0.400978059072,0.00449392552038,0.0798441038816,0.999999957879,0.000106365331674,-0.000265767291363,4.79263863235e-05,1793239800266291456
+59,0.983333333,BASELINE,765,745,715,680,662,635,879,787,803,652,631,652.701240361,0.400977980775,0.00449340050821,0.0798439204354,0.999999957777,0.000106385685976,-0.000266129054333,4.79860662164e-05,1793239800282957824
+60,1.000000000,BASELINE,765,745,715,680,662,635,879,787,803,652,631,652.114428371,0.400978017163,0.0044927270062,0.079843352698,0.999999957668,0.000105469619665,-0.000266981219558,4.75446457037e-05,1793239800299624448
+61,1.016666667,BASELINE,765.469064698,745,715,680.469064698,661.530935302,635,879,787,803.469064698,652.469064698,631,652.469064698,0.400979177063,0.0044930894417,0.0798440298939,0.99999995799,0.000105757036743,-0.000265682952293,4.74147328072e-05,1793239800316291328
+62,1.033333333,BASELINE,765.949049819,745,714.949049819,681,661.050950181,635,878.949049819,787,804,653,631,653,0.40098043418,0.00449369311535,0.0798448741629,0.999999958347,0.000106396115853,-0.000264089663125,4.73607757575e-05,1793239800332957952
+63,1.050000000,BASELINE,765.375408212,745,714.375408212,681,661.624591788,635,878.375408212,787,804,653,631,653,0.400979896619,0.0044941972443,0.0798443386673,0.999999958023,0.000107652111633,-0.000264813754659,4.73119219817e-05,1793239800349624576
+64,1.066666667,BASELINE,765.197704555,745,714.197704555,680.802295445,662,635,878.197704555,787,804,652.802295445,631,653,0.400979061375,0.00449495569635,0.0798438442363,0.999999957648,0.000109109212234,-0.000265635811832,4.73013305114e-05,1793239800366291200
+65,1.083333333,BASELINE,765.769815786,745,714.769815786,680.230184214,662,635,878.769815786,787,804,652.230184214,631,653,0.400977662391,0.00449619577744,0.0798434275721,0.999999957174,0.000110947158756,-0.000266643393207,4.7363198997e-05,1793239800382958848
+66,1.100000000,BASELINE,766,745,715,680.356665822,662,635,879,787,803.643334178,652,631,652.643334178,0.400977596723,0.00449559106021,0.0798434876513,0.999999957416,0.000109334290755,-0.000266415014465,4.72929165438e-05,1793239800399625984
+67,1.116666667,BASELINE,766,745,715,680.953437953,662,635,879,787,803.046562047,652,631,652.046562047,0.400978428639,0.0044937444305,0.0798438686725,0.999999958128,0.000105398345203,-0.000265354591217,4.71336704915e-05,1793239800416292352
+68,1.133333333,BASELINE,765.468732839,745.531267161,715,680.468732839,662,635,879,787,803,652,631,652,0.400979038512,0.00449331576112,0.0798441761506,0.999999958095,0.000106618714441,-0.000264921270602,4.75315418382e-05,1793239800432958464
+69,1.150000000,BASELINE,765.107065103,745.892934897,715,680,662,635,878.892934897,787,803,652,631,652.107065103,0.400979599541,0.00449327704925,0.0798444656907,0.999999958014,0.000108071035751,-0.000264589679709,4.7800082598e-05,1793239800449624576
+70,1.166666667,BASELINE,765.680995669,745.319004331,715,680,662,635,878.319004331,787,803,652,631,652.680995669,0.400980029514,0.00449441552398,0.0798447041495,0.999999958009,0.00010863202914,-0.000264470277025,4.72990812093e-05,1793239800466291200
+71,1.183333333,BASELINE,766,745,715,680,662,635,878.261532473,787.261532473,803.261532473,652,631,653,0.400978911178,0.00449444730415,0.0798440401172,0.999999957718,0.000107955087873,-0.000265887656931,4.70540519012e-05,1793239800482958080
+72,1.200000000,BASELINE,766,745,715,680,662,635,878.850336134,787.850336134,803.850336134,652,631,653,0.400975855351,0.00449309421154,0.0798422467439,0.999999957058,0.00010572904519,-0.000269228104561,4.71293356617e-05,1793239800499624448
+73,1.216666667,BASELINE,766,745,715,680,662,635,878.566206583,787.566206583,804,652,631,652.566206583,0.40097672749,0.00449317734388,0.0798425982219,0.99999995738,0.00010514753643,-0.000268266291405,4.70796351778e-05,1793239800516291072
+74,1.233333333,BASELINE,765.984786281,745.015213719,715,680,662,635.015213719,878.015213719,787,803.984786281,652.015213719,631.015213719,652.015213719,0.400978903819,0.00449374303242,0.0798436709914,0.999999958024,0.000105151278511,-0.000265870223895,4.69909784758e-05,1793239800532957696
+75,1.250000000,BASELINE,765.411250264,745.588749736,715,680,662,635.588749736,878.588749736,787,803.411250264,652.588749736,631.588749736,652.588749736,0.400979813852,0.00449405455929,0.0798443878465,0.99999995825,0.000106064223603,-0.000264648702312,4.70358986999e-05,1793239800549625344
+76,1.266666667,BASELINE,765,745.837825356,714.837825356,680.162174644,662.162174644,635.837825356,879.162174644,787,803.162174644,652.837825356,631.837825356,653,0.400980189192,0.00449405209376,0.0798449200479,0.999999958409,0.000106764642212,-0.000263736914376,4.7189374581e-05,1793239800566292480
+77,1.283333333,BASELINE,765,745.264682041,714.264682041,680.735317959,662.735317959,635.264682041,879.735317959,787,803.735317959,652.264682041,631.264682041,653,0.400979209561,0.0044932539364,0.079844984316,0.999999958405,0.000106926494913,-0.000263610026193,4.76179426246e-05,1793239800582958592
+78,1.300000000,BASELINE,765.319408694,745,714.319408694,680.680591306,662.680591306,635.319408694,879.680591306,787,804,652,631,652.680591306,0.400978581994,0.00449262780664,0.0798448515774,0.999999958371,0.00010616571975,-0.000264042861075,4.76185991329e-05,1793239800599624960
+79,1.316666667,BASELINE,765.912893076,745,714.912893076,680.087106924,662.087106924,635.912893076,879.087106924,787,804,652,631,652.087106924,0.400978256525,0.00449214928901,0.0798445497928,0.999999958311,0.000104613263355,-0.000264955978708,4.72520766716e-05,1793239800616291584
+80,1.333333333,BASELINE,766,745,715,680.493961998,662,636,879,787,803.506038002,652,631,652.493961998,0.400977947412,0.00449203843161,0.0798442818186,0.999999958106,0.0001049534216,-0.000265530753942,4.76062518149e-05,1793239800632957952
+81,1.350000000,BASELINE,765.927410296,745.072589704,715,680.927410296,662,635.927410296,878.927410296,787,803.072589704,652,631,653,0.400977875787,0.00449221817704,0.0798441855297,0.999999957947,0.000105732267348,-0.000265752857371,4.79720484754e-05,1793239800649624576
+82,1.366666667,BASELINE,765.350903731,745.649096269,715,680.350903731,662,635.350903731,878.350903731,787,803.649096269,652,631,653,0.400979433265,0.00449397623908,0.0798452407029,0.999999958283,0.000107296393289,-0.00026393075172,4.755789377e-05,1793239800666291456
+83,1.383333333,BASELINE,765.229599952,745.770400048,715,680,662,635,878.459199904,787,804,652,631,653,0.400979795339,0.00449485007952,0.0798453641369,0.999999958236,0.000108294461807,-0.00026374605404,4.7307128615e-05,1793239800682958336
+84,1.400000000,BASELINE,765.816320862,745.183679138,715,680,662,635,879.632641724,787,804,652,631,653,0.400978298075,0.00449434859734,0.0798440383393,0.999999957597,0.000108412081904,-0.000266108188947,4.7310500352e-05,1793239800699625472
+85,1.416666667,BASELINE,766,745,715,680,662,635,879.203539989,787,804,652,631,653,0.400977940089,0.00449354015562,0.0798439023637,0.999999957654,0.000107959823424,-0.00026607523425,4.73392526962e-05,1793239800716291840
+86,1.433333333,BASELINE,766,745,715,680,662,635,878.044107526,787,804,652,631,653,0.400978101309,0.00449259182259,0.0798443086285,0.999999958027,0.000107247852934,-0.000264950760024,4.73795717993e-05,1793239800732958464
+87,1.450000000,BASELINE,766,745,715,680,662,635,878.553263006,787,804,652,631,653,0.400978304992,0.00449318988042,0.0798444085869,0.999999957998,0.000106865659584,-0.000265235593572,4.72709582823e-05,1793239800749624832
+88,1.466666667,BASELINE,765.871104755,745.128895245,715,680,662,635.128895245,878.871104755,787,803.871104755,652,631.128895245,652.871104755,0.400978386359,0.00449404724051,0.0798444467309,0.999999957834,0.000107316267962,-0.000265683142798,4.72043189211e-05,1793239800766291200
+89,1.483333333,BASELINE,765.293769679,745.706230321,715,680,662,635.706230321,878.293769679,787,803.293769679,652,631.706230321,652.293769679,0.400978036331,0.00449559397599,0.0798443119599,0.999999957251,0.000110618906151,-0.000266502893656,4.7304203223e-05,1793239800782957824
+90,1.500000000,BASELINE,765.287920299,745.712079701,715,680,662,635.712079701,878,787,803,652,631.712079701,652,0.400977971976,0.00449562586234,0.0798440950983,0.999999957185,0.000110979417321,-0.000266608247597,4.72584404991e-05,1793239800799624704
+91,1.516666667,BASELINE,765.874121858,745.125878142,715,680,662,635.125878142,878,787,803,652,631.125878142,652,0.400978203576,0.00449408838684,0.0798437931922,0.999999957658,0.000108291927312,-0.000265973496629,4.70617895605e-05,1793239800816291584
+92,1.533333333,BASELINE,765.543355678,745,715,680.456644322,662,635.456644322,878.456644322,787.456644322,803.456644322,652.456644322,631,652.456644322,0.400978608298,0.00449360568186,0.0798440097436,0.99999995802,0.000106937811934,-0.000265166090752,4.70215462591e-05,1793239800832960256
+93,1.550000000,BASELINE,765,745,715,680.962309141,662,635.962309141,879,787.962309141,803.962309141,652.962309141,631,653,0.400979005636,0.00449338181111,0.0798443252608,0.999999958318,0.00010599514201,-0.000264415724356,4.70377613756e-05,1793239800849629440
+94,1.566666667,BASELINE,765,745,715,680.387953319,662,635.387953319,879,787.387953319,803.387953319,652.387953319,631,653,0.400978623791,0.0044927364929,0.0798440312313,0.999999958143,0.000105719214454,-0.000265149775087,4.72488719998e-05,1793239800866293504
+95,1.583333333,BASELINE,765.186618709,745.186618709,715,680,662.186618709,635,879,787,803.186618709,652,631,653,0.400978214363,0.00449283028994,0.0798438825699,0.999999957939,0.000106091743122,-0.000265756016621,4.73414886136e-05,1793239800882958336
+96,1.600000000,BASELINE,765.761640825,745.761640825,715,680,662.761640825,635,879,787,803.761640825,652,631,653,0.400977747531,0.00449446238321,0.079844036458,0.999999957671,0.00010781388244,-0.000266096253199,4.71874875634e-05,1793239800899624704
+97,1.616666667,BASELINE,766,746,714.653555181,680,662.653555181,635,879,787,803.653555181,652,631,652.653555181,0.400977926181,0.00449515866912,0.0798442304013,0.99999995762,0.000109080580866,-0.000265786225226,4.70989334951e-05,1793239800916291584
+98,1.633333333,BASELINE,766,746,714.061825601,680,662.061825601,635,879,787,803.061825601,652,631,652.061825601,0.400978561834,0.00449519239837,0.0798444527038,0.999999957723,0.000110024824629,-0.000265015806497,4.70567162444e-05,1793239800932958464
+99,1.650000000,BASELINE,766,745.481297186,714.518702814,680,662,635,878.481297186,787,803.518702814,652,631,652,0.400978835126,0.00449330350181,0.0798448025656,0.999999958098,0.000107325027026,-0.000264663524959,4.73036068457e-05,1793239800949625088
+100,1.666666667,BASELINE,766,745.096855145,715,680,662,635,878,787,803.903144855,652.096855145,631.096855145,652,0.400979044121,0.00449164831664,0.0798450255641,0.999999958402,0.000104766351713,-0.000264507685285,4.7504351254e-05,1793239800966291712
+101,1.683333333,BASELINE,766,745.669752314,715,680,662,635,878,787,803.330247686,652.669752314,631.669752314,652,0.400979144895,0.00449224434575,0.0798445518818,0.999999958236,0.000104990957969,-0.000265077575543,4.73124993877e-05,1793239800982958592
+102,1.700000000,BASELINE,765.749896448,746,715,680,662,635,878.250103552,787,803,652.749896448,632,652.250103552,0.400979314283,0.00449263283598,0.0798443288184,0.99999995819,0.000105395172089,-0.000265126284121,4.71135915191e-05,1793239800999625472
+103,1.716666667,BASELINE,765.159400215,746,715,680,662,635,878.840599785,787,803,652.159400215,632,652.840599785,0.400979577054,0.0044927388643,0.0798444468492,0.999999958306,0.000106043833747,-0.000264465660743,4.69050803979e-05,1793239801016291840
+104,1.733333333,BASELINE,765.42297616,745.57702384,715,680.42297616,661.57702384,635,879.42297616,787,803.42297616,652,631.57702384,652.57702384,0.400979441113,0.00449271456625,0.0798446119729,0.999999958434,0.000105601436761,-0.00026414645459,4.69889309815e-05,1793239801032958208
+105,1.750000000,BASELINE,766,745,715,681,661.002332837,635,879.997667163,787,804,652,631,652,0.400979159898,0.00449264097425,0.0798447952833,0.999999958564,0.000104765150412,-0.000263952283068,4.71803850029e-05,1793239801049624832
+106,1.766666667,BASELINE,766,745,715,681,661.577421958,635,879.422578042,787,804,652,631,652,0.400979407141,0.00449229607563,0.0798451685425,0.999999958531,0.000106270103524,-0.000263461936404,4.72493277743e-05,1793239801066291456
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,878,787,804,652,632,653,0.400978585971,0.00449496227039,0.0798445502611,0.999999957756,0.000108882528604,-0.000265374468674,4.69922952806e-05,1793239801107588864
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714.593331563,680,661.593331563,635.593331563,878.593331563,787,804,652,632,652.406668437,0.400979039672,0.00449431279083,0.0798450421504,0.999999958073,0.000108284110408,-0.000264385630436,4.72182605326e-05,1793239801124256256
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680.181775052,662,635.818224948,879,787,804,652,631.818224948,652,0.400979165896,0.00449398502622,0.0798451389942,0.999999958202,0.000107835801155,-0.000264074922423,4.72420928306e-05,1793239801140923648
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680.759569383,662,635.240430617,879,787,804,652,631.240430617,652,0.400978578671,0.004494358157,0.0798443751832,0.999999957926,0.000107714522561,-0.000265241604213,4.68255537023e-05,1793239801157590272
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680.664476566,662,635,879.335523434,787,803.664476566,652,631,652,0.400978365283,0.00449419994418,0.0798441772597,0.999999957934,0.000107183654562,-0.000265426809567,4.682533762e-05,1793239801174256640
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680.089834072,662,635,879.910165928,787,803.089834072,652,631,652,0.400978418319,0.00449366305621,0.0798443826299,0.999999958144,0.000106360882567,-0.000264912541431,4.71218244622e-05,1793239801190923008
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.512368839,787,803,652,631,652.487631161,0.40097942237,0.0044936645325,0.0798445439605,0.999999957988,0.00010857788049,-0.000264522983662,4.75579847197e-05,1793239801207589120
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.067167724,714.932832276,680,662,635.067167724,879,787,803,652.067167724,631,652.932832276,0.400980513488,0.00449373302788,0.0798447479064,0.99999995785,0.000110742353565,-0.000264084456577,4.7914287602e-05,1793239801224255488
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.658793582,714.341206418,680,662,635.658793582,879,787,803,652.658793582,631,652.341206418,0.400980908472,0.00449354589272,0.0798453483201,0.999999958425,0.000108098635999,-0.000263083131731,4.74449638305e-05,1793239801240922112
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.757120928,746,714.242879072,680,662,635.757120928,879,787,803,653,631.242879072,652.242879072,0.400984882991,0.00449352723726,0.0798475848282,0.999999959466,0.000106601245388,-0.00025977295336,4.71418903302e-05,1793239801257588992
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.183309532,746,714.816690468,680,662,635.183309532,879,787,803,653,631.816690468,652.816690468,0.400993734768,0.00449373814203,0.0798520505792,0.999999961119,0.000106665770715,-0.000253316871005,4.7065339424e-05,1793239801274256384
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.391973446,746,715,680,662,635,878.608026554,787,803,652.608026554,631.608026554,653,0.401018636662,0.00449357915744,0.0798631972133,0.999999965811,0.00010613393055,-0.000234355813163,4.68018157915e-05,1793239801290923264
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.967947265,746,715,680,662,635,878.032052735,787,803,652.032052735,631.032052735,653,0.401051072811,0.00449324653921,0.0798774799913,0.999999971425,0.000105322144144,-0.000209524662691,4.64505232966e-05,1793239801307590144
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.444030145,715,680,662,635,878.555969855,787,803,652,631.555969855,653,0.401105249858,0.00449372490785,0.0798941473112,0.999999977983,0.000104941061191,-0.000175910964977,4.55653445546e-05,1793239801324256000
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879,787,803.142531595,652,631.857468405,652.857468405,0.401163529276,0.00449405204799,0.0799093000579,0.999999982836,0.00010457267125,-0.000146318598882,4.45336560337e-05,1793239801340922368
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879,787,803.722431999,652,631.277568001,652.277568001,0.401230465774,0.00449376848315,0.0799193740363,0.999999985109,0.0001041653477,-0.000130654111487,4.31489328788e-05,1793239801357588736
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,878.699395307,787,804,652,631,652.300604693,0.401305030546,0.00449455756482,0.0799270818046,0.999999986753,0.000103508859309,-0.000118659167251,4.12278686593e-05,1793239801374255360
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,878.12280884,787,804,652,631,652.87719116,0.401386598747,0.00449633143115,0.0799326171816,0.999999987927,0.000102623615523,-0.000110033190111,3.88143958523e-05,1793239801390921984
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.539382074,745,715,680.460617926,662,635,878,787,803.539382074,652,631,653,0.401478515565,0.00449861304025,0.079933904366,0.999999988152,0.000102198002143,-0.000109384753836,3.5866550056e-05,1793239801407589376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680.954520102,662,635,878.045479898,787,803,652,631.045479898,653,0.401576231339,0.00450090517696,0.0799344832071,0.999999988262,0.00010168972228,-0.000109852135108,3.26811812634e-05,1793239801424256256
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680.374547369,662,635,878.625452631,787,803,652,631.625452631,653,0.40170918332,0.0045017061112,0.0799402491941,0.999999989913,9.87480219703e-05,-9.80595643334e-05,2.84039998613e-05,1793239801440922368
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.204505908,745.204505908,715,680.204505908,662.204505908,635,879,787,803,652,631.795494092,652.795494092,0.401853024926,0.00450279959473,0.0799463277379,0.999999991417,9.56179462543e-05,-8.63320345303e-05,2.38724677099e-05,1793239801457588992
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.7818827,745.7818827,715,680.7818827,662.7818827,635,879,787,803,652,631.2181173,652.2181173,0.402016721316,0.00450442647649,0.0799529761588,0.999999992785,9.2144410362e-05,-7.47230937262e-05,1.8877184205e-05,1793239801474255616
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.641449021,745.641449021,715,681,662.641449021,635,879,787,803.358550979,652,631,652,0.402197897068,0.00450681200666,0.0799604784354,0.999999994193,8.7654400497e-05,-6.13042712319e-05,1.31562592227e-05,1793239801490921984
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.065210845,745.065210845,715,681,662.065210845,635,879,787,803.934789155,652,631,652,0.402389685088,0.00450965813548,0.0799684991142,0.999999995474,8.25472580407e-05,-4.67866134261e-05,6.99477476098e-06,1793239801507588608
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.478508979,680.478508979,662,635,878.478508979,787,803.478508979,652,631,652.521491021,0.402586916733,0.00451173260135,0.0799647541215,0.999999995573,7.58762999448e-05,-5.56534743893e-05,4.31297520352e-07,1793239801524256000
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.108020716,745.108020716,714.108020716,680,662,635,878,787,803.108020716,652,631,652.891979284,0.402792900067,0.0045140545766,0.0799592913503,0.999999995348,6.90355889229e-05,-6.70615703612e-05,-6.44289108039e-06,1793239801540923392
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.687964968,745.687964968,714.687964968,680,662,635,878,787,803.687964968,652,631,652.312035032,0.40303408326,0.00451788807502,0.079952883198,0.999999995025,6.23250730263e-05,-7.65351481262e-05,-1.44504165684e-05,1793239801557589760
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.734663039,745.734663039,715,680.265336961,662,635,878.265336961,787,803.734663039,652,631,652.265336961,0.403299596124,0.00452228106088,0.0799485220632,0.999999994521,6.2211736794e-05,-8.14942627861e-05,-2.11247236408e-05,1793239801574256128
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.160287003,745.160287003,715,680.839712997,662,635,878.839712997,787,803.160287003,652,631,652.839712997,0.40359344584,0.00452732568387,0.0799465450986,0.999999993924,6.97821639053e-05,-8.1195362699e-05,-2.62462251319e-05,1793239801590923008
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635,878.585212167,787,803.414787833,652,631,652.585212167,0.403918716849,0.00453343415569,0.0799523662703,0.999999991758,0.000102673696644,-7.35153407317e-05,-2.32062782691e-05,1793239801607589632
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635,878.00986685,787,803.99013315,652,631,652.00986685,0.404256150511,0.00453995442561,0.079961205971,0.999999987307,0.000145366608603,-6.2978208921e-05,-1.70071700994e-05,1793239801624256256
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.582011138,745.582011138,715,680.417988862,662,635,878.582011138,787,804,652.582011138,631,652.582011138,0.404617575893,0.00454351630071,0.0799589111969,0.999999994727,7.57733651302e-05,-6.55432669215e-05,-2.25449400667e-05,1793239801640922880
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680.169818846,662,635,879,787,803.830181154,652.830181154,631,653,0.404997024251,0.00454449512116,0.0799570260039,0.999999997101,2.84040280502e-05,-6.56118256672e-05,-2.61876552303e-05,1793239801657588992
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680.747166396,662,635,879,787,803.252833604,652.252833604,631,653,0.40541871922,0.0045393990426,0.0799565899525,0.999999997181,3.90690631943e-05,-5.9140694564e-05,-2.47911867765e-05,1793239801674255616
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,879,787,803.3231291,652,631,653,0.40585766847,0.00453546266897,0.0799511355978,0.999999996299,4.81510280584e-05,-6.67907388125e-05,-2.49446699709e-05,1793239801690922496
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,879,787,803.898012912,652,631,653,0.406310060835,0.00453242983825,0.079941771408,0.999999994436,5.59996003296e-05,-8.54428011645e-05,-2.63057435094e-05,1793239801707589376
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,715,680.528816279,662,635,879,787,804,652,631,653,0.406782908077,0.00454578398444,0.0799366800856,0.999999992003,7.91442571418e-05,-9.50091195719e-05,-2.6510806222e-05,1793239801724256512
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662.090412214,635,879,787,804,652,631,652.954793893,0.407262737259,0.00456186687208,0.079932907836,0.999999989079,0.000103623285248,-0.000101955884533,-2.66300010581e-05,1793239801740923904
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.267817422,635,879,787,804,652,631,652.366091289,0.407773471536,0.00456826734964,0.0799339153779,0.999999989032,0.000104484436434,-0.000100966755526,-2.87142084672e-05,1793239801757590016
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.341887832,635,879,787,804,652,631,652,0.408305725834,0.00457525775281,0.0799322140154,0.999999988123,0.000108614342088,-0.000105085659048,-3.02280909817e-05,1793239801774256128
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680,661.60148967,635,879,787,804,652,631,652,0.408873370448,0.00458321830666,0.0799260577753,0.999999985634,0.000118119816373,-0.000117604881474,-3.08040562833e-05,1793239801790922752
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.624570268,715,680.375429732,661.750859464,635,879,787,803.624570268,652,631.375429732,652.375429732,0.40950353612,0.00459439815412,0.0799438894456,0.999999986608,0.000132465617654,-9.05428004015e-05,-3.22367419659e-05,1793239801807589120
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.050865533,715,680.949134467,662.898268934,635,879,787,803.050865533,652,631.949134467,652.949134467,0.410166720904,0.00460727820083,0.0799743898065,0.999999987356,0.000149367731215,-4.25767188718e-05,-3.41218856985e-05,1793239801824255488
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680.459497009,663,635,879,787,803.540502991,652,631.459497009,652.459497009,0.410832248333,0.00461027108241,0.0799981893466,0.999999988047,0.000150525067965,-2.27424439204e-06,-3.52707640767e-05,1793239801840922112
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.869868193,745.130131807,715,680.130131807,662.869868193,635,879.130131807,787,804,652,631,652.130131807,0.411492091801,0.00461086447319,0.0800102165463,0.999999988127,0.000148574448966,1.81678512225e-05,-3.66314215456e-05,1793239801857588992
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.292134248,745.707865752,715,680.707865752,662.292134248,635,879.707865752,787,804,652,631,652.707865752,0.412131600614,0.00460651309715,0.0799839938206,0.999999988904,0.000141202353212,-2.71374710503e-05,-3.89668915526e-05,1793239801874255872
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.284879276,746,715,680.715120724,662.284879276,635,879.715120724,787,803.715120724,652,631,652.715120724,0.412797772086,0.00459481215815,0.0799549569509,0.999999988538,0.000128418281011,-6.87404534725e-05,-4.13193028793e-05,1793239801890922752
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.861155966,746,715,680.138844034,662.861155966,635,879.138844034,787,803.138844034,652,631,652.138844034,0.413491216347,0.00457559349506,0.0799230415453,0.999999987308,0.000110098403581,-0.000106556390677,-4.36890434429e-05,1793239801907589120
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.566254422,746,715,680.433745578,663,635,879.433745578,787,803.433745578,652,631,652.433745578,0.414247998878,0.00457894906897,0.0799287783222,0.999999990048,9.83839553484e-05,-9.083576864e-05,-4.44217963687e-05,1793239801924256000
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.994601725,715,681,663,635,879.994601725,787,804,652,631,652.994601725,0.415024830143,0.00458948553523,0.0799464802263,0.999999993334,8.91865544611e-05,-5.8177000771e-05,-4.46393713316e-05,1793239801940922368
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.39735756,715,681,663,635,879.39735756,787,804,652,631,652.39735756,0.415795608597,0.0046017410975,0.0799657252602,0.999999990527,0.000126084525342,-3.15166691244e-05,-4.53407533231e-05,1793239801957588992
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.192283066,745,715,681,662.807716934,635,879,787,804,652,631,652.192283066,0.41656206827,0.00461116740166,0.0799728525579,0.999999987496,0.000149346879947,-2.35151430976e-05,-4.63770285121e-05,1793239801974255616
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.766808471,745,715,681,662.233191529,635,879,787,804,652,631,652.766808471,0.417319942528,0.00461496938123,0.0799558908279,0.999999986875,0.00014550279036,-5.26057331405e-05,-4.80790429056e-05,1793239801990922496
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.657364973,745.342635027,715,681.342635027,662,635,879,787,804,652,631,653,0.418146716408,0.00461781141659,0.0799662307854,0.999999987851,0.000144639212117,-2.91020725372e-05,-5.03082513742e-05,1793239802007589120
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.080649525,745.919350475,715,681.919350475,662,635,879,787,804,652,631,653,0.419020560903,0.00461999763985,0.0799952226328,0.99999998751,0.00014581185094,3.03327797596e-05,-5.28976265996e-05,1793239802024255744
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.508660564,746,715,681.491339436,662.508660564,635.508660564,879.508660564,787,804,652,631,653,0.419856848475,0.00461083107779,0.0799948149074,0.999999988852,0.000135455716098,3.39689683221e-05,-5.28517102982e-05,1793239802040922368
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.902428592,745.902428592,715,681,662.902428592,635.902428592,879.902428592,787,804,652,631,653,0.420686907666,0.00460141588124,0.0799880693253,0.99999999052,0.000124727321484,2.49327696606e-05,-5.27438081791e-05,1793239802057588992
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.325538136,745.325538136,715,681,662.325538136,635.325538136,879.325538136,787,804,652,631,653,0.421516365074,0.00459984634253,0.0799736694596,0.99999999115,0.000121377832116,-1.79203798952e-06,-5.44361156682e-05,1793239802074255616
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,681.250137836,662.250137836,635,878.749862164,787,804,652,631.250137836,652.749862164,0.422366919147,0.00460344662702,0.0799787796237,0.999999990496,0.000126658831766,2.46203750169e-06,-5.44008118765e-05,1793239802090921984
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,681.824240952,662.824240952,635,878.175759048,787,804,652,631.824240952,652.175759048,0.423244796619,0.00461374259256,0.080009158143,0.999999987303,0.000143117583194,4.68383182772e-05,-5.21279976249e-05,1793239802107588608
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.39660112,745.39660112,715,681.60339888,663,635,878.793202241,787,804,652,631.60339888,652,0.424088236163,0.00462008651697,0.0800093467055,0.999999986423,0.000152106072481,3.72911985822e-05,-5.12623585564e-05,1793239802124255488
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.968192223,745.968192223,715,681.031807777,663,635,879.936384446,787,804,652,631.031807777,652,0.424916480811,0.00462468670489,0.079996214729,0.999999986241,0.000157798500852,3.95177103494e-06,-5.10175992468e-05,1793239802140922112
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.433549453,746,714.433549453,681.566450547,662.433549453,635,880,787,804,652,631,652,0.425766485641,0.0046213158467,0.0799545296555,0.999999985939,0.000148554902891,-5.71408154021e-05,-5.27956633401e-05,1793239802157588992
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.159560561,745.840439439,714.159560561,682,662.319121122,635,880,787,804,652,631,652,0.426625420104,0.00461721257591,0.0799238645924,0.999999983727,0.000140812427702,-9.88198377488e-05,-5.43351651166e-05,1793239802174255872
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.735149923,745.264850077,714.735149923,682,663.470299847,635,880,787,804,652,631,652,0.427504293832,0.00461242434828,0.0799263194294,0.999999985126,0.000139278703527,-8.5617006732e-05,-5.49418620434e-05,1793239802190923008
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.688948025,745.311051975,714.688948025,682,663.377896051,635.311051975,880,787,804,652,631,652,0.428361348228,0.00461168936002,0.0799299145786,0.999999985057,0.000141433082101,-8.31677354232e-05,-5.44642806907e-05,1793239802207589888
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.112779492,745.887220508,714.112779492,682,662.225558983,635.887220508,880,787,804,652,631,652,0.429199805474,0.00461440903861,0.0799344816414,0.999999983788,0.000146730913269,-8.98839643843e-05,-5.30625446675e-05,1793239802224256256
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,746,714.47187971,682,662.47187971,635.52812029,880,787,804.47187971,652,631,652,0.43009256217,0.00461919594446,0.0799653964518,0.99999998709,0.000145390547903,-4.18545750374e-05,-5.41319298494e-05,1793239802240922624
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.942098034,715,682,663.057901966,635,880,787,804.942098034,652,631,652,0.430994370483,0.00462423137978,0.0800016270881,0.999999987996,0.000143678374557,1.68894168069e-05,-5.54985017742e-05,1793239802257589248
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.362414855,715,682,663.637585145,635,880,787,804.362414855,652,631,652,0.431858656562,0.00462697256866,0.080027975,0.999999985446,0.000153174609766,5.21191317783e-05,-5.41234815692e-05,1793239802274255872
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.215889886,745,715,682,663.784110114,635,880,787,804,652,631,652,0.432677259847,0.0046288420865,0.0800223839964,0.999999985794,0.000155176137846,3.79834701652e-05,-5.37624382182e-05,1793239802290922752
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.791895416,745,715,682,663.208104584,635,880,787,804,652,631,652,0.433419661974,0.00462925761183,0.0799635172123,0.999999986306,0.000144676102487,-5.84962210527e-05,-5.50927609244e-05,1793239802307589888
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.366833353,714.633166647,682,663,635,880,787,804,652,631,652,0.434192722348,0.00462567487358,0.0799265916932,0.999999983271,0.000138023049949,-0.000105626842288,-5.7014744815e-05,1793239802324256512
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.941167369,714.058832631,682,663,635,880,787,804,652,631,652,0.43498312463,0.00461983050253,0.0799020773364,0.999999981533,0.00013354605877,-0.000124842971485,-5.92714041775e-05,1793239802340922624
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.468196342,714,682,663,635,879.468196342,787,804,651.468196342,631,652.531803658,0.435797215437,0.00461443147829,0.0799324203487,0.999999986478,0.000128950755241,-8.36883627677e-05,-5.84070467179e-05,1793239802357588992
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.121409672,714,682,662.878590328,635,879.242819344,787,804,651.121409672,631,652.878590328,0.43659901296,0.00461231624336,0.0799626977585,0.999999989187,0.000127272700041,-4.66351143884e-05,-5.70279767913e-05,1793239802374255360
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.700127017,714,682,662.299872983,635,880.400254034,787,804,651.700127017,631,652.299872983,0.437344322823,0.00462237844762,0.0799691461756,0.999999987851,0.000136633757377,-5.09822122193e-05,-5.50518174832e-05,1793239802390921984
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.723488646,745.723488646,714,682,662,635,881,787,804,652,631,652,0.438065966991,0.00463159255343,0.0799631298245,0.999999985244,0.000149434065971,-6.46475981842e-05,-5.47871267655e-05,1793239802407588864
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.149613295,745.149613295,714,682,662,635,881,787,804,652,631,652,0.438762160707,0.00463989460219,0.0799437086949,0.999999980743,0.000165932990558,-8.83339951863e-05,-5.63629722967e-05,1793239802424255488
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.424894822,745,714,682,661.575105178,635,880.575105178,787,804,652,631,652,0.439413136853,0.00464619946142,0.0799077489767,0.999999974781,0.00016503870729,-0.000141269926399,-5.69488135607e-05,1793239802440922368
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.999626126,745,714,682,661.000373874,635,880.000373874,787,804,652,631,652,0.440048167365,0.00465180002501,0.0798659570278,0.999999964967,0.000158010819614,-0.000204520523067,-5.71855359934e-05,1793239802457589248
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.405228722,745,714,682,661,635,880.594771278,787,804,652,631,652,0.440617356675,0.00466127917043,0.0797871117491,0.999999929172,0.000174799011848,-0.000328189658012,-5.82430738654e-05,1793239802474255872
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.183313729,714,682,661,635,880.816686271,786.816686271,804,652,631,652,0.441187583934,0.00467062340484,0.0797210297104,0.999999887782,0.000190201107704,-0.000429824414279,-5.92411025001e-05,1793239802490922496
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.757740597,714,682,661,635,880.242259403,786.242259403,804,652,631,652,0.441760117285,0.00467967441191,0.079682230416,0.999999860363,0.000202612797446,-0.000484363345515,-6.01110255872e-05,1793239802507589120
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.332897525,745.667102475,714,682.332897525,660.667102475,635,880,786.332897525,804.332897525,652,631,652.332897525,0.442361553927,0.00468930245616,0.079691829851,0.999999865224,0.0002158847077,-0.000468366705787,-5.98171682076e-05,1793239802524255744
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+194,3.233333333,POSE1_TO_POSE2_PRESS,765.504770198,745,714,683,660,634.504770198,880,787,804.504770198,652,631,653,0.443540796841,0.00470862240945,0.0797643628037,0.99999990255,0.00024712773603,-0.000361175135815,-5.81448135626e-05,1793239802557589248
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765.181094029,746,714,683.818905971,659,633,880.181094029,786,805,652,631,653,0.445431908615,0.00474321686265,0.0797019806537,0.999999848937,0.000279586818971,-0.000469923280171,-5.59432609629e-05,1793239802624256256
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.392176545,745.607823455,714,683.607823455,659,633,880.392176545,786,804.607823455,652,631,653,0.445847347,0.00475869997188,0.0796888099884,0.999999835127,0.000297999148395,-0.000487237148139,-5.95122377031e-05,1793239802640922880
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.963782209,745.036217791,714,683.036217791,659,633,880.963782209,786,804.036217791,652,631,653,0.446261003808,0.00477600047368,0.0796829411457,0.99999982652,0.000320999960064,-0.00048963065428,-6.46573170779e-05,1793239802657589248
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.443947651,745,714,683,658.443947651,633,881,786,804,652,631,653,0.446642896136,0.00479833769346,0.0796810759599,0.99999981853,0.000351733216306,-0.000484372605354,-6.78694242549e-05,1793239802674255360
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658,633,881,786,804.146095329,652,631,653,0.447013162789,0.00481656481197,0.0796782263213,0.999999810356,0.000377340738105,-0.000481618852798,-7.032345956e-05,1793239802690921984
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658,633,881,786,804.725389482,652,631,653,0.447355328893,0.00482159444541,0.0796716545196,0.999999803924,0.000386198513768,-0.000487825595501,-7.09174073693e-05,1793239802707588864
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,683.300902142,657.699097858,633,881,786,804.699097858,652,631,653,0.447662418049,0.00482320570012,0.0796613540073,0.999999795379,0.000389429598075,-0.000502535586027,-7.10230915781e-05,1793239802724255744
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,683.873006519,657.126993481,633,881,786,804.126993481,652,631,653,0.447937892433,0.00482173597962,0.0796476928192,0.999999784624,0.000387589361004,-0.00052490952882,-7.06887051516e-05,1793239802740922624
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.459781731,745,714,684,657,632.540218269,881,786,804,652,631,653,0.448184547467,0.00482666340493,0.0796359354887,0.999999782631,0.000365597142169,-0.000544151735743,-7.05364718679e-05,1793239802757589504
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.90043143,745.049784285,714,683.950215715,657.049784285,632,881,786,804,652,631,653,0.448421751545,0.00483303799358,0.0796252256049,0.999999781723,0.000340750080378,-0.000561670272054,-7.04932045963e-05,1793239802774256128
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.740831983,745.629584008,714,683.370415992,657.629584008,632,881,786,804,652,631,653,0.448645875902,0.0048353884067,0.0796198842128,0.999999774718,0.000346720356189,-0.000570350702618,-7.10567347904e-05,1793239802790922496
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.413229928,745.793385036,714,683,657.793385036,632,880.793385036,786,804,652,631,653,0.448860672875,0.00483698797102,0.0796178135234,0.999999769738,0.000354625280079,-0.000574246534914,-7.07472284357e-05,1793239802807588864
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.557495391,745.221252305,714,683,657.221252305,632,880.221252305,786,804,652,631,653,0.449058968966,0.00483725922582,0.0796215289592,0.9999997684,0.000365952744644,-0.000569678043896,-6.88932532061e-05,1793239802824255488
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.646689422,745,713.646689422,683,657,632,880.353310578,785.646689422,804.353310578,652.353310578,631,653,0.449238040652,0.00483687053744,0.0796254076522,0.999999768579,0.000374048329649,-0.000564237702792,-6.75631311068e-05,1793239802840922112
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.070594118,745,713.070594118,683,657,632,880.929405882,785.070594118,804.929405882,652.929405882,631,653,0.449404990152,0.00483606571306,0.0796293892895,0.999999769724,0.000380106010745,-0.000558247604477,-6.65633314464e-05,1793239802857588736
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.518271943,745,713,683,656.481728057,632,880.481728057,785.518271943,804.481728057,652.481728057,631,653,0.449534830634,0.00483539059624,0.0796228451117,0.999999765827,0.000379281960345,-0.000565589417971,-6.78268365062e-05,1793239802874255872
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.893189495,745,713,683,656,632,880.106810505,786,804.106810505,652,631,653,0.449655486237,0.00483171329478,0.0796159568122,0.999999762667,0.000374410316638,-0.000574176723493,-6.93076765568e-05,1793239802890922752
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.313986901,745,713,683,656,632,880.686013099,786,804.686013099,652,631,653,0.449758439798,0.00481467808294,0.0796140477172,0.999999765975,0.000355887761834,-0.000580038170557,-7.03518210254e-05,1793239802907589376
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.263469317,745,713,683,655.736530683,632,881,786,805,652,631,653,0.449852618069,0.00480092276097,0.0796127987426,0.999999768618,0.000341269359458,-0.000584198797285,-7.07900002459e-05,1793239802924256000
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.83885798,745,713,683,655.16114202,632,881,786,805,652,631,653,0.449936407335,0.004791050477,0.0796123312795,0.999999770742,0.000331273055031,-0.000586345835393,-7.05107817164e-05,1793239802940922880
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.586038107,745,713,683,655,632,880.586038107,785.586038107,804.586038107,652,631,652.586038107,0.450004732694,0.00479509708601,0.0796105722838,0.999999767773,0.000335032739053,-0.000589201678733,-7.10478337801e-05,1793239802957589504
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.011044974,745,713,683,655,632,880.011044974,785.011044974,804.011044974,652,631,652.011044974,0.450067042587,0.00480455814674,0.0796083108817,0.999999762768,0.000344143504893,-0.000592333247335,-7.19024152316e-05,1793239802974256384
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713,683,655,632,880,785,804,652,631,652.581352051,0.450112341732,0.00480594237568,0.0796082968519,0.999999761703,0.000346815895281,-0.000592587517874,-7.17861344528e-05,1793239802990922496
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.169262214,745,713,683.169262214,655,631.830737786,880.169262214,785,804.169262214,652,631,653,0.450153775034,0.00480760619605,0.0796087283813,0.999999760965,0.00034928818535,-0.00059238205079,-7.17666227931e-05,1793239803007589120
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.745562697,745,713,683.745562697,655,631.254437303,880.745562697,785,804.745562697,652,631,653,0.450186712999,0.00481032277306,0.079610125536,0.999999760838,0.00035158251134,-0.000591206530608,-7.20255450136e-05,1793239803024256000
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,713,684,655,631.321349043,881,785.321349043,805,652,631,653,0.450212160309,0.00481198000222,0.0796093450111,0.999999759092,0.000353282700322,-0.000593164798853,-7.18576248543e-05,1793239803040922624
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,713,684,655,631.89672902,881,785.89672902,805,652,631,653,0.450231686153,0.00481279980231,0.079606843,0.999999756051,0.000354513215893,-0.000597600370748,-7.13522798231e-05,1793239803057589248
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.51529633,745,713,683.51529633,655,632,881,785.51529633,805,652,631,653,0.450244721207,0.00481127401349,0.0796053892943,0.999999755909,0.000352017330522,-0.000599351129535,-7.10211555721e-05,1793239803074255616
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713.071154174,683,655,631.928845826,881,785,804.928845826,652,631,653,0.450255793907,0.00480990027106,0.079604469025,0.999999756316,0.000349369740403,-0.000600248088581,-7.07950144201e-05,1793239803090922240
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713.628373393,683,655,631.371626607,881,785,804.371626607,652,631,653,0.45026316049,0.00481307013064,0.0796056262856,0.999999756193,0.000351254091784,-0.000599324456054,-7.10256952867e-05,1793239803107588864
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713.800779183,683,655,631.199220817,880.800779183,785,804.199220817,652,631,653,0.450269169101,0.00481550318486,0.0796061750611,0.99999975561,0.000353062641905,-0.00059923085525,-7.10609084978e-05,1793239803124255488
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713.20264297,683,655,631.79735703,880.20264297,785,804.79735703,652,631,653,0.45027245854,0.004816460876,0.0796055054194,0.999999754108,0.00035471940913,-0.000600799291813,-7.07047215501e-05,1793239803140922368
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713,683.388796964,655,631.611203036,880.388796964,785,805,652,631,653,0.450274457146,0.00481528752741,0.0796043880729,0.999999753481,0.000354246613314,-0.000602172960711,-7.02547541471e-05,1793239803157588736
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713,683.976805838,655,631.023194162,880.976805838,785,805,652,631,653,0.450275794354,0.00481302227598,0.0796030413313,0.9999997533,0.000352682671265,-0.000603446834442,-6.97567354958e-05,1793239803174255360
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,684,655,631,880.442994321,785,805,652,631,653,0.450277472575,0.00481445493135,0.0796029591562,0.999999753127,0.000353412047108,-0.000603269767471,-7.00837513244e-05,1793239803190922496
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.136061543,745,713,684,655,631,880.136061543,785,804.863938457,652,631,652.863938457,0.450278868413,0.00481566379166,0.0796029994396,0.999999752982,0.000353968446378,-0.00060316208163,-7.02749996866e-05,1793239803207589376
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.712452889,745,713,684,655,631,880.712452889,785,804.287547111,652,631,652.287547111,0.450279305068,0.00481565695294,0.0796032679728,0.999999752929,0.000353660274032,-0.000603471756593,-6.99172252231e-05,1793239803224255744
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.711891736,745,713,684,655,631,881,785,804,652,631,652.288108264,0.450279268614,0.00481535636234,0.0796029577772,0.999999752501,0.00035300839084,-0.000604614684825,-6.94545037569e-05,1793239803240922368
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.136968956,745,713,684,655,631,881,785,804,652,631,652.863031044,0.450278761176,0.00481476333895,0.0796020714516,0.999999751696,0.000352014340194,-0.000606587124641,-6.88873065089e-05,1793239803257588992
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.549842686,745,713.450157314,684,655,631,880.549842686,785,804.450157314,652,631,653,0.450279322613,0.00481470485584,0.0796017195221,0.99999975212,0.000351987813469,-0.000605909288564,-6.88314050259e-05,1793239803274255616
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.040251037,745,713.959748963,684,655,631.040251037,880.040251037,785,805,652,631,653,0.450280169617,0.00481477127296,0.0796015542383,0.999999752855,0.000352206264546,-0.000604556702817,-6.89323584674e-05,1793239803290921984
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.618985136,745,713.381014864,684,655,631.618985136,880.618985136,785,805,652,631,653,0.450280364843,0.00481427211817,0.0796016500239,0.999999752616,0.000351653964167,-0.00060526591695,-6.89924881456e-05,1793239803307589632
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713,684,655,632,881,785.195896425,804.804103575,652,631,653,0.450280465842,0.00481401956643,0.0796013754301,0.999999752132,0.000351505819341,-0.000606148635809,-6.90205052039e-05,1793239803324257024
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713,684,655,632,881,785.769295033,804.230704967,652,631,653,0.450280385264,0.00481424223111,0.0796003870969,0.999999751174,0.000352136502466,-0.000607365706886,-6.89866396378e-05,1793239803340923392
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713,684,654.656665709,631.656665709,881,785.656665709,804.343334291,652,631,653,0.450280443204,0.00481355149677,0.0796001025449,0.999999751387,0.000350953337794,-0.000607712310324,-6.88662445551e-05,1793239803357589504
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654.082195184,631.082195184,881,785.082195184,804.917804816,652,631,653,0.450280594398,0.00481224585265,0.0796002917859,0.999999752386,0.000348549071787,-0.000607472905793,-6.86875968981e-05,1793239803374255872
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631,880.492690834,785,804.492690834,652,631,653,0.45028125244,0.00481412974921,0.0796005464576,0.99999975214,0.000350257733443,-0.000606869446297,-6.89119810492e-05,1793239803390922496
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+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654.676777243,631,880,785,804,652,631,653,0.450282887207,0.00481580761939,0.07960173194,0.999999752052,0.000352785277744,-0.000605537524105,-6.90107363279e-05,1793239803424255232
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.254240184,713,683.745759816,655,631,880.254240184,785,804,652,631,652.745759816,0.45028257583,0.00481493918793,0.0796014910301,0.999999751806,0.000351758251428,-0.00060656230229,-6.88269225903e-05,1793239803440922112
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.829077143,713,683.170922857,655,631,880.829077143,785,804,652,631,652.170922857,0.450280773943,0.00481333543217,0.0795999048925,0.999999750918,0.000348859483185,-0.000609720643457,-6.85668022668e-05,1793239803457588736
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.586714986,713,683,654.586714986,631,880.586714986,785,804,652,631,652.413285014,0.450281266519,0.00481212847567,0.0795997251619,0.999999751472,0.000347092838314,-0.000609835629546,-6.84395185483e-05,1793239803474255872
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+257,4.283333333,HOLD_POSE2,766,745,713,684,654,632,881,786,805,652,631,653,0.450285920444,0.00481488371217,0.0796013622291,0.999999751707,0.000352378163018,-0.000606391005707,-6.86032823647e-05,1793239803634682112
+258,4.300000000,HOLD_POSE2,765.42433611,745.57566389,713,684,654.57566389,631.42433611,881,785.42433611,804.42433611,652,631,653,0.450286307071,0.0048146129962,0.0796018308877,0.999999753044,0.000350591747699,-0.000605252001889,-6.832343519e-05,1793239803651348224
+259,4.316666667,HOLD_POSE2,765,745.848313887,713,683.848313887,654.848313887,631,880.848313887,785,804,652,631,653,0.450286188803,0.00481384715602,0.0796018048926,0.999999753787,0.000349031358764,-0.000604953290469,-6.80816677695e-05,1793239803668014336
+260,4.333333333,HOLD_POSE2,765,745.271286736,713,683.271286736,654.271286736,631,880.271286736,785,804,652,631,653,0.45028465477,0.00481169294449,0.0796003918456,0.999999752872,0.000348104767042,-0.000607010831672,-6.79466792245e-05,1793239803684680960
+261,4.350000000,HOLD_POSE2,765,745,713,683,654,631,880,785,804.312981636,652,631,653,0.450285041329,0.00481102819669,0.0796005726122,0.99999975298,0.000347765759142,-0.000607070711063,-6.75515940425e-05,1793239803701347584
+262,4.366666667,HOLD_POSE2,765,745,713,683,654,631,880,785,804.903675186,652,631,653,0.450287132052,0.00481168506591,0.0796021675864,0.999999753997,0.000347948120634,-0.000605358043893,-6.69257223736e-05,1793239803718013952
+263,4.383333333,HOLD_POSE2,765,745.48319289,713,683.48319289,654,631,880,785,805,652,631,652.51680711,0.450287696188,0.00481236029881,0.0796025374942,0.999999754707,0.000347062952067,-0.000604640690893,-6.74015720142e-05,1793239803734680576
+264,4.400000000,HOLD_POSE2,765,745.939821224,713,683.939821224,654.060178776,631,880.060178776,785,804.939821224,652,631,652.060178776,0.450287861373,0.00481278596217,0.0796026105348,0.99999975522,0.000346083261345,-0.00060428632976,-6.7999366193e-05,1793239803751347456
+265,4.416666667,HOLD_POSE2,765,745.365859939,713,683.365859939,654.634140061,631,880.634140061,785,804.365859939,652,631,652.634140061,0.450287159935,0.00481105035201,0.079602186941,0.999999754578,0.000346072415595,-0.000605375342705,-6.78055596198e-05,1793239803768014336
+266,4.433333333,HOLD_POSE2,765,745.214594572,713,683.214594572,655,631.214594572,881,785,804.214594572,652,631,653,0.45028648202,0.0048106790008,0.07960170919,0.999999753712,0.000346668027225,-0.000606469272751,-6.77688248592e-05,1793239803784680960
+267,4.450000000,HOLD_POSE2,765,745.806464663,713,683.806464663,655,631.806464663,881,785,804.806464663,652,631,653,0.450285845463,0.00481270613313,0.0796011362262,0.999999752449,0.000348329842542,-0.000607571847363,-6.80082357337e-05,1793239803801347328
+268,4.466666667,HOLD_POSE2,765,745.61036848,713,684,654.61036848,632,881,785,805,652,631,653,0.450286483568,0.00481272840936,0.0796012028555,0.999999753087,0.000347801621622,-0.000606809138617,-6.81332594287e-05,1793239803818013952
+269,4.483333333,HOLD_POSE2,765,745.031430134,713,684,654.031430134,632,881,785,805,652,631,653,0.450287740981,0.00481177660404,0.0796015802382,0.999999754646,0.000346209347282,-0.000605140161214,-6.82027068561e-05,1793239803834680576
+270,4.500000000,HOLD_POSE2,765,745,713.543218593,683.456781407,654,632,881,785,805,652,631,653,0.450287603598,0.00481171001959,0.0796014036996,0.999999753816,0.000346749252655,-0.000606205740556,-6.81735245557e-05,1793239803851347200
+271,4.516666667,HOLD_POSE2,765,745,713.882317851,683.117682149,654,632,881,785,805,652,631,652.882317851,0.450287480683,0.00481160835965,0.0796012930333,0.999999753179,0.000347086900995,-0.000607078285452,-6.80387105776e-05,1793239803868014080
+272,4.533333333,HOLD_POSE2,765,745,713.307616927,683.692383073,654,632,881,785,805,652,631,652.307616927,0.450287724906,0.00481117313693,0.0796015616702,0.999999753829,0.00034616374575,-0.000606591551686,-6.7515663895e-05,1793239803884680704
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,713,684,654,631,880,785,805,652,631,653,0.450285735901,0.00481172470611,0.0795999912487,0.999999752768,0.000345961544492,-0.00060837803891,-6.81923701945e-05,1793239803921834240
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.421546426,745,713,683.421546426,654,631,880,785,804.421546426,652,631,653,0.450286696355,0.00481119039054,0.0796004973669,0.99999975342,0.000345195797062,-0.000607741856237,-6.81862953188e-05,1793239803938501632
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880,785,804,652,631,653,0.450287568687,0.00481046861058,0.0796010746177,0.999999754198,0.000344399606153,-0.000606939249709,-6.79469489002e-05,1793239803955168512
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880,785,804,652,631,653,0.450288204271,0.0048092431889,0.0796018429733,0.999999755317,0.000343521625662,-0.000605689528924,-6.70808954383e-05,1793239803971834368
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.31226994,654,631,880,785,804.31226994,652,631,652.68773006,0.450288599024,0.00480987890259,0.0796021520778,0.999999755462,0.000343902520382,-0.000605254357261,-6.68947738285e-05,1793239803988500736
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.90225746,654,631,880,785,804.90225746,652,631,652.09774254,0.450288779594,0.00481216981891,0.0796020527469,0.999999754741,0.000345402997064,-0.00060554360574,-6.7313350334e-05,1793239804005167104
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,654,631,880,785,805,652,631,652.483455707,0.450287331764,0.00481265022781,0.0796012406278,0.99999975286,0.000347785122626,-0.000607311215455,-6.70652540199e-05,1793239804021833472
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.937456621,654,631,880.062543379,785,804.937456621,652,631,653,0.450285699583,0.00481262741818,0.0796003403612,0.999999751088,0.000349771153468,-0.000609120219986,-6.67651780957e-05,1793239804038500352
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.361368699,654,631,880.638631301,785,804.361368699,652,631,653,0.450285208675,0.00481142455911,0.0795998784557,0.999999752165,0.000347067388608,-0.0006088587705,-6.71252525848e-05,1793239804055167488
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880.785665683,785,804,652,631,653,0.450281498338,0.00481069772809,0.0795977006253,0.999999751067,0.000345574643089,-0.000611470832541,-6.74415783871e-05,1793239804071834368
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880.210610513,785,804,652,631,653,0.450272369762,0.00481077204396,0.0795926349237,0.99999974628,0.000346120021899,-0.000618918963501,-6.76842758874e-05,1793239804088500992
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880,785,804,652,631,652.625123686,0.450245380516,0.00481090466671,0.0795792799535,0.999999732284,0.000347142576932,-0.000640612123151,-6.73817601282e-05,1793239804105167360
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880,785,804,652,631,652.033608407,0.450208069688,0.00481107098469,0.0795611346598,0.999999712255,0.00034844088929,-0.000670537406964,-6.67641685934e-05,1793239804121833728
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880.54583824,785,804.54583824,652,631,652.54583824,0.450141971465,0.00481105242943,0.0795361068297,0.999999684152,0.000346777217192,-0.000712058168816,-6.64373492165e-05,1793239804138500352
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.123421707,683,654,631,881,785,804.876578293,652,631,653,0.450072650546,0.00481138200597,0.0795134334769,0.999999657938,0.0003463009854,-0.000748227987128,-6.59828964024e-05,1793239804155166720
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.696862668,683,654,631,881,785,804.303137332,652,631,653,0.449997902112,0.00481302154484,0.0795008567239,0.999999645774,0.000350804982165,-0.00076234033813,-6.49992005251e-05,1793239804171833600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.730926943,683,654,631,881,785,804,652,631,653,0.449919086752,0.00481289892941,0.0794949391858,0.99999963975,0.000353971941924,-0.000768911046271,-6.30761778648e-05,1793239804188500480
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.160096638,683,654,631,881,785,804,652,631,653,0.449835710462,0.00481080011143,0.0794964897554,0.999999640791,0.000355639455144,-0.000767024030624,-6.00997288593e-05,1793239804205167616
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880.57080095,785,804,652,630.57080095,652.57080095,0.449736792261,0.00480941059645,0.079498467491,0.999999643335,0.000355693201138,-0.000763857394287,-5.77331640032e-05,1793239804221834240
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.024875927,631,880.024875927,785,804,652,630.024875927,652,0.449630419673,0.00480832788197,0.0795005921586,0.99999964632,0.000355327811605,-0.000760274898639,-5.55335454505e-05,1793239804238501120
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.602417705,631,880.602417705,785,804,652,630.602417705,652,0.449493022752,0.00480791893615,0.0795022820504,0.999999646308,0.000359625349942,-0.000758534491974,-5.17615111767e-05,1793239804255167232
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.178243491,713,683.178243491,655,631,881,785,804,652,631,652,0.449343855694,0.00480673123832,0.079502748451,0.999999644808,0.00036318386625,-0.000759081876718,-4.77165868254e-05,1793239804271833600
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.750278077,713,683.750278077,655,631,881,785,804,652,631,652,0.449168685036,0.00480382305356,0.0795005118075,0.999999640049,0.000365109669952,-0.000764683650402,-4.3068770371e-05,1793239804288500480
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.665811661,713,684,655,631.334188339,881,785,804,652,631,652.334188339,0.448981003454,0.00480115171397,0.0795010028703,0.999999638779,0.00036780372813,-0.000765328940985,-3.78628576273e-05,1793239804305167104
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.072700282,713,684,655,631.927299718,881,785,804,652,631,652.927299718,0.448783628616,0.00479866387741,0.07950360731,0.999999640202,0.000371093016088,-0.000762134039298,-3.22245415452e-05,1793239804321833472
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.49167279,655,632,881,785,804,652,631,653,0.448552543485,0.0047964028392,0.0795074327737,0.999999639963,0.000375771464247,-0.000760397048482,-2.57914688071e-05,1793239804338500608
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.087216543,683,655,632,880.912783457,785,804,652,631,653,0.448310018603,0.00479397641629,0.0795101480113,0.999999638251,0.000380702675359,-0.000760393486228,-1.90963699266e-05,1793239804355167232
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713.663581936,683,655,632,880.336418064,785,804,652,631,653,0.448029746025,0.00479044474857,0.0795056799563,0.999999629792,0.000385963105875,-0.000768969501609,-1.15543916482e-05,1793239804371833856
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.762460087,745,713.762460087,683,655,632,880.237539913,785,804,652,631,653,0.447736685459,0.00478711694616,0.0795052685773,0.999999628349,0.000389965286244,-0.000768899995154,-4.57197916079e-06,1793239804388500480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.191877462,745,713.191877462,683,655,632,880.808122538,785,804,652,631,653,0.447425695515,0.00478407497322,0.0795105448589,0.999999636783,0.000392203337344,-0.000756709038762,1.62589394344e-06,1793239804405167104
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.393292309,745,713,683.393292309,655.393292309,632,881,785,804.393292309,652,631,653,0.447099282612,0.00478032771751,0.0795216918868,0.999999650541,0.000387939197955,-0.000740532422114,5.70644738735e-06,1793239804421833728
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.985852889,745,713,683.985852889,655.985852889,632,881,785,804.985852889,652,631,653,0.446765055413,0.00477622311833,0.0795358134286,0.999999666732,0.00038038061245,-0.000722336402748,8.71422444581e-06,1793239804438500096
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.43115556,656,632,881,785.56884444,805,652,631,652.43115556,0.446373614627,0.00477026203863,0.079549795846,0.999999685881,0.000354372037165,-0.000708955490409,6.34412068081e-06,1793239804455166976
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,656.149129013,632,881,785.850870987,805,652,631,652.149129013,0.445967961505,0.0047636964309,0.0795621476575,0.999999702131,0.000331817736392,-0.000696853253604,5.46191011386e-06,1793239804471833856
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,656.72238047,632,881,785.27761953,805,652,631,652.72238047,0.445525868384,0.00475554068488,0.0795698717058,0.999999711931,0.000320370764825,-0.000688052631729,9.18534800812e-06,1793239804488500992
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.302456661,683.302456661,657.302456661,632.302456661,881,785.302456661,804.697543339,652,631,652.697543339,0.445062732836,0.00474795981747,0.0795787920405,0.999999725069,0.00030724505773,-0.000674770159969,1.21605876743e-05,1793239804505167616
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.888941833,683.888941833,657.888941833,632.888941833,881,785.888941833,804.111058167,652,631,652.111058167,0.444579836887,0.00474091880137,0.0795888357749,0.999999741097,0.000292542896091,-0.000657278908328,1.44332159377e-05,1793239804521834240
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.470261291,714,683.529738709,658,632.529738709,880.529738709,786,804,652,631,652,0.444067895214,0.00473224220472,0.0795996133445,0.999999739385,0.000327727866911,-0.000643104261806,1.55634239511e-05,1793239804538500352
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.9500497,714,683,658,632.0499503,880,786,804.0499503,652,631,652.0499503,0.443546279321,0.00472303659715,0.0796101977724,0.999999733881,0.000367725770553,-0.000629877253859,1.64652434759e-05,1793239804555167232
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.374816558,714,683,658,632.625183442,880,786,804.625183442,652,631,652.625183442,0.442994279545,0.00471228569624,0.0796169484217,0.999999752214,0.000335787891164,-0.000618468386669,1.77716931375e-05,1793239804571835136
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,746,713.638562072,683,659.638562072,634,880.638562072,786,805,652,631,652,0.441230566238,0.00468218905659,0.0796673370208,0.99999982905,0.000251357483915,-0.000527477257944,2.2063476233e-05,1793239804621835008
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,746,713.047385453,683,659.047385453,634,880.047385453,786,805,652,631,652,0.440572966288,0.0046730107746,0.0796662340105,0.99999983517,0.00023067437845,-0.000525265962633,2.33407998209e-05,1793239804638501376
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.468584534,713.531415466,683,659,633.468584534,880,786.531415466,804.468584534,652,631,652,0.439850714858,0.00466273425667,0.0796354167643,0.999999806029,0.000241963552607,-0.000573417420345,2.42471297341e-05,1793239804655168000
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.108728495,745,714,683,659.108728495,633.108728495,880,787,804.108728495,652,631.108728495,652.108728495,0.4391370492,0.00465199438868,0.0796175814562,0.999999788858,0.000247719305099,-0.000600236578186,2.52125788885e-05,1793239804671834368
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.684283246,745,714,683,659.684283246,633.684283246,880,787,804.684283246,652,631.684283246,652.684283246,0.438484434981,0.00463967601328,0.0796666012089,0.999999842489,0.000217755434319,-0.00051662308922,2.65706572477e-05,1793239804688500480
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.733716875,745,714,683,660.266283125,634,880,787,805,652,631.733716875,653,0.437815585918,0.00462826924843,0.0797294691912,0.999999892286,0.000192579053081,-0.000421327698769,2.87033375739e-05,1793239804705166848
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.143885749,745,714,683,660.856114251,634,880,787,805,652,631.143885749,653,0.43712701058,0.00461797013671,0.0798091635069,0.999999935871,0.000173219719205,-0.000311838172311,3.17772001512e-05,1793239804721833472
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,660.561931133,634,880,787,804.561931133,652,631.438068867,653,0.436386939707,0.00460950475397,0.0798489847632,0.999999953759,0.000175125055551,-0.000246274937543,3.40952336467e-05,1793239804738500096
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,660,634,880,787,804,652,631.982617427,652.982617427,0.43562793131,0.00460158441592,0.0798744187798,0.999999963047,0.000183160751797,-0.000197620855751,3.61054747829e-05,1793239804755166720
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,660,634,880,787,804,652,631.406501751,652.406501751,0.434794274399,0.00459216573341,0.0798509286633,0.999999957222,0.000167707555902,-0.000236916812285,3.60610691217e-05,1793239804771833600
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,660.168718461,634.168718461,880,787,804,652,631,652,0.433952455512,0.00458244643892,0.0798263327672,0.999999948301,0.000156069985577,-0.000278745922402,3.66282033261e-05,1793239804788500224
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,660.741792544,634.741792544,880,787,804,652,631,652,0.433091075448,0.0045720066895,0.0797990867287,0.999999934111,0.000153577056927,-0.000326646060964,3.86609720252e-05,1793239804805166848
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.32451665,745,714,683,661,635,879.67548335,786.67548335,804.32451665,652,631,652.32451665,0.432184040887,0.00456059771496,0.0797606716377,0.999999909858,0.000145718650245,-0.000396700898374,4.09702567826e-05,1793239804821833728
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.915154259,745,714,683,661,635,879.084845741,786.084845741,804.915154259,652,631,652.915154259,0.431239567247,0.00454839392465,0.0797130973292,0.999999872572,0.000133460264846,-0.000484923766154,4.35062991592e-05,1793239804838500352
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.521145116,745,714,682.521145116,660.521145116,635,879.478854884,786.478854884,804.521145116,652,631,652.521145116,0.430417759699,0.00453666143786,0.0797513936719,0.999999906144,0.000122251618685,-0.000413276708177,4.43756371278e-05,1793239804855166976
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.040601855,682.040601855,660.040601855,635,880,787,804,652,631,652.040601855,0.429614360003,0.00452516055688,0.0798038197799,0.999999942449,0.000111498204125,-0.00031722844632,4.51354688008e-05,1793239804871833600
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.637491171,682.637491171,660.637491171,635,880,787,804,652,631,652.637491171,0.428781241069,0.00451574971744,0.0798524795197,0.999999961038,0.000104569314871,-0.000254291737851,4.8225584812e-05,1793239804888500224
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,660.769331665,635,880,787.230668335,804,652,631.230668335,652.769331665,0.427924540509,0.00450528829751,0.0798694799369,0.999999967108,9.81751007766e-05,-0.000231576667524,5.01693355562e-05,1793239804905166848
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,660.18189588,635,880,787.81810412,804,652,631.81810412,652.18189588,0.427031366866,0.00449320197635,0.0798375138841,0.999999957705,9.26078512686e-05,-0.000271071129901,5.03400398946e-05,1793239804921833728
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.59998875,682.59998875,660,635,880,787.59998875,804.40001125,652,632,652,0.426096689459,0.00448045655337,0.0798002740443,0.999999943973,7.41364988758e-05,-0.000322607108035,4.98315580791e-05,1793239804938500608
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.020561409,682.020561409,660,635,880,787.020561409,804.979438591,652,632,652,0.425143396522,0.00446741550576,0.0797606687674,0.999999925528,4.98773001623e-05,-0.000379544035206,4.90184423717e-05,1793239804955167744
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.557376299,745,714,682,660.557376299,635,880,787,805,652,631.442623701,652,0.424205522346,0.00446029111794,0.0797436531535,0.999999910148,5.46246923685e-05,-0.000417239857386,5.12928745724e-05,1793239804971834112
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745.134999998,714.134999998,682.134999998,660.865000002,635,879.865000002,787,804.865000002,652,631,652.134999998,0.423293536545,0.00445287180159,0.0797375839334,0.999999903687,5.5297767228e-05,-0.000432136932438,5.31581277253e-05,1793239804988500480
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.711775446,714.711775446,682.711775446,660.288224554,635,879.288224554,787,804.288224554,652,631,652.711775446,0.422464411835,0.00444377501444,0.0797646160998,0.999999927596,3.91457162606e-05,-0.000374743697045,5.33126496256e-05,1793239805005167104
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,682.707775161,660.584449678,635,879,787,804.292224839,652,631,653,0.421664162747,0.00445103948502,0.0798081127102,0.999999954647,4.16490802696e-05,-0.000293617398622,5.25424499465e-05,1793239805021833728
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,682.123656012,661.752687976,635,879,787,804.876343988,652,631,653,0.420892756672,0.00447464670796,0.0798680551403,0.999999978916,6.27867592323e-05,-0.000188784882855,5.08485743006e-05,1793239805038500352
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.542828095,715,682,661.542828095,635,879.457171905,787.457171905,804.542828095,652,631.457171905,653,0.420020244991,0.00449410364983,0.0798722986065,0.999999976776,9.37259196012e-05,-0.000187136987433,5.14128152594e-05,1793239805055166976
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,635,879.962962657,787.962962657,804,652,631.962962657,652.962962657,0.419121458455,0.00451035974798,0.0798597258839,0.999999967779,0.000123378790051,-0.000215591610934,5.23452391782e-05,1793239805071833856
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,635,879.384247829,787.384247829,804,652,631.384247829,652.384247829,0.41823549564,0.00449610335974,0.0798199737991,0.999999955248,9.57236393744e-05,-0.000279038312071,4.97935425011e-05,1793239805088500480
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,714.806942325,681.806942325,661,635,879,787,804,652,631.193057675,652.193057675,0.417376017783,0.00448368640222,0.0797996254961,0.999999946309,7.51374311541e-05,-0.000315215826565,4.8731875406e-05,1793239805105167104
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,714.232421401,681.232421401,661,635,879,787,804,652,631.767578599,652.767578599,0.416568871476,0.00447490397891,0.0798176171776,0.999999952115,6.8518763624e-05,-0.000297512085701,5.06143622194e-05,1793239805121833728
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745.350879605,714,681.350879605,661,635,879,787,804,652,631.649120395,653,0.415766837971,0.00447217921628,0.0798141130393,0.999999948921,6.83469322602e-05,-0.000307918939652,5.17019796875e-05,1793239805138500352
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745.940145738,714,681.940145738,661,635,879,787,804,652,631.059854262,653,0.414968278137,0.00447357001028,0.0797960047059,0.999999939075,7.25550619729e-05,-0.000337424046392,5.22495652197e-05,1793239805155166976
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.479330133,714.520669867,681.479330133,660.479330133,635,879.520669867,787,804,652,631,652.479330133,0.414205787861,0.00448089725411,0.0797990835579,0.999999943276,7.91935521786e-05,-0.000323386741228,5.09598894093e-05,1793239805171833600
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.900342258,745,714.900342258,681.099657742,660.099657742,635,880,787,803.900342258,652,631.099657742,652.099657742,0.413455886461,0.0044880768572,0.079806202269,0.999999949005,8.64588179978e-05,-0.000303374229788,4.97811130819e-05,1793239805188500224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.323975266,745,714.323975266,681.676024734,660.676024734,635,880,787,803.323975266,652,631.676024734,652.676024734,0.41274669678,0.00449133974015,0.0798211872805,0.999999955459,9.54078815569e-05,-0.000278327663237,5.01264281109e-05,1793239805205166848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.743243574,661,634.743243574,879.743243574,787,803.256756426,652.256756426,631.743243574,652.743243574,0.412038284859,0.00448962435697,0.0798222734693,0.999999955554,9.03065878354e-05,-0.000279595979665,5.06177160974e-05,1793239805221833472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.156909308,661,634.156909308,879.156909308,787,803.843090692,652.843090692,631.156909308,652.156909308,0.411330871343,0.00448151876856,0.0798055188418,0.999999946928,6.71699652769e-05,-0.000314642623851,5.12963779248e-05,1793239805238500352
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.424542515,745.424542515,714,681,661,634.424542515,878.575457485,787,804,652.575457485,631,652,0.410652904316,0.00447713836746,0.0797996441856,0.999999943341,6.55414792644e-05,-0.000326187746659,5.12210025747e-05,1793239805255167488
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.995817532,714.004182468,681,661,635,878.004182468,787,804,652,631.004182468,652,0.409986187072,0.00447417861023,0.0797979641335,0.999999942082,7.18043248275e-05,-0.000328772959049,5.08795000855e-05,1793239805271834368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.419991188,714.580008812,681,661,635,878.580008812,787,804,652,631.580008812,652,0.409386477605,0.00447934875846,0.0798262336684,0.999999955933,8.24936640081e-05,-0.000280433225979,5.18218709622e-05,1793239805288500736
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,714.844126143,680.844126143,661,635.155873857,879,787,804,652,631.844126143,652,0.408791655166,0.00448457359698,0.0798468444341,0.999999964156,9.03998804211e-05,-0.000246453191419,5.26969839025e-05,1793239805305167360
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,714.268156663,680.268156663,661,635.731843337,879,787,804,652,631.268156663,652,0.408210003623,0.00448994583243,0.0798468140577,0.999999962908,9.08053056629e-05,-0.000251173970363,5.33908304867e-05,1793239805321833728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.684355665,745,714,680,661,635.684355665,879,787,804,652,631,652.315644335,0.407632666376,0.00448912219899,0.079825837786,0.999999952117,9.04399366468e-05,-0.000291147105249,5.3102099703e-05,1793239805338500352
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.093732135,745,714,680,661,635.093732135,879,787,804,652,631,652.906267865,0.407059087639,0.0044829009235,0.0797866141237,0.999999929193,8.9403076089e-05,-0.000361830957682,5.19573788676e-05,1793239805355166976
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.487399081,745,714.487399081,680,660.512600919,635,879,787,804,652,631,652.512600919,0.406556514549,0.0044805595392,0.079779686682,0.99999992802,8.23091527858e-05,-0.000366771455959,5.16041904879e-05,1793239805371834368
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.066060967,715,680.066060967,660.132121934,635,879,787,804,652,631.066060967,652,0.406073807103,0.00447974009012,0.0797808987797,0.999999932443,7.61325277426e-05,-0.000355918018537,5.13878394961e-05,1793239805388501504
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.639509825,715,680.639509825,661.27901965,635,879,787,804,652,631.639509825,652,0.405640803468,0.00448498865271,0.07979783518,0.999999944133,8.57770542405e-05,-0.000319009661363,5.10756730043e-05,1793239805405168640
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.785988149,745.785988149,715,680.785988149,661.785988149,635,879,787,803.785988149,652,631.785988149,652.214011851,0.405220200581,0.00449025489249,0.0798137525895,0.99999995187,9.41153318446e-05,-0.000291271691714,5.06369199723e-05,1793239805421835520
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.209703408,745.209703408,715,680.209703408,661.209703408,635,879,787,803.209703408,652,631.209703408,652.790296592,0.404820589354,0.00449555105516,0.0798279450799,0.99999995479,0.000100242429407,-0.00027905708531,4.9983885143e-05,1793239805438502144
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.625083643,680,661,635,878.625083643,787,803.374916357,652,631,652.625083643,0.404448691264,0.00449383674991,0.0798376822363,0.999999957304,0.000100151795948,-0.000269695859404,5.1242653341e-05,1793239805455168000
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.035695758,680,661,635,878.035695758,787,803.964304242,652,631,652.035695758,0.404092646483,0.00448811209526,0.0798448707128,0.999999959594,9.6504299657e-05,-0.000261966913429,5.35950715921e-05,1793239805471833856
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.545039397,680,660.454960603,635,878.545039397,787,804,652,631.545039397,652.545039397,0.403749227798,0.0044850497748,0.079841214865,0.999999957563,8.84977875721e-05,-0.000272618648518,5.21695666132e-05,1793239805488500224
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.123842177,660.123842177,635,879,787,804,652,631.876157823,653,0.403418268912,0.00448228215682,0.0798376877975,0.999999955554,8.11720928617e-05,-0.000282323467745,5.09507926676e-05,1793239805505166848
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.697650866,660.697650866,635,879,787,804,652,631.302349134,653,0.403129623676,0.00447996168265,0.0798371688045,0.999999955282,7.73411217172e-05,-0.000284282300044,5.13680903823e-05,1793239805521833728
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.278204885,745,715,680.721795115,661,635,879,786.721795115,803.721795115,652,631,652.721795115,0.402866394119,0.00447710447056,0.0798390484774,0.999999956237,7.04634225037e-05,-0.000282693239595,5.14406037746e-05,1793239805538500608
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.866271754,745,715,680.133728246,661,635,879,786.133728246,803.133728246,652,631,652.133728246,0.402631472324,0.00447364944499,0.0798435997615,0.999999958475,6.0192306447e-05,-0.00027715256943,5.11290996025e-05,1793239805555166976
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.448038646,661,635,878.551961354,786.448038646,803.448038646,652,631,652,0.402421506807,0.00447083780875,0.0798451166925,0.999999959928,5.1736083142e-05,-0.000273555401308,5.13367555689e-05,1793239805571833600
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.972203986,745.027796014,715,681,661,635,878.027796014,787,804,652,631,652.027796014,0.40222056078,0.00446831916212,0.079845887255,0.999999961133,4.42497072424e-05,-0.000270368470955,5.17431807015e-05,1793239805588500224
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.395511501,745.604488499,715,681,661,635,878.604488499,787,804,652,631,652.604488499,0.402052670833,0.00446784666982,0.0798495557575,0.999999962719,4.53664219627e-05,-0.00026398632681,5.30572240822e-05,1793239805605166848
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.17938594,745.82061406,715,680.82061406,660.82061406,635,879,787,804,652,631,652.82061406,0.401893469635,0.00446855770568,0.0798529118762,0.999999963954,5.01447697896e-05,-0.000258182813068,5.40378259755e-05,1793239805621833472
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+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.560641871,661,635,879,787,804,652,631.439358129,653,0.400976870861,0.00449169975101,0.0798409281734,0.999999955972,0.000105253264281,-0.000273260142784,4.80264923409e-05,1793239806321833472
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a46b7e3c26d3459b3f6f49d1496fa6aeeb9ba605
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,419 @@
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+281,4.683333333,pose2_to_pose3_retreat,0.620854625561,0.0100907917613,1.07003244531,0.591425076424,0.0187625322689,1.06970057775
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+395,6.583333333,pose2_to_pose3_retreat,0.575667420068,0.0100907493767,1.07003231315,0.54623787233,0.0187624914669,1.06970045043
+396,6.600000000,pose2_to_pose3_retreat,0.575667074715,0.0100907509999,1.07003231527,0.546237526777,0.0187624923789,1.06970045177
+397,6.616666667,pose2_to_pose3_retreat,0.575666786489,0.0100907556146,1.07003232833,0.546237238415,0.018762496493,1.0697004637
+398,6.633333333,pose2_to_pose3_retreat,0.575666303341,0.0100907720665,1.0700323804,0.546236755129,0.0187625123542,1.06970051265
+399,6.650000000,pose2_to_pose3_retreat,0.575665973455,0.0100907832996,1.07003241596,0.546236425147,0.018762523184,1.06970054607
+400,6.666666667,pose2_to_pose3_retreat,0.575665802474,0.0100907891217,1.07003243439,0.546236254118,0.0187625287971,1.06970056339
+401,6.683333333,pose2_to_pose3_retreat,0.575665794572,0.0100907893908,1.07003243524,0.546236246213,0.0187625290566,1.06970056419
+402,6.700000000,pose2_to_pose3_retreat,0.575665542947,0.010090797959,1.07003246236,0.546235994516,0.0187625373171,1.06970058968
+403,6.716666667,pose2_to_pose3_retreat,0.575665457833,0.0100908008573,1.07003247154,0.546235909377,0.0187625401113,1.0697005983
+404,6.733333333,pose2_to_pose3_retreat,0.575665380512,0.0100908034902,1.07003247987,0.546235832034,0.0187625426497,1.06970060613
+405,6.750000000,pose2_to_pose3_retreat,0.57566518109,0.0100908141882,1.07003244492,0.546235632128,0.0187625517663,1.06970057272
+406,6.766666667,pose2_to_pose3_retreat,0.575665141943,0.0100908169231,1.07003242889,0.546235592818,0.0187625539734,1.06970055746
+407,6.783333333,pose2_to_pose3_retreat,0.575664984013,0.0100908279565,1.07003236421,0.546235434226,0.0187625628775,1.06970049586
+408,6.800000000,pose2_to_pose3_retreat,0.575664965636,0.0100908292404,1.07003235668,0.546235415772,0.0187625639136,1.06970048869
+409,6.816666667,pose2_to_pose3_retreat,0.575664830576,0.010090838676,1.07003230137,0.546235280146,0.0187625715283,1.06970043601
+410,6.833333333,pose2_to_pose3_retreat,0.575664718443,0.01009084651,1.07003225544,0.546235167542,0.0187625778505,1.06970039227
+411,6.850000000,pose2_to_pose3_retreat,0.575664668014,0.0100908500331,1.07003223479,0.546235116902,0.0187625806937,1.0697003726
+412,6.866666667,pose2_to_pose3_retreat,0.575664661058,0.010090850519,1.07003223194,0.546235109917,0.0187625810858,1.06970036989
+413,6.883333333,pose2_to_pose3_retreat,0.575664572482,0.0100908567071,1.07003219567,0.54623502097,0.0187625860798,1.06970033534
+414,6.900000000,pose2_to_pose3_retreat,0.575664524009,0.0100908386152,1.0700321909,0.546234972896,0.0187625693019,1.06970032948
+415,6.916666667,pose2_to_pose3_retreat,0.575664511991,0.0100908286416,1.07003219358,0.546234961131,0.018762560157,1.06970033136
+416,6.933333333,pose2_to_pose3_retreat,0.575664470359,0.0100907940915,1.07003220285,0.546234920375,0.0187625284772,1.06970033788
+417,6.950000000,pose2_to_pose3_retreat,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6043a24baf7495385b355d1f9ed26e4deaa3fc1b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb68674ae255a76fec7a4730913a8a2c228a1bef879c0bd38a9e866b2c50a221
+size 26497013
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..859b54a4acee921356d175d297dd86a3b6de0bff
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
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+20,0.333333333,BASELINE,766,745,715,680.372773288,661.627226712,635,879,787,803,652,632,652.627226712,0.400976302862,0.00449178414331,0.0798407938582,0.999999956217,0.000106062448568,-0.00027220307153,4.71504425834e-05,1793239806811987456
+21,0.350000000,BASELINE,765.794159124,745,715,680,661.794159124,635,878.794159124,787,803,652.205840876,631.794159124,652.794159124,0.400975675814,0.00449213613508,0.0798402938977,0.999999955903,0.000106764154867,-0.000273090204017,4.70877138573e-05,1793239806828654080
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+44,0.733333333,BASELINE,766,745.542901887,714.542901887,681,661,635,879.457098113,787,803,652,631,653,0.400979220012,0.00449199249121,0.0798441306585,0.999999957799,0.00010402350929,-0.000267204454854,4.67169377933e-05,1793239807211987456
+45,0.750000000,BASELINE,766,745.867999661,715,680.867999661,661,635,879,787.132000339,803,652,631,653,0.400979686717,0.00449231737636,0.0798443638106,0.999999957914,0.000104018965671,-0.000266782408744,4.66855270642e-05,1793239807228654336
+46,0.766666667,BASELINE,766,745.28847737,715,680.28847737,661,635,879,787.71152263,803,652,631,653,0.400978830002,0.00449362910261,0.0798433014908,0.999999957311,0.000106180311216,-0.000268172136314,4.67704743253e-05,1793239807245320960
+47,0.783333333,BASELINE,766,745,715,680,661.288369603,635,879,787.711630397,803.288369603,652,631,653,0.400978317503,0.00449321189297,0.0798424306288,0.999999956972,0.000106741086714,-0.00026916579904,4.70377242275e-05,1793239807261987584
+48,0.800000000,BASELINE,766,745,715,680,661.862564928,635,879,787.137435072,803.862564928,652,631,653,0.400978146183,0.00449108099957,0.0798417495355,0.999999956898,0.000105715412006,-0.000269766891013,4.74856685807e-05,1793239807278654208
+49,0.816666667,BASELINE,766,745.44748203,715,680.44748203,662,635,879,787,803.55251797,652,631,653,0.400978359007,0.00449123174774,0.0798419477561,0.99999995694,0.000106497363831,-0.000269322324204,4.73681501122e-05,1793239807295321088
+50,0.833333333,BASELINE,766,745.964550533,715,681,662,635,879,787,803.035449467,652,631,653,0.400978646704,0.00449210181572,0.0798424091377,0.99999995701,0.000107760942653,-0.00026860991928,4.70846326872e-05,1793239807311987456
+51,0.850000000,BASELINE,766,745.381578694,715,681,662,635,879,787,803.618421306,652,631,653,0.400978223854,0.00449299284522,0.0798426615143,0.999999956961,0.000107678050093,-0.000268842736336,4.69854508634e-05,1793239807328654080
+52,0.866666667,BASELINE,766,745,715,680.802032584,661.802032584,635,879,787,804,652,631,653,0.40097798344,0.00449311097617,0.0798427555498,0.999999956959,0.000107182128527,-0.000269053018522,4.69419373735e-05,1793239807345320960
+53,0.883333333,BASELINE,766,745,715,680.22897722,661.22897722,635,879,787,804,652,631,653,0.400978088686,0.00449176469977,0.0798425495774,0.999999957048,0.000105903642814,-0.000269220603983,4.7003898424e-05,1793239807361987584
+54,0.900000000,BASELINE,766,745,715,680,661,635,879,787,803.65485948,652,631,653,0.400979060792,0.00449202823586,0.0798431849216,0.999999957384,0.000105994961359,-0.000267938084492,4.69650164793e-05,1793239807378654208
+55,0.916666667,BASELINE,766,745,715,680,661,635,879,787,803.080034774,652,631,653,0.400980609775,0.00449336307038,0.0798443801455,0.999999957882,0.000106997857582,-0.000265690548843,4.6859025514e-05,1793239807395321088
+56,0.933333333,BASELINE,766,745.50832661,715,680,661,635,879,787,803.50832661,652,631.50832661,653,0.400979123541,0.00449317626415,0.0798437208344,0.999999957545,0.000107575776981,-0.000266711768146,4.6923797916e-05,1793239807411987712
+57,0.950000000,BASELINE,766,746,715,680,661.097105238,635,879.097105238,787.097105238,804,652,631.902894762,653,0.400977405588,0.00449271450863,0.0798429048792,0.999999957112,0.000107893585274,-0.000268177910028,4.70625473491e-05,1793239807428654592
+58,0.966666667,BASELINE,766,746,715,680,661.677070418,635,879.677070418,787.677070418,804,652,631.322929582,653,0.400976976735,0.00449210946348,0.0798428016705,0.999999956881,0.000107259803087,-0.000269227277394,4.74317999255e-05,1793239807445321216
+59,0.983333333,BASELINE,766,746,714.74599529,680,662,635,879.74599529,787.74599529,804,652,631,653,0.400977233223,0.00449186532744,0.0798428618916,0.999999956827,0.000107185548696,-0.000269431805896,4.75697927377e-05,1793239807461987840
+60,1.000000000,BASELINE,766,746,714.172868812,680,662,635,879.172868812,787.172868812,804,652,631,653,0.400978350746,0.00449207462367,0.0798431274396,0.999999956998,0.000107814263466,-0.000268574911418,4.74172397082e-05,1793239807478654464
+61,1.016666667,BASELINE,766,746,714.41137201,680.41137201,662,635,878.58862799,787,803.58862799,652,631,653,0.400978330298,0.00449236752132,0.0798428379491,0.999999957041,0.00010663002339,-0.000268934334676,4.71411611434e-05,1793239807495321088
+62,1.033333333,BASELINE,766,746,715,681,661.99959388,635,878.00040612,787.00040612,803.00040612,652,631,653,0.400977818519,0.00449269534493,0.0798423089766,0.999999957026,0.000104663408471,-0.000269818086485,4.68120209437e-05,1793239807511987968
+63,1.050000000,BASELINE,766,746,715,681,661.420381745,635,878.579618255,787.579618255,803.579618255,652,631,653,0.400977524982,0.00449134007139,0.0798421159477,0.999999957276,0.000103593293497,-0.000269288735204,4.68937123828e-05,1793239807528654336
+64,1.066666667,BASELINE,766,746,715,681,661.157444536,635,878.842555464,787.842555464,804,652,631,653,0.400977604101,0.00449102169759,0.0798423686335,0.999999957461,0.000103815988366,-0.000268505989403,4.69516844987e-05,1793239807545320960
+65,1.083333333,BASELINE,766,746,715,681,661.731602797,635,878.268397203,787.268397203,804,652,631,653,0.400978669542,0.00449344772113,0.0798438010077,0.999999957466,0.000107460406384,-0.000267052575869,4.69468778828e-05,1793239807561987840
+66,1.100000000,BASELINE,766,746,714.695569683,680.695569683,662,635,878.304430317,787,803.695569683,652,631,653,0.400978857696,0.00449400346886,0.0798440056673,0.999999957346,0.000108613750785,-0.000267039019911,4.6909694226e-05,1793239807578654464
+67,1.116666667,BASELINE,766,746,714.12391032,680.12391032,662,635,878.87608968,787,803.12391032,652,631,653,0.400978275766,0.00449291748765,0.0798431326386,0.999999957126,0.000107580429631,-0.000268289371553,4.68440899914e-05,1793239807595321344
+68,1.133333333,BASELINE,766,745.532617854,714,680,662,635,879,787,803.467382146,652.467382146,631.467382146,652.532617854,0.400979123109,0.00449313138823,0.0798439063153,0.999999957509,0.000106758250732,-0.000267212097985,4.67256628245e-05,1793239807611987712
+69,1.150000000,BASELINE,766,745.062219894,714.062219894,680,662,635,879,787,804,652.937780106,631.937780106,652,0.400980045835,0.004493569078,0.0798448436784,0.999999957933,0.000106133729203,-0.000265883846307,4.66413733648e-05,1793239807628654080
+70,1.166666667,BASELINE,766,745.641371547,714.641371547,680,662,635,879,787,804,652.358628453,631.358628453,652,0.400978308674,0.00449287735168,0.0798433548662,0.999999957344,0.00010666591553,-0.000267822109774,4.69621554222e-05,1793239807645320704
+71,1.183333333,BASELINE,765.781138549,745.781138549,715,680,662,635,878.781138549,787,803.781138549,652,631,652.218861451,0.40097797682,0.00449267357115,0.079842938777,0.999999957153,0.000107053315853,-0.000268364461659,4.7048500369e-05,1793239807661987584
+72,1.200000000,BASELINE,765.206350993,745.206350993,715,680,662,635,878.206350993,787,803.206350993,652,631,652.793649007,0.400979930363,0.00449326331827,0.0798442672166,0.999999957613,0.00010720525626,-0.000266636695607,4.6753589155e-05,1793239807678654208
+73,1.216666667,BASELINE,765.376689861,745,715,680.376689861,662,635,878.376689861,787.376689861,803.376689861,652,631.376689861,653,0.400980627142,0.00449269155899,0.0798447404297,0.999999957763,0.000107269159631,-0.000266010742115,4.69722515271e-05,1793239807695320832
+74,1.233333333,BASELINE,765.964353121,745,715,680.964353121,662,635,878.964353121,787.964353121,803.964353121,652,631.964353121,653,0.400980620043,0.00449146927259,0.0798447346545,0.999999957739,0.000107283755925,-0.00026600188296,4.7478552041e-05,1793239807711987456
+75,1.250000000,BASELINE,766,745,715,680.455662053,662,635.544337947,878.455662053,787.455662053,804,652,631.455662053,652.455662053,0.40098099336,0.00449124249174,0.0798445632409,0.999999958174,0.00010572298603,-0.000265041893012,4.72055114229e-05,1793239807728654336
+76,1.266666667,BASELINE,766,745,715,680,662,635.876568013,878.123431987,787,804,652.123431987,631,652,0.400981035834,0.00449135776277,0.079844237504,0.999999958376,0.000104839719682,-0.0002646759092,4.69308924264e-05,1793239807745321216
+77,1.283333333,BASELINE,766,745,715,680,662,635.298927332,878.701072668,787,804,652.701072668,631,652,0.400979770469,0.00449249516663,0.0798433832439,0.999999957627,0.000106823901909,-0.000266721781994,4.68356584098e-05,1793239807761988352
+78,1.300000000,BASELINE,766,745.28028641,715,680.28028641,662,635,879.28028641,787,804,652.71971359,631,652.28028641,0.400979486168,0.00449322356172,0.0798434207434,0.999999957281,0.00010853605712,-0.000267328899622,4.68371901787e-05,1793239807778654720
+79,1.316666667,BASELINE,766,745.861187261,715,680.861187261,662,635,879.861187261,787,804,652.138812739,631,652.861187261,0.400980254083,0.00449351328421,0.0798444146783,0.99999995737,0.000109956456173,-0.000266392914899,4.69425057679e-05,1793239807795321088
+80,1.333333333,BASELINE,765.556520772,746,715,680.113041544,662,635.443479228,879.556520772,787.443479228,803.556520772,652,631,653,0.400979427691,0.00449350755668,0.0798439099386,0.999999957344,0.000108235925837,-0.000267211819047,4.68541806343e-05,1793239807811987712
+81,1.350000000,BASELINE,765,745.97394581,715,679.02605419,661.97394581,635.97394581,879,787.97394581,803,652,631,652.97394581,0.400978144214,0.00449336774076,0.0798429837582,0.999999957273,0.000105676927128,-0.0002685212726,4.67250181074e-05,1793239807828654336
+82,1.366666667,BASELINE,765,745.394637844,715,679.605362156,661.394637844,635.394637844,879,787.394637844,803,652,631,652.394637844,0.40097778481,0.0044923505261,0.0798431009091,0.999999957191,0.000106255633329,-0.00026854657306,4.7019796898e-05,1793239807845321216
+83,1.383333333,BASELINE,765.183372278,745,715,680,661.183372278,635,879,787,803,652,631,652.183372278,0.400977272479,0.00449196984363,0.079843048986,0.999999957111,0.000106334518376,-0.000268795406708,4.71068294172e-05,1793239807861988096
+84,1.400000000,BASELINE,765.758609033,745,715,680,661.758609033,635,879,787,803,652,631,652.758609033,0.400976433342,0.00449294942305,0.0798426357538,0.999999957037,0.000105345291399,-0.000269521928247,4.67499105676e-05,1793239807878654720
+85,1.416666667,BASELINE,766,745.333387894,715,680,662,635,879,787,803.333387894,652.333387894,631,652.666612106,0.400976861681,0.00449354809028,0.0798427160217,0.999999957145,0.00010600910011,-0.000268892372511,4.65682596199e-05,1793239807895321088
+86,1.433333333,BASELINE,766,745.907835635,715,680,662,635,879,787,803.907835635,652.907835635,631,652.092164365,0.400978206484,0.00449387133465,0.0798431531203,0.999999957381,0.000107868154826,-0.000267282289887,4.65133381108e-05,1793239807911987456
+87,1.450000000,BASELINE,766,745.502940369,715,680,662,635,879,787,803.502940369,652.502940369,631,652,0.400977839683,0.0044923703143,0.0798428680563,0.999999957248,0.000106136566464,-0.000268434683163,4.67157741024e-05,1793239807928654336
+88,1.466666667,BASELINE,766,745.087236236,715,680,662,635,879,787,803,652,631,652.087236236,0.400977401513,0.00449089974394,0.0798426243093,0.99999995717,0.000103998457154,-0.000269526492678,4.68936100477e-05,1793239807945320960
+89,1.483333333,BASELINE,766,745.666851784,715,680,662,635,879,787,803,652,631,652.666851784,0.400978406669,0.00449156870605,0.0798433926949,0.999999957838,0.000103438755945,-0.000267296726448,4.66550104076e-05,1793239807961987584
+90,1.500000000,BASELINE,765.756366505,745.756366505,715,680,661.756366505,635,879,787,803,652,631.243633495,653,0.4009789975,0.00449199175345,0.0798439702017,0.999999958087,0.000104059324114,-0.000266138621352,4.6565772335e-05,1793239807978654208
+91,1.516666667,BASELINE,765.183415319,745.183415319,715,680,661.183415319,635,879,787,803,652,631.816584681,653,0.400979028293,0.00449208239959,0.0798442896987,0.999999957771,0.000106275254186,-0.00026642907329,4.6678425267e-05,1793239807995320832
+92,1.533333333,BASELINE,765.401080957,745,715,680,661.401080957,635,879,787,803,652,631.598919043,652.598919043,0.400978688381,0.00449167307464,0.0798438080729,0.999999957532,0.000106214790424,-0.000267339391092,4.67438749586e-05,1793239808011987456
+93,1.550000000,BASELINE,765.991013359,745,715,680,661.991013359,635,879,787,803,652,631.008986641,652.008986641,0.400978173921,0.0044910283352,0.0798429492335,0.999999957327,0.000105082472758,-0.000268541576589,4.67870987231e-05,1793239808028654592
+94,1.566666667,BASELINE,766,745.566629787,714.433370213,680,662,635,878.433370213,787,803,652,631,652,0.400978126194,0.00449110427166,0.0798435130747,0.999999957305,0.000105856112666,-0.000268287265655,4.69776119957e-05,1793239808045320960
+95,1.583333333,BASELINE,766,746,714.142843229,680,661.857156771,635,878.142843229,787,803.142843229,652,631,652.142843229,0.400978295041,0.00449138384805,0.0798439872687,0.999999957346,0.000106241502625,-0.000267965328201,4.70643079016e-05,1793239808061987584
+96,1.600000000,BASELINE,766,746,714.721554259,680,661.278445741,635,878.721554259,787,803.721554259,652,631,652.721554259,0.400979102708,0.00449225078857,0.079844120763,0.999999957574,0.000105352233548,-0.000267505786017,4.6827266166e-05,1793239808078654208
+97,1.616666667,BASELINE,766,745.701403617,715,680,661,635,879,787,803.701403617,652,631,652.701403617,0.400979096468,0.00449219240062,0.0798439730867,0.999999957689,0.000104461670688,-0.000267438349383,4.67530182684e-05,1793239808095320576
+98,1.633333333,BASELINE,766,745.125909158,715,680,661,635,879,787,803.125909158,652,631,652.125909158,0.400978335464,0.00449127592562,0.0798435646719,0.999999957699,0.000103569908115,-0.000267734524926,4.68297343726e-05,1793239808111987456
+99,1.650000000,BASELINE,765.537726329,745.462273671,715,680,661,635,879,787,803,652,631,652,0.400978695366,0.00449151211327,0.0798437420227,0.999999957776,0.000103887253484,-0.000267356040949,4.66598505366e-05,1793239808128654336
+100,1.666666667,BASELINE,765.052785074,745.947214926,715,680.052785074,661.052785074,635,878.947214926,787,803,652,631,652,0.40097935139,0.00449201696363,0.0798440732068,0.99999995786,0.000104637886,-0.0002667824793,4.64545896165e-05,1793239808145320960
+101,1.683333333,BASELINE,765.631101544,745.368898456,715,680.631101544,661.631101544,635,878.368898456,787,803,652,631,652,0.40097983025,0.004491982717,0.0798443027002,0.999999957844,0.00010633104841,-0.000266147836356,4.65846961934e-05,1793239808161988096
+102,1.700000000,BASELINE,766,745,714.791784868,680.791784868,661.791784868,635.208215132,878.208215132,787,803.208215132,652,631,652.208215132,0.400979796225,0.00449146225151,0.0798442810561,0.999999957856,0.000106155499428,-0.000266155550078,4.67026517826e-05,1793239808178654720
+103,1.716666667,BASELINE,766,745,714.216790268,680.216790268,661.216790268,635.783209732,878.783209732,787,803.783209732,652,631,652.783209732,0.400978858734,0.00449008529164,0.0798438170231,0.999999957909,0.000102688138731,-0.000267294801398,4.67992028963e-05,1793239808195321088
+104,1.733333333,BASELINE,766,745,714.364841658,680.364841658,661.364841658,635.635158342,879,787,804,652,631.364841658,653,0.400977555654,0.00449026937604,0.079843200366,0.999999957596,0.000102342324457,-0.000268576411152,4.69021618423e-05,1793239808211987712
+105,1.750000000,BASELINE,766,745,714.950490641,680.950490641,661.950490641,635.049509359,879,787,804,652,631.950490641,653,0.400976031315,0.00449139822635,0.0798424913388,0.999999957064,0.000103885713844,-0.000269944178351,4.70089989083e-05,1793239808228654336
+106,1.766666667,BASELINE,766,745,714.469467638,681,662,635,878.469467638,787,803.469467638,652,632,653,0.400978514742,0.00449211764549,0.0798436501073,0.999999957808,0.000105038681348,-0.000266760395713,4.68019089099e-05,1793239808245321216
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,635,878,787,804,652,632,653,0.400980392265,0.00449251941336,0.0798445147426,0.999999958405,0.000105751049532,-0.000264272630521,4.65576257956e-05,1793239808287686912
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.574804267,715,680.425195733,662,635,878.574804267,787,804,652,632,653,0.400979593148,0.00449276197533,0.079844625776,0.999999958233,0.000104517931646,-0.00026545377024,4.62958619807e-05,1793239808304353792
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.846547756,745.846547756,715,680,661.846547756,635,879,787,803.846547756,652,632,653,0.400979121097,0.00449313792855,0.0798447109536,0.999999958093,0.000104219806682,-0.000266131662931,4.61036071078e-05,1793239808321020416
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.256975605,745.256975605,715,680,661.256975605,635,879,787,803.256975605,652,632,653,0.400979578586,0.00449389298728,0.0798447226472,0.999999958044,0.000106578983884,-0.000265379299542,4.61089004956e-05,1793239808337686528
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.32725887,635,879,787,803,652.32725887,631.67274113,653,0.400979883207,0.0044932396476,0.0798445972588,0.999999958023,0.000106451517164,-0.000265494542916,4.61923799757e-05,1793239808354352640
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.907369237,635,879,787,803,652.907369237,631.092630763,653,0.400980069716,0.00449149813066,0.0798443659561,0.999999958024,0.000104402783383,-0.000266280129265,4.63362687289e-05,1793239808371019008
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.483337597,745,715,680,662,635,878.516662403,787,803,652.516662403,631,653,0.40098083731,0.00449198052345,0.0798448244457,0.999999958087,0.000105442904032,-0.000265610351523,4.64612352453e-05,1793239808387685632
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.059723293,878.059723293,787,803,652,631,653,0.400981881854,0.0044927962512,0.0798454983775,0.999999958197,0.000106869967643,-0.000264602913256,4.65822693941e-05,1793239808404352512
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.646742654,878.646742654,787,803,652,631,653,0.400984396726,0.00449282397564,0.079846917194,0.999999958636,0.000106531230346,-0.000263055912955,4.67003302265e-05,1793239808421019136
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,714.769347653,680,662,635.769347653,879,787,803,652,631.230652347,653,0.400992942713,0.00449285189185,0.0798508194877,0.999999960347,0.000106318607337,-0.000256554592437,4.6711384528e-05,1793239808437685760
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714.19013729,680,662,635.19013729,879,787,803,652,631.80986271,653,0.401010602823,0.00449288009786,0.0798584747708,0.999999963847,0.000106296566176,-0.00024256638516,4.65607323109e-05,1793239808454352640
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714.389127348,680,662,635,879.389127348,787,803.389127348,652,631.610872652,653,0.401048043292,0.00449330475859,0.0798736098483,0.999999970054,0.00010690781089,-0.00021523314127,4.62312541091e-05,1793239808471019264
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714.968418561,680,662,635,879.968418561,787,803.968418561,652,631.031581439,653,0.401095150289,0.00449392316403,0.0798924002507,0.999999976688,0.000107828537969,-0.000181378268124,4.58143848208e-05,1793239808487685376
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.457924434,745,715,680.542075566,662,635,879.457924434,787,803.457924434,652,631,653,0.401160889148,0.00449472360879,0.0799094930334,0.999999982122,0.000107579504759,-0.000149052898117,4.43285084646e-05,1793239808504352256
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.118653955,745,715,680.881346045,662,635,879,787,803.118653955,652,631.118653955,653,0.401229183911,0.00449507221799,0.0799245312713,0.999999986047,0.000106453315907,-0.000121426215882,4.27612593755e-05,1793239808521018880
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.708113297,745,715,680.291886703,662,635,879,787,803.708113297,652,631.708113297,653,0.401303357407,0.00449358634616,0.0799318057158,0.999999987659,0.000102114305242,-0.000112093444963,4.11157123796e-05,1793239808537685504
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.707458379,745,715,680,662,635,879,787,803.707458379,652.292541621,631.707458379,653,0.401383973811,0.00449363298842,0.0799353914134,0.999999988581,9.8793469186e-05,-0.00010755592594,3.88479237091e-05,1793239808554352128
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.127964978,745,715,680,662,635,879,787,803.127964978,652.872035022,631.127964978,653,0.40147091001,0.00449518286179,0.0799353588478,0.999999988898,9.64713528835e-05,-0.00010772203245,3.59697831628e-05,1793239808571019008
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879,787,803,652.551511547,631,653,0.401578197901,0.00449736998053,0.0799353403765,0.999999989153,9.62116063076e-05,-0.000106803487707,3.20913633705e-05,1793239808587685632
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.024031566,745,715,680,662,635,879,787,803,652,631,653,0.401692775033,0.00449969315015,0.0799357120439,0.999999989453,9.63944964703e-05,-0.00010498684244,2.79282312166e-05,1793239808604352512
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.598457686,745,715,680,662,635,879,787,803,652,631,653,0.40184219883,0.00450099606089,0.0799449275671,0.999999991345,9.33286633983e-05,-8.96412675208e-05,2.37369456955e-05,1793239808621019136
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.821764985,745,715,680,662,635,879,787,803,652.178235015,631,653,0.401999917956,0.00450257054662,0.0799533837898,0.999999992922,9.0300259149e-05,-7.50785888042e-05,1.91243129244e-05,1793239808637685504
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.229558952,745,715,680,662,635,879,787,803,652.770441048,631,653,0.402176903905,0.00450477579586,0.0799600764498,0.99999999415,8.73587880456e-05,-6.23342774106e-05,1.35330540113e-05,1793239808654352128
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879,787,803,652.646515525,631,653,0.402368093391,0.00450811623233,0.0799639910644,0.999999995077,8.22988970001e-05,-5.50013276948e-05,6.92354975377e-06,1793239808671018752
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879,787,803,652.069272055,631,653,0.402568273868,0.0045121752532,0.0799661471507,0.999999995814,7.5898025938e-05,-5.10938195207e-05,-3.30513922056e-07,1793239808687685376
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.506650376,745.506650376,715,680,662,635,879,787,803.506650376,652,631,652.493349624,0.402785252503,0.00451527280844,0.0799599186178,0.999999995551,6.951684111e-05,-6.33092446471e-05,-7.58269593657e-06,1793239808704352256
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.918847565,745.918847565,715,680,662,635,879,787,803.918847565,652,631,652,0.403010620559,0.00451832254034,0.0799534034427,0.999999994991,6.37296510041e-05,-7.57554665314e-05,-1.47394528164e-05,1793239808721019136
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.35177145,745.35177145,715,680,662,635,879,787,803.35177145,652,631,652,0.403272506175,0.00452187100672,0.0799520184119,0.999999994963,6.14830986548e-05,-7.6418399276e-05,-2.13263636311e-05,1793239808737685760
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.228798505,745,714.771201495,680,662,635,879,787,803.228798505,652,631,652,0.403560001228,0.00452591029659,0.0799525766757,0.999999993885,7.96255416256e-05,-7.35186339413e-05,-2.20006194483e-05,1793239808754352128
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.831415078,745,714.168584922,680,662,635,879,787,803.831415078,652,631,652,0.403889337754,0.00453075150884,0.0799563099544,0.999999989225,0.000131080155308,-6.47980221933e-05,-1.30145963518e-05,1793239808771018752
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.586056508,745,714.413943492,680.413943492,662,635,878.586056508,787,804,652,631,652,0.404230173989,0.00453597275452,0.0799565066752,0.999999987083,0.000146278939455,-6.4792568818e-05,-1.54097080591e-05,1793239808787685376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.011330674,745,714.988669326,680.988669326,662,635,878.011330674,787,804,652,631,652,0.404575476889,0.00454134161122,0.0799553297398,0.999999986567,0.000147395372379,-6.81722240427e-05,-2.22254366695e-05,1793239808804352000
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680.435211079,662,635,878.564788921,787.564788921,803.435211079,652,631,652.564788921,0.404976718611,0.00453937206153,0.0799568571704,0.999999995757,6.43208393492e-05,-6.12496044748e-05,-2.44419741495e-05,1793239808821018880
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.143848705,745,715,680,662,635,879,787.856151295,803,652,631,652.856151295,0.405381712166,0.00453651761073,0.0799572309898,0.999999998044,5.5399777761e-06,-5.6792089396e-05,-2.56305495722e-05,1793239808837685504
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.731901106,745,715,680,662,635,879,787.268098894,803,652,631,652.268098894,0.405794817261,0.00453138633608,0.0799538745146,0.999999997514,2.70063910424e-05,-6.05866119346e-05,-2.39304138026e-05,1793239808854352128
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680.316201071,662,635,879,787,803.316201071,652.316201071,631,652,0.406248044386,0.0045355734278,0.0799475049752,0.999999995499,5.73766572668e-05,-7.18852348074e-05,-2.32728948474e-05,1793239808871018496
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680.89735682,662,635,879,787,803.89735682,652.89735682,631,652,0.406734891051,0.0045475686669,0.0799386106956,0.999999991189,9.52077401342e-05,-8.94717762551e-05,-2.34890166212e-05,1793239808887685376
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,680.527173275,662,635.472826725,879,787,803.527173275,652.527173275,631,652,0.407233817392,0.00455883103315,0.079937349343,0.999999990082,0.000103044600222,-9.22307036182e-05,-2.66747133539e-05,1793239808904352000
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.047074485,715,680.047074485,662,635.952925515,879,787,803.047074485,652,631,652,0.407737731981,0.00456953703224,0.0799370100159,0.999999989676,0.000104957251867,-9.34076334418e-05,-3.01048534975e-05,1793239808921019136
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.621294618,715,680.621294618,662,635.378705382,879,787,803.621294618,652,631,652,0.408268489961,0.0045757731704,0.0799286609792,0.999999986912,0.000112577499725,-0.000112485817384,-2.9139239122e-05,1793239808937686528
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.798898283,745.798898283,715,680.798898283,662,635,878.798898283,787,803.798898283,652,631,652,0.408821480009,0.00458404283358,0.0799266817318,0.99999998507,0.000120913401374,-0.000119873496786,-2.95019932722e-05,1793239808954353664
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.208269458,745.208269458,715,680.208269458,662,635,878.208269458,787,803.208269458,652,631,652,0.409417532774,0.00459625136444,0.0799370405478,0.999999985469,0.000130635499399,-0.000104617069857,-3.24377516428e-05,1793239808971020544
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.376083789,745,715,680,662,635,878.376083789,787,803.376083789,652,631,652,0.410085562877,0.00460604218292,0.0799672707603,0.999999987782,0.000143328190997,-5.18897633811e-05,-3.46391592896e-05,1793239808987686656
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.957018739,745,715,680,662,635,878.957018739,787,803.957018739,652,631,652,0.410792798695,0.00461451608387,0.0800083248336,0.999999986685,0.000157638950691,2.1247763539e-05,-3.64405691282e-05,1793239809004352768
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.469489828,745,715,680.530510172,662,635,879,787,804,652,631,652,0.411437466816,0.00461769484278,0.0800019833094,0.999999987281,0.000154907879809,7.55197109772e-06,-3.72087249575e-05,1793239809021019648
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.106443026,745.106443026,715,681,662.106443026,635,879,787,804,652,631,652,0.412077798549,0.00461607429579,0.0799872867239,0.999999988049,0.000148667818415,-1.86674949687e-05,-3.80880318038e-05,1793239809037686528
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.696160451,745.696160451,715,681,662.696160451,635,879,787,804,652,631,652,0.412721138559,0.00459458468738,0.0799518492408,0.999999987937,0.000132678153672,-7.02481116316e-05,-3.98468039548e-05,1793239809054353664
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680.719112389,662.438224778,635.280887611,878.719112389,787,804,652,631,652.280887611,0.413411489091,0.00458056184106,0.0799292235236,0.999999987759,0.000114530468157,-9.79342383503e-05,-4.21112593983e-05,1793239809071020288
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715,680.139688962,661.279377923,635.860311038,878.139688962,787,804,652,631,652.860311038,0.414151803901,0.0045744748918,0.0799202145329,0.999999989543,9.40891714268e-05,-0.00010022458769,-4.49131705815e-05,1793239809087686144
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.563315847,745.563315847,715,680.436684153,661.436684153,635.563315847,878.436684153,787,804,652.436684153,631,652.563315847,0.414938647872,0.0045844227032,0.079941259921,0.999999991255,0.000106927045526,-6.35185451394e-05,-4.49576055383e-05,1793239809104352256
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.01208716,745,715,681,662.01208716,635.01208716,879.01208716,787,804,652.98791284,631,652.01208716,0.415739215857,0.00459933498374,0.0799710784596,0.999999990415,0.000130248087233,-1.59942236258e-05,-4.41573016815e-05,1793239809121019136
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.587439349,745,715,681,662.587439349,635.587439349,879.587439349,787,804,652.412560651,631,652.587439349,0.416490541466,0.0046082247303,0.0799648227655,0.999999986963,0.000149444425911,-4.16123132176e-05,-4.48118306029e-05,1793239809137685760
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.665377042,635.832688521,880,787,804,652,631,652.832688521,0.417259022964,0.00461515167006,0.0799614371982,0.999999984744,0.000159933692853,-5.28774756122e-05,-4.6240235293e-05,1793239809154352384
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661.482723183,635.241361591,880,787,804,652,631,652.241361591,0.418070982378,0.0046171042918,0.0799653253588,0.999999987378,0.000148356732701,-2.77681873857e-05,-4.96298639879e-05,1793239809171019264
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.342767656,714.657232344,681,661.685535312,635,879.657232344,787,804,652,631,652.342767656,0.418914816956,0.00461466860626,0.0799799354159,0.999999988892,0.000139837109391,4.344957641e-06,-5.14025700367e-05,1793239809187685888
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.921932833,714.078067167,681,662.843865666,635,879.078067167,787,804,652,631,652.921932833,0.419780634934,0.00460920642456,0.0800019400728,0.999999988891,0.000133426048449,4.1288470995e-05,-5.20601283742e-05,1793239809204352512
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.504167894,714.495832106,681,663,635,879,787,803.504167894,652,631,652.504167894,0.420615423613,0.00460143175292,0.0799857245087,0.999999990644,0.000125369982011,1.6899352526e-05,-5.2036683095e-05,1793239809221019136
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.068900375,714.931099625,681,662.931099625,635,879,787,803,652,631,652.068900375,0.421449824594,0.00459532123669,0.0799680803737,0.999999991494,0.000119217657508,-1.0165051213e-05,-5.19253615703e-05,1793239809237685504
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.641890681,714.358109319,681,662.358109319,635,879,787,803,652,631,652.641890681,0.422316756155,0.00460402184,0.0799835482792,0.999999990261,0.000128868515017,1.31051019837e-05,-5.19473332e-05,1793239809254352128
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.77623068,745.77623068,714.22376932,681,662.22376932,635,879,787,803.22376932,652,631.22376932,653,0.423183666105,0.00461288806038,0.0800010317341,0.999999988198,0.000139956513166,3.68083255841e-05,-5.15900503586e-05,1793239809271018752
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.179539117,745.179539117,714.820460883,681,662.820460883,635,879,787,803.820460883,652,631.820460883,653,0.424050540179,0.00462203029088,0.0800218742005,0.999999985073,0.000153439576309,6.12332853845e-05,-5.06007218762e-05,1793239809287685376
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.597994544,635,879.402005456,787,804,652,631.597994544,653,0.424874360296,0.00462386006254,0.0799953308189,0.999999986689,0.000155110450795,7.13558404819e-06,-5.01193744337e-05,1793239809304352256
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.022969149,635,879.977030851,787,804,652,631.022969149,653,0.425679650281,0.00462254260975,0.0799483929452,0.99999998399,0.000151697451806,-8.07576451778e-05,-4.98566577156e-05,1793239809321019136
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.552588255,745,715,681.552588255,662.552588255,635,880,787,804,652,631,653,0.42658480535,0.00461422083616,0.0799348482173,0.999999985452,0.000141977273721,-7.79879010373e-05,-5.34410857869e-05,1793239809337685760
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.131080184,715,681.868919816,663,635,880,787,804,652,631,652.868919816,0.42746796866,0.004607174484,0.0799254969666,0.999999986512,0.000134281220254,-7.62041588916e-05,-5.60118521284e-05,1793239809354352384
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.719738734,715,681.280261266,663,635,880,787,804,652,631,652.280261266,0.42825985795,0.00460559772547,0.0799259343616,0.999999985318,0.000134567100677,-9.10303850601e-05,-5.44853354189e-05,1793239809371019008
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.695634196,746,714.695634196,681.304365804,662.695634196,635,880,787,803.695634196,652,631,652,0.429119773411,0.00460939750958,0.0799377238003,0.999999985869,0.000137169606188,-8.09755897273e-05,-5.37546819187e-05,1793239809387685632
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.114670836,746,714.114670836,681.885329164,662.114670836,635,880,787,803.114670836,652,631,652,0.430041508758,0.00461808331757,0.0799598296004,0.999999987324,0.000141877383703,-4.8309745671e-05,-5.37472825772e-05,1793239809404352256
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.539523169,714,682,662.460476831,635,880,787,803.460476831,652,631,652.460476831,0.430946037909,0.00462344424567,0.0799990087678,0.999999987257,0.000149971678185,1.07142735009e-05,-5.36554994466e-05,1793239809421018880
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.034259081,682,663,635,880,787,804.034259081,652,631,652.965740919,0.431840839661,0.00462773788708,0.0800382865784,0.999999983653,0.00015824065158,6.92278755445e-05,-5.34877875992e-05,1793239809437685504
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714.609062773,682,663,635,880,787,804.609062773,652,631,652.390937227,0.432648922982,0.00462809281066,0.0800128732363,0.999999986285,0.000156125481784,1.74138600763e-05,-5.24494880455e-05,1793239809454352384
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.190347721,715,682,662.809652279,635,880,787,805,652,631,652.190347721,0.433442532301,0.00462677575441,0.0799767645441,0.999999986523,0.000150085321125,-4.05404909276e-05,-5.27676059163e-05,1793239809471019008
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.785413238,715,682,662.214586762,635,880,787,805,652,631,652.785413238,0.434205367114,0.00462190373058,0.0799179153675,0.999999983005,0.000135699834978,-0.000111550448162,-5.59697417544e-05,1793239809487685888
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.367874904,745.632125096,715,682.367874904,662.735749808,635,880,787,805,651.632125096,631.367874904,653,0.435007963336,0.00461543719345,0.0799137975906,0.999999984316,0.000127515804091,-0.000108463950305,-5.78126846123e-05,1793239809504352256
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.943228071,745.056771929,715,682.943228071,663.886456142,635,880,787,805,651.056771929,631.943228071,653,0.435832984605,0.0046080713649,0.0799405478534,0.999999988701,0.000122829341242,-6.358768854e-05,-5.88890542134e-05,1793239809521018624
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.481648756,745.518351244,715,683,662.963297512,635,879.481648756,787,804.481648756,651.518351244,631.481648756,652.481648756,0.436610961194,0.00461277389299,0.0799607103878,0.99999998918,0.000125654574541,-5.11607954364e-05,-5.68557595369e-05,1793239809537685504
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.095759471,746,715,682.904240529,661.904240529,634.904240529,879.095759471,787,804,651.904240529,631,652,0.437377546347,0.00461949086627,0.0799749649099,0.99999998879,0.00013130279579,-4.62775171702e-05,-5.51193709127e-05,1793239809554352128
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.685074901,746,715,682.314925099,661.314925099,634.314925099,879.685074901,787,804,651.314925099,631,652,0.438111963583,0.00462978096559,0.0799624859433,0.999999985631,0.000147262566088,-6.19653935036e-05,-5.6667900064e-05,1793239809571018752
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.730054953,745.730054953,714.730054953,682.269945047,661,634.269945047,880,787,804,651.269945047,631,652,0.438821607323,0.0046379149708,0.0799408314478,0.999999981519,0.000158170485719,-9.32125837661e-05,-5.70514644084e-05,1793239809587685632
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.15028682,745.15028682,714.15028682,682.84971318,661,634.84971318,880,787,804,651.84971318,631,652,0.439502817813,0.00464357436893,0.0799086459553,0.999999974969,0.000163280261094,-0.000142317609927,-5.60979675755e-05,1793239809604352768
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.425397278,714.425397278,683,661.425397278,635,880,787,804.425397278,651.574602722,631.425397278,652.425397278,0.440118302297,0.00465086082624,0.0798520684422,0.999999957673,0.000171514841661,-0.000228179042408,-5.63190948689e-05,1793239809621019904
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.999652312,714.999652312,683,661.999652312,635,880,787,804.999652312,651.000347688,631.999652312,652.999652312,0.440710787568,0.00465871663503,0.0797869555135,0.999999928594,0.000180842873219,-0.000326902515407,-5.69512536718e-05,1793239809637686784
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.843439852,714,683,661,634,880.156560148,787,804.843439852,652,631.843439852,653,0.44187267097,0.00468227761772,0.0796812479401,0.999999855404,0.000208010828713,-0.000492188999475,-6.06157116745e-05,1793239809671019520
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.25200652,714,683,661,634,880.74799348,787,804.25200652,652,631.25200652,653,0.442509117049,0.00468948673179,0.079703882174,0.999999874144,0.000212852089814,-0.000450329220873,-6.00849498321e-05,1793239809687685888
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.669595968,745.330404032,714,683,660.669595968,634,880.669595968,786.669595968,804.330404032,652,631,653,0.443129513044,0.00469823412177,0.0797379493906,0.999999894237,0.000227607852186,-0.000395208691895,-5.94260367415e-05,1793239809704352256
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.093884388,745.906115612,714,683,660.093884388,634,880.093884388,786.093884388,804.906115612,652,631,653,0.443737992662,0.00470812359995,0.0797805049918,0.999999912567,0.000249724607311,-0.000330242757394,-5.86719779833e-05,1793239809721018880
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.482274188,745.517725812,714,683,659.517725812,633.517725812,880,786,805,652,631,653,0.444253646571,0.0047163816581,0.0797760988272,0.999999905332,0.000262470148381,-0.000342288940324,-5.7308654923e-05,1793239809737686016
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.35706029,745,714,683,659,633.64293971,880.64293971,786,805,652,631,652.35706029,0.445194682301,0.0047376812253,0.079726525428,0.999999870008,0.000271181568796,-0.000428010453002,-5.70159627232e-05,1793239809771019264
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633.773518198,881,786,804.773518198,652,631,652.226481802,0.445640559608,0.00475473157858,0.0797011823879,0.999999848446,0.000283178646052,-0.000468325579657,-5.99126035378e-05,1793239809787685376
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633.190171815,881,786,804.190171815,652,631,652.809828185,0.446082373142,0.00477838495303,0.0796893950595,0.999999830732,0.000315651708816,-0.000484312897082,-6.58874650281e-05,1793239809804352000
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.611004285,683,658.611004285,633,881,786,804,652,631,652.611004285,0.446507350105,0.00479813924834,0.0796836682119,0.999999820389,0.00034692066402,-0.000483848196852,-6.89826248239e-05,1793239809821018624
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713.033857943,683,658.033857943,633,881,786,804,652,631,652.033857943,0.446924183544,0.00481600762734,0.0796808727148,0.999999813193,0.000377607215566,-0.000475425936048,-7.06849222727e-05,1793239809837685248
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.449155747,713,683.449155747,657,632,880.449155747,785.550844253,804.449155747,652,631,653,0.448753716118,0.00483175093946,0.0796167893804,0.999999771891,0.000349361699421,-0.0005737237419,-7.07545315151e-05,1793239809937685248
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765.678751448,745,713,683,654.321248552,631.678751448,881,785,804.321248552,652,631,653,0.450718504532,0.00482012319542,0.0796075055487,0.99999975893,0.000351265444851,-0.000594236938245,-7.50654153822e-05,1793239810221018368
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.103086643,745,713,683,654.896913357,631.103086643,881,785,804.896913357,652,631,653,0.45073825534,0.00482239805781,0.0796071653754,0.999999756942,0.000354652880479,-0.000595616535848,-7.46844404324e-05,1793239810237685248
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,713,683,655,631,881,785,805,652,631,652.530098111,0.450751373063,0.00482089627396,0.0796067822371,0.999999757639,0.000353165689823,-0.00059542448114,-7.39290745501e-05,1793239810254352896
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713,683.043618173,655,631,881,785,805,652,631,652.043618173,0.450762595067,0.00481889374323,0.0796064313066,0.999999758773,0.000350875821429,-0.00059496827243,-7.31650093326e-05,1793239810271020544
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713,683.633768468,655,631,881,785,805,652,631,652.633768468,0.450768193656,0.00482093935503,0.07960660137,0.999999758104,0.000351851964063,-0.000595497930505,-7.33152398877e-05,1793239810287686912
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654.780346551,631.219653449,880.780346551,785.219653449,805,652,631,653,0.450772880916,0.00482256212436,0.0796066948645,0.999999757472,0.000352815956093,-0.000595978830775,-7.33948139247e-05,1793239810304353024
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654.201437759,631.798562241,880.201437759,785.798562241,805,652,631,653,0.450776077648,0.00482349331139,0.0796066631264,0.999999756902,0.000353760075077,-0.00059637998493,-7.33588253169e-05,1793239810321019392
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.376744986,713,684,654,631.623255014,880.376744986,785.623255014,804.623255014,652,631,652.623255014,0.450776976141,0.00482312697768,0.0796056494085,0.99999975596,0.000353641204904,-0.000598057161245,-7.31103242067e-05,1793239810337686016
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.954540259,713,684,654,631.045459741,880.954540259,785.045459741,804.045459741,652,631,652.045459741,0.450776648176,0.00482206822088,0.0796041116562,0.999999754816,0.000352955069622,-0.000600415287869,-7.27484156175e-05,1793239810354352896
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.47149213,713,683.47149213,654,631,880.47149213,785,804.52850787,652,631,652,0.450778633728,0.00482270772687,0.0796050661881,0.999999755163,0.000353859960012,-0.000599322527788,-7.2595224984e-05,1793239810371019520
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713,683.105243083,654,631,880.105243083,785,805,652,631,652.105243083,0.450779939226,0.00482315332856,0.0796054633834,0.999999755218,0.000354392239568,-0.000598937377068,-7.24144284086e-05,1793239810387685888
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713,683.696261425,654,631,880.696261425,785,805,652,631,652.696261425,0.450777193848,0.0048220345133,0.0796023056722,0.999999753339,0.000352577507889,-0.000603178606562,-7.20239395682e-05,1793239810404352512
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.718803495,745,713.281196505,683.718803495,654,631,880.718803495,785,805,652,631,652.718803495,0.450777304521,0.00482145345064,0.0796015948453,0.999999753168,0.000351811602483,-0.000603922494058,-7.19043072677e-05,1793239810421018880
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.140300127,745,713.859699873,683.140300127,654,631,880.140300127,785,805,652,631,652.140300127,0.450780434873,0.00482144094946,0.0796034710895,0.999999754815,0.000352154612664,-0.000600968669772,-7.20710494186e-05,1793239810437685504
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.435829579,745,713.564170421,683.435829579,654,631.435829579,880,785,805,652,631,652.435829579,0.450781433773,0.00482242625126,0.0796036268792,0.999999754266,0.000353767711106,-0.000600923654392,-7.2159444981e-05,1793239810454352128
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631.98855895,880.01144105,785,804.98855895,652,631,653,0.450781734845,0.00482369049509,0.0796032271305,0.999999753026,0.000355754376429,-0.000601807180974,-7.22086635193e-05,1793239810471018752
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631.400767716,880.599232284,785,804.400767716,652,631,653,0.450781260279,0.00482291322439,0.079602590717,0.999999752512,0.000356074672373,-0.000602550901104,-7.15479540193e-05,1793239810487686144
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631,881,785,804.184381213,652,631,653,0.450781030353,0.00482240211229,0.0796023653525,0.999999752401,0.000355896240362,-0.00060288497908,-7.11665608413e-05,1793239810504353280
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631,881,785,804.763867985,652,631,653,0.450781324662,0.00482246134436,0.0796030208139,0.999999753157,0.000354649097562,-0.000602341245817,-7.13837071631e-05,1793239810521019648
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713,683.657719518,654,631,880.657719518,785,805,652,631,653,0.450782481723,0.00482192623992,0.0796036284604,0.99999975406,0.00035365106114,-0.000601448707226,-7.12088067249e-05,1793239810537685760
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,683.495812701,654,631,880.495812701,785,805,652,631,653,0.450783961723,0.00482172167443,0.0796040157387,0.999999754255,0.000354569373244,-0.000600612225294,-7.09560909114e-05,1793239810571018752
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765.753641778,745.753641778,713,683.753641778,654,631.753641778,880.246358222,785,804.246358222,652.246358222,631,653,0.450782951159,0.00482077901907,0.0796028972854,0.99999975347,0.000351940976561,-0.000603509167465,-7.05326606749e-05,1793239810621018880
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+256,4.266666667,HOLD_POSE2,765,745,713,684,654,631,881,785,805,652,631,652,0.450784021434,0.00482087759071,0.0796020666527,0.999999753328,0.000351046477866,-0.000604216223418,-7.09431078996e-05,1793239810786712320
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+261,4.350000000,HOLD_POSE2,765,745,713,683,653.091364939,631.091364939,881,785,804.091364939,652,631,653,0.450788524514,0.00482136629993,0.0796056545398,0.999999756316,0.000352035620367,-0.000598774441322,-7.00641245056e-05,1793239810870044416
+262,4.366666667,HOLD_POSE2,765,745.482504847,713,683,653.482504847,631,881,785,804,652,631,653,0.450788647555,0.00482064794564,0.0796051221788,0.999999756148,0.000351870084171,-0.000599160534681,-6.99880873597e-05,1793239810886710784
+263,4.383333333,HOLD_POSE2,765.058037895,745.941962105,713,683,654,631,881,785,804,652,631,653,0.450788341729,0.00481983927077,0.0796043610679,0.999999755797,0.00035134515405,-0.000600061183136,-6.99173702464e-05,1793239810903377664
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+267,4.450000000,HOLD_POSE2,764.391664959,745,713,684,654,631,881,785,804,652,631,653,0.45078827069,0.00482015177549,0.0796039665137,0.999999756104,0.000349048338349,-0.000600844593304,-7.0312931813e-05,1793239810970045184
+268,4.466666667,HOLD_POSE2,764.966773507,745,713,684,654,631,881,785,804,652,631,653,0.450788219654,0.00481852431256,0.0796034434365,0.999999755851,0.000348303881541,-0.000601756125896,-6.98028559007e-05,1793239810986711552
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.063736697,654,631,881,785,804,652,631,652.063736697,0.45078802133,0.00482074976886,0.0796039145168,0.999999755085,0.000349554146333,-0.000602241111211,-7.03390249447e-05,1793239811219415808
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.236164815,713,683.763835185,654,631,880.763835185,785,804.236164815,652,630.763835185,653,0.450778552005,0.00482147599339,0.0795989979768,0.999999749982,0.000351751465676,-0.000609454453075,-6.98014612711e-05,1793239811252750080
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.812793029,713,683.187206971,654,631,880.187206971,785,804.812793029,652,630.187206971,653,0.45076247264,0.00482011807634,0.0795901967547,0.999999742981,0.000350115016093,-0.000621812355751,-6.93326458659e-05,1793239811269416448
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.61086596,713,683.38913404,654,631,880.38913404,785,805,652,630.38913404,652.61086596,0.450725350349,0.00481926885114,0.0795719711242,0.999999724526,0.000349132285079,-0.000651354622676,-6.9224748476e-05,1793239811286082560
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.034662966,713,683.965337034,654,631,880.965337034,785,805,652,630.965337034,652.034662966,0.450678112062,0.00481866416999,0.0795492148836,0.999999699417,0.000348463816566,-0.000689157953529,-6.92903555898e-05,1793239811302749184
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.446232005,653.446232005,631,881,785,804.446232005,652,631,652,0.450612010122,0.00481977642469,0.0795267139324,0.999999672093,0.000351519141872,-0.000726324262413,-6.85671469504e-05,1793239811319415552
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.140483194,713,683,653.140483194,631.140483194,881.140483194,785,804,652,631,652.140483194,0.450541562589,0.00482032160358,0.0795069594096,0.999999648012,0.000353893950838,-0.000757728657965,-6.76895694184e-05,1793239811336082176
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.719401109,713,683,653.719401109,631.719401109,881.719401109,785,804,652,631,652.719401109,0.450461321125,0.00481875401221,0.0794957252263,0.999999637909,0.00035340105752,-0.000771277933919,-6.64877977039e-05,1793239811352749056
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.703224204,713,683.296775796,654,631.703224204,881.406448408,785,804,652,631,653,0.450376207917,0.00481719779815,0.079491197286,0.999999633174,0.000353850934084,-0.000777358048302,-6.44718864505e-05,1793239811369415680
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.127301112,713,683.872698888,654,631.127301112,880.254602225,785,804,652,631,653,0.450286512354,0.0048156522857,0.0794929772383,0.99999963361,0.000355187580017,-0.000776412669036,-6.16901956752e-05,1793239811386082560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.553803316,654,631,880.446196684,785,804,652,631,653,0.450176077719,0.00481551517011,0.0794943549523,0.999999634016,0.000357537374243,-0.000775035968275,-5.87645213844e-05,1793239811402749184
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.019709543,745,713,683.019709543,654,631,881,785,804.019709543,652,631,652.980290457,0.450058975222,0.00481568099922,0.0794956828954,0.999999634492,0.000360169033925,-0.000773423509123,-5.57609165218e-05,1793239811419415808
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.613714333,745,713,683.613714333,654,631,881,785,804.613714333,652,631,652.386285667,0.449919059503,0.00481302912,0.0794988863957,0.99999963761,0.000362636770191,-0.000768507785507,-5.16770577014e-05,1793239811436082432
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.797343143,745,713.202656857,683.797343143,654,631,880.797343143,785,805,652,631,652.202656857,0.449764581272,0.00481141653095,0.0795010273662,0.999999639034,0.000366204894132,-0.000765235651803,-4.73282214546e-05,1793239811452749056
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.217814747,745,713.782185253,683.217814747,654,631,880.217814747,785,805,652,631,652.782185253,0.449583021831,0.0048117366618,0.0795011923989,0.999999637345,0.000371819357628,-0.000765020026445,-4.24866194602e-05,1793239811469415680
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.642795305,683.357204695,654,631.357204695,880.357204695,785,804.642795305,652,631,653,0.44938510897,0.00480922828554,0.0795008037604,0.999999635428,0.000374929891607,-0.000766277240045,-3.72829483498e-05,1793239811486082560
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.070490985,683.929509015,654,631.929509015,880.929509015,785,804.070490985,652,631,653,0.449177348476,0.00480501665392,0.0795000817151,0.999999633368,0.00037653262316,-0.000768421359954,-3.18612479187e-05,1793239811502749184
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.505933661,713,683.494066339,654.505933661,632,880.494066339,785,804,652,631,653,0.448932726136,0.0048038540419,0.0795002953179,0.999999628297,0.000383109999649,-0.000772005321289,-2.52925082688e-05,1793239811519416064
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.914779933,713,683,655,632,880,785.085220067,804,652,631,652.914779933,0.448678272688,0.0048027424484,0.0795007117394,0.999999623273,0.000389712510804,-0.000775395082063,-1.84326702841e-05,1793239811536082688
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.321893362,713,683,655,632,880,785.678106638,804,652,631,652.321893362,0.448396100439,0.00479938332133,0.0795015534158,0.999999621575,0.000392301911817,-0.000776423091091,-1.0798577087e-05,1793239811552749312
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.264498679,713.264498679,683.264498679,655,631.735501321,880.264498679,785.735501321,804,652,631,652,0.448090613046,0.00479535598967,0.0795016063026,0.999999619886,0.000395314815374,-0.000777136404981,-3.69097788994e-06,1793239811569415680
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.579194011,713.579194011,683.579194011,655,631.420805989,881,785,804,652,631,652.420805989,0.447425137278,0.00478518404972,0.0795097118629,0.999999632443,0.000393558864604,-0.000761692780742,7.02085919966e-06,1793239811602749184
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.0019539,713.0019539,683.0019539,655,631.9980461,881,785,804,652,631,652.9980461,0.447093173297,0.00477963618137,0.0795223720113,0.999999652088,0.000385020087801,-0.000739916072223,1.04130834493e-05,1793239811619415808
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,655.584028924,632,880.415971076,785,804.584028924,652,631,652.415971076,0.446697761554,0.00477508114263,0.0795326671947,0.999999673708,0.00035383888461,-0.000726193153158,4.95416541743e-06,1793239811636082432
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,656,632,880,785,805,652,631,652.168020328,0.446285177584,0.00476919401545,0.0795438980452,0.999999691542,0.000328747689601,-0.000713325589407,2.64805721808e-06,1793239811652748800
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,656,632,880,785,805,652,631,652.74706741,0.445831112555,0.00476003996292,0.0795574374584,0.999999702427,0.00031874256355,-0.000702483562546,8.12818312976e-06,1793239811669415936
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.323980657,683.323980657,656.323980657,632.323980657,880,785.323980657,804.676019343,651.676019343,631,653,0.445351994177,0.00475276509295,0.0795714280802,0.999999716656,0.000314457508477,-0.000683875160083,1.09560560321e-05,1793239811686083072
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.899238975,683.899238975,656.899238975,632.899238975,880,785.899238975,804.100761025,651.100761025,631,653,0.444853444505,0.00474694770593,0.0795857686584,0.999999733141,0.000314608908604,-0.00065924319697,1.17268563048e-05,1793239811702750208
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.578809332,684,657.421190668,633,880.421190668,786,804.421190668,651.421190668,631,653,0.444430420149,0.00473858711704,0.0795939235669,0.999999732237,0.000336001611035,-0.000649958739953,1.35143882117e-05,1793239811719416832
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.068177502,684,657.931822498,633,880.931822498,786,804.931822498,651.931822498,631,653,0.444023433862,0.0047296864716,0.0796007649281,0.999999727067,0.000361904970547,-0.000643933375182,1.55178262218e-05,1793239811736083456
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.590189951,713.590189951,684,658,633,881,786,805,652,631,653,0.443340312365,0.00471830045256,0.0796074677821,0.999999742469,0.000333735122342,-0.000635121762897,1.74361274233e-05,1793239811752749824
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,746,714,684,658,633.22951228,881,786,804.77048772,652,631,653,0.442670612869,0.00470666161294,0.0796214117933,0.999999767628,0.000299783181128,-0.000611977971742,1.8899751012e-05,1793239811769416192
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,746,714,684,658,633.805684504,881,786,804.194315496,652,631,653,0.442085453876,0.00469521935354,0.0796463252293,0.999999802223,0.000269682831636,-0.000567835040981,1.9696435041e-05,1793239811786083328
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.620141496,713.620141496,683.620141496,658.379858504,634,880.620141496,786,804.379858504,652,631,653,0.441449281308,0.00468324300056,0.0796606449504,0.999999822971,0.000245636382795,-0.000541565839769,2.06508283619e-05,1793239811802750208
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.04698435,713.04698435,683.04698435,658.95301565,634,880.04698435,786,804.95301565,652,631,653,0.440787149474,0.00467099486368,0.0796695738459,0.999999837033,0.000224670584117,-0.000524392046993,2.16854752116e-05,1793239811819416832
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.541532389,683,659.541532389,634,880,786,805,652,631.541532389,653,0.440070575877,0.00466046628981,0.0796400940751,0.999999809519,0.000241865310724,-0.000567392250254,2.29984818416e-05,1793239811836083200
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.129086226,745,714,682.870913774,660,634,880,786.129086226,804.870913774,652,631.870913774,652.870913774,0.439357243682,0.00465003635335,0.0796210548244,0.999999792239,0.000250955094894,-0.000593262102644,2.41564625188e-05,1793239811852749568
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.708496158,745,714,682.291503842,660,634,880,786.708496158,804.291503842,652,631.291503842,652.291503842,0.438672178511,0.00463941486245,0.0796504024754,0.999999829382,0.000219883058418,-0.00054062716409,2.46869158887e-05,1793239811869416192
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.713302048,745,714,682.286697952,660,634,880,786.713302048,804,652,631,652,0.437986896715,0.00462813078789,0.0797057471266,0.999999877046,0.000191668340718,-0.000456574869569,2.66497763886e-05,1793239811886082560
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.136323419,745,714,682.863676581,660,634,880,786.136323419,804,652,631,652,0.437301395502,0.00461617584839,0.0797874136534,0.99999992767,0.000166346643098,-0.000340712601629,3.00629439801e-05,1793239811902748928
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,660,634.438120202,880,786.438120202,804,652,631,652.438120202,0.436555852932,0.00460566992297,0.0798382934685,0.999999951045,0.000170601388935,-0.000260341851956,3.20481966808e-05,1793239811919415808
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.987851722,660,635,880,786.987851722,804.012148278,652,631,653,0.43579039825,0.00459565369841,0.0798783454044,0.999999963989,0.000183245298681,-0.000193171664897,3.35845367558e-05,1793239811936082688
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.396235153,660,635,880,786.396235153,804.603764847,652,631,653,0.43496114784,0.00458761345972,0.0798562191045,0.999999959763,0.000159601271014,-0.000231928773556,3.47790994907e-05,1793239811952749312
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.190992799,745.190992799,714,682.190992799,660,634.809007201,880,786.190992799,804.809007201,652,631,652.809007201,0.434117977201,0.004578833228,0.0798316837869,0.999999951442,0.000146115266293,-0.000272879517099,3.61101370017e-05,1793239811969416192
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.769320567,745.769320567,714,682.769320567,660,634.230679433,880,786.769320567,804.230679433,652,631,652.230679433,0.433246576274,0.00456855228479,0.0798022629631,0.999999936898,0.00015322981747,-0.000318278968368,3.77179464816e-05,1793239811986082816
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.655476581,745.655476581,714,683,660,634.344523419,879.655476581,787,804,652,631,652,0.432331490016,0.00455917323072,0.0797598721363,0.999999910867,0.000144912222245,-0.000394597158535,3.95016673695e-05,1793239812002749184
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.082347264,745.082347264,714,683,660,634.917652736,879.082347264,787,804,652,631,652,0.431387416723,0.00455039261875,0.0797088751637,0.999999870408,0.000126354742268,-0.000491431238502,4.14021126035e-05,1793239812019415552
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.095055657,745,714.095055657,682.904944343,661.095055657,635,879.904944343,787,804.095055657,652,631,652.095055657,0.429730072862,0.00452539945103,0.0797841549985,0.999999927974,0.000117855043782,-0.000357973172905,4.49172686184e-05,1793239812052748800
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745.567275507,714.567275507,682.567275507,660.567275507,635,880.432724493,787,805,652,631.567275507,652.567275507,0.424321955786,0.00446279453827,0.079743002903,0.999999910343,5.62580874097e-05,-0.000416732466284,4.98205314626e-05,1793239812152749312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.843571922,745.843571922,714.843571922,682.843571922,661,635,880,787,804.843571922,652,632,652.843571922,0.423397269302,0.00445499253965,0.0797367721728,0.999999903881,5.67226085003e-05,-0.000431641657479,5.20144930236e-05,1793239812169415680
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.267948964,745.267948964,714.267948964,682.267948964,661,635,880,787,804.267948964,652,632,652.267948964,0.422552440036,0.00444666208134,0.0797540038996,0.999999921093,4.06008184217e-05,-0.000391830375672,5.13282501977e-05,1793239812186082560
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.307344141,745.307344141,714,682,661.307344141,635,879.692655859,787,804,652,631.692655859,652,0.421739908956,0.00445654512521,0.0797965955733,0.999999948405,4.64925108344e-05,-0.000313807779452,5.0526415702e-05,1793239812202749184
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.88234995,745.88234995,714,682,661.88234995,635,879.11765005,787,804,652,631.11765005,652,0.420955505952,0.00448229005115,0.0798612728655,0.999999975704,7.15554344807e-05,-0.000202507488757,4.96239136446e-05,1793239812219415808
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.541245675,714,682,661.541245675,635,879.458754325,787,804,652,631,652,0.420102927874,0.00450161519515,0.0798735876669,0.999999975912,0.000102714497052,-0.000187240621547,5.06553373115e-05,1793239812236082432
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.963616854,745,714.036383146,681.963616854,660.963616854,635,879.963616854,787,804.036383146,652,631.036383146,652.036383146,0.419230706601,0.00451725661456,0.0798696137062,0.999999969798,0.000131691761407,-0.000200898825942,5.19625305328e-05,1793239812252749312
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.372812354,745,714.627187646,681.372812354,660.372812354,635,879.372812354,787,804.627187646,652,631.627187646,652.627187646,0.418326396366,0.00450192896115,0.07982268188,0.999999954508,0.000103525445876,-0.000278885426034,4.98911689168e-05,1793239812269415936
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.212930595,745.212930595,715,681.212930595,660.212930595,635,879.212930595,787,804.787069405,652,631.787069405,653,0.417456425579,0.00448951565423,0.0797996507438,0.999999944024,8.38381584251e-05,-0.000320194574471,4.89842533526e-05,1793239812286082560
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.790017325,745.790017325,715,681.790017325,660.790017325,635,879.790017325,787,804.209982675,652,631.209982675,653,0.416645182331,0.0044820864907,0.0798174948107,0.999999951019,7.86517900226e-05,-0.00029877757603,5.00687857527e-05,1793239812302749440
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745.634433754,714.634433754,682,661,635,879.634433754,787,804,652,631.365566246,653,0.415831450958,0.00447910215318,0.0798107148571,0.999999946605,7.62275779877e-05,-0.000313681087811,5.0819786887e-05,1793239812319415808
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.059764491,714.059764491,682,661,635,879.059764491,787,804,652,631.940235509,653,0.415016296433,0.00447866024593,0.0797898500218,0.999999934813,7.53833130209e-05,-0.0003493598454,5.13800088285e-05,1793239812336082176
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.470876885,745,714,681.470876885,661,635,879,787,804,652,631.470876885,653,0.414262198359,0.00448698624892,0.0797944315652,0.999999939022,8.4629996561e-05,-0.000335129119659,4.98147974823e-05,1793239812352748800
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.117136268,745,714,681,661,635,879.117136268,787,804.117136268,652,631.117136268,652.882863732,0.413522308772,0.00449505719833,0.0798034651173,0.999999945126,9.51608317303e-05,-0.00031358084856,4.85692425209e-05,1793239812369415424
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.695214239,745,714,681,661,635,879.695214239,787,804.695214239,652,631.695214239,652.304785761,0.412810443834,0.00449811981613,0.0798183952929,0.999999952232,0.00010613595852,-0.000286033138192,4.95523387647e-05,1793239812386082304
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.728335771,745,714,681,660.728335771,635,879.728335771,786.728335771,804.456671541,652,632,652,0.412092998729,0.00449550230251,0.0798201257055,0.999999952931,0.000100729961132,-0.000285404480692,5.03526328261e-05,1793239812402749184
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.153701404,745,714,681,660.153701404,635,879.153701404,786.153701404,803.307402809,652,632,652,0.411369330461,0.00448655009309,0.0798071352465,0.999999946185,7.70551189683e-05,-0.000314796962236,5.09490589572e-05,1793239812419415808
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,635,879,786.420176857,803.420176857,652,631.579823143,652,0.410708288197,0.00448259858932,0.0797992809199,0.99999994203,7.06208120958e-05,-0.000329204385984,5.07729699521e-05,1793239812436082432
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,635,879,786.993779078,803.993779078,652,631.006220922,652,0.410070113429,0.00448047306612,0.079793302024,0.999999939081,7.04817938516e-05,-0.000338140097388,5.03148011808e-05,1793239812452748800
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.58867609,714.58867609,681,660.58867609,635,879,786.41132391,803.41132391,652,631,652.58867609,0.409449604686,0.00448705374718,0.0798232986562,0.999999953499,8.88549889797e-05,-0.000287278522388,5.07763243549e-05,1793239812469415424
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.177457299,745.822542701,715,681,661,635,879,786.177457299,803,652,631,652.822542701,0.408842034634,0.00449314629538,0.0798453881276,0.999999962036,0.000100876399301,-0.000251228514552,5.13357455677e-05,1793239812486082304
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.752030135,745.247969865,715,681,661,635,879,786.752030135,803,652,631,652.247969865,0.408262985323,0.00449793288181,0.0798489001962,0.999999962621,9.8229518079e-05,-0.000249791139086,5.2091678757e-05,1793239812502749184
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.67100764,745.32899236,714.67100764,681,661,635,879,787.32899236,803.32899236,652,631,652.32899236,0.407678906178,0.00449693004801,0.0798289315002,0.999999952508,9.94516029724e-05,-0.000287031172025,5.20277689363e-05,1793239812519416064
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745.505001238,714,680.505001238,661,635,879,787.505001238,803.505001238,652,631,652.505001238,0.406595839816,0.00448705205649,0.0797821515131,0.999999928879,9.0663327122e-05,-0.000362621496869,5.02840826646e-05,1793239812552749312
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.082544825,745,714.082544825,680,661.082544825,635,879,787,803,652,631,652,0.406123070637,0.00448423691992,0.0797814643681,0.999999932342,7.86114254123e-05,-0.000355941972521,4.94107596256e-05,1793239812569416192
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.662340636,745,714.662340636,680,661.662340636,635,879,787,803,652,631,652,0.405679343545,0.00449039934464,0.0797978542585,0.999999943137,9.14921375473e-05,-0.000320698800683,5.00694341043e-05,1793239812586082560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.759403888,745,714.759403888,680.240596112,661.759403888,635,878.759403888,787,803.240596112,652,631,652.240596112,0.405254550834,0.00449708213453,0.0798141141572,0.999999950436,0.000102461796996,-0.000293463699166,5.00871188664e-05,1793239812602749184
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.183296457,745,714.183296457,680.816703543,661.183296457,635,878.183296457,787,803.816703543,652,631,652.816703543,0.404856162159,0.00450449057321,0.0798301927812,0.99999995418,0.000110766492196,-0.00027739585643,4.92109433722e-05,1793239812619415808
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.391843366,680.608156634,661,635,878.391843366,787,803.608156634,652,631,652.608156634,0.404475446615,0.00450273280109,0.0798369412228,0.999999955311,0.000112805001152,-0.00027223462478,5.04162555629e-05,1793239812636082432
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.966531725,680.033468275,661,635,878.966531725,787,803.033468275,652,631,652.033468275,0.404102977811,0.00449669782114,0.0798393359437,0.999999955318,0.000111919534362,-0.000272162719308,5.25928476293e-05,1793239812652749056
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.553360277,745,715,680,661,635,879,787,803.553360277,652,631,652,0.403770586135,0.00449255783084,0.0798364697357,0.999999954551,9.94750451989e-05,-0.00027993616302,5.1364953489e-05,1793239812669415680
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879.138435459,787,804,652,631,652.138435459,0.403450060577,0.00448666801034,0.0798349523584,0.999999954196,8.58002061626e-05,-0.000285773832209,5.07812088806e-05,1793239812686082560
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879.715575246,787,804,652,631,652.715575246,0.403159285057,0.00447486159076,0.0798387404186,0.999999955805,7.04915565952e-05,-0.000283939567907,5.29059533393e-05,1793239812702749440
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.704950012,745.295049988,714.704950012,680,661,635,879.704950012,787,804,652,631,653,0.40289123853,0.00446649918089,0.0798416975575,0.999999957243,5.60361871808e-05,-0.000281966831778,5.35577800189e-05,1793239812719415808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.123206479,745.876793521,714.123206479,680,661,635,879.123206479,787,804,652,631,653,0.402645277278,0.00446148323976,0.0798438473083,0.999999958547,4.24099321311e-05,-0.000279859545757,5.277840496e-05,1793239812736082432
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.452702873,745.547297127,714.452702873,680,661,635,879,787,803.547297127,652,631,653,0.402434409167,0.00445892255068,0.0798452597657,0.999999960005,3.63056014792e-05,-0.000275465738969,5.28307794e-05,1793239812752749312
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.027850781,652,631,653,0.402234548798,0.00445715661695,0.0798464971898,0.99999996147,3.23558744376e-05,-0.000270535071424,5.31428780627e-05,1793239812769415936
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.619313147,652,631,653,0.40206663024,0.00445812350736,0.0798482015524,0.999999962357,3.11078109418e-05,-0.000267173066017,5.41883097467e-05,1793239812786082304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.205524392,661,635,879,787,804,652.205524392,631,653,0.401906450246,0.00446020304286,0.0798497275191,0.999999962959,3.2815300858e-05,-0.000264522217413,5.50659880249e-05,1793239812802749184
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.782251395,661,635,879,787,804,652.782251395,631,653,0.401760247082,0.00446429215365,0.0798509312804,0.999999963032,3.98608879427e-05,-0.000263155806798,5.56406826756e-05,1793239812819415808
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.64200216,661,635,879,787,804,652.64200216,631,653,0.401630485787,0.00447293659021,0.0798493019807,0.999999960064,8.23314609303e-05,-0.000264692274538,5.50648937853e-05,1793239812836082432
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.066850446,661,635,879,787,804,652.066850446,631,653,0.401510697766,0.00448434419087,0.0798459542064,0.999999951944,0.000146290077227,-0.00026798956553,5.37912459254e-05,1793239812852749312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.480902462,745,714.480902462,680,661,635,879,787,803.480902462,652,631.519097538,653,0.401412370322,0.00449434748615,0.0798431146064,0.999999950716,0.000144850990055,-0.000274178098714,4.91155528854e-05,1793239812869416192
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.105312682,745,714.105312682,680,661,635,879,787,803,652,631.894687318,653,0.401320533319,0.00450094421301,0.0798400423054,0.999999950621,0.000134174912899,-0.000280572260271,4.51069052024e-05,1793239812886082816
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.686321124,745,714.686321124,680,661,635,879,787,803,652,631.313678876,653,0.40124526459,0.00449298777047,0.0798356170095,0.999999950712,0.000120625777063,-0.000286177667047,4.61323149158e-05,1793239812902749184
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.735539831,680,661,635,879,787,803.264460169,652,631,652.735539831,0.401181531217,0.00448956664377,0.079833030046,0.999999950693,0.000113815882757,-0.000288890732994,4.69358045162e-05,1793239812919415808
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.160767711,680,661,635,879,787,803.839232289,652,631,652.160767711,0.401131333191,0.0044914671609,0.0798326001431,0.999999950738,0.000114913672274,-0.000288209987312,4.74788977129e-05,1793239812936082688
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.588240306,745,714,680,661,635,878.588240306,787,803.588240306,652,631,652.411759694,0.401092179956,0.00449174875629,0.0798329166071,0.999999950621,0.000116091971721,-0.000288007685207,4.82994828484e-05,1793239812952749312
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.016584589,745,714,680,661,635,878.016584589,787,803.016584589,652,631,652.983415411,0.401057315674,0.00449140168606,0.0798335229029,0.999999950439,0.000117301535051,-0.000287991174066,4.92278246502e-05,1793239812969415936
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.576907379,680.576907379,661,635,878.576907379,787,803,652,631,652.423092621,0.401035595433,0.00449049093541,0.0798347644385,0.999999951144,0.000113531250235,-0.000287036956797,4.93104519038e-05,1793239812986082816
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.167035141,745,714.832964859,680.832964859,661,635,879,787,803.167035141,652,631,652,0.401017041023,0.00448991152526,0.0798360503553,0.999999951939,0.000110700378749,-0.000285373186451,4.92961501407e-05,1793239813002749696
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.747227756,745,714.252772244,680.252772244,661,635,879,787,803.747227756,652,631,652,0.401005345838,0.00449019333601,0.0798373991018,0.999999952914,0.000110561151756,-0.000282023653077,4.9104597838e-05,1793239813019416320
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879,787,804,652,631,652,0.400997021354,0.00449006569816,0.0798383941337,0.999999953699,0.000109958840507,-0.000279445380723,4.92012582747e-05,1793239813036082944
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879,787,804,652,631,652,0.400991299088,0.0044896219613,0.0798391160941,0.999999954341,0.000108999022848,-0.000277462530426,4.95204222539e-05,1793239813052749312
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.516626164,745,714,680,661,635,879,786.516626164,803.516626164,652,631,652,0.400988343833,0.00448967763014,0.0798403593086,0.999999954727,0.00011028359933,-0.000275578679579,4.94047201528e-05,1793239813069415936
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.070155835,745,714.070155835,680,660.929844165,635,878.929844165,786.070155835,803,652,631,652.070155835,0.400985823134,0.00448995050123,0.0798413144532,0.999999954938,0.000111690195712,-0.00027428173325,4.91799209243e-05,1793239813086082560
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38c793a72badc2e42d6b7ce14df9cfc2e9f537ec
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,420 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e83bbf45ef9d6f26cbc68b0910188a2093c6d9f9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d534a39153b721d77aea040c8bee2a6414e8a1ae33a35f15d14494dfafb43f3
+size 26563188
diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..befb9a70725b97bab315e63abaea19702492c302
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,421 @@
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+5,0.083333333,BASELINE,766,745,714.909029592,680,661.090970408,635.909029592,879,787,804,652,631,652,0.400980317174,0.00449245185302,0.0798441306537,0.999999956966,0.000109445368767,-0.000268083572046,4.71217982555e-05,1793239813742125056
+6,0.100000000,BASELINE,766,745.486063414,715,680,661.486063414,635.513936586,879,787,804,652,631,652,0.400980232369,0.00449224055204,0.0798440471608,0.999999956939,0.000109461580702,-0.000268171164728,4.717228943e-05,1793239813758791424
+7,0.116666667,BASELINE,765.936148727,745.936148727,715,680,661.936148727,635,878.936148727,786.936148727,803.936148727,652,631,652,0.400979888863,0.00449205465807,0.0798439262492,0.999999956905,0.000109165080026,-0.000268408321075,4.72224870734e-05,1793239813775458304
+8,0.133333333,BASELINE,765.349491585,745.349491585,715,680,661.349491585,635,878.349491585,786.349491585,803.349491585,652,631,652,0.400978729344,0.00449274776366,0.0798438172925,0.999999956827,0.000108837067502,-0.000268851088953,4.71059631933e-05,1793239813792124928
+9,0.150000000,BASELINE,765.234241901,745,714.765758099,680,661,635,878.234241901,786.234241901,803.234241901,652,631,652,0.400977619966,0.00449298220357,0.0798434898189,0.999999956635,0.000108606694339,-0.000269660335644,4.71033987393e-05,1793239813808791296
+10,0.166666667,BASELINE,765.81366698,745,714.18633302,680,661,635,878.81366698,786.81366698,803.81366698,652,631,652,0.400976584475,0.00449254074522,0.0798428403346,0.999999956271,0.000108520204364,-0.00027100963222,4.72687670044e-05,1793239813825457920
+11,0.183333333,BASELINE,765.608528835,745,714.391471165,680,661,635,879,787,804,652,631,652,0.400977292403,0.00449167947052,0.079843135907,0.999999956541,0.000107560426922,-0.000270363958341,4.7456445096e-05,1793239813842124800
+12,0.200000000,BASELINE,765.031492934,745,714.968507066,680,661,635,879,787,804,652,631,652,0.400978826745,0.00449061919489,0.0798438794541,0.999999957107,0.000106186694695,-0.000268772630853,4.7654698482e-05,1793239813858791424
+13,0.216666667,BASELINE,765,745,714.456059706,680.543940294,661,635,879,787,804,652,631,652.543940294,0.400978671335,0.00449154868101,0.0798435070895,0.999999956768,0.000108559054227,-0.000269130058424,4.74182784667e-05,1793239813875458304
+14,0.233333333,BASELINE,765.121664969,745,714.121664969,681,661,635,878.878335031,787,804.121664969,652,631,653,0.400978593111,0.00449262919869,0.0798432944723,0.999999956467,0.000110712125165,-0.000269407701542,4.72049251197e-05,1793239813892124928
+15,0.250000000,BASELINE,765.708504688,745,714.708504688,681,661,635,878.291495312,787,804.708504688,652,631,653,0.400979182955,0.00449384799862,0.0798439389347,0.999999956537,0.000111199943068,-0.000268950173991,4.71757045468e-05,1793239813908791552
+16,0.266666667,BASELINE,766,745,714.706987554,680.706987554,661.293012446,635,878.293012446,787,804.706987554,652,631.293012446,653,0.400979247961,0.00449384795788,0.0798439670193,0.999999956655,0.000110575867203,-0.000268796682864,4.70322799685e-05,1793239813925458176
+17,0.283333333,BASELINE,766,745,714.124781398,680.124781398,661.875218602,635,878.875218602,787,804.124781398,652,631.875218602,653,0.40097879497,0.00449264496114,0.0798433867591,0.999999956816,0.000108854388493,-0.000268943265782,4.67761397701e-05,1793239813942124800
+18,0.300000000,BASELINE,766,745,714.45155707,680.45155707,661.54844293,635,879,787,804,652,631.54844293,652.54844293,0.400978120837,0.00449238801773,0.0798432719951,0.99999995662,0.000108800906611,-0.000269676320965,4.68714918383e-05,1793239813958791680
+19,0.316666667,BASELINE,766,745,715,680.973287543,661.026712457,635,879,787,804,652,631,652.026712457,0.400977441371,0.00449239253169,0.0798433077261,0.999999956354,0.000109160997968,-0.000270482264987,4.70661285235e-05,1793239813975458304
+20,0.333333333,BASELINE,766,745,715,680.389422516,661.610577484,635,879,787,804,652,631,652.610577484,0.400977908923,0.00449246759491,0.0798438338535,0.999999956669,0.000108656728678,-0.000269471621584,4.73316941932e-05,1793239813992124928
+21,0.350000000,BASELINE,766,745,715,680,661.806527352,635,879,787,804,652,631,652.806527352,0.400978517809,0.00449262493865,0.0798444636336,0.999999956975,0.000108384433262,-0.000268429675517,4.74118209422e-05,1793239814008791552
+22,0.366666667,BASELINE,766,745,715,680,661.225574664,635,879,787,804,652,631,652.225574664,0.400979409755,0.00449294707085,0.0798453010057,0.999999957264,0.000108576726812,-0.000267325037725,4.71205572784e-05,1793239814025458432
+23,0.383333333,BASELINE,766,745,714.647298135,680.352701865,661,635,878.647298135,786.647298135,804,652,631,652.352701865,0.400979014379,0.0044924639943,0.0798444179056,0.999999957273,0.00010741047134,-0.000267777651691,4.70290184525e-05,1793239814042124800
+24,0.400000000,BASELINE,766,745,714.070720231,680.929279769,661,635,878.070720231,786.070720231,804,652,631,652.929279769,0.400977801882,0.00449146981491,0.079842442743,0.9999999571,0.000105381882554,-0.000269218724617,4.70642541069e-05,1793239814058791680
+25,0.416666667,BASELINE,766,745,714.506457496,681,661,635,878.506457496,786.506457496,803.493542504,652,631,653,0.400978491349,0.0044927070642,0.0798433464245,0.999999956942,0.000108506035803,-0.000268582733643,4.69649562362e-05,1793239814075459072
+26,0.433333333,BASELINE,766,745.08533573,714.91466427,680.91466427,661.08533573,635,879,787,803,652,631,652.91466427,0.400979325458,0.00449391957081,0.0798445167682,0.999999956853,0.000111362961706,-0.000267764304264,4.68557102597e-05,1793239814092126208
+27,0.450000000,BASELINE,766,745.673744721,714.326255279,680.326255279,661.673744721,635,879,787,803,652,631,652.326255279,0.400979444724,0.0044931471427,0.0798448864958,0.99999995723,0.000108397799952,-0.000267582208442,4.67986961246e-05,1793239814108792320
+28,0.466666667,BASELINE,766,745.741701951,714.258298049,680,661.741701951,635.258298049,879,787,803.258298049,652,631,652,0.400979541026,0.00449260200583,0.0798449391574,0.999999957435,0.000107067294733,-0.000267351775535,4.67864609103e-05,1793239814125458432
+29,0.483333333,BASELINE,766,745.161947103,714.838052897,680,661.161947103,635.838052897,879,787,803.838052897,652,631,652,0.400979608751,0.00449233973725,0.0798445972242,0.999999957435,0.000107771150621,-0.000267061186226,4.68299539123e-05,1793239814142125312
+30,0.500000000,BASELINE,766,745,715,680,661,635.584531868,878.584531868,787,804,652,631,652.415468132,0.40097994489,0.00449271758116,0.0798448188645,0.999999957375,0.00010872666845,-0.00026689305274,4.68629622578e-05,1793239814158792192
+31,0.516666667,BASELINE,766,745,715,680,661,635.008023509,878.008023509,787,804,652,631,652.991976491,0.400980385069,0.00449334354004,0.0798452589524,0.999999957291,0.000109779733328,-0.000266772384547,4.68919066288e-05,1793239814175459072
+32,0.533333333,BASELINE,766,745,715,680,661.565683526,635,878.565683526,787,804,652,631.565683526,652.434316474,0.400980186538,0.00449266520561,0.0798453282679,0.999999957484,0.000107546409267,-0.000266957763086,4.69072276942e-05,1793239814192125696
+33,0.550000000,BASELINE,766,745,715,680,662,635,879,787,803.85599537,652,632,652.14400463,0.400979989451,0.00449204505135,0.0798452636749,0.999999957597,0.000106222442583,-0.000267056160582,4.69402564838e-05,1793239814208792064
+34,0.566666667,BASELINE,766,745,715,680,662,635,879,787,803.263170441,652,632,652.736829559,0.400979824963,0.004491663602,0.0798447980377,0.999999957466,0.000107877241305,-0.000266870000972,4.70290743384e-05,1793239814225458432
+35,0.583333333,BASELINE,766,745,715,680,661.678799623,635,879,787,803.321200377,652,632,653,0.400978816419,0.00449259071498,0.0798443156448,0.999999957213,0.000108212221457,-0.000267727906057,4.67557602424e-05,1793239814242125056
+36,0.600000000,BASELINE,766,745,715,680,661.101177846,635,879,787,803.898822154,652,632,653,0.400977134048,0.00449456248234,0.0798438198755,0.999999956862,0.000107493561286,-0.000269419311177,4.61933481695e-05,1793239814258791424
+37,0.616666667,BASELINE,766,745.473751372,715,680.473751372,661.473751372,635,879,787,804,652,631.526248628,652.526248628,0.40097867182,0.00449332410627,0.0798443832974,0.999999957278,0.000107118505982,-0.000267952239371,4.65874285688e-05,1793239814275458304
+38,0.633333333,BASELINE,766,745.950893485,715,680.90178697,661.950893485,635,879,787,803.950893485,652,631,652,0.400980602132,0.00449170034445,0.0798451043561,0.999999957772,0.000107059318486,-0.000266031349661,4.71298151537e-05,1793239814292125440
+39,0.650000000,BASELINE,766,745.364624168,715,679.729248335,661.364624168,635,879,787,803.364624168,652,631,652,0.400979346074,0.00449331796418,0.0798450893104,0.999999957373,0.000109657144784,-0.000266483261731,4.70725959931e-05,1793239814308793088
+40,0.666666667,BASELINE,766,745,714.77947541,679.44104918,661,635.22052459,878.77947541,787,803.22052459,652.22052459,631,652,0.400978969362,0.00449379406466,0.0798452874228,0.999999957266,0.000110529812193,-0.000266514927883,4.71322373838e-05,1793239814325459968
+41,0.683333333,BASELINE,766,745,714.196170099,680.607659802,661,635.803829901,878.196170099,787,803.803829901,652.803829901,631,652,0.400980039245,0.00449239227387,0.0798458361976,0.999999957645,0.000108564454052,-0.00026585525561,4.73841238022e-05,1793239814342126080
+42,0.700000000,BASELINE,766,745.380581208,714.380581208,680.619418792,661.380581208,635.619418792,878.380581208,787,803.619418792,652.619418792,631,652,0.400980530883,0.00449210290108,0.0798457034674,0.999999957627,0.000109129734245,-0.000265702710536,4.73233938903e-05,1793239814358792448
+43,0.716666667,BASELINE,766,745.954011436,714.954011436,680.045988564,661.954011436,635.045988564,878.954011436,787,803.045988564,652.045988564,631,652,0.40098072951,0.00449237721545,0.0798452254031,0.999999957406,0.000110977345609,-0.000265807138189,4.7104254276e-05,1793239814375458816
+44,0.733333333,BASELINE,766,745.471717568,715,680.528282432,661.471717568,635,878.471717568,787,803,652.528282432,631,652.528282432,0.400979969587,0.00449239033004,0.0798450516898,0.999999957395,0.000110349289259,-0.000266116127957,4.70719924868e-05,1793239814392125184
+45,0.750000000,BASELINE,766,745,714.894223466,681,661,635,878,787,803.105776534,653,631,653,0.400979348236,0.00449218599166,0.0798449071102,0.999999957458,0.000109140148428,-0.000266380160942,4.70432146346e-05,1793239814408791808
+46,0.766666667,BASELINE,766,745,714.30225169,681,661,635,878,787,803.69774831,653,631,653,0.400979747984,0.0044910868257,0.0798447744663,0.99999995778,0.000106252266245,-0.000266355570128,4.69555551866e-05,1793239814425458432
+47,0.783333333,BASELINE,766,745,714.283503179,680.716496821,661.283503179,635.283503179,878.567006358,787,803.716496821,652.716496821,631,652.716496821,0.400978831265,0.00449136450599,0.0798441541813,0.999999957541,0.000106039029285,-0.000267342394509,4.69302829393e-05,1793239814442125312
+48,0.800000000,BASELINE,766,745,714.862772305,680.137227695,661.862772305,635.862772305,879.725544611,787,803.137227695,652.137227695,631,652.137227695,0.400976541138,0.00449307858706,0.0798430251625,0.999999956714,0.000108616127445,-0.000269384382263,4.69700964048e-05,1793239814458792192
+49,0.816666667,BASELINE,766,745,715,680.438351265,661.561648735,635.561648735,879.12329747,787,803,652,631,652.438351265,0.400977460329,0.0044914945178,0.079843816566,0.999999957183,0.000106772268478,-0.000268338379373,4.72032449512e-05,1793239814475459072
+50,0.833333333,BASELINE,766,745.012836714,715,680.987163286,661,635,878.012836714,787,803.012836714,652,631,652.987163286,0.400979350914,0.00448900539884,0.0798451826584,0.999999958023,0.000103700026734,-0.000266356797972,4.74832454312e-05,1793239814492125696
+51,0.850000000,BASELINE,766,745.589611139,715,680.410388861,661,635,878.589611139,787,803.589611139,652,631,652.410388861,0.400980147182,0.0044917366996,0.0798456047299,0.999999957951,0.0001069566838,-0.00026538826444,4.71847918643e-05,1793239814508792064
+52,0.866666667,BASELINE,766,745.829502294,715,680,661,635,879,787,804,652,631,652,0.400980196281,0.00449345656431,0.0798457159498,0.999999957796,0.000109124319141,-0.000265120257158,4.70130475871e-05,1793239814525458688
+53,0.883333333,BASELINE,766,745.238473194,715,680,661,635,879,787,804,652,631,652,0.40097840249,0.00449268172894,0.0798450604565,0.999999957458,0.000108605889846,-0.000266580093021,4.71538309025e-05,1793239814542125312
+54,0.900000000,BASELINE,766,745,715,680,661,635,879,787,803.656121018,652,631.343878982,652.343878982,0.400978423495,0.00449266923265,0.0798449427429,0.999999957386,0.000108952988992,-0.000266719578311,4.71010391135e-05,1793239814558791680
+55,0.916666667,BASELINE,766,745,715,680,661,635,879,787,803.079638043,652,631.920361957,652.920361957,0.400979672051,0.00449317239197,0.0798451887902,0.999999957493,0.000109885542291,-0.000265965962102,4.69173107268e-05,1793239814575458560
+56,0.933333333,BASELINE,765.504633666,745,714.504633666,680.495366334,661.495366334,635,878.504633666,787,803,652,631.504633666,652.504633666,0.400979703319,0.00449285977627,0.0798451357595,0.99999995755,0.000109884845567,-0.000265760050833,4.68817450506e-05,1793239814592124928
+57,0.950000000,BASELINE,765.071783409,745,714,680.928216591,661.928216591,635,878.071783409,787,803,652,631,652,0.400979573059,0.00449246186797,0.0798450881114,0.99999995761,0.000109653707591,-0.000265628296266,4.68884541509e-05,1793239814608791552
+58,0.966666667,BASELINE,765.660070277,745,714,680.339929723,661.339929723,635,878.660070277,787,803,652,631,652,0.400979684479,0.00449239110128,0.0798454241241,0.999999957753,0.000108840808347,-0.000265398444098,4.70284644875e-05,1793239814625458176
+59,0.983333333,BASELINE,766,745,714.244733401,680.244733401,661.244733401,635,878.755266599,787,803.244733401,652,631,652,0.400979468796,0.00449277569193,0.0798453701669,0.99999995769,0.000108713061708,-0.000265681418943,4.70625228615e-05,1793239814642124800
+60,1.000000000,BASELINE,766,745,714.824436742,680.824436742,661.824436742,635,878.175563258,787,803.824436742,652,631,652,0.400978805405,0.00449378353635,0.0798447824527,0.999999957345,0.000109523092659,-0.000266666307075,4.69515633605e-05,1793239814658791424
+61,1.016666667,BASELINE,766,745,714.599801967,680.599801967,661.599801967,635,878,787,804,652,631,652,0.400979426502,0.00449288692281,0.079845016822,0.999999957693,0.000107639743428,-0.000266134378659,4.69069631096e-05,1793239814675458816
+62,1.033333333,BASELINE,766,745,714.025753184,680.025753184,661.025753184,635,878,787,804,652,631,652,0.400980605597,0.0044911629902,0.079845608314,0.999999958334,0.000104586358004,-0.000264943527167,4.68911901064e-05,1793239814692126464
+63,1.050000000,BASELINE,765.4472116,745,714.5527884,680,661.5527884,635,878.5527884,787,803.4472116,652,631,652.5527884,0.400979804651,0.0044914284084,0.0798451978012,0.999999957929,0.000106240172069,-0.000265804746945,4.69408454052e-05,1793239814708792320
+64,1.066666667,BASELINE,765,745,715,680.133876864,662,635,879,787,803,652.133876864,631.133876864,653,0.400979063766,0.00449182296695,0.0798448207492,0.999999957536,0.000107945803083,-0.000266587373883,4.69729630706e-05,1793239814725458688
+65,1.083333333,BASELINE,765,745,715,680.722906708,662,635,879,787,803,652.722906708,631.722906708,653,0.400978843258,0.00449233890299,0.0798447174633,0.999999957365,0.000109075924741,-0.00026677511382,4.69350084824e-05,1793239814742126080
+66,1.100000000,BASELINE,765.306505073,745,715,681,661.693494927,635.306505073,879,787,803.306505073,652.693494927,632,653,0.400978353915,0.0044918425144,0.0798445959744,0.999999957262,0.000108812128432,-0.000267259038089,4.69887277782e-05,1793239814758792704
+67,1.116666667,BASELINE,765.885278623,745,715,681,661.114721377,635.885278623,879,787,803.885278623,652.114721377,632,653,0.400977625766,0.00449044687775,0.079844458316,0.999999957218,0.00010731011464,-0.000268006062909,4.7123880993e-05,1793239814775459328
+68,1.133333333,BASELINE,765.539182058,745,715,681,661,636,879,787,803.539182058,652,631.539182058,653,0.400978289389,0.00449219882603,0.0798444035616,0.999999957258,0.00010833032947,-0.000267483777898,4.69199651483e-05,1793239814792125696
+69,1.150000000,BASELINE,765.036428194,745.036428194,715,681,661.036428194,636,879,787,803,652,631.036428194,652.963571806,0.400979157969,0.00449446881465,0.0798443325341,0.999999957304,0.000109748374193,-0.000266778811869,4.66617317414e-05,1793239814808791808
+70,1.166666667,BASELINE,765.625237492,745.625237492,715,681,661.625237492,636,879,787,803,652,631.625237492,652.374762508,0.40097791711,0.00449279483817,0.0798437039694,0.99999995717,0.000107743898996,-0.000268061992402,4.68509134629e-05,1793239814825458432
+71,1.183333333,BASELINE,766,745.789333668,715,680.789333668,662,635.789333668,879,787,803,652,631.789333668,652.210666332,0.400977856176,0.00449185541089,0.0798438773171,0.999999957318,0.000106700939144,-0.000267909477879,4.69410357275e-05,1793239814842124800
+72,1.200000000,BASELINE,766,745.209823388,715,680.209823388,662,635.209823388,879,787,803,652,631.209823388,652.790176612,0.400979861108,0.0044922020646,0.0798454546882,0.999999957964,0.000107341442636,-0.000265243285036,4.68577203364e-05,1793239814858791680
+73,1.216666667,BASELINE,766,745,715,680.367597728,662,635,879,787,803.367597728,652,631,652.632402272,0.400979849275,0.00449293415287,0.0798454987165,0.999999957835,0.000108421919524,-0.000265277130457,4.69249611117e-05,1793239814875458304
+74,1.233333333,BASELINE,766,745,715,680.943833061,662,635,879,787,803.943833061,652,631,652.056166939,0.400978692785,0.00449388500237,0.0798446724647,0.999999957266,0.000109752112268,-0.000266843437944,4.70776531215e-05,1793239814892125184
+75,1.250000000,BASELINE,766,745.518629774,714.481370226,680.481370226,661.481370226,635,879,787,804,652,631.518629774,652.518629774,0.400978480714,0.00449445847434,0.0798448575212,0.999999957378,0.000109361147332,-0.000266652811776,4.66967155202e-05,1793239814908791808
+76,1.266666667,BASELINE,766,745.90397612,714.09602388,680,661,635,879,787.09602388,804,652,631.90397612,652.90397612,0.400978610396,0.0044945777179,0.0798452337932,0.999999957617,0.00010868082423,-0.000266092575785,4.63522148485e-05,1793239814925458432
+77,1.283333333,BASELINE,766,745.312375085,714.687624915,680,661,635,879,787.687624915,804,652,631.312375085,652.312375085,0.400979977457,0.00449256304161,0.0798460332401,0.999999958137,0.0001074664709,-0.000264604073357,4.64931995081e-05,1793239814942125056
+78,1.300000000,BASELINE,766,745,715,680,661,635,879,788,804,652,631,652.272783421,0.400979714274,0.00449155735333,0.0798457470002,0.999999957992,0.000107271688993,-0.000265180912162,4.67742264853e-05,1793239814958791680
+79,1.316666667,BASELINE,766,745,715,680,661,635,879,788,804,652,631,652.850734516,0.400977627308,0.00449168043807,0.0798442461829,0.9999999571,0.000108217519884,-0.000268068285104,4.72119212888e-05,1793239814975458304
+80,1.333333333,BASELINE,765.573161593,745,715,680,661.426838407,635,879,787.573161593,804,652,631,653,0.400978104898,0.00449255980302,0.0798444134676,0.999999957237,0.000109413159986,-0.00026707078443,4.72077810636e-05,1793239814992124928
+81,1.350000000,BASELINE,765.002351074,745.002351074,714.997648926,680,662,635,879,787,803.997648926,652,631,652.997648926,0.400979464568,0.00449369619724,0.0798451542545,0.999999957724,0.000110683613627,-0.000264738820193,4.70489721979e-05,1793239815008791552
+82,1.366666667,BASELINE,765.590805251,745.590805251,714.409194749,680,662,635,879,787,803.409194749,652,631,652.409194749,0.400978111653,0.00449326141326,0.0798440702504,0.999999957347,0.000108920568635,-0.000266949905562,4.66845967345e-05,1793239815025458432
+83,1.383333333,BASELINE,765.823468603,745.823468603,714.176531397,680,662,635,879.176531397,787,803.176531397,652,631,652.176531397,0.40097707314,0.0044929643328,0.0798432809994,0.99999995698,0.000108050136496,-0.000268721531484,4.64042996677e-05,1793239815042125312
+84,1.400000000,BASELINE,765.243969606,745.243969606,714.756030394,680,662,635,879.756030394,787,803.756030394,652,631,652.756030394,0.400976752309,0.00449298158759,0.07984316458,0.999999956651,0.00010921726824,-0.000269490005309,4.6315927991e-05,1793239815058792192
+85,1.416666667,BASELINE,765.33327484,745,715,680.33327484,662,635,879.66672516,787,803.66672516,652.33327484,631.33327484,652.66672516,0.400978031629,0.00449217973256,0.0798443899549,0.999999957109,0.000109284488675,-0.00026771395139,4.65665708093e-05,1793239815075458816
+86,1.433333333,BASELINE,765.908879927,745,715,680.908879927,662,635,879.091120073,787,803.091120073,652.908879927,631.908879927,652.091120073,0.400980474447,0.00449078228778,0.0798465909729,0.99999995813,0.000108551943363,-0.000264087724651,4.70637172869e-05,1793239815092125184
+87,1.450000000,BASELINE,766,745,714.515605959,680.515605959,662,635,879,787,803.484394041,653,631.515605959,652.484394041,0.400979281016,0.00449144816427,0.0798455539825,0.999999957571,0.000110109345939,-0.000265520979225,4.72392454197e-05,1793239815108792064
+88,1.466666667,BASELINE,766,745,714.061158731,680.061158731,661.938841269,635,879,787,804,652.938841269,631,653,0.400977669661,0.00449240092898,0.0798441912282,0.999999956859,0.000111695846024,-0.000267518324685,4.7332076403e-05,1793239815125458432
+89,1.483333333,BASELINE,766,745,714.648837035,680.648837035,661.351162965,635,879,787,804,652.351162965,631,653,0.400978348041,0.00449248268618,0.0798452668047,0.999999957428,0.000109825056575,-0.00026617985636,4.72337137092e-05,1793239815142125056
+90,1.500000000,BASELINE,766,745,715,681,661.234169729,635,879,787,804,652,631.234169729,652.765830271,0.400978837524,0.00449213401427,0.0798455336726,0.999999957699,0.000108333545218,-0.000265777038073,4.72061113931e-05,1793239815158791936
+91,1.516666667,BASELINE,766,745,715,681,661.816019758,635,879,787,804,652,631.816019758,652.183980242,0.400979046545,0.00449114626861,0.0798445998214,0.999999957533,0.000107405161982,-0.000266763413492,4.72835695884e-05,1793239815175458816
+92,1.533333333,BASELINE,766,745,715,680.607023978,662,635,879,787,804,652,632,652.392976022,0.400978135479,0.00449119716314,0.0798441987577,0.999999957452,0.000107486321622,-0.000267053978655,4.71705954866e-05,1793239815192125440
+93,1.550000000,BASELINE,766,745,715,680.032330605,662,635,879,787,804,652,632,652.967669395,0.40097670647,0.00449172833866,0.079844044062,0.999999957411,0.000108034307265,-0.000267022791965,4.69695629588e-05,1793239815208792320
+94,1.566666667,BASELINE,766,745.539548133,715,680,662,635,878.460451867,787,804,652,631.460451867,653,0.400977365941,0.00449249725175,0.0798446129142,0.99999995735,0.000108348508588,-0.000267157734119,4.6772039448e-05,1793239815225458688
+95,1.583333333,BASELINE,765.884397186,745.884397186,715,680,661.884397186,635,878.115602814,787,803.884397186,652,631,653,0.400978292019,0.00449303229961,0.0798451598339,0.999999957389,0.000108280216209,-0.000267068670506,4.66050676222e-05,1793239815242125312
+96,1.600000000,BASELINE,765.290365579,745.290365579,715,680,661.290365579,635,878.709634421,787,803.290365579,652,631,653,0.400979806236,0.00449254083279,0.0798454374842,0.999999957844,0.000106686627159,-0.000266011562047,4.65636699323e-05,1793239815258791680
+97,1.616666667,BASELINE,765.295919622,745,715,680,661.295919622,635,878.704080378,787.295919622,803,652,631.295919622,653,0.400979623592,0.00449304312218,0.0798449514936,0.999999957653,0.000107955994798,-0.000266227646316,4.65036507234e-05,1793239815275458560
+98,1.633333333,BASELINE,765.874797669,745,715,680,661.874797669,635,878.125202331,787.874797669,803,652,631.874797669,653,0.400977818407,0.00449449564154,0.0798437353093,0.999999956833,0.00011196292253,-0.000267661157891,4.64258256149e-05,1793239815292125184
+99,1.650000000,BASELINE,766,745,715,680,662,635,878.449846916,787.550153084,803,652,631.550153084,652.550153084,0.400977766308,0.00449385982215,0.0798446098226,0.999999957021,0.000111466584351,-0.0002670876697,4.68660957282e-05,1793239815308791808
+100,1.666666667,BASELINE,766,745,715,680,661.975503215,635,879,787,803.024496785,652,631,652,0.400978190355,0.00449274933447,0.0798459671033,0.99999995746,0.000109825009537,-0.000266030813584,4.74018174439e-05,1793239815325458432
+101,1.683333333,BASELINE,766,745,715,680,661.38568515,635,879,787,803.61431485,652,631,652,0.400978437648,0.00449398482677,0.0798451502854,0.999999957267,0.000110434492432,-0.000266601146535,4.68407001764e-05,1793239815342125056
+102,1.700000000,BASELINE,765.799395465,745,715,680.200604535,661.200604535,635,878.799395465,787,803.799395465,652,631,652.200604535,0.400978756228,0.00449416854569,0.0798449273114,0.999999957379,0.000110116106933,-0.000266361638956,4.65525808239e-05,1793239815358791424
+103,1.716666667,BASELINE,765.219772302,745,715,680.780227698,661.780227698,635,878.219772302,787,803.219772302,652,631,652.780227698,0.400979209494,0.00449236506265,0.0798458263355,0.999999958065,0.000108044623391,-0.000264592033079,4.67802589205e-05,1793239815375458048
+104,1.733333333,BASELINE,765,745.355986899,715,681,661.644013101,635,878,787,803,652,631,652.644013101,0.400978985829,0.00449201529765,0.0798459340808,0.999999958011,0.000107928564758,-0.000264832619107,4.68228781762e-05,1793239815392124672
+105,1.750000000,BASELINE,765,745.929386311,715,681,661.070613689,635,878,787,803,652,631,652.070613689,0.40097834874,0.00449255336429,0.079845558567,0.999999957508,0.000109006746065,-0.000266300893053,4.67524761377e-05,1793239815408791296
+106,1.766666667,BASELINE,765.505734605,745.494265395,714.494265395,680.494265395,661.505734605,635,878.505734605,787,803.505734605,652,631,652.505734605,0.400978708301,0.00449210404086,0.07984550744,0.999999957709,0.000107485067895,-0.0002661874088,4.6623108027e-05,1793239815425458176
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,662,635,879,787,803,652,631,652,0.400978332479,0.00449375855553,0.0798442111856,0.999999956776,0.000112608435656,-0.000267469951122,4.71943343755e-05,1793239815468044544
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714.580001287,680.580001287,662,635,879,787,803,652,631,652,0.400977468699,0.0044934309306,0.0798440701874,0.999999956962,0.00011019966741,-0.000267831423404,4.68854041624e-05,1793239815484711168
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680.840804734,662,635,879,787,803.159195266,652,631,652.159195266,0.400977330465,0.00449294557359,0.0798440886454,0.999999957216,0.000108454429029,-0.000267643156621,4.66077973119e-05,1793239815501377536
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680.263729773,662,635,879,787,803.736270227,652,631,652.736270227,0.400979096755,0.00449204617762,0.079844525668,0.999999957661,0.000108450923192,-0.000266011852084,4.64124126721e-05,1793239815518044160
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.317467832,714.682532168,680,662.317467832,635,879,787,804,652,631.317467832,652.682532168,0.400979582791,0.00449211946432,0.0798448811272,0.999999957779,0.000108363351118,-0.000265580414696,4.65456478909e-05,1793239815534711296
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.902135263,714.097864737,680,662.902135263,635,879,787,804,652,631.902135263,652.097864737,0.40097899129,0.00449301141801,0.0798451679379,0.999999957623,0.000108205023955,-0.000266158856163,4.69554689207e-05,1793239815551378688
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.517618759,714.482381241,680,662.517618759,635,879,787,803.517618759,652,631.517618759,652.482381241,0.400979140268,0.00449271985917,0.0798457427938,0.99999995779,0.000108573817028,-0.000265412357305,4.67795525485e-05,1793239815568044800
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.938341026,745,714.938341026,680,662,635,879,787,803.061658974,652,631,653,0.400979593912,0.00449207002104,0.0798463468866,0.999999958012,0.000108790615148,-0.000264517668627,4.65854846834e-05,1793239815584711168
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.359728758,745,714.359728758,680,662,635,879,787,803.640271242,652,631,653,0.400981353809,0.00449041115169,0.0798467106044,0.999999958167,0.000106844616441,-0.000264613730193,4.72264926716e-05,1793239815601377792
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.220934521,745,714.220934521,680.220934521,662,635,879,787,804,652,631.220934521,653,0.400989198169,0.00449002717222,0.0798503877037,0.999999959675,0.00010593161006,-0.000259181040596,4.7483384432e-05,1793239815618044416
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.80496852,745,714.80496852,680.80496852,662,635,879,787,804,652,631.80496852,653,0.401007042171,0.00449173843747,0.0798595102494,0.999999963266,0.000106716296786,-0.000244662008738,4.71089922403e-05,1793239815634711040
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680.613915492,662,635,878.613915492,787,804,652,631.613915492,652.613915492,0.401041966871,0.0044920111225,0.079872920322,0.999999968964,0.000107801733104,-0.000219708104448,4.66743118377e-05,1793239815651377920
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680.034262434,662,635,878.034262434,787,804,652,631.034262434,652.034262434,0.401085455206,0.00449156255654,0.0798884800035,0.999999975028,0.000109037954184,-0.000189522538055,4.62094050813e-05,1793239815668044544
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.545180348,715,680,661.454819652,635,878.545180348,787,804,652,631,652.545180348,0.401149218249,0.00449256190866,0.0799064227911,0.999999981163,0.00010739367068,-0.000155350719175,4.47879723532e-05,1793239815684710912
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.876315947,715,680,661.123684053,635,879,787,804,652,631.123684053,652.876315947,0.401215991678,0.00449337414255,0.0799219698791,0.999999985529,0.000105397242412,-0.000126354244695,4.3228628975e-05,1793239815701377536
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.301191443,715,680,661.698808557,635,879,787,804,652,631.698808557,652.301191443,0.401289103964,0.00449317140235,0.079928226354,0.999999986999,0.000102775993126,-0.000117161536243,4.13852465393e-05,1793239815718044160
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.273747478,715,680.273747478,661.726252522,635,878.726252522,787.273747478,804,652,632,652.273747478,0.401369943083,0.00449418302031,0.0799325185653,0.999999987966,0.000101179294186,-0.00011096887571,3.89553735901e-05,1793239815734710784
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.848482315,715,680.848482315,661.151517685,635,878.151517685,787.848482315,804,652,632,652.848482315,0.401459277906,0.00449652983398,0.079934651054,0.999999988445,0.000100709096028,-0.000108074790411,3.5880650136e-05,1793239815751377664
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.56369476,714.56369476,680.56369476,661.43630524,635,878.43630524,787.56369476,803.56369476,652,632,653,0.401564462124,0.0044987189941,0.0799359946323,0.999999988877,0.000100662599553,-0.000105103468184,3.26473709286e-05,1793239815768045056
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.971956499,745.028043501,714.028043501,680.028043501,661.971956499,635,879,787.028043501,803,652,632,653,0.401676881769,0.00450079959865,0.0799373518272,0.999999989339,0.000100595723841,-0.000101709185772,2.92830342403e-05,1793239815784712448
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.395289274,745.604710726,714.604710726,680.604710726,661.395289274,635,879,787.604710726,803,652,632,653,0.401819842146,0.00450186069366,0.079944500892,0.999999990878,9.71625816681e-05,-9.05813636429e-05,2.4465293148e-05,1793239815801378560
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.180903257,746,715,680.819096743,661.180903257,635,879,787.819096743,803.180903257,652.180903257,631.819096743,652.819096743,0.401972069281,0.00450388746472,0.0799513256583,0.999999992238,9.43837266157e-05,-7.89876138514e-05,1.93870009455e-05,1793239815818044416
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.756061184,746,715,680.243938816,661.756061184,635,879,787.243938816,803.756061184,652.756061184,631.243938816,652.243938816,0.402144492067,0.00450801879863,0.0799574436582,0.999999993375,9.3030804078e-05,-6.63784379523e-05,1.37408727701e-05,1793239815834710784
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,879,787,804,652.659840379,631,652.340159621,0.402332306524,0.00451023266803,0.0799611699891,0.99999999444,8.7130643935e-05,-5.89007974724e-05,7.69186327496e-06,1793239815851377664
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,879,787,804,652.069157303,631,652.930842697,0.402531456779,0.0045110343484,0.0799631348853,0.999999995443,7.78814980506e-05,-5.52024695642e-05,1.34613596361e-06,1793239815868044288
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.488398964,715,680,662,635,879,787,803.488398964,652,631,653,0.402744885936,0.00451433190715,0.0799569755311,0.999999995243,6.938566424e-05,-6.82705371917e-05,-6.19081242805e-06,1793239815884710656
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.09021514,715,680,662,635,878.90978486,787,803.09021514,652,631.09021514,652.90978486,0.402967144474,0.00451782835742,0.0799507877002,0.999999994699,6.20971675964e-05,-8.0979073101e-05,-1.3717133665e-05,1793239815901377536
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.664386826,715,680,662,635,878.335613174,787,803.664386826,652,631.664386826,652.335613174,0.403226610623,0.00452061628988,0.0799502263672,0.999999994761,6.07495178935e-05,-7.98319803334e-05,-2.03390621914e-05,1793239815918044416
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,878.239270736,787,804,652,631.760729264,652,0.403509221221,0.00452492036598,0.0799515524325,0.999999993852,7.78384263353e-05,-7.59342042433e-05,-2.17150843772e-05,1793239815934711552
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,878.815156595,787,804,652,631.184843405,652,0.403824392291,0.00453135741016,0.0799555337613,0.999999990249,0.000120864582163,-6.8166662771e-05,-1.57109666595e-05,1793239815951378176
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.597886914,715,680,662,635,879,787,804,652,631.402113086,652.402113086,0.404165077411,0.00454046260391,0.0799582665848,0.999999987247,0.000145408252636,-6.38904931867e-05,-1.67741517382e-05,1793239815968044800
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.005697419,715,680,662,635,879,787,804,652,631.994302581,652.994302581,0.404517822857,0.00455082901555,0.0799604092474,0.999999984904,0.000161215363602,-6.12646740897e-05,-2.11780080101e-05,1793239815984710912
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680.57002541,662,635,879,787,804,652,631.42997459,652.42997459,0.404908117475,0.00455352585706,0.0799573004529,0.999999995047,7.40631530139e-05,-6.12844964127e-05,-2.57869464049e-05,1793239816001377280
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.145669005,715,681,662,635,879,787,804,652,631.145669005,652.145669005,0.405307666427,0.00455638299507,0.0799546386453,0.999999997562,1.70098670971e-05,-6.11912721003e-05,-2.90093678873e-05,1793239816018043904
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.721550919,715,681,662,635,879,787,804,652,631.721550919,652.721550919,0.405733469394,0.00455993358663,0.0799534476163,0.999999996421,5.18034524809e-05,-6.06882778624e-05,-2.81310225955e-05,1793239816034710528
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,879,787,803.696659834,652,632,652.696659834,0.406179859067,0.00455924185636,0.0799484759689,0.999999994284,7.66727012959e-05,-6.93817926743e-05,-2.71793267787e-05,1793239816051377152
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,879,787,803.109340221,652,632,652.109340221,0.406645521548,0.00455457857134,0.0799399650014,0.999999991646,9.22510395099e-05,-8.66848482702e-05,-2.61589619526e-05,1793239816068044032
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.528348786,715,680.528348786,661.528348786,635,879,787,803.471651214,652,631.528348786,652,0.407140848799,0.00455671198403,0.0799383050452,0.999999990621,9.92039847871e-05,-9.0407214905e-05,-2.72605322611e-05,1793239816084710656
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,680.051147417,661.051147417,635.051147417,879,787,804,652,631,652,0.40764545114,0.0045613485771,0.0799375670735,0.999999989852,0.0001045933273,-9.23713625568e-05,-2.87158603753e-05,1793239816101377280
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,680.630152456,661.630152456,635.630152456,879,787,804,652,631,652,0.408175742346,0.00457577297441,0.0799301702323,0.999999987204,0.00011420884161,-0.000108251766481,-2.88125643447e-05,1793239816118043904
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.206948286,715,681,662,635.793051714,878.793051714,787,804,652,631,652.206948286,0.408729183987,0.0045873059989,0.0799287332992,0.999999985579,0.000122559584361,-0.000113773987646,-2.96139282493e-05,1793239816134711040
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.779837598,715,681,662,635.220162402,878.220162402,787,804,652,631,652.779837598,0.409323561884,0.00459372628662,0.0799378351098,0.999999986122,0.000128673865423,-0.000100980115042,-3.16613231565e-05,1793239816151378944
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680.636545525,662,635,878.363454475,787,803.636545525,652,631,652.636545525,0.409972571959,0.00460116974602,0.07996236672,0.999999988161,0.000138115784254,-5.88427113256e-05,-3.37429463679e-05,1793239816168045824
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680.046232818,662,635,878.953767182,787,803.046232818,652,631,652.046232818,0.410655681907,0.00460925184063,0.079996529184,0.999999988161,0.000149634721905,1.61011264004e-06,-3.58459337635e-05,1793239816184712192
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.467774546,715,680.532225454,662,635.532225454,879,787,803.532225454,652,631,652.532225454,0.411313582816,0.00461262044178,0.0800009092293,0.999999987943,0.000150937441913,6.19155270879e-06,-3.59621547217e-05,1793239816201379328
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,636,879.109366272,787,804,652,631,652.890633728,0.411968974475,0.00461105052632,0.079995603465,0.999999988431,0.000147631170836,-4.2755912098e-06,-3.64106765644e-05,1793239816218045696
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,636,879.685184199,787,804,652,631,652.314815801,0.412622800132,0.00459012589258,0.0799597810367,0.999999989279,0.000128369913347,-5.86767166139e-05,-3.89965171486e-05,1793239816234711296
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680.732953683,662,635.732953683,879.732953683,787,804,652,631,652.267046317,0.413301763577,0.00457613102111,0.0799330939509,0.999999988667,0.000110316888335,-9.34891468275e-05,-4.18932137194e-05,1793239816251377408
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680.143801102,662,635.143801102,879.143801102,787,804,652,631,652.856198898,0.414011047839,0.00457049469632,0.0799174257391,0.99999998911,9.37212085114e-05,-0.000104674067193,-4.51648594121e-05,1793239816268043776
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.437856163,715,680.437856163,662,635.437856163,879,787,804,652,631,652.562143837,0.414792684359,0.00458116667026,0.0799352166014,0.999999991001,0.000103283211214,-7.27873459186e-05,-4.50858394471e-05,1793239816284710656
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.982959964,715,681.017040036,662,635.982959964,879,787.017040036,804,652,631.017040036,652.017040036,0.415596382582,0.00459682701204,0.0799629831257,0.999999991251,0.000121411445079,-2.87366864605e-05,-4.39549041113e-05,1793239816301377280
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.405524622,715,681.594475378,662,635.405524622,879,787.594475378,804,652,631.594475378,652.594475378,0.416357317151,0.00460336204086,0.0799635174504,0.999999987863,0.000143488965059,-4.20281781749e-05,-4.38103425247e-05,1793239816318044160
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714.829247502,681.829247502,661.829247502,635,879,787.829247502,804,652,632,652.829247502,0.417135247885,0.00460936191799,0.0799641757792,0.999999985872,0.000155449277799,-4.55401201812e-05,-4.49251089792e-05,1793239816334710528
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714.25570258,681.25570258,661.25570258,635,879,787.25570258,804,652,632,652.25570258,0.417953271261,0.00461409941173,0.0799651266245,0.999999988159,0.000143543850946,-2.59828319951e-05,-4.90105365467e-05,1793239816351377152
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.327711162,714.327711162,681,661.655422324,635,879.327711162,787,804,652.327711162,632,652.327711162,0.418788966616,0.00461327997369,0.0799788715572,0.999999989318,0.000136840190824,5.18823780973e-06,-5.11038265235e-05,1793239816368044032
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.91906429,714.91906429,681,662.83812858,635,879.91906429,787,804,652.91906429,632,652.91906429,0.419638878947,0.00460799001201,0.0800029092683,0.999999988604,0.000134321326077,4.57025350322e-05,-5.15944516728e-05,1793239816384710656
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.50316976,715,681.49683024,662.50316976,635,880,787,804,652.50316976,631.50316976,653,0.420474625849,0.00460120256924,0.0799870104802,0.999999990224,0.000128459443212,2.12968276826e-05,-5.09652916924e-05,1793239816401377280
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.927308992,745.072691008,715,682,662,635,880,787,804,652,631,653,0.421312635602,0.00459560335791,0.0799690102281,0.999999991079,0.000123523356532,-7.03736177224e-06,-5.03496153667e-05,1793239816418044160
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.349716861,745.650283139,715,682,662,635,880,787,804,652,631,653,0.422181964022,0.00459990673969,0.0799803991054,0.999999990375,0.000128699678852,8.84391660907e-06,-5.10609131507e-05,1793239816434710784
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.226576697,745.773423303,715,681.773423303,662.226576697,635.226576697,880,787,804,652,631,652.773423303,0.423057335759,0.00460636453973,0.079997343204,0.999999988901,0.000136472725626,3.07685388365e-05,-5.12568115234e-05,1793239816451377408
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.80087744,745.19912256,715,681.19912256,662.80087744,635.80087744,880,787,804,652,631,652.19912256,0.423941982223,0.00461612869562,0.080022812824,0.99999998581,0.000148230929358,6.19677976433e-05,-5.06617338083e-05,1793239816468044032
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.612275992,635.612275992,880,787,804,652,631,652,0.424768616212,0.00461945067816,0.0800016707993,0.99999998723,0.000150792315575,1.67418527474e-05,-5.02176886847e-05,1793239816484710656
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662.01877087,635.01877087,880,787,804,652,631,652,0.425564460537,0.00461935353318,0.079955790052,0.999999985352,0.000148472570093,-6.90460998781e-05,-4.98538025329e-05,1793239816501377280
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.440447566,745,715,681.559552434,661.440447566,635,880,787,804,652,631,652.559552434,0.426473117641,0.00461352575863,0.0799385095144,0.999999986032,0.000141764185818,-7.11253726484e-05,-5.27356058707e-05,1793239816518043904
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.136608853,745.136608853,715,682,661.409826558,635,880.136608853,787,804.136608853,652,631,653,0.427370664171,0.00460841469828,0.0799261754914,0.999999986375,0.000136759187252,-7.44852082744e-05,-5.47633641428e-05,1793239816534710784
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.711193222,745.711193222,715,682,663.133579667,635,880.711193222,787,804.711193222,652,631,653,0.428220776909,0.00460620151795,0.0799267055389,0.999999984966,0.00013767487206,-9.07157381193e-05,-5.37131503767e-05,1793239816551377408
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.708036155,715,682,663.416072309,635,880.708036155,787,804.708036155,652,631,652.708036155,0.429076169764,0.00460847859658,0.0799368661832,0.999999985391,0.000138759889401,-8.45016606774e-05,-5.31302339155e-05,1793239816568044032
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.121013741,715,682,662.242027481,635,880.121013741,787,804.121013741,652,631,652.121013741,0.429936898653,0.00461529352959,0.0799567595055,0.999999987246,0.000140016034031,-5.5605069267e-05,-5.30195680028e-05,1793239816584710912
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714.540104011,682,662.919791978,635,880,787,804.459895989,652,631,652,0.43084364951,0.00462144008138,0.0799951236783,0.999999987758,0.000147240701926,3.22566347359e-06,-5.28610610344e-05,1793239816601377536
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.961230185,745.038769815,714,682,664,635,880,787,805,652,631,652.038769815,0.43175558718,0.00462688387266,0.0800340166613,0.999999984614,0.00015524439328,6.24069715213e-05,-5.26992671162e-05,1793239816618043904
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.388534308,745.611465692,714,682,664,635,880,787,805,652,631,652.611465692,0.432574368955,0.004625039754,0.080014135801,0.999999986778,0.000152631614834,1.93642024164e-05,-5.26633008525e-05,1793239816634710784
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+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714.345398296,682.345398296,662.345398296,635,880,787,804.345398296,652,631,652,0.434956157156,0.0046147244628,0.0799107035575,0.999999983729,0.000130416055058,-0.000111064963072,-5.65556611367e-05,1793239816684710912
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714.941192988,682.941192988,662.941192988,635,880,787,804.941192988,652,631,652,0.435787364552,0.00460961113548,0.0799374059266,0.999999988106,0.000125970444531,-6.74108035659e-05,-5.80975093697e-05,1793239816701377536
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.479314266,745.520685734,714.479314266,682.479314266,662.479314266,635,880.520685734,787,805,652,631.520685734,652.520685734,0.436580591425,0.0046130888294,0.0799601632135,0.999999989308,0.000124679023287,-5.19685658313e-05,-5.60175012972e-05,1793239816718043904
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.097617346,745.902382654,714.097617346,682,662,635,880.902382654,787,805,652,632,653,0.437364668208,0.00461867648231,0.079976880586,0.999999989443,0.000127472582771,-4.38393510417e-05,-5.42525701568e-05,1793239816734710784
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.670769392,745.329230608,714.670769392,682,662,635,880.329230608,787,805,652,632,653,0.43812443301,0.00462995946538,0.0799662796537,0.999999985827,0.000148483078543,-5.62843528326e-05,-5.59547060707e-05,1793239816751377408
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.748272318,745.251727682,715,682.251727682,662,635,880,787,805,652,631.748272318,653,0.438847552408,0.00463968232148,0.0799460305516,0.999999982084,0.000159195867698,-8.52876794706e-05,-5.6702791764e-05,1793239816768044032
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.156777675,745.843222325,715,682.843222325,662,635,880,787,805,652,631.156777675,653,0.439521209971,0.00464729941064,0.0799127589281,0.999999976918,0.000156009426783,-0.00013664044101,-5.61631573521e-05,1793239816784710912
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.425721785,746,714.574278215,683,661.574278215,635,880,787,804.574278215,652,631,653,0.440144520444,0.00465255355767,0.0798521303724,0.999999958016,0.000167112612702,-0.000229879286152,-5.65449248008e-05,1793239816801377536
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714,683,661,635,880.004958292,786.995041708,804.004958292,652,631.004958292,653,0.440749521672,0.00465702091766,0.0797816718652,0.999999924382,0.000183315958471,-0.000338159163971,-5.72703608242e-05,1793239816818044160
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,714,683,661,635,880.582008438,786.417991562,804.582008438,652,631.582008438,653,0.441336989027,0.0046690331886,0.079715383583,0.999999883206,0.000193370063587,-0.000438950718885,-5.9307889585e-05,1793239816834710784
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.842234485,714,683,660.842234485,635,881,786.157765515,805,652,631.842234485,653,0.44194541542,0.00468000790389,0.0796753611632,0.99999985338,0.000203369220213,-0.00049822042498,-6.04689489382e-05,1793239816851377408
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.269875351,714,683,660.269875351,635,881,786.730124649,805,652,631.269875351,653,0.442608920415,0.00468825601862,0.0797043630591,0.999999874988,0.000213223983498,-0.000448374468925,-5.93267270454e-05,1793239816868044032
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.301814602,714,683,660.301814602,634.698185398,881,787,805,652,631.301814602,653,0.443243185,0.00469697468648,0.0797388455604,0.999999893986,0.000230891834306,-0.000394105419381,-5.82860209441e-05,1793239816884710656
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.872907478,714,683,660.872907478,634.127092522,881,787,805,652,631.872907478,653,0.443851361323,0.00470611318025,0.079778217843,0.999999909297,0.000255530502421,-0.000335890098766,-5.73358869821e-05,1793239816901377280
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.538408879,714,683,660.076817759,634,881,786.538408879,805,652,631.538408879,653,0.444378506702,0.00471554088147,0.0797730922157,0.999999902638,0.000266238895826,-0.000347157738033,-5.76465438316e-05,1793239816918044160
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.945807562,745,713.945807562,682.945807562,659,633.945807562,881,786,804.945807562,652,631,652.945807562,0.444879670439,0.00472580242745,0.0797541221478,0.999999888809,0.000272653607859,-0.000380304454107,-5.84073004339e-05,1793239816934710784
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.364085125,745,713.364085125,682.364085125,659,633.364085125,881,786,804.364085125,652,631,652.364085125,0.445353704456,0.00474337508876,0.0797243744358,0.999999866418,0.000276087445989,-0.000432822435293,-6.00364197342e-05,1793239816951377408
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.21462462,713,682.429249241,658.78537538,633,881,786.21462462,804,652,631,652.21462462,0.445823358321,0.00476472563294,0.0797004451629,0.999999844489,0.000292463324737,-0.000470649314228,-6.30536162043e-05,1793239816968044032
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.788294383,713,683.576588767,658.211705617,633,881,786.788294383,804,652,631,652.788294383,0.44628568459,0.00479239618884,0.0796862495494,0.99999982597,0.00033048992042,-0.000483899470382,-6.83929244785e-05,1793239816984710656
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.626105311,713.373894689,684,658,633,880.626105311,786.626105311,804,652,631,653,0.446724430254,0.00480442878138,0.0796802584854,0.999999819841,0.00034991532683,-0.0004825773232,-7.06881140864e-05,1793239817001377280
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.033527013,713.966472987,684,658,633,880.033527013,786.033527013,804,652,631,653,0.447149384133,0.00480731504104,0.079679066099,0.99999982148,0.000358461269287,-0.000472732125494,-7.12028594312e-05,1793239817018043904
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.878349895,714,683.121650105,657,632.878349895,880.243300209,786,804,652,631,652.121650105,0.447874806018,0.00480909630845,0.079657086482,0.99999980271,0.000368252204742,-0.000503822434828,-7.16516248115e-05,1793239817051377408
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.306382565,714,683.693617435,657,632.306382565,881.38723487,786,804,652,631,652.693617435,0.448187739203,0.00481980795985,0.0796408111311,0.999999783078,0.000378106656666,-0.000534582141233,-7.14180370275e-05,1793239817068044032
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,713.724718423,683.724718423,657,632,881.449436847,786,804.275281577,652,631.275281577,653,0.448490625734,0.00482505245874,0.0796251904029,0.999999769657,0.000375578998917,-0.000560914352304,-7.07190580113e-05,1793239817084710912
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,713.13186793,683.13186793,657,632,880.26373586,786,804.86813207,652,631.86813207,653,0.448781922276,0.00482398996862,0.0796103248582,0.999999763786,0.000358767155064,-0.00058213893734,-6.9483196798e-05,1793239817101377792
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713,683,656.549202672,632,880,786,804.549202672,652,631.549202672,653,0.449061315897,0.00482568741765,0.0796111951076,0.999999766695,0.000355080510569,-0.000579357297346,-6.98092731794e-05,1793239817118044672
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713,683,656,632,880,786,804,652,631,653,0.449335217712,0.00482822027034,0.0796164658444,0.999999771921,0.000355561012138,-0.000569874671153,-7.05458305548e-05,1793239817134711296
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713,683,656,632,880,786,804,652,631,653,0.449571602263,0.00483157830093,0.0796199231927,0.999999772756,0.000363458644926,-0.000563379871834,-7.06293574696e-05,1793239817151377664
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.183064556,745.183064556,713,683.183064556,656,632,880.183064556,785.816935444,804,652,631,653,0.449793208782,0.00483367870252,0.0796215383316,0.999999771477,0.000369307112863,-0.000561937429297,-6.98905732961e-05,1793239817168044288
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.755768344,745.755768344,713,683.755768344,656,632,880.755768344,785.244231656,804,652,631,653,0.449983361335,0.00483310233431,0.0796192324654,0.999999765822,0.000370794085531,-0.000571248551648,-6.74015613981e-05,1793239817184711168
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.661126055,713.338873945,683.661126055,656,632,881,785,804,652,631,653,0.450162685652,0.00483394155828,0.0796193788389,0.999999763647,0.000374088102571,-0.000573145653425,-6.53363335999e-05,1793239817201377792
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.070286243,713.929713757,683.070286243,656,632,881,785,804,652,631,653,0.450333958776,0.00483583332965,0.0796213485472,0.999999764079,0.000378725727053,-0.00056953014556,-6.35862053878e-05,1793239817218044416
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.489815969,745,713.489815969,683,655.489815969,631.489815969,881.510184031,785,804,652,631,653,0.450475150313,0.00483803615919,0.0796193431053,0.999999761048,0.000380802965594,-0.000573397879537,-6.40870376403e-05,1793239817234711296
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,713,683.088691599,655,631.088691599,881.911308401,785,804,652,631,653,0.450608045912,0.00483995516906,0.0796170591259,0.999999758086,0.000382016771904,-0.000577643743097,-6.49544784213e-05,1793239817251377920
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,713,683.664111961,655,631.664111961,881.335888039,785,804,652,631,653,0.450717704464,0.00484008612233,0.0796161920927,0.999999758178,0.000380389374954,-0.000578419767846,-6.61658947671e-05,1793239817268044544
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654.761151928,631.761151928,881,785,804.238848072,652,631,653,0.450816683513,0.00483970185471,0.079615686223,0.999999758034,0.000378192709648,-0.000579993580179,-6.71468969554e-05,1793239817284710912
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713,683,654,631,881,785,804,652,631,653,0.451233284686,0.00482415691771,0.0796021587769,0.999999749671,0.000355418509916,-0.000607175980678,-7.53213509276e-05,1793239817451377664
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765.593330129,745,713,683,654,631,880,785,805,652,631,653,0.451252769675,0.00482100303647,0.0795923636855,0.999999743047,0.0003496400332,-0.000621495114734,-7.34932751999e-05,1793239817668044288
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.829707248,745.170292752,713.170292752,683,654,631,880.170292752,785,805,652,631,653,0.451253376074,0.00482106477808,0.0795922887674,0.999999743159,0.000348511908588,-0.000621919542865,-7.3733404584e-05,1793239817684711168
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.254537982,745.745462018,713.745462018,683,654,631,880.745462018,785,805,652,631,653,0.451252941445,0.00482145587506,0.0795920999997,0.999999742299,0.000349268259975,-0.000622884839372,-7.36717544807e-05,1793239817701377792
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.671157369,713.671157369,683.328842631,654,631,880.671157369,785,804.671157369,652,631,653,0.451253212644,0.00482099716996,0.0795925877375,0.999999742409,0.000349458520886,-0.000622639482525,-7.33568212096e-05,1793239817718044416
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.081258082,713.081258082,683.918741918,654,631,880.081258082,785,804.081258082,652,631,653,0.451254044174,0.00481986383671,0.0795936125293,0.999999743287,0.000349199382347,-0.000621433030304,-7.28408152986e-05,1793239817734711040
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,684,653.500728764,631,880,785,804.499271236,652,631,653,0.451254980739,0.00482134522789,0.0795934698679,0.999999743361,0.00035028626315,-0.000620678089474,-7.30489672165e-05,1793239817751377664
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,713,684,653,631,880.07762166,785,805,652,631,653,0.451255771265,0.00482289362996,0.0795932099733,0.999999743323,0.000351336482996,-0.000620118629126,-7.32807447782e-05,1793239817768044032
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,713,684,653,631,880.651610694,785,805,652,631,653,0.451255520618,0.00482219937763,0.0795933930631,0.999999743403,0.00035077719061,-0.000620347950353,-7.29238109709e-05,1793239817784710656
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,713,684,653,631,881,785,805,652,631,653,0.451255504208,0.0048216552112,0.0795934421438,0.999999743232,0.000350748802176,-0.00062067370025,-7.26362763298e-05,1793239817801377536
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745,713,684,653,631,881,785,805,652,631,653,0.451255849524,0.00482134281952,0.0795932842767,0.999999742672,0.000351540278595,-0.000621148363151,-7.24559134546e-05,1793239817818044672
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745,713,684,653.40351917,631,880.59648083,785,804.59648083,652,631,653,0.45125671781,0.00482155225443,0.0795931134563,0.999999742225,0.000352813658515,-0.000621151579073,-7.24153486753e-05,1793239817834711296
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745,713,684,653.983033084,631,880.016966916,785,804.016966916,652,631,653,0.451257814189,0.00482198928385,0.0795929369863,0.999999741824,0.000354297220429,-0.000620949173533,-7.24357567965e-05,1793239817851377920
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745,713,683.441101698,653.441101698,631,880.558898302,785,804,652,631,653,0.451256807268,0.00482297788725,0.0795928616935,0.999999741712,0.000353647333505,-0.000621476204129,-7.26431115642e-05,1793239817868044288
+252,4.200000000,POSE1_TO_POSE2_PRESS,764.865302659,745,713,683,653.134697341,631,880.865302659,785,804.134697341,652,631,653,0.45125595428,0.00482312575972,0.0795925889918,0.99999974163,0.000352518005778,-0.000622239457047,-7.27278711271e-05,1793239817884710656
+253,4.216666667,POSE1_TO_POSE2_PRESS,764.289359944,745,713,683,653.710640056,631,880.289359944,785,804.710640056,652,631,653,0.45125581336,0.00482046504538,0.0795916596158,0.999999741616,0.000350028901061,-0.000623704464055,-7.23925591427e-05,1793239817901377280
+254,4.233333333,POSE1_TO_POSE2_PRESS,764.292050789,745,713,683.292050789,653.707949211,631,880.292050789,785,804.707949211,652,630.707949211,653,0.45125592866,0.00481964942628,0.0795916138988,0.999999742083,0.000348717579059,-0.000623690545584,-7.2386642668e-05,1793239817918044160
+255,4.250000000,POSE1_TO_POSE2_PRESS,764.878982491,745,713,683.878982491,653.121017509,631,880.878982491,785,804.121017509,652,630.121017509,653,0.451256302661,0.00482069678254,0.0795924604039,0.999999743041,0.000348595453257,-0.000622183369981,-7.27133137394e-05,1793239817934710784
+256,4.266666667,POSE1_TO_POSE2_PRESS,765,745,713,683.538009341,653.461990659,631,881,785,804,651.538009341,630,652.538009341,0.451257338155,0.00482323628446,0.0795929289399,0.999999742812,0.000351138557918,-0.00062107290304,-7.31123909115e-05,1793239817951377408
+257,4.283333333,HOLD_POSE2,765,745,713,684,654,631,881,785,804,652,630,653,0.451255493077,0.00482009601576,0.0795909791699,0.999999740849,0.000351168363218,-0.000624337246208,-7.20059080674e-05,1793239817995897088
+258,4.300000000,HOLD_POSE2,765.571400326,745.571400326,713,684,653.428599674,631,881,785,804,652.571400326,630.571400326,653,0.451255342683,0.00482229584656,0.079590825952,0.999999740039,0.000353029972035,-0.00062453529231,-7.24460768019e-05,1793239818012562944
+259,4.316666667,HOLD_POSE2,765.85089033,745.85089033,713,684,653,631,880.85089033,785,804,652.70178066,631,653,0.451255833775,0.00482342415079,0.0795912461871,0.999999740062,0.000353803782702,-0.000624027538848,-7.27239411321e-05,1793239818029229056
+260,4.333333333,HOLD_POSE2,765.254245056,745.254245056,713,684,653,631,880.254245056,785,804,651.508490113,631,653,0.45125825021,0.00482133639121,0.0795933875756,0.999999742591,0.0003513126922,-0.000621401408845,-7.25146674785e-05,1793239818045895680
+261,4.350000000,HOLD_POSE2,765,745,713,683.668156331,653.331843669,631,880.331843669,785,804.331843669,651.331843669,631,653,0.45125784959,0.00481994674006,0.0795926430127,0.999999742675,0.00034931284929,-0.000622446775971,-7.20432569774e-05,1793239818062562304
+262,4.366666667,HOLD_POSE2,765,745,713,683.089906276,653.910093724,631,880.910093724,785,804.910093724,651.910093724,631,653,0.451255357202,0.00481907546078,0.0795897555225,0.999999740938,0.000347677776316,-0.000626218367756,-7.13772000344e-05,1793239818079228928
+263,4.383333333,HOLD_POSE2,765,745.48180605,713,683,653.51819395,631,881,785,804.51819395,652,631,653,0.451256534629,0.00481888378909,0.0795907950845,0.999999742223,0.000347751768892,-0.000624084195889,-7.16996937398e-05,1793239818095895808
+264,4.400000000,HOLD_POSE2,765,745.945527653,713.054472347,683.054472347,653,631,881,785,804,652.054472347,631,653,0.451258364279,0.00481881146382,0.0795925082389,0.999999744033,0.00034796720827,-0.000621001731986,-7.21760113514e-05,1793239818112562432
+265,4.416666667,HOLD_POSE2,765,745.351489666,713.648510334,683.648510334,653,631,881,785,804,652.648510334,631,653,0.451259962089,0.00481868196141,0.0795937321156,0.999999745598,0.000346467049316,-0.000619295962751,-7.23732696476e-05,1793239818129229312
+266,4.433333333,HOLD_POSE2,765,745,713.763303873,684.236696127,653,631,881,785.236696127,804.236696127,652.763303873,631,653,0.451260589081,0.00481886294576,0.0795941121271,0.999999745859,0.000346071044602,-0.000619104681987,-7.22943448583e-05,1793239818145895936
+267,4.450000000,HOLD_POSE2,765,745,713.183598859,684.816401141,653,631,881,785.816401141,804.816401141,652.183598859,631,653,0.451259809207,0.0048194938729,0.079593269249,0.999999744234,0.000347275128382,-0.000621108126793,-7.18151885217e-05,1793239818162562304
+268,4.466666667,HOLD_POSE2,765,745,713,684.212857512,653.393571244,631,881,785.606428756,805,652,631,653,0.451258616913,0.00482008842172,0.0795920399101,0.999999742789,0.000347644519204,-0.000623197071117,-7.2047163288e-05,1793239818179229184
+269,4.483333333,HOLD_POSE2,765,745,713,683.060867116,653.969566442,631,881,785.030433558,805,652,631,653,0.451257233458,0.00482066610891,0.079590631443,0.999999741426,0.000347627022135,-0.000625325645444,-7.26087539316e-05,1793239818195896064
+270,4.500000000,HOLD_POSE2,765,745,713,683,653.455268257,631,881,785,804.455268257,652,631,653,0.451258298666,0.00482118031386,0.0795918707613,0.999999741821,0.000349056095769,-0.0006239183885,-7.2411255862e-05,1793239818212562688
+271,4.516666667,HOLD_POSE2,765,745,713,683.122326557,653,631,881,785,804,652,631,653,0.451259361862,0.00482135374933,0.0795929354604,0.999999742413,0.000349851600248,-0.000622539488977,-7.226325376e-05,1793239818229229312
+272,4.533333333,HOLD_POSE2,765,745,713,683.709326208,653,631,881,785,804,652,631,653,0.451259898536,0.00482024618046,0.0795927757748,0.999999743393,0.000347933879931,-0.000622017559084,-7.24641210084e-05,1793239818245896192
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,653,631,881,785,804,652,631,653,0.451259596384,0.00481865128696,0.079592972608,0.99999974422,0.000346219587436,-0.000621747121432,-7.15669938806e-05,1793239818283299328
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.582963621,653,631,881,785,804,652,631,653,0.451259794447,0.00481891522159,0.0795931033263,0.99999974468,0.000344852107407,-0.000621715421798,-7.20235668497e-05,1793239818299966976
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.167473334,713,683.832526666,653,631,881,784.832526666,804.167473334,652,631,653,0.451260166111,0.0048190238101,0.0795933730871,0.999999745058,0.00034423323806,-0.000621431807815,-7.21762945694e-05,1793239818316633856
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.755869071,713,683.244130929,653,631,881,784.244130929,804.755869071,652,631,653,0.4512609741,0.00481874195647,0.0795939923128,0.999999745236,0.000345495903841,-0.000620515039937,-7.15653469403e-05,1793239818333299712
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.661003156,745.661003156,713,683.338996844,653,631,881,784.338996844,804.661003156,652,631,653,0.451260921754,0.00481869185419,0.0795939625753,0.999999744908,0.000346565211662,-0.000620471635596,-7.1357049665e-05,1793239818349966336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.081611125,745.081611125,713,683.918388875,653,631,881,784.918388875,804.081611125,652,631,653,0.451260259312,0.00481880609537,0.079593472634,0.999999744221,0.000347497402134,-0.000621047565659,-7.14342866678e-05,1793239818366633472
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.496379674,745,713,684,653.496379674,631,880.503620326,785.496379674,804.992759348,652,631,653,0.451262049482,0.0048187993602,0.0795945635604,0.99999974513,0.000348014998715,-0.000619292468673,-7.14281913677e-05,1793239818383299840
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.073738089,713,684,653.926261911,631,880.073738089,785.926261911,805.852523821,652.073738089,631,653,0.451263507474,0.00481877370884,0.0795954833514,0.999999745892,0.000348346682199,-0.000617877322518,-7.1398096952e-05,1793239818399966464
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.648361386,713,684,653.351638614,631,880.648361386,785.351638614,804.703277228,652.648361386,631,653,0.451259977657,0.00481875429231,0.0795934800923,0.9999997439,0.000347877224258,-0.000621367381563,-7.12977871695e-05,1793239818416633088
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.228967586,746,713,683.771032414,653.228967586,631,881,785,804,652.771032414,631,653,0.451256265245,0.00481898629501,0.0795914168451,0.999999741883,0.000348131830553,-0.00062446586108,-7.12815660939e-05,1793239818433299712
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.819008549,746,713,683.180991451,653.819008549,631,881,785,804,652.180991451,631,653,0.451252264887,0.00481961477649,0.0795892589989,0.999999739835,0.000349528259297,-0.000626946833903,-7.13979497956e-05,1793239818449966080
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.598270398,745.598270398,713,683.401729602,653.598270398,631,881.401729602,785,804,652,631,653,0.451235235268,0.00481989162201,0.0795801132185,0.99999973146,0.000348074325107,-0.00064091005558,-7.18235706778e-05,1793239818466632192
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.018788125,745.018788125,713,683.981211875,653.018788125,631,881.981211875,785,804,652,631,653,0.451212440612,0.00482001287978,0.0795678754976,0.999999719974,0.000345359195275,-0.000659953810074,-7.23860192424e-05,1793239818483298816
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,712.444616359,684,653,631.555383641,881.444616359,785,804.555383641,652,631,653,0.451157540434,0.00481884763968,0.0795448132773,0.999999692918,0.000345180119557,-0.00069990681038,-7.17322058604e-05,1793239818499965696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,712.259586863,684,653,631.870206568,881,785,805,652,631,653,0.451098712024,0.00481813325035,0.0795232225818,0.999999666307,0.000345709559168,-0.000736775686658,-7.09381880006e-05,1793239818516632320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.411265811,684,653,631.294367095,881,785,805,652,631,653,0.451030081028,0.00481911639449,0.0795079353984,0.999999647594,0.000348381832471,-0.000760637912413,-6.98024049604e-05,1793239818533298944
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.710369752,683.710369752,653.289630248,631,881,785,805,652.289630248,631,653,0.450956802463,0.00481940629067,0.0794985419974,0.999999636079,0.000350830645299,-0.000774648401894,-6.84137518703e-05,1793239818549965824
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.117840849,683.117840849,653.882159151,631,881,785,805,652.882159151,631,653,0.450878663422,0.00481897118008,0.079495312383,0.999999632532,0.000353045760583,-0.000778355830872,-6.6760644465e-05,1793239818566632448
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.461665705,654,631,881,785,805,652.538334295,631,653,0.450786058162,0.00481853757109,0.0794980405794,0.999999635569,0.000356525386778,-0.000773077811297,-6.40463810181e-05,1793239818583299328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,653.962201963,631,881,785,805,652,631,653,0.450687794122,0.00481788886541,0.0795018484819,0.999999639735,0.000359884110592,-0.000766345995125,-6.105225132e-05,1793239818599965952
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,653.388076455,631,881,785,805,652,631,653,0.450560192902,0.00481418279993,0.0794999903917,0.999999637637,0.000357073103161,-0.000770636880775,-5.78249160281e-05,1793239818616632576
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.808324106,653,631,881,785,805,652,631,653,0.450422448461,0.00481156860131,0.0794991216739,0.999999636059,0.000356552675138,-0.000773180269999,-5.42649669674e-05,1793239818633298944
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.216834899,653,631,881,785,805,652,631,653,0.45026354647,0.00481123190866,0.0795003166705,0.999999635605,0.000360810126006,-0.000772078587253,-5.00112252161e-05,1793239818649965568
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.365902076,653.365902076,631,881,785.365902076,805,652,631,653,0.450083967178,0.0048095178918,0.0794997032158,0.999999634073,0.00036540828682,-0.000772207268278,-4.50167046522e-05,1793239818666632448
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.899790493,654,631,881,785.100209507,804.899790493,652,631,652.899790493,0.449438891185,0.00480441225037,0.0795000499812,0.999999629596,0.000378273349012,-0.000772601195722,-2.83689814227e-05,1793239818716633088
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.325692875,654,631,881,785.674307125,804.325692875,652,631,652.325692875,0.449178970616,0.00480143661695,0.0794974382595,0.999999622908,0.0003849530116,-0.000778185797384,-2.05330352104e-05,1793239818733299200
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.254548411,631,880.745451589,785.745451589,803.745451589,652,631,652.254548411,0.448900486408,0.00479806193575,0.079497855998,0.999999620123,0.000389824271435,-0.000779504614122,-1.27591859369e-05,1793239818749965824
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.842844858,631,880.157155142,785.157155142,803.157155142,652,631,652.842844858,0.448597662729,0.00479416404809,0.0795022457765,0.999999622537,0.000392324465759,-0.000775230398868,-5.06675477704e-06,1793239818766632448
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.57484982,745,713,683,655,631.42515018,880,785,803.850300361,652,631,653,0.448265143008,0.00479112686831,0.0795008562961,0.999999619858,0.000394095035265,-0.000777799209245,8.19582653945e-07,1793239818783299072
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.00522933,745,713.00522933,683.00522933,655.00522933,632,880.00522933,785.00522933,804.99477067,652,631,653,0.447921576415,0.00478836750034,0.079497476354,0.999999615512,0.0003954348686,-0.000782669411748,6.00683234039e-06,1793239818799965696
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.580691679,745,713.580691679,683.580691679,655.580691679,632,880.580691679,785.580691679,804.419308321,652,631,653,0.447553759468,0.00478169073665,0.0795067602057,0.99999963447,0.000378806148165,-0.000766498673939,6.7505866212e-06,1793239818816632320
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.840875728,683.840875728,656,632,881,786,804,652,631,653,0.447177461413,0.0047752350073,0.0795162294535,0.999999653593,0.00035897542511,-0.000750939062961,6.47371492833e-06,1793239818833298944
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.254467463,683.254467463,656,632,881,786,804,652,631,653,0.446778389758,0.0047693728053,0.0795261965298,0.999999673764,0.000330546617154,-0.00073702046626,3.45623582116e-06,1793239818849965824
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.32796257,713,683,656,632.32796257,881,785.67203743,804,652,631,652.67203743,0.446340471887,0.00476197319799,0.0795415371953,0.999999693986,0.000311094716495,-0.000717789259449,5.06851813268e-06,1793239818866632448
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.907342933,713,683,656,632.907342933,881,785.092657067,804,652,631,652.092657067,0.445872774263,0.00475339500724,0.0795609972831,0.999999714234,0.000298524556126,-0.000694485376926,1.02299990373e-05,1793239818883299072
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.514612254,713.485387746,683.485387746,656.485387746,632.514612254,880.514612254,785.485387746,804,652,631,652.485387746,0.445372583305,0.00474609758334,0.0795755522947,0.999999729193,0.000293302174476,-0.000674867448176,1.19417550285e-05,1793239818899965696
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.062713287,713.937286713,684,657,632,880.062713287,786,804.062713287,652,631,653,0.44486221484,0.00473885633312,0.0795889307657,0.999999741133,0.000294261191871,-0.000656485696844,1.30572631013e-05,1793239818916632064
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.636251337,713.363748663,684,657,632,880.636251337,786,804.636251337,652,631,653,0.444319331453,0.00473008663779,0.0796003318203,0.99999973768,0.000334176468442,-0.000642457535912,1.46653488443e-05,1793239818933299456
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.783724859,713.216275141,683.783724859,657.216275141,632.216275141,880.783724859,786,804.783724859,652,631,653,0.443764100557,0.00472044401851,0.0796090043097,0.999999739992,0.000347365655141,-0.000631734604253,1.62733234924e-05,1793239818949967104
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.192455598,713.807544402,683.192455598,657.807544402,632.807544402,880.192455598,786,804.192455598,652,631,653,0.443187460654,0.00470928785851,0.0796129458065,0.999999754071,0.000314215133607,-0.000626742529888,1.7881105445e-05,1793239818966633984
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.390652106,658,633,880.390652106,786,804.390652106,652,631.390652106,653,0.442582770486,0.00469893762523,0.0796282253845,0.999999779788,0.000285935725222,-0.000598587321458,1.89072154335e-05,1793239818983300608
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.969821268,658,633,880.969821268,786,804.969821268,652,631.969821268,653,0.441964544115,0.00468897630849,0.0796489763821,0.999999809622,0.000260006971313,-0.000559254274532,1.96526278033e-05,1793239818999966976
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.454873794,658.545126206,633,881,786,804.454873794,652,631.454873794,653,0.441308340915,0.00467497249902,0.0796632726105,0.999999828275,0.000232719348989,-0.00053743149242,2.14113167242e-05,1793239819016633600
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.122935036,745.122935036,714,683,659,633.122935036,881,786,804,652,631,652.877064964,0.440635300343,0.00466203647786,0.0796675595732,0.999999835587,0.000216219933946,-0.000530613536255,2.28965528498e-05,1793239819033300224
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.711021487,745.711021487,714,683,659,633.711021487,881,786,804,652,631,652.288978513,0.4399064511,0.0046539814913,0.0796353168673,0.999999804312,0.000240822690991,-0.000576927540574,2.31363631007e-05,1793239819049966080
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.705278134,745.705278134,714,683,659.294721866,634,880.705278134,786,804,652,631.294721866,652,0.439186674493,0.00464407389288,0.0796319746105,0.999999805403,0.00023775265211,-0.000576272597044,2.40408838207e-05,1793239819066632448
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.125815222,745.125815222,714,683,659.874184778,634,880.125815222,786,804,652,631.874184778,652,0.438475663189,0.00463237642077,0.0796565540793,0.999999837475,0.000207946965349,-0.000530239324527,2.55876044667e-05,1793239819083299072
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.451317032,714.451317032,683.451317032,660,634.451317032,880,786.451317032,804,652,631.548682968,652,0.437766859401,0.00462131239147,0.0797282770696,0.999999892561,0.000179394713383,-0.00042650197529,2.81232517181e-05,1793239819099965440
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,746,714.972324809,684,660,635,880,787,804,652,631.027675191,652.027675191,0.437056494434,0.00461042381424,0.0798110121014,0.999999939978,0.000153566055358,-0.000309040790309,3.08992599274e-05,1793239819116632320
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,746,714.398486209,684,660,635,880,787,804,652,631.601513791,652.601513791,0.436303236767,0.00459953072874,0.0798530383236,0.999999956225,0.000174626514531,-0.000236572568349,3.3006088603e-05,1793239819133299456
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.226664911,714,683.226664911,660,635,880,787,804,652,631.226664911,653,0.434686340504,0.00458206186129,0.0798526648141,0.999999958884,0.0001543609143,-0.000239046652419,3.55280392987e-05,1793239819166632960
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.357107931,714,683,660,635,880,787,804,652,631,653,0.433813358916,0.00457259732581,0.079823229671,0.999999947007,0.000148565980761,-0.000287324155355,3.68725366698e-05,1793239819183299584
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.935575439,714,683,660,635,880,787,804,652,631,653,0.432918571484,0.00456196851575,0.0797895820437,0.999999929172,0.000155744382113,-0.000340459845807,3.85476847477e-05,1793239819199965952
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.511481842,745.488518158,714,682.488518158,660,635,880,787,804,652,631,653,0.431956083103,0.00455190824694,0.0797425502791,0.999999897631,0.000138167574258,-0.000428960849114,4.0500040565e-05,1793239819216632576
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.913266475,745.086733525,714,682,660,635,880,787,804,652,631.086733525,652.913266475,0.431010409722,0.00454169675209,0.0797084982917,0.999999869939,0.000120041152274,-0.000493886866365,4.22828249211e-05,1793239819233299200
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.339887559,745.660112441,714,682,660,635,880,787,804,652,631.660112441,652.339887559,0.430206689672,0.00453023696319,0.0797566850957,0.999999911654,0.000116238778556,-0.000401669258713,4.29192447351e-05,1793239819249965824
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.240702044,746,714,682,660.481404089,635,880,787.240702044,804,652,631.759297956,652.240702044,0.429398451832,0.00451831990532,0.0798096569317,0.999999944565,0.0001061254641,-0.000312447627682,4.45307863089e-05,1793239819266632448
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.831788152,746,714,682,661.663576303,635,880,787.831788152,804,652,631.168211848,652.831788152,0.428583637439,0.00450573721053,0.0798695942287,0.999999969202,8.68254679674e-05,-0.000227587154795,4.75617890003e-05,1793239819283299328
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,746,714,682,661.171617337,635,880,787.585808669,804.414191331,652,631.414191331,653,0.42768163507,0.00449525309942,0.079863287105,0.999999967542,8.26164738406e-05,-0.000236135578903,4.82667049436e-05,1793239819299966208
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,660.013718874,635,880,787.006859437,804.993140563,652,631.993140563,653,0.426744950932,0.0044856037681,0.0798306291325,0.999999955566,8.44104114289e-05,-0.000281840395774,4.80463450289e-05,1793239819316632832
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,746,714,682.568045131,660.568045131,635,880,787,804.431954869,652,631.431954869,653,0.425790781039,0.00447255310293,0.0797913160526,0.999999940298,6.01642479162e-05,-0.000336849312628,4.81303474272e-05,1793239819333299200
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745.85375154,714.14624846,682.85375154,661,635,880,787,804,652,631.14624846,652.85375154,0.424843093106,0.00446162470886,0.0797573151685,0.999999922565,4.41838613293e-05,-0.000387992493141,4.87744777839e-05,1793239819349965824
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.265430319,714.734569681,682.265430319,661,635,880,787,804,652,631.734569681,652.265430319,0.423915632325,0.0044572346891,0.0797396129369,0.999999906016,5.41326437844e-05,-0.000427113302253,5.11007051352e-05,1793239819366632704
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.681847259,745,714.681847259,682,660.681847259,635,879.681847259,787,804.318152741,652,631.681847259,652.318152741,0.423037298157,0.00445513583345,0.0797442744552,0.999999910427,5.45291446956e-05,-0.000416474892648,5.21733386456e-05,1793239819383299072
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.102159201,745,714.102159201,682,660.102159201,635,879.102159201,787,804.897840799,652,631.102159201,652.897840799,0.422199348237,0.00445492041404,0.0797673199441,0.999999930941,4.70732563826e-05,-0.000364932250222,5.22154636129e-05,1793239819399965440
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.475175183,682,660.475175183,635,879.950350366,787,804.524824817,652,631,653,0.421389458178,0.00448222982614,0.0798220437217,0.999999959811,7.75978757873e-05,-0.000267917083448,5.07713905906e-05,1793239819416632320
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.948473511,682,661,635,880.896947021,787,804.051526489,652,631,653,0.420577731397,0.00451258338292,0.079877003117,0.999999977368,0.000113288125742,-0.000173214636376,4.92526562866e-05,1793239819433299200
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.376962049,682,661,635,879.753924098,787,804.623037951,652,631,653,0.419686890543,0.00451423309852,0.0798659490915,0.999999971642,0.000119110686754,-0.000200023244408,5.0189070713e-05,1793239819449966080
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.202167518,745,714,682,660.797832482,635,879,787,804.797832482,652,631,652.797832482,0.41880073141,0.00450984112068,0.079845163391,0.999999963684,0.000114062125468,-0.000239020784897,4.99105501328e-05,1793239819466632704
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.796058151,745,714,682,660.203941849,635,879,787,804.203941849,652,631,652.203941849,0.417923643502,0.00449374265836,0.0798055214349,0.999999949523,8.7949499212e-05,-0.000301635806134,4.72779515256e-05,1793239819483299072
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.62022045,745.37977955,714,682,660.37977955,635,879,787,804,652,631.37977955,652.37977955,0.4170909747,0.00448507865539,0.079803594198,0.999999947185,7.77598296904e-05,-0.000311921548271,4.78353051251e-05,1793239819499965696
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.041817559,745.958182441,714,682,660.958182441,635,879,787,804,652,631.958182441,652.958182441,0.416281536984,0.00448030284892,0.0798213916262,0.999999952402,7.58978110377e-05,-0.00029483926204,5.00609924952e-05,1793239819516632320
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.465120624,714.534879376,682,661,635,879.534879376,787,804,652,631.465120624,653,0.415458815978,0.00448183331609,0.0798026326771,0.999999942223,7.69964250382e-05,-0.000327285194698,5.01035922527e-05,1793239819533298944
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.110647711,715,682,661,635,879.889352289,787,803.889352289,652,631,652.889352289,0.414651376137,0.00448546784689,0.0797874887228,0.999999933996,8.04573454448e-05,-0.000350791451821,4.97915819292e-05,1793239819549965824
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,714.758027663,681,660.758027663,635,879.241972337,787,803.241972337,652,631.758027663,653,0.409169137132,0.00449513506935,0.0798380379321,0.999999959494,9.7343031173e-05,-0.000262837836743,4.95150251495e-05,1793239819683299328
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.340622392,714.659377608,681,660.659377608,635,879.340622392,787,803.340622392,652.340622392,632,652.659377608,0.408582190338,0.0044992896457,0.0798477169064,0.999999962596,0.000101937701826,-0.00024869445127,5.06738208688e-05,1793239819699965952
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.920584672,714.079415328,681,660.079415328,635,879.920584672,787,803.920584672,652.920584672,632,652.079415328,0.407992194226,0.00450057471157,0.0798442294207,0.999999960051,0.000100337583328,-0.000259046726971,5.21963527885e-05,1793239819716632832
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.071564449,746,714.071564449,680.071564449,661,635,879,787,804,652,632,653,0.406854373766,0.00449227054667,0.0797826622575,0.99999992579,0.000100987941105,-0.000368359373346,5.03264311707e-05,1793239819749966848
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.623164496,746,714.623164496,680.623164496,661,635,879,787,804,652,632,653,0.406381448273,0.00448991919883,0.07978324396,0.999999930644,9.11875868756e-05,-0.000357670472716,4.9676822356e-05,1793239819766633472
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.186937589,745.186937589,715,681,661.813062411,635,879,787,804,652.813062411,632,653,0.405490458184,0.00449656287489,0.0798105783542,0.999999949042,9.61208115981e-05,-0.000300471158097,4.89302007385e-05,1793239819799965952
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.596243147,661.596243147,635,879,787,803.596243147,652.596243147,631.596243147,653,0.40508262312,0.00450169698191,0.0798254966387,0.999999954206,0.000105411087354,-0.000279460943864,4.8769441251e-05,1793239819816632576
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.112653437,745.887346563,715,680,661,635,878.887346563,787,803.887346563,652,631.887346563,652.112653437,0.403036338639,0.0044919367454,0.0798464026045,0.999999957399,8.48323431942e-05,-0.000274775043059,5.00431001356e-05,1793239819916632576
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.521686621,661,635.478313379,879,787,803.478313379,652,631,652.478313379,0.401584181285,0.00447694282934,0.079851245589,0.999999958881,0.000104234222143,-0.000261302004569,5.56280721335e-05,1793239820049966336
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,661,635,879,787,804,652,631.151556615,652.848443385,0.401213734576,0.00448845993528,0.0798348885298,0.999999951301,0.000113454601943,-0.000287011188567,4.63749460889e-05,1793239820116632576
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.031560245,715,681,661,635,879,787,804,652,631,652.031560245,0.401114806635,0.0044939092567,0.0798342384945,0.999999951134,0.000117974298812,-0.000285609380494,4.73469250665e-05,1793239820149965824
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.436391645,661,635,879,787,804,652,631,652.563608355,0.401080972539,0.00449165792094,0.0798358787528,0.999999952037,0.000114185811504,-0.000283881151598,4.79401948772e-05,1793239820166632704
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.841488549,652.158511451,631.158511451,653,0.401050996263,0.00448927912074,0.0798374773505,0.999999952794,0.000110721378411,-0.000282477557888,4.85624365326e-05,1793239820183299584
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.253839592,652.746160408,631.746160408,653,0.401029505699,0.00448761434344,0.0798387546872,0.999999953057,0.000109392982583,-0.000281953606744,4.92155263043e-05,1793239820199966464
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.670626934,680,661,635,879,787,803,652.670626934,632,653,0.401013280021,0.00448753647592,0.0798390309644,0.999999953416,0.000108276812329,-0.000281097017139,4.92831811915e-05,1793239820216632832
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,714.09078772,680,661,635,879,787,803,652.09078772,632,653,0.401001057935,0.0044886653468,0.0798385460032,0.999999953849,0.000107322025264,-0.000279987478218,4.89056521452e-05,1793239820233299200
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714.487114684,680.487114684,661,635,879,787,803,652,632,653,0.400994501358,0.00448794010492,0.0798390811236,0.999999954417,0.000107276050735,-0.000277968678674,4.88940793014e-05,1793239820249965824
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.935831771,745,715,681,661,635,878.935831771,787,803.064168229,652,631.935831771,653,0.400989355686,0.00448720073399,0.0798398554,0.999999954959,0.00010748236126,-0.000275921664495,4.89624481204e-05,1793239820266632448
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.36265929,745,715,681,661,635,878.36265929,787,803.63734071,652,631.36265929,653,0.400987058979,0.00448907958393,0.0798410246089,0.999999955114,0.000108351599167,-0.000274989784581,4.91260479204e-05,1793239820283299072
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.217060765,745,715,680.782939235,661,635,878.217060765,787,804,652,631,652.782939235,0.400984659012,0.00449023054961,0.0798415770333,0.999999955168,0.000108581126076,-0.000274715114013,4.90559864046e-05,1793239820299965952
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.808060545,745,715,680.191939455,661,635,878.808060545,787,804,652,631,652.191939455,0.400982081158,0.00449012756064,0.0798410668993,0.999999955049,0.000107708597938,-0.000275572643581,4.85833874497e-05,1793239820316632832
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.609431427,652,631.390568573,652.390568573,0.4009819508,0.00449016726541,0.0798419573472,0.9999999554,0.000108079699188,-0.000274184944772,4.83921083441e-05,1793239820333299456
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.031007765,652,631.968992235,652.968992235,0.400982997633,0.00449027560281,0.0798435214448,0.999999955971,0.000109048959465,-0.000271717339348,4.83361380523e-05,1793239820349966080
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.544644077,715,680,661,635.544644077,879.544644077,787,803,652,631.455355923,653,0.400981739563,0.0044894562892,0.0798425712702,0.999999955826,0.000107535761431,-0.000272822445627,4.84969969844e-05,1793239820366632704
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.877128384,746,715,680.122871616,661,635.877128384,879.877128384,787,803.122871616,652,631,653,0.400980586768,0.00448874551747,0.0798418463591,0.999999955721,0.000106119060001,-0.000273748138595,4.85749555406e-05,1793239820383299328
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.288543368,746,715,680.711456632,661,635.288543368,879.288543368,787,803.711456632,652,631,653,0.400980327839,0.00448864530736,0.0798425150519,0.999999955932,0.000105601073927,-0.000273226770727,4.82921494428e-05,1793239820399965696
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.125237022,661,635,879,787,803.125237022,652,631,653,0.400981392155,0.00448828579052,0.0798437970271,0.999999956391,0.00010858797689,-0.000270278598265,4.87454713282e-05,1793239820433299200
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.452964747,745.547035253,715,680.452964747,661,635,879,787,803.452964747,652,631,652.547035253,0.40098044707,0.00448940224717,0.0798435454636,0.999999956295,0.000108498283248,-0.000270698661259,4.85852452624e-05,1793239820449965824
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.968818795,661,635,879,787,803.968818795,652,631.031181205,652.031181205,0.400979138665,0.00449078481957,0.0798431433966,0.999999956136,0.000107861834623,-0.000271588157834,4.83030881916e-05,1793239820466632960
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.384467753,661,635,879,787,803.384467753,652,631.615532247,652.615532247,0.400979868012,0.00449042100477,0.079844393653,0.999999956482,0.000108465479324,-0.000270026149604,4.85597247842e-05,1793239820483299584
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diff --git a/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dafb5783237d3d0345fa623bb5fcd1a2a3aebb78
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,421 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.575890897676,0.0100906984675,1.07003231634,0.546461350915,0.0187624435634,1.06970044541
+384,6.400000000,pose2_to_pose3_retreat,0.575837048111,0.0100908571895,1.0700322395,0.546407497291,0.0187625886866,1.0697003732
+385,6.416666667,pose2_to_pose3_retreat,0.575793711522,0.010090832297,1.07003226858,0.546364161355,0.0187625664036,1.06970041248
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+387,6.450000000,pose2_to_pose3_retreat,0.575733822648,0.0100908047058,1.07003230496,0.546304272749,0.018762539372,1.06970043969
+388,6.466666667,pose2_to_pose3_retreat,0.575713525523,0.0100908984276,1.07003226072,0.546283975796,0.0187626334854,1.06970039044
+389,6.483333333,pose2_to_pose3_retreat,0.575698315203,0.0100908494628,1.07003236005,0.5462687668,0.0187625890292,1.06970049027
+390,6.500000000,pose2_to_pose3_retreat,0.575687640253,0.0100907930565,1.07003242386,0.546258092312,0.018762534311,1.06970055719
+391,6.516666667,pose2_to_pose3_retreat,0.575680403749,0.0100908264283,1.07003233076,0.546250854451,0.0187625631203,1.06970046539
+392,6.533333333,pose2_to_pose3_retreat,0.575675580616,0.0100908552388,1.07003233114,0.546246031301,0.0187625918492,1.06970046517
+393,6.550000000,pose2_to_pose3_retreat,0.575672390781,0.0100908752464,1.07003234045,0.546242841584,0.0187626122324,1.06970047387
+394,6.566666667,pose2_to_pose3_retreat,0.575670510164,0.0100908269381,1.07003234894,0.54624096131,0.0187625650072,1.06970048018
+395,6.583333333,pose2_to_pose3_retreat,0.575669574883,0.0100907977819,1.07003235342,0.546240026222,0.0187625364632,1.06970048341
+396,6.600000000,pose2_to_pose3_retreat,0.575668792387,0.0100907733885,1.07003235717,0.546239243888,0.0187625125822,1.06970048612
+397,6.616666667,pose2_to_pose3_retreat,0.575668193352,0.0100907547144,1.07003236004,0.546238644978,0.0187624943001,1.0697004882
+398,6.633333333,pose2_to_pose3_retreat,0.575667938436,0.0100907539221,1.07003234893,0.546238390026,0.0187624933978,1.06970047729
+399,6.650000000,pose2_to_pose3_retreat,0.575667746376,0.010090762688,1.07003232441,0.546238197826,0.0187625017183,1.06970045365
+400,6.666666667,pose2_to_pose3_retreat,0.575667517577,0.0100907731308,1.07003229521,0.546237968859,0.0187625116304,1.06970042548
+401,6.683333333,pose2_to_pose3_retreat,0.575667333382,0.0100907815378,1.07003227169,0.546237784529,0.0187625196102,1.06970040281
+402,6.700000000,pose2_to_pose3_retreat,0.575667127011,0.010090790957,1.07003224535,0.546237578006,0.0187625285508,1.0697003774
+403,6.716666667,pose2_to_pose3_retreat,0.57566706148,0.0100907939479,1.07003223699,0.546237512427,0.0187625313897,1.06970036934
+404,6.733333333,pose2_to_pose3_retreat,0.575667030107,0.0100907953798,1.07003223298,0.546237481031,0.0187625327489,1.06970036548
+405,6.750000000,pose2_to_pose3_retreat,0.575666900915,0.0100908012764,1.07003221649,0.546237351744,0.0187625383458,1.06970034957
+406,6.766666667,pose2_to_pose3_retreat,0.575666831836,0.0100908044293,1.07003220767,0.546237282614,0.0187625413385,1.06970034107
+407,6.783333333,pose2_to_pose3_retreat,0.575666482335,0.0100908203811,1.07003216306,0.546236932857,0.0187625564798,1.06970029804
+408,6.800000000,pose2_to_pose3_retreat,0.575666224841,0.0100908321336,1.07003213019,0.546236675173,0.0187625676351,1.06970026635
+409,6.816666667,pose2_to_pose3_retreat,0.575666060302,0.0100908396434,1.07003210918,0.546236510515,0.0187625747633,1.06970024609
+410,6.833333333,pose2_to_pose3_retreat,0.575666047997,0.0100908402051,1.07003210761,0.5462364982,0.0187625752964,1.06970024458
+411,6.850000000,pose2_to_pose3_retreat,0.57566601438,0.0100908417394,1.07003210332,0.546236464558,0.0187625767528,1.06970024044
+412,6.866666667,pose2_to_pose3_retreat,0.575665722358,0.0100908530204,1.07003207477,0.546236172354,0.0187625874548,1.06970021299
+413,6.883333333,pose2_to_pose3_retreat,0.575665710316,0.0100908519693,1.07003208006,0.546236160327,0.0187625864528,1.06970021816
+414,6.900000000,pose2_to_pose3_retreat,0.5756653458,0.0100908201552,1.07003224014,0.54623579629,0.0187625561213,1.06970037453
+415,6.916666667,pose2_to_pose3_retreat,0.575665169338,0.0100908047539,1.07003231763,0.546235620059,0.0187625414379,1.06970045023
+416,6.933333333,pose2_to_pose3_retreat,0.575665001024,0.0100907900638,1.07003239154,0.546235451966,0.0187625274324,1.06970052243
+417,6.950000000,pose2_to_pose3_retreat,0.575664577075,0.0100907861832,1.07003236413,0.546235027408,0.0187625218198,1.06970050379
+418,6.966666667,pose2_to_pose3_retreat,0.57566436652,0.0100907949179,1.07003226145,0.546234816144,0.0187625285007,1.0697004103
+419,6.983333333,pose2_to_pose3_retreat,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1fa863c186dcb8745f32c467ce14b3e9bc9e4d0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2aa53c96e631b5a3d5e01bfc9d510ae887e7fb54a775a20053d5b8f16e25ef
+size 24845705
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d8af38a0202cef3764f5f6755803bc688039b7d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/franka_data.csv
@@ -0,0 +1,392 @@
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+20,0.333333333,BASELINE,765,743,712,671.395787503,661.395787503,633,876,783.604212497,799.395787503,649,629,651,0.400756431169,-0.00543839966914,0.0598485880632,0.999999927784,-1.27576624311e-05,-0.000377737338154,-3.97913918078e-05,1793192649338603776
+21,0.350000000,BASELINE,765,743,712,671.181426244,661,633,876,783.818573756,799,649,628.818573756,650.818573756,0.400756171003,-0.00543792590324,0.0598484013088,0.999999927704,-1.16776723704e-05,-0.000377972208682,-3.98987077211e-05,1793192649355270400
+22,0.366666667,BASELINE,765,743,712,671.75624532,661,633,876,783.24375468,799,649,628.24375468,650.24375468,0.400755897202,-0.0054396524246,0.0598481337359,0.99999992752,-1.26952934427e-05,-0.000378472392865,-3.94686081394e-05,1793192649371937024
+23,0.383333333,BASELINE,765,742.661049859,711.661049859,671.661049859,661,633,876,783.338950141,799,649,628.338950141,650.338950141,0.400755535633,-0.00543986769415,0.0598473882912,0.999999927148,-1.33922167311e-05,-0.00037941549896,-3.96047385009e-05,1793192649388603648
+24,0.400000000,BASELINE,765,742.072538895,711.072538895,671.072538895,661,633,876,783.927461105,799,649,628.927461105,650.927461105,0.400755109443,-0.00543897026558,0.0598462910007,0.999999926637,-1.38530180723e-05,-0.000380684717839,-4.01577702848e-05,1793192649405270528
+25,0.416666667,BASELINE,764.492935839,742,711,671,661,633,876,783.492935839,799.507064161,649,629,651,0.400755337518,-0.00543903421041,0.0598471685325,0.999999927058,-1.3898688404e-05,-0.000379611911973,-3.98288271277e-05,1793192649421937152
+26,0.433333333,BASELINE,764.085261859,742,711.085261859,671,661,633,876,783,799.914738141,649,629,651,0.400755596367,-0.00543923858869,0.0598481719943,0.999999927478,-1.40448134543e-05,-0.000378533924551,-3.94896182663e-05,1793192649438603776
+27,0.450000000,BASELINE,764.662576691,742,711.662576691,671,661,633,876,783,799.337423309,649,629,651,0.400755501977,-0.00543947342085,0.0598482999598,0.999999927149,-1.51074822246e-05,-0.000379326207007,-3.98067447866e-05,1793192649455270400
+28,0.466666667,BASELINE,765,742,712,671,661,633,876,783,799.239256331,649,629,650.760743669,0.400755282624,-0.00543935158598,0.0598484849455,0.999999926999,-1.46696405607e-05,-0.000379730142877,-3.98947022935e-05,1793192649471937280
+29,0.483333333,BASELINE,765,742,712,671,661,633,876,783,799.815042495,649,629,650.184957505,0.400754887503,-0.00543872807537,0.0598487501341,0.999999927097,-1.21212317898e-05,-0.000379587843571,-3.96603184258e-05,1793192649488603648
+30,0.500000000,BASELINE,764.599930559,742,712,671.400069441,661,633.400069441,876.400069441,783,799.599930559,649.400069441,629,650,0.400754385708,-0.00543875400578,0.0598480365042,0.999999926847,-1.33661765069e-05,-0.000380204429666,-3.96352308824e-05,1793192649505270272
+31,0.516666667,BASELINE,764.010530481,742,712,671.989469519,661,633.989469519,876.989469519,783,799.010530481,649.989469519,629,650,0.400753833431,-0.00543908728056,0.059846859654,0.999999926428,-1.6406304735e-05,-0.000381180154056,-3.97091916665e-05,1793192649521936640
+32,0.533333333,BASELINE,764.568713393,742,712,671.431286607,661,633.431286607,876.431286607,783,799.568713393,649.431286607,628.431286607,650,0.400753779795,-0.00543772335264,0.0598465737341,0.999999926096,-1.24158244696e-05,-0.000382207345508,-3.96406273046e-05,1793192649538603264
+33,0.550000000,BASELINE,764.853109725,742,712,671,661,633,876,783.146890275,799.853109725,649,628.146890275,650.146890275,0.400754047131,-0.00543702062762,0.0598466634805,0.999999926065,-9.69072978277e-06,-0.000382372669592,-3.95929740357e-05,1793192649555270144
+34,0.566666667,BASELINE,764.277507824,742,712,671,661,633,876,783.722492176,799.277507824,649,628.722492176,650.722492176,0.400755224776,-0.0054383377892,0.0598478023379,0.999999926947,-1.10320482685e-05,-0.000380019828537,-3.96139186953e-05,1793192649571937024
+35,0.583333333,BASELINE,764.298126238,742,712,671.298126238,661,633,876,783.701873762,799,649,629,650.701873762,0.400755541063,-0.00543866469007,0.0598482278327,0.999999927321,-1.18818122855e-05,-0.000378988429787,-3.98086109901e-05,1793192649588603648
+36,0.600000000,BASELINE,764.873790307,742,712,671.873790307,661,633,876,783.126209693,799,649,629,650.126209693,0.400755055476,-0.00543806971714,0.0598479892295,0.999999927227,-1.22739684246e-05,-0.000379187215115,-4.0165052023e-05,1793192649605270272
+37,0.616666667,BASELINE,764.539254344,742,711.539254344,671.539254344,661,633,876,783.460745656,799,649,628.539254344,650.460745656,0.400755862871,-0.00543944744861,0.059848819957,0.99999992739,-1.39024004025e-05,-0.000378744783892,-3.97462145973e-05,1793192649621936896
+38,0.633333333,BASELINE,764,742,711,671,661.049916125,633,876,784,799.049916125,649,628.049916125,650.950083875,0.400756738597,-0.00544110872846,0.0598496835083,0.999999927518,-1.55309502434e-05,-0.000378401390191,-3.91859156302e-05,1793192649638603264
+39,0.650000000,BASELINE,764,742,711,671,661.628957936,633,876,784,799.628957936,649,628.628957936,650.371042064,0.40075448992,-0.00543990369227,0.0598477119986,0.999999926545,-1.34808131566e-05,-0.00038101648852,-3.94338003688e-05,1793192649655269888
+40,0.666666667,BASELINE,764,742,711.206436519,671,661.793563481,633,876,784,799.793563481,649,628.793563481,650.206436519,0.40075365465,-0.00543934667937,0.0598468029425,0.999999926203,-1.25318444504e-05,-0.000381925869331,-3.96141364995e-05,1793192649671936768
+41,0.683333333,BASELINE,764,742,711.781126489,671,661.218873511,633,876,784,799.218873511,649,628.218873511,650.781126489,0.400755340701,-0.00543994564813,0.0598477891529,0.999999927,-1.35472039771e-05,-0.000379792492023,-3.96739754862e-05,1793192649688603648
+42,0.700000000,BASELINE,764.363843865,742,712,671.363843865,661.363843865,633,876.363843865,783.636156135,799,649,628.363843865,651,0.400755365136,-0.00543915640511,0.0598478751077,0.999999927154,-1.39328127666e-05,-0.00037935447348,-3.98393755566e-05,1793192649705270272
+43,0.716666667,BASELINE,764.95149912,742,712,671.95149912,661.95149912,633,876.95149912,783.04850088,799,649,628.95149912,651,0.400754367463,-0.00543751323092,0.0598474072878,0.999999926916,-1.39310427498e-05,-0.00037995932159,-4.00697094474e-05,1793192649721937408
+44,0.733333333,BASELINE,764.469403475,742,712,671.469403475,661.469403475,633,877,783.530596525,799,649,628.469403475,650.469403475,0.400754113194,-0.00543864206222,0.0598470128168,0.999999926741,-1.36012625153e-05,-0.000380441483392,-3.99590728929e-05,1793192649738603776
+45,0.750000000,BASELINE,764,742,712,671,661,633,877,784,799.108864362,649.108864362,628,650.108864362,0.400754093774,-0.00543956024386,0.0598468218408,0.999999926655,-1.30797413812e-05,-0.000380696604976,-3.98594284544e-05,1793192649755270400
+46,0.766666667,BASELINE,764,742,712,671,661,633,877,784,799.686874646,649.686874646,628,650.686874646,0.400754798229,-0.00543849602551,0.0598474793824,0.999999926924,-1.1859080527e-05,-0.000380020868557,-3.99393370172e-05,1793192649771937024
+47,0.783333333,BASELINE,764,742,712,671,661,633,876.738314309,783.738314309,799.738314309,649.738314309,628.261685691,651,0.400754786731,-0.00543821991587,0.0598475004114,0.999999926784,-1.21077499376e-05,-0.000380365524297,-4.00853876059e-05,1793192649788603648
+48,0.800000000,BASELINE,764,742,712,671,661,633,876.167285068,783.167285068,799.167285068,649.167285068,628.832714932,651,0.400753928891,-0.00543887544414,0.0598467690071,0.999999926158,-1.40933419813e-05,-0.00038191640461,-4.03096259311e-05,1793192649805270528
+49,0.816666667,BASELINE,764.419845299,742,711.580154701,671.419845299,661,633,876.419845299,783,799,649,628.580154701,650.580154701,0.40075377386,-0.00543979761038,0.0598471573519,0.99999992619,-1.58397190033e-05,-0.000381779591981,-4.01735694588e-05,1793192649821936896
+50,0.833333333,BASELINE,764.986715953,742,711,672,661,633,876.986715953,783,799,649,628,650,0.400753919731,-0.00544077342572,0.0598479782351,0.999999926483,-1.73812700628e-05,-0.000380972573724,-3.9890557132e-05,1793192649838603520
+51,0.850000000,BASELINE,764.40870184,742,711,672,661,633,876.40870184,783,799,649,628,650,0.40075447815,-0.00543933337114,0.059847463732,0.999999926374,-1.4428851483e-05,-0.000381401097189,-3.97064542285e-05,1793192649855270400
+52,0.866666667,BASELINE,764,742,711,672,661,633,876.16906056,783.16906056,799,649,628.16906056,650,0.400754158219,-0.00543826649839,0.0598466905311,0.999999926089,-1.21088660455e-05,-0.000382227552397,-3.97233073513e-05,1793192649871937024
+53,0.883333333,BASELINE,764,742,711,672,661,633,876.746215322,783.746215322,799,649,628.746215322,650,0.400751718044,-0.00543810044694,0.0598452928614,0.999999925393,-1.13155070857e-05,-0.000384014572462,-4.02252469469e-05,1793192649888603648
+54,0.900000000,BASELINE,764,742,711,672,661,633,877,783.671388943,799.328611057,649,629,650,0.400752010526,-0.00543811275668,0.0598458884181,0.999999925829,-1.18621948001e-05,-0.000382859626817,-4.02538101338e-05,1793192649905270016
+55,0.916666667,BASELINE,764,742,711,672,661,633,877,783.084880057,799.915119943,649,629,650,0.400754447628,-0.0054382650464,0.0598480482825,0.999999927142,-1.34605669677e-05,-0.000379395791735,-3.99108619145e-05,1793192649921936640
+56,0.933333333,BASELINE,764,742,711.49522531,671.50477469,661,633,876.50477469,783,799.50477469,649,629,650.49522531,0.400754181761,-0.00543817079764,0.0598472738813,0.999999926827,-1.33838514026e-05,-0.000380225364524,-3.99400188617e-05,1793192649938603264
+57,0.950000000,BASELINE,764,742,711.925867869,671,661,633,876,783.074132131,799.074132131,649,629,650.925867869,0.400753705711,-0.00543821952505,0.0598463179197,0.999999926357,-1.30983636027e-05,-0.00038146647675,-3.99618965195e-05,1793192649955270144
+58,0.966666667,BASELINE,764,742,711.347743262,671,661,633,876,783.652256738,799.652256738,649,629,650.347743262,0.400754910163,-0.00543952389854,0.0598475031223,0.999999926716,-1.3320508196e-05,-0.000380566423907,-3.95062236022e-05,1793192649971936768
+59,0.983333333,BASELINE,764.228467543,742,711.228467543,671,661,633,876,783.771532457,799.771532457,649,629,650,0.400755290696,-0.00544019293221,0.0598478749629,0.999999926802,-1.36136896762e-05,-0.000380352361282,-3.92781216934e-05,1793192649988603648
+60,1.000000000,BASELINE,764.801789694,742,711.801789694,671,661,633,876,783.198210306,799.198210306,649,629,650,0.400754427586,-0.00543990296831,0.0598470190948,0.999999926479,-1.4014096039e-05,-0.00038117374927,-3.93935210733e-05,1793192650005270528
+61,1.016666667,BASELINE,765,742,711.613839099,671.386160901,661,633,876,783.386160901,799,649,629,650.386160901,0.400755060317,-0.00543847467093,0.0598471872046,0.999999926639,-1.23748678671e-05,-0.000380787778733,-3.96088466499e-05,1793192650021937152
+62,1.033333333,BASELINE,765,742,711.023629571,671.976370429,661,633,876,783.976370429,799,649,629,650.976370429,0.400756483455,-0.00543644487461,0.0598478963875,0.999999927048,-9.65789040584e-06,-0.000379763836125,-3.9876973534e-05,1793192650038603776
+63,1.050000000,BASELINE,765,742,711,672,661,633,876,783.443642359,799.556357641,649,629,650.443642359,0.400756192844,-0.00543785310662,0.0598480121337,0.99999992719,-1.20110362626e-05,-0.000379347741035,-3.96259430171e-05,1793192650055270144
+64,1.066666667,BASELINE,764.865136165,742,711,672,661.269727671,632.865136165,876.134863835,783,799.865136165,649,629,650,0.400756024225,-0.00543893229566,0.0598482380055,0.99999992735,-1.37307928585e-05,-0.000378884805284,-3.94700595578e-05,1793192650071936768
+65,1.083333333,BASELINE,764.290072537,742,711,672,662.419854926,632.290072537,876.709927463,783,799.290072537,649,629,650,0.400756487087,-0.00543846946451,0.0598489041146,0.999999927619,-1.26929587824e-05,-0.00037818623482,-3.96954111971e-05,1793192650088603392
+66,1.100000000,BASELINE,764.290896088,742.290896088,711.290896088,671.709103912,662.418207824,632.290896088,876.709103912,783,799,649,628.709103912,650,0.400756036096,-0.00543821420701,0.0598484093839,0.99999992726,-1.28011746449e-05,-0.000379104775757,-3.99366739454e-05,1793192650105270016
+67,1.116666667,BASELINE,764.877874962,742.877874962,711.877874962,671.122125038,661.244250075,632.877874962,876.122125038,783,799,649,628.122125038,650,0.400754654958,-0.00543817022424,0.0598467331153,0.999999926257,-1.40758746607e-05,-0.000381669261344,-4.0194131485e-05,1793192650121936640
+68,1.133333333,BASELINE,764.541288182,742.541288182,711.541288182,671,661,633,876,783,799,649,628.458711818,650.458711818,0.400754149135,-0.00543770137408,0.0598464675689,0.999999926089,-1.34128703383e-05,-0.000382160805903,-3.99291905334e-05,1793192650138603520
+69,1.150000000,BASELINE,764.037815114,742,711,671,661,633,876,783,799.037815114,649,629,650.962184886,0.400753855846,-0.00543716460384,0.0598465735309,0.999999926128,-1.2269189306e-05,-0.000382134163671,-3.95795328726e-05,1793192650155270400
+70,1.166666667,BASELINE,764.615206287,742,711,671,661,633,876,783,799.615206287,649,629,650.384793713,0.400753313903,-0.0054372513781,0.0598466921574,0.999999925987,-1.15306190798e-05,-0.00038248436322,-3.99793624663e-05,1793192650171937024
+71,1.183333333,BASELINE,765,742,711,671,661,632.808064229,875.808064229,783,799.808064229,649,629,650,0.400752816483,-0.00543776148165,0.059846750982,0.999999925854,-1.19946355698e-05,-0.000382799246952,-4.01620110604e-05,1793192650188603648
+72,1.200000000,BASELINE,765,742,711,671,661,632.23265664,875.23265664,783,799.23265664,649,629,650,0.400752408018,-0.00543911736217,0.0598466903271,0.999999925732,-1.48613208604e-05,-0.00038304357266,-3.99107500269e-05,1793192650205270272
+73,1.216666667,BASELINE,764.649225643,742,711,671,661,632.350774357,875,783,799,649,628.649225643,650,0.400751515368,-0.00543949442518,0.0598460705885,0.99999992532,-1.5610895309e-05,-0.000384110229617,-3.96933109912e-05,1793192650221936640
+74,1.233333333,BASELINE,764.060348455,742,711,671,661,632.939651545,875,783,799,649,628.060348455,650,0.400750294057,-0.00543920707461,0.0598450713484,0.999999924713,-1.49233916596e-05,-0.00038573507844,-3.94988300725e-05,1793192650238603264
+75,1.250000000,BASELINE,764,742,711.518764846,671,661,633,875,783,799,649,628,650,0.400750842418,-0.00543945736755,0.0598452684536,0.999999924938,-1.38857173094e-05,-0.000385185943174,-3.95322855473e-05,1793192650255269888
+76,1.266666667,BASELINE,764,742,711.903240684,671,661,633,875.096759316,783,799,649,628.096759316,650.096759316,0.400751594826,-0.00543962141917,0.0598456730383,0.999999925309,-1.31197665748e-05,-0.000384241334215,-3.96076318634e-05,1793192650271936768
+77,1.283333333,BASELINE,764,742,711.325265974,671,661,633,875.674734026,783,799,649,628.674734026,650.674734026,0.400752357094,-0.00543905125647,0.0598464301245,0.999999925935,-1.39040346458e-05,-0.000382564433741,-3.97618780369e-05,1793192650288603648
+78,1.300000000,BASELINE,764,742,711,671,661,633,876,783,799,649,629,651,0.40075369503,-0.00543875347607,0.0598472311589,0.999999926476,-1.41740565302e-05,-0.000381136888612,-3.97668548774e-05,1793192650305270272
+79,1.316666667,BASELINE,764,742,711,671,661,633,876,783,799,649,629,651,0.400755773917,-0.00543880628382,0.0598480887598,0.99999992691,-1.37821829006e-05,-0.000380030293331,-3.95797044811e-05,1793192650321936896
+80,1.333333333,BASELINE,763.587403689,742,711,671,661,633,876,783.412596311,799,649,628.587403689,650.587403689,0.400755106826,-0.00543959164456,0.0598476414162,0.999999926534,-1.55180968623e-05,-0.000380931649751,-3.97748729831e-05,1793192650338603520
+81,1.350000000,BASELINE,763.00191078,742,711,671,661,633,875.99808922,784,799,649,628,650.00191078,0.40075327206,-0.00544068743412,0.059846640998,0.999999925806,-1.8153741084e-05,-0.000382683990184,-4.01321917314e-05,1793192650355270144
+82,1.366666667,BASELINE,763.580577163,742,711,671,661,633,875.419422837,784,799,649,628,650.580577163,0.400754057942,-0.00544075940849,0.0598474379248,0.999999926221,-1.72278356434e-05,-0.000381656763935,-3.9996740823e-05,1793192650371936768
+83,1.383333333,BASELINE,764,742,711,671,661,633,875.158195861,783.841804139,799,649,628.158195861,650.841804139,0.400754081471,-0.00544029825196,0.0598476371101,0.99999992629,-1.59248232098e-05,-0.00038153607949,-3.99456558013e-05,1793192650388603392
+84,1.400000000,BASELINE,764,742,711,671,661,633,875.733055244,783.266944756,799,649,628.733055244,650.266944756,0.400752097083,-0.00543843291078,0.0598462619365,0.99999992545,-1.36285688601e-05,-0.000383803086251,-4.01167774959e-05,1793192650405270272
+85,1.416666667,BASELINE,764,742,711.314943661,671,661,633,876,783,799,649,629,650.314943661,0.400752082149,-0.00543729924733,0.0598465224619,0.999999925616,-1.17529324994e-05,-0.000383444189663,-4.00064693342e-05,1793192650421936896
+86,1.433333333,BASELINE,764,742,711.902925823,671,661,633,876,783,799,649,629,650.902925823,0.400753774621,-0.00543679990755,0.0598482010468,0.999999926654,-1.02419484954e-05,-0.000380808781927,-3.96521772524e-05,1793192650438603520
+87,1.450000000,BASELINE,764,742,711.516581577,671,661.483418423,633,876.483418423,783.483418423,799,649,628.516581577,650.516581577,0.400753175376,-0.00543744554146,0.0598474963711,0.999999926149,-1.18244686892e-05,-0.000382065871975,-3.98523081333e-05,1793192650455270144
+88,1.466666667,BASELINE,764,742,711,671,661.937588116,633,876.937588116,784,799,649,628.062411884,650.062411884,0.40075236126,-0.00543820926051,0.0598465528148,0.999999925468,-1.37018319168e-05,-0.0003837571662,-4.00808869189e-05,1793192650471936768
+89,1.483333333,BASELINE,764,742,711,671,661.358744588,633,876.358744588,784,799,649,628.641255412,650.641255412,0.400753519,-0.00543807662247,0.0598475322286,0.999999925911,-1.29571546288e-05,-0.000382672221985,-3.96376864021e-05,1793192650488603392
+90,1.500000000,BASELINE,764,742.216603406,711,671.216603406,661.216603406,633,876,783.783396594,799,649,628.783396594,650.783396594,0.400753994897,-0.00543843893661,0.059847916636,0.999999926129,-1.31498595531e-05,-0.00038211943928,-3.94138202084e-05,1793192650505270016
+91,1.516666667,BASELINE,764,742.786253892,711,671.786253892,661.786253892,633,876,783.213746108,799,649,628.213746108,650.213746108,0.400753359443,-0.00543960798517,0.0598473312281,0.99999992598,-1.48704262658e-05,-0.000382434039477,-3.95474523236e-05,1793192650521936896
+92,1.533333333,BASELINE,764,742.628838215,711,671.628838215,661.628838215,633,876,783,799,649,628,650,0.400753534618,-0.0054394770667,0.0598472007871,0.999999926067,-1.48296608144e-05,-0.000382188350803,-3.97339178879e-05,1793192650538603520
+93,1.550000000,BASELINE,764,742.034767097,711,671.034767097,661.034767097,633,876,783,799,649,628,650,0.400754196633,-0.0054385654247,0.0598473435863,0.999999926296,-1.37310889514e-05,-0.000381606168419,-3.99521137491e-05,1793192650555270144
+94,1.566666667,BASELINE,764,742,711,671.545075938,661,633,876,783,799.545075938,649,628.545075938,650,0.400754071552,-0.00543914249694,0.0598477996876,0.999999926467,-1.28029923063e-05,-0.000381229893377,-3.95743292472e-05,1793192650571937024
+95,1.583333333,BASELINE,764,742,711,671.876790565,661,633,876,783,800,649,629,650,0.400753926429,-0.00543957160847,0.0598479957769,0.999999926466,-1.22543597503e-05,-0.000381281174805,-3.92754614509e-05,1793192650588603648
+96,1.600000000,BASELINE,764,742,711,671.301683148,661,633,876,783,800,649,629,650,0.40075388725,-0.00543911862856,0.0598471667849,0.99999992585,-1.30586290655e-05,-0.000382853669562,-3.9401916006e-05,1793192650605270272
+97,1.616666667,BASELINE,764,742,711.279517883,671,661,633,876,783,799.720482117,649,629,650,0.400754350516,-0.00543907016743,0.05984720516,0.999999925908,-1.3839871773e-05,-0.000382665895413,-3.94774785012e-05,1793192650621936896
+98,1.633333333,BASELINE,764,742,711.86744228,671,661,633,876,783,799.13255772,649,629,650,0.400755368155,-0.0054394680328,0.0598482005461,0.99999992671,-1.45957079873e-05,-0.000380535925593,-3.94968891507e-05,1793192650638603520
+99,1.650000000,BASELINE,764,742,711.551380904,671.448619096,661,633,876,783,799,649,629,650,0.400754289785,-0.00543916062565,0.0598478359235,0.999999926511,-1.39782341236e-05,-0.000381052229209,-3.97836699603e-05,1793192650655270144
+100,1.666666667,BASELINE,764,742,711,671.972205623,661,632.972205623,876,783,799,649,628.972205623,650,0.400752705585,-0.00543869748438,0.0598470944796,0.999999926035,-1.30721241374e-05,-0.000382295901315,-4.01179410617e-05,1793192650671937024
+101,1.683333333,BASELINE,764,742,711,671.393769268,661,632.393769268,876,783,799,649,628.393769268,650,0.400753188074,-0.00543921641669,0.0598467310089,0.999999925878,-1.43677572583e-05,-0.000382688392427,-3.98511096605e-05,1793192650688603648
+102,1.700000000,BASELINE,764,742,711,671,661,632.182796567,876,783,799,649,628,650.182796567,0.400753059601,-0.00543954253627,0.05984627784,0.999999925742,-1.540332477e-05,-0.000383020878719,-3.96746162099e-05,1793192650705270016
+103,1.716666667,BASELINE,764,742,711,671,661,632.755373786,876,783,799,649,628,650.755373786,0.400751628361,-0.00543945751747,0.0598456334063,0.999999925655,-1.5884349195e-05,-0.000383225415525,-3.96907521499e-05,1793192650721936640
+104,1.733333333,BASELINE,764,742,711,671.338319235,661,633,876,783.338319235,799.338319235,649,628.338319235,650.661680765,0.400752248437,-0.00543937730563,0.0598461059238,0.999999925804,-1.50288547736e-05,-0.000382885200819,-3.95514958888e-05,1793192650738603264
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+106,1.766666667,BASELINE,764,742,711,672,661,633,876,783.490112343,799.490112343,649,628.490112343,650,0.400752984047,-0.00543863469148,0.0598465666964,0.999999925403,-1.3580748194e-05,-0.000383968990532,-3.97180502898e-05,1793192650771936768
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875,784,800,649,629,650,0.400752062418,-0.00543916575175,0.0598463918528,0.999999925688,-1.30234960733e-05,-0.000383231058062,-3.9845166686e-05,1793192650815003392
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,632.424418196,875.575581804,784,799.424418196,649,628.424418196,650,0.400752727114,-0.00543943113088,0.0598460789533,0.999999925617,-1.48708902688e-05,-0.000383337016408,-3.99806006912e-05,1793192650831670016
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671.155156713,661,632.155156713,876,784,799,649,628,650.155156713,0.40075327875,-0.00543984663393,0.0598459686502,0.999999925606,-1.64533415012e-05,-0.00038329598243,-4.00140642598e-05,1793192650848336640
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671.745943097,661,632.745943097,876,784,799,649,628,650.745943097,0.40075351295,-0.0054406836363,0.059846427172,0.999999925776,-1.72919193386e-05,-0.000382842241763,-3.9761227982e-05,1793192650865003264
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.33058226,672.33058226,661,633,876.33058226,784,799,649,628.33058226,651,0.400753045171,-0.00544042391426,0.0598462680401,0.999999925561,-1.60388602111e-05,-0.000383467331349,-3.96693497263e-05,1793192650881670144
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.910583411,672.910583411,661,633,876.910583411,784,799,649,628.910583411,651,0.400752047761,-0.0054393367316,0.0598456428985,0.999999925048,-1.32076952632e-05,-0.000384906380684,-3.96989116718e-05,1793192650898337024
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.485101615,742,711.514898385,672.02979677,661,633,876.514898385,783.514898385,799,649,628.514898385,650.514898385,0.400756666536,-0.00543774527922,0.0598478869815,0.999999926544,-1.19688589285e-05,-0.000380993765544,-4.01636273096e-05,1793192650915003392
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.939918561,742,711.060081439,671,661,633,876,783,799,649,628.060081439,650,0.400762482867,-0.00543647976047,0.0598504033494,0.999999928113,-1.14161731725e-05,-0.000376824368939,-4.05778225853e-05,1793192650931669760
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.352106135,742,711.647893865,671,661,633,876,783,799,649,628.647893865,650,0.400769826841,-0.00543888441865,0.0598507178861,0.999999927295,-1.43411247308e-05,-0.000378967229993,-3.98516102723e-05,1793192650948336384
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783.231901385,799,649,629,650,0.400783326509,-0.00544058469654,0.0598505865585,0.999999926416,-1.58658046362e-05,-0.000381260040696,-3.94677201849e-05,1793192650965003264
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783.810224952,799,649,629,650,0.400806021762,-0.00544123274696,0.0598497891835,0.999999925457,-1.52987108118e-05,-0.000383776851102,-3.95952027581e-05,1793192650981670144
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.388208649,742.388208649,711.611791351,671,661,633,876,783.611791351,799,649,628.611791351,650,0.400837546205,-0.00544185857036,0.0598483903805,0.999999924352,-1.47451247038e-05,-0.000386627384576,-3.99743418775e-05,1793192650998336768
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.966026397,742.966026397,711.033973603,671,661,633,876,783.033973603,799,649,628.033973603,650,0.400873383008,-0.00544247353768,0.0598466978276,0.99999992317,-1.41981359921e-05,-0.00038964091549,-4.04763952479e-05,1793192651015003392
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.460450528,742.460450528,711,671.539549472,661,632.460450528,876,783,799,649,628.539549472,650,0.400928438772,-0.00544300503538,0.0598447992754,0.999999922795,-1.51112985337e-05,-0.000390430973305,-4.17781889936e-05,1793192651031670016
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632.116388201,876,783,799,649,628.883611799,650.116388201,0.400990045552,-0.00544429917482,0.0598435522455,0.999999922928,-1.69369934504e-05,-0.00038988829562,-4.2948247842e-05,1793192651048336896
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632.707856227,876,783,799,649,628.292143773,650.707856227,0.401073491992,-0.00544872759182,0.059845017163,0.999999924905,-2.21151886729e-05,-0.000384472549826,-4.33766577108e-05,1793192651065003520
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,671.707162429,661,633,876,783,799,649,628.292837571,650.707162429,0.401170839718,-0.00545187884694,0.0598480213757,0.999999927747,-2.39058230285e-05,-0.000376797704158,-4.42470527528e-05,1793192651081670144
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,671.128512193,661,633,876,783,799,649,628.871487807,650.128512193,0.401281755246,-0.00545378357787,0.0598525279574,0.999999931398,-2.23901607067e-05,-0.000366917952677,-4.55488301189e-05,1793192651098336768
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.447768884,671.447768884,661,633,876.447768884,783.447768884,799,649,628.552231116,650,0.40142134878,-0.00545760524444,0.0598589462587,0.999999937146,-2.63088622368e-05,-0.000350442061596,-4.69747744335e-05,1793192651115003392
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,671.976149724,661.023850276,633,876.976149724,784,799,649,628.023850276,650,0.401569810991,-0.00546189370761,0.0598657469536,0.999999943068,-3.15686627971e-05,-0.000332444433972,-4.84616772076e-05,1793192651131670272
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671.388805496,661.611194504,633,876.388805496,784,799,649,628.611194504,650,0.401734368592,-0.00546428074907,0.0598686872792,0.999999946055,-3.18578431736e-05,-0.000322986030515,-5.05512739148e-05,1793192651148336640
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.804234645,671,661.804234645,633,876,783.804234645,799,649,629,650,0.401911501813,-0.00546792517289,0.059869730038,0.999999947948,-3.39416897899e-05,-0.000316473682909,-5.28792268154e-05,1793192651165003264
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.225095067,671,661.225095067,633,876,783.225095067,799,649,629,650,0.402113262294,-0.0054740319728,0.0598670567246,0.999999947826,-3.95400947992e-05,-0.000315730701906,-5.56739608472e-05,1793192651181669888
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783,799,649,629,650,0.402334538393,-0.00547853132658,0.0598621482433,0.999999946778,-4.38780042708e-05,-0.000317831788229,-5.91817765575e-05,1793192651198336768
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+198,3.300000000,POSE1_TO_POSE2_PRESS,763.183036835,742.183036835,711,673,659.183036835,632,877,783.183036835,799.816963165,649,628.816963165,650,0.442612694304,-0.0055782058439,0.0597613901457,0.999999916302,-0.000118559879737,-0.000387015695491,-5.96510185982e-05,1793192652331669760
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.390312434,742,711,673,659,632,877,783,799.609687566,649,628.609687566,650,0.442817641052,-0.00557893727642,0.0597625153245,0.99999991763,-0.000119838855025,-0.000383217107177,-5.93590455488e-05,1793192652348336640
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.961107936,742,711,673,659,632,877,783,799.038892064,649,628.038892064,650,0.443007222442,-0.00557860017512,0.0597627519338,0.999999917847,-0.000120026565713,-0.000382600285482,-5.93014137725e-05,1793192652365003520
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742,711,672,659.857844153,632,877,783,800.715688307,649,628.142155847,650.857844153,0.443300314225,-0.00558144085082,0.0597504826258,0.999999908039,-0.000120835132704,-0.000407270003603,-5.87551811938e-05,1793192652398336768
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+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.025113339,711,673,659,632,877,782.974886661,799.025113339,649,628.025113339,650,0.443809500855,-0.00558232786072,0.0597438294814,0.999999907696,-0.000118456292965,-0.000408950303941,-5.77506876709e-05,1793192652481670144
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.616265221,711,673,659,632,877,782.383734779,799.616265221,649,628.616265221,650,0.443865252692,-0.00558404773338,0.0597440568465,0.999999907804,-0.000118616175814,-0.000408779101102,-5.6759204277e-05,1793192652498337024
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631.796609276,877.203390724,782.203390724,800,649,629,650,0.443915752436,-0.00558500097695,0.0597444143121,0.999999908062,-0.000118157818381,-0.000408378215191,-5.60495156518e-05,1793192652515003648
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+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877.641767406,783,800,649,628.641767406,650,0.443984959799,-0.00558398243757,0.0597435248641,0.999999907593,-0.000115344977217,-0.000410355534165,-5.58412752871e-05,1793192652548336896
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877.069299536,783,800,649,628.069299536,650,0.444005993211,-0.00558337609952,0.0597407898964,0.999999905647,-0.000114368371702,-0.000415328900908,-5.59221304416e-05,1793192652565003776
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.894395432,711.894395432,672.105604568,659.105604568,631,877,782.894395432,800,649,629,650,0.444034930902,-0.00558143697769,0.0597379170071,0.999999904736,-0.000113875801253,-0.000417693344833,-5.56044520094e-05,1793192652598336768
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.316148673,711.316148673,672.683851327,659.683851327,631,877,782.316148673,800,649,629,650,0.444045526902,-0.0055814351224,0.0597402942881,0.999999905654,-0.000113071504603,-0.000415789801753,-5.5003133009e-05,1793192652615003136
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.261142977,711.261142977,673,659.738857023,631,877,782,800,649.261142977,628.738857023,650,0.444053053217,-0.00558097957446,0.0597410541667,0.999999906231,-0.000111622883665,-0.000414826220742,-5.47495797302e-05,1793192652631670016
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.587791415,711.587791415,672.587791415,659,631,877.412208585,782.412208585,800,649.587791415,628,650,0.444057552093,-0.00557806152717,0.0597381879033,0.999999905778,-0.000106810434295,-0.000417133360766,-5.50989914567e-05,1793192652665003520
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+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.579090475,711,672,659,631,877.420909525,783,800,649,628,650,0.444058023948,-0.00557782095728,0.0597359621513,0.999999904234,-0.000105922240622,-0.000421096249761,-5.46893793513e-05,1793192652698337024
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+240,4.000000000,HOLD_POSE2,763,743,711,673,659,632,877,782,801,649,628,650,0.444064423429,-0.00557381383735,0.0597356921386,0.999999905139,-9.84393668277e-05,-0.0004208911609,-5.36881892638e-05,1793192653055082752
+241,4.016666667,HOLD_POSE2,763.572592405,743,711,673,659,631.427407595,877.572592405,782,799.854815191,649,628,650,0.444062247049,-0.00557528101215,0.0597346684497,0.999999903466,-0.000101448772075,-0.000424203130418,-5.31816658704e-05,1793192653071749632
+242,4.033333333,HOLD_POSE2,764,743,711,672.850049125,659,631,877.850049125,782,799,649,628.149950875,650,0.444061124347,-0.00557631763724,0.0597340618761,0.999999902482,-0.000103593897297,-0.000426040506874,-5.28485911299e-05,1793192653088416256
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+250,4.166666667,HOLD_POSE2,764,742.192967231,711,673,659,631,877,782,800.192967231,648.807032769,628.192967231,650,0.44406355503,-0.00557595803752,0.0597348575794,0.999999903487,-0.00010365164167,-0.0004236815033,-5.26850936846e-05,1793192653221749248
+251,4.183333333,HOLD_POSE2,764,742.388349432,711,673,659,631.388349432,877,782,800,649,628.388349432,650,0.444063761155,-0.00557581094788,0.0597349428722,0.999999903584,-0.000103997977751,-0.000423367160696,-5.26898301147e-05,1793192653238416128
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+256,4.266666667,HOLD_POSE2,764,743,711.295883669,673,659.704116331,631.295883669,877.704116331,782.295883669,799.591767338,649,629,650,0.444064153711,-0.00557560465351,0.0597345963748,0.999999903855,-0.00010327696728,-0.00042284827895,-5.3143046663e-05,1793192653321748992
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.082002094,671,660,633,877.835995811,783,799.917997906,649,628,651,0.4009520649,-0.00538062227965,0.059833051,0.999999938853,0.000209943682599,-0.000278927129221,2.0430516235e-05,1793192655154318592
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711.159542366,671,660.840457634,633,876,783,799,649,628.840457634,650.159542366,0.400949599027,-0.00538016736976,0.0598337664984,0.999999938447,0.000210419757334,-0.00028002580644,2.03765922643e-05,1793192655204318208
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.984909466,661,633,876,783,799.984909466,649,628.015090534,650.984909466,0.400951221074,-0.00538099361788,0.0598358964706,0.999999940141,0.000208142779991,-0.000275657565936,2.01652773956e-05,1793192655237651456
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.423545859,661,633,876,783.576454141,800,649,628.576454141,651,0.400951711383,-0.00538086964662,0.0598362038263,0.999999940106,0.000209231424365,-0.000274945810131,2.03785203698e-05,1793192655254318080
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.835417832,633,876,784,800,649,628.835417832,651,0.400952111846,-0.00538098492419,0.0598363471573,0.999999940169,0.000209449517933,-0.000274544610916,2.04469309148e-05,1793192655270984704
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.257259292,633,876,784,800,649,628.257259292,651,0.400952351821,-0.00538173709501,0.0598361521261,0.999999940555,0.000207339126374,-0.000274762515547,2.01303817405e-05,1793192655287651584
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.521477746,712,670.478522254,661.478522254,632.521477746,876,783.478522254,799,649,628.478522254,650.521477746,0.400948269536,-0.00538127917181,0.0598337817287,0.999999939273,0.000207493937048,-0.000279293332019,1.99010356824e-05,1793192655337651712
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.067472925,712,671.067472925,661.86505415,632.067472925,876.067472925,783.932527075,798.932527075,649,629,650.067472925,0.400947091783,-0.00538258405688,0.0598333300504,0.999999939346,0.000206073355931,-0.000280070687344,2.0032573116e-05,1793192655354318592
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742.646104653,712,671.646104653,660.707790694,632.646104653,876.646104653,783.353895347,798.353895347,649,629,650.646104653,0.400948353942,-0.00538058737423,0.059834631148,0.999999939212,0.000209850514856,-0.000277768611763,1.95859641313e-05,1793192655370984960
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742.777007029,712,671.777007029,660.222992971,633,876.777007029,783,798.445985942,649,628.777007029,651,0.400949257279,-0.00537991634499,0.0598356172545,0.999999939435,0.000210719365755,-0.000276312370329,1.94873720667e-05,1793192655387651584
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742.202864117,712,671.202864117,660.797135883,633,876.202864117,783,799.594271767,649,628.202864117,651,0.400949595573,-0.0053813328396,0.05983610734,0.999999940235,0.000207008465819,-0.000276188075107,1.99368068153e-05,1793192655404318464
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742.37361809,712,671,661,633,876,783.37361809,800,649,628.37361809,650.62638191,0.400949508243,-0.00538248379858,0.0598359802042,0.999999940661,0.000205393175828,-0.000275847852442,2.00042752437e-05,1793192655420985088
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.951378451,712,671,661,633,876,783.951378451,800,649,628.951378451,650.048621549,0.400949188356,-0.00538348967074,0.0598355158231,0.999999940886,0.000204922912352,-0.000275389648563,1.98630399724e-05,1793192655437651712
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.459481182,711.459481182,671.540518818,661,633,875.459481182,784,799.459481182,649,629,650,0.400948625355,-0.00538234245349,0.0598354318425,0.999999940063,0.000207369660889,-0.000276547330403,1.98140968334e-05,1793192655454318592
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.128325117,671.871674883,661,633,875,784,799.128325117,649,628.871674883,650,0.40094838454,-0.005381451238,0.0598354998908,0.999999939556,0.00020906137191,-0.000277110073747,1.97603787851e-05,1793192655470985216
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.707765466,671.292234534,661,633,875,784,799.707765466,649,628.292234534,650,0.400949354872,-0.00538215547353,0.0598359795043,0.999999940521,0.000207156551519,-0.00027505939472,1.96600623998e-05,1793192655487651840
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.715349204,671,661,633,875.284650796,783.715349204,800,649,628.284650796,650,0.400950619427,-0.00538247698264,0.0598367465585,0.9999999412,0.000206400303778,-0.000273150830725,1.96657931657e-05,1793192655504318464
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.14106356,671,661,633,875.85893644,783.14106356,800,649,628.85893644,650,0.400952183357,-0.00538240906414,0.0598378060864,0.999999941593,0.000206812739229,-0.000271386869859,1.97794278881e-05,1793192655520985088
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.567496546,742.432503454,711,671,661,633,876.432503454,783.432503454,800,649,629,650.432503454,0.400951197791,-0.00538201659186,0.0598379443765,0.999999941183,0.00020732668779,-0.00027250024909,1.98178966552e-05,1793192655537651712
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.006044358,742.993955642,711.006044358,671,661,633,876.993955642,784,799.993955642,649.006044358,628.993955642,651,0.40094941747,-0.00538153121896,0.0598377875134,0.999999940522,0.000207864069057,-0.000274510589023,1.98341637738e-05,1793192655554318336
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.599802079,742.400197921,711.599802079,671,661,633,876.400197921,784,799.400197921,649.599802079,628.400197921,651,0.400951079126,-0.00538228838038,0.059838098893,0.999999941112,0.000207465925075,-0.00027263704427,2.00714915881e-05,1793192655570984960
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94ae35b5ca5f1156d3ec55ae5bab0cd689e11867
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,392 @@
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+1,0.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+2,0.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+3,0.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+4,0.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+5,0.083333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+6,0.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+7,0.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+8,0.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
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+10,0.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+11,0.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+12,0.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+13,0.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+14,0.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+15,0.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+16,0.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+17,0.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+18,0.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
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+21,0.350000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
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+30,0.500000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e70e3b7b351006aec7659b70e1478a21cb56a0ac
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d229e076d08ab786e5d04dc6d42899bfe4b7d7eaed116775d7aab72fddee88f9
+size 25042083
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d78c0632e6a47a6e4b894a4e0327bc67807960b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/franka_data.csv
@@ -0,0 +1,395 @@
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+4,0.066666667,BASELINE,764,742,711,671,661,633,876,783.326812057,799,649,629,651,0.400952311066,-0.00538216822319,0.0598401906462,0.999999941984,0.00020833109043,-0.000268775233611,1.97450998234e-05,1793192655792710912
+5,0.083333333,BASELINE,764,742,711,671,661,633,876,783.906073216,799,649,629,651,0.400953104484,-0.00538112094634,0.0598400754087,0.999999942118,0.000208461142076,-0.000268201407732,1.93791301674e-05,1793192655809377280
+6,0.100000000,BASELINE,764,742,711.484878691,671,661,633,876,783.515121309,799.484878691,649,629,651,0.400950711621,-0.00538178148599,0.0598386736387,0.999999941586,0.00020752282469,-0.000270894687229,1.94487162488e-05,1793192655826044160
+7,0.116666667,BASELINE,764,742,712,671,661,633,876,783,799.936386923,649,628.936386923,650.936386923,0.400948254969,-0.00538245451334,0.059837303914,0.999999940963,0.000206882254902,-0.00027366008497,1.9576384277e-05,1793192655842710784
+8,0.133333333,BASELINE,764,742,712,671,661,633,876,783,799.357514002,649,628.357514002,650.357514002,0.400950276366,-0.00538055155972,0.0598382104883,0.999999940729,0.000210328160606,-0.000271888201472,1.94917443017e-05,1793192655859377664
+9,0.150000000,BASELINE,764,742,711.776743971,671,661,633,876,783.223256029,799,649,628,650.223256029,0.400951170341,-0.00537977957552,0.0598384882687,0.99999994056,0.000211932325174,-0.000271265032031,1.9485195445e-05,1793192655876044544
+10,0.166666667,BASELINE,764,742,711.192909997,671,661,633,876,783.807090003,799,649,628,650.807090003,0.400950243432,-0.00538083420567,0.059837750492,0.999999940512,0.000210561916951,-0.00027249713609,1.96047705594e-05,1793192655892711168
+11,0.183333333,BASELINE,764,742,711.388296652,671,661,632.611703348,876,784.388296652,799,649,628.388296652,651,0.400950323211,-0.00538117233876,0.0598379995935,0.999999940714,0.000209759284013,-0.000272378268461,1.9583039729e-05,1793192655909377536
+12,0.200000000,BASELINE,764,742,711.968206842,671,661,632.031793158,876,784.968206842,799,649,628.968206842,651,0.400950899761,-0.0053811569007,0.0598387356917,0.999999941039,0.000209236832174,-0.000271592734195,1.94915783771e-05,1793192655926044160
+13,0.216666667,BASELINE,764.5438816,742,711.4561184,671,661,632.5438816,876.5438816,783.912236801,799,649,628.4561184,650.4561184,0.400951455965,-0.0053812720437,0.0598394547937,0.99999994149,0.000208438436648,-0.000270541664498,1.94900289339e-05,1793192655942710784
+14,0.233333333,BASELINE,764.878413906,742,711,671,661,633,876.878413906,783,799,649,628.121586094,650.121586094,0.400951680184,-0.0053814910453,0.059839730247,0.999999941782,0.0002076155945,-0.000270097018816,1.94815911195e-05,1793192655959377408
+15,0.250000000,BASELINE,764.292010469,742,711,671,661,633,876.292010469,783,799,649,628.707989531,650.707989531,0.400950639754,-0.00538207813701,0.0598383134238,0.999999941436,0.000206760483784,-0.000272029582263,1.94268816763e-05,1793192655976044032
+16,0.266666667,BASELINE,764,742,711,671,661,633,876,783.292453413,799,649,629,651,0.400950424376,-0.00538291576174,0.0598382322961,0.999999941696,0.000205522884375,-0.000272013887469,1.9393053193e-05,1793192655992710912
+17,0.283333333,BASELINE,764,742,711,671,661,633,876,783.874993403,799,649,629,651,0.400951027374,-0.0053840018919,0.0598394760543,0.999999942556,0.000203905891821,-0.000270065701646,1.93799366827e-05,1793192656009377536
+18,0.300000000,BASELINE,764,742,711,671,661,633,876,783.549245938,799,649,629,651,0.400951568736,-0.00538396129004,0.0598398957177,0.999999942679,0.000204108960969,-0.000269451509912,1.9448392422e-05,1793192656026044160
+19,0.316666667,BASELINE,764,742,711,671,661,633,876,783.02468084,799,649,628.97531916,651,0.400952011959,-0.00538363540183,0.0598400354794,0.999999942583,0.000204773631971,-0.000269297509943,1.95327335276e-05,1793192656042710784
+20,0.333333333,BASELINE,764,742,711,671,661,633,876,783.599016597,799,649,628.400983403,651,0.400950644612,-0.00538381188539,0.0598389560737,0.999999942076,0.000204643853611,-0.000271275240344,1.94745058999e-05,1793192656059377408
+21,0.350000000,BASELINE,764,742,711.178204977,671,661,633,876,783.821795023,799,649,628.178204977,650.821795023,0.40094982058,-0.00538388442361,0.0598382190757,0.999999941774,0.000204731454933,-0.000272328819995,1.93446758171e-05,1793192656076044032
+22,0.366666667,BASELINE,764,742,711.768617934,671,661,633,876,783.231382066,799,649,628.768617934,650.231382066,0.400950253298,-0.00538371652464,0.0598382741047,0.999999941953,0.000205321879718,-0.000271244735655,1.90492212804e-05,1793192656092710656
+23,0.383333333,BASELINE,764,742,711.647005807,671,661,633,876.352994193,783,799,649,628.647005807,650.352994193,0.400949789115,-0.00538406843181,0.0598381094557,0.999999941798,0.00020567464246,-0.000271536937232,1.92067284927e-05,1793192656109377280
+24,0.400000000,BASELINE,764,742,711.06651992,671,661,633,876.93348008,783,799,649,628.06651992,650.93348008,0.400948746912,-0.00538475533479,0.0598378032325,0.999999941428,0.000205874240867,-0.000272716104048,1.96561527618e-05,1793192656126043904
+25,0.416666667,BASELINE,764,742,711,671,661,633,875.985324385,783.507337808,799,649,628.507337808,650.492662192,0.400949527529,-0.00538380876213,0.0598381432533,0.999999941823,0.000205206798833,-0.000271781147786,1.94584470055e-05,1793192656142710784
+26,0.433333333,BASELINE,763.918020036,742,711,670.918020036,661,633,875.081979964,783.918020036,799,649,628.918020036,650,0.400950535715,-0.00538263363171,0.0598386208537,0.999999942219,0.00020491521455,-0.000270558264604,1.92208183764e-05,1793192656159377664
+27,0.450000000,BASELINE,763.333306542,742,711,670.333306542,661,633,875.666693458,783.333306542,799,649,628.333306542,650,0.400951492699,-0.00538135335736,0.0598394292332,0.999999942015,0.000207616694045,-0.000269247644379,1.92519833747e-05,1793192656176044288
+28,0.466666667,BASELINE,763.250260262,742,711,670.250260262,661,633,876,783,799.250260262,649,628,650,0.400951672494,-0.00538092126615,0.0598397126131,0.999999941908,0.000208315565605,-0.000269114493387,1.91557065742e-05,1793192656192710912
+29,0.483333333,BASELINE,763.832306789,742,711,670.832306789,661,633,876,783,799.832306789,649,628,650,0.40095082192,-0.00538161366643,0.0598392999667,0.999999941933,0.000206359449743,-0.000270542389824,1.88904719115e-05,1793192656209377536
+30,0.500000000,BASELINE,764,742,711.413108555,671,661,633,875.586891445,783.413108555,799.586891445,649,628.413108555,650.413108555,0.40095047279,-0.00538257301054,0.0598389214372,0.999999942098,0.000205183232821,-0.000270824168018,1.89095365879e-05,1793192656226044160
+31,0.516666667,BASELINE,764,742,711.993406538,671,661,633,875.006593462,783.993406538,799.006593462,649,628.993406538,650.993406538,0.4009503266,-0.00538364038962,0.0598385567151,0.999999942321,0.000204322649345,-0.000270642099927,1.90436602384e-05,1793192656242710784
+32,0.533333333,BASELINE,764,742,712,671,661,633,875.568699098,784,799,649,628.431300902,650.431300902,0.400950494641,-0.00538426244244,0.0598389474478,0.999999942298,0.000204322413007,-0.000270698439752,1.94719766488e-05,1793192656259377408
+33,0.550000000,BASELINE,764,742,712,671,661,633,875.853394769,784,799,649,628.146605231,650,0.400950752368,-0.00538438483318,0.059839373698,0.99999994231,0.000204524254389,-0.000270483718196,1.97290356115e-05,1793192656276044032
+34,0.566666667,BASELINE,764,742,712,671,661,633,875.267484747,784,799,649,628.732515253,650,0.400951268021,-0.00538302531507,0.0598398803605,0.999999942435,0.000205301995826,-0.000269448546738,1.94627874664e-05,1793192656292710656
+35,0.583333333,BASELINE,764,742,711.685048488,670.685048488,661.314951512,633,875.314951512,783.685048488,799,649,629,650,0.40095159499,-0.00538291756139,0.0598402490079,0.999999942578,0.000205530816446,-0.000268732994166,1.95899664305e-05,1793192656309377536
+36,0.600000000,BASELINE,764,742,711.105530207,670.105530207,661.894469793,633,875.894469793,783.105530207,799,649,629,650,0.40095176346,-0.00538386131948,0.0598405017193,0.999999942737,0.000205298530597,-0.000268285928954,2.00476335035e-05,1793192656326044160
+37,0.616666667,BASELINE,764,742,710.528534229,670.942931542,661.528534229,633,875.528534229,783.471465771,799,649,629,650.471465771,0.400951100155,-0.00538525092741,0.0598400856129,0.999999943138,0.000202757917955,-0.000268737692831,1.98155515418e-05,1793192656342710784
+38,0.633333333,BASELINE,764,742,710.047776906,671.952223094,661.047776906,633,875,783.952223094,799,649,629,651,0.400950257063,-0.00538644156335,0.0598394987141,0.999999943468,0.000200238280059,-0.000269426799696,1.9430797317e-05,1793192656359377408
+39,0.650000000,BASELINE,764,742,710.622728285,671.377271715,661.622728285,633,875,783.377271715,799,649,629,651,0.400949473564,-0.00538434142338,0.0598386703366,0.999999942495,0.000203620859981,-0.000270526649006,1.90559254804e-05,1793192656376044032
+40,0.666666667,BASELINE,764,742,711,671,661.797269272,632.797269272,875,783,799,649,629,651,0.400949943059,-0.00538355591546,0.0598388564776,0.999999942372,0.000204831893623,-0.000270073311619,1.89861692809e-05,1793192656392710656
+41,0.683333333,BASELINE,764,742,711,671,661.207626906,632.207626906,875,783,799,649,629,651,0.400952803895,-0.00538527938321,0.0598409788277,0.999999943876,0.000201898530538,-0.000266655717035,1.94987263611e-05,1793192656409377280
+42,0.700000000,BASELINE,764,742,711.376602168,671,661,632.376602168,875.376602168,783,799,649,628.623397832,651,0.400953354539,-0.00538518566483,0.0598415988859,0.999999944053,0.00020203371089,-0.000265873526862,1.9704082868e-05,1793192656426043904
+43,0.716666667,BASELINE,764,742,711.957889078,671,661,632.957889078,875.957889078,783,799,649,628.042110922,651,0.400952649584,-0.00538410429867,0.0598414024428,0.999999943513,0.000203836656624,-0.000266523689343,1.97424746525e-05,1793192656442710528
+44,0.733333333,BASELINE,763.468436587,742,711.468436587,671,661,633,875.468436587,783,799,649,628,651,0.400952783275,-0.00538371124516,0.0598412093102,0.999999943643,0.000203751445552,-0.000266112322103,1.95761760686e-05,1793192656459377408
+45,0.750000000,BASELINE,763.106940383,742,711,671,661,633,875,783.106940383,799,649,628.106940383,651,0.40095264454,-0.00538351944661,0.0598407945341,0.999999943643,0.000203691812651,-0.000266170589806,1.9407060769e-05,1793192656476044032
+46,0.766666667,BASELINE,763.692600603,742,711,671,661,633,875,783.692600603,799,649,628.692600603,651,0.400950993067,-0.00538398791612,0.0598393864105,0.999999942822,0.000204406829782,-0.000268702322356,1.92969015678e-05,1793192656492710912
+47,0.783333333,BASELINE,764,742,711.275970876,671,661,633,875,783.724029124,799,649,629,650.724029124,0.400950767626,-0.00538390342595,0.0598388912323,0.999999942537,0.000204561501076,-0.000269650304236,1.92323861256e-05,1793192656509377792
+48,0.800000000,BASELINE,764,742,711.856811479,671,661,633,875,783.143188521,799,649,629,650.143188521,0.400952117545,-0.00538320807187,0.0598394046002,0.999999942848,0.000204097148867,-0.000268848690089,1.92182941077e-05,1793192656526044416
+49,0.816666667,BASELINE,764,742,712,671,661,633,875.434093247,783,799.434093247,649,628.565906753,650.434093247,0.400952153869,-0.00538289682189,0.0598399765841,0.999999943081,0.000203603455603,-0.000268369763669,1.90054237087e-05,1793192656542710784
+50,0.833333333,BASELINE,764,742,712,671,661,633,876,783.010171267,799.989828733,649,628,651,0.400951754383,-0.00538272289131,0.059840537045,0.999999943276,0.000203124338035,-0.000268025410482,1.87366022778e-05,1793192656559377408
+51,0.850000000,BASELINE,764,742,712,671,661,633,876,783.584068197,799.415931803,649,628,651,0.400951020347,-0.00538319466411,0.0598393959864,0.999999942757,0.000203985096837,-0.000269288227685,1.89712538542e-05,1793192656576044288
+52,0.866666667,BASELINE,764,742,712,671.163487303,661,633,876,784,799,649,628.163487303,650.836512697,0.400950639478,-0.00538360334071,0.059838812825,0.999999942554,0.000204096422022,-0.000269943703717,1.91332517596e-05,1793192656592711168
+53,0.883333333,BASELINE,764,742,712,671.757446602,661,633,876,784,799,649,628.757446602,650.242553398,0.400951188518,-0.00538384588118,0.0598396986411,0.999999943188,0.000202234442952,-0.000269000013499,1.91039481242e-05,1793192656609377792
+54,0.900000000,BASELINE,764,742.342431359,711.657568641,671.657568641,661,633,875.657568641,783.657568641,799,649,628.657568641,650,0.40095129178,-0.00538393298555,0.0598399342505,0.99999994323,0.000202299658063,-0.000268782410783,1.92592228559e-05,1793192656626044160
+55,0.916666667,BASELINE,764,742.921221531,711.078778469,671.078778469,661,633,875.078778469,783.078778469,799,649,628.078778469,650,0.400951087348,-0.00538391280215,0.0598397210631,0.999999942865,0.000203695094087,-0.000269065980607,1.95419004176e-05,1793192656642710528
+56,0.933333333,BASELINE,764,742.503895001,711,671,661,633,875.496104999,783.496104999,799,649,628.496104999,650.496104999,0.400950674777,-0.0053841193046,0.0598395312857,0.999999942617,0.000203696532268,-0.000269982451728,1.95506277287e-05,1793192656659377408
+57,0.950000000,BASELINE,764,742,711,671,661,633,875.927772562,783.927772562,799,649,628.927772562,651,0.400950423702,-0.00538425963764,0.059839431106,0.99999994244,0.000203683079208,-0.000270653613743,1.95014950112e-05,1793192656676044032
+58,0.966666667,BASELINE,764,742,711,671,661,633,875.33837165,783.33837165,799,649,628.33837165,651,0.4009515638,-0.00538367044234,0.0598399460673,0.999999942631,0.000205135618759,-0.000268854278442,1.93471175615e-05,1793192656692710656
+59,0.983333333,BASELINE,763.753482834,742,711.246517166,671,661,632.753482834,875.246517166,783,799,649,628.246517166,650.753482834,0.400951903372,-0.00538364060774,0.059840036909,0.999999942787,0.000205296687603,-0.000268158627427,1.92235028223e-05,1793192656709377536
+60,1.000000000,BASELINE,763.174675959,742,711.825324041,671,661,632.174675959,875.825324041,783,799,649,628.825324041,650.174675959,0.400951163884,-0.00538436475628,0.0598395560643,0.999999942899,0.000203716934968,-0.000268950673499,1.91413542694e-05,1793192656726044160
+61,1.016666667,BASELINE,763.400745172,742,711.599254828,671.400745172,661,632.400745172,876,783.400745172,799,649,629,650.400745172,0.400950114063,-0.00538455809608,0.0598391556096,0.999999942732,0.000203267522667,-0.000269905459801,1.92214050164e-05,1793192656742711040
+62,1.033333333,BASELINE,763.97470286,742,711.02529714,671.97470286,661,632.97470286,876,783.97470286,799,649,629,650.97470286,0.400948930108,-0.00538452200645,0.0598387899017,0.999999942444,0.000203306673039,-0.000270930586628,1.93715625367e-05,1793192656759377664
+63,1.050000000,BASELINE,764,742,711,671.449631346,661,633,876,783.449631346,799,649,629,650.449631346,0.400949175083,-0.00538417342786,0.0598391632316,0.999999942079,0.000205745088565,-0.000270413011594,1.96741914631e-05,1793192656776044288
+64,1.066666667,BASELINE,764,742,711,671,661,633,876,783,799.129793556,649,628.870206444,650.129793556,0.40094983822,-0.00538363823707,0.059839647104,0.999999941882,0.000207785509362,-0.000269569451635,1.98498792632e-05,1793192656792710656
+65,1.083333333,BASELINE,764,742,711,671,661,633,876,783,799.722339985,649,628.277660015,650.722339985,0.400951757335,-0.00538248908658,0.0598404036066,0.999999942311,0.000208012555136,-0.000267817255814,1.95479198396e-05,1793192656809377280
+66,1.100000000,BASELINE,764,742,711,670.692249277,661,633,875.692249277,783,799.692249277,649,628,651,0.400952136604,-0.0053824468346,0.0598406161406,0.999999942498,0.000207158062976,-0.000267804043635,1.92367563102e-05,1793192656826043904
+67,1.116666667,BASELINE,764,742,711,670.113130668,661,633,875.113130668,783,799.113130668,649,628,651,0.400951158071,-0.00538338062168,0.0598403490147,0.999999942469,0.000205349894201,-0.00026932422946,1.89174768168e-05,1793192656842710528
+68,1.133333333,BASELINE,764,742,711.462393418,670.462393418,661,633,875.462393418,783,799,649,628,650.537606582,0.400952569957,-0.00538384021419,0.0598407536559,0.999999943235,0.000203358016866,-0.000267979657686,1.90614832447e-05,1793192656859377408
+69,1.150000000,BASELINE,764,742,711.962117296,671,660.962117296,633,875.962117296,783,799.037882704,649,628.037882704,650,0.400954250089,-0.00538421503301,0.0598412202469,0.999999944079,0.000201507089862,-0.000266202710796,1.92914473602e-05,1793192656876044032
+70,1.166666667,BASELINE,764,742,711.374469292,671,660.374469292,633,875.374469292,783,799.625530708,649,628.625530708,650,0.400951401072,-0.00538503029039,0.0598402190768,0.999999943367,0.000202348928115,-0.000268244231002,1.91365885343e-05,1793192656892710912
+71,1.183333333,BASELINE,763.789642348,742,711,671,660.210357652,633,875.210357652,783,800,649,629,650.210357652,0.400950244098,-0.0053850521411,0.0598397739809,0.999999942954,0.000203350092108,-0.000269034181758,1.90078323753e-05,1793192656909377536
+72,1.200000000,BASELINE,763.209770775,742,711,671,660.790229225,633,875.790229225,783,800,649,629,650.790229225,0.400952059362,-0.00538368029503,0.059840305684,0.999999943072,0.000204631127586,-0.000267625627922,1.89249280947e-05,1793192656926044160
+73,1.216666667,BASELINE,763.368635272,742,711,671,661,633,875.631364728,783,799.631364728,649,629,651,0.400951683293,-0.00538314883904,0.0598400365765,0.999999942632,0.0002060159505,-0.000268199069637,1.90416182476e-05,1793192656942710528
+74,1.233333333,BASELINE,763.946210635,742,711,671,661,633,875.053789365,783,799.053789365,649,629,651,0.40095006519,-0.00538309371079,0.0598393135747,0.999999941873,0.000207459599386,-0.000269895893707,1.92714372409e-05,1793192656959377408
+75,1.250000000,BASELINE,764,742,711,671,661,633,875.521242632,783.521242632,799,649,629,651,0.400950141363,-0.005383752717,0.0598393405256,0.99999994212,0.00020677770764,-0.0002694972217,1.93269026858e-05,1793192656976044032
+76,1.266666667,BASELINE,764,742,711,671,661.098434009,632.901565991,876,783.901565991,799,649,629,651,0.400950611296,-0.00538425929973,0.0598397050708,0.999999942539,0.000205854424443,-0.000268649922009,1.93008401152e-05,1793192656992710656
+77,1.283333333,BASELINE,764,742,711,671,661.687695183,632.312304817,876,783.312304817,799,649,629,651,0.400952177082,-0.00538364016045,0.0598413689567,0.999999943297,0.000204815894289,-0.000266638636592,1.89575302321e-05,1793192657009377536
+78,1.300000000,BASELINE,764,742,711.272352004,671,661.727647996,632.272352004,875.727647996,783,799.272352004,648.727647996,629,651,0.40095265124,-0.00538414112843,0.0598416470382,0.999999943637,0.000203869365376,-0.000266093388011,1.89223620217e-05,1793192657026044160
+79,1.316666667,BASELINE,764,742,711.85181677,671,661.14818323,632.85181677,875.14818323,783,799.85181677,648.14818323,629,651,0.400951894446,-0.00538590516492,0.0598403624426,0.999999943507,0.000203026580052,-0.00026720128922,1.92346641621e-05,1793192657042711040
+80,1.333333333,BASELINE,764,742,711.571093991,671,661,633,875.428906009,783,799.571093991,648.428906009,629,650.571093991,0.40095207325,-0.00538592610428,0.0598407983892,0.999999943666,0.000202583235301,-0.000266932621246,1.93475211113e-05,1793192657059377664
+81,1.350000000,BASELINE,764,742,711.005167402,671,661,633,876,783.005167402,799,649,628.994832598,650.005167402,0.400952564768,-0.00538535059322,0.0598418094758,0.999999943916,0.00020230269498,-0.000266204759504,1.93927936966e-05,1793192657076044288
+82,1.366666667,BASELINE,764,742,711.580139627,671,661,633,876,783.580139627,799,649,628.419860373,650.580139627,0.400952091723,-0.0053850460312,0.0598410542518,0.999999943186,0.000204840787816,-0.000266996314336,1.95420102822e-05,1793192657092710912
+83,1.383333333,BASELINE,764,742,711.840652681,671,661,632.840652681,875.840652681,783.840652681,799,649,628.159347319,650.840652681,0.400952042803,-0.00538489425054,0.0598408187719,0.999999942837,0.00020624207033,-0.000267215418835,1.9625154475e-05,1793192657109377280
+84,1.400000000,BASELINE,764,742,711.249980198,671,661,632.249980198,875.249980198,783.249980198,799,649,628.750019802,650.249980198,0.400953141915,-0.00538515602209,0.0598419901481,0.999999943538,0.000204566207837,-0.000265885001149,1.95294523562e-05,1793192657126043904
+85,1.416666667,BASELINE,764,742,711,671,661,632.33309411,875,783,799,649,629,650,0.400951614208,-0.00538531138116,0.0598409016061,0.999999943125,0.000204276552033,-0.000267676569032,1.92390257363e-05,1793192657142710784
+86,1.433333333,BASELINE,764,742,711,671,661,632.910593284,875,783,799,649,629,650,0.400948159092,-0.00538538866092,0.0598381548678,0.999999941883,0.000205004014086,-0.000271758868224,1.88057216207e-05,1793192657159377408
+87,1.450000000,BASELINE,764,742,711,671,661,633,875.485494598,783.485494598,799,649,629,650,0.400948849785,-0.00538574387555,0.05983900327,0.999999942275,0.000204980897535,-0.000270304401868,1.91756481458e-05,1793192657176044032
+88,1.466666667,BASELINE,764,742,711,671,661,633,875.93999644,783.93999644,799,649,628.93999644,650.06000356,0.400950196281,-0.00538605391974,0.0598403318499,0.999999942889,0.00020480333249,-0.000268125420272,1.96311046534e-05,1793192657192710912
+89,1.483333333,BASELINE,764,742,711,671,661,633,875.36477036,783.36477036,799,649,628.36477036,650.63522964,0.400950653143,-0.00538553895798,0.059840128894,0.999999942874,0.000204480134081,-0.000268433837729,1.95576100356e-05,1793192657209377536
+90,1.500000000,BASELINE,764,742,711,671,661,633,875.217556699,783,799.217556699,649,628,651,0.400950965116,-0.00538484404576,0.0598401643997,0.999999942902,0.000204378382346,-0.000268419853909,1.93847117159e-05,1793192657226044160
+91,1.516666667,BASELINE,764,742,711,671,661,633,875.8121914,783,799.8121914,649,628,651,0.400951025963,-0.00538383723626,0.0598406132162,0.999999943005,0.000204660450911,-0.000267847071219,1.90395229177e-05,1793192657242710784
+92,1.533333333,BASELINE,763.606768667,742,711,671,661,633,875.606768667,783,799.606768667,649,628.393231333,651,0.400951272414,-0.00538419959658,0.0598406944882,0.999999943089,0.000204304561605,-0.000267797440758,1.91547098551e-05,1793192657259377408
+93,1.550000000,BASELINE,763.03200462,742,711,671,661,633,875.03200462,783,799.03200462,649,628.96799538,651,0.400951604549,-0.00538519402527,0.0598406060855,0.999999943164,0.000203654163178,-0.000267989320108,1.9482426258e-05,1793192657276044032
+94,1.566666667,BASELINE,763.542965585,742,711,671,661,633,875.542965585,783,799,649,629,651,0.400952083172,-0.00538483111224,0.0598410481033,0.999999942978,0.000205364351607,-0.000267374666414,1.95216773886e-05,1793192657292710656
+95,1.583333333,BASELINE,764.121417383,742,711.121417383,671,661,633,876,783.121417383,799,649,629,650.878582617,0.400952362306,-0.00538432508012,0.0598412534419,0.999999942735,0.000207034736064,-0.000266998717579,1.94539138547e-05,1793192657309377280
+96,1.600000000,BASELINE,764.713313013,742,711.713313013,671,661,633,876,783.713313013,799,649,629,650.286686987,0.400951834971,-0.00538357461468,0.0598404204818,0.999999942344,0.000208011518807,-0.000267732005508,1.90373918831e-05,1793192657326043904
+97,1.616666667,BASELINE,764.702741823,742,711.702741823,671,661,633,876,784,799.297258177,649,629,650,0.400951875213,-0.00538383545951,0.0598402485125,0.99999994243,0.000207498110673,-0.000267808483,1.90420855815e-05,1793192657342710784
+98,1.633333333,BASELINE,764.126264686,742,711.126264686,671,661,633,876,784,799.873735314,649,629,650,0.400952448589,-0.00538504624292,0.0598406974215,0.999999942962,0.000205584944354,-0.000267268008785,1.94424333559e-05,1793192657359377408
+99,1.650000000,BASELINE,764,742,711,671.449753325,661,633,875.550246675,783.550246675,799.550246675,649,628.550246675,650.449753325,0.400952870491,-0.00538455500767,0.0598417481342,0.999999943235,0.000205601545306,-0.000266234730574,1.94000810137e-05,1793192657376044288
+100,1.666666667,BASELINE,764,742,711,672,660.973763661,633,875.052472678,783,799,649,628.026236339,651,0.400953186848,-0.00538371095605,0.0598428775634,0.999999943437,0.000206009299479,-0.000265169600485,1.92465434234e-05,1793192657392710656
+101,1.683333333,BASELINE,764,742,711,672,660.384539214,633,876.230921572,783,799,649,628.615460786,651,0.400952149968,-0.0053855389946,0.0598420743959,0.999999943687,0.000203196991224,-0.000266386732264,1.93713752894e-05,1793192657409377280
+102,1.700000000,BASELINE,764,742,711,671.799112465,660.200887535,633,876.799112465,783,799,649.200887535,629,650.799112465,0.400952005637,-0.00538644158355,0.0598418753143,0.999999943954,0.00020196406383,-0.000266310023166,1.95402491693e-05,1793192657426043904
+103,1.716666667,BASELINE,764,742,711,671.220820462,660.779179538,633,876.220820462,783,799,649.779179538,629,650.220820462,0.400953538127,-0.00538560554369,0.0598428111204,0.999999944262,0.00020369829644,-0.000263802594033,1.97918641217e-05,1793192657442710528
+104,1.733333333,BASELINE,764,742,711.356137756,671,661,633,876,783.356137756,799,650,628.643862244,650,0.40095397341,-0.00538509999148,0.0598425178839,0.999999944338,0.000203434061729,-0.000263738780381,1.95159734743e-05,1793192657459377408
+105,1.750000000,BASELINE,764,742,711.932272112,671,661,633,876,783.932272112,799,650,628.067727888,650,0.400953730917,-0.00538479859099,0.0598414654324,0.999999944271,0.000201935316079,-0.000265184458495,1.89142273747e-05,1793192657476044288
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875,783,799,649,628,650,0.400950602707,-0.00538459353645,0.0598403032057,0.999999942722,0.000205624842063,-0.000268170206761,1.89520256562e-05,1793192657507322112
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,670.402061174,660.402061174,633,875.597938826,783.597938826,799,649,628,650,0.400951741591,-0.0053851222976,0.0598406952019,0.999999943417,0.000203954843728,-0.000266846356644,1.90140060125e-05,1793192657523988736
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,670.189856158,660.189856158,633,876,783.810143842,799,649,628.189856158,650,0.400952151726,-0.00538511830559,0.059840798947,0.999999943563,0.000203770703109,-0.000266426502755,1.91913819416e-05,1793192657540655360
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,670.769413795,660.769413795,633,876,783.230586205,799,649,628.769413795,650,0.400951066021,-0.00538402077693,0.0598403110243,0.999999942583,0.000206636455088,-0.000267862204275,1.96056204933e-05,1793192657557321984
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.345619683,742,711,671,661,633,875.654380317,783,799,649,629,650,0.400951292112,-0.00538520675375,0.0598407685277,0.999999942966,0.000204980193209,-0.00026768624682,1.98709820929e-05,1793192657573988608
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.919610837,742,711,671,661,633,875.080389163,783,799,649,629,650,0.400952384984,-0.00538790157846,0.0598418507303,0.999999944235,0.000200335967788,-0.000266445370386,2.00379718151e-05,1793192657590655232
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.507534922,742,711.492465078,671,661,633,875.492465078,783,799.492465078,649,628.507534922,650.492465078,0.400952461955,-0.00538680304232,0.0598415837774,0.999999943821,0.000202259268284,-0.000266579137252,1.96239168125e-05,1793192657607322368
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632.932301581,876,783,799.932301581,649,628.067698419,650.932301581,0.40095270877,-0.00538524980687,0.0598413765895,0.999999943294,0.000204913247309,-0.000266556765691,1.92206943575e-05,1793192657623988992
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632.337087149,876,783,799.337087149,649,628.662912851,650.337087149,0.400955568265,-0.00538496744109,0.0598433472415,0.999999944074,0.000204926281212,-0.00026357325354,1.96392538014e-05,1793192657640655616
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632.250222524,876,783,798.749777476,649,628.749777476,650.250222524,0.400961389122,-0.0053854741621,0.0598459838928,0.999999945215,0.000204453515294,-0.00025955370073,2.00188885416e-05,1793192657657322240
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632.827209362,876,783,798.172790638,649,628.172790638,650.827209362,0.400971077208,-0.00538701134752,0.0598494902688,0.999999946814,0.000203346345867,-0.000254181187947,2.03476916774e-05,1793192657673988608
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,798.805052748,649,628.402526374,650.597473626,0.401003336849,-0.00538791952912,0.0598622789231,0.999999952319,0.000204133023003,-0.000230742315224,2.11859221446e-05,1793192657690655232
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799.954259194,649,628.977129597,650.022870403,0.401045245653,-0.00538855881669,0.0598790356786,0.999999958674,0.000205729304338,-0.00019958021552,2.22419287873e-05,1793192657707322112
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783.566310108,800,649.566310108,629,650.566310108,0.401108671188,-0.00539038957606,0.0598977912968,0.999999965103,0.000204086665581,-0.000166227207458,2.26132120991e-05,1793192657723988736
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.846594119,671,661,633,876,783.846594119,799.846594119,650,629,650.846594119,0.401175179739,-0.00539234773645,0.0599141144195,0.999999969634,0.000202368135199,-0.000138736514993,2.30301924938e-05,1793192657740655360
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.266969242,671,661,633,876,783.266969242,799.266969242,650,629,650.266969242,0.401247776021,-0.00539452264439,0.0599234489554,0.999999971393,0.000200811772914,-0.000127785848562,2.36529955702e-05,1793192657757321984
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.309568159,742,711,671,661,633,876,783.309568159,799,649.690431841,629,650,0.401327689011,-0.00539672979125,0.0599279347148,0.99999997237,0.000199542107276,-0.0001220471322,2.34034359067e-05,1793192657773988864
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.883469204,742,711,671,661,633,876,783.883469204,799,649.116530796,629,650,0.401413849561,-0.00539896446604,0.0599282802188,0.999999972753,0.000198517245191,-0.00012075877668,2.24089864167e-05,1793192657790655744
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.541028254,742.458971746,711.458971746,671,661,633,875.541028254,783.541028254,799,649,628.541028254,650,0.401529841599,-0.00540452266821,0.0599329443374,0.999999974857,0.000193411036838,-0.000111394394048,2.16533458309e-05,1793192657807322368
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.96422719,711.96422719,671,661,633,875.03577281,783,799.03577281,649,628.03577281,650,0.401654313575,-0.00541058156701,0.0599383093376,0.99999997714,0.000187585343647,-0.000100485966535,2.08557996727e-05,1793192657823988736
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.373614502,711.373614502,671,661,633,875.626385498,783,799.626385498,649,628.626385498,650,0.401792424233,-0.00541127263455,0.0599374790767,0.999999977638,0.000186728751702,-9.75435355325e-05,1.84645851448e-05,1793192657840655360
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.78713356,742,711,671,661.21286644,633,876,783,799.78713356,649,628.78713356,650,0.401943909521,-0.00541380758422,0.0599373744312,0.999999978479,0.00018455666809,-9.3374976389e-05,1.618585695e-05,1793192657857321984
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.207766469,742,711,671,661.792233531,633,876,783,799.207766469,649,628.207766469,650,0.402118422432,-0.00541951721933,0.0599385191065,0.999999979886,0.000180119650031,-8.70953437667e-05,1.41008012128e-05,1793192657873988608
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.367433433,742,711,671,661.632566567,633.367433433,875.632566567,783,799,649,628.367433433,650.367433433,0.402317863011,-0.00542621390995,0.0599394035901,0.999999981528,0.000173878025189,-8.1051988719e-05,1.18970235595e-05,1793192657890655232
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.940303461,742,711,671,661.059696539,633.940303461,875.059696539,783,799,649,628.940303461,650.940303461,0.402531240975,-0.00543346247609,0.0599401425974,0.999999983248,0.000166627421854,-7.51407388064e-05,9.62686681283e-06,1793192657907322112
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661.528605599,633.471394401,875.528605599,783,799,649,629,651,0.402780739591,-0.00544146340664,0.0599414689128,0.999999984926,0.000159097628195,-6.91823378605e-05,7.02113581978e-06,1793192657923988736
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671.116529723,661.883470277,633,876,783,799.116529723,649.116529723,628.883470277,650.883470277,0.403042170378,-0.00544993442433,0.0599430745672,0.999999986674,0.000150460468074,-6.32032646178e-05,4.26480687686e-06,1793192657940655360
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671.695823775,661.304176225,633,876,783,799.695823775,649.695823775,628.304176225,650.304176225,0.40333429999,-0.0054599246953,0.0599455182212,0.999999988905,0.000137554693721,-5.71638775979e-05,1.06544384896e-06,1793192657957321984
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.274148933,672,661,633,875.725851067,783.274148933,799.725851067,649.725851067,628.274148933,650.274148933,0.40363407532,-0.00546947303196,0.0599404736094,0.999999990184,0.000124424540553,-6.43660249771e-05,-2.82705663026e-06,1793192657973988608
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.851402824,672,661,633,875.148597176,783.851402824,799.148597176,649.148597176,628.851402824,650.851402824,0.403942303903,-0.00547853275593,0.0599271498094,0.99999999009,0.000111046310073,-8.62082980489e-05,-7.48590459704e-06,1793192657990655232
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671.573942067,661,633,875.426057933,784,799.426057933,649,629,650.573942067,0.404279320061,-0.00548913254122,0.0599138446229,0.999999989202,9.7558647946e-05,-0.000109229787612,-1.21025373764e-05,1793192658007321856
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671.000187859,661,633,875.999812141,784,799.999812141,649,629,650.000187859,0.404626315649,-0.00550026620047,0.0599005458893,0.99999998753,8.40330507217e-05,-0.000132660061176,-1.67045358312e-05,1793192658023988480
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.590593751,712,671,661,633,876,783.409406249,800,649.590593751,629,650.590593751,0.405031981819,-0.00551355034748,0.059893323733,0.999999986743,6.64107179242e-05,-0.000147161250649,-2.11253944481e-05,1793192658040655360
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.822563016,711.822563016,671,661,633,876,783,799.822563016,649.822563016,629,651,0.40546147659,-0.00552783880798,0.0598942695674,0.999999988521,2.25021826789e-05,-0.000147787105921,-2.473069972e-05,1793192658057322240
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.244622002,711.244622002,671,661,633,876,783,799.244622002,649.244622002,629,651,0.405944712945,-0.00554439257518,0.0599136473886,0.999999989534,-8.07355408222e-05,-0.000117100681353,-2.64953020784e-05,1793192658073989120
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,671.332151736,661,633,876,783,799.664303471,649,628.667848264,650.667848264,0.406461722054,-0.00554993676406,0.0599413605636,0.999999990059,-0.000119537134713,-6.95203330163e-05,-2.75822395467e-05,1793192658090655744
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,671.908068872,661,633,876,783,800.816137744,649,628.091931128,650.091931128,0.40700351696,-0.00554740105028,0.0599751910375,0.999999993392,-0.00011104921126,-9.54156982579e-06,-2.81718405671e-05,1793192658107322112
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.506191086,742,711,671.506191086,661,633,876,783,800.012382172,649,628,650.493808914,0.407553299823,-0.00553192900442,0.0599895304641,0.999999996304,-7.95920354642e-05,7.07516513887e-06,-3.17320082292e-05,1793192658123988736
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.080295772,742,711.080295772,671,661,633,876.080295772,783,799,649,628.080295772,650.919704228,0.408104833286,-0.00551687381539,0.0599963350909,0.999999998519,-4.19219775503e-05,8.89398612621e-06,-3.35536702336e-05,1793192658140655104
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.659825538,742,711.659825538,671,661,633,876.659825538,783,799,649,628.659825538,650.340174462,0.408657817655,-0.00551968790442,0.0599793110402,0.9999999993,7.25015876965e-06,-3.00827679355e-05,-2.10581132449e-05,1793192658157321984
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.761940281,783,799,649,629,650,0.409237290482,-0.00552411554042,0.0599673718584,0.999999997897,2.49260647399e-05,-5.76612041778e-05,-1.60944833468e-05,1793192658173988608
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.185547435,783,799,649,629,650,0.409854408967,-0.00553083636719,0.0599626593497,0.999999997376,-2.1608258584e-06,-6.90402218691e-05,-2.18353130186e-05,1793192658190655488
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711.609997912,671,661,633,876,783,799,649.390002088,628.609997912,650,0.410513586727,-0.00553544122398,0.0599671268212,0.999999997994,-2.54318497024e-05,-5.20388039478e-05,-2.56531639153e-05,1793192658207322112
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.034848758,671,661,633,876,783,799,649.965151242,628.034848758,650,0.411192731416,-0.00553904155871,0.0599759523371,0.99999999826,-4.68913528799e-05,-2.15642414553e-05,-2.85581121354e-05,1793192658223988736
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661.554664095,633,876,783.554664095,799,649.445335905,628,650,0.41188421506,-0.00553510348829,0.0599702764538,0.999999998325,-3.44340486045e-05,-3.60677858121e-05,-2.93827208642e-05,1793192658240655360
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661.857582313,633,876,783.857582313,799,649,628,650,0.412569360541,-0.00553109316674,0.0599565894831,0.999999997084,-2.23993542088e-05,-6.63763742977e-05,-3.03973138927e-05,1793192658257322240
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661.278071509,633,876,783.278071509,799,649,628,650,0.413232610941,-0.00552835335042,0.0599211863371,0.999999990019,-1.83756250494e-05,-0.000136288558201,-3.24067956262e-05,1793192658273988864
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.298938459,671,661,633,876,783,799,649,628,650.298938459,0.413947525824,-0.00552781497088,0.0599057940748,0.999999985648,-1.8521542294e-05,-0.000164991451045,-3.37354047316e-05,1793192658290655488
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711.873641523,671,661,633,876,783,799,649,628,650.873641523,0.414710100211,-0.00552930737136,0.0599088614387,0.999999987036,-2.251387252e-05,-0.000155679625665,-3.44359231254e-05,1793192658307322112
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.458521588,712,671.458521588,661.458521588,633,876.458521588,783,799.458521588,649.458521588,628,650.541478412,0.415528758854,-0.00553360438374,0.0599524427556,0.999999996109,-2.77778063803e-05,-7.68869971924e-05,-3.31535312901e-05,1793192658323988480
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712,671.954429467,662,633,877,783.045570533,799.954429467,649.954429467,628.045570533,650,0.416361688614,-0.00553828437799,0.0600033598688,0.99999999888,-3.26429557333e-05,1.36369438775e-05,-3.14475956469e-05,1793192658340655616
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,671.375564172,662,633,877,783.624435828,799.375564172,649.375564172,628.624435828,650,0.417176651979,-0.00553819612574,0.0600065023705,0.999999999024,-2.86472969637e-05,1.22871927027e-05,-3.13251029386e-05,1793192658357322240
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,671.203083748,661.796916252,633,877,784,799.203083748,649,629,650,0.41798700055,-0.00553716232329,0.0600005665817,0.999999999057,-2.88508981104e-05,6.16268229848e-07,-3.24495421557e-05,1793192658373988864
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712,671.781330072,661.218669928,633,877,784,799.781330072,649,629,650,0.418788824024,-0.00553438177818,0.0599778602002,0.999999998225,-3.68119157036e-05,-3.01212628552e-05,-3.5877475342e-05,1793192658390655488
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.642574069,711.642574069,672,661.357425931,633,877,783.642574069,799.642574069,649,629,650,0.419589054294,-0.00553458550113,0.0599540091851,0.999999996408,-3.90316561623e-05,-6.4867209717e-05,-3.81162538564e-05,1793192658407322112
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.067785997,711.067785997,672,661.932214003,633,877,783.067785997,799.067785997,649,629,650,0.420388315657,-0.00553660405303,0.0599294620824,0.999999993295,-3.77599420583e-05,-0.000102050801239,-3.9631869231e-05,1793192658423988736
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.519201693,711,672,662,633,877,783,799,649,628.480798307,650.519201693,0.42115198099,-0.00553720611745,0.0598983904895,0.999999985372,-3.41775778681e-05,-0.000162386946414,-4.1446640817e-05,1793192658440655360
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.894107224,743,711.105892776,672,662,633,877.105892776,783.105892776,799.105892776,649,628,650.894107224,0.421934231716,-0.0055372758462,0.0598741634979,0.999999976607,-3.23811292376e-05,-0.000209490590944,-4.30279576753e-05,1793192658457321984
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.316012375,743,711.683987625,672,662,633,877.683987625,783.683987625,799.683987625,649,628,650.316012375,0.422820581417,-0.00553581626799,0.0598843481857,0.999999981373,-3.99261304259e-05,-0.000183783678894,-4.33898853461e-05,1793192658473988608
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.260307798,743,712,672.260307798,662.260307798,633,877.739692202,784,800,649.260307798,628,650,0.423716176213,-0.00553766938699,0.0599193392441,0.999999990559,-4.34694793147e-05,-0.000123381833413,-4.20584240283e-05,1793192658490655488
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.834488188,743,712,672.834488188,662.834488188,633,877.165511812,784,800,649.834488188,628,650,0.424622918632,-0.00554351687271,0.0599842412014,0.999999998138,-4.2187737263e-05,-2.11457059208e-05,-3.86851166349e-05,1793192658507322112
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.588643258,711.588643258,672.177286516,662.588643258,632.588643258,877.411356742,783.588643258,799.588643258,649.588643258,628.411356742,650,0.425483857904,-0.00554707611436,0.0600082725997,0.999999998104,-4.52287373559e-05,1.74305020148e-05,-3.79897482208e-05,1793192658523988736
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.010686025,711.010686025,671.02137205,662.010686025,632.010686025,877.989313975,783.010686025,799.010686025,649.010686025,628.989313975,650,0.426326246735,-0.00554970861119,0.0600157513173,0.999999997556,-5.0020458814e-05,3.02242801611e-05,-3.83789519659e-05,1793192658540655360
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.579366657,711,671.579366657,662,632.579366657,877.420633343,783.579366657,799,649,628.420633343,650,0.427132539919,-0.00555220988427,0.0599936643034,0.999999997525,-5.57138940568e-05,1.05629598274e-05,-4.16342338827e-05,1793192658557321984
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711.16647135,672,662,632.83352865,877,783.83352865,799,649,628.16647135,650,0.427939339297,-0.00555420220697,0.0599727375098,0.999999997172,-5.97891729849e-05,-1.14285901239e-05,-4.41625585271e-05,1793192658573988608
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711.745701648,672,662,632.254298352,877,783.254298352,799,649,628.745701648,650,0.42874907964,-0.00555493873683,0.0599560683643,0.9999999965,-5.98101824033e-05,-3.76819666171e-05,-4.47545559324e-05,1793192658590655232
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711.67681463,671.67681463,662,632,877,783,799,649,628.67681463,650,0.429518420073,-0.00555388629587,0.0599350085566,0.999999994423,-5.71475398176e-05,-7.63689772287e-05,-4.53431511761e-05,1793192658607322112
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.100697839,671.100697839,662,632,877,783,799,649,628.100697839,650,0.43025614268,-0.00555143377006,0.0599105125285,0.999999989787,-5.23846167027e-05,-0.000124786800536,-4.59290837253e-05,1793192658623988736
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,671.482266902,662,632,877,783,799.482266902,648.517733098,628,650,0.431034174456,-0.00555131104155,0.0599217533654,0.999999992951,-4.83551938263e-05,-9.79074061051e-05,-4.66195810062e-05,1793192658640655360
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711,672,662.066327629,632.066327629,877,783,800,648.066327629,628,650,0.431823070499,-0.00555250546472,0.059943437352,0.99999999636,-4.83306248772e-05,-5.22951610974e-05,-4.70129038953e-05,1793192658657322240
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711,672,662.647635868,632.647635868,877,783,800,648.647635868,628,650,0.432630029009,-0.00556009510306,0.0599874338617,0.999999995822,-7.81942648028e-05,1.49345156636e-05,-4.49269477909e-05,1793192658673988864
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.772773094,742.772773094,711,672,662.772773094,632.772773094,876.772773094,783.227226906,800,649,628.227226906,650,0.433396042856,-0.00556534475723,0.0600048550837,0.999999994071,-9.15302081431e-05,3.92615944185e-05,-4.40293828159e-05,1793192658690655232
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+237,3.950000000,POSE1_TO_POSE2_PRESS,763.04753117,743,711.95246883,672,659,631,877.04753117,782.04753117,800,649,629,651,0.444984981372,-0.00556707291293,0.0596952794587,0.999999871954,-9.77559232322e-05,-0.000493823049876,-5.17197036587e-05,1793192659690655232
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.629181469,743,711.370818531,672,659,631,877.629181469,782.629181469,800,649,629,651,0.444985527936,-0.00556877863448,0.0596958326605,0.999999872041,-0.000102452220098,-0.000492701285957,-5.16341639838e-05,1793192659707321856
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.791581208,711.208418792,672.208418792,658.791581208,631,877.791581208,782.791581208,799.791581208,649.208418792,628.791581208,650.791581208,0.444986297897,-0.00556902992426,0.059696003086,0.999999872168,-0.00010455461742,-0.000491978667185,-5.18519396973e-05,1793192659723988480
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.216587951,711.783412049,672.783412049,658.216587951,631,877.216587951,782.216587951,799.216587951,649.783412049,628.216587951,650.216587951,0.444987460776,-0.00556672310703,0.059695500271,0.999999872393,-0.000102094770669,-0.000491958079331,-5.26031974294e-05,1793192659740655360
+241,4.016666667,HOLD_POSE2,765,742,711,673,658,631,877,782,801,649,628,650,0.444985023835,-0.00556669284262,0.0596939547729,0.999999870778,-9.99530175389e-05,-0.0004957761029,-5.15788488991e-05,1793192659775887104
+242,4.033333333,HOLD_POSE2,763.823117576,742.588441212,711,673,658,631,877,782,799.234676364,649,628,650,0.444987357683,-0.0055653411264,0.0596947107381,0.999999871994,-9.92690252607e-05,-0.000493376880484,-5.23194897363e-05,1793192659792553984
+243,4.050000000,HOLD_POSE2,763.174302936,742.825697064,711,673,658.174302936,631.174302936,877,782,798.174302936,649,628.174302936,650,0.444988911393,-0.0055649141343,0.0596953264153,0.999999872866,-9.90715901574e-05,-0.000491620863819,-5.25488641179e-05,1793192659809220864
+244,4.066666667,HOLD_POSE2,763.754162989,742.245837011,711,673,658.754162989,631.754162989,877,782,798.754162989,649,628.754162989,650,0.444988649927,-0.0055666387319,0.0596956156795,0.999999872951,-0.000100006245571,-0.000491361417394,-5.15886559939e-05,1793192659825887488
+245,4.083333333,HOLD_POSE2,763.668803766,742.331196234,711,673,658.668803766,631.668803766,877,782,799,649,628.668803766,650,0.444988481046,-0.00556696492533,0.0596959451759,0.999999872985,-9.97875078971e-05,-0.000491358560857,-5.13648105487e-05,1793192659842554112
+246,4.100000000,HOLD_POSE2,763.093851053,742.906148947,711,673,658.093851053,631.093851053,877,782,799,649,628.093851053,650,0.444988380306,-0.00556626190988,0.0596963042827,0.999999872984,-9.87198866093e-05,-0.000491544551429,-5.16829193119e-05,1793192659859220736
+247,4.116666667,HOLD_POSE2,763.493276889,743,711,673,658.493276889,631,877,782,799.493276889,649,628.493276889,650,0.444988635995,-0.00556602665262,0.0596969022685,0.999999872989,-9.92162626181e-05,-0.000491434049438,-5.16766610739e-05,1793192659875887360
+248,4.133333333,HOLD_POSE2,764,743,711,672.918601197,658.918601197,631,877.081398803,782,799.918601197,649,629,650,0.444988845623,-0.00556600128363,0.0596972260617,0.999999872978,-9.97675453328e-05,-0.000491356265693,-5.15749770449e-05,1793192659892553728
+249,4.150000000,HOLD_POSE2,764,743,711,672.338933538,658.338933538,631,877.661066462,782,799.338933538,649,629,650,0.444988347686,-0.00556670215045,0.0596955861806,0.999999872856,-9.87873294086e-05,-0.000491832808841,-5.12764935133e-05,1793192659909220352
+250,4.166666667,HOLD_POSE2,764,743,711,672.238274204,658.238274204,631,877.761725796,782.238274204,799.238274204,649,629,650,0.444988531935,-0.00556727760394,0.0596951508792,0.99999987293,-9.89949346767e-05,-0.00049165951156,-5.10899130059e-05,1793192659925887232
+251,4.183333333,HOLD_POSE2,764,743,711,672.812018537,658.812018537,631,877.187981463,782.812018537,799.812018537,649,629,650,0.444989676646,-0.00556767648588,0.0596964115253,0.999999873278,-0.000100874892816,-0.000490571293325,-5.10608826122e-05,1793192659942554112
+252,4.200000000,HOLD_POSE2,764,743,711,673,659,631,877.395600211,782.604399789,800,649,629,650,0.444989182327,-0.00556667445214,0.0596961921735,0.999999872971,-9.9754141985e-05,-0.000491416387568,-5.11542889286e-05,1793192659959220736
+253,4.216666667,HOLD_POSE2,764,743,711,673,659,631,877.983975654,782.016024346,800,649,629,650,0.444987889312,-0.00556498975488,0.0596952516214,0.999999872338,-9.71711515334e-05,-0.000493203581214,-5.13073584186e-05,1793192659975887616
+254,4.233333333,HOLD_POSE2,763.436586361,743,711,672.436586361,658.436586361,630.436586361,877.436586361,782,799.436586361,649,628.436586361,650,0.444989396481,-0.0055675923153,0.0596959841819,0.999999872883,-9.99263191062e-05,-0.00049157720625,-5.09918200457e-05,1793192659992553984
+255,4.250000000,HOLD_POSE2,763,743,711,672.142281398,658.284562796,630.142281398,877,782,799,649,628,650,0.444990621685,-0.00556927448897,0.0596965842225,0.999999873403,-0.000101508975486,-0.000490220267086,-5.07325742577e-05,1793192660009220608
+256,4.266666667,HOLD_POSE2,763,743,711,672.720169588,659.440339177,630.720169588,877,782,799,649,628,650,0.444990743608,-0.0055677713311,0.0596966351294,0.99999987377,-9.90443201509e-05,-0.000489980827578,-5.06858404186e-05,1793192660025887232
+257,4.283333333,HOLD_POSE2,763.297127997,743,711,672.702872003,659.405744005,631,877,782,799.297127997,649,628,650,0.444990436704,-0.00556674173433,0.0596966292844,0.999999873881,-9.79810893138e-05,-0.000489958948128,-5.07762926716e-05,1793192660042554112
+258,4.300000000,HOLD_POSE2,763.873213449,743,711,672.126786551,658.253573101,631,877,782,799.873213449,649,628,650,0.444989727198,-0.00556615673864,0.0596965701583,0.999999873756,-9.82335805186e-05,-0.000490141324102,-5.09955415517e-05,1793192660059220736
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631,878,782,800,649,628,650,0.444990340122,-0.00556520212882,0.0596968359361,0.999999873963,-9.6062997497e-05,-0.00049012139657,-5.12532053803e-05,1793192660091307008
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631,877.421165926,782,799.421165926,649,628.578834074,650,0.444990829297,-0.0055651074675,0.059696831371,0.999999874161,-9.63507886543e-05,-0.00048966152807,-5.12497960551e-05,1793192660107973632
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631,877.157020296,782,799.157020296,649,628.842979704,650,0.444990766679,-0.00556519592929,0.0596965382259,0.999999873923,-9.70895455457e-05,-0.000489994603397,-5.13077702956e-05,1793192660124640512
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631,877.733476094,782,799.733476094,649,628.266523906,650,0.444989230106,-0.00556577355286,0.0596954742209,0.999999872517,-9.90329304622e-05,-0.000492445804756,-5.15297134447e-05,1793192660141307136
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.308561321,658.691438679,631,877.691438679,782,799.691438679,649,628.308561321,650,0.44498957134,-0.00556677254175,0.0596957616225,0.999999872736,-0.00010039253147,-0.000491730690191,-5.14885307969e-05,1793192660157973760
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.882467899,658.117532101,631,877.117532101,782,799.117532101,649,628.882467899,650,0.44499152738,-0.00556813388091,0.0596972111571,0.999999874348,-0.000101250111267,-0.000488292723129,-5.12210748543e-05,1793192660174640384
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.529291677,658,631,877.470708323,782,799.470708323,649,628.529291677,650,0.444989669441,-0.00556681251017,0.059697156428,0.999999873889,-9.87212291615e-05,-0.000489745712608,-5.12387280003e-05,1793192660191307008
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.938690605,711,672.938690605,658.061309395,631,877.938690605,782.061309395,800,649,628,650,0.444985903808,-0.00556530517422,0.0596959858244,0.999999872444,-9.62360598937e-05,-0.000493168656197,-5.13337867744e-05,1793192660207973888
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.359334445,711,672.359334445,658.640665555,631,877.359334445,782.640665555,800,649,628,650,0.444974318281,-0.00556806430695,0.0596886598164,0.999999867225,-0.000101489501142,-0.000502593978725,-5.14624774995e-05,1793192660224640512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.217750991,711,672,659,631,877.217750991,782.782249009,800,649,628,650,0.444953911576,-0.00556866216874,0.0596779207115,0.999999859012,-0.000103508018488,-0.000518225980114,-5.20021192122e-05,1793192660241306880
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.791127876,711,672,659,631,877.791127876,782.208872124,800,649,628,650,0.444919098327,-0.00556573029244,0.0596616074159,0.999999845595,-0.000100243332224,-0.0005439945851,-5.32129165654e-05,1793192660257973504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.625780706,711,672,659,631,877.625780706,782,800,649,628,650,0.444866863568,-0.00556264060019,0.0596422485356,0.999999830089,-9.84875797465e-05,-0.000571967787349,-5.45456096429e-05,1793192660274640128
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.037122515,711,672,659,631,877.037122515,782,800,649,628,650,0.444804645757,-0.00555946047439,0.0596211444421,0.999999812949,-9.75964913092e-05,-0.000601204292238,-5.59481527226e-05,1793192660291307008
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.542663986,711,672.542663986,659,631,877,782,800,649,628.542663986,650,0.444731953649,-0.00555833906276,0.0596090734624,0.999999805081,-9.69625183601e-05,-0.000614237178335,-5.61073971469e-05,1793192660307973632
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711.121508698,673,659.121508698,631,877.121508698,782,800.121508698,649,628.878491302,650,0.444656242413,-0.00555642848067,0.059600568907,0.999999800038,-9.54500350229e-05,-0.000622630609124,-5.60719683573e-05,1793192660324640256
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711.699060018,673,659.699060018,631,877.699060018,782,800.699060018,649,628.300939982,650,0.444571845848,-0.00555103594324,0.0596031678262,0.999999803572,-9.05754023603e-05,-0.000617704688625,-5.5619976082e-05,1793192660341307136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711.724313916,673,659.724313916,631,878,782.275686084,800.724313916,649,628,650,0.444474343901,-0.00554599463585,0.0596061029676,0.999999807468,-8.60282257731e-05,-0.00061207623134,-5.50154574252e-05,1793192660357973760
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711.148694516,673,659.148694516,631,878,782.851305484,800.148694516,649,628,650,0.444362583929,-0.00554133545031,0.0596094039026,0.999999811754,-8.18373060759e-05,-0.00060568344782,-5.42449973641e-05,1793192660374640384
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.56373256,711.43626744,673,658.56373256,631,877.56373256,782.56373256,800,649,628,650,0.444225611702,-0.00553806030311,0.059613435736,0.999999815593,-7.8383685016e-05,-0.000599933053521,-5.24380593121e-05,1793192660391307264
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.975943298,742,711.975943298,673,658,631,877.024056702,782.024056702,800,649,628,650,0.444078414636,-0.00553504449304,0.0596177464283,0.999999819327,-7.49564361363e-05,-0.000594305254938,-5.02879120762e-05,1793192660407973888
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.397977046,742,711.397977046,673,658,631,877.602022954,782.602022954,800,649,628,650,0.443897978085,-0.00552690069341,0.0596226164705,0.999999824726,-6.6223657531e-05,-0.000586348613039,-4.85473308687e-05,1793192660424640256
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.180432451,742.180432451,711,673,658.180432451,631,877.819567549,783,799.819567549,649,628,650,0.443705521375,-0.00551937968037,0.059627320627,0.999999829706,-5.83362018381e-05,-0.000578807632112,-4.65408513905e-05,1793192660441307136
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.759821938,742.759821938,711,673,658.759821938,631,877.240178062,783,799.240178062,649,628,650,0.443486486724,-0.00551323572164,0.0596316579903,0.999999833968,-5.23178541358e-05,-0.000572185726897,-4.39464402953e-05,1793192660457973504
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.664002566,711,673,659,631.335997434,876.664002566,783,799,649,628,650,0.443233560725,-0.0055041926976,0.0596322632499,0.999999834378,-4.47262708201e-05,-0.000572265183865,-4.18965604917e-05,1793192660474640128
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.090102672,711,673,659,631.909897328,876.090102672,783,799,649,628,650,0.442956637986,-0.00549309699425,0.0596302259998,0.999999832026,-3.60207598586e-05,-0.0005770895292,-4.02322349542e-05,1793192660491307008
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.503440699,742,711,672.503440699,659,631.503440699,876.496559301,782.503440699,799,649,628,650,0.442647446212,-0.00548409588288,0.0596321225318,0.999999832267,-2.45392508122e-05,-0.00057747792136,-3.71867542258e-05,1793192660507973632
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.663622304,742,711,673.327244607,659,631.663622304,877,782,799,649,628.663622304,650,0.441969016849,-0.0054636071733,0.0596405699853,0.999999838882,1.90316086641e-06,-0.000566846324031,-3.02948072768e-05,1793192660541307136
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.240949988,711,673.518100024,659,632,877,782.240949988,799.481899976,649,628.759050012,650,0.441594925289,-0.00545022766588,0.059646789869,0.999999843147,1.79587209685e-05,-0.000559154830894,-2.70197451727e-05,1793192660557973760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.815379376,711,672.369241249,659,632,877,782.815379376,800.630758751,649,628.184620624,650,0.441197364478,-0.00543419597972,0.059654125589,0.999999846014,3.6674270167e-05,-0.000553213415952,-2.41291942745e-05,1793192660574640384
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.220085826,742,711,671,660,633,875.779914174,783,799,649,629,650.220085826,0.401905888654,-0.0053858335586,0.0598277519285,0.999999938151,0.00021088933682,-0.00028045568953,2.38559439449e-05,1793192661591307264
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.793808967,742,711,671,660,633,875.206191033,783,799,649,629,650.793808967,0.401740982326,-0.00538536366728,0.059824850359,0.999999934278,0.000220621417516,-0.000287291634273,1.53033514582e-05,1793192661607973888
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.622145493,742,711.377854507,671,660.377854507,633,875.377854507,783,799,649,629,651,0.401601562911,-0.00538608352416,0.0598251580562,0.999999933905,0.000221549963909,-0.000287962358339,1.35148530953e-05,1793192661624640512
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.032308878,742,711.967691122,671,660.967691122,633,875.967691122,783,799,649,629,651,0.401476442026,-0.00538747084777,0.0598272662003,0.999999935556,0.000217539594982,-0.000285174300768,1.55211133086e-05,1793192661641307136
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.547893115,742,711.452106885,671,660.452106885,633,875.452106885,783,799,649,628.452106885,650.452106885,0.401374535799,-0.0053814689507,0.0598289413072,0.999999934895,0.000221929998142,-0.000284070280055,1.61296735999e-05,1793192661657973760
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.126272134,633,875,783,799,649,628,650.126272134,0.401280111715,-0.00537716160591,0.0598301376389,0.99999993457,0.000224135403198,-0.000283448905545,1.67467456238e-05,1793192661674640384
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.700168254,633,875,783,799,649,628,650.700168254,0.40120744221,-0.00538037926157,0.0598297257119,0.999999935945,0.000216869416855,-0.000284192520966,1.76811189119e-05,1793192661691307008
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,875,783.275382168,799,649,628.275382168,650.724617832,0.40114292923,-0.00538144499544,0.0598275967749,0.99999993572,0.000213493434184,-0.000287499619906,1.80204429909e-05,1793192661707973632
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,875,783.85203774,799,649,628.85203774,650.14796226,0.401087339652,-0.00538015648518,0.0598235893958,0.999999933761,0.000214373191016,-0.000293611219232,1.77087716998e-05,1793192661724640256
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,875.439372023,783.560627977,799,649,629,650,0.401047251011,-0.00537935410236,0.0598228131823,0.999999933058,0.000216019531127,-0.000294785835296,1.79207392511e-05,1793192661741307136
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.970265944,633.029734056,876,783,798.970265944,649,629,650,0.401013147294,-0.00537870210716,0.0598230869664,0.999999932801,0.000217809494073,-0.000294317106622,1.82732864675e-05,1793192661757973760
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.392041126,633.607958874,876,783,798.392041126,649,629,650,0.400990753811,-0.00537772918127,0.0598221574835,0.999999932713,0.000217368141255,-0.000294966991244,1.7885153698e-05,1793192661774640128
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.184907924,633.630184153,876,783,798.369815847,649,628.815092076,650.184907924,0.400972688355,-0.00537671699996,0.0598219278663,0.999999932809,0.000217432768976,-0.000294614706987,1.75484500267e-05,1793192661791307008
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.759170555,632.48165889,876,783,799.51834111,649,628.240829445,650.759170555,0.400963736293,-0.00537562215993,0.0598231719345,0.999999933289,0.000218562823806,-0.000292152187657,1.73200390131e-05,1793192661807973632
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,670.510727891,661,633,875.510727891,783,799.489272109,649,629,650,0.400952803102,-0.00537925385804,0.0598267246963,0.999999935606,0.00021416838903,-0.000287419804904,1.75914490549e-05,1793192661857973760
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.910759042,671,661,633,875.910759042,783,799,649,628.910759042,650.089240958,0.400950930757,-0.0053781637093,0.0598279954517,0.999999935838,0.000214743237627,-0.000286179944935,1.76354354182e-05,1793192661874640640
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.333761396,671,661,633,875.333761396,783,799,649,628.333761396,650.666238604,0.400950903375,-0.00537790087679,0.0598285844489,0.999999936319,0.000214523112457,-0.000284662655938,1.76024774501e-05,1793192661891307264
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.757703088,742,711,671,660.757703088,633,875.242296912,783,799,649,628.242296912,651,0.400950819271,-0.00537770107724,0.0598291739409,0.999999936543,0.000214986398292,-0.000283518786824,1.76426912781e-05,1793192661907973888
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.182933743,742,711,671,660.182933743,633,875.817066257,783,799,649,628.817066257,651,0.400950657333,-0.00537758776961,0.0598297641117,0.999999936417,0.000216387439877,-0.000282887313174,1.77833092146e-05,1793192661924640256
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.403407865,742,711,671,660.806815729,633,876,783,799,649.403407865,629,651,0.400950639215,-0.00537851910802,0.0598300200538,0.99999993673,0.000215315624368,-0.000282589954337,1.79549219063e-05,1793192661941306880
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.995152123,742,711,671,661.990304247,633,876,783,799,649.995152123,629,651,0.40095068824,-0.0053799381535,0.0598301199567,0.999999937243,0.000213089322181,-0.000282448581519,1.81410049129e-05,1793192661957973504
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,661.426874661,632.426874661,876,783.573125339,799,649.426874661,629,650.426874661,0.400950011606,-0.005379181425,0.0598303551522,0.999999937271,0.000213514538212,-0.000282041441019,1.79296215446e-05,1793192661974640384
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,632.149771943,875.850228057,783.850228057,799,649,629,650,0.400949692899,-0.00537850471638,0.0598306701557,0.999999937351,0.000213955221206,-0.000281439016375,1.76803905727e-05,1793192661991307264
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,632.722989371,875.277010629,783.277010629,799,649,629,650,0.400950403096,-0.00537810505815,0.0598312076386,0.999999937589,0.000214377710403,-0.000280290677792,1.73334366446e-05,1793192662007973888
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.694572482,742,711,671,660.694572482,633,875,783,799,649,629,650.305427518,0.400950646452,-0.00537800809539,0.0598316815489,0.999999937648,0.000215042140753,-0.000279577163944,1.72674983841e-05,1793192662024640512
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.10351111,742,711,671,660.10351111,633,875,783,799,649,629,650.89648889,0.400950453221,-0.00537819421144,0.0598320960065,0.999999937538,0.000215932832966,-0.000279270295264,1.74643641318e-05,1793192662041307136
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.477194806,742,711,671,660,632.522805194,875,783,799,649,628.522805194,650.522805194,0.400950066508,-0.0053785089592,0.0598317957232,0.999999937767,0.000214425209399,-0.000279618419651,1.73440023498e-05,1793192662057973760
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.944397658,742,711,671,660,632,875.055602342,783,799,649,628,650,0.400949646694,-0.00537892562802,0.0598314640918,0.999999938064,0.000212507608047,-0.000280029409783,1.71872229167e-05,1793192662074640384
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.366926723,742,711,671,660,632,875.633073277,783,799,649,628,650,0.400949301754,-0.00538004257994,0.05983226248,0.999999938356,0.000211521119323,-0.000279725255335,1.73207672793e-05,1793192662091307008
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.213294132,632.213294132,875.786705868,783.213294132,799,649,628.213294132,650.213294132,0.400949409048,-0.00537995480931,0.0598328605342,0.999999938371,0.000212080036321,-0.000279244499295,1.73946415906e-05,1793192662107973632
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.798307383,632.798307383,875.201692617,783.798307383,799,649,628.798307383,650.798307383,0.400950304475,-0.00537776750405,0.0598331094556,0.999999937896,0.000215332214789,-0.000278455970213,1.73645256958e-05,1793192662124640512
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.380013639,742,711,671,660.619986361,633,875.380013639,784,799,649,628.619986361,651,0.400949579103,-0.00537803898691,0.0598324651292,0.999999937826,0.000214652652873,-0.000279234814542,1.73183076108e-05,1793192662141307136
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.959979828,742,711,671,660.040020172,633,875.959979828,784,799,649,628.040020172,651,0.40094800091,-0.00537960421538,0.0598313508007,0.999999937964,0.000211904319022,-0.000280838366951,1.72636170043e-05,1793192662157973504
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.538352505,671,660,632.461647495,876,783.461647495,799.538352505,649,628,650.461647495,0.400947521137,-0.00537846322369,0.0598316531251,0.999999937064,0.00021608337029,-0.000280846972708,1.74536218565e-05,1793192662174640128
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.884252788,671,660.115747212,632.115747212,876,783.115747212,799.884252788,649,628,650,0.400947192337,-0.00537753508306,0.0598319742056,0.999999936426,0.00021908561774,-0.000280783961728,1.75855654224e-05,1793192662191307008
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.31026241,671,660.68973759,632.68973759,876,783.68973759,799.31026241,649,628,650,0.400947138926,-0.00537824372364,0.0598319538436,0.999999937197,0.000215396150862,-0.000280905435649,1.74158417601e-05,1793192662207973632
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.270497503,671,661,632.729502497,876.270497503,783.729502497,799,649,628,650.270497503,0.400946963423,-0.00537890644836,0.059831957327,0.999999937789,0.000212729171273,-0.000280837039085,1.7273525479e-05,1793192662224640512
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.859221505,671,661,632.140778495,876.859221505,783.140778495,799,649,628,650.859221505,0.400946644286,-0.0053795151555,0.0598319888634,0.999999938183,0.000211265095283,-0.000280545269609,1.71634525605e-05,1793192662241306880
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.560241739,671,661,632.439758261,876.120483478,783,799,649,628,651,0.400948240813,-0.00538029025512,0.0598323756497,0.999999938536,0.000210973137492,-0.000279496229785,1.73470174964e-05,1793192662257973504
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.017714591,671,661,633,875.035429181,783,799.017714591,649,628,650.982285409,0.400950359569,-0.0053810820565,0.0598328796578,0.999999938875,0.000211029731651,-0.000278220778422,1.76047886738e-05,1793192662274640384
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711.595439023,671,661,633,876.190878046,783,799.595439023,649,628,650.404560977,0.400949955056,-0.00538074871213,0.0598335599212,0.999999939253,0.000210459865546,-0.000277311411902,1.72910914993e-05,1793192662291307264
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.825018954,671,661,633,876.825018954,783,799.825018954,649,628,650,0.40094938897,-0.00538061291596,0.0598337610789,0.999999939406,0.000210156169256,-0.000276996486833,1.71622599018e-05,1793192662307973888
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.241230537,671,661,633,876.241230537,783,799.241230537,649,628,650,0.400948445398,-0.00538093865076,0.0598328429042,0.999999939036,0.000210474324255,-0.00027807035251,1.74653288769e-05,1793192662324640512
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..53e4574aac354968f797bf68e96b49397700269f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,395 @@
+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,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+1,0.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+2,0.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+3,0.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+4,0.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+5,0.083333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+6,0.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+7,0.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+8,0.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+9,0.150000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+10,0.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+11,0.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+12,0.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+13,0.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+14,0.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+15,0.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+16,0.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+17,0.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+18,0.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+19,0.316666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+20,0.333333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+21,0.350000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+22,0.366666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+23,0.383333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
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+374,6.233333333,pose2_to_pose3_retreat,0.575712672935,5.46506799312e-05,1.05002916899,0.546283402803,0.0087273788146,1.04969845764
+375,6.250000000,pose2_to_pose3_retreat,0.575712664182,5.46508240397e-05,1.05002916898,0.546283394047,0.00872737895418,1.04969845763
+376,6.266666667,pose2_to_pose3_retreat,0.575712656815,5.46509453201e-05,1.05002916896,0.546283386679,0.00872737907164,1.04969845762
+377,6.283333333,pose2_to_pose3_retreat,0.575712481213,5.46538361576e-05,1.05002916865,0.54628321105,0.00872738187154,1.04969845741
+378,6.300000000,pose2_to_pose3_retreat,0.575712303675,5.46421064171e-05,1.05002917499,0.54628303368,0.00872737070813,1.04969846361
+379,6.316666667,pose2_to_pose3_retreat,0.575712283972,5.46394537733e-05,1.0500291763,0.546283014014,0.00872736817903,1.04969846488
+380,6.333333333,pose2_to_pose3_retreat,0.575712219412,5.46307616953e-05,1.05002918061,0.546282949575,0.00872735989176,1.04969846907
+381,6.350000000,pose2_to_pose3_retreat,0.575712001417,5.46014118058e-05,1.05002919516,0.546282731987,0.00872733190877,1.04969848321
+382,6.366666667,pose2_to_pose3_retreat,0.575711765562,5.45696573883e-05,1.05002921091,0.546282496573,0.00872730163323,1.04969849851
+383,6.383333333,pose2_to_pose3_retreat,0.575711471944,5.45301259413e-05,1.05002923051,0.546282203504,0.00872726394285,1.04969851756
+384,6.400000000,pose2_to_pose3_retreat,0.575711052646,5.44736735068e-05,1.05002925849,0.546281784989,0.00872721011954,1.04969854475
+385,6.416666667,pose2_to_pose3_retreat,0.575710706181,5.44270270945e-05,1.05002928162,0.546281439172,0.00872716564556,1.04969856723
+386,6.433333333,pose2_to_pose3_retreat,0.575710526487,5.44028339048e-05,1.05002929362,0.546281259814,0.00872714257911,1.04969857888
+387,6.450000000,pose2_to_pose3_retreat,0.575710431161,5.43899996501e-05,1.05002929998,0.546281164666,0.00872713034258,1.04969858507
+388,6.466666667,pose2_to_pose3_retreat,0.575710045199,5.44233033296e-05,1.05002929114,0.546280778225,0.00872716208021,1.04969857778
+389,6.483333333,pose2_to_pose3_retreat,0.575709702185,5.44533518629e-05,1.05002928311,0.546280434779,0.00872719071589,1.04969857114
+390,6.500000000,pose2_to_pose3_retreat,0.575709441633,5.45091483257e-05,1.05002925233,0.546280172933,0.0087272421473,1.04969854103
+391,6.516666667,pose2_to_pose3_retreat,0.575709299326,5.45944557238e-05,1.05002919447,0.546280028313,0.00872731959618,1.0496984829
+392,6.533333333,pose2_to_pose3_retreat,0.575709283161,5.46041456343e-05,1.0500291879,0.546280011886,0.00872732839345,1.0496984763
+393,6.550000000,pose2_to_pose3_retreat,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c672bbb7bd39a7bf0d2031cb27f89469b939e1b0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e361446404b78ed5cfab529d0d3383e0a98b2be71311373e5f8b8a0372fa626
+size 25369507
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e946a210606f52e0a148a291a2ca6b10151e160a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/franka_data.csv
@@ -0,0 +1,400 @@
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+45,0.750000000,BASELINE,764,742,711.114018241,671.885981759,660.114018241,633,876,783.885981759,799.885981759,649,628,650,0.400948223926,-0.00538002055012,0.0598344276255,0.999999938967,0.000213115195358,-0.000276352233645,1.66290919219e-05,1793192663196320256
+46,0.766666667,BASELINE,764,742,711.692695051,671.307304949,660.692695051,633,876,783.307304949,799.307304949,649,628,650,0.400949807826,-0.00538064920319,0.059835766272,0.999999939696,0.000213358779642,-0.000273499502532,1.68825613459e-05,1793192663212986880
+47,0.783333333,BASELINE,764,742,711.730972915,671.269027085,661.269027085,633,876,783.269027085,799,649,628.269027085,650.269027085,0.40094938626,-0.00538088938774,0.0598357347626,0.999999939779,0.000212870623386,-0.00027356172334,1.70628896846e-05,1793192663229653504
+48,0.800000000,BASELINE,764,742,711.157296063,671.842703937,661.842703937,633,876,783.842703937,799,649,628.842703937,650.842703937,0.40094669368,-0.00538068966558,0.0598341516712,0.999999939132,0.000211553834665,-0.000276924873209,1.71603921405e-05,1793192663246320128
+49,0.816666667,BASELINE,764,742,711,671.571621898,661.571621898,633,876,783.571621898,799,649,628.571621898,651,0.400947217813,-0.00538079022379,0.0598344546258,0.999999939034,0.000212324405213,-0.000276684178065,1.72056580039e-05,1793192663262986752
+50,0.833333333,BASELINE,764,742,711,671,661.018156507,633,876,783.018156507,799,649,628.018156507,651,0.400948862966,-0.00538098505289,0.0598354214562,0.999999939142,0.000213788810957,-0.000275160319158,1.72187681118e-05,1793192663279653120
+51,0.850000000,BASELINE,764,742,711,671,661.594772133,633,876,783.594772133,799,649,628.594772133,651,0.400947612067,-0.00538059037455,0.059834892979,0.999999939214,0.000212340246681,-0.000276043578632,1.6849790707e-05,1793192663296319744
+52,0.866666667,BASELINE,764,742,711,671,661.828849418,633,875.828849418,783.828849418,799,649,629,651,0.400946980067,-0.0053804067251,0.0598345830428,0.999999939332,0.000211358731527,-0.000276380982125,1.66242918947e-05,1793192663312986624
+53,0.883333333,BASELINE,764,742,711,671,661.253031784,633,875.253031784,783.253031784,799,649,629,651,0.400947811383,-0.00538072203069,0.0598347898236,0.999999939567,0.000211481503633,-0.000275427768094,1.67380327299e-05,1793192663329653504
+54,0.900000000,BASELINE,764,742,711,670.669951877,660.669951877,633,875.330048123,783,799,649,628.669951877,650.669951877,0.400948107014,-0.00538056085083,0.0598346794297,0.999999939462,0.000212033248149,-0.000275386806721,1.67515850482e-05,1793192663346320128
+55,0.916666667,BASELINE,764,742,711,670.081179105,660.081179105,633,875.918820895,783,799,649,628.081179105,650.081179105,0.400947982719,-0.00538002615411,0.0598343204025,0.999999939088,0.000212921264037,-0.000276060960047,1.6686599605e-05,1793192663362986752
+56,0.933333333,BASELINE,763.501796245,742,711.498203755,670.498203755,660.498203755,633,875.501796245,783.498203755,799,649,628,650.498203755,0.400948519987,-0.00538017689488,0.0598347587281,0.999999939366,0.000212645655445,-0.000275253041058,1.6905719801e-05,1793192663379653120
+57,0.950000000,BASELINE,763.076118089,742,711.923881911,670.923881911,661,632.923881911,875.076118089,783.923881911,799,649,628,650.923881911,0.400948925863,-0.00538022436038,0.0598352215436,0.999999939616,0.000212450613196,-0.000274481429807,1.70943560479e-05,1793192663396320000
+58,0.966666667,BASELINE,763.654251099,742,711.345748901,670.345748901,661,632.345748901,875.654251099,783.345748901,799,649,628,650.345748901,0.400947767391,-0.00537886772618,0.059835004853,0.999999939005,0.000214014276741,-0.000275512518228,1.67822786256e-05,1793192663412986624
+59,0.983333333,BASELINE,764,742,711.231294084,670.231294084,661,632.231294084,876,783,799,649,628,650,0.400947198279,-0.00537888305544,0.0598347871637,0.999999938919,0.000213849426527,-0.000275953965511,1.67147903655e-05,1793192663429653504
+60,1.000000000,BASELINE,764,742,711.80671538,670.80671538,661,632.80671538,876,783,799,649,628,650,0.400947506036,-0.00538093963845,0.0598345679883,0.999999939616,0.000211112834932,-0.000275518124789,1.7011210141e-05,1793192663446320128
+61,1.016666667,BASELINE,764,742.390761763,712,671,661,633,876,783,799.390761763,649,628,650,0.400948170446,-0.00538130963599,0.0598345910439,0.999999939796,0.000210948349982,-0.000274994079297,1.69406766302e-05,1793192663462986752
+62,1.033333333,BASELINE,764,742.979170677,712,671,661,633,876,783,799.979170677,649,628,650,0.40094901525,-0.00538082655912,0.0598347366198,0.999999939716,0.000212084835753,-0.000274425419893,1.66845382699e-05,1793192663479653376
+63,1.050000000,BASELINE,764,742.440699803,711.440699803,671,661.559300197,633,876,783.559300197,799.440699803,649,628,650,0.400948426684,-0.00538135743921,0.0598347734645,0.999999939731,0.00021140189339,-0.00027488322866,1.6936611077e-05,1793192663496320000
+64,1.066666667,BASELINE,764,742,711,671,661.862053893,633,876,783.862053893,799,649,628.137946107,650,0.40094790803,-0.00538152980262,0.0598348743426,0.99999993966,0.000211167496521,-0.000275311389681,1.7078703634e-05,1793192663512986624
+65,1.083333333,BASELINE,764,742,711,671,661.287145089,633,876,783.287145089,799,649,628.712854911,650,0.400947777459,-0.00538044864675,0.0598351906948,0.999999939309,0.000212565431194,-0.000275526313213,1.681334083e-05,1793192663529653248
+66,1.100000000,BASELINE,764,742,711.288172865,671,661,633,875.711827135,783,799.288172865,649,629,650.288172865,0.400948663262,-0.00538035581977,0.0598357783291,0.999999939315,0.000213904579523,-0.000274459296449,1.69142807353e-05,1793192663546320128
+67,1.116666667,BASELINE,764,742,711.863899057,671,661,633,875.136100943,783,799.863899057,649,629,650.863899057,0.400950563256,-0.00538124919697,0.0598366366622,0.999999939674,0.000215185067807,-0.000272113095399,1.73807358564e-05,1793192663562986752
+68,1.133333333,BASELINE,764,742,711.548945603,671,661,633,875,783.451054397,799.548945603,649,628.548945603,651,0.40095012008,-0.00538003290588,0.0598363554437,0.999999939682,0.000214914950848,-0.00027232470371,1.69526545985e-05,1793192663579653632
+69,1.150000000,BASELINE,763.959167873,742,711,671,661,633,875.040832127,783.959167873,799,649,628.040832127,650.959167873,0.40094893995,-0.00537840147807,0.0598357367897,0.99999993959,0.000214113668626,-0.000273327771448,1.63323800608e-05,1793192663596320000
+70,1.166666667,BASELINE,763.381433828,742,711,671,661,633,875.618566172,783.381433828,799,649,628.618566172,650.381433828,0.400947607993,-0.00537989929,0.0598353199926,0.999999939623,0.000212640174643,-0.000274325612322,1.6826364562e-05,1793192663612986880
+71,1.183333333,BASELINE,763.195423044,742,711,671,661,633,876.195423044,783.195423044,799,649,629,650,0.400947256985,-0.0053811257924,0.0598352451265,0.999999939849,0.000211135341679,-0.000274646942447,1.71333140796e-05,1793192663629653504
+72,1.200000000,BASELINE,763.770575572,742,711,671,661,633,876.770575572,783.770575572,799,649,629,650,0.400948812073,-0.00538182510943,0.0598358346718,0.999999940451,0.000209569613205,-0.000273653734444,1.70768331692e-05,1793192663646320384
+73,1.216666667,BASELINE,764,742,711,671,661.353971067,633,876.646028933,783.646028933,799,649,628.646028933,650,0.400949285188,-0.00538178793264,0.0598361111876,0.999999940559,0.000209173496057,-0.000273563970142,1.70770413112e-05,1793192663662986752
+74,1.233333333,BASELINE,764,742,711,671,661.942836541,633,876.057163459,783.057163459,799,649,628.057163459,650,0.400949040309,-0.00538126202017,0.0598361799776,0.999999940339,0.000209553530462,-0.000274073729115,1.71148681849e-05,1793192663679653120
+75,1.250000000,BASELINE,764,742,711,671,661.479631401,633,876,783,799,649,628.520368599,650.520368599,0.400948664864,-0.00538017912374,0.0598358781312,0.999999939846,0.000211255516924,-0.000274578990849,1.68890310242e-05,1793192663696320000
+76,1.266666667,BASELINE,764,742,711.092708494,671,661,633,876,783,799,649,628.907291506,650.907291506,0.400948489632,-0.00537936193925,0.0598356566498,0.999999939556,0.000212388055675,-0.000274777460891,1.66569201937e-05,1793192663712986624
+77,1.283333333,BASELINE,764,742,711.645335198,671,661,633,876,783,799,649,628.354664802,650.354664802,0.400949377277,-0.00538015999372,0.0598360315303,0.999999940426,0.000209990555816,-0.000273456364485,1.65343111586e-05,1793192663729653248
+78,1.300000000,BASELINE,763.785007481,742,711.785007481,671,661,633,876,783.214992519,799.214992519,649,628.214992519,650,0.400949781318,-0.00538084554504,0.0598360828727,0.999999940885,0.000208646735136,-0.000272805749714,1.65126674575e-05,1793192663746320128
+79,1.316666667,BASELINE,763.184838493,742,711.184838493,671,661,633,876,783.815161507,799.815161507,649,628.815161507,650,0.400949318946,-0.00538132953778,0.0598355545706,0.999999940619,0.000209190666104,-0.000273356357116,1.66719113243e-05,1793192663762986752
+80,1.333333333,BASELINE,763.410083553,742,711,671,661,633,876,783.589916447,799.589916447,649,628.589916447,650.410083553,0.400949109966,-0.00538155183878,0.0598357878867,0.999999940379,0.000210540615612,-0.000273183731625,1.68967466885e-05,1793192663779653376
+81,1.350000000,BASELINE,764,742,711,671,661,633,875.99739362,783,799,649,628.00260638,650.99739362,0.400949017248,-0.00538165515977,0.0598363588826,0.999999940151,0.000212240330644,-0.00027268823274,1.71491578444e-05,1793192663796320000
+82,1.366666667,BASELINE,764,742,711,671,661,633,875.419046352,783,799,649,628.580953648,650.419046352,0.400949695913,-0.00538120251704,0.0598366492186,0.999999940406,0.000211964180749,-0.000271970485533,1.70448117887e-05,1793192663812986624
+83,1.383333333,BASELINE,764,742,711,671,661,633,875,783.158159204,799,649,628.841840796,650.158159204,0.400949733942,-0.00538082313653,0.059836585043,0.999999940397,0.000212017014085,-0.000271973812422,1.68913119896e-05,1793192663829652992
+84,1.400000000,BASELINE,764,742,711,671,661,633,875,783.732361572,799,649,628.267638428,650.732361572,0.400948086755,-0.00538063647464,0.0598355883124,0.999999939688,0.000212935248934,-0.000273873949078,1.66085115745e-05,1793192663846319872
+85,1.416666667,BASELINE,763.692456132,742,711.307543868,671,661,633.307543868,875.307543868,784,799,649,628,650.692456132,0.400947263576,-0.00538036609502,0.0598349207088,0.9999999394,0.000212829117291,-0.000275012013976,1.65162346915e-05,1793192663862986496
+86,1.433333333,BASELINE,763.116418366,742,711.883581634,671,661,633.883581634,875.883581634,784,799,649,628,650.116418366,0.400947159775,-0.0053800226276,0.0598345404417,0.999999939481,0.00021182868666,-0.000275484770041,1.65902898876e-05,1793192663879653120
+87,1.450000000,BASELINE,763.473710938,742,711.526289062,671,661,633.526289062,876.473710938,784,799,649,628.473710938,650,0.40094760192,-0.00538036108636,0.0598347172763,0.999999939539,0.000212007547859,-0.000275127078474,1.67486766491e-05,1793192663896320000
+88,1.466666667,BASELINE,764,742,711.065652904,671,661,633,876.934347096,784,799.065652904,649,629,650,0.400948109426,-0.00538087432053,0.0598349897202,0.99999993962,0.000212267845584,-0.000274619480588,1.69272525229e-05,1793192663912986624
+89,1.483333333,BASELINE,764,742,711.64388033,671,661,633,876.35611967,784,799.64388033,649,629,650,0.400948047606,-0.00538140354654,0.0598349069257,0.999999939931,0.000210831844137,-0.000274583760091,1.70966822579e-05,1793192663929653248
+90,1.500000000,BASELINE,763.779386842,742,711.779386842,671.220613158,661,633,876,783.779386842,800,649,629,650,0.400947501137,-0.00538133739503,0.0598347564586,0.999999939853,0.000210802634241,-0.000274891523841,1.70768422595e-05,1793192663946320128
+91,1.516666667,BASELINE,763.205050457,742,711.205050457,671.794949543,661,633,876,783.205050457,800,649,629,650,0.400946177599,-0.00538031663652,0.0598344974877,0.99999993915,0.000213029023624,-0.000275750017925,1.67535339398e-05,1793192663962986496
+92,1.533333333,BASELINE,763.380093712,742,711.380093712,671.619906288,661.380093712,633,875.619906288,783,799.619906288,649,628.619906288,650,0.400946668901,-0.00538029997592,0.0598350083266,0.999999939326,0.000213113236115,-0.000275048762853,1.67215312821e-05,1793192663979653376
+93,1.550000000,BASELINE,763.971239087,742,711.971239087,671.028760913,661.971239087,633,875.028760913,783,799.028760913,649,628.028760913,650,0.400948167916,-0.00538084085282,0.0598359466118,0.999999939988,0.000212007979001,-0.000273481438142,1.68512796114e-05,1793192663996320000
+94,1.566666667,BASELINE,764,742,712,671,660.900737648,633,875.549631176,783,799,649,628.549631176,650,0.400949553245,-0.00538168075045,0.0598360193873,0.999999940686,0.000210112550682,-0.00027238990245,1.68840107048e-05,1793192664012986624
+95,1.583333333,BASELINE,764,742,711.873242092,671,660.126757908,633,876,783,799,649,628.873242092,650,0.400950338074,-0.00538245443868,0.0598359108348,0.999999941106,0.000208824822174,-0.000271833868551,1.6927698238e-05,1793192664029653248
+96,1.600000000,BASELINE,764,742,711.298283196,671,660.701716804,633,876,783,799,649,628.298283196,650,0.400949020165,-0.00538293994707,0.059835317637,0.999999940553,0.000209828733419,-0.000273085269193,1.70276699465e-05,1793192664046320128
+97,1.616666667,BASELINE,764,742,711,671,661,633,876,783.283177046,799.283177046,649,628,650,0.400948193271,-0.00538249110359,0.059835254974,0.999999939992,0.000211563740385,-0.000273791717757,1.71469986404e-05,1793192664062986752
+98,1.633333333,BASELINE,764,742,711,671,661,633,876,783.871646334,799.871646334,649,628,650,0.400947895739,-0.00538103493842,0.059835764279,0.99999993942,0.000214086939177,-0.000273910655207,1.72871960307e-05,1793192664079653376
+99,1.650000000,BASELINE,763.548045955,742,711,671,661,633,876,783.548045955,799.548045955,649,628,650.451954045,0.400947230292,-0.0053808612642,0.0598354183435,0.999999939705,0.000211968628654,-0.000274537520346,1.69784043905e-05,1793192664096320000
+100,1.666666667,BASELINE,763.02992308,742,711,671,661,633,875.97007692,783,799,649,628,650.97007692,0.400946478437,-0.00538100681843,0.0598348391178,0.999999940162,0.000208812840446,-0.000275314783669,1.65774898862e-05,1793192664112986368
+101,1.683333333,BASELINE,763.606760412,742,711,671,661,633,875.393239588,783,799,649,628,650.393239588,0.400946023156,-0.00538044806077,0.0598343565295,0.999999939576,0.000210360100381,-0.000276251185885,1.67820474222e-05,1793192664129652992
+102,1.700000000,BASELINE,763.816665158,742,711,670.816665158,660.816665158,633,875,783,799,649,628,650.183334842,0.400946529228,-0.00538029812111,0.0598345471287,0.999999939427,0.00021151554791,-0.000275899377709,1.69320655828e-05,1793192664146319872
+103,1.716666667,BASELINE,763.240653895,742,711,670.240653895,660.240653895,633,875,783,799,649,628,650.759346105,0.400949094379,-0.00538102380991,0.0598361795971,0.999999940213,0.000211831790371,-0.00027278841115,1.6965268351e-05,1793192664162986496
+104,1.733333333,BASELINE,763.685700046,742,711,670.342850023,660.342850023,633,875,783.342850023,799,649,628,650.657149977,0.400949480124,-0.00538181545477,0.0598367788882,0.999999940837,0.00020983812292,-0.000272040877464,1.69385969451e-05,1793192664179653120
+105,1.750000000,BASELINE,764.863461525,742,711,670.931730763,660.931730763,633,875,783.931730763,799,649,628,650.068269237,0.400948301919,-0.00538265443009,0.0598366367669,0.99999994134,0.000206186853765,-0.000272989353508,1.68689595657e-05,1793192664196319744
+106,1.766666667,BASELINE,764.487818133,742,711.512181867,671,661,633,875.512181867,784,799,649,628.512181867,650,0.400948385631,-0.00538237653105,0.059836266768,0.999999941012,0.000207657213829,-0.000273081880175,1.67451284868e-05,1793192664212986368
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,672,661,633,876,783,799,649,629,650,0.400947970157,-0.00538193833954,0.0598360981426,0.999999940429,0.000209967966194,-0.00027342676425,1.71324858855e-05,1793192664255979008
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.574557762,742,711.574557762,671.425442238,661,633,875.425442238,783.574557762,799,649,629,650,0.400949137133,-0.00538242045028,0.0598364751044,0.99999994109,0.000209137093807,-0.000271651168655,1.69723260348e-05,1793192664272645632
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.846946307,671,661,633,875.153053693,783.846946307,798.846946307,649,628.846946307,650,0.400949713606,-0.00538262303864,0.0598366479831,0.999999941433,0.000208599660785,-0.000270803703912,1.69111809143e-05,1793192664289312512
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.257214234,671,661,633,875.742785766,783.257214234,798.257214234,649,628.257214234,650,0.400948605308,-0.00538202812022,0.0598362385912,0.999999940877,0.000208899441128,-0.000272604294294,1.71325352586e-05,1793192664305979136
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660.672741265,633,876,783.327258735,798.327258735,649,628,650,0.40094878136,-0.0053816440363,0.0598364990577,0.999999940792,0.000209207654537,-0.000272677977959,1.71603990198e-05,1793192664322645760
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.092336434,633,876,783.907663566,798.907663566,649,628,650,0.400949950901,-0.0053814230403,0.059837277683,0.999999941072,0.000209522391201,-0.000271415838672,1.70385910232e-05,1793192664339312384
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660.48138798,633,876,783.51861202,799,649,628,650.48138798,0.400949798531,-0.00538178979035,0.0598366564894,0.999999940871,0.000209480291781,-0.000272175722078,1.72030346776e-05,1793192664355979264
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660.944525246,633,876.055474754,783.055474754,799,649,628,650.944525246,0.400949766088,-0.00538214808379,0.0598360587677,0.999999940679,0.00020938838962,-0.000272937962465,1.73958052867e-05,1793192664372645888
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.354776493,633,876.645223507,783.645223507,799,649,628,650.354776493,0.400953297259,-0.0053813540274,0.0598382376475,0.999999941451,0.000209467014631,-0.000270038669846,1.7339825341e-05,1793192664389312512
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.7684773,742,711,671,660.2315227,633,876.5369546,784,799,649,628.2315227,650,0.40096322241,-0.00538140710257,0.059842920957,0.999999943432,0.000209614294156,-0.000262467751095,1.75619119841e-05,1793192664405978880
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.187386533,742,711,671,660.812613467,633,875.374773065,784,799,649,628.812613467,650,0.400982801607,-0.00538273923227,0.0598513856176,0.999999947099,0.000209865232707,-0.00024784330684,1.8203841696e-05,1793192664422645504
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.388346659,742,711,671,661,633,875.388346659,784,799,649,629,650,0.40102352772,-0.00538345438253,0.0598678745953,0.999999954199,0.000209517123317,-0.000217607643969,1.87625480447e-05,1793192664439312128
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.961529923,742,711,671,661,633,875.961529923,784,799,649,629,650,0.401074318873,-0.00538387587676,0.0598881828096,0.999999961808,0.000208883892199,-0.000179941698981,1.92816436241e-05,1793192664455979008
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.462641172,783.462641172,799,649,628.462641172,650,0.401140132463,-0.00538793087381,0.0599052610801,0.999999966315,0.00020771038329,-0.000154213885135,2.10825528906e-05,1793192664472645632
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.116718193,783,799,649,628,650.116718193,0.40120910634,-0.00539179663082,0.0599205992684,0.999999969717,0.000206538441985,-0.000131904724563,2.25678994661e-05,1793192664489312512
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.709707157,783,799,649,628,650.709707157,0.40128656565,-0.00539382348975,0.059929785251,0.999999971423,0.00020553150883,-0.000120040710901,2.23892800784e-05,1793192664505979136
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.295323898,742,711.295323898,671,661,633,876,783,799,649,628,650.704676102,0.401374364004,-0.00539606475436,0.0599353638927,0.999999972992,0.000202941083746,-0.000111180289052,2.16713443775e-05,1793192664522645760
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.873870467,742,711.873870467,671,661,633,876,783,799,649,628,650.126129533,0.401472077742,-0.00539851163903,0.0599374830079,0.999999974491,0.000198832052162,-0.000105200384194,2.04361914658e-05,1793192664539312128
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.552698329,742,712,670.552698329,660.552698329,632.552698329,876,783.447301671,799,649,628.447301671,650,0.401590237711,-0.00540214595118,0.0599403781361,0.999999975561,0.000197402071323,-9.76460520534e-05,1.93599987109e-05,1793192664555979008
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.980053259,670.019946741,660.019946741,632.019946741,876,783.980053259,799,649,628.980053259,650,0.401714729464,-0.00540610994575,0.0599433611263,0.999999976465,0.000196600584268,-8.99042336501e-05,1.83008404794e-05,1793192664572645632
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.389087071,670.610912929,660.610912929,632.610912929,876,783.389087071,799,649,628.389087071,650,0.401857301367,-0.00541003498107,0.0599426660067,0.999999977361,0.000192409639555,-8.93606934393e-05,1.64606731472e-05,1793192664589312512
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876.197893282,783,799,649,628.197893282,650,0.402015821656,-0.00541468424262,0.059943480918,0.999999978629,0.000187998205316,-8.47819148474e-05,1.44815821552e-05,1793192664605979136
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876.777191563,783,799,649,628.777191563,650,0.402205079677,-0.00542072932422,0.0599472061518,0.999999980528,0.000183161816208,-7.24259138062e-05,1.22347401019e-05,1793192664622645760
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,670.648796534,661,633,876.297593069,783,799,649,629,650,0.402415940414,-0.00542559463154,0.0599485984369,0.999999981797,0.000179019365761,-6.53139144939e-05,9.60946569602e-06,1793192664639312640
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,670.078088596,661,633,875.156177192,783,799,649,629,650,0.40264030301,-0.00542972257277,0.0599485326139,0.99999998272,0.000175310631074,-6.14794495092e-05,6.74766836526e-06,1793192664655979520
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.49855129,670.49855129,661,633,875.49855129,783,799,649.49855129,629,650,0.402894065144,-0.00543845488196,0.0599469175311,0.999999984652,0.000164566343876,-5.99902082121e-05,3.79749041129e-06,1793192664672645888
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799,649.921955813,628.921955813,650,0.403156653155,-0.00544794047544,0.0599452430338,0.999999986621,0.000152632364739,-5.882690887e-05,7.35012696142e-07,1793192664689312256
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799,649.32986446,628.32986446,650,0.403446678148,-0.00545758028693,0.0599447947639,0.999999988521,0.000140208095822,-5.73618357448e-05,-2.9748644168e-06,1793192664705979136
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.743821202,742,711.743821202,671,661,633,876.256178798,783,799,649,628.256178798,650,0.403751853264,-0.0054664142922,0.0599394424989,0.999999989532,0.000128916973706,-6.53163366752e-05,-7.10224519015e-06,1793192664722645760
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.165386092,742,711.165386092,671,661,633,876.834613908,783,799,649,628.834613908,650,0.404076086234,-0.00547423464493,0.0599279213261,0.999999989222,0.00011905127749,-8.51200508967e-05,-1.17548182652e-05,1793192664739312384
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.411592548,742.411592548,711,671,661,632.588407452,876.588407452,783,799,649,629,650,0.40442986308,-0.00548532850211,0.0599156385445,0.999999988517,0.000105551403213,-0.000107474748744,-1.65449288932e-05,1793192664755979520
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.987988,742.987988,711,671,661,632.012012,876.012012,783,799,649,629,650,0.404795469377,-0.00549773308019,0.0599030508127,0.999999987106,9.05963932073e-05,-0.000130850867628,-2.13901098529e-05,1793192664772646912
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.441095064,711.558904936,671,661,632,875.441095064,783,799.558904936,649,628.441095064,650,0.405208027105,-0.00550895568248,0.059898802346,0.999999986809,7.6473720862e-05,-0.000141009267944,-2.55102965773e-05,1793192664789313536
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.864456234,671,661,632.135543766,875,783,799.864456234,649,628,650,0.405640483171,-0.00552265901171,0.0599016558043,0.999999988294,5.89480982917e-05,-0.00013830104494,-2.84715537153e-05,1793192664805979904
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.267962273,671,661,632.732037727,875,783,799.267962273,649,628,650,0.406137210064,-0.00554488421672,0.0599280575296,0.999999994872,2.97896581193e-05,-9.27933674302e-05,-2.75440571643e-05,1793192664822646272
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,632.682618855,875.317381145,783,799,649,628,650,0.406664945869,-0.00555278461065,0.0599569912869,0.999999997857,-3.94510477337e-05,-4.4405252106e-05,-2.75209617947e-05,1793192664839312384
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,632.10637016,875.89362984,783,799,649,628,650,0.407217973718,-0.00554900117252,0.059987990264,0.999999989587,-0.000141384303404,6.33225792848e-06,-2.8235528439e-05,1793192664855979264
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661.469336837,632.469336837,876.469336837,783,799,649,628,650,0.407767755353,-0.00553818515433,0.0599938279315,0.999999989853,-0.00013833190526,6.089752219e-06,-3.34990453505e-05,1793192664872645888
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,671,662,633,876.954008348,783,799,649,628,650,0.408317195922,-0.00552757361857,0.0599926658089,0.999999992688,-0.000114019778581,-7.46411102412e-06,-3.96042739381e-05,1793192664889312512
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,671,662,633,876.364707677,783,799,649,628,650,0.408871289017,-0.00553818454906,0.0599761013466,0.999999991057,-0.000119319953963,-4.19344993155e-05,-4.34877902294e-05,1793192664905979136
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,671.220735861,661.779264139,633,876,783,799,649,628,650,0.409456078706,-0.00554369262464,0.0599660210973,0.999999993625,-8.7172298758e-05,-6.0959629989e-05,-3.7886503895e-05,1793192664922645760
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,671.799915917,661.200084083,633,876,783,799,649,628,650,0.410090715339,-0.00554091437623,0.0599664703047,0.999999998334,5.78540175001e-06,-5.49038180057e-05,-1.68832229256e-05,1793192664939312640
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,671.622974726,661,633,876,783,799,649,628,650,0.410762862021,-0.00553746152956,0.0599711491179,0.999999998981,1.3914768158e-05,-4.05651732945e-05,-1.40899113023e-05,1793192664955979008
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,671.046958288,661,633,876,783,799,649,628,650,0.41145480621,-0.00553365263499,0.0599780602858,0.999999999284,-2.27276387256e-05,-2.18549107273e-05,-2.09076881607e-05,1793192664972645376
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.529617636,711.529617636,671,661.529617636,633,876.529617636,783,799.529617636,649,628,650,0.412152010444,-0.00553642624767,0.0599650475783,0.999999998299,-2.54886524141e-05,-4.58520902728e-05,-2.54824609111e-05,1793192664989312256
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.891661271,712,671,662,633,876.891661271,783,799.891661271,649,628.108338729,650,0.412841732512,-0.00553903782494,0.0599464029998,0.9999999959,-2.4609024321e-05,-8.21433920553e-05,-2.91035397628e-05,1793192665005978880
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.303662666,712,671,662,633,876.303662666,783,799.303662666,649,628.696337334,650,0.413496260733,-0.0055383452817,0.0599106532973,0.999999987168,-2.09251291645e-05,-0.000156083085854,-2.93836557649e-05,1793192665022645760
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661.722251399,633,876,783,799,649,628.722251399,650,0.414217955119,-0.00553847178923,0.059902737354,0.99999998458,-2.25248199794e-05,-0.000171577062681,-2.98909508957e-05,1793192665039312384
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661.14787515,633,876,783,799,649,628.14787515,650,0.415011381151,-0.00553947301969,0.0599245470735,0.999999991318,-2.97672307147e-05,-0.000124652677081,-3.06408670236e-05,1793192665055979008
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.569033643,742,711.569033643,671,661.861932714,633,876,783,798.569033643,649,628,650,0.415849684383,-0.00554216495565,0.0599662291032,0.999999997698,-3.36759877148e-05,-5.09251393217e-05,-2.95917599813e-05,1793192665072645632
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.011160084,742,711,671,662.977679832,633,876.011160084,783,798.011160084,649,628,650,0.416702574354,-0.00554543179976,0.0600136745097,0.999999998495,-3.63844868316e-05,3.00941768623e-05,-2.79545548152e-05,1793192665089312512
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.581536326,742,711,671,661.836927348,633,876.581536326,783,798.581536326,649,628,650,0.417506714072,-0.00554813302528,0.0600046632319,0.999999998867,-3.68669937415e-05,1.08299917982e-05,-2.81039073572e-05,1793192665105979136
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,671.159118999,661,633,877,783,799,649,628.159118999,650,0.418311071929,-0.00554939538812,0.0599919363954,0.999999998705,-3.99142333933e-05,-1.1982308677e-05,-2.92232611227e-05,1793192665122645760
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,671.756552725,661,633,877,783,799,649,628.756552725,650,0.419116030633,-0.00554669420963,0.0599689745521,0.999999997211,-5.00263749803e-05,-4.45683700283e-05,-3.301461397e-05,1793192665139312384
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711.341491824,672,661.682983648,632.658508176,877,783,799.341491824,649,628.658508176,650,0.419920866911,-0.0055457488851,0.0599459034544,0.999999995308,-4.85825639017e-05,-7.58719191789e-05,-3.55937660829e-05,1793192665155978752
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711.917837963,672,662.835675927,632.082162037,877,783,799.917837963,649,628.082162037,650,0.420725618958,-0.00554601111485,0.0599227572201,0.999999992886,-3.91913722211e-05,-0.000106293444303,-3.73392507104e-05,1793192665172645376
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711.510608072,672,662.021216143,632,876.510608072,783,799.510608072,649,628,650,0.421505112368,-0.00554536258656,0.0598916229007,0.999999983807,-3.63517648321e-05,-0.000172018856305,-3.83917635619e-05,1793192665189312256
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661.062558982,632.062558982,876.062558982,783,799,648.937441018,628,650,0.422296217114,-0.00554470523736,0.0598666596238,0.999999972626,-3.58941597085e-05,-0.000227853494358,-3.92752574647e-05,1793192665205978880
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711,672,661.656182772,632.656182772,876.656182772,783,799,648.343817228,628,650,0.423221539572,-0.00554525842253,0.059905356632,0.9999999869,-4.64107387019e-05,-0.000149898284773,-3.97019841193e-05,1793192665222645760
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,672,662.243266616,633,877,783,799,648.243266616,628,650,0.424138723001,-0.00554753951476,0.0599511106666,0.999999995545,-5.10054708277e-05,-6.94744352287e-05,-3.84992330016e-05,1793192665239312384
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,662.821349394,633,877,783,799,648.821349394,628,650,0.425044704539,-0.00555219878464,0.0600065775334,0.999999998157,-4.74497641829e-05,1.43470985412e-05,-3.50537760392e-05,1793192665255979008
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671.600212579,662.600212579,633,877,783,799,649,628,650,0.425903528234,-0.00555511385304,0.0600176066859,0.999999997556,-5.0436845182e-05,3.35790455099e-05,-3.48734043122e-05,1793192665272645632
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671.021615698,662.021615698,633,877,783,799,649,628,650,0.426741259996,-0.00555724880726,0.0600087605633,0.999999997473,-5.63502624907e-05,2.39225620307e-05,-3.61533792742e-05,1793192665289312256
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.564704301,711,671.564704301,662,633,876.435295699,783.564704301,799,649,628.564704301,650,0.427569368505,-0.00556090291697,0.0599817274015,0.999999997387,-5.99235284831e-05,-8.67915464032e-06,-3.94898522278e-05,1793192665305978880
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.149290707,743,711,672,662.149290707,632.850709293,876,784,798.850709293,649,628.850709293,650,0.428387553924,-0.00556330686518,0.0599582518803,0.999999996342,-6.39763908841e-05,-3.80744373184e-05,-4.21047068981e-05,1793192665322645504
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.728028087,743,711,672,662.728028087,632.271971913,876,784,798.271971913,649,628.271971913,650,0.429178269041,-0.00556194503073,0.0599470405314,0.999999995123,-6.96700964203e-05,-5.56846345377e-05,-4.24141890095e-05,1793192665339312384
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.69381834,743,711.30618166,671.69381834,662.38763668,632.30618166,876.30618166,783.69381834,798.30618166,649,628,650,0.429958969102,-0.00556025978029,0.0599305520367,0.999999993292,-6.50605660723e-05,-8.56683493601e-05,-4.29488188542e-05,1793192665355979008
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.116182389,743,711.883817611,671.116182389,661.232364778,632.883817611,876.883817611,783.116182389,798.883817611,649,628,650,0.430730789981,-0.00555828779604,0.0599093849349,0.999999989713,-5.13164007095e-05,-0.000126622166491,-4.36830599282e-05,1793192665372645632
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711.54116053,671.45883947,661.91767894,632.54116053,877,783,799,649,628,650,0.431562593745,-0.00556231862516,0.0599398882368,0.999999995204,-5.64087895558e-05,-6.72383513213e-05,-4.34694772139e-05,1793192665389312512
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.965917309,711,672.034082691,663,632.034082691,877.034082691,783,799,649,628.034082691,650,0.432405396589,-0.00556773405894,0.0599819801607,0.999999996769,-6.6566795138e-05,1.37441784089e-05,-4.29269007672e-05,1793192665405979392
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.376339903,711,672.623660097,663,632.623660097,877.623660097,783,799,649,628.623660097,650,0.433181324247,-0.005571083616,0.0600009170852,0.999999995189,-8.19899507709e-05,3.50127786287e-05,-4.09116743025e-05,1793192665422645760
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711,672.790647438,662.581294875,632.790647438,877.790647438,783,799,649,629,650,0.433928214112,-0.00557323947788,0.0600000291944,0.999999995053,-8.67997991365e-05,2.7098010739e-05,-4.03052443213e-05,1793192665439312640
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711,672.211811354,661.423622708,632.211811354,877.211811354,783,799,649,629,650,0.434623855695,-0.00557328860377,0.0599641527569,0.999999995932,-7.28783666654e-05,-3.23220875646e-05,-4.21851799111e-05,1793192665455979008
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672,661.364149717,632.364149717,877,783,799,649,628.635850283,650,0.43530456432,-0.00557429148088,0.0599365765085,0.999999993539,-6.80240919207e-05,-7.98817787016e-05,-4.37433108607e-05,1793192665472645632
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661.938451574,632.938451574,877,783,799,649,628.061548426,650,0.435976655037,-0.00557584477131,0.0599137903319,0.999999989371,-6.8402508029e-05,-0.000120596781734,-4.51157270622e-05,1793192665489312256
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.483800181,742,711,672.516199819,662.516199819,633,877,783,799,649,628.516199819,650,0.436636672008,-0.00558002911987,0.059915406517,0.999999987329,-0.000100829184288,-0.000114170461053,-4.62622984798e-05,1793192665505978880
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.096012294,742,711,672.903987706,662.903987706,632.903987706,877,783,799,649,629,650,0.437286745344,-0.00558298235416,0.0599188558368,0.999999985041,-0.000127241503866,-0.000107385450624,-4.6865190441e-05,1793192665522645760
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.684287207,742,711,672.315712793,662.315712793,632.315712793,877,783,799,649,629,650,0.437893267399,-0.00557800433705,0.0599166858472,0.999999985518,-0.000103094292483,-0.000127773577211,-4.48195866377e-05,1793192665539312384
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661.732705461,632,877.267294539,783,799,649,628.732705461,649.732705461,0.438489261818,-0.00557271830145,0.0599145896127,0.999999985977,-8.20684407282e-05,-0.000139307214203,-4.36436331676e-05,1793192665555979008
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672,661.155799689,632,877.844200311,783,799,649,628.155799689,649.155799689,0.439073061878,-0.0055670754838,0.05991257881,0.999999987083,-6.46581079363e-05,-0.000140584563064,-4.34750087665e-05,1793192665572645632
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661.42326781,632,877.57673219,783,799.42326781,649,628,649.42326781,0.43963895596,-0.00557200773739,0.0599207680712,0.999999988204,-6.99305018841e-05,-0.000129574326679,-4.37363316235e-05,1793192665589312256
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672.003098408,661.993803184,632,877,783,800,649,628,650,0.440197708133,-0.00558084248034,0.0599325702499,0.999999989001,-8.35814188563e-05,-0.000114290230042,-4.41667780249e-05,1793192665605978880
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672.57617089,660.84765822,632,877,783,800,649,628,650,0.440661327249,-0.00558782889413,0.0599147782571,0.99999998332,-9.473568431e-05,-0.000149091868034,-4.64465081264e-05,1793192665622645760
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.154932033,711,673,660,632,877,783,799.845067967,649,628,650,0.441108466935,-0.00559358325604,0.0598877021326,0.999999974078,-0.000104604504654,-0.000196118545249,-4.93988888883e-05,1793192665639312384
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.74984827,711,673,660,632,877,783,799.25015173,649,628,650,0.441508807572,-0.00559583877332,0.0598342604348,0.999999953783,-0.000110822852272,-0.000277862544841,-5.42614991375e-05,1793192665655979264
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.666418575,711,673,660,632,877,783,799,648.666418575,628,650,0.441890764008,-0.00559511424922,0.0597900170459,0.999999932559,-0.000111660802647,-0.000344975575834,-5.83513388684e-05,1793192665672645888
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+195,3.250000000,POSE1_TO_POSE2_PRESS,763,742,711,672,659,631.053056628,876.946943372,782.053056628,799,649,628,650,0.442997932685,-0.00558325493622,0.0597438145854,0.999999917552,-6.86257544231e-05,-0.000397267293958,-4.86425749916e-05,1793192665722645504
+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742,711,672,659,631.648723963,876.351276037,782.648723963,799,649,628,650,0.443331963727,-0.00557205931323,0.0597539153412,0.999999920545,-9.57280004724e-05,-0.00038451533736,-4.35248036687e-05,1793192665739312128
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,742.236293002,711,672.236293002,659,631.763706998,876.236293002,783,799.236293002,649,628,650,0.44364960828,-0.00556476409609,0.0597595691335,0.999999921897,-0.000108651320867,-0.000377744006647,-4.13454013239e-05,1793192665755979008
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742.8122219,711,672.8122219,659,631.1877781,876.8122219,783,799.8122219,649,628,650,0.443943699671,-0.00556307513071,0.0597588310791,0.999999921902,-0.000101194551257,-0.000379568933818,-4.33894659749e-05,1793192665772645632
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742.612848476,711,672.612848476,659,631,877,782.612848476,800,649,628,650,0.444196659507,-0.00556923365064,0.0597541388413,0.999999917558,-0.000103222646147,-0.000390184466574,-4.4545536861e-05,1793192665789312512
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+228,3.800000000,POSE1_TO_POSE2_PRESS,763.773321474,742,711,672,658,630.226678526,877,782,800,649,628,650.773321474,0.445938380369,-0.0055869540881,0.0596744688193,0.999999853604,-0.000115172180153,-0.000526428717522,-4.89930227136e-05,1793192666272646144
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+238,3.966666667,POSE1_TO_POSE2_PRESS,763.98866141,742.98866141,711,672.98866141,658,630.01133859,877,782,799.01133859,649,627.01133859,650,0.445939180372,-0.00558493164684,0.059673381128,0.999999852164,-0.000112352835303,-0.000529826085852,-4.83064284965e-05,1793192666439312896
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.396716903,742.396716903,711,672.396716903,658,630.603283097,877,782,799.603283097,649,627.603283097,650,0.445941301684,-0.00558441096468,0.0596742136932,0.999999853401,-0.00011400690461,-0.000527114166431,-4.84800148689e-05,1793192666455979520
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+241,4.016666667,POSE1_TO_POSE2_PRESS,763.770199736,742,711,672.770199736,658,631,877,782,800,649,628,650,0.445943110318,-0.00558389098823,0.0596753835441,0.999999854888,-0.000111761960825,-0.000524819141304,-4.79453719983e-05,1793192666489312512
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+244,4.066666667,HOLD_POSE2,764,742,711,673,658,631,878,782,799,649,628,650,0.445944230771,-0.0055857144403,0.0596748851038,0.999999854878,-0.000113552829086,-0.000524470518906,-4.77438234725e-05,1793192666553294336
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+257,4.283333333,HOLD_POSE2,764,742.54184524,711,672,658.45815476,630.54184524,877,782,799,649,628,650,0.445942268836,-0.00558446908491,0.0596729750235,0.999999852396,-0.000115712962693,-0.000528702499644,-4.78806867075e-05,1793192666769960448
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,631,877,782,800,649,628,650,0.445944040296,-0.0055846865304,0.0596731425323,0.999999853124,-0.000114144074954,-0.000527671305618,-4.78183207743e-05,1793192666869284608
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..001a0e7b1eae1a4188090e0881d7366446d75587
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,400 @@
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+349,5.816666667,pose2_to_pose3_retreat,0.57751597422,5.45267988222e-05,1.05002911131,0.548086703092,0.00872725134639,1.04969839386
+350,5.833333333,pose2_to_pose3_retreat,0.577283394696,5.46100949142e-05,1.05002919625,0.547854122591,0.00872733129648,1.04969847795
+351,5.850000000,pose2_to_pose3_retreat,0.577064075499,5.4618686212e-05,1.0500292234,0.547634803919,0.0087273416117,1.04969850375
+352,5.866666667,pose2_to_pose3_retreat,0.576859935771,5.4709373551e-05,1.05002926919,0.547430662598,0.00872742704839,1.04969855352
+353,5.883333333,pose2_to_pose3_retreat,0.576673731,5.46198686346e-05,1.05002903109,0.547244460943,0.00872734829813,1.04969832011
+354,5.900000000,pose2_to_pose3_retreat,0.576510710407,5.44722660917e-05,1.05002892742,0.547081440309,0.00872720081036,1.04969822306
+355,5.916666667,pose2_to_pose3_retreat,0.576369318923,5.44179926629e-05,1.05002917404,0.546940049972,0.00872715023333,1.04969846459
+356,5.933333333,pose2_to_pose3_retreat,0.576248711896,5.46041540567e-05,1.05002928054,0.546819441875,0.00872733282128,1.0496985729
+357,5.950000000,pose2_to_pose3_retreat,0.576144168319,5.457014534e-05,1.05002927967,0.546714898671,0.00872729989804,1.04969857042
+358,5.966666667,pose2_to_pose3_retreat,0.576054767204,5.45015782914e-05,1.05002917517,0.546625497873,0.00872723244877,1.04969846483
+359,5.983333333,pose2_to_pose3_retreat,0.575977754534,5.44357341609e-05,1.0500291916,0.546548486251,0.00872716992648,1.04969847476
+360,6.000000000,pose2_to_pose3_retreat,0.575912957135,5.45330384457e-05,1.05002905409,0.54648368682,0.00872726064408,1.04969834541
+361,6.016666667,pose2_to_pose3_retreat,0.575860342817,5.44475734168e-05,1.0500291768,0.54643107414,0.00872718047634,1.04969846128
+362,6.033333333,pose2_to_pose3_retreat,0.575818138232,5.44815448532e-05,1.05002931288,0.5463888699,0.00872721543621,1.04969859261
+363,6.050000000,pose2_to_pose3_retreat,0.575785555525,5.45439426721e-05,1.05002931453,0.54635628676,0.00872727646122,1.04969859692
+364,6.066666667,pose2_to_pose3_retreat,0.575760920673,5.46567757757e-05,1.05002920892,0.546331651666,0.00872738859165,1.04969849461
+365,6.083333333,pose2_to_pose3_retreat,0.575744223324,5.45927243943e-05,1.05002916658,0.546314953929,0.00872732334331,1.04969845514
+366,6.100000000,pose2_to_pose3_retreat,0.575732883496,5.45729625562e-05,1.05002911988,0.546303613604,0.00872730186114,1.04969840734
+367,6.116666667,pose2_to_pose3_retreat,0.575725917383,5.4616725027e-05,1.05002906582,0.546296647069,0.00872734407234,1.0496983501
+368,6.133333333,pose2_to_pose3_retreat,0.575721266302,5.46096737876e-05,1.05002903288,0.546291995819,0.00872733671528,1.04969832398
+369,6.150000000,pose2_to_pose3_retreat,0.575718091452,5.46042877801e-05,1.05002901044,0.546288820856,0.00872733113205,1.04969830635
+370,6.166666667,pose2_to_pose3_retreat,0.575716306013,5.45693006869e-05,1.05002902469,0.546287036027,0.00872729810198,1.04969831766
+371,6.183333333,pose2_to_pose3_retreat,0.575714872232,5.45388851031e-05,1.05002903808,0.546285602784,0.00872726940805,1.04969832829
+372,6.200000000,pose2_to_pose3_retreat,0.575713576352,5.45113949109e-05,1.05002905019,0.546284307392,0.00872724347392,1.0496983379
+373,6.216666667,pose2_to_pose3_retreat,0.575713522251,5.45102472339e-05,1.05002905069,0.546284253311,0.00872724239121,1.0496983383
+374,6.233333333,pose2_to_pose3_retreat,0.575713044612,5.45032288243e-05,1.05002905757,0.546283775839,0.00872723592229,1.04969834471
+375,6.250000000,pose2_to_pose3_retreat,0.575712782459,5.45058905156e-05,1.05002906641,0.546283513753,0.00872723883527,1.04969835422
+376,6.266666667,pose2_to_pose3_retreat,0.575712524601,5.45085085985e-05,1.05002907509,0.54628325596,0.00872724170053,1.04969836357
+377,6.283333333,pose2_to_pose3_retreat,0.575712383528,5.45099409446e-05,1.05002907985,0.546283114923,0.0087272432681,1.04969836869
+378,6.300000000,pose2_to_pose3_retreat,0.575712067907,5.45131455013e-05,1.05002909048,0.546282799382,0.0087272467752,1.04969838014
+379,6.316666667,pose2_to_pose3_retreat,0.575711473199,5.45191836898e-05,1.05002911052,0.546282204825,0.00872725338345,1.04969840171
+380,6.333333333,pose2_to_pose3_retreat,0.575711371585,5.45202154033e-05,1.05002911395,0.546282103236,0.00872725451256,1.04969840539
+381,6.350000000,pose2_to_pose3_retreat,0.575711327276,5.45206652796e-05,1.05002911544,0.546282058938,0.00872725500491,1.049698407
+382,6.366666667,pose2_to_pose3_retreat,0.575711094284,5.45230308962e-05,1.05002912329,0.546281826005,0.00872725759386,1.04969841545
+383,6.383333333,pose2_to_pose3_retreat,0.575710928359,5.45247155642e-05,1.05002912888,0.546281660122,0.00872725943758,1.04969842147
+384,6.400000000,pose2_to_pose3_retreat,0.575710886244,5.45251431622e-05,1.0500291303,0.546281618018,0.00872725990555,1.049698423
+385,6.416666667,pose2_to_pose3_retreat,0.575710819688,5.45258189189e-05,1.05002913254,0.546281551479,0.0087272606451,1.04969842541
+386,6.433333333,pose2_to_pose3_retreat,0.575710745184,5.45265753713e-05,1.05002913505,0.546281476994,0.00872726147297,1.04969842811
+387,6.450000000,pose2_to_pose3_retreat,0.575710647945,5.45293390619e-05,1.05002913795,0.546281379748,0.00872726421817,1.04969843114
+388,6.466666667,pose2_to_pose3_retreat,0.575710542954,5.4539467115e-05,1.05002913954,0.546281274622,0.00872727387702,1.04969843241
+389,6.483333333,pose2_to_pose3_retreat,0.575710462805,5.4547198771e-05,1.05002914075,0.546281194371,0.00872728125049,1.04969843337
+390,6.500000000,pose2_to_pose3_retreat,0.575710394848,5.45537542157e-05,1.05002914178,0.546281126327,0.00872728750224,1.04969843419
+391,6.516666667,pose2_to_pose3_retreat,0.575710349075,5.45581697638e-05,1.05002914248,0.546281080495,0.00872729171323,1.04969843474
+392,6.533333333,pose2_to_pose3_retreat,0.575710176081,5.45748577395e-05,1.0500291451,0.54628090728,0.0087273076281,1.04969843682
+393,6.550000000,pose2_to_pose3_retreat,0.575710020139,5.45899008853e-05,1.05002914746,0.546280751137,0.00872732197435,1.04969843869
+394,6.566666667,pose2_to_pose3_retreat,0.57570985806,5.46055359119e-05,1.05002914992,0.546280588851,0.00872733688505,1.04969844064
+395,6.583333333,pose2_to_pose3_retreat,0.575709620265,5.46280594947e-05,1.05002915286,0.546280350708,0.00872735820574,1.04969844299
+396,6.600000000,pose2_to_pose3_retreat,0.575709479826,5.46337124813e-05,1.05002914247,0.546280209273,0.00872736056765,1.04969843491
+397,6.616666667,pose2_to_pose3_retreat,0.575709251539,5.46429015592e-05,1.05002912556,0.546279979368,0.00872736440698,1.04969842179
+398,6.633333333,pose2_to_pose3_retreat,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966301,1.04969846034
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15cb3f5b11b44f075088d9e5ab0127ec855734de
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cc96cf9a11a4426ebd46d4af35e7762f393fed059724c66f9a1d47fdec151d9
+size 25416126
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..36ff7dab8e5afd876ba10c040d2b5b4f982f51ba
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/franka_data.csv
@@ -0,0 +1,401 @@
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+27,0.450000000,BASELINE,764,742,711.302391509,671,660.697608491,633,875.302391509,783,800,649,628.302391509,650.302391509,0.400954836083,-0.00538392719563,0.0598372949705,0.999999942339,0.000207070168813,-0.000268733911195,1.50378297222e-05,1793192669704174336
+28,0.466666667,BASELINE,764,742,711.278241883,671,661,633,875.278241883,783.278241883,799.721758117,649,628.278241883,650.278241883,0.400954435146,-0.00538413836,0.0598372126403,0.999999942289,0.000207126878866,-0.000268875909849,1.50191053804e-05,1793192669720840960
+29,0.483333333,BASELINE,764,742,711.866578576,671,661,633,875.866578576,783.866578576,799.133421424,649,628.866578576,650.866578576,0.400952335904,-0.00538458179861,0.0598362098024,0.999999941891,0.000206394265355,-0.00027092447433,1.4782636288e-05,1793192669737507584
+30,0.500000000,BASELINE,764,742,712,671,661,633,876,783.551166118,799,649,629,650.551166118,0.400951353256,-0.00538390846265,0.0598354252886,0.999999941148,0.0002080058818,-0.000272423808282,1.49035853256e-05,1793192669754174464
+31,0.516666667,BASELINE,764,742.029060516,712,671.029060516,661,633,876,783,799,649,629,650,0.400950752147,-0.00538300554828,0.059834757276,0.999999940371,0.000210111100665,-0.000273647139752,1.51134938398e-05,1793192669770841088
+32,0.533333333,BASELINE,764,742.604678107,712,671.604678107,661,633,876,783,799,649,629,650,0.400951167703,-0.00538394499753,0.0598350760818,0.999999940951,0.000208568910087,-0.000272709117927,1.50249800982e-05,1793192669787507712
+33,0.550000000,BASELINE,764,742.819806157,712,671.819806157,661,633,876,783.180193843,799,649,628.819806157,650,0.400951939394,-0.00538460387667,0.0598355469971,0.999999941575,0.000207130422669,-0.000271520034562,1.49443481429e-05,1793192669804174336
+34,0.566666667,BASELINE,764,742.244513825,712,671.244513825,661,633,876,783.755486175,799,649,628.244513825,650,0.400953491958,-0.00538464756915,0.0598363514322,0.999999942297,0.000205919318155,-0.000269780466169,1.48809980429e-05,1793192669820840960
+35,0.583333333,BASELINE,763.65926783,742,712,671,661,633,876,784,799,649,628.34073217,650.34073217,0.400953932358,-0.00538470887176,0.0598368214299,0.999999942484,0.000205550898964,-0.000269365823205,1.49256788159e-05,1793192669837507584
+36,0.600000000,BASELINE,763.066663953,742,712,671,661,633,876,784,799,649,628.933336047,650.933336047,0.400953550639,-0.00538478319191,0.0598370442093,0.999999942278,0.000205805398787,-0.000269930574606,1.50502167919e-05,1793192669854174208
+37,0.616666667,BASELINE,763,742,711.490456264,671,660.490456264,633,876,784,799,649.509543736,628.490456264,650.490456264,0.400952811316,-0.00538355709147,0.0598364397203,0.999999941719,0.000207393194091,-0.000270789292738,1.49638668769e-05,1793192669870841088
+38,0.633333333,BASELINE,763.083783891,742,711,671,660.083783891,633,876,784,799.083783891,649.916216109,628.083783891,650.083783891,0.400952469844,-0.00538230873146,0.0598360282901,0.999999941353,0.000208516491605,-0.000271284121481,1.4827378176e-05,1793192669887507712
+39,0.650000000,BASELINE,763.658673256,742,711,671,660.658673256,633,876,784,799.658673256,649.341326744,628.658673256,650.658673256,0.40095472609,-0.00538189606361,0.0598373631209,0.999999942396,0.000205926507987,-0.000269427578633,1.45536798428e-05,1793192669904174592
+40,0.666666667,BASELINE,764,742,711,671,661,633,876,783.759523129,799.759523129,649,628.759523129,651,0.400955188778,-0.005382336713,0.0598376299794,0.999999942731,0.000204899458405,-0.00026897281695,1.44140477009e-05,1793192669920841216
+41,0.683333333,BASELINE,764,742,711,671,661,633,876,783.167615111,799.167615111,649,628.167615111,651,0.400953030374,-0.00538402439402,0.0598363361107,0.999999942042,0.000206156469384,-0.000270566608156,1.44703389301e-05,1793192669937507840
+42,0.700000000,BASELINE,763.585046166,742,711,671,661,633,876,783,799,649,628.414953834,651,0.400952527447,-0.00538408916982,0.0598360161912,0.999999941671,0.00020731241003,-0.000271034376885,1.48631665502e-05,1793192669954174464
+43,0.716666667,BASELINE,763.006166596,742,711,671,661,633,876,783,799,649,628.993833404,651,0.400952678509,-0.00538351282383,0.0598360810263,0.999999941424,0.000208428423242,-0.000271057315218,1.53889414293e-05,1793192669970841344
+44,0.733333333,BASELINE,764.14085209,742.570426045,711.570426045,671,661,633,875.429573955,783,799,649,629,651,0.400952909828,-0.00538422878636,0.0598365108309,0.999999941905,0.000206616029291,-0.000270684863753,1.51508693628e-05,1793192669987507712
+45,0.750000000,BASELINE,764.85379242,743,711.85379242,671,661,633,875.14620758,783.14620758,799,649,628.85379242,650.85379242,0.400953130027,-0.0053851448587,0.0598369229777,0.999999942229,0.000205576228842,-0.000270282460171,1.51043941802e-05,1793192670004174336
+46,0.766666667,BASELINE,764.280309392,743,711.280309392,671,661,633,875.719690608,783.719690608,799,649,628.280309392,650.280309392,0.400953315206,-0.00538660506537,0.0598372720372,0.999999942079,0.000206886393917,-0.0002698049664,1.56418751837e-05,1793192670020841216
+47,0.783333333,BASELINE,764,742.697753205,711,671,661,633,876,783.697753205,799,649,628.302246795,650.302246795,0.400953123155,-0.00538655334127,0.0598370444021,0.999999942042,0.000206576828453,-0.000270189008238,1.54721364563e-05,1793192670037507840
+48,0.800000000,BASELINE,764,742.106521915,711,671,661,633,876,783.106521915,799,649,628.893478085,650.893478085,0.400952570425,-0.00538505602865,0.0598362653774,0.99999994211,0.000204718604822,-0.000271396782275,1.46262101836e-05,1793192670054174464
+49,0.816666667,BASELINE,764,742,711,671,661,632.524740364,876,783.475259636,799,648.524740364,629,650.524740364,0.400952671772,-0.00538430801954,0.0598366990801,0.999999941813,0.000206843871091,-0.000270865055365,1.4870940382e-05,1793192670070841088
+50,0.833333333,BASELINE,764,742,711,671,660.945340706,632.054659294,876,783.945340706,799,648.054659294,629,650,0.400952917105,-0.00538376637884,0.0598373367635,0.999999941478,0.000209515176621,-0.000270022958876,1.53160054787e-05,1793192670087507712
+51,0.850000000,BASELINE,764,742,711,671,660.368854162,632.631145838,876,783.368854162,799,648.631145838,629,650,0.400953164752,-0.00538362282561,0.0598373774435,0.999999941618,0.000209041824099,-0.000269867389344,1.53853744831e-05,1793192670104174336
+52,0.866666667,BASELINE,764,742,711,671,660.206818187,633,876,783,799.206818187,649,629,650,0.400953141621,-0.00538373680022,0.0598372236802,0.999999941668,0.000208634594086,-0.000269997183406,1.54081978482e-05,1793192670120840960
+53,0.883333333,BASELINE,764,742,711,671,660.781044101,633,876,783,799.781044101,649,629,650,0.400952637458,-0.00538430826709,0.0598367244928,0.999999941557,0.000208344829209,-0.00027063391931,1.53483339571e-05,1793192670137507840
+54,0.900000000,BASELINE,764,742,711.365151605,671,661,633,876,783,799.634848395,649,629,650.365151605,0.400952126721,-0.00538417111541,0.0598360276607,0.999999941341,0.000208339437893,-0.000271450488963,1.50885089841e-05,1793192670154174464
+55,0.916666667,BASELINE,764,742,711.955349193,671,661,633,876,783,799.044650807,649,629,650.955349193,0.400951611933,-0.00538359723618,0.0598352090186,0.999999941059,0.000208509308392,-0.000272377891634,1.47054463286e-05,1793192670170841088
+56,0.933333333,BASELINE,764,742,711.465175194,671.534824806,660.465175194,633,876,783.534824806,799,649,629,651,0.400951855456,-0.00538329666817,0.0598362206209,0.999999941374,0.000208224892903,-0.000271442229704,1.46255681735e-05,1793192670187507712
+57,0.950000000,BASELINE,764,742,711,672,660.112661463,633,875.887338537,783.887338537,799,649,629,651,0.4009523926,-0.00538346499825,0.0598371660478,0.999999941826,0.000207458243827,-0.000270361357434,1.46541408264e-05,1793192670204174336
+58,0.966666667,BASELINE,764,742,711,672,660.687375248,633,875.312624752,783.312624752,799,649,629,651,0.40095387941,-0.00538546465216,0.0598372257141,0.999999942638,0.000204866326863,-0.000269310317894,1.50257268144e-05,1793192670220840960
+59,0.983333333,BASELINE,763.732383445,742,711,671.732383445,661,633,875.267616555,783,799.267616555,649,629,651,0.400954053091,-0.00538575864423,0.0598372457093,0.999999942621,0.000205220128914,-0.000269093086059,1.52361637367e-05,1793192670237507840
+60,1.000000000,BASELINE,763.145548727,742,711,671.145548727,661,633,875.854451273,783,799.854451273,649,629,651,0.400952660444,-0.00538401809037,0.0598372183843,0.99999994161,0.000209087640798,-0.00026987043592,1.52543790092e-05,1793192670254174464
+61,1.016666667,BASELINE,763.43782019,742,711,671,661,633,876,783.43782019,799.56217981,649,628.56217981,651,0.400951090396,-0.00538355556392,0.0598358824016,0.999999940946,0.000209764550133,-0.000271804000616,1.5146250668e-05,1793192670270841088
+62,1.033333333,BASELINE,764,742,711,671,660.980184865,633.019815135,876,784,799,649,628,651,0.40094957533,-0.00538351583642,0.0598342225552,0.999999940445,0.000209360080694,-0.000273958848553,1.50039556282e-05,1793192670287507712
+63,1.050000000,BASELINE,764,742,711,671,660.404663046,633.595336954,876,784,799,649,628,651,0.400951243171,-0.00538351169717,0.0598355850444,0.999999941335,0.00020814156417,-0.000271624623878,1.50721357064e-05,1793192670304174336
+64,1.066666667,BASELINE,764,742,711.170575337,671,660.170575337,633.829424663,875.829424663,784,799,649,628.170575337,650.829424663,0.40095258318,-0.00538344488087,0.0598367997431,0.999999941965,0.000207433235194,-0.000269839347798,1.51278017027e-05,1793192670320840960
+65,1.083333333,BASELINE,764,742,711.745142394,671,660.745142394,633.254857606,875.254857606,784,799,649,628.745142394,650.254857606,0.400953146753,-0.00538322961984,0.059837664414,0.999999941991,0.000207933237743,-0.000269354205224,1.51538292635e-05,1793192670337507584
+66,1.100000000,BASELINE,764,742,712,671,661,633,875.655768127,783.672115937,799,649,629,650.327884063,0.400953433044,-0.00538286149955,0.0598376130336,0.999999942017,0.000208018528752,-0.000269199101009,1.50090964064e-05,1793192670354174464
+67,1.116666667,BASELINE,764,742,712,671,661,633,876.834284254,783.082857873,799,649,629,650.917142127,0.400953498299,-0.00538237152695,0.0598368314195,0.999999942044,0.00020777323089,-0.000269307088119,1.47282412459e-05,1793192670370841088
+68,1.133333333,BASELINE,764,742.498200674,711.501799326,671.498200674,661,633,876.501799326,783.498200674,799,649,629,651,0.40095291337,-0.00538188507865,0.0598366011239,0.99999994158,0.000208768519101,-0.000270254117128,1.48015695992e-05,1793192670387507712
+69,1.150000000,BASELINE,764,742.922665124,711.077334876,671.922665124,661,633,876,784,799.077334876,649,629,650.922665124,0.400952258481,-0.00538172204816,0.0598364769907,0.999999941141,0.00020963960638,-0.000271195675148,1.49106531842e-05,1793192670404174080
+70,1.166666667,BASELINE,764,742.347284034,711.652715966,671.347284034,661,633,876,784,799.652715966,649,629,650.347284034,0.40095183817,-0.00538363815501,0.0598364556083,0.999999941394,0.000208403566401,-0.000271217865413,1.48767869088e-05,1793192670420840704
+71,1.183333333,BASELINE,764,742,711.767682066,671,661,633,876.232317934,783.767682066,800,649,628.767682066,650.232317934,0.400951916067,-0.00538488376957,0.0598367305934,0.999999941673,0.000207439082615,-0.000270924879977,1.49107001776e-05,1793192670437507584
+72,1.200000000,BASELINE,764,742,711.181653606,671,661,633,876.818346394,783.181653606,800,649,628.181653606,650.818346394,0.400952752499,-0.00538510854121,0.0598374568061,0.999999941994,0.00020688805051,-0.000270152030757,1.50478096861e-05,1793192670454174720
+73,1.216666667,BASELINE,764,742,711,671,661,633,876.597765219,783,799.597765219,649,628.402234781,650.597765219,0.400952039142,-0.00538392070035,0.059836510813,0.999999941404,0.00020829962599,-0.000271256264838,1.49321136527e-05,1793192670470841088
+74,1.233333333,BASELINE,764,742,711,671,661,633,876.014838232,783,799.014838232,649,628.985161768,650.014838232,0.400950629589,-0.00538209828464,0.0598348136303,0.999999940397,0.000210592845528,-0.000273203723708,1.47028521189e-05,1793192670487507712
+75,1.250000000,BASELINE,764,742,711,671,660.439944988,633,876,783.560055012,799,649,629,650,0.400951752088,-0.00538307670769,0.0598362690024,0.999999941158,0.000209385274508,-0.000271319364308,1.50915651246e-05,1793192670504174336
+76,1.266666667,BASELINE,764,742,711.134772779,670.865227221,660.134772779,633,875.865227221,783.865227221,799,649,629,650.134772779,0.400952840388,-0.00538352380679,0.0598374621698,0.999999941685,0.000208923228193,-0.000269714575859,1.53112260414e-05,1793192670520840960
+77,1.283333333,BASELINE,764,742,711.709602704,670.290397296,660.709602704,633,875.290397296,783.290397296,799,649,629,650.709602704,0.400953601071,-0.00538199716876,0.0598375303259,0.999999941313,0.000211194018074,-0.000269349433287,1.49261977472e-05,1793192670537507840
+78,1.300000000,BASELINE,764,742,712,670.2930492,661,633,875.586098401,783,799,649,628.7069508,650.7069508,0.400953863868,-0.00538288406696,0.0598375016692,0.999999941577,0.000210521669742,-0.000268888671729,1.49845144895e-05,1793192670554174464
+79,1.316666667,BASELINE,764,742,712,670.885292923,661,633,876.770585847,783,799,649,628.114707077,650.114707077,0.400953618336,-0.00538623511398,0.0598373741694,0.999999942487,0.000206844464642,-0.000268330286047,1.54954733588e-05,1793192670570841344
+80,1.333333333,BASELINE,764,742,711.532775752,671,661,633,876.065551505,783,799,649,628.467224248,650.467224248,0.400952403077,-0.00538644745931,0.0598370615158,0.999999942537,0.000204948594308,-0.000269615085335,1.51675212574e-05,1793192670587507712
+81,1.350000000,BASELINE,764,742,711.046281499,671,661,633,875.092562998,783,799.046281499,649,628.953718501,651,0.400951193902,-0.00538576921298,0.0598368134582,0.999999942371,0.000203868164986,-0.000271072160092,1.46996893434e-05,1793192670604174592
+82,1.366666667,BASELINE,764,742,711.620807295,671,661,633,876.241614589,783,799.620807295,649,628.379192705,651,0.400952712809,-0.0053835311987,0.0598378103066,0.999999942121,0.000207211172192,-0.000269442182982,1.49353025939e-05,1793192670620841216
+83,1.383333333,BASELINE,764,742,711.800239895,671,661,633,876.800239895,783,799.800239895,649.199760105,628.199760105,650.800239895,0.400953763392,-0.00538245059602,0.0598382754213,0.999999942066,0.000209106346326,-0.000268170689666,1.50670716285e-05,1793192670637507840
+84,1.400000000,BASELINE,764,742,711.212692987,671,661,633,876.212692987,783,799.212692987,649.787307013,628.787307013,650.212692987,0.400953904834,-0.00538361683273,0.0598377083015,0.999999942412,0.000208190896978,-0.000267595107219,1.4997251821e-05,1793192670654174464
+85,1.416666667,BASELINE,764,742,711,671,661,633,876.369499034,783.369499034,799,650,628.630500966,650.369499034,0.400953189021,-0.00538416667188,0.0598371742903,0.999999942495,0.000206426431987,-0.000268657994034,1.48765939216e-05,1793192670670841088
+86,1.433333333,BASELINE,764,742,711,671,661,633,876.948652644,783.948652644,799,650,628.051347356,650.948652644,0.400951986799,-0.00538436676561,0.0598366590651,0.999999942421,0.000204180233677,-0.000270650552,1.47270903795e-05,1793192670687507712
+87,1.450000000,BASELINE,764,742,711,671,661,633,875.951749059,784,799,649.47587453,628,651,0.400952823822,-0.00538368591983,0.0598372705192,0.999999942491,0.000206350243763,-0.000268735308676,1.47647227161e-05,1793192670704174336
+88,1.466666667,BASELINE,764,742,711.099608231,671,661,633,875,783.900391769,799,649,628.099608231,650.900391769,0.400953615084,-0.00538315503518,0.0598378459327,0.999999942548,0.000208326161444,-0.000266993106594,1.480779909e-05,1793192670720840960
+89,1.483333333,BASELINE,764,742,711.676855685,671,661,633,875,783.323144315,799,649,628.676855685,650.323144315,0.400953235609,-0.005383754196,0.0598377229331,0.999999942515,0.000207311226021,-0.000267903643462,1.47896823764e-05,1793192670737507584
+90,1.500000000,BASELINE,763.741138864,742,711.741138864,671,661,633,875.258861136,783,799.258861136,649,628.741138864,650,0.400952714345,-0.00538424531767,0.0598372527041,0.99999994237,0.000206598339565,-0.000268991933902,1.48640145885e-05,1793192670754174464
+91,1.516666667,BASELINE,763.153082687,742,711.153082687,671,661,633,875.846917313,783,799.846917313,649,628.153082687,650,0.400952012767,-0.00538459904537,0.0598363409019,0.99999994208,0.000206269570413,-0.000270306274406,1.50559145773e-05,1793192670770841088
+92,1.533333333,BASELINE,763.427524411,742,711.427524411,671,660.572475589,633,876,783,799.572475589,649,628,650,0.400952807117,-0.00538547135556,0.0598369758967,0.999999942519,0.000205590865157,-0.000269193063356,1.51343158968e-05,1793192670787508224
+93,1.550000000,BASELINE,764,742,711.994502058,670.994502058,660.005497942,633,876,783,799,649,628,650,0.400954097862,-0.00538650914657,0.0598381332009,0.999999943197,0.000204802159944,-0.00026726640222,1.51716287231e-05,1793192670804176128
+94,1.566666667,BASELINE,764,742,711.41777709,670.41777709,660.58222291,633,876,783,799,649,628,650,0.400952263734,-0.00538577786806,0.0598369981328,0.999999942457,0.000205380248267,-0.000269588357721,1.50900542403e-05,1793192670820841728
+95,1.583333333,BASELINE,764,742,711.157924016,670.315848033,661,633,876,783,799.157924016,649,628.157924016,650.157924016,0.400951266116,-0.0053850382467,0.0598364106589,0.999999941986,0.000206057768882,-0.000270815628182,1.50414783707e-05,1793192670837507840
+96,1.600000000,BASELINE,764,742,711.73093414,671.46186828,661,633,876,783,799.73093414,649,628.73093414,650.73093414,0.400952467175,-0.00538427669694,0.0598372624767,0.999999942237,0.000206996636588,-0.000269165638542,1.50796357501e-05,1793192670854174720
+97,1.616666667,BASELINE,764,742,712,671.685020952,661,633,876,783,799.685020952,649,629,651,0.400953768135,-0.00538397555467,0.0598383230781,0.999999942705,0.000207159945422,-0.000267297906031,1.50792959774e-05,1793192670870841088
+98,1.633333333,BASELINE,764,742,712,671.091207566,661,633,876,783,799.091207566,649,629,651,0.400955157532,-0.00538408198691,0.0598395685045,0.999999943362,0.000206636692835,-0.000265237417337,1.50448767041e-05,1793192670887507712
+99,1.650000000,BASELINE,764,742,711.512256423,671,661,633,875.512256423,783,799,649,628.512256423,650.512256423,0.400952858152,-0.00538440118148,0.0598378560345,0.999999942542,0.000206892888648,-0.00026811992861,1.49338089738e-05,1793192670904174848
+100,1.666666667,BASELINE,763.936156299,742,711.063843701,671,661,633,875.063843701,783,799,649,628.063843701,650.063843701,0.400950296355,-0.00538461672022,0.0598358868941,0.999999941567,0.000207343360408,-0.000271393088012,1.48617778631e-05,1793192670920841984
+101,1.683333333,BASELINE,763.361288643,742,711.638711357,671,661,633,875.638711357,783,799,649,628.638711357,650.638711357,0.400950992177,-0.00538369352229,0.0598361597358,0.999999941591,0.000208216698648,-0.000270613231557,1.52135420096e-05,1793192670937508352
+102,1.700000000,BASELINE,763.219485941,742,712,671,661,633,876,783,799,649.219485941,629,650.780514059,0.40095111714,-0.00538336219431,0.0598362357346,0.999999941621,0.000208253405918,-0.000270469909254,1.52839203076e-05,1793192670954174976
+103,1.716666667,BASELINE,763.810252578,742,712,671,661,633,876,783,799,649.810252578,629,650.189747422,0.400950276443,-0.00538403206897,0.0598359787555,0.999999941661,0.000206874874715,-0.00027140334321,1.48783084759e-05,1793192670970841344
+104,1.733333333,BASELINE,764,742,711.607054266,671.392945734,661,633,876.392945734,783,799,649.607054266,628.607054266,650.392945734,0.400951553636,-0.00538412800138,0.0598367540114,0.999999942039,0.000206804326726,-0.000270073334775,1.46320258153e-05,1793192670987507712
+105,1.750000000,BASELINE,764,742,711.02818113,671.97181887,661,633,876.97181887,783,799,649.02818113,628.02818113,650.97181887,0.400953832935,-0.00538395236559,0.0598380176827,0.999999942574,0.000207352667943,-0.000267672349115,1.44611317955e-05,1793192671004174336
+106,1.766666667,BASELINE,763.45175548,742,711.54824452,671.45175548,661,633,875.903510959,783,799,649,628.54824452,650.45175548,0.400954291736,-0.00538408859353,0.0598384703792,0.99999994298,0.000207347575754,-0.000266126251123,1.49530963094e-05,1793192671020840960
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,784,799,650,629,650,0.400952984015,-0.00538351534591,0.0598376520418,0.999999941985,0.000209190758802,-0.000268414025112,1.49099911194e-05,1793192671062350592
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783.420656351,799,649.420656351,628.420656351,650,0.400953274565,-0.00538474754407,0.0598377676041,0.999999942643,0.000206905365013,-0.000267736033244,1.48913425887e-05,1793192671079016960
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.157927773,783.157927773,799,649,628,650,0.400953920246,-0.00538539151187,0.0598383295314,0.999999943161,0.000205663243952,-0.000266758349886,1.48643192419e-05,1793192671095683840
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.734498636,783.734498636,799,649,628,650,0.400955507328,-0.00538447616854,0.0598400747065,0.999999943318,0.000207186683592,-0.000264986228711,1.48150954965e-05,1793192671112350464
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.689194002,671,661,633,876.689194002,783.689194002,799,649,628.310805998,650.310805998,0.400954965803,-0.00538390985374,0.0598393410934,0.999999942886,0.000207743904495,-0.00026619009282,1.45963305871e-05,1793192671129016832
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.113111577,671,661,633,876.113111577,783.113111577,799,649,628.886888423,650.886888423,0.40095260749,-0.00538364143879,0.0598364918065,0.999999941943,0.000207476446707,-0.000269933994067,1.42328603835e-05,1793192671145683200
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.472500564,671,661,633,876.472500564,783,799,649,629,651,0.400952337504,-0.0053841265987,0.059836494185,0.999999942311,0.000205938369774,-0.000269736257265,1.4516264852e-05,1793192671162349824
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.940370229,671,661,633,876.940370229,783.059629771,799.059629771,649,629,650.940370229,0.400953068247,-0.0053847172638,0.0598373698267,0.999999942979,0.000204413834769,-0.00026839361641,1.49177083894e-05,1793192671179016192
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711.360320773,671,661,633,876.360320773,783.639679227,799.639679227,649,629,650.360320773,0.400958079975,-0.00538462189522,0.0598397863404,0.999999943493,0.000205716801259,-0.000265463480039,1.49700224959e-05,1793192671195683328
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.21831676,711.21831676,671,661,633,876,783.78168324,799.78168324,649,628.78168324,650.21831676,0.400969434803,-0.00538469687134,0.0598449780139,0.99999994543,0.000206771028835,-0.000257200706678,1.52887998228e-05,1793192671212350464
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.794638904,711.794638904,671,661,633,876,783.205361096,799.205361096,649,628.205361096,650.794638904,0.400991191324,-0.00538505118619,0.059854720516,0.999999949514,0.000207417363277,-0.000240193241875,1.60445352001e-05,1793192671229016832
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.631054681,712,671,661,633,876,783.368945319,799,649,628,651,0.401030320563,-0.00538630624092,0.0598702789356,0.999999955819,0.000207387661886,-0.00021227180852,1.71002647015e-05,1793192671245683200
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.057864103,712,671,661,633,876,783.942135897,799,649,628,651,0.401079067206,-0.00538805993827,0.0598890570028,0.999999962514,0.000206983712203,-0.000178308485332,1.83220686718e-05,1793192671262349824
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.467889911,671,661,633,876,783.467889911,799,649,628.532110089,651,0.401145481364,-0.0053917419413,0.0599066155517,0.999999967281,0.000203727834237,-0.000153466977478,1.95283531107e-05,1793192671279016448
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876.121258803,783,799,649,628.878741197,650.878741197,0.401215909507,-0.00539503582186,0.0599219654308,0.999999970848,0.000200947467046,-0.000132314036963,2.04349420935e-05,1793192671295682816
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876.700179272,783,799,649,628.299820728,650.299820728,0.401294000033,-0.00539604761981,0.0599294960604,0.999999972214,0.000201170437223,-0.000121216884849,2.02169814588e-05,1793192671312349440
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.278091032,742.278091032,711.278091032,671,661,633,877,783,799,649,628.278091032,650,0.401381193564,-0.00539786932357,0.0599338512548,0.999999973383,0.000200097144384,-0.000113189139401,1.95638084729e-05,1793192671329016576
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.85491916,742.85491916,711.85491916,671,661,633,877,783,799,649,628.85491916,650,0.401478165923,-0.00540056106222,0.0599347952627,0.999999974419,0.000197631351233,-0.000108458680509,1.8443112069e-05,1793192671345683456
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.561272413,742.561272413,712,671,661.438727587,633,876.561272413,783,799,649,629,650.438727587,0.401597877653,-0.00540467511854,0.0599381365103,0.999999975591,0.000195691746706,-0.000101090245736,1.74234907882e-05,1793192671362350080
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661.975397755,633,876,783,799.024602245,649,628.975397755,650.975397755,0.40172625422,-0.00540927368775,0.0599421042253,0.999999976762,0.000193807966087,-9.298391381e-05,1.63863039919e-05,1793192671379016704
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661.395824835,633,876,783,799.604175165,649,628.395824835,650.395824835,0.401877722801,-0.00541402043731,0.0599420322684,0.99999997811,0.000189194875661,-8.82284556832e-05,1.41867178272e-05,1793192671395683072
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.81686771,670.81686771,661.18313229,633,876,783,799.81686771,649,628,650.18313229,0.402039942171,-0.00541838097816,0.059942270178,0.999999979399,0.000184719769469,-8.33110913337e-05,1.18620993097e-05,1793192671412349696
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.239237184,670.239237184,661.760762816,633,876,783,799.239237184,649,628,650.760762816,0.402225320556,-0.00542190955886,0.0599431755932,0.999999980614,0.000180541905493,-7.80449539423e-05,9.26814003097e-06,1793192671429016064
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.336941959,742,711,670.336941959,661.663058041,633,876,783,799.336941959,649,628.336941959,650.663058041,0.402432859734,-0.00542724898412,0.0599443931458,0.999999982057,0.000174897416678,-7.2483015351e-05,6.58684688131e-06,1793192671445682944
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.912095062,742,711,670.912095062,661.087904938,633,876,783,799.912095062,649,628.912095062,650.087904938,0.402656066164,-0.00543386864019,0.0599458313732,0.999999983619,0.000168216053354,-6.67119507566e-05,3.84381018675e-06,1793192671462349568
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.501902713,742,711,671,661,633,876,783.498097287,799.501902713,649,629,650.498097287,0.40291352975,-0.00544182699555,0.0599464093225,0.999999985726,0.00015684406788,-6.28256868736e-05,8.09274139618e-07,1793192671479016448
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.084846627,711,671,661,633,876,783.915153373,799,649,629,651,0.403182309606,-0.00544988427654,0.0599467092761,0.999999987653,0.000145375633568,-5.96199249845e-05,-2.37826474814e-06,1793192671495683328
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.664538132,711,671,661,633,876,783.335461868,799,649,629,651,0.403481043317,-0.00545710994065,0.0599462930793,0.999999988715,0.000138280146976,-5.83998206006e-05,-6.15143726885e-06,1793192671512349952
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,711.241758625,671,661,633,876,783.241758625,799,649,629,650.758241375,0.403788620257,-0.00546543474897,0.0599401041405,0.999999989482,0.000128293951158,-6.68312545353e-05,-1.05356355227e-05,1793192671529016576
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,711.81558502,671,661,633,876,783.81558502,799,649,629,650.18441498,0.404108343806,-0.00547526928736,0.0599259860468,0.999999989421,0.00011433721952,-8.85195674295e-05,-1.57591084772e-05,1793192671545683200
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.607331807,742.607331807,711.607331807,671,661,633,876,783.607331807,799,649,629,650,0.404452587032,-0.00548228130645,0.05991258155,0.99999998796,0.000104069167691,-0.00011313075202,-2.12237582059e-05,1793192671562349824
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+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.627774039,711.627774039,671,661.372225961,633,876.627774039,783,799,649,628.627774039,650.372225961,0.40890918365,-0.0055366499948,0.0599736556323,0.99999998727,-0.000145135467628,-4.60122423903e-05,-4.77257993609e-05,1793192671712349952
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,711.79301826,671,661,633,877,783,799,649.20698174,629,650.20698174,0.409515733637,-0.00555059300892,0.0599641215853,0.999999990815,-0.000111830760184,-6.50039772055e-05,-4.04681855814e-05,1793192671729016576
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,711.215283649,671,661,633,877,783,799,649.784716351,629,650.784716351,0.410161722772,-0.0055540133613,0.05996823322,0.99999999862,2.51704729461e-06,-5.10956548549e-05,-1.1931255437e-05,1793192671745683200
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.641012336,711.358987664,671,661.358987664,633,877,783.358987664,799,650,629,651,0.410831688067,-0.00554722939569,0.0599728310153,0.999999998971,2.48965061942e-05,-3.73819029127e-05,-6.40160181351e-06,1793192671762349824
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.068798126,711.931201874,671,661.931201874,633,877,783.931201874,799,650,629,651,0.411515894367,-0.00553438440978,0.0599777175735,0.999999999584,-7.35013108297e-06,-2.37837199399e-05,-1.45374942677e-05,1793192671779016704
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.520384703,712,671.520384703,661.479615297,632.479615297,877,784,799.520384703,649.479615297,628.479615297,650.479615297,0.412188524842,-0.00552954101778,0.059966442853,0.999999998765,-9.67546695246e-06,-4.3210395968e-05,-2.25539801779e-05,1793192671795683328
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661,632.109601326,877,784,800,649,628.109601326,650,0.412862766734,-0.00552779072115,0.059947737238,0.999999996443,-8.94154721125e-06,-7.86606708573e-05,-2.90839691409e-05,1793192671812349952
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712,672,661,632.689022075,877,784,800,649,628.689022075,650,0.413550697327,-0.0055346118564,0.0599066458044,0.999999986133,-1.26222727463e-05,-0.00016345140085,-2.93118564387e-05,1793192671829016576
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712,671.733368271,661,633,877,783.733368271,799.733368271,649,629,650,0.414297800933,-0.00553948933643,0.0598988786945,0.999999983208,-2.03968325377e-05,-0.000179705224272,-2.95778280333e-05,1793192671845683200
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,671.157856608,661,633,877,783.157856608,799.157856608,649,629,650,0.415113453695,-0.00554211518697,0.0599297161934,0.999999992218,-3.29139014202e-05,-0.000116562374569,-2.98879185684e-05,1793192671862349824
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,711.574451177,671.425548823,661.425548823,633,877,783.425548823,799.425548823,649,628.574451177,650,0.415930068166,-0.00554341853496,0.0599688259441,0.999999997932,-3.34741897609e-05,-4.64887904593e-05,-2.92134570244e-05,1793192671879016448
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,672,662,633,877,784,799.98817532,649.01182468,628.01182468,650.01182468,0.416746807029,-0.00554415989183,0.0600100122437,0.99999999887,-2.95577062404e-05,2.42945146791e-05,-2.82036483001e-05,1793192671895682816
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,672,662,633,877,784,799.40734002,649.59265998,628.59265998,650.59265998,0.417552042884,-0.00554191108509,0.0600006708148,0.999999999192,-2.76817414313e-05,3.1766222669e-06,-2.89634003792e-05,1793192671912349440
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711.172407748,672,662,633,877,784,799.172407748,649.827592252,628.827592252,650.827592252,0.418368207064,-0.00554068545729,0.0599879098556,0.999999998871,-3.02689325656e-05,-2.04760775426e-05,-3.03747388407e-05,1793192671929016320
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,711.749602125,672,662,633,877,784,799.749602125,649.250397875,628.250397875,650.250397875,0.419210029204,-0.00554186209495,0.0599671203704,0.999999997252,-4.33349211505e-05,-5.0080110363e-05,-3.33159009415e-05,1793192671945683200
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.676160392,711.676160392,672,662,633,876.676160392,784,799.676160392,649,628,650.323839608,0.420030149417,-0.00554326805665,0.0599440896006,0.999999995089,-4.58499257336e-05,-8.02431868772e-05,-3.57788890074e-05,1793192671962349824
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.104188567,711.104188567,672,662,633,876.104188567,784,799.104188567,649,628,650.895811433,0.420833641152,-0.00554484973085,0.0599193415158,0.999999992329,-4.02805601834e-05,-0.000110834612179,-3.78754906686e-05,1793192671979016448
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711.485996308,672,662,633,876.485996308,783.514003692,799,649,628,650.514003692,0.421613753127,-0.00554288468748,0.059888976063,0.999999982852,-3.61960936034e-05,-0.000177273310662,-3.94909987618e-05,1793192671995683072
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.077932645,742,711.922067355,672,661.922067355,633,877,783.077932645,799.077932645,649,628,650,0.42241031479,-0.00554055103701,0.0598674594262,0.999999972187,-3.36311415345e-05,-0.000229869023813,-4.06808868673e-05,1793192672012349696
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.655102232,742,711.344897768,672,661.344897768,633,877,783.655102232,799.655102232,649,628,650,0.423345611095,-0.00554091654056,0.0599106432202,0.999999988286,-3.8681558413e-05,-0.000142639627298,-3.98306749643e-05,1793192672029016320
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,742.230548871,711.230548871,672,661.691646614,632.769451129,877.230548871,784,799.769451129,649,628.230548871,650,0.424275135282,-0.00554329318454,0.0599573940686,0.999999996608,-4.0953501231e-05,-6.04647785354e-05,-3.80922740781e-05,1793192672045683200
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,742.803437213,711.803437213,672,663.410311639,632.196562787,877.803437213,784,799.196562787,649,628.803437213,650,0.425196088657,-0.00554865614877,0.0600094416031,0.999999998521,-3.90997195833e-05,1.42046403133e-05,-3.50350112705e-05,1793192672062349824
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.611269767,743,712,672,663.222539534,632.388730233,878,784,799.388730233,649,629,650,0.426064840148,-0.005554458438,0.0600191044029,0.999999997677,-4.74212631458e-05,3.4382079254e-05,-3.48572412364e-05,1793192672079016704
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.019497558,743,712,672,662.038995115,632.980502442,878,784,799.980502442,649,629,650,0.426906325443,-0.0055604901956,0.060006628761,0.999999997141,-6.10575932604e-05,2.6097206556e-05,-3.61834910845e-05,1793192672095683328
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,672.560269257,662,633,877.439730743,783.439730743,799.439730743,649,628.439730743,650,0.427737763699,-0.00556192229912,0.0599832378519,0.999999997555,-5.79061469271e-05,-5.60623463869e-06,-3.88014499813e-05,1793192672112349952
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,672.861149099,662,633,877,783.138850901,799,649,628,650,0.428559990379,-0.00556203245421,0.0599609116972,0.999999996915,-5.59908262504e-05,-3.6848461821e-05,-4.0942852137e-05,1793192672129016576
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,672.28501181,662,633,877,783.71498819,799,649,628,650,0.429354284815,-0.00555847290137,0.0599431099897,0.999999995299,-5.97697656932e-05,-6.4125401931e-05,-4.14448247417e-05,1793192672145683200
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.709534904,672,661.709534904,633,877,783.709534904,799,649,628.290465096,650,0.430159895408,-0.00555609780808,0.0599256677274,0.999999993412,-5.39931959806e-05,-9.19420865342e-05,-4.25017100917e-05,1793192672162349824
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711.134704547,672,661.134704547,633,877,783.134704547,799,649,628.865295453,650,0.43097658447,-0.00555488230061,0.0599085773629,0.999999991038,-3.8861784815e-05,-0.00012028717924,-4.41018548497e-05,1793192672179016448
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.547473955,711,672.452526045,661.452526045,633,877,783,799.452526045,649,629,650,0.43182696932,-0.00556037978524,0.0599425905532,0.999999996044,-5.157945969e-05,-5.79074395842e-05,-4.35591562064e-05,1793192672195683328
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672.957483881,662.042516119,633,877.042516119,783,799.957483881,649,628.957483881,650,0.432680448772,-0.00556760502602,0.0599890230447,0.99999999618,-7.20029621341e-05,2.56655003859e-05,-4.23792698783e-05,1793192672212350464
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672.38051408,662.61948592,633,877.61948592,783,799.38051408,649,628.38051408,650,0.433443188884,-0.00557072197219,0.059994960373,0.999999995414,-8.21481987832e-05,2.65995369091e-05,-4.14338207837e-05,1793192672229017088
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711.196191329,672.196191329,662.803808671,632.803808671,878,783.196191329,799.196191329,649,628.196191329,650,0.434191922205,-0.00557221404726,0.0599871743711,0.99999999561,-8.3514417472e-05,8.54808618625e-06,-4.1623469959e-05,1793192672245683456
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711.772384742,672.772384742,662.227615258,632.227615258,878,783.772384742,799.772384742,649,628.772384742,650,0.434913525973,-0.00557055891753,0.0599528077151,0.999999995657,-6.78765982655e-05,-4.62762673419e-05,-4.40116855028e-05,1793192672262350080
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.654733993,742.345266007,711.654733993,672.654733993,662,632.345266007,877.654733993,783.654733993,799.654733993,649,629,650,0.435622586208,-0.00557241420019,0.0599272493496,0.999999992367,-6.9207238287e-05,-9.15067568719e-05,-4.58629096614e-05,1793192672279016704
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.084015536,742.915984464,711.084015536,672.084015536,662,632.915984464,877.084015536,783.084015536,799.084015536,649,629,650,0.436323455701,-0.00557656171868,0.0599074426403,0.999999987036,-8.16179758857e-05,-0.000130472623614,-4.73634880305e-05,1793192672295683072
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.509526618,743,711.509526618,672,662.509526618,633,877,783.509526618,799,649,629,650,0.43700095796,-0.0055762121585,0.0599106361923,0.999999985839,-0.000102075885726,-0.000124934836728,-4.78976474879e-05,1793192672312349952
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,672,662.896654448,633,877,783.896654448,799.103345552,649,629,650,0.437664152187,-0.00557486709914,0.0599148033012,0.999999985117,-0.000115069661158,-0.000119444307728,-4.7510689339e-05,1793192672329016320
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,672,662.319625254,633,877,783.319625254,799.680374746,649,629,650,0.438280254038,-0.0055725173136,0.0599052346443,0.999999984062,-8.74846163466e-05,-0.000149382159871,-4.36664360208e-05,1793192672345682944
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.74416735,743,712,672.25583265,661.74416735,632.74416735,876.74416735,783.25583265,799.74416735,649,628.74416735,650,0.43889883705,-0.00557123265429,0.0599049906681,0.999999984235,-7.04087740131e-05,-0.000157523237326,-4.19423405777e-05,1793192672362349824
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.170660602,743,712,672.829339398,661.170660602,632.170660602,876.170660602,783.829339398,799.170660602,649,628.170660602,650,0.43952050094,-0.0055712705903,0.059916325393,0.999999987274,-6.63824857091e-05,-0.000138598686963,-4.28509010206e-05,1793192672379016960
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.829686722,743,711.585156639,673,661,632,876.414843361,783.585156639,799,649,628,650,0.440109575531,-0.0055769225831,0.0599249537941,0.999999988016,-7.47817426394e-05,-0.000128188681328,-4.40788585239e-05,1793192672395683584
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+189,3.150000000,POSE1_TO_POSE2_PRESS,764.414981264,742.414981264,711,673,660.414981264,632,877.585018736,783,799,649,628.585018736,650,0.441144158986,-0.00558716617603,0.0598856132012,0.999999975263,-9.3721325613e-05,-0.000195713499071,-4.88431843249e-05,1793192672429016832
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.163073633,711,672.836926367,659.836926367,632,877.836926367,783,799,649,629,650,0.441592483959,-0.00558782885389,0.0598391128906,0.999999957702,-9.7929896827e-05,-0.000268782155339,-5.25445949975e-05,1793192672445683456
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.737011314,711,672.262988686,659.262988686,632,877.262988686,783,799,649,629,650,0.442010458511,-0.00558445127952,0.0597921778546,0.999999935463,-9.92555665491e-05,-0.000340540759867,-5.70495149683e-05,1793192672462349824
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,672.311973682,659,632,877,783,799.311973682,649,628.688026318,650,0.442430457866,-0.00558422645408,0.0597611597324,0.999999919727,-0.000100667870661,-0.000383253950345,-5.93982948307e-05,1793192672479016192
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,672.887802657,659,632,877,783,799.887802657,649,628.112197343,650,0.442852169697,-0.00558666810212,0.0597436035241,0.999999912425,-0.000102153447005,-0.000401401648088,-5.99234945592e-05,1793192672495682816
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+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877,782.145894621,799.145894621,649,628,650,0.446074519979,-0.00559001461163,0.059687857936,0.999999861221,-0.000120953149673,-0.000510370472339,-4.95097615341e-05,1793192672695682816
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,673,658.560210245,631,877.439789755,782,799.439789755,649,628,650,0.446215985823,-0.00559063363191,0.0596893881768,0.99999986301,-0.000118662247612,-0.000507374519184,-4.97007737765e-05,1793192672712349440
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,673,658.028545125,631,877.971454875,782,800,649,628,650,0.446348877515,-0.00559036386203,0.0596905348517,0.999999864748,-0.000115354233679,-0.000504680346479,-4.99573255182e-05,1793192672729016064
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,673,658.608874231,631,877.391125769,782,800,649,628,650,0.446448670269,-0.00559044853695,0.0596882598526,0.999999862639,-0.000115628866383,-0.000508782712225,-4.99121647098e-05,1793192672745683200
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.813096892,711,673,658.813096892,630.813096892,877.186903108,782,800,649,628,650,0.446540036866,-0.00559118768425,0.0596857127323,0.999999860168,-0.000116675320672,-0.000513375458792,-4.99687724827e-05,1793192672762349568
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+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.342279847,711,673,658.342279847,630,877.657720153,782,800,649,628,650,0.446677808963,-0.0055936351934,0.0596796599183,0.999999855115,-0.000118273830458,-0.000522727692226,-5.03738188767e-05,1793192672795682816
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+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.489770148,711,673,658.489770148,630,877.510229852,782,800.510229852,649,628,650,0.446777087441,-0.00559212143365,0.0596745679983,0.999999852628,-0.000113922391113,-0.000528443922172,-5.01247719447e-05,1793192672829016320
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.088573019,711.088573019,673,658,630.088573019,877.911426981,782,800.911426981,649,628,650,0.446815592011,-0.00559179755355,0.0596727585255,0.999999851042,-0.000113825125563,-0.000531493036419,-4.9755757648e-05,1793192672845682944
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.667145169,711.667145169,673,658,630.667145169,877.332854831,782,800.332854831,649,628,650,0.446840883156,-0.00559291078214,0.0596730789496,0.999999850477,-0.00011458484109,-0.00053244078559,-4.92245955872e-05,1793192672862349568
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+218,3.633333333,POSE1_TO_POSE2_PRESS,763.596263094,743,711,672.596263094,658,631,878,782,799.596263094,649,628,650,0.446883512333,-0.0055913467785,0.0596663199532,0.999999845377,-0.000115277006563,-0.000541794393828,-4.915854715e-05,1793192672912350208
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+220,3.666666667,POSE1_TO_POSE2_PRESS,763.572368993,743,711.572368993,672.572368993,658,630.427631007,877.427631007,782,799.572368993,649,628.572368993,650.572368993,0.446898187271,-0.00558976435461,0.0596648477687,0.999999845512,-0.000113620002702,-0.000541872598882,-4.9402047886e-05,1793192672945683712
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.847773259,743,711.847773259,673,658.152226741,630.152226741,877,782,800,649,628.847773259,650.847773259,0.44690184167,-0.00558888874266,0.0596642096701,0.999999844854,-0.000113835084327,-0.000543005427452,-4.97824956214e-05,1793192672962350592
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+224,3.733333333,POSE1_TO_POSE2_PRESS,763.874544113,743,711,673,659,631,877.874544113,782,799.125455887,649,628,650,0.446903569803,-0.00558974486835,0.0596626242597,0.999999842568,-0.000117228758976,-0.000546492888377,-4.96716485841e-05,1793192673012349952
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658.948750371,630.948750371,877.948750371,782,799.948750371,649,628.948750371,650,0.446905891737,-0.00558884975537,0.0596628108705,0.999999842843,-0.000115061477215,-0.000546512951143,-4.8969876103e-05,1793192673045683200
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+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,877,782,799.210098225,649.210098225,628,650,0.446906282889,-0.00559086213981,0.0596621328904,0.99999984215,-0.000118280818132,-0.000547136185765,-4.84971792327e-05,1793192673079016704
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711.045948125,673,658,630.954051875,877,782,799.045948125,649.045948125,628,650.954051875,0.446908835693,-0.0055869966189,0.0596632892125,0.999999843934,-0.000114287839224,-0.000544716809011,-4.85162764995e-05,1793192673129016832
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,673,658,630.465688452,877,782,799,649,628,650.465688452,0.4469088647,-0.00558825570068,0.0596624919042,0.999999843285,-0.000115924321212,-0.000545571390164,-4.84143623449e-05,1793192673145683456
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,673,658,630,877,782,799,649.113946564,628,650,0.446908714226,-0.0055893354486,0.0596616248998,0.999999842608,-0.000117051884096,-0.000546576677734,-4.8330928584e-05,1793192673162349824
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673,658,630,877,782,799,649.693016964,628,650,0.44690825055,-0.00558890331328,0.0596610861957,0.999999842445,-0.000115253999495,-0.000547258659798,-4.83079739731e-05,1793192673179016704
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673.26952824,658,630,877,782,799.26952824,649.73047176,628.26952824,650,0.446907861527,-0.00558800795869,0.0596608721477,0.999999842176,-0.000114196736715,-0.000547955071995,-4.85089935023e-05,1793192673195683328
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673.843152256,658,630,877,782,799.843152256,649.156847744,628.843152256,650,0.446907556731,-0.005586589976,0.0596610243934,0.999999841788,-0.000113975081752,-0.000548667765109,-4.8962712299e-05,1793192673212349952
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.569116175,711,673.569116175,658,630,877.430883825,782,800,649,628.569116175,650,0.44690814884,-0.0055873426803,0.0596611148042,0.999999842216,-0.000114296856701,-0.000547864069189,-4.84693744034e-05,1793192673229016832
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742,711,673,658,630.023307408,878,782,800,649,628,650,0.446909050136,-0.00558885895286,0.0596611756619,0.999999842912,-0.000114866256594,-0.000546544477886,-4.76432032508e-05,1793192673245683200
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,711,673,658,630.601050885,878,782,800,649,628,650,0.446909277065,-0.00558910641253,0.059661087071,0.99999984275,-0.000116461226557,-0.000546527889504,-4.73779009265e-05,1793192673262349824
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.177623146,711,673,658,630.822376854,877.822376854,782,800,649,628,650,0.446909454889,-0.00558916823575,0.0596611538898,0.999999842639,-0.000117486139234,-0.000546522903168,-4.72487493985e-05,1793192673279016704
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.751582,711,673,658,630.248418,877.248418,782,800,649,628,650,0.446909523144,-0.00558881584291,0.059661567479,0.999999842648,-0.000117239066355,-0.000546543804822,-4.74233951322e-05,1793192673295683328
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.666050646,743,711,673,658,630.333949354,877.333949354,782,799.666050646,649,628,650,0.44691076257,-0.00558783452637,0.0596619621353,0.99999984334,-0.000115877581561,-0.000545545015611,-4.76833798242e-05,1793192673312349952
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.07726685,743,711,673,658,630.92273315,877.92273315,782,799.07726685,649,628,650,0.446912895709,-0.00558637328253,0.059662342344,0.999999844546,-0.000113665696755,-0.000543768107352,-4.80084860762e-05,1793192673329016576
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+245,4.083333333,HOLD_POSE2,764,743,711,673,658,631,877,782,801,650,628,650,0.446909521052,-0.00558605369195,0.0596606612801,0.999999842078,-0.000111373998513,-0.00054878215792,-4.7734546385e-05,1793192673388933632
+246,4.100000000,HOLD_POSE2,763.426621557,742.426621557,711,673,657.426621557,631,877,782,800.426621557,649.426621557,628,650.573378443,0.446910322421,-0.00558624109249,0.0596611961415,0.999999842945,-0.00011235955068,-0.000547000453127,-4.77044503724e-05,1793192673405601024
+247,4.116666667,HOLD_POSE2,763,742.151814445,711,673,657.151814445,630.848185555,877,782,800,649,628,650.848185555,0.446911273281,-0.00558660341983,0.0596618878788,0.99999984378,-0.000112937384829,-0.000545360795519,-4.7618854252e-05,1793192673422268160
+248,4.133333333,HOLD_POSE2,763,742.744952884,711,673,657.744952884,630.255047116,877,782,800,649,628,650.255047116,0.446912658709,-0.00558747425872,0.0596630356535,0.999999844528,-0.000112329984533,-0.000544134068104,-4.73719195298e-05,1793192673438934016
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+250,4.166666667,HOLD_POSE2,763.906057029,743,711,673,658,630.906057029,877.906057029,782,799.093942971,649,628,650.906057029,0.446911159153,-0.00558715055235,0.0596612712162,0.999999842892,-0.000112231683295,-0.000547139060362,-4.75205588972e-05,1793192673472267008
+251,4.183333333,HOLD_POSE2,764,743,711,673,658,631,878,782,799,649,628,651,0.446912419198,-0.00558771097974,0.0596621874383,0.999999843553,-0.000112818755542,-0.000545827618171,-4.73149606223e-05,1793192673488933632
+252,4.200000000,HOLD_POSE2,764,743,711.054253015,673,658,631,877.945746985,782,799.054253015,649,628,651,0.446914053868,-0.00558816785433,0.0596634510287,0.999999844495,-0.000113338023495,-0.000544011241201,-4.70707970499e-05,1793192673505600256
+253,4.216666667,HOLD_POSE2,764,743,711.630039537,673,658,631,877.369960463,782,799.630039537,649,628,651,0.446914440229,-0.00558575062546,0.0596636532469,0.999999844616,-0.000112302106199,-0.000543997549961,-4.71435506017e-05,1793192673522266880
+254,4.233333333,HOLD_POSE2,764,742.787690133,711.787690133,673,658,630.787690133,877,782,800,649.212309867,628.212309867,650.787690133,0.446914280678,-0.00558453087588,0.0596632644783,0.999999844454,-0.000111243638006,-0.000544498087834,-4.73039443277e-05,1793192673538933504
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+256,4.266666667,HOLD_POSE2,764,742,711,673,658,630,877.389003533,782,799.610996467,650,628.610996467,650,0.446913085154,-0.00558607948378,0.0596618016715,0.99999984372,-0.000111517426804,-0.000545771390569,-4.75146127581e-05,1793192673572267264
+257,4.283333333,HOLD_POSE2,764,742,711,673,658,630,877.966371023,782,799.033628977,650,628.033628977,650,0.446913556324,-0.00558654209215,0.0596624868181,0.999999843944,-0.000114087113272,-0.00054485654741,-4.72014802749e-05,1793192673588933632
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+259,4.316666667,HOLD_POSE2,764,743,711,673,658,630,877,782,800,649,628,650,0.446911349478,-0.00558539031851,0.0596606604252,0.999999842509,-0.000112080467212,-0.000547863599421,-4.75973335889e-05,1793192673622267136
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+262,4.366666667,HOLD_POSE2,764,743,711.871704176,672.128295824,658,630,877,781.128295824,800,649,628.871704176,650,0.446914130914,-0.00558747379597,0.0596625475538,0.999999844024,-0.00011432345759,-0.000544700719939,-4.67308252246e-05,1793192673672266752
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,658,630,879,782,799,649,629,651,0.446915200179,-0.00558636928021,0.0596641997063,0.999999845304,-0.000111673953414,-0.000542838987288,-4.74055885788e-05,1793192673704961792
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,658,630,877.847655433,782,799.847655433,649,628.152344567,650,0.446916857273,-0.00558770628618,0.0596643858909,0.999999845332,-0.000117015204738,-0.000541669894967,-4.72975429729e-05,1793192673738295296
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,658,630,877.254151946,782,799.254151946,649,628.745848054,650,0.446914366019,-0.00558679342969,0.0596627382266,0.999999844346,-0.000113611226056,-0.000544209713487,-4.72848141324e-05,1793192673754960896
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,633,876,783.949313262,799,649,628.949313262,650.050686738,0.400954621497,-0.0053924460919,0.0598358533533,0.999999944542,0.000190073403411,-0.00027313893713,1.3503335984e-05,1793192675688294144
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.774682828,670.774682828,660.225317172,633,876,783,799,649,628.225317172,650.774682828,0.400956350855,-0.00538882116365,0.0598366416805,0.999999944502,0.000193825622165,-0.000270653358298,1.32084289556e-05,1793192675721627136
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.19585868,670.19585868,660.80414132,633,876,783,799,649,628.80414132,650.19585868,0.400955976602,-0.00538833811843,0.0598370823569,0.999999944257,0.000195413835582,-0.00027041717088,1.31562054036e-05,1793192675738294016
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.620114715,742,711,670.379885285,661,633,876,783.379885285,799,649,629,650,0.400955727243,-0.00538894428985,0.0598367887721,0.99999994414,0.000195474312806,-0.000270799591821,1.32901952396e-05,1793192675754960896
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.045946055,742,711,670.954053945,661,633,876,783.954053945,799,649,629,650,0.400955541758,-0.00539010751546,0.0598361196667,0.999999944088,0.000194753465314,-0.000271498385432,1.35194195251e-05,1793192675771627776
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.470072202,633,876,783.470072202,799.529927798,649,628.470072202,650,0.400955228178,-0.0053905419248,0.0598359947405,0.999999943886,0.000195467628022,-0.000271730126944,1.35388059527e-05,1793192675788294400
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.108765489,633,876,783,799.891234511,649,628,650.108765489,0.400955083969,-0.00539081024264,0.0598361213182,0.999999943795,0.000196027267723,-0.000271662744131,1.35493206212e-05,1793192675804961024
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.70009472,633,876,783,799.29990528,649,628,650.70009472,0.400955740647,-0.00539062291945,0.0598371537443,0.999999944256,0.000195347533439,-0.00027044846938,1.36014538027e-05,1793192675821627392
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.284610147,742,711.284610147,671.284610147,660.715389853,633,876,783.284610147,799,649,628,651,0.400956401592,-0.00539033415199,0.0598379713861,0.999999944538,0.000195026350676,-0.00026963834471,1.35353214725e-05,1793192675838293760
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.862113538,742,711.862113538,671.862113538,660.137886462,633,876,783.862113538,799,649,628,651,0.400957066929,-0.00538994098786,0.0598385679929,0.999999944638,0.000195074154387,-0.000269244132074,1.33474817195e-05,1793192675854960640
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.56206606,671.56206606,660.43793394,633,876,783.56206606,799,649,628.43793394,650.56206606,0.400956767058,-0.00538992899948,0.0598382762275,0.999999944515,0.000195551707984,-0.000269350726577,1.33776270238e-05,1793192675871627264
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.013617732,671,660.986382268,633,876,783,799,649,628.986382268,650,0.400956201523,-0.00539003393569,0.0598377369765,0.999999944329,0.000196181250297,-0.000269580949426,1.34778827177e-05,1793192675888294144
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711.605929986,671,660.394070014,633,876,783,799,649,628.394070014,650,0.400957211501,-0.00539002703535,0.0598385216181,0.999999944379,0.000197541594878,-0.000268389671409,1.36520416973e-05,1793192675904961024
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711.806406633,671,660,633,876,783,799,649,628.193593367,650.193593367,0.400956855051,-0.00539012847914,0.0598384713101,0.999999944177,0.000198383681029,-0.000268514715787,1.37977243843e-05,1793192675921628160
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,711.227984411,671,660,633,876,783,799,649,628.772015589,650.772015589,0.400953782389,-0.00539044529162,0.0598367612725,0.999999943473,0.000198195562392,-0.000271256372814,1.3886801304e-05,1793192675938294528
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,633,876,783.347920249,799,649,628.652079751,650.652079751,0.400954363019,-0.00539025326374,0.0598373836186,0.999999943866,0.000197546503128,-0.000270282064311,1.3849594366e-05,1793192675954961152
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,633,876,783.922187036,799,649,628.077812964,650.077812964,0.400957320371,-0.00538973019949,0.059839523344,0.999999944965,0.000196597569645,-0.000266890259354,1.37302309132e-05,1793192675971627776
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fdf90b36a3a0f5db1a6b4f0d36add3980141e8d8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,401 @@
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+1,0.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+2,0.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+3,0.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+4,0.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
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+6,0.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+7,0.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+8,0.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
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+10,0.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+11,0.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+12,0.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+13,0.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+14,0.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+15,0.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+16,0.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+17,0.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+18,0.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a78ce8c3d38be8ec5e82ce3d1775c8947b4d6a9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9106233c5a245080c76fcad98958ea90147c0bd0db5ee43f97a89b23375e7a43
+size 25546952
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b9b8ac1f185c9f0891df726e3dea38af454a9dd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/franka_data.csv
@@ -0,0 +1,403 @@
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+2,0.033333333,BASELINE,764,742,711,671.156850689,660,633,876.156850689,783.156850689,799.156850689,649,628.843149311,650.156850689,0.400953684969,-0.00538997676527,0.0598373011523,0.99999994427,0.000195823044553,-0.000270053324349,1.35683189277e-05,1793192676150432768
+3,0.050000000,BASELINE,764,742,711,671.731452684,660,633,876.731452684,783.731452684,799.731452684,649,628.268547316,650.731452684,0.40095400477,-0.00538970665681,0.059837939375,0.999999944385,0.000195919021938,-0.000269569116021,1.33159960944e-05,1793192676167099136
+4,0.066666667,BASELINE,763.687228796,742,711,671.687228796,660.312771204,633,876.687228796,783.687228796,799.687228796,649,628.312771204,651,0.4009546178,-0.00538955237036,0.0598381202456,0.999999944414,0.000196520732446,-0.000269021574781,1.33544695552e-05,1793192676183765760
+5,0.083333333,BASELINE,763.100016905,742,711,671.100016905,660.899983095,633,876.100016905,783.100016905,799.100016905,649,628.899983095,651,0.400955488124,-0.00538949971181,0.0598378998132,0.999999944366,0.000197566197821,-0.000268418462187,1.36481018631e-05,1793192676200432896
+6,0.100000000,BASELINE,763.48064148,742,711,671,661,633,876,783,799,649,628.51935852,650.51935852,0.400957204895,-0.0053887054468,0.0598389339082,0.999999944719,0.0001982614087,-0.000266592902344,1.35243938132e-05,1793192676217099776
+7,0.116666667,BASELINE,764,742,711,671,661,633,875.940284854,783,799,649,628.059715146,650,0.400958681243,-0.00538811902903,0.0598399802948,0.999999945097,0.000198581808298,-0.000264935159099,1.34031770626e-05,1793192676233766656
+8,0.133333333,BASELINE,764,742,711,671,661,633,875.363284467,783,799,649,628.636715533,650,0.40095656965,-0.00539065193036,0.0598389021745,0.99999994502,0.000196278261275,-0.000266905068702,1.40457167305e-05,1793192676250433024
+9,0.150000000,BASELINE,764,742,711.212375355,671,661,633,875.212375355,783.212375355,799.212375355,649,629,650,0.400955372892,-0.00539209674605,0.0598386692955,0.999999945031,0.000195149575946,-0.000267671346824,1.43919120908e-05,1793192676267099648
+10,0.166666667,BASELINE,764,742,711.785756363,671,661,633,875.785756363,783.785756363,799.785756363,649,629,650,0.400955731211,-0.00539169198219,0.0598398731975,0.999999945205,0.000196017976205,-0.000266391635154,1.42343673456e-05,1793192676283765760
+11,0.183333333,BASELINE,764,742,711.630232528,670.630232528,661,633,876,783.630232528,799.630232528,649,629,650.369767472,0.400956444434,-0.00539118801669,0.0598403396923,0.999999945359,0.000196283083733,-0.000265635019529,1.38874901967e-05,1793192676300432384
+12,0.200000000,BASELINE,764,742,711.039879968,670.039879968,661,633,876,783.039879968,799.039879968,649,629,650.960120032,0.400957369374,-0.00539062487234,0.0598403662864,0.999999945502,0.000196188296572,-0.000265190457153,1.34276666325e-05,1793192676317099008
+13,0.216666667,BASELINE,764,742,711,670.539411059,661,633,876,783,799,649,629,651,0.400956889892,-0.0053905381742,0.0598396134411,0.999999945268,0.000196122783266,-0.000266106153863,1.36842462113e-05,1793192676333765376
+14,0.233333333,BASELINE,764,742,711.11714217,671,661.11714217,633,876,783,799,649,629,651,0.40095636358,-0.00539049843608,0.0598388974594,0.999999945058,0.000195991159651,-0.000266982490262,1.38848671028e-05,1793192676350432512
+15,0.250000000,BASELINE,764,742,711.691910142,671,661.691910142,633,876,783,799,649,629,651,0.400956051801,-0.00539050730764,0.0598385460848,0.999999945048,0.000195592985426,-0.000267320082754,1.36641246921e-05,1793192676367099136
+16,0.266666667,BASELINE,764,742,712,671,661.457718094,633,876,783.271140953,799,649,629,651,0.400955558689,-0.00539042204584,0.0598384249184,0.999999944698,0.000196934428501,-0.000267636817523,1.38297553848e-05,1793192676383765760
+17,0.283333333,BASELINE,764,742,712,671,660.288944819,633,876,783.855527591,799,649,629,651,0.400954856083,-0.00539022803297,0.0598385697086,0.999999943945,0.000200285629277,-0.00026792945561,1.44417580091e-05,1793192676400432384
+18,0.300000000,BASELINE,764,742,712,671,660.439426764,633,876,783.560573236,798.560573236,649,628.560573236,650.560573236,0.400955689928,-0.00539024422648,0.0598389166257,0.999999944499,0.000198859970337,-0.000266929355424,1.43321199639e-05,1793192676417098752
+19,0.316666667,BASELINE,764,742,711.977112997,671,660.977112997,633,876,783,798.022887003,649,628.022887003,650.022887003,0.40095694523,-0.00539028806804,0.0598393001814,0.999999945414,0.000196047275453,-0.000265597319043,1.39939374447e-05,1793192676433765376
+20,0.333333333,BASELINE,764,742,711.400400077,671,660.400400077,633,876,783,798.599599923,649,628.599599923,650.599599923,0.40095618896,-0.00538933044224,0.0598389640335,0.999999944862,0.000197632239748,-0.000266506344631,1.38602260548e-05,1793192676450432000
+21,0.350000000,BASELINE,764,742,711.176222587,671,660.352445174,633,876.176222587,783,799,649,629,650.823777413,0.4009555797,-0.00538874237852,0.0598388763757,0.999999944469,0.000198820254249,-0.000267103706925,1.37303236272e-05,1793192676467098880
+22,0.366666667,BASELINE,764,742,711.752640206,671,661.505280412,633,876.752640206,783,799,649,629,650.247359794,0.400955304298,-0.00538899357685,0.0598393530301,0.999999944443,0.000199106810115,-0.000266993293187,1.36090712318e-05,1793192676483765504
+23,0.383333333,BASELINE,764,742,712,671,661.664031056,633,876.664031056,783,799.335968944,649.335968944,628.664031056,650.335968944,0.400956033777,-0.00538940778627,0.0598400990811,0.999999944804,0.000198661487681,-0.000265963324058,1.37877923751e-05,1793192676500432128
+24,0.400000000,BASELINE,764,742,712,671,661.07550702,633,876.07550702,783,799.92449298,649.92449298,628.07550702,650.92449298,0.400957518646,-0.00538994453465,0.0598410476435,0.999999945451,0.000197665996595,-0.000264242105322,1.41920100759e-05,1793192676517098752
+25,0.416666667,BASELINE,764,742,712,671,661,633,875.495315436,783.504684564,799.495315436,649.495315436,628,650.495315436,0.400957492305,-0.00538935122728,0.0598405917106,0.999999945293,0.000199035245276,-0.000263833399443,1.38527079839e-05,1793192676533765376
+26,0.433333333,BASELINE,764,742,712,670.916641523,661,633,875.083358477,783.916641523,799.083358477,649,628,650.083358477,0.400957188794,-0.00538879549443,0.0598399750456,0.999999945005,0.000200542719422,-0.000263800382282,1.35073934481e-05,1793192676550432000
+27,0.450000000,BASELINE,764,742,712,670.339692135,661,633,875.660307865,783.339692135,799.660307865,649,628,650.660307865,0.400956561115,-0.00538944710754,0.0598396306695,0.999999944671,0.000200807772268,-0.000264848062692,1.37744630042e-05,1793192676567098880
+28,0.466666667,BASELINE,764,742,711.76319856,670.23680144,661,633,876,783,799.76319856,649,628,650.76319856,0.400955740891,-0.00538968907289,0.05983943175,0.999999944548,0.000199973780573,-0.000265938418533,1.38581451941e-05,1793192676583765504
+29,0.483333333,BASELINE,764,742,711.187357628,670.812642372,661,633,876,783,799.187357628,649,628,650.187357628,0.400954644989,-0.00538934452668,0.0598394410873,0.999999944722,0.000197566236348,-0.000267089874684,1.36792632584e-05,1793192676600431872
+30,0.500000000,BASELINE,764,742,711,671,661,633,875.603648832,783,799,649.396351168,628.396351168,650.396351168,0.400955049932,-0.00539011931079,0.0598396978681,0.999999945136,0.000196040394749,-0.000266669290355,1.35782876754e-05,1793192676617098752
+31,0.516666667,BASELINE,764,742,711,671,661,633,875.016145542,783,799,649.983854458,628.983854458,650.983854458,0.400956178702,-0.0053914339252,0.0598400739858,0.999999945665,0.000194939780501,-0.000265490542777,1.35148847501e-05,1793192676633765376
+32,0.533333333,BASELINE,764,742,711.564453776,671,661,633,875.564453776,783,799,649.435546224,628.435546224,650.435546224,0.400956245914,-0.00539091879183,0.0598403284639,0.999999945339,0.000197159687451,-0.00026506363247,1.38501306672e-05,1793192676650432000
+33,0.550000000,BASELINE,764,742,711.856338366,671.143661634,661,633,876.143661634,783.143661634,799,649,628.143661634,650,0.400956366686,-0.00539048425957,0.0598403691176,0.999999945064,0.000198819106879,-0.000264847511092,1.40942080101e-05,1793192676667098880
+34,0.566666667,BASELINE,764,742,711.280727738,671.719272262,661,633,876.719272262,783.719272262,799,649,628.719272262,650,0.400956738691,-0.0053904475348,0.0598397771979,0.999999945032,0.000198511176418,-0.000265201291871,1.40302968537e-05,1793192676683765504
+35,0.583333333,BASELINE,764.301254171,742,711,671.698745829,660.698745829,633,876.698745829,783.698745829,799,649,629,650.301254171,0.400956925494,-0.00539049762317,0.0598395608783,0.999999944954,0.000198429000688,-0.000265560472156,1.40199506082e-05,1793192676700432128
+36,0.600000000,BASELINE,764.889301592,742,711,671.110698408,660.110698408,633,876.110698408,783.110698408,799,649,629,650.889301592,0.400956935987,-0.00539063035742,0.0598397021289,0.99999994483,0.000198561742883,-0.000265924792799,1.4060598022e-05,1793192676717098752
+37,0.616666667,BASELINE,764.529075688,742.470924312,711.470924312,671.470924312,660.470924312,633,876,783.470924312,799,649.470924312,629,651,0.400955676894,-0.00539110812623,0.0598398588739,0.99999994474,0.000198183687177,-0.000266535598716,1.41969754605e-05,1793192676733765632
+38,0.633333333,BASELINE,764,743,712,671.949429302,661,633,876,783.949429302,799.050570698,649.949429302,629,651,0.400954367517,-0.00539142374199,0.0598400387162,0.999999944677,0.000197901785508,-0.000266976377222,1.43066666292e-05,1793192676750432256
+39,0.650000000,BASELINE,764,743,712,671.374823128,661,633,876,783.374823128,799.625176872,649.374823128,629,651,0.400955587963,-0.00538922991456,0.0598404206692,0.999999944805,0.000199843758287,-0.000265062936235,1.39097769141e-05,1793192676767098624
+40,0.666666667,BASELINE,764,742.799607208,711.799607208,671,661,633,876,783.200392792,799.799607208,649,629,651,0.400956596675,-0.00538816527554,0.0598407725386,0.999999944869,0.000200974706713,-0.000263976117754,1.37088806338e-05,1793192676783765248
+41,0.683333333,BASELINE,764,742.223247351,711.223247351,671,661,633,876,783.776752649,799.223247351,649,629,651,0.400957208142,-0.00538921916419,0.0598410679664,0.999999944822,0.000200584051158,-0.00026444016774,1.38756975872e-05,1793192676800432128
+42,0.700000000,BASELINE,764,742,711.36184169,671,661,633,876,783.63815831,799,649.36184169,628.63815831,650.63815831,0.400957883037,-0.00538960830562,0.0598416494031,0.999999945211,0.000199469055811,-0.00026381365082,1.3845301912e-05,1793192676817099008
+43,0.716666667,BASELINE,764,742,711.952449537,671,661,633,876,783.047550463,799,649.952449537,628.047550463,650.047550463,0.400958598034,-0.00538957717573,0.0598424116623,0.999999945872,0.000197896113161,-0.000262497647823,1.3690223043e-05,1793192676833765888
+44,0.733333333,BASELINE,764,742,711.469722888,670.469722888,661.530277112,633,876,783.530277112,799,650,628.530277112,650.530277112,0.400956804001,-0.00538876415036,0.0598410428596,0.999999945108,0.000198986782005,-0.000264577603595,1.37083311595e-05,1793192676850432512
+45,0.750000000,BASELINE,764,742,711.106741004,670.106741004,661.893258996,633,876,784,799,649.893258996,629,651,0.400955303235,-0.00538822123548,0.0598399562579,0.999999944521,0.000199668823,-0.000266271391227,1.37483031496e-05,1793192676867098880
+46,0.766666667,BASELINE,764,742,711.682130654,670.682130654,661.317869346,633,876,784,799,649.317869346,629,651,0.400956054629,-0.00538916483622,0.0598409279248,0.999999945292,0.000197532783712,-0.000264964166761,1.38176894584e-05,1793192676883765504
+47,0.783333333,BASELINE,763.742460053,742.257539947,712,671,661,633,876,783.742460053,799.257539947,649,629,651,0.400956775753,-0.00539069943841,0.0598411060491,0.999999945709,0.000196009426646,-0.000264512569012,1.39435129911e-05,1793192676900432128
+48,0.800000000,BASELINE,763.167026439,742.832973561,712,671,661,633,876,783.167026439,799.832973561,649,629,651,0.400957459515,-0.00539296354159,0.0598403046667,0.999999945697,0.000195242331775,-0.000265117111381,1.41389996528e-05,1793192676917098752
+49,0.816666667,BASELINE,763.421508747,742.578491253,712,671.421508747,660.578491253,633,876,783.421508747,799.578491253,649,629,651,0.400957050697,-0.00539239109626,0.0598401902703,0.999999945319,0.000196827097782,-0.000265364380712,1.42586513707e-05,1793192676933765632
+50,0.833333333,BASELINE,764,742,711.984997995,671.984997995,660.015002005,633,876,783.984997995,799,649,629,650.984997995,0.400956268036,-0.00539070517229,0.0598403951276,0.999999944827,0.000199285444969,-0.000265379475067,1.43439548989e-05,1793192676950432256
+51,0.850000000,BASELINE,764,742,711.406530267,671.406530267,660.593469733,633,876,783.406530267,799,649,629,650.406530267,0.40095822678,-0.00539076897319,0.0598420383864,0.999999945846,0.000198428798918,-0.000262162177907,1.43040378385e-05,1793192676967098880
+52,0.866666667,BASELINE,764.170451096,742,711,671,661,633,876.170451096,783.170451096,799,649,629,650.170451096,0.400959093012,-0.00539118472901,0.0598427236039,0.999999946451,0.000197336979337,-0.000260672812627,1.43366409228e-05,1793192676983765504
+53,0.883333333,BASELINE,764.743918047,742,711,671,661,633,876.743918047,783.743918047,799,649,629,650.743918047,0.400957376098,-0.0053924326497,0.0598411436211,0.999999946092,0.000195689113744,-0.000263268982713,1.45407111871e-05,1793192677000432384
+54,0.900000000,BASELINE,764.673735445,742,711,671,661.326264555,633,876.673735445,783.673735445,799.326264555,649,629,651,0.40095642481,-0.00539265720445,0.0598403743738,0.999999945913,0.00019506682643,-0.000264409978408,1.44838706081e-05,1793192677017099008
+55,0.916666667,BASELINE,764.0842245,742,711,671,661.9157755,633,876.0842245,783.0842245,799.9157755,649,629,651,0.400956091267,-0.00539205605684,0.0598402592683,0.999999945886,0.00019527202651,-0.000264376867259,1.42165142379e-05,1793192677033765632
+56,0.933333333,BASELINE,764.496404909,742,711.496404909,671,661.503595091,633,875.503595091,783.496404909,799.503595091,649,628.503595091,650.503595091,0.400956895485,-0.00539216627814,0.059840913274,0.999999946005,0.000196203311496,-0.000263228857442,1.43424592332e-05,1793192677050432512
+57,0.950000000,BASELINE,764.924804437,742,711.924804437,671,661,633,875.075195563,784,799,649,628.075195563,650.075195563,0.400957676702,-0.00539226624604,0.0598414762702,0.999999946075,0.000197146535587,-0.000262247293771,1.45028828393e-05,1793192677067098880
+58,0.966666667,BASELINE,764.348402407,742,711.348402407,671,661,633,875.651597593,784,799,649,628.651597593,650.651597593,0.400957040515,-0.00539150751991,0.0598405781486,0.999999945673,0.000197362636668,-0.0002636138407,1.44561500832e-05,1793192677083765760
+59,0.983333333,BASELINE,764,742,711,671,661.226671309,633,876,783.773328691,799.226671309,649,629,651,0.400956619105,-0.00539128496783,0.0598401303844,0.99999994556,0.000196814395984,-0.000264457854295,1.43890871424e-05,1793192677100432384
+60,1.000000000,BASELINE,764,742,711,671,661.799715339,633,876,783.200284661,799.799715339,649,629,651,0.400956525893,-0.00539188173445,0.0598403708041,0.999999945885,0.000195098177182,-0.000264503393453,1.42909579717e-05,1793192677117099008
+61,1.016666667,BASELINE,764,742,711,671,661.615032787,633,875.615032787,783.384967213,799.615032787,649,629,651,0.400956512657,-0.00539126407842,0.0598404596833,0.999999945823,0.000195284212388,-0.000264608587537,1.41260707424e-05,1793192677133765632
+62,1.033333333,BASELINE,764,742,711,671,661.023221641,633,875.023221641,783.976778359,799.023221641,649,629,651,0.400956542393,-0.00538999390974,0.0598404671393,0.999999945553,0.000196492333967,-0.000264745834373,1.3925314232e-05,1793192677150432256
+63,1.050000000,BASELINE,764,742,711.555570471,671,661.555570471,633,875.555570471,784,799,649,628.444429529,651,0.400956909345,-0.00539062697713,0.0598412874951,0.999999945978,0.000196182784958,-0.00026337020113,1.38696078105e-05,1793192677167098880
+64,1.066666667,BASELINE,764,742,712,671,661.866568434,633,876,784,799,649,628.133431566,650.866568434,0.400957178932,-0.00539105749968,0.0598419901754,0.999999946208,0.000196372982514,-0.000262350003213,1.38989492345e-05,1793192677183765760
+65,1.083333333,BASELINE,764,742,712,671,661.290033406,633,876,784,799,649,628.709966594,650.290033406,0.400957079448,-0.00539055727848,0.0598421918259,0.999999945703,0.000198428587645,-0.000262715330216,1.41910475866e-05,1793192677200432384
+66,1.100000000,BASELINE,764,742,711.708506643,671,661,633,876,783.708506643,799,649,628.708506643,650.291493357,0.400956887974,-0.00539085811422,0.0598419837532,0.999999945658,0.000198148975338,-0.000263090939044,1.42840887681e-05,1793192677217099264
+67,1.116666667,BASELINE,764,742,711.121926645,671,661,633,876,783.121926645,799,649,628.121926645,650.878073355,0.400956603374,-0.00539196988168,0.0598413609065,0.999999946078,0.000195505358883,-0.000263476956417,1.41756189525e-05,1793192677233765888
+68,1.133333333,BASELINE,764,742,711,671.458598979,661,633,876,783.458598979,799,649,628,651,0.400956208962,-0.00539117213264,0.0598415553543,0.999999945894,0.000196877856454,-0.000263147993422,1.428144127e-05,1793192677250432512
+69,1.150000000,BASELINE,764,742,711.03731905,672,661,633,875.96268095,784,799,649,628.03731905,650.96268095,0.400955818061,-0.00539000593115,0.0598418736623,0.999999945563,0.00019909490542,-0.000262731081508,1.44252704289e-05,1793192677267099136
+70,1.166666667,BASELINE,764,742,711.612910554,672,661,633,875.387089446,784,799,649,628.612910554,650.387089446,0.400955893409,-0.00539075245386,0.0598408851899,0.999999945455,0.000198293239525,-0.00026375168273,1.43062427645e-05,1793192677283765760
+71,1.183333333,BASELINE,764,742,711.81122835,671.81122835,661,633,875.18877165,784,799,649,629,650.18877165,0.400956339199,-0.0053913728312,0.0598405018184,0.999999945557,0.000197589112935,-0.000263894143432,1.42627249728e-05,1793192677300432384
+72,1.200000000,BASELINE,764,742,711.234813542,671.234813542,661,633,875.765186458,784,799,649,629,650.765186458,0.400957545693,-0.00539173416877,0.0598413610232,0.999999946092,0.000197085283461,-0.000262233340084,1.43742669134e-05,1793192677317099008
+73,1.216666667,BASELINE,764,742,711.349371105,671,661,633,876,784,799,649,629,650.650628895,0.400958132685,-0.00539101783999,0.0598419157137,0.999999946176,0.000197574543218,-0.000261546722638,1.4327176365e-05,1793192677333765632
+74,1.233333333,BASELINE,764,742,711.938896632,671,661,633,876,784,799,649,629,650.061103368,0.400958293838,-0.00538956073344,0.059842261084,0.999999945951,0.000198746443231,-0.000261529751549,1.41710433241e-05,1793192677350432256
+75,1.250000000,BASELINE,764,742,712,671.519572128,661,633,876.519572128,784,799,649,629,650.519572128,0.400957766545,-0.00538914233624,0.0598419460318,0.999999945701,0.000199690092436,-0.000261784087612,1.38135129684e-05,1793192677367098880
+76,1.266666667,BASELINE,764,742,712,671.902019539,661,633,877,784,799.097980461,649,629,650.902019539,0.40095729896,-0.00538931975439,0.0598416851354,0.999999945645,0.000199579994843,-0.000262094852358,1.35537629255e-05,1793192677383765504
+77,1.283333333,BASELINE,764,742,712,671.32963351,661,633,877,784,799.67036649,649,629,650.32963351,0.400957505918,-0.0053918004624,0.0598420562093,0.999999946529,0.000194495618288,-0.000262526936405,1.38802075715e-05,1793192677400432128
+78,1.300000000,BASELINE,764,742,711.754408729,671,661,633,876.754408729,783.754408729,800,649,629,650.245591271,0.400957668802,-0.00539235256712,0.0598421070139,0.999999946669,0.000193666871279,-0.000262597047049,1.40792684736e-05,1793192677417099008
+79,1.316666667,BASELINE,764,742,711.175329255,671,661,633,876.175329255,783.175329255,800,649,629,650.824670745,0.400957771837,-0.0053902858227,0.059841722925,0.999999945808,0.000198616840845,-0.000262175634252,1.41053550594e-05,1793192677433765632
+80,1.333333333,BASELINE,764,742.413509732,711,671,661,633,876.413509732,783.413509732,799.586490268,649,629,650.586490268,0.400957810107,-0.00538968849771,0.0598416178838,0.999999945679,0.000199459227601,-0.000262033422078,1.40246746976e-05,1793192677450432000
+81,1.350000000,BASELINE,764,742.993626278,711.006373722,671,661,633,876.993626278,784,799.006373722,649,629,650.006373722,0.400957811138,-0.00538973367354,0.0598416272177,0.999999945872,0.000198511134219,-0.000262023069463,1.38993244829e-05,1793192677467098880
+82,1.366666667,BASELINE,764,742.419739683,711.580260317,671,661,633,876.419739683,784,799.580260317,649,629,650.580260317,0.400957000603,-0.00539017087386,0.0598410309236,0.999999945933,0.000196961590784,-0.0002629579767,1.39247978828e-05,1793192677483765504
+83,1.383333333,BASELINE,764,742,712,671,661,633,876,784,799.845337976,649,629,651,0.400956635002,-0.00539033035242,0.0598408486191,0.999999945931,0.000196510805383,-0.000263300061894,1.39226167789e-05,1793192677500432128
+84,1.400000000,BASELINE,764,742,712,671,661,633,876,784,799.269533496,649,629,651,0.400957480952,-0.00538973359875,0.0598417936021,0.999999945764,0.000199051921872,-0.000262027901451,1.38451328669e-05,1793192677517098752
+85,1.416666667,BASELINE,764,742,712,671,661,633,876,784,799,649,629,651,0.40095741194,-0.00539006294502,0.0598420362088,0.999999945702,0.000199713770855,-0.000261754440299,1.39971035892e-05,1793192677533765376
+86,1.433333333,BASELINE,764,742,712,671,661,633,876,784,799,649,629,651,0.400956537717,-0.00539120730462,0.0598416606899,0.999999945735,0.000198721772271,-0.000262359883498,1.43510056289e-05,1793192677550432000
+87,1.450000000,BASELINE,764,742,711.51672926,671,661,633,875.51672926,784,799,649,629,651,0.400956154049,-0.00539100760287,0.059841291213,0.999999945702,0.000198163071606,-0.000262922177858,1.41432346175e-05,1793192677567098880
+88,1.466666667,BASELINE,764,742.063605913,711.063605913,671,661,633,875.063605913,784,799,649,629,650.936394087,0.400955981149,-0.00539063533607,0.0598410225632,0.9999999457,0.0001976266727,-0.000263344901306,1.38889024995e-05,1793192677583765248
+89,1.483333333,BASELINE,764,742.639271478,711.639271478,671,661,633,875.639271478,784,799,649,629,650.360728522,0.400956707107,-0.0053910600812,0.0598415557946,0.999999946071,0.000196565012652,-0.000262714194401,1.41733462631e-05,1793192677600432128
+90,1.500000000,BASELINE,764,742.785820326,712,671,661,633,876,783.785820326,799,649,629,650.214179674,0.400956985221,-0.00539131471291,0.0598415938293,0.99999994606,0.000196731340608,-0.000262625735307,1.4326196422e-05,1793192677617098752
+91,1.516666667,BASELINE,764,742.21218328,712,671,661,633,876,783.21218328,799,649,629,650.78781672,0.400956511715,-0.00539128384353,0.0598408007765,0.999999945404,0.000198958598785,-0.000263447329827,1.42581932364e-05,1793192677633765376
+92,1.533333333,BASELINE,764,742,711.627970229,671,661,633,876,783,799,649,629,651,0.400956665476,-0.0053904712779,0.0598407145248,0.999999945292,0.000199353143371,-0.000263594103648,1.38965568716e-05,1793192677650432000
+93,1.550000000,BASELINE,764,742,711.037548717,671,661,633,876,783,799,649,629,651,0.40095718746,-0.005389199835,0.0598410431848,0.9999999455,0.000198671834724,-0.000263344739179,1.3362549722e-05,1793192677667098624
+94,1.566666667,BASELINE,764,742,711,671.543325967,661,633,876,783,799,649,629,651,0.400956273221,-0.00538930886573,0.059840655944,0.999999945343,0.000198577856762,-0.000264012112882,1.3339286979e-05,1793192677683765504
+95,1.583333333,BASELINE,764,742.122150862,711,671.877849138,661,633,876,783,799,649,629,651,0.400955726982,-0.00538968838875,0.059840619047,0.999999945335,0.000198324056138,-0.000264224928371,1.34866369667e-05,1793192677700432384
+96,1.600000000,BASELINE,764,742.695796023,711,671.304203977,661,633,876,783,799,649,629,651,0.400956901475,-0.00539072116574,0.0598420568038,0.99999994597,0.000197332080989,-0.000262527476166,1.41363939593e-05,1793192677717100032
+97,1.616666667,BASELINE,764,742.730036468,711.269963532,671,661,633,876,783.269963532,799,649,629,651,0.400957195937,-0.00539139775766,0.0598421896566,0.999999946308,0.000196115881611,-0.000262135655727,1.43868252277e-05,1793192677733766912
+98,1.633333333,BASELINE,764,742.155279254,711.844720746,671,661,633,876,783.844720746,799,649,629,651,0.400956496829,-0.00539167221018,0.0598408492495,0.999999946314,0.000194646529107,-0.000263217917134,1.41864105331e-05,1793192677750432768
+99,1.650000000,BASELINE,764,742,712,671,660.565670111,633,876,783.565670111,799,649.434329889,629,650.565670111,0.400957083465,-0.00539078862396,0.059841400211,0.99999994613,0.000196526901917,-0.000262527938862,1.39859351692e-05,1793192677767099136
+100,1.666666667,BASELINE,764,742.028496546,711.971503454,671,660,633,876,783,799.028496546,649.971503454,629,650.028496546,0.400958091962,-0.00538956614007,0.059842573318,0.999999945901,0.000199377510959,-0.000261257362774,1.37930906134e-05,1793192677783765760
+101,1.683333333,BASELINE,764,742.604594922,711.395405078,671,660,633,876,783,799.604594922,649.395405078,629,650.604594922,0.400958061108,-0.00539006884058,0.0598422477861,0.999999946318,0.000197044675025,-0.000261436411806,1.37473144257e-05,1793192677800432640
+102,1.700000000,BASELINE,764,742.820179063,711.179820937,671.179820937,660.179820937,633,876,783.179820937,800,649,629,651,0.400958040963,-0.00539004185156,0.0598420089882,0.999999946426,0.000196314337913,-0.000261571834891,1.37785600614e-05,1793192677817099264
+103,1.716666667,BASELINE,764,742.246862079,711.753137921,671.753137921,660.753137921,633,876,783.753137921,800,649,629,651,0.400958044254,-0.00538885576089,0.0598419599877,0.999999945863,0.000199090694828,-0.000261611792775,1.39783499418e-05,1793192677833766144
+104,1.733333333,BASELINE,764,742.337413181,711.662586819,671.662586819,661,633,876,783.662586819,799.662586819,649,629,651,0.400957889074,-0.00538979374341,0.0598420821747,0.999999945927,0.000198811639051,-0.000261564631045,1.4259515542e-05,1793192677850433024
+105,1.750000000,BASELINE,764,742.929975046,711.070024954,671.070024954,661,633,876,783.070024954,799.070024954,649,629,651,0.400957614061,-0.00539233793005,0.0598423338122,0.999999946463,0.000196222109133,-0.000261451590282,1.46022167196e-05,1793192677867099392
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,877,784,799,649,629,650,0.400958909087,-0.00539155027814,0.059842933051,0.9999999467,0.000196916359709,-0.000260020326878,1.45853956676e-05,1793192677897931264
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711.423804595,671,661,633,876.423804595,783.423804595,799,649,628.423804595,650,0.400957514818,-0.00539150168114,0.0598416643245,0.999999946441,0.000195621326033,-0.00026201188009,1.4176715119e-05,1793192677914598400
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783.151047759,799,649,628.151047759,650.151047759,0.400956772708,-0.00539119264316,0.0598411041355,0.999999946311,0.000194982622364,-0.000262998907014,1.38610873849e-05,1793192677931265024
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783.722165171,799,649,628.722165171,650.722165171,0.400957844274,-0.0053901593087,0.0598425144163,0.999999946553,0.000196169197501,-0.000261192307989,1.38042430295e-05,1793192677947931648
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783.693650367,799,649,629,650.693650367,0.40095736864,-0.00538991678665,0.059842171482,0.999999946214,0.000197189413933,-0.000261721384393,1.37696241384e-05,1793192677964598016
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783.097087158,799,649,629,650.097087158,0.400955427298,-0.00539042342337,0.0598401676778,0.999999945323,0.000198052034043,-0.000264463111567,1.37560600545e-05,1793192677981264384
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783,799,649,629,650,0.400955923304,-0.00539086072289,0.0598409901959,0.999999945509,0.000198178685243,-0.000263649160068,1.39781832447e-05,1793192677997931520
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783.05761736,799,649.05761736,629,650,0.400956998468,-0.00539108712924,0.059842319459,0.999999945865,0.000198346441635,-0.000262158143087,1.42031700538e-05,1793192678014598400
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783.632451231,799,649.632451231,629,650,0.400959019708,-0.00538954138605,0.0598432660441,0.999999945861,0.0002001673681,-0.000260793520829,1.40426162979e-05,1793192678031265024
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.786897624,784,799,649.786897624,628.786897624,650,0.400963206285,-0.00538911334263,0.0598448432928,0.999999946513,0.000200155378969,-0.000258286165382,1.41293299176e-05,1793192678047931648
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.19593161,784,799,649.19593161,628.19593161,650,0.40097123234,-0.00539066715478,0.059847538806,0.999999948314,0.000196893345373,-0.0002537525665,1.46544870478e-05,1793192678064598272
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.386793867,671,661,633,875.386793867,783.613206133,799,649,628,650.386793867,0.401001342387,-0.00539181559771,0.0598602572992,0.999999953896,0.000196829167736,-0.000230704447701,1.55276251949e-05,1793192678081264640
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.965432204,671,661,633,875.965432204,783.034567796,799,649,628,650.965432204,0.401042405794,-0.00539276298319,0.0598779470537,0.999999960495,0.000198351082473,-0.000198473379537,1.65733572028e-05,1793192678097931264
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.459568795,742,711.459568795,671,661,633,876,783,799,649,628,651,0.401101321104,-0.00539465051329,0.0598961133807,0.999999966087,0.000197938798702,-0.000168336386748,1.7563803208e-05,1793192678114597888
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.115207382,742,711.115207382,671,661,633,876,783.115207382,799,649,628.115207382,651,0.401163512907,-0.0053969085836,0.0599125213543,0.999999970348,0.000196842972067,-0.000142186971129,1.84099613687e-05,1793192678131265024
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.69001726,742,711.69001726,671,661,633,876,783.69001726,799,649,628.69001726,651,0.401234250966,-0.00540040657481,0.0599217938524,0.999999972467,0.000193510506824,-0.000131414609877,1.86945183436e-05,1793192678147931392
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.726897066,742,712,671,660.726897066,633,875.726897066,784,799,649,629,651,0.401311696427,-0.00540337905133,0.0599279120698,0.999999974059,0.000191205873589,-0.000122419051495,1.83378497803e-05,1793192678164598016
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.134124526,742,712,671,660.134124526,633,875.134124526,784,799,649,629,651,0.401396992962,-0.00540573640765,0.0599303381708,0.999999975111,0.000190104327801,-0.000115503258579,1.72306205548e-05,1793192678181264640
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.445776026,742,711.554223974,671,660.445776026,633,875.445776026,784,799,649,628.554223974,650.554223974,0.401507315112,-0.00540801529268,0.0599357931216,0.99999997654,0.000188567555717,-0.000105321566404,1.64433099275e-05,1793192678197931520
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.978110162,783.978110162,799,649,628,650.021889838,0.401625862404,-0.00541037377287,0.0599419281193,0.999999977982,0.000186755764016,-9.44028771373e-05,1.56973541757e-05,1793192678214598144
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.40256588,783.40256588,799,649,628,650.59743412,0.401767344899,-0.00541532584641,0.0599428605649,0.999999979529,0.000181207108058,-8.89996420946e-05,1.36311065357e-05,1793192678231264768
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.823194542,633,875,783.176805458,799,649,628.176805458,651,0.401915302794,-0.0054203672018,0.0599434416229,0.999999980819,0.000176452044824,-8.42002733639e-05,1.16669658247e-05,1793192678247931648
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660.234916728,633,875,783.765083272,799,649,628.765083272,651,0.402078330611,-0.00542561633865,0.0599432049106,0.999999981627,0.000173543879369,-8.08062596028e-05,9.94045482426e-06,1793192678264598784
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.348616914,671,660.348616914,633,875.348616914,783.651383086,799,649,629,651,0.40226576512,-0.00543037853788,0.0599429115433,0.999999982663,0.000169001813181,-7.78041715616e-05,7.62194220219e-06,1793192678281265408
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.928996657,671,660.928996657,633,875.928996657,783.071003343,799,649,629,651,0.402469425374,-0.00543481701827,0.0599425805113,0.999999983825,0.000163373518688,-7.50626379896e-05,4.90986281532e-06,1793192678297931776
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.494348402,671,661,633,876,783,799,649,629,650.494348402,0.402712884432,-0.00544138404973,0.0599448390319,0.999999985834,0.000155110726521,-6.53440220503e-05,1.79161079835e-06,1793192678314598144
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783,799,649,629,650.083114646,0.402966060203,-0.00544849993007,0.0599473839537,0.999999987781,0.000146060679788,-5.57022929017e-05,-1.37122554697e-06,1793192678331264512
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783,799,649,629,650.668600667,0.403244435154,-0.00545713985453,0.0599494781919,0.999999989576,0.000134471865539,-5.24037149e-05,-4.46133095723e-06,1793192678347931136
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.251398022,671,661,633,876,783,799.251398022,649,629,651,0.40353193191,-0.00546532947733,0.0599440342692,0.999999990418,0.000123783507652,-6.14026408597e-05,-8.427603532e-06,1793192678364598016
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.830688576,671,661,633,876,783,799.830688576,649,629,651,0.403831326003,-0.0054729317817,0.0599287585005,0.999999989644,0.000114269594485,-8.6440912394e-05,-1.35366401591e-05,1793192678381264896
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799.590116884,649,628.590116884,651,0.404163875481,-0.0054809479212,0.0599187806018,0.999999989014,0.000104877508681,-0.000103183302923,-1.80734845753e-05,1793192678397931776
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799.010962012,649,628.010962012,651,0.404510117318,-0.00548913496435,0.0599109905948,0.9999999884,9.55357348481e-05,-0.000116499695746,-2.23740273975e-05,1793192678414598656
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.565046461,742,711.434953539,671,661,633,876.565046461,783.565046461,799,649,628,651,0.404895275099,-0.00549880075827,0.0599008823312,0.999999986875,8.41407879924e-05,-0.00013565468732,-2.77066726707e-05,1793192678431265024
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.856427535,742.143572465,711.143572465,671,661,633,877,783.856427535,799,649,628.143572465,650.856427535,0.405300874004,-0.00550892949328,0.0598964268084,0.99999998625,7.25969065797e-05,-0.000145494019856,-3.2570177715e-05,1793192678447931392
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.269948038,742.730051962,711.730051962,671,661,633,877,783.269948038,799,649,628.730051962,650.269948038,0.405767215571,-0.00552039834477,0.0599095474153,0.999999989542,6.07157761108e-05,-0.000126247958912,-3.59250030808e-05,1793192678464598016
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.687325559,743,712,671,661.312674441,633,876.687325559,783,799,649,629,650.312674441,0.40627258622,-0.00553240495522,0.0599330617684,0.999999994534,4.62655314227e-05,-8.53070698024e-05,-3.89192853779e-05,1793192678481264896
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.107992402,743,712,671,661.892007598,633,876.107992402,783,799,649,629,650.892007598,0.406811242165,-0.00554487018488,0.0599654402406,0.999999998361,2.9624262904e-05,-2.58641382815e-05,-4.16060853413e-05,1793192678497931520
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.469511893,742.530488107,711.530488107,671.469511893,662,633,876,783,799.469511893,649,628.530488107,651,0.407353259251,-0.00554733206916,0.0599856389571,0.999999995418,-8.69967029138e-05,7.0173306881e-07,-3.99488849228e-05,1793192678514597888
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,671.907323575,661.953661787,633,876,783,800,649,628,650.953661787,0.407895879169,-0.00554665848582,0.0600002923727,0.999999976436,-0.000213201131254,1.50201228057e-05,-3.80405352611e-05,1793192678531264512
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,670.759566193,661.379783097,633,876,783,800,649,628,650.379783097,0.40843659524,-0.00553638171994,0.0599835846655,0.999999981089,-0.000187721889667,-2.43371177223e-05,-4.46038701973e-05,1793192678547931392
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,670.398543779,661.19927189,633,876,783,799.80072811,649,628.19927189,650.19927189,0.408997035153,-0.00553394985523,0.0599682819961,0.999999982591,-0.00016945855936,-6.01136530455e-05,-4.98875742165e-05,1793192678564598272
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,671.576910395,661.788455198,633,876,783,799.211544802,649,628.788455198,650.788455198,0.409596068292,-0.00554686795618,0.0599557285376,0.999999980998,-0.00016531446398,-8.88838900651e-05,-5.26674491293e-05,1793192678581265152
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.371367974,711.371367974,671.628632026,662,633,876.371367974,783,799,649,629,651,0.410250919311,-0.00554921088369,0.0599586082529,0.999999992704,-8.6695266355e-05,-7.60862011282e-05,-3.58777482416e-05,1793192678597931776
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.950768116,711.950768116,671.049231884,662,633,876.950768116,783,799,649,629,651,0.410937038259,-0.00554562983126,0.0599701332929,0.999999998601,3.36432461336e-05,-4.00030726032e-05,-8.12560094857e-06,1793192678614598144
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,712,671,661.475301302,633,877,783,799.524698698,649,629,651,0.41162058044,-0.00553827789809,0.0599697808624,0.99999999903,1.77970192002e-05,-3.82178239085e-05,-1.27887605029e-05,1793192678631264768
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.901079947,742.901079947,712,671,661.098920053,632.901079947,876.901079947,783,799.901079947,649,628.901079947,651,0.412301985566,-0.00553142920743,0.0599633793525,0.999999998551,-5.00087189733e-06,-4.96249799384e-05,-2.02790966706e-05,1793192678647931392
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.322989951,742.322989951,712,671,661.677010049,632.322989951,876.322989951,783,799.322989951,649,628.322989951,651,0.41297419763,-0.00552871444654,0.0599330187422,0.999999993643,-2.14193533702e-07,-0.000109508461225,-2.68832819716e-05,1793192678664598016
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.262456203,742.262456203,712,671,661.475087594,632.262456203,876,783,799.262456203,649,628.262456203,650.737543797,0.413682100768,-0.00553124835069,0.0599103988637,0.999999987829,-9.21434861111e-06,-0.000152702646745,-3.06566864235e-05,1793192678681264896
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.857216293,742.857216293,712,671,660.285567414,632.857216293,876,783,799.857216293,649,628.857216293,650.142783707,0.414435193568,-0.00554042775103,0.05989757976,0.999999983616,-3.56704377268e-05,-0.00017476600902,-3.08459529776e-05,1793192678697931776
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.562128462,712,671,660.875743077,633,876,783,799.562128462,649,628.562128462,650,0.415271203021,-0.00554486342439,0.0599380464522,0.999999993677,-3.89853250671e-05,-0.000101161807871,-2.986091002e-05,1793192678714598144
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,712,671.013949366,662,633,876.013949366,783.013949366,799,649,628.013949366,650.013949366,0.416131798427,-0.00554767321472,0.0599942373826,0.999999998982,-3.49708957287e-05,4.9056575907e-07,-2.851793515e-05,1793192678731264768
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,671.585172283,662,633,876.585172283,783.585172283,799,649,628.585172283,650.585172283,0.416928147994,-0.00554539765602,0.060006113824,0.999999999043,-3.02059183151e-05,1.52870196752e-05,-2.76960646604e-05,1793192678747931392
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.162740764,711.837259236,672,661.837259236,633,877,784,799.162740764,649,629,651,0.417733761834,-0.00554363444405,0.0600087014499,0.999999999014,-2.97416945195e-05,1.75017424392e-05,-2.79527634285e-05,1793192678764598016
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.757140392,711.242859608,672,661.242859608,633,877,784,799.757140392,649,629,651,0.418563948488,-0.00554323019728,0.0599866511206,0.999999998596,-4.06849289645e-05,-1.36557262194e-05,-3.10702942159e-05,1793192678781264384
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.342237664,743,711.342237664,672,661.342237664,633,877,784,800,649,629,650.657762336,0.419386685828,-0.00554414979381,0.0599619424604,0.999999997114,-4.53650996014e-05,-5.08420676559e-05,-3.36017458625e-05,1793192678797931264
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.920908427,743,711.920908427,672,661.920908427,633,877,784,800,649,629,650.079091573,0.420204276815,-0.00554598396058,0.0599353973071,0.999999994067,-4.57184648976e-05,-9.21934229521e-05,-3.57283076448e-05,1793192678814597888
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.010072818,742.505036409,712,672,661.505036409,633,877,783.505036409,799.505036409,649,629,650,0.4209984792,-0.00554444171305,0.0599039977887,0.999999987398,-3.68514358737e-05,-0.000149717304891,-3.78145602589e-05,1793192678831265024
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.068313616,742,712,672,661,633,877,783,799.068313616,649,629,650,0.421797388142,-0.00554258204409,0.0598759324129,0.999999978384,-2.95399537783e-05,-0.000201929391848,-3.98105240001e-05,1793192678847931904
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.641852573,742,712,672,661,633,877,783,799.641852573,649,629,650,0.422658489552,-0.00554232812742,0.0598782090573,0.999999978968,-4.45285581793e-05,-0.000195921428664,-4.1185936577e-05,1793192678864598528
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.223712742,712,672,661.447425485,633,877,783.223712742,799.776287258,649,629,650.223712742,0.423560943413,-0.00554386128491,0.0599055161554,0.99999998665,-5.0177368766e-05,-0.000150135821615,-4.05147430781e-05,1793192678881265152
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.819409302,712,672,662.638818604,633,877,783.819409302,799.180590698,649,629,650.819409302,0.424532157205,-0.00554836594352,0.0599744432513,0.999999997794,-4.02962114054e-05,-3.82089648412e-05,-3.6440505296e-05,1793192678897931776
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,671.597918339,662.597918339,633,877,784,799,649,628.597918339,650.597918339,0.425436681899,-0.00555161969417,0.0600032462647,0.999999998411,-4.3580828451e-05,8.60692154875e-06,-3.47004420065e-05,1793192678914598144
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,671.020912159,662.020912159,633,877,784,799,649,628.020912159,650.020912159,0.426312193626,-0.00555432924048,0.0600145934025,0.999999997673,-5.25931801235e-05,2.70964527772e-05,-3.39758552627e-05,1793192678931264768
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.448852825,711.448852825,671.551147175,662,633,877,784,799.551147175,649,628.551147175,650,0.427170875958,-0.00555987400701,0.0599973638328,0.99999999773,-5.39950675172e-05,1.59353458125e-05,-3.70234390338e-05,1793192678947931392
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.123921007,742.123921007,711.123921007,672,662,633,877,784,799.876078993,649.123921007,629,650,0.428019814149,-0.00556397242555,0.0599790904976,0.999999997507,-5.82063237053e-05,1.86616899434e-07,-3.9976154728e-05,1793192678964597760
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.699980475,742.699980475,711.699980475,672,662,633,877,784,799.300019525,649.699980475,629,650,0.42883550891,-0.00556240468253,0.0599609298107,0.999999996,-7.37120601003e-05,-2.82322354504e-05,-4.20651651155e-05,1793192678981264640
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+236,3.933333333,POSE1_TO_POSE2_PRESS,763,743,711,673.437957831,658,630,877.562042169,782,799.437957831,649,628.562042169,650.562042169,0.447893795514,-0.00559046906176,0.0596536657599,0.999999838496,-0.000112456860282,-0.000555065915376,-4.75658021042e-05,1793192680064598272
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.015115889,743,711.015115889,673.984884111,657.984884111,630,877,782,799.984884111,649,628,650,0.447894045923,-0.00558914526112,0.0596540787661,0.999999839339,-0.000111402994318,-0.000553772262851,-4.74051854146e-05,1793192680081264896
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.601300253,743,711.601300253,673.398699747,657.398699747,630,877,782,799.398699747,649,628,650,0.447893797203,-0.00558934879816,0.0596528190643,0.999999838369,-0.000112013260914,-0.000555373036525,-4.76987277062e-05,1793192680097931520
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.814729509,743,712,673,657.185270491,630,877.185270491,782,799,649,628,650.185270491,0.4478942104,-0.0055896867075,0.0596523569085,0.999999837999,-0.000112771939987,-0.000555869571807,-4.78974711819e-05,1793192680114598400
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.235467806,743,712,673,657.764532194,630,877.764532194,782,799,649,628,650.764532194,0.447896031214,-0.00559031036935,0.0596535907923,0.999999838905,-0.000113846228976,-0.000554017863521,-4.78946180439e-05,1793192680131265024
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.340389464,743,712,673,658,630,877.659610536,782,799,649,628,650.659610536,0.44789702531,-0.00559115676963,0.0596542298017,0.999999839216,-0.000115107684886,-0.000553205785067,-4.7756696486e-05,1793192680147931648
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.91391498,743,712,673,658,630,877.08608502,782,799,649,628,650.08608502,0.447897453178,-0.0055921557256,0.0596544613757,0.999999839122,-0.000116497333192,-0.00055310575927,-4.75262652543e-05,1793192680164598528
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,877.484555874,782,799,649,628,650,0.447896604308,-0.00559147466384,0.059654277925,0.999999839016,-0.000115759689317,-0.000553449325232,-4.75624606379e-05,1793192680181265152
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711.942524052,673,658,630,878,782,799.057475948,649,628,650,0.447895759886,-0.00559074744565,0.0596540788099,0.999999838958,-0.000114854016857,-0.000553737046001,-4.76194624447e-05,1793192680197931520
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,711.343320781,673,658,630,878,782,799.656679219,649,628,650,0.447897082607,-0.00559238168806,0.0596544228884,0.999999839386,-0.000115905642042,-0.000552760022501,-4.74287535689e-05,1793192680214597888
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,711,673,658,630,878,782,800,649.246725931,628,650,0.447897766272,-0.00559275454501,0.0596545317617,0.999999839587,-0.000115990534074,-0.000552387489162,-4.73213978143e-05,1793192680231264512
+247,4.116666667,POSE1_TO_POSE2_PRESS,764,743,711,673,658,630,878,782,800,649.824487253,628,650,0.447897592509,-0.0055914349849,0.0596543250573,0.999999839485,-0.000114778347805,-0.000552826007996,-4.73258780006e-05,1793192680247931392
+248,4.133333333,HOLD_POSE2,764,743,711,672,658,630,877,782,800,649,628,651,0.447896031332,-0.005591198887,0.0596532397127,0.999999838302,-0.000112378735425,-0.00055548439219,-4.69546896304e-05,1793192680282092544
+249,4.150000000,HOLD_POSE2,764,743,711.579892354,672.579892354,657.420107646,630,877.579892354,782.579892354,799.420107646,649,628,650.420107646,0.4478968036,-0.00559060746194,0.0596537284498,0.999999838726,-0.00011315168172,-0.000554562632688,-4.69470459929e-05,1793192680298758912
+250,4.166666667,HOLD_POSE2,764,743,711.837268359,673,657.162731641,630,878,782.837268359,799.162731641,649,628,650,0.447897471435,-0.00558981450227,0.059654042381,0.999999839054,-0.000113338477362,-0.000553918143003,-4.71337456795e-05,1793192680315425280
+251,4.183333333,HOLD_POSE2,764,743,711.246680833,673,657.753319167,630,878,782.246680833,799.753319167,649,628,650,0.447897864694,-0.00558849166535,0.0596538967107,0.999999839126,-0.000111984159198,-0.00055400265408,-4.78314150462e-05,1793192680332091648
+252,4.200000000,HOLD_POSE2,764,743,711,673,657.6627642,630,878,782,800,649,628,650,0.44789770501,-0.00558844517141,0.0596538510279,0.999999838865,-0.000112319773451,-0.000554394096177,-4.79655740853e-05,1793192680348758528
+253,4.216666667,HOLD_POSE2,764,743,711,673,657.083632565,630,878,782,800,649,628,650,0.447897148706,-0.00558931418546,0.0596538770653,0.999999838364,-0.000113867559241,-0.000555005696792,-4.76955328148e-05,1793192680365425152
+254,4.233333333,HOLD_POSE2,764,743,711.49076276,673,657.49076276,630,877.50923724,782,800,649,628,650.49076276,0.447897284708,-0.00558961309068,0.0596539670881,0.99999983873,-0.000112737302861,-0.000554606213697,-4.73518665298e-05,1793192680382092032
+255,4.250000000,HOLD_POSE2,763.933956555,743,711.933956555,672.933956555,658,630,877,782,800,649,628.066043445,650.933956555,0.447897681022,-0.00558977210027,0.0596541083809,0.999999839256,-0.000111320375506,-0.000553972517495,-4.70091484723e-05,1793192680398758656
+256,4.266666667,HOLD_POSE2,763.345345093,743,711.345345093,672.345345093,658,630,877,782,800,649,628.654654907,650.345345093,0.447899212468,-0.00558958557078,0.0596545698954,0.999999839908,-0.000111211707307,-0.000552835920571,-4.67722598608e-05,1793192680415425792
+257,4.283333333,HOLD_POSE2,763.239345091,742.760654909,711,672.239345091,658,630,877.239345091,781.760654909,799.760654909,649,628.760654909,650,0.447900298853,-0.00558973893594,0.0596550043634,0.999999840352,-0.000111419023777,-0.000552001598679,-4.66383832392e-05,1793192680432092672
+258,4.300000000,HOLD_POSE2,763.81846851,742.18153149,711,672.81846851,658,630,877.81846851,781.18153149,799.18153149,649,628.18153149,650,0.447900753424,-0.00559037482129,0.0596554004356,0.999999840502,-0.000112074917423,-0.000551596391619,-4.66507441967e-05,1793192680448759040
+259,4.316666667,HOLD_POSE2,764,742.395484699,711,673,658,629.604515301,877.604515301,781.395484699,799,649,628,650,0.447899242004,-0.00558919417254,0.0596542356218,0.999999839723,-0.000110785209857,-0.00055323923959,-4.69738239948e-05,1793192680465425664
+260,4.333333333,HOLD_POSE2,764,742.971538825,711,673,658,629.028461175,877.028461175,781.971538825,799,649,628,650,0.447896832959,-0.00558718413519,0.0596523581425,0.999999838511,-0.000108607184548,-0.000555817183428,-4.74387710345e-05,1793192680482092032
+261,4.350000000,HOLD_POSE2,763.454002064,743,711,672.454002064,658,629.545997936,877.545997936,782,799,649,628,650,0.447898917988,-0.00558852250031,0.0596534855911,0.999999839592,-0.000109225182475,-0.000553787770631,-4.69530075685e-05,1793192680498758656
+262,4.366666667,HOLD_POSE2,763,743,711.123897064,672,658,630,877.876102936,782,799,649.123897064,628,650,0.447900359769,-0.00558958632369,0.0596543516114,0.999999840237,-0.00011022722652,-0.000552455882586,-4.65770433807e-05,1793192680515425280
+263,4.383333333,HOLD_POSE2,763,743,711.71508337,672,658,630,877.28491663,782,799,649.71508337,628,650,0.447898494511,-0.00558895830482,0.059653642579,0.999999838796,-0.000112129635362,-0.000554657947371,-4.68015637603e-05,1793192680532091904
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630,878,782,800,649,629,650,0.447900452565,-0.00558898545464,0.0596561858921,0.999999840777,-0.0001112117261,-0.000551260719729,-4.6798856712e-05,1793192680569250304
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.417438412,742.417438412,711,673,658,630,878,782,800,649,628.417438412,650,0.447899802996,-0.00558861696454,0.0596549904236,0.999999840284,-0.000109912905629,-0.000552421362042,-4.67133496084e-05,1793192680585916928
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.166268516,742.166268516,711,673,657.833731484,630,877.833731484,782,799.833731484,649.166268516,628,650,0.447899476669,-0.00558866600789,0.0596541151247,0.999999839877,-0.000109815310818,-0.000553178534885,-4.66857663268e-05,1793192680602583808
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.752871038,742.752871038,711,673,657.247128962,630,877.247128962,782,799.247128962,649.752871038,628,650,0.447899967513,-0.00558977059376,0.0596540492287,0.99999983969,-0.000112754466192,-0.000552915719686,-4.68046169566e-05,1793192680619250688
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,657.335467297,630,877.335467297,782,799.335467297,650,628.335467297,650.335467297,0.447899223637,-0.00559054202177,0.059653142041,0.999999838773,-0.0001143761193,-0.000554233724836,-4.68785985496e-05,1793192680635917312
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,657.915147054,630,877.915147054,782,799.915147054,650,628.915147054,650.915147054,0.447897580913,-0.00559107091847,0.0596516224125,0.999999837323,-0.000115038660949,-0.000556702530778,-4.6919916511e-05,1793192680652583680
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711.491960517,673,657.508039483,630,877.508039483,782,800,650,628.508039483,650.508039483,0.447899111216,-0.00559069648562,0.0596533177464,0.99999983862,-0.000114911193471,-0.000554390713788,-4.69757070881e-05,1793192680669250048
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.932033348,743,712,673,657,630,877.067966652,782,800,649.932033348,628,650,0.447900118596,-0.00559013080267,0.0596548675349,0.99999983984,-0.000114441130461,-0.00055228041267,-4.70011823978e-05,1793192680685916928
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.358376947,743,712,673,657,630,877.641623053,782,800,649.358376947,628,650,0.447893186964,-0.00558929468803,0.0596512325952,0.999999837032,-0.000112430005311,-0.000557768833402,-4.67826391692e-05,1793192680702583552
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.223079072,743,711.776920928,673,657.223079072,630,877.776920928,782,799.776920928,649,628.223079072,650,0.447880254686,-0.00558810671642,0.0596447619098,0.999999831624,-0.000110512616174,-0.000567740217614,-4.70139391982e-05,1793192680719250688
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.817519101,743,711.182480899,673,657.817519101,630,877.182480899,782,799.182480899,649,628.817519101,650,0.4478573331,-0.00558633300665,0.059633570543,0.99999982172,-0.000108751270073,-0.000585174415132,-4.79940957848e-05,1793192680735917568
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,657.600973961,630,877.399026039,782,799.399026039,649.399026039,628.600973961,650,0.44781415892,-0.00558514777546,0.0596142099844,0.999999803851,-0.000109797529932,-0.000614663302892,-4.93047746299e-05,1793192680752584192
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,657.025195799,630,877.974804201,782,799.974804201,649.974804201,628.025195799,650,0.447762013671,-0.00558422321592,0.0595912308089,0.99999978151,-0.000112087443499,-0.000649491923553,-5.07618612796e-05,1793192680769250560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.449150512,743,711,673,657.550849488,630,878,782,800,649.449150512,628,650,0.447696060785,-0.00558240561949,0.0595735846826,0.999999770835,-0.000110338985662,-0.000665926202923,-5.19320022863e-05,1793192680785917184
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,630,877.873467403,782,800,649.126532597,628,650,0.447624518823,-0.00557969212274,0.0595579265311,0.999999760492,-0.000107468023987,-0.000681673208369,-5.27950186644e-05,1793192680802583808
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,630,877.299109226,782,800,649.700890774,628,650,0.447535432233,-0.00557395248284,0.0595484404879,0.999999749908,-0.000101278345194,-0.000697966989478,-5.26175306716e-05,1793192680819250432
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.284648882,743,711,673,657.715351118,630,877,782,800,650,628,650.284648882,0.447443063854,-0.00557072472232,0.0595450813034,0.999999746956,-9.87888303767e-05,-0.000702594545467,-5.18567731902e-05,1793192680835917056
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.878621727,743,711,673,657.121378273,630,877,782,800,650,628,650.878621727,0.447347129207,-0.00557022658638,0.0595483800913,0.999999752499,-0.00010032023246,-0.000694544576727,-5.04621849236e-05,1793192680852583680
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.541249278,657.458750722,630,877,782,799.541249278,649.541249278,628,650.541249278,0.447223188449,-0.00556615755943,0.0595510790869,0.999999755456,-9.65469401771e-05,-0.000690894396099,-4.93085592848e-05,1793192680869250560
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.964737385,743,711,672.035262615,658,630,877,782,799.035262615,649,628,650.035262615,0.447089667024,-0.0055610968731,0.0595534240819,0.999999757422,-9.13931792339e-05,-0.00068882345154,-4.82177741222e-05,1793192680885917440
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.389168218,743,711,672.610831782,658,630,877,782,799.610831782,649,628,650.610831782,0.446919559591,-0.00555489415231,0.0595527053157,0.999999754629,-8.59629452241e-05,-0.000693635643528,-4.71415928669e-05,1793192680902584064
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.809015286,658,630,877,782,800,649,628,651,0.446738240853,-0.00554835379555,0.0595519623896,0.999999752374,-8.00190501621e-05,-0.000697676533567,-4.57871112662e-05,1793192680919250432
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.219292436,658,630,877,782,800,649,628,651,0.44653351516,-0.00554110852274,0.0595511690224,0.999999751299,-7.30027335626e-05,-0.000700107097815,-4.38515939744e-05,1793192680935916800
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.363594318,743,711.363594318,672.363594318,658,630.363594318,877.363594318,782,800,649,628,651,0.446304227033,-0.00553385099816,0.0595531998198,0.999999750983,-6.69155199554e-05,-0.000701313899475,-4.14153412876e-05,1793192680952583680
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.942434201,743,711.942434201,672.942434201,658,630.942434201,877.942434201,782,800,649,628,651,0.446060398081,-0.00552658621993,0.0595569025049,0.999999751109,-6.1378328847e-05,-0.000701796241552,-3.86826561887e-05,1793192680969250304
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.094217777,711,672.905782223,658,630.094217777,877.905782223,782,799.905782223,649,628,650,0.44549900999,-0.00550505514623,0.0595656349038,0.999999760574,-3.51556063609e-05,-0.000690294390258,-3.3325754748e-05,1793192681002584064
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.668579913,711,672.331420087,658,630.668579913,877.331420087,782,799.331420087,649,628,650,0.445167192708,-0.00549289352579,0.0595645422245,0.999999759963,-2.11750414008e-05,-0.000691859320213,-3.09168283501e-05,1793192681019250688
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.071568367,711.928431633,671,660.071568367,633,875,783.071568367,799.071568367,649,628.071568367,651,0.403269785875,-0.00534962481087,0.0597782866341,0.99999990892,0.00025029689462,-0.000344800014588,2.50004709876e-05,1793192682035916800
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.783434471,632.216565529,876,783.216565529,799.216565529,649,628.783434471,651,0.401062085243,-0.00539335711277,0.0598332086724,0.999999943965,0.000189183036852,-0.00027599345715,1.04029830697e-05,1793192682285916672
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.516166723,711.516166723,671,660,633,876,784,799.483833277,649.516166723,629,651,0.400960683825,-0.00539505280758,0.0598391757187,0.999999946159,0.000190260596047,-0.000267032949224,1.32805876668e-05,1793192682535917312
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,633,876,784,799,649,629,651,0.400958672236,-0.00539620579761,0.0598392140871,0.999999946508,0.000188553987637,-0.000266929342376,1.33988055416e-05,1793192682635917312
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.116499132,671.116499132,660.116499132,633,876,783.116499132,799.883500868,649.883500868,629,651,0.400960277681,-0.00539522467597,0.0598404617712,0.99999994645,0.000191737706445,-0.000264855297644,1.37369722623e-05,1793192682669250816
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0090db6dcd1b34936a8802f8355b2f546283e82d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
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+367,6.116666667,pose2_to_pose3_retreat,0.575814690891,5.45627592049e-05,1.05002922733,0.546385420689,0.00872729045283,1.04969851044
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+371,6.183333333,pose2_to_pose3_retreat,0.575730478338,5.44117742871e-05,1.05002931831,0.546301210757,0.00872714834019,1.04969860102
+372,6.200000000,pose2_to_pose3_retreat,0.575723002526,5.45281042252e-05,1.05002913239,0.546293733178,0.00872725870675,1.04969841584
+373,6.216666667,pose2_to_pose3_retreat,0.575718292044,5.45620417227e-05,1.05002908082,0.5462890221,0.00872729091568,1.04969837203
+374,6.233333333,pose2_to_pose3_retreat,0.575715892421,5.45533146909e-05,1.05002909352,0.546286622521,0.00872728264158,1.04969839267
+375,6.250000000,pose2_to_pose3_retreat,0.575714295462,5.4552297827e-05,1.05002910482,0.546285025687,0.00872728215215,1.04969840667
+376,6.266666667,pose2_to_pose3_retreat,0.575713431002,5.4559562434e-05,1.05002911561,0.546284161452,0.00872729007093,1.04969841468
+377,6.283333333,pose2_to_pose3_retreat,0.575713313026,5.45605538601e-05,1.05002911709,0.546284043506,0.00872729115163,1.04969841577
+378,6.300000000,pose2_to_pose3_retreat,0.575713207674,5.45614392019e-05,1.0500291184,0.546283938181,0.00872729211669,1.04969841675
+379,6.316666667,pose2_to_pose3_retreat,0.575713174074,5.45617215667e-05,1.05002911882,0.54628390459,0.00872729242449,1.04969841706
+380,6.333333333,pose2_to_pose3_retreat,0.575713038184,5.45628635404e-05,1.05002912052,0.546283768735,0.00872729366929,1.04969841832
+381,6.350000000,pose2_to_pose3_retreat,0.575712917502,5.45638777047e-05,1.05002912202,0.546283648084,0.00872729477478,1.04969841943
+382,6.366666667,pose2_to_pose3_retreat,0.575712574876,5.4566757013e-05,1.0500291263,0.546283305547,0.00872729791337,1.04969842261
+383,6.383333333,pose2_to_pose3_retreat,0.575712146401,5.45703577585e-05,1.05002913165,0.546282877184,0.00872730183836,1.04969842657
+384,6.400000000,pose2_to_pose3_retreat,0.575711997269,5.45716110099e-05,1.05002913351,0.54628272809,0.00872730320447,1.04969842796
+385,6.416666667,pose2_to_pose3_retreat,0.575711838141,5.45729482648e-05,1.0500291355,0.546282569003,0.00872730466214,1.04969842943
+386,6.433333333,pose2_to_pose3_retreat,0.575711571418,5.45751897096e-05,1.05002913883,0.546282302349,0.00872730710543,1.0496984319
+387,6.450000000,pose2_to_pose3_retreat,0.575711563259,5.45752582764e-05,1.05002913893,0.546282294192,0.00872730718017,1.04969843197
+388,6.466666667,pose2_to_pose3_retreat,0.57571141667,5.45803713846e-05,1.05002914326,0.546282147536,0.00872731206848,1.0496984364
+389,6.483333333,pose2_to_pose3_retreat,0.575711315964,5.45879829477e-05,1.05002914887,0.546282046672,0.00872731917105,1.04969844268
+390,6.500000000,pose2_to_pose3_retreat,0.575711202567,5.45965537354e-05,1.05002915518,0.546281933098,0.0087273271687,1.04969844975
+391,6.516666667,pose2_to_pose3_retreat,0.575711108729,5.46036462019e-05,1.05002916041,0.546281839113,0.00872733378688,1.0496984556
+392,6.533333333,pose2_to_pose3_retreat,0.575711002866,5.46116474754e-05,1.05002916631,0.546281733085,0.0087273412531,1.0496984622
+393,6.550000000,pose2_to_pose3_retreat,0.575710839961,5.46239601984e-05,1.05002917539,0.546281569925,0.00872735274246,1.04969847236
+394,6.566666667,pose2_to_pose3_retreat,0.575710572864,5.46441478513e-05,1.05002919027,0.546281302411,0.00872737158015,1.04969848901
+395,6.583333333,pose2_to_pose3_retreat,0.575710140699,5.46768116919e-05,1.05002921434,0.54628086957,0.00872740205973,1.04969851595
+396,6.600000000,pose2_to_pose3_retreat,0.575709953464,5.46909633174e-05,1.05002922478,0.546280682042,0.00872741526502,1.04969852763
+397,6.616666667,pose2_to_pose3_retreat,0.575709781883,5.46740124306e-05,1.0500292433,0.546280510571,0.00872739853713,1.04969854221
+398,6.633333333,pose2_to_pose3_retreat,0.575709556745,5.46447424653e-05,1.05002926971,0.546280285666,0.00872736981587,1.04969856224
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+400,6.666666667,pose2_to_pose3_retreat,0.575709283453,5.46221876483e-05,1.05002922751,0.546280012019,0.00872734585716,1.04969851487
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..483bac8f95b82eaf56a49bc60433e6c859078039
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e87bd638b9d1d2e0f2e1396905a699b354a9e6cf463ee4c16cd61cee6d6a19b
+size 24691673
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f577c0e3f1b1d9869450d27c72151a425cc08ba
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/franka_data.csv
@@ -0,0 +1,390 @@
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+26,0.433333333,BASELINE,763.081443291,742.081443291,711,671,663.081443291,633,875,783.081443291,799,649.081443291,629,650.081443291,0.400928046606,-0.00545216212419,0.0499179126901,0.999999973841,-2.78189547303e-06,-0.000225922102017,-3.56196836652e-05,1793192684621176320
+27,0.450000000,BASELINE,763.671005598,742.671005598,711,671,663.671005598,633,875,783.671005598,799,649.671005598,629,650.671005598,0.400927932462,-0.00545230033019,0.0499183646058,0.999999973918,-3.33598377514e-06,-0.000225587586966,-3.55530586282e-05,1793192684637842688
+28,0.466666667,BASELINE,764,742.743882325,711.256117675,671,664,633,875,784,799.51223535,650,629,651,0.400928509417,-0.00545255281264,0.0499189415333,0.999999974107,-3.66681062325e-06,-0.000224752332553,-3.54820629284e-05,1793192684654509312
+29,0.483333333,BASELINE,764,742.164389166,711.835610834,671,664,633,875,784,800.671221669,650,629,651,0.400929958954,-0.0054529495811,0.0499196763012,0.999999974438,-3.71574638556e-06,-0.000223284842079,-3.54055488117e-05,1793192684671176192
+30,0.500000000,BASELINE,764,742,711.588686349,671,664,633,875.411313651,783.588686349,800.588686349,649.588686349,629,650.588686349,0.400932144191,-0.00545253725395,0.0499206337107,0.999999974988,-3.18353940584e-06,-0.00022080296442,-3.54828652766e-05,1793192684687842816
+31,0.516666667,BASELINE,764,742,711.014484595,671,664,633,875.985515405,783.014484595,800.014484595,649.014484595,629,650.014484595,0.400934620778,-0.00545180450939,0.0499216792904,0.999999975618,-2.42118874054e-06,-0.000217919369993,-3.56211016071e-05,1793192684704509440
+32,0.533333333,BASELINE,764,742,711,671,663.427431741,633,875.427431741,783,799.427431741,649,629,650,0.400932862402,-0.00545312060888,0.0499208319143,0.999999975277,-2.5986796562e-06,-0.000219512536518,-3.53953203267e-05,1793192684721176320
+33,0.550000000,BASELINE,764,742,711,671,663.157916925,633,875,783.157916925,799.157916925,649.157916925,629,650.157916925,0.400931175502,-0.00545393066588,0.0499199955778,0.999999974908,-2.78682963036e-06,-0.000221211108836,-3.52477660972e-05,1793192684737843200
+34,0.566666667,BASELINE,764,742,711,671,663.737822837,633,875,783.737822837,799.737822837,649.737822837,629,650.737822837,0.400929972461,-0.00545324678164,0.0499193196447,0.999999974533,-2.93847019825e-06,-0.000222881767639,-3.53344247681e-05,1793192684754509568
+35,0.583333333,BASELINE,764,742,711,671,664,633,875.31683385,784,800,650,629,650.68316615,0.400929892632,-0.00545252779485,0.0499189691432,0.999999974457,-1.34243455274e-06,-0.00022323805234,-3.53382407429e-05,1793192684771176192
+36,0.600000000,BASELINE,764,742,711,671,664,633,875.895106492,784,800,650,629,650.104893508,0.400930739634,-0.00545177984274,0.049918887175,0.999999974621,1.69571452136e-06,-0.000222509767579,-3.52736982033e-05,1793192684787842816
+37,0.616666667,BASELINE,764,742,711,671,664,633,876,784,799.529854349,649.529854349,629,650.470145651,0.400931090845,-0.00545217143377,0.0499193200812,0.99999997477,-2.89906159929e-07,-0.00022180914147,-3.55139415222e-05,1793192684804509440
+38,0.633333333,BASELINE,764.045615161,742,711,671.045615161,663.954384839,633,875.954384839,783.954384839,799.045615161,649.045615161,629,651,0.400931326656,-0.00545285538827,0.0499198191656,0.999999974894,-3.35177954164e-06,-0.000221180066934,-3.57715288272e-05,1793192684821176064
+39,0.650000000,BASELINE,764.634750083,742,711,671.634750083,663.365249917,633,875.365249917,783.365249917,799.634750083,649.634750083,629,651,0.400931496445,-0.00545401426827,0.0499197473874,0.999999974861,-5.97353721711e-06,-0.000221330526764,-3.54310637794e-05,1793192684837842944
+40,0.666666667,BASELINE,764.779759435,742,711,671.779759435,663.44048113,633,875.220240565,783.220240565,799.779759435,650,628.779759435,651,0.400931214977,-0.00545398514037,0.0499196431552,0.999999974797,-6.459236288e-06,-0.000221608508582,-3.54049028835e-05,1793192684854509568
+41,0.683333333,BASELINE,764.200214589,742,711,671.200214589,664.599570822,633,875.799785411,783.799785411,799.200214589,650,628.200214589,651,0.400930197323,-0.00545201787572,0.0499194859771,0.999999974687,-3.46013212028e-06,-0.000222094531974,-3.58915032562e-05,1793192684871176192
+42,0.700000000,BASELINE,764,742,711,671,664.622602326,633,875.622602326,784,799.377397674,649.622602326,628.377397674,651,0.400929572986,-0.00545152761775,0.0499186848348,0.999999974446,-1.83712343118e-06,-0.000223165063244,-3.60897889919e-05,1793192684887842816
+43,0.716666667,BASELINE,764,742,711,671,664.04601012,633,875.04601012,784,799.95398988,649.04601012,628.95398988,651,0.400929156245,-0.00545181693979,0.0499175438014,0.999999974137,-9.40432764793e-07,-0.000224544104016,-3.61358991596e-05,1793192684904509440
+44,0.733333333,BASELINE,764,742,711,671,663.473080132,633,875,783.473080132,799.473080132,649,628.473080132,651,0.400929808604,-0.00545175013129,0.0499177329878,0.999999974255,-8.24289407606e-07,-0.000224067428036,-3.58188064175e-05,1793192684921176064
+45,0.750000000,BASELINE,764,742,711,671,663.102851538,633,875.102851538,783.102851538,799.102851538,649.102851538,628.102851538,650.897148462,0.40093077801,-0.00545184278295,0.0499182037104,0.999999974475,-1.16440977193e-06,-0.000223133168182,-3.54985237622e-05,1793192684937842688
+46,0.766666667,BASELINE,764,742,711,671,663.694559557,633,875.694559557,783.694559557,799.694559557,649.694559557,628.694559557,650.305440443,0.40093281371,-0.00545284013827,0.0499194643118,0.999999974997,-3.35145099462e-06,-0.000220788860445,-3.53127790772e-05,1793192684954509312
+47,0.783333333,BASELINE,764,742.280341708,711,671,664,633,875.719658292,783.719658292,799.719658292,649.719658292,629,650,0.400933186519,-0.00545241207873,0.0499200896077,0.999999975158,-3.0159245387e-06,-0.000220049350838,-3.53895801558e-05,1793192684971175936
+48,0.800000000,BASELINE,764,742.859801175,711,671,664,633,875.140198825,783.140198825,799.140198825,649.140198825,629,650,0.400931785063,-0.00545046313646,0.0499200370482,0.999999974936,1.11197795332e-08,-0.00022102212137,-3.57465111322e-05,1793192684987842816
+49,0.816666667,BASELINE,764,742.56378618,711,671,663.56378618,633,875,783,799,649.43621382,629,650.43621382,0.400929282742,-0.00545148032514,0.0499181921633,0.999999974195,-1.10104742466e-06,-0.000224371896397,-3.55925507954e-05,1793192685004509440
+50,0.833333333,BASELINE,764,742,711,671,663,633,875,783.011644232,799.011644232,650,629,651,0.400926542636,-0.00545339593582,0.0499158534893,0.999999973305,-3.47576665753e-06,-0.000228325947948,-3.52850359326e-05,1793192685021176064
+51,0.850000000,BASELINE,764,742,711,671,663,633,875,783.586603286,799.586603286,650,629,651,0.400929297115,-0.00545297599773,0.0499173011667,0.999999974098,-3.01751888611e-06,-0.000224810964386,-3.54374253728e-05,1793192685037842688
+52,0.866666667,BASELINE,764,742,711,671.166069227,663.166069227,633,875,783.833930773,800,649.833930773,629,651,0.400931025098,-0.00545317135594,0.049918234989,0.999999974593,-3.26901315114e-06,-0.000222585820856,-3.54846357764e-05,1793192685054509312
+53,0.883333333,BASELINE,764,742,711,671.7570671,663.7570671,633,875,783.2429329,800,649.2429329,629,651,0.400930126538,-0.00545494109987,0.0499178539874,0.999999974352,-5.33655565517e-06,-0.000223661048047,-3.52627199376e-05,1793192685071175936
+54,0.900000000,BASELINE,764,742,711,671.65961287,664,633,875.34038713,783.34038713,799.65961287,649.34038713,628.65961287,651,0.400930453133,-0.00545605133753,0.0499180090419,0.999999974415,-7.04392355081e-06,-0.000223347259394,-3.51716227458e-05,1793192685087842816
+55,0.916666667,BASELINE,764,742,711,671.081651634,664,633,875.918348366,783.918348366,799.081651634,649.918348366,628.081651634,651,0.400931634827,-0.00545670127094,0.0499185382381,0.999999974689,-8.49990653155e-06,-0.000222064003382,-3.51718307868e-05,1793192685104509440
+56,0.933333333,BASELINE,764,742,711,671.493436149,664,633,876,784,799,649.506563851,628.493436149,650.506563851,0.400932215543,-0.00545511161654,0.0499190506109,0.999999974845,-6.17794848599e-06,-0.000221422223849,-3.52759315151e-05,1793192685121176064
+57,0.950000000,BASELINE,764,742,711,671.930227632,664,633,876,784,799,649,629,650.069772368,0.400932751222,-0.00545331179282,0.0499195471633,0.999999974985,-3.5441153752e-06,-0.00022082639065,-3.54021212385e-05,1793192685137842688
+58,0.966666667,BASELINE,764,742,711,671.34107957,664,633,876,784,799,649,629,650.65892043,0.400933687633,-0.00545269020028,0.0499199465534,0.999999975209,-3.21536783893e-06,-0.000219786994564,-3.55655065693e-05,1793192685154509312
+59,0.983333333,BASELINE,764.243835225,742,711,671,664,633,876,783.756164775,799,649.243835225,629,651,0.40093350437,-0.00545271343021,0.0499199898785,0.999999975199,-3.4768331113e-06,-0.000219830287893,-3.55733786751e-05,1793192685171175936
+60,1.000000000,BASELINE,764.822929608,742,711,671,664,633,876,783.177070392,799,649.822929608,629,651,0.400931781623,-0.00545362325321,0.049919543635,0.999999974864,-4.5498063928e-06,-0.000221362215632,-3.53674292251e-05,1793192685187842816
+61,1.016666667,BASELINE,764.599494311,742,711,671,664,633,875.599494311,783.400505689,799,649.599494311,629,651,0.400930823003,-0.0054540427108,0.0499188017798,0.999999974638,-4.8629945559e-06,-0.000222373268789,-3.53643288648e-05,1793192685204509440
+62,1.033333333,BASELINE,764.022586995,742,711,671,664,633,875.022586995,783.977413005,799,649.022586995,629,651,0.400930200941,-0.00545424618824,0.0499179297233,0.999999974461,-4.84153739502e-06,-0.000223154904079,-3.54505728392e-05,1793192685221176064
+63,1.050000000,BASELINE,764,742.551161547,711,671,664.551161547,633,875,784,799,649.551161547,628.448838453,651,0.400931975817,-0.00545419851219,0.0499192328664,0.999999974934,-5.12926453312e-06,-0.000221045143625,-3.52798032326e-05,1793192685237842944
+64,1.066666667,BASELINE,764.128602989,742.871397011,711,671,664.871397011,633,875,783.871397011,799.128602989,650,628.128602989,650.871397011,0.40093319894,-0.00545383216026,0.0499200853568,0.999999975193,-4.96213985422e-06,-0.000219890942829,-3.51873744645e-05,1793192685254509312
+65,1.083333333,BASELINE,764.719790728,742.280209272,711,671,664.280209272,633,875,783.280209272,799.719790728,650,628.719790728,650.280209272,0.400932086089,-0.00545235634272,0.0499189980362,0.999999974593,-3.11359750027e-06,-0.000222597673599,-3.54144074358e-05,1793192685271175936
+66,1.100000000,BASELINE,764.695976434,742,711,671,663.695976434,633,875,783,799.695976434,650,629,650.304023566,0.400931073912,-0.00545251623401,0.0499182740264,0.999999974321,-3.48281279964e-06,-0.000223799424211,-3.54888595973e-05,1793192685287842560
+67,1.116666667,BASELINE,764.118010388,742,711,671,663.118010388,633,875,783,799.118010388,650,629,650.881989612,0.400930152447,-0.00545414999185,0.0499178773804,0.999999974347,-5.85035365569e-06,-0.000223645102179,-3.54258277812e-05,1793192685304509184
+68,1.133333333,BASELINE,763.541916645,741.541916645,711,670.541916645,663.458083355,633,875,783,799.458083355,650,629,651,0.400930890023,-0.00545440208041,0.0499181988203,0.999999974504,-5.96875487811e-06,-0.000222932172008,-3.5462415837e-05,1793192685321176064
+69,1.150000000,BASELINE,763.033455619,741.066911239,711,670.033455619,663.966544381,633,875,783,799.966544381,649.966544381,628.966544381,651,0.400932023248,-0.00545420730488,0.0499186873913,0.999999974692,-5.45179724726e-06,-0.000222091891387,-3.55201101958e-05,1793192685337842432
+70,1.166666667,BASELINE,763.604949738,742.209899476,711,670.604949738,663.395050262,633,875,783,799.395050262,649.395050262,628.395050262,651,0.400932673852,-0.0054525270126,0.049918900834,0.999999974829,-3.99726291728e-06,-0.000221508461727,-3.55061894543e-05,1793192685354509312
+71,1.183333333,BASELINE,764,742.815180233,711,670.815180233,663.184819767,633,875,783.184819767,799.184819767,649.184819767,628.184819767,650.815180233,0.400932770223,-0.00545194765757,0.04991892458,0.999999974868,-3.62254894447e-06,-0.000221356319051,-3.53911542008e-05,1793192685371175936
+72,1.200000000,BASELINE,764,742.216556782,711,670.216556782,663.783443218,633,875,783.783443218,799.783443218,649.783443218,628.783443218,650.216556782,0.400931625691,-0.00545383325443,0.0499185236031,0.99999997469,-5.66550705059e-06,-0.000222169809681,-3.50497278049e-05,1793192685387842816
+73,1.216666667,BASELINE,764,742,711,670.366462001,663.633537999,633,875.366462001,783.633537999,799.633537999,649.633537999,629,650.366462001,0.400930708568,-0.0054536237907,0.0499178994037,0.999999974535,-4.93939107081e-06,-0.00022286812381,-3.51386669304e-05,1793192685404509440
+74,1.233333333,BASELINE,764,742,711,670.940635968,663.059364032,633,875.940635968,783.059364032,799.059364032,649.059364032,629,650.940635968,0.400929920341,-0.00545222683906,0.0499171486812,0.999999974391,-2.64375393206e-06,-0.00022350115544,-3.54715387839e-05,1793192685421176064
+75,1.250000000,BASELINE,764,742,711,671.525124677,663,633,876,783,799,649,629,650.474875323,0.400931173775,-0.00545352019224,0.0499179803459,0.99999997465,-4.84402388393e-06,-0.000222294618529,-3.55330328532e-05,1793192685437842688
+76,1.266666667,BASELINE,764,742,711,671.780065929,663.109967036,633,876,783.109967036,799,649.109967036,628.890032964,650.109967036,0.400931875823,-0.00545476926418,0.0499186209607,0.999999974783,-7.02221171981e-06,-0.000221629606146,-3.55566098292e-05,1793192685454509312
+77,1.283333333,BASELINE,764,742,711,670.617545091,663.691227455,633,876,783.691227455,799,649.691227455,628.308772545,650.691227455,0.400929205756,-0.00545449900045,0.0499176607594,0.999999974213,-6.88387023156e-06,-0.000224194563332,-3.55517985682e-05,1793192685471175936
+78,1.300000000,BASELINE,764,742,711,670.270761881,663.729238119,633,876,783.729238119,799.270761881,650,628,651,0.400928686834,-0.00545402654843,0.0499174423819,0.999999974083,-6.14997817597e-06,-0.000224782485289,-3.56357650234e-05,1793192685487842560
+79,1.316666667,BASELINE,764,742,711,670.848340441,663.151659559,633,876,783.151659559,799.848340441,650,628,651,0.400930605502,-0.00545332498463,0.0499180646101,0.999999974454,-4.74123172805e-06,-0.000223130108768,-3.58203308839e-05,1793192685504509184
+80,1.333333333,BASELINE,764,742,711,671,663,633,876,783,800,649.576582133,628.423417867,651,0.400931189563,-0.00545313428448,0.0499182744876,0.999999974589,-4.83051063097e-06,-0.00022251294793,-3.58674536444e-05,1793192685521176832
+81,1.350000000,BASELINE,764,742,711,671,663,633,876,783,800,649.002395255,628.997604745,651,0.400931298402,-0.00545312549064,0.0499183375369,0.999999974641,-5.45320054523e-06,-0.000222264402592,-3.58656362075e-05,1793192685537844224
+82,1.366666667,BASELINE,764,742,711,671,664.173557846,632.413221077,875.413221077,783,800,649.586778923,629,651,0.40093237958,-0.00545433187699,0.0499191493057,0.999999974937,-7.63773819976e-06,-0.000220905199633,-3.56218113685e-05,1793192685554510336
+83,1.383333333,BASELINE,764,742,711,671,664.826919274,632.173080726,875.173080726,783,800,650,629,651,0.40093297745,-0.00545474329818,0.0499196464853,0.999999975101,-8.30169216642e-06,-0.000220165010416,-3.54456169061e-05,1793192685571176704
+84,1.400000000,BASELINE,764,742,711,671,664.247508033,632.752491967,875.752491967,783,800,650,629,651,0.400932431127,-0.00545327648039,0.0499193977608,0.999999974962,-5.38051008783e-06,-0.000220888962348,-3.5430573871e-05,1793192685587843072
+85,1.416666667,BASELINE,764,742.329701012,711,671,664,633,876,783.329701012,800,650,629,651,0.400932724046,-0.00545274530953,0.0499195186513,0.99999997511,-3.63220134085e-06,-0.000220265427208,-3.53676626404e-05,1793192685604509696
+86,1.433333333,BASELINE,764,742.905267793,711,671,664,633,876,783.905267793,800,650,629,651,0.400933642806,-0.00545291187258,0.0499199151724,0.999999975473,-2.75853189448e-06,-0.000218637039343,-3.52690549757e-05,1793192685621176320
+87,1.450000000,BASELINE,764,742.519781995,711,671,664,633,875.519781995,784,799.519781995,650,629,651,0.400931361779,-0.00545368024948,0.0499186790014,0.999999974851,-4.66498101772e-06,-0.000221413109048,-3.54019677748e-05,1793192685637842944
+88,1.466666667,BASELINE,764,742,711,671,664,633,875,783.943405495,799,650,629,651,0.400928773641,-0.00545434001152,0.0499172619899,0.999999974101,-6.74515591013e-06,-0.000224694492651,-3.55721997619e-05,1793192685654509568
+89,1.483333333,BASELINE,764,742,711,671,664,633,875,783.35241414,799,650,629,651,0.400929238279,-0.00545285459518,0.0499171747384,0.999999974138,-5.29378939407e-06,-0.000224553557104,-3.56641142801e-05,1793192685671176192
+90,1.500000000,BASELINE,764,742.232890779,711,671,663.767109221,633,875.232890779,783.232890779,799,650,629,650.767109221,0.400930518532,-0.00545186455275,0.0499180355048,0.999999974456,-4.06370192891e-06,-0.000223155405135,-3.56843459948e-05,1793192685687842816
+91,1.516666667,BASELINE,764,742.809795932,711,671,663.190204068,633,875.809795932,783.809795932,799,650,629,650.190204068,0.400933003569,-0.00545160625151,0.0499202966348,0.999999975183,-3.16047671447e-06,-0.000219900157232,-3.55986915216e-05,1793192685704509952
+92,1.533333333,BASELINE,764,742.613363991,711,671,663.773272018,633,876,784,799,650,629,650.386636009,0.400931086131,-0.00545276363294,0.0499190653136,0.999999974746,-2.99949894728e-06,-0.000221932976093,-3.52844346915e-05,1793192685721176576
+93,1.550000000,BASELINE,764,742.036555871,711,671,664.926888257,633,876,784,799,650,629,650.963444129,0.400927003277,-0.00545461733685,0.0499161161835,0.999999973721,-3.20360546842e-06,-0.000226566801272,-3.48577367157e-05,1793192685737842688
+94,1.566666667,BASELINE,764,742,711,671,664.450297258,633,876,783.450297258,799.549702742,650,629,651,0.4009280754,-0.00545427407612,0.0499164413692,0.999999973875,-2.27444799577e-06,-0.000225898788906,-3.48546179829e-05,1793192685754509312
+95,1.583333333,BASELINE,764,742,711,671,664,633,876,783.134902148,799.865097852,649.865097852,629,651,0.40092920957,-0.00545378973076,0.0499168828993,0.999999974067,-1.75390514447e-06,-0.000225025779567,-3.50046855669e-05,1793192685771176192
+96,1.600000000,BASELINE,764,742,711,671,664,633,876,783.71450213,799.28549787,649.28549787,629,651,0.400929398449,-0.00545333034524,0.0499169776096,0.999999974128,-2.83311577609e-06,-0.000224659595291,-3.5565243466e-05,1793192685787842816
+97,1.616666667,BASELINE,764.293501747,742,711,671.293501747,664,633,876,783.706498253,799,649.293501747,629,651,0.400930577445,-0.00545330566181,0.0499177445145,0.999999974478,-4.67978695021e-06,-0.000223014720313,-3.58734708208e-05,1793192685804509440
+98,1.633333333,BASELINE,764.871918529,742,711,671.871918529,664,633,876,783.128081471,799,649.871918529,629,651,0.400932717592,-0.00545370296283,0.0499191639483,0.9999999751,-7.27146570837e-06,-0.00022012856414,-3.59367498024e-05,1793192685821176064
+99,1.650000000,BASELINE,764.553117729,742,711,671.553117729,664,633,876,783,799.446882271,650,629,651,0.400933273078,-0.00545345596293,0.0499196308204,0.999999975278,-7.15807577907e-06,-0.000219357150291,-3.57210772862e-05,1793192685837842688
+100,1.666666667,BASELINE,764,742,711,671,664,633,875.978595229,783,800,649.978595229,629,651,0.400933294847,-0.00545305247434,0.0499197689048,0.999999975307,-6.26397563545e-06,-0.000219297893201,-3.54345463843e-05,1793192685854509312
+101,1.683333333,BASELINE,764,742,711,671,664,633,875.389734166,783,800,649.389734166,629,651,0.400931115758,-0.00545335839242,0.0499183729142,0.999999974681,-5.0689255317e-06,-0.000222173251836,-3.53728053206e-05,1793192685871175936
+102,1.700000000,BASELINE,764,742,711,671,664,633,875.196634853,783,799.803365147,649.196634853,629,651,0.400930752841,-0.00545378125184,0.0499181413445,0.999999974575,-4.48902352417e-06,-0.000222670768678,-3.53248318778e-05,1793192685887842816
+103,1.716666667,BASELINE,764,742,711,671,664,633,875.778126335,783,799.221873665,649.778126335,629,651,0.400933944563,-0.00545443299054,0.0499201887968,0.999999975489,-5.11309856751e-06,-0.000218514338213,-3.53038046327e-05,1793192685904509696
+104,1.733333333,BASELINE,764.354657429,742,711,671.354657429,664,633,876,783.354657429,799.354657429,649.645342571,628.645342571,650.645342571,0.400933256188,-0.00545410741713,0.0499194353051,0.999999975211,-4.54194457061e-06,-0.000219802307771,-3.52872018176e-05,1793192685921176064
+105,1.750000000,BASELINE,764.928128164,742,711,671.928128164,664,633,876,783.928128164,799.928128164,649.071871836,628.071871836,650.071871836,0.400930173905,-0.00545317887067,0.0499169537128,0.999999974184,-3.23336912297e-06,-0.00022444931319,-3.52733287446e-05,1793192685937842688
+106,1.766666667,BASELINE,765,742.503734312,711,671.496265688,664,633,876,783.496265688,800,649.503734312,628,650.503734312,0.400930968873,-0.00545448499342,0.0499176952318,0.999999974417,-5.71164237866e-06,-0.000223363528419,-3.52566463864e-05,1793192685954509312
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783,799,650,629,651,0.400930266852,-0.00545413799049,0.0499173336163,0.999999974491,-5.79978496232e-06,-0.000223040092783,-3.51700742481e-05,1793192685997003776
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.577298934,742,711,671.577298934,664,633,875,783.577298934,799.577298934,650,629,651,0.400929027887,-0.00545341917269,0.0499164807644,0.999999974108,-3.7523215772e-06,-0.000224754676526,-3.5422219829e-05,1793192686013670400
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.845652836,742,711,671.845652836,664,633,875.154347164,784,799.845652836,650,629,651,0.400928500194,-0.00545261204901,0.0499160467408,0.999999973907,-2.4918735784e-06,-0.000225622822032,-3.5680986204e-05,1793192686030337024
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.269289955,742,711,671.269289955,664,633,875.730710045,784,799.269289955,650,629,651,0.400929917259,-0.00545156347945,0.0499167578763,0.99999997422,-3.3832810705e-06,-0.000224176638128,-3.59578551984e-05,1793192686047003648
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.313035029,742,711,671,664,633,876,783.686964971,799.313035029,650,628.686964971,651,0.40093153836,-0.00545122083842,0.0499177091747,0.99999997456,-4.0286471115e-06,-0.00022262178366,-3.60893999576e-05,1793192686063670016
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.900588489,742,711,671,664,633,876,783.099411511,799.900588489,650,628.099411511,651,0.400933338393,-0.00545149726682,0.0499188710858,0.999999974924,-4.45824519214e-06,-0.000220971629806,-3.60935015157e-05,1793192686080336640
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.518553712,742,711,671,664.481446288,633,875.518553712,783,799.518553712,649.518553712,628.481446288,651,0.400941593856,-0.00545422006356,0.0499214386103,0.999999976291,-5.8205289264e-06,-0.000214807740514,-3.52397498234e-05,1793192686097003264
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664.939371581,633,875.060628419,783,799,649.060628419,629,651,0.400952213798,-0.00545685491024,0.0499244598368,0.99999997794,-6.85580250883e-06,-0.000207100010739,-3.43835450816e-05,1793192686113669888
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.362844949,633,875.637155051,783,799,649.637155051,629,651,0.400971766776,-0.00545450201535,0.0499289058814,0.999999980549,-3.49221858135e-06,-0.000194077401101,-3.4993057261e-05,1793192686130336512
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.213046369,742,711.213046369,671,663.786953631,633,876,783,799,649.786953631,629,651,0.400997070976,-0.00545413296924,0.0499337420204,0.999999983456,-3.2405164557e-06,-0.000178399052488,-3.53728723043e-05,1793192686147003392
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.787858823,742,711.787858823,671,663.212141177,633,876,783,799,649.212141177,629,651,0.401032141112,-0.00545713262297,0.0499392405639,0.999999986825,-8.27298500148e-06,-0.000158211093978,-3.53626471514e-05,1793192686163670016
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.627626327,742,711.627626327,671,663.372373673,632.627626327,876,783,799,649,629,651,0.401077894232,-0.00545852663128,0.049945043417,0.999999990295,-9.27257236076e-06,-0.000134391310108,-3.55479164397e-05,1793192686180336896
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.037436096,742,711.037436096,671,663.962563904,632.037436096,876,783,799,649,629,651,0.40112989627,-0.00545898143234,0.0499510242737,0.999999993446,-7.91316339942e-06,-0.000108447121397,-3.58475383909e-05,1793192686197003520
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632.541862217,875.458137783,783.541862217,799.541862217,649.541862217,629,651,0.401191698082,-0.0054603672853,0.0499538905448,0.999999994411,-9.39514467607e-06,-9.90235999097e-05,-3.58380167127e-05,1793192686213670144
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783.880400642,799.880400642,650,629,651,0.401257580155,-0.00546237659968,0.0499562165778,0.999999995055,-1.104278338e-05,-9.22019574256e-05,-3.5587238302e-05,1793192686230336768
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783.30579627,799.30579627,650,629,651,0.401336460228,-0.00546651792322,0.0499572898265,0.999999995183,-1.258854064e-05,-9.10222232971e-05,-3.4498274067e-05,1793192686247003136
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.275037049,742,711,671,664,633,875.275037049,783.275037049,799.550074097,650,629,651,0.401424382949,-0.00547123454716,0.0499574940532,0.999999995151,-1.43381835269e-05,-9.1591401598e-05,-3.32087310649e-05,1793192686263670016
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.862956385,742,711,671,664,633,875.862956385,783.862956385,800.72591277,650,629,651,0.401522592585,-0.00547660563288,0.0499567096799,0.999999994933,-1.63197667151e-05,-9.41501436484e-05,-3.16910096195e-05,1793192686280336640
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,742,711,671.444488965,664,633,876,784,800.11102207,650,629,650.555511035,0.401650009614,-0.00548070571988,0.0499562744108,0.999999994926,-1.76636608281e-05,-9.4223354848e-05,-3.09433782067e-05,1793192686297003008
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,742,711,672,664,632.976045328,876,783.976045328,799,650,628.976045328,650.023954672,0.401787465108,-0.00548451727322,0.049956016893,0.999999994986,-1.89432888634e-05,-9.35203421485e-05,-3.03846537021e-05,1793192686313669888
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,742,711,672,664,632.399477332,876,783.399477332,799,650,628.399477332,650.600522668,0.401951701199,-0.00549058467065,0.0499574120738,0.999999995053,-2.32117400873e-05,-9.23387109985e-05,-2.87840845439e-05,1793192686330336768
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.823306506,742,711,671.823306506,664,632.176693494,876,783,799,650,628,651,0.402123952027,-0.00549738568216,0.0499568287917,0.99999999481,-2.81310343742e-05,-9.40247466746e-05,-2.73429857287e-05,1793192686347003392
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.248031689,742,711,671.248031689,664,632.751968311,876,783,799,650,628,651,0.402314282299,-0.00550584156346,0.0499517825363,0.999999993839,-3.45184856494e-05,-0.000102179602703,-2.62616168469e-05,1793192686363670016
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875.664456247,783,799,650,628.335543753,651,0.402529120279,-0.00551475326194,0.0499503922417,0.999999993691,-3.92544371626e-05,-0.000102331987177,-2.46076855865e-05,1793192686380336640
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875.074589341,783,799,650,628.925410659,651,0.402762533733,-0.00552401044491,0.0499517729575,0.999999994185,-4.27386461092e-05,-9.6418952514e-05,-2.25197843728e-05,1793192686397003520
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875.506102771,783,799.506102771,650,628.493897229,651,0.403047513786,-0.00553617952842,0.0499573655439,0.99999999501,-4.94791360143e-05,-8.45888071006e-05,-1.94296160155e-05,1793192686413670144
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.08480993,741.91519007,711,671,664,633,875.91519007,783,799.91519007,650,628,650.91519007,0.403345913785,-0.00554842092106,0.0499641906538,0.99999999583,-5.58356558287e-05,-7.04334995017e-05,-1.61717776928e-05,1793192686430336768
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.659721505,741.340278495,711,671,664,633,875.340278495,783,799.340278495,650,628,650.340278495,0.403678729048,-0.00555864432506,0.0499746150001,0.999999997138,-5.7249347366e-05,-4.77912504726e-05,-1.27834168099e-05,1793192686447003392
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.765494156,741.234505844,711.234505844,671,664,633,875.234505844,783,799.234505844,650,628.234505844,650.234505844,0.404026713385,-0.00556805878403,0.0499832980373,0.999999997845,-5.80052249124e-05,-2.93097913026e-05,-9.32675585592e-06,1793192686463670016
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.190894374,741.809105626,711.809105626,671,664,633,875.809105626,783,799.809105626,650,628.809105626,650.809105626,0.404396696772,-0.00557630006354,0.0499894557265,0.99999999817,-5.78071025121e-05,-1.68625515799e-05,-5.77104239872e-06,1793192686480336640
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671,664,633,876,783,800,650,629,651,0.404792894359,-0.00557921757869,0.049994501659,0.999999998716,-5.01456702426e-05,-7.10000294471e-06,-1.49351819068e-06,1793192686497003264
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,671,664,633,876,783,800,650,629,651,0.405202133564,-0.00557948650809,0.0499989944896,0.999999999243,-3.87712234704e-05,1.32690508532e-06,3.14310848544e-06,1793192686513669888
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711.434586226,671.565413774,664,633,876,783,799.434586226,650,629,651,0.405622592135,-0.00557006536447,0.0499777703897,0.999999999024,-1.71439403027e-05,-4.04530627291e-05,4.62206601811e-06,1793192686530336768
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876,783,799,650,628.857192825,651,0.406053752352,-0.0055623508226,0.0499566126799,0.999999996766,2.94919448636e-06,-8.01351133535e-05,6.16282417233e-06,1793192686547003392
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876,783,799,650,628.281664268,651,0.406516582362,-0.00556046153369,0.049937391986,0.999999993753,1.77016411115e-05,-0.000110071371438,8.10398123242e-06,1793192686563670016
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876,783,799.300086436,650,628,651,0.407004014784,-0.00556091141872,0.0499259859907,0.999999991531,2.92404281756e-05,-0.000126323246791,1.11687213808e-05,1793192686580336640
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876,783,799.887801041,650,628,651,0.407515028287,-0.00556360336526,0.0499220702597,0.999999990792,3.76989744287e-05,-0.00012945885836,1.53103986269e-05,1793192686597003264
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,671.531223292,664,633,876,783,800,650,628.468776708,650.531223292,0.408111286936,-0.0055665244681,0.0499418165923,0.99999999475,4.59889876852e-05,-8.93480516147e-05,2.00273917797e-05,1793192686613670144
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,671.047996112,664,633,876,783,800,649.952003888,628.952003888,650,0.408730629115,-0.00556936824163,0.0499668086517,0.99999999751,5.21670162364e-05,-4.07515078357e-05,2.4443557902e-05,1793192686630336768
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,671.625382825,664,633,876,783,800,649.374617175,628.374617175,650,0.409382727688,-0.00557076270165,0.0499880793754,0.99999999902,3.54887580855e-05,-1.11080989375e-05,2.40443752203e-05,1793192686647003648
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.205193643,742.205193643,711,671.794806357,664,633,876,783,799.794806357,649.205193643,628.205193643,650,0.410017125996,-0.0055707782064,0.0499986262396,0.999999999374,2.60035766039e-05,5.47246066244e-07,2.40015020549e-05,1793192686663670528
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.789482967,742.789482967,711,671.210517033,664,633,876,783,799.210517033,649.789482967,628.789482967,650,0.410618822988,-0.00556824608833,0.0499893607501,0.999999999032,2.98076202622e-05,-2.10303961343e-05,2.46169115196e-05,1793192686680337408
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.629214297,743,711,671,664,633,876,783,799,649.629214297,628.629214297,650,0.411237500086,-0.00556051965465,0.0499639894079,0.999999996362,3.80576904781e-05,-7.290619269e-05,2.26464275241e-05,1793192686697004032
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.049593694,743,711,671,664,633,876,783,799,649.049593694,628.049593694,650,0.411865740742,-0.00554986766494,0.0499295468854,0.999999988564,4.88118631973e-05,-0.000141846594461,1.92195097026e-05,1793192686713670400
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,711,671.529235407,664,633,876,783,799,649.529235407,628.529235407,650.529235407,0.412613628421,-0.00554140386558,0.0499402985251,0.99999999243,5.98178496997e-05,-0.000105845101386,1.89613565312e-05,1793192686730337024
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,711,671.892431131,664,632.892431131,876,783.107568869,799.107568869,650,629,651,0.413375838565,-0.00553519131369,0.0499549298048,0.999999995352,6.77804297781e-05,-6.57598259678e-05,1.94064278111e-05,1793192686747003648
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,711,671.315935633,664,632.315935633,876,783.684064367,799.684064367,650,629,651,0.414151681384,-0.0055379001132,0.049968039248,0.999999996537,6.23731254184e-05,-5.06771905174e-05,2.16245577536e-05,1793192686763670272
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,711,671,664,632.265277029,876,783.734722971,799.734722971,649.734722971,629,651,0.41489546836,-0.00554015434729,0.0499598794708,0.999999995912,5.50263148831e-05,-6.84162114491e-05,2.16253015555e-05,1793192686780336896
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,711,671,664,632.852209455,876,783.147790545,799.147790545,649.147790545,629,651,0.415600386881,-0.00554185740918,0.0499259302044,0.999999990861,4.53278010893e-05,-0.000125952354653,1.89374063985e-05,1793192686797003520
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,711,671,664,632.566855074,876,783,799,649.433144926,628.566855074,650.566855074,0.41637180628,-0.00554514315076,0.0499184068033,0.999999990598,3.11307586176e-05,-0.00013242568729,1.72681272671e-05,1793192686813669888
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,671.011996913,664.011996913,632.011996913,876.011996913,783,799,650,628,650.011996913,0.417166648359,-0.00554894410083,0.0499204235927,0.999999992453,1.57553624143e-05,-0.000120784255049,1.60532738444e-05,1793192686830336512
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,671.587784444,664.587784444,632.587784444,876.587784444,783,799,650,628,650.587784444,0.418010471034,-0.00555192581427,0.0499528330119,0.999999997526,1.61512693342e-05,-6.54431868981e-05,2.00838004116e-05,1793192686847003392
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.16353026,743,711.16353026,672,664.83646974,633,877,783,799,650,628.16353026,650.83646974,0.418841889961,-0.00555267093252,0.0499728433699,0.999999998947,1.85016512207e-05,-3.48405429942e-05,2.34273644218e-05,1793192686863670016
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.739170912,743,711.739170912,672,664.260829088,633,877,783,799,650,628.739170912,650.260829088,0.419642050325,-0.00554777963734,0.0499616070199,0.999999997138,2.57774790787e-05,-6.65808707858e-05,2.50397232709e-05,1793192686880336896
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,712,672,664,633,876.677017125,783,799,650,629,650,0.420457732336,-0.00554558826622,0.0499557720505,0.999999996756,2.59049469824e-05,-7.21676503036e-05,2.4656009887e-05,1793192686897003264
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,672,664,633,876.086435061,783,799,650,629,650,0.421286274368,-0.00554563384828,0.0499544122571,0.999999997969,2.01098239842e-05,-5.60855757122e-05,2.26185019095e-05,1793192686913669888
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,711.505280572,672,664.494719428,633,876.494719428,783.494719428,799.494719428,650,628.505280572,650,0.422137980632,-0.00555193567196,0.0499683848528,0.999999999343,9.53414290268e-06,-2.58460435744e-05,2.35720661527e-05,1793192686930336512
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.926552608,743,711,671.926552608,665,633,877,783.926552608,799.926552608,650,628.073447392,650,0.422987252544,-0.00555831110581,0.0499804284563,0.999999999691,-4.18120594271e-07,-1.72186460255e-06,2.48063106618e-05,1793192686947003136
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.353337763,743,711,671.353337763,665,633,877,783.353337763,799.353337763,650,628.646662237,650,0.423792936129,-0.00555788883981,0.0499614595004,0.999999999063,-5.51349334188e-07,-3.57253585657e-05,2.44610192126e-05,1793192686963670272
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,711,671.220597036,664.779402964,633,876.779402964,783,799.220597036,650,629,650,0.424619816823,-0.00555738043305,0.0499541019294,0.999999998446,-1.18917284977e-06,-4.99692269362e-05,2.46804337674e-05,1793192686980337152
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711,671.795688875,664.204311125,633,876.204311125,783,799.795688875,650,629,650,0.425480760953,-0.00555673359981,0.049965403607,0.999999999137,-2.6378695936e-06,-3.24597973512e-05,2.58073189876e-05,1793192686997003776
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.382328287,743,711,672,664.382328287,632.617671713,876,783.382328287,800,650,629,650.382328287,0.426314373126,-0.00555768330706,0.0499823017362,0.999999999541,-5.58785905866e-06,-1.1366504143e-05,2.75377816645e-05,1793192687013670400
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.975330718,743,711,672,664.975330718,632.024669282,876,783.975330718,800,650,629,650.975330718,0.427132924534,-0.00555951275517,0.0500022836742,0.99999999945,-9.36510492917e-06,1.17016023991e-05,2.96008332151e-05,1793192687030337024
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,711,672,664.448246762,632,876,784,799.448246762,649.448246762,629,650.448246762,0.427868771824,-0.00555952844515,0.0499709296269,0.999999998024,-7.93590255875e-06,-5.48722271872e-05,2.96205966143e-05,1793192687047003904
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.872382097,743,711,671.872382097,664,632.127617903,876.127617903,783.872382097,799.127617903,649,629,650.127617903,0.428617534597,-0.00555913610287,0.049943931698,0.999999993748,-6.46189047474e-06,-0.000107734894202,2.92589822359e-05,1793192687063670272
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.295948365,743,711,671.295948365,664,632.704051635,876.704051635,783.295948365,799.704051635,649,629,650.704051635,0.429424344609,-0.00555758564198,0.0499400903594,0.999999994726,-5.62507717477e-06,-9.869289496e-05,2.78680289426e-05,1793192687080336896
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,671.284447412,664.284447412,633,877,783,799.715552588,649,628.715552588,650.715552588,0.430213852058,-0.00555758107351,0.0499436033164,0.99999999606,-4.37150615632e-06,-8.42350421592e-05,2.76483487346e-05,1793192687097003520
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,671.869023622,664.869023622,633,877,783,799.130976378,649,628.130976378,650.130976378,0.430985103015,-0.00555920762153,0.0499548760063,0.999999997534,-2.67820191233e-06,-6.40627641666e-05,2.86645131519e-05,1793192687113670400
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.5465457,711,672,664.5465457,632.5465457,877,783,799,649.4534543,628.4534543,650,0.431710564598,-0.00555788550784,0.0499406790376,0.999999995291,1.5657873088e-05,-9.15336278617e-05,2.82018232822e-05,1793192687130336768
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.037189901,877,783.037189901,799.037189901,649.962810099,628.962810099,650.037189901,0.432423124814,-0.00555610613137,0.0499211443599,0.99999999068,3.73145969157e-05,-0.000128438403915,2.74072819959e-05,1793192687147003392
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.611493138,877,783.611493138,799.611493138,649.388506862,628.388506862,650.611493138,0.43314030955,-0.00556001938768,0.0499307346806,0.999999993609,3.75252632888e-05,-0.000102908641897,2.79871711747e-05,1793192687163670016
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.186375619,711.186375619,672,664,633,876.813624381,784,799.627248762,649,628.186375619,650.813624381,0.433853109572,-0.00556267284849,0.049945240642,0.99999999613,3.73462735827e-05,-7.41913277481e-05,2.9006180318e-05,1793192687180336640
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.762469429,711.762469429,672,664,633,876.237530571,784,798.475061141,649,628.762469429,650.237530571,0.434556741131,-0.00556269203185,0.0499700253886,0.999999998107,3.63524989077e-05,-3.8808721578e-05,3.09434053788e-05,1793192687197003776
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.65339447,712,672.34660553,664.34660553,632.65339447,876.34660553,784,798.69321106,649,629,650.34660553,0.435207166995,-0.0055616712486,0.0499770356182,0.999999998105,3.67973199441e-05,-3.73297420522e-05,3.22746695942e-05,1793192687213670400
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.063616061,712,672.936383939,664.936383939,632.063616061,876.936383939,784,799.872767877,649,629,650.936383939,0.435820264554,-0.00555992084145,0.0499715755306,0.99999999694,3.82514367147e-05,-5.96370050724e-05,3.31808012949e-05,1793192687230336768
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.517793532,711.482206468,672.482206468,665,632,877,784,800,649,629,650.482206468,0.436399126022,-0.00555608894267,0.0499486078797,0.999999993322,4.13089057007e-05,-0.000102982433746,3.23191956364e-05,1793192687247003392
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632.097154717,877,784,799.902845283,649,629,650,0.436976935901,-0.00555316440243,0.0499313169884,0.999999989755,4.32202983509e-05,-0.000132781449041,3.14733771668e-05,1793192687263670272
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632.671425407,877,784,799.328574593,649,629,650,0.437569909364,-0.00555593169432,0.049952299229,0.999999995261,3.85514403039e-05,-8.35640295711e-05,3.17546904846e-05,1793192687280336896
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,672,665,633,877.251742971,783.748257029,799,649,629,650,0.438145543719,-0.00555828001605,0.0499714009945,0.999999997921,3.50002798808e-05,-4.34082591343e-05,3.23812592197e-05,1793192687297003264
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,672,665,633,877.8401471,783.1598529,799,649,629,650,0.43869799007,-0.00556006803999,0.0499879879594,0.999999998779,3.29438404021e-05,-1.53708262659e-05,3.34695453121e-05,1793192687313670144
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,633,877.57817064,783.42182936,799.42182936,649,629,650,0.439166729712,-0.00556009059484,0.0499740578381,0.999999998164,3.09411915347e-05,-4.04166412212e-05,3.28869964531e-05,1793192687330337024
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,672,664.998999639,633,876.998999639,783.998999639,800,649,629,650,0.43960416892,-0.00555945037065,0.0499487335467,0.999999995444,2.8965277814e-05,-8.52662329649e-05,3.16789835658e-05,1793192687347003648
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711,672,664.422129908,633,876.422129908,783.422129908,800,649,629,650,0.439997152362,-0.00555636620431,0.0499170421771,0.999999990384,3.0829628047e-05,-0.000132023590456,2.91874709159e-05,1793192687363670272
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632.846593445,876.153406555,783,799.846593445,649.153406555,629,650,0.440385318667,-0.00555443130921,0.0498918227874,0.999999984688,3.18813476324e-05,-0.000169854359707,2.75038972001e-05,1793192687380336896
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632.274694003,876.725305997,783,799.274694003,649.725305997,629,650,0.440760343918,-0.00555563162388,0.0498842589436,0.99999998233,3.07162124151e-05,-0.000183333418685,2.80243794624e-05,1793192687397003520
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.691959257,711.308040743,672,664,632,877,783,799,649.691959257,629,650,0.441125244364,-0.00555683737702,0.0498836371337,0.999999981882,2.86138972161e-05,-0.000186051614527,2.8312702731e-05,1793192687413669888
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.099209949,711.900790051,672,664,632,877,783,799,649.099209949,629,650,0.441480786874,-0.00555804815662,0.0498894315421,0.999999983279,2.56453876871e-05,-0.000178824015176,2.83864515829e-05,1793192687430336512
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.482384822,711.517615178,672.482384822,664,632,876.517615178,783,799,649.482384822,629,650,0.441793120251,-0.00555795314478,0.0498866291072,0.999999982944,2.43802393394e-05,-0.000180946876881,2.78682140893e-05,1793192687447003392
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.938749179,711,672.938749179,664,632,876,783,799.061250821,649.938749179,628.938749179,650,0.442091066514,-0.00555733210404,0.0498815364315,0.999999982058,2.37293587204e-05,-0.000185956357241,2.72078558627e-05,1793192687463670528
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.363962193,711,672.363962193,664,632,876,783,799.636037807,649.363962193,628.363962193,650,0.442341211963,-0.00555450148521,0.0498717308017,0.999999979449,2.5357815822e-05,-0.000199408797553,2.63536456618e-05,1793192687480337152
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.21508595,711,672.21508595,664,632,876.21508595,783,800,649,628.21508595,650,0.442572444648,-0.00555230259747,0.0498607405792,0.999999975851,2.62595485955e-05,-0.000216705102309,2.54422219051e-05,1793192687497003520
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.801490377,711,672.801490377,664,632,876.801490377,783,800,649,628.801490377,650,0.442771026829,-0.00555119431323,0.0498477053095,0.999999970413,2.59066842773e-05,-0.000240637347639,2.44320263227e-05,1793192687513670144
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.383928038,743,711,672.616071962,664,632,876.616071962,783,799.616071962,649.383928038,629,650,0.44295946174,-0.00555227085053,0.0498370287838,0.999999966427,2.48825152839e-05,-0.000256805527006,2.4018730297e-05,1793192687530336768
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.964335714,743,711,672.035664286,664,632,876.035664286,783,799.035664286,649.964335714,629,650,0.443142703686,-0.00555446549556,0.0498275593716,0.999999963257,2.35147982883e-05,-0.00026900035754,2.39109044693e-05,1793192687547003392
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.460017876,743,711,672,663.460017876,631.460017876,876.539982124,783,799,649.460017876,629,650,0.443284447578,-0.00555348896481,0.0498178686445,0.999999958322,2.1642849626e-05,-0.000286987210942,2.29444315058e-05,1793192687563670016
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,672,663,631.115728156,876.884271844,783,799,649,629,650.115728156,0.443419029903,-0.00555252292308,0.0498092048604,0.999999953643,1.98057792396e-05,-0.000303044564526,2.20427130588e-05,1793192687580336640
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,672,663,631.693115269,876.306884731,783,799,649,629,650.693115269,0.443535881648,-0.00555242694041,0.0498046955215,0.999999951583,1.82395339191e-05,-0.000309892122301,2.16235640574e-05,1793192687597003264
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.724306576,711,672,663,632,876,783,799.275693424,649,629,650.724306576,0.443642997231,-0.00555308336582,0.0498017767924,0.999999950298,1.76743378244e-05,-0.000314059004691,2.1431338361e-05,1793192687613670144
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.13583922,711,672,663,632,876,783,799.86416078,649,629,650.13583922,0.443739067141,-0.00555459339749,0.0498006626088,0.999999949932,1.82448312304e-05,-0.000315184662976,2.1496556967e-05,1793192687630337024
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.445548129,742.445548129,711,672,663,632,876.445548129,783,800,649,629,650,0.443819667778,-0.00555405396815,0.0498008921851,0.999999950153,1.7769768936e-05,-0.000314508148309,2.14913370879e-05,1793192687647003392
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.975357198,743,711,671.975357198,663,632,877,783,800,649,629,650,0.443894516843,-0.0055529226079,0.0498013590334,0.999999950456,1.70968884933e-05,-0.000313584195791,2.14452570258e-05,1793192687663670272
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.400013981,743,711,671.400013981,663,632,877,783,800,649,629,650,0.443944581577,-0.00555230830402,0.0497981160753,0.99999994865,1.90155331626e-05,-0.000319217306856,2.09584715203e-05,1793192687680336896
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,671.357552823,663,632,876.821223588,783,800,649,629,650,0.443989176559,-0.00555190359081,0.0497949356073,0.999999946751,1.99008224891e-05,-0.000325078798517,2.06457374739e-05,1793192687697003520
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,672.530862924,663,632,876.234568538,783,800,649,629,650,0.44402129229,-0.00555197705912,0.0497918977108,0.999999944682,1.84285098629e-05,-0.000331461340077,2.07301021475e-05,1793192687713670144
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,672.652510289,663,632,876,783,799.652510289,649,628.652510289,650,0.444048096865,-0.00555192167701,0.0497897447773,0.999999943554,1.74890364778e-05,-0.000334896644602,2.07501613771e-05,1793192687730336768
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,672.073514482,663,632,876,783,799.073514482,649,628.073514482,650,0.444071363023,-0.00555178045163,0.0497881814274,0.99999994307,1.69045534055e-05,-0.00033636842879,2.07273787649e-05,1793192687747003392
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.495246169,711,672.504753831,663,632,877.009507663,783,799.504753831,649,628.504753831,650,0.444084825144,-0.00555121007018,0.0497859600581,0.999999941864,1.55577780338e-05,-0.000340046109469,1.99502263499e-05,1793192687763670272
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.917486585,742.082513415,711,673,662.917486585,632,877.83497317,783,799.917486585,649,629,650,0.444096089678,-0.00555033514501,0.0497838757712,0.999999940649,1.47464763377e-05,-0.000343686544653,1.90931986686e-05,1793192687780337408
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.342133383,742.657866617,711,673,662.342133383,632,876.684266767,783,799.342133383,649,629,650,0.444102744732,-0.0055480140173,0.0497831818493,0.999999940095,1.77956465338e-05,-0.000345188349622,1.8414377695e-05,1793192687797003520
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.232927627,743,711,672.767072373,662.232927627,631.767072373,876.232927627,783,799,649,629,650,0.444107636085,-0.00554738623067,0.0497822136899,0.999999939641,1.84326417369e-05,-0.000346483776759,1.81016441838e-05,1793192687813670144
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.807559957,743,711,672.192440043,662.807559957,631.192440043,876.807559957,783,799,649,629,650,0.444109940092,-0.00554924257463,0.0497808432241,0.999999939342,1.5530977333e-05,-0.000347476447639,1.83259608247e-05,1793192687830336768
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.605856119,711,672,663,631,877,783.394143881,799,649,628.605856119,650,0.444111280507,-0.00555030041156,0.0497802988518,0.999999938914,1.45071038467e-05,-0.000348736161612,1.85575061215e-05,1793192687847003648
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.013254391,711,672,663,631,877,783.986745609,799,649,628.013254391,650,0.444112135738,-0.00555095618719,0.0497801704312,0.999999938424,1.44287286766e-05,-0.000350130336091,1.87926911571e-05,1793192687863670272
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.563990267,711,672.563990267,663,631.563990267,877,783.436009733,799,649,628.563990267,650.563990267,0.444112863564,-0.00554856250011,0.0497796450063,0.999999937994,1.62174438312e-05,-0.000351315114004,1.80822773454e-05,1793192687880336896
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,672.859250956,663,632,877,783,799.140749044,649,629,651,0.444113747724,-0.00554665054734,0.0497793492576,0.999999937815,1.78444907183e-05,-0.00035177048858,1.7560976442e-05,1793192687897003520
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,672.282908663,663,632,877,783,799.717091337,649,629,651,0.444115124727,-0.00554644539048,0.0497797924256,0.999999938422,1.88390056834e-05,-0.000349983315461,1.76918984536e-05,1793192687913670144
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.700637975,743,711,672.299362025,663,632,877,783,800,649.299362025,629,650.700637975,0.444115349424,-0.00554661151872,0.0497796934359,0.999999938559,1.8492215692e-05,-0.00034960690946,1.77537263439e-05,1793192687930336768
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.112651463,743,711,672.887348537,663,632,877,783,800,649.887348537,629,650.112651463,0.444114463147,-0.00554713561476,0.0497790717348,0.999999938244,1.68522308854e-05,-0.000350590668869,1.77489384013e-05,1793192687947003392
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.470069763,743,711,673,663,632,876.529930237,783,799.529930237,650,629,650,0.44411374532,-0.00554601263441,0.0497776818614,0.999999937734,1.87488104734e-05,-0.000351950795481,1.76202429878e-05,1793192687963670272
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,672.949125167,663,632,876.050874833,783,799.050874833,649.949125167,629,650,0.444113104001,-0.00554474050014,0.0497762105691,0.999999937188,2.09153634426e-05,-0.000353386882627,1.74246211709e-05,1793192687980336896
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,672.375190866,663,632,876.624809134,783,799.624809134,649.375190866,629,650,0.444112838848,-0.0055459481425,0.0497757739166,0.999999936808,1.7240386489e-05,-0.00035468688582,1.68428222711e-05,1793192687997003520
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.79607346,711,672,663,631.79607346,877,783,799.79607346,649,628.79607346,650,0.444113322153,-0.00554687952887,0.0497757923608,0.999999936775,1.54863728924e-05,-0.000354867788427,1.67054165343e-05,1793192688013670400
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.207171344,711,672,663,631.207171344,877,783,799.207171344,649,628.207171344,650,0.444115218406,-0.00554728939499,0.0497766699434,0.999999937416,1.73587828956e-05,-0.000352936036132,1.74069428978e-05,1793192688030337024
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.37522664,711,672.37522664,663,631,876.62477336,783,799,649,628.37522664,650,0.444116610438,-0.00554643297759,0.0497777628976,0.999999937833,1.8901592795e-05,-0.000351664762049,1.75584174782e-05,1793192688047003648
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.954094709,711,672.954094709,663,631,876.045905291,783,799,649,628.954094709,650,0.44411772882,-0.00554488932809,0.0497789727371,0.99999993813,2.02655234462e-05,-0.000350751939997,1.74113702369e-05,1793192688063670272
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,672.468287817,663,631.531712183,876,783,799,649,628.468287817,650,0.444115550374,-0.00554325716486,0.0497775298512,0.9999999372,2.05181365524e-05,-0.000353405809822,1.68190176397e-05,1793192688080337152
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.107843844,743,711,672.107843844,663,632,876.107843844,783,799.107843844,649,628,650,0.444114390872,-0.00554260491561,0.0497766446258,0.999999936701,2.00771945216e-05,-0.000354852787533,1.65418264656e-05,1793192688097003776
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.67806678,743,711,672.67806678,663,632,876.67806678,783,799.67806678,649,628,650,0.444118817569,-0.00554618672271,0.0497791299912,0.999999938513,1.70730432659e-05,-0.000349808082928,1.77803332565e-05,1793192688113670144
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.741439715,743,711,673,663,632,877,783,799.741439715,649,628.258560285,650,0.444119806414,-0.00554703886707,0.0497796122228,0.999999938853,1.61406932606e-05,-0.000348864955684,1.8073049473e-05,1793192688130336768
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.147629277,743,711,673,663,632,877,783,799.147629277,649,628.852370723,650,0.444116337731,-0.00554435172186,0.0497774971844,0.999999937304,1.78946474567e-05,-0.000353239947043,1.71394505542e-05,1793192688147003392
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.565132893,711.434867107,673,663,632,877,783,799.434867107,649,629,650,0.444115952162,-0.00554412875267,0.0497775525708,0.999999937247,1.82515420385e-05,-0.000353391791549,1.69584448627e-05,1793192688163670016
+238,3.966666667,HOLD_POSE2,764,743,712,673,664,631,877,783,799,650,629,651,0.444117888929,-0.00554564336971,0.0497790642337,0.999999937636,1.88108855426e-05,-0.000352237280271,1.74155562307e-05,1793192688209179136
+239,3.983333333,HOLD_POSE2,764,743,711.408006461,673,663.408006461,631.591993539,877,783,799,649.408006461,628.408006461,650.408006461,0.444118834352,-0.00554502999584,0.0497789582822,0.999999938163,1.90197383372e-05,-0.000350739459715,1.71606092889e-05,1793192688225846272
+240,4.000000000,HOLD_POSE2,764,743,711,673,663,632,877,783.180170815,799,649,628.180170815,650,0.444118624547,-0.00554486483205,0.0497783650753,0.999999938148,1.8852905543e-05,-0.000350796120045,1.70275002302e-05,1793192688242512896
+241,4.016666667,HOLD_POSE2,764,743,711,673,663,632,877,783.759885326,799,649,628.759885326,650,0.444115852928,-0.00554569361109,0.0497766913392,0.999999936929,1.78529588929e-05,-0.000354299970145,1.71645767151e-05,1793192688259179264
+242,4.033333333,HOLD_POSE2,764,742.662067352,711,673,663,632,877,784,799.337932648,649,629,650,0.444115269972,-0.00554535081338,0.0497764718499,0.999999936625,1.75834396115e-05,-0.000355176334232,1.70369137844e-05,1793192688275845632
+243,4.050000000,HOLD_POSE2,764,742.085198854,711,673,663,632,877,784,799.914801146,649,629,650,0.444116234513,-0.00554417965028,0.0497772805883,0.999999936974,1.78303702938e-05,-0.000354194929689,1.67220663952e-05,1793192688292512000
+244,4.066666667,HOLD_POSE2,764,742.489159528,711.489159528,672.510840472,663,632,876.510840472,783.510840472,800,649,629,650,0.444116715062,-0.00554456204915,0.049777405613,0.999999937129,1.67872526166e-05,-0.000353820977985,1.64844168437e-05,1793192688309178624
+245,4.083333333,HOLD_POSE2,764,743,712,672.06488737,663,632,876.12977474,783,799.93511263,649,629,650,0.444117084191,-0.00554510429963,0.0497773806077,0.999999937224,1.59599175147e-05,-0.000353596618623,1.63311231742e-05,1793192688325845504
+246,4.100000000,HOLD_POSE2,764,743,712,672.655227307,663,632,877.310454614,783,799.344772693,649,629,650,0.444117230214,-0.00554476098614,0.0497771000906,0.999999937122,1.86902265998e-05,-0.000353731240152,1.67526089373e-05,1793192688342512640
+247,4.116666667,HOLD_POSE2,764,743,712,673,663,631.757538091,877.515076182,783,799,649,629,650,0.444117244531,-0.00554416331752,0.0497766208874,0.999999936927,1.97285202613e-05,-0.000354220156456,1.68696583572e-05,1793192688359179264
+248,4.133333333,HOLD_POSE2,764,743,712,673,663,631.174663381,876.349326762,783,799,649,629,650,0.444117073934,-0.0055432085382,0.0497758627317,0.999999936608,1.839124999e-05,-0.000355206497178,1.65592837848e-05,1793192688375845888
+249,4.150000000,HOLD_POSE2,764,743,712,672.601279331,663,631.398720669,876.398720669,783,799,649,629,650.398720669,0.444116156891,-0.00554438219835,0.0497752108129,0.999999936262,1.71926229091e-05,-0.000356229097274,1.6772690494e-05,1793192688392512256
+250,4.166666667,HOLD_POSE2,764,743,712,672.031956047,663,631.968043953,876.968043953,783,799,649,629,650.968043953,0.44411492046,-0.00554646656449,0.0497746043501,0.999999935903,1.60533176716e-05,-0.000357267211934,1.72102101034e-05,1793192688409178880
+251,4.183333333,HOLD_POSE2,764,743,711.452601225,672.547398775,663,632,877,783,799.547398775,649.547398775,629,650.452601225,0.444115559239,-0.00554423363403,0.0497755430627,0.999999936276,1.95612327963e-05,-0.000356059602977,1.6937330345e-05,1793192688425845248
+252,4.200000000,HOLD_POSE2,764,743,711,673,663,632,876.87008149,783,799.87008149,649.87008149,629,650,0.444116756831,-0.00554286190465,0.0497765068994,0.999999936773,2.17654802021e-05,-0.000354539976197,1.67664010698e-05,1793192688442511872
+253,4.216666667,HOLD_POSE2,764,743,711,673,663,632,876.278433671,783,799.278433671,649.278433671,629,650,0.444119544121,-0.00554546332837,0.0497772334576,0.999999937597,1.83543233353e-05,-0.000352386069646,1.71079444142e-05,1793192688459178496
+254,4.233333333,HOLD_POSE2,764,743,711,672.694930338,663,632,876.305069662,783.305069662,799.305069662,649,629,650,0.444118708744,-0.00554613446216,0.0497766619309,0.999999937186,1.78682165092e-05,-0.000353582109926,1.70106640818e-05,1793192688475845376
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742.833415517,711,671,663.833415517,633,875.833415517,783.833415517,799,649,628,651,0.400974700361,-0.00542665451981,0.0498489823907,0.999999963219,1.13056266505e-05,-0.000266100204913,-5.1237661371e-05,1793192690424841216
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742.254735311,711,671,663.254735311,633,875.254735311,783.254735311,799,649,628,651,0.400974725274,-0.00542568852765,0.0498497050614,0.999999963621,1.12332762386e-05,-0.000264572596011,-5.13100281776e-05,1793192690441507840
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.678715667,663,632.678715667,875.321284333,783,799,649.321284333,628,651,0.40097456279,-0.00542496467642,0.0498499571227,0.999999963707,1.20742361784e-05,-0.000264226007786,-5.12419545797e-05,1793192690458174464
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.104788105,663,632.104788105,875.895211895,783,799,649.895211895,628,651,0.400974252946,-0.00542443123358,0.0498498391184,0.999999963542,1.36333813841e-05,-0.00026480811976,-5.10634451118e-05,1793192690474841088
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.468086041,670.468086041,663.468086041,632.468086041,875.531913959,783,799,649.531913959,628,650.531913959,0.400975061576,-0.00542521466731,0.0498508342732,0.999999963734,1.4421965097e-05,-0.000264086013274,-5.0821500328e-05,1793192690491507712
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.957659144,671,663.957659144,633,875.042340856,783,799,649,628,650,0.400975933586,-0.00542595564313,0.049851888076,0.999999963947,1.51516100469e-05,-0.000263271407291,-5.06477694079e-05,1793192690508174336
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.362297521,671,663.362297521,633,875.637702479,783,799,649,628,650,0.400974370394,-0.00542230025101,0.0498504603898,0.999999963394,1.73594614633e-05,-0.000265053540236,-5.15500550127e-05,1793192690524841216
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.225825928,633,876,783,799,649.225825928,628.225825928,650,0.400973202985,-0.00542069710728,0.0498495896795,0.99999996302,1.82065145275e-05,-0.00026631995444,-5.19861814349e-05,1793192690541508096
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.802697621,633,876,783,799,649.802697621,628.802697621,650,0.400972650821,-0.00542228417804,0.0498495847867,0.999999962933,1.69382102866e-05,-0.000266784685223,-5.16976646787e-05,1793192690558174720
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.621955694,633,875.621955694,783,799,649.621955694,628.621955694,650.378044306,0.400972946822,-0.00542195740739,0.0498499773072,0.999999963143,1.78125854636e-05,-0.000265927917926,-5.17504001733e-05,1793192690574841344
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.047401735,633,875.047401735,783,799,649.047401735,628.047401735,650.952598265,0.400973683705,-0.00542063581067,0.0498505764056,0.999999963503,1.98007380446e-05,-0.00026438422814,-5.19805206037e-05,1793192690591507968
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.540764967,633,875,783,799,649,628.540764967,651,0.400974157333,-0.00541961996553,0.049850553991,0.999999963575,2.12013838644e-05,-0.000263981875248,-5.20890442281e-05,1793192690608174336
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.872117515,633,875,783,799.127882485,649.127882485,628.872117515,651,0.400974642579,-0.0054191056378,0.0498507085442,0.999999963681,2.19049591819e-05,-0.000263518050026,-5.2125202698e-05,1793192690624840960
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.293020939,633,875,783,799.706979061,649.706979061,628.293020939,651,0.400975252337,-0.00542026383294,0.0498516846893,0.999999963997,2.03354244912e-05,-0.000262475216415,-5.1944610683e-05,1793192690641507840
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.284907954,711,671,663.569815908,633,875,783.284907954,799.715092046,649.715092046,628,651,0.400975835703,-0.00541993661135,0.0498522201212,0.999999964186,2.07540454083e-05,-0.000261713552677,-5.19966194859e-05,1793192690658174720
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.861640885,711,671,664.723281769,633,875,783.861640885,799.138359115,649.138359115,628,651,0.400976392035,-0.00541808791007,0.0498523041403,0.999999964241,2.3209090379e-05,-0.000261239884955,-5.22868761899e-05,1793192690674841600
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.563423242,711,671,664.563423242,633,875,783.563423242,799.436576758,649.436576758,628,651,0.400976797883,-0.00541740154521,0.0498525184927,0.999999964489,2.29641418957e-05,-0.00026027275712,-5.24664553258e-05,1793192690691508224
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742.01124886,711,671,664,633,875,783,799.98875114,649.98875114,628.01124886,651,0.400977098465,-0.00541707672258,0.0498527430854,0.999999964776,2.19294469218e-05,-0.000259229564394,-5.26085364005e-05,1793192690708174848
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.601541287,711,671,664,633,875,783,799.398458713,649.398458713,628.601541287,651,0.400974425279,-0.00541647839591,0.0498513773191,0.999999963928,2.41080095868e-05,-0.00026228798245,-5.26185252179e-05,1793192690724841216
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5af38484cc5deb66be2b3bb1d65212bd58888bf8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,390 @@
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+2,0.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+3,0.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+4,0.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+5,0.083333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+6,0.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+7,0.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+8,0.133333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+9,0.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+10,0.166666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+11,0.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+12,0.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+13,0.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+14,0.233333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+15,0.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+16,0.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+17,0.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+18,0.300000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+21,0.350000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+24,0.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+27,0.450000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfb70d3812adc206efea2fc145f96107a2abe919
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab2267fdaaa8f49613762c47e453e1b408b5e9ccf6847fcb9c28de476da9532c
+size 24882117
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6808d8cd8d6fb2a4c6ddfac4cc09acefd2772db5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/franka_data.csv
@@ -0,0 +1,393 @@
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+11,0.183333333,BASELINE,764,742.39185221,711,671,663.60814779,633,875,783.39185221,799,650,628.39185221,651,0.40097404233,-0.00541546336129,0.0498522171906,0.999999964291,2.67946538124e-05,-0.000260556769401,-5.30143195063e-05,1793192691063257088
+12,0.200000000,BASELINE,764,742.970348249,711,671,663.029651751,633,875,783.970348249,799,650,628.970348249,651,0.400974680056,-0.00541528586115,0.0498532676409,0.999999964683,2.55024351471e-05,-0.000259167533434,-5.30576026879e-05,1793192691079923712
+13,0.216666667,BASELINE,764,742.461961695,711,670.461961695,663.538038305,633,875,783.461961695,799,649.461961695,628.461961695,651,0.400975564391,-0.00541525536137,0.0498536763249,0.999999964844,2.7635134273e-05,-0.00025836000083,-5.28961607103e-05,1793192691096590592
+14,0.233333333,BASELINE,764,742.110483534,711,670.110483534,663.889516466,633,875,783,799,649,628.110483534,651,0.400975970117,-0.00541535614472,0.0498537704878,0.999999964875,2.93337513735e-05,-0.000258088127397,-5.27339827605e-05,1793192691113257472
+15,0.250000000,BASELINE,764,742.706386201,711,670.706386201,663.293613799,633,875,783,799,649,628.706386201,651,0.400974214493,-0.00541599883902,0.0498526351093,0.999999964407,2.83122288295e-05,-0.00026003164218,-5.26171662149e-05,1793192691129924096
+16,0.266666667,BASELINE,764,742.70617943,711,671,663.29382057,633,875,783,799.29382057,649.29382057,629,650.70617943,0.400974318734,-0.00541569387967,0.0498526859553,0.999999964468,2.77551877477e-05,-0.000259865182287,-5.25734467524e-05,1793192691146590720
+17,0.283333333,BASELINE,764,742.126970369,711,671,663.873029631,633,875,783,799.873029631,649.873029631,629,650.126970369,0.400976229465,-0.00541446846246,0.0498538889838,0.999999965043,2.76492984739e-05,-0.000257649299775,-5.26007266355e-05,1793192691163257088
+18,0.300000000,BASELINE,764,742,711,671,664,633,875.448477189,783,800,650,628.551522811,650.448477189,0.400976121458,-0.00541450749155,0.0498539208512,0.999999965016,2.63386463511e-05,-0.000257839305722,-5.28415817433e-05,1793192691179923456
+19,0.316666667,BASELINE,764,742,711,671,663.97712329,633,875.97712329,783,799.97712329,649.97712329,628.02287671,651,0.400975464224,-0.00541484069667,0.0498536326056,0.999999964827,2.49241404335e-05,-0.000258652597152,-5.31318339464e-05,1793192691196590080
+20,0.333333333,BASELINE,764,742,711,671,663.402529669,633,875.402529669,783,799.402529669,649.402529669,628.597470331,651,0.400975230337,-0.00541370688016,0.0498535542195,0.999999964826,2.91625303854e-05,-0.000258207203015,-5.31672613757e-05,1793192691213256960
+21,0.350000000,BASELINE,764,742,711,671,663.177215339,633,875,783.177215339,799.177215339,649,629,651,0.400975072737,-0.00541310120797,0.0498534045775,0.999999964762,3.16725687849e-05,-0.000258153456456,-5.31896863893e-05,1793192691229923840
+22,0.366666667,BASELINE,764,742,711,671,663.769011517,633,875,783.769011517,799.769011517,649,629,651,0.400975093604,-0.00541373108652,0.0498530882384,0.999999964587,3.01392690148e-05,-0.00025901593755,-5.31816933077e-05,1793192691246590720
+23,0.383333333,BASELINE,764,742,711,671,664,633,875.35254814,784,800,649.35254814,629,651,0.400975029996,-0.00541393251329,0.0498529581796,0.999999964514,2.91633471443e-05,-0.000259430620474,-5.30856090793e-05,1793192691263257600
+24,0.400000000,BASELINE,764,742,711,671,664,633,875.930797067,784,800,649.930797067,629,651,0.400974912307,-0.00541385964594,0.0498529473773,0.999999964506,2.8544257612e-05,-0.000259558623769,-5.29331290312e-05,1793192691279923968
+25,0.416666667,BASELINE,764,742,711,671,664,633,876,783.493795045,800,650,629,651,0.400975029867,-0.00541621380826,0.0498529912381,0.999999964808,2.50357651607e-05,-0.00025880725903,-5.26817370049e-05,1793192691296590336
+26,0.433333333,BASELINE,764,742,711,670.916907254,664,633,875.916907254,783,799.916907254,650,629,650.916907254,0.40097492032,-0.00541843618786,0.0498529357466,0.999999964978,2.18337916613e-05,-0.000258485018522,-5.24634211276e-05,1793192691313256704
+27,0.450000000,BASELINE,764,742,711,670.328674578,664,633,875.328674578,783,799.328674578,650,629,650.328674578,0.40097323572,-0.00541785161493,0.0498522310938,0.999999964168,2.28831599767e-05,-0.000261498275495,-5.2527928371e-05,1793192691329923584
+28,0.466666667,BASELINE,764,742,711,670.255471203,664,633,875,783,799,649.744528797,629,650.255471203,0.40097285551,-0.0054166610273,0.0498520790369,0.999999963891,2.44727630975e-05,-0.000262369252294,-5.27487784985e-05,1793192691346589952
+29,0.483333333,BASELINE,764,742,711,670.834441773,664,633,875,783,799,649.165558227,629,650.834441773,0.40097412703,-0.00541470305237,0.0498526267241,0.999999964292,2.67464574185e-05,-0.000260527491538,-5.31676032807e-05,1793192691363256576
+30,0.500000000,BASELINE,763.587977866,742.412022134,711,671,664,633,875.412022134,783,799.412022134,649.412022134,629,650.587977866,0.400974512003,-0.00541466852807,0.0498532167983,0.999999964558,2.71573502971e-05,-0.000259465325601,-5.3141417688e-05,1793192691379923456
+31,0.516666667,BASELINE,763.010954251,742.989045749,711,671,664,633,875.989045749,783,799.989045749,649.989045749,629,650.010954251,0.400974541941,-0.00541540428332,0.0498538238472,0.999999964772,2.68222516562e-05,-0.00025871536211,-5.29370198863e-05,1793192691396590592
+32,0.533333333,BASELINE,763.564646407,742.435353593,711,671,664,632.435353593,876,783,800,650,629,650.564646407,0.400974760143,-0.00541537640171,0.0498539158105,0.999999964919,2.81178045799e-05,-0.000258053512546,-5.27232947726e-05,1793192691413257216
+33,0.550000000,BASELINE,764,742,711,671,663.856423525,632.143576475,875.856423525,783,799.856423525,650,629,651,0.400974922007,-0.0054152808689,0.0498539416998,0.999999964965,2.93015077793e-05,-0.000257777547435,-5.25487014742e-05,1793192691429923584
+34,0.566666667,BASELINE,764,742,711,671,663.267070925,632.732929075,875.267070925,783,799.267070925,650,629,651,0.400974897638,-0.00541502117376,0.04985379339,0.999999964709,3.00399664946e-05,-0.000258694382108,-5.24961650525e-05,1793192691446590208
+35,0.583333333,BASELINE,764,742,711,671,663.31725903,633,875,783,799,649.68274097,629,650.68274097,0.400975119877,-0.00541515480166,0.0498539094685,0.999999964727,2.97217618581e-05,-0.000258677709701,-5.24162393591e-05,1793192691463256832
+36,0.600000000,BASELINE,764,742,711,671,663.897426843,633,875,783,799,649.102573157,629,650.102573157,0.400975546477,-0.00541561437164,0.0498542446424,0.999999964972,2.85279129571e-05,-0.000257887451184,-5.23136164964e-05,1793192691479923456
+37,0.616666667,BASELINE,764,742,711,671,664,633,875,783.471851103,798.528148897,649.471851103,629,650.471851103,0.400974775213,-0.00541481202261,0.0498536710738,0.999999964695,2.94628690613e-05,-0.000258797352297,-5.25964368602e-05,1793192691496590080
+38,0.633333333,BASELINE,764,742,711.046402726,671,664,632.953597274,875,784,798.092805452,650,629,651,0.400973853342,-0.00541385678578,0.0498529736153,0.999999964355,3.06451729221e-05,-0.000259904497769,-5.29234735739e-05,1793192691513256704
+39,0.650000000,BASELINE,764,742,711.636912453,671,664,632.363087547,875,784,799.273824906,650,629,651,0.400974182117,-0.00541428676964,0.04985311198,0.999999964623,2.93667533926e-05,-0.0002590428962,-5.27983019586e-05,1793192691529923584
+40,0.666666667,BASELINE,764,742.223153274,711.776846726,671,663.776846726,632.223153274,875,784,800,650,629,651,0.400974682936,-0.00541452909785,0.0498535093386,0.999999964833,2.87241750575e-05,-0.000258319796009,-5.27320204341e-05,1793192691546590464
+41,0.683333333,BASELINE,764,742.8025786,711.1974214,671,663.1974214,632.8025786,875,784,800,650,629,651,0.400975458426,-0.00541447182719,0.0498543201901,0.99999996495,2.90967396374e-05,-0.000257817818196,-5.27597590193e-05,1793192691563257088
+42,0.700000000,BASELINE,764,742.620281769,711,671,663.379718231,633,875,784,800,650,629,651,0.400974758183,-0.00541481258529,0.0498536912488,0.999999964688,2.791521859e-05,-0.000258946550718,-5.28399651889e-05,1793192691579923712
+43,0.716666667,BASELINE,764,742.044323416,711,671,663.955676584,633,875,784,800,650,629,651,0.400973295274,-0.00541535904649,0.0498523182158,0.999999964223,2.59305389507e-05,-0.000260918041833,-5.29472868458e-05,1793192691596590336
+44,0.733333333,BASELINE,764.529489501,742,711,671,663.470510499,633,875,783.470510499,800,650,629,651,0.400974492092,-0.00541494701685,0.0498533441205,0.999999964625,2.83588650403e-05,-0.000259145745958,-5.28050604394e-05,1793192691613256704
+45,0.750000000,BASELINE,764.89366656,742.10633344,711,671,663.10633344,633,875,783,800,649.89366656,628.89366656,650.89366656,0.400975382398,-0.00541458310607,0.049854196498,0.999999964936,3.0467678645e-05,-0.000257732693371,-5.26717532267e-05,1793192691629923328
+46,0.766666667,BASELINE,764.302177375,742.697822625,711,671,663.697822625,633,875,783,800,649.302177375,628.302177375,650.302177375,0.400973862478,-0.00541480334394,0.0498533446063,0.99999996454,2.94400166845e-05,-0.000259382826219,-5.26740666853e-05,1793192691646589952
+47,0.783333333,BASELINE,764,742.716683078,711,671,664,633,875,783,800,649.283316922,628.283316922,650.283316922,0.400973315714,-0.00541476856726,0.049853039739,0.999999964478,2.84002558467e-05,-0.000259706862139,-5.28275558044e-05,1793192691663256832
+48,0.800000000,BASELINE,764,742.137450189,711,671,664,633,875,783,800,649.862549811,628.862549811,650.862549811,0.400973785381,-0.00541446743561,0.049853306222,0.999999964765,2.73478579708e-05,-0.000258645830076,-5.31389433344e-05,1793192691679923712
+49,0.816666667,BASELINE,764,742,711,671,664,633,875,783.437284159,799.562715841,650,629,651,0.400973138995,-0.00541481310899,0.0498528891995,0.999999964547,2.66420615572e-05,-0.00025958389194,-5.3023759542e-05,1793192691696590592
+50,0.833333333,BASELINE,764,742,711,671,664,633,875.010513955,783.989486045,799,649.989486045,629,651,0.400972176885,-0.00541535378035,0.0498522747713,0.999999964178,2.60662215308e-05,-0.000261107871476,-5.27854473954e-05,1793192691713257216
+51,0.850000000,BASELINE,764,742,711,671,664,633,875.578184713,783.421815287,799,649.421815287,629,651,0.400972884537,-0.00541556378123,0.0498524685169,0.999999964249,2.66625430161e-05,-0.000260721336328,-5.30552852944e-05,1793192691729923584
+52,0.866666667,BASELINE,764,742.154492554,711,671.154492554,664,633,876,783.154492554,799.154492554,649.154492554,629,651,0.400973691643,-0.00541582476356,0.0498528958199,0.999999964456,2.67263498616e-05,-0.000259894174317,-5.31832102245e-05,1793192691746590208
+53,0.883333333,BASELINE,764,742.755778879,711,671.755778879,664,633,876,783.755778879,799.755778879,649.755778879,629,651,0.400974786371,-0.00541623318466,0.0498539985725,0.999999965053,2.525011984e-05,-0.00025779271572,-5.29007216346e-05,1793192691763256832
+54,0.900000000,BASELINE,764,742.656706265,711,671.656706265,663.656706265,633,875.656706265,784,800,649.656706265,628.656706265,651,0.400975167292,-0.00541539061739,0.0498542454215,0.999999965238,2.61798034738e-05,-0.000257028534403,-5.26829218923e-05,1793192691779923200
+55,0.916666667,BASELINE,764,742.078610674,711,671.078610674,663.078610674,633,875.078610674,784,800,649.078610674,628.078610674,651,0.400975059992,-0.00541369241437,0.04985390686,0.999999965137,2.87550546021e-05,-0.00025717900775,-5.25093672492e-05,1793192691796589824
+56,0.933333333,BASELINE,764,742,711,671,663.495816241,633,875,784,800,649.495816241,628.495816241,650.504183759,0.4009751572,-0.00541329193225,0.0498538947257,0.999999964927,2.96723861118e-05,-0.000257834195324,-5.27851429378e-05,1793192691813256960
+57,0.950000000,BASELINE,764,742,711.071473365,671,663.928526635,633,875.071473365,783.928526635,799.928526635,650,629,650,0.400975206204,-0.00541329349206,0.0498539259388,0.999999964728,2.99666899162e-05,-0.00025851481855,-5.30675521571e-05,1793192691829923840
+58,0.966666667,BASELINE,764,742,711.660212112,671,663.339787888,633,875.660212112,783.339787888,799.339787888,650,629,650,0.400974673415,-0.00541472658071,0.0498538990591,0.99999996473,2.76404221769e-05,-0.000258804648112,-5.28861765679e-05,1793192691846590464
+59,0.983333333,BASELINE,764,742,712,671,663.245152059,633,875.754847941,783,799,650,629,650.245152059,0.400974408481,-0.00541576347098,0.0498539480861,0.999999964778,2.53399813897e-05,-0.000258891424155,-5.26958230925e-05,1793192691863256832
+60,1.000000000,BASELINE,764,742,712,671,663.824907184,633,875.175092816,783,799,650,629,650.824907184,0.400974509136,-0.00541625959833,0.0498541007166,0.999999964893,2.30747909551e-05,-0.000258701056617,-5.24932158572e-05,1793192691879923456
+61,1.016666667,BASELINE,764,742,711.598244557,671,664,633,875.401755443,783,799,649.598244557,628.598244557,651,0.400973789931,-0.00541664996811,0.049853437913,0.999999964758,2.33133637944e-05,-0.000259163695541,-5.26659337233e-05,1793192691896590080
+62,1.033333333,BASELINE,764,742,711.022654102,671,664,633,875.977345898,783,799,649.022654102,628.022654102,651,0.400972715982,-0.00541699457775,0.0498524222803,0.999999964516,2.46352866756e-05,-0.00025990888295,-5.30010505063e-05,1793192691913256704
+63,1.050000000,BASELINE,764,742,711,671,664,633,875.446010687,783.553989313,799.553989313,649.553989313,628.553989313,650.446010687,0.400974929804,-0.00541476307805,0.0498535129442,0.999999965052,2.89978427295e-05,-0.000257369414475,-5.30733002813e-05,1793192691929923584
+64,1.066666667,BASELINE,763.866550014,742,711,671,664,633,875,784,799.866550014,649.866550014,629,650,0.40097669659,-0.0054134443732,0.0498544299882,0.999999965438,3.15551359051e-05,-0.000255565570318,-5.30561825503e-05,1793192691946590208
+65,1.083333333,BASELINE,763.277621013,742,711,671,664,633,875,784,799.277621013,649.277621013,629,650,0.400976477841,-0.00541560136942,0.0498544599112,0.999999965273,2.75256819083e-05,-0.000256731806298,-5.27708024894e-05,1793192691963257088
+66,1.100000000,BASELINE,763.306814443,742,711,671,664,633,875,783.693185557,799,649,628.693185557,650,0.400975626185,-0.00541563721271,0.0498539980858,0.999999965088,2.69378665143e-05,-0.000257508836975,-5.27913036548e-05,1793192691979923712
+67,1.116666667,BASELINE,763.887242574,742,711,671,664,633,875,783.112757426,799,649,628.112757426,650,0.400974210109,-0.00541378143545,0.0498530977245,0.999999964892,2.94192661366e-05,-0.000257938778658,-5.3084586291e-05,1793192691996590592
+68,1.133333333,BASELINE,764,742,711,671,664,633,875.923936685,783,799,649.461968342,628.461968342,650,0.400974340673,-0.00541424489586,0.04985296793,0.999999964748,2.93587970029e-05,-0.000258491337514,-5.31350109909e-05,1793192692013256960
+69,1.150000000,BASELINE,764,742,711,670.96378239,663.96378239,633,876.927564779,783,799,650,629,650.03621761,0.400974905695,-0.00541519801275,0.0498531257599,0.999999964677,2.862059693e-05,-0.000258857695137,-5.31030102299e-05,1793192692029923584
+70,1.166666667,BASELINE,764,742,711,670.375848666,663.375848666,633,875.751697332,783,799,650,629,650.624151334,0.400976408428,-0.00541509207862,0.0498548349174,0.999999965497,2.68941267585e-05,-0.000255937228488,-5.2707368252e-05,1793192692046590208
+71,1.183333333,BASELINE,763.791080911,742,711,670.208919089,663.208919089,633,875,783,799.208919089,650,629,651,0.40097691132,-0.00541532603306,0.0498554936461,0.999999965876,2.55174063779e-05,-0.000254637578754,-5.2503319561e-05,1793192692063256832
+72,1.200000000,BASELINE,763.211923664,742,711,670.788076336,663.788076336,633,875,783,799.788076336,650,629,651,0.400975642336,-0.0054161623246,0.0498542908464,0.999999965486,2.47604984788e-05,-0.000256210276268,-5.26388048626e-05,1793192692079923712
+73,1.216666667,BASELINE,763.366450256,742,711,671,664,633,875,783,800,650,629,650.633549744,0.400975677037,-0.0054147726591,0.049854104639,0.999999965386,2.69836550226e-05,-0.000256314617279,-5.29347771301e-05,1793192692096590336
+74,1.233333333,BASELINE,763.944372096,742,711,671,664,633,875,783,800,650,629,650.055627904,0.400976464071,-0.00541209843539,0.0498545050881,0.999999965442,3.0926551033e-05,-0.000255571597131,-5.33233634135e-05,1793192692113256960
+75,1.250000000,BASELINE,764,742,711,671,664,633,875.520589035,783,800,650,629,650.520589035,0.400977679965,-0.00541382128536,0.0498554813519,0.999999965852,2.80394032791e-05,-0.000254345237414,-5.30948203004e-05,1793192692129924096
+76,1.266666667,BASELINE,764.098639919,742.098639919,711,671,664,633,875.901360081,783.098639919,800,650,629,651,0.400978543628,-0.0054154805,0.0498562812388,0.999999966171,2.52714576486e-05,-0.000253430613202,-5.28422122831e-05,1793192692146590720
+77,1.283333333,BASELINE,764.686691019,742.686691019,711,671,664,633,875.313308981,783.686691019,800,650,629,651,0.400977433029,-0.00541450037518,0.049855901729,0.999999965911,2.6704239574e-05,-0.000254318111757,-5.27963222709e-05,1793192692163257344
+78,1.300000000,BASELINE,764.728338055,742.728338055,711,671.271661945,663.728338055,633,875,783.728338055,799.728338055,649.728338055,628.728338055,651,0.400976267219,-0.00541467321061,0.0498554530344,0.999999965676,2.76429747552e-05,-0.000255157947569,-5.27135510824e-05,1793192692179923712
+79,1.316666667,BASELINE,764.146879721,742.146879721,711,671.853120279,663.146879721,633,875,783.146879721,799.146879721,649.146879721,628.146879721,651,0.400975038448,-0.00541616085273,0.0498549254432,0.999999965471,2.80183114671e-05,-0.000255943429935,-5.25887215399e-05,1793192692196590080
+80,1.333333333,BASELINE,763.571696499,742,711,671.571696499,663.428303501,633,875.428303501,783,799.428303501,649,628.428303501,650.571696499,0.400975037876,-0.00541627643549,0.0498546887573,0.999999965399,2.72889623695e-05,-0.000256292622277,-5.26427933071e-05,1793192692213256704
+81,1.350000000,BASELINE,763.001406418,742,711,671,664,633,876,783,800,649.001406418,629,650,0.400975449041,-0.00541593055845,0.0498545490338,0.99999996537,2.61893813247e-05,-0.000256496891677,-5.27571203775e-05,1793192692229923328
+82,1.366666667,BASELINE,763.59147082,742,711,671,664,633,876,783,800,649.59147082,629,650,0.400974448746,-0.00541653542604,0.0498538407664,0.999999965038,2.6400698814e-05,-0.000257762268563,-5.27835026953e-05,1793192692246590208
+83,1.383333333,BASELINE,764,742,711,671,664,633,875.821862602,783.178137398,800,649.821862602,629,650.178137398,0.400974202157,-0.00541666644985,0.0498537254232,0.99999996498,2.64324348076e-05,-0.00025797838893,-5.2812879546e-05,1793192692263257344
+84,1.400000000,BASELINE,764,742,711,671,664,633,875.242842416,783.757157584,800,649.242842416,629,650.757157584,0.40097565172,-0.00541573112941,0.0498549444044,0.999999965539,2.60600382376e-05,-0.000255833248609,-5.28489953387e-05,1793192692279923968
+85,1.416666667,BASELINE,764,742,711,670.66525976,664,632.66525976,875.669480479,783.66525976,799.66525976,649.33474024,629,651,0.400976401154,-0.00541507806053,0.0498555305062,0.999999965732,2.66331801833e-05,-0.00025502885417,-5.28003326748e-05,1793192692296590592
+86,1.433333333,BASELINE,764,742,711,670.088715558,664,632.088715558,876.822568884,783.088715558,799.088715558,649.911284442,629,651,0.400976644843,-0.00541462887978,0.0498556594391,0.999999965661,2.78893441867e-05,-0.000255192965074,-5.26904291886e-05,1793192692313256960
+87,1.450000000,BASELINE,764,742,711,670.485216558,664,632.485216558,876.029566885,783,799,649.514783442,629,651,0.40097577933,-0.00541382579541,0.0498547731246,0.999999965402,2.83896756857e-05,-0.000256079175238,-5.30408438192e-05,1793192692329923584
+88,1.466666667,BASELINE,764,742,711,671,664,633,875,783,799,649.060532189,629,651,0.400974841342,-0.00541334383827,0.0498538808279,0.999999965168,2.85144291522e-05,-0.000256913569845,-5.33469245947e-05,1793192692346590208
+89,1.483333333,BASELINE,764,742,711,671,664,633,875,783,799,649.652154098,629,651,0.400975037289,-0.00541624402247,0.0498545559374,0.999999965464,2.65499617453e-05,-0.000256141196666,-5.25295679223e-05,1793192692363256832
+90,1.500000000,BASELINE,764,742,711,671,664,633,875.23859174,783,799,650,629,650.76140826,0.400975218068,-0.00541764143041,0.0498548571559,0.999999965603,2.5923964705e-05,-0.000255737241267,-5.21639102499e-05,1793192692379923968
+91,1.516666667,BASELINE,764,742,711,671,664,633,875.817631862,783,799,650,629,650.182368138,0.400975377203,-0.00541689451514,0.0498546248664,0.999999965523,2.72078414504e-05,-0.000255858984088,-5.24427854105e-05,1793192692396591104
+92,1.533333333,BASELINE,764,742.393338679,711,671,663.606661321,633,876,783,799,649.606661321,629,650.393338679,0.400975415037,-0.0054164289892,0.049854554353,0.999999965319,2.68682562763e-05,-0.000256645903705,-5.26571514679e-05,1793192692413257472
+93,1.550000000,BASELINE,764,742.967513076,711,671,663.032486924,633,876,783,799,649.032486924,629,650.967513076,0.400975397101,-0.00541609283071,0.0498545582154,0.999999965057,2.57822917808e-05,-0.000257738635423,-5.28418597751e-05,1793192692429923584
+94,1.566666667,BASELINE,764,742.445049277,711,671,663,633,875.445049277,783,799,649,628.445049277,651,0.400975893591,-0.00541649617281,0.0498547511773,0.999999965507,2.84400279252e-05,-0.000255765133258,-5.25426697814e-05,1793192692446590208
+95,1.583333333,BASELINE,764,742,711,671,663.140974401,633,875,783,799.140974401,649,628,650.859025599,0.400976170523,-0.00541663203469,0.0498548557355,0.999999965805,3.00439229649e-05,-0.000254449666689,-5.2377020319e-05,1793192692463256576
+96,1.600000000,BASELINE,764,742,711,671,663.720130844,633,875,783,799.720130844,649,628,650.279869156,0.400975669124,-0.00541579865256,0.0498546502631,0.999999965523,2.76743582345e-05,-0.000255751114211,-5.27166510826e-05,1793192692479923200
+97,1.616666667,BASELINE,764,742,711,671,664,633,875.298330503,783.298330503,799.701669497,649,628.298330503,650.298330503,0.400975171701,-0.00541589263673,0.0498541919379,0.999999965332,2.65529241002e-05,-0.000256631666521,-5.26441875154e-05,1793192692496590080
+98,1.633333333,BASELINE,764,742,711,671,664,633,875.875635422,783.875635422,799.124364578,649,628.875635422,650.875635422,0.400974677996,-0.00541685381846,0.0498534971653,0.99999996523,2.65986402974e-05,-0.000257118631796,-5.21863668366e-05,1793192692513256704
+99,1.650000000,BASELINE,764,742,711,671,664,633,875.549761326,783.549761326,799,649,629,651,0.400974337876,-0.00541751012326,0.0498534064659,0.999999965163,2.50797743065e-05,-0.000257524112773,-5.22196318273e-05,1793192692529923328
+100,1.666666667,BASELINE,763.975209167,742,711,671,664,633,875,783,799.024790833,649.024790833,629,651,0.400974092734,-0.0054179670278,0.0498534960605,0.999999965115,2.33290374365e-05,-0.000257836973106,-5.24079981915e-05,1793192692546589952
+101,1.683333333,BASELINE,763.384900656,742,711,671,664,633,875,783,799.615099344,649.615099344,629,651,0.400975052201,-0.00541578486949,0.0498539148857,0.999999965344,2.60885803909e-05,-0.000256547381297,-5.30585992045e-05,1793192692563256576
+102,1.700000000,BASELINE,763.201610156,742,711,671,664,633,875,783,799.798389844,649.798389844,628.798389844,651,0.400974753733,-0.0054148565591,0.0498538842037,0.999999965288,2.730833434e-05,-0.000256585624457,-5.33056827378e-05,1793192692579923200
+103,1.716666667,BASELINE,763.781004638,742,711,671,664,633,875,783,799.218995362,649.218995362,628.218995362,651,0.400972098099,-0.00541627775406,0.0498530112191,0.999999964708,2.56427762247e-05,-0.000259112012454,-5.27966407011e-05,1793192692596589824
+104,1.733333333,BASELINE,764,742,711,671,664,633,875.356899393,783,799,649.356899393,628,650.643100607,0.4009731946,-0.0054171136113,0.0498535822403,0.999999965072,2.50064972098e-05,-0.000257818413725,-5.25321240074e-05,1793192692613256704
+105,1.750000000,BASELINE,764,742,711,671,664,633,875.930667606,783,799,649.930667606,628,650.069332394,0.400976571073,-0.00541759379002,0.0498550307072,0.999999966004,2.49956563165e-05,-0.000254203612042,-5.24161923376e-05,1793192692629923584
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,784,799,650,629,650,0.400975021917,-0.00541624132839,0.0498543532092,0.999999965372,2.52948048368e-05,-0.000256651638542,-5.23966468447e-05,1793192692660806400
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742.590390474,711,671,664.590390474,633,875.590390474,783.409609526,799.590390474,650,629,650.590390474,0.400973836819,-0.00541575735922,0.0498538603589,0.999999965085,2.5468759778e-05,-0.000257682917553,-5.2733824712e-05,1793192692677473024
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.82314837,711,671,664.82314837,633,876,783,800,649.82314837,629,651,0.400973784653,-0.00541563741126,0.0498539458027,0.999999965083,2.61429099964e-05,-0.000257602065704,-5.28366822877e-05,1793192692694139648
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.245590065,711,671,664.245590065,633,876,783,800,649.245590065,629,651,0.40097629946,-0.00541634225473,0.049855341533,0.999999965723,2.79503921068e-05,-0.000255001371526,-5.24086219787e-05,1793192692710806272
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.329696749,711,671,663.670303251,633,875.670303251,783,799.670303251,649.329696749,629,651,0.400976557524,-0.00541617541308,0.0498553985515,0.999999965802,2.84236864546e-05,-0.00025466868754,-5.22661030715e-05,1793192692727472896
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.903303081,711,671,663.096696919,633,875.096696919,783,799.096696919,649.903303081,629,651,0.400975146051,-0.00541536369895,0.0498544651913,0.999999965469,2.79099488815e-05,-0.00025601387715,-5.2334827656e-05,1793192692744139520
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.509003085,711,671.490996915,663.490996915,633,875.490996915,783,799.490996915,650,629,651,0.40097485056,-0.00541459518481,0.0498544362167,0.999999965365,2.86129273931e-05,-0.000256277726909,-5.26662609816e-05,1793192692760806144
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671.919999661,663.919999661,633,875.919999661,783.080000339,799.919999661,649.919999661,628.919999661,650.919999661,0.400975124079,-0.00541400341747,0.0498547834306,0.999999965368,2.93646587974e-05,-0.000256122282726,-5.29400129267e-05,1793192692777473024
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671.340650811,663.340650811,633,875.340650811,783.659349189,799.340650811,649.340650811,628.340650811,650.340650811,0.400977536902,-0.00541446020063,0.0498563341795,0.999999965763,2.88808492407e-05,-0.000254718196235,-5.25212492974e-05,1793192692794139648
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.237753965,633,875,783.762246035,799,649.237753965,628,650.237753965,0.400985761029,-0.00541551543119,0.0498599730325,0.999999967433,2.78629506231e-05,-0.000248296075513,-5.20340066311e-05,1793192692810806272
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.814811383,633,875,783.185188617,799,649.814811383,628,650.814811383,0.401002278583,-0.00541742471801,0.0498665918604,0.999999970791,2.60828428273e-05,-0.000234712617537,-5.14490361858e-05,1793192692827472896
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.389605434,711,670.610394566,664,633,875,783,799,650,628.389605434,651,0.401033468905,-0.0054177078132,0.0498774097662,0.999999975899,2.74652844327e-05,-0.000211791172547,-5.09038913157e-05,1793192692844139520
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.963329918,711,670.036670082,664,633,875,783,799,650,628.963329918,651,0.40107159326,-0.0054172224058,0.0498902120655,0.999999981259,3.03422778875e-05,-0.000184456796789,-5.03775670647e-05,1793192692860806144
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.447201801,711,670.552798199,664,633,875,783,799,650,629,651,0.40113314754,-0.00542088548926,0.0499073674519,0.999999987531,2.69227860588e-05,-0.000147666315805,-4.90651951469e-05,1793192692877472768
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783,799.140653331,649.859346669,629,651,0.401198521417,-0.00542460940323,0.0499228087398,0.99999999172,2.38575098991e-05,-0.000117155653952,-4.75959965777e-05,1793192692894139648
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783,799.720122065,649.279877935,629,651,0.401270820725,-0.00542763937758,0.0499319750188,0.999999992822,2.32386208016e-05,-0.000108251355741,-4.58049701509e-05,1793192692910806272
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.297368198,711,671.297368198,664,633,875.297368198,783,800,649.297368198,629,651,0.401352630551,-0.00543156405447,0.0499374752721,0.999999993616,2.12327197551e-05,-0.00010178985556,-4.42320183458e-05,1793192692927472896
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.87253794,711,671.87253794,664,633,875.87253794,783,800,649.87253794,629,651,0.401443325104,-0.00543632456283,0.0499395507214,0.999999994157,1.79310713762e-05,-9.76104192606e-05,-4.28627920882e-05,1793192692944139520
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,711,671.542952503,664,633,875.542952503,783,799.542952503,650,628.542952503,651,0.401546709344,-0.00544044107507,0.0499393146413,0.999999994023,1.63206665119e-05,-9.96270788636e-05,-4.19683147721e-05,1793192692960806144
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.956399071,711.043600929,671.043600929,664,633,875.043600929,783,799.087201858,650,628.043600929,651,0.401656365878,-0.00544439410178,0.0499386204851,0.99999999373,1.50674631331e-05,-0.000103041581654,-4.11640780442e-05,1793192692977473024
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.377399477,711.622600523,671.622600523,664,633,875.622600523,783,800.245201046,650,628.622600523,651,0.40179868041,-0.00544859099689,0.0499403824137,0.999999993934,1.22879841535e-05,-0.000101959557405,-3.98082437583e-05,1793192692994139648
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.798785386,671.798785386,664,633,876,783,800.798785386,650,629,651,0.401950448561,-0.0054540233987,0.0499407067359,0.999999993821,9.00288323846e-06,-0.000103934739447,-3.83878499022e-05,1793192693010806272
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.220893027,671.220893027,664,633,876,783,800.220893027,650,629,651,0.402119914061,-0.00546176869306,0.04993833983,0.999999993079,4.77124835442e-06,-0.000111633072358,-3.68465994024e-05,1793192693027472896
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.644730755,633,875.644730755,783,800,650,629,650.644730755,0.402319177523,-0.00547022658151,0.0499383812058,0.999999993232,8.99650734431e-07,-0.000110954509639,-3.50027788569e-05,1793192693044139520
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.069638916,633,875.069638916,783,800,650,629,650.069638916,0.40253687847,-0.0054791253878,0.0499399127039,0.99999999393,-2.74917449399e-06,-0.000105092749417,-3.29717431596e-05,1793192693060805888
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.517639114,633,875,783,799.482360886,649.482360886,629,650.517639114,0.402778215297,-0.00548802835645,0.0499436326821,0.999999994503,-8.35341716543e-06,-9.99556571063e-05,-3.05434905837e-05,1793192693077472512
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.10477086,742,711,671,664,632.89522914,874.89522914,783,799.10477086,649.10477086,629,650.89522914,0.403032804958,-0.00549697226593,0.0499480568911,0.999999995169,-1.35737821582e-05,-9.32134748251e-05,-2.80896031041e-05,1793192693094139136
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.683643353,742,711,671,664,632.316356647,874.316356647,783,799.683643353,649.683643353,629,650.316356647,0.403332629675,-0.00550609884581,0.0499543034266,0.999999996441,-1.58379464639e-05,-7.87562572227e-05,-2.57673587719e-05,1793192693110806016
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.738917508,742,711,671.261082492,664,632.261082492,874.261082492,783,799.738917508,650,628.738917508,650.261082492,0.403654407364,-0.00551640203389,0.0499623488422,0.999999997668,-1.93446615943e-05,-6.13747352068e-05,-2.28705802411e-05,1793192693127472896
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.163205729,742,711,671.836794271,664,632.836794271,874.836794271,783,799.163205729,650,628.163205729,650.836794271,0.404002640459,-0.00552812314643,0.0499725620795,0.999999998699,-2.43487687514e-05,-4.04691485311e-05,-1.92814333812e-05,1793192693144139520
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,671.582785405,664,633,875,783.417214595,799,649.582785405,628,651,0.404373489743,-0.00553736875817,0.0499801163337,0.999999999176,-2.55277068583e-05,-2.74622270224e-05,-1.55540275791e-05,1793192693160806144
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,671.000502184,664,633,875,783.999497816,799,649.000502184,628,651,0.404753286987,-0.00554563495155,0.0499866185758,0.999999999459,-2.51932380677e-05,-1.75803687875e-05,-1.17719204843e-05,1793192693177472768
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.58309603,711,671,664.58309603,633,875.58309603,783.41690397,799,649.58309603,628,651,0.405173816164,-0.00553939468137,0.0499812734816,0.999999999605,-4.30939569434e-06,-2.67928379694e-05,-7.26869002131e-06,1793192693194139392
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.834830791,711,671,664.834830791,633,875.834830791,783,799.165169209,650,628.165169209,651,0.405594304252,-0.00553078362707,0.0499709669164,0.99999999875,1.88134174994e-05,-4.61759951925e-05,-3.80867859487e-06,1793192693210806272
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.256574642,711,671,664.256574642,633,875.256574642,783,799.743425358,650,628.743425358,651,0.406014601578,-0.00551627457744,0.0499482773266,0.999999994732,4.74915142508e-05,-9.09547436019e-05,-2.95930752883e-06,1793192693227472896
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,671.319855831,664,633,875.319855831,783,799.680144169,650,629,651,0.406470670129,-0.00551214879117,0.0499290791905,0.999999990342,6.39617689719e-05,-0.000123386713022,-9.86367465969e-07,1793192693244139520
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,671.894830199,664,633,875.894830199,783,799.105169801,650,629,651,0.406955270023,-0.00551630474373,0.0499126658522,0.999999986846,7.0694993805e-05,-0.000145970837563,1.88273667691e-06,1793192693260806144
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.480444089,742.480444089,711,671.519555911,664,633,876,783,799.480444089,650,629,650.519555911,0.407504755743,-0.00552336136577,0.049918592031,0.999999988599,7.65192197973e-05,-0.000129991122591,6.97675351737e-06,1793192693277473280
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.932693584,743,711,671,664,633,876,783,799.932693584,650,628.932693584,650.067306416,0.408075885094,-0.00553019243579,0.0499315602074,0.999999991202,8.3162884968e-05,-0.000102560214361,1.26772734613e-05,1793192693294140160
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.354434426,743,711,671,664,633,876,783,799.354434426,650,628.354434426,650.645565574,0.408701053505,-0.00553038181897,0.0499600233137,0.999999993612,9.75720395695e-05,-5.3733988403e-05,1.92009911534e-05,1793192693310806784
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711,671,664,633,876,783.222317092,799,650,628,651,0.409326974209,-0.00553005163426,0.0499816302107,0.999999993444,0.000110088005911,-1.91926693597e-05,2.49677703972e-05,1793192693327474432
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,711,671,664,633,876,783.796681173,799,650,628,651,0.409954086158,-0.00552889869539,0.0499923800559,0.999999992385,0.000119606041041,-7.27200943784e-06,2.95359104709e-05,1793192693344143104
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.626434313,711,671,664,633,876,783.626434313,799,650,628,651,0.410572610875,-0.00552832606545,0.0499787065386,0.999999995789,7.93085486508e-05,-4.14522338971e-05,2.03408151019e-05,1793192693360808960
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.048168714,711,671,664,633,876,783.048168714,799,650,628,651,0.411186430093,-0.00552807142295,0.0499516499393,0.999999994835,1.17140245869e-05,-0.000100894004903,3.60398535612e-06,1793192693377473280
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.54030453,711,671,664,633,875.45969547,783,799.54030453,650,628.54030453,651,0.411864652054,-0.0055327708783,0.0499317904025,0.999999992168,1.46523193623e-05,-0.000124159473664,5.7322239259e-06,1793192693394139648
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.872669938,711,671,664,633,875.127330062,783.127330062,799.872669938,650,628.872669938,651,0.412570084368,-0.00553775192894,0.0499231472637,0.999999991465,2.34085002091e-05,-0.000128144578741,1.00115462464e-05,1793192693410806528
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.294062818,711,671,664,633,875.705937182,783.705937182,799.294062818,650,628.294062818,651,0.413351213298,-0.00554213553208,0.0499519389376,0.999999996576,3.00691183236e-05,-7.54476909779e-05,1.58391563887e-05,1793192693427473408
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.283239039,711,671,664,633,876,783.716760961,799.283239039,650,628,650.716760961,0.41410609748,-0.00554318708288,0.0499619557158,0.999999997527,3.37786582231e-05,-5.87229849999e-05,1.88780221185e-05,1793192693444139776
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.859192039,711,671,664,633,876,783.140807961,799.859192039,650,628,650.140807961,0.414833859068,-0.00554079511795,0.0499525695431,0.999999996092,3.44384012108e-05,-7.91737971534e-05,1.9034855006e-05,1793192693460806400
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.56607264,711,671,664,632.56607264,876,783,800,649.56607264,628.43392736,650.43392736,0.415583172144,-0.005540804872,0.0499325839386,0.99999999337,2.59214174935e-05,-0.000110951962172,1.66706346756e-05,1793192693477473024
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.008535486,711.008535486,671,664,632.008535486,876,783,799.991464514,649.008535486,628.991464514,650.991464514,0.416340566821,-0.00554163203492,0.0499097919066,0.999999989244,1.45138790137e-05,-0.000145314998138,1.35702898901e-05,1793192693494139648
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.601413452,711.601413452,671,664,632.601413452,876,783,799.398586548,649.601413452,628.398586548,650.398586548,0.417173804172,-0.00554521405077,0.049929679848,0.99999999425,8.50981107886e-06,-0.000105704645831,1.59234551988e-05,1793192693510806272
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.810945051,711.810945051,671,664,633,876.189054949,783,799,650,628.189054949,650,0.418008093486,-0.00554841309022,0.04995086274,0.99999999758,4.91390638283e-06,-6.68036050955e-05,1.88105885604e-05,1793192693527472896
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.234046143,711.234046143,671,664,633,876.765953857,783,799,650,628.765953857,650,0.418844540839,-0.00555082645801,0.0499747022061,0.99999999929,6.25832006051e-06,-2.93577111241e-05,2.27931508638e-05,1793192693544139520
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.342840672,711,671.342840672,664,632.657159328,877,783,799,650,629,650,0.419645728758,-0.00554914393588,0.0499685844462,0.999999998737,7.94054869372e-06,-4.36294424498e-05,2.36309338006e-05,1793192693560806400
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.919719208,711,671.919719208,664,632.080280792,877,783,799,650,629,650,0.420422847029,-0.00554466538215,0.049942016588,0.999999995359,9.85338435346e-06,-9.32058619875e-05,2.23219542019e-05,1793192693577473280
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.494261862,711.505738138,672,664,632.505738138,877,783,799,650,629,650,0.421305994141,-0.00554542187245,0.0499579664041,0.999999998439,2.00157383945e-06,-5.15180883927e-05,2.15347395598e-05,1793192693594139904
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,672,664.091975969,632.908024031,876.908024031,783.091975969,799.091975969,650,628.908024031,650,0.422195565512,-0.0055477548162,0.0499769986299,0.999999999739,-6.89309923779e-06,-4.79326248548e-06,2.12586334207e-05,1793192693610806528
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,672,664.67154062,632.32845938,876.32845938,783.67154062,799.67154062,650,628.32845938,650,0.423028325394,-0.00555395846383,0.0499759334136,0.9999999996,-1.29478517296e-05,-9.58009861743e-06,2.32448897004e-05,1793192693627473152
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.249531266,712,672,664.750468734,632.249531266,876,784,799.750468734,650,628.249531266,650,0.42385667913,-0.00555780960852,0.0499679358954,0.999999999273,-1.78091307506e-05,-2.34080162958e-05,2.42764948945e-05,1793192693644139776
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.82546311,712,672,664.17453689,632.82546311,876,784,799.17453689,650,628.82546311,650,0.424679269503,-0.00555858355124,0.049950870546,0.999999998284,-2.11092818711e-05,-4.90621649702e-05,2.40593643946e-05,1793192693660806400
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711.599056179,672,664.400943821,633,876.400943821,783.599056179,799.400943821,650,629,650.400943821,0.425523590882,-0.00556072843084,0.0499616641383,0.999999998675,-2.74818093117e-05,-3.54052477155e-05,2.53113692531e-05,1793192693677473280
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,711.023771666,672,664.976228334,633,876.976228334,783.023771666,799.976228334,650,629,650.976228334,0.426377361413,-0.00556346942904,0.0499845715165,0.999999999,-3.51902848296e-05,-4.65486573346e-06,2.72021919706e-05,1793192693694139904
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,633,877,783,799.433997353,649.433997353,629,651,0.427189050531,-0.00556076592248,0.0499849300269,0.999999998633,-3.22222568269e-05,-2.86317668706e-05,2.95802902641e-05,1793192693710806528
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.847073813,711,672,665,633,876.847073813,783.152926187,799,649,628.847073813,650.847073813,0.427989153764,-0.00555838178568,0.0499752760894,0.999999997268,-3.03087427012e-05,-6.00048597068e-05,3.0750907689e-05,1793192693727473408
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.269793949,711,672,665,633,876.269793949,783.730206051,799,649,628.269793949,650.269793949,0.428762140531,-0.00555753505681,0.049940535651,0.999999993512,-3.25983564823e-05,-0.000105355917299,2.85126151136e-05,1793192693744140032
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.306584822,711.306584822,672,664.693415178,633,876.306584822,783.693415178,799.306584822,649.306584822,628.306584822,650.306584822,0.429566909202,-0.00555909268586,0.0499337475004,0.999999993402,-3.81018794408e-05,-0.000104799328566,2.75796978752e-05,1793192693760806656
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.882172927,711.882172927,672,664.117827073,633,876.882172927,783.117827073,799.882172927,649.882172927,628.882172927,650.882172927,0.430399563873,-0.00556275994374,0.049951485214,0.999999996491,-4.64253465648e-05,-6.39625061169e-05,2.77921415992e-05,1793192693777473280
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.53187913,711.53187913,672,664.46812087,632.53187913,876.53187913,783,800,649.53187913,628.53187913,650.53187913,0.431149197853,-0.00556293960389,0.0499451437457,0.999999995322,-5.00747268366e-05,-7.79359384736e-05,2.78342899587e-05,1793192693794139648
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.055810561,742,711,672,664.944189439,632.055810561,876,783,799.944189439,649,628,650.055810561,0.431879992614,-0.00556223838131,0.0499325393589,0.999999992737,-5.25586737453e-05,-0.000104851260419,2.77331709345e-05,1793192693810806016
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.63482954,742,711,672,664.36517046,632.63482954,876,783,799.36517046,649,628,650.63482954,0.432634506736,-0.00556169484417,0.0499193259096,0.999999990809,-5.53957676079e-05,-0.000120833799655,2.66998899248e-05,1793192693827472896
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.786971596,742,711,672,664.213028404,632.786971596,876.213028404,783,799,649.213028404,628.213028404,650.786971596,0.433386532501,-0.00556279459894,0.0499223264859,0.99999999158,-6.01929175533e-05,-0.000111809502339,2.67408284633e-05,1793192693844139776
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.210173078,742,711,672,664.789826922,632.210173078,876.789826922,783,799,649.789826922,628.789826922,650.210173078,0.434134309237,-0.00556670046055,0.0499530143439,0.999999995451,-6.83370855049e-05,-6.00832033265e-05,2.86161182711e-05,1793192693860806144
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.366093577,711,672,665,632,876.633906423,783,799.366093577,649.633906423,629,650,0.434839109161,-0.00556641028957,0.0499708181302,0.999999996276,-7.23539280726e-05,-3.65733277277e-05,2.95769435017e-05,1793192693877472768
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.942055299,711,672,665,632,876.057944701,783,799.942055299,649.057944701,629,650,0.435519271995,-0.00556371468534,0.0499812359444,0.999999996384,-7.40047245417e-05,-2.92389056219e-05,3.00135393333e-05,1793192693894139648
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632,876.529952753,783,799.470047247,649,629,650,0.436112371868,-0.00556191112311,0.0499564251151,0.999999993341,-7.03758615573e-05,-8.6162646295e-05,3.06706200111e-05,1793192693910806784
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.882835302,711,672.117164698,665,632.117164698,876.882835302,783,799,649,629,650,0.436709415189,-0.00556014242682,0.0499347373264,0.999999988614,-6.65862246085e-05,-0.000131782182789,3.11802614406e-05,1793192693927473408
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+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711.193647917,673.193647917,662,631,877,783,799,649,629,650.806352083,0.445074926416,-0.00554641029845,0.0497470898608,0.999999918598,9.90084551865e-05,-0.000390918651084,1.35880881928e-05,1793192694877473024
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711.769981187,673.769981187,662,631,877,783,799,649,629,650.230018813,0.445075831945,-0.00554594001995,0.0497481223651,0.999999919085,9.95196624923e-05,-0.000389533603175,1.37778995148e-05,1793192694894139392
+241,4.016666667,HOLD_POSE2,764,743,712,673,662,631,877,783,800,649,629,651,0.445073103425,-0.00554597461729,0.0497468217683,0.999999917922,9.99887101554e-05,-0.000392393279351,1.36018007497e-05,1793192694929254400
+242,4.033333333,HOLD_POSE2,764.57943626,743,711.42056374,673,662,631,877,783,799.42056374,649,628.42056374,651,0.445073599512,-0.0055458177812,0.0497470328326,0.999999918326,9.87261847579e-05,-0.000391691512183,1.34121617146e-05,1793192694945921024
+243,4.050000000,HOLD_POSE2,764.841426997,743,711,672.841426997,662.158573003,631,876.841426997,783,799.158573003,649.158573003,628.158573003,650.841426997,0.445073621847,-0.00554553135161,0.0497468697959,0.999999918404,9.81823748902e-05,-0.000391633226285,1.32463371981e-05,1793192694962587904
+244,4.066666667,HOLD_POSE2,764.263083,743,711,672.263083,662.736917,631,876.263083,783,799.736917,649.736917,628.736917,650.263083,0.445072390078,-0.00554490186487,0.0497457164476,0.999999917625,9.95411328214e-05,-0.000393278349814,1.31435539142e-05,1793192694979254528
+245,4.083333333,HOLD_POSE2,764,743,711.312257485,672.312257485,663,631,876.312257485,783,799.687742515,649.687742515,629,650,0.445072673877,-0.00554567706625,0.0497458277046,0.999999917754,9.88783628563e-05,-0.000393116400559,1.32034134616e-05,1793192694995921664
+246,4.100000000,HOLD_POSE2,764,743,711.885091526,672.885091526,663,631,876.885091526,783,799.114908474,649.114908474,629,650,0.445074222407,-0.0055476244695,0.0497469942653,0.999999918636,9.65286427677e-05,-0.000391446462361,1.33989972522e-05,1793192695012589312
+247,4.116666667,HOLD_POSE2,764,743,711.528487564,673,662.528487564,631.471512436,877.471512436,783,799.471512436,649.471512436,629,650,0.445075215348,-0.00554689474926,0.0497471019321,0.999999918661,9.86187164776e-05,-0.000390856490009,1.35234681966e-05,1793192695029255936
+248,4.133333333,HOLD_POSE2,764,743,711,673,662,632,877.879487982,783,799.939743991,649.939743991,628.939743991,650.060256009,0.44507573269,-0.00554556661124,0.0497468176027,0.999999918372,0.000101505871042,-0.0003908544244,1.36110997892e-05,1793192695045922304
+249,4.150000000,HOLD_POSE2,764,743,711,673,662,632,876.720725754,783,799.360362877,649.360362877,628.360362877,650.639637123,0.445073353717,-0.00554487049241,0.0497454452865,0.999999917287,0.000101661895865,-0.00039358262473,1.35350848639e-05,1793192695062588928
+250,4.166666667,HOLD_POSE2,764,743,711.217780865,673,662,631.782219135,876.217780865,782.782219135,799,649,628.217780865,651,0.445072386413,-0.00554454892368,0.0497450305079,0.999999917022,0.00010065016492,-0.000394523071332,1.33416339573e-05,1793192695079255040
+251,4.183333333,HOLD_POSE2,764,743,711.793888635,673,662,631.206111365,876.793888635,782.206111365,799,649,628.793888635,651,0.445073741807,-0.00554484362301,0.0497461912191,0.999999918105,9.77170607992e-05,-0.000392522027572,1.29549591421e-05,1793192695095921408
+252,4.200000000,HOLD_POSE2,764,743,712,672.631496013,662.368503987,631,877,782.368503987,799,649,628.631496013,650.631496013,0.44507318349,-0.00554531795233,0.049745685575,0.999999917746,9.76876397434e-05,-0.000393443016127,1.29220735782e-05,1793192695112588032
+253,4.216666667,HOLD_POSE2,764,743,712,672.057711977,662.942288023,631,877,782.942288023,799,649,628.057711977,650.057711977,0.445071559114,-0.00554589234696,0.0497442516656,0.999999916582,9.92757536881e-05,-0.000395991761465,1.30862709867e-05,1793192695129254400
+254,4.233333333,HOLD_POSE2,764,743,712,672,662.467844468,631,877,783,799,649,628.532155532,650,0.445073368068,-0.00554667683729,0.0497459461297,0.999999917758,9.78857039109e-05,-0.000393354197747,1.32479208147e-05,1793192695145921024
+255,4.250000000,HOLD_POSE2,764,743,712,672,662.121252561,631.121252561,877.121252561,783,799.242505121,649,629,650,0.445075241263,-0.00554704745287,0.0497474923101,0.999999918881,9.66967689035e-05,-0.000390780902821,1.33414276238e-05,1793192695162587648
+256,4.266666667,HOLD_POSE2,764,743,712,672,662.700642793,631.700642793,877.700642793,783,800.401285586,649,629,650,0.445075906491,-0.00554576552221,0.0497471563788,0.999999918857,9.75260931048e-05,-0.000390641825642,1.31785410215e-05,1793192695179254528
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,743,711,672,662,631,877,783,799,649,628,650,0.445077923912,-0.00554567951534,0.0497480792409,0.999999919387,9.99952832304e-05,-0.000388642068031,1.35429905664e-05,1793192695217153792
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.593512977,662,631,877,783,799,649,628,650,0.445076052967,-0.00554572565013,0.049746717086,0.999999918165,9.99718384112e-05,-0.000391793918591,1.3163932075e-05,1793192695233819904
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764.18251763,743,711.18251763,673,661.81748237,631,877,783,799.18251763,649.18251763,628,650.18251763,0.445074875378,-0.00554533212989,0.0497459505238,0.999999917353,0.000100452775608,-0.000393742489304,1.30048865486e-05,1793192695250486016
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764.761723887,743,711.761723887,673,661.238276113,631,877,783,799.761723887,649.761723887,628,650.761723887,0.445075204746,-0.00554398305184,0.049746478438,0.999999917452,0.000102029949967,-0.000393075820497,1.3324022926e-05,1793192695267152640
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764.659684705,743,711.659684705,672.659684705,661.340315295,631.340315295,877,783,799.659684705,650,628.340315295,651,0.445074921943,-0.00554412421758,0.0497466720985,0.999999917534,0.000101373614077,-0.00039303667899,1.33192975584e-05,1793192695283819264
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.081523051,743,711.081523051,672.081523051,661.918476949,631.918476949,877,783,799.081523051,650,628.918476949,651,0.445074211293,-0.0055453069148,0.0497466321489,0.999999917602,9.91562777808e-05,-0.000393436116351,1.30882251983e-05,1793192695300485888
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.492565485,661.507434515,631.507434515,876.507434515,783,799.492565485,650,629,650.507434515,0.445073890428,-0.00554379429284,0.0497462101251,0.999999917565,9.97736987395e-05,-0.000393383381099,1.28335138586e-05,1793192695317152512
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.932136031,661,631,876.067863969,783,799.932136031,649.932136031,629,650,0.445073039689,-0.00554225301241,0.0497455056095,0.999999917365,0.000100459829508,-0.000393724206773,1.26131261948e-05,1793192695333819648
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.342391306,661,631,876.657608694,783,799.342391306,649.342391306,629,650,0.445067622136,-0.00554389372058,0.0497431110067,0.99999991604,9.80959541182e-05,-0.000397662345457,1.26865311812e-05,1793192695350486528
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711.242983177,672,661,631,876.757016823,783,799,649.242983177,629,650,0.445052711334,-0.00554435412049,0.0497364451783,0.999999911459,9.73160622754e-05,-0.000409220760248,1.2243779146e-05,1793192695367153152
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711.822308239,672,661,631,876.177691761,783,799,649.822308239,629,650,0.445024659797,-0.00554318071538,0.0497238670394,0.999999902043,9.87287504154e-05,-0.000431327304091,1.10865528433e-05,1793192695383819520
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711.600893419,672,661,631,876.399106581,783,799,650,628.600893419,650,0.444976658935,-0.00554126611973,0.0497048051992,0.999999886695,0.00010005095312,-0.000465293894741,1.00238446317e-05,1793192695400486144
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.025212906,672,661,631,876.974787094,783,799,650,628.025212906,650,0.44491983203,-0.00553902360425,0.0496828748192,0.999999867561,0.000101333122991,-0.000504507644297,9.00295328598e-06,1793192695417152768
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,672,661,631,876.452629075,783,799.547370925,649.452629075,628.547370925,650,0.444851688788,-0.00553655746828,0.0496679015827,0.999999859138,0.0001009118303,-0.000521049231572,7.0226201226e-06,1793192695433819392
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.875719904,711,672.248560192,661,631,876.124280096,783,800,649.124280096,629,650,0.444780145436,-0.00553350403611,0.0496556049428,0.999999851796,0.000101380053156,-0.000534886673944,5.21322649191e-06,1793192695450485760
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.281934472,711,673.436131057,661,631,876.718065528,783,800,649.718065528,629,650,0.444697715236,-0.00552827060953,0.049652216127,0.99999984731,0.000105503443715,-0.000542431445391,4.21562317513e-06,1793192695467152640
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.304368432,742.304368432,711,673.391263135,661,631,877,783,800,649.695631568,629,650,0.444603915925,-0.00552265048417,0.0496528432688,0.999999845982,0.000110412615177,-0.000543906133064,3.46293458582e-06,1793192695483819520
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.883906588,742.883906588,711,672.232186825,661,631,877,783,800,649.116093412,629,650,0.444499838168,-0.00551668075718,0.0496571011089,0.999999847522,0.000116032185668,-0.000539893052538,2.93166559424e-06,1793192695500486400
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.541530224,743,711.458469776,672.458469776,661.458469776,631,877,783,800,649,629,650.458469776,0.444370686596,-0.00551265487031,0.0496611960429,0.999999850801,0.000119757857291,-0.000532961922427,2.61754536466e-06,1793192695517153024
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,631.032613067,876.967386933,783,800,649,629,650.967386933,0.444233595278,-0.00550891978176,0.0496651275676,0.999999854328,0.0001231646341,-0.000525516949456,2.33431424456e-06,1793192695533819904
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,631.620834269,876.379165731,783,800,649,629,650.379165731,0.444068245249,-0.00550184325222,0.0496669704165,0.999999855527,0.00012922105907,-0.000521771111118,1.65061107364e-06,1793192695550486016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,632,876.206842957,783,800,649,629,650.206842957,0.443886773588,-0.00549433209968,0.0496695147563,0.999999856545,0.000135375301254,-0.000518249707098,8.55401290083e-07,1793192695567152640
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,632,876.788838727,783,800,649,629,650.788838727,0.443676062007,-0.00548603266852,0.0496733313958,0.999999857277,0.000141706954688,-0.000515135361921,-1.42048901335e-07,1793192695583819520
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,632,876.634557195,783,800,649,629,650.634557195,0.443446072972,-0.00547618305652,0.0496795821052,0.999999860942,0.000148535693641,-0.000506014254998,-1.5501570429e-06,1793192695600486144
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,632,876.061023212,783,800,649,629,650.061023212,0.443205106912,-0.00546545073664,0.0496872188281,0.999999866124,0.000155647484605,-0.000493472765321,-3.19210295606e-06,1793192695617153024
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,632,876,783,800,649,629,650,0.442925677658,-0.00545595513921,0.049692787039,0.999999870567,0.000161911655736,-0.000482317665919,-4.40994676748e-06,1793192695633819648
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.306956086,743,711.306956086,673,662.693043914,632,876.693043914,783,799.306956086,649.693043914,629,650,0.442322326785,-0.00543427176523,0.0497204328611,0.999999891035,0.000174307364597,-0.00043301246496,-6.86135419863e-06,1793192695667153152
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.271376433,742.728623567,711.271376433,673,663,632,876.728623567,783,799.271376433,649.728623567,629,650,0.441985706353,-0.00542281545866,0.0497388106694,0.999999902885,0.000180805201039,-0.000401831672742,-8.45600130329e-06,1793192695683819520
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.423280168,711.576719832,673,663.423280168,632,876.423280168,783,799.576719832,649,629,650,0.44121157514,-0.00540843028641,0.049770185647,0.999999920272,0.000184515437285,-0.00035390725065,-1.26472386546e-05,1793192695717152768
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.025107097,633,875.974892903,783.974892903,800.949785805,650,628.025107097,651,0.401533655933,-0.00539235739133,0.049832086312,0.999999936782,0.000171921527976,-0.00030770124776,-4.6900474659e-05,1793192696767152896
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,876,783.435755559,801,650,628.564244441,651,0.401432184765,-0.00539574880603,0.0498350879367,0.999999940674,0.000163147052194,-0.000299597542884,-4.77157024538e-05,1793192696783819520
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.151457532,711,671,663,633,875.848542468,783,800.848542468,650,628.848542468,651,0.401337068193,-0.00540027538168,0.0498370227297,0.999999947596,0.000127434272632,-0.000293610944685,-4.85820160572e-05,1793192696800486144
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.730644426,711,671,663,633,875.269355574,783,800.269355574,650,628.269355574,651,0.401256543499,-0.00540739980985,0.0498367897422,0.999999955917,1.61847236249e-05,-0.000292299495288,-4.96524090726e-05,1793192696817152768
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.691824696,711,671,663.308175304,632.691824696,875,783,800,649.691824696,628,651,0.401186937824,-0.00541340377132,0.0498355665818,0.999999955083,-3.83067890837e-05,-0.000292997876843,-5.01966759358e-05,1793192696833819648
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.540216178,742,711,671,664,632.459783822,875.459783822,783,800,649.459783822,628.459783822,651,0.401084696878,-0.0054172647721,0.0498342371087,0.999999954641,-4.20592260764e-05,-0.000293895247209,-5.07447614589e-05,1793192696867152640
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.625993955,742,711,671,663.374006045,633,875.374006045,783.625993955,799.374006045,650,628.374006045,651,0.401028810523,-0.00541473391411,0.0498378387657,0.999999957297,-3.74418604397e-05,-0.000285227254209,-5.14744654103e-05,1793192696900486144
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.211596797,633,875.211596797,784,799.211596797,649.788403203,628.211596797,651,0.401011287114,-0.00541506528283,0.0498395839835,0.999999958586,-3.66702003756e-05,-0.000280772690546,-5.14703331142e-05,1793192696917152768
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.115813468,633,875,783.884186532,799,650,629,650.115813468,0.400977555552,-0.00541629760945,0.0498447105831,0.999999961053,-3.62571951997e-05,-0.000272071307267,-5.05704636254e-05,1793192697000486144
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.698218407,633,875,783.301781593,799,650,629,650.698218407,0.400976609318,-0.0054168200408,0.0498443537336,0.999999961035,-3.54399219722e-05,-0.000272245288748,-5.05717037472e-05,1793192697017152768
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.276614506,664,633,875,783.276614506,799,649.723385494,629,651,0.40097583371,-0.00541678386599,0.0498446097349,0.999999961256,-3.51460833186e-05,-0.000271464278459,-5.05940722534e-05,1793192697033819648
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.850699473,664,633,875,783.850699473,799,649.149300527,629,651,0.400975241593,-0.00541614696764,0.0498455247944,0.999999961733,-3.5415144784e-05,-0.00026965627269,-5.06391621648e-05,1793192697050486272
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742.408391845,711.591608155,670.408391845,663.408391845,632.591608155,875,783.591608155,799.591608155,650,628.591608155,650.408391845,0.400975654596,-0.00541527341412,0.0498481419251,0.999999962649,-3.25986558131e-05,-0.000266574245833,-5.07715729368e-05,1793192697100486144
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.818418793,670.363162413,663.181581207,633,875,783.818418793,799.818418793,650,628.818418793,650.181581207,0.400975235234,-0.00541610422616,0.0498477276004,0.999999962526,-3.27419774863e-05,-0.000267029297817,-5.07084878896e-05,1793192697117152768
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.241224221,671.517551557,663.758775779,633,875,783.241224221,799.241224221,650,628.241224221,650.758775779,0.400973280717,-0.00541607335357,0.0498463957166,0.999999961946,-3.31775244746e-05,-0.000269122093259,-5.08062671353e-05,1793192697133819648
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.666266157,742,711.333733843,671.666266157,664.333733843,633,875,783,799,650,628.333733843,651,0.400971769161,-0.00541587776652,0.0498460835001,0.999999961704,-3.41126513247e-05,-0.000269879256601,-5.09210024239e-05,1793192697150486016
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.09291383,742,711.90708617,671.09291383,664.90708617,633,875,783,799,650,628.90708617,651,0.400970575647,-0.00541556391569,0.0498465033972,0.999999961707,-3.54064729458e-05,-0.000269677445975,-5.10479120385e-05,1793192697167152896
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.491809198,742,711.508190802,671,664.016381605,633,875,783.491809198,799,650,629,651,0.400972337144,-0.00541610631803,0.0498475745702,0.9999999624,-3.52079099207e-05,-0.000267189087756,-5.07051544225e-05,1793192697183819520
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.078225184,633,875,784,799.078225184,650,629,651,0.40097424934,-0.0054166301652,0.0498485263792,0.999999963062,-3.45709434921e-05,-0.000264856792664,-5.03170808259e-05,1793192697200486144
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.66137491,633,875,784,799.66137491,650,629,651,0.400973445497,-0.00541596537419,0.0498478947297,0.999999962715,-3.29671481458e-05,-0.000266386166038,-5.02227937016e-05,1793192697217152768
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875.241201272,783.758798728,799.758798728,650,629,651,0.400972700491,-0.00541572141329,0.0498475415602,0.999999962528,-3.17945128008e-05,-0.000267223443908,-5.02393708201e-05,1793192697233819392
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875.816425307,783.183574693,799.183574693,650,629,651,0.400972036964,-0.00541606023059,0.0498475740381,0.99999996257,-3.12189608652e-05,-0.000267102287058,-5.04094760765e-05,1793192697250486272
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742.390675364,711.390675364,671,664,633,875.609324636,783,799.390675364,650,629,650.609324636,0.400971334583,-0.00541659215634,0.0498471648405,0.99999996234,-3.26372852665e-05,-0.000267772969545,-5.05283910264e-05,1793192697267152896
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742.964468881,711.964468881,671,664,633,875.035531119,783,799.964468881,650,629,650.035531119,0.40097061399,-0.00541721459627,0.04984654862,0.999999961976,-3.49901834627e-05,-0.000268814804582,-5.06233119465e-05,1793192697283819776
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.447509995,711.447509995,671,664,633,875.552490005,783.552490005,799.447509995,649.447509995,628.447509995,650.552490005,0.400972421638,-0.00541653948684,0.0498486279268,0.999999962912,-3.47598924502e-05,-0.000265324983107,-5.06989364285e-05,1793192697300486144
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.139711486,711,671,664,633,875.860288514,783.860288514,799,649,628.139711486,651,0.400974011496,-0.00541584289052,0.0498501716283,0.999999963599,-3.43061826209e-05,-0.000262779053814,-5.07232882589e-05,1793192697317152768
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.721431703,711,671,664,633,875.278568297,783.278568297,799,649,628.721431703,651,0.400974384327,-0.00541534929585,0.0498494578877,0.999999963261,-3.36851102577e-05,-0.000264165731572,-5.05894573704e-05,1793192697333819392
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.700896834,742.700896834,711,671,664,633,875.299103166,783,799.299103166,649.299103166,629,651,0.40097471407,-0.00541524827118,0.0498493169073,0.999999963164,-3.32274691004e-05,-0.000264594984001,-5.05756534307e-05,1793192697350486016
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.126945733,742.126945733,711,671,664,633,875.873054267,783,799.873054267,649.873054267,629,651,0.40097500422,-0.00541550798169,0.0498497022403,0.999999963288,-3.29200059189e-05,-0.000264144451936,-5.06721430562e-05,1793192697367152640
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763,742,711.44777228,671,664,633,875.55222772,783,799.55222772,650,629,651,0.400973577433,-0.00541471897154,0.0498494129489,0.999999963085,-3.15474472314e-05,-0.000265061101904,-5.07717066257e-05,1793192697383819520
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.023320308,742,711.976679692,671,663.976679692,633,875,783.023320308,799,650,629,651,0.400971781592,-0.0054137714548,0.049848973658,0.999999962813,-3.00709782849e-05,-0.000266235623952,-5.08689630103e-05,1793192697400486144
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.613757486,742,711.386242514,671,663.386242514,633,875,783.613757486,799,650,629,651,0.400972868517,-0.00541621203037,0.0498495457269,0.999999963235,-3.34233953028e-05,-0.000264239101426,-5.08888825922e-05,1793192697417153024
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.199958391,633,875.199958391,783.800041609,799,650,628.800041609,651,0.400973555685,-0.00541746151603,0.0498497717688,0.999999963546,-3.49150466815e-05,-0.000262890663633,-5.07731912373e-05,1793192697433819392
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.77814618,633,875.77814618,783.22185382,799,650,628.22185382,651,0.400973486699,-0.00541645800674,0.0498493432867,0.999999963666,-3.2886984276e-05,-0.000262768104494,-5.04009863019e-05,1793192697450486016
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f0850999fb364f628decf814ad43866e4f43f75
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/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
+0,0.000000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+1,0.016666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+2,0.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+3,0.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+4,0.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+6,0.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+11,0.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+12,0.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+15,0.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+16,0.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+17,0.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+18,0.300000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+19,0.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+372,6.200000000,pose2_to_pose3_retreat,0.575713427143,5.46694600325e-05,1.04002909218,0.546284156098,0.00872739468205,1.03969838559
+373,6.216666667,pose2_to_pose3_retreat,0.575712932471,5.46384762522e-05,1.04002911203,0.546283661964,0.0087273655066,1.03969840508
+374,6.233333333,pose2_to_pose3_retreat,0.575712785463,5.46292683652e-05,1.04002911793,0.546283515115,0.00872735683613,1.03969841087
+375,6.250000000,pose2_to_pose3_retreat,0.575712760892,5.46277293807e-05,1.04002911891,0.546283490571,0.00872735538696,1.03969841184
+376,6.266666667,pose2_to_pose3_retreat,0.57571262202,5.46190311014e-05,1.04002912449,0.54628335185,0.00872734719635,1.03969841731
+377,6.283333333,pose2_to_pose3_retreat,0.57571240412,5.46053829386e-05,1.04002913323,0.546283134186,0.00872733434475,1.03969842589
+378,6.300000000,pose2_to_pose3_retreat,0.575712254627,5.4596019388e-05,1.04002913923,0.546282984855,0.00872732552769,1.03969843178
+379,6.316666667,pose2_to_pose3_retreat,0.575711712553,5.45620665574e-05,1.04002916098,0.54628244337,0.00872729355648,1.03969845314
+380,6.333333333,pose2_to_pose3_retreat,0.575711560777,5.4552534185e-05,1.04002916744,0.546282291754,0.00872728455951,1.03969845943
+381,6.350000000,pose2_to_pose3_retreat,0.575711404192,5.45415996777e-05,1.04002918965,0.546282135114,0.00872727335162,1.03969847933
+382,6.366666667,pose2_to_pose3_retreat,0.575711123824,5.45220213711e-05,1.04002922944,0.546281854648,0.00872725328381,1.03969851496
+383,6.383333333,pose2_to_pose3_retreat,0.575710720181,5.44938345791e-05,1.04002928671,0.546281450864,0.00872722439229,1.03969856626
+384,6.400000000,pose2_to_pose3_retreat,0.575710195815,5.44572176311e-05,1.04002936112,0.546280926315,0.00872718685984,1.03969863291
+385,6.416666667,pose2_to_pose3_retreat,0.575710048261,5.44688368242e-05,1.04002934505,0.546280778602,0.00872719800475,1.0396986186
+386,6.433333333,pose2_to_pose3_retreat,0.575709749713,5.45222690403e-05,1.04002926202,0.546280479584,0.0087272501816,1.03969854453
+387,6.450000000,pose2_to_pose3_retreat,0.575709546771,5.45585903741e-05,1.04002920558,0.546280276322,0.00872728564958,1.03969849417
+388,6.466666667,pose2_to_pose3_retreat,0.575709391682,5.45863472092e-05,1.04002916244,0.546280120989,0.00872731275428,1.0396984557
+389,6.483333333,pose2_to_pose3_retreat,0.575709327802,5.46101618622e-05,1.04002909093,0.546280057599,0.00872733828783,1.03969838555
+390,6.500000000,pose2_to_pose3_retreat,0.575709325462,5.46114524377e-05,1.04002908649,0.546280055298,0.00872733970852,1.03969838115
+391,6.516666667,pose2_to_pose3_retreat,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502784,1.03969833366
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7478e74ead0201b3c4215e1ee5d41405f83f6de7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a243785f83a468fdc094aec38e3a9b509f88aa6987c29a38be11a9220bd17b89
+size 25133029
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..79e1b1dd4b60118ebc28d7ee2249b792259466ef
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/franka_data.csv
@@ -0,0 +1,397 @@
+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,764,742,711,671,664,633,875,784,799,650,630,651,0.400972678208,-0.00541816414466,0.0498494505533,0.999999963495,-3.59500788527e-05,-0.000263069329887,-5.01304731145e-05,1793192697601048576
+1,0.016666667,BASELINE,763.402236127,742,711,671,663.402236127,633,874.402236127,784,799,650,629.402236127,651,0.400974966348,-0.00541761556051,0.0498508975272,0.999999964103,-3.40280982776e-05,-0.000260999167034,-5.01493341854e-05,1793192697617715200
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+7,0.116666667,BASELINE,764,742.91267345,710.08732655,671.08732655,664,633,875.91267345,783,799,650,629,651,0.400972089557,-0.00541692942842,0.0498487953515,0.999999963211,-3.43536104366e-05,-0.000264250545695,-5.06832648039e-05,1793192697717715200
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+9,0.150000000,BASELINE,764,742.242933333,711,671.514133334,664,633,875,783,799.242933333,650,629,650.757066667,0.400974221944,-0.00541576763948,0.0498512528194,0.999999964342,-2.97819568051e-05,-0.00026054643617,-5.04352375271e-05,1793192697751048448
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+12,0.200000000,BASELINE,764,742.0359588,711,670.9640412,663.0359588,633,875,783,800,650,628.0359588,650.9640412,0.400973603957,-0.00541410899169,0.04985061219,0.999999964383,-2.84295225764e-05,-0.00026053777675,-5.04634253367e-05,1793192697801048320
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+15,0.250000000,BASELINE,764,742,711,671,663.273995718,632.726004282,875.726004282,783,799.273995718,649.726004282,628.726004282,650.726004282,0.400975828964,-0.00541707208825,0.0498520632789,0.999999964775,-3.16725370955e-05,-0.000258693147126,-5.02388326728e-05,1793192697851048192
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+21,0.350000000,BASELINE,764,742,711,671,663,633,875,783.208457753,799,650,628.791542247,651,0.400972603273,-0.00541678536451,0.0498509005487,0.999999964109,-2.98389757606e-05,-0.000261496176851,-5.01045872654e-05,1793192697951048448
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+27,0.450000000,BASELINE,764,742.313949721,711,671,663.686050279,633,875,783,799,650,629,650.313949721,0.40097277051,-0.0054196500372,0.0498511425055,0.99999996395,-3.48499137827e-05,-0.000261580797709,-4.95986375633e-05,1793192698051048192
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+39,0.650000000,BASELINE,763,742.35508593,711,671,664,633,875.64491407,783,799,649.35508593,628.35508593,651,0.400972944839,-0.00541779453392,0.0498515384131,0.999999964245,-3.22725802224e-05,-0.000260770364091,-4.96661270388e-05,1793192698251048704
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+43,0.716666667,BASELINE,764,742,711,671.9600541,664,633,875,783.0399459,799.9600541,650,628,651,0.400973359817,-0.00541705064893,0.0498524355296,0.999999964699,-3.19772052978e-05,-0.000259059807416,-4.96667612816e-05,1793192698317715200
+44,0.733333333,BASELINE,764,742,711,671.45198874,664,633,875,783,800,649.45198874,628,651,0.400973538833,-0.00541735945496,0.0498521965717,0.999999964658,-3.29485041184e-05,-0.000259043991492,-4.99522296457e-05,1793192698334381824
+45,0.750000000,BASELINE,764,742,711,671,664,633,875,783,799.864973194,649.135026806,628.135026806,650.864973194,0.400973784963,-0.00541742500881,0.049851916174,0.999999964634,-3.33395572655e-05,-0.000259050327572,-5.01407113903e-05,1793192698351048192
+46,0.766666667,BASELINE,764,742,711,671,664,633,875,783,799.284394168,649.715605832,628.715605832,650.284394168,0.40097377259,-0.00541652292256,0.049851368285,0.999999964583,-3.17250543529e-05,-0.00025948832879,-4.99421468619e-05,1793192698367714816
+47,0.783333333,BASELINE,763.706770104,742,711,671,663.706770104,633,875,783.293229896,799.293229896,650,629,650.293229896,0.400974126204,-0.00541699257654,0.0498515379107,0.999999964686,-3.14622015312e-05,-0.000259156182436,-4.97577553271e-05,1793192698384381952
+48,0.800000000,BASELINE,763.131983302,742,711,671,663.131983302,633,875,783.868016698,799.868016698,650,629,650.868016698,0.400974831235,-0.00541877936399,0.0498523964878,0.999999964939,-3.24971916956e-05,-0.00025808454684,-4.95869725595e-05,1793192698401048832
+49,0.816666667,BASELINE,763,742,711,671,663.451953403,633,875,784,799.548046597,649.548046597,628.548046597,651,0.400974787151,-0.0054186240844,0.0498522838771,0.99999996497,-3.054389241e-05,-0.000258219705989,-4.94941207045e-05,1793192698417715456
+50,0.833333333,BASELINE,763.038352098,742.038352098,711,671,663.961647902,633,875,783.961647902,799,649.038352098,628.038352098,651,0.400974510922,-0.00541789987729,0.04985197675,0.99999996494,-2.79562082022e-05,-0.000258638317454,-4.94486741972e-05,1793192698434382080
+51,0.850000000,BASELINE,763.620986899,742.620986899,711,671,663.379013101,633,875,783.379013101,799,649.620986899,628.620986899,651,0.400974108928,-0.00541731660256,0.0498530172505,0.999999965066,-2.90060516403e-05,-0.000257974831956,-4.97463416e-05,1793192698451048704
+52,0.866666667,BASELINE,764,742.800153228,711,671,663.199846772,633,875.199846772,783,799.199846772,650,629,651,0.400974109439,-0.00541706847537,0.0498535127971,0.999999965142,-2.97835293406e-05,-0.000257552809628,-4.99585996644e-05,1793192698467715328
+53,0.883333333,BASELINE,764,742.228319887,711,671,663.771680113,633,875.771680113,783,799.771680113,650,629,651,0.400974859159,-0.00541744417807,0.0498529939887,0.999999965124,-3.00540365842e-05,-0.000257580236962,-5.00118802773e-05,1793192698484381696
+54,0.900000000,BASELINE,764,742,711,671,664,633,875.652482528,783,800,649.652482528,629,650.652482528,0.400974177276,-0.00541780081607,0.0498521574529,0.999999964837,-3.04334578489e-05,-0.000258639009728,-5.00524078474e-05,1793192698501048320
+55,0.916666667,BASELINE,764,742,711,671,664,633,875.073983878,783,800,649.073983878,629,650.073983878,0.400972543861,-0.00541814478251,0.0498511097361,0.999999964369,-3.08852699636e-05,-0.000260383277183,-5.008445897e-05,1793192698517714944
+56,0.933333333,BASELINE,764,742,711,670.487570897,663.487570897,632.487570897,875,783,799.487570897,649.512429103,629,650.512429103,0.400973804327,-0.00541824097383,0.0498521490145,0.99999996465,-3.24728419415e-05,-0.000259163381842,-4.98058293144e-05,1793192698534382080
+57,0.950000000,BASELINE,763.901403527,742,711.098596473,670.098596473,663.098596473,632.098596473,875,783,799,649.901403527,629,650.901403527,0.400974944907,-0.00541835136788,0.0498531755897,0.999999964897,-3.39399269006e-05,-0.000258066270191,-4.95532264554e-05,1793192698551048704
+58,0.966666667,BASELINE,763.32209238,742,711.67790762,670.67790762,663.67790762,632.67790762,875,783,799,649.32209238,629,650.32209238,0.400973431925,-0.00541870816083,0.0498526480851,0.999999964471,-3.40075307307e-05,-0.000259687094665,-4.96496474987e-05,1793192698567715584
+59,0.983333333,BASELINE,763.256472328,742.256472328,711.743527672,671,664,633,875,783,799,649.256472328,628.743527672,650.256472328,0.400972887007,-0.00541877107316,0.0498520350993,0.999999964282,-3.37062004078e-05,-0.00026043935224,-4.9702349117e-05,1793192698584381952
+60,1.000000000,BASELINE,763.834102413,742.834102413,711.165897587,671,664,633,875,783,799,649.834102413,628.165897587,650.834102413,0.40097355431,-0.00541846598468,0.0498513150728,0.999999964395,-3.29428862751e-05,-0.000260103980036,-4.97003047545e-05,1793192698601048320
+61,1.016666667,BASELINE,764,742.58942257,711,670.58942257,664,633,875,783,799,649.58942257,628.41057743,650.58942257,0.400973553814,-0.00541921292233,0.0498514148253,0.999999964449,-3.43021342161e-05,-0.000259732663354,-4.96358472357e-05,1793192698617714944
+62,1.033333333,BASELINE,764,742.013412994,711,670.013412994,664,633,875,783,799,649.013412994,628.986587006,650.013412994,0.400973284244,-0.00542038374824,0.0498518448877,0.999999964475,-3.65166167387e-05,-0.000259346863743,-4.95462418599e-05,1793192698634381568
+63,1.050000000,BASELINE,764,742,711,670.573440894,664,633,875,783,798.426559106,649,628.426559106,650,0.40097327209,-0.00541919123824,0.0498519115431,0.99999996452,-3.4096581854e-05,-0.000259434918532,-4.99118423741e-05,1793192698651048448
+64,1.066666667,BASELINE,764,742,711,671,664,633,875,783,798.158969354,649,628.158969354,650.158969354,0.400973323977,-0.0054181794401,0.049851852004,0.999999964544,-3.22097908171e-05,-0.000259540437753,-5.01281522661e-05,1793192698667715072
+65,1.083333333,BASELINE,764,742,711,671,664,633,875,783,798.74028948,649,628.74028948,650.74028948,0.400973529707,-0.0054177974557,0.0498514802094,0.999999964529,-3.20332829098e-05,-0.000259662341928,-4.99189924458e-05,1793192698684381952
+66,1.100000000,BASELINE,764,742,711,671,664,632.682496795,875,783,799,649,629,650.682496795,0.400973459938,-0.00541678103464,0.0498514907668,0.999999964653,-2.92093556818e-05,-0.000259542713597,-4.97769835236e-05,1793192698701048576
+67,1.116666667,BASELINE,764,742,711,671,664,632.108599154,875,783,799,649,629,650.108599154,0.400973167692,-0.00541525228482,0.0498518100863,0.999999964872,-2.42475489904e-05,-0.000259228039697,-4.96892012023e-05,1793192698717715200
+68,1.133333333,BASELINE,764,742,711.475684546,671,664,632.475684546,875.475684546,783,799,649,628.524315454,650.475684546,0.400973171344,-0.00541643095975,0.049851626077,0.999999964725,-2.72152748359e-05,-0.00025948090532,-4.97984235693e-05,1793192698734381824
+69,1.150000000,BASELINE,764,742,711.938073244,671,663.938073244,633,875.938073244,783,799,649.061926756,628,651,0.400973241366,-0.00541796469865,0.049851364961,0.999999964505,-3.13670287614e-05,-0.000259830133517,-4.99496717641e-05,1793192698751048192
+70,1.166666667,BASELINE,764,742,711.355743759,671,663.355743759,633,875.355743759,783,799,649.644256241,628,651,0.400973288767,-0.00541717200464,0.0498514430829,0.999999964531,-2.99161612135e-05,-0.00025987600028,-5.00676887749e-05,1793192698767714816
+71,1.183333333,BASELINE,764,742,711,671,663,633,875.224232985,783,799.224232985,650,628.224232985,651,0.400973811177,-0.00541721483422,0.0498519640005,0.999999964717,-3.00514154171e-05,-0.000259150404506,-5.00325348204e-05,1793192698784381696
+72,1.200000000,BASELINE,764,742,711,671,663,633,875.800515972,783,799.800515972,650,628.800515972,651,0.400975079364,-0.00541856945141,0.0498531801156,0.999999965149,-3.26769103634e-05,-0.000257213598049,-4.97568995888e-05,1793192698801048320
+73,1.216666667,BASELINE,763.624481372,742,711,671,663,633,876,783,799.624481372,650,628.624481372,651,0.400975358192,-0.00541769918098,0.0498532455681,0.99999996526,-3.09489781423e-05,-0.000256987807355,-4.97991356284e-05,1793192698817714944
+74,1.233333333,BASELINE,763.050156579,742,711,671,663,633,876,783,799.050156579,650,628.050156579,651,0.400975113237,-0.00541565101584,0.0498527018394,0.999999965191,-2.69162648718e-05,-0.000257667858605,-5.0009658324e-05,1793192698834381568
+75,1.250000000,BASELINE,763.539533403,742,711,671,663.539533403,633,875.460466597,783,799.539533403,649.460466597,628,651,0.400975187964,-0.00541685116048,0.0498531223898,0.999999965257,-2.96202566035e-05,-0.000257130263789,-4.9927247837e-05,1793192698851048448
+76,1.266666667,BASELINE,764,742,711,671,664,633,875,783.128085196,799.871914804,649.128085196,628,650.871914804,0.400975347328,-0.00541791579419,0.0498534789702,0.999999965304,-3.21944714657e-05,-0.000256653138836,-4.98417717208e-05,1793192698867714816
+77,1.283333333,BASELINE,764,742,711,671,664,633,875,783.707446733,799.292553267,649.707446733,628,650.292553267,0.400975697115,-0.00541740787742,0.0498532850784,0.999999965271,-3.2040286254e-05,-0.000256799572725,-4.98442519775e-05,1793192698884381440
+78,1.300000000,BASELINE,763.716172391,742,711,671,663.716172391,632.716172391,875,783.716172391,799,649.716172391,628,650.283827609,0.400974640677,-0.00541752435015,0.0498525310612,0.999999964905,-3.19846441705e-05,-0.000258204172714,-4.9967287244e-05,1793192698901048320
+79,1.316666667,BASELINE,763.142831918,742,711,671,663.142831918,632.142831918,875,783.142831918,799,649.142831918,628,650.857168082,0.400972149845,-0.00541827771935,0.049851205699,0.999999964194,-3.20295191091e-05,-0.000260892140695,-5.02132923168e-05,1793192698917715200
+80,1.333333333,BASELINE,763.442093743,742,711,670.557906257,663,632,875,783,799.442093743,649,628,651,0.40097229629,-0.00541781955711,0.0498513631668,0.999999964289,-3.1183492928e-05,-0.000260637550462,-5.01720889533e-05,1793192698934381568
+81,1.350000000,BASELINE,764,742,711,670.030361861,663,632.030361861,875,783,799.969638139,649,628,650.969638139,0.400973292285,-0.00541710544146,0.0498520116201,0.999999964643,-3.01986462176e-05,-0.000259420626855,-5.00245531837e-05,1793192698951048448
+82,1.366666667,BASELINE,764,742,711,670.609568722,663,632.609568722,875,783,799.390431278,649,628,650.390431278,0.400973828543,-0.00541903057951,0.0498526423524,0.999999964853,-3.20474839253e-05,-0.000258455577529,-4.96773799539e-05,1793192698967714816
+83,1.383333333,BASELINE,764,742.188120874,711,671,663.376241748,633,875,783.188120874,799,649.188120874,628,650.188120874,0.400974227144,-0.00541986408836,0.0498528754547,0.999999964958,-3.30837672857e-05,-0.000257959854688,-4.94487266026e-05,1793192698984381696
+84,1.400000000,BASELINE,764,742.765319044,711,671,664.530638088,633,875,783.765319044,799,649.765319044,628,650.765319044,0.400974341037,-0.00541843985696,0.0498522861669,0.999999964856,-3.2439501447e-05,-0.000258434806936,-4.94651995943e-05,1793192699001048576
+85,1.416666667,BASELINE,764,742.660739346,711,671,664.660739346,633,875,783.660739346,799,649.660739346,628.339260654,651,0.40097416342,-0.00541811498061,0.0498522655505,0.999999964964,-3.22665481157e-05,-0.000258004104087,-4.96406669106e-05,1793192699017715200
+86,1.433333333,BASELINE,764,742.089029052,711,671,664.089029052,633,875,783.089029052,799,649.089029052,628.910970948,651,0.400973786071,-0.00541854334432,0.049852634568,0.999999965216,-3.24165218145e-05,-0.000256952877734,-4.99250716255e-05,1793192699034381824
+87,1.450000000,BASELINE,764,742,711,671,664,633,875,783,799.500539944,649,628.499460056,651,0.400973460085,-0.00541774888495,0.0498522048062,0.999999964941,-3.12718822594e-05,-0.000258157283263,-4.99525814745e-05,1793192699051048448
+88,1.466666667,BASELINE,764,742,711,671,663.908773701,633,875,783,800,649.091226299,628,651,0.400973224231,-0.00541686924816,0.0498517778437,0.99999996465,-2.9730497347e-05,-0.000259474080143,-4.98856721695e-05,1793192699067714816
+89,1.483333333,BASELINE,764,742,711,671,663.329726553,633,875,783,800,649.670273447,628,651,0.400973419688,-0.00541674021366,0.0498521536906,0.999999964814,-2.73444525722e-05,-0.000259167132253,-4.95672455567e-05,1793192699084381440
+90,1.500000000,BASELINE,763.752332174,742.247667826,711,671,663.247667826,633,875,783,800,650,628.247667826,651,0.400973291374,-0.00541681721968,0.0498523830232,0.999999964847,-2.75210860401e-05,-0.00025903816413,-4.94712364107e-05,1793192699101048320
+91,1.516666667,BASELINE,763.17712363,742.82287637,711,671,663.82287637,633,875,783,800,650,628.82287637,651,0.400972734873,-0.00541716671432,0.0498524185908,0.999999964705,-3.10868618741e-05,-0.000259144574283,-4.96693744072e-05,1793192699117714944
+92,1.533333333,BASELINE,763.406371106,742.593628894,711.406371106,671,664,632.593628894,875,783,799.593628894,650,628.593628894,651,0.400972936413,-0.00541783230102,0.0498518502339,0.99999996462,-3.13233133112e-05,-0.000259416855224,-4.98085690861e-05,1793192699134381568
+93,1.550000000,BASELINE,763.993552746,742.006447254,711.993552746,671,664,632.006447254,875,783,799.006447254,650,628.006447254,651,0.400973475234,-0.00541863852957,0.0498510131672,0.999999964563,-3.00784173176e-05,-0.000259762938629,-4.99215375755e-05,1793192699151048192
+94,1.566666667,BASELINE,763.427177575,742,711.427177575,671,664,632,875,783,799,649.427177575,628.572822425,651,0.400972644635,-0.00541857803134,0.0498514271833,0.999999964471,-2.87978395906e-05,-0.000260333197835,-4.95610961019e-05,1793192699167714816
+95,1.583333333,BASELINE,763,742.151717882,711.151717882,671,664,632.151717882,875,783,799,649.151717882,629,651,0.40097198846,-0.00541863111767,0.0498517252223,0.999999964404,-2.83949243839e-05,-0.000260677742576,-4.9315934125e-05,1793192699184381440
+96,1.600000000,BASELINE,763,742.72980864,711.72980864,671,664,632.72980864,875,783,799,649.72980864,629,651,0.400971865193,-0.00541903045237,0.0498516582975,0.999999964416,-3.04596177832e-05,-0.000260380967703,-4.94095123578e-05,1793192699201048320
+97,1.616666667,BASELINE,763.30654841,743,711.69345159,671,664,633,875,783,799,649.69345159,628.69345159,651,0.400972629093,-0.00541842882783,0.0498518604453,0.999999964569,-3.15579727646e-05,-0.000259639031434,-4.9540660487e-05,1793192699217714944
+98,1.633333333,BASELINE,763.88210261,743,711.11789739,671,664,633,875,783,799,649.11789739,628.11789739,651,0.40097417151,-0.00541694883034,0.0498522987128,0.999999964846,-3.18083355213e-05,-0.000258506452176,-4.97047773667e-05,1793192699234381568
+99,1.650000000,BASELINE,764,742.532809599,711,671,664,633,875,783,799,649.467190401,628.467190401,651,0.400974538981,-0.00541656442016,0.04985307942,0.999999965065,-3.1178332847e-05,-0.00025774245622,-4.96712082408e-05,1793192699251048192
+100,1.666666667,BASELINE,764,742,711,671,663.94602339,632.94602339,875,783,799.05397661,650,629,651,0.400974534264,-0.00541658676238,0.0498538102295,0.999999965245,-3.05904731785e-05,-0.000257122558735,-4.96274962915e-05,1793192699267715072
+101,1.683333333,BASELINE,764,742,711,671,663.366611399,632.366611399,875,783,799.633388601,650,629,651,0.400973852899,-0.00541782121684,0.0498531965686,0.999999965199,-3.26205591554e-05,-0.00025698108652,-4.99807889385e-05,1793192699284381696
+102,1.700000000,BASELINE,764,742.211707088,711,671,663.211707088,632.211707088,875,783,799.788292912,650,629,651,0.40097321973,-0.00541884021574,0.0498526200866,0.999999965008,-3.43554370431e-05,-0.000257481667584,-5.00729977432e-05,1793192699301048320
+103,1.716666667,BASELINE,764,742.788141633,711,671,663.788141633,632.788141633,875,783,799.211858367,650,629,651,0.400972669592,-0.00541948802923,0.0498521076562,0.999999964568,-3.55817323371e-05,-0.000259088373461,-4.97154131356e-05,1793192699317714944
+104,1.733333333,BASELINE,764,742.636139111,711,670.636139111,663.636139111,633,875,783,799.363860889,650,629,651,0.400972095977,-0.00541901673344,0.0498517178911,0.999999964377,-3.43160721084e-05,-0.000260002633521,-4.96760286837e-05,1793192699334381568
+105,1.750000000,BASELINE,764,742.06083546,711,670.06083546,663.06083546,633,875,783,799.93916454,650,629,651,0.400971508721,-0.00541789511348,0.0498513994079,0.999999964326,-3.16023147317e-05,-0.000260514507382,-4.98215531058e-05,1793192699351048192
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,711,671,664,633,875,783,800,649,628,651,0.4009745898,-0.00541725041307,0.0498538700944,0.999999965236,-3.11498935377e-05,-0.000257123098451,-4.94590037223e-05,1793192699381089792
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,711.573044404,670.426955596,664,633,875,783,800,649,628,651,0.40097507969,-0.00541736704368,0.0498532166533,0.999999965158,-3.14311471589e-05,-0.000257320020498,-4.98189486416e-05,1793192699397756672
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.852032631,711.852032631,670.147967369,664.147967369,632.852032631,875,783,800,649,628,651,0.400975492522,-0.00541735877958,0.0498529722894,0.999999965169,-3.15370608366e-05,-0.000257230110268,-4.99978529186e-05,1793192699414423552
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.271619296,711.271619296,670.728380704,664.728380704,632.271619296,875,783,800,649,628,651,0.400975680146,-0.00541698550116,0.0498539234851,0.999999965438,-3.11305301687e-05,-0.000256301910791,-4.96476521394e-05,1793192699431089920
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664.687006378,632.312993622,875.312993622,783,799.687006378,649.312993622,628.312993622,650.687006378,0.400975994481,-0.0054171184398,0.0498541391277,0.999999965587,-3.11186183818e-05,-0.000255761133991,-4.94398750826e-05,1793192699447756544
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664.098699486,632.901300514,875.901300514,783,799.098699486,649.901300514,628.901300514,650.098699486,0.400976420274,-0.00541769665358,0.0498537077682,0.999999965632,-3.14538185314e-05,-0.000255561139284,-4.93573758096e-05,1793192699464423168
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.482217416,742,711,671,664,633,875.517782584,783,799,650,629,650.482217416,0.400975315809,-0.00541697778522,0.0498532196745,0.999999965366,-3.1153898927e-05,-0.00025655026842,-4.97941621189e-05,1793192699481089792
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.877158328,741.938579164,711,671,663.938579164,633,875,783,799.061420836,649.938579164,628.938579164,651,0.400974281008,-0.00541624660415,0.0498528789703,0.999999965108,-3.09155150931e-05,-0.000257500255139,-5.02200965306e-05,1793192699497756160
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.722510055,741.361255027,711,671,663.361255027,633,875,783,799.638744973,649.361255027,628.361255027,651,0.400976422435,-0.00541760827905,0.0498538723264,0.99999996545,-3.22694125243e-05,-0.000256107989251,-4.96756035327e-05,1793192699514422784
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.2152551,741.2152551,711,671,663,633,875,783,799.7847449,649,628.2152551,651,0.400982940415,-0.00541846134406,0.0498564805839,0.999999966615,-3.27703017371e-05,-0.000251535329924,-4.9246391903e-05,1793192699531089664
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.790404194,741.790404194,711,671,663,633,875,783,799.209595806,649,628.790404194,651,0.400996775734,-0.00541846404279,0.0498617888625,0.999999969096,-3.1845010738e-05,-0.000241645238072,-4.90099240606e-05,1793192699547756288
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663,633,875,783,799,649,628.625997261,651,0.401028387675,-0.005420053594,0.049873427721,0.999999974573,-3.19732289821e-05,-0.000217961692539,-4.82108306063e-05,1793192699564423168
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663,633,875,783,799,649,628.037554034,651,0.401070192129,-0.00542255299261,0.04988869632,0.99999998099,-3.27054935904e-05,-0.000186369447287,-4.70891466443e-05,1793192699581090048
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.476337737,742,711,671,663.523662263,633,875,783,799,649.523662263,628.523662263,650.476337737,0.401134222977,-0.00542388438605,0.0499068985677,0.999999987391,-3.2954849238e-05,-0.000148376803015,-4.60129878797e-05,1793192699597756416
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.088838436,742,711,671,664,633,875.088838436,783,799,649.911161564,628.911161564,650,0.401200489924,-0.00542558200427,0.049923886572,0.999999991898,-3.35244911685e-05,-0.000114338638282,-4.48029043102e-05,1793192699614422784
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.687383483,742,711,671,664,633,875.687383483,783,799,649.312616517,628.312616517,650,0.401270893201,-0.00542983765349,0.0499327605025,0.999999992867,-3.61206379355e-05,-0.000105492444812,-4.28066270986e-05,1793192699631089408
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671.274054855,664,633,875.725945145,783,799,649.274054855,628,650,0.401348105045,-0.00543327893544,0.0499378718826,0.999999993403,-3.75907256055e-05,-0.000100303272355,-4.14816700489e-05,1793192699647756288
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,671.847744251,664,633,875.152255749,783,799,649.847744251,628,650,0.40143276095,-0.00543582983859,0.0499388695236,0.999999993537,-3.78296501077e-05,-9.91124598735e-05,-4.08906928543e-05,1793192699664422912
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.436943004,711,671.126113991,664,633,875,783,799.436943004,650,628,650.436943004,0.401535163816,-0.00543989839183,0.049937672323,0.999999993102,-4.04772617892e-05,-0.000102833143396,-3.97937793999e-05,1793192699681089536
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.03071281,742.96928719,711,670.06142562,664,633,875,783,800,650,628,651,0.401645839804,-0.0054445352902,0.049935893096,0.99999999247,-4.39226267373e-05,-0.000107925145146,-3.85143914317e-05,1793192699697756160
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.606175218,742.393824782,711,671.212350437,664,633,875,783,800,650,628,651,0.401789532875,-0.00544952777547,0.0499378550557,0.999999992641,-4.60828067238e-05,-0.00010586724354,-3.72405082421e-05,1793192699714422784
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.818290865,742,711,671.818290865,664,633,875.181709135,783,800,650,628,651,0.401940445534,-0.00545536566128,0.0499391768059,0.99999999258,-4.85715095464e-05,-0.000105834457837,-3.57678791595e-05,1793192699731089408
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.242601981,742,711,671.242601981,664,633,875.757398019,783,800,650,628,651,0.402107011605,-0.00546303653463,0.0499391104609,0.999999992015,-5.17725116919e-05,-0.000110192506445,-3.38643315809e-05,1793192699747756032
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.660267159,633,876,783,799.660267159,650,628.339732841,650.660267159,0.402299581023,-0.00547019853413,0.0499396191317,0.999999991957,-5.51934590303e-05,-0.000109547109304,-3.22420536102e-05,1793192699764422912
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.073091747,633,876,783,799.073091747,650,628.926908253,650.073091747,0.402511089856,-0.00547698989893,0.0499405466121,0.999999992258,-5.87746025886e-05,-0.000105257480033,-3.08246366355e-05,1793192699781089536
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.50806618,671,663,632.49193382,875.49193382,783,799.50806618,650,629,650,0.40275190043,-0.00548535126998,0.0499416145835,0.999999992354,-6.07049102533e-05,-0.000103885507324,-2.85260406944e-05,1793192699797756160
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.912262951,671,663,632.087737049,875,783.087737049,799.912262951,650,628.912262951,650,0.403005449844,-0.00549466384996,0.0499437556955,0.999999992622,-6.33210870636e-05,-0.000100350916606,-2.59965819657e-05,1793192699814423040
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.336107304,671,663,632.663892696,875,783.663892696,799.336107304,650,628.336107304,650,0.403306722569,-0.0055080290271,0.0499517596201,0.999999993813,-7.10620069918e-05,-8.24680783808e-05,-2.28793863701e-05,1793192699831089664
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.2392844,633,875,783.7607156,799,650,628.2392844,650.2392844,0.403623974647,-0.00551950274511,0.0499604943222,0.999999994927,-7.51707718525e-05,-6.4114004605e-05,-1.96080932202e-05,1793192699847756288
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.813606422,633,875,783.186393578,799,650,628.813606422,650.813606422,0.403963600438,-0.00552832810763,0.049970252233,0.999999996101,-7.419392015e-05,-4.51001244315e-05,-1.6121038272e-05,1793192699864422912
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632.601480553,875,783,799,649.601480553,629,651,0.404334080342,-0.00553731055992,0.049977340939,0.99999999663,-7.45084874937e-05,-3.2260236292e-05,-1.21572817492e-05,1793192699881089536
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632.011478733,875,783,799,649.011478733,629,651,0.404719385156,-0.00554636849114,0.0499831471335,0.999999996872,-7.54435615577e-05,-2.23868554883e-05,-7.96447766318e-06,1793192699897756160
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.56853514,711,671,664,632.56853514,875,783,799,649.56853514,628.43146486,651,0.405135383428,-0.00553523257798,0.0499792954389,0.999999998326,-4.99477929407e-05,-2.88446623342e-05,-4.62078174156e-06,1793192699914422784
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.853274023,742.853274023,711,671,664,632.853274023,875,783,799,649.853274023,628.146725977,650.853274023,0.405551845563,-0.00552293085629,0.0499703771889,0.999999998691,-2.31717281271e-05,-4.55674764858e-05,-2.01911436478e-06,1793192699931089920
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.27980905,742.27980905,711,671,664,632.27980905,875,783,799,649.27980905,628.72019095,650.27980905,0.405967885495,-0.00550840381627,0.0499472806576,0.999999995823,5.8027107324e-06,-9.12026942354e-05,-1.52656980672e-06,1793192699947756544
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.301120913,742,711,671,664,632,875,783,799,649.301120913,629,650,0.406413437167,-0.00550539428274,0.049927746908,0.99999999202,2.19952370527e-05,-0.000124398965307,4.34584586911e-07,1793192699964423168
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.889163936,742,711,671,664,632,875,783,799,649.889163936,629,650,0.406887109054,-0.00551335916711,0.049911607941,0.999999989034,2.60085618837e-05,-0.000145742830924,3.79509926863e-06,1793192699981089792
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632.471264762,875.471264762,783.471264762,799,649.528735238,629,650.471264762,0.407439475426,-0.00552108918376,0.0499150803971,0.999999990397,3.10222641279e-05,-0.000134811290007,8.32070798773e-06,1793192699997756160
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876,783.948388597,799.103222805,649.051611403,629,651,0.408014880767,-0.00552819226863,0.049925154879,0.999999992823,3.69511385085e-05,-0.000113185987916,1.33082031527e-05,1793192700014423040
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876,783.371845976,800.256308048,649.628154024,629,651,0.408638713837,-0.00552947376003,0.0499560498613,0.999999996811,4.98249141729e-05,-5.90396536515e-05,2.02411973969e-05,1793192700031089664
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.796102097,742,711,671.203897903,664,633,876,783,800.796102097,650,628.796102097,651,0.409263956769,-0.00552852512265,0.0499791292938,0.999999997285,6.54914229323e-05,-2.08992727602e-05,2.65196415674e-05,1793192700047756288
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.221809225,742,711,671.778190775,664,633,876,783,800.221809225,650,628.221809225,651,0.409891760778,-0.00552352529846,0.0499880112254,0.999999995712,8.62311284337e-05,-1.18348423316e-05,3.16090488828e-05,1793192700064422912
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.361539218,742,711,672,664,633,876,783,800,650,628.361539218,651,0.410501315939,-0.00552172434375,0.0499778781601,0.99999999352,0.000100696590557,-3.94191355288e-05,3.55792077436e-05,1793192700081089792
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.950586085,742,711,672,664,633,876,783,800,650,628.950586085,651,0.411099387529,-0.00552193635833,0.0499557794293,0.999999989005,0.00011121382619,-9.00655604507e-05,3.88450510924e-05,1793192700097756416
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,671.467999613,664,632.467999613,875.467999613,783.532000387,799.467999613,650,628.467999613,650.467999613,0.411787110134,-0.00552189531035,0.0499309731987,0.999999991821,2.23058452425e-05,-0.000125061058167,1.48428176704e-05,1793192700114423040
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,671.111625983,664,632,875.111625983,784,799,649.888374017,628,650,0.412498719388,-0.00552532081426,0.049916749144,0.999999988464,-5.64522970173e-05,-0.000140942115232,-4.5111121771e-06,1793192700131089920
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,671.686726554,664,632,875.686726554,784,799,649.313273446,628,650,0.413275421305,-0.00554323576467,0.0499474920128,0.999999994977,-5.52665543651e-05,-8.3409883446e-05,5.80217478487e-06,1793192700147756544
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.262019759,711,672,664,632.262019759,876,784,799,649,628,650,0.414033664466,-0.00555101380303,0.0499603431818,0.999999996983,-4.74133901506e-05,-6.01912382952e-05,1.2803975848e-05,1793192700164423168
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.837543526,711,672,664,632.837543526,876,784,799,649,628,650,0.414769822012,-0.00554666313039,0.0499517871157,0.999999996332,-3.15827230559e-05,-7.80284472439e-05,1.58436187006e-05,1793192700181089792
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.576728219,711.423271781,671.576728219,664,633,876,783.576728219,799.423271781,649,628,650,0.415506343143,-0.00554241320051,0.0499307941752,0.999999993052,-2.80560181847e-05,-0.000113484906051,1.51828133166e-05,1793192700197756416
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.012781873,711.987218127,671,664.012781873,633,876,783,799.987218127,649,628,650,0.416245599751,-0.00553840998116,0.0499059278165,0.999999987622,-2.94557291918e-05,-0.000154001255715,1.3150244063e-05,1793192700214423040
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.592033102,711.407966898,671,664.592033102,633,876,783,799.407966898,649,628,650,0.417099752466,-0.00554358456257,0.0499261736432,0.999999993053,-3.47268010104e-05,-0.000111658828867,1.4822515472e-05,1793192700231089664
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,671,664.83036456,633,876.16963544,783,799,649,628,650.16963544,0.41794767998,-0.00554834642317,0.0499476357776,0.99999999665,-3.75786335488e-05,-7.06354346878e-05,1.72925109637e-05,1793192700247756288
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711,671,664.256689598,633,876.743310402,783,799,649,628,650.743310402,0.418780780189,-0.00555212526059,0.0499719949255,0.999999998628,-3.46682956634e-05,-3.27537296086e-05,2.16625342166e-05,1793192700264422912
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.674766482,711,671,663.674766482,633,876.674766482,783,799,649,628.325233518,651,0.419576912859,-0.00555165463424,0.0499678243246,0.999999998229,-3.20847623973e-05,-4.44853987674e-05,2.30962923534e-05,1793192700281089536
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.086164172,711,671,663.086164172,633,876.086164172,783,799,649,628.913835828,651,0.420343109779,-0.00554774286133,0.0499405507977,0.999999994666,-2.9765870277e-05,-9.63931699097e-05,2.21523107111e-05,1793192700297756416
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.497095023,711.497095023,671,663.497095023,633,876,783,799,649,629,650.502904977,0.421233680569,-0.00554799277633,0.049957017655,0.999999997806,-3.10239348742e-05,-5.43318728637e-05,2.17637278748e-05,1793192700314423040
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.921468668,711.921468668,671.078531332,664.078531332,633,876.078531332,783,799,649,629,650,0.422138860951,-0.00554958370359,0.0499775640045,0.999999999203,-3.31862938438e-05,-4.45283139807e-06,2.17351132981e-05,1793192700331089664
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.345772008,711.345772008,671.654227992,664.654227992,633,876.654227992,783,799,649,629,650,0.423001500907,-0.00555514603375,0.0499764486736,0.99999999901,-3.71901180187e-05,-7.10169640208e-06,2.33823968734e-05,1793192700347756288
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.229013734,711.229013734,672,664.770986266,633,876.770986266,783,799.229013734,649,628.770986266,650,0.423850608148,-0.00555926393283,0.0499696625412,0.999999998711,-4.10525326238e-05,-1.73922474396e-05,2.42842792083e-05,1793192700364422912
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.802429678,711.802429678,672,664.197570322,633,876.197570322,783,799.802429678,649,628.197570322,650,0.424679364351,-0.00556120962564,0.0499543483759,0.999999997944,-4.47022890936e-05,-3.91747453073e-05,2.40651904302e-05,1793192700381089536
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.388495127,742.611504873,711.611504873,672,664,632.611504873,876,783,800,649,628,650,0.425527830075,-0.00556228667959,0.0499645148091,0.999999998162,-4.85528392432e-05,-2.64663514845e-05,2.48759030488e-05,1793192700397756160
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.98120999,742.01879001,711.01879001,672,664,632.01879001,876,783,800,649,628,650,0.426386656429,-0.00556290711714,0.0499880755968,0.999999998268,-5.25089400998e-05,4.37282658772e-06,2.6227950048e-05,1793192700414422784
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,742,711,672,664.560183291,632.560183291,876,783,799.439816709,649,628.560183291,650.560183291,0.427200164288,-0.00556201739423,0.0499853256697,0.999999997986,-5.08908706886e-05,-2.49510299344e-05,2.85471890327e-05,1793192700431089408
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.863105489,742.136894511,711,672,664.863105489,633,876.136894511,783.136894511,799,649.136894511,628.863105489,650.863105489,0.428010277462,-0.00556069615903,0.0499745217448,0.999999996519,-5.01088197497e-05,-5.96945556193e-05,2.9796868593e-05,1793192700447756032
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.292140466,742.707859534,711,672,664.292140466,633,876.707859534,783.707859534,799,649.707859534,628.292140466,650.292140466,0.428814331177,-0.00555816343998,0.0499409112459,0.999999992687,-5.25563133122e-05,-0.000105377354374,2.7554741044e-05,1793192700464422912
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.710892906,711,672,664,633,876.710892906,783.710892906,799.289107094,649.710892906,628.289107094,650.289107094,0.429635058874,-0.00555824479421,0.0499324860955,0.99999999221,-5.66707289982e-05,-0.000107951850161,2.67415028423e-05,1793192700481089792
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.118871778,711,672,664,633,876.118871778,783.118871778,799.881128222,649.118871778,628.881128222,650.881128222,0.430473256805,-0.00556106506262,0.0499504490769,0.999999995533,-6.25316741614e-05,-6.53593092607e-05,2.74253938595e-05,1793192700497756416
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.462432877,711,672.462432877,664,632.537567123,876,783.462432877,799.537567123,649,629,650.537567123,0.431243869072,-0.00556119277806,0.0499418455334,0.999999993834,-6.65428033939e-05,-8.46166549698e-05,2.72930049188e-05,1793192700514423040
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.959360366,711.040639634,672.959360366,664,632,876,783.959360366,799.040639634,649.040639634,629,650,0.431997918428,-0.00556082509487,0.0499270444888,0.999999990305,-7.00530654436e-05,-0.000117284169264,2.6971989685e-05,1793192700531089664
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.386465546,711.613534454,672.386465546,664,632,876,783.386465546,799.613534454,649.613534454,629,650,0.432757428315,-0.00556282881744,0.0499184899884,0.999999989517,-7.30901544259e-05,-0.000122072165094,2.68664457434e-05,1793192700547756544
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711.807905147,672,664.192094853,632.192094853,876.192094853,783,800,649.807905147,629,650,0.433523961554,-0.00556455875911,0.0499237938177,0.999999990872,-7.80266039455e-05,-0.000106959659067,2.69893649019e-05,1793192700564423424
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711.217599967,672,664.782400033,632.782400033,876.782400033,783,800,649.217599967,629,650,0.434305054255,-0.00556572115661,0.0499578257965,0.999999994564,-8.69004054921e-05,-5.0593651875e-05,2.75858852525e-05,1793192700581089792
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.365845228,711,672,665,633,877,783,799.634154772,649.365845228,629,650.365845228,0.435033334875,-0.00556427626126,0.0499735132042,0.999999995149,-8.83577426978e-05,-3.28047430077e-05,2.86048725309e-05,1793192700597756160
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.94528526,711,672,665,633,877,783,799.05471474,649.94528526,629,650.94528526,0.435730781682,-0.00556130912595,0.0499784903291,0.999999995195,-8.54850564983e-05,-3.75386617632e-05,2.98705125836e-05,1793192700614423040
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711,672,664.47553516,633,876.47553516,783,799,649.47553516,628.47553516,650.47553516,0.436358204693,-0.00555815987444,0.04994925136,0.999999991411,-8.09116096167e-05,-9.85699616694e-05,3.02647516592e-05,1793192700631089664
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.897361514,711,672,664,633,876,783.102638486,799,649,628.102638486,650,0.436987628059,-0.00555610377935,0.0499253725076,0.999999986061,-7.74295056933e-05,-0.000144719691627,3.06463778064e-05,1793192700647756288
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.323679819,711,672,664,633,876,783.676320181,799,649,628.676320181,650,0.437659741266,-0.00555915170486,0.0499424670129,0.999999991753,-7.97698409632e-05,-9.56319591133e-05,3.138712403e-05,1793192700664422912
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711.256405365,672,664.256405365,633,876.256405365,783.743594635,799.256405365,649,628.743594635,650,0.438309095272,-0.00556121854195,0.049959067128,0.999999994489,-8.09950373282e-05,-5.81154686776e-05,3.29204559345e-05,1793192700681089536
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711.844781161,672,664.844781161,633,876.844781161,783.155218839,799.844781161,649,628.155218839,650,0.438928982677,-0.00556201515443,0.0499750271503,0.999999995475,-8.07764528747e-05,-3.5580377928e-05,3.54799559641e-05,1793192700697756160
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672,664.573430394,632.573430394,877,783,799.573430394,649,628.426569606,650,0.439475876517,-0.00556224307336,0.0499579728752,0.999999994409,-7.89097808195e-05,-6.04969652603e-05,3.59856865429e-05,1793192700714422784
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711.994076029,672.005923971,664,632.005923971,877,783,799,649,629,650,0.43999601871,-0.00556225777162,0.0499291011623,0.999999991184,-7.64440004448e-05,-0.000102511506971,3.57644377739e-05,1793192700731089664
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711.42175811,672.57824189,664,632.57824189,877,783,799,649,629,650,0.440459278012,-0.00556137055643,0.0499014735956,0.999999984878,-7.31629428046e-05,-0.000153510195255,3.64012920388e-05,1793192700747757568
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672.847671444,664,632.847671444,876.847671444,783,799,649.152328556,628.847671444,650,0.440924446144,-0.00556002155121,0.0498810438429,0.9999999788,-6.90345770043e-05,-0.000190410416444,3.71105138101e-05,1793192700764425216
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672.268629914,664,632.268629914,876.268629914,783,799,649.731370086,628.268629914,650,0.441394961521,-0.00555737894859,0.0498807770834,0.999999979684,-6.25326744465e-05,-0.000187817078214,3.80224566719e-05,1793192700781091584
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.31614659,711,672.31614659,664,632,876,783,799.31614659,649.68385341,628.31614659,650,0.441845295387,-0.00555534312755,0.0498810288631,0.999999980724,-5.95944662467e-05,-0.000183219067711,3.78345426472e-05,1793192700797758208
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.905886098,711,672.905886098,664,632,876,783,799.905886098,649.094113902,628.905886098,650,0.442278164167,-0.00555383241479,0.0498817293862,0.999999981898,-5.97402757088e-05,-0.00017688621613,3.66948135988e-05,1793192700814424832
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.513613157,711,673,663.513613157,632,876,783,799.513613157,649,629,650,0.442648035783,-0.00555904812364,0.0498709741632,0.999999973777,-0.000114647124374,-0.000196929303645,2.28208166187e-05,1793192700831091200
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711.064714387,672.935285613,663,632,876.064714387,783,799.064714387,649,629,650,0.442999648579,-0.0055652711754,0.0498570911387,0.99999996021,-0.00017249288072,-0.000223050983344,8.57253683353e-06,1793192700847757312
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,711.639738988,672.360261012,663,632,876.639738988,783,799.639738988,649,629,650,0.443301611075,-0.00556936566388,0.0498356972594,0.999999952055,-0.000171515266919,-0.000257610936947,1.04409229812e-05,1793192700864423936
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711.780467705,672,662.780467705,632,877,783,800,649,629,650,0.443590475955,-0.00556877637529,0.0498128831719,0.999999942882,-0.000165777143866,-0.000294320826026,1.13290214341e-05,1793192700881090304
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,711.192675062,672,662.192675062,632,877,783,800,649,629,650,0.443857369855,-0.00556033015857,0.0497876867201,0.999999932393,-0.000152053376806,-0.00033463717874,1.05727097656e-05,1793192700897756928
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,711,672.389388436,662,631.610611564,876.610611564,783,800,649,629,650,0.44411348764,-0.00555540343943,0.0497739802857,0.999999926622,-0.000143196897897,-0.000355146934951,1.1013420309e-05,1793192700914423808
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711,672.968658226,662,631.031341774,876.031341774,783,800,649,629,650,0.444364350585,-0.00555219296714,0.0497658768406,0.999999923605,-0.000136713901952,-0.000365998207313,1.20378466337e-05,1793192700931090688
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.698930249,711,672,662,631,876.301069751,782.301069751,799.301069751,649,629,650.301069751,0.444988010797,-0.00554931736771,0.0497696209557,0.999999928778,-0.000125113510197,-0.000355770687243,1.47449556583e-05,1793192700981090048
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+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.131939946,711,672.868060054,661.131939946,631,876.868060054,782.868060054,799,649,628.131939946,649.131939946,0.445297394105,-0.00555979631244,0.0497574660389,0.999999922931,-0.000133881579977,-0.000368745364726,1.55319441885e-05,1793192701014423296
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+216,3.600000000,POSE1_TO_POSE2_PRESS,763.168555024,743,711,673,661.831444976,631,876.168555024,782,799,649.168555024,628.168555024,650,0.4460126447,-0.00555664409404,0.0497177113695,0.999999903649,-0.000134254501479,-0.000417790846594,1.13288414867e-05,1793192701214423808
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+218,3.633333333,POSE1_TO_POSE2_PRESS,763.997839452,743,711,672.002160548,661.002160548,631,877.995678903,782.997839452,799.997839452,649,628,650,0.446031425636,-0.00555430764109,0.0497196044617,0.999999905647,-0.000129300138249,-0.000414554855825,1.14424920562e-05,1793192701247756544
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+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711.145468755,672,660,631,876.854531245,782,799.854531245,649.145468755,628.145468755,650,0.446032906855,-0.00555606023712,0.049715668051,0.999999902955,-0.000132587791204,-0.000419976855333,1.13680667467e-05,1793192701281090048
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711.717716385,672,660,631,876.282283615,782,799.282283615,649.717716385,628.717716385,650,0.446033090357,-0.00555470236016,0.0497146868116,0.999999902261,-0.000130455711968,-0.000422300294176,1.10560954564e-05,1793192701297756416
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,672.594336527,660,631,876.405663473,783,799.405663473,649,628,650,0.446038301618,-0.00555085445381,0.0497125403352,0.999999902726,0.000114500461521,-0.000425836193579,1.00606897873e-05,1793192701581089792
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+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711,673,660,631,876.763270765,783,799,649.763270765,628,650.763270765,0.446039638898,-0.00554970915621,0.0497120172548,0.999999903449,0.000112296324766,-0.000424742477013,9.26708434208e-06,1793192701614423296
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.653451957,711,672.653451957,660,631,876.653451957,783,799,650,628,650.653451957,0.446040144404,-0.0055495997545,0.049712204558,0.999999903563,0.000112062094871,-0.000424535954037,9.21082480087e-06,1793192701631090176
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.07436689,711,672.07436689,660,631,876.07436689,783,799,650,628,650.07436689,0.446040193008,-0.0055506986159,0.049712611994,0.999999903429,0.000111829767517,-0.000424905927595,9.58891566355e-06,1793192701647757056
+243,4.050000000,HOLD_POSE2,764,742,711,672,660,631,877,782,799,649,629,650,0.446040348546,-0.00554946482158,0.0497137857549,0.999999903897,0.000111948022452,-0.000423769702976,9.66373676381e-06,1793192701678968064
+244,4.066666667,HOLD_POSE2,764,742,711.578308598,672,660,631,876.421691402,782,799,649.578308598,628.421691402,650,0.446040539329,-0.0055496996063,0.0497135294262,0.999999903851,0.000111483073998,-0.000423997513581,9.82190424335e-06,1793192701695634432
+245,4.083333333,HOLD_POSE2,764,742.159785162,711.840214838,672.159785162,660.159785162,631,876.159785162,782,799,649.840214838,628.159785162,650,0.446040815029,-0.005549972113,0.0497132408907,0.999999903745,0.000111508259641,-0.000424236968346,9.93580909037e-06,1793192701712300544
+246,4.100000000,HOLD_POSE2,764,742.749791598,711.250208402,672.749791598,660.749791598,631,876.749791598,782,799,649.250208402,628.749791598,650,0.446041319364,-0.00555034618611,0.0497128656386,0.999999903479,0.000112853130393,-0.000424507775043,9.93053691064e-06,1793192701728966912
+247,4.116666667,HOLD_POSE2,764,743,711,673,660.666683277,631,877,782,799,649.333316723,629,650.333316723,0.446041514864,-0.00554945113335,0.0497132646711,0.999999903589,0.000113843615423,-0.000423988899531,9.78071581621e-06,1793192701745633792
+248,4.133333333,HOLD_POSE2,764,743,711,673,660.087930664,631,877,782,799,649.912069336,629,650.912069336,0.446041482955,-0.00554762156691,0.0497142338439,0.999999903974,0.000114573150446,-0.000422888545962,9.52445694361e-06,1793192701762300672
+249,4.150000000,HOLD_POSE2,764,743,711,673,660,631,877,782.485684359,799.485684359,649.514315641,628.514315641,650.514315641,0.446040804202,-0.0055469237071,0.049713338185,0.999999903454,0.000115415787303,-0.000423892801476,9.26690300222e-06,1793192701778967552
+250,4.166666667,HOLD_POSE2,764,743,711.060177356,673,660,631,877,783,800,649.060177356,628,650,0.446040030775,-0.00554666304456,0.0497122184826,0.999999902806,0.000115954507904,-0.000425275892,9.07101486292e-06,1793192701795634176
+251,4.183333333,HOLD_POSE2,764,743,711.650513947,673,660,631,877,783,800,649.650513947,628,650,0.446039444201,-0.00554846789346,0.0497120682321,0.999999902473,0.000113637234197,-0.000426674793547,9.42044308623e-06,1793192701812300800
+252,4.200000000,HOLD_POSE2,764,743,712,673,660,631,877,782.763710731,799.763710731,649.763710731,628,650.236289269,0.446039640778,-0.00554877150151,0.0497123274701,0.999999902518,0.000113152980991,-0.00042669613108,9.53631502574e-06,1793192701828967168
+253,4.216666667,HOLD_POSE2,764,743,712,673,660,631,877,782.184554087,799.184554087,649.184554087,628,650.815445913,0.446040973748,-0.00554689673495,0.0497131808964,0.999999903113,0.000115328531083,-0.000424718555214,9.31328525584e-06,1793192701845633536
+254,4.233333333,HOLD_POSE2,764,743,711.607828067,672.607828067,660,631,877,782,799.392171933,649,628,650.607828067,0.446040598552,-0.00554701898907,0.0497125908104,0.999999902909,0.000115903963017,-0.000425043694835,9.23121847313e-06,1793192701862300160
+255,4.250000000,HOLD_POSE2,764,743,711.032238789,672.032238789,660,631,877,782,799.967761211,649,628,650.032238789,0.446039424454,-0.00554807524212,0.0497113255991,0.999999902333,0.000115731025872,-0.000426445805693,9.21507953208e-06,1793192701878967040
+256,4.266666667,HOLD_POSE2,764,743,711.544600937,672,660,631,876.455399063,782,799.455399063,649,628,650,0.446040996259,-0.00554972771907,0.0497126989407,0.999999903178,0.000112799194772,-0.000425241506392,9.46641434151e-06,1793192701895633408
+257,4.283333333,HOLD_POSE2,764,743,711.875999528,672.124000472,660,631,876,782.124000472,799,649,628,650.124000472,0.446042416878,-0.00555056441423,0.0497139296376,0.999999903899,0.000110815399415,-0.000424062572791,9.65872215362e-06,1793192701912300288
+258,4.300000000,HOLD_POSE2,764,743,711.28728453,672.71271547,660,631,876,782.71271547,799,649,628,650.71271547,0.446042660317,-0.00554821124005,0.0497140390326,0.999999903869,0.000112998015697,-0.000423558269333,9.57033940275e-06,1793192701928967424
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,660,631,876,782,799,649,628,650,0.446041843503,-0.00555133436635,0.0497121341729,0.999999903871,0.00010905461645,-0.000424592950978,9.25688429087e-06,1793192701966172928
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+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.158420741,711.158420741,672,659.158420741,631,877,783,800,649,628.841579259,650.158420741,0.446043641992,-0.00554741065001,0.049714945762,0.9999999043,0.000114589694455,-0.000422106708653,9.759953066e-06,1793192701999507200
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.734410007,711.734410007,672,659.734410007,631,877,783,800,649,628.265589993,650.734410007,0.4460426995,-0.00554874110941,0.049714194346,0.999999903671,0.000113929368242,-0.000423760763916,1.02135313591e-05,1793192702016173312
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,660,631,877,782.361779566,799.638220434,649.361779566,628,650,0.446036937284,-0.00554801892845,0.049710136924,0.999999901687,0.000111378040957,-0.000429107704298,9.34815489158e-06,1793192702099506432
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.217461107,711.217461107,672,660,631,877,782.217461107,800,649,628.217461107,650,0.446028783133,-0.00554775995421,0.0497066336663,0.999999899081,0.00011208096383,-0.000434960243857,9.26297372077e-06,1793192702116173312
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.536615403,671,664,633,875,783,799.536615403,649.463384597,628.536615403,651,0.400972308686,-0.00542164905797,0.0498478432339,0.999999950615,0.000159122913611,-0.000267070045153,-4.60892415094e-05,1793192704049506048
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.29648312,671,664,633,875,783.70351688,799.29648312,649.70351688,629,651,0.400974061917,-0.00542111741433,0.0498493602375,0.999999951555,0.000157342812236,-0.000264538520542,-4.6390289135e-05,1793192704082839296
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.131692147,742,711,671,664,633,875,783.131692147,799,649.131692147,628.131692147,651,0.400974160897,-0.0054218015809,0.0498491512127,0.999999951631,0.000157935734099,-0.000263895164677,-4.64098345839e-05,1793192704116172544
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.445368534,742,711,671,664,633,875,783.445368534,799,649.445368534,628,651,0.400973918675,-0.00542168757342,0.0498490007511,0.999999951378,0.000158771737389,-0.000264380040225,-4.62554980514e-05,1793192704132839168
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.822705646,664,633,876,783.177294354,800.645411292,650,629,651,0.400972585646,-0.00542097616838,0.0498493052585,0.999999951503,0.000156973201331,-0.000264979633193,-4.62409201109e-05,1793192704182839296
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.069085862,633,875.069085862,784,799,649.069085862,629,651,0.400971311595,-0.00542080464832,0.0498487617944,0.999999950828,0.000159140446123,-0.000266218101277,-4.63249066167e-05,1793192704232838912
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a51099cd806ca48d0a02e0e6bdb68196ab93a68
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,397 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.575711011081,5.46021516189e-05,1.0400292661,0.54628174105,0.00872733034789,1.0396985473
+384,6.400000000,pose2_to_pose3_retreat,0.575710854479,5.45887496211e-05,1.04002926027,0.546281584742,0.00872731790822,1.03969854052
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38a4b77f085963bbf35986e3853b0f2457908a21
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5237bf1b3cc73a79065c6fe52e9ff9a171bb40b7e2a54987a17ff3b0e916ad5c
+size 25267227
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5c32c10ab96caa6650793e693da9598e3cda524f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/franka_data.csv
@@ -0,0 +1,399 @@
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+12,0.200000000,BASELINE,763.967777903,742,711,671,664,633,875,783,799,649.032222097,628.967777903,650.032222097,0.400974845113,-0.00542110099927,0.0498511432154,0.999999952609,0.000157827438958,-0.000260273929806,-4.61499313422e-05,1793192704549878528
+13,0.216666667,BASELINE,764,742,711,671,663.457576658,633,875,783.542423342,799.542423342,649.542423342,628.457576658,650.542423342,0.40097403108,-0.00542153933816,0.0498513740443,0.999999952578,0.000157162550205,-0.000260811366729,-4.60643093402e-05,1793192704566545920
+14,0.233333333,BASELINE,764,742,711,671.119536584,663.119536584,633,875,784,800,649.880463416,628.119536584,651,0.400973627491,-0.00542193649538,0.0498515524483,0.999999952589,0.000156623964655,-0.000261097158601,-4.60385007934e-05,1793192704583212800
+15,0.250000000,BASELINE,764,742,711,671.707352901,663.707352901,633,875,784,800,649.292647099,628.707352901,651,0.400975167342,-0.00542186744886,0.0498516034988,0.999999952797,0.000156809943277,-0.000260143810976,-4.62818924546e-05,1793192704599879168
+16,0.266666667,BASELINE,764,742,711,671.709173122,663.709173122,633,875,783.709173122,799.709173122,649.290826878,628.709173122,651,0.400974662461,-0.0054225437676,0.0498509405818,0.999999952737,0.000155716269191,-0.000261055257869,-4.61450083478e-05,1793192704616545280
+17,0.283333333,BASELINE,764,742,711,671.130004417,663.130004417,633,875,783.130004417,799.130004417,649.869995583,628.130004417,651,0.40097213032,-0.00542395908262,0.049849569798,0.999999952401,0.000153353876732,-0.000263815565081,-4.56310978295e-05,1793192704633211904
+18,0.300000000,BASELINE,764,742,711,671,663.446717556,633,875.446717556,783.446717556,799,649.553282444,628,651,0.400972283365,-0.00542428246099,0.0498500031118,0.999999952482,0.000154692405331,-0.000262724764373,-4.56219260695e-05,1793192704649878784
+19,0.316666667,BASELINE,764,742.022671144,711,671,664,633,875.977328856,784,799.022671144,649,628.022671144,651,0.400973202121,-0.00542426672213,0.0498509448675,0.99999995268,0.000156950038024,-0.000260601597186,-4.57595597358e-05,1793192704666545408
+20,0.333333333,BASELINE,764,742.597159358,711,671,664,633,875.402840642,784,799.597159358,649,628.597159358,651,0.400973841482,-0.00542368942894,0.0498515524536,0.99999995293,0.000155506119062,-0.000260481219027,-4.59146147035e-05,1793192704683212544
+21,0.350000000,BASELINE,763.823565822,743,711,671,663.823565822,633,875,783.823565822,799.823565822,649,628.823565822,651,0.400974331607,-0.00542286570307,0.049851847683,0.999999952966,0.000155147840012,-0.000260538421017,-4.60084169896e-05,1793192704699879680
+22,0.366666667,BASELINE,763.233057371,743,711,671,663.233057371,633,875,783.233057371,799.233057371,649,628.233057371,651,0.400974471488,-0.00542146362321,0.0498514098405,0.999999952503,0.000157337455009,-0.000261012386784,-4.59584650232e-05,1793192704716546304
+23,0.383333333,BASELINE,763.35221515,743,711,671,663,633,875,783,799.35221515,649.35221515,628.35221515,651,0.40097389354,-0.00542210738959,0.0498512928224,0.999999952773,0.000155525519324,-0.000261083094943,-4.5846399474e-05,1793192704733212928
+24,0.400000000,BASELINE,763.934073914,743,711,671,663,633,875,783,799.934073914,649.934073914,628.934073914,651,0.40097284757,-0.00542408504373,0.0498513849811,0.999999953508,0.000151104580358,-0.000260890879944,-4.56938359807e-05,1793192704749879296
+25,0.416666667,BASELINE,764,742.491919398,711,671,663.508080602,633,875,783,799.491919398,649.491919398,629,651,0.40097379624,-0.00542346725596,0.0498519130456,0.999999953427,0.000153758984236,-0.000259637304047,-4.57443187011e-05,1793192704766545920
+26,0.433333333,BASELINE,763.919182881,742,711,671,663.919182881,633,875.080817119,783,799,649.080817119,628.919182881,650.919182881,0.400974761565,-0.00542285444728,0.0498523226625,0.999999953259,0.00015651764852,-0.000258626343823,-4.57898890878e-05,1793192704783212288
+27,0.450000000,BASELINE,763.348064921,742,711,671,663.348064921,633,875.651935079,783,799,649.651935079,628.348064921,650.348064921,0.400974281656,-0.00542428387704,0.0498516757606,0.999999953258,0.000154423911633,-0.000259910067891,-4.56482524263e-05,1793192704799878656
+28,0.466666667,BASELINE,763.233796784,742,711,671,663,633,876,783,799.233796784,649.766203216,628,650.233796784,0.400973936742,-0.00542463773402,0.0498512564377,0.999999953168,0.000153404893142,-0.000260854389468,-4.5672966607e-05,1793192704816545536
+29,0.483333333,BASELINE,763.832423618,742,711,671,663,633,876,783,799.832423618,649.167576382,628,650.832423618,0.400973802485,-0.00542331320481,0.0498511922424,0.999999952946,0.000154062927637,-0.000261269087659,-4.59572642899e-05,1793192704833212416
+30,0.500000000,BASELINE,764,742,711,671,663,632.584622574,876,783,800,649.415377426,628.415377426,651,0.400973509884,-0.00542303757663,0.0498511034915,0.999999952914,0.00015456148921,-0.000261086788174,-4.59970635738e-05,1793192704849879040
+31,0.516666667,BASELINE,764,742,711,671,663,632.007761868,876,783,800,649.992238132,628.992238132,651,0.400973155724,-0.00542316972216,0.0498510051942,0.999999952957,0.000154998053633,-0.000260672398207,-4.59418109759e-05,1793192704866545920
+32,0.533333333,BASELINE,763.434191159,742,711,671,663.565808841,632.565808841,876,783.565808841,800,650,629,651,0.400973282131,-0.00542317178711,0.0498512404281,0.999999952667,0.000156367493187,-0.00026098938238,-4.58204486838e-05,1793192704883212544
+33,0.550000000,BASELINE,763.143562193,742,711,670.856437807,664,633,875.856437807,784,799.712875614,650,629,651,0.400973629918,-0.00542294619245,0.0498515170202,0.999999952448,0.000157657755098,-0.000261060351162,-4.57680083226e-05,1793192704899879168
+34,0.566666667,BASELINE,763.734489108,742,711,670.265510892,664,633,875.265510892,784,798.531021783,650,629,651,0.400974647144,-0.00542201669941,0.0498519083164,0.999999952472,0.000158661637237,-0.000260333609002,-4.59331504247e-05,1793192704916545792
+35,0.583333333,BASELINE,764,742.31885743,711,670.31885743,664,632.68114257,875,784,798.63771486,649.68114257,629,651,0.400975181297,-0.00542180145934,0.0498520994817,0.999999952641,0.000159066010164,-0.000259424035572,-4.59862746253e-05,1793192704933212416
+36,0.600000000,BASELINE,764,742.897874579,711,670.897874579,664,632.102125421,875,784,799.795749157,649.102125421,629,651,0.400975321305,-0.00542216898699,0.0498521273578,0.999999952931,0.000158981236222,-0.000258365287769,-4.59480020532e-05,1793192704949878784
+37,0.616666667,BASELINE,763.525764999,743,711,671,663.525764999,632.474235001,875.474235001,783.525764999,800,649.474235001,628.525764999,650.525764999,0.400975022715,-0.00542245724523,0.0498525516837,0.999999953147,0.000157687610304,-0.000258362090812,-4.57199873146e-05,1793192704966545408
+38,0.633333333,BASELINE,763,742.9490889,711,671,663,633,875.9490889,783.0509111,799.9490889,649.9490889,628.0509111,650,0.400974633335,-0.00542269857738,0.0498529266002,0.999999953292,0.000156310600033,-0.000258671241821,-4.55156601455e-05,1793192704983212032
+39,0.650000000,BASELINE,763,742.36311539,711,671,663,633,875.36311539,783.63688461,799.36311539,649.36311539,628.63688461,650,0.400974276897,-0.00542262513565,0.0498518899705,0.999999952882,0.000156777931459,-0.000259887423868,-4.59873242892e-05,1793192704999878912
+40,0.666666667,BASELINE,763.220338237,742,711,671,663.220338237,632.779661763,875,784,799,649,629,650.220338237,0.400974128862,-0.00542234170603,0.0498513832312,0.999999952644,0.000157142289339,-0.000260541316219,-4.62274384977e-05,1793192705016545792
+41,0.683333333,BASELINE,763.79968604,742,711,671,663.79968604,632.20031396,875,784,799,649,629,650.79968604,0.40097432039,-0.00542171613126,0.0498517398721,0.999999952687,0.000157338866566,-0.000260279038057,-4.6090275258e-05,1793192705033212672
+42,0.700000000,BASELINE,764,742,711.377962409,671,664,632.377962409,875,783.622037591,799.377962409,649,629,650.622037591,0.400974364661,-0.00542256060223,0.0498514636204,0.999999952772,0.000157447037025,-0.00025991828259,-4.59212141484e-05,1793192705049878784
+43,0.716666667,BASELINE,764,742,711.955672523,671,664,632.955672523,875,783.044327477,799.955672523,649,629,650.044327477,0.400974331109,-0.00542418197127,0.0498508528939,0.999999952878,0.000157508485771,-0.000259505483292,-4.5735295477e-05,1793192705066545408
+44,0.733333333,BASELINE,764,742.531273037,711.468726963,671,663.468726963,633,875.531273037,783,799.468726963,649,629,650.531273037,0.400974487201,-0.00542318057026,0.0498516774051,0.99999995308,0.00015721159441,-0.000258876518987,-4.58973674213e-05,1793192705083212032
+45,0.750000000,BASELINE,763.890919435,742.890919435,711,671,663.109080565,633,875.890919435,783,799.109080565,649,629,651,0.400974847646,-0.00542238642322,0.0498525532296,0.999999953332,0.000156716032483,-0.000258184476919,-4.60019248449e-05,1793192705099878912
+46,0.766666667,BASELINE,763.302646438,742.302646438,711,671,663.697353562,633,875.302646438,783,799.697353562,649,629,651,0.400976036577,-0.00542346028605,0.0498531304873,0.999999953768,0.000155478533525,-0.000257294252652,-4.57267731809e-05,1793192705116545536
+47,0.783333333,BASELINE,763,742.281162434,711,671,664,632.718837566,875,783,800.281162434,649,629,651,0.400976109982,-0.00542363528839,0.0498530328567,0.999999953777,0.000155003657596,-0.000257537460211,-4.57531192236e-05,1793192705133212416
+48,0.800000000,BASELINE,763,742.860241243,711,671,664,632.139758757,875,783,800.860241243,649,629,651,0.400975001388,-0.00542285786897,0.0498522201228,0.999999953337,0.000155336847818,-0.000258981638563,-4.60989286222e-05,1793192705149879808
+49,0.816666667,BASELINE,763.437855162,742.562144838,711,671,664,632.437855162,875,783,800.124289675,649,628.562144838,651,0.400974444896,-0.00542334444034,0.0498521046011,0.999999953264,0.000155521694119,-0.000259162409069,-4.6039902071e-05,1793192705166546432
+50,0.833333333,BASELINE,764,742,711.014867825,671,664,633,875,783.014867825,799,649,628.014867825,651,0.400974063434,-0.0054241782913,0.0498522034491,0.999999953304,0.000155660649438,-0.000258956740808,-4.58617682304e-05,1793192705183212800
+51,0.850000000,BASELINE,764,742,711.586814625,671,664,633,875,783.586814625,799,649,628.586814625,651,0.400973659184,-0.00542295781956,0.0498520238616,0.999999953169,0.000155848350026,-0.000259331202403,-4.604637678e-05,1793192705199879168
+52,0.866666667,BASELINE,763.836174852,742.163825148,711.836174852,671,664,632.836174852,875,783.836174852,799.163825148,649,628.836174852,651,0.400973311718,-0.00542238971022,0.0498517942688,0.999999953084,0.00015577782668,-0.000259673079149,-4.62137191967e-05,1793192705216545536
+53,0.883333333,BASELINE,763.245985743,742.754014257,711.245985743,671,664,632.245985743,875,783.245985743,799.754014257,649,628.245985743,651,0.400973112036,-0.00542351941002,0.0498514345346,0.999999953127,0.000155035261325,-0.000259930152009,-4.63361255415e-05,1793192705233212160
+54,0.900000000,BASELINE,763,742.662157686,711,671,663.662157686,632,875,783,799.662157686,649,628,651,0.400973919759,-0.00542355593678,0.0498518277544,0.999999953271,0.000155523129721,-0.000259114159968,-4.61635731709e-05,1793192705249879040
+55,0.916666667,BASELINE,763,742.082875593,711,671,663.082875593,632,875,783,799.082875593,649,628,651,0.400975447427,-0.00542281122488,0.0498527590746,0.999999953484,0.000156890330423,-0.000257531299644,-4.57802278786e-05,1793192705266545664
+56,0.933333333,BASELINE,763.492763206,742,711,671,663.492763206,632,875,783,799,649,628.492763206,651,0.400974647248,-0.00542231640455,0.0498524555593,0.999999953294,0.000157199284692,-0.000258049225359,-4.59531393962e-05,1793192705283212288
+57,0.950000000,BASELINE,764,742.069596384,711,671.069596384,663.930403616,632.069596384,875,783.069596384,799.069596384,649.069596384,629,651,0.400973763039,-0.00542200234563,0.0498520761507,0.9999999531,0.000157354291774,-0.000258665731532,-4.61600580073e-05,1793192705299878912
+58,0.966666667,BASELINE,764,742.659916638,711,671.659916638,663.340083362,632.659916638,875,783.659916638,799.659916638,649.659916638,629,651,0.400975157919,-0.00542272860474,0.049852671383,0.999999953388,0.000157679352276,-0.00025739565235,-4.59265785195e-05,1793192705316545536
+59,0.983333333,BASELINE,763.754729799,743,711,671.754729799,663.245270201,633,875,783.754729799,800,650,628.754729799,651,0.400975865981,-0.00542295144043,0.0498531112793,0.999999953524,0.000157524721152,-0.000256983411365,-4.57900635369e-05,1793192705333212160
+60,1.000000000,BASELINE,763.176126113,743,711,671.176126113,663.823873887,633,875,783.176126113,800,650,628.176126113,651,0.400975640628,-0.00542249010062,0.0498533400669,0.999999953457,0.000156718167094,-0.00025773701176,-4.5785327743e-05,1793192705349878784
+61,1.016666667,BASELINE,763.399111509,742.600888491,711,671,664,633,875,783.399111509,799.600888491,650,628,651,0.400975437233,-0.00542192215161,0.0498531596146,0.999999953352,0.000157002462417,-0.000257928702988,-4.60322721311e-05,1793192705366545664
+62,1.033333333,BASELINE,763.972876093,742.027123907,711,671,664,633,875,783.972876093,799.027123907,650,628,651,0.400975243447,-0.00542130754992,0.0498528000769,0.99999995323,0.000157764118607,-0.000257874500074,-4.63893529508e-05,1793192705383212544
+63,1.050000000,BASELINE,764,742,711,671,664,633,875,783.449677319,799,650,628.550322681,651,0.400974220983,-0.00542377280728,0.0498523340616,0.999999953356,0.000156343220596,-0.000258359096788,-4.57653559679e-05,1793192705399878912
+64,1.066666667,BASELINE,764,742,711,671,663.869109607,632.869109607,875.130890393,783,799,650,629,651,0.400973511385,-0.00542531256367,0.0498520112979,0.999999953442,0.000155350554501,-0.000258695511035,-4.53674687638e-05,1793192705416545536
+65,1.083333333,BASELINE,764,742,711,671,663.278215054,632.278215054,875.721784946,783,799,650,629,651,0.400974045838,-0.00542306264314,0.0498522105485,0.999999953349,0.000156243476897,-0.000258417191924,-4.5935310265e-05,1793192705433212160
+66,1.100000000,BASELINE,764,742.306673242,711,671.306673242,663.306673242,632.306673242,876.306673242,783,799,650,628.693326758,650.693326758,0.400973271398,-0.00542284604232,0.0498515686762,0.999999953156,0.000155729262946,-0.000259443490262,-4.60964036146e-05,1793192705449878784
+67,1.116666667,BASELINE,764,742.886217276,711,671.886217276,663.886217276,632.886217276,876.886217276,783,799,650,628.113782724,650.113782724,0.400971332336,-0.0054244386427,0.0498501783922,0.999999952869,0.000153963011414,-0.000261630607191,-4.58955817901e-05,1793192705466545408
+68,1.133333333,BASELINE,764,742.538090062,711,671.538090062,664,633,876.076180124,783,799,650,628.461909938,650.461909938,0.400971336898,-0.00542431575452,0.0498507998111,0.999999953022,0.000153710561049,-0.000261185271022,-4.59415124844e-05,1793192705483212032
+69,1.150000000,BASELINE,764,742,711,671,663.962529056,633,875.037470944,783,799,649.962529056,629,651,0.400971896777,-0.0054237533822,0.0498518508817,0.999999953267,0.000153971311889,-0.000260074995694,-4.60459869677e-05,1793192705499878656
+70,1.166666667,BASELINE,764,742,711,671,663.375091759,633,875.624908241,783,799,649.375091759,629,651,0.400973638167,-0.00542289158979,0.0498519949706,0.999999953267,0.000156336596827,-0.000258644077538,-4.61249761372e-05,1793192705516545280
+71,1.183333333,BASELINE,763.790527374,742,711,671,663,633,875.790527374,783,799,649,629,651,0.400974829338,-0.00542239511677,0.0498524461958,0.99999995331,0.000157898539025,-0.00025752917742,-4.61123642057e-05,1793192705533212160
+72,1.200000000,BASELINE,763.211037665,742,711,671,663,633,875.211037665,783,799,649,629,651,0.400975048592,-0.00542254395187,0.049853439953,0.999999953439,0.000158041439222,-0.000256972498322,-4.59379460759e-05,1793192705549878784
+73,1.216666667,BASELINE,763.367181936,742,711,671,663.367181936,633,875,783.367181936,799,649,628.632818064,651,0.400974350729,-0.00542283458216,0.0498527033935,0.999999953324,0.0001568740224,-0.000258131333979,-4.59409751895e-05,1793192705566545408
+74,1.233333333,BASELINE,763.944674026,742,711,671,663.944674026,633,875,783.944674026,799,649,628.055325974,651,0.400973127571,-0.00542320642823,0.0498509757634,0.999999953063,0.000154956097585,-0.000260272762048,-4.60456404599e-05,1793192705583212032
+75,1.250000000,BASELINE,763.480960593,742,711.519039407,671,664,633,875,783.480960593,799.519039407,649,628.519039407,651,0.400973435448,-0.00542436864034,0.0498516593965,0.999999953363,0.000154370530364,-0.000259485012802,-4.59461807237e-05,1793192705599878656
+76,1.266666667,BASELINE,763,742,711.904243536,671,663.904243536,633,875.095756464,783,800,649,629,651,0.400973923077,-0.00542522274154,0.049852408374,0.999999953651,0.000154113275874,-0.000258535123298,-4.58894670747e-05,1793192705616545536
+77,1.283333333,BASELINE,763,742,711.313662178,671,663.313662178,633,875.686337822,783,800,649,629,651,0.400974501295,-0.00542405192367,0.0498521747947,0.999999953577,0.000154823090128,-0.000258351165651,-4.61654088486e-05,1793192705633211904
+78,1.300000000,BASELINE,763,742,711.271612155,671,663,633,875.728387845,783,799.728387845,649,629,651,0.40097458428,-0.00542363667328,0.0498519519154,0.999999953444,0.000155415537403,-0.000258514007277,-4.6139873613e-05,1793192705649878528
+79,1.316666667,BASELINE,763,742,711.850875262,671,663,633,875.149124738,783,799.149124738,649,629,651,0.400974106319,-0.00542407724274,0.049851741156,0.999999953245,0.000155875044841,-0.000259069663166,-4.57728599424e-05,1793192705666545408
+80,1.333333333,BASELINE,763.426972699,742,711.573027301,671,663.426972699,633,875,783,799,649,629,651,0.400974249373,-0.00542244012586,0.0498521272337,0.999999953218,0.000156931015735,-0.000258486808349,-4.60562283285e-05,1793192705683212032
+81,1.350000000,BASELINE,764,742,711,670.997984801,663.997984801,633,875,783,799.004030399,649.002015199,629,651,0.400974603708,-0.00542009624728,0.0498527164273,0.999999953247,0.000158190390739,-0.000257515746829,-4.65622149291e-05,1793192705699878656
+82,1.366666667,BASELINE,764,742,711,670.410589822,663.410589822,633,875,783,800.178820356,649.589410178,629,651,0.400973790297,-0.0054216889556,0.0498522012689,0.999999952981,0.000158466773379,-0.000258433933389,-4.6236584627e-05,1793192705716545536
+83,1.383333333,BASELINE,764,742,711,670.17440718,663.17440718,633,875,783,800.651185639,650,628.82559282,651,0.400973386213,-0.00542227020673,0.0498519517191,0.999999952754,0.000158970540643,-0.000259028675946,-4.60934826075e-05,1793192705733211904
+84,1.400000000,BASELINE,764,742,711,670.753835543,663.753835543,633,875,783,799.492328913,650,628.246164457,651,0.400973932702,-0.00542050257793,0.0498523189851,0.999999952617,0.000160002357264,-0.000258872293233,-4.6374261127e-05,1793192705749878528
+85,1.416666667,BASELINE,764,742,711,671,664,633,875,783.332020353,799,650,628,651,0.40097362957,-0.00542168780095,0.049852270713,0.999999952831,0.000158464326779,-0.000259040291944,-4.60950827129e-05,1793192705766545152
+86,1.433333333,BASELINE,764,742,711,671,664,633,875,783.90928658,799,650,628,651,0.400972698868,-0.00542505413957,0.0498519155049,0.999999953296,0.000155028086086,-0.000259447894067,-4.54022937098e-05,1793192705783211776
+87,1.450000000,BASELINE,763.514233524,742,711,671,663.514233524,633,875,783.514233524,799,650,628,651,0.400973600144,-0.00542364020711,0.0498524305319,0.99999995348,0.000155312320485,-0.000258502110099,-4.57624284247e-05,1793192705799878656
+88,1.466666667,BASELINE,763.063327881,742.063327881,711,671.063327881,663,633,875,783.063327881,799,649.936672119,628.063327881,651,0.40097457313,-0.00542166498999,0.0498529158012,0.999999953533,0.000156290377824,-0.000257620376642,-4.62395011668e-05,1793192705816545280
+89,1.483333333,BASELINE,763.65105903,742.65105903,711,671.65105903,663,633,875,783.65105903,799,649.34894097,628.65105903,651,0.40097331158,-0.00542242204524,0.0498518111211,0.999999952939,0.000157269872999,-0.000259358488604,-4.60593281301e-05,1793192705833211904
+90,1.500000000,BASELINE,764,742.764622095,711,671.529244189,663.235377905,633,875.235377905,783.764622095,799,649,629,651,0.400972734847,-0.00542283629265,0.0498512072875,0.999999952772,0.000157365130137,-0.000259958702458,-4.59814010183e-05,1793192705849878528
+91,1.516666667,BASELINE,764,742.185289582,711,670.370579164,663.814710418,633,875.814710418,783.185289582,799,649,629,651,0.400973158828,-0.00542274959945,0.0498513353343,0.999999953232,0.000156168261891,-0.00025889612077,-4.60528845343e-05,1793192705866545152
+92,1.533333333,BASELINE,763.608535508,742,711,670.391464492,664,633,875.608535508,783.391464492,799.391464492,649,629,651,0.400974090112,-0.00542260949839,0.0498519894979,0.999999953389,0.000156543973601,-0.000258104346945,-4.58102543152e-05,1793192705883212032
+93,1.550000000,BASELINE,763.032993835,742,711,670.967006165,664,633,875.032993835,783.967006165,799.967006165,649,629,651,0.400975259945,-0.0054224442835,0.049852891056,0.999999953403,0.000157659154795,-0.000257439914201,-4.54199193363e-05,1793192705899878656
+94,1.566666667,BASELINE,763,742,711,671,663.446917959,632.446917959,875,783.446917959,799.446917959,649.553082041,629,650.446917959,0.400975433432,-0.00542319179684,0.0498529125544,0.999999953709,0.000157026823101,-0.00025658690099,-4.56875281266e-05,1793192705916545280
+95,1.583333333,BASELINE,763,742,711,671,663,632,875.138052844,783,799.138052844,650,629,650.138052844,0.400975559941,-0.00542380988032,0.0498529389995,0.999999953932,0.000156403908765,-0.000256064651858,-4.58752648974e-05,1793192705933212160
+96,1.600000000,BASELINE,763,742,711,671,663,632,875.717443056,783,799.717443056,650,629,650.717443056,0.400975729968,-0.00542383674913,0.0498531523512,0.999999953834,0.000156150835497,-0.000256636475213,-4.56797497771e-05,1793192705949878784
+97,1.616666667,BASELINE,763.296557391,742,711,671,663,632.296557391,875.703442609,783,799.703442609,650,629,650.703442609,0.400975489727,-0.00542309963375,0.0498532242682,0.999999953636,0.000156670837579,-0.00025707155961,-4.5777279558e-05,1793192705966545152
+98,1.633333333,BASELINE,763.87540908,742,711,671,663,632.87540908,875.12459092,783,799.12459092,650,629,650.12459092,0.40097485895,-0.00542163527842,0.0498531615531,0.999999953343,0.00015792673354,-0.000257376481549,-4.61537600954e-05,1793192705983211776
+99,1.650000000,BASELINE,764,742,711,671,663.450253121,633,875,783,799,650,628.549746879,650,0.400974917329,-0.00542164940585,0.0498530685707,0.999999953402,0.000157767119042,-0.000257252353774,-4.6107761938e-05,1793192705999878400
+100,1.666666667,BASELINE,764,742,711,671,664,633,875,783,799.024616047,649.975383953,628.024616047,650.024616047,0.400975163951,-0.00542207032013,0.0498529704142,0.999999953562,0.000157183644229,-0.000257016746782,-4.59531228707e-05,1793192706016545280
+101,1.683333333,BASELINE,764,742,711,671,664,633,875,783,799.613137928,649.386862072,628.613137928,650.613137928,0.400975392848,-0.00542252057322,0.0498529438989,0.999999953805,0.000155784053344,-0.000256923101482,-4.59641796357e-05,1793192706033211904
+102,1.700000000,BASELINE,763.801575951,742,711,671,663.801575951,633,875,783,799.801575951,649,628.801575951,651,0.400975315312,-0.00542269430701,0.0498528327609,0.999999953766,0.000155723230159,-0.000257107312317,-4.59875468689e-05,1793192706049878784
+103,1.716666667,BASELINE,763.222497342,742,711,671,663.222497342,633,875,783,799.222497342,649,628.222497342,651,0.400974649918,-0.00542233756909,0.0498525592835,0.999999953185,0.000158230684674,-0.000257824559382,-4.60345303706e-05,1793192706066545408
+104,1.733333333,BASELINE,763.353029332,742,711,671,663.353029332,633,875,783,799,649,628.353029332,651,0.400973938745,-0.00542201388987,0.0498521896322,0.99999995293,0.00015867718172,-0.000258516303022,-4.61539402519e-05,1793192706083212288
+105,1.750000000,BASELINE,763.926339749,742,711,671,663.926339749,633,875,783,799,649,628.926339749,651,0.400973199007,-0.00542171083838,0.049851759971,0.999999952881,0.000157837695363,-0.000259192133262,-4.63185423073e-05,1793192706099878912
+106,1.766666667,BASELINE,764,742,711,671,663.501251721,633,875.498748279,783,799,649.498748279,628.501251721,651,0.400974406487,-0.00542151373511,0.0498524057157,0.999999953239,0.00015798077269,-0.000257741076035,-4.61817955041e-05,1793192706116545792
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,671,664,633,875,783,799,650,629,651,0.400975220593,-0.00542288974155,0.0498535828149,0.99999995392,0.000156235210459,-0.000256291070979,-4.5444010257e-05,1793192706159097600
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.579103015,742,711,671,663.420896985,633,875,783.579103015,799,649.420896985,629,651,0.400975166406,-0.0054231070237,0.0498537752448,0.999999953935,0.000156934913441,-0.000255710937605,-4.59631406332e-05,1793192706175764224
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.15654803,711,670.84345197,663,633,875,783.84345197,799,649.15654803,629,651,0.400974975767,-0.00542336652762,0.049853688643,0.999999953919,0.000156830752338,-0.000255782055382,-4.62842807187e-05,1793192706192431104
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.729582169,711,670.270417831,663,633,875,783.270417831,799,649.729582169,629,651,0.400974422104,-0.00542373835993,0.0498528596951,0.999999953814,0.00015458796196,-0.000257585785435,-4.60786803019e-05,1793192706209097984
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,711,670.622698282,663.311349141,632.688650859,875.311349141,783,799,649.688650859,629,651,0.400973990928,-0.00542326043965,0.0498524985486,0.99999995362,0.000154355458089,-0.000258495138719,-4.59745526366e-05,1793192706225764608
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,711,671.801839467,663.900919734,632.099080266,875.900919734,783,799,649.099080266,629,651,0.400973669206,-0.00542202318082,0.0498525554293,0.99999995335,0.000155919345463,-0.000258605277222,-4.59611009888e-05,1793192706242430976
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.518010065,711,671.518010065,664,632,875.518010065,783,799.481989935,649.481989935,628.518010065,650.518010065,0.400974648701,-0.00542441376518,0.0498532326613,0.999999953751,0.00015589458786,-0.000257143153444,-4.55225897448e-05,1793192706259097600
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.939086664,742.060913336,711,671,663.939086664,632.060913336,875,783,799.939086664,650,628.060913336,650,0.400976159402,-0.00542688163792,0.049854080152,0.999999954265,0.000155632217832,-0.000255368431197,-4.51170473776e-05,1793192706275763968
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.363791825,742.636208175,711,671,663.363791825,632.636208175,875,783,799.363791825,650,628.636208175,650,0.400979936243,-0.00542381377383,0.0498553071889,0.99999995461,0.000156073254571,-0.000253635951757,-4.57149793132e-05,1793192706292430848
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.211359346,742.788640654,711,671,663,633,875,783,799.211359346,650,629,650.211359346,0.400990184265,-0.00542297033233,0.0498592226265,0.999999956558,0.000154965673013,-0.000246524127267,-4.57694587102e-05,1793192706309097472
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.786263345,742.213736655,711,671,663,633,875,783,799.786263345,650,629,650.786263345,0.401011562918,-0.0054259529672,0.049867762197,0.999999961076,0.000151194419716,-0.000230159662021,-4.48891827585e-05,1793192706325764352
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.371643163,633,875,783,800,649.628356837,629,650.628356837,0.401049703629,-0.00542760794063,0.0498811568514,0.999999967019,0.000151897422002,-0.000202425161198,-4.3751262826e-05,1793192706342430976
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.963222562,633,875,783,800,649.036777438,629,650.036777438,0.401097764029,-0.00542847721213,0.0498974247166,0.999999972942,0.00015524826193,-0.000167961938476,-4.24608705797e-05,1793192706359097600
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.455167144,633,875,783,799.455167144,649.544832856,628.455167144,650.544832856,0.40116685073,-0.0054311424574,0.049914443227,0.999999978503,0.000153340281697,-0.000133346780682,-4.12241811092e-05,1793192706375763968
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671.124337143,663,632.875662857,875.124337143,783,799.124337143,649.875662857,628.124337143,651,0.401237825326,-0.00543400886857,0.0499287825746,0.999999982168,0.000151098834148,-0.000106030415311,-3.98822950299e-05,1793192706392430592
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671.698612003,663,632.301387997,875.698612003,783,799.698612003,649.301387997,628.698612003,651,0.401310587848,-0.00543717241863,0.0499332467995,0.999999982655,0.000148912159848,-0.000105162562429,-3.81468524727e-05,1793192706409097216
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.7201165,742.2798835,711,671.7201165,663,632.2798835,875.7201165,783,800,649.2798835,628.7201165,651,0.401390918853,-0.00543912034377,0.0499350505558,0.999999982726,0.000148460435015,-0.000105437458103,-3.72955030303e-05,1793192706425763840
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.131117652,742.868882348,711,671.131117652,663,632.868882348,875.131117652,783,800,649.868882348,628.131117652,651,0.401479608808,-0.00543972568039,0.0499339159762,0.999999982339,0.000149924862967,-0.00010697445438,-3.74205840707e-05,1793192706442430464
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.450449687,742.549550313,711,671,663,632.549550313,875.450449687,783,799.549550313,650,628.450449687,651,0.401589972168,-0.00544431468999,0.0499345212112,0.99999998234,0.000149291531383,-0.000108286660309,-3.61437404525e-05,1793192706459097600
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,671.029683998,663,632.029683998,875.970316002,783,799.029683998,650,628.970316002,651,0.40170855609,-0.00545007049942,0.0499358422877,0.999999982525,0.000147866812875,-0.000109069917605,-3.44790859543e-05,1793192706475764224
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,671.605149983,663,632.605149983,875.394850017,783,799.605149983,650,628.394850017,651,0.401864174363,-0.00545630519813,0.0499411648489,0.999999984106,0.000142936210597,-0.000101311251614,-3.30652319895e-05,1793192706492430848
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671.819317494,663.361365013,633,875,783.180682506,799.819317494,649.819317494,628.180682506,651,0.402027052771,-0.00546188617673,0.0499439271916,0.999999984839,0.000140038701312,-9.85539312356e-05,-3.15917881014e-05,1793192706509097216
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671.243639585,664.512720829,633,875,783.756360415,799.243639585,649.243639585,628.756360415,651,0.402205802758,-0.00546603803755,0.0499410925636,0.999999983831,0.000141585797757,-0.000106730202299,-2.99880730985e-05,1793192706525763840
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.319475781,633,875,783.659737891,799.340262109,649.340262109,629,651,0.402403051144,-0.00547272496636,0.0499384877808,0.999999983813,0.000138511335318,-0.000111193587795,-2.87277029993e-05,1793192706542430720
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.139603542,633,875,783.069801771,799.930198229,649.930198229,629,651,0.402613873112,-0.00548127205154,0.0499360516509,0.999999984521,0.000132045713377,-0.000112932571384,-2.77192688045e-05,1793192706559097088
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.489058926,742,711,671,663.510941074,632.489058926,875,783,799.489058926,650,629,651,0.40287138856,-0.00549162385607,0.0499408772372,0.999999986252,0.000127052641329,-0.000103578987827,-2.49934648843e-05,1793192706575763968
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663.910358088,632.089641912,875,783,799.089641912,650,629,651,0.403142585894,-0.0055022538056,0.0499471791725,0.999999988073,0.000122445139566,-9.15347923406e-05,-2.19899346822e-05,1793192706592430592
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663.336027324,632.663972676,875,783,799.663972676,650,629,651,0.403453879305,-0.00551307815271,0.049956194479,0.999999990098,0.000118853897327,-7.29914727076e-05,-1.87308921423e-05,1793192706609097216
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.242799203,742,711,670.757200797,663,633,875,783.242799203,800,649.757200797,628.757200797,650.757200797,0.403780628314,-0.00552347052849,0.0499641952607,0.999999991615,0.000115148547666,-5.71941279441e-05,-1.54993665306e-05,1793192706625763840
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.827965086,742,711,670.172034914,663,633,875,783.827965086,800,649.172034914,628.172034914,650.172034914,0.404129170961,-0.00553325378885,0.0499707654792,0.999999992708,0.000111282297481,-4.52688328547e-05,-1.23066422334e-05,1793192706642430464
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.41065867,711,670.41065867,663.41065867,633,875,783.58934133,799.58934133,649,628.41065867,650,0.40451054535,-0.00553810133976,0.0499763098108,0.999999992502,0.000117483299638,-3.35756491485e-05,-8.15804610114e-06,1793192706659097344
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.992322733,711,670.992322733,663.992322733,633,875,783.007677267,799.007677267,649,628.992322733,650,0.404905591437,-0.00554089357542,0.0499814269451,0.999999991576,0.000127876480329,-2.19791209398e-05,-3.61140843872e-06,1793192706675763968
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.429885101,711,671,664,633,875.570114899,783,799,649.570114899,628.429885101,650.570114899,0.405314863019,-0.00552529487224,0.0499703464356,0.999999986978,0.000156193437689,-4.05331587323e-05,-1.96264116382e-06,1793192706692430592
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.146919662,711,671,664,633,876,783,799.146919662,650,628,650.853080338,0.405729724019,-0.0055123092538,0.0499558641763,0.999999981363,0.000181357571324,-6.62062676155e-05,-3.41542370241e-07,1793192706709097216
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.721004052,711,671,664,633,876,783,799.721004052,650,628,650.278995948,0.406160282815,-0.00550763630195,0.049932121329,0.999999974456,0.000196657927846,-0.000111405361586,1.31180439803e-06,1793192706725763840
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.697105243,711.302894757,671.302894757,663.697105243,633,876,783,799.697105243,650,628,650,0.406626156127,-0.0055095881821,0.0499146180144,0.999999968673,0.000205006652599,-0.000143568308998,3.89475895051e-06,1793192706742430720
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.107833867,711.892166133,671.892166133,663.107833867,633,876,783,799.107833867,650,628,650,0.407125418155,-0.00551780361349,0.0499030139614,0.999999965243,0.000206782849611,-0.000163406031685,7.35662602385e-06,1793192706759097600
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.473210296,711.526789704,671.526789704,663,633,875.526789704,783,799,649.526789704,628.473210296,650,0.407696712712,-0.00552432255797,0.04991681807,0.999999968743,0.000212050125227,-0.000131851642396,1.27675960269e-05,1793192706775764224
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,711,671,663.052075816,633,875.052075816,783,799.052075816,649.052075816,628.947924184,650.052075816,0.408287823992,-0.00552970742255,0.0499372316099,0.999999971957,0.000218996762496,-8.81967076599e-05,1.86607641104e-05,1793192706792430592
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711,671,663.62756572,633,875.62756572,783,799.62756572,649.62756572,628.37243428,650.62756572,0.40891595002,-0.00552751287625,0.0499668763277,0.999999971338,0.000234963366776,-3.8615868727e-05,2.50125831593e-05,1793192706809097728
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.796314849,711.203685151,671,664,632.796314849,876,783,799.796314849,649.796314849,628,650.796314849,0.409544824731,-0.00552450831811,0.0499865296998,0.999999967776,0.00025186278026,-7.92694168284e-06,3.08175913018e-05,1793192706825764352
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.219040803,711.780959197,671,664,632.219040803,876,783,799.219040803,649.219040803,628,650.219040803,0.4101750726,-0.00552001807775,0.0499878574545,0.999999962717,0.000270473104666,-1.18885969373e-05,3.56196665462e-05,1793192706842430720
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.635131798,671,663.635131798,632.364868202,875.635131798,783,799,649.364868202,628.364868202,650,0.410794465315,-0.005518586521,0.0499692758914,0.999999958532,0.000279946040245,-5.55518314321e-05,3.84759171445e-05,1793192706859097344
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711.047165884,671,663.047165884,632.952834116,875.047165884,783,799,649.952834116,628.952834116,650,0.411407220651,-0.00551902518854,0.0499385208277,0.999999951289,0.000283831941555,-0.000123490492733,4.0142398021e-05,1793192706875763968
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.53298797,671,663.53298797,633,875.53298797,783,799,649.46701203,629,650.53298797,0.412110979007,-0.00552898851372,0.0499268457618,0.999999975335,0.000180093609553,-0.0001287977997,1.75572111049e-05,1793192706892430336
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.111527217,712,671,664,633,876,783.111527217,799.111527217,649.111527217,628.888472783,650.888472783,0.412835555828,-0.00553908078027,0.0499248706102,0.999999988796,9.07709427343e-05,-0.00011903131066,-6.21442509514e-07,1793192706909097472
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.686190709,712,671,664,633,876,783.686190709,799.686190709,649.686190709,628.313809291,650.313809291,0.413613625692,-0.00554625889678,0.0499562657418,0.999999992532,0.000100290758062,-6.93518023576e-05,8.28217416545e-06,1793192706925765376
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.733543017,711.733543017,671,664,633,876.266456983,783.733543017,799.733543017,649.733543017,628.266456983,650.266456983,0.414374884141,-0.00554813077626,0.0499639272315,0.999999991867,0.000113071625954,-5.72862932644e-05,1.41426717809e-05,1793192706942432256
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.146536481,711.146536481,671,664,633,876.853463519,783.146536481,799.146536481,649.146536481,628.853463519,650.853463519,0.415115918444,-0.00554361921768,0.0499430369937,0.999999987353,0.000129775563524,-9.04706730408e-05,1.63422777823e-05,1793192706959098368
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.562941074,742,711.437058926,671,664,633,877,783,799,649,628.562941074,650.562941074,0.415882946028,-0.00554026610371,0.0499228211542,0.99999998464,0.000124895218877,-0.000122155088006,1.40918227161e-05,1793192706975764736
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.019325889,742,711.980674111,671,664,633,876.980674111,783.019325889,799,649,628,650,0.416661069234,-0.00553762876745,0.0499045519359,0.999999982229,0.00011313438814,-0.000150429404153,1.06505984782e-05,1793192706992431616
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.596009809,742,711.403990191,671,664,633,876.403990191,783.596009809,799,649,628,650,0.417509797702,-0.00554451968953,0.0499359526319,0.999999989337,0.000110031792733,-9.47481071105e-05,1.55639109257e-05,1793192707009097984
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.171708709,711.171708709,671.171708709,664.171708709,633,876.171708709,784,799,649,628.171708709,650,0.41834689886,-0.00554884476676,0.0499605660843,0.999999992415,0.000108879833221,-5.40748876597e-05,1.97998188997e-05,1793192707025764608
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.745103273,711.745103273,671.745103273,664.745103273,633,876.745103273,784,799,649,628.745103273,650,0.41915679968,-0.00554716744806,0.0499693018327,0.999999992267,0.0001122910843,-4.85107387237e-05,2.24510441194e-05,1793192707042431232
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.671310019,712,672,664.342620038,632.671310019,876.671310019,783.671310019,799.328689981,649.328689981,629,650,0.419981591395,-0.00554502816205,0.0499605172348,0.999999991675,0.000112012767273,-6.00751935296e-05,2.22361538658e-05,1793192707059097856
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.079566474,712,672,663.159132949,632.079566474,876.079566474,783.079566474,799.920433526,649.920433526,629,650,0.420818300388,-0.0055425191595,0.0499377109449,0.999999990247,0.000108781655317,-8.53478250105e-05,1.97274853483e-05,1793192707075764480
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.499620721,742.499620721,712,672,663.499620721,632.499620721,876.499620721,783,800,649.500379279,629,650,0.421714464997,-0.00554810501962,0.0499592228365,0.999999994349,9.67121624644e-05,-3.89592653887e-05,2.076560782e-05,1793192707092431104
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.923368316,743,712,672,664.076631684,633,877,783,800,649,629,650.076631684,0.4226098734,-0.00555424331648,0.0499819722676,0.99999999614,8.47280191088e-05,6.92655665505e-06,2.22138501586e-05,1793192707109097472
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.347826444,743,712,672,664.652173556,633,877,783,800,649,629,650.652173556,0.423440224561,-0.0055557910832,0.0499679551644,0.999999996097,8.22387109621e-05,-2.29390207656e-05,2.27449424887e-05,1793192707125764352
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,672,664.767177332,632.767177332,877,783.232822668,799.767177332,649.232822668,629,650.767177332,0.424276302456,-0.00555669137465,0.04995812144,0.999999995743,7.91479480556e-05,-4.14750759866e-05,2.30174713198e-05,1793192707142430976
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,672,664.17872702,632.17872702,877,783.82127298,799.17872702,649.82127298,629,650.17872702,0.425121127843,-0.00555660267282,0.0499546776631,0.999999996003,7.51384859174e-05,-4.2705727655e-05,2.28950544858e-05,1793192707159097344
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,672,664,632.403088837,877,783.596911163,799,650,629,650.403088837,0.426006595956,-0.00555883559287,0.0499708999404,0.999999997008,6.89982383739e-05,-2.43623842474e-05,2.5090130535e-05,1793192707175764224
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712,672,664,632.982010619,877,783.017989381,799,650,629,650.982010619,0.426909792939,-0.0055620812366,0.0499957008237,0.999999997679,6.19285128654e-05,2.51940750761e-06,2.82961291277e-05,1793192707192430848
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711.44194087,672,664,633,876.44194087,783.55805913,799.55805913,649.44194087,629,650.44194087,0.427701892909,-0.00556025456484,0.0499722228909,0.999999996317,6.20717046173e-05,-5.19092707019e-05,2.86166275326e-05,1793192707209097984
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.86585614,711,672,664,632.86585614,876,783.86585614,799.86585614,649,629,650.13414386,0.428502159626,-0.00555814690307,0.0499497679321,0.999999992871,6.18132492915e-05,-9.81508868646e-05,2.83516415777e-05,1793192707225764608
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.289348134,711,672,664,632.289348134,876,783.289348134,799.289348134,649,629,650.710651866,0.429341107095,-0.00555564906482,0.0499357923103,0.999999991964,5.94674626098e-05,-0.000108794887405,2.64610789437e-05,1793192707242430976
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.293396481,711.293396481,672.293396481,664.293396481,632.293396481,876,783,799,649,629,651,0.430172708131,-0.00555796616803,0.0499348710217,0.999999993308,5.11311217372e-05,-0.000100508874865,2.58467212561e-05,1793192707259097600
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.882425194,711.882425194,672.882425194,664.882425194,632.882425194,876,783,799,649,629,651,0.4309969067,-0.00556513490387,0.0499471035442,0.999999996297,3.67585772992e-05,-7.31485972236e-05,2.65182936059e-05,1793192707275764224
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,672.536473167,664.536473167,632.536473167,876.463526833,783,799,649,629,650.536473167,0.431794176532,-0.00556539688084,0.0499332157141,0.999999994169,3.39680072775e-05,-9.8989195692e-05,2.66383923692e-05,1793192707292430848
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.957680152,711.957680152,672,664,632,877,783,799,649,629,650,0.432584815563,-0.00556404486155,0.0499153812076,0.999999990253,3.3678014195e-05,-0.000132860011502,2.65983985998e-05,1793192707309097472
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.383059932,711.383059932,672,664,632,877,783,799,649,629,650,0.433376521662,-0.00556405711269,0.049929839788,0.999999994163,2.85099461759e-05,-0.000100854272947,2.62746221569e-05,1793192707325764352
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.195235805,742,711.195235805,672,664.195235805,632.195235805,877,783,799.195235805,649.195235805,629,650,0.434153672706,-0.00556463233903,0.0499473922842,0.999999997012,2.18610747526e-05,-6.93189195847e-05,2.63325997963e-05,1793192707342430976
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.780881516,742,711.780881516,672,664.780881516,632.780881516,877,783,799.780881516,649.780881516,629,650,0.434901718384,-0.00556633333785,0.0499711316369,0.999999998807,1.22510636252e-05,-3.87241822991e-05,2.7153964918e-05,1793192707359097600
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.635845636,742.364154364,712,672,665,632.635845636,876.635845636,783,800,649.635845636,629,650,0.435603690735,-0.00556547861623,0.0499665809447,0.999999997679,1.10885544265e-05,-6.08470507761e-05,2.85813946674e-05,1793192707375764480
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.053991376,742.946008624,712,672,665,632.053991376,876.053991376,783,800,649.053991376,629,650,0.436278119342,-0.00556309602576,0.0499451178084,0.999999992873,1.49761576827e-05,-0.000114485724152,3.03711437547e-05,1793192707392431360
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.478137306,742.478137306,711.478137306,672,664.478137306,632,876.521862694,783.521862694,799.478137306,649,629,650,0.436975795619,-0.00555970442269,0.0499339514682,0.999999992006,2.07063008902e-05,-0.000121112072913,2.98388782987e-05,1793192707409097472
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.096965941,742.096965941,711.096965941,672,664.096965941,632,877,784,799.096965941,649,629,650.096965941,0.437673906926,-0.00555728805903,0.0499304455836,0.999999992775,2.55843924515e-05,-0.000113615788404,2.97834078634e-05,1793192707425764096
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.671394061,742.671394061,711.671394061,672,664.671394061,632,877,784,799.671394061,649,629,650.671394061,0.438362451769,-0.00556018197573,0.0499594740198,0.999999997311,2.53389820458e-05,-6.02568230427e-05,3.32451523396e-05,1793192707442430976
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+187,3.116666667,POSE1_TO_POSE2_PRESS,763.426894594,742.573105406,711,672.426894594,664,632.573105406,876,784,800,649,629,650,0.440109615478,-0.00556220441974,0.0499271730994,0.999999992472,2.54347957352e-05,-0.000114616822584,3.56700126206e-05,1793192707492431360
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.005377017,711.005377017,673,664,632,876.005377017,783.994622983,799.994622983,649,629,650,0.440634940272,-0.0055604701409,0.0498939030461,0.99999998466,2.83707709526e-05,-0.000169272128766,3.49630632297e-05,1793192707509098240
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+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.38942043,711.38942043,672.38942043,662.38942043,631,877,783,799.61057957,649,629,650,0.444936437055,-0.00555945617843,0.0497618865561,0.999999931263,-4.63205373722e-05,-0.000367670111139,1.21613677491e-05,1793192707692431104
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.394969442,630.605030558,876.605030558,782.605030558,799,649,628,650,0.446515822792,-0.0055650308643,0.0497021423513,0.999999901876,-4.57022557239e-05,-0.000440468767429,1.20853402988e-05,1793192707842430720
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.76042116,711.76042116,673,660,630,877.23957884,783,799.76042116,649.76042116,628.76042116,650,0.446948618658,-0.00556416003394,0.0496595578219,0.999999870252,-5.99309988818e-05,-0.000505833541738,6.10660733062e-06,1793192708392430848
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.657083465,712,673,659.657083465,630.342916535,877,782.657083465,799.657083465,649.657083465,629,650,0.446948662671,-0.00556479827003,0.0496587252508,0.999999869888,-6.09846443185e-05,-0.000506429015683,5.8869773444e-06,1793192708409097728
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.077720886,712,673,659.077720886,630.922279114,877,782.077720886,799.077720886,649.077720886,629,650,0.446948085241,-0.00556551406322,0.049656922343,0.999999868798,-6.37758625918e-05,-0.000508241511499,5.16055104772e-06,1793192708425764352
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742,711.501668587,672.501668587,659.498331413,631,877.498331413,782,799,649.498331413,629,650,0.446949024739,-0.00556553281856,0.0496577831793,0.999999869435,-6.29648357231e-05,-0.000507086113915,5.45261211105e-06,1793192708442430976
+245,4.083333333,HOLD_POSE2,764,743,712,673,660,631,877,783,800,649,628,650,0.446946446577,-0.00556419463466,0.0496565253843,0.999999868389,-6.08196339014e-05,-0.000509403346134,5.65186272026e-06,1793192708485885696
+246,4.100000000,HOLD_POSE2,764,743,712,673,660,630.410484718,877,782.410484718,800,649,628,650.589515282,0.446947626796,-0.00556315093401,0.0496579828505,0.999999869258,-6.09710611521e-05,-0.000507680097706,5.24983889436e-06,1793192708502552576
+247,4.116666667,HOLD_POSE2,764,743,712,673,660,630,877,782.176051906,800,649,628,650.823948094,0.446948445838,-0.0055624399097,0.0496588972407,0.99999986968,-6.10832015669e-05,-0.000506837585835,5.01760340907e-06,1793192708519218944
+248,4.133333333,HOLD_POSE2,764,743,712,673,660,630,877,782.755759119,800,649,628,650.244240881,0.44694843677,-0.00556249165213,0.0496585664557,0.99999986908,-6.11052643748e-05,-0.0005080144439,5.174661924e-06,1793192708535885568
+249,4.150000000,HOLD_POSE2,764,743,711.668362135,672.668362135,659.668362135,630,876.668362135,783,799.668362135,649,628,650,0.446949601114,-0.00556301834263,0.0496590019243,0.999999869646,-6.13714767846e-05,-0.000506865574814,5.38306269682e-06,1793192708552552192
+250,4.166666667,HOLD_POSE2,764,743,711.095270789,672.095270789,659.095270789,630,876.095270789,783,799.095270789,649,628,650,0.446951619776,-0.00556389082557,0.0496599952743,0.999999871054,-6.18154456471e-05,-0.000504023428221,5.62884389267e-06,1793192708569218816
+251,4.183333333,HOLD_POSE2,764,743,711,672.480044901,659,630,876.480044901,782.519955099,799,649.480044901,628,650,0.446950511854,-0.00556517869353,0.0496592457087,0.999999870383,-6.22997012735e-05,-0.000505290243727,5.82572600746e-06,1793192708585885184
+252,4.200000000,HOLD_POSE2,764,742.943015564,711,672.943015564,659,630,877,782,799.056984436,649.943015564,628,650,0.446948954077,-0.0055664828213,0.0496582467716,0.999999869353,-6.28737427149e-05,-0.000507251854748,5.9947646532e-06,1793192708602552064
+253,4.216666667,HOLD_POSE2,764,742.355078164,711,672.355078164,659,630,877,782,799.644921836,649.355078164,628,650,0.446949013279,-0.00556716675519,0.04965816227,0.999999868861,-6.42095202603e-05,-0.000508053673505,5.99521537709e-06,1793192708619218944
+254,4.233333333,HOLD_POSE2,764,742.229870437,711,672,659,630.229870437,876.770129563,782.229870437,799.770129563,649,628,650,0.446948564025,-0.00556681958398,0.049657610397,0.999999868282,-6.41729831914e-05,-0.000509198055919,5.89168350699e-06,1793192708635885312
+255,4.250000000,HOLD_POSE2,764,742.810261478,711,672,659,630.810261478,876.189738522,782.810261478,799.189738522,649,628,650,0.446947339445,-0.00556490012011,0.0496563458472,0.999999867568,-6.2043856135e-05,-0.000510864800427,5.62959257171e-06,1793192708652552192
+256,4.266666667,HOLD_POSE2,764,743,711,672,659.387332297,630.612667703,876.387332297,782.612667703,799.387332297,649,628,650,0.446948874168,-0.00556427172271,0.0496577274384,0.999999868829,-6.0807619333e-05,-0.00050853960284,5.60228949688e-06,1793192708669219072
+257,4.283333333,HOLD_POSE2,764,743,711,672,659.962790548,630.037209452,876.962790548,782.037209452,799.962790548,649,628,650,0.446951749074,-0.00556427039163,0.049660394251,0.999999871037,-6.00050560396e-05,-0.000504275532967,5.68902204799e-06,1793192708685885440
+258,4.300000000,HOLD_POSE2,764,743,711,672.551736307,660,630,877,782,799.448263693,649,628,650,0.446950476121,-0.00556366656886,0.0496596095127,0.999999870103,-6.15384171293e-05,-0.000505944534472,5.16719443489e-06,1793192708702552064
+259,4.316666667,HOLD_POSE2,764,743,711.139553875,673,659.860446125,630,877,782,799.27910775,649,628,650.139553875,0.446949484395,-0.00556379768752,0.0496586595441,0.999999869254,-6.33213398681e-05,-0.000507403114093,4.9560953217e-06,1793192708719218688
+260,4.333333333,HOLD_POSE2,764,743,711.720849036,673,659.279150964,630,877,782,800.441698073,649,628,650.720849036,0.446950290517,-0.00556638701626,0.0496579418426,0.999999869373,-6.53830630173e-05,-0.000506897326222,5.86173836554e-06,1793192708735885568
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,742,712,673,659,630,876,782,800,650,628,650,0.446953863536,-0.00556446083368,0.049661472002,0.999999872168,-6.05049884279e-05,-0.000501964621574,5.82068338233e-06,1793192708773115648
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.580728785,742.580728785,712,672.419271215,659.580728785,630,876.580728785,782.580728785,800,649.419271215,628.580728785,650,0.446951570411,-0.00556392327063,0.0496598842198,0.999999870374,-6.23778776697e-05,-0.000505305049767,5.3250866932e-06,1793192708789782784
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711.836263458,672,659.836263458,630.163736542,877,782.836263458,799.836263458,649.163736542,629,650,0.446950582977,-0.00556336511038,0.0496592012195,0.999999869449,-6.33197969934e-05,-0.000507018282606,4.96330151318e-06,1793192708806449664
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711.247337563,672,659.247337563,630.752662437,877,782.247337563,799.247337563,649.752662437,629,650,0.446952986149,-0.0055627534634,0.0496608677469,0.999999870812,-6.18441837155e-05,-0.0005045060322,4.94899656245e-06,1793192708823116032
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.663294733,711,672.336705267,659,630.663294733,877,782,799,649.663294733,628.663294733,650,0.44695270195,-0.0055640293821,0.0496606753242,0.999999870624,-6.24497854005e-05,-0.000504800645034,5.39478118387e-06,1793192708839782144
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.082787671,711,672.917212329,659,630.082787671,877,782,799,649.082787671,628.082787671,650,0.446950471878,-0.00556667205078,0.0496591368715,0.999999869308,-6.45623548229e-05,-0.0005071276536,6.17370779922e-06,1793192708856448256
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.492019457,711,673,659.492019457,630,877,782,799,649,628.492019457,650,0.446950069993,-0.00556612093591,0.0496589637379,0.999999869361,-6.59627854975e-05,-0.000506849042431,5.55662169268e-06,1793192708873115136
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.934413083,660,630,877,782.065586917,799,649,628.934413083,650,0.446949366278,-0.00556496013278,0.0496587893988,0.999999869435,-6.66989281576e-05,-0.000506615342006,4.77457686462e-06,1793192708889781760
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.363093921,660,630,877,782.636906079,799,649,628.363093921,650,0.446943990401,-0.00556319438571,0.0496568546329,0.999999867905,-6.32262068157e-05,-0.00051006985881,4.51105491421e-06,1793192708906448384
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,672,659.781829443,630,877,782.781829443,799.218170557,649,628,650.218170557,0.446932195474,-0.00556216408528,0.049651768947,0.999999863302,-6.13183365367e-05,-0.000519246843268,4.23367247636e-06,1793192708923115264
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,659.183222826,630,877,782.183222826,799.816777174,649,628,650.816777174,0.446909207292,-0.00556241622398,0.0496411888283,0.999999853123,-6.21391838926e-05,-0.000538402410372,3.93212076715e-06,1793192708939782144
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.602748846,742.602748846,711,672.397251154,659.397251154,630.397251154,877,782,799.602748846,649,628,650.602748846,0.446865982452,-0.00556121936739,0.0496246159384,0.999999836144,-6.12108018627e-05,-0.000569170051029,3.20350869074e-06,1793192708956448768
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.030272992,742.030272992,711,672.969727008,659.969727008,630.969727008,877,782,799.030272992,649,628,650.030272992,0.446813831363,-0.00555938336916,0.0496053996782,0.999999815178,-5.95108470221e-05,-0.000605059697031,2.28652325054e-06,1793192708973115136
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742,711.54686786,673,660,630.45313214,876.45313214,782,799.54686786,649,628,650,0.446745267634,-0.00555704166533,0.0495896655732,0.999999803602,-6.02997212673e-05,-0.000623826492787,2.10518330369e-07,1793192708989782016
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.127450555,742.127450555,712,673,660,630.127450555,876.127450555,782.127450555,799.872549445,649,628,650,0.446673831172,-0.00555390248674,0.0495765725213,0.999999793819,-6.02852985604e-05,-0.000639315154372,-1.7401408278e-06,1793192709006448896
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.719633927,742.719633927,712,673,660,630.719633927,876.719633927,782.719633927,799.280366073,649,628,650,0.446595261066,-0.00554795836985,0.0495724008119,0.999999789505,-5.68350531635e-05,-0.000646336538004,-2.99777856483e-06,1793192709023115264
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,631,877,782.697967973,799,649,628,650,0.44650807692,-0.00554340440574,0.0495729882699,0.999999790323,-5.29634350014e-05,-0.000645395119637,-3.63790915778e-06,1793192709039781888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,631,877,782.124368196,799,649,628,650,0.446413147591,-0.00554010037786,0.0495778548651,0.999999795735,-4.87129457862e-05,-0.000637294061983,-3.72281701115e-06,1793192709056448768
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.548063289,673,660,631,877,782.451936711,799,649,628,650,0.446298647723,-0.00553480598294,0.049587601846,0.999999806108,-4.39956979819e-05,-0.00062115541657,-3.89786200232e-06,1793192709073115392
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.029688811,673,660.029688811,630.970311189,877,782.970311189,799,649,628.029688811,650,0.446176711227,-0.00552902340522,0.0495985506293,0.99999981729,-3.9269484283e-05,-0.000603208503689,-4.09235819871e-06,1793192709089782272
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.620642133,673,660.620642133,630.379357867,877,782.379357867,799,649,628.620642133,650,0.446016613361,-0.00552442887448,0.049606676623,0.999999823404,-3.6816672715e-05,-0.000593143250989,-4.18282171339e-06,1793192709106448896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.792647474,742.792647474,711.792647474,672.792647474,660.792647474,630,876.792647474,782,799,649,629,650.207352526,0.445841039004,-0.00551809877464,0.049613168277,0.9999998282,-3.21540323944e-05,-0.000585272427279,-4.64381196816e-06,1793192709123115520
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.213544057,742.213544057,711.213544057,672.213544057,660.213544057,630,876.213544057,782,799,649,629,650.786455943,0.445637717717,-0.00550865706931,0.0496167298126,0.999999830731,-2.352951243e-05,-0.000581335875236,-5.76909914004e-06,1793192709139781888
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.939485476,742,711,672,660,630.939485476,876.939485476,782.939485476,799.939485476,649,628.060514524,650.060514524,0.445164247354,-0.00549042956538,0.04962148341,0.999999831114,-1.05420113348e-05,-0.000581030839448,-8.03284937347e-06,1793192709173115136
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.5128749,631,876.4871251,783,799.4871251,649.5128749,628.5128749,650.5128749,0.444883222278,-0.00547912913412,0.0496309164302,0.999999835127,-1.98931880091e-06,-0.000574165106628,-8.72390931507e-06,1793192709189782016
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.088797493,711.088797493,672.088797493,661,631,876.088797493,783,799,649.911202507,628.911202507,651,0.444590846461,-0.00546755081033,0.0496406913597,0.999999839632,6.79005173994e-06,-0.000566215412879,-9.50575241774e-06,1793192709206448640
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.680764454,711.680764454,672.680764454,661,631,876.680764454,783,799,649.319235546,628.319235546,651,0.444258592515,-0.005455901923,0.049647531053,0.99999984461,1.51636313084e-05,-0.000557158848478,-1.10962811638e-05,1793192709223115264
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.175962262,742,711,671,663.824037738,632.824037738,875,783,799,649,629,650.175962262,0.402206069077,-0.00541106484526,0.0498175963444,0.999999934367,8.43019877839e-05,-0.000346977489472,-6.13600042696e-05,1793192710289782016
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.599119352,633,875,783,799,649,628.599119352,650,0.402012028786,-0.00540938846321,0.0498164922968,0.999999934541,8.61634503414e-05,-0.000345876492306,-6.21617635428e-05,1793192710306448896
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.0237445,633,875,783,799,649,628.0237445,650,0.40183655694,-0.00540773819595,0.0498195319917,0.999999937744,8.8038906398e-05,-0.000335903579651,-6.26871488156e-05,1793192710323115520
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.548305872,742.548305872,711,671,663,633,875,783,799,649.548305872,628.548305872,650.548305872,0.401699943968,-0.00540792887982,0.0498275423391,0.999999939898,0.000127523945965,-0.000318040897981,-5.28302394417e-05,1793192710339781888
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.874534916,711,671,663,633,875,783.125465084,799,649.874534916,629,650.874534916,0.401570722349,-0.00540718726184,0.0498351105992,0.999999939797,0.000166441287772,-0.000301312659789,-4.37451717306e-05,1793192710356448512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742.277641666,711,671,663,633,875,783.722358334,799,649.277641666,629,650.277641666,0.401462988402,-0.00540264482229,0.0498402138083,0.999999937712,0.000197142713899,-0.000290123089583,-3.92394480517e-05,1793192710373115136
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,875,783.694787425,799,649,628.694787425,650.305212575,0.401368046719,-0.00540299299096,0.0498426403452,0.999999937507,0.000207140405952,-0.000283993668469,-3.77766064958e-05,1793192710389782016
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,875,783.12414244,799,649,628.12414244,650.87585756,0.401284230015,-0.00540759434613,0.0498427390761,0.999999939577,0.000199132802709,-0.000282264878054,-3.89600504785e-05,1793192710406448896
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.211703453,632.788296547,875.211703453,783,799,649,628,650.788296547,0.401065184977,-0.0054259013053,0.0498386154925,0.999999945164,0.000165141077164,-0.000284077943507,-4.1236682775e-05,1793192710473115392
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.789891236,632.210108764,875.789891236,783,799,649,628,650.210108764,0.401038939824,-0.005425542253,0.0498391913273,0.999999945818,0.000165302555794,-0.000281559455966,-4.19967132124e-05,1793192710489782016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.634035661,632.365964339,875.634035661,783,799,649,628,650,0.401022670831,-0.00542634120169,0.0498426382452,0.999999947926,0.000162893961706,-0.000275381729449,-4.21763969426e-05,1793192710506448640
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.846222526,742,711,670.846222526,663,632,875,783,799,649,628.846222526,650,0.400981810178,-0.00542680756829,0.0498476348279,0.999999950442,0.000160598898725,-0.000267377448638,-4.28118578808e-05,1793192710606448384
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.17407637,742,711,670.82592363,663,632.82592363,875,783,799.17407637,649.17407637,628,650.17407637,0.400978128756,-0.0054240888742,0.0498487560601,0.99999995055,0.000162507215424,-0.000265732520473,-4.33281683521e-05,1793192710673115392
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.752970779,742,711,670.247029221,663,632.247029221,875,783,799.752970779,649.752970779,628,650.752970779,0.400978060816,-0.00542577181946,0.0498485657026,0.999999950998,0.000160696689165,-0.000265171304927,-4.31934129676e-05,1793192710689782784
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742.518747163,711,671,663.518747163,633,875.518747163,783.518747163,799,649.481252837,629,651,0.400980539823,-0.0054257317435,0.0498499506396,0.999999952054,0.000160190316777,-0.000261449586604,-4.33045570461e-05,1793192710739782144
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,874.941576811,783,799.058423189,649.941576811,628.941576811,651,0.400978253272,-0.0054254303343,0.0498485379217,0.999999951584,0.000160692216566,-0.000262863228074,-4.37394570566e-05,1793192710756448256
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,874.350996882,783,799.649003118,649.350996882,628.350996882,651,0.400977017231,-0.00542674453137,0.0498490051035,0.999999951762,0.000158917020329,-0.000263369807639,-4.31037055501e-05,1793192710773115136
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.23418073,663,633,874.23418073,783,799.76581927,649.23418073,628,650.76581927,0.400977152571,-0.00542767218617,0.0498497255485,0.99999995208,0.000157931183462,-0.000262814861304,-4.27435177652e-05,1793192710789782016
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.811443739,663,633,874.811443739,783,799.188556261,649.811443739,628,650.188556261,0.400979297028,-0.00542803354407,0.0498508170319,0.999999952603,0.00015810178349,-0.000260704745455,-4.27870397066e-05,1793192710806448640
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.612320335,742,711,671.612320335,663,632.612320335,875,783,799,650,628.387679665,650.387679665,0.400978987619,-0.0054271210099,0.0498506294804,0.999999952308,0.000159425883712,-0.000261006827534,-4.29230239276e-05,1793192710823115264
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.036582648,742,711,671.036582648,663,632.036582648,875,783,799,650,628.963417352,650.963417352,0.400977487872,-0.00542559052838,0.0498498214867,0.999999951613,0.000161309530854,-0.00026247903339,-4.31038603149e-05,1793192710839782144
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.550803042,742,711,671,663,632,875,783,799,649.449196958,628.449196958,651,0.400977792887,-0.00542519630193,0.0498505871861,0.999999952014,0.000160119648577,-0.000261650958777,-4.32812761509e-05,1793192710856449024
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.863095791,663,632.136904209,875.136904209,783.136904209,799,649.136904209,628.136904209,650.863095791,0.400978299967,-0.00542516161802,0.0498513226088,0.999999952428,0.000159075305391,-0.000260679646868,-4.34093710585e-05,1793192710873115648
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.283700947,663,632.716299053,875.716299053,783.716299053,799,649.716299053,628.716299053,650.283700947,0.400979064354,-0.00542603983172,0.0498516150544,0.999999952656,0.000159175402813,-0.000259749838513,-4.33788049857e-05,1793192710889782016
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.705816415,742,711,670,663,632.705816415,875.705816415,783.705816415,799,649.705816415,629,650,0.400979748452,-0.00542611909342,0.0498519447123,0.999999952746,0.000159762265733,-0.000259047064041,-4.33544642113e-05,1793192710906448384
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.129380874,742,711,670,663,632.129380874,875.129380874,783.129380874,799,649.129380874,629,650,0.400980355518,-0.00542543180746,0.0498523100731,0.999999952703,0.000160816151713,-0.000258562115202,-4.33360962435e-05,1793192710923115008
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763,742.445702053,711,670.445702053,663,632.445702053,875,783,799,649.445702053,628.554297947,650.445702053,0.400979711906,-0.00542449374867,0.0498517926956,0.999999952368,0.000161383515713,-0.000259485176481,-4.34393117042e-05,1793192710939781888
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763,742.979048391,711,671,663,633,875,783,799,649.979048391,628.020951609,650.979048391,0.400978741574,-0.00542356316499,0.0498510694858,0.999999951982,0.000161710973972,-0.000260743621124,-4.35780087539e-05,1793192710956448512
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763,742.388629034,711,671,663,633,875,783,799,649.388629034,628.611370966,650.388629034,0.400978728953,-0.00542480836622,0.04985169546,0.999999952538,0.000159344806242,-0.00026004224343,-4.37247095102e-05,1793192710973115392
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649.198052162,629,650,0.400978617247,-0.00542570256771,0.0498521169315,0.999999952743,0.000158897970404,-0.000259542344288,-4.36308639816e-05,1793192710989782016
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649.777533978,629,650,0.400978314713,-0.00542592077694,0.0498521445505,0.999999952274,0.000162147585636,-0.000259430473745,-4.30737491462e-05,1793192711006448896
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.353546391,742,711,671,663.353546391,633,875,783,799,649.646453609,628.646453609,650.353546391,0.40097811948,-0.00542584093398,0.0498519675928,0.999999952329,0.000161638141065,-0.000259521617113,-4.31685441676e-05,1793192711023115264
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.927396905,742,711,671,663.927396905,633,875,783,799,649.072603095,628.072603095,650.927396905,0.400977991109,-0.00542557536679,0.0498516631579,0.999999952708,0.000158786326617,-0.000259739263833,-4.36695615132e-05,1793192711039781632
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f14c4d1240271790aabb746f616dd05f231a9d3e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,399 @@
+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,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+1,0.016666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+2,0.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+3,0.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+4,0.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+5,0.083333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+6,0.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+7,0.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+9,0.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+11,0.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+12,0.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+13,0.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+15,0.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+19,0.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+365,6.083333333,pose2_to_pose3_retreat,0.575756392284,5.46561528811e-05,1.04002916734,0.546327120726,0.00872737939957,1.03969845498
+366,6.100000000,pose2_to_pose3_retreat,0.575742677271,5.46443221243e-05,1.04002926314,0.546313406637,0.00872737064097,1.03969854925
+367,6.116666667,pose2_to_pose3_retreat,0.575733060166,5.45876385069e-05,1.0400292529,0.546303790589,0.0087273175497,1.03969853907
+368,6.133333333,pose2_to_pose3_retreat,0.575725975904,5.44891713013e-05,1.04002909752,0.546296706924,0.00872722119399,1.03969838559
+369,6.150000000,pose2_to_pose3_retreat,0.575720847032,5.45051681118e-05,1.04002918973,0.546291578072,0.00872723717572,1.03969847551
+370,6.166666667,pose2_to_pose3_retreat,0.57571754034,5.45423178059e-05,1.04002931211,0.546288271268,0.00872727384106,1.0396985953
+371,6.183333333,pose2_to_pose3_retreat,0.57571568453,5.45820301099e-05,1.04002927111,0.546286414868,0.00872731164879,1.03969855677
+372,6.200000000,pose2_to_pose3_retreat,0.575714505219,5.46102725208e-05,1.04002922757,0.546285235099,0.00872733842067,1.03969851543
+373,6.216666667,pose2_to_pose3_retreat,0.575713751277,5.46283280893e-05,1.04002919973,0.546284480864,0.00872735553612,1.03969848901
+374,6.233333333,pose2_to_pose3_retreat,0.575713138429,5.46430047218e-05,1.0400291771,0.546283867777,0.00872736944857,1.03969846753
+375,6.250000000,pose2_to_pose3_retreat,0.575713044496,5.46452542495e-05,1.04002917364,0.546283773808,0.00872737158097,1.03969846423
+376,6.266666667,pose2_to_pose3_retreat,0.575712443647,5.4621892226e-05,1.04002914642,0.546283173261,0.00872734926472,1.0396984375
+377,6.283333333,pose2_to_pose3_retreat,0.575712109234,5.45898342603e-05,1.04002912874,0.546282839288,0.00872731869486,1.03969841977
+378,6.300000000,pose2_to_pose3_retreat,0.57571209199,5.45881812182e-05,1.04002912783,0.546282822067,0.00872731711855,1.03969841885
+379,6.316666667,pose2_to_pose3_retreat,0.575711947468,5.45743268547e-05,1.04002912019,0.546282677735,0.00872730390729,1.03969841119
+380,6.333333333,pose2_to_pose3_retreat,0.575711619345,5.45428717536e-05,1.04002910284,0.546282350042,0.0087272739123,1.03969839378
+381,6.350000000,pose2_to_pose3_retreat,0.575711228231,5.45053782086e-05,1.04002908216,0.546281959442,0.00872723815916,1.03969837304
+382,6.366666667,pose2_to_pose3_retreat,0.575711013272,5.44847715513e-05,1.04002907079,0.546281744766,0.00872721850905,1.03969836164
+383,6.383333333,pose2_to_pose3_retreat,0.575710907275,5.44746102996e-05,1.04002906519,0.546281638908,0.00872720881947,1.03969835601
+384,6.400000000,pose2_to_pose3_retreat,0.575710799858,5.4464312892e-05,1.04002905951,0.546281531631,0.00872719900006,1.03969835032
+385,6.416666667,pose2_to_pose3_retreat,0.575710640959,5.44490803606e-05,1.04002905111,0.546281372942,0.0087271844746,1.03969834189
+386,6.433333333,pose2_to_pose3_retreat,0.575710608756,5.44461227465e-05,1.04002904949,0.546281340779,0.00872718165469,1.03969834026
+387,6.450000000,pose2_to_pose3_retreat,0.575710507224,5.44624122809e-05,1.04002906108,0.546281239048,0.0087271972707,1.03969835193
+388,6.466666667,pose2_to_pose3_retreat,0.575710124541,5.4523808958e-05,1.04002910478,0.546280855614,0.00872725612881,1.03969839587
+389,6.483333333,pose2_to_pose3_retreat,0.575709868451,5.45648954066e-05,1.04002913402,0.546280599021,0.00872729551646,1.03969842529
+390,6.500000000,pose2_to_pose3_retreat,0.575709809519,5.45743502704e-05,1.04002914074,0.546280539974,0.0087273045804,1.03969843205
+391,6.516666667,pose2_to_pose3_retreat,0.57570976476,5.45815312498e-05,1.04002914586,0.546280495127,0.00872731146446,1.03969843719
+392,6.533333333,pose2_to_pose3_retreat,0.575709613802,5.46057504973e-05,1.04002916309,0.546280343873,0.00872733468232,1.03969845453
+393,6.550000000,pose2_to_pose3_retreat,0.575709465237,5.45840661212e-05,1.04002917488,0.546280195316,0.0087273130022,1.03969846564
+394,6.566666667,pose2_to_pose3_retreat,0.57570938562,5.45479681971e-05,1.04002917842,0.546280115866,0.00872727743878,1.0396984684
+395,6.583333333,pose2_to_pose3_retreat,0.575709348929,5.45532400578e-05,1.04002915297,0.546280079217,0.00872728288436,1.03969844369
+396,6.600000000,pose2_to_pose3_retreat,0.575709314556,5.4604156291e-05,1.04002907228,0.546280044814,0.00872733381093,1.03969836602
+397,6.616666667,pose2_to_pose3_retreat,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502785,1.03969833366
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e09dbdd6c2d4d84565f4ba5a440015179cc68762
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aae2a3c2387811873b1e16bcb36c3b925bf9483091a52387c7ce2af49126b0e0
+size 25460594
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..979236a4d03846694c5a30a16a138e1f56933ce0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
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+37,0.616666667,BASELINE,764,742,711,671,663,633,875,783,799.53810222,649.53810222,628.46189778,651,0.400978919921,-0.00542615487909,0.0498531807356,0.999999953743,0.000159533522257,-0.00025522819746,-4.38380224039e-05,1793192711801840896
+38,0.633333333,BASELINE,764,742,711,670.94761424,663.05238576,633,875.05238576,783,799,649,628.94761424,651,0.400978530457,-0.00542736157415,0.0498532574774,0.999999954032,0.000157444280089,-0.000255442062211,-4.35585407914e-05,1793192711818507776
+39,0.650000000,BASELINE,764,742,711,670.368768989,663.631231011,633,875.631231011,783,799,649,628.368768989,651,0.400979464188,-0.00542585087239,0.0498537629452,0.999999953611,0.000160419960083,-0.000255235721465,-4.35597441713e-05,1793192711835174400
+40,0.666666667,BASELINE,764,742,711.208296326,670.208296326,663.791703674,633,875.791703674,783,799,649,628.208296326,651,0.400979624847,-0.00542465624878,0.0498539370977,0.999999953369,0.000161796382556,-0.000255289876651,-4.37205590322e-05,1793192711851841024
+41,0.683333333,BASELINE,764,742,711.782237095,670.782237095,663.217762905,633,875.217762905,783,799,649,628.782237095,651,0.400978428452,-0.00542401647046,0.0498535296576,0.999999953449,0.000160365459957,-0.000255801307757,-4.41615567097e-05,1793192711868507392
+42,0.700000000,BASELINE,764,742,711.634573058,671,663,633,875,783,799.365426942,649.365426942,628.634573058,650.634573058,0.400977794964,-0.00542440855866,0.0498526829151,0.999999953234,0.000159668933872,-0.000257044878218,-4.43426554859e-05,1793192711885174272
+43,0.716666667,BASELINE,764,742,711.045728458,671,663,633,875,783,799.954271542,649.954271542,628.045728458,650.045728458,0.40097750563,-0.00542543151771,0.0498515675883,0.999999952836,0.00015942140908,-0.000258736069901,-4.43648551676e-05,1793192711901840896
+44,0.733333333,BASELINE,764,742,711,671,663,633,875,783,800,650,628.534406536,650.534406536,0.400978081482,-0.00542362787347,0.0498526406695,0.999999952723,0.000162378581491,-0.00025736679105,-4.41448246172e-05,1793192711918507520
+45,0.750000000,BASELINE,763.886883737,742,711,671.113116263,663.113116263,633,875.113116263,783,799.886883737,650,628.886883737,651,0.400978729359,-0.00542220032178,0.0498536758814,0.999999952704,0.00016456081637,-0.000256077882871,-4.39879419207e-05,1793192711935174144
+46,0.766666667,BASELINE,763.311004947,742,711,671.688995053,663.688995053,633,875.688995053,783,799.311004947,650,628.311004947,651,0.400979373877,-0.00542328500352,0.0498538023697,0.999999953014,0.000162468894341,-0.000256171955302,-4.41728356882e-05,1793192711951840768
+47,0.783333333,BASELINE,763.262592386,742,711,671.737407614,663.737407614,633,875.737407614,783,799.262592386,649.737407614,628.262592386,651,0.400979752846,-0.00542382393869,0.0498538290811,0.999999953295,0.000161555961236,-0.000255640476927,-4.42440384578e-05,1793192711968507648
+48,0.800000000,BASELINE,763.833510992,742,711,671.166489008,663.166489008,633,875.166489008,783,799.833510992,649.166489008,628.833510992,651,0.400979820016,-0.00542372207867,0.0498537386382,0.999999953544,0.000162027352835,-0.000254374500058,-4.41817495077e-05,1793192711985174272
+49,0.816666667,BASELINE,764,742,711,670.578902075,663,633,875,783.421097925,800,649,629,651,0.400979175162,-0.0054230975942,0.0498537217542,0.999999953346,0.000162146817939,-0.000255048739015,-4.43526931426e-05,1793192712001841152
+50,0.833333333,BASELINE,764,742,711,670,663,633,875,783.984854133,799.984854133,649.015145867,629,651,0.400978264957,-0.00542233153206,0.0498537236108,0.999999952976,0.000162084271285,-0.000256490995105,-4.46010685732e-05,1793192712018507776
+51,0.850000000,BASELINE,764,742,711,670,663,633,875,783.405726931,799.405726931,649.594273069,629,651,0.400978388591,-0.00542430488903,0.0498532957234,0.999999953152,0.000160638890418,-0.00025679011156,-4.41575278438e-05,1793192712035174144
+52,0.866666667,BASELINE,763.827853763,742,711.172146237,670.172146237,663.172146237,633,875.172146237,783.172146237,799.172146237,649.827853763,629,651,0.400978774455,-0.00542523725735,0.0498532637794,0.9999999533,0.000160400020884,-0.000256404391369,-4.39138469787e-05,1793192712051840768
+53,0.883333333,BASELINE,763.252914854,742,711.747085146,670.747085146,663.747085146,633,875.747085146,783.747085146,799.747085146,649.252914854,629,651,0.400979773892,-0.00542373389068,0.0498541582754,0.99999995338,0.000162984181033,-0.000254416270854,-4.41378039469e-05,1793192712068507392
+54,0.900000000,BASELINE,763.328922448,742,711.671077552,671,664,633,875.671077552,783.671077552,799.671077552,649.328922448,629,651,0.400979696963,-0.00542310112566,0.0498544010744,0.999999953359,0.000163369621091,-0.000254240763994,-4.41933177064e-05,1793192712085174016
+55,0.916666667,BASELINE,763.916177659,742,711.083822341,671,664,633,875.083822341,783.083822341,799.083822341,649.916177659,629,651,0.400978774666,-0.0054231521235,0.0498541320363,0.999999953263,0.000162028205835,-0.000255488867862,-4.41165376585e-05,1793192712101840640
+56,0.933333333,BASELINE,764,742,711,671,663.503035563,633,875,783.496964437,798.503035563,649.503035563,629,650.503035563,0.400979143377,-0.00542232207501,0.0498543313445,0.999999953394,0.000162759651902,-0.000254493534385,-4.42168812947e-05,1793192712118507520
+57,0.950000000,BASELINE,764,742,711,671,663.075737011,633,875,783.924262989,798.075737011,649.075737011,629,650.075737011,0.400979671734,-0.00542191310317,0.0498545338314,0.999999953568,0.000163448676934,-0.000253346562878,-4.43079510573e-05,1793192712135174400
+58,0.966666667,BASELINE,764,742,711,671,663.648360656,633,875,783.351639344,798.648360656,649.648360656,629,650.648360656,0.400979837229,-0.00542522910607,0.049854245568,0.999999953799,0.00016159507144,-0.000253655392866,-4.41446942709e-05,1793192712151841280
+59,0.983333333,BASELINE,764,742,711,671,663.775922798,633,875.448154405,783,799,649.775922798,628.775922798,650.775922798,0.400979585601,-0.00542661094144,0.0498540644801,0.999999953868,0.000160564147787,-0.000254049249458,-4.40607676334e-05,1793192712168507904
+60,1.000000000,BASELINE,764,742,711,671,663.195284609,633,876.609430781,783,799,649.195284609,628.195284609,650.195284609,0.400978670228,-0.00542491504933,0.0498540539344,0.999999953687,0.00016084230949,-0.00025457840398,-4.41030744105e-05,1793192712185174272
+61,1.016666667,BASELINE,764,742,711,671.390377656,663.390377656,633,876.219244688,783,799,649,628,650,0.400979024434,-0.00542382121646,0.0498542188813,0.999999953811,0.000160392138422,-0.000254337462444,-4.43348990066e-05,1793192712201840896
+62,1.033333333,BASELINE,764,742,711,671.978585924,663.978585924,633,875.042828152,783,799,649,628,650,0.400980022021,-0.00542303248761,0.0498544727622,0.999999954087,0.000159572872138,-0.000253706261411,-4.46627650248e-05,1793192712218507520
+63,1.050000000,BASELINE,763.442271618,742.557728382,711,671.442271618,663.442271618,633,875,783,799.557728382,649,628,650.557728382,0.400979088022,-0.00542260630293,0.0498536962445,0.999999953352,0.000162472711147,-0.000254795408401,-4.44737492062e-05,1793192712235174144
+64,1.066666667,BASELINE,763.135961698,742.864038302,711,671,663.135961698,633,875,783,800,649.135961698,628.135961698,651,0.400978287259,-0.00542270614778,0.0498531270348,0.999999952842,0.000164048527521,-0.000255810783143,-4.43296725064e-05,1793192712251840768
+65,1.083333333,BASELINE,763.712359447,742.287640553,711,671,663.712359447,633,875,783,800,649.712359447,628.712359447,651,0.400978154511,-0.00542446564819,0.0498533554896,0.999999953209,0.000160880112685,-0.000256376628449,-4.43944325066e-05,1793192712268507392
+66,1.100000000,BASELINE,764,742,711,671,663.713724943,633,875,783.286275057,799.713724943,649.713724943,629,651,0.400978121412,-0.00542453764937,0.0498535413773,0.99999995316,0.000160787122817,-0.000256628993517,-4.43686753815e-05,1793192712285174272
+67,1.116666667,BASELINE,764,742,711,671,663.142281907,633,875,783.857718093,799.142281907,649.142281907,629,651,0.400978187576,-0.00542292867709,0.0498536848623,0.999999952699,0.000163757664861,-0.000256569090599,-4.4252751174e-05,1793192712301841408
+68,1.133333333,BASELINE,764,742,711,671,663,633,875,783.55386698,799,649.44613302,628.55386698,651,0.40097894674,-0.00542287825984,0.0498539424545,0.999999953339,0.000162691255507,-0.000254707998727,-4.44609517581e-05,1793192712318507776
+69,1.150000000,BASELINE,764,742,711,671,663.039061504,633,875,783,799,649.960938496,628,651,0.40097980561,-0.00542332137132,0.0498541680548,0.999999954222,0.000160532647832,-0.00025255330872,-4.47461992321e-05,1793192712335174144
+70,1.166666667,BASELINE,764,742,711,671,663.616642026,633,875,783,799,649.383357974,628,651,0.400978871605,-0.00542344481999,0.0498534310517,0.999999953514,0.000161768155025,-0.000254583617914,-4.46121759301e-05,1793192712351840512
+71,1.183333333,BASELINE,764,742,711,671,663.805713268,633,875,783,799.194286732,649,628.194286732,651,0.400978369578,-0.00542342328388,0.0498531099773,0.999999952996,0.000163218775401,-0.00025571794908,-4.44565302874e-05,1793192712368507136
+72,1.200000000,BASELINE,764,742,711,671,663.227941771,633,875,783,799.772058229,649,628.772058229,651,0.400978720192,-0.0054231155756,0.0498536098664,0.999999952859,0.000165093988188,-0.000255083791743,-4.42582062656e-05,1793192712385173760
+73,1.216666667,BASELINE,763.645486086,742,711,671,663,633,875,783,800,649,629,650.645486086,0.400979423631,-0.00542322910976,0.0498539582866,0.999999953064,0.00016495267899,-0.000254343507756,-4.44110710132e-05,1793192712401840384
+74,1.233333333,BASELINE,763.059978317,742,711,671,663,633,875,783,800,649,629,650.059978317,0.400980356964,-0.00542361711669,0.0498542080127,0.999999953491,0.00016349744611,-0.000253534073899,-4.47927630329e-05,1793192712418507264
+75,1.250000000,BASELINE,763.523131068,742,711,670.476868932,663.523131068,633,875,783,799.476868932,649.523131068,629,650.523131068,0.400980432871,-0.00542292268172,0.0498546023093,0.999999953682,0.000164061281569,-0.000252423918714,-4.47372897418e-05,1793192712435174144
+76,1.266666667,BASELINE,763.895256782,742,711,670.104743218,663.895256782,632.895256782,875,783,799,649.895256782,628.895256782,651,0.400980397095,-0.00542247924093,0.0498549022336,0.999999953847,0.00016421424315,-0.000251691169031,-4.46255999112e-05,1793192712451841024
+77,1.283333333,BASELINE,763.31915066,742,711,670.68084934,663.31915066,632.31915066,875,783,799,649.31915066,628.31915066,651,0.400980299106,-0.00542372126248,0.0498547032141,0.999999954016,0.000161481202445,-0.000252811261601,-4.4485454747e-05,1793192712468507392
+78,1.300000000,BASELINE,763,742,711,670.743945461,663,632.256054539,875,783,799.256054539,649,628.256054539,650.743945461,0.400979998472,-0.00542406870416,0.0498545565679,0.999999953909,0.000160962584679,-0.000253593069931,-4.43087386403e-05,1793192712485174272
+79,1.316666667,BASELINE,763,742,711,670.169859292,663,632.830140708,875,783,799.830140708,649,628.830140708,650.169859292,0.400979446142,-0.00542330503602,0.0498544749718,0.999999953465,0.000163194383245,-0.000253954713444,-4.40865997355e-05,1793192712501841152
+80,1.333333333,BASELINE,763.4163877,742,711,670.4163877,663.4163877,633,875,783,799.5836123,649,629,650,0.400979160951,-0.00542270431829,0.0498544010808,0.999999953374,0.000163993257179,-0.000253764379494,-4.42865508407e-05,1793192712518507520
+81,1.350000000,BASELINE,764,742,711,670.992447091,663.992447091,633,875,783,799.007552909,649.007552909,629,650.007552909,0.400979007292,-0.00542219125999,0.0498543428123,0.999999953441,0.000164148636629,-0.000253334678722,-4.46569962184e-05,1793192712535174144
+82,1.366666667,BASELINE,764,742,711,670.415742977,663.415742977,633,875,783,799.584257023,649.584257023,629,650.584257023,0.400980306325,-0.00542312400102,0.0498552177991,0.99999995418,0.000161186692751,-0.000252345725827,-4.45096547319e-05,1793192712551841024
+83,1.383333333,BASELINE,764,742,711,670.16035095,663.16035095,632.83964905,875,783,799.83964905,649.83964905,628.83964905,651,0.400981062139,-0.00542360510628,0.0498557726955,0.999999954593,0.000159534618119,-0.000251776809496,-4.44009908687e-05,1793192712568508160
+84,1.400000000,BASELINE,764,742,711,670.734868962,663.734868962,632.265131038,875,783,799.265131038,649.265131038,628.265131038,651,0.400980414884,-0.00542291969132,0.0498555008374,0.999999954186,0.0001612657763,-0.000252292796475,-4.43922265865e-05,1793192712585174528
+85,1.416666667,BASELINE,763.682421531,742,711,671,663.682421531,632.317578469,875.317578469,783,799,649,628.317578469,650.682421531,0.400979864396,-0.00542304498605,0.0498550883057,0.999999953836,0.000162336642338,-0.000253005084365,-4.43115119472e-05,1793192712601840640
+86,1.433333333,BASELINE,763.09269231,742,711,671,663.09269231,632.90730769,875.90730769,783,799,649,628.90730769,650.09269231,0.400979396832,-0.00542386502329,0.0498545552229,0.999999953537,0.000162841667003,-0.000253885593455,-4.41691390233e-05,1793192712618507264
+87,1.450000000,BASELINE,763,742.488305452,711,671,663,633,876,783.488305452,799,649,629,650.488305452,0.400979972444,-0.00542324932134,0.0498547547774,0.999999953431,0.00016433033421,-0.000253331530646,-4.42238070173e-05,1793192712635174144
+88,1.466666667,BASELINE,763,743,711,671,663,633,875.932667895,783.932667895,799,649.067332105,629,651,0.400980543253,-0.00542247512573,0.049854972268,0.99999995337,0.000165602099796,-0.000252731399921,-4.43007054392e-05,1793192712651840768
+89,1.483333333,BASELINE,763,743,711,671,663,633,875.356233006,783.356233006,799,649.643766994,629,651,0.400979606808,-0.00542252703028,0.049854292311,0.999999953389,0.000163846859626,-0.000253805782356,-4.42678496989e-05,1793192712668507136
+90,1.500000000,BASELINE,763,742.780506325,711,671,663,633,875.219493675,783,799,649.780506325,629,651,0.400979028022,-0.00542248482628,0.0498538729645,0.999999953408,0.000162663418268,-0.000254470971106,-4.43706151564e-05,1793192712685173760
+91,1.516666667,BASELINE,763,742.205925407,711,671,663,633,875.794074593,783,799,649.205925407,629,651,0.400979027843,-0.00542229037757,0.0498538752225,0.999999953435,0.000162405008122,-0.000254474184151,-4.46927826435e-05,1793192712701840640
+92,1.533333333,BASELINE,763,742,711,671,663,633,875.621504742,783,799,649.378495258,629,651,0.400978787269,-0.00542308491522,0.0498535849013,0.999999953536,0.000161946824026,-0.000254347023882,-4.48172840471e-05,1793192712718507776
+93,1.550000000,BASELINE,763,742,711,671,663,633,875.031587686,783,799,649.968412314,629,651,0.400978412416,-0.00542443188585,0.0498531311497,0.999999953678,0.000161377049161,-0.000254147039027,-4.48313721594e-05,1793192712735174912
+94,1.566666667,BASELINE,763,742,711,671,663.548668131,633,875,783,799.548668131,650,628.451331869,651,0.400978908848,-0.0054245907144,0.0498538582427,0.99999995357,0.000162343364413,-0.000254038951863,-4.43725893467e-05,1793192712751841280
+95,1.583333333,BASELINE,763,742,711,671,664,632.872507432,875,783,800,649.872507432,628.127492568,650.872507432,0.400979535618,-0.00542434653587,0.0498546950128,0.999999953551,0.000163261386803,-0.000253575718293,-4.40802851625e-05,1793192712768507392
+96,1.600000000,BASELINE,763,742,711,671,664,632.296793471,875,783,800,649.296793471,628.703206529,650.296793471,0.400980447312,-0.00542292184038,0.0498556825008,0.999999953899,0.000163704099354,-0.0002518456298,-4.44673183259e-05,1793192712785174016
+97,1.616666667,BASELINE,763.283952618,742,711,671,663.716047382,632.283952618,875,783,799.432094764,649,629,650.283952618,0.400980153012,-0.00542242109225,0.0498555699695,0.999999953847,0.000163589931682,-0.000252099738982,-4.46193193911e-05,1793192712801840640
+98,1.633333333,BASELINE,763.870053255,742,711,671,663.129946745,632.870053255,875,783,798.259893491,649,629,650.870053255,0.400978575439,-0.00542290349718,0.0498542869308,0.999999953367,0.000162883199429,-0.000254465191355,-4.45212277119e-05,1793192712818507520
+99,1.650000000,BASELINE,764,742,711,671,663.450654243,633,875,783,798.450654243,649,628.549345757,651,0.400978961707,-0.00542298802734,0.0498543265422,0.999999953349,0.000163740055586,-0.000253986952698,-4.45192008084e-05,1793192712835174144
+100,1.666666667,BASELINE,764,742.029681816,711,671,663.970318184,633,875.029681816,783,799.029681816,649.029681816,628,651,0.400979843468,-0.00542299147711,0.049854714382,0.999999953457,0.00016490410382,-0.000252802220942,-4.45431466564e-05,1793192712851840512
+101,1.683333333,BASELINE,764,742.60858548,711,671,663.39141452,633,875.60858548,783,799.60858548,649.60858548,628,651,0.400979541837,-0.00542359193064,0.0498545737341,0.9999999535,0.000163510303579,-0.000253534518361,-4.45413043174e-05,1793192712868507648
+102,1.700000000,BASELINE,763.814647656,742.814647656,711,671,663,633,875.814647656,783,799.814647656,649.814647656,628.185352344,651,0.400979122051,-0.0054240192865,0.0498542984322,0.999999953451,0.000163032549366,-0.000254039193949,-4.45231586996e-05,1793192712885174528
+103,1.716666667,BASELINE,763.242341784,742.242341784,711,671,663,633,875.242341784,783,799.242341784,649.242341784,628.757658216,651,0.400978455599,-0.00542408527242,0.0498537420177,0.999999953211,0.000164467192191,-0.000254068671404,-4.44709773041e-05,1793192712901841152
+104,1.733333333,BASELINE,763,742,711,671,663,633,875,783.340513282,799,649.340513282,629,650.659486718,0.400978741361,-0.00542423187739,0.0498539793647,0.99999995336,0.000164187940637,-0.000253680698569,-4.437501982e-05,1793192712918507776
+105,1.750000000,BASELINE,763,742,711,671,663,633,875,783.931116252,799,649.931116252,629,650.068883748,0.400979726475,-0.00542443769294,0.0498547996891,0.999999953793,0.000162649920968,-0.000252986129725,-4.42469110194e-05,1793192712935174144
+106,1.766666667,BASELINE,763.493830169,742,711,671.493830169,663,633,875,783.506169831,799,650,628.506169831,650.493830169,0.400980064885,-0.00542275492681,0.0498548971995,0.999999953651,0.000163160066856,-0.000253162877192,-4.45555805244e-05,1793192712951840768
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,875,784,799,650,629,650,0.400978490861,-0.00542349673454,0.0498536453329,0.999999953262,0.000162748218953,-0.000254954376584,-4.45788004531e-05,1793192712994907136
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.423950115,742,711,671,664,632.576049885,875,783.423950115,799.576049885,650,629,650.576049885,0.40097734499,-0.00542293826222,0.0498531584821,0.99999995291,0.00016292358463,-0.000256215641784,-4.45965880302e-05,1793192713011573760
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.15602957,742,711,671,663.84397043,633,875,783,799.84397043,649.84397043,629,650.84397043,0.40097697485,-0.00542231744053,0.0498530953446,0.999999952699,0.000163647983694,-0.000256573057554,-4.46258960453e-05,1793192713028240640
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.746962981,742,711,671,663.253037019,633,875,783,799.253037019,649.253037019,629,650.253037019,0.400978766918,-0.00542152283128,0.0498542132298,0.999999952877,0.000165902712775,-0.000254411158912,-4.46873151746e-05,1793192713044907776
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.331333826,711,671,663,632.668666174,875,783.331333826,799,649.331333826,628.668666174,650.331333826,0.400979503733,-0.00542249104501,0.0498548235085,0.999999953291,0.000164874368703,-0.000253460123991,-4.4645727635e-05,1793192713061574144
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.910790197,711,671,663,632.089209803,875,783.910790197,799,649.910790197,628.089209803,650.910790197,0.400979450311,-0.00542477936585,0.049855053661,0.999999953876,0.000161387463377,-0.000253415856223,-4.45270025503e-05,1793192713078240256
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.517109677,711,671.482890323,663,632.482890323,874.517109677,784,799,649.517109677,628.482890323,651,0.400980734257,-0.00542382914316,0.0498557175864,0.999999953925,0.000162581333613,-0.000252485676599,-4.43671446207e-05,1793192713094906880
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.944385304,742,711,671.944385304,663,633,874.111229392,783.944385304,799,649.055614696,629,650.944385304,0.400982819799,-0.00542263012232,0.0498566333201,0.999999954058,0.000164182018188,-0.00025094795082,-4.4198998011e-05,1793192713111573504
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.352742393,742,711,671.352742393,663,633,875.294515214,783.352742393,799,649.647257607,629,650.352742393,0.400990285757,-0.00542471309058,0.0498592152664,0.999999955952,0.000161494232874,-0.000245108314281,-4.40231044885e-05,1793192713128240128
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.233358132,742,711,671,663,633,875.766641868,783,799,649.766641868,628.766641868,650,0.40100651075,-0.00542577505898,0.0498653228383,0.999999959054,0.000160455619313,-0.00023290375039,-4.36014129438e-05,1793192713144907008
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.811275137,742,711,671,663,633,875.188724863,783,799,649.188724863,628.188724863,650,0.401035668666,-0.0054253294964,0.0498766360806,0.999999963661,0.000161852047558,-0.00021130121918,-4.28167947319e-05,1793192713161573888
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,670.610159839,663,633,875,783.389840161,799,649.389840161,628.389840161,650,0.401082884538,-0.00542662934662,0.0498921818633,0.999999970073,0.000161636612766,-0.000178875487493,-4.16183114721e-05,1793192713178240512
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,670.03128053,663,633,875,783.96871947,799,649.96871947,628.96871947,650,0.401138856978,-0.00542877557277,0.0499097800673,0.99999997632,0.00016063956217,-0.000141201426833,-4.02191389357e-05,1793192713194907136
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.455498973,742,711,670.544501027,663.544501027,633,875,783.455498973,799,649.455498973,628.455498973,650.544501027,0.401209118145,-0.00543185714506,0.0499230619652,0.999999979406,0.00015997478793,-0.00011871698443,-3.87714220277e-05,1793192713211573760
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663.87743492,633,875.12256508,783,799,649.12256508,628.12256508,651,0.40128100311,-0.00543486596371,0.049933787848,0.999999981443,0.00015938586247,-0.000101545093382,-3.73933359343e-05,1793192713228240384
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663.290043275,633,875.709956725,783,799,649.709956725,628.709956725,651,0.401355950844,-0.00543739623393,0.0499357551568,0.999999981575,0.000159012608734,-0.000101230324854,-3.62898400748e-05,1793192713244907008
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.292866834,742,711,671.292866834,663,633,875.707133166,783,799.292866834,650,628.707133166,650.707133166,0.401441794379,-0.00544044681578,0.0499353500156,0.999999981531,0.000157373859095,-0.000104461244531,-3.55001224681e-05,1793192713261573376
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.87140547,742,711,671.87140547,663,633,875.12859453,783,799.87140547,650,628.12859453,650.12859453,0.401538266029,-0.00544400492632,0.0499326307097,0.999999981274,0.000154500703743,-0.000111150743434,-3.50164744053e-05,1793192713278240000
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,671.552120337,663.447879663,633,875,783,799.552120337,650,628.447879663,650,0.401661536446,-0.00544818487227,0.0499350049592,0.999999981944,0.000152345266131,-0.000108435492707,-3.38279959915e-05,1793192713294906624
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783,799,650,628.976231978,650.023768022,0.401793530164,-0.00545259701219,0.0499386822268,0.999999982817,0.000150448746293,-0.000103347771848,-3.24225984976e-05,1793192713311573760
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783,799,650,628.400246151,650.599753849,0.401950248798,-0.00545827475301,0.0499388111187,0.999999982735,0.000149802038982,-0.000105588356153,-3.06575953956e-05,1793192713328240384
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.819915275,633,875.180084725,783.180084725,799,650,628.180084725,651,0.402116276622,-0.00546429905848,0.0499379023684,0.999999982703,0.000147392055178,-0.000109628020813,-2.91879180657e-05,1793192713344907008
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.229688656,633,875.770311344,783.770311344,799,650,628.770311344,651,0.402303506048,-0.00547111266208,0.0499346303943,0.999999982727,0.00014096621968,-0.000117765080016,-2.83908436725e-05,1793192713361573632
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.354111568,671,663,633,875.645888432,783.645888432,799,649.645888432,629,651,0.402518281595,-0.00547980167539,0.049935407503,0.999999983657,0.000136208400241,-0.000115904296719,-2.64324851973e-05,1793192713378240256
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.933817773,671,663,633,875.066182227,783.066182227,799,649.066182227,629,651,0.40275060603,-0.00548968546074,0.0499387641695,0.999999985142,0.000132513226829,-0.000107674166702,-2.37343048381e-05,1793192713394906880
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671.509173224,663.509173224,633,875.509173224,783,799.509173224,649,629,650.490826776,0.403018460043,-0.00549844482196,0.0499422918917,0.99999998644,0.000129177601631,-9.98463486387e-05,-2.15231928868e-05,1793192713411573504
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.914317921,671.914317921,664,633,876,783,800,649.085682079,628.914317921,650.085682079,0.40329774037,-0.00550729613932,0.0499468846823,0.999999987844,0.000125852006516,-9.00255939138e-05,-1.92112873368e-05,1793192713428240384
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.327789076,671.327789076,664,633,876,783,800,649.672210924,628.327789076,650.672210924,0.403617046157,-0.00551753206394,0.0499575743702,0.999999990063,0.000122314175124,-6.82522260062e-05,-1.59432692171e-05,1793192713444907264
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.255776034,711,671,663.744223966,633,875.744223966,783,799.744223966,650,628.255776034,650.744223966,0.403960433047,-0.00552681917283,0.0499668028165,0.999999991345,0.000120970654653,-5.02585535304e-05,-1.22946025601e-05,1793192713461573888
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.835586448,711,671,663.164413552,633,875.164413552,783,799.164413552,650,628.835586448,650.164413552,0.404334327488,-0.00553490425715,0.0499741800625,0.999999991788,0.000122407035934,-3.70532562097e-05,-8.16370479149e-06,1793192713478240256
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.588959089,743,711,671,663.822081821,633,875,783,799,650,629,650.411040911,0.40472798698,-0.0055345453578,0.0499788319884,0.999999990572,0.000134124645141,-2.9161058814e-05,-3.93127881647e-06,1793192713494907136
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.01522872,743,711,671,664.96954256,633,875,783,799,650,629,650.98477128,0.405129469444,-0.00553084434049,0.0499824052362,0.99999998849,0.000149911550951,-2.33717797789e-05,3.41331793492e-07,1793192713511573760
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.558529571,742.441470429,711,671,664.441470429,633,875.558529571,783,799.558529571,649.441470429,629,650.441470429,0.405534338335,-0.00551598517665,0.0499626393377,0.999999982539,0.000177984098025,-5.69519210953e-05,6.7627385137e-07,1793192713528240384
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.863058644,742,711,671,664,633,876,783,799.863058644,649.136941356,629,650,0.40594895571,-0.00550460600897,0.0499424454375,0.999999975455,0.000201612936843,-9.187150289e-05,1.37921838102e-06,1793192713544907008
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+142,2.366666667,POSE1_TO_POSE2_PRESS,763.315596637,742.315596637,711,671,663.684403363,633,875.684403363,783,799.315596637,650,628.684403363,650.315596637,0.406885250644,-0.00551149042388,0.0499097260077,0.999999965903,0.000213620568998,-0.000150039481332,7.0252149642e-06,1793192713578240512
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+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.53193867,711,671,663.46806133,633,875,783,800.46806133,650,628.46806133,650.53193867,0.407999536588,-0.00552498580457,0.0499211689004,0.999999967898,0.00022253343035,-0.000120063916551,1.63780671758e-05,1793192713611573760
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+152,2.533333333,POSE1_TO_POSE2_PRESS,763.894491501,742,711.894491501,671,663.105508499,633,875.894491501,783,799.894491501,649.894491501,628,650.105508499,0.413244588346,-0.00554691337852,0.0499387388161,0.999999992067,8.89738325506e-05,-8.91371705214e-05,2.1300609038e-06,1793192713744907008
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+154,2.566666667,POSE1_TO_POSE2_PRESS,763.281812244,742,711,671.281812244,663.718187756,633,875.281812244,783,799.563624488,649,628.281812244,650.718187756,0.414762793832,-0.00554542587212,0.0499606763685,0.999999990713,0.000120591113239,-6.18350964509e-05,1.44501572708e-05,1793192713778240512
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.858710149,742,711,671.858710149,663.141289851,633,875.858710149,783,800.717420297,649,628.858710149,650.141289851,0.415498640288,-0.00553733101336,0.0499277299932,0.999999984423,0.000134713872423,-0.000113182857574,1.40278841654e-05,1793192713794907136
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,671.56538129,663.43461871,633,876.43461871,783,800.130762579,649,628.56538129,650,0.416297514327,-0.00553752751024,0.0499192090034,0.999999983989,0.000127156197182,-0.000125203453365,1.33438793729e-05,1793192713811573504
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.010248345,711,671.010248345,664,633,876.989751655,783,799.010248345,649.010248345,628,650.010248345,0.41711751118,-0.00554047085955,0.0499191624058,0.999999985935,0.000112760239542,-0.000123511288845,1.266824207e-05,1793192713828240128
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.588204711,711,671.588204711,664,633,876.411795289,783,799.588204711,649.588204711,628,650.588204711,0.41797516632,-0.00554660187421,0.049949693741,0.999999991534,0.000109098988344,-6.88082322446e-05,1.71587697011e-05,1793192713844907008
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711.169022901,672,664,633,876,783,799.830977099,649.830977099,628,650.830977099,0.418810525581,-0.00555020652051,0.0499679334346,0.999999993239,0.00010722397593,-3.99895649276e-05,2.06525097086e-05,1793192713861573632
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,711.756933486,672,664,633,876,783,799.243066514,649.243066514,628,650.243066514,0.419590629149,-0.00554755009422,0.0499557108801,0.999999990903,0.000109775781214,-7.53199121208e-05,2.16759212151e-05,1793192713878240256
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.661411303,711.661411303,672,664,633,876,783,799,649,628,650,0.420425514875,-0.00554534603891,0.0499502557361,0.999999990919,0.000107847253881,-7.80309414042e-05,2.1021498816e-05,1793192713894906880
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.084165275,711.084165275,672,664,633,876,783,799,649,628,650,0.421299014273,-0.00554346084153,0.0499495706638,0.999999992869,0.000102760723147,-5.7749945352e-05,1.91844398421e-05,1793192713911573760
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.488218743,711,671.511781257,664.488218743,633,876,783,799,649,628.488218743,650,0.42220047919,-0.00554919027016,0.0499660576557,0.999999995169,9.30109951391e-05,-2.40382376701e-05,2.07888388035e-05,1793192713928240128
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,711,671.062432322,664.937567678,632.937567678,876,783,799.062432322,649,628.937567678,650,0.423099848789,-0.00555542804285,0.0499816891405,0.999999996257,8.33275924937e-05,5.07258154829e-06,2.27254347943e-05,1793192713944907008
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,711,671.659416202,664.340583798,632.340583798,876,783,799.659416202,649,628.340583798,650,0.423940406282,-0.00555488962391,0.0499648989288,0.999999996156,8.10272841775e-05,-2.48386840562e-05,2.24766860534e-05,1793192713961573632
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632.248244608,876,783,800,649.248244608,628.248244608,650.248244608,0.424801087288,-0.0055562561356,0.0499597811752,0.999999996318,7.57068369112e-05,-3.33792930936e-05,2.27730043839e-05,1793192713978240256
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632.826239938,876,783,800,649.826239938,628.826239938,650.826239938,0.425688499073,-0.00556015302343,0.0499701682935,0.999999997423,6.63746486669e-05,-1.35326253816e-05,2.37933515517e-05,1793192713994906880
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,711.401144684,672,664,632.598855316,876,783,799.598855316,649.598855316,628.598855316,650.598855316,0.426555282827,-0.00556202581343,0.0499835874198,0.999999997763,6.11553363257e-05,-7.46583463438e-06,2.60499378796e-05,1793192714011573504
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,711.974720912,672,664,632.025279088,876,783,799.025279088,649.025279088,628.025279088,650.025279088,0.427413199595,-0.00556302854725,0.0499983098503,0.999999997893,5.77039391485e-05,-7.32230806979e-06,2.8837920016e-05,1793192714028240384
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,672,664,632.56420691,876.56420691,783,799.56420691,649.56420691,628.56420691,650,0.428213687381,-0.00555803044936,0.0499582435682,0.999999994958,6.06439681172e-05,-7.52406405777e-05,2.72973969185e-05,1793192714044907264
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.84838924,711.84838924,672,664,633,877,783,799.84838924,649.84838924,629,650.15161076,0.429035901747,-0.00555485516465,0.0499290552818,0.999999990649,6.05361930478e-05,-0.000119860649885,2.59099441196e-05,1793192714061573888
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.268931258,711.268931258,672,664,633,877,783,799.268931258,649.268931258,629,650.731068742,0.429926900688,-0.00555760463535,0.0499376932722,0.999999994335,5.09959062884e-05,-8.98771387509e-05,2.5517631096e-05,1793192714078240256
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.308577057,711.308577057,672,664.308577057,632.691422943,877,783,799,649,628.691422943,650.691422943,0.43077456615,-0.00556009329392,0.0499405770715,0.999999995283,4.38825208517e-05,-8.26474835099e-05,2.60518443265e-05,1793192714094906880
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.884396834,711.884396834,672,664.884396834,632.115603166,877,783,799,649,628.115603166,650.115603166,0.431584702668,-0.00556235607636,0.0499384774614,0.999999994345,3.8870950377e-05,-9.51237744334e-05,2.73884743358e-05,1793192714111573504
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.540890596,711.540890596,672,664.540890596,632,876.540890596,783,799.459109404,649,628.459109404,650,0.432382886799,-0.00556269633542,0.0499279041637,0.999999992995,3.48498438214e-05,-0.000109838385215,2.70542048211e-05,1793192714128240128
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.033280129,632.033280129,876.033280129,783,799.966719871,649.033280129,628.966719871,650,0.433179980784,-0.0055625875261,0.0499176955936,0.999999991834,3.09191888878e-05,-0.000121165713882,2.63539208971e-05,1793192714144906752
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.603197675,632.603197675,876.603197675,783,799.396802325,649.603197675,628.396802325,650,0.434007907941,-0.00556302463918,0.049947690479,0.999999996983,2.4435232735e-05,-6.88073702688e-05,2.65196035375e-05,1793192714161573632
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.182020558,742,711,672,665,633,876.817979442,783,799,649.817979442,628.182020558,650,0.434810636316,-0.00556337845599,0.0499709298953,0.999999998934,1.77578152877e-05,-3.29842927906e-05,2.70121030406e-05,1793192714178240512
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.781255735,742,711,672,665,633,876.218744265,783,799,649.218744265,628.781255735,650,0.435555605994,-0.00556354134708,0.04997868491,0.99999999893,1.06369584242e-05,-3.50621702079e-05,2.82537091644e-05,1793192714194907136
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.634900025,742,711,672,664.634900025,632.634900025,876.365099975,783,799.365099975,649,629,650,0.436254139807,-0.00556276934927,0.0499594368958,0.999999996402,9.68698194221e-06,-7.91634459255e-05,2.88845878141e-05,1793192714211573760
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.05990407,742,711,672,664.05990407,632.05990407,876.94009593,783,799.94009593,649,629,650,0.436925977595,-0.00556145988381,0.0499246648394,0.999999988632,1.22846450518e-05,-0.000147423973396,2.91643590483e-05,1793192714228240640
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876.4743282,783,800,649,629,650,0.437659376674,-0.00556133887397,0.0499378953771,0.999999993676,1.69926969054e-05,-0.000106861054173,3.06635333279e-05,1793192714244907008
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.111040382,742,711,672,664.111040382,632.111040382,876.111040382,783,800,649,629,650,0.43838501385,-0.00556109683247,0.0499543253973,0.999999997269,2.12925550421e-05,-6.29727333008e-05,3.22895728512e-05,1793192714261573632
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.690346017,742,711,672,664.690346017,632.690346017,876.690346017,783,800,649,629,650,0.439047726617,-0.00555976152996,0.049960705649,0.999999997459,2.28360197518e-05,-5.84319264601e-05,3.38525729118e-05,1793192714278240000
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.730331319,742,711,672,664.730331319,632.730331319,877,783,799.730331319,649,629,650,0.439669034658,-0.00556059254861,0.0499480863759,0.999999995909,2.21861998962e-05,-8.05614283511e-05,3.46479578051e-05,1793192714294906880
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.15098914,742,711,672,664.15098914,632.15098914,877,783,799.15098914,649,629,650,0.440242795619,-0.00556391125799,0.0499136490353,0.999999990335,1.90177258872e-05,-0.000133317726796,3.45618531584e-05,1793192714311573504
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672.424728464,663.575271536,632,877,783,799,649,629,650,0.440801764642,-0.00556339565412,0.0498951923975,0.999999985604,1.89749194047e-05,-0.000165046414058,3.45233282599e-05,1793192714328240384
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672.999168498,663.000831502,632,877,783,799,649,629,650,0.441355519736,-0.00556152850216,0.0498823687585,0.999999981275,2.00338720984e-05,-0.000189363130809,3.4501574635e-05,1793192714344907264
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711.587517257,673,663,632,876.412482743,783,799.587517257,649,629,650,0.441901955145,-0.00556131940741,0.0498860149755,0.999999983634,1.68040854877e-05,-0.000176822576906,3.44128802688e-05,1793192714361573888
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.17387523,711.82612477,673,663,632,876,783,799.82612477,649,629,650,0.442427196509,-0.0055609625801,0.0498851773914,0.999999984292,1.25169955593e-05,-0.000173570627021,3.3650618709e-05,1793192714378240768
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.755517308,711.244482692,673,663,632,876,783,799.244482692,649,629,650,0.442902759247,-0.00556025365823,0.0498737685453,0.999999981018,5.76492952317e-06,-0.000192227321662,3.13089556137e-05,1793192714394907136
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.667010922,743,711,673,663,632,876,783,799.332989078,649,628.667010922,650.332989078,0.443331707479,-0.0055594363112,0.0498515858426,0.999999972769,-2.30090701716e-05,-0.000231196604211,2.19055823922e-05,1793192714411573504
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.092563181,743,711,673,663,632,876,783,799.907436819,649,628.092563181,650.907436819,0.443726854347,-0.00555854034244,0.0498215907491,0.999999957095,-6.77517212101e-05,-0.000284895047478,7.38158757258e-06,1793192714428240384
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.478915384,743,711,672.521084616,662.521084616,632,876,783,800,649,628.478915384,650.521084616,0.444089088466,-0.00556013863896,0.0497866210566,0.999999939193,-7.23964820784e-05,-0.000341090757911,5.37996583168e-06,1793192714444907008
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.051925946,743,711.051925946,672.051925946,662,632,876.051925946,783,800,649,628.948074054,650.051925946,0.444446516882,-0.00556198866337,0.0497536973879,0.999999920727,-6.91594116842e-05,-0.000392083908262,5.82687480647e-06,1793192714461573376
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.646924,743,711.646924,672.646924,662,632,876.646924,783,800,649,628.353076,650.646924,0.444819804398,-0.00556146056125,0.0497521659406,0.999999924333,-6.40440222255e-05,-0.000383648759201,6.72518370039e-06,1793192714478240256
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.763631595,743,712,673,662,632,876.763631595,783,800,649,628,651,0.445175294783,-0.00556184107857,0.0497522741658,0.999999927981,-6.08762671758e-05,-0.000374529563063,7.76748304818e-06,1793192714494907136
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.182292577,743,712,673,662,632,876.182292577,783,800,649,628,651,0.445504810905,-0.00556354769111,0.0497547754305,0.999999931728,-6.05510102179e-05,-0.000364412027233,9.01993085647e-06,1793192714511573504
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,712,672.606455012,661.606455012,631.606455012,876.393544988,783,799.606455012,649.393544988,628,650.606455012,0.445795658325,-0.00556440015852,0.0497510633878,0.999999930821,-5.96380572424e-05,-0.00036701232157,1.01190286129e-05,1793192714528240128
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,712,672.033130573,661.033130573,631.033130573,876.966869427,783,799.033130573,649.966869427,628,650.033130573,0.446068841114,-0.005564862435,0.0497445129786,0.999999927758,-5.84566325996e-05,-0.000375422381589,1.11480730186e-05,1793192714544907264
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711.457996635,672.542003365,660.457996635,631,877,783,799,649.457996635,628.542003365,650,0.446296662293,-0.00556140803769,0.0497322807954,0.999999921763,-5.21179202705e-05,-0.000391965854179,1.09458186524e-05,1793192714561574400
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,673,660.12119984,631,877,783,799.12119984,649,629,650,0.446511809165,-0.00555859535184,0.0497178297018,0.999999913566,-4.7312429525e-05,-0.000412939066594,1.05264941309e-05,1793192714578241280
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,673,660.715832123,631,877,783,799.715832123,649,629,650,0.446688314906,-0.00555922765049,0.049696072259,0.999999897797,-4.97315670134e-05,-0.00044926725894,9.55423134617e-06,1793192714594907392
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.699273299,742.699273299,711,673,661,631,877,783,800,649,629,650,0.446850514275,-0.00556200418611,0.0496773140462,0.999999884379,-5.42263863964e-05,-0.000477730265133,8.72708424922e-06,1793192714611574016
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.123291672,742.123291672,711,673,661,631,877,783,800,649,629,650,0.446999619022,-0.0055667433402,0.0496613010277,0.999999873633,-6.06210757572e-05,-0.00049899427033,8.03276149705e-06,1793192714628240384
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.450151179,742.450151179,711,673,660.549848821,630.549848821,877,782.549848821,799.549848821,649,628.549848821,650,0.447135433154,-0.00557015589233,0.0496555603282,0.999999869629,-6.49147616257e-05,-0.000506427195462,7.74166466616e-06,1793192714644907008
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711.023589321,673,660.023589321,630.023589321,877,782,799.023589321,649,628.023589321,650,0.447266870574,-0.00557309731829,0.0496529328611,0.999999867732,-6.85492905518e-05,-0.000509685240295,7.57270949216e-06,1793192714661573632
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711.613514922,673,660.613514922,630.613514922,877,782,799.613514922,649,628.613514922,650,0.447380134618,-0.00557340213154,0.0496578807126,0.999999870934,-7.00965174243e-05,-0.000503149445135,7.69957530371e-06,1793192714678240256
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660.79940543,631,877,782.20059457,800,649,628.79940543,650,0.447485489792,-0.00557364671285,0.0496610069027,0.999999872883,-7.11157946235e-05,-0.000499111823246,7.94009644609e-06,1793192714694907136
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660.217732436,631,877,782.782267564,800,649,628.217732436,650,0.447575820122,-0.00557377686884,0.0496606724009,0.999999872525,-7.11321021797e-05,-0.000499820092992,8.39653366067e-06,1793192714711573760
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631,877,782.640815313,799.640815313,649,628,650,0.447647125826,-0.00557050363861,0.0496600687075,0.999999871688,-6.83823524421e-05,-0.000501872326699,8.4515479144e-06,1793192714728240128
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631,877,782.066743402,799.066743402,649,628,650,0.447707049794,-0.00556519428535,0.0496593039665,0.999999870544,-6.39777705285e-05,-0.000504728605562,8.26640535259e-06,1793192714744907008
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,630.491059703,877,782,799.508940297,649.508940297,628,650.508940297,0.447749769684,-0.00556025003099,0.0496565316643,0.999999868003,-5.95325864646e-05,-0.000510273825634,8.3362567007e-06,1793192714761573888
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711.913241711,673,660,630,877,782.086758289,800,649.913241711,628.086758289,650.913241711,0.447788999805,-0.00555506385499,0.049653823844,0.999999865771,-5.46018262141e-05,-0.000515176880925,8.33015215662e-06,1793192714778240768
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711.324296858,673,660,630,877,782.675703142,800,649.324296858,628.675703142,650.324296858,0.447821130968,-0.00554819932712,0.0496530180349,0.999999866611,-4.68913023742e-05,-0.000514315225836,7.69020972486e-06,1793192714794907392
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.739472344,743,711,673,660,630,877,782.739472344,800,649.260527656,628.739472344,650,0.447849126001,-0.00554338347088,0.0496530523959,0.999999867647,-4.12132228474e-05,-0.000512791370117,7.2731820537e-06,1793192714811573760
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.159696884,743,711,673,660,630,877,782.159696884,800,649.840303116,628.159696884,650,0.447872052664,-0.00554107803538,0.0496541162926,0.999999868969,-3.80256793142e-05,-0.000510456060905,7.1293117854e-06,1793192714828240128
+218,3.633333333,POSE1_TO_POSE2_PRESS,763,743,711,672.583326064,660,630,876.583326064,782.416673936,800,649.583326064,628,650,0.44788487709,-0.00554095371082,0.0496537287746,0.999999868312,-3.85334773318e-05,-0.000511705541326,6.98457365708e-06,1793192714844906752
+219,3.650000000,POSE1_TO_POSE2_PRESS,763,743,711,672.008249564,660,630,876.008249564,782.991750436,800,649.008249564,628,650,0.447893861054,-0.00554165855641,0.0496527894874,0.999999866897,-4.0446094702e-05,-0.000514317813711,6.83950560675e-06,1793192714861573632
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.566361292,743,711,672,660,630,876,782.433638708,800.566361292,649,628,650,0.447896721072,-0.00553973093005,0.0496500676094,0.999999864593,-3.95894202603e-05,-0.00051884615723,6.75181079945e-06,1793192714878240000
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,672.145073966,659.854926034,630,876.145073966,782,800.854926034,649,628,650,0.447899847705,-0.00553798860471,0.0496483415666,0.999999862967,-3.84279814297e-05,-0.000522058122328,6.64136518303e-06,1793192714894906880
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,672.736425415,659.263574585,630,876.736425415,782,800.263574585,649,628,650,0.447904068669,-0.00553693416209,0.0496497587272,0.999999863524,-3.64530083019e-05,-0.000521134850402,6.45836474216e-06,1793192714911573760
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.320020264,673,659,630,876.679979736,782.320020264,800,649,628.320020264,650.320020264,0.447906490362,-0.0055374711516,0.0496499536809,0.999999863457,-3.6115181564e-05,-0.000521286273218,6.53467302853e-06,1793192714928240640
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711.897377874,673,659,630,876.102622126,782.897377874,800,649,628.897377874,650.897377874,0.447907465212,-0.00553928785657,0.0496491658237,0.999999862889,-3.70938303324e-05,-0.000522301888376,6.81949877739e-06,1793192714944907264
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711.526339161,672.526339161,659,630,876.473660839,782.526339161,799.526339161,649,629,650.526339161,0.4479074813,-0.00553940238741,0.0496483621312,0.999999862152,-3.97640345084e-05,-0.000523517947031,6.68863877126e-06,1793192714961573632
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.949233998,711,672,659,630,876.949233998,782.050766002,799,649,628.949233998,650,0.447907221968,-0.00553912607484,0.0496475836661,0.99999986138,-4.23062178367e-05,-0.000524793553295,6.50072054606e-06,1793192714978240000
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.360963492,711,672,659,630,876.360963492,782.639036508,799,649,628.360963492,650,0.447906240897,-0.00553860740954,0.0496471085469,0.999999860728,-3.96213851804e-05,-0.000526240878458,6.66007739618e-06,1793192714994906624
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.224727727,711,672,659,630,876.224727727,782.775272273,799,649,628,650,0.44790669563,-0.00553853106288,0.049646977519,0.999999860739,-3.84315853992e-05,-0.000526309213627,6.6161706938e-06,1793192715011573248
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.806323006,711,672,659,630,876.806323006,782.193676994,799,649,628,650,0.447909430423,-0.00553915711809,0.0496473929078,0.999999861809,-3.96158974653e-05,-0.000524187713083,6.24948153124e-06,1793192715028239872
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711.95529453,672.95529453,659,630,876.04470547,782.95529453,799.95529453,649,628,650,0.447910234475,-0.00553938814661,0.0496469825021,0.999999861469,-4.24460589439e-05,-0.000524618017508,5.93733834491e-06,1793192715061573632
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.528768205,743,712,673,659,630,876,782.471231795,800,649,628,650,0.447909250485,-0.00553745771615,0.0496467397298,0.999999860883,-4.13369701592e-05,-0.000525824197121,5.85883049922e-06,1793192715078240256
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.786990199,742.893495099,712,673,659,630,876.106504901,782,800,649,628,650.106504901,0.447908612552,-0.00553569598159,0.0496465905314,0.999999860498,-4.00103990758e-05,-0.000526659095125,5.75123693068e-06,1793192715094906880
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.592552247,742.296276124,712,673,659,630,876.703723876,782,800,649,628,650.703723876,0.447909927712,-0.00553546933969,0.0496468387844,0.99999986112,-3.86837948208e-05,-0.000525578966442,5.49579765907e-06,1793192715111573504
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.290395827,742.290395827,712,673,659,630,877.290395827,782,800,649,628,650.709604173,0.447910357394,-0.00553511794196,0.0496468900326,0.999999861234,-3.76823191075e-05,-0.000525435704402,5.37868005365e-06,1793192715128239872
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.866684373,742.866684373,712,673,659,630,877.866684373,782,800,649,628,650.133315627,0.447909915328,-0.00553464372295,0.0496467473309,0.99999986085,-3.70009300775e-05,-0.000526214781083,5.39773915899e-06,1793192715144906752
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.558666051,743,712,672.558666051,659,630,877.117332102,782,799.558666051,649.441333949,628,650,0.44790973096,-0.00553555574396,0.0496465058615,0.999999860897,-3.84303270729e-05,-0.000526021237208,5.52039687857e-06,1793192715161573376
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,742.984066487,712,672,659,630,876,782,799,649.984066487,628.015933513,650,0.447909654128,-0.00553682521965,0.0496462546946,0.999999861067,-4.04090456588e-05,-0.000525547568548,5.65155129016e-06,1793192715178240000
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742.393479652,712,672,659,630,876,782,799,649.393479652,628.606520348,650,0.447910658566,-0.00553594000992,0.0496467258199,0.999999861126,-3.92885199455e-05,-0.000525528030892,4.96466395166e-06,1793192715194906880
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.193362044,742.193362044,712,672.193362044,659,630,876,782,799.193362044,649,628.806637956,650,0.447910996884,-0.00553550788529,0.0496467661485,0.999999861015,-3.84930113166e-05,-0.000525800419316,4.72464904688e-06,1793192715211573504
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.772727388,742.772727388,712,672.772727388,659,630,876,782,799.772727388,649,628.227272612,650,0.447910005447,-0.00553598024197,0.0496459464898,0.999999860567,-3.83463253698e-05,-0.000526655571699,5.37671326111e-06,1793192715228240128
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711.651242488,673,659,630,876.348757512,782,799.651242488,649,628,650,0.447910629064,-0.00553580039782,0.0496465328197,0.999999860944,-3.84074652132e-05,-0.000525934437686,5.49813466843e-06,1793192715244906752
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711.07736524,673,659,630,876.92263476,782,799.07736524,649,628,650,0.447912295184,-0.00553519956407,0.0496480267021,0.99999986185,-3.86027546803e-05,-0.000524195825406,5.27703104542e-06,1793192715261573376
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659,630,876.490312035,782,799.509687965,649.509687965,628,650,0.447913692259,-0.00553508784703,0.0496484214395,0.999999862409,-3.88591965953e-05,-0.000523112507714,4.97330177193e-06,1793192715278240000
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,711,672.902832006,659,630,876.097167994,782,800,649.902832006,628,650,0.447914404134,-0.00553474209812,0.0496483378716,0.999999862553,-3.88242218409e-05,-0.00052284397601,4.62696644707e-06,1793192715294906880
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,711,672.323423041,659,630,876.676576959,782,800,649.323423041,628,650,0.447911923449,-0.00553285661632,0.04964673048,0.999999860899,-3.72956672449e-05,-0.000526112446,4.13307479306e-06,1793192715311573504
+247,4.116666667,HOLD_POSE2,763,743,711,672,659,629,877,782,799,649,628,651,0.447912019947,-0.00553499633407,0.0496476200468,0.999999861671,-3.95177750796e-05,-0.000524470539121,5.1321893422e-06,1793192715349891584
+248,4.133333333,HOLD_POSE2,763.573849506,743,711.573849506,672.573849506,659,629.573849506,877,782,799.573849506,649,628,651,0.447911690647,-0.00553594025874,0.0496473947578,0.999999861016,-4.0892608914e-05,-0.000525609948789,5.47214909112e-06,1793192715366558976
+249,4.150000000,HOLD_POSE2,764,743,711.848225088,672.848225088,659,630,877,782,800,649,628,650.848225088,0.447911654824,-0.00553636440229,0.0496471557896,0.999999860634,-4.1507124439e-05,-0.000526286466307,5.61153174497e-06,1793192715383226112
+250,4.166666667,HOLD_POSE2,764,743,711.258539502,672.258539502,659,630,877,782,800,649,628,650.258539502,0.447912465758,-0.00553528884037,0.0496468773532,0.999999861047,-3.99279213245e-05,-0.000525627418092,5.17219662935e-06,1793192715399891712
+251,4.183333333,HOLD_POSE2,764,743,711.327306862,672.327306862,659,630,877,782,799.672693138,649,628.327306862,650,0.447912813272,-0.00553450913697,0.0496462369015,0.999999861056,-3.95611460977e-05,-0.000525643701484,4.62672102122e-06,1793192715416558080
+252,4.200000000,HOLD_POSE2,764,743,711.910155752,672.910155752,659,630,877,782,799.089844248,649,628.910155752,650,0.447912798974,-0.00553396042265,0.0496453138095,0.99999986075,-4.01409636488e-05,-0.00052618724428,3.9983771595e-06,1793192715433224960
+253,4.216666667,HOLD_POSE2,764,743,711.514178807,673,659,630,877,782,799,649,628.514178807,650.485821193,0.447913364677,-0.005534683339,0.0496465055558,0.999999861329,-4.05925903697e-05,-0.000525047170416,4.53944455433e-06,1793192715449891584
+254,4.233333333,HOLD_POSE2,764,742.94023045,711.05976955,673,659,630,877.05976955,782.05976955,799.05976955,649.05976955,628,651,0.447913880582,-0.00553555574227,0.0496477714632,0.999999861914,-4.07723432633e-05,-0.000523911021591,5.18305056445e-06,1793192715466558208
+255,4.250000000,HOLD_POSE2,764,742.36976805,711.63023195,673,659,630,877.63023195,782.63023195,799.63023195,649.63023195,628,651,0.447913067863,-0.00553572534854,0.049646377995,0.999999861196,-3.88287140788e-05,-0.000525429984642,4.881882963e-06,1793192715483225088
+256,4.266666667,HOLD_POSE2,764,742.208902544,712,672.791097456,659,630,877.582194912,783,799.791097456,649.791097456,628,650.791097456,0.44791359198,-0.00553554298087,0.0496463485995,0.999999861361,-3.80443985409e-05,-0.00052517504901,4.69838186725e-06,1793192715499891712
+257,4.283333333,HOLD_POSE2,764,742.802696206,712,672.197303794,659,630,876.394607589,783,799.197303794,649.197303794,628,650.197303794,0.44791657914,-0.00553471212111,0.0496488324309,0.999999863152,-3.93960530191e-05,-0.000521651805253,4.73167468411e-06,1793192715516558592
+258,4.300000000,HOLD_POSE2,763.612566346,742.612566346,712,672,659,630,876.387433654,783,799,649,628,650,0.447916858811,-0.00553454732096,0.0496490868188,0.999999863189,-3.94251017105e-05,-0.000521576471494,5.13032228609e-06,1793192715533224960
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+260,4.333333333,HOLD_POSE2,763,742,711.458351356,672.541648644,659,630,877,782.458351356,799,649,628,650,0.447916739459,-0.00553302692592,0.0496490059501,0.99999986298,-3.68089985155e-05,-0.000522169468309,4.90859051647e-06,1793192715566558208
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.901978108,743,711.901978108,673.098021892,659,630,876.098021892,782,799,649,628,650,0.447915158122,-0.00553399598064,0.0496474488312,0.999999861476,-3.99689411337e-05,-0.000524811945665,4.85842990188e-06,1793192715720323584
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.516038264,712,672.516038264,659,630,876.483961736,782,799,649,628,650,0.447914047631,-0.00553409707408,0.0496471579668,0.999999861243,-3.99721796539e-05,-0.000525255488181,4.78067121765e-06,1793192715736989696
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.362786374,630,876.362786374,782,799,649,628,650,0.447902566155,-0.00553458450555,0.0496412254206,0.999999856199,-4.02218441472e-05,-0.000534758651948,4.25839060878e-06,1793192715770322944
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.215905042,711.784094958,672,658.215905042,630,876.215905042,782,799,649,628.215905042,650,0.447886158525,-0.00553388574565,0.0496336029049,0.999999849281,-3.94775524675e-05,-0.000547600272409,3.70481004479e-06,1793192715786989312
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.491158149,711,673,660,630.508841851,877.508841851,783,800,649,628,650,0.44575090508,-0.00544358553753,0.0495994988715,0.99999981392,2.67390896316e-05,-0.000609346432767,-1.18749399243e-05,1793192716053655808
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.625602555,711,672,663.625602555,632,876,783,800,649,628.374397445,650,0.439142531316,-0.00541318534566,0.0498003030601,0.9999999526,-4.46543251386e-05,-0.000301619459554,-4.2801556595e-05,1793192716286990080
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,762.885856784,742,711,672,663.557071608,633,875.442928392,783,799,649,628.442928392,650,0.418644759912,-0.00538328546638,0.0497959030966,0.999999935784,5.0604192103e-05,-0.000350980829607,-5.180728456e-05,1793192716686989824
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.411244974,742,711,671.294377513,663.294377513,632.294377513,875.705622487,783,799,649,628,650,0.416925501483,-0.00538480366491,0.0497861611853,0.999999933424,5.23041662089e-05,-0.000357013814357,-5.43849913131e-05,1793192716720322816
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.633765206,742,711,671,663,633,875,783.366234794,799.366234794,649,628,650,0.40290321763,-0.00541248626453,0.0498490898304,0.99999995355,8.61456853251e-05,-0.000286660288893,-5.7488572927e-05,1793192717120322816
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.783898443,742,711,671,663,633,875.216101557,783,799,649.216101557,628.216101557,650.216101557,0.402617385863,-0.00541126454432,0.0498353410518,0.999999945353,8.58573130018e-05,-0.00031374436251,-5.90562676336e-05,1793192717136989440
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.469404197,742,711,671,663.530595803,633,875.469404197,783,799,649,629,651,0.400984160557,-0.00542694566916,0.0498526390411,0.999999953881,0.000159040238013,-0.000255238370387,-4.23921665595e-05,1793192717720322560
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.891432062,633,875.108567938,783,799,649.108567938,629,651,0.400983680848,-0.00542689785526,0.0498526220701,0.999999953853,0.000159596454008,-0.000255017027892,-4.23034374981e-05,1793192717736989184
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.303446857,633,875.696553143,783,799,649.696553143,629,651,0.400983878822,-0.005426998769,0.0498528293332,0.999999953652,0.000160456463607,-0.000255311617706,-4.20176901435e-05,1793192717753655808
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875.719786117,783,799.280213883,649.719786117,629,651,0.400983828932,-0.00542668400252,0.0498527456316,0.999999953486,0.000161265150895,-0.000255430848496,-4.21495710761e-05,1793192717770322688
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875.140737144,783,799.859262856,649.140737144,629,651,0.400983514707,-0.00542592593241,0.0498523516297,0.999999953357,0.000162019105428,-0.000255363067071,-4.27268331423e-05,1793192717786989568
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,875,783,799,649.987351808,629,650.987351808,0.400982053783,-0.00542705248446,0.0498521799945,0.999999953791,0.000157824382053,-0.000256350931642,-4.23623641522e-05,1793192717820322560
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,875,783,799,649.41107185,629,650.41107185,0.400982951887,-0.0054263943019,0.0498527157993,0.999999953219,0.000161749599658,-0.000256190662493,-4.20060228349e-05,1793192717836989184
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.831524539,742,711.168475461,671,663,633,875,783,799,649.168475461,628.831524539,650.168475461,0.400984273777,-0.00542604868259,0.0498534819187,0.999999953177,0.000164201189078,-0.000254819188923,-4.1849352946e-05,1793192717853655808
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.243847417,742,711.756152583,671,663,633,875,783,799,649.756152583,628.243847417,650.756152583,0.400986650135,-0.00542648078507,0.0498548211085,0.999999954469,0.000162986087688,-0.000250433989192,-4.21895067381e-05,1793192717870322688
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763,742,711.659716401,671,663.340283599,633,875.340283599,783.340283599,799,649.659716401,628,651,0.400986885341,-0.00542661162243,0.0498551059249,0.999999954763,0.000162245745517,-0.000249723394846,-4.23021002123e-05,1793192717886989312
+399,6.650000000,POSE2_TO_POSE3_RETREAT,763,742,711.078100345,671,663.921899655,633,875.921899655,783.921899655,799,649.078100345,628,651,0.40098560202,-0.0054265287996,0.0498546429692,0.999999954355,0.000161842107286,-0.00025161886679,-4.22533056681e-05,1793192717903655936
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.497199569,742,711,671,663.502800431,633,875.502800431,784,799.497199569,649.497199569,628.497199569,651,0.400985107268,-0.00542628098075,0.0498548694908,0.999999954413,0.000161180626913,-0.000251828679785,-4.21522541353e-05,1793192717920322816
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98309883ddabf495490667520be3adec671cf5fa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
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+2,0.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+3,0.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+4,0.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+6,0.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+7,0.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+9,0.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+11,0.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+12,0.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+13,0.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+14,0.233333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+15,0.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+16,0.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+17,0.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90b8155803430b64e08dde549cadbeff02d76a09
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6df2106d3423792ae25efee7c6693950045fe4927d051bdcf62f17369a9e0710
+size 24732580
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..576a8911cb7de773eae7226df314f109803c0200
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_01/franka_data.csv
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+2,0.033333333,BASELINE,763.847617006,742.847617006,711.847617006,671,659,632.847617006,876.847617006,783,799,649,628.847617006,650.847617006,0.401008450476,-0.00551208784239,0.0698445525234,0.99999998349,5.46919150096e-05,-0.000171806878512,2.259713579e-05,1793192719605170688
+3,0.050000000,BASELINE,763.256281544,742.256281544,711.256281544,671,659,632.256281544,876.256281544,783,799,649,628.256281544,650.256281544,0.401008115349,-0.0055135386996,0.0698447722987,0.999999983807,5.13750763883e-05,-0.000170941187647,2.29274272648e-05,1793192719621837056
+4,0.066666667,BASELINE,763,742.328124303,711.328124303,671,659,632,876,783,799,649,628,650.328124303,0.401007751054,-0.00551363620847,0.0698444442227,0.99999998378,5.04739813555e-05,-0.000171382182332,2.28240543692e-05,1793192719638503424
+5,0.083333333,BASELINE,763,742.907229678,711.907229678,671,659,632,876,783,799,649,628,650.907229678,0.401007364448,-0.00551269854609,0.0698436970974,0.999999983493,5.1420679895e-05,-0.000172822656035,2.23889731744e-05,1793192719655170048
+6,0.100000000,BASELINE,763,742.518142666,711.518142666,670.518142666,659.481857334,632,876,783,799,649,628.481857334,651,0.401007179957,-0.00551171124477,0.069843232156,0.999999983277,5.24679432477e-05,-0.000173796039745,2.21120981469e-05,1793192719671836672
+7,0.116666667,BASELINE,763,742,711.05570512,670.05570512,659.94429488,632,876,783.05570512,799,649,628.94429488,650.94429488,0.401007023613,-0.00551081114687,0.0698429276895,0.999999983096,5.34936472328e-05,-0.000174541014633,2.19313738858e-05,1793192719688503552
+8,0.133333333,BASELINE,763,742,711.630244705,670.630244705,659.369755295,632,876,783.630244705,799,649,628.369755295,650.369755295,0.401006770324,-0.00551081144902,0.0698436165292,0.999999983148,5.41398778243e-05,-0.000173988467769,2.23651122105e-05,1793192719705170176
+9,0.150000000,BASELINE,763,742,712,671,659.211558955,632,875.788441045,783.788441045,799,649,628.211558955,650,0.40100694189,-0.00551101358593,0.0698441671798,0.999999983225,5.42440526579e-05,-0.000173486405693,2.2563070727e-05,1793192719721836800
+10,0.166666667,BASELINE,763,742,712,671,659.80510537,632,875.19489463,783.19489463,799,649,628.80510537,650,0.401007880568,-0.00551158015246,0.0698444683184,0.999999983349,5.33695002312e-05,-0.000173075498203,2.23353089534e-05,1793192719738503680
+11,0.183333333,BASELINE,763,742,712,671,659.612413602,632,875,783,799,649,628.612413602,650.387586398,0.401007679101,-0.00551202398296,0.0698445096209,0.999999983401,5.26937081065e-05,-0.000172987213135,2.22767438442e-05,1793192719755170304
+12,0.200000000,BASELINE,763,742,712,671,659.035342217,632,875,783,799,649,628.035342217,650.964657783,0.401006920234,-0.00551240780978,0.0698444238934,0.999999983419,5.21150867366e-05,-0.000173056653138,2.2300896343e-05,1793192719771836928
+13,0.216666667,BASELINE,763,742,711.457929709,671,659,632,875.542070291,783,799,649,628,651,0.401008154525,-0.00551367768296,0.0698451117934,0.999999983721,5.05573441124e-05,-0.000171756021722,2.23930319894e-05,1793192719788503552
+14,0.233333333,BASELINE,763,742.121559112,711,671,659,632,876,783,799,649,628,650.878440888,0.401009470102,-0.00551452258286,0.0698458185518,0.999999983981,4.96487484091e-05,-0.000170492167553,2.24920213054e-05,1793192719805170176
+15,0.250000000,BASELINE,763,742.708919024,711,671,659,632,876,783,799,649,628,650.291080976,0.401010598882,-0.00551351752995,0.0698464041739,0.999999984019,5.14723814284e-05,-0.000169711744689,2.26002779669e-05,1793192719821836800
+16,0.266666667,BASELINE,763,743,711.292276632,671,659,632.292276632,876.292276632,783.292276632,799,649,628,650,0.401010191231,-0.00551309889702,0.0698461094249,0.999999983936,5.16403860942e-05,-0.000170139332292,2.26606503387e-05,1793192719838503424
+17,0.283333333,BASELINE,763,743,711.87170212,671,659,632.87170212,876.87170212,783.87170212,799,649,628,650,0.401008274104,-0.00551325639583,0.0698449497503,0.999999983734,5.01818090685e-05,-0.000171753736762,2.26739785084e-05,1793192719855170048
+18,0.300000000,BASELINE,763,743,712,671,659,633,876.551766292,783.551766292,799.448233708,649.448233708,628,650.448233708,0.401007034757,-0.00551383008443,0.0698440527391,0.999999983539,4.90084548984e-05,-0.000173254290441,2.24156551374e-05,1793192719871836928
+19,0.316666667,BASELINE,763,742.976084264,711.976084264,671,659,633,876.023915736,783,799.976084264,649.976084264,628,650.976084264,0.401006103628,-0.00551442602879,0.069843324493,0.999999983361,4.80736467432e-05,-0.000174581101117,2.20984343151e-05,1793192719888503808
+20,0.333333333,BASELINE,763,742.401013989,711.401013989,671,659,633,876.598986011,783,799.401013989,649.401013989,628,650.401013989,0.401007833384,-0.00551280714409,0.069844764044,0.999999983561,5.07669300555e-05,-0.000172650069364,2.22042988422e-05,1793192719905170432
+21,0.350000000,BASELINE,763,742.178939405,711.178939405,671,659.178939405,632.821060595,876.821060595,783,799,649,628,650.178939405,0.401008667874,-0.00551163395708,0.0698455032384,0.999999983646,5.23131687204e-05,-0.000171700553064,2.21476293033e-05,1793192719921837056
+22,0.366666667,BASELINE,763,742.770143096,711.770143096,671,659.770143096,632.229856904,876.229856904,783,799,649,628,650.770143096,0.40100743973,-0.00551148762765,0.0698446288584,0.999999983486,5.1216693725e-05,-0.00017301238225,2.17164922547e-05,1793192719938503680
+23,0.383333333,BASELINE,763.35367519,742.64632481,711.64632481,671,659.64632481,632.35367519,876,783,799,649,628,650.64632481,0.401007123023,-0.00551152383842,0.0698442829675,0.999999983396,5.17897512701e-05,-0.000173365545041,2.16981556468e-05,1793192719955170048
+24,0.400000000,BASELINE,763.932327349,742.067672651,711.067672651,671,659.067672651,632.932327349,876,783,799,649,628,650.067672651,0.401007386092,-0.00551167616515,0.0698442732546,0.999999983349,5.34248180922e-05,-0.000173108888932,2.19424062362e-05,1793192719971836416
+25,0.416666667,BASELINE,764,742,711,671,659,633,876,783,799,649,628.506450276,650,0.4010076036,-0.00551337755369,0.069844472673,0.999999983471,5.26066727154e-05,-0.000172607578943,2.23077761513e-05,1793192719988503296
+26,0.433333333,BASELINE,763.917846703,742.082153297,711.082153297,671,659,633,876.164306594,783,799,649,629,650,0.401007906112,-0.00551470011506,0.069844770345,0.999999983598,5.19206685809e-05,-0.000172040583657,2.25796455185e-05,1793192720005169920
+27,0.450000000,BASELINE,763.328690143,742.671309857,711.671309857,671,659,633,877.342619713,783,799,649,629,650,0.401008770456,-0.00551241868332,0.069845503454,0.999999983627,5.40552390901e-05,-0.000171268178019,2.21754890223e-05,1793192720021836800
+28,0.466666667,BASELINE,763,743,712,671.256048554,659,632.743951446,877.487902893,783,799,649,628.743951446,650,0.401008491416,-0.00551099775245,0.0698455582619,0.99999998355,5.44504743555e-05,-0.00017161905979,2.19377371581e-05,1793192720038503680
+29,0.483333333,BASELINE,763,743,712,671.835212187,659,632.164787813,876.329575627,783,799,649,628.164787813,650,0.401006769509,-0.00551066271267,0.0698447571023,0.999999983342,5.26507920146e-05,-0.000173387450495,2.1909976139e-05,1793192720055170304
+30,0.500000000,BASELINE,763,743,711.587294193,671.587294193,659,632,876.412705807,783,799.412705807,649,628,650,0.401006687706,-0.0055108831455,0.0698447324693,0.999999983182,5.39759881534e-05,-0.000173857738501,2.22527000893e-05,1793192720071836928
+31,0.516666667,BASELINE,763,743,711.010464713,671.010464713,659,632,876.989535287,783,799.989535287,649,628,650,0.401007258137,-0.00551132447712,0.0698450166433,0.999999983038,5.65438771379e-05,-0.000173811800668,2.2742757451e-05,1793192720088503296
+32,0.533333333,BASELINE,763,742.43434981,711.56565019,671,659,632,876.43434981,783,800,649,628,650.56565019,0.401007440313,-0.00551099694972,0.0698459868395,0.999999983304,5.52412542303e-05,-0.000172746642287,2.2316990966e-05,1793192720105170176
+33,0.550000000,BASELINE,763,742.144904638,712,670.855095362,659,632,876,783,799.855095362,649,628,650.855095362,0.401007895083,-0.00551083738645,0.069846746244,0.999999983562,5.41897150474e-05,-0.000171622993006,2.20158308279e-05,1793192720121836800
+34,0.566666667,BASELINE,763,742.733819483,712,670.266180517,659,632,876,783,799.266180517,649,628,650.266180517,0.401009207109,-0.00551123602129,0.0698468209102,0.999999983776,5.41266696671e-05,-0.000170377823304,2.21483344695e-05,1793192720138503168
+35,0.583333333,BASELINE,763,743,712,670.317347733,659,632.317347733,876,783,798.682652267,648.682652267,628,650.317347733,0.40101008388,-0.00551143440079,0.0698469248094,0.999999983935,5.37253177991e-05,-0.000169563124157,2.21766748588e-05,1793192720155170048
+36,0.600000000,BASELINE,763,743,712,670.896433363,659,632.896433363,876,783,798.103566637,648.103566637,628,650.896433363,0.401010601667,-0.00551146761636,0.0698470528192,0.99999998405,5.30449419397e-05,-0.000169103462727,2.21191048625e-05,1793192720171836928
+37,0.616666667,BASELINE,763.472933642,742.527066358,712,671,659,632.527066358,876,783,798.472933642,648.472933642,628.472933642,650.527066358,0.401009472229,-0.00551166674935,0.0698462627893,0.99999998387,5.36803969115e-05,-0.000169970593534,2.21134109457e-05,1793192720188503296
+38,0.633333333,BASELINE,763.950269531,742.049730469,711.950269531,671,659,632.049730469,876.049730469,783,799.049730469,649,629,650.049730469,0.401008064621,-0.00551180636711,0.0698453135915,0.999999983612,5.4667304391e-05,-0.000171166967994,2.21207094766e-05,1793192720205169920
+39,0.650000000,BASELINE,763.364201278,742.635798722,711.364201278,671,659,632.635798722,876.635798722,783,799.635798722,649,629,650.635798722,0.401007526166,-0.00551091439335,0.0698448041835,0.999999983237,5.63538115534e-05,-0.000172797674723,2.21462775155e-05,1793192720221836544
+40,0.666666667,BASELINE,763,742.780685571,711.219314429,671,659.219314429,633,876.780685571,783,799.780685571,649,628.780685571,651,0.401007269172,-0.00550998530107,0.0698445315112,0.999999982971,5.78633331245e-05,-0.000173839001391,2.21295733497e-05,1793192720238503168
+41,0.683333333,BASELINE,763,742.201359981,711.798640019,671,659.798640019,633,876.201359981,783,799.201359981,649,628.201359981,651,0.401007474204,-0.00550899527769,0.0698446474475,0.999999982889,5.90823274793e-05,-0.000173912843049,2.20434781004e-05,1793192720255170048
+42,0.700000000,BASELINE,763,742,712,671,659.622931759,633,876,783.377068241,799,649,628.377068241,651,0.40100682234,-0.00551105303668,0.0698445114675,0.999999982958,5.72308551306e-05,-0.000174100022842,2.23324876219e-05,1793192720271836672
+43,0.716666667,BASELINE,763,742,712,671,659.044981627,633,876,783.955018373,799,649,628.955018373,651,0.401005713967,-0.00551473449197,0.0698442412799,0.999999983097,5.37436014874e-05,-0.000174347583156,2.28213330055e-05,1793192720288503296
+44,0.733333333,BASELINE,763.529702661,742,712,671,659.529702661,633,876,783.470297339,799,649,629,651,0.401005391537,-0.0055124935315,0.069844132795,0.999999982883,5.45354509528e-05,-0.000175376672564,2.24159945335e-05,1793192720305170176
+45,0.750000000,BASELINE,763.895721827,742,712,671,659.895721827,633,876,783.104278173,799.104278173,649,628.895721827,650.895721827,0.40100543687,-0.00551053449748,0.0698441936515,0.999999982758,5.51846196915e-05,-0.000175933170666,2.20470868309e-05,1793192720321836800
+46,0.766666667,BASELINE,763.320392756,742,712,671,659.320392756,633,876,783.679607244,799.679607244,649,628.320392756,650.320392756,0.401006843843,-0.00551210690891,0.0698449578174,0.999999983172,5.35578619233e-05,-0.000174056897209,2.21836524399e-05,1793192720338503424
+47,0.783333333,BASELINE,763,742.262988361,712,671,659.262988361,632.737011639,876,783.737011639,799.737011639,649,628,650.262988361,0.401007993347,-0.00551260276428,0.0698457051417,0.999999983502,5.27244874742e-05,-0.000172395108864,2.22713930882e-05,1793192720355170048
+48,0.800000000,BASELINE,763,742.856489016,712,671,659.856489016,632.143510984,876,783.143510984,799.143510984,649,628,650.856489016,0.401008819277,-0.00551174565122,0.0698464313001,0.999999983732,5.28882023343e-05,-0.000171002875791,2.22977726755e-05,1793192720371836672
+49,0.816666667,BASELINE,763.436858861,742.563141139,712,671.436858861,659.563141139,632.436858861,876,783,799.436858861,649,628,651,0.401008680908,-0.00551151587355,0.0698464760516,0.999999983714,5.37364017627e-05,-0.000170825920419,2.24174622337e-05,1793192720388503552
+50,0.833333333,BASELINE,763.986999331,742.013000669,712,671.986999331,659,633,876,783,799.986999331,649,628,650.986999331,0.401008188008,-0.00551148372602,0.0698462735451,0.999999983606,5.47916722039e-05,-0.000171102712817,2.25559933278e-05,1793192720405170176
+51,0.850000000,BASELINE,763.412598377,742.587401623,712,671.412598377,659,633,876,783,799.412598377,649,628,650.412598377,0.40100566573,-0.00551134621074,0.0698447780172,0.999999983041,5.53622130068e-05,-0.000174236914432,2.22231050989e-05,1793192720421836800
+52,0.866666667,BASELINE,763,743,712,671,659,633,876,783,799.166442265,649,628.166442265,650,0.401004796978,-0.00551101449832,0.0698442953097,0.999999982801,5.57799019905e-05,-0.000175510500657,2.19905108497e-05,1793192720438503424
+53,0.883333333,BASELINE,763,743,712,671,659,633,876,783,799.757314131,649,628.757314131,650,0.401008144735,-0.00551018758106,0.0698463953054,0.999999983402,5.58078171266e-05,-0.000172039497064,2.20136673681e-05,1793192720455170304
+54,0.900000000,BASELINE,763.341281196,742.658718804,712,671,659,633,876,783,800,649,628.658718804,650.341281196,0.401009601623,-0.00551010229991,0.0698471714862,0.999999983556,5.67059553869e-05,-0.000170825548476,2.21613505461e-05,1793192720471836672
+55,0.916666667,BASELINE,763.920435586,742.079564414,712,671,659,633,876,783,800,649,628.079564414,650.920435586,0.401009740574,-0.0055105339396,0.0698470249671,0.999999983403,5.82106396732e-05,-0.000171184768694,2.2395828878e-05,1793192720488503552
+56,0.933333333,BASELINE,763.503106836,742,712,671,659,633,876,783,800,649,628.496893164,651,0.401006919623,-0.00551139937486,0.0698452890778,0.999999983011,5.55740707621e-05,-0.000174346120057,2.22132196212e-05,1793192720505170176
+57,0.950000000,BASELINE,763,742,712,670.925765385,659,632.925765385,876,783,799.925765385,649,629,650.925765385,0.401004269923,-0.00551220360115,0.0698437564208,0.999999982665,5.28813465861e-05,-0.000177168151676,2.20330744827e-05,1793192720521836800
+58,0.966666667,BASELINE,763,742,712,670.339362876,659,632.339362876,876,783,799.339362876,649,629,650.339362876,0.401006054021,-0.00551210888099,0.0698453722978,0.999999983036,5.43515204673e-05,-0.000174570180541,2.23282180012e-05,1793192720538503424
+59,0.983333333,BASELINE,763.243866827,742,712,670.243866827,659,632.243866827,876,783,799,649,628.756133173,650.243866827,0.401007423921,-0.0055117481647,0.0698462211937,0.999999983209,5.51764938664e-05,-0.000173314868835,2.23446526291e-05,1793192720555170048
+60,1.000000000,BASELINE,763.822738074,742,712,670.822738074,659,632.822738074,876,783,799,649,628.177261926,650.822738074,0.401008224827,-0.00551102204455,0.0698460164734,0.999999983118,5.5115143514e-05,-0.000173903993107,2.19782196872e-05,1793192720571836672
+61,1.016666667,BASELINE,763.599036683,742,712,671.400963317,659.400963317,633,876.400963317,783,799,649,628.400963317,651,0.401007597717,-0.00551106484464,0.0698455262676,0.99999998306,5.52729540741e-05,-0.000174163213903,2.21846130722e-05,1793192720588503552
+62,1.033333333,BASELINE,763.021096605,742,712,671.978903395,659.978903395,633,876.978903395,783,799,649,628.978903395,651,0.40100634031,-0.00551144702995,0.0698449100543,0.999999983016,5.55274976468e-05,-0.000174276822221,2.264383995e-05,1793192720605170432
+63,1.050000000,BASELINE,763,742.553780781,712,672,659.446219219,633,877,783,799,649,628.446219219,650.446219219,0.401006943164,-0.00551080077887,0.0698451990071,0.999999983177,5.41790705828e-05,-0.000173847234249,2.20692131821e-05,1793192720621837568
+64,1.066666667,BASELINE,763,743,712,671.868191126,659,633,876.868191126,783.131808874,799,649,628.131808874,650.131808874,0.401007135413,-0.00551051157012,0.069845292399,0.999999983255,5.31874779093e-05,-0.000173758855042,2.16672328706e-05,1793192720638504448
+65,1.083333333,BASELINE,763,743,712,671.278822952,659,633,876.278822952,783.721177048,799,649,628.721177048,650.721177048,0.401005657631,-0.00551159704962,0.0698445878792,0.999999983019,5.36454127685e-05,-0.00017492638233,2.20005442716e-05,1793192720655170304
+66,1.100000000,BASELINE,763,743,712,671,659,633,876.305302823,783.694697177,799,649,628.694697177,651,0.401004991849,-0.00551230301961,0.0698442598062,0.99999998292,5.34205735157e-05,-0.000175533438613,2.2215508178e-05,1793192720671836416
+67,1.116666667,BASELINE,763,743,712,671,659,633,876.884721678,783.115278322,799,649,628.115278322,651,0.40100505512,-0.00551266824705,0.069844269726,0.999999982944,5.25827057416e-05,-0.000175637276141,2.23242138101e-05,1793192720688503040
+68,1.133333333,BASELINE,763.460605386,743,712,671,659,633,877,783,799,649,628.460605386,651,0.401004738453,-0.00551239894005,0.0698439565084,0.999999982825,5.32704905223e-05,-0.000176101724946,2.23789687352e-05,1793192720705169920
+69,1.150000000,BASELINE,763.963641638,743,712,671,659.036358362,633,876.963641638,783,799,649,629,650.963641638,0.401004461003,-0.00551189993785,0.0698437161091,0.999999982702,5.4375583774e-05,-0.000176460559187,2.24010405221e-05,1793192720721836544
+70,1.166666667,BASELINE,763.376570281,743,712,671,659.623429719,633,876.376570281,783,799,649,629,650.376570281,0.401006206889,-0.00551030890835,0.0698457943195,0.999999983069,5.60620557079e-05,-0.000173863048858,2.21310298991e-05,1793192720738503424
+71,1.183333333,BASELINE,762.792298197,742.792298197,712,671,659.792298197,632.792298197,876,783,799,649,628.792298197,650,0.401006830356,-0.00550945266861,0.0698465284294,0.999999983175,5.72808589097e-05,-0.000172885019041,2.18934259117e-05,1793192720755170560
+72,1.200000000,BASELINE,762.213033701,742.213033701,712,671,659.213033701,632.213033701,876,783,799,649,628.213033701,650,0.401005445902,-0.00550991091148,0.0698448580462,0.999999982824,5.76630386843e-05,-0.000174804115968,2.17137948801e-05,1793192720771837696
+73,1.216666667,BASELINE,762.365554511,742,711.634445489,671.365554511,659.365554511,632.365554511,876,783,799,649,628.365554511,650,0.40100566806,-0.00551030531449,0.0698445961109,0.999999982804,5.75594290284e-05,-0.000174939298032,2.1799002884e-05,1793192720788504064
+74,1.233333333,BASELINE,762.9437493,742,711.0562507,671.9437493,659.9437493,632.9437493,876,783,799,649,628.9437493,650,0.401006824772,-0.0055106625823,0.069845153459,0.999999982978,5.71732393343e-05,-0.000174036790279,2.20382657504e-05,1793192720805170176
+75,1.250000000,BASELINE,763,742.520193911,711.520193911,671.479806089,659.479806089,633,876.520193911,783,799,649,629,650.520193911,0.401006899293,-0.0055111184003,0.0698451686397,0.999999983057,5.58728956667e-05,-0.000174000881826,2.21047898824e-05,1793192720821836544
+76,1.266666667,BASELINE,763.098238853,742.901761147,712,671,659,632.901761147,876.901761147,783,799,649,628.901761147,650.901761147,0.40100684112,-0.00551115487156,0.0698452274503,0.999999983081,5.54491109858e-05,-0.000173994223891,2.21158577164e-05,1793192720838503424
+77,1.283333333,BASELINE,763.685183212,742.314816788,712,671,659,632.314816788,876.314816788,783,799,649,628.314816788,650.314816788,0.401006703039,-0.0055090523973,0.0698457939766,0.999999982886,5.98760175938e-05,-0.000173668470009,2.19436589219e-05,1793192720855169792
+78,1.300000000,BASELINE,763.731246542,742.268753458,711.731246542,671,659,632.268753458,876,783,799,649,628,650.268753458,0.401006879348,-0.00550867241067,0.0698460623707,0.999999982903,6.06757580731e-05,-0.00017329362008,2.19543007996e-05,1793192720871836416
+79,1.316666667,BASELINE,763.151579755,742.848420245,711.151579755,671,659,632.848420245,876,783,799,649,628,650.848420245,0.401007419367,-0.00551028512177,0.0698459858638,0.999999983173,5.72793315903e-05,-0.000172861972337,2.21764659292e-05,1793192720888503296
+80,1.333333333,BASELINE,763,743,711,671,659,633,876,783,799,649,628,650.576786773,0.401007725413,-0.00551169893091,0.0698458495177,0.999999983265,5.56484553e-05,-0.000172871584546,2.20990392362e-05,1793192720905169920
+81,1.350000000,BASELINE,763,743,711,671,659,633,876,783,799,649,628,650.003719493,0.401007948611,-0.00551304231171,0.0698456919833,0.999999983296,5.46427360692e-05,-0.000173037440872,2.19155311671e-05,1793192720921836544
+82,1.366666667,BASELINE,763.585894135,743,711.585894135,671,659,632.414105865,876,783.585894135,799,649,628,650,0.401006491751,-0.00551150883478,0.0698449976663,0.999999983017,5.46668133852e-05,-0.000174615045744,2.20819123705e-05,1793192720938503168
+83,1.383333333,BASELINE,763.827673074,743,712,671.172326926,659,632.172326926,876,784,799,649,628,650,0.401005808152,-0.0055105842188,0.0698447673978,0.9999999829,5.47758510359e-05,-0.000175242166664,2.21246216749e-05,1793192720955169792
+84,1.400000000,BASELINE,763.24899554,743,712,671.75100446,659,632.75100446,876,784,799,649,628,650,0.401006973801,-0.00551113962699,0.0698456396345,0.999999983175,5.5069363265e-05,-0.000173606278645,2.18703200599e-05,1793192720971836416
+85,1.416666667,BASELINE,763,742.671666427,712,671.671666427,659,633,876,784,799,649,628,650.328333573,0.40100750569,-0.00551170427393,0.0698460174098,0.999999983394,5.36119091678e-05,-0.000172820927153,2.17168120101e-05,1793192720988503296
+86,1.433333333,BASELINE,763,742.095355756,712,671.095355756,659,633,876,784,799,649,628,650.904644244,0.401007558926,-0.00551227589851,0.0698460217383,0.999999983565,5.08320208475e-05,-0.000172677951673,2.16394292877e-05,1793192721005169920
+87,1.450000000,BASELINE,763,742.478974826,712,671,659,632.521025174,876,783.521025174,799,649,628.478974826,651,0.401007518573,-0.00551103679792,0.0698460392948,0.999999983399,5.35586080633e-05,-0.000172777686113,2.19384482588e-05,1793192721021836288
+88,1.466666667,BASELINE,763,742.945421893,712,671.054578107,659,632,876.054578107,783.054578107,799,649,628.945421893,651,0.401007483826,-0.00550960777898,0.0698461159384,0.999999983185,5.6950174877e-05,-0.00017289300302,2.22498278165e-05,1793192721038503168
+89,1.483333333,BASELINE,763,742.353420842,712,671.646579158,659,632,876.646579158,783.646579158,799,649,628.353420842,651,0.401007686996,-0.00550984368832,0.069846748579,0.999999983273,5.61395654523e-05,-0.000172687922553,2.19480819304e-05,1793192721055170304
+90,1.500000000,BASELINE,763.233429518,742,711.766570482,672,659,632.233429518,876.766570482,783.766570482,799,649,628.233429518,651,0.401007918897,-0.00551051039781,0.0698470649579,0.999999983346,5.60002495195e-05,-0.000172321853734,2.185238166e-05,1793192721071836928
+91,1.516666667,BASELINE,763.812649845,742,711.187350155,672,659,632.812649845,876.187350155,783.187350155,799,649,628.812649845,651,0.401008193356,-0.00551181527309,0.0698469128426,0.999999983397,5.68553542566e-05,-0.000171717304841,2.20619070842e-05,1793192721088503296
+92,1.533333333,BASELINE,763.611398849,742.388601151,711,671.611398849,659,633,876,783,799,649,628.611398849,650.611398849,0.401007318775,-0.00551203127313,0.0698460092305,0.999999983248,5.62561323727e-05,-0.000172776805334,2.20825184466e-05,1793192721105170176
+93,1.550000000,BASELINE,763.037010387,742.962989613,711,671.037010387,659,633,876,783,799,649,628.037010387,650.037010387,0.401005894845,-0.00551172669016,0.0698447463334,0.999999982999,5.49616078554e-05,-0.00017463187537,2.20128114239e-05,1793192721121837312
+94,1.566666667,BASELINE,763,743,711,671,659,632.459563681,876.540436319,783,799.540436319,649,628,650.540436319,0.401006382242,-0.00551113049612,0.0698455434893,0.999999982995,5.59520396541e-05,-0.000174332272739,2.20737528877e-05,1793192721138503424
+95,1.583333333,BASELINE,763,742.879516278,711,670.879516278,659,632,876.879516278,783.120483722,799.759032557,649,628,651,0.401006743956,-0.00551061741447,0.0698460930514,0.999999982981,5.69223240208e-05,-0.000174093519589,2.21067598046e-05,1793192721155170048
+96,1.600000000,BASELINE,763,742.2901677,711,670.2901677,659,632,876.2901677,783.7098323,798.5803354,649,628,651,0.401006104307,-0.00551050592303,0.0698451269678,0.999999982867,5.72017965366e-05,-0.000174669053072,2.19960428173e-05,1793192721171836416
+97,1.616666667,BASELINE,763.294167546,742,711.294167546,670,659,632.294167546,876,783.705832454,798.294167546,649,628.294167546,651,0.401005627781,-0.00551198655074,0.0698447485238,0.999999982941,5.50679090665e-05,-0.00017493580749,2.19972175693e-05,1793192721188503296
+98,1.633333333,BASELINE,763.873640457,742,711.873640457,670,659,632.873640457,876,783.126359543,798.873640457,649,628.873640457,651,0.401005309463,-0.00551501133293,0.069844940016,0.99999998318,5.05933672094e-05,-0.000174903085174,2.21069131827e-05,1793192721205170176
+99,1.650000000,BASELINE,763.549871396,742.450128604,712,670.450128604,659,633,876,783,799,649,628.549871396,651,0.401006613983,-0.00551326024349,0.0698456239815,0.999999983193,5.39993401629e-05,-0.000173807021627,2.212503887e-05,1793192721221836800
+100,1.666666667,BASELINE,763.025735285,743,711.974264715,671,659,633,876.025735285,783,799.025735285,649,628.025735285,651,0.401008274316,-0.00551031427397,0.0698464285749,0.999999983131,5.92367347966e-05,-0.000172452391908,2.21173777976e-05,1793192721238503680
+101,1.683333333,BASELINE,763.600294915,743,711.399705085,671,659,633,876.600294915,783,799.600294915,649,628.600294915,651,0.401007871418,-0.00551028919236,0.0698468768597,0.999999983374,5.66643346136e-05,-0.000171907444672,2.21043705557e-05,1793192721255170304
+102,1.700000000,BASELINE,763.819412459,743,711.180587541,671,659.180587541,633,876.819412459,783,799.819412459,649,628.819412459,651,0.401007394926,-0.00551018829553,0.0698467573368,0.999999983409,5.53103425115e-05,-0.000172154288834,2.20371064199e-05,1793192721271836928
+103,1.716666667,BASELINE,763.226014691,743,711.773985309,671,659.773985309,633,876.226014691,783,799.226014691,649,628.226014691,651,0.401006750204,-0.00550991409051,0.0698453398465,0.999999982977,5.67415446685e-05,-0.000174211111693,2.18458148992e-05,1793192721288503808
+104,1.733333333,BASELINE,763.356835295,742.643164705,712,671,659.643164705,633,876.356835295,783.356835295,799,649,628,651,0.401006934127,-0.00550971071832,0.0698453515315,0.999999982935,5.77351366532e-05,-0.000174115574076,2.19156917574e-05,1793192721305170432
+105,1.750000000,BASELINE,763.933196323,742.066803677,712,671,659.066803677,633,876.933196323,783.933196323,799,649,628,651,0.401007627835,-0.00550955092258,0.0698462424478,0.999999983134,5.84595101905e-05,-0.00017269590052,2.21462398661e-05,1793192721321836800
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,712,671,659,633,876,783,800,649,628,651,0.401006966159,-0.00550933743708,0.06984504004,0.99999998296,5.82832208302e-05,-0.000173785303988,2.19402018547e-05,1793192721354269952
+107,1.783333333,POSE1_TO_POSE2_PRESS,763.375279222,743,712,671.624720778,659,633,876,783,799.375279222,649,628.624720778,650.375279222,0.401006934717,-0.00551024800319,0.0698458917798,0.999999983132,5.70180840992e-05,-0.000173180610966,2.22067403068e-05,1793192721370936576
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,743,712,671.772292201,659,633,876,783,799,649,628.772292201,650.227707799,0.401006973874,-0.00551069888449,0.0698462274939,0.999999983163,5.65486409316e-05,-0.00017314906914,2.22770134387e-05,1793192721387603456
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,743,712,671.202003043,659,633,876,783,799,649,628.202003043,650.797996957,0.401007119244,-0.00551045818028,0.0698457868587,0.999999982982,5.72763009801e-05,-0.000173979820547,2.20520097675e-05,1793192721404270080
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,743,712,671,659,633,876,783,799.374255363,649,628.374255363,650.625744637,0.40100674584,-0.00551076043681,0.0698455289463,0.999999982958,5.61999865883e-05,-0.000174477806122,2.20009098172e-05,1793192721420936448
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,743,712,671,659,633,876,783,799.953787835,649,628.953787835,650.046212165,0.401006087891,-0.00551136050447,0.0698453712563,0.999999983015,5.41342016065e-05,-0.000174793271327,2.20451951617e-05,1793192721437603072
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742.470330476,712,671,659,633,876,783,799.470330476,649,629,650,0.401007334528,-0.0055110716728,0.0698457894924,0.999999983114,5.51435331947e-05,-0.000173886931518,2.22217432389e-05,1793192721454270208
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742.10895231,711.89104769,671,659,633,876,783,799,649,629,650,0.401008454458,-0.00551069651317,0.0698462839109,0.999999983128,5.62796661505e-05,-0.000173429587432,2.23311308468e-05,1793192721470937088
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742.704849572,711.295150428,671,659,633,876,783,799,649,629,650,0.401008270499,-0.00551027976684,0.0698468957772,0.999999982752,5.67916232753e-05,-0.000175452124044,2.20891343314e-05,1793192721487603712
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,743,711.290713545,671,659,633,876,783,799,649,628.709286455,650.290713545,0.401012310406,-0.00551064644358,0.0698490366038,0.999999982341,5.69446809855e-05,-0.000177687445743,2.24144326963e-05,1793192721504270080
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,743,711.8667309,671,659,633,876,783,799,649,628.1332691,650.8667309,0.401020495579,-0.00551178196511,0.0698526779392,0.999999981895,5.67455178218e-05,-0.000180131592805,2.32964694622e-05,1793192721520936704
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.442899269,743,711.557100731,671,659.442899269,633,876,783,799,649,628,650.557100731,0.401048491171,-0.00551296953627,0.0698645902645,0.999999983918,5.52936913082e-05,-0.00016890660743,2.4027065351e-05,1793192721537603072
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,711.019514055,671,659.980485945,633,876,783,799,649,628,650.019514055,0.401083120632,-0.00551414788746,0.0698788953453,0.999999986457,5.35563100088e-05,-0.000153650305383,2.46870748339e-05,1793192721554269952
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,711.607814503,671,659.392185497,633,876,783,799,649,628,650.607814503,0.401137303593,-0.00551460083736,0.0698903775251,0.999999988298,5.44859955336e-05,-0.000140817659228,2.46183347375e-05,1793192721570936576
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,712,671,659,633,876,783,799,649,628,651,0.401197540945,-0.00551550384473,0.0699003600076,0.999999989851,5.4287382815e-05,-0.000129491964817,2.41522523465e-05,1793192721587603200
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,712,671,659,633,876,783,799,649,628,651,0.401269885725,-0.00551730686546,0.0699073434362,0.999999991052,5.18324286521e-05,-0.000121179831223,2.28915751121e-05,1793192721604269824
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.65053237,742.65053237,711.65053237,671,659,633,876,783,799,649,628,650.65053237,0.401353825727,-0.0055190657655,0.0699108393666,0.999999991643,4.98666490524e-05,-0.000117408464354,2.10164397248e-05,1793192721620936704
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.075300613,742.075300613,711.075300613,671,659,633,876,783,799,649,628,650.075300613,0.401445256505,-0.00552079616245,0.0699120822925,0.999999991868,4.82168876215e-05,-0.00011657053774,1.87443503128e-05,1793192721637603840
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742.49787095,711.49787095,671,659,633,876,783,799.49787095,649,628,650,0.401554175095,-0.0055237279994,0.069910591359,0.999999991279,4.59162083359e-05,-0.000122806538983,1.58767511951e-05,1793192721654270208
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.073271981,743,712,671,659,632.926728019,875.926728019,783,799.926728019,649,628,650,0.401670497972,-0.00552662442748,0.0699091904605,0.999999990627,4.34426198017e-05,-0.000129212094158,1.27885119618e-05,1793192721670936576
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.666702949,743,712,671,659,632.333297051,875.333297051,783,799.333297051,649,628,650,0.40182068485,-0.00552798482631,0.0699113519493,0.99999999079,4.04375512053e-05,-0.00012925739224,8.77070429932e-06,1793192721687603200
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.746847957,742.746847957,712,671,659,632,875.253152043,783,799,648.746847957,628.253152043,650,0.401984919608,-0.0055298176412,0.0699130770395,0.999999991072,3.64340122524e-05,-0.000128493306383,4.31795448748e-06,1793192721704269824
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.169344446,742.169344446,712,671,659,632,875.830655554,783,799,648.169344446,628.830655554,650,0.402167153222,-0.00553225573984,0.069914242993,0.999999991489,3.11511817586e-05,-0.00012669219603,-6.9206535314e-07,1793192721720936448
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742.406388345,712,671.406388345,659,632,876.406388345,783,799,648.406388345,628.593611655,650,0.402373116605,-0.0055340440591,0.0699159343914,0.999999991949,2.57458778054e-05,-0.000124099605419,-6.25497097481e-06,1793192721737603328
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742.981386516,712,671.981386516,659,632,876.981386516,783,799,648.981386516,628.018613484,650,0.402588925444,-0.00553556278621,0.069917843796,0.999999992379,2.02897593744e-05,-0.000121178630849,-1.20472683835e-05,1793192721754269952
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,743,712,670.859976667,659,632.570011667,876.429988333,783,799,649,628.570011667,650.570011667,0.402849736945,-0.00553807975741,0.0699211413474,0.999999992883,7.01897055502e-06,-0.000117717733502,-1.80950546124e-05,1793192721770936832
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,743,712,670.156536419,659,632.843463581,876,783,798.843463581,649,628.843463581,650.843463581,0.403124848969,-0.00554086053435,0.0699260865331,0.99999999349,-1.15566508663e-05,-0.000111124314735,-2.31990320383e-05,1793192721787603712
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,743,712,670.736152304,659,632.263847696,876,783,798.263847696,649,628.263847696,650.263847696,0.403434542762,-0.00554426405385,0.0699353593551,0.999999994093,-4.37633403981e-05,-9.61132788537e-05,-2.57290265604e-05,1793192721804270336
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,743,712,671,659.313946906,632,876,783,798.313946906,649,628,650,0.403764547082,-0.0055507459661,0.0699436893018,0.999999994917,-5.21441437163e-05,-8.26792888005e-05,-2.47154767097e-05,1793192721820937216
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,743,712,671,659.890219656,632,876,783,798.890219656,649,628,650,0.404111522331,-0.0055598001028,0.0699512314059,0.99999999647,-4.06166562664e-05,-7.0563038046e-05,-2.07410335008e-05,1793192721837603584
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742.526198931,712,671,659.526198931,632,876,783,798.526198931,648.526198931,628,650,0.404475948341,-0.00556815753759,0.0699540388026,0.999999996196,-4.95206181684e-05,-6.87805540704e-05,-2.06166241633e-05,1793192721854270208
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,711.941496951,671,659,632.058503049,876.058503049,783.058503049,798.058503049,648.058503049,628.058503049,650.058503049,0.404852085504,-0.00557544445409,0.0699561006133,0.999999995506,-6.23444255368e-05,-6.81211281333e-05,-2.14530024486e-05,1793192721870936576
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742,711.362131406,671,659,632.637868594,876.637868594,783.637868594,798.637868594,648.637868594,628.637868594,650.637868594,0.405295926303,-0.00557466009336,0.0699614444853,0.999999995921,-6.72593932258e-05,-5.58092133776e-05,-2.27768603782e-05,1793192721887603456
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,711,670.782984033,659,632.782984033,876.782984033,783.782984033,799.217015967,649,628.782984033,650.782984033,0.405743404128,-0.00557012742772,0.0699628786916,0.999999996273,-6.52211295268e-05,-5.10372670629e-05,-2.43931726238e-05,1793192721904270592
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,711,670.204200413,659,632.204200413,876.204200413,783.204200413,799.795799587,649,628.204200413,650.204200413,0.406196944867,-0.00555934630272,0.0699577954477,0.999999996587,-5.15917634139e-05,-5.88345200807e-05,-2.64970088256e-05,1793192721920937728
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742.372385162,711,670.744770324,659,632,876,783,799.627614838,649,628.372385162,650,0.406668693753,-0.0055514555703,0.0699420394467,0.999999995229,-4.21080510271e-05,-8.34996001729e-05,-2.82172238945e-05,1793192721937604352
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742.947772548,711,671.895545097,659,632,876,783,799.052227452,649,628.947772548,650,0.407150368679,-0.00554514050687,0.0699204652932,0.999999992063,-3.48843009786e-05,-0.000117360016171,-2.97283117266e-05,1793192721954270976
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742.465425044,711.534574956,671.465425044,659,632,876,783,799,649,628.465425044,650,0.407696149307,-0.00554792163025,0.0699186113625,0.999999992231,-3.87448120332e-05,-0.000114041275139,-3.21275712779e-05,1793192721970937600
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,712,671.120496985,659.120496985,632.120496985,876.120496985,783.120496985,799,649,628.120496985,650.120496985,0.408267201262,-0.00555164398806,0.0699226110996,0.999999993389,-4.40396599285e-05,-0.000100507768031,-3.43589995175e-05,1793192721987603968
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,712,671.698745671,659.698745671,632.698745671,876.698745671,783.698745671,799,649,628.698745671,650.698745671,0.40890994405,-0.00555549229915,0.0699413693603,0.999999996148,-5.05797263368e-05,-6.22697017792e-05,-3.5616026709e-05,1793192722004271616
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742.275859875,712,672,659.724140125,632.724140125,877,783.724140125,798.724140125,649,628.724140125,650.724140125,0.409536512833,-0.00555860623772,0.0699482932262,0.999999996761,-5.4392702156e-05,-4.65799827446e-05,-3.67434427473e-05,1793192722020938496
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742.851740203,712,672,659.148259797,632.148259797,877,783.148259797,798.148259797,649,628.148259797,650.148259797,0.410145491008,-0.00556092148517,0.0699423462069,0.999999996227,-5.52397408645e-05,-5.54134603496e-05,-3.77298958938e-05,1793192722037604352
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742.571890221,711.571890221,672,659,632,877,783,798.428109779,649,628,650,0.410789691684,-0.00556118286346,0.0699391429469,0.999999995712,-5.6436202108e-05,-6.25577830114e-05,-3.84422263383e-05,1793192722054270464
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742.004759892,711.004759892,672,659.004759892,632,876.995240108,783,799,649,628,650,0.411446620198,-0.00556073036417,0.0699370885132,0.999999995207,-5.77628204573e-05,-6.87307630091e-05,-3.90658010792e-05,1793192722070936576
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742.595054959,711.595054959,672,659.595054959,632,876.404945041,783,799,649,628,650,0.412167011889,-0.00556005851692,0.069959334455,0.999999996993,-6.01977084905e-05,-2.74573802972e-05,-4.04625286784e-05,1793192722087603200
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,743,712,672,659.818105074,632,876.181894926,783,799,649,628,650,0.412905847532,-0.00556002566952,0.0699826993375,0.999999997069,-6.34184351088e-05,1.20894510111e-05,-4.11467916307e-05,1793192722104269824
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,743,712,672,659.23881374,632,876.76118626,783,799,649,628,650,0.413684978654,-0.0055613888823,0.0700085088319,0.999999995707,-6.83560287328e-05,4.78641797194e-05,-4.02744916079e-05,1793192722120936448
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,743,711.662365871,672,659.337634129,632.337634129,877,783,799,649,628,650,0.414419586302,-0.00556089956123,0.0700030526959,0.999999996326,-6.78674992188e-05,3.22893478499e-05,-4.12296116241e-05,1793192722137603072
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,743,711.087912374,672,659.912087626,632.912087626,877,783,799,649,628,650,0.415122964897,-0.00555911085773,0.0699756665909,0.999999996848,-6.35730424876e-05,-1.93024866495e-05,-4.34664990107e-05,1793192722154269696
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,711,672,660,632.512961196,877,783.487038804,799.487038804,649,628,650,0.415852062941,-0.00555659769562,0.0699304687462,0.999999992001,-7.37157742758e-05,-9.11522180821e-05,-4.7499989186e-05,1793192722170936576
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,711.064000355,672,660,632.064000355,877,784,800,649,628,650,0.416595017251,-0.00555445578814,0.0698896723227,0.999999983106,-8.46792755156e-05,-0.000154813439053,-5.14706525403e-05,1793192722187602944
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,743,711.656830745,672,660,632.656830745,877,784,800,649,628,650,0.417414065717,-0.00555646315535,0.0699118376739,0.999999988097,-8.08698023039e-05,-0.000120568325726,-5.22398319891e-05,1793192722204269824
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,743,712,672,660,633,877,783.756354805,799.756354805,649,628,650,0.418249460984,-0.0055596196527,0.0699376870507,0.999999992313,-7.86599014595e-05,-8.09691011306e-05,-5.12894103005e-05,1793192722220936704
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660,633,877,783.177809541,799.177809541,649,628,650,0.419107325533,-0.00556435567527,0.0699686002666,0.999999995178,-7.86486770409e-05,-3.40104384335e-05,-4.79753279862e-05,1793192722237603328
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660,632.603021457,877,783,799.396978543,649,628,650,0.419955785872,-0.00556495299657,0.0699912633909,0.999999995944,-7.71636756925e-05,1.862357392e-06,-4.64199424924e-05,1793192722254269952
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,743,712,672,660,632.029900477,877,783,799.970099523,649,628,650,0.420800073466,-0.0055637139441,0.0700102658853,0.999999995605,-7.50247481586e-05,3.2816267453e-05,-4.56449044022e-05,1793192722270936576
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660,632.54629639,877,783.54629639,799.45370361,649,628,650,0.421631400377,-0.00556447545744,0.0700132947267,0.999999994911,-8.29709633385e-05,3.2806281035e-05,-4.70971344278e-05,1793192722287602944
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,743,712,672.126206187,660,632.873793813,876.873793813,783.873793813,799,649,628,650,0.422443041469,-0.00556469209096,0.0700020502739,0.999999994888,-8.77985113806e-05,1.07781168177e-05,-4.89738285298e-05,1793192722304269824
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,743,712,672.719222981,660,632.280777019,876.280777019,783.280777019,799,649,628,650,0.423184507296,-0.00556248602598,0.0699412639729,0.999999991795,-7.90374909832e-05,-8.63867160334e-05,-5.19670715401e-05,1793192722320936448
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742.697161108,711.697161108,672.697161108,660,632,876.302838892,783,799,649,628.302838892,650,0.423960021607,-0.00555950461395,0.0698866922035,0.999999981687,-7.91130852773e-05,-0.000164771900126,-5.67192917451e-05,1793192722337603072
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742.121998735,711.121998735,672.121998735,660,632,876.878001265,783,799,649,628.878001265,650,0.424766153609,-0.00555582598209,0.0698377087545,0.999999968617,-8.71348764005e-05,-0.000226269768807,-6.30532471843e-05,1793192722354269696
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.45337949,742.45337949,711.45337949,672.45337949,660,632.45337949,877,783,799,649,628.54662051,650,0.425629071435,-0.00555814871425,0.0698753214243,0.999999980068,-9.06504415892e-05,-0.00016692297354,-6.15120725483e-05,1793192722370936320
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.970405743,742.970405743,712,672.970405743,660,632.970405743,877,783,799,648.970405743,628,650.029594257,0.426504642382,-0.00556198176185,0.0699353007931,0.999999991066,-9.26236496728e-05,-7.71161396927e-05,-5.78120191148e-05,1793192722387602944
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.379423845,742.379423845,712,672.379423845,660,632.379423845,877,783,799,648.379423845,628,650.620576155,0.427330239077,-0.0055638164637,0.0699773288502,0.999999994318,-8.83519175823e-05,-2.66373855068e-05,-5.33765094934e-05,1793192722404269568
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.207320681,712,672.207320681,660,632,877,783,799,648.207320681,628,650.792679319,0.428150967115,-0.00556652917947,0.0700075263052,0.999999994623,-8.92262946874e-05,1.3491550273e-05,-5.10948126725e-05,1793192722420936448
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.786465557,712,672.786465557,660,632,877,783,799,648.786465557,628,650.213534443,0.428962963295,-0.00557081659003,0.0700165058836,0.999999993065,-9.93300840054e-05,3.50583555086e-05,-5.26759229778e-05,1793192722437603072
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,877,783,799,649,628,650,0.429760466588,-0.00557345533598,0.0700124017584,0.999999992833,-0.000102141020689,3.19885547914e-05,-5.36493395672e-05,1793192722454269696
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,877,783,799,649,628,650,0.430549505295,-0.00557513118082,0.0700006561084,0.999999993352,-0.00010069257345,1.45297673045e-05,-5.42678331695e-05,1793192722470936320
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632.523124523,877,783,799,649,628,650,0.431206901728,-0.00557228128512,0.0699446462226,0.999999989972,-9.90887676308e-05,-8.39829674646e-05,-5.64335911781e-05,1793192722487602944
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,743,712,673,660,633,877,783,799,649,628,650,0.431861327199,-0.00556916960304,0.0698921414107,0.999999978247,-9.78379778528e-05,-0.000174581203804,-5.87794835964e-05,1793192722504269568
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660,633,877,783,799,649,628,650,0.432572922358,-0.00556733673614,0.0698782314224,0.999999975629,-9.81880427308e-05,-0.000188071814228,-6.10779896431e-05,1793192722520936192
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.266199461,743,712,673,660.266199461,632.733800539,877,783,799,649,628,650,0.433312898396,-0.00556985558649,0.069899411399,0.999999982066,-0.000103850000295,-0.000146205223945,-6.08837135228e-05,1793192722537603072
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+179,2.983333333,POSE1_TO_POSE2_PRESS,763.580580262,743,712,673,661,632.419419738,877,783,799.419419738,649,628,650,0.434792761854,-0.00558204933322,0.0699944938801,0.999999991751,-0.0001158678199,9.29991121791e-06,-5.46368053672e-05,1793192722570936320
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.003769023,743,712,673,661,632.996230977,877,783,799.996230977,649,628,650,0.435474704731,-0.00558552994495,0.0700165800995,0.999999991762,-0.000111645179701,3.69154346581e-05,-5.14722796557e-05,1793192722587602944
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.584453649,743,712,673,660.415546351,632.415546351,877,783,799.415546351,649,628.584453649,650,0.436065738986,-0.00558344587078,0.0699986480257,0.999999992484,-0.000109424599716,1.45862863592e-05,-5.33420263724e-05,1793192722604269824
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.829872874,743,711.829872874,673,660.170127126,632,877.170127126,783,799,649,628.829872874,650,0.436645677363,-0.00558190110626,0.0699786123346,0.999999992593,-0.000107875288149,-1.06590624977e-05,-5.53386947569e-05,1793192722620936448
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.250511961,743,711.250511961,673,660.749488039,632,877.749488039,783,799,649,628.250511961,650,0.437200363314,-0.00558174166912,0.0699541496181,0.999999991634,-0.000107909010222,-4.21290243192e-05,-5.75610195328e-05,1793192722637603072
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+190,3.166666667,POSE1_TO_POSE2_PRESS,763,742.80536062,711.80536062,673,659.19463938,632,877,783,799.19463938,649,628.80536062,650,0.440368515034,-0.00558128224286,0.0697898612058,0.99999994684,-0.000109870635337,-0.000299954286477,-6.5384872716e-05,1793192722754269696
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+192,3.200000000,POSE1_TO_POSE2_PRESS,763,743,711.042947453,673,659.957052547,632,877,783,799,649,629,650,0.441144612597,-0.00558635432096,0.0698157287417,0.99999995634,-0.000122109683661,-0.000261258775169,-6.44383686623e-05,1793192722787603200
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,743,711,673,659.454084213,632,877.545915787,783,799,649,629,650.545915787,0.441467329491,-0.00558900469376,0.0698137598344,0.999999953565,-0.000126789064821,-0.000269458111065,-6.47026458116e-05,1793192722804269824
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763.290282906,743,711.709717094,673,659,632,877,783,800,649,628.290282906,650,0.442269807748,-0.00559414601615,0.0697792145487,0.999999933763,-0.000127050038816,-0.000335001884307,-6.40776374393e-05,1793192722854269440
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+198,3.300000000,POSE1_TO_POSE2_PRESS,763.559071208,743,711,673,659,632,877.440928792,782.559071208,800,649,628.559071208,650,0.442670228339,-0.00559266892878,0.0697403767429,0.999999911017,-0.000126607239548,-0.000397394136608,-6.33556348548e-05,1793192722887602944
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+210,3.500000000,POSE1_TO_POSE2_PRESS,763,743,711,673,659,631,877.593782899,782,799.593782899,649,628,650,0.443887381328,-0.00559400691151,0.0696866676652,0.999999876177,-0.000125185130464,-0.000477333025792,-6.42502759167e-05,1793192723087602944
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+234,3.900000000,POSE1_TO_POSE2_PRESS,762.337775306,743,711,673,658.662224694,631,877,782,800,649,628.662224694,650,0.443982495954,-0.00558908588379,0.0696800082002,0.999999870842,-0.000117736198934,-0.000490687634758,-6.06599312089e-05,1793192723487602944
+235,3.916666667,POSE1_TO_POSE2_PRESS,762.912506669,743,711,673,658.087493331,631,877,782,800,649,628.087493331,650,0.443983659906,-0.00558882955835,0.0696811017267,0.999999871679,-0.000117875709578,-0.000488964416471,-6.05131189313e-05,1793192723504269824
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.500752274,743,711,673.500752274,658,631,877.500752274,782,800,649,628,650,0.443983288348,-0.00558900100045,0.0696795417165,0.99999987124,-0.000118217025071,-0.000489748508836,-6.07613898276e-05,1793192723520936448
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.910278349,743,711,673.910278349,658,631,878,782,799.910278349,649,628,650,0.443982538902,-0.00558928257649,0.0696778280411,0.999999870508,-0.000118441186806,-0.000491158279075,-6.09905501815e-05,1793192723537603072
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.330608316,743,711,673.330608316,658,631,878,782,799.330608316,649,628,650,0.443981231598,-0.00558974610361,0.0696778772644,0.99999986943,-0.000117827712624,-0.000493526086121,-6.07279385186e-05,1793192723554269696
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,743,711,673,658,631,877.753023633,782,799.246976367,648.753023633,628,650,0.443981257033,-0.00559025754004,0.0696782806757,0.999999869257,-0.000118220234163,-0.000493807352312,-6.05379981261e-05,1793192723570936320
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,743,711,673,658,631,877.178207109,782,799.821792891,648.178207109,628,650,0.443983051566,-0.00559083257195,0.0696791542412,0.999999870282,-0.000119948129634,-0.000491318912543,-6.044452269e-05,1793192723587602944
+241,4.016666667,HOLD_POSE2,764,743,711,673,658,631,877,782,799,649,628,650,0.443983378579,-0.00558791500247,0.0696791888163,0.999999870403,-0.000118184290049,-0.000491488095498,-6.05519680857e-05,1793192723621772032
+242,4.033333333,HOLD_POSE2,763.408480354,743,711,673,658,631,877.591519646,782,799.591519646,649,628,650.591519646,0.443981826372,-0.00558782482856,0.0696784575504,0.999999869981,-0.00011826202051,-0.000492326705566,-6.05512057335e-05,1793192723638438656
+243,4.050000000,HOLD_POSE2,763,743,711,673,658.179035387,631,877.820964613,782,799.820964613,649,628,650.820964613,0.443981449501,-0.00558765248942,0.0696784086531,0.99999987006,-0.000117831770949,-0.000492280313431,-6.04588744842e-05,1793192723655105280
+244,4.066666667,HOLD_POSE2,763,743,711,673,658.757615913,631,877.242384087,782,799.242384087,649,628,650.242384087,0.443983695573,-0.00558729678585,0.0696798825667,0.999999871254,-0.000116267885473,-0.000490258902256,-6.01621930874e-05,1793192723671772160
+245,4.083333333,HOLD_POSE2,763,743,711,673,658.666015736,631,877,782,799.333984264,649,628.333984264,650,0.443983675119,-0.00558773613347,0.0696798051316,0.999999871228,-0.000116267906562,-0.000490324283113,-6.00634182018e-05,1793192723688439040
+246,4.100000000,HOLD_POSE2,763,743,711,673,658.091242308,631,877,782,799.908757692,649,628.908757692,650,0.443982020591,-0.00558874868089,0.0696786092367,0.999999870323,-0.000117395441207,-0.00049189415685,-6.01073259343e-05,1793192723705105408
+247,4.116666667,HOLD_POSE2,763,743,711,673,658,631,877.494585281,782,799.505414719,649,628.505414719,650,0.443982649519,-0.00558785617705,0.0696786393462,0.999999870207,-0.000117375288716,-0.000492111239739,-6.02935674864e-05,1793192723721772032
+248,4.133333333,HOLD_POSE2,763.081253483,743,711,672.918746517,658.081253483,631,877.918746517,782,799.081253483,649,628,650,0.443983548748,-0.00558700233543,0.0696788938624,0.999999870278,-0.000117258585943,-0.000491975681807,-6.04496407865e-05,1793192723738438912
+249,4.150000000,HOLD_POSE2,763.660292524,743,711,672.339707476,658.660292524,631,877.339707476,782,799.660292524,649,628,650,0.443983464166,-0.00558858766302,0.0696791058604,0.999999870577,-0.000117877154413,-0.00049124360795,-6.02563501389e-05,1793192723755105536
+250,4.166666667,HOLD_POSE2,763.7612609,743,711,672.4774782,658.7612609,631,877.2387391,782,800,649,628,650,0.443984373219,-0.0055885811075,0.0696798578377,0.999999871361,-0.000117144687052,-0.000489833928652,-6.01404007906e-05,1793192723771771904
+251,4.183333333,HOLD_POSE2,763.183655317,743,711,673.632689366,658.183655317,631,877.816344683,782,800,649,628,650,0.443986692641,-0.00558631503161,0.0696813762621,0.999999872828,-0.000114494558218,-0.000487462455666,-6.01342297645e-05,1793192723788438528
+252,4.200000000,HOLD_POSE2,763,743,711,673.609085556,658,631,877.609085556,782,799.609085556,649,628,650,0.443986348536,-0.00558641932483,0.0696810822025,0.999999872325,-0.000115310716893,-0.000488296723086,-6.01712888574e-05,1793192723805105408
+253,4.216666667,HOLD_POSE2,763,743,711,673.035931012,658,631,877.035931012,782,799.035931012,649,628,650,0.443984762724,-0.0055876286584,0.0696799431826,0.999999870898,-0.000117742821213,-0.000490625471922,-6.0228501365e-05,1793192723821772032
+254,4.233333333,HOLD_POSE2,763,743,711,673,658,631,877,782,799.553440757,649,628,650,0.443985689453,-0.00558773058048,0.0696800976854,0.999999871248,-0.000117599214677,-0.000489937370069,-6.03007345053e-05,1793192723838438656
+255,4.250000000,HOLD_POSE2,763.141330747,743,711,673,658,631,877.141330747,782,800,649,628,650,0.443986522592,-0.00558780957494,0.0696804636408,0.999999871646,-0.000117212202346,-0.000489216877816,-6.03062703857e-05,1793192723855105280
+256,4.266666667,HOLD_POSE2,763.721256414,743,711,673,658,631,877.721256414,782,800,649,628,650,0.443986543797,-0.00558804727073,0.0696812173195,0.999999871824,-0.000116604434911,-0.000489022041687,-6.01017054959e-05,1793192723871771904
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,631,878,782,800,650,629,650,0.443985731133,-0.00558454806128,0.0696790307854,0.999999871693,-0.000112980029702,-0.00049006686802,-6.07017116636e-05,1793192723908812288
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763.413071149,743,711.586928851,673,658.586928851,631,877.413071149,782,799.413071149,649.413071149,628.413071149,650,0.443985250862,-0.00558778912109,0.0696796123106,0.999999871198,-0.00011628918272,-0.000490399073055,-5.99117644717e-05,1793192723925478912
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763.172564779,742.827435221,711.827435221,673,658.827435221,631,877,782,799.172564779,649,628,650,0.443985132313,-0.0055894223405,0.0696802445445,0.999999871156,-0.000117771252852,-0.000490181164143,-5.94976646506e-05,1793192723942145536
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763.755128953,742.244871047,711.244871047,673,658.244871047,631,877,782,799.755128953,649,628,650,0.44398587318,-0.00558723546707,0.0696809972581,0.999999872207,-0.000114912328466,-0.000488656230857,-5.9976546397e-05,1793192723958812160
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.666841997,742.333158003,711,673,658,631,877,782.333158003,800,649,628,650,0.443986239526,-0.0055868178808,0.0696809615837,0.999999872369,-0.000114912572773,-0.000488292981215,-6.0229001997e-05,1793192723975479040
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.092101531,742.907898469,711,673,658,631,877,782.907898469,800,649,628,650,0.443986334294,-0.00558768325573,0.0696803542264,0.999999871889,-0.000116986082813,-0.000488772101932,-6.03172694488e-05,1793192723992145664
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,631,877,782.506749786,800,649,628,650,0.443984499158,-0.00558902827324,0.0696792495779,0.999999870894,-0.000118870702854,-0.000490420696057,-5.97383918394e-05,1793192724008812032
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,631,877.158954391,782,799.920522805,649,628,650,0.443981186749,-0.00558997144362,0.0696775337286,0.999999869381,-0.000120142869926,-0.000493252411624,-5.92071740534e-05,1793192724025478912
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,631,878.316956314,782,799.341521843,649,628,650,0.443970904197,-0.00558781368084,0.0696725728519,0.999999865215,-0.000117792247758,-0.000502117541005,-5.97756668685e-05,1793192724042145536
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,631,878.762291258,782,799,649,628,650,0.443950799068,-0.00558629692517,0.0696629423848,0.999999857078,-0.00011626906508,-0.000518343517201,-6.03705821018e-05,1793192724058812416
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,631,878.182730497,782,799,649,628,650,0.443916567964,-0.00558570201029,0.0696465965196,0.999999842822,-0.000115935833995,-0.000545155221488,-6.10034956827e-05,1793192724075479040
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,631,878,782,799,649,628,650,0.44386289766,-0.00558462904969,0.0696276140784,0.999999822616,-0.000115158165269,-0.000581174751558,-6.11814019433e-05,1793192724092145408
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,631,878,782,799,649,628,650,0.443800276081,-0.00558333596079,0.0696074175576,0.999999798522,-0.000114175843811,-0.000621434259943,-6.11497885421e-05,1793192724108812032
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742.459719166,711,673,658,631,878,782,799,649,628,650,0.443729618835,-0.00558103818231,0.069598055981,0.999999791042,-0.000112252498039,-0.000633770415348,-6.04251443081e-05,1793192724125478656
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.121361398,631,878,782.121361398,799.121361398,649,628,650,0.443654914418,-0.00557829244387,0.0695910577556,0.999999785933,-0.000109603394778,-0.000642325190446,-5.94950924819e-05,1793192724142145536
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.713570272,631,878,782.713570272,799.713570272,649,628,650,0.443566696893,-0.00557408240841,0.0695902774026,0.999999785622,-0.000104394878385,-0.000643815132979,-5.79568873735e-05,1793192724158812160
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.298527706,711,672.701472294,658.701472294,631.298527706,878,783,799.701472294,649,628,650,0.443467190181,-0.00557190714428,0.0695920217926,0.999999787777,-0.000101930554603,-0.000641064286228,-5.56139259246e-05,1793192724175479040
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.876692528,711,672.123307472,658.123307472,631.876692528,878,783,799.123307472,649,628,650,0.443357108659,-0.00557163789308,0.0695961311621,0.999999792221,-0.000102036773486,-0.000634341003752,-5.2517132547e-05,1793192724192145664
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,743,711.451026123,672.902052246,658,631.548973877,877.548973877,782.548973877,799.451026123,649,628,650.451026123,0.443223442471,-0.00556763779247,0.0696024051136,0.999999797846,-9.64637998738e-05,-0.000626582408616,-4.89627327768e-05,1793192724208813056
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,743,712,673.974975112,658.025024888,631,877.025024888,782,799.974975112,649,628,650.974975112,0.443081852336,-0.00556260172196,0.069609398914,0.999999803787,-8.94342651188e-05,-0.000618367840718,-4.52598413857e-05,1793192724225481216
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,712,673.385090518,658.614909482,631,877.614909482,782,799.385090518,649,628,650.385090518,0.442905718755,-0.00555701100469,0.0696193959422,0.999999811871,-8.42785034577e-05,-0.000606196202013,-4.10053158977e-05,1793192724242147328
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.200995488,743,711.799004512,673,659,631,878,782,799.200995488,649,628.200995488,650,0.442716265422,-0.00555117376734,0.0696280171083,0.999999819266,-7.71026912926e-05,-0.000595149369793,-3.63270890918e-05,1793192724258813696
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.779938641,743,711.220061359,673,659,631,878,782,799.779938641,649,628.779938641,650,0.442501765931,-0.00554487297946,0.0696340511314,0.999999825512,-6.6128419482e-05,-0.000586217601357,-3.08521437764e-05,1793192724275480576
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.643586006,743,711,673,659,631,878,782.356413994,799.643586006,649,628.643586006,650,0.442261467701,-0.00553822476707,0.0696401185901,0.999999830614,-5.4139030957e-05,-0.000578973706261,-2.51148549001e-05,1793192724292146944
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.068623817,743,711,673,659,631,878,782.931376183,799.068623817,649,628.068623817,650,0.442005350016,-0.0055313635181,0.0696462065518,0.999999834923,-4.15271856562e-05,-0.000572764791134,-1.92167000023e-05,1793192724308813056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.49317868,711,673,659,631,877.49317868,782.49317868,799.50682132,648.49317868,628,650,0.441724187821,-0.00552438256673,0.069659403464,0.999999847825,-2.78568463994e-05,-0.000550842021164,-1.21310126738e-05,1793192724325479424
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.08456522,711,673,659,631,877.08456522,782.08456522,800,648.08456522,628,650,0.441432117189,-0.00551685612342,0.0696738608249,0.999999861822,-1.29800789902e-05,-0.000525515090814,-4.69735339753e-06,1793192724342146048
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.675687176,711,673,659,631,877.675687176,782.675687176,800,648.675687176,628,650,0.441095035596,-0.00550615928826,0.0696900971148,0.999999878654,8.264029155e-06,-0.000492553918824,3.85662029135e-06,1793192724358812416
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.260698598,631.260698598,877.739301402,783,799.478602803,649,628,650,0.440735183323,-0.00549105197807,0.0697049922152,0.999999890592,5.82667425772e-05,-0.000464022851856,1.01956552509e-05,1793192724375479296
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.838282488,631.838282488,877.161717512,783,798.323435024,649,628,650,0.440347652772,-0.00547058363217,0.0697182570674,0.999999892461,0.00014322621715,-0.000440876682033,1.3842379418e-05,1793192724392146176
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,743,711.413320885,673,660,632,877,783,798.413320885,649,628,650.413320885,0.43991307678,-0.00544629217526,0.0697202336209,0.999999888425,0.000180022084674,-0.000436456118397,1.57446901054e-05,1793192724408813056
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711.987369406,673,660,632,877,783,798.987369406,649,628,650.987369406,0.439460206287,-0.00542051402988,0.0697178205059,0.999999883737,0.000198088621922,-0.000439317361772,1.69686525931e-05,1793192724425479680
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.577119629,743,712,673,660,632,877,783.577119629,799,649,628,650.422880371,0.438962765306,-0.00541881716915,0.0697118158479,0.999999886361,0.000165149283651,-0.000447072856762,1.13749617724e-05,1793192724442146304
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.835759711,743,712,673,660,632,877,783.835759711,799,649,628,650,0.438453807842,-0.00541956029393,0.0697092592191,0.999999889814,0.000145879526722,-0.000446118626378,8.34985114404e-06,1793192724458812928
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.256182202,743,712,673,660,632,877,783.256182202,799,649,628,650,0.437918262873,-0.00542510369305,0.0697156264346,0.999999897059,0.000164079819689,-0.000422860455405,1.22081433662e-05,1793192724475479552
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,711.679029017,673,660,632,877,783,799,649,628.320970983,650,0.437374038438,-0.00543185839299,0.0697377499418,0.99999991228,0.000161323017057,-0.000386195163044,1.63743670415e-05,1793192724492146176
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,743,711.103796233,673,660,632,877,783,799,649,628.896203767,650,0.436822938383,-0.00543957264297,0.0697723550239,0.999999932277,0.000141964750037,-0.000338909222653,2.07845234567e-05,1793192724508813056
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,660,632,877,783,799,649,629,650,0.436237812559,-0.00544208973692,0.0698022799232,0.999999945316,0.00014663101201,-0.000295381255999,2.48246696175e-05,1793192724525480704
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.066078715,742.933921285,711,673.066078715,659.933921285,632,877.066078715,783,799,648.933921285,628.933921285,650,0.435633490671,-0.00544234344045,0.0698283149203,0.999999954096,0.000155854320677,-0.000258267484025,2.85485205115e-05,1793192724542148096
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.646084422,742.353915578,711,673.646084422,659.353915578,632,877.646084422,783,799,648.353915578,628.353915578,650,0.43493813592,-0.00543389309874,0.0698321104455,0.999999951827,0.000159381115576,-0.000264605021099,3.04459836151e-05,1793192724558813696
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,743,711.872311126,673,660,632.872311126,877,783,799,649,628.872311126,650.127688874,0.430380515494,-0.00542871734306,0.0697750879999,0.999999923786,0.000161230198461,-0.00035405647317,3.28005574936e-05,1793192724658812672
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,660,632,877,783,799,649,628.284760945,650.715239055,0.428704335845,-0.00542430345592,0.0697463610231,0.999999907253,0.000173929757932,-0.000392748373019,3.14840491419e-05,1793192724692146688
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742.757442006,711.757442006,672,660,632.242557994,876.242557994,783,799.242557994,648.757442006,628,650,0.423626014669,-0.00541922748944,0.069806129939,0.999999934825,0.000175599323477,-0.000313221566513,3.75140642113e-05,1793192724792146176
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,711.610591954,671,659,633,876.610591954,783.610591954,799,649,629,650.610591954,0.401463418134,-0.00537660559979,0.0697966223123,0.999999917336,0.000232136702252,-0.000332674739873,2.77146621669e-05,1793192725442146304
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,711.037741162,671,659,633,876.037741162,783.037741162,799,649,629,650.037741162,0.401353545717,-0.00537595447182,0.0697967254148,0.999999916033,0.000242308918681,-0.000329407944062,2.66479617113e-05,1793192725458812928
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742,711.553770941,671.553770941,659.553770941,633,876,783,799,649,629,650,0.401266803713,-0.00537711268337,0.0697953890038,0.999999917742,0.00023523994287,-0.000329516521115,2.44236527612e-05,1793192725475479552
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.143233011,742,712,672,659.856766989,632.856766989,876,783,799,649.143233011,629,650,0.401188314997,-0.0053784281037,0.0697951118014,0.999999919845,0.000227451863477,-0.000328725268833,2.26961099716e-05,1793192725492145664
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.72244891,742,712,672,659.27755109,632.27755109,876,783,799,649.72244891,629,650,0.401129982487,-0.00537983361222,0.0697983677336,0.999999922642,0.000221176324025,-0.000324470414631,2.27291785475e-05,1793192725508812288
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.700873993,742,711.700873993,672,659,632.299126007,876,783,799,649.700873993,628.700873993,650,0.401080475478,-0.0053800518154,0.0698002378371,0.999999923726,0.000219564562276,-0.00032219359097,2.30153478513e-05,1793192725525478912
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.126532793,742,711.126532793,672,659,632.873467207,876,783,799,649.126532793,628.126532793,650,0.4010390885,-0.00537917762111,0.0698008328887,0.99999992327,0.000222243776804,-0.000321736683087,2.35343861265e-05,1793192725542145792
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711.448212499,672,658.551787501,633,876,783,799,649.448212499,628,650.448212499,0.401013973623,-0.00538018027553,0.0698026077468,0.999999924907,0.000220799611588,-0.000317605374499,2.36575339756e-05,1793192725558812672
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,711.976222088,672,658.023777912,633,876,783.023777912,799.023777912,649.976222088,628.023777912,651,0.400993817478,-0.00538163807591,0.0698047811693,0.999999927094,0.000218278962806,-0.000312418735227,2.36684329178e-05,1793192725575479808
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,711.383773245,672,658.616226755,633,876,783.616226755,799.616226755,649.383773245,628.616226755,651,0.400982292216,-0.00538129795785,0.069808513866,0.999999928914,0.000217877721084,-0.000306823332485,2.36700987984e-05,1793192725592146688
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.203312612,742.203312612,711.203312612,671.796687388,659,632.796687388,876.203312612,783.796687388,799.796687388,649,629,650.796687388,0.400971752795,-0.00538106904232,0.0698110361277,0.999999930156,0.000217437043397,-0.000303067644268,2.36385173294e-05,1793192725608813312
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.072269162,742.072269162,712,671,659,632.927730838,877,783,799,649,629,650,0.40095905024,-0.00538155153523,0.0698133371339,0.999999931039,0.000220515379506,-0.000297896463625,2.35237937554e-05,1793192725658812416
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.517046265,742,711.482953735,671,659,633,876.482953735,783,799,649,628.482953735,650.517046265,0.400960126119,-0.00538217302478,0.0698155649515,0.999999932091,0.000220786245663,-0.000294120972809,2.37377444921e-05,1793192725675479040
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.106397521,671,658.893602479,633,876,783,799,649,628,650.893602479,0.400960306315,-0.00538264689923,0.0698170827535,0.999999932867,0.000220491545366,-0.000291680250225,2.39078848357e-05,1793192725692145664
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.685283465,671,658.314716535,633,876,783,799,649,628,650.314716535,0.400955558441,-0.0053822710624,0.0698147680489,0.999999932003,0.000219010675631,-0.000295744208499,2.37515253199e-05,1793192725708812800
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.263019732,658.263019732,632.736980268,876.263019732,783.263019732,799,649,628,650,0.400954105003,-0.00538278133101,0.0698144562508,0.999999932077,0.000217984744669,-0.000296253650098,2.36985816248e-05,1793192725725479680
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.839386307,658.839386307,632.160613693,876.839386307,783.839386307,799,649,628,650,0.400956576369,-0.00538434725556,0.0698165306025,0.999999933278,0.000217500802138,-0.00029252844121,2.37688417025e-05,1793192725742146048
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.58705491,659,632,876.58705491,783.58705491,798.58705491,649,628.41294509,650,0.400957823427,-0.00538373436868,0.0698174530484,0.999999933755,0.00021749692018,-0.000290923549774,2.34227357024e-05,1793192725758812416
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.014580845,659,632,876.014580845,783.014580845,798.014580845,649,628.985419155,650,0.400958597509,-0.00538227976318,0.0698179304898,0.999999933956,0.000217678495264,-0.000290137779603,2.29157791304e-05,1793192725775479040
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742.578226608,712,671,659.578226608,632.578226608,876.578226608,783.578226608,798.578226608,649,629,650,0.400957637734,-0.00538272752231,0.0698184598006,0.999999933856,0.000218478209033,-0.000289834434509,2.34706742188e-05,1793192725792145664
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.832956847,742.832956847,712,671,659.832956847,633,877,783.832956847,799.167043153,649,628.832956847,650,0.400956808162,-0.00538309255036,0.0698189752376,0.999999933834,0.00021888820522,-0.000289576998162,2.37843119961e-05,1793192725808812288
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.255258007,742.255258007,712,671,659.255258007,633,877,783.255258007,799.744741993,649,628.255258007,650,0.400956410083,-0.00538313196479,0.0698194532346,0.999999934021,0.000218300410938,-0.000289401426687,2.34366221619e-05,1793192725825478912
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.321657663,742,712,671.321657663,659,633,877,783,799.678342337,649,628.321657663,650,0.400955562478,-0.00538237458571,0.0698187325148,0.999999933634,0.000218829754877,-0.000290380532468,2.288525145e-05,1793192725842145536
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.897953402,742,712,671.897953402,659,633,877,783,799.102046598,649,628.897953402,650,0.400954359009,-0.00538098643052,0.0698170628392,0.999999932789,0.000220243473544,-0.000292273730539,2.21726381339e-05,1793192725858812160
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.516326698,659,633,876.516326698,783,799,649,628.516326698,650,0.400954950368,-0.00538258841645,0.0698181200616,0.999999933873,0.000217496741649,-0.000290585859183,2.25511037136e-05,1793192725875479040
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.070381973,659,633,876.070381973,783,799,649,628,650.070381973,0.400955608767,-0.00538434487947,0.0698194514576,0.999999935014,0.000214644015568,-0.000288735518735,2.30691194253e-05,1793192725892145664
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.649579112,659,633,876.649579112,783,799,649,628,650.649579112,0.400953959825,-0.00538256672605,0.0698185230573,0.999999933663,0.000217496907171,-0.000291281250262,2.28987370828e-05,1793192725908812288
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711.772242826,671.772242826,659,633,877,783,799,649,628,650.772242826,0.400953738918,-0.00538182782332,0.0698183395362,0.999999933175,0.000218914026957,-0.000291901691586,2.28080163091e-05,1793192725925478912
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711.195625739,671.195625739,659,633,877,783,799,649,628,650.195625739,0.400955705357,-0.00538268076035,0.0698192969605,0.999999934022,0.000218131948085,-0.000289573129826,2.28393146578e-05,1793192725942145536
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.380283016,659,633,877,783,799,649,628.380283016,650,0.400956016977,-0.0053838055866,0.06981953814,0.999999934668,0.000216464749633,-0.000288600181881,2.27579164739e-05,1793192725958812160
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.955828048,659,633,877,783,799,649,628.955828048,650,0.400955478904,-0.00538507001842,0.069819411553,0.999999935208,0.000214343073283,-0.000288323294249,2.26186525646e-05,1793192725975478784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711.543591842,672,659,633,876.456408158,783.543591842,798.456408158,649,628.456408158,650,0.400954203323,-0.00538319695439,0.0698185439677,0.999999934258,0.000217129927005,-0.000289523562934,2.26778143294e-05,1793192725992145664
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.869399357,672,659,633,876,783.869399357,798.130600643,649,628,650,0.400953307334,-0.00538194153237,0.0698180268022,0.999999933603,0.000219028860848,-0.000290351717733,2.2728269522e-05,1793192726008812032
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.288495995,672,659,633,876,783.288495995,798.711504005,649,628,650,0.400953931543,-0.00538371496988,0.0698189302471,0.999999934418,0.000216459420401,-0.000289473464843,2.26918322484e-05,1793192726025478656
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.710531628,742,711.289468372,671.710531628,659,633,876.289468372,783,799,649,628.289468372,650,0.400954668922,-0.00538353911743,0.0698194581735,0.999999934587,0.000216764160432,-0.000288668758821,2.25568819482e-05,1793192726042145536
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.135466874,742,711.864533126,671.135466874,659,633,876.864533126,783,799,649,628.864533126,650,0.400955517958,-0.00538144004935,0.0698196156046,0.999999934118,0.000219904634977,-0.000287936615782,2.23247363484e-05,1793192726058812416
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.446140286,742,712,671,658.553859714,633,876.553859714,783.446140286,799.446140286,649,629,650,0.400955428756,-0.00538230847709,0.069820096426,0.999999934426,0.000218901496922,-0.000287631671774,2.23033614516e-05,1793192726075479040
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.029812434,711.970187566,671,658.029812434,633,876.029812434,783.970187566,799.970187566,649,629,650,0.400955069525,-0.00538401009398,0.0698206164174,0.999999934939,0.000216738573119,-0.000287482893203,2.23542673486e-05,1793192726092145664
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.614394733,711.385605267,671,658.614394733,633,876.614394733,783.385605267,799.385605267,649,629,650,0.400955065697,-0.00538419925585,0.0698200108423,0.999999934843,0.000216754975521,-0.000287790388001,2.25415656925e-05,1793192726108812288
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f89f65faa52129b9e5a19c1e3123f07bd4273c9a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,391 @@
+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,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+1,0.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+2,0.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+3,0.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+4,0.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+5,0.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+6,0.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+7,0.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+8,0.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+9,0.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+10,0.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+11,0.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+12,0.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+13,0.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+14,0.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+15,0.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+16,0.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+17,0.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+18,0.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+19,0.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+20,0.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+21,0.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+22,0.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+23,0.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+24,0.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+25,0.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+26,0.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+27,0.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+28,0.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+377,6.283333333,pose2_to_pose3_retreat,0.575710042688,5.45342759129e-05,1.0600290266,0.546280773824,0.00872726710323,1.05969832542
+378,6.300000000,pose2_to_pose3_retreat,0.575709923931,5.45528769285e-05,1.0600290495,0.546280655298,0.00872728644439,1.05969834709
+379,6.316666667,pose2_to_pose3_retreat,0.575709909472,5.45551416607e-05,1.06002905229,0.546280640867,0.00872728879924,1.05969834973
+380,6.333333333,pose2_to_pose3_retreat,0.57570988236,5.45593881185e-05,1.06002905752,0.546280613809,0.00872729321466,1.05969835468
+381,6.350000000,pose2_to_pose3_retreat,0.575709834307,5.45669146823e-05,1.06002906678,0.54628056585,0.00872730104071,1.05969836345
+382,6.366666667,pose2_to_pose3_retreat,0.575709636808,5.45978489252e-05,1.06002910487,0.546280368736,0.00872733320584,1.05969839951
+383,6.383333333,pose2_to_pose3_retreat,0.575709486714,5.46213581888e-05,1.06002913381,0.546280218935,0.00872735765055,1.05969842691
+384,6.400000000,pose2_to_pose3_retreat,0.575709482366,5.46220392669e-05,1.06002913465,0.546280214596,0.00872735835873,1.0596984277
+385,6.416666667,pose2_to_pose3_retreat,0.575709398109,5.46249275947e-05,1.06002912135,0.546280129827,0.00872735939491,1.05969841134
+386,6.433333333,pose2_to_pose3_retreat,0.575709303796,5.46195714927e-05,1.06002908184,0.546280034379,0.00872734998493,1.05969836657
+387,6.450000000,pose2_to_pose3_retreat,0.575709271563,5.46069089155e-05,1.06002906836,0.546280001773,0.00872733598773,1.05969835127
+388,6.466666667,pose2_to_pose3_retreat,0.575709271547,5.45988337131e-05,1.06002906837,0.546280001769,0.00872732794976,1.05969835126
+389,6.483333333,pose2_to_pose3_retreat,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26a8e3f4bd556be778693e54f2d8347ee3af7664
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e82a70e5172bcade01ce40c8dc76218e2e677ce56dd2b22f7605a94d78650229
+size 24935262
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9c7623ad9193fc096e320210b9ce8e72fd9b9736
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_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,764,742.424137586,712,672,659.424137586,632.575862414,876,783.424137586,799,649,628,650.424137586,0.400953556062,-0.00538346246918,0.0698192194513,0.999999933934,0.000218491196986,-0.000289596653555,2.29752533561e-05,1793192726280553216
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+9,0.150000000,BASELINE,764,742,711.228114373,671.228114373,659,632,877,783.771885627,799,649.771885627,628,651,0.400956651648,-0.0053853391305,0.0698220848127,0.999999936022,0.000216036143814,-0.000284176393648,2.29896954609e-05,1793192726413886464
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+21,0.350000000,BASELINE,763.801996806,742,711.801996806,671.198003194,658.198003194,633,876,783,799,649,628,650,0.40095555181,-0.0053835161838,0.0698215862309,0.999999935363,0.000218289581304,-0.000284783641214,2.28609148696e-05,1793192726613887488
+22,0.366666667,BASELINE,763.222438262,742,711.222438262,671.777561738,658.777561738,633,876,783,799,649,628,650,0.400956725383,-0.00538394627518,0.0698217890922,0.999999935619,0.000218370073165,-0.000283824842886,2.28159517858e-05,1793192726630554112
+23,0.383333333,BASELINE,763,742,711.356368846,671.643631154,659,633,876.356368846,783,799.356368846,649,628.356368846,650,0.400956888672,-0.00538378975173,0.0698223248492,0.99999993571,0.000218794411751,-0.000283193639962,2.25946495151e-05,1793192726647220480
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+27,0.450000000,BASELINE,764,742,712,671.325483612,659,633,876.674516388,783.325483612,799,649,628,650,0.40095438899,-0.00538565458401,0.0698218369002,0.999999935698,0.000215773120761,-0.000285527071999,2.28203447585e-05,1793192726713887232
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+29,0.483333333,BASELINE,763.161148702,742,712,671,659,632.161148702,876.161148702,783,799,649,628,650,0.400955678061,-0.00538607581932,0.0698227922196,0.999999936448,0.000214633223032,-0.000283770212285,2.26191078636e-05,1793192726747220736
+30,0.500000000,BASELINE,763.415372896,742.415372896,712,671.415372896,659,632.415372896,876.415372896,783.415372896,799,649,628,650.415372896,0.400955453148,-0.00538589367243,0.0698223679369,0.999999936293,0.000215151743939,-0.000283934150941,2.24778477028e-05,1793192726763887360
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+47,0.783333333,BASELINE,764,742,711.714184847,671,659,632,877,783,799,649,628.285815153,650,0.400953949909,-0.00538278200589,0.0698215393714,0.999999935357,0.000217520577378,-0.000285502455466,2.14308445568e-05,1793192727047220736
+48,0.800000000,BASELINE,764,742,711.13571238,671,659,632,877,783,799,649,628.86428762,650,0.400954962098,-0.00538426395737,0.0698223952276,0.999999935585,0.000218256567845,-0.000284077541977,2.22176290249e-05,1793192727063887616
+49,0.816666667,BASELINE,764,742.440789992,711.440789992,671,659,632.440789992,877,783,799,649,629,650.440789992,0.400954984813,-0.00538552268328,0.0698224041912,0.999999936049,0.000216347967323,-0.000283897940055,2.22887707222e-05,1793192727080553984
+50,0.833333333,BASELINE,763.983002635,743,712,671.016997365,658.983002635,633,877,783.016997365,799,649,628.983002635,651,0.400954713926,-0.00538663374839,0.069822161992,0.999999936542,0.000213801222825,-0.000284101603422,2.21437187235e-05,1793192727097220352
+51,0.850000000,BASELINE,763.396444437,743,712,671.603555563,658.396444437,633,877,783.603555563,799,649,628.396444437,651,0.400954767559,-0.00538508961669,0.0698222020065,0.999999935774,0.00021703344471,-0.00028435751595,2.21045936498e-05,1793192727113886976
+52,0.866666667,BASELINE,763.18797314,743,712,671.81202686,658.18797314,633,877,783.81202686,799,649,628.18797314,651,0.400955041367,-0.00538424064581,0.0698223788246,0.999999935495,0.000218506026582,-0.000284212083318,2.21005776133e-05,1793192727130553600
+53,0.883333333,BASELINE,763.767926842,743,712,671.232073158,658.767926842,633,877,783.232073158,799,649,628.767926842,651,0.400955774303,-0.00538484129451,0.0698228409196,0.99999993625,0.000216309229319,-0.000283229725245,2.21697744875e-05,1793192727147220224
+54,0.900000000,BASELINE,764,742.654107304,712,671,659,633,876.654107304,783,799,649,628.654107304,650.654107304,0.400955471271,-0.00538549552934,0.0698223993506,0.999999936443,0.000215089785081,-0.000283468750373,2.22542393841e-05,1793192727163886848
+55,0.916666667,BASELINE,764,742.077467578,712,671,659,633,876.077467578,783,799,649,628.077467578,650.077467578,0.400954477139,-0.00538618551176,0.0698213549421,0.999999936264,0.000214522338818,-0.000284522567378,2.23488896645e-05,1793192727180553728
+56,0.933333333,BASELINE,764,742,711.504939755,671,659,633,876,783,799,649,628.495060245,650.495060245,0.400953376017,-0.00538561908858,0.0698211444821,0.999999935611,0.000216203496014,-0.000285546024444,2.22877682349e-05,1793192727197220352
+57,0.950000000,BASELINE,764,742,711.069418031,671,659,633,876,783,799,649,628.930581969,650.930581969,0.400952513514,-0.00538485440064,0.0698211140727,0.999999934988,0.000218019358376,-0.000286354427884,2.21892330405e-05,1793192727213887488
+58,0.966666667,BASELINE,764,742,711.662390011,671,659,633,876,783,799,649,628.337609989,650.337609989,0.400953575912,-0.00538406497126,0.0698214655061,0.999999935171,0.000218219258363,-0.000285576421838,2.19908470565e-05,1793192727230553856
+59,0.983333333,BASELINE,763.750626937,742.249373063,711.750626937,671.249373063,659,633,876,783,799,649,628,650.249373063,0.400954399583,-0.00538408138675,0.0698218495694,0.999999935417,0.000218046156507,-0.00028484178065,2.20673263556e-05,1793192727247220224
+60,1.000000000,BASELINE,763.171561667,742.828438333,711.171561667,671.828438333,659,633,876,783,799,649,628,650.828438333,0.400954907635,-0.00538516319696,0.0698222767723,0.999999935745,0.000217379914808,-0.000284164471354,2.25072006959e-05,1793192727263886848
+61,1.016666667,BASELINE,763.404747644,742.595252356,711.404747644,672,659,633,876.404747644,783,799,649,628.404747644,650.595252356,0.400955162469,-0.0053848874243,0.0698222360421,0.999999935802,0.000217225623102,-0.000284088499577,2.24339501303e-05,1793192727280553728
+62,1.033333333,BASELINE,763.979896644,742.020103356,711.979896644,672,659,633,876.979896644,783,799,649,628.979896644,650.020103356,0.400955310697,-0.00538404010047,0.069821998309,0.999999935745,0.000217286865672,-0.000284265694794,2.21446706584e-05,1793192727297220352
+63,1.050000000,BASELINE,764,742,711.433427329,672,659,633,876.433427329,783.566572671,799,649.566572671,629,650,0.400955174031,-0.00538380607245,0.0698227782466,0.999999935614,0.000218373469515,-0.000283875515181,2.23732511771e-05,1793192727313886976
+64,1.066666667,BASELINE,763.848368933,742,711,672,659,633,876,783.848368933,799,649.848368933,628.848368933,650,0.400954747304,-0.00538341310279,0.0698230680711,0.999999935376,0.000219461063513,-0.00028386543448,2.24865487337e-05,1793192727330554112
+65,1.083333333,BASELINE,763.269050813,742,711,672,659,633,876,783.269050813,799,649.269050813,628.269050813,650,0.400953531541,-0.00538250917224,0.0698218715293,0.999999934846,0.000220446700106,-0.000284985414539,2.2221777641e-05,1793192727347221248
+66,1.100000000,BASELINE,763.310231368,742,711.310231368,672,659,633,876,783,799.310231368,649,628.310231368,650.310231368,0.400952697469,-0.00538264970147,0.0698208883028,0.99999993477,0.000219728035513,-0.000285826457114,2.19842928778e-05,1793192727363887872
+67,1.116666667,BASELINE,763.889482355,742,711.889482355,672,659,633,876,783,799.889482355,649,628.889482355,650.889482355,0.400952194385,-0.00538369594244,0.0698200900544,0.999999935083,0.000217531472427,-0.000286425616755,2.17704696877e-05,1793192727380553984
+68,1.133333333,BASELINE,763.537130839,742,712,671.537130839,659,633,876.462869161,783,799.537130839,649,629,650.537130839,0.400953878357,-0.00538366615749,0.0698214302357,0.999999935601,0.000218173936456,-0.000284105668295,2.197588649e-05,1793192727397220352
+69,1.150000000,BASELINE,763.035983337,742.035983337,712,671,659,633,877,783,799,649,629,650,0.40095592035,-0.00538339996306,0.0698231533699,0.999999936102,0.000219404460287,-0.000281357636386,2.22546068605e-05,1793192727413886720
+70,1.166666667,BASELINE,763.626193799,742.626193799,712,671,659,633,877,783,799,649,629,650,0.40095553429,-0.00538340015557,0.069823009053,0.999999935754,0.000219382400961,-0.000282617015879,2.21398811055e-05,1793192727430553600
+71,1.183333333,BASELINE,764,743,711.787435896,671,659,632.787435896,877,783.212564104,799,649,628.787435896,650,0.400955424762,-0.00538337348016,0.0698228790867,0.999999935576,0.000219332468759,-0.000283295461353,2.20304207602e-05,1793192727447220224
+72,1.200000000,BASELINE,764,743,711.207698799,671,659,632.207698799,877,783.792301201,799,649,628.207698799,650,0.400955792905,-0.00538330039442,0.0698227739087,0.999999935692,0.000219234390292,-0.000282970429595,2.19300556108e-05,1793192727463887360
+73,1.216666667,BASELINE,764,742.630296064,711.369703936,671,659,632,876.630296064,783.630296064,799,649,628.369703936,650,0.400955771106,-0.0053840832186,0.0698231591987,0.999999935953,0.000218265394773,-0.000282773526729,2.21894130562e-05,1793192727480554496
+74,1.233333333,BASELINE,764,742.054196573,711.945803427,671,659,632,876.054196573,783.054196573,799,649,628.945803427,650,0.400955531615,-0.00538534387378,0.0698238183033,0.999999936295,0.000216810190188,-0.000282648154727,2.26495937537e-05,1793192727497221120
+75,1.250000000,BASELINE,764,742,712,671.531161591,659,632.531161591,876,783,798.468838409,649,629,650,0.40095518785,-0.00538652792853,0.0698233769837,0.99999993683,0.000213543000534,-0.000283255969781,2.24680815218e-05,1793192727513887232
+76,1.266666667,BASELINE,764,742,712,671.883978603,659,632.883978603,876.116021397,783,798.116021397,649,628.883978603,650,0.400954944433,-0.00538728992519,0.0698228750512,0.999999937156,0.000211309017539,-0.000283794636138,2.22745028963e-05,1793192727530553600
+77,1.283333333,BASELINE,764,742,712,671.304944592,659,632.304944592,876.695055408,783,798.695055408,649,628.304944592,650,0.400955144696,-0.00538639933713,0.0698225872609,0.999999936606,0.000213949222315,-0.00028375350251,2.22986983109e-05,1793192727547220224
+78,1.300000000,BASELINE,763.726667776,742,711.726667776,671.273332224,659,632,876.726667776,783.273332224,799.273332224,649,628,650,0.4009549864,-0.0053859937778,0.0698223544145,0.999999936283,0.000215032965437,-0.000284078640079,2.22117924998e-05,1793192727563886848
+79,1.316666667,BASELINE,763.149233433,742,711.149233433,671.850766567,659,632,876.149233433,783.850766567,799.850766567,649,628,650,0.400954429181,-0.00538612784851,0.0698221826972,0.999999936219,0.000214385030805,-0.000284811281187,2.20012784372e-05,1793192727580553472
+80,1.333333333,BASELINE,763,742,711,672,659,632.42599923,876.42599923,784,799.57400077,649,628.42599923,650,0.400953884773,-0.00538556547975,0.0698218749256,0.999999935888,0.00021524633952,-0.000285314331214,2.21256811523e-05,1793192727597220352
+81,1.350000000,BASELINE,763.000476726,742,711.000476726,671.999523274,659,633,876.999523274,783.999523274,799.000476726,649,628.999523274,650,0.400953347432,-0.00538476157479,0.0698215214444,0.999999935463,0.000216631317796,-0.000285734278854,2.23666120432e-05,1793192727613887232
+82,1.366666667,BASELINE,763.589900066,742,711.589900066,671.410099934,659,633,876.410099934,783.410099934,799.589900066,649,628.410099934,650,0.400956025169,-0.00538541771282,0.0698232767835,0.999999936747,0.000215148994429,-0.000282340517294,2.23671622883e-05,1793192727630554112
+83,1.383333333,BASELINE,764,742,712,671.176245519,659,633,876,783,799.823754481,649,628,650,0.400957493037,-0.00538516654678,0.0698243015078,0.999999937333,0.000214963081564,-0.00028041125274,2.22534192565e-05,1793192727647220736
+84,1.400000000,BASELINE,764,742,712,671.755552176,659,633,876,783,799.244447824,649,628,650,0.40095619402,-0.00538284044015,0.0698236553678,0.99999993634,0.000217741968275,-0.000281831189422,2.18782955198e-05,1793192727663887104
+85,1.416666667,BASELINE,763.667568768,742,712,672,659,632.667568768,876,783,798.667568768,649,628,650,0.400955479854,-0.00538203601754,0.0698230462774,0.999999935615,0.000219721764711,-0.000282873014834,2.1804339006e-05,1793192727680553472
+86,1.433333333,BASELINE,763.092461901,742,712,672,659,632.092461901,876,783,798.092461901,649,628,650,0.400955192632,-0.00538234242823,0.0698224642333,0.999999935087,0.000221118223075,-0.000283638817984,2.19502353438e-05,1793192727697220096
+87,1.450000000,BASELINE,763.485471494,742,711.514528506,671.514528506,659,632,876,783,798,649,628.485471494,650,0.400954275706,-0.00538358111496,0.0698219720322,0.999999935009,0.000220071844418,-0.000284704117027,2.22210757544e-05,1793192727713886976
+88,1.466666667,BASELINE,764,742,711,671,658.935067671,632.064932329,876,783,798.064932329,649,628.935067671,650,0.400953431627,-0.00538479962986,0.0698216047381,0.999999935053,0.000218674823976,-0.000285606755977,2.24574813308e-05,1793192727730553856
+89,1.483333333,BASELINE,764,742,711,671,658.347673597,632.652326403,876,783,798.652326403,649,628.347673597,650,0.400954144344,-0.00538441878317,0.0698221039891,0.999999935404,0.000218221955514,-0.000284738934218,2.22242209889e-05,1793192727747220224
+90,1.500000000,BASELINE,764,742,711.236693695,671,658.236693695,632.763306305,876,783.236693695,799,649,628,650,0.400954373472,-0.00538384744844,0.0698222828588,0.9999999356,0.000217803325249,-0.000284389080256,2.20159977197e-05,1793192727763886848
+91,1.516666667,BASELINE,764,742,711.816671105,671,658.816671105,632.183328895,876,783.816671105,799,649,628,650,0.400953901234,-0.00538299984342,0.0698219970702,0.99999993557,0.000217434351669,-0.000284790450054,2.18440864622e-05,1793192727780553984
+92,1.533333333,BASELINE,764,742,712,671,659,632.393215962,876,783.606784038,799,649,628.393215962,650.393215962,0.400954113718,-0.00538327243949,0.0698221176759,0.999999935555,0.000217745205605,-0.000284607293279,2.18290040233e-05,1793192727797220864
+93,1.550000000,BASELINE,764,742,712,671,659,632.968174363,876,783.031825637,799,649,628.968174363,650.968174363,0.400954642678,-0.0053840627868,0.0698224261149,0.999999935546,0.000218370272361,-0.0002841539713,2.18864070596e-05,1793192727813887744
+94,1.566666667,BASELINE,764,742,711.46004615,671.53995385,659,633,876.53995385,783,799,649,628.46004615,651,0.400955809144,-0.00538426751278,0.0698234537816,0.999999936299,0.000216903207777,-0.000282608735921,2.20912637957e-05,1793192727830553856
+95,1.583333333,BASELINE,763.883347256,742,711,672,659,632.883347256,876.883347256,783.116652744,799,649,628,650.883347256,0.400956592606,-0.00538418394483,0.0698241861535,0.999999936863,0.000215890929237,-0.00028137221348,2.22456742038e-05,1793192727847219968
+96,1.600000000,BASELINE,763.285591165,742,711,672,659,632.285591165,876.285591165,783.714408835,799,649,628,650.285591165,0.400955642409,-0.00538305290945,0.0698235268487,0.999999936484,0.000217259890603,-0.000281672773015,2.21563976982e-05,1793192727863886848
+97,1.616666667,BASELINE,763,742,711,671.699631761,659,632,876,783.699631761,799,649,628.300368239,650.300368239,0.400955504353,-0.00538392935313,0.0698235227216,0.999999936635,0.000216444040295,-0.000281751127233,2.23254357725e-05,1793192727880553472
+98,1.633333333,BASELINE,763,742,711,671.124464858,659,632,876,783.124464858,799,649,628.875535142,650.875535142,0.400956109302,-0.0053866423844,0.0698241179988,0.999999937266,0.000213629365622,-0.000281626191882,2.27307987765e-05,1793192727897220096
+99,1.650000000,BASELINE,763,742,711,671,659,632.451312051,876,783.451312051,799,649,628.548687949,650.548687949,0.400955219202,-0.00538618550668,0.069823751865,0.999999936991,0.000214164983039,-0.00028221953267,2.24604750692e-05,1793192727913887232
+100,1.666666667,BASELINE,763,742.027930722,711.027930722,671.027930722,659,632.972069278,876.027930722,783.972069278,799,649,628,650,0.4009539524,-0.00538485305427,0.0698231251948,0.999999936436,0.000215725462803,-0.000283027924859,2.20336938204e-05,1793192727930554112
+101,1.683333333,BASELINE,763,742.61810307,711.61810307,671.61810307,659,632.38189693,876.61810307,783.38189693,799,649,628,650,0.400953413663,-0.0053835169821,0.069822598464,0.999999935332,0.000219291949591,-0.000284172362973,2.22135978018e-05,1793192727947220480
+102,1.700000000,BASELINE,763.204414889,742.795585111,712,672,659,632.204414889,876.795585111,783.204414889,799,649,628,650,0.400953466822,-0.0053833262567,0.0698224490785,0.999999934996,0.000220379259701,-0.000284503820361,2.23270015467e-05,1793192727963886848
+103,1.716666667,BASELINE,763.783647918,742.216352082,712,672,659,632.783647918,876.216352082,783.783647918,799,649,628,650,0.400954605294,-0.00538523565612,0.0698229915989,0.999999936082,0.000216920714658,-0.000283344584231,2.2318469462e-05,1793192727980553472
+104,1.733333333,BASELINE,764,742,712,672,658.639854466,633,876,783.639854466,799,649,628.360145534,650,0.400955408203,-0.00538574534388,0.0698233006503,0.999999936563,0.000215531058705,-0.000282718121497,2.21728316709e-05,1793192727997220096
+105,1.750000000,BASELINE,764,742,712,672,658.064987667,633,876,783.064987667,799,649,628.935012333,650,0.400956011047,-0.00538542051403,0.069823470506,0.999999936689,0.000215374888441,-0.000282409301846,2.19454505064e-05,1793192728013886976
+106,1.766666667,BASELINE,764,742,711.496062718,671.496062718,658.503937282,632.496062718,876,783.503937282,799.503937282,649,629,650,0.400956521169,-0.00538375138882,0.0698237746749,0.999999936556,0.00021752604864,-0.000281214234619,2.20928613608e-05,1793192728030553344
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877,783,800,649,628,651,0.40095570425,-0.00538373637861,0.0698239656893,0.999999936429,0.000217564387302,-0.00028163364526,2.21614283145e-05,1793192728072973056
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.421954494,742,712,671.421954494,658.843908988,633,876.421954494,783.578045506,800,649,628,651,0.400954240095,-0.00538475234575,0.0698232672286,0.999999935914,0.000218333628761,-0.000282831471222,2.25440126089e-05,1793192728089639168
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.15538271,742,712,671,658.15538271,633,876,783.84461729,799.84461729,649,628,650.84461729,0.400953147526,-0.00538501665313,0.0698226799336,0.999999935492,0.000218809110972,-0.000283952008107,2.2582645279e-05,1793192728106305536
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.730805318,742,712,671,658.730805318,633,876,783.269194682,799.269194682,649,628,650.269194682,0.400953059449,-0.00538324902885,0.0698223931487,0.999999935322,0.000218490485668,-0.000284863612773,2.16914872947e-05,1793192728122971392
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.31313715,712,671,659,632.68686285,876,783,799,649,628.31313715,650,0.400954372922,-0.00538414754472,0.0698228819195,0.999999936052,0.000216814068335,-0.000283591590023,2.15200362278e-05,1793192728139637760
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.901542616,712,671,659,632.098457384,876,783,799,649,628.901542616,650,0.400956918451,-0.00538738977464,0.0698240524552,0.99999993756,0.000213944061809,-0.000280400013953,2.19812553074e-05,1793192728156304384
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.51767391,711.51767391,671,659,632.48232609,876,783,798.51767391,649,628.51767391,650.48232609,0.400958145043,-0.00538675049257,0.0698245774549,0.999999937458,0.000214601765012,-0.000280239651279,2.22840643701e-05,1793192728172971008
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.938861202,742,711.061138798,671,659,632.938861202,876,783,798.061138798,649,628,650.938861202,0.400960454874,-0.00538566977152,0.0698256509528,0.999999937427,0.000215625420538,-0.000279539027293,2.25791881694e-05,1793192728189637632
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.363739829,742,711.636260171,671,659,632.363739829,876,783,798.636260171,649,628,650.363739829,0.400974099507,-0.00538743533929,0.0698324261362,0.999999940658,0.000213765894639,-0.000269175626828,2.30773195762e-05,1793192728206304768
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.210715006,742,712,671,659,632,876.210715006,783.210715006,799,649,628,650,0.400995796469,-0.00538825793785,0.0698421839251,0.999999945068,0.00021306699829,-0.000252813350265,2.34790089996e-05,1793192728222971904
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.78402282,742,712,671,659,632,876.78402282,783.78402282,799,649,628,650,0.401031349667,-0.00538745789977,0.0698570741023,0.999999951176,0.000214365282691,-0.000226128367389,2.37147435498e-05,1793192728239638528
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.36949795,712,671,658.63050205,632.36949795,877,783.63050205,799,649,628.36949795,650,0.401079087147,-0.0053884117028,0.0698728957139,0.999999956991,0.000214138713152,-0.000198955329701,2.40515879099e-05,1793192728256304896
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.962327285,712,671,658.037672715,632.962327285,877,783.037672715,799,649,628.962327285,650,0.401134189037,-0.00539042555971,0.0698892803032,0.999999962315,0.000212990493782,-0.000171487300043,2.4449544922e-05,1793192728272971264
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.45720807,711.45720807,671,658.54279193,633,876.45720807,783.54279193,799,649,629,650.54279193,0.401201724657,-0.00539235971329,0.0698972571652,0.999999963915,0.000211295590202,-0.00016421218946,2.36252059109e-05,1793192728289637888
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.121321272,671,659,633,876.121321272,783.878678728,799,649,628.878678728,650.878678728,0.401273561009,-0.00539423710169,0.0699035010171,0.999999965222,0.000209375410071,-0.000158787639088,2.24435561463e-05,1793192728306304512
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.695756515,671,659,633,876.695756515,783.304243485,799,649,628.304243485,650.304243485,0.40135830862,-0.00539592268286,0.069905403265,0.999999966385,0.000206752414279,-0.000155156836678,2.02371957578e-05,1793192728322971136
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.270801644,712,671,659,632.729198356,876.729198356,783,799,649,628,650,0.401451425137,-0.0053974256967,0.069904898163,0.999999966514,0.000205236377057,-0.000156664696691,1.75021720362e-05,1793192728339638016
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.846533489,712,671,659,632.153466511,876.153466511,783,799,649,628,650,0.40155396527,-0.00539872313453,0.0699016823177,0.999999965453,0.000204966806194,-0.000163958834053,1.41718587962e-05,1793192728356304640
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.56637728,712,671.43362272,659,632.43362272,876.43362272,783,799,649,628,650.43362272,0.401681789176,-0.00540241673436,0.0699017410135,0.99999996605,0.000200951169721,-0.000165531512073,1.08538324928e-05,1793192728372971264
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.975685596,742.024314404,711.975685596,671.975685596,659,633,877,783,799,649,628.024314404,651,0.40182059724,-0.00540694240084,0.0699030987726,0.999999967303,0.000195446492597,-0.000164741020435,7.46966087082e-06,1793192728389637632
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.396969658,742.603030342,711.396969658,671.396969658,659,633,877,783,799,649,628.603030342,651,0.402000336588,-0.00541058370989,0.0699069413487,0.999999970106,0.000187032706481,-0.000157479862708,2.47546453931e-06,1793192728406304512
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,743,711.180266992,671.180266992,659,633,876.819733008,783,799,649,629,650.819733008,0.402189275284,-0.00541354243624,0.0699106200485,0.999999972531,0.000179837586545,-0.000150294065955,-2.74313199881e-06,1793192728422971136
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,743,711.754272512,671.754272512,659,633,876.245727488,783,799,649,629,650.245727488,0.402398307143,-0.00541501026738,0.0699139408102,0.999999974335,0.00017530427411,-0.000143272873364,-8.45186201957e-06,1793192728439637760
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.336448492,742.663551508,711.663551508,671.663551508,659,633,876.336448492,783,799.336448492,649,629,650,0.402625748117,-0.00541886131101,0.0699166395519,0.999999976751,0.000166080884166,-0.000136788541386,-1.42893672898e-05,1793192728456304384
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.924740405,742.075259595,711.075259595,671.075259595,659,633,876.924740405,783,799.924740405,649,629,650,0.402866968978,-0.00542449627241,0.0699188726901,0.999999979496,0.000153346807259,-0.000130706067533,-2.02232659191e-05,1793192728472971008
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671.506883858,659,633,877,783,799.493116142,649,629,650.506883858,0.40315643168,-0.00543169197372,0.0699257975995,0.999999982469,0.000142970251596,-0.000118182317952,-2.55982800861e-05,1793192728489637632
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.087228181,711.087228181,671.912771819,659,633,876.912771819,783.087228181,799,649,629,651,0.403460558023,-0.00543940493152,0.0699338697113,0.999999985885,0.000128583901117,-0.000104249256111,-2.8769211361e-05,1793192728506304256
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.662552465,711.662552465,671.337447535,659,633,876.337447535,783.662552465,799,649,629,651,0.403807137216,-0.00544873112628,0.069944509883,0.999999991917,8.98250628708e-05,-8.77175514433e-05,-2.00656878592e-05,1793192728522970880
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.243166095,742.756833905,711.756833905,671,659,633,876,783.756833905,799,649,629,651,0.404157130337,-0.00546436208502,0.0699506377144,0.999999994808,6.17377876091e-05,-7.96731468665e-05,-1.49909204539e-05,1793192728539637504
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.831283058,742.168716942,711.168716942,671,659,633,876,783.168716942,799,649,629,651,0.404511966372,-0.00548893686326,0.0699503644239,0.999999995196,4.87889941468e-05,-8.36686683405e-05,-1.50638390177e-05,1793192728556304128
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.587077799,742,711.412922201,671,659,632.587077799,876,783,799.412922201,649,629,650.587077799,0.404910459032,-0.0055016875229,0.0699532218201,0.999999996428,2.80311633595e-05,-7.77675116646e-05,-1.76299044988e-05,1793192728572971008
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.008044578,742,711.991955422,671,659,632.008044578,876,783,799.991955422,649,629,650.008044578,0.405326513944,-0.00550968155612,0.0699573386341,0.999999997463,4.13190051905e-06,-6.78851029223e-05,-2.1198917202e-05,1793192728589637632
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671.570147558,659,632.570147558,876,783,799.429852442,649,628.429852442,650,0.405776886721,-0.00550697471445,0.0699575063187,0.999999997371,1.1658034447e-05,-6.7841683581e-05,-2.28119158198e-05,1793192728606304256
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.147280452,711.852719548,671.852719548,659,633,876.147280452,783,799,649,628,650,0.406234892371,-0.00550781737575,0.0699529351905,0.999999996739,1.29330548038e-05,-7.58803095463e-05,-2.44371338122e-05,1793192728622971136
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.721377912,711.278622088,671.278622088,659,633,876.721377912,783,799,649,628,650,0.406713616742,-0.00551938336489,0.0699347922789,0.999999993926,-5.19065776234e-06,-0.000106938887668,-2.61776258837e-05,1793192728639637760
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.696785243,742.696785243,711.303214757,671,659,633,877,783,799,649,628,650,0.407216612872,-0.00552578907746,0.069920125923,0.99999999139,-1.31323289208e-05,-0.000127405101567,-2.85506350655e-05,1793192728656304384
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.107650384,742.107650384,711.892349616,671,659,633,877,783,799,649,628,650,0.407742496411,-0.0055273288448,0.0699087378264,0.999999989932,-1.14727204118e-05,-0.000137883118421,-3.15200842988e-05,1793192728672971008
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.473318785,742,712,671,659,633,877,783,799,649,628.473318785,650,0.408336373963,-0.00553467729377,0.0699187572837,0.999999992671,-2.28291717375e-05,-0.000114111681156,-3.33858587726e-05,1793192728689637632
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.947965308,877,783,799.052034692,649,628.947965308,650,0.40894661108,-0.00554340751405,0.0699326036213,0.999999995161,-3.70711267005e-05,-8.41354143223e-05,-3.4992697617e-05,1793192728706304512
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.373541548,877,783,799.626458452,649,628.373541548,650,0.409568468551,-0.00555297165254,0.0699368180709,0.999999995668,-5.10658316365e-05,-6.87428331466e-05,-3.647730169e-05,1793192728722970880
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.798443316,742,712,671,659.201556684,632.201556684,877,783,799.798443316,649,628,650,0.410201983441,-0.00556038390735,0.0699376547144,0.999999995355,-6.17185770765e-05,-6.381273988e-05,-3.75396447076e-05,1793192728739637760
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.222090933,742,712,671,659.777909067,632.777909067,877,783,799.222090933,649,628,650,0.410857175324,-0.00556379472272,0.0699322103094,0.999999994028,-6.61569306941e-05,-7.83376980809e-05,-3.78167910332e-05,1793192728756304384
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742.362942396,712,671.362942396,660,632.637057604,877,783,799,649,628.362942396,650,0.411541160015,-0.00556110373266,0.0699392626069,0.999999994941,-6.49678597889e-05,-6.68077740672e-05,-3.78571400242e-05,1793192728772971008
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742.953417897,712,671.953417897,660,632.046582103,877,783,799,649,628.953417897,650,0.412243195249,-0.00555458744473,0.0699541492429,0.999999996714,-6.02508862221e-05,-3.89437195922e-05,-3.77490377887e-05,1793192728789637376
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.534040053,743,711.465959947,672,660,632,877,783,799,648.465959947,628.465959947,650,0.413000054312,-0.0055388654195,0.0699861862108,0.999999998583,-3.65238298369e-05,1.22403722207e-05,-3.67517957411e-05,1793192728806304256
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.887581836,743,711,672,659.887581836,632.112418164,877,783,799,648.112418164,628,650,0.413755312723,-0.00552627863613,0.0700118474594,0.999999997869,-1.75829768585e-05,5.1419918968e-05,-3.61731622721e-05,1793192728822971136
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.314935939,743,711,672,659.314935939,632.685064061,877,783,799,648.685064061,628,650,0.41448479549,-0.00552975494849,0.0700053938806,0.999999998429,-2.49017179228e-05,3.32775859636e-05,-3.76200212425e-05,1793192728839637760
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,743,711.26505316,672,659,633,877.26505316,783,799,649,628,650,0.415200391386,-0.00553360651819,0.0699713684073,0.999999998116,-3.60475598189e-05,-2.83035098769e-05,-4.08441452717e-05,1793192728856304384
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,711.85401614,672,659,633,877.85401614,783,799,649,628,650,0.415899016844,-0.00553791667384,0.0699036485325,0.999999987366,-5.18703341396e-05,-0.000142969211354,-4.6240186653e-05,1793192728872971008
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.435660439,743,712,671.564339561,659.435660439,632.564339561,878,783,799,648.564339561,628.435660439,650,0.416691784257,-0.00554092704732,0.0698914341409,0.999999984127,-5.63365992744e-05,-0.000161912279845,-4.85494095151e-05,1793192728889637632
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,671.014832975,659.985167025,632,877.985167025,783,799,648.014832975,628.985167025,650,0.417515917166,-0.00554352814118,0.0698982682149,0.999999986154,-5.71868253621e-05,-0.000148139074988,-4.97663536181e-05,1793192728906304256
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,671.59173745,659.40826255,632,877.40826255,783,799,648.59173745,628.40826255,650,0.418352973484,-0.00554685163546,0.0699337732744,0.999999992818,-6.28305924788e-05,-8.99979812422e-05,-4.8140645274e-05,1793192728922970880
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.832053266,743,712,672,659.167946734,632.167946734,877,783.167946734,799.167946734,649,628.167946734,650,0.41919598377,-0.00554742830503,0.0699657349824,0.99999999614,-6.30151956464e-05,-3.98645964151e-05,-4.6481312612e-05,1793192728939637504
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.25752699,743,712,672,659.74247301,632.74247301,877,783.74247301,799.74247301,649,628.74247301,650,0.420053407874,-0.00554135523075,0.0699891186454,0.999999997708,-4.99837968609e-05,-9.11694910935e-06,-4.47405797831e-05,1793192728956304128
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.325524063,743,712,672,660,633,877,783.674475937,799.348951874,649,628.674475937,650,0.420910708121,-0.00553910413238,0.0700061204045,0.999999997696,-4.91282701909e-05,1.48734818684e-05,-4.44299347516e-05,1793192728972971008
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.915500528,743,712,672,660,633,877,783.084499472,798.168998944,649,628.084499472,650,0.421767907708,-0.00553995796825,0.0700179375694,0.999999996726,-5.81642975167e-05,3.33744182584e-05,-4.52810784453e-05,1793192728989637632
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.503314586,742.503314586,712,672.496685414,660,633,877,783,798.496685414,649,628.496685414,650,0.422565119197,-0.00554555243744,0.0699821982683,0.999999996541,-6.36338270625e-05,-2.36019658434e-05,-4.80695891869e-05,1793192729006304256
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742.075562772,712,672.924437228,660,633,877.075562772,783.075562772,799,649,628.924437228,650,0.423347649675,-0.00555085930214,0.0699346994542,0.999999991472,-6.88344904227e-05,-9.82944681405e-05,-5.15324375443e-05,1793192729022971136
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742.648920189,712,672.351079811,660,633,877.648920189,783.648920189,799,649,628.351079811,650,0.424099527056,-0.00554905074375,0.0698621036424,0.999999974119,-7.6191595539e-05,-0.000206576576127,-5.73041367993e-05,1793192729039638784
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.228106287,743,712,672,660,632.771893713,877.771893713,783.771893713,799.228106287,649,628.228106287,650,0.424911284168,-0.00554705558313,0.0698359520875,0.999999966151,-7.83626477439e-05,-0.000240639655264,-6.04184722731e-05,1793192729056305664
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.81649868,743,712,672,660,632.18350132,877.18350132,783.18350132,799.81649868,649,628.81649868,650,0.425817619391,-0.00554476569037,0.069883157642,0.999999983224,-7.23425080573e-05,-0.000157476326929,-5.93355937062e-05,1793192729072971776
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.601492527,743,712,672.398507473,660,632,877,783.398507473,799.601492527,649,629,650,0.426699691085,-0.00554600717288,0.0699355076435,0.999999992558,-6.99692108209e-05,-8.31354142396e-05,-5.54723432707e-05,1793192729089638144
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.02237689,743,712,672.97762311,660,632,877,783.97762311,799.02237689,649,629,650,0.427570766214,-0.00554884911535,0.0699901891647,0.999999996253,-6.92487046811e-05,-1.27929265406e-05,-5.03489963231e-05,1793192729106304768
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.554813922,743,712,673,660.554813922,632.554813922,877.554813922,784,799,649,629,650,0.428410601759,-0.00555638693496,0.0700064668116,0.999999995269,-8.13324641022e-05,1.48144666492e-05,-5.12692931922e-05,1793192729122971392
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711.868353197,673,660.868353197,632.868353197,877.868353197,783.868353197,799,649,629,650,0.42923824735,-0.00556254433103,0.0700171514571,0.999999993899,-9.08795964091e-05,3.48564684085e-05,-5.22279642903e-05,1793192729139637760
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711.29246712,673,660.29246712,632.29246712,877.29246712,783.29246712,799,649,629,650,0.430028995179,-0.00556340661692,0.0700141713473,0.999999993942,-9.0130295973e-05,3.51653694171e-05,-5.24964306185e-05,1793192729156304384
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.708860138,743,711,672.708860138,660.291139862,632.291139862,877.291139862,783,799,649,629,650,0.430772869491,-0.00556318163709,0.0699816147438,0.999999994393,-8.90525786697e-05,-1.97830241148e-05,-5.37853983452e-05,1793192729172970752
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.117285798,743,711,672.117285798,660.882714202,632.882714202,877.882714202,783,799,649,629,650,0.431468373806,-0.0055618346806,0.0699185374199,0.999999985905,-8.76359590299e-05,-0.000131752796535,-5.61274463728e-05,1793192729189637376
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,743,711.463286239,672,660.536713761,632.536713761,878,783,799,649,628.536713761,650,0.43218244087,-0.00556032153848,0.0698832566813,0.999999976901,-8.67417878443e-05,-0.000187770479583,-5.84460087067e-05,1793192729206304256
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,712,672.040844843,660.040844843,632.040844843,878,783,799,648.959155157,628,650,0.432906820969,-0.00555920781496,0.0698613273115,0.999999970411,-8.68163788957e-05,-0.000219071429494,-6.0404780136e-05,1793192729222971136
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,743,712,672.614584119,660.614584119,632.614584119,878,783,799,648.385415881,628,650,0.433705863173,-0.00556384139413,0.0699239100524,0.999999987669,-9.78446323662e-05,-0.000108417156173,-5.77452014605e-05,1793192729239637760
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.193754795,743,712,673,661,633,877.806245205,783,799,648.193754795,628.193754795,650,0.434470720407,-0.00556700370252,0.0699757207145,0.999999992947,-0.00010311954135,-2.11595626412e-05,-5.49895983126e-05,1793192729256304640
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.784041284,743,712,673,661,633,877.215958716,783,799,648.784041284,628.784041284,650,0.435165616042,-0.00556715496112,0.0700054856335,0.999999993812,-9.66198634848e-05,1.82152337118e-05,-5.20374755565e-05,1793192729272971264
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673,661,633,877,783,799,648.633240304,628.633240304,650,0.435834998114,-0.00556935636606,0.0700049734136,0.999999993929,-9.5647290369e-05,1.7783919509e-05,-5.17421891682e-05,1793192729289637632
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673,661,633,877,783,799,648.054888133,628.054888133,650,0.436489660759,-0.00557274054964,0.0699869935834,0.999999993792,-9.78634371073e-05,-5.61249805621e-06,-5.29796956627e-05,1793192729306304256
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711.479468748,673,661,632.479468748,877,783,799,648.520531252,628,650,0.437081108467,-0.00557743510622,0.0699609846311,0.999999991966,-0.000107030694067,-3.9359931012e-05,-5.53495809788e-05,1793192729322970880
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.904687489,743,711.095312511,673,660.904687489,632.095312511,877,783,799.095312511,649,628.095312511,650,0.437657368697,-0.00558113702565,0.0699327016739,0.99999998884,-0.00011483481461,-7.60072881119e-05,-5.79341414496e-05,1793192729339637504
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.331563607,743,711.668436393,673,660.331563607,632.668436393,877,783,799.668436393,649,628.668436393,650,0.438190721584,-0.00557917395339,0.0698972394209,0.999999984439,-0.00011215152922,-0.000121751230659,-6.09996536072e-05,1793192729356304384
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632.749819889,877,783,800,649.250180111,628.749819889,650,0.438695979298,-0.00557870271417,0.0698612005646,0.999999976349,-0.000110416076244,-0.000176603916452,-6.2621416294e-05,1793192729372971264
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632.156244703,877,783,800,649.843755297,628.156244703,650,0.439162673777,-0.00558027915233,0.0698243702707,0.999999962256,-0.000109981610026,-0.000243959181057,-6.22615005355e-05,1793192729389637888
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.427189979,743,712,673,660,632,877.427189979,783,799.572810021,649.572810021,628.427189979,650,0.439626985572,-0.00558082570623,0.0697938891883,0.999999948233,-0.000109171078767,-0.000296150144916,-6.25415088351e-05,1793192729406304768
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.993056995,783,799,649,629,650,0.440090385691,-0.00558097194699,0.0697661702456,0.999999933639,-0.000108174609646,-0.000342116664903,-6.30544003921e-05,1793192729422971136
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.418115473,783,799,649,629,650,0.44054884021,-0.00557847026434,0.0697788455412,0.999999940787,-0.000102958343958,-0.000322087248489,-6.39156438217e-05,1793192729439637760
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.843390064,743,711.843390064,673,659.843390064,632,877,783,799,649,629,650,0.440996859091,-0.00557621253621,0.069792907226,0.999999947417,-0.000102298061004,-0.000300933478773,-6.43496130003e-05,1793192729456304128
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.269240709,743,711.269240709,673,659.269240709,632,877,783,799,649,629,650,0.441417055511,-0.0055746052173,0.0698106651809,0.999999953197,-0.000113784531121,-0.000276782054499,-6.36444219643e-05,1793192729472970752
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.314394933,743,711,673,659,632,877.314394933,783,799.314394933,649.314394933,628.685605067,650,0.441795183457,-0.00557748170758,0.0698160456473,0.999999954361,-0.000116889946337,-0.000271458962219,-6.26516973197e-05,1793192729489637632
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.90640713,743,711,673,659,632,877.90640713,783,799.90640713,649.90640713,628.09359287,650,0.442136164042,-0.00558431749471,0.0698104965329,0.999999951799,-0.00011259471516,-0.000282761680136,-6.14050745846e-05,1793192729506304512
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.514772651,743,711,673,659,632,878,783,799.514772651,649.514772651,628.485227349,650,0.44242265741,-0.00558499453822,0.0697823200607,0.999999936959,-0.00011062631617,-0.000331511928613,-6.28037614257e-05,1793192729522971392
+195,3.250000000,POSE1_TO_POSE2_PRESS,763,743,711,673,659,631.938560574,878,783,799,649,628.938560574,650,0.442696240053,-0.00558474123748,0.0697512289474,0.999999917918,-0.000109843445894,-0.000384597226132,-6.46713634146e-05,1793192729539638272
+196,3.266666667,POSE1_TO_POSE2_PRESS,763,743,711,673,659,631.363443388,878,783,799,649,628.363443388,650,0.442947423092,-0.00558637863614,0.0697312936234,0.999999904984,-0.000115319392111,-0.000415135139109,-6.63063764176e-05,1793192729556304640
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,743,711,673,659,631,878,782.782603589,799.217396411,649,628.217396411,650,0.443190171343,-0.00558815720909,0.0697176043294,0.99999989526,-0.000122416590813,-0.000436190210486,-6.50597265831e-05,1793192729572971264
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,743,711,673,659,631,878,782.19193814,799.80806186,649,628.80806186,650,0.443418437063,-0.00559017817777,0.0697146394537,0.999999892292,-0.000132297475143,-0.000440963266321,-5.88652695059e-05,1793192729589637632
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,743,711,673.389728283,658.610271717,631.389728283,878,782,799.610271717,649,628.610271717,650,0.443623508526,-0.0055892366592,0.0697071070273,0.999999887394,-0.000127527871904,-0.000453406844318,-5.80614398225e-05,1793192729606304256
+200,3.333333333,POSE1_TO_POSE2_PRESS,763,743,711,673.967062834,658.032937166,631.967062834,878,782,799.032937166,649,628.032937166,650,0.443817414826,-0.00558686906732,0.0696973758864,0.99999988128,-0.000115705860426,-0.000469542836249,-5.98525341024e-05,1793192729622970880
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+224,3.733333333,POSE1_TO_POSE2_PRESS,763,742.898580358,711.898580358,673,658.101419642,631,878,782,799.898580358,649,628.101419642,650,0.444935125673,-0.00557540746528,0.069642986506,0.999999842936,-0.000116768596026,-0.000544441515151,-6.38516959759e-05,1793192730022971136
+225,3.750000000,POSE1_TO_POSE2_PRESS,763,743,711.524292886,673,658,631,878,782,800,649,628,650,0.444935914849,-0.00557741692411,0.0696438062556,0.999999843477,-0.000117497944883,-0.000543352522164,-6.33121592534e-05,1793192730039637760
+226,3.766666667,POSE1_TO_POSE2_PRESS,763,743,711,673,658,631,878,782,800,649,628,650,0.444936962457,-0.00557993316425,0.0696447863326,0.999999844163,-0.000118976806258,-0.000541834078585,-6.27250727872e-05,1793192730056304640
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,743,711,673,658,631,878,782,800,649,628,650,0.444938655732,-0.00557867662585,0.0696445273512,0.999999844775,-0.000119002005498,-0.000540686346474,-6.28166183174e-05,1793192730072971264
+228,3.800000000,POSE1_TO_POSE2_PRESS,763,743,711.208438336,673,658,631,878,782.208438336,800,649,628,650.208438336,0.444939855132,-0.00557763636197,0.0696445687887,0.999999845147,-0.000118699593618,-0.000540062932882,-6.28414223472e-05,1793192730089637888
+229,3.816666667,POSE1_TO_POSE2_PRESS,763,743,711.797267632,673,658,631,878,782.797267632,800,649,628,650.797267632,0.444940153231,-0.00557699078984,0.0696451584776,0.999999845079,-0.000117799305594,-0.000540396378005,-6.27444260167e-05,1793192730106304768
+230,3.833333333,POSE1_TO_POSE2_PRESS,763,743,711.619692814,673.380307186,658,631,877.619692814,782.619692814,800,649,628,650.619692814,0.444939197908,-0.00557650722658,0.0696447332762,0.999999844444,-0.0001176894048,-0.000541581225929,-6.28523879102e-05,1793192730122971648
+231,3.850000000,POSE1_TO_POSE2_PRESS,763,743,711.039693364,673.960306636,658,631,877.039693364,782.039693364,800,649,628,650.039693364,0.444937584436,-0.0055761087312,0.0696437751747,0.99999984351,-0.000117994521736,-0.00054321312969,-6.30679695762e-05,1793192730139638272
+232,3.866666667,POSE1_TO_POSE2_PRESS,763,743,711,673.465008331,658,631,877.534991669,782,800,649,628,650,0.444938590773,-0.00557758010322,0.0696442833316,0.99999984396,-0.000118821567284,-0.000542270709506,-6.2488286319e-05,1793192730156304640
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,743,711,673.111772942,658,631,877.888227058,782,799.888227058,649.111772942,628,650,0.444939864348,-0.00557874624018,0.0696449657872,0.999999844617,-0.000119162549927,-0.000541039591989,-6.19931493446e-05,1793192730172971520
+234,3.900000000,POSE1_TO_POSE2_PRESS,763,743,711,673.699134696,658,631,877.300865304,782,799.300865304,649.699134696,628,650,0.44494145609,-0.00557802911633,0.0696459315404,0.999999845727,-0.000117272207801,-0.000539384784747,-6.21063438163e-05,1793192730189638144
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.282677056,743,711,674,658,631,877.282677056,782,799.282677056,650,628,650.282677056,0.444941940789,-0.00557739395896,0.0696462653778,0.999999846047,-0.000116724048902,-0.000538909747655,-6.21132161647e-05,1793192730206305024
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.862208535,743,711,674,658,631,877.862208535,782,799.862208535,650,628,650.862208535,0.444941262924,-0.00557684487893,0.0696459356066,0.99999984554,-0.000117585388776,-0.000539673650634,-6.20084339304e-05,1793192730222971648
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673.559068137,658,631,878,782,800,649.559068137,628,650.559068137,0.444941399988,-0.00557678440634,0.0696459943501,0.99999984542,-0.000117469871192,-0.000539905934959,-6.21506474131e-05,1793192730239638528
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711.019239135,673,658,631,878,782,800,649,628,650,0.444941753602,-0.00557685201488,0.0696461334838,0.999999845404,-0.000116987152935,-0.000540016510257,-6.23501883428e-05,1793192730256305408
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711.592822918,673,658,631,878,782,800,649,628,650,0.444941022348,-0.00557621860434,0.0696450970679,0.999999844945,-0.000114703867345,-0.000541398279899,-6.19815974258e-05,1793192730272971520
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658,631,878,782,799.828916866,649,628,650,0.444940117796,-0.00557590312773,0.0696439324684,0.999999844202,-0.000113488838919,-0.000543052256107,-6.17282328773e-05,1793192730289638144
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658,631,878,782,799.239214019,649,628,650,0.444938789205,-0.00557636559697,0.0696424542194,0.999999842778,-0.000114887706549,-0.000545372288746,-6.17568133223e-05,1793192730306304768
+242,4.033333333,HOLD_POSE2,764,743,711,673,658,631,878,782,800,649,628,650,0.444942060156,-0.00557697857484,0.0696448797705,0.999999844702,-0.000119036747058,-0.000540849050018,-6.25119266827e-05,1793192730341830400
+243,4.050000000,HOLD_POSE2,763.424194784,743,711.575805216,673.575805216,658.575805216,631,878,782,800,649,628,650.575805216,0.444941594364,-0.00557721347994,0.0696444870662,0.999999844421,-0.000116854749526,-0.000541882997367,-6.21772115655e-05,1793192730358497280
+244,4.066666667,HOLD_POSE2,763,743,711.849436448,673.849436448,658.849436448,631,878,782,799.849436448,649,628,650.849436448,0.444941378981,-0.00557764660397,0.0696442785424,0.999999844212,-0.000115664851537,-0.000542557363952,-6.18817840997e-05,1793192730375163904
+245,4.083333333,HOLD_POSE2,763,743,711.277607075,673.277607075,658.277607075,631,878,782,799.277607075,649,628,650.277607075,0.444941864226,-0.00557863433017,0.0696445853418,0.999999844219,-0.00011725077512,-0.000542225650059,-6.1696280538e-05,1793192730391830784
+246,4.100000000,HOLD_POSE2,763,743,711,673,658.30542279,631,878,782,799.30542279,649,628,650,0.444942280873,-0.00557887949001,0.0696450445078,0.999999844538,-0.00011767945554,-0.000541568336694,-6.14776589937e-05,1793192730408497408
+247,4.116666667,HOLD_POSE2,763,743,711,673,658.899020603,631,878,782,799.899020603,649,628,650,0.444942632796,-0.00557842401746,0.0696456474361,0.999999845153,-0.000117016244285,-0.000540603811059,-6.12277897094e-05,1793192730425164288
+248,4.133333333,HOLD_POSE2,763,743,711,673,658.516134273,631,878,782,800,649,628,650,0.444942680629,-0.0055762570403,0.0696452842349,0.999999845164,-0.000115053086593,-0.000540963043477,-6.16007447082e-05,1793192730441830912
+249,4.150000000,HOLD_POSE2,763.065651526,743,711,673,658,631,878,782,799.934348474,649,628,650,0.44494261484,-0.0055740358932,0.0696447598547,0.99999984501,-0.00011327460517,-0.000541569110501,-6.2062291871e-05,1793192730458497280
+250,4.166666667,HOLD_POSE2,763.637679089,743,711,673,658,631,878,782,799.362320911,649,628,650,0.444942153458,-0.00557410293315,0.0696445198026,0.99999984458,-0.000114975851334,-0.000541986083734,-6.22224309398e-05,1793192730475163648
+251,4.183333333,HOLD_POSE2,764,743,711,673,658,631,878,782,799.216218221,649,628,650,0.444942178377,-0.00557435335697,0.0696443270986,0.999999844315,-0.000116681346571,-0.000542090177888,-6.23933275866e-05,1793192730491830272
+252,4.200000000,HOLD_POSE2,764,743,711,673,658,631,878,782,799.806007664,649,628,650,0.444943043502,-0.00557492062242,0.0696442162002,0.999999844339,-0.000118394182972,-0.000541653694896,-6.25828106317e-05,1793192730508497152
+253,4.216666667,HOLD_POSE2,764,743,711,673.387810422,658,631,878,782,799.612189578,649,628,650,0.444943149046,-0.00557506845089,0.0696441658015,0.999999844409,-0.000117741879232,-0.000541680140802,-6.24652329724e-05,1793192730525164032
+254,4.233333333,HOLD_POSE2,764,743,711,673.965698713,658,631,878,782,799.034301287,649,628,650,0.444942882296,-0.00557501070041,0.0696441450555,0.9999998445,-0.000115930347397,-0.000541933482425,-6.21971553926e-05,1793192730541830912
+255,4.250000000,HOLD_POSE2,764,742.459105406,711,673.459105406,658,631,878.540894594,782,800.081789187,649,628,650.540894594,0.44494356722,-0.00557488529949,0.0696448001352,0.999999845018,-0.000115568218396,-0.000541068645816,-6.20651614858e-05,1793192730558497792
+256,4.266666667,HOLD_POSE2,764,742.118542987,711,673.118542987,658,631,878.762914026,782,800.762914026,649,628,650.881457013,0.444944234292,-0.00557482288594,0.069645457296,0.999999845469,-0.000115385652647,-0.000540291775644,-6.19128229587e-05,1793192730575163904
+257,4.283333333,HOLD_POSE2,764,742.706577649,711,673.706577649,658,631,877.586844703,782,799.586844703,649,628,650.293422351,0.444944592829,-0.00557502684189,0.0696459537996,0.999999845547,-0.00011555202198,-0.000540142748066,-6.16458997203e-05,1793192730591830528
+258,4.300000000,HOLD_POSE2,763.709771136,743,711,673.709771136,658,631,877.290228864,782,799,649,628.290228864,650,0.444944518116,-0.00557534402082,0.0696458358248,0.999999845535,-0.000115151104491,-0.000540278227376,-6.13952961916e-05,1793192730608497152
+259,4.316666667,HOLD_POSE2,763.130485696,743,711,673.130485696,658,631,877.869514304,782,799,649,628.869514304,650,0.444944011904,-0.00557577396539,0.0696451058534,0.999999845434,-0.000114185191546,-0.000540697064404,-6.11609464704e-05,1793192730625164032
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,630,878,782,799,649,628,650,0.444943224379,-0.00557531050365,0.0696443436652,0.999999843973,-0.000115409848384,-0.000543088009268,-6.15671339219e-05,1793192730657864448
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.577204927,658.577204927,630,878,782,799.577204927,649,628,650,0.444942758093,-0.00557534433165,0.0696437899542,0.999999843607,-0.000115283949341,-0.000543774886462,-6.16778438406e-05,1793192730674531072
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.157387309,743,711,673.842612691,658.842612691,630.157387309,878,782,800,649,628,650.157387309,0.444942632652,-0.00557553707624,0.0696435766036,0.999999843623,-0.000115142083475,-0.000543782140319,-6.16170037175e-05,1793192730691197952
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.7457225,743,711,673.2542775,658.2542775,630.7457225,878,782,800,649,628,650.7457225,0.444943440493,-0.00557616495609,0.0696442952059,0.999999844683,-0.000114956498242,-0.000541928493089,-6.10864362453e-05,1793192730707865344
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.670646542,743,711,673,658,631,878,782,799.670646542,649,628,650.670646542,0.444943449816,-0.00557543005916,0.0696445614074,0.99999984495,-0.00011488492809,-0.000541415114797,-6.14021749157e-05,1793192730724531968
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.09059638,743,711,673,658,631,878,782,799.09059638,649,628,650.09059638,0.444942851324,-0.00557365784608,0.0696444832513,0.999999844615,-0.000114900143751,-0.000541921920243,-6.23621034853e-05,1793192730741198336
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711.485129295,673.485129295,658,631,878,782.485129295,799,649.485129295,628.485129295,650.485129295,0.444940517334,-0.00557368276609,0.0696433922873,0.999999843849,-0.000115238003213,-0.000543275672936,-6.22449933711e-05,1793192730757864448
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,712,673.939871216,658,631,878,782.939871216,799.120257568,649.939871216,628.939871216,651,0.444936381318,-0.00557410703605,0.0696413538684,0.999999842294,-0.000115574552098,-0.000546089073631,-6.19751493468e-05,1793192730774530816
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,712,673.364235017,658,631,878,782.364235017,800.271529966,649.364235017,628.364235017,651,0.444919549901,-0.00557510320397,0.0696327997839,0.999999834574,-0.000115387858995,-0.00056007257645,-6.21050190907e-05,1793192730791197440
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.217048286,743,711.782951714,673,658,631,878,782,801,649,628,650.782951714,0.444891543805,-0.00557461672812,0.0696197724534,0.99999982205,-0.000115032710454,-0.000582028080137,-6.25312308257e-05,1793192730807864064
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.808061242,743,711.191938758,673,658,631,878,782,801,649,628,650.191938758,0.444844284233,-0.00557157572201,0.0695990379173,0.999999800655,-0.000114387320541,-0.000617718989592,-6.34680267526e-05,1793192730824530688
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.391212,658.391212,631,878,782,800.608788,649,628,650.391212,0.444782294539,-0.00557024068519,0.069579834068,0.999999778211,-0.000113800476331,-0.000653164946563,-6.32721399562e-05,1793192730841197824
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.970581407,658.970581407,631,878,782,800.029418593,649,628,650.970581407,0.444713220239,-0.00556972615144,0.0695613664163,0.999999754622,-0.000113241790147,-0.000688493093881,-6.25314778785e-05,1793192730857864960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.456350454,743,711,673.456350454,658.456350454,631,878,782,800,649,628,650.456350454,0.444637793283,-0.00556630739154,0.0695561475184,0.999999752127,-0.000108041337941,-0.000692996672268,-6.18711310771e-05,1793192730874531328
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,657.883339879,631,878,782,799.883339879,649,628,650,0.444557961089,-0.00556321217556,0.069553112267,0.999999751334,-0.000103341075441,-0.000694949890389,-6.08077169257e-05,1793192730891197696
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,657.309233125,631,878,782,799.309233125,649,628,650,0.444462187612,-0.0055619948173,0.0695558604935,0.999999752771,-0.000101575792819,-0.00069336832247,-5.81469517733e-05,1793192730907864064
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,657.274530539,630.725469461,877.725469461,782,799,649,628,650,0.444355404453,-0.00555969160373,0.0695600331827,0.999999755856,-9.98544436508e-05,-0.00068938551473,-5.53597746691e-05,1793192730924530944
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,657.869568359,630.130431641,877.130431641,782,799,649,628,650,0.444235767782,-0.00555612068232,0.069565868895,0.999999760835,-9.81843857521e-05,-0.000682599321883,-5.24250150494e-05,1793192730941197568
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,630.450138878,877.450138878,782,799.450138878,649,628,650,0.444085970513,-0.00555290714489,0.0695719485134,0.999999766449,-9.37431037643e-05,-0.000675265937972,-4.82646494303e-05,1793192730957864192
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,630.973481219,878,782,799.973481219,649,628,650,0.44392573367,-0.00554963859158,0.0695779897474,0.999999772085,-8.83505009124e-05,-0.000667913867056,-4.37693270539e-05,1793192730974530816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,630.399765538,878,782,799.399765538,649,628,650,0.443724797457,-0.00554316457063,0.0695818260506,0.999999776057,-7.93811704981e-05,-0.000663345966354,-3.94620824489e-05,1793192730991197696
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.179294437,658,630.179294437,878,782,799.179294437,649,628,650,0.443512872179,-0.00553678869045,0.0695843344075,0.999999778842,-6.91468166448e-05,-0.000660552539992,-3.47134348905e-05,1793192731007864576
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.770636382,658,630.770636382,878,782,799.770636382,649,628,650,0.443275692287,-0.00553063835446,0.0695837909293,0.999999778998,-5.60052363149e-05,-0.00066183714231,-2.89503728116e-05,1793192731024531200
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.647359381,711,673.647359381,658.352640619,631,878,782,799.647359381,649,628,650.352640619,0.443023664608,-0.00552405005513,0.0695937258582,0.999999788088,-4.28560160016e-05,-0.000649217280903,-2.24532768113e-05,1793192731041197568
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.071271823,711,673.071271823,658.928728177,631,878,782,799.071271823,649,628,650.928728177,0.442762228766,-0.00551718424445,0.0696103003171,0.999999802381,-2.97019533872e-05,-0.000627787005332,-1.54910675311e-05,1793192731057863936
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.91412014,743,712,673,659,631.08587986,877.08587986,782,799,649,628,650,0.442146486117,-0.0055006229357,0.069645160839,0.999999835823,8.60053883295e-06,-0.000572956927224,4.05731680075e-07,1793192731091197184
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.326928612,743,712,673,659,631.673071388,877.673071388,782,799,649,628,650,0.441793663129,-0.00549151774194,0.0696596088421,0.999999845371,7.29456573975e-05,-0.00055123076107,9.06039202163e-06,1793192731107864064
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711.743303712,673,659,632,877.743303712,782,799.256696288,649,628,650.256696288,0.441423359398,-0.00548316306076,0.0696753209659,0.99999985721,0.000111496033911,-0.000522365680192,1.67866458243e-05,1793192731124531200
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,632,877.413686286,782,799.586313714,649,628,650.586313714,0.440602150291,-0.00545883065671,0.069710997108,0.999999889638,0.000132374152745,-0.000450425523419,1.78477213512e-05,1793192731157864960
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.566300256,659,632,877.433699744,782.566300256,799,649,628,650,0.439640197118,-0.00542196103185,0.0697311269085,0.999999899496,0.000165809440727,-0.00041644363859,9.51800161681e-06,1793192731191198464
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,743,711.144973701,673.855026299,659,632,877.144973701,783,799.144973701,649,628,650,0.439104703674,-0.00541133196794,0.069727000824,0.99999989601,0.00017210484624,-0.000422172904279,1.14147382586e-05,1793192731207865088
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,660,632,877.199686653,783,799,648.199686653,628,650,0.434002187661,-0.00542031480086,0.0698287691664,0.999999946783,0.000168123968432,-0.000277894415203,3.07227700336e-05,1793192731341197568
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711.997456557,671.002543443,659,632.997456557,876,783,799,649,629,651,0.404239847095,-0.00539392445562,0.0698410836422,0.999999940922,0.000219512530875,-0.000262035714566,3.61625532333e-05,1793192732007864320
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.175299231,711,671.824700769,659,632.175299231,876,783,799,649,629,651,0.4035563697,-0.00539719621128,0.0698466787715,0.999999946322,0.0002119443822,-0.000247371294543,3.52515535722e-05,1793192732041198080
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.754542749,711,671.245457251,659,632.754542749,876,783,799,649,629,651,0.403221768313,-0.00539269088757,0.0698313863165,0.999999937761,0.000219357396879,-0.000274226235424,3.40714064795e-05,1793192732057864448
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742.088469026,711.911530974,671,658.088469026,633,876.911530974,783.911530974,799,649,628.088469026,650.088469026,0.402625185449,-0.00538661466241,0.069812336062,0.999999925293,0.000224201396909,-0.00031325946982,3.18882941007e-05,1793192732091197440
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.487682458,712,671.487682458,658.487682458,633,876.512317542,784,799,649,628.487682458,650,0.402377127933,-0.00538626647384,0.0698046593504,0.999999921384,0.000224394393777,-0.00032541431981,3.13817348253e-05,1793192732107864320
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.1194553,742.1194553,711.1194553,671.1194553,659.8805447,632,877,783.1194553,799.1194553,648.1194553,629,650.1194553,0.401215233845,-0.00538494134502,0.0697974288652,0.99999992102,0.00022283315301,-0.000328543118933,1.91086294149e-05,1793192732241197568
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742.122668711,712,672,659,632.877331289,877,783.122668711,799.122668711,649,628.122668711,650.122668711,0.401052928412,-0.00538119111094,0.0697999467029,0.999999922201,0.000222677722049,-0.000324893314267,2.13968267161e-05,1793192732291197440
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.548496835,659,632.548496835,877,783,799,649.451503165,628,650,0.401023404118,-0.00538165007567,0.0698020708529,0.999999924006,0.000221690612506,-0.000319949291657,2.17733229015e-05,1793192732307864576
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742.505144532,712,671,659,633,876.505144532,783.505144532,799.505144532,649,628,651,0.400958289132,-0.00538659223181,0.0698166489354,0.999999932601,0.000217096966329,-0.000295179069335,2.31584089695e-05,1793192732424530688
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.256174681,742.256174681,711.743825319,672,659,633,876,783.256174681,799,649,628.256174681,651,0.400958142385,-0.00538679678266,0.0698201545846,0.999999934486,0.000217730091146,-0.000288247949321,2.31044409004e-05,1793192732574530816
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742.774521957,711.774521957,672,659,633,876.225478043,783,798.225478043,649,628,651,0.400957747165,-0.00538860682162,0.0698216577711,0.99999993559,0.000214606777326,-0.00028681267522,2.23974035128e-05,1793192732674530816
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.19545127,711.19545127,672,659,633,876.80454873,783,798.80454873,649,628,651,0.400957018912,-0.00538748647814,0.0698204164124,0.999999934867,0.000216697666277,-0.000287745514377,2.26117517587e-05,1793192732691197440
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.871459576,711,671,659,633,877,783,799,649,628,650,0.400956388617,-0.00538775736069,0.069821254524,0.999999935274,0.00021646154919,-0.000286507415956,2.25844089803e-05,1793192732757864448
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.13556831,742.86443169,711,671,659,632.13556831,876.13556831,783,799,649,628,650.86443169,0.400957687215,-0.00538647409959,0.0698220398154,0.999999935479,0.00021695102272,-0.000285454471832,2.21267918054e-05,1793192732807864064
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.394929608,742,711.605070392,671.789859216,659.394929608,632.394929608,876.605070392,783.605070392,799,649,628,650,0.400957660623,-0.00538710282992,0.0698230949737,0.999999935486,0.000218139397772,-0.000284504384227,2.23833375696e-05,1793192732857863936
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..129985671e65100f351392f9e74f6b44b6178800
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_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
+0,0.000000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+1,0.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+2,0.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+3,0.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+4,0.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+5,0.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+6,0.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+7,0.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+8,0.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+9,0.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+10,0.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+11,0.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+12,0.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+13,0.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+14,0.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+15,0.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+16,0.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+17,0.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+18,0.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+19,0.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+20,0.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+21,0.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+22,0.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+23,0.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+24,0.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+25,0.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+26,0.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+27,0.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+28,0.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+29,0.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+30,0.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+31,0.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+32,0.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+33,0.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+34,0.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+35,0.583333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+36,0.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+37,0.616666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+38,0.633333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+39,0.650000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+40,0.666666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+41,0.683333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+42,0.700000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+43,0.716666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+44,0.733333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+45,0.750000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+46,0.766666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+47,0.783333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+48,0.800000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+49,0.816666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+50,0.833333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+51,0.850000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+52,0.866666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+53,0.883333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+54,0.900000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+55,0.916666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+56,0.933333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+57,0.950000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+58,0.966666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+59,0.983333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+60,1.000000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+61,1.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+62,1.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+63,1.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+64,1.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+65,1.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+66,1.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+67,1.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+68,1.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+69,1.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+70,1.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+71,1.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+72,1.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+73,1.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+74,1.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+75,1.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+76,1.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+77,1.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+78,1.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+79,1.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+80,1.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+81,1.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+82,1.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+83,1.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+84,1.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+85,1.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+86,1.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+87,1.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+88,1.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+89,1.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+90,1.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+91,1.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+92,1.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+93,1.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+94,1.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+95,1.583333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+96,1.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+97,1.616666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+98,1.633333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+99,1.650000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+100,1.666666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+101,1.683333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+102,1.700000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+103,1.716666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+104,1.733333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+105,1.750000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+106,1.766666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+107,1.783333333,pose1_to_pose2_press,0.575709211365,5.46154939886e-05,1.06002918235,0.546279941881,0.00872734561183,1.05969846529
+108,1.800000000,pose1_to_pose2_press,0.575709470659,5.46699273335e-05,1.06002913787,0.546280200109,0.00872739683222,1.05969843143
+109,1.816666667,pose1_to_pose2_press,0.57570958215,5.46333237276e-05,1.06002913618,0.546280312061,0.00872736180549,1.05969843002
+110,1.833333333,pose1_to_pose2_press,0.575709683831,5.45999404181e-05,1.06002913463,0.546280414164,0.00872732986033,1.05969842872
+111,1.850000000,pose1_to_pose2_press,0.575710131507,5.45442583261e-05,1.06002914333,0.546280862679,0.00872727695387,1.05969843548
+112,1.866666667,pose1_to_pose2_press,0.57571116444,5.45236644491e-05,1.06002918174,0.546281896352,0.00872725856204,1.05969846579
+113,1.883333333,pose1_to_pose2_press,0.575714466087,5.45167714206e-05,1.06002924734,0.54628519768,0.00872725104239,1.05969854328
+114,1.900000000,pose1_to_pose2_press,0.575721533324,5.46083545365e-05,1.0600290952,0.546292263398,0.00872733748146,1.0596983914
+115,1.916666667,pose1_to_pose2_press,0.575734765304,5.46941726806e-05,1.06002903197,0.546305493956,0.00872741830123,1.05969832358
+116,1.933333333,pose1_to_pose2_press,0.575757053866,5.46233826109e-05,1.06002924194,0.546327783767,0.00872735191088,1.05969853775
+117,1.950000000,pose1_to_pose2_press,0.575789476906,5.44747788529e-05,1.06002895548,0.546360207982,0.00872720730075,1.05969825138
+118,1.966666667,pose1_to_pose2_press,0.575832692946,5.45106755094e-05,1.06002915905,0.546403424379,0.00872724414955,1.0596984481
+119,1.983333333,pose1_to_pose2_press,0.575885703454,5.45965470162e-05,1.06002931117,0.546456434778,0.00872732982403,1.05969860465
+120,2.000000000,pose1_to_pose2_press,0.575948389557,5.46480494903e-05,1.06002909118,0.546519118968,0.00872737475281,1.05969838251
+121,2.016666667,pose1_to_pose2_press,0.57602014512,5.45499051951e-05,1.06002912037,0.546590874823,0.00872727769569,1.05969841419
+122,2.033333333,pose1_to_pose2_press,0.576101300372,5.46830460068e-05,1.06002933502,0.546672028661,0.00872740603877,1.05969862871
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+354,5.900000000,pose2_to_pose3_retreat,0.576048254815,5.46314838351e-05,1.06002911907,0.546618984849,0.00872736045583,1.05969841511
+355,5.916666667,pose2_to_pose3_retreat,0.575969266512,5.46971835399e-05,1.06002905897,0.546539995646,0.00872742296977,1.0596983513
+356,5.933333333,pose2_to_pose3_retreat,0.575904925376,5.46828525257e-05,1.06002941986,0.546475654262,0.00872740728968,1.05969869872
+357,5.950000000,pose2_to_pose3_retreat,0.575852287768,5.46426592631e-05,1.06002914954,0.546423017931,0.00872737191925,1.05969844126
+358,5.966666667,pose2_to_pose3_retreat,0.575811183373,5.44915428642e-05,1.06002918646,0.546381914545,0.00872722394073,1.05969847058
+359,5.983333333,pose2_to_pose3_retreat,0.575780459465,5.46009620826e-05,1.06002928555,0.546351189039,0.00872732806345,1.05969857298
+360,6.000000000,pose2_to_pose3_retreat,0.575758214199,5.48168504795e-05,1.06002934974,0.546328942316,0.00872753942994,1.05969864829
+361,6.016666667,pose2_to_pose3_retreat,0.575743193666,5.46308222525e-05,1.06002907054,0.546313924191,0.00872736111844,1.05969835718
+362,6.033333333,pose2_to_pose3_retreat,0.575732445263,5.45646181558e-05,1.06002902884,0.54630317659,0.00872729774812,1.05969831845
+363,6.050000000,pose2_to_pose3_retreat,0.575725145817,5.45768776272e-05,1.0600290913,0.546295876956,0.00872730972356,1.05969839023
+364,6.066666667,pose2_to_pose3_retreat,0.575719966609,5.45235028564e-05,1.0600289349,0.546290698212,0.00872725788415,1.05969823276
+365,6.083333333,pose2_to_pose3_retreat,0.575716612234,5.45439756417e-05,1.06002887419,0.546287343318,0.0087272766132,1.05969817263
+366,6.100000000,pose2_to_pose3_retreat,0.575714317059,5.4613375758e-05,1.06002887348,0.546285046961,0.00872734206463,1.05969817361
+367,6.116666667,pose2_to_pose3_retreat,0.575712974763,5.46321388298e-05,1.06002888308,0.546283704423,0.00872736003106,1.05969818382
+368,6.133333333,pose2_to_pose3_retreat,0.575712643623,5.46060916377e-05,1.06002889952,0.546283373855,0.00872733591353,1.05969819988
+369,6.150000000,pose2_to_pose3_retreat,0.575712321943,5.45807885651e-05,1.06002891549,0.546283052731,0.008727312485,1.05969821549
+370,6.166666667,pose2_to_pose3_retreat,0.575711976648,5.45536280122e-05,1.06002893264,0.546282708034,0.00872728733659,1.05969823223
+371,6.183333333,pose2_to_pose3_retreat,0.575711858528,5.45443367723e-05,1.0600289385,0.546282590118,0.00872727873368,1.05969823796
+372,6.200000000,pose2_to_pose3_retreat,0.575711471101,5.45138620984e-05,1.06002895774,0.546282203361,0.00872725051667,1.05969825675
+373,6.216666667,pose2_to_pose3_retreat,0.575711096503,5.44843965031e-05,1.06002897634,0.546281829411,0.00872722323399,1.05969827492
+374,6.233333333,pose2_to_pose3_retreat,0.575710769028,5.44586376257e-05,1.0600289926,0.546281502502,0.00872719938342,1.0596982908
+375,6.250000000,pose2_to_pose3_retreat,0.575710525084,5.44795309163e-05,1.06002904142,0.54628125811,0.00872721869186,1.05969833801
+376,6.266666667,pose2_to_pose3_retreat,0.575710471397,5.44879208363e-05,1.06002905564,0.546281204242,0.00872722644858,1.05969835174
+377,6.283333333,pose2_to_pose3_retreat,0.575710360898,5.45051890247e-05,1.0600290849,0.54628109337,0.00872724241352,1.05969838001
+378,6.300000000,pose2_to_pose3_retreat,0.575710312406,5.45127671706e-05,1.06002909775,0.546281044714,0.00872724941973,1.05969839241
+379,6.316666667,pose2_to_pose3_retreat,0.57571024235,5.45237150694e-05,1.0600291163,0.546280974422,0.00872725954138,1.05969841033
+380,6.333333333,pose2_to_pose3_retreat,0.575710040637,5.45552377081e-05,1.06002916972,0.546280772029,0.00872728868496,1.05969846194
+381,6.350000000,pose2_to_pose3_retreat,0.575709909041,5.45758029027e-05,1.06002920458,0.546280639989,0.00872730769807,1.0596984956
+382,6.366666667,pose2_to_pose3_retreat,0.575709904785,5.45764679783e-05,1.0600292057,0.546280635719,0.00872730831295,1.05969849669
+383,6.383333333,pose2_to_pose3_retreat,0.57570978411,5.45953264291e-05,1.06002923766,0.546280514637,0.00872732574813,1.05969852756
+384,6.400000000,pose2_to_pose3_retreat,0.575709623157,5.46203698422e-05,1.06002927255,0.546280353158,0.00872734895361,1.05969856107
+385,6.416666667,pose2_to_pose3_retreat,0.575709603022,5.4623125297e-05,1.06002925022,0.546280333015,0.00872735168736,1.05969853884
+386,6.433333333,pose2_to_pose3_retreat,0.575709582745,5.46259000902e-05,1.06002922773,0.546280312731,0.00872735444028,1.05969851646
+387,6.450000000,pose2_to_pose3_retreat,0.575709545424,5.46310074972e-05,1.06002918634,0.546280275396,0.00872735950744,1.05969847526
+388,6.466666667,pose2_to_pose3_retreat,0.575709432531,5.46464567083e-05,1.06002906113,0.546280162461,0.00872737483491,1.05969835064
+389,6.483333333,pose2_to_pose3_retreat,0.575709290975,5.46407424697e-05,1.06002896743,0.546280020973,0.0087273692848,1.05969825513
+390,6.500000000,pose2_to_pose3_retreat,0.575709273403,5.45992500778e-05,1.0600290587,0.546280003608,0.00872732832778,1.05969834204
+391,6.516666667,pose2_to_pose3_retreat,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.0087273239828,1.05969835126
+392,6.533333333,pose2_to_pose3_retreat,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398279,1.05969835126
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5586e097998f18cb9f805452611413935148be74
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab66ec269451983ed71959a678acc57bf32407b4c6db8c5a2dec3e38a73fcb94
+size 25186493
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8988e6ddc9fccd517ed864f585eb6089cd608adb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/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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+1,0.016666667,BASELINE,763.426293586,742,711.426293586,671.573706414,659,632.573706414,876.426293586,783,799.426293586,649,628,650,0.400957075383,-0.00538878886201,0.0698236557511,0.999999936011,0.000215780763345,-0.000284444535998,2.25252661688e-05,1793192733029461504
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+21,0.350000000,BASELINE,764,742,711,671.176297594,659,632,876.176297594,783,798.823702406,649,628,650.823702406,0.400956412085,-0.00538858973295,0.0698236777689,0.999999936256,0.000215770776621,-0.000283625933823,2.20549630378e-05,1793192733362795008
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+27,0.450000000,BASELINE,763,742,711.343935791,671,659.656064209,632.343935791,876,783.656064209,799,649,628.343935791,651,0.400956227633,-0.00538758497714,0.0698229183247,0.999999935826,0.000217752755606,-0.000283641702584,2.18828768842e-05,1793192733462794752
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+33,0.550000000,BASELINE,763.142418237,743,711.857581763,671,659,633,877,783,799,649,628.142418237,650.142418237,0.400955804685,-0.005385851278,0.0698232726161,0.999999935044,0.000220083942742,-0.000284592514977,2.19478453535e-05,1793192733562794752
+34,0.566666667,BASELINE,763.729201324,743,711.270798676,671,659,633,877,783,799,649,628.729201324,650.729201324,0.400958202627,-0.00538611586026,0.0698251405235,0.999999936291,0.000218849566475,-0.000281129755849,2.2098841624e-05,1793192733579461376
+35,0.583333333,BASELINE,764,742.688280092,711,671,659,633,876.688280092,783,799,649,629,650.688280092,0.400958813593,-0.00538704662854,0.0698254505827,0.999999936696,0.000218118491196,-0.000280255225398,2.21384046942e-05,1793192733596128000
+36,0.600000000,BASELINE,764,742.109416124,711,671,659,633,876.109416124,783,799,649,629,650.109416124,0.400957893122,-0.00538854831847,0.0698244255658,0.999999936385,0.00021781874489,-0.000281598807366,2.20824694931e-05,1793192733612794624
+37,0.616666667,BASELINE,764,742,711,671,659,632.531056377,876,783,799,649,629,650.468943623,0.400958170311,-0.0053895984792,0.0698246846536,0.999999936671,0.000216891351574,-0.000281280170489,2.22989343776e-05,1793192733629461248
+38,0.633333333,BASELINE,764,742,711.046837715,671,659,632.046837715,876,783,799,649,628.953162285,650.953162285,0.400958767608,-0.00539032532627,0.0698252471561,0.999999937079,0.000215976086429,-0.000280515982516,2.25319776868e-05,1793192733646128128
+39,0.650000000,BASELINE,764,742,711.620814136,671,659,632.620814136,876,783,799,649,628.379185864,650.379185864,0.400959825932,-0.00538859784407,0.0698258560617,0.999999937294,0.000216843730427,-0.00027909755452,2.22370579889e-05,1793192733662794752
+40,0.666666667,BASELINE,764,742,712,671.199941603,659,633,876,783,799.199941603,649,628.199941603,650,0.400959979981,-0.00538783057498,0.0698258377645,0.999999937401,0.000216869293223,-0.000278712371708,2.20412235839e-05,1793192733679461120
+41,0.683333333,BASELINE,764,742,712,671.789096232,659,633,876,783,799.789096232,649,628.789096232,650,0.400958373738,-0.00538893248901,0.069824598533,0.999999937295,0.000215255632474,-0.000280338538687,2.20382719493e-05,1793192733696128000
+42,0.700000000,BASELINE,764,742.371751534,712,671.628248466,659,632.628248466,876,783,799.628248466,649,629,650.371751534,0.400957469649,-0.00538881979259,0.0698240960126,0.999999936932,0.00021586684458,-0.000281157044332,2.20784396384e-05,1793192733712794624
+43,0.716666667,BASELINE,764,742.950782945,712,671.049217055,659,632.049217055,876,783,799.049217055,649,629,650.950782945,0.400956957064,-0.00538802985804,0.069824004265,0.999999936426,0.000217718593307,-0.000281525217036,2.21426496444e-05,1793192733729461248
+44,0.733333333,BASELINE,764,743,711.475934996,671.524065004,659,632,876,783,799,649,629,650.475934996,0.400958246264,-0.00538778315448,0.0698249455986,0.999999936837,0.000217523759382,-0.000280227578521,2.19350701405e-05,1793192733746128128
+45,0.750000000,BASELINE,763.902150294,743,711,671.902150294,659,632,876,783,799,648.902150294,628.902150294,650,0.400959479242,-0.00538755497148,0.069825770437,0.999999937238,0.00021724337207,-0.000279026233584,2.17792940869e-05,1793192733762794752
+46,0.766666667,BASELINE,763.323269196,743,711,671.323269196,659,632,876,783,799,648.323269196,628.323269196,650,0.400959612998,-0.00538716975689,0.0698255508008,0.999999937173,0.000217477022504,-0.000279059002362,2.20023041198e-05,1793192733779461376
+47,0.783333333,BASELINE,763.262054019,743,711.262054019,671.262054019,659,632.262054019,876.262054019,783.262054019,799,648.262054019,628.262054019,650,0.400959281023,-0.00538693587591,0.0698252344543,0.999999936863,0.000218396336149,-0.000279440276241,2.21403630715e-05,1793192733796128000
+48,0.800000000,BASELINE,763.85552458,743,711.85552458,671.85552458,659,632.85552458,876.85552458,783.85552458,799,648.85552458,628.85552458,650,0.400958360042,-0.00538689338466,0.0698247957993,0.999999936241,0.000220182799782,-0.000280262300303,2.21709854501e-05,1793192733812794624
+49,0.816666667,BASELINE,764,742.563643241,712,672,659,633,876.563643241,783.563643241,799,649,628.563643241,650,0.400958585277,-0.00538802445568,0.0698249879615,0.999999936709,0.000219124223487,-0.000279419509679,2.21492903304e-05,1793192733829461248
+50,0.833333333,BASELINE,764,742.013076071,712,672,659,633,876,783.013076071,799,649,628,650,0.400959137631,-0.005389474474,0.0698253445012,0.999999937486,0.000217210071035,-0.000278133062494,2.21084600159e-05,1793192733846127872
+51,0.850000000,BASELINE,764,742.587814569,712,672,659,633,876,783.587814569,799,649,628,650,0.400957898645,-0.00538840417206,0.0698240428758,0.999999936601,0.000217868250707,-0.000280800014206,2.19688052599e-05,1793192733862794752
+52,0.866666667,BASELINE,764,742.833146356,712,671.833146356,659,633,876.166853644,783.833146356,799,649,628,650,0.400957091651,-0.00538710889721,0.0698234055466,0.999999936028,0.000218498644859,-0.000282355608998,2.18326247862e-05,1793192733879461376
+53,0.883333333,BASELINE,764,742.243202358,712,671.243202358,659,633,876.756797642,783.243202358,799,649,628,650,0.400957380059,-0.00538524315923,0.0698244526716,0.999999936264,0.000219058583304,-0.000281093138752,2.17052540503e-05,1793192733896128000
+54,0.900000000,BASELINE,763.660213355,742,711.660213355,671,659,632.660213355,876.660213355,783,799,649,628,650,0.400957450998,-0.00538555251542,0.0698248559049,0.9999999365,0.000218581859912,-0.000280611629305,2.19035345765e-05,1793192733912794368
+55,0.916666667,BASELINE,763.082102564,742,711.082102564,671,659,632.082102564,876.082102564,783,799,649,628,650,0.400957369405,-0.00538738746862,0.0698248075168,0.999999936734,0.000217378028619,-0.000280677880741,2.23302247874e-05,1793192733929461248
+56,0.933333333,BASELINE,763.494768333,742,711.494768333,671,659,632.494768333,876,783.494768333,799,649,628.494768333,650.494768333,0.400957764564,-0.00538811039431,0.0698249991245,0.999999936718,0.000217697954519,-0.000280490085457,2.22946755345e-05,1793192733946128896
+57,0.950000000,BASELINE,764,742,711.92886653,671,659,632.92886653,876.07113347,783.92886653,799,649,628.92886653,651,0.400958107404,-0.0053887605637,0.0698251318105,0.999999936725,0.000217879193108,-0.000280329931596,2.2202804761e-05,1793192733962796288
+58,0.966666667,BASELINE,764,742,711.354627207,671,659,632.354627207,876.645372793,783.354627207,799,649,628.354627207,651,0.400957522065,-0.00539019802255,0.0698245667934,0.999999937191,0.000215295643596,-0.000280662695093,2.22537419072e-05,1793192733979462144
+59,0.983333333,BASELINE,764,742,711.226240072,671,659,632,877,783,799,648.773759928,628,650.773759928,0.400956928374,-0.00539051007633,0.0698242191296,0.999999937246,0.000214465485018,-0.000281105049985,2.21955013099e-05,1793192733996128256
+60,1.000000000,BASELINE,764,742,711.817810191,671,659,632,877,783,799,648.182189809,628,650.182189809,0.400956321197,-0.00538900483826,0.0698242224457,0.999999936646,0.000216466682956,-0.000281724371941,2.19609616687e-05,1793192734012794880
+61,1.016666667,BASELINE,764,742,711.599904369,671,659,632.400095631,876.599904369,783,799,648.400095631,628.400095631,650,0.400955433001,-0.00538829361104,0.0698235273035,0.999999936055,0.00021774366908,-0.000282833148056,2.19695431258e-05,1793192734029461504
+62,1.033333333,BASELINE,764,742,711.021750998,671,659,632.978249002,876.021750998,783,799,648.978249002,628.978249002,650,0.400954419739,-0.00538793574886,0.0698225213209,0.999999935468,0.000218698353342,-0.000284159749812,2.20863227124e-05,1793192734046128384
+63,1.050000000,BASELINE,763.447893284,742,711.552106716,671,659,633,876.552106716,783,799,649,629,650,0.400957384614,-0.00538854752274,0.069824397616,0.999999936631,0.000217677780343,-0.000280850594161,2.18274307635e-05,1793192734062795264
+64,1.066666667,BASELINE,763.129308529,742,712,671,659,633,876.870691471,783,799,649,629,650.129308529,0.400959913309,-0.00538864567517,0.0698259877326,0.999999937591,0.000217038108005,-0.000277924231518,2.16824944755e-05,1793192734079462144
+65,1.083333333,BASELINE,763.719014735,742,712,671,659,633,876.280985265,783,799,649,629,650.719014735,0.400960335305,-0.00538678013965,0.069826157749,0.999999937623,0.000218029545332,-0.000277006021196,2.19955809173e-05,1793192734096128512
+66,1.100000000,BASELINE,764,742,712,670.696946702,659,633,876.303053298,783,799.303053298,649,628.696946702,650.696946702,0.400959935398,-0.00538696963717,0.0698259758574,0.999999937549,0.00021773453372,-0.000277492195122,2.21848419457e-05,1793192734112795136
+67,1.116666667,BASELINE,764,742,712,670.118066629,659,633,876.881933371,783,799.881933371,649,628.118066629,650.118066629,0.400958787428,-0.00538902954218,0.0698254736732,0.999999937374,0.000216268648601,-0.000279256582463,2.22614021069e-05,1793192734129461760
+68,1.133333333,BASELINE,764,742,711.540634035,670.459365965,659,632.540634035,876.540634035,783,800,649,628.459365965,650.459365965,0.400957501958,-0.00538841590882,0.0698248732402,0.999999936593,0.000218052858817,-0.000280671586187,2.2145592057e-05,1793192734146128384
+69,1.150000000,BASELINE,764,742,711.036128187,671.036128187,659,632,876,783,799.963871813,649,629,650.963871813,0.400956351109,-0.00538727699963,0.0698242941518,0.99999993579,0.000220210433528,-0.000281860113615,2.19682319517e-05,1793192734162795264
+70,1.166666667,BASELINE,764,742,711.608444671,671.608444671,659,632,876,783,799.391555329,649,629,650.391555329,0.400957721069,-0.00538850855239,0.0698244054409,0.999999937051,0.000215550609576,-0.000281015986338,2.16088852401e-05,1793192734179461888
+71,1.183333333,BASELINE,764,742,712,672,659,632,876,783,799,649,628.813026604,650.186973396,0.40095810845,-0.00538966208469,0.0698240757074,0.999999937668,0.00021260740373,-0.000281062235312,2.1578950263e-05,1793192734196128512
+72,1.200000000,BASELINE,764,742,712,672,659,632,876,783,799,649,628.22104114,650.77895886,0.400956367419,-0.00539064661338,0.0698227906536,0.999999936931,0.000213382646079,-0.000283037170973,2.22625698262e-05,1793192734212795648
+73,1.216666667,BASELINE,764,742,711.637526346,671.637526346,659,632.362473654,876.362473654,783.362473654,799,649,628.362473654,650.637526346,0.400956490114,-0.00538937616786,0.0698231321865,0.999999936723,0.000214754754774,-0.000282750333169,2.20503740136e-05,1793192734229462272
+74,1.233333333,BASELINE,764,742,711.059059154,671.059059154,659,632.940940846,876.940940846,783.940940846,799,649,628.940940846,650.059059154,0.400957723382,-0.00538676201123,0.0698244429821,0.999999936828,0.000216482528647,-0.000281115732594,2.13043729297e-05,1793192734246128640
+75,1.250000000,BASELINE,763.481753046,742,711.518246954,671,659,633,877,784,799,649,629,650,0.400957474141,-0.00538904784366,0.0698244594186,0.999999937224,0.000214595039892,-0.000281130870591,2.15884925616e-05,1793192734262795264
+76,1.266666667,BASELINE,763.096805309,742.096805309,711.903194691,671.096805309,659,633,877,783.903194691,799,649,629,650,0.400957304611,-0.00539099339424,0.0698244228399,0.999999937495,0.000213245115241,-0.000281169493479,2.19275159105e-05,1793192734279461632
+77,1.283333333,BASELINE,763.682352408,742.682352408,711.317647592,671.682352408,659,633,877,783.317647592,799,649,629,650,0.400958388576,-0.00538840806294,0.0698248616459,0.999999936977,0.000216684580323,-0.000280379632389,2.19523788784e-05,1793192734296128256
+78,1.300000000,BASELINE,764,743,711.264838356,671.735161644,659,632.735161644,877,783.264838356,799,649,629,650.264838356,0.400959195367,-0.00538677690306,0.0698254294564,0.999999936951,0.000217893272549,-0.000279541161616,2.18237510956e-05,1793192734312795136
+79,1.316666667,BASELINE,764,743,711.843694664,671.156305336,659,632.156305336,877,783.843694664,799,649,629,650.843694664,0.400959673515,-0.00538627710124,0.0698261502272,0.99999993752,0.000216456944625,-0.000278645054568,2.15131298421e-05,1793192734329462016
+80,1.333333333,BASELINE,764,742.578516035,711.578516035,671,659,632,876.578516035,783.578516035,798.578516035,649,628.578516035,651,0.400959022243,-0.00538680784692,0.0698260479632,0.99999993728,0.000217062519937,-0.000279014895325,2.17874634068e-05,1793192734346128896
+81,1.350000000,BASELINE,764,742.001121381,711.001121381,671,659,632,876.001121381,783.001121381,798.001121381,649,628.001121381,651,0.400957953189,-0.0053877198013,0.0698256412514,0.999999936739,0.000218423413396,-0.000279853021421,2.22781769642e-05,1793192734362795776
+82,1.366666667,BASELINE,764.572983252,742,711.572983252,671.572983252,659,632.572983252,876.572983252,783,799.145966505,649,628.572983252,651,0.400957373109,-0.00538855192406,0.0698247775321,0.999999936875,0.000216582711429,-0.000280802318919,2.2166581258e-05,1793192734379461888
+83,1.383333333,BASELINE,764.848642073,742.151357927,712,671.848642073,659,633,876.848642073,783.151357927,799.848642073,649,628.848642073,650.848642073,0.400957197839,-0.00538930515872,0.069824497982,0.999999937156,0.000215018707631,-0.000281009271232,2.20912656519e-05,1793192734396128256
+84,1.400000000,BASELINE,764.257851605,742.742148395,712,671.257851605,659,633,876.257851605,783.742148395,799.257851605,649,628.257851605,650.257851605,0.400958195078,-0.00538982981131,0.0698259170127,0.999999937861,0.000214276119674,-0.000279060369107,2.21246836136e-05,1793192734412794880
+85,1.416666667,BASELINE,764,742.673868539,712,671,659,633,876,784,799,649,628.326131461,650.326131461,0.400958721734,-0.00538937798828,0.0698260653331,0.99999993788,0.000214514885925,-0.000278824108125,2.19336917249e-05,1793192734429461760
+86,1.433333333,BASELINE,764,742.095157644,712,671,659,633,876,784,799,649,628.904842356,650.904842356,0.400958883936,-0.00538816991296,0.0698252295249,0.999999937368,0.00021551368282,-0.000279914238549,2.15689008616e-05,1793192734446128384
+87,1.450000000,BASELINE,764,742,712,671.483339069,659.483339069,633,876.483339069,783.516660931,799,649,629,651,0.400957960461,-0.00538889666135,0.0698246368668,0.999999937253,0.000214909687745,-0.000280771602853,2.1799718417e-05,1793192734462795264
+88,1.466666667,BASELINE,764,742.061079841,712,671.938920159,659.938920159,633,877,783,799,649,629,650.938920159,0.400956939706,-0.00538979049251,0.0698241488922,0.999999937158,0.000214352375722,-0.000281511880272,2.20933194004e-05,1793192734479461632
+89,1.483333333,BASELINE,764,742.632852564,712,671.367147436,659.367147436,633,877,783,799,649,629,650.367147436,0.400956891925,-0.00538889783056,0.0698241361124,0.999999936588,0.000216822555893,-0.00028165617033,2.19318660369e-05,1793192734496128768
+90,1.500000000,BASELINE,764,742.788095964,712,671.211904036,659,633,877,783.211904036,799.211904036,649,629,650,0.400957671269,-0.00538805994994,0.0698248479452,0.999999936407,0.000218941516896,-0.000280668932087,2.18024678744e-05,1793192734512795648
+91,1.516666667,BASELINE,764,742.195984711,712,671.804015289,659,633,877,783.804015289,799.804015289,649,629,650,0.400959934674,-0.00538732036042,0.0698268599085,0.999999936924,0.000220430305293,-0.000277651457729,2.17305845316e-05,1793192734529462016
+92,1.533333333,BASELINE,763.612841092,742.387158908,712,671.612841092,659,632.612841092,877,783.612841092,799.612841092,649,628.612841092,650.387158908,0.400959110763,-0.00538789325024,0.0698261610487,0.999999936914,0.000218963078135,-0.000278824234337,2.19826317471e-05,1793192734546128640
+93,1.550000000,BASELINE,763.034134182,742.965865818,712,671.034134182,659,632.034134182,877,783.034134182,799.034134182,649,628.034134182,650.965865818,0.400956759394,-0.00538911549297,0.0698241210014,0.999999936632,0.000216033353769,-0.000282070149589,2.23949445466e-05,1793192734562795264
+94,1.566666667,BASELINE,763.54153775,742.45846225,712,671,659,632.54153775,877,783.54153775,799,649,628.54153775,651,0.400957951493,-0.00538872415916,0.0698254625486,0.999999936876,0.000217047576482,-0.000280437947945,2.21836484827e-05,1793192734579461888
+95,1.583333333,BASELINE,764,742,712,671,659,633,876.880532651,783.880532651,799,649,629,651,0.400958889564,-0.0053881695871,0.0698263911216,0.999999936988,0.000218173622741,-0.000279180940015,2.1946055564e-05,1793192734596128256
+96,1.600000000,BASELINE,764,742,712,671,659,633,876.29301242,783.29301242,799,649,629,651,0.400957962224,-0.0053873717247,0.0698248713066,0.999999936467,0.000218769251144,-0.000280591807265,2.17585769765e-05,1793192734612794880
+97,1.616666667,BASELINE,764,742,712,671,659,633,876.291213733,783,799,649,628.708786267,650.708786267,0.400957817511,-0.00538796420972,0.0698243486481,0.999999936704,0.000217277037334,-0.000280920700718,2.1603960027e-05,1793192734629462016
+98,1.633333333,BASELINE,764,742,712,671,659,633,876.872162498,783,799,649,628.127837502,650.127837502,0.400958451452,-0.00538993998243,0.0698248180828,0.999999937685,0.000213707582741,-0.000280173114244,2.14820378645e-05,1793192734646128896
+99,1.650000000,BASELINE,764,742,711.551363526,671.448636474,659,633,877,783,799,649,628.448636474,650.448636474,0.400959181529,-0.00538960668498,0.0698255463645,0.999999938003,0.000213671371816,-0.000279051401689,2.16621648328e-05,1793192734662795264
+100,1.666666667,BASELINE,763.976097793,742,711.023902207,672,659,633,877,783,799,649,628.976097793,651,0.400959806473,-0.00538861610369,0.0698262485148,0.999999938056,0.000214772653029,-0.000277993797583,2.19185311813e-05,1793192734679461888
+101,1.683333333,BASELINE,763.399577842,742,711.600422158,672,659,633,877,783,799,649,628.399577842,651,0.400957373641,-0.00538749097209,0.06982465808,0.99999993631,0.00021912572212,-0.000280858761277,2.19673139018e-05,1793192734696128512
+102,1.700000000,BASELINE,763.180488534,742,712,671.819511466,659,632.819511466,876.819511466,783,799,649.180488534,628.180488534,651,0.400956597726,-0.00538723938822,0.0698240708909,0.999999935701,0.000220549564031,-0.000281911901089,2.19601907377e-05,1793192734712795392
+103,1.716666667,BASELINE,763.76856351,742,712,671.23143649,659,632.23143649,876.23143649,783,799,649.76856351,628.76856351,651,0.40095956353,-0.00538896048502,0.0698257492717,0.999999937687,0.000215358507112,-0.000278873507198,2.18268186581e-05,1793192734729462272
+104,1.733333333,BASELINE,764,742,712,671,659,632.351844947,876.351844947,783,799,649.648155053,629,650.648155053,0.400959722326,-0.00538922995727,0.0698259732947,0.99999993778,0.000215584306651,-0.000278361362382,2.18525344726e-05,1793192734746129152
+105,1.750000000,BASELINE,764,742,712,671,659,632.932015728,876.932015728,783,799,649.067984272,629,650.067984272,0.400958059545,-0.00538855741421,0.0698252535287,0.99999993665,0.000219325313974,-0.000279488598297,2.19814885802e-05,1793192734762796032
+106,1.766666667,BASELINE,764,742,712,671,659,633,876.493527705,783.506472295,799,649,629,650.506472295,0.400958464353,-0.00538960107771,0.0698257688968,0.999999937565,0.000216614917544,-0.000278317159194,2.20732135465e-05,1793192734779462400
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,659,633,877,784,799,649,628,650,0.40095847372,-0.00538768824865,0.0698251224059,0.999999936839,0.000218131148616,-0.000279768513146,2.16658332471e-05,1793192734822183936
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.579995999,671.579995999,659,633,876.420004001,784,799.579995999,649,628,650,0.400958693871,-0.00538788381421,0.0698254028859,0.99999993705,0.000217545728342,-0.00027947578347,2.16357431967e-05,1793192734838850048
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.159536191,712,672,659,633,876.159536191,784,799.840463809,649,628,650,0.400958432791,-0.0053878692122,0.0698254104074,0.999999937065,0.000217166910552,-0.000279715516533,2.16083383042e-05,1793192734855516416
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.737879948,712,672,659,633,876.737879948,784,799.262120052,649,628,650,0.400956908401,-0.00538730288734,0.06982470137,0.999999936571,0.000217330456612,-0.00028135304787,2.15879823666e-05,1793192734872183040
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712,671.685303633,659,632.685303633,877,784,799.314696367,649,628,650,0.400956775392,-0.00538750789571,0.0698244574924,0.999999936418,0.000217784421595,-0.000281540701844,2.16520952995e-05,1793192734888849408
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,671.109753269,659,632.109753269,877,784,799.890246731,649,628,650,0.400957795708,-0.00538835226759,0.0698245991889,0.999999936549,0.000218479116822,-0.000280526542338,2.17862250652e-05,1793192734905515776
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.524753607,743,712,671.475246393,659,632.475246393,877.475246393,784,799.524753607,649,628.475246393,650,0.400957555816,-0.00538852217216,0.0698245420879,0.999999936524,0.000217590832744,-0.000281308750388,2.17310966109e-05,1793192734922182656
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.061623165,742.938376835,712,671.938376835,659,633,877.87675367,784,799,649,629,650,0.400957944354,-0.00538854748044,0.0698249672096,0.999999936728,0.00021636830927,-0.000281530243325,2.16845668026e-05,1793192734938849536
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.64086542,742.35913458,712,671.35913458,659,633,876.71826916,784,799,649,629,650,0.400966105731,-0.00538869311368,0.0698298363386,0.999999939145,0.000215471271922,-0.000273486521859,2.20848409847e-05,1793192734955515904
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.781170259,742,711.781170259,671,659,633,876.218829741,783.781170259,799.218829741,649,629,650,0.400981941129,-0.00538912482353,0.0698376205057,0.99999994263,0.000215240166379,-0.000260579925746,2.25603340455e-05,1793192734972182528
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.205291111,742,711.205291111,671,659,633,876.794708889,783.205291111,799.794708889,649,629,650,0.401010297698,-0.00539002330486,0.0698501609393,0.999999947646,0.000216095615908,-0.00023973891296,2.31585565226e-05,1793192734988848896
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.368830476,742.368830476,711.368830476,671,659,633,876.631169524,783,799.631169524,649,629,650,0.40105599995,-0.00539092182946,0.0698671037509,0.999999954372,0.000216448858557,-0.000209389023091,2.36988113478e-05,1793192735005515520
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.941978496,742.941978496,711.941978496,671,659,633,876.058021504,783,799.058021504,649,629,650,0.401111311031,-0.00539182037811,0.0698864853075,0.999999961167,0.000216523898282,-0.000173771588023,2.42069544139e-05,1793192735022182144
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.467053159,742.467053159,712,671.532946841,659,633,876,783.532946841,798.467053159,649,629,650,0.401170914621,-0.00539406439668,0.0698958603762,0.999999962665,0.000214474193577,-0.000167641033904,2.37972639777e-05,1793192735038848768
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.12300489,742,712,671.87699511,659,632.87699511,876,783.87699511,798.12300489,649,628.87699511,650.12300489,0.401235216791,-0.00539642106285,0.0699028265353,0.999999963809,0.000212105424894,-0.000163905212767,2.29725638002e-05,1793192735055515392
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.702241946,742,712,671.297758054,659,632.297758054,876,783.297758054,798.702241946,649,628.297758054,650.702241946,0.401315152997,-0.0053986334474,0.0699050383368,0.999999965564,0.000209440886216,-0.000156732819759,2.09920131238e-05,1793192735072182528
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.722820953,671,659,632,876.277179047,783.277179047,799.277179047,649,628,650.722820953,0.401402157939,-0.00540052449934,0.0699051594286,0.999999966438,0.000206665671173,-0.00015513538763,1.86262613724e-05,1793192735088849408
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.152432526,671,659,632,876.847567474,783.847567474,799.847567474,649,628,650.152432526,0.401496640426,-0.00540207563464,0.0699030688967,0.999999966403,0.000203773379086,-0.000159435338319,1.58530310005e-05,1793192735105516032
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,671,659.868393241,632.43419662,877,783.56580338,800,649,628.43419662,650,0.401618087183,-0.00540458969065,0.0699030399838,0.999999966599,0.000201032590353,-0.000161969334451,1.23737037913e-05,1793192735122182400
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.973855825,742,711.026144175,671.026144175,660.94771165,633,876.973855825,783.026144175,800,649,629,650,0.401750681802,-0.00540751706694,0.0699038033773,0.999999966951,0.000198058909767,-0.000163698799827,8.61119398637e-06,1793192735138848768
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.394699679,742,711.605300321,671.605300321,659.789399357,633,876.394699679,783.605300321,800,649,629,650,0.40191106508,-0.00541175872466,0.0699054216263,0.999999969005,0.00018899023733,-0.000162033936771,4.30586338118e-06,1793192735155515392
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.184052237,742,712,671.815947763,659,633,876.184052237,783.815947763,799.815947763,649,628.815947763,650,0.402085121687,-0.00541574913028,0.0699081625188,0.999999971272,0.000181004393066,-0.000157143726696,-2.10625392261e-07,1793192735172182016
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.761939105,742,712,671.238060895,659,633,876.761939105,783.238060895,799.238060895,649,628.238060895,650,0.402288436435,-0.00541920190657,0.0699133056413,0.999999974052,0.00017533558368,-0.000145351925331,-5.17894946544e-06,1793192735188848640
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.663310138,671,659,633,876.663310138,783.336689862,799,649,628.336689862,650,0.402506329447,-0.00542280149757,0.0699155759101,0.999999976215,0.000167658888712,-0.000139061419303,-1.10439732903e-05,1793192735205515264
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.090756288,671,659,633,876.090756288,783.909243712,799,649,628.909243712,650,0.402734435106,-0.00542650393818,0.0699158336366,0.99999997794,0.000158575593333,-0.00013662477764,-1.75371697315e-05,1793192735222182400
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671,659,633,876.497472434,783.502527566,799,649,629,650,0.403006893688,-0.00543271216751,0.0699193816677,0.999999980248,0.000148813877806,-0.000129661424771,-2.33708833215e-05,1793192735238849536
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.086857569,711,671,659,633,877,783.086857569,799,649,629,650.086857569,0.403295280944,-0.00543943828311,0.069924998615,0.9999999838,0.00013134060491,-0.000119624304906,-2.89678364174e-05,1793192735255516416
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.666060947,711,671,659,633,877,783.666060947,799,649,629,650.666060947,0.40362660045,-0.00544642441456,0.0699388298012,0.999999992208,7.08793173904e-05,-9.69972099545e-05,-3.39269032346e-05,1793192735272182528
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.75623556,711.24376444,671,659,633,876.75623556,783.75623556,799.24376444,649,628.75623556,651,0.403966748094,-0.00545745727786,0.0699474712592,0.999999995238,3.97834528943e-05,-8.38334835544e-05,-3.02139679535e-05,1793192735288848640
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.18057427,711.81942573,671,659,633,876.18057427,783.18057427,799.81942573,649,628.18057427,651,0.40431891565,-0.00547399995815,0.0699490466553,0.999999995217,4.86700091411e-05,-8.35545842366e-05,-1.46936901772e-05,1793192735305515264
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.597652849,742.402347151,711.597652849,671,659.402347151,633,876,783,799.597652849,649,628,651,0.404699019598,-0.00549281385543,0.0699525806067,0.999999996243,3.75314154172e-05,-7.70224393847e-05,-1.31183591552e-05,1793192735322181888
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.011413206,742.988586794,711.011413206,671,659.988586794,633,876,783,799.011413206,649,628,651,0.405091891847,-0.00551266581044,0.0699570097145,0.999999997404,1.72403402695e-05,-6.7632252898e-05,-1.79165569797e-05,1793192735338848512
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.571623036,743,711.571623036,671,659.428376964,633,876,783.571623036,799,649,628,650.428376964,0.405540798653,-0.005513257402,0.0699561612845,0.999999997309,1.06026573562e-05,-6.95743044997e-05,-2.06929157734e-05,1793192735355515392
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.847708255,711.847708255,671,659,633,876,783.847708255,799,649,628.152291745,650,0.405992911096,-0.00551426531246,0.069952688845,0.999999996825,4.58511795924e-06,-7.61174440002e-05,-2.31207988685e-05,1793192735372182528
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.273423719,711.273423719,671,659,633,876,783.273423719,799,649,628.726576281,650,0.40645082325,-0.00551748647566,0.0699422357634,0.999999995203,-4.65207106667e-07,-9.47864974257e-05,-2.46943090131e-05,1793192735388849152
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.301407783,671,659,632.698592217,876,783,799,649,629,650,0.406936000605,-0.00552343488435,0.0699269844879,0.99999999291,-8.99162477414e-06,-0.000115631200813,-2.69877620502e-05,1793192735405515520
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+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.46514292,712,671,659,632.46514292,876.46514292,783,799,649,628.53485708,650,0.408013665824,-0.00553577532989,0.0699119565238,0.99999999137,-2.3477299813e-05,-0.000125303768687,-3.17334099777e-05,1793192735438848768
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+148,2.466666667,POSE1_TO_POSE2_PRESS,763.216727923,742.783272077,711.783272077,671.783272077,659,633,877,783,799,649,628,650,0.410501224324,-0.0055638939995,0.0699329701758,0.999999994397,-6.5001328308e-05,-7.49189383961e-05,-3.69940861363e-05,1793192735505517056
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+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742.072868047,712,672,659,633,877,783,799,649,628,650.927131953,0.411836662055,-0.0055738559689,0.0699369430945,0.999999993183,-7.98272504949e-05,-7.48414452336e-05,-4.07439511589e-05,1793192735538850048
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742.520264037,711.479735963,671.479735963,659.520264037,633,877,783,798.479735963,649,628,650.479735963,0.412577612545,-0.00557134616417,0.0699649904262,0.999999995768,-7.92798815021e-05,-2.67681546261e-05,-3.82308377156e-05,1793192735555516160
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,743,711.112852419,671,659.887147581,633,877,783,798.112852419,649,628,650,0.413332697126,-0.00556420897339,0.0699930743446,0.999999996566,-7.16876955069e-05,2.1200004748e-05,-3.5764624773e-05,1793192735572182272
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,743,711.69033666,671,659.30966334,633,877,783,798.69033666,649,628,650,0.414109028482,-0.00554209891795,0.0700071633385,0.99999999769,-3.89761830502e-05,4.23018455232e-05,-3.62112970261e-05,1793192735588848896
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.265705848,743,712,671.265705848,659.265705848,633,877,783,799.265705848,649,628.265705848,650,0.41484351761,-0.00552977619465,0.0699886518634,0.999999998976,-2.33526925888e-05,6.4018865763e-06,-3.82371522386e-05,1793192735605515264
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.838629618,743,712,671.838629618,659.838629618,633,877,783,799.838629618,649,628.838629618,650,0.415529627466,-0.0055287699068,0.0699324466457,0.999999994185,-2.74869360127e-05,-9.54054427734e-05,-4.20889110308e-05,1793192735622182144
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.57391779,743,711.57391779,672,660,632.57391779,877,783,799.57391779,649,629,650,0.416278680015,-0.00553352062684,0.0699006450393,0.999999987444,-4.23355264708e-05,-0.00014573842311,-4.56052008179e-05,1793192735638848768
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,743,711,672,660.018709339,632,877,783,799.037418678,649,628.981290661,650,0.417054910138,-0.0055404585249,0.069880259391,0.999999981969,-6.08906131239e-05,-0.000173114587587,-4.8848129789e-05,1793192735655515392
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,743,711,672,660.595753092,632,877,783,800.191506184,649,628.404246908,650,0.417905679359,-0.00554530301232,0.069915001387,0.999999989834,-6.46853979023e-05,-0.000117716925835,-4.78586975979e-05,1793192735672182016
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,743,711.172321754,672,660.655356493,632.172321754,877.172321754,783,800.655356493,649,628,650,0.418763713505,-0.00554920512159,0.0699477526591,0.999999994375,-6.72834447013e-05,-6.75201873159e-05,-4.65157076651e-05,1793192735688848896
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,743,711.747778937,672,659.504442127,632.747778937,877.747778937,783,799.504442127,649,628,650,0.419638743417,-0.0055509025988,0.0699758467613,0.999999996332,-6.70818016734e-05,-2.94906711975e-05,-4.43455929162e-05,1793192735705515520
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.320823427,743,711.679176573,672.320823427,659.320823427,632.679176573,878,783,799,649,628,650,0.420503951303,-0.00555071715041,0.0699987315416,0.999999996875,-6.60465351527e-05,4.05198802215e-06,-4.32552610803e-05,1793192735722182144
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.891985268,743,711.108014732,672.891985268,659.891985268,632.108014732,878,783,799,649,628,650,0.421361495026,-0.00554906245572,0.0700175514882,0.999999996423,-6.43607925146e-05,3.40935525029e-05,-4.30074835984e-05,1793192735738848512
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.515618206,742.515618206,711.484381794,672.515618206,660,632.484381794,877.515618206,783,798.515618206,649,628.484381794,650,0.422179268477,-0.0055481171239,0.0700011406259,0.999999997062,-6.19058658468e-05,7.03799407088e-06,-4.4656591184e-05,1793192735755515136
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.07883652,742,711.92116348,672,660,632.92116348,877,783,798.07883652,648.92116348,628.92116348,650,0.422980240235,-0.00554783075464,0.0699684554758,0.999999995983,-6.12762354333e-05,-4.52845325004e-05,-4.71969772631e-05,1793192735772182016
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.655032622,742,711.344967378,672,660,632.344967378,877,783,798.655032622,648.344967378,628.344967378,650,0.423733728794,-0.00555065791358,0.0698849357762,0.999999980967,-7.32936523294e-05,-0.000173001796916,-5.25692873699e-05,1793192735788848640
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.769327247,742,711,672.230672753,660,632,877,783,799.230672753,648.230672753,628,650,0.424546418419,-0.005552774068,0.0698429007731,0.999999967874,-8.03465302466e-05,-0.000233742630819,-5.62162793928e-05,1793192735805515264
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.194516478,742,711,672.805483522,660,632,877,783,799.805483522,648.805483522,628,650,0.425447429543,-0.00555382948341,0.0698627562972,0.999999976232,-7.99928729617e-05,-0.000194562123875,-5.72892910764e-05,1793192735822181888
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742.390859089,711.390859089,672.609140911,660.390859089,632,877,783.390859089,800,649,628,650.390859089,0.426332826879,-0.00555295833831,0.0699089426864,0.999999987581,-7.7739228055e-05,-0.00012580850597,-5.44660128182e-05,1793192735838848512
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742.981638401,711.981638401,672.018361599,660.981638401,632,877,783.981638401,800,649,628,650.981638401,0.427210237876,-0.00555110177815,0.069968597029,0.999999995112,-7.4513759504e-05,-4.19285613028e-05,-4.96498237715e-05,1793192735855515136
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.559647959,743,712,672.559647959,660.440352041,632.559647959,877.559647959,783.440352041,799.440352041,649,628,650.440352041,0.428068733628,-0.00555492519143,0.0699941452028,0.999999995875,-7.61360218062e-05,-5.45665099046e-06,-4.92257308985e-05,1793192735872182016
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.863422923,743,712,673,660,633,877.863422923,783,799,649,628,650,0.428920390943,-0.00555949457626,0.0700133192156,0.999999995349,-7.95352086977e-05,2.39628279968e-05,-4.90166738998e-05,1793192735888848640
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.288646125,743,712,673,660,633,877.288646125,783,799,649,628,650,0.429752054195,-0.00556587279586,0.0700155522387,0.999999994278,-8.81366371702e-05,3.56341278955e-05,-4.9045521185e-05,1793192735905515520
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,743,712,673.293192003,660.293192003,632.706807997,877.293192003,783,799,649,628.293192003,650,0.430532825279,-0.00556963930725,0.0699922072105,0.999999994479,-9.22946487408e-05,-2.0289500511e-06,-5.01910328178e-05,1793192735922181888
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,743,712,673.882153506,660.882153506,632.117846494,877.882153506,783,799,649,628.882153506,650,0.431262256743,-0.00557077115013,0.0699430592705,0.999999990393,-9.19701796169e-05,-8.94601126906e-05,-5.24630252865e-05,1793192735938848512
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,743,712,673.538397625,660.538397625,632.461602375,877.538397625,783,799,649,628.538397625,650,0.431979685712,-0.00556965188638,0.0698934536808,0.999999978894,-9.65273079529e-05,-0.000172728397513,-5.53169224842e-05,1793192735955515392
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742.961418539,711.961418539,673,660,632.961418539,877,783,799,649,628.038581461,650,0.432701196833,-0.00556814056408,0.0698507794794,0.999999963694,-0.000101966450086,-0.000242588252167,-5.80193860583e-05,1793192735972182272
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742.385696643,711.385696643,673,660,632.385696643,877,783,799,649,628.614303357,650,0.433521339365,-0.005569010529,0.0699061995882,0.999999983289,-0.000102684733844,-0.000140270103547,-5.65870347714e-05,1793192735988848640
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.19072509,742.19072509,711.19072509,673,660.381450181,632,877,783.19072509,799,649,629,650,0.434319037578,-0.00556958233142,0.0699561114087,0.999999991818,-0.000102588897395,-5.3698498985e-05,-5.43655726456e-05,1793192736005515264
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.768567399,742.768567399,711.768567399,673,661.537134798,632,877,783.768567399,799,649,629,650,0.435071180408,-0.00556954894962,0.0699948429941,0.999999993638,-0.00010084063223,9.12154843458e-07,-5.05424425253e-05,1793192736022181888
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.646244504,742.646244504,712,673,661.292489008,632,877,783.646244504,799.353755496,649,629,650,0.435780949681,-0.00557150628462,0.0700042328683,0.999999993771,-9.86056555353e-05,1.61585753555e-05,-4.97393381361e-05,1793192736038848512
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.0561488,742.0561488,712,673,660.112297601,632,877,783.0561488,799.9438512,649,629,650,0.436462409594,-0.0055747935959,0.0699940198613,0.999999994076,-9.60455123864e-05,5.10617557965e-06,-5.09538804533e-05,1793192736055515136
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742.520980639,712,673.520980639,660.520980639,632.520980639,877.520980639,783,799.479019361,649,629,650,0.437085606324,-0.00557974861395,0.0699643859018,0.999999991929,-0.000110222115466,-3.34450062034e-05,-5.36063759539e-05,1793192736072182016
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,742.902616835,712,673.902616835,660.902616835,632.902616835,877.902616835,783,799,649,628.902616835,650,0.437693939242,-0.00558446133937,0.0699312235213,0.999999987878,-0.000122873461767,-7.72891443889e-05,-5.63175976305e-05,1793192736088848640
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742.323062376,712,673.323062376,660.323062376,632.323062376,877.323062376,783,799,649,628.323062376,650,0.438259012958,-0.00558710608651,0.0698907027866,0.999999982326,-0.000119258567506,-0.000133022486903,-5.85708948436e-05,1793192736105515264
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742.252476475,711.747523525,673,660,632,877,783,799,649,628,650,0.438793374896,-0.00558763505462,0.0698493618467,0.999999971475,-0.000118141936489,-0.000198860217166,-5.95597858234e-05,1793192736122181888
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,742.82295746,711.17704254,673,660,632,877,783,799,649,628,650,0.439289054045,-0.00558549911178,0.0698069878276,0.999999952559,-0.000120171970945,-0.000277424835039,-5.89561048666e-05,1793192736138848512
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,743,711,673,660,632,877.410571844,783,799.410571844,649,628.410571844,650,0.439795152056,-0.00558285686493,0.0697808602247,0.999999940762,-0.000111175404714,-0.000320153362617,-6.01556540141e-05,1793192736155515392
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.005697818,743,711.005697818,673,659.994302182,632,877.994302182,783,800,649,629,650,0.440305891452,-0.00558000649565,0.0697624209605,0.999999933391,-9.74146731284e-05,-0.000346215848374,-6.21474001256e-05,1793192736172182016
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.581001389,743,711.581001389,673,659.418998611,632,877.418998611,783,800,649,629,650,0.440811930168,-0.00557912636603,0.069781734989,0.999999942069,-0.000103415098259,-0.000318271290725,-6.2216240035e-05,1793192736188848640
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.843426063,743,712,673,659,632,877,783,800,649,628.843426063,650,0.44130472596,-0.00557906414166,0.0698010358489,0.999999949786,-0.00010981348502,-0.000290724559696,-6.20399739148e-05,1793192736205515520
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.267132356,743,712,673,659,632,877,783,800,649,628.267132356,650,0.44176202223,-0.00558119443397,0.0698203014123,0.999999956337,-0.000117278668703,-0.000264244256482,-6.12066646622e-05,1793192736222182144
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.293230055,742.706769945,711.706769945,673,659,632,877,783,799.706769945,649,628,650,0.442160228715,-0.00558285294686,0.0698161107003,0.999999953225,-0.000115331449453,-0.000276737845818,-6.05459082718e-05,1793192736238848768
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.839826921,742.160173079,711.160173079,673,659,632,877,783,799.160173079,649,628,650,0.442507378366,-0.00558410381639,0.069791652482,0.999999940525,-0.000105251398539,-0.000322907011776,-6.00342469695e-05,1793192736255515392
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.555905598,742.444094402,711.444094402,673,659,631.555905598,877.444094402,782.555905598,799.888188804,649,628.444094402,650,0.442837492823,-0.0055831619865,0.069760651726,0.999999922994,-0.000107801196682,-0.000372403695201,-6.08785776046e-05,1793192736272182016
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.066436983,743,711.933563017,673.066436983,658.933563017,631.066436983,877.933563017,782.066436983,800.867126033,649,628.933563017,650,0.443157370825,-0.0055814432755,0.0697289412045,0.999999903224,-0.000114432483449,-0.000420238476463,-6.21050889616e-05,1793192736288848384
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.643937037,743,711.356062963,673.643937037,658.356062963,631.643937037,877.356062963,782.643937037,799.712125925,649,628.356062963,650,0.443452822665,-0.00558073993044,0.0697126319102,0.999999892918,-0.000112189782917,-0.000444679288524,-6.19478881057e-05,1793192736305515008
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,673.204194797,658.795805203,631.204194797,877.795805203,782.204194797,799,649,628,650,0.444005058777,-0.00558063070532,0.0696921701803,0.999999879854,-0.000103868094051,-0.000474723296002,-6.43501737868e-05,1793192736338849024
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.515542385,630.515542385,878,782,799.515542385,649,628,651,0.445924880872,-0.00556852835594,0.0696438035253,0.999999845695,-0.00010460761163,-0.000542038956368,-6.21383087142e-05,1793192737535853056
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.060669835,673.939330165,657.060669835,630.060669835,878,782,799,649,628,651,0.445920117188,-0.0055686338851,0.069641140663,0.99999984297,-0.000105477629573,-0.000546869219496,-6.22000606928e-05,1793192737552519936
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711.634456345,673.365543655,657.634456345,630.634456345,878,782,799,649,628,651,0.445910466106,-0.0055695226597,0.0696356419868,0.999999838877,-0.00010579569891,-0.000554245732083,-6.21677513621e-05,1793192737569187072
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.784927287,743,711.784927287,673,657.784927287,630.784927287,878,782,799,649,628,650.784927287,0.445890197158,-0.0055693010597,0.0696256777096,0.999999830103,-0.000105418975799,-0.000569886301616,-6.25280023892e-05,1793192737585853696
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.192322041,743,711.192322041,673,657.192322041,630.192322041,878,782,799,649,628,650.192322041,0.44585128991,-0.00556713033958,0.0696078746438,0.999999812569,-0.000103822633657,-0.000600033361018,-6.35773426937e-05,1793192737602519808
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.967774469,743,711.967774469,673,657,630,878,782,799.967774469,649,628,650,0.445728295704,-0.00556322178969,0.0695696135458,0.999999767396,-0.00010150465262,-0.000671463845797,-6.35638651578e-05,1793192737635853056
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.974776072,673,657.025223928,630,878,782,799.974776072,649,628,650,0.444967529469,-0.0055414739399,0.0695627029261,0.999999762766,-7.82874245168e-05,-0.00068266850336,-4.79927088297e-05,1793192737752520192
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.232972617,743,711,673,658,630.767027383,878,782,799.767027383,649,628,650,0.444330221027,-0.0055286638989,0.0695470119752,0.999999742502,-5.71231882112e-05,-0.000714484629886,-3.52848898589e-05,1793192737802519808
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711.933250605,673,658,631,877.066749395,782,800,649,628,650.933250605,0.443800026409,-0.00551114496741,0.0695630751284,0.999999756369,-2.32290103915e-05,-0.000697314240943,-2.17836200897e-05,1793192737835853312
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.508878745,743,711.491121255,673,658,631,877,782,799.491121255,649,628,650.491121255,0.44350497667,-0.00550420414952,0.0695799812576,0.999999775203,-8.88552204184e-06,-0.000670312405279,-1.40030183938e-05,1793192737852519936
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,631,877.083462115,782,799.083462115,649,628,650,0.443199537413,-0.00549723319199,0.0695968613548,0.99999979294,6.747603795e-06,-0.000643457002296,-6.12972866054e-06,1793192737869186816
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742.377850907,711.622149093,673,659.377850907,632,877,783.622149093,799.377850907,649,628.622149093,650,0.434563272064,-0.00542573684797,0.06984024786,0.999999953376,0.000173413952095,-0.000249273543961,3.22313965421e-05,1793192738135853056
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.107780486,742.892219514,711.107780486,673.107780486,660,632,877,783,800,649,628.107780486,650.107780486,0.432163700026,-0.00543126741248,0.0698215088862,0.999999947049,0.00016653506144,-0.000277518862129,3.39436524199e-05,1793192738185853184
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.77781704,742.77781704,712,671.22218296,658.22218296,632.22218296,877,783.22218296,799,649,629,650.77781704,0.400955946638,-0.00539356694254,0.0698217851765,0.999999935983,0.000210513529079,-0.000288450408051,2.26897582554e-05,1793192739452519424
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.195231906,742.195231906,712,671.804768094,658.804768094,632.804768094,877,783.804768094,799,649,629,650.195231906,0.400955702714,-0.00539376552003,0.0698220126729,0.999999935577,0.000211877142833,-0.000288844858145,2.28433786788e-05,1793192739469186048
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.379946801,742,711.620053199,672,659,632.620053199,877,783.620053199,799,649,629,650,0.400955158818,-0.00539237728222,0.0698214648214,0.999999935021,0.000213788561609,-0.000289392583762,2.24574965741e-05,1793192739485853440
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.951392541,742,711.048607459,672,659,632.048607459,877,783.048607459,799,649,629,650,0.400954463731,-0.00539018926548,0.0698205261828,0.999999934384,0.000215976082366,-0.000290017562549,2.1799697026e-05,1793192739502521088
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.528774666,742,711,672,659,632,877,783.528774666,799.528774666,649,629,650,0.400955675264,-0.00539108147858,0.0698212663412,0.999999934954,0.000214989722826,-0.000288755942985,2.21770430383e-05,1793192739519187200
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.891271009,742.108728991,711.108728991,672,659,632.108728991,876.891271009,783.891271009,799.891271009,649,628.891271009,650,0.400956824717,-0.00539217004589,0.0698220583316,0.999999935626,0.000213416468061,-0.000287566160112,2.2518529781e-05,1793192739535853056
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.3023952,742.6976048,711.6976048,672,659,632.6976048,876.3023952,783.3023952,799.3023952,649,628.3023952,650,0.400956917274,-0.00539286112918,0.0698223899843,0.999999936266,0.00021055451765,-0.00028746814793,2.227668475e-05,1793192739552519680
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.717593876,712,671.717593876,659.282406124,633,876.282406124,783.282406124,799,649,628.282406124,650,0.400957125594,-0.00539261729756,0.069822629989,0.999999936271,0.000211108454814,-0.000287048332966,2.22321188444e-05,1793192739569186560
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742.13709331,712,671.13709331,659.86290669,633,876.86290669,783.86290669,799,649,628.86290669,650,0.400957456109,-0.00539138661442,0.0698227732544,0.999999935598,0.000215268039705,-0.000286288838313,2.23957913493e-05,1793192739585853184
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.559993292,633,877,783.559993292,799,649,629,650,0.400956080942,-0.00539118428807,0.0698221047175,0.99999993523,0.000215902591834,-0.000287111541844,2.22094374565e-05,1793192739602520064
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.984176511,671,659,633,877,783,799,649,628.984176511,650.015823489,0.400954289483,-0.00539131353504,0.0698212475416,0.999999934982,0.000215456316558,-0.000288330071068,2.19270761095e-05,1793192739619186944
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.416445189,671,659,633,877,783,799,649,628.416445189,650.583554811,0.400956372142,-0.00539191798969,0.069822565255,0.999999935592,0.000215325605595,-0.000286292274005,2.20707343111e-05,1793192739635853568
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.159122133,659,633,876.840877867,783,799,649,628,651,0.400957425185,-0.00539244666523,0.0698232606529,0.999999935903,0.000215405752362,-0.000285132880528,2.22256291408e-05,1793192739652520192
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.756259571,659,633,876.243740429,783,799,649,628,651,0.400955644008,-0.00539276674366,0.0698222430034,0.999999935396,0.000216066326961,-0.000286391467661,2.24114550152e-05,1793192739669186560
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc9918465bdd9b3c1e1a11a13b238c4ca628fc75
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
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+2,0.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+6,0.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+7,0.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+8,0.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+9,0.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+11,0.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+12,0.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+15,0.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+16,0.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+17,0.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab91ba9f9cbc06f8626278bd63e15fd894f704eb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9756fb6b99b3d6e011d5c90a24ad30bd4527077943e0f67b30a4a177da1a32c1
+size 25316747
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..641ee359fe4034957d05aeee6bcaae80c2c70b00
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/franka_data.csv
@@ -0,0 +1,400 @@
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+9,0.150000000,BASELINE,764,742,711.246805202,671.753194798,659.246805202,632,876.753194798,783.246805202,799,649,628.246805202,650,0.40095696447,-0.00539206957995,0.0698239244719,0.999999936456,0.000214684749899,-0.000283731722776,2.22276553727e-05,1793192739970151168
+10,0.166666667,BASELINE,764,742,711.824986928,671.175013072,659.824986928,632,876.175013072,783.824986928,799,649,628.824986928,650,0.40095679809,-0.00539181660634,0.0698236671641,0.999999936487,0.000214134754083,-0.00028404441942,2.21603292784e-05,1793192739986817792
+11,0.183333333,BASELINE,764,742.401751742,712,671.401751742,659.598248258,632.401751742,876.401751742,783.598248258,799.401751742,649,628.598248258,650.401751742,0.400957702741,-0.0053924642323,0.0698243997675,0.999999937122,0.00021289201533,-0.000282751659721,2.20187505654e-05,1793192740003484416
+12,0.200000000,BASELINE,764,742.977901533,712,671.977901533,659.022098467,632.977901533,876.977901533,783.022098467,799.977901533,649,628.022098467,650.977901533,0.400959072321,-0.00539350280316,0.0698255620854,0.999999938014,0.000211348560927,-0.000280761980969,2.18449392248e-05,1793192740020151040
+13,0.216666667,BASELINE,764,742.447404356,712,671.447404356,659,633,877,783,799.447404356,649,628.552595644,651,0.400957696775,-0.00539255707327,0.0698247221208,0.999999937182,0.000213483175044,-0.000282101884056,2.18762860845e-05,1793192740036818176
+14,0.233333333,BASELINE,764,742.1309448,712,671,659,633,877,783,799,649,628.8690552,650.8690552,0.400956521285,-0.00539209207791,0.0698240630703,0.999999936629,0.000214460261511,-0.000283312232944,2.1962008921e-05,1793192740053485056
+15,0.250000000,BASELINE,764,742.72235108,712,671,659,633,877,783,799,649,628.27764892,650.27764892,0.400956434293,-0.00539359587088,0.0698243210253,0.99999993731,0.00021085108871,-0.00028360002148,2.22101680512e-05,1793192740070151680
+16,0.266666667,BASELINE,764,743,712,671.307275033,659.307275033,632.692724967,877,783,799,649.307275033,628.307275033,650,0.400957076602,-0.00539355812522,0.0698249265322,0.999999937469,0.000211231704757,-0.000282741416942,2.23564704563e-05,1793192740086818304
+17,0.283333333,BASELINE,764,743,712,671.886462637,659.886462637,632.113537363,877,783,799,649.886462637,628.886462637,650,0.40095836428,-0.00539215624739,0.0698258395935,0.999999937162,0.00021514294871,-0.000280868350898,2.2412638208e-05,1793192740103484672
+18,0.300000000,BASELINE,764,742.539678055,712,671.539678055,659.539678055,632.460321945,877,783.460321945,799.460321945,649.539678055,628.539678055,650.460321945,0.400958710598,-0.00539176806147,0.0698253814266,0.999999937014,0.000215456119504,-0.000281188459194,2.2006102892e-05,1793192740120151296
+19,0.316666667,BASELINE,764,742,711.966827918,671,659,633,876.966827918,783.966827918,799.966827918,649,628,651,0.40095875598,-0.0053917374208,0.0698246350961,0.999999936954,0.000214692040499,-0.000282021967914,2.1514000128e-05,1793192740136817664
+20,0.333333333,BASELINE,764,742,711.389217986,671,659,633,876.389217986,783.389217986,799.389217986,649,628,651,0.400957629376,-0.00539351841816,0.0698246466432,0.999999937679,0.000210646306495,-0.000282505049264,2.14691604122e-05,1793192740153484544
+21,0.350000000,BASELINE,764,742.192744086,711.192744086,671.192744086,659,633,876.192744086,783.192744086,799,649,628.192744086,650.807255914,0.400956786006,-0.00539443153999,0.0698247310003,0.999999938006,0.000208756715053,-0.000282745076891,2.15279347285e-05,1793192740170151424
+22,0.366666667,BASELINE,764,742.783697611,711.783697611,671.783697611,659,633,876.783697611,783.783697611,799,649,628.783697611,650.216302389,0.400956527797,-0.00539355163003,0.0698249657831,0.999999937536,0.000211321716408,-0.000282482955276,2.18007757259e-05,1793192740186818304
+23,0.383333333,BASELINE,764,742.634097702,712,672,659,632.634097702,877,784,799,649,629,650,0.400957644092,-0.00539240277285,0.0698257792992,0.999999937622,0.000212569746478,-0.000281232778258,2.18712651009e-05,1793192740203484928
+24,0.400000000,BASELINE,764,742.056944045,712,672,659,632.056944045,877,784,799,649,629,650,0.400959553949,-0.00539109864061,0.0698269269433,0.99999993803,0.000213057431819,-0.000279412153726,2.18249280828e-05,1793192740220151808
+25,0.416666667,BASELINE,763.481164028,742,712,672,659,632.518835972,877,783.481164028,799,649,629,650.518835972,0.400958911706,-0.00539262166156,0.0698258771514,0.999999937878,0.000212124716546,-0.000280650754236,2.19637855989e-05,1793192740236818176
+26,0.433333333,BASELINE,763.096624277,742,711.903375723,671.903375723,659,633,877,783.096624277,799,649,629,651,0.400958123407,-0.00539377178253,0.0698248325714,0.999999937678,0.000211325379299,-0.00028195898808,2.20146135034e-05,1793192740253484288
+27,0.450000000,BASELINE,763.685407969,742,711.314592031,671.314592031,659,633,877,783.685407969,799,649,629,651,0.400958014105,-0.00539144622427,0.0698250397347,0.999999937559,0.000211997362364,-0.000281916209371,2.15138027468e-05,1793192740270150912
+28,0.466666667,BASELINE,764,742,711.269495329,671,659,633,877,783.730504671,799,649,629,650.730504671,0.400958385121,-0.00539004855688,0.0698253270049,0.999999937593,0.000212725957308,-0.000281264346826,2.12829383313e-05,1793192740286817792
+29,0.483333333,BASELINE,764,742,711.848194348,671,659,633,877,783.151805652,799,649,629,650.151805652,0.400959307229,-0.00538971549912,0.0698257061852,0.999999937801,0.000213519505476,-0.000279913655955,2.13617951014e-05,1793192740303484416
+30,0.500000000,BASELINE,764,742.424565401,712,671.424565401,659,633,876.575434599,783.424565401,799.424565401,649,628.575434599,650,0.40095817997,-0.00538949419554,0.0698249988645,0.999999937074,0.000215138739586,-0.000281260120365,2.14437047669e-05,1793192740320151296
+31,0.516666667,BASELINE,764,742.999891791,712,672,659,633,876.000108209,784,799.999891791,649,628.000108209,650.000108209,0.40095632448,-0.00538931293598,0.0698239056467,0.999999936008,0.000217050909118,-0.000283564964833,2.1526747971e-05,1793192740336817920
+32,0.533333333,BASELINE,764,742.426445478,712,672,659,633,876.573554522,784,799.426445478,649,628.573554522,650.573554522,0.400957296045,-0.00539074024071,0.0698252956088,0.999999936832,0.000215344032711,-0.000281931561523,2.18636592416e-05,1793192740353484800
+33,0.550000000,BASELINE,764,742,712,672,659,633,877,784,799,649,628.848052581,651,0.400957783491,-0.00539211872636,0.0698261320638,0.999999937314,0.000214177216937,-0.000281086854655,2.21630430028e-05,1793192740370151424
+34,0.566666667,BASELINE,764,742,712,672,659,633,877,784,799,649,628.255309878,651,0.400956866523,-0.0053933555889,0.0698253628096,0.999999936817,0.000214577102503,-0.000282530134754,2.23535604329e-05,1793192740386818048
+35,0.583333333,BASELINE,764,742.328964211,712,672,659,633,877,783.671035789,799,649.328964211,628.328964211,651,0.40095691957,-0.00539323749375,0.0698252587334,0.999999936723,0.000214859859485,-0.000282649393992,2.23201856513e-05,1793192740403484672
+36,0.600000000,BASELINE,764,742.906830803,712,672,659,633,877,783.093169197,799,649.906830803,628.906830803,651,0.400957706556,-0.00539209420457,0.0698256579471,0.999999936935,0.000215053994156,-0.000281766866766,2.21174085581e-05,1793192740420151552
+37,0.616666667,BASELINE,763.515716271,743,711.515716271,672,659,632.515716271,877,783.484283729,799,649.515716271,629,650.515716271,0.400957326557,-0.00539251391645,0.0698254828921,0.999999937002,0.000214185459276,-0.000282208831666,2.1877366605e-05,1793192740436817920
+38,0.633333333,BASELINE,763.062547645,742.937452355,711.062547645,672,659,632.062547645,876.937452355,783.937452355,799,649,628.937452355,650,0.400956897313,-0.00539323396325,0.0698253221324,0.999999937144,0.000212946394937,-0.00028265818141,2.16748439088e-05,1793192740453484544
+39,0.650000000,BASELINE,763.648260307,742.351739693,711.648260307,672,659,632.648260307,876.351739693,783.351739693,799,649,628.351739693,650,0.400957932437,-0.00539395311315,0.0698262042446,0.999999938153,0.00021031667358,-0.000281039794729,2.18460561263e-05,1793192740470151424
+40,0.666666667,BASELINE,764,742,711.767763287,671.767763287,659,633,876.232236713,783.232236713,799,648.767763287,628.232236713,650,0.400958172382,-0.00539371294488,0.0698261467633,0.999999938319,0.000209805580953,-0.000280833854768,2.18045876105e-05,1793192740486818048
+41,0.683333333,BASELINE,764,742,711.186397091,671.186397091,659,633,876.813602909,783.813602909,799,648.186397091,628.813602909,650,0.400957216905,-0.00539203060038,0.0698246767582,0.999999937222,0.000212479496344,-0.000282751294918,2.14433887806e-05,1793192740503485184
+42,0.700000000,BASELINE,764,742,711.391578301,671.391578301,659,633,877,783.608421699,799,648.391578301,629,650.391578301,0.400957386628,-0.00539129926757,0.0698247013511,0.999999936847,0.000214386777914,-0.000282632377333,2.15455461739e-05,1793192740520151552
+43,0.716666667,BASELINE,764,742,711.967953461,671.967953461,659,633,877,783.032046539,799,648.967953461,629,650.967953461,0.400958087365,-0.00539101674408,0.0698254312871,0.999999936812,0.000215932263261,-0.000281552444976,2.18663744638e-05,1793192740536817920
+44,0.733333333,BASELINE,764,742.541479729,712,672,659,633,876.458520271,783.541479729,799.541479729,649,629,651,0.400959047993,-0.00539124202353,0.0698260617015,0.999999937374,0.000215574248186,-0.000279835556291,2.17392364579e-05,1793192740553484544
+45,0.750000000,BASELINE,764,742.881277415,712,672,659,633,876.118722585,784,800,649,629,651,0.400959483102,-0.00539159381125,0.0698262804588,0.999999937723,0.000215047448984,-0.000278999080592,2.16478891965e-05,1793192740570151424
+46,0.766666667,BASELINE,764,742.288525626,712,672,659,633,876.711474374,784,800,649,629,651,0.400957758852,-0.00539233134666,0.0698248789677,0.999999937088,0.000214294187834,-0.000281827598763,2.18047474543e-05,1793192740586817792
+47,0.783333333,BASELINE,764,742,712,671.703176873,659,632.703176873,877,783.703176873,799.703176873,649,629,650.703176873,0.400956720949,-0.00539236167028,0.0698242277193,0.999999936585,0.000215355321455,-0.00028279008228,2.19322425351e-05,1793192740603484416
+48,0.800000000,BASELINE,764,742,712,671.12484903,659,632.12484903,877,783.12484903,799.12484903,649,629,650.12484903,0.40095633397,-0.00539172127989,0.0698242879948,0.999999936208,0.000218137212691,-0.000281982833565,2.20318898287e-05,1793192740620151296
+49,0.816666667,BASELINE,764,742.450700298,711.549299702,671.450700298,659,632.450700298,876.549299702,783,799,649,628.549299702,650.450700298,0.400957519816,-0.00539207648979,0.0698257422382,0.999999936796,0.000217200868377,-0.000280604697227,2.21901836079e-05,1793192740636818176
+50,0.833333333,BASELINE,764,742.973896716,711.026103284,672,659,633,876.052206569,783,799,649,628,651,0.400959056831,-0.00539271611063,0.0698274637873,0.999999937611,0.000215295709959,-0.000279153341597,2.23546641881e-05,1793192740653485056
+51,0.850000000,BASELINE,764,742.385159071,711.614840929,672,659,633,877.229681858,783,799,649,628,651,0.400958829601,-0.0053935779195,0.0698266748588,0.999999937667,0.000214573180617,-0.000279511542234,2.23044786589e-05,1793192740670151424
+52,0.866666667,BASELINE,764,742,712,671.799925853,659,633,877.599851706,783,799,649,628.200074147,650.799925853,0.400958669433,-0.00539401453974,0.0698260813613,0.999999937683,0.000213883897021,-0.000279991676406,2.21816734108e-05,1793192740686817792
+53,0.883333333,BASELINE,764,742,712,671.221322846,659,633,876.442645691,783,799,649,628.778677154,650.221322846,0.400958636142,-0.00539364672731,0.0698258576077,0.999999937623,0.000213257512519,-0.000280702501844,2.19214758042e-05,1793192740703484416
+54,0.900000000,BASELINE,764,742,712,671.356627348,659,633,876,783.356627348,799,649,629,650,0.400957543917,-0.00539266200724,0.06982483663,0.999999936989,0.000214245889264,-0.000282223158712,2.16882051865e-05,1793192740720151040
+55,0.916666667,BASELINE,764,742,712,671.934173124,659,633,876,783.934173124,799,649,629,650,0.400955795719,-0.00539129513402,0.0698233217992,0.999999935993,0.000216234555321,-0.000284245478387,2.14716149255e-05,1793192740736817664
+56,0.933333333,BASELINE,764,742,711.485550201,671.485550201,659,633,876,784,799,649,628.485550201,650.514449799,0.400957066986,-0.00539226375689,0.0698248936701,0.999999937095,0.000213635756669,-0.000282313567431,2.1646636826e-05,1793192740753484288
+57,0.950000000,BASELINE,764,742,711,671,659,633,876.095472052,783.904527948,799,649,628,651,0.400958413861,-0.00539326581663,0.0698264291935,0.999999938163,0.000211219571509,-0.000280331972621,2.17938894481e-05,1793192740770151424
+58,0.966666667,BASELINE,764,742,711,671,659,633,876.678507641,783.321492359,799,649,628,651,0.400958163249,-0.00539290434931,0.0698257513112,0.999999937742,0.00021274966743,-0.000280694348088,2.15420615382e-05,1793192740786818048
+59,0.983333333,BASELINE,764,742.258329942,711,671,659,633,877,783,799.258329942,649,628,651,0.400957483052,-0.00539185599988,0.0698252938619,0.99999993716,0.000214491901811,-0.000281453443839,2.13926085982e-05,1793192740803484672
+60,1.000000000,BASELINE,764,742.834202504,711,671,659,633,877,783,799.834202504,649,628,651,0.400956274804,-0.00538996332574,0.0698251073715,0.999999936377,0.000216494899827,-0.000282700193518,2.13689963071e-05,1793192740820151296
+61,1.016666667,BASELINE,764,742.589273869,711.410726131,671,659,633,877,783.410726131,799.589273869,649,628.410726131,650.589273869,0.400955894874,-0.00539037892803,0.069824107657,0.999999936039,0.000216356982924,-0.000283999589676,2.13642340016e-05,1793192740836818176
+62,1.033333333,BASELINE,764,742.012487043,711.987512957,671,659,633,877,783.987512957,799.012487043,649,628.987512957,650.012487043,0.400955849841,-0.00539172778974,0.0698227791479,0.999999935879,0.000215353472526,-0.00028532027126,2.1367092936e-05,1793192740853485056
+63,1.050000000,BASELINE,764,742.576585485,712,671,659,633,877,783.423414515,799,649,629,650.576585485,0.400955389139,-0.00539208660061,0.0698232262077,0.999999935827,0.000216144607001,-0.000284890846165,2.15797244349e-05,1793192740870151168
+64,1.066666667,BASELINE,764,743,712,671,659,633,876.836964954,783,799,649,629,650.836964954,0.400955622733,-0.00539253502191,0.0698240091931,0.999999936175,0.000216093267064,-0.000283698269783,2.16695025419e-05,1793192740886817536
+65,1.083333333,BASELINE,764,743,712,671,659,633,876.257902355,783,799,649,629,650.257902355,0.400957651476,-0.00539326801288,0.0698255491227,0.999999937533,0.00021379079085,-0.000280657131071,2.14339422072e-05,1793192740903484416
+66,1.100000000,BASELINE,764,742.680157921,712,671.319842079,659.319842079,633,876,783.319842079,798.680157921,649,629,650,0.400958644035,-0.00539311537117,0.0698261806201,0.999999938236,0.00021265452522,-0.00027901315919,2.13803535206e-05,1793192740920151040
+67,1.116666667,BASELINE,764,742.103472046,712,671.896527954,659.896527954,633,876,783.896527954,798.103472046,649,629,650,0.400958804505,-0.00539225153699,0.0698260826161,0.999999938422,0.000212454765479,-0.000278491158758,2.14728941136e-05,1793192740936817920
+68,1.133333333,BASELINE,764,742,712,672,659.528734079,632.528734079,876.471265921,784,798.471265921,648.528734079,628.528734079,650,0.400958375283,-0.00539243389337,0.069825879923,0.999999938066,0.000212377478726,-0.000279819122211,2.15457389054e-05,1793192740953484544
+69,1.150000000,BASELINE,764,742.046858468,712,672,659,632.046858468,877,784,799,648.046858468,628,650,0.4009579084,-0.0053928504485,0.0698257319481,0.999999937662,0.000212293324009,-0.000281319435209,2.16156375339e-05,1793192740970151168
+70,1.166666667,BASELINE,764,742.637305226,712,672,659,632.637305226,877,784,799,648.637305226,628,650,0.400958500411,-0.00539333011887,0.0698264842931,0.999999938095,0.0002118188347,-0.000280126540903,2.17013185866e-05,1793192740986817792
+71,1.183333333,BASELINE,764,743,711.776890236,671.776890236,659,633,876.776890236,783.776890236,799,649,628.223109764,650.223109764,0.400957978768,-0.00539339911907,0.0698262808545,0.999999938007,0.000212016074388,-0.000280291789664,2.16991156705e-05,1793192741003484416
+72,1.200000000,BASELINE,764,743,711.198478337,671.198478337,659,633,876.198478337,783.198478337,799,649,628.801521663,650.801521663,0.400955683632,-0.00539281412743,0.0698245553313,0.999999937086,0.00021328304193,-0.000282619880066,2.15569576128e-05,1793192741020151040
+73,1.216666667,BASELINE,763.622713445,742.622713445,711.377286555,671.377286555,659,633,876.377286555,783,799,649,628.622713445,650.622713445,0.400956972067,-0.00539226155809,0.0698253769517,0.999999937538,0.000213159168159,-0.000281125202479,2.13417392433e-05,1793192741036817920
+74,1.233333333,BASELINE,763.048331391,742.048331391,711.951668609,671.951668609,659,633,876.951668609,783,799,649,628.048331391,650.048331391,0.400960132569,-0.00539172592627,0.0698275292068,0.9999999387,0.000212308715111,-0.00027763350059,2.10883539812e-05,1793192741053484288
+75,1.250000000,BASELINE,763.539464443,742,712,671.460535557,659,633,876.460535557,783.539464443,799,649,628.539464443,650.539464443,0.400958375269,-0.00539144480722,0.06982584839,0.999999937679,0.000214074008238,-0.00027995218676,2.09868023543e-05,1793192741070150912
+76,1.266666667,BASELINE,764,742,712,671.126303537,659,633,876.126303537,783.873696463,799,649,628.873696463,651,0.400956741566,-0.00539104081437,0.0698246241741,0.999999936765,0.000215704640391,-0.000281958094496,2.10179038691e-05,1793192741086817536
+77,1.283333333,BASELINE,764,742,712,671.705296413,659,633,876.705296413,783.294703587,799,649,628.294703587,651,0.400957170262,-0.00539011261483,0.0698262986941,0.999999936983,0.000215991274129,-0.000280929623339,2.14744543745e-05,1793192741103484416
+78,1.300000000,BASELINE,764,742.282754271,712,672,659,633,877,783.282754271,799,649,628,650.717245729,0.400957584975,-0.00538957167963,0.0698264270022,0.999999936931,0.000216244207774,-0.000280914457561,2.15336820314e-05,1793192741120151296
+79,1.316666667,BASELINE,764,742.858620843,712,672,659,633,877,783.858620843,799,649,628,650.141379157,0.400957985193,-0.00538943219537,0.0698249524565,0.9999999366,0.000216462206786,-0.000281949717263,2.11810318327e-05,1793192741136817920
+80,1.333333333,BASELINE,764,742.565549306,712,671.565549306,659,633,877,784,799,649,628.434450694,650.434450694,0.400958072039,-0.00539134405588,0.0698252374443,0.999999937078,0.000214558841462,-0.000281678361713,2.15864445863e-05,1793192741153484288
+81,1.350000000,BASELINE,764,742,711.98948224,671,658.98948224,633,877,783.98948224,799,649,628.98948224,651,0.400958079819,-0.00539388379171,0.0698260957556,0.999999937816,0.000211989349962,-0.000280953632618,2.22193239295e-05,1793192741170151168
+82,1.366666667,BASELINE,764,742,711.399694884,671,658.399694884,633,877,783.399694884,799,649,628.399694884,651,0.40095934898,-0.00539424154665,0.0698269972252,0.999999938725,0.000210749989481,-0.000278675224379,2.17946553914e-05,1793192741186818048
+83,1.383333333,BASELINE,764,742,711.179787896,671.179787896,658.179787896,633,877.179787896,783.179787896,799,649,628.179787896,651,0.400960103621,-0.00539393003934,0.0698273749552,0.999999939163,0.00021036132919,-0.000277415873479,2.14938831054e-05,1793192741203484416
+84,1.400000000,BASELINE,764,742,711.737604032,671.737604032,658.737604032,633,877.737604032,783.737604032,799,649,628.737604032,651,0.400959776413,-0.00539221131822,0.0698266514521,0.999999938623,0.000211761380263,-0.000278299227307,2.14536192777e-05,1793192741220151040
+85,1.416666667,BASELINE,764,742,712,672,659.316616446,633,877.683383554,784,799,649,628.683383554,650.683383554,0.40095857629,-0.00539129628774,0.0698259751275,0.999999937809,0.000213648245433,-0.000279785483952,2.1388466638e-05,1793192741236817664
+86,1.433333333,BASELINE,764,742,712,672,659.91445563,633,877.08554437,784,799,649,628.08554437,650.08554437,0.400956600831,-0.00539109510556,0.0698253407074,0.999999936744,0.000215967504964,-0.000281807246464,2.13012074423e-05,1793192741253484544
+87,1.450000000,BASELINE,764,742,712,671.506080306,659.506080306,633,876.506080306,783.506080306,799,649,628.493919694,650.493919694,0.400956524103,-0.00539160693557,0.0698253378564,0.999999936911,0.000215477222613,-0.000281586364867,2.13777969337e-05,1793192741270151168
+88,1.466666667,BASELINE,764,742,712,671,659.072353161,633,876,783.072353161,799,649,628.927646839,650.927646839,0.400956797719,-0.0053922474875,0.0698254275687,0.999999937237,0.000214548272172,-0.000281129456777,2.14646325968e-05,1793192741286817536
+89,1.483333333,BASELINE,764,742,712,671,659.66545277,633,876,783.66545277,799,649,628.33454723,650.33454723,0.400957310929,-0.00539295757401,0.0698254244517,0.999999937238,0.000213838671927,-0.00028166905816,2.14282958826e-05,1793192741303484416
+90,1.500000000,BASELINE,764,742,711.748665819,671,659.748665819,633,876.251334181,783.748665819,799,649,628,650.251334181,0.400957811947,-0.00539343216065,0.0698258883858,0.999999937689,0.000212328190632,-0.000281206899002,2.14645548469e-05,1793192741320151040
+91,1.516666667,BASELINE,764,742,711.172124255,671,659.172124255,633,876.827875745,783.172124255,799,649,628,650.827875745,0.40095829719,-0.00539360202828,0.0698269566486,0.999999938717,0.000209781430003,-0.000279448537573,2.15947471204e-05,1793192741336817664
+92,1.533333333,BASELINE,764,742,711.40276163,671.40276163,659,633,877,783.40276163,799,649,628.40276163,651,0.40095759822,-0.00539360361153,0.0698260293057,0.99999993862,0.000209584264878,-0.000279952906023,2.14852749885e-05,1793192741353484544
+93,1.550000000,BASELINE,764,742,711.976942891,671.976942891,659,633,877,783.976942891,799,649,628.976942891,651,0.400956395236,-0.00539353357118,0.069824252612,0.999999938044,0.00021038711235,-0.000281420316203,2.127379915e-05,1793192741370151168
+94,1.566666667,BASELINE,764,742,711.433107972,672,659,633,877,783.433107972,799.566892028,649,628.433107972,651,0.400958019802,-0.00539385388293,0.0698261879315,0.999999937944,0.000212857349641,-0.000279879864308,2.17079250393e-05,1793192741386818048
+95,1.583333333,BASELINE,764,742,711.154204223,671.845795777,658.845795777,632.845795777,876.845795777,783,799.845795777,649,628.154204223,650.845795777,0.400958988085,-0.00539367806885,0.0698275695788,0.999999937809,0.00021470439364,-0.000278926101845,2.20128520383e-05,1793192741403484672
+96,1.600000000,BASELINE,764,742,711.732451264,671.267548736,658.267548736,632.267548736,876.267548736,783,799.267548736,649,628.732451264,650.267548736,0.400957826372,-0.00539209306111,0.0698270016456,0.999999937543,0.000214645907268,-0.000279931703816,2.18882245012e-05,1793192741420151040
+97,1.616666667,BASELINE,764,742.309833047,711.690166953,671,658.309833047,632.309833047,876,783.309833047,799,649,628.690166953,650.309833047,0.400957337141,-0.00539138174902,0.0698266024021,0.99999993744,0.000214912639099,-0.000280106404292,2.17406028451e-05,1793192741436817664
+98,1.633333333,BASELINE,764,742.886469706,711.113530294,671,658.886469706,632.886469706,876,783.886469706,799,649,628.113530294,650.886469706,0.400957426997,-0.00539142279431,0.069826348421,0.999999937477,0.000215459423017,-0.000279565598337,2.15731804878e-05,1793192741453484288
+99,1.650000000,BASELINE,764,742.529371388,711,671,659,633,876.470628612,784,799,649,628,651,0.400957192209,-0.00539088443349,0.069825923575,0.999999937432,0.000215060802673,-0.00028004826542,2.13959311814e-05,1793192741470150656
+100,1.666666667,BASELINE,764,742,711,671,659,633,877,783.944002489,799,649,628.055997511,650.944002489,0.400956946588,-0.00539059511243,0.0698255204311,0.999999937445,0.000214211590331,-0.000280661186258,2.12605369136e-05,1793192741486817536
+101,1.683333333,BASELINE,764,742,711,671,659,633,877,783.364560704,799,649,628.635439296,650.364560704,0.400957343664,-0.00539396147245,0.0698257116982,0.9999999382,0.000211316866698,-0.000280146313635,2.15389073613e-05,1793192741503484160
+102,1.700000000,BASELINE,764,742,711,671.214552521,659,633,877,783.214552521,798.785447479,649,628.785447479,650,0.400957751427,-0.00539537917369,0.069825912654,0.999999938555,0.000210361095299,-0.000279583722468,2.16927122319e-05,1793192741520150784
+103,1.716666667,BASELINE,764,742,711,671.793108263,659,633,877,783.793108263,798.206891737,649,628.206891737,650,0.400958177319,-0.00539349083994,0.0698261300473,0.999999938243,0.000212694891031,-0.000278940173535,2.16351829397e-05,1793192741536817408
+104,1.733333333,BASELINE,764,742,711.369496962,672,659,632.630503038,876.630503038,783.630503038,798.369496962,649,628,650,0.400959013402,-0.00539236593192,0.0698268941327,0.999999938244,0.000214022331947,-0.000277920586271,2.16025342044e-05,1793192741553484032
+105,1.750000000,BASELINE,764,742,711.944679403,672,659,632.055320597,876.055320597,783.055320597,798.944679403,649,628,650,0.400960077824,-0.00539166599498,0.0698279625416,0.999999938421,0.00021478957207,-0.00027669167213,2.1583735562e-05,1793192741570150656
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,711,672,659,632,876,783,799,649,629,650,0.400960177691,-0.0053927639932,0.0698284542481,0.999999938851,0.000213691374351,-0.00027596263494,2.18852443015e-05,1793192741600126976
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742.420618308,711.579381692,672,659.579381692,632,876.579381692,783,799,649,628.420618308,650.579381692,0.400960841246,-0.005392082334,0.0698287256087,0.999999938921,0.000213732035364,-0.000275700391391,2.1582064009e-05,1793192741616793856
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671.841591345,659.841591345,632,877,783,799.158408655,649,628,651,0.400961114183,-0.00539188065766,0.0698286994973,0.999999938948,0.00021350527887,-0.000275791660638,2.14167112602e-05,1793192741633460736
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+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.688098501,671.311901499,659,632,877,783,799.688098501,648.688098501,628,651,0.400959418646,-0.0053932465532,0.0698272355427,0.999999938801,0.000211595721359,-0.000277778248838,2.15498374935e-05,1793192741666793984
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.11493928,671.88506072,659,632,877,783,799.11493928,648.11493928,628,651,0.400958341259,-0.00539289413793,0.0698267235765,0.999999938769,0.000210588662893,-0.000278679109403,2.12599591132e-05,1793192741683460608
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.939203583,711.060796417,671,659,633,876.060796417,783,799,649,629,651,0.400961432356,-0.00539330965405,0.0698286314339,0.999999939326,0.000211969147486,-0.000275589368641,2.1643000166e-05,1793192741716793856
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.361034568,711.638965432,671,659,633,876.638965432,783,799,649,629,651,0.400961455262,-0.00539326014752,0.0698284391915,0.999999938807,0.000213325080126,-0.000276426444443,2.1628306924e-05,1793192741733460480
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877,783,799,649,629,651,0.400981658095,-0.00539592645771,0.0698382332726,0.999999943759,0.000210890045997,-0.000259832437579,2.22554488151e-05,1793192741766793728
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877,783.36938304,799,649,628.63061696,650.63061696,0.40101007075,-0.00539622022844,0.0698502309965,0.999999948889,0.000210595580886,-0.000239484620904,2.27712837432e-05,1793192741783460352
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+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.97286124,712,671.97286124,659,632.02713876,876.97286124,783.97286124,798.97286124,649,629,650,0.401586769266,-0.00540658835742,0.0698974717183,0.999999965494,0.00019865099315,-0.000171498744938,1.17191173792e-05,1793192741916793600
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.393397436,712,671.393397436,659,632.606602564,876.393397436,783.393397436,798.393397436,649,629,650,0.401727257176,-0.00541046621468,0.0699005172901,0.999999967143,0.000194014958973,-0.000167348718754,8.21196408878e-06,1793192741933460224
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.815537394,876.184462606,783.184462606,798.184462606,649,629,650.184462606,0.401878234689,-0.00541436149229,0.0699036277647,0.999999969,0.00018829382497,-0.00016286562203,4.52709711199e-06,1793192741950126848
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.241068234,876.758931766,783.758931766,798.758931766,649,629,650.758931766,0.402051390197,-0.00541829360099,0.0699068754619,0.999999971318,0.000180278481089,-0.000157678319729,4.66493168703e-07,1793192741966793728
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.334331806,632.334331806,876.665668194,784,799.334331806,649,628.665668194,651,0.402249377621,-0.00542201599988,0.0699104310076,0.999999974007,0.000171556630597,-0.000150104072734,-4.76693708451e-06,1793192741983460608
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.910404988,632.910404988,876.089595012,784,799.910404988,649,628.089595012,651,0.402465319987,-0.00542558676677,0.0699142091461,0.999999976854,0.000162323933817,-0.000140803925105,-1.08483895097e-05,1793192742000127232
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.501292571,671,659.501292571,633,876.498707429,783.501292571,799.501292571,649,628,650.501292571,0.40270296525,-0.00543127629721,0.0699167449106,0.999999978848,0.000154872008359,-0.000134316713668,-1.66417433782e-05,1793192742016793856
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671,659,633,877,783,799,649,628.086969716,650,0.402951267211,-0.00543739824788,0.0699194644,0.999999980757,0.000147046048257,-0.000127910553385,-2.2391007462e-05,1793192742033460480
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671,659,633,877,783,799,649,628.662358055,650,0.403236969661,-0.00544375722895,0.0699245006648,0.999999983366,0.000135277677191,-0.000119050163667,-2.81906463174e-05,1793192742050127104
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.238326646,711,671,659,633,876.761673354,783,799.238326646,649,628.761673354,650.238326646,0.403544790616,-0.00545357717139,0.069931408786,0.999999990593,7.91266148239e-05,-0.000107000181415,-3.32120566182e-05,1793192742066794240
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.81511926,711,671,659,633,876.18488074,783,799.81511926,649,628.18488074,650.81511926,0.403884023742,-0.00546831229046,0.0699409752739,0.999999994421,-4.00557157239e-05,-9.04204133167e-05,-3.71282441274e-05,1793192742083461888
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.599715726,742.599715726,711.400284274,671.400284274,659,633,876.400284274,783,799.599715726,649,628,650.599715726,0.40424219387,-0.005485097802,0.0699459479816,0.999999995571,-3.4173414166e-05,-8.37207938718e-05,-2.61009906984e-05,1793192742100128512
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.010601129,742.010601129,711.989398871,671.989398871,659,633,876.989398871,783,799.010601129,649,628,650.010601129,0.404609297341,-0.00550285056639,0.0699487536167,0.99999999616,3.07069489552e-05,-8.16820417237e-05,-8.02431017083e-06,1793192742116794368
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.13716002,742.56858001,712,670.86283998,659,633,877,783,799,649,628,650.56858001,0.405025728016,-0.00550502320576,0.0699525260003,0.999999996904,2.861617195e-05,-7.16945882622e-05,-1.52766889613e-05,1793192742133460992
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.853427224,742.853427224,712,670.146572776,659,632.853427224,877,783,799,649,628,650.853427224,0.40544817118,-0.00550758871698,0.0699546975029,0.999999997366,2.33573327086e-05,-6.52728848859e-05,-2.14776764944e-05,1793192742150127616
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.278376419,742.278376419,712,670.721623581,659,632.278376419,877,783,799,649,628,650.278376419,0.405885548239,-0.00551213732744,0.0699521373416,0.999999997223,1.24248379241e-05,-6.97007894547e-05,-2.32482640067e-05,1793192742166793984
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.70390304,671.29609696,659,632.29609696,877,783,799,649,628,650,0.406336919138,-0.00551754951403,0.069941732707,0.999999995728,-3.0557409343e-08,-8.89422785329e-05,-2.51816379248e-05,1793192742183460608
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.129971407,671.870028593,659,632.870028593,877,783,799,649,628,650,0.406801420832,-0.00552377201476,0.0699239674202,0.999999992079,-1.39149270708e-05,-0.000122083699417,-2.72677583027e-05,1793192742200126976
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,671.541432895,659,633,876.541432895,783,799.458567105,648.541432895,628,650,0.407327284143,-0.00552901255027,0.0699127643371,0.999999990418,-1.83067520066e-05,-0.000133941958407,-2.97993524136e-05,1793192742216793856
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.949780109,742.050219891,711.050219891,671,659.050219891,632.949780109,876,783,799.949780109,648.050219891,628,650,0.407876904074,-0.00553426793154,0.0699055076677,0.999999989924,-2.09826609948e-05,-0.00013662008929,-3.23638612628e-05,1793192742233460736
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.370370983,742.629629017,711.629629017,671,659.629629017,632.370370983,876,783,799.370370983,648.629629017,628,650,0.408487564874,-0.00554270900247,0.0699195924566,0.999999992962,-3.48606144498e-05,-0.000108219256671,-3.39009737744e-05,1793192742250127616
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.206891038,743,711.793108962,671,659.793108962,632,876.206891038,783,799,649,628,650,0.409100056563,-0.00555005656845,0.0699306087422,0.999999994856,-4.54999977062e-05,-8.34807612353e-05,-3.53232648558e-05,1793192742266794240
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.780348815,743,711.219651185,671,659.219651185,632,876.780348815,783,799,649,628,650,0.409715792164,-0.00555546667666,0.0699361882941,0.999999995935,-5.04013253756e-05,-6.52311470335e-05,-3.65421168317e-05,1793192742283460864
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.636963002,711.363036998,671.363036998,659.363036998,632.363036998,877.363036998,783,799,649,628.363036998,650.363036998,0.410347690052,-0.00556142461046,0.0699332824989,0.999999995009,-6.02807985771e-05,-7.01577172893e-05,-3.77737589346e-05,1793192742300128000
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.048544393,711.951455607,671.951455607,659.951455607,632.951455607,877.951455607,783,799,649,628.951455607,650.951455607,0.410989621833,-0.00556772264662,0.0699251088073,0.999999992553,-7.32508173399e-05,-8.94725896691e-05,-3.90133413823e-05,1793192742316794624
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.468623729,742,711.468623729,672.531376271,660,633,877.468623729,783,798.468623729,649,628.468623729,650.468623729,0.411696805257,-0.0055762467913,0.0699367249974,0.999999993352,-8.32465744019e-05,-6.87408089452e-05,-4.0504644654e-05,1793192742333460992
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.109689804,742,711.109689804,672.890310196,660,633,877,783,798.219379608,649,628.109689804,650,0.412419259715,-0.00558203960484,0.0699536987996,0.999999994319,-9.01637295839e-05,-3.9434271377e-05,-4.0966451881e-05,1793192742350127360
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.684429075,742,711.684429075,672.315570925,660,633,877,783,799.368858151,649,628.684429075,650,0.413181582797,-0.00557540380661,0.0699858427861,0.99999999563,-8.51624586426e-05,1.0959753545e-05,-3.69675649764e-05,1793192742366793984
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.260868136,712,672,660,633,876.739131864,783,799.739131864,649,628.739131864,650.260868136,0.413930393767,-0.00556102999709,0.0700006518463,0.999999996702,-6.58462184424e-05,3.19879585063e-05,-3.51711875092e-05,1793192742383460608
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.839376986,712,672,660,633,876.160623014,783,799.160623014,649,628.160623014,650.839376986,0.414662752091,-0.00553723415656,0.0699943533948,0.999999998778,-2.90996501464e-05,1.72594841984e-05,-3.60566498214e-05,1793192742400127232
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,672,659.575494446,632.575494446,876.424505554,783,799,649,628,650.575494446,0.415381262741,-0.00552929298979,0.0699462636855,0.999999996593,-2.80658990388e-05,-6.62025947934e-05,-4.05524288751e-05,1793192742416793600
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712,671.987959175,659.012040825,632,877,783,799,649,628,650,0.416096939308,-0.00552770813402,0.0698835898287,0.999999983041,-4.0773419029e-05,-0.000173520528304,-4.63367893433e-05,1793192742433460480
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,671.406930255,659.593069745,632,877,783,799,649,628,650,0.416930214401,-0.005538515454,0.0698908143799,0.999999984655,-5.41574665239e-05,-0.000159709368372,-4.74373711308e-05,1793192742450127104
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,671.172222258,660.172222258,632.172222258,877,783,799,649,628,650,0.417767610246,-0.00554800228222,0.0699062768583,0.999999987852,-6.52604133122e-05,-0.00013334646283,-4.74987373388e-05,1793192742466793728
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712,671.746988907,660.746988907,632.746988907,877,783,799,649,628,650,0.418614637699,-0.00555440265304,0.0699409942888,0.999999993444,-7.1031619248e-05,-7.76456845446e-05,-4.51310886785e-05,1793192742483460864
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.670454344,711.670454344,671.670454344,660.670454344,633,877,783,799,649,628,650,0.419463805576,-0.00555839055874,0.0699697468216,0.999999995704,-7.39027508505e-05,-3.5675411172e-05,-4.31061268753e-05,1793192742500127488
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.081771909,711.081771909,671.081771909,660.081771909,633,877,783,799,649,628,650,0.420314656527,-0.00556048143282,0.0699938088818,0.99999999636,-7.44934215529e-05,-4.5020626733e-06,-4.13506355334e-05,1793192742516794112
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.498279006,711.498279006,671.498279006,660.498279006,633,877,783,799,649,628.498279006,650,0.421199523891,-0.00555612312135,0.0700069726424,0.999999996386,-7.22792773232e-05,1.57104032902e-05,-4.19165909233e-05,1793192742533460736
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.923289583,743,712,672,660.923289583,633,877,783,799,649,628.923289583,650,0.422076505288,-0.00555097674707,0.0700103005604,0.999999996484,-6.86597713352e-05,2.1420047639e-05,-4.31228497054e-05,1793192742550127616
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.346339496,743,712,672,660.346339496,633,877,783,799,649,628.346339496,650,0.422866277067,-0.00554747554871,0.0699609520335,0.999999995646,-5.8826235438e-05,-5.59149635616e-05,-4.60625641482e-05,1793192742566794240
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.229539646,742.770460354,712,672.229539646,660,633,877,783,799,649,628,650,0.423655612451,-0.00554684167612,0.0699049630682,0.999999986891,-5.91304667524e-05,-0.000142175888966,-5.00795272698e-05,1793192742583460608
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.803810489,742.196189511,712,672.803810489,660,633,877,783,799,649,628,650,0.42444429256,-0.00555051405973,0.0698390012374,0.999999966417,-7.4659973303e-05,-0.000241842096351,-5.57143430477e-05,1793192742600127232
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.389284537,712,672.610715463,660,633,877,783,799,649,628.389284537,650,0.425310453707,-0.00555615152506,0.0698511680059,0.999999971178,-8.50998007938e-05,-0.000217256950269,-5.65804706697e-05,1793192742616794112
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.980571985,712,672.019428015,660,633,877,783,799,649,628.980571985,650,0.426216820347,-0.00556280868704,0.0699038763437,0.999999985957,-9.28985512417e-05,-0.000128196760447,-5.49720867374e-05,1793192742633460736
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712,672.560064565,660.560064565,633,877,783,799.560064565,649,628.439935435,650,0.427130412933,-0.00556059983836,0.0699530757829,0.999999992693,-8.70668632198e-05,-6.68259107523e-05,-5.06770584379e-05,1793192742650127360
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.862389468,743,712,672.862389468,661.137610532,633,877,783,800,649,628.137610532,650,0.42803338446,-0.00555846546807,0.0699957413197,0.999999995402,-8.25247587421e-05,-1.1139768476e-05,-4.7547640173e-05,1793192742666794240
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.289730815,743,712,672.289730815,661.710269185,633,877,783,800,649,628.710269185,650,0.42890200194,-0.00555751881171,0.0700181271541,0.999999994904,-8.35235808557e-05,2.95484559289e-05,-4.83917937303e-05,1793192742683460864
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.291250965,743,711.708749035,672.291250965,661.417498069,633,877.291250965,783,799.708749035,649,629,650,0.429734320257,-0.00556074722955,0.0700223471298,0.999999994361,-8.52409240726e-05,4.00327556275e-05,-4.90769168243e-05,1793192742700127488
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.880755968,743,711.119244032,672.880755968,660.238488064,633,877.880755968,783,799.119244032,649,629,650,0.430529466553,-0.00556825111045,0.0700079644508,0.999999994733,-8.76940651093e-05,1.95868807774e-05,-4.95991855937e-05,1793192742716794368
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.554009998,743,711.445990002,672.554009998,660,633,877.554009998,783.445990002,799.445990002,649,629,650,0.431256011844,-0.00557137870994,0.0699466696906,0.999999990106,-9.89100059293e-05,-8.51624265442e-05,-5.24627728115e-05,1793192742733460736
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,743,711.994606409,672.005393591,660.005393591,633,877,783.994606409,799.994606409,648.994606409,628.994606409,650,0.431966096457,-0.00557334741468,0.0698741244845,0.999999970088,-0.000112132429018,-0.000210058680745,-5.59030301684e-05,1793192742750127104
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,711.399807285,672.600192715,660.600192715,633,877,783.399807285,799.399807285,648.399807285,628.399807285,650,0.432778293402,-0.00556993942058,0.0698720698118,0.999999973054,-0.000101805289807,-0.000200555559559,-5.7483658614e-05,1793192742766793728
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.188850369,743,711,673,661,633,877.188850369,783.188850369,799.188850369,648.188850369,628,650,0.433597340681,-0.00556866301404,0.0698934023641,0.999999981343,-9.64974339093e-05,-0.00015739935403,-5.68142200402e-05,1793192742783460352
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.764915785,743,711,673,661,633,877.764915785,783.764915785,799.764915785,648.764915785,628,650,0.434430433901,-0.00557175717165,0.0699626876176,0.9999999925,-0.000101481014179,-4.52415293983e-05,-5.15312885542e-05,1793192742800127488
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.649342824,711.350657176,673,661.350657176,633,878,784,799.649342824,649,628,650,0.435194982765,-0.00557502509139,0.0699972146252,0.999999993453,-0.000103023358786,8.72737551215e-06,-4.90390725754e-05,1793192742816794624
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.056930517,711.943069483,673,661.943069483,633,878,784,799.056930517,649,628,650,0.435912274739,-0.00557841280852,0.0700077780971,0.999999993349,-0.000102193197357,2.25788288191e-05,-4.84708725721e-05,1793192742833462016
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+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711.079469961,674,657,630,877.920530039,781.079469961,799.920530039,649,628,650,0.446864556075,-0.00556190858846,0.0696270601081,0.999999823414,-0.00010049967676,-0.000582256652205,-6.36276377745e-05,1793192743866794752
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,781.501804785,800,649,628,650,0.446863526766,-0.0055624287856,0.0696265678483,0.999999822641,-0.00010266716691,-0.000583177124091,-6.38970506695e-05,1793192743883461120
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,782,799.919004633,649,628,650,0.446862487058,-0.00556306970512,0.0696259485311,0.999999821798,-0.00010484887416,-0.000584201220218,-6.41786860787e-05,1793192743900128000
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,782,799.342314168,649,628,650,0.446862749452,-0.00556264673357,0.0696255695199,0.999999821814,-0.000103683481541,-0.000584387767089,-6.41291872138e-05,1793192743916794368
+246,4.100000000,HOLD_POSE2,763,743,712,674,657,630,879,782,799,649,628,651,0.44686289447,-0.00556302297484,0.0696256152617,0.999999821679,-0.00010415878665,-0.000584528096597,-6.41836868889e-05,1793192743955158272
+247,4.116666667,HOLD_POSE2,763.579612237,743,711.420387763,674,657.579612237,630,878.420387763,782,799.579612237,649,628,650.420387763,0.446864425278,-0.005561966768,0.0696270737881,0.999999823075,-0.000101615511006,-0.000582610440838,-6.39538162174e-05,1793192743971824640
+248,4.133333333,HOLD_POSE2,764,743,711,674,658,630,878,782,799.841302903,649,628,650,0.446865401821,-0.00556134029454,0.0696277405409,0.999999823825,-0.000100070086789,-0.000581603368327,-6.382227033e-05,1793192743988491008
+249,4.150000000,HOLD_POSE2,764,743,711,674,658,630,878,782,799.26361031,649,628,650,0.44686491498,-0.00556184841216,0.0696263168363,0.999999822894,-0.000101159210856,-0.000583000436924,-6.39503236077e-05,1793192744005157888
+250,4.166666667,HOLD_POSE2,764,743,711,674,657.688310798,630,878,781.688310798,799,649,628,650,0.446864238224,-0.00556165785202,0.0696255910825,0.999999822224,-0.00010118301934,-0.000584159559879,-6.38132980922e-05,1793192744021824768
+251,4.183333333,HOLD_POSE2,764,743,711,674,657.11501984,630,878,781.11501984,799,649,628,650,0.446863402072,-0.00556088088935,0.0696254511211,0.999999821773,-0.000100312704945,-0.000585118974206,-6.34537910811e-05,1793192744038491392
+252,4.200000000,HOLD_POSE2,763.527741829,743,711,673.527741829,657.472258171,630,878,781.472258171,799.472258171,649,628,650,0.446864475094,-0.00556122839373,0.0696257929611,0.999999822396,-9.98713488386e-05,-0.000584159563709,-6.31830376373e-05,1793192744055157760
+253,4.216666667,HOLD_POSE2,763.12417495,743,711.062087475,673.062087475,657.937912525,630,878,782,800,649,628,650.062087475,0.446865850827,-0.00556181986647,0.0696262720789,0.999999823201,-9.97227777217e-05,-0.000582823756256,-6.29997875353e-05,1793192744071824384
+254,4.233333333,HOLD_POSE2,764.287774275,743,711.643887138,673.643887138,657.356112862,630,878,782,800,649,628,650.643887138,0.446865749444,-0.0055620910982,0.0696268880753,0.999999823303,-0.000101123799342,-0.000582368557848,-6.33625327989e-05,1793192744088491008
+255,4.250000000,HOLD_POSE2,764.556275369,743,711.778137685,674,657,630,878,782,799.778137685,649,628,650.778137685,0.446865865175,-0.00556285809419,0.0696272706226,0.999999823353,-0.000102680575758,-0.000581996670748,-6.34906732281e-05,1793192744105157632
+256,4.266666667,HOLD_POSE2,763.412394489,743,711.206197245,674,657,630,878,782,799.206197245,649,628,650.206197245,0.446866323491,-0.00556440736011,0.0696272848086,0.999999823321,-0.000104483118644,-0.000581756241194,-6.32486289869e-05,1793192744121824256
+257,4.283333333,HOLD_POSE2,763.37387621,743,711,673.62612379,657,630,878,782,799,649,628,650,0.446866143208,-0.0055630239936,0.0696268472747,0.99999982308,-0.000103009858023,-0.000582410981618,-6.34611918591e-05,1793192744138491136
+258,4.300000000,HOLD_POSE2,763.958534918,743,711,673.041465082,657,630,878,782,799,649,628,650,0.446865602898,-0.00555998727898,0.0696261550719,0.99999982271,-9.96897776153e-05,-0.000583570397517,-6.39300513655e-05,1793192744155158016
+259,4.316666667,HOLD_POSE2,763.458890904,743,711,673,657,630,878,782,799.541109096,649,628,650,0.44686636221,-0.00556133821975,0.0696269616515,0.999999823553,-9.90145502843e-05,-0.000582279725901,-6.3561515019e-05,1793192744171824896
+260,4.333333333,HOLD_POSE2,763.122977438,743,711.122977438,673.122977438,657,630,878,782,799.877022562,649,628,650.122977438,0.446866898893,-0.00556247839079,0.0696276481428,0.999999824268,-9.85011293891e-05,-0.000581181700757,-6.31602504704e-05,1793192744188491776
+261,4.350000000,HOLD_POSE2,763.702814917,743,711.702814917,673.702814917,657,630,878,782,799.297185083,649,628,650.702814917,0.446866239963,-0.00556159127473,0.0696274634732,0.999999824169,-9.78387730611e-05,-0.000581494166862,-6.28748750163e-05,1793192744205158144
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630,878,782,800,649,628,650,0.446866092213,-0.00556258384342,0.0696267192075,0.99999982338,-9.97428558116e-05,-0.000582532311258,-6.28300789384e-05,1793192744243015168
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.407046669,743,711,673,657.407046669,630,878,782,800,649,628,650,0.446865454645,-0.00556345453198,0.0696261732304,0.999999822407,-0.000104045669167,-0.000583412720131,-6.31731715995e-05,1793192744259682560
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.181545266,743,711.181545266,673,657,630,878,781.818454734,800,649,628,650,0.446865471831,-0.00556343389787,0.0696258147851,0.999999822096,-0.000105416591363,-0.000583677647073,-6.33705731721e-05,1793192744276349696
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.760587943,743,711.760587943,673,657,630,878,781.239412057,800,649,628,650,0.446866922617,-0.00556146169309,0.0696258669449,0.999999823254,-0.000100368073296,-0.000582594962775,-6.32489809239e-05,1793192744293016320
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.661301923,711.661301923,673.338698077,657,630,878,781,800,649,628,650,0.446867302938,-0.00556034033307,0.0696261186203,0.999999823537,-9.77887015268e-05,-0.000582560203,-6.31498084017e-05,1793192744309682944
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.083849189,711.083849189,673.916150811,657,630,878,781,800,649,628,650,0.446866928668,-0.00555981874968,0.069626510938,0.999999823213,-9.69498778079e-05,-0.000583264145041,-6.3066439975e-05,1793192744326349312
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.492848947,711,674,657,630,878,781.492848947,800.492848947,649,628,650,0.44686653468,-0.00556074251536,0.069626655804,0.999999823126,-9.81593461847e-05,-0.000583208808413,-6.30863954069e-05,1793192744343015424
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.9292576,743,711,673.9292576,657,630,878,781.9292576,800.8585152,649,628,650,0.446865474735,-0.00556176653137,0.069626382402,0.999999822764,-9.96059197159e-05,-0.000583577464572,-6.31538593048e-05,1793192744359681792
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.341695089,743,711,673.341695089,657,630,878,781.341695089,799.683390177,649,628,650,0.446859574002,-0.00556172922958,0.0696233603682,0.9999998201,-0.000100242723699,-0.000587985952133,-6.34401766318e-05,1793192744376348416
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.243262761,657,630,878.243262761,781,799.243262761,649,628,650,0.446847443413,-0.00556077736384,0.0696169252376,0.999999814456,-9.9594260617e-05,-0.00059757157489,-6.38567589039e-05,1793192744393015296
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.824600725,657,630,878.824600725,781,799.824600725,649,628,650,0.446826654861,-0.00555855447993,0.0696057467451,0.999999804489,-9.71595934383e-05,-0.000614352137412,-6.44543772655e-05,1793192744409681920
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.598319238,657.401680762,630,878.598319238,781.401680762,799.598319238,649,628,650,0.4467831634,-0.00555679068186,0.0695871731272,0.999999784001,-9.62327450981e-05,-0.000646936825791,-6.48902150324e-05,1793192744426348800
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.023078928,657.976921072,630,878.023078928,781.976921072,799.023078928,649,628,650,0.44672986239,-0.00555522524694,0.0695654041983,0.999999757729,-9.59573997595e-05,-0.000686350213566,-6.52561500782e-05,1793192744443015936
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,743,711.547721107,674.095442214,657.452278893,630,877.452278893,781.452278893,799.547721107,649,628,650.547721107,0.44666206345,-0.00555507391907,0.0695511736143,0.999999741418,-9.72030979272e-05,-0.000709586307796,-6.48273781527e-05,1793192744459682304
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.123924185,743,711.876075815,674.75215163,657.123924185,630,877,781.123924185,799.876075815,649,628,650.876075815,0.446591897825,-0.00555434413035,0.0695397371385,0.999999728595,-9.76244404687e-05,-0.00072742511038,-6.42836995378e-05,1793192744476348928
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.721487218,743,711.278512782,673.557025565,657.721487218,630,877,781.721487218,799.278512782,649,628,650.278512782,0.446515002741,-0.00555117755776,0.0695377755041,0.999999729085,-9.46521055657e-05,-0.000727219767805,-6.34278013921e-05,1793192744493015552
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711.307845477,673,657.692154523,630,877.307845477,782,799,649,628,650,0.446427393573,-0.00554804187019,0.0695401394282,0.999999732767,-9.08439040236e-05,-0.000722798430958,-6.14503203864e-05,1793192744509681664
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.884422569,673,657.115577431,630,877.884422569,782,799,649,628,650,0.446330431623,-0.00554493314366,0.0695462793193,0.999999739169,-8.63060385562e-05,-0.000714696770549,-5.8493761298e-05,1793192744526348032
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.541724522,743,711.541724522,673,657,630,877.541724522,782,799.458275478,649,628.458275478,650,0.44621014124,-0.00554297494756,0.0695509142335,0.999999744491,-8.32644831456e-05,-0.000707827506908,-5.53606928934e-05,1793192744543014912
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.032434295,742.967565705,711,673.032434295,657,630,877,782,800,649,628.967565705,650,0.446081664801,-0.005541157524,0.0695547488237,0.999999749134,-8.05012853923e-05,-0.000701804934447,-5.21757883871e-05,1793192744559681792
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.623629289,742.376370711,711,673.623629289,657,630,877,782,800,649,628.376370711,650,0.445912921295,-0.00553679599206,0.0695512960133,0.999999747368,-7.60707629625e-05,-0.000705045852525,-4.8860241e-05,1793192744576348672
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.210186,711,673.789814,657.210186,630.210186,877.210186,782,800,649,628,650,0.445731846761,-0.00553199694507,0.0695490645573,0.999999746644,-6.9554421025e-05,-0.000706992825588,-4.51114208415e-05,1793192744593015552
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.788616407,711,673.211383593,657.788616407,630.788616407,877.788616407,782,800,649,628,650,0.445529168371,-0.00552643137522,0.069548972906,0.999999747719,-5.93837383026e-05,-0.000706672815636,-4.06035101528e-05,1793192744609682176
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.363658827,657.636341173,631,878,782,800,649,628,650,0.445306556239,-0.00552015888788,0.0695523814066,0.999999751826,-4.8519881173e-05,-0.000701948595041,-3.55214884952e-05,1793192744626348288
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.936750147,657.063249853,631,878,782,800,649,628,650,0.44507246417,-0.00551347928357,0.069557805658,0.999999757557,-3.72568213128e-05,-0.000694687972762,-3.01088337285e-05,1793192744643014656
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.475043873,743,711,673.475043873,657,631,878,782,800,649,628,650,0.444779965341,-0.00550335760439,0.0695567324394,0.999999753249,-2.21549519466e-05,-0.00070172820191,-2.42663460297e-05,1793192744659681536
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742.887145193,711,673,657.112854807,631,877.887145193,782,800,649,628,650,0.444473508993,-0.00549305950024,0.0695557574378,0.999999749103,-6.09991415937e-06,-0.000708116286067,-1.81285061984e-05,1793192744676348160
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.308258486,711,673,657.691741514,631,877.308258486,782,800,649,628,650,0.444139336711,-0.00548379620607,0.0695585166409,0.999999751719,1.19246181598e-05,-0.000704485100724,-1.09912144143e-05,1793192744693014784
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.269662628,742.269662628,711,673,658.269662628,630.730337372,877.269662628,782,800,649,628,650,0.443787887556,-0.00547444690226,0.0695663385962,0.999999760174,5.25512187066e-05,-0.000690562344066,-3.60971658075e-06,1793192744709681920
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.846483848,742.846483848,711,673,658.846483848,630.153516152,877.846483848,782,800,649,628,650,0.44341675924,-0.00546499962992,0.0695799272676,0.999999771863,0.00011892265161,-0.000664916994729,4.04994317864e-06,1793192744726348800
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.436689365,742,712,671,659,633,876.436689365,783,799.436689365,650,629,650.436689365,0.401687597564,-0.0053808028975,0.0697963416167,0.999999919136,0.000218795996403,-0.000335736994385,3.37194577421e-05,1793192745809681408
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,711.848725332,671,659,633,876,783,799.151274668,649.848725332,629,650,0.401548362016,-0.00537971634825,0.0697995449251,0.999999919752,0.000221733089394,-0.000331815800305,3.50437265338e-05,1793192745826348288
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,711.269589537,671,659,633,876,783,799.730410463,649.269589537,629,650,0.401430557463,-0.00538202010596,0.0697991679016,0.999999919769,0.000223308394918,-0.000330683195961,3.52627087736e-05,1793192745843014912
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.308074127,742,711.308074127,671.308074127,659,633,876,783,800,649,628.691925873,650.308074127,0.401328446502,-0.0053836450339,0.0697977324941,0.999999919431,0.000222906899508,-0.000332653739636,2.81586182849e-05,1793192745859681536
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,632.215106184,877,783.215106184,799,649,629,651,0.401033315025,-0.00538622334829,0.0698014671225,0.99999992377,0.000220899846864,-0.000321426753995,1.86788740772e-05,1793192745943015168
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,632.790466258,877,783.790466258,799,649,629,651,0.401010046527,-0.00538848470454,0.0698042420823,0.999999926383,0.000218765697736,-0.00031461663748,1.97886169958e-05,1793192745959683072
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.633767231,742,712,671.366232769,659,633,876.633767231,783.633767231,799,649,629,651,0.400993971883,-0.00538963627129,0.069807230157,0.999999928362,0.000217476422178,-0.000309133581409,2.03880904236e-05,1793192745976349440
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.149929443,742,711.149929443,672,659,632.850070557,876.850070557,784,799,649,629,651,0.400954887855,-0.00538990277006,0.0698128589749,0.999999931533,0.000214322994321,-0.000300923514697,2.10938750113e-05,1793192746076348672
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.40071157,711.40071157,671.40071157,659,633,877,783,799,649,628.59928843,650,0.400954899143,-0.00539186490326,0.069815317638,0.999999933365,0.000211689334721,-0.00029669023922,2.07781176486e-05,1793192746126348544
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.17733541,711.17733541,671,659,633,876.82266459,783,799.17733541,649,628.82266459,650.17733541,0.400954015516,-0.00539088757089,0.0698151325934,0.999999932818,0.000213595731347,-0.000297178812513,2.06211671378e-05,1793192746143015424
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742.668524608,712,671.331475392,659,633,876.331475392,783,799.668524608,649,628.331475392,651,0.400954412463,-0.00539146853324,0.0698159527802,0.999999933452,0.000212539773155,-0.00029578351182,2.08601262388e-05,1793192746176348672
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742.094288272,712,671.905711728,659,633,876.905711728,783,799.094288272,649,628.905711728,651,0.400954883235,-0.00539205095416,0.0698167055369,0.999999933533,0.000213887533715,-0.000294527362026,2.0974180437e-05,1793192746193015808
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.917989863,742.917989863,711.917989863,671.082010137,659,633,876,783,799,649.082010137,629,650,0.400953197382,-0.00539060337073,0.0698155233274,0.999999933076,0.000212898898344,-0.000296806224918,2.06876767091e-05,1793192746226349056
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.339275136,742.339275136,711.339275136,671.660724864,659,633,876,783,799,649.660724864,629,650,0.400954076775,-0.00539159176722,0.0698168362973,0.9999999336,0.000212980541691,-0.000294959756004,2.09476057642e-05,1793192746243015168
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.237624337,672,659,633,876,783,799.237624337,649.762375663,629,650.237624337,0.400954025463,-0.00539237816824,0.0698173620181,0.999999933678,0.000213524073575,-0.000294287290415,2.11465436244e-05,1793192746259681536
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.811951644,672,659,633,876,783,799.811951644,649.188048356,629,650.811951644,0.400952655383,-0.00539287835071,0.0698167722424,0.999999933127,0.00021472208068,-0.000295278334704,2.12590596966e-05,1793192746276348416
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.604125378,672,659,633,876.791749245,783.395874622,799.604125378,649,629,650.604125378,0.400953277199,-0.00539365954156,0.0698171637003,0.999999933534,0.000214246252767,-0.000294230089869,2.14150610613e-05,1793192746293014784
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.01553105,672,659,633,877.9689379,783.98446895,799.01553105,649,629,650.01553105,0.40095486871,-0.00539457753289,0.0698180328423,0.999999934405,0.000212955568364,-0.000292189078164,2.15922319351e-05,1793192746309681408
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.563557457,671.436442543,659,633,877.436442543,783.436442543,799.563557457,649,628.436442543,650,0.400954384905,-0.00539191170142,0.06981757923,0.999999933782,0.000215033371484,-0.000292828029639,2.11593759607e-05,1793192746326348544
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.142443143,712,671.142443143,659,633,877.142443143,783,800,649,628.142443143,650,0.400953921288,-0.00539003094535,0.0698173533328,0.999999933445,0.000216058429371,-0.000293251781408,2.07746975036e-05,1793192746343015168
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.721496703,712,671.721496703,659,633,877.721496703,783,800,649,628.721496703,650,0.400953691953,-0.00539085428081,0.0698179353007,0.999999934117,0.000213576834254,-0.000292793284515,2.05883664229e-05,1793192746359681536
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.702158488,743,711.702158488,672,659,632.702158488,877.404316975,783.297841512,799.702158488,649,628.702158488,650,0.400954318935,-0.00539144846329,0.0698185890812,0.999999934575,0.000212902695347,-0.000291720866598,2.05427777777e-05,1793192746376348160
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.128323661,743,711.128323661,672,659,632.128323661,876.256647323,783.871676339,799.128323661,649,628.128323661,650,0.400955739419,-0.00539183030243,0.0698193094064,0.999999934837,0.000213903426205,-0.000290079561851,2.06276073691e-05,1793192746393015040
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.457415457,743,711.457415457,672,659,632.457415457,876.457415457,783.542584543,799,649,628,650.457415457,0.400954526566,-0.00539198390228,0.069818251476,0.999999934633,0.000213504333715,-0.000291076563311,2.0603562665e-05,1793192746409681664
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.954433578,712,672,659.045566422,633,877,783.045566422,799,649,628,651,0.400952636015,-0.0053920689183,0.0698167620973,0.999999934292,0.00021270477665,-0.000292830845072,2.05388629818e-05,1793192746426348288
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.378128094,712,672,659.621871906,633,877,783.621871906,799,649,628,651,0.400951686607,-0.00539212082605,0.0698162133184,0.999999933953,0.000211937089408,-0.000294554270476,2.0365896996e-05,1793192746443014912
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.800608876,632.800608876,876.800608876,783.800608876,799,649,628,651,0.40095216478,-0.00539249695918,0.069816897412,0.999999934259,0.000211122489041,-0.0002940971391,2.03979196233e-05,1793192746459681536
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.220773852,632.220773852,876.220773852,783.220773852,799,649,628,651,0.400955366819,-0.0053934917235,0.0698199338613,0.999999935788,0.000210218377153,-0.000289479443677,2.08210663259e-05,1793192746476348416
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.640157649,659,632,876.359842351,783,799,649,628.359842351,651,0.400956363957,-0.00539406513656,0.0698206772052,0.999999936218,0.00021043596272,-0.000287818649029,2.1004252515e-05,1793192746493015296
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.059061148,659,632,876.940938852,783,799,649,628.940938852,651,0.40095600538,-0.00539437947581,0.0698200106009,0.999999935981,0.000211343239842,-0.000287975946744,2.10398955787e-05,1793192746509682176
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3db20f6441b9b92fdb9bc00c070f4b9b23ccd186
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_04/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
+0,0.000000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+1,0.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+2,0.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+3,0.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+4,0.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+5,0.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+6,0.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+7,0.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+8,0.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+9,0.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+11,0.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+12,0.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+13,0.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+14,0.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+15,0.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+16,0.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+17,0.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+18,0.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+19,0.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+21,0.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+22,0.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+23,0.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+24,0.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+25,0.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+27,0.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+28,0.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+29,0.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+31,0.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+32,0.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+33,0.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+34,0.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+371,6.183333333,pose2_to_pose3_retreat,0.575715301001,5.45401353379e-05,1.06002916613,0.546286032672,0.00872727445282,1.05969845634
+372,6.200000000,pose2_to_pose3_retreat,0.575714287376,5.45371960032e-05,1.06002912497,0.546285019109,0.00872727173955,1.05969841565
+373,6.216666667,pose2_to_pose3_retreat,0.575713729841,5.45323547984e-05,1.06002910632,0.546284461686,0.00872726727153,1.05969839679
+374,6.233333333,pose2_to_pose3_retreat,0.575713441187,5.45298483528e-05,1.06002909666,0.546284173091,0.0087272649583,1.05969838703
+375,6.250000000,pose2_to_pose3_retreat,0.575713319865,5.45287948817e-05,1.0600290926,0.546284051793,0.00872726398603,1.05969838293
+376,6.266666667,pose2_to_pose3_retreat,0.575713176626,5.45275511058e-05,1.06002908781,0.546283908583,0.00872726283814,1.05969837808
+377,6.283333333,pose2_to_pose3_retreat,0.575712971003,5.45257656298e-05,1.06002908093,0.546283703001,0.00872726119029,1.05969837113
+378,6.300000000,pose2_to_pose3_retreat,0.575712836436,5.45245971563e-05,1.06002907642,0.546283568461,0.00872726011189,1.05969836658
+379,6.316666667,pose2_to_pose3_retreat,0.575712709887,5.45234982996e-05,1.06002907219,0.546283441938,0.00872725909774,1.0596983623
+380,6.333333333,pose2_to_pose3_retreat,0.575712705751,5.45234623884e-05,1.06002907205,0.546283437803,0.0087272590646,1.05969836216
+381,6.350000000,pose2_to_pose3_retreat,0.57571264589,5.45229425988e-05,1.06002907005,0.546283377953,0.00872725858488,1.05969836014
+382,6.366666667,pose2_to_pose3_retreat,0.575712301285,5.45199503138e-05,1.06002905852,0.546283033418,0.00872725582326,1.05969834848
+383,6.383333333,pose2_to_pose3_retreat,0.575712184968,5.4518940313e-05,1.06002905463,0.546282917125,0.00872725489111,1.05969834455
+384,6.400000000,pose2_to_pose3_retreat,0.575711926447,5.45166955096e-05,1.06002904597,0.546282658655,0.00872725281935,1.05969833581
+385,6.416666667,pose2_to_pose3_retreat,0.575711878785,5.45162816523e-05,1.06002904438,0.546282611003,0.0087272524374,1.0596983342
+386,6.433333333,pose2_to_pose3_retreat,0.575711862671,5.45161417322e-05,1.06002904384,0.546282594893,0.00872725230826,1.05969833365
+387,6.450000000,pose2_to_pose3_retreat,0.575711702334,5.45147494885e-05,1.06002903848,0.546282434588,0.00872725102334,1.05969832823
+388,6.466666667,pose2_to_pose3_retreat,0.575711546198,5.45181249433e-05,1.06002904226,0.546282278361,0.00872725408475,1.05969833183
+389,6.483333333,pose2_to_pose3_retreat,0.575711424644,5.45294917424e-05,1.06002906184,0.546282156512,0.00872726443397,1.05969835104
+390,6.500000000,pose2_to_pose3_retreat,0.575711404868,5.45313410768e-05,1.06002906503,0.546282136688,0.00872726611775,1.05969835416
+391,6.516666667,pose2_to_pose3_retreat,0.57571122544,5.45481198627e-05,1.06002909393,0.546281956823,0.00872728139447,1.05969838251
+392,6.533333333,pose2_to_pose3_retreat,0.575710945487,5.45742989478e-05,1.06002913903,0.546281676189,0.00872730522994,1.05969842675
+393,6.550000000,pose2_to_pose3_retreat,0.57571064476,5.46024206819e-05,1.06002918748,0.546281374731,0.00872733083416,1.05969847427
+394,6.566666667,pose2_to_pose3_retreat,0.575710592744,5.46072848435e-05,1.06002919586,0.546281322588,0.00872733526287,1.05969848248
+395,6.583333333,pose2_to_pose3_retreat,0.575710336239,5.46312713353e-05,1.06002923718,0.546281065459,0.00872735710204,1.05969852301
+396,6.600000000,pose2_to_pose3_retreat,0.575709892505,5.46614113459e-05,1.06002927924,0.546280621149,0.00872738528286,1.05969856496
+397,6.616666667,pose2_to_pose3_retreat,0.575709461276,5.46285596722e-05,1.06002915909,0.546280192115,0.00872736013477,1.05969845156
+398,6.633333333,pose2_to_pose3_retreat,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398285,1.05969835126
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..488c5988e1e4f30e1ffccc9e045c558ba57ec43a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05ef6cea755c1011e40ff86ce2307cce750c4a3c809ccc6be6b8db83adbe1099
+size 25567143
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb09521dfbe31208c5e6d62dfbd3ede621bf168c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_05/franka_data.csv
@@ -0,0 +1,404 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,763.421844408,742.421844408,712,671,659.421844408,632.421844408,877,783.421844408,798.421844408,649,628,650,0.400954545875,-0.00539166462708,0.0698195607094,0.999999935399,0.000213072971563,-0.000288773146571,2.03150612643e-05,1793192746671593472
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+21,0.350000000,BASELINE,764.815454961,742,711.815454961,671,658.184545039,632.815454961,877,783.184545039,799,649,629,650.184545039,0.400954689307,-0.00539188824532,0.0698205121544,0.99999993581,0.000212803480151,-0.000287560355303,2.01137349609e-05,1793192747004926208
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+27,0.450000000,BASELINE,763.337338146,742.337338146,712,671.337338146,659,633,876.337338146,783.662661854,799,649,628.662661854,651,0.400956788412,-0.00539327623226,0.0698217217522,0.999999936764,0.000211115122391,-0.000285460606217,2.03651981118e-05,1793192747104925952
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+39,0.650000000,BASELINE,764,742,712,671,659,632.3737356,876.3737356,784,799.3737356,649,629,650,0.400955406317,-0.00539317873899,0.0698220397023,0.999999936675,0.000210626726404,-0.00028614116857,2.024184616e-05,1793192747304925696
+40,0.666666667,BASELINE,764,742.205838162,712,671.205838162,659,632.205838162,876,783.794161838,799.205838162,649,628.794161838,650.205838162,0.400955301023,-0.00539391873833,0.0698216850179,0.999999936831,0.000209248539545,-0.000286607148101,2.02561651919e-05,1793192747321592576
+41,0.683333333,BASELINE,764,742.792781839,712,671.792781839,659,632.792781839,876,783.207218161,799.792781839,649,628.207218161,650.792781839,0.400954738632,-0.00539368788044,0.0698217628479,0.999999936334,0.00021138806036,-0.00028674098823,2.06363183575e-05,1793192747338259200
+42,0.700000000,BASELINE,764,742.623672934,712,671.623672934,659,633,876.376327066,783.376327066,799.623672934,649,628.376327066,651,0.400954281529,-0.00539402021023,0.0698214607763,0.999999936333,0.000211111243696,-0.000286956340173,2.0565321978e-05,1793192747354925824
+43,0.716666667,BASELINE,764,742.041982277,712,671.041982277,659,633,876.958017723,783.958017723,799.041982277,649,628.958017723,651,0.400953881883,-0.00539465987441,0.0698209513904,0.9999999366,0.000209515819336,-0.000287216173522,2.02481309891e-05,1793192747371592448
+44,0.733333333,BASELINE,764,742.533688834,712,671,659,633,876.466311166,784,799.533688834,649,629,651,0.400954578745,-0.00539424989879,0.0698211514043,0.999999936607,0.000209573570902,-0.000287151695745,2.02287710618e-05,1793192747388259328
+45,0.750000000,BASELINE,764,742.891147363,712,671,659,632.891147363,876.108852637,783.891147363,799.891147363,649,629,651,0.40095550779,-0.00539397673011,0.0698215267829,0.999999936675,0.000209880616597,-0.000286684126548,2.03103924208e-05,1793192747404925952
+46,0.766666667,BASELINE,764,742.316151017,712,671,659,632.316151017,876.683848983,783.316151017,799.316151017,649,629,651,0.40095706586,-0.00539463906062,0.069822416825,0.999999937089,0.000210704534316,-0.000284598415235,2.07252391974e-05,1793192747421592576
+47,0.783333333,BASELINE,764,742.266362058,712,671,659,632.266362058,877,783,799.266362058,649,629,651,0.400957784184,-0.00539456557704,0.0698229628031,0.999999937348,0.000211112125587,-0.000283381077017,2.07732913296e-05,1793192747438259200
+48,0.800000000,BASELINE,764,742.858056066,712,671,659,632.858056066,877,783,799.858056066,649,629,651,0.40095747685,-0.00539359337759,0.069823088545,0.999999937422,0.000211011220018,-0.000283224360724,2.03733442117e-05,1793192747454925824
+49,0.816666667,BASELINE,764.43861234,742.56138766,712,671,659,633,876.56138766,783.43861234,800,649,628.56138766,651,0.400957140398,-0.00539289499493,0.0698228065292,0.999999936954,0.00021220705832,-0.000283994120851,2.01690772368e-05,1793192747471592448
+50,0.833333333,BASELINE,764.984395977,742,711.984395977,671,658.984395977,633,876.015604023,784,799.984395977,649,628,651,0.400956824505,-0.00539235259997,0.0698224395055,0.999999936361,0.000213690724375,-0.000284979505153,2.00412305297e-05,1793192747488259072
+51,0.850000000,BASELINE,764.409176554,742,711.409176554,671,658.409176554,633,876.590823446,784,799.409176554,649,628,651,0.400957575476,-0.00539430520833,0.0698236391109,0.999999937464,0.000210819387676,-0.000283211376845,2.04392286833e-05,1793192747504925952
+52,0.866666667,BASELINE,763.833892572,742,711,671,658.166107428,633,877,784,799.166107428,649,628.166107428,651,0.400957519083,-0.00539576284735,0.0698238558753,0.999999938022,0.000208555776336,-0.000282900177684,2.06930939469e-05,1793192747521592832
+53,0.883333333,BASELINE,763.258449535,742,711,671,658.741550465,633,877,784,799.741550465,649,628.741550465,651,0.400955473116,-0.00539600074202,0.0698216506417,0.99999993725,0.000207789772072,-0.000286179263462,2.05917750456e-05,1793192747538259456
+54,0.900000000,BASELINE,763.326149617,742.326149617,711,671.326149617,659,633,876.673850383,784,799.673850383,649,629,650.673850383,0.400955882659,-0.00539514599851,0.0698218254983,0.999999937081,0.000209413273231,-0.000285580468374,2.06635759161e-05,1793192747554926080
+55,0.916666667,BASELINE,763.918213858,742.918213858,711,671.918213858,659,633,876.081786142,784,799.081786142,649,629,650.081786142,0.400958294215,-0.00539340041086,0.0698239408778,0.99999993739,0.000212984973668,-0.000281819979281,2.08765239114e-05,1793192747571592448
+56,0.933333333,BASELINE,764,743,711.497741304,672,659,633,876.497741304,784,798.502258696,649,628.502258696,650.497741304,0.400956680262,-0.00539305940137,0.0698230526071,0.99999993671,0.000213631814354,-0.000283741450289,2.07680207691e-05,1793192747588259072
+57,0.950000000,BASELINE,764,742.924953852,711.924953852,671.924953852,659.075046148,633,877,784,798.075046148,649,628.075046148,651,0.400954925384,-0.00539291500732,0.0698219583711,0.999999936068,0.000213692470026,-0.000285961609403,2.06269423444e-05,1793192747604925952
+58,0.966666667,BASELINE,764,742.349072336,711.349072336,671.349072336,659.650927664,633,877,784,798.650927664,649,628.650927664,651,0.400956535877,-0.00539258036652,0.0698227024223,0.999999936754,0.000212969663108,-0.000284097445371,2.06123047547e-05,1793192747621592576
+59,0.983333333,BASELINE,764,742,711.232125435,671.232125435,659.767874565,633,877,783.767874565,799,649,628.767874565,650.767874565,0.400956823579,-0.00539285448883,0.0698227296694,0.999999937106,0.000211797861743,-0.00028373938439,2.05361413708e-05,1793192747638259200
+60,1.000000000,BASELINE,764,742,711.821505316,671.821505316,659.178494684,633,877,783.178494684,799,649,628.178494684,650.178494684,0.40095507543,-0.00539406553265,0.0698216537138,0.999999936944,0.000209935031885,-0.000285699302682,2.0365286235e-05,1793192747654925824
+61,1.016666667,BASELINE,763.59679646,742,712,671.59679646,659,633,877,783,799,649,628,650.40320354,0.400955196181,-0.00539389419103,0.0698216388263,0.999999936701,0.000210609631362,-0.000286066450863,2.01760295994e-05,1793192747671592704
+62,1.033333333,BASELINE,763.018435297,742,712,671.018435297,659,633,877,783,799,649,628,650.981564703,0.400956128812,-0.00539312232051,0.0698220848827,0.999999936422,0.00021238652804,-0.000285741675874,1.99787790885e-05,1793192747688259328
+63,1.050000000,BASELINE,763.556194039,742.556194039,711.443805961,671.556194039,659,633,876.443805961,783.556194039,799,648.443805961,628.556194039,651,0.400956894127,-0.00539310388263,0.0698229826974,0.999999936857,0.000213019603782,-0.000283726508559,2.01989414223e-05,1793192747704925952
+64,1.066666667,BASELINE,764,742.868957184,711,672,659,633,876,784,799,648.131042816,628.868957184,651,0.400957429941,-0.00539344604692,0.0698237424486,0.999999937297,0.000212993690852,-0.000282172851511,2.04426153951e-05,1793192747721592576
+65,1.083333333,BASELINE,764,742.292946095,711,672,659,633,876,784,799,648.707053905,628.292946095,651,0.400957205167,-0.00539492843745,0.0698239828862,0.999999937687,0.000210857996859,-0.000282375279425,2.0719459276e-05,1793192747738259200
+66,1.100000000,BASELINE,764,742.290699074,711.290699074,671.709300926,659,633,876.581398148,783.709300926,799,649,628.290699074,651,0.40095677355,-0.00539511288795,0.069823639302,0.999999937449,0.000210940105001,-0.000283158273967,2.06560509267e-05,1793192747754925824
+67,1.116666667,BASELINE,764,742.882244774,711.882244774,671.117755226,659,633,877.764489548,783.117755226,799,649,628.882244774,651,0.400956127871,-0.0053939540906,0.0698226913094,0.999999936561,0.000213317433143,-0.000284542101205,2.02405130054e-05,1793192747771592448
+68,1.133333333,BASELINE,764,743,712,671,659,633,877.538280537,783.461719463,799,649,629,651,0.400956338737,-0.00539426888379,0.0698227897704,0.999999937262,0.000210661506791,-0.000284068683095,2.00631286503e-05,1793192747788259072
+69,1.150000000,BASELINE,764,742.962011544,712,671.037988456,659,633,876.962011544,784,799,649,629,650.962011544,0.400956697266,-0.00539490095237,0.069823100361,0.999999938235,0.0002070828485,-0.000283279165748,1.99757910015e-05,1793192747804925952
+70,1.166666667,BASELINE,764,742.388640518,712,671.611359482,659,633,876.388640518,784,799,649,629,650.388640518,0.400956136616,-0.00539484288892,0.0698227351142,0.999999937653,0.000208129982693,-0.000284540195056,2.032332117e-05,1793192747821592832
+71,1.183333333,BASELINE,764,742,712,671.809359863,659,632.809359863,876.190640137,783.809359863,799,649,629,650,0.40095553558,-0.00539465314614,0.0698222690145,0.99999993708,0.000209267309423,-0.000285701435781,2.05539202841e-05,1793192747838259712
+72,1.200000000,BASELINE,764,742,712,671.217646276,659,632.217646276,876.782353724,783.217646276,799,649,629,650,0.40095484958,-0.00539418637315,0.069821590738,0.999999936529,0.000210594385647,-0.000286652739051,2.05385170112e-05,1793192747854926336
+73,1.216666667,BASELINE,764,742.365506563,711.634493437,671.365506563,659,632.365506563,877,783.365506563,799,649,629,650.365506563,0.400954339746,-0.0053934225361,0.0698213854207,0.999999936279,0.000211473760897,-0.000286895355486,2.02910182474e-05,1793192747871592960
+74,1.233333333,BASELINE,764,742.943678405,711.056321595,671.943678405,659,632.943678405,877,783.943678405,799,649,629,650.943678405,0.400953932411,-0.0053924858562,0.0698214552887,0.999999936204,0.000212092647027,-0.000286725631568,1.99084777161e-05,1793192747888259584
+75,1.250000000,BASELINE,764,743,711.518337833,672,659,633,877,784,799,649,629,651,0.400954229423,-0.00539356976268,0.0698216206836,0.999999936425,0.000211186987474,-0.000286594343757,2.03407052504e-05,1793192747904925952
+76,1.266666667,BASELINE,764,742.907212952,712,672,659,633,877,784,799,649,628.907212952,650.907212952,0.400954677125,-0.00539473577388,0.0698218535309,0.999999936705,0.000210156162724,-0.000286343880969,2.07691308138e-05,1793192747921592832
+77,1.283333333,BASELINE,764,742.331885545,712,672,659,633,877,784,799,649,628.331885545,650.331885545,0.400955513162,-0.00539519466814,0.0698223835484,0.999999937134,0.000209330103295,-0.000285452073808,2.07204755932e-05,1793192747938259712
+78,1.300000000,BASELINE,764,742.251145156,712,671.748854844,659.251145156,632.748854844,876.748854844,783.748854844,799,649,628.251145156,650.251145156,0.400956300682,-0.00539528859246,0.0698229168257,0.999999937548,0.000208916344301,-0.000284305613901,2.06919792685e-05,1793192747954926592
+79,1.316666667,BASELINE,764,742.844677747,712,671.155322253,659.844677747,632.155322253,876.155322253,783.155322253,799,649,628.844677747,650.844677747,0.400957022057,-0.0053948849514,0.0698234545469,0.999999937941,0.000209064676604,-0.00028281198472,2.06909656704e-05,1793192747971593216
+80,1.333333333,BASELINE,764,743,712,671,659.574899915,632.850200169,876.850200169,783.425100085,799,649,629,651,0.40095656997,-0.0053943869499,0.0698232838771,0.999999937682,0.000209910353114,-0.000283111802245,2.054734494e-05,1793192747988259328
+81,1.350000000,BASELINE,764,742.999123184,712,671,659,633.999123184,877.999123184,783.999123184,799,649,629,650.999123184,0.400955705141,-0.0053938544934,0.0698228640894,0.99999993719,0.000211005895702,-0.000284044547363,2.03535013902e-05,1793192748004925952
+82,1.366666667,BASELINE,764,742.422535864,712,671,659,633.422535864,877.422535864,783.422535864,799,649,629,650.422535864,0.400956933525,-0.00539265941661,0.0698237370828,0.99999993683,0.000213870667903,-0.000283169083855,2.03722875375e-05,1793192748021592832
+83,1.383333333,BASELINE,764,742,712,671,659,633,877,783,799.157390845,649,628.842609155,650.157390845,0.400957329062,-0.00539210674983,0.0698238514659,0.999999936594,0.000215101446467,-0.000283071927702,2.03625720987e-05,1793192748038259456
+84,1.400000000,BASELINE,764,742,712,671,659,633,877,783,799.746477041,649,628.253522959,650.746477041,0.400955440249,-0.00539331610021,0.0698218851148,0.99999993671,0.000211850469087,-0.000285109531271,2.02746818365e-05,1793192748054926336
+85,1.416666667,BASELINE,764,742,712,671.329320668,659,633,877,783,800,649,628.329320668,651,0.400955133982,-0.0053935172582,0.0698217438673,0.999999936811,0.000211399933068,-0.000285091622957,2.02864677273e-05,1793192748071592960
+86,1.433333333,BASELINE,764,742,712,671.907447907,659,633,877,783,800,649,628.907447907,651,0.400956023353,-0.00539295671203,0.0698229815124,0.999999936902,0.000213065171575,-0.000283520745288,2.03735604121e-05,1793192748088259584
+87,1.450000000,BASELINE,764,742,712,672,659.482993205,633,877,783.482993205,800,649,628.517006795,651,0.400957454685,-0.00539339587634,0.0698241602411,0.999999937494,0.000212577844067,-0.000281783851155,2.05095125839e-05,1793192748104926464
+88,1.466666667,BASELINE,764.058077674,742.058077674,712,671.941922326,660,632.941922326,877,783.941922326,800,649.058077674,628,650.941922326,0.40095880998,-0.00539396162879,0.0698250912388,0.999999938092,0.000211709725245,-0.000280303928923,2.06258255562e-05,1793192748121593088
+89,1.483333333,BASELINE,764.633440911,742.633440911,712,671.366559089,660,632.366559089,877,783.366559089,800,649.633440911,628,650.366559089,0.400958567972,-0.00539395770568,0.069823915769,0.999999937916,0.00021110430575,-0.000281394640673,2.04842694971e-05,1793192748138259712
+90,1.500000000,BASELINE,764.784926308,743,712,671.215073692,659.784926308,632.215073692,877,783.215073692,799.569852616,649.784926308,628.215073692,650.215073692,0.400957873148,-0.00539321147752,0.0698230894953,0.999999937373,0.000211831545247,-0.000282780796906,2.04071518947e-05,1793192748154926336
+91,1.516666667,BASELINE,764.192287304,743,712,671.807712696,659.192287304,632.807712696,877,783.807712696,798.384574607,649.192287304,628.807712696,650.807712696,0.400956383399,-0.00539116212094,0.0698228762409,0.999999936177,0.00021489828901,-0.000284685610544,2.044315705e-05,1793192748171592704
+92,1.533333333,BASELINE,764,742.610526729,711.610526729,672,659,633,877,784,798.389473271,649,629,651,0.400955782268,-0.00539184101112,0.0698226217339,0.999999936274,0.000214266388707,-0.000284826347739,2.0409586046e-05,1793192748188259328
+93,1.550000000,BASELINE,764,742.033990968,711.033990968,672,659,633,877,784,798.966009032,649,629,651,0.400955607936,-0.00539383026737,0.0698223474134,0.999999936989,0.000211858044395,-0.000284119806086,2.03425978877e-05,1793192748204925952
+94,1.566666667,BASELINE,764,742,711,671.458000127,659,633,876.458000127,784,799,649,628.458000127,650.458000127,0.400956759737,-0.00539405998055,0.0698235482882,0.999999937514,0.000211497140357,-0.000282540509744,2.02840321035e-05,1793192748221592832
+95,1.583333333,BASELINE,764,742,711,671.120623007,659,633,876,783.879376993,799,649,628,650.120623007,0.4009574418,-0.00539383366829,0.0698242937172,0.999999937786,0.000211360545199,-0.000281686458274,2.01835153439e-05,1793192748238259456
+96,1.600000000,BASELINE,764,742,711,671.709599494,659,633,876,783.290400506,799,649,628,650.709599494,0.400955977376,-0.00539226473355,0.0698229118907,0.999999937127,0.000211596832372,-0.000283860684633,1.99180630205e-05,1793192748254926336
+97,1.616666667,BASELINE,764,742,711.293600222,671.706399778,659,633,876,783.293600222,799,649,628,651,0.400956230039,-0.00539154210758,0.0698227236174,0.999999936954,0.000212324011118,-0.000283932761856,1.98289986885e-05,1793192748271592960
+98,1.633333333,BASELINE,764,742,711.8727614,671.1272386,659,633,876,783.8727614,799,649,628,651,0.400958152772,-0.00539164261713,0.0698236962161,0.999999937254,0.000213528639987,-0.000281960250189,1.9911492564e-05,1793192748288259328
+99,1.650000000,BASELINE,764,742.448562808,711.551437192,671.448562808,659,633,876,784,799,649,628,651,0.400957342761,-0.00539205447821,0.069822876517,0.999999937165,0.000212504074323,-0.000283054978739,1.97786362052e-05,1793192748304926208
+100,1.666666667,BASELINE,764,742.976551153,711.023448847,671.976551153,659,633,876.023448847,783.976551153,799,649,628.023448847,651,0.40095584538,-0.00539256733062,0.0698216392776,0.999999936972,0.000210956031505,-0.000284901213159,1.96008877979e-05,1793192748321592832
+101,1.683333333,BASELINE,764,742.400945032,711.599054968,671.400945032,659,633,876.599054968,783.400945032,799,649,628.599054968,651,0.400956279668,-0.00539339407971,0.0698224525422,0.999999937003,0.000211860477464,-0.000284108401347,1.9793767246e-05,1793192748338259712
+102,1.700000000,BASELINE,764,742,712,671,659,633,876.820427245,783.179572755,799,649,629,651,0.400956827368,-0.00539387222708,0.0698232304515,0.999999937196,0.000212034959577,-0.000283287398208,1.99597858537e-05,1793192748354926336
+103,1.716666667,BASELINE,764,742,712,671,659,633,876.228634513,783.771365487,799,649,629,651,0.400957635412,-0.00539355013828,0.0698239272005,0.999999937761,0.000210533765986,-0.000282401680308,2.00641437721e-05,1793192748371592960
+104,1.733333333,BASELINE,764,742,711.644639023,671,659,633,876.355360977,783.644639023,799,649,628.644639023,650.644639023,0.400957980895,-0.00539363406792,0.0698243918456,0.999999938042,0.000210348860743,-0.000281532827154,2.01962009673e-05,1793192748388259584
+105,1.750000000,BASELINE,764,742,711.065552407,671,659,633,876.934447593,783.065552407,799,649,628.065552407,650.065552407,0.400958035161,-0.00539397361574,0.0698247103644,0.999999938145,0.000210992654822,-0.000280674591498,2.03456968868e-05,1793192748404926464
+106,1.766666667,POSE1_TO_POSE2_PRESS,763,742,712,672,659,633,878,783,800,650,628,650,0.400955071721,-0.00539521994914,0.0698226158229,0.999999937365,0.000210192334746,-0.000284024834612,2.04640917753e-05,1793192748437074944
+107,1.783333333,POSE1_TO_POSE2_PRESS,763.598940845,742.598940845,712,672,659.598940845,633,877.401059155,783.598940845,799.401059155,649.401059155,628.598940845,650,0.400956198887,-0.00539459479431,0.0698236091594,0.999999937658,0.000210952401059,-0.000282444575499,2.02061308896e-05,1793192748453741568
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.804399055,712,672,659.804399055,633,877,784,799,649,629,650,0.400956606805,-0.00539419948707,0.0698239201141,0.999999937653,0.000211409208021,-0.00028212816508,2.01005268929e-05,1793192748470408192
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.212361377,712,672,659.212361377,633,877,784,799,649,629,650,0.400955556982,-0.00539427002628,0.0698228480427,0.999999937046,0.000211251380327,-0.000284373275996,2.03037141366e-05,1793192748487074816
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671.629676936,659,633,877,783.629676936,799,649,629,650.370323064,0.400955854572,-0.00539473541238,0.069822781263,0.999999937191,0.000210673027586,-0.000284280281062,2.04641019827e-05,1793192748503741696
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,671.052224002,659,633,877,783.052224002,799,649,629,650.947775998,0.400956905801,-0.00539542164505,0.0698232767652,0.999999937757,0.000209859465906,-0.000282879531747,2.0600551168e-05,1793192748520408320
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.475109402,671.524890598,659,633,877,783.524890598,798.475109402,649,629,650.475109402,0.400956848754,-0.00539545459824,0.0698234162104,0.999999938176,0.00020846532066,-0.000282420841817,2.0715796456e-05,1793192748537075200
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.104234874,711.104234874,671.895765126,659,633,876.895765126,783.895765126,798.208469748,649,629,650.104234874,0.400956899805,-0.00539526900956,0.0698235701166,0.99999993841,0.000207726241713,-0.000282130628165,2.07769373094e-05,1793192748553741824
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.694124459,711.694124459,671.305875541,659,633,876.305875541,783.305875541,799.388248918,649,629,650.694124459,0.40095796794,-0.0053943678292,0.0698239563511,0.999999937858,0.000210308238359,-0.00028218895525,2.05958160898e-05,1793192748570408448
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.721067328,711.721067328,671,659.557865344,632.721067328,876.278932672,783,799.721067328,649,628.721067328,650.721067328,0.400964493227,-0.00539489570722,0.0698271298879,0.999999939152,0.000210632359658,-0.000277312635764,2.06675078904e-05,1793192748587075072
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.141731654,711.141731654,671,660.716536692,632.141731654,876.858268346,783,799.141731654,649,628.141731654,650.141731654,0.400976895718,-0.00539696264284,0.0698333052746,0.999999942361,0.000208524809619,-0.000267121834322,2.10114725396e-05,1793192748603741696
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.433870644,711.433870644,671.433870644,660.132258713,632.433870644,877,783.433870644,799,649,628,650.433870644,0.401004360672,-0.00539696324952,0.0698452781812,0.999999947395,0.000209184281649,-0.000246959320683,2.15284032876e-05,1793192748620408320
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.991750422,712,671.991750422,659.008249578,632.991750422,877,784,799,649,628.008249578,651,0.401037083876,-0.00539632664,0.0698592079798,0.999999952596,0.000210710256252,-0.00022342869429,2.20969847321e-05,1793192748637074944
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.418346985,712,671.418346985,659.581653015,632.418346985,877,784,799,649,628.581653015,651,0.401095826124,-0.00539788421742,0.0698785624237,0.999999959529,0.000210202703265,-0.000190412447366,2.23662054403e-05,1793192748653741568
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.83927581,632.16072419,876.83927581,783.83927581,799,649.16072419,628.83927581,651,0.401155674015,-0.00539943809586,0.0698944913743,0.999999964144,0.000209319246552,-0.000165519837726,2.23748906256e-05,1793192748670408192
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.244912776,632.755087224,876.244912776,783.244912776,799,649.755087224,628.244912776,651,0.401218504975,-0.00540098199467,0.0699011782419,0.999999965043,0.000207421590353,-0.000162545046444,2.16806430104e-05,1793192748687075072
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.660545595,876.339454405,783.339454405,799,649.660545595,628.339454405,650.660545595,0.401293617139,-0.00540232796573,0.0699038588715,0.999999965747,0.000206211166709,-0.000159930535472,2.01461738813e-05,1793192748703741696
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.083184059,876.916815941,783.916815941,799,649.083184059,628.916815941,650.083184059,0.401377336598,-0.00540353521874,0.0699037317227,0.999999966312,0.000205482391148,-0.000157568527674,1.80228342817e-05,1793192748720408320
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.491892398,711.508107602,671,659,632.491892398,877,784,799,649,628.508107602,650,0.401473589917,-0.00540566598503,0.0699000581946,0.999999965666,0.000202790668032,-0.000165299322361,1.48380978225e-05,1793192748737074944
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,711,671,659,633,877,784,799,649,628.068297397,650,0.4015759424,-0.00540788330209,0.0698965794497,0.999999964971,0.000199807590299,-0.000173214487376,1.14606096345e-05,1793192748753741568
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,711,671,659,633,877,784,799,649,628.657775823,650,0.401708737903,-0.00540957481936,0.069899142508,0.999999966162,0.000197122619952,-0.00016957216371,7.97561063559e-06,1793192748770408448
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,711.242147108,671,659,633,877,783.757852892,799,649,628.757852892,650,0.401858189206,-0.00541288774991,0.0699026419955,0.999999968433,0.000190456430753,-0.000163841098257,4.08235750271e-06,1793192748787075072
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,711.819449562,671,659,633,877,783.180550438,799,649,628.180550438,650,0.402030693758,-0.00541844487531,0.0699074375926,0.999999972062,0.000178279844396,-0.000155219009593,-3.75959102681e-07,1793192748803741696
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,711.603237134,671.396762866,659,632.603237134,876.603237134,783,799,649,628.396762866,650,0.402226821,-0.00542332155331,0.0699106280971,0.999999974568,0.000168913142632,-0.000149339933699,-5.42353980065e-06,1793192748820408320
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,743,711.025918843,671.974081157,659,632.025918843,876.025918843,783,799,649,628.974081157,650,0.402433698269,-0.00542788857964,0.0699130881704,0.99999997654,0.000160825137869,-0.000144709123667,-1.07392781134e-05,1793192748837074944
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,743,711.549001852,672,659,632.549001852,876,783,799,649,628.450998148,650,0.402671834783,-0.00543495752237,0.0699141617456,0.999999978655,0.000151480591215,-0.000139580022779,-1.61271994754e-05,1793192748853741568
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,711.872587766,671.872587766,659,632.872587766,876,783.127412234,799.127412234,649,628.127412234,650,0.402918707901,-0.00544457121098,0.0699154394909,0.999999981058,0.000138929104284,-0.000134679091109,-2.10999350534e-05,1793192748870408192
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,711.281054915,671.281054915,659,632.281054915,876,783.718945085,799.718945085,649,628.718945085,650,0.403192053253,-0.0054630261765,0.069917698364,0.999999984556,0.000114910944539,-0.000130694623205,-2.45479280816e-05,1793192748887075072
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,711.303512835,671.303512835,659.303512835,632.303512835,876.303512835,783.696487165,800,649,629,650,0.403501492849,-0.00548064007018,0.0699266504416,0.999999992368,3.72560154797e-05,-0.000114303972174,-2.84856376593e-05,1793192748903741952
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,711.88177551,671.88177551,659.88177551,632.88177551,876.88177551,783.11822449,800,649,629,650,0.40384360613,-0.00549749259675,0.0699416614286,0.999999991747,-8.8952687563e-05,-8.66828332872e-05,-3.286665428e-05,1793192748920408320
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.542569212,712,671.542569212,659.542569212,633,877,783,799.542569212,649,628.542569212,650,0.404206872786,-0.00549625610357,0.069947744544,0.999999996187,-3.4979606285e-05,-7.74400794266e-05,-2.01586618681e-05,1793192748937074688
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671.033134271,659,633,877.033134271,783,799,649,628,650,0.404577366884,-0.00549092113172,0.0699516594284,0.999999995597,5.92607216914e-05,-7.26262994441e-05,-4.51335735517e-06,1793192748953741312
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,671.620860156,659,633,877.620860156,783,799,649,628,650,0.40497784281,-0.00549479507775,0.0699576854206,0.99999999656,5.24490756494e-05,-6.28906644919e-05,-1.32107898882e-05,1793192748970408192
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.794952856,742,711.794952856,671.794952856,659,633,877.589905711,783,799.205047144,649,628.205047144,650,0.4053904501,-0.00550062724042,0.0699609044688,0.999999997384,3.90723312565e-05,-5.74621201753e-05,-2.00731668829e-05,1793192748987075072
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.217198463,742,711.217198463,671.217198463,659,633,876.434396926,783,799.782801537,649,628.782801537,650,0.405825108115,-0.0055100187867,0.0699590214294,0.999999997835,1.37624307298e-05,-5.98624296558e-05,-2.36000246375e-05,1793192749003741696
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.360890422,742.360890422,711,671.360890422,659,633,876.360890422,783.360890422,799.639109578,649,629,650,0.406278525512,-0.00551272817114,0.0699489202051,0.999999996552,4.99431327841e-06,-7.87179498804e-05,-2.59611071876e-05,1793192749020408320
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.93918086,742.93918086,711,671.93918086,659,633,876.93918086,783.93918086,799.06081914,649,629,650,0.406743243582,-0.00551141222912,0.0699338683545,0.999999993823,6.19094638317e-06,-0.000107486072211,-2.76199282903e-05,1793192749037074944
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,711.515667751,671.484332249,659,633,876.484332249,784,799,649,628.484332249,650,0.407274818699,-0.00552019057195,0.0699217716221,0.999999992378,-7.52354881796e-06,-0.000119465889511,-3.02405880492e-05,1793192749053741568
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.906052692,712,671.093947308,659,633,876.187894616,783.906052692,799.093947308,649,628.093947308,650,0.407821787097,-0.00552968276236,0.0699138275012,0.999999991552,-2.17194357714e-05,-0.000123905539668,-3.27274069148e-05,1793192749070408192
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.317212939,712,671.682787061,659,633,877.365574123,783.317212939,799.682787061,649,628.682787061,650,0.408408450832,-0.00553668568357,0.0699259287656,0.999999994096,-2.92192897381e-05,-9.90194675273e-05,-3.39136830121e-05,1793192749087075072
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712,671.093772272,660,632.093772272,877,784,799.093772272,649,628.906227728,650,0.414575289948,-0.00552875474164,0.0700047560378,0.999999998628,-1.6564554331e-05,3.51205233458e-05,-3.51536908464e-05,1793192749237074688
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,671.481839117,660,632,877,783.518160883,799.481839117,649,628.518160883,650,0.415286439841,-0.00552827500708,0.0699544342041,0.999999997444,-2.53657144457e-05,-5.3978378002e-05,-3.94439538561e-05,1793192749253741312
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.941630599,743,711.941630599,672,660,632.058369401,877,783,800,649,628,650,0.416002804291,-0.0055324316204,0.0698990514382,0.999999986724,-4.26435942599e-05,-0.000150849514556,-4.44696172873e-05,1793192749270408192
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.352866728,743,711.352866728,672,660,632.647133272,877,783,800,649,628,650,0.416822936376,-0.00554209630819,0.069892537915,0.99999998491,-5.71845086526e-05,-0.000157335099854,-4.64230834092e-05,1793192749287075072
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,743,711.231879674,672,660.231879674,633,877,783,799.768120326,649,628,650,0.417656781368,-0.00554950893701,0.0699021914908,0.999999986918,-6.65056819593e-05,-0.000139809421125,-4.68380094623e-05,1793192749303741696
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,743,711.810616511,672,660.810616511,633,877,783,799.189383489,649,628,650,0.418511138764,-0.00555355282331,0.0699360286188,0.999999992947,-6.80189056148e-05,-8.63664972174e-05,-4.49515104622e-05,1793192749320408064
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.387912488,743,712,672,660.612087512,633,877.387912488,783,799,649,628,650,0.419376042524,-0.00555635336702,0.0699672560358,0.999999995874,-6.85512476426e-05,-4.15002981347e-05,-4.27932605352e-05,1793192749337074688
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.964507607,743,712,672,660.035492393,633,877.964507607,783,799,649,628,650,0.420246076065,-0.00555854914236,0.0699972140751,0.999999996826,-6.86064837236e-05,-8.05863697188e-07,-4.05028295952e-05,1793192749353741312
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,878,783,799,649,628,650.536956073,0.421118444164,-0.0055529941939,0.0700113714765,0.999999996644,-6.69876817681e-05,2.2211834323e-05,-4.16101863607e-05,1793192749370408192
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,672.11322103,660,633,877.88677897,783,799,649,628,650.88677897,0.421980663862,-0.00554757655567,0.0700139271481,0.999999996688,-6.35852658417e-05,2.67673560845e-05,-4.31748382951e-05,1793192749387075072
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712,672.706833043,660,633,877.293166957,783,799,649,628,650.293166957,0.422799174457,-0.00554489859591,0.069971654695,0.99999999666,-5.30809639201e-05,-4.20916387184e-05,-4.57341433041e-05,1793192749403741952
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,877.293256407,783.293256407,799,649,628.293256407,650,0.423602174006,-0.00554471941413,0.0699117540271,0.999999988083,-5.58042398341e-05,-0.000134913295026,-5.01731237189e-05,1793192749420408576
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,877.872665331,783.872665331,799,649,628.872665331,650,0.424390038349,-0.00554697847921,0.0698346521681,0.999999964326,-7.14346650495e-05,-0.000251117144782,-5.64462459471e-05,1793192749437075200
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711.552081097,672.552081097,660,633,877.552081097,783.552081097,799,649,628.552081097,650,0.425278340639,-0.00555354806217,0.069853217174,0.999999971728,-8.37106173879e-05,-0.000215188048642,-5.68341351805e-05,1793192749453741568
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,711.022531285,672.022531285,660.022531285,633,877.022531285,783,799,649,628,650,0.42619489936,-0.00556104617375,0.0698990683239,0.999999984655,-9.43748786489e-05,-0.00013678359975,-5.54316539494e-05,1793192749470407936
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,711.610424403,672.610424403,660.610424403,633,877.610424403,783,799,649,628,650,0.427110614331,-0.00556137782092,0.0699534481238,0.999999992517,-8.83064936511e-05,-6.78029146186e-05,-5.06996513316e-05,1793192749487074560
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711.804992239,673,661,632.804992239,877.804992239,783.195007761,799.195007761,649,628,650,0.428017934382,-0.00556088944115,0.0699972345253,0.999999995335,-8.36146157687e-05,-8.14870725259e-06,-4.76741098995e-05,1793192749503741440
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711.226910619,673,661,632.226910619,877.226910619,783.773089381,799.773089381,649,628,650,0.428908763371,-0.00555879019787,0.0700202112184,0.999999994966,-8.16267537588e-05,3.31845331978e-05,-4.80007468216e-05,1793192749520408064
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.648325963,743,711.351674037,673,661,632,877,783.648325963,800,649,628,650,0.429767497321,-0.00556166945807,0.0700219388803,0.999999994648,-8.24668112413e-05,3.91844651728e-05,-4.86500971603e-05,1793192749537074944
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.069416293,743,711.930583707,673,661,632,877,783.069416293,800,649,628,650,0.430605492894,-0.00556776559898,0.0700099363919,0.999999994901,-8.51341407258e-05,2.23536320949e-05,-4.95079701213e-05,1793192749553742080
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,743,712,673,660.494143095,632.505856905,877,783,799.494143095,649,628.505856905,650,0.431329833828,-0.00556759053317,0.0699420376578,0.999999989495,-9.53468278405e-05,-9.55196593705e-05,-5.28728103696e-05,1793192749570408704
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742.917363533,711.917363533,673,660.082636467,632.917363533,877,783,799,649,629,650,0.43205441499,-0.00556650816367,0.0698764856533,0.999999971409,-0.0001038151397,-0.000207951545328,-5.62253963603e-05,1793192749587074816
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742.328316728,711.328316728,673,660.671683272,632.328316728,877,783,799,649,629,650,0.432875362475,-0.00556510174566,0.069871984681,0.999999973273,-9.52937292082e-05,-0.000202673441731,-5.74097298621e-05,1793192749603741440
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.256200687,742.256200687,711,673,661,632.256200687,877,783,799.256200687,649,628.743799313,650,0.433713446636,-0.00556636366652,0.0698994478458,0.9999999828,-9.43759139359e-05,-0.000149421998634,-5.62758492556e-05,1793192749620408064
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.835014678,742.835014678,711,673,661,632.835014678,877,783,799.835014678,649,628.164985322,650,0.434573109772,-0.00557098561576,0.0699671609252,0.999999992689,-0.000103032704027,-3.57615128361e-05,-5.2222824207e-05,1793192749637074688
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711.411737773,673,661,632.588262227,877,783.411737773,799.588262227,649,628.411737773,650.411737773,0.435360140138,-0.00557403221986,0.0699955289618,0.999999993432,-0.000102863187741,8.28728160381e-06,-4.98629656127e-05,1793192749653741312
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,711.987627233,673,661,632.012372767,877,783.987627233,799.012372767,649,628.987627233,650.987627233,0.436118213207,-0.00557645076481,0.0700082109057,0.999999993619,-9.91747978731e-05,2.4583267814e-05,-4.81781393197e-05,1793192749670407936
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.44341918,743,712,672.44341918,660.44341918,632,877.55658082,784,799,649,628.44341918,650.44341918,0.436811621338,-0.00558070440658,0.0699906409599,0.999999992997,-0.000107125140879,2.34826341736e-06,-5.02529958932e-05,1793192749687075072
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.131831473,743,712,672.131831473,660,632,878,783.868168527,799,649,628,650,0.437495975974,-0.0055840808954,0.0699663118805,0.999999991877,-0.000112524635821,-2.86145841794e-05,-5.25838286012e-05,1793192749703741952
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.729890504,743,712,672.729890504,660,632,878,783.270109496,799,649,628,650,0.438153333706,-0.00558421280123,0.0699204278866,0.999999988802,-0.000107999206416,-8.74519019888e-05,-5.55279939203e-05,1793192749720408576
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,878,783,799.317445897,649,628.317445897,650,0.438757905181,-0.0055824756931,0.0698680836928,0.999999978051,-0.00010783902873,-0.00017019212273,-5.74671457561e-05,1793192749737074944
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,878,783,799.896350139,649,628.896350139,650,0.439319000216,-0.00557919920677,0.069810418679,0.999999954933,-0.000111274208112,-0.000272619516069,-5.85785366405e-05,1793192749753741568
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.529254766,783,799.529254766,649,628.529254766,650,0.439885982543,-0.00557710699617,0.0697775975021,0.999999940365,-9.90510489032e-05,-0.000325289076435,-6.03783969839e-05,1793192749770408192
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.954606993,743,711.954606993,673.045393007,660,632,877.090786014,783,799,649,628,650,0.440455469088,-0.00557561096792,0.0697542378868,0.999999929191,-8.68106264497e-05,-0.000360852164658,-6.21922863835e-05,1793192749787074816
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.36514421,743,711.36514421,673.63485579,660,632,878.269711579,783,799,649,628,650,0.441039580625,-0.0055781649253,0.0697793401321,0.999999939744,-0.00011529445255,-0.000321448887589,-6.23746530318e-05,1793192749803741696
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.220315387,743,711.220315387,673.779684613,659.779684613,632,878.559369225,782.779684613,799,649,628,650,0.441613508453,-0.0055836070738,0.0698025801592,0.999999948594,-0.000130274952094,-0.000286435568763,-6.16018094395e-05,1793192749820408576
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.799258721,743,711.799258721,673.200741279,659.200741279,632,877.401482558,782.200741279,799,649,628,650,0.442170859399,-0.0055937506013,0.0698227888837,0.999999957216,-0.000123274829814,-0.000258568189847,-5.92740810557e-05,1793192749837075968
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711.623759298,673,659,631.623759298,877.376240702,782.376240702,799.376240702,649,628,650,0.442641598492,-0.00559855547817,0.0698075943515,0.999999949235,-0.000119914881401,-0.000289430990074,-5.81338041551e-05,1793192749853743104
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711.047818394,673,659,631.047818394,877.952181606,782.952181606,799.952181606,649,628,650,0.443066365906,-0.00560052671733,0.0697736085563,0.999999929556,-0.000118487056443,-0.000351466464849,-5.76238000804e-05,1793192749870409472
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.472630072,743,711,673,659,631,878,782.472630072,800,649,628,650,0.443460937524,-0.00559678465474,0.0697382760042,0.999999907059,-0.000124110410432,-0.000408660608731,-5.89565124719e-05,1793192749887075584
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.10530052,743,711,673,659,631,877.89469948,782,799.89469948,649,628.10530052,650,0.443849362745,-0.00559163766654,0.0697054657286,0.999999884114,-0.000125455967023,-0.000460843975818,-6.04560407669e-05,1793192749903741696
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.696191219,743,711,673,659,631,877.303808781,782,799.303808781,649,628.696191219,650,0.444222052022,-0.00558239744714,0.0696848491832,0.999999871656,-0.000104130430821,-0.00049194175597,-6.19554255335e-05,1793192749920408320
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.7186066,743,711,673,658.7186066,631,877.2813934,782,799,649,628.7186066,650,0.44459247718,-0.00557723620269,0.0696740928888,0.999999865746,-9.83305933043e-05,-0.000504923085711,-6.23894805357e-05,1793192749937074688
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.139424416,743,711,673,658.139424416,631,877.860575584,782,799,649,628.139424416,650,0.444960506275,-0.00557639159523,0.0696737713542,0.999999867794,-0.000108961060667,-0.000498732408705,-6.169613431e-05,1793192749953741312
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,743,711,673,658,631,877.563164848,782,799.436835152,649,628,650.436835152,0.445287055635,-0.00557935896526,0.0696738508759,0.999999869592,-0.00011344505715,-0.000493995687261,-6.25620312678e-05,1793192749970407936
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.01241981,743,711.01241981,673.01241981,658,631,877.01241981,782,799.98758019,649,628,650.98758019,0.445599241523,-0.00558353475971,0.0696740388866,0.999999871219,-0.000115943908465,-0.000489936404109,-6.38782263197e-05,1793192749987075072
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.599651537,743,711.599651537,673.599651537,658,631,877.599651537,782,799.400348463,649,628,650.400348463,0.445855314309,-0.00558770330753,0.0696733630372,0.999999868233,-0.000116757279098,-0.000495895505871,-6.31553682363e-05,1793192750003741952
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.815616482,743,711.815616482,673.815616482,658,630.815616482,877.815616482,781.815616482,798.815616482,649,628,650,0.446100833311,-0.00559026743688,0.0696702860542,0.999999863779,-0.000118343967151,-0.000504583698384,-6.190955043e-05,1793192750020408576
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.236239442,743,711.236239442,673.236239442,658,630.236239442,877.236239442,781.236239442,798.236239442,649,628,650,0.446323743636,-0.0055893945196,0.0696620652698,0.999999856094,-0.000121587285913,-0.000519118256009,-5.95434278847e-05,1793192750037074944
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.341640623,743,711,673.341640623,658,630,877.341640623,781.341640623,798.683281246,649,628,650,0.446523404746,-0.00558597032139,0.0696519160028,0.999999846714,-0.000121914775344,-0.000536781555982,-5.97869982665e-05,1793192750053741568
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+208,3.466666667,POSE1_TO_POSE2_PRESS,763,743,711.75503109,673,657,630,878,781.24496891,800,649,628,650,0.447256659285,-0.00555016179044,0.0696240764364,0.999999817804,-8.79668849378e-05,-0.000592725196564,-7.301804246e-05,1793192750137074944
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+211,3.516666667,POSE1_TO_POSE2_PRESS,763,742.028433687,711,673.971566313,657,630,878,781.028433687,799.028433687,649,628,650,0.447539963593,-0.00555700978441,0.0696243669434,0.99999981816,-0.00010054048326,-0.000590224228258,-7.21652089841e-05,1793192750187074816
+212,3.533333333,POSE1_TO_POSE2_PRESS,763,742.560674861,711.560674861,674,657,630,878,781.560674861,799.560674861,649,628,650,0.447602788256,-0.00555657286307,0.0696271261227,0.999999820929,-0.000100872723283,-0.00058548405493,-7.19392569593e-05,1793192750203741696
+213,3.550000000,POSE1_TO_POSE2_PRESS,763,743,711.852234,674,657,630,878,781.852234,799.852234,649,628,650,0.447659448543,-0.005556080336,0.0696286474408,0.999999822339,-0.000100513161092,-0.000583163064963,-7.16931301655e-05,1793192750220408576
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,743,711.273332795,674,657,630,878,781.273332795,799.273332795,649,628,650,0.447701477323,-0.00555552158469,0.0696264607366,0.999999819588,-9.85763825408e-05,-0.000588236002157,-7.13048952066e-05,1793192750237075200
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.303608738,743,711,674,657,630,878,781,799.303608738,649,628,650,0.447735413761,-0.00555572820995,0.0696240511212,0.999999817645,-9.75337588494e-05,-0.000591756800342,-7.08598976585e-05,1793192750253741568
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.878797297,743,711,674,657,630,878,781,799.878797297,649,628,650,0.447762111549,-0.00555661946914,0.0696214421105,0.999999816439,-9.72909621155e-05,-0.000593889200655,-7.03641256612e-05,1793192750270408192
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,673.546196454,657,629.546196454,878,781.453803546,800,649,628,650,0.44778069251,-0.00555642500963,0.0696209524109,0.999999815479,-9.72977710955e-05,-0.000595575984636,-6.9742133901e-05,1793192750287075072
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.970368521,743,711,673.029631479,657,629.029631479,878,782,800,649,628,650,0.447796845279,-0.00555599962683,0.0696210562952,0.999999814662,-9.73609459365e-05,-0.000597008922607,-6.91132872827e-05,1793192750303741952
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.378011695,743,711,673.621988305,657,629.621988305,878,782,800,649,628,650,0.44780803755,-0.00555669348626,0.0696216877748,0.999999815356,-9.72290372774e-05,-0.000595880425065,-6.89942031254e-05,1793192750320408320
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.208694565,743,711,673.791305435,657,630,877.791305435,781.791305435,799.791305435,649,628,650,0.447816893097,-0.00555682102401,0.069621859505,0.999999815601,-9.70607743229e-05,-0.000595521977958,-6.87798363327e-05,1793192750337074944
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.785435618,743,711,673.214564382,657,630,877.214564382,781.214564382,799.214564382,649,628,650,0.44782162768,-0.00555594981641,0.0696212204368,0.999999815054,-9.682839821e-05,-0.000596521565181,-6.83974324055e-05,1793192750353741568
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.637774026,743,711,673.362225974,657,630,877.362225974,781,799,649,628,650,0.447823516695,-0.00555660865271,0.0696189934797,0.999999813471,-9.72626811263e-05,-0.000599130840011,-6.81177661973e-05,1793192750370408192
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.060954408,743,711,673.939045592,657,630,877.939045592,781,799,649,628,650,0.447823719909,-0.00555817393328,0.0696158258091,0.999999811264,-9.8091913032e-05,-0.000602693742655,-6.78989648903e-05,1793192750387075072
+224,3.733333333,POSE1_TO_POSE2_PRESS,763,743,711,674,657,630,878,781.512567271,799.512567271,649,628,650,0.447825423974,-0.005557685951,0.0696166356711,0.999999811636,-9.66808483954e-05,-0.000602319759499,-6.77569826299e-05,1793192750403741696
+225,3.750000000,POSE1_TO_POSE2_PRESS,763,743,711,673.911176498,657,630,878,781.911176498,800,649,628,650,0.447827234837,-0.00555712642229,0.0696178139371,0.999999812201,-9.56722393856e-05,-0.000601560720511,-6.76043968079e-05,1793192750420408576
+226,3.766666667,POSE1_TO_POSE2_PRESS,763,743,711,673.31715029,657,630,878,781.31715029,800,649,628,650,0.447828644479,-0.00555753986908,0.0696184144485,0.99999981213,-9.84582912374e-05,-0.00060125740861,-6.73398740594e-05,1793192750437075200
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.269482262,743,711.269482262,673.269482262,657,630,878,781.269482262,800,649.269482262,628,650,0.447829253151,-0.00555720077842,0.0696184703655,0.99999981201,-9.92058557926e-05,-0.000601345731638,-6.72459597066e-05,1793192750453741824
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.847645641,743,711.847645641,673.847645641,657,630,878,781.847645641,800,649.847645641,628,650,0.447828944344,-0.00555599968628,0.0696179024715,0.999999811836,-9.76184147919e-05,-0.000601882656781,-6.73474704405e-05,1793192750470408448
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711.577029596,673.577029596,657,630,878,781.577029596,800,649.577029596,628,650,0.447827677331,-0.00555620787019,0.0696166491681,0.999999810558,-9.66221523903e-05,-0.000604190180631,-6.70960358775e-05,1793192750487075072
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711.002720502,673.002720502,657,630,878,781.002720502,800,649.002720502,628,650,0.447826067473,-0.0055569202927,0.0696151506254,0.999999808878,-9.58374135569e-05,-0.00060713122418,-6.67183175851e-05,1793192750503741696
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.413447183,742.413447183,711,673,657,629.413447183,877.413447183,781,800,649,627.413447183,650,0.447828394943,-0.00555660414253,0.0696166767463,0.999999810416,-9.43503184847e-05,-0.000604852733343,-6.64697418813e-05,1793192750520408320
+232,3.866666667,POSE1_TO_POSE2_PRESS,763,742,711,673,656.827569089,629.172430911,877.172430911,781,799.827569089,649,627.172430911,650,0.447829934134,-0.00555580234354,0.069617470022,0.999999811401,-9.31036956656e-05,-0.000603420603039,-6.64304430228e-05,1793192750537074944
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742,711,673,656.249838969,629.750161031,877.750161031,781,799.249838969,649,627.750161031,650,0.447829576425,-0.00555387053307,0.0696165069053,0.999999811062,-9.24301610672e-05,-0.000604036237844,-6.68816050924e-05,1793192750553741824
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.32799716,742.32799716,711,673,656.32799716,630,878,781,799.32799716,649,628,650,0.447829778063,-0.00555336532394,0.0696162243355,0.999999810885,-9.30152503791e-05,-0.000604229629102,-6.69717896711e-05,1793192750570408448
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.905914126,742.905914126,711,673,656.905914126,630,878,781,799.905914126,649,628,650,0.447830405902,-0.00555394712381,0.0696164603132,0.99999981083,-9.45593571991e-05,-0.000604101288904,-6.67869248908e-05,1793192750587075072
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.520253553,743,711,673,657,629.520253553,877.520253553,781,800,649,628,650.479746447,0.447830576968,-0.00555531203799,0.0696165861489,0.999999810275,-9.61742066646e-05,-0.000604776223787,-6.66810268349e-05,1793192750603741696
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.054883486,743,711,673.054883486,657,629.054883486,877.054883486,781,800,649,628,651,0.447830589355,-0.00555656588239,0.0696165480248,0.999999809699,-9.7354540564e-05,-0.000605551552451,-6.65678143217e-05,1793192750620408320
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.650709226,743,711,673.650709226,657,629.650709226,877.650709226,781,800,649,628,651,0.447829913248,-0.00555522405656,0.0696151049835,0.999999809895,-9.41166180817e-05,-0.000605776795458,-6.62311584977e-05,1793192750637074944
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.762165825,743,711,674,657,630,877.762165825,781,800,649,628,650.762165825,0.447830257642,-0.00555412277805,0.0696147214188,0.999999810388,-9.26928511449e-05,-0.00060518057565,-6.62417351015e-05,1793192750653741568
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.187368194,743,711,674,657,630,877.187368194,781,800,649,628,650.187368194,0.447832047884,-0.00555336230702,0.0696158389207,0.999999811312,-9.38393799612e-05,-0.000603420507329,-6.6744270626e-05,1793192750670408448
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.386385703,742.613614297,711,673.613614297,657,629.613614297,877.386385703,781,799.613614297,649,628,650,0.44783242014,-0.00555438494195,0.0696167741478,0.999999811735,-9.44324073596e-05,-0.000602651160809,-6.65124681926e-05,1793192750687074816
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.959634814,742.040365186,711,673.040365186,657,629.040365186,877.959634814,781,799.040365186,649,628,650,0.447832106631,-0.00555626992055,0.0696176212233,0.999999811918,-9.47577510081e-05,-0.000602360946074,-6.59255260692e-05,1793192750703741440
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.448834537,742.551165463,711,673.551165463,657,629.551165463,878,781,799,649,628,650.551165463,0.447833970764,-0.00555550703616,0.0696184526763,0.999999812796,-9.47009043275e-05,-0.00060090183717,-6.60107647573e-05,1793192750720408320
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.140323737,743,711.140323737,674,657,630,877.859676263,781,799.140323737,649,627.859676263,650.859676263,0.447835117527,-0.00555470930493,0.0696186324676,0.999999813158,-9.41056163858e-05,-0.000600389527887,-6.60393281085e-05,1793192750737075200
+245,4.083333333,POSE1_TO_POSE2_PRESS,763.717777705,743,711.717777705,674,657,630,877.282222295,781,799.717777705,649,627.282222295,650.282222295,0.447833515716,-0.00555442783281,0.0696167859177,0.999999811748,-9.19231851981e-05,-0.000603102468975,-6.57327254546e-05,1793192750753741824
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,711.705280606,673.705280606,656.705280606,630,877.294719394,781,800,649,627.294719394,650,0.447832668719,-0.00555410335357,0.0696162657854,0.999999811117,-9.12797535072e-05,-0.000604255165695,-6.56468131875e-05,1793192750770408448
+247,4.116666667,POSE1_TO_POSE2_PRESS,764,743,711.128828557,673.128828557,656.128828557,630,877.871171443,781,800,649,627.871171443,650,0.447832543276,-0.00555373776228,0.0696170136223,0.999999811238,-9.21075054206e-05,-0.000603916370157,-6.5771866604e-05,1793192750787075072
+248,4.133333333,HOLD_POSE2,764,743,711,673,657,629,877,782,799,649,628,650,0.447830315103,-0.00555632850172,0.0696143567594,0.999999808708,-9.58744911754e-05,-0.000607507016114,-6.57873426138e-05,1793192750819811584
+249,4.150000000,HOLD_POSE2,764,743,711,673,657,629.592254793,877.592254793,781.407745207,799.592254793,649,628,650.592254793,0.447833306607,-0.00555546900504,0.0696166179483,0.99999981074,-9.47523920978e-05,-0.000604366599686,-6.54494871461e-05,1793192750836478208
+250,4.166666667,HOLD_POSE2,764,743,711,673.179186223,657,629.820813777,878,781.179186223,799.820813777,649,628,650.820813777,0.4478351984,-0.00555509383379,0.0696177788675,0.999999811989,-9.37747851274e-05,-0.000602473475889,-6.5228562857e-05,1793192750853144576
+251,4.183333333,HOLD_POSE2,764,743,711,673.754353736,657,629.245646264,878,781.754353736,799.245646264,649,628,650.245646264,0.447834659957,-0.00555578896682,0.0696165083154,0.999999811527,-9.31164891621e-05,-0.000603336727177,-6.52660431867e-05,1793192750869811200
+252,4.200000000,HOLD_POSE2,763.667667157,743,711,673.667667157,657,629.332332843,878,781.667667157,799.332332843,649,628,650.332332843,0.447833683569,-0.00555573795287,0.0696155850192,0.999999810751,-9.31521413182e-05,-0.000604595943754,-6.54559958812e-05,1793192750886478080
+253,4.216666667,HOLD_POSE2,763.087592143,743,711,673.087592143,657,629.912407857,878,781.087592143,799.912407857,649,628,650.912407857,0.447832380711,-0.00555513071316,0.0696149205899,0.999999809738,-9.37051068572e-05,-0.000606150338146,-6.57596112326e-05,1793192750903144960
+254,4.233333333,HOLD_POSE2,763,743,711,673,657,629.51361049,878,781,800,649,628,650.51361049,0.447833370843,-0.00555424875224,0.0696162728799,0.999999810628,-9.27216830691e-05,-0.000604816839645,-6.58978256458e-05,1793192750919811328
+255,4.250000000,HOLD_POSE2,763,743,711,673.061346565,657,629,878,781,799.938653435,649,628,650.061346565,0.44783446208,-0.00555358668073,0.0696176322671,0.999999811593,-9.15916672265e-05,-0.000603388995472,-6.59312200393e-05,1793192750936477440
+256,4.266666667,HOLD_POSE2,763,743,711,673.654142233,657,629,878,781,799.345857767,649,628,650.654142233,0.44783289616,-0.00555525281442,0.069615945782,0.999999810304,-9.15589794752e-05,-0.000605593485809,-6.53114013787e-05,1793192750953144064
+257,4.283333333,HOLD_POSE2,763,743,711.240377391,673.759622609,657,629.240377391,877.759622609,781.240377391,799,649,627.759622609,650.759622609,0.447832118273,-0.00555542494333,0.0696148078926,0.999999809576,-9.07223451136e-05,-0.000606934713855,-6.51710820432e-05,1793192750969810688
+258,4.300000000,HOLD_POSE2,763,743,711.817423941,673.182576059,657,629.817423941,877.182576059,781.817423941,799,649,627.182576059,650.182576059,0.447832444095,-0.00555350459026,0.0696144383587,0.999999809637,-8.87597145557e-05,-0.000607066868816,-6.57023427016e-05,1793192750986477568
+259,4.316666667,HOLD_POSE2,763.378624929,743,712,673.378624929,657,630,877.378624929,781.621375071,799,649,627.378624929,650,0.447832840935,-0.0055543867276,0.0696147556703,0.99999980954,-9.1286459077e-05,-0.000606865164238,-6.55814787707e-05,1793192751003144192
+260,4.333333333,HOLD_POSE2,763.932492031,743,712,673.932492031,657,630,877.932492031,781.067507969,799,649,627.932492031,650,0.447833270644,-0.00555656596509,0.0696153908805,0.999999809353,-9.58910588174e-05,-0.000606508936628,-6.51587865526e-05,1793192751019810816
+261,4.350000000,HOLD_POSE2,763.461948904,742.461948904,711.461948904,674,656.461948904,629.461948904,878,781,799,649,628,650,0.447834995492,-0.00555412425348,0.0696166023333,0.999999810975,-9.29392933688e-05,-0.000604245179133,-6.55699232266e-05,1793192751036477696
+262,4.366666667,HOLD_POSE2,763,742.142491014,711,674,656.142491014,629.142491014,878,781,799.142491014,649,628,650,0.447836374049,-0.00555192663034,0.0696174700134,0.999999812312,-9.02330571955e-05,-0.000602411498182,-6.58343929943e-05,1793192751053144320
+263,4.383333333,HOLD_POSE2,763,742.721520976,711,674,656.721520976,629.721520976,878,781,799.721520976,649,628,650,0.447836140955,-0.00555244181141,0.0696170394621,0.999999812055,-9.14922936413e-05,-0.000602706566487,-6.52949536922e-05,1793192751069810944
+264,4.400000000,HOLD_POSE2,763.298843776,743,711.298843776,673.701156224,657,630,878,781.298843776,799.701156224,649,628,650,0.447835379854,-0.00555272079538,0.0696164679288,0.999999811289,-9.21214783286e-05,-0.000603898703449,-6.51279260314e-05,1793192751086477568
+265,4.416666667,HOLD_POSE2,763.87458475,743,711.87458475,673.12541525,657,630,878,781.87458475,799.12541525,649,628,650,0.447834129523,-0.00555278092813,0.0696157657669,0.999999810049,-9.21668811116e-05,-0.000605922029851,-6.53059607662e-05,1793192751103144192
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711.407544213,673,656.407544213,629.592455787,878,782,800,649,628,650,0.44783529669,-0.0055524797296,0.0696167884027,0.99999981147,-9.07527284305e-05,-0.000603784855226,-6.53208047192e-05,1793192751152508416
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.18042993,656,629.81957007,878.18042993,781.81957007,799.81957007,649,628,650.18042993,0.447835506729,-0.0055528957494,0.0696165573289,0.999999811064,-9.17043493658e-05,-0.000604328119316,-6.51965441275e-05,1793192751169175040
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.758526664,656,629.241473336,878.758526664,781.241473336,799.241473336,649,628,650.758526664,0.447835525822,-0.00555455032909,0.0696165632239,0.999999811197,-9.10862111521e-05,-0.000604265589782,-6.46005626695e-05,1793192751185841152
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.090033751,743,711,673.090033751,656,629,878.090033751,781,799.909966249,649,628,651,0.447835630478,-0.00555463890879,0.0696167656385,0.999999810738,-9.29610439473e-05,-0.000604695862512,-6.4996457882e-05,1793192751219173632
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.255418524,742.255418524,712,671.255418524,659.255418524,633,877,783.744581476,799,649.255418524,628.255418524,651,0.400956240187,-0.00538949443661,0.0698168698578,0.999999933301,0.00021621133021,-0.000293726639833,1.9368933501e-05,1793192753052507136
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.320037312,659,633,877,784,799,649.320037312,628.320037312,650.679962688,0.400956305456,-0.00538984477959,0.0698176208905,0.99999993371,0.000215728645127,-0.00029267774684,1.95391966915e-05,1793192753069173760
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.899400818,659,633,877,784,799,649.899400818,628.899400818,650.100599182,0.400956361548,-0.00539110944242,0.0698178793296,0.999999934342,0.000212763945504,-0.000292662829878,1.98748839193e-05,1793192753085840384
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.510618345,659,633,876.510618345,784,799,649.510618345,629,650.489381655,0.400956537227,-0.00538977334129,0.0698182389745,0.999999934009,0.000214804347831,-0.000292330407792,1.95914636086e-05,1793192753102506752
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.079760391,659,633,876,783.920239609,799,649,629,650.920239609,0.400956771714,-0.005388374528,0.0698186019667,0.999999933635,0.000217232195383,-0.000291837124193,1.92724014992e-05,1793192753119173376
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.809086131,742,712,672,659,633,876.809086131,783.809086131,799,649,629,650.809086131,0.400956446403,-0.00539048886074,0.0698183634736,0.999999934587,0.000213945331962,-0.000291011314518,1.91313061231e-05,1793192753169173248
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.607231046,742.392768954,712,672,659,633,876.607231046,784,799,649,628.607231046,651,0.400957044417,-0.00539079677078,0.0698187938297,0.999999934896,0.000213476467631,-0.000290272645307,1.9411001942e-05,1793192753185839872
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.018550296,742.981449704,712,672,659,633,876.018550296,784,799,649,628.018550296,651,0.400958306084,-0.00539142610397,0.0698196642195,0.999999935406,0.000212964142745,-0.000288849045901,2.00330183346e-05,1793192753202506496
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742.439603634,712,671.439603634,659,633,876,784,799,649,628,651,0.400957845771,-0.0053913875891,0.0698200765179,0.999999935115,0.00021418941201,-0.000288951691405,1.99910490235e-05,1793192753219173120
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742.138637623,712,671,659,633,876.138637623,783.861362377,799,649,628.138637623,650.861362377,0.400957330555,-0.00539110358656,0.0698202247452,0.999999934837,0.000215048919691,-0.000289283752121,1.9855539697e-05,1793192753235839744
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.715649731,712,671,659,633,876.715649731,783.284350269,799,649,628.715649731,650.284350269,0.400956818895,-0.00539011205769,0.0698195851046,0.999999934686,0.000214573115156,-0.000290184203921,1.94925676793e-05,1793192753252506624
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.702985492,711.702985492,671,659,632.702985492,877,783,799,649,629,650,0.400956570096,-0.00538897215374,0.0698195511215,0.999999934578,0.000215004810473,-0.000290257750561,1.91777696199e-05,1793192753269173248
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742.117391594,711.117391594,671,659,632.117391594,877,783,799,649,629,650,0.400956576693,-0.0053876880884,0.0698201055954,0.999999934511,0.000216318232883,-0.000289527875991,1.89097773508e-05,1793192753285839872
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711.463126697,671,659,632.463126697,877,783,799,649,629,650.463126697,0.40095576131,-0.0053898829421,0.0698198340749,0.999999934753,0.000214241119408,-0.000290207744669,1.93228642907e-05,1793192753302506496
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742.042393878,712,671.042393878,659,633,877,783,799.042393878,649,629,650.957606122,0.400954884601,-0.00539265292317,0.0698194466434,0.99999993506,0.000211612757351,-0.000291043811967,1.98590560691e-05,1793192753319173120
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742.621933801,712,671.621933801,659,633,877,783,799.621933801,649,629,650.378066199,0.400955842157,-0.00539165808086,0.069820214614,0.999999935298,0.000212770994633,-0.000289380472782,1.97913655027e-05,1793192753335840000
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742.800200032,712,672,659,632.800200032,876.800200032,783,799.800200032,649,628.800200032,650,0.40095655305,-0.00539128972304,0.0698205522196,0.999999935406,0.000213491916647,-0.000288482779737,1.96909811311e-05,1793192753352506368
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742.225474708,712,672,659,632.225474708,876.225474708,783,799.225474708,649,628.225474708,650,0.400956801077,-0.00539209696566,0.0698200822438,0.999999935274,0.000213392214928,-0.000289021824524,1.9529246721e-05,1793192753369172992
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,742.354931205,712,672,659,632.354931205,876.354931205,783.354931205,799,649,628.354931205,650,0.400957276083,-0.00539249868799,0.0698200953025,0.999999935506,0.00021250878672,-0.000288866153991,1.95932528625e-05,1793192753385839872
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,742.93900446,712,672,659,632.93900446,876.93900446,783.93900446,799,649,628.93900446,650,0.400957897626,-0.00539263860816,0.0698204202062,0.999999935971,0.000211119388088,-0.000288261978235,1.98029961333e-05,1793192753402506496
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d9ae990e73e8eb2495838c0e6ec5e5886be0fc4f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,404 @@
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+1,0.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+2,0.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+3,0.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+4,0.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+6,0.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+7,0.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+8,0.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+9,0.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+11,0.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+12,0.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+15,0.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+16,0.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+17,0.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d42c66998049db2e5513de559d12119b3cbdc056
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
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+oid sha256:314340789633b52b0f177b5492d11febf9f96ede844104b45259ecfde49c6585
+size 25005076
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..54d4de4d9ea3542e5178021b8b45fcbc3f6c922e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_01/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,763,743,712,671,659,632,877,783,799,649,628,650,0.401014152897,-0.0055180895309,0.0798552016372,0.999999982696,8.42749041802e-05,-0.000161897324043,3.59751287551e-05,1793192754727123712
+1,0.016666667,BASELINE,763,743,712,671,659,632,877,783,799,649,628,650.620821635,0.401013644142,-0.00551658715225,0.0798555746105,0.999999982446,8.55914144749e-05,-0.000162772975491,3.58743503243e-05,1793192754743790336
+2,0.033333333,BASELINE,763.225129768,743,712,671.225129768,659.225129768,632,876.774870232,783,799,649,628.225129768,651,0.401014044862,-0.00551583810952,0.079856404075,0.999999982544,8.55168869563e-05,-0.000162239809937,3.57489866999e-05,1793192754760456704
+3,0.050000000,BASELINE,763.803525568,743,712,671.803525568,659.803525568,632,876.196474432,783,799,649,628.803525568,651,0.401015872697,-0.00551627117586,0.0798579498501,0.999999983181,8.32595900586e-05,-0.000159495976435,3.55850448037e-05,1793192754777123328
+4,0.066666667,BASELINE,763.62017683,742.62017683,712,672,659.62017683,632,876.37982317,783,799,649,628.62017683,650.62017683,0.401015402964,-0.00551608564789,0.0798577155569,0.999999983061,8.39106840473e-05,-0.000159905896022,3.55850756917e-05,1793192754793790208
+5,0.083333333,BASELINE,763.044958652,742.044958652,712,672,659.044958652,632,876.955041348,783,799,649,628.044958652,650.044958652,0.401013751276,-0.00551558189222,0.079856565531,0.999999982549,8.60579614083e-05,-0.000161938222351,3.56694602199e-05,1793192754810457088
+6,0.100000000,BASELINE,763.541215821,742,711.458784179,672,659,632.541215821,876.458784179,783,799,648.458784179,628.541215821,650,0.401013888551,-0.00551541536566,0.0798566119734,0.999999982638,8.49857483626e-05,-0.000161973208881,3.55961208477e-05,1793192754827123456
+7,0.116666667,BASELINE,764,742,711.126388252,671.873611748,659,632.873611748,876.126388252,783,799.126388252,648.126388252,629,650.126388252,0.401014116755,-0.0055147980626,0.0798566573998,0.999999982669,8.47374634222e-05,-0.000161939592371,3.54505554114e-05,1793192754843790080
+8,0.133333333,BASELINE,764,742,711.704656745,671.295343255,659,632.295343255,876.704656745,783,799.704656745,648.704656745,629,650.704656745,0.401014127756,-0.0055124668557,0.0798563364973,0.999999982311,8.84109491527e-05,-0.000162266168146,3.50945698855e-05,1793192754860456960
+9,0.150000000,BASELINE,764,742.284046057,712,671,659,632.284046057,876.715953943,783.284046057,800,649,628.715953943,650.715953943,0.401014175272,-0.00551269805997,0.0798563625708,0.999999982183,8.95927645617e-05,-0.000162359536409,3.53024314142e-05,1793192754877123584
+10,0.166666667,BASELINE,764,742.864605345,712,671,659,632.864605345,876.135394655,783.864605345,800,649,628.135394655,650.135394655,0.401014260905,-0.00551560414332,0.0798567508496,0.999999982305,8.81735465681e-05,-0.000162209461339,3.60988880459e-05,1793192754893790208
+11,0.183333333,BASELINE,763.560658599,743,712,671,659,633,876.439341401,783.560658599,799.560658599,649,628.439341401,650,0.401014905661,-0.00551686690254,0.0798574431242,0.999999982618,8.59702248457e-05,-0.000161433261748,3.62383196018e-05,1793192754910456832
+12,0.200000000,BASELINE,763.012632017,743,712,671.012632017,659,632.987367983,877,783.012632017,799,649,629,650.012632017,0.40101570508,-0.00551756677733,0.0798582130222,0.999999982972,8.36198197876e-05,-0.000160484235371,3.61771531846e-05,1793192754927123712
+13,0.216666667,BASELINE,763.600757482,743,712,671.600757482,659,632.399242518,877,783.600757482,799,649,629,650.600757482,0.401015803313,-0.00551539304046,0.0798583070387,0.999999982846,8.54333623347e-05,-0.000160337309348,3.60810439844e-05,1793192754943790336
+14,0.233333333,BASELINE,764,743,712,672,659,632,877,783.812961664,799,649,629,650.812961664,0.401015515516,-0.00551370584259,0.0798579446796,0.999999982615,8.75006964663e-05,-0.00016067254879,3.60337670695e-05,1793192754960456960
+15,0.250000000,BASELINE,764,743,712,672,659,632,877,783.23057966,799,649,629,650.23057966,0.401014411765,-0.00551304704369,0.0798566176775,0.999999982163,9.01044712069e-05,-0.000162026943242,3.60897071298e-05,1793192754977123584
+16,0.266666667,BASELINE,764,743,712,672,659,632.347371701,877,783.347371701,799,649,628.652628299,650.347371701,0.401014434197,-0.00551391776759,0.0798565239407,0.999999982149,9.00785132389e-05,-0.000162111443607,3.61518184645e-05,1793192754993790208
+17,0.283333333,BASELINE,764,743,712,672,659,632.922419079,877,783.922419079,799,649,628.077580921,650.922419079,0.401015194757,-0.00551579097715,0.0798572385153,0.999999982424,8.8328965738e-05,-0.000161363625096,3.62179745961e-05,1793192755010456576
+18,0.300000000,BASELINE,764.49671579,742.50328421,712,672,659.49671579,632.50328421,877,783.50328421,799,649,628,651,0.401014532583,-0.00551535583233,0.0798568138617,0.99999998243,8.70152004943e-05,-0.000162099736385,3.59486835897e-05,1793192755027123456
+19,0.316666667,BASELINE,764.926833375,742.073166625,712,672,659.926833375,632.073166625,877,783.073166625,799,649,628.073166625,651,0.40101402333,-0.00551476870064,0.079856592358,0.999999982475,8.58126311809e-05,-0.000162518218506,3.56890077237e-05,1793192755043790336
+20,0.333333333,BASELINE,764.334259432,742.665740568,712,672,659.334259432,632.665740568,877,783.665740568,799,649,628.665740568,651,0.401016174752,-0.00551565819451,0.0798590742445,0.999999983105,8.49169841054e-05,-0.000159039006119,3.58689623511e-05,1793192755060456704
+21,0.350000000,BASELINE,764,743,712,672,659.251501865,632.748498135,877,783.748498135,799,649,629,651,0.401016990167,-0.00551597797703,0.0798597449753,0.999999983353,8.4688872794e-05,-0.000157582867349,3.59022454453e-05,1793192755077123328
+22,0.366666667,BASELINE,764,743,712,672,659.828447538,632.171552462,877,783.171552462,799,649,629,651,0.401016076786,-0.00551556055208,0.0798580720673,0.999999983121,8.5324553884e-05,-0.000158744589297,3.57457353309e-05,1793192755093790208
+23,0.383333333,BASELINE,763.595549745,743,712,672,659.595549745,632.404450255,877,783,799,649,629,651,0.401015254661,-0.00551591060309,0.0798575932401,0.999999982891,8.54214524963e-05,-0.000160149000741,3.56756864244e-05,1793192755110456832
+24,0.400000000,BASELINE,763.019946016,743,712,672,659.019946016,632.980053984,877,783,799,649,629,651,0.401014471154,-0.00551658543114,0.0798576197187,0.999999982661,8.52903515707e-05,-0.000161656112555,3.56422257769e-05,1793192755127123712
+25,0.416666667,BASELINE,763.555742913,742.444257087,712,671.444257087,659,633,877,783.555742913,799,649,629,651,0.40101412292,-0.00551523152533,0.0798575527564,0.999999982599,8.58572642436e-05,-0.000161739458771,3.565228009e-05,1793192755143790336
+26,0.433333333,BASELINE,764,742,712,671.135261254,659,633,877,783.864738746,799,649,629,650.864738746,0.401013929746,-0.00551414195734,0.0798575390725,0.999999982533,8.63915370507e-05,-0.000161860651789,3.56679334787e-05,1793192755160456960
+27,0.450000000,BASELINE,764,742,712,671.72771304,659,633,877,783.27228696,799,649,629,650.27228696,0.401014207869,-0.0055141920142,0.0798577168091,0.999999982434,8.67307946062e-05,-0.00016228251634,3.56972323323e-05,1793192755177123584
+28,0.466666667,BASELINE,764,742,712,672,659,633,876.68896278,783.31103722,799,649,629,650,0.401014114192,-0.00551467695369,0.0798576630531,0.99999998243,8.68802797083e-05,-0.000162233746435,3.56554974279e-05,1793192755193790208
+29,0.483333333,BASELINE,764,742,712,672,659,633,876.113401286,783.886598714,799,649,629,650,0.401013704315,-0.00551553174283,0.0798574124223,0.999999982508,8.68683711775e-05,-0.000161784721389,3.55533512523e-05,1793192755210456832
+30,0.500000000,BASELINE,764,742,711.529255587,671.529255587,659,632.529255587,876,783.529255587,799.470744413,649,628.529255587,650.470744413,0.401014190239,-0.00551367073051,0.0798576123471,0.999999982369,8.93300281644e-05,-0.000161276085635,3.56708969517e-05,1793192755227123456
+31,0.516666667,BASELINE,764,742.056252895,711.056252895,671,659,632.056252895,876.056252895,783.056252895,800,649,628.056252895,651,0.4010146951,-0.00551146569495,0.0798577740326,0.999999982178,9.19248780034e-05,-0.000160982641791,3.576725126e-05,1793192755243790336
+32,0.533333333,BASELINE,764,742.634857068,711.634857068,671,659,632.634857068,876.634857068,783.634857068,800,649,628.634857068,651,0.401013334747,-0.00551225401027,0.0798565540601,0.999999982065,9.01205824034e-05,-0.000162823241052,3.51662660357e-05,1793192755260456960
+33,0.550000000,BASELINE,763.78609433,743,712,671,659,632.78609433,876.78609433,783.78609433,799.78609433,649,628.78609433,651,0.401013398055,-0.00551345613265,0.0798564659332,0.999999982227,8.81282935705e-05,-0.000162984842242,3.48515420455e-05,1793192755277123584
+34,0.566666667,BASELINE,763.206285556,743,712,671,659,632.206285556,876.206285556,783.206285556,799.206285556,649,628.206285556,651,0.401015896651,-0.00551536610567,0.0798583139206,0.999999982861,8.58144271557e-05,-0.000160274380017,3.50264913207e-05,1793192755293790208
+35,0.583333333,BASELINE,763,742.630372148,712,671.369627852,659,632.369627852,876,783,799,649,628.369627852,651,0.401015714183,-0.00551511893381,0.0798584286787,0.999999982772,8.69988293454e-05,-0.000160144776979,3.52246477224e-05,1793192755310456832
+36,0.600000000,BASELINE,763,742.056609979,712,671.943390021,659,632.943390021,876,783,799,649,628.943390021,651,0.401014051045,-0.00551368043605,0.0798575862267,0.99999998228,9.01152195802e-05,-0.000161440504391,3.54356207365e-05,1793192755327123456
+37,0.616666667,BASELINE,763.52998349,742,712,671.47001651,659,633,876.52998349,783.52998349,799,649,628.47001651,651,0.401013587157,-0.00551323679815,0.0798568148771,0.999999982107,9.01488010649e-05,-0.000162472974167,3.55172881529e-05,1793192755343790080
+38,0.633333333,BASELINE,764,742,711.88370415,671,659,633,877,783.88370415,799.11629585,649,628,651,0.40101342122,-0.00551294234558,0.0798562576621,0.999999982038,8.94976489826e-05,-0.000163251376693,3.55301576753e-05,1793192755360456704
+39,0.650000000,BASELINE,764,742,711.30410707,671,659,633,877,783.30410707,799.69589293,649,628,651,0.40101391929,-0.00551280837357,0.0798565225135,0.999999982245,8.74630195611e-05,-0.000163132425856,3.53253376758e-05,1793192755377123328
+40,0.666666667,BASELINE,764,742,711.274410864,671.274410864,659,632.725589136,876.725589136,783,799.725589136,649,628.274410864,650.725589136,0.40101413462,-0.0055132840751,0.0798568358595,0.999999982369,8.68095647892e-05,-0.000162737389181,3.52483261234e-05,1793192755393790208
+41,0.683333333,BASELINE,764,742,711.851737521,671.851737521,659,632.148262479,876.148262479,783,799.148262479,649,628.851737521,650.148262479,0.401014037841,-0.00551443278112,0.0798572027376,0.999999982404,8.7680756817e-05,-0.000162037587757,3.53123993654e-05,1793192755410456832
+42,0.700000000,BASELINE,763.572409199,742,712,671.572409199,659,632,876.427590801,783,799.427590801,649,628.572409199,650,0.401013329237,-0.00551424964131,0.0798567453153,0.999999982274,8.78825413596e-05,-0.000162792149096,3.50422757143e-05,1793192755427123456
+43,0.716666667,BASELINE,763,742,712,671,659.003004035,632,877,783,799.996995965,649,628.003004035,650.003004035,0.401012419938,-0.00551361628958,0.0798560124357,0.999999982088,8.78399286428e-05,-0.000164033978832,3.46596397319e-05,1793192755443790080
+44,0.733333333,BASELINE,763,742,712,671,659.591891876,632,877,783,799.408108124,649,628.591891876,650.591891876,0.40101360159,-0.0055149343107,0.07985710867,0.999999982589,8.52454133603e-05,-0.000162294849918,3.48560338447e-05,1793192755460456704
+45,0.750000000,BASELINE,763.178619277,742,712,671,659.821380723,632.178619277,877.178619277,783,799,649,629,650.821380723,0.401013935467,-0.00551585982423,0.0798575233487,0.99999998277,8.39384162793e-05,-0.000161820343507,3.50478907496e-05,1793192755477123328
+46,0.766666667,BASELINE,763.760469427,742,712,671,659.239530573,632.760469427,877.760469427,783,799,649,629,650.239530573,0.401012355502,-0.00551589925639,0.0798563994239,0.99999998224,8.55379764449e-05,-0.000164200707464,3.5229504936e-05,1793192755493789952
+47,0.783333333,BASELINE,763.66298935,742.33701065,711.66298935,671.33701065,659,633,877.66298935,783,799,649,629,650,0.401012241587,-0.00551549636424,0.07985636348,0.999999982198,8.60624029177e-05,-0.000164180200477,3.52493920532e-05,1793192755510456832
+48,0.800000000,BASELINE,763.090162874,742.909837126,711.090162874,671.909837126,659,633,877.090162874,783,799,649,629,650,0.401013153509,-0.00551478396534,0.0798570888268,0.999999982498,8.58345282854e-05,-0.000162479736841,3.51561142119e-05,1793192755527123456
+49,0.816666667,BASELINE,763.482408632,742.517591368,711,671.517591368,659,632.517591368,876.517591368,783,799,649,628.517591368,650.482408632,0.401012852628,-0.00551669746648,0.0798571538634,0.999999982478,8.44474798166e-05,-0.00016323478838,3.55897349787e-05,1793192755543790336
+50,0.833333333,BASELINE,763.943132984,742,711.056867016,671.056867016,659,632,876,783,799,649,628,651,0.40101225202,-0.00551866511925,0.0798570239655,0.999999982375,8.31197676602e-05,-0.000164448842146,3.60230416873e-05,1793192755560456960
+51,0.850000000,BASELINE,763.350446688,742,711.649553312,671.649553312,659,632,876,783,799,649,628,651,0.40101096196,-0.00551652112098,0.0798562195557,0.999999982085,8.43914197689e-05,-0.000165665773427,3.55259873275e-05,1793192755577123584
+52,0.866666667,BASELINE,763,742,711.763050134,671.763050134,659,632.236949866,876,783,799,649,628.236949866,650.763050134,0.401010988842,-0.00551534905143,0.0798561660717,0.999999982062,8.49034333015e-05,-0.000165613544572,3.52053630234e-05,1793192755593790208
+53,0.883333333,BASELINE,763,742,711.183306256,671.183306256,659,632.816693744,876,783,799,649,628.816693744,650.183306256,0.401012920938,-0.00551558306571,0.0798571989479,0.999999982425,8.43164819887e-05,-0.000163725228959,3.51399790984e-05,1793192755610456832
+54,0.900000000,BASELINE,763,742,711.39281643,671.39281643,659,632.60718357,876,783.39281643,799,649,629,650,0.401014397156,-0.00551451657601,0.0798583120742,0.999999982597,8.58258006938e-05,-0.000161915435087,3.49872468277e-05,1793192755627123456
+55,0.916666667,BASELINE,763,742,711.96726472,671.96726472,659,632.03273528,876,783.96726472,799,649,629,650,0.401015662585,-0.00551284875463,0.0798594623066,0.999999982673,8.83044002118e-05,-0.000160141948428,3.47941261196e-05,1793192755643790336
+56,0.933333333,BASELINE,763,742,712,672,659,632,876.554920747,783.445079253,799,649,628.445079253,650,0.4010136193,-0.00551339799103,0.0798579311895,0.999999982495,8.66914607936e-05,-0.000162147135879,3.46884309416e-05,1793192755660456960
+57,0.950000000,BASELINE,763.141001312,742,712,671.858998688,659,632,876.858998688,783,799,649,628.141001312,650.141001312,0.401012033658,-0.00551382352935,0.0798566103986,0.999999982285,8.60076218154e-05,-0.000163779729566,3.47676552401e-05,1793192755677123584
+58,0.966666667,BASELINE,763.719713407,742,712,671.280286593,659,632,876.280286593,783,799,649,628.719713407,650.719713407,0.401012489364,-0.00551344917222,0.0798564455202,0.999999982041,8.89755262964e-05,-0.000163546835481,3.54045254243e-05,1793192755693790208
+59,0.983333333,BASELINE,763.701720009,742,711.701720009,671,659,632.298279991,876,783,799,649,629,650.701720009,0.401012973053,-0.00551419920457,0.0798570089365,0.999999982018,9.00700464355e-05,-0.000162959048428,3.59875899028e-05,1793192755710456832
+60,1.000000000,BASELINE,763.123290024,742,711.123290024,671,659,632.876709976,876,783,799,649,629,650.123290024,0.401013483026,-0.00551600528393,0.0798582563803,0.999999982208,8.94050502633e-05,-0.000162037939417,3.65201191579e-05,1793192755727123712
+61,1.016666667,BASELINE,763.450456585,742,711.450456585,671,659,633,876,783.450456585,799,649,628.549543415,650,0.401013287073,-0.00551663736384,0.0798578598014,0.999999982326,8.76378121285e-05,-0.000162381471885,3.60632358564e-05,1793192755743790080
+62,1.033333333,BASELINE,763.976320415,742.023679585,712,671,659,632.976320415,876.023679585,783.976320415,798.976320415,649,628,650.023679585,0.401012946681,-0.00551692425811,0.079857066465,0.999999982424,8.56229858255e-05,-0.00016300088145,3.53654194167e-05,1793192755760456704
+63,1.050000000,BASELINE,763.385244286,742.614755714,712,671,659,632.385244286,876.614755714,783.385244286,798.385244286,649,628,650.614755714,0.401013727345,-0.00551656016298,0.0798574372145,0.999999982653,8.48299799951e-05,-0.000162022215169,3.53165408252e-05,1793192755777123584
+64,1.066666667,BASELINE,763.201853728,742.798146272,712,671.201853728,659.201853728,632,877.201853728,783,798.403707457,649,628,651,0.401014393216,-0.00551565756185,0.079857883829,0.999999982778,8.51519993049e-05,-0.000161080707651,3.52949133473e-05,1793192755793790208
+65,1.083333333,BASELINE,763.781506086,742.218493914,712,671.781506086,659.781506086,632,877.781506086,783,799.563012173,649,628,651,0.401014844237,-0.00551374706835,0.079858472436,0.999999982709,8.75609504902e-05,-0.000160208748228,3.53242902971e-05,1793192755810456832
+66,1.100000000,BASELINE,763.641863481,742.358136519,712,672,659.641863481,632,877.641863481,783,799.283726961,649,628.358136519,650.641863481,0.401014530127,-0.00551295961093,0.0798583012966,0.99999998249,8.85021816824e-05,-0.000161095194954,3.51618168967e-05,1793192755827123456
+67,1.116666667,BASELINE,763.067061275,742.932938725,712,672,659.067061275,632,877.067061275,783,798.134122551,649,628.932938725,650.067061275,0.401013753128,-0.00551285156872,0.0798576705255,0.999999982179,8.85554705023e-05,-0.000163045443516,3.48832777339e-05,1793192755843790336
+68,1.133333333,BASELINE,763.519282677,742.480717323,712,672,659,632,877,783.519282677,798.519282677,649,629,650,0.401014615254,-0.00551333991446,0.0798581383048,0.999999982364,8.88864107834e-05,-0.000161726723081,3.48679699041e-05,1793192755860456960
+69,1.150000000,BASELINE,764,742.105576799,712,671.894423201,659,632.105576799,877,783.894423201,799.105576799,649,629,650,0.401015278969,-0.00551385090682,0.0798585179776,0.999999982569,8.88721907966e-05,-0.000160454511147,3.49121656135e-05,1793192755877123584
+70,1.166666667,BASELINE,764,742.684808158,712,671.315191842,659,632.684808158,877,783.315191842,799.684808158,649,629,650,0.401014081282,-0.00551411011179,0.0798578514302,0.999999982575,8.71449390783e-05,-0.000161327971249,3.50673381102e-05,1793192755893789952
+71,1.183333333,BASELINE,763.736971878,742.736971878,712,671,659,632.736971878,877,783,799.736971878,649,628.736971878,650.263028122,0.401014273782,-0.00551434183514,0.0798579272125,0.999999982724,8.58730802829e-05,-0.000161067985628,3.51463173718e-05,1793192755910456576
+72,1.200000000,BASELINE,763.159959171,742.159959171,712,671,659,632.159959171,877,783,799.159959171,649,628.159959171,650.840040829,0.401016125791,-0.0055145407529,0.0798588891361,0.999999983045,8.51448374997e-05,-0.000159454971845,3.51343424956e-05,1793192755927123456
+73,1.216666667,BASELINE,763,742,712,671,659,632,876.584706176,783.415293824,799,649,628.415293824,650.584706176,0.401015262494,-0.00551485145972,0.0798584706804,0.999999982804,8.55906947664e-05,-0.000160702278369,3.5223961237e-05,1793192755943790080
+74,1.233333333,BASELINE,763,742,712,671,659,632,876.010128145,783.989871855,799,649,628.989871855,650.010128145,0.401013357752,-0.00551520504274,0.0798575227859,0.999999982343,8.64868732311e-05,-0.000163046648858,3.53525457853e-05,1793192755960456960
+75,1.250000000,BASELINE,763,742,712,671,659,632.579683144,876.579683144,783.420316856,799,649,628.420316856,650,0.401012459634,-0.00551581453944,0.0798566787693,0.999999982253,8.49778227652e-05,-0.000164467201424,3.49709451358e-05,1793192755977123328
+76,1.266666667,BASELINE,763.167072681,742,712,671,659,633,877,783.167072681,799,649,628.167072681,650.167072681,0.401012068088,-0.00551563051774,0.079856290226,0.99999998221,8.43422577928e-05,-0.000165114012226,3.46892868386e-05,1793192755993790208
+77,1.283333333,BASELINE,763.747789594,742,712,671,659,633,877,783.747789594,799,649,628.747789594,650.747789594,0.401012886014,-0.00551347050717,0.0798570247442,0.999999982273,8.5976149993e-05,-0.000163886207217,3.4677734148e-05,1793192756010456832
+78,1.300000000,BASELINE,764,742,712,671.324603863,659,632.675396137,877,784,799,649,629,650.675396137,0.401013477762,-0.00551429755772,0.0798574407348,0.999999982467,8.54209742294e-05,-0.000162907633751,3.50789802934e-05,1793192756027123712
+79,1.316666667,BASELINE,764,742,712,671.898421857,659,632.101578143,877,784,799,649,629,650.101578143,0.40101389586,-0.00551741792009,0.0798576121762,0.999999982758,8.31851447356e-05,-0.000162120407484,3.57971521281e-05,1793192756043790080
+80,1.333333333,BASELINE,764,742,712,672,659,632.483163727,877.483163727,783.516836273,799,649,629,650,0.401013675798,-0.00551634288692,0.0798578857447,0.999999982559,8.54235072486e-05,-0.000162167321327,3.5865287273e-05,1793192756060456960
+81,1.350000000,BASELINE,763.930632002,742.069367998,712,671.930632002,659,633,877.930632002,783,799,649,629,650.069367998,0.401013411891,-0.00551461081244,0.0798581684404,0.999999982315,8.81429669464e-05,-0.000162242758642,3.57625703026e-05,1793192756077123584
+82,1.366666667,BASELINE,763.350955577,742.649044423,712,671.350955577,659,633,877.350955577,783,799,649,629,650.649044423,0.401013835255,-0.00551468390508,0.0798583566752,0.999999982566,8.7321756501e-05,-0.000161208101963,3.54315790916e-05,1793192756093790208
+83,1.383333333,BASELINE,763,742.771905582,712,671,659,632.771905582,876.771905582,783,799,649,629,651,0.401014142441,-0.00551501771165,0.0798583624244,0.999999982706,8.66389271124e-05,-0.000160746710822,3.52447392502e-05,1793192756110456832
+84,1.400000000,BASELINE,763,742.193816708,712,671,659,632.193816708,876.193816708,783,799,649,629,651,0.401014271359,-0.00551575156496,0.0798580881624,0.999999982678,8.61684333631e-05,-0.0001611649542,3.52790892523e-05,1793192756127123456
+85,1.416666667,BASELINE,763,742.381449501,712,671,659,632,876.381449501,783.381449501,799,649,629,651,0.401013921446,-0.00551547030939,0.0798580399382,0.999999982561,8.67562320072e-05,-0.000161569916933,3.52938332668e-05,1793192756143790336
+86,1.433333333,BASELINE,763,742.955291998,712,671,659,632,876.955291998,783.955291998,799,649,629,651,0.401013330024,-0.00551467705983,0.0798581057215,0.999999982399,8.78778052535e-05,-0.000161968181239,3.52986885399e-05,1793192756160456960
+87,1.450000000,BASELINE,763.54415405,742.45584595,712,671.54415405,659,632,877,784,799,649,629,650.45584595,0.401013266359,-0.00551435260249,0.0798581884877,0.999999982368,8.90033746948e-05,-0.000161471060991,3.56186857579e-05,1793192756177123840
+88,1.466666667,BASELINE,763.868067764,742,712,671.868067764,659,632.131932236,877,783.868067764,799.131932236,649,629,650,0.401013245521,-0.00551457544711,0.079858254279,0.999999982426,8.90563143962e-05,-0.000161029764427,3.58532462847e-05,1793192756193790208
+89,1.483333333,BASELINE,763.288276814,742,712,671.288276814,659,632.711723186,877,783.288276814,799.711723186,649,629,650,0.401013218693,-0.00551652171048,0.0798582575759,0.999999982744,8.5466946382e-05,-0.000161034781732,3.57073934198e-05,1793192756210456832
+90,1.500000000,BASELINE,763.289232018,742.289232018,712,671.289232018,659,632.710767982,877,783,799.710767982,649,628.710767982,650.289232018,0.401013839982,-0.00551647424832,0.0798583591376,0.999999982865,8.44469319746e-05,-0.000160889572643,3.54074921139e-05,1793192756227123456
+91,1.516666667,BASELINE,763.864484041,742.864484041,712,671.864484041,659,632.135515959,877,783,799.135515959,649,628.135515959,650.864484041,0.40101510219,-0.00551445520143,0.0798585578728,0.999999982798,8.59677379154e-05,-0.00016059580547,3.4955253132e-05,1793192756243790080
+92,1.533333333,BASELINE,764,742.561381046,711.561381046,671.561381046,659,632.438618954,877,783,799,649,628.438618954,650.561381046,0.401013335063,-0.005514682154,0.0798581170232,0.999999982404,8.64765416707e-05,-0.000162713493324,3.51758367883e-05,1793192756260456704
+93,1.550000000,BASELINE,763.98718563,742.01281437,711.01281437,671,659,633,877,783,799,649.01281437,629,650.01281437,0.401010702862,-0.00551557048279,0.0798574775042,0.999999981912,8.66641024441e-05,-0.000165525559047,3.55928365962e-05,1793192756277123584
+94,1.566666667,BASELINE,763.394681527,742.605318473,711.605318473,671,659,633,877,783,799,649.605318473,629,650.605318473,0.40101116913,-0.0055150661202,0.0798567671899,0.999999981835,8.64278542009e-05,-0.000166131206043,3.5515325062e-05,1793192756293790208
+95,1.583333333,BASELINE,763.193411176,743,712,671,659,633,877,783.193411176,799,649.806588824,628.806588824,650.806588824,0.401012008308,-0.00551479011299,0.0798567397105,0.999999981949,8.61019488577e-05,-0.000165619942222,3.54853023565e-05,1793192756310457088
+96,1.600000000,BASELINE,763.772702671,743,712,671,659,633,877,783.772702671,799,649.227297329,628.227297329,650.227297329,0.401013591492,-0.00551496970422,0.0798580745749,0.99999998244,8.55971659572e-05,-0.000162880296924,3.55500259947e-05,1793192756327123712
+97,1.616666667,BASELINE,764,742.651022329,712,671.348977671,659,632.651022329,877,783.651022329,799,649,628.348977671,650,0.401013610633,-0.0055149169636,0.0798581137458,0.999999982499,8.53577884253e-05,-0.000162659612225,3.54799280279e-05,1793192756343790080
+98,1.633333333,BASELINE,764,742.07669524,712,671.92330476,659,632.07669524,877,783.07669524,799,649,628.92330476,650,0.401012619805,-0.0055147141966,0.0798573162333,0.99999998228,8.52897942252e-05,-0.000164065525471,3.53227701314e-05,1793192756360456704
+99,1.650000000,BASELINE,764,742.50941471,712,672,659,632.50941471,877,783.50941471,799.50941471,649,628.49058529,650.50941471,0.40101286868,-0.00551459118721,0.0798576737053,0.999999982308,8.61820759596e-05,-0.000163449874194,3.52150607657e-05,1793192756377123328
+100,1.666666667,BASELINE,764,742.904057597,712,671.904057597,659,633,877,783.904057597,799.904057597,649,628.095942403,650.904057597,0.40101303441,-0.00551421509007,0.0798580173244,0.999999982306,8.74064599043e-05,-0.000162838452377,3.50931338321e-05,1793192756393790208
+101,1.683333333,BASELINE,764,742.324576869,712,671.324576869,659,633,877,783.324576869,799.324576869,649,628.675423131,650.324576869,0.401011818163,-0.00551250150909,0.0798573939938,0.999999981964,8.95587064449e-05,-0.000163818594244,3.48611429604e-05,1793192756410456832
+102,1.700000000,BASELINE,764,742.25337538,712,671.25337538,659.25337538,633,877.25337538,783,799.25337538,649,628.74662462,650.25337538,0.401011388252,-0.0055116376148,0.079857304256,0.99999998184,9.02618227734e-05,-0.000164196202974,3.48153284724e-05,1793192756427123456
+103,1.716666667,BASELINE,764,742.829381328,712,671.829381328,659.829381328,633,877.829381328,783,799.829381328,649,628.170618672,650.829381328,0.401011959607,-0.00551185565251,0.0798578939581,0.999999982,8.91197174281e-05,-0.000163806587884,3.50065780456e-05,1793192756443790080
+104,1.733333333,BASELINE,763.587511863,742.587511863,712,671.587511863,659.587511863,632.587511863,877.175023725,783.412488137,800,649,628.412488137,651,0.401011659412,-0.00551302166807,0.0798572128727,0.999999982034,8.71757269741e-05,-0.000164619482272,3.51220942875e-05,1793192756460456960
+105,1.750000000,BASELINE,763.001416405,742.001416405,712,671.001416405,659.001416405,632.001416405,876.00283281,783.998583595,800,649,628.998583595,651,0.401010992402,-0.00551458666699,0.0798559969405,0.999999982009,8.48942403532e-05,-0.000165938486811,3.52057360274e-05,1793192756477123584
+106,1.766666667,BASELINE,763.576901503,742.576901503,711.423098497,671.576901503,659,632.576901503,876,784,800,649,629,651,0.401013218397,-0.00551270071764,0.0798573660715,0.999999982025,8.90588348972e-05,-0.00016368615883,3.49993896905e-05,1793192756493790208
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,671,659,633,877,784,799,649,629,651,0.401014010982,-0.00551526294807,0.0798585210362,0.999999982376,8.7668011866e-05,-0.000162208050409,3.53775938111e-05,1793192756535052800
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,712,671,659,632.417967442,877,783.417967442,799,649,629,651,0.401013718276,-0.00551629219094,0.0798580573892,0.999999982518,8.49980669114e-05,-0.000162783708035,3.52244160789e-05,1793192756551719424
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.834535375,742.834535375,711.834535375,671,659,632.165464625,876.834535375,783,799,649,628.834535375,650.834535375,0.401013670149,-0.00551678109171,0.0798579602616,0.999999982635,8.33138099366e-05,-0.000162939425433,3.52109601402e-05,1793192756568386048
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.247537833,742.247537833,711.247537833,671,659,632.752462167,876.247537833,783,799,649,628.247537833,650.247537833,0.401014245103,-0.00551589343273,0.0798587968679,0.999999982702,8.41406627301e-05,-0.000162025315314,3.55534553903e-05,1793192756585052672
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742.334827596,711,671.334827596,659,633,876.334827596,783,799,649,628,650.334827596,0.401013987746,-0.00551444839934,0.0798587115873,0.999999982335,8.75586607258e-05,-0.000162481591015,3.55513706014e-05,1793192756601719040
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742.913815202,711,671.913815202,659,633,876.913815202,783,799,649,628,650.913815202,0.401013123459,-0.00551259692237,0.0798579540564,0.999999981627,9.2866150588e-05,-0.000163937167356,3.52980141917e-05,1793192756618385664
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.490988364,743,711.490988364,671.509011636,659,632.509011636,877,783,799.490988364,649,628,650.509011636,0.401011920077,-0.00551315845288,0.0798576809654,0.999999981955,8.88572994659e-05,-0.000164222349475,3.49973964542e-05,1793192756635052544
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712,671.068845977,659,632.068845977,876.931154023,783.068845977,799.931154023,649,628.068845977,650.068845977,0.401011033362,-0.00551402854589,0.0798575566092,0.999999982328,8.41523244943e-05,-0.000164483500413,3.47516595052e-05,1793192756651719168
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712,671.654219563,659,632.654219563,876.345780437,783.654219563,799.345780437,649,628.654219563,650.654219563,0.401012967408,-0.00551404752955,0.0798579125178,0.999999981857,8.64486990769e-05,-0.00016610004755,3.49796865488e-05,1793192756668385792
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.762765954,712,671.762765954,659,633,876.237234046,783.762765954,799,649,629,650.762765954,0.401018683768,-0.00551400534428,0.0798601709642,0.99999998173,8.7538343862e-05,-0.000166250433953,3.51848156627e-05,1793192756685052672
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.183156176,712,671.183156176,659,633,876.816843824,783.183156176,799,649,629,650.183156176,0.401029858754,-0.00551387488015,0.0798651751498,0.999999982106,8.68864382536e-05,-0.000164284859776,3.5356898507e-05,1793192756701719296
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.602988421,742,711.602988421,671,659,632.602988421,877,783,799,649,628.602988421,650,0.401059295619,-0.00551431352598,0.0798764142934,0.999999983868,8.70021176355e-05,-0.000153019271441,3.57727965475e-05,1793192756718385920
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.022562837,742,711.022562837,671,659,632.022562837,877,783,799,649,628.022562837,650,0.401097169229,-0.00551501509296,0.079890533904,0.999999986068,8.74724108745e-05,-0.000137457201558,3.63013339343e-05,1793192756735052544
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742.551227757,711.551227757,671,659,632,877,783,799,649,628,650.551227757,0.401154112093,-0.00551791178635,0.0799025487947,0.999999988373,8.49940836415e-05,-0.00012152726035,3.5524518093e-05,1793192756751719424
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742.872203054,712,671.127796946,659,632,877,783.127796946,799,649,628.127796946,651,0.401215841453,-0.00552038642798,0.0799132010168,0.99999999021,8.28799776416e-05,-0.000107372789691,3.43849202122e-05,1793192756768386048
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742.284672695,712,671.715327305,659,632,877,783.715327305,799,649,628.715327305,651,0.401292015138,-0.00552102340961,0.0799192574428,0.999999991114,8.25051243542e-05,-9.96588702975e-05,3.21301834999e-05,1793192756785052672
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,712,672,659,632,877,783.699537629,799,649,629,650.699537629,0.401379560916,-0.00552099607742,0.0799243299435,0.999999991945,8.18690757236e-05,-9.25349687573e-05,2.90624419495e-05,1793192756801719552
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,712,672,659,632,877,783.116654066,799,649,629,650.116654066,0.401477795949,-0.00552034431989,0.0799284775982,0.999999992707,8.0987515174e-05,-8.59656580748e-05,2.52305123462e-05,1793192756818386176
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.46005799,742.46005799,712,671.53994201,659,632.46005799,877,783,799,649,628.53994201,650.46005799,0.401596359309,-0.00552206397652,0.0799320484712,0.999999993487,7.66956278638e-05,-8.20062819232e-05,2.04407572685e-05,1793192756835052800
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.964788072,742.964788072,712,671.035211928,659,633,877.035211928,783,799,649,628.035211928,650.964788072,0.401721927122,-0.0055245453951,0.0799356186643,0.99999999427,7.13311737575e-05,-7.83201374876e-05,1.53893757057e-05,1793192756851719168
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.389848033,742.389848033,712,671.610151967,659,633,877.610151967,783,799,649,628.610151967,650.389848033,0.401876896412,-0.0055296083021,0.0799413904973,0.999999995623,6.26056301676e-05,-6.88125259672e-05,1.0001214768e-05,1793192756868386048
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.189386271,742.189386271,712,671.810613729,659,633,877.621227458,783.189386271,799,649.189386271,629,650,0.402042362006,-0.0055359732069,0.0799464471634,0.999999996841,5.10675628966e-05,-6.07575115237e-05,4.36508334296e-06,1793192756885052672
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.777665248,742.777665248,712,671.222334752,659,633,876.444669504,783.777665248,799,649.777665248,629,650,0.402229935298,-0.00554508042929,0.0799499975167,0.999999997879,3.36056503213e-05,-5.57620145682e-05,-1.79333245332e-06,1793192756901719296
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,743,712,671.360356828,659,633,876.360356828,784,799,650,629,650.360356828,0.402432131333,-0.00555274597397,0.0799503874121,0.999999998275,-5.30354531804e-06,-5.77733458572e-05,-9.12561521277e-06,1793192756918386176
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,743,712,671.939653759,659,633,876.939653759,784,799,650,629,650.939653759,0.402643211649,-0.00555953560698,0.0799488571251,0.999999996164,-5.724335566e-05,-6.40417783442e-05,-1.71710987277e-05,1793192756935052800
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.486555419,712,672,659.513444581,632.486555419,877,783.486555419,799.513444581,649.486555419,629,650.486555419,0.402876697175,-0.00555722998134,0.0799413036956,0.999999994507,-6.22463784473e-05,-8.1425033406e-05,-2.19409514481e-05,1793192756951719424
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.913337458,742.086662542,712,672,659.913337458,632.086662542,877,783,799.913337458,649,629,650.086662542,0.40312186551,-0.00555439864277,0.0799345253308,0.999999993227,-5.9745203979e-05,-9.65234336112e-05,-2.56933639025e-05,1793192756968386304
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.339740469,742.660259531,712,672,659.339740469,632.660259531,877,783,799.339740469,649,629,650.660259531,0.403418037599,-0.00555455608161,0.0799360372282,0.999999994431,-4.57472546898e-05,-9.15216730494e-05,-2.5869262616e-05,1793192756985052672
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.242135651,742.757864349,712,672,659.242135651,633,877,783,798.757864349,649,629,651,0.403736224914,-0.00555456702912,0.0799377052758,0.999999994794,-4.41711772845e-05,-8.79235584979e-05,-2.70395218277e-05,1793192757001719296
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.836039432,742.163960568,712,672,659.836039432,633,877,783,798.163960568,649,629,651,0.404086395335,-0.00555436515798,0.0799396001744,0.999999993992,-6.06412605888e-05,-8.63646232534e-05,-2.96543610968e-05,1793192757018385920
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.419968679,712,672,659.580031321,633,877,783,798.419968679,649,629,651,0.404466507169,-0.00555301879372,0.0799411459892,0.999999994408,-5.81753584824e-05,-8.24768148367e-05,-3.15868773237e-05,1793192757035052800
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.999906849,742.999906849,712,671.999906849,659,632.999906849,877.000093151,783,799,649,629,650.999906849,0.404858043467,-0.00555123634529,0.0799425581151,0.999999995252,-4.8490722109e-05,-7.7701470865e-05,-3.3259278704e-05,1793192757051719424
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.425537899,742.425537899,712,671.425537899,659,632.425537899,877.574462101,783,799,649,629,650.425537899,0.405287769533,-0.0055517524498,0.0799404904863,0.999999994943,-5.47082915792e-05,-7.65601161353e-05,-3.54977451087e-05,1793192757068386048
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,712,671.152597884,659.152597884,632.152597884,877.847402116,783,799,649,628.847402116,650.152597884,0.405723797762,-0.0055516210256,0.079937537917,0.999999994448,-5.82888403689e-05,-7.9366923491e-05,-3.75156032805e-05,1793192757085052672
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742,712,671.741503697,659.741503697,632.741503697,877.258496303,783,799,649,628.258496303,650.741503697,0.406177845061,-0.00554963818698,0.0799320551252,0.9999999934,-5.43296175177e-05,-9.34623176364e-05,-3.8902697921e-05,1793192757101719296
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.32422991,742.32422991,712,671.67577009,659.67577009,633,877,783,799,649,628,650.67577009,0.406664643515,-0.00554955329864,0.0799249730181,0.999999991939,-5.52691355207e-05,-0.00010682702528,-4.06911288948e-05,1793192757118385920
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.902121567,742.902121567,712,671.097878433,659.097878433,633,877,783,799,649,628,650.097878433,0.40717706493,-0.00555095327429,0.0799166396836,0.999999990127,-6.00411902062e-05,-0.000119620080768,-4.27935460862e-05,1793192757135052544
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.520608113,712,671.479391887,659.479391887,633,877,783,799.479391887,648.520608113,628.479391887,650.479391887,0.407706542877,-0.00555152010918,0.0799118946796,0.999999988367,-6.32727212076e-05,-0.000131512842885,-4.4342390735e-05,1793192757151719424
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.943522054,742,712,671.943522054,660,633,877,783,799.943522054,648.056477946,628.943522054,650.943522054,0.408245505963,-0.00555163139849,0.0799081267838,0.99999998666,-6.58652214174e-05,-0.000142271900025,-4.58224463886e-05,1793192757168386048
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.366965731,742,712,671.366965731,660,633,877,783,799.366965731,648.633034269,628.366965731,650.366965731,0.408839786615,-0.00554911216606,0.0799066188393,0.99999998631,-6.54658193867e-05,-0.000144281688957,-4.7708495212e-05,1793192757185052928
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742.213832744,712,671.213832744,660,633,877,783,798.786167256,649,628,650.213832744,0.409460271296,-0.005548442928,0.0799179230602,0.999999988642,-6.7535063385e-05,-0.000125459865861,-4.91486785023e-05,1793192757201719552
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742.802058638,712,671.802058638,660,633,877,783,798.197941362,649,628,650.802058638,0.410126635767,-0.00555101278814,0.0799516597061,0.999999993565,-7.39265833787e-05,-7.01646160502e-05,-4.98082093812e-05,1793192757218385920
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.385059908,743,712,672,660,633,877.385059908,783,798.770119816,649,628,650.614940092,0.410816647643,-0.00555246874738,0.0799726256204,0.99999999511,-7.63739293096e-05,-3.74291754524e-05,-5.04565928161e-05,1793192757235052544
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.965411378,743,712,672,660,633,877.965411378,783,799.930822756,649,628,650.034588622,0.411518652798,-0.00555335976733,0.0799871145775,0.999999995614,-7.68209008739e-05,-1.61354377055e-05,-5.10993225943e-05,1793192757251719168
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877.459193349,783,799.459193349,648.459193349,628,650,0.412180865377,-0.00555235094101,0.0799593330841,0.999999993247,-8.34608322587e-05,-5.95117938743e-05,-5.47660636563e-05,1793192757268385792
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.881570778,743,712,672,660,632.881570778,877,783.118429222,799,648.118429222,628.118429222,650.118429222,0.412848561602,-0.00555048767168,0.0799303462266,0.999999989122,-8.83753576653e-05,-0.000102498550262,-5.86494267865e-05,1793192757285052672
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.293878306,743,712,672,660,632.293878306,877,783.706121694,799,648.706121694,628.706121694,650.706121694,0.413547978864,-0.00554571585828,0.0799071983433,0.999999986281,-8.48979471578e-05,-0.000127701381777,-6.26317317534e-05,1793192757301719296
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660,632.289119255,877,783.710880745,799,649,628.710880745,650.710880745,0.414291615213,-0.00554039368722,0.0799073891051,0.999999987357,-8.27186206719e-05,-0.000119450404724,-6.46185731947e-05,1793192757318386176
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,712,672,660,632.86742095,877,783.13257905,799,649,628.13257905,650.13257905,0.415079480396,-0.00553452103763,0.0799309236099,0.999999991542,-8.18376614122e-05,-7.77383109006e-05,-6.46095154391e-05,1793192757335052800
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,711.554776817,672.445223183,660,632.554776817,877,783,799,649,628,650,0.415865532751,-0.005526586017,0.0799421758456,0.999999993305,-6.7692189153e-05,-7.04712458224e-05,-6.19793634091e-05,1793192757351719168
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.977284497,711.022715503,672.977284497,660,632,876.977284497,783,799,649,628,650,0.416651197556,-0.00551833030702,0.0799491331351,0.999999994307,-5.05101631734e-05,-7.33035524082e-05,-5.88322207728e-05,1793192757368385792
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742.403704129,711.596295871,672.403704129,660,632,876.403704129,783,799,649,628,650,0.417440541693,-0.00551717413505,0.0799405308258,0.999999993907,-5.53704960318e-05,-7.25901042565e-05,-6.20544264647e-05,1793192757385052672
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742.174950507,712,672,660,632,876.174950507,783.174950507,799.174950507,649,628,650,0.418246726854,-0.00551862944752,0.0799429833504,0.999999994472,-6.17672789009e-05,-5.60327358968e-05,-6.40405368454e-05,1793192757401719296
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742.765663903,712,672,660,632,876.765663903,783.765663903,799.765663903,649,628,650,0.419092933988,-0.00552629084849,0.0799717072463,0.999999995429,-7.18153734364e-05,-1.82292403969e-06,-6.30891157868e-05,1793192757418385920
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742.650403113,712,672.349596887,660,632,877,784,800,649,628.349596887,650,0.419914131131,-0.00553497095684,0.0799731776779,0.999999994884,-8.04599747852e-05,2.51183129921e-06,-6.12599563539e-05,1793192757435052544
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742.070928616,712,672.929071384,660,632,877,784,800,649,628.929071384,650,0.42071888291,-0.00554432091644,0.0799567275791,0.999999994043,-8.81817081344e-05,-2.59487840226e-05,-5.88536396932e-05,1793192757451719168
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.504927,742.504927,712,672.495073,660,632.504927,878.009854,784,799.495073,649,628.495073,650,0.421562862566,-0.00556022974324,0.0799539179644,0.999999992055,-0.000108086697869,-2.97118103037e-05,-5.76506824955e-05,1793192757468385792
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,878.835995358,783.917997679,799,649,628.082002321,650,0.422410530856,-0.00557416818434,0.0799569386078,0.999999990172,-0.00012585856814,-2.46406134986e-05,-5.66507110974e-05,1793192757485052672
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877.660575973,783.330287986,799,649,628.669712014,650,0.42324720545,-0.0055703137889,0.0799841817858,0.999999991146,-0.00011999631246,1.36679796496e-05,-5.58675048049e-05,1793192757501719296
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.746427429,743,712,672.253572571,660,633,877.253572571,783,799,649,628.746427429,650,0.424057823808,-0.00556941333741,0.0799891299664,0.999999991415,-0.000118371753294,9.66564549576e-06,-5.53585160932e-05,1793192757518385920
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.167505472,743,712,672.832494528,660,633,877.832494528,783,799,649,628.167505472,650,0.424835010507,-0.00557230297928,0.0799654722818,0.99999998983,-0.000122184421519,-4.86242358451e-05,-5.52013654409e-05,1793192757535052544
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,743,712,672.603652348,660,632.603652348,878,783,799,649,628,650,0.425631916928,-0.0055754252896,0.0799321991538,0.999999985508,-0.000128920112016,-9.48264523914e-05,-5.80587468412e-05,1793192757551719424
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,743,712,672.04593443,660,632.04593443,878,783,799,649,628,650,0.426436852053,-0.00557864232915,0.0798950111644,0.999999979443,-0.000136845890939,-0.000136107254437,-6.21434745395e-05,1793192757568386048
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.547467242,743,711.452532758,672,660.547467242,632.547467242,877.452532758,783,799,649,628.547467242,650,0.42727769412,-0.00558153391002,0.0798974107079,0.999999980731,-0.000140011040894,-0.000122702052809,-6.22891805699e-05,1793192757585052672
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.857949925,743,711.142050075,672.142050075,660.857949925,633,877,783.142050075,799.142050075,649,628.857949925,650.142050075,0.42810318482,-0.00558339847031,0.0799050366489,0.999999982208,-0.00014143834983,-0.000108451588471,-6.17907309644e-05,1793192757601719296
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.269716972,743,711.730283028,672.730283028,660.269716972,633,877,783.730283028,799.730283028,649,628.269716972,650.730283028,0.428870333627,-0.00558212888563,0.0799179183805,0.999999982831,-0.000138749165311,-0.000106963126751,-6.03794551502e-05,1793192757618385920
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660.313845525,633,877.313845525,783.686154475,799.686154475,649,628.313845525,650.686154475,0.429660788925,-0.00558214958258,0.0799392212322,0.999999985953,-0.00013458773835,-8.09979339069e-05,-5.84760855544e-05,1793192757635052800
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,743,712,673,660.893453086,633,877.893453086,783.106546914,799.106546914,649,628.893453086,650.106546914,0.430470979947,-0.00558326288039,0.0799676550246,0.999999989491,-0.000129179627439,-3.43060286901e-05,-5.61560146073e-05,1793192757651719424
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,743,711.530237598,673,661,632.530237598,878,783.469762402,799.469762402,649,628.530237598,650,0.431254329336,-0.00558457458401,0.0799963248648,0.999999990331,-0.000127891295226,9.31484289826e-06,-5.37990534899e-05,1793192757668386048
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,711.045405406,673,661,632.045405406,878,783.954594594,799.954594594,648.954594594,628,650,0.432023581938,-0.00558551925492,0.0800194129264,0.999999989627,-0.000127326350312,4.30239564049e-05,-5.17875085925e-05,1793192757685052672
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,743,711.62194334,673,661,632.62194334,878,783.37805666,799.37805666,648.37805666,628,650,0.432698653566,-0.00558164781147,0.0799765858654,0.999999990329,-0.000124369188152,-3.11193349833e-05,-5.39136858115e-05,1793192757701719296
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,743,712,673,660.797149855,633,877.797149855,783,799.202850145,648.202850145,628,650,0.433360866036,-0.00557833194223,0.0799317166295,0.999999985781,-0.000123579926351,-9.97666482453e-05,-5.66767492017e-05,1793192757718385920
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660.207921352,633,877.207921352,783,799.792078648,648.792078648,628,650,0.433998585168,-0.00557607430106,0.0798829575578,0.999999977633,-0.00012691996816,-0.00015794552262,-6.06529208055e-05,1793192757735052800
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,743,712,673,660.373980754,632.626019246,877,783,799.626019246,649,628,650,0.434670005346,-0.00557796013089,0.07988522654,0.999999979026,-0.000128656507684,-0.000147316563652,-6.07805476845e-05,1793192757751719424
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,743,712,673,660.951887846,632.048112154,877,783,799.048112154,649,628,650,0.435359802182,-0.00558210533613,0.0799153203905,0.999999984966,-0.000129518680142,-9.91676771003e-05,-5.88096180803e-05,1793192757768386048
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.528492163,743,711.471507837,673,660.471507837,632.528492163,877.528492163,783,799,649,628,650,0.435979908269,-0.00558438953238,0.0799326457014,0.999999986028,-0.000130961244675,-8.71566315616e-05,-5.65364107903e-05,1793192757785052672
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+187,3.116666667,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,878.562997164,783.437002836,799.562997164,649,628.562997164,650.437002836,0.438637478594,-0.00559058378316,0.0798424191849,0.99999995828,-0.000138471198118,-0.000246374581719,-5.97158261813e-05,1793192757868386304
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+192,3.200000000,POSE1_TO_POSE2_PRESS,763.656514682,743,711,673,659,632,878,783,800,649,628.656514682,651,0.440633354066,-0.00559418876981,0.0796988424866,0.999999879522,-0.000137222563699,-0.000466784691399,-6.50990989992e-05,1793192757951719168
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763.658047306,743,711,673,658.341952694,631,878,782.658047306,799.341952694,649,628,650.341952694,0.441912478579,-0.00559838723402,0.0796944625193,0.999999875888,-0.000151014018392,-0.000470260272577,-6.53685938839e-05,1793192758018385920
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+198,3.300000000,POSE1_TO_POSE2_PRESS,763.173831721,743,711,673.826168279,658.826168279,631.826168279,878,783,799.826168279,649,628,650.826168279,0.442442082105,-0.00560243089377,0.0797196633714,0.999999891816,-0.000151407072183,-0.000435503081289,-6.14861700718e-05,1793192758051719168
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.40193676,743,711,673.59806324,659,631.59806324,878,783,800,649,628,651,0.442651375829,-0.00560328491155,0.0797154351551,0.999999888402,-0.000152547569618,-0.000442983217625,-6.07611026776e-05,1793192758068386816
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+229,3.816666667,POSE1_TO_POSE2_PRESS,763.810678405,743,711,674,658,631,878,781.189321595,799.810678405,649,628,650,0.443937090216,-0.00554994009261,0.0796658838025,0.999999854596,-9.65886633146e-05,-0.000526336312627,-6.67032238971e-05,1793192758568386304
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,674,658,631,878,781.388685794,800,649,628,650,0.443937769918,-0.00555139536341,0.0796666087449,0.999999854752,-9.86480350556e-05,-0.000525728051246,-6.61392978889e-05,1793192758585052928
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658,631,878,781.966344889,800,649,628,650,0.443938154068,-0.00555382209006,0.0796665545594,0.999999854283,-0.000102315378612,-0.00052605004627,-6.50968371925e-05,1793192758601719808
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.462193834,743,711,673.462193834,658,631,878,782,800,649,628,650,0.443937953985,-0.00555185251994,0.0796664051191,0.999999854828,-9.75444732257e-05,-0.000525885023962,-6.53682298856e-05,1793192758618386432
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,743,711,673.113825826,658,631,878,782,800,649,628,650.113825826,0.443937635992,-0.00555037360218,0.0796661670259,0.999999855088,-9.41513659059e-05,-0.000525984315649,-6.55770054427e-05,1793192758635053056
+234,3.900000000,POSE1_TO_POSE2_PRESS,763,743,711,673.710822472,658,631,878,782,800,649,628,650.710822472,0.443936970917,-0.00555213192404,0.0796655776318,0.999999853953,-9.88227292254e-05,-0.000527333469252,-6.51749529503e-05,1793192758651720192
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.296770962,743,711,674,658,631,878,782,800,649,628,650.703229038,0.443937364482,-0.00555244589043,0.0796657964988,0.999999853893,-9.94518775893e-05,-0.000527373620741,-6.48143189367e-05,1793192758668386816
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.872340442,743,711,674,658,631,878,782,800,649,628,650.127659558,0.443938752578,-0.00555140297171,0.0796667746786,0.99999985485,-9.62836080113e-05,-0.000526184043426,-6.44925950533e-05,1793192758685052928
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673.551274676,658,631,878,781.551274676,799.551274676,649,628,650,0.443939699843,-0.00555116079784,0.0796669703033,0.999999855151,-9.60254232757e-05,-0.00052563490717,-6.46948532046e-05,1793192758701719552
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.974079482,743,711,673,658,630.974079482,878,781.025920518,799.025920518,649,628,650,0.443940510291,-0.00555114727324,0.0796669398581,0.999999855278,-9.65748510438e-05,-0.000525251248095,-6.50323925518e-05,1793192758718386176
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.384312224,743,711,673,658,630.384312224,878,781.615687776,799.615687776,649,628,650,0.443941077637,-0.00555114305116,0.079666843443,0.999999855664,-9.66501605174e-05,-0.000524496570837,-6.50640907269e-05,1793192758735053056
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,743,711,673.201092899,657.798907101,630.201092899,878,782,800.201092899,649,628,650.201092899,0.443941030539,-0.00555126929684,0.0796665788049,0.999999855599,-9.65961455871e-05,-0.000524624782682,-6.51132499036e-05,1793192758751719680
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,743,711,673.778338433,657.221661567,630.778338433,878,782,800.778338433,649,628,650.778338433,0.443939834099,-0.0055516395879,0.0796659994984,0.999999854687,-9.63002239734e-05,-0.000526404475379,-6.51950706086e-05,1793192758768386560
+242,4.033333333,HOLD_POSE2,763,743,711,674,658,631,878,782,800,649,628,650,0.443938498253,-0.00555190928824,0.0796637780729,0.999999853219,-9.6546765029e-05,-0.00052920995562,-6.46298187876e-05,1793192758803813888
+243,4.050000000,HOLD_POSE2,763,743,711,673.426242592,658,631,878,782,799.426242592,649,628,650,0.44393965432,-0.00555297562753,0.079665047127,0.999999853812,-9.79145519798e-05,-0.000527843287818,-6.45747180816e-05,1793192758820480512
+244,4.066666667,HOLD_POSE2,763.153336849,742.846663151,711,673.153336849,658,630.846663151,878.153336849,782,799.153336849,649,628,650,0.443940561294,-0.00555313103512,0.0796659576981,0.999999854339,-9.84686370861e-05,-0.000526731466735,-6.46466918047e-05,1793192758837146880
+245,4.083333333,HOLD_POSE2,763.749739134,742.250260866,711,673.749739134,658,630.250260866,878.749739134,782,799.749739134,649,628,650,0.443940748515,-0.00555065431404,0.0796658324358,0.999999854684,-9.66715384128e-05,-0.000526356022619,-6.5085845926e-05,1793192758853813248
+246,4.100000000,HOLD_POSE2,763.665578149,742.334421851,711,673.665578149,658,630.334421851,878.665578149,782,799.665578149,649,628,650,0.443940969686,-0.0055508784554,0.0796661426327,0.999999854939,-9.70815202964e-05,-0.00052581296114,-6.49420607033e-05,1793192758870479616
+247,4.116666667,HOLD_POSE2,763.089368735,742.910631265,711,673.089368735,658,630.910631265,878.089368735,782,799.089368735,649,628,650,0.443941215403,-0.00555305532503,0.0796667676673,0.999999855128,-9.90872252626e-05,-0.000525148712045,-6.43768093227e-05,1793192758887145984
+248,4.133333333,HOLD_POSE2,763.485269262,742.514730738,711,673.485269262,658,631,878,782,799.485269262,649,628,650,0.44394238821,-0.00555288814956,0.0796672106038,0.999999855677,-9.90442156054e-05,-0.000524118576662,-6.43086259581e-05,1793192758903812608
+249,4.150000000,HOLD_POSE2,764,742,711,673.938936037,658,631,878,782,799.938936037,649,628,650,0.443943547296,-0.00555231116532,0.0796676305967,0.999999856218,-9.86191021233e-05,-0.000523164107186,-6.43266394914e-05,1793192758920479488
+250,4.166666667,HOLD_POSE2,764,742,711,673.350664176,658,631,878,782,799.350664176,649,628,650,0.443943118594,-0.00555191103941,0.0796681411038,0.999999856121,-9.81419806006e-05,-0.000523442799292,-6.43010592594e-05,1793192758937145856
+251,4.183333333,HOLD_POSE2,763.764765246,742,711,673.235234754,657.764765246,631,878,782,799.235234754,648.764765246,628,650,0.443942644678,-0.00555243445476,0.0796677910054,0.999999855526,-9.88987541592e-05,-0.00052443682038,-6.42889429574e-05,1793192758953812736
+252,4.200000000,HOLD_POSE2,763.182368366,742,711,673.817631634,657.182368366,631,878,782,799.817631634,648.182368366,628,650,0.443942104035,-0.00555432084284,0.0796661708157,0.99999985419,-0.000101476524153,-0.000526486532089,-6.42966968782e-05,1793192758970480384
+253,4.216666667,HOLD_POSE2,763.394545978,742,711,674,657.394545978,631,878,782,800,648.394545978,628,650,0.443942225212,-0.00555316086143,0.0796662685757,0.999999854375,-9.91843571475e-05,-0.000526572014144,-6.42949868953e-05,1793192758987147008
+254,4.233333333,HOLD_POSE2,763.968960948,742,711,674,657.968960948,631,878,782,800,648.968960948,628,650,0.443942648107,-0.00555061207525,0.0796671495291,0.999999855239,-9.46720418806e-05,-0.000525762026577,-6.42889624269e-05,1793192759003812608
+255,4.250000000,HOLD_POSE2,764,742,711,674,658,631,878,782,800,649,628,650.542665375,0.443942109952,-0.00555055135541,0.0796668266982,0.999999855526,-9.39553465737e-05,-0.000525352502822,-6.42234815318e-05,1793192759020479488
+256,4.266666667,HOLD_POSE2,763.880330527,742.119669473,711,674,658,630.880330527,878,782,799.880330527,648.880330527,628.119669473,650.880330527,0.443942034897,-0.00555075624162,0.0796667210378,0.999999855879,-9.38923489597e-05,-0.000524702949611,-6.41401253166e-05,1793192759037146112
+257,4.283333333,HOLD_POSE2,763.29019442,742.70980558,711,674,658,630.29019442,878,782,799.29019442,648.29019442,628.70980558,650.29019442,0.443943996286,-0.00555144657988,0.0796677394927,0.999999856613,-9.55469018869e-05,-0.000523019815834,-6.39998465202e-05,1793192759053812736
+258,4.300000000,HOLD_POSE2,763.295369722,743,711,674,658,630.295369722,878,782,799.295369722,648.295369722,628.704630278,650.295369722,0.443943261746,-0.00555142817101,0.0796672245671,0.999999855912,-9.60900386183e-05,-0.00052426636157,-6.39408046583e-05,1793192759070479360
+259,4.316666667,HOLD_POSE2,763.87651044,743,711,674,658,630.87651044,878,782,799.87651044,648.87651044,628.12348956,650.87651044,0.443939918887,-0.00555072404735,0.0796652260917,0.999999853813,-9.55578771038e-05,-0.000528347380179,-6.39603597562e-05,1793192759087145728
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,631,878,782,800,649,628,650,0.443943603588,-0.00555396355708,0.0796675938444,0.999999855636,-9.66399600992e-05,-0.000524738070068,-6.35567874176e-05,1793192759119789312
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.575519891,742.424480109,711,673.575519891,657.424480109,630.424480109,878,782,800,648.424480109,628,650.575519891,0.443943041071,-0.0055532764131,0.0796666794536,0.999999855408,-9.44808498251e-05,-0.000525542924959,-6.37265087053e-05,1793192759136455424
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.843628821,742.156371179,711,674,657.156371179,630.156371179,878.156371179,782,800,648.156371179,628,651,0.4439429242,-0.00555300826327,0.0796663687574,0.999999855402,-9.43889714365e-05,-0.000525553848389,-6.38762525068e-05,1793192759153121536
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.247794113,742.752205887,711,674,657.752205887,630.752205887,878.752205887,782,800,648.752205887,628,651,0.443944059766,-0.00555391764902,0.0796677546768,0.999999856004,-0.000100106814155,-0.00052333351735,-6.39698518788e-05,1793192759169787648
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742.664443116,711,674,658,631,878.664443116,781.664443116,800,649,628,650.664443116,0.443943782361,-0.00555317338059,0.0796679227221,0.9999998561,-0.00010056219416,-0.000523064597229,-6.39559290778e-05,1793192759186454272
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742.089980169,711,674,658,631,878.089980169,781.089980169,800,649,628,650.089980169,0.443942498964,-0.00555125176177,0.0796672236787,0.999999855845,-9.72708640721e-05,-0.000524185021115,-6.38654538292e-05,1793192759203120896
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.484425943,742.484425943,710.515574057,674,658,631,878,781.484425943,800,649,628,650,0.443939466548,-0.00555056828513,0.0796651375162,0.999999854569,-9.77199975927e-05,-0.000526493774301,-6.41628044534e-05,1793192759219787776
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,710.060629574,673.939370426,658,631,877.939370426,782,799.939370426,649,628,650,0.443934540671,-0.0055500970972,0.0796621182652,0.999999852495,-9.83462197482e-05,-0.000530267113289,-6.44594010516e-05,1793192759236454656
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,710.652681118,673.347318882,658,631,877.347318882,782,799.347318882,649,628,650,0.443915865693,-0.00554947108114,0.079653178504,0.999999845004,-9.4435594009e-05,-0.000544943175425,-6.41180530483e-05,1793192759253121024
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.238514265,658,631,877.477028529,781.761485735,799.238514265,649,628,650.238514265,0.443886664254,-0.00554885648705,0.079640305239,0.999999833186,-9.19199159365e-05,-0.000566621837176,-6.4175372486e-05,1793192759269787392
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.815522358,658,631,878.631044715,781.184477642,799.815522358,649,628,650.815522358,0.44384252391,-0.0055482581028,0.0796218496389,0.99999981478,-9.13839150388e-05,-0.000598238421914,-6.47984713687e-05,1793192759286453760
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.607678467,631,878.607678467,781.392321533,800,649,628,650.607678467,0.443783262177,-0.00554773188605,0.0796045683048,0.999999796672,-9.21049546987e-05,-0.000627687170019,-6.465969275e-05,1793192759303120384
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.030977427,631,878.030977427,781.969022573,800,649,628,650.030977427,0.443716893835,-0.00554723958584,0.0795878388392,0.999999778333,-9.34167661325e-05,-0.000656117101625,-6.41628542872e-05,1793192759319787008
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.556524931,631,878,782,799.443475069,649,628,650,0.443646536499,-0.00554497608442,0.0795823634129,0.999999775868,-9.20628245055e-05,-0.000660229311374,-6.23414827182e-05,1793192759336453888
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.857511626,743,711,674,658,631,877.857511626,782,799,649,628,650,0.443570524011,-0.00554314422654,0.079580127298,0.999999775899,-9.01991232049e-05,-0.000660657791081,-5.99745766414e-05,1793192759353120768
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.278146308,743,711,674,658,631,877.278146308,782,799,649,628,650,0.443477866754,-0.00554294407227,0.0795858644155,0.999999780744,-8.72364223054e-05,-0.000654024046444,-5.61655556766e-05,1793192759369787648
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.700580756,658,631,877.299419244,782,799,649,628,650,0.443368621851,-0.00554118179191,0.0795894945014,0.999999784047,-8.35214423055e-05,-0.000649778331977,-5.21352543486e-05,1793192759386454272
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.124677147,658,631,877.875322853,782,799,649,628,650,0.443244059887,-0.00553797704101,0.0795911789495,0.999999785941,-7.9111806366e-05,-0.000647737730048,-4.79006224926e-05,1793192759403121152
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.459402375,743,711,673.459402375,658,631,878,782,799.459402375,649,628,650.459402375,0.443102174582,-0.0055349340957,0.0795957743576,0.999999790608,-7.50091465651e-05,-0.000641326675393,-4.30995219037e-05,1793192759419787776
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.9548037,743,711,673.9548037,658,631,878,782,799.9548037,649,628,651,0.442951957213,-0.00553196132769,0.0796011056759,0.999999795898,-7.05526903762e-05,-0.000633865895095,-3.79467171582e-05,1793192759436454400
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.375446875,743,711,673.375446875,658,631,878,782,799.375446875,649,628,651,0.442759836719,-0.005529289572,0.0796056284885,0.999999800318,-6.09123708626e-05,-0.000628270836497,-3.0487086205e-05,1793192759453121024
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.203795355,743,711,673.203795355,658,631,878.203795355,782,799,649,628,650.796204645,0.442548196771,-0.0055259604661,0.0796078307019,0.999999802383,-5.06932574768e-05,-0.00062621399331,-2.28142010408e-05,1793192759469787648
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.782826524,743,711,673.782826524,658,631,878.782826524,782,799,649,628,650.217173476,0.442300616878,-0.00552142102213,0.0796057601384,0.999999800241,-3.94084477122e-05,-0.000630671848594,-1.47486648816e-05,1793192759486454016
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.640935547,743,711,674,658,631,878.640935547,782,799.359064453,649,628,650,0.442033796183,-0.00551666821274,0.0796071193257,0.999999801028,-2.86701430275e-05,-0.000630141442099,-6.61983799865e-06,1793192759503120384
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.066373962,743,711,674,658,631,878.066373962,782,799.933626038,649,628,650,0.441755427851,-0.00551178734893,0.0796105369216,0.999999803507,-1.82598292843e-05,-0.000626617266768,1.54697439752e-06,1793192759519787008
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.517979924,743,711,673.482020076,658,631,878,782,800,649,628.517979924,650,0.441446187864,-0.00550539985402,0.0796119320532,0.999999805708,1.88441528165e-05,-0.000623042643551,6.8299567598e-06,1793192759536453632
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.103112524,658.103112524,631,878,782,800.103112524,649,628.896887476,650.103112524,0.441121252716,-0.00549953692469,0.0796120811896,0.9999998065,5.03188746413e-05,-0.000619972065769,1.01281595281e-05,1793192759553120256
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.685918098,658.685918098,631,878,782,800.685918098,649,628.314081902,650.685918098,0.440742059462,-0.00549702978697,0.0796076626641,0.999999807455,3.93861819205e-05,-0.00061927702933,5.94515482572e-06,1793192759569786880
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.819563909,711.180436091,672,659.819563909,632.180436091,877,783,799,648.180436091,629,650.819563909,0.403164449731,-0.00542245340689,0.0798328358667,0.999999942169,0.000170501703675,-0.000291872664408,3.74297097023e-05,1793192760503120384
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.498400633,742.498400633,712,672,659,632.501599367,877,783,799,649,628.501599367,650,0.402180386008,-0.00542705889465,0.0798297000574,0.999999942087,0.000167146243244,-0.000294235420243,3.62429613436e-05,1793192760569787392
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.963875125,659,632.036124875,876.963875125,783,799,649,628.963875125,651,0.4013315886,-0.00543364499723,0.0798368210239,0.999999948727,0.000143671868925,-0.000283979162538,3.55064632756e-05,1793192760669787136
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711.123329217,671.123329217,659,632.123329217,877,783.876670783,799,649,628.876670783,650.876670783,0.401036016168,-0.00543741268824,0.079821171676,0.999999937441,0.000176534593295,-0.000304623518895,3.40353423099e-05,1793192760753120512
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742.457835319,711.457835319,671,659,632,877,783.542164681,799,648.542164681,629,650.542164681,0.401013885439,-0.00543855650716,0.0798236407061,0.999999939038,0.000173951297089,-0.000300806400151,3.43610903244e-05,1793192760769786880
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,659,633,877.584225546,783.584225546,799,648.584225546,628.584225546,651,0.400956578677,-0.00547909227547,0.07982702075,0.999999948068,0.000126764987283,-0.000293754499211,3.87657447515e-05,1793192761003120640
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,743,711.749030573,672,659,632.250969427,877.250969427,783.250969427,799,649,629,651,0.400958418799,-0.00548403434084,0.0798281634214,0.99999994923,0.000122194354951,-0.000291626995492,3.9532223196e-05,1793192761036453888
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,632.051688162,877.051688162,783.051688162,799,648.051688162,629,650.051688162,0.400958467128,-0.00548250304467,0.0798299322585,0.999999949799,0.000122233913117,-0.000289752943476,3.87947310601e-05,1793192761103120384
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,632.645752123,877.645752123,783.645752123,799,648.645752123,629,650.645752123,0.400958544668,-0.0054809090422,0.079829471077,0.999999949794,0.000123128519266,-0.000289441481034,3.84062265616e-05,1793192761119787008
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.231908061,659,633,877.768091939,783.768091939,799,649,628.768091939,651,0.400958591968,-0.00547964805304,0.079829151376,0.999999949658,0.000124655523917,-0.000289277747472,3.82450363502e-05,1793192761136453632
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.806382513,659,633,877.193617487,783.193617487,799,649,628.193617487,651,0.400958594597,-0.00547887897945,0.0798290406652,0.999999949326,0.000127116685225,-0.00028933223381,3.84196267917e-05,1793192761153120256
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.617694308,877,783,799,649,628.382305692,650.617694308,0.400958720638,-0.00547849420411,0.0798292524339,0.999999949332,0.000127488638417,-0.000289145137594,3.84291729814e-05,1793192761169787136
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.041034651,877,783,799,649,628.958965349,650.041034651,0.400958909416,-0.00547830479571,0.0798296281425,0.999999949513,0.000126798494138,-0.000288835227282,3.83548150928e-05,1793192761186453760
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.547776526,877,783,799,649,628.452223474,650,0.400957327094,-0.00547786641723,0.0798294422419,0.999999949176,0.00012647919017,-0.000290148679849,3.82603277931e-05,1793192761203120128
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.134934015,712,671.865065985,659,632.865065985,877,783.134934015,799,648.865065985,628.134934015,650.134934015,0.400956226403,-0.00547786705987,0.0798293105304,0.999999948967,0.000125979183095,-0.00029109438118,3.81966689697e-05,1793192761219786752
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,671.289892156,659.289892156,632,877.289892156,784,799,648.289892156,629,650.710107844,0.40095780297,-0.00547871051995,0.0798296725113,0.999999949405,0.000125737189864,-0.000289696316512,3.81518722365e-05,1793192761253120000
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,743,712,671.863881802,659.863881802,632,877.863881802,784,799,648.863881802,629,650.136118198,0.400958173784,-0.00547591963342,0.0798298328319,0.999999949252,0.000128773559293,-0.000288919061977,3.79365138215e-05,1793192761269786880
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.44954968,743,712,672,659.55045032,632,877.55045032,783.55045032,799,649,629,650.44954968,0.400957671768,-0.00547716590744,0.0798298188354,0.999999949362,0.000127580601667,-0.000289068324857,3.79267626781e-05,1793192761286453504
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.96175418,742.96175418,712,671.96175418,659,632,877,783.03824582,799,649,629,651,0.400957028551,-0.00547958546427,0.0798298174839,0.999999949582,0.000125159216997,-0.00028935901239,3.79877005413e-05,1793192761303120384
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.381588508,742.381588508,712,671.381588508,659,632,877,783.618411492,799,649,629,651,0.400958229188,-0.00548084706476,0.0798307631248,0.99999995024,0.000123960872839,-0.000287572529287,3.81446110538e-05,1793192761319787008
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a1202182af91b8fd7ba52fb621536d5d37b50df
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_01/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
+0,0.000000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+1,0.016666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+2,0.033333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+3,0.050000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+4,0.066666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+5,0.083333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+6,0.100000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
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+359,5.983333333,pose2_to_pose3_retreat,0.575766868625,5.46338147548e-05,1.07002932159,0.546337598118,0.00872736064658,1.06969861054
+360,6.000000000,pose2_to_pose3_retreat,0.575748329735,5.45949174473e-05,1.07002925503,0.546319059863,0.00872732377323,1.06969853974
+361,6.016666667,pose2_to_pose3_retreat,0.575734890469,5.45848479218e-05,1.07002911351,0.546305620058,0.00872731187108,1.06969839777
+362,6.033333333,pose2_to_pose3_retreat,0.575725340117,5.46035281902e-05,1.07002907236,0.546296068694,0.00872732722352,1.06969835947
+363,6.050000000,pose2_to_pose3_retreat,0.575719488506,5.45789033206e-05,1.07002914767,0.546290217174,0.00872730295999,1.06969843599
+364,6.066666667,pose2_to_pose3_retreat,0.575716199791,5.46066338133e-05,1.07002923471,0.546286928884,0.00872733198192,1.06969851909
+365,6.083333333,pose2_to_pose3_retreat,0.575714634062,5.46226584365e-05,1.07002927918,0.546285363383,0.00872734869529,1.06969856137
+366,6.100000000,pose2_to_pose3_retreat,0.575714131545,5.46278014982e-05,1.07002929345,0.546284860939,0.0087273540594,1.06969857494
+367,6.116666667,pose2_to_pose3_retreat,0.575713899488,5.46301765148e-05,1.07002930004,0.546284628915,0.00872735653649,1.06969858121
+368,6.133333333,pose2_to_pose3_retreat,0.57571341516,5.46202393441e-05,1.0700293184,0.546284144892,0.00872734763585,1.0696985997
+369,6.150000000,pose2_to_pose3_retreat,0.575712835995,5.46068722098e-05,1.0700293408,0.546283566114,0.00872733559026,1.06969862236
+370,6.166666667,pose2_to_pose3_retreat,0.575712078909,5.4589398655e-05,1.07002937009,0.546282809533,0.00872731984424,1.06969865198
+371,6.183333333,pose2_to_pose3_retreat,0.575711626868,5.45789655276e-05,1.07002938757,0.546282357794,0.00872731044258,1.06969866966
+372,6.200000000,pose2_to_pose3_retreat,0.575711499898,5.45760350666e-05,1.07002939248,0.546282230909,0.00872730780184,1.06969867462
+373,6.216666667,pose2_to_pose3_retreat,0.575711467693,5.45752917602e-05,1.07002939373,0.546282198725,0.00872730713202,1.06969867588
+374,6.233333333,pose2_to_pose3_retreat,0.575711199646,5.45691052314e-05,1.0700294041,0.546281930857,0.00872730155713,1.06969868637
+375,6.250000000,pose2_to_pose3_retreat,0.575710741071,5.45679516083e-05,1.07002937609,0.54628147186,0.00872729901434,1.06969865953
+376,6.266666667,pose2_to_pose3_retreat,0.57571060384,5.4568868423e-05,1.07002936159,0.546281334405,0.0087272991895,1.0696986455
+377,6.283333333,pose2_to_pose3_retreat,0.57571058229,5.45690123964e-05,1.07002935931,0.54628131282,0.008727299217,1.0696986433
+378,6.300000000,pose2_to_pose3_retreat,0.5757105662,5.45691198918e-05,1.07002935761,0.546281296703,0.00872729923754,1.06969864165
+379,6.316666667,pose2_to_pose3_retreat,0.575710473713,5.45697377795e-05,1.07002934784,0.546281204066,0.00872729935558,1.0696986322
+380,6.333333333,pose2_to_pose3_retreat,0.575710277674,5.45710474803e-05,1.07002932712,0.546281007707,0.0087272996058,1.06969861217
+381,6.350000000,pose2_to_pose3_retreat,0.575710141093,5.45719599557e-05,1.07002931268,0.546280870903,0.00872729978012,1.06969859821
+382,6.366666667,pose2_to_pose3_retreat,0.575710084554,5.45723376811e-05,1.07002930671,0.546280814272,0.00872729985228,1.06969859243
+383,6.383333333,pose2_to_pose3_retreat,0.575709928909,5.45733775208e-05,1.07002929026,0.546280658372,0.00872730005094,1.06969857652
+384,6.400000000,pose2_to_pose3_retreat,0.575709649808,5.45804620187e-05,1.07002924025,0.546280378927,0.00872730600408,1.06969852755
+385,6.416666667,pose2_to_pose3_retreat,0.575709493978,5.45878005011e-05,1.07002919903,0.546280222975,0.00872731295524,1.06969848696
+386,6.433333333,pose2_to_pose3_retreat,0.575709394594,5.45924807514e-05,1.07002917274,0.546280123514,0.00872731738846,1.06969846107
+387,6.450000000,pose2_to_pose3_retreat,0.575709314925,5.45962325897e-05,1.07002915166,0.546280043783,0.00872732094228,1.06969844032
+388,6.466666667,pose2_to_pose3_retreat,0.575709277597,5.4597990481e-05,1.07002914179,0.546280006426,0.00872732260739,1.0696984306
+389,6.483333333,pose2_to_pose3_retreat,0.575709247618,5.46200269311e-05,1.07002920911,0.54627997672,0.00872734544035,1.06969849442
+390,6.500000000,pose2_to_pose3_retreat,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942568,0.00872737684841,1.06969858496
+391,6.516666667,pose2_to_pose3_retreat,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.0087273768483,1.06969858496
+392,6.533333333,pose2_to_pose3_retreat,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ace14406e6f510ab29b2e9ff718af95e2a8b3916
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:097c25c1d648da77be7fbd74ce8c2140f3ff17510ed255c955ea0cc561e7c880
+size 25145258
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cea34c870bc97788fb4636bf80a989b46868ce33
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/franka_data.csv
@@ -0,0 +1,396 @@
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+37,0.616666667,BASELINE,764,742,712,671.529976559,659,633,877.470023441,784,799,649,628.529976559,650.470023441,0.400957896616,-0.00547841594052,0.0798322262215,0.999999950387,0.000126175513395,-0.000286161933358,3.76540976098e-05,1793192762062383360
+38,0.633333333,BASELINE,764,742,712,671.045208683,659,633,877.954791317,783.954791317,799,649,628.045208683,650.954791317,0.400956941559,-0.00547720529757,0.0798314638964,0.999999950102,0.000127142119853,-0.000286768256074,3.73344958066e-05,1793192762079050240
+39,0.650000000,BASELINE,764,742,712,671.620080419,659,633,877.379919581,783.379919581,799,649,628.620080419,650.379919581,0.40095824279,-0.00547802758736,0.079831782595,0.999999950204,0.000128936142912,-0.000285563618477,3.76948058066e-05,1793192762095716864
+40,0.666666667,BASELINE,764,742,712,671.799528563,659,632.799528563,877,783,798.799528563,649,629,650.200471437,0.400958708719,-0.00547866003807,0.0798315887718,0.99999995016,0.000129862795816,-0.000285277925081,3.78468287948e-05,1793192762112383488
+41,0.683333333,BASELINE,764,742,712,671.208381692,659,632.208381692,877,783,798.208381692,649,629,650.791618308,0.400957546826,-0.00547892253343,0.0798303961543,0.999999949838,0.000129099131946,-0.000286783055071,3.75929454655e-05,1793192762129050368
+42,0.700000000,BASELINE,764,742.373407686,712,671,659,632.373407686,877,783,798.746815372,649,629,651,0.400957428715,-0.00547899159615,0.0798304978179,0.999999949865,0.000128928801174,-0.000286751212532,3.76969080496e-05,1793192762145716992
+43,0.716666667,BASELINE,764,742.95010272,712,671,659,632.95010272,877,783,799.900205441,649,629,651,0.40095787885,-0.00547895535194,0.0798313041026,0.999999950083,0.000129081487643,-0.000285882624793,3.79956859866e-05,1793192762162383616
+44,0.733333333,BASELINE,764,742.478585993,712,671.521414007,659,632.478585993,877.521414007,783.521414007,799.478585993,649,628.478585993,651,0.400958089666,-0.00547788093366,0.0798318175891,0.999999950092,0.000129624724599,-0.000285610012167,3.7956528798e-05,1793192762179050240
+45,0.750000000,BASELINE,764,742.096122432,712,671.903877568,659,632.096122432,877.903877568,784,799,649,628.096122432,651,0.400958386014,-0.00547725984456,0.0798322699652,0.999999950215,0.000129613184666,-0.000285198582317,3.78468027817e-05,1793192762195716864
+46,0.766666667,BASELINE,764,742.691107883,712,671.308892117,659,632.691107883,877.308892117,784,799,649,628.691107883,651,0.400959243907,-0.00547950181591,0.0798325491184,0.999999951027,0.000126530439344,-0.000283773742775,3.75369540334e-05,1793192762212383488
+47,0.783333333,BASELINE,764,742.72246383,711.72246383,671.27753617,659,633,877,784,799,649,628.72246383,651,0.400959273078,-0.00548029742473,0.0798324862049,0.999999951197,0.000125826690862,-0.000283478523941,3.75858290663e-05,1793192762229050368
+48,0.800000000,BASELINE,764,742.145274555,711.145274555,671.854725445,659,633,877,784,799,649,628.145274555,651,0.400958407486,-0.00547953141027,0.0798320539653,0.999999950682,0.000127691521755,-0.000284402945427,3.80220146398e-05,1793192762245716992
+49,0.816666667,BASELINE,764,742,711.431351233,671.568648767,659,632.568648767,877,783.568648767,799,649,628.431351233,650.568648767,0.400958192759,-0.00547948849249,0.0798317784031,0.999999950493,0.000128300653495,-0.000284797150789,3.80023117092e-05,1793192762262383616
+50,0.833333333,BASELINE,764,742,712,671.00777793,659,632.00777793,877.00777793,783,799,649,629,650.00777793,0.40095818116,-0.00547967897082,0.0798315460086,0.999999950411,0.000128466820444,-0.000285032908956,3.78260375016e-05,1793192762279050240
+51,0.850000000,BASELINE,764,742,712,671.583508954,659,632.583508954,877.583508954,783,799,649,629,650.583508954,0.400957016561,-0.00547915256336,0.0798306176727,0.999999950115,0.000127128003634,-0.0002867211344,3.74136752198e-05,1793192762295716864
+52,0.866666667,BASELINE,764,742,711.836345616,672,659,633,877.836345616,783,799,649,629,651,0.40095651562,-0.00547892577806,0.0798304352016,0.999999950034,0.000126133373441,-0.000287473067949,3.71584414002e-05,1793192762312383744
+53,0.883333333,BASELINE,764,742,711.244654374,672,659,633,877.244654374,783,799,649,629,651,0.400957750473,-0.00547948265236,0.0798322035341,0.999999950527,0.000126038960928,-0.000285776136722,3.7314175961e-05,1793192762329050112
+54,0.900000000,BASELINE,764,742,711.337955487,672,659,632.662044513,877,783,798.662044513,649,629,650.662044513,0.400958245166,-0.00547941008006,0.0798329883638,0.999999950779,0.000126809035186,-0.000284543102478,3.73619771049e-05,1793192762345716736
+55,0.916666667,BASELINE,764,742,711.914163122,672,659,632.085836878,877,783,798.085836878,649,629,650.085836878,0.400958218061,-0.00547889375995,0.0798330798428,0.999999950862,0.000128188556072,-0.0002836371068,3.73336872494e-05,1793192762362383616
+56,0.933333333,BASELINE,764,742,712,671.510037934,659,632.489962066,877,783,798.489962066,649,628.510037934,650.489962066,0.40095889212,-0.0054789395494,0.0798330691739,0.999999950906,0.000128506020215,-0.000283300866624,3.76118828131e-05,1793192762379050240
+57,0.950000000,BASELINE,764,742,712,671.067277497,659,632.932722503,877,783,798.932722503,649,628.067277497,651,0.400959455929,-0.00547897490647,0.0798328909529,0.999999950907,0.000128465953536,-0.000283286960982,3.78311723871e-05,1793192762395716608
+58,0.966666667,BASELINE,764,742,712,671.656922651,659,632.343077349,877,783,798.343077349,649,628.656922651,651,0.400958210752,-0.00547816529178,0.0798315506252,0.99999995062,0.000127093339614,-0.000285001418861,3.71765450873e-05,1793192762412383232
+59,0.983333333,BASELINE,764,742,712,672,659.24169135,632,877,783,798.24169135,649,628.75830865,651,0.400957531022,-0.00547764532235,0.0798308863602,0.999999950329,0.000127199893108,-0.000286010264919,3.68787676314e-05,1793192762429050112
+60,1.000000000,BASELINE,764,742,712,672,659.819674974,632,877,783,798.819674974,649,628.180325026,651,0.400957638063,-0.00547752836872,0.0798311627769,0.999999950036,0.000129364577885,-0.000286037314381,3.70775152806e-05,1793192762445716992
+61,1.016666667,BASELINE,764,742.39743558,712,672,659.60256442,632.39743558,877,783,799,649,628.39743558,651,0.400957655037,-0.00547782643894,0.0798314638767,0.999999950199,0.000128959829359,-0.000285647933845,3.71112581271e-05,1793192762462383360
+62,1.033333333,BASELINE,764,742.975095021,712,672,659.024904979,632.975095021,877,783,799,649,628.975095021,651,0.40095763117,-0.00547831270872,0.0798317761694,0.999999950566,0.000127389927879,-0.000285069716109,3.70701767534e-05,1793192762479049984
+63,1.050000000,BASELINE,764,742.451020803,712,672,659.548979197,633,877.548979197,783.548979197,799,649,628.451020803,651,0.400957616246,-0.0054788389805,0.0798311647309,0.999999950698,0.000125039421387,-0.000285657739384,3.69884927315e-05,1793192762495716608
+64,1.066666667,BASELINE,764,742,712,672,659.873662441,633,878,784,799,649,628,651,0.400957682375,-0.00547935998014,0.0798308263188,0.999999950818,0.000123469266326,-0.000285924599557,3.69563173159e-05,1793192762512383488
+65,1.083333333,BASELINE,764,742,712,672,659.282907713,633,878,784,799,649,628,651,0.400958044971,-0.00547985497395,0.0798316445462,0.999999950951,0.000124896973954,-0.000284817703002,3.71128605343e-05,1793192762529050368
+66,1.100000000,BASELINE,764,742.302121935,712,671.697878065,659,633,877.697878065,784,798.697878065,649,628.302121935,650.697878065,0.400957907652,-0.00547967281539,0.0798319186322,0.999999950871,0.000125972571216,-0.000284608632883,3.72474088003e-05,1793192762545716992
+67,1.116666667,BASELINE,764,742.88189027,712,671.11810973,659,633,877.11810973,784,798.11810973,649,628.88189027,650.11810973,0.400957310917,-0.00547886836195,0.0798316926585,0.999999950596,0.000126724583234,-0.00028522465445,3.73617439627e-05,1793192762562383360
+68,1.133333333,BASELINE,764,743,712,671.456565441,659.456565441,633,877,784,798.913130881,649,629,650.456565441,0.400958936959,-0.00547928478217,0.079832710889,0.999999950943,0.000127109643083,-0.000283808148218,3.75456170008e-05,1793192762579050240
+69,1.150000000,BASELINE,764.030394814,743,712,672,660,632.969605186,877,784,799.969605186,649,629,651,0.400960912879,-0.00547990529715,0.0798339309124,0.999999951393,0.000127421835776,-0.000282054310816,3.77181893172e-05,1793192762595716864
+70,1.166666667,BASELINE,764.612523081,743,712,672,660,632.387476919,877,784,799.387476919,649,629,651,0.400958917209,-0.00547856081657,0.0798330358111,0.999999950876,0.000128115462318,-0.000283616275731,3.73626924834e-05,1793192762612383744
+71,1.183333333,BASELINE,764.804059634,743,711.804059634,672,659.804059634,632.195940366,877,784,799,649,628.804059634,651,0.400957994098,-0.00547807750693,0.0798325039392,0.999999950622,0.000128716112381,-0.000284248926439,3.72843308831e-05,1793192762629050368
+72,1.200000000,BASELINE,764.218076296,743,711.218076296,672,659.218076296,632.781923704,877,784,799,649,628.218076296,651,0.400959206047,-0.00547930846187,0.079832695119,0.999999950896,0.000129131681651,-0.000283031665226,3.77576403835e-05,1793192762645716992
+73,1.216666667,BASELINE,764,743,711.362142097,671.637857903,659,632.637857903,877,784,799,649,628,650.637857903,0.400959056912,-0.00548010176534,0.0798325183202,0.999999950999,0.000127538971595,-0.000283393707151,3.77225954798e-05,1793192762662383616
+74,1.233333333,BASELINE,764,743,711.938943295,671.061056705,659,632.061056705,877,784,799,649,628,650.061056705,0.400958100999,-0.0054806356516,0.0798321234026,0.999999950994,0.000124755857423,-0.000284691878348,3.73862243551e-05,1793192762679049984
+75,1.250000000,BASELINE,764,742.489605685,712,671.510394315,659.510394315,632.510394315,877.510394315,784,800.02078863,648.489605685,628.510394315,650,0.400958394758,-0.00548036848473,0.0798326031062,0.999999951095,0.000125498568764,-0.000284026203572,3.72680228971e-05,1793192762695716864
+76,1.266666667,BASELINE,764,742,711.915472096,672,659.915472096,632.915472096,877.915472096,784,800.830944192,648.084527904,629,650,0.400958759514,-0.00548009364048,0.079833097997,0.999999951219,0.000126199248491,-0.000283287526841,3.71897622429e-05,1793192762712383488
+77,1.283333333,BASELINE,764,742,711.321347499,672,659.321347499,632.321347499,877.321347499,784,799.642694998,648.678652501,629,650,0.400958660379,-0.0054803442356,0.079833060217,0.999999951415,0.000124130093453,-0.000283510368128,3.71965831604e-05,1793192762729050112
+78,1.300000000,BASELINE,764,742,711.266084916,671.733915084,659,632,877,784,799,649,629,650,0.400957936401,-0.00548034719061,0.079832529843,0.999999951165,0.000124036280527,-0.000284409947748,3.73572231592e-05,1793192762745716736
+79,1.316666667,BASELINE,764,742,711.845633504,671.154366496,659,632,877,784,799,649,629,650,0.400956476318,-0.00548005841101,0.0798314191642,0.999999950389,0.000126269536877,-0.000286106764888,3.76990710772e-05,1793192762762383360
+80,1.333333333,BASELINE,764,742,712,671.423729182,659,632.423729182,877,783.576270818,799.423729182,649,628.576270818,650,0.400957447618,-0.00547859311977,0.0798318285563,0.999999950355,0.000128383986335,-0.000285306475376,3.75253849157e-05,1793192762779049984
+81,1.350000000,BASELINE,764,742.001284937,712,671.998715063,659.001284937,633,877,783.001284937,799.998715063,649,628.001284937,650,0.40095929652,-0.00547670646774,0.0798327873185,0.999999950586,0.000130448174248,-0.000283603534511,3.71652336506e-05,1793192762795716608
+82,1.366666667,BASELINE,764,742.57329832,712,671.42670168,659.57329832,633,877,783.57329832,799.42670168,649,628.57329832,650,0.400958864862,-0.00547738860655,0.0798326327849,0.999999950716,0.000129346454648,-0.000283654017844,3.71180390271e-05,1793192762812384000
+83,1.383333333,BASELINE,764,743,712,671,659.849561837,633,877,784,799,649,629,650.150438163,0.400958619034,-0.00547832037265,0.0798324755063,0.999999950867,0.000128021601124,-0.000283722425872,3.71343184177e-05,1793192762829051136
+84,1.400000000,BASELINE,764,743,712,671,659.257368218,633,877,784,799,649,629,650.742631782,0.400958918892,-0.00547998515917,0.0798323101669,0.999999951076,0.000126041523783,-0.000283843469045,3.73369866184e-05,1793192762845717504
+85,1.416666667,BASELINE,764,742.6724942,712,671.3275058,659,632.6724942,876.6724942,783.6724942,799,649,628.6724942,651,0.400958897829,-0.0054803402804,0.0798323469429,0.999999951153,0.00012516094047,-0.000283966603329,3.73075168039e-05,1793192762862383872
+86,1.433333333,BASELINE,764,742.093246529,712,671.906753471,659,632.093246529,876.093246529,783.093246529,799,649,628.093246529,651,0.400958630087,-0.00547968870917,0.0798325390778,0.99999995113,0.000125125498588,-0.000284091344969,3.70996108762e-05,1793192762879050752
+87,1.450000000,BASELINE,764,742,711.517658693,672,659,632.482341307,876.482341307,783,799,649,628,651,0.400957458566,-0.00547890277133,0.0798320070446,0.999999950578,0.000127153205009,-0.000285128238486,3.71156355416e-05,1793192762895717888
+88,1.466666667,BASELINE,764,742.058531121,711.058531121,672,659,633,877,783.058531121,799,649,628.058531121,651,0.400956274764,-0.00547820668372,0.0798313296795,0.999999949995,0.000129122060791,-0.00028628061475,3.71638228766e-05,1793192762912384768
+89,1.483333333,BASELINE,764,742.646518116,711.646518116,672,659,633,877,783.646518116,799,649,628.646518116,651,0.400956548439,-0.00547855655626,0.0798305945166,0.999999950095,0.000126977863723,-0.000286894525655,3.71143007762e-05,1793192762929050880
+90,1.500000000,BASELINE,763.768889883,742.768889883,712,672,659,632.768889883,876.768889883,783.768889883,799,649,629,650.768889883,0.400956634384,-0.00547874343497,0.0798304552056,0.999999950159,0.000126244341868,-0.000286998317252,3.70938289701e-05,1793192762945716992
+91,1.516666667,BASELINE,763.189415386,742.189415386,712,672,659,632.189415386,876.189415386,783.189415386,799,649,629,650.189415386,0.400956437352,-0.00547868462449,0.0798312140534,0.999999950172,0.00012763720482,-0.000286333179252,3.71171461984e-05,1793192762962383616
+92,1.533333333,BASELINE,763.388430263,742,712,672,659,632.388430263,876.388430263,783.388430263,799,649,628.611569737,650.388430263,0.400956545671,-0.00547892779326,0.0798317281916,0.999999950261,0.000128403385778,-0.000285682679758,3.70850623036e-05,1793192762979050240
+93,1.550000000,BASELINE,763.965484984,742,712,672,659,632.965484984,876.965484984,783.965484984,799,649,628.034515016,650.965484984,0.40095680227,-0.00547931760526,0.0798321234973,0.999999950388,0.00012886524569,-0.000285039288766,3.70260752373e-05,1793192762995716608
+94,1.566666667,BASELINE,764,742.541048195,712,672,659.541048195,633,877,784,799,649,628,651,0.400956670012,-0.00547934100169,0.0798315386526,0.999999950364,0.000127066905214,-0.000285929244617,3.70233337981e-05,1793192763012384000
+95,1.583333333,BASELINE,764,742.880721794,712,672,659.880721794,633,877,783.880721794,799,649,628.119278206,651,0.400956641486,-0.00547945386073,0.0798311325266,0.999999950333,0.000125967209327,-0.000286509194945,3.71367385124e-05,1793192763029051392
+96,1.600000000,BASELINE,764,742.291613485,712,672,659.291613485,633,877,783.291613485,799,649,628.708386515,651,0.40095711899,-0.00548001092643,0.0798316759751,0.999999950323,0.000128185808268,-0.000285483816564,3.76935420031e-05,1793192763045718016
+97,1.616666667,BASELINE,764,742.292696312,712,672,659,633,877,783.292696312,799,649,629,651,0.400956983105,-0.00548036358384,0.0798317738016,0.999999950336,0.000128138620283,-0.000285443398584,3.78308283707e-05,1793192763062384384
+98,1.633333333,BASELINE,764,742.872302428,712,672,659,633,877,783.872302428,799,649,629,651,0.400956245957,-0.00548051587402,0.0798314348158,0.99999995037,0.000125870439101,-0.000286368468724,3.75568912969e-05,1793192763079050496
+99,1.650000000,BASELINE,764.448590214,743,712,672,659,632.551409786,877,784,799,649,629,651,0.400956813181,-0.00547958184474,0.0798314557359,0.999999950417,0.000126484344641,-0.000285985296267,3.71617924947e-05,1793192763095716864
+100,1.666666667,BASELINE,764.975578937,742.975578937,712,671.975578937,659,632.024421063,877.024421063,784,799,649,629,651,0.400957702396,-0.00547838250941,0.0798315699797,0.999999950454,0.00012787305635,-0.000285287166176,3.67618789204e-05,1793192763112383488
+101,1.683333333,BASELINE,764.388675254,742.388675254,712,671.388675254,659,632.611324746,877.611324746,784,799,649,629,651,0.400957518486,-0.00547814270371,0.0798314912955,0.999999950222,0.000128349757162,-0.000285849329393,3.70396414228e-05,1793192763129050112
+102,1.700000000,BASELINE,764,742,712,671.195636089,659,632.804363911,877.804363911,783.804363911,799,649,629,651,0.400957590816,-0.00547827647184,0.0798316382054,0.99999995021,0.000128522826808,-0.000285790729007,3.72134045347e-05,1793192763145716736
+103,1.716666667,BASELINE,764,742,712,671.774864448,659,632.225135552,877.225135552,783.225135552,799,649,629,651,0.400958165566,-0.00547914272261,0.0798322274473,0.999999950629,0.000128100553439,-0.000284514970101,3.71832514424e-05,1793192763162383616
+104,1.733333333,BASELINE,764,742,712,671.646076932,659,632.353923068,877,783.353923068,799,649,629,650.646076932,0.400957552882,-0.00547966222122,0.0798318424768,0.999999950635,0.000127209944645,-0.000284892047052,3.71976563551e-05,1793192763179050496
+105,1.750000000,BASELINE,764,742,712,671.067126178,659,632.932873822,877,783.932873822,799,649,629,650.067126178,0.400956185218,-0.00547996125157,0.0798308380927,0.999999950376,0.000126021563646,-0.000286320012794,3.72403916723e-05,1793192763195717632
+106,1.766666667,BASELINE,764,742,711.492708545,671.507291455,659,632.492708545,877,783.492708545,799,649,629,650,0.400957401154,-0.00547991943681,0.0798318378446,0.999999951008,0.000124472462957,-0.000284824888516,3.69517028281e-05,1793192763212384000
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,659,633,878,783,799,649,628,650,0.400957629669,-0.00547674346993,0.0798310537181,0.999999949814,0.000131701682711,-0.000285763076881,3.69704821387e-05,1793192763255050752
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.580471553,671.419528447,659,632.419528447,877.419528447,783,799,649,628,650.580471553,0.400956617257,-0.0054778516851,0.0798308218429,0.999999949807,0.000130284620005,-0.000286402602666,3.72192220189e-05,1793192763271717632
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.15940218,877,783.15940218,799,649,628.15940218,651,0.400955992133,-0.00547851105018,0.0798307902367,0.999999949856,0.000129472400499,-0.000286581845681,3.73600305359e-05,1793192763288384512
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.734316213,877,783.734316213,799,649,628.734316213,651,0.400956376546,-0.00547800040303,0.0798312806695,0.999999950054,0.000130236818602,-0.000285561274956,3.72194956461e-05,1793192763305050880
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.684170059,671,659,632.684170059,877,784,799,649,629,651,0.400957253296,-0.0054781146877,0.0798321626176,0.999999950579,0.000129954538089,-0.000283845833627,3.72175161773e-05,1793192763321717504
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.096986055,671,659,632.096986055,877,784,799,649,629,651,0.400958553051,-0.00547876589994,0.0798333809469,0.999999951381,0.000128772957353,-0.000281533374984,3.7334580454e-05,1793192763338384384
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.483250775,671.483250775,659,632.483250775,877.483250775,783.516749225,799,649,628.516749225,651,0.400958073819,-0.00547825909251,0.0798328374421,0.999999950841,0.000130051212237,-0.000282845850121,3.74564147538e-05,1793192763355051008
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.937760947,877.937760947,783.062239053,799,649,628,650.937760947,0.400957867681,-0.00547775706534,0.0798322784647,0.999999950263,0.00013129809912,-0.000284300533987,3.75307544398e-05,1793192763371717376
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.357724794,877.357724794,783.642275206,799,649,628,650.357724794,0.40096286179,-0.00547920092809,0.0798344907724,0.999999951613,0.000128235087953,-0.00028097161755,3.72021116855e-05,1793192763388384000
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671.780208414,659,632,877,784,798.780208414,649,628.219791586,650,0.400974994565,-0.00548058158878,0.0798400207979,0.999999954465,0.000125745257568,-0.000271801918952,3.71800163529e-05,1793192763405050880
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671.206746697,659,632,877,784,798.206746697,649,628.793253303,650,0.400998614282,-0.00548186054989,0.0798508894159,0.999999959517,0.000124177741756,-0.000253233725257,3.76511913697e-05,1793192763421717504
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.632683926,671,659.367316074,632.367316074,877,784,798.367316074,649,629,650,0.401038506613,-0.00548207499699,0.0798653811959,0.999999966094,0.000123944584511,-0.000225908319476,3.76213819513e-05,1793192763438384128
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.05828224,671,659.94171776,632.94171776,877,784,798.94171776,649,629,650,0.401087573128,-0.00548168929206,0.0798819156446,0.999999972809,0.00012446371227,-0.000193645767036,3.73091273324e-05,1793192763455050752
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.533963804,671,659.466036196,633,877,784,799,649,629,650.533963804,0.401154220466,-0.00548265438266,0.0798973628095,0.999999978543,0.000123469891916,-0.000162333428383,3.62785969174e-05,1793192763471717376
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.875472277,742,712,671,659,632.875472277,876.875472277,783.875472277,799,649,629,650.875472277,0.401224648344,-0.00548367456435,0.0799104351906,0.999999982454,0.000122529843453,-0.00013733219585,3.48980733469e-05,1793192763488384512
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.29834568,742,712,671,659,632.29834568,876.29834568,783.29834568,799,649,629,650.29834568,0.401301601105,-0.00548434057642,0.0799153226174,0.999999982883,0.000122406181387,-0.000134878824303,3.25402894839e-05,1793192763505050880
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.277761003,742,712,671,659,632.277761003,876.277761003,783.277761003,799,649,628.722238997,650.277761003,0.401390004151,-0.00548527524023,0.0799186199629,0.999999983578,0.000121459885588,-0.000131257521527,2.93817265876e-05,1793192763521717248
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.852776161,742,712,671,659,632.852776161,876.852776161,783.852776161,799,649,628.147223839,650.852776161,0.401490661055,-0.00548649740959,0.0799202156356,0.999999984535,0.000119633223968,-0.000126386322735,2.53661864561e-05,1793192763538383872
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.435940068,742,711.564059932,671,659,632.564059932,876.564059932,783.564059932,799,649,628.435940068,650.564059932,0.401611609086,-0.00548839642322,0.079924582579,0.999999986128,0.000114862024603,-0.000118847407726,2.0662988065e-05,1793192763555050496
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.97821201,742,711,671.02178799,659,632,876,783,798.97821201,649,628.97821201,650,0.401740805947,-0.00549044884016,0.079929946689,0.999999987844,0.000109146054122,-0.000110245254934,1.5675614684e-05,1793192763571717120
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.395462836,742,711,671.604537164,659,632,876,783,798.395462836,649,628.395462836,650,0.401902589122,-0.00549045360472,0.0799364291546,0.999999989629,0.000105195966906,-9.79061027e-05,9.4648170303e-06,1793192763588383744
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.184461068,671.815538932,659,632,876.184461068,783,798.184461068,649,628,650,0.402074956064,-0.00549179703834,0.0799427473507,0.999999991467,9.80448938006e-05,-8.62899062325e-05,2.8591901823e-06,1793192763605050624
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.758419226,671.241580774,659,632,876.758419226,783,798.758419226,649,628,650,0.402269671045,-0.00549596712642,0.0799487186846,0.999999993547,8.41348085932e-05,-7.62002620126e-05,-4.58013386832e-06,1793192763621717504
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632,876.666881679,783,799,648.666881679,628,650,0.402476635326,-0.00549817288695,0.0799480988124,0.999999994196,7.21334637349e-05,-7.89903211633e-05,-1.28460039689e-05,1793192763638384128
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632,876.091643991,783,799,648.091643991,628,650,0.402692502749,-0.00549895092174,0.0799426882748,0.999999993719,6.15194413236e-05,-9.11416945572e-05,-2.17126307689e-05,1793192763655050752
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.50178617,742,711.50178617,671,659.49821383,632,876.49821383,783,799,648.49821383,628,650,0.40293253072,-0.00550126644683,0.0799367142022,0.999999994431,1.68586657077e-05,-0.000101518308758,-2.34126162254e-05,1793192763671717120
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.088113409,742,711,671.088113409,659.911886591,632,876.911886591,783.088113409,799,648.911886591,628,650,0.403184949764,-0.0055031042165,0.0799312061146,0.999999993425,-2.17553074555e-05,-0.000110042927589,-2.38263078451e-05,1793192763688383488
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.66293986,742,711,671.66293986,659.33706014,632,876.33706014,783.66293986,799,648.33706014,628,650,0.403480522895,-0.00550069359404,0.0799288618869,0.999999993587,8.67086321637e-06,-0.00011019544142,-2.46367621589e-05,1793192763705050112
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.237597747,742,711.237597747,672,659,632,876.237597747,783.762402253,799,648.237597747,628.237597747,650,0.403800960758,-0.0054996593003,0.0799302714887,0.999999993752,2.24202767844e-05,-0.000106371410569,-2.60579192801e-05,1793192763721716736
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.812016642,742,711.812016642,672,659,632,876.812016642,783.187983358,799,648.812016642,628.812016642,650,0.404156647114,-0.00550057610523,0.0799370025604,0.999999994824,1.25285364801e-05,-9.69101868607e-05,-2.83448153097e-05,1793192763738383616
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.601672014,742,712,671.601672014,659,632.398327986,876.601672014,783,798.601672014,649,629,650,0.40454587346,-0.00550296025829,0.0799418446692,0.99999999586,9.12020836047e-06,-8.53884753521e-05,-3.01072167999e-05,1793192763755050496
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.00957555,742,712,671.00957555,659,632.99042445,876.00957555,783,798.00957555,649,629,650,0.404951415479,-0.00550605820957,0.0799457678833,0.999999996806,8.86576616837e-06,-7.28644303581e-05,-3.16144754432e-05,1793192763771717120
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671.569803533,659,632.430196467,877.139607066,783,798.569803533,648.430196467,628.430196467,650.569803533,0.405383272644,-0.00550550586867,0.0799412430277,0.99999999633,4.12085364025e-06,-7.84762003046e-05,-3.41367410396e-05,1793192763788384000
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.147933729,711.852066271,672,659,632.147933729,877.852066271,783,799,648.147933729,628.147933729,650.852066271,0.405822817636,-0.00550555762661,0.0799352171204,0.999999995436,1.06249151858e-08,-8.82856774988e-05,-3.65256236925e-05,1793192763805050880
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.723061051,711.276938949,672,659,632.723061051,877.276938949,783,799,648.723061051,628.723061051,650.276938949,0.406283313819,-0.00550752713837,0.0799252575934,0.999999993278,-2.05364557871e-06,-0.000109356136775,-3.84811498086e-05,1793192763821717248
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,711,672,659,633,877.297669137,783,799,648.702330863,628.702330863,650.297669137,0.406770260491,-0.00550798470478,0.079920249371,0.999999992003,-4.22804651462e-06,-0.000119752693535,-4.04374825201e-05,1793192763838383616
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,711,672,659,633,877.871795056,783,799,648.128204944,628.128204944,650.871795056,0.407281772804,-0.00550703806961,0.0799198396143,0.999999991852,-6.50473006916e-06,-0.000120235988806,-4.2394564586e-05,1793192763855050496
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.540187347,711.459812653,672,659,633,877.540187347,783,799,648,628,650.540187347,0.407816514677,-0.00550814501678,0.0799131772035,0.99999998993,-8.87816098731e-06,-0.000134661237555,-4.38990147153e-05,1793192763871717120
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.050368696,712,672,659,633,877,783,799.050368696,648,628.050368696,650.050368696,0.408363453131,-0.00550995242675,0.0799057821321,0.999999987519,-1.16864489491e-05,-0.000150912885312,-4.5291858052e-05,1793192763888383744
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.625753838,712,672,659,633,877,783,799.625753838,648,628.625753838,650.625753838,0.408967908063,-0.00551290689468,0.0799094882034,0.999999988297,-1.87375232528e-05,-0.000144420583572,-4.68778242238e-05,1793192763905050624
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.799250217,711.799250217,671.799250217,659.200749783,632.799250217,877,783,799.799250217,648,628.799250217,650.799250217,0.409598701359,-0.00551481677626,0.0799239464976,0.999999991341,-2.42380277173e-05,-0.000120008289436,-4.82507282286e-05,1793192763921717248
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.224978459,711.224978459,671.224978459,659.775021541,632.224978459,877,783,799.224978459,648,628.224978459,650.224978459,0.410278500686,-0.00551478306427,0.0799584107485,0.99999999649,-2.68534879482e-05,-6.22534390271e-05,-4.92272012153e-05,1793192763938383872
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+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711.952760426,671.952760426,659.047239574,632.952760426,877,783,799,648.952760426,628.952760426,650,0.411648866424,-0.00551926446436,0.0799825314185,0.999999997339,-4.18253402888e-05,-2.90010084632e-05,-5.22714822322e-05,1793192763971716864
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.466753589,742,711.466753589,671.466753589,659,633,877,783,799,649,629,650,0.41232236061,-0.00551974924996,0.0799524669843,0.999999994638,-4.76617798452e-05,-7.30408970883e-05,-5.58357100821e-05,1793192763988383744
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.111856967,742,711,671.111856967,659.111856967,632.888143033,877.111856967,783,799,649,628.888143033,650,0.413006045507,-0.00552016098303,0.0799226766429,0.999999990294,-5.23192736903e-05,-0.000114588564708,-5.95303129224e-05,1793192764005050368
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711.259637493,672,660,632.259637493,877.740362507,783,799,648.740362507,628,650,0.414484667762,-0.005522782583,0.0799090044059,0.999999989092,-5.92543740077e-05,-0.000118371491834,-6.55143104861e-05,1793192764038383616
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711.829334827,672,660,632.829334827,877.170665173,783,799,648.170665173,628,650,0.415253644178,-0.00552535609726,0.0799315131431,0.999999991805,-7.1786256741e-05,-8.24527418575e-05,-6.66174982281e-05,1793192764055050496
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.581881748,742,712,672,660,633,877,783,799,648.418118252,628,650,0.416032078417,-0.00552668964364,0.0799383105519,0.999999991855,-7.34261599421e-05,-8.17933661584e-05,-6.48802068703e-05,1793192764071717376
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.014602139,711.985397861,672,660,632.985397861,877,783,799,648.985397861,628,650,0.416815595256,-0.00552748361682,0.0799384593689,0.999999991053,-7.04797491064e-05,-9.5279453386e-05,-6.20386848917e-05,1793192764088384000
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742.59321862,711.40678138,672,660,632.40678138,877,783,799,648.40678138,628,650,0.417639188219,-0.00552792062804,0.0799413547884,0.999999992874,-7.03206020954e-05,-7.26548841247e-05,-6.34705220448e-05,1793192764105050368
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,743,711.170019472,672.170019472,660,632.170019472,877,783,799,648.170019472,628,650,0.418471782261,-0.00552364270546,0.0799503790919,0.999999994871,-6.50054415554e-05,-4.40061454801e-05,-6.39966520893e-05,1793192764121716992
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,743,711.742522192,672.742522192,660,632.742522192,877,783,799,648.742522192,628,650,0.419325684307,-0.00550820322673,0.0799739121636,0.999999996926,-4.74845668171e-05,-1.09652828703e-06,-6.23787220759e-05,1793192764138383872
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.31475545,743,712,672.68524455,660,632.68524455,877,783,799,648.68524455,628,650.31475545,0.420144072393,-0.00550465394541,0.0799722082263,0.99999999733,-4.12511241498e-05,-1.1763199359e-06,-6.03097933873e-05,1793192764155050496
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.886768441,743,712,672.113231559,660,632.113231559,877,783,799,648.113231559,628,650.886768441,0.420933433986,-0.00551082282203,0.0799498774459,0.999999996684,-4.42431842909e-05,-3.63924380408e-05,-5.78722522449e-05,1793192764171717120
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,711.520138495,672,660,632.479861505,877.479861505,783,799,648.479861505,628,651,0.421788405061,-0.00552913245523,0.0799518055926,0.999999995341,-6.99176040755e-05,-3.52277379031e-05,-5.64629040838e-05,1793192764188383744
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,711.074987528,672,660,633,878,783,799,649,628,650.925012472,0.422658402038,-0.0055471042306,0.0799627318361,0.999999993671,-9.57593550344e-05,-2.07759595683e-05,-5.52942740102e-05,1793192764205050368
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,711.649018175,672,660,633,878,783,799,649,628,650.350981825,0.423520631294,-0.00554288610973,0.0799936947685,0.999999994639,-8.54584504852e-05,2.23452926474e-05,-5.4038799556e-05,1793192764221716992
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,672.224490005,660,633,877.775509995,783,799.224490005,649,628,650,0.424346428766,-0.00554203161845,0.0799951084379,0.999999995119,-8.20335479084e-05,1.22205813492e-05,-5.36991054669e-05,1793192764238383872
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,672.802229717,660,633,877.197770283,783,799.802229717,649,628,650,0.425114898579,-0.0055464700177,0.0799500244135,0.999999991163,-8.94284823754e-05,-8.1690130299e-05,-5.48004513027e-05,1793192764255050496
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.612705198,742.612705198,712,672.612705198,660.387294802,633,877,783,799.612705198,649,628,650,0.425915991555,-0.00555170116407,0.0799173365227,0.999999985959,-9.9981404247e-05,-0.000121092534811,-5.85047691207e-05,1793192764271717120
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.023827364,742.023827364,712,672.023827364,660.976172636,633,877,783,799.023827364,649,628,650,0.426734064512,-0.00555734492704,0.0798911006968,0.999999982959,-0.000112178026468,-0.000132123910992,-6.35639076424e-05,1793192764288383488
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.555170914,742.555170914,712,672,661,632.444829086,877.555170914,783,799,649,628,650,0.427577550721,-0.00556051903215,0.0798969372089,0.999999983468,-0.000111637624548,-0.000129485565624,-6.19259229475e-05,1793192764305050112
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,672.266005722,660.866997139,632.133002861,878,783,799,649,628.133002861,650.133002861,0.428414237463,-0.00556454759517,0.0799067476673,0.999999984304,-0.000112985914724,-0.000122514867372,-6.01419173921e-05,1793192764321716992
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673.416682742,660.291658629,632.708341371,878,783,799,649,628.708341371,650.708341371,0.429224746744,-0.00557176423135,0.079925276613,0.99999998547,-0.000122401814724,-0.000103052877867,-5.8811502994e-05,1793192764338383872
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673.709514428,660.290485572,633,877.709514428,783.290485572,799,648.709514428,628.709514428,650.709514428,0.430034569979,-0.00557857949324,0.0799513919951,0.999999987689,-0.000130433993563,-6.60733545107e-05,-5.69466621987e-05,1793192764355050496
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,673.120373154,660.879626846,633,877.120373154,783.879626846,799,648.120373154,628.120373154,650.120373154,0.430843687822,-0.00558498209141,0.079985307187,0.999999989061,-0.000137043532197,-1.10836043463e-05,-5.45323638274e-05,1793192764371717120
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.539723639,743,711.539723639,672.539723639,661,633,877.460276361,784,799,648.460276361,628,650,0.431629395424,-0.00558744205633,0.0800055727377,0.999999989481,-0.000134083420646,1.82567698043e-05,-5.22095994732e-05,1793192764388383744
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,711,672.038644877,661,633,878,784,799,649,628.038644877,650,0.432402201811,-0.00558859206619,0.080017076848,0.999999989872,-0.000128976805076,3.30294507639e-05,-5.02926225858e-05,1793192764405050624
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,743,711,672.615613739,661,633,878,784,799,649,628.615613739,650,0.433079032476,-0.00558559731498,0.0799553591471,0.999999988332,-0.000128200334479,-6.33774228389e-05,-5.37008556067e-05,1793192764421716992
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742.808085651,711.191914349,673,661,632.808085651,878,784,799,649,629,650,0.433760728839,-0.00558100811854,0.0799058249725,0.99999998126,-0.000125250292864,-0.000136151472658,-5.70480650243e-05,1793192764438383360
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742.233118742,711.766881258,673,661,632.233118742,878,784,799,649,629,650,0.43445213704,-0.00557323647933,0.0798806085672,0.999999978144,-0.00011796190131,-0.00016175546867,-6.02734754462e-05,1793192764455049984
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.350695235,742.350695235,712,673.350695235,660.649304765,632.350695235,878,783.649304765,799,649,628.649304765,650,0.435141680299,-0.00556338395153,0.079892843889,0.999999982845,-0.000107643350099,-0.000138084328407,-6.04689598618e-05,1793192764471716864
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.940542315,742.940542315,712,673.940542315,660.059457685,632.940542315,878,783.059457685,799,649,628.059457685,650,0.435829951744,-0.00555211239054,0.0799306189082,0.999999990481,-9.52584229117e-05,-8.08106774283e-05,-5.85982271182e-05,1793192764488383744
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711.478877147,673.478877147,660,632.478877147,877.478877147,783.521122853,799,649,628,650,0.436455274151,-0.00555644945342,0.0799332600613,0.999999989417,-9.48445020075e-05,-9.46799126191e-05,-5.66201960106e-05,1793192764505050880
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711.100058744,673,660.100058744,632,877.100058744,783.899941256,799,649,628.100058744,650,0.437066114495,-0.00556245741983,0.0799271312991,0.999999986459,-9.76506740919e-05,-0.000120379216453,-5.52752987729e-05,1793192764521717760
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711.676112497,673,660.676112497,632,877.676112497,783.323887503,799,649,628.676112497,650,0.437641631269,-0.00556809026713,0.0798980190988,0.999999978876,-0.000109391354425,-0.000164416462025,-5.69995386535e-05,1793192764538384128
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711.748906408,673,660.748906408,632,878,783,799.251093592,649,628.748906408,650.251093592,0.438192095758,-0.00557148692557,0.079870863354,0.999999970617,-0.000114869014336,-0.000205316394582,-5.84520945269e-05,1793192764555050752
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711.175303102,673,660.175303102,632,878,783,799.824696898,649,628.175303102,650.824696898,0.43871038254,-0.00557201137717,0.0798462205228,0.999999962593,-0.000112302322699,-0.000242186695288,-5.95556938674e-05,1793192764571717376
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.588696456,711,673,659.588696456,631.588696456,877.588696456,782.588696456,799.588696456,649,628,650.588696456,0.439196732847,-0.00557459754125,0.0798196680154,0.999999952069,-0.000115611162148,-0.000280718085336,-6.07745773694e-05,1793192764588383744
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.996448045,742.003551955,711,673,659,631.003551955,877.003551955,782.003551955,799,649,628,650,0.439668732302,-0.00557807829017,0.0797922151614,0.99999993946,-0.000121494631666,-0.000320107986957,-6.2051154183e-05,1793192764605050112
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.417391689,742.582608311,711,673,659,631.582608311,877.582608311,782.582608311,799,649,628,650,0.440092974529,-0.00557947977365,0.0797550663834,0.999999917789,-0.000125538066493,-0.000380142492046,-6.44543636973e-05,1793192764621716992
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.160871539,743,711,673.160871539,659,632,878,783,799,649,628.160871539,650.160871539,0.440505821208,-0.00558036591545,0.0797162954603,0.999999892165,-0.000127197837111,-0.000441672813316,-6.64567803905e-05,1793192764638383872
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.737087164,743,711,673.737087164,659,632,878,783,799,649,628.737087164,650.737087164,0.440889246534,-0.00557992152934,0.079673336415,0.999999861641,-0.000122703376927,-0.000507065102904,-6.74244162235e-05,1793192764655051008
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.680921392,743,711,674,659,631.680921392,878,782.680921392,799.319078608,649,628.680921392,650.680921392,0.441270725554,-0.00558253508205,0.0796569397474,0.999999848891,-0.000128486040698,-0.000530214358281,-6.76865775314e-05,1793192764671717888
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.094083114,743,711,674,659,631.094083114,878,782.094083114,799.905916886,649,628.094083114,650.094083114,0.441650571277,-0.00558771475068,0.0796628333059,0.999999853405,-0.000142892909968,-0.000517914726032,-6.73567292576e-05,1793192764688384256
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,743,711,673.513612364,659,631,877.513612364,782.486387636,799.513612364,649,628,650.486387636,0.442018720897,-0.00559214192685,0.0796865586583,0.999999870473,-0.000146008745922,-0.000483123927486,-6.57725538792e-05,1793192764705050624
+195,3.250000000,POSE1_TO_POSE2_PRESS,763,743,711.065461916,673.065461916,659,631,877,782.934538084,799.065461916,649,628,651,0.442378168962,-0.0055962884242,0.0797117664316,0.999999887353,-0.000146237310704,-0.000447020587394,-6.38915177526e-05,1793192764721717248
+196,3.266666667,POSE1_TO_POSE2_PRESS,763,743,711.643122358,673.643122358,659,631,877,782.356877642,799.643122358,649,628,651,0.442687005966,-0.00559936295633,0.0797219337789,0.999999893915,-0.00014074279495,-0.000434247651784,-6.15616089417e-05,1793192764738383872
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+198,3.300000000,POSE1_TO_POSE2_PRESS,763.789826644,743,711.210173356,673.210173356,658.210173356,631,877.789826644,782.789826644,800,649,628,650.210173356,0.443216854926,-0.00560286408873,0.079714519774,0.99999988613,-0.000146012788959,-0.000450163191142,-6.14230641131e-05,1793192764771717632
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.625331399,742.625331399,711,673.374668601,658.374668601,631,878,782.625331399,800,649,628,650,0.443428498066,-0.00560376429276,0.0797006767684,0.999999874414,-0.000156562685526,-0.000472196880626,-6.07412614972e-05,1793192764788384000
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763.12616001,743,711,673,658,631,878,782,799.87383999,649,628,650,0.443956450145,-0.00560301339766,0.0796670108536,0.999999850587,-0.000147931530555,-0.000522885935197,-5.94289671796e-05,1793192764838383872
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+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711,673.509529626,658,631,878,781.509529626,799.509529626,649,628.490470374,650,0.444831954645,-0.00560128829685,0.0796496448547,0.999999837816,-0.00014766369392,-0.000546875891734,-5.9078054673e-05,1793192765021717504
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630.911475396,878,782,800,649,628,650,0.444851522299,-0.00560235777695,0.0796480820364,0.999999836682,-0.000147227981452,-0.000549115962192,-5.85817152483e-05,1793192765038384128
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630.334172962,878,782,800,649,628,650,0.444862902835,-0.00560207937017,0.0796472081948,0.99999983538,-0.000146031209494,-0.000551871222235,-5.79024136084e-05,1793192765055050496
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,673.759508084,658,630.240491916,878.240491916,782,799.759508084,649,628.240491916,650,0.444872455401,-0.00560097440042,0.0796465026167,0.999999834379,-0.000144458015226,-0.000554145028821,-5.74218208637e-05,1793192765071716864
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+242,4.033333333,POSE1_TO_POSE2_PRESS,763.343740767,743,711,674,657.343740767,630,878,781.656259233,799,649,628,650,0.444897847484,-0.00553408983698,0.079644469584,0.999999839506,-7.49186380486e-05,-0.000557625022295,-6.65517865325e-05,1793192765505049856
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+244,4.066666667,HOLD_POSE2,764,743,711,674,657,630,878,781,799,649,628,650,0.44489908928,-0.00553681869073,0.0796452446409,0.999999840105,-7.84396981372e-05,-0.000556120940974,-6.60737979318e-05,1793192765552726272
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+248,4.133333333,HOLD_POSE2,764.676465477,743,711,674,658,630,878,782,799.676465477,649,627.676465477,650,0.44490061259,-0.00553673516611,0.0796449240946,0.999999840458,-7.66315764318e-05,-0.000555731427942,-6.61395177813e-05,1793192765619393024
+249,4.150000000,HOLD_POSE2,764.098475073,743,711,674,658,630,878,782,799.098475073,649,627.098475073,650,0.444900689303,-0.00553729913168,0.0796440393963,0.999999840621,-7.63006063695e-05,-0.000555536491561,-6.56931286328e-05,1793192765636059904
+250,4.166666667,HOLD_POSE2,764,743,711,674,657.522468171,630,878,781.522468171,799.477531829,648.522468171,627.477531829,650,0.444901587912,-0.00553725943602,0.0796453786319,0.999999841153,-7.6634071295e-05,-0.000554539146239,-6.56387950199e-05,1793192765652726528
+251,4.183333333,HOLD_POSE2,764,742.947026434,711,674,657,630,877.947026434,781.052973566,800,648.052973566,627.947026434,650,0.444902482088,-0.00553708193974,0.0796469679389,0.999999841667,-7.70611782782e-05,-0.000553549950667,-6.56557089289e-05,1793192765669392896
+252,4.200000000,HOLD_POSE2,764,742.373136633,711,674,657,630,877.373136633,781.626863367,800,648.626863367,627.373136633,650,0.44490167289,-0.00553676844132,0.079646525208,0.999999841277,-7.70673242984e-05,-0.000554261318179,-6.55815008099e-05,1793192765686059520
+253,4.216666667,HOLD_POSE2,764,742.207767893,711,674,657.207767893,630.207767893,877.207767893,781.792232107,800,649,627.207767893,650.207767893,0.444900514623,-0.00553632932935,0.0796455995325,0.999999840515,-7.69308036032e-05,-0.000555644973243,-6.56581643122e-05,1793192765702726144
+254,4.233333333,HOLD_POSE2,764,742.801710505,711,674,657.801710505,630.801710505,877.801710505,781.198289495,800,649,627.801710505,650.801710505,0.444898707547,-0.00553565674161,0.0796437762159,0.999999839055,-7.65291106604e-05,-0.000558278197898,-6.60152503905e-05,1793192765719392768
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+256,4.266666667,HOLD_POSE2,764,743,711,674,658,630.036046181,878,781,800,649,628,650.036046181,0.44490021357,-0.00553573758773,0.0796443674891,0.999999839791,-7.53397900383e-05,-0.000557130253057,-6.59390966706e-05,1793192765752726272
+257,4.283333333,HOLD_POSE2,763.4612257,743,711,674,657.4612257,630,878,781.5387743,800.5387743,649,628,650,0.444900311234,-0.00553532797314,0.0796447724497,0.999999840013,-7.50896795615e-05,-0.000556758537635,-6.59968473242e-05,1793192765769392896
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.384854748,630,878.615145252,782,800,649,628,650,0.444803504375,-0.00553396502355,0.0795993714103,0.999999796307,-7.52039883781e-05,-0.000630330259206,-6.64349453504e-05,1793192766023471360
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.9771926,630,878.0228074,782,800,649,628,650,0.444751502384,-0.00553060225689,0.0795806487125,0.999999774821,-7.22306050348e-05,-0.000663865449172,-6.65127529708e-05,1793192766040137984
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.444837604,658,630,878,782,800,648.444837604,628,650,0.44468783704,-0.00552969199514,0.0795694499751,0.999999766121,-6.91970071059e-05,-0.000677258438327,-6.54996129216e-05,1793192766056804352
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.86839354,742.86839354,711,673.13160646,657.86839354,630.13160646,878,781.86839354,800,648,628,650,0.444619720423,-0.00552859140923,0.0795609101868,0.999999759191,-6.67181891427e-05,-0.000687791777733,-6.4109395698e-05,1793192766073470976
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.295138534,742.295138534,711,673.704861466,657.295138534,630.704861466,878,781.295138534,800,648,628,650,0.444538233489,-0.00552652254245,0.0795602822446,0.999999756876,-6.61092082251e-05,-0.000691435487322,-6.16003819415e-05,1793192766090137856
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.285074323,742,711,674,657,631,878,781.285074323,799.714925677,648.285074323,628,650,0.444446967656,-0.00552458804928,0.0795631066408,0.999999758809,-6.40200776033e-05,-0.000689112390429,-5.83652165455e-05,1793192766106804736
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.872670848,742,711,674,657,631,878,781.872670848,799.127329152,648.872670848,628,650,0.444345324413,-0.00552279615414,0.0795695946747,0.99999976519,-6.03602052328e-05,-0.000680457290357,-5.43594557841e-05,1793192766123471360
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.544237475,742,711,674,657,630.544237475,878,781.544237475,799.455762525,649.455762525,628,650.455762525,0.444219179932,-0.00552103289436,0.079575178751,0.999999770572,-5.79758256972e-05,-0.000673052898942,-4.99521997543e-05,1793192766140137984
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742.614099511,711,674,657.614099511,630.614099511,877.385900489,781.614099511,799.385900489,649.385900489,628,650.385900489,0.443909981544,-0.00551848204833,0.0795785785343,0.999999772469,-5.26321730967e-05,-0.000671400361274,-3.89027486287e-05,1793192766173471232
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.189568174,742.810431826,711,673.810431826,657.810431826,631,877.189568174,782,799.189568174,648.810431826,628,650,0.443725583946,-0.00551607557634,0.0795776684214,0.999999770959,-4.64175823271e-05,-0.00067444538234,-3.24057840972e-05,1793192766190137856
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.65503462,742.34496538,711,673.34496538,657.34496538,630.65503462,878,781.65503462,800,648.34496538,628,650,0.443289090946,-0.00550582634793,0.0795789236996,0.999999772241,-2.25729552785e-05,-0.000674303359165,-1.79592820959e-05,1793192766223471360
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.06535183,742.93464817,711,673.93464817,657.93464817,630.06535183,878,781.06535183,800,648.93464817,628,650,0.443041547562,-0.00550171841601,0.0795804212496,0.99999977239,-1.14154703599e-05,-0.000674538013936,-9.40972918214e-06,1793192766240137984
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.515681533,742.484318467,711,673.484318467,658,630.515681533,878,781.515681533,800,649,628,650,0.442764892057,-0.00549803495557,0.0795898859448,0.999999782732,-1.99242045553e-06,-0.0006591899892,-1.17053293954e-06,1793192766256804608
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.095005344,658,631,877.904994656,782,800,648.904994656,628,650,0.442477212889,-0.0054943159184,0.0796002896279,0.999999794005,1.25920045208e-05,-0.000641710685304,6.19331994878e-06,1793192766273471232
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.671131355,658,631,877.328868645,782,800,648.328868645,628,650,0.442152083406,-0.00549014879335,0.0796104197231,0.999999804241,5.44091287896e-05,-0.000623273861537,9.32020487034e-06,1793192766290137856
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.251325755,711,674,658,631,877,782,799.748674245,648.251325755,628,650.251325755,0.441799370313,-0.00548546069772,0.0796170315127,0.999999810174,7.19171727637e-05,-0.00061185452039,1.0673014599e-05,1793192766306804736
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.836931347,711,674,658,631,877,782,799.163068653,648.836931347,628,650.836931347,0.441409969218,-0.00548007967711,0.0796189637231,0.999999812414,5.70925337706e-05,-0.000609768896478,9.66618710889e-06,1793192766323471360
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.579724994,743,711,673.579724994,658.420275006,631,877.420275006,782,799,648.579724994,628,650.579724994,0.440977988732,-0.00547344655757,0.0796108139201,0.999999808177,6.29715330843e-05,-0.000616105345928,9.69759807773e-06,1793192766340137984
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.997285829,711,673,658.997285829,631,877.997285829,782,799,648.002714171,628,650,0.440529322255,-0.00546634104833,0.0795987565135,0.999999801213,7.67720435636e-05,-0.000625761533423,1.01334598185e-05,1793192766356804864
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.421505433,711,673,658.421505433,631,877.421505433,782,799,648.578494567,628,650,0.440027144689,-0.00546152209015,0.0795831779549,0.999999785741,7.60898661285e-05,-0.000650076668007,1.13644567142e-05,1793192766373471488
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.311776988,742.688223012,711,673,659.311776988,631.311776988,877,782.688223012,800,648,628.311776988,650,0.438544277523,-0.00545167362448,0.0796565095784,0.999999856331,8.89562948219e-05,-0.000528345417976,1.65934457818e-05,1793192766423471872
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.197235974,743,711.802764026,673.197235974,659.802764026,632,878,783,799.197235974,648.197235974,628,650,0.434828387158,-0.00545224446467,0.0797991554827,0.999999945925,8.88161037719e-05,-0.000315300217537,2.90965131973e-05,1793192766523471360
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.695754361,742.304245639,711,673.304245639,660,632,877,783,799,649,628,650,0.43085489127,-0.00542327822577,0.0797376162657,0.99999989685,0.000127376157247,-0.00043513566784,2.70531315983e-05,1793192766606804992
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..375422ae56377c361d572320ce2447c94ccbe305
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,396 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1deadb00ff58741fa39fc8af86a9511ea94d10a7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e23e823ae0ed67a8a33a6230ce87e93f4d448369153a21d01f3bd16b49f1eb22
+size 25270951
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b543c9583ea68d7a81e397a4e379a1340cabe919
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_03/franka_data.csv
@@ -0,0 +1,398 @@
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+14,0.233333333,BASELINE,764,743,711.113809267,671.886190733,659,632.113809267,877,783.113809267,798.886190733,648.227618535,629,650.113809267,0.400955386371,-0.00547502835878,0.0798297383718,0.999999949939,0.000122361940485,-0.000289598377784,3.57987869142e-05,1793192768457002496
+15,0.250000000,BASELINE,764,743,711.689982183,671.310017817,659,632.689982183,877,783.689982183,798.310017817,649.379964366,629,650.689982183,0.40095579224,-0.00547718282041,0.0798299552571,0.999999950197,0.000120798236057,-0.000289374394495,3.57329373976e-05,1793192768473669120
+16,0.266666667,BASELINE,763.727042919,742.727042919,712,671.272957081,659,633,877,783.727042919,798.272957081,649.727042919,629,651,0.40095645473,-0.00547762326873,0.0798301672499,0.999999950312,0.000120620147089,-0.000289036000739,3.58433739324e-05,1793192768490335488
+17,0.283333333,BASELINE,763.136145097,742.136145097,712,671.863854903,659,633,877,783.136145097,798.863854903,649.136145097,629,651,0.400957416134,-0.00547606723213,0.079830373544,0.999999950263,0.000122056024787,-0.000288564341545,3.6159148678e-05,1793192768507002112
+18,0.300000000,BASELINE,763.891508163,742,711.554245919,671.554245919,659,633,877,783,799,649,629,651,0.400956207565,-0.00547620742733,0.0798301693771,0.999999950077,0.000121857898753,-0.000289287261361,3.61827234709e-05,1793192768523668992
+19,0.316666667,BASELINE,764.975345509,742.024654491,711.024654491,671,659,632.975345509,877,783,799,648.975345509,629,650.975345509,0.400954491182,-0.00547676611547,0.0798298995966,0.999999949862,0.000121339643067,-0.000290253708178,3.61264601103e-05,1793192768540335616
+20,0.333333333,BASELINE,764.403211771,742.596788229,711.596788229,671,659,632.403211771,877,783,799,648.403211771,629,650.403211771,0.40095592445,-0.00547534114675,0.0798309015891,0.999999949914,0.000124575606605,-0.000288686237071,3.62398834112e-05,1793192768557002496
+21,0.350000000,BASELINE,764,743,712,671,659.17426604,632,877,783,799,648.17426604,629,650,0.400956767774,-0.00547484152968,0.0798313373995,0.999999949936,0.000126268080005,-0.000287870890576,3.62516743244e-05,1793192768573669376
+22,0.366666667,BASELINE,764,743,712,671,659.764499912,632,877,783,799,648.764499912,629,650,0.400956202916,-0.00547655069961,0.0798304217501,0.999999949912,0.000124276288081,-0.000288850843295,3.60208717479e-05,1793192768590337024
+23,0.383333333,BASELINE,764,742.651450647,712,671,659.651450647,632.348549353,877,783,799.348549353,649,628.651450647,650,0.400956763902,-0.00547644904261,0.0798304153387,0.99999995012,0.000124532206223,-0.000288034456783,3.59004806058e-05,1793192768607003904
+24,0.400000000,BASELINE,764,742.071506859,712,671,659.071506859,632.928493141,877,783,799.928493141,649,628.071506859,650,0.40095807231,-0.00547514521665,0.0798310125507,0.999999950479,0.00012628033064,-0.000286025519304,3.58533892222e-05,1793192768623670528
+25,0.416666667,BASELINE,764,742,712,671,659,632.495460876,877,783,799.495460876,649,628.504539124,650,0.400956664295,-0.00547539683676,0.079830091261,0.999999950163,0.000124789072579,-0.000287811648438,3.55842943541e-05,1793192768640336640
+26,0.433333333,BASELINE,764,742,712,671.07987931,659,632.07987931,877,783.07987931,799,649,629,650.07987931,0.400954975106,-0.005475705629,0.0798291042233,0.999999949778,0.000123052378935,-0.000289917555631,3.53462728657e-05,1793192768657002752
+27,0.450000000,BASELINE,764,742,712,671.654244099,659,632.654244099,877,783.654244099,799,649,629,650.654244099,0.400953910316,-0.00547501413392,0.0798290322207,0.9999999496,0.000122616617228,-0.000290698950228,3.54938893441e-05,1793192768673669376
+28,0.466666667,BASELINE,764,742.235310245,712,671.764689755,659,632.764689755,877,783.764689755,798.764689755,649,629,650.764689755,0.400954088871,-0.00547512841623,0.0798294618722,0.999999949727,0.000122328335384,-0.00029036521733,3.56272073657e-05,1793192768690336000
+29,0.483333333,BASELINE,764,742.826511719,712,671.173488281,659,632.173488281,877,783.173488281,798.173488281,649,629,650.173488281,0.400956147902,-0.00547646138374,0.0798306502424,0.999999950316,0.000122263107138,-0.000288344927579,3.57388999052e-05,1793192768707002368
+30,0.500000000,BASELINE,764,743,712,671.40793177,659,632.40793177,877,783.40793177,798.40793177,649,629,650,0.400957462369,-0.00547590221466,0.0798310306056,0.999999950323,0.000124716979559,-0.000287268554016,3.5725761422e-05,1793192768723669248
+31,0.516666667,BASELINE,764,743,712,671.9852893,659,632.9852893,877,783.9852893,798.9852893,649,629,650,0.400958467596,-0.00547455718697,0.0798310753803,0.999999950079,0.000128217106714,-0.000286584215959,3.5660777033e-05,1793192768740336128
+32,0.533333333,BASELINE,764,742.439861039,711.439861039,671.439861039,659,633,877,784,799,649,628.439861039,650,0.400957441754,-0.00547457637622,0.0798308813024,0.999999949865,0.000127977995848,-0.000287407859956,3.58849833814e-05,1793192768757003008
+33,0.550000000,BASELINE,764,742,711.138088576,671.138088576,659,632.861911424,877,783.861911424,799,649,628.138088576,650.138088576,0.400956374936,-0.00547478724741,0.079830641127,0.999999949727,0.000127322989439,-0.000288162970044,3.60058351788e-05,1793192768773669632
+34,0.566666667,BASELINE,764,742,711.72635796,671.72635796,659,632.27364204,877,783.27364204,799,649,628.72635796,650.72635796,0.400955347658,-0.00547550673708,0.0798302710287,0.999999949834,0.000125630847693,-0.000288566118003,3.57650924059e-05,1793192768790336000
+35,0.583333333,BASELINE,764,742,711.68943412,671.68943412,659,632.31056588,877,783.31056588,799,649,629,650.68943412,0.400955545818,-0.00547528654782,0.0798301157306,0.999999949851,0.000125290909468,-0.000288668362358,3.5659359089e-05,1793192768807002624
+36,0.600000000,BASELINE,764,742,711.108758527,671.108758527,659,632.891241473,877,783.891241473,799,649,629,650.108758527,0.400956809785,-0.00547424908789,0.0798301472515,0.999999949791,0.000126127028468,-0.000288508900656,3.56710480628e-05,1793192768823669248
+37,0.616666667,BASELINE,764,742.468260136,711.468260136,671.468260136,659,633,877,783.531739864,799.468260136,649,629,650.468260136,0.400956995949,-0.00547398284737,0.0798306703359,0.999999949965,0.000125719889918,-0.000288107761492,3.54742475543e-05,1793192768840335872
+38,0.633333333,BASELINE,764,743,712,672,659,633,877.044213753,783,800,649,629,651,0.400956957791,-0.00547402978655,0.0798312341648,0.99999995018,0.00012502666358,-0.000287689922883,3.52597336919e-05,1793192768857002496
+39,0.650000000,BASELINE,764,743,712,672,659,633,877.617508078,783,800,649,629,651,0.400957207642,-0.00547569750178,0.0798309299276,0.999999950246,0.000124338638726,-0.000287738748298,3.54082254812e-05,1793192768873669632
+40,0.666666667,BASELINE,764,742.803258324,712,672,659,632.803258324,877.606516649,783,799.803258324,649,629,650.803258324,0.400957134222,-0.00547702658486,0.0798305550819,0.9999999503,0.000123278230645,-0.00028797891791,3.56386425865e-05,1793192768890336768
+41,0.683333333,BASELINE,764,742.212118604,712,672,659,632.212118604,876.424237207,783,799.212118604,649,629,650.212118604,0.400956412757,-0.00547767682917,0.0798300386908,0.999999950327,0.00012147132486,-0.000288602665511,3.60332912031e-05,1793192768907003392
+42,0.700000000,BASELINE,764,742,711.628286698,671.628286698,659,632.371713302,876.743426603,783.371713302,799,649,629,650.371713302,0.400956168186,-0.00547727070762,0.0798300749464,0.999999950237,0.000121600594065,-0.000288855936654,3.60658298301e-05,1793192768923669760
+43,0.716666667,BASELINE,764,742,711.048544621,671.048544621,659,632.951455379,877.902910759,783.951455379,799,649,629,650.951455379,0.400956190509,-0.00547627339253,0.0798304204898,0.999999950082,0.000122813440678,-0.000288901871199,3.58957141468e-05,1793192768940335872
+44,0.733333333,BASELINE,764,742,711.52716007,671.52716007,659,632.47283993,877.47283993,784,799,649,628.47283993,651,0.400955928644,-0.00547587580104,0.079830044437,0.999999949744,0.00012423188648,-0.000289476143859,3.58166713285e-05,1793192768957002752
+45,0.750000000,BASELINE,764,742,712,671.897802761,659,632,877,783.897802761,799,648.897802761,628.102197239,651,0.400955731228,-0.00547553842264,0.0798298112601,0.999999949504,0.000125443622132,-0.000289791803599,3.57175784257e-05,1793192768973669120
+46,0.766666667,BASELINE,764,742,712,671.324143088,659,632,877,783.324143088,799,648.324143088,628.675856912,651,0.400955950942,-0.00547522598386,0.0798305414268,0.999999949809,0.000125615070577,-0.000288691671042,3.54875936398e-05,1793192768990336000
+47,0.783333333,BASELINE,764,742.258143429,712,671,659,632.258143429,877,783.258143429,799,648.258143429,629,651,0.400956365855,-0.00547532640318,0.0798310910677,0.999999950178,0.000124951892052,-0.000287694283867,3.55262651179e-05,1793192769007002880
+48,0.800000000,BASELINE,764,742.851637026,712,671,659,632.851637026,877,783.851637026,799,648.851637026,629,651,0.400957034346,-0.00547596316008,0.0798314061903,0.99999995063,0.000123204462464,-0.00028683037149,3.59139437937e-05,1793192769023669504
+49,0.816666667,BASELINE,764,742.567533658,711.567533658,671,659,633,876.567533658,783.567533658,798.567533658,649,629,650.567533658,0.400956728732,-0.00547648333596,0.0798312608096,0.999999950439,0.00012390606781,-0.000287180928991,3.60183656905e-05,1793192769040336640
+50,0.833333333,BASELINE,764,742,711,671.009049933,659,632.990950067,876.009049933,783.009049933,798.009049933,649,629,650,0.400956121958,-0.0054769518302,0.079830969396,0.999999950039,0.000125406078457,-0.000287919317163,3.6026155754e-05,1793192769057003520
+51,0.850000000,BASELINE,764,742,711,671.584091353,659,632.415908647,876.584091353,783.584091353,798.584091353,649,629,650,0.400956985648,-0.00547661824228,0.079831144156,0.999999950088,0.000125788912922,-0.00028759734493,3.58949953468e-05,1793192769073670144
+52,0.866666667,BASELINE,764,742,711.163271274,671.836728726,659,632.163271274,877,783.836728726,798.836728726,649,628.836728726,650,0.400957619516,-0.00547644175321,0.079831427747,0.99999995029,0.000125619568487,-0.000286972437169,3.58687293788e-05,1793192769090336768
+53,0.883333333,BASELINE,764,742,711.753267523,671.246732477,659,632.753267523,877,783.246732477,798.246732477,649,628.246732477,650,0.40095765272,-0.0054766758569,0.0798319957781,0.999999950888,0.000124007052038,-0.000285555778657,3.61166149951e-05,1793192769107002624
+54,0.900000000,BASELINE,763.662800521,742,711.662800521,671,659,633,877,783,798.337199479,649,628.337199479,650.337199479,0.400958083714,-0.00547650715733,0.0798322337433,0.999999951214,0.000123158056532,-0.00028479472238,3.6007871566e-05,1793192769123668992
+55,0.916666667,BASELINE,763.083227506,742,711.083227506,671,659,633,877,783,798.916772494,649,628.916772494,650.916772494,0.400958800633,-0.00547604892929,0.0798322344625,0.999999951346,0.000122857867608,-0.000284504902454,3.56427889332e-05,1793192769140335872
+56,0.933333333,BASELINE,763.492682275,742,711,671,659,633,877,783.492682275,799,648.507317725,628.507317725,650.507317725,0.400956552151,-0.00547682038218,0.0798308860715,0.999999950485,0.000123006419445,-0.000287438872039,3.57494903881e-05,1793192769157002496
+57,0.950000000,BASELINE,764,742.069292495,711.069292495,671.069292495,659.069292495,632.930707505,877,784,799,648,628.069292495,650,0.400954184229,-0.00547756575776,0.0798294879517,0.999999949561,0.000123302032197,-0.000290494431088,3.58953485866e-05,1793192769173669120
+58,0.966666667,BASELINE,764,742.655713944,711.655713944,671.655713944,659.655713944,632.344286056,877,784,799,648,628.655713944,650,0.400954635822,-0.00547657769791,0.0798294069818,0.999999949484,0.000124133605184,-0.000290423165287,3.57430432975e-05,1793192769190336000
+59,0.983333333,BASELINE,764,742.760620736,711.760620736,671.760620736,659.760620736,632,877,783.760620736,799,648.239379264,629,650.239379264,0.400955550954,-0.0054759831038,0.079829816203,0.999999949705,0.00012418185693,-0.000289661656372,3.55578390888e-05,1793192769207002880
+60,1.000000000,BASELINE,764,742.180874202,711.180874202,671.180874202,659.180874202,632,877,783.180874202,799,648.819125798,629,650.819125798,0.400957125182,-0.00547594796844,0.0798309224146,0.999999950349,0.000123116324304,-0.000287918708369,3.5325856723e-05,1793192769223669504
+61,1.016666667,BASELINE,764,742.397811597,711.397811597,671.397811597,659.397811597,632,877,783,799,649,629,650.602188403,0.400956699789,-0.00547671082542,0.0798307631676,0.999999950342,0.000122380146745,-0.000288250362435,3.53593098822e-05,1793192769240335872
+62,1.033333333,BASELINE,764,742.976016355,711.976016355,671.976016355,659.976016355,632,877,783,799,649,629,650.023983645,0.400955367639,-0.00547783554304,0.0798300300808,0.999999950041,0.000121793319852,-0.000289522773559,3.55131284595e-05,1793192769257002496
+63,1.050000000,BASELINE,764,742.4490049,712,672,659.4490049,632.5509951,877,783.5509951,799,648.4490049,628.4490049,650.5509951,0.40095708643,-0.00547759032565,0.0798307958751,0.999999950531,0.0001234403949,-0.000287093274458,3.57505478744e-05,1793192769273669376
+64,1.066666667,BASELINE,764,742,712,672,659,633,877,783.871244599,798.871244599,648.128755401,628,650.871244599,0.400958318281,-0.00547721306555,0.0798314342798,0.999999950879,0.000124508150365,-0.000285395463435,3.59028833718e-05,1793192769290336000
+65,1.083333333,BASELINE,764,742,712,672,659,633,877,783.283060971,798.283060971,648.716939029,628,650.283060971,0.400957341516,-0.00547657618334,0.0798313866825,0.999999950627,0.000123163819311,-0.000286880103861,3.57387112354e-05,1793192769307002624
+66,1.100000000,BASELINE,764,742,711.698591192,671.698591192,659,632.698591192,877,783.301408808,798.301408808,648.698591192,628,650.301408808,0.400957171354,-0.00547617920961,0.0798313662632,0.999999950533,0.000122886637482,-0.000287349278232,3.5530880845e-05,1793192769323669504
+67,1.116666667,BASELINE,764,742,711.117566769,671.117566769,659,632.117566769,877,783.882433231,798.882433231,648.117566769,628,650.882433231,0.400957749473,-0.00547600479793,0.0798313710567,0.99999995059,0.000123599445338,-0.000286876409161,3.52825488949e-05,1793192769340336384
+68,1.133333333,BASELINE,764,742.457892571,711,671,659,632,877,783.542107429,798.542107429,648.457892571,628.457892571,651,0.40095682549,-0.00547674839438,0.0798310772674,0.999999950375,0.000123581179612,-0.00028759996674,3.55501142972e-05,1793192769357002752
+69,1.150000000,BASELINE,764.032654337,742.967345663,711.032654337,671.032654337,659,632,877,783,798.032654337,649,628.967345663,650.967345663,0.400955661078,-0.00547760471722,0.0798307793951,0.999999950131,0.000123443358272,-0.000288459608054,3.5916582352e-05,1793192769373669376
+70,1.166666667,BASELINE,764.619536128,742.380463872,711.619536128,671.619536128,659,632,877,783,798.619536128,649,628.380463872,650.380463872,0.400956883261,-0.00547642182687,0.0798316977694,0.999999950586,0.000124423996739,-0.000286477744099,3.57404940728e-05,1793192769390336000
+71,1.183333333,BASELINE,764.796730359,742,712,672,659,632,877,783.203269641,799,649,628,650.203269641,0.400957012517,-0.00547569893241,0.0798317565806,0.999999950618,0.000124910134155,-0.000286166887551,3.5642876468e-05,1793192769407002368
+72,1.200000000,BASELINE,764.218799566,742,712,672,659,632,877,783.781200434,799,649,628,650.781200434,0.400955127319,-0.00547582388984,0.0798302310686,0.999999949873,0.000124484820662,-0.000288935986713,3.56898938759e-05,1793192769423669248
+73,1.216666667,BASELINE,764,742,712,671.639795323,659,632.360204677,877,783.639795323,799,649,628.360204677,650.639795323,0.400954991958,-0.00547588772458,0.0798301197691,0.999999949854,0.000124487699616,-0.000288981630016,3.58307847054e-05,1793192769440335872
+74,1.233333333,BASELINE,764,742,712,671.060137118,659,632.939862882,877,783.060137118,799,649,628.939862882,650.060137118,0.40095592268,-0.00547591432051,0.0798308700742,0.999999950279,0.000124751453451,-0.000287368016535,3.60288676087e-05,1793192769457002752
+75,1.250000000,BASELINE,764,742,711.483253085,671,659,632.483253085,877,783.516746915,799,649,629,650,0.400956351579,-0.00547632330076,0.0798310756274,0.9999999505,0.000124348871962,-0.00028680062093,3.58018975331e-05,1793192769473669632
+76,1.266666667,BASELINE,764,742,711.094790059,671.094790059,659,632.094790059,877,784,799,649,629,650.094790059,0.400956873645,-0.00547679604831,0.0798313185028,0.999999950734,0.000123874375445,-0.000286219388367,3.55842941929e-05,1793192769490336256
+77,1.283333333,BASELINE,764,742,711.680499352,671.680499352,659,632.680499352,877,784,799,649,629,650.680499352,0.400958179069,-0.00547736980961,0.0798320812469,0.999999951152,0.000123426895585,-0.000284939289986,3.5670019125e-05,1793192769507002880
+78,1.300000000,BASELINE,763.734711074,742,712,671.734711074,659,632.734711074,877,784,799,649,628.734711074,650.734711074,0.400958300668,-0.00547726076506,0.0798323878202,0.999999951247,0.000122890316111,-0.000284841506268,3.56257766944e-05,1793192769523669248
+79,1.316666667,BASELINE,763.151025379,742,712,671.151025379,659,632.151025379,877,784,799,649,628.151025379,650.151025379,0.400957001453,-0.00547633222458,0.0798321469022,0.999999950956,0.000122246800318,-0.000286162723334,3.54255488983e-05,1793192769540335872
+80,1.333333333,BASELINE,763.424791309,742,712,671,659,632,877.424791309,783.575208691,799,649,628.424791309,650.424791309,0.400955893748,-0.00547687396771,0.0798311481987,0.999999950552,0.000121481719241,-0.000287882985341,3.55052204499e-05,1793192769557002240
+81,1.350000000,BASELINE,763.997861269,742,712,671,659,632,877.997861269,783.002138731,799,649,628.997861269,650.997861269,0.400954852892,-0.00547792893142,0.0798298849806,0.999999950107,0.000120674204247,-0.000289742539019,3.56825943086e-05,1793192769573668864
+82,1.366666667,BASELINE,764,742.572827817,712,671.572827817,659,632,877.427172183,783,799,649,628.427172183,650.427172183,0.400956794786,-0.00547629227499,0.0798308041897,0.999999950639,0.000122564338815,-0.000287144442913,3.53321172237e-05,1793192769590335744
+83,1.383333333,BASELINE,764,742.84752898,712,671.84752898,659.15247102,632,877,783,798.84752898,649,628.15247102,650.15247102,0.400957983569,-0.00547528139786,0.0798314389363,0.99999995091,0.000124289214684,-0.000285467254247,3.52149216274e-05,1793192769607002624
+84,1.400000000,BASELINE,764,742.254389823,712,671.254389823,659.745610177,632,877,783,798.254389823,649,628.745610177,650.745610177,0.40095696343,-0.00547610827426,0.0798312279078,0.999999950443,0.000125507257528,-0.000286499911598,3.57776654848e-05,1793192769623669504
+85,1.416666667,BASELINE,764,742.326920758,712,671,659.673079242,632.326920758,877,783,798.326920758,649,629,651,0.400956972125,-0.00547614088066,0.0798317523876,0.999999950485,0.000125207557103,-0.000286469668554,3.58955206806e-05,1793192769640336128
+86,1.433333333,BASELINE,764,742.899348425,712,671,659.100651575,632.899348425,877,783,798.899348425,649,629,651,0.400957753441,-0.00547557701593,0.0798328292104,0.999999950909,0.000123768080528,-0.000285641221648,3.56792788557e-05,1793192769657002752
+87,1.450000000,BASELINE,764,742.522342266,712,671.477657734,659,633,877,783.477657734,799,649,628.522342266,650.522342266,0.400957777484,-0.00547568062833,0.0798321844644,0.999999950767,0.000123396057999,-0.000286307597549,3.55960897883e-05,1793192769673669376
+88,1.466666667,BASELINE,764,742.058131553,712,671.941868447,659,632.941868447,877,784,799,649,628.058131553,650,0.40095750269,-0.00547581636605,0.0798312205391,0.999999950496,0.000123455800937,-0.000287235207557,3.55298710638e-05,1793192769690335744
+89,1.483333333,BASELINE,764,742.646909344,712,671.353090656,659,632.353090656,877,784,799,649,628.646909344,650,0.400955974795,-0.00547494544286,0.0798306957851,0.999999950148,0.000125377989765,-0.000287636289102,3.53594434291e-05,1793192769707002368
+90,1.500000000,BASELINE,764,742.768012705,711.768012705,671,659,632,877,783.768012705,798.768012705,649,628.768012705,650,0.400954974009,-0.0054743267728,0.079830236261,0.999999949888,0.000126280409473,-0.000288164884376,3.51868397463e-05,1793192769723668992
+91,1.516666667,BASELINE,764,742.188477659,711.188477659,671,659,632,877,783.188477659,798.188477659,649,628.188477659,650,0.400954762905,-0.00547408601146,0.0798298744601,0.999999949765,0.000125655079552,-0.0002888845121,3.50109760699e-05,1793192769740335616
+92,1.533333333,BASELINE,764,742,711.389235698,671.389235698,659,632.389235698,877,783.389235698,798.778471395,649,628.389235698,650.389235698,0.400955676693,-0.00547475752451,0.0798304400389,0.999999950098,0.000124541474862,-0.000288203870754,3.5099508517e-05,1793192769757002496
+93,1.550000000,BASELINE,764,742,711.966071107,671.966071107,659,632.966071107,877,783.966071107,799.932142214,649,628.966071107,650.966071107,0.400957132645,-0.00547586872592,0.0798314525864,0.999999950647,0.000123192536599,-0.000286848342567,3.53154718004e-05,1793192769773669632
+94,1.566666667,BASELINE,764,742,711.448665027,671.448665027,659,633,877,784,799.448665027,649,628.448665027,650.448665027,0.400957873325,-0.00547542983971,0.0798312318232,0.999999950637,0.000125307313914,-0.000285952552147,3.54352675134e-05,1793192769790336256
+95,1.583333333,BASELINE,764,742,711.135673301,671.135673301,659,633,877,784,799,649,628.135673301,650.135673301,0.400958276872,-0.00547526681096,0.0798310456295,0.999999950624,0.000126637207874,-0.000285398193158,3.55268076496e-05,1793192769807002624
+96,1.600000000,BASELINE,764,742,711.715260041,671.715260041,659,633,877,784,799,649,628.715260041,650.715260041,0.4009577236,-0.00547632332837,0.0798312247303,0.999999950734,0.000124690762845,-0.000285866966747,3.55455618092e-05,1793192769823668992
+97,1.616666667,BASELINE,764,742,712,672,659,633,877,783.706069973,799,649,629,650.706069973,0.400957694821,-0.00547664119115,0.0798315555786,0.999999950753,0.000124074677285,-0.000286064856623,3.55769108617e-05,1793192769840335872
+98,1.633333333,BASELINE,764,742,712,672,659,633,877,783.128285351,799,649,629,650.128285351,0.400958172556,-0.00547624571908,0.0798320329727,0.999999950687,0.000124743348804,-0.000286001148199,3.56204230742e-05,1793192769857002496
+99,1.650000000,BASELINE,764,742,712,671.552628646,659,632.552628646,877,783,799,648.552628646,628.552628646,650,0.400957792571,-0.00547572560956,0.0798316293945,0.999999950615,0.000124587109258,-0.000286337456282,3.54770463206e-05,1793192769873668864
+100,1.666666667,BASELINE,764,742,711.977048977,671.022951023,658.977048977,632,877,783,798.977048977,648.022951023,628.022951023,650.022951023,0.400957158735,-0.00547520899874,0.0798309833808,0.999999950533,0.000124232516467,-0.000286800145591,3.52876834713e-05,1793192769890335488
+101,1.683333333,BASELINE,764,742,711.388399116,671.611600884,658.388399116,632,877,783,798.388399116,648.611600884,628.611600884,650.611600884,0.400956301583,-0.00547565538244,0.0798305589699,0.999999950245,0.000124791706491,-0.000287563986957,3.52795158318e-05,1793192769907002624
+102,1.700000000,BASELINE,764,742.197059958,711,672,658.197059958,632,877,783,798.197059958,648.802940042,628.802940042,651,0.400955784397,-0.00547609202827,0.0798302258219,0.999999950098,0.000124236916318,-0.000288324040732,3.51983563168e-05,1793192769923669504
+103,1.716666667,BASELINE,764,742.776330232,711,672,658.776330232,632,877,783,798.776330232,648.223669768,628.223669768,651,0.400955926599,-0.00547650978682,0.0798300696839,0.999999950222,0.000121521490664,-0.000289076748141,3.49756244193e-05,1793192769940336384
+104,1.733333333,BASELINE,764,743,711.353758498,671.646241502,659,632,877,783.353758498,799,648.353758498,628.353758498,650.646241502,0.400955958855,-0.00547551272486,0.0798301283225,0.999999950071,0.000123441096457,-0.000288773769744,3.50783913994e-05,1793192769957003008
+105,1.750000000,BASELINE,764,743,711.930028215,671.069971785,659,632,877,783.930028215,799,648.930028215,628.930028215,650.069971785,0.400955921957,-0.00547362575233,0.0798303220537,0.99999994973,0.000128276099056,-0.000287806773632,3.5385894503e-05,1793192769973669120
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,711,672,659,633,877,784,799,649,628,651,0.400955215443,-0.00547557961607,0.0798300078174,0.999999950061,0.000124991615871,-0.00028805302234,3.57835271679e-05,1793192770004870912
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711.592476447,671.407523553,659,633,877.592476447,783.407523553,799,649,628,650.407523553,0.400956218863,-0.00547566783639,0.0798309354385,0.999999950166,0.000125391039424,-0.000287563684042,3.53727116464e-05,1793192770021538560
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.181321405,742.181321405,712,671.181321405,659,632.818678595,877.818678595,783,799,649,628.181321405,650.181321405,0.400956875854,-0.00547592238475,0.0798315112637,0.999999950327,0.000125264871221,-0.000287090558607,3.51252759974e-05,1793192770038205440
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.762164884,742.762164884,712,671.762164884,659,632.237835116,877.237835116,783,799,649,628.762164884,650.762164884,0.400956769527,-0.0054765434189,0.0798313119453,0.999999950609,0.000123980618599,-0.000286653156363,3.52378301183e-05,1793192770054872064
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.66086192,742.66086192,711.66086192,671.66086192,659,632.33913808,877,783.33913808,799.33913808,648.66086192,629,651,0.40095723504,-0.00547634001978,0.0798315374834,0.999999950808,0.000124295448853,-0.000285794685654,3.54503743576e-05,1793192770071538432
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.086572332,742.086572332,711.086572332,671.086572332,659,632.913427668,877,783.913427668,799.913427668,648.086572332,629,651,0.400958097055,-0.00547556497519,0.0798320576084,0.999999950948,0.000125719051009,-0.00028464425459,3.57322497223e-05,1793192770088204800
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.498507249,671,659,632.501492751,877,784,799.501492751,648.498507249,629,650.501492751,0.400957676498,-0.00547487900296,0.0798317377048,0.999999950922,0.000124734882215,-0.000285198488219,3.54965740579e-05,1793192770104871168
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.084502406,711.915497594,671,659,632.084502406,877,784,799,649,628.915497594,650,0.400957331245,-0.00547438860171,0.0798314263823,0.999999950895,0.000123660577026,-0.000285789258363,3.52371941722e-05,1793192770121537536
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.664634036,711.335365964,671,659,632.664634036,877,784,799,649,628.335365964,650,0.400958762972,-0.00547495254196,0.0798320399575,0.999999951055,0.000124564364935,-0.000284819572454,3.53776129808e-05,1793192770138204160
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,711.243530937,671.243530937,659,633,877,784,799,649,628.243530937,650.243530937,0.400965086723,-0.005475831543,0.0798352143298,0.999999952519,0.000124337650142,-0.000279710573545,3.55589635635e-05,1793192770154870528
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,711.820736023,671.820736023,659,633,877,784,799,649,628.820736023,650.820736023,0.400978113284,-0.00547714222484,0.0798418973808,0.999999955687,0.000122561975887,-0.000268930090954,3.57963968421e-05,1793192770171537152
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,711.60346055,672,659.39653945,632.60346055,877,784,799,649,629,651,0.401007849483,-0.00547737172026,0.0798539136096,0.999999961342,0.000122299514429,-0.000247116647004,3.59538799978e-05,1793192770188204032
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,711.028288491,672,659.971711509,632.028288491,877,784,799,649,629,651,0.401045113022,-0.00547711416426,0.0798683323224,0.999999967546,0.000122718723008,-0.000220333086958,3.60753473195e-05,1793192770204870912
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.440124967,711.559875033,671.440124967,660,632,877.559875033,783.440124967,799,649,628.440124967,651,0.401104691207,-0.00547976559341,0.079885050926,0.9999999745,0.000121774035223,-0.000186788776173,3.57955883264e-05,1793192770221537536
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671.146499902,659.853500098,632,877.853500098,783.146499902,799.146499902,648.853500098,628.146499902,651,0.401168935502,-0.00548200903177,0.0799000711768,0.999999979628,0.000120612052926,-0.000158010070913,3.50685540897e-05,1793192770238204416
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,671.726582219,659.273417781,632,877.273417781,783.726582219,799.726582219,648.273417781,628.726582219,651,0.401243573502,-0.00548259963857,0.0799097128795,0.999999981949,0.000119015764001,-0.000144370695716,3.30791841642e-05,1793192770254870784
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.696081163,672,659,632,877.303918837,783.696081163,799.696081163,648.303918837,629,650.696081163,0.40132469452,-0.00548247587267,0.0799156076739,0.999999983437,0.00011807060685,-0.000135169946646,3.02337508028e-05,1793192770271537664
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.121192606,672,659,632,877.878807394,783.121192606,799.121192606,648.878807394,629,650.121192606,0.401411595702,-0.00548171518216,0.0799181617773,0.999999984278,0.000117705989648,-0.00012992661443,2.66250635618e-05,1793192770288204288
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.453814873,671.546185127,659,632,877.092370253,783,799,649,629,650,0.401519188653,-0.00548395928274,0.0799204002568,0.999999985427,0.00011311521859,-0.00012590680772,2.23214264383e-05,1793192770304870912
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+126,2.100000000,POSE1_TO_POSE2_PRESS,764.62136278,742,712,671.62136278,659,632,876.62136278,783.62136278,799,649,628.37863722,650,0.401780270529,-0.00548721221714,0.0799306154533,0.999999988693,0.000104004377825,-0.000107923287415,1.22291204056e-05,1793192770338204672
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.791950878,742.208049122,711.791950878,671.791950878,659,632.208049122,877,783.791950878,798.791950878,649,628.208049122,650,0.401940444485,-0.00548849098269,0.0799386753125,0.999999990717,9.80375313127e-05,-9.4417342286e-05,6.32649333079e-06,1793192770354871552
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.214129284,742.785870716,711.214129284,671.214129284,659,632.785870716,877,783.214129284,798.214129284,649,628.785870716,650,0.402125282485,-0.00549143485612,0.0799472347123,0.999999992842,8.76905858594e-05,-8.14059357164e-05,-2.03195067265e-07,1793192770371537920
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,711.361943129,671,659.361943129,632.638056871,877,783.361943129,798.361943129,649,629,650,0.40232222051,-0.00549302510702,0.0799505032064,0.999999993982,7.97845135664e-05,-7.4875461709e-05,-7.94414097865e-06,1793192770388204288
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,743,711.936985739,671,659.936985739,632.063014261,877,783.936985739,798.936985739,649,629,650,0.402526282624,-0.00549381839249,0.0799506566007,0.999999994574,7.33155412173e-05,-7.21607333632e-05,-1.63982336614e-05,1793192770404870912
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.524184586,743,712,671.524184586,659.475815414,632,876.475815414,784,799.524184586,649,629,650.524184586,0.402745198139,-0.00549526035413,0.079945226036,0.999999993949,6.67436778968e-05,-8.42682684062e-05,-2.33577055554e-05,1793192770421537280
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.88900649,742.88900649,712,671.88900649,659,632.11099351,876.11099351,783.88900649,799.88900649,649,629,651,0.402976112423,-0.00549654616939,0.0799392250693,0.999999993453,5.48974364018e-05,-9.65491579644e-05,-2.7552687355e-05,1793192770438203904
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.310147206,742.310147206,712,671.310147206,659,632.689852794,876.689852794,783.310147206,799.310147206,649,629,651,0.403249899242,-0.00549683727978,0.0799337164604,0.999999994376,2.08717281551e-05,-0.00010187155154,-2.08699980625e-05,1793192770454870528
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,671.267552141,659.267552141,633,877,783.267552141,799,648.732447859,629,650.732447859,0.40355476304,-0.00549675563571,0.079933524594,0.999999994685,8.1830135198e-06,-0.00010082720595,-1.99409126061e-05,1793192770471537152
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,671.843912656,659.843912656,633,877,783.843912656,799,648.156087344,629,650.156087344,0.403895495833,-0.00549624375886,0.0799394693063,0.999999995196,2.01214344841e-05,-9.24343770967e-05,-2.56526305139e-05,1793192770488203776
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671.585154219,659.585154219,632.585154219,876.585154219,784,798.585154219,648,629,650,0.404254952699,-0.00549781508826,0.0799436429259,0.999999995778,1.87126358075e-05,-8.55314825149e-05,-2.78867951924e-05,1793192770504870656
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671.016236811,659.016236811,632.016236811,876.016236811,784,798.016236811,648,629,650,0.404621363585,-0.00550016010993,0.0799471587705,0.999999996373,1.23467469525e-05,-7.91819421768e-05,-2.88294140506e-05,1793192770521537536
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,671.578880845,659,632.578880845,876.578880845,783.421119155,798.578880845,648,629,650,0.405037170877,-0.00550075831612,0.079947655492,0.999999996797,1.50320216048e-05,-7.23985767134e-05,-3.06226572328e-05,1793192770538203904
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.170001455,711.829998545,671.829998545,659,632.829998545,877,783,798.829998545,648.170001455,628.829998545,650,0.405463099917,-0.00550175460942,0.079945309851,0.999999996716,1.56318505834e-05,-7.25371998023e-05,-3.25788334462e-05,1793192770554870528
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.749636047,711.250363953,671.250363953,659,632.250363953,877,783,798.250363953,648.749636047,628.250363953,650,0.405909921368,-0.00550383378398,0.0799363290151,0.999999995341,1.05658907581e-05,-8.93856613261e-05,-3.48673952594e-05,1793192770571537408
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,711,671,659,632.327735714,877,783,798,649,628.327735714,650,0.406388404502,-0.00550482620762,0.0799286926342,0.999999994009,5.80887589092e-06,-0.000102785239419,-3.71974349861e-05,1793192770588203776
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,711,671,659,632.904668346,877,783,798,649,628.904668346,650,0.406890961941,-0.00550499231023,0.0799220785212,0.999999992769,1.28676968074e-06,-0.00011356242849,-3.95590130765e-05,1793192770604870400
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.511453054,711,671.488546946,659.488546946,632.511453054,877,783,798.488546946,649,628.511453054,650,0.407401257995,-0.00550582230923,0.0799208342258,0.999999992185,-2.04663038922e-06,-0.000117779223782,-4.18744354622e-05,1793192770621537280
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711.073412463,671.926587537,659.926587537,632,877,783,799,649,628,650.073412463,0.407918523455,-0.00550668980354,0.0799187990024,0.999999991329,-5.81280144468e-06,-0.000123935156609,-4.41454806197e-05,1793192770638203904
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711.655589206,671.344410794,659.344410794,632,877,783,799,649,628,650.655589206,0.408473472675,-0.00550690640371,0.079903916062,0.999999987201,-1.42088595438e-05,-0.000152529402433,-4.61723002811e-05,1793192770654870784
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.234607634,712,671,659.234607634,632.234607634,877,783,799.234607634,648.765392366,628,650.765392366,0.409070360725,-0.00550868588967,0.0799061127905,0.999999987217,-1.90513540762e-05,-0.000151486188309,-4.74926327071e-05,1793192770671537664
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.809051118,712,671,659.809051118,632.809051118,877,783,799.809051118,648.190948882,628,650.190948882,0.409727998333,-0.00551272926024,0.0799330499074,0.999999992903,-1.87464099033e-05,-0.000107512266266,-4.77895980816e-05,1793192770688204288
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712,671.383967065,660,633,877.383967065,783,799.616032935,648.383967065,628,650,0.410421265885,-0.00551682021254,0.0799630628499,0.999999996712,-2.75777524439e-05,-5.8822554559e-05,-4.85268179468e-05,1793192770704870656
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,712,671.959118244,660,633,877.959118244,783,799.040881756,648.959118244,628,650,0.411132274209,-0.00552093485651,0.0799946073007,0.999999997907,-4.09582165411e-05,-7.78476752707e-06,-4.94832483566e-05,1793192770721537280
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.452814005,742.452814005,712,671.452814005,660,632.452814005,877.452814005,783,799,648.452814005,628,650.547185995,0.411785553087,-0.00552165739292,0.0799791035916,0.999999997043,-4.42455282642e-05,-3.65676045639e-05,-5.11829504016e-05,1793192770738203648
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.134248377,742.134248377,712,671.134248377,659.865751623,632.134248377,877,783,799,648.134248377,628,650.865751623,0.41244449596,-0.00552186745231,0.0799558468569,0.99999999465,-4.77566786012e-05,-7.43593813884e-05,-5.37579151761e-05,1793192770754870528
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.71468427,742.71468427,712,671.71468427,659.28531573,632.71468427,877,783,799,648.71468427,628,650.28531573,0.413136945191,-0.00552123691943,0.0799187874008,0.99999998935,-5.45786511274e-05,-0.000121793392147,-5.90528727642e-05,1793192770771537408
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.707863718,743,712,671.707863718,659.292136282,632.707863718,877,783,799,648.707863718,628,650.292136282,0.413868916641,-0.00552316648814,0.0799055983129,0.999999987161,-6.25534270869e-05,-0.000133596284154,-6.25916755023e-05,1793192770788204544
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.133296389,743,712,671.133296389,659.866703611,632.133296389,877,783,799,648.133296389,628,650.866703611,0.414639097401,-0.0055275711077,0.079915486577,0.999999989203,-7.16427093764e-05,-0.000110951785962,-6.44326663635e-05,1793192770804871936
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.443093657,743,712,671.443093657,660.443093657,632.443093657,877,783,799,648.443093657,628,651,0.415439841433,-0.00553170567909,0.0799356840941,0.99999999215,-7.30010332855e-05,-8.00436240094e-05,-6.29549150169e-05,1793192770821538304
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.979596308,742.979596308,712,672,660.959192617,632.979596308,877,783,799,649,628,650.979596308,0.416247598238,-0.00553559495452,0.0799574336853,0.999999994351,-7.21702602519e-05,-4.90927200807e-05,-6.06631923618e-05,1793192770838204416
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.392016983,742.392016983,712,672,659.784033966,632.392016983,877,783,799,649,628,650.392016983,0.416993656913,-0.00553493315687,0.0799357610544,0.999999991406,-7.54041501553e-05,-8.63432512967e-05,-6.36122709559e-05,1793192770854871040
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742.193350644,711.806649356,672,659.193350644,632,877,783,799,648.806649356,628,650.193350644,0.417783374303,-0.0055353955733,0.0799311821655,0.9999999907,-7.87622994567e-05,-9.01364248497e-05,-6.53550274695e-05,1793192770871537408
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742.774284749,711.225715251,672,659.774284749,632,877,783,799,648.225715251,628,650.774284749,0.418660608274,-0.0055381115472,0.0799608687527,0.999999994155,-8.23695342696e-05,-2.68622299203e-05,-6.46796357161e-05,1793192770888204032
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,743,711,672,660,632.352096956,877.352096956,783,799,648.352096956,628,650.647903044,0.419508482119,-0.00553753200771,0.0799709855614,0.999999994527,-8.22143900545e-05,-4.21161455688e-06,-6.45678651105e-05,1793192770904870656
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,743,711,672,660,632.927925408,877.927925408,783,799,648.927925408,628,650.072074592,0.420337699748,-0.00553485841382,0.0799686672267,0.999999994699,-7.96685330894e-05,-7.37427276317e-06,-6.48142340712e-05,1793192770921537280
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742.488336695,711,672,660,633,877.488336695,783,798.488336695,648.488336695,628,650,0.421164935447,-0.0055187206263,0.0799573805534,0.999999996185,-5.60493935453e-05,-2.72207555237e-05,-6.12104497956e-05,1793192770938203904
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.096409706,742,711.096409706,672,660,633,877,783,798.192819413,648,628,650,0.422002781335,-0.00550661728077,0.0799518840381,0.999999996931,-3.7503076792e-05,-3.79466098118e-05,-5.73760368938e-05,1793192770954870016
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.68053297,742,711.68053297,672,660,633,877,783,799.36106594,648,628,650,0.422895735819,-0.00552466835798,0.0799821696694,0.999999996641,-5.98714280213e-05,9.54206777989e-06,-5.5161603025e-05,1793192770971536640
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.2585957,712,672,660,632.7414043,877,783.2585957,799.7414043,648,628,650,0.423748471302,-0.00553834174279,0.0799947611428,0.999999995388,-7.68553415112e-05,2.18575242314e-05,-5.32819706628e-05,1793192770988203520
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.829342824,712,672,660,632.170657176,877,783.829342824,799.170657176,648,628,650,0.424552658461,-0.00554673080807,0.0799859939641,0.99999999481,-8.73396917247e-05,-8.2846837114e-06,-5.18064777256e-05,1793192771004870144
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,672.405439617,660,632,877,783.594560383,799,648.405439617,628,650,0.425359053688,-0.00554506589043,0.0799474633871,0.999999991979,-8.88065324419e-05,-7.18666678656e-05,-5.46830871759e-05,1793192771021537024
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,672.98381826,660,632,877,783.01618174,799,648.98381826,628,650,0.426166390712,-0.00553911247664,0.0798962373242,0.999999983293,-8.64269810293e-05,-0.000149712284017,-5.94160723952e-05,1793192771038203648
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.424582134,742.424582134,711.424582134,672.424582134,660,632,877,783,799,648.424582134,628,650.575417866,0.427039754916,-0.00555153854838,0.0799023202192,0.999999985403,-0.000100162615873,-0.000124454262962,-6.06062950318e-05,1793192771054870272
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.16340685,711,672.16340685,660,632,877.16340685,783,799,648.16340685,628,650.83659315,0.427898484782,-0.00556126662144,0.0799106071511,0.999999986514,-0.000110471806721,-0.000105184814801,-6.08649841019e-05,1793192771071536896
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.741272765,711,672.741272765,660,632,877.741272765,783,799,648.741272765,628,650.258727235,0.428715276346,-0.00556280980958,0.0799203005227,0.999999986207,-0.000110913814574,-0.000108631566021,-5.90196028053e-05,1793192771088204032
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.316980325,743,711,673,660.316980325,632.316980325,877.683019675,783,799,648.683019675,628,650,0.429542966475,-0.00556563012221,0.0799390336997,0.999999988745,-0.000109435451257,-8.53900757108e-05,-5.69429806614e-05,1793192771104870656
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.890938067,743,711,673,660.890938067,632.890938067,877.109061933,783,799,648.109061933,628,650,0.430379492084,-0.00556948580551,0.0799650954882,0.999999992024,-0.000106400233942,-4.05123040555e-05,-5.46788904914e-05,1793192771121537280
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.522586713,743,711,673,660.522586713,632.522586713,877.477413287,783,799,648.477413287,628,650,0.431211631908,-0.00557285258453,0.0799943103034,0.999999992196,-0.000112916291038,3.4603416046e-06,-5.33493094128e-05,1793192771138203648
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.065698612,743,711.065698612,673,660,632,878,783,799,649,628.065698612,650,0.432029026401,-0.00557530427577,0.0800166965619,0.999999990906,-0.000119351702961,3.45564850707e-05,-5.2423273492e-05,1793192771154870272
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.645174721,743,711.645174721,673,660,632,878,783,799,649,628.645174721,650,0.432739154766,-0.00557149671239,0.0799798975211,0.999999992249,-0.000107633879569,-3.33839307681e-05,-5.29386190832e-05,1793192771171537152
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.776834314,743,712,673,660.223165686,632,878.223165686,783,799,649,628.776834314,650,0.433445594584,-0.00556711266951,0.0799366954896,0.999999988466,-0.000101633158036,-9.84029656658e-05,-5.52836757306e-05,1793192771188203520
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.201188975,743,712,673,660.798811025,632,878.798811025,783,799,649,628.201188975,650,0.434146208624,-0.0055618181039,0.079883380231,0.999999980082,-0.000104662327269,-0.000158807827996,-6.05186747833e-05,1793192771204870144
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.381550005,743,712,673,660.618449995,632.381550005,878.618449995,783,799,648.618449995,628.381550005,650,0.43486255479,-0.00556100649875,0.0798837768248,0.999999981236,-0.00010521566431,-0.000150779551973,-6.10256056762e-05,1793192771221536768
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.968100241,743,712,673,660.031899759,632.968100241,878.031899759,783,799,648.031899759,628.968100241,650,0.435587353514,-0.00556260351118,0.0799130318729,0.99999998719,-0.000104438779239,-0.000105983328519,-5.89922268412e-05,1793192771238203648
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.452142161,742.452142161,711.452142161,673,660,632.452142161,877.452142161,783,799.547857839,648.547857839,628.452142161,650,0.43627468716,-0.00556277614439,0.079928148384,0.999999988044,-0.000102736168908,-0.000100742458623,-5.66404633749e-05,1793192771254870528
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742.127127003,711.127127003,673,660,632,877.127127003,783,799.872872997,649,628,650,0.436942038315,-0.00556294227293,0.0799335778865,0.999999987488,-0.000101896711906,-0.000107741150145,-5.50642009028e-05,1793192771271537152
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,742.706048684,711.706048684,673,660,632,877.706048684,783,799.293951316,649,628,650,0.437546031665,-0.00556337642132,0.0799074707324,0.999999981701,-0.000104314016113,-0.00015015289261,-5.63090557671e-05,1793192771288203776
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+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742,711,674,657,630,878,781,799.926475252,649,628,650.926475252,0.445874376584,-0.00553641754124,0.0796260920339,0.999999824685,-0.000102357957101,-0.000579519476792,-6.5650264276e-05,1793192772271537408
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.517444942,711.517444942,674,657,630,878,781,800,649,628,650.482555058,0.445873655626,-0.00553070465356,0.0796253738035,0.999999824495,-9.69509912886e-05,-0.00058067471133,-6.65331281433e-05,1793192772288203776
+244,4.066666667,HOLD_POSE2,764,743,711,674,657,630,878,781,800,648,628,650,0.44587475896,-0.00553004392009,0.0796272251428,0.999999825202,-9.65892085232e-05,-0.000579460527268,-6.702382328e-05,1793192772330700544
+245,4.083333333,HOLD_POSE2,764,743,711,674,657,630,878,781.569735563,800.569735563,648.569735563,628,650.569735563,0.44587377163,-0.00552998733868,0.0796250698161,0.999999823945,-9.65535648034e-05,-0.000581620368587,-6.71191327596e-05,1793192772347367424
+246,4.100000000,HOLD_POSE2,764,742.854626855,711,674,657,630,878,781.854626855,800.854626855,649,628,651,0.445873898299,-0.00552886870568,0.0796241622216,0.999999823641,-9.53863559928e-05,-0.000582312493475,-6.7323454434e-05,1793192772364034304
+247,4.116666667,HOLD_POSE2,764,742.26078157,711,674,657,630,878,781.26078157,800.26078157,649,628,651,0.445877461623,-0.00552447367284,0.0796271038459,0.999999826264,-9.07283000897e-05,-0.000578476754199,-6.7864075744e-05,1793192772380700928
+248,4.133333333,HOLD_POSE2,764,742,711,674,657,630,878,781.325790627,799.674209373,649,628,651,0.445877472153,-0.00552513197447,0.0796271782668,0.999999826177,-9.12735160094e-05,-0.000578570081703,-6.76099085416e-05,1793192772397367296
+249,4.150000000,HOLD_POSE2,764,742,711,674,657,630,878,781.906668121,799.093331879,649,628,651,0.445874700923,-0.00552974692565,0.0796250077306,0.999999823965,-9.58927791378e-05,-0.000581739781956,-6.67334394532e-05,1793192772414033920
+250,4.166666667,HOLD_POSE2,764,742.482324974,711,673.517675026,657,630,878.482324974,781.517675026,799.482324974,648.517675026,628,650.517675026,0.445874889184,-0.00552878486236,0.0796254775658,0.999999824482,-9.50829273051e-05,-0.000580969736923,-6.68566293985e-05,1793192772430700544
+251,4.183333333,HOLD_POSE2,763.941812098,742.941812098,711,673,657.058187902,630,878.941812098,781.058187902,800,648.058187902,628,650,0.445875524467,-0.00552691389654,0.0796262494819,0.999999825298,-9.33866154251e-05,-0.00057980427253,-6.71618203891e-05,1793192772447367168
+252,4.200000000,HOLD_POSE2,763.354997644,742.354997644,711,673,657.645002356,630,878.354997644,781.645002356,800,648.645002356,628,650,0.445875073934,-0.00552648484621,0.079625173809,0.999999824095,-9.30788890997e-05,-0.000581898208017,-6.73819249817e-05,1793192772464033792
+253,4.216666667,HOLD_POSE2,763.2289327,742.2289327,711,673.2289327,657.7710673,630,878,781.7710673,800,649,628,650.2289327,0.445874802335,-0.0055274320154,0.0796247794582,0.999999823639,-9.41833252478e-05,-0.0005825078809,-6.73563733593e-05,1793192772480700416
+254,4.233333333,HOLD_POSE2,763.808446346,742.808446346,711,673.808446346,657.191553654,630,878,781.191553654,800,649,628,650.808446346,0.445874804751,-0.00553048668758,0.0796254284646,0.99999982432,-9.74503063752e-05,-0.000580844596574,-6.69546308619e-05,1793192772497367040
+255,4.250000000,HOLD_POSE2,764,743,711,674,657,630,878,781,799.612283567,649,628,650.612283567,0.445874540887,-0.00552906303853,0.07962527871,0.999999824337,-9.6124809111e-05,-0.000581019030546,-6.71078524144e-05,1793192772514033664
+256,4.266666667,HOLD_POSE2,764,743,711,674,657,630,878,781,799.033133685,649,628,650.033133685,0.445874145551,-0.00552542823644,0.0796247345704,0.999999824018,-9.25317941696e-05,-0.000582100830478,-6.75350852261e-05,1793192772530700288
+257,4.283333333,HOLD_POSE2,764,743,711,674,657,630,878,781,799,649,628,650,0.445874421265,-0.00552777264838,0.0796247998614,0.999999823778,-9.48764551525e-05,-0.000582163375,-6.72912637363e-05,1793192772547367168
+258,4.300000000,HOLD_POSE2,763.881931953,743,711,674,656.881931953,630,878,781,799.118068047,649,628,650,0.445875074828,-0.00552997478014,0.0796251865806,0.999999823908,-9.72236852534e-05,-0.000581579608942,-6.70574719005e-05,1793192772564033792
+259,4.316666667,HOLD_POSE2,763.294117606,743,711,674,656.294117606,630,878,781,799.705882394,649,628,650,0.445877069692,-0.00553016726099,0.0796267050002,0.999999825508,-9.81475914559e-05,-0.000578670508477,-6.70255981511e-05,1793192772580700416
+260,4.333333333,HOLD_POSE2,763.290505413,743,711,674,656.290505413,630,878,781,799.709494587,648.709494587,628,650.290505413,0.445877765702,-0.00552944777056,0.079627227301,0.999999825864,-9.81897844344e-05,-0.000578030843473,-6.71582314543e-05,1793192772597367040
+261,4.350000000,HOLD_POSE2,763.871932494,743,711,674,656.871932494,630,878,781,799.128067506,648.128067506,628,650.871932494,0.445877160999,-0.00552781500209,0.0796267520558,0.999999824981,-9.73490007573e-05,-0.000579663865905,-6.74556075291e-05,1793192772614033664
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630,878,781,800,649,628,650,0.44587522088,-0.00553009466169,0.0796259568247,0.999999823897,-9.76801475214e-05,-0.000581615287783,-6.62493686516e-05,1793192772646700544
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.425593959,742.425593959,711,673.425593959,657,630,878,781,800,649,628,650,0.445877271741,-0.00552746532664,0.0796267320693,0.999999825299,-9.5706223234e-05,-0.000579436881537,-6.70499379142e-05,1793192772663367168
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.153761913,742.153761913,711,673,657,630,878.153761913,781.153761913,799.846238087,649,628,650.153761913,0.44587821702,-0.0055255237508,0.0796268141113,0.999999825954,-9.41386164884e-05,-0.000578505713019,-6.75300982257e-05,1793192772680033792
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.74727415,742.74727415,711,673,657,630,878.74727415,781.74727415,799.25272585,649,628,650.74727415,0.445876000393,-0.00552554912656,0.0796249136333,0.999999824493,-9.37330543471e-05,-0.000581141572963,-6.70939073468e-05,1793192772696700416
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.330686635,657,630,878.669313365,781.669313365,799,648.669313365,628,650.669313365,0.445875557289,-0.00552619498956,0.0796245271147,0.999999824064,-9.44458546419e-05,-0.000581764243175,-6.70932105255e-05,1793192772713366784
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.90660915,657,630,878.09339085,781.09339085,799,648.09339085,628,650.09339085,0.445876429422,-0.00552730100342,0.0796252633424,0.999999824402,-9.59880280484e-05,-0.000580893939816,-6.74154743731e-05,1793192772730033664
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.517780137,657,630,878,781,799.482219863,648.482219863,628,650,0.445873578543,-0.00552638980385,0.0796237041227,0.999999823246,-9.31916054632e-05,-0.00058334145039,-6.73467598921e-05,1793192772746700288
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.940887778,711,673.059112222,657.059112222,630,878,781,800,648.940887778,628,650.059112222,0.44586869244,-0.00552527334686,0.0796210019365,0.999999821106,-9.0132847932e-05,-0.000587487858892,-6.72415977029e-05,1793192772763366912
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.351967433,711,673.648032567,657.648032567,630,878,781,800,648.351967433,628,650.648032567,0.445852023379,-0.00552581644222,0.0796120374979,0.999999812804,-9.22489312157e-05,-0.000601105714836,-6.74879867942e-05,1793192772780033536
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.233437068,711,674,657.766562932,630,878,781,800,648.233437068,628,651,0.445823935913,-0.00552568215313,0.0795991137767,0.999999799704,-9.37189920339e-05,-0.000622255920375,-6.7871719478e-05,1793192772796700416
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.813619119,711,674,657.186380881,630,878,781,800,648.813619119,628,651,0.445778887672,-0.0055245416842,0.0795803089793,0.99999977897,-9.42294575879e-05,-0.000654594597857,-6.84594608439e-05,1793192772813366784
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630,878,781,799.609197312,649,628,650.609197312,0.44571825319,-0.00552248658586,0.0795622201887,0.999999758503,-9.16511688808e-05,-0.000685520201834,-6.82297926503e-05,1793192772830033664
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630,878,781,799.033432835,649,628,650.033432835,0.445650241941,-0.00551999860532,0.079544470273,0.999999737708,-8.76110132704e-05,-0.000715777019182,-6.76132552469e-05,1793192772846700288
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.457638866,743,711,673.457638866,657,630,878,781,799,649,628,650,0.44557848706,-0.00551986990936,0.0795416933989,0.999999736537,-8.74967741142e-05,-0.000717647798126,-6.5201215247e-05,1793192772863366912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.121038546,743,711,673.121038546,657,630,878,781,799,649,628,650,0.445502617243,-0.0055193031576,0.0795415920468,0.999999737895,-8.6793580414e-05,-0.000716084146995,-6.24558267492e-05,1793192772880033792
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.710877081,743,711,673.710877081,657,630,878,781,799,649,628,650,0.445411703508,-0.00551647643517,0.0795482783316,0.999999744205,-8.2871904998e-05,-0.000707996061479,-5.88480346627e-05,1793192772896700416
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630,878,781.294581376,799.294581376,649,628,650,0.4453016481,-0.00551385535413,0.0795526206496,0.99999974726,-7.95463913112e-05,-0.000704363818214,-5.49870406897e-05,1793192772913367040
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630,878,781.872387871,799.872387871,649,628,650,0.445173188945,-0.00551143198707,0.0795547093614,0.999999747233,-7.67940572681e-05,-0.00070501564283,-5.08826061055e-05,1793192772930033664
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630,878.449078195,781.550921805,799.550921805,649,627.550921805,650,0.445017857998,-0.00550948302623,0.0795562072576,0.99999975074,-7.15342645741e-05,-0.000700958201108,-4.53877981227e-05,1793192772946700288
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630,878.974083691,781,799,649,627.025916309,650,0.444853450659,-0.00550754080346,0.0795574004732,0.99999975483,-6.53665942033e-05,-0.000696067439419,-3.94642506003e-05,1793192772963367168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630,878.387198009,781,799,649,627.612801991,650,0.444657455875,-0.00550283365583,0.0795556237689,0.999999751528,-5.49323230309e-05,-0.00070203334887,-3.27912462065e-05,1793192772980033792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630,878,781.196997365,799.196997365,649,628,650,0.444450426966,-0.00549889098193,0.0795562634183,0.99999975099,-4.47882621146e-05,-0.000703817756328,-2.55995751145e-05,1793192772996700416
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630,878,781.775976116,799.775976116,649,628,650,0.444222002714,-0.00549643063672,0.0795615884204,0.99999975598,-3.52069252552e-05,-0.000697494156695,-1.74022008792e-05,1793192773013366784
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.645122108,743,711,674,657,630,878,781.645122108,800,649,628,650.354877892,0.443965557445,-0.00549233133713,0.0795675868056,0.999999761097,-2.10477880077e-05,-0.000690860753907,-8.67094241539e-06,1793192773030033408
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.066268856,743,711,674,657,630,878,781.066268856,800,649,628,650.933731144,0.443691427149,-0.00548719763813,0.079574010186,0.999999766042,-3.99944619464e-06,-0.000684031823146,3.97269125924e-07,1793192773046700288
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.508649646,743,711,674,657.508649646,630.508649646,878,781.508649646,800,649,628,650.491350354,0.443372967618,-0.00548212701797,0.0795767937558,0.999999766776,5.10530039012e-05,-0.000681018923194,7.40658750134e-06,1793192773063366912
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.915092811,711,674,657.915092811,631,878,782,799.915092811,649,628,650,0.443045717761,-0.00547720056058,0.0795802504848,0.999999766386,9.74771680368e-05,-0.000676440416433,1.24686348596e-05,1793192773080033536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.327904448,711,674,657.327904448,631,878,782,799.327904448,649,628,650,0.442700370166,-0.00547307867503,0.0795904731069,0.999999780346,6.37939905107e-05,-0.000659681848258,7.58594881778e-06,1793192773096700160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.74336098,742,711,674,657.25663902,631,878,782,799,649,628,650,0.442330581803,-0.0054696933043,0.0796009292104,0.999999793408,5.40395968919e-05,-0.000640478716525,7.05304220462e-06,1793192773113367040
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.162162424,742,711,674,657.837837576,631,878,782,799,649,628,650,0.441929884348,-0.00546723937016,0.0796116805865,0.999999806073,7.45468351532e-05,-0.000618184059462,1.20211013939e-05,1793192773130033664
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.414122233,742.414122233,710.585877767,674,658,631,877.585877767,782,799,649,628,650,0.441483568947,-0.00546113400554,0.0796156899958,0.999999810338,8.09560220145e-05,-0.000610388817245,1.39730784079e-05,1793192773146700288
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.988505252,742.988505252,710.011494748,674,658,631,877.011494748,782,799,649,628,650,0.441019599909,-0.00545361557723,0.0796170903372,0.99999981158,8.19094163596e-05,-0.000608204691018,1.47578644183e-05,1793192773163366912
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.425287903,743,710.574712097,673.425287903,658.574712097,631.574712097,877.574712097,782.574712097,799,648.425287903,628,650.574712097,0.440488947721,-0.00544741966131,0.0796006941729,0.999999798161,9.06073487295e-05,-0.000628695514454,1.45232165548e-05,1793192773180033536
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.160100249,743,711,673.160100249,659,631.839899751,878,782.839899751,799,648.160100249,628,650.839899751,0.43994909453,-0.00544247523754,0.0795878850206,0.999999788356,9.53546827785e-05,-0.000643420947007,1.42867126425e-05,1793192773196700160
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.742690672,743,711,673.742690672,659,631.257309328,878,782.257309328,799,648.742690672,628,650.257309328,0.439388554308,-0.0054407621209,0.0795855007129,0.999999790021,8.92593944051e-05,-0.000641710093112,1.41002473341e-05,1793192773213366784
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.678404769,659,631.321595231,878,782.321595231,799.321595231,649,628,650,0.438842489969,-0.00544053929184,0.0796162704815,0.999999821288,9.19901473436e-05,-0.000590482818374,1.70695068085e-05,1793192773230033664
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.102415801,659,631.897584199,878,782.897584199,799.897584199,649,628,650,0.438307876528,-0.00544149533526,0.0796732663518,0.999999869531,0.000101702624531,-0.000500086217186,2.25350613112e-05,1793192773246700288
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.526593876,743,711,673,659,632,878,783,799.526593876,649,628,650,0.437722033021,-0.00544827762743,0.0797328290472,0.999999907987,9.89058723962e-05,-0.000416549586586,2.70161940557e-05,1793192773263366912
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.380327153,671.380327153,659,632,877,783,799,649,628.619672847,650.619672847,0.400956150495,-0.00547964771633,0.0798282508935,0.999999948955,0.000120794079509,-0.000293712013305,3.50966049676e-05,1793192774696700416
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.954112473,671.954112473,659,632,877,783,799,649,628.045887527,650.045887527,0.400958203092,-0.005476797254,0.0798293456053,0.999999949508,0.00012342406388,-0.000290777221978,3.46137104024e-05,1793192774713367040
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.710786552,712,671,659.710786552,632.710786552,877.289213448,783.289213448,798.289213448,649,628.289213448,651,0.400954635328,-0.00547985834833,0.0798285921124,0.999999948966,0.000120703738341,-0.000293631918413,3.57669737471e-05,1793192774763366912
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,743,712,671,659.712487918,633,877,783.287512082,798.287512082,649,628.287512082,651,0.400955615919,-0.00547964486931,0.0798292852047,0.999999949449,0.000120417620554,-0.000292131881563,3.55173402168e-05,1793192774780033792
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,671.437013824,659.437013824,633,877,783.562986176,799,649,628.562986176,651,0.400956889911,-0.00547848159997,0.0798301412856,0.999999949546,0.000122449599182,-0.000290979359402,3.52861779133e-05,1793192774813367040
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.987220681,711.987220681,671.987220681,659.987220681,633,877,783.012779319,799,649,628.012779319,651,0.400955191394,-0.00547768245871,0.0798290656964,0.999999948656,0.000123808389075,-0.00029344852513,3.53307493879e-05,1793192774830033664
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742.190904904,711.190904904,671.190904904,659,633,877,784,799,649,629,651,0.400954472441,-0.00547827042331,0.0798285880217,0.999999948636,0.000124569414798,-0.000293187457737,3.53915648094e-05,1793192774863367168
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742.76947465,711.76947465,671.76947465,659,633,877,784,799,649,629,651,0.400954695918,-0.00548061530793,0.0798288314311,0.999999949223,0.000120567112983,-0.000292847677769,3.54606483006e-05,1793192774880033792
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..243882e3a6a3753fb30107f15db0dfc1b637cfb8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.575710231653,5.45425974237e-05,1.07002929288,0.546280962546,0.0087272739938,1.06969857576
+384,6.400000000,pose2_to_pose3_retreat,0.575710146165,5.45568864695e-05,1.07002930677,0.546280876762,0.00872728728768,1.06969858991
+385,6.416666667,pose2_to_pose3_retreat,0.575710114638,5.45626944256e-05,1.07002931184,0.546280845113,0.00872729268691,1.06969859512
+386,6.433333333,pose2_to_pose3_retreat,0.575710067368,5.4571402584e-05,1.07002931945,0.546280797661,0.00872730078226,1.06969860292
+387,6.450000000,pose2_to_pose3_retreat,0.575710040336,5.45763825598e-05,1.0700293238,0.546280770524,0.00872730541179,1.06969860739
+388,6.466666667,pose2_to_pose3_retreat,0.575709985416,5.45865000146e-05,1.07002933264,0.546280715391,0.00872731481726,1.06969861646
+389,6.483333333,pose2_to_pose3_retreat,0.575709933657,5.4596035226e-05,1.07002934097,0.546280663432,0.00872732368145,1.06969862502
+390,6.500000000,pose2_to_pose3_retreat,0.575709885595,5.46048894374e-05,1.0700293487,0.546280615184,0.00872733191258,1.06969863296
+391,6.516666667,pose2_to_pose3_retreat,0.57570984129,5.46130512931e-05,1.07002935583,0.546280570708,0.00872733950007,1.06969864028
+392,6.533333333,pose2_to_pose3_retreat,0.575709832927,5.46145921072e-05,1.07002935718,0.546280562312,0.00872734093245,1.06969864166
+393,6.550000000,pose2_to_pose3_retreat,0.575709715451,5.46362337204e-05,1.07002937608,0.546280444382,0.0087273610511,1.06969866107
+394,6.566666667,pose2_to_pose3_retreat,0.575709431652,5.46779356032e-05,1.07002917008,0.54628015976,0.00872740006846,1.06969845787
+395,6.583333333,pose2_to_pose3_retreat,0.575709240347,5.46620675413e-05,1.07002918212,0.546279969366,0.00872738712303,1.0696984655
+396,6.600000000,pose2_to_pose3_retreat,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684824,1.06969858496
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2cd658f968240a9fc4efaebd598488e9656a871b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cada91ef43b6b47eb8bac3c0b2ff2fb15ed6cc943cc8fc56ff0cb37a7ecc08b3
+size 25451865
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba3d3dd19399abcc1a69c11f3656b820001aecaa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/franka_data.csv
@@ -0,0 +1,401 @@
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+48,0.800000000,BASELINE,764,742,712,672,659,633,877,783.141731015,799.141731015,649,628.141731015,650.141731015,0.400958083865,-0.00547826440864,0.0798324156029,0.99999995069,0.000124727314475,-0.000286071011678,3.5032133033e-05,1793192775830670336
+49,0.816666667,BASELINE,764.433661232,742,712,672,659,633,877,783,799,649,628.433661232,650,0.400957380798,-0.00547898078863,0.0798319704571,0.999999950797,0.000122318907315,-0.000286764537812,3.47774833374e-05,1793192775847336960
+50,0.833333333,BASELINE,764.990886777,742.009113223,712,671.990886777,659,633,877,783.009113223,799,649,629,650,0.400955862625,-0.00548023598473,0.0798309061762,0.99999995077,0.000118639241873,-0.000288445162984,3.44048386684e-05,1793192775864004096
+51,0.850000000,BASELINE,764.396258631,742.603741369,712,671.396258631,659,633,877,783.603741369,799,649,629,650,0.400956555235,-0.00548008293854,0.0798315846355,0.999999950734,0.00012045667714,-0.000287791129485,3.46087596048e-05,1793192775880670464
+52,0.866666667,BASELINE,764,743,712,671.191865174,659,633,877,784,799,649,629,650,0.400956988313,-0.00547969623603,0.079831914288,0.999999950681,0.000121792204473,-0.000287391534361,3.47945876501e-05,1793192775897337088
+53,0.883333333,BASELINE,764,743,712,671.766996014,659,633,877,784,799,649,629,650,0.400956902956,-0.0054788427868,0.0798315471716,0.999999950599,0.000122165082979,-0.000287500199799,3.49442737206e-05,1793192775914003712
+54,0.900000000,BASELINE,764,743,712,671.659645464,659,632.659645464,877,783.659645464,799.340354536,649,628.659645464,650.340354536,0.400956596065,-0.00547867462919,0.079831109426,0.999999950312,0.00012309580101,-0.000288111936689,3.48562528379e-05,1793192775930670336
+55,0.916666667,BASELINE,764,743,712,671.087493996,659,632.087493996,877,783.087493996,799.912506004,649,628.087493996,650.912506004,0.4009561383,-0.00547897318643,0.0798306235786,0.999999949883,0.000124406433136,-0.000289066288132,3.46063426926e-05,1793192775947337216
+56,0.933333333,BASELINE,763.496069062,742.496069062,711.496069062,671.503930938,659,632,877,783,799.496069062,648.496069062,628,651,0.400957032596,-0.00548011934746,0.0798312574601,0.999999950418,0.000122796957206,-0.000287854066648,3.50003798609e-05,1793192775964003840
+57,0.950000000,BASELINE,763.095705159,742,711.095705159,671.904294841,659,632.095705159,877,783,799,648.095705159,628.095705159,651,0.400957834443,-0.00548093899277,0.0798319311384,0.999999950952,0.000121283889845,-0.000286592980049,3.53593769248e-05,1793192775980670464
+58,0.966666667,BASELINE,763.671768723,742,711.671768723,671.328231277,659,632.671768723,877,783,799,648.671768723,628.671768723,651,0.400956947186,-0.00547935179771,0.0798317899828,0.999999950638,0.000122900605329,-0.000287049752058,3.49590253537e-05,1793192775997337088
+59,0.983333333,BASELINE,764,742.248099269,712,671.248099269,659,633,877,783.248099269,798.751900731,649,629,651,0.400956185328,-0.00547903819942,0.0798313342309,0.999999950442,0.000122771088687,-0.000287811054335,3.47522187997e-05,1793192776014003712
+60,1.000000000,BASELINE,764,742.824783488,712,671.824783488,659,633,877,783.824783488,798.175216512,649,629,651,0.400955589547,-0.00548041136417,0.0798304618245,0.999999950401,0.000120328846408,-0.000288975679359,3.48017449879e-05,1793192776030670336
+61,1.016666667,BASELINE,764,743,712,671.590292091,659,633,877,784,798.409707909,649,628.590292091,650.590292091,0.400956124933,-0.00547968865499,0.0798309527608,0.999999950572,0.000121039372592,-0.000288087736833,3.47883958997e-05,1793192776047336960
+62,1.033333333,BASELINE,764,743,712,671.001771353,659,633,877,784,798.998228647,649,628.001771353,650.001771353,0.400957154004,-0.00547805122299,0.0798320387141,0.999999950831,0.00012312589249,-0.000286303972111,3.4747605537e-05,1793192776064003584
+63,1.050000000,BASELINE,764,742.422950451,712,671.577049549,659,632.422950451,877,783.422950451,799,648.422950451,628.577049549,650.577049549,0.40095668591,-0.00547922662795,0.0798318403686,0.999999950932,0.000120739471451,-0.000286977647069,3.46581054407e-05,1793192776080670464
+64,1.066666667,BASELINE,764,742,711.844474149,671.844474149,659,632,876.844474149,783,799,648.155525851,629,650.844474149,0.400956454417,-0.00547990910584,0.0798316574838,0.99999995099,0.00011926600637,-0.000287411415002,3.45025293843e-05,1793192776097337088
+65,1.083333333,BASELINE,764,742,711.266853647,671.266853647,659,632,876.266853647,783,799,648.733146353,629,650.266853647,0.400956877319,-0.00547923074104,0.0798315270817,0.999999950945,0.000120306937401,-0.000287173944519,3.4168023339e-05,1793192776114003712
+66,1.100000000,BASELINE,764,742,711.308963723,671,659,632.308963723,876.308963723,783.308963723,799,649,629,650,0.400956968258,-0.00547946854606,0.0798314267673,0.999999950866,0.000120853133889,-0.000287203442934,3.4303458018e-05,1793192776130670336
+67,1.116666667,BASELINE,764,742,711.883232726,671,659,632.883232726,876.883232726,783.883232726,799,649,629,650,0.40095677414,-0.00548049306058,0.079831352289,0.999999950758,0.000120974504767,-0.000287462185937,3.484242797e-05,1793192776147337984
+68,1.133333333,BASELINE,764,742,712,671,659,633,877,784,799,649,628.530860405,650,0.400957777603,-0.00548076929125,0.0798320223874,0.999999951129,0.000119740803414,-0.000286713791084,3.46181338139e-05,1793192776164004352
+69,1.150000000,BASELINE,764.057086157,742,712,671.057086157,659,632.942913843,877,784,799.057086157,649,628.057086157,650.057086157,0.400958966502,-0.00548079880021,0.0798328626862,0.99999995159,0.000118348711565,-0.000285725745898,3.42651817772e-05,1793192776180670464
+70,1.166666667,BASELINE,764.636517058,742,712,671.636517058,659,632.363482942,877,784,799.636517058,649,628.636517058,650.636517058,0.400959055389,-0.00548031829375,0.0798335214792,0.99999995178,0.000118671918662,-0.000284896908776,3.45174964964e-05,1793192776197337344
+71,1.183333333,BASELINE,764.785119164,742,712,671.785119164,659,632,877,784,799.570238328,649,629,651,0.400958751209,-0.00547958078653,0.0798335810683,0.999999951632,0.000120031427566,-0.000284820454122,3.4725635907e-05,1793192776214003968
+72,1.200000000,BASELINE,764.208551472,742,712,671.208551472,659,632,877,784,798.417102944,649,629,651,0.400957785421,-0.00547841069621,0.079832632079,0.99999995091,0.000123135236991,-0.000286010407519,3.48594195949e-05,1793192776230670592
+73,1.216666667,BASELINE,764,742,711.625910517,671.374089483,659.374089483,632,877,783.625910517,798.374089483,649,629,651,0.400956856054,-0.0054776188823,0.0798318645145,0.999999950483,0.000124123860939,-0.000287103125313,3.46348373183e-05,1793192776247337216
+74,1.233333333,BASELINE,764,742,711.039827935,671.960172065,659.960172065,632,877,783.039827935,798.960172065,649,629,651,0.400955947326,-0.00547704143424,0.0798311997617,0.999999950225,0.00012391382837,-0.000288140740508,3.42071723082e-05,1793192776264003584
+75,1.250000000,BASELINE,764,742,711.539703443,672,659.460296557,632.539703443,877,783.539703443,799,649,628.460296557,650.460296557,0.400956968913,-0.00547914517711,0.0798316136762,0.999999950619,0.000122348939916,-0.000287434110286,3.42784226532e-05,1793192776280670208
+76,1.266666667,BASELINE,764,742,712,672,659,632.881236799,877,783.881236799,799,649,628,650,0.400958045639,-0.00548058628827,0.0798322104367,0.999999951004,0.000121441446658,-0.00028646719784,3.4347875895e-05,1793192776297336832
+77,1.283333333,BASELINE,764,742,712,672,659,632.302153679,877,783.302153679,799,649,628,650,0.400958790575,-0.00547870137196,0.079833211068,0.999999951183,0.000123464863515,-0.00028498436711,3.42693707064e-05,1793192776314003456
+78,1.300000000,BASELINE,764,742,712,671.724402808,659,632,877,783,799,649,628,650.275597192,0.400958526543,-0.0054785750854,0.0798333091471,0.999999951232,0.000123453388407,-0.000284805430207,3.43624364179e-05,1793192776330670080
+79,1.316666667,BASELINE,764,742,712,671.148105574,659,632,877,783,799,649,628,650.851894426,0.40095716164,-0.00548036761402,0.0798324224646,0.999999951141,0.00012122167248,-0.000286049152775,3.46427006196e-05,1793192776347336704
+80,1.333333333,BASELINE,764,742,712,671.435506104,659,632.435506104,876.564493896,783.435506104,799,649,628,651,0.40095790131,-0.00548018581437,0.0798330775358,0.999999951402,0.000120682649204,-0.000285340811077,3.48253000063e-05,1793192776364003584
+81,1.350000000,BASELINE,764,742,712,672,659,633,876.021395967,784,798.978604033,649,628,651,0.400959290429,-0.00547938373182,0.0798341931844,0.999999951766,0.000120740400251,-0.000284021537081,3.49631963907e-05,1793192776380670208
+82,1.366666667,BASELINE,764,742,712,672,659,633,876.600719095,784,798.399280905,649,628,651,0.400958632729,-0.00548021428562,0.0798334132433,0.999999951627,0.000121092691631,-0.000284377920716,3.48162849262e-05,1793192776397336832
+83,1.383333333,BASELINE,763.826968545,742,712,671.826968545,659,632.826968545,877,783.826968545,798.173031455,649,628.173031455,650.826968545,0.400957774425,-0.00548054903138,0.0798325925808,0.999999951342,0.000121584763955,-0.000285181208262,3.47124827784e-05,1793192776414003712
+84,1.400000000,BASELINE,763.270203908,742,712,671.270203908,659,632.270203908,877,783.270203908,798.729796092,649,628.729796092,650.270203908,0.400956471241,-0.00547978422002,0.0798316816098,0.999999950731,0.000122386829613,-0.000286975598096,3.47042844636e-05,1793192776430670336
+85,1.416666667,BASELINE,763.307029145,742,712,671.307029145,659,632,877,783,799,649,628.692970855,650,0.400955145766,-0.00547955556984,0.0798306548787,0.999999950227,0.000122083285751,-0.000288868958865,3.45929043944e-05,1793192776447336704
+86,1.433333333,BASELINE,763.903562248,742,712,671.903562248,659,632,877,783,799,649,628.096437752,650,0.400953799274,-0.00547983247686,0.0798295189951,0.999999949822,0.000120737240387,-0.000290855641214,3.4384232174e-05,1793192776464003584
+87,1.450000000,BASELINE,764,742,711.506896782,672,659,632,876.506896782,783,799,648.506896782,628,650,0.40095564844,-0.00548051049909,0.0798304821106,0.999999950301,0.000120914292437,-0.000289091197091,3.47005333899e-05,1793192776480670208
+88,1.466666667,BASELINE,764,742,711.080146177,671.919853823,659,632.080146177,876.080146177,783,798.919853823,648,628,650.080146177,0.400957843564,-0.00548093451978,0.0798317108982,0.999999950875,0.000121448881775,-0.000286838317772,3.49847346536e-05,1793192776497336832
+89,1.483333333,BASELINE,764,742,711.660020782,671.339979218,659,632.660020782,876.660020782,783,798.339979218,648,628,650.660020782,0.400958353383,-0.00547929248986,0.0798320723922,0.999999951006,0.000122381434269,-0.000286050259836,3.44375628773e-05,1793192776514003456
+90,1.500000000,BASELINE,764,742,712,671.238556684,659.238556684,632.761443316,876.761443316,783,798.238556684,648.238556684,628,651,0.400958360446,-0.00547881949387,0.0798322998363,0.999999951105,0.000122278323179,-0.000285777055694,3.41951132138e-05,1793192776530670592
+91,1.516666667,BASELINE,764,742,712,671.815195332,659.815195332,632.184804668,876.184804668,783,798.815195332,648.815195332,628,651,0.400957655004,-0.00548000325011,0.0798323373051,0.999999951159,0.000120707472049,-0.000286233501188,3.43845150489e-05,1793192776547338496
+92,1.533333333,BASELINE,764,742,712,672,659.609774231,632.390225769,876.390225769,783.390225769,799,649,628,651,0.400957650116,-0.0054801818301,0.0798324409983,0.999999951304,0.000120514520249,-0.000285793595643,3.44879496123e-05,1793192776564004864
+93,1.550000000,BASELINE,764,742,712,672,659.03550224,632.96449776,876.96449776,783.96449776,799,649,628,651,0.400957975637,-0.00547988632852,0.0798325759255,0.999999951493,0.000120971441241,-0.000284930934812,3.45508385574e-05,1793192776580670720
+94,1.566666667,BASELINE,764,742,712,671.444926765,659,633,877,784,799,648.444926765,628.555073235,651,0.400957505654,-0.00548034395005,0.0798326487645,0.999999951279,0.000120833789589,-0.000285718188945,3.47280097573e-05,1793192776597337088
+95,1.583333333,BASELINE,764,742,712,671,659,633,877,783.856695908,799,648.143304092,629,651,0.400957164078,-0.00548062874244,0.0798326011966,0.999999951108,0.000120702129238,-0.000286365054944,3.47846522319e-05,1793192776614003456
+96,1.600000000,BASELINE,764,742,712,671,659,633,877,783.278832583,799,648.721167417,629,651,0.400957370843,-0.00548023895268,0.0798322009105,0.99999995115,0.000120707445629,-0.000286256515328,3.44529640709e-05,1793192776630670080
+97,1.616666667,BASELINE,764.29740136,742.29740136,711.70259864,671,659,633,877,783,799,649,629,651,0.400957529665,-0.00547962021808,0.0798323437039,0.999999951291,0.000121164665409,-0.000285581346943,3.43651389681e-05,1793192776647337472
+98,1.633333333,BASELINE,764.872115943,742.872115943,711.127884057,671,659,633,877,783,799,649,629,651,0.400957643781,-0.00547878800286,0.0798329928943,0.999999951522,0.000122043264518,-0.000284377823046,3.45047050794e-05,1793192776664004864
+99,1.650000000,BASELINE,764.542516167,742.542516167,711.457483833,671,659.457483833,633,877,783,799,649,628.542516167,651,0.400958296538,-0.00547904996917,0.079833444264,0.999999951658,0.000121359047505,-0.000284189816697,3.45215151621e-05,1793192776680671488
+100,1.666666667,BASELINE,764,742.045262746,712,671,659.954737254,633,877,783,799.045262746,649,628.045262746,650.954737254,0.400958883152,-0.00547962549505,0.0798336811284,0.999999951704,0.000120390656481,-0.00028444192511,3.45083324056e-05,1793192776697337600
+101,1.683333333,BASELINE,764,742.625501217,712,671,659.374498783,633,877,783,799.625501217,649,628.625501217,650.374498783,0.400956865939,-0.00548020577197,0.0798320518574,0.99999995101,0.00012135009429,-0.000286460681961,3.45559040641e-05,1793192776714003968
+102,1.700000000,BASELINE,764,742.795180302,712,671.204819698,659.204819698,632.795180302,877,783,799.590360604,649,628.795180302,650,0.400956109686,-0.00548030207314,0.0798311319243,0.999999950726,0.000121534443239,-0.000287375508864,3.45263534976e-05,1793192776730670336
+103,1.716666667,BASELINE,764,742.217536503,712,671.782463497,659.782463497,632.217536503,877,783,798.435073006,649,628.217536503,650,0.400957648705,-0.00547951741495,0.0798315031676,0.999999951194,0.000120307932629,-0.000286280901422,3.43564208021e-05,1793192776747336960
+104,1.733333333,BASELINE,764,742.354863887,711.645136113,671.645136113,660,632.354863887,877,783,798.354863887,649,628.354863887,650.354863887,0.4009580961,-0.00547864979493,0.0798318701678,0.999999951176,0.000121117100958,-0.000286016374409,3.42568335228e-05,1793192776764003840
+105,1.750000000,BASELINE,764,742.92409685,711.07590315,671.07590315,660,632.92409685,877,783,798.92409685,649,628.92409685,650.92409685,0.40095788406,-0.00547773205857,0.0798322346048,0.999999950861,0.00012315599874,-0.000286253289059,3.4199741061e-05,1793192776780670464
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,877,783,798,649,628,650,0.400958960914,-0.00547980843192,0.0798333307698,0.999999951389,0.000121383988334,-0.000285129050089,3.44756228172e-05,1793192776810897664
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671.574679462,660,632.574679462,877.574679462,783,798,649,628.574679462,650,0.400959229697,-0.0054803693932,0.0798331314204,0.999999951862,0.000120072740362,-0.00028401286244,3.45763280973e-05,1793192776827564288
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.29778771,742.148893855,712,671.851106145,659.851106145,632.851106145,877.851106145,783,798.148893855,648.851106145,628.851106145,650,0.400959235101,-0.00548068974259,0.0798330520121,0.999999952159,0.000118899218543,-0.00028346040287,3.45757190012e-05,1793192776844230656
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.443568056,742.721784028,712,671.278215972,659.278215972,632.278215972,877.278215972,783,798.721784028,648.278215972,628.278215972,650,0.400958490493,-0.00548032491573,0.0798333141535,0.999999951962,0.000118117891127,-0.000284513238513,3.42866029087e-05,1793192776860897280
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.388578709,743,712,671,659,632,877.305710645,783,799,648.305710645,628,650,0.400957900136,-0.00548066248085,0.079833133967,0.999999951844,0.00011771459991,-0.00028510024781,3.42577237543e-05,1793192776877563904
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.199885479,743,712,671,659,632,877.900057261,783,799,648.900057261,628,650,0.400957455417,-0.00548166320767,0.0798325361579,0.9999999518,0.000117668230703,-0.000285247448222,3.44745466959e-05,1793192776894230784
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,671,659,632,877.035830389,783,799,649,628,650,0.400957623072,-0.00548102885758,0.0798326612669,0.999999951655,0.000118543944592,-0.000285378533794,3.45763411654e-05,1793192776910896896
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.938995134,712,671,659,632.061004866,876.122009733,783.061004866,799,649,628,650,0.400957913807,-0.00548029310676,0.0798329305886,0.999999951511,0.0001193736401,-0.000285530538335,3.46368504059e-05,1793192776927563520
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.365262508,712,671,659,632.634737492,877.269474985,783.634737492,799,649,628,650,0.400958198581,-0.00548148309806,0.0798331837415,0.999999951546,0.000118249951607,-0.000285885739592,3.4545802213e-05,1793192776944230144
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711.790484322,671,659,633,877.790484322,783.790484322,799,649,628.209515678,650.209515678,0.40096377331,-0.00548176113869,0.0798358853054,0.999999952718,0.000117947911453,-0.000281877612992,3.45940044748e-05,1793192776960897024
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.213874262,671,659,633,877.213874262,783.213874262,799,649,628.786125738,650.786125738,0.400978616616,-0.00548044134189,0.0798428767533,0.99999995579,0.000119085489158,-0.000270224458712,3.48861887693e-05,1793192776977563648
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.371811534,711.371811534,671.371811534,659,633,877,783,799,649,628.628188466,651,0.401009143089,-0.0054808500412,0.0798548651384,0.999999961486,0.000118782019805,-0.000248374365079,3.5065688369e-05,1793192776994230272
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.962848571,711.962848571,671.962848571,659,633,877,783,799,649,628.037151429,651,0.401048916588,-0.00548227788689,0.0798697997912,0.99999996815,0.000117628888132,-0.000220512006038,3.51787474367e-05,1793192777010896896
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.458503099,712,672,659.541496901,633,877,783.541496901,799,649,628.541496901,650.458503099,0.401109990919,-0.00548324943504,0.0798857808118,0.999999975061,0.000119946765723,-0.000185197713032,3.45459908001e-05,1793192777027563776
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.881251547,672,659.881251547,633,877,783.881251547,799,649,628.881251547,650,0.40117420782,-0.0054843327628,0.0799003064309,0.999999980146,0.000120875951862,-0.000154817784877,3.35880922108e-05,1793192777044230400
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.306174154,672,659.306174154,633,877,783.306174154,799,649,628.306174154,650,0.401245010699,-0.00548596325232,0.0799089695025,0.999999982264,0.000115573981155,-0.000145320489536,3.15729685571e-05,1793192777060897024
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.266005936,672,659,632.733994064,877.266005936,783.266005936,799,649,628,650,0.401324203973,-0.00548701461729,0.0799146476644,0.99999998391,0.000112036398356,-0.000137095184484,2.88435226072e-05,1793192777077563392
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.834887113,672,659,632.165112887,877.834887113,783.834887113,799,649,628,650,0.401412950574,-0.00548740658902,0.0799169271979,0.999999985083,0.000110507753803,-0.000130318172367,2.53007470462e-05,1793192777094230016
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.148929144,783.574464572,799,648.574464572,628,650.425535428,0.401521746211,-0.00548882086858,0.0799196686537,0.999999986095,0.000107410290196,-0.000125802234797,2.11428004882e-05,1793192777110896896
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.024030043,742,712,671.975969957,659,632,876.024030043,783,799,648.024030043,628.024030043,650.975969957,0.40164010236,-0.00549060744125,0.0799228082122,0.999999987075,0.000103662390026,-0.000121765231372,1.66732702004e-05,1793192777127563520
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.598366216,742,712,671.401633784,659,632,876.598366216,783,799,648.598366216,628.598366216,650.401633784,0.401789646273,-0.00549134609843,0.0799307388117,0.99999998919,9.97106782897e-05,-0.000107521665803,1.08291891295e-05,1793192777144230400
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.826824521,742,712,671,659.173175479,632,877,783,799.173175479,649,628.826824521,650,0.401947249272,-0.00549263062556,0.0799383878859,0.999999991081,9.43596233898e-05,-9.44005185035e-05,4.81096187477e-06,1793192777160897280
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.250915126,742,712,671,659.749084874,632,877,783,799.749084874,649,628.250915126,650,0.40212359432,-0.00549518461836,0.0799453822488,0.999999992803,8.57542806906e-05,-8.38896498518e-05,-1.61225593002e-06,1793192777177563648
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.664423423,632.335576577,876.664423423,783,799.664423423,649,628.335576577,650,0.402317197773,-0.00549669560945,0.0799482901954,0.99999999379,7.7930325272e-05,-7.91519605069e-05,-9.02877474594e-06,1793192777194230272
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.06976148,632.93023852,876.06976148,783,799.06976148,649,628.93023852,650,0.402524125775,-0.00549740134057,0.0799480431828,0.999999994242,7.07096470736e-05,-7.8871512845e-05,-1.72121825641e-05,1793192777210896896
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,671.508367539,659,633,876,783.508367539,799,648.491632461,628.491632461,650.508367539,0.402750047187,-0.00549870917969,0.0799433684807,0.999999993754,6.42178591793e-05,-8.82049429062e-05,-2.42532841741e-05,1793192777227563520
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671.915926613,659,633,876.084073387,783.915926613,799,648.084073387,628.084073387,650.915926613,0.402985386396,-0.00550005907656,0.0799385648853,0.999999993438,5.28933180986e-05,-9.73687315897e-05,-2.90729560603e-05,1793192777244229888
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,671.341537834,659,633,876.658462166,783.341537834,799,648.658462166,628.658462166,650.341537834,0.403260928503,-0.00550118756273,0.0799364414685,0.999999994869,1.28192322234e-05,-9.80914954574e-05,-2.18226659567e-05,1793192777260896512
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.76065608,671,659,633,877.23934392,783,799,649,628.76065608,650,0.403556273644,-0.00550173911798,0.0799367185976,0.999999995196,-4.43092180715e-06,-9.59120406596e-05,-1.97107233136e-05,1793192777277563648
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.170250687,671,659,633,877.829749313,783,799,649,628.170250687,650,0.40388066518,-0.00550144445063,0.0799405167653,0.999999995612,1.17962888075e-05,-8.94757109572e-05,-2.51355333692e-05,1793192777294230272
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.587500709,742,711,671.412499291,659,633,877.587500709,783,799,648.587500709,628,650,0.404244880436,-0.00550312235517,0.0799426318343,0.999999995811,1.31185132864e-05,-8.62009417112e-05,-2.78452511995e-05,1793192777310896896
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.007852792,742,711,671.992147208,659,633,877.007852792,783,799,648.007852792,628,650,0.404625232632,-0.00550559956457,0.0799440648956,0.999999995985,8.40109557038e-06,-8.42072669211e-05,-2.94547877691e-05,1793192777327563520
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.568358679,742,711.568358679,672,659.568358679,632.431641321,877.568358679,783,799,648.568358679,628.568358679,650.568358679,0.40504614254,-0.00550391170498,0.0799455554086,0.999999996542,9.18471457683e-06,-7.64711105427e-05,-3.13510355206e-05,1793192777344230144
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711.85621807,672,659.85621807,632,877.85621807,783,799,648.85621807,629,651,0.40547307551,-0.00550320930442,0.0799447041747,0.999999996655,8.86479394775e-06,-7.41922424916e-05,-3.3283646565e-05,1793192777360896768
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.283008114,672,659.283008114,632,877.283008114,783,799,648.283008114,629,651,0.405916333678,-0.00550562097812,0.0799368565773,0.999999995452,5.02333424568e-06,-8.84479939652e-05,-3.53131019397e-05,1793192777377563392
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.299674294,672,659.299674294,632.299674294,877,783,799,648.299674294,628.700325706,651,0.40637890429,-0.00550698131389,0.0799299537489,0.999999994193,-3.06755018655e-07,-0.000100929911316,-3.77870834549e-05,1793192777394230016
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.891594414,672,659.891594414,632.891594414,877,783,799,648.891594414,628.108405586,651,0.406860308672,-0.00550731637308,0.079923972269,0.99999999291,-7.08857345122e-06,-0.000111681966869,-4.06945722293e-05,1793192777410896640
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.473063948,711.526936052,672,659.526936052,632.526936052,877,783,799.473063948,649,628.473063948,650.526936052,0.407389941471,-0.00550799362514,0.0799212328598,0.999999992138,-6.2096299562e-06,-0.000117878279389,-4.23190871927e-05,1793192777427563520
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.948008832,711.051991168,672,659,632,877,783,799.948008832,649,628.948008832,650,0.407931815647,-0.00550877599588,0.0799182283991,0.999999991233,-5.0161550501e-06,-0.000124877905347,-4.37620372665e-05,1793192777444229888
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.371093015,711.628906985,672,659,632,877,783,799.371093015,649,628.371093015,650,0.408488111949,-0.00550984508393,0.0799052089494,0.999999987472,-1.798833086e-05,-0.000150300737868,-4.62760382056e-05,1793192777460896512
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.20379558,632,877.20379558,783,799,648.79620442,628,650.20379558,0.409078257549,-0.00551138059072,0.0799061610076,0.999999987044,-2.63362165063e-05,-0.000151364011063,-4.80424404668e-05,1793192777477563392
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.775029112,632,877.775029112,783,799,648.224970888,628,650.775029112,0.409729432493,-0.00551375703788,0.07993230332,0.999999992592,-2.63466304778e-05,-0.000108507651906,-4.84609422497e-05,1793192777494230016
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,712,671.640542074,659.640542074,632.359457926,877.640542074,783.359457926,799,648.359457926,628,650.640542074,0.410405447338,-0.00551733502172,0.0799632306029,0.999999996671,-3.03994144398e-05,-5.79516510928e-05,-4.8745387809e-05,1793192777510896640
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,671.047540156,659.047540156,632.952459844,877.047540156,783.952459844,799,648.952459844,628,650.047540156,0.411097600931,-0.00552169365783,0.0799972667358,0.999999998112,-3.70785731191e-05,-2.39310518749e-06,-4.89427353833e-05,1793192777527563008
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.532632293,712,671.532632293,659,633,877,783.467367707,799,648.467367707,628,650,0.41177773317,-0.00552373221746,0.0799795809409,0.999999997146,-4.30021563896e-05,-3.53094998277e-05,-5.11121434265e-05,1793192777544229888
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,711.889007119,672,659,632.889007119,877,783,799,648,628,650,0.412460185548,-0.00552524506302,0.0799550201759,0.999999994408,-4.9571905757e-05,-7.61341790616e-05,-5.41358413212e-05,1793192777560896512
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,711.313549563,672,659,632.313549563,877,783,799,648,628,650,0.413156731043,-0.00552540415387,0.079920553951,0.999999989515,-5.91211926787e-05,-0.000117783975136,-6.00151894233e-05,1793192777577563136
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.732928437,711.267071563,672,659,632.267071563,877,783,799.267071563,648,628,650,0.413877902065,-0.0055270670042,0.0799065638784,0.999999987172,-6.79618601177e-05,-0.000130318036997,-6.36740818539e-05,1793192777594230272
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.146125538,711.853874462,672,659,632.853874462,877,783,799.853874462,648,628,650,0.41462855424,-0.00553053011746,0.079917087334,0.999999989193,-7.5954187529e-05,-0.000107995482178,-6.46747016372e-05,1793192777610898432
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.565210835,742.434789165,711.565210835,672,659,632.565210835,877,783,799.13042167,648,628,650,0.415414698796,-0.00553203490467,0.0799353714382,0.999999991793,-7.78103408062e-05,-7.88605006023e-05,-6.43448639986e-05,1793192777627564544
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.013736595,743,711.013736595,672.013736595,659.013736595,632.013736595,877,783,798.013736595,648,628,650,0.416212491641,-0.00553294761862,0.0799552767997,0.999999993756,-7.76999702179e-05,-4.90169374703e-05,-6.36234434552e-05,1793192777644230144
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.592077662,743,711.592077662,672.592077662,659.592077662,632.592077662,877,783,798.592077662,648,628,650,0.417005323913,-0.00553621524503,0.0799360479816,0.999999991224,-8.03923062002e-05,-8.28970045891e-05,-6.49401785912e-05,1793192777660897024
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711.831368261,672.831368261,660,633,877,783,799,648,628,650,0.417821893703,-0.00554005074215,0.0799315894003,0.999999990504,-8.37648926765e-05,-8.77265647179e-05,-6.54131209316e-05,1793192777677563648
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711.259091645,672.259091645,660,633,877,783,799,648,628,650,0.418695282685,-0.00554524552116,0.0799624855548,0.999999993756,-8.87657586037e-05,-2.30194599222e-05,-6.38663209601e-05,1793192777694230528
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.676516437,742.676516437,711.323483563,672,660,632.676516437,877,783,799,648.323483563,628,650,0.419535604337,-0.00554506526935,0.0799739639347,0.999999993916,-9.01028716925e-05,2.76923832464e-06,-6.35756394271e-05,1793192777710897152
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.085421441,742.085421441,711.914578559,672,660,632.085421441,877,783,799,648.914578559,628,650,0.420348570009,-0.0055404383626,0.0799693783794,0.999999994017,-8.84090358681e-05,-3.63848009212e-06,-6.43241195998e-05,1793192777727564032
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742.495421019,712,672,660,632,877,783,799.495421019,648.504578981,628.495421019,650,0.421188089737,-0.0055244285971,0.0799572415406,0.999999995834,-6.36432583007e-05,-2.39855053552e-05,-6.08784095847e-05,1793192777744230400
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.07437343,742.92562657,711.92562657,672,660,632,877.07437343,783,799.92562657,648.07437343,628.92562657,650,0.422040779374,-0.00551130512747,0.0799498109603,0.999999996792,-4.19250992519e-05,-3.76901561098e-05,-5.68975718728e-05,1793192777760896768
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.652255028,742.347744972,711.347744972,672,660,632,877.652255028,783,799.347744972,648.652255028,628.347744972,650,0.422952260905,-0.00553073966493,0.0799828776303,0.999999996232,-6.72250879322e-05,9.51548690886e-06,-5.40905214598e-05,1793192777777563392
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.771530821,742,711.228469179,672,660,632,878.228469179,783,799,648.771530821,628,650,0.423825003359,-0.0055442201553,0.0799963317049,0.999999994763,-8.53109502379e-05,2.06587642437e-05,-5.26153291332e-05,1793192777794230016
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.197836157,742,711.802163843,672,660,632,878.802163843,783,799,648.197836157,628,650,0.424639209754,-0.00554870386049,0.0799801504184,0.999999994052,-9.24960014354e-05,-2.2689536049e-05,-5.31526239345e-05,1793192777810896896
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.388487653,742.388487653,711.611512347,672.388487653,660.388487653,632,878.611512347,783,799,648.388487653,628,650,0.425445846294,-0.00554811076224,0.079943707663,0.999999990638,-9.41196769992e-05,-8.20207733869e-05,-5.60169301766e-05,1793192777827563776
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.98145888,742.98145888,711.01854112,672.98145888,660.98145888,632,878.01854112,783,799,648.98145888,628,650,0.426248498333,-0.00554484544776,0.0798966001228,0.999999982671,-9.28160774224e-05,-0.000149764754221,-6.01060772392e-05,1793192777844230912
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.442134145,743,711,672.442134145,660.442134145,632,877.442134145,782.442134145,799,649,628,650,0.427120243083,-0.00555705829001,0.0798983575594,0.999999983358,-0.000107278147577,-0.000134205421983,-6.13552892292e-05,1793192777860897280
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.866595393,711,672.133404607,660,632.133404607,877.133404607,782.133404607,799,648.866595393,628,650,0.427988542196,-0.00556704062488,0.0799035501564,0.999999983899,-0.000118631418112,-0.00011959537169,-6.18509002954e-05,1793192777877563904
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+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.854160582,711,671.291678836,660,632.145839418,877.145839418,783,799,648,628,650,0.430556447034,-0.00557253452655,0.0799732119068,0.999999991427,-0.000114945246,-2.97023429997e-05,-5.52427481375e-05,1793192777927563776
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,743,711.442513016,671.442513016,660.442513016,632,877.442513016,783,799,648.442513016,628.442513016,650,0.431386094789,-0.00556948979544,0.0800019433997,0.999999992043,-0.000113209150955,1.35833494813e-05,-5.39693345064e-05,1793192777944230400
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.035289254,743,712,672.035289254,661,632,878,783,799,649,629,650,0.432198293403,-0.00556394878577,0.0800235610266,0.99999999154,-0.000110155800409,4.40544320509e-05,-5.3331151078e-05,1793192777960896768
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+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.21724645,632.78275355,878.78275355,783,799,649,628.21724645,650,0.434372426949,-0.00555031043843,0.0798781919676,0.99999997948,-9.2521056883e-05,-0.00016936244242,-6.16140625875e-05,1793192778010897920
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673.364987764,660.364987764,632.635012236,878.635012236,783,799.364987764,649,628,650,0.435127464242,-0.00555969259263,0.079887100981,0.999999981474,-0.00010503541341,-0.00014906001873,-6.16500639833e-05,1793192778027564288
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673.944279385,660.944279385,632.055720615,878.055720615,783,799.944279385,649,628,650,0.435894061077,-0.00557054932873,0.0799258658079,0.999999987596,-0.000115057502601,-8.9817138448e-05,-5.91900273897e-05,1793192778044230656
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711.477697755,673.477697755,660.477697755,632,878,783,800,648.477697755,628,650,0.436576943686,-0.00557396722994,0.0799330330855,0.999999986984,-0.000115201643075,-9.69431990238e-05,-5.7985845444e-05,1793192778060897024
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.900158531,743,711,673,660,632,877.900158531,783,799.900158531,648.099841469,628,650,0.437243206284,-0.00557648284248,0.0799315918365,0.999999984983,-0.000115364662461,-0.00011595331316,-5.72653558494e-05,1793192778077563392
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+187,3.116666667,POSE1_TO_POSE2_PRESS,763,743,711,673.99561422,659,631.99561422,878,782.99561422,799,648,628,650,0.440143873499,-0.00557138913682,0.0797630576467,0.999999921682,-0.000128824447832,-0.000367811873242,-6.89607932879e-05,1793192778160897792
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+191,3.183333333,POSE1_TO_POSE2_PRESS,763,743,711,673,659.688438336,631,878,783,799.688438336,648.311561664,628,650,0.442031578211,-0.00555646868702,0.0796593135389,0.999999853979,-0.00010792099958,-0.000524731751491,-7.10717774632e-05,1793192778227563520
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,743,711,673,659.095391657,631,878,783,799.095391657,648.904608343,628,650,0.442522583573,-0.00556576109882,0.0796944289179,0.999999880053,-0.000114172176313,-0.000471384147704,-6.82304401919e-05,1793192778244230400
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742.514314373,711,673,658.514314373,631,878,782.514314373,799,648.514314373,628,650,0.442965242076,-0.00557000413911,0.0797205420673,0.999999897067,-0.000117319670217,-0.000433356104228,-6.56166718671e-05,1793192778260897280
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+195,3.250000000,POSE1_TO_POSE2_PRESS,763,742.637775716,711,673,658,631,877.362224284,782,799,648.637775716,628,650,0.443705354092,-0.00557439100254,0.079716404083,0.999999891736,-0.000119775833685,-0.0004452445611,-6.27690375408e-05,1793192778294230528
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.216990073,743,711,673,658,631,877.216990073,782,799,649,628,650,0.444017819583,-0.00557581839432,0.0796940578775,0.99999987504,-0.000121375901164,-0.000480814811184,-6.32843749108e-05,1793192778310897152
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.805375736,743,711,673,658,631,877.805375736,782,799,649,628,650,0.444318388614,-0.00557741500019,0.0796732114399,0.999999859459,-0.000125425217223,-0.000510934869622,-6.55499754594e-05,1793192778327563776
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.612587632,743,711,673.387412368,658,631,878,782,799.387412368,649,628,650,0.444599169298,-0.00557899412051,0.0796604026294,0.999999849517,-0.000127709509804,-0.00052950941794,-6.53982352505e-05,1793192778344230144
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.033689082,743,711,673.966310918,658,631,878,782,799.966310918,649,628,650,0.444870169228,-0.00558056459838,0.0796515665722,0.999999842526,-0.000129121405197,-0.000542377373565,-6.4051677037e-05,1793192778360897024
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+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.105101664,711,674,657,630,878,781,800.105101664,649,628,650,0.446863641973,-0.00558818237375,0.0796228539004,0.999999825704,-0.000141043983983,-0.000570275441107,-5.90258934181e-05,1793192778760897024
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.477016851,711,674,656.522983149,630,877.522983149,781,800,649,628,650.477016851,0.446865012227,-0.0055892626972,0.0796229565734,0.999999825523,-0.000143996785282,-0.000569880834301,-5.87791164212e-05,1793192778777563648
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.944305252,743,711,674,656.055694748,630,877.055694748,781,799.944305252,649,628,650.944305252,0.446865939398,-0.00559044681422,0.0796226814781,0.999999825094,-0.000146986960396,-0.000569900913965,-5.84819335211e-05,1793192778794230016
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.371032677,743,711,674,656.628967323,630,877.628967323,781,799.371032677,649,628,650.371032677,0.446865566779,-0.00558914627821,0.0796219219299,0.999999824643,-0.000144106352,-0.000571450468515,-5.82366688231e-05,1793192778810896640
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.207724707,743,711,674.207724707,657,630,877.792275293,781,799.207724707,649,628,650,0.446865018011,-0.0055881983235,0.0796209291659,0.999999824052,-0.000141814568904,-0.000573073387192,-5.80591771154e-05,1793192778827563520
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.796544579,743,711,674.796544579,657,630,877.203455421,781,799.796544579,649,628,650,0.446864146078,-0.00558789722031,0.0796195085404,0.999999823218,-0.000140603054564,-0.00057483090082,-5.80060228658e-05,1793192778844230400
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,674.621033252,657,630,877.378966748,781,800,649,628,650,0.446864354217,-0.00558904895402,0.079619175039,0.999999822856,-0.000142141262884,-0.000575072203413,-5.80983667601e-05,1793192778860897024
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,674.041988805,657,630,877.958011195,781,800,649,628,650,0.446865132587,-0.00559096772142,0.079619415491,0.999999822738,-0.000145131203309,-0.000574513013512,-5.82675272469e-05,1793192778877563648
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711,674,656.465169798,630,878,781,799.465169798,649,628,650.534830202,0.446866439873,-0.00558929694964,0.079620096131,0.999999823508,-0.000143264352297,-0.000573657901596,-5.80959775171e-05,1793192778894230272
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,674,656.110150129,630,878,780.889849871,799,649,628,650.889849871,0.44686742981,-0.00558764695014,0.0796206006605,0.999999824141,-0.000141515228628,-0.000572996316661,-5.8019496905e-05,1793192778910897152
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,674,656.679940503,630,878,780.320059497,799,649,628,650.320059497,0.446866922941,-0.00558725470921,0.0796202266965,0.999999823931,-0.000141841880745,-0.000573238835353,-5.84508816307e-05,1793192778927563520
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.739073665,742.739073665,711,674,657,630,878,780.260926335,799.260926335,649,628.260926335,650,0.446866948992,-0.00558667904417,0.07961983174,0.99999982394,-0.000140860218505,-0.00057344548023,-5.86398814309e-05,1793192778944229888
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.143739454,742.143739454,711,674,657,630,878,780.856260546,799.856260546,649,628.856260546,650,0.446867658042,-0.00558586829941,0.0796194098788,0.999999824226,-0.00013820179714,-0.000573606148615,-5.85182364177e-05,1793192778960896512
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.439304257,742.439304257,711,674,657,630,878,781,800,649,628.560695743,650,0.446868801029,-0.00558602022901,0.0796199396064,0.999999825043,-0.000137138958326,-0.000572491990597,-5.79573616104e-05,1793192778977563136
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,781,800,649,628,650,0.446870026765,-0.00558642770882,0.0796207461771,0.999999825971,-0.000136634131443,-0.000571057307568,-5.72946024896e-05,1793192778994230016
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,781,800,649,628,650,0.44686956851,-0.0055852883059,0.0796207607627,0.999999825141,-0.00013765449866,-0.000572215141437,-5.77850930846e-05,1793192779010896640
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657,629.829545087,878,781,800,649.170454913,628,650,0.446869087786,-0.00558468962979,0.0796206760928,0.99999982446,-0.00013814652453,-0.000573251936075,-5.81145892479e-05,1793192779027563520
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,629.240923355,878,781,800,649.759076645,628,650,0.44686855194,-0.00558541748642,0.0796203479254,0.99999982415,-0.000137342402185,-0.000573991792354,-5.80491273932e-05,1793192779044229888
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.6578684,742.6578684,710.6578684,674,657,629.3421316,877.6578684,780.6578684,799.6578684,649.6578684,628,650,0.446869071225,-0.00557686398077,0.0796203590487,0.999999825245,-0.00012888324198,-0.000573831724257,-6.01412665754e-05,1793192779060896512
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.078670737,742.078670737,710.078670737,674,657,629.921329263,877.078670737,780.078670737,799.078670737,649.078670737,628,650,0.44687032162,-0.00556187933572,0.0796206052695,0.999999827151,-0.000115119837236,-0.000573048090347,-6.37284269064e-05,1793192779077563136
+243,4.050000000,POSE1_TO_POSE2_PRESS,763,742.499653764,710.499653764,674,657,629.500346236,877.499653764,780.499653764,799.499653764,649,627.500346236,650.499653764,0.44686992841,-0.00553781146166,0.079620324983,0.999999829074,-9.17342302739e-05,-0.000573415786886,-6.80467032786e-05,1793192779094229760
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.077229379,743,711,674,657,629.077229379,878,781,799.922770621,649,627.077229379,650.922770621,0.44686951455,-0.00551736248699,0.0796200898349,0.999999830281,-7.15554693042e-05,-0.000573767909968,-7.1474413456e-05,1793192779110896384
+245,4.083333333,POSE1_TO_POSE2_PRESS,763.650873197,743,711,674,657,629.650873197,878,781,799.349126803,649,627.650873197,650.349126803,0.446870628474,-0.00552935178777,0.0796206767539,0.999999830237,-8.17109112272e-05,-0.000572856749894,-6.84391050602e-05,1793192779127563008
+246,4.100000000,HOLD_POSE2,764,743,710,673,657,629,878,781,799,649,627,650,0.446872197005,-0.00553180700123,0.0796215639045,0.99999983066,-8.4174649704e-05,-0.000571743015333,-6.85854117798e-05,1793192779165972992
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+248,4.133333333,HOLD_POSE2,764,743,711,674,656,629.158012707,878,780.841987293,800.683974586,649,628,650.841987293,0.446873302912,-0.00552995105945,0.0796215169321,0.999999831223,-8.41967265749e-05,-0.000570778671515,-6.83875927783e-05,1793192779199306240
+249,4.150000000,HOLD_POSE2,764,743,711,674,656,629.732809342,878,780.267190658,799.534381316,649,628,650.267190658,0.446872214871,-0.00553280692101,0.0796211537132,0.999999830026,-8.67448792668e-05,-0.000572532363983,-6.80511234544e-05,1793192779215973120
+250,4.166666667,HOLD_POSE2,763.686875521,742.686875521,711,674,656,630,878,780.313124479,799.313124479,649,628,650,0.446872408037,-0.00553171359119,0.0796214871978,0.999999830249,-8.46561177652e-05,-0.000572430417511,-6.8261251169e-05,1793192779232640000
+251,4.183333333,HOLD_POSE2,763.101766974,742.101766974,711,674,656,630,878,780.898233026,799.898233026,649,628,650,0.446873714076,-0.00552718994129,0.0796224258481,0.99999983168,-7.85396710543e-05,-0.000570716638369,-6.89461603261e-05,1793192779249306624
+252,4.200000000,HOLD_POSE2,763.480106653,742.480106653,711,673.519893347,656.480106653,629.519893347,878,781,800,648.519893347,628,650,0.446874803694,-0.00552950555978,0.079623136809,0.99999983221,-8.02387061266e-05,-0.000569638929078,-6.82111376049e-05,1793192779265973248
+253,4.216666667,HOLD_POSE2,764,743,711,673.060790539,657,629.060790539,877.939209461,781,799.939209461,648.060790539,628,650,0.446875666161,-0.00553278309769,0.0796236186377,0.999999832443,-8.34267260174e-05,-0.000568875251151,-6.73368039001e-05,1793192779282639872
+254,4.233333333,HOLD_POSE2,764,743,711,673.637160621,657,629.637160621,877.362839379,781,799.362839379,648.637160621,628,650,0.446874988566,-0.00553200592024,0.0796225637298,0.999999831819,-8.52869622856e-05,-0.00056963911047,-6.78165344634e-05,1793192779299306496
+255,4.250000000,HOLD_POSE2,764,743,710.786160749,674,657,630,877.213839251,781,799.213839251,649,628,650,0.446874812527,-0.00553051372539,0.0796221528671,0.999999831626,-8.49109746026e-05,-0.000569983200736,-6.82494932392e-05,1793192779315973120
+256,4.266666667,HOLD_POSE2,764,743,710.208957881,674,657,630,877.791042119,781,799.791042119,649,628,650,0.446875488753,-0.00552780654645,0.0796228363899,0.999999832158,-8.0735111742e-05,-0.000569614003718,-6.86029756031e-05,1793192779332640000
+257,4.283333333,HOLD_POSE2,764,743,710.374646456,674,656.625353544,630,878,781,799.625353544,649,628,650,0.446875108255,-0.00552865762639,0.0796225635715,0.999999831697,-8.12284631589e-05,-0.000570373296993,-6.84335542242e-05,1793192779349306368
+258,4.300000000,HOLD_POSE2,764,743,710.961883314,674,656.038116686,630,878,781,799.038116686,649,628,650,0.446874128126,-0.00553152781416,0.0796217480842,0.999999830669,-8.43713258183e-05,-0.000571772943827,-6.79674149578e-05,1793192779365972992
+259,4.316666667,HOLD_POSE2,764,743,711,674,656,629.457341217,878,781,799,649,628,650,0.446874236313,-0.00553158329311,0.0796213725625,0.999999830904,-8.45899158389e-05,-0.000571338924221,-6.7884887568e-05,1793192779382639872
+260,4.333333333,HOLD_POSE2,764,742.877938569,711,674,656,629.122061431,878,781,799,649,628,650.122061431,0.446874302541,-0.00553126640496,0.0796211150464,0.999999831056,-8.42110658061e-05,-0.000571137743914,-6.78088751534e-05,1793192779399306752
+261,4.350000000,HOLD_POSE2,764,742.301972951,711,674,656,629.698027049,878,781,799,649,628,650.698027049,0.446873931814,-0.00553029136495,0.0796211827847,0.999999830569,-8.23653769207e-05,-0.000572275731031,-6.76580690672e-05,1793192779415974400
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,629,878,781,799,649,628,650,0.446872260936,-0.00553010198112,0.0796205882671,0.99999983078,-8.09167668922e-05,-0.000572140728153,-6.74371704001e-05,1793192779453636352
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,710.411066489,674,657,629,878.588933511,781,799.588933511,649,628,650.588933511,0.44687423388,-0.00552910623729,0.0796206955917,0.999999830993,-8.01752716311e-05,-0.00057182008338,-6.78813548569e-05,1793192779470303488
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,710.174920951,674,656.825079049,629.174920951,879,780.825079049,799.825079049,649,628,650.825079049,0.446875448547,-0.00552904487803,0.0796208651088,0.999999831179,-8.02800339737e-05,-0.000571459216062,-6.80502148896e-05,1793192779486970368
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,710.754099874,674,656.245900126,629.754099874,879,780.245900126,799.245900126,649,628,650.245900126,0.446874910764,-0.00553114296497,0.0796211783586,0.999999831303,-8.23405732322e-05,-0.000571005390786,-6.75827756247e-05,1793192779503636224
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.669053336,743,711,674,656,630,878.669053336,780.330946664,799,649,628,650,0.446874388346,-0.00553085712722,0.079621013539,0.999999830919,-8.25528120979e-05,-0.000571639400418,-6.76431932365e-05,1793192779520302848
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.093927279,743,711,674,656,630,878.093927279,780.906072721,799,649,628,650,0.446873877264,-0.00552881237967,0.0796204959896,0.99999983016,-8.14013360235e-05,-0.000573076037501,-6.80930747569e-05,1793192779536969472
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.491581597,743,711,674,656,629.508418403,878,781,799.491581597,649,628,650,0.446874083736,-0.00552905050962,0.0796203344914,0.999999830214,-8.28393832586e-05,-0.000572744550845,-6.83664928062e-05,1793192779553636096
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.922000507,742.922000507,711,674,656,629,878,781,800,649,628,650,0.446873927891,-0.00552981267525,0.0796200647226,0.999999830237,-8.45431962371e-05,-0.000572437616193,-6.85049532117e-05,1793192779570302464
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.342764774,742.342764774,711,674,656,629,878,781,800,649,628,650,0.446870543682,-0.00553107884948,0.0796186525796,0.999999829072,-8.47066966802e-05,-0.000574506298145,-6.79975024442e-05,1793192779586969600
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.235777122,742.235777122,711,674,656,629.235777122,878,781,800,649,628,650,0.44686046647,-0.00553159241938,0.0796136406035,0.999999824563,-8.45349374164e-05,-0.000582345356544,-6.78379943351e-05,1793192779603636224
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.813313252,742.813313252,711,674,656,629.813313252,878,781,800,649,628,650,0.446840687749,-0.00553101508899,0.0796034106686,0.999999815028,-8.38772190787e-05,-0.00059854857702,-6.81828292436e-05,1793192779620302848
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,710.610058923,674,656.389941077,630,878,781,800,649,628,650.389941077,0.446799701671,-0.00552939637319,0.0795847955196,0.999999795932,-8.3206748589e-05,-0.000629666435053,-6.87964043433e-05,1793192779636969472
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.446519936,743,710.553480064,674,657,630,878,781,799.446519936,648.446519936,628,650.446519936,0.446680220145,-0.0055263148755,0.0795453094067,0.999999752532,-8.05799879952e-05,-0.000695497218237,-6.87457413197e-05,1793192779670302464
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.139471216,743,711,674,656.860528784,630,878,781,799,648.139471216,628,650,0.44660880236,-0.00552500703892,0.0795320719913,0.999999737657,-7.84953785151e-05,-0.000716913952207,-6.75173077499e-05,1793192779686969088
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.70383072,743,711,674.29616928,656,629.70383072,878,781,799,649,628,650.29616928,0.446440160228,-0.00552049032841,0.0795281147367,0.999999733187,-7.4024518701e-05,-0.000724052814139,-6.24058655187e-05,1793192779720302848
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.042153133,711,674,656,630,878,781,799.957846867,649,628,650.042153133,0.446076887104,-0.00551131415376,0.0795295692395,0.999999730765,-5.92732351816e-05,-0.000729673313816,-5.03334817912e-05,1793192779770302464
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.621852528,711,674,656,630,878,781,799.378147472,649,628,650.621852528,0.445904473815,-0.00551008477237,0.0795282179911,0.999999727329,-5.67516184046e-05,-0.000734940541652,-4.45313115097e-05,1793192779786969088
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,656.780743981,630,878.780743981,781,799.780743981,649,627.219256019,651,0.445521440333,-0.00550467936228,0.0795299046904,0.999999726913,-4.21862663414e-05,-0.000737177451429,-3.10441566926e-05,1793192779820302336
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630,878.070024575,781,799.070024575,649,627.929975425,650.070024575,0.445060710973,-0.0054937742077,0.0795462293088,0.999999739772,-1.69184840661e-05,-0.000721073386438,-1.49099911576e-05,1793192779853635328
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.103576894,743,711,674,657,630,877.103576894,781,799.103576894,649,627.103576894,650,0.444511934565,-0.00548540168288,0.0795601206992,0.99999975564,1.58591771992e-05,-0.000698897672721,3.10941629498e-06,1793192779886969856
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.737456203,743,711,673.737456203,657.262543797,630,878,781,800,649,628,650,0.443823884485,-0.00547856675147,0.0795650186085,0.999999752873,9.16714602402e-05,-0.000696913660268,1.27188178375e-05,1793192779920303104
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.162183167,743,711,673.162183167,657.837816833,630,878,781,800,649,628,650,0.443458115307,-0.00547103437024,0.0795737109936,0.999999759109,8.84790123472e-05,-0.000688394271445,8.19787328326e-06,1793192779936969472
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.987453324,657.012546676,630,877.012546676,781,799.012546676,648.012546676,628,650,0.442661015625,-0.00546002943162,0.0795862583432,0.999999778278,7.66799894798e-05,-0.000661329366743,1.44016408588e-05,1793192779970302720
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.253777449,742.253777449,711,673.253777449,658,631,878,782,799,649,628,650.746222551,0.44123182141,-0.00545144710724,0.0796240222209,0.999999816534,9.02261929842e-05,-0.00059871863853,1.80838249946e-05,1793192780020302592
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,659.33346924,632,877,783,799,648.66653076,628,650,0.422649562736,-0.00539628961016,0.0797492292744,0.999999906542,0.000172254328742,-0.000395244788066,3.20286351481e-05,1793192780420302336
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de83c695f1191d5b712d50c5280f20de8a141f60
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,401 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5af9e41bcc06192061454403ee64b913965f7938
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f71f9a334f26e89becddbce033e375d23ed2f5c50d4400808e04f96f126bf48c
+size 25638669
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0883558dc5f9cc78584a9a69a35a09eecc26ab3c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/franka_data.csv
@@ -0,0 +1,404 @@
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+18,0.300000000,BASELINE,763.442519116,742,712,671.557480884,659,632.557480884,876.442519116,784,799.557480884,649,628.557480884,650.557480884,0.400962271326,-0.00548561105806,0.0798349851901,0.999999952782,0.000111862920461,-0.000284113706118,3.4673040557e-05,1793192782165671424
+19,0.316666667,BASELINE,764,742,712,671,659,632.017497564,877,784,799,648.982502436,628,650.017497564,0.400961339167,-0.00548456535891,0.079834682453,0.999999952273,0.00011324486556,-0.000285362578997,3.46079772263e-05,1793192782182337792
+20,0.333333333,BASELINE,764,742,712,671,659,632.594217727,877,784,799,648.405782273,628,650.594217727,0.400960476662,-0.00548462503547,0.0798341748579,0.999999952107,0.000113636461106,-0.000285759115513,3.48548862323e-05,1793192782199004672
+21,0.350000000,BASELINE,764,742,712,671,659,632.825347672,877.174652328,783.825347672,799,648.174652328,628,650.825347672,0.400959751052,-0.00548433781255,0.0798336776945,0.999999952029,0.000113775888002,-0.000285972818689,3.48840050577e-05,1793192782215671552
+22,0.366666667,BASELINE,764,742,712,671,659,632.236095608,877.763904392,783.236095608,799,648.763904392,628,650.236095608,0.400959350408,-0.0054832270997,0.0798332052949,0.999999952161,0.000113316702403,-0.000285752501517,3.43961209989e-05,1793192782232338432
+23,0.383333333,BASELINE,764,742,712,671.34591709,659,632,877.30816582,783.34591709,799.34591709,649,628,650,0.400959368897,-0.00548340709387,0.0798331160071,0.999999952152,0.000113309660761,-0.000285778046859,3.44625738073e-05,1793192782249005312
+24,0.400000000,BASELINE,764,742,712,671.923090115,659,632,876.153819771,783.923090115,799.923090115,649,628,650,0.400959667587,-0.00548444996422,0.0798332828411,0.999999952049,0.000113604890848,-0.000285967958632,3.48996173633e-05,1793192782265671680
+25,0.416666667,BASELINE,763.499586857,742,712,672,659,632.500413143,876.500413143,783.499586857,799.499586857,649,628,650.500413143,0.400959568311,-0.0054830367312,0.0798332527287,0.999999951763,0.000115117913771,-0.000286392888719,3.46617442355e-05,1793192782282338048
+26,0.433333333,BASELINE,763.077491843,742,712,671.922508157,659,632.922508157,877,783,798.922508157,649,628,651,0.400959475128,-0.00548172647979,0.079833302152,0.999999951584,0.000116148022653,-0.00028663705032,3.43677707043e-05,1793192782299004672
+27,0.450000000,BASELINE,763.65285287,742,712,671.34714713,659,632.34714713,877,783,798.34714713,649,628,651,0.400959814181,-0.00548350385638,0.0798340571081,0.999999952287,0.000112872645223,-0.000285487674577,3.4380006075e-05,1793192782315671552
+28,0.466666667,BASELINE,764,742.234142702,712,671.234142702,659,632.234142702,877,783,798.234142702,649,628,651,0.40096036961,-0.00548450503618,0.0798346885216,0.999999952739,0.000111179785213,-0.000284566292116,3.44070938683e-05,1793192782332337920
+29,0.483333333,BASELINE,764,742.824451087,712,671.824451087,659,632.824451087,877,783,798.824451087,649,628,651,0.400961254181,-0.00548432550575,0.0798351320086,0.999999952821,0.000111894168479,-0.000283991721234,3.44567743931e-05,1793192782349004544
+30,0.500000000,BASELINE,764,742.592982026,712,672,659,632.592982026,877.407017974,783,799,649,628,651,0.400960955301,-0.00548376364025,0.0798347509649,0.999999952662,0.000112269085601,-0.000284401173562,3.44658858353e-05,1793192782365671424
+31,0.516666667,BASELINE,764,742.01369178,712,672,659,632.01369178,877.98630822,783,799,649,628,651,0.400960155519,-0.00548303994962,0.0798340209347,0.999999952401,0.000112500322063,-0.000285227118357,3.44578262209e-05,1793192782382338048
+32,0.533333333,BASELINE,764,742,712,671.436802516,659,632,877.436802516,783.563197484,799,649,628.563197484,651,0.400961357675,-0.00548344914362,0.0798349484926,0.99999995266,0.000113522836635,-0.000283891644606,3.46205298033e-05,1793192782399004672
+33,0.550000000,BASELINE,764,742.142105921,712,671.142105921,659,632,877,784,799,649,629,651,0.400962223769,-0.00548368453418,0.0798356657878,0.999999952909,0.000114146000332,-0.000282751094526,3.4701944919e-05,1793192782415671040
+34,0.566666667,BASELINE,764,742.727494119,712,671.727494119,659,632,877,784,799,649,629,651,0.400961890389,-0.00548329221859,0.0798356020247,0.999999953098,0.000113463685427,-0.00028238180009,3.4516895651e-05,1793192782432337920
+35,0.583333333,BASELINE,764,742.688698568,712,672,659,632,877,783.688698568,799,649,628.688698568,651,0.400961951163,-0.00548362536676,0.0798352877418,0.999999953246,0.000112350609392,-0.000282313547107,3.44107338473e-05,1793192782449004544
+36,0.600000000,BASELINE,764,742.106268066,712,672,659,632,877,783.106268066,799,649,628.106268066,651,0.400962355227,-0.00548459036008,0.0798347552679,0.999999953359,0.000110862360369,-0.000282507487185,3.43732793355e-05,1793192782465671168
+37,0.616666667,BASELINE,764,742,712,672,659,632,877,783,798.530030365,649,628.469969635,650.530030365,0.400961733365,-0.0054847967511,0.079834924253,0.999999952978,0.0001121538104,-0.000283326588007,3.45225942622e-05,1793192782482338048
+38,0.633333333,BASELINE,763.955009379,742.044990621,711.955009379,671.955009379,659,632.044990621,877,783.044990621,798.044990621,649,629,650,0.400960943718,-0.0054847888696,0.0798351670366,0.999999952515,0.000113900570668,-0.000284241805122,3.46743389384e-05,1793192782499005184
+39,0.650000000,BASELINE,763.378032547,742.621967453,711.378032547,671.378032547,659,632.621967453,877,783.621967453,798.621967453,649,629,650,0.400960877458,-0.00548424923821,0.0798344313466,0.999999952435,0.000113695693667,-0.000284643790158,3.43619446636e-05,1793192782515672064
+40,0.666666667,BASELINE,763.203352094,743,711,671.203352094,659,632.796647906,877,784,799,649,628.796647906,650.203352094,0.400960650247,-0.00548417224411,0.0798339788113,0.99999995246,0.000113610398681,-0.000284604425218,3.42561275665e-05,1793192782532338688
+41,0.683333333,BASELINE,763.793112387,743,711,671.793112387,659,632.206887613,877,784,799,649,628.206887613,650.793112387,0.400960117198,-0.00548497435012,0.0798340643247,0.999999952683,0.000113752332601,-0.000283726410177,3.45428469687e-05,1793192782549005056
+42,0.700000000,BASELINE,764,742.624354964,711.375645036,671.624354964,659,632.375645036,877,783.624354964,799,649,628.375645036,651,0.40095943501,-0.00548438290116,0.0798339214547,0.999999952433,0.000114009236784,-0.00028452883565,3.43426063397e-05,1793192782565671680
+43,0.716666667,BASELINE,764,742.045727836,711.954272164,671.045727836,659,632.954272164,877,783.045727836,799,649,628.954272164,651,0.400958672235,-0.00548303843622,0.0798336551763,0.999999951924,0.000114328265848,-0.000286239297452,3.38792338719e-05,1793192782582338048
+44,0.733333333,BASELINE,764,742.52853467,712,671.52853467,659,632.47146533,877,783.52853467,799,649,629,650.47146533,0.400959211832,-0.00548364687,0.0798339490989,0.999999952133,0.000113430371648,-0.000285814412302,3.43052118771e-05,1793192782599004672
+45,0.750000000,BASELINE,764,743,712,671.894986885,659.105013115,632.105013115,877,784,799.105013115,648.894986885,629,650,0.40095983072,-0.00548434037541,0.0798343001878,0.999999952419,0.000112386428087,-0.000285184574707,3.46614101876e-05,1793192782615671296
+46,0.766666667,BASELINE,764,743,712,671.306584355,659.693415645,632.693415645,877,784,799.693415645,648.306584355,629,650,0.400960300163,-0.00548465409587,0.0798346931463,0.999999952776,0.00011115087593,-0.000284454760304,3.43451161077e-05,1793192782632338176
+47,0.783333333,BASELINE,764,743,712,671.277394262,659.722605738,633,877,784,799.722605738,648.277394262,628.722605738,650.277394262,0.400960608364,-0.00548438252002,0.0798351314829,0.999999952946,0.000111215166038,-0.000283838234225,3.42756433332e-05,1793192782649005312
+48,0.800000000,BASELINE,764,743,712,671.856560264,659.143439736,633,877,784,799.143439736,648.856560264,628.143439736,650.856560264,0.400960741153,-0.00548347421191,0.0798356191854,0.999999952914,0.000112693528727,-0.000283344952183,3.44746825438e-05,1793192782665672448
+49,0.816666667,BASELINE,764.434381822,743,712,671.565618178,659,633,877,783.565618178,799,649,628.434381822,650.565618178,0.400960955055,-0.00548421147941,0.0798352156421,0.99999995312,0.000111127375173,-0.000283273736935,3.41694498236e-05,1793192782682338816
+50,0.833333333,BASELINE,764.988321445,743,712,671.011678555,659,632.988321445,877,783.011678555,798.988321445,649,628.988321445,650,0.400961176495,-0.00548545823239,0.079834536339,0.999999953386,0.000108621848632,-0.00028335812431,3.37127095401e-05,1793192782699005184
+51,0.850000000,BASELINE,764.414978151,743,712,671.585021849,659,632.414978151,877,783.585021849,798.414978151,649,628.414978151,650,0.400960476223,-0.00548515479025,0.0798347051878,0.999999953071,0.000109140076059,-0.000284243730872,3.39531912687e-05,1793192782715671552
+52,0.866666667,BASELINE,764,742.836790228,711.836790228,671.836790228,659,632.163209772,877,784,798.163209772,649,628,650,0.400959956133,-0.00548463151051,0.0798347869967,0.999999952697,0.000110742671227,-0.000284909124906,3.41904239833e-05,1793192782732338176
+53,0.883333333,BASELINE,764,742.245907532,711.245907532,671.245907532,659,632.754092468,877,784,798.754092468,649,628,650,0.400959908189,-0.00548353217098,0.0798346407276,0.999999952162,0.000115186730546,-0.000284997476624,3.44191430061e-05,1793192782749004544
+54,0.900000000,BASELINE,764,742,711.338165466,671.338165466,659,633,877,783.661834534,799,649,628.338165466,650.338165466,0.400960056058,-0.00548361972732,0.0798349856502,0.999999952446,0.000114737374848,-0.000284176062078,3.44488570757e-05,1793192782765671424
+55,0.916666667,BASELINE,764,742,711.917384304,671.917384304,659,633,877,783.082615696,799,649,628.917384304,650.917384304,0.400960343509,-0.00548455333476,0.0798356807075,0.999999953311,0.000110799862107,-0.000282706141848,3.43367150922e-05,1793192782782337792
+56,0.933333333,BASELINE,764,742.49404774,712,672,659,632.50595226,877,783,798.50595226,649,629,650.50595226,0.400961411704,-0.0054835806455,0.0798361500833,0.999999953402,0.000112785091632,-0.000281609364914,3.42373873944e-05,1793192782799004672
+57,0.950000000,BASELINE,764,743,712,671.929871707,659,632.070128293,877,783,798.070128293,649,628.929871707,650.070128293,0.400962225515,-0.00548252625129,0.0798363773218,0.999999953291,0.000115208502409,-0.000281032285316,3.41591680358e-05,1793192782815671552
+58,0.966666667,BASELINE,764,743,712,671.354927091,659,632.645072909,877,783,798.645072909,649,628.354927091,650.645072909,0.400960273173,-0.00548316659056,0.079835131807,0.999999952695,0.000113693372815,-0.000283749373954,3.42175507129e-05,1793192782832338176
+59,0.983333333,BASELINE,763.773991515,742.773991515,712,671.226008485,659,633,877,783,799,649,628.226008485,651,0.4009588859,-0.00548368933188,0.0798342684699,0.999999952301,0.000112767982476,-0.000285511571406,3.4124420269e-05,1793192782849004800
+60,1.000000000,BASELINE,763.18339137,742.18339137,712,671.81660863,659,633,877,783,799,649,628.81660863,651,0.400958410185,-0.00548402236701,0.0798340216528,0.999999952246,0.000112793945626,-0.000285733360908,3.37868723719e-05,1793192782865671424
+61,1.016666667,BASELINE,763,742,711.601013671,672,659,632.601013671,876.601013671,783.398986329,799,649,628.601013671,651,0.4009596188,-0.00548410215409,0.0798347008628,0.999999952727,0.000113129793824,-0.000283879326336,3.40475368662e-05,1793192782882337792
+62,1.033333333,BASELINE,763,742,711.022339085,672,659,632.022339085,876.022339085,783.977660915,799,649,628.022339085,651,0.400961585972,-0.00548406788786,0.0798357971201,0.999999953443,0.000113605202452,-0.000281090419589,3.45776134739e-05,1793192782899004416
+63,1.050000000,BASELINE,763.552087988,742.552087988,711.552087988,672,659,632,877.104175976,783.447912012,799,648.447912012,628.552087988,651,0.40096174384,-0.00548457223236,0.0798367700899,0.999999953492,0.000113140665024,-0.000281090537188,3.46799785607e-05,1793192782915671296
+64,1.066666667,BASELINE,764,742.870518808,712,671.870518808,659,632.129481192,877.870518808,783.129481192,799,648.129481192,629,651,0.400961711448,-0.00548506833207,0.0798372427386,0.999999953494,0.000112365147913,-0.000281392046374,3.46951254342e-05,1793192782932338176
+65,1.083333333,BASELINE,764,742.282005573,712,671.282005573,659,632.717994427,877.282005573,783.717994427,799,648.717994427,629,651,0.400961262111,-0.00548545853009,0.0798359592168,0.999999953423,0.000110620960502,-0.000282365013694,3.44619552234e-05,1793192782949004800
+66,1.100000000,BASELINE,764,742.301644419,712,671,659,633,877,783.698355581,799,649,628.698355581,651,0.400960670704,-0.0054851668715,0.0798351309945,0.999999953267,0.000110487202847,-0.000282973280659,3.44282519435e-05,1793192782965671168
+67,1.116666667,BASELINE,764,742.880819901,712,671,659,633,877,783.119180099,799,649,628.119180099,651,0.400959948585,-0.00548424786365,0.0798347216751,0.999999953034,0.000111835137812,-0.000283246001243,3.45780702861e-05,1793192782982337792
+68,1.133333333,BASELINE,764,742.541698421,711.541698421,671,659,632.541698421,877,783.458301579,799,649,628,650.541698421,0.40095970321,-0.00548399870836,0.0798339195026,0.99999995272,0.000112381351341,-0.000284206575889,3.40090443419e-05,1793192782999004416
+69,1.150000000,BASELINE,764,742,711.035206405,671,659,632.035206405,877,784,799,649,628.035206405,650,0.400959553608,-0.00548396489013,0.0798330798432,0.999999952392,0.000112697768325,-0.000285314559433,3.3335520204e-05,1793192783015671296
+70,1.166666667,BASELINE,764,742,711.609995488,671,659,632.609995488,877,784,799,649,628.609995488,650,0.400958978737,-0.00548457148179,0.0798332256209,0.999999952193,0.000112675800629,-0.00028595038461,3.39148732065e-05,1793192783032337920
+71,1.183333333,BASELINE,764,742,712,671.189398096,659,633,877,784,798.810601904,648.810601904,629,650,0.400958796165,-0.00548482018789,0.0798335693043,0.999999952139,0.000113134917982,-0.000285906860616,3.43480717034e-05,1793192783049004544
+72,1.200000000,BASELINE,764,742,712,671.778538079,659,633,877,784,798.221461921,648.221461921,629,650,0.400959441577,-0.00548431354412,0.0798343306856,0.999999952388,0.000114609409026,-0.000284429508604,3.44727979486e-05,1793192783065671168
+73,1.216666667,BASELINE,764,742,712,672,659,632.638534168,877,783.638534168,798.722931663,648.361465832,629,650.361465832,0.400959670399,-0.00548452327457,0.0798346320026,0.999999952497,0.000113955871041,-0.000284308255184,3.44758939456e-05,1793192783082337792
+74,1.233333333,BASELINE,764,742,712,672,659,632.059348235,877,783.059348235,799.88130353,648.940651765,629,650.940651765,0.400959648297,-0.00548516449554,0.0798346562111,0.99999995252,0.000112020566737,-0.000285003814665,3.440572893e-05,1793192783099004416
+75,1.250000000,BASELINE,763.485746178,742,712,672,659,632,877,783.514253822,799.485746178,649,628.485746178,651,0.4009595101,-0.00548412079653,0.079834310158,0.999999952403,0.000113717688684,-0.000284756627615,3.43039108093e-05,1793192783115671040
+76,1.266666667,BASELINE,763.087670323,742.087670323,712,672,659,632.087670323,876.912329677,783.912329677,798.912329677,649,628.087670323,650.912329677,0.400959573382,-0.00548322596554,0.0798340759428,0.999999952364,0.000115274231985,-0.000284272775162,3.42484639659e-05,1793192783132337920
+77,1.283333333,BASELINE,763.663603783,742.663603783,712,672,659,632.663603783,876.336396217,783.336396217,798.336396217,649,628.663603783,650.336396217,0.400960832583,-0.00548423155013,0.0798347000112,0.999999952873,0.000113738241821,-0.000283070286917,3.4471399119e-05,1793192783149004544
+78,1.300000000,BASELINE,764,742.752279738,711.752279738,671.752279738,659,632.752279738,876.247720262,783,798.247720262,649,628.752279738,650.247720262,0.400961002435,-0.00548458987487,0.0798347822954,0.999999953038,0.000112840174763,-0.000282846387534,3.44692264193e-05,1793192783165671424
+79,1.316666667,BASELINE,764,742.156671418,711.156671418,671.156671418,659,632.156671418,876.843328582,783,798.843328582,649,628.156671418,650.843328582,0.400959642453,-0.00548403921464,0.0798341037205,0.999999952724,0.000112837980581,-0.000283996777858,3.41509215708e-05,1793192783182338304
+80,1.333333333,BASELINE,764,742,711.423792272,671.423792272,659,632.423792272,877,783.423792272,799,648.576207728,628.423792272,650.576207728,0.400959808647,-0.00548419286779,0.0798341943942,0.999999952772,0.000112612103959,-0.000283920485843,3.41205680308e-05,1793192783199004672
+81,1.350000000,BASELINE,764,742,711.998850378,671.998850378,659,632.998850378,877,783.998850378,799,648.001149622,628.998850378,650.001149622,0.400960519584,-0.00548459791423,0.0798345596387,0.999999952949,0.000112306387488,-0.000283406349393,3.41929940526e-05,1793192783215671296
+82,1.366666667,BASELINE,764,742,712,671.428502712,659,633,877.571497288,784,799,648,629,650.571497288,0.400959466633,-0.00548506296429,0.0798340199192,0.999999952755,0.000112277605345,-0.000284084384756,3.43363235577e-05,1793192783232337920
+83,1.383333333,BASELINE,764,742.149497829,712,671,659,632.850502171,877.850502171,784,799,648.149497829,629,650.850502171,0.400959065457,-0.00548510957654,0.0798339320098,0.999999952707,0.000112387956939,-0.000284196957998,3.44548941038e-05,1793192783249004544
+84,1.400000000,BASELINE,764,742.743428334,712,671,659,632.256571666,877.256571666,784,799,648.743428334,629,650.256571666,0.400960612407,-0.00548391188418,0.0798351926471,0.999999953093,0.000112910281298,-0.000282621405268,3.44994381032e-05,1793192783265671168
+85,1.416666667,BASELINE,764,742.673853233,712,671,659,632,877,784,799,649,629,650,0.400960781978,-0.00548366119094,0.0798356319138,0.999999953179,0.000112765816378,-0.000282364934163,3.45814155313e-05,1793192783282338048
+86,1.433333333,BASELINE,764,742.099661959,712,671,659,632,877,784,799,649,629,650,0.400959904011,-0.00548413071931,0.0798354465031,0.999999953037,0.000112114237955,-0.000283111664736,3.46918622147e-05,1793192783299004672
+87,1.450000000,BASELINE,764,742,712,671,659,632.476243519,877,784,799,649,629,650.476243519,0.400961329537,-0.00548411473761,0.0798363137587,0.999999953457,0.000112347236426,-0.000281536519349,3.46639906629e-05,1793192783315671808
+88,1.466666667,BASELINE,764,742,712,671,659,633,877.053713897,784,799,649,628.946286103,651,0.40096289509,-0.0054838570725,0.0798371360599,0.999999953887,0.000112746137029,-0.000279856787687,3.45533831061e-05,1793192783332338688
+89,1.483333333,BASELINE,764,742,712,671,659,633,877.643202496,784,799,649,628.356797504,651,0.400961031775,-0.00548220580344,0.0798353047369,0.999999953285,0.000112946751034,-0.000281997931964,3.39072788354e-05,1793192783349005056
+90,1.500000000,BASELINE,764,742.228899029,712,671.228899029,659,633,877.771100971,784,799.228899029,649,628.228899029,650.771100971,0.400960426783,-0.00548147902557,0.0798348027646,0.999999953112,0.000113169555236,-0.000282564675343,3.35606452887e-05,1793192783365671424
+91,1.516666667,BASELINE,764,742.808780931,712,671.808780931,659,633,877.191219069,784,799.808780931,649,628.808780931,650.191219069,0.400961751244,-0.00548216981865,0.0798363391555,0.999999953599,0.000113426384814,-0.000280717307138,3.3673205953e-05,1793192783382338304
+92,1.533333333,BASELINE,764,742.612225421,712,671.612225421,659,632.612225421,877,783.612225421,799.612225421,649,629,650.387774579,0.400961630392,-0.00548217242667,0.0798360051674,0.999999953357,0.000114255972285,-0.000281212868682,3.39183376468e-05,1793192783399004928
+93,1.550000000,BASELINE,764,742.033668735,712,671.033668735,659,632.033668735,877,783.033668735,799.033668735,649,629,650.966331265,0.400960798457,-0.00548183645299,0.0798347509674,0.999999952754,0.000115367352251,-0.000282861133452,3.4228693276e-05,1793192783415671808
+94,1.566666667,BASELINE,763.46075857,742.53924143,711.46075857,671,659,632,877,783.53924143,799.53924143,649,629,650.46075857,0.400959446089,-0.00548436153696,0.0798340241982,0.999999952622,0.000112975160588,-0.00028426109609,3.44830590534e-05,1793192783432338176
+95,1.583333333,BASELINE,763.115280294,742.884719706,711.115280294,671.115280294,659,632,877,784,799.884719706,648.884719706,628.884719706,650,0.400958768448,-0.0054864775383,0.0798336197639,0.999999952667,0.000110548061794,-0.000285045698472,3.4561995324e-05,1793192783449004800
+96,1.600000000,BASELINE,763.705651131,742.294348869,711.705651131,671.705651131,659,632,877,784,799.294348869,648.294348869,628.294348869,650,0.400961004006,-0.00548617907473,0.0798344094189,0.999999953352,0.000108869282548,-0.000283357522239,3.39322132781e-05,1793192783465671424
+97,1.616666667,BASELINE,764,742.290385883,712,672,659,632.290385883,877.290385883,784,799,648,628,650.290385883,0.400961707638,-0.00548589657756,0.079835070651,0.99999995356,0.000109773245974,-0.000282273794289,3.39460693201e-05,1793192783482337792
+98,1.633333333,BASELINE,764,742.869516371,712,672,659,632.869516371,877.869516371,784,799,648,628,650.869516371,0.400960888001,-0.00548562995655,0.0798356041858,0.999999953286,0.000113245354351,-0.000281791098342,3.4599925605e-05,1793192783499004416
+99,1.650000000,BASELINE,764,742.555210636,711.555210636,671.555210636,659,632.555210636,877.555210636,783.555210636,799,648.444789364,628.444789364,650.555210636,0.400959824996,-0.00548551593686,0.0798350369366,0.99999995327,0.000111933732579,-0.000282368753578,3.46224691991e-05,1793192783515671296
+100,1.666666667,BASELINE,764,742,711.019015988,671,659,632.019015988,876.980984012,783.019015988,799.019015988,649,629,650,0.400958802885,-0.0054853874994,0.0798342247523,0.999999953325,0.000109437111857,-0.000283169941362,3.44645393348e-05,1793192783532338176
+101,1.683333333,BASELINE,764,742,711.595457157,671,659,632.595457157,876.404542843,783.595457157,799.595457157,649,629,650,0.40096105433,-0.00548353542628,0.0798356173755,0.999999953409,0.000112987640833,-0.000281483643244,3.43985472723e-05,1793192783549004544
+102,1.700000000,BASELINE,764,742,711.82388504,671.17611496,659.17611496,632.82388504,876,784,799.82388504,649,629,650,0.40096250634,-0.00548283709476,0.0798366180352,0.99999995348,0.000115114883595,-0.00028037095886,3.43702682537e-05,1793192783565671168
+103,1.716666667,BASELINE,764,742,711.23330396,671.76669604,659.76669604,632.23330396,876,784,799.23330396,649,629,650,0.400962076972,-0.00548485396047,0.0798366962542,0.999999953551,0.000113892586924,-0.000280608208079,3.44307425175e-05,1793192783582338048
+104,1.733333333,BASELINE,763.651799033,742.348200967,711.348200967,671.651799033,659.651799033,632,876.348200967,783.651799033,799.348200967,649,628.651799033,650.348200967,0.400961153044,-0.00548538854619,0.0798360246585,0.999999953298,0.000113416341167,-0.000281695617203,3.44639673655e-05,1793192783599004672
+105,1.750000000,BASELINE,763.076220827,742.923779173,711.923779173,671.076220827,659.076220827,632,876.923779173,783.076220827,799.923779173,649,628.076220827,650.923779173,0.400959906166,-0.00548495519474,0.0798348634295,0.999999952832,0.000113427270836,-0.00028333818567,3.44793981937e-05,1793192783615671552
+106,1.766666667,BASELINE,763.999561038,742.500219481,712,671.499780519,659,632.499780519,877,783.499780519,799.500219481,648.500219481,628,650.500219481,0.400960228523,-0.00548426484493,0.079834688011,0.999999952881,0.000113297906236,-0.000283269226535,3.40691716569e-05,1793192783632337920
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,671,659,633,877,784,799,649,628,651,0.400960525148,-0.00548402900152,0.0798350236891,0.999999953046,0.000113249326054,-0.000282709974197,3.40125369232e-05,1793192783675097344
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,712,671,659,633,876.422326509,783.422326509,799,648.422326509,628,651,0.400960636607,-0.00548500129551,0.0798353798834,0.999999953192,0.000113584400816,-0.000282017929003,3.43583378727e-05,1793192783691763968
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,712,671,659.155191472,633,876.155191472,783.155191472,799.155191472,648.155191472,628.155191472,650.844808528,0.400960709993,-0.00548545112772,0.0798356430327,0.99999995327,0.000114008895057,-0.000281552277476,3.44903944307e-05,1793192783708430848
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,712,671,659.732286815,633,876.732286815,783.732286815,799.732286815,648.732286815,628.732286815,650.267713185,0.400960679871,-0.00548448059441,0.0798356532295,0.999999953167,0.000114676485358,-0.000281702100106,3.40413651038e-05,1793192783725097472
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.699511411,711.699511411,671,660,633,877,784,799.699511411,649,629,650,0.40096055588,-0.00548429738114,0.0798355312939,0.999999953155,0.000114250839086,-0.000281942770226,3.38433112129e-05,1793192783741763840
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.139005414,711.139005414,671,660,633,877,784,799.139005414,649,629,650,0.400960350662,-0.00548479544811,0.0798352950222,0.99999995322,0.000112879198312,-0.00028226205207,3.3862430263e-05,1793192783758430208
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.45908946,671.45908946,659.54091054,633,877,784,799,649,629,650.45908946,0.400960598174,-0.00548471151597,0.079835297256,0.999999953125,0.000113071243377,-0.000282503046357,3.40050109516e-05,1793192783775096832
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671.934768612,659,633,877,784,799,649,628.934768612,650.934768612,0.40096126722,-0.00548453816814,0.0798356135647,0.999999953073,0.000113651643813,-0.000282430307631,3.42005269036e-05,1793192783791763712
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671.362437265,659,633,877,784,799,649,628.362437265,650.362437265,0.400964052543,-0.00548516179721,0.0798377599891,0.99999995376,0.000113242214514,-0.000280119358363,3.4491033427e-05,1793192783808430336
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.212679986,712,671.212679986,659,632.787320014,876.787320014,783.787320014,799,649,628,650,0.400974838714,-0.0054854932828,0.0798426244893,0.999999956024,0.000113121190523,-0.000271953170418,3.46081673456e-05,1793192783825096960
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.792607772,712,671.792607772,659,632.207392228,876.207392228,783.207392228,799,649,628,650,0.400999440449,-0.00548532030595,0.0798521824602,0.999999960791,0.000113498173992,-0.000253676376767,3.44259279349e-05,1793192783841763840
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,712,672,659,632.367884941,876.367884941,783,799,648.632115059,628.367884941,650.367884941,0.401040282196,-0.00548580150915,0.0798662790732,0.999999967501,0.000112848081544,-0.000226015485282,3.43692150906e-05,1793192783858430464
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712,672,659,632.940573143,876.940573143,783,799,648.059426857,628.940573143,650.940573143,0.401090164835,-0.00548664689742,0.0798829023703,0.999999974529,0.000111626211093,-0.000193130420894,3.4382383428e-05,1793192783875097088
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.466402099,711.466402099,672,659,633,877,783.533597901,799,648.533597901,629,651,0.401154175787,-0.00548848166792,0.0798952113727,0.999999979768,0.00010927797502,-0.000165584445153,3.32337967656e-05,1793192783891763712
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.874816741,742.125183259,711.125183259,671.874816741,659,632.874816741,877,783.874816741,799,649,629,650.874816741,0.401222185541,-0.0054899219559,0.0799057937694,0.999999983345,0.000107547371993,-0.000144009405121,3.16957744876e-05,1793192783908430592
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.296951012,742.703048988,711.703048988,671.296951012,659,632.296951012,877,783.296951012,799,649,629,650.296951012,0.401298740244,-0.00548952148969,0.0799119388379,0.999999983632,0.000108521824304,-0.000141790788196,2.92359052387e-05,1793192783925097216
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.279336756,743,712,671,659,632,877,783.279336756,799.279336756,649,629,650,0.40138703238,-0.00548960963822,0.0799155774086,0.999999984331,0.000108156219837,-0.000137728845142,2.59125408358e-05,1793192783941763840
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.853956446,743,712,671,659,632,877,783.853956446,799.853956446,649,629,650,0.401487731988,-0.00549021429449,0.0799165663957,0.999999985432,0.000106374060232,-0.000131718348224,2.16763880596e-05,1793192783958430208
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.561090311,712,671.438909689,659,632.438909689,877.438909689,783.561090311,799.561090311,649,629,650.438909689,0.401607496461,-0.00549120963221,0.07992079482,0.99999998681,0.000103805699559,-0.000123761413802,1.69413461462e-05,1793192783975097088
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.027051401,712,671.972948599,659,632.972948599,877.972948599,783,799,648.972948599,628.972948599,651,0.401735429075,-0.00549250286096,0.0799263139002,0.99999998828,0.000100582609397,-0.00011479860403,1.2015472481e-05,1793192783991763968
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.608373636,712,671.391626364,659,632.391626364,877.391626364,783,799,648.391626364,628.391626364,651,0.40189761022,-0.00549717196017,0.0799356598264,0.999999991096,8.94337527544e-05,-9.88161057172e-05,6.66284046539e-06,1793192784008430336
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.187383754,743,712,671,659,632.187383754,876.812616246,783.187383754,799.187383754,648.187383754,628.187383754,650.812616246,0.402068273259,-0.00550016647628,0.0799434658045,0.999999993135,8.01705954128e-05,-8.54551681848e-05,5.00692210222e-07,1793192784025096960
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.761620446,743,712,671,659,632.761620446,876.238379554,783.761620446,799.761620446,648.761620446,628.761620446,650.238379554,0.40225644711,-0.00549970382236,0.0799480925652,0.999999994172,7.48004574522e-05,-7.75064334378e-05,-7.33269810764e-06,1793192784041763584
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.665290208,743,712,671,659,632.665290208,876.334709792,784,799.665290208,649,629,650,0.40245792072,-0.00550030780811,0.0799464513206,0.999999994166,6.93574859847e-05,-8.13997243317e-05,-1.5240376709e-05,1793192784058430208
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.093015148,743,712,671,659,632.093015148,876.906984852,784,799.093015148,649,629,650,0.40266883405,-0.00550166885723,0.0799403612663,0.999999993302,6.38628192907e-05,-9.36980687256e-05,-2.32007833293e-05,1793192784075096832
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.503235118,712,671,659,632.496764882,877,784,799,649,628.503235118,650,0.402907716185,-0.00550472629594,0.0799371358158,0.999999994589,1.65888322116e-05,-9.94098844826e-05,-2.57608329004e-05,1793192784091763712
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.9121782,671.0878218,659,632.9121782,877.0878218,783.9121782,799.0878218,649,628.0878218,650.0878218,0.403159785781,-0.00550694805051,0.0799349145556,0.999999993959,-2.80206773028e-05,-0.000102890357812,-2.66659470724e-05,1793192784108430336
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.332985389,671.667014611,659,632.332985389,877.667014611,783.332985389,799.667014611,649,628.667014611,650.667014611,0.403455269213,-0.00550265196784,0.0799352011574,0.999999994527,-1.23540539467e-05,-0.00010103857965,-2.41757940892e-05,1793192784125097216
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.244167814,711.244167814,671.755832186,659,632.244167814,877.755832186,783,799.755832186,649,629,651,0.4037712815,-0.00550203957611,0.0799362049803,0.999999994783,1.27356651686e-06,-9.92938191325e-05,-2.394738491e-05,1793192784141764352
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.818562498,711.818562498,671.181437502,659,632.818562498,877.181437502,783,799.181437502,649,629,651,0.404115058197,-0.00550640922424,0.0799381788148,0.999999994796,1.21435189699e-05,-9.76937956818e-05,-2.67778908216e-05,1793192784158430720
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,712,671.401312879,659,633,877,783,799.401312879,648.598687121,629,651,0.404491209999,-0.00550764325398,0.0799400881797,0.999999995344,1.17795428911e-05,-9.12863400274e-05,-2.89776842062e-05,1793192784175097088
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,712,671.987921264,659,633,877,783,799.987921264,648.012078736,629,651,0.404882310132,-0.00550742949553,0.0799419677774,0.999999996087,6.22859995927e-06,-8.26591809521e-05,-3.08862628418e-05,1793192784191763456
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.431079868,712,671.431079868,659.568920132,632.431079868,877,783,799.431079868,648.568920132,629,650.431079868,0.405314598325,-0.0055080411164,0.0799400525095,0.999999996129,2.13654357687e-06,-8.15358544293e-05,-3.29932466904e-05,1793192784208430080
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671.148773842,659.851226158,632,877,783,799,649,628.851226158,650.148773842,0.405753922318,-0.00550866931072,0.0799359243845,0.999999995671,-1.44223846932e-06,-8.60400710544e-05,-3.53916188802e-05,1793192784225096960
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671.725671427,659.274328573,632,877,783,799,649,628.274328573,650.725671427,0.406211001171,-0.00550929526304,0.0799256579493,0.9999999936,-3.63224160859e-06,-0.000106284586892,-3.86165101315e-05,1793192784241763584
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.300306681,711.699693319,672,659.300306681,632.300306681,877,783,799,649,628.300306681,651,0.406691304821,-0.00550916875301,0.0799194880888,0.999999992117,-7.29174923388e-06,-0.000118510642838,-4.08482700371e-05,1793192784258430464
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.872890823,711.127109177,672,659.872890823,632.872890823,877,783,799,649,628.872890823,651,0.407192665628,-0.00550836001203,0.0799170324468,0.999999991413,-1.2283604933e-05,-0.000123466646711,-4.2179593202e-05,1793192784275097344
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.460556996,742.539443004,711,671.539443004,659.539443004,633,877,783,799,649,628.539443004,651,0.407724902158,-0.00550982567679,0.0799135167947,0.999999990242,-1.39276671332e-05,-0.000131938140677,-4.37522930604e-05,1793192784291764224
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.94847872,742.05152128,711.05152128,671,659.05152128,632.94847872,877.05152128,783,799.05152128,649,628.05152128,650.94847872,0.408270935992,-0.00551190592726,0.0799097752324,0.999999988902,-1.5205976754e-05,-0.000141075081037,-4.54257221029e-05,1793192784308430592
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.367838428,742.632161572,711.632161572,671,659.632161572,632.367838428,877.632161572,783,799.632161572,649,628.632161572,650.367838428,0.40886819045,-0.00551363310278,0.0799068197973,0.999999987854,-2.25382653907e-05,-0.000146744467789,-4.74263125927e-05,1793192784325097216
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,712,671.421343082,660,632,877.789328459,783,799.789328459,649,629,650.210671541,0.409494843127,-0.00551599111876,0.0799181736015,0.99999999011,-2.89863522779e-05,-0.000128606766314,-4.89854330775e-05,1793192784341763840
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712,672.570998214,660,632,877.214500893,783,799.214500893,649,629,650.785499107,0.410172312023,-0.00551943957312,0.0799542616234,0.999999995784,-3.39060528463e-05,-6.93173518932e-05,-4.97814509116e-05,1793192784358430208
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,711.63980125,672.63980125,659.63980125,632.36019875,877,783,799,648.63980125,629,651,0.410853485999,-0.00552420547257,0.0799752668507,0.999999997123,-4.25886465896e-05,-3.67350709302e-05,-5.0890627939e-05,1793192784375097088
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,711.065177781,672.065177781,659.065177781,632.934822219,877,783,799,648.065177781,629,651,0.411536865568,-0.00552975564111,0.0799872933557,0.999999997006,-5.351127383e-05,-2.00514303536e-05,-5.21862272742e-05,1793192784391763968
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.476530166,742.476530166,711.523469834,671.476530166,659.523469834,632.476530166,877,783,799,648,629,650.476530166,0.412211699172,-0.00552894551595,0.0799604827446,0.999999994857,-5.85112312117e-05,-6.13187612898e-05,-5.57046521572e-05,1793192784408430848
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,712,671.111666524,660,632,877.111666524,783,799,648.111666524,629,650.111666524,0.412896771058,-0.00552802936278,0.0799304703339,0.999999990755,-6.27213599797e-05,-0.000104991137095,-5.94319193908e-05,1793192784425097472
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,712,671.690470827,660,632,877.690470827,783,799,648.690470827,629,650.690470827,0.41362924673,-0.00553007374852,0.0799078497391,0.99999998764,-6.67972434039e-05,-0.000127708692715,-6.28431652475e-05,1793192784441764096
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.267159519,712,672,660,632,877.732840481,783,798.732840481,648.732840481,628.732840481,650.732840481,0.414384258352,-0.00553225599159,0.0799067432029,0.999999987958,-7.1077260174e-05,-0.000121825210253,-6.47347199459e-05,1793192784458430720
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742.841416412,712,672,660,632,877.158583588,783,798.158583588,648.158583588,628.158583588,650.158583588,0.415165174934,-0.00553459670062,0.0799303668733,0.999999991588,-7.55919268e-05,-8.3065104286e-05,-6.48794042385e-05,1793192784475097088
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.426057533,743,711.573942467,672,660,632.426057533,877,783,798.426057533,648.426057533,628,650,0.415947241354,-0.0055377558404,0.0799384861536,0.999999991633,-7.91431802709e-05,-7.98956602923e-05,-6.39250350635e-05,1793192784491763456
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.985497398,711.014502602,672,660,633,877.014502602,783.014502602,799.014502602,649,628,650,0.416730966279,-0.00554125442869,0.0799406209699,0.999999990627,-8.23666943769e-05,-8.96748470062e-05,-6.26034404325e-05,1793192784508430336
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.403226322,711.596773678,672,660,633,877.596773678,783.596773678,799.596773678,649,628,650,0.417562448715,-0.00554581823648,0.0799400395345,0.9999999914,-8.71488531507e-05,-7.48068243166e-05,-6.33205323666e-05,1793192784525096960
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.824846919,742,712,672.175153081,660.175153081,633,878,783.824846919,799.824846919,649,628,650,0.418405661007,-0.00554962413873,0.0799478356913,0.999999992563,-9.16014994015e-05,-4.93727965292e-05,-6.36068346993e-05,1793192784541763584
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.255231979,742,712,672.744768021,660.744768021,633,878,783.255231979,799.255231979,649,628,650,0.419275290031,-0.00555172316339,0.0799744990047,0.999999993478,-9.53120508516e-05,-1.43093253248e-07,-6.29229566247e-05,1793192784558430464
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.317577545,742.317577545,712,673,660.682422455,633,878,783.317577545,799,649,628.317577545,650,0.420112410753,-0.00554586943618,0.0799734216844,0.999999994104,-8.94081718715e-05,1.08259026609e-06,-6.16233426013e-05,1793192784575097088
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.892980564,742.892980564,712,673,660.107019436,633,878,783.892980564,799,649,628.892980564,650,0.420923139553,-0.00553355926364,0.0799498231165,0.999999994673,-7.56988129814e-05,-3.66638140466e-05,-5.98238431111e-05,1793192784591763712
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.513958129,743,712,673,660,632.513958129,877.513958129,783.513958129,799.486041871,649,628.513958129,650.486041871,0.421802385586,-0.0055295198524,0.0799539228435,0.999999995619,-6.62874420288e-05,-3.30508914301e-05,-5.72411193125e-05,1793192784608430336
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.079882021,743,712,673,660,632.079882021,877.079882021,783.079882021,799.920117979,649,628,650.920117979,0.422695887545,-0.00552972519276,0.0799669024575,0.999999996451,-6.19562653531e-05,-1.62552147511e-05,-5.47275926895e-05,1793192784625096704
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.6535943,743,712,673,660,632.6535943,877.6535943,783.6535943,799.3464057,649,628,650.3464057,0.423580738294,-0.00554448908522,0.0799956535359,0.999999994836,-8.29599037852e-05,2.36159674073e-05,-5.3748151214e-05,1793192784641763328
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.227844883,633,878,783.772155117,799.227844883,648.772155117,628.227844883,650,0.424429900237,-0.00555191462624,0.0799947715832,0.999999994033,-9.45063333716e-05,1.04540610396e-05,-5.37894997834e-05,1793192784658429952
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660.802915907,633,878,783.197084093,799.802915907,648.197084093,628.802915907,650,0.425224674057,-0.00554815682663,0.079948730126,0.999999990779,-9.1640372207e-05,-8.35280641121e-05,-5.53864896471e-05,1793192784675096576
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.609729413,743,712,673,661,633,878,783,799.609729413,648,628.609729413,650.390270587,0.426065560846,-0.00555104928447,0.0799181565622,0.999999986463,-9.57846971007e-05,-0.000120348531025,-5.84361264107e-05,1793192784691763456
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.015970015,743,712,673,661,633,878,783,799.015970015,648,628.015970015,650.984029985,0.426930491094,-0.00555740921622,0.0798956480292,0.999999984587,-0.00010358421662,-0.000127364651016,-6.22431797701e-05,1793192784708430336
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660.436947259,633,878,783.563052741,799,648.563052741,628.563052741,650.436947259,0.427807037709,-0.00556746049883,0.0798994845452,0.999999982963,-0.000113662280489,-0.000132435915644,-6.0126553599e-05,1793192784725097216
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.859280969,712,673,660.140719031,632.859280969,877.859280969,783.859280969,799,649,629,650,0.428680169752,-0.00557451401464,0.0799086360464,0.999999982715,-0.000120914934412,-0.000128614541515,-5.83730248493e-05,1793192784741764096
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.284542168,712,673,660.715457832,632.284542168,877.284542168,783.284542168,799,649,629,650,0.42954177989,-0.00557200683009,0.0799319346534,0.999999986436,-0.000119258929532,-9.75313954802e-05,-5.82443891621e-05,1793192784758430464
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.290480881,742.290480881,712,673,661,632,877,783.290480881,799,649,629,650,0.430413001015,-0.00556541949974,0.0799640328728,0.999999990859,-0.000112292859433,-4.94737543778e-05,-5.67854747069e-05,1793192784775096832
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.865782605,742.865782605,712,673,661,632,877,783.865782605,799,649,629,650,0.431293645806,-0.00555483152561,0.0800047592422,0.999999993413,-0.000100120190854,1.52276310856e-05,-5.40222019044e-05,1793192784791763456
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.546499229,743,711.546499229,673,661,632,877,783.546499229,799,648.546499229,629,650,0.43209591909,-0.00554646116923,0.0800075323726,0.999999994818,-8.53235631787e-05,1.45213898221e-05,-5.36090395513e-05,1793192784808430080
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,711.043951542,673,661,632,877.043951542,783,799,648.043951542,629,650,0.432871473081,-0.00553978175682,0.0799939171325,0.999999995849,-7.21597852964e-05,-1.21936127211e-05,-5.42852064791e-05,1793192784825096704
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,743,711.62170287,673,661,632,877.62170287,783,799,648.62170287,629,650,0.433612149553,-0.00554544363532,0.0799215241334,0.999999987919,-8.85245394932e-05,-0.000113065878077,-5.95062846631e-05,1793192784841763840
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.198345306,743,712,673.198345306,661,632,878,783.198345306,799,649,629,650,0.434367943611,-0.00555222289465,0.0798783405387,0.999999978385,-0.000101460984141,-0.00017029630703,-6.27291306365e-05,1793192784858430720
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.772884648,743,712,673.772884648,661,632,878,783.772884648,799,649,629,650,0.435152410754,-0.00556112144887,0.0798905573038,0.999999981771,-0.000107895088073,-0.000144752935765,-6.21620070534e-05,1793192784875097344
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673.645352278,661,632.354647722,878,783.645352278,799,649,628.645352278,650.354647722,0.435897600131,-0.00556639322933,0.0799116616683,0.999999984771,-0.000112128507281,-0.000119224615732,-6.05791893298e-05,1793192784891763968
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673.058866996,661,632.941133004,878,783.058866996,799,649,628.058866996,650.941133004,0.436617113104,-0.00556929414284,0.0799385759646,0.999999987305,-0.000114923311526,-9.37061363859e-05,-5.83323999305e-05,1793192784908430336
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660.475710649,632.475710649,878.524289351,783,799.524289351,649,628.524289351,650.475710649,0.437308136494,-0.00557423841258,0.0799274951555,0.99999998389,-0.000121082760458,-0.000118947435865,-5.83917813224e-05,1793192784925096960
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.89427921,743,712,673,660,632,879,783,799.89427921,649,628.89427921,650,0.437988164447,-0.00557892983643,0.0799095081984,0.999999978724,-0.000126333730801,-0.000152014102071,-5.9022500167e-05,1793192784941763328
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.318861107,743,712,673,660,632,879,783,799.318861107,649,628.318861107,650,0.438633463732,-0.00558148504375,0.0798796723175,0.999999971262,-0.00012588068505,-0.000194686290975,-6.1048417895e-05,1793192784958430208
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.2548559,743,712,673,660,632,878.7451441,783,799.2548559,649,628.2548559,650,0.43924465331,-0.00558355107848,0.0798438919067,0.99999995899,-0.000130008739423,-0.000247083329509,-6.37824381947e-05,1793192784975096832
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+246,4.100000000,POSE1_TO_POSE2_PRESS,763.340779106,742,711,673.659220894,656,629.340779106,878,780.659220894,799.340779106,649,628,650,0.447822059689,-0.00558172853046,0.0796036456806,0.999999809778,-0.000132156178917,-0.000599648521528,-5.83095916077e-05,1793192785991763456
+247,4.116666667,POSE1_TO_POSE2_PRESS,763.239012138,742.239012138,711,674,656.239012138,629.239012138,878,781,799.239012138,649,627.760987862,650,0.447822041937,-0.00558273442813,0.0796032790233,0.999999809419,-0.000133374063973,-0.000600000995823,-5.80772045172e-05,1793192786008430080
+248,4.133333333,POSE1_TO_POSE2_PRESS,763.827306045,742.827306045,711,674,656.827306045,629.827306045,878,781,799.827306045,649,627.172693955,650,0.447822158405,-0.00558295244591,0.0796031937174,0.999999809116,-0.000132720438331,-0.000600633387423,-5.82467266754e-05,1793192786025096960
+249,4.150000000,HOLD_POSE2,763,743,711,674,656,629,878,781,800,649,628,650,0.447822277696,-0.00558387551159,0.0796028953095,0.999999808954,-0.000134932625895,-0.000600472645913,-5.76052116092e-05,1793192786058752512
+250,4.166666667,HOLD_POSE2,763.577556163,743,711,674,656,629,878,781,799.422443837,649,628,650,0.447822076556,-0.00558256500045,0.0796034926865,0.999999809245,-0.000133164309397,-0.000600365951233,-5.7774297461e-05,1793192786075418880
+251,4.183333333,HOLD_POSE2,763.845854554,743,711,674,656,629,878,781,799.154145446,649,628,650,0.447821682436,-0.00558221678026,0.0796034266082,0.999999809127,-0.000132330712034,-0.000600738287684,-5.78555786637e-05,1793192786092085504
+252,4.200000000,HOLD_POSE2,763.271898412,743,711,674,656,629,878,781,799.728101588,649,628,650,0.44782076274,-0.00558448933159,0.0796015536291,0.9999998079,-0.000134042794994,-0.00060241525164,-5.76977264652e-05,1793192786108752128
+253,4.216666667,HOLD_POSE2,763.310416965,743,711,674,656,629,878,781,800,649,628,650.310416965,0.447821477557,-0.00558501531292,0.079601666743,0.999999808003,-0.000135056413711,-0.000602009343632,-5.77753358492e-05,1793192786125419008
+254,4.233333333,HOLD_POSE2,763.900256906,743,711,674,656,629,878,781,800,649,628,650.900256906,0.447823663687,-0.0055839691127,0.079603567646,0.999999809305,-0.000135441307164,-0.00059972853065,-5.80648968537e-05,1793192786142085632
+255,4.250000000,HOLD_POSE2,763.518562911,743,711,674,656,629,878,781.481437089,800,649,628,651,0.447822987267,-0.00558210999343,0.0796027447372,0.999999808996,-0.000133449265028,-0.000600701087531,-5.79366544508e-05,1793192786158752256
+256,4.266666667,HOLD_POSE2,763.06031351,743,711,674,656,629,878,781.93968649,800,649,627.93968649,650.93968649,0.447822069762,-0.00558023909654,0.0796017613275,0.999999808598,-0.000131151992834,-0.000601885268318,-5.77694574314e-05,1793192786175418880
+257,4.283333333,HOLD_POSE2,763.634576918,743,711,674,656,629,878,781.365423082,800,649,627.365423082,650.365423082,0.447824062222,-0.00557967762881,0.0796041339611,0.999999810281,-0.000130375918611,-0.000599230664367,-5.79948840781e-05,1793192786192085504
+258,4.300000000,HOLD_POSE2,764,743,711,674,656,629,878,780.786163784,799.786163784,649,627,650,0.447824686085,-0.00557973109463,0.0796049263486,0.99999981086,-0.000130225226929,-0.000598287333978,-5.8086597859e-05,1793192786208752128
+259,4.316666667,HOLD_POSE2,764,743,711,674,656,629,878,780.198162876,799.198162876,649,627,650,0.447822915213,-0.00558086055422,0.0796029536652,0.999999809516,-0.000131168812386,-0.000600338342984,-5.79443445453e-05,1793192786225418496
+260,4.333333333,HOLD_POSE2,763.616035217,743,711,674,656,629,878,780.383964783,799.383964783,649,627.383964783,650.383964783,0.447823288262,-0.00558135217753,0.0796030298274,0.999999809481,-0.00013180963628,-0.000600240916731,-5.80868922714e-05,1793192786242085120
+261,4.350000000,HOLD_POSE2,763.036893003,743,711,674,656,629,878,780.963106997,799.963106997,649,627.963106997,650.963106997,0.447824751111,-0.00558151957524,0.0796041474611,0.999999810114,-0.000132296560144,-0.000599051395512,-5.83742103858e-05,1793192786258752000
+262,4.366666667,HOLD_POSE2,763.541659334,743,710.458340666,674,656,629,878,781,799.458340666,649,628,650.458340666,0.447823515913,-0.00558223015118,0.0796027457258,0.999999809064,-0.000132891598485,-0.000600710321574,-5.7948743587e-05,1793192786275418624
+263,4.383333333,HOLD_POSE2,764,743,710.119232826,674,656.119232826,629,878,781,799.119232826,649.119232826,628,650,0.447822737395,-0.00558259836859,0.0796018234705,0.999999808519,-0.000132904499059,-0.000601652870022,-5.75484679205e-05,1793192786292085504
+264,4.400000000,HOLD_POSE2,764,743,710.693226189,674,656.693226189,629,878,781,799.693226189,649.693226189,628,650,0.447824400818,-0.005581519859,0.0796033837464,0.999999810339,-0.000130669039086,-0.000599123952547,-5.74292378828e-05,1793192786308752128
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878,781,800,649,628,651,0.447824695543,-0.00557902212605,0.0796035373703,0.999999810654,-0.000127195946397,-0.000599284992774,-5.80552844615e-05,1793192786345943040
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878,780.42069584,800,649.57930416,628,650.42069584,0.447825313576,-0.00558142106228,0.0796037840146,0.999999810189,-0.000129661376567,-0.000599590889484,-5.74592000582e-05,1793192786362609664
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.842347864,656,629.157652136,878,780.157652136,799.842347864,649.842347864,628,650.157652136,0.447825384657,-0.0055822759216,0.0796036589517,0.99999980966,-0.000130834279384,-0.000600227275915,-5.73461123177e-05,1793192786379276544
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.266535964,656,629.733464036,878,780.733464036,799.266535964,649.266535964,628,650.733464036,0.447824004994,-0.00557903524012,0.0796025479655,0.999999808976,-0.000128578856633,-0.00060174026015,-5.85141347199e-05,1793192786395943168
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.307258186,656,629.692741814,878,780.692741814,799,648.692741814,628,650.692741814,0.44782368879,-0.00557700727053,0.0796019929937,0.999999809084,-0.00012638952226,-0.000601973269671,-5.90464427353e-05,1793192786412609792
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.879313394,656,629.120686606,878,780.120686606,799,648.120686606,628,650.120686606,0.447824289082,-0.0055760244238,0.0796019171989,0.999999809875,-0.000124257143399,-0.000601103188913,-5.90308880581e-05,1793192786429276416
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,877.531292977,780.468707023,799.468707023,648.468707023,628,650,0.447824647116,-0.00555450436514,0.0796024089872,0.999999812405,-0.000102767744506,-0.000600514223179,-6.33406427174e-05,1793192786445943040
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,877.061049462,780.938950538,799.938950538,649,628,650,0.447824402843,-0.00552970634857,0.0796027478689,0.999999814385,-7.81391828734e-05,-0.000600383469576,-6.82891307376e-05,1793192786462609664
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,877.639104316,780.360895684,799.360895684,649,628,650,0.447819606397,-0.0055236516704,0.0796005066429,0.999999813022,-7.0757013918e-05,-0.000603496609712,-6.88528612473e-05,1793192786479276288
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878,780,799,648.783724826,628,650,0.447806001728,-0.00552232095768,0.0795933987349,0.999999806668,-6.9195391111e-05,-0.000614113398012,-6.88518291041e-05,1793192786495943168
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878,780,799,648.208023135,628,650,0.447777758723,-0.00552884097764,0.0795782029154,0.999999791694,-7.73069025072e-05,-0.000637200457236,-6.79122209491e-05,1793192786512609792
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629.375359628,878,780.375359628,799,648.375359628,628,650,0.447732541671,-0.00552611558763,0.0795588081173,0.999999770263,-7.57687624564e-05,-0.000670078507505,-6.87571075378e-05,1793192786529276416
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629.963088201,878,780.963088201,799,648.963088201,628,650,0.447677721132,-0.00551815938008,0.0795370376422,0.999999744159,-6.87710953628e-05,-0.000708496053338,-7.06116157753e-05,1793192786545943040
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.457387312,711,674,656,629.457387312,878,781,799.542612688,649,628,650,0.447610912782,-0.00551969133582,0.0795240875623,0.999999730801,-7.03323135254e-05,-0.000727119059048,-6.89082880666e-05,1793192786562609664
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.12120105,711,674,656,629,878,780.87879895,800,649,628,650,0.447540766849,-0.00552077090589,0.0795137556023,0.999999720336,-7.12360786367e-05,-0.000741461371718,-6.69885238031e-05,1793192786579276288
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.69833622,711,674,656,629,878,780.30166378,800,649,628,650,0.447461087568,-0.00551775683128,0.0795110489587,0.999999718317,-6.75090372922e-05,-0.000744690562704,-6.51514590174e-05,1793192786595943168
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878,780.27424658,800,649,628,650.27424658,0.447370174605,-0.00551357806531,0.0795109409368,0.999999718459,-6.23689202774e-05,-0.000745167258593,-6.25906457988e-05,1793192786612609792
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878,780.848815637,800,649,628,650.848815637,0.447266959843,-0.00550812386703,0.0795136786188,0.999999720946,-5.56813698303e-05,-0.000742629746582,-5.92372688466e-05,1793192786629276416
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,656.434491251,629,878.434491251,781,799.565508749,649,628,650.565508749,0.447142096153,-0.00551007959581,0.0795154764435,0.999999723826,-5.71409876669e-05,-0.000739007987887,-5.43159702256e-05,1793192786645943040
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,710.976251623,674,656.976251623,629,878.976251623,781,799.023748377,649,628,650,0.447007807083,-0.00551416593531,0.0795167816165,0.999999726559,-6.07700428642e-05,-0.000735392560106,-4.88636884012e-05,1793192786662609920
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,710.396003677,674,656.396003677,629,878.396003677,781,799.603996323,649,628,650,0.446833801801,-0.0055061756746,0.0795144067843,0.999999723382,-4.70633646726e-05,-0.000740998062644,-4.40885815618e-05,1793192786679276544
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,710,674,656,629,878,781,800,649,628,650.181769034,0.446649882277,-0.00549984286038,0.0795135073495,0.999999721145,-3.55984164946e-05,-0.00074495216494,-3.85922544118e-05,1793192786695942912
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,710,674,656,629,878,781,800,649,628,650.754221548,0.446444653698,-0.00549707246346,0.0795157790457,0.999999721305,-2.89517103842e-05,-0.000745356845979,-3.1545780137e-05,1793192786712609792
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,710.327743877,673.672256123,656,629,878,781,799.672256123,649,628,650.672256123,0.446212742881,-0.00549443304991,0.0795196928117,0.99999972208,-2.03374031746e-05,-0.000744917809809,-2.28762393609e-05,1793192786729276416
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,710.902071159,673.097928841,656,629,878,781,799.097928841,649,628,650.097928841,0.445960757227,-0.00549189218352,0.0795248420157,0.999999723211,-1.0242738766e-05,-0.00074384398932,-1.29855575183e-05,1793192786745943040
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.916228254,711,673.916228254,656.083771746,630,878,781,799.083771746,649,628,650,0.445374466071,-0.00548171861392,0.0795342408663,0.999999728162,2.57275559362e-05,-0.000736876817642,5.23915419966e-06,1793192786779276544
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.3396238,711,673.3396238,656.6603762,630,878,781,799.6603762,649,628,650,0.445039977466,-0.00547709721311,0.0795448798573,0.999999736173,7.30908846749e-05,-0.000722607293419,1.22470323217e-05,1793192786795943168
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.236070263,742.236070263,711,673.236070263,656.763929737,630,878,781,800,649,628,650,0.444688952873,-0.00547174368083,0.0795541533349,0.999999742901,9.10446125257e-05,-0.000711121027009,1.46590610699e-05,1793192786812609792
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.810459582,742.810459582,711,673.810459582,656.189540418,630,878,781,800,649,628,650,0.444314230101,-0.00546534091026,0.0795614698557,0.999999750167,6.68505962764e-05,-0.00070362352967,1.04846460468e-05,1793192786829276672
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742.547842131,711,671.452157869,659.452157869,632.547842131,877,783,800,648.547842131,629,650.547842131,0.401882419796,-0.0054422786489,0.07984228365,0.999999951582,0.00013926893377,-0.000276068942257,3.50047660892e-05,1793192787912610816
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742.719392228,711.280607772,671.719392228,659,632.280607772,877,783,800.438784456,649,629,650.280607772,0.401474863776,-0.00544233571127,0.07983968056,0.999999952068,0.000127687334494,-0.000279795146903,3.57117385624e-05,1793192787962610176
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.362794797,633,877,783.362794797,799,649,628.637205203,651,0.400959752206,-0.00548776617016,0.0798323295824,0.999999951227,0.000108357032431,-0.000290823535848,3.50092494178e-05,1793192788395943424
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.955484213,633,877,783.955484213,799,649,628.044515787,651,0.400959262745,-0.00549079817824,0.0798321262249,0.999999951363,0.000106321384267,-0.000291035401443,3.56037434393e-05,1793192788412609792
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.465127386,633,877,784,799,649,628,651,0.400959963368,-0.00548970748779,0.0798325612571,0.999999951695,0.000106957618123,-0.000289700885805,3.52745763034e-05,1793192788429276416
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711.887447212,672,659,633,877.112552788,784,799,649,628.112552788,651,0.400960757251,-0.00548831864332,0.0798330908973,0.999999951988,0.000108155792544,-0.000288284360073,3.49094380094e-05,1793192788445943296
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.312348368,672,659,633,877.687651632,784,799,649,628.687651632,651,0.400961537226,-0.00548708037404,0.0798337962883,0.999999952065,0.000110771627349,-0.000287046879784,3.47047260401e-05,1793192788462609920
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.26876596,711.26876596,672,659,633,877.73123404,784,799,649,628.73123404,651,0.400961286892,-0.00548718155477,0.0798338511598,0.999999952074,0.000110720098162,-0.000287047238377,3.46003693769e-05,1793192788479276544
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.857031357,711.857031357,672,659,633,877.142968643,784,799,649,628.142968643,651,0.40095981176,-0.005488875026,0.079833132717,0.999999952001,0.000107497701642,-0.000288519095752,3.46153115138e-05,1793192788495943680
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742.56127469,712,672,659,632.56127469,877,783.56127469,799,649,628.43872531,650.56127469,0.400958619257,-0.00548839677377,0.0798323474786,0.999999951511,0.000108597657546,-0.000289820625962,3.44733373287e-05,1793192788512610560
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742.018199361,712,671.981800639,659,632,877.018199361,783,799,649,629,650.018199361,0.400957603666,-0.00548732163755,0.0798316152457,0.999999950936,0.000110891176042,-0.000290953410196,3.43032899555e-05,1793192788529277440
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742.594300998,712,671.405699002,659,632,877.594300998,783,799,649,629,650.594300998,0.400959229587,-0.00548932358153,0.0798331653095,0.999999952003,0.000107231855381,-0.000288589679217,3.4817062923e-05,1793192788545943552
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742.831103622,712,671.168896378,659,632,878,783.168896378,799,649,629,651,0.400960265868,-0.0054907372724,0.0798339494904,0.999999952617,0.00010496742391,-0.000287253325528,3.51306484069e-05,1793192788562609664
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.323742341,878,783.676257659,799,649,629,651,0.40096030868,-0.00548942635653,0.0798331247388,0.999999952146,0.000107703827163,-0.000287914940803,3.48217495436e-05,1793192788595942912
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.501663685,878,783.498336315,799.498336315,649,628.501663685,650.501663685,0.400962481412,-0.00548717810163,0.0798351444651,0.999999952818,0.00011080977991,-0.000284384743128,3.48006569312e-05,1793192788629276416
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ae86a51f1b0c192ea1724ab9c0594652f277ba0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,404 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
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+373,6.216666667,pose2_to_pose3_retreat,0.575722505721,5.45381803305e-05,1.07002914235,0.546293236533,0.0087272695766,1.0696984324
+374,6.233333333,pose2_to_pose3_retreat,0.575718419047,5.4560381538e-05,1.07002916756,0.546289149406,0.00872729000847,1.06969845159
+375,6.250000000,pose2_to_pose3_retreat,0.575716345432,5.45957974148e-05,1.07002913457,0.546287075014,0.00872732270275,1.06969841636
+376,6.266666667,pose2_to_pose3_retreat,0.57571519982,5.4619015424e-05,1.07002910942,0.546285928891,0.00872734414139,1.0696983901
+377,6.283333333,pose2_to_pose3_retreat,0.575714547352,5.463223894e-05,1.07002909509,0.546285276131,0.00872735635149,1.06969837514
+378,6.300000000,pose2_to_pose3_retreat,0.575713925245,5.46448471217e-05,1.07002908144,0.546284653746,0.00872736799341,1.06969836088
+379,6.316666667,pose2_to_pose3_retreat,0.575713481077,5.46538490305e-05,1.07002907169,0.54628420938,0.00872737630543,1.0696983507
+380,6.333333333,pose2_to_pose3_retreat,0.575713290599,5.46577094343e-05,1.0700290675,0.546284018817,0.00872737986998,1.06969834633
+381,6.350000000,pose2_to_pose3_retreat,0.575713164926,5.46584575459e-05,1.0700290818,0.54628389323,0.00872738090882,1.06969836059
+382,6.366666667,pose2_to_pose3_retreat,0.57571300024,5.46589185748e-05,1.07002910545,0.546283728697,0.00872738189112,1.06969838422
+383,6.383333333,pose2_to_pose3_retreat,0.575712981255,5.46589717225e-05,1.07002910818,0.54628370973,0.00872738200436,1.06969838694
+384,6.400000000,pose2_to_pose3_retreat,0.575712949832,5.46590596884e-05,1.0700291127,0.546283678337,0.00872738219178,1.06969839145
+385,6.416666667,pose2_to_pose3_retreat,0.575712711976,5.46597255495e-05,1.07002914686,0.546283440703,0.0087273836105,1.06969842558
+386,6.433333333,pose2_to_pose3_retreat,0.575712552459,5.4660172107e-05,1.07002916977,0.546283281335,0.00872738456196,1.06969844847
+387,6.450000000,pose2_to_pose3_retreat,0.57571252526,5.46602482482e-05,1.07002917368,0.546283254161,0.00872738472419,1.06969845237
+388,6.466666667,pose2_to_pose3_retreat,0.575712370833,5.46606805561e-05,1.07002919586,0.546283099879,0.00872738564529,1.06969847453
+389,6.483333333,pose2_to_pose3_retreat,0.575712247351,5.46610262357e-05,1.0700292136,0.546282976512,0.00872738638181,1.06969849224
+390,6.500000000,pose2_to_pose3_retreat,0.575712086711,5.46614759359e-05,1.07002923668,0.546282816022,0.00872738733997,1.06969851529
+391,6.516666667,pose2_to_pose3_retreat,0.57571185423,5.46621267489e-05,1.07002927007,0.546282583759,0.00872738872663,1.06969854865
+392,6.533333333,pose2_to_pose3_retreat,0.575711771063,5.46623595692e-05,1.07002928202,0.54628250067,0.00872738922269,1.06969856058
+393,6.550000000,pose2_to_pose3_retreat,0.575711567452,5.46629295652e-05,1.07002931126,0.546282297248,0.00872739043715,1.0696985898
+394,6.566666667,pose2_to_pose3_retreat,0.575711089734,5.46642669032e-05,1.07002937988,0.546281819977,0.00872739328656,1.06969865834
+395,6.583333333,pose2_to_pose3_retreat,0.575710745159,5.46633390698e-05,1.0700294247,0.546281475707,0.00872739339668,1.06969870322
+396,6.600000000,pose2_to_pose3_retreat,0.575710626939,5.46498618542e-05,1.07002940751,0.546281357474,0.00872737990922,1.06969868695
+397,6.616666667,pose2_to_pose3_retreat,0.575710616917,5.4648719301e-05,1.07002940606,0.54628134745,0.0087273787658,1.06969868557
+398,6.633333333,pose2_to_pose3_retreat,0.575710421306,5.46264194158e-05,1.07002937762,0.546281151817,0.00872735644897,1.06969865864
+399,6.650000000,pose2_to_pose3_retreat,0.575709985242,5.45767076109e-05,1.07002931424,0.546280715704,0.00872730669939,1.06969859861
+400,6.666666667,pose2_to_pose3_retreat,0.575709615956,5.45934751754e-05,1.07002916691,0.546280345637,0.00872732093153,1.06969845432
+401,6.683333333,pose2_to_pose3_retreat,0.575709372776,5.46744509032e-05,1.07002895864,0.546280101064,0.00872739726355,1.06969824827
+402,6.700000000,pose2_to_pose3_retreat,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684824,1.06969858496
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..86802f02f4c5ede3852be9339185bce8049651cd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9d57373bcc4434cb9e11f63e718af36b9138fc145d5e5dcc1ed540d64033cd2
+size 24711213
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f6e6d6cf5739a8ab5b5d95cdc2a92eb1947d90f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/franka_data.csv
@@ -0,0 +1,391 @@
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+40,0.666666667,BASELINE,764,742,712,671,659.772088687,633,877,783,800,649,629,650.227911313,0.400919305153,-0.0154306922812,0.0599181550999,0.999999975364,-1.61339387442e-05,-0.000216375441351,-4.68370512181e-05,1793192791005242112
+41,0.683333333,BASELINE,764,742,712,671,659.197026468,633,877,783,800,649,629,650.802973532,0.400919798694,-0.0154310201524,0.0599189590045,0.999999975572,-1.59472983195e-05,-0.000215472341254,-4.66273870558e-05,1793192791021908736
+42,0.700000000,BASELINE,764,742,712,671,659,633,877,783,800,649,629,651,0.40091970203,-0.0154310696725,0.059918967514,0.999999975488,-1.7561898754e-05,-0.000215723601821,-4.66841557892e-05,1793192791038575616
+43,0.716666667,BASELINE,764,742,712,671,659,633,877,783,800,649,629,651,0.40091929776,-0.0154309741202,0.0599185614756,0.999999975246,-2.0115278375e-05,-0.000216576497535,-4.68797852785e-05,1793192791055242240
+44,0.733333333,BASELINE,764,742,712,671,659,633,876.456183158,783,800,649,629,650.456183158,0.400921138936,-0.0154298766828,0.0599195432401,0.999999975629,-1.61951887905e-05,-0.000215177101839,-4.66787080187e-05,1793192791071908864
+45,0.750000000,BASELINE,764,742,712,671,659,633,876,783,800,649,629,650.133625172,0.40092232787,-0.0154291819311,0.0599201004768,0.999999975861,-1.35476074303e-05,-0.000214296194563,-4.66069376709e-05,1793192791088575488
+46,0.766666667,BASELINE,764,742,712,671,659,633,876,783,800,649,629,650.710253805,0.400920670454,-0.0154301273788,0.0599188275466,0.999999975456,-1.70906384361e-05,-0.000215820294017,-4.70846967229e-05,1793192791105242112
+47,0.783333333,BASELINE,764,742.285493499,711.714506501,671,659,633,876,783,800,649,629,651,0.400920443127,-0.0154303658628,0.0599186977332,0.999999975452,-1.80145608953e-05,-0.000215763833826,-4.70796190417e-05,1793192791121908736
+48,0.800000000,BASELINE,764,742.85933046,711.14066954,671,659,633,876,783,800,649,629,651,0.400921660166,-0.0154298903259,0.0599197224476,0.99999997586,-1.62932297791e-05,-0.000214111036113,-4.65868847301e-05,1793192791138575616
+49,0.816666667,BASELINE,764,742.554107152,711.445892848,671,659.445892848,633,876.891785696,783.445892848,799.554107152,649,629,650.554107152,0.400920928473,-0.0154308113211,0.0599190439754,0.99999997565,-1.71297685726e-05,-0.00021503578549,-4.65355358115e-05,1793192791155242240
+50,0.833333333,BASELINE,764,742,712,671,659.964123981,633,877.964123981,783.964123981,799,649,629,650,0.400919700221,-0.0154320169757,0.059917954895,0.999999975284,-1.84794785126e-05,-0.000216603403317,-4.66169659119e-05,1793192791171908864
+51,0.850000000,BASELINE,764,742,712,671,659.384919475,633,877.384919475,783.384919475,799,649,629,650,0.400920535934,-0.0154306653223,0.0599190238492,0.999999975642,-1.50209599407e-05,-0.000215230232942,-4.65384799016e-05,1793192791188575488
+52,0.866666667,BASELINE,764.192892516,742,712,670.807107484,659,633,876.807107484,783,799,649,628.807107484,650.192892516,0.400921034107,-0.0154302775636,0.059919731072,0.999999975841,-1.37967821291e-05,-0.000214384173444,-4.65575564166e-05,1793192791205242112
+53,0.883333333,BASELINE,764.767945608,742,712,670.232054392,659,633,876.232054392,783,799,649,628.232054392,650.767945608,0.400920863543,-0.0154317994829,0.0599197216287,0.999999975739,-1.69993027143e-05,-0.000214582431354,-4.67699247844e-05,1793192791221908736
+54,0.900000000,BASELINE,764.657161738,742,711.657161738,670.342838262,659,633,876,783,799.342838262,649,628.342838262,650.657161738,0.400920310219,-0.0154321702008,0.0599195864575,0.999999975566,-1.74590828646e-05,-0.000215355742445,-4.67478167378e-05,1793192791238575616
+55,0.916666667,BASELINE,764.082377651,742,711.082377651,670.917622349,659,633,876,783,799.917622349,649,628.917622349,650.082377651,0.400919497942,-0.0154317620781,0.0599193662257,0.999999975347,-1.60632730495e-05,-0.000216518103407,-4.65670746221e-05,1793192791255242240
+56,0.933333333,BASELINE,764,742,711.506642106,671,659,633,876,783,799.493357894,649,629,650,0.400920850779,-0.0154324865306,0.0599198481504,0.99999997568,-1.77631949221e-05,-0.000214905458828,-4.62543183786e-05,1793192791271908864
+57,0.950000000,BASELINE,764.095962251,742,712,671,659,633,876.095962251,783,799,649,629,650,0.40092212686,-0.0154333398233,0.0599202807903,0.999999975998,-1.95626473565e-05,-0.000213328330402,-4.59578445226e-05,1793192791288575232
+58,0.966666667,BASELINE,764.674809613,742,712,671,659,633,876.674809613,783,799,649,629,650,0.400921194024,-0.0154338879976,0.0599198743252,0.999999975808,-1.92568321279e-05,-0.000214266029175,-4.58544389287e-05,1793192791305241856
+59,0.983333333,BASELINE,764.748649476,742,712,671,659,633,877,783,799.251350524,649,629,650,0.400920696879,-0.0154331712346,0.0599196312976,0.999999975676,-1.92056019044e-05,-0.000214806367634,-4.62217984647e-05,1793192791321908736
+60,1.000000000,BASELINE,764.175065377,742,712,671,659,633,877,783,799.824934623,649,629,650,0.400920758294,-0.015430832811,0.0599195977985,0.999999975619,-1.94807518475e-05,-0.000214837286816,-4.71926830099e-05,1793192791338575616
+61,1.016666667,BASELINE,764.409102454,742.409102454,711.590897546,671,659.409102454,633.409102454,876.590897546,783,799.590897546,649,629,650.409102454,0.400921101238,-0.0154308075849,0.0599195515166,0.999999975675,-1.95629204802e-05,-0.000214628582103,-4.69305737683e-05,1793192791355242240
+62,1.033333333,BASELINE,764.997919579,742.997919579,711.002080421,671,659.997919579,633.997919579,876.002080421,783,799.002080421,649,629,650.997919579,0.400921567856,-0.0154317985239,0.0599194996195,0.999999975779,-1.95603143107e-05,-0.000214314612977,-4.61268224613e-05,1793192791371908864
+63,1.050000000,BASELINE,765,742.422687767,711.577312233,670.422687767,659.422687767,633.422687767,876.577312233,783,799.577312233,649,629,650.422687767,0.400920852945,-0.0154307322883,0.0599194133736,0.999999975736,-1.66330886061e-05,-0.000214733737188,-4.62688321388e-05,1793192791388575488
+64,1.066666667,BASELINE,764.843773061,742.156226939,712,670.312453879,659.156226939,633,876.843773061,783.156226939,799.843773061,649,629,650,0.400920253432,-0.0154302775882,0.0599192909039,0.999999975684,-1.49383589095e-05,-0.000215083439419,-4.63462617054e-05,1793192791405242368
+65,1.083333333,BASELINE,764.266057695,742.733942305,712,671.467884611,659.733942305,633,876.266057695,783.733942305,799.266057695,649,629,650,0.400919976556,-0.0154314924438,0.0599190710333,0.999999975629,-1.65967874603e-05,-0.000215238833509,-4.62404117257e-05,1793192791421908992
+66,1.100000000,BASELINE,764,742.690284266,712,671.690284266,659.690284266,633,876,783.690284266,799,649,629,650,0.40091967509,-0.0154317799204,0.0599188499726,0.999999975529,-1.68671107295e-05,-0.00021566621213,-4.6322342474e-05,1793192791438575616
+67,1.116666667,BASELINE,764,742.116168671,712,671.116168671,659.116168671,633,876,783.116168671,799,649,629,650,0.400919352632,-0.0154312757068,0.0599186278957,0.99999997539,-1.59524284292e-05,-0.00021632578002,-4.65645789307e-05,1793192791455242240
+68,1.133333333,BASELINE,764.470154132,742,712,671,659.470154132,633,876.470154132,783,799,649,629,650.470154132,0.400920074191,-0.0154316832049,0.0599191035037,0.999999975562,-1.71405804452e-05,-0.000215487104289,-4.63381972193e-05,1793192791471908864
+69,1.150000000,BASELINE,765,742.058570824,711.941429176,671,659.941429176,633,877,783,799.058570824,649,629,651,0.400920808354,-0.0154323588561,0.0599195636035,0.999999975736,-1.86974664893e-05,-0.000214613915729,-4.60462501926e-05,1793192791488575488
+70,1.166666667,BASELINE,765,742.638068713,711.361931287,671,659.361931287,633,877,783,799.638068713,649,629,651,0.400919299147,-0.0154333624864,0.0599183116868,0.999999975251,-1.87895342562e-05,-0.000216814045937,-4.62284440648e-05,1793192791505242368
+71,1.183333333,BASELINE,764.784075748,742.784075748,711,670.784075748,659,632.784075748,876.784075748,783,799.784075748,649,628.784075748,650.784075748,0.400918639991,-0.0154336470518,0.0599176539082,0.999999975021,-1.83974286147e-05,-0.000217867313775,-4.63973341656e-05,1793192791521908992
+72,1.200000000,BASELINE,764.208952237,742.208952237,711,670.208952237,659,632.208952237,876.208952237,783,799.208952237,649,628.208952237,650.208952237,0.400919394929,-0.015432735422,0.0599179845037,0.999999975222,-1.71998797439e-05,-0.000217012727193,-4.65440929011e-05,1793192791538575616
+73,1.216666667,BASELINE,764.373620758,742.373620758,711.373620758,670.373620758,659.373620758,632.373620758,876,783,799,649,628.373620758,650,0.400919393957,-0.0154316840655,0.0599180429221,0.99999997527,-1.53893702045e-05,-0.000216896786481,-4.66830616678e-05,1793192791555242240
+74,1.233333333,BASELINE,764.960444697,742.960444697,711.960444697,670.960444697,659.960444697,632.960444697,876,783,799,649,628.960444697,650,0.400918961632,-0.0154305529751,0.0599179460254,0.999999975228,-1.32290804828e-05,-0.000217202347157,-4.68175851531e-05,1793192791571908864
+75,1.250000000,BASELINE,764.459967128,743,711.459967128,671,660,633,876,783,799,649,629,650,0.400920335233,-0.0154329005576,0.0599190225295,0.999999975508,-1.79130891281e-05,-0.000215673263057,-4.63429538249e-05,1793192791588575488
+76,1.266666667,BASELINE,764.118848224,742.881151776,711.118848224,671,659.881151776,633,876.118848224,783.118848224,799,649,629,650.118848224,0.400921171756,-0.015434583474,0.0599196413683,0.999999975659,-2.09559474282e-05,-0.000214774089817,-4.59928232798e-05,1793192791605242112
+77,1.283333333,BASELINE,764.696698653,742.303301347,711.696698653,671,659.303301347,633,876.696698653,783.696698653,799,649,629,650.696698653,0.400919429932,-0.0154327283456,0.0599181651169,0.999999975299,-1.57500040416e-05,-0.000216819814975,-4.62935667428e-05,1793192791621908736
+78,1.300000000,BASELINE,764.728344721,742,711.728344721,671,659,633,876.728344721,783.728344721,799,649,629,650.728344721,0.400919024541,-0.0154318265225,0.0599177622404,0.999999975224,-1.3777938276e-05,-0.000217249442055,-4.65203233227e-05,1793192791638575872
+79,1.316666667,BASELINE,764.156584988,742,711.156584988,671,659,633,876.156584988,783.156584988,799,649,629,650.156584988,0.400920095544,-0.0154319778399,0.0599185451484,0.999999975488,-1.53784192046e-05,-0.000215893724607,-4.66653447038e-05,1793192791655243776
+80,1.333333333,BASELINE,764.429722104,742,711.429722104,671,659.429722104,633,876,783,799,649,629,650.429722104,0.400920822088,-0.0154321948016,0.0599186977398,0.999999975614,-1.62140203793e-05,-0.000215229171141,-4.67431321804e-05,1793192791671909888
+81,1.350000000,BASELINE,764.978831091,742,712,671,659.978831091,633,876,783,799,649,629,650.978831091,0.400921359497,-0.01543240863,0.0599185996437,0.999999975679,-1.66856219462e-05,-0.000214884907679,-4.67782788412e-05,1793192791688575744
+82,1.366666667,BASELINE,764.396579807,742,712,671,659.396579807,633,876,783,799,649,629,650.396579807,0.400920327288,-0.0154318831997,0.0599181580183,0.999999975457,-1.51555146087e-05,-0.000216120727507,-4.63553324427e-05,1793192791705242624
+83,1.383333333,BASELINE,764,742.183275383,711.816724617,671.183275383,659,633,876,783,799,649,629,650,0.400919643248,-0.0154315115419,0.059918048402,0.999999975328,-1.433044021e-05,-0.000216822280732,-4.6118709465e-05,1793192791721909760
+84,1.400000000,BASELINE,764,742.758012811,711.241987189,671.758012811,659,633,876,783,799,649,629,650,0.40091970287,-0.0154314683304,0.0599186479314,0.999999975406,-1.50112613661e-05,-0.00021638268204,-4.62800588278e-05,1793192791738576384
+85,1.416666667,BASELINE,764.340186977,742.659813023,711.340186977,671.659813023,659,633,876.340186977,783,799.340186977,649,629,650,0.40091993516,-0.0154315984072,0.0599188959815,0.999999975494,-1.53742600299e-05,-0.00021594054791,-4.63275298186e-05,1793192791755243008
+86,1.433333333,BASELINE,764.927769353,742.072230647,711.927769353,671.072230647,659,633,876.927769353,783,799.927769353,649,629,650,0.400920293018,-0.0154318545052,0.0599188884242,0.999999975589,-1.55061274573e-05,-0.000215496569949,-4.62921846213e-05,1793192791771909120
+87,1.450000000,BASELINE,764.509827422,742,711.509827422,671,659,633,876.509827422,783,799.509827422,649,628.509827422,650.490172578,0.400919875186,-0.0154326626666,0.0599183069526,0.999999975353,-1.81963502604e-05,-0.000216301549468,-4.66482560345e-05,1793192791788575744
+88,1.466666667,BASELINE,764.05254917,742,711,671,659,633,876,783.05254917,799.10509834,649,628.05254917,650.94745083,0.400919360097,-0.0154334876527,0.0599176618016,0.99999997508,-2.07842203234e-05,-0.000217262794657,-4.69572394106e-05,1793192791805242624
+89,1.483333333,BASELINE,764.651332531,742,711,671,659,633,876,783.651332531,800.302665061,649,628.651332531,650.348667469,0.400918964159,-0.0154336832238,0.0599171908581,0.999999974992,-1.85808849641e-05,-0.000218028768092,-4.62064993618e-05,1793192791821909248
+90,1.500000000,BASELINE,764.760061542,742,711,671,659,633,876,783.760061542,800.520123085,649,629,650,0.400919475636,-0.0154335162655,0.0599174741155,0.999999975171,-1.82518335292e-05,-0.000217292992278,-4.59253573404e-05,1793192791838575872
+91,1.516666667,BASELINE,764.185643247,742,711,671,659,633,876,783.185643247,799.371286493,649,629,650,0.400921252068,-0.0154328439329,0.0599188087465,0.99999997572,-2.05355780297e-05,-0.000214463742721,-4.62988460462e-05,1793192791855242752
+92,1.533333333,BASELINE,764.398947841,742,711,671,659.398947841,633,876,783,799,649,629,650.398947841,0.400922754784,-0.0154326501586,0.0599201765477,0.999999976126,-2.02543730487e-05,-0.000212591815214,-4.6284666043e-05,1793192791871909376
+93,1.550000000,BASELINE,764.988396572,742,711,671,659.988396572,633,876,783,799,649,629,650.988396572,0.400924126797,-0.0154326848998,0.0599215601879,0.999999976464,-1.87483837021e-05,-0.000211177016643,-4.60853710618e-05,1793192791888576000
+94,1.566666667,BASELINE,764.432154558,742,711.567845442,671,660,633,876,783,799.567845442,649,629,650.432154558,0.400922387212,-0.0154326800242,0.0599200511022,0.999999975987,-1.76070439462e-05,-0.000213528052272,-4.60530001344e-05,1793192791905242624
+95,1.583333333,BASELINE,764.146104433,742.146104433,712,671.146104433,659.853895567,633,876,783.146104433,799.853895567,649,629,650,0.400920985684,-0.0154324959431,0.0599187906666,0.999999975593,-1.6450961417e-05,-0.000215443509362,-4.61198615093e-05,1793192791921908992
+96,1.600000000,BASELINE,764.721457695,742.721457695,712,671.721457695,659.278542305,633,876,783.721457695,799.278542305,649,629,650,0.400920760926,-0.0154317877012,0.059918431413,0.999999975507,-1.52300521956e-05,-0.00021585708709,-4.64684155058e-05,1793192791938575616
+97,1.616666667,BASELINE,764.697416097,742.697416097,712,671.697416097,659,633,876.302583903,784,799,649,629,650.302583903,0.400920828473,-0.0154307679419,0.0599184789934,0.99999997553,-1.42462995071e-05,-0.000215780878547,-4.66436928581e-05,1793192791955242496
+98,1.633333333,BASELINE,764.110872302,742.110872302,712,671.110872302,659,633,876.889127698,784,799,649,629,650.889127698,0.400921170332,-0.0154294558391,0.0599189083672,0.999999975655,-1.34851064632e-05,-0.000215245030006,-4.66563587055e-05,1793192791971909120
+99,1.650000000,BASELINE,764.469749128,742,712,671,659,633,876.530250872,783.530250872,799.469749128,649,629,650.530250872,0.400921358543,-0.0154309635694,0.0599190555501,0.999999975727,-1.38772011012e-05,-0.000215028750345,-4.60060522179e-05,1793192791988575744
+100,1.666666667,BASELINE,764.951184266,742,712,671,659,633,876,783,799.951184266,649,629,650,0.400921474157,-0.0154329165536,0.0599191420907,0.99999997578,-1.46155354593e-05,-0.000214879002314,-4.53064406148e-05,1793192792005242624
+101,1.683333333,BASELINE,764.37400528,742,712,671,659,633,876,783,799.37400528,649,629,650,0.400921191638,-0.0154325748285,0.0599192841819,0.999999975787,-1.61918854727e-05,-0.000214643148445,-4.57457381109e-05,1793192792021909504
+102,1.700000000,BASELINE,764,742,712,671,659,632.79806185,876,783,799.20193815,649,628.79806185,650,0.400920856638,-0.0154326226289,0.0599192114863,0.999999975754,-1.71756256472e-05,-0.000214652710885,-4.60585601174e-05,1793192792038576128
+103,1.716666667,BASELINE,764,742,712,671,659,632.224392917,876,783,799.775607083,649,628.224392917,650,0.400920425033,-0.0154333874738,0.059918743408,0.999999975653,-1.706848054e-05,-0.000215114039395,-4.61385640916e-05,1793192792055242496
+104,1.733333333,BASELINE,764,742.359693665,712,671,659,632.359693665,876,783,799.640306335,649,628,650,0.4009204521,-0.0154332801663,0.059918477115,0.999999975572,-1.72752879216e-05,-0.000215448099789,-4.62466644263e-05,1793192792071909120
+105,1.750000000,BASELINE,764,742.950473138,712,671,659,632.950473138,876,783,799.049526862,649,628,650,0.400920773843,-0.0154326125431,0.0599183404594,0.999999975505,-1.76837946047e-05,-0.000215700396611,-4.63728153236e-05,1793192792088575744
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,659,632,876,783,799,649,629,651,0.4009222137,-0.0154319817174,0.0599189174315,0.999999975999,-1.93573313445e-05,-0.000213138334999,-4.69051466211e-05,1793192792118871040
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711.580412789,671,659.580412789,632.580412789,876,783.580412789,799.580412789,649,629,650.419587211,0.400921983013,-0.0154321177104,0.0599188253166,0.999999975909,-1.89182267935e-05,-0.000213689909126,-4.64849392577e-05,1793192792135538176
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.841274309,633,876,783.841274309,799.841274309,649,629,650,0.400921704541,-0.0154321466757,0.0599187850737,0.999999975821,-1.85019923027e-05,-0.000214193475317,-4.62365102095e-05,1793192792152205056
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.2684398,633,876,783.2684398,799.2684398,649,629,650,0.400921301401,-0.0154318964104,0.0599188801626,0.999999975737,-1.81454247651e-05,-0.000214571790888,-4.64362436486e-05,1793192792168871680
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.314195596,742,712,671,659,633,876,783,799.314195596,649,629.314195596,650.314195596,0.40092170105,-0.0154319667006,0.0599190112896,0.999999975769,-1.74932673381e-05,-0.000214493130701,-4.63549386416e-05,1793192792185537792
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.905474171,742,712,671,659,633,876,783,799.905474171,649,629.905474171,650.905474171,0.400922808664,-0.0154323196825,0.0599191741978,0.999999975903,-1.65804349645e-05,-0.000214011472471,-4.60257912893e-05,1793192792202204160
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.513860774,742,712,671,659,633,876,783,800,649,629.513860774,650.513860774,0.400925250339,-0.0154330166449,0.059919660175,0.999999976196,-1.88684808283e-05,-0.000212437042255,-4.60799311037e-05,1793192792218870784
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.064335737,712,671,659,633,876,783,800,649,629,650,0.400929395489,-0.0154337914202,0.0599206627996,0.999999976729,-2.1438415262e-05,-0.000209645980439,-4.61687624114e-05,1793192792235537408
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.638971476,712,671,659,633,876,783,800,649,629,650,0.400945038775,-0.0154346642151,0.0599252757657,0.999999978943,-2.14130676333e-05,-0.000198854156881,-4.59542547892e-05,1793192792252204032
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.781510149,711.781510149,671,659,633,876,783.218489851,799.781510149,649,628.781510149,650,0.400965526338,-0.0154359973339,0.0599301066415,0.999999981391,-2.17272959259e-05,-0.000186171521554,-4.56835203376e-05,1793192792268870656
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.193739438,711.193739438,671,659,633,876,783.806260562,799.193739438,649,628.193739438,650,0.400994201458,-0.0154381084698,0.0599353058175,0.999999984218,-2.26154588359e-05,-0.000170293129743,-4.53177540701e-05,1793192792285537280
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.388354856,742,711,671,659,633,876,783.611645144,799,649,628,650,0.401031435578,-0.0154392599749,0.0599397044367,0.999999986996,-2.23032460265e-05,-0.000153132580047,-4.54045182506e-05,1793192792302204160
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.967658191,742,711,671,659,633,876,783.032341809,799,649,628,650,0.401072878037,-0.0154399396435,0.0599437094342,0.999999989567,-2.14008258747e-05,-0.000135341610374,-4.57137850806e-05,1793192792318871040
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.455145516,742,711,671.544854484,659.544854484,633,876.544854484,783,799,649,628.544854484,650.544854484,0.401128038506,-0.0154425869464,0.0599465082222,0.999999990958,-2.11685527528e-05,-0.000124672872099,-4.57503975554e-05,1793192792335537664
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671.878650935,660,633,876.878650935,783,799,649,629,650.878650935,0.401188242259,-0.0154452455219,0.0599491758607,0.999999992,-2.19549737404e-05,-0.000115750341005,-4.60345144867e-05,1793192792352204032
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671.304310571,660,633,876.304310571,783,799,649,629,650.304310571,0.401264244439,-0.0154475118632,0.0599516201702,0.999999992286,-2.63962184131e-05,-0.000111774241257,-4.7302738804e-05,1793192792368870912
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.277453187,742.277453187,711.277453187,670.722546813,659.722546813,633,876.277453187,783.277453187,799,649,629,650.277453187,0.401350524726,-0.0154525138623,0.0599544181282,0.999999992852,-3.19550757509e-05,-0.000104700564565,-4.8085865068e-05,1793192792385537280
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.867582718,742.867582718,711.867582718,670.132417282,659.132417282,633,876.867582718,783.867582718,799,649,629,650.867582718,0.401448387939,-0.0154605988154,0.0599576146307,0.99999999365,-3.8773428326e-05,-9.41360684627e-05,-4.832230917e-05,1793192792402203904
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.548766665,742.548766665,712,670.451233335,659.451233335,633,876.548766665,784,799,649,628.548766665,650.548766665,0.401563662627,-0.0154667399096,0.0599580375596,0.999999993868,-4.30846675178e-05,-8.95491198487e-05,-4.88732033952e-05,1793192792418870784
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.032493054,742,712,671,659.967506946,633,876,783.967506946,799,649.032493054,628,650,0.401686043925,-0.015472329029,0.0599578282052,0.999999993965,-4.66459058936e-05,-8.6269611657e-05,-4.95237966951e-05,1793192792435537152
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.605165834,742,712,671,659.394834166,633,876,783.394834166,799,649.605165834,628,650,0.401842828389,-0.0154780908513,0.0599604469801,0.999999994608,-4.97967413143e-05,-7.59765921751e-05,-5.03194864667e-05,1793192792452204032
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.816714432,742,712,671,659,633,876,783,799,649.816714432,628.183285568,650.183285568,0.402008174118,-0.0154850488661,0.0599613595161,0.999999994219,-6.50640060293e-05,-6.86713248923e-05,-5.11261225464e-05,1793192792468870912
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.226501545,742,712,671,659,633,876,783,799,649.226501545,628.773498455,650.773498455,0.40219252739,-0.0154946626452,0.059958483891,0.999999990589,-0.000107231948512,-6.79994125723e-05,-5.19570612675e-05,1793192792485537536
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,783,799.357045258,649,629,650.642954742,0.40240242499,-0.0155049991166,0.0599563331402,0.999999988356,-0.00012709924911,-6.60300154172e-05,-5.26581306815e-05,1793192792502204160
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,783,799.936440808,649,629,650.063559192,0.402628230363,-0.0155157856462,0.0599546338052,0.999999987725,-0.000133078806843,-6.32526082664e-05,-5.32783239734e-05,1793192792518870784
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.512025696,742,712,671,659.512025696,633,876,783,799.487974304,649,629,650,0.402887637647,-0.0155256074626,0.0599577855426,0.999999988545,-0.000131771447777,-5.255475288e-05,-5.27651010816e-05,1793192792535537408
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,742,712,671,659.913076944,633,876.086923056,783,799,649,629,650,0.403155516145,-0.0155348309889,0.0599599836113,0.999999989302,-0.000129299373871,-4.40617838947e-05,-5.23048494157e-05,1793192792552204032
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,742,712,671,659.339400092,633,876.660599908,783,799,649,629,650,0.403447647173,-0.0155413698395,0.0599534941284,0.999999989321,-0.000125332977708,-5.33807903479e-05,-5.29232692576e-05,1793192792568870912
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.758219517,742,711.758219517,671,659.241780483,633,876.758219517,783,799,649,629,650,0.403751614006,-0.0155419013694,0.0599433038356,0.999999988466,-0.000124332519647,-6.84345015798e-05,-5.40987856322e-05,1793192792585537792
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.166168225,742,711.166168225,671,659.833831775,633,876.166168225,783,799,649,629,650,0.404072727523,-0.0155337300084,0.0599277521277,0.99999998607,-0.000127628858299,-9.17961602125e-05,-5.60813755863e-05,1793192792602204928
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711.417119315,671,659.582880685,633,876.834238629,783,799,649,628.582880685,650,0.404426494961,-0.0155271293362,0.0599155851057,0.999999985135,-0.000116998269674,-0.000112770623955,-5.76500507099e-05,1793192792618871296
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711.996987457,671,659.003012543,633,877.993974915,783,799,649,628.003012543,650,0.404793003082,-0.015521141505,0.0599047386982,0.999999984343,-0.000100933765455,-0.000132813667344,-5.90572272384e-05,1793192792635537664
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.57073186,712,671,659,633,876.85853628,783,799,649,628,650,0.405226290991,-0.01552451362,0.0599117315546,0.999999985683,-0.000100991111475,-0.000122261430934,-5.90542196681e-05,1793192792652204288
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.852002936,712,671,659.147997064,633,876.147997064,783,799.147997064,649,628.147997064,650,0.405680163225,-0.0155285023856,0.0599241034081,0.999999987865,-0.000102845830585,-0.000101410634069,-5.83791432436e-05,1793192792668870912
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.264179466,712,671,659.735820534,633,876.735820534,783,799.735820534,649,628.735820534,650,0.40619417266,-0.0155341784821,0.0599521840139,0.999999991148,-0.000109791876308,-5.04288110864e-05,-5.57286590635e-05,1793192792685537536
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671.318799193,660,633,877,783,800,649,629,650,0.406721618331,-0.0155388729101,0.0599766360518,0.999999992305,-0.000111598274016,-1.0837786146e-05,-5.30837454836e-05,1793192792702204160
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,671.897823261,660,633,877,783,800,649,629,650,0.407260031597,-0.0155427660364,0.0599981262169,0.999999992575,-0.000109209353713,1.94553255039e-05,-5.04433787532e-05,1793192792718871040
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+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.239783846,711.760216154,671.239783846,660,633,877,783.760216154,800,649,629,650,0.419063884054,-0.0155623410632,0.0599659845008,0.999999991025,-0.000110606863787,-5.36952746205e-05,-5.32197724208e-05,1793192793002203904
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.342724449,712,671,660,633,877,783.657275551,799.657275551,649,628.657275551,650,0.419862712189,-0.0155614760416,0.0599412784015,0.999999988306,-0.000112453937993,-8.72570029136e-05,-5.59346355965e-05,1793192793018871040
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.921962431,712,671,660,633,877,783.078037569,799.078037569,649,628.078037569,650,0.420675822863,-0.0155598972805,0.0599159201666,0.999999984851,-0.000111753150709,-0.00011975205836,-5.88993724786e-05,1793192793035538176
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.501154768,711.501154768,671,660,633,877,783,799,649,628.498845232,650,0.421456545299,-0.0155563229788,0.0598912386341,0.999999977041,-0.000104764478619,-0.000176886264415,-6.04384001377e-05,1793192793052204544
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.075258187,711,671.075258187,660,633,877,783,799.075258187,649,629,650,0.422249652277,-0.015553426651,0.0598765312078,0.999999969725,-9.83086746995e-05,-0.000217169913554,-6.10139841364e-05,1793192793068870912
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.650984975,711,671.650984975,660,633,877,783,799.650984975,649,629,650,0.423158651711,-0.0155571050839,0.0599274511505,0.999999986016,-0.000101907045666,-0.000119885160047,-5.66588508074e-05,1793192793085537536
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,711.232041943,671.767958057,660.232041943,633,877,783,800,649,628.767958057,650,0.424044965045,-0.0155606532964,0.0599747781409,0.999999992582,-0.000103942853653,-3.60360332636e-05,-5.22722428539e-05,1793192793102204160
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,711.821304632,671.178695368,660.821304632,633,877,783,800,649,628.178695368,650,0.424896354033,-0.0155640010398,0.0600165739101,0.999999993124,-0.000103573150088,2.71294129963e-05,-4.78371806225e-05,1793192793118870528
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,671.404015073,660.595984927,633,877.404015073,783,799.595984927,649,628.404015073,650,0.425738809395,-0.0155664986806,0.0600190800524,0.999999992711,-0.000104956246511,3.59918166289e-05,-4.76081761626e-05,1793192793135537152
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,671.983873679,660.016126321,633,877.983873679,783,799.016126321,649,628.983873679,650,0.426577376435,-0.0155686263224,0.0600044857738,0.999999992829,-0.00010710223177,2.12193586383e-05,-4.92098167216e-05,1793192793152203776
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.44008676,712,672,660.55991324,633,877.44008676,783,799.55991324,649,629,650,0.42736230648,-0.0155696049282,0.059976572111,0.999999992352,-0.000110522207858,-1.79655025628e-05,-5.25185747208e-05,1793192793168870912
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.138284143,712,672,661,633,877,783,799.861715857,649,629,650,0.428135416328,-0.0155702172812,0.0599522701523,0.999999990599,-0.000114356833454,-5.14664404481e-05,-5.5452091763e-05,1793192793185537792
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+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.691215236,711.691215236,672,661,633,877,783,799,649,628.691215236,650,0.429617069806,-0.0155682344456,0.0599273040156,0.9999999874,-0.000118400071554,-8.84745266198e-05,-5.79157297295e-05,1793192793218870784
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.108812698,711.108812698,672,661,633,877,783,799,649,628.108812698,650,0.430360778347,-0.0155657911496,0.0599117266734,0.999999984502,-0.000111998947269,-0.000122723390799,-5.82387063307e-05,1793192793235537408
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+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,711.041465153,671.041465153,661,633,877.041465153,783,800,649,628.958534847,650,0.432016185498,-0.0155728136927,0.0599791102195,0.999999991152,-0.000121329629463,9.34322659333e-06,-5.37319621297e-05,1793192793268870656
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,711.616514689,671.616514689,661,633,877.616514689,783,800,649,628.383485311,650,0.432743550069,-0.0155748571203,0.0600025898119,0.999999990739,-0.000120037789936,3.91304774958e-05,-5.08068297386e-05,1793192793285537280
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+178,2.966666667,POSE1_TO_POSE2_PRESS,764.210353133,743,712,672,661,633,877.210353133,783,800,649,628.789646867,650,0.434079006554,-0.0155749317889,0.0599751232706,0.999999991725,-0.000116550280353,-1.50445155138e-05,-5.23461597357e-05,1793192793318870784
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.627495133,712,672,661,632.627495133,877,783,800,649,629,650,0.434711835461,-0.0155728886263,0.059942836357,0.999999989301,-0.000116557062362,-6.85579460959e-05,-5.57863727046e-05,1793192793335537664
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+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.524722549,712,672,661,632.524722549,877,783.524722549,800,649,629,650,0.43597241869,-0.0155698861142,0.0599120062108,0.999999984186,-0.000117829100453,-0.000119543953369,-5.87593842481e-05,1793192793368871168
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+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,712,672.158555135,661,632.841444865,877,783,800.841444865,649,629,650,0.440175435937,-0.0155881247007,0.0599652467527,0.999999987208,-0.000137401411652,-6.49040135135e-05,-4.99133146827e-05,1793192793502204928
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,712,672.747900087,661,632.252099913,877,783,800.252099913,649,629,650,0.440537269111,-0.0155938437597,0.0599419779634,0.999999982243,-0.000144891985769,-0.000108506783111,-5.24051172145e-05,1793192793518870784
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.914764006,712,672.085235994,660.085235994,632,877,783,800,649,629,650.914764006,0.44117813965,-0.0155993949382,0.0598630881373,0.99999995788,-0.000162940974998,-0.000232891713401,-5.87481543089e-05,1793192793552204032
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+198,3.300000000,POSE1_TO_POSE2_PRESS,763.608022015,743,712,673,660.391977985,632,877,782.608022015,800,649,629,650,0.442762326157,-0.0156116674036,0.0597958521438,0.999999929961,-0.000179442216971,-0.000322048834046,-6.45251653721e-05,1793192793652204544
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.027972504,743,712,673,660.972027496,632,877,782.027972504,800,649,629,650,0.442957618956,-0.0156155440174,0.0597915306376,0.999999925366,-0.000185562711849,-0.000332683054641,-6.44723136414e-05,1793192793668870912
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1023e7ef73023b9f451623e6ed1bd93bd877fd4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,391 @@
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+356,5.933333333,pose2_to_pose3_retreat,0.575764598304,-0.00994551352237,1.0500289578,0.546335330665,-0.00127277678183,1.04969825011
+357,5.950000000,pose2_to_pose3_retreat,0.575745766436,-0.00994515219146,1.05002914808,0.546316493283,-0.00127243408976,1.04969844229
+358,5.966666667,pose2_to_pose3_retreat,0.575732959085,-0.00994544584695,1.05002918066,0.546303688913,-0.00127271792167,1.04969846728
+359,5.983333333,pose2_to_pose3_retreat,0.57572451944,-0.00994534828622,1.05002917148,0.546295248526,-0.00127262275222,1.04969846135
+360,6.000000000,pose2_to_pose3_retreat,0.575719895846,-0.00994533820234,1.05002916014,0.546290625229,-0.00127261157259,1.04969845242
+361,6.016666667,pose2_to_pose3_retreat,0.575717120927,-0.00994539514508,1.05002914977,0.546287851352,-0.00127266492196,1.04969844345
+362,6.033333333,pose2_to_pose3_retreat,0.575715835896,-0.00994542151455,1.05002914496,0.546286566804,-0.00127268962739,1.0496984393
+363,6.050000000,pose2_to_pose3_retreat,0.575715406037,-0.00994543033548,1.05002914335,0.546286137107,-0.00127269789167,1.04969843791
+364,6.066666667,pose2_to_pose3_retreat,0.575715212637,-0.00994543662818,1.05002914777,0.546285943808,-0.00127270385237,1.04969844211
+365,6.083333333,pose2_to_pose3_retreat,0.575714876648,-0.00994545086916,1.05002916278,0.546285608031,-0.00127271740047,1.04969845627
+366,6.100000000,pose2_to_pose3_retreat,0.575714443883,-0.00994546921195,1.0500291821,0.546285175542,-0.0012727348508,1.04969847451
+367,6.116666667,pose2_to_pose3_retreat,0.575713942449,-0.00994549046529,1.05002920448,0.546284674427,-0.00127275507007,1.04969849564
+368,6.133333333,pose2_to_pose3_retreat,0.575713564374,-0.00994550649008,1.05002922136,0.546284296592,-0.00127277031519,1.04969851158
+369,6.150000000,pose2_to_pose3_retreat,0.575713383692,-0.00994551414828,1.05002922943,0.546284116025,-0.00127277760079,1.04969851919
+370,6.166666667,pose2_to_pose3_retreat,0.575713114765,-0.0099455255468,1.05002924144,0.546283847269,-0.00127278844471,1.04969853053
+371,6.183333333,pose2_to_pose3_retreat,0.575712594194,-0.00994554761128,1.05002926468,0.546283327029,-0.00127280943566,1.04969855247
+372,6.200000000,pose2_to_pose3_retreat,0.575711978699,-0.00994557369913,1.05002929216,0.546282711925,-0.00127283425423,1.04969857841
+373,6.216666667,pose2_to_pose3_retreat,0.575711775207,-0.00994557080266,1.05002929096,0.546282508344,-0.00127283166337,1.04969857714
+374,6.233333333,pose2_to_pose3_retreat,0.575711487852,-0.00994554376343,1.05002926881,0.546282220428,-0.00127280650032,1.04969855575
+375,6.250000000,pose2_to_pose3_retreat,0.575711066073,-0.00994550407518,1.05002923628,0.546281797824,-0.00127276956595,1.04969852435
+376,6.266666667,pose2_to_pose3_retreat,0.575710649926,-0.00994546491695,1.05002920419,0.546281380864,-0.00127273312481,1.04969849338
+377,6.283333333,pose2_to_pose3_retreat,0.575710319781,-0.00994543385129,1.05002917874,0.546281050075,-0.00127270421471,1.0496984688
+378,6.300000000,pose2_to_pose3_retreat,0.575710192724,-0.00994542189559,1.05002916894,0.54628092277,-0.0012726930886,1.04969845934
+379,6.316666667,pose2_to_pose3_retreat,0.575710146519,-0.00994541754781,1.05002916538,0.546280876474,-0.0012726890425,1.0496984559
+380,6.333333333,pose2_to_pose3_retreat,0.575710028702,-0.00994541877396,1.05002917222,0.546280758694,-0.00127269016904,1.04969846213
+381,6.350000000,pose2_to_pose3_retreat,0.575709902191,-0.00994543988946,1.05002920517,0.54628063265,-0.00127270978047,1.04969849295
+382,6.366666667,pose2_to_pose3_retreat,0.575709720267,-0.00994547025359,1.05002925255,0.546280451398,-0.00127273798172,1.04969853725
+383,6.383333333,pose2_to_pose3_retreat,0.575709615474,-0.00994548774413,1.05002927984,0.546280346992,-0.00127275422639,1.04969856278
+384,6.400000000,pose2_to_pose3_retreat,0.57570960377,-0.00994548969761,1.05002928289,0.546280335331,-0.00127275604072,1.04969856563
+385,6.416666667,pose2_to_pose3_retreat,0.575709549724,-0.00994549871825,1.05002929697,0.546280281484,-0.00127276441881,1.04969857879
+386,6.433333333,pose2_to_pose3_retreat,0.575709421693,-0.00994552184945,1.05002935055,0.546280153868,-0.0012727861665,1.04969863178
+387,6.450000000,pose2_to_pose3_retreat,0.575709408389,-0.00994552448972,1.05002935884,0.546280140599,-0.00127278868161,1.04969864022
+388,6.466666667,pose2_to_pose3_retreat,0.575709362123,-0.00994553367109,1.05002938765,0.546280094456,-0.00127279742773,1.04969866955
+389,6.483333333,pose2_to_pose3_retreat,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473505,1.0496984415
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2def017e31fe98f3e033039878629e31aac43f7b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:139857ff218598f982e1e91624f1a402d116f1359c692ce5ef18bbb6c5bc4b23
+size 24904934
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c634dfa4ae1aa638849003277a0a19e63396033c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/franka_data.csv
@@ -0,0 +1,394 @@
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+37,0.616666667,BASELINE,764,742.481911438,711.518088562,671,659,633,875.481911438,783.481911438,800,649,628,651,0.400964783519,-0.0153981641727,0.0598469449043,0.999999950552,0.00017762467449,-0.000258919431654,1.75242029001e-05,1793192797618276864
+38,0.633333333,BASELINE,764,742.930438274,711.069561726,671,659.069561726,633,876,783.930438274,800,648.930438274,628.069561726,651,0.400964453553,-0.0153974272408,0.0598471218361,0.999999950492,0.000177930793228,-0.000258943171708,1.7477821495e-05,1793192797634943488
+39,0.650000000,BASELINE,764,742.349279912,711.650720088,671,659.650720088,633,876,783.349279912,800,648.349279912,628.650720088,651,0.40096196912,-0.0153953646259,0.059845022649,0.999999949077,0.000181138805825,-0.000262203475203,1.68687594362e-05,1793192797651609600
+40,0.666666667,BASELINE,764.229744445,742,712,671,659.770255555,633,876,783,800,648.229744445,629,650.770255555,0.400961280068,-0.0153946825485,0.0598442855951,0.999999948651,0.00018209303464,-0.000263181128689,1.66070308396e-05,1793192797668275712
+41,0.683333333,BASELINE,764.805554301,742,712,671,659.194445699,633,876,783,800,648.805554301,629,650.194445699,0.400963295407,-0.015396079983,0.0598456003306,0.999999949733,0.000179652375473,-0.000260720412829,1.68684927202e-05,1793192797684942336
+42,0.700000000,BASELINE,764.62111122,742,712,671,659.37888878,633,875.62111122,783,800,648.62111122,629,650.37888878,0.400963774767,-0.0153969452722,0.0598461067187,0.999999949945,0.000179365836421,-0.000260093433172,1.70235776912e-05,1793192797701609216
+43,0.716666667,BASELINE,764.049038876,742,712,671,659.950961124,633,875.049038876,783,800,648.049038876,629,650.950961124,0.400963470978,-0.0153975392371,0.0598462009558,0.999999949717,0.000180177616058,-0.000260401418447,1.71244243882e-05,1793192797718275840
+44,0.733333333,BASELINE,764,742,711.455262648,671,660,633,875.544737352,783,800,648.544737352,629,651,0.400963142363,-0.0153970576458,0.0598457611888,0.999999949489,0.000180386836006,-0.000261145349805,1.69124858625e-05,1793192797734942976
+45,0.750000000,BASELINE,764,742,711.135749996,671,660,633,876,783,800,649,629,651,0.400962879296,-0.0153968387549,0.0598454935456,0.999999949456,0.000179905836271,-0.000261606893668,1.68143619691e-05,1793192797751610112
+46,0.766666667,BASELINE,764,742,711.711219254,671,660,633,876,783,800,649,629,651,0.400962836092,-0.0153977974465,0.0598459456205,0.999999950056,0.000177372085885,-0.000261021334799,1.71798979907e-05,1793192797768276736
+47,0.783333333,BASELINE,764,742,712,671.28592441,660,633,876,783,800,649.28592441,629,650.71407559,0.400962886749,-0.0153976914158,0.0598464808857,0.999999950211,0.00017734530922,-0.000260436743804,1.72797046747e-05,1793192797784943104
+48,0.800000000,BASELINE,764,742,712,671.859859957,660,633,876,783,800,649.859859957,629,650.140140043,0.400963031955,-0.0153965128924,0.0598470999484,0.99999994992,0.000179843802302,-0.000259853127675,1.71118427258e-05,1793192797801609216
+49,0.816666667,BASELINE,764,742,711.552510542,671.552510542,659.552510542,633,876,783,799.552510542,649.552510542,629,650,0.40096400985,-0.0153963618298,0.0598477267193,0.999999949867,0.000181451271782,-0.000258927314097,1.72429967702e-05,1793192797818275840
+50,0.833333333,BASELINE,764,742,711.038668143,671,659.038668143,633,876,783,799.077336287,649,629,650,0.400965111995,-0.0153965304854,0.0598482170559,0.999999949878,0.000182593592457,-0.000258068204517,1.74513115102e-05,1793192797834942464
+51,0.850000000,BASELINE,764,742,711.617625313,671,659.617625313,633,876,783,800.235250626,649,629,650,0.400964191551,-0.015396528557,0.0598467662761,0.999999949703,0.000181258615763,-0.000259685751133,1.73880286943e-05,1793192797851609088
+52,0.866666667,BASELINE,764,742,712,671,659.805238905,633,876,783,800.610477809,649,629,650,0.400963417654,-0.0153967960878,0.0598458457258,0.999999949606,0.000180129162313,-0.000260846914083,1.73087146101e-05,1793192797868275712
+53,0.883333333,BASELINE,764,742,712,671,659.231645957,633,876,783,799.463291914,649,629,650,0.400962928806,-0.0153975877465,0.0598459565305,0.999999949668,0.000179399474364,-0.000261120360274,1.71982179411e-05,1793192797884942592
+54,0.900000000,BASELINE,764,742,712,671,659,633,876,783,799,649,629,650,0.40096269154,-0.0153979006294,0.0598458841791,0.999999949794,0.00017848091206,-0.000261271701675,1.71540698749e-05,1793192797901609216
+55,0.916666667,BASELINE,764,742,712,671,659,633,876,783,799,649,629,650,0.400962624704,-0.0153978891741,0.0598456877519,0.999999949962,0.000177434400199,-0.000261340325334,1.71548684992e-05,1793192797918275584
+56,0.933333333,BASELINE,763.479544499,742,712,671,659,633,876,783.520455501,799,649,628.479544499,650,0.400962902288,-0.0153976113397,0.0598459813588,0.99999994983,0.000178931708221,-0.000260811630097,1.73476368497e-05,1793192797934942464
+57,0.950000000,BASELINE,763.099784324,742,711.900215676,671,659.099784324,633,876,783.900215676,799.099784324,649,628.099784324,650,0.400963193271,-0.0153974975909,0.0598462492358,0.999999949676,0.000180373524248,-0.000260395946064,1.75140033396e-05,1793192797951608832
+58,0.966666667,BASELINE,763.678400765,742,711.321599235,671,659.678400765,633,876,783.321599235,799.678400765,649,628.678400765,650,0.400963361123,-0.0153983161949,0.059846126972,0.999999949597,0.000180164734441,-0.000260847619843,1.74492082125e-05,1793192797968275456
+59,0.983333333,BASELINE,764,742.255123053,711.255123053,671,659.744876947,633,876,783,800,649,629,650,0.400963489742,-0.015399096302,0.0598461747472,0.99999994986,0.00017908763378,-0.000260579639348,1.74702124792e-05,1793192797984942336
+60,1.000000000,BASELINE,764,742.829475312,711.829475312,671,659.170524688,633,876,783,800,649,629,650,0.400963569272,-0.0153998282389,0.059846435288,0.999999950547,0.000176924037055,-0.000259411173206,1.75985754101e-05,1793192798001608960
+61,1.016666667,BASELINE,764,743,712,670.586251545,659,633.413748455,876,783,799.586251545,649,629,650,0.400963770613,-0.0153993862604,0.0598464282274,0.999999950605,0.000176955466014,-0.000259184686287,1.72972979009e-05,1793192798018275584
+62,1.033333333,BASELINE,764,742.997822952,712,670.002177048,659,633.997822952,876,783.002177048,799.002177048,649,629,650.002177048,0.400964022177,-0.0153984489094,0.0598463106763,0.999999950399,0.000177917038451,-0.000259354419504,1.68173309445e-05,1793192798034942464
+63,1.050000000,BASELINE,764,742.418361429,712,670.581638571,659,633.418361429,876,783.581638571,799.581638571,649,629,650.581638571,0.400963951418,-0.0153976011943,0.0598468586462,0.999999950131,0.000179739813596,-0.000259113035371,1.70626630524e-05,1793192798051608832
+64,1.066666667,BASELINE,764.159956265,742,711.840043735,671,659,633,876,784,800,649,629,651,0.400963798009,-0.0153971793849,0.0598471210408,0.999999949942,0.000180786452637,-0.000259108186182,1.72085601374e-05,1793192798068275456
+65,1.083333333,BASELINE,764.735303513,742,711.264696487,671,659,633,876,784,800,649,629,651,0.400963429967,-0.0153978636116,0.0598466418239,0.99999994996,0.000179817541008,-0.000259717595428,1.70962340485e-05,1793192798084942080
+66,1.100000000,BASELINE,764.689635493,742,711,670.689635493,659.310364507,633,876,784,800,649,629,650.689635493,0.400963870652,-0.0153979239683,0.0598468762849,0.999999950026,0.000180038747404,-0.000259301009113,1.72287349168e-05,1793192798101608960
+67,1.116666667,BASELINE,764.11481844,742,711,670.11481844,659.88518156,633,876,784,800,649,629,650.11481844,0.40096500043,-0.0153974527436,0.05984771885,0.999999950131,0.000181274018718,-0.000258010201861,1.75698457033e-05,1793192798118275840
+68,1.133333333,BASELINE,764,742,711.473358884,670.473358884,660,633,876,783.526641116,799.053282232,649,628.526641116,650,0.400963780149,-0.0153978184518,0.0598467375309,0.999999949861,0.000180457533837,-0.000259620579243,1.76201242284e-05,1793192798134942208
+69,1.150000000,BASELINE,764,742,711.936618812,671,659.936618812,633.063381188,876,783.063381188,798.126762376,649,628.063381188,650.063381188,0.400962303494,-0.0153982124056,0.0598455461981,0.999999949564,0.000179298538449,-0.000261561662606,1.75892010239e-05,1793192798151608832
+70,1.166666667,BASELINE,764,742,711.358691666,671,659.358691666,633.641308334,876,783.641308334,799.282616667,649,628.641308334,650.641308334,0.400963507612,-0.0153971397271,0.0598463457825,0.999999949854,0.000179516567939,-0.000260308631135,1.74883937982e-05,1793192798168275456
+71,1.183333333,BASELINE,764,742,711.218037477,671,659.218037477,633.781962523,876,783.781962523,799.781962523,649,629,650.781962523,0.400963746066,-0.0153968645451,0.0598466183462,0.99999994999,0.000179407453874,-0.000259865317826,1.74160559023e-05,1793192798184942080
+72,1.200000000,BASELINE,764,742,711.792806658,671,659.792806658,633.207193342,876,783.207193342,799.207193342,649,629,650.207193342,0.400962404597,-0.0153978941493,0.0598460286501,0.999999949876,0.00017876309939,-0.000260746786382,1.73902967374e-05,1793192798201608960
+73,1.216666667,BASELINE,764,742,711.623546395,671,660,633,876,783,799,649,629,650,0.40096234796,-0.0153988005838,0.0598458372228,0.999999949935,0.000178479890811,-0.000260720841136,1.73110247186e-05,1793192798218275584
+74,1.233333333,BASELINE,764,742,711.034895308,671,660,633,876,783,799,649,629,650,0.400963015551,-0.0153996375906,0.0598458702897,0.999999950091,0.000178400251184,-0.00026018340937,1.72015888439e-05,1793192798234942208
+75,1.250000000,BASELINE,764,742,711.544874875,671,659.455125125,633,876,783,799.544874875,648.455125125,628.455125125,650,0.400962199489,-0.0153983514079,0.0598460465814,0.999999949896,0.000178344737677,-0.000260960246562,1.73421120629e-05,1793192798251608832
+76,1.266666667,BASELINE,763.876608771,742,711.876608771,671,659.123391229,633,876,783,800,648.123391229,628,650,0.400961996138,-0.0153976218374,0.0598464172313,0.999999949969,0.00017790134104,-0.00026097505217,1.74574359094e-05,1793192798268275456
+77,1.283333333,BASELINE,763.300638629,742,711.300638629,671,659.699361371,633,876,783,800,648.699361371,628,650,0.400964383031,-0.0153994245657,0.0598474676514,0.999999951101,0.000176029676007,-0.000257891081392,1.74225591834e-05,1793192798284942336
+78,1.300000000,BASELINE,763.274783741,742,711.274783741,671,659.725216259,633,876.274783741,783,800,648.725216259,628.274783741,650,0.400965081479,-0.0153999704482,0.0598477705583,0.999999951477,0.000175601420868,-0.000256726938652,1.73651567545e-05,1793192798301608960
+79,1.316666667,BASELINE,763.849607952,742,711.849607952,671,659.150392048,633,876.849607952,783,800,648.150392048,628.849607952,650,0.40096393629,-0.015399143962,0.0598472572443,0.999999951036,0.000176749246672,-0.00025765908502,1.72831581766e-05,1793192798318275584
+80,1.333333333,BASELINE,764,742,711.564017569,671,659,633,876.564017569,783.435982431,799.564017569,648.435982431,628.564017569,650.435982431,0.400964394627,-0.015399144646,0.0598476939955,0.999999950932,0.00017738779722,-0.000257614840124,1.74127481629e-05,1793192798334942208
+81,1.350000000,BASELINE,764,742.025938728,711.025938728,671,659.025938728,633,876.025938728,784,799.025938728,649,628.025938728,651,0.400965318741,-0.0153993600896,0.0598483799528,0.999999950916,0.000177892747117,-0.000257318418327,1.75912825097e-05,1793192798351608832
+82,1.366666667,BASELINE,764,742.605000074,711.605000074,671,659.605000074,633,876.605000074,784,799.605000074,649,628.605000074,651,0.400964058995,-0.0153979050477,0.059847201376,0.999999950214,0.000179396829882,-0.000259022094475,1.72147622743e-05,1793192798368275456
+83,1.383333333,BASELINE,764,742.81760466,711.81760466,671,659.81760466,633,876.81760466,783.81760466,800,649,629,650.81760466,0.400962878697,-0.0153973355115,0.05984617355,0.99999994982,0.000179305893518,-0.000260616860159,1.695712108e-05,1793192798384942080
+84,1.400000000,BASELINE,764,742.24378473,711.24378473,671,659.24378473,633,876.24378473,783.24378473,800,649,629,650.24378473,0.4009618689,-0.0153986662908,0.0598454692382,0.999999950089,0.000175792009756,-0.000261977901804,1.6954596967e-05,1793192798401608704
+85,1.416666667,BASELINE,764,742,711.338307194,671,659.338307194,633,876,783,799.661692806,649,629,650,0.400962713588,-0.0153990242208,0.0598462410503,0.999999950422,0.000175760782385,-0.000260705084071,1.72062167002e-05,1793192798418275584
+86,1.433333333,BASELINE,764,742,711.926509297,671,659.926509297,633,876,783,799.073490703,649,629,650,0.400964928117,-0.0153986635431,0.0598481032202,0.999999950799,0.000178302063631,-0.000257486732546,1.76455630159e-05,1793192798434942208
+87,1.450000000,BASELINE,764,742,711.490364981,671,659.490364981,633,876,783,799.509635019,649,629,650,0.400964387597,-0.0153991051796,0.0598479656342,0.999999951311,0.000175481312692,-0.000257453597732,1.73633251719e-05,1793192798451608832
+88,1.466666667,BASELINE,764,742,711.091129905,670.908870095,659.091129905,633,876,783,800,649,629,650.091129905,0.400963560264,-0.0153993000724,0.05984749605,0.999999951568,0.000173157930828,-0.00025805031216,1.70372312319e-05,1793192798468275456
+89,1.483333333,BASELINE,764,742,711.667797489,670.332202511,659.667797489,633,876,783,800,649,629,650.667797489,0.400963300647,-0.0153975699771,0.0598467788624,0.9999999504,0.00017756357764,-0.000259579755969,1.70264040335e-05,1793192798484942080
+90,1.500000000,BASELINE,764.243181043,742,711.756818957,670.243181043,659.756818957,633,876,783.243181043,799.756818957,649,628.756818957,650.756818957,0.40096289203,-0.0153969210087,0.0598462352414,0.999999949841,0.00017910695002,-0.000260674189848,1.69446202541e-05,1793192798501608704
+91,1.516666667,BASELINE,764.816819688,742,711.183180312,670.816819688,659.183180312,633,876,783.816819688,799.183180312,649,628.183180312,650.183180312,0.400962280938,-0.0153977411789,0.0598459274795,0.99999995013,0.000176760790461,-0.000261177490613,1.6766413904e-05,1793192798518275584
+92,1.533333333,BASELINE,764.597832623,742,711,671,659,633,876,783.597832623,799,649,628.402167377,650,0.400962779836,-0.0153982318585,0.0598464068863,0.999999950374,0.00017655517627,-0.000260380802687,1.68204707809e-05,1793192798534942208
+93,1.550000000,BASELINE,764.006991681,742,711,671,659,633,876,783.006991681,799,649,628.993008319,650,0.400963799477,-0.0153985679603,0.059847255587,0.999999950595,0.000177353781381,-0.000258974235648,1.69834920525e-05,1793192798551608832
+94,1.566666667,BASELINE,764,742,711.569548868,670.430451132,659,633,876.569548868,783,799,649,628.430451132,650.569548868,0.400963376843,-0.0153983455902,0.0598475111302,0.999999950433,0.000177584077192,-0.000259428208642,1.71667746304e-05,1793192798568275456
+95,1.583333333,BASELINE,764,742,712,670,659,633,876.855615792,783,799.144384208,649,628.144384208,650.855615792,0.400962919945,-0.0153980918244,0.0598474405602,0.999999950303,0.000177667729799,-0.000259869321269,1.7200398733e-05,1793192798584942080
+96,1.600000000,BASELINE,764,742,712,670,659,633,876.285305422,783,799.714694578,649,628.714694578,650.285305422,0.400962412918,-0.0153977651714,0.0598464289262,0.999999950281,0.000177338868513,-0.000260206770981,1.6791822139e-05,1793192798601608960
+97,1.616666667,BASELINE,764,742,712,670.297298322,659,633,876.297298322,783,799.702701678,649,628.702701678,650,0.400962608583,-0.015398286001,0.0598460054262,0.999999950198,0.000177514835477,-0.000260400862837,1.68432293151e-05,1793192798618275584
+98,1.633333333,BASELINE,764,742,712,670.892208364,659,633,876.892208364,783,799.107791636,649,628.107791636,650,0.400963507682,-0.0153996552068,0.0598461706801,0.999999950055,0.000178196162879,-0.000260451445692,1.73551051801e-05,1793192798634942208
+99,1.650000000,BASELINE,764,742,712,671,659.474295382,633.474295382,876.525704618,783,799,649,628.474295382,650,0.400964151264,-0.0153997546162,0.0598469008862,0.999999950405,0.000178734521967,-0.000258720803121,1.75332693879e-05,1793192798651609088
+100,1.666666667,BASELINE,764,742,711.946945968,671,659.946945968,633.946945968,876,783,799,649,628.946945968,650,0.400964517097,-0.0153994917921,0.0598475684187,0.999999950753,0.000179278964971,-0.000256990075288,1.75954643794e-05,1793192798668275712
+101,1.683333333,BASELINE,764,742,711.373006306,671,659.373006306,633.373006306,876,783,799,649,628.373006306,650,0.400962711116,-0.0153984312774,0.0598463932199,0.999999950043,0.000180193749231,-0.000259128353598,1.72440842577e-05,1793192798684942592
+102,1.700000000,BASELINE,763.798286534,742,711.201713466,671,659,633,875.798286534,783,799,649,628.201713466,650,0.400962033495,-0.015398104819,0.0598458851792,0.999999949838,0.000179993275783,-0.000260063447461,1.71086741869e-05,1793192798701609216
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+106,1.766666667,BASELINE,764,742,711,671.465501359,659.534498641,633,876,783,799.534498641,649,629,650,0.400964584915,-0.0153981694,0.0598474390298,0.999999950512,0.000179803973378,-0.000257588461415,1.71525288946e-05,1793192798768275712
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+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.427269821,670.572730179,660,633,876,783,799,648,628.427269821,650,0.400965397091,-0.0153977573101,0.059847997234,0.999999950732,0.000180672682044,-0.000256120708127,1.71753417355e-05,1793192798827394816
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+110,1.833333333,POSE1_TO_POSE2_PRESS,764.746751073,741.253248927,711.746751073,671,660,633,876,783,799.746751073,648,628.746751073,650,0.400964261358,-0.0154005983508,0.059847154165,0.999999950944,0.000177314267086,-0.000257618598828,1.74480457968e-05,1793192798860727552
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.669006946,741.330993054,712,671,660,633,875.669006946,783,799.669006946,648.330993054,629,650.330993054,0.400964093636,-0.0154004562003,0.0598468086755,0.999999950953,0.00017652809983,-0.000258124667728,1.74219192554e-05,1793192798877394176
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.519483476,633,875.480516524,783,799,649,629,650.519483476,0.400963247629,-0.0153978316744,0.0598468347376,0.999999950252,0.000179122161413,-0.000259069511564,1.71389240985e-05,1793192798910727936
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876.055516166,783,799.055516166,649,629,650,0.400962222684,-0.0153969570669,0.0598467454218,0.999999949452,0.000181655937327,-0.000260388705525,1.71813020157e-05,1793192798927394304
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876.64817408,783,799.64817408,649,629,650,0.40096610811,-0.0153986068903,0.0598474131694,0.999999950245,0.000179404403344,-0.000258860403093,1.77515691618e-05,1793192798944060928
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.764567525,671,659.235432475,633,876.764567525,783.235432475,800,649,629,650,0.400977966393,-0.0154003485636,0.0598527297074,0.999999952637,0.000178246562751,-0.000250221382133,1.85563629886e-05,1793192798960727808
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.185197212,671,659.814802788,633,876.185197212,783.814802788,800,649,629,650,0.401001472039,-0.0154022244181,0.0598648375552,0.999999957116,0.000178686473592,-0.000231194477623,1.97037713441e-05,1793192798977394432
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.609307316,742.390692684,711.390692684,670.609307316,659.609307316,633,876,783.609307316,799.609307316,649,629,650.390692684,0.401043246841,-0.015403902504,0.0598802576428,0.999999963548,0.000177742248778,-0.000202192559197,2.07139887032e-05,1793192798994061312
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.035052599,742.964947401,711.964947401,670.035052599,659.035052599,633,876,783.035052599,799.035052599,649,629,650.964947401,0.401093605178,-0.015405487671,0.0598972339455,0.999999970055,0.000176147705162,-0.00016850400438,2.16597486857e-05,1793192799010727936
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.539307478,742.460692522,712,671.078614955,659,633,876.539307478,783,799.539307478,649,629,651,0.401159982392,-0.0154108173035,0.0599131324019,0.999999974195,0.000173270582573,-0.00014505759471,2.33418755115e-05,1793192799027394560
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,671.882664562,659,633,876.882664562,783,799.882664562,649,629,651,0.40122983342,-0.0154158880047,0.0599271744181,0.999999977308,0.0001711776097,-0.000124368719899,2.47905336387e-05,1793192799044061184
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,671.289799208,659,633,876.289799208,783,799.289799208,649,629,651,0.401309542569,-0.0154189228042,0.0599339767421,0.9999999785,0.000172600500677,-0.000112156996023,2.50990002437e-05,1793192799060727808
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.296092556,633,876,783.296092556,799,649,629.296092556,650.703907444,0.401398930576,-0.0154230629303,0.0599366778992,0.999999979304,0.000172386664339,-0.000105252945844,2.44324117706e-05,1793192799077394432
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.875315969,633,876,783.875315969,799,649,629.875315969,650.124684031,0.401497573736,-0.0154282599964,0.059935457421,0.999999979838,0.000170607749728,-0.00010342422224,2.28334520568e-05,1793192799094061312
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.452223978,712,671,660,633,875.547776022,783.547776022,799,649,629.095552044,650.452223978,0.401611137921,-0.0154347051931,0.0599330374509,0.999999980412,0.000166685453487,-0.000104585828352,2.13091250933e-05,1793192799110727680
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.970996074,712,671,660,633,875.029003926,783,799.029003926,649,628.029003926,650.970996074,0.401730437115,-0.0154415344151,0.0599304851446,0.999999981004,0.00016221565933,-0.000106235501197,1.97850219765e-05,1793192799127394048
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.384468833,712,671,660,633,875.615531167,783,799.615531167,649,628.615531167,650.384468833,0.40188130029,-0.0154491642951,0.0599317137699,0.999999982124,0.00015852340684,-0.000101499393709,1.78716939084e-05,1793192799144060928
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.199603162,711.800396838,671,660,633,876,783,799.800396838,649,629,650,0.402046852878,-0.015457655416,0.0599329809013,0.999999983384,0.000154241309901,-9.58727527358e-05,1.57894345139e-05,1793192799160727552
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.779003344,711.220996656,671,660,633,876,783,799.220996656,649,629,650,0.402240355886,-0.0154677852709,0.0599343213003,0.999999984914,0.000148836880638,-8.85516403284e-05,1.33857394755e-05,1793192799177394176
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.643741166,711.356258834,671,659.643741166,633,875.643741166,783,799.356258834,649,629,650,0.402459925198,-0.0154790565715,0.0599364867724,0.999999986799,0.000140562875136,-8.07818386131e-05,1.08657005659e-05,1793192799194061056
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+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.50754024,633,875.50754024,783.50754024,799.49245976,649,628.49245976,650.50754024,0.402957196234,-0.0155005055726,0.0599410286843,0.999999989861,0.000125939686253,-6.62545872681e-05,5.29085330178e-06,1793192799227395072
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.914973786,671,660,633,876,783.914973786,799.085026214,649,628.085026214,650.914973786,0.403223711705,-0.0155096238872,0.0599404346946,0.999999990537,0.000121608337503,-6.42949151695e-05,1.98452923308e-06,1793192799244061952
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+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.261280724,711.261280724,671,660,633,876,783,799.738719276,649,629,650.261280724,0.403800444963,-0.0155205087102,0.0599144569925,0.999999990231,8.97576621946e-05,-0.000106890778679,-7.42166317236e-06,1793192799277394432
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.840698416,711.840698416,671,660,633,876,783,799.159301584,649,629,650.840698416,0.40413489124,-0.0155137682372,0.0599069791029,0.999999991776,4.38245717853e-05,-0.000119991811939,-1.13860211529e-05,1793192799294061056
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.583475685,712,671,660,633,876,783.416524315,799.416524315,649,628.583475685,650.583475685,0.404497889363,-0.0155028557793,0.0598965339978,0.99999998943,3.48814148743e-05,-0.00014000170925,-1.79803275185e-05,1793192799310727680
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.009011753,712,671,660,633,876,783.990988247,799.990988247,649,628.009011753,650.009011753,0.404871713899,-0.0154903613691,0.0598849637704,0.99999998565,3.99642732069e-05,-0.000162631341311,-2.55718697942e-05,1793192799327394304
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783.42201145,800,649,628.57798855,650,0.405312425445,-0.0155008576325,0.0598987573033,0.999999989434,2.90041533712e-05,-0.000139658477558,-2.8026921978e-05,1793192799344061440
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783.163076507,799.836923493,649,629,650.163076507,0.405774060421,-0.0155111921959,0.0599170389677,0.999999993584,1.45030196588e-05,-0.000108264374294,-2.9996696724e-05,1793192799360728576
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+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711.441753265,671,660,633,877,783.441753265,800,649,628.441753265,650,0.41608007148,-0.0155449410605,0.0599892525717,0.999999999047,-2.48231170264e-05,-1.29814355172e-05,-3.34953106823e-05,1793192799627394304
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.017233686,742.017233686,712,671,660,633,877,784,799.982766314,648.982766314,629,650,0.416894184555,-0.0155485598407,0.0600170776525,0.999999998569,-2.97486361558e-05,3.14308825952e-05,-3.1436603988e-05,1793192799644060928
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.592695791,742.592695791,712,671,660,633,877,784,799.407304209,648.407304209,629,650,0.417702257718,-0.0155481133737,0.0599985299493,0.999999998917,-3.11639385088e-05,3.05527532671e-06,-3.44447348587e-05,1793192799660727552
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.826716558,743,712,671,660,633,877,783.826716558,799,648.173283442,628.826716558,650,0.418505715548,-0.0155474914214,0.0599787662934,0.999999998317,-3.4269114351e-05,-2.78580764454e-05,-3.76162617264e-05,1793192799677393920
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.233714085,743,712,671,660,633,877,783.233714085,799,648.766285915,628.233714085,650,0.419297994285,-0.015546444417,0.0599560574152,0.999999996185,-4.14674224946e-05,-6.49182322946e-05,-4.11835585641e-05,1793192799694060800
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.651233866,712,671,660,633,877,783,799,649,628,650,0.420085573268,-0.0155453869953,0.0599308217998,0.999999992962,-4.18496111753e-05,-0.000101826521278,-4.42339162077e-05,1793192799710727424
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.075598308,712,671,660,633,877,783,799,649,628,650,0.420870095071,-0.0155443227973,0.059903942564,0.999999988574,-3.7797971424e-05,-0.000138636020643,-4.69480091124e-05,1793192799727394048
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.498316313,712,671,660,633,877,783.498316313,799,649,628,650,0.421667409022,-0.0155423412955,0.0598826420118,0.999999980986,-4.0819686605e-05,-0.000184188025968,-4.93549710349e-05,1793192799744060928
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712,671,660,633,877,783.925665818,799.074334182,649,628,650,0.422483735306,-0.0155411636321,0.0598724744506,0.999999975274,-4.47520712838e-05,-0.000211838361884,-5.07348066855e-05,1793192799760727552
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712,671,660,633,877,783.333173574,799.666826426,649,628,650,0.423419108497,-0.0155465559622,0.0599340319996,0.999999992279,-4.75780843743e-05,-0.000105488896881,-4.5278570312e-05,1793192799777394176
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,671.252419197,660.252419197,633,877,783,800,649,628.252419197,650,0.424325117953,-0.0155512069216,0.0599840791369,0.9999999976,-5.15090643343e-05,-2.16559169371e-05,-4.09735513833e-05,1793192799794060800
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,671.829147577,660.829147577,633,877,783,800,649,628.829147577,650,0.425193400896,-0.0155549053658,0.0600193376601,0.999999997103,-5.68597109289e-05,3.3247807427e-05,-3.81476208556e-05,1793192799810727424
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.594767761,712,672,660.594767761,633,877.405232239,783.405232239,800,649,629,650,0.426023701388,-0.015556873057,0.0600147010287,0.999999996874,-5.9839806379e-05,3.34809585632e-05,-3.93724250216e-05,1793192799827394048
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.018954105,712,672,660.018954105,633,877.981045895,783.981045895,800,649,629,650,0.426838013218,-0.0155581121922,0.0599932706376,0.999999997137,-6.18220244288e-05,1.07006763028e-05,-4.23023751982e-05,1793192799844060672
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.569272014,712,672,660.569272014,633,877.430727986,783.430727986,800,649,628.430727986,650,0.427651612571,-0.0155578665925,0.0599719769946,0.999999996895,-6.08062072748e-05,-2.07915941597e-05,-4.56167454266e-05,1793192799860727552
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711.844586011,672,661,633,877.155413989,783,800.155413989,649,628.155413989,650,0.428451894759,-0.0155575306057,0.0599523079684,0.999999995664,-6.16956529475e-05,-5.05046756014e-05,-4.81197294041e-05,1793192799877394176
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711.265280899,672,661,633,877.734719101,783,800.734719101,649,628.734719101,650,0.429215920529,-0.0155570859272,0.0599370573848,0.999999993735,-6.80600257042e-05,-7.45562271784e-05,-4.83739716007e-05,1793192799894060800
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.687865241,711,672,660.687865241,633,878,783,800.687865241,649,629,650,0.429987159999,-0.0155548786879,0.0599253666373,0.999999991999,-6.94085644695e-05,-9.34357917028e-05,-4.95479579457e-05,1793192799910727424
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.112045781,711,672,660.112045781,633,878,783,800.112045781,649,629,650,0.430764493409,-0.0155511824753,0.0599166831632,0.999999990635,-6.65198347453e-05,-0.000107946172109,-5.14989242721e-05,1793192799927394048
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.471879783,711.471879783,672,660.471879783,633,877.528120217,783,800,649,629,650,0.431573713671,-0.0155568101141,0.0599555855338,0.999999995337,-7.32053290744e-05,-3.96231801979e-05,-4.89665293086e-05,1793192799944060672
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711.942900901,672,661,633,877,783,800.057099099,649,628.942900901,650,0.432383507452,-0.0155638531182,0.0600010810692,0.999999994879,-8.11718103619e-05,3.95445028527e-05,-4.56997252503e-05,1793192799960727552
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711.363758707,672,661,633,877,783,800.636241293,649,628.363758707,650,0.433128110904,-0.0155632414525,0.0600017462013,0.999999995174,-7.97020015348e-05,3.48958653093e-05,-4.56214831258e-05,1793192799977394176
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.792626051,711.207373949,672,661,633,877,783,800.585252101,649,628.207373949,650,0.433847189439,-0.0155624563471,0.0599892307268,0.999999995622,-8.0215243736e-05,1.11570201214e-05,-4.68827257518e-05,1793192799994060800
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.235020522,711.764979478,672,661,633,877,783,799.470041043,649,628.764979478,650,0.434523159345,-0.015561378321,0.059954454671,0.999999994191,-8.40776385788e-05,-4.48230673844e-05,-5.04062093142e-05,1793192800010727424
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.346067956,712,671.653932044,661,633,877,783.346067956,799,649,628.653932044,650,0.435181407581,-0.0155611653776,0.0599291252386,0.999999991038,-8.37393716226e-05,-9.00935781682e-05,-5.2861268347e-05,1793192800027394048
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.944264987,712,671.055735013,661,633,877,783.944264987,799,649,628.055735013,650,0.435826744588,-0.0155615826934,0.0599106781805,0.99999998715,-8.0340696948e-05,-0.000127561584275,-5.45379225914e-05,1793192800044060672
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,672.063125299,661,633,877,783.46843735,799,649,628.53156265,650,0.436455585402,-0.0155611565925,0.0599188639962,0.999999988446,-8.9773198852e-05,-0.000109959680043,-5.43777751943e-05,1793192800060727296
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.883590254,712,672.883590254,661,633,877.116409746,783,799.116409746,649,628.883590254,650,0.437075043699,-0.015560404898,0.0599268237929,0.999999989521,-9.39835285092e-05,-9.61412567404e-05,-5.36788317052e-05,1793192800077394432
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.304037509,712,672.304037509,661,633,877.695962491,783,799.695962491,649,628.304037509,650,0.437663916312,-0.0155587025779,0.0599229975014,0.999999988879,-7.21720726958e-05,-0.000119886848361,-5.15870953953e-05,1793192800094061056
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,712,672,661,633,877.724353844,783,800,649,628.275646156,650,0.438245265478,-0.0155587136695,0.0599247421363,0.999999988922,-6.5617743164e-05,-0.000123649920171,-5.06014793743e-05,1793192800110727680
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672,661,633,877.144525746,783,800,649,628.855474254,650,0.438818312307,-0.015560615551,0.0599326344183,0.999999990277,-7.59000087583e-05,-0.000105361815189,-5.08364929811e-05,1793192800127394304
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.429671977,712,672.429671977,661,632.570328023,877.429671977,783,800.429671977,649,629,650,0.439358322124,-0.0155672771058,0.0599473083962,0.999999990419,-9.77145567876e-05,-8.43423738512e-05,-4.9997086135e-05,1793192800144060928
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,672.997941695,661,632,877.997941695,783,800.997941695,649,629,650,0.439887077611,-0.0155755184089,0.0599641506163,0.999999989254,-0.000123275747482,-6.25468950768e-05,-4.88119872645e-05,1793192800160727552
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,712,672.409043456,661,632,877.409043456,783,800.409043456,649,629,650,0.440334384632,-0.0155836107421,0.0599572245749,0.999999987804,-0.000125395566972,-7.80440733236e-05,-5.07713327824e-05,1793192800177394176
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,712,672,661,632.177008274,877,783,800.177008274,649,629,650,0.440758618762,-0.0155898311636,0.059936281808,0.999999983149,-0.000133530594861,-0.000113882267408,-5.38680486367e-05,1793192800194060800
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661,632.756586307,877,783,800.756586307,649,629,650,0.441130378328,-0.0155917942993,0.0598834608135,0.999999966956,-0.000155346005666,-0.000195982018152,-5.95514849858e-05,1793192800210727680
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,672,661,633,877,783,800.665652295,649,629,650,0.441484637472,-0.0155928340452,0.0598415493852,0.999999950924,-0.00016362070332,-0.000259286913065,-6.44173651321e-05,1793192800227394304
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,672,661,633,877,783,800.089206341,649,629,650,0.441826224691,-0.0155932051724,0.0598075374815,0.999999936769,-0.000162090688004,-0.000308982612688,-6.86912597459e-05,1793192800244060672
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711.505155147,672.494844853,661,633,877.494844853,783,800,649,628.505155147,650,0.442155007506,-0.0155963770742,0.059794482943,0.999999936875,-0.000132446987554,-0.00032398996416,-6.11443773877e-05,1793192800260727296
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711.079494616,673,660.920505384,633,877.920505384,783,800,649,628.079494616,650,0.442478494124,-0.0156004305917,0.0597869863595,0.999999938506,-0.00010355081168,-0.000330849661887,-5.29408626182e-05,1793192800277393920
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711.659149756,673,660.340850244,633,877.340850244,783,800,649,628.659149756,650,0.442783408109,-0.0156068047298,0.0597903177117,0.999999939017,-0.000111742779889,-0.000326404766178,-5.42226469958e-05,1793192800294060800
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.76149476,877,782.76149476,800,649,628.76149476,650,0.443071872146,-0.0156099461758,0.0597920192831,0.999999937117,-0.000131428459385,-0.000324652575146,-5.56185305735e-05,1793192800310727168
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.182567032,877,782.182567032,800,649,628.182567032,650,0.443336856874,-0.0156084735461,0.0597913946409,0.999999930953,-0.000167519303029,-0.000326743726318,-5.71772696785e-05,1793192800327394048
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711.605781037,672.605781037,660,632,877.394218963,782.394218963,800,649,628.394218963,650,0.443569073174,-0.0156085237969,0.0597884669614,0.999999927019,-0.000180530034381,-0.000331472901745,-5.91249579347e-05,1793192800344060416
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711.02998149,672.02998149,660,632,877.97001851,782.97001851,800,649,628.97001851,650,0.443786196084,-0.015609275499,0.0597844784836,0.999999924471,-0.000182909874382,-0.000337417173714,-6.1251799611e-05,1793192800360727040
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711.146129293,672,660.146129293,632,877.146129293,782,799.146129293,649,628,650,0.444127148894,-0.0156258109197,0.0597747998011,0.999999915747,-0.000190399031093,-0.000358367155594,-6.18582233869e-05,1793192800394061056
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711.724723799,672,660.724723799,632,877.724723799,782,799.724723799,649,628,650,0.444273497806,-0.0156312239764,0.0597679979436,0.999999911925,-0.000192014161943,-0.000367939284787,-6.2460484308e-05,1793192800410727424
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,712,672.302494278,660.697505722,632,877.697505722,782,800,649,628,650,0.44439938457,-0.0156341916657,0.0597585406362,0.999999905859,-0.000193607037153,-0.000383135667228,-6.32891824263e-05,1793192800427394048
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+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877,782,800,649,628.478008743,650,0.444957348369,-0.0156334937592,0.0597265200048,0.999999878316,-0.000206710156396,-0.000443410262174,-6.34456624592e-05,1793192800577393920
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711.891166147,672.891166147,660,632,877,782,800,649,628.108833853,650,0.444976919778,-0.0156313120931,0.0597249775705,0.999999878222,-0.00020354879928,-0.000445100613575,-6.33162638e-05,1793192800594060800
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711.31208444,672.31208444,660,632,877,782,800,649,628.68791556,650,0.444991429067,-0.015631314638,0.0597246658214,0.999999878351,-0.000203203308042,-0.000444999510053,-6.3094013421e-05,1793192800610727424
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711.265709736,672,660,632,877,782,800.265709736,649,629,650,0.445000815225,-0.015630753742,0.0597231260967,0.999999877309,-0.000202906234095,-0.000447460872409,-6.31682697632e-05,1793192800627394048
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711.841998925,672,660,632,877,782,800.841998925,649,629,650,0.445004213121,-0.0156295342584,0.0597201510314,0.999999874874,-0.000202665753556,-0.000452917417631,-6.35891031622e-05,1793192800644060672
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.418290188,743,712,672.418290188,660,632,877,782,800.581709812,649,628.581709812,650,0.445007716407,-0.0156294166302,0.0597195505308,0.99999987449,-0.000202653321922,-0.000453792637443,-6.34343840334e-05,1793192800660727296
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.994582221,743,712,672.994582221,660,632,877,782,800.005417779,649,628.005417779,650,0.445011259503,-0.0156297152088,0.0597198469808,0.999999874886,-0.000202727031802,-0.000452937341119,-6.30622599357e-05,1793192800677393920
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.416969553,743,712,672.416969553,660,631.416969553,877.583030447,782,800,649,628,650,0.445012084277,-0.0156293111536,0.0597188298715,0.999999873777,-0.000203345656593,-0.00045510175377,-6.30796768666e-05,1793192800694060800
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,712,672.168907671,660,631.168907671,877.831092329,782,799.831092329,649.168907671,628,650,0.445013002688,-0.0156292744977,0.0597181486168,0.999999873066,-0.000203846798764,-0.000456440163644,-6.30637479946e-05,1793192800710727680
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,712,672.748256999,660,631.748256999,877.251743001,782,799.251743001,649.748256999,628,650,0.445014211324,-0.015630146817,0.0597183137734,0.999999873368,-0.000204049894431,-0.000455701767663,-6.29578063018e-05,1793192800727394304
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,712,672.674494306,660,631.674494306,877,782.325505694,799,649.674494306,628,650,0.445014885929,-0.0156306704644,0.0597183508748,0.999999873533,-0.000204340012589,-0.000455267255117,-6.25377600043e-05,1793192800744060928
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,712,672.098859743,660,631.098859743,877,782.901140257,799,649.098859743,628,650,0.445015150167,-0.0156309261814,0.0597182895745,0.999999873593,-0.000204697001605,-0.000455066256135,-6.18763457826e-05,1793192800760727552
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763.051887874,743,711.051887874,673,659.948112126,632,877,782,800,649,628,649.051887874,0.445016950605,-0.0156296990635,0.0597188390493,0.999999874169,-0.000203859735117,-0.000454185399313,-6.18010562064e-05,1793192800794060544
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.643193797,743,711.643193797,673,659.356806203,632,877,782,800,649,628,649.643193797,0.445018036639,-0.015628801347,0.0597193767047,0.999999874735,-0.000202536931376,-0.000453534449364,-6.1773580401e-05,1793192800810727424
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.771062133,743,711.771062133,672.771062133,659.228937867,632,877,782,800,649,628,650,0.445018630871,-0.0156279734876,0.0597193751874,0.999999875074,-0.000201032459,-0.000453446435692,-6.18341943051e-05,1793192800827394304
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.19378081,743,711.19378081,672.19378081,659.80621919,632,877,782,800,649,628,650,0.445018476798,-0.0156272519204,0.0597185532846,0.99999987507,-0.00019925156638,-0.000454214965241,-6.20288422803e-05,1793192800844060928
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+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,672.455222259,659.455222259,631.455222259,877.544777741,782,800,649,628.544777741,650,0.445018612007,-0.0156256383955,0.0597186906406,0.999999874759,-0.000199842020315,-0.000454601045957,-6.23101026905e-05,1793192800894060544
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.868351414,743,711,672,659,631,877.868351414,782,800.131648586,649,628.868351414,650,0.445019703589,-0.0156267934899,0.0597192893776,0.999999874996,-0.000200240129348,-0.000453984404206,-6.17302855884e-05,1793192800910727168
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+235,3.916666667,POSE1_TO_POSE2_PRESS,763,743,711.285201689,672.285201689,659.285201689,631.285201689,877,782,800.714798311,649,628.285201689,650,0.445018693497,-0.0156262747958,0.0597187641703,0.999999874135,-0.000200390195817,-0.000455769734898,-6.20242242978e-05,1793192800944061440
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,743,711.859970493,672.859970493,659.859970493,631.859970493,877,782,800.140029507,649,628.859970493,650,0.445019713519,-0.0156264597412,0.0597187438066,0.999999874729,-0.000200440194618,-0.000454481232162,-6.17482333767e-05,1793192800960727808
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.436011492,743,711.563988508,673,659.563988508,632,877,782,800,649,628.563988508,650,0.445019732295,-0.0156263288762,0.0597188964282,0.999999874799,-0.000200792945032,-0.000454204824288,-6.14940561937e-05,1793192800977394432
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.987197978,743,711.012802022,673,659.012802022,631.987197978,877,782,800,649,628,650,0.44501943828,-0.0156261155697,0.0597190877307,0.99999987469,-0.000201243528555,-0.000454278554897,-6.12492285757e-05,1793192800994060800
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.395029903,743,711.604970097,673,659.604970097,631.395029903,877,782,800,649,628,650,0.445019583619,-0.0156267748391,0.0597185079813,0.999999874075,-0.000201708451647,-0.000455444886772,-6.11095458858e-05,1793192801010727680
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.191721779,743,712,672.808278221,660,631.191721779,877,782.191721779,800,649,628,650,0.445019401609,-0.0156269475828,0.0597180810653,0.999999873587,-0.000201937581137,-0.000456413206359,-6.11075397508e-05,1793192801027394304
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.767619936,743,712,672.232380064,660,631.767619936,877,782.767619936,800,649,628,650,0.445018563651,-0.0156261454152,0.0597179604001,0.999999873358,-0.000201694222125,-0.000456984744435,-6.13814129756e-05,1793192801044060672
+242,4.033333333,HOLD_POSE2,764,743,711,673,660,632,877,782,800,649,628,650,0.445018930925,-0.0156260378417,0.0597179381076,0.999999874198,-0.000198481810705,-0.000456541233114,-6.14730946898e-05,1793192801080006400
+243,4.050000000,HOLD_POSE2,764,743,711.595593379,672.404406621,660,632,877,782,800,649,628.595593379,650,0.445020089309,-0.0156260061237,0.0597181413686,0.999999874491,-0.000198633816898,-0.000455844236707,-6.13920591786e-05,1793192801096673024
+244,4.066666667,HOLD_POSE2,764,743,712,672,659.812980586,632,877,782,800,649,628.812980586,650,0.445020415142,-0.0156259126216,0.059718056276,0.999999874577,-0.000198078123562,-0.000455914780808,-6.12607375504e-05,1793192801113339904
+245,4.083333333,HOLD_POSE2,764,743,712,672,659.230369391,632,877,782,800,649,628.230369391,650,0.445018979928,-0.0156256884313,0.0597173612454,0.999999874222,-0.00019602547273,-0.000457608860601,-6.10230484756e-05,1793192801130006528
+246,4.100000000,HOLD_POSE2,764.347771913,743,711.652228087,672.347771913,659.347771913,632,877,782,800,649,628.347771913,650,0.445018879146,-0.0156257415115,0.0597177237381,0.999999874326,-0.000196080669242,-0.000457359452536,-6.10183528823e-05,1793192801146673152
+247,4.116666667,HOLD_POSE2,764.922989833,743,711.077010167,672.922989833,659.922989833,632,877,782,800,649,628.922989833,650,0.445019651096,-0.015625975929,0.0597187778606,0.999999874729,-0.000197514417286,-0.000455838985568,-6.11660371673e-05,1793192801163340032
+248,4.133333333,HOLD_POSE2,764.501321993,743,711,673,660,632,877,782,800,649,628.501321993,650,0.445019640623,-0.0156246452522,0.0597185603757,0.999999874911,-0.000196494230056,-0.000455878482835,-6.11732171172e-05,1793192801180006656
+249,4.150000000,HOLD_POSE2,764,743,711,673,659.923665121,632,877,781.923665121,800,649,628,650,0.445019627397,-0.0156233888797,0.0597182530989,0.999999875011,-0.00019558001685,-0.000456050465296,-6.11919897381e-05,1793192801196673024
+250,4.166666667,HOLD_POSE2,764,743,711,673,659.333239231,632,877,781.333239231,800,649,628,650,0.44502041014,-0.0156242622011,0.0597186648585,0.999999874788,-0.00019793407402,-0.000455490756082,-6.14351016005e-05,1793192801213339904
+251,4.183333333,HOLD_POSE2,764,743,711.252067786,672.747932214,659,631.747932214,877.252067786,781.252067786,800,649,628.252067786,650,0.445021080923,-0.0156249270092,0.0597186922356,0.999999874679,-0.000199232491298,-0.000455154460409,-6.1510981435e-05,1793192801230006528
+252,4.200000000,HOLD_POSE2,764,743,711.830742186,672.169257814,659,631.169257814,877.830742186,781.830742186,800,649,628.830742186,650,0.445021606639,-0.0156253216446,0.0597182215647,0.999999874722,-0.000199163105805,-0.00045510764382,-6.1370177131e-05,1793192801246673152
+253,4.216666667,HOLD_POSE2,764,743,712,672,659.405892497,631.405892497,877.594107503,782,800,649,629,650,0.445021462562,-0.0156248102194,0.0597184391187,0.999999874834,-0.000198928042628,-0.000454985596968,-6.12158181344e-05,1793192801263340032
+254,4.233333333,HOLD_POSE2,764,743,712,672,659.979585956,631.979585956,877.020414044,782,800,649,629,650,0.445021041584,-0.0156239242174,0.0597189411933,0.999999874974,-0.000198624486248,-0.000454832448992,-6.1055855449e-05,1793192801280006656
+255,4.250000000,HOLD_POSE2,764,743,712,672.567921664,660,632,877,782,800,649,628.432078336,650,0.445021519877,-0.0156227860544,0.0597187851918,0.99999987578,-0.00019478986058,-0.00045470323635,-6.11637445439e-05,1793192801296673024
+256,4.266666667,HOLD_POSE2,764,743,712,672.84582221,660,632,877,782,800,649,628.15417779,650,0.445021473573,-0.0156222570894,0.0597184671369,0.999999876009,-0.000192633593393,-0.000455117355651,-6.11752074866e-05,1793192801313339648
+257,4.283333333,HOLD_POSE2,764,743,712,672.266785267,660,632,877,782,800,649,628.733214733,650,0.445019890239,-0.0156234324952,0.0597177694294,0.999999874607,-0.000195461300469,-0.000457026270946,-6.08937208548e-05,1793192801330006528
+258,4.300000000,HOLD_POSE2,763.688676678,743,711.688676678,672,660,632,877,782,800,649,628.688676678,650,0.445019061958,-0.0156236947238,0.0597171634452,0.999999874035,-0.000195815410676,-0.000458101996464,-6.10675789723e-05,1793192801346673408
+259,4.316666667,HOLD_POSE2,763.1113613,743,711.1113613,672,660,632,877,782,800,649,628.1113613,650,0.445018878791,-0.0156231767412,0.0597166358285,0.999999874176,-0.000194056100137,-0.000458465851459,-6.16304798702e-05,1793192801363339776
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,631,877,783,800,649,629,650,0.445023204184,-0.0156230698728,0.0597194247689,0.999999875948,-0.000196695442778,-0.000453582841308,-6.06496414759e-05,1793192801395750656
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.406668585,743,712,672,659.406668585,631,876.406668585,782.406668585,800,649.593331415,628.406668585,650,0.4450217105,-0.0156235180382,0.0597193546898,0.999999875107,-0.000197221843297,-0.000455187941412,-6.07805358957e-05,1793192801412417024
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.181230107,743,711.818769893,672.181230107,659,631.181230107,876.181230107,782,800,649.818769893,628,650,0.445020960988,-0.0156241404012,0.0597191489416,0.999999874548,-0.000198142987621,-0.000456000740858,-6.08763395257e-05,1793192801429083648
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.757293034,743,711.242706966,672.757293034,659,631.757293034,876.757293034,782,800,649.242706966,628,650,0.445021832752,-0.0156251422759,0.0597186476213,0.999999874609,-0.000199924131586,-0.000455087412946,-6.0895693436e-05,1793192801445750528
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711.33275262,672.66724738,659,632,877,782,800,649,628,650,0.445022117424,-0.0156244747116,0.0597184402136,0.999999874959,-0.000198609217812,-0.000454881752794,-6.09862705565e-05,1793192801462417152
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.907772897,672.092227103,659,632,877,782,800,649,628,650,0.44502197465,-0.0156225916763,0.0597184467954,0.999999875512,-0.00019504015293,-0.000455191325329,-6.11287032554e-05,1793192801479083776
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.084657013,743,711.915342987,673,659,632,877,782,800,649,628,650,0.445016232902,-0.0156213261294,0.0597156592763,0.999999874315,-0.000194062843622,-0.000458224882758,-6.11533055892e-05,1793192801512417024
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.66380845,743,711.33619155,673,659,632,877,782,800,649,628,650,0.44499728027,-0.0156209307383,0.0597064971863,0.999999867362,-0.000195104047322,-0.000472620556948,-6.19716999444e-05,1793192801529083648
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.240291516,672.759708484,659.240291516,631.759708484,877,782,800,649,628,650,0.444966218316,-0.0156195514078,0.0596924561965,0.999999856307,-0.000195160849823,-0.000495284358989,-6.31770279519e-05,1793192801545750528
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,876,783,799.644614763,648.644614763,628.355385237,650,0.409911400534,-0.0153996980133,0.0597716914622,0.999999911878,0.000177667175288,-0.000379857057226,1.96581154902e-05,1793192802562416896
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.222546951,742,711.777453049,671,660,633,876.222546951,783.222546951,800,649,628.222546951,650,0.409279289791,-0.0154023281898,0.0598089193357,0.99999993237,0.000179999798713,-0.000319802658954,2.42234371539e-05,1793192802579083520
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.796962653,742,711.203037347,671,660,633,876.796962653,783.796962653,800,649,628.796962653,650,0.408680251884,-0.015404421976,0.05984476618,0.999999948149,0.000179980430913,-0.000265470168993,2.88819505267e-05,1793192802595750144
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,633,876.034414684,783.034414684,799.034414684,649,629,650.965585316,0.407515453218,-0.0154053295841,0.0598539697999,0.999999951849,0.00018321291808,-0.000248657458744,3.00894089729e-05,1793192802629083648
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,633,876,783,799,649,628.455092426,650.455092426,0.406943985973,-0.01540342326,0.0598366742663,0.999999944243,0.000183178921976,-0.000277836692683,2.76798308565e-05,1793192802645750528
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742.123794844,711.123794844,671,660,633,875.876205156,783,799,649,628.123794844,650,0.406387990158,-0.0154010474193,0.059823029586,0.999999937922,0.000183845107418,-0.000299511345796,2.5495221834e-05,1793192802662417408
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711.812870502,671,659.812870502,633.187129498,876,783.187129498,799,649,629,651,0.403372637399,-0.0153872570153,0.0597582074106,0.999999902938,0.000199985074623,-0.000392256580027,1.62821047743e-05,1793192802779084032
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711.237913589,671,659.237913589,633.762086411,876,783.762086411,799,649,629,651,0.403091021078,-0.0153872402086,0.0597751144864,0.999999915829,0.000204646929602,-0.000355115230461,1.88366826303e-05,1793192802795750656
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,659.909789039,633.090210961,876,783.090210961,799,649,628.090210961,651,0.402601746526,-0.0153866262534,0.0598165058127,0.999999934392,0.000218518200213,-0.000287742830556,2.58720962312e-05,1793192802829083904
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.499396705,742.500603295,711,671,660,633,875.499396705,783,799,649.500603295,628,651,0.402389827871,-0.0153827823626,0.0598293379547,0.999999939937,0.000219320745979,-0.000266979963378,2.73293535051e-05,1793192802845750784
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711.405073004,671,659.594926996,633,876,783,799.594926996,649,629,650.594926996,0.401517836051,-0.0154032951302,0.0598235858259,0.999999947255,0.000147761573843,-0.000288981088348,1.21215416672e-05,1793192802929084160
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711.994415018,671,659.005584982,633,876,783,799.005584982,649,629,650.005584982,0.401406520767,-0.0154110664817,0.0598279692146,0.999999942916,0.000181601194821,-0.000284563014007,1.45591866635e-05,1793192802945750784
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.727512444,659.727512444,633,876.272487556,783,799.727512444,649,628.727512444,650,0.401177633511,-0.0153937803162,0.0598344382576,0.999999942923,0.000192423892531,-0.000277241006075,1.62881923213e-05,1793192802995750912
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,763,742,711.63306911,670.63306911,659.63306911,633,875.63306911,783,799,649,628.36693089,650,0.400968507128,-0.0153914742693,0.0598336089756,0.999999943795,0.00018598008944,-0.000278512133511,1.5892286323e-05,1793192803129083904
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,711.042907719,670.042907719,659.042907719,633,875.042907719,783,799,649,628.957092281,650,0.400967442541,-0.0153932823329,0.0598365362156,0.999999944991,0.000185636018471,-0.000274381043444,1.65102457038e-05,1793192803145750528
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.981087788,671,659.981087788,633,876,783,800,649,628.018912212,650.018912212,0.400961696651,-0.0153945263414,0.0598382495311,0.999999945651,0.000185138025952,-0.000272328552846,1.61086317008e-05,1793192803262417152
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.750095095,671,659,633,876,783,800,649,629,650.249904905,0.400961350853,-0.0153960956256,0.0598405976085,0.999999946883,0.000182256604976,-0.000269698332397,1.67289342466e-05,1793192803312417536
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..30928ab3cef36adc5b1dcd1aa8efac75b9ec3c34
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,394 @@
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+344,5.733333333,pose2_to_pose3_retreat,0.577797519588,-0.00994557182972,1.05002914871,0.548368251277,-0.00127283751449,1.04969843633
+345,5.750000000,pose2_to_pose3_retreat,0.577537375103,-0.00994541798315,1.05002891696,0.548108106376,-0.00127268481688,1.0496982116
+346,5.766666667,pose2_to_pose3_retreat,0.577306587826,-0.00994546201569,1.05002918075,0.547877318854,-0.00127273006124,1.04969846568
+347,5.783333333,pose2_to_pose3_retreat,0.577092075486,-0.00994531962113,1.05002913901,0.547662805296,-0.00127259141182,1.04969843421
+348,5.800000000,pose2_to_pose3_retreat,0.576891902827,-0.00994550031007,1.05002917567,0.547462634426,-0.00127276634796,1.04969846245
+349,5.816666667,pose2_to_pose3_retreat,0.576706487782,-0.00994544030037,1.05002905071,0.54727721914,-0.00127270695867,1.04969834256
+350,5.833333333,pose2_to_pose3_retreat,0.576537693292,-0.00994543986773,1.05002921159,0.547108425019,-0.0012727051848,1.04969850577
+351,5.850000000,pose2_to_pose3_retreat,0.576387457813,-0.00994544810425,1.05002905937,0.546958189394,-0.00127271385762,1.04969835515
+352,5.866666667,pose2_to_pose3_retreat,0.576258619197,-0.00994535588543,1.05002901454,0.546829349825,-0.00127262486464,1.04969831058
+353,5.883333333,pose2_to_pose3_retreat,0.57614959039,-0.00994534603526,1.05002904173,0.546720319597,-0.00127261999361,1.04969833377
+354,5.900000000,pose2_to_pose3_retreat,0.576059974636,-0.00994537895375,1.05002913479,0.546630703863,-0.00127265294816,1.04969842455
+355,5.916666667,pose2_to_pose3_retreat,0.575984626701,-0.00994531726885,1.05002909525,0.546555355635,-0.00127259238822,1.04969838312
+356,5.933333333,pose2_to_pose3_retreat,0.575921730163,-0.00994535631919,1.05002917573,0.54649246095,-0.00127262503323,1.04969846626
+357,5.950000000,pose2_to_pose3_retreat,0.575869536095,-0.00994544087287,1.05002907451,0.546440267722,-0.00127270654245,1.04969836909
+358,5.966666667,pose2_to_pose3_retreat,0.575827615794,-0.00994550151652,1.05002890239,0.54639834774,-0.00127276609946,1.04969819743
+359,5.983333333,pose2_to_pose3_retreat,0.575793536643,-0.00994548276838,1.05002899511,0.546364269194,-0.00127274536053,1.04969828878
+360,6.000000000,pose2_to_pose3_retreat,0.575766701113,-0.00994537758099,1.05002910432,0.546337432063,-0.00127264551068,1.04969839978
+361,6.016666667,pose2_to_pose3_retreat,0.575747515259,-0.00994539902942,1.0500290099,0.546318245164,-0.0012726703409,1.04969830963
+362,6.033333333,pose2_to_pose3_retreat,0.575733829458,-0.00994545678722,1.05002900283,0.546304559581,-0.00127272733283,1.04969830329
+363,6.050000000,pose2_to_pose3_retreat,0.575725439404,-0.00994542439726,1.05002917282,0.54629617001,-0.00127269396656,1.04969845583
+364,6.066666667,pose2_to_pose3_retreat,0.575720064647,-0.00994541184579,1.05002912045,0.546290795065,-0.00127268194779,1.04969840607
+365,6.083333333,pose2_to_pose3_retreat,0.575716917758,-0.00994540686128,1.05002904327,0.546287647924,-0.00127267760918,1.0496983344
+366,6.100000000,pose2_to_pose3_retreat,0.575715136909,-0.00994546512049,1.05002912601,0.546285867832,-0.00127273337135,1.04969841537
+367,6.116666667,pose2_to_pose3_retreat,0.575714091032,-0.00994550891684,1.05002919443,0.546284822541,-0.00127277525219,1.04969848199
+368,6.133333333,pose2_to_pose3_retreat,0.575713623179,-0.00994552850832,1.05002922504,0.546284354949,-0.0012727939868,1.04969851179
+369,6.150000000,pose2_to_pose3_retreat,0.575713514607,-0.00994553305481,1.05002923214,0.546284246437,-0.00127279833444,1.0496985187
+370,6.166666667,pose2_to_pose3_retreat,0.575713507181,-0.00994553336576,1.05002923263,0.546284239016,-0.00127279863179,1.04969851917
+371,6.183333333,pose2_to_pose3_retreat,0.575713292955,-0.00994554233654,1.05002924664,0.54628402491,-0.00127280721022,1.04969853282
+372,6.200000000,pose2_to_pose3_retreat,0.575713194431,-0.00994554646223,1.05002925308,0.546283926441,-0.00127281115547,1.04969853909
+373,6.216666667,pose2_to_pose3_retreat,0.575712715961,-0.00994556649829,1.05002928439,0.546283448239,-0.00127283031521,1.04969856957
+374,6.233333333,pose2_to_pose3_retreat,0.575712469678,-0.00994557722973,1.05002929694,0.54628320211,-0.00127284053069,1.0496985819
+375,6.250000000,pose2_to_pose3_retreat,0.575712130624,-0.0099455944579,1.05002929331,0.546282863368,-0.00127285666776,1.04969857914
+376,6.266666667,pose2_to_pose3_retreat,0.575712124904,-0.00994559474856,1.05002929325,0.546282857653,-0.00127285694001,1.04969857909
+377,6.283333333,pose2_to_pose3_retreat,0.575711858935,-0.00994560826307,1.0500292904,0.546282591929,-0.00127286959861,1.04969857692
+378,6.300000000,pose2_to_pose3_retreat,0.575711770182,-0.00994561277284,1.05002928945,0.546282503258,-0.00127287382277,1.0496985762
+379,6.316666667,pose2_to_pose3_retreat,0.575711751624,-0.00994561371583,1.05002928925,0.546282484716,-0.00127287470603,1.04969857605
+380,6.333333333,pose2_to_pose3_retreat,0.575711241163,-0.00994563965359,1.05002928379,0.546281974725,-0.00127289900109,1.04969857189
+381,6.350000000,pose2_to_pose3_retreat,0.575711097658,-0.00994564694544,1.05002928225,0.546281831352,-0.00127290583112,1.04969857073
+382,6.366666667,pose2_to_pose3_retreat,0.575710687846,-0.00994566776903,1.05002927787,0.546281421916,-0.0012729253359,1.04969856739
+383,6.383333333,pose2_to_pose3_retreat,0.575710548995,-0.00994567482441,1.05002927638,0.546281283193,-0.00127293194445,1.04969856626
+384,6.400000000,pose2_to_pose3_retreat,0.575710468865,-0.00994567889599,1.05002927552,0.546281203137,-0.00127293575816,1.04969856561
+385,6.416666667,pose2_to_pose3_retreat,0.575710054614,-0.00994559473889,1.05002923146,0.546280787677,-0.00127285571112,1.04969852133
+386,6.433333333,pose2_to_pose3_retreat,0.575709710201,-0.00994552219474,1.05002919386,0.54628044222,-0.00127278671735,1.04969848352
+387,6.450000000,pose2_to_pose3_retreat,0.575709662775,-0.00994551220527,1.05002918868,0.54628039465,-0.00127277721677,1.04969847832
+388,6.466666667,pose2_to_pose3_retreat,0.575709603382,-0.0099454996954,1.05002918219,0.546280335078,-0.00127276531914,1.0496984718
+389,6.483333333,pose2_to_pose3_retreat,0.575709429151,-0.00994547708506,1.05002919854,0.546280160538,-0.00127274379203,1.04969848717
+390,6.500000000,pose2_to_pose3_retreat,0.575709373185,-0.00994550665327,1.05002929625,0.546280105048,-0.0012727718446,1.04969858231
+391,6.516666667,pose2_to_pose3_retreat,0.575709301702,-0.00994554441987,1.05002942105,0.546280034172,-0.00127280767532,1.04969870384
+392,6.533333333,pose2_to_pose3_retreat,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5686c42d7e8ebdf4b5b641beb17738810c02ac31
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:886fb374ac7a6b797cb2105eeacd0e0d4397b408ea6615128eed310d46f9bee3
+size 25098954
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..36327ceef7b9162a1fb08a7023b50a27da9ff366
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/franka_data.csv
@@ -0,0 +1,397 @@
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+30,0.500000000,BASELINE,764,742,711.576151069,670.423848931,659.423848931,633,876,783,800,649,628.576151069,650,0.400962151781,-0.0153974409047,0.0598444931684,0.999999949044,0.000180411121182,-0.000262891244638,1.58562963504e-05,1793192804250784256
+31,0.516666667,BASELINE,764,742,711.008726973,671,659.991273027,633,875.991273027,783,800,649,628.008726973,650,0.400961082598,-0.0153980828975,0.0598437051827,0.999999949144,0.000178099279844,-0.000264103645046,1.55305108427e-05,1793192804267450368
+32,0.533333333,BASELINE,764,742,711.592458446,671,659.407541554,633,875.407541554,783,800,649,628.592458446,650,0.400961655726,-0.0153980454979,0.0598442774606,0.999999949007,0.000180422888506,-0.000263022083443,1.59258711875e-05,1793192804284116992
+33,0.550000000,BASELINE,764,742,711.82639311,670.82639311,659.17360689,633,875.17360689,783,800,648.82639311,628.82639311,650.17360689,0.400962472331,-0.0153978587239,0.0598450492839,0.999999949073,0.000181957498885,-0.000261694508426,1.6168116013e-05,1793192804300783872
+34,0.566666667,BASELINE,764,742,711.251219503,670.251219503,659.748780497,633,875.748780497,783,800,648.251219503,628.251219503,650.748780497,0.400963852115,-0.015397326435,0.0598462826713,0.999999949622,0.000181667092368,-0.000259797884718,1.60561922562e-05,1793192804317450752
+35,0.583333333,BASELINE,764,742,711.323225626,670.323225626,659.676774374,633,875.676774374,783.323225626,800,648.323225626,628,650.676774374,0.400963497778,-0.0153974506466,0.0598455745001,0.999999949475,0.000181181064011,-0.000260709841411,1.59047578686e-05,1793192804334117376
+36,0.600000000,BASELINE,764,742,711.897105898,670.897105898,659.102894102,633,875.102894102,783.897105898,800,648.897105898,628,650.102894102,0.400961798668,-0.0153980839605,0.0598433606913,0.999999948783,0.000180543335017,-0.000263799792673,1.57226838092e-05,1793192804350784000
+37,0.616666667,BASELINE,764,742,711.512158265,671.487841735,659,633,875.487841735,783.512158265,800,649,628.487841735,650,0.400959471062,-0.0153983846022,0.0598420654063,0.99999994828,0.000180087045531,-0.000266006505268,1.57663006822e-05,1793192804367450624
+38,0.633333333,BASELINE,764,742,711.07994577,671.92005423,659.07994577,633,875.92005423,783,800,649,629,650,0.400957446876,-0.0153984760515,0.0598412221045,0.99999994789,0.000179854579151,-0.000267622346187,1.58169809818e-05,1793192804384117504
+39,0.650000000,BASELINE,764,742,711.657641887,671.342358113,659.657641887,633,875.342358113,783,800,649,629,650,0.400958166681,-0.0153977175432,0.059841943532,0.999999947959,0.00018076886606,-0.000266760731088,1.56046571962e-05,1793192804400783872
+40,0.666666667,BASELINE,764,742,712,671,659.766860128,633.233139872,875.233139872,783,800,649,629,650,0.400959060924,-0.015397633686,0.0598428322658,0.999999948335,0.000180395967991,-0.000265603727041,1.55614204263e-05,1793192804417450496
+41,0.683333333,BASELINE,764,742,712,671,659.194559911,633.805440089,875.805440089,783,800,649,629,650,0.400960208929,-0.015398531278,0.0598439643885,0.999999949154,0.000178150536873,-0.000264017005822,1.57641630899e-05,1793192804434117120
+42,0.700000000,BASELINE,764,742.390382491,712,671,659.390382491,633.609617509,876,783,799.609617509,649,628.609617509,650,0.400961600879,-0.015398892036,0.0598451944427,0.999999949815,0.00017704766898,-0.000262236207002,1.60226757097e-05,1793192804450784000
+43,0.716666667,BASELINE,764,742.981836392,712,671,659.981836392,633.018163608,876,783,799.018163608,649,628.018163608,650,0.400963118475,-0.0153989762907,0.0598464749377,0.999999950393,0.000176533292707,-0.000260355446125,1.63099133401e-05,1793192804467450880
+44,0.733333333,BASELINE,764,742.439903204,711.439903204,671,659.439903204,633,876,783,799.560096796,648.439903204,628.560096796,650,0.400961108138,-0.0153971179203,0.059844588006,0.999999949032,0.00018014854963,-0.000263128977974,1.57002928787e-05,1793192804484117504
+45,0.750000000,BASELINE,764,742,711.137454314,671,659.137454314,633,876,783.137454314,799.862545686,648.137454314,629,650,0.400960046845,-0.0153960890783,0.0598434321143,0.999999948149,0.00018274514833,-0.000264707738166,1.53454008112e-05,1793192804500784128
+46,0.766666667,BASELINE,764,742,711.713265398,671,659.713265398,633,876,783.713265398,799.286734602,648.713265398,629,650,0.400962368626,-0.0153979019774,0.0598449276284,0.999999949047,0.000181675872807,-0.000262005967359,1.58934847267e-05,1793192804517450752
+47,0.783333333,BASELINE,764,742,711.711507321,671,659.711507321,633,876,783.711507321,799.288492679,649,628.711507321,650.288492679,0.400963657889,-0.0153988141512,0.0598462008531,0.999999949732,0.000180681161886,-0.000260048703217,1.62701410499e-05,1793192804534117376
+48,0.800000000,BASELINE,764,742,711.136859046,671,659.136859046,633,876,783.136859046,799.863140954,649,628.136859046,650.863140954,0.400963922998,-0.0153988328966,0.0598472535894,0.999999950211,0.000179760411391,-0.000258829914162,1.64767585836e-05,1793192804550784000
+49,0.816666667,BASELINE,763.5490162,742.4509838,711.4509838,671,659.4509838,633,876,783,799.5490162,649,628,651,0.400963997974,-0.0153972535511,0.0598467389814,0.999999949558,0.000182490737886,-0.000259463746823,1.61110637909e-05,1793192804567450624
+50,0.833333333,BASELINE,763.04190713,742.95809287,712,671,659.95809287,633,875.95809287,783.04190713,799.04190713,649,628.04190713,650.95809287,0.400963952834,-0.0153955242367,0.0598458326048,0.999999948678,0.000185772538693,-0.000260553070278,1.56525697873e-05,1793192804584117248
+51,0.850000000,BASELINE,763.619482107,742.380517893,712,671,659.380517893,633,875.380517893,783.619482107,799.619482107,649,628.619482107,650.380517893,0.400963132086,-0.0153982638116,0.0598461815117,0.999999949578,0.00018151404248,-0.000260061680254,1.62948023147e-05,1793192804600784128
+52,0.866666667,BASELINE,764,742,712,671,659,633,875.196043654,783.803956346,799.803956346,649,629,650.196043654,0.400962492718,-0.0154002626142,0.0598461276107,0.999999950238,0.000177797596945,-0.000260073364913,1.65736035871e-05,1793192804617450752
+53,0.883333333,BASELINE,764,742,712,671,659,633,875.770648229,783.229351771,799.229351771,649,629,650.770648229,0.400962203598,-0.015400830983,0.0598452958864,0.999999950459,0.000175127853258,-0.000261056488429,1.61506179103e-05,1793192804634117632
+54,0.900000000,BASELINE,764,742,712,671,659,633,876,783,799.346073942,649,629,650.653926058,0.400962354299,-0.015400320328,0.0598454603428,0.999999950287,0.000176520621657,-0.000260783421692,1.6104176813e-05,1793192804650784256
+55,0.916666667,BASELINE,764,742,712,671,659,633,876,783,799.922045114,649,629,650.077954886,0.400962797173,-0.0153990928765,0.0598462865631,0.999999949841,0.000180612120581,-0.000259675866602,1.63078746339e-05,1793192804667450624
+56,0.933333333,BASELINE,764,742,712,671,659,633,876,783,800,649,628.487645084,650,0.400962972516,-0.0153996423802,0.05984616035,0.999999949991,0.000179610954284,-0.000259801797716,1.61758960067e-05,1793192804684117248
+57,0.950000000,BASELINE,764,742,712,670.897640469,659,633,876,783,799.897640469,649,628.102359531,650,0.40096286617,-0.0153999958414,0.0598457885625,0.999999949983,0.000178826690906,-0.000260377681257,1.60513893501e-05,1793192804700783872
+58,0.966666667,BASELINE,764,742,712,670.319487365,659,633,876,783,799.319487365,649,628.680512635,650,0.400961645117,-0.015398145141,0.0598449682681,0.999999948808,0.000182756049927,-0.000262147580785,1.62058511214e-05,1793192804717450496
+59,0.983333333,BASELINE,763.743995672,742,711.743995672,670.256004328,659.256004328,633,876,783,799.256004328,649,629,650,0.400961279955,-0.0153980065521,0.0598446632381,0.999999948484,0.000183793798489,-0.000262654919216,1.62606971211e-05,1793192804734117120
+60,1.000000000,BASELINE,763.171791107,742,711.171791107,670.828208893,659.828208893,633,876,783,799.828208893,649,629,650,0.400961971937,-0.0153999826539,0.0598449946299,0.999999949223,0.000181260014571,-0.000261602822861,1.61925040875e-05,1793192804750784000
+61,1.016666667,BASELINE,763.413374669,742,711.413374669,671,660,633,876,783,799.586625331,648.586625331,629,650,0.400962468044,-0.0154004376877,0.059845030287,0.999999949528,0.000179702826221,-0.000261505569776,1.63169743324e-05,1793192804767450880
+62,1.033333333,BASELINE,764,742,712,671,660,633,876,783,799,648.004024287,629,650.004024287,0.400962888613,-0.0154002432494,0.0598449489176,0.999999949651,0.00017856677945,-0.000261798028691,1.65232734754e-05,1793192804784117504
+63,1.050000000,BASELINE,764,742,712,671,660,633,876,783,799,648.583670572,629,650.583670572,0.400964524844,-0.0154004948389,0.0598462770179,0.999999950465,0.00017773804976,-0.000259237114259,1.66108169204e-05,1793192804800784128
+64,1.066666667,BASELINE,764,742,712,671,660,633,876,783,799,648.83743133,629,650.83743133,0.400965093474,-0.015400245922,0.0598468186432,0.999999950787,0.000177452744303,-0.000258193241502,1.65366522389e-05,1793192804817450752
+65,1.083333333,BASELINE,764,742,712,671,660,633,876,783,799,648.26044055,629,650.26044055,0.400962940562,-0.0153987211076,0.0598453553767,0.999999949866,0.000178552742818,-0.000261016630715,1.6050259152e-05,1793192804834117376
+66,1.100000000,BASELINE,764,742.315071357,712,671,660,633,875.684928643,783.315071357,799,648.315071357,629,650,0.400961448533,-0.0153988612268,0.0598445290177,0.999999949562,0.000177826715086,-0.000262677159992,1.59237755261e-05,1793192804850784000
+67,1.116666667,BASELINE,764,742.8893665,712,671,660,633,875.1106335,783.8893665,799,648.8893665,629,650,0.400960500244,-0.015400371164,0.059844226672,0.999999949768,0.000175598331003,-0.000263380950446,1.60934060927e-05,1793192804867450624
+68,1.133333333,BASELINE,763.523821249,742.523821249,712,671,659.523821249,633,875,783.523821249,799,649,629,650.476178751,0.400961137221,-0.0154003543442,0.0598448477407,0.999999949799,0.000176377989022,-0.000262734343963,1.62138480197e-05,1793192804884117504
+69,1.150000000,BASELINE,763.064824316,742,712,671,659.064824316,633,875,783,799,649,629,650.935175684,0.400961973543,-0.0153998483904,0.0598455637332,0.999999949737,0.000177903974963,-0.000261935964676,1.62832082792e-05,1793192804900784128
+70,1.166666667,BASELINE,763.644312493,742,712,671,659.644312493,633,875,783,799,649,629,650.355687507,0.400961389412,-0.0153983513089,0.0598452840448,0.999999949282,0.000179656900492,-0.000262490795567,1.60401953649e-05,1793192804917451008
+71,1.183333333,BASELINE,764,742,712,671,659.777767086,633,875,783,799,649,629,650.222232914,0.400961421078,-0.0153982027831,0.059845281951,0.999999949275,0.000180185048848,-0.000262157635183,1.59972723481e-05,1793192804934117888
+72,1.200000000,BASELINE,764,742,712,671,659.202338221,633,875,783,799,649,629,650.797661779,0.400962431432,-0.0154001975236,0.0598457210397,0.999999949981,0.000178766652601,-0.000260413185625,1.62723532316e-05,1793192804950784512
+73,1.216666667,BASELINE,764,742,712,671,659.372493553,633,875,783,799,649,628.627506447,650.627506447,0.400962472439,-0.0153999963145,0.059845569465,0.999999949869,0.000179123938305,-0.000260607939383,1.60979494417e-05,1793192804967450880
+74,1.233333333,BASELINE,764,742,712,671,659.94700147,633,875,783,799,649,628.05299853,650.05299853,0.400961987739,-0.0153986041763,0.0598450975559,0.999999949313,0.000180444229384,-0.000261854381049,1.56797766886e-05,1793192804984117248
+75,1.250000000,BASELINE,764,742,712,670.460758894,660,633,875.539241106,783,800.078482211,648.460758894,628.539241106,650,0.400962494036,-0.015397875168,0.0598454071402,0.99999994972,0.000179953910014,-0.000260639091397,1.56322546515e-05,1793192805000783872
+76,1.266666667,BASELINE,764,742,711.870611692,670,660,633,876,783,800.741223383,648.129388308,629,650,0.400962640548,-0.0153975805619,0.0598454684254,0.999999949931,0.000179666992803,-0.00026002597198,1.56138263218e-05,1793192805017450496
+77,1.283333333,BASELINE,764,742,711.293927547,670,660,633,876,783,799.587855094,648.706072453,629,650,0.400961195122,-0.0153985547154,0.0598443967866,0.999999949133,0.000180719339264,-0.000262359409967,1.55657584401e-05,1793192805034117376
+78,1.300000000,BASELINE,764,742,711.281571932,670.563143863,660,633,876,783,799,649,629,650,0.400961041995,-0.0153990655948,0.0598443880957,0.999999949086,0.000180874017366,-0.000262426285843,1.56482216427e-05,1793192805050784256
+79,1.316666667,BASELINE,764,742,711.855839905,671.711679811,660,633,876,783,799,649,629,650,0.400962232222,-0.0153990948973,0.0598454843469,0.999999949821,0.000180095562709,-0.000260137054006,1.58663728465e-05,1793192805067450880
+80,1.333333333,BASELINE,764,742,712,671.557474997,659.557474997,633,876,783,799,649,629,650,0.400961575438,-0.0153987069244,0.0598454821782,0.999999949795,0.000179111487625,-0.000260918633742,1.58404025891e-05,1793192805084117504
+81,1.350000000,BASELINE,764,742,712,671,659.03271164,633,876,783,799.03271164,649,629,650.03271164,0.400960399393,-0.0153981889838,0.0598451341813,0.999999949514,0.000178218172549,-0.000262608063517,1.57329305403e-05,1793192805100783872
+82,1.366666667,BASELINE,764,742,712,671,659.611866735,633,876,783,799.611866735,649,629,650.611866735,0.400960890599,-0.0153978362749,0.0598451592268,0.999999949287,0.000179992261339,-0.000262269523098,1.56308187864e-05,1793192805117450496
+83,1.383333333,BASELINE,764,742,712,670.810931467,659.810931467,633,876,783.189068533,800,649,628.810931467,650.810931467,0.400961479702,-0.0153980856787,0.0598451907574,0.999999949364,0.000180298163427,-0.000261765263262,1.56161003258e-05,1793192805134117120
+84,1.400000000,BASELINE,764,742,712,670.237698425,659.237698425,633,876,783.762301575,800,649,628.237698425,650.237698425,0.400962267721,-0.0153995585028,0.0598452354651,0.99999995006,0.000177620887127,-0.000260924281446,1.57789545027e-05,1793192805150783744
+85,1.416666667,BASELINE,763.656400413,742,712,670.343599587,659.343599587,633,876,783.656400413,800,649,628,650,0.400962279779,-0.0153998441049,0.0598453277912,0.999999950239,0.000177136692982,-0.00026055688622,1.59697245375e-05,1793192805167450624
+86,1.433333333,BASELINE,763.069389075,742,712,670.930610925,659.930610925,633,876,783.069389075,800,649,628,650,0.400961742132,-0.0153992886589,0.0598454538509,0.999999950054,0.000178206115442,-0.000260524987786,1.6180270628e-05,1793192805184117248
+87,1.450000000,BASELINE,763,742,712,670.487540112,660,632.487540112,876,783,799.487540112,648.487540112,628.512459888,650.512459888,0.40096159139,-0.0154000607555,0.0598453969855,0.999999949811,0.000178523971402,-0.000261222891095,1.6420210836e-05,1793192805200783872
+88,1.466666667,BASELINE,763.093123677,742,712,670.093123677,660,632.093123677,876,783,799.093123677,648.093123677,629,650.906876323,0.400961416645,-0.0154007651717,0.0598453330235,0.999999949631,0.000178495940912,-0.000261919464977,1.65661556195e-05,1793192805217450496
+89,1.483333333,BASELINE,763.671219274,742,712,670.671219274,660,632.671219274,876,783,799.671219274,648.671219274,629,650.328780726,0.400960846788,-0.0154001903262,0.0598453598081,0.999999949822,0.000177191283023,-0.000262099620899,1.62020677377e-05,1793192805234117376
+90,1.500000000,BASELINE,764,742,711.752242275,671,660,633,876,783.247757725,800,649,629,650,0.400960746444,-0.0153992741066,0.0598451037886,0.999999949701,0.000177542383393,-0.000262345186955,1.58413495113e-05,1793192805250783744
+91,1.516666667,BASELINE,764,742,711.177757334,671,660,633,876,783.822242666,800,649,629,650,0.400961265265,-0.0153979077045,0.0598444748249,0.999999949167,0.000180076993124,-0.000262677011744,1.54850750019e-05,1793192805267450624
+92,1.533333333,BASELINE,764,742,711,671,660,633,876,784,799.59370896,649,629,650,0.400962616308,-0.0153986421966,0.0598456945397,0.999999949853,0.000179641820867,-0.000260348711686,1.55191374237e-05,1793192805284117504
+93,1.550000000,BASELINE,764,742,711,671,660,633,876,784,799.005375555,649,629,650,0.400964340236,-0.0154003180131,0.0598477425716,0.999999951076,0.000177876011215,-0.000256828518717,1.5728093798e-05,1793192805300784128
+94,1.566666667,BASELINE,764,742,711.574080644,670.425919356,660,633,876,784,799.574080644,649,628.425919356,650,0.400963118095,-0.0154012719934,0.0598465655782,0.999999950516,0.000177520118639,-0.000259214437722,1.62156202974e-05,1793192805317450496
+95,1.583333333,BASELINE,764,742,712,670,659.847366728,633,876,783.847366728,799.847366728,648.847366728,628.152633272,650,0.400962256092,-0.0154020011807,0.059845898418,0.99999995024,0.00017660592364,-0.000260877517312,1.65279138863e-05,1793192805334117376
+96,1.600000000,BASELINE,764,742,712,670,659.27109466,633,876,783.27109466,799.27109466,648.27109466,628.72890534,650,0.400962469062,-0.0154021249223,0.0598467288566,0.99999995081,0.000174106056397,-0.000260383173164,1.63467130998e-05,1793192805350784000
+97,1.616666667,BASELINE,764,742,711.695376932,670.304623068,659,633,876,783.304623068,799,648.304623068,629,650,0.400961338001,-0.0154012434518,0.0598460351222,0.9999999504,0.000174729340627,-0.000261557416554,1.60525715801e-05,1793192805367450624
+98,1.633333333,BASELINE,764,742,711.120151666,670.879848334,659,633,876,783.879848334,799,648.879848334,629,650,0.400959013015,-0.0153994690329,0.0598439874373,0.999999949108,0.000178126977106,-0.000264213896546,1.56581027692e-05,1793192805384117248
+99,1.650000000,BASELINE,764,742,711.46680561,671,659.46680561,633,876,783.53319439,799,649,628.53319439,650,0.400960529518,-0.0154002982029,0.0598446664234,0.999999949807,0.000176941100076,-0.000262353925183,1.57382134876e-05,1793192805400784128
+100,1.666666667,BASELINE,764,742,712,670.944169886,660,633,875.944169886,783,799,649,628,650,0.400962698736,-0.0154015193021,0.0598458776488,0.999999950819,0.000174981120532,-0.000259789330909,1.59068714195e-05,1793192805417450752
+101,1.683333333,BASELINE,764,742,712,670.36480708,660,633,875.36480708,783,799,649,628,650,0.400961477688,-0.015399969535,0.0598453289986,0.999999949923,0.000177110260313,-0.000261799347725,1.57308729947e-05,1793192805434117376
+102,1.700000000,BASELINE,764,742,712,670.213068229,660,633,875.213068229,783,799,649,628.213068229,650.213068229,0.400960604348,-0.0153991346479,0.0598451052988,0.999999949334,0.000178821993843,-0.000262888974615,1.56467848928e-05,1793192805450784000
+103,1.716666667,BASELINE,764,742,712,670.7884143,660,633,875.7884143,783,799,649,628.7884143,650.7884143,0.400960322215,-0.0153995152642,0.0598454341092,0.999999949278,0.000179824015357,-0.000262413671238,1.571897104e-05,1793192805467450624
+104,1.733333333,BASELINE,764,742,712,671,659.629126457,633.370873543,876,783,799.370873543,648.629126457,629,650.629126457,0.400960919993,-0.0153997288467,0.0598453930465,0.999999949366,0.000180054902104,-0.00026191206593,1.58390338722e-05,1793192805484117248
+105,1.750000000,BASELINE,764,742,712,671,659.042529696,633.957470304,876,783,799.957470304,648.042529696,629,650.042529696,0.400962029581,-0.0153998452719,0.0598451368425,0.999999949538,0.000179837248796,-0.000261395161731,1.59869447818e-05,1793192805500783872
+106,1.766666667,BASELINE,764,742,712,671,659.537401784,633.462598216,876,783.537401784,799.462598216,648.537401784,629,650,0.400961185002,-0.0154004846154,0.0598446746622,0.99999994932,0.000179530358756,-0.00026243112134,1.60704169165e-05,1793192805517450752
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,783,801,649,629,650,0.400961211524,-0.0154001778676,0.059845221566,0.999999949678,0.000178335356215,-0.000261883819033,1.60622042052e-05,1793192805559945984
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.420459936,742,712,671,659.579540064,633,876,783,799.840919872,649,629,650,0.400962344354,-0.015399633755,0.0598456964541,0.999999950267,0.000177496235467,-0.000260222070134,1.56434231709e-05,1793192805576612608
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.162168057,742,712,671,660,633,876.162168057,783,799.162168057,649,629,650,0.400962751342,-0.0153995354283,0.0598458010413,0.99999995059,0.000176818923658,-0.000259455915746,1.54237806008e-05,1793192805593279232
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.752957792,742,712,671,660,633,876.752957792,783,799.752957792,649,629,650,0.400961239873,-0.0154006153451,0.0598449268975,0.999999950213,0.000176569284171,-0.000261056880822,1.57304750254e-05,1793192805609945856
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,783,800,649,629,650,0.400961687959,-0.0153998634287,0.0598451651225,0.999999949926,0.000178257873531,-0.000260998677228,1.58564027286e-05,1793192805626612480
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,783,800,649,629,650,0.400963544322,-0.0153977950225,0.0598462027774,0.999999949698,0.000181339416248,-0.000259748073296,1.58524181952e-05,1793192805643279104
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.505197508,633,876.505197508,783.494802492,800,649,628.505197508,650.494802492,0.400963910676,-0.0153991916094,0.0598469611154,0.999999950112,0.000179926146051,-0.00025912406159,1.6016995159e-05,1793192805659945728
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.070339749,633,876,783.929660251,800,649,628,650.929660251,0.400965124567,-0.0154009058188,0.0598479911017,0.999999950706,0.000178245289293,-0.000257979664765,1.62435889167e-05,1793192805676612352
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.6515273,633,876,783.3484727,800,649,628,650.3484727,0.400974242422,-0.0154008603268,0.0598513217567,0.999999951846,0.000179896103516,-0.000252320572858,1.672276337e-05,1793192805693278976
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.767048523,742,712,671,660,633.232951477,876,783,799.767048523,649,628.232951477,650.232951477,0.400993005441,-0.0154013622138,0.0598593742315,0.999999955065,0.000180900170627,-0.00023840878089,1.75013797372e-05,1793192805709945600
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.185270068,742,712,671,660,633.814729932,876,783,799.185270068,649,628.814729932,650.814729932,0.401026211354,-0.0154026837588,0.0598744972691,0.999999960954,0.000180935783293,-0.000212139203684,1.87283873626e-05,1793192805726612224
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.395673107,742,712,671,660,633.604326893,876,783,799.395673107,649,629,650.604326893,0.401077316599,-0.0154048983889,0.0598925475627,0.999999967562,0.000180180968671,-0.000178867250436,2.04297667292e-05,1793192805743278848
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.976226044,742,712,671,660,633.023773956,876,783,799.976226044,649,629,650.023773956,0.40113678538,-0.0154075303167,0.0599119656296,0.999999973592,0.000179056823593,-0.000142323406687,2.2352798266e-05,1793192805759945472
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783,800,649,628.437272882,650,0.401207660249,-0.0154136116817,0.0599262271147,0.999999976292,0.000176866280199,-0.000124735473181,2.39850530332e-05,1793192805776612096
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.147536307,742,712,671,659.852463693,633,876,783,800,649,628,650.147536307,0.401283450257,-0.0154195285283,0.0599379601505,0.999999978611,0.000174160374007,-0.000108703726696,2.50901623625e-05,1793192805793278720
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.726653488,742,712,671,659.273346512,633,876,783,800,649,628,650.726653488,0.401372193622,-0.0154245332645,0.0599429409247,0.999999980733,0.000170080100454,-9.48565162041e-05,2.46895584965e-05,1793192805809945344
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.694302443,742,712,671,659,633,876,783.305697557,800,649,628.305697557,650.694302443,0.401464411296,-0.0154290499735,0.0599419992211,0.999999981259,0.000168307503548,-9.27773751976e-05,2.33695160282e-05,1793192805826612224
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.115323768,742,712,671,659,633,876,783.884676232,800,649,628.884676232,650.115323768,0.401559734856,-0.015433130406,0.0599357630641,0.999999980439,0.000168597875483,-0.000101218408055,2.12275330635e-05,1793192805843279104
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.540223344,742,712,671,659,633,876,783.540223344,800,649,629,650,0.401682058199,-0.0154395965633,0.0599336042272,0.999999980926,0.00016518468208,-0.000102449219718,1.91561141404e-05,1793192805859945728
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.034698579,742,711.965301421,671,659.034698579,633,876,783,800,649,628.965301421,650.034698579,0.401813112445,-0.0154467655997,0.059932640328,0.999999981775,0.000160792441779,-0.000101504380006,1.71319792388e-05,1793192805876612608
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.622143563,742,711.377856437,671,659.622143563,633,876,783,800,649,628.377856437,650.622143563,0.401976270515,-0.0154556787027,0.0599345564949,0.99999998333,0.00015547836647,-9.44699937803e-05,1.5581485756e-05,1793192805893280256
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.206612058,711.206612058,671,660,633,876,783,799.793387942,649,628.206612058,650.793387942,0.402156931463,-0.0154652825683,0.0599365221174,0.999999984884,0.000149907320084,-8.6990997126e-05,1.38337047774e-05,1793192805909947392
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.785714328,711.785714328,671,660,633,876,783,799.214285672,649,628.785714328,650.214285672,0.402369147427,-0.015476131773,0.0599385769006,0.999999986484,0.000143872994389,-7.87104360457e-05,1.17302445253e-05,1793192805926613760
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.636402605,712,671,660,633,876,783,799.363597395,649,628.636402605,650,0.402598122512,-0.0154875825178,0.05994113874,0.999999988284,0.000135123741104,-7.1324606015e-05,9.27413191846e-06,1793192805943280128
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.059235616,712,671,660,633,876,783,799.940764384,649,628.059235616,650,0.402836941579,-0.0154993865957,0.0599439984138,0.999999990115,0.000124779794896,-6.44643217097e-05,6.61087840836e-06,1793192805959946496
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.485351441,671,659.485351441,633,876,783,800,649,628.514648559,650.514648559,0.403102966577,-0.0155090589115,0.0599418389578,0.999999990552,0.000120662702283,-6.57827460758e-05,3.00098607037e-06,1793192805976612864
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.090836576,671,659.090836576,633,875.909163424,783,800,649,629,650.909163424,0.403375976291,-0.0155180651354,0.0599375316705,0.999999990639,0.000117188266972,-7.06238199826e-05,-8.53885331636e-07,1793192805993278976
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.681775728,671,659.681775728,633,875.318224272,783,800,649,629,650.318224272,0.403670309995,-0.015524746475,0.0599245598216,0.999999989539,0.000113331165832,-8.97090714205e-05,-5.46143067184e-06,1793192806009945600
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.732844496,742,711.732844496,671,659.732844496,633,875,783,800,649,629,650,0.403988630763,-0.0155202029301,0.0599125908745,0.999999990754,7.92643138475e-05,-0.000109962761028,-1.08294845609e-05,1793192806026612480
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.153951851,742,711.153951851,671,659.153951851,633,875,783,800,649,629,650,0.404334941424,-0.0155025613448,0.0599017921895,0.999999991148,9.94645183894e-06,-0.000131579870675,-1.70849567269e-05,1793192806043279104
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.421607591,742,711.421607591,671,659.421607591,633,875.421607591,783,799.578392409,649,629,650,0.404712777909,-0.01549232453,0.0598947338698,0.999999989149,7.68107726125e-06,-0.000145346663732,-2.27428101908e-05,1793192806059945984
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.995959435,742,711.995959435,671,659.995959435,633,875.995959435,783,799.004040565,649,629,650,0.405102035879,-0.0154847703905,0.0598890306476,0.999999986951,2.97081558085e-05,-0.000156269364514,-2.81841521977e-05,1793192806076613120
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.572425759,712,671,659.427574241,633,876.572425759,783,799,649,629,650,0.405568250398,-0.0155004362497,0.0599075211876,0.999999991387,1.74509166401e-05,-0.000126553522099,-3.01044034552e-05,1793192806093279744
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,712,671.152661563,659.152661563,633,876.847338437,783,799,649,629,650,0.40604936676,-0.0155148958861,0.0599294840471,0.999999995446,2.43311982078e-06,-8.99868548312e-05,-3.17025057729e-05,1793192806109946368
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,712,671.743677998,659.743677998,633,876.256322002,783,799,649,629,650,0.406571706863,-0.0155254195755,0.0599609251913,0.99999999868,-1.98139205082e-05,-3.45753554073e-05,-3.24472155271e-05,1793192806126613504
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.672029919,712,671.672029919,660,633,876,783,799.327970081,649,628.672029919,650,0.407108869719,-0.0155291087762,0.0599805471062,0.999999998599,-3.93664493209e-05,-5.43057181351e-06,-3.49708018229e-05,1793192806143279872
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.092887543,712,671.092887543,660,633,876,783,799.907112457,649,628.092887543,650,0.407657384471,-0.0155275638599,0.0599911173971,0.999999997622,-5.68554183998e-05,3.59814101616e-06,-3.88567213645e-05,1793192806159945984
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.518052888,742,712,671,660,633,876,783,800,649,628,650,0.40819471319,-0.0155236017145,0.0599795502675,0.999999996373,-6.70371822166e-05,-2.71770844355e-05,-4.49553445801e-05,1793192806176612352
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742.057275496,712,671,660,633,876.057275496,783,799.942724504,649,628,650,0.408734924337,-0.015519788751,0.0599646594129,0.99999999459,-6.68254108006e-05,-6.32135245593e-05,-4.856277425e-05,1793192806193279232
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742.644793139,712,671,660,633,876.644793139,783,799.355206861,649,628,650,0.409321602817,-0.015521631683,0.0599581478136,0.999999996535,1.66844820666e-05,-7.75647203432e-05,-2.51942531912e-05,1793192806209946368
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742.769620325,712,671,660,633,877,783.230379675,799,649,628,650,0.409946956739,-0.0155229352072,0.0599586108629,0.999999995459,5.91166605705e-05,-7.34787940153e-05,-1.37483715901e-05,1793192806226613248
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742.186986517,712,671,660,633,877,783.813013483,799,649,628,650,0.410631445984,-0.0155234139684,0.0599697382593,0.99999999819,3.87403650259e-05,-4.12022187529e-05,-2.05323942291e-05,1793192806243279872
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.390248986,742,711.609751014,671,660,633,877,783.609751014,799,649,628,650,0.411322464044,-0.0155255373977,0.0599707780675,0.99999999885,1.6988938949e-05,-3.60950258153e-05,-2.66328095247e-05,1793192806259946496
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.964933185,742,711.035066815,671,660,633,877,783.035066815,799,649,628,650,0.412016567661,-0.015528438112,0.0599670503897,0.9999999985,-5.41238571255e-06,-4.38283304143e-05,-3.24101455921e-05,1793192806276612608
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.459807878,742,711.540192122,671,660,633,877,783,799.540192122,648.459807878,628,650,0.412673493685,-0.0155287592624,0.0599341641038,0.999999993739,-2.44448785454e-07,-0.000106300132107,-3.49519179391e-05,1793192806293279232
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.118658059,742.118658059,712,671.118658059,660,633,876.881341941,783,799.881341941,648.118658059,628.118658059,650,0.413342853448,-0.0155285279091,0.0599054083254,0.999999986396,4.27506587699e-06,-0.00016064261894,-3.7192969151e-05,1793192806309945856
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.709743558,742.709743558,712,671.709743558,660,633,876.290256442,783,799.290256442,648.709743558,628.709743558,650,0.414071335954,-0.0155267642204,0.0599006420684,0.999999985047,-9.20081271623e-07,-0.000168456343035,-3.90738637412e-05,1793192806326612480
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,711.70616194,671.70616194,660,633,876,783,799,648.70616194,629,650,0.414865984627,-0.0155306023296,0.0599282094427,0.999999992175,-6.7207851078e-06,-0.000119050306921,-3.78414475008e-05,1793192806343279360
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,711.12881267,671.12881267,660,633,876,783,799,648.12881267,629,650,0.415724474163,-0.0155398453631,0.059986974092,0.999999999245,-1.31057640932e-05,-1.44354815428e-05,-3.3605136701e-05,1793192806359946240
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,711.446577372,671,660,633.446577372,876,783,799.446577372,648.446577372,628.553422628,650,0.416544528721,-0.0155442382966,0.060005414717,0.999999999196,-2.16110248856e-05,1.10321058164e-05,-3.19215367153e-05,1793192806376612864
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.978040877,712,671,660,633.978040877,876.021959123,783,799.978040877,649,628.021959123,650,0.417352648419,-0.0155470805507,0.0600111930624,0.999999998978,-3.02679757841e-05,1.25404437798e-05,-3.11531059922e-05,1793192806393279488
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.388324912,712,671,660,633.388324912,876.611675088,783,799.388324912,649,628.611675088,650,0.418137578939,-0.0155458426876,0.0599889999308,0.99999999886,-2.71034002908e-05,-1.77376928733e-05,-3.50921432702e-05,1793192806409946112
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.802718855,742,711.802718855,671,660,633,877,783,799,649,629,649.802718855,0.418928071827,-0.0155450092068,0.0599656350939,0.999999997525,-2.81853891673e-05,-5.15150762437e-05,-3.87441820684e-05,1793192806426612736
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.22503761,742,711.22503761,671,660,633,877,783,799,649,629,649.22503761,0.419729290098,-0.0155449554612,0.0599400109606,0.999999994187,-3.74556595203e-05,-9.2039751331e-05,-4.18428263955e-05,1793192806443279104
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742.352227311,711,671,660,632.647772689,877,783,799.352227311,649,628.647772689,649.352227311,0.420522485005,-0.0155430786604,0.0599115803533,0.999999988149,-3.88726376435e-05,-0.000141937530267,-4.52275376393e-05,1793192806459945728
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742.929226535,711,671,660,632.070773465,877,783,799.929226535,649,628.070773465,649.929226535,0.421310559817,-0.0155400384871,0.0598813588109,0.999999978622,-3.52780802957e-05,-0.000197816701827,-4.8794800706e-05,1793192806476612608
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742.497587505,711.502412495,671,660,632.502412495,876.497587505,783,800,649,628,650,0.422174773266,-0.0155380463118,0.059881146432,0.999999979252,-3.65480463566e-05,-0.000194036396191,-5.00928680812e-05,1793192806493279232
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.07775034,742,712,671.07775034,660,633,876.07775034,783,800,649,628.07775034,650,0.423055507509,-0.015537211714,0.0598935921306,0.999999983689,-3.83842989858e-05,-0.000169233981611,-5.00820998063e-05,1793192806509945856
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.670886056,742,712,671.670886056,660,633,876.670886056,783,800,649,628.670886056,650,0.423975192696,-0.0155430791592,0.0599621341312,0.999999996453,-3.94661778001e-05,-6.03704409627e-05,-4.34983684636e-05,1793192806526612736
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660.258082844,632.741917156,877,783,799.741917156,649,628.741917156,650,0.424868987092,-0.0155470851925,0.0600074793285,0.999999998218,-4.30680995086e-05,1.31631233846e-05,-3.91903235551e-05,1793192806543279360
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660.837876591,632.162123409,877,783,799.162123409,649,628.162123409,650,0.425730507674,-0.0155487708998,0.0600239087637,0.999999997138,-4.98113591492e-05,4.26564299256e-05,-3.77190151806e-05,1793192806559945984
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671.586039783,661,632,877,783,799.413960217,649,628,650,0.426573576073,-0.0155502690623,0.0600107582108,0.999999997237,-5.3012795204e-05,3.3088885199e-05,-4.02517116488e-05,1793192806576612608
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671.011396318,661,632,877,783,799.988603682,649,628,650,0.427409482001,-0.0155516944271,0.0599861258565,0.999999997478,-5.48394327343e-05,8.35943609753e-06,-4.43386070758e-05,1793192806593279232
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.562876776,711.437123224,671.562876776,660.437123224,632.562876776,877,783,800,649,628,650,0.428224484826,-0.0155539143956,0.0599634771341,0.999999996881,-5.81257774488e-05,-2.60418227916e-05,-4.67031997936e-05,1793192806609945856
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.858660256,711,672,660.141339744,633,877,783,800,649,628.141339744,650,0.429023030571,-0.0155542892439,0.0599407849827,0.99999999488,-6.11039555229e-05,-6.41460451086e-05,-4.88966074383e-05,1793192806626612480
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.266818763,711,672,660.733181237,633,877,783,800,649,628.733181237,650,0.429770469559,-0.0155487317708,0.0599178264828,0.999999990299,-6.30057554081e-05,-0.000113429229178,-5.06554579211e-05,1793192806643279360
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.683257738,742.316742262,711.316742262,672,660.683257738,633,877,783,800,649,628.683257738,650,0.430565024909,-0.0155475219791,0.059918556915,0.999999990575,-6.3223194248e-05,-0.000110569478638,-5.12583010931e-05,1793192806659945984
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.10649437,742.89350563,711.89350563,672,660.10649437,633,877,783,800,649,628.10649437,650,0.431398259142,-0.0155498813004,0.0599387341449,0.999999994672,-6.20579017487e-05,-6.49043754893e-05,-5.09121508281e-05,1793192806676612864
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.470013761,742.529986239,712,672,660,633,877,783,800,649,628.470013761,650,0.432222379082,-0.0155565073654,0.0599769752559,0.999999996438,-6.97541817009e-05,-4.23251156274e-06,-4.7339339733e-05,1793192806693279488
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.0474131,711.9525869,672,660.0474131,633,877,783,800,649,629,650,0.433036207227,-0.0155634231004,0.0600142251234,0.999999994623,-7.87074926077e-05,5.16400765122e-05,-4.34951189535e-05,1793192806709946112
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.635636663,711.364363337,672,660.635636663,633,877,783,800,649,629,650,0.4337561852,-0.0155626218413,0.0599935091981,0.999999995765,-7.91093542456e-05,1.40076889129e-05,-4.48896247534e-05,1793192806726612480
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,711,672,661,633,877,783,799.779613634,649,629,650,0.434463595315,-0.0155617180333,0.059967360286,0.999999995428,-7.76272799991e-05,-2.97731073139e-05,-4.72382275014e-05,1793192806743279104
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711,672,661,633,877,783,799.200518024,649,629,650,0.43515054962,-0.0155606473126,0.0599323684342,0.999999992531,-7.30788399876e-05,-8.35612935431e-05,-5.11397550004e-05,1793192806759945728
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.625634279,711.374365721,672,661,633,877,783,799,649,629,650,0.435822014206,-0.0155594542105,0.0599166289988,0.999999989383,-7.97185857829e-05,-0.000109711702862,-5.3313008657e-05,1793192806776612352
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.052981431,711.947018569,672,661,633,877,783,799,649,629,650,0.436485274441,-0.0155581962879,0.0599110868301,0.999999986905,-9.22842836963e-05,-0.000121223441393,-5.45708619263e-05,1793192806793278976
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.475444053,742.524555947,712,671.475444053,661,632.475444053,877,783,799.524555947,649,628.475444053,650,0.437128010574,-0.0155557928627,0.0599163879563,0.999999988646,-7.34991690566e-05,-0.000120564997344,-5.26303725275e-05,1793192806809945856
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.104864339,743,712,671.104864339,661,632.104864339,877,783,800,649,628.104864339,650,0.437762349561,-0.0155540706003,0.0599209457754,0.999999989885,-5.45734872195e-05,-0.000121124582881,-5.08076361678e-05,1793192806826612992
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.695706712,743,712,671.695706712,661,632.695706712,877,783,800,649,628.695706712,650,0.438367470448,-0.015556046311,0.0599169356065,0.999999988602,-4.98090087983e-05,-0.000133079114971,-5.10417625366e-05,1793192806843279616
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.719127843,743,712,672,661,633,877.280872157,783,800,649,629,650,0.438970245496,-0.015561213652,0.0599266438908,0.999999989037,-6.94976979509e-05,-0.000120442610315,-5.08810919535e-05,1793192806859945984
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.139990902,743,712,672,661,633,877.860009098,783,800,649,629,650,0.439570529404,-0.0155697702604,0.0599509201253,0.999999988768,-0.000115153784186,-8.16923011077e-05,-5.0301177007e-05,1793192806876612608
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.433266395,742.566733605,711.566733605,672,661,632.566733605,878,783,800,649,628.566733605,650,0.440102735011,-0.0155760273848,0.0599575575439,0.999999988349,-0.000121830283298,-7.63639795763e-05,-5.12560912627e-05,1793192806893278976
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711.004829452,672.004829452,661,632,877.995170548,783,800,649,628.004829452,649.995170548,0.440612560428,-0.0155815253073,0.0599581584684,0.999999988455,-0.000116363421865,-8.22692063972e-05,-5.27411826784e-05,1793192806909945856
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711.598336765,672.598336765,661,632,877.401663235,783,800,649,628.598336765,649.401663235,0.441039712826,-0.0155838328904,0.0599083448837,0.999999975079,-0.000145337038171,-0.000158786277201,-5.92122483088e-05,1793192806926612736
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.187302608,712,673,660.812697392,632,877,783,800,648.812697392,628.812697392,649.187302608,0.441452215086,-0.0155866745768,0.0598593522318,0.999999956844,-0.000165563961589,-0.000233664699114,-6.55815538862e-05,1793192806943279872
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.766760101,712,673,660.233239899,632,877,783,800,648.233239899,628.233239899,649.766760101,0.441834044477,-0.0155906345143,0.0598120783548,0.999999936856,-0.000167477967956,-0.000305112302349,-7.17378064452e-05,1793192806959946240
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660.342901258,632,877,783,800,648.342901258,628,650,0.442220916876,-0.0155953323447,0.0597882679345,0.999999927007,-0.00016729992117,-0.000335305550322,-7.46180554486e-05,1793192806976612608
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.916808232,632,877,783,800,648.916808232,628,650,0.442611186626,-0.0156005272786,0.0597802643783,0.999999926412,-0.000165712500333,-0.000337706561217,-7.52913262231e-05,1793192806993279488
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711.496977499,673,660.496977499,632,877,783,800,649,628,650,0.442964040799,-0.0156034090761,0.0597828657577,0.999999931166,-0.000142989630599,-0.000336854307272,-6.12523557056e-05,1793192807009946112
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.91014964,711,672.91014964,660,632,877.08985036,782.91014964,800,649,628,650,0.4433074824,-0.0156059260189,0.0597870799066,0.999999935449,-0.000122358569216,-0.000334431973177,-4.78163895882e-05,1793192807026612224
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.331337171,711,672.331337171,660,632,877.668662829,782.331337171,800,649,628,650,0.443634220191,-0.0156085915002,0.0597902867335,0.999999936604,-0.000132610287648,-0.000326466738577,-5.12352378639e-05,1793192807043279104
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,711.247256736,672.247256736,660,632,877.752743264,782.247256736,800.247256736,648.752743264,628.247256736,649.752743264,0.443931246911,-0.015614153683,0.0597902078072,0.999999934844,-0.000142502386414,-0.000327312439243,-5.35782888241e-05,1793192807059946240
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,711.825557969,672.825557969,660,632,877.174442031,782.825557969,800.825557969,648.174442031,628.825557969,649.174442031,0.444188494358,-0.015623594171,0.0597857296859,0.999999929192,-0.000151913000556,-0.000339954832905,-5.44809873136e-05,1793192807076612608
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.40133083,711.59866917,672.59866917,660,632,877,782.59866917,800.59866917,648.40133083,628.59866917,649.40133083,0.444411773056,-0.0156253950121,0.0597724942206,0.999999918703,-0.000166501428013,-0.000362883878172,-5.64408897711e-05,1793192807093279232
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.97601164,711.02398836,672.02398836,660,632,877,782.02398836,800.02398836,648.97601164,628.02398836,649.97601164,0.444620379387,-0.0156238960013,0.0597554761264,0.999999905314,-0.000183326349754,-0.000390256118524,-5.8857438681e-05,1793192807109945856
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,712,672.150324894,660,632,877,782,800,649,628.849675106,650,0.444957409189,-0.0156262819466,0.0597298651201,0.999999883408,-0.000195015815924,-0.000437296023937,-6.2653537214e-05,1793192807143279104
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+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711.69252072,673,660,632,877,782,800,649,628,650,0.445251955442,-0.0156421494503,0.0597188110478,0.999999872199,-0.000206977304962,-0.000456925500285,-6.30961147267e-05,1793192807176612864
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711.463881635,673,659,631,877,781,800,649,628,650,0.445886330607,-0.0156482129193,0.0596583163079,0.999999819127,-0.00022824879948,-0.000553153535045,-6.0577848379e-05,1793192808330306048
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.963286232,743,712,672.963286232,659,631.036713768,877,781.036713768,800,649,628,650,0.445829657523,-0.0156437123012,0.0596347554363,0.999999798331,-0.000225205557176,-0.000590500254943,-6.26846861517e-05,1793192808346972416
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.366544934,743,712,672.366544934,659,631.633455066,877,781.633455066,800,649,628,650,0.445757898624,-0.0156399296384,0.0596156672597,0.999999786324,-0.000223704596813,-0.000610857815706,-6.45108465463e-05,1793192808363639296
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.220433466,743,712,672,659,631.779566534,877,781.779566534,800,649,628,650,0.445680325746,-0.0156349090954,0.0596008722548,0.999999775914,-0.00022099629338,-0.00062848419949,-6.5884122629e-05,1793192808380305920
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.791866352,743,712,672,659,631.208133648,877,781.208133648,800,649,628,650,0.445593495175,-0.0156279174571,0.059592913327,0.99999976845,-0.000216365519838,-0.000641761693768,-6.65362647314e-05,1793192808396972544
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711.629554107,672.370445893,659,631,877,781.370445893,800,649,628,650,0.445496175185,-0.0156215074167,0.0595914449141,0.999999768488,-0.000212494501815,-0.000643051126864,-6.60001958177e-05,1793192808413639424
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711.046880294,672.953119706,659,631,877,781.953119706,800,649,628,650,0.445392845828,-0.0156154305735,0.0595936949084,0.999999772863,-0.000209058746927,-0.000637472616123,-6.47834024799e-05,1793192808430306304
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711.53962995,673,659.53962995,631,877,782,800.53962995,649,628,650,0.445263654832,-0.0156076020523,0.0595950419682,0.99999977427,-0.000204718792386,-0.000636798553695,-6.353857145e-05,1793192808446972928
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.875202329,743,712,672.875202329,659.875202329,631,877,781.875202329,800.875202329,648.875202329,628,650,0.44512452736,-0.0155991717284,0.0595963790561,0.999999775872,-0.000200184531538,-0.000635844412889,-6.23199900124e-05,1793192808463639296
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.296143251,743,712,672.296143251,659.296143251,631,877,781.296143251,800.296143251,648.296143251,628,650,0.444957467889,-0.0155891087407,0.0595979674194,0.999999779162,-0.000195230975393,-0.000632308786671,-6.12058863505e-05,1793192808480305920
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,743,711.717331694,672.282668306,659,631,877,781.282668306,800,648.282668306,628.282668306,650,0.444772552471,-0.0155768320595,0.0596015051489,0.999999784936,-0.00018696575609,-0.000625771733565,-5.98416514655e-05,1793192808496972544
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,743,711.138779266,672.861220734,659,631,877,781.861220734,800,648.861220734,628.861220734,650,0.444568946285,-0.015562238187,0.0596070833847,0.999999793167,-0.000175234041106,-0.000616092925616,-5.82155908357e-05,1793192808513639168
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.437371432,742.562628568,711.437371432,672.562628568,659,631,877,782,800,649,628.562628568,650,0.444341836555,-0.0155475065935,0.0596139770694,0.999999804196,-0.00016153267968,-0.000601996211858,-5.58228689292e-05,1793192808530306048
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,631,877,782,800,649,628,650,0.444106510185,-0.0155327216401,0.0596213393613,0.999999815744,-0.00014731537439,-0.000586498616648,-5.32014666751e-05,1793192808546972672
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,631,877,782,800,649,628,650,0.443835938502,-0.0155175003924,0.0596310594223,0.999999826351,-0.000137753582795,-0.000570704770559,-5.11643356207e-05,1793192808563639808
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.81552116,742.18447884,711.81552116,672.18447884,659.18447884,631.18447884,877,782,800,649,628,650,0.443550049997,-0.0155039737372,0.0596433212566,0.999999839023,-0.000128684450696,-0.000550492893912,-4.85019388485e-05,1793192808580306432
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.236554759,742.763445241,711.236554759,672.763445241,659.763445241,631.763445241,877,782,800,649,628,650,0.443231408113,-0.0154940707777,0.0596610183932,0.999999856095,-0.000120668814556,-0.000520833545393,-4.4502480225e-05,1793192808596972800
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742.65847826,711.34152174,672.65847826,660,632,877,782,800,649,628,650,0.442864883202,-0.0154880680101,0.0596684186178,0.999999864058,-9.66780756487e-05,-0.000510735615311,-4.10753887859e-05,1793192808613639424
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.081016583,711.918983417,672.081016583,660,632,877,782,800,649,628,650,0.442465278371,-0.0154847596866,0.0596687052304,0.9999998652,-6.16509541628e-05,-0.000514151672179,-3.80437168357e-05,1793192808630305792
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.495385477,742.495385477,712,672.495385477,660,632,877,782,799.504614523,649,628,650,0.442035030686,-0.015485448525,0.059667807475,0.99999986482,-4.48441539791e-05,-0.00051691333681,-3.39163815527e-05,1793192808646972672
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.926944021,660,632,877,782.073055979,799.073055979,649,628.073055979,650,0.441595886349,-0.0154852432127,0.0596677916676,0.999999864676,-3.20781797007e-05,-0.000518400009549,-2.96671125271e-05,1793192808663639040
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,712,672.33911729,660,632,877,782.66088271,799.66088271,649,628.66088271,650,0.441129290236,-0.0154741411463,0.0596753521947,0.999999868411,-2.68332958035e-05,-0.000511655256795,-2.58185731078e-05,1793192808680305920
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.753740187,743,711.753740187,672,660,632,877,782.753740187,800,649,628.753740187,650,0.440643941813,-0.01546390603,0.0596896883297,0.999999877344,-1.59897407349e-05,-0.000494599660641,-2.06879058086e-05,1793192808696972800
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.171703219,743,711.171703219,672,660,632,877,782.171703219,800,649,628.171703219,650,0.440133024506,-0.0154548530077,0.0597132630577,0.999999892492,2.487645263e-06,-0.000463485150071,-1.38090475479e-05,1793192808713639424
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.404571408,743,711,671.595428592,660,632.404571408,877,782.404571408,800,649,628.404571408,650,0.439608101564,-0.0154492691007,0.0597525762459,0.999999919275,3.6477737524e-05,-0.00040010922501,-5.57196126564e-06,1793192808730306304
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.978434844,743,711,671.021565156,660,632.978434844,877,782.978434844,800,649,628.978434844,650,0.439077317951,-0.0154451368367,0.0597984751605,0.999999944793,7.69590894516e-05,-0.000323233575867,3.23347320864e-06,1793192808746973184
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.448400798,743,711,672.103198404,660,633,877,783,799.448400798,649,629,650,0.438497555542,-0.0154422383161,0.0598325087306,0.999999959326,7.81679569121e-05,-0.000274065012481,1.12428268666e-05,1793192808763639808
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.129477169,742.870522831,711,672.870522831,660,632.870522831,876.870522831,783,799,648.870522831,628.870522831,650,0.437890338241,-0.0154382928123,0.0598529153271,0.999999965884,8.64602272938e-05,-0.00024585229619,1.77169322459e-05,1793192808780306176
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.724397865,742.275602135,711,672.275602135,660,632.275602135,876.275602135,783,799,648.275602135,628.275602135,650,0.437191300962,-0.0154304104487,0.0598260012489,0.999999950135,0.00012572826467,-0.000289082434715,1.87838815455e-05,1793192808796972800
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.308515197,711.308515197,672,660.308515197,632.308515197,876,783,799,648.308515197,628,650,0.436461808245,-0.0154250059281,0.059787004989,0.999999929334,0.000136640527976,-0.000349715459648,1.90008536969e-05,1793192808813639168
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.88330817,711.88330817,672,660.88330817,632.88330817,876,783,799,648.88330817,628,650,0.43570602965,-0.0154217400206,0.0597375806657,0.999999901786,0.000123079075424,-0.000425368816974,1.84842151213e-05,1793192808830305792
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.543292385,712,672,661,632.543292385,876.456707615,783,799.456707615,649,628.456707615,650,0.434974275957,-0.015421226273,0.0597391699765,0.999999908003,0.000145945615002,-0.000402977423023,1.74321833157e-05,1793192808846972928
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.969187285,742,711.969187285,672,661,632,877,783,799.969187285,649,628.969187285,650,0.434246959476,-0.0154214243376,0.0597537744997,0.999999921326,0.000172491269119,-0.00035685856849,1.5685887503e-05,1793192808863639552
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.375714309,742,711.375714309,672,661,632,877,783,799.375714309,649,628.375714309,650,0.433488916822,-0.015421818819,0.0597687540994,0.999999939693,9.677425043e-05,-0.000333518422576,3.75227344489e-06,1793192808880306176
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.212011698,742,711.212011698,672,660.787988302,632,877.212011698,783,799,649,628.212011698,650,0.43271141992,-0.0154221508798,0.0597803823169,0.999999947162,6.28869540025e-05,-0.000318936005095,-1.29907371295e-06,1793192808896972800
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.789821994,742,711.789821994,672,660.210178006,632,877.789821994,783,799,649,628.789821994,650,0.431900357323,-0.0154223752419,0.0597862281592,0.999999943838,0.00010117140904,-0.000319463913554,5.5240364059e-06,1793192808913639424
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.634002193,742,711.634002193,672,660,632.365997807,877.268004386,782.634002193,799.731995614,648.634002193,629,650,0.431092945421,-0.0154223523375,0.059800912305,0.999999949678,0.000113674454655,-0.00029596333331,1.13494235887e-05,1793192808930306048
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.058760772,742,711.058760772,672,660,632.941239228,876.117521544,782.058760772,800.882478456,648.058760772,629,650,0.430287620571,-0.0154221880691,0.059820649374,0.999999960183,0.000111438084128,-0.000258725490819,1.66044059321e-05,1793192808946972928
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.52855156,742,711,672,661.05710312,632.47144844,876,782.52855156,799.94289688,648.52855156,628.47144844,650,0.429409636972,-0.0154165874073,0.0598187814379,0.999999955297,0.000119134966748,-0.000273758873622,1.63988599801e-05,1793192808963639296
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.884645937,742,711,672,661.769291874,632,876,783,799.115354063,649,628.115354063,650,0.428517505711,-0.0154113572524,0.0598071075432,0.99999994567,0.000126411632017,-0.000304066106174,1.49484460224e-05,1793192808980305920
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.305416028,742,711,672,660.610832056,632,876,783,799.694583972,649,628.694583972,650,0.427601724114,-0.0154101042369,0.0597658852736,0.99999992267,0.000127453889868,-0.000371879712324,1.09902726641e-05,1793192808996972800
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.272930547,742.272930547,711.272930547,671.727069453,660,632.272930547,876.272930547,783,800,649,629,650,0.426718601867,-0.0154108329172,0.0597542080314,0.999999917542,0.000127377160304,-0.00038547063289,1.02069730103e-05,1793192809013639424
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.850291802,742.850291802,711.850291802,671.149708198,660,632.850291802,876.850291802,783,800,649,629,650,0.42587190839,-0.01541377201,0.0597754857457,0.999999934653,0.000126052296102,-0.000338580776751,1.29649740055e-05,1793192809030306048
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.575851241,742.575851241,712,671,660,632.575851241,876.575851241,783,799.575851241,649,629,650,0.42499541741,-0.015414469784,0.059799521815,0.999999942517,0.000132464558894,-0.000311668918705,1.68039656784e-05,1793192809046972672
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.003221045,742.003221045,712,671,660,632.003221045,876.003221045,783,799.003221045,649,629,650,0.424108495257,-0.0154143829411,0.0598245234991,0.999999947197,0.000141585351965,-0.000291750744481,2.10213788893e-05,1793192809063639552
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711.411751736,671,660,632.588248264,876,783,799,649,629,650,0.423222532191,-0.0154095762721,0.0598323371106,0.999999951803,0.000145636103227,-0.000273322007057,2.18687389918e-05,1793192809080306176
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.176141831,633,876.176141831,783,799,649,629,650,0.422335280185,-0.0154071628258,0.0598390201598,0.999999955348,0.000148954705219,-0.00025806236572,2.28084044867e-05,1793192809096972544
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.755603756,633,876.755603756,783,799,649,629,650,0.421445064532,-0.0154102903872,0.0598433371391,0.999999957102,0.00015066254135,-0.00025003986074,2.40030770298e-05,1793192809113639424
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711.332867946,671,660.667132054,633,876.667132054,783,799.332867946,648.667132054,629,650,0.420517859443,-0.0154089935283,0.0598112100152,0.999999941213,0.000151174007024,-0.000307057075991,2.09103193462e-05,1793192809130306048
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711.908529172,671,660.091470828,633,876.091470828,783,799.908529172,648.091470828,629,650,0.419563674232,-0.0154044695054,0.0597525006285,0.999999903848,0.00015081284112,-0.000411514142679,1.46903177145e-05,1793192809146972928
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,876,783.484461993,799.515538007,648.484461993,628.515538007,650,0.418692303386,-0.0154044624438,0.0597354284954,0.999999900971,0.00015074138445,-0.000418569655445,1.16367192498e-05,1793192809163639552
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711.938041498,671,660,633,876,783.938041498,799,649,628,650,0.41784066838,-0.0154055267198,0.0597319629296,0.999999907609,0.00015099084656,-0.000402345852563,1.00882803706e-05,1793192809180305920
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711.347645754,671,660,633,876,783.347645754,799,649,628,650,0.417023924277,-0.0154084504301,0.0597774588638,0.99999992874,0.000153510598246,-0.000344512132367,1.62753601014e-05,1793192809196972544
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.237955412,742,711.237955412,671,660.237955412,633,876,783,799,649,628.237955412,650.237955412,0.416206635305,-0.0154094251772,0.059812555254,0.999999941493,0.000158698976319,-0.00030228121309,2.13459301138e-05,1793192809213639424
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.81669016,742,711.81669016,671,660.81669016,633,876,783,799,649,628.81669016,650.81669016,0.415388566068,-0.0154076087863,0.0598327583062,0.999999945755,0.000167709132634,-0.000282395291875,2.48175303456e-05,1793192809230306048
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.608372633,742,711.608372633,671.391627367,660.608372633,632.608372633,876,783,799,649,628.608372633,650.608372633,0.414601413282,-0.0154067621831,0.0598414731893,0.999999948449,0.000169300343356,-0.000271599381748,2.59346720134e-05,1793192809246972672
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.035195894,742,711.035195894,671.964804106,660.035195894,632.035195894,876,783,799,649,628.035195894,650.035195894,0.413828592669,-0.015406365151,0.0598448624228,0.999999950526,0.000167452302584,-0.000265017390707,2.59603411554e-05,1793192809263639296
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.446551072,660.553448928,632.553448928,876,783,799,649,628.553448928,650,0.413021849084,-0.0154012300741,0.0598309143435,0.999999941913,0.000176797541382,-0.000290357513554,2.4678036231e-05,1793192809280306176
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.140615545,660.859384455,633,876,783,799.140615545,648.859384455,628.859384455,650,0.412217544025,-0.0153953803218,0.0598072129275,0.999999927845,0.000184580903318,-0.000331280899377,2.22121213893e-05,1793192809296972800
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,671.720011679,660.279988321,633,876,783,799.720011679,648.279988321,628.279988321,650,0.411427773587,-0.015388267727,0.0597566162663,0.999999896888,0.000185205484878,-0.000414313970951,1.63198547332e-05,1793192809313639424
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.29667408,742,711,672,660,633,876,783,800,648.29667408,628.29667408,650,0.410709794274,-0.0153874424923,0.0597434329314,0.999999890215,0.000186998153709,-0.000429398322632,1.47729743121e-05,1793192809330306048
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.870780123,742,711,672,660,633,876,783,800,648.870780123,628.870780123,650,0.410058949662,-0.0153924968221,0.0597652363094,0.999999909265,0.000189883148948,-0.000380941081737,1.72896401413e-05,1793192809346972672
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742.983167733,711,671,660,633,876,783,799,648.016832267,628.016832267,650.016832267,0.408841548356,-0.0153934877943,0.0598447394558,0.999999946036,0.000185881451445,-0.000269689353868,2.53538877871e-05,1793192809380305920
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742.388525818,711,671,660,633,876,783,799,648.611474182,628.611474182,650.611474182,0.408223628074,-0.0153938594683,0.0598539098828,0.999999949515,0.000189790318544,-0.00025338398254,2.72993768897e-05,1793192809396972544
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.200752213,742,711.200752213,671,660,633,876.200752213,783,799,648.799247787,628.799247787,650.799247787,0.407618826541,-0.0153932647925,0.0598541163266,0.999999949445,0.000192426658178,-0.000251623570463,2.77116242313e-05,1793192809413639424
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.779919368,742,711.779919368,671,660,633,876.779919368,783,799,648.220080632,628.220080632,650.220080632,0.407038753689,-0.0153908485619,0.0598374257944,0.99999994268,0.000192664302192,-0.000277280191672,2.52337334926e-05,1793192809430306048
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.920839688,742,711,671,659,633,875.079160312,783,799.079160312,649,628,650.079160312,0.40508559587,-0.0153889791258,0.0598343497004,0.999999945446,0.000196090455249,-0.000264855330229,2.25566856689e-05,1793192809496972800
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.329912919,742,711,671,659,633,875.670087081,783,799.670087081,649,628,650.670087081,0.404640984806,-0.0153880702511,0.0598196032245,0.999999939285,0.000197220569282,-0.000286544370672,2.06593083447e-05,1793192809513639168
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.256352846,742,711.256352846,670.743647154,659.256352846,633,876,783,800,649,628.256352846,650.743647154,0.404212262287,-0.0153859580113,0.0597997264604,0.999999928539,0.00020127466702,-0.000319475596301,1.86051404001e-05,1793192809530306048
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.836727334,742,711.836727334,670.163272666,659.836727334,633,876,783,800,649,628.836727334,650.163272666,0.403803622309,-0.015382324757,0.0597733651774,0.999999910817,0.000209024584789,-0.000366616580205,1.63527939415e-05,1793192809546972672
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711.014597262,670.985402738,659.014597262,633,876.985402738,783,799.014597262,649,629,650,0.403154931449,-0.0153791657884,0.0597698052521,0.999999910083,0.000214758981263,-0.000365264421971,1.71755688949e-05,1793192809580305920
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.420587946,742,711.579412054,671,659,633,876.420587946,783,799,649,629,650,0.402910581338,-0.0153818178681,0.0597930845783,0.999999922612,0.000219666859083,-0.000325639427266,2.19283247365e-05,1793192809596972544
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.742821902,742,712,671,659,633,876,783,799,649,629,650.742821902,0.4024522626,-0.0153777795217,0.0598326227476,0.999999939163,0.000232126681222,-0.000258734701641,2.91164782915e-05,1793192809630305792
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.681556592,742,712,671,659.318443408,633,876,783,799.318443408,649,629,650.681556592,0.402238433207,-0.0153733821078,0.0598387797279,0.999999940039,0.000236741009216,-0.000250857315178,3.07541142773e-05,1793192809646972672
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.07108996,633,876,783,799,649,629,650,0.401685845779,-0.0153728876816,0.0598244205959,0.99999993357,0.000222637554539,-0.000287133414621,2.91130460061e-05,1793192809696972544
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.199212634,742,711.199212634,671,659.199212634,633,876,783,799,649,628.199212634,650,0.401348098593,-0.0154083907813,0.0598353688462,0.999999950249,0.000153800236554,-0.000275299555897,7.59679362076e-06,1793192809746972672
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742.952494532,711,671,659.952494532,633,876,783,799.952494532,649,628,650,0.40118915514,-0.0154009952106,0.0598358365424,0.999999947449,0.000168846067054,-0.000276616919658,8.76346399565e-06,1793192809780305664
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.00920726,671,659,633,875.99079274,783,799.00920726,649,629,650,0.400977101037,-0.0153955915078,0.0598366947511,0.999999946859,0.0001730268419,-0.000276010814937,1.26997517908e-05,1793192809896972544
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..76af8980f9908046cd1072b0f77f4409e7b4d5f8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,397 @@
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+367,6.116666667,pose2_to_pose3_retreat,0.57572063583,-0.009945434311,1.05002904438,0.546291365462,-0.00127270698301,1.04969833286
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+370,6.166666667,pose2_to_pose3_retreat,0.575716194443,-0.00994544678996,1.05002907634,0.546286924922,-0.00127271652863,1.04969836619
+371,6.183333333,pose2_to_pose3_retreat,0.575715519397,-0.00994547189251,1.05002909303,0.546286250422,-0.00127273977275,1.04969838314
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+373,6.216666667,pose2_to_pose3_retreat,0.575714735723,-0.00994550103457,1.0500291124,0.54628546738,-0.00127276675731,1.04969840282
+374,6.233333333,pose2_to_pose3_retreat,0.5757144371,-0.0099455121393,1.05002911978,0.546285168998,-0.00127277703993,1.04969841032
+375,6.250000000,pose2_to_pose3_retreat,0.57571414857,-0.00994552286872,1.05002912691,0.5462848807,-0.001272786975,1.04969841757
+376,6.266666667,pose2_to_pose3_retreat,0.575714111356,-0.00994552425255,1.05002912783,0.546284843517,-0.00127278825639,1.0496984185
+377,6.283333333,pose2_to_pose3_retreat,0.575713989156,-0.00994552879675,1.05002913086,0.546284721415,-0.00127279246416,1.04969842157
+378,6.300000000,pose2_to_pose3_retreat,0.575713832908,-0.00994553460707,1.05002913472,0.546284565293,-0.00127279784432,1.0496984255
+379,6.316666667,pose2_to_pose3_retreat,0.575713620642,-0.00994554250049,1.05002913997,0.546284353198,-0.00127280515336,1.04969843083
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+382,6.366666667,pose2_to_pose3_retreat,0.575712613224,-0.00994553766106,1.05002915619,0.546283345903,-0.00127279989137,1.04969844724
+383,6.383333333,pose2_to_pose3_retreat,0.575711840847,-0.00994550076545,1.05002916183,0.546282573078,-0.00127276451604,1.04969845285
+384,6.400000000,pose2_to_pose3_retreat,0.575711273705,-0.00994547367375,1.05002916597,0.546282005608,-0.00127273854065,1.04969845696
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+390,6.500000000,pose2_to_pose3_retreat,0.575710360454,-0.00994542049215,1.05002921031,0.546281091519,-0.00127268829807,1.04969849876
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c66da5201c61ea3c083b77f229e4ed954c6133e3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80963d2b8098b6a8c08c492042075170e62840a12600fd8b7be98f0d1db954ae
+size 25343144
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..372b4b7bbc094726bf15ad11d14aa62f32c276bc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_04/franka_data.csv
@@ -0,0 +1,401 @@
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+24,0.400000000,BASELINE,764,742.929645222,712,671.070354778,660,633,876,783,799.070354778,649.929645222,629,650.929645222,0.400964550185,-0.0153990571356,0.0598447754648,0.999999951118,0.000172406904883,-0.000260523202931,1.29268323088e-05,1793192810927890176
+25,0.416666667,BASELINE,764,742.489963256,712,671,660,633,876,783,799.510036744,649.489963256,629,650.489963256,0.400964114785,-0.015396837766,0.0598448312819,0.999999950741,0.000174861722445,-0.000260346062777,1.26797321046e-05,1793192810944556800
+26,0.433333333,BASELINE,764,742,712,671,660,633,876,783,799.911396119,649,629,650,0.400963619891,-0.0153951182579,0.0598448386088,0.999999950376,0.000176905626327,-0.000260377426122,1.24846677894e-05,1793192810961223424
+27,0.450000000,BASELINE,764,742,712,671,660,633,876,783,799.335192328,649,629,650,0.400962960137,-0.015397251991,0.0598445407071,0.99999995046,0.000174858938021,-0.000261424746202,1.27134798944e-05,1793192810977890048
+28,0.466666667,BASELINE,764,742,712,671,659.754966732,633,876,783,799,648.754966732,629,650,0.400962446922,-0.0153982246757,0.0598442401139,0.999999950296,0.000174407161445,-0.000262343871978,1.28773076312e-05,1793192810994556672
+29,0.483333333,BASELINE,764,742,712,671,659.169147751,633,876,783,799,648.169147751,629,650,0.40096213751,-0.0153975826051,0.0598439357774,0.999999949791,0.000176173545548,-0.000263084708483,1.29507568338e-05,1793192811011223296
+30,0.500000000,BASELINE,764,742,712,671,659,633,876,783,799.411925711,648.411925711,629,650.411925711,0.400962373647,-0.0153977613015,0.0598439239289,0.999999949737,0.000176507815646,-0.000263067860075,1.28939093197e-05,1793192811027890176
+31,0.516666667,BASELINE,764,742,712,671,659,633,876,783,799.991072716,648.991072716,629,650.991072716,0.400962831251,-0.0153982731884,0.059844030816,0.999999949867,0.000176260718849,-0.000262743429365,1.27841678357e-05,1793192811044557056
+32,0.533333333,BASELINE,764,742,712,670.431157277,659.568842723,633,876,783,799.431157277,649,629,650.431157277,0.400964008403,-0.0153992191233,0.0598445684144,0.999999950469,0.000174379162083,-0.000261689607686,1.31564650878e-05,1793192811061223424
+33,0.550000000,BASELINE,764.146258142,742,712,670.146258142,659.853741858,633,876.146258142,783,799,649,629,650,0.400964726995,-0.0153998335266,0.0598449229665,0.999999950829,0.000173285909662,-0.000261022634298,1.34291607999e-05,1793192811077890048
+34,0.566666667,BASELINE,764.722693943,742,712,670.722693943,659.277306057,633,876.722693943,783,799,649,629,650,0.400964063728,-0.0153994528355,0.0598447193058,0.999999950472,0.00017458649823,-0.000261527054336,1.33867095856e-05,1793192811094556416
+35,0.583333333,BASELINE,764.390620994,742,712,671,659,633,876.695310497,783,799.304689503,649,629,650,0.400963417587,-0.0153995770755,0.0598445681164,0.999999950514,0.000173810287835,-0.000261890480583,1.32585709836e-05,1793192811111223296
+36,0.600000000,BASELINE,763.216321469,742,712,671,659,633,876.108160734,783,799.891839266,649,629,650,0.400962787323,-0.0154001694084,0.0598444655702,0.999999950921,0.000171108795723,-0.000262123199584,1.30509964868e-05,1793192811127890176
+37,0.616666667,BASELINE,763.472331248,742,712,670.527668752,659.472331248,633,876,783,800,649,629,650,0.400963293685,-0.0153999245593,0.0598451212781,0.999999951042,0.000171557024605,-0.000261369318974,1.30841020974e-05,1793192811144556800
+38,0.633333333,BASELINE,764,742.051207301,712,670.051207301,659.948792699,633,876,783,800.051207301,649,629,650,0.400964148013,-0.015399346872,0.0598459399513,0.999999951089,0.000172925295855,-0.000260278782556,1.31581156155e-05,1793192811161223424
+39,0.650000000,BASELINE,764,742.628926686,712,670.628926686,659.371073314,633,876,783,800.628926686,649,629,650,0.400965941121,-0.0153972907013,0.0598466737334,0.999999951062,0.000176440468644,-0.000258017423927,1.30939376326e-05,1793192811177890048
+40,0.666666667,BASELINE,763.794623282,742.794623282,711.794623282,671,659.205376718,633,876,783,800.794623282,648.794623282,629,650.205376718,0.400966393927,-0.0153966194102,0.0598465847631,0.999999950923,0.000177805511862,-0.000257619079222,1.30627828987e-05,1793192811194556672
+41,0.683333333,BASELINE,763.220452659,742.220452659,711.220452659,671,659.779547341,633,876,783,800.220452659,648.220452659,629,650.779547341,0.400964439961,-0.0153984349404,0.0598450183803,0.9999999506,0.000175309578366,-0.000260566139091,1.30909278459e-05,1793192811211223296
+42,0.700000000,BASELINE,763.363155645,742,711.363155645,671,660,633.363155645,876,783.363155645,800,648.363155645,628.636844355,650.636844355,0.400963396833,-0.015399536808,0.0598445419015,0.999999950484,0.000174250304659,-0.000261722835961,1.30723703549e-05,1793192811227889920
+43,0.716666667,BASELINE,763.952645906,742,711.952645906,671,660,633.952645906,876,783.952645906,800,648.952645906,628.047354094,650.047354094,0.400962921381,-0.0154001938894,0.0598447446991,0.999999950502,0.000174086420796,-0.000261763699531,1.30247058436e-05,1793192811244556288
+44,0.733333333,BASELINE,764,742,712,671,659.4675905,633.4675905,876,783.4675905,800,649,628.5324095,650.5324095,0.400963407077,-0.0154006397629,0.0598451801985,0.999999951037,0.000171972036913,-0.000261118286741,1.29902109982e-05,1793192811261222912
+45,0.750000000,BASELINE,764,742,712,671,659.110923271,633,876,783,800.110923271,649,629,650.889076729,0.400963565,-0.0154009568216,0.059845414474,0.99999995149,0.000169763032091,-0.00026083134587,1.29194426241e-05,1793192811277889792
+46,0.766666667,BASELINE,764,742,712,671,659.687755826,633,876,783,800.687755826,649,629,650.312244174,0.400961993563,-0.0154008103096,0.0598447181769,0.999999951428,0.000167872198769,-0.000262301872482,1.2691483394e-05,1793192811294556672
+47,0.783333333,BASELINE,764,742,712,671,660,633,876,783,800.731374871,649,629,650.268625129,0.400961604288,-0.0154008813687,0.0598444237833,0.999999951227,0.000168322302655,-0.000262771421711,1.28705163799e-05,1793192811311223296
+48,0.800000000,BASELINE,764,742,712,671,660,633,876,783,800.145741671,649,629,650.854258329,0.400962610101,-0.0154012091863,0.0598446036813,0.999999950859,0.000171534977272,-0.000262059704476,1.35298462363e-05,1793192811327890176
+49,0.816666667,BASELINE,763.564686031,742,711.564686031,671,659.564686031,633,876,783,800,649,629,650.564686031,0.400963182179,-0.0154015207444,0.0598450348785,0.999999951199,0.000171436834673,-0.000260818839004,1.36074590494e-05,1793192811344556800
+50,0.833333333,BASELINE,763,742,711.014839421,671,659.014839421,633,876.014839421,783,799.985160579,649,629,650,0.40096360615,-0.0154017913592,0.059845537459,0.999999951746,0.000170318257178,-0.000259457251711,1.34897231061e-05,1793192811361223424
+51,0.850000000,BASELINE,763,742,711.59384975,671,659.59384975,633,876.59384975,783,799.40615025,649,629,650,0.400963862643,-0.015400710177,0.059845588559,0.999999951257,0.00017210736346,-0.000260171151066,1.32724363018e-05,1793192811377889792
+52,0.866666667,BASELINE,763.171057792,742,712,671,660,633,876.828942208,783,799,649,628.828942208,650,0.400963161823,-0.0153996781356,0.0598451823118,0.999999950691,0.000173467472821,-0.000261452513427,1.30019817317e-05,1793192811394556672
+53,0.883333333,BASELINE,763.744031161,742,712,671,660,633,876.255968839,783,799,649,628.255968839,650,0.40096021171,-0.0153987615546,0.0598437014862,0.999999949948,0.00017381961545,-0.000264067180827,1.26066047544e-05,1793192811411223296
+54,0.900000000,BASELINE,764,742.325924326,711.674075674,671,659.674075674,633,876,783.325924326,799.325924326,649,628,650.325924326,0.400960738795,-0.0153988647117,0.0598438799414,0.99999995009,0.000174003441046,-0.000263403834862,1.26702172733e-05,1793192811427889920
+55,0.916666667,BASELINE,764,742.91501985,711.08498015,671,659.08498015,633,876,783.91501985,799.91501985,649,628,650.91501985,0.400964073582,-0.0153997912676,0.0598453982013,0.999999950943,0.000174051357178,-0.000260093620665,1.31044459506e-05,1793192811444556544
+56,0.933333333,BASELINE,764,742.504205252,711,671,659,633,876,783.504205252,799.504205252,648.504205252,628,651,0.400963797105,-0.0153986787579,0.0598453025442,0.999999950495,0.000175728413259,-0.000260686658548,1.31245157944e-05,1793192811461223936
+57,0.950000000,BASELINE,764,742,711,671,659.07464139,633,876.07464139,783,799,648.07464139,628,650.92535861,0.400962911151,-0.0153976282992,0.0598449128131,0.99999994999,0.000176814770265,-0.000261891301073,1.30393931457e-05,1793192811477891072
+58,0.966666667,BASELINE,764,742,711,671,659.649961981,633,876.649961981,783,799,648.649961981,628,650.350038019,0.4009620204,-0.015399299743,0.0598443754333,0.999999950583,0.000172096684252,-0.000262784851776,1.27169717124e-05,1793192811494557440
+59,0.983333333,BASELINE,764,742,711,670.774088594,660,633,876.774088594,783,799.225911406,649,628.225911406,650,0.400962012987,-0.0154005833148,0.0598445697703,0.999999951026,0.00016979899015,-0.000262596407618,1.26387153786e-05,1793192811511223808
+60,1.000000000,BASELINE,764,742,711,670.197162013,660,633,876.197162013,783,799.802837987,649,628.802837987,650,0.40096337808,-0.0154012642215,0.0598459010297,0.999999951262,0.000171262036342,-0.000260726788569,1.29398362772e-05,1793192811527889920
+61,1.016666667,BASELINE,764,742,711,670.387367965,659.612632035,633.387367965,876,783.387367965,799.612632035,649,628.612632035,650.387367965,0.400962844393,-0.0154011970708,0.059845138346,0.999999950949,0.000172102300258,-0.00026136047513,1.31403512194e-05,1793192811544556288
+62,1.033333333,BASELINE,764,742,711,670.975845356,659.024154644,633.975845356,876,783.975845356,799.024154644,649,628.024154644,650.975845356,0.400961324919,-0.0154007415517,0.0598432885521,0.999999950351,0.000172619234854,-0.000263293800387,1.32886346535e-05,1793192811561222912
+63,1.050000000,BASELINE,763.442907446,742,711,671,659.557092554,633.442907446,876,784,799.557092554,649,628.557092554,650.442907446,0.400960939911,-0.0154000122832,0.0598433924845,0.999999950328,0.000172394262127,-0.000263553454599,1.27599601067e-05,1793192811577890048
+64,1.066666667,BASELINE,763.135381395,742,711.135381395,671,659.864618605,633,875.864618605,783.864618605,799.864618605,649,629,650.135381395,0.400960927033,-0.0153995072603,0.0598438035528,0.999999950377,0.000172370024559,-0.000263400760435,1.24469665523e-05,1793192811594556928
+65,1.083333333,BASELINE,763.705170546,742,711.705170546,671,659.294829454,633,875.294829454,783.294829454,799.294829454,649,629,650.705170546,0.400961952426,-0.0153997593884,0.0598449318161,0.999999950574,0.000173091796941,-0.000262154804893,1.29190202616e-05,1793192811611223296
+66,1.100000000,BASELINE,764,742,711.713019028,671,659,633,875.286980972,783,799,649,628.713019028,650.713019028,0.400962750198,-0.0154001340712,0.0598455555924,0.999999950918,0.00017234899806,-0.000261316495205,1.31691045653e-05,1793192811627889920
+67,1.116666667,BASELINE,764,742,711.118318657,671,659,633,875.881681343,783,799,649,628.118318657,650.118318657,0.400963303903,-0.0154006401651,0.0598456384255,0.999999951419,0.000170035791919,-0.000260915289621,1.318117901e-05,1793192811644556544
+68,1.133333333,BASELINE,764,742.463147477,711.463147477,671,659,633,876,783,799.463147477,649,628.463147477,650,0.400963168908,-0.0154002949268,0.0598450992182,0.9999999512,0.000170811295501,-0.000261260831528,1.29216178048e-05,1793192811661222912
+69,1.150000000,BASELINE,763.958773911,742.958773911,711.958773911,671,659.041226089,633,876,783,799.958773911,649,629,650,0.400962907835,-0.0153997218333,0.0598445049778,0.99999995083,0.000172302385037,-0.000261709605143,1.26265932163e-05,1793192811677889536
+70,1.166666667,BASELINE,763.382001961,742.382001961,711.382001961,671,659.617998039,633,876,783,799.382001961,649,629,650,0.400963231,-0.0153989355612,0.0598452028033,0.999999950849,0.000173123748135,-0.000261090074693,1.27472975674e-05,1793192811694556160
+71,1.183333333,BASELINE,763,742,711.193388576,671,659.806611424,633,876,783,799,649,628.806611424,650,0.400963345335,-0.0153989647651,0.0598456250539,0.999999950909,0.000173257931909,-0.000260760408679,1.29310032123e-05,1793192811711222784
+72,1.200000000,BASELINE,763,742,711.766069851,671,659.233930149,633,876,783,799,649,628.233930149,650,0.400963050095,-0.0154005933607,0.0598455068201,0.999999951052,0.000172044352142,-0.000260999253203,1.32382732136e-05,1793192811727889664
+73,1.216666667,BASELINE,763.350999964,742,711.649000036,671,659,633,875.649000036,783,799,649,628.350999964,650,0.400963066823,-0.0154009482552,0.0598454400012,0.99999995111,0.000171627291798,-0.000261054491751,1.31796254007e-05,1793192811744556544
+74,1.233333333,BASELINE,763.944388676,742,711.055611324,671,659,633,875.055611324,783,799,649,628.944388676,650,0.400963298987,-0.0154004235746,0.0598454086878,0.99999995111,0.000171760281003,-0.000260982938184,1.28682870567e-05,1793192811761223424
+75,1.250000000,BASELINE,763.47941587,742,711,671,659.52058413,633,875.52058413,783.52058413,799,649,629,650,0.400962852119,-0.0154002650257,0.0598450429436,0.999999950759,0.000173586534365,-0.00026110615336,1.31815890378e-05,1793192811777890048
+76,1.266666667,BASELINE,763,742,711.095166857,671,659.904833143,633,875.904833143,783.904833143,799.095166857,649,629,650,0.400962465619,-0.0154003119213,0.0598447641724,0.999999950455,0.000175031402486,-0.000261288056714,1.35180140828e-05,1793192811794556672
+77,1.283333333,BASELINE,763,742,711.670583331,671,659.329416669,633,875.329416669,783.329416669,799.670583331,649,629,650,0.400962738104,-0.0154012045067,0.0598450988232,0.999999950592,0.00017366802732,-0.000261664484621,1.36451614607e-05,1793192811811223296
+78,1.300000000,BASELINE,763,742,712,671,659,633,875.252751751,783,800,648.747248249,628.747248249,650,0.400962453726,-0.015401629167,0.0598451332464,0.999999950754,0.000172031423502,-0.000262131710704,1.35935154997e-05,1793192811827889920
+79,1.316666667,BASELINE,763,742,712,671,659,633,875.843961607,783,800,648.156038393,628.156038393,650,0.400961423657,-0.015401427232,0.0598447656369,0.999999950946,0.000170028941211,-0.000262720523961,1.33024486159e-05,1793192811844556800
+80,1.333333333,BASELINE,763,742,712,671,659.425645507,633,876,783,799.574354493,648,628.425645507,650.425645507,0.400962212873,-0.0154013147888,0.0598453951865,0.999999951149,0.000170537569312,-0.000261610118243,1.33930097051e-05,1793192811861223424
+81,1.350000000,BASELINE,763.00389579,742,712,671,660,633,876,783,799,648.00389579,629,650.99610421,0.400963648254,-0.0154012354652,0.0598463748866,0.999999951351,0.000171942848292,-0.000259900655925,1.36191923176e-05,1793192811877889792
+82,1.366666667,BASELINE,763.579509817,742,712,671,660,633,876,783,799,648.579509817,629,650.420490183,0.400964177811,-0.0154013074169,0.0598462688187,0.999999951257,0.000172797497023,-0.000259692245148,1.36666408035e-05,1793192811894556416
+83,1.383333333,BASELINE,763.845322563,742,711.845322563,671,660,633,876,783,799,649,628.845322563,650,0.400964465325,-0.0154013062257,0.0598462712124,0.999999951292,0.000173105731938,-0.000259349985926,1.36834657716e-05,1793192811911223040
+84,1.400000000,BASELINE,763.27136488,742,711.27136488,671,660,633,876,783,799,649,628.27136488,650,0.400964096741,-0.0154011067679,0.0598465676102,0.999999951678,0.00017193281682,-0.000258644907035,1.36172803491e-05,1793192811927889920
+85,1.416666667,BASELINE,763.312828686,742,711.312828686,671,660,633,876,783,799,649,628.312828686,650,0.400963434427,-0.0154008195541,0.0598463422745,0.999999951435,0.000172221407207,-0.000259397345532,1.34852189102e-05,1793192811944556544
+86,1.433333333,BASELINE,763.906201743,742,711.906201743,671,660,633,876,783,799,649,628.906201743,650,0.400962508696,-0.0154004536407,0.0598456490488,0.999999950625,0.000173820673962,-0.000261456883832,1.32940799467e-05,1793192811961223168
+87,1.450000000,BASELINE,764,742,711.512672187,670.512672187,660,633,876,783,799.487327813,649,628.512672187,650,0.400962030374,-0.0153992279429,0.0598452137503,0.999999950129,0.000175283537603,-0.000262380695043,1.31744968608e-05,1793192811977890048
+88,1.466666667,BASELINE,763.934041547,742,711,670.065958453,659.934041547,632.934041547,876,783,800,649,628,650,0.400961680793,-0.0153981790347,0.0598448340256,0.999999949777,0.000176370415679,-0.000263000855017,1.30759680125e-05,1793192811994556672
+89,1.483333333,BASELINE,763.356929673,742,711,670.643070327,659.356929673,632.356929673,876,783,800,649,628,650,0.400961677911,-0.0153997512016,0.0598445096828,0.999999950084,0.000174742017895,-0.000262920359939,1.30364849605e-05,1793192812011223040
+90,1.500000000,BASELINE,763,742.223220584,711,671,659.223220584,632.223220584,876,783,800,649,628.223220584,650,0.40096168817,-0.0154005931638,0.059844563416,0.999999950329,0.00017372999367,-0.00026265258335,1.31777634226e-05,1793192812027889664
+91,1.516666667,BASELINE,763,742.808296199,711,671,659.808296199,632.808296199,876,783,800,649,628.808296199,650,0.400961719731,-0.0154002514167,0.0598452300353,0.999999950475,0.000173717151089,-0.000262081211303,1.36120680171e-05,1793192812044556288
+92,1.533333333,BASELINE,763.38957968,742.61042032,711,671,660,633,876,783,799.61042032,649,629,650,0.400962024825,-0.0153996477208,0.0598457598065,0.999999950517,0.000174578845259,-0.000261349678008,1.35734952032e-05,1793192812061223168
+93,1.550000000,BASELINE,763.969015174,742.030984826,711,671,660,633,876,783,799.030984826,649,629,650,0.40096246322,-0.015398916368,0.059846222887,0.999999950506,0.000175866731796,-0.000260540092479,1.33044727159e-05,1793192812077890048
+94,1.566666667,BASELINE,764,742.547861753,711.547861753,671,660,633,876,783,800.095723506,649,628.452138247,650,0.400962937583,-0.0153998416019,0.0598462047455,0.999999951004,0.000174329221188,-0.000259670214488,1.316337721e-05,1793192812094556672
+95,1.583333333,BASELINE,764,742.87408854,712,671,659.87408854,633,876,783.12591146,800.87408854,649,628.12591146,650,0.400963374553,-0.0154005285148,0.05984615269,0.999999951395,0.000172902259409,-0.00025912230306,1.30606435393e-05,1793192812111223296
+96,1.600000000,BASELINE,764,742.298764176,712,671,659.298764176,633,876,783.701235824,800.298764176,649,628.701235824,650,0.400963670802,-0.015400030748,0.0598460766231,0.999999951316,0.000172439609432,-0.000259735737086,1.30690377631e-05,1793192812127890176
+97,1.616666667,BASELINE,764,742,712,671,659.281973595,633,876,783.718026405,800,649,628.718026405,650.281973595,0.400964177127,-0.0153995040984,0.0598462979566,0.999999951199,0.00017319161282,-0.000259681241783,1.30992059755e-05,1793192812144556800
+98,1.633333333,BASELINE,764,742,712,671,659.868559358,633,876,783.131440642,800,649,628.131440642,650.868559358,0.400964910394,-0.0153989462471,0.0598468405677,0.99999995104,0.000175255789444,-0.000258905191634,1.31528963256e-05,1793192812161223168
+99,1.650000000,BASELINE,764,742,712,671,660,633,876,783,800,649,628,650.550666977,0.40096289489,-0.0154004416777,0.0598454035868,0.999999950871,0.000172709105505,-0.00026126071902,1.31264826565e-05,1793192812177890048
+100,1.666666667,BASELINE,764,742,712,671,660,633,875.971681361,783.028318639,800,649,628,650,0.400960237657,-0.0154023753727,0.0598435208237,0.999999950692,0.000169049450968,-0.00026432356614,1.30824904265e-05,1793192812194556928
+101,1.683333333,BASELINE,764,742,712,671,660,633,875.394818234,783.605181766,800,649,628,650,0.400960526387,-0.0154013124681,0.0598440768223,0.999999950793,0.000169624029188,-0.000263569593067,1.31460923117e-05,1793192812211223808
+102,1.700000000,BASELINE,763.818348017,742,712,671,659.818348017,633,875,783.818348017,800,649,628.181651983,650.181651983,0.40096104247,-0.0154002359573,0.0598446355765,0.999999950781,0.000170903180653,-0.000262787711822,1.31201035756e-05,1793192812227890432
+103,1.716666667,BASELINE,763.242730014,742,712,671,659.242730014,633,875,783.242730014,800,649,628.757269986,650.757269986,0.400962051634,-0.0153991299376,0.059845200307,0.999999950521,0.000173710407389,-0.000261945303558,1.28998110866e-05,1793192812244556544
+104,1.733333333,BASELINE,763.340207884,742,711.659792116,671,659,633,875.340207884,783,800,649,628.659792116,650.659792116,0.400963381222,-0.0153987819112,0.0598459513766,0.999999951011,0.00017367797379,-0.000260102825089,1.2700471286e-05,1793192812261223168
+105,1.750000000,BASELINE,763.928483248,742,711.071516752,671,659,633,875.928483248,783,800,649,628.071516752,650.071516752,0.400964944451,-0.0153989865863,0.059846838318,0.999999952042,0.000171574961234,-0.000257531130932,1.25164094169e-05,1793192812277889792
+106,1.766666667,BASELINE,764,742,711.510202537,671,659.510202537,633,876,783,800,649,628.510202537,650,0.400964676683,-0.0154000554853,0.0598464795717,0.999999951937,0.000170798532322,-0.000258440711992,1.27328451752e-05,1793192812294556160
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,784,799,649,628,650,0.400960441752,-0.0153991150522,0.0598438378307,0.999999950451,0.000171175459469,-0.000263892188178,1.25792100491e-05,1793192812337779200
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.407142069,671,659.407142069,633,876,783.407142069,799.592857931,649,628,650.592857931,0.400961783471,-0.0154013620975,0.0598448648986,0.999999951072,0.000170429508008,-0.000261982776917,1.32481502942e-05,1793192812354445824
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.181031756,671,659.181031756,633,876,783,800,649,628,650.818968244,0.400963028871,-0.0154026978918,0.0598459697436,0.99999995159,0.000170331770847,-0.000260038642631,1.36394924776e-05,1793192812371112192
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.758936799,671,659.758936799,633,876,783,800,649,628,650.241063201,0.400964063113,-0.0154020359642,0.0598472450982,0.99999995189,0.000171655104333,-0.000258018385196,1.3422260595e-05,1793192812387778816
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876.335380681,783,800,649,628,650,0.400964930866,-0.0154001756391,0.0598473865817,0.99999995189,0.000173038975325,-0.000257114681714,1.3039110034e-05,1793192812404445440
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876.910778839,783,800,649,628,650,0.40096567947,-0.0153974576728,0.0598467166025,0.999999951675,0.000174466170317,-0.000257010047824,1.25372186493e-05,1793192812421111808
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.543848353,671.456151647,660,633,876.543848353,783,800,649,628.456151647,650,0.400964579754,-0.0153987952736,0.059845835012,0.999999951362,0.000173389118109,-0.000258946136635,1.26511142275e-05,1793192812437778688
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.003985676,671.996014324,660,633,876.003985676,783,800,649,628.996014324,650,0.400963140843,-0.0154008771351,0.0598449145875,0.999999951023,0.000171852496985,-0.000261256730282,1.28780164411e-05,1793192812454445568
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671.369969451,659.369969451,633,876,783,800,649,629,650,0.4009660899,-0.015401130193,0.059847047683,0.999999951679,0.000172722676198,-0.000258131328868,1.33420100627e-05,1793192812471112192
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.760126231,742,711.239873769,670.760126231,659.239873769,633,876,783,800,649,628.760126231,650,0.400975313814,-0.0154011700331,0.0598513906044,0.999999953359,0.000173312555093,-0.000251105993679,1.38193304384e-05,1793192812487779072
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.185042111,742,711.814957889,670.185042111,659.814957889,633,876,783,800,649,628.185042111,650,0.400993260888,-0.0154009309213,0.0598587898979,0.999999956363,0.000173485714035,-0.000238687216868,1.43128099114e-05,1793192812504445696
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,712,670.392616181,660,633.392616181,876.392616181,783,799.607383819,649,628.392616181,650,0.401031124743,-0.0154032365407,0.0598738262992,0.999999962524,0.000173419057528,-0.00021124641316,1.59244394292e-05,1793192812521112064
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,712,670.971495751,660,633.971495751,876.971495751,783,799.028504249,649,628.971495751,650,0.401078437437,-0.0154067494213,0.0598924858673,0.999999969223,0.000173238628589,-0.000176678918561,1.80665372233e-05,1793192812537778432
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,711.441574862,671,660,633.441574862,875.883149725,783.558425138,799,649,629,650.558425138,0.401144566404,-0.0154117190765,0.0599115675799,0.999999974737,0.000169294891539,-0.000146524087027,1.9895422274e-05,1793192812554445568
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.143719232,742,711,671,659.856280768,633,875.143719232,783.856280768,799.143719232,648.856280768,629,650.856280768,0.401214474126,-0.0154166246828,0.059927895465,0.999999978704,0.000165949608401,-0.000120818010247,2.13397070767e-05,1793192812571111936
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.722796895,742,711,671,659.277203105,633,875.722796895,783.277203105,799.722796895,648.277203105,629,650.277203105,0.401292876579,-0.0154211077247,0.0599358151527,0.999999980331,0.000165007586791,-0.000107895939621,2.16680887606e-05,1793192812587778560
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.300893023,671,659.300893023,633,876,783.300893023,799.699106977,648.300893023,629,650,0.4013774777,-0.0154252106775,0.059939365392,0.999999981139,0.000164998659949,-0.000100216201527,2.13064972392e-05,1793192812604445184
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.8780878,671,659.8780878,633,876,783.8780878,799.1219122,648.8780878,629,650,0.401467770883,-0.0154289646047,0.059938903287,0.999999981303,0.000165846568337,-9.73503534188e-05,2.03113223593e-05,1793192812621112064
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,670.547372759,660,633,876,783.547372759,799,648.547372759,629,650,0.401576658493,-0.0154340084821,0.0599374962053,0.999999981849,0.000162709283204,-9.73887583501e-05,1.85206958064e-05,1793192812637778944
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.972763688,742,711.972763688,670.027236312,660,633,876.027236312,783,799.027236312,648.027236312,628.972763688,650,0.401692140033,-0.0154396018139,0.0599359479597,0.999999982518,0.000158401768553,-9.79725830284e-05,1.65344105352e-05,1793192812654445824
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.382002532,742,711.382002532,670.617997468,660,633,876.617997468,783,799.617997468,648.617997468,628.382002532,650,0.401841033219,-0.0154494167999,0.0599367144318,0.999999983948,0.000151961012391,-9.37509085836e-05,1.49069227539e-05,1793192812671112192
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.204495844,742,711.204495844,670.795504156,660,633,876.795504156,783,799.795504156,649,628.204495844,650,0.402002548508,-0.0154582958153,0.0599379091677,0.99999998514,0.000147235682043,-8.87114320056e-05,1.30932354922e-05,1793192812687778816
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.783193792,742,711.783193792,670.216806208,660,633,876.216806208,783,799.216806208,649,628.783193792,650,0.402187160665,-0.0154654621192,0.0599398875733,0.999999985957,0.000145649369499,-8.21754791324e-05,1.09388263882e-05,1793192812704445440
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,670.358490733,660,633,876,783,799.358490733,649,629,650,0.402390436208,-0.0154752768925,0.0599400255017,0.999999987181,0.000139613177431,-7.79275780636e-05,8.52431086729e-06,1793192812721111808
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,670.931750215,660,633,876,783,799.931750215,649,629,650,0.402604892844,-0.0154866783419,0.0599390608161,0.999999988597,0.000130911100238,-7.50504287333e-05,5.95396759768e-06,1793192812737778432
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.494163681,633,876.505836319,783,799.494163681,649,629,650.505836319,0.402858814734,-0.0154991465844,0.0599428253542,0.999999990321,0.000122264682915,-6.63016446943e-05,3.5496614859e-06,1793192812754445568
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.082801313,633,876.917198687,783,799,649,629,650.917198687,0.403121568637,-0.0155109762381,0.0599453191359,0.999999991651,0.000114455964599,-5.99709158651e-05,8.35353639514e-07,1793192812771112448
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.676852252,633,876.323147748,783,799,649,629,650.323147748,0.403405923615,-0.0155179728069,0.0599360204691,0.999999991047,0.000111773098464,-7.34698100725e-05,-3.93158318017e-06,1793192812787779072
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.262575321,633,876,783,799,649,628.737424679,650,0.403705532509,-0.0155189043881,0.059926789306,0.99999998961,0.000114110057347,-8.76972896887e-05,-8.28872642296e-06,1793192812804445696
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660.838364429,633,876,783,799,649,628.161635571,650,0.40402333707,-0.0155126013297,0.0599176386653,0.999999987148,0.000122434930248,-0.000102793863858,-1.21570458382e-05,1793192812821112320
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.413326242,712,671,660.586673758,633,876,783.413326242,799.413326242,649,628.413326242,650,0.404366087224,-0.015498754955,0.0599053801769,0.999999989339,7.62962605554e-05,-0.000123066657557,-1.88691420784e-05,1793192812837778688
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.987965165,712,671,660.012034835,633,876,783.987965165,799.987965165,649,628.987965165,650,0.404718573119,-0.0154819645801,0.05989190876,0.999999989039,8.90159641426e-06,-0.000145359621767,-2.66911054094e-05,1793192812854445056
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.41760663,712,671,660,633,876.58239337,783.41760663,799.41760663,649,629,650,0.405148693189,-0.0154934866864,0.0598952004466,0.999999989242,1.03718966979e-05,-0.000143253452813,-2.97825227689e-05,1793192812871111936
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.828538262,671,660,633,876.828538262,783,799,649,629,650,0.405600385606,-0.0155060270452,0.0599058821794,0.999999991345,7.90491145415e-06,-0.000127312010781,-3.22319618319e-05,1793192812887778816
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.253095668,671,660,633,876.253095668,783,799,649,629,650,0.406098991787,-0.0155195395565,0.0599331307328,0.999999996215,-7.30950589016e-06,-8.00030106923e-05,-3.34072555587e-05,1793192812904445696
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.67908105,742,711.32091895,671,660,633,876,783.32091895,799.32091895,649,629,650,0.406619895937,-0.0155274620146,0.0599608444744,0.999999998428,-2.64896926868e-05,-3.52799647183e-05,-3.46187806182e-05,1793192812921112320
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.106187569,742,711.893812431,671,660,633,876,783.893812431,799.893812431,649,629,650,0.40715830774,-0.0155309953565,0.0599889234689,0.99999999814,-4.87836669913e-05,7.41268399637e-06,-3.58587533859e-05,1793192812937778944
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.483638668,742,712,671,660,633.483638668,876,783.516361332,800,649,628.516361332,650,0.40767788706,-0.0155284251488,0.0599891143823,0.99999999715,-6.34003894908e-05,-1.80721999314e-06,-4.09518881496e-05,1793192812954445312
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.075368908,712,671,660,633.924631092,876.075368908,783,800,649,628.075368908,650,0.408201543566,-0.0155249594253,0.0599816226497,0.999999995669,-7.64494484985e-05,-2.47480565292e-05,-4.696193358e-05,1793192812971112192
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.654085564,712,671,660,633.345914436,876.654085564,783,800,649,628.654085564,650,0.408781045925,-0.0155247875027,0.0599651992043,0.999999992643,-9.06946797189e-05,-6.04413758346e-05,-5.32405721893e-05,1793192812987778560
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.768983139,712,671,660,633,876.768983139,783.231016861,799.768983139,649,628.768983139,650,0.40938668992,-0.0155252441856,0.0599580189741,0.99999999438,-6.0307276862e-05,-7.40926185655e-05,-4.59647973825e-05,1793192813004445184
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.194704693,712,671,660,633,876.194704693,783.805295307,799.194704693,649,628.194704693,650,0.410031177016,-0.0155266348962,0.0599645729833,0.999999997653,3.63985281925e-05,-5.49921446145e-05,-1.85488925774e-05,1793192813021111808
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.380054508,712,671,660,633,876,783.619945492,799.380054508,649,628.380054508,650,0.410698187591,-0.0155250157847,0.0599709336709,0.999999997468,5.70072798834e-05,-4.0165257239e-05,-1.41952510814e-05,1793192813037778688
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.955060297,712,671,660,633,876,783.044939703,799.955060297,649,628.955060297,650,0.411376751703,-0.0155218527666,0.0599771951926,0.999999998642,3.85815804724e-05,-2.75305329422e-05,-2.16715392926e-05,1793192813054445312
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.453137343,712,671,660,633,876,783,800,649,628.453137343,650,0.412041664732,-0.0155252269991,0.0599621664394,0.99999999805,1.74690276227e-05,-5.30098791892e-05,-2.80223816624e-05,1793192813071112192
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.863884143,742,712,671,660,633,876,783,799.863884143,649,628,650,0.412711874134,-0.0155280760674,0.0599411683746,0.999999995233,1.75577501886e-06,-9.16718445643e-05,-3.35707119425e-05,1793192813087778816
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.28748291,742,712,671,660,633,876,783,799.28748291,649,628,650,0.413402958867,-0.0155274336649,0.059906700335,0.999999986106,4.2441368772e-06,-0.000162522509901,-3.68318443361e-05,1793192813104445184
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.287966005,742.287966005,712,671.287966005,660,633,876,783,799.287966005,649,628,650,0.414155755545,-0.0155302797883,0.0599065815405,0.999999985992,-6.39162559303e-07,-0.000163088256817,-3.76455539816e-05,1793192813121111808
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.862467402,742.862467402,712,671.862467402,660,633,876,783,799.862467402,649,628,650,0.414969957668,-0.0155365971066,0.0599406413406,0.999999994877,-1.2857500653e-05,-9.37182684809e-05,-3.60240000374e-05,1793192813137778432
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712,671.561627323,660,633,876.438372677,783,799.561627323,649,628.438372677,650,0.41579474714,-0.015543192694,0.0599781826217,0.99999999883,-2.02049638913e-05,-2.90694937916e-05,-3.29588408157e-05,1793192813154445312
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,671,660,633,877,783,799.015156434,649,629,650,0.41662180219,-0.0155496567707,0.0600155592678,0.999999998719,-2.58396337041e-05,3.19318984661e-05,-2.95830551155e-05,1793192813171111936
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,671,660,633,877,783,799.608600644,649,629,650,0.417408159328,-0.0155477614259,0.0600048457676,0.99999999914,-2.46170705427e-05,1.04654455144e-05,-3.16915034302e-05,1793192813187778816
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712,671.195942559,660.195942559,633,877,783.195942559,800,649,629,650,0.418209837351,-0.0155460893481,0.0599898662672,0.999999998943,-2.64382230928e-05,-1.55336984884e-05,-3.42462506711e-05,1793192813204445696
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,712,671.771463131,660.771463131,633,877,783.771463131,800,649,629,650,0.419041194796,-0.0155448497808,0.0599666227136,0.999999997442,-3.41556320848e-05,-5.03135260608e-05,-3.7665563705e-05,1793192813221112320
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.652179454,712,671.652179454,660.652179454,633,877,784,800,649,628.652179454,650,0.419859476234,-0.0155450260618,0.059942265671,0.999999995162,-3.6613770671e-05,-8.1604769984e-05,-4.09337295882e-05,1793192813237778944
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.075270886,712,671.075270886,660.075270886,633,877,784,800,649,628.075270886,650,0.420669145277,-0.0155461348752,0.0599171752427,0.999999992278,-3.56079506742e-05,-0.000110598296813,-4.41023439902e-05,1793192813254445568
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.488049198,742.511950802,712,671.511950802,660,633,877,783.488049198,799.488049198,649,628,650,0.421445455248,-0.0155431299884,0.0598882747933,0.999999982837,-3.45631934221e-05,-0.0001758679994,-4.69225736045e-05,1793192813271112192
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.098923874,742.901076126,711.901076126,671.901076126,660,633,876.901076126,783,799,649,628,650,0.422245497672,-0.0155402711599,0.0598720139169,0.999999974311,-3.41880373333e-05,-0.000218713436775,-4.87293041653e-05,1793192813287778560
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.677193545,742.322806455,711.322806455,671.322806455,660,633,876.322806455,783,799,649,628,650,0.423184792727,-0.0155411110796,0.0599197696058,0.999999990256,-3.70858140588e-05,-0.000126523937718,-4.58783257271e-05,1793192813304445184
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711.254760985,671.254760985,660,633,876.254760985,783,799.254760985,649,628.254760985,650.254760985,0.424117673807,-0.0155434368102,0.059967749814,0.999999997444,-3.87057187263e-05,-4.3100885034e-05,-4.19116079286e-05,1793192813321111808
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711.831441153,671.831441153,660,633,876.831441153,783,799.831441153,649,628.831441153,650.831441153,0.425042450236,-0.0155476400301,0.0600160137341,0.999999998156,-3.87108887562e-05,2.92447876261e-05,-3.65350276739e-05,1793192813337778688
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.407779378,712,671.592220622,660.407779378,633,877.407779378,783,799.592220622,649,629,650.592220622,0.425914978031,-0.0155523289635,0.0600208310384,0.999999997445,-4.32182876981e-05,4.37983180736e-05,-3.6396185136e-05,1793192813354445312
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.983976342,712,671.016023658,660.983976342,633,877.983976342,783,799.016023658,649,629,650.016023658,0.426765926482,-0.0155572185019,0.0600077043865,0.999999997438,-4.95851591438e-05,3.44830231448e-05,-3.84205890361e-05,1793192813371112192
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,671,661,633,877.42659462,783,799.57340538,649,629,650,0.427577309463,-0.015557860601,0.0599835506149,0.999999997584,-5.49609423966e-05,-2.10446371633e-06,-4.25079973701e-05,1793192813387778816
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,671.160153851,660.839846149,633,877,783,800,649,628.839846149,650,0.428384406346,-0.0155574080611,0.0599603348719,0.999999996506,-5.91033588923e-05,-3.7368755022e-05,-4.58009647987e-05,1793192813404445440
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,671.738906705,660.261093295,633,877,783,800,649,628.261093295,650,0.429183258602,-0.0155544119908,0.0599403953299,0.999999994843,-6.00961859253e-05,-6.7135554145e-05,-4.6863236544e-05,1793192813421112064
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,712,671.684589604,660,633,877,783,799.684589604,648.684589604,628.315410396,650,0.429998943448,-0.0155521986893,0.0599260818449,0.999999993095,-6.0025645575e-05,-8.86934404909e-05,-4.83782751518e-05,1793192813437778688
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,671.109934593,660,633,877,783,799.109934593,648.109934593,628.890065407,650,0.430828463432,-0.0155506287674,0.0599163925741,0.999999991635,-5.90810938374e-05,-0.000103504190648,-5.02654554571e-05,1793192813454445312
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.536272326,712,671.463727674,660,633,877,783.463727674,799,648,629,650,0.431692294277,-0.0155553201602,0.0599581288873,0.999999996116,-6.77561875942e-05,-2.95696995405e-05,-4.79945636073e-05,1793192813471112192
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.038460532,712,672,660.038460532,633,877,783.961539468,799.038460532,648.038460532,629,650,0.432556817245,-0.0155611273267,0.0600086760868,0.999999994241,-7.7708429672e-05,5.88909150106e-05,-4.48535368373e-05,1793192813487778816
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.632034533,712,672,660.632034533,633,877,783.367965467,799.632034533,648.632034533,629,650,0.433314179329,-0.0155616604437,0.0600108082705,0.999999994919,-7.32492514592e-05,5.40036729687e-05,-4.33507247357e-05,1793192813504445696
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.78035207,712,672,660.78035207,632.78035207,877,783,800,649,628.78035207,650,0.434056285891,-0.0155618204762,0.0599977512312,0.999999996135,-7.12270639153e-05,2.71073499128e-05,-4.38283429558e-05,1793192813521112064
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.202460273,712,672,660.202460273,632.202460273,877,783,800,649,628.202460273,650,0.434773510949,-0.0155613720113,0.0599599207014,0.999999995556,-7.31795861063e-05,-3.56855941321e-05,-4.75360254889e-05,1793192813537778688
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.373371284,712,672,660.373371284,632.373371284,877,783,800,649,628.373371284,650,0.435489110541,-0.0155603949636,0.059934377056,0.999999992629,-7.57482299453e-05,-7.99553540514e-05,-5.11003763091e-05,1793192813554445312
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.948091772,712,672,660.948091772,632.948091772,877,783,800,649,628.948091772,650,0.436203833519,-0.0155591328654,0.0599154594028,0.999999988892,-7.86491317204e-05,-0.00011423604958,-5.45874319461e-05,1793192813571111936
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.465040641,742.465040641,712,672.534959359,661,633,877,783,800,649,629,650,0.436873080762,-0.0155591270606,0.059919575776,0.999999989781,-7.46911527803e-05,-0.000109782604135,-5.29721690611e-05,1793192813587778816
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.121979327,742.121979327,712,672.878020673,661,633,877,783,800,649,629,650,0.43753216488,-0.0155586057105,0.0599233242336,0.999999990683,-6.62196215624e-05,-0.000107943340305,-5.09601331425e-05,1793192813604445696
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.705016635,742.705016635,712,672.294983365,661,633,877,783,800,649,629,650,0.438169900655,-0.0155556642335,0.0599170377463,0.999999989328,-4.32617727726e-05,-0.000130521464809,-4.93631900499e-05,1793192813621112320
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,672.283151346,661,633,877,783,800,649,629,650,0.438808396425,-0.0155569099911,0.0599242127136,0.999999989646,-5.46875258189e-05,-0.000123834252557,-4.88122703747e-05,1793192813637778688
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,712,672.856265487,661,633,877,783,800,649,629,650,0.439447670435,-0.0155624437112,0.0599451729625,0.99999998985,-0.000101324009244,-8.71776989908e-05,-4.93325371223e-05,1793192813654445568
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,712,673,661,633,877.430578187,783,799.569421813,649,629,650,0.440049405648,-0.0155723553359,0.0599591977367,0.999999990259,-0.000110401882025,-6.97344764534e-05,-4.92972206107e-05,1793192813671112448
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,673,661,632.99453469,878,783,799.00546531,649,629,650.00546531,0.440637380622,-0.0155836516203,0.0599703637913,0.999999991272,-0.000107249613889,-5.94996621686e-05,-4.91331795121e-05,1793192813687779328
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,712,673,661,632.401015943,878,783,799.598984057,649,629,650.598984057,0.44109686255,-0.0155862495649,0.0599237419106,0.999999979722,-0.000140957699161,-0.00013284231509,-5.51297898486e-05,1793192813704445696
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,712,673,661,632,878,783,800,649.187627292,629,650.812372708,0.441544091175,-0.0155886257583,0.0598752384708,0.999999963596,-0.000160367817855,-0.000208185007858,-6.12355373003e-05,1793192813721111808
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,712,673,661,632,878,783,800,649.766114115,629,650.233885885,0.441965794174,-0.015590540007,0.0598228154154,0.999999945084,-0.000149992849732,-0.000287694137827,-6.75686373974e-05,1793192813737778432
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660.659123775,632,877.659123775,783,800,649.659123775,629,650,0.44239027325,-0.0155946287348,0.059791692413,0.99999993237,-0.000147170187656,-0.00032954935673,-7.0704142073e-05,1793192813754445312
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.086889717,632,877.086889717,783,800,649.086889717,629,650,0.442816636466,-0.0156001933142,0.0597750260808,0.999999926455,-0.000149473390581,-0.000345848294728,-7.16693903554e-05,1793192813771112192
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.501934836,743,711.501934836,673,660,632,876.501934836,782.501934836,800.498065164,649,628.501934836,650,0.443228497127,-0.0156069705929,0.0597804405802,0.999999931746,-0.000142164859908,-0.000335920839547,-5.87703439635e-05,1793192813787778816
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.084702719,743,711.084702719,673,660,632,876.084702719,782.084702719,800.915297281,649,628,650,0.443630083816,-0.0156134186709,0.0597886830906,0.999999937432,-0.000134042865663,-0.000324134515018,-4.58882012684e-05,1793192813804445440
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.66784078,743,711.66784078,673,660,632,876.66784078,782.66784078,800.33215922,649,628,650,0.443986491325,-0.0156166519937,0.0597903051986,0.999999936114,-0.000131259877155,-0.000329038835631,-4.77114067957e-05,1793192813821112064
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,712,672.754915334,660,631.754915334,877,782.754915334,800,649,628,650,0.444313792378,-0.0156216428184,0.0597856897567,0.999999931716,-0.000134070559886,-0.000340765300332,-4.97206137776e-05,1793192813837778944
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712,672.185472168,660,631.185472168,877,782.185472168,800,649,628,650,0.444602572319,-0.0156289596176,0.0597728191987,0.999999922892,-0.000144284214327,-0.000361520564453,-5.19759851313e-05,1793192813854445568
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.609573756,743,711.609573756,672,660.390426244,631.390426244,877,782,800,649,628,650,0.444857339749,-0.0156333863373,0.0597518497068,0.999999905827,-0.00016095596833,-0.000399347156793,-5.44234272802e-05,1793192813871111936
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.030557171,743,711.030557171,672,660.969442829,631.969442829,877,782,800,649,628,650,0.445095677899,-0.0156364170422,0.0597269681286,0.999999882843,-0.000180747224304,-0.000445419834264,-5.69636468349e-05,1793192813887778560
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.14635973,711.14635973,673,660,631.14635973,877,782,800.14635973,649,628.14635973,650,0.445530843572,-0.0156372396465,0.0597038491398,0.999999859248,-0.000214679387109,-0.000481347316449,-6.10061231687e-05,1793192813921112320
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.726044159,711.726044159,673,660,631.726044159,877,782,800.726044159,649,628.726044159,650,0.445732735422,-0.0156439841183,0.0597051698244,0.999999859205,-0.0002174295652,-0.000480160806469,-6.13262674465e-05,1793192813937778944
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,712,672.69684971,659.69684971,632,877,782.30315029,800.69684971,649,628.69684971,650,0.445917251691,-0.0156520202214,0.0597082383719,0.999999860385,-0.000222356151534,-0.000475444262715,-6.11623061194e-05,1793192813954445568
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,712,672.122053962,659.122053962,632,877,782.877946038,800.122053962,649,628.122053962,650,0.44608619812,-0.0156612137228,0.059712873136,0.999999862584,-0.000229232963145,-0.000467564543264,-6.05645497399e-05,1793192813971112192
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,712,672.452426839,659.452426839,632,877,782.547573161,800,649,628,650,0.446228335641,-0.015671332923,0.0597140941218,0.999999861615,-0.000238209224997,-0.000465458755843,-5.80982282176e-05,1793192813987778816
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.972353455,743,712,673,660,632,877,781.972353455,800,649,628.027646545,650,0.446361720119,-0.0156818653311,0.0597142019656,0.999999859538,-0.000247911876694,-0.000465213159034,-5.51426429874e-05,1793192814004445184
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.380315897,743,712,673,660,632,877,781.380315897,800,649,628.619684103,650,0.446463958815,-0.015695738581,0.0597103733425,0.999999853593,-0.000260889067291,-0.000471165517005,-5.24826571834e-05,1793192814021111808
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.207553908,743,712,673,659.792446092,631.792446092,877,781.207553908,800.207553908,649,628.792446092,650,0.446555872605,-0.0157050170321,0.0597057036395,0.999999847475,-0.000269830807341,-0.000479212138449,-5.09696913536e-05,1793192814037778944
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.787937107,743,712,673,659.212062893,631.212062893,877,781.787937107,800.787937107,649,628.212062893,650,0.446629239747,-0.0157060418401,0.0596995231043,0.99999984126,-0.000271523662205,-0.000491020686915,-5.1517118945e-05,1793192814054445824
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.363917586,743,712,673,659.363917586,631,877,782,800.636082414,649,628,650,0.446693307218,-0.0157049428263,0.0596951580869,0.999999837946,-0.000272838402993,-0.000496930569913,-5.22187808772e-05,1793192814071112448
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.937363222,743,712,673,659.937363222,631,877,782,800.062636778,649,628,650,0.446752020347,-0.0157026210076,0.0596918383656,0.999999836352,-0.000273935442176,-0.000499444256862,-5.30092443454e-05,1793192814087778816
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.473193719,743,712,672.473193719,659.473193719,631.526806281,876.473193719,781.473193719,800,649,628.526806281,650,0.446797153396,-0.0157048082703,0.0596894440937,0.999999834585,-0.000275897062991,-0.000501955990318,-5.24445828619e-05,1793192814104445440
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.884338317,743,711.884338317,672,659.115661683,631.884338317,876.115661683,781.115661683,799.884338317,649,628.884338317,650.115661683,0.446837286302,-0.015707004297,0.0596871977928,0.999999832905,-0.000277702652877,-0.000504358173761,-5.19094561735e-05,1793192814121112064
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.305687504,743,711.305687504,672,659.694312496,631.305687504,876.694312496,781.694312496,799.305687504,649,628.305687504,650.694312496,0.446864069685,-0.015707022106,0.0596850895531,0.999999831689,-0.000278459274474,-0.000506322792496,-5.21577242919e-05,1793192814137778688
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.270660275,743,711.270660275,672,659.729339725,631,877,782,799.270660275,649,628,650.729339725,0.446885855448,-0.015706545675,0.059683210716,0.999999830911,-0.000277556786212,-0.000508341211506,-5.22362158769e-05,1793192814154445312
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.844428888,743,711.844428888,672,659.155571112,631,877,782,799.844428888,649,628,650.155571112,0.446902044452,-0.0157055157519,0.0596815887836,0.999999830621,-0.000274796285934,-0.000510419880508,-5.21245772813e-05,1793192814171111936
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,712,672.419743861,659.419743861,631,877,782,800,649,628,649.580256139,0.446914716504,-0.0157047277327,0.0596810730473,0.999999830968,-0.000273578807382,-0.000510411684996,-5.19558081846e-05,1793192814187778816
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,712,672.995634073,659.995634073,631,877,782,800,649,628,649.004365927,0.446926080236,-0.0157040297026,0.0596809688203,0.999999831553,-0.00027293533898,-0.000509627167714,-5.17657863216e-05,1793192814204445440
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.412015948,743,712,672.412015948,659.412015948,631,877,782,800.587984052,649,628,649.587984052,0.446930679208,-0.0157037165132,0.0596799173085,0.999999830202,-0.000275104058964,-0.00051107033556,-5.2161492093e-05,1793192814221112064
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.175582349,743,711.824417651,672.175582349,659,631,877,782,800.824417651,649,628,650,0.446933567187,-0.0157033883192,0.0596786568347,0.999999828902,-0.000275767128634,-0.000513241436199,-5.2256425798e-05,1793192814237778688
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.752044706,743,711.247955294,672.752044706,659,631,877,782,800.247955294,649,628,650,0.446932666705,-0.0157030191556,0.059676935792,0.999999827754,-0.000272943531781,-0.000517035659545,-5.16544373573e-05,1793192814254445312
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.327446305,673,659,631,877,781.672553695,799.672553695,649,628,650,0.446933028582,-0.0157033762859,0.0596759933334,0.999999826847,-0.000272713438369,-0.000518930631664,-5.14155288711e-05,1793192814271112192
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711.902047309,673,659,631,877,781.097952691,799.097952691,649,628,650,0.446934343279,-0.0157042816189,0.0596756385456,0.999999826133,-0.000274440907029,-0.000519392059635,-5.14506711076e-05,1793192814287778816
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659.489496172,631,877,781,799,649,628,650,0.44693458044,-0.015703399851,0.0596748410319,0.999999825519,-0.000274579194554,-0.000520492199506,-5.15442521313e-05,1793192814304445440
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.921976353,631,877.078023647,781,799.156047293,649,628,650,0.44693468175,-0.0157021955109,0.059674081891,0.999999825139,-0.00027413897745,-0.000521442442732,-5.16404793658e-05,1793192814321112064
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659.343465977,631,877.656534023,781,800.313068046,649,628,650,0.446935332052,-0.015701277789,0.0596741524998,0.999999826144,-0.000272082786931,-0.000520589210222,-5.16766463036e-05,1793192814337778432
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,878,781,800.765713168,649,628,650,0.446935599396,-0.0157006751162,0.0596741444351,0.999999826327,-0.000271507294646,-0.000520541861909,-5.16410654167e-05,1793192814354445568
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,878,781,800.189067412,649,628,650,0.44693530713,-0.0157005328188,0.0596740214064,0.999999825312,-0.000273095518858,-0.000521672137007,-5.15006407867e-05,1793192814371112960
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.605938419,781,799.605938419,649,628,650,0.446935995411,-0.0157003024306,0.0596739117874,0.999999825423,-0.000272834521285,-0.000521604323714,-5.14316643616e-05,1793192814387779328
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.019646807,781,799.019646807,649,628,650,0.446937162019,-0.0157000290702,0.0596738087099,0.999999826081,-0.000271671441411,-0.000520952062223,-5.1397541606e-05,1793192814404445696
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.440009496,742.440009496,712,673,659,631,877,781,800.119981008,649,628,650,0.446935928044,-0.0156988532716,0.0596730104712,0.999999825873,-0.000269154615095,-0.00052264350355,-5.15103827513e-05,1793192814421112320
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.139004769,742.139004769,712,672.860995231,659.139004769,631,877.139004769,781.139004769,800.860995231,649,628,650,0.446935317759,-0.015698336825,0.0596726511732,0.999999825718,-0.000268047537615,-0.000523510652964,-5.14862389951e-05,1793192814437778944
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.716780532,742.716780532,712,672.283219468,659.716780532,631,877.716780532,781.716780532,800.283219468,649,628,650,0.446936938892,-0.015700000401,0.05967375348,0.999999825841,-0.000271538516136,-0.000521519407498,-5.10136157499e-05,1793192814454445312
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,712,672.293425454,659.706574546,631,877.706574546,781.706574546,800,649,628.293425454,650,0.446938026947,-0.0157005722764,0.0596746288093,0.999999826418,-0.000271989039455,-0.000520199933137,-5.07647574373e-05,1793192814471111936
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,712,672.868983127,659.131016873,631,877.131016873,781.131016873,800,649,628.868983127,650,0.446938602441,-0.0157000944682,0.0596752858973,0.99999982744,-0.000269516127748,-0.000519526374806,-5.07310518314e-05,1793192814487778560
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,712,672.545939674,659,631,877,781,800,649,628.545939674,650,0.446937487642,-0.0157004499694,0.0596734771734,0.999999826239,-0.000269757403001,-0.000521695156484,-5.08571318914e-05,1793192814504445440
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,672.041333383,659,631,877,781,800,649,628,650,0.446936121668,-0.0157008739163,0.0596712350981,0.999999824597,-0.000270735872557,-0.00052431354408,-5.10188607784e-05,1793192814521112320
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,672.620669983,659,631,877,781,800,649,628,650,0.446937970629,-0.0156989920383,0.0596728117463,0.999999825826,-0.000270897682214,-0.00052188034925,-5.10316344221e-05,1793192814537778944
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711.800693829,673,659,631,877,781,800,649,628,650,0.446939466742,-0.0156977902703,0.0596740909465,0.999999826946,-0.000270383707153,-0.000519989360425,-5.10965276017e-05,1793192814554445824
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711.223386071,673,659,631,877,781,800,649,628,650,0.446940293646,-0.0156978783903,0.0596748060102,0.99999982787,-0.000268588047252,-0.000519126712868,-5.12602700398e-05,1793192814571112448
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711.350326324,673,659.350326324,631,877,781.350326324,800,649,628,650,0.446941467129,-0.0156982528588,0.0596756522548,0.999999828423,-0.000268521098137,-0.000518106735715,-5.1145407515e-05,1793192814587778816
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711.921769399,673,659.921769399,631,877,781.921769399,800,649,628,650,0.446942859364,-0.0156988080627,0.0596765812973,0.999999828742,-0.000269545265813,-0.000516987456297,-5.08546968682e-05,1793192814604445440
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.48814678,631.51185322,877.51185322,782,800,649,628,650,0.446941219431,-0.0156969539155,0.0596748652173,0.999999827847,-0.000267585974232,-0.000519723881854,-5.08921519884e-05,1793192814621112064
+245,4.083333333,HOLD_POSE2,764,743,712,672,659,631,877,781,800,649,628,650,0.446940430931,-0.0156974928577,0.0596741256372,0.999999826667,-0.000271919149285,-0.000519653122085,-5.18274447916e-05,1793192814663643648
+246,4.100000000,HOLD_POSE2,763.425739367,743,712,672.574260633,659.574260633,631,877,781,800,649,628.574260633,650,0.446941531762,-0.0157005763828,0.0596756781994,0.999999827584,-0.000271806950254,-0.000518094888293,-5.03107587282e-05,1793192814680310272
+247,4.116666667,HOLD_POSE2,763.152189995,743,712,673,659.847810005,631,877.152189995,781.152189995,800,649,628.847810005,650,0.446942263429,-0.0157021507301,0.0596765155213,0.999999828313,-0.00027117716628,-0.000517113043627,-4.92970443072e-05,1793192814696976896
+248,4.133333333,HOLD_POSE2,763.740635986,743,712,673,659.259364014,631,877.740635986,781.740635986,800,649,628.259364014,650,0.446941936878,-0.0156993989867,0.0596753025911,0.999999828516,-0.000269063713577,-0.000517783430815,-4.97251088972e-05,1793192814713643264
+249,4.150000000,HOLD_POSE2,764,743,712,673,659,631,877.676048002,781.676048002,800,649,628.323951998,650,0.446941882001,-0.0156981991013,0.0596748367375,0.999999828377,-0.000268414388028,-0.000518340296604,-5.02256119725e-05,1793192814730309632
+250,4.166666667,HOLD_POSE2,764,743,712,673,659,631,877.096775186,781.096775186,800,649,628.903224814,650,0.446942041242,-0.0156982223035,0.0596749596881,0.999999827971,-0.000268919005613,-0.000518807691146,-5.07832069784e-05,1793192814746976256
+251,4.183333333,HOLD_POSE2,764,743,712,673,659,631,877,781,800,649,628.518801944,650,0.446941612646,-0.0156977581572,0.0596750084502,0.99999982755,-0.000269319132474,-0.000519422380986,-5.06627054106e-05,1793192814763643136
+252,4.200000000,HOLD_POSE2,764,743,712,673,659.05853711,631,877.05853711,781,800,649,628,650,0.446941128203,-0.0156971517049,0.0596749719924,0.999999827234,-0.000269328126683,-0.000520045119791,-5.04670059914e-05,1793192814780309760
+253,4.216666667,HOLD_POSE2,764,743,712,673,659.632586664,631,877.632586664,781,800,649,628,650,0.446941190259,-0.0156961528499,0.0596743160788,0.999999827862,-0.000266077142368,-0.000520478567555,-5.08068254907e-05,1793192814796976640
+254,4.233333333,HOLD_POSE2,763.787716097,743,712,672.787716097,660,631.212283903,877.787716097,781.212283903,800,649,628,650,0.446941053025,-0.015695523138,0.0596736102225,0.999999828152,-0.000263679556706,-0.000521130890864,-5.09006423701e-05,1793192814813643264
+255,4.250000000,HOLD_POSE2,763.197976949,743,712,672.197976949,660,631.802023051,877.197976949,781.802023051,800,649,628,650,0.44694056144,-0.0156955497875,0.0596728155648,0.999999827858,-0.000262799372354,-0.000522172389765,-5.05570497929e-05,1793192814830309888
+256,4.266666667,HOLD_POSE2,763,743,712,672.771681785,660,631.614159107,877,781.614159107,800,649,628,650,0.446939945883,-0.0156955639353,0.0596724597256,0.999999827027,-0.000264307864452,-0.000523004961423,-5.05236270527e-05,1793192814846976512
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+258,4.300000000,HOLD_POSE2,763.540901289,743,711.459098711,672.918197422,659.459098711,631,877.540901289,781,800.540901289,649,628,650,0.4469405767,-0.0156958416687,0.0596728184582,0.999999826811,-0.000266111952868,-0.000522491895869,-5.0641810546e-05,1793192814880309760
+259,4.316666667,HOLD_POSE2,764,743,711.117338795,672.117338795,659,631,877.882661205,781,800.882661205,649,628,650,0.446941498024,-0.0156961854423,0.0596731299344,0.999999827441,-0.000265532285405,-0.000521580226156,-5.06384223784e-05,1793192814896976128
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+262,4.366666667,HOLD_POSE2,763.128408101,743,712,673,659.871591899,631,877,781,799.128408101,649,628,650,0.446941321644,-0.0156996418037,0.0596739796594,0.999999826982,-0.00026851034333,-0.000521045578457,-4.95033349059e-05,1793192814946977280
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,672,659,631,877,782,801,649,628,650,0.446942299656,-0.0156958678905,0.0596732464344,0.999999828118,-0.000265134321306,-0.00052050294158,-5.04449363858e-05,1793192814979651584
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,712,671.010470032,660.505235016,632.494764984,876,783,799,649,629,650,0.423380276938,-0.0154087694046,0.0598226405913,0.99999994541,0.000145137822338,-0.000296097277095,2.09866316945e-05,1793192815912984320
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,712,670.070006631,660.070006631,632.929993369,876.070006631,783,799.070006631,648.929993369,629,650,0.422474943851,-0.0154071840984,0.0598312454505,0.999999950615,0.000146317702153,-0.000277272861884,2.19188384759e-05,1793192815929650688
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,712,670.644213944,660.644213944,632.355786056,876.644213944,783,799.644213944,648.355786056,629,650,0.421590159246,-0.0154092738647,0.0598363851156,0.999999952679,0.000149421947738,-0.000267927701545,2.30140285615e-05,1793192815946317568
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742.225440085,712,671,660.774559915,632.225440085,876.774559915,783,799.774559915,648,628.774559915,650,0.420679239333,-0.0154080311537,0.0598171437685,0.999999942231,0.000152249324915,-0.000303152209991,2.13767119668e-05,1793192815962984448
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742.818099278,712,671,660.181900722,632.818099278,876.181900722,783,799.181900722,648,628.181900722,650,0.419725747506,-0.0154013601743,0.059758188218,0.999999903478,0.000154625710732,-0.000410976199582,1.52884182164e-05,1793192815979651328
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742.60014933,711.60014933,671,660.39985067,633,876,783,799,648.39985067,628,650,0.418835550209,-0.01540202853,0.0597328344706,0.999999892651,0.00015552545285,-0.000436297999206,1.24145432166e-05,1793192815996318208
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742.023228395,711.023228395,671,660.976771605,633,876,783,799,648.976771605,628,650,0.417973382381,-0.0154059470445,0.0597223609825,0.999999897459,0.000155771276981,-0.000425084442661,1.09641449946e-05,1793192816012984576
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.551929471,660.448070529,632.448070529,876,783,799,649,628.551929471,649.448070529,0.417136157233,-0.0154072330989,0.0597638689768,0.999999920108,0.000154598078732,-0.000368302188413,1.54005264281e-05,1793192816029651200
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.277682552,660,632.722317448,876,783,799,649,628.277682552,649.722317448,0.415521833373,-0.0154045987665,0.0598307346909,0.999999944938,0.000168854333664,-0.000284675675267,2.39107639739e-05,1793192816062984448
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,876,783,799.307359148,649,628,650.307359148,0.414730706231,-0.0154042357832,0.0598435427501,0.999999948021,0.000172702925542,-0.000271030898536,2.59517923095e-05,1793192816079651072
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.461469709,742,711.461469709,671,660,633,876,783,799.538530291,649,628,651,0.41313841422,-0.0154042924007,0.0598305265925,0.999999940507,0.000174107670858,-0.000296696557951,2.53625188196e-05,1793192816112984576
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.964593697,742,711.964593697,671.035406303,660,633,876,783,799.035406303,648.964593697,628.035406303,650.964593697,0.412337837982,-0.0154013093499,0.0598117369038,0.999999929186,0.000180904626456,-0.000329138539986,2.38475018902e-05,1793192816129651456
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.808884654,660,632.808884654,875.808884654,783,800,648.191115346,628.808884654,650,0.410782374521,-0.0153901523564,0.0597347816862,0.999999883715,0.000180576636072,-0.0004469430757,1.42512260883e-05,1793192816162984960
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.216310338,660,632.216310338,875.216310338,783,800,648.783689662,628.216310338,650,0.410141919497,-0.015390561271,0.0597583674055,0.999999903442,0.000188449492191,-0.00039666508517,1.6130122426e-05,1793192816179651328
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,632.366837225,875.366837225,783.366837225,799.633162775,649,628,650,0.409518513926,-0.0153921454563,0.0597930628246,0.999999923099,0.000188204241063,-0.000343481109372,2.00520528942e-05,1793192816196317696
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,632.944565407,875.944565407,783.944565407,799.055434593,649,628,650,0.408904909949,-0.0153944052924,0.0598341450948,0.999999941233,0.000183291972596,-0.000288626514985,2.51485025835e-05,1793192816212984576
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,876,783.479408025,799,649,628,650,0.408303188149,-0.0153952867046,0.0598482248198,0.99999994699,0.000187124536873,-0.000265082293146,2.71121391672e-05,1793192816229651200
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763,742,711.098433282,671,660,633,876,783,799,649,628,650,0.407706219167,-0.0153956608471,0.0598546354646,0.999999949483,0.000190813112875,-0.000252654577298,2.81084453936e-05,1793192816246317824
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,711.686193739,671,660,633,876,783,799,649,628,650,0.407126607891,-0.0153942405612,0.059837169075,0.999999942859,0.000189171927795,-0.000278968679027,2.5948945282e-05,1793192816262984704
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742,711.729782603,671,660.270217397,633,876,783,799,649,628,650.270217397,0.406581910274,-0.0153927242708,0.0598280391713,0.999999940236,0.000189840962306,-0.00028794722006,2.39688089261e-05,1793192816279651584
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742,711.150039376,671,660.849960624,633,876,783,799,649,628,650.849960624,0.406077205236,-0.0153910980101,0.0598284584604,0.999999942716,0.000193156283485,-0.000277068400562,2.21941284727e-05,1793192816296318464
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,711.426318874,671,660.147362253,633,876,783,799.426318874,649,628,650.573681126,0.405601936162,-0.0153888173536,0.059829544317,0.999999942677,0.000196223040689,-0.000275047678251,2.21619423624e-05,1793192816312984832
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.001488542,742.001488542,712,671,659.001488542,633,876,783,799.998511458,649,628.001488542,650,0.405137031101,-0.0153863173128,0.0598308254179,0.99999994177,0.000199199632527,-0.000276158400247,2.27330889031e-05,1793192816329651200
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742.847217038,711.847217038,671,659.847217038,633,876,783,799,649,628.847217038,650,0.404277678816,-0.0153870997267,0.0598011063999,0.999999928782,0.00020458525538,-0.000316533569942,1.97018031678e-05,1793192816362984448
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.09287087,742,711.90712913,671,659.90712913,633,875.09287087,783,799,649,628.90712913,650,0.403197605033,-0.0153776058281,0.0597676267436,0.999999906723,0.000220328851148,-0.000371072999127,1.77269915789e-05,1793192816412985088
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.483157682,742,711.516842318,671,660,633,875.483157682,783,799,649,628.516842318,650,0.402944287466,-0.0153776840673,0.0597869315892,0.999999917785,0.000225571951148,-0.000336306704331,2.11080677697e-05,1793192816429651456
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.939350023,742,711,671,659.939350023,633,875.939350023,783,799.060649977,649,628.060649977,650,0.402704487828,-0.015377842034,0.0598087816608,0.999999928487,0.000231689572152,-0.000297870021624,2.48869016028e-05,1793192816446317568
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742.233380348,711.233380348,671,659.233380348,633,875.233380348,783,799.766619652,649,629,650,0.402270948654,-0.0153702993883,0.0598349382804,0.999999937541,0.000243765732279,-0.000254125192817,3.02603542973e-05,1793192816479650816
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,763,743,712,671,659.607216992,633,875.607216992,783,799,649,629,650.392783008,0.401879467935,-0.0153651671393,0.0598294031173,0.99999993204,0.000244828409468,-0.000273835622398,3.15147709252e-05,1793192816512984064
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,743,712,671,659.032586806,633,875.032586806,783,799,649,629,650.967413194,0.401703660916,-0.0153651468006,0.0598221836715,0.999999927584,0.000243693199695,-0.000290608586659,3.15085146408e-05,1793192816529650944
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.538227394,743,712,671,659,633,875.538227394,783,799.538227394,649,629,650.461772606,0.401579962737,-0.0153742009452,0.0598252802113,0.999999925969,0.000255384896102,-0.000286088626295,3.15217411869e-05,1793192816546317568
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.88620422,742.88620422,711.88620422,671,659,633,876,783,799.88620422,649,629,650,0.401463260326,-0.0153838036806,0.0598286380922,0.9999999278,0.000253966420435,-0.000281269296754,2.80983738393e-05,1793192816562984192
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31c0904d4fa935f4f0c96ee4cafdac860054c409
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,401 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0149914aa0b8c17bc9aeff8e175b40814b3022dd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc5b51364b291d2a7c111959ce4962935523ae8ce4ae23fad531c981a4473fe5
+size 25416358
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0249a3bb19ff592fd987da24b2dabb1bba79fad2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
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+9,0.150000000,BASELINE,763.782368893,742,711,670.217631107,659,633,875.217631107,783,799.782368893,649,629,649.782368893,0.400962770853,-0.0153956247356,0.0598425222475,0.99999995109,0.000167102760918,-0.000264221624207,9.09061902704e-06,1793192817541861120
+10,0.166666667,BASELINE,763.209298992,742,711,670.790701008,659,633,875.790701008,783,799.209298992,649,629,649.209298992,0.400961889201,-0.0153957856706,0.0598417191493,0.999999951037,0.000165557029142,-0.000265407256015,8.67515220301e-06,1793192817558527488
+11,0.183333333,BASELINE,763,742,711.37246391,670.62753609,659,633,876,783,799,649,628.62753609,649.37246391,0.400962620687,-0.0153955449699,0.0598422386578,0.999999951178,0.000165887193781,-0.000264669151773,8.72610106332e-06,1793192817575193856
+12,0.200000000,BASELINE,763,742,711.959228466,670.040771534,659,633,876,783,799,649,628.040771534,649.959228466,0.400964280307,-0.0153950731842,0.0598435191407,0.999999951427,0.000167296673085,-0.000262824207843,9.0454065764e-06,1793192817591860480
+13,0.216666667,BASELINE,763.543184443,742,712,670.543184443,659.543184443,633,876,783,799.543184443,649,628,650.543184443,0.40096377274,-0.0153946119727,0.059843973708,0.999999951312,0.000168538545262,-0.000262457901819,9.2633814517e-06,1793192817608527104
+14,0.233333333,BASELINE,763.875222753,742,711.875222753,671,660,633,876,783,799.875222753,649,628.124777247,651,0.400963398615,-0.0153945802112,0.0598442510332,0.999999951283,0.000169061660531,-0.000262226458722,9.41026099591e-06,1793192817625193984
+15,0.250000000,BASELINE,763.301379905,742,711.301379905,671,660,633,876,783,799.301379905,649,628.698620095,651,0.400964087165,-0.0153960911722,0.0598441124372,0.999999951661,0.000167043058431,-0.00026208299873,9.32850524567e-06,1793192817641861632
+16,0.266666667,BASELINE,763,742.272701036,711,670.727298964,660,633,876,783,799.272701036,649,628.727298964,650.727298964,0.400963697251,-0.0153970795354,0.059843699789,0.999999951565,0.000166366551696,-0.000262880603956,9.30328186271e-06,1793192817658528256
+17,0.283333333,BASELINE,763,742.847045304,711,670.152954696,660,633,876,783,799.847045304,649,628.152954696,650.152954696,0.400962114411,-0.0153974898366,0.0598429840028,0.999999950945,0.000167174579174,-0.000264719151167,9.34059072241e-06,1793192817675194368
+18,0.300000000,BASELINE,763,742.564937699,711.435062301,670,659.564937699,633,876,783,800.435062301,649,628.435062301,650,0.400963080792,-0.0153971502001,0.0598434117245,0.999999951327,0.00016726061117,-0.000263212463347,9.40163363121e-06,1793192817691860736
+19,0.316666667,BASELINE,763,742,712,670,659,633,876,783,800.945341688,649,628.972670844,650,0.400964838128,-0.0153965493453,0.0598441726787,0.999999952007,0.000167123515242,-0.000260701533625,9.46235356265e-06,1793192817708527360
+20,0.333333333,BASELINE,763,742,712,670,659,633,876,783,799.789536882,649,628.394768441,650,0.400963888777,-0.015396169927,0.0598432849943,0.99999995145,0.000167770900297,-0.000262421288968,9.34301076997e-06,1793192817725194240
+21,0.350000000,BASELINE,763,742,711.817770525,670.182229475,659,633,876,783,799,649,628,650,0.400963730313,-0.0153958915891,0.0598429590126,0.999999951175,0.00016841446566,-0.000263061638865,9.22656163548e-06,1793192817741861376
+22,0.366666667,BASELINE,763,742,711.242722418,670.757277582,659,633,876,783,799,649,628,650,0.400965276707,-0.0153958311427,0.0598438438519,0.999999951511,0.00016904979711,-0.000261375193877,9.11635016192e-06,1793192817758528256
+23,0.383333333,BASELINE,763,742,711,671,659.340124232,633,875.659875768,783,799.340124232,649,628,650,0.400967066197,-0.0153955473925,0.0598451373178,0.999999952149,0.000169120621865,-0.000258874647481,9.16886718513e-06,1793192817775194880
+24,0.400000000,BASELINE,763,742,711,671,659.928666805,633,875.071333195,783,799.928666805,649,628,650,0.400969033237,-0.0153951005467,0.0598467292346,0.999999953002,0.000168779144931,-0.000255779501336,9.34023707348e-06,1793192817791860992
+25,0.416666667,BASELINE,763.508858159,742,711.508858159,671,660,633,876.017716317,783,800,649,628.508858159,650,0.400966473047,-0.0153949936882,0.0598453996909,0.999999952147,0.000168986383877,-0.000258973018524,9.13033089138e-06,1793192817808527872
+26,0.433333333,BASELINE,763.912650632,742,711.912650632,671,660,633,876.912650632,783,800,648.912650632,629,650,0.400963791842,-0.0153951359821,0.0598438917381,0.999999951244,0.000169170004169,-0.00026232455796,8.93788616729e-06,1793192817825194752
+27,0.450000000,BASELINE,763.337223177,742,711.337223177,671,660,633,876.337223177,783,800,648.337223177,629,650,0.400963923343,-0.0153964084436,0.0598436383076,0.999999951465,0.000168798786105,-0.000261712740653,9.13683874311e-06,1793192817841861120
+28,0.466666667,BASELINE,763.237616594,742,711,671,659.762383406,633,875.762383406,783,800,648.237616594,629,650.237616594,0.400964489657,-0.0153972382783,0.0598438638729,0.999999951829,0.000167663986245,-0.000261045941478,9.2261231364e-06,1793192817858528000
+29,0.483333333,BASELINE,763.811624353,742,711,671,659.188375647,633,875.188375647,783,800,648.811624353,629,650.811624353,0.40096567153,-0.015397441491,0.0598447675473,0.999999952393,0.000165448192163,-0.000260301305124,9.16015149388e-06,1793192817875194880
+30,0.500000000,BASELINE,764,742,711.397626831,671,659.397626831,633,875.397626831,783,799.602373169,649,629,650.602373169,0.400965218279,-0.0153967725092,0.0598442894523,0.999999952052,0.000166086966841,-0.000261205075274,9.14775789095e-06,1793192817891861504
+31,0.516666667,BASELINE,764,742,711.989488536,671,659.989488536,633,875.989488536,783,799.010511464,649,629,650.010511464,0.400963966294,-0.0153956774732,0.0598431363832,0.999999951264,0.000168120156548,-0.000262914067842,9.16153637633e-06,1793192817908528128
+32,0.533333333,BASELINE,764,742,712,670.431220051,659.431220051,633,875.431220051,783,799.568779949,649,628.431220051,650,0.400965198581,-0.0153948380745,0.0598448870464,0.999999951529,0.000169933031576,-0.000260729866224,9.18488863767e-06,1793192817925194496
+33,0.550000000,BASELINE,764,742,711.853230665,670.146769335,659,633,875.146769335,783,799.853230665,648.853230665,628,650,0.400965969638,-0.0153948457124,0.0598459844991,0.999999951767,0.000170732965362,-0.000259290563206,9.23819597697e-06,1793192817941861120
+34,0.566666667,BASELINE,764,742,711.2783761,670.7216239,659,633,875.7216239,783,799.2783761,648.2783761,628,650,0.4009652644,-0.0153973104386,0.0598450235824,0.999999951885,0.000168590050515,-0.000260229239787,9.37836902488e-06,1793192817958527744
+35,0.583333333,BASELINE,764,742,711.302823363,671,659.302823363,633,876,783,799,648.302823363,628.302823363,650,0.400964910329,-0.0153978205102,0.0598445459867,0.999999951776,0.000168323448122,-0.000260817852201,9.41913218362e-06,1793192817975194368
+36,0.600000000,BASELINE,764,742,711.889980386,671,659.889980386,633,876,783,799,648.889980386,628.889980386,650,0.400964885984,-0.0153964952741,0.0598445222014,0.999999951456,0.00016981859458,-0.000261077774678,9.36655521045e-06,1793192817991860736
+37,0.616666667,BASELINE,764,742,712,671,659.529460028,633,876,783,799,649,628.529460028,650.470539972,0.400964532733,-0.0153965925658,0.0598441259275,0.999999951477,0.000169628651332,-0.000261118180727,9.49545894337e-06,1793192818008527872
+38,0.633333333,BASELINE,763.950440704,742,712,671,659.049559296,633,876,783,799.049559296,649,628.049559296,650.950440704,0.400964250308,-0.0153970534452,0.0598437396614,0.999999951628,0.000168918964512,-0.0002609916601,9.65094291511e-06,1793192818025194496
+39,0.650000000,BASELINE,763.371623959,742,712,671,659.628376041,633,876,783,799.628376041,649,628.628376041,650.371623959,0.400965534176,-0.0153978942676,0.0598443775074,0.999999952339,0.000166808251133,-0.000259623032799,9.64339646559e-06,1793192818041861376
+40,0.666666667,BASELINE,763,742,712,671,659.794245781,633,876,783,799.794245781,649,629,650,0.400965741404,-0.0153983300213,0.0598447221104,0.999999952608,0.000165605024461,-0.000259360660177,9.52642185595e-06,1793192818058528000
+41,0.683333333,BASELINE,763,742,712,671,659.219447872,633,876,783,799.219447872,649,629,650,0.400964017558,-0.0153980392379,0.0598445407485,0.999999952093,0.00016602947896,-0.000261082481738,9.21317534498e-06,1793192818075194368
+42,0.700000000,BASELINE,763.363851622,742,712,671,659.363851622,633,875.636148378,783,799.363851622,649,629,650,0.400964057036,-0.0153981709792,0.0598447824463,0.999999952069,0.000165932950454,-0.000261236173442,9.17597813767e-06,1793192818091860736
+43,0.716666667,BASELINE,763.952401283,742,712,671,659.952401283,633,875.047598717,783,799.952401283,649,629,650,0.400965185462,-0.0153985636525,0.0598452854064,0.999999952349,0.000165514686776,-0.000260421460153,9.30925630442e-06,1793192818108527360
+44,0.733333333,BASELINE,763.471887699,742,712,671,659.471887699,633,875.528112301,783,800,648.471887699,628.471887699,650,0.400964118893,-0.0153969164169,0.0598444856875,0.999999951458,0.000168935956683,-0.00026164761335,9.28163934893e-06,1793192818125193984
+45,0.750000000,BASELINE,763,742,711.896527283,671,659,633,876,783.103472717,799.896527283,648.103472717,628,650,0.400962949197,-0.0153955439503,0.0598436698311,0.999999950671,0.000171670255021,-0.000262872086699,9.24958396496e-06,1793192818141860864
+46,0.766666667,BASELINE,763,742,711.317587087,671,659,633,876,783.682412913,799.317587087,648.682412913,628,650,0.400962193119,-0.015396258864,0.0598433065296,0.999999950905,0.000169695423581,-0.00026326366393,9.26218775201e-06,1793192818158527488
+47,0.783333333,BASELINE,763,742,711,671.265502209,659,633,876,783.734497791,799.265502209,649,628.265502209,650,0.400962917991,-0.0153967682895,0.0598439239995,0.999999951416,0.000168843151297,-0.00026186311291,9.41453976925e-06,1793192818175194112
+48,0.800000000,BASELINE,763,742,711,671.853633423,659,633,876,783.146366577,799.853633423,649,628.853633423,650,0.400965442461,-0.0153970280128,0.0598457332684,0.999999952257,0.000169354973397,-0.000258284830333,9.73670895266e-06,1793192818191860480
+49,0.816666667,BASELINE,763.435027972,742,711,671.564972028,659.435027972,633,876,783,800,648.564972028,629,650,0.40096520596,-0.0153975493197,0.0598453068214,0.999999952293,0.000168125080056,-0.000258947873883,9.71918568441e-06,1793192818208527360
+50,0.833333333,BASELINE,763.985859403,742,711.014140597,671,659.985859403,633,876,783,800,648.014140597,629,650,0.400964082294,-0.0153981485856,0.0598441683157,0.99999995207,0.000166316848602,-0.000260971435609,9.58210176678e-06,1793192818225193984
+51,0.850000000,BASELINE,763.408732687,742,711.591267313,671,659.408732687,633,876,783,800,648.591267313,629,650,0.400964057733,-0.0153984010989,0.0598441718287,0.999999952318,0.000164458107517,-0.00026121419693,9.1658102337e-06,1793192818241861120
+52,0.866666667,BASELINE,763,742,712,671,659.167356886,633,876,783,800,649,628.832643114,650,0.400964555557,-0.015398250775,0.0598446010065,0.999999952624,0.000163632645114,-0.000260568519371,8.93077582112e-06,1793192818258527744
+53,0.883333333,BASELINE,763,742,712,671,659.740929028,633,876,783,800,649,628.259070972,650,0.400966321335,-0.0153971226684,0.0598460633749,0.999999953072,0.000165315197716,-0.00025776638779,9.13569588766e-06,1793192818275194112
+54,0.900000000,BASELINE,763,742,712,671,659.676233069,633,876,783.323766931,799.676233069,649,628,650.323766931,0.400965422606,-0.0153968433625,0.0598454127037,0.999999952714,0.000166568533539,-0.000258342165671,9.26743184905e-06,1793192818291860736
+55,0.916666667,BASELINE,763,742,712,671,659.085762506,633,876,783.914237494,799.085762506,649,628,650.914237494,0.400962328982,-0.015397263258,0.0598430214119,0.99999995169,0.000167468301132,-0.000261700503109,9.33888225284e-06,1793192818308527360
+56,0.933333333,BASELINE,763,742,712,671,659,633,876,783.504848468,799.495151532,649,628.495151532,650.504848468,0.400963522921,-0.0153979608832,0.0598439344971,0.999999951814,0.000168407270516,-0.000260614232641,9.54527993686e-06,1793192818325194240
+57,0.950000000,BASELINE,763.07407861,742,711.92592139,671,659.07407861,633,876,783,799.92592139,649,629,650,0.400964926808,-0.01539840297,0.0598450563252,0.999999951998,0.000169278461673,-0.000259335920386,9.69499950725e-06,1793192818341860864
+58,0.966666667,BASELINE,763.650543161,742,711.349456839,671,659.650543161,633,876,783,799.349456839,649,629,650,0.400962813545,-0.0153967919927,0.0598437858526,0.999999951277,0.000169644818354,-0.000261877170909,9.30482687404e-06,1793192818358527488
+59,0.983333333,BASELINE,764,742,711,670.77520881,660,633,876,783,799,649,629,650,0.400962168955,-0.0153960229756,0.0598434354057,0.999999951094,0.000169359000367,-0.000262766313778,9.10011120223e-06,1793192818375194368
+60,1.000000000,BASELINE,764,742,711,670.204372821,660,633,876,783,799,649,629,650,0.400963785247,-0.0153965500765,0.0598445012514,0.999999951744,0.000168069221147,-0.000261112193379,9.18088894293e-06,1793192818391860736
+61,1.016666667,BASELINE,764,742,711.38163373,670.38163373,660.38163373,633,876,783,799,649,628.61836627,650,0.400964393167,-0.015396553901,0.0598451256061,0.999999952191,0.000166832119221,-0.000260189431661,9.27914756002e-06,1793192818408527360
+62,1.033333333,BASELINE,764,742,711.976100714,670.976100714,660.976100714,633,876,783,799,649,628.023899286,650,0.400964438728,-0.0153962658994,0.0598455037457,0.999999952525,0.000165624394963,-0.000259674541348,9.38715507942e-06,1793192818425193984
+63,1.050000000,BASELINE,764,742,712,671,659.892118193,633,875.446059096,783,799,649,628.553940904,650.553940904,0.400962635138,-0.0153953439903,0.0598438973115,0.999999951941,0.000165975839114,-0.000261706130407,8.97133920548e-06,1793192818441860864
+64,1.066666667,BASELINE,763.868799831,742,712,671,659,633,875,783,799,649.131200169,629,650.868799831,0.40096181396,-0.0153950827735,0.0598430944105,0.999999951609,0.000166298149108,-0.000262771659341,8.77457543221e-06,1793192818458527488
+65,1.083333333,BASELINE,763.291147497,742,712,671,659,633,875,783,799,649.708852503,629,650.291147497,0.400964599333,-0.0153971601357,0.0598453086671,0.99999995228,0.000166299086022,-0.000260186887913,9.39787183718e-06,1793192818475194624
+66,1.100000000,BASELINE,763.285108745,742,711.714891255,671,659.285108745,633,875,783,799.285108745,649.714891255,629,650.285108745,0.40096579878,-0.0153975587041,0.0598460195422,0.999999952475,0.000167116492999,-0.000258902679343,9.52782955428e-06,1793192818491861248
+67,1.116666667,BASELINE,763.859946239,742,711.140053761,671,659.859946239,633,875,783,799.859946239,649.140053761,629,650.859946239,0.400965386603,-0.015396251275,0.0598452026744,0.999999952193,0.000168763600411,-0.000258940108574,9.15645431031e-06,1793192818508527872
+68,1.133333333,BASELINE,764,742,711.449744777,671,660,633,875,783,799.550255223,649,629,650.550255223,0.400965527451,-0.0153961376909,0.059845353439,0.999999952393,0.000168461639618,-0.000258366319995,9.03012242423e-06,1793192818525194496
+69,1.150000000,BASELINE,763.957093945,742,711.957093945,671,659.957093945,633,875.042906055,783,799,648.957093945,629,650,0.400965831236,-0.0153963751747,0.0598457597612,0.999999952698,0.000167680500214,-0.000257694101647,9.02006205947e-06,1793192818541860864
+70,1.166666667,BASELINE,763.381999705,742,711.381999705,671,659.381999705,633,875.618000295,783,799,648.381999705,629,650,0.400965946419,-0.0153961971774,0.0598454697593,0.999999952373,0.000168743285211,-0.000258243107565,9.4731195358e-06,1793192818558527488
+71,1.183333333,BASELINE,763.192232502,742,711,670.807767498,659.192232502,633,876,783,799.192232502,648.192232502,629,650,0.400965817294,-0.0153962634717,0.0598454088215,0.99999995223,0.00016906077006,-0.000258579923342,9.78561881892e-06,1793192818575194112
+72,1.200000000,BASELINE,763.764759447,742,711,670.235240553,659.764759447,633,876,783,799.764759447,648.764759447,629,650,0.400965204854,-0.0153968130494,0.0598458010423,0.999999952446,0.000167903824392,-0.000258496962487,9.82005126284e-06,1793192818591860736
+73,1.216666667,BASELINE,764,742,711.347745843,670.347745843,659.652254157,633,876.347745843,783,799.652254157,649,629,650,0.400965461332,-0.0153967811968,0.059845931912,0.999999952572,0.000167669174063,-0.000258171205958,9.56352899023e-06,1793192818608527872
+74,1.233333333,BASELINE,764,742,711.938027154,670.938027154,659.061972846,633,876.938027154,783,799.061972846,649,629,650,0.400966323839,-0.0153963438255,0.0598458805022,0.999999952635,0.00016807777903,-0.000257676111501,9.10408024037e-06,1793192818625194752
+75,1.250000000,BASELINE,763.478503779,742,711.478503779,671,659.521496221,633,875.957007558,783,799.521496221,649,629,650,0.400965166619,-0.0153962533122,0.0598456933472,0.999999952211,0.000169898519849,-0.000258116411716,9.39677069417e-06,1793192818641861376
+76,1.266666667,BASELINE,763,742,711,671,659.897231899,633.102768101,875.205536202,783,799.897231899,649,629,650,0.400963972054,-0.0153965195582,0.0598454065784,0.999999951882,0.000170737227613,-0.000258826269327,9.64217325287e-06,1793192818658527744
+77,1.283333333,BASELINE,763,742,711,671,659.322382345,633.677617655,876.355235309,783,799.322382345,649,629,650,0.400963694286,-0.0153982377282,0.0598447353651,0.999999952258,0.0001663038744,-0.00026027033852,9.26505691083e-06,1793192818675194368
+78,1.300000000,BASELINE,763.258021973,742,711.258021973,671,659,633.741978027,877,783,799,649,628.741978027,650,0.400963151764,-0.0153988270441,0.0598442421186,0.999999952367,0.000164226678831,-0.000261177490633,9.06473332099e-06,1793192818691861248
+79,1.316666667,BASELINE,763.845519279,742,711.845519279,671,659,633.154480721,877,783,799,649,628.154480721,650,0.400962271171,-0.0153979748949,0.0598439761228,0.999999952155,0.00016515812591,-0.000261399038498,9.0901612734e-06,1793192818708528128
+80,1.333333333,BASELINE,763.573187393,742,712,671,659,633,876.573187393,783,799,649,628,650.426812607,0.400964405756,-0.0153974564927,0.0598452613088,0.999999952436,0.000166383688647,-0.000259538895826,9.17311156164e-06,1793192818725194496
+81,1.350000000,BASELINE,763,742.005880098,712,671,659.005880098,633,876,783,799.005880098,649,628.005880098,650.994119902,0.400967571951,-0.0153970459147,0.0598470731522,0.999999952874,0.000167725572141,-0.00025696950063,9.27105840466e-06,1793192818741860864
+82,1.366666667,BASELINE,763,742.583723288,712,671,659.583723288,633,876,783,799.583723288,649,628.583723288,650.416276712,0.400966451458,-0.0153955418608,0.0598462845388,0.99999995229,0.000170175712249,-0.000257649022554,8.83160037611e-06,1793192818758528000
+83,1.383333333,BASELINE,763.1608382,742.8391618,712,671.1608382,659.8391618,633,876,783,799.8391618,649,628.8391618,650,0.400965845414,-0.0153950645788,0.0598458125353,0.999999952078,0.000171033347382,-0.000257910080491,8.57516377349e-06,1793192818775194880
+84,1.400000000,BASELINE,763.736076821,742.263923179,712,671.736076821,659.263923179,633,876,783,799.263923179,649,628.263923179,650,0.400966564852,-0.0153972327791,0.0598461562786,0.999999952837,0.000167787886041,-0.000257092964031,8.79028269207e-06,1793192818791861504
+85,1.416666667,BASELINE,764,742,712,671.681615098,659,633,876,783,799.318384902,649.318384902,628.318384902,650.318384902,0.400966174273,-0.0153975314326,0.0598461584099,0.999999952745,0.000168028149929,-0.000257282622417,9.02921165602e-06,1793192818808528128
+86,1.433333333,BASELINE,764,742,712,671.093313792,659,633,876,783,799.906686208,649.906686208,628.906686208,650.906686208,0.400964842657,-0.0153962451447,0.0598458709335,0.999999951932,0.000171223498904,-0.000258325791941,9.28832599195e-06,1793192818825194496
+87,1.450000000,BASELINE,763.512971296,742,712,671,659,633,876.487028704,783.487028704,799.512971296,649.512971296,628.512971296,650.512971296,0.400965168085,-0.0153961724766,0.0598458076189,0.999999951879,0.000171793733302,-0.000258145514065,9.4275252525e-06,1793192818841860864
+88,1.466666667,BASELINE,763,742,712,671,659.065535873,633,876.934464127,783.934464127,799,649,628.065535873,650,0.400965767819,-0.0153963276528,0.0598458461482,0.99999995199,0.000171746259175,-0.000257742944853,9.53632602919e-06,1793192818858527744
+89,1.483333333,BASELINE,763,742,712,671,659.641434607,633,876.358565393,783.358565393,799,649,628.641434607,650,0.400966071038,-0.0153964754771,0.0598463487021,0.999999952249,0.000170742253293,-0.000257405400489,9.58444324493e-06,1793192818875194368
+90,1.500000000,BASELINE,763.216038307,742,711.783961693,671,659.783961693,633,876,783,799.216038307,649,629,650,0.400965951355,-0.0153970021981,0.0598464540475,0.999999952479,0.000169286939382,-0.000257474042672,9.55624191775e-06,1793192818891860992
+91,1.516666667,BASELINE,763.788505352,742,711.211494648,671,659.211494648,633,876,783,799.788505352,649,629,650,0.400965133954,-0.0153981540383,0.0598459040624,0.99999995266,0.000167087039329,-0.000258212827879,9.40212716697e-06,1793192818908528128
+92,1.533333333,BASELINE,763.625882451,742,711.374117549,671,659,633,875.625882451,783,800,649,628.625882451,650,0.400965366352,-0.0153976576664,0.059845815075,0.999999952591,0.000167489148626,-0.000258221475676,9.33048556497e-06,1793192818925194752
+93,1.550000000,BASELINE,763.032568419,742,711.967431581,671,659,633,875.032568419,783,800,649,628.032568419,650,0.40096621383,-0.0153961956028,0.0598459961874,0.999999952375,0.00016941578202,-0.000257802334061,9.30716518899e-06,1793192818941861376
+94,1.566666667,BASELINE,763,742.545742041,712,671,659.545742041,633,875,783,800,649,628.545742041,650,0.400965593665,-0.0153974172353,0.0598460365364,0.999999952629,0.000167709806501,-0.000257930294355,9.370717864e-06,1793192818958527744
+95,1.583333333,BASELINE,763.122349745,742.877650255,712,671,660,633,875,783,799.877650255,649,629,650,0.400964533213,-0.0153983530341,0.0598456426789,0.999999952654,0.000166440439831,-0.000258650827111,9.43101699982e-06,1793192818975194112
+96,1.600000000,BASELINE,763.69589186,742.30410814,712,671,660,633,875,783,799.30410814,649,629,650,0.400962163449,-0.0153976599491,0.0598436777357,0.999999951742,0.000167559217628,-0.000261439423819,9.46071107088e-06,1793192818991860736
+97,1.616666667,BASELINE,764,742,712,671,660,633,875.277700124,783,799,649,629,650,0.400961877847,-0.0153975768605,0.0598434938481,0.99999995172,0.000167121188394,-0.000261805831786,9.34352389182e-06,1793192819008527616
+98,1.633333333,BASELINE,764,742,712,671,660,633,875.868838293,783,799,649,629,650,0.400963944622,-0.0153981822703,0.0598453202247,0.999999952705,0.000164926002678,-0.000259438333332,9.06055294649e-06,1793192819025194240
+99,1.650000000,BASELINE,764,742,711.549530837,671,660,633,876,783,799.450469163,649,629,650,0.400964744937,-0.015396826153,0.0598456193373,0.999999952259,0.000168650488338,-0.000258762300883,9.0116771447e-06,1793192819041861120
+100,1.666666667,BASELINE,764,742,711.029298111,671,659.970701889,633,876,783,800,649,628.970701889,650,0.400965173625,-0.0153949950681,0.0598455271427,0.999999951434,0.000173806733401,-0.000258538531565,9.0433752469e-06,1793192819058528000
+101,1.683333333,BASELINE,764,742,711.606427012,671,659.393572988,633,876,783,800,649,628.393572988,650,0.400965406024,-0.0153947413731,0.0598462612392,0.99999995157,0.000174171911315,-0.000257752755207,9.33352348414e-06,1793192819075194624
+102,1.700000000,BASELINE,763.818848463,742.181151537,712,671,659,633,876,783,799.818848463,649,628.181151537,650,0.400965755074,-0.0153956236396,0.059846849737,0.99999995198,0.000172863471429,-0.000257032673213,9.62401238336e-06,1793192819091860992
+103,1.716666667,BASELINE,763.24927937,742.75072063,712,671,659,633,876,783,799.24927937,649,628.75072063,650,0.400966354238,-0.0153989415871,0.0598471260478,0.99999995296,0.000167966530151,-0.000256453450423,9.91523167829e-06,1793192819108527360
+104,1.733333333,BASELINE,763,742.665254721,712,670.665254721,659.334745279,633,876,783,799.334745279,649,629,650,0.400966315476,-0.0153991477175,0.059846423049,0.999999953032,0.000167351294082,-0.000256581764853,9.76468368837e-06,1793192819125193984
+105,1.750000000,BASELINE,763,742.069979345,712,670.069979345,659.930020655,633,876,783,799.930020655,649,629,650,0.400965780218,-0.015396931941,0.0598449578598,0.999999952404,0.000170068481108,-0.000257260750889,9.27031109417e-06,1793192819141860864
+106,1.766666667,POSE1_TO_POSE2_PRESS,763,742,711,671,659,633,876,783,799,648,629,651,0.400964997935,-0.0153979788533,0.0598453949387,0.999999952214,0.000169385124951,-0.000258446390339,9.27461584711e-06,1793192819172979712
+107,1.783333333,POSE1_TO_POSE2_PRESS,763.578351262,742,711,671,659,633,876,783,799.578351262,648.578351262,629,650.421648738,0.400966294919,-0.0153964041843,0.0598460081895,0.999999952447,0.00016913427844,-0.000257719098407,8.94361909888e-06,1793192819189646592
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.160153076,711,670.839846924,659,633.160153076,875.839846924,783,799.839846924,649,629,650,0.400966634074,-0.0153953839724,0.0598462691607,0.999999952491,0.000169179794117,-0.000257524689559,8.79125255224e-06,1793192819206313472
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.751239624,711,670.248760376,659,633.751239624,875.248760376,783,799.248760376,649,629,650,0.400964395942,-0.0153958556707,0.0598455822323,0.999999952025,0.000170022749226,-0.000258764140969,9.11953691077e-06,1793192819222979840
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.662929029,711.337070971,670.337070971,659.337070971,633.662929029,875.337070971,783.337070971,799.337070971,649,628.662929029,650,0.40096371354,-0.0153965590619,0.0598450650396,0.999999951687,0.000171063738361,-0.000259374053262,9.37418621219e-06,1793192819239646208
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.080916547,711.919083453,670.919083453,659.919083453,633.080916547,875.919083453,783.919083453,799.919083453,649,628.080916547,650,0.400964161652,-0.0153974308189,0.0598446711896,0.999999951442,0.000172248634097,-0.000259526494276,9.57532663762e-06,1793192819256312832
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.505505817,671.494494183,659.505505817,633,876,783.505505817,799.505505817,649,628,650,0.400964212832,-0.0153971436309,0.0598447906063,0.999999951499,0.000171593751449,-0.000259745110683,9.46405365193e-06,1793192819272979712
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.930883203,742,711.069116797,671.930883203,659,633,876,783.069116797,799.069116797,649,628,650,0.400964414448,-0.0153967624903,0.0598450620799,0.999999951617,0.00017077765104,-0.000259835003937,9.34847127616e-06,1793192819289646080
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.35421965,742,711.64578035,671.35421965,659,633,876,783.64578035,799.64578035,649,628,650,0.400966191453,-0.0153970656944,0.0598458415289,0.999999951826,0.000170959273495,-0.000258901171583,9.57170132953e-06,1793192819306312704
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876,783.771697719,800,649,628.228302281,650,0.400972914912,-0.015397889966,0.0598488002767,0.99999995326,0.000169794180439,-0.000254068569627,9.96154105309e-06,1793192819322979328
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876,783.179846964,800,649,628.820153036,650,0.400987515102,-0.0153995439853,0.0598552293392,0.999999956554,0.000166484578031,-0.000243027568366,1.06166899357e-05,1793192819339645952
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.40154721,742,712,671,659.40154721,633,876,783,799.59845279,649,628.59845279,650,0.40102039946,-0.0154030274389,0.0598694058689,0.999999962677,0.000164056806463,-0.00021812879984,1.23055914476e-05,1793192819356312832
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.978376949,742,712,671,659.978376949,633,876,783,799.021623051,649,628.021623051,650,0.401061265184,-0.0154073094734,0.059886964307,0.999999969253,0.000162013969396,-0.000187180867233,1.44457444956e-05,1793192819372979456
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.449552598,742,712,671,660,633,876,783,799.550447402,649,628.550447402,650,0.40112670585,-0.0154092148856,0.059905602432,0.999999974503,0.000163510823724,-0.000154923021034,1.60087092274e-05,1793192819389646080
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.126892452,742,712,671,659.873107548,633,875.873107548,783,800,649,628.873107548,650,0.401194760144,-0.0154116050939,0.0599226514288,0.999999978357,0.00016423754722,-0.000126531529571,1.73442035023e-05,1793192819406312960
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.720094773,742,712,671,659.279905227,633,875.279905227,783,800,649,628.279905227,650,0.40126890196,-0.0154161169952,0.059933706109,0.999999980445,0.000161627560071,-0.000112535752302,1.79263873249e-05,1793192819422979584
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,875.302946142,783,799.697053858,649,628,650,0.401351587505,-0.0154203133742,0.0599402585963,0.999999981795,0.000160484453684,-0.000101668912539,1.78431695305e-05,1793192819439646208
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,875.876549749,783,799.123450251,649,628,650,0.401441906165,-0.0154242278595,0.0599427887436,0.999999982568,0.000160651884803,-9.35975219862e-05,1.71654700753e-05,1793192819456312832
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.453727014,711.546272986,671,659.453727014,633,875.546272986,783,799.453727014,649,628.453727014,650,0.401545684628,-0.0154304628831,0.0599413244389,0.999999983163,0.000157075562614,-9.35784400773e-05,1.56418812492e-05,1793192819472979968
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.967511858,711.032488142,671,660,633,875,783,799.967511858,649,629,650,0.401654918523,-0.0154372587369,0.0599388471888,0.999999983686,0.000152622230627,-9.56170954491e-05,1.38657630914e-05,1793192819489646848
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.378405333,711.621594667,671,660,633,875,783,799.378405333,649,629,650,0.401794378607,-0.0154427601083,0.0599377833211,0.999999984051,0.000150733338801,-9.50767027993e-05,1.17375231803e-05,1793192819506313472
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.79291039,742,711.79291039,670.79291039,660,633,875.20708961,783.20708961,799,649,628.79291039,650,0.401948772116,-0.0154501541819,0.0599388043781,0.999999985144,0.000146929100529,-8.95953191576e-05,9.87175714563e-06,1793192819522980352
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.21390167,742,711.21390167,670.21390167,660,633,875.78609833,783.78609833,799,649,628.21390167,650,0.402129985046,-0.0154609474217,0.059943569821,0.999999987378,0.000139685028112,-7.52402456678e-05,8.47737689374e-06,1793192819539647488
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.3653611,742,711.3653611,670.3653611,659.6346389,633,875.6346389,784,799,649.3653611,628.3653611,650.3653611,0.402326709264,-0.0154719044076,0.0599433774485,0.999999988719,0.000131837876443,-7.17200657865e-05,6.13955803665e-06,1793192819556313600
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.944772764,742,711.944772764,670.944772764,659.055227236,633,875.055227236,784,799,649.944772764,628.944772764,650.944772764,0.402532520947,-0.0154829573268,0.0599402804893,0.999999989573,0.0001236374039,-7.45476185463e-05,3.2490158243e-06,1793192819572979712
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,875.520259459,783.479740541,799.520259459,649.479740541,629,650.479740541,0.402777154522,-0.0154926335185,0.0599422690994,0.999999990639,0.000118872446676,-6.77465180727e-05,9.34680900396e-07,1793192819589646592
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,783,800,649,629,650.097196948,0.403030764108,-0.0155021041246,0.0599435934721,0.999999991531,0.00011428892563,-6.22390513302e-05,-1.68803491901e-06,1793192819606313216
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,783,800,649,629,650.683516445,0.403308960502,-0.0155112700999,0.0599388788803,0.999999991727,0.000108796953967,-6.83465603215e-05,-6.16811273276e-06,1793192819622980096
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,670.73330157,659.26669843,633,876,783,800,649,628.73330157,650.73330157,0.403601610562,-0.0155142621701,0.0599313488459,0.99999999068,0.000110261653116,-7.98558939514e-05,-1.03051827567e-05,1793192819639646720
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,670.153799524,659.846200476,633,876,783,800,649,628.153799524,650.153799524,0.403911212931,-0.0155100130278,0.0599205166527,0.999999987942,0.000119885649849,-9.77008860603e-05,-1.40399476421e-05,1793192819656313600
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711.575220075,670.424779925,660,633,876.424779925,783,800,649,628.424779925,650,0.404250074969,-0.0154962763189,0.0599111597574,0.999999991198,6.54846780929e-05,-0.000113572117585,-2.04477426885e-05,1793192819672979968
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.996999691,742,711.003000309,671,660,633,876.996999691,783,799.996999691,649,629,650,0.404599783956,-0.0154792457519,0.0599023562272,0.999999991263,-1.15859164173e-05,-0.00012871165763,-2.77998844257e-05,1793192819689646336
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.423671086,742,711.576328914,671,660,633,876.423671086,783,799.423671086,649,629,650,0.405001939657,-0.0154876582912,0.0598974235668,0.999999989672,-9.15806775947e-07,-0.000140315077928,-3.10886342261e-05,1793192819706312960
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876,783,799.15392203,649,628.84607797,650,0.405426977876,-0.0154971178066,0.0599006998545,0.999999989975,5.12893086114e-06,-0.000137375392753,-3.39340474311e-05,1793192819722979584
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876,783,799.743587608,649,628.256412392,650,0.405916794991,-0.0155095412434,0.0599272151567,0.999999995018,-1.92046938842e-06,-9.326509227e-05,-3.55244021493e-05,1793192819739646208
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876,783,800,649,628,650,0.40643431524,-0.0155177305929,0.0599550122646,0.999999998072,-1.79248619889e-05,-4.63590974054e-05,-3.72291829198e-05,1793192819756313344
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876,783,800,649,628,650,0.406973150951,-0.0155226621421,0.0599837956253,0.999999998402,-4.08194267024e-05,2.69797195937e-06,-3.90220057774e-05,1793192819772980736
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.48328626,742,712,671,659.51671374,633,876,783,800,649,628,650,0.407495697013,-0.0155227141247,0.0599890008857,0.999999997211,-6.09840801826e-05,2.60049440365e-06,-4.30432752091e-05,1793192819789647616
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.9421509,742,712,671,659.0578491,633,876.0578491,783,800,649,628,650,0.408018524621,-0.0155218725978,0.0599881108793,0.999999995624,-7.99043716163e-05,-9.21222288113e-06,-4.7764977686e-05,1793192819806314496
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.36824152,742,712,671,659.63175848,633,876.63175848,783,800,649,628,650,0.408571331656,-0.0155212881415,0.0599726034452,0.999999993317,-9.23271267221e-05,-4.26502041963e-05,-5.49775150323e-05,1793192819822981376
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.213692444,742,712,671,659.786307556,633,877,783,800,649,628,650,0.409155809541,-0.0155200759998,0.0599629945863,0.999999995178,-5.93186570446e-05,-6.16490338679e-05,-4.82228754184e-05,1793192819839648000
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.809994126,742,712,671,659.190005874,633,877,783,800,649,628,650,0.409796993003,-0.0155177400085,0.0599639469317,0.999999996849,5.50329160263e-05,-5.47950386561e-05,-1.64604675906e-05,1793192819856313856
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711.60783262,671.39216738,659.39216738,633,876.60783262,783,799.60783262,649,628.39216738,650,0.410459520226,-0.0155192801788,0.0599693424617,0.999999995992,7.91859738978e-05,-4.05048273775e-05,-1.02506248155e-05,1793192819872980224
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.032266599,671.967733401,659.967733401,633,876.032266599,783,799.032266599,649,628.967733401,650,0.411132028926,-0.0155226330517,0.0599768158646,0.999999997744,6.1157333164e-05,-2.27370403614e-05,-1.59905420192e-05,1793192819889646592
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.456712845,742.543287155,711.543287155,671.456712845,660,633,876,783,799,648.456712845,628.456712845,650,0.411816242464,-0.0155236095002,0.0599729520365,0.999999998717,3.13507667181e-05,-3.17846639097e-05,-2.39412031439e-05,1793192819906313216
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.121177218,742.878822782,712,671,660,633,876,783,799,648.121177218,628.121177218,650,0.412495871604,-0.0155242698016,0.0599607411461,0.999999997843,7.5047457098e-06,-5.72253731533e-05,-3.13599843365e-05,1793192819922980352
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.708048573,742.291951427,712,671,660,633,876,783,799,648.708048573,628.708048573,650,0.413155210834,-0.0155242575206,0.0599190394235,0.999999989564,9.25381049157e-06,-0.000139545695453,-3.6230122182e-05,1793192819939647232
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.707044083,671,660.292955917,633,876,783,799,649,628.707044083,650,0.413884390578,-0.015528138717,0.0599067491255,0.999999986252,2.217996557e-06,-0.000161421404125,-3.78596541279e-05,1793192819956313856
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711.12408091,671,660.87591909,633,876,783,799,649,628.12408091,650,0.414682707953,-0.0155358742021,0.059923574215,0.999999991629,-1.35142742002e-05,-0.000123460897262,-3.62811982718e-05,1793192819972980224
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.451614057,711.451614057,671,661,633,876.451614057,783,799,649,628.451614057,650.451614057,0.415518444415,-0.0155415804972,0.0599680038763,0.999999998278,-1.65434879103e-05,-4.54645145376e-05,-3.32009162623e-05,1793192819989646592
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712,671,660.974021364,633,877,783,799,649,628.974021364,650.974021364,0.416361259796,-0.0155464914579,0.0600173628748,0.999999998667,-1.64577127259e-05,3.87414060083e-05,-2.99098269698e-05,1793192820006313216
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,671,660.385917606,633,877,783,799,649,628.385917606,650.385917606,0.417138315666,-0.0155460655251,0.060011872099,0.999999998987,-2.32938007377e-05,2.3064624028e-05,-3.08442821785e-05,1793192820022979840
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.800745158,712,671,660,633,877,783,799.199254842,649,628.199254842,650,0.417936990785,-0.0155453358684,0.0600004131783,0.999999999036,-2.91780827338e-05,2.28523326725e-06,-3.27391874309e-05,1793192820039646464
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.221167805,712,671,660,633,877,783,799.778832195,649,628.778832195,650,0.418776931039,-0.0155440264866,0.0599775627161,0.999999998384,-3.32456292693e-05,-2.82336287038e-05,-3.6467326729e-05,1793192820056313344
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711.644449317,671,660.355550683,633,877,783,799.644449317,649,628.644449317,650,0.4196014806,-0.0155449861413,0.059953776305,0.999999996759,-3.64194562133e-05,-5.97265930235e-05,-3.98610221557e-05,1793192820072979968
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711.069495003,671,660.930504997,633,877,783,799.069495003,649,628.069495003,650,0.420416532824,-0.0155473459757,0.0599294123382,0.999999994096,-3.90417854593e-05,-9.18206563987e-05,-4.3048338411e-05,1793192820089646592
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660.493011703,632.493011703,877,783,799.506988297,649,628.506988297,650,0.421201124578,-0.0155443490552,0.0598928230719,0.999999984214,-3.55398610127e-05,-0.000167776674686,-4.6476332827e-05,1793192820106313472
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.085556473,711.085556473,671,660.085556473,632.085556473,876.914443527,783,800,649,629,650,0.422000198038,-0.0155412070538,0.0598650229681,0.999999972307,-3.21690595011e-05,-0.00022788662013,-4.91767431011e-05,1793192820122980352
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.675168961,711.675168961,671,660.675168961,632.675168961,876.324831039,783,800,649,629,650,0.422909263616,-0.0155415493643,0.0598989069171,0.999999985623,-3.45315118172e-05,-0.000159110528388,-4.73956379696e-05,1793192820139646464
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.740312492,711.740312492,671.259687508,661,633,876.259687508,783,800,649,629,650.259687508,0.423839944438,-0.0155447942431,0.059945344007,0.99999999525,-3.83420594554e-05,-7.82055185364e-05,-4.37495334906e-05,1793192820156313088
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.162043061,711.162043061,671.837956939,661,633,876.837956939,783,800,649,629,650.837956939,0.424797142735,-0.0155515999625,0.0600071811636,0.999999998166,-4.39291155442e-05,1.75791306526e-05,-3.7815466952e-05,1793192820172979712
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.585063259,742,711.414936741,671.585063259,660.585063259,632.585063259,877,783,800,649,628.585063259,650.585063259,0.425691917486,-0.0155542880829,0.0600228177516,0.999999997075,-4.84537345251e-05,4.62742747544e-05,-3.68916727617e-05,1793192820189646336
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.008585563,742,711.991414437,671.008585563,660.008585563,632.008585563,877,783,800,649,628.008585563,650.008585563,0.426562389777,-0.0155553731613,0.0600204677773,0.999999996706,-5.25647309368e-05,4.88504855006e-05,-3.79184514746e-05,1793192820206313216
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.577353967,742,711.422646033,671.577353967,660.577353967,632.577353967,877,783,800.577353967,649,628.577353967,650,0.427392337481,-0.0155561426612,0.059999239071,0.999999997398,-5.39981174654e-05,2.36476530472e-05,-4.15823633052e-05,1793192820222980096
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.838397725,742,711.161602275,672,660.838397725,633,877,783,800.67679545,649,629,650,0.428217166287,-0.0155564894198,0.0599775314866,0.99999999746,-5.54166207701e-05,-4.45636868741e-06,-4.45923322783e-05,1793192820239646720
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.258892859,742,711.741107141,672,660.258892859,633,877,783,799.517785718,649,629,650,0.429030341946,-0.0155557553099,0.0599553236073,0.999999996572,-5.6901319504e-05,-3.89768033837e-05,-4.58081075128e-05,1793192820256313600
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.320354368,712,672.320354368,660,633,876.679645632,783,799.320354368,649,629,650,0.429853589106,-0.0155542593775,0.0599343948191,0.999999994235,-5.93657067345e-05,-7.57379945683e-05,-4.7648266199e-05,1793192820272980224
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.899393524,712,672.899393524,660,633,876.100606476,783,799.899393524,649,629,650,0.430684968919,-0.0155521482769,0.0599144988927,0.999999990256,-6.26211881547e-05,-0.000114308585358,-4.99926117822e-05,1793192820289646592
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.474628551,743,712,672.525371449,660.949257102,633,876.949257102,783,800,649,628.525371449,650,0.431567971183,-0.0155548499736,0.0599525233271,0.99999999565,-6.6310087126e-05,-4.46912720288e-05,-4.8025682636e-05,1793192820306313216
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.949810218,711.949810218,672,661.949810218,632.949810218,877.899620435,783,799.949810218,649,628,650.050189782,0.432452444287,-0.0155585099864,0.0599994583207,0.999999995708,-6.97986016572e-05,4.0830346309e-05,-4.52184419209e-05,1793192820322979840
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.362190682,711.362190682,672,661.362190682,632.362190682,876.724381364,783,799.362190682,649,628,650.637809318,0.433236427858,-0.0155615945998,0.0600113875434,0.999999995202,-7.01654830635e-05,5.30471688732e-05,-4.31209106158e-05,1793192820339646208
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.777867446,742.222132554,711.222132554,672,661,632.222132554,876.444265108,783,799,649,628.222132554,650.777867446,0.434005466297,-0.0155631179663,0.0600039771669,0.999999995894,-7.06485758605e-05,3.66332208391e-05,-4.3340600252e-05,1793192820356312832
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.198840199,742.801159801,711.801159801,672,661,632.801159801,877.602319602,783,799,649,628.801159801,650.198840199,0.434750492896,-0.0155621329179,0.059965494353,0.999999996007,-7.13183824068e-05,-2.57810522048e-05,-4.72833090694e-05,1793192820372979968
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742.621387768,712,672,661,633,877.621387768,783,799,649,629,650,0.435490870955,-0.0155607065073,0.0599383014412,0.999999993294,-7.35343602567e-05,-7.38500509109e-05,-5.05140760061e-05,1793192820389646592
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742.04475901,712,672,661,633,877.04475901,783,799,649,629,650,0.436228817754,-0.0155590492616,0.05991701322,0.999999989099,-7.6558995166e-05,-0.000114416379126,-5.33724927213e-05,1793192820406313216
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.529746353,742.529746353,712,672,661,632.470253647,877,783,799.529746353,649,629,650,0.436927488218,-0.0155567527373,0.0599184075877,0.999999989436,-7.04291410893e-05,-0.000115668993039,-5.28070052173e-05,1793192820422979840
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661,632.106981305,877,783,800.106981305,649,629,650,0.437614945047,-0.0155545108257,0.0599201223015,0.999999989909,-6.12423120676e-05,-0.000117299201393,-5.16926028524e-05,1793192820439646208
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,672,661,632.697357293,877,783,800.697357293,649,629,650,0.438266667902,-0.0155527587672,0.0599146594447,0.999999988718,-4.17235457359e-05,-0.000135584606777,-4.93998698486e-05,1793192820456313088
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.717623109,742.717623109,712,672,661,633,877,783,800.717623109,649,629,650,0.438932359186,-0.0155563748457,0.0599225328114,0.999999989585,-5.22012763442e-05,-0.000125525999569,-4.84653794111e-05,1793192820472979968
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.13823749,742.13823749,712,672,661,633,877,783,800.13823749,649,629,650,0.439612742655,-0.0155656372205,0.0599444334413,0.999999990693,-9.42298245553e-05,-8.56546851351e-05,-4.89595112409e-05,1793192820489646592
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.439174474,742.439174474,711.560825526,672,660.560825526,632.560825526,877,783,800,649,629,650,0.4402437337,-0.0155756398826,0.0599560247845,0.999999990604,-0.000104449307734,-7.36080364929e-05,-4.96459940108e-05,1793192820506313472
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+245,4.083333333,POSE1_TO_POSE2_PRESS,763.315827491,743,712,672.315827491,660.684172509,630.315827491,877,781,800,649,628,650,0.447916049627,-0.0157196040531,0.0596588964432,0.999999808806,-0.000293661695825,-0.000541912053795,-4.98228631871e-05,1793192821489646336
+246,4.100000000,HOLD_POSE2,763,743,712,673,659,631,877,781,800,649,628,651,0.447915243033,-0.0157136184163,0.0596578088356,0.999999810141,-0.000287019463054,-0.000542880568442,-5.11740143905e-05,1793192821527756800
+247,4.116666667,HOLD_POSE2,763.57407909,743,712,672.42592091,659,631,877,781,800,649,628,650.42592091,0.447915784033,-0.0157157630215,0.0596580785041,0.999999810066,-0.000288356069189,-0.000542375051184,-5.04733511787e-05,1793192821544423680
+248,4.133333333,HOLD_POSE2,763.846879784,743,712,672.153120216,659,630.846879784,877,781,800,649,628,650,0.447915693563,-0.0157173333379,0.0596577161137,0.999999809488,-0.000289687790485,-0.000542768579298,-5.00683705073e-05,1793192821561090048
+249,4.150000000,HOLD_POSE2,763.253573799,743,712,672.746426201,659,630.253573799,877,781,800,649,628,650,0.447913787758,-0.0157172527055,0.0596555366976,0.999999807462,-0.000291005469293,-0.000545746658113,-5.0513409678e-05,1793192821577756672
+250,4.166666667,HOLD_POSE2,763.331537488,743,711.668462512,673,659,630.331537488,877,781,800,649,628,650,0.447914195125,-0.0157165846727,0.0596553983275,0.999999807649,-0.000290565144622,-0.00054562627241,-5.06593004806e-05,1793192821594423296
+251,4.183333333,HOLD_POSE2,763.910532275,743,711.089467725,673,659,630.910532275,877,781,800,649,628,650,0.447916329029,-0.0157154782083,0.0596567833801,0.999999809485,-0.000288812658183,-0.000543193213952,-5.05819089749e-05,1793192821611089664
+252,4.200000000,HOLD_POSE2,763.514711938,743,711.485288062,673,659,631,877,781,800,649,628,650,0.447916013466,-0.0157154841065,0.0596573496517,0.999999809615,-0.000288689714055,-0.000543034399948,-5.04109181468e-05,1793192821627756544
+253,4.216666667,HOLD_POSE2,763.060736499,743,712,673,659,631,877,781,800,649,628,650,0.447915307875,-0.0157158118711,0.0596576311209,0.999999809363,-0.000289008139527,-0.000543349240067,-5.02018419833e-05,1793192821644423168
+254,4.233333333,HOLD_POSE2,763.648928181,743,712,673,659,631,877,781,800,649,628,650,0.447915102891,-0.0157171693094,0.0596567388264,0.999999808484,-0.000290573186851,-0.000544167814429,-4.98105793191e-05,1793192821661090048
+255,4.250000000,HOLD_POSE2,763.76625323,743,712,673,659.23374677,630.76625323,877,781,800,649,628,650,0.44791528282,-0.0157172410455,0.0596565411938,0.999999808426,-0.00029080761247,-0.000544145765793,-4.98440867496e-05,1793192821677756672
+256,4.266666667,HOLD_POSE2,763.186428782,743,712,673,659.813571218,630.186428782,877,781,800,649,628,650,0.447916032637,-0.0157154092135,0.0596573720543,0.999999809584,-0.000289071963801,-0.000542879118692,-5.05064946595e-05,1793192821694423296
+257,4.283333333,HOLD_POSE2,763.390906338,743,712,672.609093662,659.609093662,630.390906338,877.390906338,781,800,649,628,650,0.447915332106,-0.0157159130793,0.0596571017075,0.999999808534,-0.000289589669893,-0.000544564888915,-5.01857423616e-05,1793192821711089920
+258,4.300000000,HOLD_POSE2,763.967061825,743,712,672.032938175,659.032938175,630.967061825,877.967061825,781,800,649,628,650,0.447913944259,-0.0157175238241,0.0596563095024,0.999999806428,-0.00029117523279,-0.000547649799294,-4.93990739282e-05,1793192821727756544
+259,4.316666667,HOLD_POSE2,763.457296229,743,712,672.542703771,659.542703771,631,877.457296229,781,800,649,628,650,0.447915143525,-0.0157163733527,0.0596564312801,0.999999807381,-0.000289996217054,-0.000546520367901,-4.95513951291e-05,1793192821744423168
+260,4.333333333,HOLD_POSE2,763.121126248,743,712,672.878873752,659.878873752,631,877.121126248,781,800.121126248,649,628,650,0.447915941768,-0.0157156149313,0.0596564954053,0.999999808114,-0.000289276331287,-0.000545539413462,-4.97868618209e-05,1793192821761089792
+261,4.350000000,HOLD_POSE2,763.710416251,743,712,672.289583749,659.289583749,631,877.710416251,781,800.710416251,649,628,650,0.447914583701,-0.0157170189391,0.0596561224967,0.999999807286,-0.000290978933003,-0.000546120012905,-5.01236307108e-05,1793192821777756416
+262,4.366666667,HOLD_POSE2,764,743,711.705453998,672.294546002,659,631,877.705453998,781.294546002,800.705453998,649,628,650,0.447914560348,-0.0157170048254,0.0596564273222,0.999999807628,-0.000291055574619,-0.000545434244691,-5.0327374901e-05,1793192821794423040
+263,4.383333333,HOLD_POSE2,764,743,711.126310249,672.873689751,659,631,877.126310249,781.873689751,800.126310249,649,628,650,0.447915826631,-0.0157156204871,0.0596573869914,0.999999809097,-0.000289561172624,-0.000543524880189,-5.04025872636e-05,1793192821811089664
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631,877,781,801,649,628,650,0.447916703163,-0.0157133700593,0.0596579028386,0.999999809381,-0.00028857854221,-0.00054353544291,-5.02993607865e-05,1793192821843933440
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.577744659,673.577744659,659,631,877,781,800.422255341,649,628.577744659,650,0.44791585178,-0.0157149135878,0.0596565935382,0.999999808413,-0.000289184502095,-0.000544972271431,-5.05029885698e-05,1793192821860600064
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.159747347,743,712,673.840252653,659,631,877,781,800,649,628.840252653,650,0.447915632962,-0.0157161795766,0.0596560874156,0.999999807981,-0.000289913480277,-0.000545376233099,-5.05307945269e-05,1793192821877266688
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.753313506,743,712,673.246686494,659,631,877,781,800,649,628.246686494,650,0.447917131972,-0.0157166918636,0.0596577624477,0.999999809001,-0.000290976533946,-0.000542975284223,-5.00811289661e-05,1793192821893933312
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.661977472,743,712,672.661977472,659,631,877,781,800,649,628,650,0.447917900861,-0.0157161703789,0.0596583124715,0.999999809641,-0.000290506920304,-0.000542055440002,-4.99885217722e-05,1793192821910599936
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.083567315,743,712,672.083567315,659,631,877,781,800,649,628,650,0.447918150518,-0.0157149137187,0.0596580624358,0.999999810013,-0.000288947337049,-0.000542188896246,-5.01498397359e-05,1793192821927266560
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.510544299,743,712,672.489455701,659,631,877,781,800,649,628,650,0.447915660243,-0.015714898558,0.0596561457342,0.999999808526,-0.00028993771936,-0.000544393110619,-5.02102397488e-05,1793192821943933440
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.063890043,743,712,673,659,631,876.936109957,781,800,649,627.936109957,650.063890043,0.447911616036,-0.0157151209536,0.059653610746,0.999999806374,-0.000291127161898,-0.000547694262019,-5.02820205085e-05,1793192821960599808
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.657571397,743,712,673,659,631,876.342428603,781,800,649,627.342428603,650.657571397,0.447898523176,-0.0157155746716,0.0596482827172,0.999999801324,-0.000290396379943,-0.00055719165994,-5.05894949315e-05,1793192821977266944
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631,876.244395977,781,800,649,627.244395977,650.755604023,0.4478748055,-0.0157147571459,0.059637493417,0.999999791693,-0.00028947328008,-0.000574612420697,-5.13797750856e-05,1793192821993933824
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631,876.821875516,781,800,649,627.821875516,650.178124484,0.447836607426,-0.0157122070613,0.0596192610335,0.999999775346,-0.000288288072987,-0.000602831811174,-5.28280637819e-05,1793192822010600192
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.602100857,659,631,877,781,800.397899143,649,628,650,0.447781945321,-0.015706701906,0.0595998309329,0.999999759695,-0.000286291949649,-0.000628972416486,-5.51373007131e-05,1793192822027266816
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.026726561,659,631,877,781,800.973273439,649,628,650,0.447719939752,-0.0156998786987,0.0595798666125,0.999999744039,-0.000283934132739,-0.000654185822461,-5.78305469231e-05,1793192822043933184
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,631,877.545704808,781,800.454295192,649,628,650,0.447642052258,-0.0156955667245,0.0595674370247,0.999999734484,-0.000279809912851,-0.000670333279818,-5.82421593323e-05,1793192822060599808
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.877574143,743,711.877574143,672,659,631,877.877574143,781,800,648.877574143,628,650,0.447560443479,-0.0156914357347,0.059557727582,0.999999726966,-0.000276437500377,-0.000682824364951,-5.83173004202e-05,1793192822077266432
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.283784861,743,711.283784861,672,659,631,877.283784861,781,800,648.283784861,628,650,0.447467485757,-0.0156875305707,0.0595570780363,0.999999726975,-0.00027629099252,-0.00068293808701,-5.75248967853e-05,1793192822093933056
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.302325686,743,711.302325686,672.302325686,659,631,877,781,800,648.604651373,628,650,0.447361408169,-0.015681614028,0.0595590239392,0.999999729479,-0.000273980613193,-0.000680268957553,-5.66593398517e-05,1793192822110599936
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.881406916,743,711.881406916,672.881406916,659,631,877,781,800,649.762813832,628,650,0.447243320374,-0.0156738562255,0.0595633457724,0.999999734233,-0.000269689378613,-0.000675052344945,-5.57268168344e-05,1793192822127266816
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.547764963,742.547764963,712,673,659,631,877,781,800,649.547764963,628,650,0.44710132172,-0.015663288436,0.0595660837056,0.999999738855,-0.000261601792433,-0.000671454381333,-5.48087975125e-05,1793192822143933440
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.021950193,712,673,659,631,877,781,800,649,628,650,0.446951432029,-0.0156520550397,0.0595683806431,0.999999743214,-0.000252687014838,-0.000668447610746,-5.38406783645e-05,1793192822160600064
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.61815484,712,673,659,631,877,781,800,649,628,650,0.446756201755,-0.0156423408758,0.0595698121067,0.999999743545,-0.000247709897072,-0.000670001604813,-5.14641417052e-05,1793192822177266688
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,712,672.791955273,659,631,877,781.208044727,799.791955273,649,628,650,0.446549035014,-0.0156313975923,0.0595711537291,0.999999744362,-0.00024114957354,-0.000671344108504,-4.91883391983e-05,1793192822193933056
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,712,672.213314123,659,631,877,781.786685877,799.213314123,649,628,650,0.446320605501,-0.0156182648416,0.0595723353142,0.999999746032,-0.000231769037794,-0.000672309877758,-4.70919777647e-05,1793192822210599680
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,743,712,672.36401447,659,631.36401447,877,781.63598553,799.36401447,649,628,650,0.446068355982,-0.0156026514168,0.059575967632,0.999999750806,-0.000219952571151,-0.000669307506559,-4.51342453879e-05,1793192822227266560
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,712,672.940576717,659,631.940576717,877,781.059423283,799.940576717,649,628,650,0.445802197955,-0.0155855895272,0.0595810309309,0.999999757259,-0.000206713765356,-0.000663988141119,-4.32574582083e-05,1793192822243933184
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,631.484030576,877,781.515969424,800,649,628,650,0.445498574445,-0.0155701122067,0.0595830060414,0.99999976203,-0.000194601703495,-0.000660567743748,-4.14809783184e-05,1793192822260600064
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.093637918,743,712,673,659,631.093637918,876.906362082,782,800,649,628,649.906362082,0.445181626446,-0.0155555867383,0.0595840551761,0.999999765929,-0.000183249774354,-0.000658015048393,-3.97127622796e-05,1793192822277266944
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.684094403,743,712,673,659,631.684094403,876.315905597,782,800,649,628,649.315905597,0.444816823658,-0.0155451454791,0.0595820741024,0.999999766845,-0.000175243965394,-0.00065890840912,-3.79272370206e-05,1793192822293933568
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.731275955,743,712,672.731275955,659,632,876.268724045,782,800,649,628.268724045,649.268724045,0.444446390999,-0.0155407462435,0.0595890253152,0.999999780713,-0.000153211697352,-0.000643343888289,-3.47579109232e-05,1793192822310600192
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.153350868,743,712,672.153350868,659,632,876.846649132,782,800,649,628.846649132,649.846649132,0.444069480483,-0.0155432991219,0.0596062542548,0.999999807588,-0.000115040212191,-0.000608842489443,-2.99963467751e-05,1793192822327267072
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,743,711.576404389,672.423595611,659,632,877,782,800,648.576404389,628.576404389,650,0.443664636161,-0.0155404953679,0.0596314321124,0.999999834031,-0.000104805361863,-0.000565997305532,-2.44956540344e-05,1793192822343933952
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.000191831,743,711,672.999808169,659.000191831,631.999808169,877,782,800,648.000191831,628,650,0.44324968297,-0.0155357518711,0.0596594768933,0.999999859073,-0.000104650864494,-0.00052014641219,-1.87292144887e-05,1793192822360600320
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742,712,672.232051146,660,632.767948854,876.232051146,783,799,649,628.767948854,650,0.438039741437,-0.0154316100627,0.059842360369,0.999999958092,0.000128373368821,-0.000258227997008,2.5601831503e-05,1793192822510600192
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,742,712,672.810233318,660,632.189766682,876.810233318,783,799,649,628.189766682,650,0.437278067857,-0.015424101244,0.0598402857751,0.999999952495,0.000150588995483,-0.000267252498465,3.01473309198e-05,1793192822527266560
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742.386029722,711.613970278,672.613970278,660,632.386029722,876.613970278,783,799,648.613970278,628.386029722,650,0.436480588944,-0.0154151500963,0.0598035595393,0.999999933215,0.000161691246916,-0.000326498028546,2.87283936247e-05,1793192822543933184
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.960660502,711.039339498,672.039339498,660,632.960660502,876.039339498,783,799,648.039339498,628.960660502,650,0.43566561678,-0.0154054942758,0.0597499036838,0.999999901532,0.000167363877716,-0.000410279851615,2.43954340914e-05,1793192822560599808
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.293083534,742,711.706916466,672,660,632.706916466,876.706916466,783.706916466,799,648,629,650,0.43329638463,-0.0154183201856,0.0597669621003,0.999999939237,7.64953638901e-05,-0.000340104836572,-1.50647289334e-06,1793192822610599936
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742.29262623,712,672,660,633,876.70737377,783.70737377,799,648.29262623,628.70737377,650,0.432453599399,-0.0154177393202,0.0597807301619,0.999999943959,8.8818592283e-05,-0.000322750240828,5.14081435535e-06,1793192822627266560
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,743,711.391376371,672,660.782752741,633,876.391376371,783,799.391376371,649,628,649.391376371,0.428977130824,-0.0154064515161,0.0598172166107,0.999999949805,0.000131007144521,-0.000288053210167,1.588386472e-05,1793192822693933056
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.805455377,711.194544623,672,660,632.805455377,876.194544623,782.805455377,799.194544623,648.805455377,628,649.194544623,0.428055024893,-0.0154048603697,0.0597918855575,0.999999934878,0.000133011348495,-0.000335242488736,1.28052608782e-05,1793192822710599936
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.224327343,711.775672657,672,660,632.224327343,876.775672657,782.224327343,799.775672657,648.224327343,628,649.775672657,0.427124543834,-0.0154054902422,0.0597572632699,0.999999919967,0.000135415945191,-0.00037634274425,9.77699663331e-06,1793192822727266560
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711.07258203,672,660.92741797,632,876.07258203,782.92741797,799.07258203,648.92741797,628.92741797,650,0.425304031194,-0.0154112477441,0.0597890864669,0.999999938463,0.000132886621255,-0.000324324368232,1.51446237156e-05,1793192822760599808
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,660.500009837,632.499990163,876,783,799,648.500009837,628.500009837,650,0.424401318018,-0.0154077860006,0.0598114064321,0.999999943215,0.000140320471455,-0.0003058360333,1.85561390081e-05,1793192822777266688
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,633,876,783,799,648.075309639,628.075309639,650,0.423502999676,-0.0154038253369,0.0598315577363,0.999999947004,0.00014879287869,-0.000288763309877,2.16326976326e-05,1793192822793933312
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,633,876,783,799,648.671681257,628.671681257,650,0.422632382552,-0.0154032931873,0.0598423839662,0.999999954484,0.000154871904132,-0.000257906147683,2.30303858765e-05,1793192822810599936
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.741579558,660,632.741579558,876.258420442,783,799.258420442,649,629,650,0.42173340363,-0.0154033100658,0.0598422771015,0.999999954875,0.000159554945751,-0.000253462756576,2.34065551388e-05,1793192822827266816
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,671.166638374,660,632.166638374,876.833361626,783,799.833361626,649,629,650,0.420799686255,-0.0154039994096,0.0598287790713,0.999999946953,0.000162528147355,-0.000281371703161,2.25315389531e-05,1793192822843933440
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742.408944912,711.408944912,671,660.408944912,632.408944912,876.591055088,783,799.591055088,649,628.591055088,650,0.419838625983,-0.0154007441674,0.0597817409008,0.999999921918,0.000161794596252,-0.000360126920348,1.71653208205e-05,1793192822860600064
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742,711.366615974,671,660,633,876,783,799,648.633384026,629,650,0.412377329751,-0.0153956278355,0.0598066290085,0.999999926165,0.000182816823685,-0.000337287737155,2.20281338073e-05,1793192823010600192
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.433376543,742,711.716688271,671,659.283311729,633,875.283311729,783,799,649,628,650,0.407168749185,-0.0153902179098,0.0598422521836,0.999999944704,0.000194992610844,-0.000268218692437,2.50595672247e-05,1793192823143934208
+343,5.716666667,POSE2_TO_POSE3_RETREAT,762.276968321,742,711.13848416,671,659.86151584,633,875.86151584,783,799,649,628,650,0.406614026633,-0.0153901617633,0.0598264110596,0.999999939656,0.000187104995114,-0.000291867991736,2.221033137e-05,1793192823160601344
+344,5.733333333,POSE2_TO_POSE3_RETREAT,762.437150869,742,711.437150869,671,659.562849131,633,875.562849131,783,799.437150869,649,628.437150869,650,0.406110110783,-0.0153884618894,0.059824660324,0.999999939039,0.000192853586876,-0.000290282024764,2.1590663651e-05,1793192823177267968
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,633,875.600528364,783,799.399471636,649,629,650,0.405174125937,-0.0153846136774,0.0598277638883,0.99999994068,0.000202411418129,-0.000277862495437,2.14866816044e-05,1793192823210600448
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.185496059,632.814503941,875.814503941,783,799,649,628.814503941,650,0.404731858956,-0.0153833957607,0.0598216474115,0.999999938216,0.000203677600647,-0.000285747692945,2.07922050413e-05,1793192823227266560
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.76347377,632.23652623,875.23652623,783,799,649,628.23652623,650,0.404303590658,-0.0153830765059,0.0598016096561,0.999999927994,0.000208195003498,-0.000316710269317,1.90112852455e-05,1793192823243933184
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dec4e7f053bb355f07cd8941818b6e8a64e4c587
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.575709425431,-0.00994548588341,1.0500294192,0.546280156697,-0.00127275314901,1.04969870397
+397,6.616666667,pose2_to_pose3_retreat,0.575709321629,-0.0099455348141,1.05002942646,0.546280053893,-0.00127279876259,1.04969870951
+398,6.633333333,pose2_to_pose3_retreat,0.575709313854,-0.00994553861911,1.05002942684,0.546280046196,-0.00127280230647,1.04969870975
+399,6.650000000,pose2_to_pose3_retreat,0.575709301293,-0.00994554476656,1.05002942745,0.546280033762,-0.00127280803201,1.04969871013
+400,6.666666667,pose2_to_pose3_retreat,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473475,1.0496984415
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f77af6aa8188a5e8369bcd6a95ff7429c5f6b33
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70c9ab2e67d70662c1232074c296e12bf5234d96147d067f6f38d120650fcebb
+size 24726169
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..785cf958b4b774eb6ce7641877a6381a083f118a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/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
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+1,0.016666667,BASELINE,764,742,711.619470487,671,662,633,875,783,799,649,628.619470487,651,0.400923937239,-0.015449425188,0.0499211842216,0.999999972609,-9.43819520921e-06,-0.00023025358435,-4.09523045076e-05,1793192825451688192
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+21,0.350000000,BASELINE,763,743,711,671,661.774010755,633,875,783,799,649,628.774010755,650,0.400922899492,-0.0154528055965,0.0499200353718,0.999999972565,-1.28239819351e-05,-0.000230339050941,-4.06156402379e-05,1793192825785022208
+22,0.366666667,BASELINE,763,743,711,671,661.181656314,633,875,783,799,649,628.181656314,650,0.400923575492,-0.0154513866763,0.0499201591941,0.999999972677,-1.43524018575e-05,-0.000229704300879,-4.09434082565e-05,1793192825801689344
+23,0.383333333,BASELINE,763.401575494,742.598424506,711,671,661,633,875,783.401575494,799.401575494,649.401575494,628.401575494,650.401575494,0.400923956809,-0.0154510252325,0.0499200509654,0.999999972672,-1.45256797851e-05,-0.000229709596848,-4.0964153556e-05,1793192825818355712
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+25,0.416666667,BASELINE,764,742,711,671,661.557295491,633,875,783.442704509,799.442704509,649.442704509,628.442704509,651,0.400923036958,-0.0154506313283,0.0499199066813,0.999999972576,-1.23217620942e-05,-0.000230302794387,-4.06989891234e-05,1793192825851688448
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+27,0.450000000,BASELINE,763.274485346,742,711,671,661.274485346,633,875,783,799,649.725514654,628,651,0.400925068851,-0.015451427995,0.0499204341658,0.999999973123,-1.27695614306e-05,-0.000227898815786,-4.06690482564e-05,1793192825885021696
+28,0.466666667,BASELINE,763,742,711,671,661.309170002,633,875,783,799,649.690829998,628,650.690829998,0.400925292763,-0.015451833647,0.0499201858222,0.999999973077,-1.36019220992e-05,-0.000228042924557,-4.07091430654e-05,1793192825901688320
+29,0.483333333,BASELINE,763,742,711,671,661.888250044,633,875,783,799,649.111749956,628,650.111749956,0.400923608546,-0.0154517453516,0.0499193883053,0.999999972583,-1.38508382249e-05,-0.00023018254129,-4.07231087787e-05,1793192825918355200
+30,0.500000000,BASELINE,763,742,711,671,661.537231833,633,875.462768167,783,799.462768167,649,628.462768167,650,0.400924338983,-0.0154512815384,0.0499199889997,0.999999972785,-1.24234782448e-05,-0.000229397890371,-4.06585335598e-05,1793192825935022336
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+33,0.550000000,BASELINE,763.788905645,742.211094355,711,671,661.788905645,633,875,783,799.211094355,649.788905645,628,650,0.400924114466,-0.0154514991951,0.0499203034783,0.999999972834,-1.27459655309e-05,-0.00022911802742,-4.0908354875e-05,1793192825985021440
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+39,0.650000000,BASELINE,764,742,711,671,661.685939822,633,876,783,799,650,628.314060178,650,0.400923591665,-0.01545276244,0.0499195749627,0.99999997258,-1.50410127244e-05,-0.000230152234282,-4.05423456393e-05,1793192826085022208
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+47,0.783333333,BASELINE,763.668664016,742.668664016,711,671,661.668664016,633,875.668664016,783,799.331335984,649.668664016,629,650.331335984,0.40092487307,-0.0154524277461,0.0499204562042,0.999999972977,-1.3387449179e-05,-0.000228520673929,-4.05486280627e-05,1793192826218355200
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+52,0.866666667,BASELINE,763.233215081,742,711.766784919,671.233215081,661,633,875,783,799,649.766784919,629,650,0.400924123523,-0.0154522519661,0.0499202645329,0.999999972899,-1.25594943173e-05,-0.000228957689056,-4.02820853453e-05,1793192826301688320
+53,0.883333333,BASELINE,763.812404195,742,711.187595805,671.812404195,661,633,875,783,799,649.187595805,629,650,0.400926285791,-0.0154534234592,0.049921037332,0.999999973559,-1.29031868276e-05,-0.000226005553393,-4.04585549306e-05,1793192826318354688
+54,0.900000000,BASELINE,763.60898431,742,711,671.60898431,661,633,875,783,799.39101569,649.39101569,629,650.39101569,0.400926845964,-0.015453339686,0.0499212047653,0.999999973598,-1.36989155372e-05,-0.000225782443816,-4.04806651294e-05,1793192826335021568
+55,0.916666667,BASELINE,763.030649544,742,711,671.030649544,661,633,875,783,799.969350456,649.969350456,629,650.969350456,0.400926638641,-0.0154526545678,0.0499210821935,0.99999997334,-1.47111956574e-05,-0.000226866695278,-4.04288282711e-05,1793192826351688704
+56,0.933333333,BASELINE,763,742,711,671,661,633,875.544587402,783,800,649.455412598,628.455412598,650.455412598,0.400925229121,-0.0154519596451,0.0499196327473,0.999999972919,-1.31459576006e-05,-0.000228801118845,-4.04818438232e-05,1793192826368355072
+57,0.950000000,BASELINE,763,742,711,671,661,633,875.877742788,783,799.877742788,649.122257212,628.122257212,650,0.400924499247,-0.0154513553695,0.0499187990776,0.99999997268,-1.21111552902e-05,-0.000229888260822,-4.0553631555e-05,1793192826385021696
+58,0.966666667,BASELINE,763,742,711,671,661,633,875.290153374,783,799.290153374,649.709846626,628.709846626,650,0.400926612296,-0.0154510982016,0.0499205917866,0.999999973186,-1.36442979739e-05,-0.00022756941381,-4.06745357856e-05,1793192826401688064
+59,0.983333333,BASELINE,763.294564238,742.294564238,711,671,661,633,875.294564238,783,799,649.705435762,628.705435762,650,0.400926694878,-0.0154513390596,0.0499207625917,0.999999973223,-1.32162300804e-05,-0.000227425263933,-4.0701287065e-05,1793192826418354944
+60,1.000000000,BASELINE,763.876480434,742.876480434,711,671,661,633,875.876480434,783,799,649.123519566,628.123519566,650,0.400924796708,-0.0154520657496,0.0499193512047,0.999999972802,-1.08749712031e-05,-0.000229402564376,-4.06361907025e-05,1793192826435021568
+61,1.016666667,BASELINE,764,742.546566425,711,671,661,633,875.546566425,783,799.453433575,649.453433575,628.453433575,650.453433575,0.400924445217,-0.0154508356502,0.0499192277188,0.999999972682,-1.03990890649e-05,-0.000229922882572,-4.07870027864e-05,1793192826451688192
+62,1.033333333,BASELINE,764,742.028954728,711,671,661.028954728,633,875,783,799.971045272,650,629,651,0.400924643385,-0.0154492932687,0.0499195350746,0.99999997269,-1.04873255714e-05,-0.00022985664079,-4.0943889814e-05,1793192826468354816
+63,1.050000000,BASELINE,764,742.602695842,711,671,661.602695842,633,875,783,799.397304158,650,629,651,0.400927341917,-0.0154517960288,0.0499214192109,0.999999973556,-1.17322056836e-05,-0.000226140992106,-4.01204393063e-05,1793192826485021440
+64,1.066666667,BASELINE,764,743,711,671,662,633,875,783,799,649.817812147,629,650.817812147,0.400928531121,-0.0154532474108,0.0499221351306,0.99999997392,-1.26167716834e-05,-0.000224557987041,-3.96896596016e-05,1793192826501688064
+65,1.083333333,BASELINE,764,743,711,671,662,633,875,783,799,649.22537019,629,650.22537019,0.400926321589,-0.0154523312792,0.0499202204376,0.999999973172,-1.26899753732e-05,-0.000227777310049,-4.01431036e-05,1793192826518354688
+66,1.100000000,BASELINE,763.642053185,742.642053185,711,671,661.642053185,633,875,783.357946815,799.357946815,649.357946815,629,650.357946815,0.400925362138,-0.0154518181244,0.0499197972908,0.999999972938,-1.27316709152e-05,-0.000228786426343,-4.02302155382e-05,1793192826535021312
+67,1.116666667,BASELINE,763.064338625,742.064338625,711,671,661.064338625,633,875,783.935661375,799.935661375,649.935661375,629,650.935661375,0.400925170196,-0.0154515523844,0.0499202899051,0.999999973023,-1.27540214727e-05,-0.000228438547227,-4.00924114473e-05,1793192826551687936
+68,1.133333333,BASELINE,763,742,711,671,661.509823345,633,875,784,800,649.490176655,629,650.490176655,0.400924292365,-0.0154521984957,0.0499194784276,0.999999972787,-1.30726653109e-05,-0.000229430283905,-4.02199351227e-05,1793192826568355584
+69,1.150000000,BASELINE,763,742.085936606,711,671,661.914063394,633,875,783.828126788,799.914063394,649,628.914063394,650,0.40092383248,-0.0154529511751,0.0499187924832,0.999999972643,-1.35293510825e-05,-0.0002300070562,-4.03360258514e-05,1793192826585022976
+70,1.166666667,BASELINE,763,742.676111351,711,671,661.323888649,633,875,782.647777298,799.323888649,649,628.323888649,650,0.400926329287,-0.0154536586202,0.0499198020758,0.999999973284,-1.45781268593e-05,-0.000227163914166,-4.01899243992e-05,1793192826601688832
+71,1.183333333,BASELINE,763.261219325,742.738780675,711.261219325,671,661.261219325,633,875,782.261219325,799.261219325,649.261219325,628.261219325,650,0.40092727149,-0.0154533067912,0.0499204721495,0.999999973536,-1.44006356145e-05,-0.000226056797354,-4.02422818766e-05,1793192826618355200
+72,1.200000000,BASELINE,763.840164569,742.159835431,711.840164569,671,661.840164569,633,875,782.840164569,799.840164569,649.840164569,628.840164569,650,0.400926322799,-0.0154516665477,0.0499207292602,0.999999973319,-1.27316131407e-05,-0.000227061239912,-4.05360286193e-05,1793192826635021824
+73,1.216666667,BASELINE,763.583848926,742,711.583848926,670.583848926,662,633,875,783,799.583848926,649.583848926,628.583848926,650,0.400925901139,-0.0154523662972,0.0499205406978,0.999999973129,-1.2699297027e-05,-0.000227920040947,-4.0416737284e-05,1793192826651688448
+74,1.233333333,BASELINE,763.008990827,742,711.008990827,670.008990827,662,633,875,783,799.008990827,649.008990827,628.008990827,650,0.400925680473,-0.015453958447,0.0499201821696,0.999999972949,-1.32911697162e-05,-0.000228723298794,-4.01399261049e-05,1793192826668355584
+75,1.250000000,BASELINE,763.563342021,742,711,670.563342021,662.563342021,633,875.563342021,783,799,649.563342021,628,650.563342021,0.400925730043,-0.0154533030059,0.049919880226,0.999999972971,-1.45444915451e-05,-0.000228472640353,-4.05905395426e-05,1793192826685021952
+76,1.266666667,BASELINE,763.859139897,742,711,671.140860103,662.718279794,633,876,783,799,650,628.140860103,651,0.400925353982,-0.0154525061695,0.0499194035213,0.999999972884,-1.48163341895e-05,-0.000228770662418,-4.09407144316e-05,1793192826701688832
+77,1.283333333,BASELINE,763.264799513,742,711,671.735200487,661.529599026,633,876,783,799,650,628.735200487,651,0.40092359383,-0.0154513690968,0.0499183613028,0.999999972437,-1.18946017768e-05,-0.000230888997117,-4.09303321944e-05,1793192826718355200
+78,1.300000000,BASELINE,763,742.32064773,711.32064773,671.67935227,661,633,875.67935227,783,799.32064773,649.67935227,628.67935227,650.67935227,0.400923196601,-0.0154512267866,0.0499183931999,0.999999972401,-1.11362656636e-05,-0.000231102300011,-4.08022617058e-05,1793192826735021568
+79,1.316666667,BASELINE,763,742.898948943,711.898948943,671.101051057,661,633,875.101051057,783,799.898948943,649.101051057,628.101051057,650.101051057,0.400923894535,-0.0154518838085,0.0499192881927,0.999999972703,-1.21163065512e-05,-0.000229784832316,-4.05796239244e-05,1793192826751688192
+80,1.333333333,BASELINE,763.475681301,742.524318699,711.524318699,671,661,633,875,783,799.524318699,649,628.475681301,650,0.400923968237,-0.01545241556,0.0499185173207,0.999999972666,-1.38595084786e-05,-0.000229810182825,-4.07765378554e-05,1793192826768354816
+81,1.350000000,BASELINE,764,742,711,671,661,633,875,783,799,649,628.947073587,650,0.40092394936,-0.015452884192,0.0499175821173,0.999999972579,-1.53769298992e-05,-0.000230055836179,-4.09945646525e-05,1793192826785021696
+82,1.366666667,BASELINE,764,742,711,671,661,633,875,783,799,649,628.361322678,650,0.400924329084,-0.0154529844103,0.0499185435109,0.999999972723,-1.29945995212e-05,-0.000229656981104,-4.0530822108e-05,1793192826801688576
+83,1.383333333,BASELINE,764,742,711.223278707,671,661.223278707,633,875,783,799.223278707,649.223278707,628.223278707,650,0.400925383805,-0.0154531303921,0.0499194857616,0.999999973003,-1.17738784981e-05,-0.000228566961628,-4.01608443895e-05,1793192826818355456
+84,1.400000000,BASELINE,764,742,711.806029484,671,661.806029484,633,875,783,799.806029484,649.806029484,628.806029484,650,0.40092752525,-0.0154533500516,0.0499203971932,0.999999973505,-1.24233135848e-05,-0.00022636418798,-3.99418251771e-05,1793192826835022080
+85,1.416666667,BASELINE,764,742,711.617600451,670.617600451,661.617600451,633,875.382399549,783,799.617600451,650,628.617600451,650,0.400927664753,-0.0154524055891,0.0499203480794,0.999999973518,-1.07696484124e-05,-0.000226369426176,-4.00509295947e-05,1793192826851688704
+86,1.433333333,BASELINE,764,742,711.04441389,670.04441389,661.04441389,633,875.95558611,783,799.04441389,650,628.04441389,650,0.400926805445,-0.0154508803222,0.0499198197296,0.999999973283,-7.96691904429e-06,-0.000227476287093,-4.03237416626e-05,1793192826868355072
+87,1.450000000,BASELINE,763.467086648,742,711,670.532913352,661,633,875.467086648,783,799.532913352,650,628.532913352,650,0.400926625377,-0.0154519653003,0.0499204364868,0.999999973502,-9.98291408496e-06,-0.000226411957524,-4.04197158727e-05,1793192826885021440
+88,1.466666667,BASELINE,763,742,711.112960296,670.887039704,661.112960296,633,875,783,799.887039704,649.887039704,629,650.112960296,0.400926439692,-0.0154529406846,0.0499209209126,0.999999973668,-1.20148881506e-05,-0.00022556954004,-4.04612863493e-05,1793192826901688064
+89,1.483333333,BASELINE,763,742,711.703025331,670.296974669,661.703025331,633,875,783,799.296974669,649.296974669,629,650.703025331,0.400925989318,-0.0154525271662,0.049920440176,0.999999973473,-1.24048491748e-05,-0.000226434658541,-4.0335809944e-05,1793192826918354944
+90,1.500000000,BASELINE,763,742,711.713281287,670.286718713,661.713281287,633,875.286718713,783,799,649.286718713,628.713281287,650.713281287,0.400926005676,-0.015452299886,0.0499201472025,0.999999973323,-1.2193428259e-05,-0.000227137261095,-4.01630350181e-05,1793192826935021824
+91,1.516666667,BASELINE,763,742,711.136044035,670.863955965,661.136044035,633,875.863955965,783,799,649.863955965,628.136044035,650.136044035,0.400926494952,-0.0154522613124,0.0499200444806,0.99999997322,-1.13726553848e-05,-0.000227675193859,-3.99423347416e-05,1793192826951689216
+92,1.533333333,BASELINE,763,742,711.440698028,671,661,633,876,783,799.440698028,650,628.440698028,650.440698028,0.40092705626,-0.0154515898357,0.0499207763666,0.999999973495,-1.02463691276e-05,-0.000226520298977,-3.99316375382e-05,1793192826968355840
+93,1.550000000,BASELINE,763.017187958,742,711.982812042,671,661,633,875.982812042,783,799.982812042,649.982812042,628.982812042,650.982812042,0.400927589474,-0.0154507797215,0.0499217000557,0.999999973856,-9.10649846333e-06,-0.000224957127644,-3.99888393599e-05,1793192826985022208
+94,1.566666667,BASELINE,763.590459291,742,711.409540709,671,661,633,875.409540709,783,799.409540709,649.409540709,628.409540709,650.409540709,0.400926495206,-0.015451798248,0.0499205029281,0.999999973357,-1.05750041751e-05,-0.000227072992181,-4.01477453799e-05,1793192827001688576
+95,1.583333333,BASELINE,764,742,711,671,661.169526822,633,875,783,799.169526822,649,628.169526822,650,0.400925480144,-0.0154522001294,0.0499195971575,0.999999972979,-1.21090202745e-05,-0.0002286138354,-4.03827608697e-05,1793192827018354688
+96,1.600000000,BASELINE,764,742,711,671,661.763092558,633,875,783,799.763092558,649,628.763092558,650,0.400924663203,-0.0154510595913,0.0499194201602,0.999999972916,-1.38068983841e-05,-0.000228716373249,-4.08081496711e-05,1793192827035021312
+97,1.616666667,BASELINE,763.654410521,742,711,671,661.654410521,633,875,783,800,649,629,650,0.400925231806,-0.0154510755895,0.0499193164304,0.999999973027,-1.42463714696e-05,-0.000228202152467,-4.08188106075e-05,1793192827051688192
+98,1.633333333,BASELINE,763.079266006,742,711,671,661.079266006,633,875,783,800,649,629,650,0.400926720746,-0.0154518598078,0.049919261368,0.999999973254,-1.38499590261e-05,-0.000227278254713,-4.05539918658e-05,1793192827068354816
+99,1.650000000,BASELINE,763,742,711,670.503644581,661.496355419,633,875.496355419,783,799.503644581,649,628.503644581,650,0.400925869606,-0.0154529069195,0.0499189508573,0.999999973143,-1.48651654882e-05,-0.000227726165147,-4.04190051941e-05,1793192827085021696
+100,1.666666667,BASELINE,763.073903668,742,711,670.147807337,662,632.926096332,875.926096332,783,799,649,628,650,0.400924774861,-0.015453765035,0.049918592382,0.99999997296,-1.56700014715e-05,-0.000228495165504,-4.03133016083e-05,1793192827101688576
+101,1.683333333,BASELINE,763.664387376,742,711,671.328774752,662,632.335612624,875.335612624,783,799,649,628,650,0.400924591992,-0.0154530083446,0.0499181840585,0.999999972655,-1.34271157214e-05,-0.000229975786734,-4.02672182914e-05,1793192827118355456
+102,1.700000000,BASELINE,763.749958804,742,711,671.749958804,661.749958804,632.250041196,875,783,799.250041196,649.250041196,628,650,0.400924267365,-0.0154524427438,0.0499181285894,0.999999972533,-1.18987855266e-05,-0.000230570848351,-4.03761234075e-05,1793192827135022080
+103,1.716666667,BASELINE,763.170664993,742,711,671.170664993,661.170664993,632.829335007,875,783,799.829335007,649.829335007,628,650,0.400923756074,-0.0154521287686,0.0499185377568,0.999999972658,-1.13113775961e-05,-0.000229999810735,-4.06891162835e-05,1793192827151688448
+104,1.733333333,BASELINE,763.405060796,741.594939204,711,670.594939204,661,633,875,783,799.594939204,649.594939204,628,650,0.400924171593,-0.0154514966525,0.0499184913421,0.999999972729,-1.06461327715e-05,-0.000229720710272,-4.0707687117e-05,1793192827168355072
+105,1.750000000,BASELINE,763.97929644,741.02070356,711,670.02070356,661,633,875,783,799.02070356,649.02070356,628,650,0.400924974196,-0.0154507316639,0.0499182546524,0.999999972776,-9.94837908623e-06,-0.000229563538181,-4.06032917343e-05,1793192827185021440
+106,1.766666667,BASELINE,764,741.566374603,711.566374603,670,661.566374603,633,875,783,799,649,628,650,0.400925488903,-0.0154509576872,0.0499193272616,0.999999973151,-1.00961641839e-05,-0.000227950183658,-4.04420796479e-05,1793192827201688064
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,671,661,633,875,783,799,650,629,650,0.400924431801,-0.0154503838565,0.0499190555111,0.999999972687,-1.1371896724e-05,-0.00022986037127,-4.07500856512e-05,1793192827242904320
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.4188772,712,671,661.5811228,633,875,783,799,650,629,650.5811228,0.400925138145,-0.0154515483451,0.0499193058172,0.999999972837,-1.33709729855e-05,-0.000229074590931,-4.08847022647e-05,1793192827259571712
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.160377135,711.839622865,671,662,633,875.160377135,783,799.160377135,649.839622865,629,650.839622865,0.400925891527,-0.0154525059238,0.0499195575583,0.999999973031,-1.45897827729e-05,-0.000228145784403,-4.09120308641e-05,1793192827276238336
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.734807685,711.265192315,671,662,633,875.734807685,783,799.734807685,649.265192315,629,650.265192315,0.400926766352,-0.0154529293132,0.0499198130043,0.999999973348,-1.37941412474e-05,-0.00022684772007,-4.06623688314e-05,1793192827292903936
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.683539894,711,671,661.683539894,633,876,783,799.683539894,649.316460106,628.683539894,650,0.400926485524,-0.0154523689065,0.049919461962,0.99999997329,-1.33234446937e-05,-0.000227133043889,-4.06677611894e-05,1793192827309570304
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.095694275,711,671,661.095694275,633,876,783,799.095694275,649.904305725,628.095694275,650,0.400925213646,-0.0154509648295,0.0499185908157,0.999999972908,-1.31314100356e-05,-0.00022877622806,-4.08918796051e-05,1793192827326236928
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.51263995,742.48736005,711,671,661,633.48736005,875.51263995,783,799,650,628,650,0.400929594269,-0.0154522355802,0.0499201867589,0.999999973731,-1.46219705247e-05,-0.000225116817072,-4.05906211974e-05,1793192827342903296
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.068709142,743,711,671.068709142,661.068709142,634,875,783,799,649.931290858,628.068709142,650,0.400936099582,-0.0154538582857,0.0499224120144,0.999999974892,-1.60920974239e-05,-0.000219863574081,-4.02049052927e-05,1793192827359569920
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.64435059,743,711,671.64435059,661.64435059,634,875,783,799,649.35564941,628.64435059,650,0.400950171823,-0.0154542404581,0.049925741082,0.999999976943,-1.49976604681e-05,-0.000210458086397,-3.99497581027e-05,1793192827376237312
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.780736159,711,671.780736159,662,634,875,783.219263841,799.219263841,649.219263841,628.780736159,650,0.40096970337,-0.0154552152125,0.049929696272,0.999999979461,-1.40231899405e-05,-0.000198289830339,-3.95198351542e-05,1793192827392904448
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.2070002,711,671.2070002,662,634,875,783.7929998,799.7929998,649.7929998,628.2070002,650,0.400998060681,-0.0154571479623,0.0499346636801,0.99999998266,-1.32426628228e-05,-0.000181655155389,-3.88073616115e-05,1793192827409570816
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.378588782,671,662,633.621411218,875,783.621411218,799.621411218,649.621411218,628.378588782,650,0.401034330579,-0.0154580318428,0.0499393442032,0.999999985871,-1.40814600169e-05,-0.000162942759521,-3.88527987734e-05,1793192827426237440
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.970868136,671,662,633.029131864,875,783.029131864,799.029131864,649.029131864,628.970868136,650,0.401075066658,-0.0154583236998,0.0499438627976,0.999999988869,-1.5834268209e-05,-0.000143057613697,-3.93260308188e-05,1793192827442903808
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.450223584,671,662,633,875,783.549776416,799,649,628.450223584,650,0.401133068763,-0.0154626982418,0.0499475142379,0.999999991554,-1.7587112597e-05,-0.000122765153758,-3.88649427419e-05,1793192827459570176
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.126994137,711,671,662.126994137,633,875.126994137,783.873005863,799.126994137,649.126994137,628.126994137,650.126994137,0.401194319946,-0.0154671281212,0.0499505322118,0.999999993331,-1.89170375711e-05,-0.000107287978374,-3.83269448987e-05,1793192827476236800
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.700698438,711,671,662.700698438,633,875.700698438,783.299301562,799.700698438,649.700698438,628.700698438,650.700698438,0.401263858174,-0.0154710097486,0.0499514797191,0.999999993193,-1.87593098244e-05,-0.000108822992197,-3.76884255678e-05,1793192827492903424
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.718315152,711.281684848,671,662.436630303,633,875.718315152,783.281684848,800,649.718315152,629,650.718315152,0.401344601073,-0.0154760329262,0.049953337899,0.999999993432,-2.03354941934e-05,-0.000106626929805,-3.67863605217e-05,1793192827509570304
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.129385901,711.870614099,671,661.258771801,633,875.129385901,783.870614099,800,649.129385901,629,650.129385901,0.401437565328,-0.0154823012359,0.0499561893843,0.999999994047,-2.38029226154e-05,-0.000100361240253,-3.55968361541e-05,1793192827526237440
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.548097486,671,661,633,875.451902514,783.548097486,799.548097486,649.451902514,628.548097486,650.451902514,0.401551342337,-0.0154882839153,0.0499562727949,0.999999994018,-2.61790552985e-05,-0.000100228731329,-3.50988627673e-05,1793192827542904320
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661.030951744,633,875.969048256,783,799,650,628.030951744,650.969048256,0.401672649366,-0.0154944544857,0.0499555621339,0.999999993805,-2.83330058667e-05,-0.00010189490994,-3.47175906188e-05,1793192827559570944
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661.608449277,633,875.391550723,783,799,650,628.608449277,650.391550723,0.401823447438,-0.0155053628957,0.0499545916996,0.999999993451,-3.19892232112e-05,-0.000104830185147,-3.29588683519e-05,1793192827576237312
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661.815192896,633,875,783,799,650,629,650,0.401984746137,-0.0155157295065,0.0499539482183,0.999999993253,-3.57217637312e-05,-0.000105948316987,-3.15241457718e-05,1793192827592903680
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661.241235035,633,875,783,799,650,629,650,0.402168156124,-0.0155249552421,0.0499539932064,0.999999993413,-3.96150185081e-05,-0.000103240065692,-3.07716738304e-05,1793192827609570816
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661.342110353,633,875,783,799,650,628.657889647,650,0.402368353312,-0.0155335494584,0.0499540554531,0.999999993557,-4.28560790427e-05,-0.000100804675425,-2.97914566426e-05,1793192827626237696
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661.932262069,633,875,783,799,650,628.067737931,650,0.402580721798,-0.0155416858034,0.0499541302128,0.999999993691,-4.56242775026e-05,-9.85671181812e-05,-2.86461165124e-05,1793192827642903808
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671,662,633,876.024165635,783,799,650,628.512082818,650.512082818,0.402851112413,-0.0155493620889,0.049961944831,0.99999999553,-4.27806985634e-05,-8.00352280903e-05,-2.6542449727e-05,1793192827659570432
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671,662,633,876.820296892,783,799,650,629,651,0.403135502667,-0.0155548557106,0.0499704936651,0.999999997247,-3.65520869594e-05,-5.98546535419e-05,-2.42523386249e-05,1793192827676237312
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671,662,633,875.672435839,783,799,650,629,651,0.40345478433,-0.0155489115258,0.0499775913129,0.999999998749,-1.60066714778e-05,-4.21743949079e-05,-2.16272053893e-05,1793192827692903680
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,671,662,633,875.243106282,783,799.243106282,650,629,650.756893718,0.4037829384,-0.0155410492858,0.0499832837635,0.99999999937,7.52862815016e-06,-2.86536822103e-05,-1.95484685249e-05,1793192827709570304
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,671,662,633,875.830059198,783,799.830059198,650,629,650.169940802,0.404123641477,-0.0155304741717,0.0499869887194,0.99999999899,3.52927831279e-05,-2.1016182912e-05,-1.82425483558e-05,1793192827726236672
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,671.412457636,662,633,875.587542364,783.412457636,800,650,628.587542364,650,0.404501825529,-0.015529708062,0.0499908616997,0.999999998278,5.48576627545e-05,-1.46670933261e-05,-1.48404679208e-05,1793192827742903296
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,671.993000017,662,633,875.006999983,783.993000017,800,650,628.006999983,650,0.404895283821,-0.0155329393182,0.0499948031531,0.999999997379,7.10811728044e-05,-8.84305668459e-06,-1.05841602343e-05,1793192827759569920
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.571661258,711,671.428338742,662,633,875.571661258,783.428338742,800,650,628,650.571661258,0.405301052646,-0.0155362852334,0.0499805314455,0.999999996357,7.6488636838e-05,-3.70174085164e-05,-8.01916761688e-06,1793192827776236800
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.85079719,711,671,661.85079719,633,876,783,799.85079719,649.85079719,628.14920281,650.85079719,0.405719342115,-0.0155390244503,0.0499641988703,0.999999994999,7.38795420982e-05,-6.71588640778e-05,-5.7031515076e-06,1793192827792903424
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.27638131,711,671,661.27638131,633,876,783,799.27638131,649.27638131,628.72361869,650.27638131,0.406172885904,-0.015540030649,0.0499426265308,0.999999993627,4.88002659801e-05,-0.000101723813798,-4.03786576943e-06,1793192827809570048
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.305297927,671,661.305297927,633,876,783,799.305297927,649,629,650,0.406642964983,-0.0155393354601,0.0499262246588,0.999999990538,5.15707351542e-05,-0.000127520064793,-1.92317423449e-06,1793192827826236672
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711.893712879,671,661.893712879,633,876,783,799.893712879,649,629,650,0.407128378061,-0.0155370624951,0.0499146176003,0.999999986247,8.01675708796e-05,-0.000145184695977,6.0827247388e-07,1793192827842903296
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,671,662,633,876.474365204,783,799.525634796,649.474365204,628.525634796,650.474365204,0.407704288108,-0.0155390475834,0.0499348652977,0.999999988851,0.000108491788864,-0.000102364065657,6.97964363982e-06,1793192827859570176
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.946895942,742,711.946895942,671,662,633,876.946895942,783,799.053104058,650,628,650.946895942,0.408303292792,-0.0155422673112,0.0499619961768,0.999999989763,0.000134162850887,-4.77652716444e-05,1.387994557e-05,1793192827876236800
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.370150219,742,711.370150219,671,662,633,876.370150219,783,799.629849781,650,628,650.370150219,0.408933301765,-0.0155484051457,0.0499877531474,0.999999990795,0.000134264659185,-8.51032111438e-06,1.76485344094e-05,1793192827892903680
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.205070817,742.205070817,711.205070817,671,662,633,876,783,800,650,628.205070817,650,0.409561569367,-0.0155529743019,0.0500025566181,0.999999990885,0.000133080738466,1.14835707726e-05,1.96852324076e-05,1793192827909570304
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.777560087,742.777560087,711.777560087,671,662,633,876,783,800,650,628.777560087,650,0.41018671698,-0.0155547329101,0.0499977350715,0.999999991425,0.000129593220795,-3.03192757289e-06,1.86189599253e-05,1793192827926236672
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.637668196,742.637668196,711.637668196,671,662,632.637668196,876,783,799.637668196,649.637668196,628.637668196,650,0.410792895215,-0.0155536988417,0.0499722475834,0.999999989678,0.000130010882578,-5.87194042713e-05,1.71450117604e-05,1793192827942903296
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.045091583,742.045091583,711.045091583,671,662,632.045091583,876,783,799.045091583,649.045091583,628.045091583,650,0.41138701928,-0.0155508901587,0.0499336278622,0.999999981169,0.000132910101553,-0.000140569734654,1.54120048352e-05,1793192827959569920
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742.534997398,711,671.534997398,661.465002602,632.534997398,876,783,799,649.534997398,628,650,0.412103181078,-0.0155533347718,0.0499378214785,0.999999984098,0.000134566411078,-0.000115857526153,1.65287529e-05,1793192827976236800
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742.88647348,711,671.88647348,661.22705304,633,876,783,799,650,628.11352652,650,0.412837624811,-0.0155567784569,0.0499484983627,0.999999987105,0.000136467216137,-8.26160773138e-05,1.84712696115e-05,1793192827992903680
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.310110818,711,671.310110818,662.379778365,633,876,783,799,650,628.689889182,650,0.413605624283,-0.015562531312,0.0499712310643,0.999999988701,0.000139782147184,-5.03832204732e-05,2.28234741741e-05,1793192828009570304
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.26406501,742,711.26406501,671.26406501,662.47186998,633,876.26406501,783,799.26406501,650,629,650,0.414356084355,-0.0155655585088,0.0499695670519,0.999999988231,0.000141496636464,-5.43594014377e-05,2.36853184756e-05,1793192828026236672
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.835693846,742,711.835693846,671.835693846,661.328612308,633,876.835693846,783,799.835693846,650,629,650,0.415086115902,-0.0155654110568,0.0499394875145,0.99999998475,0.000141347047261,-0.000100509246676,2.04818441284e-05,1793192828042903296
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.425384328,712,671.574615672,660.574615672,633,876.574615672,783,800,649.574615672,629,650,0.41584205683,-0.0155664897062,0.0499235497674,0.999999983695,0.000131635456567,-0.000122418230002,1.72107983158e-05,1793192828059569920
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.978454518,743,712,671,660.043090963,633,876.021545482,783,800,649,629,650,0.416610755965,-0.0155681702206,0.0499149398818,0.999999984156,0.000118532647075,-0.000132043489829,1.4230687058e-05,1793192828076236800
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.403237398,743,712,671,661.193525204,633,876.596762602,783,800,649,629,650,0.41743873759,-0.0155726075754,0.049948046124,0.999999989933,0.000117402657648,-7.72848399481e-05,1.94273965255e-05,1793192828092903424
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742.828117506,711.828117506,671,662,633,876.828117506,783,800,649.171882494,629,650,0.418256195434,-0.0155747780859,0.0499710123547,0.999999991431,0.000121513157617,-4.25132114396e-05,2.37643577798e-05,1793192828109570048
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742.253225618,711.253225618,671,662,633,876.253225618,783,800,649.746774382,629,650,0.419048978333,-0.0155716335724,0.0499702035042,0.999999988659,0.000137910927394,-5.46047497621e-05,2.60854846594e-05,1793192828126236672
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742.330837023,711,671.330837023,661.669162977,633,876.330837023,783,800,649.669162977,628.669162977,650,0.41986021403,-0.015570238919,0.0499624986017,0.999999987031,0.000146208819526,-6.23863866008e-05,2.58537574956e-05,1793192828142903296
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742.922119136,711,671.922119136,661.077880864,633,876.922119136,783,800,649.077880864,628.077880864,650,0.4206859763,-0.0155702218095,0.0499493649147,0.99999998652,0.000148130237862,-6.67751357449e-05,2.36123449311e-05,1793192828159570176
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742.497733897,711,671.497733897,662.004532206,632.497733897,876.497733897,783,799.497733897,649.502266103,628.502266103,650.502266103,0.421559815449,-0.0155771219131,0.0499719090856,0.999999989168,0.000143279992949,-2.10557266444e-05,2.62966708238e-05,1793192828176236800
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.080393884,742,711,671.080393884,662.919606116,632.080393884,876,783,799.080393884,649.919606116,629,651,0.422429523409,-0.0155838146957,0.0499938374819,0.999999989762,0.000138555652433,2.07077022433e-05,2.91574187518e-05,1793192828192903424
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.6564865,742,711,671.6564865,662.3435135,632.6564865,876,783,799.6564865,649.3435135,629,651,0.423228790461,-0.0155827592258,0.0499785982166,0.999999989623,0.000140941422256,-8.7890464216e-06,2.84987310748e-05,1793192828209570304
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.763298819,742,711.236701181,671.763298819,661.763298819,633,876,783,799.763298819,649,628.763298819,650.763298819,0.424040679553,-0.0155823456578,0.049966820371,0.999999989093,0.000141867452049,-2.99789581731e-05,2.81006932843e-05,1793192828226236928
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.176995865,742,711.823004135,671.176995865,661.176995865,633,876,783,799.176995865,649,628.176995865,650.176995865,0.424871211205,-0.0155828801628,0.0499601549542,0.999999988959,0.000140637482508,-3.88998821825e-05,2.80876288428e-05,1793192828242903552
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.404415726,742.404415726,711.595584274,671.404415726,661.404415726,633,876.404415726,783,799.404415726,649,628.404415726,650.404415726,0.42571255005,-0.0155830124286,0.0499753888687,0.999999989565,0.000139573205729,-2.18488720496e-05,3.01906668269e-05,1793192828259569920
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.98371212,742.98371212,711.01628788,671.98371212,661.98371212,633,876.98371212,783,799.98371212,649,628.98371212,650.98371212,0.426558562177,-0.0155829707549,0.0500000926668,0.999999989826,0.000138580579113,6.4331290954e-06,3.3208766644e-05,1793192828276236800
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711,672,662,633,876.438945026,783,800,649.561054974,629,651,0.427322831016,-0.0155752297078,0.049980999585,0.999999987246,0.000151087425851,-4.08163969562e-05,3.18417057364e-05,1793192828292903424
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711.137803371,672,662,633,876,783,799.862196629,649.862196629,629,650.862196629,0.428088667619,-0.0155691339351,0.049961256679,0.999999983024,0.000161824633207,-8.27094031942e-05,3.0399642338e-05,1793192828309570048
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711.712844895,672,662,633,876,783,799.287155105,649.287155105,629,650.287155105,0.428866981997,-0.0155689652218,0.0499434721688,0.999999980779,0.00016570777629,-0.000100673396117,2.91221282817e-05,1793192828326236672
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.705099057,712,672,662,633,876,783,799.294900943,649,629,650,0.429665766391,-0.0155718568611,0.049946365795,0.999999982004,0.000166167547661,-8.66254775228e-05,2.95869759478e-05,1793192828342903296
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.11604634,712,672,662,633,876,783,799.88395366,649,629,650,0.430484968753,-0.0155778010785,0.049969885028,0.999999985349,0.000163212643626,-4.06469695562e-05,3.17897590623e-05,1793192828359569920
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.464850289,712,672,662,633,876.464850289,783,799.535149711,649,628.535149711,650,0.431219429813,-0.0155752370857,0.0499581632503,0.99999998423,0.000163045147385,-6.32210777403e-05,3.09778744997e-05,1793192828376236544
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661.956447502,633,876.956447502,783.043552498,799,649,628.043552498,650.043552498,0.431933576793,-0.015570666546,0.0499389312372,0.99999998119,0.000163825578116,-9.95544799654e-05,2.94900053855e-05,1793192828392903168
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,672,661.380111985,633,876.380111985,783.619888015,799,649,628.619888015,650.619888015,0.432653548095,-0.0155670849179,0.0499335925992,0.999999980654,0.000167836417025,-9.84636274451e-05,2.87804993032e-05,1793192828409571072
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,672,661.398926122,633,876.199463061,783.800536939,799.199463061,649,628.800536939,650.800536939,0.433366519959,-0.0155655111118,0.0499396319018,0.999999981706,0.000169809955693,-8.29870072712e-05,2.942474556e-05,1793192828426238208
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,672,662.570627248,633,876.785313624,783.214686376,799.785313624,649,628.214686376,650.214686376,0.434065933069,-0.0155678267336,0.0499677118459,0.999999984595,0.000167836962864,-3.96431676275e-05,3.2691396941e-05,1793192828442904320
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.633246154,711.633246154,672.366753846,662.266492308,633,877,783,799.633246154,649,628.366753846,649.633246154,0.434744309768,-0.0155684553903,0.0499825193559,0.999999984801,0.000169253913922,-2.32122089179e-05,3.48062302775e-05,1793192828459571200
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.054356967,711.054356967,672.945643033,661.108713935,633,877,783,799.054356967,649,628.945643033,649.054356967,0.435410518684,-0.0155681082838,0.0499896499105,0.999999984192,0.0001726316542,-2.2348023867e-05,3.62548364483e-05,1793192828476238336
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711.524275386,672.475724614,661,633,877,783,799.524275386,649,629,649.524275386,0.435991085758,-0.0155659121578,0.0499636570446,0.999999980835,0.000176630599695,-7.72290344622e-05,3.41735151209e-05,1793192828492904704
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,711.897809038,672,661.102190962,633,877,783,800,649,629,650,0.436568505105,-0.0155636051878,0.0499414039616,0.999999975917,0.00018031719772,-0.000120898340839,3.21790367754e-05,1793192828509571072
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711.323084804,672,661.676915196,633,877,783,800,649,629,650,0.437172407536,-0.0155616716953,0.0499523159551,0.99999997917,0.000182261824422,-8.60122316062e-05,3.22776101707e-05,1793192828526237696
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.257502597,711.257502597,672,662.257502597,633,877,783,799.742497403,649,629,650,0.43775822451,-0.015561516557,0.0499681629576,0.999999981675,0.00018196050247,-4.92827067768e-05,3.33313662311e-05,1793192828542904064
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711.57290739,672,662.57290739,633,877,783,799.42709261,649,628.57290739,650,0.438819626037,-0.0155654875046,0.049981283045,0.999999983468,0.000176341827205,-2.69682292561e-05,3.52123241273e-05,1793192828576236544
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.993813519,743,711,672,661.993813519,632.993813519,877,783,800,649,628.006186481,650,0.439295105992,-0.0155671797057,0.0499610298839,0.999999982227,0.000174206362989,-6.36577718045e-05,3.38404344912e-05,1793192828592903168
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.416329578,743,711,672,661.416329578,632.416329578,877,783,800,649,628.583670422,650,0.439713422945,-0.0155643403845,0.0499344638696,0.999999979022,0.000174923473441,-0.000102057216556,3.07098417343e-05,1793192828609570048
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.160398781,743,711,672,661,632.160398781,876.839601219,783,800,648.839601219,629,650,0.440126384373,-0.0155627995455,0.0499138568053,0.999999975427,0.000175351786574,-0.000132635715464,2.83653634926e-05,1793192828626236928
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711.317537433,672,661.317537433,633,876.317537433,783.317537433,800,648.317537433,629,650,0.440905856091,-0.01556714972,0.0499112139629,0.999999975046,0.00017217195415,-0.000139473187193,2.84929920812e-05,1793192828659571456
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.355888878,711,672,661,632,876.644111122,783.644111122,800,649,628.644111122,650,0.442193540223,-0.0155772506755,0.0498998252693,0.999999975863,0.00015769853416,-0.000150461565202,2.76898940849e-05,1793192828726237696
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+198,3.300000000,POSE1_TO_POSE2_PRESS,763.208528067,742.791471933,711,672,661,632,877,783.208528067,800,649,629,650,0.442653767432,-0.0155772365222,0.0498747726585,0.999999968752,0.000153510521702,-0.000195702043007,2.51431147033e-05,1793192828759570432
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+224,3.733333333,POSE1_TO_POSE2_PRESS,763,742.901106085,711.098893915,672.098893915,660,632,876,782,799,649,628,650,0.44414164213,-0.0155772881758,0.0497958909883,0.999999940373,0.000130857059262,-0.000319230210317,1.49216496682e-05,1793192829192903680
+225,3.750000000,POSE1_TO_POSE2_PRESS,763,743,711,672,660,632,876.479087821,782.479087821,799,649,628,650,0.444141985234,-0.0155762950844,0.0497959330089,0.999999940441,0.000130683743382,-0.000319090415092,1.48768547144e-05,1793192829209570048
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.056445125,743,711,672,660,632,876.943554875,783,799.056445125,649,628.056445125,650,0.444142634438,-0.0155748877198,0.0497962764877,0.999999940583,0.000131052256323,-0.000318495887443,1.48057684086e-05,1793192829226236928
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.631269673,743,711,672,660,632,876.368730327,783,799.631269673,649,628.631269673,650,0.444143007632,-0.0155761865895,0.0497965814869,0.999999940533,0.0001314915296,-0.000318472994617,1.47997040446e-05,1793192829242903552
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.788973359,743,711.211026641,672,660,632,876.211026641,783,800,649,629,650,0.444143118958,-0.0155767780096,0.049796612535,0.999999940423,0.000131581118233,-0.000318779977346,1.48380909017e-05,1793192829259570176
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.200391663,743,711.799608337,672,660,632,876.799608337,783,800,649,629,650,0.444142761767,-0.0155761037071,0.0497961534476,0.999999940205,0.00013104507396,-0.000319677151831,1.49560069751e-05,1793192829276237312
+230,3.833333333,POSE1_TO_POSE2_PRESS,763,743,712,672,660.381888687,632,877,783,799.618111313,649,629,650,0.444142104287,-0.0155744924592,0.0497951074626,0.999999939655,0.000131421527922,-0.000321257227605,1.45506363045e-05,1793192829292903936
+231,3.850000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660.960916134,632,877,783,799.039083866,649,629,650,0.444141291793,-0.015572397541,0.0497937585092,0.99999993893,0.000132269032177,-0.000323189830982,1.38751342955e-05,1793192829309570560
+232,3.866666667,POSE1_TO_POSE2_PRESS,763,743,711.462535029,672,660.462535029,632,876.462535029,783,799,649,628.462535029,650,0.444141228002,-0.0155730099886,0.0497936764113,0.999999939174,0.000130193865729,-0.000323289288505,1.36268586198e-05,1793192829326237184
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,743,711,672,660.113780736,632,876.113780736,783,799,649,628,650,0.444141680714,-0.0155735880393,0.049793890116,0.99999993948,0.000128942491579,-0.000322843926003,1.35908920237e-05,1793192829342903552
+234,3.900000000,POSE1_TO_POSE2_PRESS,763,743,711,672,660.68987833,632,876.68987833,783,799,649,628,650,0.444144011888,-0.0155732300453,0.0497949331301,0.999999939767,0.000131897979539,-0.000320723995902,1.42919307571e-05,1793192829359570176
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,743,711.27184197,672,660.72815803,632,876.72815803,783,799.27184197,649,628,650,0.444145260687,-0.0155741041094,0.0497955906653,0.999999940096,0.000132153194596,-0.000319567820052,1.47988199733e-05,1793192829376237056
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,743,711.860645361,672,660.139354639,632,876.139354639,783,799.860645361,649,628,650,0.444145247464,-0.0155764147245,0.0497957987414,0.999999940481,0.000129259954587,-0.000319535358989,1.50793354555e-05,1793192829392903680
+237,3.950000000,POSE1_TO_POSE2_PRESS,763,743,711.557459869,672,660.442540131,632,876,782.557459869,799.557459869,649,628,650,0.444144414939,-0.0155760754353,0.0497950502139,0.9999999403,0.000128085848776,-0.000320599994417,1.44991456954e-05,1793192829409570304
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,743,711.022137121,672,660.977862879,632,876,782,799.022137121,649,628,650,0.444143370582,-0.0155749601965,0.0497940498814,0.999999939953,0.000127484296026,-0.000321952573699,1.36899680467e-05,1793192829426236928
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,743,711.597841158,672,660.402158842,632,876,782,799.597841158,649,628,650,0.444143381461,-0.0155749870274,0.0497941697415,0.999999939887,0.00012787108583,-0.00032199936832,1.38280172498e-05,1793192829442904064
+240,4.000000000,HOLD_POSE2,763,743,711,672,661,632,876,782,800,649,629,650,0.444148810882,-0.0155725977063,0.0497974039705,0.999999941093,0.000131196304928,-0.000316858860847,1.42146575707e-05,1793192829483016704
+241,4.016666667,HOLD_POSE2,763.582983788,743,711,672,660.417016212,632,876,782.582983788,800,649,629,650,0.444146256811,-0.015573581313,0.0497957071182,0.999999940688,0.000128175846283,-0.000319369723428,1.40498799556e-05,1793192829499682816
+242,4.033333333,HOLD_POSE2,764,742.836205575,711,672,660.163794425,632,876,782.836205575,799.836205575,649,628.836205575,650,0.444144655134,-0.0155741014942,0.0497944495626,0.999999940367,0.000126652219609,-0.000320986606614,1.3902122267e-05,1793192829516348928
+243,4.050000000,HOLD_POSE2,764,742.260855153,711,672,660.739144847,632,876,782.260855153,799.260855153,649,628.260855153,650,0.444145446482,-0.0155734572553,0.0497942957999,0.999999940284,0.000128889588263,-0.000320357244287,1.37971294479e-05,1793192829533015552
+244,4.066666667,HOLD_POSE2,763.686361688,742.313638312,711,672,660.686361688,632,876,782,799.313638312,649,628,650,0.444146019166,-0.015572509234,0.0497945986132,0.999999940295,0.000130263311542,-0.000319767914209,1.37707836649e-05,1793192829549682176
+245,4.083333333,HOLD_POSE2,763.11257905,742.88742095,711,672,660.11257905,632,876,782,799.88742095,649,628,650,0.44414641048,-0.0155713092433,0.0497952801291,0.999999940386,0.000130920692218,-0.000319211788539,1.38096709273e-05,1793192829566349056
+246,4.100000000,HOLD_POSE2,763,742.523909009,711,672,660.476090991,632,876,782,800,649,628,650,0.4441461659,-0.0155718545709,0.0497955804047,0.999999940667,0.000128846651648,-0.000319177937575,1.37898644126e-05,1793192829583015680
+247,4.116666667,HOLD_POSE2,763,742.066705463,711.066705463,672,661,631.933294537,876,782,799.933294537,649,628,649.933294537,0.44414585142,-0.0155727710712,0.049795717533,0.999999940942,0.000126291970223,-0.000319337545995,1.37622623731e-05,1793192829599682560
+248,4.133333333,HOLD_POSE2,763,742.644377858,711.644377858,672,661,631.355622142,876,782,799.355622142,649,628,649.355622142,0.444146190504,-0.0155732673679,0.0497953177914,0.999999940871,0.000125162782314,-0.000320002510452,1.37846921623e-05,1793192829616349440
+249,4.150000000,HOLD_POSE2,763,743,711.778130306,672,661,631.221869694,876,782,799,649,628,649.221869694,0.444146739284,-0.0155730560759,0.049795364914,0.999999940822,0.00012611803095,-0.000319781333231,1.38052955542e-05,1793192829633016320
+250,4.166666667,HOLD_POSE2,763,743,711.200927698,672,661,631.799072302,876,782,799,649,628,649.799072302,0.4441476239,-0.0155717115532,0.0497961277069,0.999999940794,0.000130411585612,-0.0003181409657,1.38229738978e-05,1793192829649682432
+251,4.183333333,HOLD_POSE2,763,742.626467992,711.373532008,672,661,631.626467992,876,782,799,649,628,649.626467992,0.444146915045,-0.0155709954032,0.0497957749434,0.999999940393,0.000132201183132,-0.000318660014677,1.38875074529e-05,1793192829666348800
+252,4.200000000,HOLD_POSE2,763,742.053472919,711.946527081,672,661,631.053472919,876,782,799,649,628,649.053472919,0.444145355289,-0.0155706147988,0.049794826482,0.999999939797,0.000132653688232,-0.000320332174416,1.3977061313e-05,1793192829683015168
+253,4.216666667,HOLD_POSE2,763,742,711.463318994,672,660.463318994,631.536681006,876,782.536681006,799.536681006,649,628,649.536681006,0.444146275668,-0.0155718476992,0.0497953131014,0.999999940007,0.000131487477733,-0.000320142045016,1.43671460644e-05,1793192829699682048
+254,4.233333333,HOLD_POSE2,763,742,711,672,660,632,876.125828468,782.874171532,799.874171532,649,628,650,0.444147000778,-0.0155727075885,0.0497956458834,0.999999940209,0.000130362238129,-0.000319958876307,1.46517267485e-05,1793192829716348928
+255,4.250000000,HOLD_POSE2,763,742,711,672,660,632,876.704987164,782.295012836,799.295012836,649,628,650,0.44414610269,-0.015571625284,0.049794892266,0.99999994009,0.000129984862106,-0.000320491363159,1.44447578394e-05,1793192829733015808
+256,4.266666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,660,632,877,782,799,649,628,650,0.444148207926,-0.0155702951525,0.0497956791715,0.999999940581,0.00012991792716,-0.000319021682801,1.36101180469e-05,1793192829770590720
+257,4.283333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,660,632,877,782.589268897,799,649,628,650,0.444146085866,-0.0155716067144,0.0497942997365,0.999999939956,0.000127898174202,-0.00032178549402,1.35574208443e-05,1793192829787257600
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763.175470394,743,711,672,660,632,876.824529606,782.824529606,799,649,628.175470394,650,0.444144423075,-0.0155725683752,0.0497934521731,0.99999993951,0.00012658189,-0.000323685182262,1.36316883789e-05,1793192829803924224
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763.754615365,743,711,672,660,632,876.245384635,782.245384635,799,649,628.754615365,650,0.444143816845,-0.0155727250791,0.0497938281953,0.999999939495,0.000126883955063,-0.000323596931838,1.39980418536e-05,1793192829820590336
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763.668089996,742.668089996,711.331910004,672,660,632,876.331910004,782,799.331910004,649,629,650,0.444145071133,-0.0155723973402,0.0497943315046,0.999999939775,0.000127477355628,-0.000322495084304,1.40284096654e-05,1793192829837256960
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.092155779,742.092155779,711.907844221,672,660,632,876.907844221,782,799.907844221,649,629,650,0.444147693297,-0.0155717134333,0.049794928397,0.999999940269,0.000128284949527,-0.000320648028033,1.38117567693e-05,1793192829853923584
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742.476446056,711.523553944,672,660.476446056,632,877,782,800,649.476446056,628.523553944,650,0.4441474889,-0.0155719917527,0.0497948680013,0.999999940504,0.00012787644452,-0.000320069394667,1.39542312261e-05,1793192829870590464
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.046055838,743,711,672,660.953944162,632,876.953944162,782.046055838,800,649.907888324,628,649.953944162,0.444146126908,-0.0155723717292,0.0497943848479,0.999999940496,0.000127239371583,-0.000320340635327,1.41077386513e-05,1793192829887257088
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.644507832,743,711,672,660.355492168,632,876.355492168,782.644507832,800,648.710984337,628,649.355492168,0.444137338711,-0.0155717725214,0.0497903328665,0.999999938128,0.000126639346089,-0.000327907258445,1.35730535666e-05,1793192829903923712
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.766181183,742.766181183,711,672,660.233818817,632,876,783,799.766181183,648.233818817,628,649.233818817,0.444119699924,-0.015570297587,0.049781955389,0.999999933229,0.000126915369617,-0.000342459751912,1.24592548935e-05,1793192829920590336
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.19024512,742.19024512,711,672,660.80975488,632,876,783,799.19024512,648.80975488,628,649.80975488,0.444089111197,-0.0155675413138,0.0497672489652,0.999999924262,0.000128473203916,-0.000367233777413,1.0498113232e-05,1793192829937256704
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742.385283249,711,672,660.614716751,632,876.385283249,782.614716751,799.385283249,649,628.385283249,649.614716751,0.44404009166,-0.0155640826622,0.0497489344331,0.999999910999,0.000130486749618,-0.000401129238169,8.42954658154e-06,1793192829953923072
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742.960610572,711,672,660.039389428,632,876.960610572,782.039389428,799.960610572,649,628.960610572,649.039389428,0.443981980974,-0.0155602775566,0.0497288401711,0.999999894581,0.000132725078652,-0.000439523922317,6.30799150344e-06,1793192829970589696
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742.452032747,711.547967253,672,660.547967253,632,877,782,799.452032747,649,629,649.547967253,0.443912809539,-0.0155553048037,0.0497144805833,0.999999887388,0.000135003734405,-0.000454949489857,4.28346304522e-06,1793192829987256576
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742,711.865607115,672,661,632,876.865607115,782.134392885,799.134392885,649,629,650,0.443839288379,-0.0155503334552,0.0497029762058,0.99999988175,0.000136436076981,-0.000466775597802,2.38720897693e-06,1793192830003923200
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,711.285205302,672,661,632,876.285205302,782.714794698,799.714794698,649,629,650,0.443754029641,-0.0155456515685,0.0496995486419,0.999999879366,0.000135049929146,-0.000472258636972,8.92991981899e-07,1793192830020590080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.2937665,742.2937665,711,672,660.7062335,632,876.2937665,783,799.7062335,649,628.7062335,650,0.443657000176,-0.0155385020244,0.0497003743803,0.99999988007,0.000137753931698,-0.000469982565538,-1.14870789661e-07,1793192830037256960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.871356655,742.871356655,711,672,660.128643345,632,876.871356655,783,799.128643345,649,628.128643345,650,0.443548598383,-0.0155289683437,0.0497053094636,0.999999883676,0.000144409649141,-0.000460209998636,-6.52840433359e-07,1793192830053924096
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.551751032,711.448248968,672,660.448248968,632,877,783,799,649,628.448248968,650,0.443414740644,-0.0155202232927,0.0497081791291,0.999999884556,0.000149296570001,-0.000456723914185,-1.18149465148e-06,1793192830070590464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.974456924,742,712,672,661,632,876.974456924,783,799.025543076,649,629,650,0.443272365677,-0.0155115993562,0.0497104451693,0.999999884688,0.000153739040448,-0.000454957131325,-1.71147084847e-06,1793192830087256832
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.383850578,742,712,672,661,632,876.383850578,783,799.616149422,649,629,650,0.44310293634,-0.0155006556345,0.0497124503778,0.999999885398,0.000159561678725,-0.000451375088019,-2.32974187684e-06,1793192830103923712
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742.201657392,712,672,661,632,876.201657392,783,800.201657392,649,629,650,0.442919470595,-0.0154889697212,0.0497145324552,0.999999886179,0.00016544744602,-0.000447501178206,-3.36053271486e-06,1793192830120590336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742.777699951,712,672,661,632,876.777699951,783,800.777699951,649,629,650,0.442709945704,-0.0154759059,0.0497167572427,0.999999887127,0.000171450414262,-0.000443085406735,-5.1571833231e-06,1793192830137256960
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,743,711.646082163,672,660.646082163,632,876.646082163,783,800.292164326,649,629,650,0.44247441136,-0.0154617153381,0.0497216199643,0.999999890322,0.00017652426638,-0.000433759627513,-6.9003983408e-06,1793192830153923584
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,743,711.06975404,672,660.06975404,632,876.06975404,783,799.13950808,649,629,650,0.442222532042,-0.0154468167045,0.0497281404259,0.999999894813,0.000181014240658,-0.000421348283553,-8.6100333524e-06,1793192830170590208
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.518205043,743,711,672,660.518205043,632,876.518205043,783,799,649,629,650,0.441950556803,-0.015438868517,0.04974300411,0.999999905425,0.000179973650532,-0.00039582102628,-9.2010487519e-06,1793192830187256576
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.894124962,742.894124962,711.105875038,672,661,632,877,783,799,649,629,650,0.441665571136,-0.0154339222045,0.0497589914915,0.999999916638,0.000175009920608,-0.000368782803158,-9.74985841165e-06,1793192830203922944
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.314907392,742.314907392,711.685092608,672,661,632,877,783,799,649,629,650,0.441334790119,-0.01543811778,0.0497748664634,0.999999928941,0.000155911441911,-0.000343063734323,-1.07986139184e-05,1793192830220589824
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.263285737,742,711.736714263,672,661,632,876.736714263,783,799,649,629,650,0.440974734594,-0.0154421034859,0.0497865757813,0.999999937745,0.000136716265941,-0.000325091883173,-1.1584079132e-05,1793192830237256448
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.840258279,742,711.159741721,672,661,632,876.159741721,783,799,649,629,650,0.440579800531,-0.0154458391464,0.0497933220086,0.999999942996,0.000117405883082,-0.000316350309599,-1.20558520547e-05,1793192830253923072
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.41509134,711,672,661,632,876.41509134,783,799,649,629,650,0.440139521557,-0.0154368901026,0.0497940063715,0.999999945542,0.00010880865519,-0.000311151551784,-1.61471098994e-05,1793192830270589696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.989105262,711,672,661,632,876.989105262,783,799,649,629,650,0.439681881763,-0.0154230845711,0.0497923698784,0.999999947106,0.000104313084619,-0.000307309202699,-2.16241299343e-05,1793192830287256320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.42117831,711,672,661.57882169,632.57882169,876.42117831,783,799.57882169,649,629,650,0.439185533715,-0.0154137497686,0.049784206468,0.999999942457,9.65592430908e-05,-0.000324199136917,-2.56200127399e-05,1793192830303923200
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.255083429,742.744916571,711,672,661.255083429,633,876,783,799.255083429,649,629,650,0.43811957409,-0.0154050609218,0.0497635618144,0.999999932749,6.28672523587e-05,-0.0003596164461,-3.49975717313e-05,1793192830337256448
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.682579187,711.317420813,672,661,633,876,783,799.317420813,649,629,650,0.437561521033,-0.0154055753602,0.0497683429719,0.999999936058,4.04951012543e-05,-0.000353261557856,-3.80728671594e-05,1793192830353923328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.115327129,711.884672871,672,661,633,876,783,799.884672871,649,629,650,0.436999408381,-0.0154077718717,0.0497858994945,0.999999945339,1.77177026995e-05,-0.000327784641125,-3.95630470035e-05,1793192830370589952
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742,712,671.537607161,661,633,876,783.462392839,799.537607161,649,629,650,0.436378115206,-0.0154072565181,0.049812851063,0.999999955695,-2.76265129843e-06,-0.000294881318999,-4.05869166276e-05,1793192830387256576
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742,711.362351634,671.637648366,661,633,876,784,799.637648366,649,628.362351634,650,0.435033276322,-0.0153969833421,0.0498139462721,0.999999951212,-3.79386268715e-05,-0.00030614191539,-4.91289889489e-05,1793192830420590336
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,660.776744778,633,876,783.776744778,800,649,628.223255222,650,0.434328741846,-0.0153909290633,0.0497921082668,0.999999940723,-3.68499667867e-05,-0.000337759660715,-5.58011180362e-05,1793192830437256960
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,660.204071644,633,876,783.204071644,800,649,628.795928356,650,0.433622583608,-0.0153887436991,0.0497741222231,0.999999934874,-9.64419268661e-06,-0.00035546354013,-6.16862117994e-05,1793192830453923328
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742,711.872633708,671.127366292,661.872633708,633,876,783,799,649,629,650,0.430600151269,-0.0153919190251,0.0498079264587,0.999999946398,-6.18982495493e-05,-0.000314349076723,-6.75020674354e-05,1793192830520590080
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742,711.292045338,671.707954662,661.292045338,633,876,783,799,649,629,650,0.429742225178,-0.0153843500866,0.049771391502,0.99999993056,-1.03489923852e-05,-0.000368232472404,-5.637530541e-05,1793192830537256704
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.140344144,661,632.140344144,876,783,799.859655856,649,629,650,0.428106394959,-0.0153727908209,0.0497707138717,0.999999935276,-1.60769859319e-05,-0.000354719352652,-5.79989022469e-05,1793192830570589952
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,661.434147533,632.434147533,876.434147533,783.434147533,799.565852467,649,629,650,0.427248767158,-0.0153695276807,0.0497772368289,0.999999932542,-2.82103663997e-05,-0.000361105518336,-6.10091420739e-05,1793192830587256832
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,743,711.915658941,672,661.084341059,632.084341059,876,783,799,649,628.084341059,650,0.42212457673,-0.0153744491832,0.0498342238916,0.999999966907,-5.63250720242e-05,-0.000243170835958,-6.2306297607e-05,1793192830687256832
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,661,633,875,783,799.751144531,649,628,650,0.418575071264,-0.0153775467595,0.0498160017124,0.999999947945,-3.42745802611e-05,-0.000313971644732,-6.60043262113e-05,1793192830753923584
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,661,633,875,783,799.176026437,649,628,650,0.417694418642,-0.0153708876876,0.0497949483668,0.999999934434,-3.91477883464e-05,-0.000353504125842,-6.80737903242e-05,1793192830770589952
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711.435453199,671.129093603,661.564546801,633,876,784,799,649,629,650,0.415280695454,-0.0153717830701,0.049818918603,0.999999953988,-7.5895291784e-05,-0.000285445900047,-6.91645920316e-05,1793192830820589824
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742.152742941,711,671.847257059,661.694514117,633,876,783.847257059,799,649.152742941,628.847257059,650,0.414475672672,-0.0153721048109,0.0498264190311,0.999999956975,-8.46373240939e-05,-0.000272301339215,-6.88389173531e-05,1793192830837256448
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742.72971828,711,671.27028172,660.540563439,633,876,783.27028172,799,649.72971828,628.27028172,650,0.413654469912,-0.0153703764162,0.049800718914,0.999999941008,-9.08002232017e-05,-0.000323603828974,-7.08571092815e-05,1793192830853923328
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742.693605705,711,671,660,633,875.693605705,783.306394295,799,649.693605705,628.306394295,650.306394295,0.412865863345,-0.0153685080065,0.0497833580138,0.999999931149,-9.19956393645e-05,-0.000351974534321,-7.31566966452e-05,1793192830870589952
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742.117193509,711,671,660,633,875.117193509,783.882806491,799,649.117193509,628.882806491,650.882806491,0.412105983059,-0.0153665162049,0.0497733462656,0.999999928342,-8.88133324526e-05,-0.000360136009037,-7.57042710307e-05,1793192830887256576
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.208658066,742,711,671,660.208658066,633,875.791341934,783.208658066,799.791341934,649,628.791341934,650,0.408689958891,-0.0153694809606,0.0497945615118,0.99999993501,-9.06498420448e-05,-0.000340881955743,-7.45821717892e-05,1793192830970589952
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.399354522,661,633,875.600645478,783,799,649,629,650.600645478,0.403833374533,-0.0153865997419,0.0498280113988,0.999999945447,-0.000108764245297,-0.000304205395937,-6.88071308657e-05,1793192831137256704
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.755739493,660.244260507,633,875.244260507,783,799,649,628.244260507,651,0.403188890859,-0.0153895444406,0.049857420862,0.999999956644,-0.000109027074995,-0.000265469007898,-6.59664002449e-05,1793192831170589952
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.332979417,742,711,671,660,632.667020583,875.665958834,783,799,649.332979417,628.332979417,651,0.402885356461,-0.0153889769896,0.0498517169884,0.999999952153,-0.000110612701584,-0.000281177055603,-6.63212735576e-05,1793192831187256832
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.91070758,742,711,671,660,632.08929242,876.821415159,783,799,649.91070758,628.91070758,651,0.402591508564,-0.0153883975367,0.0498369447412,0.999999941999,-0.000112660642167,-0.000314332750781,-6.71164970246e-05,1793192831203923456
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.503946579,742,711.496053421,671,660,632.496053421,876.007893157,783,799,649.503946579,628.503946579,650.503946579,0.402349154415,-0.0153865746102,0.0498259553654,0.999999936312,-0.000112037608538,-0.000331923300208,-6.82002671063e-05,1793192831220590080
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742,711.918314902,671,660.081685098,633,875,783,799.081685098,649.081685098,628,650,0.40212194018,-0.0153852756376,0.0498167047909,0.999999931706,-0.000111451220775,-0.000345544011867,-6.90341583979e-05,1793192831237256704
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763,742,711.339420065,671,660.660579935,633,875,783,799.660579935,649.660579935,628,650,0.401929580714,-0.0153885496197,0.0498138286899,0.999999929116,-0.00011406006309,-0.0003523210526,-6.80259753936e-05,1793192831253923072
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.760759304,660.760759304,633,875,783,799.760759304,650,628.239240696,650.239240696,0.401756462012,-0.0153909350295,0.0498133876473,0.999999929147,-0.000114144032347,-0.000352447425613,-6.67734209464e-05,1793192831270589696
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.182430358,660.182430358,633,875,783,799.182430358,650,628.817569642,650.817569642,0.401610614262,-0.0153920610192,0.0498163979393,0.999999932879,-0.000110649367814,-0.000343147461667,-6.51745062611e-05,1793192831287256320
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.967726941,660,633,875,783.967726941,799,650,629,650.032273059,0.401383739885,-0.0153948420273,0.0498254091794,0.999999939306,-0.000113818071415,-0.000323066311607,-6.37358314701e-05,1793192831320589824
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.558461177,633,875,783.441538823,799.558461177,649.441538823,628.441538823,650,0.401303751492,-0.0153976478744,0.0498307218211,0.999999942236,-0.000118137335541,-0.000312247846749,-6.38252358122e-05,1793192831337256704
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.698275796,742,711.698275796,671,661,633,875,783,799,649.301724204,628.301724204,651,0.401109679879,-0.0154090094704,0.0498336171788,0.999999942663,-0.000135569725158,-0.000303712240121,-6.36749358846e-05,1793192831387256576
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.125104847,742,711.125104847,671,661,633,875,783,799,649.874895153,628.874895153,651,0.401062699406,-0.0154111295173,0.0498332137,0.999999941982,-0.000138496050872,-0.00030466921579,-6.34872670885e-05,1793192831403923456
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.460057371,742,711,671,661,633.460057371,875.460057371,783,799.920114743,649.539942629,629,651,0.401032674574,-0.0154106935281,0.0498335011634,0.999999942817,-0.000137163562655,-0.000302514447358,-6.35421551674e-05,1793192831420590080
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.422500782,742.422500782,712,670.577499218,661,633,876,783,799.422500782,649.422500782,628.422500782,651,0.400962293979,-0.0154137045062,0.0498419726836,0.999999948877,-0.000133816290062,-0.000283843742569,-6.14087625726e-05,1793192831620589824
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.408672528,742.408672528,712,670,661,633,875.408672528,783,800,650,629,650.408672528,0.400961274735,-0.0154125753301,0.0498423891681,0.999999949156,-0.000132224795417,-0.000283636156401,-6.12797309294e-05,1793192831653923072
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,763,742.514319973,711.514319973,671,661,633,876.485680027,783,799.485680027,649.485680027,628,650.485680027,0.400962919184,-0.0154131476839,0.0498439779269,0.999999950098,-0.000130434284512,-0.000281148921216,-6.12066348372e-05,1793192831737256448
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763,742,711.073915506,671,661,633,876.852168988,783,799.926084494,650,628,651,0.400962455633,-0.015411709773,0.049844084371,0.999999950441,-0.000127664075656,-0.000281157811296,-6.13935733469e-05,1793192831753923072
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763,742,711.652194788,671,661,633,875.695610423,783,799.347805212,650,628,651,0.400960914148,-0.015414435586,0.0498434328806,0.999999949751,-0.000130775729016,-0.000282263859562,-6.10222573393e-05,1793192831770589952
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.228760837,742,712,671,660.771239163,633,875,783,799,650,628,651,0.40096039596,-0.0154159128159,0.0498432733089,0.999999949578,-0.000131878760433,-0.000282412619621,-6.07831527574e-05,1793192831787256576
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.802741435,742,712,671,660.197258565,633,875,783,799,650,628,651,0.400961422015,-0.0154155058266,0.049843856085,0.999999950198,-0.000129950608558,-0.000281116749456,-6.07435666003e-05,1793192831803923200
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.620749004,742,712,671,660,633,875,783,799,649.620749004,628,651,0.400961978331,-0.0154145212076,0.04984416763,0.999999950357,-0.000130350810075,-0.000280280170297,-6.11346313351e-05,1793192831820590080
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.04291525,742,712,671,660,633,875,783,799,649.04291525,628,651,0.400962288684,-0.0154132341312,0.0498443371533,0.999999950274,-0.00013197018008,-0.00027968408435,-6.17511927555e-05,1793192831837256704
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.865496306,633,875.865496306,783,799,649.865496306,629,651,0.400962221693,-0.0154128094856,0.0498452086475,0.999999951272,-0.000124874134728,-0.000279618931673,-6.06196840188e-05,1793192831870589952
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.286167399,633,875.286167399,783,799,649.286167399,629,651,0.400960526931,-0.015412343053,0.0498438786821,0.999999950421,-0.000127284717571,-0.000281452800019,-6.11679024834e-05,1793192831887256832
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,670.710787019,660.289212981,633,875,783,799.289212981,649.289212981,629,651,0.400959604313,-0.015413097639,0.0498435646665,0.999999949994,-0.000129276412736,-0.000282044130698,-6.12388448834e-05,1793192831903923456
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.139260898,660.860739102,633,875,783,799.860739102,649.860739102,629,651,0.400959435419,-0.0154150441132,0.0498442423628,0.999999949988,-0.000130859214039,-0.00028142256752,-6.08438978016e-05,1793192831920590336
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.446556928,660.553443072,633,875,783,799.553443072,649.553443072,628.553443072,650.553443072,0.400960908082,-0.0154150452841,0.0498450595493,0.999999950515,-0.000130154385912,-0.000279934433985,-6.05600806946e-05,1793192831937256960
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.036279184,633,875,783,799,649.036279184,628,650,0.400962836211,-0.0154145424156,0.0498459051797,0.999999951171,-0.000128956316853,-0.000278188965446,-6.03202515985e-05,1793192831953923584
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.615527594,633,875,783,799,649.615527594,628,650,0.400963666001,-0.0154158754767,0.0498465039393,0.999999951253,-0.000131406370947,-0.000276770421255,-6.02029339968e-05,1793192831970590208
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..855b2e836e92682b38383677996d34c7cb88b6fd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/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
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+6,0.100000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
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+372,6.200000000,pose2_to_pose3_retreat,0.575713542317,-0.00994529785028,1.04002893435,0.546284270596,-0.00127257485467,1.03969822948
+373,6.216666667,pose2_to_pose3_retreat,0.575713274273,-0.00994528229975,1.04002892149,0.546284002419,-0.00127255975043,1.03969821671
+374,6.233333333,pose2_to_pose3_retreat,0.575712848965,-0.0099453077926,1.04002891548,0.546283577537,-0.00127258379535,1.03969821084
+375,6.250000000,pose2_to_pose3_retreat,0.575712265102,-0.00994536310002,1.04002891306,0.546282994515,-0.00127263624213,1.03969820861
+376,6.266666667,pose2_to_pose3_retreat,0.575711988571,-0.00994538929486,1.04002891191,0.546282718383,-0.0012726610821,1.03969820755
+377,6.283333333,pose2_to_pose3_retreat,0.57571185516,-0.00994540193253,1.04002891136,0.546282585163,-0.00127267306612,1.03969820704
+378,6.300000000,pose2_to_pose3_retreat,0.575711831486,-0.00994540417501,1.04002891126,0.546282561524,-0.00127267519261,1.03969820695
+379,6.316666667,pose2_to_pose3_retreat,0.575711609791,-0.00994542517547,1.04002891034,0.546282340148,-0.00127269510687,1.0396982061
+380,6.333333333,pose2_to_pose3_retreat,0.575711350905,-0.00994544969896,1.04002890927,0.546282081634,-0.00127271836195,1.03969820511
+381,6.350000000,pose2_to_pose3_retreat,0.575711223983,-0.00994546172185,1.04002890874,0.546281954895,-0.00127272976298,1.03969820462
+382,6.366666667,pose2_to_pose3_retreat,0.57571088735,-0.00994549360998,1.04002890734,0.546281618747,-0.00127276000178,1.03969820333
+383,6.383333333,pose2_to_pose3_retreat,0.575710520731,-0.00994546586962,1.04002894695,0.546281251439,-0.00127273461156,1.03969824269
+384,6.400000000,pose2_to_pose3_retreat,0.575710337327,-0.00994541883141,1.0400289886,0.546281067043,-0.00127269095009,1.039698284
+385,6.416666667,pose2_to_pose3_retreat,0.575710265518,-0.00994540041437,1.0400290049,0.546280994846,-0.00127267385515,1.03969830018
+386,6.433333333,pose2_to_pose3_retreat,0.575709898705,-0.00994530633675,1.0400290882,0.546280626051,-0.00127258653109,1.03969838282
+387,6.450000000,pose2_to_pose3_retreat,0.575709463698,-0.00994527940739,1.04002918874,0.546280190509,-0.00127256132622,1.0396984857
+388,6.466666667,pose2_to_pose3_retreat,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471563,1.03969857335
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d729e4ca403074542ce342adf040aac5e850862a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce926a0f802b5ff4d632d4a8cd3890b5b29e88fd525c82c33327cd2346d7d7a6
+size 24915061
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..018b25d9a1df5e15e4da3ac4ad7edd8e45add814
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/franka_data.csv
@@ -0,0 +1,393 @@
+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,763,742,711,671,660,633,876,783,800,650,629,650,0.400963875476,-0.0154156243067,0.0498464811084,0.999999951518,-0.000131660250606,-0.000275683129449,-6.02396024746e-05,1793192832125712384
+1,0.016666667,BASELINE,763,742,711,671,660,633,876,783,800,649.410181816,628.410181816,650,0.400963873003,-0.0154156933758,0.049846743924,0.999999951845,-0.000130994018765,-0.000274796948887,-6.03140031928e-05,1793192832142379008
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+21,0.350000000,BASELINE,763,742,711,671,660.795496242,633,875.204503758,783,799,649.795496242,629,650.204503758,0.400962943001,-0.015416839288,0.0498470010743,0.999999951893,-0.000129118871958,-0.000275609623762,-5.98537790451e-05,1793192832475712512
+22,0.366666667,BASELINE,763,742,711,671,660.217755388,633,875.782244612,783,799,649.217755388,629,650.782244612,0.400961155388,-0.0154159860558,0.04984598376,0.999999951294,-0.00012988676596,-0.000277323907547,-6.02740999562e-05,1793192832492379136
+23,0.383333333,BASELINE,763,742,711,671,660.356960387,633,875.643039613,783,799.356960387,649,629,650.643039613,0.400960481918,-0.0154159994192,0.0498454745296,0.999999951061,-0.00013023885607,-0.000278014537153,-6.01956329214e-05,1793192832509045504
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+25,0.416666667,BASELINE,763,742,711,670.494666691,661,633,875,783,800,649,628.494666691,650,0.400961874933,-0.0154161431484,0.0498460121014,0.99999995155,-0.000129020926192,-0.000276899077407,-5.98317084332e-05,1793192832542379008
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+27,0.450000000,BASELINE,763.678108564,742,711,670.678108564,661,633,875.678108564,783,799.321891436,649,628,650,0.400961607526,-0.0154176609214,0.0498457142088,0.999999951844,-0.000128101104593,-0.000276250014205,-5.98966279167e-05,1793192832575712256
+28,0.466666667,BASELINE,763.736560743,742,711,671,660.736560743,633,875.736560743,783,799,649.263439257,628.263439257,650,0.400961025518,-0.0154180987189,0.0498455292148,0.999999951676,-0.000128767528108,-0.000276551386268,-5.98799093352e-05,1793192832592378880
+29,0.483333333,BASELINE,763.161852977,742,711,671,660.161852977,633,875.161852977,783,799,649.838147023,628.838147023,650,0.400961444315,-0.015417016082,0.0498462087846,0.999999951509,-0.000129824848692,-0.000276668980618,-5.98398851316e-05,1793192832609045504
+30,0.500000000,BASELINE,763,742,711,671,660.413635203,633,875,783,799.413635203,649.586364797,629,650.413635203,0.400962440102,-0.0154160559962,0.0498467665338,0.99999995169,-0.000129970087581,-0.000275930837147,-5.99184878025e-05,1793192832625712384
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+46,0.766666667,BASELINE,763,742,711,671,660.295494624,633,876,783,799,649.295494624,629,650.704505376,0.400961460343,-0.0154147485526,0.049846104568,0.999999952208,-0.000124712792567,-0.000276421560829,-6.0189429464e-05,1793192832892378880
+47,0.783333333,BASELINE,763,742,711,671,660,633,875.71011234,783,799,649,629,650.71011234,0.400961192852,-0.015415561446,0.0498456798604,0.999999951956,-0.000126080985401,-0.000276722521842,-6.01388908591e-05,1793192832909045504
+48,0.800000000,BASELINE,763,742,711,671,660,633,875.134974758,783,799,649,629,650.134974758,0.400962305216,-0.0154173815974,0.0498461639033,0.999999952129,-0.000128789735743,-0.000274860196332,-6.00627349172e-05,1793192832925712128
+49,0.816666667,BASELINE,763,742.436843136,711.436843136,671,660.436843136,633,875,783,799.436843136,649.436843136,629,650.436843136,0.40096302495,-0.0154172687013,0.0498469209288,0.999999952446,-0.000128895705896,-0.000273730833412,-5.97152494528e-05,1793192832942379008
+50,0.833333333,BASELINE,763,742.992013155,711.992013155,670.992013155,661,633,874.992013155,783,799.98402631,649.992013155,629,650.992013155,0.400963596996,-0.0154165636162,0.0498477421965,0.999999952797,-0.000128209590562,-0.000272857417194,-5.93003699209e-05,1793192832959045632
+51,0.850000000,BASELINE,763,742.395535696,711.395535696,670.395535696,661,633,874.395535696,783,798.791071391,649.395535696,629,650.395535696,0.400962158246,-0.0154159008877,0.0498471290715,0.999999952394,-0.000127969260309,-0.000274281835084,-6.00502912709e-05,1793192832975712256
+52,0.866666667,BASELINE,763,742.193704349,711.193704349,670.193704349,661,633,874.193704349,783,798.387408698,649,629,650.193704349,0.400961248946,-0.015416118464,0.0498468628288,0.999999952063,-0.000128627161515,-0.00027511625934,-6.03369111255e-05,1793192832992378880
+53,0.883333333,BASELINE,763,742.768698161,711.768698161,670.768698161,661,633,874.768698161,783,799.537396323,649,629,650.768698161,0.400961381821,-0.0154180688409,0.0498472793922,0.999999951875,-0.00013105315,-0.00027478933449,-5.97115639103e-05,1793192833009045248
+54,0.900000000,BASELINE,763,742.655440263,711.655440263,671,661,633,875,783,799.655440263,649,628.655440263,651,0.400962101484,-0.015418103246,0.0498479870746,0.999999952094,-0.000131431148858,-0.000273860114028,-5.94919009194e-05,1793192833025711872
+55,0.916666667,BASELINE,763,742.078994713,711.078994713,671,661,633,875,783,799.078994713,649,628.078994713,651,0.400963216052,-0.0154168482183,0.0498488906776,0.999999952586,-0.000130430867779,-0.000272525553683,-5.95452600342e-05,1793192833042378496
+56,0.933333333,BASELINE,763,742,711,671,661,633,875.509173758,783,799,649,628,650.490826242,0.400963362607,-0.0154176727934,0.0498483312619,0.999999952715,-0.000128867561037,-0.000272817561468,-5.94516982225e-05,1793192833059045376
+57,0.950000000,BASELINE,763.096787093,742,711.096787093,671,661,633,875.903212907,783,799.096787093,649,628.096787093,650.096787093,0.400963331152,-0.01541838734,0.049847703916,0.999999952751,-0.000127469422888,-0.000273363227215,-5.93432651027e-05,1793192833075712000
+58,0.966666667,BASELINE,763.67244311,742,711.67244311,671,661,633,875.32755689,783,799.67244311,649,628.67244311,650.67244311,0.400963179522,-0.0154169235949,0.049847889943,0.99999995263,-0.000127330841553,-0.000273885938201,-5.92766871521e-05,1793192833092378880
+59,0.983333333,BASELINE,763.753239565,742,711.753239565,671,660.753239565,633,875.246760435,783,800,649,629,651,0.400963092784,-0.0154158869287,0.0498477615384,0.999999952558,-0.00012711611378,-0.000274202706714,-5.94895786932e-05,1793192833109045504
+60,1.000000000,BASELINE,763.180689589,742,711.180689589,671,660.180689589,633,875.819310411,783,800,649,629,651,0.400963091721,-0.01541541412,0.0498472180004,0.999999952551,-0.000126800852397,-0.00027424757635,-6.00714444383e-05,1793192833125712128
+61,1.016666667,BASELINE,763,742,711,671,660,633,875.604905679,783,799.604905679,649,628.604905679,650.604905679,0.400962466741,-0.0154162189157,0.0498471615585,0.999999952498,-0.000127120402919,-0.000274356940589,-5.97741326234e-05,1793192833142378752
+62,1.033333333,BASELINE,763,742,711,671,660,633,875.027630614,783,799.027630614,649,628.027630614,650.027630614,0.400961554068,-0.0154176128236,0.04984732972,0.999999952423,-0.000127732669651,-0.000274496043733,-5.90714258747e-05,1793192833159045632
+63,1.050000000,BASELINE,763,742,711,671,660,633,875,783,799.566464927,649,628.566464927,650,0.400962080087,-0.0154174222466,0.0498475933648,0.999999952555,-0.000127560993797,-0.000274026484071,-5.93998105009e-05,1793192833175712256
+64,1.066666667,BASELINE,763.1565342,742.1565342,711,671,660.1565342,633,875,783,799.8434658,649,629,650.1565342,0.400962934027,-0.0154170132901,0.0498479758722,0.999999952768,-0.000127480245536,-0.000273212573614,-5.9736876707e-05,1793192833192379136
+65,1.083333333,BASELINE,763.733517749,742.733517749,711,671,660.733517749,633,875,783,799.266482251,649,629,650.733517749,0.400964474501,-0.0154162317131,0.0498486647503,0.999999953171,-0.00012774957951,-0.000271555924775,-5.99580387588e-05,1793192833209045760
+66,1.100000000,BASELINE,763.689628057,742.689628057,711,671,661,633,875,783,799.620743887,649,629,651,0.40096469366,-0.0154160898259,0.0498487509892,0.99999995332,-0.000126973042667,-0.000271376783132,-5.99398943015e-05,1793192833225712128
+67,1.116666667,BASELINE,763.112884908,742.112884908,711,671,661,633,875,783,800.774230185,649,629,651,0.400963778823,-0.0154164969412,0.0498483200236,0.999999953248,-0.000125298905766,-0.000272465685875,-5.97163692733e-05,1793192833242378752
+68,1.133333333,BASELINE,763,742,711.460614464,670.539385536,661,633,875,783,800.539385536,649.460614464,629,650.539385536,0.400963808766,-0.0154157990926,0.0498483235846,0.999999953193,-0.000125135531288,-0.000272706396265,-5.98881693165e-05,1793192833259045376
+69,1.150000000,BASELINE,763,742,711.96541155,670.03458845,661,633,875,783,799.96541155,650,629,650.03458845,0.400964055951,-0.0154149063917,0.0498484364435,0.999999953157,-0.000125294454139,-0.000272713464541,-6.01235952829e-05,1793192833275712256
+70,1.166666667,BASELINE,763,742,711.370978962,670.629021038,661,633,875,783,799.370978962,650,629,650.629021038,0.400964097887,-0.0154152122976,0.0498486067809,0.999999953364,-0.000124719137057,-0.00027227986675,-5.98316740051e-05,1793192833292378880
+71,1.183333333,BASELINE,763,742,711,671,660.783309055,633,875,783,799,650,629,650.783309055,0.400963805519,-0.0154152628924,0.0498485490925,0.999999953353,-0.000124691804163,-0.000272367165673,-5.96803866708e-05,1793192833309045504
+72,1.200000000,BASELINE,763,742,711,671,660.206866496,633,875,783,799,650,629,650.206866496,0.40096295814,-0.015414889618,0.0498481128345,0.999999952978,-0.000125574237833,-0.000273319260394,-5.97625806116e-05,1793192833325712128
+73,1.216666667,BASELINE,763,742,711,671,660,633,875,783,799.370182032,650,628.629817968,650.370182032,0.400962634402,-0.0154159916682,0.049847943039,0.99999995278,-0.000126664874717,-0.000273574147747,-5.96060997969e-05,1793192833342378752
+74,1.233333333,BASELINE,763,742,711,671,660,633,875,783,799.947569709,650,628.052430291,650.947569709,0.400962603767,-0.0154179195163,0.0498479223934,0.999999952681,-0.00012787205119,-0.000273438780275,-5.9316023198e-05,1793192833359045376
+75,1.250000000,BASELINE,763,742,711,671,660.534260096,633,875,783,799.465739904,650,628,650.465739904,0.400962297406,-0.0154166116803,0.049847924336,0.999999952834,-0.000126370602866,-0.000273534071763,-5.9513857491e-05,1793192833375712256
+76,1.266666667,BASELINE,763,742,711,670.879940993,661,633,875,783.120059007,799,649.879940993,628,650,0.400962363894,-0.0154155941765,0.0498481245581,0.99999995307,-0.000125039679818,-0.000273252616104,-5.96437401656e-05,1793192833392379136
+77,1.283333333,BASELINE,763,742,711,670.301099134,661,633,875,783.698900866,799,649.301099134,628,650,0.400963960384,-0.0154169210369,0.0498490738469,0.999999953537,-0.000125394146471,-0.000271443460203,-5.93277450408e-05,1793192833409046016
+78,1.300000000,BASELINE,763,742.276284846,711,670.276284846,661,633,875,783.723715154,799.276284846,649,628,650,0.400964265498,-0.0154176018979,0.0498489817136,0.999999953581,-0.000125948451672,-0.000271037741529,-5.92710864555e-05,1793192833425712640
+79,1.316666667,BASELINE,763,742.852088311,711,670.852088311,661,633,875,783.147911689,799.852088311,649,628,650,0.400963170641,-0.015417582435,0.0498477605814,0.999999953167,-0.000126719400533,-0.000272153480217,-5.94955729603e-05,1793192833442379008
+80,1.333333333,BASELINE,763,742.574032942,711,671,661,633,875.425967058,783,799.574032942,649,628,650,0.400963676728,-0.0154161479417,0.0498480659585,0.999999953502,-0.000125367744867,-0.000271516433383,-5.96458680671e-05,1793192833459045376
+81,1.350000000,BASELINE,763,742.000819477,711,671,661,633,875.999180523,783,799.000819477,649,628,650,0.400964736223,-0.0154142243069,0.0498488990125,0.999999954091,-0.000123282356723,-0.000270273491497,-5.97705170378e-05,1793192833475712256
+82,1.366666667,BASELINE,763,742,711,671,660.407899338,633,876,783.592100662,799.592100662,649.592100662,628.592100662,650,0.400963204316,-0.0154162980525,0.049848339892,0.99999995334,-0.000125800280932,-0.000271947293438,-5.94907196875e-05,1793192833492378880
+83,1.383333333,BASELINE,763.180534524,742,711,671,660.180534524,633,875.819465476,783.819465476,799.819465476,649.819465476,629,650.180534524,0.400962077205,-0.0154179757271,0.0498477302494,0.999999952699,-0.000127791553075,-0.000273409656088,-5.93155430047e-05,1793192833509045248
+84,1.400000000,BASELINE,763.759017311,742,711,671,660.759017311,633,875.240982689,783.240982689,799.240982689,649.240982689,629,650.759017311,0.400961850553,-0.0154187677364,0.0498470136352,0.999999952321,-0.000128607411105,-0.000274396743468,-5.9372255643e-05,1793192833525712384
+85,1.416666667,BASELINE,763.666897329,742,711,670.666897329,661,633,875,783,799,649.333102671,629,650.666897329,0.400962314857,-0.0154180742902,0.0498472090068,0.999999952511,-0.000127219180261,-0.000274329744657,-5.94606743625e-05,1793192833542379008
+86,1.433333333,BASELINE,763.095951865,742,711,670.095951865,661,633,875,783,799,649.904048135,629,650.095951865,0.40096327252,-0.0154163201955,0.0498480555567,0.999999953102,-0.000124257180386,-0.000273510104559,-5.95717319327e-05,1793192833559045632
+87,1.450000000,BASELINE,763.492429384,742,711,670.492429384,661,633,875,783,799.492429384,649.507570616,628.507570616,650,0.400962790025,-0.0154155669714,0.0498478026122,0.999999953007,-0.000123806403272,-0.00027399902524,-5.98457628073e-05,1793192833575712256
+88,1.466666667,BASELINE,764,742,711,671,660.91702365,633,875,783,799.91702365,649,628,650,0.400962205262,-0.0154153955961,0.0498474346205,0.99999995281,-0.000124143052088,-0.00027452855072,-6.00146844167e-05,1793192833592378880
+89,1.483333333,BASELINE,764,742,711,671,660.334640562,633,875,783,799.334640562,649,628,650,0.400962755944,-0.0154175093047,0.0498477109751,0.999999952821,-0.000126165782771,-0.000273711501449,-5.9352844134e-05,1793192833609045504
+90,1.500000000,BASELINE,763.754331727,742.245668273,711,671,660.245668273,633,875,783,799,649.245668273,628,650.245668273,0.400963032086,-0.0154182064263,0.0498479182461,0.999999952998,-0.000126168221533,-0.000273143200531,-5.8973065968e-05,1793192833625712128
+91,1.516666667,BASELINE,763.176824754,742.823175246,711,671,660.823175246,633,875,783,799,649.823175246,628,650.823175246,0.400962937391,-0.0154169900799,0.0498480322018,0.999999953402,-0.000123441732075,-0.000272910898825,-5.89742858764e-05,1793192833642378752
+92,1.533333333,BASELINE,763,743,711,670.602420568,661,633,875.397579432,783,799,650,628.397579432,651.397579432,0.400963310065,-0.0154170877871,0.0498482738191,0.999999953261,-0.000125158185725,-0.000272581374987,-5.92619514192e-05,1793192833659045888
+93,1.550000000,BASELINE,763,743,711,670.029385621,661,633,875.970614379,783,799,650,628.970614379,651.970614379,0.400963888992,-0.0154177653984,0.0498485717747,0.999999952871,-0.000128835351417,-0.000272208946089,-5.96760280947e-05,1793192833675713536
+94,1.566666667,BASELINE,763.557659933,742.442340067,711,670,661,633,875.442340067,783,799,650,628.442340067,650.884680134,0.400963876759,-0.0154176519815,0.0498485315574,0.999999953005,-0.000127781821629,-0.000272250463285,-5.95177721782e-05,1793192833692379648
+95,1.583333333,BASELINE,764,742.144134257,711,670,661,633,875,783,799.144134257,649.855865743,628.144134257,650,0.400963966192,-0.0154176089829,0.0498486455967,0.999999953168,-0.000126993739718,-0.000272059935899,-5.93360433881e-05,1793192833709046272
+96,1.600000000,BASELINE,764,742.726568748,711,670,661,633,875,783,799.726568748,649.273431252,628.726568748,650,0.400964461951,-0.015417910141,0.0498492843024,0.999999953337,-0.000127790443066,-0.000271095740343,-5.91770093697e-05,1793192833725712640
+97,1.616666667,BASELINE,764,742.696141407,711,670.303858593,661,633,875,783,799.696141407,649,628.696141407,650,0.400964607003,-0.0154180249156,0.0498493780996,0.999999953299,-0.000128351225491,-0.00027095017467,-5.92716866234e-05,1793192833742379008
+98,1.633333333,BASELINE,764,742.123404,711,670.876596,661,633,875,783,799.123404,649,628.123404,650,0.40096444172,-0.0154179747629,0.0498489897175,0.999999953078,-0.000128703245833,-0.000271528999408,-5.95908682702e-05,1793192833759045376
+99,1.650000000,BASELINE,763.551297163,742,711.448702837,671,661,633.448702837,875.448702837,783.448702837,799.448702837,649.448702837,628,650,0.400965605333,-0.0154180036218,0.0498496825177,0.999999953548,-0.000128052424197,-0.00027014169761,-5.94146122061e-05,1793192833775712000
+100,1.666666667,BASELINE,763,742,711.978582321,671,660.978582321,633.978582321,876,783.978582321,800,649.978582321,628.021417679,650,0.400966962268,-0.0154180107484,0.0498505758253,0.999999954156,-0.000127102405085,-0.000268400803312,-5.91114632187e-05,1793192833792378624
+101,1.683333333,BASELINE,763,742,711.384998208,671,660.384998208,633.384998208,876,783.384998208,800,649.384998208,628.615001792,650,0.400963733794,-0.0154168576049,0.0498488931382,0.999999953485,-0.000125517136561,-0.000271639001899,-5.90533696758e-05,1793192833809046528
+102,1.700000000,BASELINE,763.203896385,742,711,671,660.203896385,633,875.796103615,783,799.796103615,649,629,650.203896385,0.400961400393,-0.0154165394926,0.0498474439683,0.999999952856,-0.000124904202129,-0.000274229014765,-5.9043281133e-05,1793192833825713920
+103,1.716666667,BASELINE,763.784135215,742,711,671,660.784135215,633,875.215864785,783,799.215864785,649,629,650.784135215,0.400960719074,-0.015417762642,0.0498464258135,0.99999995232,-0.000126085956828,-0.000275622636279,-5.91217979894e-05,1793192833842380288
+104,1.733333333,BASELINE,763.639068161,742,711.360931839,671,661.360931839,633,875,783,799,649,629,651,0.400961489979,-0.0154184239891,0.0498467310115,0.999999952275,-0.000127555232466,-0.000275117033158,-5.90753341217e-05,1793192833859046400
+105,1.750000000,BASELINE,763.064310734,742,711.935689266,671,661.935689266,633,875,783,799,649,629,651,0.40096312122,-0.0154187525097,0.0498478201988,0.999999952519,-0.000129194843241,-0.000273486279161,-5.89548283678e-05,1793192833875712256
+106,1.766666667,POSE1_TO_POSE2_PRESS,763,742,712,671,661,633,876,783,800,649,629,650,0.400965368669,-0.0154183668628,0.0498495159187,0.999999953812,-0.0001257073369,-0.000270357172569,-5.89955530084e-05,1793192833905994496
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711.418089087,671,661,633,876,783,799.418089087,649,629,650.581910913,0.400964251829,-0.0154184367583,0.0498487148394,0.999999953305,-0.000126389783768,-0.000271920052313,-5.8951418246e-05,1793192833922661120
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,711,671,661,633,875.838091672,783,799,649,629,650.838091672,0.400963549303,-0.0154184577865,0.0498482541092,0.999999953001,-0.000126769409182,-0.000272853903939,-5.89748161546e-05,1793192833939328000
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742,711,671,661,633,875.262977567,783,799,649,629,650.262977567,0.400963904144,-0.0154183541007,0.0498486619832,0.999999953222,-0.000126376204984,-0.000272182415055,-5.9170563989e-05,1793192833955995136
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742,711,670.68664537,661,633,875,783,799.31335463,649,628.68664537,650,0.40096464989,-0.015418802885,0.0498492601089,0.999999953547,-0.000126902470954,-0.000270732113332,-5.92045193591e-05,1793192833972661760
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,711,670.109286955,661,633,875,783,799.890713045,649,628.109286955,650,0.400965724977,-0.0154197171299,0.0498500185232,0.999999953956,-0.000128203397929,-0.000268625655592,-5.91021632702e-05,1793192833989328384
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.478210221,742,711,670.478210221,661,633,875,783,799.521789779,649,628.478210221,650,0.400964368635,-0.0154187797954,0.0498493276915,0.999999953529,-0.000127560669557,-0.000270481867977,-5.924415951e-05,1793192834005994752
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660.933368308,633,875.066631692,783,799,649.066631692,628.933368308,650.066631692,0.400962980485,-0.0154175475348,0.0498484718797,0.999999953031,-0.000126575669999,-0.000272737720764,-5.94164067256e-05,1793192834022661120
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660.356006872,633,875.643993128,783,799,649.643993128,628.356006872,650.643993128,0.40096569991,-0.0154173683423,0.0498489451344,0.999999953532,-0.000126445622633,-0.000270965038428,-5.93832231964e-05,1793192834039327744
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,670.779542614,660.220457386,633,875.779542614,783,799,649.779542614,628,650.779542614,0.400972788181,-0.015418292278,0.0498519025638,0.999999954973,-0.000126858031655,-0.000265496235614,-5.89231083418e-05,1793192834055994368
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,670.204521351,660.795478649,633,875.204521351,783,799,649.204521351,628,650.204521351,0.40098690291,-0.0154209903861,0.0498588553172,0.999999957842,-0.000128142878855,-0.000254082924444,-5.7776355452e-05,1793192834072661248
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.620653152,742,711,670.379346848,661,633,875.758693696,783,799,649,628.379346848,650.379346848,0.401015544489,-0.0154215107691,0.0498691250157,0.999999963168,-0.000126732047368,-0.000233183412839,-5.68135871e-05,1793192834089327872
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.031901262,742,711,670.968098738,661,633,876.936197477,783,799,649,628.968098738,650.968098738,0.401052205104,-0.015420829016,0.0498812257174,0.999999969333,-0.000123833161626,-0.000207047377803,-5.59523807843e-05,1793192834105994752
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.547880789,742,711,671,661,633,875.904238422,783,799,649,629,650.452119211,0.401117089206,-0.0154261908086,0.0499006915485,0.999999976877,-0.00012666676053,-0.000165371604117,-5.34187336045e-05,1793192834122661376
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.126712249,671.126712249,661,633,875,783.126712249,799,649.126712249,628.873287751,650.126712249,0.401184870625,-0.0154315830641,0.0499184124156,0.99999998192,-0.000129588238367,-0.000129523115478,-5.08982153321e-05,1793192834139328256
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.703990968,671.703990968,661,633,875,783.703990968,799,649.703990968,628.296009032,650.703990968,0.401257205049,-0.01543585252,0.0499284281628,0.999999983234,-0.000131654443226,-0.000117560995511,-4.87650713424e-05,1793192834155994624
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.719730625,742,712,671.439461249,661,633,875,783.719730625,799,649.719730625,628.280269375,650.719730625,0.401336658319,-0.0154406354409,0.0499347469766,0.999999984135,-0.000132071408517,-0.000109796042723,-4.72364532275e-05,1793192834172661248
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.144504982,742,712,670.289009964,661,633,875,783.144504982,799,649.144504982,628.855495018,650.144504982,0.401423603476,-0.0154459587336,0.0499371751268,0.999999984712,-0.000130752709409,-0.000106448201035,-4.63440399515e-05,1793192834189328128
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,711.558886607,670.441113393,661,633,875,783,799,649,629,650.441113393,0.401528265873,-0.0154526220887,0.0499373635043,0.999999984284,-0.000133313946772,-0.000107763716118,-4.52400972493e-05,1793192834205994752
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,711,671,661,633,875,783.029663045,799,649,628.970336955,651,0.401640263515,-0.015459933172,0.0499367617012,0.999999983486,-0.00013720847206,-0.000110731917069,-4.40493656089e-05,1793192834222661376
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,711,671,661,633,875,783.607940065,799,649,628.392059935,651,0.401777990963,-0.015470908884,0.0499354432915,0.999999982406,-0.000141687167177,-0.000115330425626,-4.25660134336e-05,1793192834239328000
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.185351351,742,711,671,661,633,875,783.814648649,799,649,628.185351351,650.814648649,0.401926082411,-0.0154818683534,0.0499347275927,0.999999981532,-0.000145821423838,-0.000118242109394,-4.11282610519e-05,1793192834255994624
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.760939854,742,711,671,661,633,875,783.239060146,799,649,628.760939854,650.239060146,0.402095994115,-0.015492793624,0.0499352808364,0.999999981158,-0.00014923050216,-0.000117602366088,-3.97865142765e-05,1793192834272661760
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.656306778,742,711,670.656306778,661,633,875,783.343693222,799,649,628.656306778,650,0.402290436351,-0.0155034928544,0.0499372158352,0.999999981321,-0.000151493633976,-0.000113914497447,-3.78296740509e-05,1793192834289328384
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.068463633,742,711,670.068463633,661,633,875,783.931536367,799,649,628.068463633,650,0.402502304399,-0.0155140315133,0.0499401323938,0.999999981838,-0.000152942718221,-0.000108061326896,-3.54358887337e-05,1793192834305994752
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.511565252,742,711,670.511565252,660.488434748,633,875,783.488434748,799.511565252,649,628.511565252,650,0.402758282112,-0.0155255894431,0.0499477051494,0.999999983575,-0.000152539056742,-9.23151772142e-05,-3.25665389853e-05,1793192834322661120
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,670.909487621,660.090512379,633,875.090512379,783,800,649.090512379,628.909487621,650,0.403025494454,-0.0155358663739,0.0499552546401,0.999999985493,-0.000149509355387,-7.61008739419e-05,-2.94946006252e-05,1793192834339327744
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,670.330819088,660.669180912,633,875.669180912,783,800,649.669180912,628.330819088,650,0.403321939268,-0.0155385099294,0.0499593684374,0.999999988668,-0.000133633926369,-6.43948941321e-05,-2.56681418512e-05,1793192834355994624
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.245635533,711.245635533,670.245635533,661,633,876,783,800,650,628.245635533,650,0.403634478753,-0.015534238811,0.0499637775647,0.999999992222,-0.000109867110612,-5.44682794258e-05,-2.27768784404e-05,1793192834372661248
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.819135084,711.819135084,670.819135084,661,633,876,783,800,650,628.819135084,650,0.403968500711,-0.0155207382753,0.0499685808858,0.999999995821,-7.55672034228e-05,-4.69166873758e-05,-2.1133874832e-05,1793192834389327616
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.59654576,743,712,671,661,633,875.59654576,783,800,650,628.59654576,650,0.4043398456,-0.0155180486331,0.0499740117889,0.999999997908,-5.06998040251e-05,-3.60915267459e-05,-1.76515814536e-05,1793192834405994496
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.00724263,743,712,671,661,633,875.00724263,783,800,650,628.00724263,650,0.404728383076,-0.0155203389675,0.0499797317838,0.999999999174,-3.01774363742e-05,-2.37584156673e-05,-1.33220297998e-05,1793192834422661376
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.572294924,743,712,670.427705076,661,633,875.572294924,783,799.427705076,649.427705076,628,650,0.405127915789,-0.0155282341255,0.0499691511269,0.999999998732,-1.99163889272e-05,-4.50823407424e-05,-1.03318748585e-05,1793192834439328000
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.849597186,711.849597186,670.150402814,660.849597186,633,876,783,799,649,628,650,0.405533623402,-0.0155339471316,0.049954742031,0.999999997308,-6.79311397474e-06,-7.26285870921e-05,-7.9162615752e-06,1793192834455994368
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.275177347,711.275177347,670.724822653,660.275177347,633,876,783,799,649,628,650,0.405956353575,-0.0155333115781,0.0499301115871,0.999999993076,1.47593416438e-05,-0.00011653617866,-7.07341645316e-06,1793192834472660992
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.701576964,742,711.298423036,671,660.298423036,633,876,783,799.298423036,649,628.298423036,650,0.406410467802,-0.015532697279,0.0499140294618,0.999999988812,3.85536428771e-05,-0.000144450434068,-4.95047504142e-06,1793192834489327616
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.128730071,742,711.871269929,671,660.871269929,633,876,783,799.871269929,649,628.871269929,650,0.406893442227,-0.015532102525,0.0499058081964,0.999999985496,6.44095030034e-05,-0.000157657542527,-1.65038258941e-06,1793192834505994240
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.460343987,742,712,671,661,633,876,783,800,649,629,650.460343987,0.407456780909,-0.0155350581384,0.0499184591056,0.99999998767,8.93696765645e-05,-0.000129050998483,4.40729883406e-06,1793192834522661120
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.947327007,742.052672993,712,671,661,633,876,783,800,649,628.947327007,651,0.408046369394,-0.0155390611331,0.0499380648152,0.999999989572,0.000114039426615,-8.78770743263e-05,1.1329529228e-05,1793192834539327744
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.369441862,742.630558138,712,671,661,633,876,783,800,649,628.369441862,651,0.408665430232,-0.0155432464519,0.049966693149,0.999999989352,0.000138402051072,-4.224173459e-05,1.89023277678e-05,1793192834555995136
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742.792325982,711.792325982,671,660.792325982,633,876,783,799.792325982,649,628,650.792325982,0.409284758782,-0.0155464092797,0.0499860881426,0.999999986385,0.000162505271022,-1.3247773219e-05,2.5418228216e-05,1793192834572662528
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742.216573573,711.216573573,671,660.216573573,633,876,783,799.216573573,649,628,650.216573573,0.409904561781,-0.0155477598595,0.0499891180972,0.999999982128,0.000186148725251,-1.37487504015e-05,3.00608975555e-05,1793192834589329408
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742,711.366776778,671,660.366776778,633,876,783,799,649,628.366776778,650,0.410503034259,-0.0155468352691,0.0499711547406,0.999999985173,0.000161834435324,-5.52272972882e-05,2.03280022276e-05,1793192834605995776
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742,711.954708428,671,660.954708428,633,876,783,799,649,628.954708428,650,0.411088645081,-0.0155445388227,0.0499405330771,0.99999998673,0.000108603130874,-0.000121414030702,1.92709285034e-06,1793192834622662400
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660.46519326,633,876,783,799,649.53480674,629,650.53480674,0.41179794056,-0.015552270707,0.0499315800604,0.999999991449,3.52950588135e-05,-0.000125857219015,4.11022482625e-06,1793192834639328256
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.114052483,742,712,671,660.228104966,633,876.114052483,783,799.114052483,649.885947517,628.885947517,650.885947517,0.412527836538,-0.0155601206447,0.0499311536862,0.999999993015,-1.93671262956e-05,-0.00011627073078,8.68608143594e-06,1793192834655994368
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.692488792,742,712,671,661.384977584,633,876.692488792,783,799.692488792,649.307511208,628.307511208,650.307511208,0.413299577394,-0.0155650432006,0.0499580810393,0.999999997346,8.71350910674e-06,-7.05431516035e-05,1.60089819927e-05,1793192834672661248
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.264911764,742.264911764,711.735088236,671,662,633,876.735088236,783,800.264911764,649.264911764,628,650.264911764,0.414044159332,-0.0155662934822,0.0499649653171,0.999999997467,3.6228418818e-05,-5.79365310088e-05,1.99395806094e-05,1793192834689327872
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.830509423,742.830509423,711.169490577,671,662,633,876.169490577,783,800.830509423,649.830509423,628,650.830509423,0.414757914866,-0.0155633755802,0.0499490998724,0.999999994371,6.31012098946e-05,-8.29235732223e-05,2.00197760868e-05,1793192834705994752
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.161711384,743,711.419144308,671,661.580855692,633,876.838288616,783,800.161711384,649.580855692,628,650.580855692,0.415497592042,-0.0155629028604,0.0499281856511,0.99999999072,6.90762988582e-05,-0.000116321706209,1.60771585863e-05,1793192834722661120
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.017025441,743,711.982974559,671,661,633,877.982974559,783,799.017025441,649.017025441,628.017025441,650,0.416251485458,-0.0155635809944,0.0499066955237,0.999999986388,6.65968587255e-05,-0.000150575800034,1.07364275404e-05,1793192834739328000
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.594779113,743,711.405220887,671,661,633,877.405220887,783,799.594779113,649.594779113,628.594779113,650,0.417108288499,-0.0155677035409,0.0499373877543,0.999999992194,8.01699777858e-05,-9.44877966123e-05,1.60405549409e-05,1793192834755994368
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711.171698717,671,661,633,876.828301283,783,799.828301283,650,629,650,0.417951046429,-0.0155713064732,0.0499624696422,0.999999994268,9.1605975485e-05,-5.13654060187e-05,2.08551134899e-05,1793192834772660992
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711.746659344,671,661,633,876.253340656,783,799.253340656,650,629,650,0.418760817119,-0.0155736890084,0.0499743747406,0.999999994147,9.80226014056e-05,-3.86948358495e-05,2.45198410394e-05,1793192834789327616
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.670853864,743,711.670853864,671,661,632.670853864,876,783,799.329146136,650,629,650,0.419551707021,-0.0155729854219,0.049966646008,0.999999992893,0.000104590386942,-5.15572392691e-05,2.48252868783e-05,1793192834805994240
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.082438725,743,711.082438725,671,661,632.082438725,876,783,799.917561275,650,629,650,0.420327724452,-0.0155698508916,0.0499434516707,0.999999989983,0.000111277240798,-8.45320124776e-05,2.24846202783e-05,1793192834822660864
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.497966507,742.502033493,711.497966507,671,661,632.497966507,876,783,800,649.502033493,629,650,0.421208007131,-0.0155753432095,0.0499615835788,0.999999992469,0.000112186585207,-4.37969974673e-05,2.36298250141e-05,1793192834839327744
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.076621311,711.923378689,671.076621311,661.153242623,633,876,783,800,649.076621311,629,650,0.422098296556,-0.0155813687214,0.0499823089252,0.999999993333,0.000112689217652,3.13497167547e-07,2.52144335948e-05,1793192834855994624
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.652374571,711.347625429,671.652374571,662.304749142,633,876,783,800,649.652374571,629,650,0.422943108223,-0.015581711323,0.0499760661842,0.999999992787,0.000116674494813,-1.18205982127e-05,2.59616382382e-05,1793192834872661248
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.772472431,711.227527569,672,662.317417294,633,876.227527569,783.227527569,800,649.772472431,629,650,0.423778591528,-0.0155818450378,0.0499667558524,0.999999993327,0.000109278573889,-2.67973094051e-05,2.6176215108e-05,1793192834889327872
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.198234038,711.801765962,672,660.594702113,633,876.801765962,783.801765962,800,649.198234038,629,650,0.424599860226,-0.0155816604467,0.0499527710663,0.999999995037,8.45397679717e-05,-4.6105654323e-05,2.55791637723e-05,1793192834905994752
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.389695995,711.610304005,672,660.779391991,633,877,783.610304005,800,649,628.610304005,650,0.425439790331,-0.0155823466725,0.0499633013279,0.999999995424,8.52790486044e-05,-3.37852420822e-05,2.7171361711e-05,1793192834922661376
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.984844391,711.015155609,672,661.969688782,633,877,783.015155609,800,649,628.015155609,650,0.426289558904,-0.0155834920036,0.0499867562173,0.999999994596,9.94506832946e-05,-4.78976878125e-06,2.99177581297e-05,1793192834939327744
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.441039798,711.558960202,671.441039798,662,632.441039798,877,783,799.441039798,649.558960202,628,650,0.427078763224,-0.0155791814778,0.0499784400024,0.99999999186,0.000117261881812,-3.97186157273e-05,3.08416055714e-05,1793192834955994368
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.13372404,711.86627596,671.13372404,661.86627596,632.13372404,876.86627596,783,799,649.86627596,628.13372404,650,0.427872465965,-0.0155750617119,0.0499652937616,0.999999987799,0.000133342163007,-7.52821590261e-05,3.09051421711e-05,1793192834972661248
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.712473458,711.287526542,671.712473458,661.287526542,632.712473458,876.287526542,783,799,649.287526542,628.712473458,650,0.428686405883,-0.0155720512318,0.0499388363499,0.999999983559,0.000143345556087,-0.000107398987969,2.82641085531e-05,1793192834989327872
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.711066566,742.711066566,711.288933434,672,661.288933434,633,876,783,799.288933434,649,629,650,0.429506145655,-0.0155730173384,0.0499355655391,0.999999984038,0.000144119287111,-0.000101971760944,2.74783363725e-05,1793192835005994496
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.136867008,742.136867008,711.863132992,672,661.863132992,633,876,783,799.863132992,649,629,650,0.43033161162,-0.0155779095588,0.0499551870332,0.999999988606,0.000135780503576,-5.94770067158e-05,2.85242777268e-05,1793192835022661120
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.453134622,742,711.546865378,671.546865378,662,633,876,783,800,649,629,650,0.431082505174,-0.0155755703935,0.0499476318525,0.999999989224,0.000121767366182,-7.70236042088e-05,2.81349099762e-05,1793192835039327744
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.046615083,711.046615083,671.046615083,661.953384917,633,876,783.046615083,800,649.046615083,628.953384917,650,0.431811769398,-0.0155711707973,0.0499324037918,0.999999987635,0.000108532455274,-0.000110456718619,2.73883527781e-05,1793192835055994368
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.623414799,711.623414799,671.623414799,661.376585201,633,876,783.623414799,800,649.623414799,628.376585201,650,0.432560467754,-0.0155690765793,0.0499266420024,0.999999985741,0.000124346651474,-0.000110861298078,2.76882080842e-05,1793192835072660992
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711.801219612,672,661.198780388,633,876.198780388,783.801219612,800,649.801219612,628.198780388,650,0.4333145439,-0.0155690200999,0.0499333126232,0.999999985972,0.000135976080398,-9.34581225517e-05,2.88596816474e-05,1793192835089327616
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,711.228551382,672,661.771448618,633,876.771448618,783.228551382,800,649.228551382,628.771448618,650,0.43407873531,-0.0155727964212,0.0499633674765,0.99999998883,0.000139734345027,-4.25601785813e-05,3.16705899332e-05,1793192835105994240
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.647477454,742.647477454,711.352522546,672,662,632.647477454,877,783,800,649,629,650,0.434778260969,-0.0155721803247,0.0499789188152,0.999999988723,0.000144546659341,-2.43963037602e-05,3.26331621495e-05,1793192835122660864
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.060820766,742.060820766,711.939179234,672,662,632.060820766,877,783,800,649,629,650,0.435434837668,-0.0155686469254,0.0499848373838,0.999999987826,0.000150059039511,-2.79733484157e-05,3.23681288385e-05,1793192835139327744
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.522664325,742.522664325,711.477335675,672,661.477335675,632.522664325,877,783,800,649,628.477335675,650,0.436045297334,-0.0155662100583,0.0499570572457,0.999999983336,0.000158968398416,-8.44073440775e-05,3.0544157396e-05,1793192835155994368
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711.104275681,672,661,632.895724319,877,783,800,649,628.104275681,650,0.436657215129,-0.015564482766,0.0499335771433,0.999999977215,0.000167667617687,-0.000128849463006,2.92369920955e-05,1793192835172661504
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711.679087288,672,661,632.320912712,877,783,800,649,628.679087288,650,0.437299782409,-0.0155653850633,0.0499470889505,0.999999980246,0.000173645618652,-9.15915942397e-05,3.10755298932e-05,1793192835189328640
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,672,661.253368477,632.253368477,877,783,800,649,629,650,0.437929575502,-0.0155666509098,0.0499636800869,0.999999981635,0.000180400091437,-5.5406724999e-05,3.33977459803e-05,1793192835205995776
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661.826979206,632.826979206,877,783,800,649,629,650,0.438543222756,-0.0155683762603,0.0499841633062,0.999999981431,0.000188135976719,-2.05780643868e-05,3.63313017039e-05,1793192835222662912
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711.584772394,672,662,633,877,783,800,649,629,650,0.439068573104,-0.0155673900831,0.0499736924834,0.999999980005,0.000192981005656,-3.78970765161e-05,3.62220239357e-05,1793192835239329024
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,672,661.990496081,632.990496081,877,783,800,649,629,650,0.439555176175,-0.0155652427236,0.0499498226709,0.999999977174,0.000195940796863,-7.77624439125e-05,3.48075357086e-05,1793192835255994624
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,672,661.413787956,632.413787956,877,783,800,649,629,650,0.440005340221,-0.0155636902181,0.0499241938591,0.999999979399,0.000160905597914,-0.000118999935253,3.39322696884e-05,1793192835272661504
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711.162730194,672,661.162730194,632.162730194,877,783,799.837269806,649,629,650,0.440454645442,-0.015563283256,0.0499060373013,0.999999978893,0.000138695035384,-0.000147776230882,3.37483225837e-05,1793192835289328384
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711.738765963,672,661.738765963,632.738765963,877,783,799.261234037,649,629,650,0.440901769503,-0.0155657857689,0.0499068589262,0.999999977769,0.000149056748278,-0.000144903328535,3.53202018579e-05,1793192835305995008
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+192,3.200000000,POSE1_TO_POSE2_PRESS,763.090093818,743,712,672.909906182,661.090093818,633,876.090093818,783,799,649.909906182,629,650,0.441737371734,-0.0155738845971,0.0499158150343,0.999999978628,0.000159839443747,-0.000125893496674,3.66997365429e-05,1793192835339327488
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+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.9309092,711.9309092,672.861818401,661.9309092,632.0690908,877,783.9309092,799.9309092,649,629,650.9309092,0.44243483077,-0.015580908974,0.0498985687235,0.99999998468,8.77750566825e-05,-0.000150754409553,1.44106831858e-05,1793192835372660992
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.354404545,711.354404545,671.708809089,661.354404545,632.645595455,877,783.354404545,799.354404545,649,629,650.354404545,0.442720016465,-0.0155838559831,0.0498832224011,0.999999979938,9.33893165679e-05,-0.00017659903519,1.46860753408e-05,1793192835389327872
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,671.220722808,661.220722808,632.779277192,877,783,799.220722808,649,628.779277192,650,0.442988451956,-0.0155858081627,0.0498654205858,0.999999973652,9.89713892951e-05,-0.000206596361552,1.47950902929e-05,1793192835405994496
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,711,671.793652349,661.793652349,632.206347651,877,783,799.793652349,649,628.206347651,650,0.443230159168,-0.0155861728957,0.049843700549,0.999999964854,0.000104502100524,-0.000243220137677,1.4638617608e-05,1793192835422661120
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.620806548,742,711,672,661.620806548,632,877,783,800,649,628.379193452,650,0.443456492103,-0.0155866838467,0.0498275797303,0.999999957181,0.000109272593061,-0.000271073510236,1.46935016354e-05,1793192835439327744
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.028166385,742,711,672,661.028166385,632,877,783,800,649,628.971833615,650,0.443674170931,-0.0155872771033,0.0498146106903,0.99999995022,0.000113615161592,-0.000293990055753,1.48673576273e-05,1793192835455994112
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+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711.846802213,672.153197787,660.153197787,632,876.846802213,782.846802213,799.306395574,649,628.846802213,650,0.445096756797,-0.015584023056,0.0497645516136,0.999999931046,9.56346566605e-05,-0.000358663008863,1.10950567447e-05,1793192835805994496
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711.272600874,672.727399126,660.727399126,632,876.272600874,782.272600874,800.454798251,649,628.272600874,650,0.445098527372,-0.0155838498705,0.0497645192972,0.999999931162,9.67886480802e-05,-0.000358042684464,1.06558508601e-05,1793192835822661120
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711.308227434,672.691772566,661,632,876.308227434,782,800.691772566,649,628,650,0.445100906996,-0.0155837759594,0.0497651488551,0.999999931564,9.6817628218e-05,-0.000356912239406,1.0543863414e-05,1793192835839327744
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.895045581,672.104954419,661,632,876.895045581,782,800.104954419,649,628,650,0.445103837109,-0.0155837917774,0.0497663766467,0.999999932224,9.58297694275e-05,-0.000355320722802,1.0727631609e-05,1793192835855994624
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.522729148,743,712,672,660.522729148,632,877,782.477270852,800,649,628,650,0.445103613963,-0.015582546069,0.0497658987116,0.999999932036,9.58636716006e-05,-0.00035584792881,1.0515418468e-05,1793192835872661248
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.058053901,743,712,672,660.058053901,632,877,782.941946099,800,649,628,650.058053901,0.445102703741,-0.0155812451139,0.0497650400352,0.999999931628,9.59834817513e-05,-0.000356967926387,1.02362721289e-05,1793192835889327616
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.634888831,743,712,672,660.634888831,632,877,782.365111169,800,649,628,650.634888831,0.445101791145,-0.0155819058799,0.0497640989834,0.999999930913,9.48822404195e-05,-0.000359261372209,1.0129730324e-05,1793192835905994240
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.789129186,743,712,672,661,632,877,782.210870814,800,649,628.210870814,650.789129186,0.445101583036,-0.0155819178729,0.0497636522543,0.999999930607,9.49517968042e-05,-0.000360094880781,1.00603743192e-05,1793192835922661120
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.21461812,743,712,672,661,632,877,782.78538188,800,649,628.78538188,650.21461812,0.445102589796,-0.0155808110766,0.0497640579697,0.999999931012,9.7040358018e-05,-0.000358410772194,1.00551440926e-05,1793192835939327744
+229,3.816666667,POSE1_TO_POSE2_PRESS,763,743,712,671.629580556,660.629580556,632,877,783,800,649,628.629580556,650,0.445102347177,-0.015581272594,0.049763211279,0.999999930666,9.61435591247e-05,-0.000359615487316,1.00841995078e-05,1793192835955994112
+230,3.833333333,POSE1_TO_POSE2_PRESS,763,743,712,671.038265654,660.038265654,632,877,783,800,649,628.038265654,650,0.445101359506,-0.0155826693577,0.0497616177302,0.999999929862,9.34664743289e-05,-0.000362542919928,1.01337007787e-05,1793192835972660992
+231,3.850000000,POSE1_TO_POSE2_PRESS,763,742.458950621,711.458950621,671.541049379,660,632,876.458950621,783,799.458950621,649,628,650,0.4451016972,-0.0155827607438,0.0497622614807,0.999999930139,9.35648530715e-05,-0.000361749600345,1.02605986387e-05,1793192835989327616
+232,3.866666667,POSE1_TO_POSE2_PRESS,763,742.118477801,711.118477801,672.118477801,660,631.881522199,876.118477801,782.881522199,799,649,628,650,0.445102484075,-0.0155826572626,0.0497631824621,0.999999930618,9.34789156263e-05,-0.000360444068509,1.03096396325e-05,1793192836005994496
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742.691850287,711.691850287,672.691850287,660,631.308149713,876.691850287,782.308149713,799,649,628,650,0.44510464349,-0.0155821523709,0.0497645735177,0.999999931583,9.19479795608e-05,-0.000358160340778,1.00391888536e-05,1793192836022661120
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.272585538,743,712,672.727414462,660,631.272585538,877,782,799.272585538,649,628.272585538,650,0.445104999979,-0.0155821900163,0.0497646952621,0.999999931769,9.06586965531e-05,-0.000357973569365,9.87308565691e-06,1793192836039328000
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.861875312,743,712,672.138124688,660,631.861875312,877,782,799.861875312,649,628.861875312,650,0.445103261732,-0.0155828580095,0.0497633422541,0.999999931053,8.96501785985e-05,-0.000360223151962,9.82821894269e-06,1793192836055994368
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.556487443,743,712,672,660,632,877,782,800,649,628.556487443,650,0.445102401969,-0.0155824015281,0.0497626821051,0.99999993072,9.00207237036e-05,-0.000361058245451,9.70214211666e-06,1793192836072660992
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.022749042,742.977250958,712,672,660,632,877,782,800,649,628,650,0.445101902804,-0.015581605513,0.0497622802979,0.999999930529,9.08125623878e-05,-0.000361392870053,9.55302675664e-06,1793192836089327616
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.60057294,742.39942706,712,672,660,632,877,782,800,649,628,650,0.445103639898,-0.0155809247978,0.0497630063069,0.999999930932,9.15822448092e-05,-0.00036008241623,9.44841738614e-06,1793192836105994496
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.823305075,742,711.823305075,672,660,632,877,782,800,649,628,650,0.445104811076,-0.0155804615638,0.0497636333335,0.999999931247,9.22312541993e-05,-0.000359040263809,9.42979028421e-06,1793192836122661120
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.250993676,742,711.250993676,672,660,632,877,782,800,649,628,650,0.445104715179,-0.0155804852662,0.0497640387406,0.999999931369,9.26100789914e-05,-0.00035859883305,9.60367580313e-06,1793192836139327744
+241,4.016666667,HOLD_POSE2,764,742,711,672,661,632,877,782,799,649,628,650,0.445105239187,-0.0155818902616,0.0497640231961,0.999999931391,9.3367680366e-05,-0.000358324402544,1.02227239672e-05,1793192836174857728
+242,4.033333333,HOLD_POSE2,764,742.576782728,711.576782728,672,661,632,877,782,799,649,628,650,0.445106478878,-0.0155815536696,0.0497642848408,0.999999931814,9.24579703648e-05,-0.000357380106932,1.01075196738e-05,1793192836191523328
+243,4.050000000,HOLD_POSE2,763.846561514,742.846561514,712,672,660.846561514,632,877,782,799,649,628,650,0.445107238547,-0.0155810117784,0.0497642203719,0.999999931943,9.24745503861e-05,-0.000357018802723,9.98607042548e-06,1793192836208189184
+244,4.066666667,HOLD_POSE2,763.270255552,742.270255552,712,672,660.270255552,632,877,782,799,649,628,650,0.445106675307,-0.0155799040944,0.0497632571531,0.999999931258,9.50439312345e-05,-0.000358264188448,9.84741042212e-06,1793192836224855808
+245,4.083333333,HOLD_POSE2,763.305355385,742,711.694644615,672,660,632,877,782,799,649,628.305355385,650,0.445106091781,-0.0155788078602,0.0497626431828,0.999999930797,9.64426247332e-05,-0.000359182647307,9.61829946389e-06,1793192836241522176
+246,4.100000000,HOLD_POSE2,763.88035255,742,711.11964745,672,660,632,877,782,799,649,628.88035255,650,0.445105490344,-0.0155777217366,0.0497623376139,0.999999930538,9.68075514018e-05,-0.000359812415777,9.3093164773e-06,1793192836258188800
+247,4.116666667,HOLD_POSE2,763.528697729,742.471302271,711,672,660,632,877,782.471302271,799.942604541,649,628.528697729,650,0.44510503724,-0.0155790693535,0.0497619849532,0.999999930658,9.31565681773e-05,-0.000360447014341,9.17655159153e-06,1793192836274855680
+248,4.133333333,HOLD_POSE2,763.064128357,743,711,672,660,632,877,782.935871643,800.935871643,649,628,650,0.445104699593,-0.0155806938203,0.0497617340959,0.999999930848,8.9325449574e-05,-0.000360889917187,9.13378657916e-06,1793192836291522304
+249,4.150000000,HOLD_POSE2,763.638531295,743,711,672,660,632,877,782.361468705,800.361468705,649,628,650,0.445104970518,-0.0155794327435,0.049762391756,0.999999930954,9.2457437533e-05,-0.000359797382855,9.43872135651e-06,1793192836308189184
+250,4.166666667,HOLD_POSE2,764,743,711.213634981,672,660,631.786365019,877,782,799.786365019,649,628,650,0.44510542502,-0.0155789147974,0.0497628583343,0.999999931102,9.38003913544e-05,-0.00035903323977,9.63576175838e-06,1793192836324855552
+251,4.183333333,HOLD_POSE2,764,743,711.78992817,672,660,631.21007183,877,782,799.21007183,649,628,650,0.445106191155,-0.0155796583603,0.0497630005397,0.999999931333,9.21063519944e-05,-0.000358826560658,9.64964494888e-06,1793192836341522432
+252,4.200000000,HOLD_POSE2,763.624340073,742.624340073,712,672,660,631.375659927,877,782,799.375659927,649,628.375659927,650,0.445106253614,-0.015579508627,0.0497629875196,0.999999931329,9.1505197408e-05,-0.000359000341077,9.3873455436e-06,1793192836358189056
+253,4.216666667,HOLD_POSE2,763.03319411,742.03319411,712,672,660,631.96680589,877,782,799.96680589,649,628.96680589,650,0.445105912429,-0.0155788464813,0.0497628854592,0.999999931189,9.15309431903e-05,-0.000359392360661,8.96662228797e-06,1793192836374855680
+254,4.233333333,HOLD_POSE2,763,742.545328619,712,672,660,632,877,782.545328619,799.454671381,649,628.454671381,650,0.445107158403,-0.0155782649337,0.0497632962568,0.999999931548,9.18021736925e-05,-0.000358325447963,8.89510981937e-06,1793192836391522304
+255,4.250000000,HOLD_POSE2,763.122557302,743,712,672.122557302,660,632,876.877442698,782.877442698,799.122557302,649,628,650,0.445108261581,-0.0155778859441,0.0497637501062,0.999999931869,9.2143152335e-05,-0.000357340002246,8.92508235071e-06,1793192836408188928
+256,4.266666667,HOLD_POSE2,763.697780379,743,712,672.697780379,660,632,876.302219621,782.302219621,799.697780379,649,628,650,0.445108488587,-0.015578237392,0.0497642502737,0.999999931946,9.26878040053e-05,-0.000356976035843,9.25315557109e-06,1793192836424856064
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,743,711,672,660,632,877,783,799,649,629,650,0.445109516701,-0.0155759890398,0.049764489703,0.999999932192,9.22517649968e-05,-0.00035640698773,8.91404142754e-06,1793192836461956352
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,743,711.578923666,672,660,632,876.421076334,782.421076334,799.578923666,649,629,650,0.445109954108,-0.015577389775,0.0497650557154,0.999999932497,9.28376361852e-05,-0.000355398792998,8.87088978957e-06,1793192836478623232
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,660.157743596,632,876.157743596,782.157743596,800,649,628.842256404,650,0.445109978009,-0.0155783429569,0.0497652244,0.999999932612,9.29451251982e-05,-0.0003550481701,8.885609947e-06,1793192836495290112
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,660.736286927,632,876.736286927,782.736286927,800,649,628.263713073,650,0.445108898837,-0.015578102238,0.0497643331658,0.999999932219,9.17764732054e-05,-0.000356451697764,9.05470996624e-06,1793192836511956224
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.312517067,661,632,877,782.687482933,800.312517067,649,628.312517067,650,0.445107762645,-0.0155778773748,0.0497638572599,0.999999931655,9.2232394347e-05,-0.000357907647976,9.21550684777e-06,1793192836528622848
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,712,672.886809563,661,632,877,782.113190437,800.886809563,649,628.886809563,650,0.445106578692,-0.0155776657928,0.0497637292478,0.999999930947,9.40491158903e-05,-0.000359407509097,9.3693487152e-06,1793192836545289472
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.527938153,743,712,672.527938153,660.527938153,632,877,782.472061847,800.055876306,649,628.527938153,650,0.445106733539,-0.0155779376052,0.0497633148958,0.999999931192,9.33232493824e-05,-0.000358918684081,9.15066826186e-06,1793192836561956096
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.059113669,743,712,672,660,632,877,782.940886331,799,649,628,650,0.445106243954,-0.0155783342724,0.0497624623175,0.999999931347,9.21238954583e-05,-0.000358803000335,8.88904477784e-06,1793192836578622720
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.63832756,743,712,672,660,632,877,782.36167244,799,649,628,650,0.445097192923,-0.0155787854195,0.0497583725223,0.999999928629,9.22501133648e-05,-0.00036626547523,9.05416578425e-06,1793192836595289600
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.216885252,660,632,877,782.216885252,799.216885252,649.216885252,628,650,0.44508053756,-0.0155782695519,0.0497509965302,0.999999923726,9.17870567879e-05,-0.000379541326396,8.47144585133e-06,1793192836611956224
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.794351926,660,632,877,782.794351926,799.794351926,649.794351926,628,650,0.445051239655,-0.0155761459791,0.0497381570894,0.999999914901,9.03443050175e-05,-0.000402482174473,6.645406928e-06,1793192836628623104
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711.630018658,672.630018658,660.369981342,632,877,782.630018658,799.630018658,649.630018658,628,650,0.445004694042,-0.0155717817006,0.049720568476,0.999999901352,9.27208409002e-05,-0.000434368237264,4.75100582111e-06,1793192836645289728
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.055405352,672.055405352,660.944594648,632,877,782.055405352,799.055405352,649.055405352,628,650,0.444948608939,-0.0155661781163,0.0497003531544,0.999999884256,9.72097758848e-05,-0.000471201786036,2.81879428724e-06,1793192836661956096
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.467944051,711.532055949,672,661,632,877,782,799,649,628,650,0.444876584462,-0.0155618757576,0.0496846481529,0.999999874319,9.8033842995e-05,-0.000491682041966,2.15748671662e-07,1793192836678622464
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.118955812,712,672,660.881044188,632,876.881044188,782.118955812,799,649,628.118955812,650,0.444800659804,-0.0155570577608,0.0496720733151,0.99999986624,9.92010164441e-05,-0.000507617451242,-2.10997690556e-06,1793192836695289344
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.698375513,712,672,660.301624487,632,876.301624487,782.698375513,799,649,628.698375513,650,0.444716222013,-0.0155497062952,0.0496697519027,0.999999863231,0.000103210149415,-0.000512715304542,-3.08513089252e-06,1793192836711955968
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,632,876.276484077,783,799.276484077,649,628.723515923,650,0.444622403191,-0.0155427007983,0.049670619603,0.999999863364,0.000106073435742,-0.00051186517817,-3.9038761369e-06,1793192836728622848
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,632,876.853169,783,799.853169,649,628.146831,650,0.44451839864,-0.0155360709477,0.0496749499778,0.999999866902,0.000107692584608,-0.000504556854892,-4.55279585857e-06,1793192836745289472
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.561153047,743,712,672,660,632,877,782.561153047,800,649,628.438846953,650,0.444386945696,-0.0155277468102,0.049678554638,0.999999868035,0.000113582984642,-0.00050100497879,-4.71732629434e-06,1793192836761956352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.027120077,743,712,672.027120077,660.027120077,632,877,782.027120077,799.972879923,649,629,650,0.444244602498,-0.0155187649049,0.0496818922849,0.999999868362,0.00012084187204,-0.000498648064313,-4.76499995184e-06,1793192836778622976
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660.815720275,632,876.815720275,783,799,649,628.815720275,650,0.443885853347,-0.0154969309909,0.0496880537237,0.999999871316,0.000131045500847,-0.000490048428564,-6.9277488022e-06,1793192836811956224
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.090764071,660.909235929,632,876.909235929,782.090764071,799,649,628.909235929,650,0.44318681968,-0.0154551281597,0.049697224679,0.999999874253,0.000144768790348,-0.000480003478672,-1.15414044849e-05,1793192836861956096
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.320387078,742.320387078,711,671,660.320387078,633,876,783.320387078,799.320387078,649.679612922,629,650,0.406490415451,-0.0153772643507,0.0498221440111,0.99999994105,-0.000126442581734,-0.000312376994857,-6.58241716007e-05,1793192837745289216
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742.255944583,711,671,660,633.255944583,876,783,799,650,629,650.255944583,0.405952662798,-0.0153741971806,0.0498006076258,0.999999928095,-0.000126320054855,-0.000351129180092,-6.75342468391e-05,1793192837761956096
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742.831598611,711,671,660,633.831598611,876,783,799,650,629,650.831598611,0.405432755267,-0.0153726212773,0.0497739451347,0.999999909591,-0.000137520520818,-0.000395856098992,-7.21441506425e-05,1793192837778623488
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.416752464,742.583247536,711,671,660,633.583247536,875.583247536,783,799.416752464,649.583247536,629,650.583247536,0.404974913181,-0.0153729656205,0.049770205196,0.999999905076,-0.000146180493427,-0.000403872318083,-7.32494751163e-05,1793192837795290112
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.994265663,660.005734337,633,875.005734337,783,799.994265663,649,629,650,0.404543553718,-0.0153741568763,0.0497761372334,0.999999906982,-0.000153840818679,-0.000396302577287,-7.28900103395e-05,1793192837811956736
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.415306341,660.584693659,633,875.584693659,783,799.415306341,649,629,650,0.404193987246,-0.0153806341141,0.0498013986152,0.999999922998,-0.000166585396303,-0.000348160932021,-7.0968628062e-05,1793192837828622848
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.837567511,742,711.162432489,670.162432489,660.837567511,633,875.837567511,783.162432489,799.162432489,649,629,650.162432489,0.403854392301,-0.0153861720604,0.0498266568303,0.999999939461,-0.000154969111158,-0.000303815729652,-6.89892808305e-05,1793192837845289216
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.262925834,742,711.737074166,670.737074166,660.262925834,633,875.262925834,783.737074166,799.737074166,649,629,650.737074166,0.403540102287,-0.015389326344,0.0498519070149,0.999999958232,-8.15316281172e-05,-0.000269104850356,-6.6862834094e-05,1793192837861956096
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.313004561,742,711.686995439,671,660,633,875.626009121,783.686995439,800,649,629,651,0.403231176388,-0.0153901978817,0.0498612811311,0.99999996277,-5.3225874771e-05,-0.000259131771473,-6.69226668359e-05,1793192837878622720
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.890021928,742,711.109978072,671,660,633,876.780043856,783.109978072,800,649,629,651,0.402926775027,-0.0153891439709,0.0498572641138,0.999999959191,-6.29877970545e-05,-0.000270024513443,-6.88265810217e-05,1793192837895289600
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.522823875,742,711.477176125,671,660.477176125,633,876.522823875,783,800,649,629,650.522823875,0.402642095103,-0.0153898644947,0.0498438365664,0.999999950373,-7.47528035456e-05,-0.00029774978866,-7.07880694896e-05,1793192837911956736
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.065480416,742.065480416,711.934519584,671,660.934519584,633,876,783.065480416,800,649,629,650,0.402368745378,-0.0153911418226,0.0498291240594,0.999999940032,-8.65103808011e-05,-0.000327376797074,-7.26337331877e-05,1793192837928623616
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.64409174,742.64409174,711.35590826,671,660.35590826,633,876,783.64409174,800,649,629,650,0.402147791475,-0.0153935081086,0.0498217074396,0.999999934747,-9.45134286764e-05,-0.000340845308155,-7.34655055514e-05,1793192837945289984
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.779013585,742.779013585,711,671,660,633,875.779013585,783.779013585,799.779013585,649,629,650.220986415,0.401948207185,-0.0153939507485,0.0498171002793,0.999999933779,-7.97800271085e-05,-0.000348196859543,-6.95454117002e-05,1793192837961956864
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.20486239,742.20486239,711,671,660,633,875.20486239,783.20486239,799.20486239,649,629,650.79513761,0.401782774312,-0.0153913191538,0.0498169829983,0.999999938125,-2.87108474346e-05,-0.000345772718952,-5.80312228745e-05,1793192837978623232
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742.378634114,711,671,660,633,875,783,799.378634114,649.378634114,628.621365886,651,0.401638452031,-0.0153877038644,0.0498190047681,0.999999940748,-1.25553437097e-05,-0.000339570119532,-5.51236565773e-05,1793192837995289600
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742.967314968,711,671,660,633,875,783,799.967314968,649.967314968,628.032685032,651,0.401505840805,-0.0153835428714,0.0498222131733,0.999999943381,-1.57681477068e-05,-0.000331271425512,-5.69906009635e-05,1793192838011955712
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742.453258441,711,670.453258441,660,633,875,783.546741559,800,649.453258441,628.546741559,650.453258441,0.401406893776,-0.0153846967798,0.0498261005535,0.999999946559,-2.36469809247e-05,-0.000320867870318,-5.80258017808e-05,1793192838028622592
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,742,711,670,660,633,875.124847167,783.875152833,799.875152833,649,629,650,0.401314961466,-0.0153874856267,0.0498298047815,0.999999949311,-3.31018568458e-05,-0.000311151544498,-5.88812461649e-05,1793192838045289728
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,670,660,633,875.700149626,783.299850374,799.299850374,649,629,650,0.401241198276,-0.0153950461045,0.0498327041738,0.99999995081,-4.72534949258e-05,-0.000304361227493,-5.92645367248e-05,1793192838061956608
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.275428555,742,711.275428555,670,660,633,876,783,799.275428555,649,629,650,0.401176778221,-0.0154022531364,0.0498355463086,0.999999951786,-5.98680530354e-05,-0.000298880004902,-5.9284994001e-05,1793192838078623232
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.850681834,742,711.850681834,670,660,633,876,783,799.850681834,649,629,650,0.401122528877,-0.0154090754155,0.0498383261143,0.999999952297,-7.08093829907e-05,-0.000294823830613,-5.89104799049e-05,1793192838095289856
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.562519139,742,711.562519139,670.437480861,660.437480861,633,875.562519139,783,799.562519139,649,628.562519139,650,0.401079588622,-0.0154102018072,0.0498386443603,0.999999952246,-7.53534254081e-05,-0.000293770562131,-5.93971332185e-05,1793192838111956480
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742.027730638,711,670.972269362,661,633,875.027730638,783,799.027730638,649.027730638,628.027730638,650.027730638,0.401041469032,-0.0154092494515,0.0498381414395,0.999999952083,-7.7365418342e-05,-0.000293648511002,-6.0163196525e-05,1793192838128622592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742.606129695,711,670.393870305,661,633,875.606129695,783,799.606129695,649.606129695,628.606129695,650.606129695,0.401020349416,-0.0154066694402,0.0498384679986,0.999999953087,-7.36309524426e-05,-0.000291113783442,-6.04827461615e-05,1793192838145289472
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763,742.815969851,711,670,660.815969851,633,876,783,800.184030149,649.815969851,629,650.815969851,0.401001936078,-0.0154057880893,0.0498391495553,0.999999953884,-7.18566023647e-05,-0.000288816696061,-6.04395485187e-05,1793192838161956096
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,763,742,711.344689549,670.344689549,660,633,876,783,800.655310451,649,629,650.344689549,0.400979050905,-0.0154093066931,0.0498409988472,0.999999954243,-7.51097047843e-05,-0.000286948333693,-5.94423948133e-05,1793192838195289600
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763,742,711.933460616,670.933460616,660,633,876,783,800.066539384,649,629,650.933460616,0.400970494009,-0.0154086858068,0.0498406799984,0.999999953921,-7.48445857231e-05,-0.000288081658912,-5.9714338201e-05,1793192838211956480
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763,742,711.487141077,671,660,633,875.487141077,783,799.487141077,649,628.487141077,650.487141077,0.400969615022,-0.015409482252,0.0498418893913,0.99999995494,-7.31717388434e-05,-0.000285041150344,-5.93138307293e-05,1793192838228623104
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,875.090759729,783,799,649.090759729,628.090759729,650.090759729,0.40096982289,-0.0154103538208,0.0498432309152,0.999999956018,-7.17789840487e-05,-0.000281681644015,-5.8884444843e-05,1793192838245289472
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,875.667038332,783,799,649.667038332,628.667038332,650.667038332,0.400970611638,-0.0154106612132,0.0498442376274,0.999999956571,-7.28440851081e-05,-0.00027946053678,-5.87589151392e-05,1793192838261956352
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,875.757408311,783,799,650,629,651,0.400970987091,-0.0154112417488,0.0498449882499,0.999999956939,-7.43978755529e-05,-0.000277760461425,-5.86154786118e-05,1793192838278622976
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,875.182847434,783,799,650,629,651,0.40097079698,-0.015412196061,0.0498453884318,0.999999957055,-7.66204020263e-05,-0.000276773380661,-5.84475378985e-05,1793192838295289600
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763,742.402770183,711,671,660,633,875,783,799.402770183,649.597229817,629,650.597229817,0.400970167582,-0.0154123966814,0.0498462884684,0.999999957269,-7.62703367223e-05,-0.00027613848321,-5.82389381288e-05,1793192838311956224
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763,742.993548944,711,671,660,633,875,783,799.993548944,649.006451056,629,650.006451056,0.40096933313,-0.0154122454869,0.0498474218316,0.999999957529,-7.47194145303e-05,-0.000275667980986,-5.80113591749e-05,1793192838328623104
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763,742.427048239,711,671,660.572951761,633,875.572951761,783.572951761,800,649,628.427048239,650.572951761,0.400969380139,-0.015411973897,0.0498468652832,0.999999957431,-7.59613764611e-05,-0.000275569961362,-5.85600481006e-05,1793192838345289984
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.151064947,742,711.151064947,670.848935053,660.848935053,633,875.848935053,784,799.848935053,649,628,651,0.400968812485,-0.0154117415084,0.0498461903141,0.999999957273,-7.65050110018e-05,-0.000275912468851,-5.8942178587e-05,1793192838361956864
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.725912552,742,711.725912552,670.274087448,660.274087448,633,875.274087448,784,799.274087448,649,628,651,0.400966493219,-0.01541162282,0.0498452354772,0.999999956959,-7.50031286077e-05,-0.000277479251424,-5.8833020694e-05,1793192838378623232
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.692938339,742,711.692938339,670.307061661,660,633,875,783.692938339,799.307061661,649.307061661,628.307061661,650.692938339,0.400965594362,-0.0154114945454,0.0498452276573,0.999999956973,-7.39513486692e-05,-0.000277722138489,-5.87888063536e-05,1793192838395289600
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.106046505,742,711.106046505,670.893953495,660,633,875,783.106046505,799.893953495,649.893953495,628.893953495,650.106046505,0.400965989945,-0.0154113575346,0.0498460828691,0.999999957286,-7.33097540829e-05,-0.00027675853871,-5.88037760929e-05,1793192838411956224
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763,742,711.47418427,671,660,633,875,783,799.52581573,650,628.52581573,650,0.40096470819,-0.0154121509922,0.0498455332152,0.999999957013,-7.51641338358e-05,-0.00027722315793,-5.89174856615e-05,1793192838428622592
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,875.053115702,783.053115702,799.053115702,650,628.053115702,650.053115702,0.400963457314,-0.0154129968292,0.0498448897908,0.999999956716,-7.70375648157e-05,-0.000277770111258,-5.89640616437e-05,1793192838445289216
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,875.633732833,783.633732833,799.633732833,650,628.633732833,650.633732833,0.400966186878,-0.0154123249092,0.0498463921066,0.99999995751,-7.36334160655e-05,-0.000276006597566,-5.812765829e-05,1793192838461955840
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763,742,711.788311528,671,660,633,876,783.788311528,799.788311528,650,629,650.788311528,0.400967075656,-0.0154122829954,0.049846981444,0.99999995773,-7.25743784348e-05,-0.000275573628812,-5.77266564333e-05,1793192838478622720
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763,742,711.214903707,671,660,633,876,783.214903707,799.214903707,650,629,650.214903707,0.40096481902,-0.0154133175949,0.0498460107434,0.999999956983,-7.55225127855e-05,-0.00027741420792,-5.80696400936e-05,1793192838495289856
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,875.633129766,783,799,649.633129766,629,650,0.40096442692,-0.015414196175,0.0498460773203,0.999999956853,-7.7566907424e-05,-0.000277319991549,-5.80573479949e-05,1793192838511956736
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,875.046340812,783,799,649.046340812,629,650,0.400965152509,-0.0154149812301,0.0498467656886,0.999999957096,-7.90695592317e-05,-0.000276065970624,-5.78320874205e-05,1793192838528623104
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,875,783,799.536667912,649.536667912,628.463332088,650,0.400964690512,-0.0154139626111,0.0498466845867,0.99999995709,-7.76228088746e-05,-0.000276408105512,-5.82504401033e-05,1793192838545289472
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.691708058,742.691708058,711.691708058,671,660,633,875.691708058,783,800,650,628.691708058,650.691708058,0.400965855507,-0.0154130565481,0.0498470594827,0.99999995773,-7.39838702038e-05,-0.00027508951639,-5.82364425596e-05,1793192838578622720
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.733423065,742.733423065,711.733423065,670.733423065,660.266576935,633,875.733423065,783,800,650,629,651,0.400965974392,-0.0154127963848,0.049847197721,0.999999957947,-7.32907014391e-05,-0.000274504291279,-5.81547392813e-05,1793192838595289344
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..707c0af37d0a662bd556ebf9c677441e295933ce
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,393 @@
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+345,5.750000000,pose2_to_pose3_retreat,0.577077617541,-0.00994543530191,1.0400289314,0.547648346672,-0.00127270950666,1.0396982238
+346,5.766666667,pose2_to_pose3_retreat,0.5768583498,-0.00994540021899,1.04002889856,0.547429078676,-0.00127267505037,1.0396981972
+347,5.783333333,pose2_to_pose3_retreat,0.576666222139,-0.00994539387548,1.0400291185,0.547236951204,-0.00127266831421,1.03969841065
+348,5.800000000,pose2_to_pose3_retreat,0.576501238815,-0.00994542199638,1.04002917676,0.547071968452,-0.00127269474011,1.03969846235
+349,5.816666667,pose2_to_pose3_retreat,0.576359745409,-0.00994537886251,1.04002911705,0.546930473689,-0.00127265604108,1.03969840711
+350,5.833333333,pose2_to_pose3_retreat,0.576238998258,-0.00994538035836,1.04002915972,0.546809727002,-0.00127265583503,1.03969845319
+351,5.850000000,pose2_to_pose3_retreat,0.576136025867,-0.00994542587553,1.04002928138,0.546706756225,-0.00127269606305,1.03969857024
+352,5.866666667,pose2_to_pose3_retreat,0.576048467635,-0.00994547501335,1.04002933861,0.546619198728,-0.00127274282004,1.03969862505
+353,5.883333333,pose2_to_pose3_retreat,0.575975924521,-0.0099455371405,1.04002913148,0.546546656229,-0.00127280265882,1.03969842323
+354,5.900000000,pose2_to_pose3_retreat,0.575914207071,-0.00994551703179,1.0400291149,0.546484937179,-0.00127278813619,1.03969840255
+355,5.916666667,pose2_to_pose3_retreat,0.575862829124,-0.00994544581393,1.04002929741,0.54643355786,-0.00127272166971,1.03969858253
+356,5.933333333,pose2_to_pose3_retreat,0.575821666314,-0.00994553393056,1.04002919884,0.546392398509,-0.00127279807889,1.03969848337
+357,5.950000000,pose2_to_pose3_retreat,0.575789217014,-0.00994544394187,1.04002914993,0.546359946904,-0.00127271552872,1.03969844467
+358,5.966666667,pose2_to_pose3_retreat,0.57576480283,-0.00994535296173,1.04002891224,0.546335529805,-0.0012726341773,1.03969821417
+359,5.983333333,pose2_to_pose3_retreat,0.575746678057,-0.00994534448789,1.04002913611,0.546317407178,-0.00127261899038,1.03969842205
+360,6.000000000,pose2_to_pose3_retreat,0.575734014243,-0.00994542072211,1.0400291171,0.546304744606,-0.00127269098488,1.03969840357
+361,6.016666667,pose2_to_pose3_retreat,0.57572514135,-0.00994543271587,1.04002909896,0.546295871233,-0.00127270449491,1.03969838848
+362,6.033333333,pose2_to_pose3_retreat,0.575719670158,-0.00994536951087,1.04002917444,0.546290398723,-0.00127264580479,1.03969846278
+363,6.050000000,pose2_to_pose3_retreat,0.575716661377,-0.00994540472492,1.04002915663,0.546287391487,-0.00127267558193,1.03969845009
+364,6.066666667,pose2_to_pose3_retreat,0.575715365905,-0.00994542108709,1.04002914794,0.546286096719,-0.00127268946732,1.0396984437
+365,6.083333333,pose2_to_pose3_retreat,0.575715317232,-0.00994542170185,1.04002914762,0.546286048072,-0.00127268998901,1.03969844346
+366,6.100000000,pose2_to_pose3_retreat,0.575715228462,-0.00994542282304,1.04002914702,0.54628595935,-0.00127269094049,1.03969844303
+367,6.116666667,pose2_to_pose3_retreat,0.57571514978,-0.0099454238168,1.04002914649,0.546285880712,-0.00127269178382,1.03969844264
+368,6.133333333,pose2_to_pose3_retreat,0.575714951937,-0.00994542631562,1.04002914517,0.546285682976,-0.00127269390439,1.03969844166
+369,6.150000000,pose2_to_pose3_retreat,0.575714602581,-0.00994543072809,1.04002914283,0.54628533381,-0.00127269764892,1.03969843994
+370,6.166666667,pose2_to_pose3_retreat,0.575713923938,-0.0099454347171,1.04002913198,0.546284655283,-0.00127270122867,1.03969842948
+371,6.183333333,pose2_to_pose3_retreat,0.575713227574,-0.00994542975305,1.04002910841,0.54628395854,-0.00127269760022,1.03969840467
+372,6.200000000,pose2_to_pose3_retreat,0.575712718508,-0.00994542612415,1.04002909118,0.546283449196,-0.0012726949477,1.03969838653
+373,6.216666667,pose2_to_pose3_retreat,0.575712007111,-0.00994542105294,1.0400290671,0.546282737411,-0.00127269124092,1.03969836118
+374,6.233333333,pose2_to_pose3_retreat,0.57571119168,-0.00994541524011,1.0400290395,0.546281921535,-0.00127268699206,1.03969833213
+375,6.250000000,pose2_to_pose3_retreat,0.575711145033,-0.00994541490759,1.04002903793,0.546281874863,-0.00127268674901,1.03969833047
+376,6.266666667,pose2_to_pose3_retreat,0.575710969743,-0.00994541496809,1.04002907263,0.546281699598,-0.0012726867706,1.03969836399
+377,6.283333333,pose2_to_pose3_retreat,0.575710836456,-0.009945415191,1.0400291045,0.546281566346,-0.00127268691327,1.03969839486
+378,6.300000000,pose2_to_pose3_retreat,0.575710804439,-0.00994541524455,1.04002911216,0.546281534337,-0.00127268694754,1.03969840227
+379,6.316666667,pose2_to_pose3_retreat,0.575710611474,-0.00994541556728,1.0400291583,0.546281341423,-0.0012726871541,1.03969844696
+380,6.333333333,pose2_to_pose3_retreat,0.575710441143,-0.00994541585216,1.04002919904,0.546281171136,-0.00127268733643,1.0396984864
+381,6.350000000,pose2_to_pose3_retreat,0.575710149828,-0.00994541633937,1.0400292687,0.546280879898,-0.00127268764826,1.03969855386
+382,6.366666667,pose2_to_pose3_retreat,0.575710031844,-0.0099454165367,1.04002929691,0.546280761945,-0.00127268777455,1.03969858118
+383,6.383333333,pose2_to_pose3_retreat,0.575709856494,-0.00994541389854,1.04002932373,0.546280586502,-0.00127268545275,1.03969860803
+384,6.400000000,pose2_to_pose3_retreat,0.575709803528,-0.00994541021301,1.04002931694,0.546280533369,-0.00127268227856,1.03969860259
+385,6.416666667,pose2_to_pose3_retreat,0.575709754251,-0.00994540678429,1.04002931063,0.546280483939,-0.00127267932555,1.03969859753
+386,6.433333333,pose2_to_pose3_retreat,0.575709712784,-0.0099454038989,1.04002930531,0.546280442342,-0.00127267684048,1.03969859327
+387,6.450000000,pose2_to_pose3_retreat,0.57570949925,-0.00994538904085,1.04002927793,0.54628022814,-0.00127266404386,1.03969857133
+388,6.466666667,pose2_to_pose3_retreat,0.575709298712,-0.00994536179964,1.04002921001,0.546280026965,-0.00127263877775,1.03969850823
+389,6.483333333,pose2_to_pose3_retreat,0.575709262091,-0.00994534465577,1.04002915895,0.54627999022,-0.0012726220304,1.03969845779
+390,6.500000000,pose2_to_pose3_retreat,0.575709186952,-0.00994530947979,1.04002905418,0.546279914827,-0.00127258766801,1.03969835429
+391,6.516666667,pose2_to_pose3_retreat,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471545,1.03969857335
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9933bf8e73a6376102deae2991d446209eb51e53
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58e4eba9ee65e518309a8a6534158257a9e564dcf9692e411761bc2499df6f98
+size 25044463
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be3cfed391d2e189ba44a00aa41d08d2264011f3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/franka_data.csv
@@ -0,0 +1,395 @@
+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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+9,0.150000000,BASELINE,763,742,711,670,660.78352747,633,875.78352747,783,799,649.78352747,628,650.21647253,0.400964308615,-0.015412626956,0.0498477269289,0.999999958393,-7.19402830037e-05,-0.000273408527226,-5.73321431985e-05,1793192838995820288
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+27,0.450000000,BASELINE,763.336529579,742,711.336529579,671,660,633,875.663470421,783,799.663470421,649.663470421,628.663470421,651,0.400968277951,-0.015415178707,0.0498504597986,0.999999959577,-7.63615981846e-05,-0.000267870994348,-5.70948352421e-05,1793192839295820544
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+29,0.483333333,BASELINE,763,742.809703089,711,671,660,633,875.190296911,783,799.190296911,649.190296911,629,651,0.400966821497,-0.0154161507753,0.0498491865964,0.99999995908,-7.58771320097e-05,-0.00026985739094,-5.70944657674e-05,1793192839329153792
+30,0.500000000,BASELINE,763,742.604118802,711,670.604118802,660.395881198,633,875,783,799.395881198,649.395881198,629,650.604118802,0.400964186434,-0.0154155211758,0.0498477070841,0.999999958394,-7.51424803893e-05,-0.00027252714904,-5.74005136351e-05,1793192839345820416
+31,0.516666667,BASELINE,763,742.010548014,711,670.010548014,660.989451986,633,875,783,799.989451986,649.989451986,629,650.010548014,0.400961483097,-0.0154144436456,0.049846377705,0.999999957759,-7.40779473771e-05,-0.00027505794348,-5.77672484247e-05,1793192839362487040
+32,0.533333333,BASELINE,763,742,711,670.567405525,660.432594475,633,875,783,799.432594475,649.432594475,628.432594475,650,0.400964215451,-0.0154161183537,0.0498482701854,0.99999995845,-7.64932637666e-05,-0.000271977762474,-5.72451325061e-05,1793192839379153920
+33,0.550000000,BASELINE,763.144381142,742,711,670.855618858,660.144381142,633,875,783.144381142,799,649,628.144381142,650,0.400966222333,-0.0154170319735,0.0498496377353,0.999999958983,-7.76946673523e-05,-0.000269744330188,-5.68823022806e-05,1793192839395820288
+34,0.566666667,BASELINE,763.719283158,742,711,670.280716842,660.719283158,633,875,783.719283158,799,649,628.719283158,650,0.400965772737,-0.0154155276775,0.0498492662183,0.999999959012,-7.5088653579e-05,-0.000270338460642,-5.7042386961e-05,1793192839412486912
+35,0.583333333,BASELINE,763.69893089,742,711,670.30106911,660.69893089,633,875,783.69893089,799,649,629,650,0.400965859788,-0.0154153097864,0.0498490939283,0.999999959123,-7.36543281419e-05,-0.00027032121208,-5.7064759319e-05,1793192839429154048
+36,0.600000000,BASELINE,763.110576093,742,711,670.889423907,660.110576093,633,875,783.110576093,799,649,629,650,0.400966458916,-0.0154163194062,0.0498491117443,0.999999959314,-7.33380489798e-05,-0.000269720574475,-5.69557240627e-05,1793192839445821440
+37,0.616666667,BASELINE,763,742.47049388,711,671,660,633,875,783,799.47049388,649.47049388,629,650,0.400966133765,-0.0154155129868,0.049849303933,0.999999959174,-7.32642865125e-05,-0.000270238860255,-5.70610569317e-05,1793192839462488064
+38,0.633333333,BASELINE,763,742.950273085,711,670.950273085,660,633,875.09945383,783,799.950273085,650,629,650,0.400965665868,-0.0154144795004,0.0498494839608,0.99999995899,-7.33491308415e-05,-0.000270865649751,-5.71923400034e-05,1793192839479154176
+39,0.650000000,BASELINE,763,742.372642179,711,670.372642179,660,633,876.254715643,783,799.372642179,650,629,650,0.400965953482,-0.0154154973908,0.0498491064631,0.999999959173,-7.45219011347e-05,-0.000269895173235,-5.70724184745e-05,1793192839495820800
+40,0.666666667,BASELINE,763,742,711,670,660,633,876.593894493,783,799.203052754,650,629,650,0.400966469,-0.0154158409932,0.0498491162662,0.999999959458,-7.45392444889e-05,-0.000268855801304,-5.696676438e-05,1793192839512487424
+41,0.683333333,BASELINE,763,742,711,670,660,633,875.449543383,783,799.775228308,650,629,650,0.400967398816,-0.0154149588301,0.0498498301306,0.999999959928,-7.24561758305e-05,-0.000267691186764,-5.68870465839e-05,1793192839529154304
+42,0.700000000,BASELINE,763,742,711,670.361178098,660.361178098,633,875.361178098,783,800,649.638821902,629,650.361178098,0.400967021749,-0.0154149157046,0.0498498744609,0.999999959776,-7.39287544217e-05,-0.000267827409142,-5.70244877343e-05,1793192839545820672
+43,0.716666667,BASELINE,763,742,711,670.956039848,660.956039848,633,875.956039848,783,800,649.043960152,629,650.956039848,0.400965799122,-0.0154154154397,0.0498494855999,0.999999959211,-7.7701850885e-05,-0.000268805278178,-5.73024315821e-05,1793192839562487040
+44,0.733333333,BASELINE,763,742,711,671,661,633,876,783,800,649,629,650.464667637,0.400965685239,-0.0154159264923,0.0498493918027,0.99999995909,-7.59517471299e-05,-0.000269800523122,-5.70889107514e-05,1793192839579153920
+45,0.750000000,BASELINE,763.112570178,742,711.112570178,670.887429822,661,633,876,783,799.887429822,649,629,650.112570178,0.400965716655,-0.0154162755796,0.0498492485591,0.999999959015,-7.42419631021e-05,-0.000270593440708,-5.68992850974e-05,1793192839595820544
+46,0.766666667,BASELINE,763.686478748,742,711.686478748,670.313521252,661,633,876,783,799.313521252,649,629,650.686478748,0.400965980959,-0.015415957195,0.0498488061799,0.999999959003,-7.4503645518e-05,-0.00027055149179,-5.69683088222e-05,1793192839612487168
+47,0.783333333,BASELINE,763.732939146,742,711.732939146,670,661,633,875.732939146,783,799,649,629,650.732939146,0.400966557875,-0.0154155496348,0.0498491898169,0.999999959232,-7.4223686773e-05,-0.000269771557135,-5.70052631756e-05,1793192839629154304
+48,0.800000000,BASELINE,763.14432164,742,711.14432164,670,661,633,875.14432164,783,799,649,629,650.14432164,0.400967511192,-0.0154150347019,0.0498505680249,0.99999995975,-7.32915609064e-05,-0.000268103045141,-5.70036041683e-05,1793192839645821440
+49,0.816666667,BASELINE,763.437226097,742,711,670,660.562773903,633,875,783,799.437226097,649,628.562773903,650,0.400967285496,-0.0154145091896,0.0498502936699,0.999999959649,-7.27569059156e-05,-0.000268569498414,-5.72700044647e-05,1793192839662487808
+50,0.833333333,BASELINE,764,742,711.016472412,670.016472412,660.016472412,633,875,783,800,649.016472412,628.016472412,650,0.400966662518,-0.0154140017358,0.0498494888031,0.999999959346,-7.24010949518e-05,-0.000269714828234,-5.76142277109e-05,1793192839679154688
+51,0.850000000,BASELINE,764,742,711.595551443,670.595551443,660.595551443,633,875,783,800,649.595551443,628.595551443,650,0.400965551071,-0.0154142284342,0.0498488989055,0.999999959072,-7.37438759465e-05,-0.000270360511497,-5.76424761548e-05,1793192839695821056
+52,0.866666667,BASELINE,763.827272359,742,711.827272359,670.827272359,660.827272359,633,875,783,800,649.827272359,628.827272359,650,0.400965358619,-0.0154149440437,0.0498490409115,0.999999959032,-7.51801456689e-05,-0.000270137221755,-5.75272816693e-05,1793192839712487168
+53,0.883333333,BASELINE,763.254503203,742,711.254503203,670.254503203,660.254503203,633,875,783,800,649.254503203,628.254503203,650,0.400967294582,-0.0154167919836,0.0498508780247,0.999999959534,-7.68329375299e-05,-0.000267901368876,-5.70798697895e-05,1793192839729154048
+54,0.900000000,BASELINE,763,742,711,670.327286765,660.327286765,633.327286765,875,783,800,649.327286765,628.327286765,650.327286765,0.400967247741,-0.0154175875782,0.0498508040653,0.999999959436,-7.70703482381e-05,-0.00026824874942,-5.68313664255e-05,1793192839745820672
+55,0.916666667,BASELINE,763,742,711,670.916290249,660.916290249,633.916290249,875,783,800,649.916290249,628.916290249,650.916290249,0.400965615342,-0.0154175416588,0.0498492019057,0.99999995886,-7.6175941295e-05,-0.000270661827341,-5.67419214064e-05,1793192839762487040
+56,0.933333333,BASELINE,763,742.495961214,711,671,661,633.504038786,875,783,799.504038786,650,628.504038786,650.504038786,0.400964822452,-0.0154169746636,0.0498487322237,0.999999958718,-7.49249580562e-05,-0.000271504709337,-5.68807734634e-05,1793192839779153664
+57,0.950000000,BASELINE,763.073927057,742.926072943,711,671,660.926072943,633,875,783,799,650,628,650.073927057,0.400964547923,-0.0154164679526,0.0498486139603,0.999999958719,-7.41321719015e-05,-0.00027168298259,-5.70583175103e-05,1793192839795820544
+58,0.966666667,BASELINE,763.650810585,742.349189415,711,671,660.349189415,633,875,783,799,650,628,650.650810585,0.400966853819,-0.0154169586802,0.0498496101382,0.999999959198,-7.68585854694e-05,-0.000269109400536,-5.72417874893e-05,1793192839812487168
+59,0.983333333,BASELINE,763.773542559,742,711,671,660.226457441,633,875.226457441,783,799.452914882,649.773542559,628,650.773542559,0.400967691119,-0.0154170717117,0.0498500775692,0.999999959459,-7.7965847913e-05,-0.000267803185151,-5.73111727735e-05,1793192839829153536
+60,1.000000000,BASELINE,763.199792162,742,711,671,660.800207838,633,875.800207838,783,800.600415675,649.199792162,628,650.199792162,0.400966276194,-0.0154166055122,0.0498497341193,0.999999959401,-7.65899961657e-05,-0.000268440590729,-5.7205598895e-05,1793192839845820160
+61,1.016666667,BASELINE,763,742.385241404,711,671,661,633,875.614758596,783,800.229517193,649,628.385241404,650,0.400965513779,-0.0154165117561,0.0498496930727,0.999999959176,-7.61674445447e-05,-0.000269437971379,-5.7007778493e-05,1793192839862487040
+62,1.033333333,BASELINE,763,742.976303117,711,671,661,633,875.023696883,783,799.047393765,649,628.976303117,650,0.400965099977,-0.0154166169828,0.0498498135891,0.999999958862,-7.62542061955e-05,-0.00027062767343,-5.67606741733e-05,1793192839879153664
+63,1.050000000,BASELINE,763.555969596,743,711,671,660.444030404,633,875,783,799.555969596,649,629,650.555969596,0.400966135787,-0.0154161682497,0.0498504495038,0.999999959268,-7.58450739854e-05,-0.00026924285946,-5.67488414091e-05,1793192839895820544
+64,1.066666667,BASELINE,763.86562172,742.86562172,711,671,660.13437828,633,875,783,800,649,629,651,0.400966615121,-0.015415671156,0.0498506207647,0.999999959499,-7.56134809692e-05,-0.00026842756336,-5.68460035123e-05,1793192839912487168
+65,1.083333333,BASELINE,763.289781624,742.289781624,711,671,660.710218376,633,875,783,800,649,629,651,0.400965067409,-0.0154150911977,0.0498491948183,0.999999959064,-7.60331854693e-05,-0.000269836512261,-5.72689552726e-05,1793192839929154048
+66,1.100000000,BASELINE,763,742,711,671,661,633,875,783,799.71564279,649,629,651,0.400965585829,-0.0154156188977,0.0498492590041,0.999999959122,-7.67693461551e-05,-0.000269409516072,-5.72856321831e-05,1793192839945820672
+67,1.116666667,BASELINE,763,742,711,671,661,633,875,783,799.143227396,649,629,651,0.400968197274,-0.0154172686726,0.0498508327166,0.999999959676,-7.78260817514e-05,-0.000267122679459,-5.68907464575e-05,1793192839962487552
+68,1.133333333,BASELINE,763,742,711,671,660.552823271,633,875,783,799.894353459,649,629,650.552823271,0.400968051623,-0.0154166451589,0.0498507425689,0.999999959859,-7.61665030068e-05,-0.00026694081723,-5.67736575605e-05,1793192839979154176
+69,1.150000000,BASELINE,763.042196674,742,711,671,660,633,875,783,800.957803326,649,629,650,0.400967009009,-0.0154154140812,0.04985012243,0.999999959873,-7.38361240596e-05,-0.000267548618499,-5.6752491836e-05,1793192839995821056
+70,1.166666667,BASELINE,763.619619033,742,711,671,660,633,875,783,800.380380967,649,629,650,0.400966259742,-0.0154160992076,0.0498498227853,0.999999959363,-7.44951360776e-05,-0.000269262438015,-5.67721384912e-05,1793192840012487424
+71,1.183333333,BASELINE,763.800652925,742,711.199347075,671,660.199347075,633,875.199347075,783,799.800652925,649,628.800652925,650.199347075,0.400965651009,-0.0154163466976,0.0498496625794,0.99999995908,-7.54188348488e-05,-0.000270051238097,-5.67763624465e-05,1793192840029153792
+72,1.200000000,BASELINE,763.216473747,742,711.783526253,671,660.783526253,633,875.783526253,783,799.216473747,649,628.216473747,650.783526253,0.400965313574,-0.0154157493467,0.0498497715549,0.999999959241,-7.68535016558e-05,-0.000269054322911,-5.67508134576e-05,1793192840045820416
+73,1.216666667,BASELINE,763,742,711.635673983,671,660.635673983,633,875.635673983,783,799.364326017,649.364326017,628.364326017,651,0.400966161701,-0.0154166020851,0.0498498988085,0.999999959388,-7.70789016213e-05,-0.000268462903045,-5.6662499404e-05,1793192840062487296
+74,1.233333333,BASELINE,763,742,711.056863765,671,660.056863765,633,875.056863765,783,799.943136235,649.943136235,628.943136235,651,0.400967707786,-0.0154183085129,0.0498500368226,0.999999959527,-7.65923879407e-05,-0.000268110204423,-5.65372346151e-05,1793192840079153920
+75,1.250000000,BASELINE,763,742,711,671,660.519077695,633.519077695,875.519077695,783,800,649.480922305,629,650.480922305,0.40096718316,-0.0154181834984,0.0498498820674,0.999999959533,-7.62687850862e-05,-0.00026818814281,-5.65003553336e-05,1793192840095820544
+76,1.266666667,BASELINE,763.095112018,742,711,670.904887982,661,633.904887982,876,783,800,649.095112018,629,650.095112018,0.400966639207,-0.0154180503655,0.0498497396385,0.999999959536,-7.61738783187e-05,-0.000268210876739,-5.64711569166e-05,1793192840112487424
+77,1.283333333,BASELINE,763.673204968,742,711,670.326795032,661,633.326795032,876,783,800,649.673204968,629,650.673204968,0.40096714268,-0.0154188892125,0.0498498217714,0.999999959596,-7.71501684967e-05,-0.000267715040709,-5.64320647524e-05,1793192840129154048
+78,1.300000000,BASELINE,763.744870598,742,711,670.255129402,661,633,876,783,799.744870598,650,629,650.744870598,0.400967645306,-0.0154189534785,0.0498501587696,0.999999959725,-7.76180834631e-05,-0.000267098396818,-5.64340900784e-05,1793192840145820672
+79,1.316666667,BASELINE,763.157963635,742,711,670.842036365,661,633,876,783,799.157963635,650,629,650.157963635,0.400968146832,-0.0154180104573,0.0498508272022,0.999999959943,-7.74248927109e-05,-0.000266324650976,-5.6489585766e-05,1793192840162487040
+80,1.333333333,BASELINE,763.425565202,742,711.425565202,671,661,633,875.574434798,783.425565202,799,650,629,650.425565202,0.40096728438,-0.0154168305195,0.0498504370662,0.999999959803,-7.62479772293e-05,-0.000267090346427,-5.69429717795e-05,1793192840179153664
+81,1.350000000,BASELINE,763.992230145,742,711.992230145,671,660.992230145,633,875,783.992230145,799,650,628.992230145,650.992230145,0.400965944483,-0.0154155820872,0.0498496704929,0.999999959534,-7.47202359703e-05,-0.000268401212937,-5.75305961909e-05,1793192840195820288
+82,1.366666667,BASELINE,763.415893831,742,711.415893831,671,660.415893831,633,875,783.415893831,799,650,628.415893831,650.415893831,0.400966423553,-0.0154157059238,0.0498498840003,0.999999959678,-7.40298492851e-05,-0.000268120710195,-5.72189147634e-05,1793192840212486912
+83,1.383333333,BASELINE,763,742,711,670.840286297,660,633,875.159713703,783.159713703,799.159713703,649.840286297,628.159713703,650.159713703,0.400966747135,-0.0154158122232,0.0498499503882,0.99999995973,-7.40134813251e-05,-0.000267964670001,-5.70638417265e-05,1793192840229153792
+84,1.400000000,BASELINE,763,742,711,670.266567758,660,633,875.733432242,783.733432242,799.733432242,649.266567758,628.733432242,650.733432242,0.400966667669,-0.0154158730631,0.0498496354176,0.999999959542,-7.57442833517e-05,-0.000268131257646,-5.73147239651e-05,1793192840245820928
+85,1.416666667,BASELINE,763,742,711,670,660,633,876,783.683566018,799.683566018,649,628.683566018,650.683566018,0.400966107116,-0.0154155510393,0.0498492225685,0.999999959436,-7.50494009065e-05,-0.000268706703381,-5.73766302823e-05,1793192840262487808
+86,1.433333333,BASELINE,763,742,711,670,660,633,876,783.092507679,799.092507679,649,628.092507679,650.092507679,0.400965129041,-0.0154148967385,0.0498487247734,0.999999959398,-7.2249333461e-05,-0.000269636985807,-5.72745295749e-05,1793192840279154688
+87,1.450000000,BASELINE,763.488206631,742,711,670,660.488206631,633,876,783,799,649.488206631,628.488206631,650.488206631,0.400966370036,-0.0154149459144,0.0498500663232,0.999999959914,-7.19803854585e-05,-0.000267824147352,-5.71111200894e-05,1793192840295821056
+88,1.466666667,BASELINE,763.933399984,742,711,670.066600016,661,633,875.933399984,783,799.066600016,649.933399984,628.933399984,651,0.400967776858,-0.0154152749612,0.0498514389307,0.999999960375,-7.25594868944e-05,-0.000265966998016,-5.69708657562e-05,1793192840312486912
+89,1.483333333,BASELINE,763.358073887,742,711,670.641926113,661,633,875.358073887,783,799.641926113,649.358073887,628.358073887,651,0.400967305142,-0.0154167447351,0.0498504417723,0.999999959659,-7.60289467949e-05,-0.000267659350507,-5.70943789038e-05,1793192840329153792
+90,1.500000000,BASELINE,763,742,711,671,661,633.221315753,875,783,800,649,628,650.778684247,0.400967370345,-0.0154176769189,0.0498501802159,0.999999959431,-7.78417026812e-05,-0.000267990015964,-5.70987037385e-05,1793192840345820160
+91,1.516666667,BASELINE,763,742,711,671,661,633.807402842,875,783,800,649,628,650.192597158,0.400968320495,-0.0154177230496,0.0498511310746,0.999999960024,-7.69238882977e-05,-0.000266076356605,-5.69065830776e-05,1793192840362486784
+92,1.533333333,BASELINE,763.388853833,742,711,670.611146167,661,633.611146167,875.388853833,783,799.611146167,649,628.388853833,650,0.40096814244,-0.0154173168042,0.0498511846134,0.999999960106,-7.64214290013e-05,-0.000265921859597,-5.68665936159e-05,1793192840379153920
+93,1.550000000,BASELINE,763.968035695,742,711,670.031964305,661,633.031964305,875.968035695,783,799.031964305,649,628.968035695,650,0.400967412176,-0.0154166891391,0.049850798951,0.999999959938,-7.61222689308e-05,-0.000266628400358,-5.69010661302e-05,1793192840395820800
+94,1.566666667,BASELINE,763.453631627,742,711,670,660.453631627,633,875.453631627,783,799,649,629,650,0.400966267935,-0.0154158583291,0.0498509269216,0.99999995983,-7.40080661008e-05,-0.000267637587202,-5.68633305099e-05,1793192840412487680
+95,1.583333333,BASELINE,763,742,711,670.124190084,660,633,875,783,799.124190084,649,629,650.124190084,0.400965150236,-0.0154155650857,0.0498508231585,0.999999959676,-7.26843578439e-05,-0.000268583084993,-5.68085992199e-05,1793192840429154304
+96,1.600000000,BASELINE,763,742,711,670.700332964,660,633,875,783,799.700332964,649,629,650.700332964,0.400964217124,-0.0154172713389,0.0498497668842,0.999999959365,-7.46232503692e-05,-0.000269232470878,-5.67073668608e-05,1793192840445820672
+97,1.616666667,BASELINE,763.281446623,742,711,671,660,632.718553377,875.281446623,783,799.718553377,649.281446623,628.718553377,650.718553377,0.400964707341,-0.0154178673204,0.0498496948192,0.999999959398,-7.60660219492e-05,-0.000268706652917,-5.66959368007e-05,1793192840462487296
+98,1.633333333,BASELINE,763.867947982,742,711,671,660,632.132052018,875.867947982,783,799.132052018,649.867947982,628.132052018,650.132052018,0.400966740278,-0.0154172598993,0.0498506895202,0.999999959806,-7.69710571924e-05,-0.000266907053431,-5.67818417801e-05,1793192840479153920
+99,1.650000000,BASELINE,763.549706754,742,711,671,660,632.450293246,876,783,799,649.549706754,628.450293246,650,0.400966179746,-0.0154168805247,0.0498504280526,0.999999959754,-7.59991075084e-05,-0.00026738856432,-5.67457494261e-05,1793192840495820544
+100,1.666666667,BASELINE,763,742,711,670.968867702,660,633,876,783,799.031132298,649,628.968867702,650,0.400965028204,-0.015416646859,0.0498498715891,0.999999959591,-7.45979289825e-05,-0.000268409286888,-5.66551033675e-05,1793192840512487168
+101,1.683333333,BASELINE,763,742,711,670.393249972,660,633,876,783,799.606750028,649,628.393249972,650,0.400966720258,-0.0154178026256,0.0498505396701,0.999999959873,-7.52286293362e-05,-0.000267267899617,-5.6230335779e-05,1793192840529154048
+102,1.700000000,BASELINE,763,742,711.182042824,670,660,633,876,783,800,649,628.182042824,650,0.400967297199,-0.0154182345733,0.0498507931538,0.999999959935,-7.55785970032e-05,-0.000266958421338,-5.61327832797e-05,1793192840545820928
+103,1.716666667,BASELINE,763,742,711.756634875,670,660,633,876,783,800,649,628.756634875,650,0.40096546956,-0.015417105709,0.0498501526177,0.999999959523,-7.53232048376e-05,-0.000268442835563,-5.67408232174e-05,1793192840562487808
+104,1.733333333,BASELINE,763.339529885,742,711.660470115,670.339529885,660,633,875.660470115,783,800,649,629,650.339529885,0.400965549183,-0.0154156199524,0.0498499950625,0.999999959629,-7.32925356439e-05,-0.000268561345317,-5.69649440785e-05,1793192840579154432
+105,1.750000000,BASELINE,763.928525459,742,711.071474541,670.928525459,660,633,875.071474541,783,800,649,629,650.928525459,0.400967030144,-0.0154138719732,0.0498501923717,0.999999960108,-6.99575019823e-05,-0.000267676272576,-5.69069848631e-05,1793192840595820544
+106,1.766666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,875,783,800,650,629,651,0.400967424994,-0.0154160870759,0.0498513461452,0.999999960193,-7.47073787238e-05,-0.00026609825059,-5.67825178126e-05,1793192840626606080
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711.424660939,671,660,633,875,783,800,650,629,650.424660939,0.4009664283,-0.0154173698632,0.049850933805,0.99999995985,-7.49110541354e-05,-0.000267450282963,-5.62036064276e-05,1793192840643273472
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,875,783,799.845698148,649.845698148,628.845698148,650.154301852,0.400965814612,-0.0154182582702,0.0498505362269,0.999999959613,-7.51240627895e-05,-0.000268340616515,-5.58830261874e-05,1793192840659940352
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,875,783,799.256522344,649.256522344,628.256522344,650.743477656,0.400966280361,-0.0154180351824,0.049850180253,0.999999959683,-7.53633756728e-05,-0.000267929729499,-5.62905089201e-05,1793192840676606208
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742,711.326574643,671,660,633,875,783,799.326574643,649.326574643,628,651,0.400966160521,-0.0154173778192,0.0498501839086,0.999999959629,-7.5952795077e-05,-0.000267908455387,-5.65468031021e-05,1793192840693272320
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,711.904983978,671,660,633,875,783,799.904983978,649.904983978,628,651,0.400965589109,-0.0154163855692,0.0498504648889,0.999999959481,-7.68121955249e-05,-0.0002681876273,-5.66865097575e-05,1793192840709938944
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,711.515828912,670.515828912,660.484171088,633,875,783,800,649.515828912,628.484171088,651,0.40096507146,-0.015416899871,0.0498502468757,0.999999959326,-7.62301386709e-05,-0.000268962820611,-5.65364126196e-05,1793192840726605568
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742,711,670,661,633,875,783,800,649,629,650.9372862,0.400964939194,-0.0154177645525,0.0498501196296,0.999999959244,-7.57071880631e-05,-0.000269459751251,-5.63174016019e-05,1793192840743272448
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,711,670,661,633,875,783,800,649,629,650.365218858,0.400967851128,-0.0154190698543,0.0498515261958,0.999999959774,-7.79654900111e-05,-0.000266904799665,-5.6001334948e-05,1793192840759939072
+115,1.916666667,POSE1_TO_POSE2_PRESS,762.786521432,742,711,670.213478568,661,633,875.213478568,783,800,649.213478568,628.786521432,650.213478568,0.400974828379,-0.0154200034379,0.0498545011362,0.999999961209,-7.86579508447e-05,-0.000261347469447,-5.5603430856e-05,1793192840776605440
+116,1.933333333,POSE1_TO_POSE2_PRESS,762.196117761,742,711,670.803882239,661,633,875.803882239,783,800,649.803882239,628.196117761,650.803882239,0.400988983493,-0.0154202807031,0.0498602452518,0.999999964179,-7.65857085068e-05,-0.000250489036503,-5.5061031798e-05,1793192840793272320
+117,1.950000000,POSE1_TO_POSE2_PRESS,762.385906258,742,711.385906258,670.614093742,661,633,875.614093742,783,799.614093742,649.614093742,628.385906258,650.614093742,0.401020588354,-0.0154210328664,0.0498719138753,0.999999969985,-7.5895342791e-05,-0.000226699633556,-5.3641616104e-05,1793192840809938944
+118,1.966666667,POSE1_TO_POSE2_PRESS,762.963762291,742,711.963762291,670.036237709,661,633,875.036237709,783,799.036237709,649.036237709,628.963762291,650.036237709,0.401060872718,-0.0154220212439,0.0498865293497,0.999999976477,-7.5892322272e-05,-0.000196478364931,-5.17859722436e-05,1793192840826605824
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711.458442832,670.541557168,660.458442832,633,875,783,799.541557168,649,629,650,0.401123685372,-0.0154262860913,0.0499035262768,0.999999983318,-7.62324173589e-05,-0.000158330785287,-4.98300924596e-05,1793192840843272192
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,711,671,660.117832976,633,875.117832976,783,800,649,629,650,0.401189231703,-0.0154309464799,0.0499189670464,0.999999987961,-7.70018019138e-05,-0.000125921976742,-4.78711803627e-05,1793192840859939072
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,711,671,660.688289573,633,875.688289573,783,800,649,629,650,0.401259488905,-0.0154362841729,0.0499278182216,0.999999988884,-7.93320050853e-05,-0.000117594183933,-4.59263810305e-05,1793192840876606464
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,711,671,660.728945196,633,876.271054804,783,799.728945196,649.271054804,628.728945196,650,0.401337663818,-0.0154410065668,0.0499338386432,0.999999989724,-7.99206479296e-05,-0.000110383695428,-4.44913296461e-05,1793192840893273344
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,711,671,660.131351838,633,876.868648162,783,799.131351838,649.868648162,628.131351838,650,0.401425377159,-0.0154449877121,0.0499364488676,0.99999999051,-7.84112404272e-05,-0.000104519219104,-4.36703695333e-05,1793192840909939200
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742.4487082,711,671,660.4487082,633,876.102583601,783,799.4487082,649.5512918,628,650,0.401531388672,-0.0154530081144,0.0499363740925,0.99999998988,-8.36197903492e-05,-0.000106866822284,-4.27528937241e-05,1793192840926605824
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742.97615131,711,670.97615131,660.97615131,633,875,783,800,649.02384869,628.02384869,650.02384869,0.401643403741,-0.0154621183679,0.0499354031675,0.999999988789,-9.05038247146e-05,-0.000111725873232,-4.18113713907e-05,1793192840943272192
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742.400547317,711,670.400547317,660.400547317,633,875,783,800,649.599452683,628.599452683,650.599452683,0.40177504957,-0.0154701156111,0.0499311997594,0.999999987556,-9.23643838555e-05,-0.000121163488269,-4.09425954083e-05,1793192840959939072
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.179650138,742,711,670.179650138,660.179650138,633,875,783,799.820349862,649.820349862,629,650.820349862,0.401918242477,-0.0154790364195,0.0499288733351,0.999999986746,-9.42649229051e-05,-0.000126658192926,-3.97444317758e-05,1793192840976606208
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.770357812,742,711,670.770357812,660.770357812,633,875,783,799.229642188,649.229642188,629,650.229642188,0.402087856238,-0.0154900704366,0.0499308416385,0.999999987073,-9.62569397565e-05,-0.000123131121807,-3.77925962816e-05,1793192840993273344
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.646467778,742.353532222,711,670.646467778,661,633,875,783,799.353532222,649,628.646467778,650,0.402284924593,-0.0155015952888,0.0499356474461,0.999999987876,-9.86714568469e-05,-0.000115128594493,-3.54714848516e-05,1793192841009939712
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.068084564,742.931915436,711,670.068084564,661,633,875,783,799.931915436,649,628.068084564,650,0.402499454435,-0.0155134323194,0.0499422579426,0.999999988885,-0.000101354689653,-0.000104279619709,-3.29155090305e-05,1793192841026605824
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,743,711,670.507559996,660.492440004,633,875.507559996,783,800,649,628.507559996,650,0.402755383709,-0.0155239890729,0.0499475324807,0.999999990091,-0.000102072225477,-9.21535532038e-05,-3.01005035756e-05,1793192841043272704
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.084539576,742.915460424,711,671,660,633,875.915460424,783,800,649.084539576,629,650.084539576,0.403021070805,-0.015533255225,0.0499527936552,0.999999991407,-0.000100616581267,-7.95574194717e-05,-2.70862158824e-05,1793192841059939328
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.67162756,742.32837244,711,671,660,633,875.32837244,783,800,649.67162756,629,650.67162756,0.40331192876,-0.0155358647774,0.049959034974,0.999999993755,-8.78014390755e-05,-6.51798443168e-05,-2.30927300054e-05,1793192841076605696
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.744827223,742,711,671,660.255172777,633,875.255172777,783,800,649.744827223,629,650.744827223,0.403622374848,-0.0155311134984,0.0499650103615,0.999999996238,-6.53769153737e-05,-5.33408222141e-05,-2.01232028062e-05,1793192841093272320
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.165778667,742,711,671,660.834221333,633,875.834221333,783,800,649.165778667,629,650.165778667,0.403957682983,-0.0155170195497,0.0499706482174,0.999999998357,-3.07557703331e-05,-4.47238368454e-05,-1.8453326287e-05,1793192841109939200
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.41192613,742.41192613,711,671,661,633,876,783.41192613,799.58807387,649.41192613,629,650,0.404326812664,-0.015514804543,0.0499760090507,0.999999999312,-8.86814765041e-06,-3.27113696544e-05,-1.50858297076e-05,1793192841126606080
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.989091879,742.989091879,711,671,661,633,876,783.989091879,799.010908121,649.989091879,629,650,0.404709509476,-0.0155173546429,0.0499812587591,0.999999999721,7.91156230968e-06,-1.93368426313e-05,-1.10373516262e-05,1793192841143273216
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,711,671,660.435776945,633,876,783.435776945,799,649.435776945,629,650.564223055,0.405110000167,-0.0155249218645,0.0499659170826,0.999999998539,2.00128082298e-05,-4.94938375628e-05,-8.42498694947e-06,1793192841159939584
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,743,711,671,660,633,876.142684199,783,799.142684199,649.142684199,629,651,0.405514946742,-0.0155310143751,0.0499492155202,0.999999996069,3.4195641536e-05,-8.1590267964e-05,-6.05065838023e-06,1793192841176605952
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,711,671,660,633,876.731683957,783,799.731683957,649.731683957,629,651,0.405932759033,-0.0155321916813,0.0499295010031,0.999999991609,5.51715755883e-05,-0.000117130192529,-4.33437144921e-06,1793192841193272576
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.685316354,742.685316354,711.314683646,671,660,633,876.370632708,783,799.685316354,649.685316354,629,650.685316354,0.40638706554,-0.0155319650941,0.0499140700006,0.999999986735,7.87949265568e-05,-0.000142538113438,-2.18237000424e-06,1793192841209939456
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.107336859,742.107336859,711.892663141,671,660,633,875.214673718,783,799.107336859,649.107336859,629,650.107336859,0.40687190681,-0.0155305638692,0.0499022230131,0.999999981811,0.000104633373931,-0.000159468589482,3.34194019577e-07,1793192841226606080
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,711.530957838,670.530957838,660.469042162,633,875.469042162,783,799.469042162,649.469042162,628.530957838,650,0.407425421118,-0.0155327640925,0.0499138124368,0.999999982463,0.000130292235627,-0.000134391029284,6.04961393493e-06,1793192841243273216
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.04516489,742,711,670.04516489,661,633,876,783,800,650,628.04516489,650.04516489,0.407999836218,-0.0155358267412,0.0499317267505,0.999999982874,0.000156078014168,-9.86587989121e-05,1.25792656479e-05,1793192841259940352
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.622569225,742,711,670.622569225,661,633,876,783,800,650,628.622569225,650.622569225,0.408635989012,-0.0155393732935,0.0499611883096,0.999999981635,0.000183842102068,-5.02686057809e-05,2.01068983166e-05,1793192841276606976
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.203746814,711.203746814,671,661,633,876.203746814,783.203746814,800,650,629,650.796253186,0.409263065795,-0.0155432707827,0.049982042775,0.999999977452,0.000209877420421,-1.78928613361e-05,2.69793767768e-05,1793192841293273600
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.792046023,711.792046023,671,661,633,876.792046023,783.792046023,800,650,629,650.207953977,0.409873012451,-0.015547830631,0.0499866521823,0.999999972281,0.000232649852736,-1.57428420924e-05,3.26153147136e-05,1793192841309939968
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.62550755,743,711.62550755,671.37449245,661,633.37449245,877,783.62550755,800,650,628.62550755,650,0.410474767016,-0.0155482809109,0.0499681554782,0.999999964605,0.000256978535999,-5.89246346523e-05,3.5786705934e-05,1793192841326606592
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.046261153,743,711.046261153,671.953738847,661,633.953738847,877,783.046261153,800,650,628.046261153,650,0.411072042532,-0.015546484282,0.0499370254951,0.999999951435,0.000282158098499,-0.000126891619363,3.76106045891e-05,1793192841343272960
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,743,711,671.470673969,660.470673969,633.470673969,876.470673969,783,800,650,628,650,0.411761199178,-0.0155418755543,0.0499250225729,0.999999983554,0.000121564450691,-0.000133935426675,1.32738691719e-05,1793192841359939584
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.106724652,743,711.106724652,671,660.106724652,633,876,783.106724652,800,650,628.106724652,650,0.412473156725,-0.0155420014439,0.0499222840709,0.999999991589,-2.91491686239e-05,-0.00012621346828,-6.52193976579e-06,1793192841376605952
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.693703671,743,711.693703671,671,660.693703671,633,876,783.693703671,800,650,628.693703671,650,0.413251829963,-0.0155645311649,0.0499537642828,0.99999999514,-6.28442606375e-05,-7.58417451766e-05,4.33392018584e-06,1793192841393272832
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.721983861,743,711.721983861,671,661,633,876,783.721983861,800,650,629,650,0.414011159349,-0.0155750899248,0.0499643692714,0.999999996418,-6.0103263233e-05,-5.84157119921e-05,1.17802470967e-05,1793192841409939456
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.140581206,743,711.140581206,671,661,633,876,783.140581206,800,650,629,650,0.414749379757,-0.0155725853159,0.0499521940711,0.999999996765,-1.76012036126e-05,-7.69418230822e-05,1.55059052262e-05,1793192841426606080
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,711,671,661,633,876,783,799.565545441,650,629,650,0.41549056019,-0.0155667410931,0.0499296153239,0.999999993326,1.17818691136e-05,-0.000114048962812,1.42084366917e-05,1793192841443272448
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,711,671,661,633,876.007525148,783,799,649.992474852,629,650,0.4162339719,-0.0155599767064,0.0499044298828,0.99999998711,3.68844617443e-05,-0.000155850378355,1.14008770933e-05,1793192841459938816
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,743,711,671,661,633,876.585546818,783,799,649.414453182,629,650,0.417074980051,-0.0155641946873,0.0499331522489,0.999999992946,5.46532267613e-05,-0.00010430082881,1.55544400654e-05,1793192841476605440
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742.832635468,711.167364532,671,661,633,876.832635468,783,799,649,628.832635468,650,0.417913097896,-0.0155680670427,0.049957584931,0.999999995294,7.20325461963e-05,-6.19430745621e-05,1.96730125185e-05,1793192841493272064
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742.241199296,711.758800704,671,661,633,876.241199296,783,799,649,628.241199296,650,0.418743892171,-0.0155710636446,0.0499711483235,0.99999999489,8.84250797926e-05,-4.28756811211e-05,2.37029251308e-05,1793192841509938944
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.342238748,742.342238748,711.657761252,671,660.657761252,632.657761252,876,783,799,649.342238748,628,650,0.419561812892,-0.0155715239165,0.049963755928,0.999999993,0.000103236348815,-5.26770764846e-05,2.38362585383e-05,1793192841526605568
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.920168659,742.920168659,711.079831341,671,660.079831341,632.079831341,876,783,799,649.920168659,628,650,0.420370867888,-0.0155702374818,0.049941931811,0.999999989542,0.00011695864021,-8.23596768053e-05,2.12861162879e-05,1793192841543272192
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.504825287,711.495174713,671.495174713,660.495174713,632.495174713,876,783,799,649.504825287,628,650,0.421244555188,-0.0155762346386,0.0499599905077,0.999999991581,0.000119952323673,-4.38695012769e-05,2.28919858223e-05,1793192841559939584
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.071400855,712,671.928599145,661,633,876,783,799,649,628,650,0.422123504582,-0.0155826086979,0.0499804694386,0.999999992585,0.000119186488666,-2.20097435595e-06,2.48880178018e-05,1793192841576606720
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.659855551,712,671.340144449,661,633,876,783,799,649,628,650,0.422965545692,-0.0155832586264,0.0499721858003,0.99999999418,0.000103647711706,-1.66390051876e-05,2.48858799415e-05,1793192841593273088
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712,671,661,633,876,783,799.242266868,649,628,650,0.423803998727,-0.0155836698409,0.0499625750908,0.999999995096,9.02249519412e-05,-3.22639932677e-05,2.50456889543e-05,1793192841609939712
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,671,661,633,876,783,799.816399827,649,628,650,0.424637536805,-0.015583754056,0.0499511465093,0.999999995275,7.97007883802e-05,-4.95149212136e-05,2.54273387708e-05,1793192841626606080
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.603923022,712,671,661,632.603923022,876.396076978,783,800,649,628,650,0.425506102299,-0.0155844720151,0.0499655309089,0.999999995271,8.74003659524e-05,-3.24490415955e-05,2.76774069887e-05,1793192841643272448
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.021639429,712,671,661,632.021639429,876.978360571,783,800,649,628,650,0.42639113509,-0.0155854879146,0.0499920506971,0.999999994152,0.000103667422914,7.50108367745e-07,3.08058697184e-05,1793192841659939072
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.447697436,742.552302564,711.447697436,671.552302564,661,632.552302564,877,783,800,649,628.552302564,650,0.42717851424,-0.0155785503803,0.0499789968763,0.999999991247,0.000122708970382,-3.92686313895e-05,3.01061326563e-05,1793192841676605696
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,711.129568216,671.870431784,661,633,877,783,799.870431784,649.129568216,628.870431784,650,0.427971220158,-0.0155723268414,0.0499625049147,0.999999986747,0.000139718987924,-7.83836646384e-05,2.89881023347e-05,1793192841693272576
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,743,711.71979526,671.28020474,661,633,877,783,799.28020474,649.71979526,628.28020474,650,0.428796265205,-0.0155697332233,0.0499392197664,0.999999983086,0.000149125494405,-0.000104238245785,2.69082304288e-05,1793192841709939712
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.304244777,742.695755223,712,671,661.608489554,632.695755223,877,783,799.304244777,649.695755223,628.304244777,650,0.429630904575,-0.015570686714,0.0499369439309,0.999999983126,0.000153214572585,-9.77916202715e-05,2.66530538232e-05,1793192841726606848
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.883472412,742.116527588,712,671,662.766944823,632.116527588,877,783,799.883472412,649.116527588,628.883472412,650,0.430474215452,-0.0155748461568,0.0499536567573,0.999999986048,0.000152497646132,-6.21504802438e-05,2.80470754847e-05,1793192841743273984
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.540058062,742.459941938,711.540058062,671,662.080116125,632.459941938,876.540058062,783,800,649,628.540058062,650.459941938,0.43124101538,-0.0155731891855,0.0499392582516,0.999999987627,0.000124917678032,-9.16916674175e-05,2.70797936136e-05,1793192841759940096
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.035620721,742.964379279,711.035620721,671,661,633,876,783,800,649,628.035620721,650.964379279,0.431989951349,-0.0155701701017,0.0499187106985,0.999999986327,9.39922844556e-05,-0.000133612202152,2.56811005463e-05,1793192841776606208
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.609845266,742.390154734,711.609845266,671,661,633,876,783,800,649,628.609845266,650.390154734,0.432760127151,-0.0155687040245,0.0499236580581,0.9999999865,0.000114776589311,-0.000114501129357,2.67510718958e-05,1793192841793272832
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.189557447,712,671.189557447,661.189557447,633,876,783,800,649,628.810442553,650,0.433532713995,-0.0155683495547,0.0499357828635,0.999999987104,0.000130938651967,-8.86089725587e-05,2.82162535091e-05,1793192841809939456
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.780901343,712,671.780901343,661.780901343,633,876,783,800,649,628.219098657,650,0.434310411435,-0.0155703512504,0.0499631210022,0.99999998894,0.000137303402116,-4.83436091814e-05,3.05191240198e-05,1793192841826606080
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.636396431,742.636396431,712,672,661.636396431,632.636396431,876.363603569,783,799.636396431,649,628.363603569,650,0.435025034867,-0.0155685542143,0.0499711268656,0.999999988135,0.000143669894004,-4.62181164195e-05,3.08722306021e-05,1793192841843272704
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.058780614,742.058780614,712,672,661.058780614,632.058780614,876.941219386,783,799.058780614,649,628.941219386,650,0.435702533725,-0.0155645212947,0.0499677540059,0.999999986078,0.000150037410715,-6.65412491882e-05,3.00777318105e-05,1793192841859939072
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.517615603,742,711.482384397,672,661.517615603,632.517615603,876.482384397,783.517615603,799.517615603,649,629,650.517615603,0.436350541974,-0.0155648395105,0.049946657542,0.999999981667,0.000157672465796,-0.000104522969149,2.96696764769e-05,1793192841876605696
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.095632393,711.095632393,672,661.904367607,633,876.191264786,783.904367607,800,649,629,650.904367607,0.436998637146,-0.0155658370235,0.0499308578123,0.999999977551,0.000165379605001,-0.00012910010995,2.96642206274e-05,1793192841893272320
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.682686759,711.682686759,672,661.317313241,633,877.365373517,783.317313241,800,649,629,650.317313241,0.437664347684,-0.0155677920851,0.0499525944342,0.999999981812,0.000172719230086,-7.45153244932e-05,3.15026071499e-05,1793192841909938944
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711.733703305,671.733703305,661.266296695,633,877.733703305,783.266296695,799.733703305,649,629,650,0.438306403388,-0.0155681917203,0.0499662438211,0.999999981997,0.000181350189688,-4.47868452095e-05,3.33578008185e-05,1793192841926605568
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711.154145305,671.154145305,661.845854695,633,877.154145305,783.845854695,799.154145305,649,629,650,0.438920632397,-0.0155667616109,0.0499703796908,0.999999980062,0.000191500226049,-4.42983831838e-05,3.52327657293e-05,1793192841943272192
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711.423498566,671.423498566,662,632.576501434,877,783.576501434,799.423498566,649,629,650,0.439463949169,-0.0155648338741,0.0499507480331,0.99999997703,0.000197883148432,-7.47202729715e-05,3.46321706195e-05,1793192841959939840
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.999553489,743,711.999553489,672,661.999553489,632.000446511,876.999553489,783,799.999553489,649,629,650,0.439981551555,-0.015562729414,0.0499225171108,0.999999972108,0.000202866454094,-0.000116325988344,3.31363244758e-05,1793192841976607488
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.42569108,743,711.42569108,672,661.42569108,632.57430892,876.42569108,783,799.42569108,649,629,650,0.440473628957,-0.0155652334686,0.0499106398392,0.9999999767,0.000163378013185,-0.000136964621084,3.38890638086e-05,1793192841993273856
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,743,711,672,661,633,876,783,799.304927791,649,629,650,0.440959388831,-0.0155683320024,0.0499038330597,0.99999997905,0.000136348102509,-0.000148586244272,3.50799686303e-05,1793192842009940480
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,743,711,672,661,633,876,783,800.485902808,649,629,650,0.44142699877,-0.0155731384554,0.0499115936294,0.999999979749,0.000145111119325,-0.000134302309511,3.75297084164e-05,1793192842026606848
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,743,711.328115951,672,661,633,876.656231902,783,800.671884049,649,629,650,0.441878408085,-0.0155760329707,0.0499134592413,0.999999979189,0.000153930012922,-0.000128075649617,3.90385272923e-05,1793192842043273216
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,743,711.909176984,672,661,633,877.818353969,783,800.090823016,649,629,650,0.442317328286,-0.0155774535701,0.0499107804209,0.999999977757,0.0001627919815,-0.000128060355943,3.98219886758e-05,1793192842059939584
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742.514544914,712,671.514544914,661,633,877.514544914,783,800,649,629,650,0.442677999306,-0.0155770462249,0.0498946794123,0.999999978728,0.000131869669747,-0.000156168092077,2.76792455149e-05,1793192842076606720
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.06216562,742.06216562,712,671.06216562,661,632.93783438,877,783,800,649,629,650,0.443018179948,-0.015577082127,0.0498750309547,0.999999977015,9.59688892197e-05,-0.000191203447572,1.41511513843e-05,1793192842093273856
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.650026168,742.650026168,712,671.650026168,661,632.349973832,877,783,800,649,629,650,0.443307675786,-0.0155837300407,0.0498464118789,0.999999967751,8.02964898285e-05,-0.000240762265715,9.15888927468e-06,1793192842109939968
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711.765373626,672.234626374,661,632,877,783,800,649,629,650,0.443591254799,-0.0155890120579,0.0498209189506,0.999999957159,7.28692847082e-05,-0.000283427573416,6.45700013889e-06,1793192842126606336
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711.185570015,672.814429985,661,632,877,783,800,649,629,650,0.443866129085,-0.0155922845975,0.0498000251452,0.999999947053,7.75722322777e-05,-0.000315951294164,7.12465854541e-06,1793192842143273216
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.608648192,711,672.608648192,661,632,877,782.608648192,799.608648192,649,629,650,0.444138274809,-0.0155925834115,0.0497943477279,0.999999944463,8.57320941052e-05,-0.000321954279643,8.3913740978e-06,1793192842159939840
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.033082807,711,672.033082807,661,632,877,782.033082807,799.033082807,649,629,650,0.444409136194,-0.0155914824607,0.0497958328291,0.999999945627,9.55191637219e-05,-0.000315473667856,9.94007246245e-06,1793192842176606720
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.457961879,742.542038121,711.542038121,672,660.457961879,632,877,782.542038121,799.542038121,649,628.457961879,650,0.444635307576,-0.0155928317181,0.049799447853,0.999999947736,0.00010078353218,-0.000306979543654,1.16019708316e-05,1793192842193273088
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763.71116491,743,712,672.71116491,660.71116491,632,877,783,800,649.71116491,628.71116491,650,0.445023908665,-0.015592733858,0.0497968045212,0.999999947096,0.000105353599539,-0.000307492111388,1.25697779023e-05,1793192842226605824
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,712,672.704447969,660.704447969,632,876.704447969,783,800,649.704447969,629,650,0.445183821301,-0.0155931130406,0.0497886798722,0.999999944268,0.000101849253225,-0.000317719511824,1.20787174475e-05,1793192842243272448
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,712,672.126221405,660.126221405,632,876.126221405,783,800,649.126221405,629,650,0.445329286204,-0.0155948809385,0.0497772545486,0.9999999404,9.45184379255e-05,-0.000331869031294,1.14049212562e-05,1793192842259939072
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660.449481222,631.550518778,876.449481222,783,800,649,628.550518778,650,0.445452829225,-0.0155989283812,0.0497678466075,0.999999937334,8.37322211182e-05,-0.000343798706333,1.11368378484e-05,1793192842276605952
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.975593119,743,712,672,661,631.024406881,877,782.975593119,800,649,628.024406881,650,0.445569107908,-0.0156033020301,0.0497592066052,0.999999934343,7.25220592917e-05,-0.000354872774272,1.09557480315e-05,1793192842293272576
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.40229023,743,712,672,661,631.59770977,877,782.40229023,800,649,628.59770977,650,0.44565968791,-0.0156006960635,0.0497551676927,0.999999932216,7.34779362751e-05,-0.000360645632729,1.01831696726e-05,1793192842309939456
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.176997653,743,712,672,660.823002347,632,877,782.176997653,800,649,628.823002347,650,0.445746316553,-0.0155987478195,0.049753437533,0.999999931551,7.43953577877e-05,-0.000362306855218,9.85923732502e-06,1793192842326606592
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.770364556,743,712,672,660.229635444,632,877,782.770364556,800,649,628.229635444,650,0.445823650005,-0.0155983468022,0.0497571384833,0.999999934352,7.52223165241e-05,-0.000354295865112,1.05906998914e-05,1793192842343272704
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660.354127495,632,876.645872505,782.645872505,799.645872505,649,628.354127495,650,0.445883682481,-0.0155984711813,0.0497568042635,0.999999934211,7.46034731572e-05,-0.00035482044452,1.07428139014e-05,1793192842359939328
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660.931827196,632,876.068172804,782.068172804,799.068172804,649,628.931827196,650,0.445932792294,-0.0155989272602,0.0497539225098,0.99999993221,7.30718479758e-05,-0.000360733805815,1.05291663949e-05,1793192842376605952
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661,631.49381931,876.50618069,782,800.012361379,649,628.49381931,650,0.445966166498,-0.0156000768283,0.0497496406896,0.999999930212,6.76025694941e-05,-0.00036729682771,9.90327855411e-06,1793192842393272576
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660.917741403,631.082258597,877,782.082258597,800.917741403,649,628,650,0.445995891263,-0.0156007601474,0.0497453426447,0.999999928172,6.29382351772e-05,-0.000373645772667,9.17085951131e-06,1793192842409939200
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660.32826976,631.67173024,877,782.67173024,800.32826976,649,628,650,0.446016095177,-0.0155979964113,0.0497420996078,0.999999926262,6.6485806069e-05,-0.0003781387362,8.12165797858e-06,1793192842426606080
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711.741982401,672,660.258017599,632,877,782.741982401,799.741982401,649,628.258017599,650,0.446032790945,-0.0155973415991,0.0497396901132,0.999999924802,6.77454492959e-05,-0.000381771420349,7.57807075824e-06,1793192842443272960
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711.159696978,672,660.840303022,632,877,782.159696978,799.159696978,649,628.840303022,650,0.446045077795,-0.0155993372117,0.0497383281866,0.999999923932,6.61297019149e-05,-0.000384322934097,7.66992263208e-06,1793192842459939584
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711.415650922,672,660.584349078,632,877,782,799.415650922,649.415650922,628.584349078,650,0.446055363678,-0.0155994406026,0.0497387657051,0.999999924142,6.56058973941e-05,-0.000383863487636,7.79150560797e-06,1793192842476605952
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711.988377107,672,660.011622893,632,877,782,799.988377107,649.988377107,628.011622893,650,0.446064893393,-0.0155988289193,0.0497398832374,0.99999992476,6.54947401605e-05,-0.000382266193618,7.92432402088e-06,1793192842493272576
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660,632,876.436921714,782,799.436921714,649.436921714,628.563078286,650,0.446067048326,-0.01559694987,0.0497385290502,0.999999923848,6.68510405704e-05,-0.000384416254604,7.68357009728e-06,1793192842509939456
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.857703248,743,712,672.142296752,660,631.857703248,876,782,799,649,629,650,0.446068646621,-0.0155953698984,0.0497371249789,0.99999992297,6.78900067168e-05,-0.000386517820597,7.43631250173e-06,1793192842526606080
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.264293774,743,712,672.735706226,660,631.264293774,876,782,799,649,629,650,0.446068964541,-0.0155948212977,0.04973572508,0.999999922317,6.78265848551e-05,-0.000388219560431,7.19296903648e-06,1793192842543272704
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.32078706,743,712,672.67921294,660,631,876.32078706,782.32078706,799,649,628.67921294,650,0.446069401987,-0.0155939557772,0.0497352760404,0.999999922001,6.73613360948e-05,-0.00038911807017,6.89182600143e-06,1793192842559939072
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.899179709,743,712,672.100820291,660,631,876.899179709,782.899179709,799,649,628.100820291,650,0.446069935417,-0.0155928357566,0.0497355905811,0.999999921957,6.65734033187e-05,-0.000389371552324,6.54426743881e-06,1793192842576605952
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.526644517,743,712,672,660,631,877,782.526644517,799,649,628,650,0.446070574675,-0.015592781255,0.0497350379471,0.999999921894,6.53760301041e-05,-0.000389738741235,6.40908782635e-06,1793192842593272832
+225,3.750000000,POSE1_TO_POSE2_PRESS,763,742.951962003,712,672.048037997,660,631,877,782,799,649,628,650,0.446071225383,-0.0155928452856,0.0497343733281,0.999999921835,6.42297164797e-05,-0.000390084045748,6.28892989673e-06,1793192842609939712
+226,3.766666667,POSE1_TO_POSE2_PRESS,763,742.361505309,712,672.638494691,660,631,877,782,799,649,628,650,0.446071753107,-0.0155917078002,0.049734511352,0.999999921879,6.46359375361e-05,-0.000389911196816,5.83213271389e-06,1793192842626606336
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.224326873,742.224326873,712,673,660.224326873,631.224326873,877,782,799,649,628,650,0.446072148537,-0.0155912942329,0.0497349617998,0.99999992197,6.52394470951e-05,-0.000389578028567,5.73557849242e-06,1793192842643272960
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.802857095,742.802857095,712,673,660.802857095,631.802857095,877,782,799,649,628,650,0.446072335078,-0.0155920237041,0.0497359055526,0.999999922135,6.6154467451e-05,-0.000388991722403,6.20783382969e-06,1793192842659939584
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.620869693,631.620869693,876.620869693,782,799.379130307,649,628.379130307,650,0.446072348935,-0.0155922694928,0.0497353730396,0.99999992178,6.68101961195e-05,-0.000389786565126,6.4951795467e-06,1793192842676605952
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660.045763169,631.045763169,876.045763169,782,799.954236831,649,628.954236831,650,0.44607227353,-0.0155922652612,0.0497340774301,0.999999921155,6.73318943141e-05,-0.000391295337429,6.68694363205e-06,1793192842693272320
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,712,672.459968638,660,631.540031362,876.540031362,782,800,649,628.459968638,650,0.446070409972,-0.0155918787919,0.0497329393731,0.999999920487,6.61784452066e-05,-0.000393204006096,6.1184072845e-06,1793192842709939200
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,632,877,782,799.874854396,649,628,650,0.446069222556,-0.0155912405793,0.049732137227,0.99999992003,6.55856516241e-05,-0.000394470888281,5.59182610028e-06,1793192842726606080
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,712,672,660,632,877,782,799.295562197,649,628,650,0.446071049824,-0.0155898087243,0.0497325046544,0.999999920368,6.75529944331e-05,-0.000393283301374,5.45602880009e-06,1793192842743272960
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711.715792116,672,660,632,876.715792116,782,799.284207884,649,628.284207884,650,0.446071516131,-0.0155896376344,0.0497325916762,0.999999920504,6.73089409816e-05,-0.000392977712585,5.43964834489e-06,1793192842759939584
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711.135524156,672,660,632,876.135524156,782,799.864475844,649,628.864475844,650,0.446070564721,-0.0155907798863,0.0497323865987,0.999999920431,6.47612706486e-05,-0.000393590903336,5.54766470496e-06,1793192842776605952
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.562753728,743,711.437246272,672.437246272,660.437246272,631.562753728,876.437246272,782,800,649,629,650,0.446070907867,-0.015591482518,0.0497328416789,0.999999920718,6.35975612722e-05,-0.00039304473772,5.84877721025e-06,1793192842793272576
+237,3.950000000,POSE1_TO_POSE2_PRESS,763,743,712,672.992147459,660.992147459,631,877,782,799.992147459,649,628.992147459,650,0.446071642382,-0.0155920265749,0.0497334839979,0.99999992111,6.28787847124e-05,-0.0003921582717,6.1965126687e-06,1793192842809938944
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,743,712,672.412766914,660.412766914,631,877,782,799.412766914,649,628.412766914,650,0.446072150271,-0.015590779323,0.0497331126513,0.999999921029,6.38490374521e-05,-0.00039221676829,5.65498550662e-06,1793192842826605824
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742.829474256,712,672.170525744,660,631.170525744,877,782,799.170525744,649,628,650,0.446072389472,-0.0155901184962,0.0497328814219,0.999999920915,6.48585351764e-05,-0.0003923451875,5.38089281749e-06,1793192842843272448
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,742.2364898,712,672.7635102,660,631.7635102,877,782,799.7635102,649,628,650,0.446071963026,-0.0155909104729,0.0497329973175,0.999999920722,6.59652579602e-05,-0.000392646832276,5.7693395507e-06,1793192842859939072
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,742.346270557,712,672.653729443,660,632,877,782,800,649,628,650,0.446071698668,-0.01559079589,0.0497327395601,0.999999920454,6.5638421267e-05,-0.000393381158114,5.97062381186e-06,1793192842876605952
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,742.922248477,712,672.077751523,660,632,877,782,800,649,628,650,0.446071541835,-0.0155900799177,0.0497322339304,0.999999920134,6.43605964683e-05,-0.000394402513901,6.0477490817e-06,1793192842893272832
+243,4.050000000,HOLD_POSE2,764,743,712,672,660,631,877,782,800,649,628,650,0.446068934267,-0.0155904127931,0.0497304972463,0.999999918979,6.45114998038e-05,-0.000397302742294,5.46881794383e-06,1793192842924617472
+244,4.066666667,HOLD_POSE2,763.406788388,743,711.406788388,672,660,631.593211612,877,782,800,649,628,650,0.446072761237,-0.0155904897708,0.0497329743909,0.999999920519,6.4324117421e-05,-0.000393436804264,5.5685822973e-06,1793192842941283584
+245,4.083333333,HOLD_POSE2,763,743,711.181367443,672,660,631.818632557,877,782,800,649,628,650,0.446074837779,-0.0155904930959,0.0497341413171,0.999999921343,6.42814311881e-05,-0.000391345532806,5.59928545587e-06,1793192842957949696
+246,4.100000000,HOLD_POSE2,763,743,711.758491322,672,660,631.241508678,877,782,800,649,628,650,0.446073094767,-0.0155903357057,0.0497324492554,0.999999920627,6.45544820322e-05,-0.000393126707106,5.47929227969e-06,1793192842974616320
+247,4.116666667,HOLD_POSE2,763.333982287,743,712,672,660.333982287,631,876.666017713,782,800,649,628,650,0.446071802564,-0.0155896040248,0.0497312923757,0.999999919963,6.44409154344e-05,-0.000394834702562,5.16231813255e-06,1793192842991282944
+248,4.133333333,HOLD_POSE2,763.908298175,743,712,672,660.908298175,631,876.091701825,782,800,649,628,650,0.446070834764,-0.0155884590845,0.0497305206129,0.999999919336,6.40491389711e-05,-0.000396490038425,4.70359651782e-06,1793192843007949568
+249,4.150000000,HOLD_POSE2,764,743,711.504444141,672.495555859,660.504444141,631.495555859,876.495555859,782,800,649,628.495555859,650,0.446071185048,-0.0155885197555,0.0497312384747,0.999999919189,6.54787918366e-05,-0.000396620838427,5.22685093375e-06,1793192843024616704
+250,4.166666667,HOLD_POSE2,763.916410875,743,711.083589125,672.916410875,660,632,877,782.083589125,799.916410875,649,628.916410875,650,0.446071934303,-0.0155886731312,0.0497322023128,0.999999919268,6.69175378472e-05,-0.000396171512474,5.77186343141e-06,1793192843041283840
+251,4.183333333,HOLD_POSE2,763.338336613,743,711.661663387,672.338336613,660,632,877,782.661663387,799.338336613,649,628.338336613,650,0.446073562163,-0.0155880197624,0.0497329468673,0.999999920164,6.63627178333e-05,-0.000394003994711,5.34180983978e-06,1793192843057950208
+252,4.200000000,HOLD_POSE2,763,742.760634125,712,672,660,632,876.760634125,782.760634125,799.239365875,649,628,650,0.446074755063,-0.0155879759101,0.0497337298216,0.999999920876,6.59437348441e-05,-0.000392264734495,5.20478190592e-06,1793192843074616832
+253,4.216666667,HOLD_POSE2,763,742.183456363,712,672,660,632,876.183456363,782.183456363,799.816543637,649,628,650,0.446075334113,-0.0155887922552,0.0497345669687,0.999999921334,6.57164557591e-05,-0.00039112986508,5.4812947864e-06,1793192843091283200
+254,4.233333333,HOLD_POSE2,763.39308839,742.39308839,712,672,660,631.60691161,876.39308839,782,800,649,628.39308839,650,0.446075094602,-0.0155894902396,0.0497340031665,0.999999921179,6.43742553298e-05,-0.000391747222065,5.57966301875e-06,1793192843107949568
+255,4.250000000,HOLD_POSE2,763.969338242,742.969338242,712,672,660,631.030661758,876.969338242,782,800,649,628.969338242,650,0.446074473677,-0.0155901330732,0.0497327865853,0.999999920735,6.25125518181e-05,-0.000393181037421,5.59502390396e-06,1793192843124615936
+256,4.266666667,HOLD_POSE2,764,743,712,672,660,631.557529469,876.442470531,782,799.442470531,649,628.442470531,650,0.446074370202,-0.0155898028528,0.0497327304377,0.99999992068,6.26861641886e-05,-0.000393289976963,5.76848668506e-06,1793192843141282816
+257,4.283333333,HOLD_POSE2,764,743,711.856094726,672,660,632,876,782,799,649,628,650,0.446074183129,-0.0155893220883,0.0497327217448,0.999999920594,6.30123962703e-05,-0.000393456041513,5.86533828464e-06,1793192843157949696
+258,4.300000000,HOLD_POSE2,764,743,711.277234317,672,660,632,876,782,799,649,628,650,0.446073655484,-0.0155885515891,0.0497326593686,0.999999920345,6.34541972651e-05,-0.000394019814955,5.70377612975e-06,1793192843174616576
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+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,742.57430007,711.57430007,672,660,631,877,782,799.42569993,649,629,650,0.446076168804,-0.015587967888,0.0497342990588,0.999999921164,6.45984500103e-05,-0.000391761655818,4.6297838805e-06,1793192843228253440
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,712,673,660,631.484835259,877,782,800,649,628,650,0.446073489223,-0.0155867892925,0.0497319791012,0.99999991991,6.63135953754e-05,-0.000394663630701,4.80322002391e-06,1793192843311585280
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.060702642,743,712,672.939297358,660,632,876.939297358,782,800,649,628,650,0.446071546335,-0.0155860496188,0.0497313367001,0.999999919242,6.63236220694e-05,-0.000396353325191,4.57950127015e-06,1793192843328251904
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711.765163878,672,660,632,876.234836122,782,800,649,628.234836122,650,0.446045204992,-0.0155846543302,0.049719982534,0.999999911631,6.36743112003e-05,-0.000415543299462,2.80240463248e-06,1793192843361584896
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.182725296,672,660,632,876.817274704,782,800,649,628.817274704,650,0.446015499734,-0.0155837657516,0.049707045347,0.999999902341,6.33877633707e-05,-0.000437373906503,1.87661724616e-06,1793192843378251520
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,660,632,877.966908539,782,800,649,629,650,0.445902085028,-0.0155750673222,0.0496651915305,0.999999865423,6.86980564064e-05,-0.000514226726913,-2.52793830402e-06,1793192843411585024
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711.538474275,672,660,632,877.461525725,782,800.538474275,649,628.461525725,650,0.445832367946,-0.0155706933232,0.0496508401851,0.999999857223,7.04321456846e-05,-0.000529690217363,-4.60953270586e-06,1793192843428251648
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,743,711.976677761,672,660,632,877,782,800,649,628,650,0.445192211497,-0.0155288819857,0.0496502869907,0.999999855202,8.98789987363e-05,-0.000530501450569,-9.28742567647e-06,1793192843528251392
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711.011041865,672,661,632,876,783,799,649,629,650,0.441653385659,-0.0154374753952,0.0497526503305,0.999999928414,5.24728036673e-05,-0.000373821307672,-2.60231453757e-05,1793192843728251648
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.16330144,742.16330144,711.83669856,672,661,633,876.16330144,783,800,649,628.83669856,650,0.440713735808,-0.0154268174781,0.0498029095033,0.999999955201,3.41295258369e-05,-0.000295965953935,-2.89315947522e-05,1793192843761585152
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.740380877,742.740380877,711.259619123,672,661,633,876.740380877,783,800,649,628.259619123,650,0.440183806334,-0.0154180977839,0.0498135993252,0.999999960487,2.31022489962e-05,-0.000278335774236,-3.1954230821e-05,1793192843778252800
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.467327774,742.467327774,711.532672226,672,661,632.467327774,876,783,800,649,628.467327774,649.467327774,0.438364296278,-0.0153991043621,0.0497747910316,0.999999939407,-2.10519446655e-05,-0.000344189780001,-4.77064669168e-05,1793192843828251904
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,762.906101905,742,712,671.906101905,661.906101905,632.093898095,876,783,799.093898095,649,628.093898095,650,0.422228207983,-0.0153735337125,0.0498466712409,0.999999972147,-3.92107209719e-05,-0.000224949440778,-5.97247417037e-05,1793192844161584896
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,762.249094685,742,712,671.249094685,661,633,876.249094685,783.249094685,799.750905315,649,628.750905315,650,0.420347536266,-0.0153705357988,0.0497949467697,0.999999942061,-7.25265947175e-05,-0.00032563557713,-6.76637395854e-05,1793192844194918400
+319,5.316666667,POSE2_TO_POSE3_RETREAT,762.826521265,742,712,671.826521265,661,633,876.826521265,783.826521265,799.173478735,649,628.173478735,650,0.419477379364,-0.0153722556383,0.049811318418,0.999999946703,-8.1647704425e-05,-0.000309142293786,-6.60224632326e-05,1793192844211585280
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711.597790451,672,661,633,876.597790451,784,799,649,628,650,0.418585996287,-0.0153716476313,0.0498048154542,0.999999941611,-5.12481676108e-05,-0.000331354528626,-6.59952823801e-05,1793192844228252160
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711.022848726,672,661,633,876.022848726,784,799,649,628,650,0.417685497509,-0.0153700399116,0.0497884888003,0.999999929251,-3.876165697e-06,-0.000370189164306,-6.66612879163e-05,1793192844244918784
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,660.433357969,633,876.566642031,783.433357969,799,649,628.566642031,650.566642031,0.416876560719,-0.0153692650035,0.0497884154594,0.999999933704,-2.32409551449e-05,-0.000356823461337,-6.87608453892e-05,1793192844261585152
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.846207136,660.153792864,633,876.846207136,783,799,649,629,650.846207136,0.416070847205,-0.0153690153435,0.0497958174762,0.999999941401,-4.38941404069e-05,-0.000332248947952,-6.98725357642e-05,1793192844278251776
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.309931106,661,633,875.690068894,783,799.309931106,649,628.690068894,650,0.414450033726,-0.0153692559825,0.0498227119657,0.999999955856,-6.91270267822e-05,-0.000280867596248,-6.79897844633e-05,1793192844311585280
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.885429793,661,633,875.114570207,783,799.885429793,649,628.114570207,650,0.413631138194,-0.0153666978942,0.0498015222713,0.999999943864,-7.09903283383e-05,-0.000320040345122,-6.93342723587e-05,1793192844328251904
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711.055327347,671.055327347,660.055327347,632.944672653,875.055327347,783,799,649,628,650,0.412104478092,-0.0153652905886,0.0497710387165,0.99999992622,-8.27753366355e-05,-0.000367735899406,-7.4021361077e-05,1793192844361585664
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.634723239,671.634723239,660.634723239,632.365276761,875.634723239,783,799,649,628,650,0.411397995541,-0.0153692390349,0.0497985656444,0.999999938331,-8.7385864061e-05,-0.000332701831238,-7.07954487414e-05,1793192844378252032
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711.785954785,671.785954785,661,632.214045215,876,783,799,649,628,650.214045215,0.410683828579,-0.0153705700902,0.0498131420306,0.999999943674,-8.94405346713e-05,-0.000316069642368,-6.89328336307e-05,1793192844394918656
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711.206758814,671.206758814,661,632.793241186,876,783,799,649,628,650.793241186,0.409956552269,-0.015367436004,0.0498056254252,0.999999939072,-8.71350383833e-05,-0.000330830162068,-6.93959370652e-05,1793192844411585280
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.369761278,742,711.369761278,671,660.630238722,633,876,783,799,649,628,651,0.409291049165,-0.0153682272115,0.0497981888577,0.999999935465,-9.38042373261e-05,-0.000339466609821,-7.09463426366e-05,1793192844428251904
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.469853355,742.530146645,711.469853355,671,660.530146645,633,876,783.530146645,799.530146645,649,628.530146645,651,0.408102298966,-0.0153740677738,0.0498115695224,0.999999942532,-0.000116100142458,-0.000310392912675,-7.1510061078e-05,1793192844461585408
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,743,711,671,661,633,876,783.884568409,800,649,629,651,0.407550790592,-0.0153758332752,0.0498314110202,0.999999950975,-0.000122303673448,-0.000279813316334,-6.92544281778e-05,1793192844478252288
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711.760984025,671,660,633,876,783.760984025,800,649.760984025,629,650.760984025,0.402131699816,-0.0153891671789,0.0498178999467,0.999999916305,-0.000209713653344,-0.000342786630728,-7.68596305134e-05,1793192844711585024
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742.461674784,711,671,660.538325216,633,876,783.461674784,800,649,629,650,0.401124139885,-0.0154004144403,0.0498392743756,0.999999956019,-3.0937164008e-06,-0.000291663520819,-5.37141292457e-05,1793192844861584640
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,763,742.216926472,712,671,660,633,876,784,799.783073528,649.783073528,629,651,0.401006477808,-0.0154071855037,0.0498418076156,0.99999995841,-2.04712265203e-05,-0.000282361930906,-5.50662782843e-05,1793192844928251392
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0127d7d124b68f1756b32edfd861817a803be502
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,395 @@
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+381,6.350000000,pose2_to_pose3_retreat,0.57571072338,-0.00994548061554,1.04002919136,0.546281453995,-0.00127274993535,1.0396984802
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f282c1a8d1ad660450ac7b62b28f26fd35f6a6a4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:184dff52ce8afc8d72296e18d6992cf8641d8c26e881cd0a1a9ae41dac3257a9
+size 25367116
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad8e54742bfbca372b0f3ad5700119fa72ff182a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_04/franka_data.csv
@@ -0,0 +1,400 @@
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+10,0.166666667,BASELINE,763.818538581,742,712,671,660,633,875,784,799.818538581,650,629,650,0.400969419513,-0.0154151746088,0.0498488304184,0.999999961861,-3.34078377986e-05,-0.000268591053402,-5.49571517987e-05,1793192845762260992
+11,0.183333333,BASELINE,763.605614407,742.394385593,711.605614407,670.605614407,660.394385593,633,875,783.605614407,800,649.605614407,629,650.394385593,0.400969402397,-0.0154142984041,0.0498489190693,0.999999961901,-3.20614136361e-05,-0.000268602293893,-5.49719487281e-05,1793192845778927360
+12,0.200000000,BASELINE,763.030226802,742.969773198,711.030226802,670.030226802,660.969773198,633,875,783.030226802,800,649.030226802,629,650.969773198,0.400968571339,-0.015412846405,0.0498485569725,0.999999961646,-3.17310414531e-05,-0.000269544127344,-5.52054712839e-05,1793192845795594240
+13,0.216666667,BASELINE,763,742.442008328,711,670.557991672,661,633,875.557991672,783.557991672,800,649,629,651,0.400967792495,-0.0154127184109,0.0498482141195,0.999999961456,-2.97561295518e-05,-0.000270541158811,-5.48705497782e-05,1793192845812260864
+14,0.233333333,BASELINE,763,742,711.144805164,671,660.855194836,633,875.855194836,783.855194836,799.855194836,649.144805164,628.855194836,650.855194836,0.400967391494,-0.0154128564217,0.0498481767083,0.999999961399,-2.86663281682e-05,-0.00027092576609,-5.45754281253e-05,1793192845828927744
+15,0.250000000,BASELINE,763,742,711.725251691,671,660.274748309,633,875.274748309,783.274748309,799.274748309,649.725251691,628.274748309,650.274748309,0.400968118508,-0.0154135738466,0.0498490549976,0.999999961746,-3.05136705692e-05,-0.000269458709109,-5.4494862965e-05,1793192845845594368
+16,0.266666667,BASELINE,763,742,711.697070782,671,660,633,875,783,799.302929218,649.697070782,628.302929218,650.302929218,0.400967649516,-0.0154134353658,0.0498489714824,0.999999961681,-3.05234362175e-05,-0.000269660320074,-5.46704105834e-05,1793192845862260992
+17,0.283333333,BASELINE,763,742,711.121881944,671,660,633,875,783,799.878118056,649.121881944,628.878118056,650.878118056,0.400966105606,-0.0154125276342,0.0498480235388,0.999999961248,-2.88816676125e-05,-0.000271361657373,-5.50761412441e-05,1793192845878927360
+18,0.300000000,BASELINE,763,742.452010812,711.452010812,671,660.452010812,633,875.452010812,783,800,649,628.547989188,651,0.400966098271,-0.0154126917208,0.0498477411491,0.999999961221,-2.92490433916e-05,-0.000271429002561,-5.50327509164e-05,1793192845895593984
+19,0.316666667,BASELINE,763,742.97357539,712,670.97357539,660.97357539,633,875.97357539,783,800.02642461,649,628,651,0.400966548568,-0.0154131254277,0.0498476762379,0.999999961314,-3.01959258883e-05,-0.000271015251648,-5.48762903018e-05,1793192845912260864
+20,0.333333333,BASELINE,763,742.380515881,712,670.380515881,660.380515881,633,875.380515881,783,800.619484119,649,628,651,0.400967952835,-0.0154131610918,0.0498484375231,0.999999961612,-3.19855839182e-05,-0.000269706024434,-5.48846479089e-05,1793192845928927744
+21,0.350000000,BASELINE,763,742,712,670.205882376,660.205882376,633,875.205882376,783,800.794117624,649,628.205882376,651,0.400968813756,-0.0154138773921,0.0498490307433,0.999999961817,-3.32939734518e-05,-0.000268828406115,-5.46741181991e-05,1793192845945594368
+22,0.366666667,BASELINE,763,742,712,670.780354961,660.780354961,633,875.780354961,783,800.219645039,649,628.780354961,651,0.400968701927,-0.0154158122323,0.0498493230776,0.999999961863,-3.37407501638e-05,-0.000268723495232,-5.40717155986e-05,1793192845962260992
+23,0.383333333,BASELINE,763,742.356099434,711.643900566,671,660.643900566,633,876,783.356099434,800,649.356099434,629,651,0.400968066153,-0.0154154709538,0.0498490481473,0.999999961761,-3.27804158757e-05,-0.000269177342637,-5.42833936402e-05,1793192845978927616
+24,0.400000000,BASELINE,763,742.932631286,711.067368714,671,660.067368714,633,876,783.932631286,800,649.932631286,629,651,0.400967106047,-0.0154137207141,0.0498484220694,0.999999961565,-3.09490527842e-05,-0.000269977072187,-5.49990032412e-05,1793192845995594240
+25,0.416666667,BASELINE,763.522322725,742.477677275,711,671,660.522322725,633,875.477677275,783.477677275,799.477677275,650,629,650.477677275,0.400967887381,-0.0154150930109,0.0498488552841,0.999999961752,-3.20724500801e-05,-0.000269210226582,-5.47111996203e-05,1793192846012260864
+26,0.433333333,BASELINE,764,742,711.111226066,670.888773934,661,633.111226066,875.111226066,783.111226066,799.111226066,649.888773934,629,650.111226066,0.400969045378,-0.0154164510812,0.0498495930483,0.999999962082,-3.33239705093e-05,-0.000267908194128,-5.43151920178e-05,1793192846028927232
+27,0.450000000,BASELINE,764,742,711.689508739,670.310491261,661,633.689508739,875.689508739,783.689508739,799.689508739,649.310491261,629,650.689508739,0.400970817498,-0.0154160145228,0.0498510211208,0.999999962807,-3.34718291235e-05,-0.000265229216661,-5.40223168759e-05,1793192846045593856
+28,0.466666667,BASELINE,763.734506923,742.265493077,711.734506923,670.265493077,660.734506923,633.734506923,875.734506923,783.734506923,800,649.265493077,628.734506923,651,0.40097048677,-0.0154149087493,0.0498509959572,0.999999962714,-3.32029508214e-05,-0.000265570854846,-5.42433080411e-05,1793192846062260736
+29,0.483333333,BASELINE,763.161187429,742.838812571,711.161187429,670.838812571,660.161187429,633.161187429,875.161187429,783.161187429,800,649.838812571,628.161187429,651,0.400967717892,-0.0154130270532,0.0498492858363,0.999999961666,-3.2450886157e-05,-0.000269414751342,-5.50601024205e-05,1793192846078927360
+30,0.500000000,BASELINE,763,743,711,671,660,633,875.423470122,783,800,650,628.423470122,651,0.400967878653,-0.015413830601,0.0498493651812,0.999999961711,-3.30250140831e-05,-0.000269198293199,-5.49553769002e-05,1793192846095593984
+31,0.516666667,BASELINE,763,743,711.012313475,671,660,633,876,783,800,650,629,651,0.400969148258,-0.015415647266,0.0498501234901,0.999999962175,-3.40813772181e-05,-0.000267428723012,-5.44999061873e-05,1793192846112260608
+32,0.533333333,BASELINE,763,743,711.589748843,671,660,633,876,783,800,650,629,651,0.400968721827,-0.0154157613155,0.0498499222666,0.999999962241,-3.34650207983e-05,-0.000267261700971,-5.44880982797e-05,1793192846128927488
+33,0.550000000,BASELINE,763,742.832999053,711.832999053,670.832999053,660.167000947,633,875.832999053,783,799.832999053,649.832999053,629,651,0.400968576391,-0.0154156794543,0.0498497877579,0.99999996232,-3.28874698396e-05,-0.000267034293012,-5.45010688827e-05,1793192846145594368
+34,0.566666667,BASELINE,763,742.256196743,711.256196743,670.256196743,660.743803257,633,875.256196743,783,799.256196743,649.256196743,629,651,0.400969120485,-0.0154151168501,0.0498498169596,0.999999962432,-3.24051431677e-05,-0.000266658704897,-5.457484314e-05,1793192846162260992
+35,0.583333333,BASELINE,763,742,711,670,660.680906374,633,875,783.319093626,799.319093626,649.319093626,629,650.680906374,0.400968809395,-0.0154143671645,0.0498498834828,0.999999962298,-3.22171649724e-05,-0.000267149724654,-5.47444069191e-05,1793192846178927360
+36,0.600000000,BASELINE,763,742,711,670,660.106824141,633,875,783.893175859,799.893175859,649.893175859,629,650.106824141,0.400967814926,-0.0154134679814,0.0498499798299,0.999999961966,-3.22644014149e-05,-0.000268333253145,-5.49905163807e-05,1793192846195593984
+37,0.616666667,BASELINE,763,742,711,670.483769118,660.483769118,633,875.483769118,784,800,650,629,650.483769118,0.40096820408,-0.015413629501,0.0498499940496,0.999999962368,-3.08394700907e-05,-0.000267034537884,-5.48243510133e-05,1793192846212260608
+38,0.633333333,BASELINE,763,742.075564637,711.075564637,670.924435363,660.924435363,633,876.075564637,783.924435363,800,650,629,651,0.400968849501,-0.0154139538939,0.0498499701384,0.999999962812,-2.94901481842e-05,-0.000265564773181,-5.46064028723e-05,1793192846228927488
+39,0.650000000,BASELINE,763,742.650364761,711.650364761,670.349635239,660.349635239,633,876.650364761,783.349635239,800,650,629,651,0.400969098139,-0.0154137522347,0.0498498183531,0.999999962461,-3.08639571454e-05,-0.000266714174656,-5.46690501612e-05,1793192846245594368
+40,0.666666667,BASELINE,763,742.774337337,711.774337337,670.225662663,660,633,876.548674674,783,799.774337337,650,629,651,0.400969379307,-0.0154140486669,0.0498498955957,0.999999962372,-3.21080510418e-05,-0.000266910032174,-5.46183730365e-05,1793192846262260992
+41,0.683333333,BASELINE,763,742.19826652,711.19826652,670.80173348,660,633,875.39653304,783,799.19826652,650,629,651,0.400969710989,-0.0154151185336,0.049850328472,0.999999962693,-3.31507237801e-05,-0.000265625230077,-5.43917261753e-05,1793192846278927616
+42,0.700000000,BASELINE,763,742,711,670.612328957,660,633,875.387671043,783,799.387671043,649.612328957,628.612328957,651,0.400969034013,-0.0154143175598,0.0498499350916,0.999999962563,-3.22977446886e-05,-0.000266160347727,-5.46785448608e-05,1793192846295594240
+43,0.716666667,BASELINE,763,742,711,670.021213479,660,633,875.978786521,783,799.978786521,649.021213479,628.021213479,651,0.400967827708,-0.0154125347946,0.049849108103,0.999999962193,-3.04499535414e-05,-0.000267650534285,-5.52348232137e-05,1793192846312260864
+44,0.733333333,BASELINE,763,742.557918558,711,670.557918558,660,633,875.442081442,783,799.442081442,649,628,650.442081442,0.400968638212,-0.0154133849632,0.0498494605005,0.999999962345,-3.18041512962e-05,-0.000266944644779,-5.51234298422e-05,1793192846328927488
+45,0.750000000,BASELINE,763,742.864288581,711,671,660,633,875.135711419,783.135711419,799.135711419,649,628,650.135711419,0.400969340802,-0.015414091974,0.0498498391793,0.999999962527,-3.26458706215e-05,-0.000266193396464,-5.49631629078e-05,1793192846345594112
+46,0.766666667,BASELINE,763,742.289386148,711,671,660,633,875.710613852,783.710613852,799.710613852,649,628,650.710613852,0.400969451215,-0.015414018528,0.0498501608387,0.999999962747,-3.14433836399e-05,-0.000265559900477,-5.4725159589e-05,1793192846362260736
+47,0.783333333,BASELINE,763,742,711,670.712798719,660,633,875.712798719,783.712798719,799.712798719,649,628.287201281,651,0.400969502303,-0.0154141292545,0.0498501869417,0.999999962775,-3.10407318319e-05,-0.000265507611898,-5.46968146138e-05,1793192846378927360
+48,0.800000000,BASELINE,763,742,711,670.134503384,660,633,875.134503384,783.134503384,799.134503384,649,628.865496616,651,0.400969493262,-0.0154144266497,0.0498499134824,0.99999996261,-3.14487561455e-05,-0.000266044408426,-5.48809696962e-05,1793192846395594240
+49,0.816666667,BASELINE,763,742.451232916,711.451232916,670.451232916,660,633,875.451232916,783,799.451232916,649.451232916,629,650.548767084,0.400968068704,-0.0154136083854,0.0498494412205,0.999999962204,-3.1370659106e-05,-0.000267581445849,-5.48506626227e-05,1793192846412260864
+50,0.833333333,BASELINE,763,743,711.961385871,670.961385871,660,633,875.961385871,783.038614129,800.038614129,649.961385871,629,650,0.400966470157,-0.0154125560406,0.0498490240478,0.9999999618,-3.11317498753e-05,-0.000269133626595,-5.47453437754e-05,1793192846428927488
+51,0.850000000,BASELINE,763,743,711.382542188,670.382542188,660,633,875.382542188,783.617457812,800.617457812,649.382542188,629,650,0.400968439484,-0.0154129594136,0.049850220561,0.999999962491,-3.07042529932e-05,-0.000266656454077,-5.44999368575e-05,1793192846445594112
+52,0.866666667,BASELINE,763,742.805094643,711,670.194905357,660,633,875.194905357,783.805094643,800.805094643,649.194905357,629,650.194905357,0.400969443332,-0.0154137104682,0.0498506799681,0.999999962819,-3.06653889495e-05,-0.00026545546767,-5.43594066582e-05,1793192846462260736
+53,0.883333333,BASELINE,763,742.230367852,711,670.769632148,660,633,875.769632148,783.230367852,800.230367852,649.769632148,629,650.769632148,0.400968565703,-0.0154151390665,0.0498497029408,0.999999962451,-3.13838724153e-05,-0.0002667414466,-5.44232547744e-05,1793192846478927104
+54,0.900000000,BASELINE,763,742,711,670.65686219,660.34313781,633,875.65686219,783,800,649.65686219,628.65686219,651,0.40096887893,-0.0154152779666,0.049849761521,0.99999996246,-3.19028547682e-05,-0.000266613641312,-5.45882749598e-05,1793192846495593728
+55,0.916666667,BASELINE,763,742,711,670.084173456,660.915826544,633,875.084173456,783,800,649.084173456,628.084173456,651,0.400969988809,-0.0154145540896,0.0498505128975,0.99999996272,-3.22883756566e-05,-0.000265540048409,-5.48209768181e-05,1793192846512260608
+56,0.933333333,BASELINE,763,742,711,670,660.493121401,633,875,783,800,649,628.506878599,650.493121401,0.400968993475,-0.0154156741004,0.0498501556874,0.999999962412,-3.48611873014e-05,-0.000266417518521,-5.46193280188e-05,1793192846528927488
+57,0.950000000,BASELINE,763,742.09799619,711,670.09799619,660.09799619,633,875,783,800,649,629,650,0.40096794123,-0.0154165979796,0.0498497708307,0.999999962117,-3.68473893902e-05,-0.000267294963523,-5.44151261595e-05,1793192846545594368
+58,0.966666667,BASELINE,763,742.67399943,711,670.67399943,660.67399943,633,875,783,800,649,629,650,0.400968380753,-0.0154150154329,0.0498501828523,0.999999962409,-3.41338671041e-05,-0.000266532476058,-5.45635296678e-05,1793192846562261248
+59,0.983333333,BASELINE,763,742.750552743,711,671,660.750552743,633,875.249447257,783,800,649,629,650.249447257,0.400968918238,-0.0154143120196,0.0498505482888,0.999999962646,-3.29415959157e-05,-0.000265770951851,-5.46619546879e-05,1793192846578927616
+60,1.000000000,BASELINE,763,742.175829089,711,671,660.175829089,633,875.824170911,783,800,649,629,650.824170911,0.400969583463,-0.015414754986,0.0498508529787,0.99999996282,-3.37330185543e-05,-0.00026501068362,-5.46952083465e-05,1793192846595593984
+61,1.016666667,BASELINE,763,742,711,671,660,633,876,783,800,649,628.590168839,650.590168839,0.400969362229,-0.0154151922243,0.0498505616265,0.999999962656,-3.37621870152e-05,-0.000265649928431,-5.45795485593e-05,1793192846612260608
+62,1.033333333,BASELINE,762.999694121,742,711,671,660.000305879,633,875.999694121,783,800.000305879,649.000305879,628,650,0.400968750999,-0.0154156267216,0.0498500081851,0.999999962342,-3.345399673e-05,-0.000266904482454,-5.43981481925e-05,1793192846628927232
+63,1.050000000,BASELINE,762.421035091,742,711,671,660.578964909,633,875.421035091,783,800.578964909,649.578964909,628,650,0.400969553995,-0.0154156527071,0.0498506663499,0.999999962917,-3.05666386682e-05,-0.000265165336831,-5.40259663052e-05,1793192846645593856
+64,1.066666667,BASELINE,762.155785493,742.155785493,711,671,660.844214507,633,875,783,800.844214507,649.844214507,628.155785493,650,0.400970175994,-0.0154158380826,0.0498511549169,0.99999996324,-2.97426603457e-05,-0.000264072748301,-5.38570372804e-05,1793192846662260480
+65,1.083333333,BASELINE,762.727695302,742.727695302,711,671,660.272304698,633,875,783,800.272304698,649.272304698,628.727695302,650,0.400970314522,-0.0154164492108,0.0498511904647,0.999999962902,-3.44302511235e-05,-0.000264707202128,-5.42310244169e-05,1793192846678927360
+66,1.100000000,BASELINE,763,742.688904747,711.311095253,670.688904747,660.311095253,633,875,783.311095253,799.688904747,649.311095253,629,650,0.400969806919,-0.0154159978623,0.0498506528679,0.999999962562,-3.5996631676e-05,-0.00026570344394,-5.46099374226e-05,1793192846695593984
+67,1.116666667,BASELINE,763,742.095061683,711.904938317,670.095061683,660.904938317,633,875,783.904938317,799.095061683,649.904938317,629,650,0.400968712061,-0.0154145808514,0.0498495943522,0.999999962233,-3.47262108687e-05,-0.000267028507068,-5.49933274255e-05,1793192846712260608
+68,1.133333333,BASELINE,763.486114047,742.486114047,711.513885953,670.486114047,660.513885953,633,875,783.513885953,799,650,628.513885953,650,0.400968711248,-0.0154140738281,0.0498497333681,0.999999962305,-3.36711376324e-05,-0.000266895058303,-5.49856819058e-05,1793192846728927488
+69,1.150000000,BASELINE,764,742.935333634,711,671,660.129332732,633,875.064666366,783,799.064666366,649.935333634,628.064666366,650,0.400968904451,-0.0154137968612,0.0498500319255,0.999999962446,-3.26864478686e-05,-0.000266512142498,-5.48735912956e-05,1793192846745594112
+70,1.166666667,BASELINE,764,742.358438505,711,671,661.28312299,633,875.641561495,783,799.641561495,649.358438505,628.641561495,650,0.400968982838,-0.0154139684169,0.049849786354,0.999999962531,-3.19341703849e-05,-0.000266355038819,-5.45245136018e-05,1793192846762260480
+71,1.183333333,BASELINE,763.784009018,742,711,671,661.568018035,633,875.568018035,783,800,649,629,650.215990982,0.400968859207,-0.0154139533017,0.0498496768692,0.999999962553,-3.12652594408e-05,-0.000266378588963,-5.43928010153e-05,1793192846778927360
+72,1.200000000,BASELINE,763.213625007,742,711,671,660.427250013,633,874.427250013,783,800,649,629,650.786374993,0.400968404111,-0.0154136319011,0.0498497906723,0.999999962472,-3.07331342757e-05,-0.000266698551714,-5.46177360341e-05,1793192846795593984
+73,1.216666667,BASELINE,763,742,711,671,660,633,874.371907153,783,799.628092847,649,629,650.628092847,0.40096844768,-0.0154143449155,0.0498499242598,0.999999962401,-3.21636105916e-05,-0.000266795652319,-5.46175679367e-05,1793192846812260864
+74,1.233333333,BASELINE,763,742,711,671,660,633,874.966509891,783,799.033490109,649,629,650.033490109,0.400968789845,-0.015415677331,0.0498500696941,0.999999962331,-3.47692799477e-05,-0.000266759304497,-5.44826095428e-05,1793192846828927744
+75,1.250000000,BASELINE,763,742,711.546784547,670.453215453,660,633,875.546784547,783,799,649,629,650,0.400970907585,-0.0154162751461,0.0498515221138,0.999999962954,-3.51968812112e-05,-0.0002644426628,-5.40596682815e-05,1793192846845594368
+76,1.266666667,BASELINE,763,742,711.874933362,670.125066638,660.125066638,633,876,783,799.250133277,649,629,650,0.400972307911,-0.0154166012984,0.0498526334944,0.999999963433,-3.50400854359e-05,-0.000262719724203,-5.37092661816e-05,1793192846862260992
+77,1.283333333,BASELINE,763,742,711.300735816,670.699264184,660.699264184,633,876,783,800.398528368,649,629,650,0.400970751331,-0.0154161093256,0.0498522400225,0.999999963259,-3.32514837493e-05,-0.000263617604687,-5.36810873668e-05,1793192846878927616
+78,1.300000000,BASELINE,763.27263813,742.27263813,711.27263813,671,660.72736187,633,876,783,800.72736187,649,629,650.27263813,0.400969721168,-0.0154158679938,0.0498515490732,0.999999963004,-3.28186476471e-05,-0.000264596987717,-5.38737545307e-05,1793192846895594240
+79,1.316666667,BASELINE,763.845106295,742.845106295,711.845106295,671,660.154893705,633,876,783,800.154893705,649,629,650.845106295,0.400969269923,-0.015415902301,0.0498505309773,0.999999962662,-3.38767962258e-05,-0.000265666001993,-5.43092940256e-05,1793192846912260608
+80,1.333333333,BASELINE,763.56642812,742.56642812,711.56642812,671,660,633,875.56642812,783,799.56642812,649.43357188,629,650.56642812,0.400968585217,-0.0154146089392,0.0498499667084,0.999999962441,-3.1610700856e-05,-0.000266735306268,-5.45064389407e-05,1793192846928927488
+81,1.350000000,BASELINE,763,742,711,670.972787455,660,633,875,783,799,650,629,650.027212545,0.400967924341,-0.0154129456109,0.0498496348156,0.999999962282,-2.83682116019e-05,-0.00026767387946,-5.46081552679e-05,1793192846945594112
+82,1.366666667,BASELINE,763,742,711,670.39451664,660,633,875,783,799,650,629,650.60548336,0.400969499701,-0.0154137632287,0.0498505996421,0.999999962683,-3.0323746508e-05,-0.000265962947789,-5.45681348699e-05,1793192846962260992
+83,1.383333333,BASELINE,763.182027969,742,711,670,660.182027969,633,875.182027969,783,799.182027969,649.817972031,629,650.817972031,0.400970295578,-0.0154144266485,0.0498510539747,0.999999962891,-3.14404595162e-05,-0.000265060126685,-5.45170925108e-05,1793192846978927872
+84,1.400000000,BASELINE,763.754866553,742,711,670,660.754866553,633,875.754866553,783,799.754866553,649.245133447,629,650.245133447,0.400969417921,-0.0154147590082,0.0498504122869,0.999999962696,-3.07562381035e-05,-0.000265892303407,-5.44423862018e-05,1793192846995594752
+85,1.416666667,BASELINE,763.66249073,742,711.33750927,670,661,632.66249073,875.66249073,783.33750927,799.66249073,649.33750927,629,650.33750927,0.400968494255,-0.0154147172069,0.0498497366128,0.999999962453,-3.02864052385e-05,-0.000266867528716,-5.44005968952e-05,1793192847012261376
+86,1.433333333,BASELINE,763.072514259,742,711.927485741,670,661,632.072514259,875.072514259,783.927485741,799.072514259,649.927485741,629,650.927485741,0.400967536174,-0.0154143955216,0.0498490355159,0.999999962173,-2.99769415709e-05,-0.000267949758668,-5.43834305122e-05,1793192847028927744
+87,1.450000000,BASELINE,763,742,711.493292069,670.506707931,661,632.506707931,875.506707931,783.493292069,799.506707931,649.493292069,629,651,0.400968578057,-0.0154135965547,0.0498503607062,0.999999962695,-2.91770093955e-05,-0.000266090112747,-5.43603226414e-05,1793192847045594112
+88,1.466666667,BASELINE,763,742,711,671,660.916051145,633,875.916051145,783,800,649.083948855,629,650.916051145,0.400969796486,-0.01541280569,0.0498517272395,0.999999963231,-2.85471875459e-05,-0.000264125379962,-5.44074855084e-05,1793192847062260736
+89,1.483333333,BASELINE,763,742,711,671,660.341581149,633,875.341581149,783,800,649.658418851,629,650.341581149,0.400970408887,-0.0154124529739,0.0498516761818,0.999999963229,-2.93129412724e-05,-0.000263955477498,-5.48701119805e-05,1793192847078927360
+90,1.500000000,BASELINE,763,742.233624981,711,671,660,633,875,783.233624981,799.766375019,649.766375019,629,650.233624981,0.400970685405,-0.0154131700059,0.04985173351,0.999999963207,-3.10477235469e-05,-0.000263830269258,-5.49169314898e-05,1793192847095593984
+91,1.516666667,BASELINE,763,742.809910757,711,671,660,633,875,783.809910757,799.190089243,649.190089243,629,650.809910757,0.400970469277,-0.0154154560514,0.049851949809,0.99999996315,-3.42037925143e-05,-0.000263770614629,-5.43538814841e-05,1793192847112260864
+92,1.533333333,BASELINE,763,742.603177585,711,671,660,633,875.396822415,783.603177585,799.396822415,649,629,651,0.400970539729,-0.0154159935754,0.0498517561319,0.999999963104,-3.48430019328e-05,-0.000263922483683,-5.40545163143e-05,1793192847128927488
+93,1.550000000,BASELINE,763,742.011035724,711,671,660,633,875.988964276,783.011035724,799.988964276,649,629,651,0.400970751239,-0.0154156704621,0.0498513606608,0.999999963067,-3.42433914646e-05,-0.000264178466528,-5.38849390649e-05,1793192847145594112
+94,1.566666667,BASELINE,763,742.567885074,711,671,660.567885074,633,876,783,800,649.567885074,628.432114926,650.432114926,0.400969557329,-0.0154139152508,0.0498507025737,0.999999962816,-3.23507302372e-05,-0.000265234768581,-5.45177023897e-05,1793192847162260992
+95,1.583333333,BASELINE,763,743,711,671,660.853343826,633,875.853343826,783,799.853343826,650,628.146656174,650.146656174,0.400968592116,-0.0154128149551,0.0498502168693,0.999999962586,-3.11397235146e-05,-0.000266163459848,-5.49082109893e-05,1793192847178927360
+96,1.600000000,BASELINE,763,743,711,671,660.274273668,633,875.274273668,783,799.274273668,650,628.725726332,650.725726332,0.400968379908,-0.0154137258596,0.0498502541384,0.999999962444,-3.20109701639e-05,-0.000266671079073,-5.45395079728e-05,1793192847195593984
+97,1.616666667,BASELINE,763,743,711,671,660.301851896,633,875,783,799,650,629,651,0.400968579152,-0.0154145353304,0.0498502879724,0.999999962469,-3.24332243334e-05,-0.000266553695801,-5.43987783214e-05,1793192847212260864
+98,1.633333333,BASELINE,763,743,711,671,660.875327707,633,875,783,799,650,629,651,0.400969148644,-0.0154152535251,0.0498503187155,0.999999962646,-3.24514488681e-05,-0.000265873898848,-5.4463192403e-05,1793192847228927488
+99,1.650000000,BASELINE,763.464270325,742.535729675,711,671,660.535729675,633,875,783,799.464270325,649.535729675,629,650.535729675,0.400969672953,-0.0154159382366,0.0498508675916,0.999999962832,-3.42325560307e-05,-0.00026497341574,-5.43380949421e-05,1793192847245594112
+100,1.666666667,BASELINE,763.944368878,742,711,671,660,633,875.055631122,783.055631122,799.944368878,649,628.944368878,650,0.400970034433,-0.0154164242853,0.0498514233756,0.999999962983,-3.59568757374e-05,-0.000264206566492,-5.41893873759e-05,1793192847262260736
+101,1.683333333,BASELINE,763.370505496,742,711,671,660,633,875.629494504,783.629494504,799.370505496,649,628.370505496,650,0.400968996006,-0.0154151463352,0.0498507027183,0.999999962814,-3.25903130128e-05,-0.000265255662642,-5.43111458675e-05,1793192847278927616
+102,1.700000000,BASELINE,763.20388464,742,711,671,660,633,876,784,799,649,628.20388464,650,0.400968724838,-0.0154144547614,0.0498505932845,0.999999962798,-3.04889719751e-05,-0.000265557747363,-5.43472703351e-05,1793192847295594496
+103,1.716666667,BASELINE,763.779234425,742,711,671,660,633,876,784,799,649,628.779234425,650,0.400969851567,-0.0154148315288,0.0498515974615,0.999999963079,-3.06927866092e-05,-0.000264498823565,-5.42273749193e-05,1793192847312261120
+104,1.733333333,BASELINE,763.634895029,742.365104971,711,671,660.365104971,633,875.634895029,784,799,649,629,650,0.400969130702,-0.0154137399534,0.0498510742225,0.999999962838,-2.96851174447e-05,-0.000265490473899,-5.43832370564e-05,1793192847328927488
+105,1.750000000,BASELINE,763.042474159,742.957525841,711,671,660.957525841,633,875.042474159,784,799,649,629,650,0.400967259519,-0.0154117341817,0.0498496000077,0.999999962266,-2.79231733585e-05,-0.000267758820263,-5.47107870014e-05,1793192847345594368
+106,1.766666667,BASELINE,763,743,711,671,661.53654705,633,875.53654705,783.46345295,799.53654705,649,629,650.53654705,0.400968460232,-0.015413193284,0.0498503359989,0.999999962556,-3.06012622852e-05,-0.000266416580853,-5.45310824313e-05,1793192847362261248
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,670,661,633,875,783,800,649,629,651,0.400968869574,-0.0154147155048,0.0498509358922,0.999999962735,-3.19361814401e-05,-0.000265709491849,-5.3932806739e-05,1793192847404624384
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,711,670.586960786,660.413039214,633,875,783.586960786,799.413039214,649.586960786,628.413039214,651,0.40096982236,-0.0154145889375,0.049851518676,0.999999963055,-3.20959986008e-05,-0.000264449944823,-5.40962832592e-05,1793192847421291008
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742.171894444,711.171894444,671,660,633,875,783.828105556,799.171894444,650,628,651,0.400970171707,-0.0154144607424,0.0498516706394,0.999999963168,-3.20514664061e-05,-0.000263994245427,-5.42476111504e-05,1793192847437957120
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742.752014074,711.752014074,671,660,633,875,783.247985926,799.752014074,650,628,651,0.400969087974,-0.0154143286809,0.0498507994646,0.999999962794,-3.1521633195e-05,-0.000265447571117,-5.43700877852e-05,1793192847454623232
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.331691613,742.668308387,712,670.668308387,660,633,875.331691613,783,799.668308387,650,628,650.668308387,0.400968501109,-0.0154146581688,0.0498507588917,0.999999962677,-3.20053110256e-05,-0.000265830615688,-5.43591414026e-05,1793192847471289856
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.911039033,742.088960967,712,670.088960967,660,633,875.911039033,783,799.088960967,650,628,650.088960967,0.400968285229,-0.01541533227,0.0498513384833,0.999999962753,-3.32457216017e-05,-0.000265414540377,-5.42485754148e-05,1793192847487956480
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.514786914,742,712,670.485213086,660.485213086,633,876,783,799,650,628,650,0.400969210103,-0.0154161654948,0.0498508768724,0.999999962533,-3.44147079474e-05,-0.00026607237636,-5.43589814437e-05,1793192847504623104
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,712,670.939911628,660.939911628,633,875.939911628,783,799,650,628.060088372,650,0.400971307127,-0.0154169151076,0.0498508021886,0.999999962555,-3.52978614931e-05,-0.00026586202935,-5.44254156555e-05,1793192847521289472
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742,712,670.350594343,660.350594343,633,875.350594343,783,799,650,628.649405657,650,0.40098190521,-0.0154166740646,0.04985579897,0.999999965143,-3.37776594218e-05,-0.00025628928952,-5.37515053004e-05,1793192847537956352
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,711.76558449,670.23441551,660,633,875,783,799.23441551,649.76558449,629,650.23441551,0.401000285696,-0.0154168320684,0.0498630928197,0.999999968805,-3.2751164927e-05,-0.000241905055709,-5.29039085286e-05,1793192847554623232
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,711.186900687,670.813099313,660,633,875,783,799.813099313,649.186900687,629,650.813099313,0.401030095609,-0.015417576122,0.049873760199,0.999999973832,-3.24497414571e-05,-0.00022045454616,-5.18012317289e-05,1793192847571289856
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,711.387892372,671,660,633,875.775784744,783,800,649,629,650.612107628,0.401080352872,-0.0154223298707,0.0498901832765,0.999999980897,-3.46716612637e-05,-0.00018583530735,-4.96969956677e-05,1793192847587956736
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711.960829396,671,660,633,876.921658793,783,800,649,629,650.039170604,0.401140364577,-0.0154289964506,0.0499093521196,0.999999987661,-3.80973457909e-05,-0.000144933903852,-4.71149640593e-05,1793192847604623104
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,711.461580553,671,660,633,876.461580553,783.538419447,800,649.538419447,629,650.538419447,0.401210541911,-0.0154325020425,0.0499225048071,0.999999990369,-3.75867294218e-05,-0.000125845205891,-4.48624675591e-05,1793192847621289728
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742.118834063,711,670.881165937,660,633,875.881165937,783.881165937,800,649.881165937,629,651,0.401283027475,-0.0154362936974,0.0499328063675,0.999999992133,-3.76322094931e-05,-0.000111723351971,-4.28559868928e-05,1793192847637956352
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742.709099668,711,670.290900332,660,633,875.290900332,783.290900332,800,649.290900332,629,651,0.401361710624,-0.0154421404632,0.0499335485898,0.999999992132,-4.10297772005e-05,-0.000110955336706,-4.17295477154e-05,1793192847654622976
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742.706085698,711,670.293914302,660.293914302,633,875.293914302,783,799.706085698,649.293914302,629,650.706085698,0.401451852752,-0.0154477327241,0.0499325105601,0.99999999179,-4.38954501703e-05,-0.000113146012128,-4.11296080923e-05,1793192847671289344
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742.126567936,711,670.873432064,660.873432064,633,875.873432064,783,799.126567936,649.873432064,629,650.126567936,0.401553129834,-0.0154530776761,0.0499297426177,0.999999991102,-4.62442682719e-05,-0.000118211717129,-4.10412805729e-05,1793192847687956224
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,711,671,660.550182598,633,876,783,799,650,628.550182598,650,0.401677250991,-0.0154615730352,0.0499300163036,0.999999990768,-4.88796254928e-05,-0.000120422481636,-3.96676416403e-05,1793192847704623104
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,875.974804836,783,799,649.974804836,628.025195164,650.025195164,0.401808971386,-0.0154709810094,0.049931051486,0.999999990513,-5.16476178629e-05,-0.00012192290851,-3.79589132898e-05,1793192847721289984
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,875.402300444,783,799,649.402300444,628.597699556,650.597699556,0.401967104764,-0.015481090541,0.0499301657899,0.999999989928,-5.55575220023e-05,-0.000125322329854,-3.67729568476e-05,1793192847737956608
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742.177263529,711,670.822736471,660,633,875.177263529,783,799,649.177263529,628.822736471,650.822736471,0.402139700888,-0.0154921744684,0.0499310454467,0.99999998977,-5.99556319581e-05,-0.000125048928159,-3.50391344825e-05,1793192847754623232
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742.773513707,711,670.226486293,660,633,875.773513707,783,799,649.773513707,628.226486293,650.226486293,0.402346481672,-0.0155055615125,0.0499360977568,0.999999990603,-6.5507682728e-05,-0.000116094305261,-3.2010356075e-05,1793192847771289600
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742.642919129,711,670,660,633,875.642919129,783,799,649.642919129,628.357080871,650,0.402573840988,-0.0155163356612,0.0499408794421,0.999999991554,-6.7387900636e-05,-0.000107132749578,-2.95453836275e-05,1793192847787956224
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742.067120458,711,670,660,633,875.067120458,783,799,649.067120458,628.932879542,650,0.402813805006,-0.0155255093704,0.0499454953659,0.99999999256,-6.70190621515e-05,-9.81669465829e-05,-2.74257511425e-05,1793192847804623104
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,711,670,660,633,875,783,799,649,628.491275107,650,0.403097835254,-0.0155334777332,0.0499540023141,0.999999994769,-6.10433420097e-05,-7.86693325684e-05,-2.33718738825e-05,1793192847821289728
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,711,670.086097823,660,633,875,783.086097823,799.086097823,649.086097823,628.086097823,650.086097823,0.403391678534,-0.0155383056849,0.0499625756955,0.999999996797,-5.02468356168e-05,-5.92293587038e-05,-1.93197294227e-05,1793192847837956096
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,711,670.672308392,660,633,875,783.672308392,799.672308392,649.672308392,628.672308392,650.672308392,0.403708747616,-0.0155258159142,0.0499685526676,0.999999998574,-1.57454625614e-05,-4.81963636355e-05,-1.67601630215e-05,1793192847854623232
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,711,671,660.256572808,633,875,783.743427192,800,649.743427192,629,650.743427192,0.404052490349,-0.0155171694178,0.0499732823396,0.999999999065,1.3743456568e-05,-3.85366538387e-05,-1.3968812655e-05,1793192847871290112
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,711,671,660.838370298,633,875,783.161629702,800,649.161629702,629,650.161629702,0.404430043851,-0.0155133945516,0.0499764309676,0.999999998792,3.68787239544e-05,-3.06176836383e-05,-1.08836594348e-05,1793192847887956480
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,711.41609332,671,660.58390668,633,875.41609332,783,799.58390668,649.41609332,628.58390668,650,0.404819552513,-0.0155189522891,0.0499718158432,0.999999997927,5.08324501167e-05,-3.8780086605e-05,-7.57782926114e-06,1793192847904623104
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742,711.992248967,671,660.007751033,633,875.992248967,783,799.007751033,649.992248967,628.007751033,650,0.405213660064,-0.0155281000827,0.0499642141667,0.999999996704,6.12542304145e-05,-5.31286549424e-05,-4.18710938675e-06,1793192847921289728
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660.566522312,633,875.433477688,783,799,649.433477688,628,650,0.40562046703,-0.0155293962835,0.0499436690855,0.999999992301,8.07457954385e-05,-9.41902171445e-05,-2.68730564043e-06,1793192847937956352
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.144780513,742,711.855219487,671,660.855219487,633,875.144780513,783,799,649,628,650,0.406041675522,-0.0155300283782,0.0499245191772,0.999999986381,0.000101803604624,-0.0001298952839,-1.12250232115e-06,1793192847954622976
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.735388339,742,711.264611661,671,660.264611661,633,875.735388339,783,799,649,628,650,0.406506697753,-0.0155289451674,0.0499102089832,0.999999980947,0.00012730354542,-0.000147984202385,7.21857883203e-07,1793192847971289600
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.319177634,633,876,783,799,649,628.319177634,650,0.407021964927,-0.0155290884429,0.0499082285997,0.999999977349,0.00015392758774,-0.00014693505639,4.35643085799e-06,1793192847987956736
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660.897432379,633,876,783,799,649,628.897432379,650,0.407578016068,-0.0155302272596,0.049916256346,0.999999974995,0.00018146406819,-0.000130351507945,9.44412323963e-06,1793192848004624896
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.52656813,742,711,671,660.52656813,633,876,783,799,649,628.52656813,650,0.408172897335,-0.0155343044871,0.049939807439,0.999999974585,0.000206758012848,-8.83347622186e-05,1.66570367415e-05,1793192848021292032
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.050051689,742,711.050051689,671,660.050051689,633,876,783,799,649.050051689,628.050051689,650,0.408776965224,-0.0155389532499,0.0499655377659,0.999999972017,0.000231321951546,-4.32538625986e-05,2.41975783325e-05,1793192848037958400
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.638577159,742,711.638577159,671,660.638577159,633,876,783,799,649.638577159,628.638577159,650,0.409389791634,-0.0155429345196,0.049978703336,0.999999967183,0.000253234295466,-2.42054599793e-05,3.03329564538e-05,1793192848054624256
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711.776871705,671,661,633,876,783,799.223128295,649.776871705,628.776871705,650,0.410002228063,-0.0155451875992,0.0499798749952,0.999999960533,0.000277114757389,-2.97978087924e-05,3.54009722798e-05,1793192848071290112
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711.198645563,671,661,633,876,783,799.801354437,649.198645563,628.198645563,650,0.410614043818,-0.0155446903479,0.0499619589268,0.999999950219,0.000304127382013,-7.46047181958e-05,3.87703324414e-05,1793192848087956480
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.622821314,742,711,671,660.622821314,633,876,783,799.622821314,649,628,650,0.411263582234,-0.0155419570741,0.0499383848475,0.999999980382,0.000159864111499,-0.000114629217728,2.32263373895e-05,1793192848104623104
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.048254064,742,711,671,660.048254064,633,876,783,799.048254064,649,628,650,0.411932861997,-0.0155380536247,0.0499118497673,0.999999985682,-7.40328199668e-05,-0.000152150936675,-2.21556719074e-06,1793192848121289984
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,711.525846535,671,660.525846535,633,876.525846535,783,799,649.525846535,628,650,0.412693649177,-0.0155557688186,0.049936174975,0.999999990451,-9.1485591179e-05,-0.000103572193991,1.08417838529e-06,1793192848137956608
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,711.896547433,671,661.103452567,633,876.793094866,783,799.103452567,649.896547433,628,650,0.413455381272,-0.0155723224866,0.049959941879,0.999999994857,-8.27445535361e-05,-5.82208681902e-05,7.05332745057e-06,1793192848154623232
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,711.302101489,671,661.697898511,633,875.604202978,783,799.697898511,649.302101489,628,650,0.41418177969,-0.0155739564343,0.0499589279331,0.999999996796,-4.38682285681e-05,-6.56524370624e-05,1.3185159523e-05,1793192848171289856
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.283788539,711,671,661.432422921,633,875.283788539,783.283788539,800,649,628.283788539,650,0.414917801315,-0.0155701213181,0.0499434238669,0.999999995396,-7.64813783551e-06,-9.44341081748e-05,1.51940434615e-05,1793192848187956480
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742.860837167,711,671,660.278325666,633,875.860837167,783.860837167,800,649,628.860837167,650,0.415663767413,-0.0155606346062,0.049912946067,0.99999998903,2.58270705868e-05,-0.000145278449968,1.29423750466e-05,1793192848204622848
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742.563335531,711.436664469,671,660.436664469,633,876.436664469,783.563335531,800,649,628.563335531,650,0.41648067571,-0.0155615362694,0.0499177686953,0.999999990329,4.29759566215e-05,-0.000131611640293,1.31964815988e-05,1793192848221289472
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.012380622,742,712,671,661,633,876.987619378,783.012380622,800,649,628,650,0.417319946424,-0.015565730176,0.0499340737916,0.999999993661,5.50691548982e-05,-9.71569144098e-05,1.4334707191e-05,1793192848237956096
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.600990624,742,712,671,661,633,876.399009376,783.600990624,800,649,628,650,0.418150680988,-0.0155694937213,0.0499626556362,0.999999995899,7.33488254111e-05,-4.93968691371e-05,1.95579152482e-05,1793192848254622976
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711.81338786,671,661,632.81338786,876,783.81338786,800,649.18661214,628.18661214,650,0.418967987307,-0.015571169081,0.0499751658825,0.999999994927,9.26434459044e-05,-3.2121869496e-05,2.3047556833e-05,1793192848271289600
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711.234055564,671,661,632.234055564,876,783.234055564,800,649.765944436,628.765944436,650,0.419757034199,-0.0155684499105,0.0499538538874,0.999999990111,0.000114074000037,-7.90018196208e-05,2.28889548173e-05,1793192848287956480
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.656970786,742.343029214,711.343029214,671,661,632.343029214,876.343029214,783,800,650,628.656970786,650.343029214,0.420609431697,-0.0155712289384,0.0499528408644,0.999999989521,0.000123303688725,-7.23492047868e-05,2.28125704786e-05,1793192848304623104
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.081409575,742.918590425,711.918590425,671,661,632.918590425,876.918590425,783,800,650,628.081409575,650.918590425,0.421504773153,-0.0155777350748,0.0499655880711,0.999999991587,0.000124262676861,-2.94080338906e-05,2.27919197054e-05,1793192848321289984
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742.508040578,712,671,661.491959422,632.508040578,877,783,800,649.508040578,628,650.508040578,0.422381909892,-0.0155811926105,0.0499733282869,0.999999991675,0.000125948030217,-1.40204016051e-05,2.42862758913e-05,1793192848337956608
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742,711.93272911,671.06727089,661.93272911,632.06727089,877,783,799.93272911,649,628,650,0.42325077755,-0.0155837272322,0.0499773206938,0.999999992032,0.000123321782374,-7.9212146008e-06,2.57780365243e-05,1793192848354622976
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742,711.339403693,671.660596307,661.339403693,632.660596307,877,783,799.339403693,649,628,650,0.42407843422,-0.0155829722464,0.0499584559785,0.999999995219,8.60432775022e-05,-3.89597728576e-05,2.52977074023e-05,1793192848371289600
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742.245650455,711,671.754349545,661,633,877,783,799.245650455,649,628.245650455,650,0.424927317539,-0.0155825640245,0.0499572623987,0.999999996151,7.21246717036e-05,-4.27308449564e-05,2.58905781598e-05,1793192848387956224
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,742.819648918,711,671.180351082,661,633,877,783,799.819648918,649,628.819648918,650,0.425804573515,-0.0155826193034,0.0499796888912,0.999999995561,8.94300059037e-05,-1.00549108034e-05,2.79179385659e-05,1793192848404622848
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.396029854,742.603970146,711,671,661,633,876.603970146,783,800.396029854,649,628.603970146,650,0.42665040551,-0.0155807472095,0.0499853309697,0.99999999356,0.000107883610029,-1.90457415186e-05,2.96512881095e-05,1793192848421289728
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.973502295,742.026497705,711,671,661,633,876.026497705,783,800.973502295,649,628.026497705,650,0.427481840437,-0.0155779920825,0.0499832832035,0.999999990354,0.000126863297297,-4.71263613635e-05,3.12499353171e-05,1793192848437956352
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.452094849,742.547905151,711,671.547905151,661,632.452094849,876,783,799.904189697,649,628,650,0.428306201103,-0.0155732415868,0.0499504489353,0.999999985579,0.000140202726282,-9.15817353798e-05,2.82560501412e-05,1793192848454622976
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.126621304,742.873378696,711,671.873378696,661,632.126621304,876.126621304,783.126621304,799,649,628,650.126621304,0.429138492826,-0.015570500351,0.0499274341633,0.99999998127,0.000151256072776,-0.000117905130053,2.60603910808e-05,1793192848471289600
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.721846536,742.278153464,711,671.278153464,661,632.721846536,876.721846536,783.721846536,799,649,628,650.721846536,0.430001395095,-0.0155755501839,0.0499462391184,0.999999984875,0.00015485288028,-7.42107400073e-05,2.76362189543e-05,1793192848487956224
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876.386388148,783.693194074,799,649,628.306805926,650.693194074,0.430815842499,-0.0155767820797,0.0499464878282,0.999999987316,0.000138476352746,-7.36291057824e-05,2.77777991979e-05,1793192848504623104
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.234480995,783.117240497,799,649,628.882759503,650.117240497,0.431587782489,-0.015574664663,0.0499304579407,0.99999998803,0.000104578076625,-0.000110868441361,2.6661175542e-05,1793192848521289728
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.542793307,742,711,671.457206693,661,633,875.914413386,783,799,649,628.542793307,650,0.432374811466,-0.0155707204828,0.0499247380856,0.999999987422,0.000105628403063,-0.00011530743626,2.65128496968e-05,1793192848537956352
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.032224538,742.032224538,711.032224538,672,661.032224538,633,876.967775462,783.032224538,799,649,628,650,0.433166434221,-0.0155667435096,0.0499234511439,0.999999987033,0.000115443199876,-0.000109044300902,2.67731223364e-05,1793192848554622976
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.6238309,742.6238309,711.6238309,672,661.6238309,633,876.3761691,783.6238309,799,649,628,650,0.433970853738,-0.0155703020606,0.049953372287,0.999999990116,0.000122343562967,-6.2528835801e-05,2.98301777202e-05,1793192848571289600
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.78890453,742.78890453,711.78890453,671.78890453,661.78890453,633,876.21109547,783.78890453,799.21109547,649,628.21109547,650.21109547,0.434743824207,-0.0155715901254,0.0499729802292,0.999999990482,0.0001291262163,-3.71017353772e-05,3.14133986394e-05,1793192848587955968
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.209220948,742.209220948,711.209220948,671.209220948,661.209220948,633,876.790779052,783.209220948,799.790779052,649,628.790779052,650.790779052,0.435461882474,-0.0155689137558,0.0499745805741,0.999999989154,0.000135703341311,-4.84964526448e-05,3.04231975191e-05,1793192848604622592
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.366940309,742.366940309,711,671.366940309,661,633,877,783,800,649,629,650.633059691,0.436141822942,-0.015565981111,0.0499572535407,0.999999985301,0.000145502248179,-8.58564397584e-05,2.92564978812e-05,1793192848621289472
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.941112277,742.941112277,711,671.941112277,661,633,877,783,800,649,629,650.058887723,0.436800236118,-0.0155629037336,0.049929237161,0.999999977759,0.000157120674243,-0.000137880462163,2.79901196787e-05,1793192848637956352
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711,672,661,633,877,783,800,649,628.484440083,650,0.437508042711,-0.0155671990912,0.0499439986654,0.999999981879,0.000161826349375,-9.55491896819e-05,3.04223988946e-05,1793192848654622976
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,672,661.092906576,633,876.907093424,783,800,649,628.092906576,650,0.438209202017,-0.0155715554683,0.0499613697917,0.999999984332,0.000166363714687,-5.06183792724e-05,3.31263352214e-05,1793192848671289600
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711,672,661.685681414,633,876.314318586,783,800,649,628.685681414,650,0.438844225907,-0.0155717068373,0.0499664784893,0.99999998297,0.000174245998473,-4.97179270504e-05,3.50176645697e-05,1793192848687955968
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,672,661.729824652,633,876,783.270175348,799.729824652,649,628.729824652,650,0.439441131221,-0.0155702892321,0.0499558997653,0.999999980218,0.000183297774115,-6.86308024643e-05,3.5437275206e-05,1793192848704623104
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+187,3.116666667,POSE1_TO_POSE2_PRESS,763.15638584,742.57819292,711,672,661.42180708,633,876.42180708,783.57819292,799,649,628,650,0.440531352535,-0.015567426179,0.0499138696626,0.999999970766,0.000198847577481,-0.000133246343225,3.42607827133e-05,1793192848737957120
+188,3.133333333,POSE1_TO_POSE2_PRESS,762.0024303,742.00121515,711,672,661.99878485,633,876.99878485,783.00121515,799,649,628,650,0.441061246405,-0.0155690445613,0.0499054760129,0.999999967721,0.000202114785431,-0.000149984186106,3.48066777811e-05,1793192848754624000
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+190,3.166666667,POSE1_TO_POSE2_PRESS,763,742,711.824587775,672,661,632,876.824587775,783,800,649,628,650,0.442079581308,-0.015575063052,0.0499091988554,0.999999973439,0.00018369270259,-0.000134308453771,3.66065265569e-05,1793192848787956224
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,742,711.245222557,672,661,632,876.245222557,783,800,649,628,650,0.442529345983,-0.0155797531446,0.0499021787696,0.99999997996,0.000130950681817,-0.000147021522312,3.62717189966e-05,1793192848804622848
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.331669887,742,711.331669887,672,661,632,876,783,800,649,628.331669887,650,0.442933915259,-0.0155831768654,0.049883469383,0.99999998039,8.00825061201e-05,-0.000179277947189,2.58242532515e-05,1793192848821289472
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.906747563,742,711.906747563,672,661,632,876,783,800,649,628.906747563,650,0.44330531625,-0.0155856712139,0.049856181386,0.99999997399,3.05895215425e-05,-0.000225876960761,7.95525216083e-06,1793192848837956096
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.481778627,712,672,661,632,876.481778627,783,799.518221373,649,628.518221373,650,0.443638134778,-0.0155885664875,0.049823116469,0.999999960298,3.05367049843e-05,-0.000280088983123,4.60912148314e-06,1793192848854622720
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.941389947,711.941389947,672,660.941389947,632,876.941389947,782.941389947,799,649,628,650,0.443964505477,-0.0155915384798,0.0497916618451,0.999999944446,3.97832906826e-05,-0.000330918697444,4.25168847584e-06,1793192848871289600
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.348050583,711.348050583,672,660.348050583,632,876.348050583,782.348050583,799,649,628,650,0.444300176877,-0.0155945024772,0.0497850994165,0.999999941965,4.65734105134e-05,-0.000337447131514,5.51771011107e-06,1793192848887956480
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.762418253,742.237581747,711.237581747,672,660.237581747,631.762418253,876.237581747,782,799.475163494,649,628,649.762418253,0.444623040253,-0.0155972877984,0.0497846729926,0.999999942991,5.36055178153e-05,-0.000333304549634,7.21233547179e-06,1793192848904623104
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.187721808,742.812278192,711.812278192,672,660.812278192,631.187721808,876.812278192,782,800.624556383,649,628,649.187721808,0.444927729759,-0.0155998195882,0.0497929532036,0.999999948791,6.09809906929e-05,-0.000314020415362,9.51512451279e-06,1793192848921289728
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,743,711.611177592,672,660.611177592,631,877,782,800.611177592,649,628.388822408,649.388822408,0.445197376519,-0.0156015869739,0.0497940036092,0.999999950702,6.46726627116e-05,-0.000307091280229,1.04560214389e-05,1793192848937956352
+200,3.333333333,POSE1_TO_POSE2_PRESS,763,743,711.033736968,672,660.033736968,631,877,782,800.033736968,649,628.966263032,649.966263032,0.445450024029,-0.0156029835466,0.0497915468282,0.99999995086,6.65773191872e-05,-0.000306155568299,1.07362630753e-05,1793192848954622976
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763,742.142642458,711.857357542,672,660,631.142642458,876.857357542,782,799.142642458,649,628,649.142642458,0.445847135075,-0.0156046935048,0.0497653422899,0.999999938482,7.36643641771e-05,-0.000342785653107,1.03588079426e-05,1793192848987956224
+203,3.383333333,POSE1_TO_POSE2_PRESS,763,742.719272827,711.280727173,672,660,631.719272827,876.280727173,782,799.719272827,649,628,649.719272827,0.446018569452,-0.0156011557546,0.0497537898654,0.999999932046,7.75718110112e-05,-0.000360278949226,9.43016373459e-06,1793192849004623104
+204,3.400000000,POSE1_TO_POSE2_PRESS,763,743,711.295732102,672,660,631.704267898,876.295732102,782,799.704267898,649,628,650,0.446171004379,-0.0156009531201,0.0497432825162,0.999999926202,7.85768210149e-05,-0.000375960294245,8.6719551244e-06,1793192849021289728
+205,3.416666667,POSE1_TO_POSE2_PRESS,763,743,711.872029022,672,660,631.127970978,876.872029022,782,799.127970978,649,628,650,0.446305414278,-0.0156039145526,0.049733766644,0.999999920996,7.68282519278e-05,-0.00038992261711,8.07544099752e-06,1793192849037956352
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+207,3.450000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660,631,876,782,799.023418836,649,628.023418836,650,0.446514129628,-0.0156085980784,0.0497104801796,0.999999906211,7.35289520799e-05,-0.000426759970996,6.89734658272e-06,1793192849071289600
+208,3.466666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660,631,876,782,799.615987808,649,628.615987808,650,0.44659336017,-0.0156070003647,0.0497019911399,0.999999900352,7.31640541927e-05,-0.000440362328463,4.91748112331e-06,1793192849087956224
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.20288407,743,711.79711593,672,660,631,876,782,800,649,628.79711593,650,0.446668113099,-0.0156065726687,0.0496945680176,0.999999895665,7.07387478917e-05,-0.000451280787381,3.4029491183e-06,1793192849104622848
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.779335203,743,711.220664797,672,660,631,876,782,800,649,628.220664797,650,0.446734621464,-0.0156082993071,0.0496891075523,0.999999893373,6.4519645926e-05,-0.000457257427168,2.74522807855e-06,1793192849121289472
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+213,3.550000000,POSE1_TO_POSE2_PRESS,763,743,711,672.482555475,660,631,876.482555475,782,799,649,628,650,0.446873510289,-0.0156046455646,0.0496880558474,0.999999891649,6.66379944598e-05,-0.0004607132329,2.05429721314e-06,1793192849171289856
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,743,711.106044401,672,660,631,876,782,799,649,628,650,0.446905109301,-0.0156035699351,0.0496869402837,0.999999891235,6.64753303611e-05,-0.00046163741256,1.59745636906e-06,1793192849187956480
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+216,3.600000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660,631,876.263465686,782,799,649,628,650,0.446945170903,-0.0156091997385,0.0496855381836,0.999999891377,5.77177848416e-05,-0.000462506652593,1.32855381409e-06,1793192849221289472
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+220,3.666666667,POSE1_TO_POSE2_PRESS,763,743,712,672.579099623,660,631,877,781.420900377,799.420900377,649,628,650,0.44697442741,-0.0156075546671,0.0496838493331,0.999999889446,5.55506711211e-05,-0.000466925669175,1.37301062332e-06,1793192849287956224
+221,3.683333333,POSE1_TO_POSE2_PRESS,763,742.832656378,712,672.832656378,660,631,876.832656378,781.167343622,799,649,628,650,0.446975842078,-0.0156085646314,0.0496828751035,0.999999889026,5.43096227471e-05,-0.000467969778672,1.53535417309e-06,1793192849304622848
+222,3.700000000,POSE1_TO_POSE2_PRESS,763,742.255054378,712,672.255054378,660,631,876.255054378,781.744945622,799,649,628,650,0.446975390035,-0.0156086427673,0.049680376248,0.999999887527,5.63310983396e-05,-0.00047092645597,1.36118840306e-06,1793192849321289472
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+238,3.966666667,POSE1_TO_POSE2_PRESS,763.986920873,743,711.986920873,672,660,631,876.986920873,782,799.986920873,649,628,650,0.446979814066,-0.015606891292,0.0496786600511,0.999999886204,4.86229795757e-05,-0.000474581673264,3.31634375979e-07,1793192849587956224
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.393254329,743,711.393254329,672,660,631,876.393254329,782,799.393254329,649,628,650,0.446980510493,-0.0156056919613,0.0496780326046,0.999999886006,5.01757244071e-05,-0.000474837871909,-1.32078652544e-07,1793192849604623104
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,743,711,672,660,631.195404308,876,782,799,649,628,650,0.446980888612,-0.0156050363912,0.0496777409352,0.999999885818,5.08425261244e-05,-0.000475162656777,-2.18632353809e-07,1793192849621290240
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,743,711,672,660,631.774236256,876,782,799,649,628,650,0.446980642138,-0.0156054478032,0.0496781081369,0.999999885653,4.97709061094e-05,-0.000475622023384,4.34886247914e-07,1793192849637957376
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.35014676,743,711.35014676,672,660,631.64985324,876,782,799,649,628,650,0.446979968167,-0.0156057586773,0.0496779377432,0.999999885335,4.9320451076e-05,-0.000476336611386,4.40808479818e-07,1793192849654623744
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.924189171,743,711.924189171,672,660,631.075810829,876,782,799,649,628,650,0.446979020838,-0.015606005264,0.049677423593,0.99999988492,4.92671899301e-05,-0.000477214396541,3.26357189945e-08,1793192849671289856
+244,4.066666667,HOLD_POSE2,763,742,712,672,660,631,876,782,800,649,628,650,0.446981304539,-0.015606681614,0.049678687852,0.999999885975,4.81717822326e-05,-0.000475109866362,4.12796731382e-07,1793192849702703360
+245,4.083333333,HOLD_POSE2,763,742,711.401665941,672,660,631,876.598334059,781.401665941,799.401665941,649,628,650,0.446982307555,-0.0156072183319,0.049678401794,0.999999886255,4.80086130368e-05,-0.000474534857476,1.07150753563e-06,1793192849719369984
+246,4.100000000,HOLD_POSE2,763,742,711.189524117,672,660,631,877,781.189524117,799,649,628.189524117,650,0.446983035502,-0.0156078622945,0.0496785314404,0.999999886571,4.80572173383e-05,-0.000473863265418,1.65640663696e-06,1793192849736036608
+247,4.116666667,HOLD_POSE2,763,742,711.766123705,672,660,631,877,781.766123705,799,649,628.766123705,650,0.446983201662,-0.0156087252887,0.0496795101026,0.999999886958,4.85383382051e-05,-0.000472994416158,2.09055618105e-06,1793192849752703488
+248,4.133333333,HOLD_POSE2,763.338912523,742.338912523,712,672,660,631,877,782,799,649,628.661087477,650,0.446982783295,-0.0156104709519,0.049679152131,0.999999886685,4.69083715608e-05,-0.000473732212544,2.68930696491e-06,1793192849769370112
+249,4.150000000,HOLD_POSE2,763.909100818,742.909100818,712,672,660,631,877,782,799,649,628.090899182,650,0.446981966043,-0.0156128189531,0.0496778820332,0.999999885952,4.38377871514e-05,-0.000475566392809,3.40038251461e-06,1793192849786036480
+250,4.166666667,HOLD_POSE2,763.502668206,742.502668206,712,672,660,631,877,782,799.497331794,649,628.497331794,650,0.44698174078,-0.0156267814476,0.0496777997454,0.99999988647,3.03009616926e-05,-0.000475483176575,7.60645391537e-06,1793192849802703360
+251,4.183333333,HOLD_POSE2,763.087284344,742.087284344,712,672,660,631,877.087284344,782,799.912715656,649,628.912715656,650,0.446981605753,-0.0156414817332,0.0496778606337,0.999999886879,1.61616793059e-05,-0.000475222022605,1.20231082115e-05,1793192849819370240
+252,4.200000000,HOLD_POSE2,763.66763204,742.66763204,712,672,660,631,877.66763204,782,799.33236796,649,628.33236796,650,0.446981346246,-0.0156479066383,0.0496774577608,0.999999886563,9.83209900171e-06,-0.00047600990147,1.38849895718e-05,1793192849836036608
+253,4.216666667,HOLD_POSE2,763.754046774,743,712,672,660,631,877.754046774,782,799.245953226,649,628,650,0.446981273333,-0.0156483252603,0.0496773151845,0.999999886467,8.98937977611e-06,-0.000476219819631,1.41104904128e-05,1793192849852702976
+254,4.233333333,HOLD_POSE2,763.178441772,743,712,672,660,631,877.178441772,782,799.821558228,649,628,650,0.446981450511,-0.0156406936442,0.0496775214843,0.999999886682,1.55007158209e-05,-0.000475655095436,1.2142745863e-05,1793192849869369600
+255,4.250000000,HOLD_POSE2,763.39529156,743,711.60470844,672,660.39529156,631,876.60470844,782,800,649,628,649.60470844,0.446981434798,-0.0156415183753,0.0496771573229,0.999999886468,1.47993684574e-05,-0.00047611961111,1.24773083043e-05,1793192849886036480
+256,4.266666667,HOLD_POSE2,763.968184017,743,711.031815983,672,660.968184017,631,876.031815983,782,800,649,628,649.031815983,0.44698133242,-0.0156461424654,0.0496765368585,0.999999886058,1.08574286949e-05,-0.000477046554831,1.38462761372e-05,1793192849902703104
+257,4.283333333,HOLD_POSE2,763.440529054,743,711,672,660.440529054,631,876,782,799.440529054,649,628,649.559470946,0.446981292038,-0.0156447047582,0.0496768007932,0.999999886247,1.26020312633e-05,-0.000476620488781,1.33851778052e-05,1793192849919369984
+258,4.300000000,HOLD_POSE2,763,742.851179232,711,672,660,631,876.148820768,782,799,649,628,650,0.446981333737,-0.0156428228563,0.0496770202121,0.999999886432,1.45315969559e-05,-0.000476191690848,1.28585660993e-05,1793192849936036608
+259,4.316666667,HOLD_POSE2,763,742.270587445,711,672,660,631,876.729412555,782,799,649,628,650,0.446981603002,-0.0156406863567,0.0496769596003,0.999999886513,1.60276745261e-05,-0.000475985789036,1.24540890604e-05,1793192849952702976
+260,4.333333333,HOLD_POSE2,763,742.306438602,711.306438602,672,660,631,876.693561398,782,799.306438602,649,628,649.693561398,0.446981945425,-0.0156419703128,0.0496774951223,0.999999886628,1.51871395015e-05,-0.000475757565565,1.29454643795e-05,1793192849969369600
+261,4.350000000,HOLD_POSE2,763,742.880352256,711.880352256,672,660,631,876.119647744,782,799.880352256,649,628,649.119647744,0.446982351702,-0.0156462398151,0.0496785509798,0.999999886768,1.23070911855e-05,-0.000475509858635,1.4218784798e-05,1793192849986036224
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,631,876,782,799,649,628,650,0.446983307177,-0.0156450598324,0.0496780927144,0.999999887275,1.15709536769e-05,-0.000474483486624,1.34481170804e-05,1793192850017878528
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742.579976038,711,672,660,631,876,782,799.579976038,649.579976038,628,650,0.446983367833,-0.015644654894,0.0496780021261,0.999999887354,1.2418367441e-05,-0.000474302897067,1.31949198688e-05,1793192850034545408
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742.841318622,711.158681378,672,660,631,876,782,799.841318622,649.841318622,628,650,0.446983274959,-0.015644909896,0.0496779816917,0.999999887378,1.26983297903e-05,-0.000474242074453,1.32989724983e-05,1793192850051212288
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742.265949928,711.734050072,672,660,631,876,782,799.265949928,649.265949928,628,650,0.446982778929,-0.0156468978597,0.0496781454767,0.999999887258,1.14882006034e-05,-0.000474495752265,1.43411406836e-05,1793192850067878656
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742.309740163,712,672,660,631,876.309740163,782,799,649,628,649.690259837,0.446982874418,-0.0156466698566,0.0496783210483,0.999999887356,1.08284823396e-05,-0.000474307598595,1.42355341891e-05,1793192850084544768
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742.885706464,712,672,660,631,876.885706464,782,799,649,628,649.114293536,0.446983478327,-0.0156445371979,0.0496785067506,0.999999887642,1.06418502759e-05,-0.000473739684377,1.31433987399e-05,1793192850101210880
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,712,672,660,631,876.525306077,782,799,649,628,649.474693923,0.446979099939,-0.0156431142006,0.0496760793816,0.999999885694,1.24137930221e-05,-0.000477804553617,1.26798172094e-05,1793192850117877760
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.065140837,742.934859163,711.934859163,672,660,631,876,782,799,649,628,650,0.446971979197,-0.0156419964196,0.0496723852014,0.999999882643,1.41375586406e-05,-0.00048410893778,1.23322035492e-05,1793192850134544128
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.641736779,742.358263221,711.358263221,672,660,631,876,782,799,649,628,650,0.44695301115,-0.0156418956446,0.049663823789,0.999999875367,1.16760700796e-05,-0.000498991938847,1.16733598187e-05,1793192850151211008
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.781872888,742.218127112,711,672,660,631,876.218127112,782,799.218127112,649,628,650,0.446924449303,-0.0156407137896,0.0496520531688,0.999999864684,1.06364250892e-05,-0.000520008885396,1.04572365991e-05,1793192850167877632
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.205819996,742.794180004,711,672,660,631,876.794180004,782,799.794180004,649,628,650,0.446880144947,-0.0156377579854,0.0496350165457,0.999999848043,1.19298899794e-05,-0.000551091049584,8.32667096885e-06,1793192850184544256
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,743,711.378912084,672,660,631,877,782,799.621087916,649,628,650,0.44682115502,-0.0156341606509,0.0496167822688,0.999999829996,1.33582640669e-05,-0.000582914581939,6.38841312582e-06,1793192850201211136
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,743,711.968469156,672,660,631,877,782,799.031530844,649,628,650,0.44675400108,-0.0156302066764,0.0495978821899,0.999999810674,1.48616370542e-05,-0.000615150258651,4.55706291864e-06,1793192850217878016
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,743,711.45179754,672.54820246,660,631,876.45179754,782,799,649,628.54820246,650,0.446675002702,-0.0156244921983,0.0495876134991,0.999999803804,1.8831630276e-05,-0.000626122037842,2.99147923522e-06,1793192850234544384
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.873603039,660,631,876,782,799,649,628.873603039,650,0.446593035447,-0.0156182937436,0.0495805974584,0.999999799493,2.27433990164e-05,-0.00063284597749,1.55160133722e-06,1793192850251210752
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.298897458,660,631,876,782,799,649,628.298897458,650,0.446502911821,-0.0156107315283,0.0495833881898,0.99999980199,2.59543188096e-05,-0.000628765070179,5.04317631776e-07,1793192850267877376
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,660,631,876.274798581,782,799,649,628,650,0.446399978312,-0.015603270642,0.0495873343198,0.99999980565,2.97277228708e-05,-0.000622748639438,5.2629920485e-08,1793192850284544000
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,743,711,672,660,631,876.847400532,782,799,649,628,650,0.446283162547,-0.0155959195678,0.0495925325724,0.99999981053,3.41106994277e-05,-0.000614634652969,2.46398638912e-07,1793192850301210880
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742.563520476,711.436479524,672,660,631,877,782,799,649,628,650,0.446145896333,-0.0155862605791,0.0495995457698,0.999999817202,3.81618905504e-05,-0.000603439162435,-8.38115612262e-07,1793192850317877504
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.030676869,742.030676869,712,672,660,631,876.969323131,782,799.030676869,649,628,650,0.445999147002,-0.0155757957758,0.0496074677612,0.999999824593,4.21667223693e-05,-0.00059078921459,-2.2419534859e-06,1793192850334544128
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.609364053,742.609364053,712,672,660,631,876.390635947,782,799.609364053,649,628,650,0.445815725458,-0.0155659154729,0.0496198444942,0.999999835189,4.74968517806e-05,-0.000572157433506,-1.05346660633e-06,1793192850351211008
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.813939008,743,712,672,660,631,876.186060992,782,799.813939008,649,628.186060992,650,0.445618340224,-0.0155537703055,0.0496301250406,0.999999843469,5.42545593108e-05,-0.000556882675091,-9.33949457068e-07,1793192850367877888
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.241376444,743,712,672,660,631,876.758623556,782,799.241376444,649,628.758623556,650,0.445391948458,-0.0155369203722,0.0496360512097,0.999999847478,6.39777517726e-05,-0.000548581409695,-3.03498646207e-06,1793192850384544256
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742.660608933,711.660608933,672,660.339391067,631.339391067,877,782,799,649,628.660608933,650,0.445143895212,-0.0155223681823,0.0496442202856,0.999999851683,6.92899024304e-05,-0.000540196353382,-4.54665953696e-06,1793192850401211136
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.073861398,711.073861398,672,660.926138602,631.926138602,877,782,799,649,628.073861398,650,0.444880054527,-0.0155094906419,0.0496540240474,0.999999856057,7.13871795049e-05,-0.000531750227362,-5.62879005755e-06,1793192850417878016
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.490845109,660.490845109,632,876.490845109,782.509154891,799.509154891,649,628,650,0.4445631508,-0.0154996362816,0.0496610966543,0.999999858648,7.06780089114e-05,-0.000526923190297,-7.77339744099e-06,1793192850434544384
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.090798231,742.090798231,711.090798231,671.090798231,660,632,876,782.909201769,799.909201769,649,628,650,0.444231365648,-0.015492338863,0.0496681747572,0.999999862001,6.68154970548e-05,-0.000520996016254,-9.83516859741e-06,1793192850451211008
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.667965778,742.667965778,711.667965778,671.667965778,660,632,876,782.332034222,799.332034222,649,628,650,0.443860799983,-0.0154964058301,0.0496773891429,0.999999870568,4.82267359916e-05,-0.00050638405066,-1.06336151095e-05,1793192850467877632
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.75685329,742.75685329,712,672.24314671,660.24314671,632,876,782.24314671,799,649,628,650,0.4434731169,-0.0154967382528,0.0496842584827,0.999999876598,3.28404241277e-05,-0.000495546890437,-1.25814649696e-05,1793192850484544256
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.184363273,742.184363273,712,672.815636727,660.815636727,632,876,782.815636727,799,649,628,650,0.443062248218,-0.0154920122181,0.0496879514469,0.99999987967,2.17918451681e-05,-0.000489822722096,-1.60861867634e-05,1793192850501211136
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742,711.599109271,672.599109271,660.599109271,632,876.400890729,783,799.400890729,649,628.400890729,650,0.442637487783,-0.0154851414968,0.0496967396939,0.999999887576,1.37220286247e-05,-0.000473611890873,-1.87712103094e-05,1793192850517877760
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742,711.007792292,672.007792292,660.007792292,632,876.992207708,783,799.992207708,649,628.992207708,650,0.442206128668,-0.0154772520327,0.0497079482401,0.999999897411,7.06714796849e-06,-0.000452419812291,-2.10668706336e-05,1793192850534544128
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,660.570237316,632,876.429762684,783,799.429762684,649,628.429762684,650,0.441739997318,-0.0154726438981,0.0497421233886,0.999999922256,-5.42913128042e-06,-0.000393682987888,-2.17357410593e-05,1793192850551211008
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.147726465,742,711,672,660.852273535,632,876,783,799,649,628.147726465,650,0.441254364534,-0.0154687752246,0.0497755247895,0.999999942272,-1.87509314179e-05,-0.0003385340307,-2.2334104842e-05,1793192850567877888
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.724162007,742,711,672,660.275837993,632,876,783,799,649,628.724162007,650,0.440713485311,-0.0154669253399,0.0498057906981,0.999999955567,-3.42420550615e-05,-0.000295252233159,-2.27908988426e-05,1793192850584544512
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711.30662767,672,660.30662767,632,876.30662767,783,799,649,629,650,0.440145010552,-0.0154617046319,0.0498202667353,0.999999961516,-4.87096489869e-05,-0.000271921082997,-2.55629583365e-05,1793192850601211392
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711.894626836,672,660.894626836,632,876.894626836,783,799,649,629,650,0.439551213173,-0.0154533907468,0.0498202534777,0.999999961982,-6.22380206745e-05,-0.000266897289333,-3.04595806223e-05,1793192850617878784
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.525462563,742,712,671.525462563,661,632,876.525462563,783,799,649,628.525462563,650,0.438885416476,-0.0154454999248,0.0497977415857,0.999999949819,-7.9061389663e-05,-0.000304556787168,-3.68270506763e-05,1793192850634545920
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742.792406597,711,672,661,632,877,783,799,649,629,649.792406597,0.436781467713,-0.0154409665126,0.0497776229084,0.999999928969,-0.000144168221293,-0.000344890408379,-4.82500508372e-05,1793192850684544768
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742.36605252,711,671.63394748,661,632,876.63394748,783,799,649,628.63394748,649.36605252,0.435300626256,-0.0154378717394,0.0498177078528,0.999999937304,-0.000184829357856,-0.000297883698426,-4.99504267536e-05,1793192850717877504
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.711345133,633,876,783.711345133,799,649,628,650,0.414625487263,-0.0154113419898,0.0498268846198,0.999999955677,-0.00010991238212,-0.000271006314749,-5.58586158314e-05,1793192851117877760
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711.810459505,670.189540495,660.810459505,633,875,783.810459505,799.810459505,649,628.810459505,650,0.401972207052,-0.015429150453,0.049813208872,0.999999905518,-0.000247773910947,-0.000350947147351,-6.64001689378e-05,1793192851534544384
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763,742,711.607064126,670.392935874,660.607064126,633,875,783.607064126,799.607064126,649,628.607064126,650,0.401804713901,-0.0154302403084,0.0498128496339,0.99999990587,-0.000249407948118,-0.000348796820241,-6.62982309117e-05,1793192851551210752
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763,742,711.027760651,670.972239349,660.027760651,633,875,783.027760651,799.027760651,649,628.027760651,650,0.401653750554,-0.0154326477883,0.0498164746723,0.999999909674,-0.000250376377082,-0.000337164823922,-6.54564177902e-05,1793192851567877376
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,875.544263045,783,799.544263045,649,628,650.544263045,0.401532244939,-0.0154290043164,0.0498216070866,0.999999926995,-0.000189044913378,-0.000328060865504,-5.14616186252e-05,1793192851584544000
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,711,670.883023663,660,633,876,783,799.883023663,649,628,650.883023663,0.401419640267,-0.0154251621225,0.0498270617885,0.999999939188,-0.000138011035204,-0.00031777384939,-3.99714486447e-05,1793192851601210624
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.306158545,660,633,876,783,799.306158545,649,628,650.306158545,0.401336200191,-0.0154217360292,0.0498334852738,0.999999943688,-0.000139789769997,-0.000302335429621,-4.09308784129e-05,1793192851617877248
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.278277486,660.278277486,633,875.721722514,783,799.278277486,649,628,650,0.401260698657,-0.0154232444755,0.0498372498152,0.999999945493,-0.000146938357169,-0.000292729092124,-4.16228649848e-05,1793192851634544128
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.546141376,633,875.453858624,783,799.546141376,649,628,650,0.401135198692,-0.0154362720212,0.0498369300546,0.999999941237,-0.000170431747307,-0.000294375463841,-4.26927825262e-05,1793192851667877888
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,711.241406203,671,660.241406203,633,875.241406203,783.758593797,800,649.241406203,629,650.241406203,0.401010894057,-0.015443177357,0.0498427650412,0.99999994228,-0.000186216503135,-0.000280730682894,-4.42094828138e-05,1793192851734544384
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763,742,711,670.657675067,660.342324933,633,875,783.657675067,799.657675067,649.342324933,628.657675067,650,0.400997495344,-0.0154430706334,0.0498437987819,0.999999942738,-0.000186795497932,-0.000278697651575,-4.42539406039e-05,1793192851751211008
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.067852312,660.932147688,633,875,783.067852312,799.067852312,649.932147688,628.067852312,650,0.400986497042,-0.0154441512116,0.0498444097685,0.999999942525,-0.00018945463719,-0.000277680108127,-4.41699503641e-05,1793192851767877888
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,763,742.056768946,711.056768946,671,660.943231054,633,875.056768946,783,800,649.056768946,628.943231054,651,0.400966853772,-0.0154457255781,0.0498464841329,0.999999943573,-0.000189510990196,-0.000273743501062,-4.47558223433e-05,1793192852001211136
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763,742.633740504,711.633740504,671,660.366259496,633,875.633740504,783,800,649.633740504,628.366259496,651,0.400967959266,-0.0154463803154,0.0498473240088,0.999999943506,-0.000192049823914,-0.000272219380743,-4.47380270288e-05,1793192852017877504
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,763,742,711.629933534,671.629933534,661,633,875,783.629933534,800.259867068,649.629933534,628.370066466,650.370066466,0.400969446636,-0.0154469456808,0.049848662921,0.999999944084,-0.000193042158801,-0.000269439464357,-4.43760410053e-05,1793192852067877376
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763,742,711.03773032,671.03773032,661,633,875,783.03773032,799.07546064,649.03773032,628.96226968,650.96226968,0.400967615513,-0.015447916147,0.0498478845158,0.999999943739,-0.000192127639191,-0.000271427108153,-4.39949480315e-05,1793192852084544000
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763,742,711.537839179,671,661,633,876.075678357,783,799.537839179,649.537839179,628.462160821,651,0.400969106552,-0.0154476013901,0.0498489947515,0.999999944221,-0.000191827529483,-0.000269832767386,-4.4171072207e-05,1793192852101211136
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763,742,711.887285173,671,660.887285173,633,876.774570346,783.112714827,799.887285173,650,628.112714827,651,0.400970312914,-0.0154473825261,0.0498499159354,0.999999944625,-0.000191712583936,-0.000268391273361,-4.42960118954e-05,1793192852117878016
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.31060664,671,660.31060664,633,875.621213281,783.68939336,799.31060664,650,628.68939336,651,0.400969416931,-0.0154479183741,0.049849529924,0.999999944493,-0.000192187726349,-0.00026858225091,-4.40541862624e-05,1793192852134544384
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,711.272172519,670.727827481,660,633,875,783.727827481,799.272172519,649.727827481,628.727827481,650.727827481,0.40096958257,-0.0154478411064,0.0498493095415,0.999999944467,-0.000192836840362,-0.000268206777773,-4.41049505545e-05,1793192852151210752
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,763,742,711.557770366,670.442229634,660,633,875,783.442229634,799.557770366,649,628.442229634,650,0.400969512248,-0.0154469504493,0.0498487606907,0.99999994424,-0.000193614050278,-0.000268430699458,-4.44901210262e-05,1793192852184544000
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763,742,711.019383415,671,660,633,875.019383415,784,799,649,629,650.019383415,0.400967262285,-0.0154471059915,0.0498481309764,0.999999943828,-0.000193200548385,-0.000270280701219,-4.43477362965e-05,1793192852201211136
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763,742,711.595717099,671,660,633,875.595717099,784,799,649,629,650.595717099,0.400968008071,-0.0154484394765,0.0498487395932,0.999999944604,-0.000191190660985,-0.000268920097182,-4.38226477009e-05,1793192852217877760
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763,742,711.829465261,670.829465261,660,633,876,784,799.170534739,649,629,651,0.400969033837,-0.015448940487,0.0498493936304,0.999999945092,-0.000190468299608,-0.000267645945431,-4.36189536629e-05,1793192852234544128
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763,742,711.258210035,670.258210035,660,633,876,784,799.741789965,649,629,651,0.400970717498,-0.0154474853591,0.0498501543961,0.999999944913,-0.000192771351585,-0.000266574938309,-4.41704687405e-05,1793192852251211008
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.327222485,660,633,875.672777515,783.672777515,800,649,629,651,0.400970966815,-0.0154469669473,0.0498501292706,0.999999944872,-0.000192795834061,-0.000266674317001,-4.43931247677e-05,1793192852267877376
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.924348877,660,633,875.075651123,783.075651123,800,649,629,651,0.400970033037,-0.01544722117,0.049849455916,0.999999944945,-0.000190940877092,-0.000267739068596,-4.43445269687e-05,1793192852284544000
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..45830497b45bfac4dc9855336eaa186403eb6c8f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,400 @@
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+375,6.250000000,pose2_to_pose3_retreat,0.575713575776,-0.00994534173482,1.04002902648,0.546284304177,-0.00127261830739,1.03969832211
+376,6.266666667,pose2_to_pose3_retreat,0.575713337437,-0.00994533170496,1.04002902818,0.546284065833,-0.00127260830555,1.03969832354
+377,6.283333333,pose2_to_pose3_retreat,0.57571326801,-0.00994532878329,1.04002902868,0.546283996405,-0.00127260539204,1.03969832395
+378,6.300000000,pose2_to_pose3_retreat,0.575713078409,-0.00994532080441,1.04002903004,0.546283806799,-0.00127259743545,1.03969832509
+379,6.316666667,pose2_to_pose3_retreat,0.575712582483,-0.00994529993467,1.04002903358,0.546283310863,-0.001272576624,1.03969832806
+380,6.333333333,pose2_to_pose3_retreat,0.575712024365,-0.00994529112586,1.0400290495,0.546282752797,-0.00127256768578,1.03969834272
+381,6.350000000,pose2_to_pose3_retreat,0.575711670892,-0.00994530692454,1.04002907695,0.546282399451,-0.00127258311848,1.03969836849
+382,6.366666667,pose2_to_pose3_retreat,0.575711648064,-0.00994530794487,1.04002907872,0.546282376631,-0.00127258411517,1.03969837015
+383,6.383333333,pose2_to_pose3_retreat,0.575711527118,-0.00994531335063,1.04002908811,0.546282255728,-0.00127258939571,1.03969837897
+384,6.400000000,pose2_to_pose3_retreat,0.57571143043,-0.00994531767214,1.04002909562,0.546282159075,-0.00127259361711,1.03969838602
+385,6.416666667,pose2_to_pose3_retreat,0.575711284805,-0.00994532418092,1.04002910693,0.546282013502,-0.00127259997511,1.03969839664
+386,6.433333333,pose2_to_pose3_retreat,0.575711126537,-0.00994533125483,1.04002911922,0.54628185529,-0.00127260688516,1.03969840818
+387,6.450000000,pose2_to_pose3_retreat,0.575711030323,-0.00994533555516,1.04002912669,0.546281759111,-0.00127261108587,1.03969841519
+388,6.466666667,pose2_to_pose3_retreat,0.575711013069,-0.00994533632634,1.04002912803,0.546281741863,-0.00127261183919,1.03969841645
+389,6.483333333,pose2_to_pose3_retreat,0.57571058506,-0.00994535545644,1.04002916126,0.546281314008,-0.00127263052613,1.03969844765
+390,6.500000000,pose2_to_pose3_retreat,0.575710533565,-0.00994535775803,1.04002916526,0.546281262532,-0.00127263277441,1.03969845141
+391,6.516666667,pose2_to_pose3_retreat,0.575710123517,-0.00994536147839,1.04002915983,0.546280852488,-0.00127263633506,1.03969844976
+392,6.533333333,pose2_to_pose3_retreat,0.57570992889,-0.00994536006902,1.04002914915,0.546280657833,-0.00127263490745,1.03969844212
+393,6.550000000,pose2_to_pose3_retreat,0.575709853086,-0.00994535952009,1.04002914499,0.546280582017,-0.00127263435142,1.03969843914
+394,6.566666667,pose2_to_pose3_retreat,0.575709815783,-0.00994535924997,1.04002914295,0.546280544709,-0.0012726340778,1.03969843768
+395,6.583333333,pose2_to_pose3_retreat,0.575709614842,-0.00994535779488,1.04002913192,0.546280343738,-0.00127263260388,1.03969842979
+396,6.600000000,pose2_to_pose3_retreat,0.575709355002,-0.00994536393691,1.04002913234,0.546280083767,-0.00127263920887,1.03969842981
+397,6.616666667,pose2_to_pose3_retreat,0.575709255026,-0.0099453987593,1.04002918427,0.546279984023,-0.00127267341266,1.03969847719
+398,6.633333333,pose2_to_pose3_retreat,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471562,1.03969857335
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd23a756e97f640948e58198304587c6f605771d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8312f18c959c03b457a87b1f8a38307e80f05b84093b965d78f5774e2807cfb8
+size 25481260
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..641f2303f58c12cf6928cf13abdc709ca6275b66
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
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+41,0.683333333,BASELINE,763,742,711,670.789669114,660.210330886,633,875.789669114,784,799.789669114,649.210330886,628.210330886,650,0.400970462178,-0.0154509828217,0.0498525770226,0.99999994535,-0.000195544601184,-0.000262950206861,-4.38132072012e-05,1793192853084910592
+42,0.700000000,BASELINE,763,742,711,671,660,633,875.62659093,783.62659093,799.62659093,649.37340907,628.37340907,650,0.400970244683,-0.0154504458888,0.0498523969049,0.999999945385,-0.000194923395361,-0.000263268179304,-4.38797542506e-05,1793192853101577472
+43,0.716666667,BASELINE,763,742,711,671,660,633,875.0477114,783.0477114,799.0477114,649.9522886,628.9522886,650,0.400968790226,-0.0154493548548,0.0498511320804,0.999999945207,-0.000193104163679,-0.000265267235833,-4.39346802855e-05,1793192853118244352
+44,0.733333333,BASELINE,763,742.526084646,711,671,660,633,875.526084646,783,799.526084646,650,628.473915354,650.526084646,0.400968439554,-0.0154480214313,0.0498506824813,0.999999945352,-0.000191831060378,-0.000265608386492,-4.41578360771e-05,1793192853134910976
+45,0.750000000,BASELINE,763,742.900069597,711,671,660,633,875.900069597,783,799.900069597,649.900069597,628,650.900069597,0.400968266758,-0.015446858677,0.0498504315443,0.999999945531,-0.00019072403191,-0.000265693525065,-4.43856980973e-05,1793192853151577600
+46,0.766666667,BASELINE,763,742.323810561,711,671,660,633,875.323810561,783,799.323810561,649.323810561,628,650.323810561,0.400968469245,-0.0154466132154,0.0498507785093,0.99999994574,-0.000190174790134,-0.000265268193138,-4.45639646604e-05,1793192853168243968
+47,0.783333333,BASELINE,763,742.259105279,711,671,660.259105279,633,875,783,799.259105279,649.259105279,628.259105279,650.259105279,0.400968662436,-0.0154468416474,0.0498508856011,0.999999945788,-0.00019053396221,-0.000264824890471,-4.4584346026e-05,1793192853184910592
+48,0.800000000,BASELINE,763,742.850559746,711,671,660.850559746,633,875,783,799.850559746,649.850559746,628.850559746,650.850559746,0.400968843704,-0.0154476779332,0.0498506850123,0.999999945628,-0.000192058338599,-0.000264358537032,-4.44022112128e-05,1793192853201577472
+49,0.816666667,BASELINE,762.568159174,742.568159174,711,670.568159174,660.568159174,633,875,783,800,649.568159174,628.568159174,651,0.400969001965,-0.0154476322109,0.0498507960578,0.999999945487,-0.000192323073284,-0.000264689202097,-4.44787640658e-05,1793192853218243840
+50,0.833333333,BASELINE,762.009610277,742,711.009610277,670.009610277,660.009610277,633,875,783,800,649.009610277,628.009610277,650.990389723,0.400969156284,-0.015447307473,0.0498510093663,0.999999945357,-0.000192136949841,-0.000265285479134,-4.46354360858e-05,1793192853234910720
+51,0.850000000,BASELINE,762.583149984,742,711.583149984,670.583149984,660.583149984,633,875,783,800,649.583149984,628.583149984,650.416850016,0.400969535829,-0.0154481083246,0.0498510409244,0.999999945587,-0.000190484604153,-0.000265655757689,-4.4361378061e-05,1793192853251577344
+52,0.866666667,BASELINE,763.161440872,742,711.838559128,671,660.838559128,633,875,783.161440872,799.838559128,649.838559128,629,650.161440872,0.400969757152,-0.0154485803148,0.0498509453077,0.99999994562,-0.000190093662694,-0.000265845228846,-4.41743834675e-05,1793192853268243968
+53,0.883333333,BASELINE,763.752371544,742,711.247628456,671,660.247628456,633,875,783.752371544,799.247628456,649.247628456,629,650.752371544,0.400969557548,-0.015448177417,0.0498505113616,0.999999945127,-0.000193058502593,-0.000265553688372,-4.42190084015e-05,1793192853284910848
+54,0.900000000,BASELINE,764,742,711.33644814,671,660.33644814,633,875,783.66355186,799,649.33644814,629,651,0.400968829081,-0.0154483005274,0.0498504123182,0.999999945045,-0.000193458059099,-0.000265534120379,-4.44411902245e-05,1793192853301577472
+55,0.916666667,BASELINE,764,742,711.915580776,671,660.915580776,633,875,783.084419224,799,649.915580776,629,651,0.400967719138,-0.0154488030545,0.0498505548446,0.999999945262,-0.000192007242624,-0.00026571072975,-4.47914461789e-05,1793192853318244096
+56,0.933333333,BASELINE,763.507101919,742,711.507101919,671,660.507101919,633,875.492898081,783,799.492898081,650,628.507101919,650.507101919,0.400968150398,-0.0154496996096,0.0498506005555,0.999999945324,-0.000191750069736,-0.000265722501872,-4.44385189588e-05,1793192853334910720
+57,0.950000000,BASELINE,763,742,711,670.930516591,660,633,875.930516591,783,800,649.930516591,628.069483409,650,0.400968924228,-0.0154507455204,0.0498507856055,0.999999945335,-0.000192168494059,-0.000265459011577,-4.39640537531e-05,1793192853351577344
+58,0.966666667,BASELINE,763,742,711,670.356994271,660,633,875.356994271,783,800,649.356994271,628.643005729,650,0.400970275297,-0.0154523871208,0.0498521012772,0.999999945154,-0.000196010200902,-0.000263402787929,-4.347838179e-05,1793192853368244224
+59,0.983333333,BASELINE,763,742,711,670.223000654,660,633,875.223000654,783.223000654,799.776999346,649,628.776999346,650,0.400970619709,-0.0154526222956,0.0498525756784,0.999999945029,-0.000197686413835,-0.000262622343802,-4.34883631195e-05,1793192853384910848
+60,1.000000000,BASELINE,763,742,711,670.813667192,660,633,875.813667192,783.813667192,799.186332808,649,628.186332808,650,0.400969304422,-0.0154505386669,0.0498516630594,0.999999945017,-0.000195792331874,-0.000263945303979,-4.43155384166e-05,1793192853401577728
+61,1.016666667,BASELINE,763,742.394242352,711,671,660.394242352,633,876,783.605757648,799,649,628.394242352,650.394242352,0.400967620856,-0.0154496537588,0.0498506224565,0.999999944592,-0.000195254848724,-0.000265892011462,-4.46505243689e-05,1793192853418244352
+62,1.033333333,BASELINE,763,742.970166977,711,671,660.970166977,633,876,783.029833023,799,649,628.970166977,650.970166977,0.400965767574,-0.0154493212683,0.0498495228736,0.999999943973,-0.000195342539398,-0.000268126165982,-4.47586902005e-05,1793192853434911232
+63,1.050000000,BASELINE,763,742.452001113,711,671,661,633,875.452001113,783,799,649.547998887,628.452001113,651,0.400967074658,-0.0154480085879,0.0498502205877,0.999999944944,-0.000192104006061,-0.000266915105171,-4.43140428601e-05,1793192853451577600
+64,1.066666667,BASELINE,763,742.124628649,711.124628649,671,661,633,875.124628649,783.124628649,799.124628649,650,628.124628649,650.875371351,0.40096847478,-0.0154472165788,0.0498510083804,0.999999945726,-0.00019010865196,-0.000265476847777,-4.39242533126e-05,1793192853468243968
+65,1.083333333,BASELINE,763,742.696569702,711.696569702,671,661,633,875.696569702,783.696569702,799.696569702,650,628.696569702,650.303430298,0.40096958916,-0.0154484855351,0.0498517670727,0.999999945549,-0.000193227462941,-0.000263898669777,-4.38397507852e-05,1793192853484910592
+66,1.100000000,BASELINE,763,742.7198443,711.7198443,671,661,633,875.7198443,784,799.7198443,650,628.7198443,650.2801557,0.400969823653,-0.015449123052,0.0498517438143,0.999999945531,-0.00019404362775,-0.000263353947587,-4.39379239809e-05,1793192853501577472
+67,1.116666667,BASELINE,763,742.123098984,711.123098984,671,661,633,875.123098984,784,799.123098984,650,628.123098984,650.876901016,0.400969063833,-0.0154490470114,0.0498508369131,0.999999945698,-0.00019225768979,-0.00026397708101,-4.42425296655e-05,1793192853518244096
+68,1.133333333,BASELINE,763,742,711,670.543933017,660.543933017,633,875.456066983,783.543933017,799,650,628,650.543933017,0.400969957964,-0.0154494243912,0.0498522045099,0.999999946167,-0.000191521081431,-0.000262779482897,-4.39543754602e-05,1793192853534910720
+69,1.150000000,BASELINE,763,742,711,670,660,633,875.969245277,783.030754723,799,649.969245277,628.030754723,650,0.40097107938,-0.015449876371,0.0498539190675,0.999999946637,-0.000191091319451,-0.00026136678217,-4.35507095531e-05,1793192853551577344
+70,1.166666667,BASELINE,763,742,711,670,660,633,875.39295151,783.60704849,799,649.39295151,628.60704849,650,0.40096860753,-0.0154495613019,0.0498513023871,0.999999945759,-0.000191266958029,-0.00026453234231,-4.38307607894e-05,1793192853568244224
+71,1.183333333,BASELINE,763,742.183076923,711.183076923,670.183076923,660,633,875.183076923,784,799,649,629,650,0.400967408055,-0.0154492818349,0.0498498834285,0.999999945288,-0.000191311367923,-0.000266246685008,-4.40013697935e-05,1793192853584910848
+72,1.200000000,BASELINE,763,742.758536783,711.758536783,670.758536783,660,633,875.758536783,784,799,649,629,650,0.400968935622,-0.0154490786728,0.0498510315083,0.999999945707,-0.000191074519592,-0.00026485068019,-4.39374148008e-05,1793192853601577728
+73,1.216666667,BASELINE,763.344330795,743,711.655669205,671,660,633,876,783.655669205,799.344330795,649,629,650.344330795,0.400968724187,-0.0154489700147,0.0498514151358,0.999999945624,-0.000191677377434,-0.000264710185246,-4.40578760946e-05,1793192853618244352
+74,1.233333333,BASELINE,763.937595858,743,711.062404142,671,660,633,876,783.062404142,799.937595858,649,629,650.937595858,0.400967255539,-0.0154489296782,0.0498512461017,0.999999945176,-0.000192887301648,-0.000265477362413,-4.43116613174e-05,1793192853634910464
+75,1.250000000,BASELINE,763.486494251,743,711,671.513505749,660,633,876,783,800,649.513505749,629,651,0.400967784243,-0.0154485907181,0.0498512210709,0.999999945259,-0.000193459987383,-0.000264701035744,-4.45862311239e-05,1793192853651577088
+76,1.266666667,BASELINE,763,742.912374282,711,671.824748564,660.087625718,633,876,783,799.912374282,649.912374282,628.912374282,650.912374282,0.400968674152,-0.0154483568982,0.0498513304534,0.999999945469,-0.000193657465675,-0.000263733247428,-4.47507478518e-05,1793192853668243968
+77,1.283333333,BASELINE,763,742.336861103,711,670.673722205,660.663138897,633,876,783,799.336861103,649.336861103,628.336861103,650.336861103,0.400970267899,-0.0154489039381,0.049852093978,0.999999946044,-0.000192182925821,-0.000262709677107,-4.42889009201e-05,1793192853684910592
+78,1.300000000,BASELINE,763,742,711,670.245064621,660.754935379,633,876,783,799.245064621,649,628,650.245064621,0.400970283228,-0.015449644955,0.0498518335458,0.999999945856,-0.000192498613535,-0.000263238995018,-4.40275091457e-05,1793192853701577728
+79,1.316666667,BASELINE,763,742,711,670.836041698,660.163958302,633,876,783,799.836041698,649,628,650.836041698,0.400968070598,-0.0154506597735,0.0498501277828,0.999999944583,-0.00019534123495,-0.000265960238484,-4.40490629288e-05,1793192853718244352
+80,1.333333333,BASELINE,763.419520419,742,711,671,660.419520419,633,875.580479581,783,799.580479581,649.419520419,628.419520419,650.580479581,0.400968992306,-0.0154505567686,0.0498510511883,0.999999944941,-0.000195687105422,-0.00026433807798,-4.41490007292e-05,1793192853734910976
+81,1.350000000,BASELINE,763.999881045,742,711,670.999881045,661,633,875.000118955,783,799,649.999881045,629,650.000118955,0.400971116869,-0.0154500245938,0.0498529835478,0.999999945919,-0.000195074348444,-0.000261049263324,-4.42790163248e-05,1793192853751577344
+82,1.366666667,BASELINE,763.424887436,742,711,670.424887436,661,633,875.575112564,783,799,649.424887436,629,650.575112564,0.400970308176,-0.0154496371213,0.0498522924718,0.999999945556,-0.000194587725629,-0.000262792570148,-4.43192680532e-05,1793192853768243968
+83,1.383333333,BASELINE,763,742.148173063,711,670.148173063,661,633,875.851826937,783.148173063,799,649.148173063,629,651,0.400969559007,-0.0154492248606,0.0498518049425,0.999999945388,-0.000193807353141,-0.000264005732767,-4.43189272742e-05,1793192853784910848
+84,1.400000000,BASELINE,763,742.715761872,711,670.715761872,661,633,875.284238128,783.715761872,799,649.715761872,629,651,0.400968978324,-0.0154487424347,0.0498518935684,0.99999994578,-0.000192195498516,-0.00026371828007,-4.42036861555e-05,1793192853801577216
+85,1.416666667,BASELINE,763,742.699509749,711,671,661,633,875.300490251,783.699509749,799,650,629,650.699509749,0.400969142181,-0.0154485603775,0.0498521317519,0.999999946055,-0.000191384055252,-0.000263295600405,-4.40194636424e-05,1793192853818244096
+86,1.433333333,BASELINE,763,742.097588155,711,671,661,633,875.902411845,783.097588155,799,650,629,650.097588155,0.400970052909,-0.0154486796299,0.0498525199614,0.999999946215,-0.00019137553022,-0.000262737270278,-4.37660437022e-05,1793192853834910976
+87,1.450000000,BASELINE,763,742,711,671.481205074,660.518794926,633,876,783,799.481205074,650,629,650,0.400969537225,-0.0154497966625,0.0498523032167,0.999999945707,-0.00019378162597,-0.000262871627375,-4.39733200545e-05,1793192853851577600
+88,1.466666667,BASELINE,763,742.055538809,711.055538809,671.944461191,660.055538809,633,876,783,799.944461191,650,629,650.055538809,0.400968911207,-0.0154507843184,0.0498520384176,0.999999945209,-0.000196093566061,-0.000263003058307,-4.42551761028e-05,1793192853868244224
+89,1.483333333,BASELINE,763,742.630020469,711.630020469,671.369979531,660.630020469,633,876,783,799.369979531,650,629,650.630020469,0.400969833232,-0.0154487591029,0.0498524183749,0.999999946075,-0.000193160062368,-0.000261854758111,-4.44009426718e-05,1793192853884910848
+90,1.500000000,BASELINE,763,742.790022701,711.790022701,671,660.790022701,633,876,783,799.209977299,649.790022701,629,650.790022701,0.400969923067,-0.0154474598202,0.0498525480535,0.999999946579,-0.000190510887798,-0.000261875996329,-4.43715441608e-05,1793192853901577472
+91,1.516666667,BASELINE,763,742.20016041,711.20016041,671,660.20016041,633,876,783,799.79983959,649.20016041,629,650.20016041,0.400968507325,-0.0154474738747,0.0498522249351,0.999999946437,-0.000188376113759,-0.00026401313051,-4.4025241923e-05,1793192853918244096
+92,1.533333333,BASELINE,763,742,711,671,660.382918681,633,875.617081319,783.382918681,799.617081319,649.382918681,628.617081319,650.382918681,0.400969007698,-0.0154480391948,0.0498525385953,0.99999994638,-0.000189730541868,-0.00026326796488,-4.39569827313e-05,1793192853934910720
+93,1.550000000,BASELINE,763,742,711,671,660.962513805,633,875.037486195,783.962513805,799.037486195,649.962513805,628.037486195,650.962513805,0.400970492234,-0.0154488876583,0.0498531793207,0.999999946358,-0.000192877109744,-0.000261042379429,-4.40315332487e-05,1793192853951577344
+94,1.566666667,BASELINE,763,742.536824747,711.536824747,671,660.463175253,633,876.073649495,783.463175253,799,649.463175253,628.536824747,651,0.400970017918,-0.0154486566721,0.0498526106633,0.999999946301,-0.000192198598707,-0.000261736250657,-4.41893353694e-05,1793192853968243968
+95,1.583333333,BASELINE,763.110733664,742.889266336,712,671,660,633,876.889266336,783,799,649.110733664,629,651,0.400969567802,-0.0154484930956,0.0498520713766,0.999999946272,-0.000191416764509,-0.000262397248867,-4.43014671459e-05,1793192853984910848
+96,1.600000000,BASELINE,763.684489591,742.315510409,712,671,660,633,876.315510409,783,799,649.684489591,629,651,0.400969785255,-0.0154489234975,0.0498520045804,0.999999946382,-0.000191308874405,-0.000262076662543,-4.41985614782e-05,1793192854001577728
+97,1.616666667,BASELINE,763.731487365,742,711.731487365,671,660,633,876,783,799,649.731487365,628.731487365,651,0.400970343542,-0.0154498883212,0.0498522988249,0.99999994619,-0.000192742121642,-0.000261762508828,-4.4165561901e-05,1793192854018244352
+98,1.633333333,BASELINE,763.134920547,742,711.134920547,671,660,633,876,783,799,649.134920547,628.134920547,651,0.400971318239,-0.0154515060727,0.0498530341692,0.999999945623,-0.000196058246947,-0.00026145621414,-4.42179698015e-05,1793192854034910720
+99,1.650000000,BASELINE,763,742,711,671,660.445136894,633,876,783,799.445136894,649,628,651,0.400970470634,-0.0154508118071,0.0498525061339,0.99999994574,-0.000194360511577,-0.000262319278928,-4.39503991774e-05,1793192854051577600
+100,1.666666667,BASELINE,763,742,711,670.979614394,661,633,875.979614394,783,800,649.020385606,628.020385606,651,0.400969167575,-0.0154494825195,0.0498516724774,0.999999946039,-0.000191368952388,-0.000263431844528,-4.36191018578e-05,1793192854068243712
+101,1.683333333,BASELINE,763,742,711,670.403921587,661,633,875.403921587,783,800,649.596078413,628.596078413,651,0.400969965551,-0.0154492615598,0.0498525716643,0.999999946063,-0.000193049761219,-0.000262031350366,-4.40992914203e-05,1793192854084910592
+102,1.700000000,BASELINE,763,742,711.17637697,670.17637697,661,633,875.17637697,783.17637697,799.82362303,650,628.82362303,651,0.400970377883,-0.0154492855577,0.0498530560101,0.999999945955,-0.000194497085092,-0.000261331905651,-4.43560451092e-05,1793192854101577216
+103,1.716666667,BASELINE,763,742,711.767505908,670.767505908,661,633,875.767505908,783.767505908,799.232494092,650,628.232494092,651,0.40096988337,-0.0154498855757,0.0498525648532,0.999999945543,-0.000195395366834,-0.000262280984969,-4.40873873456e-05,1793192854118243840
+104,1.733333333,BASELINE,763,742,711.648641196,671,661,633,876,783.648641196,799.351358804,649.648641196,628.351358804,651,0.400969482275,-0.0154491343234,0.049852274162,0.99999994549,-0.000194394290053,-0.000263227938565,-4.4071794858e-05,1793192854134910720
+105,1.750000000,BASELINE,763,742,711.069505119,671,661,633,876,783.069505119,799.930494881,649.069505119,628.930494881,651,0.400969141741,-0.0154475070758,0.0498521134278,0.999999945665,-0.000192161905938,-0.000264173514198,-4.42202583385e-05,1793192854151577600
+106,1.766666667,BASELINE,763.504701878,742.504701878,711,671,661,633,876,783.504701878,800,649.504701878,629,651,0.400969055143,-0.0154494119818,0.049852083717,0.999999945893,-0.00019228901994,-0.000263301184594,-4.37091329678e-05,1793192854168244224
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,671,661,633,875,784,801,649,628,651,0.400968647249,-0.0154499257126,0.0498514396501,0.999999945663,-0.000193682209709,-0.00026305966706,-4.42917309598e-05,1793192854211397632
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.586378968,742,711,671,661,633,875,784,800.413621032,649.586378968,628.586378968,650.413621032,0.400968064284,-0.0154490722377,0.0498508413878,0.999999945721,-0.00019148246344,-0.000264428294313,-4.4381884838e-05,1793192854228064512
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.829882889,742.170117111,711.170117111,671,660.829882889,633,875.170117111,783.829882889,799.829882889,650,628.829882889,650,0.400967962185,-0.0154488637866,0.049850817203,0.999999945751,-0.000190845790241,-0.000264790449514,-4.42967334267e-05,1793192854244731392
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.252467351,742.747532649,711.747532649,671,660.252467351,633,875.747532649,783.252467351,799.252467351,650,628.252467351,650,0.400969011385,-0.0154501996667,0.0498521674882,0.999999945716,-0.000193951463245,-0.000262742885717,-4.37918619486e-05,1793192854261397760
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,743,712,671,660,633,875.676678299,783,799.323321701,650,628.323321701,650,0.40096990331,-0.0154508135507,0.0498527897771,0.999999945762,-0.000195272721615,-0.000261613495809,-4.36260678535e-05,1793192854278064128
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,743,712,671,660,633,875.102152974,783,799.897847026,650,628.897847026,650,0.40097067304,-0.0154508664826,0.0498528464517,0.999999945879,-0.000195207585309,-0.000261197477907,-4.3723718734e-05,1793192854294730496
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,743,712,671,660.48572173,633,875,783.48572173,799.51427827,649.51427827,629,650,0.400969295311,-0.0154491198174,0.0498520209832,0.999999945727,-0.000192936053678,-0.000263402159262,-4.40539069389e-05,1793192854311397376
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742.925002536,712,671,660.925002536,633,875.149994929,784,799.074997464,649.074997464,629,650.074997464,0.400968634088,-0.0154472314452,0.0498516177428,0.999999945743,-0.000190603638187,-0.000264981014158,-4.43670612246e-05,1793192854328064000
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742.345717679,712,671,660.345717679,633,876.308564641,784,799.654282321,649.654282321,629,650.654282321,0.400975913353,-0.0154470070429,0.0498553363247,0.999999947346,-0.000191070183467,-0.000258540982837,-4.42275429591e-05,1793192854344730624
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,711.769301471,671,660,633,876.538602942,784,800,650,629,651,0.400989057455,-0.0154481062002,0.049860652166,0.99999994988,-0.000191525461596,-0.000248303468176,-4.36276915595e-05,1793192854361396992
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,711.197131382,671,660,633,875.394262764,784,800,650,629,651,0.401010882474,-0.0154511644423,0.049868332212,0.999999953663,-0.000191964062432,-0.000232445057529,-4.23464718279e-05,1793192854378063616
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.37909995,742,711,671,660.37909995,633,875.37909995,784,799.62090005,650,629,651,0.401054951945,-0.0154547435875,0.0498831225853,0.999999960284,-0.000193374090398,-0.000201031249734,-4.0316754229e-05,1793192854394730496
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.957466044,742,711,671,660.957466044,633,875.957466044,784,799.042533956,650,629,651,0.40111071376,-0.0154585965351,0.0499016503575,0.99999996718,-0.00019529472899,-0.000161441063538,-3.78936038521e-05,1793192854411397120
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.452877881,742.547122119,711.547122119,671.547122119,661,633,875.452877881,783.452877881,799,650,629,651,0.401178871,-0.0154624705473,0.0499164212277,0.999999971443,-0.000194213963055,-0.000134602996554,-3.57235330248e-05,1793192854428063744
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.134765098,743,711.865234902,671.865234902,661,633,875.134765098,783,799,649.865234902,629,651,0.401249227893,-0.015466755446,0.0499285872735,0.999999974101,-0.00019405171276,-0.000114031555363,-3.37426355893e-05,1793192854444730624
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.712838171,743,711.287161829,671.287161829,661,633,875.712838171,783,799,649.287161829,629,651,0.401323583873,-0.0154723864512,0.0499331657786,0.999999973804,-0.000197694624999,-0.000110744294015,-3.23179376159e-05,1793192854461397248
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.710225714,743,711.289774286,671,660.710225714,633.289774286,876,783,799,649.289774286,629,650.710225714,0.401410055113,-0.015477568663,0.0499361286404,0.999999973762,-0.000199535622803,-0.000108066054918,-3.13714506126e-05,1793192854478063872
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.134411939,743,711.865588061,671,660.134411939,633.865588061,876,783,799,649.865588061,629,650.134411939,0.401508485459,-0.0154823078655,0.0499374966822,0.999999973986,-0.000199597930189,-0.000105988988804,-3.08970111747e-05,1793192854494730496
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742.558315443,711.558315443,671,660,633.558315443,875.558315443,783,799.441684557,649.558315443,628.558315443,650.441684557,0.401624703693,-0.0154905890844,0.0499359319002,0.999999972863,-0.000202731311622,-0.000110828963671,-2.98652907842e-05,1793192854511397376
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742.018288818,711,671,660.018288818,633,875.018288818,783.018288818,800,649.018288818,628.018288818,650.981711182,0.401747197199,-0.0154999435882,0.0499335275514,0.999999971299,-0.000206759473067,-0.000117603728689,-2.86629489584e-05,1793192854528064000
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742.608069919,711,671,660.608069919,633,875.608069919,783.608069919,800,649.608069919,628.608069919,650.391930081,0.401896522174,-0.0155091324861,0.0499327953463,0.999999970591,-0.000209525292467,-0.000119018546251,-2.7431765358e-05,1793192854544730624
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,743,711.193869922,671,661,633,876,784,800,650,629,650.193869922,0.402058237103,-0.0155185235145,0.0499330734983,0.999999970168,-0.000211659962191,-0.000119111855161,-2.60080390512e-05,1793192854561397248
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,743,711.771783561,671,661,633,876,784,800,650,629,650.771783561,0.402244495709,-0.0155283149492,0.0499353531023,0.999999970323,-0.000212544365094,-0.000116587341148,-2.42028983024e-05,1793192854578064128
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,743,712,671,660.651840984,633,876,784,799.651840984,649.651840984,629,651,0.402454352557,-0.0155381458921,0.0499378060724,0.999999970726,-0.000212640461597,-0.000113297072499,-2.22783701504e-05,1793192854594730752
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,743,712,671,660.076469311,633,876,784,799.076469311,649.076469311,629,651,0.402679609913,-0.0155480026194,0.0499403721836,0.999999971279,-0.000212222100179,-0.000109507063138,-2.02759281988e-05,1793192854611397632
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,743,711.500825016,671,660.499174984,633,876,784,799,649,628.500825016,650.500825016,0.402956464618,-0.0155570488422,0.0499484663108,0.999999974505,-0.000206199972373,-9.04566782146e-05,-1.7024479515e-05,1793192854628064256
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742.922506827,711,671,661,633,876,783.922506827,799,649.077493173,628.077493173,650,0.403244524088,-0.0155635298936,0.0499569902794,0.999999978165,-0.000196280722941,-7.04189787511e-05,-1.36098724846e-05,1793192854644730880
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742.326579402,711,671,661,633,876,783.326579402,799,649.673420598,628.673420598,650,0.403554635332,-0.0155536808972,0.0499627213797,0.999999984397,-0.00016603569463,-5.94243695188e-05,-1.03844808971e-05,1793192854661397504
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742.259500819,711.259500819,670.740499181,661,633,876,783,799.259500819,649.740499181,629,650,0.403882229988,-0.0155401527428,0.0499682619182,0.999999989991,-0.000132095681897,-4.98241417642e-05,-9.3039001097e-06,1793192854678064128
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742.833641457,711.833641457,670.166358543,661,633,876,783,799.833641457,649.166358543,629,650,0.404231022932,-0.0155221636799,0.0499735714039,0.999999994675,-9.36755724875e-05,-4.19145757468e-05,-1.08238619061e-05,1793192854694731008
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,743,712,670.408940336,661,633,876,783.408940336,800,649,628.591059664,650.408940336,0.404613948506,-0.0155143284022,0.0499749288036,0.99999999728,-6.28020706828e-05,-3.75615561843e-05,-9.25404891359e-06,1793192854711397632
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,743,712,670.984711716,661,633,876,783.984711716,800,649,628.015288284,650.984711716,0.405010798798,-0.0155106354568,0.0499746739127,0.999999998766,-3.50072791235e-05,-3.46594632721e-05,-6.42373329225e-06,1793192854728064512
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,743,711.424354852,671.575645148,661,633,876,784,799.424354852,649.575645148,628,651,0.405406347062,-0.0155186505035,0.0499534152438,0.999999996691,-2.36017870602e-05,-7.7748610478e-05,-3.93332245056e-06,1793192854744731392
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.163152264,742.836847736,711.163152264,671.836847736,660.836847736,633,876,783.836847736,799.163152264,649.836847736,628.163152264,650.836847736,0.405819282375,-0.0155252590345,0.0499330402501,0.999999993217,-9.96328663265e-06,-0.000116038391946,-1.53987973646e-06,1793192854761398016
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.74090149,742.25909851,711.74090149,671.25909851,660.25909851,633,876,783.25909851,799.74090149,649.25909851,628.74090149,650.25909851,0.406276491254,-0.0155274818314,0.0499163667091,0.999999990292,1.04856861268e-05,-0.000138944284882,6.30711088854e-07,1793192854778064128
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.682174084,742.317825916,711.682174084,671,660.635651833,633,876,783,799.682174084,649,628.682174084,650.317825916,0.406761354641,-0.015527439475,0.0499078573385,0.9999999881,3.49014123216e-05,-0.000150231830249,3.39573020284e-06,1793192854794731008
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.105920247,742.894079753,711.105920247,671,661.788159505,633,876,783,799.105920247,649,628.105920247,650.894079753,0.407268704277,-0.0155255552963,0.0499059863472,0.999999986459,6.25425537168e-05,-0.00015207236564,6.64408605173e-06,1793192854811397888
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742.520221748,711,671,661.040443496,633,876,783,799.479778252,649,628.479778252,650.520221748,0.407856973682,-0.0155280742678,0.0499271306758,0.999999990114,8.70794607735e-05,-0.000109634943007,1.30435785293e-05,1793192854828064512
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742.066555406,711,671,660.066555406,633,876,783,800,649,628.933444594,650,0.40846557538,-0.0155317888662,0.049952860029,0.999999991824,0.000111192925717,-5.98289285058e-05,2.0233671604e-05,1793192854844731392
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742.645265973,711,671,660.645265973,633,876,783,800,649,628.354734027,650,0.409090406255,-0.0155370734895,0.0499739870652,0.999999989712,0.000137427492843,-3.0052723871e-05,2.80467473218e-05,1793192854861398528
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,743,711.223526696,671,660.776473304,633,876,783,800,649,628,650.223526696,0.409711377219,-0.0155404287895,0.0499836055943,0.999999985957,0.00016281984513,-2.01600339453e-05,3.41955094634e-05,1793192854878065152
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,743,711.801074919,671,660.198925081,633,876,783,800,649,628,650.801074919,0.410326234821,-0.0155407284277,0.0499749969511,0.999999980955,0.000186878296365,-4.17588516943e-05,3.77083317289e-05,1793192854894731520
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.376191406,743,711.623808594,670.623808594,660.376191406,632.623808594,876,783,799.623808594,649.376191406,628.376191406,650.623808594,0.410940629801,-0.0155385630611,0.0499495875817,0.999999973048,0.000208639435323,-9.46794883773e-05,3.75532223299e-05,1793192854911398656
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.950030263,743,711.049969737,670.049969737,660.950030263,632.049969737,876,783,799.049969737,649.950030263,628.950030263,650.049969737,0.411554781704,-0.015535102604,0.0499153512679,0.999999959649,0.000229193586284,-0.000164056315165,3.54710156297e-05,1793192854928065792
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.460426044,743,711.539573956,670.539573956,661,632.539573956,876,783.539573956,799,650,629,650.539573956,0.412306422159,-0.0155452942414,0.0499275896739,0.99999998223,0.000141830655695,-0.000123331440989,1.46292019528e-05,1793192854944732416
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.127953732,743,712,671,661,633,876.127953732,784,799,650,629,650.872046268,0.413071085776,-0.0155559256245,0.0499444607318,0.999999994369,7.12017786444e-05,-7.86852804088e-05,-1.05729329205e-06,1793192854961398784
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.70694992,743,712,671,661,633,876.70694992,784,799,650,629,650.29305008,0.413835427341,-0.015563516754,0.0499620354485,0.999999993739,9.58471803268e-05,-5.72369727277e-05,7.73665940016e-06,1793192854978064640
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.716043709,743,712,671,661,633,877,784,799,649.716043709,628.716043709,650,0.414580141811,-0.015566394041,0.0499548566292,0.999999994173,7.67037059695e-05,-7.49246044095e-05,1.25333685797e-05,1793192854994730752
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.141076522,743,712,671,661,633,877,784,799,649.141076522,628.141076522,650,0.415304741662,-0.0155644403756,0.0499223092998,0.999999991025,1.26834679741e-05,-0.000132720465239,1.32335277981e-05,1793192855011397632
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.443223099,743,711.556776901,671,661,633,877,784,799.443223099,649,628,650,0.416073391703,-0.0155612932082,0.0499137058771,0.999999989782,7.74155170033e-06,-0.000142247960532,1.19348100722e-05,1793192855028064512
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,671,661,632.969840208,877,784,800,649.030159792,628,650,0.416861550436,-0.0155582501148,0.0499147546191,0.999999990823,2.23949828973e-05,-0.00013320898022,1.04065355706e-05,1793192855044731136
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,671,661,632.390142069,877,784,800,649.609857931,628,650,0.417744205053,-0.0155641741175,0.0499498212283,0.999999996311,4.4089775117e-05,-7.18331450692e-05,1.65376680431e-05,1793192855061397760
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.811157483,742.811157483,711,671,661,632.188842517,877,783.811157483,799.811157483,649.811157483,628.188842517,650.188842517,0.418599366526,-0.0155677983843,0.0499703520124,0.999999996676,6.72432144774e-05,-4.09651466728e-05,2.11896376869e-05,1793192855078064384
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.233641561,742.233641561,711,671,661,632.766358439,877,783.233641561,799.233641561,649.233641561,628.766358439,650.766358439,0.419397941888,-0.0155666893619,0.0499609653329,0.999999992722,9.33988228803e-05,-7.28880166642e-05,2.27972118446e-05,1793192855094730752
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.341339675,742.341339675,711.341339675,671,661,633.341339675,877,783,799,649,628.658660325,650.658660325,0.420238840822,-0.0155686833394,0.0499566209572,0.999999991295,0.000107833375455,-7.26138578026e-05,2.25543180484e-05,1793192855111397632
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.914598724,742.914598724,711.914598724,671,661,633.914598724,877,783,799,649,628.085401276,650.085401276,0.421108495995,-0.0155727856151,0.0499557025181,0.999999991972,0.000114304188498,-5.0463791436e-05,2.10541447232e-05,1793192855128064256
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.498206261,711.498206261,671,661.501793739,633.498206261,877,783.501793739,800.003587478,649.501793739,628,650,0.421977605497,-0.0155747171327,0.0499690230761,0.999999991902,0.000123502977569,-2.08874116976e-05,2.24947023307e-05,1793192855144730880
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.0899342,711.0899342,671,661.9100658,633,877,784,800.9100658,650,628,650,0.422846397013,-0.0155763239677,0.0499794370067,0.999999991912,0.000124867386249,-5.91036596327e-07,2.41413051268e-05,1793192855161397248
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.669932883,711.669932883,671,661.330067117,633,877,784,800.330067117,650,628,650,0.423713975957,-0.0155782322296,0.0499604298222,0.999999995714,8.09389214755e-05,-3.7946668789e-05,2.41055357756e-05,1793192855178064384
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,671.248295104,661,633,877,784,800,649.751704896,628.248295104,650,0.424590316176,-0.0155803359171,0.0499558529462,0.999999996542,6.2707890751e-05,-4.86201595307e-05,2.48769611485e-05,1793192855194731264
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,671.824496246,661,633,877,784,800,649.175503754,628.824496246,650,0.425478226922,-0.0155826976898,0.0499703331702,0.999999996279,7.84136640684e-05,-2.40564112231e-05,2.67143923924e-05,1793192855211397888
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,711.592210163,672,661.407789837,633,877,784,800,649,628.592210163,650,0.426334606846,-0.0155829492488,0.0499850515248,0.999999995004,9.48953873963e-05,-1.22966548989e-05,2.89163517358e-05,1793192855228064512
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,711.005810145,672,661.994189855,633,877,784,800,649,628.005810145,650,0.427177176355,-0.0155822765432,0.0499998741788,0.999999993252,0.000111716972518,-6.14499304915e-06,3.12779726955e-05,1793192855244731136
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.426915935,711.573084065,672,661.426915935,633,877,783.426915935,800,649,628.573084065,650,0.427984009171,-0.0155708470966,0.0499604925598,0.999999987447,0.00013821185673,-7.21588135193e-05,2.82362062242e-05,1793192855261397504
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.151659421,712,671.848340579,661,633,877,783.151659421,800,649,629,650,0.428817811549,-0.0155633150314,0.0499340604753,0.999999980827,0.000157779639824,-0.000113009884458,2.60692036402e-05,1793192855278064128
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.729549721,712,671.270450279,661,633,877,783.729549721,800,649,629,650,0.429728415517,-0.0155670388876,0.0499455468801,0.999999983939,0.000157607105411,-8.1112702971e-05,2.65126502267e-05,1793192855294730752
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,712,671,661.305877627,633,876.694122373,783.694122373,800,649,629,650.305877627,0.430583402516,-0.0155696827122,0.0499469576251,0.999999987383,0.000136615576583,-7.65383893847e-05,2.66929684262e-05,1793192855311397376
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,671,661.880831089,633,876.119168911,783.119168911,800,649,629,650.880831089,0.431389464075,-0.0155713764494,0.0499395049668,0.999999990303,9.73098991423e-05,-9.59995831987e-05,2.66418165939e-05,1793192855328064256
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711.533194582,671.466805418,661.533194582,633,876.466805418,783,800,649,628.533194582,650.533194582,0.432174460724,-0.0155698873701,0.0499278957116,0.999999987969,0.000102883486325,-0.00011314133519,2.60088078714e-05,1793192855344731136
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.945233919,743,711.054766081,672,661,633,877,783,800,649.054766081,628,650,0.432958997243,-0.0155677876981,0.0499192558275,0.999999984959,0.000119592375579,-0.000122989537786,2.55534897478e-05,1793192855361397504
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.365848742,743,711.634151258,672,661,633,877,783,800,649.634151258,628,650,0.433791884354,-0.0155678106319,0.0499494709115,0.999999988712,0.000130565381497,-6.87800870323e-05,2.82576285813e-05,1793192855378064128
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742.787847782,712,671.787847782,661,633,876.787847782,783,800,649.787847782,628.212152218,650,0.434600310684,-0.0155676457329,0.0499705000769,0.999999989194,0.000139177124247,-3.65048273945e-05,3.01556946381e-05,1793192855394730752
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742.212218288,712,671.212218288,661,633,876.212218288,783,800,649.212218288,628.787781712,650,0.435366828853,-0.0155671590224,0.049975791148,0.999999988325,0.00014374335186,-4.180908647e-05,3.0672728615e-05,1793192855411397376
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742.363077782,712,671.363077782,661,633,876.363077782,783.363077782,799.636922218,649,629,650,0.436081520875,-0.0155663232312,0.049958581802,0.999999985369,0.000147693419811,-8.12483125381e-05,2.91147756287e-05,1793192855428064256
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742.938179112,712,671.938179112,661,633,876.938179112,783.938179112,799.061820888,649,629,650,0.436765948362,-0.0155652835902,0.0499282330722,0.999999978322,0.000151283673373,-0.000140621054093,2.63451094502e-05,1793192855444730880
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,743,712,672,661,633,877,784,799,649,629,650,0.437490647206,-0.0155673999383,0.0499434376275,0.999999982269,0.000158849398869,-9.70506201374e-05,2.84482155237e-05,1793192855461397504
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,743,711.884674711,671.884674711,661.115325289,633,877,783.884674711,799.115325289,649,628.884674711,649.884674711,0.438207920747,-0.015568797698,0.0499609327027,0.999999984138,0.000167471002745,-5.21636911429e-05,3.09209311083e-05,1793192855478064640
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,743,711.307239763,671.307239763,661.692760237,633,877,783.307239763,799.692760237,649,628.307239763,649.307239763,0.438876005424,-0.0155657929374,0.0499656212064,0.999999982221,0.000178404900548,-5.16834986913e-05,3.25230020648e-05,1793192855494732032
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.269817592,742.730182408,711.269817592,671.269817592,662,633,877.269817592,783,800.269817592,649,628.269817592,649.269817592,0.439514765531,-0.015563763532,0.0499554058116,0.999999979298,0.000187993735601,-7.06090217992e-05,3.28082388986e-05,1793192855511398656
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.846445547,742.153554453,711.846445547,671.846445547,662,633,877.846445547,783,800.846445547,649,628.846445547,649.846445547,0.440120180539,-0.0155628432062,0.0499282431506,0.999999974055,0.000196053094956,-0.000111600839989,3.15960997057e-05,1793192855528064512
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,712,672,661.569620178,633,877.139240357,783.430379822,800.569620178,649,629,650,0.440690786107,-0.0155661001153,0.0499156642768,0.999999971141,0.000199177220158,-0.00013046723634,3.19988010815e-05,1793192855544731136
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.01685746,712,672,661,633,876.01685746,783.98314254,799.98314254,649,629,650,0.441248525893,-0.0155707722681,0.0499087255417,0.999999969439,0.000200627805673,-0.00014065448421,3.29806005765e-05,1793192855561398272
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.599691914,712,672,661,633,876.599691914,783.400308086,799.400308086,649,629,650,0.441798484878,-0.0155720573375,0.0499134356143,0.999999969879,0.000206030167436,-0.000129061044585,3.37271092006e-05,1793192855578065152
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,712,672,661,633,877,783,799.179527107,649,629,650,0.442325403647,-0.0155745716133,0.0499130536736,0.999999970295,0.000205064408699,-0.000127471211531,3.33188884586e-05,1793192855594732288
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661,633,877,783,799.752784578,649,629,650,0.442801791806,-0.0155797817262,0.049901504171,0.999999970538,0.000190132390181,-0.000147820813191,3.03781700069e-05,1793192855611399168
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.673986489,743,711.673986489,672.326013511,660.673986489,632.673986489,877,783.326013511,799.673986489,649,629,650,0.443235200079,-0.0155827506276,0.0498729705038,0.999999970169,0.000141561308376,-0.00019731262837,2.62534998847e-05,1793192855628065536
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.100779229,743,711.100779229,672.899220771,660.100779229,632.100779229,877,783.899220771,799.100779229,649,629,650,0.443636019615,-0.0155840201712,0.0498315589068,0.999999961344,6.74840251299e-05,-0.000268900988313,2.12311201416e-05,1793192855644731904
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,743,711.488016615,672.511983385,660.488016615,632,876.511983385,783.511983385,799.488016615,649,629,650,0.444010436377,-0.0155858946941,0.0497998517837,0.999999948363,3.09006979886e-05,-0.000319704736885,1.03461465326e-05,1793192855661398272
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.078406657,743,712,672,661,632,876.078406657,783,800,649,628.921593343,650,0.44438058785,-0.015588616581,0.0497744388506,0.999999935987,6.67935680014e-06,-0.000357744986358,9.9217882689e-08,1793192855678064384
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.657736517,743,712,672,661,632,876.657736517,783,800,649,628.342263483,650,0.444759472796,-0.0155959275871,0.0497760122267,0.999999941268,1.03367858896e-05,-0.000342568667758,1.91855823591e-06,1793192855694730752
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.76454657,712,672,660.76454657,632,877,783,800,649,628,650,0.445123007948,-0.0156011080873,0.0497794844837,0.999999946207,1.61420736814e-05,-0.000327585404162,3.74334507115e-06,1793192855711397376
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.189158389,712,672,660.189158389,632,877,783,800,649,628,650,0.445464381877,-0.0156032126794,0.0497856982409,0.999999950724,2.50483217596e-05,-0.000312880864133,5.57599508082e-06,1793192855728064000
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.605905205,742.394094795,711.605905205,672.394094795,660,631.605905205,877,783,799.605905205,649,628.394094795,650,0.445763379803,-0.0156056016639,0.0497811577798,0.999999949084,3.16527506733e-05,-0.0003174696074,6.59169682247e-06,1793192855744731136
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.018800035,742.981199965,711.018800035,672.981199965,660,631.018800035,877,783,799.018800035,649,628.981199965,650,0.44604162385,-0.0156081299315,0.0497713503741,0.999999944336,3.71298501427e-05,-0.000331507354688,7.20729323732e-06,1793192855761398272
+201,3.350000000,POSE1_TO_POSE2_PRESS,763,743,711,673,660.560779226,631.560779226,876.439220774,783,799,649,628.439220774,650,0.446262396733,-0.015607721354,0.0497508095009,0.999999932695,4.24612805281e-05,-0.000364381579541,5.77204287764e-06,1793192855778064640
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.139686363,743,711.139686363,672.860313637,660.860313637,631.860313637,876.139686363,783,799.139686363,649,628,649.860313637,0.446471496949,-0.015607378434,0.0497293035758,0.999999919419,4.7426712269e-05,-0.000398616328405,4.26894573744e-06,1793192855794731264
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.717267105,743,711.717267105,672.282732895,660.282732895,631.282732895,876.717267105,783,799.717267105,649,628,649.282732895,0.446649965227,-0.0156075459002,0.0497058854576,0.999999903999,5.12599046474e-05,-0.000435162707051,2.76583895416e-06,1793192855811397632
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.706276711,743,712,672,660,631,877,782.706276711,800,649,628,649.293723289,0.446818535602,-0.0156069404145,0.0496869915447,0.999999891951,5.45459457095e-05,-0.000461651909681,1.05117020972e-06,1793192855828064000
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.130898914,743,712,672,660,631,877,782.130898914,800,649,628,649.869101086,0.446977614757,-0.0156055937365,0.0496724359436,0.999999883878,5.73073171339e-05,-0.000478497173176,-8.66367545996e-07,1793192855844730624
+206,3.433333333,POSE1_TO_POSE2_PRESS,763,743,712,672.454424527,660,631.454424527,877,782.454424527,800,649,628,650,0.447126743653,-0.0156075602179,0.0496717243112,0.999999883369,5.5775585018e-05,-0.000479739708484,-8.08671016407e-07,1793192855861397760
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.042190282,743,711.957809718,672.957809718,660,631.957809718,876.957809718,782.957809718,800,649,628,650,0.447270954954,-0.0156107089201,0.0496750886164,0.999999885126,5.27128627725e-05,-0.00047641212631,-1.50435490446e-07,1793192855878064640
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.623734544,743,711.376265456,672.376265456,660,631.376265456,876.376265456,782.376265456,800,649,628,650,0.447389761639,-0.0156164974379,0.0496784387624,0.999999886876,4.62410434358e-05,-0.000473402629372,7.48558498819e-07,1793192855894731008
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.797515344,743,711.202484656,672.202484656,660,631,876.202484656,782,800.202484656,649,628,650,0.447498057067,-0.0156210942263,0.0496807086273,0.99999988797,4.10333561662e-05,-0.000471565036011,1.39226135109e-06,1793192855911397376
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.223886827,743,711.776113173,672.776113173,660,631,876.776113173,782,800.776113173,649,628,650,0.447587085892,-0.0156235066359,0.0496809983926,0.999999887938,3.81427580582e-05,-0.000471875481427,1.56802870496e-06,1793192855928064000
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.349954159,743,712,673,660,631,877,782,800.650045841,649,628.349954159,650,0.447661775141,-0.0156245794181,0.0496802399091,0.999999886999,3.79366887485e-05,-0.00047387811986,1.69131607369e-06,1793192855944730880
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.923931213,743,712,673,660,631,877,782,800.076068787,649,628.923931213,650,0.447727284928,-0.015624794639,0.0496788103901,0.999999885473,3.94491182746e-05,-0.000476964014428,1.7810084361e-06,1793192855961397504
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,672.484010507,660,631,877,782,800,649,628.484010507,650,0.447773714308,-0.0156228485428,0.0496748452668,0.999999882655,4.19983844387e-05,-0.000482623462329,1.28123355109e-06,1793192855978064128
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,631,877,782,800,649,628,650,0.44781508708,-0.0156213674276,0.0496707374833,0.999999879921,4.36376119023e-05,-0.00048811168141,7.8011795207e-07,1793192855994730752
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,712,672,660,631,877,782,800,649,628,650,0.44784710567,-0.0156233595997,0.0496676986222,0.999999878569,4.0609958448e-05,-0.000491134610335,6.66507837763e-07,1793192856011397632
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660.260417775,631,877,782,799.739582225,649,628,650,0.447873914706,-0.0156251360249,0.0496663623956,0.999999877779,3.73018846961e-05,-0.000493001468717,8.13831813995e-07,1793192856028064256
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660.834528885,631,877,782,799.165471115,649,628,650,0.44789444843,-0.0156266525662,0.0496670771239,0.999999877674,3.36560232052e-05,-0.000493475750606,1.2754710753e-06,1793192856044730880
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,712,672,660.580358304,631,877,782,799,649,628,650,0.447910307813,-0.0156268482477,0.0496678317452,0.999999877698,3.35779863272e-05,-0.000493430424569,1.49458437714e-06,1793192856061396992
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.990929414,743,712,672.009070586,660,631,877,782,799.009070586,649,628,650,0.447924150337,-0.0156264951257,0.0496685792818,0.999999877769,3.49368277327e-05,-0.00049319218959,1.6034870254e-06,1793192856078063872
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.410249911,743,712,672.589750089,660,631,877,782,799.589750089,649,628,650,0.447930174149,-0.0156252631594,0.0496678623745,0.999999877313,3.58012653379e-05,-0.000494056549974,9.55904068131e-07,1793192856094730496
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.168728143,743,712,672.831271857,660,631,877,782,800,649,628,650,0.447935341068,-0.0156242619373,0.0496671526735,0.99999987695,3.62621572201e-05,-0.000494756586898,5.5564117101e-07,1793192856111397120
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.743610468,743,712,672.256389532,660,631,877,782,800,649,628,650,0.447938445315,-0.0156238161515,0.0496664603192,0.999999876818,3.5751653334e-05,-0.000495061072259,7.50715191238e-07,1793192856128063744
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.674550008,672,660,631,877,782,800,649,628,650,0.447939902376,-0.0156225826754,0.0496660146681,0.999999876404,3.6259903997e-05,-0.000495858793579,6.59143439092e-07,1793192856144730368
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711.087109813,672,660,631,877,782,800,649,628,650,0.447940033438,-0.0156207151013,0.0496657676152,0.999999875762,3.75882612824e-05,-0.000497053574365,3.36819254243e-07,1793192856161396992
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711.492510262,672.492510262,660,631,877,782,800,649.492510262,628,650,0.447941621906,-0.0156242074906,0.0496664663308,0.999999876269,3.3241062968e-05,-0.000496341616767,1.49621356055e-06,1793192856178063872
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.070884542,631,877,782,800,649.929115458,628,650,0.447943078919,-0.015630362571,0.049666954232,0.999999876745,2.66518192033e-05,-0.00049576891601,3.52385225924e-06,1793192856194730496
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660.650088968,631,877,782,800,649.349911032,628,650,0.447941773653,-0.0156489200414,0.0496647495522,0.999999875601,1.1070697748e-05,-0.000498575441424,9.92779959004e-06,1793192856211397120
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,672.772837451,660.772837451,631,877,782.227162549,799.772837451,649.227162549,628,650,0.447941408863,-0.0156653558997,0.0496635816206,0.99999987478,-3.53836651249e-06,-0.000500194111283,1.52965538391e-05,1793192856228063744
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,672.199015659,660.199015659,631,877,782.800984341,799.199015659,649.800984341,628,650,0.447942479278,-0.0156785540907,0.0496639958091,0.999999874679,-1.66640312143e-05,-0.000500000065439,1.90855611665e-05,1793192856244730368
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.615503142,743,712,672,660,631,876.615503142,782.615503142,799.384496858,649.615503142,628,650,0.447942241327,-0.0156764313275,0.0496640352988,0.999999874596,-1.4912844068e-05,-0.000500228813028,1.88627242741e-05,1793192856261397760
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.026845034,743,712,672,660,631,876.026845034,782.026845034,799.973154966,649.026845034,628,650,0.447941308657,-0.0156661733994,0.0496638758299,0.999999874509,-5.26230282356e-06,-0.000500682056692,1.6509666652e-05,1793192856278065152
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.553274591,743,712,672,660,631,876.553274591,782,800,649,628,650,0.44794279681,-0.0156677422954,0.0496640584643,0.999999874951,-6.4817809264e-06,-0.000499762535568,1.71527401335e-05,1793192856294731008
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.867996327,743,712,672.132003673,660,631,877,782,799.867996327,649,627.867996327,650,0.447943698566,-0.0156696394908,0.0496639023514,0.99999987506,-8.3622553216e-06,-0.00049949507432,1.77389461934e-05,1793192856311397376
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.292567939,743,712,672.707432061,660,631,877,782,799.292567939,649,627.292567939,650,0.447942241936,-0.0156707411633,0.0496625534125,0.999999873966,-1.0718375463e-05,-0.000501638347296,1.76532105818e-05,1793192856328064256
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.282196943,743,711.717803057,672.717803057,660,631,877.282196943,782,799.282196943,649,627.282196943,650,0.447942895932,-0.0156690432375,0.0496626812525,0.999999874194,-9.71099008836e-06,-0.000501227619575,1.6978525476e-05,1793192856344731136
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.856275618,743,711.143724382,672.143724382,660,631,877.856275618,782,799.856275618,649,627.856275618,650,0.447945732988,-0.0156644496333,0.0496643365533,0.999999875774,-5.22466649891e-06,-0.000498175240023,1.56946785603e-05,1793192856361397760
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711.443848627,672,660,631,877.556151373,782,800,649.443848627,628,650,0.44794603453,-0.0156660654974,0.0496648349693,0.999999875952,-5.90359245945e-06,-0.000497786591777,1.63909010451e-05,1793192856378064384
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.964919842,743,712,672,660,631,877,782,800,649.964919842,628,650,0.447945545731,-0.015669399722,0.0496649548961,0.999999875668,-8.08686698744e-06,-0.000498286186622,1.76032058503e-05,1793192856394731008
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.386816632,743,712,672,660,631,877,782,800,649.386816632,628,650,0.447945930581,-0.0156672325303,0.0496651966899,0.999999875456,-6.85417068194e-06,-0.000498764779195,1.65679411978e-05,1793192856411397376
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660,631,877,782,800,649,628,650,0.447946361509,-0.0156662151951,0.0496652810199,0.99999987535,-6.61340003144e-06,-0.000499000773231,1.59824363509e-05,1793192856428064000
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660,631,877,782,800,649,628,650,0.447946885614,-0.0156675230811,0.0496650469287,0.999999875458,-8.37848532153e-06,-0.000498746188435,1.63064285028e-05,1793192856444730624
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.348328429,743,712,672.348328429,660,631,877,782,799.651671571,649,628,650,0.447946951495,-0.015668766761,0.0496648270063,0.999999875442,-9.82415063586e-06,-0.000498739794561,1.66820061947e-05,1793192856461397248
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.935956625,743,712,672.935956625,660,631,877,782,799.064043375,649,628,650,0.44794670258,-0.0156699663317,0.0496646168178,0.99999987534,-1.10503760636e-05,-0.000498903906532,1.70930228631e-05,1793192856478063872
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.484924671,743,711.484924671,672.484924671,660,631,877.515075329,782,799,649,628,650,0.447946996772,-0.0156668627018,0.0496646406984,0.999999875447,-7.20755491669e-06,-0.000498792662944,1.6134606654e-05,1793192856494731008
+245,4.083333333,POSE1_TO_POSE2_PRESS,763,743,711.093381765,672,660.093381765,631,877.906618235,782,799.093381765,649,628,650,0.447947266455,-0.0156642056646,0.0496646915341,0.999999875512,-4.04787361213e-06,-0.000498724527197,1.5285611372e-05,1793192856511397888
+246,4.100000000,POSE1_TO_POSE2_PRESS,763,743,711.672877962,672,660.672877962,631,877.327122038,782,799.672877962,649,628,650,0.447947062728,-0.0156666134715,0.0496647336472,0.999999875316,-7.67206839754e-06,-0.000499056127133,1.58782010867e-05,1793192856528064256
+247,4.116666667,HOLD_POSE2,763,743,711,672,660,631,877,782,800,650,628,650,0.447946750179,-0.0156652832725,0.0496639830147,0.999999875047,-4.68312472456e-06,-0.000499631537607,1.5916643592e-05,1793192856566577920
+248,4.133333333,HOLD_POSE2,763,743,711.590047021,672,660.590047021,631,877,782.590047021,799.409952979,649.409952979,628,650,0.447946501927,-0.015665617911,0.0496642699135,0.999999874641,-7.70652812046e-06,-0.000500405276814,1.59030311005e-05,1793192856583244032
+249,4.150000000,HOLD_POSE2,763.176787464,743,712,672,660.823212536,631,876.823212536,783,799.176787464,649,628,650,0.447947055387,-0.0156662266282,0.049664691005,0.999999874747,-9.88854147103e-06,-0.000500153274809,1.59827931843e-05,1793192856599910400
+250,4.166666667,HOLD_POSE2,763.756001169,743,712,672,660.243998831,631,876.243998831,783,799.756001169,649,628,650,0.447949433809,-0.0156674592385,0.0496654175628,0.99999987603,-1.01552757682e-05,-0.000497566349613,1.62751064181e-05,1793192856616577280
+251,4.183333333,HOLD_POSE2,763.666253155,743,712,672.333746845,660,631,876.333746845,782.666253155,799.666253155,649,628,650,0.447949000406,-0.0156677139905,0.0496650482937,0.999999875831,-1.03871358587e-05,-0.000497965483859,1.61186793335e-05,1793192856633243648
+252,4.200000000,HOLD_POSE2,763.089576073,743,712,672.910423927,660,631,876.910423927,782.089576073,799.089576073,649,628,650,0.44794652031,-0.0156672569712,0.0496638813856,0.999999874552,-1.05936114258e-05,-0.000500538134305,1.56356196572e-05,1793192856649910016
+253,4.216666667,HOLD_POSE2,763,743,712,673,660,631,877,782,799.485676021,649,628,650,0.447947481609,-0.0156671329298,0.0496649056297,0.999999875368,-9.11433600803e-06,-0.000498921874423,1.60869194631e-05,1793192856666576640
+254,4.233333333,HOLD_POSE2,763,743,712,672.937536447,660,631,876.937536447,782,800.062463553,649,628,650,0.447948735748,-0.0156669391934,0.0496660309334,0.999999876278,-7.4039428588e-06,-0.000497105858128,1.65971748287e-05,1793192856683243520
+255,4.250000000,HOLD_POSE2,763,743,712,672.345509887,660,631,876.345509887,782,800.654490113,649,628,650,0.447947107198,-0.0156656354541,0.0496645968695,0.999999874786,-6.36233831824e-06,-0.000500127095918,1.61505263676e-05,1793192856699910144
+256,4.266666667,HOLD_POSE2,763.240516893,742.759483107,712,672,660,631,876.240516893,782,800.759483107,649,628,650,0.447946753856,-0.0156655008222,0.0496638049836,0.99999987432,-6.53848557626e-06,-0.000501055273315,1.61342711326e-05,1793192856716576768
+257,4.283333333,HOLD_POSE2,763.818134527,742.181865473,712,672,660,631,876.818134527,782,800.181865473,649,628,650,0.447948187805,-0.0156670047738,0.0496639131539,0.999999875299,-8.42139466758e-06,-0.000499049884346,1.67212412353e-05,1793192856733243392
+258,4.300000000,HOLD_POSE2,763.606023775,742.393976225,712,672.393976225,660,631,877,782.393976225,799.606023775,649,628,650,0.4479471463,-0.015666753064,0.0496636830464,0.999999874793,-8.8286676994e-06,-0.000500062486051,1.65464806798e-05,1793192856749910016
+259,4.316666667,HOLD_POSE2,763.030998147,742.969001853,712,672.969001853,660,631,877,782.969001853,799.030998147,649,628,650,0.447944967214,-0.0156656945506,0.0496632974855,0.999999873601,-8.55782122643e-06,-0.000502461987027,1.60216714366e-05,1793192856766576640
+260,4.333333333,HOLD_POSE2,763,742.441823059,711.441823059,672.441823059,660.558176941,630.441823059,876.441823059,781.883646118,799.558176941,649.558176941,628,650,0.44794530326,-0.0156663734321,0.0496630530739,0.999999873516,-1.02143810496e-05,-0.000502604631161,1.59108970824e-05,1793192856783243264
+261,4.350000000,HOLD_POSE2,763,742.145431786,711.145431786,672,660.854568214,630.145431786,876.145431786,781.145431786,800,650,628,650,0.447946065539,-0.0156668120947,0.0496632278424,0.999999873796,-1.11625877935e-05,-0.000502026925434,1.58999461053e-05,1793192856799909888
+262,4.366666667,HOLD_POSE2,763,742.724556171,711.724556171,672,660.275443829,630.724556171,876.724556171,781.724556171,800,650,628,650,0.447947671526,-0.0156662391864,0.0496646286653,0.999999874981,-9.67091329457e-06,-0.000499684541063,1.61163270368e-05,1793192856816576512
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,631,877,782,800,649,628,650,0.447946781803,-0.0156692555445,0.0496642341994,0.999999874446,-1.38203612044e-05,-0.000500656200292,1.61458783758e-05,1793192856853585152
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.411252914,743,711.411252914,672.588747086,659.588747086,631,877,782,800,649,628,650,0.447947733666,-0.0156671642835,0.0496647049215,0.999999874634,-1.12980854406e-05,-0.000500348607852,1.59611245029e-05,1793192856870251520
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.17434353,743,711.17434353,672.82565647,660,631,877,782,800,649,628,650,0.447948244393,-0.0156659537655,0.0496649622605,0.999999874722,-1.02108583853e-05,-0.000500204680674,1.57456300602e-05,1793192856886917888
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.752640068,743,711.752640068,672.247359932,660,631,877,782,800,649,628,650,0.447947733012,-0.0156667839238,0.0496647251923,0.999999874583,-1.24486308625e-05,-0.000500439964957,1.54589098479e-05,1793192856903584768
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,631,877,782,799.668422507,649,628,650,0.447947731653,-0.0156668157511,0.0496643397605,0.999999874569,-1.22737199162e-05,-0.000500473504969,1.54305009583e-05,1793192856920251392
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,631,877,782,799.089006084,649,628,650,0.447948111511,-0.0156662508624,0.0496638434336,0.999999874647,-1.02954389106e-05,-0.000500356250402,1.55951679228e-05,1793192856936917760
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,631,876.515066381,782,799,649.484933619,628,650,0.447947383964,-0.0156662494778,0.0496637669986,0.999999874755,-8.95234960494e-06,-0.000500161516167,1.57471178268e-05,1793192856953584384
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.940416057,743,711.940416057,672.059583943,660,631,876.059583943,782,799.059583943,649.940416057,628,650,0.44794560326,-0.0156661945565,0.0496633406051,0.999999874448,-7.98948406951e-06,-0.000500791187664,1.57815977894e-05,1793192856970251008
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.350596469,743,711.350596469,672.649403531,660,631,876.649403531,782,799.649403531,649.350596469,628,650,0.447936239111,-0.0156647530986,0.0496591217732,0.999999870366,-9.38431901697e-06,-0.000508882357488,1.47912557611e-05,1793192856986917120
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.235256308,743,711.235256308,672.764743692,660,631,877,782,799.764743692,649,628,650,0.447917305008,-0.015663216343,0.0496505804095,0.999999862584,-1.04553063738e-05,-0.000523961930483,1.36765961065e-05,1793192857003583488
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.815295422,743,711.815295422,672.184704578,660,631,877,782,799.184704578,649,628,650,0.447884345542,-0.0156615399226,0.0496357041058,0.999999849006,-1.10516747423e-05,-0.000549283443707,1.23797412911e-05,1793192857020250368
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,630.60755062,877,782,799.39244938,649.39244938,628,650.39244938,0.447833091358,-0.0156591902323,0.0496167720167,0.999999829301,-1.11404357452e-05,-0.000584088325826,1.0730184376e-05,1793192857036917248
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,630.031744589,877,782,799.968255411,649.968255411,628,650.968255411,0.447773289679,-0.0156565259827,0.049595945019,0.999999805633,-1.09920370633e-05,-0.000623323943423,8.91584104793e-06,1793192857053583616
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.542342637,660,630.542342637,877,782,800,649.457657363,628,650.457657363,0.447705536835,-0.0156498407341,0.0495828484673,0.99999979637,-6.28554971052e-06,-0.000638102169694,6.79599586288e-06,1793192857070250496
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.2882793,742.2882793,712,672.2882793,660,631,876.2882793,782,800,649,628,650,0.447546737119,-0.0156387558752,0.0495687543081,0.999999783889,5.02320217397e-07,-0.000657425215123,3.68224738496e-06,1793192857103584000
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742.873655534,711.126344466,672,660.873655534,631,876.873655534,782,799.126344466,649,628,650,0.447345854948,-0.0156267355506,0.0495717823573,0.999999788795,5.21310599164e-06,-0.000649904324962,2.70588222397e-06,1793192857136916992
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.448624554,743,711.448624554,672,660.551375446,631,877,782,799,649,628,650,0.447217351268,-0.0156170376914,0.0495743663539,0.999999791716,1.05861410394e-05,-0.000645332051792,1.80014450364e-06,1793192857153583616
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.976482261,743,711.976482261,672.023517739,660,631,877,782,799.023517739,649,628,650,0.447080612127,-0.0156063962785,0.0495767044787,0.999999794012,1.67762826862e-05,-0.000641633137128,7.03002569515e-07,1793192857170250496
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.38644595,743,711.38644595,672.61355405,660,631,877,782,799.61355405,649,628,650,0.446905204813,-0.0155949040506,0.0495764359811,0.999999794562,2.23091614384e-05,-0.000640606892622,-7.02879437236e-07,1793192857186917376
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,743,711.199873058,672.800126942,660,631,877,782,800,649,628,650,0.446716972674,-0.0155824608104,0.0495756791746,0.999999793515,2.87624366355e-05,-0.000641978863669,-2.21680680869e-06,1793192857203584000
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.356782921,743,712,672,660,631,877,782,800,649,628.356782921,650,0.446273312378,-0.0155534573803,0.049576010496,0.999999791433,4.39231543353e-05,-0.0006443380042,-5.69621368851e-06,1793192857236917248
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.933434058,743,712,672,660,631,877,782,800,649,628.933434058,650,0.446030821425,-0.0155383901525,0.0495803048436,0.999999797151,5.01194283411e-05,-0.00063492527236,-7.48210663416e-06,1793192857253584128
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.491638247,743,712,672.508361753,660,631,877,782.508361753,800,649,629,650,0.445766458613,-0.0155271151833,0.049598059919,0.999999814248,5.03631315207e-05,-0.000607365806003,-8.67003616145e-06,1793192857270250496
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,743,712,673,660,631,877,782.914676591,799.914676591,649,628.914676591,650,0.445490607467,-0.0155175303073,0.0496178766491,0.999999832187,4.83927204025e-05,-0.000577226996086,-9.70073447841e-06,1793192857286916864
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,743,712,673,660,631,877,782.324345004,799.324345004,649,628.324345004,650,0.445163653319,-0.0155150195486,0.0496394988102,0.999999850259,3.79152509573e-05,-0.000545838129761,-1.02626846834e-05,1793192857303583232
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.261017531,743,712,672.738982469,660,631.261017531,876.738982469,782.261017531,799.261017531,649,628,650,0.444813046827,-0.0155141497652,0.0496585952898,0.999999863153,2.59512905227e-05,-0.000522409262681,-1.03993537189e-05,1793192857320249856
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.84032075,743,712,672.15967925,660,631.84032075,876.15967925,782.84032075,799.84032075,649,628,650,0.444433598606,-0.0155152809927,0.0496746119432,0.999999870495,1.21746984443e-05,-0.000508686848762,-1.00174333859e-05,1793192857336916480
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,632,876.415606172,783.415606172,799.584393828,649,628.415606172,650,0.444015667702,-0.0155080589084,0.049682621949,0.99999987574,4.99865996699e-06,-0.000498332110813,-1.26676910139e-05,1793192857353583616
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,632,876.989362692,783.989362692,799.010637308,649,628.989362692,650,0.443583093015,-0.0154976581438,0.04968758519,0.999999880177,3.34326183997e-07,-0.000489258872725,-1.64717813626e-05,1793192857370250496
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711.679320509,672.679320509,661,632,876.320679491,783,799.320679491,649,628.679320509,650,0.441594134085,-0.0154728572965,0.0497453188771,0.999999923965,-4.51423082616e-05,-0.000386386670708,-2.71619831541e-05,1793192857436916736
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.637472864,742,711.362527136,671.637472864,661,632,876.637472864,783,799.637472864,649,628,650,0.439193336982,-0.0154567328287,0.0498163731375,0.999999955183,-0.000111687784831,-0.000275495499107,-3.55368255805e-05,1793192857503584256
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.194677999,632.805322001,877,783,799.194677999,649,628.805322001,650,0.437705119007,-0.0154438726367,0.049765388368,0.999999923785,-0.000149529889384,-0.000357386008429,-4.8434028932e-05,1793192857536917504
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711.567995218,671,661,632.567995218,876,783.432004782,799,649.432004782,628.432004782,650,0.418662988289,-0.0154162144751,0.0497999103944,0.999999936952,-0.000115601227088,-0.000331507202651,-5.32408665119e-05,1793192857903584000
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742.153784797,711.846215203,671,660.846215203,633,876,783,798.846215203,649,628,650,0.417785150195,-0.0154138908417,0.0497948790307,0.999999933234,-9.56240865314e-05,-0.000348682378306,-5.29926158747e-05,1793192857920250368
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742.733674856,711.266325144,671,660.266325144,633,876,783,798.266325144,649,628,650,0.416940033087,-0.0154113646175,0.0497871936586,0.999999933278,-7.77403879304e-05,-0.000352570962495,-5.56248869253e-05,1793192857936916992
+329,5.483333333,POSE2_TO_POSE3_RETREAT,762.687921202,742.687921202,711,671,660.624157597,633,876,783.312078798,798.312078798,649,628.312078798,650,0.416123399022,-0.0154126922377,0.0497991461928,0.999999942479,-8.17128588269e-05,-0.000324408605618,-5.5893403283e-05,1793192857953583360
+330,5.500000000,POSE2_TO_POSE3_RETREAT,762.110779516,742.110779516,711,671,661.778440967,633,876,783.889220484,798.889220484,649,628.889220484,650,0.415330956959,-0.0154172931055,0.049827778105,0.999999956913,-0.000104248781121,-0.000269023908302,-5.41542737107e-05,1793192857970249728
+331,5.516666667,POSE2_TO_POSE3_RETREAT,762.461819826,742,711.461819826,671,661.538180174,633,876,784,799.923639653,649,629,650,0.414506648112,-0.015417142393,0.0498238703203,0.999999954055,-0.000116191145827,-0.00027456384582,-5.48109391187e-05,1793192857986917120
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742.034560556,711.965439444,671.034560556,660.965439444,633,876,783.965439444,800.930878888,649,629,650.034560556,0.41367673668,-0.0154158526249,0.0498113148693,0.999999946665,-0.000125647314617,-0.000296189917651,-5.61637655093e-05,1793192858003584512
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,743,711,671.787764678,660,632.787764678,876.212235322,783,799.212235322,649,628.787764678,651,0.412118643403,-0.0154142595859,0.049776151056,0.999999922449,-0.000145309317592,-0.000360980238225,-6.06723998763e-05,1793192858036916736
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,743,711,671.21477455,660,632.21477455,876.78522545,783,799.78522545,649,628.21477455,651,0.411423679953,-0.0154163693776,0.0498016635581,0.99999993319,-0.000154645132743,-0.000326123229663,-5.78689963584e-05,1793192858053583360
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742.056515778,711,671.943484222,661.886968445,632.943484222,876.056515778,783,800,649,628.943484222,651,0.410005366299,-0.0154109143803,0.0498153289967,0.999999938346,-0.000156717611508,-0.000309262352628,-5.57125503772e-05,1793192858086917120
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.939398441,660.939398441,633,876,783,799.46969922,649,628.46969922,650.46969922,0.409340006531,-0.0154095676973,0.0498017453772,0.999999929552,-0.000166575518109,-0.000331277430008,-5.83420175607e-05,1793192858103584512
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,711.697790287,670.697790287,660,633,876,783.697790287,799.697790287,649,628,650.697790287,0.408118845364,-0.0154164611031,0.0498146279431,0.999999933727,-0.000192673972863,-0.000303228975774,-5.89434389293e-05,1793192858136918272
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.276168576,633,875.723831424,783.723831424,799.723831424,649,628,650.723831424,0.407555025296,-0.0154208983609,0.0498298882627,0.999999945616,-0.000165907999479,-0.00027943868488,-5.6175401325e-05,1793192858153584896
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,661,633,875.425903582,783,799,649,628,650.425903582,0.406454443863,-0.0154212681698,0.0498225169469,0.999999947543,-8.41446329298e-05,-0.000308194681222,-5.337381368e-05,1793192858186917888
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742.000091507,711.999908493,671,660.999908493,633,875.999908493,783,799,649,628.000091507,650.999908493,0.405902016829,-0.0154179554245,0.049797117968,0.999999929824,-9.49541231816e-05,-0.000357949367278,-5.66442015701e-05,1793192858203584256
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,743,711,671,660,633,875.17669011,783,799,649,628.82330989,650,0.404945403703,-0.0154153812434,0.0497694413912,0.999999910599,-0.000122440404355,-0.000399863889411,-6.26108193501e-05,1793192858236917248
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,743,711,671,660,633,875.755630487,783,799,649,628.244369513,650,0.404534312468,-0.0154177900351,0.0497783420912,0.999999914107,-0.000136879012257,-0.000386242796432,-6.21846902542e-05,1793192858253584128
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742.948092841,711,671,660.948092841,633,876,783.948092841,799.051907159,649,628.051907159,650,0.403236053649,-0.0154371493557,0.0498737287654,0.999999952329,-0.00019250804573,-0.000235307894168,-5.39797564344e-05,1793192858320250368
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,742.3491067,711,671,660.3491067,633,876,783.3491067,799.6508933,649,628.6508933,650,0.402930513608,-0.0154352049298,0.0498604102682,0.999999943894,-0.000198254271809,-0.000264027710063,-5.65448534155e-05,1793192858336916736
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711.238639398,671,660,633,876,783,799.761360602,649.238639398,629,650,0.402643261321,-0.0154338474552,0.0498458917505,0.999999934608,-0.000204472391768,-0.000292391432743,-5.9009108522e-05,1793192858353583360
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711.035515617,671,660,633,876,783.964484383,799.964484383,649.035515617,629,650,0.401950758786,-0.0154362588716,0.0498143544518,0.999999911744,-0.000224241486596,-0.000349527366925,-6.36998052403e-05,1793192858403583744
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,875.444020085,783.444020085,799.444020085,649,628.444020085,650,0.401790756274,-0.0154372755791,0.0498155838703,0.999999914206,-0.000224124851684,-0.000342644515521,-6.28506993687e-05,1793192858420250368
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.130035705,742,711.130035705,671,660,633,876,783.130035705,799,650,628.869964295,650.130035705,0.401331089504,-0.0154288201338,0.0498356471772,0.999999947958,-0.000116052379873,-0.000298578789391,-3.83033651586e-05,1793192858486916608
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.387051661,660,633,875,783.387051661,799.387051661,649,628.612948339,650,0.401133111671,-0.0154420919407,0.0498397573861,0.999999945742,-0.000148520491442,-0.000291250003775,-4.03877909322e-05,1793192858536916736
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,711.203111857,670,660.203111857,633,875,783,799,649,628.796888143,650,0.401084952647,-0.0154465970075,0.0498398711167,0.99999994449,-0.000156469269633,-0.000291309458412,-4.09481870346e-05,1793192858553583616
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763,742,711.78093273,670,660.78093273,633,875,783,799,649,628.21906727,650,0.401054956737,-0.0154483130845,0.0498429138702,0.999999945782,-0.00016053911043,-0.000284611730065,-4.07417822456e-05,1793192858570250240
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,763,742.892978742,711,671,660,633,875.107021258,784,799.107021258,649.892978742,628.107021258,650.107021258,0.400988837665,-0.0154504635859,0.0498459674514,0.99999994729,-0.000168973545596,-0.000274103112292,-4.16576770287e-05,1793192858636916736
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,763,742.012436404,712,671,660.012436404,633,875.987563596,784,799.012436404,650,628,651,0.400972792095,-0.0154508861147,0.049847836109,0.999999947863,-0.000170204904825,-0.000271165551935,-4.21051931672e-05,1793192858720250624
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..715de147f0f210c7b4bdc9e619d6b4279dd75b2b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
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+375,6.250000000,pose2_to_pose3_retreat,0.575715134901,-0.00994537546079,1.04002916404,0.546285863876,-0.00127265031387,1.0396984536
+376,6.266666667,pose2_to_pose3_retreat,0.575714548786,-0.00994537919219,1.04002920401,0.546285277849,-0.00127265381119,1.03969849194
+377,6.283333333,pose2_to_pose3_retreat,0.57571421155,-0.00994538133915,1.040029227,0.546284940663,-0.00127265582347,1.039698514
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+381,6.350000000,pose2_to_pose3_retreat,0.57571322197,-0.00994538763916,1.04002929448,0.54628395123,-0.00127266172825,1.03969857874
+382,6.366666667,pose2_to_pose3_retreat,0.575712591547,-0.00994539397227,1.0400293028,0.546283320901,-0.00127266774777,1.03969858695
+383,6.383333333,pose2_to_pose3_retreat,0.575712356129,-0.00994539759307,1.04002928715,0.546283085518,-0.001272671218,1.03969857213
+384,6.400000000,pose2_to_pose3_retreat,0.575711974763,-0.00994540345858,1.04002926178,0.546282704209,-0.00127267683959,1.03969854813
+385,6.416666667,pose2_to_pose3_retreat,0.575711325696,-0.00994541344142,1.04002921862,0.546282055238,-0.00127268640729,1.03969850728
+386,6.433333333,pose2_to_pose3_retreat,0.57571119467,-0.00994541545663,1.0400292099,0.546281924232,-0.0012726883387,1.03969849903
+387,6.450000000,pose2_to_pose3_retreat,0.57571099301,-0.00994541855824,1.04002919649,0.546281722601,-0.00127269131132,1.03969848634
+388,6.466666667,pose2_to_pose3_retreat,0.575710908234,-0.00994541986211,1.04002919085,0.546281637839,-0.00127269256097,1.039698481
+389,6.483333333,pose2_to_pose3_retreat,0.575710768879,-0.00994542200544,1.04002918159,0.546281498504,-0.00127269461517,1.03969847223
+390,6.500000000,pose2_to_pose3_retreat,0.575710526425,-0.00994541960218,1.04002915713,0.546281255978,-0.00127269240234,1.03969844916
+391,6.516666667,pose2_to_pose3_retreat,0.575710518436,-0.00994541915676,1.04002915583,0.546281247981,-0.00127269198383,1.03969844794
+392,6.533333333,pose2_to_pose3_retreat,0.575710346668,-0.00994540957968,1.04002912781,0.546281076023,-0.0012726829853,1.03969842157
+393,6.550000000,pose2_to_pose3_retreat,0.575710206673,-0.00994540177419,1.04002910498,0.546280935875,-0.00127267565135,1.03969840008
+394,6.566666667,pose2_to_pose3_retreat,0.575710128751,-0.0099453974296,1.04002909227,0.546280857867,-0.00127267156922,1.03969838812
+395,6.583333333,pose2_to_pose3_retreat,0.575710123912,-0.0099453971598,1.04002909148,0.546280853023,-0.00127267131572,1.03969838738
+396,6.600000000,pose2_to_pose3_retreat,0.57570997151,-0.00994538866251,1.04002906662,0.546280700453,-0.00127266333175,1.03969836398
+397,6.616666667,pose2_to_pose3_retreat,0.575709584707,-0.00994536709605,1.04002900352,0.546280313224,-0.00127264306813,1.0396983046
+398,6.633333333,pose2_to_pose3_retreat,0.575709415221,-0.00994535042589,1.04002911462,0.546280143475,-0.0012726272969,1.03969841556
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1f9144c4e19364c09ff856cbfd2bc4430b8ba9a8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd951af84711fd4b89b727a9adee654e26f252d817dbc613a61139f209dcbf15
+size 24792340
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..978a608377a3af0a4c525331de09ee6108f7fb7c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/franka_data.csv
@@ -0,0 +1,391 @@
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+11,0.183333333,BASELINE,763,742.371089226,712,670.371089226,659.628910774,633,877.257821548,783,799.628910774,649,628.628910774,650.628910774,0.400993129411,-0.0155071082383,0.0698362318897,0.999999980588,5.61717707246e-05,-0.000188120288614,1.67349002643e-05,1793192860971209216
+12,0.200000000,BASELINE,763,742.946581117,712,670.946581117,659.053418883,633,876.106837765,783,799.053418883,649,628.053418883,650.053418883,0.400993048103,-0.0155071962468,0.0698362868348,0.999999980631,5.62542383645e-05,-0.000187871913844,1.66499418947e-05,1793192860987875840
+13,0.216666667,BASELINE,763,742.465927898,712,671.534072102,659.534072102,633,876,783,799,649,628,650.534072102,0.400992883072,-0.015506503858,0.0698365333984,0.999999980521,5.82951525518e-05,-0.000187832053479,1.67262257455e-05,1793192861004542976
+14,0.233333333,BASELINE,763,742.120947535,712,671.879052465,660,633,876,783,799.120947535,649,628,650.879052465,0.400992725785,-0.0155055212754,0.0698365344608,0.99999998037,6.02875499867e-05,-0.000188006446922,1.66975687385e-05,1793192861021209600
+15,0.250000000,BASELINE,763,742.700828731,712,671.299171269,660,633,876,783,799.700828731,649,628,650.299171269,0.400992630386,-0.0155037405487,0.0698355295754,0.999999980144,6.13354763537e-05,-0.000188912866672,1.620811219e-05,1793192861037876224
+16,0.266666667,BASELINE,763,743,712,671,660,633,876,783,799.721262689,649,628,650,0.400991991267,-0.0155033933383,0.06983490545,0.999999979972,6.14789425212e-05,-0.0001897867777,1.60465378047e-05,1793192861054543104
+17,0.283333333,BASELINE,763,743,712,671,660,633,876,783,799.145456493,649,628,650,0.40099077267,-0.0155045739216,0.069834687126,0.999999979859,6.06584652552e-05,-0.000190626041968,1.62344092703e-05,1793192861071209728
+18,0.300000000,BASELINE,762.562257684,742.562257684,712,671,659.562257684,633,876.437742316,783,799.437742316,648.562257684,628,650,0.400991588902,-0.0155058847132,0.0698353678651,0.999999980177,5.86199659476e-05,-0.000189573071533,1.64558103424e-05,1793192861087876096
+19,0.316666667,BASELINE,762.023297464,742.023297464,712,671,659.023297464,633,876.976702536,783,800,648.023297464,628,650,0.40099295521,-0.0155071097482,0.0698362802535,0.999999980596,5.63994906484e-05,-0.00018801196027,1.66672081088e-05,1793192861104542976
+20,0.333333333,BASELINE,762.605438607,742.605438607,712,671,659.605438607,633,876.394561393,783,800,648.605438607,628,650,0.400991018705,-0.0155052220312,0.0698354600264,0.99999998011,5.96891562229e-05,-0.000189603429557,1.636680825e-05,1793192861121209856
+21,0.350000000,BASELINE,763,742.814789076,712,671,659.814789076,633,876,783,800,649,628.185210924,650.185210924,0.400990011579,-0.0155039987793,0.0698350327625,0.999999979872,6.12415726682e-05,-0.00019037800503,1.61827763096e-05,1793192861137876480
+22,0.366666667,BASELINE,763,742.239999498,712,671,659.239999498,633,876,783,800,649,628.760000502,650.760000502,0.400990959337,-0.0155041731851,0.0698354320701,0.999999980177,5.91398026438e-05,-0.000189434299408,1.62435164538e-05,1793192861154543104
+23,0.383333333,BASELINE,763,742.331134358,712,671,659,633,876,783.331134358,800,649,628.668865642,651,0.400991442001,-0.0155039639998,0.0698355477822,0.999999980243,5.90899156423e-05,-0.000189104089325,1.61705479858e-05,1793192861171209728
+24,0.400000000,BASELINE,763,742.899647612,712,671,659,633,876,783.899647612,800,649,628.100352388,651,0.400991591257,-0.015503479831,0.0698354601945,0.99999998014,6.05109531799e-05,-0.000189213673114,1.60017283933e-05,1793192861187876352
+25,0.416666667,BASELINE,763,742.509088351,712,671,659,633,876,784,799.509088351,649,628.490911649,650.509088351,0.400994253952,-0.0155044205781,0.0698376659629,0.999999980721,6.00072632246e-05,-0.000186238018673,1.64814941039e-05,1793192861204542976
+26,0.433333333,BASELINE,763,742.084702264,712,671,659,633,876,783.915297736,799.084702264,649,629,650,0.400996743512,-0.0155054082672,0.0698397723381,0.999999981277,5.9446901779e-05,-0.000183367456859,1.69809599084e-05,1793192861221209600
+27,0.450000000,BASELINE,763,742.664749252,712,671,659,633,876,783.335250748,799.664749252,649,629,650,0.400995069819,-0.0155048842594,0.0698384225969,0.999999980892,6.09678825466e-05,-0.000184979013777,1.67825928921e-05,1793192861237876224
+28,0.466666667,BASELINE,762.756834652,742.756834652,712,671,659.243165348,633,876.243165348,783,800,649,629,650.243165348,0.400994040027,-0.0155046525482,0.0698374930471,0.999999980619,6.11967057946e-05,-0.000186385400138,1.66310689417e-05,1793192861254542592
+29,0.483333333,BASELINE,762.18065211,742.18065211,712,671,659.81934789,633,876.81934789,783,800,649,629,650.81934789,0.400993892065,-0.01550482114,0.0698371389533,0.999999980504,5.96559072776e-05,-0.000187510803425,1.65436970149e-05,1793192861271209216
+30,0.500000000,BASELINE,762,742,712,671,660,633,876.598729324,783,800,649,628.598729324,650.598729324,0.400993039133,-0.0155051103667,0.0698368590707,0.999999980443,5.92839606533e-05,-0.000187969181798,1.63406067919e-05,1793192861287876096
+31,0.516666667,BASELINE,762,742,712,671,660,633,876.014184791,783,800,649,628.014184791,650.014184791,0.400991864218,-0.0155054546914,0.0698366130829,0.999999980409,5.94458681692e-05,-0.000188122907355,1.6084664121e-05,1793192861304542720
+32,0.533333333,BASELINE,762.568985547,742,712,671,659.431014453,633,876.568985547,783,800,649,628,650,0.400992575044,-0.0155045509208,0.0698371944364,0.999999980551,5.9403146822e-05,-0.00018738207849,1.60493887435e-05,1793192861321209344
+33,0.550000000,BASELINE,763,742.149946606,712,670.850053394,659,633,876.850053394,783,800,649,628.149946606,650.149946606,0.400993180732,-0.0155039694579,0.0698374758739,0.99999998062,5.97793116185e-05,-0.000186884774267,1.61222742776e-05,1793192861337876480
+34,0.566666667,BASELINE,763,742.724744728,712,670.275255272,659,633,876.275255272,783,800,649,628.724744728,650.724744728,0.400993355646,-0.0155043891536,0.069836849245,0.999999980471,6.13567475283e-05,-0.000187140496155,1.648606839e-05,1793192861354543104
+35,0.583333333,BASELINE,763,743,712,670,659.306103698,633,876,783,800,649,628.693896302,651,0.400993592046,-0.0155040720389,0.0698368570313,0.999999980435,6.24179728246e-05,-0.00018697238471,1.65867320815e-05,1793192861371209472
+36,0.600000000,BASELINE,763,743,712,670,659.893491617,633,876,783,800,649,628.106508383,651,0.400993884945,-0.0155030778559,0.0698374477931,0.999999980505,6.30048430387e-05,-0.000186414805184,1.64456005145e-05,1793192861387876096
+37,0.616666667,BASELINE,762.526897223,743,712,670.473102777,660,633,876,783.473102777,800,649,628,651,0.40099327498,-0.0155027733979,0.0698370021041,0.999999980223,6.35940589657e-05,-0.000187735506502,1.62551604564e-05,1793192861404542720
+38,0.633333333,BASELINE,762.051048771,742.948951229,712,671,659.948951229,633,876,784,799.948951229,649,628.051048771,650.948951229,0.400992470547,-0.0155027002216,0.0698363816453,0.999999979918,6.38535541903e-05,-0.000189286859771,1.60551506427e-05,1793192861421209600
+39,0.650000000,BASELINE,762.629587061,742.370412939,712,671,659.370412939,633,876,784,799.370412939,649,628.629587061,650.370412939,0.400991722989,-0.0155034383621,0.069836327336,0.999999980186,6.07006607609e-05,-0.000188922858099,1.58691049349e-05,1793192861437876224
+40,0.666666667,BASELINE,763,742,711.792823857,671,659.207176143,633,875.792823857,783.792823857,799,649,629,650.207176143,0.400991456579,-0.0155040054715,0.0698364102273,0.999999980339,5.88805039261e-05,-0.000188693745838,1.57796189541e-05,1793192861454543104
+41,0.683333333,BASELINE,763,742,711.216924168,671,659.783075832,633,875.216924168,783.216924168,799,649,629,650.783075832,0.400992046493,-0.0155042681866,0.0698367373022,0.999999980303,5.94322968413e-05,-0.000188704704209,1.58619859994e-05,1793192861471209984
+42,0.700000000,BASELINE,763,742,711.366259727,671,660,633,875.366259727,783,799,649,628.633740273,650.633740273,0.400991187288,-0.0155041110383,0.069836334064,0.999999979989,6.10731548112e-05,-0.000189838835975,1.5939812119e-05,1793192861487876608
+43,0.716666667,BASELINE,763,742,711.95384535,671,660,633,875.95384535,783,799,649,628.04615465,650.04615465,0.400989452398,-0.015503700172,0.069835489507,0.999999979499,6.33721203295e-05,-0.000191651686527,1.60148942143e-05,1793192861504543232
+44,0.733333333,BASELINE,763,742,712,671,660,633,876,783,799.533940286,649,628.533940286,650.533940286,0.40099087842,-0.0155050504405,0.0698364379832,0.999999979895,6.15790887814e-05,-0.000190151354656,1.61289689554e-05,1793192861521209600
+45,0.750000000,BASELINE,763,742,712,671,659.887201732,633,876,783,800,649,628.887201732,651,0.400992051357,-0.0155060585831,0.0698371840112,0.999999980213,6.02163356715e-05,-0.000188898835586,1.63061806421e-05,1793192861537876224
+46,0.766666667,BASELINE,763,742,712,671,659.310803351,633,876,783,800,649,628.310803351,651,0.400991076656,-0.0155050435602,0.0698364697728,0.999999979918,6.20556932316e-05,-0.00018982562972,1.67292232853e-05,1793192861554542848
+47,0.783333333,BASELINE,762.734758277,742,712,671.265241723,659.265241723,633,876,783,799.734758277,649,628.265241723,650.734758277,0.400991631246,-0.0155046365376,0.0698367147553,0.999999980093,6.20048188321e-05,-0.000188914613949,1.67640187201e-05,1793192861571209728
+48,0.800000000,BASELINE,762.159126577,742,712,671.840873423,659.840873423,633,876,783,799.159126577,649,628.840873423,650.159126577,0.400993975435,-0.0155049410061,0.0698380822327,0.999999980811,5.97419659122e-05,-0.000185852964639,1.63444813041e-05,1793192861587876352
+49,0.816666667,BASELINE,762.426054155,742,712,671.573945845,660,633,876,783,799.426054155,649,628.573945845,650,0.400992203061,-0.0155054755483,0.0698372229062,0.99999998055,5.81182773423e-05,-0.00018777705883,1.620143168e-05,1793192861604542720
+50,0.833333333,BASELINE,762.985282538,742.014717462,712,671,659.985282538,633,876,783,799.985282538,649,628,650,0.40098903555,-0.0155060309016,0.0698356146235,0.999999979936,5.68517042427e-05,-0.000191400064757,1.6165091258e-05,1793192861621209856
+51,0.850000000,BASELINE,762.403005847,742.596994153,712,671,659.403005847,633,876,783,799.403005847,649,628,650,0.400992717074,-0.0155039990594,0.0698379320572,0.999999980573,5.99397948176e-05,-0.000187082780742,1.61702650824e-05,1793192861637876224
+52,0.866666667,BASELINE,762.17609926,743,712,671,659.17609926,633,876,783,799.17609926,649,628,650,0.400994726867,-0.0155028152557,0.0698391092408,0.999999980862,6.16586378533e-05,-0.000184964019763,1.61799355113e-05,1793192861654542848
+53,0.883333333,BASELINE,762.748074525,743,712,671,659.748074525,633,876,783,799.748074525,649,628,650,0.400992978563,-0.0155035378663,0.0698377231105,0.999999980419,6.0299374377e-05,-0.000187787599626,1.61997144325e-05,1793192861671209472
+54,0.900000000,BASELINE,763,742.678960143,712,671,659.678960143,633,876.321039857,783.321039857,799.678960143,649,628.321039857,650,0.400993086792,-0.0155043932025,0.0698378644261,0.999999980436,5.98196327156e-05,-0.000187840851397,1.63043596614e-05,1793192861687876096
+55,0.916666667,BASELINE,763,742.105215514,712,671,659.105215514,633,876.894784486,783.894784486,799.105215514,649,628.894784486,650,0.400994656381,-0.0155053530128,0.0698392080624,0.999999980818,6.00322019198e-05,-0.00018571345438,1.64758069408e-05,1793192861704542976
+56,0.933333333,BASELINE,763,742.486696375,712,671,659.486696375,633,876.513303625,783.513303625,799.486696375,648.513303625,629,650.486696375,0.400994428425,-0.0155050311392,0.0698389677693,0.999999980725,6.07782827282e-05,-0.000185951261922,1.66490495177e-05,1793192861721209856
+57,0.950000000,BASELINE,763,743,711.920061875,671,660,633,876,783,800,648.079938125,628.920061875,651,0.400993694487,-0.0155044331931,0.0698383649709,0.999999980525,6.14170449455e-05,-0.000186814256808,1.67073495241e-05,1793192861737876224
+58,0.966666667,BASELINE,763,743,711.343890872,671,660,633,876,783,800,648.656109128,628.343890872,651,0.400992325405,-0.0155039081858,0.0698377199021,0.999999980311,6.06458680991e-05,-0.000188261048215,1.60496163298e-05,1793192861754542848
+59,0.983333333,BASELINE,763,743,711.231629704,671,659.768370296,633,876,783,799.768370296,649,628,650.768370296,0.400991452244,-0.015504064336,0.0698374279972,0.999999980198,6.00744442364e-05,-0.00018905407132,1.59163865638e-05,1793192861771209472
+60,1.000000000,BASELINE,763,743,711.806187407,671,659.193812593,633,876,783,799.193812593,649,628,650.193812593,0.400991313294,-0.0155052289404,0.0698376589515,0.999999980237,5.97987547418e-05,-0.000188879190046,1.65596845271e-05,1793192861787876096
+61,1.016666667,BASELINE,762.610707678,742.610707678,712,670.610707678,659.389292322,632.610707678,876.389292322,783.389292322,799.389292322,649,628,650.389292322,0.400992371831,-0.0155044987589,0.0698382212325,0.999999980446,6.10346974478e-05,-0.000187372690761,1.65795058225e-05,1793192861804542976
+62,1.033333333,BASELINE,762.023251968,742.023251968,712,670.023251968,659.976748032,632.023251968,876.976748032,783.976748032,799.976748032,649,628,650.976748032,0.40099403993,-0.0155028040651,0.0698389521704,0.999999980733,6.30401137527e-05,-0.000185188351412,1.62819556805e-05,1793192861821209344
+63,1.050000000,BASELINE,762,742,712,670.558640924,660,632.558640924,876.441359076,783.441359076,800,649,628,650.441359076,0.400992692008,-0.015502372038,0.069838065598,0.999999980377,6.24129410744e-05,-0.000187340551301,1.59723563857e-05,1793192861837875968
+64,1.066666667,BASELINE,762.138490552,742,712,671,659.861509448,633,876,783,799.861509448,649,628.138490552,650,0.400992025912,-0.015502248601,0.069837542925,0.999999980154,6.18850273279e-05,-0.000188717652512,1.57652456358e-05,1793192861854542592
+65,1.083333333,BASELINE,762.712633781,742,712,671,659.287366219,633,876,783,799.287366219,649,628.712633781,650,0.400993895652,-0.0155029322089,0.0698383746743,0.999999980449,6.20106472962e-05,-0.000187094313818,1.58820973689e-05,1793192861871209472
+66,1.100000000,BASELINE,763,742.286277384,712,671,659,633,876,783,798.713722616,649,628.713722616,650,0.400993749896,-0.0155039149895,0.0698381672367,0.999999980449,6.12692231405e-05,-0.000187330508131,1.60030930885e-05,1793192861887876352
+67,1.116666667,BASELINE,763,742.859420299,712,671,659,633,876,783,798.140579701,649,628.140579701,650,0.400991584505,-0.0155051975575,0.069836918477,0.999999980148,5.96589735383e-05,-0.000189430055901,1.61282413013e-05,1793192861904542976
+68,1.133333333,BASELINE,763,743,712,671,659.449576493,633,876,783,798.449576493,649,628,650,0.400990779296,-0.0155042903805,0.0698361660392,0.999999979815,6.17390104459e-05,-0.000190526838001,1.60574805047e-05,1793192861921209856
+69,1.150000000,BASELINE,763,742.956286314,712,671,659.956286314,633,876,783,799.043713686,649,628,650,0.400990447804,-0.0155028411117,0.069835695328,0.999999979513,6.46230490754e-05,-0.000191164232894,1.5926147025e-05,1793192861937876736
+70,1.166666667,BASELINE,763,742.380976924,712,671,659.380976924,633,876,783,799.619023076,649,628,650,0.400990501426,-0.0155034538188,0.0698366890981,0.999999979825,6.26997430324e-05,-0.000190178200436,1.5832466478e-05,1793192861954543104
+71,1.183333333,BASELINE,762.805557964,742,712,670.805557964,659,632.805557964,876,783,799.805557964,649,628,650.194442036,0.400991273779,-0.0155033165484,0.0698375986286,0.999999980094,6.23573472162e-05,-0.000188876656199,1.58016105423e-05,1793192861971209472
+72,1.200000000,BASELINE,762.229924096,742,712,670.229924096,659,632.229924096,876,783,799.229924096,649,628,650.770075904,0.400993455161,-0.0155017089928,0.0698383430125,0.999999980277,6.5114229774e-05,-0.000186956570055,1.58939184345e-05,1793192861987876352
+73,1.216666667,BASELINE,762,742,712,670,659.35475133,632.35475133,876,783,799.35475133,649,628,650.64524867,0.400993747391,-0.0155026049702,0.0698383915151,0.999999980368,6.40212315966e-05,-0.000186833336723,1.60736073987e-05,1793192862004542976
+74,1.233333333,BASELINE,762,742,712,670,659.945440064,632.945440064,876,783,799.945440064,649,628,650.054559936,0.400992783187,-0.0155051659931,0.0698379772021,0.999999980391,6.03677611891e-05,-0.000187905151286,1.63114116107e-05,1793192862021209344
+75,1.250000000,BASELINE,762.525179899,742.525179899,712,670,659.474820101,633,876,783,799.474820101,649,628,650,0.400992281488,-0.015505573803,0.0698381290521,0.999999980293,6.06296704672e-05,-0.000188316979661,1.65594965543e-05,1793192862037876480
+76,1.266666667,BASELINE,762.89681173,742.89681173,712,670.10318827,659,633,876,783,799.10318827,649,628.10318827,650,0.400991792182,-0.0155055139704,0.0698381089734,0.999999980162,6.13220773129e-05,-0.00018877517871,1.66960213856e-05,1793192862054543360
+77,1.283333333,BASELINE,762.321626684,742.321626684,712,670.678373316,659,633,876,783,799.678373316,649,628.678373316,650,0.400991144266,-0.0155043173857,0.0698370389249,0.999999979932,6.2161053939e-05,-0.000189752702476,1.63174699117e-05,1793192862071209728
+78,1.300000000,BASELINE,762.517556068,742,712,671,659.258778034,633,876,783,800,649,629,650.258778034,0.400991958115,-0.0155037247287,0.0698371811733,0.999999980036,6.29522240171e-05,-0.000188948636227,1.62044653845e-05,1793192862087876352
+79,1.316666667,BASELINE,763.691607223,742,712,671,659.845803611,633,876,783,800,649,629,650.845803611,0.400994626143,-0.0155038981251,0.0698388611622,0.999999980561,6.36827537141e-05,-0.000185884708288,1.64282944709e-05,1793192862104542720
+80,1.333333333,BASELINE,763.573705386,742.426294614,712,671,660,633,876,783,799.573705386,649,628.573705386,650.573705386,0.400993569712,-0.0155045266746,0.069838380086,0.999999980475,6.25600290613e-05,-0.000186728394801,1.63678462728e-05,1793192862121209344
+81,1.350000000,BASELINE,762.99552845,742.99552845,712,670.99552845,659.99552845,633,876,783,799,649,628.00447155,650,0.400991207946,-0.0155052951884,0.0698371406253,0.999999980171,6.07909255192e-05,-0.000188943464644,1.62026936851e-05,1793192862137876224
+82,1.366666667,BASELINE,762.415569829,742.415569829,712,670.415569829,659.415569829,633,876,783,799,649,628.584430171,650,0.400991614755,-0.0155032084625,0.0698373812266,0.999999980265,6.08039723608e-05,-0.000188492721593,1.55961085122e-05,1793192862154542592
+83,1.383333333,BASELINE,762.162811478,742,712,670.162811478,659.162811478,633,876.162811478,783,799,649,628.837188522,650.162811478,0.400992004173,-0.0155019196105,0.0698375924765,0.999999980352,6.06753739282e-05,-0.000188102964407,1.52294161719e-05,1793192862171209472
+84,1.400000000,BASELINE,762.737205503,742,712,670.737205503,659.737205503,633,876.737205503,783,799,649,628.262794497,650.737205503,0.400992349622,-0.0155026477592,0.0698377295269,0.999999980422,6.01887004803e-05,-0.000187867377572,1.54691656109e-05,1793192862187876352
+85,1.416666667,BASELINE,763,742.318829303,712,671,659.681170697,633,876.681170697,783,799,649,628.318829303,650.681170697,0.400993088623,-0.0155043150867,0.0698384961055,0.999999980627,5.96680303758e-05,-0.000186897085963,1.59884100503e-05,1793192862204543232
+86,1.433333333,BASELINE,763,742.906550463,712,671,659.093449537,633,876.093449537,783,799,649,628.906550463,650.093449537,0.400994159533,-0.0155067744915,0.069839793611,0.999999980943,5.9118688456e-05,-0.000185307164589,1.67433728641e-05,1793192862221209600
+87,1.450000000,BASELINE,762.512825448,742.512825448,712,671,659,633,876,783,799,649,629,650,0.400993138559,-0.0155058842511,0.0698392604856,0.999999980605,6.10149713929e-05,-0.0001865333893,1.64802973794e-05,1793192862237876224
+88,1.466666667,BASELINE,762.065546454,742,712,671,659,633.065546454,876,783,799,649,629,650.065546454,0.400991964878,-0.0155044280661,0.0698384935617,0.999999980208,6.3153016503e-05,-0.000187983870986,1.60670482231e-05,1793192862254542592
+89,1.483333333,BASELINE,762.63689329,742,712,671,659,633.63689329,876,783,799,649,629,650.63689329,0.400992664779,-0.0155034916502,0.0698385932971,0.999999980356,6.35886079322e-05,-0.000187056243943,1.59802287919e-05,1793192862271209472
+90,1.500000000,BASELINE,763,742.210904282,712,671,659.210904282,633.789095718,876,783,799,649,629,650.789095718,0.400992528642,-0.0155029831859,0.0698381884671,0.999999980298,6.37234587912e-05,-0.000187315333412,1.60066203116e-05,1793192862287876352
+91,1.516666667,BASELINE,763,742.78956068,712,671,659.78956068,633.21043932,876,783,799,649,629,650.21043932,0.400990934712,-0.0155032209376,0.0698369038303,0.99999997988,6.33339106688e-05,-0.000189643691104,1.62304168739e-05,1793192862304542976
+92,1.533333333,BASELINE,763,742.623768897,712,670.623768897,660,632.623768897,876,783.376231103,799,649,628.623768897,650.376231103,0.400991016299,-0.015502864627,0.0698366755103,0.999999979739,6.45632501335e-05,-0.000189978324501,1.62013450908e-05,1793192862321209600
+93,1.550000000,BASELINE,763,742.032518331,712,670.032518331,660,632.032518331,876,783.967481669,799,649,628.032518331,650.967481669,0.40099205546,-0.0155021688044,0.0698370508847,0.999999979753,6.67177983894e-05,-0.000189173526736,1.60277567933e-05,1793192862337876480
+94,1.566666667,BASELINE,763,742,712,670,660,632.54769932,876,783.45230068,799,649,628.54769932,651,0.40099046879,-0.0155016327701,0.0698368383329,0.99999997962,6.5747406068e-05,-0.000190215165949,1.60130521396e-05,1793192862354543104
+95,1.583333333,BASELINE,763,742,712,670.126457234,659.873542766,633,876,783,799.126457234,649,629,650.873542766,0.400989214773,-0.0155015273117,0.0698366434336,0.999999979531,6.47104754907e-05,-0.000191033448268,1.6020751803e-05,1793192862371209728
+96,1.600000000,BASELINE,763,742,712,670.702309699,659.297690301,633,876,783,799.702309699,649,629,650.297690301,0.400989686013,-0.0155029189562,0.0698366328663,0.999999979639,6.40834105786e-05,-0.00019067608531,1.60752088397e-05,1793192862387876352
+97,1.616666667,BASELINE,763,742,712,671,659.28297263,633,876,783,800,649,628.71702737,650.28297263,0.400990659199,-0.0155038588879,0.0698369711189,0.99999997986,6.28396855029e-05,-0.000189914382146,1.62231183849e-05,1793192862404542976
+98,1.633333333,BASELINE,763,742,712,671,659.868783704,633,876,783,800,649,628.131216296,650.868783704,0.400992169569,-0.0155043153948,0.0698376826802,0.9999999802,6.09360082808e-05,-0.000188719952491,1.64710411768e-05,1793192862421209600
+99,1.650000000,BASELINE,763,742,712,670.551100026,659.551100026,633,876,783,800,649,628,650.551100026,0.40099258239,-0.0155040232404,0.0698374185099,0.999999980159,6.10986339542e-05,-0.000188887919404,1.64379380179e-05,1793192862437876224
+100,1.666666667,BASELINE,762.972527372,742,712,670,659.054945256,633,876,783,799.972527372,649,628,650.027472628,0.400992687206,-0.0155035516027,0.0698369630823,0.99999998003,6.18290830762e-05,-0.000189343231931,1.63245493668e-05,1793192862454542848
+101,1.683333333,BASELINE,762.391938067,742,712,670,660.216123867,633,876,783,799.391938067,649,628,650.608061933,0.400992969118,-0.0155038171235,0.0698383273584,0.999999980338,6.19836458201e-05,-0.000187666365917,1.62278937585e-05,1793192862471209728
+102,1.700000000,BASELINE,762.186272006,742.186272006,712,670.186272006,660.813727994,633,876,783.186272006,799,649,628,651,0.400992622554,-0.0155039305841,0.0698386810067,0.999999980415,6.17692904302e-05,-0.000187343221024,1.60316825701e-05,1793192862487876608
+103,1.716666667,BASELINE,762.759538961,742.759538961,712,670.759538961,660.240461039,633,876,783.759538961,799,649,628,651,0.400990970283,-0.0155037281274,0.0698369349953,0.999999980012,6.07884781762e-05,-0.000189832539931,1.56286367366e-05,1793192862504543232
+104,1.733333333,BASELINE,763,743,712,671,660,633,876,783.658541034,799.341458966,649,628.341458966,651,0.400991349333,-0.0155039768986,0.0698371003462,0.999999980084,6.10819466622e-05,-0.000189348139696,1.57527760376e-05,1793192862521209856
+105,1.750000000,BASELINE,763,743,712,671,660,633,876,783.070368911,799.929631089,649,628.929631089,651,0.400993196065,-0.0155045516937,0.069838646707,0.999999980496,6.22961166654e-05,-0.000186715148796,1.62578205335e-05,1793192862537876224
+106,1.766666667,POSE1_TO_POSE2_PRESS,763,742,712,670,660,633,876,783,799,649,628,651,0.400991587901,-0.0155027177282,0.0698368196138,0.999999979877,6.37655952969e-05,-0.000189589720301,1.5379670766e-05,1793192862568600320
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711.430458838,670.569541162,660,633,876,783,799,649,628,650.430458838,0.400992277071,-0.0155038568284,0.0698375091114,0.999999980217,6.16304188559e-05,-0.00018847672154,1.56076455891e-05,1793192862585268224
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742.138746781,711.138746781,671,660,633,876,783.138746781,799.138746781,649,628,650,0.40099255232,-0.0155044344755,0.0698379854638,0.999999980395,6.02135141253e-05,-0.000187975991461,1.57930889023e-05,1793192862601935616
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742.706914032,711.706914032,671,660,633,876,783.706914032,799.706914032,649,628,650,0.400991546486,-0.0155032744293,0.0698378021331,0.999999980082,6.1019655587e-05,-0.000189370229085,1.58468974986e-05,1793192862618601984
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,743,712.293480475,671,659.706519525,633,876.293480475,783.706519525,799.706519525,649,628,650.293480475,0.400990997936,-0.0155027880232,0.0698373602307,0.999999979867,6.17848028511e-05,-0.000190264300033,1.57335587927e-05,1793192862635268352
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,743,712.899650344,671,659.100349656,633,876.899650344,783.100349656,799.100349656,649,628,650.899650344,0.400990936599,-0.0155030193486,0.0698366428326,0.999999979758,6.25062727123e-05,-0.000190625467256,1.54421326372e-05,1793192862651934464
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742.519058346,712.519058346,671,659.480941654,633,876.519058346,783,799,649,628,650.519058346,0.400991355239,-0.0155035714731,0.0698368277162,0.999999979979,6.16503663999e-05,-0.000189722436577,1.56848510803e-05,1793192862668600832
+113,1.883333333,POSE1_TO_POSE2_PRESS,762.94278645,742,712,671,660,633,876,783,799,649,628,650,0.400991905612,-0.0155040539209,0.0698372597507,0.999999980209,6.07219488437e-05,-0.000188781252532,1.6019576173e-05,1793192862685267456
+114,1.900000000,POSE1_TO_POSE2_PRESS,762.367273291,742,712,671,660,633,876,783,799,649,628,650,0.400992786732,-0.0155033286166,0.0698383091322,0.999999979942,6.19715442261e-05,-0.000189766479823,1.62278164832e-05,1793192862701933568
+115,1.916666667,POSE1_TO_POSE2_PRESS,762.213989042,742,712,671,660,633,876,783,799,649,628,650,0.400996962842,-0.0155028335137,0.069840818191,0.999999979772,6.36915374247e-05,-0.000190074046885,1.64973339419e-05,1793192862718599936
+116,1.933333333,POSE1_TO_POSE2_PRESS,762.805391146,742,712,671,660,633,876,783,799,649,628,650,0.401006950336,-0.015502744418,0.0698459016864,0.999999979768,6.62411724156e-05,-0.000189186422624,1.68749260541e-05,1793192862735266560
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742.387207386,712,671,660,633,876,783.387207386,799,649,628,650.387207386,0.401029576965,-0.015504530994,0.0698556581659,0.999999981061,6.52603430064e-05,-0.000182485995923,1.78445412127e-05,1793192862751933184
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742.964322252,712,671,660,633,876,783.964322252,799,649,628,650.964322252,0.401058402511,-0.0155072375011,0.0698677065305,0.999999982908,6.25479828055e-05,-0.000172934655887,1.91045165801e-05,1793192862768599808
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742.459556589,712,671,660,633,876,783.459556589,799.540443411,649,628,650.459556589,0.401110452431,-0.0155100490931,0.0698799627258,0.999999985389,6.10482255538e-05,-0.000158489906048,1.93940767216e-05,1793192862785266432
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.880983952,633,876,783,799.880983952,649,628,650.119016048,0.401167784976,-0.0155127603964,0.069891492225,0.999999987497,6.04945939246e-05,-0.000144796622584,1.94819705513e-05,1793192862801933056
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.292482443,633,876,783,799.292482443,649,628,650.707517557,0.401239919191,-0.0155150487744,0.0699001010894,0.999999988653,6.33579675112e-05,-0.000135339634505,1.90265921391e-05,1793192862818599936
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742.291288421,712,671,659.291288421,633,876,783,799.291288421,649,628.291288421,651,0.401321933987,-0.015518188215,0.0699063003784,0.999999989568,6.33551052373e-05,-0.000128591211813,1.77433477126e-05,1793192862835266560
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742.870385123,712,671,659.870385123,633,876,783,799.870385123,649,628.870385123,651,0.401413711311,-0.01552216855,0.0699101188797,0.999999990294,6.05202510046e-05,-0.000124518994765,1.56421281478e-05,1793192862851933184
+124,2.066666667,POSE1_TO_POSE2_PRESS,762.55245281,742.55245281,712,670.55245281,660,633,876,783,799.55245281,649,628.55245281,651,0.401523894,-0.0155247834416,0.0699134509778,0.999999990857,5.92607757688e-05,-0.000120860087949,1.2896206893e-05,1793192862868599808
+125,2.083333333,POSE1_TO_POSE2_PRESS,762.024118001,742,712,670.024118001,660,633,876,783.024118001,799,649,628.024118001,651,0.401640462076,-0.0155270136085,0.0699164357411,0.999999991316,5.84853583725e-05,-0.000117685710171,9.92446462042e-06,1793192862885266432
+126,2.100000000,POSE1_TO_POSE2_PRESS,762.59992559,742,712,670.59992559,660,633,876,783.59992559,799,649,628.59992559,651,0.401781687216,-0.0155294501372,0.0699146837872,0.999999990729,5.83909975459e-05,-0.000122868446443,6.03976086165e-06,1793192862901933312
+127,2.116666667,POSE1_TO_POSE2_PRESS,762.820634128,742,712,671,660,633,876,783.820634128,799.179365872,649,628.820634128,650.820634128,0.401935299783,-0.0155313589189,0.0699141903031,0.999999990499,5.75377858029e-05,-0.000125250917115,1.78068242704e-06,1793192862918600192
+128,2.133333333,POSE1_TO_POSE2_PRESS,762.232923731,742,712,671,660,633,876,783.232923731,799.767076269,649,628.232923731,650.232923731,0.402117113561,-0.0155320662308,0.0699165618532,0.999999991133,5.4956973306e-05,-0.000121258299565,-3.33069724518e-06,1793192862935266816
+129,2.150000000,POSE1_TO_POSE2_PRESS,762.350588528,742.350588528,712,671,660,633,876,783,799.649411472,649,628,650,0.4023179818,-0.0155315229451,0.0699171403064,0.999999991252,5.09725753687e-05,-0.000121715281908,-9.11950840884e-06,1793192862951933696
+130,2.166666667,POSE1_TO_POSE2_PRESS,762.931344692,742.931344692,712,671,660,633,876,783,799.068655308,649,628,650,0.402531359651,-0.0155301586198,0.0699165415597,0.999999990997,4.60666982386e-05,-0.000125093505728,-1.53530659651e-05,1793192862968600064
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742.491580226,712,670.491580226,660,633,876,783,799,649,628,650.508419774,0.402782064203,-0.0155267717466,0.0699207250104,0.999999992597,1.42652094965e-05,-0.000119093638486,-2.04851346842e-05,1793192862985266688
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,712,670.084556517,660,633,876.084556517,783,799.084556517,649,628.084556517,650.915443483,0.403045329421,-0.0155232970199,0.0699263263475,0.999999993516,-1.39001322275e-05,-0.000110221085154,-2.50044873679e-05,1793192863001933568
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,712,670.658120936,660,633,876.658120936,783,799.658120936,649,628.658120936,650.341879064,0.403352295121,-0.0155208823625,0.0699364198298,0.999999995407,-1.83880622519e-07,-9.20063183269e-05,-2.68343970525e-05,1793192863018600192
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783,800,648.761370845,628.761370845,650,0.403671827358,-0.0155192802747,0.0699437268189,0.999999996343,8.4183626638e-06,-8.05827492273e-05,-2.7391268343e-05,1793192863035266816
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783,800,648.170616263,628.170616263,650,0.404009902982,-0.015518877229,0.0699469220083,0.999999996481,9.47428348541e-06,-7.91803934445e-05,-2.60696214417e-05,1793192863051933440
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,712,670.589307065,660,633,877,783,799.589307065,648.410692935,628.410692935,650,0.404380851512,-0.0155218550775,0.0699516623987,0.99999999701,1.38782270199e-06,-7.22066029749e-05,-2.76508702542e-05,1793192863068600320
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,712,670.011833609,660,633,877,783,799.011833609,648.988166391,628.988166391,650,0.40476514957,-0.0155262058916,0.069957030288,0.999999997501,-1.04113174375e-05,-6.29702783966e-05,-3.0410971758e-05,1793192863085266944
+138,2.300000000,POSE1_TO_POSE2_PRESS,762.43544119,742,712,670.56455881,660,632.43544119,876.43544119,783,799,649,629,650,0.405180240327,-0.0155285541612,0.0699600788863,0.99999999777,-1.04039756854e-05,-5.8195007247e-05,-3.10589048565e-05,1793192863101933568
+139,2.316666667,POSE1_TO_POSE2_PRESS,762.143717835,742.143717835,712,671,660,632.143717835,876,783,799,649,629,650,0.405604589345,-0.0155289499706,0.0699601232849,0.999999997733,-8.99303661478e-06,-5.85709320784e-05,-3.19620387153e-05,1793192863118600192
+140,2.333333333,POSE1_TO_POSE2_PRESS,762.731494889,742.731494889,712,671,660,632.731494889,876,783,799,649,629,650,0.406055553986,-0.0155234425158,0.0699510352307,0.99999999664,-4.00844572809e-06,-7.45746513281e-05,-3.37902239863e-05,1793192863135266560
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,743,712,671,660,633,876.314910318,783.314910318,799,649,628.685089682,650.314910318,0.406526494813,-0.0155191734582,0.0699368346487,0.999999994847,-3.52732618219e-06,-9.46191464824e-05,-3.66093826962e-05,1793192863151933440
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,743,712,671,660,633,876.894657719,783.894657719,799,649,628.105342281,650.894657719,0.407014235503,-0.0155159458822,0.0699183344702,0.999999992197,-6.8335898202e-06,-0.000118061903916,-4.02619424128e-05,1793192863168600064
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,743,712,671,660,633,876.526926514,784,799.473073486,649,628,651,0.407568625032,-0.0155160599988,0.0699192651732,0.999999993128,-1.05028024568e-05,-0.000109076828223,-4.16577378206e-05,1793192863185266688
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,743,712,671,660,632.94936112,876,783.94936112,800,649,628,650.94936112,0.408141120328,-0.015517168824,0.0699254575291,0.999999994794,-1.45277460553e-05,-9.1618841971e-05,-4.25046159299e-05,1793192863201933568
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,743,712,671,660,632.377504573,876,783.377504573,800,649,628,650.377504573,0.40874764728,-0.0155208784581,0.0699413972059,0.999999996988,-2.1384638919e-05,-6.10656036096e-05,-4.28594990289e-05,1793192863218600192
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742.798931044,712,671,660,632.201068956,876,783.201068956,799.798931044,649,628,650,0.409358632639,-0.0155221467144,0.0699499206762,0.999999997857,-2.33473630252e-05,-4.29027619689e-05,-4.35848256783e-05,1793192863235266560
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742.207310646,712,671,660,632.792689354,876,783.792689354,799.207310646,649,628,650,0.409978277864,-0.0155186728979,0.0699440390868,0.99999999767,-1.58037726261e-05,-4.88067268953e-05,-4.50296928964e-05,1793192863251933184
+148,2.466666667,POSE1_TO_POSE2_PRESS,762.623890528,742.376109472,712,671,659.623890528,633,876.376109472,783.623890528,799.376109472,649,628.376109472,650,0.410620123824,-0.0155185329159,0.0699402829862,0.999999997167,-1.55513809799e-05,-5.76938745802e-05,-4.57803043217e-05,1793192863268600064
+149,2.483333333,POSE1_TO_POSE2_PRESS,762.044893957,742.955106043,712,671,659.044893957,633,876.955106043,783.044893957,799.955106043,649,628.955106043,650,0.411273945648,-0.0155201913252,0.0699376734515,0.999999996425,-1.92321268032e-05,-6.81902591184e-05,-4.61564089258e-05,1793192863285266688
+150,2.500000000,POSE1_TO_POSE2_PRESS,762.53096443,743,712,671,659.53096443,633,877,783.53096443,800,649,629,650,0.412002701518,-0.0155305062813,0.0699634241279,0.999999998172,-3.7958038382e-05,-1.99055500339e-05,-4.26578059113e-05,1793192863301933056
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,743,712,671,660,633,877,784,799.892134378,649,629,650,0.412735688698,-0.0155425612187,0.0699903995907,0.999999997277,-5.59498826814e-05,2.8182905283e-05,-3.90132419651e-05,1793192863318599936
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,743,712,671,660,633,877,784,799.309482223,649,629,650,0.413459576286,-0.0155590721876,0.0700122734064,0.999999995785,-6.51442017376e-05,5.36596621681e-05,-3.61597761758e-05,1793192863335266560
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.72520943,712,671,660,633,876.72520943,783.72520943,799,649,629,650,0.414185051151,-0.015567896801,0.0700066565313,0.999999995794,-7.57076462701e-05,3.65423369788e-05,-3.66751512476e-05,1793192863351933184
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.139100493,712,671,660,633,876.139100493,783.139100493,799,649,629,650,0.414912324383,-0.0155680133172,0.0699698946422,0.999999994887,-8.78222145446e-05,-2.88310808884e-05,-4.10071853457e-05,1793192863368600064
+155,2.583333333,POSE1_TO_POSE2_PRESS,762.560652964,742.439347036,712,671,660,633,876.439347036,783.439347036,799,649,629,650.439347036,0.41564982823,-0.0155612392397,0.0699294791095,0.999999991178,-8.29885860661e-05,-9.27154952336e-05,-4.64873359184e-05,1793192863385266688
+156,2.600000000,POSE1_TO_POSE2_PRESS,762.015379344,743,712,671,660,633,877,784,799,649,628.984620656,650.984620656,0.416392889963,-0.0155525906437,0.069889737742,0.999999984207,-7.32399005296e-05,-0.000153298808899,-5.2172874178e-05,1793192863401933568
+157,2.616666667,POSE1_TO_POSE2_PRESS,762.59028015,743,712,671,660,633,877,784,799,649,628.40971985,650.40971985,0.417222334201,-0.0155537541827,0.0699158869041,0.99999998958,-7.6548404183e-05,-0.000110641021737,-5.23326748515e-05,1793192863418599936
+158,2.633333333,POSE1_TO_POSE2_PRESS,762.830680603,743,712,671.169319397,660,633,877.169319397,783.830680603,799,649,628,650,0.418046890656,-0.0155558639141,0.0699423668031,0.99999999308,-7.95902800602e-05,-6.98223777306e-05,-5.12794644898e-05,1793192863435266560
+159,2.650000000,POSE1_TO_POSE2_PRESS,762.241376279,743,712,671.758623721,660,633,877.758623721,783.241376279,799,649,628,650,0.418859323258,-0.0155603206097,0.0699696670698,0.999999994962,-8.19708044084e-05,-3.35656026688e-05,-4.72174651954e-05,1793192863451933184
+160,2.666666667,POSE1_TO_POSE2_PRESS,762.342271772,742.657728228,712,672,660.342271772,633,877.657728228,783,799,649,628.342271772,650,0.419710974003,-0.0155644237534,0.0699932251102,0.999999995263,-8.63213694585e-05,2.13611955635e-06,-4.49179062395e-05,1793192863468599808
+161,2.683333333,POSE1_TO_POSE2_PRESS,762.921995741,742.078004259,712,672,660.921995741,633,877.078004259,783,799,649,628.921995741,650,0.420589832432,-0.0155682816192,0.0700141869673,0.999999994102,-9.2038656759e-05,3.74527704819e-05,-4.38410463672e-05,1793192863485266432
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742.497874641,712,672.497874641,661,633,877,783.497874641,799.497874641,649,629,650,0.421417167783,-0.0155677618676,0.0700149357095,0.99999999408,-9.31675581597e-05,3.3197336897e-05,-4.53621033979e-05,1793192863501933312
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,743,712,672.925330635,660.925330635,633,877,784,799.925330635,649,628.925330635,650,0.422224763223,-0.0155658632013,0.0700045578646,0.999999994505,-9.26270557659e-05,1.11628814154e-05,-4.78184901293e-05,1793192863518600192
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,743,712,672.338146948,660.338146948,633,877,784,799.338146948,649,628.338146948,650,0.422951850043,-0.0155591714872,0.06993937973,0.999999990778,-8.55245693203e-05,-9.0674032952e-05,-5.39224392738e-05,1793192863535266816
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660,633,877,784,799.24564877,649,628,650,0.423712803985,-0.0155550819331,0.0698847945818,0.99999998049,-8.33894063992e-05,-0.000168647581718,-6.02043220947e-05,1793192863551933440
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660,633,877,784,799.824844319,649,628,650,0.424519743481,-0.0155545256424,0.069844592792,0.999999970957,-8.79989738174e-05,-0.000214218994124,-6.67278081815e-05,1793192863568600064
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,743,712,672,660.403792433,633,877,784,799.596207567,649,628,650,0.425398062839,-0.0155610896943,0.0698777293274,0.999999980406,-9.49015293089e-05,-0.000161503707112,-6.40239606533e-05,1793192863585266688
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660.982633247,633,877,784,799.017366753,649,628,650,0.42630732609,-0.0155707404914,0.0699426588213,0.999999990884,-0.000102798118932,-6.61800706186e-05,-5.73199635055e-05,1793192863601933312
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,743,712,672.555270447,661,633,877,783.444729553,799,649,628,650,0.427138072364,-0.0155702829277,0.0699772791556,0.999999992996,-0.000102045634406,-2.76485747698e-05,-5.31949762316e-05,1793192863618599936
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,712,672.868404903,661,633,877,783.131595097,799,649,628.131595097,650.131595097,0.427960966201,-0.0155700723322,0.0700064563587,0.999999993549,-0.000101665286297,7.87508483203e-06,-5.00355241816e-05,1793192863635266560
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,743,712,672.278571746,661,633,877,783.721428254,799,649,628.721428254,650.721428254,0.428764973136,-0.0155718104579,0.0700199440696,0.999999992632,-0.00010351234345,3.90417707265e-05,-4.99604665938e-05,1793192863651933440
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.306003482,743,712,672,661,633,877.306003482,784,799,649,628.693996518,651,0.429548377424,-0.0155733029136,0.0700171564939,0.999999992378,-0.000105499152151,3.90730116365e-05,-5.08707818672e-05,1793192863668600320
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.885872957,743,712,672,661,633,877.885872957,784,799,649,628.114127043,651,0.430313342777,-0.0155745755004,0.0699998029148,0.99999999276,-0.000107611035139,1.12387525652e-05,-5.26629829141e-05,1793192863685266944
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.537510418,743,712,672,661,632.537510418,877.537510418,783.537510418,799.462489582,649,628.462489582,650.537510418,0.431006547309,-0.0155710330308,0.0699441513187,0.999999989231,-0.000104849175753,-8.46055479296e-05,-5.81909300746e-05,1793192863701933312
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,743,712,672,661,632.038998973,877,783,800,649,628.961001027,650,0.431684692512,-0.0155667262551,0.0698833344403,0.999999974874,-0.000101853952478,-0.00018908588696,-6.42269266767e-05,1793192863718599936
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,712,672,661,632.625187028,877,783,800,649,628.374812972,650,0.432398267425,-0.0155682505845,0.0698817192736,0.999999975243,-0.000112341195453,-0.000180907254775,-6.45471751183e-05,1793192863735266816
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742.791562093,712,672.208437907,661,633,877.208437907,783.208437907,799.791562093,649,628,650,0.433133502663,-0.0155714431992,0.0699049023618,0.999999982055,-0.000117839226501,-0.000134488031437,-6.25894270597e-05,1793192863751933184
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742.213519353,712,672.786480647,661,633,877.786480647,783.786480647,799.213519353,649,628,650,0.433907146389,-0.0155775940396,0.0699720580404,0.999999991639,-0.00011449032219,-2.02600870906e-05,-5.65923052018e-05,1793192863768599808
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.364866336,742.364866336,712,673,661,633,877.635133664,784,799,649,628.364866336,650,0.434612037846,-0.0155814972097,0.0700064203573,0.999999991528,-0.000114779626538,3.07744257953e-05,-5.31244438176e-05,1793192863785266688
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.943452872,742.943452872,712,673,661,633,877.056547128,784,799,649,628.943452872,650,0.435276657664,-0.015584083808,0.0700215739813,0.999999990821,-0.000117200009845,4.4793423577e-05,-5.11380956266e-05,1793192863801933568
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.480245371,712,672.480245371,661,633,877.519754629,784,799.519754629,649,628.480245371,650,0.435905751139,-0.0155859731845,0.0700054719764,0.999999989768,-0.000130844161417,2.46279398625e-05,-5.23148253355e-05,1793192863818599936
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.90229168,742.09770832,712,672.09770832,661,632.90229168,877.90229168,784,800,649,628,650,0.436518449115,-0.015587235344,0.0699856399881,0.999999988245,-0.000143471161698,7.44343953313e-07,-5.40840594139e-05,1793192863835266816
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.314817085,742.685182915,712,672.685182915,661,632.314817085,877.314817085,784,800,649,628,650,0.43706825332,-0.0155857321171,0.0699640817604,0.999999987601,-0.000144905644924,-2.32157476463e-05,-5.71058299584e-05,1793192863851933184
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.269076918,743,712,673,661,632.269076918,877,783.730923082,800,649,628.269076918,650,0.437600458889,-0.0155856119642,0.0699400387802,0.999999986443,-0.000143832919841,-5.2879641069e-05,-6.02471178543e-05,1793192863868599808
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.848836641,743,712,673,661,632.848836641,877,783.151163359,800,649,628.848836641,650,0.438112344603,-0.0155870887424,0.0699131268453,0.999999984229,-0.000139865310415,-8.91292822091e-05,-6.35264031763e-05,1793192863885266432
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.573320138,743,712,673,661,632.573320138,877,783.426679862,800,649,628.573320138,650.426679862,0.438579180326,-0.0155910168541,0.0698819822821,0.999999977444,-0.000144914096851,-0.000140873764087,-6.53218515851e-05,1793192863901933056
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,743,712,673,661,632,877.003820056,784,800,649,628,650.996179944,0.439030014133,-0.0155957875962,0.0698494169187,0.999999966472,-0.000153100175232,-0.00019794124792,-6.65953367202e-05,1793192863918599936
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,743,712,673,661,632,877.576916757,784,800,649,628,650.423083243,0.439463994683,-0.0155972887038,0.0698275849491,0.999999958339,-0.000154917467449,-0.000233856482784,-6.80740478461e-05,1793192863935266816
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,743,712,672.845293796,661,632,877.845293796,783.845293796,800,649,628.154706204,650,0.439892536805,-0.0155995738287,0.0698130643211,0.999999951891,-0.000158374137399,-0.000257581295483,-6.91923570764e-05,1793192863951933696
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+247,4.116666667,HOLD_POSE2,763,743,711.519202642,672.480797358,659,632,878,782.519202642,800,649,628,650.519202642,0.444008634894,-0.0156563962515,0.069693401728,0.999999857813,-0.000246441711321,-0.000467819694331,-6.91726182417e-05,1793192864937500928
+248,4.133333333,HOLD_POSE2,763,743,711,672.943847671,659,631.943847671,878,782.056152329,800,649,628,650,0.444009455941,-0.0156558604433,0.0696935268766,0.999999858306,-0.000245630284732,-0.000467270819925,-6.86386568706e-05,1793192864954167552
+249,4.150000000,HOLD_POSE2,763,743,711,672.370388888,659,631.370388888,878,782.629611112,800,649,628,650,0.44400839824,-0.0156558232892,0.0696933688169,0.999999857492,-0.00024657977236,-0.000468492494266,-6.87643449783e-05,1793192864970834432
+250,4.166666667,HOLD_POSE2,763,743,711,672,659,631,878,782.789860778,800.210139222,649,628,650,0.444007832318,-0.015655072736,0.0696933022914,0.999999857421,-0.000245978335551,-0.000468934156157,-6.89401999469e-05,1793192864987501056
+251,4.183333333,HOLD_POSE2,763,743,711,672,659,631,878,782.196438648,800.803561352,649,628,650,0.444008163379,-0.0156530209803,0.0696934027195,0.9999998587,-0.000242548093901,-0.000467953116159,-6.92075566213e-05,1793192865004167680
+252,4.200000000,HOLD_POSE2,763,743,711,672.387014171,659.387014171,631,877.612985829,782,800.225971659,648.612985829,628.387014171,650,0.444007514806,-0.0156536505607,0.0696926159782,0.999999858161,-0.000243395607207,-0.000468660450639,-6.92362204214e-05,1793192865020834304
+253,4.216666667,HOLD_POSE2,763,743,711,672.965533945,659.965533945,631,877.034466055,782,799.068932111,648.034466055,628.965533945,650,0.444006381482,-0.0156556069423,0.0696913902404,0.999999856717,-0.000246359874853,-0.000470203240672,-6.91467722316e-05,1793192865037500928
+254,4.233333333,HOLD_POSE2,763,743,711,673,659.460383163,631,877.539616837,782.539616837,799.539616837,648.539616837,628.460383163,650,0.44400766562,-0.0156557982396,0.0696923091487,0.999999856994,-0.000247610985935,-0.000468962936775,-6.90933731517e-05,1793192865054167808
+255,4.250000000,HOLD_POSE2,763,743,711.116104233,673,659,631.116104233,878,783,800,649,628,650,0.44400917594,-0.0156559525584,0.0696935502823,0.999999857617,-0.000248276965119,-0.000467295193782,-6.8991298334e-05,1793192865070834688
+256,4.266666667,HOLD_POSE2,763,743,711.70349298,673,659,631.70349298,878,783,800,649,628,650,0.444010982715,-0.0156564106652,0.0696955478836,0.999999859204,-0.000247008342991,-0.000464608080825,-6.86823713783e-05,1793192865087501056
+257,4.283333333,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,632,878,782,800,649,628,650,0.444009191413,-0.0156576192555,0.0696933704643,0.999999857313,-0.000249358416002,-0.000467449226123,-6.84463083055e-05,1793192865126071808
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763,743,711.393975192,673,659,631.393975192,878,782,800,649,628,650,0.444011447516,-0.0156563637378,0.0696949111744,0.999999858815,-0.00024744744946,-0.000465256740417,-6.83851667929e-05,1793192865142738944
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763,743,711.200852204,672.799147796,659,631,878,782,800,649,628,650,0.44401264864,-0.0156555753189,0.0696958841623,0.999999859799,-0.000245966092044,-0.000463928289251,-6.83660423709e-05,1793192865159405824
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,743,711.774875596,672.225124404,659,631,878,782,800,649,628,650,0.444011889679,-0.0156556547408,0.0696958023576,0.999999859834,-0.000245282921948,-0.000464205161372,-6.84249831402e-05,1793192865176071936
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,743,711.638980905,672,659,631,878,782,800,649,628.361019095,650,0.444010621781,-0.0156552122235,0.0696944591803,0.999999859015,-0.00024539494381,-0.000465881625597,-6.86032615164e-05,1793192865192738560
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,743,711.045017034,672,659,631,878,782,800,649,628.954982966,650,0.444009025497,-0.015654432929,0.0696923021121,0.999999857638,-0.000246020057166,-0.00046846116577,-6.88585415554e-05,1793192865209405184
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742.467515587,711,672,659.532484413,631,877.467515587,782,800.532484413,649,628.467515587,650,0.444007886386,-0.0156553059971,0.0696924934566,0.999999857503,-0.000245907047731,-0.000468817239916,-6.88000212387e-05,1793192865226071808
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.108148981,742.108148981,711.108148981,672,660,631,877.216297962,782,800.891851019,649,628,650,0.444005839072,-0.0156558793313,0.069692133145,0.999999857094,-0.000245463317599,-0.000469929550356,-6.87414427688e-05,1793192865242738432
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.68171832,742.68171832,711.68171832,672,660,631,878.363436639,782,800.31828168,649,628,650,0.443999721946,-0.0156545796145,0.0696885699867,0.99999985505,-0.000243856821476,-0.000475081025659,-6.87933587427e-05,1793192865259405312
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.736356715,743,712,672.263643285,659.736356715,631,878.736356715,782,800,649,628,650.263643285,0.443983762012,-0.0156529031251,0.0696804911575,0.999999848734,-0.000243442108343,-0.000488308802824,-6.94412400789e-05,1793192865276072192
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.144014358,743,712,672.855985642,659.144014358,631,878.144014358,782,800,649,628,650.855985642,0.443955530491,-0.0156507568917,0.0696667823849,0.999999836728,-0.000244513258851,-0.00051160576411,-7.08321452849e-05,1793192865292738816
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,712,672.562655512,659.437344488,631,878,782,800,649,628.437344488,650.562655512,0.443905305711,-0.0156473365754,0.0696472138003,0.999999818175,-0.00024221102218,-0.000547523748818,-7.21158512319e-05,1793192865309405184
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,743,712,672.015089152,659.984910848,631,878,782,800,648.984910848,628.984910848,650,0.443847546585,-0.0156435224507,0.0696259265286,0.999999796416,-0.000238855946213,-0.00058714402252,-7.33368217179e-05,1793192865326071808
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,743,712,672.589643468,659.410356532,631,878,782,800,648.410356532,628.410356532,650,0.44377237788,-0.0156402815292,0.0696107064168,0.999999780975,-0.000236642074845,-0.000613716521692,-7.35084917622e-05,1793192865342738432
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,631.168278332,877.831721668,782,799.831721668,648,628,650,0.443694178837,-0.0156367768482,0.0695989924115,0.999999769192,-0.000234517919203,-0.000633441140177,-7.32755889054e-05,1793192865359405056
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,631.757111262,877.242888738,782,799.242888738,648,628,650,0.443608406475,-0.015632612989,0.0695960407267,0.999999768069,-0.000232617977472,-0.0006360518107,-7.20315934907e-05,1793192865376071680
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,743,711.659647462,672.659647462,659,631.659647462,877,782,799.340352538,648.340352538,628.340352538,650,0.443511355435,-0.0156279489389,0.0695983715599,0.999999771562,-0.000230574036898,-0.000631513925223,-7.00156736326e-05,1793192865392738560
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,743,711.080332141,672.080332141,659,631.080332141,877,782,799.919667859,648.919667859,628.919667859,650,0.443406385597,-0.0156229337031,0.0696044112689,0.99999977822,-0.0002284289943,-0.000621957011791,-6.74577828219e-05,1793192865409405184
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.495368967,743,711,672,659.495368967,631,877,782,800,648.504631033,628.504631033,650,0.443269374244,-0.0156134776517,0.06960511519,0.999999780503,-0.000222691872476,-0.000620660026379,-6.46777399381e-05,1793192865426072064
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.929470996,742.929470996,711,672,660,631.070529004,877,782,800,648.070529004,628,650,0.443123657115,-0.015603753596,0.0696057489,0.999999782603,-0.000216222015092,-0.000619875746267,-6.1613298455e-05,1793192865442738688
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.354018959,742.354018959,711,672,660,631.645981041,877,782,800,648.645981041,628,650,0.442952544142,-0.0155972291502,0.0696120297407,0.999999788589,-0.000208646503901,-0.000613241962388,-5.67688656424e-05,1793192865459405312
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742.227221375,711.227221375,672,660,632,877.227221375,782.227221375,799.772778625,649,628,650,0.442768935786,-0.0155888291495,0.0696216501258,0.999999798269,-0.000200001424911,-0.000600675434309,-5.14831075187e-05,1793192865476071680
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742.817715767,711.817715767,672,660,632,877.817715767,782.817715767,799.182284233,649,628,650,0.442565350296,-0.0155774305826,0.0696366096484,0.99999981358,-0.000189646361695,-0.000578623857688,-4.54917754835e-05,1793192865492738304
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,743,712,672.400279897,660,632,878,782.599720103,799.400279897,649,628,650,0.442334178212,-0.015565598916,0.069649801277,0.999999826543,-0.000176165794341,-0.000560698285125,-3.86868064185e-05,1793192865509405184
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,743,712,672.979302859,660,632,878,782.020697141,799.979302859,649,628,650,0.442090687448,-0.0155535738498,0.0696622034623,0.999999838193,-0.000161289547191,-0.000544615157785,-3.15185111182e-05,1793192865526071808
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,743,712,673,660,632,877.444119606,782.555880394,800,649,628.555880394,650,0.441800972743,-0.015541196936,0.0696683224353,0.999999846544,-0.000145270811853,-0.000534042138886,-2.46520846846e-05,1793192865542738688
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,743,712,672.86835045,660,632,877,783,800,649,629,650,0.441503373042,-0.0155286984035,0.0696762172054,0.99999985841,-0.000114621139704,-0.000519363817648,-1.74369907724e-05,1793192865559405312
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,743,712,672.294989266,660,632,877,783,800,649,629,650,0.44118506669,-0.0155158355737,0.0696908516366,0.999999879185,-3.50237255954e-05,-0.000490226014495,-9.01449734751e-06,1793192865576071936
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,711.712240924,672.287759076,660,632,877.287759076,783,800,649,628.712240924,650,0.440835832094,-0.0155058364311,0.0697072962889,0.999999894003,9.39582495905e-06,-0.00046033238681,-5.68915516754e-08,1793192865592738560
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711.119545094,672.880454906,660,632,877.880454906,783,800,649,628.119545094,650,0.440453823022,-0.0154988719232,0.0697256592219,0.999999907524,1.65375768475e-05,-0.0004296378201,9.46776941557e-06,1793192865609405184
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,743,711.46086014,672.53913986,660,632,878,783,800.46086014,649,628,650,0.440026728388,-0.0154981962271,0.0697321363239,0.999999912644,3.03034764372e-05,-0.000416550764089,1.67257179879e-05,1793192865626071808
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.037947126,743,712,672.037947126,660.037947126,632,878,783,800.962052874,649,628,650,0.439583946783,-0.0154985577502,0.0697348250091,0.999999914983,4.34904647658e-05,-0.000409440021903,2.23797987622e-05,1793192865642738688
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.612025747,743,712,672.612025747,660.612025747,632,878,783,800.387974253,649,628,650,0.439080472909,-0.0154911246936,0.0697264176595,0.99999990975,2.48525402931e-05,-0.00042391241326,1.34651756486e-05,1793192865659405312
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.808563831,743,711.808563831,673,661,632,878,783,800,648.808563831,628.191436169,650,0.438570684647,-0.0154792737538,0.0697194954023,0.999999906143,2.48901984972e-05,-0.000432485529366,7.13574223962e-06,1793192865676071936
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.218038203,743,711.218038203,673,661,632,878,783,800,648.218038203,628.781961797,650,0.438047732759,-0.0154582127964,0.0697156691373,0.999999906024,6.3861087922e-05,-0.00042876034824,6.19568838265e-06,1793192865692738560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,711.365369166,672.634630834,661,632.365369166,877.634630834,783,800,648.365369166,628.634630834,650,0.437499306015,-0.0154336551823,0.0697273038811,0.999999913591,9.46140746593e-05,-0.000404759449385,5.94807606725e-06,1793192865709405440
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,743,711.944609866,672.055390134,661,632.944609866,877.055390134,783,800,648.944609866,628.055390134,650,0.436935967326,-0.0154070507725,0.0697479888399,0.999999924674,0.000120556655124,-0.000368890009041,6.10578941415e-06,1793192865726072064
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,743,712,672,661,633,877,783,800,649,628.519736914,650,0.436334436059,-0.0154040207115,0.0697772943457,0.999999934974,0.000140513792551,-0.00033190433084,1.21247999078e-05,1793192865742738688
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742.905542487,712,672.094457513,660.905542487,632.905542487,877,783,799.905542487,649,628.905542487,650,0.435718267889,-0.0154050266324,0.0698048061431,0.999999943579,0.000152457393566,-0.000298772824496,1.82499281297e-05,1793192865759405312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742.33067666,712,672.66932334,660.33067666,632.33067666,877,783,799.33067666,649,628.33067666,650,0.43504819555,-0.0154138817965,0.0698185593022,0.999999950863,0.000126863186413,-0.000285843801625,2.17627232548e-05,1793192865776071936
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742.515489128,711.515489128,671.484510872,661,632.484510872,877,783.484510872,799,649,628.515489128,650,0.427258795823,-0.0154068247528,0.0698104829871,0.999999941132,0.000168320075112,-0.000297586153858,2.91028914882e-05,1793192865942738432
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.062277961,711.062277961,672,660.937722039,632.937722039,877,783.937722039,799.062277961,649,628.062277961,650,0.426431878818,-0.0154096464411,0.0698645810454,0.999999960247,0.000171533718562,-0.000220863584483,3.60874052661e-05,1793192865959405056
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.638300133,711.638300133,672,660.361699867,632.361699867,877,783.361699867,799.638300133,649,628.638300133,650,0.425568373007,-0.015404022101,0.0698578528162,0.999999956124,0.000178850384822,-0.000233385919896,3.60009928936e-05,1793192865976071936
+309,5.150000000,POSE2_TO_POSE3_RETREAT,762.786809516,743,712,672,660,632.213190484,877,783,800,649,629,650,0.424698897292,-0.015399999117,0.0698461384738,0.999999950594,0.000184396563704,-0.000252205072356,3.4678230943e-05,1793192865992738816
+310,5.166666667,POSE2_TO_POSE3_RETREAT,762.213829311,743,712,672,660,632.786170689,877,783,800,649,629,650,0.42381934655,-0.0153986786528,0.0698260093457,0.999999942371,0.000186954789015,-0.000281651011867,3.12689505731e-05,1793192866009405440
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.721288314,712,671.721288314,660,633,877,783,799,649,628.721288314,650,0.418619987178,-0.0153952322774,0.0698527016415,0.999999951018,0.000193483562544,-0.00024336690303,3.60618877153e-05,1793192866109404928
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.126988712,712,671.126988712,660,633,877,783,799,649,628.126988712,650,0.417816050852,-0.0153971864239,0.0698873447301,0.999999961042,0.000197434977206,-0.000193140291747,4.04011317295e-05,1793192866126071552
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,877,783,799.970785533,648,628.970785533,650,0.416080199923,-0.0153886954716,0.0698232740298,0.99999993621,0.000200297779945,-0.000294002301923,3.19997383268e-05,1793192866159405312
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,877,783,799.39546679,648,628.39546679,650,0.415223787435,-0.0153877210282,0.0697991210958,0.999999929582,0.000197333535931,-0.000317928309436,2.85916506074e-05,1793192866176071936
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,876.816460945,783,799.183539055,648.183539055,628.183539055,650,0.414376412339,-0.0153852002251,0.0697737833883,0.999999917454,0.000196618095747,-0.00035464133358,2.57368851716e-05,1793192866192738304
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,876.229347765,783,799.770652235,648.770652235,628.770652235,650,0.413548909126,-0.0153792792153,0.0697458405477,0.999999891562,0.000200847428808,-0.000419471036547,2.40987904087e-05,1793192866209404928
+323,5.383333333,POSE2_TO_POSE3_RETREAT,762.645185731,742,712,671.354814269,660,633,876,783,799.645185731,648.645185731,628.645185731,650,0.412804205616,-0.0153784763967,0.0697581484268,0.999999899563,0.000204736415582,-0.000397884045839,2.54218288965e-05,1793192866226071552
+324,5.400000000,POSE2_TO_POSE3_RETREAT,762.062915571,742,712,671.937084429,660,633,876,783,799.062915571,648.062915571,628.062915571,650,0.412112581402,-0.0153809546267,0.069796259281,0.999999926385,0.000208407220494,-0.000320899093163,2.86431202385e-05,1793192866242738176
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.023754692,742,712,671.488122654,660,633,876,783,799,648.511877346,628,650,0.41145524662,-0.0153865572608,0.0698490084193,0.999999950844,0.000205053979382,-0.000234835772023,3.34230174114e-05,1793192866259405056
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.91396092,742.08603908,712,671.08603908,660,633,876.08603908,783,799,649,628,650,0.410791263058,-0.01539104695,0.0698922625883,0.999999965147,0.00020143554239,-0.000166520492755,3.74142017737e-05,1793192866276071680
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,743,712,671.757550236,660,633,877,783,799,649,628,650,0.409360819143,-0.0153823518338,0.0698399061035,0.999999944207,0.000204732588209,-0.000261933964075,3.25715990802e-05,1793192866309405440
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,876.4747857,783,799.4747857,649,628.5252143,650,0.404575121064,-0.0153746773618,0.0698210671874,0.999999928252,0.000228637273505,-0.000300745300328,2.78014902332e-05,1793192866459405056
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,712,670.206145829,660,632.206145829,876,783,799,648.206145829,628,650,0.403517844071,-0.0153752193012,0.0698505052939,0.999999942621,0.000230028622128,-0.000246945846921,2.93856489259e-05,1793192866509404928
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.62153565,633,876.37846435,783,799,649,628,650,0.402892065654,-0.0153722870506,0.0698314454182,0.999999934761,0.000230094936072,-0.000277140769006,2.69531934971e-05,1793192866542738432
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.040063557,633,876.959936443,783,799,649,628,650,0.402601666384,-0.0153709052333,0.069819019626,0.999999928133,0.00022967434566,-0.000300539623437,2.56730439585e-05,1793192866559405312
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.535288723,742,712,671,659,633,876.464711277,783,799,649,628.535288723,650,0.402363235811,-0.0153665531544,0.0698112627675,0.999999921772,0.000241221672785,-0.000312543793397,2.41916423158e-05,1793192866576071936
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.889893293,742.110106707,712,671,659,633,876,783,799.110106707,649,628.889893293,650,0.402137345163,-0.015363040943,0.06980485493,0.999999916468,0.000250276957611,-0.000322330599334,2.29745502976e-05,1793192866592738560
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.405478469,742,711.594521531,670.594521531,659,633,876,783,799.594521531,649,628,650,0.401288264495,-0.0153614940946,0.0698004159204,0.999999913738,0.000253818659312,-0.000328237344563,1.89716239854e-05,1793192866692738560
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,742,711.828168107,670.828168107,659,633,876,783,800,649,628,650,0.401207763013,-0.0153602301634,0.0697994074357,0.999999910662,0.000266928469515,-0.000327323399083,1.68445399905e-05,1793192866709405184
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711.237819373,670.237819373,659,633,876,783,800,649,628,650,0.401147593584,-0.0153585213027,0.0698028906586,0.99999991504,0.00026003466849,-0.000319463297773,1.56593940915e-05,1793192866726071808
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d5b2c40dc2243983da641a0944ce8e8b2f38424
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,391 @@
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+377,6.283333333,pose2_to_pose3_retreat,0.575709970449,-0.00994535381862,1.06002898164,0.546280699681,-0.00127262762866,1.05969827584
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..009274e0e531f5f620c0f11ea9cbebc2918503f1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3bdfb983ec4df09e2909020468cafe8e4cec3ccdec2a65f0c434cf6bc3824e1
+size 25108993
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5970bdc36f15a44b2ad0b49cd6a9bab543fd148
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/franka_data.csv
@@ -0,0 +1,396 @@
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+10,0.166666667,BASELINE,763,742,712,671,659,632.198725205,876,783,799,649,628,650,0.400942210685,-0.0153675602359,0.0698125927225,0.999999925798,0.000237275617834,-0.000303146621168,1.43425739062e-05,1793192867646262528
+11,0.183333333,BASELINE,763,742,711.615304052,671,659,632,876,783,799,649,628.384695948,650,0.400942275476,-0.0153672826416,0.0698129132764,0.999999925923,0.000237236504804,-0.000302767957966,1.43282140375e-05,1793192867662928896
+12,0.200000000,BASELINE,763,742,711.032528028,671,659,632,876,783,799,649,628.967471972,650,0.40094336771,-0.0153670358259,0.0698140585077,0.999999926674,0.000236253279458,-0.000301050233963,1.43026467894e-05,1793192867679595520
+13,0.216666667,BASELINE,763,742,711.540040651,671,659,632.540040651,876,783,799,649,629,650,0.400942725376,-0.0153673737616,0.0698137944721,0.999999926729,0.000235504215374,-0.000301457185277,1.42614914343e-05,1793192867696262400
+14,0.233333333,BASELINE,763,742,712,671.113367177,659,633,876,783,799.113367177,649,628.886632823,650,0.400942486023,-0.0153678194436,0.0698136359251,0.999999926766,0.000235084946544,-0.000301662919087,1.42660591172e-05,1793192867712929024
+15,0.250000000,BASELINE,763,742,712,671.692283966,659,633,876,783,799.692283966,649,628.307716034,650,0.40094432262,-0.0153685656383,0.0698142526886,0.999999926898,0.000235963157853,-0.00030052655333,1.44621755627e-05,1793192867729595648
+16,0.266666667,BASELINE,763,742,712,671.723329228,659,633,876.276670772,783.276670772,799.723329228,649,628,650,0.400944622458,-0.0153689411176,0.0698144254071,0.999999927005,0.000235633986374,-0.000300432736138,1.43957615936e-05,1793192867746262272
+17,0.283333333,BASELINE,763,742,712,671.132735941,659,633,876.867264059,783.867264059,799.132735941,649,628,650,0.400943178625,-0.0153688959673,0.0698140942932,0.999999927081,0.000233934866587,-0.000301521839296,1.40314693521e-05,1793192867762929152
+18,0.300000000,BASELINE,763,742,712,671,659,633,877,783.551151741,799,649,628.448848259,650,0.400942750061,-0.0153682535682,0.0698140462905,0.999999926846,0.000234437335616,-0.000301922290062,1.37961391959e-05,1793192867779595776
+19,0.316666667,BASELINE,763,742,712,670.972408825,659.027591175,633,877,783.027591175,799,649,629,650.027591175,0.400942622366,-0.0153675135872,0.0698140786305,0.999999926573,0.000235382807659,-0.000302098388786,1.36102860551e-05,1793192867796262144
+20,0.333333333,BASELINE,763,742,712,670.39821211,659.60178789,633,877,783.60178789,799,649,629,650.60178789,0.400942624161,-0.015368270607,0.0698140766326,0.999999927351,0.000232460156182,-0.000301785018957,1.3663947117e-05,1793192867812929024
+21,0.350000000,BASELINE,763,742,712,670.176458626,660,633,877,783.823541374,799.176458626,649,628.823541374,650.823541374,0.400942153993,-0.0153683791415,0.0698137119886,0.999999927538,0.000231179210732,-0.000302148761202,1.36487022953e-05,1793192867829595648
+22,0.366666667,BASELINE,763,742,712,670.752201881,660,633,877,783.247798119,799.752201881,649,628.247798119,650.247798119,0.400940615885,-0.0153670203054,0.0698125267615,0.9999999264,0.000233613062735,-0.00030404464987,1.34775395558e-05,1793192867846262272
+23,0.383333333,BASELINE,763,742.336594704,712,670.663405296,659.663405296,633,877,783,799.663405296,649,628,650,0.400939990701,-0.0153666588299,0.0698118377425,0.999999925874,0.000235134991474,-0.000304604470771,1.33880388673e-05,1793192867862928896
+24,0.400000000,BASELINE,763,742.927523274,712,670.072476726,659.072476726,633,877,783,799.072476726,649,628,650,0.400940055332,-0.0153670509688,0.0698115236626,0.999999925815,0.000235967863369,-0.000304154747523,1.33602427122e-05,1793192867879595520
+25,0.416666667,BASELINE,763,742.49189396,712,670.50810604,659.50810604,633,876.49189396,783,799,649,628,650,0.400941959241,-0.0153686649907,0.0698132820998,0.999999927214,0.000233104511451,-0.000301749410714,1.3484424772e-05,1793192867896262144
+26,0.433333333,BASELINE,763.086347748,742,712,671,660,633,876,783,799,649.086347748,628,650,0.40094375946,-0.0153699265254,0.0698149298998,0.999999928357,0.000230887134766,-0.00029965411198,1.36207192466e-05,1793192867912929024
+27,0.450000000,BASELINE,763.659544751,742,712,671,660,633,876,783,799,649.659544751,628,650,0.400943525346,-0.0153682375711,0.069814320354,0.999999926986,0.000235225264526,-0.000300848285741,1.37055180129e-05,1793192867929595648
+28,0.466666667,BASELINE,763.760812128,742,712,671,659.760812128,633,876,783,799,649.760812128,628,650,0.400944208497,-0.015368026415,0.0698144848564,0.999999926834,0.000236475756808,-0.000300360685709,1.39479305665e-05,1793192867946262528
+29,0.483333333,BASELINE,763.171739647,742,712,671,659.171739647,633,876,783,799,649.171739647,628,650,0.400946233426,-0.0153699769856,0.0698157816386,0.999999928475,0.000233209645102,-0.000297412982748,1.4420900952e-05,1793192867962928896
+30,0.500000000,BASELINE,763,742,712,671,659.410318303,633,876,783,799,649,628,650,0.400944924984,-0.0153692081172,0.0698154545482,0.999999927997,0.000233914212202,-0.000298482503147,1.41046619282e-05,1793192867979595776
+31,0.516666667,BASELINE,763,742,712,671,659.989489639,633,876,783,799,649,628,650,0.400942244803,-0.0153673201528,0.0698144592063,0.999999926639,0.00023625278194,-0.000301205180061,1.34636496592e-05,1793192867996262400
+32,0.533333333,BASELINE,763,742,712,671,659.435597447,633,876.564402553,783,799,649,628,650.564402553,0.400941786126,-0.0153683662634,0.0698139606339,0.999999926864,0.000235321408033,-0.000301171116312,1.38260527841e-05,1793192868012929024
+33,0.550000000,BASELINE,763,742,712,671,659.139465327,633,876.860534673,783,799,649,628.139465327,650.860534673,0.4009414787,-0.0153688365868,0.0698135949961,0.999999926866,0.000235102443997,-0.000301328654453,1.40287519014e-05,1793192868029595904
+34,0.566666667,BASELINE,763,742,712,671,659.715243052,633,876.284756948,783,799,649,628.715243052,650.284756948,0.400941516006,-0.0153673359247,0.0698136165152,0.999999926075,0.000237301305253,-0.000302245013565,1.36738027369e-05,1793192868046262528
+35,0.583333333,BASELINE,763.29790354,742,712,671,659.70209646,633,876.29790354,783,799,649,628.70209646,650,0.400941189403,-0.0153672794949,0.0698135282409,0.999999926098,0.00023685803482,-0.00030251928283,1.36035104233e-05,1793192868062929152
+36,0.600000000,BASELINE,763.88729872,742,712,671,659.11270128,633,876.88729872,783,799,649,628.11270128,650,0.400940506722,-0.0153686362124,0.0698133325363,0.999999926915,0.000233829500647,-0.000302165282319,1.38117481321e-05,1793192868079595520
+37,0.616666667,BASELINE,763.531083419,742.468916581,712,671,659,633,877,783,799,649,628,650,0.400941910782,-0.015368068428,0.069814107981,0.999999927037,0.000234994836285,-0.000300854992074,1.37420576699e-05,1793192868096262144
+38,0.633333333,BASELINE,763.048382469,742.951617531,711.951617531,671,659.048382469,633,876.951617531,783,799.048382469,649,628,650,0.400943551074,-0.0153671926866,0.0698149548294,0.999999927003,0.000236768580757,-0.000299580781228,1.36327882456e-05,1793192868112928768
+39,0.650000000,BASELINE,763.624432553,742.375567447,711.375567447,671,659.624432553,633,876.375567447,783,799.624432553,649,628,650,0.40094238716,-0.0153679205773,0.0698140763424,0.999999927091,0.000234363982116,-0.000301165819543,1.38084924527e-05,1793192868129595392
+40,0.666666667,BASELINE,763.796081673,742.203918327,711.203918327,671,659.796081673,633,876,783,799.796081673,648.796081673,628,650,0.400941705079,-0.0153684658863,0.0698136677691,0.999999927276,0.000232795065865,-0.000301766807435,1.38455273366e-05,1793192868146262272
+41,0.683333333,BASELINE,763.210159801,742.789840199,711.789840199,671,659.210159801,633,876,783,799.210159801,648.210159801,628,650,0.400941925624,-0.0153686691619,0.0698141394926,0.999999927654,0.00023279164729,-0.000300524357447,1.36227906936e-05,1793192868162929152
+42,0.700000000,BASELINE,763,742.626245185,712,671,659.373754815,633,876.373754815,783,799.373754815,648.373754815,628,650,0.400942000219,-0.0153686436817,0.0698139558927,0.999999927697,0.000232608987242,-0.000300523229184,1.35679200338e-05,1793192868179596032
+43,0.716666667,BASELINE,763,742.043453224,712,671,659.956546776,633,876.956546776,783,799.956546776,648.956546776,628,650,0.400941993186,-0.0153684902609,0.0698134057771,0.999999927554,0.000232326079321,-0.000301216359173,1.36069350638e-05,1793192868196262656
+44,0.733333333,BASELINE,763,742,712,670.468269874,660.531730126,633,877,783,800,649,628,650,0.40094229152,-0.0153683473189,0.0698140534114,0.999999927254,0.00023415312882,-0.000300778912366,1.39887242244e-05,1793192868212929280
+45,0.750000000,BASELINE,763,742.106617681,711.893382319,670.106617681,660.893382319,633,877,783,799.893382319,648.893382319,628,650,0.400942659947,-0.0153684100125,0.0698147061808,0.999999927127,0.000235370088683,-0.000300236922074,1.42845871512e-05,1793192868229595904
+46,0.766666667,BASELINE,763,742.682902441,711.317097559,670.682902441,660.317097559,633,877,783,799.317097559,648.317097559,628,650,0.400943228771,-0.0153693748434,0.0698149564744,0.99999992783,0.000233150660215,-0.000299635657822,1.40802770296e-05,1793192868246262272
+47,0.783333333,BASELINE,763,743,711.264299579,671,659.735700421,633,876.735700421,783,799.264299579,648.264299579,628.264299579,650,0.400942934419,-0.0153696058153,0.0698146899011,0.999999927879,0.000232583954495,-0.000299924243544,1.3880176764e-05,1793192868262928896
+48,0.800000000,BASELINE,763,743,711.851951437,671,659.148048563,633,876.148048563,783,799.851951437,648.851951437,628.851951437,650,0.40094158403,-0.0153689389618,0.0698137909768,0.999999927128,0.000234039240599,-0.000301301499161,1.36852269394e-05,1793192868279595520
+49,0.816666667,BASELINE,763,742.565412545,712,671,659,633,876,783,799.565412545,649,628.565412545,650,0.400940394974,-0.0153684739603,0.0698131208353,0.9999999267,0.000234638273769,-0.000302266168787,1.33882103043e-05,1793192868296262400
+50,0.833333333,BASELINE,763.01533949,742,712,671.01533949,659,632.98466051,876.01533949,783,799,649,628.01533949,650,0.400939323982,-0.0153680451062,0.0698125708422,0.999999926391,0.000234999213289,-0.000303024095234,1.30651288102e-05,1793192868312929280
+51,0.850000000,BASELINE,763.589003981,742,712,671.589003981,659,632.410996019,876.589003981,783,799,649,628.589003981,650,0.40094057261,-0.015366457633,0.06981358958,0.99999992639,0.000237189991715,-0.000301314485668,1.30444751978e-05,1793192868329595904
+52,0.866666667,BASELINE,763.836797599,742.163202401,712,671.836797599,659,632.163202401,876.836797599,783,799,649,628.836797599,650,0.400941685863,-0.015365629493,0.0698142987765,0.999999926427,0.000238680175568,-0.000300010480904,1.30799889973e-05,1793192868346262528
+53,0.883333333,BASELINE,763.261250197,742.738749803,712,671.261250197,659,632.738749803,876.261250197,783,799,649,628.261250197,650,0.400942457075,-0.0153667198741,0.0698142258899,0.999999926575,0.000238400246422,-0.000299731271915,1.32574146294e-05,1793192868362929152
+54,0.900000000,BASELINE,763,743,712,671,659,633,876.32431828,783,799,649,628.32431828,650,0.400942853956,-0.0153673731284,0.0698145362286,0.99999992707,0.00023646013234,-0.000299619882282,1.31860359758e-05,1793192868379595520
+55,0.916666667,BASELINE,763,743,712,671,659,633,876.918216447,783,799,649,628.918216447,650,0.400942939687,-0.0153676630341,0.0698151651118,0.999999927845,0.000233140039111,-0.000299647987489,1.29078461793e-05,1793192868396262144
+56,0.933333333,BASELINE,763,742.502749149,712,671,659.497250851,633,877,783,799,649,628.502749149,650,0.400942019974,-0.0153683902696,0.0698140545261,0.999999927223,0.000234479924954,-0.000300653437592,1.34353681302e-05,1793192868412929024
+57,0.950000000,BASELINE,763,742,712,671,659.926574061,632.926574061,877,782.926574061,798.926574061,649,628.073425939,650,0.400941304948,-0.0153691517416,0.0698129940456,0.999999926614,0.000236038657401,-0.000301433925486,1.39867673462e-05,1793192868429595648
+58,0.966666667,BASELINE,763,742,712,671,659.353702359,632.353702359,877,782.353702359,798.353702359,649,628.646297641,650,0.400943074397,-0.0153696710334,0.0698141639164,0.999999927634,0.000234023997315,-0.000299622552068,1.38253600395e-05,1793192868446262272
+59,0.983333333,BASELINE,763,742,712,671,659.225764422,632.225764422,876.774235578,782.225764422,798.225764422,649,628.774235578,650.225764422,0.400943741389,-0.0153701268006,0.0698146890008,0.99999992827,0.000232172348034,-0.000298945773451,1.37146407211e-05,1793192868462929152
+60,1.000000000,BASELINE,763,742,712,671,659.81587464,632.81587464,876.18412536,782.81587464,798.81587464,649,628.18412536,650.81587464,0.400942629199,-0.0153704800498,0.0698141735084,0.999999928292,0.000230583770454,-0.000300100039694,1.36857232638e-05,1793192868479595776
+61,1.016666667,BASELINE,763.399168581,742,711.600831419,671,659.600831419,633,876.399168581,783,799.399168581,649,628,650.600831419,0.400941948056,-0.0153692815709,0.0698138376455,0.999999927789,0.000231882390385,-0.000300784768209,1.34868157547e-05,1793192868496262400
+62,1.033333333,BASELINE,763.979371118,742,711.020628882,671,659.020628882,633,876.979371118,783,799.979371118,649,628,650.020628882,0.400941462405,-0.0153673793406,0.0698135832496,0.999999927042,0.000234490434075,-0.000301256548351,1.32108130726e-05,1793192868512929024
+63,1.050000000,BASELINE,764,742,711.556246274,671,659,633,877,783,799.443753726,649,628.556246274,650,0.400942744518,-0.0153684994382,0.0698143425361,0.999999927761,0.000233081100038,-0.000299959003687,1.3249650588e-05,1793192868529595648
+64,1.066666667,BASELINE,763.86513687,742.13486313,712,671,659,633,877,783,799,649,628.86513687,650,0.400943712712,-0.0153694438346,0.0698148252266,0.999999928265,0.000232106147851,-0.000299031849264,1.33103325222e-05,1793192868546262272
+65,1.083333333,BASELINE,763.280299546,742.719700454,712,671,659,633,877,783,799,649,628.280299546,650,0.400943416068,-0.0153694302465,0.0698142603625,0.999999927881,0.000233074667834,-0.000299558141995,1.34051728719e-05,1793192868562928896
+66,1.100000000,BASELINE,763,743,712,671,659,633,876.698213071,783,799,649,628,650,0.400943620957,-0.0153687598564,0.0698143403579,0.99999992784,0.000233806710114,-0.000299121892419,1.3421588462e-05,1793192868579595520
+67,1.116666667,BASELINE,763,743,712,671,659,633,876.118658538,783,799,649,628,650,0.400944287463,-0.0153674849394,0.0698150138881,0.999999928115,0.000234321095977,-0.000297799709575,1.33658211408e-05,1793192868596262400
+68,1.133333333,BASELINE,763,742.541852441,712,671.458147559,659.458147559,633,876.916295118,783,799.458147559,648.541852441,628.458147559,650,0.400943550675,-0.0153684617813,0.0698151326503,0.999999928241,0.000233244078279,-0.000298212730688,1.3574951568e-05,1793192868612929024
+69,1.150000000,BASELINE,763.03424267,742,712,671.96575733,660,632.96575733,877.96575733,783,799.96575733,648.03424267,628.96575733,650.03424267,0.400942604219,-0.0153699301972,0.0698151614532,0.999999928356,0.000231844995003,-0.000298907350457,1.38270102985e-05,1793192868629595648
+70,1.166666667,BASELINE,763.610283377,742,712,671.389716623,660,632.389716623,877.389716623,783,799.389716623,648.610283377,628.389716623,650.610283377,0.400944056626,-0.0153700039465,0.0698160267312,0.999999928932,0.000231832647705,-0.000296989186517,1.36792371266e-05,1793192868646262272
+71,1.183333333,BASELINE,764,742,711.809361565,671,659.809361565,632.190638435,877.190638435,783,799.190638435,649,628,650.809361565,0.400944548293,-0.015369849424,0.0698163440031,0.999999929036,0.000232325077069,-0.000296258071337,1.35737193075e-05,1793192868662928896
+72,1.200000000,BASELINE,764,742,711.219982476,671,659.219982476,632.780017524,877.780017524,783,799.780017524,649,628,650.219982476,0.400943030469,-0.0153692174467,0.0698155150621,0.999999928155,0.000233873300752,-0.00029800979511,1.35565830455e-05,1793192868679595520
+73,1.216666667,BASELINE,763.635163795,742,711.364836205,671,659,633,877.635163795,783,799.635163795,649,628.364836205,650,0.400941594935,-0.0153687152106,0.069814559873,0.999999927515,0.000234098451843,-0.000299978657212,1.34309486166e-05,1793192868696262144
+74,1.233333333,BASELINE,763.053060958,742,711.946939042,671,659,633,877.053060958,783,799.053060958,649,628.946939042,650,0.400940208406,-0.0153682902378,0.069813529501,0.999999927018,0.00023353568891,-0.000302076829052,1.32407015458e-05,1793192868712929024
+75,1.250000000,BASELINE,763,742,712,671,659.521261809,633,877,783.521261809,798.478738191,649,629,650,0.400941698568,-0.0153699059168,0.0698140797465,0.999999927567,0.000233479665095,-0.000300275607913,1.36868031743e-05,1793192868729595648
+76,1.266666667,BASELINE,763.094782465,742,712,671,659.905217535,633,876.905217535,783.905217535,798.094782465,649,628.905217535,650,0.400943124128,-0.0153712540725,0.069814720255,0.999999928074,0.000233568391305,-0.000298496112783,1.40819167423e-05,1793192868746262528
+77,1.283333333,BASELINE,763.668193028,742,712,671,659.331806972,633,876.331806972,783.331806972,798.668193028,649,628.331806972,650,0.400942766502,-0.0153702177695,0.0698150160309,0.999999927854,0.000234131420447,-0.000298801261095,1.38972605125e-05,1793192868762929152
+78,1.300000000,BASELINE,763.74949976,742,712,671,659,633,876,783,799,649,628.25050024,650,0.400942266382,-0.015369793891,0.0698147805393,0.999999927613,0.000234401943761,-0.000299402464002,1.37295296492e-05,1793192868779595520
+79,1.316666667,BASELINE,763.154974362,742,712,671,659,633,876,783,799,649,628.845025638,650,0.400941570569,-0.0153702110877,0.0698138154303,0.999999927343,0.000234270753384,-0.000300410254235,1.35850432978e-05,1793192868796262144
+80,1.333333333,BASELINE,763,742,712,671,659.426769444,633,876.426769444,783,799,648.573230556,629,650.426769444,0.400941880345,-0.0153701615385,0.0698143268433,0.999999927555,0.000233907222236,-0.00029998795443,1.35710027666e-05,1793192868812928768
+81,1.350000000,BASELINE,763.003994426,742,712,670.996005574,659.996005574,633,876.996005574,783.003994426,799,648.003994426,628.996005574,650.996005574,0.400942540752,-0.0153699537939,0.0698153474318,0.999999927934,0.000233462365076,-0.000299069616543,1.36035580372e-05,1793192868829595648
+82,1.366666667,BASELINE,763.579444114,742,712,670.420555886,659.420555886,633,876.420555886,783.579444114,799,648.579444114,628.420555886,650.420555886,0.400942641255,-0.0153706569634,0.0698147359221,0.999999927941,0.000233102114075,-0.000299320800669,1.3722518681e-05,1793192868846262272
+83,1.383333333,BASELINE,763.841756485,742,712,670.158243515,659,633,876,783.841756485,799,649,628,650.158243515,0.400942251941,-0.0153712686107,0.0698141225794,0.999999927897,0.000232598657212,-0.000299856203061,1.37774156662e-05,1793192868862928896
+84,1.400000000,BASELINE,763.253862061,742,712,670.746137939,659,633,876,783.253862061,799,649,628,650.746137939,0.400940532717,-0.0153716317644,0.0698135042597,0.999999927713,0.000231706378465,-0.000301163293599,1.36583718431e-05,1793192868879595520
+85,1.416666667,BASELINE,763,742,712,671,659.329237899,632.670762101,876,783,799,649,628,650.670762101,0.400941264589,-0.0153715542327,0.0698142229302,0.99999992803,0.000231432947119,-0.000300320533311,1.36612005894e-05,1793192868896262400
+86,1.433333333,BASELINE,763,742,712,671,659.908694068,632.091305932,876,783,799,649,628,650.091305932,0.400943859276,-0.0153711417834,0.0698159577031,0.999999928724,0.000231629835088,-0.00029784390286,1.37566515573e-05,1793192868912929280
+87,1.450000000,BASELINE,763,742,712,671,659.515111556,632.484888444,876.484888444,783,799.484888444,649,628,650,0.400943105409,-0.0153697834113,0.0698153383484,0.999999928247,0.000232725790016,-0.000298595011941,1.36333728453e-05,1793192868929595904
+88,1.466666667,BASELINE,763,742,712,671,659,632.93974002,877,783,799.93974002,649,628,650,0.400941953336,-0.0153684942169,0.0698144452242,0.999999927659,0.000233800579947,-0.000299729539394,1.34985107601e-05,1793192868946262528
+89,1.483333333,BASELINE,763,742,712,671,659,632.36618059,877,783,799.36618059,649,628,650,0.400942744439,-0.015369301387,0.0698149708509,0.999999928005,0.000233262635178,-0.000298987420031,1.36134743175e-05,1793192868962928896
+90,1.500000000,BASELINE,763,742,712,671,659.214015342,632.214015342,876.785984658,783,799,649,628,650,0.400942518623,-0.0153699712855,0.0698149456227,0.999999928097,0.000232610876323,-0.000299186114993,1.36470875559e-05,1793192868979595520
+91,1.516666667,BASELINE,763,742,712,671,659.80592966,632.80592966,876.19407034,783,799,649,628,650,0.400940497178,-0.0153703987959,0.069813947719,0.999999927738,0.000231758149564,-0.000301046059016,1.353705593e-05,1793192868996262400
+92,1.533333333,BASELINE,763,742,711.610754218,671.389245782,659.610754218,633,876.389245782,783,799,649,628,650.389245782,0.400940938011,-0.0153701664346,0.0698141003374,0.999999927963,0.000231227605544,-0.000300715766242,1.33230235496e-05,1793192869012928768
+93,1.550000000,BASELINE,763,742,711.031632288,671.968367712,659.031632288,633,876.968367712,783,799,649,628,650.968367712,0.400942579955,-0.0153696121844,0.0698148141866,0.999999928473,0.00023085422389,-0.000299317064562,1.30582590424e-05,1793192869029595392
+94,1.566666667,BASELINE,763,742.540331886,711,671.459668114,659,633,876.459668114,783,799,649,628.540331886,650.459668114,0.400943312602,-0.0153690238507,0.0698149322046,0.999999928297,0.000232005757141,-0.000299014668218,1.298412508e-05,1793192869046262016
+95,1.583333333,BASELINE,763,742.884482146,711.115517854,671,659,632.884482146,876.115517854,783,799,648.884482146,628.884482146,650.115517854,0.400943538338,-0.0153684719676,0.0698148733089,0.999999928011,0.000233274287606,-0.000298988493687,1.29544587562e-05,1793192869062928896
+96,1.600000000,BASELINE,763,742.294360206,711.705639794,671,659,632.294360206,876.705639794,783,799,648.294360206,628.294360206,650.705639794,0.400941897283,-0.0153680779319,0.0698142290014,0.999999927431,0.000234661522066,-0.000299836937246,1.30622361721e-05,1793192869079595520
+97,1.616666667,BASELINE,763.290418735,742,712,671,659.290418735,632.290418735,876.709581265,783,799,648,628.290418735,650.709581265,0.400942025646,-0.0153685121203,0.0698144155787,0.999999927417,0.000235094917275,-0.000299529282678,1.33418446683e-05,1793192869096262400
+98,1.633333333,BASELINE,763.86987996,742,712,671,659.86987996,632.86987996,876.13012004,783,799,648,628.86987996,650.13012004,0.400943915043,-0.0153697706077,0.0698154291033,0.999999927968,0.000234578993227,-0.000298071008477,1.37924699607e-05,1793192869112929280
+99,1.650000000,BASELINE,763.551559641,742,711.551559641,670.551559641,659.551559641,633,876.448440359,783,799,648.448440359,629,650,0.400943153367,-0.0153697202928,0.0698150396869,0.999999927838,0.000234009286222,-0.000298958960675,1.3645615105e-05,1793192869129595648
+100,1.666666667,BASELINE,763,742,711.026550848,670.026550848,659.026550848,633,876.973449152,783,799.026550848,649,628.973449152,650.026550848,0.400941689489,-0.0153693397439,0.0698142712659,0.999999927539,0.000233376799796,-0.000300465807977,1.33265377885e-05,1793192869146262272
+101,1.683333333,BASELINE,763,742,711.600762024,670.600762024,659.600762024,633,876.399237976,783,799.600762024,649,628.399237976,650.600762024,0.400941576529,-0.0153699651319,0.0698140650996,0.999999927839,0.000231770623322,-0.000300724232364,1.30238711063e-05,1793192869162929152
+102,1.700000000,BASELINE,763,742,712,671,659.819681438,633,876,783,799.819681438,649,628.180318562,650.819681438,0.400941570826,-0.015370564866,0.0698140109111,0.999999928141,0.00023057115217,-0.000300643938325,1.29669770233e-05,1793192869179595520
+103,1.716666667,BASELINE,763,742,712,671,659.227928418,633,876,783,799.227928418,649,628.772071582,650.227928418,0.400941809853,-0.0153711060654,0.069814303492,0.999999928453,0.000230299664362,-0.000299790787428,1.34708644936e-05,1793192869196262144
+104,1.733333333,BASELINE,763,742,712,671,659,633,876.354737033,783,799.354737033,649,628.645262967,650,0.400941631302,-0.0153707190252,0.0698143866187,0.999999928162,0.000231544573073,-0.000299797984716,1.35614587004e-05,1793192869212929024
+105,1.750000000,BASELINE,763,742,712,671,659,633,876.931709371,783,799.931709371,649,628.068290629,650,0.400941191147,-0.0153697504624,0.069814338527,0.99999992749,0.000233739472338,-0.000300344171997,1.33931334035e-05,1793192869229595648
+106,1.766666667,BASELINE,763,742,711.49265967,671,659.50734033,633,876.49265967,783,800,648.49265967,628,650,0.400942601886,-0.0153692924779,0.0698154380709,0.999999928041,0.000233688795941,-0.000298537718549,1.35132130338e-05,1793192869246262528
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876,783,799,649,628,651,0.40094447003,-0.0153700153895,0.0698158459712,0.999999928773,0.00023189130005,-0.000297503312024,1.30898328021e-05,1793192869288920832
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.580594397,742,712,671,659.580594397,633,876,783,799,648.419405603,628,651,0.400941914897,-0.0153697995886,0.0698142940903,0.999999928099,0.000231282408375,-0.000300238442992,1.29037434376e-05,1793192869305587200
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.840044897,742,712,671,660,633,876,783,799,648,628,650.840044897,0.400940578387,-0.0153699314173,0.069813593468,0.999999927685,0.000231366896304,-0.000301549465376,1.29605002569e-05,1793192869322254080
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.26389407,742,712,671,660,633,876,783,799,648,628,650.26389407,0.400942412677,-0.0153709677616,0.0698151077805,0.999999927956,0.000233255525519,-0.000299155024187,1.36491314885e-05,1793192869338920704
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.687581794,633,876,783,799.312418206,648.312418206,628.312418206,650,0.400943927488,-0.0153704419812,0.0698158375115,0.999999928095,0.000234657490987,-0.000297586256411,1.37264564599e-05,1793192869355587328
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.111133108,633,876,783,799.888866892,648.888866892,628.888866892,650,0.400945172301,-0.0153685960198,0.0698159041779,0.999999928127,0.000235648167695,-0.000296715280851,1.32871550169e-05,1793192869372253952
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742.474741423,712,671,659.474741423,633,876,783,799.525258577,649,629,650.474741423,0.400945782738,-0.0153698239115,0.0698169042976,0.999999928487,0.000235100484448,-0.000295914576721,1.37048386116e-05,1793192869388920320
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742.937775298,712,670.937775298,659.937775298,633,876.062224702,783,799,649,628.937775298,650.937775298,0.400947466157,-0.0153717004571,0.0698184876874,0.99999992923,0.000233952686584,-0.000294281601461,1.42852485226e-05,1793192869405586944
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742.355659815,712,670.355659815,659.355659815,633,876.644340185,783,799,649,628.355659815,650.355659815,0.400959380273,-0.0153728627602,0.069823081653,0.999999932476,0.000230860649105,-0.000285554730847,1.45151579509e-05,1793192869422253568
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.223138668,742,712,670.223138668,659,633,877,783,799.223138668,649,628,650,0.400979006794,-0.0153741423393,0.0698312273342,0.999999936833,0.000229213869603,-0.000271230878061,1.51186294941e-05,1793192869438920448
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.796727584,742,712,670.796727584,659,633,877,783,799.796727584,649,628,650,0.401010746025,-0.015375606106,0.0698449511592,0.999999942674,0.00022983693903,-0.00024811669039,1.63087986764e-05,1793192869455587072
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.37071184,633,876.62928816,783,799.62928816,649,628,650,0.401059948631,-0.0153769003872,0.0698628417204,0.999999949512,0.000231327051705,-0.000217156521723,1.75222691591e-05,1793192869472253696
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.944913159,633,876.055086841,783,799.055086841,649,628,650,0.401118737158,-0.0153781016354,0.0698830194689,0.99999995607,0.000233293097735,-0.000181889570069,1.8748530183e-05,1793192869488920576
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.463394797,742,712,670.463394797,660,633,876,783,799,648.463394797,628.536605203,650,0.401180015171,-0.0153826960708,0.0698911103544,0.999999958439,0.000227330913161,-0.000176379865205,1.82323770245e-05,1793192869505587200
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,712,670.126405817,659.873594183,633,876,783.126405817,799.126405817,648.126405817,629,650,0.40124619834,-0.0153869991914,0.0698970278946,0.999999959965,0.000222781134233,-0.00017360110823,1.73407338245e-05,1793192869522253824
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,712,670.702864108,659.297135892,633,876,783.702864108,799.702864108,648.702864108,629,650,0.401328905171,-0.0153889831203,0.069899774121,0.999999959948,0.000226255466807,-0.000169302780859,1.57705166706e-05,1793192869538920448
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.278242224,633,876.278242224,783.721757776,799.721757776,649,629,650,0.401423250974,-0.0153925880644,0.069901690156,0.999999960619,0.000225544903031,-0.00016646996076,1.33798532948e-05,1793192869555587072
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.852471245,633,876.852471245,783.147528755,799.147528755,649,629,650,0.401529978006,-0.015397917402,0.0699027230551,0.99999996202,0.000220382555813,-0.000165196109207,1.01164207904e-05,1793192869572253696
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.561914984,632.561914984,877,783,799,649,628.561914984,650,0.401653341061,-0.0154040069941,0.0699018692153,0.999999962749,0.000216019554463,-0.000166712300369,6.65617121838e-06,1793192869588920320
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.0271672,742.0271672,712,671,659,632.0271672,876.9728328,783,799,649,628.0271672,650,0.401784405975,-0.0154103443757,0.0699006018605,0.999999963326,0.00021179102426,-0.000168768360786,3.06732589284e-06,1793192869605586944
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.606737822,742.606737822,712,671,659,632.606737822,876.393262178,783,799,649,628.606737822,650,0.401955122547,-0.0154163754709,0.0699041903891,0.9999999659,0.000204677227762,-0.000162187388624,-1.75266289299e-06,1793192869622253824
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.815172122,712,671,659.184827878,633,876.184827878,783,799,649,629,650,0.402138207916,-0.0154238151273,0.0699075847956,0.999999968668,0.000196023135245,-0.00015554781043,-6.58305290794e-06,1793192869638920448
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.240207335,712,671,659.759792665,633,876.759792665,783,799,649,629,650,0.40234740147,-0.0154342279907,0.0699105694466,0.999999971917,0.000184117768267,-0.000148784526762,-1.14353973518e-05,1793192869655587072
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.657923802,742.342076198,712,671,659.657923802,633,877,783,799.342076198,649,628.657923802,650,0.402574343737,-0.015443297771,0.0699144888546,0.999999975589,0.000169711070497,-0.000140477922502,-1.69185319748e-05,1793192869672253952
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.070388596,742.929611404,712,671,659.070388596,633,877,783,799.929611404,649,628.070388596,650,0.402814021729,-0.0154514038141,0.0699190790039,0.999999979367,0.000153509525233,-0.000131063897754,-2.28542947036e-05,1793192869688920320
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742.490240981,712,671,659,633,877,783,800.509759019,649,628,650.509759019,0.403096890013,-0.0154625347653,0.0699262578958,0.999999989769,7.8403112511e-05,-0.000116329427013,-2.79588187424e-05,1793192869705586944
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.088946042,742,712,671,659.088946042,632.911053958,877,783,800.822107916,649,628,651,0.403391580201,-0.0154737697418,0.0699333367295,0.999999994198,1.33261272264e-05,-0.000102255489422,-3.11427335601e-05,1793192869722253568
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.668381053,742,712,671,659.668381053,632.331618947,877,783,799.663237895,649,628,651,0.403719044524,-0.0154833079608,0.0699379207667,0.999999993972,4.77681711559e-05,-9.58173976623e-05,-2.43594405306e-05,1793192869738920192
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.244719638,876.755280362,783,799.244719638,649,628.244719638,650.755280362,0.404064510224,-0.0154911964516,0.0699423842925,0.999999993954,5.80423741487e-05,-9.07862406588e-05,-2.19104774429e-05,1793192869755587072
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.81691466,876.18308534,783,799.81691466,649,628.81691466,650.18308534,0.404434064725,-0.0154968773325,0.0699466865537,0.999999995194,3.59760035265e-05,-8.76377957251e-05,-2.52615656956e-05,1793192869772253696
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.605765859,742,712,671,659.605765859,633,876.394234141,783,800,649,628.605765859,650,0.404835534176,-0.0154956713041,0.069952261035,0.999999996171,3.11070598662e-05,-7.71982023977e-05,-2.70434901539e-05,1793192869788920320
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.026035216,742,712,671,659.026035216,633,876.973964784,783,800,649,628.026035216,650,0.405252020356,-0.0154912248215,0.0699584341259,0.999999997011,3.43299136447e-05,-6.33279511025e-05,-2.80870857761e-05,1793192869805586688
+139,2.316666667,POSE1_TO_POSE2_PRESS,762.437148898,742,712,670.437148898,659.562851102,633,877,783,800,649,628,650,0.405674447107,-0.015497443794,0.0699525656462,0.999999996596,3.00382364266e-05,-7.2054239273e-05,-2.67086057784e-05,1793192869822253568
+140,2.333333333,POSE1_TO_POSE2_PRESS,762.149389077,742,712,670.149389077,660,633,877,782.850610923,799.850610923,648.850610923,628.149389077,650,0.406108198706,-0.0155056716153,0.0699426330333,0.999999995532,2.11734089199e-05,-8.82586119198e-05,-2.64398299902e-05,1793192869838920192
+141,2.350000000,POSE1_TO_POSE2_PRESS,762.727943855,742,712,670.727943855,660,633,877,782.272056145,799.272056145,648.272056145,628.727943855,650,0.40657368185,-0.0155182297589,0.0699226515543,0.999999992008,1.85888209338e-07,-0.000122893683647,-2.96861963466e-05,1793192869855586560
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742,711.700346006,670.700346006,660,633,876.700346006,782.299653994,799,648,628.700346006,650,0.407082338518,-0.0155245768489,0.0699118349143,0.999999990111,-1.42377623378e-05,-0.000136120902416,-3.23346106434e-05,1793192869872253696
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,711.134711281,670.134711281,660,633,876.134711281,782.865288719,799,648,628.134711281,650,0.40762931719,-0.0155254108466,0.0699091532232,0.999999990651,-2.28351522657e-05,-0.00013034595449,-3.44522674355e-05,1793192869888920576
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,711.454758676,670.454758676,660,632.545241324,876.454758676,783.454758676,799.454758676,648.454758676,628,650.454758676,0.408217101791,-0.0155215276127,0.0699188394609,0.99999999338,-2.0911655955e-05,-0.000107230192064,-3.61182107155e-05,1793192869905587200
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.050002096,742,712,671.050002096,660,632.050002096,877,783.949997904,799.949997904,649,628,651,0.408817703685,-0.0155162920047,0.069931035733,0.999999995897,-1.57606636261e-05,-8.08784500811e-05,-3.7625333693e-05,1793192869922253824
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.627545711,742,712,671.627545711,660,632.627545711,877,783.372454289,799.372454289,649,628,651,0.40941894874,-0.0155123465242,0.0699289223921,0.999999996169,-1.12579429393e-05,-7.75787028008e-05,-3.89466675073e-05,1793192869938920704
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.79578302,742,712,671.79578302,660,633,877,783,799,649,628,650.79578302,0.410033944153,-0.0155115076829,0.0699266139061,0.999999996004,-1.06032816756e-05,-7.9188781605e-05,-4.01079284878e-05,1793192869955587328
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.220696018,742,712,671.220696018,660,633,877,783,799,649,628,650.220696018,0.410673910988,-0.0155163106812,0.0699239510253,0.999999994993,-1.6936922472e-05,-8.97153929756e-05,-4.09784877248e-05,1793192869972253696
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742.36119319,712,671,660,633,877,783,799.36119319,649,628,650,0.411357240361,-0.0155200904389,0.069932485905,0.999999996006,-2.5764372543e-05,-7.45394063738e-05,-4.20577447934e-05,1793192869988920576
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742.947318431,712,671,660,633,877,783,799.947318431,649,628,650,0.41206757361,-0.0155232329764,0.0699479941591,0.999999997471,-3.61448351223e-05,-4.33571981639e-05,-4.32669677877e-05,1793192870005587712
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742.467538115,712,671,660.532461885,633,877,783.532461885,799.467538115,648.467538115,628,650,0.41283142152,-0.0155276549601,0.0699805254818,0.999999998689,-3.15511833215e-05,6.07087488568e-06,-3.98625291372e-05,1793192870022254080
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660.885798797,633,877,783.885798797,799,648.114201203,628.114201203,650,0.41358720602,-0.0155308173276,0.0700050489751,0.999999998048,-2.82531907266e-05,4.13901788063e-05,-3.7326137567e-05,1793192870038920448
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660.317218108,633,877,783.317218108,799,648.682781892,628.682781892,650,0.414289880261,-0.0155284652433,0.0699910222864,0.99999999846,-3.59941396114e-05,1.34046282711e-05,-4.00563591834e-05,1793192870055587072
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.256386515,712,671.256386515,660,633,877,783,799,649,628.743613485,650,0.414997441596,-0.0155249472552,0.0699571874343,0.99999999715,-3.94885150997e-05,-4.60938578013e-05,-4.48923909699e-05,1793192870072254208
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742.836331393,712,671.836331393,660,633,877,783,799,649,628.163668607,650,0.41571117051,-0.0155199579027,0.0698983547876,0.999999987355,-3.76237392708e-05,-0.000145361497694,-5.23859436298e-05,1793192870088920832
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660.425468316,633,877,783,799,649,628,650,0.41651077527,-0.0155209878282,0.0698912238835,0.999999985459,-4.01796369404e-05,-0.000156376830224,-5.48986924528e-05,1793192870105587456
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660.9822301,633,877,783,799.0177699,649,628,650,0.417344346963,-0.0155244170832,0.0699050906364,0.999999988798,-4.45593385496e-05,-0.00013174309204,-5.53433127506e-05,1793192870122253824
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,743,712,672,660.404098975,633,877,783,799.595901025,649,628,650,0.418184317513,-0.01552887788,0.0699400830426,0.999999994323,-5.16419860052e-05,-7.71314489423e-05,-5.23251265851e-05,1793192870138920448
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660,633,877,783.172874235,800,649,628,650,0.419023297203,-0.0155326071154,0.0699692285027,0.999999996621,-5.64931634544e-05,-3.3070069166e-05,-4.97374067667e-05,1793192870155587072
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660,633,877,783.747158756,800,649,628,650,0.419859976085,-0.015534637681,0.0699847974766,0.999999997172,-5.61629150021e-05,-1.35061795762e-05,-4.81492211087e-05,1793192870172253696
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742.670822074,712,671.670822074,660,633,877,783.670822074,800,649,628,650,0.420710445488,-0.0155385611282,0.0699986107487,0.999999997053,-5.99784544173e-05,6.08588336036e-06,-4.75252016271e-05,1793192870188920576
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742.082719001,712,671.082719001,660,633,877,783.082719001,800,649,628,650,0.421571762213,-0.0155439734803,0.0700110430181,0.999999996286,-6.70549923554e-05,2.57001059938e-05,-4.76595771374e-05,1793192870205587200
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742.498284897,712,671.498284897,660,632.501715103,877.498284897,783.498284897,799.501715103,649,628,650,0.422365987269,-0.0155418622038,0.0699739107168,0.999999995807,-6.81404413591e-05,-3.22496275933e-05,-5.19930423291e-05,1793192870222253824
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742.922448385,712,672,660.077551615,632.077551615,877.922448385,783.922448385,799.077551615,649,628,650,0.423147289402,-0.0155382189077,0.0699257388138,0.999999990343,-6.7750763888e-05,-0.000106870281783,-5.74676709334e-05,1793192870238920448
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742.346875864,712,672,660.653124136,632.653124136,877.346875864,783.346875864,799.653124136,649,628,650,0.423916122236,-0.0155326453118,0.0698587697157,0.999999974343,-6.41853034089e-05,-0.000207021408199,-6.58569939921e-05,1793192870255587072
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.229020166,742,712,671.770979834,660.770979834,632.770979834,877.229020166,783,799.770979834,649,628,650.229020166,0.424732544195,-0.0155319152584,0.0698370659704,0.999999967768,-6.49674663709e-05,-0.000235399168238,-6.95007234317e-05,1793192870272253696
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.805406967,742,712,671.194593033,660.194593033,632.194593033,877.805406967,783,799.194593033,649,628,650.805406967,0.425621147136,-0.0155385316537,0.0698840184975,0.999999983209,-7.23438927759e-05,-0.000154914598516,-6.59465693709e-05,1793192870288920576
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.609801266,742.390198734,711.609801266,671.390198734,660.390198734,632,877.609801266,783,799,649,628,650.609801266,0.426505080286,-0.0155445933565,0.0699365135323,0.999999991999,-7.59697773105e-05,-8.13966013873e-05,-6.00426409054e-05,1793192870305587200
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.020725683,742.979274317,711.020725683,671.979274317,660.979274317,632,877.020725683,783,799,649,628,650.020725683,0.42738663328,-0.0155503723427,0.0699918334747,0.999999995516,-7.76840816277e-05,-1.14293381449e-05,-5.29410773692e-05,1793192870322253824
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,711.558458929,672,661,632.558458929,877,783,799.558458929,649,628.558458929,650,0.428229331821,-0.0155521290108,0.0700096296418,0.999999994937,-8.34773322279e-05,1.81980254172e-05,-5.31554602382e-05,1793192870338920448
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.136806214,743,712,672,661,633,877.136806214,783,799.863193786,649,629,650,0.429060184228,-0.0155532754554,0.0700207699915,0.99999999394,-8.81451123025e-05,3.84799626922e-05,-5.35786982067e-05,1793192870355587072
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.713620468,743,712,672,661,633,877.713620468,783,799.286379532,649,629,650,0.429857493124,-0.0155529310096,0.0700149043524,0.999999994058,-8.8714650961e-05,3.34356497515e-05,-5.38156127979e-05,1793192870372253696
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.71279413,742.71279413,711.71279413,672,660.71279413,632.71279413,877.71279413,783.28720587,799,649,628.71279413,650,0.430592333,-0.0155514680605,0.0699806169338,0.999999994358,-8.65477093978e-05,-2.40078847477e-05,-5.67243389514e-05,1793192870388920576
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.142392531,742.142392531,711.142392531,672,660.142392531,632.142392531,877.142392531,783.857607469,799,649,628.142392531,650,0.431265576038,-0.0155489022252,0.0699183045782,0.999999985865,-8.16824951634e-05,-0.000133119011303,-6.22675707278e-05,1793192870405587200
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742.445473503,711.445473503,672,660.445473503,632,877,783.554526497,799.445473503,648.554526497,628,650,0.431991252055,-0.0155486263561,0.0698830891679,0.999999976571,-8.64608664134e-05,-0.00018726055104,-6.5699798919e-05,1793192870422253568
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,712,672.038346419,661,632.038346419,877,783,800,648.038346419,628,650,0.43273919014,-0.0155495443754,0.0698630278988,0.999999970572,-9.41912563644e-05,-0.000212999798762,-6.79367712353e-05,1793192870438920192
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,743,712,672.619840701,661,632.619840701,877,783,800,648.619840701,628,650,0.433555375826,-0.0155565820429,0.069929926206,0.999999988615,-9.82918353335e-05,-9.54720778097e-05,-6.31914059915e-05,1793192870455586816
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.198640153,743,712,672.801359847,660.801359847,632.801359847,877.198640153,783,799.801359847,649,628.198640153,650,0.434329978404,-0.0155618540724,0.0699810056577,0.999999993329,-9.90223889787e-05,-9.26552014836e-06,-5.87390755627e-05,1793192870472253696
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.772351346,743,712,672.227648654,660.227648654,632.227648654,877.772351346,783,799.227648654,649,628.772351346,650,0.435026064169,-0.0155637922369,0.0700022160613,0.999999993977,-9.33896856038e-05,1.78006400029e-05,-5.48400520643e-05,1793192870488920320
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,672.346827094,660,632.346827094,877.653172906,783.346827094,799,649,628.653172906,650,0.43568741648,-0.0155664442409,0.0700005287271,0.999999993211,-0.000102166036645,1.45490929658e-05,-5.41213633459e-05,1793192870505587456
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,672.921805751,660,632.921805751,877.078194249,783.921805751,799,649,628.078194249,650,0.436325920211,-0.0155695658264,0.0699837786854,0.999999991172,-0.000120421025465,-8.64620407409e-06,-5.54947788474e-05,1793192870522254336
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,672.486742785,660.513257215,632.486742785,877.513257215,783.486742785,799.513257215,649,628,650,0.436944255638,-0.0155727051323,0.0699644269593,0.999999990183,-0.000124046403585,-2.94760631982e-05,-5.81119781685e-05,1793192870538920704
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.896246611,743,712,672,661,632.103753389,878,783,800,649,628.103753389,650,0.43754611976,-0.0155746737737,0.0699424992797,0.999999988919,-0.000124481360054,-5.40420058773e-05,-6.11954106586e-05,1793192870555587328
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.321845494,743,712,672,661,632.678154506,878,783,800,649,628.678154506,650,0.438087666737,-0.0155713193769,0.069910744132,0.999999985819,-0.000120889474219,-9.72445599856e-05,-6.55057108434e-05,1793192870572253952
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.252883888,743,712,672.252883888,660.747116112,632.747116112,878,783,800,649,628.747116112,650,0.438597465025,-0.0155711210798,0.0698760682456,0.999999978085,-0.000124671189419,-0.000153515206382,-6.86984957013e-05,1793192870588920576
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.828031553,743,712,672.828031553,660.171968447,632.171968447,878,783,800,649,628.171968447,650,0.439066804182,-0.0155749447737,0.0698376703043,0.999999962379,-0.000137849487939,-0.000226439234272,-7.0467169151e-05,1793192870605587200
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711.584684643,673,660.415315357,632.415315357,878,783.415315357,800,649,628,650,0.439534291327,-0.0155798727875,0.0698135328404,0.999999952186,-0.000141057524401,-0.000265746289436,-7.1486539394e-05,1793192870622253824
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.992431709,743,711.007568291,673,661,632.992431709,877.992431709,783.992431709,800,649,628,650,0.440001179134,-0.0155852827836,0.0697959072594,0.999999945485,-0.000140256722289,-0.000290081975241,-7.21782778487e-05,1793192870638920192
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.415770974,743,711.584229026,673,661,632.415770974,877.415770974,783.415770974,800,649,628,650,0.440482396255,-0.0155915165391,0.0698105662337,0.999999949338,-0.000157787353027,-0.000266842988822,-7.22661419402e-05,1793192870655587072
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.160786218,743,712,672.839213782,660.839213782,632,877,783,800,649,628,650,0.440947239449,-0.0155987291778,0.0698262247837,0.999999952547,-0.000173214580658,-0.000244381484736,-7.19718659566e-05,1793192870672253952
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.737075959,743,712,672.262924041,660.262924041,632,877,783,800,649,628,650,0.441369769265,-0.0156084714466,0.0698444664387,0.999999955647,-0.000183206200878,-0.000223929144853,-7.06900642451e-05,1793192870688920576
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711.680048996,672,660,632,877.319951004,783,799.680048996,649,628,650,0.441743317169,-0.015618792198,0.0698443649925,0.999999952717,-0.000194143207245,-0.000228034283246,-6.98153157781e-05,1793192870705586944
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711.091648704,672,660,632,877.908351296,783,799.091648704,649,628,650,0.442075767632,-0.0156295983145,0.0698288730873,0.999999944468,-0.000205873422661,-0.000252743945083,-6.92820982695e-05,1793192870722253824
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.51113721,743,711,672.48886279,660.48886279,632,877.51113721,783,799.48886279,649,628,650,0.442363059657,-0.0156287563299,0.0697996869079,0.999999929336,-0.000208424201528,-0.000304479393638,-7.19671882149e-05,1793192870738920448
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763.641719222,742.358280778,711,672.358280778,659.716561557,632,877,782.358280778,800,649,628,650.641719222,0.442906861738,-0.0156236520014,0.0697512802321,0.999999901656,-0.000203286170473,-0.000386530550911,-7.71785045227e-05,1793192870772253696
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.782939668,742.217060332,711,672.217060332,659.217060332,632,877,782.217060332,800,649,628,650.782939668,0.443162716331,-0.0156251775541,0.0697385067868,0.999999894714,-0.000199158724837,-0.000406348233172,-7.60890461996e-05,1793192870788920576
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.205958722,742.794041278,711,672.794041278,659.794041278,632,877,782.794041278,800,649,628,650.205958722,0.443401211296,-0.0156328897126,0.069734848523,0.999999893484,-0.000196935560297,-0.000411561866678,-6.97543936677e-05,1793192870805586944
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,743,711.379095297,673,659.620904703,632,877,782.620904703,800,649,628,650,0.443610761281,-0.0156399603921,0.0697260549382,0.99999988339,-0.000217855185609,-0.000425392542247,-6.9278485429e-05,1793192870822253312
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763.876474502,743,711.876474502,673,660,631,877,782.876474502,800,649,628,650,0.444133997656,-0.0156520166782,0.069703434988,0.999999860003,-0.000247338378888,-0.000461467107661,-7.65864095703e-05,1793192870872253440
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+205,3.416666667,POSE1_TO_POSE2_PRESS,763,743,711,673,660,631,877,782,800,649,628,650,0.444495150911,-0.0156536094509,0.0696828232692,0.999999844582,-0.000253806198052,-0.000490032752391,-7.9290246396e-05,1793192870922254080
+206,3.433333333,POSE1_TO_POSE2_PRESS,763,743,711.436327403,673,659.563672597,631,877.436327403,782,800,648.563672597,628,650,0.444581440311,-0.0156545001447,0.0696773995502,0.999999841121,-0.000256154745999,-0.000495871111881,-7.90833176398e-05,1793192870938920704
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+208,3.466666667,POSE1_TO_POSE2_PRESS,763,743,712,673,659,631,878,782,800.606637004,648.606637004,628.606637004,650,0.444726731743,-0.0156548116087,0.0696727130598,0.999999839133,-0.000255994270397,-0.000500042700358,-7.84767321174e-05,1793192870972253952
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+246,4.100000000,HOLD_POSE2,764,743,712,673,659,631,877.313938778,782,800.686061222,649,628,650.313938778,0.444977370311,-0.0156514207793,0.0696706414039,0.999999838903,-0.000250191073047,-0.000504092722923,-7.40819276825e-05,1793192871624486912
+247,4.116666667,HOLD_POSE2,764,743,712,673,659,631,877.901535386,782,800.098464614,649,628,650.901535386,0.44497788443,-0.0156519544026,0.069670869296,0.999999838136,-0.000252091487297,-0.00050460719051,-7.44942206334e-05,1793192871641153536
+248,4.133333333,HOLD_POSE2,763.517698749,743,712,673,659,631,878,782,800.482301251,649,628,650.517698749,0.444976444105,-0.0156519405088,0.0696696209121,0.999999837766,-0.000250896034295,-0.000505944629078,-7.44312959961e-05,1793192871657820160
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+250,4.166666667,HOLD_POSE2,763,743,712,673,659.638523773,631.638523773,877.361476227,782,800.361476227,649,628,650,0.444976248923,-0.0156514588877,0.0696688018606,0.999999838067,-0.000249668001124,-0.000505999821649,-7.41399504069e-05,1793192871691153664
+251,4.183333333,HOLD_POSE2,763,743,711.785245778,673,659.785245778,631.785245778,877,782,800,649,628,650,0.444977112376,-0.015650900916,0.0696691907162,0.999999838491,-0.000249692110805,-0.000505155002825,-7.40975299905e-05,1793192871707820800
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+253,4.216666667,HOLD_POSE2,763,743,711.36131786,673,659,631,877.36131786,782,800,649,628,650,0.444977181518,-0.0156501327754,0.069669193538,0.999999838537,-0.00024951313594,-0.000505145752752,-7.41378488706e-05,1793192871741154048
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+256,4.266666667,HOLD_POSE2,763.124927876,743,711.124927876,672,659,631,877,782,799.875072124,648.875072124,628,650,0.44497866219,-0.0156492721634,0.0696705828954,0.999999839579,-0.000248288243706,-0.000503778299378,-7.35064397811e-05,1793192871791153920
+257,4.283333333,HOLD_POSE2,763.697954686,743,711.697954686,672,659,631,877,782,799.302045314,648.302045314,628,650,0.444978250673,-0.0156501196347,0.0696701144491,0.999999839088,-0.000247984381376,-0.000504904905691,-7.34699629982e-05,1793192871807820544
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.207980609,743,712,672.207980609,659,631,878,782,799.792019391,649,628,650,0.444941324356,-0.0156483758545,0.0696505481617,0.999999823329,-0.000249122936718,-0.000534485492898,-7.48694085666e-05,1793192872023664896
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.231250262,742.231250262,712,671.768749738,661,633,877.768749738,783.231250262,799,649,629,650,0.418972088292,-0.0153950705087,0.0698191467708,0.999999937186,0.000194317541352,-0.000294514014434,3.360657394e-05,1793192872856998144
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.818258865,742.818258865,712,671.181741135,661,633,877.181741135,783.818258865,799,649,629,650,0.418193601703,-0.0153988139385,0.0698777966994,0.999999960144,0.00019403452545,-0.000201073117848,4.03927153708e-05,1793192872873664768
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.019619006,742.019619006,712,671,660.019619006,633,877,784,799.980380994,649,628.019619006,650,0.416428447781,-0.0153882799808,0.0698453864281,0.999999943443,0.000202285794414,-0.000266353397122,3.5365839288e-05,1793192872906998016
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.840795058,633,876,783,799.840795058,649,628,650,0.405145292906,-0.0153739160277,0.0697971786617,0.99999991532,0.000226566773087,-0.000342586343591,2.5740681508e-05,1793192873190331648
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4a67ad5bca17938c257546d0383164c18adbc7a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,396 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_03/fem_node.csv
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--- /dev/null
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_03/franka_data.csv
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index 0000000000000000000000000000000000000000..c7f6ba2dac54d40b4264789efb33cd84882c95a1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/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
+0,0.000000000,BASELINE,763,742,712,671,659,633,876,783,799,648,629,650,0.400940001336,-0.015364837243,0.0698110469619,0.999999924483,0.000239724124344,-0.000305631413488,1.24599558777e-05,1793192874228850688
+1,0.016666667,BASELINE,763,742,712,670.418643503,659.581356497,633,876.581356497,783.581356497,799,648.581356497,628.418643503,650,0.400940062316,-0.0153630987877,0.069810940293,0.999999923703,0.000242837934965,-0.000305733822331,1.22702020574e-05,1793192874245517824
+2,0.033333333,BASELINE,763,742,711.839441691,670.160558309,660,633,877,783.839441691,799,649,628,650,0.400940126163,-0.015362298933,0.0698107920143,0.999999923297,0.000244301086238,-0.00030590109838,1.21599315198e-05,1793192874262184960
+3,0.050000000,BASELINE,763,742,711.265783538,670.734216462,660,633,877,783.265783538,799,649,628,650,0.400940197383,-0.0153639139996,0.0698105366781,0.99999992387,0.000241517263213,-0.000306235271035,1.22541631681e-05,1793192874278851584
+4,0.066666667,BASELINE,763,742,711,671,659.692955284,633,876.692955284,783.307044716,799,649,628.307044716,650,0.400940670604,-0.0153648926829,0.0698107609102,0.999999924437,0.00023985464538,-0.0003056844709,1.2333422205e-05,1793192874295518208
+5,0.083333333,BASELINE,763,742,711,671,659.120843503,633,876.120843503,783.879156497,799,649,628.879156497,650,0.400941490865,-0.0153653219858,0.0698113991464,0.999999925004,0.00023915994722,-0.000304369687106,1.23997556071e-05,1793192874312184832
+6,0.100000000,BASELINE,763.472122613,742,711.472122613,671,659,633,876,783.527877387,799,648.527877387,628.527877387,650,0.400940581016,-0.0153645920498,0.0698108290769,0.999999924467,0.000240081133945,-0.000305413319467,1.22125802823e-05,1793192874328851456
+7,0.116666667,BASELINE,764,742,712,671,659,632.932022742,876,783,799.067977258,648,628,650,0.400939388843,-0.0153637830071,0.0698100636056,0.999999923811,0.000241001109943,-0.000306842946085,1.19723005083e-05,1793192874345517568
+8,0.133333333,BASELINE,764,742,712,671,659,632.356305057,876,783,799.643694943,648,628,650,0.400939548433,-0.0153647017686,0.0698102554401,0.999999924494,0.000238680000607,-0.000306438437842,1.18424294957e-05,1793192874362183936
+9,0.150000000,BASELINE,764,742,712,671.219555221,659,632.219555221,876.219555221,783,799.780444779,648.219555221,628,650,0.400940013093,-0.0153652421286,0.069810952118,0.999999924956,0.000237931674385,-0.000305504585196,1.19372164775e-05,1793192874378850560
+10,0.166666667,BASELINE,764,742,712,671.795647,659,632.795647,876.795647,783,799.204353,648.795647,628,650,0.400940973158,-0.0153651680008,0.0698124686131,0.999999925066,0.000239737396875,-0.000303711128203,1.23968264444e-05,1793192874395517184
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+12,0.200000000,BASELINE,763.036091279,742,712,670.072182558,659.963908721,633,877,783,799,649,628,650,0.400939131472,-0.0153655795408,0.0698107682141,0.999999924272,0.000239828608449,-0.000306245405353,1.22959462662e-05,1793192874428850944
+13,0.216666667,BASELINE,763,742,711.453350988,670.546649012,659.453350988,633,876.453350988,783,799.546649012,648.453350988,628,650,0.400940432716,-0.0153641781102,0.069811547499,0.999999924374,0.000242024579534,-0.000304177817341,1.23224541501e-05,1793192874445517824
+14,0.233333333,BASELINE,763.127309728,742.127309728,711.127309728,670.872690272,659,633,876,783.127309728,799.872690272,648.127309728,628.127309728,650,0.400941414607,-0.0153632310147,0.069812132573,0.999999924411,0.000243722733113,-0.000302697953924,1.23345084861e-05,1793192874462184448
+15,0.250000000,BASELINE,763.701392337,742.701392337,711.701392337,670.298607663,659,633,876,783.701392337,799.298607663,648.701392337,628.701392337,650,0.400940670432,-0.0153642625039,0.0698115431417,0.999999924109,0.000243091051798,-0.000304200887464,1.22527789867e-05,1793192874478850560
+16,0.266666667,BASELINE,763.724223846,742.724223846,712,670.275776154,659.275776154,633,876,783.724223846,799,649,628.724223846,650.275776154,0.40094034471,-0.0153653976365,0.0698114153259,0.999999924219,0.000241686203135,-0.000304946915097,1.24980599857e-05,1793192874495516928
+17,0.283333333,BASELINE,763.149513564,742.149513564,712,670.850486436,659.850486436,633,876,783.149513564,799,649,628.149513564,650.850486436,0.400940472578,-0.0153666451158,0.0698117878894,0.999999924774,0.000239443261349,-0.000304872476463,1.30978118057e-05,1793192874512183552
+18,0.300000000,BASELINE,763,742,712,670.561824419,659.561824419,633,876,783,799,649,628,651,0.400940948904,-0.0153665800673,0.0698116175978,0.999999924582,0.000240619662147,-0.00030457626929,1.31044723318e-05,1793192874528850432
+19,0.316666667,BASELINE,763.029734433,742.029734433,712,670.029734433,659.029734433,633,876,783,799,649,628,651,0.400941469169,-0.0153660942239,0.0698112986764,0.999999924175,0.000242744440022,-0.000304234615171,1.29087314152e-05,1793192874545517056
+20,0.333333333,BASELINE,763.608477761,742.608477761,712,670.608477761,659.608477761,633,876,783,799,649,628,651,0.400940538347,-0.0153663604864,0.0698117599669,0.999999924716,0.000240179805593,-0.000304493667371,1.28265339419e-05,1793192874562184192
+21,0.350000000,BASELINE,763.814035872,742.814035872,712,670.814035872,659.814035872,633,876,783,799,649,628.185964128,650.814035872,0.40094009826,-0.015366293596,0.0698119276899,0.999999924991,0.000238738976884,-0.000304729987764,1.2664975025e-05,1793192874578851072
+22,0.366666667,BASELINE,763.239178175,742.239178175,712,670.239178175,659.239178175,633,876,783,799,649,628.760821825,650.239178175,0.400940684413,-0.0153655300065,0.0698114814957,0.999999924721,0.000239648283572,-0.000304918770714,1.23374531692e-05,1793192874595517696
+23,0.383333333,BASELINE,763,742,712,670.342790908,659,633,876.342790908,783.342790908,799,649,628.657209092,650.342790908,0.400940568528,-0.0153659687946,0.0698111687216,0.999999924771,0.000239065028135,-0.000305212167715,1.23073906271e-05,1793192874612184320
+24,0.400000000,BASELINE,763,742,712,670.929827051,659,633,876.929827051,783.929827051,799,649,628.070172949,650.929827051,0.400939952426,-0.0153672643003,0.0698109510119,0.999999925049,0.000237418293047,-0.000305580104295,1.24892736375e-05,1793192874628850688
+25,0.416666667,BASELINE,763,742,712,671,659,633,876.491698448,784,799,648.491698448,628.508301552,650.491698448,0.400939744759,-0.0153656176164,0.0698106581719,0.999999924292,0.00024005419386,-0.000306016723157,1.20048581884e-05,1793192874645517312
+26,0.433333333,BASELINE,763.085938535,742,712,671,659,633,876,784,799,648,628.914061465,650,0.400939673483,-0.0153641244032,0.0698105576835,0.999999923742,0.000242165499217,-0.000306168273053,1.15624135444e-05,1793192874662183936
+27,0.450000000,BASELINE,763.665441563,742,712,671,659,633,876,784,799,648,628.334558437,650,0.40094006705,-0.0153658067504,0.0698116204953,0.999999925226,0.000237924590685,-0.000304629053096,1.18805563956e-05,1793192874678850304
+28,0.466666667,BASELINE,764,742,712,671,659.243056349,633,876,784,799,648.243056349,628.243056349,650,0.400940495176,-0.0153663374622,0.0698123250456,0.999999925849,0.000236521139778,-0.000303662681885,1.22285985496e-05,1793192874695517184
+29,0.483333333,BASELINE,764,742,712,671,659.81809204,633,876,784,799,648.81809204,628.81809204,650,0.400940970504,-0.0153652952087,0.0698125402633,0.999999925312,0.000238993240298,-0.000303478738183,1.26174787496e-05,1793192874712184064
+30,0.500000000,BASELINE,763.597363134,742,712,671,659.597363134,633,876,783.597363134,799,649,628.597363134,650,0.4009411558,-0.0153650186416,0.0698125056571,0.999999925334,0.000239284259648,-0.000303178213912,1.25647718831e-05,1793192874728850944
+31,0.516666667,BASELINE,763.00841826,742,712,671,659.00841826,633,876,783.00841826,799,649,628.00841826,650,0.400941206892,-0.0153650963729,0.0698123554525,0.999999925616,0.000238566049719,-0.000302823745524,1.23077339738e-05,1793192874745517824
+32,0.533333333,BASELINE,763,742,712,671,659.571834826,632.428165174,876,783,799,649,628,650,0.400940654693,-0.0153640437481,0.0698113827555,0.999999924351,0.000242292736662,-0.000304049441753,1.20536296886e-05,1793192874762184192
+33,0.550000000,BASELINE,763,742,712,671,659.84933472,632,876,783,799.15066528,649,628,650,0.400939959555,-0.0153634845927,0.0698106875945,0.999999923431,0.000244630274003,-0.000305206553696,1.19803929275e-05,1793192874778850816
+34,0.566666667,BASELINE,763,742,712,671,659.274157619,632,876,783,799.725842381,649,628,650,0.400938886328,-0.0153643620116,0.0698108080195,0.999999923579,0.00024287215796,-0.000306105861249,1.24166454746e-05,1793192874795517440
+35,0.583333333,BASELINE,763.298212197,742,711.701787803,671,659,632.298212197,876.298212197,783,799.701787803,649,628,650,0.400939763167,-0.0153648016291,0.0698116647204,0.999999924069,0.000242511881358,-0.000304781178467,1.25987876025e-05,1793192874812183808
+36,0.600000000,BASELINE,763.868025304,742,711.131974696,671,659,632.868025304,876.868025304,783,799.131974696,649,628,650,0.400942416056,-0.0153648425131,0.0698131919949,0.999999924863,0.000243424706288,-0.000301430965618,1.25494951772e-05,1793192874828850688
+37,0.616666667,BASELINE,763.539454446,742,711.460545554,670.539454446,659.460545554,633,876.539454446,783,799,649,628,650,0.400940868109,-0.0153648675326,0.0698118973612,0.999999924559,0.000242377924058,-0.000303287403126,1.2282163628e-05,1793192874845517312
+38,0.633333333,BASELINE,763.057544417,742,712,670,660,633,876,783,799.057544417,649,628,650,0.40093841719,-0.0153648805173,0.0698100296844,0.999999923995,0.000240850311933,-0.000306363257125,1.19669801101e-05,1793192874862184192
+39,0.650000000,BASELINE,763.633240639,742,712,670,660,633,876,783,799.633240639,649,628,650,0.400939237179,-0.0153648281955,0.0698106611331,0.999999924149,0.000240311752087,-0.00030628767734,1.18127055856e-05,1793192874878850816
+40,0.666666667,BASELINE,763.791889937,742.208110063,711.791889937,670.208110063,659.791889937,633,876,783,799.791889937,649,628,650.208110063,0.400940218995,-0.0153649881024,0.0698114410421,0.999999924577,0.00023944648742,-0.000305567412209,1.17986216871e-05,1793192874895517696
+41,0.683333333,BASELINE,763.218471877,742.781528123,711.218471877,670.781528123,659.218471877,633,876,783,799.218471877,649,628,650.781528123,0.400941484877,-0.0153655205469,0.0698124815522,0.999999925482,0.000238007738338,-0.000303715492468,1.20306227589e-05,1793192874912184320
+42,0.700000000,BASELINE,763,743,711.355799094,671,659,633,876,783,799,649,628,650.644200906,0.400941491831,-0.0153663635611,0.069813207134,0.999999925782,0.000238190229545,-0.000302570829449,1.23612577924e-05,1793192874928850688
+43,0.716666667,BASELINE,763,743,711.930595015,671,659,633,876,783,799,649,628,650.069404985,0.400940723905,-0.0153673977333,0.0698137388751,0.999999925709,0.000239370605531,-0.00030186148795,1.27526027099e-05,1793192874945517312
+44,0.733333333,BASELINE,763.524408529,742.475591471,712,671,659.524408529,633,876.524408529,783.524408529,799,648.475591471,628,650.524408529,0.400941655091,-0.0153655757568,0.0698133164848,0.999999925422,0.000240811810816,-0.00030167477184,1.25790078317e-05,1793192874962184192
+45,0.750000000,BASELINE,763.883416828,742,712,671,660,633,876.883416828,783.883416828,799,648.116583172,628.116583172,650.883416828,0.400942469892,-0.0153640604033,0.0698128123131,0.999999925277,0.000241493984909,-0.000301620566614,1.23549915786e-05,1793192874978850816
+46,0.766666667,BASELINE,763.307972128,742,712,671,660,633,876.307972128,783.307972128,799,648.692027872,628.692027872,650.307972128,0.400941908215,-0.0153652956881,0.069812501981,0.99999992581,0.000239047693326,-0.000301805425413,1.22378804253e-05,1793192874995517440
+47,0.783333333,BASELINE,763.263799146,742,712,671,659.736200854,633,876,783,799.263799146,649,628.736200854,650,0.40094127545,-0.0153650925735,0.0698120457124,0.999999925844,0.000238248792847,-0.000302335677005,1.19550670923e-05,1793192875012183808
+48,0.800000000,BASELINE,763.831340853,742,712,671,659.168659147,633,876,783,799.831340853,649,628.168659147,650,0.400940560834,-0.015363233263,0.0698114214102,0.999999925306,0.000239346724549,-0.000303263619414,1.14814616016e-05,1793192875028850688
+49,0.816666667,BASELINE,764,742,712,670.580058396,659,633,876.419941604,783,799.580058396,649,628.419941604,650.419941604,0.40094038528,-0.0153641588231,0.0698115302255,0.999999925474,0.000238499054006,-0.000303370319738,1.16608351197e-05,1793192875045517312
+50,0.833333333,BASELINE,763.983148118,742,712,670,659.016851882,633,877,783.016851882,799,649,628.983148118,650.983148118,0.40094040938,-0.0153662130809,0.0698119234241,0.999999925905,0.000236928262952,-0.000303163359048,1.21127195514e-05,1793192875062183680
+51,0.850000000,BASELINE,763.406013847,742,712,670,659.593986153,633,877,783.593986153,799,649,628.406013847,650.406013847,0.400939493333,-0.0153666439814,0.0698114654807,0.999999925211,0.000238666811647,-0.000304072981546,1.24453262711e-05,1793192875078850560
+52,0.866666667,BASELINE,763.171046362,742,712,670.171046362,659.828953638,633,877,783.828953638,799.171046362,649,628,650,0.400938868415,-0.0153662883675,0.0698110594915,0.999999924513,0.00024048635088,-0.000304932641482,1.25392331382e-05,1793192875095517184
+53,0.883333333,BASELINE,763.747930813,742,712,670.747930813,659.252069187,633,877,783.252069187,799.747930813,649,628,650,0.400938934253,-0.0153640666075,0.069810776773,0.999999923806,0.000242498054553,-0.000305673756255,1.20667818886e-05,1793192875112183808
+54,0.900000000,BASELINE,764,742,711.669319437,671,659,633,877,783,799.669319437,649,628.330680563,650,0.400940356928,-0.0153649272227,0.0698117504773,0.999999924547,0.000241471796175,-0.000304053372799,1.21825285895e-05,1793192875128850432
+55,0.916666667,BASELINE,764,742,711.082018016,671,659,633,877,783,799.082018016,649,628.917981984,650,0.400942832561,-0.0153681798799,0.0698136992142,0.999999926395,0.000238087962105,-0.000300600375697,1.27547395833e-05,1793192875145517056
+56,0.933333333,BASELINE,763.499478522,742,711.500521478,670.499478522,659,633,876.499478522,783,799.500521478,649,629,650.500521478,0.400942697551,-0.0153666852667,0.0698130479851,0.999999926137,0.000238873200834,-0.00030085936326,1.21888292185e-05,1793192875162183680
+57,0.950000000,BASELINE,763.081054283,742.081054283,712,670.081054283,659.081054283,633,876,783,800,649,628.918945717,650.918945717,0.400942322603,-0.0153647673815,0.0698123843528,0.999999925673,0.000240254291948,-0.00030132644733,1.15895634497e-05,1793192875178850560
+58,0.966666667,BASELINE,763.654098254,742.654098254,712,670.654098254,659.654098254,633,876,783,800,649,628.345901746,650.345901746,0.400943063447,-0.0153649576188,0.0698142070977,0.999999926034,0.000241144481426,-0.000299399352966,1.19091889762e-05,1793192875195517184
+59,0.983333333,BASELINE,764,742.771257771,712,671,659.771257771,633,876.228742229,783,799.771257771,649,628.228742229,650,0.400943052055,-0.0153652919732,0.0698145782441,0.999999926133,0.000240832960343,-0.000299312722252,1.20831117433e-05,1793192875212183808
+60,1.000000000,BASELINE,764,742.194177155,712,671,659.194177155,633,876.805822845,783,799.194177155,649,628.805822845,650,0.400941895125,-0.0153658457952,0.0698127388348,0.99999992583,0.000238691423484,-0.0003020288275,1.20351522048e-05,1793192875228850432
+61,1.016666667,BASELINE,764,742,712,671,659,633,877,783,799.39357015,649,629,650.39357015,0.400941194982,-0.0153664198423,0.0698123929143,0.999999925828,0.000237851643625,-0.000302694325936,1.21004842495e-05,1793192875245517056
+62,1.033333333,BASELINE,764,742,712,671,659,633,877,783,799.986726687,649,629,650.986726687,0.400940726485,-0.0153670041458,0.0698128043684,0.999999925983,0.000237672007906,-0.000302319925211,1.22232684635e-05,1793192875262183680
+63,1.050000000,BASELINE,763.433604049,742,712,671,659,633,877.566395951,783,799.433604049,649,628.433604049,650.433604049,0.400940486648,-0.0153664747807,0.069812686442,0.99999992572,0.000238931230071,-0.000302204975458,1.19783144378e-05,1793192875278850048
+64,1.066666667,BASELINE,763.142864931,742,712,671,659.142864931,633,877.714270139,783,799.142864931,649,628,650.142864931,0.400940388755,-0.0153656659664,0.0698124658388,0.999999925374,0.000240269596731,-0.000302297492138,1.17577196822e-05,1793192875295516928
+65,1.083333333,BASELINE,763.710731896,742,712,671,659.710731896,633,876.578536209,783,799.710731896,649,628,650.710731896,0.400940697556,-0.0153641016656,0.0698119758346,0.999999924811,0.000241745429941,-0.000302989523903,1.16346306648e-05,1793192875312183808
+66,1.100000000,BASELINE,764,742,712,671,660,633,876,783,799.708219015,649,628,650.708219015,0.400940074713,-0.0153646345172,0.0698113054602,0.999999924622,0.00024106175305,-0.000304149535443,1.17399630587e-05,1793192875328850176
+67,1.116666667,BASELINE,764,742,712,671,660,633,876,783,799.113483013,649,628,650.113483013,0.40093848455,-0.0153673448339,0.0698104478083,0.999999924817,0.000238135865471,-0.000305795448445,1.20824644871e-05,1793192875345516800
+68,1.133333333,BASELINE,764,742,712,670.534107855,659.534107855,633,876,783.465892145,799,649,628.465892145,650,0.400938961861,-0.0153664162248,0.0698110392339,0.999999924725,0.000239776691733,-0.00030481741653,1.19910435261e-05,1793192875362183680
+69,1.150000000,BASELINE,764,742,712,670.041595782,659,633,876.041595782,783.958404218,799.041595782,649,628.958404218,650.041595782,0.400939949261,-0.0153647424254,0.0698119453543,0.999999924608,0.000242253522075,-0.000303244897675,1.18152729898e-05,1793192875378850304
+70,1.166666667,BASELINE,764,742,712,670.61666631,659,633,876.61666631,783.38333369,799.61666631,649,628.38333369,650.61666631,0.400941226049,-0.0153645165337,0.0698125050848,0.999999925137,0.000241641258723,-0.000301983503033,1.1870004192e-05,1793192875395517184
+71,1.183333333,BASELINE,764,742,712,671,659,633,877,783,800,649,628,650.808140231,0.400941575144,-0.0153646661135,0.0698125273713,0.999999925402,0.000240973053226,-0.000301637589834,1.19386438354e-05,1793192875412183808
+72,1.200000000,BASELINE,764,742,712,671,659,633,877,783,800,649,628,650.232700896,0.400940069532,-0.0153655663623,0.0698114751618,0.99999992514,0.000240193004139,-0.00030312197141,1.20350902242e-05,1793192875428850432
+73,1.216666667,BASELINE,764,742,712,671,659.353046814,633,877,783,799.646953186,649,628,650.353046814,0.400939145033,-0.0153665238776,0.06981087309,0.999999924945,0.000239483132542,-0.000304318820026,1.21328072247e-05,1793192875445517056
+74,1.233333333,BASELINE,764,742,712,671,659.945793318,633,877,783,799.054206682,649,628,650.945793318,0.400938615078,-0.0153675202735,0.0698105766374,0.999999924797,0.000238820907711,-0.000305320449227,1.22313868959e-05,1793192875462183680
+75,1.250000000,BASELINE,764,742,712,671,660,633,877,783,799,649,628,650.475892509,0.40093981195,-0.0153669817069,0.0698115321795,0.999999925136,0.000239480702401,-0.000303695350081,1.20899245895e-05,1793192875478850304
+76,1.266666667,BASELINE,763.899309868,742,712,671,660,633,876.899309868,783,799,649,628,650,0.400940893719,-0.0153663818609,0.0698124504002,0.999999925496,0.0002399728168,-0.00030212341686,1.19302712663e-05,1793192875495516928
+77,1.283333333,BASELINE,763.324041518,742,712,671,660,633,876.324041518,783,799,649,628,650,0.400940613748,-0.0153662213942,0.0698125987539,0.999999925742,0.000239047429041,-0.000302048220326,1.179875791e-05,1793192875512183552
+78,1.300000000,BASELINE,763,742,711.741709245,671,660,633,876,783,799,648.741709245,628.258290755,650.258290755,0.400941039761,-0.0153661152054,0.0698128089327,0.99999992588,0.00023881998434,-0.000301771441368,1.18214467725e-05,1793192875528850432
+79,1.316666667,BASELINE,763,742,711.150265713,671,660,633,876,783,799,648.150265713,628.849734287,650.849734287,0.400942376379,-0.0153660790261,0.0698130988558,0.999999925878,0.000239492771962,-0.000301234654097,1.20430312562e-05,1793192875545517312
+80,1.333333333,BASELINE,763,742,711.430669259,671,659.569330741,633,876,783,799,648.430669259,628.569330741,650.569330741,0.400940856237,-0.0153661598883,0.0698123874594,0.999999925315,0.000239364796415,-0.000303199290271,1.20325749992e-05,1793192875562183680
+81,1.350000000,BASELINE,763.007983041,742,712,671,659,633,876,783,799,649,628.007983041,650,0.400938423472,-0.01536627129,0.0698113699498,0.999999924575,0.000238978847762,-0.000305934254177,1.19438683286e-05,1793192875578850560
+82,1.366666667,BASELINE,763.582316576,742,712,671,659,633,876,783,799,649,628.582316576,650,0.4009402752,-0.015365721148,0.0698128310602,0.999999925348,0.000239640593073,-0.000302875884016,1.19107079954e-05,1793192875595517184
+83,1.383333333,BASELINE,764,742.16087089,712,671,659.16087089,633,876.16087089,783.16087089,799,649,628.83912911,650,0.400941650247,-0.0153656890536,0.0698137251587,0.999999925858,0.000240180622694,-0.000300758139722,1.19217894518e-05,1793192875612183808
+84,1.400000000,BASELINE,764,742.750679389,712,671,659.750679389,633,876.750679389,783.750679389,799,649,628.249320611,650,0.400941754299,-0.0153670382536,0.069813107407,0.999999925687,0.000240396116201,-0.000301148429682,1.20508348627e-05,1793192875628850432
+85,1.416666667,BASELINE,764,743,711.665585612,671,659.665585612,633,877,783.665585612,799,649,628,650,0.40094234199,-0.01536659513,0.0698134159318,0.999999925572,0.000241510277046,-0.000300636549437,1.21249054197e-05,1793192875645517312
+86,1.433333333,BASELINE,764,743,711.086297937,671,659.086297937,633,877,783.086297937,799,649,628,650,0.400943283823,-0.0153648395862,0.069814402718,0.999999925494,0.000243282482603,-0.000299464059486,1.21587209031e-05,1793192875662184192
+87,1.450000000,BASELINE,764,742.511510209,711.488489791,671,659,633,876.511510209,783,799.488489791,649,628.488489791,650,0.400941672208,-0.0153652902635,0.0698134879791,0.999999925443,0.000241535973918,-0.000301046395326,1.20978481625e-05,1793192875678850816
+88,1.466666667,BASELINE,763.937164715,742,712,671,659.062835285,633,876,783,799.937164715,649,629,650,0.400939919364,-0.0153661020824,0.069812383323,0.999999925457,0.000239325246993,-0.000302762597694,1.2030737473e-05,1793192875695517184
+89,1.483333333,BASELINE,763.359991245,742,712,671,659.640008755,633,876,783,799.359991245,649,629,650,0.400940669258,-0.0153667087905,0.069812448745,0.999999926031,0.000238356532685,-0.000301627248922,1.20482422581e-05,1793192875712183808
+90,1.500000000,BASELINE,763,742.221820239,712,671,659.778179761,632.778179761,876,783.221820239,799,648.778179761,629,650,0.400941484461,-0.0153667289574,0.0698126609843,0.999999926246,0.00023845835016,-0.000300834207854,1.20260370252e-05,1793192875728850432
+91,1.516666667,BASELINE,763,742.811319424,712,671,659.188680576,632.188680576,876,783.811319424,799,648.188680576,629,650,0.400942407919,-0.0153657769006,0.0698131165814,0.999999925866,0.000240334631593,-0.000300608560281,1.19380103052e-05,1793192875745517056
+92,1.533333333,BASELINE,763,742.605594525,711.605594525,671,659,632.394405475,876.394405475,784,799,648,629,650,0.400941651227,-0.0153659749106,0.069813373077,0.999999925858,0.000239866238631,-0.000301000503168,1.21143178081e-05,1793192875762183680
+93,1.550000000,BASELINE,763,742.02552733,711.02552733,671,659,632.97447267,876.97447267,784,799,648,629,650,0.400940103624,-0.0153667143009,0.069813535848,0.999999926025,0.000238294118044,-0.000301683169451,1.24150575176e-05,1793192875778850304
+94,1.566666667,BASELINE,763,742,711.550442207,671,659,633,876.449557793,783.449557793,799,648.550442207,628.449557793,650,0.400940122834,-0.0153664021296,0.0698129872412,0.999999925685,0.000239423570615,-0.000301918326542,1.23396215301e-05,1793192875795516928
+95,1.583333333,BASELINE,763.126040378,742,711.873959622,671,659.126040378,633,876,783,799,649,628.126040378,650.126040378,0.400940377247,-0.0153659991435,0.0698125658288,0.999999925406,0.000240605286711,-0.000301907026826,1.22037561005e-05,1793192875812183552
+96,1.600000000,BASELINE,763.700987869,742,711.299012131,671,659.700987869,633,876,783,799,649,628.700987869,650.700987869,0.400941212483,-0.0153654451165,0.0698127140663,0.999999925433,0.000241530214547,-0.000301091313751,1.19143394669e-05,1793192875828850432
+97,1.616666667,BASELINE,763.716341614,742.283658386,711.283658386,671,659.716341614,633,876.283658386,783,799,649,629,650.716341614,0.400941896314,-0.0153656679167,0.069813168511,0.999999925839,0.000240779495521,-0.000300343202864,1.19227136146e-05,1793192875845517056
+98,1.633333333,BASELINE,763.125302224,742.874697776,711.874697776,671,659.125302224,633,876.874697776,783,799,649,629,650.125302224,0.400942416078,-0.0153667325108,0.0698139547714,0.999999926652,0.000238212993634,-0.000299668347844,1.22537830867e-05,1793192875862183680
+99,1.650000000,BASELINE,763.456043985,742.543956015,712,670.543956015,659.456043985,633,877,783,799,648.543956015,628.543956015,650,0.400941580777,-0.0153658344605,0.0698134755193,0.999999925918,0.000239141992448,-0.00030137798289,1.20614852622e-05,1793192875878850304
+100,1.666666667,BASELINE,763.965481275,742,712,670.034518725,659.965481275,633,876.965481275,783,799,648.034518725,628.034518725,650,0.400940488873,-0.0153645613118,0.0698127484303,0.999999924877,0.000240840211848,-0.000303485816153,1.1762651205e-05,1793192875895517184
+101,1.683333333,BASELINE,763.391128951,742,712,670.608871049,659.391128951,633,876.391128951,783,799,648.608871049,628.608871049,650,0.400941085432,-0.0153656798557,0.0698134700833,0.999999925623,0.000239860884089,-0.000301788300135,1.19997739985e-05,1793192875912183808
+102,1.700000000,BASELINE,763,742,712,671,659,633,876,783,799,649,628.812334927,650.187665073,0.400940966743,-0.0153664345564,0.0698133649713,0.999999925866,0.000239290407935,-0.000301433171964,1.20907930509e-05,1793192875928850432
+103,1.716666667,BASELINE,763,742,712,671,659,633,876,783,799,649,628.224059231,650.775940769,0.400939321207,-0.0153664125568,0.069811494955,0.999999925036,0.000239592711771,-0.000303943653594,1.18699228669e-05,1793192875945517056
+104,1.733333333,BASELINE,763,742,712,671,659,633,876,783,799,649,628,650.641279436,0.400940154499,-0.0153659344782,0.0698120109932,0.999999925241,0.00024008463721,-0.000302881883921,1.18090703604e-05,1793192875962183936
+105,1.750000000,BASELINE,763,742,712,671,659,633,876,783,799,649,628,650.061880563,0.400942512722,-0.0153651758279,0.0698139948881,0.999999926076,0.00024069321441,-0.000299622531024,1.18466577718e-05,1793192875978850560
+106,1.766666667,BASELINE,763,742,712,670.488196137,659.511803863,633,876.511803863,783,799.511803863,649,628.511803863,650,0.400942115098,-0.0153652859881,0.0698136521139,0.999999926297,0.000239499964364,-0.000299851775131,1.16294496591e-05,1793192875995517184
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,671,660,633,877,783,799,649,629,650,0.400943457257,-0.0153672256518,0.0698146024491,0.999999926391,0.000240000858546,-0.000299113177829,1.2198306894e-05,1793192876038577920
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.409063028,742.409063028,712,671,660,633,876.409063028,783.590936972,799.590936972,648.409063028,629,650,0.400942229422,-0.0153673654885,0.0698134562619,0.999999926231,0.00023860888159,-0.00030076583026,1.19842798959e-05,1793192876055244544
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.178492893,742,712,671,659.821507107,632.821507107,876,783.821507107,799.821507107,648,628.821507107,650,0.400941214055,-0.0153670986787,0.0698127164952,0.999999925972,0.000238230482555,-0.000301933789776,1.17917699295e-05,1793192876071910912
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.75844441,742,712,671,659.24155559,632.24155559,876,783.24155559,799.24155559,648,628.24155559,650,0.400940676562,-0.015365917257,0.069812890832,0.999999925495,0.000240131779607,-0.00030201159892,1.16476551142e-05,1793192876088577536
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.664453355,742.335546645,712,671,659,632.335546645,876.335546645,783.335546645,799.335546645,648.335546645,628,650.335546645,0.400940851065,-0.0153650292471,0.0698128887343,0.999999925092,0.000241882497124,-0.000301949940984,1.16182772064e-05,1793192876105244160
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.089385045,742.910614955,712,671,659,632.910614955,876.910614955,783.910614955,799.910614955,648.910614955,628,650.910614955,0.40094153381,-0.015364350682,0.0698127606932,0.999999924741,0.000243525727054,-0.000301788727922,1.16708014081e-05,1793192876121910784
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.487302651,742.512697349,711.512697349,671,659.487302651,633,876.512697349,783.512697349,800,649,628.487302651,650.512697349,0.400942678902,-0.0153652511963,0.0698132702246,0.999999925654,0.00024113563681,-0.000300674366942,1.1869133149e-05,1793192876138577664
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,670.93445596,659.93445596,633,876.131088081,783.06554404,799.93445596,649,628.93445596,650,0.400944503502,-0.0153664713423,0.0698141931926,0.99999992684,0.000238330058587,-0.000298950083558,1.21275287936e-05,1793192876155244032
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,670.346200688,659.346200688,633,877.307598623,783.653799312,799.346200688,649,628.346200688,650,0.400951068565,-0.0153679229077,0.0698174775295,0.999999928419,0.000238130725059,-0.000293760637197,1.26509285676e-05,1793192876171910656
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.238724268,670.238724268,659.238724268,633,877.522551465,783.761275732,799,649,628,650,0.400965596759,-0.0153689462917,0.0698244581949,0.999999931607,0.000238331522156,-0.000282499704296,1.33715447364e-05,1793192876188577536
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.818885961,670.818885961,659.818885961,633,876.362228077,783.181114039,799,649,628,650,0.40099151429,-0.0153693572654,0.0698367255654,0.999999936844,0.000239104609463,-0.000262554976199,1.43742312928e-05,1793192876205244160
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.605353797,742,712,671,660,633,876.394646203,783,799,649,628,650,0.40103508603,-0.0153713335559,0.0698535796117,0.999999944392,0.000238559813448,-0.00023251311971,1.55544767022e-05,1793192876221910784
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.031591174,742,712,671,660,633,876.968408826,783,799,649,628,650,0.401086670414,-0.0153740202903,0.0698725153945,0.999999952095,0.0002374168751,-0.000197888519871,1.68153100788e-05,1793192876238577408
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783,799,649,628.555174132,650,0.401148805188,-0.0153781884055,0.069886238375,0.999999954983,0.000236121682825,-0.000184337996354,1.73240047244e-05,1793192876255244032
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742.140739854,712,671,660,633,877,783,799,649,629,650,0.40121414581,-0.0153820651338,0.0698970777415,0.999999957329,0.000234437884584,-0.00017344344481,1.72620916145e-05,1793192876271910656
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742.720204519,712,671,660,633,877,783,799,649,629,650,0.401287563614,-0.0153847644565,0.0698998749314,0.999999959122,0.000231570349395,-0.000167000453823,1.55580535887e-05,1793192876288577280
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742.70189857,712,671,659.70189857,633,876.70189857,783,799,649,628.70189857,650,0.401373180582,-0.0153884683832,0.0699017077686,0.999999960032,0.000229870699732,-0.000164068360483,1.33035998321e-05,1793192876305244416
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742.125465476,712,671,659.125465476,633,876.125465476,783,799,649,628.125465476,650,0.401470187672,-0.0153931102894,0.0699026402078,0.999999960148,0.000229261482864,-0.000164414326238,1.05352334247e-05,1793192876321912064
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,712,670.550230386,659,633,876,783,799.449769614,649,628,650,0.401587437855,-0.0153992919461,0.0699032634635,0.999999961419,0.000223800272411,-0.000164379524608,7.45788397152e-06,1793192876338578944
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,712,670,659.02535533,633,876,783,799.97464467,649,628,650,0.40171193557,-0.0154058288541,0.0699038487599,0.99999996298,0.000217056515669,-0.000164035551349,4.23881335975e-06,1793192876355245312
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,712,670,659.616194457,633,876,783,799.383805543,649,628,650,0.401872465523,-0.0154107348205,0.069905505902,0.999999964901,0.000211814730541,-0.000159158916411,-2.23788285641e-07,1793192876371911680
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742,712,670,660,633,876.404826727,783,799,649,628.202413363,650,0.402043342837,-0.0154172359344,0.069907583121,0.999999967148,0.000204430911519,-0.000154558061828,-4.80003877987e-06,1793192876388578048
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,712,670,660,633,877.560134185,783,799,649,628.780067093,650,0.402233402402,-0.0154266941832,0.0699104390916,0.999999969994,0.000193076122141,-0.000150468458229,-9.5869746479e-06,1793192876405244672
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,712,670.356658045,660,633,877.28668391,783,799,649,628.643341955,650,0.402449302659,-0.0154358423046,0.0699147719076,0.99999997302,0.000182915426597,-0.00014242182689,-1.47945103913e-05,1793192876421911040
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,712,670.93259564,660,633,876.13480872,783,799,649,628.06740436,650,0.40268109024,-0.0154447997551,0.069920012714,0.999999976041,0.000173488879524,-0.000131942345877,-2.02606386922e-05,1793192876438577664
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876,783,799,649,628,650,0.402941450929,-0.0154558848374,0.0699242811826,0.999999989277,7.3677341387e-05,-0.000123956164227,-2.55366544414e-05,1793192876455244288
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.10615164,742,712,671,660,633,876,783,799,649,628,650,0.403217163195,-0.0154670398003,0.0699294079736,0.999999992851,-1.61289866899e-05,-0.000114427174226,-3.07452270146e-05,1793192876471911168
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.687835008,742,712,671,660,633,876,783,799,649,628,650,0.40354468064,-0.0154772444806,0.0699389571764,0.999999994676,-7.44632032564e-06,-9.65063504014e-05,-3.57645586057e-05,1793192876488578048
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.733887853,633,876.266112147,783,799,649,628,650,0.403878095177,-0.0154900452445,0.0699442518725,0.999999995466,1.30702684928e-05,-8.86312128062e-05,-3.22663041761e-05,1793192876505244672
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.159555955,633,876.840444045,783,799,649,628,650,0.404218339899,-0.0155058528764,0.0699446188599,0.999999994435,4.72932909949e-05,-9.23913170373e-05,-1.89027040251e-05,1793192876521911040
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.584740007,742,712,671,659,632.584740007,876.584740007,783,799,649,628,650,0.404600339317,-0.0155198764117,0.0699485815558,0.999999995937,2.61045939036e-05,-8.45928836561e-05,-1.69918814313e-05,1793192876538577920
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.009737868,742,712,671,659,632.009737868,876.009737868,783,799,649,628,650,0.404998400917,-0.0155332136406,0.0699539274483,0.999999997059,-1.63998752148e-05,-7.23481137218e-05,-1.94867117155e-05,1793192876555244544
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.579602035,742,711.420397965,671,659,632.579602035,876,783,799,649,628,650,0.405420918215,-0.0155194498252,0.069957878996,0.999999997551,4.31717595972e-06,-6.61090833726e-05,-2.2569511749e-05,1793192876571911168
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.834282191,742,711,671,659.165717809,633,876,783,799,649,628.165717809,650,0.405853978192,-0.0155080918692,0.0699552907769,0.999999996928,2.10168751261e-05,-7.10971118334e-05,-2.54534234517e-05,1793192876588577792
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.256791507,742,711,671,659.743208493,633,876,783,799,649,628.743208493,650,0.40631218754,-0.0155038720326,0.0699365123386,0.99999999392,2.50280840067e-05,-0.000103724872091,-2.78179718366e-05,1793192876605244672
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742,711.302569333,670.697430667,660,633,876.302569333,783,799,648.697430667,628.697430667,650,0.406796833819,-0.0155063606986,0.0699228798619,0.999999991878,1.75554472332e-05,-0.000122485821652,-3.05450752147e-05,1793192876621911296
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,711.847413233,670.152586767,660,633,876.847413233,783,799,648.152586767,628.152586767,650,0.407302648835,-0.015514221024,0.069913367879,0.999999990968,8.87418597074e-07,-0.000130143284864,-3.35624853895e-05,1793192876638577920
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,712,670.43920851,660,633,876.56079149,783,799,648.43920851,628,650,0.407874225446,-0.01551796037,0.0699185808351,0.999999992793,-9.7449326833e-06,-0.000114595576958,-3.44565753812e-05,1793192876655244800
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,712,670.952095474,660,633,876.047904526,783,799,648.952095474,628,650,0.408472357313,-0.0155194745396,0.0699293866817,0.999999995219,-1.66197442595e-05,-8.99167441323e-05,-3.46394153173e-05,1793192876671911168
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,712,670.358915637,660,633,876.641084363,783,799,648.358915637,628,650,0.409081578574,-0.0155139073068,0.0699386551686,0.999999997268,-7.44881314438e-06,-6.40496959388e-05,-3.61280003254e-05,1793192876688577792
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.227532948,742,712,670.227532948,660,632.772467052,877,783,799,648.227532948,628,650,0.409697450212,-0.0155107495373,0.0699403666767,0.999999997631,-3.47891895002e-06,-5.73313337303e-05,-3.79218110655e-05,1793192876705244672
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.803668564,742,712,670.803668564,660,632.196331436,877,783,799,648.803668564,628,650,0.41032351084,-0.015511283301,0.0699305001557,0.999999995969,-7.47752112026e-06,-7.99506275731e-05,-4.01832573254e-05,1793192876721911296
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.621871786,742,712,671,660.378128214,632.378128214,877,783.378128214,799,648.621871786,628,650,0.41098361674,-0.015513282415,0.0699310127549,0.999999995668,-9.71501863427e-06,-8.28606352104e-05,-4.12698953647e-05,1793192876738577920
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.048278508,742,712,671,660.951721492,632.951721492,877,783.951721492,799,648.048278508,628,650,0.411661321577,-0.0155160390096,0.0699368906124,0.999999996211,-1.10421517071e-05,-7.55823601397e-05,-4.17492420685e-05,1793192876755244288
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.539644726,742,712,671,660.460355274,633,877,783.460355274,799,648.539644726,628,650,0.412388241017,-0.0155191987431,0.0699674089522,0.999999998731,-1.82438485861e-05,-2.48084630979e-05,-3.98607572394e-05,1793192876771911168
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.873067229,742,712,671,660.253865543,633,877,783,799,649,628,650.126932771,0.41312521149,-0.0155227470377,0.0699955653839,0.999999998724,-2.52240784068e-05,2.16119601275e-05,-3.80496637187e-05,1793192876788577792
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.292752132,742,712,671,661.414495737,633,877,783,799,649,628,650.707247868,0.413881926925,-0.0155275508692,0.0700071968563,0.99999999814,-2.94848480426e-05,3.82043945645e-05,-3.72922767369e-05,1793192876805244672
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.28392242,742.28392242,712,671,661.432155159,633,877,783.28392242,799.28392242,648.71607758,628,650.71607758,0.414613100394,-0.0155260084726,0.0699848770485,0.999999998639,-3.27167465626e-05,-2.47784691634e-06,-4.05728993769e-05,1793192876821911296
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.856890802,742.856890802,712,671,660.286218396,633,877,783.856890802,799.856890802,648.143109198,628,650.143109198,0.415318271071,-0.0155180053273,0.0699279932919,0.999999993093,-3.49012076915e-05,-0.000101468316341,-4.79643994344e-05,1793192876838577920
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.570835988,743,711.570835988,671,660,633,877,783.570835988,799.570835988,648.429164012,628,650,0.416079544782,-0.0155176794317,0.0698992025649,0.999999987099,-3.85131856511e-05,-0.000146632236699,-5.30889810777e-05,1793192876855244288
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.998739544,711.001260456,671.001260456,660,632.998739544,877,783,799.001260456,649,628,650,0.416859620105,-0.0155199139112,0.069879890028,0.99999998236,-4.26017922648e-05,-0.000173684227569,-5.74424321285e-05,1793192876871911168
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742.400743414,711.599256586,671.599256586,660,632.400743414,877,783,799.599256586,649,628,650,0.41769829349,-0.0155242583322,0.0699199578614,0.999999991385,-4.73429527392e-05,-0.000109869523317,-5.4019635646e-05,1793192876888577792
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742.190382727,712,672,660,632.190382727,877,783.190382727,799.809617273,649,628.190382727,650,0.418540830178,-0.0155275473349,0.0699534975967,0.999999995753,-4.92432978159e-05,-5.88588817398e-05,-5.10453012638e-05,1793192876905244416
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742.767551599,712,672,660,632.767551599,877,783.767551599,799.232448401,649,628.767551599,650,0.419391215597,-0.0155286921242,0.0699737746882,0.999999997198,-4.537217376e-05,-3.38612876269e-05,-4.89820738722e-05,1793192876921911296
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.343258963,743,712,671.656741037,660,633,877,783.656741037,799,649,628.656741037,650,0.420262095933,-0.0155320174916,0.0699933904174,0.999999997678,-4.83847285137e-05,-4.72716075269e-06,-4.77598159409e-05,1793192876938577920
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.917980794,743,712,671.082019206,660,633,877,783.082019206,799,649,628.082019206,650,0.421146796157,-0.015536813244,0.0700125601826,0.999999996951,-5.60390151794e-05,2.719626951e-05,-4.71046319785e-05,1793192876955244544
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.494737105,743,712,671.505262895,660,633,877,783,799,649,628,650,0.421960215936,-0.0155383423393,0.0699965885653,0.999999996849,-6.2023967714e-05,-9.51214949631e-07,-4.95290956002e-05,1793192876971911168
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.093167184,742.906832816,712,672,660,633,877,783,799,649,628.093167184,650,0.42275395992,-0.0155380836356,0.0699652803355,0.999999995014,-6.5838392267e-05,-5.27996899621e-05,-5.33775366635e-05,1793192876988577792
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.673393227,742.326606773,712,672,660,633,877,783,799,649,628.673393227,650,0.423506875146,-0.0155313215287,0.0698843776094,0.999999980757,-5.97584962084e-05,-0.000176274719699,-6.1990142484e-05,1793192877005244416
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.749106098,742.250893902,712,672,660,632.749106098,877,783,799.250893902,649,628.749106098,650,0.424316142037,-0.0155289877327,0.0698457417669,0.999999969499,-5.83442739916e-05,-0.000230491087233,-6.68698194451e-05,1793192877021910784
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.175115029,742.824884971,712,672,660,632.175115029,877,783,799.824884971,649,628.175115029,650,0.425197977806,-0.0155323566439,0.0698615365319,0.999999976665,-6.29384321861e-05,-0.000195517273538,-6.69422922372e-05,1793192877038577664
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742.599958269,712,672,660,632.400041731,877,783,800,649,628,650,0.426102973894,-0.0155369300228,0.0699105853645,0.9999999885,-6.37248418527e-05,-0.000123075344528,-6.15810002128e-05,1793192877055244544
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742.02428978,712,672,660,632.97571022,877,783,800,649,628,650,0.427018137798,-0.0155420321881,0.0699742334331,0.999999995992,-6.28395689261e-05,-3.41841239887e-05,-5.3834170436e-05,1793192877071911424
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.56948899,712,672,660,633,877,783,800,649,628,650,0.427874021812,-0.0155460244899,0.0700001951239,0.999999996127,-7.0110243082e-05,1.43171323927e-06,-5.31850601308e-05,1793192877088577792
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.158691742,743,712,672,660,633,877.158691742,783,799.841308258,649,628,650,0.428719810832,-0.0155496452565,0.0700185940203,0.999999995233,-7.67093987216e-05,2.91580041644e-05,-5.29149537445e-05,1793192877105244672
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.733793449,743,712,672,660,633,877.733793449,783,799.266206551,649,628,650,0.429545962844,-0.015552419403,0.0700215043783,0.99999999446,-8.0603687941e-05,4.23403697866e-05,-5.28188971386e-05,1793192877121911296
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.691619536,712,672,660.308380464,633,877.691619536,783.308380464,799,648.691619536,628,650,0.430319298533,-0.0155531950939,0.0699964749776,0.999999995071,-8.27600870817e-05,6.42528571834e-07,-5.48423317374e-05,1793192877138577920
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.117476115,712,672,660.882523885,633,877.117476115,783.882523885,799,648.117476115,628,650,0.431047116957,-0.0155522485113,0.0699473670318,0.999999990895,-8.34187680562e-05,-8.83511957226e-05,-5.8692348174e-05,1793192877155244544
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.469793375,712,672,661,633,877.469793375,784,799,648.469793375,628,650,0.431772062546,-0.0155491714485,0.069896823966,0.999999979675,-8.57497993882e-05,-0.000171123531253,-6.33539885186e-05,1793192877171911424
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.940726229,743,712,672,661,632.940726229,878,783.940726229,799,649,628,650,0.432507874109,-0.0155463154954,0.0698571084238,0.999999966668,-8.82968410217e-05,-0.000233076356695,-6.74020046672e-05,1793192877188578048
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.361472605,743,712,672,661,632.361472605,878,783.361472605,799,649,628,650,0.433345490207,-0.0155502070841,0.0699156161284,0.999999985987,-8.89648453268e-05,-0.000126429537383,-6.4235403378e-05,1793192877205244672
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+179,2.983333333,POSE1_TO_POSE2_PRESS,763.792332493,742.207667507,712,672.792332493,661,632.792332493,877.207667507,783.792332493,799.792332493,649,628,650,0.434891197976,-0.0155609506884,0.0700026034544,0.99999999406,-9.38999793408e-05,8.42022259965e-06,-5.46999033078e-05,1793192877238577920
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+238,3.966666667,POSE1_TO_POSE2_PRESS,763,743,711.03970102,672,659,631,877,782,799.96029898,648.03970102,628,650.03970102,0.445935969451,-0.0156651890621,0.0696547079804,0.999999821479,-0.000264578332524,-0.000530614573174,-7.40869747359e-05,1793192878221911296
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,743,711.618458069,672,659,631,877,782,799.381541931,648.618458069,628,650.618458069,0.445935522799,-0.0156665173951,0.0696550457432,0.999999821279,-0.000264180539557,-0.000531255155103,-7.36150520134e-05,1793192878238577920
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,743,711.804572301,672,659,631,877,782,799.195427699,649,628,650.804572301,0.445935510006,-0.0156667575549,0.0696551073838,0.999999821267,-0.000263575982643,-0.000531598155667,-7.34699945625e-05,1793192878255244544
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,743,711.231060732,672,659,631,877,782,799.768939268,649,628,650.231060732,0.445936336576,-0.0156648924822,0.069654634825,0.999999821619,-0.000262571410228,-0.000531365440905,-7.39573064866e-05,1793192878271911168
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.349747509,743,711.349747509,672.349747509,659,631,877.349747509,782,800,649,627.650252491,650,0.445936230411,-0.0156641433535,0.0696542267305,0.99999982117,-0.000263232111886,-0.000531834416223,-7.43093612581e-05,1793192878288578048
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.935478985,743,711.935478985,672.935478985,659,631,877.935478985,782,800,649,627.064521015,650,0.445935494904,-0.0156641471819,0.0696538621316,0.999999820177,-0.00026501641839,-0.000532776840551,-7.45701544031e-05,1793192878305244672
+244,4.066666667,HOLD_POSE2,763,743,712,672,659,631,877,781,800,649,628,650,0.445936122845,-0.0156643053983,0.0696547241389,0.999999820488,-0.000265856931655,-0.000531806199782,-7.43321398089e-05,1793192878335695616
+245,4.083333333,HOLD_POSE2,763,743,711.423837402,672.576162598,659,631,877.576162598,781.576162598,800,649,628,650,0.445937903131,-0.0156641597436,0.0696556193902,0.999999821991,-0.000263187633509,-0.000530354311571,-7.39870055394e-05,1793192878352362240
+246,4.100000000,HOLD_POSE2,763,743,711,673,659,631,877.847959304,781.847959304,800,649,628,650.152040696,0.44593867051,-0.0156642259362,0.0696559213669,0.999999822688,-0.000261640178087,-0.00052983970274,-7.37421458582e-05,1793192878369029120
+247,4.116666667,HOLD_POSE2,763,743,711,673,659,631,877.272872684,781.272872684,800,649,628,650.727127316,0.445936619529,-0.0156648815836,0.0696545725858,0.999999821161,-0.000263214195487,-0.000531933028385,-7.37762953189e-05,1793192878385696000
+248,4.133333333,HOLD_POSE2,763.310658332,743,711,672.689341668,659.310658332,631,877.310658332,781.310658332,800,649,628,651,0.445935970213,-0.0156641175755,0.0696539605925,0.999999820833,-0.000262784266776,-0.000532759658508,-7.37921555679e-05,1793192878402362368
+249,4.150000000,HOLD_POSE2,763.901813863,743,711,672.098186137,659.901813863,631,877.901813863,781.901813863,800,649,628,651,0.445936586479,-0.0156620717431,0.069654013854,0.999999821588,-0.000260544950584,-0.000532442573669,-7.37915022629e-05,1793192878419028992
+250,4.166666667,HOLD_POSE2,763.517773279,743,711.482226721,672.482226721,659.517773279,631,878,782,800.482226721,648.517773279,628,650.517773279,0.44593591569,-0.0156628707622,0.0696537377616,0.99999982096,-0.000262044568145,-0.000532863596163,-7.39467870116e-05,1793192878435695616
+251,4.183333333,HOLD_POSE2,763.060205438,743,711.939794562,673,659,630.939794562,878,782,800.939794562,648.060205438,628,650.060205438,0.445935162156,-0.0156641161774,0.0696534313253,0.99999982016,-0.000263941164985,-0.000533411570079,-7.40711889444e-05,1793192878452362240
+252,4.200000000,HOLD_POSE2,763.635663833,743,711.364336167,673,659,630.364336167,878,782,800.364336167,648.635663833,628,650.635663833,0.445935894338,-0.0156643327106,0.0696534266048,0.999999820274,-0.000262861931804,-0.000533787869489,-7.36654807257e-05,1793192878469028864
+253,4.216666667,HOLD_POSE2,764,743,711,672.789071243,659,630.210928757,878,781.789071243,800,648.789071243,627.789071243,650.789071243,0.445936740702,-0.0156650413721,0.0696539558928,0.999999820622,-0.000263104876921,-0.000533080259677,-7.31950393869e-05,1793192878485695488
+254,4.233333333,HOLD_POSE2,764,743,711,672.214140253,659,630.785859747,878,781.214140253,800,648.214140253,627.214140253,650.214140253,0.445937784111,-0.0156665993055,0.0696554067256,0.999999821368,-0.000265629520764,-0.000530502134948,-7.26128873841e-05,1793192878502362112
+255,4.250000000,HOLD_POSE2,763.628584416,743,711,672.371415584,659,630.628584416,878,781.371415584,800,648.371415584,627.371415584,650,0.445938035647,-0.0156658753497,0.0696557102321,0.999999821821,-0.000265065721689,-0.00052990127956,-7.28190967963e-05,1793192878519028992
+256,4.266666667,HOLD_POSE2,763.036722353,743,711,672.963277647,659,630.036722353,878,781.963277647,800,648.963277647,627.963277647,650,0.445937817182,-0.0156637970232,0.0696553327654,0.999999822101,-0.000262668837776,-0.000530473993588,-7.34932226994e-05,1793192878535695872
+257,4.283333333,HOLD_POSE2,763.540158578,743,711,672.459841422,659,630.540158578,877.459841422,781.459841422,800,649,628,650,0.445936949536,-0.0156640380314,0.0696539267363,0.999999820827,-0.000264017052317,-0.000532125473406,-7.4050060651e-05,1793192878552362240
+258,4.300000000,HOLD_POSE2,763.884010671,743,711.115989329,672,659,631,877,781,800,649,628,650,0.445936324462,-0.0156641841308,0.0696527877336,0.999999819906,-0.000264745714299,-0.000533439651035,-7.44278552125e-05,1793192878569028864
+259,4.316666667,HOLD_POSE2,763.308414257,743,711.691585743,672,659,631,877,781,800,649,628,650,0.445936830736,-0.0156633462153,0.0696529764261,0.999999820804,-0.0002620377453,-0.000533134507138,-7.41269347659e-05,1793192878585695488
+260,4.333333333,HOLD_POSE2,763.273719779,743,712,672.273719779,659,631,877,781.273719779,800,649,628,650,0.44593786751,-0.0156625833269,0.0696536540373,0.999999821607,-0.000260905848437,-0.000532211465746,-7.39295244631e-05,1793192878602362624
+261,4.350000000,HOLD_POSE2,763.863400301,743,712,672.863400301,659,631,877,781.863400301,800,649,628,650,0.44593951665,-0.0156619070439,0.0696548960182,0.999999822302,-0.000261593246362,-0.000530575171746,-7.3851598207e-05,1793192878619029504
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,743,712,672,659,631,878,782,800,649,628,650,0.44593814693,-0.015662635472,0.0696554686627,0.999999821456,-0.000263045006781,-0.000531551853602,-7.31268321844e-05,1793192878651469824
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.574419602,743,712,672.574419602,659,631,878,781.425580398,800,649,628,650,0.445937765728,-0.0156615133802,0.0696545710614,0.999999821592,-0.000261343077004,-0.000532091163023,-7.34445724961e-05,1793192878668136448
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.852879483,743,711.852879483,673,659,631,878,781.147120517,800,649,628,650,0.445937652054,-0.0156608766106,0.0696540779467,0.999999821814,-0.000259953208615,-0.000532337529996,-7.35776452857e-05,1793192878684803328
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.28509273,743,711.28509273,673,659,631,878,781.71490727,800,649,628,650,0.445938303329,-0.0156616275377,0.0696547413927,0.999999822286,-0.000259455626589,-0.000531746277712,-7.31826926034e-05,1793192878701470720
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.2972213,743,711.2972213,672.7027787,659,631,877.7027787,781.7027787,800,649,628,650,0.445938599213,-0.0156617550546,0.0696545790474,0.999999822508,-0.000259008816314,-0.000531555795639,-7.31236534353e-05,1793192878718137600
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.894185835,743,711.894185835,672.105814165,659,631,877.105814165,781.105814165,800,649,628,650,0.445938536688,-0.0156612538716,0.069653583904,0.999999822476,-0.00025861320862,-0.000531769484366,-7.34033780465e-05,1793192878734803712
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711.522743692,672.477256308,659,631,877.477256308,781.477256308,799.522743692,648.522743692,628,650,0.445937080704,-0.0156620960165,0.0696531718351,0.999999821735,-0.000259099990333,-0.000532923346361,-7.34181637554e-05,1793192878751470336
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.056878159,672.943121841,659.056878159,631,878,781.943121841,799.056878159,648.056878159,628,650.056878159,0.445934166077,-0.0156630809591,0.0696521748071,0.999999820279,-0.000259868489253,-0.000535274067963,-7.34364406401e-05,1793192878768136704
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711.632349111,672.367650889,659.632349111,631,878,781.367650889,799.632349111,648.632349111,628,650.632349111,0.445920689307,-0.0156627291621,0.0696446990107,0.999999813642,-0.000261472288118,-0.000546690494356,-7.40069711342e-05,1793192878784803328
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.794264789,743,711.794264789,672.205735211,659.588529578,631,877.794264789,781.205735211,800,649,627.794264789,651,0.445897593646,-0.0156609473629,0.069633311781,0.999999803419,-0.000261326964402,-0.000565033518173,-7.48849826799e-05,1793192878801470208
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.224567026,743,711.224567026,672.775432974,658.449134052,631,877.224567026,781.775432974,800,649,627.224567026,651,0.445857481377,-0.0156566357719,0.0696150049039,0.999999786396,-0.000258087298328,-0.000595630262488,-7.63069534644e-05,1793192878818137344
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.360934215,743,711,672.639065785,658.360934215,631,877.360934215,781.639065785,800,648.639065785,627.360934215,650.639065785,0.445799806177,-0.0156528974673,0.0695945958836,0.999999765092,-0.000256428002126,-0.000630895284503,-7.76637381326e-05,1793192878834804224
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.956718401,743,711,672.043281599,658.956718401,631,877.956718401,781.043281599,800,648.043281599,627.956718401,650.043281599,0.445730703256,-0.0156495321841,0.0695728190547,0.999999740252,-0.000255797008638,-0.000669197829029,-7.89781080693e-05,1793192878851470848
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.536684046,659,631,877.463315954,781,800,648,628,650,0.445661440179,-0.0156460866535,0.0695654050424,0.999999737747,-0.00025552316716,-0.000673092851758,-7.84866440658e-05,1793192878868136960
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711.114321448,672.885678552,659,631,877.114321448,781,800,648.114321448,628,650,0.445587755623,-0.0156421432227,0.0695605089917,0.999999737619,-0.00025412183482,-0.000673913086879,-7.76261947035e-05,1793192878884803328
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711.687586983,672.312413017,659,631,877.687586983,781,800,648.687586983,628,650,0.445496371359,-0.0156362262042,0.069561204408,0.999999739745,-0.000248081864761,-0.000673210247421,-7.58523604956e-05,1793192878901469952
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.731505333,743,711.731505333,672,659,631,877.731505333,781.268494667,800,649,628,650.268494667,0.445392895153,-0.0156301790065,0.0695630836728,0.999999741762,-0.000243336647285,-0.000672173281491,-7.38055835063e-05,1793192878918136832
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.141444978,743,711.141444978,672,659,631,877.141444978,781.858555022,800,649,628,650.858555022,0.445274936902,-0.0156239758987,0.0695663807872,0.999999743671,-0.000240142105322,-0.000670736145255,-7.14319136017e-05,1793192878934803456
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.440176145,743,711,672,659,631,877.440176145,782,799.559823855,649,628.440176145,651,0.445127857475,-0.0156172127977,0.0695689263078,0.999999747066,-0.00023543739899,-0.000667711945381,-6.78074701756e-05,1793192878951470336
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.980903803,743,711,672.019096197,659,631,877.980903803,782,799.019096197,649,628.980903803,650.980903803,0.444970188638,-0.0156101094279,0.0695709761356,0.999999750628,-0.000230108583088,-0.000664622421386,-6.3808123916e-05,1793192878968137472
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.403160841,743,711,672.596839159,659,631,877.403160841,782,799.596839159,649,628.403160841,650.403160841,0.444771337583,-0.0155982169061,0.0695654572456,0.999999746564,-0.000220451105712,-0.000674260434281,-6.03779611769e-05,1793192878984804096
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,743,711.17345098,673,659,631,877.17345098,782,800,649,628,650,0.444560186341,-0.015586687292,0.0695607333869,0.999999742177,-0.00021009366167,-0.000684331694388,-5.65361086322e-05,1793192879001470464
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,743,711.747450589,673,659,631,877.747450589,782,800,649,628,650,0.444320630426,-0.0155759957386,0.0695578454868,0.999999737243,-0.000198119792929,-0.000695403446787,-5.17435453899e-05,1793192879018136832
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,711.669510847,672.669510847,659,631,877.669510847,782,800,649,628,650,0.444067081639,-0.0155632841853,0.0695596606586,0.999999739923,-0.000184393091277,-0.000695726168418,-4.60162617243e-05,1793192879034803456
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711.079370708,672.079370708,659,631,877.079370708,782,800,649,628,650,0.443802539236,-0.0155489856045,0.0695651708296,0.999999748489,-0.000169289263567,-0.000687603844133,-3.95546082654e-05,1793192879051470080
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.500527225,743,711,672,659,631,877.500527225,782,800,649,628,650,0.443493771661,-0.0155355892045,0.0695794496983,0.999999769885,-0.000137288587493,-0.00066361387787,-3.1584606006e-05,1793192879068136704
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711.0782763,672,659,631,878,782,800,649,628,650,0.44317347078,-0.0155225855811,0.0695952777988,0.999999791331,-0.000100314432457,-0.000637758225396,-2.32346533006e-05,1793192879084803328
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711.65249485,672,659,631,878,782,800,649,628,650,0.442823638886,-0.0155111822629,0.069612288325,0.999999809182,-4.84650724426e-05,-0.000615704399081,-1.39624501058e-05,1793192879101470464
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.766143936,743,711.766143936,672,659,631.233856064,878,782.233856064,800,649,628,650,0.442462019087,-0.0155040407932,0.0696310904234,0.99999982669,-1.51462446417e-05,-0.000588528852592,-4.91005133853e-06,1793192879118137344
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.173834517,743,711.173834517,672,659,631.826165483,878,782.826165483,800,649,628,650,0.442082330871,-0.0155034318632,0.0696526386334,0.999999846758,-1.02309231514e-05,-0.000553502763382,3.80543174919e-06,1793192879134804224
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,659.408113078,632,877.591886922,783,800,648.591886922,628,650,0.441660877823,-0.0155063259012,0.0696712686976,0.99999986308,-1.17225892279e-05,-0.000523107002617,7.85133371178e-06,1793192879151470592
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,659.985756357,632,877.014243643,783,800,648.014243643,628,650,0.441222075672,-0.0155106750723,0.0696886865633,0.999999877493,-1.58757184899e-05,-0.000494634681293,9.95749113897e-06,1793192879168136960
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.289639361,711.710360639,672.710360639,659.710360639,632,877,783,800.710360639,648.710360639,628,650,0.439704293079,-0.0154940502172,0.0697477967574,0.999999926267,1.85417128463e-05,-0.000383126986865,1.83166658552e-05,1793192879218136832
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.887418285,712,673,660,632,877,783,800.112581715,649,628.887418285,650,0.438509237793,-0.015464994475,0.0697291051869,0.999999912632,4.8757611052e-05,-0.000414865975807,1.56454082536e-05,1793192879251471104
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.530927284,743,711.530927284,673,660,632.469072716,877,783,799.530927284,648.530927284,628.530927284,650,0.437877418875,-0.0154499877311,0.0697214694843,0.999999910869,7.53401600858e-05,-0.000415284821408,1.11892036303e-05,1793192879268137728
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,711.200510586,672.200510586,660.799489414,632,877,783,799,648,628,650,0.435899968556,-0.015401069751,0.0697873488868,0.999999941809,0.000132364411671,-0.000314024411667,1.58241440069e-05,1793192879318136832
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,660.3720392,632,877,783.3720392,799.3720392,648.3720392,628,650,0.434464457129,-0.0154018732063,0.0698288266414,0.999999955261,0.000142052129576,-0.000262294731974,2.23690394212e-05,1793192879351469824
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742.643701774,711.643701774,671.643701774,660.643701774,633,877.356298226,783,799,649,628,650,0.420562689749,-0.0153860246069,0.0697038139389,0.999999862643,0.000197189255899,-0.000485120230302,2.21044102279e-05,1793192879618136832
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742.717747978,711,671,660,633,876,783,799,648.282252022,628.717747978,650,0.414689923448,-0.0153895855576,0.0697804823641,0.999999922264,0.00019005515498,-0.000344339695624,2.79490011149e-05,1793192879734803712
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.301164035,743,711.301164035,671,660,633,876.301164035,783.301164035,799.301164035,648.301164035,629,650,0.413847115191,-0.0153871744615,0.0697573352842,0.999999905937,0.00019161795612,-0.000388256798996,2.57784814615e-05,1793192879751470080
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.62854547,742,711.62854547,671,659.37145453,632.37145453,877.62854547,783,799.62854547,649,628.37145453,650.62854547,0.402220190573,-0.0153599482229,0.0698035604564,0.999999914972,0.000252912846031,-0.000324982045814,2.18547469758e-05,1793192880134803968
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.210375435,712,671,659.210375435,632.210375435,877.789624565,783,799.789624565,649,628.210375435,650.789624565,0.402014508598,-0.0153703724771,0.0697988183498,0.999999917135,0.000235176942855,-0.000331567856823,2.20202269219e-05,1793192880151470848
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.805787722,712,671,659.805787722,632.805787722,877.194212278,783,799.194212278,649,628.805787722,650.194212278,0.401836826745,-0.0153780493797,0.0697960981395,0.999999918958,0.000223182542814,-0.000334264351519,2.3241445347e-05,1793192880168137472
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.61149217,742.61149217,712,671.38850783,659.61149217,633,876.61149217,783,799,649,628.61149217,650.38850783,0.401682641753,-0.0153743553769,0.069797535414,0.999999918678,0.000225955962766,-0.000333156979788,2.43963319807e-05,1793192880184803840
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.034916021,742.034916021,712,671.965083979,659.034916021,633,876.034916021,783,799,649,628.034916021,650.965083979,0.401539831073,-0.015365156963,0.0698009852376,0.999999917336,0.000235878167009,-0.000330208238016,2.55191089225e-05,1793192880201470208
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.540562426,742,712,671.459437574,659.540562426,633,876,783,799,649,628,650.459437574,0.401428071099,-0.0153650397187,0.0698015805437,0.999999917715,0.000236443106886,-0.000328663651931,2.53821390225e-05,1793192880218136832
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,670.799717258,659,633,877,783,799.799717258,648.200282742,628.200282742,650,0.400941604674,-0.0153619818868,0.0698097026945,0.999999923608,0.000241267809615,-0.000307315339434,1.14784618924e-05,1793192880668136960
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,670.207055866,659,633,877,783,799.207055866,648.792944134,628.792944134,650,0.400941590583,-0.0153628303806,0.069809400616,0.999999923523,0.000241035502789,-0.000307773162898,1.14758591e-05,1793192880684803584
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.049367237,742,712,670.950632763,659,633,877,783,799,649,629,650,0.40094032489,-0.015364631861,0.0698098004314,0.999999923308,0.000241326347059,-0.000308226012597,1.19547800924e-05,1793192880718136832
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.527489775,742,712,671,659,633,876.472510225,783,799,649,629,650,0.400939390379,-0.0153633367916,0.0698092681169,0.999999922464,0.000243248281603,-0.000309450859633,1.19199690406e-05,1793192880734803712
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.893471458,742,712,671,659,633,876.106528542,783.106528542,799,649,628.893471458,650.106528542,0.400938871166,-0.0153624511376,0.0698089433882,0.999999921967,0.000244343251358,-0.000310192767182,1.19170144833e-05,1793192880751470592
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,712,670.721012263,659.278987737,633,877,783.721012263,799,649,628.278987737,650.721012263,0.400941225252,-0.0153650906931,0.0698104877258,0.99999992426,0.000239016370504,-0.000306922370287,1.22083576231e-05,1793192880784803584
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.434607746,742,712,670.434607746,659.565392254,633,876.565392254,783,799,649,629,650,0.400941449756,-0.0153641290345,0.0698106815204,0.999999924377,0.000239688607348,-0.000306034857,1.1706632999e-05,1793192880818136576
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.415757202,742,712,671,659,633,876,783,799,648.415757202,628.415757202,650,0.400940693856,-0.015364795565,0.0698105925037,0.999999924261,0.000239074431504,-0.000306894494851,1.16728224489e-05,1793192880851470080
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763,742,711.836963088,671,659.163036912,633,876.163036912,783,799,648,628.163036912,650,0.400940626481,-0.0153651901583,0.0698106999829,0.999999924481,0.000238105593423,-0.000306926071106,1.18027658966e-05,1793192880868136960
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763,742,711.245257268,671,659.754742732,633,876.754742732,783,799,648,628.754742732,650,0.400941527673,-0.015363834952,0.0698113505999,0.999999924434,0.000240312027592,-0.000305354632196,1.18275252108e-05,1793192880884803840
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..813af6ebdabd322938244c8257d27eb6d292adc1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
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+377,6.283333333,pose2_to_pose3_retreat,0.575711547654,-0.00994553432243,1.0600292946,0.546282280049,-0.00127279766325,1.05969858175
+378,6.300000000,pose2_to_pose3_retreat,0.575711318456,-0.00994555049913,1.06002928128,0.546282051211,-0.0012728126023,1.05969856897
+379,6.316666667,pose2_to_pose3_retreat,0.575710901087,-0.00994555083799,1.06002926839,0.546281633992,-0.0012728124275,1.05969855621
+380,6.333333333,pose2_to_pose3_retreat,0.575710897255,-0.00994555020499,1.06002926852,0.54628163015,-0.0012728118278,1.05969855633
+381,6.350000000,pose2_to_pose3_retreat,0.575710822688,-0.00994553788748,1.06002927105,0.546281555396,-0.00127280015821,1.05969855852
+382,6.366666667,pose2_to_pose3_retreat,0.575710653434,-0.00994550992876,1.06002927678,0.546281385716,-0.00127277367018,1.0596985635
+383,6.383333333,pose2_to_pose3_retreat,0.575710595231,-0.00994550031447,1.06002927875,0.546281327368,-0.00127276456162,1.05969856521
+384,6.400000000,pose2_to_pose3_retreat,0.575710515283,-0.00994548710805,1.06002928146,0.546281247219,-0.00127275204989,1.05969856756
+385,6.416666667,pose2_to_pose3_retreat,0.575710324914,-0.0099454556615,1.06002928791,0.546281056372,-0.00127272225749,1.05969857316
+386,6.433333333,pose2_to_pose3_retreat,0.575709969148,-0.00994539689328,1.06002929995,0.546280699712,-0.00127266658059,1.05969858363
+387,6.450000000,pose2_to_pose3_retreat,0.575709801615,-0.00994536921896,1.06002930563,0.546280531759,-0.001272640362,1.05969858856
+388,6.466666667,pose2_to_pose3_retreat,0.575709783842,-0.00994536628318,1.06002930623,0.546280513942,-0.00127263758065,1.05969858908
+389,6.483333333,pose2_to_pose3_retreat,0.57570965719,-0.00994536787258,1.06002929598,0.546280387162,-0.00127263952242,1.05969858097
+390,6.500000000,pose2_to_pose3_retreat,0.57570946939,-0.00994538305559,1.0600292725,0.546280199281,-0.00127265480165,1.05969856219
+391,6.516666667,pose2_to_pose3_retreat,0.575709281468,-0.00994536762017,1.06002921403,0.546280011093,-0.00127264021094,1.0596985052
+392,6.533333333,pose2_to_pose3_retreat,0.575709255443,-0.00994535344269,1.06002919219,0.546279984959,-0.00127262644464,1.05969848229
+393,6.550000000,pose2_to_pose3_retreat,0.575709215537,-0.00994533170369,1.06002915869,0.546279944885,-0.00127260533611,1.05969844716
+394,6.566666667,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365052,1.05969844436
+395,6.583333333,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365052,1.05969844436
+396,6.600000000,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365052,1.05969844436
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b1ecf4e7238f6fa6eacefe6e8b53e48ad59cb22
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecbfb6be1a3a417c0e882719fac4aa0754ba7826e32618cae58539814b73a1c2
+size 25359500
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..27e770297b833bb71e936930212b99b0339c9903
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/franka_data.csv
@@ -0,0 +1,400 @@
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+21,0.350000000,BASELINE,763.178962077,742,711.178962077,671,659.178962077,633,876.178962077,783,799,648.821037923,628.821037923,650,0.400942941004,-0.0153635279684,0.0698130139358,0.999999925029,0.000241821126988,-0.000302202545055,1.17245583694e-05,1793192881385511680
+22,0.366666667,BASELINE,763.772751909,742,711.772751909,671,659.772751909,633,876.772751909,783,799,648.227248091,628.227248091,650,0.400944306937,-0.0153634884828,0.069813684862,0.999999925584,0.000241825558381,-0.000300356975213,1.17374788068e-05,1793192881402178048
+23,0.383333333,BASELINE,764,742,712,671,659.643926798,633,877,783,799.356073202,648.356073202,628.356073202,650.356073202,0.400944149308,-0.0153634956041,0.0698136469986,0.99999992553,0.000241928439585,-0.000300455755889,1.166387504e-05,1793192881418844672
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+44,0.733333333,BASELINE,764,742.523998349,712,671,659.476001651,633,877,783.523998349,799.523998349,649,628.476001651,650,0.400942870703,-0.0153662688812,0.0698140780298,0.999999926332,0.000238004086762,-0.000300924268586,1.15974481209e-05,1793192881768845312
+45,0.750000000,BASELINE,764,743,712,671,659,633,877,783.89914251,799.89914251,649,628,650,0.400942381462,-0.0153656214316,0.0698136690892,0.999999926319,0.000237778114134,-0.00030115599624,1.1383008783e-05,1793192881785511680
+46,0.766666667,BASELINE,764,743,712,671,659,633,877,783.305017178,799.305017178,649,628,650,0.400943433048,-0.01536497074,0.0698146395932,0.999999925788,0.000240938679844,-0.000300386140884,1.18229153257e-05,1793192881802178048
+47,0.783333333,BASELINE,764,742.71923747,712,671,659.28076253,633,877,783.28076253,799,649,628.28076253,650.28076253,0.400943903694,-0.0153646704909,0.0698149967914,0.9999999256,0.000242087418505,-0.000300086117057,1.18818739947e-05,1793192881818844672
+48,0.800000000,BASELINE,764,742.142262555,712,671,659.857737445,633,877,783.857737445,799,649,628.857737445,650.857737445,0.400943761432,-0.0153647399686,0.0698147069349,0.999999925781,0.000241113623312,-0.000300281778641,1.15389219734e-05,1793192881835511296
+49,0.816666667,BASELINE,764,742,712,671,660,633,877,783.567204233,799.432795767,649,629,651,0.400943479645,-0.0153652426658,0.069814376854,0.999999926303,0.000239058978454,-0.000300189855747,1.14003859144e-05,1793192881852178176
+50,0.833333333,BASELINE,764,742.007417799,712,671,659.992582201,633,877,783,799.992582201,648.992582201,629,650.992582201,0.40094316268,-0.0153658647175,0.0698140402549,0.999999926919,0.000236710282082,-0.00030000318924,1.13316890449e-05,1793192881868844800
+51,0.850000000,BASELINE,764,742.597027701,712,671,659.402972299,633,877,783,799.402972299,648.402972299,629,650.402972299,0.400943668467,-0.0153647271536,0.0698142252337,0.999999926433,0.000239044339702,-0.000299767103337,1.14939509083e-05,1793192881885511424
+52,0.866666667,BASELINE,764,743,712,671,659.184431803,633,877,783.184431803,799,648.184431803,629,650,0.400944171641,-0.0153642862677,0.069814524144,0.999999926223,0.000240230783287,-0.000299512961287,1.16419421913e-05,1793192881902178048
+53,0.883333333,BASELINE,764,743,712,671,659.76707329,633,877,783.76707329,799,648.76707329,629,650,0.400944669175,-0.0153653495903,0.0698150690458,0.999999926619,0.000238939394728,-0.000299219833933,1.1759121624e-05,1793192881918844672
+54,0.900000000,BASELINE,764,743,712,671,660,633,877,783.655284935,799.344715065,649,629,650,0.400944091921,-0.0153657179865,0.0698153980971,0.999999926641,0.000238770568064,-0.000299282792691,1.1702507783e-05,1793192881935511040
+55,0.916666667,BASELINE,764,743,712,671,660,633,877,783.080973228,799.919026772,649,629,650,0.400942798808,-0.0153656235287,0.0698155833816,0.999999926414,0.000239349421101,-0.000299582921756,1.15301393451e-05,1793192881952177664
+56,0.933333333,BASELINE,764,742.50740167,712,671,659.50740167,633,876.50740167,783.49259833,799.50740167,649,629,650,0.400943067911,-0.0153653009051,0.0698149299867,0.999999925999,0.000240380196607,-0.000300143675359,1.1530844502e-05,1793192881968844800
+57,0.950000000,BASELINE,764,742,712,671,659.068362665,633,876.068362665,783.931637335,799,649,629,650.068362665,0.400943505055,-0.0153649729379,0.0698142218256,0.999999925602,0.000241286540215,-0.000300739267828,1.15291669636e-05,1793192881985511936
+58,0.966666667,BASELINE,764,742,712,671,659.661905445,633,876.661905445,783.338094555,799,649,629,650.661905445,0.4009432633,-0.015364891617,0.0698141504405,0.999999925593,0.000240667128678,-0.000301273876019,1.12909538513e-05,1793192882002178048
+59,0.983333333,BASELINE,764.247884937,742,712,671,660,633,877,783.247884937,799.247884937,649,629,651,0.400943123617,-0.0153654493301,0.0698141030804,0.99999992584,0.00023948364321,-0.0003013959728,1.13575856941e-05,1793192882018844672
+60,1.000000000,BASELINE,764.823854238,742,712,671,660,633,877,783.823854238,799.823854238,649,629,651,0.400943119028,-0.015366852827,0.0698140875186,0.999999926422,0.000237553586126,-0.00030097209641,1.18276904389e-05,1793192882035511808
+61,1.016666667,BASELINE,764.202454914,742.398772543,712,671,660,633,877,784,799.601227457,649,629,651,0.400943101554,-0.0153679260308,0.0698138615635,0.999999926919,0.000235455040789,-0.000300968600798,1.18531428314e-05,1793192882052178432
+62,1.033333333,BASELINE,763.053544424,742.973227788,712,671,660,633,877,784,799.026772212,649,629,651,0.400943078404,-0.015368853721,0.0698135429178,0.999999927376,0.000233282266607,-0.000301150307609,1.1682699746e-05,1793192882068844800
+63,1.050000000,BASELINE,763.547066102,743,712,671,660,633,877.547066102,784,799,649,629,650.452933898,0.400941275606,-0.0153658239339,0.0698130737278,0.99999992588,0.000237722317553,-0.000302657990338,1.12178752087e-05,1793192882085511424
+64,1.066666667,BASELINE,764,742.874290681,712,670.874290681,660,633,877.874290681,784,799,649,629,650.125709319,0.400940186631,-0.0153636661396,0.0698129352541,0.999999924861,0.000240994091675,-0.000303446087634,1.09696092559e-05,1793192882102178048
+65,1.083333333,BASELINE,764,742.277529804,712,670.277529804,660,633,877.277529804,784,799,649,629,650.722470196,0.400942098436,-0.015365500726,0.0698140635991,0.99999992606,0.00023867688253,-0.000301294911081,1.15867426756e-05,1793192882118844928
+66,1.100000000,BASELINE,764,742,712,670.308231997,660,633.308231997,877,784,799.308231997,649,628.691768003,651,0.400942561098,-0.015365733027,0.0698143222467,0.999999926391,0.000237871903939,-0.000300831032808,1.16092208453e-05,1793192882135511552
+67,1.116666667,BASELINE,764,742,712,670.884431506,660,633.884431506,877,784,799.884431506,649,628.115568494,651,0.40094176392,-0.0153645723497,0.0698138248057,0.999999925973,0.000238381612656,-0.000301834040383,1.11147238199e-05,1793192882152178176
+68,1.133333333,BASELINE,764,742.458949101,712,671,660,633.541050899,876.541050899,784,799.541050899,649,628.458949101,650.541050899,0.400941817278,-0.0153646791888,0.0698137416441,0.999999925624,0.000239669317551,-0.000301965746208,1.12565882712e-05,1793192882168844544
+69,1.150000000,BASELINE,763.965990099,742.965990099,712,671,659.965990099,633,876.034009901,783.965990099,799,649,629,650,0.400942014095,-0.0153650847046,0.0698137116167,0.999999925307,0.000241007533063,-0.000301941462659,1.15283279487e-05,1793192882185511168
+70,1.166666667,BASELINE,763.375126807,742.375126807,712,671,659.375126807,633,876.624873193,783.375126807,799,649,629,650,0.400941065881,-0.0153651736829,0.0698128497453,0.999999925255,0.000239976826278,-0.000302942358878,1.13124289314e-05,1793192882202177792
+71,1.183333333,BASELINE,763.211412051,742,712,671,659.211412051,633,877,783.211412051,799,649,629,650,0.400941386986,-0.015365720213,0.0698129093824,0.999999925562,0.000239351598608,-0.000302422210237,1.13263796544e-05,1793192882218844416
+72,1.200000000,BASELINE,763.790431593,742,712,671,659.790431593,633,877,783.790431593,799,649,629,650,0.400943915211,-0.0153670623435,0.0698145713567,0.99999992649,0.00023943142594,-0.000299257238616,1.1739997655e-05,1793192882235511040
+73,1.216666667,BASELINE,763.632272569,742.367727431,712,671,660,633,877,783.632272569,799,649,629,650,0.400944226902,-0.0153668457151,0.0698148876254,0.999999926556,0.000239672792086,-0.00029884025305,1.17776233075e-05,1793192882252177664
+74,1.233333333,BASELINE,763.055954525,742.944045475,712,671,660,633,877,783.055954525,799,649,629,650,0.40094328128,-0.0153657448925,0.0698144405527,0.999999926137,0.000240005789902,-0.00029998204205,1.16019701099e-05,1793192882268844544
+75,1.250000000,BASELINE,763,742.481203534,712,671,660,633,877,783,799.518796466,649,628.481203534,650,0.400943791013,-0.0153658257509,0.0698149408556,0.999999926467,0.000239173907492,-0.000299547756679,1.15700389421e-05,1793192882285510912
+76,1.266666667,BASELINE,763,742,712,671,659.904015113,633,876.904015113,783,800,649,628.095984887,650,0.400944254563,-0.0153660440023,0.0698153390849,0.99999992678,0.0002382936869,-0.000299204310558,1.15565183203e-05,1793192882302177536
+77,1.283333333,BASELINE,763,742,712,671,659.313397716,633,876.313397716,783,800,649,628.686602284,650,0.400943673675,-0.0153663154726,0.0698146863399,0.999999926596,0.000237809858284,-0.000300202323375,1.1558231489e-05,1793192882318844416
+78,1.300000000,BASELINE,763.271581904,742.271581904,712,671,659.271581904,633,876.271581904,783.271581904,800,649,628.728418096,650,0.40094351221,-0.0153661547176,0.0698145301194,0.999999926371,0.000238314397568,-0.000300548595265,1.15922286248e-05,1793192882335511040
+79,1.316666667,BASELINE,763.85018796,742.85018796,712,671,659.85018796,633,876.85018796,783.85018796,800,649,628.14981204,650,0.400943824903,-0.0153655053304,0.0698149352212,0.9999999261,0.000239936289737,-0.00030015807203,1.16627228817e-05,1793192882352177664
+80,1.333333333,BASELINE,764,743,712,670.57359339,659.57359339,633,877,783.57359339,800,648.57359339,628,650.42640661,0.40094334518,-0.0153665559113,0.0698148696571,0.999999926298,0.000238982778041,-0.000300257094249,1.1725846551e-05,1793192882368844544
+81,1.350000000,BASELINE,764,742.998213822,712,670.001786178,659,633,877.001786178,783.001786178,799.998213822,648.001786178,628.001786178,650.998213822,0.400942590946,-0.0153681895656,0.0698146394594,0.999999926654,0.0002371434197,-0.000300527599663,1.17853611967e-05,1793192882385511168
+82,1.366666667,BASELINE,764,742.424440908,712,670.575559092,659,633,877.575559092,783.575559092,799.424440908,648.575559092,628.575559092,650.424440908,0.40094258718,-0.0153663450384,0.0698143476869,0.999999925906,0.000239770631326,-0.00030094086287,1.15137929632e-05,1793192882402177792
+83,1.383333333,BASELINE,764,742,712,670.845212661,659.154787339,633,877.845212661,783.845212661,799.154787339,649,628.845212661,650.154787339,0.400942842421,-0.0153652767286,0.0698143300642,0.999999925526,0.00024137193708,-0.000300928796229,1.13458585598e-05,1793192882418844416
+84,1.400000000,BASELINE,764,742,712,670.250478782,659.749521218,633,877.250478782,783.250478782,799.749521218,649,628.250478782,650.749521218,0.40094383383,-0.0153664146331,0.0698150916474,0.999999926208,0.00024005734773,-0.000299707829807,1.14724788367e-05,1793192882435511040
+85,1.416666667,BASELINE,764,742,712,670.332775965,660,633,876.667224035,783.332775965,799.667224035,649,628.332775965,651,0.400943481664,-0.0153668140094,0.0698152434041,0.999999926387,0.000239224289252,-0.000299772355536,1.16029625109e-05,1793192882452177664
+86,1.433333333,BASELINE,764,742,712,670.907678502,660,633,876.092321498,783.907678502,799.092321498,649,628.907678502,651,0.400942151917,-0.0153666760352,0.069814951453,0.9999999262,0.000238741590945,-0.000300772200707,1.17362571713e-05,1793192882468844288
+87,1.450000000,BASELINE,763.518085435,742,712,671,660,633,876,783.518085435,799.481914565,648.518085435,629,651,0.400942544794,-0.0153661254141,0.0698145066388,0.999999926233,0.000238270082927,-0.00030104237273,1.15828351918e-05,1793192882485510912
+88,1.466666667,BASELINE,763,742.057969537,712,671,659.942030463,633,876.057969537,783,800,648.057969537,629,650.942030463,0.400943117398,-0.0153654449213,0.0698141155647,0.999999926238,0.00023809268409,-0.000301175845409,1.13828001246e-05,1793192882502177792
+89,1.483333333,BASELINE,763,742.652024379,712,671,659.347975621,633,876.652024379,783,800,648.652024379,629,650.347975621,0.400942304465,-0.0153642934508,0.0698144919016,0.999999925587,0.000240615323435,-0.000301336069784,1.12589479441e-05,1793192882518844416
+90,1.500000000,BASELINE,763.239011905,742.760988095,712,671,659,633,876.760988095,783,800,649,628.760988095,650,0.400941787802,-0.0153642582778,0.0698145351532,0.999999925348,0.000241483682567,-0.000301434486691,1.12499099274e-05,1793192882535511296
+91,1.516666667,BASELINE,763.816005635,742.183994365,712,671,659,633,876.183994365,783,800,649,628.183994365,650,0.400941690088,-0.0153658016386,0.0698141073957,0.999999925697,0.000240012757814,-0.000301445502912,1.14032282721e-05,1793192882552177920
+92,1.533333333,BASELINE,764,742,712,671,659,633,876.391625236,783,800,649,628.391625236,650,0.400941617627,-0.015366482086,0.0698140579829,0.999999925926,0.000238932981985,-0.000301539085101,1.154727204e-05,1793192882568844544
+93,1.550000000,BASELINE,764,742,712,671,659,633,876.966601547,783,800,649,628.966601547,650,0.400941556987,-0.0153667585348,0.0698141857034,0.999999926098,0.000238036334104,-0.00030167132302,1.16869736507e-05,1793192882585511168
+94,1.566666667,BASELINE,763.445096432,742.554903568,712,671,659.554903568,633,877,783.554903568,799.445096432,649,629,650,0.400941654149,-0.0153666870524,0.0698139695197,0.999999926055,0.000237794297567,-0.000302014934404,1.14526805059e-05,1793192882602177792
+95,1.583333333,BASELINE,763.141664857,742.858335143,712,671,660,633,877,783.858335143,799.141664857,649,629,650,0.400941799983,-0.0153666962237,0.0698138931044,0.999999926171,0.000237148270353,-0.000302146330865,1.12688273124e-05,1793192882618844672
+96,1.600000000,BASELINE,763.721125271,742.278874729,712,671,660,633,877,783.278874729,799.721125271,649,629,650,0.400942066154,-0.0153670209525,0.0698143141651,0.999999926817,0.000235129010961,-0.000301581623367,1.13121272029e-05,1793192882635511296
+97,1.616666667,BASELINE,764,742,712,671,659.701412907,633,876.701412907,783,799.701412907,649,629,650,0.400942112738,-0.0153665329813,0.0698145817336,0.999999926875,0.000235619809402,-0.000301015372376,1.11178060949e-05,1793192882652177920
+98,1.633333333,BASELINE,764,742,712,671,659.125805356,633,876.125805356,783,799.125805356,649,629,650,0.400941955595,-0.0153652910106,0.0698147068965,0.999999926382,0.000238439366935,-0.000300447689412,1.07030271028e-05,1793192882668844544
+99,1.650000000,BASELINE,763.551298258,742.448701742,712,671,659,633,876,783,799.448701742,649,629,650,0.40094195124,-0.0153650350375,0.0698142814238,0.999999926155,0.000238771954917,-0.000300934369241,1.08314921065e-05,1793192882685511168
+100,1.666666667,BASELINE,763.023573044,742.976426956,712,670.976426956,659,633,876.023573044,783.023573044,799.976426956,649,629,650,0.400941996154,-0.0153650495147,0.0698137312726,0.999999926027,0.000238364803055,-0.00030166956606,1.10882605102e-05,1793192882702177792
+101,1.683333333,BASELINE,763.614621448,742.385378552,712,670.385378552,659,633,876.614621448,783.614621448,799.385378552,649,629,650,0.40094219837,-0.0153649358317,0.0698138871599,0.999999926495,0.000236894624671,-0.000301288298839,1.07760205494e-05,1793192882718844416
+102,1.700000000,BASELINE,764,742,711.79850745,670.20149255,659.20149255,633,877,783.79850745,799.20149255,649,628.79850745,650.20149255,0.400942975838,-0.0153645209458,0.0698143067467,0.999999926641,0.00023744522996,-0.000300373353525,1.06367739755e-05,1793192882735511296
+103,1.716666667,BASELINE,764,742,711.219463727,670.780536273,659.780536273,633,877,783.219463727,799.780536273,649,628.219463727,650.780536273,0.400944831196,-0.0153635416745,0.0698152204462,0.999999926173,0.000241782324021,-0.000298458416984,1.08216776647e-05,1793192882752177920
+104,1.733333333,BASELINE,763.643859728,742,711.356140272,670.643859728,660,633,876.643859728,783.356140272,799.643859728,649,628.356140272,650.643859728,0.400944862952,-0.0153642929467,0.0698154855347,0.999999926552,0.000240811852565,-0.000297966662146,1.10531185001e-05,1793192882768844544
+105,1.750000000,BASELINE,763.070355052,742,711.929644948,670.070355052,660,633,876.070355052,783.929644948,799.070355052,649,628.929644948,650.070355052,0.400943781703,-0.0153661004279,0.0698153547539,0.999999927441,0.000236601995507,-0.000298343522855,1.13129625412e-05,1793192882785511168
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,712,671,660,633,877,784,799,649,629,650,0.400940030071,-0.0153650743969,0.0698133596083,0.999999925296,0.000240741253893,-0.00030220573636,1.10890020182e-05,1793192882816596992
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742.406045662,712,671,659.406045662,633,876.406045662,783.406045662,799.593954338,649,629,650,0.400942924365,-0.015364989594,0.0698145912214,0.999999926334,0.000239919348753,-0.000299413954148,1.10304587492e-05,1793192882833263872
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.816655258,876,783,799.816655258,649,628.816655258,650,0.400944681727,-0.0153649371375,0.0698152906691,0.99999992687,0.000239459828328,-0.000297991924274,1.09853195306e-05,1793192882849930496
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.237126801,876,783,799.237126801,649,628.237126801,650,0.400943982331,-0.0153649545771,0.0698148401783,0.999999926333,0.000239783373144,-0.000299529747345,1.09691446795e-05,1793192882866597120
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.338206481,876.338206481,783,799.338206481,649,628,650,0.400943000729,-0.0153656442145,0.0698144371192,0.999999926238,0.000239339364918,-0.000300195659064,1.11043540502e-05,1793192882883263744
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.910634404,876.910634404,783,799.910634404,649,628,650,0.400941823688,-0.0153667993757,0.0698140669085,0.99999992645,0.00023836379566,-0.000300257737396,1.13444030173e-05,1793192882899930368
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877,783,799.50229043,649,628,650,0.400942444921,-0.0153672420811,0.0698149541279,0.999999926863,0.000238496769317,-0.000298765448358,1.15419359941e-05,1793192882916596736
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.085452153,712,671,659.085452153,633,877,783,799.085452153,649,628.085452153,650,0.400943593337,-0.0153673841767,0.0698160071737,0.999999927247,0.000238877212231,-0.000297165205275,1.17069971435e-05,1793192882933263360
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.661470269,712,671,659.661470269,633,877,783,799.661470269,649,628.661470269,650,0.400945858384,-0.0153665571811,0.0698166767566,0.999999927266,0.000239501014303,-0.000296596019838,1.17307969314e-05,1793192882949930240
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.761193677,742.761193677,712,670.761193677,660,633,877,783,799.761193677,649,629,650,0.400952334041,-0.0153660428332,0.0698191911974,0.999999928317,0.000239879427776,-0.000292718741648,1.1854585256e-05,1793192882966597120
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.181979006,742.181979006,712,670.181979006,660,633,877,783,799.181979006,649,629,650,0.400964811745,-0.0153659741515,0.0698243354049,0.999999930785,0.00023990805008,-0.000284125916718,1.21209030224e-05,1793192882983264000
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,712,670.392420067,659.607579933,633,876.607579933,783,799,649,629,650.392420067,0.400996963551,-0.0153682766142,0.0698389769546,0.999999937852,0.000238426677271,-0.000259361326389,1.33978326969e-05,1793192882999930368
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,712,670.9646131,659.0353869,633,876.0353869,783,799,649,629,650.9646131,0.401038128331,-0.0153716653304,0.0698579693661,0.99999994617,0.000236253554978,-0.000227188229607,1.51377374309e-05,1793192883016596992
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.55680056,742,712,671,659,633,876,783,799.55680056,649,629,650.44319944,0.401094052127,-0.015374970444,0.0698743388949,0.999999951906,0.000237059505424,-0.000199322919024,1.61527349256e-05,1793192883033263872
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.853646347,742.146353653,712,671,659.146353653,633,876.146353653,783,799.853646347,648.853646347,629,650.146353653,0.401153014026,-0.0153779208227,0.0698883932543,0.999999955942,0.000237421872503,-0.000177392848709,1.67150693445e-05,1793192883049930240
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.275747417,742.724252583,712,671,659.724252583,633,876.724252583,783,799.275747417,648.275747417,629,650.724252583,0.401218065397,-0.0153798414645,0.0698961308318,0.999999957233,0.000235897202225,-0.00017212636113,1.60835665998e-05,1793192883066596864
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742.699797639,712,671,660,633,877.300202361,783.300202361,799.300202361,648.300202361,628.699797639,650.699797639,0.40129147051,-0.0153830608635,0.0698997192821,0.999999958012,0.00023442536517,-0.000169728289444,1.45855255566e-05,1793192883083263488
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742.125626719,712,671,660,633,877.874373281,783.874373281,799.874373281,648.874373281,628.125626719,650.125626719,0.401372499352,-0.015387465525,0.0698995211848,0.999999958338,0.000233001744492,-0.000169947971538,1.22966704867e-05,1793192883099930368
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.450836973,742.450836973,712,671,660,633,877.549163027,783.549163027,799.549163027,648.549163027,628.450836973,650,0.401478332095,-0.0153912795805,0.0699005316485,0.999999958998,0.000231261613731,-0.000168610052965,9.57938518445e-06,1793192883116596992
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.971219541,712,671,660,633,877,783,799.028780459,648.028780459,629,650,0.401592405067,-0.015395113948,0.0699019635483,0.999999959835,0.000229117051429,-0.000166705366622,6.71038705689e-06,1793192883133263616
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.376813595,712,671,660,633,877,783,799.623186405,648.623186405,629,650,0.401731894216,-0.0154025984262,0.0699050256067,0.999999962466,0.000220766342002,-0.000162235549741,3.21800026674e-06,1793192883149930240
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.790096883,671,660,633,877,783.209903117,799.790096883,649,629,650,0.401883688474,-0.0154096422323,0.0699085039625,0.999999965151,0.000212953254078,-0.000156039549749,-6.5655635383e-07,1793192883166596864
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.216695991,671,660,633,877,783.783304009,799.216695991,649,629,650,0.402056791977,-0.0154159229081,0.0699127032371,0.999999967971,0.000206071188081,-0.000146854248651,-5.19293166758e-06,1793192883183263488
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.642578368,742,711.357421632,671,659.642578368,633,876.642578368,783.642578368,799,648.642578368,629,650,0.402248559416,-0.0154242665587,0.0699145756491,0.99999997051,0.000196608156171,-0.000142192841134,-1.03059387458e-05,1793192883199930112
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.06802528,742,711.93197472,671,659.06802528,633,876.06802528,783.06802528,799,648.06802528,629,650,0.402451665099,-0.0154338634545,0.0699150345066,0.999999972817,0.000185577202575,-0.000140279670412,-1.5769246532e-05,1793192883216596992
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.524374007,633,876.524374007,783,799,648.524374007,629,650,0.402694231564,-0.01544380918,0.069917457909,0.999999975877,0.00017141625984,-0.000135654716813,-2.14614113078e-05,1793192883233263616
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742.115643587,712,671,660,633,876.884356413,783,799.115643587,649,629,650.115643587,0.40295202393,-0.0154543712704,0.0699216116778,0.99999998179,0.000139393758765,-0.000127491890792,-2.71240827844e-05,1793192883249930240
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742.692838919,712,671,660,633,876.307161081,783,799.692838919,649,629,650.692838919,0.403249434308,-0.0154672063998,0.0699316186134,0.999999993069,3.77606422806e-05,-0.000106662376564,-3.25463757848e-05,1793192883266596864
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742.731489647,712,671,660,633,876.268510353,783,799.731489647,649,628.731489647,650.731489647,0.403557314732,-0.0154808303981,0.0699388749199,0.999999994812,-1.68579105891e-05,-9.34412959793e-05,-3.68821559284e-05,1793192883283263488
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742.157551664,712,671,660,633,876.842448336,783,799.157551664,649,628.157551664,650.157551664,0.403877104703,-0.0154953517253,0.069943002415,0.999999995089,-1.79978983238e-05,-8.88747287875e-05,-3.998203941e-05,1793192883299930112
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.416748808,742,712,671,660,633,877,783,799,649,628,650.416748808,0.404230790131,-0.0155160197036,0.0699466508787,0.999999995971,-7.85644688325e-06,-8.47140946617e-05,-2.86326744698e-05,1793192883316596992
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.991186427,742,712,671,660,633,877,783,799,649,628,650.991186427,0.404597300864,-0.0155390134424,0.0699501180871,0.999999996652,6.55365918917e-06,-8.07070569684e-05,-1.18160237734e-05,1793192883333263616
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,783,799.584353507,649,628.584353507,650.415646493,0.405014517274,-0.0155346313809,0.0699541658324,0.999999997266,-2.75549705942e-06,-7.17491262443e-05,-1.76637541285e-05,1793192883349930240
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.82762034,742,712,670.82762034,660,633,877,783,800,648.82762034,629,650.17237966,0.405438552002,-0.0155246788032,0.0699556250342,0.999999997471,-1.62749366001e-06,-6.73725580239e-05,-2.27164551772e-05,1793192883366596864
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.252293672,742,712,670.252293672,660,633,877,783,800,648.252293672,629,650.747706328,0.405876677968,-0.0155027019683,0.0699510122259,0.999999996649,2.47618973861e-05,-7.38855104597e-05,-2.50852058542e-05,1793192883383263488
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.322136232,742,712,670.322136232,660,633,876.677863768,783,799.677863768,648,628.677863768,650.677863768,0.406326770986,-0.0154972937688,0.0699378262996,0.999999994635,2.87554851711e-05,-9.55716758685e-05,-2.7749465329e-05,1793192883399930368
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.895865811,742,712,670.895865811,660,633,876.104134189,783,799.104134189,648,628.104134189,650.104134189,0.4067862105,-0.0155048259258,0.069917944636,0.99999999108,1.52576092585e-05,-0.000129108354408,-3.06445219517e-05,1793192883416596992
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.516206664,742,712,670.516206664,660,633,876.483793336,783.483793336,799.483793336,648.483793336,628,650,0.407325047791,-0.0155119106621,0.0699136762089,0.999999991097,2.51610117844e-07,-0.000129333318986,-3.28560470444e-05,1793192883433263872
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.073410419,742.073410419,712,670.073410419,660,633,877.073410419,783.926589581,799.926589581,649,628,650.073410419,0.407888347763,-0.015518116688,0.0699148839619,0.999999992221,-1.31240509209e-05,-0.000119092427755,-3.4667990701e-05,1793192883449930752
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.652969144,742.652969144,712,670.652969144,660,633,877.652969144,783.347030856,799.347030856,649,628,650.652969144,0.408498918473,-0.0155189482838,0.0699299770868,0.999999995473,-1.29530797036e-05,-8.76233269633e-05,-3.47699879757e-05,1793192883466597376
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.769825563,743,712,671,660,633,877.769825563,783.230174437,799,649,628.230174437,650.769825563,0.409105016256,-0.0155176488892,0.0699375062081,0.999999996867,-1.16076764628e-05,-6.96744368365e-05,-3.57283493661e-05,1793192883483264256
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.196132633,743,712,671,660,633,877.196132633,783.803867367,799,649,628.803867367,650.196132633,0.409704438488,-0.0155131691474,0.069933746607,0.999999996658,-8.50951943714e-06,-7.19034732433e-05,-3.79647715357e-05,1793192883499930880
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.387346984,742.612653016,712,671,660,633,877,783.612653016,799.387346984,649,628.612653016,650,0.41032440109,-0.0155107994285,0.0699310507195,0.999999996192,-5.46712768729e-06,-7.76773932125e-05,-3.93873089004e-05,1793192883516597504
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.975910507,742.024089493,712,671,660,633,877,783.024089493,799.975910507,649,628.024089493,650,0.410955033855,-0.015509525811,0.0699289074033,0.999999995544,-2.45370462341e-06,-8.52927866019e-05,-4.03870545084e-05,1793192883533264128
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.444489299,742,712,671,660,633,877,783,799.444489299,649,628.555510701,650,0.411686036291,-0.0155137263937,0.0699453542821,0.999999997474,-1.59243327752e-05,-5.58585363363e-05,-4.09638897313e-05,1793192883549930496
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.134966201,742.134966201,712,671,660,633,877,783,799.134966201,648.865033799,628.865033799,650,0.412427924607,-0.0155187531995,0.0699657265739,0.999999998588,-2.66785133062e-05,-2.10141119523e-05,-4.0870169547e-05,1793192883566596864
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.715206202,742.715206202,712,671,660,633,877,783,799.715206202,648.284793798,628.284793798,650,0.413191595422,-0.0155257351009,0.0699964319928,0.999999998562,-2.6149857186e-05,2.64628968199e-05,-3.86237296263e-05,1793192883583263488
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.133647739,712,671,660.866352261,633,877,783,799.133647739,648.866352261,628.866352261,650,0.41464540953,-0.0155262551104,0.069984353475,0.999999998444,-3.74481161219e-05,-6.190421327e-06,-4.08926069897e-05,1793192883616596736
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.557993058,742.442006942,712,671,660.557993058,633,877,783,799,648.557993058,628.557993058,650.442006942,0.415361626646,-0.0155188631585,0.0699365694312,0.999999994698,-3.47556397817e-05,-8.44861877066e-05,-4.75215503449e-05,1793192883633263616
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,712,671,660,633,877.018694942,783,799,648.018694942,628,650.981305058,0.416082441304,-0.0155102742031,0.0698820596986,0.999999983319,-2.93451638333e-05,-0.0001716082305,-5.52472463005e-05,1793192883649930240
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,743,712,671,660,633,877.61223267,783,799,648.61223267,628,650.38776733,0.416932807639,-0.0155158812405,0.069898759813,0.99999998718,-3.69439058175e-05,-0.000145511399503,-5.56867964506e-05,1793192883666596864
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,743,712,671,660,633,878,783,799,649,628,650,0.417779992278,-0.0155216995914,0.0699211403025,0.999999991427,-4.29017598405e-05,-0.000110978937399,-5.46716463127e-05,1793192883683263488
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,743,712,671,660,633,878,783,799,649,628,650,0.418621181072,-0.0155279161548,0.069954225264,0.999999995823,-4.57674159905e-05,-6.05498177405e-05,-5.09151630467e-05,1793192883699930112
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742.645035285,712,671,660,633,877.645035285,783,799.354964715,649,628,650,0.41946098669,-0.0155309996006,0.0699788468852,0.999999997356,-4.78428363556e-05,-2.52863278996e-05,-4.85671306821e-05,1793192883716596992
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742.058184078,712,671,660,633,877.058184078,783,799.941815922,649,628,650,0.420299888692,-0.0155320362859,0.0699979396901,0.999999997669,-4.94020222189e-05,6.99648204953e-08,-4.71391920282e-05,1793192883733263872
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742,712,671.522557874,660.522557874,633,877.522557874,783,800,649,628.522557874,650,0.421169101539,-0.0155340424891,0.0700080905882,0.999999997213,-5.43040597292e-05,1.76008944883e-05,-4.81203447835e-05,1793192883749930496
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.101781741,742.101781741,712,671.898218259,660.898218259,633,878,783.101781741,799.898218259,649,628.898218259,650,0.422028067098,-0.0155354290695,0.0700050740798,0.999999996957,-5.82472796678e-05,1.39410954582e-05,-4.99984369721e-05,1793192883766596864
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.677071015,742.677071015,712,671.322928985,660.322928985,633,878,783.677071015,799.322928985,649,628.322928985,650,0.422823840635,-0.015533436645,0.0699453787016,0.999999993376,-5.60183254302e-05,-8.4295240375e-05,-5.48157770344e-05,1793192883783263488
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712,671.25174387,660,633,877.74825613,784,799.25174387,649,628.25174387,650,0.423624907867,-0.0155312300095,0.0698888142003,0.999999982276,-5.51126705261e-05,-0.000169435047952,-6.08549154797e-05,1793192883799930112
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,671.825628015,660,633,877.174371985,784,799.825628015,649,628.825628015,650,0.424432749206,-0.0155287492618,0.0698362560706,0.999999967816,-5.59003558462e-05,-0.000237816093158,-6.84575109295e-05,1793192883816596992
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.587599594,743,712,672,660.412400406,633,877.412400406,784,799.587599594,649,628.587599594,650,0.425306629379,-0.0155318390023,0.069861457103,0.999999976766,-6.25591645962e-05,-0.000194973401241,-6.73833567175e-05,1793192883833263616
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.0047028,742.9952972,712,672,661,633,877.9952972,784,799,649,628.0047028,650,0.426209301749,-0.0155373381019,0.0699204956165,0.99999999008,-7.16807000722e-05,-0.000103887278303,-6.25166161998e-05,1793192883849929984
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.585347037,742.414652963,712,672,661,633,877.414652963,784,799,649,628.585347037,650,0.427108152151,-0.0155401492306,0.0699671090683,0.999999994789,-6.85804150453e-05,-4.97288085508e-05,-5.69747918665e-05,1793192883866596864
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.835670165,742,712,672,661,633,877,784,799,649,628.835670165,650,0.428004883233,-0.01554452793,0.070004954914,0.999999996178,-6.97452176148e-05,-7.36844672969e-07,-5.27190626481e-05,1793192883883263488
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.260837741,742,712,672,661,633,877,784,799,649,628.260837741,650,0.428896320112,-0.0155528224848,0.0700208989214,0.999999994714,-8.15643824582e-05,3.53489745462e-05,-5.1676051807e-05,1793192883899930368
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.314364476,742.314364476,712,672,661,633,877.314364476,783.685635524,799.314364476,649,628.314364476,650,0.429735881454,-0.0155556496904,0.0700157620368,0.999999994135,-8.92665177342e-05,3.11526325864e-05,-5.28365910621e-05,1793192883916596992
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.889873854,742.889873854,712,672,661,633,877.889873854,783.110126146,799.889873854,649,628.889873854,650,0.430532349358,-0.0155539351279,0.0699931130979,0.999999994045,-9.35486053799e-05,-6.50640142395e-06,-5.58276357745e-05,1793192883933263616
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,672,661,633,878,783.479234349,800,649,629,650,0.431241922768,-0.0155468442179,0.0699297389049,0.99999998814,-8.15492534017e-05,-0.000115206997561,-6.16172076613e-05,1793192883949930496
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,672,661,633,877.930210595,784,800,649,628.930210595,650,0.431946607125,-0.0155401325939,0.0698669831593,0.999999970791,-6.89468136071e-05,-0.000221669984973,-6.72792612054e-05,1793192883966597120
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661,633,877.354749364,784,800,649,628.354749364,650,0.432764854563,-0.0155453873639,0.069878535429,0.999999976478,-7.98905168062e-05,-0.000190113131394,-6.72190476556e-05,1793192883983263744
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.778909213,743,712,672.221090787,661,632.778909213,877,783.778909213,799.778909213,649,628.221090787,650,0.433594895563,-0.0155513641399,0.069911843356,0.999999985617,-8.94079411793e-05,-0.000129004745095,-6.42702756792e-05,1793192883999930112
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.202459935,743,712,672.797540065,661,632.202459935,877,783.202459935,799.202459935,649,628.797540065,650,0.434443892447,-0.0155585013947,0.0699801190809,0.999999993517,-9.66329134203e-05,-2.03982718223e-05,-5.66787328211e-05,1793192884016596992
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.371743937,743,712,673,661,632.371743937,877,783,799,649,628.628256063,650,0.435210948891,-0.0155611624917,0.0700060721551,0.999999993553,-9.77617637738e-05,2.07802591443e-05,-5.38941540174e-05,1793192884033263616
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.944732218,743,712,673,661,632.944732218,877,783,799,649,628.055267782,650,0.435933646658,-0.0155614004111,0.0700091137711,0.999999993665,-9.55904659983e-05,2.5456528391e-05,-5.37118357828e-05,1793192884049930240
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.461096805,743,712,672.461096805,661,632.461096805,877.538903195,783,799,648.461096805,628,650.538903195,0.436611478669,-0.015563169279,0.0699900067379,0.99999999324,-0.000101684073114,2.92200222344e-06,-5.63109371489e-05,1793192884066597120
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,743,712,672,661,632.129903838,878,783.129903838,799,648.129903838,628,650.870096162,0.437273929928,-0.0155645560029,0.0699657635725,0.999999991968,-0.000108755596478,-2.60476524718e-05,-5.9654290509e-05,1793192884083264000
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,743,712,672,661,632.702398535,878,783.702398535,799,648.702398535,628,650.297601465,0.437900296134,-0.0155640839136,0.0699320769906,0.999999988925,-0.000116152902557,-6.70453278886e-05,-6.45217244348e-05,1793192884099931648
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.27694884,743,712,672,661,632.72305116,877.72305116,783.72305116,799,649,628,650,0.438495288824,-0.0155661679325,0.0698902396369,0.999999981411,-0.000123505318613,-0.000131222492477,-6.85949720128e-05,1793192884116598528
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.853724522,743,712,672,661,632.146275478,877.146275478,783.146275478,799,649,628,650,0.439056316273,-0.015571019213,0.0698395782003,0.999999964557,-0.000130809135368,-0.000220493938656,-7.18084270082e-05,1793192884133264384
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.973002702,877.026997298,783,800.973002702,649,628.026997298,650,0.440125126173,-0.015575363481,0.0697826573973,0.999999940652,-0.000121001829485,-0.00031416098467,-7.31981926636e-05,1793192884166597632
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+189,3.150000000,POSE1_TO_POSE2_PRESS,763.816721431,743,711.816721431,673,660.183278569,632,878,783,800,648.816721431,628.816721431,650,0.441240347309,-0.0155922512944,0.0698261014349,0.999999952827,-0.000166971407742,-0.00024739167013,-7.25516713232e-05,1793192884199930880
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.242682223,743,711.242682223,673,660.757317777,632,878,783,800,648.242682223,628.242682223,650,0.441758876413,-0.015603914049,0.0698489042922,0.999999957818,-0.000176659570532,-0.00021915457934,-7.15972419104e-05,1793192884216597504
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,743,711,672.666325661,660.666325661,632,877.666325661,783,799.666325661,648,628,650,0.44221603446,-0.0156126426751,0.0698396755147,0.999999951039,-0.000186336937735,-0.000240965024304,-7.16726093265e-05,1793192884233264384
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,743,711,672.08827193,660.08827193,632,877.08827193,783,799.08827193,648,628,650,0.442628244994,-0.0156192223772,0.0698069871209,0.999999933333,-0.000196006397361,-0.00029942973167,-7.25021884344e-05,1793192884249931008
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742.497086687,711,672,660,632,877.502913313,783,799.502913313,648.502913313,628,650,0.442997608212,-0.0156265606064,0.0697724876757,0.999999915578,-0.000193077295083,-0.00035506556283,-7.41128518673e-05,1793192884266597632
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711.236081309,672.236081309,660,631,878,782.236081309,801.527837381,649,628,650,0.444033474899,-0.0156406894314,0.0697041559033,0.999999857796,-0.000258413213802,-0.000460125386732,-7.69096203384e-05,1793192884316597248
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711.816464226,672.816464226,660,631,878,782.816464226,800.367071549,649,628,650,0.444364226829,-0.015642225934,0.06970052243,0.999999861093,-0.000244642562291,-0.000460331328493,-7.78364635452e-05,1793192884333264128
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.595687049,743,711.595687049,673,660,631,877.595687049,782.595687049,800.404312951,649,628,650,0.444662394766,-0.0156458490407,0.069695357383,0.999999859819,-0.000239882070534,-0.000465479229886,-7.84015053208e-05,1793192884349930752
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,658.219390765,631,877,781,800.219390765,649,627,650,0.445609151198,-0.0156121678564,0.0695540463287,0.999999729213,-0.000234685475317,-0.000695226788306,-5.61867306637e-05,1793192885825297152
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.947028508,742,712,671,660.052971492,633,876,783,800.894057015,649,628.052971492,650,0.409848298929,-0.0153883384431,0.0698691958225,0.999999957251,0.000198649650463,-0.00021142248959,3.65598946176e-05,1793192886691963392
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.465092242,742,712,671,660,633,876.534907758,783,799.930184484,649,628,650,0.409148053735,-0.0153826697043,0.0698235078436,0.99999993602,0.000207006685389,-0.000290061993162,3.11908924879e-05,1793192886708630272
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742.12279755,711.87720245,671,660,633,877,783,799,648.87720245,628,650,0.408467393379,-0.0153773913191,0.0697820693855,0.999999912396,0.000214022133,-0.000358776655273,2.61109357352e-05,1793192886725296896
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763,742.705179967,711.294820033,671,660,633,877,783,799,648.294820033,628,650,0.407857384204,-0.0153749771889,0.069769156818,0.999999908832,0.000211505194201,-0.000370177377111,2.38718861583e-05,1793192886741963776
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742.716695161,711.283304839,671,660,633,877,783,799,648.283304839,628,650,0.407285801345,-0.0153735518557,0.0697734144055,0.999999911583,0.000213347449844,-0.000361573051824,2.41094178191e-05,1793192886758630656
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742.142935323,711.857064677,671,660,633,877,783,799,648.857064677,628,650,0.406753614659,-0.0153731402751,0.0697952754961,0.999999920249,0.000219658919051,-0.000332458783147,2.68860357875e-05,1793192886775297536
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,711.003567167,671,659.996432833,633,876.003567167,783,799,648.003567167,629,650,0.405732521615,-0.0153763677194,0.069806066005,0.99999992256,0.000215366316988,-0.000328268989717,2.71474534809e-05,1793192886808630016
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742,711.595578979,671,659.404421021,633,876.595578979,783,799,648.595578979,629,650,0.405272028502,-0.0153740830887,0.0698029796571,0.999999919298,0.000223178052461,-0.000333030032022,2.62020512258e-05,1793192886825297152
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,712,670.236351683,659,632.236351683,876.236351683,783,799.763648317,648.236351683,628.236351683,650,0.404452810049,-0.0153710185643,0.0698269979189,0.999999929795,0.000231416039875,-0.000293463765556,2.71157339276e-05,1793192886858630656
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742,712,670.340004317,659.680008635,632.340004317,876,783,799.659995683,648,628,650,0.404098170052,-0.0153673280649,0.0698430398845,0.999999936949,0.000235895881459,-0.000263946512331,2.80475771536e-05,1793192886875297536
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.500591643,633,876.499408357,783.499408357,798.500591643,648.499408357,628.499408357,650,0.40343009196,-0.0153564586073,0.0698494504134,0.999999937868,0.000249785725555,-0.000247183037502,2.77747097995e-05,1793192886908630528
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.913842877,633,876.913842877,783.913842877,798.086157123,649,628.913842877,650,0.403103519377,-0.0153514246989,0.0698387548953,0.99999993142,0.000257427717091,-0.000264951278049,2.62924231366e-05,1793192886925296896
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.247966931,742,712,671,659.247966931,633,876,783,799.247966931,649,628,650.247966931,0.402542349639,-0.0153494937665,0.0698174399016,0.999999920004,0.000261134374838,-0.000302151246964,2.24803597223e-05,1793192886958630144
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.823846875,742,712,671,659.823846875,633,876,783,799.823846875,649,628,650.823846875,0.40229945633,-0.0153552030503,0.0698083743732,0.999999917723,0.000252783280094,-0.00031650471061,2.18745786942e-05,1793192886975296768
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742.97235445,712,671,659.02764555,633,876.97235445,783,799.02764555,648.02764555,628,650.02764555,0.401897394685,-0.0153812292406,0.0697984243792,0.999999919402,0.000222110709801,-0.000333588255234,2.41292408036e-05,1793192887008630784
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.436007471,712,670.436007471,659,633,876.436007471,783,799,648.563992529,628,650,0.401738334877,-0.0153775866531,0.0697986943728,0.999999918618,0.000225482753921,-0.000333555149559,2.57408138381e-05,1793192887025297408
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,763,742.695171213,711,671,659,633,876.695171213,783,799.695171213,649,628.695171213,650.695171213,0.401365023579,-0.0153658534587,0.0698021316106,0.999999912486,0.000260484592501,-0.000326221402586,2.74683895727e-05,1793192887075297280
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.467331961,742,711,670.532668039,659,633,876,783,799,649,628.467331961,650,0.401200782449,-0.0153687090317,0.0698008363642,0.999999911153,0.000266011053709,-0.000326582975023,1.65933938747e-05,1793192887108630528
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742.055266016,711,670.055266016,659.055266016,632.944733984,876.055266016,783,799.055266016,648.944733984,628.944733984,650,0.401138511091,-0.0153698180132,0.0698036938385,0.999999920644,0.000233452643357,-0.000322743396604,6.92337292711e-06,1793192887125296896
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.634321594,711,670.634321594,659.634321594,632.365678406,876.634321594,783,799.634321594,648.365678406,628.365678406,650,0.401086004844,-0.0153692479907,0.0698028770745,0.999999920154,0.000234003477161,-0.000323819087875,8.69630120223e-06,1793192887141964032
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.370909802,742.629090198,712,671,659.370909802,632.370909802,877,783.629090198,799.629090198,649,628,650,0.400985400005,-0.0153660361541,0.0698013100723,0.999999919232,0.000234884593852,-0.000325956260813,1.08285104067e-05,1793192887191963904
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.115462874,742,712,671,659.115462874,633,876.115462874,783,799,648,628.115462874,650,0.400955632743,-0.0153643672956,0.0698061096115,0.999999922768,0.00023717167141,-0.000313159127093,1.20509351062e-05,1793192887241963776
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.729383915,742,712,671,659.729383915,633,877,783,799,648.270616085,628.729383915,650,0.400945990037,-0.0153642148968,0.0698068379811,0.999999922374,0.000238418617712,-0.000313471236679,1.20394094137e-05,1793192887275297024
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.155551474,742,712,671,659.155551474,633,877,783,799,648.844448526,628.155551474,650,0.400944443906,-0.0153647258803,0.0698067915007,0.999999922152,0.000238338472727,-0.000314245162296,1.18324693721e-05,1793192887291963904
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.429487626,742,712,671,659,633,877,783,799,648.570512374,628,650,0.40094488306,-0.0153657004494,0.0698080696096,0.999999923096,0.000237367800123,-0.000311965467431,1.19570053924e-05,1793192887308630784
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.981636436,742,712,671,659,633,876.981636436,783,799,648.018363564,628.018363564,650,0.40094600149,-0.0153667806306,0.0698097897952,0.999999924414,0.000236107013075,-0.000308669832517,1.21881823127e-05,1793192887325297408
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.402853253,742,712,671,659,633,876.402853253,783,799,648.597146747,628.597146747,650,0.400945318849,-0.0153658225975,0.069809968357,0.999999924309,0.000236099216272,-0.000309025637689,1.19118652195e-05,1793192887341963776
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.175269722,633,876.175269722,783.175269722,799,648.824730278,629,650,0.400944697968,-0.0153653821464,0.0698102063895,0.999999924309,0.000236230381578,-0.000308931220543,1.17494226698e-05,1793192887358630144
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.751880839,633,876.751880839,783.751880839,799,648.248119161,629,650,0.400944218508,-0.0153661268808,0.0698105806009,0.999999924549,0.00023667974929,-0.000307805861707,1.1847735797e-05,1793192887375297024
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.673446666,633,876.673446666,783.673446666,799,648.326553334,628.673446666,650,0.40094405068,-0.015365867387,0.0698108573525,0.99999992454,0.000238056974224,-0.000306771396365,1.18312311321e-05,1793192887391963648
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.100238405,633,876.100238405,783.100238405,799,648.899761595,628.100238405,650,0.400944118237,-0.0153648493713,0.0698110604899,0.99999992434,0.000240135035884,-0.000305805585316,1.17280013673e-05,1793192887408630272
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.488595769,742,712,671,659,633,876.488595769,783,799.488595769,649,628.488595769,650,0.400943701136,-0.0153659313483,0.0698106758918,0.99999992456,0.000238001425147,-0.000306745073071,1.19387396504e-05,1793192887425297152
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742.078926908,712,670.921073092,659,633,877,783,799.921073092,649,628.921073092,650,0.400943055441,-0.0153670391186,0.0698102063485,0.999999924704,0.000235692163396,-0.000308048619145,1.21400715904e-05,1793192887441963776
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.657764298,712,670.342235702,659,633,877,783,799.342235702,649,628.342235702,650,0.400941612449,-0.015365491321,0.069809987726,0.999999923854,0.000237923920199,-0.000309100463265,1.18603683481e-05,1793192887458630400
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.18712608,742.18712608,712,670.81287392,659,633,877,783,799.81287392,649,628.81287392,650,0.400941772934,-0.0153663589682,0.0698100421758,0.999999924345,0.00023731445484,-0.000307974422717,1.19570196319e-05,1793192887491963904
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae48aecddc77d00e33a9c02e6682875c11d6e0a6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,400 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..befb9eb5d0bd00d865f38e6114664dcb378f4889
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20dd8d9ca13cf2e4af7ca77b817e77d47494131fb7f3088e026fba6aadc0b271
+size 25558842
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a81247a7cd5cb885d8222a60dfabd076aebf0b1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_05/franka_data.csv
@@ -0,0 +1,403 @@
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+24,0.400000000,BASELINE,764,742,712,671,659,633,876.070431689,783,799,649,628.070431689,650.929568311,0.40094442148,-0.0153682673301,0.0698149626904,0.999999926637,0.000237969219012,-0.000299925038877,1.19239011315e-05,1793192888270640640
+25,0.416666667,BASELINE,763.492956582,742,711.492956582,671,659,633,876,783,799.507043418,649,628.507043418,650.492956582,0.400943646315,-0.0153701275808,0.0698148227816,0.999999927337,0.000234666913709,-0.00030019090777,1.19432159726e-05,1793192888287307520
+26,0.433333333,BASELINE,763.082586473,742.082586473,711.082586473,671,659.082586473,633,876.082586473,783,799.917413527,648.917413527,629,650,0.400942840569,-0.0153716219198,0.0698145802115,0.999999927935,0.000231543470284,-0.000300626367803,1.18659553671e-05,1793192888303974144
+27,0.450000000,BASELINE,763.659693506,742.659693506,711.659693506,671,659.659693506,633,876.659693506,783,799.340306494,648.340306494,629,650,0.40094388217,-0.0153696348522,0.0698149032981,0.999999927607,0.000233486349411,-0.000300225705434,1.15990328831e-05,1793192888320640768
+28,0.466666667,BASELINE,764,742.758128659,712,671,659.758128659,633,877,783.241871341,799,648.241871341,628.758128659,650.241871341,0.400944406029,-0.0153682573703,0.0698148862319,0.999999927339,0.000235284596087,-0.000299722028103,1.13650688844e-05,1793192888337307648
+29,0.483333333,BASELINE,764,742.168663598,712,671,659.168663598,633,877,783.831336402,799,648.831336402,628.168663598,650.831336402,0.400944185841,-0.0153677559252,0.0698143803316,0.999999927161,0.000236874991103,-0.000299070307817,1.11784695972e-05,1793192888353974272
+30,0.500000000,BASELINE,764,742,712,671,659,632.586323961,877,784,799.413676039,649,628.413676039,650.586323961,0.400943416136,-0.0153686618775,0.0698141824581,0.999999927374,0.000234986887201,-0.000299844706537,1.12327038309e-05,1793192888370640640
+31,0.516666667,BASELINE,764,742,712,671,659,632.006840318,877,784,799.993159682,649,628.993159682,650.006840318,0.400942426177,-0.0153701319359,0.0698141080464,0.999999927734,0.000231704548347,-0.00030119071531,1.13834677823e-05,1793192888387307008
+32,0.533333333,BASELINE,763.432564383,742.567435617,712,671,659,632.567435617,876.432564383,783.432564383,799.432564383,649,629,650,0.400942978552,-0.0153697688361,0.0698146440822,0.999999927369,0.000233931495693,-0.000300671012474,1.16374775074e-05,1793192888403973888
+33,0.550000000,BASELINE,763,742.858113083,712,671,659.141886917,633,876.141886917,783,799,649,628.858113083,650,0.400943650421,-0.0153693063581,0.0698153249611,0.999999927212,0.000235718519628,-0.00029978760126,1.18011656131e-05,1793192888420640512
+34,0.566666667,BASELINE,763,742.282936399,712,671,659.717063601,633,876.717063601,783,799,649,628.282936399,650,0.400944630938,-0.0153686072722,0.0698164258891,0.999999927732,0.000235961152561,-0.000297861566014,1.16852661996e-05,1793192888437307392
+35,0.583333333,BASELINE,763,742.300920551,712,671,660,633,876.699079449,783,799,649,628.300920551,650.300920551,0.400944164507,-0.0153686075459,0.0698160369558,0.999999927621,0.000235799629408,-0.000298365392519,1.15921703808e-05,1793192888453974016
+36,0.600000000,BASELINE,763,742.893181489,712,671,660,633,876.106818511,783,799,649,628.893181489,650.893181489,0.400942297194,-0.0153692849143,0.0698142055927,0.999999926896,0.000235246816988,-0.000301221723007,1.15211521632e-05,1793192888470641152
+37,0.616666667,BASELINE,763,742.526342444,712,671,660,633,876,783,799,649,628.526342444,651,0.400943273821,-0.0153690113383,0.0698146974589,0.999999927459,0.000234888178319,-0.000299628562318,1.14987347261e-05,1793192888487308032
+38,0.633333333,BASELINE,763.051319713,742,712,670.948680287,660,633,876,783.051319713,799,649,628,650.948680287,0.400944669653,-0.0153686344273,0.0698155588357,0.99999992822,0.000234473968452,-0.000297405399343,1.146706042e-05,1793192888503974656
+39,0.650000000,BASELINE,763.626728176,742,712,670.373271824,660,633,876,783.626728176,799,649,628,650.373271824,0.400943955772,-0.0153693391366,0.0698149731295,0.999999928154,0.000233055917635,-0.000298747118833,1.12316402472e-05,1793192888520641024
+40,0.666666667,BASELINE,764,742,712,670.206405993,660,633,876,783.793594007,799,649,628,650,0.400943181037,-0.0153698599733,0.0698146010872,0.999999928014,0.000232117799628,-0.000299947597314,1.12135660711e-05,1793192888537307648
+41,0.683333333,BASELINE,764,742,712,670.793967696,660,633,876,783.206032304,799,649,628,650,0.400942293928,-0.0153700412649,0.0698146236035,0.999999927739,0.000232065940523,-0.000300887255684,1.15968497706e-05,1793192888553974272
+42,0.700000000,BASELINE,763.621721268,742,712,671,659.621721268,633,876.378278732,783,799.378278732,649,628,650,0.400941818791,-0.0153701193559,0.0698144677585,0.999999927485,0.000232651651887,-0.000301279224305,1.16198572849e-05,1793192888570640896
+43,0.716666667,BASELINE,763.039165667,742,712,671,659.039165667,633,876.960834333,783,799.960834333,649,628,650,0.400941566125,-0.0153701417167,0.0698142155954,0.999999927241,0.000233581662014,-0.00030137543123,1.14483095954e-05,1793192888587307520
+44,0.733333333,BASELINE,763.535535696,742,712,670.464464304,659,633,877,783,799.464464304,648.464464304,628,650.535535696,0.40094354979,-0.0153692195421,0.069815566812,0.999999927412,0.000235700345576,-0.0002991409457,1.16565625735e-05,1793192888603974400
+45,0.750000000,BASELINE,764,742,712,670,659,633,876.890469824,783.109530176,799.109530176,648,628.109530176,650.890469824,0.400945360994,-0.0153685464342,0.0698165828445,0.99999992762,0.000237208189043,-0.000297242337301,1.18146625862e-05,1793192888620641280
+46,0.766666667,BASELINE,764,742,712,670,659,633,876.317071694,783.682928306,799.682928306,648,628.682928306,650.317071694,0.400945759183,-0.0153692164599,0.0698156899183,0.999999927893,0.000235766239816,-0.000297477634689,1.16444273741e-05,1793192888637307904
+47,0.783333333,BASELINE,764,742,712,670.264166039,659,633,876,784,799.735833961,648.264166039,628.735833961,650,0.400946369318,-0.0153697205413,0.0698160144348,0.999999928246,0.000234919561321,-0.000296954320219,1.17989337959e-05,1793192888653974272
+48,0.800000000,BASELINE,764,742,712,670.855101314,659,633,876,784,799.144898686,648.855101314,628.144898686,650,0.400947241628,-0.0153700193524,0.0698178449088,0.999999928698,0.000234809223169,-0.000295492614839,1.23551404892e-05,1793192888670640640
+49,0.816666667,BASELINE,764,742,712,671,659,633,876.437496392,784,799,649,628.437496392,650,0.400946578469,-0.0153692611148,0.0698174702748,0.999999928855,0.000233874365666,-0.000295717219441,1.19742854207e-05,1793192888687307520
+50,0.833333333,BASELINE,764,742,712,671,659,633,877,784,799,649,628.983012085,650.016987915,0.400945427403,-0.0153681991135,0.0698164045194,0.999999928887,0.000232765996458,-0.000296509596211,1.13139240305e-05,1793192888703974144
+51,0.850000000,BASELINE,764,742,712,671,659,633,877,784,799,649,628.407765184,650.592234816,0.400944634663,-0.0153684393514,0.0698161677488,0.999999927989,0.000234757845723,-0.000297957915087,1.14720241461e-05,1793192888720640768
+52,0.866666667,BASELINE,764,742,712,671,659.166955416,633,877,783.833044584,799,649,628,650.833044584,0.400944302249,-0.0153686568441,0.069816104524,0.999999927506,0.000236027946848,-0.000298567642693,1.16368800813e-05,1793192888737307648
+53,0.883333333,BASELINE,764,742,712,671,659.740394606,633,877,783.259605394,799,649,628,650.259605394,0.400945090588,-0.0153688189591,0.0698164638282,0.999999928046,0.000235540818807,-0.000297135665001,1.18181842967e-05,1793192888753974784
+54,0.900000000,BASELINE,764,742,712,671,659.67582484,633,877,783,799,649,628.32417516,650,0.40094500435,-0.0153688787248,0.0698165629166,0.999999928042,0.000235606305009,-0.00029709485395,1.18346769515e-05,1793192888770641664
+55,0.916666667,BASELINE,764,742,712,671,659.083489873,633,877,783,799,649,628.916510127,650,0.400944194656,-0.0153688538266,0.0698164467527,0.99999992759,0.000236128917347,-0.000298204825098,1.17148363989e-05,1793192888787308032
+56,0.933333333,BASELINE,764,742,712,670.503044162,659,633,876.503044162,783,799,649,629,650,0.400943606054,-0.015368666932,0.0698156580263,0.999999927165,0.000237277528015,-0.000298713954875,1.17945723551e-05,1793192888803974656
+57,0.950000000,BASELINE,764,742,712,670.075184541,659.075184541,633,876,783,799,649,628.924815459,650,0.400943145817,-0.0153685718018,0.0698149360061,0.999999926858,0.000238140364722,-0.000299052609798,1.18684905649e-05,1793192888820641024
+58,0.966666667,BASELINE,764,742,712,670.651637827,659.651637827,633,876,783,799,649,628.348362173,650,0.400943299549,-0.0153692656937,0.0698153944664,0.999999927312,0.00023641309535,-0.000298911957794,1.16852976638e-05,1793192888837307392
+59,0.983333333,BASELINE,763.767961257,742,712,671,659.767961257,633,876.232038743,783,799,648.767961257,628,650.232038743,0.40094344743,-0.0153694028126,0.0698156504294,0.999999927665,0.000235086527322,-0.000298780940041,1.15605093351e-05,1793192888853974272
+60,1.000000000,BASELINE,763.181531059,742,712,671,659.181531059,633,876.818468941,783,799,648.181531059,628,650.818468941,0.400943586374,-0.0153686895754,0.0698155971194,0.999999927868,0.000234371947923,-0.000298664636605,1.15249219502e-05,1793192888870640896
+61,1.016666667,BASELINE,763.402024998,742,712,671,659,633,876.597975002,783,799,648,628,650.597975002,0.400943046197,-0.0153684626335,0.0698154538873,0.999999927847,0.000234168623277,-0.000298902772193,1.13197204796e-05,1793192888887307520
+62,1.033333333,BASELINE,763.984292438,742,712,671,659,633,876.015707562,783,799,648,628,650.015707562,0.400942201546,-0.0153684537155,0.0698152703401,0.999999927725,0.000234194512791,-0.000299299815707,1.10384748417e-05,1793192888903974400
+63,1.050000000,BASELINE,763.441630967,742,712,671,659,633,876,783,799,648.558369033,628.558369033,650,0.400943670203,-0.0153683615861,0.0698154977425,0.999999928013,0.000234119528239,-0.000298391051448,1.11560479364e-05,1793192888920641280
+64,1.066666667,BASELINE,763.132588737,742,712,671,659,633,876,783,799,648.867411263,629,650,0.400944405201,-0.0153683212845,0.0698153389446,0.999999928019,0.000234212236457,-0.000298295559687,1.12712783793e-05,1793192888937307904
+65,1.083333333,BASELINE,763.708044926,742,712,671,659,633,876,783,799,648.291955074,629,650,0.400942475438,-0.0153684618017,0.0698138521208,0.999999927041,0.000234874406542,-0.000301037450488,1.13417517471e-05,1793192888953974272
+66,1.100000000,BASELINE,763.708356151,742,712,671,659.291643849,633,876.291643849,783,799.291643849,648.291643849,628.708356151,650.291643849,0.400942738446,-0.0153694270646,0.0698141776477,0.999999927396,0.000234160141955,-0.000300409659142,1.14563269528e-05,1793192888970640896
+67,1.116666667,BASELINE,763.116371718,742,712,671,659.883628282,633,876.883628282,783,799.883628282,648.883628282,628.116371718,650.883628282,0.400945259614,-0.0153712416669,0.0698163695694,0.999999929114,0.000232028397762,-0.000296311702516,1.16163190961e-05,1793192888987307264
+68,1.133333333,BASELINE,763.463581531,742,712,670.536418469,659.536418469,633,877,783,799.536418469,649,628,651,0.400945433596,-0.0153705056135,0.069815849482,0.999999928817,0.000232662957569,-0.000296821146671,1.14541141975e-05,1793192889003973888
+69,1.150000000,BASELINE,764,742,711.959439959,670,659,633,877,783,798.959439959,649,628,650.959439959,0.400945042697,-0.0153692640617,0.0698147993033,0.999999928075,0.000233954409411,-0.000298310408696,1.12532763282e-05,1793192889020640768
+70,1.166666667,BASELINE,764,742,711.382871389,670,659,633,877,783,798.382871389,649,628,650.382871389,0.400944776311,-0.0153695896959,0.069815513039,0.999999927967,0.000234982081712,-0.000297850305987,1.15837075433e-05,1793192889037307648
+71,1.183333333,BASELINE,763.802479052,742,711.197520948,670,659,632.802479052,876.802479052,783,798.197520948,649,628.197520948,650.197520948,0.400944370088,-0.0153701272037,0.069815763567,0.999999928104,0.00023444748598,-0.000297807499632,1.17311369472e-05,1793192889053974528
+72,1.200000000,BASELINE,763.214528362,742,711.785471638,670,659,632.214528362,876.214528362,783,798.785471638,649,628.785471638,650.785471638,0.400943687455,-0.0153710835115,0.069815098496,0.999999928716,0.000230824833649,-0.000298589541948,1.15168359185e-05,1793192889070641408
+73,1.216666667,BASELINE,763.367914598,742,711.632085402,670.367914598,659,632.367914598,876.367914598,783,799,649,628.632085402,650.632085402,0.400944215996,-0.0153708800991,0.0698155767492,0.999999928743,0.000231660470738,-0.000297849811817,1.15011245578e-05,1793192889087307776
+74,1.233333333,BASELINE,763.947193373,742,711.052806627,670.947193373,659,632.947193373,876.947193373,783,799,649,628.052806627,650.052806627,0.400945440346,-0.0153700104361,0.0698167118336,0.999999928429,0.000235057361889,-0.000296235834776,1.15995014852e-05,1793192889103973888
+75,1.250000000,BASELINE,764,742.522960089,711.522960089,671.522960089,659.522960089,633,877,783,799,649,628.522960089,650,0.400943651298,-0.0153694332599,0.0698154008187,0.999999927476,0.000235987253872,-0.000298707200262,1.14494821723e-05,1793192889120640512
+76,1.266666667,BASELINE,764,742.899772074,711.899772074,671.899772074,659.899772074,633,877.100227926,783.100227926,799.100227926,648.899772074,629,650,0.400942196168,-0.0153689666493,0.0698142446352,0.999999926727,0.000236556090378,-0.000300764445599,1.13409001425e-05,1793192889137307136
+77,1.283333333,BASELINE,764,742.313516754,711.313516754,671.313516754,659.313516754,633,877.686483246,783.686483246,799.686483246,648.313516754,629,650,0.400943825967,-0.0153688939332,0.0698150290231,0.999999927301,0.000236574013758,-0.000298826459045,1.15540742329e-05,1793192889153973760
+78,1.300000000,BASELINE,763.73057637,742,711.26942363,671,659.26942363,633,877.73057637,783.73057637,800,648.26942363,628.73057637,650,0.400944596425,-0.0153688528665,0.0698152228459,0.999999927779,0.000235623333506,-0.000297981462826,1.14724443478e-05,1793192889170640640
+79,1.316666667,BASELINE,763.151446592,742,711.848553408,671,659.848553408,633,877.151446592,783.151446592,800,648.848553408,628.151446592,650,0.400944379059,-0.0153688481811,0.069814737806,0.999999928145,0.000233559230135,-0.000298392874079,1.10519332465e-05,1793192889187307776
+80,1.333333333,BASELINE,763,741.572758138,711.572758138,670.572758138,659.572758138,633,876.572758138,783.427241862,799.572758138,649,628.427241862,650,0.400944681853,-0.015368830371,0.0698159736622,0.999999928164,0.000234085640249,-0.000297912929963,1.11270659126e-05,1793192889203974400
+81,1.350000000,BASELINE,763,741.005740481,711.005740481,670,659.005740481,633,876,784,799,649,629,650.005740481,0.40094517005,-0.0153688141754,0.0698178003574,0.999999928061,0.000235512958664,-0.000297122333697,1.13762498822e-05,1793192889220641536
+82,1.366666667,BASELINE,763,741.580905613,711.580905613,670,659.580905613,633,876,784,799,649,629,650.580905613,0.400945778334,-0.0153694191388,0.0698177873289,0.999999928195,0.000235311826992,-0.000296826236231,1.14805321281e-05,1793192889237307648
+83,1.383333333,BASELINE,763.159411498,742,712,670.159411498,660,633,876,783.840588502,799,649,628.840588502,651,0.400945889771,-0.015369778242,0.0698175281732,0.999999928197,0.00023538246789,-0.000296758776485,1.16381919982e-05,1793192889253974016
+84,1.400000000,BASELINE,763.746888385,742,712,670.746888385,660,633,876,783.253111615,799,649,628.253111615,651,0.400944667028,-0.0153694771405,0.0698166080957,0.999999927842,0.000236182895695,-0.000297305274235,1.19391860535e-05,1793192889270640640
+85,1.416666667,BASELINE,763.670527063,742.329472937,712,671,659.670527063,633,876.329472937,783,799,648.670527063,628,650.670527063,0.400944510259,-0.0153697921036,0.0698163966639,0.999999928186,0.00023496307193,-0.000297114743693,1.19360579781e-05,1793192889287307264
+86,1.433333333,BASELINE,763.091645999,742.908354001,712,671,659.091645999,633,876.908354001,783,799,648.091645999,628,650.091645999,0.400945160423,-0.0153705734221,0.0698167216707,0.999999929053,0.000232213935386,-0.000296366289159,1.17027120972e-05,1793192889303973888
+87,1.450000000,BASELINE,763,742.513046693,712,671,659,633,876.513046693,783,799.486953307,648.486953307,628.486953307,650,0.400944533548,-0.0153703641103,0.0698162044533,0.999999928621,0.000232655992758,-0.000297482120989,1.15754882359e-05,1793192889320640768
+88,1.466666667,BASELINE,763,742,712,670.935006062,659.064993938,633,876.064993938,783,799.935006062,649,629,650.064993938,0.400943821655,-0.015369903717,0.0698156927936,0.99999992803,0.000233688360038,-0.000298660207015,1.14753505481e-05,1793192889337307648
+89,1.483333333,BASELINE,763,742,712,670.360926295,659.639073705,633,876.639073705,783,799.360926295,649,629,650.639073705,0.400944325294,-0.0153689361504,0.0698164655203,0.999999928129,0.000234642911686,-0.000297579253637,1.14310237124e-05,1793192889353974528
+90,1.500000000,BASELINE,763,742,712,670.218677871,659.781322129,633,877,783.218677871,799,649,629,650.781322129,0.400944822826,-0.0153684975593,0.0698169209604,0.99999992841,0.000234612118204,-0.000296658704662,1.14200768428e-05,1793192889370641152
+91,1.516666667,BASELINE,763,742,712,670.807636272,659.192363728,633,877,783.807636272,799,649,629,650.192363728,0.400945310016,-0.0153689546665,0.0698168391486,0.999999928999,0.000232912869942,-0.000296009763653,1.14656512503e-05,1793192889387307776
+92,1.533333333,BASELINE,763,742,712,670.609644637,659,633,877,783.609644637,799,649,628.609644637,650.390355363,0.400945670216,-0.0153686020676,0.0698171176796,0.999999928776,0.000234315275479,-0.000295653480994,1.15177913564e-05,1793192889403974144
+93,1.550000000,BASELINE,763,742,712,670.029951801,659,633,877,783.029951801,799,649,628.029951801,650.970048199,0.40094596882,-0.01536785673,0.0698175709907,0.999999928154,0.000237222103115,-0.000295439148912,1.15731160848e-05,1793192889420640512
+94,1.566666667,BASELINE,763.547682326,742,712,670.547682326,659.547682326,632.452317674,877,783,799,649,628.547682326,650.452317674,0.400944729118,-0.0153693221137,0.0698165121882,0.999999928012,0.000235859451905,-0.000296997164737,1.17608318076e-05,1793192889437307136
+95,1.583333333,BASELINE,764,742.123800243,712,671,659.876199757,632.123800243,877,783,799,649,629,650,0.400943971607,-0.0153702527926,0.0698157938809,0.999999927965,0.000234888704177,-0.000297920046813,1.18784312098e-05,1793192889453973760
+96,1.600000000,BASELINE,764,742.694846016,712,671,659.305153984,632.694846016,877,783,799,649,629,650,0.400945258861,-0.0153688166426,0.0698166032879,0.999999928175,0.0002361741193,-0.000296199571051,1.17166673432e-05,1793192889470640640
+97,1.616666667,BASELINE,763.722653227,742.722653227,712,671,659.277346773,633,877,783,799,648.722653227,629,650.277346773,0.400945676729,-0.0153685193137,0.0698166312251,0.999999928417,0.000235700092464,-0.000295764036145,1.16044311285e-05,1793192889487307776
+98,1.633333333,BASELINE,763.127006052,742.127006052,712,671,659.872993948,633,877,783,799,648.127006052,629,650.872993948,0.400945096836,-0.0153695289671,0.0698157622991,0.999999928695,0.000233206820566,-0.000296803179358,1.15490359361e-05,1793192889503974912
+99,1.650000000,BASELINE,763.452987127,742,712,671,659.547012873,633,877,783,799,648.452987127,629,650.547012873,0.400944593509,-0.0153698853831,0.0698158277793,0.999999928392,0.000234084530152,-0.000297126522898,1.17056136528e-05,1793192889520641280
+100,1.666666667,BASELINE,763.971296808,742,712,671,659,633,876.971296808,783,799,649,629,650,0.400944139455,-0.0153700733855,0.0698161359866,0.999999927968,0.00023572979408,-0.000297243648125,1.19013031637e-05,1793192889537307648
+101,1.683333333,BASELINE,763.396241832,742,712,671,659,633,876.396241832,783,799,649,629,650,0.40094422833,-0.0153704254592,0.0698162442252,0.999999928271,0.000234595776637,-0.000297127980707,1.17479981757e-05,1793192889553974016
+102,1.700000000,BASELINE,763.183547063,742,712,671,659,633,876.183547063,783,799,649,628.816452937,650,0.40094444241,-0.0153702452498,0.0698163005979,0.999999928455,0.0002339086889,-0.0002970567536,1.15597101689e-05,1793192889570640640
+103,1.716666667,BASELINE,763.773826025,742,712,671,659,633,876.773826025,783,799,649,628.226173975,650,0.400944933942,-0.0153688855256,0.0698162420382,0.999999928379,0.00023421197711,-0.000297084004202,1.12939014119e-05,1793192889587307264
+104,1.733333333,BASELINE,763.643001812,742,712,671,659,633,876.643001812,783,799.356998188,648.643001812,628.356998188,650,0.400944552815,-0.0153678175631,0.0698161081087,0.999999928105,0.000234984481639,-0.000297406226797,1.10809651734e-05,1793192889603973888
+105,1.750000000,BASELINE,763.064244179,742,712,671,659,633,876.064244179,783,799.935755821,648.064244179,628.935755821,650,0.400943629611,-0.0153669308364,0.0698159273612,0.999999927705,0.000236048453081,-0.000297911679527,1.09008721576e-05,1793192889620640768
+106,1.766666667,BASELINE,763.510641595,742,712,671,659,633,876,783,799.489358405,648.510641595,628.489358405,650,0.400944533438,-0.0153680405614,0.0698169166902,0.999999928133,0.000236153058759,-0.00029637489711,1.12541546415e-05,1793192889637307648
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,877,783,799,649,629,650,0.400947316096,-0.0153691011965,0.0698183152159,0.999999928949,0.000235459562127,-0.00029414353763,1.1880993471e-05,1793192889679853824
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.57887002,742,712,671,659,633,876.42112998,783,799,648.42112998,628.42112998,650,0.400945316208,-0.0153699401151,0.0698172759491,0.999999928613,0.000234741598461,-0.000295855368043,1.18411941545e-05,1793192889696520448
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.842218653,742,712,670.842218653,659,633,876,783,799,648.157781347,628.157781347,650,0.400944076401,-0.0153703327308,0.0698166291786,0.999999928465,0.000234052068194,-0.00029690465534,1.17502319253e-05,1793192889713186816
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.263196918,742,712,670.263196918,659,633,876,783,799,648.736803082,628.736803082,650,0.400944865838,-0.0153695338194,0.0698170302838,0.999999928824,0.000233438448497,-0.000296185103255,1.15226763217e-05,1793192889729853184
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.314070587,742,712,670.314070587,659,633,876,783,799,649,628.685929413,650.314070587,0.400945181549,-0.0153689374141,0.069817022549,0.999999928665,0.000234156353988,-0.000296159309495,1.13886304573e-05,1793192889746519552
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.889876146,742,712,670.889876146,659,633,876,783,799,649,628.110123854,650.889876146,0.400945102474,-0.01536850977,0.0698166741019,0.999999928073,0.000235983904044,-0.000296711668666,1.13325122128e-05,1793192889763186688
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.52602537,742.47397463,711.52602537,671,659.47397463,633,876.47397463,783,799,649,628.47397463,651,0.400946296231,-0.015369427912,0.0698172822631,0.999999928603,0.0002352614494,-0.000295487026835,1.15184887673e-05,1793192889779853312
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.059651874,742.940348126,711.059651874,670.940348126,659.940348126,633,877,783,799,649,629,650.940348126,0.400948146671,-0.0153704831284,0.0698183231116,0.999999929392,0.000234166915034,-0.000293671744214,1.1781342563e-05,1793192889796519936
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.641979045,742.358020955,711.641979045,670.358020955,659.358020955,633,877,783,799,649,629,650.358020955,0.400953113656,-0.0153699508695,0.0698211730669,0.999999930135,0.000235095919015,-0.000290363245553,1.22161695634e-05,1793192889813186560
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.221084044,712,670.221084044,659,633,877,783,799,648.778915956,629,650.221084044,0.400965708383,-0.0153701711049,0.0698270088637,0.999999932821,0.000234842615297,-0.00028115035436,1.27154058204e-05,1793192889829852928
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.795045997,712,670.795045997,659,633,877,783,799,648.204954003,629,650.795045997,0.400990477942,-0.0153715924159,0.0698376104383,0.99999993838,0.000232702199821,-0.000262513311199,1.33174472977e-05,1793192889846519552
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.622198026,743,712,671,659.377801974,633,877,783,799,648.377801974,629,651,0.401032547069,-0.0153743774944,0.069854345149,0.99999994602,0.000231804908431,-0.000232404781015,1.46684020755e-05,1793192889863186432
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.034557627,743,712,671,659.965442373,633,877,783,799,648.965442373,629,651,0.401084224709,-0.0153779200356,0.0698744863214,0.999999953853,0.000231598071459,-0.000195924766064,1.64353176338e-05,1793192889879853056
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742.456887497,712,671,660,633,877,783,799,649,628.456887497,650.456887497,0.401142760868,-0.0153811759089,0.0698859632777,0.999999955625,0.00023180118957,-0.000186366727902,1.689517755e-05,1793192889896519680
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.121080206,742,712,671,659.878919794,633,876.878919794,783,799,648.878919794,628,650,0.401204997921,-0.0153841243846,0.0698951375108,0.999999957038,0.000231691217574,-0.000178781451003,1.67300244451e-05,1793192889913186304
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.702548257,742,712,671,659.297451743,633,876.297451743,783,799,648.297451743,628,650,0.401279677614,-0.0153859721377,0.069897614434,0.999999958534,0.000230293375376,-0.00017230123287,1.44988872328e-05,1793192889929853440
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876.280284505,783,799,648.280284505,628.280284505,650,0.401365673997,-0.0153890822444,0.06989957087,0.99999995941,0.000229206050283,-0.000168807383222,1.21794542258e-05,1793192889946520320
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876.854112382,783,799,648.854112382,628.854112382,650,0.401463522403,-0.0153935144203,0.0699009821968,0.999999959673,0.00022844393141,-0.00016844117271,9.76754872324e-06,1793192889963186688
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.561279492,742,712,671,659.438720508,633,877,783,799.438720508,649,629,650.438720508,0.401576962559,-0.0154001694862,0.0699010966859,0.999999961461,0.000220502128345,-0.000168560626066,6.58410423318e-06,1793192889979853056
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.026569474,742,712,671,660,633,876.973430526,783,799.973430526,649,629,651,0.401697373005,-0.0154075014546,0.0699009189361,0.999999963687,0.000210300552989,-0.000168492676606,3.10335218659e-06,1793192889996519424
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.605393321,742,712,671,660,633,876.394606679,783,799.394606679,649,629,651,0.401852182352,-0.0154131519962,0.0699038561037,0.999999966216,0.000204003050467,-0.00016108816702,-1.09002280846e-06,1793192890013186304
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.816397039,633,876.183602961,783,799,649,628.816397039,650.816397039,0.402017974241,-0.0154196794508,0.0699065319484,0.999999968656,0.000197139220961,-0.000154258995589,-5.40878599422e-06,1793192890029852928
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.239503148,633,876.760496852,783,799,649,628.239503148,650.239503148,0.402207291517,-0.0154280853163,0.0699086480204,0.999999971028,0.000189062278597,-0.000148662241406,-9.99613928739e-06,1793192890046519808
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,670.665941899,659.334058101,633,877,783,799,649,628,650,0.4024189557,-0.0154385767432,0.069910709502,0.999999973657,0.000178459515334,-0.000143561703139,-1.51361917978e-05,1793192890063186688
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,670.094746332,659.905253668,633,877,783,799,649,628,650,0.402646483278,-0.0154505486462,0.0699127322318,0.999999976363,0.000166063749439,-0.000138813412547,-2.06685887805e-05,1793192890079853824
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.504578745,742,712,670,659.504578745,633,876.504578745,783,799,649,628,650,0.402907994644,-0.0154635569369,0.0699203255736,0.999999989782,6.65975600045e-05,-0.000123956568847,-2.52287948417e-05,1793192890096520448
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.087073579,742,712,670.087073579,659,633,876,783,799,649,628,650,0.403182584225,-0.0154774144749,0.0699290652006,0.999999993236,-3.36347105064e-05,-0.000107354565274,-2.95190900644e-05,1793192890113186560
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.665806854,742,712,670.665806854,659,633,876,783,799,649,628,650,0.403492860973,-0.0154949035665,0.0699380223188,0.999999994371,-4.04251601641e-05,-9.22489907033e-05,-3.33769712808e-05,1793192890129852928
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,670.756220274,659,633,876,783,799,649,628,650,0.403815702379,-0.0155148967943,0.0699430631621,0.999999995076,-3.80422257638e-05,-8.59358079292e-05,-3.18623861204e-05,1793192890146519808
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,670.179286618,659,633,876,783,799,649,628,650,0.404155714863,-0.0155383122203,0.0699427519505,0.999999995269,-2.31227728495e-05,-9.16384730331e-05,-2.30056877657e-05,1793192890163186688
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,670.403218504,659,632.596781496,876,783,799.403218504,649,628,650,0.404530676657,-0.0155452111257,0.0699466891548,0.999999996184,-1.402020867e-05,-8.42279013176e-05,-1.84605613633e-05,1793192890179853056
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,670.98823561,659,632.01176439,876,783,799.98823561,649,628,650,0.404921395991,-0.0155446632483,0.0699525418368,0.999999997332,-7.54029794024e-06,-7.09049814367e-05,-1.58593880287e-05,1793192890196519936
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.567570876,632.567570876,876,783,800,649,628.567570876,650,0.405345221296,-0.0155218121563,0.0699538192952,0.999999997333,1.17605949442e-05,-6.89537104282e-05,-2.10192371522e-05,1793192890213186560
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876.146639673,783,799.853360327,649,628.853360327,650,0.40577551228,-0.0155032671809,0.0699520382023,0.999999996648,2.79229550824e-05,-7.27162722191e-05,-2.52334657836e-05,1793192890229853440
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876.725266881,783,799.274733119,649,628.274733119,650,0.406222849039,-0.0154987560232,0.069941523489,0.999999994787,3.4064359544e-05,-9.26237913539e-05,-2.61927747104e-05,1793192890246520320
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876.697336635,783,799,649,628,650.302663365,0.406700252608,-0.0155035812275,0.0699284175561,0.999999993032,2.48670315411e-05,-0.000111792310879,-2.86373426947e-05,1793192890263186688
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876.121052712,783,799,649,628,650.878947288,0.407204837902,-0.0155168468997,0.0699129690492,0.999999990985,1.80283755457e-06,-0.000130292745547,-3.24246481502e-05,1793192890279853056
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.536859608,742.463140392,712,671,660,633,876.463140392,783,799,649,628,650.536859608,0.407769737105,-0.015521708968,0.0699194206031,0.999999992833,-1.26768518934e-05,-0.000114329927602,-3.31830656874e-05,1793192890296520192
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.049115797,743,712,671,660,633,877,783,799.049115797,649,628.049115797,650,0.408353976791,-0.0155237112951,0.0699313642192,0.9999999952,-2.31348315141e-05,-8.92144551572e-05,-3.32498342449e-05,1793192890313187072
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.631607142,743,712,671,660,633,877,783,799.631607142,649,628.631607142,650,0.408974076459,-0.0155189253334,0.0699397080351,0.999999997232,-1.47084598203e-05,-6.42253060283e-05,-3.45521713959e-05,1793192890329853440
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.790346333,712,671,660,633,877,783,800,649,629,650.209653667,0.409586071558,-0.0155140822476,0.0699409816015,0.999999997719,-6.67783275552e-06,-5.66982415668e-05,-3.61023577048e-05,1793192890346520320
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.219947911,712,671,660,633,877,783,800,649,629,650.780052089,0.410184121332,-0.0155091408703,0.069930089602,0.999999996137,6.71847923332e-07,-7.92176621007e-05,-3.8079010541e-05,1793192890363186944
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,783.355440473,800,649,628.644559527,650.644559527,0.410836356749,-0.0155108423275,0.0699309119691,0.9999999959,-2.67455840452e-06,-8.14849600376e-05,-3.93964991898e-05,1793192890379854080
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,783.933960609,800,649,628.066039391,650.066039391,0.41152259985,-0.0155167129254,0.0699390864451,0.999999996583,-1.27339863358e-05,-7.10417274947e-05,-4.030028664e-05,1793192890396521216
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.4750046,742,712,671,660,632.4750046,877,784,799.4750046,649,628,650,0.412273465149,-0.0155216397968,0.0699687218942,0.999999998856,-2.04311000579e-05,-1.89506462076e-05,-3.88656027889e-05,1793192890413187072
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632,877,783.885534516,799,649,628,650,0.413030625259,-0.0155260332164,0.0699972924174,0.999999998478,-2.70600164521e-05,3.01171914798e-05,-3.74838128609e-05,1793192890429852928
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632,877,783.308893813,799,649,628,650,0.413779578386,-0.0155287637509,0.0700103968577,0.999999997801,-3.06050127825e-05,4.53085522655e-05,-3.75323099208e-05,1793192890446519552
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.266779563,712,671,660,632.266779563,877.266779563,783,799,649,628,650,0.414499055083,-0.0155273896949,0.0699927957463,0.999999998545,-3.43693276291e-05,1.01353165485e-05,-4.03116071044e-05,1793192890463186176
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742.841337028,712,671,660,632.841337028,877.841337028,783,799,649,628,650,0.415184525549,-0.0155212802605,0.0699397702953,0.999999994738,-3.83866658311e-05,-8.314248033e-05,-4.62413700282e-05,1793192890479853056
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742.57252646,711.57252646,671,660,633,877.57252646,783.42747354,799.42747354,649,628,650,0.415948217267,-0.0155179547498,0.0699043553007,0.999999988207,-3.92363698908e-05,-0.000139234019326,-5.15725231635e-05,1793192890496519936
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.017652904,742.017652904,711,671.035305807,660,633,877,783.982347096,800,649,628.017652904,650,0.416743565399,-0.0155160180623,0.0698776435543,0.999999981794,-3.91555092424e-05,-0.000178023574488,-5.6450396906e-05,1793192890513186816
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.595938747,742.595938747,711,672.191877494,660,633,877,783.404061253,800,649,628.595938747,650,0.417596561946,-0.0155244588855,0.0699139693061,0.999999990438,-4.7899806473e-05,-0.000117869167969,-5.41854068793e-05,1793192890529853696
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.826113429,742.826113429,711.173886571,672.652226858,660,633,877.173886571,783,800,649,629,650,0.418450602199,-0.0155311741967,0.0699462553599,0.999999994925,-5.37703431787e-05,-6.7714013719e-05,-5.17053077738e-05,1793192890546520064
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.248949573,742.248949573,711.751050427,671.497899147,660,633,877.751050427,783,800,649,629,650,0.419307062961,-0.0155338877049,0.0699691725546,0.999999996579,-5.29760617411e-05,-4.07491037684e-05,-4.87263287565e-05,1793192890563186432
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.327162309,742.327162309,712,671.327162309,660,633,877.672837691,783,800,649,628.672837691,650.327162309,0.420174963493,-0.0155367607519,0.0699924377773,0.99999999743,-5.39415720535e-05,-7.10048896597e-06,-4.66916989686e-05,1793192890579853056
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.902476247,742.902476247,712,671.902476247,660,633,877.097523753,783,800,649,628.097523753,650.902476247,0.421051541016,-0.0155397548085,0.0700159669773,0.999999996889,-5.62418791154e-05,3.1617694663e-05,-4.53733553335e-05,1793192890596519680
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.509608135,712,672,660,632.509608135,877,783.490391865,799.509608135,649,628,650.509608135,0.421901600987,-0.0155389167395,0.0700013427291,0.999999997211,-5.70393121423e-05,5.15998456671e-06,-4.79433073658e-05,1793192890613186304
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.079182132,712,672,660,632.079182132,877.079182132,783.920817868,799,648.920817868,628,650,0.422735985631,-0.0155372632931,0.0699708266065,0.999999995902,-5.80466397063e-05,-4.60500145783e-05,-5.2025626661e-05,1793192890629852928
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.657276279,712,672,660,632.657276279,877.657276279,783.342723721,799,648.342723721,628,650,0.423505706398,-0.0155354007469,0.0698892473325,0.999999981873,-6.23092987849e-05,-0.000169397811891,-6.06364096828e-05,1793192890646520064
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877.766812549,783.233187451,799,648.233187451,628,650,0.424325636807,-0.0155354213966,0.0698469387992,0.999999969456,-6.64178861856e-05,-0.000228823180107,-6.5700364881e-05,1793192890663186944
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877.194079929,783.805920071,799,648.805920071,628,650,0.425218677789,-0.015538184175,0.0698618125345,0.999999976331,-7.03021309001e-05,-0.000195170868354,-6.55997724021e-05,1793192890679853568
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.609572551,743,712,672,660.390427449,633,877,783.609572551,799,649,628,650,0.42611854829,-0.0155414925481,0.0699078827668,0.999999987683,-7.02243209416e-05,-0.000126486939886,-6.08513500825e-05,1793192890696520192
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.01903001,743,712,672,660.98096999,633,877,783.01903001,799,649,628,650,0.427021919234,-0.0155450805676,0.069969942883,0.999999995443,-6.8115743962e-05,-3.98474226944e-05,-5.37206643342e-05,1793192890713186304
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.560846138,742.439153862,711.439153862,672,661,633,877.560846138,783,799,649,628.560846138,650,0.427941807968,-0.0155505420928,0.0699995073998,0.999999995635,-7.73099269014e-05,1.03907670002e-06,-5.24536752562e-05,1793192890729853184
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.8604944,742.1395056,711,672,661,633,877.8604944,783,799.1395056,648.8604944,628.8604944,650.1395056,0.428845350828,-0.0155550453559,0.0700206627597,0.999999994525,-8.51890222237e-05,3.1751314617e-05,-5.18078120511e-05,1793192890746520064
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.284530329,742.715469671,711,672,661,633,877.284530329,783,799.715469671,648.284530329,628.284530329,650.715469671,0.429696033046,-0.0155563554182,0.0700188943914,0.999999994143,-8.77762546021e-05,3.53985965216e-05,-5.24943570483e-05,1793192890763186944
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.290305811,742.709694189,711.290305811,672,661,633,877,783,799.709694189,648.290305811,628,650.709694189,0.430490614113,-0.015555034653,0.0699864095531,0.999999994667,-8.52635159943e-05,-1.79479138048e-05,-5.54404528256e-05,1793192890779853312
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.864040703,742.135959297,711.864040703,672,661,633,877,783,799.135959297,648.864040703,628,650.135959297,0.431230422899,-0.0155511453789,0.0699239358531,0.999999987083,-7.77716129616e-05,-0.000126938154593,-6.059257489e-05,1793192890796519936
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.550544507,742.449455493,712,672,661,633,877,783.449455493,799.898910987,649,628,650,0.431988458798,-0.0155485867176,0.0698843555104,0.999999976486,-8.30893366774e-05,-0.000189490071081,-6.49477240441e-05,1793192890813186560
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.037966326,743,712,672.037966326,660.962033674,633,877,783.962033674,800.962033674,649,628.037966326,650,0.432761419263,-0.0155471933009,0.0698585679925,0.999999967773,-9.20870447995e-05,-0.000226500552189,-6.83521684959e-05,1793192890829853184
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.618877585,743,712,672.618877585,660.381122415,633,877,783.381122415,800.381122415,649,628.618877585,650,0.433666857653,-0.0155565539838,0.0699283502089,0.99999998795,-9.68191042157e-05,-0.000104499292655,-6.17004996473e-05,1793192890846519808
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,672.802129464,660.197870536,633,877.395741072,783.197870536,799.802129464,649,628.802129464,650,0.434527773781,-0.0155636884057,0.0699828009739,0.999999993571,-9.7700438085e-05,-1.24209593074e-05,-5.61932173178e-05,1793192890863186432
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,672.226795825,660.773204175,633,878.546408349,783.773204175,799.226795825,649,628.226795825,650,0.435303758216,-0.0155665759542,0.0700080050661,0.999999994186,-9.1236028416e-05,2.25756224326e-05,-5.28689974159e-05,1793192890879853056
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.645004183,743,712,672,661,633,878.290008367,783.645004183,799,649,628,650,0.436037648586,-0.0155678007229,0.0700095092092,0.999999993442,-9.80921345313e-05,2.58188836104e-05,-5.3168564838e-05,1793192890896519680
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.059010312,743,712,672,661,633,877.118020624,783.059010312,799,649,628,650,0.43674414803,-0.01556794351,0.0699955916417,0.999999991952,-0.000113615986114,8.40005331231e-06,-5.58261541241e-05,1793192890913186304
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.523770848,743,712,672,661,633,877.523770848,783.523770848,799.523770848,648.476229152,628.523770848,650,0.437431663416,-0.0155692679313,0.0699665414869,0.999999990729,-0.000120579325408,-2.16114778178e-05,-5.94548537931e-05,1793192890929853440
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.895342351,742.895342351,711.895342351,672,661,632.895342351,877.895342351,783.895342351,799.895342351,648.104657649,628.895342351,650,0.438102237284,-0.0155709134027,0.0699319388749,0.999999988072,-0.000125825696796,-6.332930695e-05,-6.33528914478e-05,1793192890946520832
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.321337656,742.321337656,711.321337656,672,661,632.321337656,877.321337656,783.321337656,799.321337656,648.678662344,628.321337656,650,0.438706368603,-0.0155734052678,0.0698800349357,0.999999978106,-0.000127671028295,-0.000151221403873,-6.79711343233e-05,1793192890963187712
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.253988152,742.253988152,711,672,660.746011848,632,877,783,799.253988152,649,628.253988152,650,0.439291670503,-0.0155759769094,0.0698325151794,0.999999962793,-0.000127166524613,-0.000230753137124,-7.06729576163e-05,1793192890979854336
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.830994088,742.830994088,711,672,660.169005912,632,877,783,799.830994088,649,628.830994088,650,0.439853025427,-0.0155786500094,0.069790571156,0.999999944941,-0.000123673541192,-0.000299652296875,-7.09375112354e-05,1793192890996520704
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,672,660,632,877,783,800,649,628.581831231,650,0.440437466043,-0.0155845087949,0.0697904570284,0.999999942382,-0.000140683630099,-0.000300474987114,-7.18204416035e-05,1793192891013186816
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711.00935267,672,660,632,877,783,800,649,628,650,0.441031206166,-0.0155917826812,0.0698078897199,0.99999994634,-0.000165960129689,-0.000272877286688,-7.29067144627e-05,1793192891029853184
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711.588174361,672,660,632,877,783,800,649,628,650,0.441608912322,-0.0156048709923,0.069838694327,0.999999954883,-0.000177440400286,-0.000231819476289,-7.07775988871e-05,1793192891046520320
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.834869666,743,711.834869666,672.165130334,660,632,877,783,800,649,628,650.165130334,0.442152714332,-0.0156165583497,0.0698525885885,0.999999956379,-0.000187709227745,-0.000217252178325,-6.93450344638e-05,1793192891063187200
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.262514581,743,711.262514581,672.737485419,660,632,877,783,800,649,628,650.737485419,0.442612906099,-0.0156247908448,0.0698247805775,0.99999994265,-0.000194990541261,-0.00026801261727,-6.96302211963e-05,1793192891079853824
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.319678906,743,711,673,660,632,877.319678906,782.680321094,800,648.680321094,628.319678906,650.680321094,0.44303840667,-0.0156310693232,0.0697894999642,0.999999924797,-0.000194266852135,-0.000328053607744,-7.10472156578e-05,1793192891096520448
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.910208014,743,711,673,660,632,877.910208014,782.089791986,800,648.089791986,628.910208014,650.089791986,0.443434514853,-0.0156356922467,0.0697478881378,0.999999901473,-0.000186760867397,-0.000395957607047,-7.34231420203e-05,1793192891113187072
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.508724337,743,711,673,660,632,877.508724337,782,800.491275663,648.491275663,628.508724337,650,0.443825243001,-0.0156441864697,0.0697180826642,0.999999874295,-0.000224988077227,-0.000441830499284,-7.46774495366e-05,1793192891129853696
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.070140718,743,711.070140718,673,659.929859282,632,877.070140718,782,800.929859282,649,628,650,0.444212389969,-0.0156528834882,0.0696929829337,0.999999847226,-0.000265088126017,-0.000479103811628,-7.57409858184e-05,1793192891146520320
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.64536231,743,711.64536231,673,659.35463769,632,877.64536231,782,800.35463769,649,628,650,0.444580696086,-0.0156580419198,0.0696865238566,0.999999846747,-0.000259620330079,-0.000482900059692,-7.68791042186e-05,1793192891163186688
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,712,672.779295253,659,631.779295253,878,782,800,648.779295253,628,650,0.444939944321,-0.0156647391655,0.0696834030121,0.999999847477,-0.000258825101464,-0.000481729252673,-7.74166625439e-05,1793192891179853056
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712,672.203758588,659,631.203758588,878,782,800,648.203758588,628,650,0.44528462996,-0.0156739103962,0.069685649119,0.999999850118,-0.000265542063518,-0.000472572800624,-7.69886870011e-05,1793192891196519680
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+259,4.316666667,HOLD_POSE2,763.028236188,743.028236188,711,672.971763812,658.971763812,631,878,781,799.971763812,648.971763812,627.028236188,650,0.447854331543,-0.0157113668079,0.0696232544596,0.999999769097,-0.000317880427578,-0.000596574488287,-6.96913939171e-05,1793192892235637504
+260,4.333333333,HOLD_POSE2,763.563811596,743,711,673,659,631,878,781,800,649,627.563811596,650,0.447853278528,-0.0157135166602,0.069622438514,0.999999767403,-0.000320435454598,-0.000598101806558,-6.92056419249e-05,1793192892252304384
+261,4.350000000,HOLD_POSE2,764,743,711.153033494,672.846966506,659,630.846966506,877.846966506,781,800,649,628,650,0.447852218101,-0.0157146230454,0.0696216244496,0.999999766147,-0.000321528982585,-0.000599649164879,-6.88978751796e-05,1793192892268971008
+262,4.366666667,HOLD_POSE2,764,743,711.731793759,672.268206241,659,630.268206241,877.268206241,781,800,649,628,650,0.447851406154,-0.0157123621337,0.069621053873,0.999999766494,-0.000318141333426,-0.00060084005082,-6.92054810657e-05,1793192892285637632
+263,4.383333333,HOLD_POSE2,764,743,711.691672914,672.308327086,658.691672914,630.308327086,877,781,800,649,628,650,0.447851249437,-0.0157112706141,0.0696210687793,0.999999766826,-0.000316957349492,-0.00060089345324,-6.93801170503e-05,1793192892302304256
+264,4.400000000,HOLD_POSE2,764,743,711.117062891,672.882937109,658.117062891,630.882937109,877,781,800,649,628,650,0.447851658602,-0.015711189026,0.069621589331,0.999999767151,-0.000317676534433,-0.000599964481784,-6.94399151784e-05,1793192892318970880
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630,878,781,801,649,628,651,0.447851432715,-0.0157141989463,0.0696209992423,0.999999766392,-0.000319688479967,-0.000600253020855,-6.86336524515e-05,1793192892350703616
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.421040537,711,672.421040537,658,630,878,780.421040537,800.421040537,649,628,650.421040537,0.447852039186,-0.0157149981017,0.0696218446053,0.999999766744,-0.000320372337692,-0.000599253524735,-6.9049880482e-05,1793192892367369984
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.157084186,711,672,658.157084186,630.157084186,878,780.157084186,800,649,628,650,0.447852751399,-0.0157147749441,0.06962218931,0.999999767213,-0.000319942355337,-0.000598670509185,-6.93114704775e-05,1793192892384036352
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.732983472,711,672,658.732983472,630.732983472,878,780.732983472,800,649,628,650,0.447853745541,-0.0157118261136,0.0696211991681,0.99999976799,-0.000316542672272,-0.00059919790659,-6.91607673517e-05,1793192892400703488
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,672,658.685185453,630.685185453,877.685185453,780.685185453,800,649,627.685185453,650,0.447853677239,-0.0157106957977,0.0696206728641,0.999999768036,-0.000316198464264,-0.000599312516672,-6.90723148866e-05,1793192892417369600
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.517679686,742.517679686,711,672.482320314,658,630,877.482320314,780.482320314,800,649,627,650,0.447850337936,-0.0157115889003,0.0696193963061,0.999999766114,-0.000318167174522,-0.000601475446818,-6.90601897786e-05,1793192892450702336
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742.061401342,711.061401342,673,658,630.061401342,877.938598658,780.938598658,800.061401342,649,627.061401342,650.061401342,0.447846878754,-0.0157119778861,0.0696176000582,0.999999764256,-0.000317325235121,-0.000604989104673,-6.91389883877e-05,1793192892467369216
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,743,711.784577978,672.784577978,658,631,877.215422022,780.215422022,800.784577978,649,628,650.784577978,0.447815749667,-0.0157106162472,0.0696021108664,0.999999749524,-0.000316285046381,-0.000629248272218,-7.04399012038e-05,1793192892500702208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,743,711.210084403,672.210084403,658,631,877.789915597,780.789915597,800.210084403,649,628,650.210084403,0.447778040418,-0.015707643493,0.0695845760796,0.999999730986,-0.000316643719182,-0.000657715974664,-7.1935650544e-05,1793192892517368832
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.963212874,743,711,672.963212874,658,631,878,781,800,649,627.036787126,650,0.447654840671,-0.0157017528507,0.069538670187,0.999999674738,-0.00031658033278,-0.000738063775408,-7.45886806804e-05,1793192892550702848
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.456876656,743,711,673,658,630.456876656,877.456876656,781,800,649,627.543123344,650.543123344,0.447580394381,-0.0156964659483,0.0695256021748,0.999999665793,-0.000311724491398,-0.000752048476076,-7.52635703746e-05,1793192892567369472
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.272275624,658.727724376,630,877,781,800,649,628,650,0.447315387238,-0.0156811475834,0.0695202440385,0.999999661525,-0.000302761153942,-0.000761750949075,-7.08640254017e-05,1793192892617369088
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.822673324,658.177326676,630.177326676,877.177326676,781,800,649,628,650,0.446529249899,-0.015638735214,0.0695199171015,0.999999671789,-0.000269634067207,-0.000762039939066,-5.49069135584e-05,1793192892700702976
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711,672,658.662569794,630.662569794,877.662569794,781,800,648.662569794,628,650,0.446079853735,-0.0156135244186,0.0695331206786,0.99999969479,-0.000243980447323,-0.000740892760617,-4.44051094222e-05,1793192892734035968
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,658.075869063,630.075869063,877.075869063,781,800,648.075869063,628,650,0.445837981812,-0.0155993223388,0.0695510315485,0.999999719538,-0.000228340930915,-0.000712287495348,-3.78138919213e-05,1793192892750702080
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,658.504695522,630.504695522,877.504695522,781,800,648.504695522,628,650.504695522,0.445552563763,-0.0155858634549,0.0695601120282,0.999999736078,-0.000209216411301,-0.000695062254701,-3.09928142672e-05,1793192892767368960
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.084173215,743,711,672,658.915826785,631,878,781.084173215,800,649,628,650.915826785,0.445252548584,-0.0155727277586,0.069567455922,0.99999975119,-0.000183193191362,-0.000680791552019,-2.41271673689e-05,1793192892784035584
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.76182117,743,711.23817883,672,658.23817883,631,878,782,800,649,628,650,0.444535850881,-0.0155509116502,0.0695754476145,0.999999772037,-7.64901797029e-05,-0.000670792111551,-1.06132088329e-05,1793192892817368576
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.190305373,743,711.809694627,672,658.809694627,631,878,782,800,649,628,650,0.444137249182,-0.0155437191389,0.0695762071444,0.999999771753,-6.16695239554e-05,-0.000672807266461,-4.50175669529e-06,1793192892834035456
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,743,711.605217163,672,659,631,877.605217163,782,800,649,628,650,0.443705070796,-0.015537994789,0.0695829575785,0.999999781594,-4.72906687253e-05,-0.000659222368613,6.86470086379e-07,1793192892850702080
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,743,711.01335344,672,659,631,877.01335344,782,800,649,628,650,0.443256130491,-0.0155330033652,0.0695926987521,0.99999979601,-3.3132366659e-05,-0.000637849714891,5.41381020849e-06,1793192892867368704
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,743,711,672,659.566338656,631,877,782,800,649,628,650,0.442774206667,-0.0155227733461,0.0696112818377,0.999999812167,-3.84100642609e-05,-0.000611709297919,1.40253910826e-06,1793192892884035328
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.144794094,743,711,672,660,631.144794094,877,782.144794094,799.855205906,649,628,650.144794094,0.442285588692,-0.0155123856086,0.069633729051,0.999999831402,-3.90388777113e-05,-0.000579371407289,9.25756756079e-09,1793192892900702208
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,743,711.739803206,672,660,632.739803206,876.739803206,783,799.260196794,648.739803206,629,650.739803206,0.427366516559,-0.0154060430857,0.0698066960457,0.999999939719,0.000168074123398,-0.000302252121481,3.09343814976e-05,1793192893234035456
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.915896572,743,711.084103428,672,660,632.084103428,877,783,799,648.084103428,628.084103428,650.084103428,0.425647659386,-0.0154005232465,0.0698773176266,0.999999961949,0.000187152219936,-0.000198912618554,3.88544700019e-05,1793192893267368960
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.075605401,742,711.075605401,671.075605401,660,632,876.924394599,783,799,648.075605401,628.075605401,650,0.423769002066,-0.0153948201218,0.0698262266213,0.999999941549,0.000200060934133,-0.000275159839141,3.41368373371e-05,1793192893300702720
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.650423347,742,711.650423347,671.650423347,660,632,876.349576653,783,799,648.650423347,628.650423347,650,0.422762010713,-0.0153918813008,0.0697749667647,0.999999912124,0.000199433515856,-0.000367566025146,2.95577521722e-05,1793192893317369088
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742.865724538,712,671.865724538,660.865724538,632,876.268550924,783.134275462,799,648,628,650.865724538,0.417557319614,-0.0153938998841,0.0698882771617,0.999999961578,0.000201075516247,-0.000186209619068,4.17006309297e-05,1793192893417368832
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10d47287b173e298ad4feecd79f09893cc9a1b18
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,403 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_01/fem_node.csv
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--- /dev/null
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40eca0aa9488c8427d15d01d4c6ad26292a7488b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_01/franka_data.csv
@@ -0,0 +1,392 @@
+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,763,742,712,671,659,633,877,784,799,649,629,650,0.401022122382,-0.0155077723331,0.0798609406042,0.999999982876,9.80152365328e-05,-0.000153904747325,3.08936366897e-05,1793192895969480704
+1,0.016666667,BASELINE,763,742,712,670.42479348,659.57520652,633,876.42479348,783.42479348,799,649,628.42479348,650,0.401021910267,-0.0155099709333,0.0798611982156,0.999999983071,9.5497307036e-05,-0.000154212471763,3.09321200664e-05,1793192895986147328
+2,0.033333333,BASELINE,763,742,712,670.150773397,660,633,876.301546795,783,799,648.849226603,628,650,0.401021944588,-0.01551128767,0.0798614928005,0.999999983201,9.39555938945e-05,-0.000154301846767,3.10031367417e-05,1793192896002813952
+3,0.050000000,BASELINE,763,742,712,670.727358124,660,633,877.454716247,783,799,648.272641876,628,650,0.401022674885,-0.0155101138655,0.0798618918055,0.999999983162,9.51708916332e-05,-0.000153774563566,3.11660333422e-05,1793192896019480576
+4,0.066666667,BASELINE,763.310797199,742,712,671,660,633,877.378405602,783,799,648,628,650,0.40102214868,-0.0155090925207,0.0798614261513,0.999999983055,9.58190484091e-05,-0.000154102172428,3.10177584161e-05,1793192896036147200
+5,0.083333333,BASELINE,763.900384706,742,712,671,660,633,876.199230588,783,799,648,628,650,0.401020495371,-0.0155082079349,0.079860184883,0.999999982885,9.59584701425e-05,-0.00015519663386,3.05903573943e-05,1793192896052813824
+6,0.100000000,BASELINE,763.519198984,742,712,671,660,633,876,783,799.480801016,648.480801016,628.480801016,650.480801016,0.401019924329,-0.0155088654957,0.0798601709261,0.99999998278,9.5698151152e-05,-0.000156039520899,3.05485093281e-05,1793192896069481472
+7,0.116666667,BASELINE,763.058925329,742,712,671,659.941074671,633,876.058925329,783,799.941074671,648.941074671,628.941074671,651,0.401019704545,-0.0155097772771,0.0798604717318,0.999999982718,9.54141413624e-05,-0.000156600615703,3.06024331674e-05,1793192896086149120
+8,0.133333333,BASELINE,763.633310748,742,712,671,659.366689252,633,876.633310748,783,799.366689252,648.366689252,628.366689252,651,0.401020632675,-0.015510170232,0.0798613432383,0.999999982918,9.56338205695e-05,-0.000155144100062,3.08084432292e-05,1793192896102814976
+9,0.150000000,BASELINE,763.787039317,742,712,671,659,633,877,783.212960683,799,648.212960683,628.212960683,650.787039317,0.401021402883,-0.0155104488539,0.0798619424057,0.99999998315,9.52254493821e-05,-0.000153868854188,3.09165866094e-05,1793192896119480832
+10,0.166666667,BASELINE,763.198094901,742,712,671,659,633,877,783.801905099,799,648.801905099,628.801905099,650.198094901,0.40102189428,-0.0155105256198,0.0798620607561,0.999999983442,9.37082503414e-05,-0.000152913641647,3.08519455842e-05,1793192896136147456
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+12,0.200000000,BASELINE,763,742,712,671,659,633,877,783.03651204,799,649,628.03651204,650.96348796,0.401022145419,-0.0155084254055,0.0798624249122,0.999999982924,9.79215761977e-05,-0.000153673902354,3.07960192434e-05,1793192896169480448
+13,0.216666667,BASELINE,763,742.540594887,712,671,659.540594887,633,877,783,799,649,628,650.459405113,0.401021517925,-0.0155080083971,0.0798626458932,0.999999983,9.78351871331e-05,-0.000153209485362,3.09191878321e-05,1793192896186147328
+14,0.233333333,BASELINE,763,742.881067966,712,670.881067966,659.881067966,633,877,783,799,649,628,650,0.401020732189,-0.0155076273471,0.0798625385282,0.999999982962,9.81067815362e-05,-0.000153258860391,3.10298333427e-05,1793192896202813952
+15,0.250000000,BASELINE,763,742.297387974,712,670.297387974,659.297387974,633,877,783,799,649,628,650,0.401019506657,-0.0155071604409,0.0798611412518,0.999999982356,0.000100546538141,-0.00015560901784,3.10537545745e-05,1793192896219481344
+16,0.266666667,BASELINE,763.285021063,742,712,670.285021063,659,633,876.714978937,783,799,649,628,650,0.401019106715,-0.0155079121722,0.0798604832846,0.999999982295,9.95511008469e-05,-0.000156646442334,3.10161954903e-05,1793192896236148224
+17,0.283333333,BASELINE,763.866109851,742,712,670.866109851,659,633,876.133890149,783,799,649,628,650,0.401019564362,-0.0155099297722,0.0798605932803,0.999999982793,9.49873304963e-05,-0.000156320255681,3.09147732742e-05,1793192896252814336
+18,0.300000000,BASELINE,763.554913292,742,712,670.554913292,659,633,876,783,799,648.554913292,628,650,0.401020348507,-0.0155096741488,0.0798612180161,0.999999982922,9.51861454644e-05,-0.000155385943576,3.08296207702e-05,1793192896269480960
+19,0.316666667,BASELINE,763,742,712,670.023249069,659,633,876,783,799.023249069,648.023249069,628,650.023249069,0.401021245979,-0.0155087670041,0.079862000378,0.999999982952,9.67553831296e-05,-0.000154235212002,3.07534719494e-05,1793192896286147328
+20,0.333333333,BASELINE,763,742,712,670.59709694,659,633,876,783,799.59709694,648.59709694,628,650.59709694,0.401022512262,-0.0155085484564,0.0798628659677,0.999999983228,9.70106296798e-05,-0.000152271023865,3.07751932349e-05,1793192896302813952
+21,0.350000000,BASELINE,763,742,712,671,659,632.824644189,876.175355811,783,800,649,628.175355811,651,0.401022691415,-0.0155087855293,0.0798631725029,0.999999983361,9.65170410773e-05,-0.000151700110581,3.08260548988e-05,1793192896319480832
+22,0.366666667,BASELINE,763,742,712,671,659,632.235989033,876.764010967,783,800,649,628.764010967,651,0.401020308294,-0.015510096463,0.0798621613926,0.999999983157,9.42585090602e-05,-0.00015441303276,3.09455980547e-05,1793192896336147456
+23,0.383333333,BASELINE,763,742,712,670.650960686,659.698078628,632.349039314,876.650960686,783,800,648.650960686,628.650960686,650.650960686,0.401020185165,-0.0155097666853,0.0798615631252,0.999999982912,9.54411335468e-05,-0.000155275448493,3.09373539679e-05,1793192896352814336
+24,0.400000000,BASELINE,763,742,712,670.068359185,660.863281631,632.931640815,876.068359185,783,800,648.068359185,628.068359185,650.068359185,0.401021574327,-0.0155083390138,0.0798612411147,0.999999982634,9.8926432628e-05,-0.000154899584694,3.0843600133e-05,1793192896369481472
+25,0.416666667,BASELINE,763.506904361,742.506904361,711.493095639,671.013808723,659.986191277,633,876,783,799.493095639,648.506904361,628.506904361,650.506904361,0.401021039118,-0.0155080286304,0.0798616107492,0.999999982708,9.84756259487e-05,-0.000154737874561,3.06932173752e-05,1793192896386147840
+26,0.433333333,BASELINE,763.918978864,742.918978864,711.081021136,672,659.081021136,632.918978864,876.081021136,783,799,649,628.918978864,650.918978864,0.401020315601,-0.0155078357488,0.0798619123099,0.999999982774,9.78496057987e-05,-0.000154736379093,3.05772685242e-05,1793192896402813952
+27,0.450000000,BASELINE,763.345902323,742.345902323,711.654097677,672,659.654097677,632.345902323,876.654097677,783,799,649,628.345902323,650.345902323,0.401020002038,-0.0155074544688,0.0798612420683,0.999999982499,9.93371732605e-05,-0.000155535004857,3.07161602518e-05,1793192896419480576
+28,0.466666667,BASELINE,763,742,712,671.765631563,659.765631563,632.234368437,876.765631563,783.234368437,799,649,628.234368437,650.234368437,0.401019734288,-0.0155071291389,0.079861014396,0.99999998234,0.000100317700603,-0.000155932475716,3.06974607821e-05,1793192896436147200
+29,0.483333333,BASELINE,763,742,712,671.174406705,659.174406705,632.825593295,876.174406705,783.825593295,799,649,628.825593295,650.825593295,0.401019536293,-0.0155068890002,0.0798614605931,0.99999998236,0.000100526193343,-0.000155719136021,3.04388082141e-05,1793192896452813824
+30,0.500000000,BASELINE,763,742,712,671,659,632.591773065,876.408226935,783.591773065,799,649,628.591773065,650.591773065,0.401019555312,-0.0155076539899,0.0798613064392,0.999999982477,9.91007081501e-05,-0.000155895818383,3.03598793765e-05,1793192896469480448
+31,0.516666667,BASELINE,763,742,712,671,659,632.012734211,876.987265789,783.012734211,799,649,628.012734211,650.012734211,0.401019665135,-0.0155088395494,0.0798609010841,0.999999982631,9.69915274825e-05,-0.000156235695313,3.0356151255e-05,1793192896486147328
+32,0.533333333,BASELINE,763,742.563281869,712,671,659,632.563281869,877,783,799,649,628,650,0.401019253519,-0.0155079864878,0.0798602859765,0.99999998241,9.77728054619e-05,-0.000157161269023,3.03584515572e-05,1793192896502813952
+33,0.550000000,BASELINE,763,742.861296125,712,671.138703875,659.138703875,633,876.861296125,783,798.861296125,649,628,650,0.401019195586,-0.0155072474308,0.079860120805,0.999999982283,9.88019081461e-05,-0.000157321090969,3.03826570621e-05,1793192896519481088
+34,0.566666667,BASELINE,763,742.287524435,712,671.712475565,659.712475565,633,876.287524435,783,798.287524435,649,628,650,0.401020283814,-0.0155070097578,0.0798613817273,0.999999982477,0.000100404482405,-0.000155037694002,3.04751466838e-05,1793192896536147712
+35,0.583333333,BASELINE,763.295408374,742,711.704591626,671.409183251,659.704591626,633,876,783,798.295408374,648.704591626,628,650,0.40102064629,-0.0155074862039,0.0798620649704,0.999999982616,0.000100185301172,-0.000154257901229,3.05952540173e-05,1793192896552814080
+36,0.600000000,BASELINE,763.887543251,742,711.112456749,670.224913499,659.112456749,633,876,783,798.887543251,648.112456749,628,650,0.401020279774,-0.0155086799555,0.0798621679568,0.999999982701,9.81362358696e-05,-0.000154988421537,3.07431023057e-05,1793192896569480704
+37,0.616666667,BASELINE,763.530807253,742,711.469192747,670.469192747,659,632.530807253,876.469192747,783,799.469192747,648.469192747,628.469192747,650.469192747,0.401019621955,-0.0155095504166,0.0798616125686,0.999999982746,9.66059324709e-05,-0.000155658472375,3.07400339114e-05,1793192896586147328
+38,0.633333333,BASELINE,763.048083637,742,712,671,659.048083637,632.048083637,876.951916363,783,799.951916363,648.951916363,628.951916363,650.951916363,0.401018966507,-0.0155100642064,0.0798609716474,0.999999982751,9.56100557519e-05,-0.000156257438843,3.06697963649e-05,1793192896602814208
+39,0.650000000,BASELINE,763.623679435,742,712,671,659.623679435,632.623679435,876.376320565,783,799.376320565,648.376320565,628.376320565,650.376320565,0.401019086309,-0.0155074965587,0.0798610857066,0.999999982424,9.91429688891e-05,-0.000156232086401,3.02508223104e-05,1793192896619480832
+40,0.666666667,BASELINE,763.796957792,742,712,670.796957792,659.796957792,633,876,783,799,648,628,650,0.401020161382,-0.0155059420232,0.0798617695629,0.999999982447,0.00010107063315,-0.000154875354136,3.00665678418e-05,1793192896636147456
+41,0.683333333,BASELINE,763.210481323,742,712,670.210481323,659.210481323,633,876,783,799,648,628,650,0.401023040429,-0.0155063006955,0.0798635294505,0.999999983142,9.9966871267e-05,-0.000151004382879,3.0325568678e-05,1793192896652814336
+42,0.700000000,BASELINE,763,742,712,670.373455297,659,633,876,783,799,648.373455297,628.373455297,650,0.401023232043,-0.0155060473358,0.0798635927364,0.999999983105,9.95599924336e-05,-0.000151522967814,3.03141153803e-05,1793192896669481216
+43,0.716666667,BASELINE,763,742,712,670.955970096,659,633,876,783,799,648.955970096,628.955970096,650,0.401021919237,-0.0155054513618,0.0798627062681,0.999999982656,9.95432273224e-05,-0.000154498817327,3.0151262411e-05,1793192896686147584
+44,0.733333333,BASELINE,763,742,712,671,659.532045216,633,876,783.532045216,799,649,628.467954784,650.532045216,0.401020976016,-0.0155063913548,0.0798626473748,0.999999982655,9.90422373105e-05,-0.000154810872132,3.02496800058e-05,1793192896702814208
+45,0.750000000,BASELINE,763,742,712,671,660,632.89278465,876,783.89278465,799,648.89278465,628.10721535,650.89278465,0.401020160925,-0.0155072684452,0.0798625845082,0.999999982676,9.86397246437e-05,-0.000154912703998,3.03442128197e-05,1793192896719480832
+46,0.766666667,BASELINE,763,742,712,671,660,632.319260614,876,783.319260614,799,648.319260614,628.680739386,650.319260614,0.401019771665,-0.0155073257287,0.0798622100557,0.999999982636,9.88377187346e-05,-0.00015504752782,3.0328935614e-05,1793192896736147456
+47,0.783333333,BASELINE,763,742,712,671.261176442,659.738823558,632.261176442,876,783,799.261176442,648.261176442,628.738823558,650.261176442,0.401019105745,-0.0155072600504,0.0798616362965,0.99999998247,9.92840723501e-05,-0.000155831376983,3.03161532088e-05,1793192896752814080
+48,0.800000000,BASELINE,763,742,712,671.850293767,659.149706233,632.850293767,876,783,799.850293767,648.850293767,628.149706233,650.850293767,0.401018092441,-0.0155070399777,0.0798608122819,0.999999982144,0.000100042273574,-0.00015743016162,3.03065033475e-05,1793192896769480704
+49,0.816666667,BASELINE,763.432933099,742.432933099,712,671.567066901,659.432933099,633,876,783,799.134133803,649,628,650.567066901,0.401018838682,-0.0155078549943,0.079861545729,0.999999982518,9.82272747955e-05,-0.000156156362403,3.05027859398e-05,1793192896786148096
+50,0.833333333,BASELINE,763.986753792,742.986753792,711.986753792,671,659.986753792,633,876,783.013246208,798.013246208,648.986753792,628,650.013246208,0.40102013123,-0.0155089526255,0.0798627560515,0.999999983093,9.5652720496e-05,-0.000154006434342,3.07548118804e-05,1793192896802815232
+51,0.850000000,BASELINE,763.41149597,742.41149597,711.41149597,671,659.41149597,633,876,783.58850403,798.58850403,648.41149597,628,650.58850403,0.401019168129,-0.0155070786994,0.0798616859608,0.999999982531,9.80476418192e-05,-0.000156207635282,3.03951392608e-05,1793192896819481344
+52,0.866666667,BASELINE,763,742.162828174,711.162828174,671,659.162828174,632.837171826,876,783.837171826,799,648.162828174,628,651,0.401018872825,-0.0155059878433,0.0798611920398,0.99999998222,9.97082709158e-05,-0.000157182043405,3.01852640567e-05,1793192896836147456
+53,0.883333333,BASELINE,763,742.734806168,711.734806168,671,659.734806168,632.265193832,876,783.265193832,799,648.734806168,628,651,0.401020255542,-0.0155068646628,0.079862145901,0.999999982563,9.95237920759e-05,-0.000155073802681,3.03517953913e-05,1793192896852814080
+54,0.900000000,BASELINE,763,742.679967663,712,671,659.679967663,632.320032337,876.320032337,783,799,648.679967663,628,650.679967663,0.401020544811,-0.0155076547143,0.0798624428435,0.999999982823,9.81758653594e-05,-0.000154292634677,3.01659674317e-05,1793192896869480704
+55,0.916666667,BASELINE,763,742.083289388,712,671,659.083289388,632.916710612,876.916710612,783,799,648.083289388,628,650.083289388,0.401019888868,-0.0155083697608,0.0798621719249,0.999999983009,9.58222180009e-05,-0.000154658629857,2.96755490936e-05,1793192896886147328
+56,0.933333333,BASELINE,763,742,711.504253647,671,659.495746353,633,876.504253647,783,799,648,628.495746353,650,0.401019430652,-0.0155079214841,0.0798621314702,0.999999982645,9.78083259861e-05,-0.000155689285644,3.0075957855e-05,1793192896902813696
+57,0.950000000,BASELINE,763,742,711.071482104,671,660,632.928517896,876,783.071482104,799,648.071482104,628.928517896,650.071482104,0.40101905706,-0.0155073475732,0.0798620656359,0.999999982252,0.000100096037481,-0.000156666519904,3.05332500923e-05,1793192896919480576
+58,0.966666667,BASELINE,763,742,711.644148287,671,660,632.355851713,876,783.644148287,799,648.644148287,628.355851713,650.644148287,0.401019051883,-0.0155072160553,0.0798615597099,0.999999982334,9.95620093023e-05,-0.000156513161022,3.03760739028e-05,1793192896936147712
+59,0.983333333,BASELINE,763,742.224734785,712,671,660,632.224734785,876,783.775265215,799,649,628,650.775265215,0.401018563862,-0.015507551409,0.0798610187153,0.999999982304,9.88966458444e-05,-0.000157120746642,3.04042974454e-05,1793192896952814336
+60,1.000000000,BASELINE,763,742.818320772,712,671,660,632.818320772,876,783.181679228,799,649,628,650.181679228,0.401017283362,-0.0155086530263,0.0798604201635,0.999999982087,9.80157252134e-05,-0.000158977250138,3.07368125946e-05,1793192896969480960
+61,1.016666667,BASELINE,763,742.600070694,712,671,660,633,876,783.399929306,799,649,628.399929306,650.399929306,0.401017413797,-0.0155093278544,0.0798604674844,0.999999982304,9.66523925622e-05,-0.000158442546838,3.0769153455e-05,1793192896986147328
+62,1.033333333,BASELINE,763,742.023745077,712,671,660,633,876,783.976254923,799,649,628.976254923,650.976254923,0.401018166552,-0.015509814439,0.0798607996796,0.999999982708,9.50762831058e-05,-0.00015685315688,3.06690968026e-05,1793192897002813696
+63,1.050000000,BASELINE,763.552499988,742,712,671,659.447500012,633,876.552499988,784,799,648.447500012,628.447500012,651,0.401018821328,-0.0155102396021,0.0798614931822,0.999999982864,9.47214687875e-05,-0.000156064024017,3.07187190983e-05,1793192897019480576
+64,1.066666667,BASELINE,763.868485115,742,712,671,659,633,877,783.868485115,799,648.131514885,628,650.868485115,0.401019507072,-0.0155103325356,0.0798619817874,0.999999982979,9.45657451639e-05,-0.000155422811234,3.06949508795e-05,1793192897036146944
+65,1.083333333,BASELINE,763.279830411,742,712,671,659,633,877,783.279830411,799,648.720169589,628,650.279830411,0.401020315099,-0.0155092798281,0.0798617042112,0.999999982993,9.49196317134e-05,-0.000155176230725,3.03937235666e-05,1793192897052813824
+66,1.100000000,BASELINE,763,742,712,671,659,633,876.696201492,783,799,649,628,650,0.401020119915,-0.0155091510007,0.0798616178613,0.999999982895,9.53002853144e-05,-0.000155602046602,3.02752858449e-05,1793192897069480960
+67,1.116666667,BASELINE,763,742,712,671,659,633,876.117126545,783,799,649,628,650,0.401019015705,-0.015509859315,0.0798617047844,0.999999982693,9.57051929274e-05,-0.000156637131061,3.0322476562e-05,1793192897086148096
+68,1.133333333,BASELINE,763,742,712,671,659.458486817,633,876,783,799,649,628.458486817,650,0.401018549865,-0.0155091238564,0.0798613509453,0.999999982451,9.6913434438e-05,-0.000157461048131,3.02085841728e-05,1793192897102814464
+69,1.150000000,BASELINE,763,742,712,671,660,633,876,783,799,649,629,650,0.401018335128,-0.0155080552204,0.0798609843313,0.999999982234,9.82480627287e-05,-0.000158033351844,3.00739768493e-05,1793192897119481088
+70,1.166666667,BASELINE,763,742,712,671,660,633,876,783,799,649,629,650,0.401019575053,-0.0155075226746,0.079862231049,0.999999982637,9.83227697285e-05,-0.000155377164518,3.02674397215e-05,1793192897136147712
+71,1.183333333,BASELINE,763,742,712,671,660,633,876.378232558,783,799,649,629,650,0.401019870853,-0.0155073440989,0.0798625070531,0.999999982695,9.88782735203e-05,-0.000154627803775,3.03923563056e-05,1793192897152814080
+72,1.200000000,BASELINE,763,742,712,671,660,633,877.563840919,783,799,649,629,650,0.401018151324,-0.015507921108,0.0798607109709,0.999999982019,0.0001004600869,-0.000157948757495,3.03709539139e-05,1793192897169480704
+73,1.216666667,BASELINE,763,742.365143629,712,671,659.634856371,633,877.269712742,783,799,648.634856371,629,650,0.401018167388,-0.0155070227822,0.0798607143905,0.99999998188,0.000101675889217,-0.000158040458423,3.04231048544e-05,1793192897186147328
+74,1.233333333,BASELINE,763,742.942790877,712,671,659.057209123,633,876.114418246,783,799,648.057209123,629,650,0.40101919352,-0.0155052658517,0.079861765071,0.999999982055,0.000102678682997,-0.000156252822228,3.05180618266e-05,1793192897202814208
+75,1.250000000,BASELINE,763,743,712,671,660.555516095,633,876.518505365,783,799,648,629,650,0.401018731964,-0.0155059765492,0.0798616406714,0.99999998202,0.00010191938753,-0.000156998290912,3.03963173541e-05,1793192897219481600
+76,1.266666667,BASELINE,763,743,712,671,661.813593171,632.906796585,876.906796585,783,799,648,629,650,0.401018284623,-0.015506980886,0.0798615039156,0.99999998203,0.000100913027726,-0.000157605689665,3.02806729071e-05,1793192897236148992
+77,1.283333333,BASELINE,763,743,712,671,660.672432881,632.336216441,876.336216441,783,799,648,629,650,0.401018747689,-0.0155080998782,0.0798619654691,0.999999982397,9.96333295567e-05,-0.000156079716167,3.03182798134e-05,1793192897252814848
+78,1.300000000,BASELINE,763.24412829,742.75587171,712,671,660,632,876,783,799,648.24412829,628.75587171,650.24412829,0.401018849163,-0.0155091794369,0.0798618908189,0.999999982672,9.74694476516e-05,-0.000155673945708,3.03424048718e-05,1793192897269480960
+79,1.316666667,BASELINE,763.838481172,742.161518828,712,671,660,632,876,783,799,648.838481172,628.161518828,650.838481172,0.401018431899,-0.0155102024245,0.0798610469349,0.999999982813,9.40371225773e-05,-0.000156875210158,3.03471889699e-05,1793192897286147584
+80,1.333333333,BASELINE,763.578252866,742,712,671,659.578252866,632,876,783,799,648.578252866,628.421747134,650.578252866,0.401019591138,-0.0155090720022,0.079861956631,0.999999982942,9.4590280088e-05,-0.000155745937793,3.02084554177e-05,1793192897302813952
+81,1.350000000,BASELINE,763,742,712,671,659,632.000871945,876,783,799,648.000871945,628.999128055,650,0.401021332406,-0.0155071418742,0.0798635155733,0.99999998306,9.66308980251e-05,-0.000153754590355,3.00168789946e-05,1793192897319480320
+82,1.366666667,BASELINE,763,742,712,671,659,632.577395341,876,783,799,648.577395341,628.422604659,650,0.401018935464,-0.0155077688099,0.0798616877356,0.999999982369,9.88133344585e-05,-0.000156781706908,3.02960267834e-05,1793192897336147200
+83,1.383333333,BASELINE,763,742,712,671,659.156310011,633,876,783,799,648.843689989,628.156310011,650.156310011,0.401017569246,-0.0155085879163,0.0798606483739,0.99999998203,9.94019977215e-05,-0.000158516946307,3.05327899975e-05,1793192897352814080
+84,1.400000000,BASELINE,763,742,712,671,659.741790377,633,876,783,799,648.258209623,628.741790377,650.741790377,0.401019033018,-0.0155099346539,0.0798617738796,0.999999982681,9.56147408771e-05,-0.000156705162286,3.06531806717e-05,1793192897369480960
+85,1.416666667,BASELINE,763,742,712,671,660,633,876.325589909,783,799,648.325589909,628.674410091,650.674410091,0.401019841431,-0.0155088544792,0.0798623566061,0.99999998275,9.64040981489e-05,-0.000155776740437,3.06730250069e-05,1793192897386147584
+86,1.433333333,BASELINE,763,742,712,671,660,633,876.908063264,783,799,648.908063264,628.091936736,650.091936736,0.401020132781,-0.0155058595228,0.0798625110914,0.999999982353,0.000100804305902,-0.000155545272482,3.06135404325e-05,1793192897402814464
+87,1.450000000,BASELINE,763,742,712,671,659.516954003,633,876.516954003,783,799.483045997,648.516954003,628,650,0.401018996727,-0.0155067608125,0.0798620068776,0.999999982437,9.89143164643e-05,-0.000156275436473,3.03378486612e-05,1793192897419480832
+88,1.466666667,BASELINE,763,742,712,671,659,633,876,783,799.943046961,648,628.056953039,650.056953039,0.401017770934,-0.0155081154955,0.0798614125274,0.999999982548,9.64595029433e-05,-0.000157150128122,3.00730044515e-05,1793192897436147200
+89,1.483333333,BASELINE,763,742,712,671,659,633,876,783,799.36614354,648,628.63385646,650.63385646,0.401018168231,-0.015506942744,0.0798611223487,0.999999982146,9.9610992104e-05,-0.00015769887887,3.02771338677e-05,1793192897452813824
+90,1.500000000,BASELINE,763,742,712,671,659.216005394,633,876.216005394,783.216005394,799,648,628.783994606,650.783994606,0.401018209951,-0.0155065111779,0.0798609804578,0.999999981961,0.000100722524864,-0.000158144090873,3.03814412422e-05,1793192897469480960
+91,1.516666667,BASELINE,763,742,712,671,659.807267055,633,876.807267055,783.807267055,799,648,628.192732945,650.192732945,0.401017633942,-0.0155073672391,0.0798610961806,0.999999982163,9.8290134565e-05,-0.000158409429702,3.03123323386e-05,1793192897486147584
+92,1.533333333,BASELINE,763,742,712,671,660,633,877,784,799,648.389484445,628.389484445,650.389484445,0.401018595894,-0.0155083932244,0.0798620912392,0.999999982472,9.7334045468e-05,-0.000157012171257,3.04986838466e-05,1793192897502813952
+93,1.550000000,BASELINE,763,742,712,671,660,633,877,784,799,648.967327976,628.967327976,650.967327976,0.40102030162,-0.0155095013869,0.0798635115544,0.999999982829,9.70919121239e-05,-0.000154810861976,3.08085788942e-05,1793192897519480576
+94,1.566666667,BASELINE,763,742,712,671,660,633,876.460173794,783.460173794,799,649,629,651,0.401018399363,-0.0155078198119,0.079862456756,0.999999982289,9.9557676189e-05,-0.00015673124265,3.07477437855e-05,1793192897536147968
+95,1.583333333,BASELINE,763,742,712,670.88407396,659.88407396,633,876,783.11592604,799,648.88407396,629,650.88407396,0.401017141467,-0.0155064899411,0.0798616147796,0.999999981898,0.000101476410431,-0.000158011347893,3.0627625624e-05,1793192897552815104
+96,1.600000000,BASELINE,763,742,712,670.291860457,659.291860457,633,876,783.708139543,799,648.291860457,629,650.291860457,0.401019419335,-0.0155072919639,0.0798622566248,0.999999982378,0.000100480897965,-0.00015564599224,3.03552230904e-05,1793192897569481216
+97,1.616666667,BASELINE,763,742,712,670.293842468,659.293842468,633,876,783.706157532,799,648.293842468,628.706157532,650,0.401020056836,-0.0155077717147,0.0798621783349,0.99999998243,0.000100135244817,-0.000155530991679,3.03653624136e-05,1793192897586147584
+98,1.633333333,BASELINE,763,742,712,670.873218869,659.873218869,633,876,783.126781131,799,648.873218869,628.126781131,650,0.401019100353,-0.0155079383056,0.0798614002719,0.999999982069,0.000100421075961,-0.000157602716489,3.06500546044e-05,1793192897602813952
+99,1.650000000,BASELINE,763,742,712,671,660,632.549716598,876,783,799,648.549716598,628,650,0.401020069718,-0.0155078852301,0.0798628113044,0.999999982294,0.000100943106311,-0.000155795945985,3.08309659156e-05,1793192897619480576
+100,1.666666667,BASELINE,763,742,712,670.973570821,660,632,876,783,799,648,628,650,0.40102143647,-0.0155077789704,0.0798646888735,0.999999982658,0.000101424249805,-0.000153097099014,3.09568531765e-05,1793192897636147456
+101,1.683333333,BASELINE,763,742,712,670.403007494,660,632,876,783,799,648,628,650,0.401019878,-0.0155078446004,0.0798635466736,0.999999982644,9.97013850253e-05,-0.000154399992598,3.05484117948e-05,1793192897652814336
+102,1.700000000,BASELINE,763.174511648,742.174511648,712,670.174511648,659.825488352,632.174511648,876,783,799,648.174511648,628,650,0.401018757808,-0.015507925244,0.0798626683065,0.999999982559,9.87727429197e-05,-0.000155587754932,3.03108293294e-05,1793192897669480960
+103,1.716666667,BASELINE,763.768760925,742.768760925,712,670.768760925,659.231239075,632.768760925,876,783,799,648.768760925,628,650,0.401018691766,-0.0155080419981,0.0798624245137,0.999999982314,9.97543755035e-05,-0.000156498601943,3.04841989538e-05,1793192897686147840
+104,1.733333333,BASELINE,763.646840284,743,711.646840284,671,659,632.646840284,876,783,799,648.646840284,628,650,0.401019107321,-0.0155077557467,0.0798624933163,0.999999982336,9.9531007876e-05,-0.000156500519631,3.04984605419e-05,1793192897702814464
+105,1.750000000,BASELINE,763.068716239,743,711.068716239,671,659,632.068716239,876,783,799,648.068716239,628,650,0.401019829656,-0.0155072127789,0.0798627612436,0.999999982526,9.85400497808e-05,-0.000155923445335,3.04113696109e-05,1793192897719480832
+106,1.766666667,BASELINE,763,743,711.507858013,671,659.507858013,632.507858013,876.507858013,783.507858013,799,648,628,650.507858013,0.401019537641,-0.0155080756548,0.0798625738874,0.999999982638,9.71603972144e-05,-0.000156042772523,3.05656514123e-05,1793192897736147200
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783,799,648,629,650,0.401019189563,-0.0155046906258,0.0798621124361,0.999999982243,0.000100584025575,-0.000156593411828,2.95900731064e-05,1793192897778782208
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.578529996,742,712,670.421470004,660,633,876.421470004,783,799.578529996,648.578529996,629,650,0.401019203984,-0.0155056313386,0.0798623327215,0.999999982114,0.000102090723465,-0.000156365395869,2.9993176931e-05,1793192897795449344
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.843846842,742.156153158,712,670.156153158,660,633,876,783,800,649,629,650.156153158,0.401019261202,-0.0155068920881,0.0798624298803,0.999999982151,0.000101833632299,-0.000156235335017,3.0311815729e-05,1793192897812116224
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.268657037,742.731342963,712,670.731342963,660,633,876,783,800,649,629,650.731342963,0.40101943327,-0.0155090116557,0.0798621966293,0.999999982623,9.68434175091e-05,-0.000156368136427,3.04037929073e-05,1793192897828782336
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,743,712,671.305459903,659.694540097,633,876.305459903,783,799.694540097,649,628.694540097,650.694540097,0.401019659605,-0.0155091221162,0.0798619743594,0.99999998263,9.64276268214e-05,-0.000156573867232,3.04200303785e-05,1793192897845448448
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,743,712,671.878636509,659.121363491,633,876.878636509,783,799.121363491,649,628.121363491,650.121363491,0.401019933503,-0.0155074717185,0.0798617617139,0.999999982237,0.000100021036099,-0.000156843516131,3.03698866777e-05,1793192897862115072
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742.532554638,712,671.532554638,659.467445362,632.532554638,877,783,799,649,628,650,0.40102014682,-0.015507953408,0.0798624309668,0.999999982031,0.000101119052795,-0.000157415810017,3.05330338604e-05,1793192897878781184
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.059277025,742,712,671,659.940722975,632,877,783,799,649,628.059277025,650,0.401021059073,-0.0155089006831,0.0798636354588,0.99999998194,0.000101236846513,-0.000157888841778,3.07106340197e-05,1793192897895447808
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.640746846,742,712,671,659.359253154,632,877,783,799,649,628.640746846,650,0.401028271861,-0.0155089042669,0.0798674682117,0.999999982383,9.86244012821e-05,-0.00015677128226,3.05108409532e-05,1793192897912114432
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.781330057,742,712,671,659,632.218669943,876.781330057,783,799,649,628.781330057,650,0.401043583299,-0.0155089699614,0.0798737790437,0.999999983054,9.78756494088e-05,-0.000152898279556,3.05713696933e-05,1793192897928781056
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.209140934,742,712,671,659,632.790859066,876.209140934,783,799,649,628.209140934,650,0.401071987656,-0.0155091360692,0.0798840961348,0.999999984054,0.000100139892355,-0.000144570608848,3.10527553415e-05,1793192897945447680
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742.373202507,712,671,659,633,876.373202507,783,799,649,628.373202507,650,0.401116024686,-0.0155112651887,0.0798964110169,0.999999986124,9.94965735759e-05,-0.000129885488528,3.13502833131e-05,1793192897962114560
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742.961395594,712,671,659,633,876.961395594,783,799,649,628.961395594,650,0.401169067225,-0.0155145251394,0.0799098767664,0.99999998856,9.71782973643e-05,-0.000111538034584,3.15418965233e-05,1793192897978781440
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742.455595306,712,671,659.544404694,633,877,783,799,649,628.455595306,650.544404694,0.401242386593,-0.015517519393,0.0799207161249,0.999999990139,9.76782973217e-05,-9.62370052107e-05,3.03336434396e-05,1793192897995448064
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.874253285,876.874253285,783,799.125746715,648.874253285,628,650.874253285,0.401320436942,-0.0155205148253,0.0799295691241,0.999999991321,9.75954461364e-05,-8.37666814539e-05,2.85758348535e-05,1793192898012114688
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.297583412,876.297583412,783,799.702416588,648.297583412,628,650.297583412,0.401410344978,-0.0155235814106,0.0799319606667,0.999999991943,9.47126262999e-05,-8.06798078313e-05,2.51999473342e-05,1793192898028781312
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.723025751,632.276974249,876.276974249,783,800,648.276974249,628.276974249,650.276974249,0.401511367873,-0.0155267890112,0.0799340364419,0.9999999925,9.19860031639e-05,-7.79825185266e-05,2.13689409209e-05,1793192898045447680
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.150720325,632.849279675,876.849279675,783,800,648.849279675,628.849279675,650.849279675,0.401624242278,-0.015530146973,0.0799357755216,0.999999992991,8.94259290956e-05,-7.57006340697e-05,1.70526520594e-05,1793192898062114560
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.42404504,633,876.57595496,783,799.57595496,649,629,650.57595496,0.401761408456,-0.0155346010521,0.0799409733725,0.999999994126,8.23982879791e-05,-6.93602828517e-05,1.21347454688e-05,1793192898078781440
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.999689843,633,876.000310157,783,799.000310157,649,629,650.000310157,0.401907259151,-0.0155394470024,0.0799474077639,0.999999995359,7.37734531141e-05,-6.15689947658e-05,7.00175543693e-06,1793192898095448064
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876,783,799,648.404901988,629,650.595098012,0.402079294368,-0.0155460864586,0.0799498858043,0.99999999661,5.91477917673e-05,-5.72789602002e-05,1.10009643485e-06,1793192898112114944
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.184581921,742,712,671,659.815418079,633,876,783,799,648,629,650.815418079,0.402259587889,-0.0155522413634,0.0799497761834,0.999999997748,3.09803132641e-05,-5.9247834018e-05,-5.8462193263e-06,1793192898128781568
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.76145239,742,712,671,659.23854761,633,876,783,799,648,629,650.23854761,0.402457402606,-0.0155573644045,0.0799441715863,0.999999996774,-2.59604621394e-05,-7.45146392386e-05,-1.50118433689e-05,1793192898145448448
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.66301427,742,712,671,659,632.66301427,876.33698573,783,799.33698573,648,628.66301427,650.33698573,0.402676300524,-0.0155609705513,0.0799399203342,0.999999994956,-4.85323659002e-05,-8.52005711556e-05,-2.17561911251e-05,1793192898162114816
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.088423666,742,712,671,659,632.088423666,876.911576334,783,799.911576334,648,628.088423666,650.911576334,0.402910063992,-0.0155635071534,0.0799366233101,0.99999999425,-4.68711680426e-05,-9.26565821683e-05,-2.67933249837e-05,1793192898178781184
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.495567672,742,712,671,659.495567672,632.495567672,877.495567672,783.495567672,799.504432328,648.495567672,628,651,0.403180834145,-0.0155576319658,0.0799354717543,0.999999994431,-3.95909063647e-05,-9.37524403705e-05,-2.7939564442e-05,1793192898195447808
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.919209502,742,712,671,660,632.919209502,877.919209502,783.919209502,799,648.919209502,628,650.919209502,0.403466609978,-0.0155499521043,0.0799354567533,0.999999994796,-3.07332692207e-05,-9.30007083248e-05,-2.8551098854e-05,1793192898212114432
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.336955269,742,712,671,660,632.336955269,877.336955269,783.336955269,799,648.336955269,628,650.336955269,0.403803748138,-0.0155405669126,0.0799400742499,0.999999995505,-1.84283767865e-05,-8.7961139658e-05,-3.0236238485e-05,1793192898228781056
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.242042494,877,783.242042494,799,648.242042494,628.242042494,650.242042494,0.404160675834,-0.0155359439586,0.0799421892024,0.999999995867,-1.24847398403e-05,-8.41275810578e-05,-3.21217764931e-05,1793192898245447936
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.816566968,877,783.816566968,799,648.816566968,628.816566968,650.816566968,0.404544787431,-0.0155378626591,0.0799408665316,0.999999995938,-1.52792503374e-05,-8.19506600394e-05,-3.42825918916e-05,1793192898262114560
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783.598652514,799,649,628.598652514,650.598652514,0.404946573198,-0.015543148013,0.0799396455143,0.999999995827,-2.28543915539e-05,-8.06755899291e-05,-3.62765647313e-05,1793192898278781184
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783.009061634,799,649,628.009061634,650.009061634,0.405356648642,-0.0155500124231,0.0799384721755,0.999999995551,-3.26717845489e-05,-7.98235136154e-05,-3.81922835991e-05,1793192898295447808
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876.430221191,783,799,649,628.569778809,650.569778809,0.405802987108,-0.0155512002102,0.0799302775747,0.999999993817,-3.40945160696e-05,-9.78899100544e-05,-4.0261406224e-05,1793192898312115456
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742.147836473,712,671,660,633,876.147836473,783,799,649,628.852163527,650.852163527,0.406261559546,-0.0155521979255,0.0799226691193,0.999999992014,-3.65355210596e-05,-0.000113367880075,-4.22587055696e-05,1793192898328782848
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742.724111808,712,671,660,633,876.724111808,783,799,649,628.275888192,650.275888192,0.406753946266,-0.0155529015921,0.0799170769671,0.999999990876,-4.23072884414e-05,-0.000120488626857,-4.40409169998e-05,1793192898345449472
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742.694354407,712,671,660,632.694354407,877,783,799,648.694354407,628.305645593,650.305645593,0.407263721938,-0.0155502117921,0.0799137191163,0.999999989871,-4.32180804018e-05,-0.000127663594197,-4.57479057532e-05,1793192898362116096
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742.107990974,712,671,660,632.107990974,877,783,799,648.107990974,628.892009026,650.892009026,0.407789468415,-0.015544405289,0.0799124133417,0.999999988993,-3.96643475802e-05,-0.000134888360812,-4.73858070238e-05,1793192898378782720
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,712,671.472354924,660,632,876.527645076,783,799,648,628.527645076,650.527645076,0.408362302415,-0.0155445963616,0.079910880084,0.99999998842,-4.33263880974e-05,-0.000137366327875,-4.91159818552e-05,1793192898395449600
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,712,671.948670281,660.051329719,632.051329719,876.051329719,783.051329719,799.051329719,648.051329719,628.051329719,650.051329719,0.408952373278,-0.0155463328103,0.0799119535735,0.999999988466,-4.84590663887e-05,-0.000134751062317,-5.06170186212e-05,1793192898412116224
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,712,671.369825251,660.630174749,632.630174749,876.630174749,783.630174749,799.630174749,648.630174749,628.630174749,650.630174749,0.409610344794,-0.0155500367253,0.0799403443531,0.999999993299,-5.19649122695e-05,-9.08052285363e-05,-4.95491311502e-05,1793192898428782848
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742.207662187,712,671,660.792337813,633,877,783.792337813,799.792337813,649,629,651,0.410276409086,-0.0155538125836,0.0799657764409,0.999999995855,-5.72843268061e-05,-5.13059460763e-05,-4.87374157337e-05,1793192898445449216
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742.782747562,712,671,660.217252438,633,877,783.217252438,799.217252438,649,629,651,0.410956792138,-0.0155577157333,0.079985973621,0.999999996471,-6.58125448584e-05,-1.96740884636e-05,-4.83789536956e-05,1793192898462115072
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,743,712,671.365697205,660,633,877,783.365697205,799.365697205,648.634302795,628.634302795,650.634302795,0.411618798611,-0.0155580337613,0.0799726331377,0.999999994909,-7.61820832148e-05,-4.18969942185e-05,-5.12149944861e-05,1793192898478781184
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,743,712,671.953421488,660,633,877,783.953421488,799.953421488,648.046578512,628.046578512,650.046578512,0.412269648019,-0.0155561751413,0.0799389308097,0.999999989903,-8.76695486119e-05,-9.68169399926e-05,-5.59905253375e-05,1793192898495447552
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742.466478635,712,671.466478635,660.533521365,632.466478635,877,783.466478635,799.466478635,648.533521365,628,650,0.412975260192,-0.0155550278014,0.0799121702514,0.999999986208,-8.74735512723e-05,-0.000127610844115,-6.03977549051e-05,1793192898512114432
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742.112102997,712,671,660.887897003,632,877,783,799,648.887897003,628,650,0.413695875438,-0.0155550422604,0.0798948772553,0.999999983757,-8.7099637741e-05,-0.000144386364251,-6.36533356366e-05,1793192898528781312
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.687124994,712,671,660.312875006,632,877,783,799,648.312875006,628,650,0.41445897975,-0.015559601448,0.07991421235,0.999999987742,-9.01437375356e-05,-0.000111849470115,-6.2284194362e-05,1793192898545447936
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,743,712,671.263323037,660,632.263323037,877,783.263323037,799,648,628,650,0.415228760927,-0.0155628603206,0.079932472047,0.999999990481,-8.94439079436e-05,-8.65819485847e-05,-5.95044683229e-05,1793192898562114816
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,712,671.840924776,660,632.840924776,877,783.840924776,799,648,628,650,0.41600651111,-0.0155645672547,0.0799494482485,0.999999992485,-8.42756612951e-05,-6.99904924572e-05,-5.50411949909e-05,1793192898578781696
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,712,671.573352529,660,633,877,783.573352529,799,648,628,650,0.416786372011,-0.0155620647935,0.0799442118634,0.999999991537,-8.88647488042e-05,-7.58490072817e-05,-5.72417920776e-05,1793192898595448320
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,743,712,671.015207442,660,633,877,783.015207442,799.015207442,648,628,650,0.417569367814,-0.0155581299817,0.0799317227671,0.999999989504,-9.69191522076e-05,-8.82170932078e-05,-6.17706840031e-05,1793192898612114688
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,743,712,671.59451873,660,633,877,783.59451873,799.59451873,648,628,650,0.418438892644,-0.0155604111027,0.0799633730858,0.999999993347,-9.5948972974e-05,-2.55329383586e-05,-5.87125587676e-05,1793192898628781312
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,743,712,671.827309483,660,632.827309483,877,784,800,648.172690517,628,650,0.419284116086,-0.0155611122831,0.0799800329485,0.999999993874,-9.4252890452e-05,9.8516561069e-06,-5.71977644122e-05,1793192898645447680
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,743,712,671.251795767,660,632.251795767,877,784,800,648.748204233,628,650,0.420072653314,-0.0155581280454,0.0799617256119,0.999999993945,-9.08635444044e-05,-1.84435455284e-05,-5.92829916311e-05,1793192898662114560
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,743,712,671,660,632.330058446,877.330058446,784,800,649,628,650.330058446,0.420882111484,-0.0155568186435,0.0799490621295,0.999999993543,-8.80351742557e-05,-3.9520953188e-05,-6.00092924951e-05,1793192898678781440
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,743,712,671,660,632.916844425,877.916844425,784,800,649,628,650.916844425,0.421707842436,-0.0155568119699,0.0799407885759,0.99999999304,-8.56431450666e-05,-5.49841828056e-05,-5.96785871146e-05,1793192898695448064
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,743,712,671.497517278,660.497517278,633,878,784,800,648.502482722,628,651,0.422567326462,-0.0155593313433,0.0799677571058,0.999999993848,-9.31219694718e-05,-1.72650681148e-05,-5.7741254801e-05,1793192898712114944
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.077006162,743,712,672,660.922993838,633,878.077006162,784,799.922993838,648.077006162,628,650.922993838,0.423423216948,-0.0155619017539,0.0799940553878,0.999999993122,-0.000101590464908,1.76272391197e-05,-5.58974678175e-05,1793192898728781312
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.655357946,743,712,672,660.344642054,633,878.655357946,784,799.344642054,648.655357946,628,650.344642054,0.424219428321,-0.0155620890459,0.0799781063006,0.999999992538,-0.000105891426689,-2.30530399524e-05,-5.63897609574e-05,1793192898745447936
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.767465535,743,712,672,660,633,878.534931071,783.767465535,799.232534465,649,628.232534465,650,0.425009727367,-0.0155602187868,0.0799506685241,0.99999999003,-0.000105892664038,-7.2223069536e-05,-5.92460704217e-05,1793192898762114560
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.192022047,743,712,672,660,633,877.384044094,783.192022047,799.807977953,649,628.807977953,650,0.425791307867,-0.0155553143414,0.0799062888472,0.999999983927,-9.95532749379e-05,-0.00013391259143,-6.55884976837e-05,1793192898778781184
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660,633,877,783,799.608750218,649,628.608750218,650,0.426611697745,-0.0155568507674,0.0798945727167,0.999999983257,-9.76230920968e-05,-0.000139595419365,-6.68449995932e-05,1793192898795447808
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660,633,877,783,799.021557898,649,628.021557898,650,0.427451523773,-0.0155616128586,0.0798992148809,0.999999986188,-9.79010925936e-05,-0.000117229426094,-6.55544093493e-05,1793192898812114432
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,712,672,660.557915266,633,877,783.557915266,799,649,628.557915266,650.557915266,0.428242084035,-0.0155607554441,0.0799101859245,0.999999985952,-0.000101112297313,-0.000116695677915,-6.52307486243e-05,1793192898828781312
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.136344774,743,711.863655226,672.136344774,661,632.863655226,877,784,799,649,629,650.863655226,0.429036891015,-0.0155609524938,0.0799252927286,0.99999998705,-0.000103273785228,-0.000105471898688,-6.41111873631e-05,1793192898845448192
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.712357495,743,711.287642505,672.712357495,661,632.287642505,877,784,799,649,629,650.287642505,0.429851447084,-0.0155652404959,0.0799529581987,0.999999991381,-0.000101689779533,-5.70930010995e-05,-6.03062663339e-05,1793192898862115072
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.293375394,672.706624606,661,632.293375394,877,784,799,648.706624606,628.706624606,650,0.43064199332,-0.0155677870896,0.079981562005,0.999999993118,-0.000101838218358,-1.08422163935e-05,-5.72344817207e-05,1793192898878781696
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711.879385804,672.120614196,661,632.879385804,877,784,799,648.120614196,628.120614196,650,0.431408590267,-0.0155685966692,0.0800111017776,0.999999992561,-0.00010371472974,3.32858230991e-05,-5.48939835904e-05,1793192898895448064
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.540147821,743,712,672,661,633,877.459852179,783.540147821,799,648,628,650.459852179,0.432119953843,-0.0155665926854,0.079992359986,0.999999993715,-9.73322087953e-05,-4.38163128366e-06,-5.54811656279e-05,1793192898912114432
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,712,672.038842813,661,632.961157187,878,783,799.038842813,648.038842813,628,650.961157187,0.432814320522,-0.0155637587631,0.0799596586962,0.999999992307,-8.97926938462e-05,-6.36819216081e-05,-5.71606693196e-05,1793192898928781056
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,743,712,672.617292131,661,632.382707869,878,783,799.617292131,648.617292131,628,650.382707869,0.433471422891,-0.0155595250443,0.0799068607924,0.999999985063,-9.59153928418e-05,-0.000129016087672,-6.34741571957e-05,1793192898945447936
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,743,712,672.805339705,661,632,878,783.194660295,800,649,628.194660295,650,0.434141855814,-0.0155587397428,0.0798797858563,0.999999980452,-9.72794943234e-05,-0.000158585572568,-6.6951093619e-05,1793192898962114816
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,743,712,672.230085279,661,632,878,783.769914721,800,649,628.769914721,650,0.434838352364,-0.0155646966857,0.0799030037066,0.999999986915,-8.93397264164e-05,-0.000118229008511,-6.48820888838e-05,1793192898978781952
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,743,712,672.35257058,661,632,877.64742942,784,800,648.64742942,629,650,0.435489434002,-0.0155697568457,0.0799276531305,0.999999989214,-0.000101040236416,-8.66722735433e-05,-6.20570911264e-05,1793192898995448576
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,743,712,672.940160104,661,632,877.059839896,784,800,648.059839896,629,650,0.43611024261,-0.0155742192216,0.0799532568215,0.999999988499,-0.000125832699555,-6.09813921072e-05,-5.87281584064e-05,1793192899012115200
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,743,711.476948777,672.476948777,661,632,877.523051223,783.476948777,800,648,628.476948777,650,0.436689804636,-0.0155771252215,0.0799369428368,0.999999984254,-0.000135013110467,-9.78199456476e-05,-6.07817442617e-05,1793192899028781568
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,742.896303322,711.103696678,672.103696678,660.896303322,632,877.896303322,783,799.896303322,648,628,650.103696678,0.437253752351,-0.0155800493194,0.0799153092208,0.999999978283,-0.000140714264836,-0.000140148311606,-6.31756208911e-05,1793192899045448192
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742.323408398,711.676591602,672.676591602,660.323408398,632,877.323408398,783,799.323408398,648,628,650.676591602,0.437768210995,-0.0155838537948,0.0798911113763,0.999999972959,-0.000138682430874,-0.000175236192988,-6.43477499944e-05,1793192899062115072
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742.250226971,712,673,660.250226971,632.250226971,877.250226971,783,799.250226971,648.250226971,628.250226971,651,0.438271125558,-0.0155889202313,0.0798707553709,0.999999966619,-0.000143840554912,-0.000204353354518,-6.56554071732e-05,1793192899078781696
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+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742.586621457,711.586621457,673,660.586621457,632.586621457,878,783,800,648.586621457,629,651,0.439202291951,-0.0155998694837,0.0798304428321,0.999999949328,-0.000166295681386,-0.000262435641358,-6.94028431494e-05,1793192899112114944
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,742,711,672.992182752,660,632,878,783.007817248,800,648.007817248,628.992182752,650.992182752,0.439625315209,-0.0156030556745,0.0798012068307,0.999999935844,-0.000171590808857,-0.000306074155511,-7.20199380112e-05,1793192899128781568
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,742,711,672.41528369,660,632,878,783.58471631,800,648.58471631,628.41528369,650.41528369,0.440006567629,-0.0156074164045,0.0797642490716,0.999999912604,-0.00018926148245,-0.000365082274949,-7.54068775199e-05,1793192899145448448
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.160988822,742.160988822,711,672,660,632,877.839011178,783.839011178,800,648.839011178,628.160988822,650,0.440375164111,-0.0156110472568,0.079728464646,0.999999887969,-0.000201305603095,-0.000421172379088,-7.84313323234e-05,1793192899162115072
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.735651481,742.735651481,711,672,660,632,877.264348519,783.264348519,800,648.264348519,628.735651481,650,0.440711240214,-0.0156128026298,0.0796956951881,0.99999986664,-0.00019889184453,-0.000469764421292,-8.05243545107e-05,1793192899178781696
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.68161253,743,711,672.31838747,660,632,877.31838747,783.31838747,799.68161253,648.31838747,628.68161253,650.31838747,0.441045647073,-0.0156186392391,0.0796838860465,0.999999857153,-0.000204643508515,-0.000487063527701,-8.11392353062e-05,1793192899195448064
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.091999118,743,711,672.908000882,660,632,877.908000882,783.908000882,799.091999118,648.908000882,628.091999118,650.908000882,0.441378631927,-0.0156279525463,0.0796899324511,0.999999859038,-0.000217351082391,-0.000477704999856,-8.04949261637e-05,1793192899212114688
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.488848808,743,711.488848808,673,660,631.511151192,877.511151192,783.511151192,799.488848808,649,628.488848808,650.511151192,0.441696062901,-0.0156369524921,0.0797075222798,0.999999868192,-0.000231008354712,-0.000451604712283,-7.94039411887e-05,1793192899228781312
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763.356472992,743,711.356472992,672.356472992,659.356472992,631,877.643527008,783,800,648.356472992,629,650,0.442268644732,-0.0156509631579,0.0797321537397,0.999999880064,-0.000247489348235,-0.000415561381517,-7.70054318294e-05,1793192899262114560
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.218709659,743,711,672.218709659,659,631.218709659,877.781290341,783,800,648,628.781290341,650,0.442509292735,-0.0156565735449,0.0797327592519,0.999999879442,-0.000251324202328,-0.000414943756969,-7.59906826069e-05,1793192899278781696
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.792811075,743,711,672.792811075,659,631.792811075,877.207188925,783,800,648,628.207188925,650,0.44271204118,-0.0156624022857,0.0797238422438,0.9999998729,-0.000255176004252,-0.0004282689586,-7.53087070882e-05,1793192899295448832
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,672.621870475,659.378129525,631.621870475,877.378129525,783,799.621870475,648,628,650.378129525,0.442889620171,-0.0156649251315,0.0797166411851,0.999999866876,-0.000257975645672,-0.000440473831342,-7.53559407439e-05,1793192899312115200
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,672.030217909,659.969782091,631.030217909,877.969782091,783,799.030217909,648,628,650.969782091,0.443052986438,-0.0156655811974,0.0797104090919,0.999999861106,-0.000260181151057,-0.000452046075454,-7.58149458275e-05,1793192899328781568
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+203,3.383333333,POSE1_TO_POSE2_PRESS,763.702036993,743,711,672.297963007,659.297963007,631,878.702036993,783,800,649,628,650.702036993,0.443436442296,-0.0156786115685,0.0796982247513,0.999999846988,-0.000275877306075,-0.000473595944984,-7.49789590091e-05,1793192899378781440
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.716860016,743,711,672.283139984,659,631,878.716860016,782.716860016,800,648.716860016,628,650.716860016,0.443533092914,-0.015680763491,0.0796932169763,0.999999842586,-0.000278130978057,-0.000481457850555,-7.52927972433e-05,1793192899395448320
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.129632442,743,711,672.870367558,659,631,878.129632442,782.129632442,800,648.129632442,628,650.129632442,0.443616030923,-0.0156814974216,0.079689625243,0.999999839653,-0.00027910205211,-0.00048688767323,-7.57344892247e-05,1793192899412115456
+206,3.433333333,POSE1_TO_POSE2_PRESS,763,742.548351526,711,672.548351526,659,631,877.548351526,782,800,648,628,650,0.443685667991,-0.015682738601,0.0796881817144,0.999999838482,-0.000280308570653,-0.000488655236652,-7.53592863762e-05,1793192899428781824
+207,3.450000000,POSE1_TO_POSE2_PRESS,763,742.031133866,711,672,659,631,877.031133866,782,800,648.031133866,628,650,0.443750561054,-0.015684113416,0.0796873802491,0.999999837788,-0.000281700110079,-0.000489366838526,-7.47648792067e-05,1793192899445448192
+208,3.466666667,POSE1_TO_POSE2_PRESS,763,742.608673223,711,672,659,631,877.608673223,782,800,648.608673223,628,650,0.443798325605,-0.0156853116198,0.0796871666605,0.999999836643,-0.000285168218143,-0.000489754155192,-7.43848366832e-05,1793192899462114560
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+211,3.516666667,POSE1_TO_POSE2_PRESS,763.661887254,743,711,673,659,631,878,782,799.661887254,648,628.338112746,650.661887254,0.443901385308,-0.0156845966385,0.0796873454539,0.999999835983,-0.000287287867655,-0.000490002874165,-7.34657406404e-05,1793192899512114688
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+232,3.866666667,POSE1_TO_POSE2_PRESS,763,743,711,672,659,631,878,782,800,648,628,650,0.44395867491,-0.0156811954666,0.0796795418816,0.9999998309,-0.000283953650369,-0.000502568009101,-7.06794968167e-05,1793192899862114816
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,743,711,672,659,631,878,782,799.884196508,648,628,650,0.443959321661,-0.0156823190634,0.0796805262395,0.999999831055,-0.000284948331665,-0.000501739354373,-7.03700858174e-05,1793192899878781696
+234,3.900000000,POSE1_TO_POSE2_PRESS,763,743,711,672,659,631,878,782,799.310444986,648,628,650,0.443958934606,-0.0156806224622,0.0796790791385,0.999999831359,-0.000281273986185,-0.000503204998917,-7.03714428575e-05,1793192899895448576
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,743,710.729675512,672.270324488,658.729675512,631.270324488,878.270324488,782,799.270324488,648.270324488,628,650.270324488,0.4439594453,-0.0156802224385,0.0796787800167,0.999999831436,-0.000280795070647,-0.000503314679665,-7.04003834262e-05,1793192899912115200
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,743,710.140631622,672.859368378,658.140631622,631.859368378,878.859368378,782,799.859368378,648.859368378,628,650.859368378,0.443961014464,-0.0156813511124,0.0796798343913,0.999999831251,-0.000284083647281,-0.000501825645031,-7.04618456729e-05,1793192899928781056
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.44046382,743,710.44046382,672.55953618,658.44046382,631.55953618,878.119072359,782,799.55953618,648.55953618,628,650.55953618,0.443960372694,-0.0156809613617,0.0796794709976,0.999999830998,-0.000283957612767,-0.000502373648731,-7.06637793363e-05,1793192899945447680
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,672,659,631,877.019028304,782,799.019028304,648.019028304,628,650,0.443959112146,-0.0156801252117,0.0796787049629,0.999999830768,-0.000282742508908,-0.000503485032467,-7.08781338648e-05,1793192899962114304
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,672,659,631,877.59647407,782,799.59647407,648.59647407,628,650,0.443960041343,-0.015680163911,0.0796791715259,0.999999831866,-0.000280994036405,-0.000502381375314,-7.01641373421e-05,1793192899978781184
+240,4.000000000,HOLD_POSE2,764,743,711,672,659,631,878,782,800,648,628,651,0.443960602181,-0.0156801418459,0.079678497158,0.999999830212,-0.000282832612428,-0.000504601602097,-7.04264020073e-05,1793192900019406336
+241,4.016666667,HOLD_POSE2,763.410875386,743,711,672,659,631,877.410875386,782,799.410875386,648.589124614,628,650.410875386,0.443961186362,-0.0156806342469,0.0796793888954,0.999999831179,-0.000281725783387,-0.000503318670191,-7.03123594047e-05,1793192900036067328
+242,4.033333333,HOLD_POSE2,763,743,711,672.175370154,659,631,877.350740308,782,799,649,628,650.175370154,0.443961550671,-0.0156807245733,0.079680000705,0.999999831887,-0.000280982865397,-0.000502342661453,-7.01818707249e-05,1793192900052729856
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+244,4.066666667,HOLD_POSE2,763,743,711,672.668380425,659,631,878.33676085,782,799.331619575,648.668380425,628.331619575,650.668380425,0.443962146052,-0.0156796726522,0.079680182902,0.999999832208,-0.000280846250359,-0.000501804049768,-7.00124955756e-05,1793192900086062592
+245,4.083333333,HOLD_POSE2,763,743,711,672.093914468,659,631,877.187828936,782,799.906085532,648.093914468,628.906085532,650.093914468,0.44396352866,-0.0156799120015,0.0796805809417,0.999999832468,-0.000280373188074,-0.000501532836931,-7.01341212387e-05,1793192900102729216
+246,4.100000000,HOLD_POSE2,763.491701042,743,711,672,659,631,877,782,800,648,628.508298958,650,0.443963138744,-0.0156800747448,0.0796803112631,0.999999832251,-0.000281298724734,-0.000501459670085,-7.0048808804e-05,1793192900119396096
+247,4.116666667,HOLD_POSE2,763.921628919,743,711,672,659,631,877.078371081,781.921628919,800.078371081,648.078371081,628,650,0.44396243901,-0.0156801997946,0.0796799235582,0.999999831981,-0.00028227917436,-0.000501461559046,-6.99465631155e-05,1793192900136062464
+248,4.133333333,HOLD_POSE2,763.342148574,743,711,672,659,631,877.657851426,781.342148574,800.657851426,648.657851426,628,650,0.443961973216,-0.0156801795559,0.0796796155648,0.999999831978,-0.000281863058881,-0.000501695882013,-6.99946339619e-05,1793192900152729088
+249,4.150000000,HOLD_POSE2,763,743,711,672,658.763276674,631,878,781.236723326,800.526553347,648.763276674,628,650.236723326,0.44396195384,-0.0156804847464,0.0796795887928,0.999999832029,-0.000281970825925,-0.000501554718351,-6.98334087408e-05,1793192900169395968
+250,4.166666667,HOLD_POSE2,763,743,711,672,658.185281985,631,878,781.814718015,799.37056397,648.185281985,628,650.814718015,0.443962578045,-0.0156812590907,0.0796799674428,0.99999983216,-0.000282833846425,-0.000500872235678,-6.93704525666e-05,1793192900186062848
+251,4.183333333,HOLD_POSE2,763,743,711,672.389276798,658.389276798,631,878,782,799,648.389276798,628,651,0.443962465071,-0.0156808365772,0.0796796758414,0.99999983213,-0.00028203883141,-0.000501367643789,-6.94592801408e-05,1793192900202729216
+252,4.200000000,HOLD_POSE2,763,743,711,672.962214571,658.962214571,631,878,782,799,648.962214571,628,651,0.443962004296,-0.0156798493857,0.0796790680152,0.999999832022,-0.000280461554542,-0.00050241878126,-6.98084395032e-05,1793192900219395584
+253,4.216666667,HOLD_POSE2,763,743,711,672.448283064,659,631,878,782,799.551716936,649,628,650.448283064,0.443962608684,-0.0156792371318,0.0796791984233,0.999999832144,-0.000281142863223,-0.000501790269569,-6.98354023998e-05,1793192900236062208
+254,4.233333333,HOLD_POSE2,763,743,711,672,659,631,878,782,800,648.860453005,628,650,0.443962985827,-0.0156790585248,0.0796793546285,0.9999998321,-0.000282080591977,-0.00050135143581,-6.9833658174e-05,1793192900252728832
+255,4.250000000,HOLD_POSE2,763,743,711,672,659,631,878,782,800,648.281569896,628,650,0.443962410761,-0.0156801618234,0.0796794279473,0.999999831484,-0.000283323543897,-0.000501883137459,-6.98131568674e-05,1793192900269395712
+256,4.266666667,HOLD_POSE2,763,743,711,672,658.704213846,631,878,782,800,648,628,650,0.443962388371,-0.0156805485169,0.0796795958312,0.999999831607,-0.000283207160401,-0.000501710144469,-6.97634073807e-05,1793192900286062336
+257,4.283333333,HOLD_POSE2,763,743,711,672,658.128304028,631,878,782,800,648,628,650,0.44396288939,-0.0156802565511,0.0796798532729,0.99999983243,-0.000281803421043,-0.000500869771851,-6.96859584669e-05,1793192900302728960
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,658,631,878,782,799,648,628,650,0.443965283801,-0.0156794304581,0.0796811355217,0.999999833566,-0.000281660475387,-0.0004986387668,-6.99555841869e-05,1793192900334851840
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763,742.579734657,711,672,658.579734657,631,878,782,799.579734657,648.579734657,628,650.579734657,0.443965019553,-0.0156790007006,0.0796816341871,0.999999834255,-0.000278034596539,-0.000499392365448,-6.92393978831e-05,1793192900351518208
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,659,631,878,782,799.841303729,648.841303729,628,651,0.443964291373,-0.0156791577096,0.079681622862,0.999999834075,-0.000276917229806,-0.000500429839434,-6.88231913495e-05,1793192900368184576
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,743,711,672,659,631,878,782,799.264379265,648.264379265,628,651,0.443962340545,-0.0156808610831,0.0796802675079,0.999999831618,-0.00028241079577,-0.00050221543873,-6.91975514258e-05,1793192900384850688
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,659,631,878,782,799,648.312361051,627.687638949,651,0.443962083837,-0.0156803198447,0.0796797378031,0.999999831337,-0.000282960329269,-0.000502413056822,-6.95701212359e-05,1793192900401517312
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,659,631,878,782,799,648.888945563,627.111054437,651,0.443963260169,-0.0156778799087,0.0796799065078,0.999999832908,-0.000279327748935,-0.000501267415501,-6.9941176654e-05,1793192900418183936
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742.525435016,711,672,659,631.474564984,877.525435016,781.525435016,799,649,627.474564984,650.525435016,0.443960814084,-0.0156779174741,0.0796781842104,0.999999831478,-0.000279736871693,-0.000503878268527,-6.99898062574e-05,1793192900434850304
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742.061453013,711,672,659,631.938546987,877.061453013,781.061453013,799.061453013,648.938546987,628,650,0.443956352798,-0.0156784149729,0.0796754998055,0.99999982895,-0.000280920868194,-0.000508217742172,-6.99905981207e-05,1793192900451516928
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742.640867361,711,672,659,631.359132639,877.640867361,781.640867361,799.640867361,648.359132639,628,650,0.443942189751,-0.0156778076,0.0796685084004,0.999999823212,-0.000280509386461,-0.000519573927629,-7.02364802e-05,1793192900468183808
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.218933172,659,631,878,782,799.781066828,648,628,650.218933172,0.443918594927,-0.0156762403964,0.0796573011269,0.999999813892,-0.000279545679327,-0.000537615574451,-7.09905609672e-05,1793192900484850944
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.794800362,659,631,878,782,799.205199638,648,628,650.794800362,0.443879623164,-0.0156731083494,0.079639220584,0.99999979832,-0.000277681660718,-0.000566556749507,-7.25731748701e-05,1793192900501517568
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,743,711,672.628766909,658.628766909,631,878,782,799.371233091,648,628,650.628766909,0.443825607909,-0.0156704785382,0.0796210898207,0.999999780706,-0.000275835319893,-0.000597651636431,-7.29125700586e-05,1793192900518184192
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.052021046,658.052021046,631,878,782,799.947978954,648,628,650.052021046,0.443763264648,-0.0156681267621,0.0796029312541,0.999999761418,-0.000273998765079,-0.000629938809784,-7.25637257277e-05,1793192900534850560
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,658,631,877.46423079,782,799.46423079,648,628,650,0.443696097807,-0.0156647954499,0.0795963906538,0.999999759202,-0.000272243322084,-0.000634342035696,-7.13424554508e-05,1793192900551517184
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,743,711,672.122604466,658.122604466,631,877,782,799,648,628,650,0.44362359865,-0.0156608611126,0.0795926136287,0.999999758998,-0.000269941177648,-0.00063582064248,-6.97635255161e-05,1793192900568183552
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.701805631,658.701805631,631,877,782,799,648,628,650,0.443533022079,-0.0156550426768,0.0795948390801,0.999999759784,-0.000265573090389,-0.000636702590439,-6.71747278408e-05,1793192900584850176
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.721449451,659,631,877,782,799.278550549,648.278550549,628,650.278550549,0.44342986585,-0.015650102241,0.0795978945108,0.999999762878,-0.000261843015244,-0.00063374899118,-6.35951993609e-05,1793192900601517312
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,743,711,672.147311048,659,631,877,782,799.852688952,648.852688952,628,650.852688952,0.443313360543,-0.0156460935076,0.0796018306856,0.999999768383,-0.00025878997593,-0.000626725246675,-5.89643430303e-05,1793192900618184192
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742.562782657,711,672,659,631,877,782,800,649,628,650.562782657,0.443173624005,-0.0156391987997,0.0796042676873,0.999999771035,-0.000252307552891,-0.000625578276341,-5.40600585363e-05,1793192900634850816
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.975043861,659,631,877.024956139,782,800,649,628,650,0.443024643898,-0.0156313275749,0.0796063570484,0.999999773018,-0.000244483774995,-0.000625931852488,-4.89976936475e-05,1793192900651517184
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.395647057,659,631,877.604352943,782,800,649,628,650,0.442848431341,-0.015623890022,0.079612218112,0.999999783072,-0.000233154865946,-0.00061456158825,-4.25198613402e-05,1793192900668183552
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742.183044288,711,671.183044288,659,631,877.816955712,782,800,649,628,650,0.442656547807,-0.0156147325373,0.0796180114124,0.999999791975,-0.000220077017923,-0.000605264000685,-3.56463964624e-05,1793192900684850176
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742.760216573,711,671.760216573,659,631,877.239783427,782,800,649,628,650,0.442430921798,-0.0156018717244,0.0796236588054,0.999999798701,-0.000203233384342,-0.00060042926863,-2.79210627898e-05,1793192900701517056
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,743,711.333670546,672.333670546,659,631,877,782,799.666329454,648.666329454,628,650,0.442178287034,-0.0155892491178,0.0796276873974,0.999999810448,-0.000155077059763,-0.000595529175939,-2.000923381e-05,1793192900718183680
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.242216488,711,672.757783512,659,632,877.757783512,782.757783512,799.242216488,648.757783512,627.757783512,650,0.440527253854,-0.0155099197546,0.0796226152383,0.999999823351,-4.45198960871e-05,-0.0005926451906,-9.36059382854e-06,1793192900801518080
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742.596119455,711,672,659.403880545,632,877.403880545,782.403880545,800,648,627.403880545,650,0.439660392305,-0.0154724675805,0.0796124441216,0.999999819824,1.99944199712e-05,-0.000599931764038,-5.82525401962e-06,1793192900834850560
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.010155689,711,672,659.989844311,632,877.989844311,782.989844311,800,648,627.989844311,650,0.439206498823,-0.0154545359951,0.079610788274,0.999999821721,3.16419600055e-05,-0.000596235135348,-7.81080825273e-06,1793192900851517440
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742.569535222,711.569535222,671.430464778,659.430464778,632,878,783,800,648.569535222,628,650,0.438741571129,-0.0154544907894,0.0796479851476,0.999999853793,4.17158240067e-05,-0.000539132984952,-3.21594423181e-06,1793192900868183808
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.851328784,711.851328784,671.148671216,659.148671216,632,877.851328784,783,799.851328784,648.851328784,628,650,0.438266465282,-0.0154546551482,0.0796887476824,0.999999884393,5.27301124609e-05,-0.000477942880124,1.83038678934e-06,1793192900884850688
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.273475436,711.273475436,671.726524564,659.726524564,632,877.273475436,783,799.273475436,648.273475436,628,650,0.437762539165,-0.0154545137888,0.0797378253259,0.999999914658,6.65393282702e-05,-0.000407670881081,7.8449635227e-06,1793192900901518336
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.300591981,711,672.300591981,660.300591981,632,877.300591981,783,799.300591981,648.300591981,628,650,0.437222834651,-0.0154505891991,0.0797748720254,0.999999934344,7.46065443831e-05,-0.000354388421153,1.24105054893e-05,1793192900918185472
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.86832312,632.86832312,877,783.13167688,799.86832312,648,628,650,0.41395279872,-0.0153957472754,0.0797765415908,0.999999915871,0.000190966444967,-0.000362165134912,2.50170746648e-05,1793192901401517056
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.644154035,742,712,671,659,633,877,783,799,648,629,650.355845965,0.401895331664,-0.0153728817847,0.079835249005,0.999999928835,0.000245642877421,-0.000284616343243,3.13681792052e-05,1793192901818183168
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6610f9dc4745e6f64805e08acb4e0652ad2a1137
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,392 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.575710189368,-0.00994544015166,1.07002917052,0.546280918062,-0.00127271622334,1.0696984532
+384,6.400000000,pose2_to_pose3_retreat,0.575710084742,-0.00994543319788,1.07002916943,0.546280813424,-0.00127270929566,1.06969845262
+385,6.416666667,pose2_to_pose3_retreat,0.575709888639,-0.00994542016414,1.0700291674,0.546280617295,-0.00127269631081,1.06969845154
+386,6.433333333,pose2_to_pose3_retreat,0.575709663138,-0.00994540517649,1.07002916505,0.546280391765,-0.0012726813794,1.0696984503
+387,6.450000000,pose2_to_pose3_retreat,0.575709527612,-0.00994540407358,1.07002916462,0.546280256228,-0.00127268030169,1.06969845023
+388,6.466666667,pose2_to_pose3_retreat,0.575709421855,-0.00994545665554,1.07002917085,0.546280150501,-0.00127273284523,1.06969845473
+389,6.483333333,pose2_to_pose3_retreat,0.575709360585,-0.00994548711864,1.07002917447,0.54628008925,-0.00127276328608,1.06969845734
+390,6.500000000,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096047,1.06969858376
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af7cf7199342a2ff766910226e1d8f1fa938a3e0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40e97ae2d30d511cc0f7de8c73e672d1652cb8f21c4b3c84c40ea8b0b396964d
+size 25073389
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e2789b0238c1fcc9c444b30fabfaf7c8cba57ac4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/franka_data.csv
@@ -0,0 +1,395 @@
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+51,0.850000000,BASELINE,763.595426379,742,712,671,659.595426379,632.595426379,877,784,799,648,628,651,0.400971884087,-0.015382627921,0.0798422695675,0.99999993269,0.000246523506178,-0.000270356073438,2.74626317552e-05,1793192903539873280
+52,0.866666667,BASELINE,763.826242911,742,712,671,659.826242911,633,877.173757089,783.826242911,799.173757089,648,628,650.826242911,0.400972340448,-0.0153831723095,0.0798426570228,0.99999993265,0.000246959102673,-0.000270097604256,2.75413551241e-05,1793192903556540416
+53,0.883333333,BASELINE,763.250309769,742,712,671,659.250309769,633,877.749690231,783.250309769,799.749690231,648,628,650.250309769,0.400970291054,-0.0153810295155,0.0798412731672,0.999999931875,0.000247698357769,-0.000272328212456,2.70676618945e-05,1793192903573206784
+54,0.900000000,BASELINE,763.325733357,742,712,671,659.325733357,633,877.674266643,783,799.674266643,648,628.325733357,650,0.400970137828,-0.0153807455347,0.0798410749491,0.999999931814,0.000247817068837,-0.000272447779993,2.70404302027e-05,1793192903589873152
+55,0.916666667,BASELINE,763.901861002,742,712,671,659.901861002,633,877.098138998,783,799.098138998,648,628.901861002,650,0.400971442205,-0.0153818904412,0.0798417881418,0.999999932302,0.000247458761854,-0.000270944570667,2.73563977051e-05,1793192903606539776
+56,0.933333333,BASELINE,763.510250833,742,711.510250833,671,660,632.510250833,877,783.489749167,799,648,628.510250833,650,0.400970761611,-0.0153816560888,0.0798416855225,0.99999993238,0.000246624787612,-0.000271428325971,2.72522647079e-05,1793192903623206400
+57,0.950000000,BASELINE,763.0785635,742,711.0785635,671,659.9214365,632.0785635,877,783.9214365,799,648,628.0785635,650,0.400969902875,-0.0153811896686,0.0798414441839,0.999999932326,0.000246044554087,-0.000272166537391,2.71084812253e-05,1793192903639873024
+58,0.966666667,BASELINE,763.657890112,742,711.657890112,671,659.342109888,632.657890112,877,783.342109888,799,648,628.657890112,650,0.400970506365,-0.0153810490678,0.0798413862912,0.999999931978,0.00024770416148,-0.000271926336283,2.72617457144e-05,1793192903656539648
+59,0.983333333,BASELINE,763.764936506,742,712,671,659,632.764936506,877,783,799,648,628.764936506,650.235063494,0.400971122988,-0.0153803238016,0.079841610864,0.999999931658,0.000249484311633,-0.000271475059079,2.7243162905e-05,1793192903673207552
+60,1.000000000,BASELINE,763.190868391,742,712,671,659,632.190868391,877,783,799,648,628.190868391,650.809131609,0.400971758555,-0.0153787553407,0.0798422428037,0.999999931381,0.000251438306773,-0.000270719371444,2.69767448321e-05,1793192903689877248
+61,1.016666667,BASELINE,763,742,711.607564098,671,659.392435902,632.392435902,877,783,799,648,628.392435902,651,0.400970744887,-0.0153799866544,0.0798414759752,0.999999931607,0.000249235400307,-0.000271922436474,2.6941342188e-05,1793192903706543104
+62,1.033333333,BASELINE,763,742,711.019659382,671,659.980340618,632.980340618,877,783,799,648,628.980340618,651,0.40096890975,-0.015382612511,0.0798400124327,0.999999932066,0.000244961978202,-0.000274101138732,2.70210062787e-05,1793192903723206912
+63,1.050000000,BASELINE,763,742,711.560383431,671,659.439616569,633,876.439616569,783,799,648.560383431,628.439616569,650.439616569,0.400969961461,-0.015382810425,0.0798404690012,0.999999932218,0.00024633838044,-0.000272304712389,2.7060286644e-05,1793192903739873536
+64,1.066666667,BASELINE,763,742,712,671,659,633,876.139514794,783,799.139514794,649,628,650,0.400970623584,-0.0153825333825,0.0798408380757,0.999999932233,0.000247490250532,-0.000271203971533,2.70348925784e-05,1793192903756539904
+65,1.083333333,BASELINE,763,742,712,671,659,633,876.716640377,783,799.716640377,649,628,650,0.400969750428,-0.0153810300376,0.0798407243443,0.999999931869,0.000247324731461,-0.000272716734152,2.68110190253e-05,1793192903773206272
+66,1.100000000,BASELINE,763,742,712,671,659,632.70812996,877,783,799.70812996,648.70812996,628,650,0.400969303268,-0.0153805076936,0.0798403563284,0.999999931535,0.000247489591981,-0.000273789092743,2.68204493592e-05,1793192903789872896
+67,1.116666667,BASELINE,763,742,712,671,659,632.134729087,877,783,799.134729087,648.134729087,628,650,0.400969267015,-0.0153809315998,0.0798397430359,0.999999931231,0.000247973128729,-0.000274436648102,2.70549190322e-05,1793192903806539520
+68,1.133333333,BASELINE,763,742,712,671,659,632.452499602,877,783,799,648,628.452499602,650,0.400969954083,-0.0153815111178,0.079839954198,0.999999931456,0.000247541127557,-0.000274003397261,2.7099234597e-05,1793192903823206400
+69,1.150000000,BASELINE,763,742,712,671,659,632.957051447,876.957051447,783,799,648.042948553,629,650,0.4009707047,-0.0153820561651,0.0798403618977,0.999999931791,0.000246977737427,-0.000273284932887,2.71032399072e-05,1793192903839873024
+70,1.166666667,BASELINE,763,742,712,671,659,632.379385305,876.379385305,783,799,648.620614695,629,650,0.400969480658,-0.0153815770124,0.0798400639598,0.9999999315,0.000248279384177,-0.000273148316835,2.73324903049e-05,1793192903856539904
+71,1.183333333,BASELINE,763.197428006,742,712,671,659.197428006,632.197428006,876,783.197428006,799.197428006,648.802571994,628.802571994,650.197428006,0.400969170738,-0.015381746214,0.0798403112127,0.999999931632,0.000248446423352,-0.000272495500259,2.75043183328e-05,1793192903873206528
+72,1.200000000,BASELINE,763.772609633,742,712,671,659.772609633,632.772609633,876,783.772609633,799.772609633,648.227390367,628.227390367,650.772609633,0.400970609875,-0.0153831559596,0.0798416016196,0.999999932572,0.000246442534086,-0.000270854998985,2.75662759299e-05,1793192903889872896
+73,1.216666667,BASELINE,763.654431723,742,712,671,659.654431723,632.654431723,876.345568277,783.654431723,799.654431723,648,628,650.654431723,0.4009716501,-0.015382537295,0.079842520767,0.999999932777,0.000246963057108,-0.000269642149644,2.7370267708e-05,1793192903906539520
+74,1.233333333,BASELINE,763.082926527,742,712,671,659.082926527,632.082926527,876.917073473,783.082926527,799.082926527,648,628,650.082926527,0.400972429512,-0.01538059243,0.0798431971802,0.999999932499,0.000249134072993,-0.000268708904656,2.70055981609e-05,1793192903923205888
+75,1.250000000,BASELINE,763.51082924,742,712,671,659,632,877.51082924,783.51082924,799,648,628,650.51082924,0.400970700958,-0.0153799731484,0.0798425139254,0.999999931491,0.000251032150558,-0.000270658900907,2.72767888652e-05,1793192903939872768
+76,1.266666667,BASELINE,764,742,712,671,659,632.104309515,877.895690485,783.895690485,798.895690485,648,628,650.895690485,0.400969240374,-0.0153799767899,0.0798418307845,0.999999930766,0.000252177315262,-0.000272241409211,2.75649110261e-05,1793192903956539648
+77,1.283333333,BASELINE,764,742,712,671,659,632.679497677,877.320502323,783.320502323,798.320502323,648,628,650.320502323,0.400970911087,-0.0153817767929,0.0798421899407,0.999999931902,0.0002501327735,-0.000269955837941,2.74422676573e-05,1793192903973206528
+78,1.300000000,BASELINE,764,742,712,671,659.254739598,633,876.745260402,783.254739598,798.254739598,648.254739598,628.254739598,650,0.400971057822,-0.0153823763374,0.079841609736,0.999999932213,0.000248681094499,-0.00027016642595,2.72203235913e-05,1793192903989873152
+79,1.316666667,BASELINE,764,742,712,671,659.830049127,633,876.169950873,783.830049127,798.830049127,648.830049127,628.830049127,650,0.400969286748,-0.0153814651983,0.0798398474185,0.999999931487,0.000247975487232,-0.00027351823604,2.68734173461e-05,1793192904006539520
+80,1.333333333,BASELINE,763.593540005,742,711.593540005,671,660,633,876,783.593540005,799,648.593540005,629,650,0.400969646954,-0.0153816243728,0.0798397449743,0.999999931706,0.000247388151223,-0.000273246460572,2.69132114694e-05,1793192904023206144
+81,1.350000000,BASELINE,763.016667339,742,711.016667339,671,660,633,876,783.016667339,799,648.016667339,629,650,0.400970900721,-0.0153822322877,0.0798403384494,0.999999932321,0.000246850401635,-0.000271455458661,2.71151337994e-05,1793192904039872768
+82,1.366666667,BASELINE,763,742,711.575837421,671,660,633,876,783,799,648,628.424162579,650,0.400971229693,-0.0153821997908,0.0798408504929,0.999999932531,0.000246323631744,-0.000271159577551,2.71069650819e-05,1793192904056539392
+83,1.383333333,BASELINE,763.163754082,742,712,671,659.836245918,632.836245918,876.163754082,783,799,648.163754082,628,650,0.400971267666,-0.0153819551452,0.0798412066782,0.999999932574,0.000246351834193,-0.000270975934837,2.70976080555e-05,1793192904073206016
+84,1.400000000,BASELINE,763.738973704,742,712,671,659.261026296,632.261026296,876.738973704,783,799,648.738973704,628,650,0.40097064358,-0.0153812253087,0.079841177326,0.999999932227,0.000247773696928,-0.000270962540999,2.71009712414e-05,1793192904089872640
+85,1.416666667,BASELINE,763.685213016,742.314786984,712,671,659,632.314786984,876.685213016,783.314786984,799,648.685213016,628,650,0.40097077209,-0.0153810439322,0.0798412901679,0.999999932187,0.000248260783429,-0.000270675262678,2.69611856335e-05,1793192904106539264
+86,1.433333333,BASELINE,763.10890657,742.89109343,712,671,659,632.89109343,876.10890657,783.89109343,799,648.10890657,628,650,0.400971525845,-0.0153813182067,0.0798415211423,0.999999932405,0.000247971274275,-0.000270160445972,2.67024745384e-05,1793192904123206144
+87,1.450000000,BASELINE,763,742.520555742,711.520555742,671,659.479444258,633,876.479444258,784,799,648,628,650.479444258,0.400972242296,-0.0153820273313,0.0798422227414,0.99999993266,0.00024812683565,-0.000269048583928,2.69447265762e-05,1793192904139873024
+88,1.466666667,BASELINE,763.069201404,742,711,671,659.930798596,633,877,783.930798596,799,648,628.069201404,650.930798596,0.400972757469,-0.0153827016093,0.0798429396981,0.999999932882,0.000248309870315,-0.000268021048673,2.72602575679e-05,1793192904156539392
+89,1.483333333,BASELINE,763.648635533,742,711,671,659.351364467,633,877,783.351364467,799,648,628.648635533,650.351364467,0.400971852671,-0.0153823718927,0.079842961364,0.99999993281,0.000247930846187,-0.00026864098172,2.72554395077e-05,1793192904173206272
+90,1.500000000,BASELINE,764,742,711.225349679,671,659,633,877.225349679,783,799,648,629,650,0.400971473503,-0.0153822769257,0.0798427186283,0.999999932659,0.000247938644349,-0.000269197971145,2.7204694368e-05,1793192904189872896
+91,1.516666667,BASELINE,764,742,711.797873359,671,659,633,877.797873359,783,799,648,629,650,0.40097190412,-0.0153825436144,0.079842068555,0.999999932389,0.000248542381459,-0.000269657989489,2.70831939115e-05,1793192904206539520
+92,1.533333333,BASELINE,764,742,712,671,659,633,877.237407183,783,799,648,628.618703591,650,0.400971306593,-0.0153826940475,0.0798417992342,0.999999932524,0.000247751145309,-0.000269883469108,2.71147362482e-05,1793192904223206144
+93,1.550000000,BASELINE,764,742,712,671,659,633,876.058665344,783,799,648,628.029332672,650,0.400970148004,-0.0153827810396,0.0798417376911,0.999999932878,0.000246198668424,-0.000269980960334,2.72297944518e-05,1793192904239872768
+94,1.566666667,BASELINE,764,742,711.449503864,670.449503864,659,633,876.550496136,783.550496136,799,648,628,650,0.400971355512,-0.0153819273411,0.0798420147535,0.99999993276,0.000247243109923,-0.000269471690983,2.7136516721e-05,1793192904256539392
+95,1.583333333,BASELINE,764,742,711.129228241,670.258456482,659,633,877,783.870771759,799,648,628.129228241,650,0.400972411038,-0.0153812851944,0.0798423481467,0.999999932789,0.000247649940459,-0.000269002890004,2.69982390509e-05,1793192904273206016
+96,1.600000000,BASELINE,764,742,711.705893724,671.411787448,659,633,877,783.294106276,799,648,628.705893724,650,0.400972511265,-0.015381546111,0.0798428151739,0.999999933415,0.000245378178571,-0.000268784239524,2.67419354205e-05,1793192904289872640
+97,1.616666667,BASELINE,764,742,712,671.718601019,659.281398981,633,877.281398981,783,799,648,629,650,0.400971989919,-0.0153817754405,0.0798424806654,0.999999933219,0.000245317713311,-0.000269556829984,2.68434766656e-05,1793192904306539264
+98,1.633333333,BASELINE,764,742,712,671.144303438,659.855696562,633,877.855696562,783,799,648,629,650,0.400970821599,-0.0153819718921,0.0798413118658,0.999999932166,0.000247558911423,-0.000271361169341,2.73174864514e-05,1793192904323206144
+99,1.650000000,BASELINE,764,742,712,671,659.557532366,633,877.557532366,783,799,648.442467634,629,650.442467634,0.400971633219,-0.0153822934184,0.0798415714925,0.999999932471,0.000247221253424,-0.000270565768665,2.7084978441e-05,1793192904339872768
+100,1.666666667,BASELINE,763.967341513,742,712,671,659,632.967341513,877,783.032658487,799,648.967341513,629,651,0.400972976655,-0.0153826581611,0.0798422647617,0.999999933182,0.000246036204427,-0.000269058347076,2.66602539269e-05,1793192904356539648
+101,1.683333333,BASELINE,763.389931672,742,712,671,659,632.389931672,877,783.610068328,799,648.389931672,629,651,0.400972107609,-0.0153830436216,0.0798421952663,0.999999933075,0.000245152359097,-0.000270227038164,2.69842485073e-05,1793192904373207296
+102,1.700000000,BASELINE,763.18716339,742.18716339,712,671,659,632.18716339,877,783.81283661,799,648,628.81283661,651,0.400971339144,-0.0153832027535,0.0798419038569,0.999999932851,0.000245090345049,-0.000271091259009,2.7174876471e-05,1793192904389874432
+103,1.716666667,BASELINE,763.763603676,742.763603676,712,671,659,632.763603676,877,783.236396324,799,648,628.236396324,651,0.400970779877,-0.0153828911498,0.0798411508937,0.999999932386,0.000246737639386,-0.00027132221895,2.70881181882e-05,1793192904406540288
+104,1.733333333,BASELINE,764,742.663321392,711.663321392,670.663321392,659,633,877,783.336678608,799,648,628.336678608,650.663321392,0.400970520707,-0.0153822716764,0.0798408531675,0.99999993212,0.000247705881469,-0.000271424523127,2.70211917055e-05,1793192904423206656
+105,1.750000000,BASELINE,764,742.092585976,711.092585976,670.092585976,659,633,877,783.907414024,799,648,628.907414024,650.092585976,0.400970470162,-0.0153814381739,0.0798408719192,0.999999931995,0.000248202050948,-0.000271437386667,2.69680521544e-05,1793192904439873280
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,783,799,648,628,650,0.400972779939,-0.0153822913751,0.0798431570295,0.999999933493,0.000246418399994,-0.000267486858866,2.72420763149e-05,1793192904470492416
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.424991334,632.424991334,877,783.575008666,799,648,628.575008666,650,0.400972436884,-0.0153832610475,0.0798427424794,0.999999933403,0.000245577411225,-0.000268596531423,2.72407011253e-05,1793192904487159296
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.849990275,742,712,671,659.150009725,632.150009725,877,784,799,648.150009725,629,650.150009725,0.400972221142,-0.0153842635444,0.0798425995679,0.999999933465,0.00024496443336,-0.000268917352891,2.73202187099e-05,1793192904503825920
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.275010631,742,712,671,659.724989369,632.724989369,877,784,799,648.724989369,629,650.724989369,0.40097236607,-0.015385359032,0.079843226195,0.999999933961,0.00024499739859,-0.000267003399613,2.76289014081e-05,1793192904520492032
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.306729769,742,712,671,660,633,877,783.693270231,799,649,629,651,0.40097277129,-0.0153848776228,0.0798437006208,0.999999934076,0.000245379684363,-0.000266214973842,2.76668929403e-05,1793192904537158144
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.894668373,742,712,671,660,633,877,783.105331627,799,649,629,651,0.400973415145,-0.0153829505199,0.0798440355088,0.999999933845,0.000246082226049,-0.000266458428073,2.74567156912e-05,1793192904553825024
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.52244965,633,877,783,799.47755035,649,629,650.52244965,0.400973758367,-0.0153834591117,0.0798440871848,0.999999933758,0.000246350511258,-0.000266527693996,2.7539535901e-05,1793192904570491904
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877,783,799.94124612,648.94124612,628.94124612,650,0.400974110383,-0.0153843362171,0.0798441032693,0.999999933716,0.00024643668561,-0.000266593302143,2.76564096684e-05,1793192904587158784
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877,783,799.36510435,648.36510435,628.36510435,650,0.400975117646,-0.0153837771476,0.0798443502565,0.99999993379,0.000245753812626,-0.000266961483226,2.75100296563e-05,1793192904603825408
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.790261351,742,712,671,659,632.790261351,876.790261351,783,799,648,628,650,0.400981216054,-0.0153836043954,0.0798470215158,0.999999934841,0.000245796067648,-0.000262937586145,2.76746547629e-05,1793192904620492288
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.217665347,742,712,671,659,632.217665347,876.217665347,783,799,648,628,650,0.400996122372,-0.0153840999895,0.0798538868755,0.99999993749,0.000247092826991,-0.00025131519496,2.83773328157e-05,1793192904637158656
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.368410032,742,712,671,659.368410032,632.368410032,876.368410032,783,799,648,628,650,0.401030276119,-0.0153855034322,0.0798675032523,0.999999943493,0.000246710079474,-0.000226503818906,2.90409088264e-05,1793192904653824768
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.96275185,742,712,671,659.96275185,632.96275185,876.96275185,783,799,648,628,650,0.401076233578,-0.0153874636237,0.0798852597705,0.999999950733,0.000245297354534,-0.000193604141382,2.96805050938e-05,1793192904670491392
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.459122927,742,712,671,660,633,877,783,799,648,628.540877073,650,0.401140764667,-0.0153900097041,0.0799027984841,0.999999956993,0.000245324860437,-0.000157885104415,3.00219745362e-05,1793192904687158272
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.117208082,742,712,671,659.882791918,633,877,783.117208082,799,648.117208082,629,650,0.401207373193,-0.0153926272995,0.0799181715865,0.999999961285,0.000245090874182,-0.000128321816587,2.98908367464e-05,1793192904703824896
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.690775027,742,712,671,659.309224973,633,877,783.690775027,799,648.690775027,629,650,0.40127723511,-0.01539537082,0.0799251694182,0.99999996235,0.000243463812426,-0.000123460377046,2.79971774029e-05,1793192904720492032
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.270499819,633,877,784,799,648.729500181,629,650.270499819,0.401357929307,-0.0153994184723,0.0799296918401,0.999999963761,0.00024100259869,-0.00011722403143,2.55593346794e-05,1793192904737158912
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.857427973,633,877,784,799,648.142572027,629,650.857427973,0.401451295005,-0.0154049916864,0.0799313185491,0.999999965547,0.000237565601315,-0.000109379332941,2.2484911087e-05,1793192904753825536
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.558973586,742,712,671,660,633,877,784,799,648,629,651,0.401561347091,-0.0154084238444,0.0799320606242,0.999999966884,0.000233541924029,-0.0001066339986,1.78877685753e-05,1793192904770491904
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783.976770759,799,648.023229241,629,650.976770759,0.401678097122,-0.015411417015,0.0799327502181,0.999999968177,0.000228940664649,-0.000105202562111,1.27936898661e-05,1793192904787158272
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783.402333571,799,648.597666429,629,650.402333571,0.401826741521,-0.0154202943329,0.079938929628,0.999999972218,0.000215100606084,-9.61247385191e-05,7.50098299882e-06,1793192904803824896
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783.172014555,799,649,629,650.172014555,0.401983338572,-0.0154292619299,0.0799439994402,0.99999997593,0.000200847149668,-8.83022684674e-05,1.86833445998e-06,1793192904820491520
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783.746154397,799,649,629,650.746154397,0.402158526834,-0.0154384405745,0.0799464753007,0.999999979282,0.000185627278638,-8.34144897699e-05,-4.55900853689e-06,1793192904837158144
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.330882009,742.330882009,712,671,660,632.669117991,876.669117991,783.669117991,799,648.669117991,628.669117991,650.669117991,0.402348529418,-0.0154466307816,0.0799447393077,0.999999987249,0.000133416986506,-8.68894356333e-05,-1.23701727202e-05,1793192904853825280
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.924000902,742.924000902,712,671,660,632.075999098,876.075999098,783.075999098,799,648.075999098,628.075999098,650.075999098,0.402550272948,-0.0154540376142,0.0799396652569,0.999999993724,5.18903419296e-05,-9.69921656009e-05,-2.12780697476e-05,1793192904870492672
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.495992749,742.495992749,712,670.495992749,659.495992749,632.504007251,876.504007251,783,799,648,628,650.504007251,0.402783814081,-0.0154624644531,0.0799346482741,0.999999993233,4.35881209048e-05,-0.000104395861851,-2.71303966262e-05,1793192904887159040
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.081615351,742,712,670,659.081615351,633,877,783.081615351,799.081615351,648,628.081615351,650.918384649,0.403029772407,-0.0154706471749,0.0799307082799,0.99999999235,4.78551518238e-05,-0.000109724343671,-3.11473445155e-05,1793192904903825408
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.656376861,742,712,670,659.656376861,633,877,783.656376861,799.656376861,648,628.656376861,650.343623139,0.403322522702,-0.0154764490846,0.0799332251174,0.999999992151,6.30451375835e-05,-0.000104910502874,-2.67877423626e-05,1793192904920491776
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.763341425,742,712,670.236658575,660,633,877,783.763341425,799.763341425,648,628.763341425,650,0.403632066495,-0.0154834260592,0.0799377201843,0.99999999286,6.46635847633e-05,-9.72549351369e-05,-2.53154875915e-05,1793192904937158144
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.174853104,742,712,670.825146896,660,633,877,783.174853104,799.174853104,648,628.174853104,650,0.403966576416,-0.0154921499499,0.0799451561966,0.999999994897,4.61058300727e-05,-8.53746990211e-05,-2.81357236246e-05,1793192904953825024
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742.407214521,712,671.407214521,659.592785479,633,877,783.407214521,799,648.407214521,628.407214521,650,0.404339786023,-0.0155014963008,0.0799457895862,0.999999995668,3.40707181451e-05,-8.12129369272e-05,-3.01170453074e-05,1793192904970491392
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742.986567957,712,671.986567957,659.013432043,633,877,783.986567957,799,648.986567957,628.986567957,650,0.404729354866,-0.0155111057798,0.0799435473509,0.999999995964,2.47928773359e-05,-8.03139510755e-05,-3.17437385902e-05,1793192904987158016
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742.43499833,712,671.43499833,659.56500167,632.43499833,877.56500167,783.43499833,799,648.43499833,628.43499833,650,0.405149779889,-0.0155181658197,0.0799420160957,0.999999996125,1.5231950406e-05,-7.96881064077e-05,-3.41803527843e-05,1793192905003825408
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.858209206,632,877.858209206,783,799,648.141790794,628,650.141790794,0.40557845184,-0.0155260996339,0.0799385234943,0.999999995834,4.05224307434e-06,-8.3488469684e-05,-3.66862514999e-05,1793192905020492544
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.286342299,632,877.286342299,783,799,648.713657701,628,650.713657701,0.406029916688,-0.0155368672953,0.0799290306048,0.999999994084,-1.20171247924e-05,-0.000100694626842,-3.93439940532e-05,1793192905037158912
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.295421442,742,712,671,659,632,877,783,799,648.704578558,628.295421442,650.704578558,0.406497630147,-0.0155397731563,0.0799224944939,0.999999992628,-1.96327845414e-05,-0.000112723853797,-4.06348244003e-05,1793192905053825792
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.88711043,742,712,671,659,632,877,783,799,648.11288957,628.88711043,650.11288957,0.40698163881,-0.0155347947014,0.0799189236287,0.999999991854,-1.87705262206e-05,-0.000119561325643,-4.05548279637e-05,1793192905070492672
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.53200228,742,712,671,659.46799772,632.46799772,877,783,799,648,629,650,0.407512381869,-0.0155260619437,0.0799136420046,0.999999990358,-1.01620148344e-05,-0.000132225339019,-4.1189555221e-05,1793192905087159296
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.953759342,877,783,799,648,628.953759342,650,0.40805813775,-0.0155181190661,0.0799086285931,0.99999998863,-1.77384690026e-06,-0.000144802337584,-4.20555822915e-05,1793192905103825920
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.376636123,877,783,799,648,628.376636123,650,0.408649748112,-0.0155294072648,0.0799113253694,0.99999998902,-1.68838543306e-05,-0.000140608387943,-4.36424345755e-05,1793192905120492288
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.198783153,742,712,671,660,632,877,783.198783153,799,648.198783153,628,650.198783153,0.409266159335,-0.015539492174,0.0799235246113,0.999999991256,-3.18284192678e-05,-0.000120384072564,-4.45196775247e-05,1793192905137158912
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.771001356,742,712,671,660,632,877,783.771001356,799,648.771001356,628,650.771001356,0.409929161548,-0.0155473165765,0.0799535752339,0.999999995497,-4.6462182141e-05,-7.00450299329e-05,-4.40638445764e-05,1793192905153826304
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.64466925,742,712,671.35533075,660,632,877,783.64466925,799,648.64466925,628,650.64466925,0.410594501275,-0.0155511855968,0.0799744948219,0.999999996973,-5.30645105316e-05,-3.63576247564e-05,-4.37851452952e-05,1793192905170493440
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.052259202,742,712,671.947740798,660,632,877,783.052259202,799,648.052259202,628,650.052259202,0.411261400583,-0.0155524155564,0.079989322115,0.999999997479,-5.43082060594e-05,-1.3780316968e-05,-4.36246309599e-05,1793192905187159808
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.528094077,742,712,671.471905923,660.528094077,632,877,783.528094077,799,648,628.528094077,650,0.411933609495,-0.0155434957599,0.0799568674006,0.999999995098,-5.5815024624e-05,-6.52427159412e-05,-4.93141799865e-05,1793192905203825920
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.893617398,671,660.893617398,632,877,784,798.893617398,648,628.893617398,650,0.412614339027,-0.0155353150735,0.0799233204971,0.999999990065,-5.7910737641e-05,-0.000116058077968,-5.51968816942e-05,1793192905220492288
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.31928034,671,660.31928034,632,877,784,798.31928034,648,628.31928034,650,0.413330289102,-0.0155347051064,0.0799050915492,0.999999987501,-6.24848927072e-05,-0.000132517464629,-5.94395527948e-05,1793192905237158400
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.73891473,742,711.26108527,671,660,632,876.73891473,783.73891473,798,648,628,650,0.414064973388,-0.0155372562076,0.0799053359854,0.999999988114,-6.73461434679e-05,-0.000124541387009,-6.10474805481e-05,1793192905253825024
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.151002492,742,711.848997508,671,660,632,876.151002492,783.151002492,798,648,628,650,0.414823109286,-0.0155437643392,0.0799287054315,0.999999991909,-7.25667816527e-05,-8.59769574234e-05,-5.9357232802e-05,1793192905270491904
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.430624826,876.430624826,783,798.430624826,648,628,650,0.415592475745,-0.0155467081084,0.0799404723739,0.999999992782,-7.32496776476e-05,-7.65071778313e-05,-5.67239467457e-05,1793192905287158784
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.010033753,742.010033753,712,671.010033753,660,633,877,783,798.989966247,648,628,650,0.416366572804,-0.0155483124632,0.0799480023509,0.999999992966,-7.23870570577e-05,-7.6987638093e-05,-5.38696215291e-05,1793192905303825920
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.586833408,742.586833408,712,671.586833408,660,633,877,783,798.413166592,648,628,650,0.417188637604,-0.0155438435708,0.079942711849,0.999999993171,-7.28119983041e-05,-7.15199629149e-05,-5.69400311364e-05,1793192905320492544
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.836789785,743,711.836789785,672,660,632.836789785,877,783.163210215,798.163210215,648,628,650,0.418021269088,-0.0155410083377,0.0799469733628,0.999999994271,-7.23734257952e-05,-5.29048696851e-05,-5.84859750027e-05,1793192905337159168
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.261480688,743,711.261480688,672,660,632.261480688,877,783.738519312,798.738519312,648,628,650,0.418880580951,-0.0155422980255,0.0799753533121,0.999999995988,-6.97545174749e-05,-1.09310283116e-06,-5.6182707147e-05,1793192905353825536
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,743,711.321367122,671.678632878,660,632.321367122,877,784,799.321367122,648,628,650,0.419698635381,-0.0155415967726,0.0799781737017,0.999999996107,-6.75556240251e-05,7.33992645794e-06,-5.62880514096e-05,1793192905370491904
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,743,711.91049613,671.08950387,660,632.91049613,877,784,799.91049613,648,628,650,0.420482314227,-0.0155392366754,0.0799596979602,0.999999995929,-6.57066855997e-05,-2.03700489582e-05,-5.8400242466e-05,1793192905387158272
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742.508674889,712,671.491325111,660.491325111,633,877.491325111,783.508674889,799.508674889,648,628.491325111,650,0.421316060044,-0.0155429565398,0.0799547459951,0.999999995511,-6.87095638193e-05,-2.98603220137e-05,-5.80064632207e-05,1793192905403825152
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742,712,672,661,633,877.92992727,783.07007273,799.07007273,648,628.92992727,650,0.422163873423,-0.0155473868809,0.0799560654503,0.99999999528,-7.2643494054e-05,-3.01574302031e-05,-5.7042563422e-05,1793192905420491520
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742,712,672,661,633,877.355459101,783.644540899,799.644540899,648,628.355459101,650,0.423048385971,-0.0155490912719,0.0799850888155,0.999999995435,-7.70229000293e-05,1.22252163815e-05,-5.52062752495e-05,1793192905437158400
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.219149185,742.219149185,712,672,661,633,877,783.780850815,799.780850815,648,628.219149185,650.219149185,0.423892970728,-0.0155488592344,0.0799918329482,0.999999995037,-8.24134847197e-05,1.19099128965e-05,-5.4699275035e-05,1793192905453825280
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.793984974,742.793984974,712,672,661,633,877,783.206015026,799.206015026,648,628.793984974,650.793984974,0.424672751456,-0.0155454843077,0.0799624171311,0.999999992747,-8.94452475717e-05,-5.77056138707e-05,-5.63497541929e-05,1793192905470492160
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.619710015,712,672,660.619710015,633,877.380289985,783.380289985,799,648.380289985,628.619710015,650.619710015,0.425468787075,-0.0155424412229,0.0799286701546,0.999999989069,-8.55253450078e-05,-0.00010411807041,-6.08869651493e-05,1793192905487158784
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.026998587,712,672,660.026998587,633,877.973001413,783.973001413,799,648.973001413,628.026998587,650.026998587,0.426273902263,-0.0155395834977,0.0798925038916,0.999999985441,-7.54880878478e-05,-0.000137569809084,-6.7036639578e-05,1793192905503825152
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.448294428,742.551705572,712,672.551705572,660.551705572,633,877.448294428,784,799,649,628,650,0.42711224031,-0.0155446967882,0.0798964181025,0.999999986068,-8.3706856941e-05,-0.000127952770747,-6.6971853113e-05,1793192905520492032
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,712,672.871078733,661,633,877,784,799,648.871078733,628,650.128921267,0.427948540338,-0.0155490501218,0.079903862925,0.999999986829,-8.98800668105e-05,-0.000117859810243,-6.6131974094e-05,1793192905537158656
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,743,712,672.296696303,661,633,877,784,799,648.296696303,628,650.703303697,0.428772319792,-0.0155494631295,0.0799168976387,0.999999987869,-8.59747778075e-05,-0.000113224597177,-6.36387081146e-05,1793192905553825280
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,743,712,672.284656223,661,633,877.569312445,784,799,648.284656223,628.284656223,650.715343777,0.429593413895,-0.0155512009987,0.0799397751919,0.999999990784,-8.70628979859e-05,-8.44863925948e-05,-6.09469207324e-05,1793192905570491904
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,743,712,672.873455973,661,633,878.746911946,784,799,648.873455973,628.873455973,650.126544027,0.430411638758,-0.0155543544282,0.0799731694156,0.999999993496,-9.34862716341e-05,-2.99951278198e-05,-5.8043021378e-05,1793192905587158272
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.455681953,742.544318047,712,672.544318047,661,633,878.088636095,784,799,648.544318047,628.544318047,650.455681953,0.431211509397,-0.0155572572191,0.0800013860752,0.999999994161,-9.21293568829e-05,1.3256734997e-05,-5.49092215146e-05,1793192905603825408
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+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.610880522,712,672,661,632.389119478,877.610880522,784,799.610880522,648,628.610880522,650.389119478,0.432667439204,-0.0155552917143,0.0799659241454,0.999999993501,-8.51452186428e-05,-5.05923702804e-05,-5.64684013795e-05,1793192905637158400
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+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,672.762676432,661,632,877.237323568,784,799.237323568,648.762676432,629,650,0.434064858994,-0.0155538773985,0.0798792971307,0.999999979864,-9.28208103081e-05,-0.000165279842766,-6.58642392075e-05,1793192905670491392
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.651564413,743,712,672.651564413,661,632.348435587,877.348435587,783.651564413,799,648.651564413,629,650,0.434777608378,-0.0155582761062,0.079887391618,0.999999982354,-0.000101214802133,-0.000143975802543,-6.57198116252e-05,1793192905687158272
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+181,3.016666667,POSE1_TO_POSE2_PRESS,763.519143881,743,712,672.519143881,660.480856119,632.480856119,878,783.519143881,799.519143881,648,628.480856119,650,0.436128598899,-0.0155696342724,0.0799410306417,0.999999989155,-0.000110562886451,-7.71494110059e-05,-5.92851994927e-05,1793192905720491776
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.904562982,743,712,673,660.095437018,632,878,783.904562982,800,648.095437018,628.095437018,650,0.436751082222,-0.0155737714644,0.0799469132546,0.999999988401,-0.000112201501023,-8.54435698997e-05,-5.75170761673e-05,1793192905737158400
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.330661858,743,712,673,660.669338142,632,878,783.330661858,800,648.669338142,628.669338142,650,0.437330914721,-0.0155762401758,0.0799234980527,0.999999982763,-0.000124870504811,-0.000123532809033,-6.01762304025e-05,1793192905753825792
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.25002552,743,712,673,661,632.25002552,878,783,800,649,629,650.25002552,0.437893276393,-0.0155796480509,0.0798990818089,0.999999975888,-0.000134675341906,-0.000161771403759,-6.2587857935e-05,1793192905770493184
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.839938148,743,712,673,661,632.839938148,878,783,800,649,629,650.839938148,0.438431888007,-0.015584332634,0.0798733047411,0.999999967984,-0.000140586602147,-0.000200213030878,-6.46629950957e-05,1793192905787160320
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,712,672.999964811,660,632,878.999964811,783.999964811,800.000035189,648,628,651,0.439436101193,-0.0155985933815,0.0798157654088,0.999999944107,-0.000160983255378,-0.00028450804863,-7.0180650692e-05,1793192905820493824
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,672.42498356,660,632,878.42498356,783.42498356,800.57501644,648,628,651,0.439864113313,-0.0156050533854,0.0797781600325,0.999999920852,-0.000184936319732,-0.000344326955745,-7.43854849294e-05,1793192905837160448
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+190,3.166666667,POSE1_TO_POSE2_PRESS,763.259083849,743,711.259083849,672,660,632,878,783,799.518167698,648.740916151,628.740916151,651,0.44067494382,-0.0156145820594,0.0796955140951,0.999999865869,-0.000196149398976,-0.000472877842009,-7.85681069091e-05,1793192905870492416
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+192,3.200000000,POSE1_TO_POSE2_PRESS,763,743,711,672,660,632,877.096014598,783,799,649,628.096014598,650.096014598,0.441471333171,-0.0156233153121,0.0796780010252,0.999999852536,-0.00021481394463,-0.000492027316324,-8.18067165648e-05,1793192905903826176
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.480907107,743,711,672,660,632,877.480907107,783,799,649,628,650.480907107,0.441857789362,-0.0156273765189,0.079702548787,0.99999986927,-0.000218823490439,-0.000455108326314,-8.03297687272e-05,1793192905920492544
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.942650501,743,711,672,660,632,878.057349499,783,799.057349499,648.942650501,628,651,0.442234841687,-0.015631970772,0.0797297004489,0.999999885972,-0.000221897926185,-0.000415582394442,-7.81518936395e-05,1793192905937158912
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763.215836197,742.784163803,711,672,659.784163803,632,878.784163803,783,800,648,628,651,0.4428446666,-0.015652344735,0.079740565737,0.999999885004,-0.000243372584848,-0.000406502003997,-7.4288676528e-05,1793192905970491648
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.385991956,711,672,659,631.614008044,878,782.614008044,800,648.385991956,628,651,0.443320471,-0.015668964357,0.0797155413385,0.999999864479,-0.000256726603703,-0.000446621233417,-7.52543221691e-05,1793192906003825408
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+228,3.800000000,POSE1_TO_POSE2_PRESS,763,743,711,672,658.209768807,631,878,781.209768807,800,648.790231193,628,650.209768807,0.444924638871,-0.0156918617486,0.0796635701435,0.999999815211,-0.000292932483962,-0.000527734317018,-7.25564306496e-05,1793192906503825920
+229,3.816666667,POSE1_TO_POSE2_PRESS,763,743,711,672,658.374517775,631,878,781.374517775,800,648.625482225,628,650.374517775,0.444925016948,-0.0156915525324,0.0796641094367,0.999999815676,-0.000292190968118,-0.000527332146897,-7.2070449643e-05,1793192906520492288
+230,3.833333333,POSE1_TO_POSE2_PRESS,763,743,711,672,658.956303419,631,878,781.956303419,800,648.043696581,628,650.956303419,0.444926168791,-0.0156911362635,0.079665084111,0.999999817111,-0.000289954559798,-0.000525930776189,-7.14157607299e-05,1793192906537158400
+231,3.850000000,POSE1_TO_POSE2_PRESS,763,743,711,672.531696279,659,631,878.531696279,782,800.531696279,648.531696279,628,650.468303721,0.444925971641,-0.0156912333502,0.0796646233967,0.999999816361,-0.000291226600298,-0.000526605637021,-7.17768892346e-05,1793192906553825024
+232,3.866666667,POSE1_TO_POSE2_PRESS,763,743,711,672.893383693,659,631,878.893383693,781.893383693,800.786767385,648.893383693,628,650.106616307,0.444925683228,-0.0156912708328,0.0796638108642,0.999999815368,-0.000292675226519,-0.000527625638625,-7.22185360867e-05,1793192906570491648
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,743,711,672.31826034,659,631,878.31826034,781.31826034,799.63652068,648.31826034,628,650.68173966,0.444925475162,-0.0156908632046,0.0796619645459,0.999999814103,-0.000293647837718,-0.000529421398461,-7.26515123466e-05,1793192906587158016
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.264536975,743,711,672,658.735463025,631,878,781.264536975,799.264536975,648.264536975,628,651,0.444926670867,-0.0156907968716,0.079662017971,0.999999814522,-0.000293266428265,-0.00052884943704,-7.25910414403e-05,1793192906603825152
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.856842619,743,711,672,658.143157381,631,878,781.856842619,799.856842619,648.856842619,628,651,0.444929605883,-0.0156911534128,0.0796644252306,0.99999981702,-0.000291207349695,-0.000525343803366,-7.19191758285e-05,1793192906620492288
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.562213216,743,711,672.437786784,658.437786784,631,878,782,799.562213216,649,628,650.562213216,0.444929128008,-0.0156913307606,0.0796640742694,0.999999817077,-0.00029020216603,-0.000525838682067,-7.15768286257e-05,1793192906637158912
+237,3.950000000,POSE1_TO_POSE2_PRESS,763,743,711,672.984956202,659,631,878,782,799.015043798,649,628,650,0.444927634919,-0.0156914470722,0.0796628998447,0.99999981637,-0.00028958131044,-0.000527552252527,-7.1349889723e-05,1793192906653825536
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,743,711,672.410149814,659,631,878,782,799.589850186,649,628,650,0.444928842356,-0.0156914174646,0.079663796706,0.999999816219,-0.000290762080989,-0.000527167444077,-7.15092019616e-05,1793192906670491648
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,743,711,672,658.833469038,631,878,781.833469038,800,648.833469038,628,650.166530962,0.444929351084,-0.0156912749931,0.079664228716,0.999999816097,-0.000291401654243,-0.00052705336813,-7.14610747002e-05,1793192906687158272
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,743,711,672,658.252119308,631,878,781.252119308,800,648.252119308,628,650.747880692,0.444928119368,-0.0156908513843,0.0796635028092,0.999999816048,-0.000290693137003,-0.000527613670847,-7.08962279157e-05,1793192906703824896
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,743,711,672,658.330952004,631,878.330952004,781,800,648,628,651,0.444928093188,-0.0156905339914,0.0796635141384,0.999999816253,-0.000290200237257,-0.000527503084862,-7.08397937244e-05,1793192906720491776
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,743,711,672,658.915341648,631,878.915341648,781,800,648,628,651,0.444928990189,-0.015690297937,0.0796640900311,0.999999816654,-0.000289872453898,-0.000526878743238,-7.11726936197e-05,1793192906737158144
+243,4.050000000,HOLD_POSE2,763,743,711,672,659,631,878,782,800,648,628,650,0.444929500593,-0.0156901816414,0.0796644953617,0.999999817335,-0.000290199372677,-0.000525343891551,-7.16165373332e-05,1793192906768429568
+244,4.066666667,HOLD_POSE2,763,743,711,672,658.424246422,631,878,782,799.424246422,648.575753578,628,650,0.444931416269,-0.0156891793194,0.0796656107733,0.999999818675,-0.000287382853307,-0.000524411410264,-7.10904715571e-05,1793192906785095168
+245,4.083333333,HOLD_POSE2,763,743,711,671.845047166,658,631,877.845047166,782,799.154952834,648.845047166,628,650,0.444932427629,-0.0156887443218,0.0796660209979,0.999999819288,-0.000285898056229,-0.000524112256812,-7.06524701861e-05,1793192906801760768
+246,4.100000000,HOLD_POSE2,763,743,711,671.256199279,658,631,877.256199279,782,799.743800721,648.256199279,628,650,0.444930906744,-0.0156898979316,0.0796644565756,0.999999817884,-0.000288142314013,-0.000525586531938,-7.04610644433e-05,1793192906818427392
+247,4.116666667,HOLD_POSE2,763,742.671758917,711,671.328241083,658,631,877.328241083,781.671758917,800,648,628,650,0.44493000991,-0.0156893179054,0.0796637918204,0.99999981753,-0.000288303514328,-0.000526154029171,-7.05849380485e-05,1793192906835094016
+248,4.133333333,HOLD_POSE2,763,742.090713178,711,671.909286822,658,631,877.909286822,781.090713178,800,648,628,650,0.444929593706,-0.0156874026675,0.0796638199706,0.999999817988,-0.000286860385701,-0.000526023144291,-7.09516334539e-05,1793192906851760640
+249,4.150000000,HOLD_POSE2,763,742.483876542,711,672,658.483876542,631,878,781.483876542,800,648.483876542,628,650,0.444930998145,-0.0156884609263,0.079664944936,0.999999818984,-0.000286638942083,-0.000524342861608,-7.02510626659e-05,1793192906868428288
+250,4.166666667,HOLD_POSE2,763.057260544,743,711,672,659,631,878,782,800,648.942739456,628,650.057260544,0.444932398106,-0.0156898147401,0.0796659991985,0.999999819864,-0.000286587792973,-0.000522786651732,-6.95238320029e-05,1793192906885095936
+251,4.183333333,HOLD_POSE2,763.630542431,743,711,672,659,631,878,782,800,648.369457569,628,650.630542431,0.444930722316,-0.0156888745804,0.0796645876719,0.999999818842,-0.000286034493543,-0.000524931743465,-7.0335710662e-05,1793192906901762048
+252,4.200000000,HOLD_POSE2,763.788114807,743,711,672,658.788114807,631,878,781.788114807,800,648,628,651,0.444929615595,-0.0156889555092,0.0796636756601,0.999999817855,-0.000286735821254,-0.000526371036883,-7.07530884771e-05,1793192906918428416
+253,4.216666667,HOLD_POSE2,763.192160747,743,711,672,658.192160747,631,878,781.192160747,800,648,628,651,0.444929540381,-0.0156908872908,0.0796636690827,0.999999816934,-0.000289711320333,-0.000526530980831,-7.04553832353e-05,1793192906935094784
+254,4.233333333,HOLD_POSE2,763,743,711,672,658,631,878,781.390827926,799.609172074,648.390827926,628,650.609172074,0.444929497551,-0.0156900682568,0.0796635208197,0.999999816585,-0.000289552021345,-0.000527257336934,-7.06376817825e-05,1793192906951761408
+255,4.250000000,HOLD_POSE2,763,743,711,672,658,631,878,781.967646566,799.032353434,648.967646566,628,650.032353434,0.444929470132,-0.0156879401402,0.0796633051301,0.999999816507,-0.000287900906681,-0.000528253242368,-7.104840883e-05,1793192906968428032
+256,4.266666667,HOLD_POSE2,763,742.458301543,711,672,658.541698457,631,877.458301543,781.458301543,799,648.458301543,627.458301543,650.541698457,0.444932321193,-0.0156881509052,0.0796650864013,0.999999818613,-0.000287505464273,-0.000524526751584,-7.06086945028e-05,1793192906985094656
+257,4.283333333,HOLD_POSE2,763.1186411,742,711,672,658.8813589,631,877.1186411,781,799,648.1186411,627.1186411,651,0.44493433548,-0.0156884772971,0.0796663804578,0.999999820194,-0.000286998036305,-0.000521839698735,-7.02015125506e-05,1793192907001761024
+258,4.300000000,HOLD_POSE2,763.70769771,742,711,672,658.29230229,631,877.70769771,781,799,648.70769771,627.70769771,651,0.444932353729,-0.0156887110859,0.0796652721873,0.999999819224,-0.000285750731181,-0.000524386698673,-7.01236961708e-05,1793192907018427648
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,658,631,878,781,801,649,628,651,0.44493334605,-0.0156875912684,0.079664441102,0.999999819402,-0.000285255690306,-0.000524224580533,-7.08051450281e-05,1793192907055377408
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,658.574698783,631,878,781,799.850602434,648.425301217,628,651,0.444931917002,-0.0156877650202,0.0796649677862,0.999999818715,-0.000285478731647,-0.000525450214026,-7.05298487993e-05,1793192907072043776
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.152422483,742.847577517,711,672.152422483,659,631,877.847577517,781.152422483,799,648.152422483,627.847577517,651,0.44493104365,-0.0156876116842,0.0796652252029,0.999999818412,-0.00028495397188,-0.000526334786887,-7.0342163652e-05,1793192907088710400
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.738757573,742.261242427,711,672.738757573,659,631,877.261242427,781.738757573,799,648.738757573,627.261242427,651,0.444931752245,-0.0156865272027,0.0796647160752,0.999999819206,-0.000282300390201,-0.000526248436936,-7.04038875324e-05,1793192907105377280
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.678981666,742.321018334,711,673,658.678981666,631,877.321018334,781.678981666,799.321018334,649,627.321018334,651,0.444932305669,-0.0156864685055,0.0796646971944,0.999999819403,-0.000282428028081,-0.000525773903018,-7.0637461381e-05,1793192907122043904
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.099995046,742.900004954,711,673,658.099995046,631,877.900004954,781.099995046,799.900004954,649,627.900004954,651,0.4449327344,-0.0156872341221,0.0796650722727,0.99999981912,-0.000284790636424,-0.000524987426943,-7.10091327648e-05,1793192907138710528
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742.521910927,711,672.521910927,658,631,878,781,800,648.521910927,628,650.521910927,0.444932446877,-0.0156876581936,0.0796650257636,0.999999818617,-0.000286743474162,-0.000524881232517,-7.10248690644e-05,1793192907155377152
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742.055735626,711,672,658,631,878,781,799.944264374,648,628.055735626,650,0.444931498464,-0.0156878073644,0.0796645708011,0.99999981791,-0.000288223920112,-0.000525424424501,-7.09670291652e-05,1793192907172043776
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742.631059459,711,672,658,631,878,781,799.368940541,648,628.631059459,650,0.444925782925,-0.0156860585096,0.0796611285583,0.999999815739,-0.000286098030828,-0.000530697505524,-7.09159887974e-05,1793192907188710400
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,658,631,878,781,799,648,628.788703413,650,0.444913506068,-0.0156849755745,0.0796544742275,0.999999810574,-0.000285022649041,-0.000540884590843,-7.11260129107e-05,1793192907205377024
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,658,631,878,781,799,648,628.199683109,650,0.444889499893,-0.0156850830693,0.0796420778178,0.999999799855,-0.000285825204037,-0.00055985618069,-7.18027281605e-05,1793192907222043648
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,743,711,672,658,631,877.617078417,781,799.765843166,648.382921583,628,650,0.444846757228,-0.0156832171418,0.0796235503835,0.999999782391,-0.000284406880196,-0.000590786635767,-7.28181945314e-05,1793192907238710272
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,658,631,877.037764109,781,800.924471783,648.962235891,628,650,0.444794404994,-0.015680339086,0.0796018784696,0.999999760444,-0.000281849512354,-0.000627850551773,-7.40073994795e-05,1793192907255376896
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742.46247143,711,672,658,631,877.53752857,781,800.46247143,648.46247143,628,650.53752857,0.444729081633,-0.0156763803429,0.0795865037417,0.999999747429,-0.000279367169143,-0.000649367579393,-7.3608422903e-05,1793192907272043520
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.112925765,711,672.112925765,658.112925765,631,878,781.112925765,800,648,628,650.887074235,0.444659969148,-0.0156723545451,0.0795736768307,0.999999736532,-0.000276815875104,-0.000667079332005,-7.29020031139e-05,1793192907288710144
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.689905073,711,672.689905073,658.689905073,631,878,781.689905073,800,648,628,650.310094927,0.444579002742,-0.0156683628752,0.079569515311,0.99999973305,-0.00027395973727,-0.000673608932064,-7.13872952101e-05,1793192907305377024
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,743,711,672.727288176,659,631,878,782,800,648.272711824,627.727288176,650.272711824,0.444490105364,-0.0156639417932,0.0795696296899,0.999999733757,-0.000272011597937,-0.000673609605124,-6.88866006178e-05,1793192907322043648
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.137710514,659,631,878,782,800,648.862289486,627.137710514,650.862289486,0.444391992939,-0.0156590217744,0.0795747122665,0.999999739325,-0.000271118468795,-0.000666024270318,-6.5240281056e-05,1793192907338710272
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,711.444035081,672,659,631,878,782.444035081,800,649,627.444035081,650.555964919,0.44427053493,-0.0156543175086,0.0795793854754,0.999999745255,-0.000267487681988,-0.000659001855665,-6.04797368101e-05,1793192907355377152
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,743,711.976816574,672,659,631,878,782.976816574,800,648.976816574,628,650,0.444140557894,-0.0156496024163,0.0795839554906,0.999999751208,-0.000262848335975,-0.000652252076937,-5.5339203669e-05,1793192907372043776
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,743,711.402667273,672,659,631,878,782.402667273,800,648.402667273,628,650,0.443977208014,-0.0156430673802,0.0795890380032,0.999999756622,-0.000254068234193,-0.000647904538414,-4.92380892847e-05,1793192907388710400
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,659,631,878.175718962,781.824281038,799.824281038,648,628,650,0.443803519126,-0.0156351437953,0.0795931388803,0.99999976165,-0.000243484192546,-0.000644643273461,-4.30094720634e-05,1793192907405377024
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,659,631,878.764054112,781.235945888,799.235945888,648,628,650,0.443605552621,-0.0156239596774,0.0795949347195,0.999999765866,-0.000228664213226,-0.000643932753029,-3.64814586808e-05,1793192907422043392
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.65306645,711,672,658.65306645,631,878.65306645,781,799,648,628,650,0.443376945211,-0.0156131031181,0.0795965925689,0.999999768919,-0.000214689521165,-0.000644370607944,-2.92687650264e-05,1793192907438710272
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.073839882,711,672,658.073839882,631,878.073839882,781,799,648,628,650,0.443127821841,-0.0156024658782,0.0795981580261,0.999999771125,-0.000201280798607,-0.000645577369569,-2.15976358174e-05,1793192907455376896
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.5025441,711,672,658.5025441,631,878,781,799.5025441,648.5025441,628,650,0.442856011897,-0.0155907586839,0.0796034207964,0.999999787326,-0.000138229192773,-0.000637229432669,-1.33577134889e-05,1793192907472043520
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.07862502,659,631.07862502,877.92137498,781.15725004,799.92137498,649,628,650,0.44257443136,-0.0155788918057,0.0796095766073,0.999999800724,-7.60502970473e-05,-0.000626691153027,-5.23429999154e-06,1793192907488710400
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.65541745,659,631.65541745,877.34458255,782.310834899,799.34458255,649,628,650,0.442251945831,-0.0155670036501,0.0796179680244,0.999999811129,-6.53564892804e-05,-0.000611119913376,1.62437219876e-06,1793192907505377024
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,743,711,672.762782397,659,632,877.237217603,782.762782397,799,649,628,650,0.441913376524,-0.0155543817251,0.0796272954805,0.999999821325,-5.86798389303e-05,-0.000594887888958,3.95697017232e-06,1793192907522043648
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.17355118,659,632,877.82644882,782.17355118,799,649,628,650,0.441550940083,-0.0155406709405,0.0796380119497,0.999999831466,-5.79643577107e-05,-0.000577675309257,-4.26796131889e-07,1793192907538710528
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.590945864,711,672,659.409054136,632,877.590945864,782,799,648.590945864,628,650,0.441129767324,-0.0155269420506,0.0796375377273,0.999999833071,-4.5792341696e-05,-0.000575986293726,-1.58843376471e-07,1793192907555376896
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742.011106953,711,672,659.988893047,632,877.011106953,782,799,648.011106953,628,650,0.44068407149,-0.0155132056018,0.0796323912631,0.99999983093,-2.88370915181e-05,-0.000580778543925,2.05125534422e-06,1793192907572043520
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.562564959,711,672,659.437435041,632,877,782.562564959,799.562564959,648,628,650,0.440195541297,-0.0154933680064,0.0796181199595,0.999999821296,-3.90579147432e-06,-0.00059782172582,-9.80381108798e-07,1793192907588710144
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,659,632,877,783,800,648,628.139550037,650,0.439703184033,-0.0154756546293,0.0796073349558,0.999999814108,1.79306227985e-05,-0.000609468356545,-3.37857652632e-06,1793192907605377024
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,659,632,877,783,800,648,628.727569512,650,0.439201216201,-0.0154651507325,0.0796083264983,0.999999817758,2.93204682855e-05,-0.000603003304883,-3.41211649316e-06,1793192907622043648
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.892623518,743,711.892623518,672,659.892623518,632,877,783,799.107376482,648.892623518,628.107376482,650,0.438172286238,-0.0154606707794,0.0796898606894,0.999999887088,4.20436110907e-05,-0.000473293208792,7.05192784948e-06,1793192907655376896
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.530671073,743,711.530671073,672,660,632,877.469328927,783,799,648.530671073,628.469328927,650,0.437602608967,-0.0154581710431,0.0797433506563,0.999999919071,4.8981826008e-05,-0.000399152218106,1.1701743937e-05,1793192907672043776
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.617467133,742.382532867,711.617467133,672.617467133,660,632,878,783,799,648,629,650,0.436377355101,-0.0154466664258,0.0798091749012,0.999999950612,8.09566658068e-05,-0.00030302804116,1.99099093851e-05,1793192907705377024
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.803626116,742.196373884,712,672.803626116,660.196373884,632,878,783,799,648,628.803626116,650,0.435721939131,-0.0154376009791,0.0798180258855,0.999999954001,9.94462307805e-05,-0.000285681357443,2.2258381753e-05,1793192907722043648
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742.048200343,711.048200343,672,660.048200343,632,877.048200343,783,799,648,628,650,0.433570388245,-0.0154153717111,0.0798058930668,0.999999951232,0.00010987088214,-0.000291705432504,1.92996112663e-05,1793192907772043776
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.104598295,743,711,672,660,632,877.104598295,783.895401705,800.790803409,649,628.104598295,650.104598295,0.431914956946,-0.0154116986615,0.0797642683841,0.999999913965,0.000153232219664,-0.000384979783295,1.95203681548e-05,1793192907805377024
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,711.504891049,672,660.495108951,632,876.495108951,783,799,648,628,650.504891049,0.422483026467,-0.015398210396,0.0797504481739,0.999999906493,0.00017877996837,-0.000393094382683,2.30080998601e-05,1793192907988710144
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,743,711.603584214,671.396415786,660,632,877,783.396415786,799.396415786,648.603584214,628,650,0.418211235727,-0.0154041576717,0.0798224648133,0.99999994518,0.000186924479327,-0.000271573810354,3.07781906118e-05,1793192908072043776
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.12857631,632.87142369,877,783,799,648,628,650,0.41564242137,-0.0153964996893,0.0798105164069,0.999999930925,0.000190924941918,-0.000317693106423,2.77374625515e-05,1793192908122043648
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.716161649,632.283838351,877,783,799,648,628,650,0.414807708467,-0.0153954884952,0.0797918249667,0.999999920961,0.00019110541763,-0.000347651904668,2.63418910184e-05,1793192908138710272
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.846783611,632,877.846783611,783,799,648.846783611,629,651,0.404020409903,-0.0153608945423,0.0798303395627,0.999999929551,0.000254338339216,-0.000274704755835,2.73285784134e-05,1793192908438710528
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.254436243,632,877.254436243,783,799,648.254436243,629,651,0.403643609086,-0.0153583214311,0.0798278244795,0.999999922775,0.000262816576818,-0.00029074493982,2.90617607964e-05,1793192908455377152
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.670777194,742,712,671,659.329222806,632.329222806,877,783.329222806,799,648,628.670777194,650.670777194,0.403311507458,-0.0153612797363,0.0798299697213,0.999999922103,0.00026283640002,-0.000292901547892,3.03398961727e-05,1793192908472044032
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.093660205,742,712,671,659.906339795,632.906339795,877,783.906339795,799,648,628.093660205,650.093660205,0.403013062904,-0.0153684030203,0.0798356240382,0.999999926118,0.00025648730875,-0.000284604268918,3.12753956876e-05,1793192908488711168
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,877,783.518989392,799,648,628,650,0.402749303077,-0.0153840648591,0.0798392714699,0.999999932844,0.000231255339675,-0.000282579041733,3.13442783686e-05,1793192908505377280
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742,711.944890127,671,660,633,877,783,799.055109873,648,628.055109873,650.055109873,0.402496015672,-0.0153992730926,0.0798416360178,0.999999938367,0.000205953254827,-0.00028262313885,3.12052945626e-05,1793192908522043904
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763,742,711.37170881,671,660,633,877,783,799.62829119,648,628.62829119,650.62829119,0.40227800853,-0.0153946667024,0.0798355954981,0.999999934297,0.000214381533573,-0.000290697675184,3.06905029844e-05,1793192908538710528
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,711.209565709,671,659.790434291,633,877,783,799.790434291,648.209565709,629,650.790434291,0.402074604117,-0.0153899203047,0.0798320807479,0.999999931781,0.000221892650481,-0.0002937234705,3.04494776845e-05,1793192908555377152
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,711.8057718,671,659.1942282,633,877,783,799.1942282,648.8057718,629,650.1942282,0.401898141181,-0.0153849155992,0.0798332259425,0.999999932293,0.000227711639453,-0.000287434539009,3.07135403184e-05,1793192908572044032
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.386660613,633,877,783,799,648.613339387,629,650.386660613,0.401750045415,-0.0153833984501,0.0798377424411,0.99999993448,0.000227556261226,-0.000279768452548,3.14154368952e-05,1793192908588710656
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.960148457,633,877,783,799,648.039851543,629,650.960148457,0.401615656123,-0.0153835664231,0.0798438878914,0.999999937435,0.000224514180193,-0.000271436949801,3.23288867269e-05,1793192908605377280
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711.463484246,670.463484246,660,633,877,783,799,648.536515754,629,651,0.401505442318,-0.0153817164872,0.079846982419,0.999999938513,0.000226354535867,-0.000265825827695,3.27728945532e-05,1793192908622043904
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763,742,711.116155292,670.116155292,660,633,877,783,799,648.883844708,628.883844708,650.883844708,0.401400551018,-0.015380503741,0.0798485550669,0.999999939137,0.000227069557917,-0.0002628899936,3.24802487737e-05,1793192908638710528
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763,742,711.708323662,670.708323662,660,633,877,783,799,648.291676338,628.291676338,650.291676338,0.401310073017,-0.0153825198082,0.0798448246461,0.999999938527,0.000221678653256,-0.000270085140206,2.93124100416e-05,1793192908655377152
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.292016703,742,712,671,659.707983297,633,877,783,799,648.292016703,628.292016703,650,0.401229640098,-0.0153837029868,0.0798407141695,0.999999935538,0.000225937239499,-0.000277692488856,2.7635025014e-05,1793192908672044032
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.867483026,742,712,671,659.132516974,633,877,783,799,648.867483026,628.867483026,650,0.401158957567,-0.0153840777116,0.0798362347873,0.999999930117,0.000239562223596,-0.000285699946049,2.74043674746e-05,1793192908688710400
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,783,799.442546611,648.557453389,629,650.442546611,0.401110478748,-0.0153838043671,0.0798342659583,0.999999928924,0.000242713558655,-0.000287181768186,2.77116138094e-05,1793192908705377280
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.982487822,742,712,671,659.017512178,633,877.017512178,783,799.982487822,648,628.982487822,651,0.401069122313,-0.0153833986757,0.079833122709,0.999999929082,0.000242640761808,-0.000286648474322,2.81843997305e-05,1793192908722043904
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.406805812,742,712,671,659.593194188,633,877.593194188,783,799.406805812,648,628.406805812,651,0.401043055737,-0.0153849543257,0.0798343539673,0.999999930503,0.000239675958171,-0.000284112123815,2.88042842123e-05,1793192908738710784
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.17438116,742,712,670.82561884,659.82561884,633,877.82561884,783,799,648,628,651,0.401019065806,-0.0153857218305,0.0798348599704,0.999999931039,0.000238338277028,-0.000283306545265,2.92421285215e-05,1793192908755377408
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.768828949,742,712,670.231171051,659.231171051,633,877.231171051,783,799,648,628,651,0.401000078308,-0.0153845907726,0.0798336189069,0.999999929461,0.000240920170313,-0.000286670222183,2.92414563248e-05,1793192908772044032
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,670.350844141,659.350844141,633,876.649155859,783,799.350844141,648,628.350844141,650.649155859,0.400987238379,-0.0153835505902,0.0798325954014,0.999999928493,0.000242801003413,-0.000288475740638,2.9047082674e-05,1793192908788710400
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,670.92494791,659.92494791,633,876.07505209,783,799.92494791,648,628.92494791,650.07505209,0.400978310452,-0.0153825682364,0.0798317103388,0.999999927917,0.000244235717201,-0.00028928972547,2.87294471257e-05,1793192908805377280
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.49905406,633,876.50094594,783,799.49905406,648,628.49905406,650,0.400976963666,-0.0153844546696,0.0798335725061,0.999999929362,0.000242081386041,-0.000286067177893,2.89516657334e-05,1793192908822043904
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.920754983,671,659,633,877,783.079245017,799,648,628.079245017,650,0.400976715367,-0.0153863918062,0.0798356615358,0.999999930885,0.000239899082781,-0.000282533976107,2.9215541697e-05,1793192908838710272
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.329427116,671,659,633,877,783.670572884,799,648,628.670572884,650,0.400976198011,-0.0153858686478,0.0798365467439,0.99999993107,0.000241023925432,-0.000280916099362,2.92239677338e-05,1793192908855376896
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.98244056,742,711.01755944,670.98244056,659.98244056,633,876.98244056,783,799.01755944,648,628.01755944,650,0.400973439087,-0.0153861615353,0.0798375038773,0.999999932479,0.0002377159305,-0.000278798576784,2.83792451528e-05,1793192908922044160
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,659.428152256,633,877,783,798.428152256,648.571847744,628.571847744,650.571847744,0.400972596844,-0.0153855884165,0.0798376886764,0.999999932187,0.000238935212165,-0.000278809185944,2.83021140632e-05,1793192908938710784
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711.158812068,670.841187932,659.158812068,632.841187932,876.841187932,783,798.158812068,648.841187932,628.841187932,650.841187932,0.40097156797,-0.0153849429053,0.0798375849518,0.999999931833,0.000239936411117,-0.000279230997339,2.82004517119e-05,1793192908955377408
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.737980324,670.262019676,659.737980324,632.262019676,876.262019676,783,798.737980324,648.262019676,628.262019676,650.262019676,0.400970182188,-0.0153842214632,0.0798367739804,0.999999931424,0.000240092048377,-0.000280574311204,2.8039657323e-05,1793192908972044032
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,712,670.316993172,660,632,876.316993172,783,798.683006828,648,628.316993172,650,0.400970271432,-0.0153853686442,0.079837042482,0.999999932039,0.000237892167346,-0.00028025248732,2.80798022257e-05,1793192908988710656
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,712,670.895877688,660,632,876.895877688,783,798.104122312,648,628.895877688,650,0.400971579304,-0.015388059632,0.0798382028154,0.999999933485,0.000233746219643,-0.000278554970973,2.82859578195e-05,1793192909005377280
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.045805132,632,877,783.954194868,799,648,628.954194868,650,0.400972073921,-0.0153869600324,0.0798382434443,0.999999932808,0.000238235620196,-0.000277147485057,2.85956716216e-05,1793192909038710272
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.634179205,632,877,783.365820795,799,648,628.365820795,650,0.400971077744,-0.0153862961285,0.0798381470875,0.999999932639,0.000238279357307,-0.000277758917173,2.81919249988e-05,1793192909055376896
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.219343949,742,712,670.780656051,659.780656051,632.219343949,877,783.219343949,799,648,628.219343949,650,0.400971009019,-0.0153861781874,0.0798385009677,0.999999932731,0.000238485761621,-0.000277261384302,2.80676714151e-05,1793192909072043776
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.799233342,742,712,670.200766658,659.200766658,632.799233342,877,783.799233342,799,648,628.799233342,650,0.400972464787,-0.0153869576702,0.0798395949227,0.99999993325,0.00023895954928,-0.000274940996122,2.84028330459e-05,1793192909088710656
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,670,659.37719008,633,877,783.62280992,799,648,628.62280992,650.37719008,0.400973114209,-0.015387234135,0.0798398987827,0.999999933344,0.000239239581252,-0.000274341134767,2.85085282125e-05,1793192909105377280
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,670,659.954123352,633,877,783.045876648,799,648,628.045876648,650.954123352,0.400973336625,-0.0153872442239,0.0798397842433,0.999999933217,0.000239417008762,-0.000274652388428,2.84927080739e-05,1793192909122044160
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.4736297,742,712,670.5263703,659.4736297,633,876.4736297,783,799,648,628,650.4736297,0.400973388375,-0.0153871858491,0.0798400408064,0.999999933807,0.000237287790297,-0.00027438632556,2.81675343672e-05,1793192909138711040
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,632.898150214,876.101849786,783,799,648,628,650.101849786,0.400973124579,-0.0153869982628,0.079840101711,0.999999934082,0.000236081865094,-0.000274442396659,2.79696631467e-05,1793192909155377664
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,632.305129643,876.694870357,783,799,648,628,650.694870357,0.40097141016,-0.015386216076,0.0798390644492,0.999999932555,0.000240289481633,-0.000276292471794,2.85145863928e-05,1793192909172044032
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,632.280773895,877,783,799,648.280773895,628.280773895,651,0.400970977379,-0.0153865163488,0.0798390740901,0.999999932494,0.000240340775176,-0.00027645642934,2.86447819714e-05,1793192909188710656
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,632.859134309,877,783,799,648.859134309,628.859134309,651,0.400971902981,-0.0153879638986,0.0798401933216,0.999999933987,0.000235986867345,-0.000274833305503,2.83354162293e-05,1793192909205377024
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.56482904,671,659,632.56482904,876.56482904,783,799,648.56482904,629,651,0.400971801047,-0.0153881552702,0.0798396508737,0.999999934131,0.000234772150446,-0.000275375667896,2.8093348437e-05,1793192909222043904
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.010691207,742,711.010691207,671,659.010691207,632.010691207,876.010691207,783,799,648,629,650.989308793,0.400971373706,-0.0153879391848,0.0798386071907,0.999999933852,0.000234579817257,-0.000276571212021,2.7877527906e-05,1793192909238710784
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.59873147,742,711.59873147,671,659.59873147,632.59873147,876.59873147,783,799,648,629,650.40126853,0.400971240261,-0.0153875616607,0.0798393886125,0.999999934076,0.000235014926337,-0.000275387034608,2.79089554369e-05,1793192909255377408
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,633,877,783,799.368156982,648,629,650,0.400971219146,-0.0153870976272,0.0798398703211,0.999999934045,0.000235971131312,-0.000274668635026,2.80054168899e-05,1793192909272043776
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,633,877,783,800.527278393,648,629,650,0.400971439364,-0.0153864477332,0.0798397081128,0.999999933469,0.000238046881287,-0.00027495093282,2.82416000401e-05,1793192909288710400
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7dafd260468c6fe9980faba487a4254ebb506cf0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,395 @@
+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,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+1,0.016666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+2,0.033333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+3,0.050000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+4,0.066666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
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+367,6.116666667,pose2_to_pose3_retreat,0.575714686542,-0.00994545367355,1.07002893309,0.546285416104,-0.00127272647909,1.06969822435
+368,6.133333333,pose2_to_pose3_retreat,0.575713970269,-0.00994545256104,1.07002890603,0.546284699689,-0.00127272583197,1.06969819763
+369,6.150000000,pose2_to_pose3_retreat,0.575713475984,-0.0099454293211,1.0700289215,0.54628420506,-0.00127270373049,1.06969821387
+370,6.166666667,pose2_to_pose3_retreat,0.575712932684,-0.00994540377662,1.0700289385,0.546283661381,-0.00127267943736,1.06969823173
+371,6.183333333,pose2_to_pose3_retreat,0.575712425848,-0.00994537994658,1.07002895437,0.546283154192,-0.00127265677469,1.06969824838
+372,6.200000000,pose2_to_pose3_retreat,0.575712044565,-0.00994536201972,1.0700289663,0.546282772644,-0.00127263972602,1.06969826091
+373,6.216666667,pose2_to_pose3_retreat,0.575711686975,-0.0099453452068,1.07002897749,0.546282414804,-0.00127262373671,1.06969827266
+374,6.233333333,pose2_to_pose3_retreat,0.575711406393,-0.00994533201463,1.07002898628,0.546282134027,-0.00127261119079,1.06969828188
+375,6.250000000,pose2_to_pose3_retreat,0.575711312297,-0.00994532759049,1.07002898922,0.546282039866,-0.00127260698339,1.06969828497
+376,6.266666667,pose2_to_pose3_retreat,0.575711235966,-0.00994532400159,1.07002899161,0.546281963481,-0.00127260357029,1.06969828748
+377,6.283333333,pose2_to_pose3_retreat,0.575711102688,-0.00994531895034,1.07002899355,0.546281830147,-0.00127259870012,1.06969828962
+378,6.300000000,pose2_to_pose3_retreat,0.575711001249,-0.0099453207039,1.07002898474,0.546281728838,-0.00127260001146,1.06969828092
+379,6.316666667,pose2_to_pose3_retreat,0.57571087947,-0.00994532280906,1.07002897417,0.546281607214,-0.00127260158574,1.06969827047
+380,6.333333333,pose2_to_pose3_retreat,0.575710722541,-0.00994532552185,1.07002896054,0.546281450485,-0.00127260361441,1.06969825701
+381,6.350000000,pose2_to_pose3_retreat,0.575710548884,-0.00994532852382,1.07002894546,0.546281277049,-0.00127260585935,1.06969824212
+382,6.366666667,pose2_to_pose3_retreat,0.575710231107,-0.00994533401717,1.07002891787,0.546280959676,-0.00127260996737,1.06969821486
+383,6.383333333,pose2_to_pose3_retreat,0.575709940157,-0.00994533904674,1.0700288926,0.546280669097,-0.00127261372858,1.06969818991
+384,6.400000000,pose2_to_pose3_retreat,0.575709795116,-0.00994534155403,1.07002888001,0.546280524241,-0.00127261560358,1.06969817747
+385,6.416666667,pose2_to_pose3_retreat,0.575709582229,-0.00994539035088,1.07002895476,0.546280311292,-0.00127266476375,1.06969824814
+386,6.433333333,pose2_to_pose3_retreat,0.575709470352,-0.0099454397985,1.07002904323,0.546280199208,-0.00127271508364,1.0696983322
+387,6.450000000,pose2_to_pose3_retreat,0.575709346483,-0.00994549454682,1.07002914119,0.546280075109,-0.00127277079773,1.06969842528
+388,6.466666667,pose2_to_pose3_retreat,0.575709286016,-0.00994541920313,1.07002925442,0.546280013981,-0.00127269780663,1.06969853566
+389,6.483333333,pose2_to_pose3_retreat,0.575709283537,-0.00994540585295,1.07002926564,0.546280011419,-0.00127268474202,1.06969854672
+390,6.500000000,pose2_to_pose3_retreat,0.57570928001,-0.00994538685559,1.0700292816,0.546280007775,-0.00127266615101,1.06969856245
+391,6.516666667,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096052,1.06969858376
+392,6.533333333,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096048,1.06969858376
+393,6.550000000,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096047,1.06969858376
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52a5d633625699ba5ab553f438ec3d236353f6bc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90b9f5cc8b5b4761bb4216a98ad26bfbb71b75f384510f31a6c9d4530414e631
+size 25264580
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b501e16cdccd299b61e2a7d277b47d14c079135
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_03/franka_data.csv
@@ -0,0 +1,398 @@
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+21,0.350000000,BASELINE,763.198723492,742,712,671,660,633,877.801276508,784,799,648.198723492,628.801276508,651,0.400972498786,-0.0153881099484,0.0798423540871,0.999999935102,0.000236462929457,-0.000270391678848,2.77394559206e-05,1793192909789450240
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+39,0.650000000,BASELINE,763.362759601,742,711.637240399,670.362759601,659.637240399,633,877,783.362759601,799,649,628.362759601,650,0.400971471608,-0.0153893016463,0.0798416728228,0.99999993519,0.000233984748183,-0.000272226436958,2.76333986541e-05,1793192910089449728
+40,0.666666667,BASELINE,763.222610631,742,712,670.222610631,660,632.777389369,877,783.222610631,799.222610631,648.777389369,628.222610631,650,0.400971363391,-0.0153891121098,0.0798419209587,0.999999935079,0.000234504922112,-0.00027219185753,2.75819227979e-05,1793192910106116352
+41,0.683333333,BASELINE,763.801674437,742,712,670.801674437,660,632.198325563,877,783.801674437,799.801674437,648.198325563,628.801674437,650,0.400971045299,-0.0153893766936,0.0798420684986,0.999999934917,0.000235564438823,-0.000271863036368,2.76893146802e-05,1793192910122783232
+42,0.700000000,BASELINE,764,742,712,671,660,632.378592938,876.621407062,783.621407062,799.621407062,648,629,650.378592938,0.400972134834,-0.0153892824579,0.0798431161792,0.999999935431,0.00023529236495,-0.000270182017666,2.78685629398e-05,1793192910139450368
+43,0.716666667,BASELINE,764,742,712,671,660,632.954393936,876.045606064,783.045606064,799.045606064,648,629,650.954393936,0.400973957598,-0.0153890013139,0.0798446327408,0.999999936294,0.000234326669027,-0.000267796642847,2.80852409932e-05,1793192910156117504
+44,0.733333333,BASELINE,763.459522995,742,712,670.459522995,660,632.459522995,876.540477005,783,799,648,629,651,0.400973733286,-0.0153892339676,0.0798437706108,0.999999935876,0.000235704536163,-0.000268164740784,2.78934333233e-05,1793192910172783872
+45,0.750000000,BASELINE,763,742.126440385,712,670.126440385,659.873559615,632.126440385,876.873559615,783,799.126440385,648,628.873559615,650.873559615,0.400973447482,-0.015389455786,0.0798429272972,0.999999935599,0.0002363217187,-0.000268676317766,2.76907934926e-05,1793192910189450240
+46,0.766666667,BASELINE,763,742.708783075,712,670.708783075,659.291216925,632.708783075,876.291216925,783,799.708783075,648,628.291216925,650.291216925,0.400973574863,-0.0153894791813,0.0798428895825,0.999999936225,0.000233469265122,-0.000268851240747,2.75757887175e-05,1793192910206116608
+47,0.783333333,BASELINE,763.288225721,742.711774279,712,670.711774279,659,632.711774279,876.288225721,783.288225721,799.711774279,648.288225721,628,650,0.400973333509,-0.0153898256654,0.0798427312838,0.999999936278,0.000232658985365,-0.000269356134946,2.75725326436e-05,1793192910222783232
+48,0.800000000,BASELINE,763.864767485,742.135232515,712,670.135232515,659,632.135232515,876.864767485,783.864767485,799.135232515,648.864767485,628,650,0.400972723306,-0.0153904953393,0.0798424523634,0.999999935763,0.000233891519043,-0.000270191103789,2.76810602757e-05,1793192910239449856
+49,0.816666667,BASELINE,763.560291198,742,712,670.439708802,659.439708802,632.439708802,877,784,799,648.560291198,628.439708802,650.439708802,0.400972183146,-0.0153911960941,0.0798419915224,0.999999935653,0.000233467733545,-0.000270952125018,2.77712652073e-05,1793192910256116736
+50,0.833333333,BASELINE,763.014474053,742,712,670.985525947,659.985525947,633,876.985525947,783.985525947,799,648,628.985525947,650.985525947,0.400971677438,-0.0153918706291,0.079841494126,0.999999935666,0.000232575098696,-0.000271664049933,2.7852211165e-05,1793192910272783360
+51,0.850000000,BASELINE,763.601680083,742,712,670.398319917,659.398319917,633,876.398319917,783.398319917,799,648,628.398319917,650.398319917,0.40097168563,-0.0153911307927,0.0798417561202,0.99999993561,0.000233213981732,-0.000271329908088,2.77889555196e-05,1793192910289449728
+52,0.866666667,BASELINE,763.812739306,742,711.812739306,670.187260694,659,632.812739306,876,783,799.187260694,648.187260694,628,650,0.400971990519,-0.0153906845195,0.0798422444842,0.999999935777,0.000233215488545,-0.00027072050639,2.76796297011e-05,1793192910306116352
+53,0.883333333,BASELINE,763.23058639,742,711.23058639,670.76941361,659,632.23058639,876,783,799.76941361,648.76941361,628,650,0.400972921078,-0.015390857308,0.0798432102131,0.999999936417,0.000231872906985,-0.000269530641334,2.74731518745e-05,1793192910322782976
+54,0.900000000,BASELINE,763.346598053,742,711.346598053,671,659.346598053,632,876.346598053,783,799.653401947,648.653401947,628,650.346598053,0.400971886282,-0.0153907069794,0.079842094352,0.999999936058,0.00023160132076,-0.000271099211052,2.74025366695e-05,1793192910339449856
+55,0.916666667,BASELINE,763.920523737,742,711.920523737,671,659.920523737,632,876.920523737,783,799.079476263,648.079476263,628,650.920523737,0.400969562444,-0.0153903447239,0.0798396132124,0.999999935036,0.00023203218179,-0.000274476990187,2.74210314017e-05,1793192910356116224
+56,0.933333333,BASELINE,763.506537512,742,711.506537512,670.506537512,659.506537512,632.493462488,877,783,799,648,628,650.506537512,0.400972639106,-0.0153893684135,0.0798420218434,0.99999993567,0.000233641448025,-0.000270757273108,2.75901377507e-05,1793192910372783360
+57,0.950000000,BASELINE,763.068861672,742,711,670.068861672,659.068861672,632.931138328,877,783,799,648,628.068861672,650,0.400975815766,-0.0153885128094,0.079844586519,0.999999936387,0.000235038248427,-0.00026685825505,2.77254039843e-05,1793192910389450752
+58,0.966666667,BASELINE,763.664287785,742,711,670.664287785,659.664287785,632.335712215,877,783,799,648,628.664287785,650,0.400973119292,-0.0153893349491,0.0798423343697,0.999999935861,0.000233362000178,-0.000270311758145,2.74167872338e-05,1793192910406117120
+59,0.983333333,BASELINE,763.748871376,742,711.251128624,671,660,632.251128624,877,783.251128624,799,648,628.748871376,650,0.400971562053,-0.0153898983336,0.0798408757594,0.999999935386,0.000233045788996,-0.000272343439083,2.73224120446e-05,1793192910422783488
+60,1.000000000,BASELINE,763.173127981,742,711.826872019,671,660,632.826872019,877,783.826872019,799,648,628.173127981,650,0.400971477416,-0.0153901272453,0.0798404428959,0.999999934991,0.000234487593513,-0.000272537239712,2.75049704984e-05,1793192910439450368
+61,1.016666667,BASELINE,763,742,712,671,660,632.597552694,877,783.597552694,799,648,628,650.402447306,0.400971468758,-0.0153900082587,0.0798409634072,0.99999993519,0.000234011516243,-0.000272217271711,2.75033626977e-05,1793192910456116992
+62,1.033333333,BASELINE,763,742,712,671,660,632.022049729,877,783.022049729,799,648,628,650.977950271,0.400971492772,-0.0153897396729,0.0798418938775,0.999999935643,0.000232710733908,-0.000271676378949,2.74225618782e-05,1793192910472783616
+63,1.050000000,BASELINE,763.56499709,742,712,671,660,632.56499709,877,783,799,648,628,651,0.40097151194,-0.0153895969142,0.0798417461607,0.999999935197,0.000234761171187,-0.000271570035216,2.72673585762e-05,1793192910489449984
+64,1.066666667,BASELINE,763.849010132,742,712,671,659.849010132,632.849010132,877,783.150989868,799,648,628,650.849010132,0.400971695996,-0.0153897516789,0.0798418513962,0.99999993501,0.000235907499567,-0.00027126573338,2.72609748911e-05,1793192910506116608
+65,1.083333333,BASELINE,763.267335792,742,712,671,659.267335792,632.267335792,877,783.732664208,799,648,628,650.267335792,0.400972350933,-0.0153907408023,0.0798428006803,0.999999935673,0.000234094106973,-0.000270347392149,2.7687540396e-05,1793192910522783232
+66,1.100000000,BASELINE,763,742,711.688271953,671,659,632.311728047,877,783.688271953,799,648,628,650,0.400972559873,-0.0153916865194,0.079843062462,0.999999936195,0.00023229592133,-0.000269959149034,2.77569566328e-05,1793192910539449856
+67,1.116666667,BASELINE,763,742,711.111428298,671,659,632.888571702,877,783.111428298,799,648,628,650,0.400972389504,-0.0153925953206,0.0798427395429,0.999999936598,0.000230510668846,-0.000270021738945,2.75226278167e-05,1793192910556116480
+68,1.133333333,BASELINE,763.462470037,742,711.462470037,670.537529963,659.462470037,632.537529963,876.537529963,783.462470037,799,648,628.462470037,650,0.400973702069,-0.0153915257207,0.0798434100213,0.999999936704,0.000232185508416,-0.000268196035201,2.74457963984e-05,1793192910572783360
+69,1.150000000,BASELINE,764,742,712,670.036660158,659.963339842,632.036660158,876.036660158,783.963339842,799,648,628.963339842,650,0.400975143544,-0.0153900018594,0.0798441680266,0.999999936657,0.000234643337096,-0.000266229376513,2.74105722489e-05,1793192910589450240
+70,1.166666667,BASELINE,764,742,712,670.625875953,659.374124047,632.625875953,876.625875953,783.374124047,799,648,628.374124047,650,0.400973176715,-0.0153887704221,0.0798426605161,0.99999993551,0.00023641664544,-0.000268952255548,2.7434126355e-05,1793192910606116864
+71,1.183333333,BASELINE,764,742,712,671,659.211489419,633,877.211489419,783,799,648,628.211489419,650,0.400971233127,-0.0153882983987,0.0798411694676,0.999999934762,0.000236642976977,-0.000271529238916,2.73610286821e-05,1793192910622784000
+72,1.200000000,BASELINE,764,742,712,671,659.790837196,633,877.790837196,783,799,648,628.790837196,650,0.400969329962,-0.0153891472769,0.0798397070524,0.999999934715,0.000234178543699,-0.000273852456181,2.71198178046e-05,1793192910639451392
+73,1.216666667,BASELINE,763.632443883,742,712,670.632443883,660,632.632443883,877.264887766,783.367556117,799,648,628.632443883,650.367556117,0.400969531013,-0.0153902667617,0.079840225337,0.99999993498,0.000233522450544,-0.000273428907346,2.72715348451e-05,1793192910656117504
+74,1.233333333,BASELINE,763.057210359,742,712,670.057210359,660,632.057210359,876.114420717,783.942789641,799,648,628.057210359,650.942789641,0.400970920993,-0.0153915391452,0.0798418627613,0.999999935423,0.000233888110059,-0.000271453374238,2.76452649414e-05,1793192910672783360
+75,1.250000000,BASELINE,763.528684554,742,711.471315446,670.528684554,660,632,877.057369108,783.471315446,799.528684554,648,628,650.471315446,0.40097188845,-0.0153902530712,0.0798421414943,0.999999935289,0.000235215479145,-0.000270819366497,2.7428878223e-05,1793192910689449728
+76,1.266666667,BASELINE,763.885747813,742,711.114252187,671,660,632.114252187,877.885747813,783,799.885747813,648,628,650.114252187,0.400972278363,-0.0153889270125,0.0798420612104,0.999999935063,0.000236290844952,-0.000270742675375,2.71796764633e-05,1793192910706116352
+77,1.283333333,BASELINE,763.306306813,742,711.693693187,671,660,632.693693187,877.306306813,783,799.306306813,648,628,650.693693187,0.400970506742,-0.0153885886041,0.0798411301127,0.999999934725,0.000235907706769,-0.000272331914105,2.70622206788e-05,1793192910722783232
+78,1.300000000,BASELINE,763,742,712,671,659.726883963,632.726883963,877,783.273116037,799,648,628,650.726883963,0.400971140338,-0.0153890778859,0.0798418976512,0.999999935138,0.000235355660623,-0.000271269105327,2.72961438464e-05,1793192910739449856
+79,1.316666667,BASELINE,763,742,712,671,659.147481504,632.147481504,877,783.852518496,799,648,628,650.147481504,0.400974471269,-0.0153904953819,0.0798445701282,0.999999936382,0.000234614192393,-0.000267232153469,2.7924121516e-05,1793192910756116480
+80,1.333333333,BASELINE,763.428095952,742,711.571904048,671,659,632.428095952,877,783.571904048,799.428095952,648.428095952,628.428095952,650,0.400974268043,-0.0153907865864,0.0798442660686,0.999999936591,0.000233152300035,-0.000267765065861,2.75584933734e-05,1793192910772783104
+81,1.350000000,BASELINE,763.997576604,742,711,670.997576604,659,633,877,783,799.997576604,649,628.997576604,650,0.400972866725,-0.015390692919,0.0798429542963,0.999999936445,0.000231457166279,-0.000269843698263,2.68588017752e-05,1793192910789449472
+82,1.366666667,BASELINE,763.409719007,742,711,670.409719007,659,633,877,783,799.409719007,649,628.409719007,650,0.400973558163,-0.0153905281741,0.0798437297634,0.999999936504,0.000232842380002,-0.000268375399444,2.74172678655e-05,1793192910806116352
+83,1.383333333,BASELINE,763.175920384,742,711.175920384,670,659.175920384,632.824079616,877,783,799,649,628,650.175920384,0.400974231019,-0.0153901138119,0.0798444421288,0.999999936527,0.000234029164329,-0.000267217686596,2.77663413544e-05,1793192910822783232
+84,1.400000000,BASELINE,763.756458014,742,711.756458014,670,659.756458014,632.243541986,877,783,799,649,628,650.756458014,0.400974861136,-0.0153891253296,0.0798450093603,0.999999936478,0.000234759560909,-0.000266774321839,2.76338115398e-05,1793192910839449856
+85,1.416666667,BASELINE,764,742,712,670.334781555,660,632,877,783.334781555,799,648.665218445,628.334781555,650.665218445,0.400974881021,-0.0153897486505,0.0798445262116,0.999999936436,0.000234718348723,-0.000266959432141,2.77242620957e-05,1793192910856116480
+86,1.433333333,BASELINE,764,742,712,670.911504972,660,632,877,783.911504972,799,648.088495028,628.911504972,650.088495028,0.400974459902,-0.0153915367986,0.079843283968,0.999999936398,0.000234119505829,-0.000267598732442,2.79758573974e-05,1793192910872783360
+87,1.450000000,BASELINE,763.515366122,742,712,671,660,632.484633878,877,783.515366122,799,648,629,650.484633878,0.400974384253,-0.0153894983,0.0798441008551,0.999999936283,0.000235574360277,-0.00026678063342,2.7677307126e-05,1793192910889450240
+88,1.466666667,BASELINE,763.059379948,742,712,671,660,633,877,783.059379948,799,648,629,650.940620052,0.400974386549,-0.015387354787,0.0798451491931,0.999999936194,0.000237075968565,-0.000265815074058,2.73794681904e-05,1793192910906116864
+89,1.483333333,BASELINE,763.654598526,742,712,671,660,633,877,783.654598526,799,648,629,650.345401474,0.400974527145,-0.0153905226851,0.0798449181071,0.999999936493,0.000235640351317,-0.000265902640923,2.79878931902e-05,1793192910922783232
+90,1.500000000,BASELINE,764,742,712,671,659.759020785,633,876.759020785,783.759020785,799,648,629,650,0.400974258271,-0.0153914517288,0.0798443650126,0.999999936294,0.00023546207454,-0.000266791245203,2.81280410117e-05,1793192910939449856
+91,1.516666667,BASELINE,764,742,712,671,659.184859562,633,876.184859562,783.184859562,799,648,629,650,0.40097342326,-0.0153892852935,0.0798433667036,0.999999935405,0.000237022218438,-0.00026878737758,2.76207407028e-05,1793192910956116736
+92,1.533333333,BASELINE,763.608273362,742,711.608273362,671,659.391726638,632.608273362,876.391726638,783,799,648,629,650,0.400972524645,-0.0153889918395,0.0798427173123,0.999999935474,0.000235804622963,-0.00026963537153,2.7275617565e-05,1793192910972783104
+93,1.550000000,BASELINE,763.030535612,742,711.030535612,671,659.969464388,632.030535612,876.969464388,783,799,648,629,650,0.400971595828,-0.0153895877692,0.0798422336043,0.999999935995,0.000233268020092,-0.000269938172954,2.70075040947e-05,1793192910989449728
+94,1.566666667,BASELINE,763,742,711.5587149,671,660,632.5587149,876.4412851,783,799,648,628.4412851,650,0.400972438426,-0.0153892422379,0.0798432376829,0.999999936019,0.000234176335422,-0.000269046943038,2.71603370882e-05,1793192911006116608
+95,1.583333333,BASELINE,763,742,712,671,659.854095195,633,876,783,799,648,628,650,0.400973278735,-0.0153891906446,0.0798439750637,0.999999936126,0.000234484763643,-0.000268363255227,2.73123053613e-05,1793192911022783488
+96,1.600000000,BASELINE,763,742,712,671,659.274931769,633,876,783,799,648,628,650,0.400973818718,-0.0153901678935,0.0798436739618,0.999999936566,0.000232441009501,-0.000268493712712,2.7391952853e-05,1793192911039450112
+97,1.616666667,BASELINE,763,742,712,671,659.301493099,633,876.301493099,783,799,648.301493099,628.301493099,650,0.400973516636,-0.0153901284245,0.079843083859,0.999999936441,0.000232502838403,-0.000268915653692,2.73028181295e-05,1793192911056116736
+98,1.633333333,BASELINE,763,742,712,671,659.875443118,633,876.875443118,783,799,648.875443118,628.875443118,650,0.400972453586,-0.0153891701555,0.0798422325885,0.999999935804,0.000234467466111,-0.000269601005987,2.70611562532e-05,1793192911072783104
+99,1.650000000,BASELINE,763.450770653,742,711.549229347,671,659.549229347,633,877,783.450770653,799,648.549229347,628.549229347,650.450770653,0.400972870546,-0.0153899202954,0.0798426143965,0.999999935869,0.000234642470808,-0.000269164845449,2.74917130195e-05,1793192911089449984
+100,1.666666667,BASELINE,763.972755551,742,711.027244449,671,659,633,876.972755551,783.972755551,799,648,628.027244449,650.972755551,0.40097364927,-0.0153910953158,0.0798433113697,0.999999936129,0.000234308758623,-0.000268428972257,2.80606290765e-05,1793192911106116864
+101,1.683333333,BASELINE,763.380425713,742,711.619574287,671,659,633,876.380425713,783.380425713,799,648,628.619574287,650.380425713,0.400973423165,-0.0153912616048,0.0798434565581,0.999999936416,0.000233711783134,-0.00026792402273,2.76348455772e-05,1793192911122783232
+102,1.700000000,BASELINE,763,742,712,671,659,632.793783792,876,783,799,648.206216208,628.793783792,650,0.400972872182,-0.0153908973152,0.0798431699321,0.999999936471,0.00023331096497,-0.000268108144724,2.72284384586e-05,1793192911139449856
+103,1.716666667,BASELINE,763,742,712,671,659,632.217353295,876,783,799,648.782646705,628.217353295,650,0.400971737956,-0.0153895804924,0.0798421080816,0.999999936111,0.000233262302725,-0.000269529337934,2.68568172695e-05,1793192911156116992
+104,1.733333333,BASELINE,763.35760889,742,711.64239111,670.64239111,659,632.35760889,876.35760889,783.35760889,799,648.64239111,628,650.35760889,0.400971768575,-0.0153892280763,0.079842084926,0.999999935956,0.000233977182617,-0.000269479697803,2.69099593317e-05,1793192911172783616
+105,1.750000000,BASELINE,763.931682344,742,711.068317656,670.068317656,659,632.931682344,876.931682344,783.931682344,799,648.068317656,628,650.931682344,0.400972504288,-0.0153894594259,0.0798426905037,0.999999935924,0.000235154242894,-0.000268539746334,2.72202151898e-05,1793192911189449984
+106,1.766666667,BASELINE,763.481990615,742,711.518009385,670.518009385,659,633,877,783.481990615,799,648,628.518009385,650.481990615,0.400974006368,-0.0153904455325,0.0798437401496,0.999999936121,0.000234997530468,-0.000267887919154,2.77507571133e-05,1793192911206116352
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783,799,648,628,650,0.400971801652,-0.0153905157039,0.0798428710516,0.999999935356,0.000235786463507,-0.000270011604027,2.80276915425e-05,1793192911248454656
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,711.42326675,670.42326675,660,633,877,783,799,648,628.57673325,650.57673325,0.400971017284,-0.0153917845618,0.0798421902443,0.999999935856,0.000233203412569,-0.000270439959652,2.76891136976e-05,1793192911265121024
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742,711.152792607,670.152792607,660,633,876.847207393,783,799,648,629,650.847207393,0.400970454377,-0.015392263794,0.0798416968056,0.999999936069,0.000231920791782,-0.000270784013408,2.7413325425e-05,1793192911281787392
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742,711.726993471,670.726993471,660,633,876.273006529,783,799,648,629,650.273006529,0.400970502264,-0.0153905652062,0.0798417201373,0.999999935504,0.000234224809922,-0.000270895559267,2.73107132829e-05,1793192911298454272
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.308714213,742.308714213,712,670.691285787,660,633,876.308714213,783,798.691285787,648.308714213,628.691285787,650,0.400970899836,-0.015389951935,0.0798421559242,0.999999935262,0.000235455720608,-0.000270713264193,2.74114880532e-05,1793192911315121152
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.897251036,742.897251036,712,670.102748964,660,633,876.897251036,783,798.102748964,648.897251036,628.102748964,650,0.400971614369,-0.0153903224091,0.0798429655659,0.999999935314,0.000235713952496,-0.00027026462784,2.76966153931e-05,1793192911331787776
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.521252374,742.521252374,711.521252374,670.478747626,660,633,877,783.478747626,798.478747626,648.521252374,628,650,0.400973827723,-0.0153907649714,0.0798446620149,0.999999936233,0.000234610553376,-0.000267796063645,2.78643597158e-05,1793192911348454144
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.058285471,742,711.058285471,671,660,633,877,784,799,648,628.058285471,650.058285471,0.40097728923,-0.0153912131282,0.0798468054836,0.999999937435,0.000233299682849,-0.000264418111699,2.79909138321e-05,1793192911365120768
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.633656654,742,711.633656654,671,660,633,877,784,799,648,628.633656654,650.633656654,0.400989011418,-0.0153915756485,0.0798512507008,0.99999993957,0.000232703216885,-0.000256762689064,2.79723060381e-05,1793192911381787392
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.791617481,742,712,671,660,632.791617481,876.791617481,783.791617481,799,648,629,650.791617481,0.401008071437,-0.015391810263,0.0798586045618,0.999999942788,0.000232979532552,-0.000243615983247,2.82028384997e-05,1793192911398454016
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.218022663,742,712,671,660,632.218022663,876.218022663,783.218022663,799,648,629,650.218022663,0.401039991774,-0.0153918207091,0.079871056127,0.999999947635,0.000234785489892,-0.000220845226392,2.88700154774e-05,1793192911415120640
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.369121745,742,712,671,659.630878255,632.369121745,876.369121745,783.369121745,799,648,629,650.369121745,0.401088660264,-0.0153941007111,0.0798863452578,0.999999954015,0.00023403994825,-0.000190584485803,2.95467988586e-05,1793192911431787264
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.964574279,742,712,671,659.035425721,632.964574279,876.964574279,783.964574279,799,648,629,650.964574279,0.401147598058,-0.0153977723146,0.0799033742724,0.999999960568,0.000231729928795,-0.000155731182414,3.02294725466e-05,1793192911448453888
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877,784,799.541471334,648,629,650.458528666,0.401220002008,-0.0154003534624,0.0799159203648,0.999999963257,0.00023112013905,-0.000138581617017,2.93967584101e-05,1793192911465121024
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.883282795,742,711.883282795,671,659.116717205,633,877,783.883282795,799.883282795,648.116717205,628.883282795,650,0.401296590005,-0.0154030166077,0.0799262264238,0.999999965405,0.000230193094513,-0.000124186445385,2.79111784781e-05,1793192911481787904
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.309904668,742,711.309904668,671,659.690095332,633,877,783.309904668,799.309904668,648.690095332,628.309904668,650,0.401386215458,-0.0154062704564,0.07992887777,0.999999967055,0.000227603976697,-0.000116186338294,2.42462866909e-05,1793192911498454272
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,711.272420037,671,660,632.727579963,877,783,799,648.727579963,628.272420037,650,0.401482728953,-0.0154096326352,0.0799302348304,0.999999968187,0.000225316042425,-0.000111564837946,2.03160490896e-05,1793192911515120640
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,711.865267916,671,660,632.134732084,877,783,799,648.134732084,628.865267916,650,0.401587344344,-0.0154131222345,0.0799300695166,0.99999996877,0.000223382368583,-0.000110917347025,1.60737047624e-05,1793192911531787264
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.447533054,742,712,671,659.552466946,632.447533054,877,783,799,648,628.552466946,650,0.401718351238,-0.0154189286107,0.0799335941341,0.999999971631,0.000213399618004,-0.000105267139449,1.0857562392e-05,1793192911548453888
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.973598621,671.026401379,659.026401379,632.973598621,877,783.026401379,798.973598621,648,628,650,0.401858721427,-0.0154254013957,0.0799382620344,0.999999974948,0.000201186235751,-9.79782988874e-05,5.30440162616e-06,1793192911565120768
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.400618475,671.599381525,659.599381525,632.400618475,877,783.599381525,798.400618475,648,628,650,0.402032247832,-0.0154315645454,0.0799441321843,0.999999977801,0.000191800954481,-8.722524921e-05,-1.2968102087e-06,1793192911581787392
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.176212135,671.823787865,660,632.176212135,876.823787865,783.823787865,798.176212135,648,628,650.176212135,0.402210045755,-0.0154374597842,0.079946665536,0.99999998034,0.00018002239202,-8.27026752465e-05,-8.4927664773e-06,1793192911598454016
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.761992257,671.238007743,660,632.761992257,876.238007743,783.238007743,798.761992257,648,628,650.761992257,0.402397771899,-0.0154427323199,0.0799414432026,0.999999982329,0.000162681152949,-9.2661531076e-05,-1.7071079971e-05,1793192911615121408
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.307032134,742,712,671,659.653516067,633,876.346483933,783,799,648,628,650.653516067,0.40260831084,-0.0154496331157,0.0799355834677,0.999999988028,0.000112784926581,-0.000102990003324,-2.48243972377e-05,1793192911631788288
+131,2.183333333,POSE1_TO_POSE2_PRESS,762.139812235,742,712,671,659.069906117,633,876.930093883,783,799,648,628,650.069906117,0.402834462378,-0.0154576482577,0.0799292875085,0.999999992214,4.06087774887e-05,-0.000113571433548,-3.20131059195e-05,1793192911648454400
+132,2.200000000,POSE1_TO_POSE2_PRESS,762.506712755,742,711.493287245,671,659.506712755,633,877,783.506712755,799,648,628.506712755,650,0.403104712428,-0.015465069382,0.0799298780501,0.999999991464,6.55625234269e-05,-0.000109866261179,-2.65024733126e-05,1793192911665121024
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.082210555,742.082210555,711.082210555,671,660,633,877,783.917789445,799,648,628.917789445,650.082210555,0.403388737735,-0.0154724185633,0.0799322785275,0.999999989945,9.47657727345e-05,-0.000103376511496,-2.10475147103e-05,1793192911681787648
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.656692387,742.656692387,711.656692387,671,660,633,877,783.343307613,799,648,628.343307613,650.656692387,0.403719314661,-0.0154798209944,0.0799399052929,0.999999992967,7.02681880799e-05,-9.1854379786e-05,-2.62740223591e-05,1793192911698454016
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.763377,711.763377,670.763377,659.763377,632.763377,876.763377,783,799,648.236623,628,650.763377,0.404063080279,-0.0154883946659,0.0799435127558,0.999999994578,5.11334426726e-05,-8.56362373871e-05,-2.99244278016e-05,1793192911715120640
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.175354656,711.175354656,670.175354656,659.175354656,632.175354656,876.175354656,783,799,648.824645344,628,650.175354656,0.404426431877,-0.015498707699,0.0799411513129,0.999999994904,3.99628366712e-05,-8.72948379505e-05,-3.12342266601e-05,1793192911731787776
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.40814241,711.40814241,670.40814241,659.40814241,632.40814241,876.40814241,783,798.59185759,648.59185759,628,650,0.404825019797,-0.015508331677,0.0799392897234,0.999999995308,2.70933969825e-05,-8.68042451254e-05,-3.33897163952e-05,1793192911748457216
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.989716537,711.989716537,670.989716537,659.989716537,632.989716537,876.989716537,783,798.010283463,648.010283463,628,650,0.405238580657,-0.015517662855,0.0799376405365,0.999999995618,1.35020731637e-05,-8.54003967492e-05,-3.59045650255e-05,1793192911765127680
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.434257048,711.434257048,671,660,633,877,783.565742952,798.565742952,648,628.565742952,650.565742952,0.405678783033,-0.0155256512082,0.0799328110086,0.999999994587,2.25712983729e-06,-9.68141802057e-05,-3.80441900235e-05,1793192911781790464
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.143448471,671.143448471,660,633,877,783.856551529,799,648.143448471,629,650.856551529,0.406129955055,-0.0155340465905,0.0799273343734,0.999999993317,-9.851071819e-06,-0.000108014914038,-4.0012075725e-05,1793192911798454272
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.726606909,671.726606909,660,633,877,783.273393091,799,648.726606909,629,650.273393091,0.406613282071,-0.0155437637221,0.0799200496525,0.999999991889,-2.4734865935e-05,-0.000117855358985,-4.14742351832e-05,1793192911815121152
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,671.691797741,660,633,877,783.308202259,799,648.691797741,628.691797741,650,0.407116960373,-0.0155422610565,0.0799158762414,0.999999990927,-2.65710091039e-05,-0.000125209406679,-4.19723019828e-05,1793192911831787776
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,671.111581879,660,633,877,783.888418121,799,648.111581879,628.111581879,650,0.407638600398,-0.0155308560068,0.0799144488138,0.999999990493,-1.68915389326e-05,-0.000130369007342,-4.1619478631e-05,1793192911848454144
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.531444607,742,711.531444607,671,659.531444607,633,876.531444607,784,799.468555393,648,628,650,0.408196565241,-0.0155213118455,0.0799090912661,0.999999989052,-5.54876819085e-06,-0.000141533534751,-4.28122584628e-05,1793192911865120768
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,711.048199548,671,659.096399095,633,876.048199548,783.951800452,799.951800452,648,628,650.048199548,0.40876997331,-0.015514390811,0.0799055304873,0.999999987839,3.17636256547e-06,-0.000149508842937,-4.42633067625e-05,1793192911881787648
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,711.622664331,671,660.245328662,633,876.622664331,783.377335669,799.377335669,648,628,650.622664331,0.409417564879,-0.0155312725633,0.0799318047633,0.999999993059,-2.10031840785e-05,-0.000107051821252,-4.45161627476e-05,1793192911898455040
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660.798528562,633.201471438,877,783,799.201471438,648,628,651,0.410080130131,-0.0155447067723,0.0799589204434,0.999999996123,-4.18077323245e-05,-6.34404068187e-05,-4.45113681048e-05,1793192911915122432
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660.211409612,633.788590388,877,783,799.788590388,648,628,651,0.410771357293,-0.0155515418486,0.0799876466998,0.9999999973,-5.61520098774e-05,-1.76193088176e-05,-4.40133903687e-05,1793192911931789568
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.370995218,742,712,671.370995218,660,633.629004782,877,783,799.629004782,648,628,650.629004782,0.411438398209,-0.0155484766848,0.079980351868,0.999999996783,-5.85153035731e-05,-3.03559769827e-05,-4.57085432826e-05,1793192911948455424
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.950747419,742,712,671.950747419,660,633.049252581,877,783,799.049252581,648,628,650.049252581,0.412091829632,-0.0155398407098,0.0799527881656,0.999999994461,-5.41369625611e-05,-7.6042781823e-05,-4.86377588106e-05,1793192911965121024
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.47175853,742.52824147,712,672,660,633,877.52824147,783,799,648.52824147,628,650,0.41278489357,-0.0155330396425,0.0799204076562,0.999999990544,-4.9291422771e-05,-0.00011581436059,-5.53948510663e-05,1793192911981787392
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742.895152376,712,671.895152376,660,633,877.895152376,783,799,648.895152376,628.104847624,650,0.413493082071,-0.015528541486,0.0798963475041,0.999999986789,-4.6557479397e-05,-0.000143265124598,-6.10638938057e-05,1793192911998454016
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.321578522,712,671.321578522,660,633,877.321578522,783,799,648.321578522,628.678421478,650,0.414252435805,-0.0155335770165,0.0799114831456,0.999999989782,-5.3457441484e-05,-0.000118090234189,-6.02799827861e-05,1793192912015120640
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.259609623,712,671.259609623,660,632.740390377,877,783,799,648.259609623,628.740390377,650,0.415029071886,-0.0155379348129,0.0799300551709,0.999999992579,-5.87620254876e-05,-8.89709822563e-05,-5.89271849698e-05,1793192912031787264
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742.850514665,712,671.850514665,660,632.149485335,877,783,799,648.850514665,628.149485335,650,0.415827762577,-0.0155414277335,0.0799530124681,0.999999994958,-6.20307018637e-05,-5.48182119609e-05,-5.68484139837e-05,1793192912048454144
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,712,671.566976161,660,632.433023839,877,783,799,648.566976161,628,650,0.416604957683,-0.0155396162793,0.0799447260145,0.999999993697,-6.52797946081e-05,-7.03749880481e-05,-5.82451083786e-05,1793192912065120768
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.012609932,742.987390068,712,671,660,633,877,783.012609932,799,648.012609932,628,650,0.417377209775,-0.0155361317327,0.0799269461455,0.999999990756,-6.84427443386e-05,-0.000100596095853,-6.0698041753e-05,1793192912081787392
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.588630034,742.411369966,712,671,660,633,877,783.588630034,799,648.588630034,628,650,0.418253853865,-0.015538152481,0.0799577412082,0.999999995443,-6.80531597883e-05,-3.38779238454e-05,-5.77574100587e-05,1793192912098454016
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.836745676,742.163254324,712,671.163254324,660,633,877,784,799.163254324,649,628,650,0.419109508093,-0.015539168436,0.0799776112289,0.999999996048,-6.82037551437e-05,1.01094437524e-05,-5.61213026884e-05,1793192912115120896
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.265608786,742.734391214,712,671.734391214,660,633,877,784,799.734391214,649,628,650,0.419912720173,-0.0155376739662,0.07997018559,0.9999999959,-6.97039629962e-05,-2.69494368492e-06,-5.77444832552e-05,1793192912131787520
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742.680180647,712,672,660,633,877,784,800,648.680180647,628,650,0.420741643064,-0.0155372963136,0.0799593455024,0.999999995823,-6.69033785016e-05,-2.15324282914e-05,-5.84315633563e-05,1793192912148453888
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742.082328538,712,672,660,633,877,784,800,648.082328538,628,650,0.421592917431,-0.0155378895583,0.0799455370876,0.999999995438,-6.03639296457e-05,-4.56147437673e-05,-5.83048508471e-05,1793192912165120512
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742.495986257,711.504013743,672,660,632.504013743,877,783.504013743,799.504013743,648,628.495986257,650,0.422466141374,-0.0155425694269,0.0799719623305,0.999999996075,-6.84837389194e-05,-6.97249141954e-06,-5.57808945075e-05,1793192912181787392
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.071060463,743,711.071060463,672,660,632,877,783.071060463,799,648,628.928939537,650,0.423334813044,-0.0155468169643,0.0799989550022,0.999999995063,-7.79753078072e-05,3.07113224292e-05,-5.3392923915e-05,1793192912198454272
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.64528115,743,711.64528115,672,660,632,877,783.64528115,799,648,628.35471885,650,0.42414643059,-0.0155433821823,0.0799844698427,0.999999995213,-8.06034638908e-05,-9.31935354115e-06,-5.46786024432e-05,1793192912215120896
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.773632845,743,712,672,660,632,877,784,799,648.226367155,628,650,0.424951971258,-0.0155399114552,0.0799576101371,0.999999993383,-7.93898974615e-05,-5.9812634205e-05,-5.79025765503e-05,1793192912231787520
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.181452272,743,712,672,660,632,877,784,799,648.818547728,628,650,0.425747691709,-0.0155363826396,0.0799107529387,0.999999987254,-7.1968038244e-05,-0.000127213679596,-6.42588715307e-05,1793192912248454144
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660.399892255,632.399892255,877.399892255,783.600107745,799,649,628,650,0.426600838233,-0.0155398064012,0.0798979551257,0.999999985848,-7.332853449e-05,-0.000136393165486,-6.57586727357e-05,1793192912265120768
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660.976449581,632.976449581,877.976449581,783.023550419,799,649,628,650,0.427479354498,-0.0155463016841,0.0799002041278,0.999999987611,-7.85689149659e-05,-0.0001198514294,-6.51129636751e-05,1793192912281787392
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,712,672,661,632.449104026,878,783.550895974,799,648.449104026,628,650,0.42829262426,-0.0155465187612,0.0799081253354,0.999999986978,-8.30104736672e-05,-0.000122321729895,-6.4741277431e-05,1793192912298453760
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,743,712,672,661,632,877.871160779,783.871160779,799,648,628,650,0.429108765007,-0.015546515902,0.079921361744,0.999999987959,-8.4801859309e-05,-0.000113317909913,-6.36441193233e-05,1793192912315120640
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,743,712,672,661,632,877.280356944,783.280356944,799,648,628,650,0.429945162789,-0.0155466831009,0.0799527901582,0.999999993409,-7.72127878769e-05,-6.02695295816e-05,-5.99038742136e-05,1793192912331787264
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,743,712,672,661,632.304168253,877,783.304168253,799,648.304168253,628,650,0.4307772841,-0.015549698028,0.0799836333813,0.999999995264,-7.78330131079e-05,-1.33258160926e-05,-5.68832860892e-05,1793192912348453632
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,743,712,672,661,632.883023335,877,783.883023335,799,648.883023335,628,650,0.431605543391,-0.015555284668,0.0800139481311,0.999999994433,-8.58668516286e-05,2.81049207737e-05,-5.45126026327e-05,1793192912365120256
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,743,712,672,661,632.538550814,877.461449186,784,799.461449186,649,628,650,0.432350892895,-0.0155531179841,0.0799819603544,0.999999994555,-8.28508578545e-05,-2.78558714488e-05,-5.70001175645e-05,1793192912381787136
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,712,672,661,632.039301719,878,784,799.960698281,648.960698281,628,650,0.433074008012,-0.0155492767985,0.0799344563217,0.999999989468,-7.78839882967e-05,-0.000106304645455,-6.08036500336e-05,1793192912398453760
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,743,712,672,661,632.610861513,878,784,799.389138487,648.389138487,628,650,0.433780377794,-0.0155493512331,0.0798905095362,0.999999982223,-8.43965645736e-05,-0.000155261318671,-6.57666711853e-05,1793192912415121408
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.18776567,743,711.81223433,672.18776567,661,632.81223433,877.81223433,783.81223433,799,648,628,650,0.434496321319,-0.0155511373987,0.0798726069752,0.999999979495,-8.81115779768e-05,-0.000169100393762,-6.81939455671e-05,1793192912431788288
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.776070458,743,711.223929542,672.776070458,661,632.223929542,877.223929542,783.223929542,799,648,628,650,0.435232687551,-0.015556575005,0.0799102615832,0.999999988353,-8.58588705265e-05,-0.000108027106143,-6.52120012434e-05,1793192912448454400
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.639593401,743,711,673,661,632.360406599,877.360406599,783.360406599,799,648,628,650,0.435935435638,-0.015562252031,0.0799349464316,0.999999990382,-9.32668790241e-05,-8.15835487315e-05,-6.22956875262e-05,1793192912465121024
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.057696256,743,711,673,661,632.942303744,877.942303744,783.942303744,799,648,628,650,0.436617523399,-0.0155680761939,0.0799516606161,0.999999989631,-0.000106611952305,-7.6421952264e-05,-5.94197078543e-05,1793192912481787904
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742.482838692,711,672.482838692,661,632.482838692,878,784,799,648,628.517161308,650,0.437248796519,-0.0155698363523,0.0799331589402,0.999999985687,-0.000114293956531,-0.000108738396749,-6.11525630488e-05,1793192912498454528
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,742,711.091423803,672.091423803,660.908576197,632,878,783.908576197,799,648,628.908576197,650,0.437864342635,-0.0155721314365,0.0799096280509,0.999999979722,-0.000122662836554,-0.000146582523254,-6.34314578603e-05,1793192912515121408
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742,711.666637434,672.666637434,660.333362566,632,878,783.333362566,799,648,628.333362566,650,0.438426261936,-0.01557962422,0.07987999488,0.999999969907,-0.000137964844997,-0.00019184911881,-6.59154997192e-05,1793192912531787776
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742.248992625,711.751007375,672.751007375,660,632,877.751007375,783.248992625,799,648,628,650,0.438969249068,-0.0155860598163,0.0798497283694,0.999999958457,-0.000149837885399,-0.00023637845239,-6.89962282608e-05,1793192912548454656
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,742.841191546,711.158808454,672.158808454,660,632,877.158808454,783.841191546,799,648,628,650,0.439486140442,-0.0155910382067,0.0798185888788,0.999999945851,-0.000156984505898,-0.000279891555716,-7.2899417277e-05,1793192912565122048
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,743,711.421904227,672,660,632,877,783.578095773,799,648,628,650.421904227,0.439958225689,-0.0155976191902,0.0797725524067,0.999999919898,-0.000174916762237,-0.000351616515998,-7.72859485352e-05,1793192912581788672
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,743,711.998408019,672,660,632,877,783.001591981,799,648,628,650.998408019,0.440413892542,-0.0156047874167,0.0797210571887,0.999999883246,-0.000196801229369,-0.000433679228801,-8.18495921361e-05,1793192912598454784
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,743,711.426667169,672.573332831,660,632,877.573332831,783,799.573332831,648,628,650.426667169,0.440857210956,-0.0156077491619,0.079685039071,0.999999856959,-0.000198028526623,-0.000489726190447,-8.38795616438e-05,1793192912615121664
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.152357005,743,711,673,659.847642995,632,878,783,800,648,628,650.152357005,0.441300321877,-0.0156119776585,0.0796628805549,0.999999839091,-0.000201806546362,-0.000523269726725,-8.53272262592e-05,1793192912631788288
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.743191706,743,711,673,659.256808294,632,878,783,800,648,628,650.743191706,0.441742934153,-0.0156198853408,0.0796804860971,0.999999852515,-0.000213090074315,-0.000492256600787,-8.51192321725e-05,1793192912648455168
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.672646555,743,711,672.672646555,659.327353445,632,878,783,800,648,628,650.672646555,0.442175030436,-0.015629198177,0.0797057136229,0.999999869685,-0.000222664609923,-0.000451920032289,-8.25715256532e-05,1793192912665122048
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.093615199,743,711,672.093615199,659.906384801,632,878,783,800,648,628,650.093615199,0.442599041721,-0.0156395913318,0.0797368011285,0.999999888501,-0.000230925226454,-0.000404415358005,-7.82249867801e-05,1793192912681788416
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.483144045,743,711.483144045,672,660,632,878,782.516855955,800,648.483144045,628.483144045,650,0.442953638426,-0.0156471699056,0.0797436691896,0.999999889821,-0.000236303812669,-0.000398333720167,-7.64777746683e-05,1793192912698454528
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.940687171,743,711.940687171,672,659.940687171,631.940687171,878.059312829,782,800,648.940687171,628.940687171,650,0.44328736085,-0.0156539269698,0.0797427260681,0.999999886109,-0.000241503553372,-0.000404674435602,-7.54699604599e-05,1793192912715120896
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.36584186,743,711.36584186,672,659.36584186,631.36584186,878.63415814,782,800,648.36584186,628.36584186,650,0.443556005571,-0.0156582616251,0.0797144879881,0.999999864778,-0.000249979824001,-0.000449551697286,-7.6531681245e-05,1793192912731787520
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,743,711,672,659,631,878.785143388,782,800,648,628,650,0.443816509964,-0.0156639748978,0.0796928755451,0.999999846752,-0.000258989477983,-0.000483080552881,-7.78008984216e-05,1793192912748454144
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,743,711,672,659,631,878.194199544,782,800,648,628,650,0.444062765415,-0.0156721013162,0.0796828606886,0.999999837305,-0.000268932771507,-0.000496745037733,-7.94333195288e-05,1793192912765120768
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742.611365308,711,672,659,631,878,782,800,648,628,650,0.4442974071,-0.0156781007075,0.0796814620423,0.999999833696,-0.000280527711623,-0.000497686240725,-7.88645535359e-05,1793192912781787392
+200,3.333333333,POSE1_TO_POSE2_PRESS,763,742.032500536,711,672,659,631,878,782,800,648,628,650,0.444526364065,-0.015683058956,0.0796842808836,0.999999832886,-0.000292931105565,-0.000492399614555,-7.72183439886e-05,1793192912798454272
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.543040714,742.543040714,711,672,659,631,878,782,800,648,628,650,0.444714494545,-0.0156885370644,0.0796806483015,0.999999828622,-0.000295073939621,-0.000499886733305,-7.61608072373e-05,1793192912815121152
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.879174831,743,711.120825169,672,659,631,877.879174831,782,800,648,628,650.120825169,0.444894036375,-0.0156934321683,0.079676797131,0.999999824378,-0.000296169755407,-0.000507723536217,-7.57946232729e-05,1793192912831787776
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.291968387,743,711.708031613,672,659,631,877.291968387,782,800,648,628,650.708031613,0.445049800543,-0.01569595753,0.0796735835303,0.999999821191,-0.000295580048175,-0.000513977123939,-7.79618730719e-05,1793192912848454144
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.291096258,743,711.708903742,672,659,631,877,782,800,648.291096258,628,651,0.445192579702,-0.0156989514891,0.0796715239549,0.999999819144,-0.000298216521429,-0.000516314007178,-7.87350699466e-05,1793192912865120512
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+212,3.533333333,POSE1_TO_POSE2_PRESS,763,742.931328159,711,672.068671841,658.931328159,630.931328159,878,781,799.068671841,649,628,650,0.445794529481,-0.0157011300529,0.0796455085913,0.999999800516,-0.000304574698306,-0.000547825953918,-7.80351256401e-05,1793192912998454016
+213,3.550000000,POSE1_TO_POSE2_PRESS,763,743,711,672.506226919,659,631,877.493773081,781,800.012453839,648.493773081,627.493773081,650.506226919,0.445822563272,-0.0156995355111,0.0796471706027,0.99999980161,-0.000304233435527,-0.000546056579945,-7.77460465398e-05,1793192913015120384
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,743,711,672.919468318,659,631,877.080531682,781,800.919468318,648,627.080531682,650.919468318,0.445848152358,-0.0156979576148,0.0796493637718,0.999999803241,-0.000303384906089,-0.00054359568184,-7.73218903973e-05,1793192913031787264
+215,3.583333333,POSE1_TO_POSE2_PRESS,763,743,711,672.345268839,659,631,877.654731161,781,800.345268839,648,627.654731161,650.345268839,0.445866205011,-0.0156972711394,0.0796511488733,0.999999806537,-0.000297991174137,-0.000540667680123,-7.61991405958e-05,1793192913048454144
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.236442859,743,711,672.236442859,658.763557141,631,878,781,800,648,628,650,0.445879407972,-0.0156984954873,0.0796513256443,0.999999807025,-0.000297392930198,-0.000540209396418,-7.53788199876e-05,1793192913065120768
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.829484304,743,711,672.829484304,658.170515696,631,878,781,800,648,628,650,0.44588529672,-0.0157026017022,0.0796490767621,0.999999803287,-0.000304027149695,-0.000543475894261,-7.50146173598e-05,1793192913081787392
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.587595543,743,711,672.587595543,658,631,878,781.412404457,799.587595543,648.412404457,628,650,0.445888983285,-0.0157014386968,0.079646874464,0.999999801761,-0.000302964198163,-0.00054686704029,-7.50093875622e-05,1793192913098454016
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+221,3.683333333,POSE1_TO_POSE2_PRESS,763,743,711,672.143175939,658.856824061,630.856824061,877.856824061,781.143175939,799.856824061,648.856824061,628,650,0.445889370237,-0.0156974927545,0.0796415156421,0.999999797802,-0.000296614859695,-0.000557532947554,-7.46539345096e-05,1793192913148453888
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+223,3.716666667,POSE1_TO_POSE2_PRESS,763,743,711,672.686165134,658,630.313834866,877,781.686165134,799.313834866,648,628,650,0.445894109749,-0.0156956952573,0.0796420936423,0.999999799605,-0.000296672235634,-0.000554221271303,-7.49238090605e-05,1793192913181787392
+224,3.733333333,POSE1_TO_POSE2_PRESS,763,743,711,672.10675478,658,630.89324522,877,781.10675478,799.89324522,648,628,650,0.445893884361,-0.015696699188,0.0796420275919,0.999999798904,-0.000296922665133,-0.000555371372315,-7.47747024784e-05,1793192913198454016
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763,742,711,672.046383225,658.046383225,630.046383225,877.046383225,781,800,648,627.046383225,650,0.445896190895,-0.0156958900272,0.0796428313026,0.999999799424,-0.000297361479728,-0.000554260330858,-7.43176923729e-05,1793192913231787520
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,742,711,672.621503998,658.621503998,630.621503998,877.621503998,781,800,648,627.621503998,650,0.445896202433,-0.0156972101577,0.0796425986613,0.999999799225,-0.000296849210296,-0.000554972127733,-7.37299484682e-05,1793192913248454144
+228,3.800000000,POSE1_TO_POSE2_PRESS,763,742.201889281,711,672.798110719,658.798110719,630.798110719,878,781.201889281,800,648,628,650,0.445896490309,-0.0156971936599,0.079642650553,0.999999799346,-0.000296095429938,-0.000555201313925,-7.33921010935e-05,1793192913265120512
+229,3.816666667,POSE1_TO_POSE2_PRESS,763,742.792408535,711,672.207591465,658.207591465,630.207591465,878,781.792408535,800,648,628,650,0.445897310127,-0.0156946041979,0.0796432501614,0.999999800084,-0.000294876749323,-0.000554501490994,-7.35352960398e-05,1793192913281786880
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+233,3.883333333,POSE1_TO_POSE2_PRESS,763,743,711,672.889407403,658,631,878,781,799.110592597,648,627.110592597,650,0.445896643281,-0.0156967842868,0.0796414242521,0.999999798191,-0.000297268276681,-0.000556658653487,-7.33581066015e-05,1793192913348453888
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+238,3.966666667,POSE1_TO_POSE2_PRESS,763,743,711,672.985973444,658,631,877.014026556,781,800,648,628,650,0.445902786229,-0.0156960739034,0.0796445729301,0.999999802446,-0.000294235996858,-0.000550690512606,-7.26187635116e-05,1793192913431787008
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+240,4.000000000,POSE1_TO_POSE2_PRESS,763,743,711,672,658,631,877.830953133,781,800,648.169046867,628,650,0.445900164886,-0.0156940724896,0.0796427829918,0.99999980052,-0.000294252637083,-0.000554143336428,-7.28002512634e-05,1793192913465120512
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,743,711,672,658,631,877.24296925,781,800,648.75703075,628,650,0.445900218887,-0.0156965267642,0.0796429226985,0.999999799836,-0.000297429807297,-0.000553706791965,-7.26161910843e-05,1793192913481787136
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,743,711,672,658.340752392,631,877.340752392,781,800,649,627.659247608,650.340752392,0.445899988229,-0.0156964740747,0.0796423754274,0.99999979937,-0.000297111666192,-0.000554689662643,-7.28217489663e-05,1793192913498453760
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+244,4.066666667,HOLD_POSE2,763,743,711,672,658,631,878,781,799,648,628,650,0.44589996956,-0.0156948008938,0.0796417969599,0.999999799247,-0.000294292342075,-0.000556466779265,-7.24027648437e-05,1793192913546475776
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+246,4.100000000,HOLD_POSE2,763,743,711,673,658,630.825104469,878,781,799.174895531,648,628,650.825104469,0.445903167527,-0.0156929835835,0.0796446139971,0.999999802613,-0.000290929164883,-0.000552191603464,-7.22457483354e-05,1793192913579809280
+247,4.116666667,HOLD_POSE2,763,743,711,673,658,630.242519708,878,781,799.757480292,648,628,650.242519708,0.445902956735,-0.0156922225586,0.079644423282,0.999999802257,-0.000292862726971,-0.000551779306047,-7.25098440491e-05,1793192913596475904
+248,4.133333333,HOLD_POSE2,763,743,711,673,658,630.33605592,878,781.33605592,800.33605592,648,628,650.33605592,0.445902350221,-0.0156915891415,0.0796440759923,0.999999802023,-0.0002927619352,-0.000552242096565,-7.26186960361e-05,1793192913613142272
+249,4.150000000,HOLD_POSE2,763,743,711,673,658,630.911772371,878,781.911772371,800.911772371,648,628,650.911772371,0.445901461495,-0.0156910467287,0.0796436170404,0.999999801875,-0.000291210330216,-0.000553328961935,-7.26168349024e-05,1793192913629808896
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+251,4.183333333,HOLD_POSE2,763,742.064496406,711,672,657.064496406,630.935503594,878,781,800,648,628,650.064496406,0.445902547467,-0.0156949122816,0.0796441263591,0.999999801172,-0.000294856152515,-0.000552639007779,-7.28361892778e-05,1793192913663142400
+252,4.200000000,HOLD_POSE2,763,742.65347852,711,672,657.65347852,630.34652148,878,781,800,648,628,650.65347852,0.445902065772,-0.0156940681169,0.0796434096781,0.999999801492,-0.000292380707288,-0.000553413300338,-7.25457582841e-05,1793192913679809280
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+256,4.266666667,HOLD_POSE2,763,743,711,672,658,631,877,781,800.030510077,648,627,650.969489923,0.445903320855,-0.0156949397767,0.079644380033,0.999999802128,-0.000291826827022,-0.000552750148905,-7.10488743208e-05,1793192913746475776
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.235136063,743,711,672,658,630,877.235136063,781,800,648,628,650.235136063,0.445865488234,-0.0156898658436,0.079624189155,0.999999785836,-0.000288490832482,-0.000582875481151,-7.31975567337e-05,1793192914012411136
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.81530741,743,711,672,658,630,877.81530741,781,800,648,628,650.81530741,0.445822965811,-0.0156878575872,0.0796042469801,0.999999765973,-0.000288149190967,-0.000616017261199,-7.44709655328e-05,1793192914029078016
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.31755281,658.31755281,631,878,782,799,648,628,650,0.442806069306,-0.0155556533485,0.079604702815,0.999999793269,-8.66757552351e-05,-0.000637137535992,-2.29138570458e-06,1793192914312411136
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,743,711,672,658.841720277,631,877.158279723,782,799.841720277,648,628,650,0.442037812,-0.0155411167736,0.0796219994658,0.999999817605,-5.15170080047e-05,-0.000601765052659,3.93715065886e-06,1793192914345744384
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.583377947,711,672,659,631,877,782,799.583377947,648,627.583377947,650,0.441607099857,-0.0155400247427,0.0796324290052,0.999999828328,-4.64429569909e-05,-0.000584080987901,6.094255638e-06,1793192914362411264
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.010302431,711,672,659,631,877,782,799.010302431,648,627.010302431,650,0.441163531689,-0.0155406517848,0.0796428756586,0.999999837699,-4.96186968036e-05,-0.000567532058139,6.83796012229e-06,1793192914379078144
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.102496695,659.102496695,632,877,782.897503305,800,648,628,650,0.438422284605,-0.0154456912201,0.0796465587066,0.999999853269,5.99109953445e-05,-0.000538392531306,2.50930167989e-06,1793192914462411008
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.689366752,660,632,877,783,799.310633248,648,628.689366752,650,0.413880939779,-0.0154002292879,0.0797816506086,0.999999920413,0.000182566103055,-0.000353911880753,2.42846479755e-05,1793192914962411520
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.112617296,660,632,877,783,799.887382704,648,628.112617296,650,0.413120883963,-0.0154039545864,0.0797970936557,0.999999932734,0.000184492912371,-0.000316029340423,2.49012022474e-05,1793192914979078400
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.944155705,742,711.944155705,671.944155705,660,632.944155705,876.944155705,783,799,648,629,650,0.411655025658,-0.0154013496426,0.0798014770097,0.999999934818,0.000179745442019,-0.000312237472896,2.37259259385e-05,1793192915012411904
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.362038621,742,711.362038621,671.362038621,660,632.362038621,876.362038621,783,799,648,629,650,0.410907628961,-0.0153975367594,0.0797846087642,0.999999922545,0.0001854768131,-0.000346360453983,2.32825169671e-05,1793192915029078272
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,632,876,783,799,648,629,650.793300396,0.40954635553,-0.0153969664112,0.079795095399,0.999999924557,0.000194645819341,-0.000335228536765,2.49329147152e-05,1793192915062411264
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742,712,671.53020353,660,632.46979647,876.46979647,783,799,648,628.53020353,650.46979647,0.407720958979,-0.0154010977319,0.079833408069,0.999999943028,0.000195673886731,-0.000273472264876,2.94708480147e-05,1793192915112411648
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.592946297,742,711.407053703,671,659,633,877,783.592946297,799,648,628.592946297,650,0.404330826883,-0.0153655533722,0.0798225194586,0.999999928163,0.000248778126937,-0.000284658647085,2.74481316287e-05,1793192915229078016
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711.75833053,671,659.75833053,633,877.75833053,783.24166947,799,648,628.24166947,650,0.403591312831,-0.0153571191693,0.0798277453871,0.99999992114,0.000265292114386,-0.000293982221531,3.02542210021e-05,1793192915262411776
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,711.515804446,670.515804446,659.484195554,633,876.484195554,783,799.515804446,648,628.484195554,651,0.402703439611,-0.0153708262365,0.079833432258,0.999999926191,0.000247839579308,-0.000291996958583,3.05082832829e-05,1793192915312411392
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.782297058,742.217702942,712,671,659,633,876.217702942,783,799.217702942,648,629,650,0.401002112392,-0.0153810254344,0.0798388741369,0.999999930308,0.000244040263132,-0.000281146441191,2.80199033992e-05,1793192915579078400
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,632.04895749,876.95104251,783,799,648,629,650,0.40098187086,-0.0153825099675,0.0798360470817,0.999999930272,0.000241711919554,-0.000283261521632,2.81870832678e-05,1793192915612411392
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.264097575,742,711.735902425,671,659.264097575,632.735902425,877,783,799,648,628.735902425,650.264097575,0.400976842956,-0.0153841444215,0.0798399612591,0.999999932531,0.000240028612119,-0.000276659883878,2.80017361299e-05,1793192915679078400
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c0832a6cbda67d66258d62581238732b152a9302
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
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+333,5.550000000,pose2_to_pose3_retreat,0.584835131414,-0.00994537208388,1.07002913879,0.555405860578,-0.00127264622372,1.06969843039
+334,5.566666667,pose2_to_pose3_retreat,0.584175284458,-0.00994548271362,1.07002911419,0.554746014535,-0.00127275357709,1.06969841008
+335,5.583333333,pose2_to_pose3_retreat,0.583545988606,-0.00994533930029,1.07002909595,0.554116718773,-0.0012726098968,1.0696983909
+336,5.600000000,pose2_to_pose3_retreat,0.582940956809,-0.00994547921594,1.07002904581,0.553511687919,-0.00127274702166,1.06969833022
+337,5.616666667,pose2_to_pose3_retreat,0.582351581466,-0.00994546199352,1.07002905427,0.55292231199,-0.00127273168167,1.06969834195
+338,5.633333333,pose2_to_pose3_retreat,0.581782523969,-0.00994548099135,1.07002910038,0.552353254534,-0.00127275039682,1.0696983907
+339,5.650000000,pose2_to_pose3_retreat,0.581241691645,-0.00994548820378,1.07002896974,0.551812422271,-0.00127275749714,1.06969825669
+340,5.666666667,pose2_to_pose3_retreat,0.580732565187,-0.00994545869751,1.07002916779,0.551303295733,-0.001272728142,1.06969845808
+341,5.683333333,pose2_to_pose3_retreat,0.580256346214,-0.00994546428493,1.07002925913,0.550827078279,-0.00127272873213,1.06969854521
+342,5.700000000,pose2_to_pose3_retreat,0.57981642927,-0.00994525992518,1.07002916145,0.550387158136,-0.00127253489294,1.06969845635
+343,5.716666667,pose2_to_pose3_retreat,0.579404406227,-0.00994532054461,1.07002934429,0.549975134832,-0.00127259682522,1.06969862822
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+345,5.750000000,pose2_to_pose3_retreat,0.578644177848,-0.00994547450609,1.07002927466,0.549214908531,-0.00127274363256,1.06969856239
+346,5.766666667,pose2_to_pose3_retreat,0.57829942985,-0.00994535729835,1.07002927612,0.54887015903,-0.00127263182365,1.06969855599
+347,5.783333333,pose2_to_pose3_retreat,0.577979031698,-0.00994554249497,1.07002891288,0.548549763567,-0.00127280733197,1.06969820744
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+349,5.816666667,pose2_to_pose3_retreat,0.577417531609,-0.00994542805831,1.07002933763,0.547988261228,-0.00127270072923,1.06969862657
+350,5.833333333,pose2_to_pose3_retreat,0.577177537072,-0.00994547566464,1.07002889844,0.547748267934,-0.0012727437532,1.06969819693
+351,5.850000000,pose2_to_pose3_retreat,0.57696272847,-0.00994545831048,1.07002928368,0.547533457838,-0.00127273212758,1.06969856494
+352,5.866666667,pose2_to_pose3_retreat,0.576772515263,-0.00994553738496,1.07002901924,0.547343247539,-0.00127280082649,1.06969831394
+353,5.883333333,pose2_to_pose3_retreat,0.576607255782,-0.00994548182389,1.07002937726,0.54717798778,-0.0012727464148,1.06969866642
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+355,5.916666667,pose2_to_pose3_retreat,0.57633319807,-0.00994540108441,1.07002893423,0.546903928423,-0.00127267085514,1.06969823405
+356,5.933333333,pose2_to_pose3_retreat,0.576220705148,-0.00994533634675,1.07002918883,0.54679143392,-0.00127261202709,1.06969847438
+357,5.950000000,pose2_to_pose3_retreat,0.576120787851,-0.00994535713317,1.07002926964,0.546691517171,-0.0012726309644,1.06969855681
+358,5.966666667,pose2_to_pose3_retreat,0.576033424826,-0.00994545162121,1.07002936593,0.546604155481,-0.00127272101226,1.06969865155
+359,5.983333333,pose2_to_pose3_retreat,0.575958603346,-0.0099455242146,1.0700293129,0.546529334069,-0.00127279327409,1.06969859994
+360,6.000000000,pose2_to_pose3_retreat,0.575896513805,-0.00994544537859,1.07002917799,0.546467243968,-0.00127271621481,1.06969846739
+361,6.016666667,pose2_to_pose3_retreat,0.575847524271,-0.00994535102553,1.0700291495,0.546418253216,-0.00127262601644,1.06969843834
+362,6.033333333,pose2_to_pose3_retreat,0.575809370303,-0.00994538425157,1.07002916418,0.546380099735,-0.00127265766045,1.06969845115
+363,6.050000000,pose2_to_pose3_retreat,0.575780396852,-0.00994540191797,1.07002922347,0.546351126598,-0.00127267431263,1.06969850882
+364,6.066666667,pose2_to_pose3_retreat,0.57575807793,-0.00994539285885,1.07002932574,0.546328807854,-0.0012726646589,1.06969861099
+365,6.083333333,pose2_to_pose3_retreat,0.575741797194,-0.00994542619908,1.07002925137,0.546312528066,-0.00127269468522,1.06969853919
+366,6.100000000,pose2_to_pose3_retreat,0.57572993778,-0.00994541249673,1.07002878262,0.546300667386,-0.00127268506006,1.06969807609
+367,6.116666667,pose2_to_pose3_retreat,0.575722207493,-0.00994539555228,1.07002888697,0.546292935859,-0.00127267236335,1.06969817944
+368,6.133333333,pose2_to_pose3_retreat,0.575717870723,-0.00994537544146,1.07002897187,0.54628859998,-0.00127264930453,1.06969826238
+369,6.150000000,pose2_to_pose3_retreat,0.575715614015,-0.00994536309543,1.07002902072,0.546286344018,-0.00127263447887,1.06969830997
+370,6.166666667,pose2_to_pose3_retreat,0.575714668879,-0.00994537332875,1.07002905765,0.546285399102,-0.00127264399527,1.06969834608
+371,6.183333333,pose2_to_pose3_retreat,0.575714213334,-0.00994539467329,1.070029093,0.546284943566,-0.0012726653369,1.06969838073
+372,6.200000000,pose2_to_pose3_retreat,0.575714017772,-0.00994540383636,1.07002910817,0.546284748007,-0.00127267449871,1.06969839561
+373,6.216666667,pose2_to_pose3_retreat,0.575713635142,-0.0099454217645,1.07002913786,0.546284365384,-0.0012726924244,1.06969842471
+374,6.233333333,pose2_to_pose3_retreat,0.575713156345,-0.00994544419848,1.07002917501,0.546283886597,-0.00127271485532,1.06969846113
+375,6.250000000,pose2_to_pose3_retreat,0.575712707775,-0.00994546521623,1.07002920982,0.546283438035,-0.0012727358702,1.06969849525
+376,6.266666667,pose2_to_pose3_retreat,0.575712319282,-0.00994548341903,1.07002923996,0.54628304955,-0.00127275407052,1.0696985248
+377,6.283333333,pose2_to_pose3_retreat,0.575712033886,-0.00994549679127,1.0700292621,0.546282764159,-0.00127276744093,1.0696985465
+378,6.300000000,pose2_to_pose3_retreat,0.575711868603,-0.0099455045356,1.07002927493,0.546282598879,-0.0012727751842,1.06969855908
+379,6.316666667,pose2_to_pose3_retreat,0.57571181189,-0.00994550719288,1.07002927933,0.546282542167,-0.00127277784113,1.06969856339
+380,6.333333333,pose2_to_pose3_retreat,0.575711661424,-0.00994551171441,1.0700292762,0.546282391673,-0.00127278246787,1.06969856
+381,6.350000000,pose2_to_pose3_retreat,0.575711461026,-0.00994551661934,1.07002926551,0.546282191224,-0.00127278755983,1.06969854892
+382,6.366666667,pose2_to_pose3_retreat,0.575711402774,-0.00994551804509,1.0700292624,0.546282132958,-0.00127278903995,1.0696985457
+383,6.383333333,pose2_to_pose3_retreat,0.57571136944,-0.00994551886097,1.07002926062,0.546282099615,-0.00127278988694,1.06969854386
+384,6.400000000,pose2_to_pose3_retreat,0.575711340971,-0.00994551955779,1.0700292591,0.546282071138,-0.00127279061032,1.06969854228
+385,6.416666667,pose2_to_pose3_retreat,0.57571133437,-0.00994551971935,1.07002925874,0.546282064536,-0.00127279077805,1.06969854192
+386,6.433333333,pose2_to_pose3_retreat,0.575711296111,-0.00994552065578,1.0700292567,0.546282026267,-0.00127279175018,1.0696985398
+387,6.450000000,pose2_to_pose3_retreat,0.575711070509,-0.00994552617757,1.07002924466,0.546281800608,-0.00127279748253,1.06969852733
+388,6.466666667,pose2_to_pose3_retreat,0.575710795026,-0.00994553292025,1.07002922995,0.546281525055,-0.00127280448232,1.06969851211
+389,6.483333333,pose2_to_pose3_retreat,0.575710631449,-0.00994553692395,1.07002922122,0.546281361437,-0.00127280863868,1.06969850307
+390,6.500000000,pose2_to_pose3_retreat,0.575710536134,-0.00994553925685,1.07002921613,0.546281266098,-0.00127281106054,1.0696984978
+391,6.516666667,pose2_to_pose3_retreat,0.575710069815,-0.00994555067042,1.07002919123,0.54628079966,-0.00127282290933,1.06969847202
+392,6.533333333,pose2_to_pose3_retreat,0.575709766307,-0.00994553983907,1.07002921082,0.546280496133,-0.00127281208204,1.06969849327
+393,6.550000000,pose2_to_pose3_retreat,0.57570958541,-0.00994552381809,1.07002924124,0.546280315253,-0.00127279591722,1.06969852584
+394,6.566666667,pose2_to_pose3_retreat,0.575709430163,-0.00994551006885,1.07002926734,0.546280160022,-0.00127278204454,1.0696985538
+395,6.583333333,pose2_to_pose3_retreat,0.575709383566,-0.00994549784471,1.07002927586,0.546280113328,-0.00127277014468,1.06969856246
+396,6.600000000,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096035,1.06969858376
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..79b9e846c902b7047094a663fdc9a220abd8f086
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd1325c569b9805d11031ac8985d2be86dbc55d7df1201521bcb49dc77addedb
+size 25398755
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..119a3966828fb41566a1cae228c4038138dfbe4c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/franka_data.csv
@@ -0,0 +1,400 @@
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+20,0.333333333,BASELINE,764,742,712,671,659.602632754,632.397367246,876.602632754,783,799.602632754,648.602632754,629,650,0.400974289644,-0.0153865941443,0.0798439874691,0.999999935205,0.000237284525703,-0.000269409171718,2.65282869075e-05,1793192916579087616
+21,0.350000000,BASELINE,764,742,712,671,659.820684202,632.179315798,876.820684202,783,799.820684202,649,628.820684202,650.179315798,0.40097403027,-0.0153870148438,0.079844246517,0.999999934953,0.000238030691569,-0.00026967175226,2.66758225417e-05,1793192916595754496
+22,0.366666667,BASELINE,764,742,712,671,659.245030253,632.754969747,876.245030253,783,799.245030253,649,628.245030253,650.754969747,0.400974292767,-0.0153856015842,0.0798447423631,0.999999934483,0.000241576031,-0.000268210772401,2.71566825272e-05,1793192916612421120
+23,0.383333333,BASELINE,764,742,712,671,659.327478631,633,876.327478631,783.327478631,799,648.672521369,628.327478631,650.672521369,0.400975579396,-0.0153850810608,0.0798454603323,0.999999934992,0.000241347530422,-0.000266520585524,2.70863320338e-05,1793192916629087744
+24,0.400000000,BASELINE,764,742,712,671,659.897656719,633,876.897656719,783.897656719,799,648.102343281,628.897656719,650.102343281,0.400977625023,-0.0153852221578,0.0798463429205,0.999999936225,0.000238322179255,-0.000264660529642,2.66074710153e-05,1793192916645754368
+25,0.416666667,BASELINE,764,742,712,671,659.509079164,633,877,784,799.490920836,648,629,650.490920836,0.400977160405,-0.0153863942876,0.0798460783352,0.999999936056,0.000238405359832,-0.000265196296609,2.68612858759e-05,1793192916662420992
+26,0.433333333,BASELINE,764,742,712,671,659,633,877.085922008,784,799.914077992,648,629,650.914077992,0.40097618584,-0.015387527606,0.0798455339058,0.999999935641,0.000238987112839,-0.000266205527054,2.71759759624e-05,1793192916679087616
+27,0.450000000,BASELINE,764,742,712,671,659,633,877.662021713,784,799.337978287,648,629,650.337978287,0.400975434864,-0.0153871527769,0.0798448246658,0.999999935564,0.000238533719482,-0.000266925830299,2.69235718271e-05,1793192916695754240
+28,0.466666667,BASELINE,764,742,712,671,659.237594156,632.762405844,877.762405844,783.762405844,799,648,629,650,0.400974906961,-0.0153873280378,0.0798443732558,0.999999935624,0.000237667421763,-0.000267475049203,2.68758319454e-05,1793192916712421120
+29,0.483333333,BASELINE,764,742,712,671,659.812418193,632.187581807,877.187581807,783.187581807,799,648,629,650,0.400974695679,-0.0153882840705,0.0798442877972,0.99999993588,0.000236215067194,-0.000267781439059,2.71185828183e-05,1793192916729088000
+30,0.500000000,BASELINE,763.601500809,742,711.601500809,671,660,632.398499191,877,783,799,648.398499191,629,650,0.400975345496,-0.015387382451,0.079844653063,0.999999935913,0.000236748639143,-0.000267197637265,2.70257069193e-05,1793192916745754368
+31,0.516666667,BASELINE,763.009966908,742,711.009966908,671,660,632.990033092,877,783,799,648.990033092,629,650,0.400976412433,-0.0153855809768,0.0798452366616,0.999999935835,0.000238244202419,-0.000266182622826,2.67702519715e-05,1793192916762420736
+32,0.533333333,BASELINE,763.569457277,742,711.569457277,671,659.430542723,632.430542723,876.430542723,783,799,648.430542723,628.430542723,650,0.40097425226,-0.0153872129512,0.0798441097472,0.999999935786,0.000236379768859,-0.000268031388844,2.66903971766e-05,1793192916779087616
+33,0.550000000,BASELINE,764,742,712,671,659.147841783,632.147841783,876,783.147841783,799,648,628,650,0.400972546512,-0.015387935216,0.0798432396316,0.999999935531,0.000235832096846,-0.000269462913104,2.66559205234e-05,1793192916795753984
+34,0.566666667,BASELINE,764,742,712,671,659.723816399,632.723816399,876,783.723816399,799,648,628,650,0.400972316888,-0.0153858526648,0.0798431980683,0.999999934692,0.000239264371241,-0.000269544024103,2.67441387823e-05,1793192916812420608
+35,0.583333333,BASELINE,764,742,711.694695393,671,659.694695393,633,876.305304607,784,799,648.305304607,628.305304607,650,0.400972356208,-0.0153851046364,0.07984291719,0.999999934483,0.000239760281548,-0.000269890115392,2.65993593007e-05,1793192916829087744
+36,0.600000000,BASELINE,764,742,711.108127699,671,659.108127699,633,876.891872301,784,799,648.891872301,628.891872301,650,0.400972643295,-0.0153855860421,0.0798424158421,0.999999934861,0.000237551055129,-0.00027048032084,2.62399297317e-05,1793192916845754880
+37,0.616666667,BASELINE,764.472520559,742,711.472520559,670.527479441,659,633,877,783.527479441,798.527479441,648.527479441,628.527479441,650,0.40097263724,-0.0153870560649,0.0798428268179,0.999999935393,0.000235715126583,-0.000270106802558,2.63542261379e-05,1793192916862421504
+38,0.633333333,BASELINE,764.948315971,742,712,670.103368058,659,632.948315971,876.948315971,783,798.051684029,648,628.051684029,650.051684029,0.400972744522,-0.0153884022971,0.0798434507789,0.99999993588,0.000234379015744,-0.000269448931459,2.6539364383e-05,1793192916879088384
+39,0.650000000,BASELINE,764.370648046,742,712,671.258703907,659,632.370648046,876.370648046,783,798.629351954,648,628.629351954,650.629351954,0.400974679456,-0.0153862149165,0.0798441439386,0.999999935561,0.000237270924689,-0.000268113778941,2.63558899925e-05,1793192916895754752
+40,0.666666667,BASELINE,763.793672392,742,712,671.793672392,659,632,876,783.206327608,799,648,628.793672392,651,0.400975156424,-0.015385222902,0.0798443470273,0.999999935274,0.000238983389321,-0.000267662054975,2.63741862739e-05,1793192916912421376
+41,0.683333333,BASELINE,763.217936212,742,712,671.217936212,659,632,876,783.782063788,799,648,628.217936212,651,0.400973023053,-0.0153863710692,0.0798436726937,0.999999935056,0.000238584178837,-0.00026879201996,2.67537324085e-05,1793192916929088000
+42,0.700000000,BASELINE,763.365052827,742,712,670.634947173,659.365052827,632,876,784,799,648,628,651,0.40097357828,-0.0153876347634,0.0798442002115,0.999999935492,0.00023746629265,-0.000268151013314,2.68620927493e-05,1793192916945754624
+43,0.716666667,BASELINE,763.952459564,742,712,670.047540436,659.952459564,632,876,784,799,648,628,651,0.400975771134,-0.0153889688252,0.0798454597778,0.999999936321,0.000235910660643,-0.000266431306668,2.68052736351e-05,1793192916962420992
+44,0.733333333,BASELINE,764,742,712,670.532256373,660,632,876,783.467743627,799.532256373,648.532256373,628,650.467743627,0.40097528589,-0.0153875904247,0.0798452829239,0.999999936243,0.000236689802445,-0.000266039553468,2.6754675208e-05,1793192916979087616
+45,0.750000000,BASELINE,764,742,712.111135365,671,660,632.111135365,876.111135365,783.111135365,799.888864635,648.888864635,628.111135365,650,0.40097476327,-0.0153861967619,0.0798450240214,0.999999936032,0.000237712021641,-0.000265923741001,2.67088469044e-05,1793192916995754496
+46,0.766666667,BASELINE,764,742,712.688974048,671,660,632.688974048,876.688974048,783.688974048,799.311025952,648.311025952,628.688974048,650,0.400975074052,-0.0153857420721,0.0798449517499,0.999999935605,0.000238891626339,-0.00026647564211,2.6680749931e-05,1793192917012421376
+47,0.783333333,BASELINE,764,742,712.735354202,671,660,633,877.264645798,783.735354202,798.735354202,648,628.735354202,650,0.400974886591,-0.0153860224813,0.0798451211682,0.999999935397,0.000239426088848,-0.000266771461769,2.67297349711e-05,1793192917029088256
+48,0.800000000,BASELINE,764,742,712.162208389,671,660,633,877.837791611,783.162208389,798.162208389,648,628.162208389,650,0.400974118326,-0.0153871598022,0.0798455723264,0.999999935446,0.000239208503393,-0.000266768765024,2.6868575212e-05,1793192917045754624
+49,0.816666667,BASELINE,763.576796831,742,712.423203169,671,660,633,877.576796831,783.423203169,798.423203169,648.423203169,628,650.423203169,0.400974366033,-0.0153876646945,0.0798453366331,0.999999936016,0.000236661972323,-0.000266913717355,2.67641813781e-05,1793192917062421248
+50,0.833333333,BASELINE,763,742,712.986725149,671,659.986725149,632.986725149,876.986725149,784,799,648.986725149,628.013274851,650.986725149,0.400974992782,-0.0153879037897,0.0798448438615,0.999999936749,0.000233342246674,-0.000267110267582,2.65753091409e-05,1793192917079087616
+51,0.850000000,BASELINE,763,742,712.404432022,671,659.404432022,632.404432022,876.404432022,784,799,648.404432022,628.595567978,650.404432022,0.400974676917,-0.0153874501921,0.0798449529532,0.999999936073,0.000236285203762,-0.000267020343466,2.68807838705e-05,1793192917095754240
+52,0.866666667,BASELINE,763.174819269,742,712,670.825180731,659.174819269,632.174819269,876.174819269,783.825180731,799,648,629,650,0.400974280564,-0.0153872028506,0.079844941193,0.999999935679,0.000237828627615,-0.000267114742653,2.70002647768e-05,1793192917112421120
+53,0.883333333,BASELINE,763.7471538,742,712,670.2528462,659.7471538,632.7471538,876.7471538,783.2528462,799,648,629,650,0.40097370119,-0.0153874245077,0.0798446546319,0.999999935938,0.000236189702899,-0.000267628267991,2.66968209854e-05,1793192917129087744
+54,0.900000000,BASELINE,763.67279349,742,712,670.32720651,659.67279349,632.67279349,877.32720651,783.32720651,799,648,628.67279349,650,0.400972886876,-0.0153872149627,0.079844324067,0.999999935694,0.000236570615703,-0.000268208229482,2.66446474247e-05,1793192917145754624
+55,0.916666667,BASELINE,763.086632566,742,712,670.913367434,659.086632566,632.086632566,877.913367434,783.913367434,799,648,628.086632566,650,0.400971886628,-0.0153866641602,0.0798439586773,0.99999993505,0.000238550047639,-0.000268840769164,2.67913315823e-05,1793192917162421760
+56,0.933333333,BASELINE,763,742,712,671,659.496934054,632,877.503065946,783.503065946,799,648,628,650.496934054,0.400971958354,-0.0153868101598,0.0798439024727,0.999999935222,0.000237575042531,-0.00026908577348,2.65920130993e-05,1793192917179088384
+57,0.950000000,BASELINE,763.07910622,742.07910622,712,671,659.92089378,632.07910622,876.92089378,783.07910622,798.92089378,648,628.07910622,650.92089378,0.400972384393,-0.0153869380049,0.0798439649595,0.999999935484,0.000236437619936,-0.000269133105232,2.63818119389e-05,1793192917195754496
+58,0.966666667,BASELINE,763.655342404,742.655342404,712,671,659.344657596,632.655342404,876.344657596,783.655342404,798.344657596,648,628.655342404,650.344657596,0.400973868721,-0.0153861923267,0.0798444363665,0.999999935438,0.000237499506276,-0.000268360565034,2.64803233014e-05,1793192917212421120
+59,0.983333333,BASELINE,763.769259388,742.769259388,711.769259388,671,659,633,876.230740612,783.769259388,798.230740612,648,628.769259388,650.230740612,0.400974967951,-0.0153855757731,0.0798449295779,0.999999935495,0.000238287503139,-0.000267450958061,2.64541260509e-05,1793192917229087488
+60,1.000000000,BASELINE,763.195108253,742.195108253,711.195108253,671,659,633,876.804891747,783.195108253,798.804891747,648,628.195108253,650.804891747,0.400975494043,-0.0153851513952,0.0798454552406,0.999999935707,0.000238667871312,-0.000266337354925,2.624232538e-05,1793192917245754112
+61,1.016666667,BASELINE,763.388112581,742,711.388112581,671.388112581,659.388112581,633,876.611887419,783,799,648,628.388112581,651,0.400975355671,-0.0153863053463,0.0798454653776,0.999999936091,0.000237471736551,-0.000265937507143,2.64891284021e-05,1793192917262420736
+62,1.033333333,BASELINE,763.97600191,742,711.97600191,671.97600191,659.97600191,633,876.02399809,783,799,648,628.97600191,651,0.400974875274,-0.0153882717253,0.0798452101533,0.999999936562,0.000235464113955,-0.000265905057266,2.69719927212e-05,1793192917279087616
+63,1.050000000,BASELINE,763.441583433,742,711.441583433,672,659.441583433,633,876.558416567,783,799,648.558416567,629,650.441583433,0.400974552227,-0.0153856361859,0.0798450559097,0.999999935448,0.000239115985581,-0.000266869123136,2.66135583308e-05,1793192917295754752
+64,1.066666667,BASELINE,763,742,711,671.861278347,659.138721653,632.861278347,877,783,799,648.861278347,628.861278347,650,0.400974224158,-0.0153840070426,0.0798448365042,0.999999934581,0.000241789003975,-0.000267732709118,2.63540663753e-05,1793192917312421888
+65,1.083333333,BASELINE,763,742,711,671.286867154,659.713132846,632.286867154,877,783,799,648.286867154,628.286867154,650,0.400973859288,-0.0153861538449,0.0798443989446,0.999999934745,0.000240631222136,-0.000268147514997,2.65177788319e-05,1793192917329088256
+66,1.100000000,BASELINE,763,742,711.288570389,671,660,632.288570389,877,783.288570389,799,648,628.288570389,650,0.400974191189,-0.0153874122702,0.0798444533133,0.999999935113,0.000239467524817,-0.000267801445334,2.66625139609e-05,1793192917345754624
+67,1.116666667,BASELINE,763,742,711.865031829,671,660,632.865031829,877,783.865031829,799,648,628.865031829,650,0.40097521822,-0.0153877844099,0.0798449984525,0.999999935685,0.000238297926014,-0.000266696291317,2.67883164278e-05,1793192917362420992
+68,1.133333333,BASELINE,763,742,712,671,660,633,877,783.547426889,799,648.452573111,629,650,0.400975425477,-0.0153867849444,0.0798455143917,0.999999935936,0.000238233265279,-0.000265833073748,2.65667985841e-05,1793192917379087872
+69,1.150000000,BASELINE,763,742,711.95754708,670.95754708,659.95754708,633,877,783.04245292,799,648.95754708,629,650,0.400975361501,-0.0153855519459,0.0798459852308,0.999999936075,0.000238436891057,-0.000265154238733,2.62927487949e-05,1793192917395754496
+70,1.166666667,BASELINE,763,742,711.380864417,670.380864417,659.380864417,633,877,783.619135583,799,648.380864417,629,650,0.400975038027,-0.0153866567908,0.0798460008596,0.999999936035,0.000237765896518,-0.000265864942579,2.66937930253e-05,1793192917412420864
+71,1.183333333,BASELINE,763.195254033,742,711.195254033,670.195254033,659.195254033,632.804745967,877,783.804745967,799,648,629,650,0.400975070368,-0.0153874006072,0.0798461257751,0.999999936125,0.000237124991357,-0.000266082160087,2.68792437812e-05,1793192917429087488
+72,1.200000000,BASELINE,763.770275197,742,711.770275197,670.770275197,659.770275197,632.229724803,877,783.229724803,799,648,629,650,0.400975794765,-0.015387442227,0.079846463252,0.999999936466,0.000236542609613,-0.000265339551753,2.66453674677e-05,1793192917445754112
+73,1.216666667,BASELINE,763.645691563,742,711.645691563,670.645691563,659.645691563,632.354308437,876.645691563,783,799,648,629,650,0.400976079606,-0.0153876801636,0.07984652176,0.999999936553,0.000236534739407,-0.000265011605265,2.67113630367e-05,1793192917462420736
+74,1.233333333,BASELINE,763.055662646,742,711.055662646,670.055662646,659.055662646,632.944337354,876.055662646,783,799,648,629,650,0.400976072012,-0.0153880487094,0.0798463946706,0.999999936471,0.000236909090262,-0.000264959532265,2.69768626012e-05,1793192917479087360
+75,1.250000000,BASELINE,763,742,711.524562716,670.524562716,659,632.475437284,876,783.524562716,799,648,628.475437284,650,0.400976025541,-0.0153879756205,0.0798466454457,0.999999936713,0.000236641728843,-0.000264290946539,2.69162220037e-05,1793192917495753984
+76,1.266666667,BASELINE,763.102995016,742,712,671,659.102995016,632.102995016,876.102995016,784,799,648,628,650,0.400975562245,-0.0153879516903,0.0798465227504,0.999999936821,0.00023616666304,-0.000264324153433,2.67744162548e-05,1793192917512420864
+77,1.283333333,BASELINE,763.677890771,742,712,671,659.677890771,632.677890771,876.677890771,784,799,648,628,650,0.40097320771,-0.0153883637706,0.0798445085545,0.999999936151,0.000235046207558,-0.000267867061057,2.64163846239e-05,1793192917529088512
+78,1.300000000,BASELINE,764,742,712,671,660,633,877.251951111,783.748048889,799,648.251951111,628.251951111,650,0.400972473645,-0.0153879617397,0.0798437648535,0.999999935666,0.000235511640632,-0.000269276092744,2.63007403021e-05,1793192917545755648
+79,1.316666667,BASELINE,764,742,712,671,660,633,877.824946893,783.175053107,799,648.824946893,628.824946893,650,0.400973804439,-0.0153865223406,0.0798446400604,0.999999935425,0.000237997866909,-0.000267966066896,2.64939541582e-05,1793192917562421504
+80,1.333333333,BASELINE,763.587844202,742,712,671,660,632.587844202,877.587844202,783.412155798,799,648.587844202,629,650,0.400974825361,-0.0153859205999,0.0798457328785,0.999999935889,0.000237863480287,-0.000266348090549,2.64818213402e-05,1793192917579087872
+81,1.350000000,BASELINE,763.005484427,742.005484427,712,671,660,632,877,784,799.005484427,648.005484427,629,650,0.400975678918,-0.0153856899792,0.0798468976916,0.999999936646,0.000236597961147,-0.000264638493343,2.63819649321e-05,1793192917595754752
+82,1.366666667,BASELINE,763.584934728,742.584934728,712,671,660,632,877,784,799.584934728,648.584934728,629,650,0.400973282641,-0.0153857354311,0.0798455789363,0.999999935638,0.000237599541123,-0.00026751746749,2.65549882255e-05,1793192917612421632
+83,1.383333333,BASELINE,764,742.837251578,711.837251578,671,660,632.162748422,877,784,799.837251578,648.837251578,628.837251578,650.162748422,0.400971849695,-0.0153859758395,0.079844606196,0.999999935046,0.000237992330228,-0.000269360909136,2.66792241772e-05,1793192917629088256
+84,1.400000000,BASELINE,764,742.263570125,711.263570125,671,660,632.736429875,877,784,799.263570125,648.263570125,628.263570125,650.736429875,0.400972849118,-0.015386708505,0.0798445071292,0.999999935525,0.0002368479478,-0.000268589674684,2.66802741475e-05,1793192917645754368
+85,1.416666667,BASELINE,764,742,711.31824665,671,660,633,877,783.68175335,799,648,628.31824665,650.68175335,0.400974208549,-0.0153871097158,0.0798450810949,0.999999936003,0.000236436851219,-0.000267160619478,2.67754835886e-05,1793192917662420992
+86,1.433333333,BASELINE,764,742,711.906977771,671,660,633,877,783.093022229,799,648,628.906977771,650.093022229,0.400975873958,-0.0153872292163,0.079846227085,0.999999936477,0.000236648989654,-0.00026517246873,2.6950721129e-05,1793192917679087616
+87,1.450000000,BASELINE,763.512111617,742,712,670.512111617,660,632.512111617,877,783,799,648,629,650,0.400975170172,-0.0153879161934,0.0798456869973,0.999999936321,0.000236995282375,-0.000265469785685,2.67952665944e-05,1793192917695754240
+88,1.466666667,BASELINE,763.066960742,742,712,670.066960742,660,632.066960742,877,783.066960742,799,648,629,650.066960742,0.400974163821,-0.0153885422777,0.0798449840481,0.999999936092,0.000237257747757,-0.000266111897678,2.66425834018e-05,1793192917712420864
+89,1.483333333,BASELINE,763.643213667,742,712,670.643213667,660,632.643213667,877,783.643213667,799,648,629,650.643213667,0.400974237701,-0.0153878952781,0.0798454488928,0.999999936216,0.000236691161787,-0.000266114478614,2.69829661454e-05,1793192917729087744
+90,1.500000000,BASELINE,763.782378721,742,712,671,659.782378721,633,876.782378721,783.782378721,799,648.217621279,628.782378721,650.782378721,0.400974320525,-0.0153873614327,0.079845599619,0.999999936197,0.000236488300613,-0.000266360498334,2.70351921988e-05,1793192917745754624
+91,1.516666667,BASELINE,763.210971088,742,712,671,659.210971088,633,876.210971088,783.210971088,799,648.789028912,628.210971088,650.210971088,0.400974417887,-0.0153870115417,0.0798452396834,0.999999935945,0.000236876745963,-0.000267002275863,2.6618962626e-05,1793192917762421504
+92,1.533333333,BASELINE,763.374892242,742,711.625107758,671,659,632.625107758,876,783.374892242,799.374892242,648.625107758,628,650.374892242,0.400975088155,-0.015386920992,0.079845677031,0.999999935892,0.000237833823891,-0.000266372367049,2.64043316056e-05,1793192917779088128
+93,1.550000000,BASELINE,763.969216851,742,711.030783149,671,659,632.030783149,876,783.969216851,799.969216851,648.030783149,628,650.969216851,0.400976093755,-0.0153869822401,0.0798465810454,0.999999935952,0.000239123734542,-0.000264998113349,2.63077004472e-05,1793192917795754496
+94,1.566666667,BASELINE,764,742,711,671,659,632.545856552,876,783.454143448,799.454143448,648.545856552,628.545856552,651,0.40097492361,-0.0153865529874,0.0798453457754,0.999999935515,0.000239056481475,-0.000266697029244,2.63447345227e-05,1793192917812421120
+95,1.583333333,BASELINE,764,742,711.122112371,671,659.122112371,633,876,783,799,648.877887629,628.877887629,650.877887629,0.400974110578,-0.0153864236964,0.0798444674512,0.999999935341,0.000238534003929,-0.00026780785562,2.64252229198e-05,1793192917829087744
+96,1.600000000,BASELINE,764,742,711.700543761,671,659.700543761,633,876,783,799,648.299456239,628.299456239,650.299456239,0.40097507616,-0.0153875154494,0.0798453596705,0.999999936255,0.000236587439016,-0.000266093753226,2.66408104148e-05,1793192917845754368
+97,1.616666667,BASELINE,764,742,712,671,660,633,876,783,799.283361461,648,628.283361461,650,0.400974580944,-0.0153873417393,0.0798452631386,0.999999936177,0.000236440803673,-0.000266521901882,2.66009642371e-05,1793192917862420992
+98,1.633333333,BASELINE,764,742,712,671,660,633,876,783,799.870887456,648,628.870887456,650,0.400972517685,-0.0153858096617,0.0798441052661,0.999999935031,0.000238226240435,-0.000269249575754,2.62869316272e-05,1793192917879088128
+99,1.650000000,BASELINE,764,742,712,671,660,633,876,783,799.547812891,648,628.547812891,650,0.400974278455,-0.0153861520039,0.0798454015581,0.999999935872,0.000237422067932,-0.000266807107711,2.64793668356e-05,1793192917895754496
+100,1.666666667,BASELINE,764,742,712,671,659.968336553,633,876,783,799,648,628.031663447,650.031663447,0.400976833068,-0.0153870047254,0.0798471734016,0.999999937156,0.000235884541458,-0.00026330556227,2.67749579264e-05,1793192917912421120
+101,1.683333333,BASELINE,764,742,712,671,659.390062642,633,876,783,799,648,628.609937358,650.609937358,0.400974498816,-0.015387554435,0.0798452221716,0.999999936655,0.000234278164325,-0.000266659165592,2.63888067914e-05,1793192917929087744
+102,1.700000000,BASELINE,764,742,711.813639589,671,659.186360411,633,876.186360411,783.186360411,799,648.186360411,629,650.813639589,0.400973611738,-0.0153883258762,0.0798443228407,0.999999936416,0.000233584213735,-0.000268171881324,2.62834954109e-05,1793192917945754368
+103,1.716666667,BASELINE,764,742,711.241052456,671,659.758947544,633,876.758947544,783.758947544,799,648.758947544,629,650.241052456,0.400975723886,-0.0153895568502,0.0798456035415,0.999999936738,0.000234781241745,-0.000265869408782,2.67602165867e-05,1793192917962420992
+104,1.733333333,BASELINE,764.341849597,742,711,671,659.658150403,632.658150403,877,784,799,648.658150403,628.658150403,650.341849597,0.40097580038,-0.0153889811629,0.0798461154309,0.999999936541,0.000236099317753,-0.000265435836316,2.68037630616e-05,1793192917979087616
+105,1.750000000,BASELINE,764.93225149,742,711,671,659.06774851,632.06774851,877,784,799,648.06774851,628.06774851,650.93225149,0.400974396787,-0.0153870918868,0.0798460683324,0.999999935969,0.000237505405567,-0.000266361105071,2.65323565552e-05,1793192917995754240
+106,1.766666667,BASELINE,764.486817172,742.513182828,711.513182828,671,659.513182828,632,876.486817172,783.486817172,799,648,628,650.486817172,0.400974663332,-0.0153873795197,0.0798456813298,0.999999936071,0.00023752300987,-0.000265946618868,2.67045704974e-05,1793192918012420864
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,671,659,633,878,784,799,649,628,650,0.400973220318,-0.01538647039,0.0798449524664,0.999999935049,0.000239711979013,-0.000267800077277,2.69046793814e-05,1793192918055459328
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.588579944,742,711.588579944,671.588579944,659.588579944,633,877.411420056,783.411420056,799,649,628,650.588579944,0.400974800849,-0.0153878186201,0.0798456430475,0.999999936015,0.000237487722307,-0.000266162371912,2.69537780157e-05,1793192918072125952
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.825648254,742,712,671.825648254,660,633,877,783,799.174351746,649,628,650.825648254,0.400975230561,-0.0153885189043,0.0798458156974,0.999999936541,0.000235914660639,-0.000265585309735,2.69674697449e-05,1793192918088792320
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.24639771,742,712,671.24639771,660,633,877,783,799.75360229,649,628,650.24639771,0.400972987713,-0.0153877144579,0.0798447855505,0.999999936054,0.000235853875262,-0.000267471389489,2.68989356756e-05,1793192918105458688
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783,799.667610699,648.667610699,628.332389301,650.332389301,0.400972761543,-0.0153869415411,0.0798446159695,0.99999993582,0.000236269123496,-0.000267993615542,2.67787808971e-05,1793192918122125312
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783,799.089166856,648.089166856,628.910833144,650.910833144,0.400974028238,-0.0153861919645,0.0798450834311,0.999999935773,0.000237036760426,-0.000267506234989,2.66204133705e-05,1793192918138791936
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.484927125,742,712,671,660,633,876.515072875,783,799,648.484927125,629,651,0.400975585901,-0.0153867556515,0.0798458991161,0.999999935881,0.000238402777104,-0.000265889762327,2.6558020257e-05,1793192918155458560
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.940081594,633,876.059918406,783,799,648.940081594,629,650.940081594,0.400978147509,-0.0153875728135,0.0798472097339,0.999999936226,0.000239634738227,-0.000263473420227,2.65526244038e-05,1793192918172125184
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.350140749,633,876.649859251,783,799,648.350140749,629,650.350140749,0.400989120685,-0.0153885150828,0.0798523370382,0.999999938428,0.000238716251971,-0.000255801814066,2.6896694268e-05,1793192918188792064
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.764560055,742,712,671,659,633,877,783,799,648,628.764560055,650,0.401010892353,-0.0153898057921,0.0798615114801,0.999999942605,0.00023755459228,-0.000239993169848,2.76035071292e-05,1793192918205458688
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.185345827,742,712,671,659,633,877,783,799,648,628.185345827,650,0.401048431286,-0.015391605271,0.079876595292,0.999999949191,0.000236037866324,-0.000212303345906,2.88399739707e-05,1793192918222125312
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.3918771,633,877,783,799,648.3918771,628,650,0.401102126171,-0.015393876814,0.0798933438363,0.999999955901,0.0002352031146,-0.000178890615,2.96032946519e-05,1793192918238791936
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.968163016,633,877,783,799,648.968163016,628,650,0.401163423699,-0.0153963705001,0.0799108757687,0.999999961812,0.00023468928474,-0.000142784806318,3.01439631546e-05,1793192918255458560
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.540129014,742,712,671.540129014,659.459870986,632.459870986,877,783,799.540129014,648.459870986,628,650.540129014,0.401231793766,-0.0153977659607,0.0799206282605,0.999999963605,0.000234369817951,-0.000130587068163,2.84348514748e-05,1793192918272125440
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.88380746,742,711.88380746,671.88380746,659,632.11619254,877,783,799.88380746,648.11619254,628,650.88380746,0.401303789594,-0.0153996798739,0.0799285767256,0.999999965048,0.000233835106962,-0.000120534019805,2.63763153758e-05,1793192918288792064
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.289856953,742,711.289856953,671.289856953,659,632.710143047,877,783,799.289856953,648.710143047,628,650.289856953,0.401388993258,-0.0154039896058,0.0799309779146,0.999999966281,0.00023236862708,-0.000113551030604,2.34219572983e-05,1793192918305458688
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,711,671,659,632.703386954,877,783.296613046,799,648.703386954,628.296613046,650.296613046,0.401488394347,-0.0154076233068,0.0799333924997,0.9999999675,0.000230138736981,-0.000107907928845,1.97860925089e-05,1793192918322125568
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,711,671,659,632.124047287,877,783.875952713,799,648.124047287,628.875952713,650.875952713,0.401601328181,-0.0154106126262,0.0799358198534,0.999999968714,0.000227181177051,-0.000103541985927,1.55006270361e-05,1793192918338792192
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,711,671,659.451410489,632,877,783.548589511,799,648.451410489,629,650.548589511,0.401733397766,-0.0154154911647,0.0799384609353,0.999999971303,0.000218121202803,-9.85705780429e-05,1.00080381502e-05,1793192918355458816
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.026427341,742,711.026427341,671,659.973572659,632,876.973572659,783,798.973572659,648.973572659,628.973572659,650.026427341,0.401872006974,-0.0154208890783,0.0799412239292,0.999999974112,0.000207503485882,-9.32775412492e-05,4.15160271e-06,1793192918372125184
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.614552376,742,711.614552376,671,659.385447624,632,876.385447624,783,798.385447624,648.385447624,628.385447624,650.614552376,0.402038798862,-0.0154263857284,0.0799453404135,0.99999997659,0.000199115327026,-8.46546556996e-05,-2.44784939413e-06,1793192918388791808
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.19958133,632.19958133,876,783,798.19958133,648,628.19958133,650.80041867,0.402212659071,-0.0154322212138,0.0799458130335,0.999999978764,0.000188109170384,-8.36335498117e-05,-9.63975341203e-06,1793192918405458688
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.778722156,632.778722156,876,783,798.778722156,648,628.778722156,650.221277844,0.402399961646,-0.0154387010884,0.0799393558303,0.999999980314,0.000172124162612,-9.70693465584e-05,-1.79583690287e-05,1793192918422125312
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783,799,648,628.643873282,650,0.402613621493,-0.0154462331607,0.0799345160206,0.999999987249,0.000116713975256,-0.000105923194639,-2.56895997891e-05,1793192918438792192
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783,799,648,628.06754225,650,0.402843578887,-0.0154544158405,0.0799306762954,0.999999992506,3.69259612007e-05,-0.000111943880993,-3.30576327608e-05,1793192918455458816
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783.507447035,799,648,628,650,0.403113556233,-0.0154603205017,0.0799299861717,0.999999991368,6.75256779362e-05,-0.000109414332975,-2.70818328433e-05,1793192918472125440
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783.915463323,799.084536677,648,628.084536677,650.084536677,0.403395500199,-0.0154661697377,0.0799307301173,0.999999988954,0.000103251871972,-0.000104789646511,-2.11958108801e-05,1793192918488792320
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783.324730168,799.675269832,648,628.675269832,650.675269832,0.40371728729,-0.0154734978905,0.0799375574998,0.999999991837,8.19277830731e-05,-9.44160695609e-05,-2.64543656136e-05,1793192918505458944
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.739207958,742,712,671,660,633,876,783.260792042,800,648.260792042,629,650.739207958,0.404058109092,-0.0154825030598,0.079940525093,0.999999993669,6.1977685841e-05,-8.88490119163e-05,-3.04254539701e-05,1793192918522125568
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.160047183,742,712,671,660,633,876,783.839952817,800,648.839952817,629,650.160047183,0.404422168,-0.0154935554908,0.0799387807469,0.999999994532,4.37049263236e-05,-8.91496395862e-05,-3.28248336302e-05,1793192918538792192
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742.416273211,711.583726789,671,660,633,876,783.583726789,799.583726789,648.583726789,629,650,0.40482754793,-0.0155045439947,0.0799383963617,0.999999995301,3.00813267172e-05,-8.55811211851e-05,-3.41897977361e-05,1793192918555458816
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742.991508934,711.008491066,671,660,633,876,783.008491066,799.008491066,648.008491066,629,650,0.405248707137,-0.0155155080865,0.0799385313057,0.999999995973,1.82331051339e-05,-8.05350895396e-05,-3.51597488694e-05,1793192918572125440
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742.421922935,711.578077065,671,660,633,876.578077065,783,799,648,629,650.578077065,0.405684021109,-0.0155242439366,0.07993592273,0.999999995421,5.85024353939e-06,-8.78303989094e-05,-3.75403884897e-05,1793192918588792064
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.162743875,742,712,671,660,633,877,783,799.162743875,648,628.837256125,651,0.40613293876,-0.0155333783762,0.0799326584464,0.999999994621,-8.71325691767e-06,-9.53611131033e-05,-3.98635616368e-05,1793192918605458944
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.742108609,742,712,671,660,633,877,783,799.742108609,648,628.257891391,651,0.406616138578,-0.0155436186572,0.0799278207899,0.999999993396,-2.88386389502e-05,-0.000103021117186,-4.1985515862e-05,1793192918622125568
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.679974857,742,712,671,660,632.679974857,876.679974857,783,799.679974857,648,628,650.679974857,0.407116008668,-0.0155451975018,0.0799225655057,0.999999992062,-3.46496260102e-05,-0.000113529012968,-4.22633682452e-05,1793192918638792192
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.103220033,742,712,671,660,632.103220033,876.103220033,783,799.103220033,648,628,650.103220033,0.407629251988,-0.0155398279939,0.0799169751928,0.999999990759,-2.89773610443e-05,-0.000126321537365,-4.10618506012e-05,1793192918655458816
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,712,671.471756578,660,632,876.471756578,783.471756578,799,648,628,650,0.408192710022,-0.0155277116398,0.0799105364969,0.999999989359,-1.5280414109e-05,-0.00013866024251,-4.26834602678e-05,1793192918672125696
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,712,671.952423452,660,632.047576548,877.047576548,784,799,648.047576548,628.047576548,650,0.408772119084,-0.01551609205,0.0799064863118,0.999999988236,-2.06749401233e-06,-0.00014671790038,-4.46881186316e-05,1793192918688792064
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,712,671.362572538,660,632.637427462,877.637427462,784,799,648.637427462,628.637427462,650,0.409408579091,-0.0155268970475,0.0799317680167,0.999999993192,-1.43087562349e-05,-0.000107107984278,-4.40446950421e-05,1793192918705458944
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.22323074,742,712,671,660,633,877.77676926,783.77676926,798.77676926,648.77676926,628.77676926,650,0.410065979155,-0.0155380631649,0.0799595786962,0.999999996634,-2.89382421061e-05,-6.32450973191e-05,-4.35218438428e-05,1793192918722125568
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.802576871,742,712,671,660,633,877.197423129,783.197423129,798.197423129,648.197423129,628.197423129,650,0.410756784421,-0.0155498053689,0.0799914237954,0.999999997866,-4.73776111076e-05,-1.25975362075e-05,-4.31913393362e-05,1793192918738792192
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.619396767,742,712,670.619396767,660,633,877.380603233,783,798.380603233,648,628,650,0.411425625555,-0.0155501171359,0.0799846024176,0.999999997164,-5.54401071487e-05,-2.39332876653e-05,-4.50053712807e-05,1793192918755458816
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.042052637,742,712,670.042052637,660,633,877.957947363,783,798.957947363,648,628,650,0.412083113,-0.0155445202968,0.0799577936168,0.999999994896,-5.81386037586e-05,-6.73093689109e-05,-4.79279540264e-05,1793192918772125440
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742.533697971,712,670.533697971,660,632.466302029,877.466302029,783,798.466302029,648.533697971,628,650.533697971,0.412788169146,-0.0155343318641,0.0799224443907,0.999999991043,-4.9760352845e-05,-0.000111506001404,-5.48035796484e-05,1793192918788792064
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742.888185104,712,671.111814896,660,632.111814896,877,783.111814896,798.111814896,648.888185104,628.111814896,650.888185104,0.413506988217,-0.015526578867,0.0798968079992,0.999999987246,-4.41764824775e-05,-0.000141009492873,-6.06030885425e-05,1793192918805458944
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.299441221,712,671.700558779,660,632.700558779,877,783.700558779,798.700558779,648.299441221,628.700558779,650.299441221,0.414268571066,-0.015530752424,0.0799154619793,0.999999990915,-5.42232778854e-05,-0.000107566717028,-6.04879764799e-05,1793192918822125568
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742,712,672,660,633,877,783.717253696,799.282746304,648,628.717253696,650,0.415041308898,-0.0155359928943,0.0799370631953,0.999999993835,-5.89544640792e-05,-7.35957879025e-05,-5.86298495995e-05,1793192918838791936
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742,712,672,660,633,877,783.141852226,799.858147774,648,628.141852226,650,0.415825592733,-0.0155423376683,0.0799617149354,0.999999996033,-5.81837564282e-05,-3.90781922719e-05,-5.49676238279e-05,1793192918855458560
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.435046954,742,712,672.435046954,660,633,877,783,799.564953046,648,628.435046954,650,0.416599667454,-0.0155409569899,0.0799507852883,0.999999994551,-6.56989302122e-05,-5.76970626801e-05,-5.70253700766e-05,1793192918872125440
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.9873193,742.0126807,712,672.9873193,660,632.9873193,877.025361399,783,799,648,629,650,0.417372891713,-0.0155371209168,0.0799294356043,0.999999991121,-7.55276284438e-05,-9.14208931931e-05,-6.07898589564e-05,1793192918888792064
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.398575209,742.601424791,712,672.398575209,660,632.398575209,878.202849583,783,799,648,629,650,0.418259227545,-0.0155365685076,0.0799635891119,0.999999995875,-6.72977339101e-05,-2.1537815848e-05,-5.70693530959e-05,1793192918905458944
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.187196061,743,712,672,660,632.187196061,878.625607879,783,799,648,629,650.187196061,0.419123605194,-0.0155358648949,0.0799826988264,0.999999996395,-6.17970071366e-05,1.8699924574e-05,-5.51414915756e-05,1793192918922125568
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.766736553,743,712,672,660,632.766736553,877.466526893,783,799,648,629,650.766736553,0.419941960613,-0.0155348443749,0.0799702782362,0.999999996449,-6.20163471703e-05,-3.19603404622e-06,-5.69708360265e-05,1793192918938792192
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.654744696,743,712,672,660,633,877.690510609,783.345255304,799,648,628.654744696,650.654744696,0.420771457296,-0.0155359632236,0.0799586833258,0.999999996093,-6.29988312193e-05,-2.25027012559e-05,-5.77784417127e-05,1793192918955458816
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.076914247,743,712,672,660,633,878.846171506,783.923085753,799,648,628.076914247,650.076914247,0.421608459063,-0.0155385232203,0.0799476446204,0.999999995441,-6.44953937603e-05,-4.00651370996e-05,-5.78977710306e-05,1793192918972125440
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742.503556595,712,672,660.496443405,633,878.007113191,784,799,648,628,650.496443405,0.422487924455,-0.0155434361186,0.0799748906666,0.999999996005,-7.00294810908e-05,-1.44536794744e-06,-5.55312136608e-05,1793192918988792064
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742.071343553,712,672.071343553,661,632.928656447,877,783.928656447,799.071343553,648,628,650.928656447,0.423367171192,-0.0155475121577,0.0800022747014,0.999999995055,-7.61356382917e-05,3.53463079859e-05,-5.33267352545e-05,1793192919005458688
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742.662485637,712,672.662485637,661,632.337514363,877,783.337514363,799.662485637,648,628,650.337514363,0.424197319413,-0.0155428587204,0.0799878341066,0.999999995122,-8.18929432178e-05,-4.03350178483e-06,-5.50841573584e-05,1793192919022125312
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742.751704579,711.751704579,672.751704579,660.751704579,632.248295421,877,783,799.751704579,648,628.248295421,650,0.425026543284,-0.0155384141489,0.0799602460238,0.999999993655,-7.98151845715e-05,-5.376749191e-05,-5.8554560313e-05,1793192919038792192
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,742.172990656,711.172990656,672.172990656,660.172990656,632.827009344,877,783,799.172990656,648,628.827009344,650,0.425854537196,-0.0155342475246,0.0799151619525,0.99999998879,-6.73109356492e-05,-0.000117280286683,-6.43045083541e-05,1793192919055458816
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.403345031,742,711.403345031,672,660.403345031,632.596654969,877.403345031,783.403345031,799.403345031,648,628.596654969,650.403345031,0.426710149958,-0.0155370069039,0.0799065928285,0.999999988294,-6.85533629271e-05,-0.00011999832811,-6.56749726191e-05,1793192919072125440
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.978666659,742,711.978666659,672,660.978666659,632.021333341,877.978666659,783.978666659,799.978666659,648,628.021333341,650.978666659,0.427577538683,-0.0155427193645,0.0799135928006,0.999999990329,-7.56570423431e-05,-9.67949485475e-05,-6.51781302755e-05,1793192919088792064
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660.434312622,632.565687378,878,783.434312622,799.434312622,648,628,650.434312622,0.42840713549,-0.0155454529391,0.0799165399827,0.999999988777,-8.18243532522e-05,-0.000107768852688,-6.43243844424e-05,1793192919105458688
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.849075555,742.150924445,712,672,660.150924445,633,877.849075555,783.150924445,799,648.150924445,628,650.150924445,0.429247513165,-0.0155474043858,0.0799281509564,0.999999989222,-8.54626355991e-05,-0.000101568924155,-6.27403594363e-05,1793192919122125312
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.270173963,742.729826037,712,672,660.729826037,633,877.270173963,783.729826037,799,648.729826037,628,650.729826037,0.430122589002,-0.0155474632403,0.0799647724447,0.999999993966,-8.20315900787e-05,-4.29369470882e-05,-5.91244518817e-05,1793192919138791936
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.693061684,711.693061684,672,661,632.693061684,877.306938316,784,799,648.693061684,628,650.693061684,0.430974073705,-0.0155497266384,0.0799954976565,0.99999999513,-8.11404885244e-05,3.76605156543e-06,-5.60533103022e-05,1793192919155459072
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,742.1175153,711.1175153,672,661,632.1175153,877.8824847,784,799,648.1175153,628,650.1175153,0.431804913273,-0.0155539192783,0.080021062913,0.999999994369,-8.24721447339e-05,4.00297514052e-05,-5.34589049536e-05,1793192919172126976
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742.460263466,711.460263466,672,661,632.460263466,878,784,799.460263466,648,628,650.460263466,0.432542675253,-0.0155531457969,0.079983190062,0.999999994924,-8.04989422158e-05,-2.2739715494e-05,-5.61736541778e-05,1793192919188793088
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742.960754883,712,672.039245117,661.039245117,633,878,783.960754883,800,648,628,650.960754883,0.433258771301,-0.0155511785648,0.0799300012031,0.99999998926,-7.85652122551e-05,-0.000108020026693,-6.03330615896e-05,1793192919205458944
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742.372966262,712,672.627033738,661.627033738,633,878,783.372966262,800,648,628,650.372966262,0.434005821321,-0.0155503349506,0.0798902316114,0.999999982208,-8.90348374864e-05,-0.000152797742291,-6.56457217339e-05,1793192919222125568
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.211704375,742.211704375,712,673,661.788295625,632.788295625,878,783.211704375,799.788295625,648,628,650.211704375,0.434762671575,-0.0155519121013,0.079880592929,0.999999980554,-9.75780539164e-05,-0.000157557323214,-6.74232107263e-05,1793192919238792192
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.790961784,742.790961784,712,673,661.209038216,632.209038216,878,783.790961784,799.209038216,648,628,650.790961784,0.435536536747,-0.0155576920914,0.0799232663718,0.99999998842,-0.000102776714833,-9.28389576919e-05,-6.3063071745e-05,1793192919255458816
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.632161402,743,711.632161402,672.632161402,661,632,878,784,799,648,628,650.632161402,0.436251016353,-0.0155627328173,0.0799421822765,0.999999989385,-0.000107166551602,-7.73649803177e-05,-6.13169179536e-05,1793192919272125952
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.056628786,743,711.056628786,672.056628786,661,632,878,784,799,648,628,650.056628786,0.436931964829,-0.0155673561297,0.0799476838753,0.999999987942,-0.000111099698956,-8.96960411105e-05,-6.10467082787e-05,1793192919288793344
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,743,711,672.527603154,660.472396846,632.527603154,878,784,799,648,628,650.527603154,0.43756549618,-0.0155725619999,0.0799319006115,0.999999984631,-0.000118461317159,-0.000113126886509,-6.25157270885e-05,1793192919305459456
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,743,711,672.888116513,660,632.888116513,878.111883487,783.888116513,799,648,628.111883487,650.888116513,0.438189910107,-0.015577920489,0.0799112181498,0.999999979652,-0.000127674466046,-0.000142313657894,-6.43554062698e-05,1793192919322125824
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,743,711,672.307609936,660,632.307609936,878.692390064,783.307609936,799,648,628.692390064,650.307609936,0.438797809966,-0.0155836519357,0.0798797446771,0.999999969371,-0.000143075593614,-0.000190535403892,-6.69525978883e-05,1793192919338792448
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.272159498,743,711.272159498,672.272159498,660,632,878.455681003,783.272159498,799,648.272159498,628.727840502,650.272159498,0.439369420033,-0.015589140935,0.0798409756651,0.999999954051,-0.000158108173544,-0.000248643360334,-7.12455180364e-05,1793192919355459072
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.851097985,743,711.851097985,672.851097985,660,632,877.29780403,783.851097985,799,648.851097985,628.148902015,650.851097985,0.439900124098,-0.0155943566466,0.0797939831018,0.999999931555,-0.000172725324199,-0.000317895078651,-7.74498680961e-05,1793192919372125696
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.572970624,743,711.572970624,672.572970624,660,631.572970624,877.427029376,783.572970624,799.427029376,648.572970624,628,651,0.440378492823,-0.015600495629,0.0797345461695,0.999999896661,-0.000178982370928,-0.000410232797717,-7.97015459384e-05,1793192919388792320
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.001962225,743,711.001962225,672,660,631.001962225,878,783,799.998037775,648,628.001962225,650.998037775,0.440838822379,-0.0156069431387,0.0796709931452,0.999999849946,-0.000182386297274,-0.000510243115721,-8.05972467854e-05,1793192919405458688
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.589620237,743,711.589620237,672,660,631.589620237,878,783,799.410379763,648,628.589620237,650.410379763,0.441323668028,-0.0156100595627,0.0796649972134,0.999999844403,-0.000198208226017,-0.000514429149246,-8.52698747347e-05,1793192919422125312
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.825163632,743,712,672,660,631.825163632,878,782.825163632,799,648.174836368,628.825163632,650.174836368,0.441816592945,-0.0156161153289,0.0796728642969,0.999999848777,-0.000212314459084,-0.000499782575756,-8.70929471779e-05,1793192919438791936
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.245600069,743,712,672,660,631.245600069,878,782.245600069,799,648.754399931,628.245600069,650.754399931,0.442328220586,-0.0156289753536,0.0797128227531,0.999999874391,-0.00022244904588,-0.000441540563424,-8.23196090484e-05,1793192919455458560
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742.667914849,711.667914849,672.332085151,660,631,878.332085151,782,799.332085151,648.667914849,628,650.667914849,0.442791844111,-0.0156427303533,0.0797401659116,0.999999888986,-0.000234621346987,-0.000400941165398,-7.89058322841e-05,1793192919472125440
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742.091611013,711.091611013,672.908388987,660,631,878.908388987,782,799.908388987,648.091611013,628,650.091611013,0.443220164907,-0.0156571435258,0.0797582316538,0.999999896567,-0.000248292202854,-0.000373316323291,-7.64918906846e-05,1793192919488792320
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,742.485416468,711,672.514583532,659.514583532,631,878.029167064,782,800,648,628,650.485416468,0.443560750114,-0.0156658215492,0.0797378049984,0.999999879628,-0.000259287226177,-0.000409501299356,-7.63112525366e-05,1793192919505459712
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763,743,711,672.652472509,659,631,877.652472509,782,799.347527491,648,628.652472509,650.347527491,0.444175883339,-0.0156753705113,0.0796887920126,0.999999839547,-0.00027596074691,-0.000488322789774,-7.93194330735e-05,1793192919538792704
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,743,711,672.762196782,659,631,878,782,799.237803218,648,628.762196782,650,0.444469801998,-0.0156774594388,0.079674285631,0.999999827821,-0.000280381402106,-0.000509181403538,-8.04870335963e-05,1793192919555458816
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,743,711,672.181645584,659,631,878,782,799.818354416,648,628.181645584,650,0.444763104225,-0.015678946436,0.0796704878163,0.999999825296,-0.000281653199882,-0.00051354310841,-7.97058632501e-05,1793192919572125440
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,743,711,672,658.606248026,631,878,782,800,648,628.393751974,650,0.445028945383,-0.015681839705,0.0796719798784,0.999999826682,-0.000281189390594,-0.000510970851249,-8.04833769301e-05,1793192919588792320
+200,3.333333333,POSE1_TO_POSE2_PRESS,763,743,711,672,658.033197179,631,878,782,800,648,628.966802821,650,0.445282281897,-0.0156853733338,0.0796758807381,0.999999829824,-0.000279935255488,-0.000505241145956,-8.19706527966e-05,1793192919605458944
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763.859735097,743,711,672,658.140264903,631,878,781,800,648.859735097,628,650,0.445688965435,-0.0156940895192,0.0796732916816,0.999999821682,-0.000302403567926,-0.000509451836933,-7.51391155667e-05,1793192919638792960
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.277110968,743,711,672,658.722889032,631,878,781,800,648.277110968,628,650,0.445855441059,-0.0156980955342,0.0796575331082,0.999999810551,-0.000302236805223,-0.000530656108085,-7.7169374848e-05,1793192919655459328
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+205,3.416666667,POSE1_TO_POSE2_PRESS,763,743,711,672,659,631,878,781,800,648.877806091,628,650,0.446160936118,-0.01570891583,0.0796461046652,0.999999801124,-0.000311375209016,-0.000542577628199,-8.00415668555e-05,1793192919688792064
+206,3.433333333,POSE1_TO_POSE2_PRESS,763,742.547716373,711,672.452283627,658.547716373,631,878,781,800,649,628,650,0.446289246041,-0.0157114362376,0.0796493575426,0.999999803739,-0.000317010244993,-0.000534481355302,-7.97259993395e-05,1793192919705458688
+207,3.450000000,POSE1_TO_POSE2_PRESS,763,742.027059033,711,672.972940967,658,630.972940967,878,781,800,648.972940967,628,650.027059033,0.44641061852,-0.0157130756118,0.0796539952778,0.999999807471,-0.000322394029515,-0.000524291080421,-7.89887713147e-05,1793192919722125312
+208,3.466666667,POSE1_TO_POSE2_PRESS,763,742.615670183,711,672.384329817,658,630.384329817,878,781,800,648.384329817,628,650.615670183,0.446500679408,-0.0157150333546,0.079654766211,0.999999807595,-0.000324865838728,-0.000522635065402,-7.82562066092e-05,1793192919738792192
+209,3.483333333,POSE1_TO_POSE2_PRESS,763,743,711,672.201270841,658,630,878.201270841,781,800,648.201270841,628,651,0.446583192331,-0.0157158303586,0.0796540201342,0.999999807225,-0.000325545880952,-0.000522977738121,-7.78745986309e-05,1793192919755458816
+210,3.500000000,POSE1_TO_POSE2_PRESS,763,743,711,672.781207566,658,630,878.781207566,781,800,648.781207566,628,651,0.446651504691,-0.0157144435774,0.0796504199931,0.999999805921,-0.000322854937668,-0.000527080691735,-7.81532718709e-05,1793192919772125952
+211,3.516666667,POSE1_TO_POSE2_PRESS,763,743,711,672.641927574,658,630,878.641927574,781,800,648.641927574,628,650.641927574,0.446705539333,-0.0157151044539,0.0796450412196,0.999999802633,-0.000323039858806,-0.00053313697028,-7.83863049328e-05,1793192919788792832
+212,3.533333333,POSE1_TO_POSE2_PRESS,763,743,711,672.066923689,658,630,878.066923689,781,800,648.066923689,628,650.066923689,0.446750924095,-0.0157170058652,0.0796385848946,0.999999798106,-0.000324967068151,-0.000540376634444,-7.85916877733e-05,1793192919805459456
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+214,3.566666667,POSE1_TO_POSE2_PRESS,763.895042437,743,711,672.895042437,658,630.895042437,878.895042437,781,800,648.895042437,628,650.895042437,0.446811062477,-0.0157181866148,0.0796340064911,0.999999793694,-0.000326936877664,-0.000547405447805,-7.79257322868e-05,1793192919838792192
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+218,3.633333333,POSE1_TO_POSE2_PRESS,763,743,711,672,658,630,878,781,799.413579332,648.586420668,628,650.413579332,0.446868919046,-0.0157171600438,0.0796304057524,0.999999791179,-0.000324647921086,-0.000553439110219,-7.71414685404e-05,1793192919905458944
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+248,4.133333333,HOLD_POSE2,763,743,711,672,657.281156241,630,877.562312483,781,800,648,628,650,0.446891160735,-0.0157100451949,0.0796278939886,0.999999791637,-0.000317076479006,-0.000557359470214,-7.44284142434e-05,1793192920431470080
+249,4.150000000,HOLD_POSE2,763.302340561,743,711,672,657.302340561,630,877.302340561,780.697659439,800,648,628,650.302340561,0.446891136829,-0.0157105629763,0.0796279237461,0.999999791811,-0.000316579902893,-0.000557352218025,-7.42564849427e-05,1793192920448136704
+250,4.166666667,HOLD_POSE2,763.897941439,743,711,672,657.897941439,630,877.897941439,780.102058561,800,648,628,650.897941439,0.446891159505,-0.0157118072882,0.079628971609,0.99999979286,-0.00031614151168,-0.000555748533995,-7.40197650979e-05,1793192920464803840
+251,4.183333333,HOLD_POSE2,764,743.479806732,711,672,658,630,878,780.479806732,800,648.479806732,627.520193268,651,0.446891665038,-0.0157116768489,0.0796288715773,0.999999792592,-0.000317054828603,-0.000555676806027,-7.42722001801e-05,1793192920481470464
+252,4.200000000,HOLD_POSE2,763.941632354,743.941632354,711,672,658.058367646,630,878,781,800,648.941632354,627.058367646,650.941632354,0.446892050726,-0.015711089615,0.0796284476813,0.999999792003,-0.000318038162354,-0.000556120553168,-7.46687527653e-05,1793192920498137088
+253,4.216666667,HOLD_POSE2,763.367174357,743.367174357,711,672,658.632825643,630,878,781,800,648.367174357,627.632825643,650.367174357,0.446890493861,-0.0157089770131,0.0796272590026,0.999999790995,-0.000317169084079,-0.000558321087091,-7.54452151843e-05,1793192920514803712
+254,4.233333333,HOLD_POSE2,763.20768501,743,711,672,658.79231499,630,878,781,800,648,628,650,0.446889498079,-0.0157083027523,0.0796266372861,0.99999979058,-0.000316122431474,-0.000559658641758,-7.54301316384e-05,1793192920531470592
+255,4.250000000,HOLD_POSE2,763.783255284,743,711,672,658.216744716,630,878,781,800,648,628,650,0.446889496177,-0.015710176314,0.0796270198648,0.999999791222,-0.000314761230599,-0.000559467547819,-7.40129338292e-05,1793192920548136960
+256,4.266666667,HOLD_POSE2,763.630938065,743,711,672,658,630,878,780.630938065,799.630938065,648,628,650,0.446889947834,-0.0157107676617,0.079627547429,0.999999791448,-0.000314800294331,-0.00055911076628,-7.34800146289e-05,1793192920564803328
+257,4.283333333,HOLD_POSE2,763.038948186,743,711,672,658,630,878,780.038948186,799.038948186,648,628,650,0.44689067346,-0.0157105845016,0.0796281625702,0.999999791425,-0.000315685172908,-0.000558653902886,-7.34812344024e-05,1793192920581469952
+258,4.300000000,HOLD_POSE2,763,742.460522712,711,672,658.539477288,630,878,780.539477288,799.539477288,648,628,650,0.44689089636,-0.0157110909482,0.0796281010037,0.999999791263,-0.000316857817125,-0.000558263436909,-7.35951723573e-05,1793192920598136832
+259,4.316666667,HOLD_POSE2,763,742.116572847,711,672,658.883427153,630,878,781,800,648.116572847,627.883427153,650.116572847,0.446890834738,-0.0157112293907,0.0796278320062,0.999999790979,-0.000317671868605,-0.000558283059807,-7.38075115125e-05,1793192920614803456
+260,4.333333333,HOLD_POSE2,763,742.692193316,711,672,658.307806684,630,878,781,800,648.692193316,627.307806684,650.692193316,0.446889792126,-0.015709727439,0.0796269338428,0.999999790248,-0.000316994027511,-0.000559899141716,-7.43760812926e-05,1793192920631470080
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,658,631,878,780,800,649,628,650,0.446892351841,-0.0157058392721,0.0796286644126,0.999999792566,-0.000314880447278,-0.000556860757267,-7.49996403728e-05,1793192920668712448
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.420847663,743,712,672.579152337,658,630.420847663,878,780.579152337,799.420847663,648.420847663,628,650.579152337,0.446891558987,-0.0157059775435,0.079627031572,0.999999791991,-0.000314149647058,-0.000558337252659,-7.47469347731e-05,1793192920685379584
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.157376275,743,711.842623725,673,658,630,878,780.842623725,799.314752549,648,628,651,0.446891267669,-0.0157062643837,0.0796262933831,0.999999791753,-0.000313842914714,-0.000558964004392,-7.45320167084e-05,1793192920702046464
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.733132219,743,711.266867781,673,658,630,878,780.266867781,800.466264439,648,628,651,0.446892309668,-0.0157069461894,0.0796279335959,0.999999792415,-0.00031466355276,-0.000557331740768,-7.44175555119e-05,1793192920718712320
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.306844127,673,658,630,878,780.306844127,801,648.306844127,628,650.693155873,0.446891988572,-0.0157082367233,0.0796278011624,0.999999791912,-0.000316158007121,-0.000557385059574,-7.44414522746e-05,1793192920735378688
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711.878790028,673,658,630,878,780.878790028,801,648.878790028,628,650.121209972,0.446890489812,-0.0157100531753,0.0796261372291,0.9999997904,-0.000318234613362,-0.000558894658242,-7.45848851121e-05,1793192920752045312
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711.531564567,673,658.468435433,630,877.531564567,780.531564567,800.531564567,649,628,650.468435433,0.44689045624,-0.0157103425742,0.0796262313137,0.999999790473,-0.00031738165859,-0.0005592610328,-7.44927358458e-05,1793192920768712192
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,658.938858331,630.061141669,877,780,800,648.938858331,628,651,0.446890500464,-0.0157101985072,0.0796266036662,0.99999979083,-0.00031578864918,-0.000559549553288,-7.43115851731e-05,1793192920785378816
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,658.360522476,630.639477524,877,780,800,648.360522476,628,651,0.446887869832,-0.0157098614288,0.0796253308332,0.999999789984,-0.000314599557243,-0.000561780052375,-7.39134652013e-05,1793192920802045696
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.783549299,743,711,673,658,630.783549299,877.216450701,780,800,648,627.783549299,650.783549299,0.446878825712,-0.0157091945982,0.0796204481304,0.999999786159,-0.000313806741965,-0.00056895954492,-7.41127118915e-05,1793192920818712576
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.20883167,743,711,673,658,630.20883167,877.79116833,780,800,648,627.20883167,650.20883167,0.446859166057,-0.0157079819654,0.079609590409,0.999999777249,-0.000313669839723,-0.000584330559185,-7.53007136389e-05,1793192920835379200
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.374932041,743,711,672.625067959,658,630,878,780.374932041,800,648.374932041,627.374932041,650,0.446821249434,-0.0157063451708,0.0795917269407,0.999999759787,-0.000314482230255,-0.000612923457142,-7.64908714656e-05,1793192920852045568
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.546429645,658,630,878,781,800.546429645,649,628,650,0.446707427708,-0.0157011193785,0.0795541344817,0.999999720063,-0.000314000927864,-0.000674719612995,-7.76531506688e-05,1793192920885378304
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,658.126532041,630,878,780.873467959,800.873467959,648.873467959,627.873467959,650.126532041,0.44663822235,-0.0156971420542,0.079541351988,0.999999707092,-0.000311310770395,-0.000694939298466,-7.72040691775e-05,1793192920902045184
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,658.699393642,630,878,780.300606358,800.300606358,648.300606358,627.300606358,650.699393642,0.446559847814,-0.0156912795405,0.0795375539138,0.999999706343,-0.000306341533235,-0.000698397662546,-7.55550490843e-05,1793192920918711808
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.726599619,658.726599619,630.273400381,878,780.273400381,800,648.273400381,627.273400381,650.726599619,0.446470178854,-0.0156861516,0.079536091335,0.999999706257,-0.00030209346606,-0.000700635580735,-7.30379973594e-05,1793192920935378688
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.151328529,658.151328529,630.848671471,878,780.848671471,800,648.848671471,627.848671471,650.151328529,0.446368039339,-0.0156818347274,0.0795372074569,0.999999706918,-0.000298641667628,-0.000701525962685,-6.95625223279e-05,1793192920952045568
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.562454847,711,672.437545153,658,631,878,780.562454847,800.437545153,648.562454847,628,650,0.446249575577,-0.0156766820874,0.0795434316026,0.999999711781,-0.000293942054956,-0.00069702275496,-6.47645805832e-05,1793192920968712192
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.030414602,711,673,658,630.969585398,878,780.030414602,800.969585398,648,628,650,0.446122790882,-0.0156711394241,0.079551027935,0.99999971762,-0.000288767536532,-0.000691253695939,-5.95046473024e-05,1793192920985379072
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.607822023,711,673,658,630.392177977,878,780.607822023,800.392177977,648,628,650,0.445951154359,-0.0156639477233,0.0795505105538,0.999999715312,-0.000283062618609,-0.000697343986135,-5.44258153536e-05,1793192921002045440
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630,877.815713309,781,799.815713309,648,628,650,0.445766163184,-0.0156560471349,0.0795482766022,0.999999712225,-0.000275440944935,-0.000705186366311,-4.89378370508e-05,1793192921018711808
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630,877.241244763,781,799.241244763,648,628,650,0.445552896832,-0.0156466456516,0.0795424082338,0.999999707451,-0.000263761011932,-0.000716738366358,-4.25835923683e-05,1793192921035378432
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.65804411,743,711,673,658,630.34195589,877,781,799,648,628,650,0.445325136835,-0.0156355883117,0.079540347312,0.999999707708,-0.000248748162611,-0.000722116532562,-3.54331149006e-05,1793192921052045056
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,630.488525378,877.511474622,781,799.511474622,648,628,650.511474622,0.444816195986,-0.0156117138457,0.0795532593916,0.999999734921,-0.000173640026195,-0.00070688278712,-1.80184115384e-05,1793192921085378560
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,743,711,672.910477497,658.089522503,630.089522503,878,781.089522503,800,648,627.910477497,650.910477497,0.444533951187,-0.0156001861369,0.0795662555447,0.999999755067,-0.00011768941036,-0.000689890045354,-8.15838658491e-06,1793192921102045952
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.336195177,658.663804823,630.663804823,878,781.663804823,800,648,627.336195177,650.336195177,0.444212224962,-0.0155886949118,0.0795752685277,0.999999763525,-9.97854972311e-05,-0.00068043481317,1.23791376929e-06,1793192921118712832
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,763,742,711.497413467,671,659,632.497413467,876.497413467,783,799,648,628,650,0.400974768458,-0.015385268636,0.0798426141025,0.999999934476,0.000239716610957,-0.000269968739336,2.64829821403e-05,1793192922952045056
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b00a01dc5ee6eefd3e1d794776f47b5c6e08b800
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,400 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.575709248436,-0.0099453662862,1.07002927534,0.546279976754,-0.00127264360182,1.06969855892
+396,6.600000000,pose2_to_pose3_retreat,0.575709228788,-0.00994536263711,1.07002930082,0.546279956912,-0.00127264067033,1.06969858279
+397,6.616666667,pose2_to_pose3_retreat,0.57570927157,-0.00994536123451,1.07002930304,0.546279999217,-0.00127264093762,1.06969858369
+398,6.633333333,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..794859c094df6dc66cc40257e2b331cc1013ccb0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:508752cdfc96b8c3c5da3bca6055f571457735f82c45027f4fdc754582842c7d
+size 25649878
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..08c2dbaa951f8e1c582fc40c065b5c8c55eb17a0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_05/franka_data.csv
@@ -0,0 +1,404 @@
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+52,0.866666667,BASELINE,763.811183943,742,712,670.811183943,660,632.811183943,876.811183943,783.188816057,799,648,628,650,0.400974608911,-0.0153871024589,0.0798443097291,0.999999935647,0.000237768203355,-0.000267361834286,2.62762053347e-05,1793192923948179200
+53,0.883333333,BASELINE,763.23233151,742,712,670.23233151,660,632.23233151,876.23233151,783.76766849,799,648,628,650,0.400974783309,-0.0153874807019,0.0798447280779,0.999999935691,0.000237882837614,-0.000267048488618,2.67535390197e-05,1793192923964845824
+54,0.900000000,BASELINE,763.345267758,742,712,670.345267758,660,632,876.345267758,783.654732242,799.345267758,648.345267758,628,650,0.400975434267,-0.0153885603382,0.0798448650906,0.999999936343,0.000235500429454,-0.00026672982685,2.66345386046e-05,1793192923981512448
+55,0.916666667,BASELINE,763.922026794,742,712,670.922026794,660,632,876.922026794,783.077973206,799.922026794,648.922026794,628,650,0.400976404743,-0.0153901102368,0.0798448134763,0.999999937389,0.000231443832118,-0.00026640760081,2.61157147291e-05,1793192923998179072
+56,0.933333333,BASELINE,763.504471269,742,711.504471269,671,659.504471269,632.495528731,876.504471269,783,800,648.504471269,628,650,0.400976588819,-0.0153889774364,0.0798452852945,0.999999936798,0.000234723048312,-0.000265734626421,2.63395375043e-05,1793192924014845952
+57,0.950000000,BASELINE,763,742,711.070856042,670.929143958,659.070856042,633,876.070856042,783.070856042,799.929143958,648,628,650,0.400976515779,-0.0153875988265,0.0798456385543,0.999999936055,0.00023832336798,-0.000265301430263,2.65995636473e-05,1793192924031512576
+58,0.966666667,BASELINE,763,742,711.663370509,670.336629491,659.663370509,633,876.663370509,783.663370509,799.336629491,648,628,650,0.400975454869,-0.0153874980517,0.079844516536,0.999999936189,0.00023584487613,-0.000267037215889,2.62714091247e-05,1793192924048179456
+59,0.983333333,BASELINE,763,742,711.750208226,670.249791774,659.750208226,633,877,783.750208226,799,648.249791774,628.249791774,650.249791774,0.400975134618,-0.0153880467901,0.07984412875,0.999999936388,0.000234644274927,-0.000267345195021,2.63146703657e-05,1793192924064846080
+60,1.000000000,BASELINE,763,742,711.171802791,670.828197209,659.171802791,633,877,783.171802791,799,648.828197209,628.828197209,650.828197209,0.400975788739,-0.0153894499959,0.0798447068831,0.99999993668,0.000235124802895,-0.000265774823035,2.68465477067e-05,1793192924081512448
+61,1.016666667,BASELINE,763.405474093,742,711.405474093,671,659.405474093,633,876.594525907,783,799,648.594525907,628.594525907,650.594525907,0.400975298955,-0.0153889981447,0.0798445969645,0.999999936343,0.000235911070143,-0.000266339624726,2.6900795172e-05,1793192924098179328
+62,1.033333333,BASELINE,763.982274093,742,711.982274093,671,659.982274093,633,876.017725907,783,799,648.017725907,628.017725907,650.017725907,0.400974325834,-0.0153877624719,0.0798441963218,0.999999935739,0.000236826522085,-0.000267806606388,2.67532285482e-05,1793192924114845952
+63,1.050000000,BASELINE,764,742,711.446945873,671,659.446945873,633,876.553054127,783,799.553054127,648.553054127,628,650.553054127,0.400974506752,-0.0153869472977,0.0798439829273,0.999999935558,0.000237150853518,-0.000268237097346,2.62962380417e-05,1793192924131512320
+64,1.066666667,BASELINE,764,742,711.128846232,671,659.128846232,632.871153768,877,783.128846232,799.871153768,648.871153768,628,650.871153768,0.400974919553,-0.0153866804211,0.0798440624636,0.999999935611,0.000237269240182,-0.000267964436196,2.60016971559e-05,1793192924148179200
+65,1.083333333,BASELINE,764,742,711.723445895,671,659.723445895,632.276554105,877,783.723445895,799.276554105,648.276554105,628,650.276554105,0.4009760383,-0.0153883473376,0.0798451794254,0.999999936454,0.000236710926033,-0.00026526881285,2.63298424197e-05,1793192924164846336
+66,1.100000000,BASELINE,764,742,711.691381968,671,659.691381968,632.308618032,876.691381968,784,798.691381968,648,628.308618032,650.308618032,0.400975853536,-0.0153886315064,0.0798450749915,0.999999936512,0.00023617188607,-0.000265507836521,2.65224278503e-05,1793192924181513216
+67,1.116666667,BASELINE,764,742,711.114407493,671,659.114407493,632.885592507,876.114407493,784,798.114407493,648,628.885592507,650.885592507,0.400974535314,-0.0153877133174,0.0798439085021,0.999999935889,0.000235649605855,-0.000268298660137,2.65971382505e-05,1793192924198179584
+68,1.133333333,BASELINE,764,742.461007811,711.461007811,671,659,633,876.461007811,784,798.461007811,648,628.538992189,650.538992189,0.400975228562,-0.0153870540285,0.0798443426247,0.999999935799,0.000237524126111,-0.000266978557708,2.65676623412e-05,1793192924214846208
+69,1.150000000,BASELINE,764,742.963084877,712,670.963084877,659.036915123,632.963084877,877,783.963084877,799.036915123,648,628.036915123,650.036915123,0.400976362331,-0.0153865771502,0.0798451485134,0.999999935892,0.000239632481422,-0.000264745062942,2.65163789717e-05,1793192924231512576
+70,1.166666667,BASELINE,764,742.374051854,712,670.374051854,659.625948146,632.374051854,877,783.374051854,799.625948146,648,628.625948146,650.625948146,0.400976643888,-0.0153878707605,0.0798455937119,0.999999936849,0.000236371933276,-0.000264057617321,2.65243398251e-05,1793192924248179456
+71,1.183333333,BASELINE,763.787933856,742,712,670.212066144,659.787933856,632,877,783.212066144,799.787933856,648,629,650.787933856,0.40097582467,-0.0153883557506,0.0798450519056,0.999999937094,0.000234217597059,-0.000265058955327,2.64111113963e-05,1793192924264846080
+72,1.200000000,BASELINE,763.206887698,742,712,670.793112302,659.206887698,632,877,783.793112302,799.206887698,648,629,650.206887698,0.400973090181,-0.0153874337991,0.0798427927812,0.999999936104,0.000233987990423,-0.000268998656682,2.60870222327e-05,1793192924281512448
+73,1.216666667,BASELINE,763,742,711.629328288,671,659.370671712,632.370671712,877,783.629328288,799,648,629,650,0.400973760391,-0.0153873509208,0.0798431735056,0.999999935938,0.00023500771236,-0.000268710768734,2.62658641247e-05,1793192924298179072
+74,1.233333333,BASELINE,763,742,711.05369688,671,659.94630312,632.94630312,877,783.05369688,799,648,629,650,0.400976313201,-0.0153877320008,0.0798450139115,0.999999936224,0.000236718239667,-0.000266085271855,2.67227973841e-05,1793192924314845952
+75,1.250000000,BASELINE,763.522483975,742,711.522483975,671,659.477516025,633,877,783,799,648,629,650,0.400976066472,-0.0153873536951,0.079844671765,0.999999936043,0.000237537849119,-0.000266046403335,2.66431228376e-05,1793192924331512832
+76,1.266666667,BASELINE,763.899119994,742,712,670.899119994,659.100880006,632.899119994,877,783,799,648,628.899119994,650,0.400975957291,-0.0153870179984,0.079844467833,0.999999935971,0.000238158240005,-0.00026577677813,2.65001748195e-05,1793192924348179456
+77,1.283333333,BASELINE,763.310282585,742,712,670.310282585,659.689717415,632.310282585,877,783,799,648,628.310282585,650,0.400977906573,-0.0153872662973,0.0798460185574,0.999999936658,0.000238258359858,-0.000263103787359,2.63182066727e-05,1793192924364845824
+78,1.300000000,BASELINE,763.273810131,742,711.726189869,670.273810131,659.726189869,632,876.726189869,783,799,648,628,650.273810131,0.400978847949,-0.0153871645492,0.0798469704471,0.999999937134,0.000237869454773,-0.000261638826763,2.63515976472e-05,1793192924381512448
+79,1.316666667,BASELINE,763.85261769,742,711.14738231,670.85261769,659.14738231,632,876.14738231,783,799,648,628,650.85261769,0.400978666617,-0.0153866728833,0.0798472552938,0.99999993738,0.000236935824229,-0.000261519492584,2.66248774134e-05,1793192924398179328
+80,1.333333333,BASELINE,764,742,711,670.571497917,659.428502083,632.428502083,876.428502083,783,799,648.428502083,628,650.571497917,0.400977229283,-0.0153872576334,0.079846387766,0.99999993694,0.000237076394137,-0.000263058267057,2.67275874748e-05,1793192924414845696
+81,1.350000000,BASELINE,764,742,711.003464941,670.003464941,659.996535059,632.996535059,877,783.003464941,799,648.996535059,628.003464941,650.003464941,0.400975367141,-0.0153882074498,0.0798451272458,0.999999936266,0.000237574066996,-0.00026516212722,2.67693313368e-05,1793192924431512320
+82,1.366666667,BASELINE,764,742,711.591420795,670.591420795,659.408579205,632.408579205,877,783.591420795,799,648.408579205,628.591420795,650.591420795,0.400974224429,-0.0153887092248,0.0798439812079,0.999999936054,0.000236408063633,-0.000267037752478,2.6356185416e-05,1793192924448179456
+83,1.383333333,BASELINE,764,742,711.823211346,671,659,632.176788654,877,783.823211346,799,648,628.823211346,650.823211346,0.400974074199,-0.0153888299579,0.0798434888137,0.999999936193,0.000235161184302,-0.000267649015386,2.60318278515e-05,1793192924464846592
+84,1.400000000,BASELINE,764,742,711.24373824,671,659,632.75626176,877,783.24373824,799,648,628.24373824,650.24373824,0.400976184617,-0.0153880827642,0.0798444852714,0.999999937136,0.000233730087633,-0.000265380348022,2.59097099427e-05,1793192924481513728
+85,1.416666667,BASELINE,763.665564202,742,711,671,659.334435798,633,876.665564202,783,799,648,628.334435798,650,0.400977059328,-0.015388098956,0.0798450833809,0.999999937331,0.000234078618948,-0.00026430789492,2.62083925841e-05,1793192924498180352
+86,1.433333333,BASELINE,763.088333302,742,711,671,659.911666698,633,876.088333302,783,799,648,628.911666698,650,0.400977036937,-0.0153886693536,0.0798453922958,0.999999936983,0.000235719132128,-0.000264103874597,2.6812569779e-05,1793192924514846208
+87,1.450000000,BASELINE,763,742.487347626,711,671,659.512652374,633,876,783,799,648,629,650,0.400976542848,-0.0153883886181,0.0798457582536,0.999999936915,0.000235906645582,-0.000264207629937,2.66912129884e-05,1793192924531512576
+88,1.466666667,BASELINE,763,742.935796582,711.064203418,671,659.064203418,633,876,783,799,648,629,650,0.400976068241,-0.0153880388071,0.0798460355898,0.999999936873,0.000235990604645,-0.000264314784726,2.64649699083e-05,1793192924548178944
+89,1.483333333,BASELINE,763,742.34705421,711.65294579,671,659.65294579,633,876,783,799,648,629,650,0.400976449081,-0.0153883810414,0.079845504689,0.99999993663,0.000237373353256,-0.000263995394352,2.64527969973e-05,1793192924564845568
+90,1.500000000,BASELINE,763.237793122,742,711.762206878,671,660,633,876.237793122,783,799,648,629,650,0.40097592059,-0.0153889556934,0.0798446010972,0.999999936423,0.000237221980505,-0.000264927442188,2.63309374861e-05,1793192924581512448
+91,1.516666667,BASELINE,763.81704729,742,711.18295271,671,660,633,876.81704729,783,799,648,629,650,0.400974086337,-0.0153898640876,0.0798431623366,0.999999936259,0.000234867673085,-0.000267656503336,2.60515725746e-05,1793192924598179328
+92,1.533333333,BASELINE,763.606350101,742,711.393649899,671,659.606350101,633,876.606350101,783,799,648,629,650,0.400973900393,-0.0153898927487,0.0798431703831,0.999999936165,0.000235080334869,-0.000267809225107,2.61632215918e-05,1793192924614845952
+93,1.550000000,BASELINE,763.030971534,742,711.969028466,671,659.030971534,633,876.030971534,783,799,648,629,650,0.400974475391,-0.0153895152805,0.0798438463488,0.999999936105,0.000236478039029,-0.00026677257879,2.64553823549e-05,1793192924631512320
+94,1.566666667,BASELINE,763.555430589,741.444569411,711.444569411,671,659,633,876,783,799,648,628.444569411,650,0.400975924093,-0.0153884554924,0.0798452786173,0.999999936634,0.000236576403034,-0.000264687336047,2.65209722575e-05,1793192924648179456
+95,1.583333333,BASELINE,763.859513723,741.140486277,711,670.859513723,659,632.859513723,876.140486277,783,798.859513723,648,628.140486277,650.140486277,0.400977130273,-0.0153879389843,0.0798463481309,0.999999937122,0.000236279467642,-0.000263100084511,2.65700309156e-05,1793192924664846592
+96,1.600000000,BASELINE,763.280616741,741.719383259,711,670.280616741,659,632.280616741,876.719383259,783,798.280616741,648,628.719383259,650.719383259,0.400977424505,-0.0153892390073,0.0798461513369,0.999999937387,0.000234979614549,-0.000263253060065,2.6607725566e-05,1793192924681512704
+97,1.616666667,BASELINE,763,742,711.298085324,670.298085324,659,632,876.701914676,783,798.298085324,648.298085324,628.701914676,650.701914676,0.400977512683,-0.0153899447834,0.0798460191638,0.99999993744,0.000234526217953,-0.000263456118171,2.66235340802e-05,1793192924698178816
+98,1.633333333,BASELINE,763,742,711.876603979,670.876603979,659,632,876.123396021,783,798.876603979,648.876603979,628.123396021,650.123396021,0.400977407008,-0.0153900915026,0.0798459477847,0.999999937293,0.000234869152539,-0.000263706293037,2.66187525075e-05,1793192924714845696
+99,1.650000000,BASELINE,763.453090813,742,711.546909187,671,659,632.453090813,876.453090813,783.453090813,799,648.546909187,628,650.453090813,0.40097676713,-0.0153883555988,0.0798454438178,0.999999936724,0.000236468163668,-0.000264468789212,2.62758100562e-05,1793192924731512576
+100,1.666666667,BASELINE,763.970442925,742,711.029557075,671,659.029557075,632.970442925,876.970442925,783.970442925,799,648,628,650.970442925,0.400976053133,-0.0153863371579,0.0798448912837,0.999999936117,0.000238210408269,-0.000265238661256,2.58829991004e-05,1793192924748179456
+101,1.683333333,BASELINE,763.383984679,742,711.616015321,671,659.616015321,632.383984679,876.383984679,783.383984679,799,648,628,650.383984679,0.400976671596,-0.015388612568,0.0798456335205,0.999999937027,0.000236234786337,-0.000263530337031,2.62780669627e-05,1793192924764846592
+102,1.700000000,BASELINE,763,742,711.798994872,671,659.798994872,632,876.402010256,783,798.798994872,648,628,650,0.400976930045,-0.0153902654771,0.0798459165219,0.999999937612,0.000234352250302,-0.000262972973948,2.6475329817e-05,1793192924781513216
+103,1.716666667,BASELINE,763,742,711.216789983,671,659.216789983,632,877.566420034,783,798.216789983,648,628,650,0.400976505742,-0.015390737833,0.0798453285981,0.999999937586,0.000232646248906,-0.000264598371862,2.62974617894e-05,1793192924798179328
+104,1.733333333,BASELINE,763.360368334,742,711,671,659,632,877.639631666,783,798.360368334,648.360368334,628,650,0.400975360898,-0.0153897973665,0.0798444436914,0.999999936816,0.000234414283017,-0.000265934529489,2.63860549363e-05,1793192924814845696
+105,1.750000000,BASELINE,763.934532721,742,711,671,659,632,877.065467279,783,798.934532721,648.934532721,628,650,0.400973788577,-0.0153880187136,0.0798433825934,0.999999935594,0.000238243361214,-0.000267099089417,2.66327317329e-05,1793192924831512576
+106,1.766666667,BASELINE,763.489357298,742,711.510642702,670.489357298,659,632,876.489357298,783,799,648.489357298,628.510642702,650,0.400976504887,-0.015387430443,0.0798455075464,0.999999936239,0.000238750913678,-0.000264213586614,2.6667188331e-05,1793192924848179200
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,671,660,632,877,783,800,648,629,650,0.400974505875,-0.0153898531053,0.0798444522175,0.99999993738,0.000231921961516,-0.000265993512972,2.64599590756e-05,1793192924890520320
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.574954989,742,711.574954989,671,660,632.574954989,877,783,799.425045011,648,628.425045011,650,0.400975537702,-0.0153903376775,0.0798451406457,0.999999937472,0.000232381310157,-0.000265242755789,2.64894324473e-05,1793192924907187456
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.849443664,742,712,671,659.849443664,633,876.849443664,783,799,648.150556336,628,650,0.400976588907,-0.0153903183914,0.0798457917588,0.999999937489,0.000233350289672,-0.000264327057787,2.64809912216e-05,1793192924923854592
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.272009542,742,712,671,659.272009542,633,876.272009542,783,799,648.727990458,628,650,0.400977695054,-0.015388870498,0.0798463370713,0.99999993729,0.000235764244012,-0.000262943696983,2.63650493833e-05,1793192924940520448
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.311714042,742,712,671,659,633,876.311714042,783,799,648.688285958,628.311714042,650,0.400977508611,-0.0153889037915,0.0798464395017,0.999999937272,0.00023607451583,-0.000262726662547,2.64455737498e-05,1793192924957186560
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.901038954,742,712,671,659,633,876.901038954,783,799,648.098961046,628.901038954,650,0.400976170996,-0.0153902562224,0.0798461475035,0.999999937417,0.000234511259032,-0.000263548352262,2.67010698811e-05,1793192924973852928
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.481557316,633,876.518442684,783.481557316,799,648,629,650.481557316,0.40097557895,-0.0153911440497,0.0798454034955,0.999999937611,0.000232612341855,-0.000264509897691,2.65202149087e-05,1793192924990519296
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.939979976,742,712,671,659.939979976,632.939979976,876.060020024,784,799,648,628.939979976,651,0.400975670547,-0.0153917539575,0.0798449526078,0.999999937873,0.00023095050613,-0.000264999407797,2.63061766915e-05,1793192925007185920
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.363910831,742,712,671,659.363910831,632.363910831,876.636089169,784,799,648,628.363910831,651,0.400980346388,-0.0153907804913,0.079847806264,0.999999938647,0.000231909510643,-0.000261187709538,2.65639716198e-05,1793192925023852800
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.216041252,742,711.783958748,670.783958748,659.216041252,632.216041252,876.783958748,783.783958748,799,648,628.216041252,651,0.400991754246,-0.0153903391317,0.0798531796114,0.999999940445,0.00023384547151,-0.000252385748952,2.69744463203e-05,1793192925040519680
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.802653602,742,711.197346398,670.197346398,659.802653602,632.802653602,876.197346398,783.197346398,799,648,628.802653602,651,0.401014709395,-0.0153908104837,0.0798628749328,0.999999943807,0.000237457185284,-0.000235024094824,2.76468094482e-05,1793192925057186816
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.615396947,742,711.384603053,670.384603053,660,632.615396947,876.384603053,783.384603053,799,648,628.615396947,650.615396947,0.401054395428,-0.0153933767982,0.0798774575417,0.999999950324,0.0002355267642,-0.000207504520278,2.86455662204e-05,1793192925073853440
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.035811397,742,711.964188603,670.964188603,660,632.035811397,876.964188603,783.964188603,799,648,628.035811397,650.035811397,0.401102563531,-0.0153970051975,0.0798945178632,0.999999957641,0.000230786642991,-0.000174835175471,2.98097950607e-05,1793192925090519296
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.541948454,742,711.458051546,671,660,632.541948454,877,783.458051546,799,648.541948454,628,650,0.401168824814,-0.0153981665797,0.0799092103378,0.999999961689,0.000233868121488,-0.000145199667741,2.90683490578e-05,1793192925107186176
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.88106325,742,711.11893675,671,659.88106325,633,877.11893675,783,799,648.88106325,628,650,0.401237507391,-0.0153995909095,0.0799217931482,0.999999964415,0.00023574524225,-0.000121710924072,2.79293372497e-05,1793192925123852544
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.306569497,742,711.693430503,671,659.306569497,633,877.693430503,783,799,648.306569497,628,650,0.401310900151,-0.0154026446958,0.0799268927175,0.999999965659,0.000231036388113,-0.000121000508146,2.57482549264e-05,1793192925140519168
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.274965604,742,712,671,659.274965604,633,877.450068791,783.274965604,799,648,628.274965604,650.274965604,0.401394748862,-0.0154061528564,0.0799295749973,0.999999966794,0.000227683005601,-0.00011856393046,2.2715400361e-05,1793192925157186048
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.864557658,742,712,671,659.864557658,633,876.270884684,783.864557658,799,648,628.864557658,650.864557658,0.401490561677,-0.0154101809297,0.0799294913191,0.999999967799,0.000225880607264,-0.000114152210702,1.87079146568e-05,1793192925173852672
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876.445860794,783.554139206,799.445860794,648,629,650.554139206,0.401606573061,-0.0154131912061,0.0799316395987,0.999999969253,0.000222256744236,-0.000109081683364,1.40444304266e-05,1793192925190519552
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.975399824,671,660,632.975399824,877,783,800,648,628.975399824,650,0.401729992741,-0.0154160410667,0.0799345731859,0.999999970881,0.000217744429653,-0.000103644419713,9.13305198473e-06,1793192925207186432
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.398718792,671,660,632.398718792,877,783,800,648,628.398718792,650,0.401884481832,-0.0154221029533,0.0799401923007,0.999999974429,0.00020548438699,-9.43861923303e-05,3.04898127114e-06,1793192925223853056
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.177453957,671,659.822546043,632,877,783,799.822546043,648,628,650,0.402046067275,-0.0154282209655,0.0799441581246,0.999999977263,0.000194320419704,-8.77629880332e-05,-3.30421931217e-06,1793192925240519680
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.752487838,671,659.247512162,632,877,783,799.247512162,648,628,650,0.402223551847,-0.0154344647244,0.0799444198024,0.999999978933,0.000185612176033,-8.70434700977e-05,-1.02603959549e-05,1793192925257186304
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.663779096,742,712,671,659.336220904,632.336220904,877,783,799,648,628,650,0.402417866747,-0.0154412591373,0.0799412594758,0.99999998739,0.000127636193442,-9.27164790149e-05,-1.82211573252e-05,1793192925273852928
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.073471889,742,712,671,659.926528111,632.926528111,877,783,799,648,628,650,0.402624900553,-0.0154484696867,0.079935513098,0.999999993784,3.24279679835e-05,-0.000103220398974,-2.69410964347e-05,1793192925290519552
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.493906949,877,783,799,648,628.506093051,650.506093051,0.40286523379,-0.0154560199912,0.0799321422459,0.999999993272,2.94366517978e-05,-0.000107682349829,-3.15425752207e-05,1793192925307186176
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.083637967,742.083637967,712,671,659.916362033,632.083637967,877,783,799,648,628.916362033,650.916362033,0.403117990131,-0.0154632512878,0.0799297747456,0.999999992451,4.24647915711e-05,-0.000110118647109,-3.41870473593e-05,1793192925323853056
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.658289274,742.658289274,712,671,659.341710726,632.658289274,877,783,799,648,628.341710726,650.341710726,0.403415888428,-0.0154683262413,0.0799313150952,0.999999991365,7.25775715136e-05,-0.000105705343353,-2.8779636217e-05,1793192925340519936
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.761257713,742.761257713,712,670.761257713,659.238742287,633,877,783,799,648,628.238742287,650.238742287,0.403729843084,-0.0154747819261,0.0799348590374,0.999999991436,8.15943484978e-05,-9.87636475424e-05,-2.67528517799e-05,1793192925357186560
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.172293956,742.172293956,712,670.172293956,659.827706044,633,877,783,799,648,628.827706044,650.827706044,0.404067351497,-0.0154832630655,0.0799413421366,0.999999993898,5.96644772854e-05,-8.81129435406e-05,-2.96852563828e-05,1793192925373853184
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.409904552,742,711.590095448,670.409904552,660,632.590095448,877,783,799,648,628.590095448,650.590095448,0.404448651827,-0.0154941561551,0.0799427976922,0.999999995122,4.55533628125e-05,-8.16510979727e-05,-3.18476558344e-05,1793192925390519808
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.989305601,742,711.010694399,670.989305601,660,632.010694399,877,783,799,648,628.010694399,650.010694399,0.40484806021,-0.0155060465915,0.0799421743464,0.999999995873,3.4675323179e-05,-7.69213554825e-05,-3.3691656274e-05,1793192925407186176
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,741.433365629,711,671,660,632,877,783,799.566634371,648.566634371,628,650,0.405262863144,-0.0155143637041,0.0799348247298,0.999999995304,1.81117292553e-05,-8.8047995072e-05,-3.62264646805e-05,1793192925423852544
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.857523695,741.142476305,711,671,659.857523695,632,877,783,799.857523695,648.857523695,628,650,0.405688327509,-0.0155233832792,0.0799274566806,0.999999994255,2.16360318607e-06,-9.99367617349e-05,-3.87070461967e-05,1793192925440519424
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.28604149,741.71395851,711,671,659.28604149,632,877,783,799.28604149,648.28604149,628,650,0.406145022417,-0.015534720346,0.0799204139886,0.999999992683,-1.160937396e-05,-0.000113222515827,-4.09852311567e-05,1793192925457186560
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742,711,670.704111259,659,632.295888741,877,783.295888741,798.704111259,648,628.295888741,650,0.406621276221,-0.015543585422,0.0799177123112,0.999999991758,-2.3888139319e-05,-0.000118755534138,-4.25518078054e-05,1793192925473853184
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,711,670.11171094,659,632.88828906,877,783.88828906,798.11171094,648,628.88828906,650,0.407117130148,-0.015549973305,0.0799193607854,0.999999991669,-3.46695492719e-05,-0.000116519498987,-4.34052785077e-05,1793192925490519808
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.469558716,742,711.469558716,670.469558716,659,633,877,784,798,648,629,650.469558716,0.407649760419,-0.0155367367406,0.0799110945948,0.99999998982,-2.21052227938e-05,-0.000134248003506,-4.30007920305e-05,1793192925507186688
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,741.951944043,711.951944043,671,659.048055957,633,877,783.951944043,798.048055957,648,628.951944043,650.951944043,0.408195747471,-0.0155204112373,0.0799018770191,0.999999987205,-5.76022697675e-06,-0.000154117321113,-4.24857477962e-05,1793192925523853312
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,741.375488006,711.375488006,671,659.624511994,633,877,783.375488006,798.624511994,648,628.375488006,650.375488006,0.408794623956,-0.0155202681629,0.0799075336938,0.999999988273,-7.50084287829e-06,-0.000146510034592,-4.39695581934e-05,1793192925540519680
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.795518965,741.204481035,711.204481035,671,660,632.795518965,877,783,799,648,628,650,0.409416013478,-0.0155249415753,0.0799237957446,0.999999991668,-1.55337290921e-05,-0.000120129621114,-4.46265085465e-05,1793192925557186304
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.208986275,741.791013725,711.791013725,671,660,632.208986275,877,783,799,648,628,650,0.410079466244,-0.0155386140953,0.0799598728427,0.999999996698,-3.5323071182e-05,-5.8673562484e-05,-4.37385562529e-05,1793192925573852928
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.372459504,742,711.627540496,671,660.372459504,632.372459504,877,783,799,648,628,650,0.410750156776,-0.0155474359739,0.0799762371958,0.999999997293,-4.86225058941e-05,-3.35975047081e-05,-4.38358691709e-05,1793192925590519552
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.951089464,742,711.048910536,671,660.951089464,632.951089464,877,783,799,648,628,650,0.411424853662,-0.0155535728382,0.0799816897961,0.999999996899,-5.832953022e-05,-2.86591588042e-05,-4.44785638319e-05,1793192925607186176
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.470310807,742,711.529689193,671.529689193,660.470310807,633,877,783,799.529689193,648,628,650,0.412108369198,-0.015543547219,0.0799483299566,0.999999994239,-5.61853384787e-05,-7.65315911002e-05,-5.0089432423e-05,1793192925623853056
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.107646824,742,712,671.892353176,660,632.892353176,877,783,799.892353176,648,628,650.107646824,0.412800798736,-0.0155329269564,0.0799154132603,0.999999989614,-5.27190996793e-05,-0.000122031919796,-5.56779981785e-05,1793192925640520192
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.682827637,742,712,671.317172363,660,632.317172363,877,783,799.317172363,648,628,650.682827637,0.413528407096,-0.015526205545,0.0798999858969,0.999999987829,-4.82635209496e-05,-0.000136051364777,-5.9177348167e-05,1793192925657186816
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.736177732,742,712,671.263822268,660,632,877.263822268,783,799,648,628,651,0.414273880623,-0.0155260284004,0.07990314048,0.999999988939,-5.15938909993e-05,-0.000125576317078,-6.07563589049e-05,1793192925673853184
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.148036038,742,712,671.851963962,660,632,877.851963962,783,799,648,628,651,0.415041316081,-0.0155338961893,0.079929138039,0.99999999251,-6.44956073083e-05,-8.49899393427e-05,-5.99746772531e-05,1793192925690519552
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742,712,671.566912064,660,632.433087936,877.566912064,783,799,648,628,650.566912064,0.415814966374,-0.0155382190964,0.0799367255308,0.999999992367,-6.92406419571e-05,-8.42792439017e-05,-5.80367607934e-05,1793192925707186176
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.011800764,742,712,671.011800764,660,633,877,783,799.011800764,648,628,650,0.41659233987,-0.0155411934657,0.0799381596648,0.999999991293,-7.10619212701e-05,-9.61883831084e-05,-5.57791686479e-05,1793192925723852800
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.588093235,742,712,671.588093235,660,633,877,783,799.588093235,648,628,650,0.417447818569,-0.0155366976869,0.0799414660797,0.999999993858,-6.42664153689e-05,-7.01671255459e-05,-5.6833723509e-05,1793192925740519424
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.835297331,742,712,672,660,632.835297331,877,783,799.835297331,648,628,650,0.418307480716,-0.0155339579121,0.0799505004155,0.999999995815,-5.91044001184e-05,-4.01077809274e-05,-5.71722702365e-05,1793192925757186048
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.257893711,742,712,672,660,632.257893711,877,783,799.257893711,648,628,650,0.419177625417,-0.0155356182151,0.079973887393,0.999999996764,-5.80354771367e-05,6.99310489183e-08,-5.57166915478e-05,1793192925773852928
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742,712,671.675552139,660,632.324447861,877,783.324447861,799,648.324447861,628,650,0.420005645525,-0.0155361542874,0.0799717778648,0.999999996826,-5.68055789695e-05,-2.120007162e-06,-5.58185258259e-05,1793192925790519808
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742,712,671.089224908,660,632.910775092,877,783.910775092,799,648.910775092,628,650,0.420799664562,-0.0155357829322,0.0799490887303,0.999999996087,-5.54457490938e-05,-3.85071632593e-05,-5.71774321883e-05,1793192925807186432
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.492629694,742,712,671.492629694,660,632.507370306,877,784,799,649,628.492629694,650,0.421671081841,-0.0155382259596,0.0799562130738,0.999999996135,-6.09503344885e-05,-2.85586267352e-05,-5.65637489317e-05,1793192925823852800
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,632.073160493,877,783.926839507,799,649,628.926839507,650,0.422559072406,-0.0155413005251,0.0799703037993,0.999999996173,-6.71612730127e-05,-8.53028497992e-06,-5.54198938528e-05,1793192925840519424
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660,632.65010333,877,783.34989667,799,649,628.34989667,650,0.423465524383,-0.0155452453706,0.0799955164927,0.99999999588,-6.97519621002e-05,2.36381200669e-05,-5.30633362972e-05,1793192925857186048
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.769930515,742,712,672,660,632.769930515,877,783.230069485,799,648.769930515,628,650,0.424319903357,-0.0155454991149,0.0799918972688,0.999999995951,-7.21929513589e-05,5.05571185064e-06,-5.3489491877e-05,1793192925873852672
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.283461738,743,711,672.283461738,659,630,877.283461738,780,800,648,627.283461738,650.716538262,0.447443176042,-0.0157139729123,0.0795130315319,0.999999670902,-0.000333484917733,-0.000736062029164,-7.20907974063e-05,1793192927828372992
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.030395288,711,672.030395288,658,630,877,780.030395288,800,648.030395288,627,650,0.447118676258,-0.015696945708,0.079526631953,0.99999969101,-0.000318005475197,-0.00071638096477,-6.04232540125e-05,1793192927878372352
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.180063956,742.819936044,711,673,658,630,877,781,800,648.819936044,627,650,0.446796752801,-0.0156819376459,0.0795264454579,0.99999969381,-0.000305117601494,-0.000718879331457,-4.99474331731e-05,1793192927911705856
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.33655019,711,673,658,630,877,780.66344981,800,648,627.33655019,650,0.446395102108,-0.0156620252873,0.0795312444127,0.999999702458,-0.000276328249157,-0.000719333947246,-3.58509785785e-05,1793192927945039104
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.488540423,711,672.488540423,658.511459577,630.511459577,877,780,800,648,628,650,0.445891295653,-0.0156371864554,0.0795442110347,0.999999717005,-0.000235757061689,-0.000714174982219,-1.90295958154e-05,1793192927978373120
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,631,877.755586644,781,799.244413356,648,628,650.755586644,0.444946255102,-0.015602379468,0.0795542759278,0.999999742781,-0.000118509440788,-0.000707381970015,1.93945066192e-06,1793192928028372480
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,631,877.166629568,781,799.833370432,648,628,650.166629568,0.444592991946,-0.0155883206696,0.0795641168477,0.999999752398,-0.000118692622117,-0.00069362312609,-1.40694124878e-06,1793192928045038848
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.415590186,742.415590186,711,673,658,631,877,781,800,648,628,650,0.444202897041,-0.0155761390249,0.0795756169699,0.999999764828,-0.000104590975888,-0.000677790848938,2.22368871549e-06,1793192928061705728
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.995151713,742.995151713,711,673,658,631,877,781,800,648,628,650,0.443798270156,-0.0155646980127,0.0795877717309,0.99999977781,-8.48532428938e-05,-0.000661140497491,8.60710664203e-06,1793192928078372608
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.427117239,743,711,673,658.572882761,631,877,781,800,648,628,650.572882761,0.443339623789,-0.0155562679993,0.0795960423435,0.999999786074,-7.27668718908e-05,-0.000649993861873,8.03017884189e-06,1793192928095039232
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742.850564542,711,673,659,631,877,781.149435458,800,648,628,650.850564542,0.442873912678,-0.0155518011851,0.0796048776792,0.999999795484,-6.60146532794e-05,-0.000636091894092,7.7757647875e-06,1793192928111705856
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763,742.277310107,711,673,659,631,877,781.722689893,800,648,628,650.277310107,0.442389457536,-0.0155585024961,0.0796154075747,0.999999808562,-7.42077435437e-05,-0.000614243757334,8.60257386656e-06,1793192928128372480
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.104165181,659,631,877,782,799.104165181,648,628,650,0.441369865611,-0.0155478728722,0.0796513205768,0.999999844931,-5.85399460254e-05,-0.000553654785162,1.33281531235e-05,1793192928161705728
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742.476612575,711,672,659.476612575,631,877,782,799,648,628,650.476612575,0.440777191541,-0.0155175047103,0.0796493420714,0.99999984773,-2.45077401982e-05,-0.000551192095513,1.12119620747e-05,1793192928178372608
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.629225256,742.370774744,711,672,659.370774744,631,877,782,799,648,628,650.370774744,0.439470299673,-0.0154498214803,0.079612300029,0.999999818192,5.14051244117e-05,-0.000600799087894,3.65676038725e-06,1793192928211706112
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.202977819,742.797022181,711,672,659.797022181,631.797022181,877.797022181,782,799.797022181,648.797022181,628,650,0.438188939478,-0.0154317547907,0.0796543299434,0.999999857398,8.5100338263e-05,-0.000527154379261,8.34978721116e-06,1793192928245039104
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.307705414,743,711,672.307705414,660,632,877,783,799,648,628,650.307705414,0.434575235934,-0.0154334014667,0.0798420955568,0.999999961116,0.000122841134539,-0.000248382116858,3.13800454395e-05,1793192928328372480
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.740602882,711.740602882,672,660,632,877,783,799,648,628,650,0.428550566458,-0.0154243830856,0.0798495651655,0.999999955938,0.000145470997619,-0.000256504429502,3.41824216838e-05,1793192928445040128
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,743,711.675824684,672,660,632,877.324175316,783.324175316,799,648.324175316,628,650.324175316,0.427669247238,-0.0154212037121,0.0798664683926,0.999999962255,0.000151845180578,-0.000226094776335,3.62543862335e-05,1793192928461706752
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742.798350018,712,671,660,632.201649982,877,783.201649982,799,648,628.201649982,650,0.412792993808,-0.0154071743661,0.0798009118446,0.999999936179,0.000177835809257,-0.000308953308963,2.37688680039e-05,1793192928745039104
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742.211040775,712,671,660,632.788959225,877,783.788959225,799,648,628.788959225,650,0.412038869187,-0.0154003643536,0.0798082010062,0.999999938151,0.000182330175086,-0.000299773291478,2.42803128631e-05,1793192928761705472
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,711.62882739,671,660,633,877,784,799,648,629,650,0.411291733639,-0.0153932358411,0.0798014145889,0.999999931982,0.000189431010805,-0.000315593729582,2.35127264467e-05,1793192928778372096
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,711.525794562,670.474205438,660,633,877,783.474205438,799,648.525794562,629,650,0.409888161403,-0.015393254607,0.0797952931593,0.999999925843,0.000193904717587,-0.00033191959686,2.33391315611e-05,1793192928811705600
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.677149827,742,711.322850173,671.354299654,660,632.322850173,877,783,799,648.322850173,628.322850173,650,0.408656426701,-0.0154045303952,0.079837915878,0.999999948735,0.000185334060585,-0.000259684107967,2.73049364219e-05,1793192928845039104
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.740014537,742,711,671.740014537,660,632,877.259985463,783,799,648,628.259985463,650.259985463,0.408051574608,-0.0154022797343,0.0798457259455,0.999999950282,0.000190848921842,-0.000249385731595,2.86098101748e-05,1793192928861705728
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.148767411,742,711,671.148767411,660,632,877.851232589,783,799,648,628.851232589,650.851232589,0.407427886269,-0.0153927094758,0.0798268691118,0.999999936324,0.000207969831739,-0.000288578410365,2.86836709264e-05,1793192928878372352
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,711.988008879,671,660,632.011991121,876.988008879,783.011991121,799,648,628,650.011991121,0.406274246592,-0.0153866258456,0.0797594406661,0.999999897966,0.000216402022576,-0.000395825250997,2.36851128455e-05,1793192928911705600
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742,711.413985368,671,660,632.586014632,876.413985368,783.586014632,799,648,628,650.586014632,0.405815506833,-0.0153819786709,0.0797733505138,0.999999908605,0.000220460141197,-0.000365598166235,2.29327088263e-05,1793192928928372224
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.733044791,742,711.733044791,671,660,633,876,784,799,648.733044791,628.733044791,650.266955209,0.404958002798,-0.0153652207222,0.0798060320461,0.999999922594,0.000247665515795,-0.000304763388194,2.43718465382e-05,1793192928961705728
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.681852587,633,876.318147413,783.681852587,799,649,629,650,0.404553260454,-0.0153596577101,0.0798190365222,0.999999926273,0.000255464886907,-0.000285539761059,2.56743856858e-05,1793192928978372096
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.08640011,633,876.91359989,783.08640011,799,649,629,650,0.404154704615,-0.0153583835866,0.0798279380475,0.999999929373,0.000253514158263,-0.000276166440798,2.67614839933e-05,1793192928995038720
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.510449062,742,712,671,659,632.510449062,877,783,799,648.510449062,628.510449062,650.489550938,0.403794211988,-0.0153548847563,0.0798319896724,0.999999926398,0.000261914219524,-0.000278964573114,2.79866750439e-05,1793192929011705600
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.060171861,742,711.939828139,671,659,632,877,783,799.060171861,648,628.060171861,650.939828139,0.403446115421,-0.0153517663342,0.0798349039331,0.999999922746,0.000270943334923,-0.000283274146117,2.9217913368e-05,1793192929028372480
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711.186699395,671,659.186699395,632.186699395,876.813300605,783,799.813300605,648,629,650,0.402859657623,-0.0153637878319,0.0798343292912,0.999999924484,0.000261179448483,-0.000286128884906,3.07677447018e-05,1793192929061705728
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.801486186,671,659.801486186,632.801486186,876.198513814,783,799.198513814,648,629,650,0.402600780366,-0.0153860409694,0.0798305635634,0.999999928971,0.000230296257152,-0.000296873459752,2.97910213319e-05,1793192929078372352
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.549296209,742,711.549296209,670.549296209,659.549296209,633,877,783.450703791,799,648,628.450703791,650.549296209,0.401980806634,-0.0153982841648,0.0798362351679,0.999999937189,0.000206464143325,-0.000286472278988,3.04812691248e-05,1793192929128372224
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.126991196,742,711.126991196,671,659,632.126991196,876,783,799,648.873008804,628.126991196,650,0.401458024711,-0.0153870907068,0.0798523345311,0.999999943517,0.000212770671689,-0.000257965034242,3.3882163553e-05,1793192929195038720
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,659.035825167,632,877,783.035825167,799,648,628,650.035825167,0.401258513654,-0.0153856018016,0.0798404916283,0.999999935863,0.000219626138897,-0.00028200276833,2.26478134505e-05,1793192929228372224
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,659.609591666,632,877,783.609591666,799,648,628,650.609591666,0.401193738026,-0.0153860668935,0.0798384337721,0.999999932685,0.000232262184404,-0.000283082907826,2.34093027315e-05,1793192929245039104
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.812442495,742,711.187557505,671,660,632,877,783.812442495,799,648,628.187557505,650.812442495,0.401136330192,-0.0153854290998,0.0798366248882,0.999999930174,0.000241360515561,-0.000284277684409,2.41613033721e-05,1793192929261705728
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.225535449,742,711.774464551,671,660,632,877,783.225535449,799,648,628.774464551,650.225535449,0.40109460996,-0.0153824430296,0.0798353461194,0.999999929367,0.000242926304156,-0.000285716547505,2.48931006026e-05,1793192929278372352
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763,742,711.643404435,671,659.643404435,632,876.643404435,783,799,648,628.643404435,650,0.401063414821,-0.0153825578545,0.079836038967,0.999999930355,0.000242289957771,-0.000282708110714,2.57152333159e-05,1793192929295038976
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763,742,711.06425413,671,659.06425413,632,876.06425413,783,799,648,628.06425413,650,0.401038788492,-0.0153846079776,0.0798379623195,0.999999932436,0.000240279237802,-0.000276924071203,2.65937453482e-05,1793192929311705600
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763,742,711.515274513,671.515274513,659,632.515274513,876,783,799,648,628.515274513,650,0.401015893213,-0.0153837017926,0.0798368506751,0.999999931525,0.000239283680194,-0.000281031464782,2.67196427388e-05,1793192929328372224
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.093505474,742,712,671.906494526,659.093505474,633,876,783,799,648,629,650,0.400995251626,-0.0153827184636,0.0798351739469,0.999999930226,0.0002387643688,-0.000286051106681,2.67098395565e-05,1793192929345039104
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.664863666,742,712,671.335136334,659.664863666,633,876,783,799,648,629,650,0.400985023407,-0.015383226228,0.0798325449156,0.999999928958,0.000240031475865,-0.000289424640938,2.6486515443e-05,1793192929361705728
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.75569126,671,659.75569126,632.75569126,876,783,799,648,628.75569126,650.24430874,0.400978896633,-0.0153835842822,0.0798321086206,0.999999928667,0.000241129628187,-0.000289507888322,2.65896622056e-05,1793192929378372352
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.164773075,671,659.164773075,632.164773075,876,783,799,648,628.164773075,650.835226925,0.400978588723,-0.0153837299374,0.0798347832383,0.999999929762,0.000241988078367,-0.000284923089207,2.71559847548e-05,1793192929395038976
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.582192853,742,711.417807147,671,659.417807147,632,876.417807147,783,799,648,628,651,0.400977607207,-0.0153845840491,0.0798359236282,0.999999930652,0.000240903061701,-0.000282683535207,2.74174120958e-05,1793192929411705600
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.427089046,632.572910954,877.572910954,783,799,648,628,651,0.40097460407,-0.0153869079386,0.0798362105273,0.999999931574,0.000238143067977,-0.000281777755412,2.72327666454e-05,1793192929445038848
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763,742,711.848644913,671,659,633,877.848644913,783,798.848644913,648,628.151355087,650.848644913,0.400973299247,-0.0153877062925,0.0798360137392,0.999999931727,0.000237563710909,-0.000281749398363,2.69611333915e-05,1793192929461705472
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,659.058032704,632.058032704,876.941967296,783,798.941967296,648,628,650,0.400973347957,-0.0153888442777,0.0798385416064,0.999999933903,0.000233463915853,-0.000277426836152,2.68902547684e-05,1793192929545038848
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..314118bb823e9832a8316621a6dc8021b42e46f4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,404 @@
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+388,6.466666667,pose2_to_pose3_retreat,0.57571164516,-0.00994541061106,1.0700288252,0.546282373501,-0.0012726875116,1.06969811752
+389,6.483333333,pose2_to_pose3_retreat,0.575711610414,-0.0099454081909,1.07002882736,0.546282338729,-0.00127268518049,1.06969811963
+390,6.500000000,pose2_to_pose3_retreat,0.57571113476,-0.00994537506015,1.07002885689,0.546281862722,-0.00127265326888,1.06969814861
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+395,6.583333333,pose2_to_pose3_retreat,0.575709730105,-0.00994551681257,1.07002912628,0.546280460028,-0.00127278872697,1.06969840861
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+397,6.616666667,pose2_to_pose3_retreat,0.575709489091,-0.00994554015262,1.07002919667,0.546280219115,-0.00127281177053,1.06969847783
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80fdbf2031d444ac651f8c65d5f9eb57283796ae
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d775d64cca54c03766cbf3d5fa589765df867df1b4e96efa925d0a070ec002e0
+size 24794450
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6914d88c02822a90e954904449f55e4e139888e4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_01/franka_data.csv
@@ -0,0 +1,392 @@
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+19,0.316666667,BASELINE,765,742,711,672,664.083889067,633,876.083889067,783.083889067,799,650,629,651,0.400915671389,0.00440786919367,0.0599187539747,0.999999965939,-0.00013858997332,-0.000218387948463,-3.49481508954e-05,1793192931987120384
+20,0.333333333,BASELINE,765,742,711,672,664.666175427,633,876.666175427,783.666175427,799,650,629,651,0.400918530151,0.00441032560051,0.0599206667155,0.999999967186,-0.000134095381836,-0.000215427193007,-3.51761307791e-05,1793192932003787264
+21,0.350000000,BASELINE,765,742,711,672,665,633,877,784,799,650,629,651,0.400919615496,0.0044110087279,0.0599213615543,0.999999967662,-0.000132976434217,-0.000213896633007,-3.52358015642e-05,1793192932020453888
+22,0.366666667,BASELINE,765,742,711,672,665,633,877,784,799,650,629,651,0.40091831814,0.00440930933913,0.0599204200626,0.999999967124,-0.000136392883471,-0.000214287633621,-3.50693381396e-05,1793192932037120512
+23,0.383333333,BASELINE,764.60721521,742,711,672.39278479,664.60721521,633,877,783.60721521,799,650,629,651,0.400917227042,0.00440851560894,0.0599198043074,0.999999966721,-0.000137595054376,-0.000215430864597,-3.48605391697e-05,1793192932053787136
+24,0.400000000,BASELINE,764.035206538,742,711,672.964793462,664.035206538,633,877,783.035206538,799,650,629,651,0.400916230058,0.00440813512181,0.0599193371826,0.999999966381,-0.000137786871896,-0.000216917331007,-3.46324228874e-05,1793192932070453760
+25,0.416666667,BASELINE,764.556197163,742,711,672.443802837,664,633,877,783,799.556197163,650,628.443802837,651,0.400915947244,0.00440868777958,0.0599185311686,0.999999966414,-0.000136234930436,-0.000217742302171,-3.46524186521e-05,1793192932087120384
+26,0.433333333,BASELINE,765,742,711,672.145487646,664.145487646,632.854512354,877,783,799.854512354,650,628.145487646,651,0.400915731424,0.00440899279659,0.0599180065055,0.999999966302,-0.00013601908042,-0.000218370334791,-3.47622464159e-05,1793192932103786752
+27,0.450000000,BASELINE,765,742,711,672.724686536,664.724686536,632.275313464,877,783,799.275313464,650,628.724686536,651,0.400915575687,0.00440837712989,0.0599183868322,0.999999965686,-0.000140127167902,-0.000218540610087,-3.50913611152e-05,1793192932120453632
+28,0.466666667,BASELINE,765,742.301057065,711,673,665,632.301057065,877,783.301057065,799.301057065,650,629,651,0.400916259065,0.0044093264244,0.0599190530799,0.999999965958,-0.000140047530038,-0.000217311156794,-3.5299234775e-05,1793192932137120512
+29,0.483333333,BASELINE,765,742.874865126,711,673,665,632.874865126,877,783.874865126,799.874865126,650,629,651,0.400917702665,0.00441169353894,0.0599199783657,0.999999967029,-0.000136173906007,-0.000214813580556,-3.53972667329e-05,1793192932153787136
+30,0.500000000,BASELINE,765,742.539585116,711,672.539585116,664.539585116,632.539585116,876.539585116,784,800,650,629,651,0.400918515653,0.00441012259682,0.0599206646162,0.999999967151,-0.000136647432196,-0.000214015464891,-3.49716756975e-05,1793192932170453760
+31,0.516666667,BASELINE,764.951546825,742,711,672,664.048453175,632.048453175,876.048453175,783.951546825,799.951546825,650,629,651,0.400918973748,0.00440780791171,0.059921125132,0.999999966991,-0.000138157675961,-0.000213876097271,-3.44607498751e-05,1793192932187120384
+32,0.533333333,BASELINE,764.372124218,742,711,672,664.627875782,632.627875782,876.627875782,783.372124218,799.372124218,650,629,651,0.400917470118,0.00440937886059,0.0599198425175,0.999999966638,-0.000137742508103,-0.000215761500533,-3.46150382341e-05,1793192932203787008
+33,0.550000000,BASELINE,764.20605178,742.20605178,711,672,664.79394822,633,876.79394822,783.20605178,799.20605178,650,629,651,0.400916881646,0.00441024534383,0.059919281588,0.999999966552,-0.000137170569085,-0.000216523303726,-3.46029817947e-05,1793192932220453632
+34,0.566666667,BASELINE,764.781989913,742.781989913,711,672,664.218010087,633,876.218010087,783.781989913,799.781989913,650,629,651,0.400917935985,0.00440984723109,0.059920016165,0.999999966951,-0.000136317208075,-0.000215268116957,-3.42923175297e-05,1793192932237120256
+35,0.583333333,BASELINE,765,742.642185597,710.642185597,672.357814403,664.357814403,633,876.357814403,783.642185597,799.642185597,650,629,651,0.400918357447,0.00440985738785,0.0599200471007,0.99999996707,-0.0001361463952,-0.000214810305859,-3.43491010198e-05,1793192932253786880
+36,0.600000000,BASELINE,765,742.066430268,710.066430268,672.933569732,664.933569732,633,876.933569732,783.066430268,799.066430268,650,629,651,0.400918393431,0.00441011621717,0.059919649456,0.999999967021,-0.000136391315009,-0.000214838167628,-3.46296929764e-05,1793192932270453760
+37,0.616666667,BASELINE,764.47831409,742,710.52168591,673,665,633,876.47831409,783,799,650,628.47831409,651,0.400915989421,0.0044092729308,0.0599187991469,0.999999966406,-0.00013709020791,-0.000217269501787,-3.44604692078e-05,1793192932287120384
+38,0.633333333,BASELINE,764,742,711,672.890784209,665,633,876,783,799,650,628.109215791,651,0.400914493164,0.00440882616357,0.0599183541267,0.999999966007,-0.000137598208145,-0.000218796941603,-3.43690952659e-05,1793192932303787008
+39,0.650000000,BASELINE,764,742,711,672.312692548,665,633,876,783,799,650,628.687307452,651,0.400918260248,0.0044106988194,0.0599199025238,0.99999996687,-0.00013703248578,-0.000215098054346,-3.48638103793e-05,1793192932320453888
+40,0.666666667,BASELINE,764,742,711,672,665,632.735408186,876,783,799,650,628.735408186,651,0.400920339687,0.00441133900591,0.0599208763195,0.999999967596,-0.00013528595793,-0.000212807615748,-3.48981897689e-05,1793192932337120512
+41,0.683333333,BASELINE,764,742,711,672,665,632.159075016,876,783,799,650,628.159075016,651,0.400920430744,0.00441052710029,0.0599211731212,0.999999968168,-0.000132148208302,-0.000212176607751,-3.43902028309e-05,1793192932353787392
+42,0.700000000,BASELINE,764.41402919,742,711,672,665,632,876.41402919,783,799,650,628,651,0.400919005325,0.00441189705727,0.0599201994183,0.99999996802,-0.00013063556753,-0.000213764269827,-3.46211458534e-05,1793192932370454016
+43,0.716666667,BASELINE,764.985902377,742,711,672,665,632,876.985902377,783,799,650,628,651,0.400917001766,0.00441409882496,0.0599187413498,0.999999967596,-0.000129742481398,-0.000216197775057,-3.51337976666e-05,1793192932387120384
+44,0.733333333,BASELINE,764.420429871,742,711,672,664.420429871,632.579570129,877,783,799,650,628.579570129,651,0.400917517224,0.00441244575549,0.0599195272328,0.999999967469,-0.000132378558887,-0.000215228101849,-3.48648751395e-05,1793192932403787008
+45,0.750000000,BASELINE,764,742,711,672,664,632.830453756,877,783,799,650,629,651,0.400918293973,0.00441124449043,0.0599201892329,0.999999967374,-0.000134698034245,-0.000214251768608,-3.47104644165e-05,1793192932420453632
+46,0.766666667,BASELINE,764,742,711,672,664,632.25074116,877,783,799,650,629,651,0.400919548811,0.00441137193364,0.0599204143299,0.999999967355,-0.000136035795806,-0.000213467409633,-3.48808698152e-05,1793192932437120000
+47,0.783333333,BASELINE,764.325029462,742,711,672,664,632.325029462,876.674970538,783,799,650,629,651,0.4009198513,0.00441060276893,0.0599201756916,0.9999999672,-0.00013681072104,-0.000213684495919,-3.49602521473e-05,1793192932453786880
+48,0.800000000,BASELINE,764.897795581,742,711,672,664,632.897795581,876.102204419,783,799,650,629,651,0.400919427912,0.00440915021188,0.0599195835956,0.999999966942,-0.000137156653951,-0.000214664881243,-3.49702569397e-05,1793192932470453248
+49,0.816666667,BASELINE,764.515624027,742,711,672,664,632.515624027,876.484375973,783.484375973,799,650,629,651,0.400919331135,0.00440986930706,0.0599197504429,0.999999967193,-0.000136543851682,-0.000213899642265,-3.48820953454e-05,1793192932487120128
+50,0.833333333,BASELINE,764.07282158,742.07282158,711,672.07282158,664,632,876.92717842,784,799,650,629,651,0.400919239193,0.00441080609143,0.0599199600826,0.999999967457,-0.00013594438126,-0.000213063009974,-3.4766507637e-05,1793192932503787008
+51,0.850000000,BASELINE,764.653352901,742.653352901,711,672.653352901,664,632,876.346647099,784,799,650,629,651,0.400918686377,0.00440997209144,0.0599193188116,0.999999967054,-0.000136889660867,-0.000214372003198,-3.46083580671e-05,1793192932520453376
+52,0.866666667,BASELINE,765,742.768026193,711,672.768026193,664,632.231973807,876.231973807,783.768026193,799,650,629,651,0.400918559319,0.00441009423819,0.0599192844281,0.999999966942,-0.000137198204104,-0.000214686160058,-3.46694365224e-05,1793192932537120256
+53,0.883333333,BASELINE,765,742.192236806,711,672.192236806,664,632.807763194,876.807763194,783.192236806,799,650,629,651,0.400919063291,0.00441163351974,0.0599201495316,0.999999967264,-0.000136563020549,-0.000213525838984,-3.50554396477e-05,1793192932553787136
+54,0.900000000,BASELINE,765,742.388666127,711,672.388666127,664.388666127,633,877,783.388666127,799,650,629,651,0.400917769476,0.00441208865304,0.0599191783574,0.999999967126,-0.00013523873192,-0.000214975320465,-3.52626789038e-05,1793192932570453760
+55,0.916666667,BASELINE,765,742.972131957,711,672.972131957,664.972131957,633,877,783.972131957,799,650,629,651,0.400915574609,0.00441200041051,0.0599172868397,0.99999996675,-0.000133569063421,-0.000217732836625,-3.53803215867e-05,1793192932587120384
+56,0.933333333,BASELINE,765,742.447003226,711,672.447003226,664.447003226,633,876.447003226,784,799.552996774,650,629,651,0.400915908258,0.00441142616086,0.0599170782549,0.999999966717,-0.000133695322642,-0.000217848876967,-3.51119802228e-05,1793192932603787008
+57,0.950000000,BASELINE,764.866536648,742,710.866536648,672,664.133463352,633,876.133463352,783.866536648,799.866536648,650,629,650.866536648,0.40091668767,0.00441096517286,0.0599173788446,0.999999966694,-0.000134568614976,-0.000217453139636,-3.48863028746e-05,1793192932620453632
+58,0.966666667,BASELINE,764.286965246,742,710.286965246,672,664.713034754,633,876.713034754,783.286965246,799.286965246,650,629,650.286965246,0.400918533145,0.00441096425073,0.0599190992188,0.999999966637,-0.000137637802028,-0.00021578962363,-3.4867945502e-05,1793192932637120512
+59,0.983333333,BASELINE,764,742,710.290201627,672,664.709798373,633,877,783,799,650,629,650.290201627,0.400919396126,0.00441075310135,0.0599199960605,0.999999966766,-0.000138611024076,-0.000214578083424,-3.48009023247e-05,1793192932653787136
+60,1.000000000,BASELINE,764,742,710.865010394,672,664.134989606,633,877,783,799,650,629,650.865010394,0.400919295555,0.00441033577747,0.0599200852459,0.999999967084,-0.000137528687356,-0.000213809805661,-3.46861119024e-05,1793192932670454016
+61,1.016666667,BASELINE,764.449411438,742,711,672,664.449411438,632.550588562,877,783,799.449411438,650,629,651,0.40091836423,0.00441092969322,0.0599195870187,0.999999967193,-0.000135394076903,-0.000214642722788,-3.48063296174e-05,1793192932687120640
+62,1.033333333,BASELINE,765,742,711,672,664.963769907,632.036230093,876.963769907,783,799.963769907,650,629,651,0.40091727209,0.0044117253309,0.0599189467907,0.999999967215,-0.000133253534206,-0.000215846974525,-3.49761080559e-05,1793192932703787008
+63,1.050000000,BASELINE,765,742,711,672,664.384836669,632.615163331,876.384836669,783,799.384836669,650,629,651,0.400917590412,0.00441089348678,0.0599188800969,0.999999966998,-0.000135861926864,-0.000215252129335,-3.48078306875e-05,1793192932720453376
+64,1.066666667,BASELINE,764.806779683,742,711,672,664.193220317,633,876.193220317,783,799,650,629,651,0.400917836488,0.0044104002819,0.0599187343183,0.999999966912,-0.000136855275271,-0.000215054706555,-3.46205395258e-05,1793192932737120000
+65,1.083333333,BASELINE,764.230460085,742,711,672,664.769539915,633,876.769539915,783,799,650,629,651,0.400917939323,0.00441057849951,0.0599184317379,0.999999967092,-0.000134646463918,-0.000215645256025,-3.43955495921e-05,1793192932753786880
+66,1.100000000,BASELINE,764,742,711,672,664.655048589,632.655048589,876.655048589,783,799,650,629,650.655048589,0.400918031168,0.0044103555739,0.0599182438153,0.999999966956,-0.000135347098462,-0.000215832155652,-3.4425502411e-05,1793192932770453504
+67,1.116666667,BASELINE,764,742,711,672,664.08024222,632.08024222,876.08024222,783,799,650,629,650.08024222,0.400918115689,0.00440986535049,0.0599181322938,0.999999966606,-0.000137986413556,-0.000215750087178,-3.46253338171e-05,1793192932787120384
+68,1.133333333,BASELINE,764.508239025,742,711,672,664,632.508239025,876,783,799.508239025,650,629,650.508239025,0.400918123268,0.0044111712695,0.0599190500393,0.999999966796,-0.000137069042004,-0.000215400946331,-3.49600607994e-05,1793192932803786752
+69,1.150000000,BASELINE,765,742,711,672,664.092017187,633,876,783,799.907982813,650,629,651,0.400918064714,0.00441221378324,0.0599197306002,0.999999966995,-0.000135850479548,-0.000215212717086,-3.51775488418e-05,1793192932820453632
+70,1.166666667,BASELINE,765,742,711,672,664.641391378,633,876,783,799.358608622,650,629,651,0.400917739502,0.00441049861865,0.0599184022403,0.999999966813,-0.00013600311435,-0.00021603964906,-3.47035351409e-05,1793192932837120256
+71,1.183333333,BASELINE,765,742,711,672.210096593,664.789903407,633,876.210096593,783.210096593,799.210096593,650,628.789903407,651,0.400918044786,0.00440970863373,0.059917903598,0.999999966946,-0.000135591814704,-0.000215727071161,-3.44290265565e-05,1793192932853786880
+72,1.200000000,BASELINE,765,742,711,672.815141133,664.184858867,633,876.815141133,783.815141133,799.815141133,650,628.184858867,651,0.400919535301,0.00441065783809,0.0599189646916,0.999999967667,-0.000134120408648,-0.000213272397349,-3.45295555556e-05,1793192932870453504
+73,1.216666667,BASELINE,765,742,711,672.601942787,664,633,876.601942787,784,799.601942787,650,628.398057213,651,0.400919814465,0.00441079185769,0.0599191368774,0.999999967657,-0.000134325757244,-0.000213171389683,-3.46476393864e-05,1793192932887120128
+74,1.233333333,BASELINE,765,742,711,672.028762061,664,633,876.028762061,784,799.028762061,650,628.971237939,651,0.400919560699,0.00441056724029,0.0599189179921,0.999999967326,-0.000135268786734,-0.000214105867191,-3.4773446382e-05,1793192932903787008
+75,1.250000000,BASELINE,765,742,711,672,664.566058127,632.433941873,876.566058127,783.433941873,799,650,629,651,0.400918863976,0.00441122617746,0.0599187108723,0.999999967383,-0.000133434745087,-0.000214981074088,-3.48297451854e-05,1793192932920453632
+76,1.266666667,BASELINE,765,742,711,672,665,632,877,783,799,650,629,651,0.400918352252,0.00441173923761,0.0599186287022,0.999999967459,-0.000131944229858,-0.000215554207269,-3.47865268114e-05,1793192932937120256
+77,1.283333333,BASELINE,765,742,711,672,665,632,877,783,799,650,629,651,0.400918398685,0.00441173657579,0.0599188795201,0.999999967541,-0.000131766726457,-0.000215326683818,-3.44866070301e-05,1793192932953786880
+78,1.300000000,BASELINE,765,742,711,672,664.693228826,632.306771174,876.693228826,783.306771174,799,650,629,651,0.400918102278,0.00441153468023,0.0599188516155,0.999999967482,-0.000132000583532,-0.000215474393115,-3.43769764922e-05,1793192932970453760
+79,1.316666667,BASELINE,765,742,711,672,664.116545764,632.883454236,876.116545764,783.883454236,799,650,629,651,0.400917504223,0.00441115748931,0.0599185784776,0.999999967299,-0.000132596375155,-0.000215952250066,-3.44347715089e-05,1793192932987120384
+80,1.333333333,BASELINE,765,742,711,671.529060692,664.470939308,633,876.470939308,783.529060692,799.470939308,650,629,651,0.400916817495,0.00441174553575,0.0599179046106,0.999999966873,-0.000134282988179,-0.000216844998679,-3.46332319483e-05,1793192933003787008
+81,1.350000000,BASELINE,765,742,711,671.05993562,664.94006438,633,876.94006438,783,799.94006438,650,629,651,0.4009162508,0.00441226367891,0.0599173146459,0.999999966426,-0.000136270503134,-0.000217639266944,-3.48077066017e-05,1793192933020453376
+82,1.366666667,BASELINE,765,742,711,671.63833704,664.36166296,633,876.36166296,783,799.36166296,650,629,651,0.400916916715,0.00441006228807,0.059918328469,0.999999966345,-0.000138470932882,-0.000216672610878,-3.44664957612e-05,1793192933037120256
+83,1.383333333,BASELINE,765,742,711,672,664.216546281,632.783453719,876,783,799,650,629,651,0.400917910616,0.00440900944769,0.0599191254637,0.999999966491,-0.000139291972166,-0.000215490711744,-3.43363636757e-05,1793192933053787136
+84,1.400000000,BASELINE,765,742,711,672,664.794434932,632.205565068,876,783,799,650,629,651,0.400919451814,0.00440987314853,0.0599195606457,0.99999996702,-0.000137811276501,-0.000213949644704,-3.45584504583e-05,1793192933070453760
+85,1.416666667,BASELINE,765,742,711,672,664.63040681,632.36959319,876.36959319,783,799,650,629,651,0.400919919846,0.00440929263208,0.0599196168878,0.999999967085,-0.000137926104635,-0.0002135889131,-3.44285027001e-05,1793192933087120128
+86,1.433333333,BASELINE,765,742,711,672,664.056756077,632.943243923,876.943243923,783,799,650,629,651,0.400919795369,0.00440791474311,0.0599194639119,0.999999966897,-0.000138921843756,-0.000213879861212,-3.41041917589e-05,1793192933103786496
+87,1.450000000,BASELINE,765,742,710.467194223,672,664,633,876.467194223,783,799,650,629,650.467194223,0.400920436653,0.00441051201943,0.0599198494228,0.999999967168,-0.00013788818631,-0.000213157755912,-3.48646340346e-05,1793192933120453376
+88,1.466666667,BASELINE,765,742,710.121042278,672,664.121042278,632.878957722,876,783,799,650,629,650.121042278,0.400920923634,0.00441252690449,0.0599201789456,0.999999967424,-0.000136806528927,-0.000212548769611,-3.5488494803e-05,1793192933137120000
+89,1.483333333,BASELINE,765,742,710.697713493,672,664.697713493,632.302286507,876,783,799,650,629,650.697713493,0.400920513277,0.00441070653637,0.0599200751512,0.999999967444,-0.00013638297614,-0.00021278430079,-3.51498853808e-05,1793192933153786624
+90,1.500000000,BASELINE,765,742,711,672,664.725677542,632.274322458,876.274322458,783,799,650,629,651,0.400920220226,0.00441007289481,0.0599200660339,0.99999996739,-0.000136434235792,-0.000213043173465,-3.48919572147e-05,1793192933170453504
+91,1.516666667,BASELINE,765,742,711,672,664.149137194,632.850862806,876.850862806,783,799,650,629,651,0.400920056409,0.00441074665634,0.0599201612215,0.999999967257,-0.000137008590863,-0.000213327761184,-3.47229146808e-05,1793192933187120640
+92,1.533333333,BASELINE,764.573171153,742,711,672,664.426828847,632.573171153,877,783,799,650,629,651,0.400919611477,0.0044096315416,0.0599199939082,0.999999967075,-0.000137776653184,-0.000213725165522,-3.44758358987e-05,1793192933203787776
+93,1.550000000,BASELINE,764,742.002680968,711,672.002680968,665,632,876.997319032,783,799,650,629,651,0.40091907297,0.00440790487214,0.0599197359067,0.999999966877,-0.000138605160606,-0.000214158946798,-3.4202685765e-05,1793192933220454400
+94,1.566666667,BASELINE,764,742.597626638,711,672.597626638,665,632,876.402373362,783,799,650,629,651,0.400919532091,0.00440897327885,0.0599196785656,0.99999996703,-0.000137854840363,-0.000213932392588,-3.41854609861e-05,1793192933237120768
+95,1.583333333,BASELINE,764.186743168,742.813256832,710.813256832,672.813256832,665,632.186743168,876,783,799,649.813256832,629,651,0.400919412688,0.00440997932781,0.059919443248,0.999999967124,-0.000136873333983,-0.000214114991323,-3.42304202231e-05,1793192933253787136
+96,1.600000000,BASELINE,764.763680015,742.236319985,710.236319985,672.236319985,665,632.763680015,876,783,799,649.236319985,629,651,0.400918084475,0.00441085508255,0.0599188360543,0.999999967095,-0.000135408771676,-0.00021515250157,-3.44053109025e-05,1793192933270453760
+97,1.616666667,BASELINE,765.338119699,742,710.338119699,672,664.661880301,633,876.338119699,783,799,649.338119699,629,651,0.400917348601,0.00441040597441,0.0599183328317,0.999999966929,-0.000135325856947,-0.000215987659345,-3.43188756568e-05,1793192933287120384
+98,1.633333333,BASELINE,765.910826818,742,710.910826818,672,664.089173182,633,876.910826818,783,799,649.910826818,629,651,0.400917023692,0.00440903767645,0.0599179017441,0.999999966669,-0.000136201529284,-0.000216682424931,-3.40511324946e-05,1793192933303787008
+99,1.650000000,BASELINE,765.503093011,742,711,672.496906989,664.496906989,633,877,783.496906989,798.503093011,650.496906989,629,651,0.400918880065,0.00440968910784,0.0599191842124,0.999999967085,-0.0001363181307,-0.000214646442072,-3.42636585157e-05,1793192933320453632
+100,1.666666667,BASELINE,765,742,711,672.915618609,664.915618609,633,876.915618609,783.915618609,798.084381391,650.915618609,629,651,0.400920601495,0.00441065548841,0.0599204557917,0.99999996755,-0.000136005099809,-0.000212630764469,-3.45219367708e-05,1793192933337120256
+101,1.683333333,BASELINE,765,742,711,672.334455559,664.334455559,633,876.334455559,783.334455559,798.665544441,650.334455559,629,651,0.400919160158,0.00441128317831,0.0599198027862,0.999999967594,-0.000133986833194,-0.000213699515863,-3.45281259645e-05,1793192933353787136
+102,1.700000000,BASELINE,764.755682808,742,711,672,664.244317192,633,876.244317192,783,799,650,628.755682808,651,0.400918093493,0.00441151105059,0.0599192041319,0.999999967407,-0.000133668650825,-0.000214775916843,-3.45106505533e-05,1793192933370453760
+103,1.716666667,BASELINE,764.180150575,742,711,672,664.819849425,633,876.819849425,783,799,650,628.180150575,651,0.40091753476,0.00441119689952,0.0599186791603,0.999999966907,-0.000135655232638,-0.000215862688101,-3.44610935962e-05,1793192933387120640
+104,1.733333333,BASELINE,764.392722235,742,711,672,664.607277765,633,876.607277765,783.392722235,799,650,628.392722235,651,0.400918512394,0.00441183781838,0.0599192394248,0.999999967278,-0.000134467874135,-0.000214894965748,-3.43863158222e-05,1793192933403787264
+105,1.750000000,BASELINE,764.964383363,742,711,672,664.035616637,633,876.035616637,783.964383363,799,650,628.964383363,651,0.400920190054,0.00441291390268,0.0599202941632,0.999999968039,-0.000131834350255,-0.000212991139596,-3.43000464991e-05,1793192933420453888
+106,1.766666667,BASELINE,765,742,711,672.555621521,664.555621521,633,876,784,799,650,629,651,0.400920492512,0.00441362563254,0.0599201824545,0.999999968086,-0.000131288312819,-0.000213074487408,-3.45090366617e-05,1793192933437120256
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,742,710,672,664,633,876,784,799,650,629,651,0.400918495222,0.00441156914915,0.0599184760067,0.999999967054,-0.000135229132183,-0.000215465736099,-3.43581091263e-05,1793192933478408448
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,742,710.573917562,672,664.573917562,633,876.573917562,783.426082438,799,650,629,651,0.400917512101,0.0044123421301,0.0599180097189,0.999999966915,-0.000134841732822,-0.000216346622813,-3.43821644835e-05,1793192933495075840
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.848322463,742,711,672,664.848322463,633,876.848322463,783.151677537,799,650,629,651,0.400916986691,0.00441282946144,0.0599177590323,0.999999966858,-0.000134501062707,-0.000216807239832,-3.44759143694e-05,1793192933511743232
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.259487952,742,711,672,664.259487952,633,876.259487952,783.740512048,799,650,629,651,0.400917780472,0.00441249350875,0.0599181297399,0.999999967038,-0.000134295073066,-0.000216056577977,-3.47705341444e-05,1793192933528409344
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.325577966,742,711,672,664,633,876,783.674422034,799.325577966,650,629,651,0.400918594533,0.00441250468307,0.059918534123,0.999999967174,-0.000134180376389,-0.000215481359723,-3.48580260064e-05,1793192933545075712
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.907674623,742,711,672,664,633,876,783.092325377,799.907674623,650,629,651,0.400919424571,0.00441278935433,0.0599189650385,0.999999967277,-0.000134137608279,-0.00021504437127,-3.47823244328e-05,1793192933561741824
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,742,711,672,664.484053786,633,876.484053786,783,799.515946214,650,629,651,0.400922683917,0.00441157043218,0.0599203289207,0.999999967672,-0.000134767934917,-0.000212850381948,-3.44765042389e-05,1793192933578408448
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.940576601,742,711,672,665,633,877,783.059423399,799,650,629,650.940576601,0.400927769798,0.0044103250291,0.0599221786062,0.999999968305,-0.00013564848779,-0.000209320710984,-3.426068814e-05,1793192933595075072
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.364613783,742,711,672,665,633,877,783.635386217,799,650,629,650.364613783,0.400944752206,0.00441131323249,0.0599267223875,0.999999970497,-0.000137601203544,-0.000197059620024,-3.52043079861e-05,1793192933611741696
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.784430227,633,877,784,799,650,629,650.215569773,0.400966541645,0.00441196314043,0.059931390652,0.999999972983,-0.000138381432352,-0.000183272297147,-3.59941084294e-05,1793192933628408320
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.196965226,633,877,784,799,650,629,650.803034774,0.400996624045,0.00441202942996,0.0599362736713,0.99999997601,-0.000137138917721,-0.000166851960906,-3.65185436404e-05,1793192933645075200
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876.615348998,784,799.769302004,650,629,651,0.401035138117,0.00441224615318,0.0599404467055,0.999999978694,-0.000136983895767,-0.000149853327451,-3.73088346323e-05,1793192933661742336
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876.036682796,784,800.926634409,650,629,651,0.401077905066,0.00441253875408,0.0599442616288,0.999999981046,-0.000137377397167,-0.000132563003532,-3.82332214104e-05,1793192933678409472
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.539887897,742,711,672,664.539887897,633,876,784,800.460112103,650,629,651,0.401128990751,0.00441209714287,0.0599441623425,0.999999980975,-0.000138739856766,-0.00013145810461,-3.89945602593e-05,1793192933695075584
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,742,711,672,664.881621352,632.881621352,876.118378648,783.881621352,799.881621352,650,628.881621352,650.881621352,0.401185142937,0.00441148752815,0.0599443065368,0.999999980869,-0.00014037025538,-0.000130304897645,-3.97362366553e-05,1793192933711741696
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,742,711,672,664.294974252,632.294974252,876.705025748,783.294974252,799.294974252,650,628.294974252,650.294974252,0.40125910943,0.00441040991556,0.0599464618161,0.99999998122,-0.000142801116596,-0.000124627266313,-4.04437877488e-05,1793192933728408320
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,742,711,672,664.288114152,632,876.711885848,783,799.288114152,650,628,650.288114152,0.401346972413,0.00440994418205,0.0599490608757,0.999999981843,-0.000143986483193,-0.00011781024797,-4.12552380742e-05,1793192933745074944
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,742,711,672,664.867603543,632,876.132396457,783,799.867603543,650,628,650.867603543,0.40144888917,0.00441009725339,0.0599521087385,0.999999982723,-0.000143912257596,-0.000109840946536,-4.21717635966e-05,1793192933761741568
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,742,710.553866047,672,664.553866047,632.446133953,876.446133953,783,799.553866047,649.553866047,628.446133953,651,0.401573787881,0.00441105009133,0.0599568297312,0.999999983909,-0.000143741321646,-9.82727994531e-05,-4.31536109585e-05,1793192933778408192
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,742,710.024177678,672,664.024177678,633,876.975822322,783.024177678,799,649.024177678,629,651,0.40170640932,0.00441213920024,0.0599617842038,0.999999985013,-0.000143605692042,-8.60243465156e-05,-4.41632397469e-05,1793192933795075328
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,742,710.597616632,672,664.597616632,633,876.402383368,783.597616632,799,649.597616632,629,651,0.401859866181,0.0044109437762,0.0599607871043,0.999999985064,-0.000144922744625,-8.25315382625e-05,-4.53645573735e-05,1793192933811741952
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,742,711,672.176102118,664.823897882,633,876,784,799,650,629,651,0.402024090296,0.0044101202715,0.0599602738914,0.999999985376,-0.000145034595995,-7.78056990526e-05,-4.64588816058e-05,1793192933828408576
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,742,711,672.766458756,664.233541244,633,876,784,799,650,629,651,0.402213642785,0.00441017165288,0.059960898951,0.999999986292,-0.000142311387302,-7.01793350488e-05,-4.73015193299e-05,1793192933845075200
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.650100102,742,711,672.650100102,664.349899898,633,876.699799795,783.650100102,799,650,629,651,0.402427794672,0.00441070124589,0.059961110831,0.999999986993,-0.000140275031992,-6.33292325319e-05,-4.82403449523e-05,1793192933861741824
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.071185204,742,711,672.071185204,664.928814796,633,877.857629592,783.071185204,799,650,629,651,0.40265804727,0.00441154383595,0.0599610522786,0.999999987547,-0.000138688232782,-5.69872046431e-05,-4.92421271547e-05,1793192933878408448
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.505432351,742,711,672,665,633,877.494567649,783,799,650,629,651,0.40291838318,0.00441177149472,0.0599602254786,0.99999998843,-0.000133933638633,-5.21422488055e-05,-4.98218039172e-05,1793192933895075072
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,742.081716229,711,672.081716229,665,633,876.918283771,783,799,650,629,650.918283771,0.403188796166,0.00441200661753,0.059959620286,0.999999989263,-0.000129147454163,-4.75412327397e-05,-5.0341366363e-05,1793192933911741440
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,742.65793026,711,672.65793026,665,633,876.34206974,783,799,650,629,650.34206974,0.403494666285,0.00441280863102,0.0599610079295,0.99999998973,-0.000126857736718,-4.31462398428e-05,-5.08552777167e-05,1793192933928408320
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,742.760474382,711,672.760474382,665,633,876.239525618,783.239525618,799,650,629,650.239525618,0.403810263726,0.00441289266115,0.0599565433337,0.999999989918,-0.000123495857205,-4.78314862739e-05,-5.12349761681e-05,1793192933945075200
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,742.171017285,711,672.171017285,665,633,876.828982715,783.828982715,799,650,629,650.828982715,0.404140072136,0.00441192776385,0.0599435289936,0.999999989485,-0.000118567618172,-6.5782376961e-05,-5.1418598184e-05,1793192933961741824
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,742,711,672,664.588273807,633,876.588273807,783.588273807,799,650,629,651,0.40449292844,0.00441386075528,0.0599281962784,0.9999999883,-0.000111059798611,-9.13307739503e-05,-5.21983033277e-05,1793192933978408192
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,742,711,672,664.008274216,633,876.008274216,783.008274216,799,650,629,651,0.404855204462,0.00441697812021,0.0599119160386,0.999999986133,-0.000102497698871,-0.000119984287944,-5.32216289147e-05,1793192933995074816
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.434820755,742,711,672.565179245,664.565179245,633,876.565179245,783,799,650,629,651,0.405272427499,0.0044173908208,0.0599074174132,0.999999985079,-9.82076280888e-05,-0.00013163957544,-5.35632922829e-05,1793192934011741440
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.142066784,742.142066784,711,672.857933216,664.857933216,632.857933216,877,783,799,650,629,651,0.405714255515,0.00441770043753,0.059911077086,0.99999998544,-9.89342791106e-05,-0.000128285332677,-5.36254722386e-05,1793192934028408320
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.730029898,742.730029898,711,672.269970102,664.269970102,632.269970102,877,783,799,650,629,651,0.406230813707,0.00441780936655,0.0599398075494,0.999999988878,-0.000115212558221,-7.85937118702e-05,-5.28414180558e-05,1793192934045074944
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,742.686732757,710.686732757,672,664.313267243,632.313267243,877.313267243,783,799.313267243,650,629,650.686732757,0.40676923701,0.00441753993916,0.0599696125201,0.999999988769,-0.000137644506939,-2.78254132124e-05,-5.23619336239e-05,1793192934061742080
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,742.107507438,710.107507438,672,664.892492562,632.892492562,877.892492562,783,799.892492562,650,629,650.107507438,0.407326223444,0.00441694929422,0.0600003297307,0.999999984694,-0.000165300808648,2.38569704654e-05,-5.21410231236e-05,1793192934078410240
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,742.470368359,710.470368359,672.470368359,665.470368359,633,877.529631641,783,800,650,629,650.470368359,0.407871025806,0.00441840988722,0.0600057524773,0.9999999857,-0.000158983986834,2.49814074865e-05,-5.19677772779e-05,1793192934095077120
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,742.952882361,711,672.952882361,665.952882361,632.952882361,876.952882361,783,799.952882361,650,628.952882361,651,0.40841253512,0.00442014221023,0.0600039023539,0.999999988045,-0.000145170047407,1.23122568889e-05,-5.18009150287e-05,1793192934111743744
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,742.385180936,711,672.385180936,665.385180936,632.385180936,876.385180936,783,799.385180936,650,628.385180936,651,0.40894834129,0.00441971166278,0.059985389792,0.999999989358,-0.000134069283697,-2.5449560138e-05,-5.15845605962e-05,1793192934128410624
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.807959685,742,710.807959685,672,665,632.192040315,876.192040315,783,799,650,628.192040315,651,0.409530394157,0.00441932164064,0.0599730167003,0.999999989744,-0.000124189699917,-4.96933050731e-05,-5.11772267556e-05,1793192934145076736
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.210648367,742,710.210648367,672,665,632.789351633,876.789351633,783,799,650,628.789351633,651,0.410210043401,0.00441901714083,0.0599736000001,0.999999990869,-0.000116887226109,-4.54092742215e-05,-5.03668609419e-05,1793192934161742080
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,710.375026092,672.375026092,665,633,876.624973908,783,799,650,629,651,0.410897358252,0.00441917993203,0.0599782155392,0.999999992064,-0.000110606598316,-3.28737986335e-05,-5.05808344799e-05,1793192934178408448
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,710.95436094,672.95436094,665,633,876.04563906,783,799,650,629,651,0.411588849192,0.00441959729658,0.0599850277837,0.999999993056,-0.00010488265757,-1.58430561803e-05,-5.13528532023e-05,1793192934195075328
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.529161996,742,711,672.470838004,665,632.470838004,876.529161996,783,799,650,628.470838004,651,0.412265992181,0.00441919225008,0.0599728893137,0.999999991826,-0.000110535809972,-3.76811227252e-05,-5.20536159658e-05,1793192934211742208
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,742,711,672,665,632.106043902,876.893956098,783,799,650,628.106043902,651,0.412937938663,0.00441920122009,0.0599549824386,0.999999989414,-0.000115132384456,-7.18191149883e-05,-5.25150385492e-05,1793192934228409088
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,742,711,672,665,632.694147328,876.305852672,783,799,650,628.694147328,651,0.41359184002,0.00442141194976,0.0599182201485,0.999999981777,-0.000110503196198,-0.000146760885852,-5.19161566233e-05,1793192934245075968
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.721718819,742,711,672,665,632.721718819,876.278281181,783,799.278281181,650,629,651,0.41433205209,0.00442193152295,0.0599134577546,0.99999998057,-0.000107961939831,-0.000156565612426,-5.18884925491e-05,1793192934261742592
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.141886404,742,711,672,665,632.141886404,876.858113596,783,799.858113596,650,629,651,0.415165792314,0.00442061852435,0.0599433711044,0.999999988238,-0.000107683209222,-9.57865020976e-05,-5.2479811961e-05,1793192934278408704
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.435982629,742,711,672,665,632,877,783,800,650,628.564017371,651,0.415997778549,0.00441986915795,0.0599840808566,0.999999992748,-0.000105848142923,-2.45776257506e-05,-5.19200432605e-05,1793192934295075072
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,742,711,672,665,632.013141773,877,783,800,650,628,651,0.416827920585,0.00441932962379,0.0600269610031,0.999999992206,-0.000103496546725,4.76908631769e-05,-5.10039383239e-05,1793192934311741696
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,742,711,672,665,632.587153184,877,783,800,650,628,651,0.417603609748,0.00441995204279,0.060013188259,0.999999993428,-0.000100619765352,2.09696509405e-05,-5.07960882842e-05,1793192934328408320
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.838771531,742,711,672,665,632.838771531,877,783,799.838771531,650,628,650.838771531,0.418383490349,0.00441963151356,0.0599968385263,0.99999999357,-0.000100965643073,-7.83818812428e-06,-5.10435197678e-05,1793192934345075200
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.264532657,742,711,672,665,632.264532657,877,783,799.264532657,650,628,650.264532657,0.419174107886,0.00441689548391,0.0599738874599,0.99999999174,-0.000109566835647,-4.19912266523e-05,-5.24572217954e-05,1793192934361741824
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.321074593,711,672,665,632,877.321074593,783,799,649.678925407,628.321074593,650.321074593,0.41997851042,0.00441680402509,0.0599508026334,0.999999989484,-0.000112612313371,-7.34450874712e-05,-5.43761393083e-05,1793192934378409472
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.916392005,711,672,665,632,877.916392005,783,799,649.083607995,628.916392005,650.916392005,0.420794687238,0.00441897140151,0.0599276035581,0.999999986978,-0.000110912429516,-0.000102593469492,-5.67265817696e-05,1793192934395077376
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,711,672.495095135,665,632,877.504904865,783.495095135,799,649.495095135,628.504904865,650.504904865,0.42156274775,0.0044189457104,0.0598944979402,0.999999978202,-0.000104180140795,-0.000172402060018,-5.49638036416e-05,1793192934411742976
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.070230929,742.929769071,711,672.929769071,665,632,877.070230929,783.929769071,799,649.929769071,628.070230929,650,0.422338796081,0.00441834786395,0.0598692844326,0.999999967522,-9.8197675971e-05,-0.000229159909802,-5.28977885225e-05,1793192934428408576
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.63930949,742.36069051,711,672.36069051,665,632,877.63930949,783.36069051,799,649.36069051,628.63930949,650,0.423227422599,0.0044162311847,0.0599116253432,0.999999982565,-0.000103381547193,-0.000146030597941,-5.34514941673e-05,1793192934445074944
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.781065482,742.218934518,711,672.218934518,665.218934518,632,878,783,799,649.218934518,628.781065482,650.218934518,0.424111031204,0.00441419108056,0.0599577689783,0.999999990737,-0.000107738426713,-6.3948239599e-05,-5.31924313511e-05,1793192934461741568
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.1831859,742.8168141,711,672.8168141,665.8168141,632,878,783,799,649.8168141,628.1831859,650.8168141,0.424985954647,0.00441228351689,0.0600104946054,0.999999992416,-0.000110663900536,1.63220011554e-05,-5.15265802613e-05,1793192934478408192
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.600105708,711,673,666,632,878,783,798.600105708,650,628,650.600105708,0.42583222132,0.0044125856159,0.0600194907374,0.999999992409,-0.0001071759642,3.23337933941e-05,-5.14707687311e-05,1793192934495075072
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.023563002,711,673,666,632,878,783,798.023563002,650,628,650.023563002,0.426665829162,0.00441386380649,0.0600091698965,0.999999993356,-0.000100854982351,1.9960196895e-05,-5.21261726781e-05,1793192934511741952
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665.449356557,632,878,783,798.550643443,649.449356557,628.550643443,650,0.42745376315,0.00441366577365,0.0599832924093,0.999999993404,-0.000100721002319,-1.13097103007e-05,-5.40294325211e-05,1793192934528408832
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.128021037,742,711,673,665.128021037,632,877.871978963,783.128021037,799,649.128021037,629,650.128021037,0.42823086857,0.00441333774069,0.0599599833798,0.999999992588,-0.000100960813497,-3.93680869153e-05,-5.55074745206e-05,1793192934545075456
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.71717981,742,711,673,665.71717981,632,877.28282019,783.71717981,799,649.71717981,629,650.71717981,0.428975979272,0.00441276802193,0.0599483137943,0.99999999191,-0.000101597415851,-5.29580468998e-05,-5.52623328348e-05,1793192934561742080
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,742.301314726,711,673,665.698685274,632,877.301314726,783.698685274,799,650,629,650.698685274,0.429718611622,0.00441477043239,0.0599335237301,0.999999990406,-9.89019864361e-05,-8.01837715677e-05,-5.45640327804e-05,1793192934578408704
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,742.880811447,711,673,665.119188553,632,877.880811447,783.119188553,799,650,629,650.119188553,0.430458955848,0.00441914750292,0.0599158527551,0.999999987035,-9.31303340382e-05,-0.000119998406202,-5.34473644827e-05,1793192934595075328
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.543424471,742.543424471,711,673,665,632,877.543424471,783,799,650,629,650.456575529,0.43126451608,0.00441851736184,0.0599391681733,0.999999990856,-9.98863982533e-05,-7.30786882963e-05,-5.45000305305e-05,1793192934611741952
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665.031254116,632.031254116,877.031254116,783,799.031254116,649.968745884,629,651,0.432082151186,0.0044167634507,0.0599728369715,0.999999992487,-0.000108944917424,-5.44173091701e-06,-5.5919156243e-05,1793192934628408576
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711,673,665.603870797,632.603870797,877.603870797,783,799.603870797,649.396129203,629,651,0.43281644121,0.00441800193352,0.0600020140958,0.99999999286,-0.000101697610032,3.20375465742e-05,-5.39562853906e-05,1793192934645075200
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711,673,666,632.816321281,878,783,799.816321281,649.183678719,629,650.816321281,0.433521662687,0.00441886187481,0.0600128526357,0.999999993012,-9.66712923148e-05,4.31138741797e-05,-5.26503272316e-05,1793192934661741824
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711,673,666,632.220372377,878,783,799.220372377,649.779627623,629,650.220372377,0.434161639427,0.00441887217309,0.0599825298988,0.999999993924,-9.66300245465e-05,-5.07168626992e-06,-5.28188211018e-05,1793192934678408704
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.363462213,711,673.363462213,666,632.363462213,878,783.363462213,799,650,629,650,0.434794402875,0.00441808851364,0.059952059906,0.999999992592,-9.60317723406e-05,-5.26847480198e-05,-5.30933524875e-05,1793192934695075328
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.940188603,711,673.940188603,666,632.940188603,878,783.940188603,799,650,629,650,0.435422933831,0.00441683899354,0.0599215035117,0.999999989054,-9.510670526e-05,-9.99618889084e-05,-5.34301021224e-05,1793192934711742208
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.513220708,742.486779292,711,672.973558584,666,633,878.513220708,783.486779292,799.513220708,650,628.486779292,650,0.436044423549,0.00441725984571,0.0599170973892,0.999999987983,-9.37054237287e-05,-0.000111547030047,-5.30192155484e-05,1793192934728408832
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.911210976,742,711,672.177578047,665.911210976,632.911210976,878.911210976,783.088789024,799.911210976,650,628.088789024,650,0.436657768332,0.0044178669642,0.059918026121,0.999999987772,-9.24321963906e-05,-0.000114654076637,-5.26089137425e-05,1793192934745075200
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.318833496,742,711,673.362333008,665.318833496,632.318833496,878.318833496,783.681166504,799.318833496,650,628.681166504,650,0.437229538072,0.00441843432519,0.0599320511813,0.999999990028,-9.2197783744e-05,-9.30990770478e-05,-5.26925783609e-05,1793192934761742080
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.267253684,742.267253684,711,674,665.267253684,632,878,783.732746316,799,649.732746316,629,650.267253684,0.437773892889,0.00441841402888,0.0599362591261,0.999999990064,-9.20050288457e-05,-9.30659493509e-05,-5.24050463696e-05,1793192934778408448
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.846009066,742.846009066,711,674,665.846009066,632,878,783.153990934,799,649.153990934,629,650.846009066,0.438286293777,0.00441770877939,0.0599290245778,0.999999987469,-9.18608287982e-05,-0.000118117976359,-5.16848603769e-05,1793192934795075072
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,711,674,666,632,878,783,799,649,629,650.578694188,0.438794665083,0.00441639184939,0.0599340942567,0.999999988614,-8.94852319375e-05,-0.000110630448998,-5.02429954374e-05,1793192934811741696
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743,711,674,666,632,878,783,799,649,629,650.004651263,0.439301575576,0.00441485316517,0.0599436246193,0.999999990926,-8.63006808425e-05,-9.13462727018e-05,-4.85394982469e-05,1793192934828408576
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743,711,673.429748025,665.429748025,632.570251975,878,783,799,649.570251975,629,650.570251975,0.439771482784,0.00441703157473,0.0599537123036,0.999999992145,-8.41074978199e-05,-7.88903557908e-05,-4.91093759244e-05,1793192934845075456
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.850135102,742.850135102,711,673,665,632.850135102,878.149864898,783,799.149864898,650,629,650.850135102,0.440218691171,0.00441862941621,0.0599584254186,0.999999992587,-8.19575803676e-05,-7.54000592757e-05,-4.92254349352e-05,1793192934861742080
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.256599974,742.256599974,711,673,665,632.256599974,878.743400026,783,799.743400026,650,629,650.256599974,0.440599595412,0.00441841861245,0.0599472138176,0.999999990828,-7.99117739313e-05,-9.82870601195e-05,-4.79430001799e-05,1793192934878408448
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.328236728,711,673,665,632,878.671763272,783,799.671763272,649.671763272,628.671763272,650,0.440935292838,0.00442039235311,0.0599188806704,0.999999985266,-7.65796463662e-05,-0.000146012227221,-4.7796111473e-05,1793192934895075072
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.906448928,711,673,665,632,878.093551072,783,799.093551072,649.093551072,628.093551072,650,0.441236562057,0.00442402977877,0.0598775082559,0.999999973601,-7.22678942034e-05,-0.000212653411985,-4.85140212807e-05,1793192934911741696
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.480673461,742.519326539,711,673,664.519326539,632,878.480673461,783,799,649.480673461,628.480673461,650,0.441523511833,0.00442669976981,0.0598443999168,0.999999962491,-6.66264497678e-05,-0.000261000765934,-4.95716344186e-05,1793192934928408576
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764.354700689,742.645299311,711,673.645299311,664,632,878.354700689,783,799,649.354700689,629,650,0.442070737098,0.00443225570647,0.0598019080629,0.999999945121,-5.7325020388e-05,-0.000322349093318,-5.06176378756e-05,1793192934961741824
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,631.769144011,878.230855989,783,799,649,629,650,0.442328495719,0.00443479075169,0.0597947769955,0.999999942297,-5.41704182137e-05,-0.000331525814904,-5.06242509447e-05,1793192934978408704
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,631.189756699,878.810243301,783,799,649,629,650,0.442575528101,0.00443659085685,0.0597961286541,0.999999944272,-5.1716171329e-05,-0.000325914888514,-5.0601067173e-05,1793192934995075328
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.612777292,711,674,663.612777292,631.387222708,878.612777292,783.387222708,799,649.387222708,629,650,0.442790175778,0.00444116161296,0.0597963955614,0.999999945365,-4.43457460204e-05,-0.000323569048808,-5.10630984387e-05,1793192935011741952
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.036970525,711,674,663.036970525,631.963029475,878.036970525,783.963029475,799,649.963029475,629,650,0.442989051573,0.00444708172346,0.0597961341766,0.999999945958,-3.45810577878e-05,-0.000322813361455,-5.17614376936e-05,1793192935028408576
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.883590662,743,710.116409338,673.883590662,663,631.883590662,878,783,799,649.116409338,628.116409338,651,0.443301099252,0.00445070503128,0.0597827112857,0.999999937398,-3.42779878966e-05,-0.000348383638529,-5.15534896288e-05,1793192935061741568
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.293098028,743,710.706901972,673.293098028,663,631.293098028,878,783,799,649.706901972,628.706901972,651,0.443435672073,0.00445442494524,0.0597779535723,0.999999935341,-3.06395539573e-05,-0.000354534224746,-5.18217607201e-05,1793192935078408448
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,673.291044943,663,631,878,783,799.291044943,649.708955057,629,650.708955057,0.443554985631,0.00445719257048,0.0597735813094,0.999999933464,-2.62938123286e-05,-0.000360114105161,-5.19482677101e-05,1793192935095075328
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,673.868929953,663,631,878,783,799.868929953,649.131070047,629,650.131070047,0.443659260377,0.00445902166499,0.0597695889282,0.999999931765,-2.12509820683e-05,-0.000365131524685,-5.19350587217e-05,1793192935111741952
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.555516104,711,674,663,631,878.444483896,783,799.555516104,649.444483896,629,650,0.443746889466,0.00446450659938,0.0597698835573,0.999999931746,-1.42593728749e-05,-0.000365422253421,-5.26423161568e-05,1793192935128408576
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742,711,674,662.980660029,631,879,782.980660029,799,649.980660029,628.980660029,650,0.44382898664,0.00447117211132,0.0597714617936,0.999999932214,-6.60938257641e-06,-0.000364216895358,-5.36188887427e-05,1793192935145075200
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711,674,662.406207398,631,879,782.406207398,799,649.406207398,628.406207398,650,0.443892454874,0.00448094219981,0.0597737875296,0.999999933659,3.52973610589e-06,-0.00035986727878,-5.62594061901e-05,1793192935161741824
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.174141493,711,673.825858507,662,631.174141493,878.825858507,782.174141493,799,649.174141493,628,650,0.443949512615,0.00448986128302,0.0597748078869,0.999999934404,1.30540507475e-05,-0.000357245241898,-5.82934590022e-05,1793192935178408448
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.768726088,711,673.231273912,662,631.768726088,878.231273912,782.768726088,799,649.768726088,628,650,0.443991093003,0.00449672571777,0.0597726765684,0.999999933678,2.1093995583e-05,-0.00035879423329,-5.88632775697e-05,1793192935195075072
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.648728376,710.648728376,673,662,631.648728376,878,783,799,650,628,650.351271624,0.444021465364,0.0044976743051,0.0597707064885,0.999999932151,2.1053253296e-05,-0.000363073194174,-5.85909800597e-05,1793192935211741952
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.073846527,710.073846527,673,662,631.073846527,878,783,799,650,628,650.926153473,0.444044702996,0.00449485702112,0.0597688390484,0.999999930091,1.58685601165e-05,-0.00036908998157,-5.77826137841e-05,1793192935228408576
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742,710.502149764,673,662,631,878,783,799,650,628.502149764,650.497850236,0.444062006952,0.00449522810716,0.0597674015696,0.999999929392,1.78942586149e-05,-0.00037093127011,-5.74928823099e-05,1793192935245075200
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.080315532,711,673.080315532,662,631.080315532,878,783,799.080315532,650,629,650,0.44407766934,0.00449610165759,0.0597662996474,0.999999929061,2.06809763416e-05,-0.000371707313549,-5.73086597524e-05,1793192935261741824
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.671229563,711,673.671229563,662,631.671229563,878,783,799.671229563,650,629,650,0.444088455494,0.00449718206144,0.0597669281189,0.999999929815,2.15496339773e-05,-0.000369623622899,-5.73092369972e-05,1793192935278408448
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.743934909,711,673.743934909,662,631.743934909,878,783,799.743934909,649.743934909,628.743934909,650,0.444095258824,0.00449735777568,0.0597663227271,0.999999929647,2.17522385143e-05,-0.000370100564959,-5.70810695307e-05,1793192935295075072
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.166722841,711,673.166722841,662,631.166722841,878,783,799.166722841,649.166722841,628.166722841,650,0.444097067049,0.00449639886295,0.0597641698715,0.999999928318,2.1119504847e-05,-0.000373788954098,-5.65660192541e-05,1793192935311741952
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.409531641,711,673.409531641,662,631,878,783,799,649.409531641,628.409531641,650,0.444099182588,0.00449742933657,0.0597635702839,0.999999927957,2.09417609588e-05,-0.000374730152447,-5.67862757454e-05,1793192935328408576
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.985397179,711,673.985397179,662,631,878,783,799,649.985397179,628.985397179,650,0.444101422943,0.0044992678122,0.059763601566,0.999999927993,2.09488140967e-05,-0.00037455556159,-5.73051817991e-05,1793192935345075200
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.55887186,743,710.44112814,673.44112814,662,631,878,783,799.55887186,650,629,650.55887186,0.444101973456,0.00449784175772,0.0597633621146,0.999999927535,1.98524637487e-05,-0.000375895440282,-5.69077903566e-05,1793192935361741824
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.862754727,742.862754727,710,673.137245273,662,631,878,783,799.862754727,650,629,650.862754727,0.444102438365,0.00449694891223,0.0597630224999,0.999999927095,1.95367886735e-05,-0.000377140290586,-5.65180129872e-05,1793192935378408448
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.267838214,742.267838214,710,673.732161786,662,631,878,783,799.267838214,650,629,650.267838214,0.444102764424,0.00449811739221,0.0597623723603,0.999999926761,2.19201612798e-05,-0.000377936852268,-5.62331256207e-05,1793192935395075072
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742,710.316635184,673.683364816,662,631,878,783,799,650,628.683364816,650,0.444103552224,0.00449878378221,0.0597621788558,0.999999926764,2.41662707713e-05,-0.000377816732856,-5.60595796745e-05,1793192935411741952
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742,710.892556977,673.107443023,662,631,878,783,799,650,628.107443023,650,0.444104718135,0.00449903902027,0.0597623592812,0.999999927043,2.62999783345e-05,-0.00037694596059,-5.59772090967e-05,1793192935428408576
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742,710.950836407,673.950836407,662,631,878,783,799,649.950836407,629,650,0.444103020343,0.00450103360142,0.0597610560298,0.999999926406,2.37846057064e-05,-0.000378751312879,-5.62946940987e-05,1793192935461741568
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742,710.363440062,673.363440062,662,631,878,783,799,649.363440062,629,650,0.444104449796,0.00450031376684,0.0597615786237,0.999999926826,2.39989066414e-05,-0.000377657182627,-5.61051208266e-05,1793192935478408192
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742,710.22078918,673,662,631,878,783,799,649.22078918,629,650,0.444105562326,0.00449948592803,0.0597619302407,0.999999927154,2.40677384403e-05,-0.000376814602399,-5.58946046164e-05,1793192935495074816
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.947925906,742.947925906,710.052074094,673.947925906,662,631,878,783,799.947925906,650,629,650,0.444107708194,0.0044997106738,0.0597629422233,0.999999927792,2.20457286246e-05,-0.000375193414514,-5.62052950478e-05,1793192935545075200
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.104714483,711,673,662,631,878,783,799.895285517,650,629,650.104714483,0.444105732924,0.00450041936236,0.0597615961018,0.999999926524,2.72028653751e-05,-0.000378315433855,-5.55901773506e-05,1793192935578408448
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673.858741092,661.141258908,631,878,783,799,650,629,650.141258908,0.444108501317,0.00450333829867,0.0597629900477,0.999999927697,2.41868303027e-05,-0.000375352270589,-5.59622739094e-05,1793192935628408576
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742,711,674,661.992461821,631,878.992461821,783,799.007538179,650,628.007538179,650,0.444105966256,0.00449990546719,0.0597607378741,0.9999999263,2.442425674e-05,-0.000379147504003,-5.5236498092e-05,1793192935661741568
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,711,674,661.420818574,631,878.420818574,783,799.579181426,650,628.579181426,650,0.444107267307,0.00449825724101,0.0597619790496,0.999999927238,2.16655940475e-05,-0.000376893454213,-5.48172387946e-05,1793192935678408704
+240,4.000000000,HOLD_POSE2,764,742,711,674,662,631,880,783,799,649,629,650,0.444107905468,0.00449857392595,0.0597615663934,0.999999927512,2.11492002633e-05,-0.00037613394991,-5.52447267144e-05,1793192935718534656
+241,4.016666667,HOLD_POSE2,764,742,711,673.424807059,662.575192941,631,878.849614117,783,799,649.575192941,629,650,0.444107560504,0.00449988881226,0.0597614362302,0.999999926854,2.31639045291e-05,-0.00037779153285,-5.50394768994e-05,1793192935735201024
+242,4.033333333,HOLD_POSE2,764,742,711,673.150306389,662.849693611,631,878,783.150306389,799.150306389,650,628.849693611,650,0.444107537266,0.00450104988175,0.0597614593636,0.999999926495,2.47131454917e-05,-0.000378649785432,-5.49869460681e-05,1793192935751867648
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+248,4.133333333,HOLD_POSE2,764.366068896,742,711,673.633931104,661,631,878,782.366068896,799.366068896,650,628.633931104,650.633931104,0.444107953839,0.00450156550655,0.0597614727949,0.99999992686,2.61143917893e-05,-0.000377608682625,-5.48650334788e-05,1793192935851867648
+249,4.150000000,HOLD_POSE2,764,742.208223474,710.791776526,674,661.208223474,631,878.208223474,782.208223474,799.208223474,650,629,650.791776526,0.444108610013,0.004501591799,0.0597611029775,0.999999926798,2.53351965832e-05,-0.00037782363283,-5.48738304729e-05,1793192935868534016
+250,4.166666667,HOLD_POSE2,764,742.781519594,710.218480406,674,661.781519594,631,878.781519594,782.781519594,799.781519594,650,629,650.218480406,0.444109417135,0.00450057120142,0.0597612921365,0.999999926841,2.39081256117e-05,-0.000377804598845,-5.48710299451e-05,1793192935885200384
+251,4.183333333,HOLD_POSE2,764,743,710.368719348,674,662,631,878.631280652,783.368719348,799.631280652,650,629,650.368719348,0.444109149501,0.00449970470654,0.0597610834854,0.999999926801,2.23421522983e-05,-0.000378025471165,-5.47399663909e-05,1793192935901867264
+252,4.200000000,HOLD_POSE2,764,743,710.964480427,674,662,631,878.035519573,783.964480427,799.035519573,650,629,650.964480427,0.444108220079,0.00449893310147,0.0597606298797,0.999999926708,2.06906486778e-05,-0.000378394067604,-5.45299239065e-05,1793192935918533888
+253,4.216666667,HOLD_POSE2,764,742.459551627,711,674,661.459551627,631,878,783.459551627,799,650,629,650.459551627,0.444110367807,0.00449940283555,0.0597623303695,0.99999992744,2.17952495653e-05,-0.000376382985952,-5.45907834399e-05,1793192935935200512
+254,4.233333333,HOLD_POSE2,764,742,711,674,661,631,878,783,799.2314769,650,629,650,0.444111939809,0.00450029785824,0.0597636605885,0.999999927952,2.34570672129e-05,-0.000374906888341,-5.46869064254e-05,1793192935951867392
+255,4.250000000,HOLD_POSE2,764,742,711,674,661,631,878,783,800.386662644,650,629,650,0.444110435862,0.00450257593749,0.0597629682572,0.999999927389,2.66451659471e-05,-0.000376167702221,-5.48552101708e-05,1793192935968534272
+256,4.266666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,661,631,878,783,799,650,629,650,0.444107516358,0.00450019677627,0.0597614035465,0.999999926475,2.45395504741e-05,-0.000378833559919,-5.41650642336e-05,1793192936006491904
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,742.402996703,711,673,661.597003297,631,878,783,799.597003297,650,628.402996703,650,0.444108676856,0.00450141817743,0.0597617573612,0.999999926957,2.73884445434e-05,-0.00037733939821,-5.43254713183e-05,1793192936023159040
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.186793223,662,631,878,783,799.813206777,650,628,650.186793223,0.444109818777,0.00450212417443,0.0597621706615,0.999999927391,2.9253162921e-05,-0.000376042324589,-5.43544783019e-05,1793192936039825664
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.761599413,662,631,878,783,799.238400587,650,628,650.761599413,0.444110922107,0.00450175955736,0.0597627075277,0.999999927743,2.90735200276e-05,-0.000375154648494,-5.41105367468e-05,1793192936056492032
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742.336528387,711,674,661.663471613,631,878,783,799,650,628.336528387,650.663471613,0.444110174089,0.00450117634307,0.0597619597675,0.999999927374,2.74661128696e-05,-0.000376231110511,-5.42933430382e-05,1793192936073158656
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.911544338,711,674,661.088455662,631,878,783,799,650,628.911544338,650.088455662,0.444108114077,0.00450043821552,0.0597603016312,0.999999926484,2.48468920499e-05,-0.000378699498294,-5.47785727315e-05,1793192936089825280
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.502003173,711,673.502003173,661,631,878,783,799,649.502003173,629,650,0.444109010403,0.00449988477315,0.0597610432724,0.999999926897,2.41220378452e-05,-0.000377645631211,-5.48495028246e-05,1793192936106491904
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,710.915009846,673,661,631,878,783,799,649.084990154,629,650,0.444109271011,0.00449962190729,0.0597614871542,0.999999927141,2.37650938696e-05,-0.000377020754154,-5.48416024782e-05,1793192936123158528
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742,710.336941118,673,661,631,878,783,799,649.663058882,629,650,0.444102725334,0.00450085005821,0.0597576724666,0.999999925029,2.35445933863e-05,-0.000382599690875,-5.4813329112e-05,1793192936139825408
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,710.240085791,673,661.240085791,631,878,783,798.759914209,650,628.759914209,650,0.444090052429,0.00450148797487,0.0597510214443,0.999999921287,2.35783584634e-05,-0.000392242395566,-5.4910188933e-05,1793192936156492032
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,710.815656861,673,661.815656861,631,878,783,798.184343139,650,628.184343139,650,0.44406881761,0.00450130112418,0.0597404070536,0.999999915136,2.3967423017e-05,-0.000407563629572,-5.51819043367e-05,1793192936173158656
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,661.600286811,631,878,783,798.399713189,649.600286811,628,650,0.444026623006,0.00450149385722,0.0597223564114,0.999999902735,2.37007135056e-05,-0.000436884770988,-5.56860212038e-05,1793192936189825280
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,661.012232252,631,878,783,798.987767748,649.012232252,628,650,0.443974552333,0.00450186544679,0.0597008018715,0.999999886377,2.31250089836e-05,-0.000472802547606,-5.62996435817e-05,1793192936206491904
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,710.432874814,673,661,631,878,783,799,649,628.567125186,650,0.443905077313,0.00450282895608,0.0596815638795,0.999999876319,2.48030122608e-05,-0.000493460676827,-5.69574004585e-05,1793192936223158784
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.14551112,742.14551112,710.14551112,673,661.29102224,631,878.29102224,783,799,649.14551112,629,650,0.443832716781,0.00450380985306,0.0596661690375,0.999999867648,2.72782632354e-05,-0.000510570163406,-5.72464886954e-05,1793192936239825152
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.721569308,742.721569308,710.721569308,673,662.443138617,631,879.443138617,783,799,649.721569308,629,650,0.443752912364,0.00450480499268,0.0596619999275,0.999999863662,3.19708015187e-05,-0.000518138868466,-5.64419640747e-05,1793192936256491776
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.702525989,743,711,673.297474011,662.702525989,631,879.405051979,783,799.297474011,650,629,650,0.443660825946,0.00450559890322,0.059660915352,0.999999862542,3.40452093898e-05,-0.000520242347877,-5.5713505553e-05,1793192936273158656
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.126764908,743,711,673.873235092,662.126764908,631,878.253529816,783,799.873235092,650,629,650,0.443557249715,0.0045062045638,0.0596627163601,0.999999864153,3.36703547986e-05,-0.000517233105801,-5.50562069523e-05,1793192936289825536
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.539943387,711,673.539943387,662,631,878,782.539943387,799.539943387,649.539943387,628.539943387,650,0.443427430863,0.00450624193347,0.0596627757859,0.999999863979,3.58895578881e-05,-0.000517573429831,-5.35947273278e-05,1793192936306492160
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,662,631,878,782.049091701,799,649.049091701,628,650,0.443286951555,0.00450634893913,0.0596622855142,0.999999863179,3.93914767628e-05,-0.000519035671033,-5.18908528376e-05,1793192936323158784
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,662,631,878,782.628309518,799,649.628309518,628,650,0.443111361491,0.00450894052204,0.0596611689494,0.999999861105,4.88363102529e-05,-0.000522401025505,-5.00212099935e-05,1793192936339825408
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,662,631.205449005,878,783,799,650,628.205449005,650,0.442926403851,0.00451049466674,0.0596620133056,0.999999860181,5.54625035313e-05,-0.000523703578345,-4.79298472769e-05,1793192936356492032
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,662,631.778866055,878,783,799,650,628.778866055,650,0.442724668497,0.0045101907145,0.0596663697565,0.999999861458,5.70403894272e-05,-0.00052131156407,-4.54413748988e-05,1793192936373158656
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,662.354570664,632,878,783,799.354570664,649.645429336,629,650,0.442491572444,0.0045106066787,0.0596684827653,0.999999861303,6.10526876131e-05,-0.000521382650947,-4.27312750847e-05,1793192936389825280
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,662.93171127,632,878,783,799.93171127,649.06828873,629,650,0.442238790735,0.00451147454645,0.0596691875283,0.999999860223,6.65931072993e-05,-0.000522999867402,-3.98820557747e-05,1793192936406492160
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.521836049,711,673.521836049,663,632,877.478163951,783,799.478163951,649.521836049,628.478163951,650,0.441952252777,0.00451392963345,0.0596714457585,0.999999862641,7.4196055596e-05,-0.000517520730639,-3.72123675563e-05,1793192936423158784
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.889235136,711,673.889235136,663,632,877.221529729,783,799.110764864,649.889235136,628.110764864,650,0.441653094835,0.00451628483931,0.0596752538465,0.999999865682,8.24889105167e-05,-0.000510556869724,-3.41168341551e-05,1793192936439825152
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.312663434,711,673.312663434,663,632,878.374673131,783,799.687336566,649.312663434,628.687336566,650,0.441319916048,0.00451732423528,0.0596847029299,0.999999869618,9.25190552769e-05,-0.000501354144367,-2.91291435277e-05,1793192936456492032
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.263352036,711,673.263352036,663.263352036,632,878.736647964,783,800,649.263352036,629,650,0.440976152746,0.00451876114508,0.0597003949879,0.999999878888,0.000102300221635,-0.000480793838704,-2.4402807408e-05,1793192936473158912
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.83870848,711,673.83870848,663.83870848,632,878.16129152,783,800,649.83870848,629,650,0.440619849535,0.00452066900644,0.0597234833641,0.999999893747,0.000111786411966,-0.000446777722583,-1.99861094211e-05,1793192936489825536
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,664,632,878,783,800,649.575619615,629,650,0.440228259918,0.00452319526548,0.0597506611296,0.9999999106,0.00012366470812,-0.00040407768258,-1.50938860988e-05,1793192936506492160
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.986211081,664.013788919,632,878,783,799.986211081,649,629,650,0.43982208039,0.00452592655222,0.0597795914297,0.999999926662,0.000136423612978,-0.000357721008963,-9.98537627166e-06,1793192936523158784
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.408321062,664.591678938,632,878,783,799.408321062,649,629,650,0.439381342905,0.00452719090168,0.0598150504069,0.999999944129,0.000147088247045,-0.000300156369691,-3.60644390217e-06,1793192936539825408
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.16777071,742.83222929,711,673.16777071,665,632,878,783,799,649.16777071,629,650,0.438916289569,0.00452942917238,0.0598420801771,0.999999954187,0.000158954887999,-0.000257590956939,2.40740523723e-06,1793192936556492032
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.739532228,742.260467772,711,673.739532228,665,632,878,783,799,649.739532228,629,650,0.43839268388,0.00453401263908,0.0598488124652,0.999999953346,0.000173715953422,-0.000251143597262,7.54213531938e-06,1793192936573158912
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,742.311857629,711,674,664.688142371,632,878,783,799,650,629,650,0.43781887902,0.00454024909563,0.0598344876365,0.999999944079,0.000189632134384,-0.000275222062234,1.16185566698e-05,1793192936589825536
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,742.884654909,711,674,664.115345091,632,878,783,799,650,629,650,0.437203071109,0.00454786865368,0.0598025437535,0.999999925805,0.000206514832796,-0.000324842303121,1.48094632312e-05,1793192936606492160
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.521385882,743,711,673.521385882,664,632,877.521385882,783,799,650,629,650,0.436548342978,0.00455435929104,0.0597710623022,0.9999999067,0.000221528904045,-0.000370407627783,1.79988767158e-05,1793192936623159040
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,664.075322551,632,877.075322551,783,798.924677449,649.924677449,629,650,0.435887047561,0.00455989587371,0.0597457023671,0.999999890598,0.000234856656528,-0.000403976357315,2.11783968377e-05,1793192936639825408
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,664.654720558,632,877.654720558,783,798.345279442,649.345279442,629,650,0.43524747695,0.00456095267714,0.0597605286641,0.999999904607,0.0002400523573,-0.000364103555201,2.42942294318e-05,1793192936656492032
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.767572146,711,673,665,632,877.767572146,783,798.232427854,649.232427854,629,650.232427854,0.434586308254,0.00456341202466,0.0597729845178,0.999999917855,0.000231657476086,-0.000331811376066,2.29555795277e-05,1793192936673158912
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.192358356,711,673,665,632,877.192358356,783,798.807641644,649.807641644,629,650.807641644,0.433893286616,0.00456793985219,0.0597819444272,0.999999930971,0.000203219126223,-0.000310699146122,1.50474330197e-05,1793192936689825536
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0be2f6e0074b8cd950bc3a26fa9fa0dcdc25c9f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,392 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..774b7f316b98b24465152a5df91432b233f65525
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89a8dfe4624fb2601500cb58db53d53863028c1fabb03cbada72466f59f22535
+size 24926362
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38d813504f9fcacdb3d0489250085c1a9dd29b30
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_02/franka_data.csv
@@ -0,0 +1,394 @@
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+9,0.150000000,BASELINE,764,742,710.721945482,671.278054518,664,632.721945482,876,783.278054518,800,650,628,651,0.400949727415,0.00452213047906,0.0598372068998,0.99999995885,9.48484272744e-05,-0.000269643183495,2.44198488734e-05,1793192938512728064
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+11,0.183333333,BASELINE,764,742.437702166,710,672,664,632.437702166,876.437702166,784,799.562297834,650,628,651,0.400950694644,0.00452213540554,0.0598384223565,0.999999959305,9.41417681001e-05,-0.000268220661894,2.4183673593e-05,1793192938546061568
+12,0.200000000,BASELINE,764,742.986869406,710.013130594,671.986869406,664,632.986869406,877,783.986869406,799,650,628,650.986869406,0.400951261526,0.00452126569552,0.059838624214,0.999999959641,9.25500620773e-05,-0.000267486484812,2.45684821871e-05,1793192938562727936
+13,0.216666667,BASELINE,764,742.412890474,710.587109526,671.412890474,664,632.412890474,877,783.412890474,799,650,628,650.412890474,0.400951058962,0.00452193599887,0.0598385442382,0.999999959748,9.05724667381e-05,-0.000267816665845,2.39865660057e-05,1793192938579394816
+14,0.233333333,BASELINE,764,742,711,671.165334282,664,632.165334282,877,783,799.165334282,650,628,650.165334282,0.400950721546,0.00452322474838,0.0598384986251,0.999999959711,9.05247664926e-05,-0.000268007913762,2.35557013093e-05,1793192938596061440
+15,0.250000000,BASELINE,764,742,711,671.754441758,664,632.754441758,877,783,799.754441758,650,628,650.754441758,0.400950038485,0.00452609865567,0.059838541088,0.999999959301,9.54236370729e-05,-0.000267843058159,2.35120010215e-05,1793192938612728064
+16,0.266666667,BASELINE,764,742.339487132,711,672,664,632.660512868,876.660512868,783,799.660512868,650,628.339487132,651,0.40095000634,0.00452579069533,0.0598383092872,0.999999959182,9.58121971427e-05,-0.000268140554636,2.35811168588e-05,1793192938629394688
+17,0.283333333,BASELINE,764,742.921629007,711,672,664,632.078370993,876.078370993,783,799.078370993,650,628.921629007,651,0.400950439448,0.00452320843572,0.0598378814515,0.999999959278,9.29769285769e-05,-0.000268768525875,2.37308701231e-05,1793192938646061568
+18,0.300000000,BASELINE,764.495996173,742.504003827,711,672,664,632.495996173,876,783,798.504003827,650,629,651,0.400950057951,0.00452363416822,0.0598379747138,0.999999959014,9.4821855985e-05,-0.00026908919427,2.39328377348e-05,1793192938662728704
+19,0.316666667,BASELINE,764.930830276,742,711,672,664,632.930830276,876.069169724,783,798.069169724,650,628.930830276,650.930830276,0.400949593921,0.00452432821939,0.0598380756921,0.999999958739,9.68340578185e-05,-0.000269376748162,2.41056974888e-05,1793192938679395840
+20,0.333333333,BASELINE,764.357540935,742,711,672,664,632.357540935,876.642459065,783,798.642459065,650,628.357540935,650.357540935,0.400949451988,0.00452356733028,0.0598376420802,0.999999958834,9.47589338693e-05,-0.000269771381134,2.40072135975e-05,1793192938696062208
+21,0.350000000,BASELINE,764.22411646,742,711,672,664,632.22411646,877,783,799,650,628.22411646,650.22411646,0.400949149196,0.00452235384119,0.0598371382525,0.99999995888,9.27905155008e-05,-0.000270283355002,2.40065950549e-05,1793192938712728832
+22,0.366666667,BASELINE,764.81964144,742,711,672,664,632.81964144,877,783,799,650,628.81964144,650.81964144,0.400948579827,0.00452039029795,0.0598365180627,0.99999995885,9.09989311236e-05,-0.000270989787586,2.41681601666e-05,1793192938729395456
+23,0.383333333,BASELINE,765,742,711,672,664,633,877,783,799,650,629,650.598696875,0.40094877818,0.00452109782031,0.0598371348122,0.999999958935,9.21796598545e-05,-0.00027026416948,2.4309012196e-05,1793192938746062080
+24,0.400000000,BASELINE,765,742,711,672,664,633,877,783,799,650,629,650.023057699,0.400949310051,0.00452296571978,0.0598382889189,0.999999959064,9.46516351164e-05,-0.000268916433024,2.44408659614e-05,1793192938762728704
+25,0.416666667,BASELINE,764.44690731,742,710.44690731,672,664,633,877,783.55309269,799.55309269,650,628.44690731,650.55309269,0.400948649174,0.00452337740205,0.0598378663268,0.999999959017,9.33481866214e-05,-0.000269572005842,2.41514293498e-05,1793192938779395328
+26,0.433333333,BASELINE,764,742,710.131638859,672,664,632.868361141,877,783.868361141,799.868361141,650,628.131638859,651,0.400948254142,0.00452357207388,0.0598374924225,0.999999958975,9.23704624874e-05,-0.000270083841731,2.39074452486e-05,1793192938796061696
+27,0.450000000,BASELINE,764,742,710.718394388,672,664,632.281605612,877,783.281605612,799.281605612,650,628.718394388,651,0.400948950285,0.00452322655278,0.0598375143082,0.999999958986,9.3063526982e-05,-0.000269809728722,2.38813816752e-05,1793192938812728320
+28,0.466666667,BASELINE,764,742,711,672,664,632.302370989,877,783,799,650,629,650.697629011,0.400949407668,0.00452298552989,0.0598376491647,0.999999959045,9.33008227275e-05,-0.000269509407655,2.3856462091e-05,1793192938829394944
+29,0.483333333,BASELINE,764,742,711,672,664,632.88378304,877,783,799,650,629,650.11621696,0.400949644711,0.00452284094251,0.0598378882754,0.99999995915,9.31175152636e-05,-0.000269184900674,2.38325982312e-05,1793192938846061568
+30,0.500000000,BASELINE,764,742,711,672,664,632.539923585,876.539923585,783.460076415,799,650,629,650,0.400950002978,0.00452328799122,0.0598378565439,0.999999959141,9.54096007565e-05,-0.000268420485513,2.37589284525e-05,1793192938862728192
+31,0.516666667,BASELINE,764,742,711,672,664,632,876,784,799,650,629,650,0.400950233624,0.00452378570066,0.0598377143641,0.999999959081,9.79287890349e-05,-0.000267745057516,2.368444897e-05,1793192938879394816
+32,0.533333333,BASELINE,764,742,711,672,664,632,876,784,799,650,629,650,0.400948034676,0.00452278871227,0.0598369138716,0.999999958774,9.44271329555e-05,-0.000270129777359,2.37889594523e-05,1793192938896061440
+33,0.550000000,BASELINE,764.191630146,742,711,672,664,632,876,783.808369854,799,650,628.808369854,650.191630146,0.400947213354,0.00452245271297,0.0598368494256,0.999999958688,9.26849794361e-05,-0.000271038281392,2.39099964004e-05,1793192938912728320
+34,0.566666667,BASELINE,764.783382031,742,711,672,664,632,876,783.216617969,799,650,628.216617969,650.783382031,0.4009492685,0.00452349685215,0.0598383218373,0.99999995909,9.46166493036e-05,-0.000268864461954,2.40655404238e-05,1793192938929394944
+35,0.583333333,BASELINE,764.633425328,742.366574672,711,672,664,632,876,783,799,650,628.366574672,651,0.400949920132,0.00452430086022,0.0598384736876,0.99999995915,9.51020011959e-05,-0.000268484685296,2.39029512032e-05,1793192938946061568
+36,0.600000000,BASELINE,764.055175098,742.944824902,711,672,664,632,876,783,799,650,628.944824902,651,0.400949761317,0.00452496620664,0.0598378629907,0.999999959015,9.47521887345e-05,-0.000269140863825,2.35566585464e-05,1793192938962728192
+37,0.616666667,BASELINE,764.519504106,742.480495894,711,671.480495894,664,632,876.519504106,783,799.519504106,650,629,650.480495894,0.400948650773,0.00452392794996,0.0598378639376,0.999999959056,9.24793777238e-05,-0.000269782342239,2.35258762559e-05,1793192938979394816
+38,0.633333333,BASELINE,764.904537024,742,711,671.095462976,664,632,877,783,799.904537024,650,629,650.095462976,0.400948062989,0.00452295133505,0.0598381087738,0.999999959201,9.06480430028e-05,-0.000269867613092,2.34999169694e-05,1793192938996061440
+39,0.650000000,BASELINE,764.320093813,742,711,671.679906187,664,632,877,783,799.320093813,650,629,650.679906187,0.400950667108,0.00452321091868,0.0598392723875,0.999999959811,9.21170333105e-05,-0.000267111821571,2.33281916527e-05,1793192939012728064
+40,0.666666667,BASELINE,764,742,711,671.735731753,664,632,876.735731753,783,799,650,629,651,0.400950647878,0.00452370930128,0.0598391439384,0.999999959577,9.37948529343e-05,-0.000267398713906,2.33743335475e-05,1793192939029394688
+41,0.683333333,BASELINE,764,742,711,671.151467991,664,632,876.151467991,783,799,650,629,651,0.400947452103,0.0045244968393,0.0598374509641,0.999999958317,9.57255384307e-05,-0.000271369912764,2.36842851648e-05,1793192939046061312
+42,0.700000000,BASELINE,764,742,711,671.426721745,664,632.426721745,876.426721745,783,799,650,629,651,0.400948170331,0.00452409363715,0.0598375749016,0.999999958479,9.60897184457e-05,-0.000270620975789,2.39198945197e-05,1793192939062728192
+43,0.716666667,BASELINE,764.002772014,742,711,672,664,633,877,783,799.002772014,650,628.997227986,651,0.400950248938,0.00452328454026,0.0598383321725,0.999999959137,9.58987930977e-05,-0.000268229633066,2.41250360347e-05,1793192939079395072
+44,0.733333333,BASELINE,764.576004272,742,711,672,664,633,877,783,799.576004272,650,628.423995728,651,0.400950387823,0.00452470527665,0.0598385664229,0.999999959422,9.42947800534e-05,-0.000267798859722,2.34144303532e-05,1793192939096061696
+45,0.750000000,BASELINE,764.846809261,742.153190739,711,672,664,632.846809261,877,783,799.846809261,650,628.153190739,651,0.400950389827,0.00452521755138,0.0598386757025,0.999999959627,9.28451154878e-05,-0.000267568807137,2.30645067813e-05,1793192939112728064
+46,0.766666667,BASELINE,764.258388595,742.741611405,711,672,664,632.258388595,877,783,799.258388595,650,628.741611405,651,0.400950002936,0.00452314879716,0.0598384299275,0.999999959614,9.18339703742e-05,-0.000267909021999,2.37393166053e-05,1793192939129394688
+47,0.783333333,BASELINE,764.326670585,742.673329415,711,671.673329415,664,632.326670585,877,783.326670585,799,650,629,650.673329415,0.400949778518,0.00452137981044,0.059838315984,0.999999959649,9.04438586111e-05,-0.000268222351947,2.40527266121e-05,1793192939146061312
+48,0.800000000,BASELINE,764.909098054,742.090901946,711,671.090901946,664,632.909098054,877,783.909098054,799,650,629,650.090901946,0.400949681303,0.00451984551743,0.059838305254,0.999999959721,8.87570462277e-05,-0.000268514633197,2.40831896007e-05,1793192939162728192
+49,0.816666667,BASELINE,764.514284302,742,711,671,664,632.514284302,877,783.514284302,798.514284302,650,629,650,0.400950204526,0.0045223743597,0.0598387963491,0.999999959863,9.07746971921e-05,-0.000267348895595,2.36447685598e-05,1793192939179394816
+50,0.833333333,BASELINE,764,742,711,671.061069597,664,632,876.938930403,783.061069597,798.061069597,650,628.938930403,650.061069597,0.400950680039,0.0045252077776,0.0598391993628,0.999999959916,9.33168109559e-05,-0.000266312389162,2.31908640415e-05,1793192939196061440
+51,0.850000000,BASELINE,764,742,711,671.634834729,664,632,876.365165271,783.634834729,798.634834729,650,628.365165271,650.634834729,0.400949791722,0.00452428973791,0.0598380837724,0.999999959182,9.45103547994e-05,-0.000268624542542,2.33349640169e-05,1793192939212728320
+52,0.866666667,BASELINE,764.215034614,742,711,671.784965386,664,632,876.215034614,783.784965386,799,650,628.215034614,650.784965386,0.400948434326,0.00452312468041,0.0598372552135,0.999999958711,9.40149057146e-05,-0.000270520646099,2.36314940407e-05,1793192939229394944
+53,0.883333333,BASELINE,764.806498848,742,711,671.193501152,664,632,876.806498848,783.193501152,799,650,628.806498848,650.193501152,0.400946255781,0.00452152720507,0.0598369291187,0.999999958699,9.05627839005e-05,-0.000271688432005,2.41948610264e-05,1793192939246061568
+54,0.900000000,BASELINE,765,742,711,671.389332105,664,632,876.610667895,783.389332105,799,650,629,650.389332105,0.400947318982,0.00452066476344,0.0598379058086,0.999999959236,8.95343331312e-05,-0.000270043393085,2.42631057401e-05,1793192939262728192
+55,0.916666667,BASELINE,765,742,711,671.967968715,664,632,876.032031285,783.967968715,799,650,629,650.967968715,0.400949958415,0.00452015971645,0.0598395159499,0.999999960035,8.96843412625e-05,-0.000267030677533,2.40906077011e-05,1793192939279394816
+56,0.933333333,BASELINE,764.457145719,742,711,671.457145719,664,632.542854281,876.542854281,783.457145719,799,650,629,651,0.40094983659,0.00452218716163,0.0598390620971,0.999999959703,9.169511267e-05,-0.000267642429543,2.3513371419e-05,1793192939296061440
+57,0.950000000,BASELINE,764,742.117560801,711,671.117560801,664,633,876.882439199,783.117560801,798.882439199,650,628.882439199,651,0.400949544893,0.00452395194739,0.0598384733527,0.999999959393,9.33009605131e-05,-0.00026828653345,2.30669791414e-05,1793192939312728064
+58,0.966666667,BASELINE,764,742.692425755,711,671.692425755,664,633,876.307574245,783.692425755,798.307574245,650,628.307574245,651,0.400949221831,0.00452411771767,0.05983783038,0.999999959441,9.29075160925e-05,-0.000268230279937,2.32218228282e-05,1793192939329394688
+59,0.983333333,BASELINE,764.276016606,742.723983394,710.723983394,672,664,632.723983394,876.276016606,783.723983394,798.276016606,650,628.276016606,650.723983394,0.400948308012,0.00452390167607,0.0598372856486,0.999999959233,9.25250957081e-05,-0.0002691142127,2.34547668483e-05,1793192939346061312
+60,1.000000000,BASELINE,764.869648515,742.130351485,710.130351485,672,664,632.130351485,876.869648515,783.130351485,798.869648515,650,628.869648515,650.130351485,0.4009467144,0.00452324627945,0.0598368539642,0.999999958729,9.21553607509e-05,-0.000271080027999,2.3777581789e-05,1793192939362728192
+61,1.016666667,BASELINE,764.550366679,742,710,672,664,632,876.550366679,783,799,650,629,650,0.400946448599,0.00452445577525,0.0598368595313,0.999999958482,9.3048791922e-05,-0.000271701972346,2.35788403064e-05,1793192939379395840
+62,1.033333333,BASELINE,764,742,710.025675081,672,664,632,876.025675081,783,799.025675081,649.974324919,629,650.025675081,0.400946664378,0.00452600899526,0.0598370326269,0.999999958356,9.41394260632e-05,-0.000271817586366,2.32576907647e-05,1793192939396063232
+63,1.050000000,BASELINE,764,742,710.599514036,672,664,632,876.599514036,783,799.599514036,649.400485964,629,650.599514036,0.400949185509,0.00452369799721,0.0598381558149,0.999999959273,9.18522862573e-05,-0.000269195904856,2.34562075797e-05,1793192939412728832
+64,1.066666667,BASELINE,764,741.8213227,711,672,664,632.1786773,877,783,799.8213227,649.1786773,629,651,0.400950246994,0.00452184646656,0.0598385818946,0.999999959745,8.98815714915e-05,-0.000268092021421,2.36310357546e-05,1793192939429395200
+65,1.083333333,BASELINE,764,741.229859075,711,672,664,632.770140925,877,783,799.229859075,649.770140925,629,651,0.400947936356,0.00452105641314,0.0598373974912,0.999999959206,8.86418726643e-05,-0.000270494606451,2.37511376232e-05,1793192939446061824
+66,1.100000000,BASELINE,764,741.353145822,711,672,664,633,876.646854178,783,799.706291644,650,629,651,0.4009476011,0.00452116953618,0.0598376221615,0.999999959077,9.02062343944e-05,-0.000270439333941,2.39071483187e-05,1793192939462728448
+67,1.116666667,BASELINE,764,741.930773785,711,672,664,633,876.069226215,783,800.861547571,650,629,651,0.400948521524,0.00452185677616,0.0598387425294,0.999999959201,9.35530369642e-05,-0.000268821689395,2.40859849638e-05,1793192939479395072
+68,1.133333333,BASELINE,764,742,711,672,664.505957973,632.494042027,876,783,799.988084054,650,629,651,0.400949198584,0.0045228723154,0.0598388661405,0.999999959338,9.41490222169e-05,-0.000268135949757,2.37276666635e-05,1793192939496061952
+69,1.150000000,BASELINE,764.082759695,742,711,672,664.917240305,632,876,783,799,650.082759695,629,651,0.400949697399,0.00452385972432,0.0598388582987,0.999999959452,9.45540680373e-05,-0.000267601323696,2.33406405218e-05,1793192939512728576
+70,1.166666667,BASELINE,764.671484591,742,711,672,664.328515409,632,876,783,799,650.671484591,629,651,0.400949309083,0.00452440185621,0.0598388765612,0.999999959413,9.60817293224e-05,-0.000267214778899,2.32252663885e-05,1793192939529395200
+71,1.183333333,BASELINE,764.744471212,742,711,672,664,632,876.255528788,783,799.255528788,650.744471212,629,650.744471212,0.400948914059,0.00452353910131,0.0598388547895,0.999999959373,9.57152415752e-05,-0.000267465261828,2.35478033765e-05,1793192939546061824
+72,1.200000000,BASELINE,764.166336338,742,711,672,664,632,876.833663662,783,799.833663662,650.166336338,629,650.166336338,0.400948510567,0.00452090267144,0.0598387824743,0.99999995933,9.29573835212e-05,-0.000268519994682,2.44232048411e-05,1793192939562728704
+73,1.216666667,BASELINE,764,742,710.587846673,671.587846673,664,632.412153327,876.587846673,783,800,650,628.587846673,650,0.400948186876,0.00452092478213,0.0598385003734,0.999999959189,9.24848928627e-05,-0.000269219740079,2.4265610377e-05,1793192939579395072
+74,1.233333333,BASELINE,764,742,710.009213735,671.009213735,664,632.990786265,876.009213735,783,800,650,628.009213735,650,0.400947895419,0.00452202074772,0.0598381335346,0.999999959011,9.29355226083e-05,-0.000269776096604,2.36907615276e-05,1793192939596061440
+75,1.250000000,BASELINE,764,742,710,671,664,633,876,783,799.437230805,650,628,650,0.400948952449,0.0045233546596,0.0598389726104,0.999999959449,9.2195172852e-05,-0.000268420520195,2.35107843126e-05,1793192939612728576
+76,1.266666667,BASELINE,764.139474663,742,710.139474663,671,664,633,876,783,799,650,628.139474663,650,0.400949873994,0.00452454160162,0.0598396466592,0.999999959761,9.20395316633e-05,-0.000267318188308,2.33988991269e-05,1793192939629395200
+77,1.283333333,BASELINE,764.731865008,742,710.731865008,671,664,633,876,783,799,650,628.731865008,650,0.400950284723,0.004525238786,0.0598397214524,0.999999959639,9.38451921943e-05,-0.000267138677911,2.3487380752e-05,1793192939646062080
+78,1.300000000,BASELINE,765,742,711,671.316758196,664,632.683241804,876,783,799.316758196,650,629,650.316758196,0.400950312813,0.00452412701999,0.0598394824882,0.999999959769,9.30962341768e-05,-0.000266898054618,2.36572356756e-05,1793192939662728704
+79,1.316666667,BASELINE,765,742,711,671.895451764,664,632.104548236,876,783,799.895451764,650,629,650.895451764,0.400950024492,0.00452151938705,0.05983898407,0.999999960104,9.0234797309e-05,-0.00026660689553,2.38943802356e-05,1793192939679395072
+80,1.333333333,BASELINE,764.527269783,742,711,672,664,632.472730217,876.472730217,783.472730217,799.527269783,650.472730217,629,651,0.40094861714,0.00452194992446,0.0598385957193,0.999999959582,9.13549348197e-05,-0.000268190203464,2.3739417227e-05,1793192939696061696
+81,1.350000000,BASELINE,764,742,711,672,664,633,877,784,799,650.950583171,629,651,0.400947309219,0.00452298439684,0.0598383010829,0.999999958973,9.31944561584e-05,-0.000269842697513,2.35178279066e-05,1793192939712728320
+82,1.366666667,BASELINE,764,742,711,672,664,633,877,784,799,650.376865738,629,651,0.400949674132,0.00452331887453,0.0598387432362,0.999999959496,9.33518356553e-05,-0.000267844046881,2.35066593245e-05,1793192939729394944
+83,1.383333333,BASELINE,764,742,711,672,664,632.797251871,876.797251871,783.797251871,799,650,629,651,0.400950615795,0.00452334254391,0.0598387522271,0.999999959748,9.31526048133e-05,-0.000266979098791,2.34400052027e-05,1793192939746061824
+84,1.400000000,BASELINE,764,742,711,672,664,632.206349384,876.206349384,783.206349384,799,650,629,651,0.400948832698,0.00452277118146,0.0598379319434,0.999999959484,9.22706557041e-05,-0.000268284585085,2.32671259111e-05,1793192939762728704
+85,1.416666667,BASELINE,764.375982216,742,711,672,664,632.375982216,876.375982216,783.375982216,799,650,629,650.624017784,0.400948659591,0.00452335938956,0.0598378563913,0.999999959497,9.22020245918e-05,-0.000268266414072,2.32120959387e-05,1793192939779395328
+86,1.433333333,BASELINE,764.953714684,742,711,672,664,632.953714684,876.953714684,783.953714684,799,650,629,650.046285316,0.400949350398,0.00452456981769,0.0598381804587,0.999999959658,9.25698160651e-05,-0.000267537974823,2.32203033556e-05,1793192939796061952
+87,1.450000000,BASELINE,764.470794694,742,711,671.470794694,664,633,876.470794694,783.470794694,799,650,629,650.529205306,0.400949008698,0.00452344651981,0.0598380681729,0.999999959631,9.09012148444e-05,-0.000268190000083,2.34392108567e-05,1793192939812728576
+88,1.466666667,BASELINE,764,742,711,671.106734097,663.893265903,633,876.106734097,783,799,650,628.893265903,651,0.400948870348,0.00452257869723,0.0598382561994,0.999999959691,8.98601900661e-05,-0.000268302804552,2.35968198125e-05,1793192939829394944
+89,1.483333333,BASELINE,764,742,711,671.694324822,663.305675178,633,876.694324822,783,799,650,628.305675178,651,0.400950053258,0.0045237775213,0.0598399683998,0.999999960223,9.24455310151e-05,-0.000265444668114,2.33955952513e-05,1793192939846061824
+90,1.500000000,BASELINE,764,742,711,672.277808544,663.277808544,632.722191456,876.722191456,783,799,650,628.277808544,650.722191456,0.400950057893,0.00452377420091,0.059840362474,0.999999960311,9.31429633405e-05,-0.000264878440994,2.32927155552e-05,1793192939862728448
+91,1.516666667,BASELINE,764,742,711,672.856839089,663.856839089,632.143160911,876.143160911,783,799,650,628.856839089,650.143160911,0.400948784951,0.00452246742033,0.0598393273313,0.999999959925,9.17933756032e-05,-0.00026679728347,2.32964691557e-05,1793192939879395072
+92,1.533333333,BASELINE,764.434536631,742,711,672.130926737,664,632,876.869073263,783,799,650,629,650,0.40094921958,0.00452251969839,0.0598391266116,0.999999959814,9.12405681219e-05,-0.000267395150497,2.33746332079e-05,1793192939896061696
+93,1.550000000,BASELINE,764.988232926,742,711,671.011767074,664,632.011767074,877.976465853,783,799,650,629,650,0.400950188351,0.00452302358921,0.0598392074957,0.999999959796,9.09862716677e-05,-0.00026754247696,2.34706252842e-05,1793192939912728320
+94,1.566666667,BASELINE,764.412408036,742,711,671.587591964,664,632.587591964,876.824816071,783,799,650,629,650,0.400949876854,0.00452377824779,0.059839649735,0.999999959837,9.24964454003e-05,-0.000266890836599,2.32496685774e-05,1793192939929394944
+95,1.583333333,BASELINE,764.167054677,742,711,672,664,633,876,783,799,650,628.832945323,650,0.400949903523,0.0045237619629,0.0598398441231,0.999999959892,9.29487444609e-05,-0.000266528176689,2.32329908344e-05,1793192939946061568
+96,1.600000000,BASELINE,764.755698127,742,711,672,664,633,876,783,799,650,628.244301873,650,0.400950783605,0.00452180008096,0.0598394130197,0.999999959986,9.07313305831e-05,-0.000266894804296,2.37318431665e-05,1793192939962728192
+97,1.616666667,BASELINE,765,742,711,672,664,633,876.339520475,783.339520475,799,650,628,650.339520475,0.400950759719,0.00452170414275,0.0598394423474,0.999999959961,9.07355704079e-05,-0.000266977722091,2.38398124414e-05,1793192939979394816
+98,1.633333333,BASELINE,765,742,711,672,664,633,876.919922335,783.919922335,799,650,628,650.919922335,0.400950094489,0.00452293204562,0.0598397983397,0.999999959852,9.23160187483e-05,-0.000266859354766,2.36704598203e-05,1793192939996061696
+99,1.650000000,BASELINE,764.504350806,742,711,672,664,632.504350806,877,784,799,650,628.495649194,651,0.400948982246,0.00452421045268,0.0598391162286,0.999999959367,9.59494366058e-05,-0.000267410696337,2.34598343783e-05,1793192940012728320
+100,1.666666667,BASELINE,764,742,711,672,664,632,877,783.92958578,799,650,628.92958578,651,0.400947870727,0.00452510033735,0.0598382994173,0.999999958925,9.87575498665e-05,-0.000268060232837,2.32519451975e-05,1793192940029394944
+101,1.683333333,BASELINE,764,742,711,672,664,632,877,783.35634601,799,650,628.35634601,651,0.400947275283,0.00452315807447,0.0598377071888,0.999999959293,9.3325805584e-05,-0.000268645550519,2.31107672069e-05,1793192940046061568
+102,1.700000000,BASELINE,764,742,711,672,664,632.224105543,877,783,799,650,628,651,0.40094783804,0.00452184754474,0.0598378279277,0.999999959696,9.01393058316e-05,-0.000268224774177,2.31851755529e-05,1793192940062727936
+103,1.716666667,BASELINE,764,742,711,672,664,632.816405651,877,783,799,650,628,651,0.400950303665,0.00452157492223,0.0598391200377,0.999999960195,9.06416347583e-05,-0.000266151033979,2.36137818346e-05,1793192940079394560
+104,1.733333333,BASELINE,764,742,710.600221217,672,664,633,876.600221217,783,799.799557566,650,628.399778783,651,0.400950610775,0.00452253919436,0.059839220481,0.999999960149,9.19198816314e-05,-0.000265896292757,2.35022062589e-05,1793192940096061440
+105,1.750000000,BASELINE,764,742,710.020858114,672,664,633,876.020858114,783,800.958283772,650,628.979141886,651,0.40094994826,0.00452405909096,0.0598387856168,0.999999959856,9.35466780529e-05,-0.000266458662487,2.31479760433e-05,1793192940112728064
+106,1.766666667,BASELINE,764,742,710.551580499,672,664,633,876.551580499,783,799.896839002,650,628.448419501,651,0.400949678902,0.00452339763204,0.0598391785436,0.999999959888,9.42857163895e-05,-0.000266046268389,2.35183834447e-05,1793192940129395456
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,877,783,799,650,629,651,0.400946916185,0.00452141537913,0.05983794342,0.999999959262,9.16747953627e-05,-0.000269295125325,2.3500944091e-05,1793192940170736384
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.580645612,876.419354388,783,799,650,628.419354388,651,0.4009486609,0.00452153480026,0.0598387406396,0.999999959876,9.05487295807e-05,-0.000267386529531,2.35443295493e-05,1793192940187403264
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671.839949185,664,632.839949185,876.160050815,783.160050815,799,650,628.160050815,651,0.400949743358,0.00452209226874,0.05983931792,0.999999960203,9.07851326849e-05,-0.000266081175938,2.35340746741e-05,1793192940204069888
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671.263768899,664,632.263768899,876.736231101,783.736231101,799,650,628.736231101,651,0.400949103959,0.00452378865312,0.0598393233623,0.999999959786,9.45639321069e-05,-0.000266344241678,2.33843558287e-05,1793192940220736512
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,710.688405912,671.311594088,664,632,876.688405912,783.688405912,799,650,629,651,0.400950120355,0.00452369347211,0.0598400770063,0.999999959987,9.54331789817e-05,-0.00026526934246,2.34645196043e-05,1793192940237402880
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,710.113733003,671.886266997,664,632,876.113733003,783.113733003,799,650,629,651,0.400952534737,0.00452208567275,0.059841462357,0.999999960713,9.38458910544e-05,-0.000263064799708,2.37387732353e-05,1793192940254069248
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.474716135,742,710.474716135,672.474716135,664,632,876.94943227,783,799,650,629,651,0.40095096491,0.0045202821959,0.0598403576946,0.999999960501,9.08616846104e-05,-0.000264868244596,2.42394499012e-05,1793192940270735872
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.934758783,742,710.934758783,672.869517566,664,632.065241217,877.934758783,783,799.065241217,650,629,650.934758783,0.400949296829,0.00451898014161,0.0598390942991,0.999999960178,8.82183838774e-05,-0.00026693269066,2.46506036393e-05,1793192940287402496
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.354675693,742,710.354675693,671.709351386,664,632.645324307,877.354675693,783,799.645324307,650,629,650.354675693,0.400954611139,0.00452201600151,0.0598414266521,0.999999960924,9.0985268412e-05,-0.000263252734893,2.39144257099e-05,1793192940304069120
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.22319982,742,710.22319982,671.22319982,664,632.77680018,877,783,799.77680018,650,628.77680018,650.22319982,0.400965130008,0.00452366717818,0.0598463309435,0.999999962824,9.26135280431e-05,-0.000255365902534,2.37207357826e-05,1793192940320735744
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.797601684,742,710.797601684,671.797601684,664,632.202398316,877,783,799.202398316,650,628.202398316,650.797601684,0.400983838183,0.00452313957331,0.0598552821466,0.999999966423,9.24501757667e-05,-0.0002408596043,2.43806438132e-05,1793192940337402368
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.618982764,742,711,671.618982764,664,632,876.618982764,783,799,650,628,651,0.401022121771,0.00452183961472,0.0598710478181,0.999999972775,9.22196165098e-05,-0.000212896140194,2.49263560789e-05,1793192940354069248
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.030663024,742,711,671.030663024,664,632,876.030663024,783,799,650,628,651,0.401071055882,0.00452011943661,0.0598905210821,0.999999979677,9.1952491415e-05,-0.000177610947524,2.5409937156e-05,1793192940370736128
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.548538561,742,711,671.548538561,664,632.548538561,876,783,799,650,628.548538561,651,0.401131393905,0.00451791604991,0.0599057139226,0.999999983486,8.92459210732e-05,-0.000156167431185,2.59836740488e-05,1793192940387402752
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.873159264,742,711,671.873159264,664,633,876.126840736,783.126840736,799,650,629,651,0.401195350625,0.00451666827492,0.0599188547905,0.999999986391,8.71516043641e-05,-0.00013760786783,2.62005152883e-05,1793192940404069120
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.296269247,742,711,671.296269247,664,633,876.703730753,783.703730753,799,650,629,651,0.401269922154,0.00451890542018,0.0599255500621,0.999999987827,8.77055785439e-05,-0.000126580519469,2.51334502303e-05,1793192940420736000
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.72071492,784,799,650,629,651,0.401354452083,0.00451885579968,0.0599303407609,0.999999988969,8.68573996779e-05,-0.000117997724112,2.43942208764e-05,1793192940437402624
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.146570801,784,799,650,629,651,0.401449495724,0.00451639189485,0.0599331206805,0.999999989868,8.45288785522e-05,-0.000111995799655,2.40011086113e-05,1793192940454069248
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.440326301,742,711,671.440326301,664,632.559673699,876.440326301,783.559673699,799.440326301,650,629,650.559673699,0.401566113003,0.00451437815585,0.0599361907697,0.999999991065,7.83970641256e-05,-0.000105841593325,2.28408358396e-05,1793192940470735872
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,742,711,672,664,632.030860472,877,783,799.969139528,650,628.969139528,650.030860472,0.401691487403,0.00451258459091,0.0599392619363,0.999999992283,7.11369425963e-05,-9.95790608961e-05,2.13852539682e-05,1793192940487402496
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,742,711,672,664,632.608381918,877,783,799.391618082,650,628.391618082,650.608381918,0.401840983734,0.00451195764211,0.0599405901947,0.999999993307,6.69847318285e-05,-9.232234261e-05,1.9356999589e-05,1793192940504069120
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.81487419,742,711,672,664,633,877,783.18512581,799,650,628.18512581,651,0.401999997435,0.00451130695194,0.0599412248939,0.999999994149,6.28919091044e-05,-8.63221714552e-05,1.71913746525e-05,1793192940520736000
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.239768341,742,711,672,664,633,877,783.760231659,799,650,628.760231659,651,0.402179060103,0.00451060624906,0.0599403985634,0.999999994713,5.89241918432e-05,-8.29690027423e-05,1.47363696045e-05,1793192940537402624
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.343278702,711,672,664,633,876.656721298,783.656721298,799,650,628.656721298,651,0.402382255545,0.00450801101687,0.0599396031529,0.999999995401,5.24570406775e-05,-7.93330471413e-05,1.23650922294e-05,1793192940554069248
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.932003806,711,672,664,633,876.067996194,783.067996194,799,650,628.067996194,651,0.40260270609,0.00450406118439,0.0599388298503,0.999999996123,4.42027783428e-05,-7.54948968102e-05,1.00536804067e-05,1793192940570735872
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.488103059,711,672,664,632.488103059,876,783.511896941,799.511896941,650,628,651,0.402861799481,0.00449083376039,0.0599413975977,0.9999999974,2.387317743e-05,-6.73672015182e-05,9.55200706666e-06,1793192940587402752
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876,783.909786549,799.909786549,650,628.090213451,651,0.403130938206,0.00447769365791,0.0599439608026,0.999999998164,3.52374116724e-06,-5.98318201439e-05,8.98082349233e-06,1793192940604069120
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876,783.333749704,799.333749704,650,628.666250296,651,0.403427000095,0.00447154781955,0.0599441501132,0.99999999823,-8.44112092138e-06,-5.85026195716e-05,6.76269721175e-06,1793192940620735744
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876.482656954,783,799,650,628.758671523,650.758671523,0.403730185746,0.00447000439464,0.059937886654,0.999999997598,-1.55160951232e-05,-6.74820301256e-05,3.08883653972e-06,1793192940637402624
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,877.630172137,783,799,650,628.184913932,650.184913932,0.404043184334,0.00447480077818,0.0599227345275,0.999999995761,-1.58552655207e-05,-9.06615157163e-05,-2.59029291988e-06,1793192940654069248
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,877.600617451,783,799,650,628.399382549,650.399382549,0.404390939335,0.00447102312232,0.0599122946419,0.999999993477,-2.8173811256e-05,-0.000110495283685,-6.51924005811e-06,1793192940670735872
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,877.011309237,783,799,650,628.988690763,650.988690763,0.404755222678,0.00446316809703,0.0599040956547,0.9999999906,-4.6189127747e-05,-0.000128738000845,-9.61589092069e-06,1793192940687402240
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.571443109,877,783,799,650,628.428556891,651,0.405172222028,0.00446539835731,0.0598993909544,0.999999988717,-5.23179737747e-05,-0.00014000073153,-1.51098371073e-05,1793192940704069120
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.151802329,742,711,672,664,632.848197671,877,783,799.151802329,650,628.151802329,650.848197671,0.405610835524,0.00446689966133,0.059901898298,0.999999988545,-5.88878207276e-05,-0.000137938070601,-2.03701720218e-05,1793192940720735744
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.725861487,742,711,672,664,632.274138513,877,783,799.725861487,650,628.725861487,650.274138513,0.406106702243,0.00446582438423,0.0599242766496,0.999999992505,-6.73312950507e-05,-9.91890848551e-05,-2.48502129148e-05,1793192940737402368
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,742,710.699555388,672,664,632.300444612,876.699555388,783.300444612,799.699555388,650,629,650.300444612,0.406627833405,0.00446265923896,0.0599498764974,0.999999995108,-7.7417251799e-05,-5.4471870647e-05,-2.87037618665e-05,1793192940754069248
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,742,710.124493274,672,664,632.875506726,876.124493274,783.875506726,799.124493274,650,629,650.875506726,0.407172057262,0.00445758387668,0.0599784209146,0.999999995518,-8.90044992109e-05,-4.29947008539e-06,-3.19846744654e-05,1793192940770736128
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.536564689,742.463435311,710.463435311,672,664.463435311,632.536564689,876.463435311,783.536564689,799,650,628.536564689,651,0.407720388397,0.00445503097904,0.0599882041334,0.999999995106,-9.27368042401e-05,3.22893392643e-06,-3.43285789289e-05,1793192940787402752
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.053685818,742.946314182,711,672,665,632.053685818,877,783.053685818,799,650,628,651,0.408271298077,0.00445370865989,0.0599909403561,0.999999995451,-8.86155216252e-05,-3.76136755163e-06,-3.510165687e-05,1793192940804069120
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.631889006,742.368110994,711,672,665,632.631889006,877,783.631889006,799,650,628,651,0.408836313188,0.00445759983001,0.0599754725742,0.999999998612,-2.89681745886e-05,-3.74833782803e-05,-2.30570214464e-05,1793192940820735744
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.790559706,742.209440294,711,672,664.790559706,633,877,783.790559706,799,650,628,650.790559706,0.409426204203,0.00446018708779,0.0599650000919,0.999999998071,6.54037606745e-06,-5.92551015896e-05,-1.74222712009e-05,1793192940837402624
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.214150674,742.785849326,711,672,664.214150674,633,877,783.214150674,799,650,628,650.214150674,0.410059681254,0.00446048970824,0.0599632800752,0.99999999793,-2.45630255246e-07,-6.00882452942e-05,-2.30185387215e-05,1793192940854069248
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.367525865,743,711,672,664.367525865,632.632474135,877,783.367525865,799,650,628.367525865,650.367525865,0.410716902004,0.00445638772529,0.0599677972455,0.999999998584,-8.74408820146e-06,-4.50113408304e-05,-2.69968035812e-05,1793192940870735616
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.952316295,743,711,672,664.952316295,632.047683705,877,783.952316295,799,650,628.952316295,650.952316295,0.411388158925,0.00444968194126,0.0599760015569,0.999999999172,-1.82548693618e-05,-2.05291399653e-05,-3.00185786966e-05,1793192940887402496
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.465573298,742.465573298,711,672,664.465573298,632.534426702,877.534426702,784,799,650,629,651,0.412091865954,0.00445160098069,0.0599674686142,0.999999998794,-4.10972255007e-06,-3.85408979764e-05,-3.01765397766e-05,1793192940904069120
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.115429898,742.115429898,711,672,664,632.884570102,877.884570102,783.884570102,799,650,629,651,0.412789999078,0.004453646959,0.059952114099,0.99999999704,-1.84041362514e-06,-7.07595357055e-05,-3.01738007526e-05,1793192940920735744
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.692953,742.692953,711,672,664,632.307047,877.307047,783.307047,799,650,629,651,0.413454285501,0.00445313581783,0.0599153996811,0.999999987516,-5.55202788461e-05,-0.000144749203792,-3.05455482522e-05,1793192940937402624
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.731502666,742.731502666,711,672,664,632,877,783.268497334,799.268497334,650,629,650.731502666,0.414178438869,0.0044509351717,0.0599049328343,0.999999981398,-9.48396816332e-05,-0.000164995215448,-3.14146508461e-05,1793192940954069248
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.158204575,742.158204575,711,672,664,632,877,783.841795425,799.841795425,650,629,650.158204575,0.414970553854,0.00444681658319,0.0599242624781,0.999999984799,-0.000117856956428,-0.000124230921268,-3.28483559515e-05,1793192940970735872
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.425973157,711,672,664.425973157,632,877,783.574026843,799.574026843,650,628.574026843,650,0.415786824768,0.004444487007,0.0599651744563,0.999999991236,-0.000117113928856,-5.18719230563e-05,-3.35023171469e-05,1793192940987402496
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632.014126996,877.014126996,783,799,650,628.014126996,650,0.416611948927,0.0044428080022,0.0600129000798,0.999999993237,-0.000107172958647,2.99365876576e-05,-3.38286200163e-05,1793192941004069120
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632.595438945,877.595438945,783,799,650,628.595438945,650,0.417422890303,0.00443987334059,0.0600039342581,0.99999999524,-9.15236206821e-05,7.67199887333e-06,-3.2931407723e-05,1793192941020735744
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711,672,664.825369869,633,877.825369869,783,799,650,628.825369869,650,0.418230544389,0.00443753436463,0.0599907494171,0.999999996007,-8.10781317355e-05,-1.69832589933e-05,-3.35099491349e-05,1793192941037402368
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,711,672,664.251032885,633,877.251032885,783,799,650,628.251032885,650,0.419030674224,0.00443655883994,0.0599679077612,0.999999994782,-8.25436130731e-05,-4.71104624976e-05,-3.74663090392e-05,1793192941054069248
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.676500064,711,672,664.323499936,633,877,783,799,650,628.323499936,650.323499936,0.419830366194,0.00443536685547,0.0599443153321,0.999999992974,-7.88633187303e-05,-7.92851947193e-05,-3.93334322399e-05,1793192941070735872
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.101815212,711,672,664.898184788,633,877,783,799,650,628.898184788,650.898184788,0.420629718144,0.00443400679857,0.0599201399585,0.999999990293,-7.11875328068e-05,-0.000113049750639,-3.95783454953e-05,1793192941087403008
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.488340825,742.488340825,711,672.488340825,665,632.511659175,877.488340825,783,799,650,628.511659175,650.511659175,0.421399939441,0.00443229297239,0.0598906988703,0.999999981229,-7.06825837265e-05,-0.000176140659816,-3.89833882872e-05,1793192941104069888
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,711,672.920494442,664.920494442,632.079505558,878,783,799,650,628,650.079505558,0.422184761847,0.00443036020679,0.0598687306622,0.999999970848,-7.27103378745e-05,-0.000227001726106,-3.85746719126e-05,1793192941120736256
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,711,672.343851984,664.343851984,632.656148016,878,783,799,650,628,650.656148016,0.423100101856,0.00442753473337,0.0599005786797,0.9999999828,-8.09204514156e-05,-0.000161908514871,-4.04612322805e-05,1793192941137403136
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.767916058,742.767916058,711,672.232083942,664.464167883,632.767916058,878,783,799.232083942,649.767916058,628.232083942,650.767916058,0.424006478046,0.00442399828728,0.0599431348099,0.999999991578,-8.72429205831e-05,-8.7003528152e-05,-4.07923430085e-05,1793192941154069760
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.19302366,742.19302366,711,672.80697634,665.61395268,632.19302366,878,783,799.80697634,649.19302366,628.80697634,650.19302366,0.424899614019,0.00441941167141,0.0600015077716,0.999999995123,-9.07771736314e-05,2.39432613113e-06,-3.88259176473e-05,1793192941170736384
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.389960007,742.389960007,711,672.610039993,665.610039993,632,878,783.389960007,799.610039993,649.389960007,629,650,0.425734921781,0.00441721549317,0.0600172301311,0.999999993385,-0.000104716015518,2.70903161075e-05,-3.91283888497e-05,1793192941187403008
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.977033541,742.977033541,711,672.022966459,665.022966459,632,878,783.977033541,799.022966459,649.977033541,629,650,0.426540998997,0.00441622761245,0.0600113938385,0.999999991317,-0.000123914076767,1.90813758151e-05,-4.05777219872e-05,1793192941204069376
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,742.440546852,711,672,665,632,878,784,799,650,628.440546852,650.559453148,0.427367402674,0.00441208995596,0.0599878051407,0.99999999147,-0.000123524797371,-5.08952405977e-06,-4.2142166452e-05,1793192941220736000
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.860103106,742.139896894,711,672.139896894,665,632,878,784,799,650,628.139896894,650.860103106,0.428186591556,0.00440862285724,0.0599657518025,0.999999991197,-0.000121988675837,-2.85613293103e-05,-4.36930267295e-05,1793192941237402880
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.285213935,742.714786065,711,672.714786065,665,632,878,784,799,650,628.714786065,650.285213935,0.428980773708,0.0044076395122,0.0599507197894,0.999999990712,-0.000119366188098,-4.78134106941e-05,-4.51870764516e-05,1793192941254069504
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,672.712082795,665,632,877.712082795,783.712082795,799.287917205,650,629,650,0.429748796267,0.00440737097675,0.0599333692333,0.999999989282,-0.000114570376398,-7.88749144337e-05,-4.5705239911e-05,1793192941270736128
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,672.140682645,665,632,877.140682645,783.140682645,799.859317355,650,629,650,0.430491062075,0.00440780624207,0.0599137358434,0.999999985794,-0.000107634712478,-0.00012156396049,-4.52625467494e-05,1793192941287402752
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711,672.446566966,665,632,877.446566966,783,799.553433034,650,629,650.446566966,0.431285503074,0.00440392867902,0.0599347736722,0.999999989562,-0.000111235052239,-7.98554701848e-05,-4.61111211569e-05,1793192941304069376
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878,783,798.961865874,649.961865874,629,650.961865874,0.432094634066,0.00439879928708,0.059968786953,0.999999991876,-0.000117750460459,-1.24368641062e-05,-4.71986598734e-05,1793192941320735744
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878,783,798.382494916,649.382494916,629,650.382494916,0.4328703869,0.00439589598572,0.0599984182325,0.999999991725,-0.000116796918007,2.86375121625e-05,-4.56917999665e-05,1793192941337402624
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,711,673.195092816,665,632,878,783.195092816,798.195092816,649.195092816,629,650,0.433616735077,0.00439389913321,0.0600073744511,0.999999991781,-0.000113925016085,3.81466440813e-05,-4.4771269386e-05,1793192941354069248
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711,673.769216164,665,632,878,783.769216164,798.769216164,649.769216164,629,650,0.434305955386,0.00439366334858,0.0599761627206,0.999999993135,-0.000107326083946,-1.36698542498e-05,-4.49898718426e-05,1793192941370736128
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,711,673.648508336,665.351491664,632,878,783.648508336,799,650,629,650,0.434960234015,0.00439305906365,0.0599442901103,0.999999991277,-0.00010446484876,-6.66421153895e-05,-4.57411142327e-05,1793192941387403264
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711,673.060753206,665.939246794,632,878,783.060753206,799,650,629,650,0.435591025723,0.00439220708252,0.0599119732758,0.999999986235,-0.000104115995591,-0.000120391246725,-4.68503831366e-05,1793192941404069632
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665.477868442,632,878,783,799,650,629,650,0.436234723872,0.00440843584383,0.0599098563025,0.999999987647,-8.51589244022e-05,-0.000123336108915,-4.73463582245e-05,1793192941420736512
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764.320340454,742.320340454,711,673.320340454,665,632,878.320340454,783,799.679659546,649.679659546,628.679659546,650.679659546,0.441385990867,0.00444178321163,0.0598770499538,0.999999972395,-9.69174810938e-05,-0.000208489231378,-4.84687821726e-05,1793192941587403008
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,673.643557858,663.356442142,631.356442142,878.356442142,783,800,650,629,650,0.442684441623,0.00444533947366,0.0597849710347,0.999999940593,-4.32273454078e-05,-0.000339374287075,-4.20745461011e-05,1793192941654069504
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,674,663,631.7962406,878,783,799.2037594,650,629,650,0.443245297906,0.00445852766684,0.0597894148826,0.999999943448,-1.45788305225e-05,-0.000333626318285,-3.98078067658e-05,1793192941687402496
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.981361536,711,673.018638464,660,631,878,783,799,649.981361536,628.018638464,650.018638464,0.445037413618,0.00453855849505,0.0597293836,0.999999901064,5.15213407203e-05,-0.000438536733809,-5.38862549185e-05,1793192942354068992
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.40357085,711,673.59642915,660,631,878,783,799,649.40357085,628.59642915,650.59642915,0.445038981139,0.00453906690515,0.0597307928114,0.999999902017,5.21453364933e-05,-0.000436257197093,-5.40992041181e-05,1793192942370735616
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,710.826588281,673.826588281,660,630.826588281,878,782.826588281,799,649,628.826588281,650.826588281,0.445039791385,0.00453915854419,0.0597314958098,0.999999902476,5.24248603614e-05,-0.000435154032524,-5.42235757239e-05,1793192942387402496
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,710.251477704,673.251477704,660,630.251477704,878,782.251477704,799,649,628.251477704,650.251477704,0.445038847441,0.00453828475564,0.0597305629039,0.999999901801,5.19064336754e-05,-0.000436775870486,-5.4142762117e-05,1793192942404069120
+242,4.033333333,HOLD_POSE2,763,742,711,673,660,631,878,783,799,650,628,650,0.445037396582,0.00453623925243,0.0597293351197,0.999999900723,4.71649519275e-05,-0.000439828659532,-5.36638925857e-05,1793192942439638784
+243,4.050000000,HOLD_POSE2,763,742,711,673.579250926,660.579250926,631,878,783,799.579250926,650,628.579250926,650,0.445039559767,0.00453619251262,0.0597305197488,0.999999902125,4.75486901637e-05,-0.00043659936491,-5.35817139466e-05,1793192942456305152
+244,4.066666667,HOLD_POSE2,763.157645323,742.157645323,711,673.842354677,660.842354677,631,877.842354677,783,800,650,629,650,0.445040823642,0.00453638736821,0.0597312182775,0.999999902969,4.81479113146e-05,-0.000434592992386,-5.3588690474e-05,1793192942472971776
+245,4.083333333,HOLD_POSE2,763.733766157,742.733766157,711,673.266233843,660.266233843,631,877.266233843,783,800,650,629,650,0.445039700266,0.00453722354799,0.0597306264343,0.99999990236,4.93191401485e-05,-0.000435832912414,-5.38323327679e-05,1793192942489638400
+246,4.100000000,HOLD_POSE2,764,743,711,673,660,631,877.315656768,783,799.684343232,650,629,650,0.445038854201,0.00453740377834,0.0597301306695,0.999999901752,4.94474472669e-05,-0.000437222077552,-5.37468253649e-05,1793192942506305280
+247,4.116666667,HOLD_POSE2,764,743,711,673,660,631,877.902504344,783,799.097495656,650,629,650,0.445038246384,0.00453702046155,0.0597297174488,0.999999901144,4.86797469671e-05,-0.000438739463857,-5.33785349325e-05,1793192942522971904
+248,4.133333333,HOLD_POSE2,764,743,711,673,660.482729243,631,878,782.517270757,799,650,629,650,0.445039010837,0.0045388220076,0.0597306779821,0.999999901409,5.13042225611e-05,-0.000437819496102,-5.35134618275e-05,1793192942539638528
+249,4.150000000,HOLD_POSE2,764,742.938329726,710.938329726,673.061670274,661.061670274,631,878,782.061670274,799,649.938329726,629,650.061670274,0.44504010753,0.00454073716599,0.0597317490144,0.999999901884,5.38877492952e-05,-0.000436394037496,-5.37365253864e-05,1793192942556304896
+250,4.166666667,HOLD_POSE2,764,742.359089927,710.359089927,673.640910073,661.640910073,631,878,782.640910073,799,649.359089927,629,650.640910073,0.445041698007,0.00453995255599,0.0597314503872,0.999999902751,5.04556256467e-05,-0.000434801681031,-5.38578592963e-05,1793192942572971520
+251,4.183333333,HOLD_POSE2,764,742,710.217892014,674,661.782107986,631,878,783,799,649,628.782107986,650.782107986,0.445042313932,0.00453882552435,0.0597310933032,0.999999902964,4.84778595927e-05,-0.000434544194541,-5.37977226335e-05,1793192942589638400
+252,4.200000000,HOLD_POSE2,764,742,710.791191072,674,661.208808928,631,878,783,799,649,628.208808928,650.208808928,0.445041340251,0.00453713996355,0.0597306408695,0.999999902127,4.88723191019e-05,-0.000436464035331,-5.34415864942e-05,1793192942606305280
+253,4.216666667,HOLD_POSE2,764,742.374610366,711,673.625389634,661,631,878,783,799.374610366,649.374610366,628,650,0.44504066006,0.00453681664418,0.0597305370463,0.999999901863,4.84258558139e-05,-0.000437139870305,-5.32622043224e-05,1793192942622971904
+254,4.233333333,HOLD_POSE2,764,742.96382739,711,673.03617261,661,631,878,783,799.96382739,649.96382739,628,650,0.445040148004,0.00453727372505,0.0597306329349,0.999999901928,4.74976449961e-05,-0.000437103039831,-5.31840808698e-05,1793192942639638528
+255,4.250000000,HOLD_POSE2,763.45645862,742.45645862,711,673.54354138,660.45645862,631,877.45645862,783,800,650,628.54354138,650,0.44504070846,0.00453890079692,0.0597309726353,0.999999902012,4.93852238624e-05,-0.000436602221237,-5.39967519857e-05,1793192942656305152
+256,4.266666667,HOLD_POSE2,763.122239269,742,711,674,660.122239269,631,877.122239269,783,800,650,629,650,0.445041051509,0.00454034743446,0.0597311830781,0.999999901927,5.15395467073e-05,-0.000436479102478,-5.45426628103e-05,1793192942672971776
+257,4.283333333,HOLD_POSE2,763.699468784,742,711,674,660.699468784,631,877.699468784,783,800,650,629,650,0.44504032424,0.00454083763746,0.0597308530516,0.999999901223,5.40012192576e-05,-0.000437874789106,-5.38787932053e-05,1793192942689638400
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,660,631,879,783,799,650,628,650,0.445041904904,0.00453884178914,0.0597302875385,0.999999902081,4.77895356564e-05,-0.000436628835948,-5.39299241951e-05,1793192942728135424
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763.607582978,742,711,673.607582978,660,631,878.392417022,783,799.607582978,650,628.607582978,650,0.445041660834,0.00453967328828,0.0597305875472,0.999999902041,4.96985813906e-05,-0.000436490547387,-5.40706736277e-05,1793192942744802048
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,660,631,878,783,799.79517618,649.79517618,628.79517618,650,0.44504178675,0.00453996829132,0.0597310454416,0.99999990218,5.02446107498e-05,-0.000436100618323,-5.41508817686e-05,1793192942761468672
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,660,631,878,783,799.2167971,649.2167971,628.2167971,650,0.445042587444,0.00453928483929,0.0597317912857,0.999999902647,4.83047872963e-05,-0.000435251750264,-5.41206754422e-05,1793192942778135296
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.36001635,711,673.63998365,660,631,878.36001635,783,799,649,628.36001635,650,0.445042884246,0.00453865809073,0.059732065897,0.999999902792,4.86734034374e-05,-0.000434924592542,-5.37317080417e-05,1793192942794802176
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.935891046,711,673.064108954,660,631,878.935891046,783,799,649,628.935891046,650,0.445042878927,0.00453806534045,0.0597320579667,0.999999902744,5.04261122565e-05,-0.00043491024158,-5.31276349347e-05,1793192942811468544
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.507236322,660,631,878.492763678,783,799,649.507236322,629,650.507236322,0.445041622282,0.00453904839622,0.0597308747968,0.999999902188,5.03303679187e-05,-0.000436129915099,-5.36862542869e-05,1793192942828135168
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.918665757,660,631,878.081334243,782.918665757,799,650,628.918665757,650.918665757,0.445039608849,0.00453990643375,0.0597293393942,0.99999990139,5.00916886125e-05,-0.000437916392426,-5.42248181449e-05,1793192942844801792
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.323597323,660,631,878.676402677,782.323597323,799,650,628.323597323,650.323597323,0.445033805399,0.00453872796127,0.0597265090775,0.999999899469,5.04127689155e-05,-0.000442306572373,-5.37167269419e-05,1793192942861468672
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.735966325,711,673,660.264033675,631,878.735966325,782.264033675,799,650,628,650,0.445022340522,0.00453842606313,0.059720570941,0.999999895509,5.08301500883e-05,-0.000451133860066,-5.36263639959e-05,1793192942878135296
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.157200895,711,673,660.842799105,631,878.157200895,782.842799105,799,650,628,650,0.445004127145,0.0045391690537,0.0597109282411,0.999999888992,5.13623231866e-05,-0.000465250240555,-5.40339388796e-05,1793192942894801920
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.418480508,711,673,660.581519492,630.581519492,878,783,799.418480508,650,628,650,0.444963923288,0.00453999219729,0.0596932993448,0.999999875826,5.25239651897e-05,-0.000492590850327,-5.4250220392e-05,1793192942911468800
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.993011929,711,673,660.006988071,630.006988071,878,783,799.993011929,650,628,650,0.444915519204,0.00454084522992,0.059672692404,0.999999859326,5.39203354402e-05,-0.0005248627611,-5.4395168808e-05,1793192942928135424
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.417983475,710.417983475,673,660,630.582016525,878,783,799.417983475,649.417983475,628.582016525,650.582016525,0.4448463633,0.00454214466152,0.0596510791325,0.999999846601,5.35764532967e-05,-0.000548439141169,-5.605526902e-05,1793192942944801792
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.168194841,710.168194841,673,660.168194841,631,878,783,799.168194841,649.168194841,629,650.831805159,0.444775038499,0.00454293420551,0.0596343529969,0.999999836122,5.35338316136e-05,-0.000567128024982,-5.70650039181e-05,1793192942961468672
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.74703782,710.74703782,673,660.74703782,631,878,783,799.74703782,649.74703782,629,650.25296218,0.444699042155,0.00454246543824,0.0596295890637,0.999999832113,5.4279053285e-05,-0.000574145483143,-5.644132239e-05,1793192942978135296
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.324269648,661,631,878,783,799.675730352,650,629,650.324269648,0.444613349406,0.00454200085452,0.0596294525293,0.999999832487,5.62979674932e-05,-0.000573392512743,-5.54680048382e-05,1793192942994802176
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.900250797,661,631,878,783,799.099749203,650,629,650.900250797,0.444520129912,0.00454153951827,0.0596329079735,0.999999836249,5.93055744433e-05,-0.00056660781412,-5.42232853912e-05,1793192943011468800
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,661,631,878,783,799,649.524057389,629,650.524057389,0.444402376993,0.00454316769345,0.0596378871374,0.999999841009,6.22964761387e-05,-0.000557941430247,-5.29422194079e-05,1793192943028135168
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.052907938,742.947092062,711,673.947092062,661,631,878,783,799,649.052907938,629,650,0.44427603191,0.00454514541372,0.0596430237386,0.999999845636,6.55006271489e-05,-0.000549341873746,-5.15923507835e-05,1793192943044802048
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.64342966,742.35657034,711,673.35657034,661,631,878,783,799,649.64342966,629,650,0.444114594604,0.00454622778378,0.0596465171194,0.99999984751,7.09072245317e-05,-0.000545426231499,-4.96207150588e-05,1793192943061468672
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.770684388,742.229315612,711,673,661,631,878,783,799,650,628.770684388,650,0.443941310459,0.0045472599138,0.0596517216855,0.999999851313,7.57369243097e-05,-0.000537941024731,-4.75141774027e-05,1793192943078135296
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.191863964,742.808136036,711,673,661,631,878,783,799,650,628.191863964,650,0.443749970311,0.00454821547183,0.059659534305,0.999999857983,7.96873616542e-05,-0.000525015368927,-4.52020330153e-05,1793192943094801920
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.383519161,661,631,878,783,799.383519161,650,628,650,0.44352397809,0.0045506781569,0.0596619488753,0.99999985871,8.73786088791e-05,-0.000522585078555,-4.30098137042e-05,1793192943111468544
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.957198027,661,631,878,783,799.957198027,650,628,650,0.443280804371,0.00455388811849,0.0596616869399,0.999999856466,9.69246563601e-05,-0.000525358687614,-4.08770564474e-05,1793192943128135168
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.454759897,742.454759897,711,674,661,631,878.545240103,783,799.454759897,650,628.545240103,650,0.442988577713,0.00455496583988,0.0596609079015,0.999999853217,0.000103559535608,-0.000530519200726,-3.73047378635e-05,1793192943144801792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.132148911,742.132148911,711,674,661.132148911,631.132148911,878.867851089,783,799.132148911,649.867851089,628.867851089,650,0.442685041059,0.00455615419966,0.0596609028096,0.999999851033,0.000110480136222,-0.000533469167017,-3.3737697603e-05,1793192943161468416
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.711307265,742.711307265,711,674,661.711307265,631.711307265,878.288692735,783,799.711307265,649.288692735,628.288692735,650,0.442356624823,0.0045582983199,0.0596636567098,0.999999852887,0.00011916117004,-0.000528290731057,-3.05811136048e-05,1793192943178135040
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,662.577232106,631.711383947,878,783,799.711383947,649,628.288616053,650,0.44200477253,0.00455930338572,0.0596667723382,0.999999854866,0.000126442805604,-0.000523025839739,-2.69233302452e-05,1793192943194801920
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,663.728173057,631.135913471,878,783,799.135913471,649,628.864086529,650,0.441629627246,0.00455917634944,0.0596702474866,0.999999856991,0.000132333583924,-0.000517675021086,-2.27674068924e-05,1793192943211468544
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.559831597,710.559831597,673.559831597,663.559831597,631,878,783,799,649,629,650,0.441232472615,0.00456156250139,0.0596865527409,0.999999867244,0.000144011204932,-0.000494425835954,-1.77470655345e-05,1793192943228135168
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.0168276,710.0168276,673,663.0168276,631.0168276,878,783,799,649,629,650,0.440827084888,0.00456467863739,0.0597070029924,0.999999879188,0.000157446219679,-0.000465489095107,-1.24285148948e-05,1793192943244801792
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.606709606,710.606709606,673,663.606709606,631.606709606,878,783,799,649,629,650,0.440373078019,0.00456619054827,0.0597335100775,0.999999892543,0.000169793880831,-0.000431332447401,-6.05677984219e-06,1793192943261468416
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.807413857,711,673,664,632,878,783,799,649.192586143,629,650,0.439914339675,0.00456723101623,0.0597647864595,0.999999909428,0.000180841865345,-0.000385278969346,1.34590854713e-07,1793192943278135296
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.229550512,711,673,664,632,878,783,799,649.770449488,629,650,0.439446135858,0.00456732834135,0.0598056040305,0.99999993232,0.000189289786861,-0.000315425353158,5.96513381055e-06,1793192943294802176
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.3479124,711,673,664.3479124,632,878,783,798.6520876,649.6520876,629,650,0.438929112338,0.00456848457474,0.0598349590874,0.999999944007,0.000198839579032,-0.000268927325244,1.12517418016e-05,1793192943311468800
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.92511147,711,673,664.92511147,632,878,783,798.07488853,649.07488853,629,650,0.438379914847,0.00457033866643,0.0598567599432,0.999999949725,0.000209115544339,-0.000237821455729,1.61798778578e-05,1793192943328135680
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,664,632,877,783,798.904749883,649,628.904749883,650,0.437098355396,0.00458428725208,0.0598108346337,0.999999922121,0.000239869621297,-0.000312524923209,2.34411183235e-05,1793192943361468672
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,710,671.82984674,664,632,876.17015326,783.82984674,799,650,628.17015326,651,0.401370391111,0.00453928315084,0.0598309199852,0.999999950003,0.00014667367851,-0.000279421931116,2.01087321675e-05,1793192944311468544
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.314537822,664,632,877,783,799,650,628,651,0.400952308841,0.00453203522149,0.0598380593007,0.999999955354,0.00012748947351,-0.000269377103236,2.1798744165e-05,1793192944861468672
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,710.534693577,671.534693577,664,632.465306423,877,783.465306423,799,650,628.465306423,651,0.40095294205,0.00453369806544,0.0598382150463,0.999999955385,0.00012854936302,-0.000268753056738,2.1822215458e-05,1793192944894801920
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,710.630827346,671.630827346,663.369172654,632.369172654,877,784,799,650,629,651,0.400951397517,0.00453403800585,0.0598381216952,0.99999995499,0.000129658582209,-0.000269705493757,2.16429271097e-05,1793192944928135424
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.216737299,632.216737299,876.783262701,783.783262701,799,650,629,651,0.40095126883,0.00453371258605,0.0598385760186,0.999999955061,0.000129849375436,-0.000269343069493,2.17113952245e-05,1793192944944802048
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.796079181,632.796079181,876.203920819,783.203920819,799,650,629,651,0.40095123531,0.00453375805503,0.0598381557377,0.999999955111,0.000128347813744,-0.000269900069641,2.14310990471e-05,1793192944961468928
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..36dea46bf6b1bee4fbaa078f83ec672d68d0a9d1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,394 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af8e20e762fd73fc63fc4247ecf10d220d3a7936
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25181212
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d5e910a1260d746aaea279014b24719fe13145c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/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
+0,0.000000000,BASELINE,764,742,711,672,664,633,877,783,799,650,629,651,0.400953942237,0.00453033054841,0.0598390169611,0.999999955799,0.000128403813632,-0.000267253410389,2.21487064612e-05,1793192945111385856
+1,0.016666667,BASELINE,764,742.593703088,711,672,664,632.406296912,877,783,799.593703088,650,629,651,0.40095239916,0.00453004646614,0.0598388854644,0.999999955909,0.000126301797895,-0.000267837364135,2.2221875527e-05,1793192945128052480
+2,0.033333333,BASELINE,764.182076066,742.817923934,711,672,663.817923934,632,877,783,799.817923934,650,628.817923934,651,0.400951572018,0.00453006276695,0.0598387140819,0.999999956061,0.000124617140421,-0.000268065250331,2.21436440689e-05,1793192945144719104
+3,0.050000000,BASELINE,764.758893469,742.241106531,711,672,663.241106531,632,877,783,799.241106531,650,628.241106531,651,0.400952297027,0.00453073029891,0.0598384562268,0.999999956312,0.000123837316237,-0.000267521181366,2.17371759369e-05,1793192945161385728
+4,0.066666667,BASELINE,764.665480375,742,711,671.665480375,663,632.334519625,876.665480375,783,799,650,628,650.665480375,0.400952537551,0.00453105793631,0.0598387086059,0.999999956465,0.000123083976178,-0.000267324374085,2.1413074261e-05,1793192945178052352
+5,0.083333333,BASELINE,764.090709801,742,711,671.090709801,663,632.909290199,876.090709801,783,799,650,628,650.090709801,0.400952430121,0.00453114146246,0.0598393274338,0.999999956546,0.000122349656981,-0.000267376969092,2.11481279407e-05,1793192945194718976
+6,0.100000000,BASELINE,764,742,711,671.496810278,663.496810278,632.503189722,876,783,799,650,628,650.496810278,0.400951033831,0.00453030979394,0.0598380320477,0.999999955963,0.000122935868626,-0.000269260858691,2.14294683415e-05,1793192945211385856
+7,0.116666667,BASELINE,764,742.084947596,711,672.084947596,664,632.084947596,876.084947596,783.084947596,799,650,628.084947596,651,0.400949833978,0.00452964676243,0.059836865481,0.999999955435,0.000123806395439,-0.000270791659196,2.17560183588e-05,1793192945228052480
+8,0.133333333,BASELINE,764,742.662803274,711,672.662803274,664,632.662803274,876.662803274,783.662803274,799,650,628.662803274,651,0.400951175392,0.00453095738297,0.0598385278077,0.999999955977,0.000124890781274,-0.000268282404388,2.17508923866e-05,1793192945244719104
+9,0.150000000,BASELINE,764,743,711,672.760187037,664,633,876.760187037,783.760187037,799,650,629,651,0.400951585986,0.00453132352421,0.0598391971684,0.999999956168,0.000125632219297,-0.000267220555968,2.17624868267e-05,1793192945261385984
+10,0.166666667,BASELINE,764,743,711,672.184362743,664,633,876.184362743,783.184362743,799,650,629,651,0.400950692372,0.00453036631843,0.0598384752453,0.999999955876,0.000125893139627,-0.000268186725515,2.17975088917e-05,1793192945278053632
+11,0.183333333,BASELINE,764,743,711,672,664,632.608891973,876,783.391108027,799,650,629,651,0.400950850975,0.0045307966776,0.0598383722407,0.99999995587,0.000126197909179,-0.000268082857083,2.15948674453e-05,1793192945294720000
+12,0.200000000,BASELINE,764,743,711,672,664,632.033587647,876,783.966412353,799,650,629,651,0.400951505129,0.0045318805245,0.059838560722,0.999999955998,0.000126523329992,-0.000267475043481,2.12802959572e-05,1793192945311385856
+13,0.216666667,BASELINE,764,742.446325417,710.446325417,672,664,632,876,783.446325417,798.446325417,650,629,651,0.400951261471,0.00453304880489,0.0598385659536,0.999999955791,0.000126778867718,-0.000268132349291,2.12107487862e-05,1793192945328052736
+14,0.233333333,BASELINE,764,742,710,672,664,632,876.140340762,783,798.140340762,650,628.859659238,651,0.400951302721,0.00453389062648,0.0598387524172,0.999999955705,0.000127305363942,-0.000268204933019,2.12087589608e-05,1793192945344719616
+15,0.250000000,BASELINE,764,742,710,672,664,632,876.722793694,783,798.722793694,650,628.277206306,651,0.400952416878,0.00453368752101,0.0598395456044,0.999999956062,0.000128699104217,-0.000266188372419,2.13717342507e-05,1793192945361386240
+16,0.266666667,BASELINE,764,742,710.300932014,672,664,632,877,783,799,650,628,650.699067986,0.400953297289,0.00453230125568,0.0598403859505,0.999999956556,0.000127670458476,-0.000264794711787,2.1706698227e-05,1793192945378052864
+17,0.283333333,BASELINE,764,742,710.875152033,672,664,632,877,783,799,650,628,650.124847967,0.400953965426,0.00452984051711,0.0598412691234,0.999999957172,0.000124441950189,-0.000263966730834,2.21978517732e-05,1793192945394719232
+18,0.300000000,BASELINE,764,742,711,671.549674103,664,632.450325897,876.549674103,783,799,650,628.450325897,650.450325897,0.400954180883,0.00452971704473,0.0598410382507,0.999999957178,0.000123984727325,-0.000264165194715,2.21201880264e-05,1793192945411385856
+19,0.316666667,BASELINE,764,742,710.97347735,671,664,633,876.02652265,783,799,650,628.97347735,651,0.400954140862,0.00453029531448,0.0598404513689,0.999999956984,0.000124355873781,-0.000264743510772,2.18833814411e-05,1793192945428052736
+20,0.333333333,BASELINE,764,742,710.38111147,671,664,633,876.61888853,783,799,650,628.38111147,651,0.400951333544,0.00453199118436,0.0598388725166,0.999999956096,0.000125973579227,-0.000267341707885,2.16229003834e-05,1793192945444719360
+21,0.350000000,BASELINE,764,742,710.205340514,671.205340514,664,633,876.794659486,783,799,650,628,650.794659486,0.400949362021,0.00453282510844,0.0598379952044,0.999999955481,0.000127003154208,-0.000269150624876,2.15968858177e-05,1793192945461385984
+22,0.366666667,BASELINE,764,742,710.78112353,671.78112353,664,633,876.21887647,783,799,650,628,650.21887647,0.400948898307,0.00453210404763,0.0598383834989,0.999999955372,0.000126971718127,-0.000269535648672,2.19938582122e-05,1793192945478052864
+23,0.383333333,BASELINE,764,742,711,671.643204991,664,632.643204991,876,783,799,650,628.356795009,650,0.400949870715,0.00453224630218,0.0598385166944,0.999999955601,0.000126322065786,-0.000269009331923,2.17816624817e-05,1793192945494719488
+24,0.400000000,BASELINE,764,742,711,671.067601858,664,632.067601858,876,783,799,650,628.932398142,650,0.40095172384,0.00453291799346,0.0598384934479,0.999999956034,0.000125293286105,-0.000267924126461,2.11958883158e-05,1793192945511386368
+25,0.416666667,BASELINE,764,742,711,671,664,632,876,783,799,650,628.482052736,650.517947264,0.400953264773,0.00453141631647,0.0598401573507,0.999999956833,0.00012459079688,-0.000265250497156,2.13140270505e-05,1793192945528052992
+26,0.433333333,BASELINE,764,742,711,671.103869653,664,632,876,783,799,650,628.103869653,651,0.400954176977,0.00453003929429,0.0598414536808,0.999999957381,0.000124079022451,-0.000263400587673,2.14868200694e-05,1793192945544719616
+27,0.450000000,BASELINE,764,742,711,671.685421985,664,632,876,783,799,650,628.685421985,651,0.400952388792,0.00453056562302,0.0598400270749,0.99999995659,0.000124244633073,-0.000266310955069,2.14801729492e-05,1793192945561386496
+28,0.466666667,BASELINE,764,742,711,672,664,632,876.26429917,783,799.26429917,650,629,650.73570083,0.400951542319,0.00453094069698,0.0598394355547,0.999999956249,0.000124395068471,-0.000267513136364,2.15553298316e-05,1793192945578052864
+29,0.483333333,BASELINE,764,742,711,672,664,632,876.840024174,783,799.840024174,650,629,650.159975826,0.400951805473,0.0045311375462,0.0598398280228,0.999999956445,0.000124527622772,-0.000266702548096,2.17268770274e-05,1793192945594719488
+30,0.500000000,BASELINE,764,742,711,672,663.586223833,632.413776167,876.586223833,783,800,650,629,650.413776167,0.400953694833,0.00453179215748,0.0598409810743,0.999999957147,0.00012474267928,-0.000263950165901,2.18030708862e-05,1793192945611386112
+31,0.516666667,BASELINE,764,742,711,672,663.013231045,632.986768955,876.013231045,783,800,650,629,650.986768955,0.40095620994,0.00453262291067,0.05984242679,0.999999958033,0.000124989481748,-0.000260450602294,2.1842573802e-05,1793192945628052992
+32,0.533333333,BASELINE,764,742.576787635,711,671.423212365,663.576787635,632.423212365,876,783,799.423212365,650,629,650.423212365,0.400952802456,0.00453230801405,0.059839989302,0.99999995675,0.00012545340493,-0.000265145145265,2.14420718008e-05,1793192945644719616
+33,0.550000000,BASELINE,764.164337992,742.835662008,711,671,664,632.164337992,876,783,799,650,629,650.164337992,0.400950785395,0.00453184995807,0.0598386145722,0.999999955948,0.000125652551918,-0.000268071293406,2.13075668075e-05,1793192945661386496
+34,0.566666667,BASELINE,764.744622236,742.255377764,711,671,664,632.744622236,876,783,799,650,629,650.744622236,0.400952641877,0.00453109809953,0.0598401620447,0.999999956541,0.000125168549876,-0.000266031339517,2.18726350511e-05,1793192945678052864
+35,0.583333333,BASELINE,764.677595522,742,710.677595522,671,664,632.677595522,876.322404478,783,799,650,629,651,0.400952412538,0.0045310213017,0.0598399727939,0.999999956427,0.000125836987546,-0.000266125974469,2.20940985166e-05,1793192945694719488
+36,0.600000000,BASELINE,764.101779803,742,710.101779803,671,664,632.101779803,876.898220197,783,799,650,629,651,0.400950543735,0.00453147510428,0.0598384184717,0.999999955755,0.000127411247505,-0.000267898404784,2.20454872777e-05,1793192945711385856
+37,0.616666667,BASELINE,764.470898367,742,710.470898367,671,664,632,877,783,799,650,628.529101633,651,0.400952656922,0.0045316596739,0.0598400875337,0.99999995669,0.000126720819736,-0.000264746191842,2.1712495523e-05,1793192945728052736
+38,0.633333333,BASELINE,765,742.044656734,711,671,664,632.044656734,877,783,799,650,628,651,0.400955283004,0.00453183982339,0.0598421890511,0.999999957805,0.000125642635207,-0.00026104993586,2.13525574495e-05,1793192945744719360
+39,0.650000000,BASELINE,765,742.640045091,711,671,664,632.640045091,877,783,799,650,628,651,0.400953690454,0.00453267836655,0.0598410886162,0.999999957096,0.000125779110184,-0.000263684253896,2.14133164601e-05,1793192945761385984
+40,0.666666667,BASELINE,764.772001267,742.772001267,711,671.227998733,664,632.772001267,877,783,799,650,628.227998733,651,0.400953115219,0.00453236198366,0.0598406560232,0.999999956915,0.000124938201676,-0.000264760728142,2.15200790103e-05,1793192945778052608
+41,0.683333333,BASELINE,764.195414621,742.195414621,711,671.804585379,664,632.195414621,877,783,799,650,628.804585379,651,0.40095409536,0.00453027983097,0.0598412444957,0.999999957544,0.000122602968755,-0.000263455410411,2.16971765006e-05,1793192945794719488
+42,0.700000000,BASELINE,764,742,711,671.619722099,664,632.380277901,877,783,799,650,629,651,0.400954204819,0.0045306040558,0.0598410543481,0.99999995731,0.000123947199136,-0.000263726800894,2.1553958e-05,1793192945811386112
+43,0.716666667,BASELINE,764,742,711,671.044487984,664,632.955512016,877,783,799,650,629,651,0.400953867907,0.00453216195283,0.0598404650269,0.999999956626,0.000127177771741,-0.000264806518861,2.12465238171e-05,1793192945828052736
+44,0.733333333,BASELINE,764.542375615,742,711,671.542375615,664,633,876.457624385,783,799,650,628.457624385,651,0.400951540746,0.0045316630053,0.0598397108756,0.999999956381,0.00012555895924,-0.000266493338508,2.13322165025e-05,1793192945844719360
+45,0.750000000,BASELINE,764.87138002,742,711,672,664,633,876,783,799,650,628.12861998,650.87138002,0.400949975963,0.00453129194197,0.0598392064883,0.999999956218,0.000124594394287,-0.00026754507428,2.14438055813e-05,1793192945861385984
+46,0.766666667,BASELINE,764.290737867,742,711,672,664,633,876,783,799,650,628.709262133,650.290737867,0.400951676775,0.00453197622591,0.0598396284277,0.999999956231,0.000127357662778,-0.000266186028693,2.15305965791e-05,1793192945878052608
+47,0.783333333,BASELINE,764,742,711,672,664,632.712615125,876,783,799,650,629,650.287384875,0.40095239261,0.00453267481659,0.0598400918379,0.999999956252,0.000128646319457,-0.000265483766902,2.15365120435e-05,1793192945894719232
+48,0.800000000,BASELINE,764,742,711,672,664,632.13701897,876,783,799,650,629,650.86298103,0.400952120637,0.00453338775523,0.0598405968382,0.99999995629,0.000128456124254,-0.000265440177401,2.14613194187e-05,1793192945911385856
+49,0.816666667,BASELINE,764,742,711,672,664,632.435933311,876.435933311,783,799,650,629,651,0.400952979358,0.00453266970659,0.0598409997266,0.999999956841,0.000125838957674,-0.000264620377626,2.14380752281e-05,1793192945928052480
+50,0.833333333,BASELINE,764,742,711,672,664,632.991644661,877,783.008355339,799,649.991644661,629,650.991644661,0.400954154225,0.00453154173936,0.0598413554843,0.999999957518,0.000122569416323,-0.00026359184134,2.14329326024e-05,1793192945944719360
+51,0.850000000,BASELINE,764,742,711,672,664,632.398522221,877,783.601477779,799,649.398522221,629,650.398522221,0.400952732462,0.00453301352481,0.059840645385,0.999999956647,0.000126708174195,-0.000264926404067,2.15588054145e-05,1793192945961385984
+52,0.866666667,BASELINE,764,742,711,672.190133992,664,632.190133992,876.809866008,784,799,649.190133992,629,650.190133992,0.400952038196,0.00453337988002,0.0598403887803,0.99999995636,0.000127908539583,-0.000265428732546,2.16204455431e-05,1793192945978052608
+53,0.883333333,BASELINE,764,742,711,672.769643774,664,632.769643774,876.230356226,784,799,649.769643774,629,650.769643774,0.400952833774,0.00453148242231,0.0598410608879,0.999999957284,0.000123091364732,-0.000264226726726,2.15505434206e-05,1793192945994719232
+54,0.900000000,BASELINE,764,742,710.65331846,672.30663692,664,632.65331846,876.34668154,783.65331846,799,650,628.65331846,651,0.400953492899,0.00453155463111,0.0598411317062,0.999999957482,0.000122784614127,-0.000263637465628,2.13394496919e-05,1793192946011385856
+55,0.916666667,BASELINE,764,742,710.077911646,671.155823292,664,632.077911646,876.922088354,783.077911646,799,650,628.077911646,651,0.400954062,0.00453292633957,0.05984080582,0.999999957206,0.000125453643799,-0.00026345246667,2.10352039367e-05,1793192946028052480
+56,0.933333333,BASELINE,764,742,710.507360876,671,664,632.507360876,876.492639124,783,799,650,628,651,0.400953107615,0.00453238356959,0.0598403401542,0.999999956997,0.000125738082041,-0.000264098876333,2.11686609586e-05,1793192946044719360
+57,0.950000000,BASELINE,764,742,711,671.09294831,664,632.90705169,876.09294831,783,799,650,628.09294831,650.90705169,0.400952271323,0.0045317183323,0.0598400504869,0.999999956857,0.000125880007002,-0.000264541949766,2.13807402016e-05,1793192946061386240
+58,0.966666667,BASELINE,764,742,711,671.672100808,664,632.327899192,876.672100808,783,799,650,628.672100808,650.327899192,0.400953300812,0.00453198082339,0.0598407959602,0.999999957024,0.000127229918677,-0.000263240298374,2.16455183383e-05,1793192946078052864
+59,0.983333333,BASELINE,764,742,711,671.749366248,664,632.250633752,877,783,799,650,629,650,0.40095324664,0.00453189040784,0.0598408543885,0.999999957023,0.000126790262614,-0.00026345844779,2.16349890282e-05,1793192946094719232
+60,1.000000000,BASELINE,764,742,711,671.171641776,664,632.828358224,877,783,799,650,629,650,0.400951778233,0.0045313394299,0.0598400161856,0.999999956796,0.000124015123206,-0.000265660019991,2.12651685169e-05,1793192946111385856
+61,1.016666667,BASELINE,764,742,711,671.404531546,664,632.595468454,877,783,799,650,629,650,0.400951061837,0.00453178852413,0.059839345111,0.999999956499,0.000124780155265,-0.000266428157336,2.11753276252e-05,1793192946128052480
+62,1.033333333,BASELINE,764,742,711,671.980049196,664,632.019950804,877,783,799,650,629,650,0.400950663299,0.00453266032571,0.0598387446776,0.99999995617,0.000127041535891,-0.000266590414869,2.12038276496e-05,1793192946144719104
+63,1.050000000,BASELINE,764,742,711,672,664,632,877,783.568756677,799,650,629,650.568756677,0.40095305507,0.0045342047441,0.059840699573,0.999999956805,0.000127672925801,-0.000263905515128,2.10482914737e-05,1793192946161385472
+64,1.066666667,BASELINE,764,742,711,672,664,632,876.844880806,783.844880806,799,650,629,651,0.400954351731,0.00453450659802,0.0598418597186,0.999999957225,0.000127246864213,-0.000262517528178,2.10517333054e-05,1793192946178052352
+65,1.083333333,BASELINE,764,742,711,672,664,632,876.266214457,783.266214457,799,650,629,651,0.400952384636,0.00453134972407,0.059840599272,0.99999995697,0.000124093296113,-0.000264949885158,2.1507303924e-05,1793192946194719232
+66,1.100000000,BASELINE,764,742,711,672,664,632,876,783,799.310967594,649.689032406,628.689032406,651,0.400951808364,0.00453111605776,0.0598400414435,0.999999956701,0.000124557741736,-0.00026574566784,2.14925487421e-05,1793192946211385856
+67,1.116666667,BASELINE,764,742,711,672,664,632,876,783,799.886884969,649.113115031,628.113115031,651,0.400952417098,0.00453337301519,0.0598400822577,0.999999956421,0.000128104797934,-0.000265147060727,2.10770678015e-05,1793192946228052736
+68,1.133333333,BASELINE,764,742,711,672,664,632,876,783.463092333,799.536907667,649.463092333,628.463092333,651,0.400952764085,0.00453319083059,0.0598402305154,0.999999956683,0.00012725214116,-0.000264573218869,2.10445223839e-05,1793192946244719104
+69,1.150000000,BASELINE,764.040166269,742,711,671.959833731,664,632.040166269,876.040166269,784,799.040166269,650,628.959833731,651,0.40095302433,0.0045323823915,0.0598404080316,0.99999995705,0.000125357914282,-0.000264080932264,2.11576164706e-05,1793192946261385984
+70,1.166666667,BASELINE,764.628090722,742,711,671.371909278,664,632.628090722,876.628090722,784,799.628090722,650,628.371909278,651,0.40095297408,0.00453116352833,0.0598406264288,0.999999957068,0.000123924330404,-0.000264618291308,2.19804619052e-05,1793192946278052608
+71,1.183333333,BASELINE,764.787092659,742,711,671.212907341,664,633,877,783.787092659,799.787092659,650,628.212907341,650.787092659,0.400952778812,0.00453090634139,0.0598405871327,0.999999956914,0.00012382985446,-0.000265219798772,2.22883447737e-05,1793192946294718976
+72,1.200000000,BASELINE,764.207626644,742,711,671.792373356,664,633,877,783.207626644,799.207626644,650,628.792373356,650.207626644,0.40095233387,0.00453230485462,0.0598401041707,0.999999956461,0.00012604089591,-0.000265931749482,2.1709626148e-05,1793192946311385600
+73,1.216666667,BASELINE,764,742,711,672,664,632.630642361,877,783,799,650,629,650,0.400951988696,0.00453246410442,0.0598400514629,0.999999956264,0.000127212512997,-0.000266131537461,2.15039473131e-05,1793192946328052480
+74,1.233333333,BASELINE,764,742,711,672,664,632.055043854,877,783,799,650,629,650,0.40095169923,0.00453193137774,0.0598402389992,0.999999956212,0.000127803739135,-0.000266045345427,2.15065654093e-05,1793192946344719104
+75,1.250000000,BASELINE,764,742,711,672,663.468190602,632,877,783.531809398,799,650,628.468190602,650.531809398,0.400953227261,0.00453142121798,0.0598409403507,0.999999956829,0.00012690465962,-0.000264142629647,2.15789638851e-05,1793192946361385984
+76,1.266666667,BASELINE,764,742,710.882048347,672,663.117951653,632,877,783.882048347,799.117951653,650,628,651,0.40095466044,0.00453109399426,0.0598416645727,0.999999957395,0.000126105216723,-0.000262370625874,2.16622043441e-05,1793192946378052608
+77,1.283333333,BASELINE,764,742,710.30333247,672,663.69666753,632,877,783.30333247,799.69666753,650,628,651,0.40095497235,0.00453147206701,0.0598422658973,0.999999957501,0.000126310584003,-0.000261859573585,2.17589739751e-05,1793192946394719232
+78,1.300000000,BASELINE,764,742,710.274255799,671.725744201,664,632,877,783.274255799,800,650,628.274255799,651,0.400954491261,0.00453158587958,0.0598419769318,0.999999957363,0.000125922906865,-0.000262569707224,2.17865295739e-05,1793192946411385856
+79,1.316666667,BASELINE,764,742,710.850601979,671.149398021,664,632,877,783.850601979,800,650,628.850601979,651,0.400953136692,0.00453140861181,0.0598407073194,0.999999956953,0.000124881996436,-0.000264624966583,2.17378465112e-05,1793192946428052480
+80,1.333333333,BASELINE,764,742,711,671.426004552,664,632.426004552,877,784,799.573995448,650,629,651,0.400953317296,0.00453232802044,0.0598412386802,0.999999957023,0.000125551666057,-0.000264074265975,2.13604836573e-05,1793192946444719104
+81,1.350000000,BASELINE,764,742,711,672,664,632.998893835,876.998893835,783.998893835,799,650,629,650.998893835,0.400954031783,0.00453362660586,0.0598423965042,0.999999957257,0.000126815529124,-0.000262617176026,2.08697223753e-05,1793192946461385984
+82,1.366666667,BASELINE,764,742,711,672,664,632.408239563,876.408239563,783.408239563,799,650,629,650.408239563,0.400952984966,0.00453248786124,0.0598415638395,0.999999956997,0.00012574813765,-0.000264086201934,2.12388968983e-05,1793192946478052608
+83,1.383333333,BASELINE,764.179179169,742,711,672,664,632,876.179179169,783,799.179179169,650,629,650.179179169,0.400952584105,0.00453176718749,0.0598411357916,0.999999956895,0.000125011372749,-0.000264805768893,2.14415232945e-05,1793192946494719232
+84,1.400000000,BASELINE,764.759356959,742,711,672,664,632,876.759356959,783,799.759356959,650,629,650.759356959,0.40095362888,0.00453198214597,0.0598416132664,0.999999957152,0.000125014541867,-0.000263848065248,2.12714191076e-05,1793192946511385856
+85,1.416666667,BASELINE,765,742,711,672,664,632.33678914,877,783,800,650,629,651,0.400953205015,0.00453151836465,0.0598414092009,0.999999957147,0.000124681675611,-0.000264014787928,2.1367295585e-05,1793192946528052480
+86,1.433333333,BASELINE,765,742,711,672,664,632.912275353,877,783,800,650,629,651,0.40095174026,0.00453057353098,0.0598407220982,0.999999956957,0.000124110646507,-0.000264978440381,2.16516841076e-05,1793192946544719104
+87,1.450000000,BASELINE,764.502316422,742,711,672,664,633,876.502316422,783,800,650,629,650.502316422,0.400951070817,0.00453036373088,0.0598404198969,0.99999995667,0.000124718723577,-0.000265768433778,2.17124432414e-05,1793192946561385984
+88,1.466666667,BASELINE,764,742,711,671.916700192,664,632.916700192,876.083299808,783,799.833400384,650,628.916700192,650.083299808,0.400950866675,0.00453049392246,0.0598403318723,0.999999956486,0.000125611899004,-0.000266043423379,2.16716088218e-05,1793192946578052608
+89,1.483333333,BASELINE,764,742,711,671.340413932,664,632.340413932,876.659586068,783,798.680827865,650,628.340413932,650.659586068,0.400952569763,0.004531853889,0.059841101703,0.999999957013,0.000126937307655,-0.000263455350833,2.12675527866e-05,1793192946594719232
+90,1.500000000,BASELINE,764,742,711,671.235488442,664.235488442,632.235488442,876.764511558,783,798.235488442,650,628,651,0.400953603506,0.00453247595589,0.0598414672325,0.999999957322,0.000127613280552,-0.000261966899866,2.10577408357e-05,1793192946611385856
+91,1.516666667,BASELINE,764,742,711,671.810836738,664.810836738,632.810836738,876.189163262,783,798.810836738,650,628,651,0.400953671239,0.00453203307671,0.0598412492694,0.999999957328,0.000127351979565,-0.000262065436691,2.11282644037e-05,1793192946628052480
+92,1.533333333,BASELINE,764.385401224,742.385401224,711,672,664.614598776,633,876,783,799.385401224,650,628.385401224,651,0.400952640941,0.00453209761432,0.0598408993839,0.9999999571,0.000126248000976,-0.000263469461686,2.11231631443e-05,1793192946644719104
+93,1.550000000,BASELINE,764.959581832,742.959581832,711,672,664.040418168,633,876,783,799.959581832,650,628.959581832,651,0.4009510728,0.00453241069763,0.0598404848793,0.99999995675,0.000124731257309,-0.000265512948207,2.10810189152e-05,1793192946661385984
+94,1.566666667,BASELINE,764.446842627,742.446842627,711,672,664,633,876.553157373,783,799.446842627,650,628.446842627,650.446842627,0.400951978417,0.00453283749118,0.0598406769722,0.999999956753,0.000125370895114,-0.0002651959018,2.11353793471e-05,1793192946678052352
+95,1.583333333,BASELINE,764,742,711,672,664,632.855896274,877,783.144103726,799,650,628,650.144103726,0.400952768447,0.00453307581797,0.0598408969317,0.999999956821,0.000125786343986,-0.000264741820291,2.11515128401e-05,1793192946694719232
+96,1.600000000,BASELINE,764,742,711,672,664,632.277305163,877,783.722694837,799,650,628,650.722694837,0.400952645179,0.00453271993692,0.059841062418,0.999999957005,0.000125033510762,-0.000264413504179,2.10303549746e-05,1793192946711386112
+97,1.616666667,BASELINE,764,742,711,671.701362195,664,632,876.701362195,783.701362195,799,650,628.298637805,651,0.400953247029,0.00453202993698,0.0598414253251,0.999999957301,0.000124712184203,-0.000263434963032,2.11238129283e-05,1793192946728052480
+98,1.633333333,BASELINE,764,742,711,671.127856626,664,632,876.127856626,783.127856626,799,650,628.872143374,651,0.400954516282,0.00453103241232,0.0598419699394,0.9999999577,0.000124788018632,-0.000261857951452,2.1414804388e-05,1793192946744719104
+99,1.650000000,BASELINE,764,742,711,671,664,632,876,783,799,650,628.552256501,651,0.40095392954,0.00453081052381,0.0598413301296,0.999999957572,0.000124101797883,-0.000262672617357,2.13977069605e-05,1793192946761385984
+100,1.666666667,BASELINE,764,742,711,671.024628793,664,632.024628793,876,783,799,650,628.024628793,651,0.400952884965,0.00453081248904,0.0598404151765,0.999999957308,0.000123235990061,-0.000264088913191,2.12964942634e-05,1793192946778052864
+101,1.683333333,BASELINE,764,742,711,671.617295621,664,632.617295621,876,783,799,650,628.617295621,651,0.400953562144,0.00453084498722,0.0598409917219,0.999999957445,0.00012327074886,-0.000263555333429,2.12938891276e-05,1793192946794720512
+102,1.700000000,BASELINE,764,742,711,672,664,633,876,783.204347257,799,650,629,651,0.400953433436,0.00453091653246,0.0598410986988,0.999999957277,0.000123966581761,-0.000263863190016,2.13131557049e-05,1793192946811387648
+103,1.716666667,BASELINE,764,742,711,672,664,633,876,783.78116386,799,650,629,651,0.400951835816,0.00453105924986,0.0598403497803,0.999999956551,0.000125867372544,-0.000265704755763,2.13722884537e-05,1793192946828053504
+104,1.733333333,BASELINE,764,742,710.642890314,672,664,632.642890314,876.357109686,783.642890314,799,650,628.642890314,650.642890314,0.400951599253,0.00453168033156,0.0598402332379,0.999999956345,0.000126728928527,-0.000266066179543,2.13984802885e-05,1793192946844719360
+105,1.750000000,BASELINE,764,742,710.067476745,672,664,632.067476745,876.932523255,783.067476745,799,650,628.067476745,650.067476745,0.400952194714,0.00453259384103,0.0598405032716,0.999999956461,0.000126955192513,-0.000265522781399,2.14045350967e-05,1793192946861385984
+106,1.766666667,BASELINE,764,742,710.517618279,671.482381721,664,632.517618279,877,783,799,650,628.517618279,650.517618279,0.400952607476,0.00453322457141,0.0598406707434,0.999999956774,0.000127051814282,-0.000264323069762,2.10669233942e-05,1793192946878052864
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,742,711,672,664,632,876,783,799,650,629,651,0.400951646892,0.004532391225,0.0598412432905,0.999999957266,0.000124621755012,-0.000263604761715,2.12137400652e-05,1793192946920395776
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.426685718,742,711,672,664,632,876,783.573314282,799,650,629,651,0.400951605276,0.00453275952098,0.0598400701289,0.999999956764,0.000125055770581,-0.000265303950862,2.11229267541e-05,1793192946937062400
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.147318971,742,711,672.147318971,664,632.147318971,876.147318971,784,799,650,629,651,0.400951817825,0.00453260817462,0.0598395994164,0.999999956538,0.000125488871833,-0.000265950259269,2.11380721618e-05,1793192946953729024
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.723332861,742,711,672.723332861,664,632.723332861,876.723332861,784,799,650,629,651,0.400952769985,0.00453094468069,0.0598411728153,0.999999957117,0.000125919312545,-0.000263532708606,2.14615550557e-05,1793192946970395648
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,742,711,672.387090298,664,633,877,783.693545149,799,650,629,651,0.400953534015,0.00453121231307,0.0598420652565,0.999999957401,0.000125980925123,-0.000262424811826,2.14468157789e-05,1793192946987062528
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,742,711,671.207707264,664,633,877,783.103853632,799,650,629,651,0.400954124167,0.0045332647624,0.0598423283318,0.999999957416,0.000125701653364,-0.00026252734472,2.11194793095e-05,1793192947003728896
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,742.475011059,711,671.475011059,664,632.524988941,877,783,799,650,629,651,0.400953490204,0.00453370281282,0.0598418925856,0.999999956953,0.000126577623929,-0.000263869325967,2.1119923015e-05,1793192947020395520
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.948271566,742.948271566,711,672,664,632.051728434,877,783.051728434,799,650,628.948271566,651,0.400953315679,0.0045335955792,0.059841692575,0.999999956632,0.000127278648663,-0.00026474007657,2.11849122786e-05,1793192947037062144
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.369853299,742.369853299,711,672,664,632.630146701,877,783.630146701,799,650,628.369853299,651,0.400960483341,0.00453145007615,0.0598454137569,0.999999958815,0.000123684036745,-0.000258115197311,2.11936840644e-05,1793192947053728768
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.20720312,742,711,672,664,633,877,783.79279688,799,650,628.20720312,651,0.400972917154,0.00453054198692,0.0598507586335,0.999999961441,0.000121921812465,-0.000248598632929,2.1275990184e-05,1793192947070395392
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.78184448,742,711,672,664,633,877,783.21815552,799,650,628.78184448,651,0.400994689558,0.00453182823338,0.0598589828461,0.999999964787,0.000123409005308,-0.00023395417497,2.14886964911e-05,1793192947087062272
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,742.368268006,711,672,664,632.631731994,876.631731994,783,799,650,629,651,0.401037154418,0.00453176334465,0.0598752413694,0.999999971126,0.000124034313651,-0.00020465702008,2.18948163439e-05,1793192947103728896
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,742.961901817,711,672,664,632.038098183,876.038098183,783,799,650,629,651,0.401092282264,0.00453087161345,0.0598964165816,0.999999978201,0.000124132181953,-0.000166392978553,2.24192978183e-05,1793192947120395520
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,711,672,664,632.54060225,876.54060225,783.54060225,799,650,629,651,0.401158855492,0.00452886882743,0.0599110687659,0.999999981642,0.000120611207392,-0.000147117883623,2.29089518964e-05,1793192947137062144
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.882582828,743,711,672,664,633,876.882582828,784,799,650,629,651,0.401228565371,0.00452716234752,0.0599234287034,0.999999984298,0.000117411774975,-0.000130708762267,2.31128368899e-05,1793192947153729024
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.309113415,743,711,672,664,633,876.309113415,784,799,650,629,651,0.401307409494,0.00452690267475,0.0599286229805,0.999999985731,0.000116425151043,-0.00012037320411,2.22160620782e-05,1793192947170395648
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.728775715,711,672,664,633,876,784,799.271224285,650,629,651,0.401396801167,0.00452677653979,0.0599321400094,0.99999998689,0.00011430082676,-0.000112725882746,2.11593921138e-05,1793192947187062272
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.140406913,711,672,664,633,876,784,799.859593087,650,629,651,0.401498526162,0.00452680655157,0.0599336958195,0.999999987802,0.000110846181293,-0.000108221936742,1.99157556458e-05,1793192947203728896
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.556538333,876.443461667,783.556538333,799.556538333,650,629,650.556538333,0.401620878313,0.00452566413385,0.0599351837803,0.999999988753,0.000107264154941,-0.000103183372156,1.84748586342e-05,1793192947220395520
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,671.974466101,664,632.025533899,876.974466101,783.025533899,799,650,629,650.025533899,0.401750782668,0.00452427813836,0.0599366324134,0.999999989662,0.000103831312377,-9.80149064828e-05,1.69568541576e-05,1793192947237061888
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,671.400677853,664,632.599322147,876.400677853,783.599322147,799,650,629,650.599322147,0.401904025297,0.00452555253282,0.0599376932395,0.999999990044,0.000104458955277,-9.36552121271e-05,1.51107817e-05,1793192947253728768
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671.173619752,664,632.826380248,876.173619752,783.826380248,799,650,629,651,0.402068086132,0.00452620613247,0.0599385265467,0.999999990623,0.000103291353589,-8.89766594193e-05,1.29764162691e-05,1793192947270395648
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671.749096223,664,632.250903777,876.749096223,783.250903777,799,650,629,651,0.402257186547,0.00452542285298,0.0599388332431,0.999999991658,9.79685154815e-05,-8.35600843094e-05,1.01747740862e-05,1793192947287062272
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.332433804,711,672,664,632.332433804,877.332433804,783.332433804,799,650,629,650.667566196,0.402472665084,0.0045240088314,0.0599398999757,0.999999992909,9.13403998642e-05,-7.60673363973e-05,7.31302291447e-06,1793192947303728640
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.921848307,711,672,664,632.921848307,877.921848307,783.921848307,799,650,629,650.078151693,0.402708534674,0.00452210722831,0.0599415542378,0.999999994245,8.37032673784e-05,-6.6969647824e-05,4.404805502e-06,1793192947320395264
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.503097291,742.496902709,711,671.496902709,664,633,876.993805418,783.496902709,799,650,629,650,0.40297504985,0.00452052340346,0.0599439194744,0.999999995236,7.69113967596e-05,-6.00865789811e-05,1.30963249404e-06,1793192947337061888
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,742,711,671.082275433,664,633,876.082275433,783,799,650,629,650.082275433,0.403249657814,0.00451850339764,0.0599452153842,0.999999996026,6.95161466157e-05,-5.57878524053e-05,-1.81594653359e-06,1793192947353728768
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,742,711,671.656534543,664,633,876.656534543,783,799,650,629,650.656534543,0.403544646554,0.00451358468476,0.0599394671514,0.999999996214,5.77402357935e-05,-6.49184590733e-05,-4.95245758117e-06,1793192947370395392
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,742,711,672,664,632.769085429,877,783,799,650,629,651,0.403850807169,0.00450299156732,0.0599301400759,0.99999999604,3.92744624881e-05,-7.95572232513e-05,-6.90191788086e-06,1793192947387062272
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,742,711,672,664,632.194525482,877,783,799,650,629,651,0.404173593668,0.00448395384286,0.059915486993,0.999999994674,1.08528854861e-05,-0.000102393186515,-7.08481775455e-06,1793192947403729152
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.607576674,742,711,672,664,632.392423326,877.392423326,783,799,650,629,651,0.404528472521,0.00447167603326,0.0599018671288,0.999999991793,-1.19358238865e-05,-0.000127213314175,-9.37950875386e-06,1793192947420395776
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.014286487,742,711,672,664,632.985713513,877.985713513,783,799,650,629,651,0.404899778243,0.0044628583725,0.0598887761312,0.9999999877,-3.18412775746e-05,-0.000153049060804,-1.27551468379e-05,1793192947437062144
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.440038097,877.440038097,783,799,649.440038097,629,650.440038097,0.405332608389,0.00447075977209,0.0598919212377,0.999999988119,-3.02304702389e-05,-0.00014994039534,-1.91511665282e-05,1793192947453729024
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.133616559,877,783,799,649.133616559,629,650.133616559,0.405785628672,0.0044745956033,0.0599017129398,0.999999990069,-3.33058081997e-05,-0.000134714443512,-2.45877798433e-05,1793192947470395904
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.706863461,877,783,799,649.706863461,629,650.706863461,0.406300084421,0.00446369741985,0.0599320554109,0.999999994853,-5.35464624756e-05,-8.19695589408e-05,-2.66225087782e-05,1793192947487062272
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.290180883,742,711,672,664,632.709819117,877,783,799,650,628.709819117,651,0.40682965949,0.00445897456742,0.0599606170992,0.999999996761,-6.60756315985e-05,-3.49579287256e-05,-2.98419477879e-05,1793192947503729152
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.884037213,742,711,672,664,632.115962787,877,783,799,650,628.115962787,651,0.40737505705,0.00446071422216,0.0599873151949,0.999999996906,-7.05347033833e-05,6.05383435596e-06,-3.43011908844e-05,1793192947520396032
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,742,711,672,664,632.465875886,877,783,799,650,628,650.534124114,0.407925460262,0.00445813448244,0.0599873664471,0.999999996044,-8.00339337542e-05,-3.59471604022e-06,-3.86521567123e-05,1793192947537062912
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.955305649,742,711,671.955305649,664,632.955305649,877,783.044694351,799,650,628.044694351,650,0.408478741115,0.00445459505826,0.0599801926698,0.999999994647,-9.0281161373e-05,-2.67233987954e-05,-4.29014479068e-05,1793192947553730048
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.377727609,742,711,671.377727609,664,632.377727609,877,783.622272391,799,650,628.622272391,650,0.409051850066,0.00445211001521,0.0599639686627,0.999999992382,-9.48648393254e-05,-6.40069440247e-05,-4.62517516864e-05,1793192947570396672
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,671.202555285,664.202555285,632.202555285,877,783.797444715,799,650,629,650,0.409644988343,0.00445444102592,0.0599537208196,0.9999999938,-6.15583431208e-05,-8.29528447088e-05,-4.15802768638e-05,1793192947587063296
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,671.787950459,664.787950459,632.787950459,877,783.212049541,799,650,629,650,0.41027598304,0.00446587462565,0.059954768234,0.999999996563,4.33625285423e-05,-6.7239652879e-05,-2.1747228127e-05,1793192947603729664
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.631278196,632.631278196,877.368721804,783,799.368721804,650,628.631278196,650,0.410952735417,0.00446646344238,0.0599621771229,0.999999996302,6.80652358309e-05,-4.91674435109e-05,-1.8567797773e-05,1793192947620396032
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.053133074,632.053133074,877.946866926,783,799.946866926,650,628.053133074,650,0.41165547681,0.00446089273567,0.0599731991452,0.999999998134,4.72063428542e-05,-2.97553811956e-05,-2.48471416734e-05,1793192947637062144
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.525816796,742.525816796,711,672,664,632,877.474183204,783,800,650,628.525816796,650.525816796,0.412350206802,0.00445664512708,0.0599564574822,0.999999996909,4.13343874431e-05,-6.07688077041e-05,-2.79544383831e-05,1793192947653728768
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.895701708,742.895701708,711,672,664.104298292,632.104298292,877.104298292,783,800,650,628.895701708,650.895701708,0.413042618282,0.00445359221654,0.0599348857006,0.999999993577,4.00715926614e-05,-0.000101647733712,-3.014073656e-05,1793192947670395648
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.319706968,742.319706968,711,672,664.680293032,632.680293032,877.680293032,783,800,650,628.319706968,650.319706968,0.413728210741,0.00445533683194,0.059904176814,0.999999984709,5.27945324051e-05,-0.000164064317732,-2.96135991011e-05,1793192947687062272
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.261743117,711,672,665.261743117,632.738256883,877.738256883,783,799.738256883,649.738256883,628,650.261743117,0.414465744138,0.00445474510577,0.0599016259981,0.999999985186,1.10960765867e-07,-0.000169455146316,-3.01995857499e-05,1793192947703728896
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.849998569,711,672,665.849998569,632.150001431,877.150001431,783,799.150001431,649.150001431,628,650.849998569,0.415268071526,0.00445123890266,0.0599342010584,0.999999985105,-0.000134164182993,-0.000103709009809,-3.21741423913e-05,1793192947720395520
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.569101247,711,672,665.569101247,632,877,783,799.430898753,649.430898753,628.430898753,650.569101247,0.416098528708,0.00444703760571,0.0599717589889,0.999999985523,-0.00016291386538,-3.66010674766e-05,-3.27529965499e-05,1793192947737062144
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,877,783,799.981485001,650,628.990742501,650,0.416938191426,0.00444266662518,0.0600101516742,0.999999986954,-0.00015539343369,2.94119135862e-05,-3.28592532901e-05,1793192947753728768
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,877,783,798.827699775,650,628.413849888,650,0.417751953429,0.00444247902365,0.0599951543229,0.999999989847,-0.000138561495476,-2.93624076133e-07,-3.32788589156e-05,1793192947770395392
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.165750985,711,672,665,632.165750985,877.165750985,783,798.165750985,650,628.165750985,650.165750985,0.41855892341,0.00444139604709,0.0599776374615,0.999999991108,-0.000124865298931,-3.19575458131e-05,-3.42276523053e-05,1793192947787062016
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.752226175,711,672,665,632.752226175,877.752226175,783,798.752226175,650,628.752226175,650.752226175,0.419348653215,0.00443804034833,0.0599537253517,0.999999989885,-0.000119128527922,-6.85924140714e-05,-3.65196781681e-05,1793192947803728640
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632.665900295,878,783,799,650,629,651,0.420144012958,0.00443672117819,0.0599274417273,0.999999988035,-0.000107775517074,-0.000104085177614,-3.84735452099e-05,1793192947820395264
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632.087393091,878,783,799,650,629,651,0.420943491194,0.00443689181156,0.0598994232447,0.999999985307,-9.23139989732e-05,-0.000138742443523,-4.01800352273e-05,1793192947837061888
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.491959226,743,711,672,664.508040774,632,878,783,799.491959226,650,628.508040774,651,0.421749174863,0.00443695257396,0.0598770237006,0.999999977978,-7.8830707117e-05,-0.000190344397686,-3.99716560197e-05,1793192947853728512
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.929081218,742.929081218,711,672,664.070918782,632.070918782,878,783,799.929081218,650,628.070918782,651,0.422573644164,0.00443644613881,0.0598650259548,0.999999971433,-6.7248681501e-05,-0.000225942760348,-3.95191000964e-05,1793192947870395136
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.353983327,742.353983327,711,672,664.646016673,632.646016673,878,783,799.353983327,650,628.646016673,651,0.423523814384,0.00443204635207,0.0599198687592,0.999999989007,-6.66806180929e-05,-0.000126331218477,-3.97530967849e-05,1793192947887062016
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.226058171,742.226058171,711,672,665.226058171,633,878,783.226058171,799,650,629,650.773941829,0.424442523558,0.00442999949394,0.0599707696612,0.999999996474,-6.29025115771e-05,-3.91606208167e-05,-3.9521962036e-05,1793192947903728640
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.814014005,742.814014005,711,672,665.814014005,633,878,783.814014005,799,650,629,650.185985995,0.425310866734,0.00443171945035,0.0600153599603,0.999999997405,-5.39854314878e-05,2.80932210618e-05,-3.85461964534e-05,1793192947920395264
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.604422811,742.604422811,711,672.395577189,665.604422811,633,877.604422811,783.604422811,799,649.604422811,629,650,0.426153900312,0.00443131941312,0.0600161684682,0.999999994973,-8.46237480192e-05,3.64924387707e-05,-3.95218561854e-05,1793192947937061888
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.025817453,742.025817453,711,672.974182547,665.025817453,633,877.025817453,783.025817453,799,649.025817453,629,650,0.426985223432,0.00442993848365,0.0599967197359,0.999999990067,-0.00013356380735,1.76604207495e-05,-4.1400413809e-05,1793192947953728512
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632.448149511,877.551850489,783,799,649.551850489,629,650,0.427805632464,0.00443242721637,0.0599720532838,0.999999991271,-0.000123068877064,-2.08716404072e-05,-4.33063626489e-05,1793192947970395136
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.128886994,711,672.871113006,665,632.128886994,878,783,799,650,629,650,0.428619290067,0.00443510568437,0.0599486952559,0.999999991382,-0.000109077392088,-5.77723684667e-05,-4.47341700228e-05,1793192947987062016
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.703889415,711,672.296110585,665,632.703889415,878,783,799,650,629,650,0.4294113433,0.00443781532549,0.0599307095451,0.999999991039,-9.25913629341e-05,-8.58419367071e-05,-4.45025626278e-05,1793192948003728896
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.714006122,743,711,672.285993878,665,632.714006122,878,783,799,650,629,650,0.430195820105,0.0044426065774,0.0599172046153,0.999999990196,-7.79667091128e-05,-0.000107310867288,-4.48772466669e-05,1793192948020395264
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.124361176,743,711,672.875638824,665,632.124361176,878,783,799,650,629,650,0.430972252666,0.00444960795807,0.05990845711,0.999999989399,-6.53183525653e-05,-0.000121771636792,-4.5895654458e-05,1793192948037061888
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.457647617,742.542352383,711,673,665,632,878,783.457647617,799,650,629,650,0.431807690455,0.00445234849415,0.0599438536374,0.999999995481,-6.07110848191e-05,-5.6398632658e-05,-4.65940972243e-05,1793192948053728512
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.037213089,711,673,665,632,878,783.962786911,799,650,629,650,0.432652211867,0.00445366000395,0.0599884785728,0.999999996885,-5.82784606584e-05,2.48448575021e-05,-4.70863631558e-05,1793192948070395392
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.610977036,711,673,665,632,878,783.389022964,799,650,629,650,0.43340031244,0.00445078750441,0.0599960422549,0.999999996998,-5.62123463909e-05,2.72558866814e-05,-4.58389667719e-05,1793192948087062016
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.810523254,711,673.189476746,665,632,878,783,799.189476746,650,629,650,0.434130551362,0.00444822549777,0.0599894748648,0.999999997461,-5.39884815472e-05,1.05226441297e-05,-4.530547076e-05,1793192948103728640
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.222050981,711,673.777949019,665,632,878,783,799.777949019,650,629,650,0.434823177792,0.00444631731899,0.0599531506078,0.999999996524,-5.14324288718e-05,-4.65241402304e-05,-4.62752884746e-05,1793192948120395520
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.360492435,711,673.639507565,665.360492435,632,878,783.360492435,800,650,629,650,0.435501120053,0.00444287920149,0.0599255890218,0.9999999931,-5.26912005545e-05,-9.39042431043e-05,-4.69742121646e-05,1793192948137062144
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.939442933,711,673.060557067,665.939442933,632,878,783.939442933,800,650,629,650,0.43617016368,0.00443851394273,0.0599033376082,0.999999988119,-5.6261752221e-05,-0.000135426342978,-4.75089742798e-05,1793192948153728768
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.483034882,711,673,665.483034882,632,877.483034882,783.483034882,799.483034882,650,629,650,0.436826099725,0.00443645465955,0.0599105353384,0.999999989862,-5.50170217977e-05,-0.000122210418531,-4.81020420895e-05,1793192948170395136
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.09380825,711,673,665.09380825,632,877.09380825,783,799,650,629,650,0.437470370577,0.00443486728571,0.0599184765281,0.999999991459,-5.20392299458e-05,-0.000109857659703,-4.80116207322e-05,1793192948187062016
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.418278897,711,673.581721103,665,632,878,783,800,649.581721103,628.418278897,650,0.439831310604,0.00443471461938,0.0599415748596,0.999999991748,-7.79181148319e-05,-9.24981549657e-05,-4.33198339386e-05,1793192948253728768
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,711,673,663.693609625,631,878,783,799.693609625,650,628.693609625,650,0.442038656124,0.00445562504347,0.0598086229443,0.999999946652,-9.94123083306e-05,-0.000306277191137,-5.48333198394e-05,1793192948337063168
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,673,663,631.365190287,878,783,799.634809713,650,628,650,0.443470462689,0.00448071529648,0.059778010048,0.999999940807,-2.52040359146e-06,-0.000341534660396,-4.16377945091e-05,1793192948403728640
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.208921557,711,673,662.791078443,631,878,783,800,650,628.208921557,650,0.44377515869,0.00448579910493,0.0597797914567,0.99999994135,3.04309876576e-05,-0.000339411612241,-3.42477343109e-05,1793192948420395520
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.782246883,711,673,662.217753117,631,878,783,800,650,628.782246883,650,0.444056148382,0.00449097845076,0.0597804816094,0.999999941335,2.83716851516e-05,-0.000339297330571,-3.74422801094e-05,1793192948437062144
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,673.366590077,662,631,878,783,799.633409923,650,628.633409923,650,0.444303642634,0.00449008681336,0.0597751100351,0.999999937681,2.32956301379e-05,-0.000350091697774,-3.91342306177e-05,1793192948453728768
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+234,3.900000000,POSE1_TO_POSE2_PRESS,764.321242568,743,711,673.678757432,659.678757432,631,879.321242568,783,800,650,628.321242568,650,0.445982617225,0.00455923543804,0.0597039147973,0.999999879515,8.71746128927e-05,-0.000480083882223,-5.37580507723e-05,1793192949037062400
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,674,660,631,878.740796286,783,799.740796286,650,628,650.259203714,0.445983358465,0.0045586293564,0.0597042345814,0.999999879889,8.54490695192e-05,-0.000479626935295,-5.36513575362e-05,1793192949053729024
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,674,660,631,878.150711913,783,799.150711913,650,628,650.849288087,0.445984508752,0.00455796997685,0.0597052865315,0.999999880668,8.15978477925e-05,-0.000478640391421,-5.3935324529e-05,1793192949070395392
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673.569409081,660,631,877.569409081,783,799.430590919,650,628.430590919,650.569409081,0.445983762322,0.00455925986059,0.0597042026453,0.999999879725,8.27158152451e-05,-0.000480404242246,-5.40319707517e-05,1793192949087062016
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659.991133425,631,877.008866575,782.991133425,800,650,629,650,0.445982405474,0.00456114996842,0.0597024167179,0.999999878221,8.54467543307e-05,-0.000483047126061,-5.40618662805e-05,1793192949103728896
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,673,659.413814773,631,877.586185227,782.413814773,800,650,629,650,0.445983625122,0.00455865451777,0.0597025916742,0.999999879208,8.23088325084e-05,-0.00048156140025,-5.39316993136e-05,1793192949120395520
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711,673,659,630.833982467,878,782.166017533,799.833982467,650,629,650,0.445984516901,0.00455707846536,0.0597028113571,0.999999879954,8.03464633497e-05,-0.000480350765551,-5.38396070114e-05,1793192949137061888
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659,630.247788345,878,782.752211655,799.247788345,650,629,650,0.445984578875,0.0045578293337,0.0597031442393,0.999999880119,8.13593205518e-05,-0.000479836363716,-5.38438785336e-05,1793192949153728512
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711,673.333875649,659,630.333875649,878.333875649,783,799.333875649,650,629,650,0.445984735203,0.00455761552124,0.059703190116,0.999999880039,8.09407039173e-05,-0.000480082235071,-5.37691244191e-05,1793192949170394880
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711,673.912222557,659,630.912222557,878.912222557,783,799.912222557,650,629,650,0.445984960621,0.00455669534778,0.0597030258406,0.999999879778,7.9473929906e-05,-0.000480884795575,-5.36365059563e-05,1793192949187061504
+244,4.066666667,HOLD_POSE2,764,743,711,674,659,631,878,783,800,650,629,650,0.445986699606,0.00455787140678,0.0597055269215,0.99999988103,8.10942411406e-05,-0.00047801632589,-5.35166710302e-05,1793192949218404864
+245,4.083333333,HOLD_POSE2,764,743,711,674,659,631,878,783,799.424723336,650,629,650,0.445985547816,0.00455901554853,0.0597043765898,0.999999880061,8.32847093313e-05,-0.000479666796719,-5.349786774e-05,1793192949235070464
+246,4.100000000,HOLD_POSE2,764,743,711,673.845715153,659.154284847,630.845715153,878,783,799.154284847,650,629,650,0.445984971885,0.00455944801821,0.0597036930177,0.999999879492,8.43982258975e-05,-0.000480657900799,-5.34948851696e-05,1793192949251736320
+247,4.116666667,HOLD_POSE2,764,743,711,673.256179915,659.743820085,630.256179915,878,783,799.743820085,650,629,650,0.445986020504,0.00455787280205,0.0597043262128,0.999999880067,8.24735728232e-05,-0.000479788876802,-5.35365341632e-05,1793192949268403200
+248,4.133333333,HOLD_POSE2,763.672297393,743,711,673,659.672297393,630,878,783,800,650,628.672297393,650,0.445985948186,0.00455774433792,0.0597038904946,0.999999880082,8.08697988576e-05,-0.000480005917544,-5.37533910824e-05,1793192949285070080
+249,4.150000000,HOLD_POSE2,763.092758956,743,711,673,659.092758956,630,878,783,800,650,628.092758956,650,0.445985014439,0.00455872768683,0.0597026333282,0.999999879667,7.95126170544e-05,-0.000481057587082,-5.4104893353e-05,1793192949301736960
+250,4.166666667,HOLD_POSE2,763.48338691,742.51661309,711,673,659.96677382,630.48338691,878,783,799.51661309,650,628.48338691,650.48338691,0.44598700964,0.00455993524964,0.0597039141256,0.999999880407,8.22987130448e-05,-0.000479059195847,-5.39860479628e-05,1793192949318403072
+251,4.183333333,HOLD_POSE2,764,742.058916886,711,673.058916886,660.882166228,631,878,783,799.058916886,650,629,651,0.445989177742,0.00456088066485,0.0597054513006,0.999999881215,8.52788942011e-05,-0.000476872984648,-5.37568302922e-05,1793192949335069696
+252,4.200000000,HOLD_POSE2,764,742.634715224,711,673.634715224,659.730569552,631,878,783,799.634715224,650,629,651,0.445987966211,0.00455915141073,0.059704994818,0.999999880822,8.30352174086e-05,-0.00047813799658,-5.33456197305e-05,1793192949351736832
+253,4.216666667,HOLD_POSE2,764,743,711,673.784670888,659.215329112,630.784670888,878.215329112,783,800,650,629,650.784670888,0.445986896502,0.00455862211536,0.0597043585691,0.999999880419,8.16483657199e-05,-0.00047921715245,-5.33551373529e-05,1793192949368403712
+254,4.233333333,HOLD_POSE2,764,743,711,673.195701081,659.804298919,630.195701081,878.804298919,783,800,650,629,650.195701081,0.445986072886,0.00456017499763,0.0597034103886,0.999999880008,8.17482836281e-05,-0.000479973809359,-5.40947057276e-05,1793192949385070080
+255,4.250000000,HOLD_POSE2,764,743,711,673.3876613,659.6123387,630.3876613,878.6123387,783,800,650,629,650,0.445987408044,0.00455953781815,0.0597045806135,0.999999880781,8.11389991393e-05,-0.00047849753481,-5.38066298487e-05,1793192949401736704
+256,4.266666667,HOLD_POSE2,764,743,711,673.968233329,659.031766671,630.968233329,878.031766671,783,800,650,629,650,0.445989817467,0.00455781080496,0.0597068050141,0.999999882136,8.01767964013e-05,-0.000475910093353,-5.30071705137e-05,1793192949418403328
+257,4.283333333,HOLD_POSE2,764,742.4576031,711,674,659,631,878,783,800,650,628.4576031,650.5423969,0.445988803948,0.00455860659475,0.0597061258668,0.999999881592,8.19747162566e-05,-0.000476706713455,-5.33500679742e-05,1793192949435069952
+258,4.300000000,HOLD_POSE2,764,742.118902592,710.881097408,674,659,630.881097408,878,783,800,650,628.118902592,651,0.445987490778,0.00455928095365,0.059705189269,0.999999880822,8.32840815529e-05,-0.000478066157072,-5.35950700011e-05,1793192949451736832
+259,4.316666667,HOLD_POSE2,764,742.706093644,710.293906356,674,659,630.293906356,878,783,800,650,628.706093644,651,0.445985777773,0.00455890194642,0.0597039006409,0.999999879602,8.20400919546e-05,-0.000480870776298,-5.31940969622e-05,1793192949468403712
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,660,630,879,782,799,650,629,650,0.4459872946,0.00456233085797,0.0597037242508,0.999999879871,8.36222448291e-05,-0.000479937179824,-5.40824016974e-05,1793192949505478400
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.576627057,659.423372943,630.576627057,878.423372943,782.576627057,799,650,629,650.576627057,0.44598736653,0.00456049654087,0.0597038540198,0.999999880134,8.23040158993e-05,-0.000479672096495,-5.3593666715e-05,1793192949522145280
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.846764296,659,631,878.153235704,783,799,650,629,651,0.44598706887,0.00455915888237,0.0597035430895,0.999999880076,8.14160059795e-05,-0.000479978537783,-5.32910322598e-05,1793192949538811904
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.270206377,659,631,878.729793623,783,799,650,629,651,0.445985750197,0.00455919327069,0.0597020147026,0.999999879134,8.17164998725e-05,-0.000481863847779,-5.35025108241e-05,1793192949555478272
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.687312066,711,673.312687934,659,630.687312066,878.687312066,783,799.312687934,650,628.687312066,650.687312066,0.445986342574,0.00455898066283,0.05970274833,0.999999879511,8.11683877279e-05,-0.000481184828979,-5.33941304024e-05,1793192949572144896
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.098829002,711,673.901170998,659,630.098829002,878.098829002,783,799.901170998,650,628.098829002,650.098829002,0.445988620524,0.00455855020091,0.0597054770857,0.999999881047,7.98717931764e-05,-0.000478244036219,-5.30036298707e-05,1793192949588811520
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.517556945,742.482443055,711,674,659,630.482443055,878.482443055,783,799.517556945,650,628.482443055,650.482443055,0.445987879748,0.00455988862472,0.0597043775048,0.999999880485,8.12198549987e-05,-0.000479124487063,-5.36090066999e-05,1793192949605478656
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.061673054,743,711,674,659,631,878.938326946,783,799.061673054,650,629,650.938326946,0.445986133741,0.00456115707854,0.059702489769,0.99999987945,8.25609033333e-05,-0.000480975899331,-5.42788492698e-05,1793192949622145536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.636026505,743,711,674,659,631,878.363973495,783,799.636026505,650,629,650.363973495,0.445981096271,0.00455887600229,0.0597004734735,0.999999878035,7.9406382514e-05,-0.000484487419945,-5.381368095e-05,1793192949638811904
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.784463763,659,631,878.215536237,783,800,650,628.784463763,650,0.445970259342,0.00455779780292,0.0596955511124,0.99999987425,7.80363716339e-05,-0.000492483544913,-5.35801194341e-05,1793192949655478528
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.196033334,659,631,878.803966666,783,800,650,628.196033334,650,0.445949388907,0.00455880067291,0.0596856010357,0.999999866222,7.97536999064e-05,-0.000508238378369,-5.37472554641e-05,1793192949672145152
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.61412434,742.61412434,711,673,659,631,878.61412434,783,799.61412434,650,628.38587566,650,0.445905249774,0.00455946047012,0.0596652858,0.999999849176,8.14106638083e-05,-0.000540465718819,-5.40119741636e-05,1793192949688811776
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.035473266,742.035473266,711,673,659,631,878.035473266,783,799.035473266,650,628.964526734,650,0.445849486085,0.00455994887544,0.0596397923466,0.999999826341,8.30374709824e-05,-0.000580922380182,-5.4325443071e-05,1793192949705478400
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.543157046,742.543157046,711,673.543157046,659.543157046,631,878.543157046,782.456842954,799,650,628.456842954,650,0.445781623706,0.00456089123511,0.0596209302499,0.999999814655,8.26125166692e-05,-0.000600658551005,-5.5451234972e-05,1793192949722145024
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,659.879207412,631,878.879207412,782.120792588,799,650,628.120792588,650,0.445711096857,0.00456169112763,0.0596059923986,0.999999805155,8.25022974768e-05,-0.000616224571492,-5.61363801476e-05,1793192949738811648
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,659.30529819,631,878.30529819,782.69470181,799,650,628.69470181,650,0.445633538969,0.00456184538893,0.0596041506116,0.999999801995,8.40753497136e-05,-0.000621223633142,-5.49695715403e-05,1793192949755478528
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,659,630.725959376,878,782.725959376,799,650,629,650,0.445543612132,0.00456275367878,0.0596042309973,0.999999800532,8.73890233526e-05,-0.000623213445816,-5.38956522261e-05,1793192949772145408
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,659,630.140449427,878,782.140449427,799,650,629,650,0.44543962699,0.00456451898301,0.0596064960877,0.999999800997,9.26810538517e-05,-0.000621783003427,-5.29273091738e-05,1793192949788811776
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,659.444001793,630.444001793,878,782.444001793,799.444001793,650,629,650.444001793,0.445317417532,0.00456613317842,0.059610282001,0.999999804898,9.63057275403e-05,-0.000615000991696,-5.19950731879e-05,1793192949805478144
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.972350984,660,631,878,782.972350984,800,650,629,650.972350984,0.445187874089,0.00456756963802,0.059614469531,0.999999809698,9.93562112281e-05,-0.000606738891562,-5.09854124021e-05,1793192949822145024
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.397994762,660,631,878,782.397994762,800,650,629,650.397994762,0.445027032388,0.00456643460751,0.0596171085303,0.999999812125,0.000101457271544,-0.000602603963236,-4.82195181552e-05,1793192949838811648
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.823840131,711,673,660,631,878,782.176159869,799.823840131,649.823840131,629,650.176159869,0.444855624248,0.00456635413192,0.0596202454793,0.999999815262,0.000105075169468,-0.000596936920561,-4.58521052286e-05,1793192949855478272
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.250140511,711,673,660,631,878,782.749859489,799.250140511,649.250140511,629,650.749859489,0.44466037086,0.00456865346922,0.0596245061504,0.999999819968,0.000112116112593,-0.000587812357938,-4.43839449601e-05,1793192949872144640
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,660,631,877.667004523,783,799,649.332995477,629,650.667004523,0.444438428182,0.00457102988841,0.0596275537625,0.999999822638,0.000119304270024,-0.000581968652284,-4.24555031107e-05,1793192949888811520
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,660,631,877.076573306,783,799,649.923426694,629,650.076573306,0.444195852241,0.00457346589914,0.0596296635701,0.999999823754,0.000126606238234,-0.000578661346017,-4.01712216498e-05,1793192949905478656
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.494749616,742,711,673,660.505250384,631,877.505250384,783,799,649.494749616,629,650,0.443924256581,0.00457343839134,0.0596392984252,0.999999833082,0.000132731447773,-0.000561131285884,-3.67557686031e-05,1793192949922145280
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.084997457,742,711,673,661,631,878,783,799,649.084997457,629,650,0.443642488342,0.00457347806596,0.0596508230496,0.999999843625,0.000139205524744,-0.000540621045124,-3.31780447072e-05,1793192949938811392
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.660166122,742,711,673,661,631,878,783,799,649.660166122,629,650,0.443326994266,0.00457602222871,0.0596667790348,0.999999855816,0.000148702747215,-0.000515146911934,-2.9636606895e-05,1793192949955478016
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.23438227,742.23438227,711,673.23438227,661,631,878,783,799,650,629,650,0.442984788131,0.00457823991703,0.0596763293938,0.999999861339,0.000158697479807,-0.000501468839544,-2.58133804519e-05,1793192949972144896
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.807222907,742.807222907,711,673.807222907,661,631,878,783,799,650,629,650,0.442604008621,0.00457998616167,0.0596766297443,0.999999857993,0.000169410638566,-0.000504824802727,-2.15832389942e-05,1793192949988811520
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.604295179,743,711,674,661.395704821,631.395704821,878,783,799,650,629,650,0.442181423992,0.00458204747152,0.0596757927704,0.999999855181,0.000179721372934,-0.000506987584803,-1.73725892137e-05,1793192950005478144
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.363757473,664,632,876.727514947,783,799.363757473,650,628.363757473,651,0.402528173917,0.00454680738901,0.0598392094368,0.999999962943,0.000112766103035,-0.000245279211838,3.51599954841e-05,1793192950988811776
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.789510352,632.210489648,876.210489648,783,799,650,628.210489648,651,0.402305007169,0.00454562952166,0.0598449259724,0.999999964039,0.000114147635521,-0.000239862689762,3.68630306002e-05,1793192951005478912
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.215913204,632.784086796,876.784086796,783,799,650,628.784086796,651,0.402089863805,0.00454401672908,0.0598378396824,0.999999959665,0.000114810878017,-0.000256929341297,3.84125885879e-05,1793192951022145280
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.369727276,663.739454552,633,876.630272724,783,799,650,629,651,0.401899782109,0.00454465985599,0.0598318158599,0.999999956091,0.0001156300058,-0.000270098506747,3.86570818998e-05,1793192951038811904
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.96263768,664.925275361,633,876.03736232,783,799,650,629,651,0.401724828682,0.00454666475182,0.0598264333873,0.999999953026,0.00011654323265,-0.000280914985273,3.81137827483e-05,1793192951055478528
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.457895657,633,876,783.542104343,799,650,629,651,0.401590131916,0.0045454723517,0.0598258101722,0.999999953648,0.000104144451878,-0.000283918108725,3.53316330602e-05,1793192951072145152
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.880313578,633,876.119686422,783.880313578,799.119686422,650,629,651,0.401466189319,0.00454282351593,0.0598265203571,0.999999955896,8.19059495185e-05,-0.000283834958476,3.06012865866e-05,1793192951088811520
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.306451861,633,876.693548139,783.306451861,799.693548139,650,629,651,0.401372781898,0.00453546389739,0.0598310758184,0.99999996194,2.57258542291e-05,-0.000274034308745,1.90494648575e-05,1793192951105478144
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.864285402,742.864285402,711,672,663.864285402,632.135714598,877,783,799.135714598,650,629,651,0.401209817932,0.00453240410816,0.0598382954214,0.999999963043,1.12041510144e-05,-0.000271208559966,1.53269811119e-05,1793192951138812160
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632.601659052,876,783,799.601659052,650,629,651,0.401055160066,0.00452889313615,0.0598308925279,0.999999948673,0.000157350331343,-0.000278551245246,1.74106778569e-05,1793192951188812032
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.179605677,742,711,672,664,632.820394323,876.179605677,783,800,650,629,651,0.401021574391,0.00452860195756,0.0598306830901,0.999999948116,0.000159072324065,-0.000279531982585,1.80671596499e-05,1793192951205478656
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.758989343,742,711,672,664,632.241010657,876.758989343,783,800,650,629,651,0.400998291337,0.00452972857041,0.0598306828892,0.99999994797,0.000159418018932,-0.000279847119852,1.82263054089e-05,1793192951222145280
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.760528608,632,877,783,799.239471392,650,629,650.760528608,0.400958284739,0.00453034233939,0.0598347040384,0.999999949617,0.00016076105258,-0.000273069518951,1.88559104904e-05,1793192951322144512
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.59108681,663.40891319,632.40891319,876.59108681,783,800,650,629,650,0.400958499934,0.00452926348609,0.0598365235525,0.999999950641,0.000158856336513,-0.000270398613452,1.91868877372e-05,1793192951355478272
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.285307333,711,672,663.714692667,632.714692667,877,783.285307333,799,650,628,650.714692667,0.400956137755,0.00452863254899,0.0598374236098,0.999999951164,0.00015708063937,-0.000269516219478,1.89220476776e-05,1793192951422144768
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632.70341557,876.70341557,783,799,650,628,651,0.400955497012,0.00452857197433,0.0598375556804,0.999999951278,0.000156714419186,-0.000269303610401,1.89852036858e-05,1793192951438811648
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632.111872872,876.111872872,783,799,650,628,651,0.400955567223,0.00452791837484,0.0598374511366,0.999999951409,0.000157144418282,-0.000268543303277,1.92798223194e-05,1793192951455478272
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.530226166,664,632,876,783,799,650,628.469773834,651,0.400955947381,0.0045274823884,0.0598376174381,0.999999951295,0.000157261378142,-0.000268888427916,1.94160940355e-05,1793192951472144896
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.048569542,664,632,876,783,799,650,629,650.951430458,0.400956315105,0.00452719901151,0.0598377833893,0.999999951144,0.000157323354713,-0.000269410944138,1.9476010471e-05,1793192951488811520
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.621503711,664,632,876,783,799,650,629,650.378496289,0.400955768162,0.00452801528692,0.0598372635772,0.999999951204,0.000157579948476,-0.000269065157167,1.91102969312e-05,1793192951505478144
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.80200721,632.19799279,876,783,799,650,629,650.19799279,0.400955365245,0.00452812803329,0.0598372050578,0.999999951359,0.000157416154554,-0.000268591098701,1.89846074766e-05,1793192951522145024
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.218598112,632.781401888,876,783,799,650,629,650.781401888,0.400955242695,0.00452687127742,0.0598380444991,0.999999951701,0.000156434026428,-0.00026786734467,1.93261532223e-05,1793192951538811648
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.366210552,632.633789448,876,783,799,650,629,650.633789448,0.400955588043,0.0045267198237,0.0598387928502,0.99999995209,0.000156245872451,-0.00026650726818,1.95108737329e-05,1793192951555478272
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.951857827,632.048142173,876,783,799,650,629,650.048142173,0.40095621376,0.00452723067721,0.0598394866192,0.999999952506,0.000156533475103,-0.000264765901458,1.96016231111e-05,1793192951572144896
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.470686525,632.529313475,876.529313475,783,799,650,628.470686525,650.529313475,0.40095589815,0.00452731354855,0.0598391256977,0.99999995242,0.000155170170214,-0.000265916935106,1.92621840766e-05,1793192951588811520
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.893956917,876.893956917,783,799,650,628.106043083,651,0.400955599118,0.00452715749371,0.0598388331901,0.99999995232,0.000153963460998,-0.000267005732413,1.90368669785e-05,1793192951605478144
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.317193509,876.317193509,783,799,650,628.682806491,651,0.400955747929,0.00452611101344,0.0598392636916,0.999999952379,0.000154108239705,-0.000266668306751,1.94891659495e-05,1793192951622145024
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.263656838,742,711,672,663.263656838,632,876,783,799,650,628.736343162,650.736343162,0.400956003336,0.00452643953075,0.0598395786205,0.999999952277,0.000155338559208,-0.00026632388341,1.96937338022e-05,1793192951638811904
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.849501491,742,711,672,663.849501491,632,876,783,799,650,628.150498509,650.150498509,0.400956389005,0.00452844829058,0.0598397523201,0.999999951972,0.000157895406114,-0.000265970908883,1.95955750795e-05,1793192951655478784
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.135635065,742,711,672,664,632,876,783,799,650,628,650.432182467,0.400954934101,0.00452773238685,0.0598388476337,0.999999951696,0.000157290784295,-0.000267369850886,1.95227458543e-05,1793192951672145152
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.013587334,742,711,672,664,632.013587334,876.013587334,783,799.013587334,650,628,650.986412666,0.400952901986,0.00452608387208,0.0598376054649,0.999999951445,0.00015557430949,-0.000269310848961,1.94686666598e-05,1793192951688811520
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.587470827,742,711,672,664,632.587470827,876.587470827,783,799.587470827,650,628,650.412529173,0.400953305837,0.00452481889801,0.0598378195329,0.999999952006,0.000153076890998,-0.000268630073621,1.98266924432e-05,1793192951705478144
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.162148302,664,632.837851698,876.837851698,783,799.837851698,650,628,650.162148302,0.400953124707,0.0045245548518,0.0598377192203,0.99999995218,0.000152019963926,-0.000268574645051,1.99185626174e-05,1793192951722145024
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.738855694,664,632.261144306,876.261144306,783,799.261144306,650,628,650.738855694,0.400951447973,0.00452684984414,0.0598368151414,0.999999951374,0.000154645892772,-0.000270118019493,1.93299617121e-05,1793192951738811392
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.67721631,663.67721631,632,876.32278369,783,799,650,628,651,0.400952140633,0.00452765704691,0.0598374424039,0.999999951436,0.000155930091747,-0.000269160371272,1.91599005062e-05,1793192951755478016
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.087312931,663.087312931,632,876.912687069,783,799,650,628,651,0.400954794085,0.0045272330291,0.0598393369281,0.999999952215,0.000156103941845,-0.000266133001315,1.93362019174e-05,1793192951772144896
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7341ff26706dec37624df792eb082ce2fc24921
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/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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+1,0.016666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
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+383,6.383333333,pose2_to_pose3_retreat,0.575711953311,0.0100545755458,1.05002900959,0.546282683897,0.0187273062272,1.04969830103
+384,6.400000000,pose2_to_pose3_retreat,0.57571191705,0.0100545746803,1.05002901116,0.54628264765,0.0187273054079,1.04969830256
+385,6.416666667,pose2_to_pose3_retreat,0.575711838715,0.0100545728105,1.05002901454,0.546282569346,0.018727303638,1.04969830586
+386,6.433333333,pose2_to_pose3_retreat,0.575711774326,0.0100545712735,1.05002901733,0.546282504981,0.0187273021832,1.04969830858
+387,6.450000000,pose2_to_pose3_retreat,0.575711747155,0.010054570625,1.0500290185,0.546282477821,0.0187273015693,1.04969830973
+388,6.466666667,pose2_to_pose3_retreat,0.575711597683,0.0100545670571,1.05002902496,0.546282328407,0.0187272981921,1.04969831604
+389,6.483333333,pose2_to_pose3_retreat,0.575711210799,0.0100545582986,1.0500290245,0.546281941589,0.0187272896653,1.0496983158
+390,6.500000000,pose2_to_pose3_retreat,0.575710913021,0.0100545524213,1.05002899297,0.546281643709,0.0187272834914,1.04969828554
+391,6.516666667,pose2_to_pose3_retreat,0.575710562014,0.0100545454934,1.0500289558,0.546281292582,0.0187272762139,1.04969824989
+392,6.533333333,pose2_to_pose3_retreat,0.57570995915,0.0100545398482,1.05002890341,0.546280689457,0.0187272697874,1.04969820017
+393,6.550000000,pose2_to_pose3_retreat,0.575709613493,0.0100546163979,1.05002901931,0.546280342958,0.0187273435811,1.04969831878
+394,6.566666667,pose2_to_pose3_retreat,0.575709379369,0.0100546682474,1.05002909781,0.546280108264,0.0187273935637,1.04969839911
+395,6.583333333,pose2_to_pose3_retreat,0.575709270876,0.0100546725308,1.05002900824,0.546279998988,0.0187273950349,1.04969830539
+396,6.600000000,pose2_to_pose3_retreat,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4d8550e685de6ff24ff3ad2a6c1e55c2c658999
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c1eb6a8efd35c6707fcddce106ef71e1e42a97e92339d862531348d8e9933c6
+size 25307036
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5600ed1fd707104de2d9dd3239c3cb1766a6087f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/franka_data.csv
@@ -0,0 +1,400 @@
+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,764,742,711,672,663,633,876,783,799,650,628,651,0.400955545668,0.00452639280839,0.0598397246817,0.999999953444,0.000150679521313,-0.000264653152061,1.91621491571e-05,1793192951918447360
+1,0.016666667,BASELINE,764,742.575474484,711,671.424525516,663.575474484,632.424525516,876,783,799.575474484,650,628.575474484,650.424525516,0.400955175918,0.00452682241159,0.0598398985131,0.999999953233,0.000152070960225,-0.000264665070801,1.90118488575e-05,1793192951935113728
+2,0.033333333,BASELINE,764,742.845199232,711,671.154800768,664,632,876.154800768,783,799.845199232,650,628.845199232,650.154800768,0.400955056169,0.00452711445735,0.0598401473852,0.9999999531,0.000153454027375,-0.000264370940013,1.89794797925e-05,1793192951951780352
+3,0.050000000,BASELINE,764,742.255040098,711,671.744959902,664,632,876.744959902,783,799.255040098,650,628.255040098,650.744959902,0.400955639517,0.00452701963959,0.0598406073,0.999999953189,0.000154813550276,-0.00026321608209,1.92787779731e-05,1793192951968446720
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+7,0.116666667,BASELINE,764,742,711,672,664,632.060193552,877,783.060193552,799,650,628.939806448,650.060193552,0.400952965203,0.00452894004312,0.059839977153,0.999999952224,0.000156256911595,-0.000266041580056,1.89366193776e-05,1793192952035112704
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+9,0.150000000,BASELINE,764.215702893,742,711,671.784297107,664,633,877,783.784297107,799,650,628.215702893,651,0.400955861255,0.0045271938049,0.0598414709827,0.999999953308,0.000155461960117,-0.00026237367363,1.93689612272e-05,1793192952068445952
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+16,0.266666667,BASELINE,764,742.70819747,711,671.70819747,664,632,876,783,799,650,628.29180253,651,0.400955350941,0.00452849427373,0.0598412178469,0.999999952932,0.000156781241637,-0.000263045602046,1.9038004179e-05,1793192952185112832
+17,0.283333333,BASELINE,764,742.129283832,711,671.129283832,664,632,876,783,799,650,628.870716168,651,0.400954765889,0.00452791415625,0.0598412474145,0.999999952956,0.000155456813032,-0.000263733408581,1.91208965097e-05,1793192952201779200
+18,0.300000000,BASELINE,764,742,711,671,664,632,876,783,799,650,628.550238682,650.550238682,0.400955781341,0.00452742268604,0.0598417165121,0.999999953488,0.000153965870854,-0.000262587924639,1.9123937597e-05,1793192952218446080
+19,0.316666667,BASELINE,764,742,711,671,663.971472082,632,876,783.028527918,799,650,628.028527918,650.028527918,0.400957090304,0.00452702874797,0.0598422123509,0.999999954077,0.000152651044201,-0.000261112366052,1.90986404207e-05,1793192952235112448
+20,0.333333333,BASELINE,764,742,711,671,663.398740343,632,876,783.601259657,799,650,628.601259657,650.601259657,0.400955219494,0.00452800911616,0.0598408074663,0.999999953024,0.000155609164764,-0.000263395933201,1.89707454124e-05,1793192952251779840
+21,0.350000000,BASELINE,764,742,710.820770484,671,663.179229516,632,876.179229516,783.820770484,799.179229516,650,629,651,0.400954280466,0.00452899852858,0.0598402058437,0.999999952423,0.000158048501074,-0.000264227914354,1.89387555887e-05,1793192952268446976
+22,0.366666667,BASELINE,764,742,710.230796379,671,663.769203621,632,876.769203621,783.230796379,799.769203621,650,629,651,0.400955476822,0.00453000866779,0.0598414450762,0.999999952877,0.000159298926644,-0.000261733260683,1.91265539993e-05,1793192952285113088
+23,0.383333333,BASELINE,764,742,710.353232397,671.353232397,664,632.353232397,877,783,800,650,629,651,0.40095587944,0.00452918300368,0.05984187646,0.999999953323,0.000157156135819,-0.000261323096547,1.91571321518e-05,1793192952301779200
+24,0.400000000,BASELINE,764,742,710.933440948,671.933440948,664,632.933440948,877,783,800,650,629,651,0.400955772027,0.00452717770955,0.0598417887453,0.999999953751,0.000152832969787,-0.000262252360309,1.90866854743e-05,1793192952318445824
+25,0.416666667,BASELINE,764,742,711,671.489937345,664,633,876.489937345,783,800,650,629,651,0.400956725479,0.00452687385,0.0598423487755,0.999999953954,0.000153218182626,-0.000261245019743,1.91600470538e-05,1793192952335112704
+26,0.433333333,BASELINE,764.085663101,742.085663101,711,671,664.085663101,632.914336899,876.085663101,783,799.828673798,650,629,651,0.400957390627,0.00452675115621,0.0598427474322,0.999999954058,0.000153793446931,-0.000260502971956,1.92469145354e-05,1793192952351779584
+27,0.450000000,BASELINE,764.658101635,742.658101635,711,671,664.658101635,632.341898365,876.658101635,783,798.683796729,650,629,651,0.400955636358,0.00452640510105,0.0598417521375,0.99999995376,0.000151981726131,-0.000262694422452,1.93046375595e-05,1793192952368446464
+28,0.466666667,BASELINE,764.761310488,742.761310488,711,671.238689512,664.761310488,632,877,783,798.238689512,650,629,650.761310488,0.400955061779,0.00452627573071,0.0598413040306,0.99999995362,0.000151298248472,-0.000263622892419,1.93047576678e-05,1793192952385113344
+29,0.483333333,BASELINE,764.168636915,742.168636915,711,671.831363085,664.168636915,632,877,783,798.831363085,650,629,650.168636915,0.40095623672,0.00452646771078,0.0598416674208,0.99999995372,0.000152287991023,-0.00026267832237,1.92194508347e-05,1793192952401779712
+30,0.500000000,BASELINE,764,742,711,671.58654028,663.58654028,632,877,783,799,650,629,650,0.400956987888,0.00452714148926,0.0598426547636,0.999999953873,0.000154520633478,-0.000260789509825,1.9118514347e-05,1793192952418446336
+31,0.516666667,BASELINE,764,742,711,671.008650046,663.008650046,632,877,783,799,650,629,650,0.400957570524,0.00452800687614,0.0598438902487,0.999999954038,0.000157247569937,-0.000258525177575,1.90113620388e-05,1793192952435112960
+32,0.533333333,BASELINE,764,742,711,671,663.567498396,632,877,783.567498396,799,650,628.432501604,650.567498396,0.400954608353,0.00452610426838,0.0598416538689,0.999999953681,0.00015244420417,-0.000262725313974,1.93512771869e-05,1793192952451779584
+33,0.550000000,BASELINE,764,742,711,671,664,632,877,783.853676045,799,650,628,651,0.400952199738,0.00452507800653,0.0598398655042,0.999999953227,0.000149669158604,-0.000266015842458,1.95261135324e-05,1793192952468445952
+34,0.566666667,BASELINE,764,742,711,671,664,632,877,783.266708954,799,650,628,651,0.400951620325,0.00452681745802,0.0598395851777,0.999999952608,0.000153346834775,-0.000266271337326,1.91833697217e-05,1793192952485112576
+35,0.583333333,BASELINE,764,742,711,671,664,632,876.684685053,783.315314947,799.315314947,650,628.315314947,650.684685053,0.4009528415,0.00452705520394,0.0598403185071,0.99999995283,0.000154028072363,-0.00026503919682,1.92128058444e-05,1793192952501779456
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+38,0.633333333,BASELINE,764,742.950498569,711,672,664,632,877,783,799,650,629,651,0.4009552266,0.00452482327755,0.0598406860183,0.999999953629,0.000151211228122,-0.000263638704589,1.93008663459e-05,1793192952551779584
+39,0.650000000,BASELINE,764,742.374537528,711,672,664,632,877,783,799,650,629,651,0.400956385589,0.00452586970038,0.0598425124422,0.999999954168,0.000151245858373,-0.000261562819436,1.93385897442e-05,1793192952568446208
+40,0.666666667,BASELINE,764,742.20565268,710.79434732,672.20565268,664,632,877,783,799,650,629,650.79434732,0.40095696971,0.00452559996758,0.0598432854428,0.999999954592,0.000150350645796,-0.000260445675912,1.94376256519e-05,1793192952585112832
+41,0.683333333,BASELINE,764,742.793706788,710.206293212,672.793706788,664,632,877,783,799,650,629,650.206293212,0.400956484889,0.00452288290558,0.0598420996526,0.999999954806,0.000147726434465,-0.000261111267211,1.96506692679e-05,1793192952601779456
+42,0.700000000,BASELINE,764,742.623349317,710.376650683,672.623349317,664,632,876.623349317,783,799,650,628.623349317,650.376650683,0.400954753072,0.00452289629705,0.0598411639368,0.999999954259,0.000148122936776,-0.000262983113777,1.95487151626e-05,1793192952618445824
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+44,0.733333333,BASELINE,764,742,710.46860449,672,664,632.53139551,876,783,799,650,628,650.46860449,0.400953379438,0.00452674092238,0.0598409762659,0.999999953258,0.000152910219948,-0.000264086813436,1.89775863479e-05,1793192952651779584
+45,0.750000000,BASELINE,764,742,710.105600589,672,664,632.894399411,876,783,799,650,628.105600589,650,0.400954753961,0.00452847978536,0.0598418523813,0.999999953455,0.000154916968298,-0.000262178379548,1.87776860439e-05,1793192952668446208
+46,0.766666667,BASELINE,764,742,710.680225069,672,664,632.319774931,876,783,799,650,628.680225069,650,0.400956422354,0.00452716915047,0.0598433928685,0.999999954392,0.000153324453444,-0.000259508418745,1.90273157189e-05,1793192952685113088
+47,0.783333333,BASELINE,764,742,711,672,664,632.262866034,876,783,799,650,629,650.262866034,0.400957240432,0.0045264917041,0.0598438182178,0.99999995468,0.000152627743812,-0.00025879828351,1.91751221887e-05,1793192952701779712
+48,0.800000000,BASELINE,764,742,711,672,664,632.85556584,876,783,799,650,629,650.85556584,0.400956991571,0.00452660875717,0.0598428443369,0.99999995416,0.000153055054489,-0.000260547258559,1.91951650119e-05,1793192952718446080
+49,0.816666667,BASELINE,764,742.437684118,711,672,663.562315882,632.562315882,876,783,799,650,629,651,0.400955811908,0.00452752784976,0.05984247951,0.999999953993,0.000153499062154,-0.000260944653308,1.89554197851e-05,1793192952735112448
+50,0.833333333,BASELINE,764,742.98372031,711,672,663.01627969,632.01627969,876.01627969,783.01627969,799,650,629,650.98372031,0.400954411934,0.00452863105556,0.05984231797,0.99999995395,0.000153893334966,-0.000260900207858,1.86500832755e-05,1793192952751779328
+51,0.850000000,BASELINE,764,742.409008864,711,672,663.590991136,632.590991136,876.590991136,783.590991136,799,650,629,650.409008864,0.400955742375,0.00452718528185,0.0598423981134,0.999999954242,0.000152397043375,-0.00026063787108,1.89661040434e-05,1793192952768446208
+52,0.866666667,BASELINE,764,742.169540659,711,672,664,633,877,783.830459341,799,650,629,650.169540659,0.400957123966,0.00452651856303,0.0598426534198,0.999999954528,0.000151637949565,-0.000259972981531,1.9060523302e-05,1793192952785112832
+53,0.883333333,BASELINE,764,742.757563792,711,672,664,633,877,783.242436208,799,650,629,650.757563792,0.40095863181,0.00452777480966,0.0598433410865,0.999999954805,0.000152698504016,-0.00025831445849,1.86079566559e-05,1793192952801779712
+54,0.900000000,BASELINE,764,743,711,672.340711525,664,632.659288475,877.340711525,783,799,650,628.659288475,651,0.400958434485,0.00452733362259,0.0598432577549,0.999999954817,0.000152542879045,-0.000258353507426,1.86855210032e-05,1793192952818446336
+55,0.916666667,BASELINE,764,743,711,672.920439043,664,632.079560957,877.920439043,783,799,650,628.079560957,651,0.400957040951,0.00452570165157,0.0598426335526,0.999999954644,0.000151534079685,-0.000259583437342,1.91349829317e-05,1793192952835113216
+56,0.933333333,BASELINE,764,743,711,672.503200012,664,632.496799988,877.006400024,783,799,650,628.496799988,651,0.400955812602,0.00452550387949,0.059842585447,0.999999954413,0.000151131235285,-0.000260705562332,1.91316758247e-05,1793192952851779840
+57,0.950000000,BASELINE,764,742.926034901,711,672,663.926034901,632.926034901,876.073965099,783,799,650,629,650.926034901,0.400954620427,0.00452560461782,0.0598424846909,0.999999954123,0.000151010752687,-0.000261890494511,1.90790696848e-05,1793192952868446208
+58,0.966666667,BASELINE,764,742.339587803,711,672,663.339587803,632.339587803,876.660412197,783,799,650,629,650.339587803,0.400953496821,0.00452619295604,0.0598413841946,0.999999953487,0.000152178822788,-0.000263629414554,1.91839006276e-05,1793192952885112832
+59,0.983333333,BASELINE,764,742.243660317,711,672,663.243660317,632.243660317,876.756339683,783.243660317,799.243660317,650,629,650,0.400953566602,0.00452641289303,0.0598409354796,0.999999953307,0.000152486527952,-0.000264128196136,1.92139137782e-05,1793192952901779200
+60,1.000000000,BASELINE,764,742.8225079,711,672,663.8225079,632.8225079,876.1774921,783.8225079,799.8225079,650,629,650,0.400955278047,0.00452612604505,0.0598413833765,0.99999995376,0.000151610686548,-0.000262921002097,1.91410050911e-05,1793192952918446080
+61,1.016666667,BASELINE,764,742.598601342,710.598601342,671.598601342,664,633,876.401398658,783.598601342,800,650,629,650.401398658,0.400955673441,0.00452708486085,0.0598416947024,0.999999953473,0.000154090889195,-0.000262565325341,1.91963697046e-05,1793192952935112704
+62,1.033333333,BASELINE,764,742.019691526,710.019691526,671.019691526,664,633,876.980308474,783.019691526,800,650,629,650.980308474,0.400955486835,0.00452859454851,0.0598419456322,0.999999952847,0.000158055240523,-0.00026258621648,1.93084608257e-05,1793192952951779584
+63,1.050000000,BASELINE,764,742,710.555457465,671,664,633,877,783.555457465,799.444542535,650,629,651,0.4009559151,0.0045284356423,0.0598421415824,0.999999953265,0.000157039315441,-0.000261624319137,1.90275607545e-05,1793192952968446208
+64,1.066666667,BASELINE,764,742,711,671.133253885,664,633,876.866746115,783.866746115,799.133253885,650,628.866746115,651,0.4009560418,0.0045284167717,0.0598421926841,0.999999953588,0.000155836116541,-0.000261124611048,1.88000372142e-05,1793192952985113088
+65,1.083333333,BASELINE,764,742,711,671.720521622,664,633,876.279478378,783.279478378,799.720521622,650,628.279478378,651,0.400955067261,0.00452907520915,0.0598417568633,0.999999953469,0.000154592354496,-0.000262317552852,1.88015234194e-05,1793192953001779712
+66,1.100000000,BASELINE,764,742,711,672,664,633,876,783,799.695057487,650,628.304942513,651,0.400955037788,0.00452844817071,0.0598415624709,0.999999953527,0.000154213360023,-0.000262313563998,1.88821776638e-05,1793192953018446336
+67,1.116666667,BASELINE,764,742,711,672,664,633,876,783,799.113221616,650,628.886778384,651,0.400955866453,0.0045266538967,0.0598415872999,0.999999953747,0.000154619590329,-0.000261222740234,1.90347179301e-05,1793192953035112960
+68,1.133333333,BASELINE,764,742.463589835,711,672,664,632.536410165,876,783.463589835,799,650,629,651,0.400955333543,0.00452741507954,0.0598414928899,0.999999953783,0.000154131046507,-0.000261390306866,1.87774133552e-05,1793192953051779584
+69,1.150000000,BASELINE,764,742.960987804,711,671.960987804,664,632,876,783.960987804,799,650,629,651,0.400954570038,0.00452860336709,0.0598414088491,0.999999953799,0.000153372606252,-0.000261796787092,1.84581304926e-05,1793192953068445952
+70,1.166666667,BASELINE,764,742.387963456,711,671.387963456,664,632,876,783.387963456,799,650,629,651,0.400955153144,0.00452718651971,0.0598418610954,0.999999954151,0.00015187895813,-0.000261311808676,1.86459199708e-05,1793192953085112832
+71,1.183333333,BASELINE,764,742.191973405,711,671.191973405,664,632,876,783,799.191973405,650,629,651,0.400955601643,0.00452649819133,0.0598420937604,0.99999995424,0.000151654044699,-0.000261090927611,1.8793941404e-05,1793192953101779968
+72,1.200000000,BASELINE,764,742.786401836,711,671.786401836,664,632,876,783,799.786401836,650,629,651,0.400955767955,0.00452733713741,0.0598418660928,0.999999953779,0.000154088919498,-0.00026142370287,1.88585927317e-05,1793192953118446592
+73,1.216666667,BASELINE,764,743,711,672,664,632.369347553,876.369347553,783,799.630652447,650,629,651,0.400956485335,0.00452600253899,0.0598425577942,0.999999954318,0.000152523573434,-0.000260260280842,1.91129300204e-05,1793192953135112960
+74,1.233333333,BASELINE,764,743,711,672,664,632.945852866,876.945852866,783,799.054147134,650,629,651,0.400957511794,0.00452344885403,0.0598437651466,0.999999955404,0.000148714603857,-0.000258257679329,1.94736573939e-05,1793192953151779328
+75,1.250000000,BASELINE,764,743,711,672,664,632.481036628,877,783,799,650,629,651,0.40095605642,0.00452499509909,0.0598426802881,0.99999995469,0.000150692327639,-0.000259887332544,1.92607423501e-05,1793192953168445952
+76,1.266666667,BASELINE,764,743,711,672,664,632.091510274,877,783,799,650,629,651,0.400954709511,0.00452678790949,0.0598416367852,0.999999953925,0.000153051784306,-0.000261466793035,1.90049293473e-05,1793192953185112576
+77,1.283333333,BASELINE,764,743,711,672,664,632.662946888,877,783,799,650,629,651,0.40095528067,0.00452764494567,0.0598420563113,0.999999953913,0.000154267361119,-0.000260808376591,1.88359929259e-05,1793192953201779200
+78,1.300000000,BASELINE,764,742.753843596,711,672,664,633,877,783.246156404,799,650,628.753843596,650.753843596,0.400955592451,0.00452705852524,0.0598424681412,0.999999954295,0.000152662171679,-0.000260288746193,1.88119782018e-05,1793192953218446080
+79,1.316666667,BASELINE,764,742.153704214,711,672,664,633,877,783.846295786,799,650,628.153704214,650.153704214,0.400955531237,0.00452439635508,0.0598428689036,0.999999955223,0.000147000604898,-0.000259968695855,1.89963668199e-05,1793192953235112704
+80,1.333333333,BASELINE,764,742,711,672,664,633,877.424889038,783.575110962,799,650,628.424889038,650.424889038,0.400955449799,0.00452493675404,0.0598430394485,0.999999954977,0.000148526325367,-0.000260045510089,1.90505862371e-05,1793192953251779584
+81,1.350000000,BASELINE,764,742,711,672,664,633,877.996064169,783.003935831,799,650,628.996064169,650.996064169,0.400955361397,0.0045265797732,0.0598431307313,0.999999954319,0.000152526574204,-0.000260258961776,1.90599893945e-05,1793192953268446208
+82,1.366666667,BASELINE,764,742.571869665,711,672,664,633,877.428130335,783,799,650,628.428130335,651,0.400955353487,0.00452664597891,0.0598431329224,0.99999995439,0.000152035359857,-0.000260295138103,1.87682057035e-05,1793192953285112576
+83,1.383333333,BASELINE,764,742.848143951,711,672,664,632.848143951,877,783,799,650,628.151856049,651,0.400955206644,0.00452646456501,0.0598429033652,0.999999954392,0.000151559878991,-0.000260569596223,1.8677866038e-05,1793192953301779456
+84,1.400000000,BASELINE,764,742.256132223,711,672,664,632.256132223,877,783,799,650,628.743867777,651,0.400954655485,0.00452559713628,0.0598420038756,0.999999954181,0.00015122033162,-0.000261538280848,1.91774703501e-05,1793192953318445824
+85,1.416666667,BASELINE,764,742.328976062,711,672,664,632.328976062,877,783,799.328976062,650,628.671023938,651,0.400955226749,0.00452506878804,0.0598421107787,0.99999995438,0.000150930037005,-0.000260927810452,1.94291196741e-05,1793192953335112448
+86,1.433333333,BASELINE,764,742.908819941,711,672,664,632.908819941,877,783,799.908819941,650,628.091180059,651,0.400956653941,0.00452479901301,0.0598429851284,0.999999954888,0.000150677301163,-0.000259113121148,1.94916855245e-05,1793192953351779328
+87,1.450000000,BASELINE,764,743,711,672,664,633,876.516482231,783,799.516482231,650,628.483517769,651,0.400956412951,0.0045256701712,0.0598428623353,0.99999995465,0.000151770524464,-0.000259415608186,1.92349803071e-05,1793192953368446464
+88,1.466666667,BASELINE,764,743,711,672,664,633,876.057337632,783,799,650,628.942662368,651,0.400956006969,0.00452670908178,0.0598426417247,0.999999954313,0.000153134878619,-0.000259931779639,1.89614223815e-05,1793192953385113344
+89,1.483333333,BASELINE,764,743,711,672,664,633,876.63189936,783,799,650,628.36810064,651,0.400956920474,0.00452734084447,0.0598432170983,0.999999954363,0.000154679534226,-0.000258811955153,1.90732300047e-05,1793192953401779968
+90,1.500000000,BASELINE,764.213199828,742.786800172,711,672,664,632.786800172,876.786800172,783,799,650,628.213199828,651,0.400956813528,0.00452746077882,0.0598434399263,0.999999954359,0.00015476431894,-0.000258777257745,1.91034019497e-05,1793192953418446336
+91,1.516666667,BASELINE,764.806514769,742.193485231,711,672,664,632.193485231,876.193485231,783,799,650,628.806514769,651,0.400954887218,0.00452666817163,0.0598430341984,0.999999954254,0.000152246291883,-0.000260677239318,1.89880251964e-05,1793192953435112704
+92,1.533333333,BASELINE,764.61115452,742,711,672,664,632,876.38884548,783,799,650,629,651,0.400954033916,0.00452596966232,0.0598423123394,0.99999995419,0.000150513257775,-0.000261927690326,1.89547826326e-05,1793192953451779328
+93,1.550000000,BASELINE,764.034139236,742,711,672,664,632,876.965860764,783,799,650,629,651,0.400953699864,0.00452531668872,0.0598414374985,0.999999954147,0.000149160096625,-0.000262863821175,1.8961286372e-05,1793192953468445952
+94,1.566666667,BASELINE,764,742.541541425,711,672,664,632,877,783,799,650,629,651,0.400954633908,0.0045261814192,0.0598421265234,0.999999954583,0.000149063546397,-0.000261260398323,1.89042912943e-05,1793192953485112576
+95,1.583333333,BASELINE,764.119852301,742.880147699,711,672,664,632.119852301,876.880147699,783,799,650,629,651,0.400955566486,0.0045268198384,0.05984293561,0.999999954979,0.000149254500538,-0.000259627375493,1.89350405277e-05,1793192953501779200
+96,1.600000000,BASELINE,764.708786041,742.291213959,711,672,664,632.708786041,876.291213959,783,799,650,629,651,0.400956181221,0.00452619896994,0.0598438296919,0.999999955112,0.000150261414851,-0.000258503549465,1.93248346125e-05,1793192953518445824
+97,1.616666667,BASELINE,764.706341646,742,711,672,664,633,876.293658354,783,799,650,629,651,0.400956325313,0.00452594763822,0.0598437275833,0.999999954972,0.000151018314663,-0.000258598184892,1.94070903165e-05,1793192953535112704
+98,1.633333333,BASELINE,764.125442044,742,711,672,664,633,876.874557956,783,799,650,629,651,0.400956009046,0.00452605776808,0.059842651053,0.999999954565,0.000151530663303,-0.000259884655677,1.91885280319e-05,1793192953551779328
+99,1.650000000,BASELINE,764,742,711,672,664,632.550986028,877,783,799,650,628.550986028,650.550986028,0.400956382786,0.00452687748589,0.0598426310334,0.999999954505,0.000152168705604,-0.000259768627322,1.88500783654e-05,1793192953568446208
+100,1.666666667,BASELINE,764,742,711,672,664,632.02103256,877,783,799,650,628,650.02103256,0.400956914055,0.00452776058214,0.0598429029445,0.99999995455,0.000152736041309,-0.000259286325196,1.85062533745e-05,1793192953585112576
+101,1.683333333,BASELINE,764,742,711,672,664,632.576220134,877,783,799,650,628,650.576220134,0.400956619608,0.00452528990464,0.0598431989022,0.999999954856,0.000150628479793,-0.000259312013028,1.88644921676e-05,1793192953601779200
+102,1.700000000,BASELINE,764,742,711,672,664,633,877,783,799.145439811,650,628.145439811,650.854560189,0.400956405209,0.00452393488066,0.0598433876491,0.99999995505,0.000149385521771,-0.000259268660301,1.90622558994e-05,1793192953618445824
+103,1.716666667,BASELINE,764,742,711,672,664,633,877,783,799.759911836,650,628.759911836,650.240088164,0.400956448962,0.00452617775406,0.0598432306494,0.999999954893,0.000150930843989,-0.000259002657076,1.874249982e-05,1793192953635112448
+104,1.733333333,BASELINE,764,742.354031547,711,671.645968453,664,632.645968453,876.645968453,783,799.291936907,650,629,650.354031547,0.400956908775,0.00452610247291,0.0598435920024,0.999999954828,0.000152018246562,-0.000258598432803,1.90179261392e-05,1793192953651779328
+105,1.750000000,BASELINE,764,742.935099604,711,671.064900396,664,632.064900396,876.064900396,783,798.129800793,650,629,650.935099604,0.400957635402,0.00452454058515,0.0598442857692,0.999999954821,0.000152811990492,-0.000258105568878,1.96750363083e-05,1793192953668446208
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,711,672,664,633,877,783,799,650,629,651,0.400956971445,0.00452740923566,0.0598428760301,0.999999954321,0.000154226504683,-0.000259264867128,1.8804017699e-05,1793192953699469568
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,711,672,663.409539457,632.409539457,877,783,799,650,629,651,0.400956457015,0.00452729444969,0.0598422107148,0.999999953992,0.000154916559919,-0.000260110477703,1.89798305833e-05,1793192953716136192
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,711,671.822815721,663.177184279,632.177184279,876.822815721,783,799.177184279,650,629,651,0.400955954462,0.0045271106963,0.0598419150421,0.999999953752,0.000155598885433,-0.000260610818923,1.91550993985e-05,1793192953732802560
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,711,671.244550644,663.755449356,632.755449356,876.244550644,783,799.755449356,650,629,651,0.400955478794,0.00452677082573,0.0598424561059,0.999999953718,0.0001562637138,-0.000260329596002,1.93291366736e-05,1793192953749469184
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.665968918,711,671.334031082,664,633,876,783.334031082,799.665968918,650,629,651,0.400955549624,0.00452712947736,0.0598430095107,0.999999953914,0.000155917269571,-0.000259786655976,1.92988936396e-05,1793192953766136576
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.087155183,711,671.912844817,664,633,876,783.912844817,799.087155183,650,629,651,0.400956020937,0.00452800001585,0.0598435719594,0.999999954277,0.000154829750585,-0.000259051926005,1.91189511241e-05,1793192953782804224
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.514391358,876.485608642,783.514391358,799.485608642,650,628.514391358,650.514391358,0.400955445236,0.00452726837131,0.0598432682164,0.999999954118,0.000154695846551,-0.000259738084498,1.92349644049e-05,1793192953799470336
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671.940687746,664,632,877.059312254,783,799.940687746,650,628.059312254,650.059312254,0.400955003509,0.00452639551686,0.0598428656357,0.999999953939,0.000154621088923,-0.000260459944711,1.93855157793e-05,1793192953816136192
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671.348919907,664,632,877.651080093,783,799.348919907,650,628.651080093,650.651080093,0.400957430661,0.00452680464932,0.0598429541962,0.999999954419,0.000153559752835,-0.000259241159197,1.93751487801e-05,1793192953832802816
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.238049649,710.761950351,671.238049649,664,632,877.523900702,783,799.238049649,650,629,651,0.400964551051,0.00452701276573,0.0598458226459,0.999999955868,0.000152538871564,-0.000254210358162,1.93060547218e-05,1793192953849469440
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.818125061,710.181874939,671.818125061,664,632,876.363749877,783,799.818125061,650,629,651,0.400978414606,0.00452693206561,0.0598526851941,0.999999958633,0.000151576115178,-0.000243702516928,1.91525826044e-05,1793192953866136064
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.605945283,710.394054717,672,664.394054717,632.394054717,876.394054717,783.394054717,799.605945283,650.394054717,628.605945283,651,0.40101038754,0.00452636372304,0.0598664544805,0.999999964117,0.000151201983952,-0.000220271209646,1.9600772644e-05,1793192953882802432
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.03190912,710.96809088,672,664.96809088,632.96809088,876.96809088,783.96809088,799.03190912,650.96809088,628.03190912,651,0.401050631794,0.00452557265356,0.0598833783668,0.99999997015,0.00015109670253,-0.000190937208048,2.03237671973e-05,1793192953899469056
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.555499924,711,672,664.444500076,632.444500076,877,784,799.555499924,650.444500076,628.555499924,651,0.40110911936,0.00452321924864,0.0598996509117,0.999999975813,0.000147366472562,-0.000162003364541,2.02787551511e-05,1793192953916135680
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.858537937,711,672,664,632,877,783.858537937,799.858537937,650,629,651,0.401172195249,0.00452139142372,0.0599143452335,0.999999979968,0.000144301021413,-0.000137231884483,2.02369317976e-05,1793192953932802560
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.279486227,711,672,664,632,877,783.279486227,799.279486227,650,629,651,0.401246142804,0.00452147384957,0.0599242761759,0.999999981587,0.000143951951673,-0.000125263127772,2.03448038975e-05,1793192953949469184
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671.700791757,664,632,877,783,799,650,629,651,0.40132709109,0.00452204291256,0.0599298664228,0.999999982611,0.000143501646288,-0.000117468731962,1.96691845938e-05,1793192953966135808
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,671.122430615,664,632,877,783,799,650,629,651,0.401414570856,0.00452306599435,0.0599314069218,0.999999983166,0.000142956890917,-0.00011356889852,1.82625897803e-05,1793192953982802432
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.451299385,742.451299385,711,671.451299385,664.451299385,632.451299385,877,783.451299385,799,650,628.548700615,651,0.401525462681,0.00452144793799,0.0599354568519,0.999999984611,0.000138644162362,-0.000106095342131,1.72861761679e-05,1793192953999470080
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.97549268,743,710.97549268,672,664.97549268,632.97549268,877,784,799,650,628.02450732,651,0.401643423677,0.00451920510229,0.0599399332586,0.999999986165,0.000133479914663,-9.79004013022e-05,1.6383549067e-05,1793192954016137472
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.385639943,743,710.385639943,672,664.385639943,632.385639943,877,784,799,650,628.614360057,651,0.401779432335,0.00451891023577,0.0599387030307,0.999999986649,0.000132013334427,-9.52018384984e-05,1.45182839815e-05,1793192954032803328
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.798888803,710.201111197,672,664,632.201111197,877,783.798888803,799.201111197,650,629,651,0.401929566572,0.00451830513808,0.0599379808334,0.999999987357,0.000129502566353,-9.14217022889e-05,1.24972203173e-05,1793192954049469696
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.217994856,710.782005144,672,664,632.782005144,877,783.217994856,799.782005144,650,629,651,0.402106375843,0.0045171141931,0.0599382180121,0.99999998847,0.000125019931454,-8.55990996774e-05,1.01819434452e-05,1793192954066136320
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.64104479,877,783,799.64104479,650,629,651,0.402303702642,0.00451605300161,0.0599399663936,0.999999989832,0.000118670351268,-7.86900540051e-05,7.8557908123e-06,1793192954082802944
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.066463773,877,783,799.066463773,650,629,651,0.402513354417,0.00451506975344,0.0599426225604,0.999999991272,0.000111199289268,-7.11283771497e-05,5.52310484425e-06,1793192954099469824
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.493462442,742,711,672,664,632,876.493462442,783,799.506537558,650,629,651,0.402753801012,0.00451354937566,0.0599419514617,0.999999992522,0.000101592733639,-6.80492687799e-05,1.94221373648e-06,1793192954116136448
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.082358667,742,711,672,664,632.082358667,876,783,799.917641333,650,628.917641333,651,0.403003553711,0.00451197196416,0.0599411756049,0.999999993585,9.24700440857e-05,-6.53920626647e-05,-1.59342852409e-06,1793192954132803328
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.677004888,742,711,672,664,632.677004888,876,783,799.322995112,650,628.322995112,651,0.403286136853,0.004510476814,0.059942455285,0.999999994208,8.80945912113e-05,-6.1712032353e-05,-3.83204154694e-06,1793192954149469952
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.26454413,711,672,664,632.73545587,876.26454413,783,799,650,628.26454413,651,0.403585349942,0.00450659953357,0.059937761373,0.999999994682,7.74965778666e-05,-6.77162907351e-05,-6.7352805512e-06,1793192954166136320
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.843633085,711,672,664,632.156366915,876.843633085,783,799,650,628.843633085,651,0.40390433614,0.00449988988362,0.0599259648179,0.999999994543,5.94998966888e-05,-8.52352365169e-05,-1.04287643738e-05,1793192954182802688
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.581051957,711,672,664.418948043,632.418948043,877,783,799.418948043,650,629,651,0.404239563308,0.00448270986093,0.059913729925,0.999999993786,3.14432499721e-05,-0.00010635768713,-1.12820264557e-05,1793192954199469312
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.007133032,711,672,664.992866968,632.992866968,877,783,799.992866968,650,629,651,0.404580798081,0.0044616567975,0.0599013328892,0.999999991642,-3.34625680992e-07,-0.000128813090877,-1.10846768551e-05,1793192954216135936
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663.862638972,633,877,783,799.431319486,650,629,651,0.404975250539,0.00446265740968,0.0598928617408,0.999999989046,-8.23100308604e-06,-0.000146904919968,-1.61227499356e-05,1793192954232803072
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.148822159,711,672,663.297644318,633,876.851177841,783,799,650,629,650.851177841,0.405388783407,0.00446394819063,0.0598905252847,0.999999987771,-1.52051047155e-05,-0.000154219675635,-2.10275215172e-05,1793192954249469696
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.74180992,711,672,664.48361984,633,876.25819008,783,799,650,629,650.25819008,0.405857263556,0.00446527664236,0.0599063506026,0.999999991083,-2.03236397769e-05,-0.000129533725999,-2.53378030249e-05,1793192954266136576
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.325068522,743,711,672,664.674931478,633,876.325068522,783,799.325068522,650,629,650.325068522,0.406374163236,0.00446123253819,0.0599328555893,0.999999995521,-3.25643107072e-05,-8.40080289365e-05,-2.90029720642e-05,1793192954282803456
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.900824228,743,711,672,664.099175772,633,876.900824228,783,799.900824228,650,629,650.900824228,0.406928403264,0.0044530452126,0.0599675965524,0.999999997966,-5.02974492843e-05,-2.24110785811e-05,-3.21706419746e-05,1793192954299470336
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.524517877,743,711,672,664,632.524517877,877,783,799.524517877,650,629,651,0.407472599839,0.00445282797818,0.0599840955514,0.999999997651,-5.79998651613e-05,-1.758159816e-06,-3.6482159006e-05,1793192954316136704
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632,877,783,799,650,629,650.948947209,0.408013829026,0.00445361619409,0.0599944395408,0.999999997071,-6.4335265781e-05,6.17788153244e-06,-4.10088773649e-05,1793192954332803072
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632,877,783,799,650,629,650.361383047,0.408545838473,0.00444754083434,0.0599799942164,0.999999995464,-7.82409766432e-05,-2.99865574513e-05,-4.52956579975e-05,1793192954349469440
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.776193526,711,672,664,632,877,783,799,650,628.776193526,650,0.409110262778,0.00444366606194,0.0599675931015,0.99999999312,-8.76583931798e-05,-6.03782690213e-05,-4.93060416747e-05,1793192954366136064
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.194798146,711,672,664,632,877,783,799,650,628.194798146,650,0.409726478197,0.00444330729911,0.0599584581424,0.999999991236,-8.99045944154e-05,-8.1546548793e-05,-5.28748093259e-05,1793192954382802688
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.382110012,742.382110012,711.382110012,672,664.382110012,632.382110012,877,783,799,650,628.382110012,650.382110012,0.410398597111,0.00444835992727,0.0599627260057,0.999999997082,-1.70169581746e-05,-6.40740802675e-05,-3.79597902136e-05,1793192954399469824
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.956757138,742.956757138,711.956757138,672,664.956757138,632.956757138,877,783,799,650,628.956757138,650.956757138,0.411098884589,0.00445613924034,0.0599737472667,0.999999995145,9.37290220661e-05,-2.71313586124e-05,-1.37311832759e-05,1793192954416136960
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.466942968,743,711.466942968,672,664.466942968,633,877,783,799,650,628.466942968,650.466942968,0.41178369344,0.00445589813918,0.0599685293294,0.999999998838,-2.63241589861e-05,-3.59575169761e-05,-1.84098465019e-05,1793192954432803328
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.887376383,711,672,664.112623617,633,877.112623617,783.112623617,799,649.887376383,628,650,0.412461143582,0.00445426230284,0.0599571123654,0.999999988081,-0.000140686643188,-5.85953878495e-05,-2.47317365733e-05,1793192954449469952
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.294452226,711,672,664.705547774,633,877.705547774,783.705547774,799,649.294452226,628,650,0.413112582829,0.00444946176918,0.0599248942779,0.999999980535,-0.000150684913592,-0.000124252012825,-2.80295886696e-05,1793192954466136320
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.290118256,711,672,664.709881744,633,877.709881744,783.709881744,799.290118256,649.290118256,628.290118256,650.290118256,0.413820218314,0.00444781452927,0.0599082668586,0.999999976589,-0.000145557848458,-0.000157314543773,-2.97967811162e-05,1793192954482802944
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.866447634,711,672,664.133552366,633,877.133552366,783.133552366,799.866447634,649.866447634,628.866447634,650.866447634,0.414583293298,0.00444927811594,0.0599070201382,0.999999979155,-0.000125509148068,-0.000158221945962,-3.00539283654e-05,1793192954499469568
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,711,672.441058892,664.441058892,632.558941108,877,783,799.558941108,650,629,650.558941108,0.415432187075,0.00444455223006,0.0599503305309,0.99999998922,-0.00011942268517,-7.98502363046e-05,-3.03768401244e-05,1793192954516136448
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.984893905,711,672.984893905,665,632,877.015106095,783,799,650,629,650.015106095,0.416304809884,0.00443811235269,0.0600057072661,0.999999992463,-0.000117221175486,1.97406910076e-05,-3.07195249423e-05,1793192954532802816
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.412535931,711,672.412535931,665,632,877.587464069,783,799,650,629,650.587464069,0.417097901024,0.00443731299221,0.060010428926,0.999999994016,-0.000102979108722,1.99781322952e-05,-3.10598920645e-05,1793192954549470208
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.167012835,711,672,665,632,878,783,799.167012835,650,629,651,0.41789319986,0.00443608879597,0.06000743771,0.999999995286,-9.08948028519e-05,1.19440540443e-05,-3.1992778602e-05,1793192954566137088
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.765122581,711,672,665,632,878,783,799.765122581,650,629,651,0.418694197196,0.00443376800513,0.0599845378621,0.999999995694,-8.4380153948e-05,-1.74406379739e-05,-3.44550882292e-05,1793192954582803200
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,711,672.348940072,665,632,878,783,799.651059928,650,629,650.651059928,0.419500369529,0.00443255620973,0.0599582332045,0.999999994815,-7.65661274684e-05,-5.6730797018e-05,-3.58945365423e-05,1793192954599469824
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,711,672.92351572,665,632,878,783,799.07648428,650,629,650.07648428,0.420309888145,0.00443206152559,0.0599297268913,0.999999991776,-6.79118829115e-05,-0.000102426139998,-3.66725705568e-05,1793192954616136448
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,711,672.502062577,665,632.497937423,877.502062577,783,799,650,629,650,0.421119416654,0.00443079449619,0.0598997536595,0.99999998431,-6.36625712222e-05,-0.000161013150435,-3.74489913423e-05,1793192954632803072
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,710.925857114,672,664.925857114,632.925857114,877.074142886,783,799,650,629,650,0.421935333628,0.00442902983928,0.0598745259039,0.99999997509,-6.17983668872e-05,-0.000211035643729,-3.82701041648e-05,1793192954649469952
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,710.33710722,672,664.33710722,632.33710722,877.66289278,783,799,650,629,650,0.42279558039,0.00442463442998,0.0598837987305,0.999999978998,-7.17938832504e-05,-0.000187874226525,-3.94031328583e-05,1793192954666136320
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.248305242,742.751694758,710.248305242,672.248305242,664.248305242,632.248305242,878,783,799.248305242,650,628.751694758,650.248305242,0.423690303209,0.00441972418843,0.0599187718988,0.999999987339,-8.76330331916e-05,-0.00012683663411,-3.94220998436e-05,1793192954682803200
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.829246874,742.170753126,710.829246874,672.829246874,664.829246874,632.829246874,878,783,799.829246874,650,628.170753126,650.829246874,0.424631211203,0.00441412426309,0.0599881739381,0.999999992973,-0.000111300472741,-1.50590927715e-05,-3.79486395774e-05,1793192954699470080
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,742.405803953,711,672.594196047,665,632.594196047,878,783,800,650,628.405803953,651,0.425517002663,0.0044111749392,0.0600134387461,0.999999990948,-0.000126450310749,2.59275511877e-05,-3.7968920274e-05,1793192954716136704
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,742.980535797,711,672.019464203,665,632.019464203,878,783,800,650,628.980535797,651,0.426379850181,0.00440932900686,0.0600203301226,0.999999989024,-0.000138054444297,3.7445384792e-05,-3.86110150152e-05,1793192954732803328
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,742.43480185,711,672.56519815,665,632,877.43480185,783,799.43480185,650,628.43480185,650.43480185,0.427221858042,0.00440590115338,0.0599971365515,0.999999989923,-0.000135251955303,1.40823394665e-05,-4.07673295009e-05,1793192954749470208
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.850867779,742.149132221,711,673,665,632,877.149132221,783,799,650,628.149132221,650.149132221,0.428056310931,0.00440375035174,0.0599740418627,0.999999990441,-0.000131023642153,-1.16426105345e-05,-4.26034890199e-05,1793192954766136832
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.270049497,742.729950503,711,673,665,632,877.729950503,783,799,650,628.729950503,650.729950503,0.428871009323,0.0044054566875,0.0599542860764,0.999999990529,-0.000124129879721,-4.06651472994e-05,-4.33592654075e-05,1793192954782802944
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632.309979503,878,783.309979503,799,650,629,650.690020497,0.429664165998,0.00442007399477,0.0599323821025,0.99999999061,-0.000101826358122,-8.06633556572e-05,-4.36381806969e-05,1793192954799469312
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632.889322608,878,783.889322608,799,650,629,650.110677392,0.430438603478,0.00444591057854,0.0599086114141,0.999999988391,-6.6132182801e-05,-0.000130199116893,-4.35027167626e-05,1793192954816135936
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632.53561524,878,783.53561524,799,650,629,650,0.431288288335,0.00446085244529,0.0599303469817,0.999999994329,-4.3718141804e-05,-8.5866858478e-05,-4.53586966775e-05,1793192954832803072
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.039382849,743,711,673,665,632,877.960617151,783.039382849,799,650,629,650.039382849,0.432152361072,0.00447122420912,0.0599628424465,0.999999998299,-2.70241269193e-05,-2.07104169874e-05,-4.73614931936e-05,1793192954849469952
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.627575667,743,711,673,665,632,877.372424333,783.627575667,799,650,629,650.627575667,0.432969302399,0.00445376350577,0.0599955246404,0.999999997589,-4.63369631434e-05,2.57288581523e-05,-4.48566352707e-05,1793192954866136576
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.786914594,743,711,673.213085406,665,632,877.213085406,783.786914594,799,649.786914594,629,650.786914594,0.433753420949,0.00444302547515,0.0600044365619,0.999999996854,-5.60940475152e-05,3.51709098965e-05,-4.36755791196e-05,1793192954882803200
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.20603585,743,711,673.79396415,665,632,877.79396415,783.20603585,799,649.20603585,629,650.20603585,0.434480886296,0.00444389102483,0.0599723201148,0.999999997594,-4.93575519913e-05,-1.92456143931e-05,-4.47794537241e-05,1793192954899469568
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,632.371357046,878,783,799.371357046,649,629,650,0.435185885124,0.00444158564066,0.0599418759312,0.999999995256,-4.76456497443e-05,-7.18883857308e-05,-4.5281202358e-05,1793192954916136192
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665,632.94683388,878,783,799.94683388,649,629,650,0.435878534979,0.00443753732373,0.0599123509246,0.999999990148,-4.86955613837e-05,-0.000123556194208,-4.5451986844e-05,1793192954932803072
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.477518804,711,673.477518804,665,633,878,783.522481196,799.477518804,649.522481196,629,650,0.436576483519,0.00443201812585,0.0599136926924,0.99999999042,-5.49972596684e-05,-0.0001182532619,-4.63761242256e-05,1793192954949469696
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.100878149,742.100878149,711,673.100878149,665,632.899121851,878,783.899121851,799,649.899121851,629,650,0.43726483908,0.00442763872749,0.059916788958,0.999999990787,-5.95890075593e-05,-0.000112490872868,-4.71205544878e-05,1793192954966136064
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.69256874,742.69256874,711,673.69256874,665,632.30743126,878,783.30743126,799,649.30743126,629,650,0.437903896777,0.00442953336244,0.0599131347845,0.999999988689,-5.32602170274e-05,-0.000132707803562,-4.66175398532e-05,1793192954982802944
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,711,673.722620846,665,632,878,783.277379154,799.277379154,649.277379154,629,650,0.438540179554,0.00442774478573,0.0599143260694,0.999999988623,-4.647031905e-05,-0.000136494021682,-4.43123150156e-05,1793192954999469824
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,711,673.145251495,665,632,878,783.854748505,799.854748505,649.854748505,629,650,0.439173461164,0.00442197275386,0.0599207577986,0.999999990926,-3.91817260761e-05,-0.000122510147956,-4.00579697306e-05,1793192955016136448
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.570271691,743,711,673,665,632,878,783.570271691,799.570271691,649.570271691,629,650,0.439783171113,0.00441947648883,0.0599395355951,0.999999993682,-4.22324179214e-05,-9.61461257605e-05,-4.01018418001e-05,1793192955032802816
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.003996947,743,711,673.003996947,665,632,878.003996947,783.003996947,799.003996947,649.003996947,629,650.003996947,0.440384311357,0.00441812223928,0.0599621449142,0.999999995762,-4.8737471645e-05,-6.61013686281e-05,-4.15977205937e-05,1793192955049469440
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.59170206,743,711,673.59170206,665,632,878.59170206,783.59170206,799.59170206,649.59170206,629,650.59170206,0.440891051203,0.00442274153144,0.0599382454954,0.999999992019,-5.21652844414e-05,-0.000106259287415,-4.4146512236e-05,1793192955066136064
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.82269394,743,711,673.82269394,664.82269394,632,878.82269394,783.82269394,799.82269394,650,629,650.82269394,0.441373538404,0.00442622209364,0.0599044247183,0.999999983226,-7.40312187081e-05,-0.000160828740641,-4.69296295737e-05,1793192955082803200
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.241871574,743,711,673.241871574,664.241871574,632,878.241871574,783.241871574,799.241871574,650,629,650.241871574,0.441800831103,0.0044271111147,0.0598480247318,0.999999958434,-0.000137858960329,-0.000248196229181,-5.0246029815e-05,1793192955099470336
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.664229666,711,673.335770334,663.664229666,632,878,783,799,650,629,650,0.442222171652,0.00443013770119,0.0598053368073,0.999999937811,-0.000158011628381,-0.000310832807188,-5.28512732038e-05,1793192955116136704
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.088857331,711,673.911142669,663.088857331,632,878,783,799,650,629,650,0.442639264788,0.00443468963068,0.0597724336622,0.999999924382,-0.000146998243401,-0.000355821676599,-5.49490429365e-05,1793192955132803328
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.483515504,711,674,663,632,878,783,799.483515504,650,629,650,0.443041140184,0.00444463201689,0.0597656607875,0.999999924316,-0.000124880801129,-0.000364620596728,-5.31390075529e-05,1793192955149470464
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,674,663,631.942213694,878,783,800,650,628.942213694,650,0.443439627886,0.00445742709508,0.05976506578,0.999999927656,-9.62351856061e-05,-0.000364579786711,-5.00864959817e-05,1793192955166137600
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711,674,663,631.345116603,878,783,800,650,628.345116603,650,0.443832438266,0.00448765757923,0.0597775873629,0.999999939712,-2.55906076743e-05,-0.000343726907238,-4.20992149521e-05,1793192955182803456
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.756031311,711,674,662.756031311,631.243968689,878,783,800,650,628.243968689,650,0.444192567695,0.00450788219502,0.0597842094496,0.999999943239,2.08499704313e-05,-0.000334183349578,-3.75460948855e-05,1793192955199469568
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.177919157,711,674,662.177919157,631.822080843,878,783,800,650,628.822080843,650,0.444507936731,0.00451440260907,0.0597827514899,0.999999940863,3.41403527202e-05,-0.0003401292258,-3.76964581505e-05,1793192955216136192
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.603330799,742.396669201,711,674,661.603330799,631.603330799,878,783,799.603330799,650,628.603330799,650,0.444777874005,0.00451544638367,0.0597666947004,0.999999930555,3.59045833985e-05,-0.000368862415709,-3.92480952034e-05,1793192955232802560
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.030309013,742.969690987,711,674,661.030309013,631.030309013,878,783,799.030309013,650,628.030309013,650,0.445027613093,0.00451405533526,0.0597441475119,0.999999915492,3.25444782483e-05,-0.000407726469577,-4.14227154399e-05,1793192955249469184
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.543857985,743,711,674,661,631,878,783,799.543857985,650,628.543857985,650.543857985,0.445244045218,0.00452003202246,0.0597271753988,0.999999902169,3.74650321926e-05,-0.000438548564134,-4.39759853697e-05,1793192955266136064
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.286235172,711,674,660.286235172,631,878,783,800,649.286235172,629,651,0.445658484103,0.00453054410817,0.0597084352342,0.99999988675,4.60308751359e-05,-0.000471091156239,-4.95506484865e-05,1793192955299469568
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.700077391,742.299922609,711,673.700077391,660,631,878,783,799.700077391,649.299922609,629,650.700077391,0.445847448574,0.0045390365942,0.0597072062746,0.999999885275,5.39820077239e-05,-0.000473043147534,-5.25873356484e-05,1793192955316136192
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.119405292,742.880594708,711,673.119405292,660,631,878,783,799.119405292,649.880594708,629,650.119405292,0.446023859675,0.00455125684745,0.0597091015393,0.999999885681,6.604532122e-05,-0.000470288308517,-5.572612402e-05,1793192955332802560
+205,3.416666667,POSE1_TO_POSE2_PRESS,763,743,711,673.454151227,660,630.545848773,878,783,799.454151227,649.545848773,629,650.454151227,0.446175502461,0.00455523164528,0.0597130363677,0.999999888172,7.07364800539e-05,-0.000464147790273,-5.67419001738e-05,1793192955349469440
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+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,711,674.279932956,659,630,878.360033522,782.639966478,799.639966478,650,629,650.639966478,0.446685287496,0.00455876627621,0.059705511609,0.999999881887,7.86567199763e-05,-0.000476180127126,-5.73687323909e-05,1793192955432803328
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+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742,711,673.50775295,659,630,878.49224705,782,799.50775295,650,629,650,0.446795369258,0.00455875442552,0.059701190948,0.999999879248,7.98455752705e-05,-0.000481529324049,-5.70765415965e-05,1793192955466136320
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+221,3.683333333,POSE1_TO_POSE2_PRESS,763.25253737,743,711,673.25253737,658,630,878,782.25253737,799.74746263,650,628.74746263,650,0.44694714856,0.00455986714903,0.0596880505995,0.999999871014,8.56477039352e-05,-0.000497481456027,-5.61083014126e-05,1793192955616136448
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.322599449,743,711,673,658,630,878,782.322599449,799.677400551,650,629,650,0.446948122627,0.00456102538922,0.0596869557642,0.999999870001,8.6854042217e-05,-0.000499281351744,-5.63255190396e-05,1793192955632802560
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.893981733,743,711,673,658,630,878,782.893981733,799.106018267,650,629,650,0.446949074943,0.00456329706545,0.0596861640418,0.9999998691,8.89653964488e-05,-0.000500677682912,-5.66281814449e-05,1793192955649469184
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.518677524,711,673,658.481322476,630,878,782.518677524,799.481322476,650,628.518677524,650,0.44695024414,0.00456310173045,0.0596866898989,0.999999869544,8.84738135147e-05,-0.00049988960804,-5.65141971872e-05,1793192955666136064
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.931180412,742.068819588,711,673,658.931180412,630,878,782,800,650,628,650.068819588,0.446951422188,0.00456231075638,0.0596873975559,0.999999870208,8.7440727484e-05,-0.00049877166598,-5.62525463203e-05,1793192955682802944
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.368643462,742.631356538,711,673,658.368643462,630,878,782,800,650,628,650.631356538,0.446952309273,0.00456127866324,0.059687256029,0.999999870259,8.67770534629e-05,-0.000498857388398,-5.56124838381e-05,1793192955699469568
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,742.794379369,711,673,658,630,878,782,799.794379369,650,628.205620631,650.794379369,0.44695293749,0.00456117041169,0.0596870321379,0.999999870047,8.71132185864e-05,-0.000499261798947,-5.52667830172e-05,1793192955716136448
+228,3.800000000,POSE1_TO_POSE2_PRESS,763,742.197818872,711,673,658,630,878,782,799.197818872,650,628.802181128,650.197818872,0.446953073531,0.00456281863039,0.0596866516507,0.999999869333,8.93503456289e-05,-0.000500272120947,-5.54807425561e-05,1793192955732803584
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.381114635,742,711,673,658,630,878,782,799,650,629,650,0.446952065597,0.00456327474813,0.0596854919108,0.999999868453,9.00051676127e-05,-0.000501884121934,-5.5730591843e-05,1793192955749469952
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.951303237,742,711,673,658,630,878,782,799,650,629,650,0.446950490129,0.00456313945517,0.0596839455777,0.999999867489,8.98749955525e-05,-0.000503794620566,-5.59982463096e-05,1793192955766136320
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.457999524,742,711,673.542000476,658,630,878,782,799.542000476,650,629,650,0.446952205575,0.00456196031372,0.0596846156084,0.99999986823,8.9066575436e-05,-0.000502518427228,-5.55116986313e-05,1793192955782802944
+232,3.866666667,POSE1_TO_POSE2_PRESS,763,742.131596785,711,674,658,630,878,782.131596785,800,649.868403215,629,650.131596785,0.446953402394,0.00456120747699,0.0596851878973,0.999999868681,8.88999734595e-05,-0.000501703844295,-5.50221239579e-05,1793192955799469312
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742.710931412,711,674,658,630,878,782.710931412,800,649.289068588,629,650.710931412,0.446951789113,0.00456223671816,0.0596847234732,0.999999867606,9.11325455878e-05,-0.000503472264596,-5.47618682038e-05,1793192955816135936
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.289454537,743,711,673.710545463,658,630,878,783,799.710545463,649.289454537,628.710545463,651,0.446951859434,0.00456361326801,0.0596847679208,0.999999867537,9.2088689291e-05,-0.000503400603402,-5.50805662583e-05,1793192955832802816
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.867169577,743,711,673.132830423,658,630,878,783,799.132830423,649.867169577,628.132830423,651,0.446953606412,0.00456533569396,0.0596853191407,0.999999868473,9.17736702495e-05,-0.000501496451474,-5.59758298398e-05,1793192955849469440
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673.441445632,658.441445632,630,878,783,799.441445632,650,628.441445632,650.558554368,0.446954084757,0.00456511704681,0.059685206476,0.999999868439,9.23965191232e-05,-0.000501477585611,-5.57232979662e-05,1793192955866136064
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,674.015152556,659,630,878,783,800,650,629,650,0.446954196615,0.00456431123471,0.0596849289939,0.99999986814,9.3230931577e-05,-0.000501982511858,-5.51479015078e-05,1793192955882802944
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,674.606256377,659,630,878,783,800,650,629,650,0.446954775669,0.00456321603395,0.0596859210692,0.999999868786,9.14632373395e-05,-0.000501001130171,-5.5326468086e-05,1793192955899469824
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.806607874,742.806607874,711,674.613215749,658.806607874,630,878,783,799.806607874,650,628.806607874,650,0.446954847863,0.00456232113958,0.0596862249633,0.999999868894,9.03652220847e-05,-0.000500989660486,-5.52705792919e-05,1793192955916136192
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.227388669,742.227388669,711,673.454777337,658.227388669,630,878,783,799.227388669,650,628.227388669,650,0.446953908848,0.0045618258667,0.0596851559011,0.999999867936,9.06032504051e-05,-0.000502913214397,-5.47469401521e-05,1793192955932802816
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.349567053,742.349567053,711,673.349567053,658,630,878,783,799.349567053,650,628,650,0.446954220862,0.00456269822802,0.0596856543662,0.999999868039,9.13866290533e-05,-0.00050257296395,-5.46917022101e-05,1793192955949469440
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.925059858,742.925059858,711,673.925059858,658,630,878,783,799.925059858,650,628,650,0.44695534142,0.00456445449355,0.0596871659268,0.999999868826,9.25224684926e-05,-0.000500769613002,-5.49391927411e-05,1793192955966136064
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.489668392,711,673.489668392,658,630,878,782.489668392,800,650,628.510331608,650,0.446954290741,0.00456406956829,0.0596854680278,0.999999867728,9.38875867267e-05,-0.000502726763317,-5.47245618435e-05,1793192955982802944
+244,4.066666667,HOLD_POSE2,764,743,710,673,658,630,878,782,799,650,629,651,0.446956489042,0.00456358394448,0.0596869891941,0.99999986894,9.06832049745e-05,-0.000500932512083,-5.44305049537e-05,1793192956025481984
+245,4.083333333,HOLD_POSE2,764,743,710.577322051,673.577322051,658,630,878,782,799,649.422677949,629,650.422677949,0.446956225259,0.00456333659968,0.0596868774574,0.999999868582,9.12741952858e-05,-0.000501548750433,-5.43553750111e-05,1793192956042148864
+246,4.100000000,HOLD_POSE2,763.846239817,742.846239817,711,674,658,630,878,782.153760183,799,649,629,650,0.446956332764,0.00456291671436,0.0596868400264,0.999999868537,9.13297085712e-05,-0.000501624835897,-5.43742932274e-05,1793192956058815488
+247,4.116666667,HOLD_POSE2,763.272217513,742.272217513,711,674,658,630,878,782.727782487,799,649,629,650,0.446957455082,0.00456202523584,0.0596870056899,0.999999869351,8.99216395026e-05,-0.000500224558806,-5.46502667837e-05,1793192956075481600
+248,4.133333333,HOLD_POSE2,763,742.310771852,711,673.689228148,658,630,878,783,799.310771852,649.310771852,629,650.310771852,0.446957532318,0.0045615885824,0.059686806095,0.999999869295,8.93900282378e-05,-0.000500434484225,-5.4624351097e-05,1793192956092147712
+249,4.150000000,HOLD_POSE2,763,742.901849162,711,673.098150838,658,630,878,783,799.901849162,649.901849162,629,650.901849162,0.446956666926,0.00456156216549,0.0596862770496,0.999999868455,8.96489516676e-05,-0.000502096756673,-5.43261417429e-05,1793192956108814336
+250,4.166666667,HOLD_POSE2,763.482873401,743,711,673,658,630,878,783,800,650,629,651,0.446957300869,0.00456067199554,0.0596860808498,0.999999868758,8.93259136479e-05,-0.000501541736047,-5.44149455809e-05,1793192956125481216
+251,4.183333333,HOLD_POSE2,763.938551158,743,711,673,658,630,878,782.938551158,800,649.938551158,629,650.938551158,0.446957848307,0.0045596716867,0.0596858365261,0.999999869112,8.87058326023e-05,-0.000500929610303,-5.45667683692e-05,1793192956142148608
+252,4.200000000,HOLD_POSE2,763.363710665,743,711,673,658,630,878,782.363710665,800,649.363710665,629,650.363710665,0.446955178737,0.00455918812469,0.0596846364193,0.999999867991,8.65721686784e-05,-0.000503529056005,-5.46012684561e-05,1793192956158815232
+253,4.216666667,HOLD_POSE2,763,742.78882176,711,673,658,630,878,782.21117824,799.78882176,649.21117824,629,650.21117824,0.446954008603,0.00455968424366,0.0596842219981,0.999999867497,8.66370186605e-05,-0.000504496436979,-5.46197485465e-05,1793192956175481856
+254,4.233333333,HOLD_POSE2,763,742.213849515,711,673,658,630,878,782.786150485,799.213849515,649.786150485,629,650.786150485,0.446955421529,0.00456186804636,0.0596851610673,0.999999868085,9.04892201552e-05,-0.000502652281016,-5.4610631194e-05,1793192956192147968
+255,4.250000000,HOLD_POSE2,763.371359093,742.371359093,711,673,658,630,878.371359093,783.371359093,799,650,628.628640907,650.628640907,0.446957141504,0.00456246239187,0.0596859316203,0.999999868714,9.22852442741e-05,-0.000501072747703,-5.45973452119e-05,1793192956208814336
+256,4.266666667,HOLD_POSE2,763.962629522,742.962629522,711,673,658,630,878.962629522,783.962629522,799,650,628.037370478,650.037370478,0.446959043307,0.00456211549324,0.0596866023815,0.999999869374,9.28636421476e-05,-0.000499649918392,-5.45815906513e-05,1793192956225480960
+257,4.283333333,HOLD_POSE2,764,742.458201116,711,673.541798884,658,630,878.458201116,783.458201116,799,650,628.541798884,650,0.446957111808,0.0045618165392,0.0596858171514,0.999999868178,9.28768723506e-05,-0.000502064982311,-5.42992947581e-05,1793192956242147584
+258,4.300000000,HOLD_POSE2,763.880459488,742.119540512,711,673.880459488,658,630,878.119540512,782.880459488,799.119540512,650,629,650,0.446955739502,0.00456176776726,0.0596854378123,0.999999867418,9.29022532354e-05,-0.000503592724373,-5.41113761983e-05,1793192956258814208
+259,4.316666667,HOLD_POSE2,763.3050489,742.6949511,711,673.3050489,658,630,878.6949511,782.3050489,799.6949511,650,629,650,0.446957485962,0.00456266073391,0.0596869809587,0.999999868812,9.31193830999e-05,-0.000500749195532,-5.43519458405e-05,1793192956275481088
+260,4.333333333,HOLD_POSE2,763.276226305,742.723773695,711,673,658,630,879,782.276226305,799.723773695,649.723773695,628.723773695,650,0.446958100039,0.0045624849028,0.0596873518074,0.999999869332,9.1938883115e-05,-0.000499934546668,-5.43037121296e-05,1793192956292147712
+261,4.350000000,HOLD_POSE2,763.864118516,742.135881484,711,673,658,630,879,782.864118516,799.135881484,649.135881484,628.135881484,650,0.44695743645,0.00456110314803,0.0596863999534,0.999999868864,8.91814385369e-05,-0.000501409081541,-5.39296218244e-05,1793192956308814848
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,630,878,783,799,650,629,650,0.446960288771,0.00456335481192,0.0596876577673,0.999999870273,9.19419595987e-05,-0.000498041810176,-5.43546854198e-05,1793192956341594880
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.576647048,711,673.576647048,658,630,878,782.423352952,799,650,629,650,0.446958152685,0.00456204730069,0.0596859539324,0.999999868968,9.04996451023e-05,-0.000500874667062,-5.47608797424e-05,1793192956358261504
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.8464697,743,711,674,658,630,878,782,799,650,628.8464697,650,0.446956793332,0.00456108202403,0.0596848580193,0.999999868132,8.98286605633e-05,-0.000502643499219,-5.49239678699e-05,1793192956374928128
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.268933991,743,711,674,658,630,878,782,799,650,628.268933991,650,0.44695757909,0.00456106189802,0.0596854410064,0.999999868615,9.12878615707e-05,-0.000501473809514,-5.4415668474e-05,1793192956391594752
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.315995118,743,711,673.684004882,658,630,878,782,799,650,628.315995118,650,0.446958106046,0.00456064163951,0.0596864291048,0.99999986924,9.06713009696e-05,-0.000500384859198,-5.3971030433e-05,1793192956408261120
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.907367242,743,711,673.092632758,658,630,878,782,799,650,628.907367242,650,0.446958407468,0.00455987268166,0.0596877702413,0.999999869987,8.82457977239e-05,-0.000499366270072,-5.35818707266e-05,1793192956424927488
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.514410537,711,673,658,630,878,782.485589463,799,650,628.514410537,650.485589463,0.446954977453,0.00456137803724,0.0596852663911,0.999999867981,8.96662286831e-05,-0.00050306067697,-5.41162122752e-05,1793192956441594368
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.06152778,711,673,658,630,878,783,799,650,628.06152778,651,0.446949485879,0.00456320364162,0.0596815678993,0.999999865021,9.17895963051e-05,-0.000508465100137,-5.473699691e-05,1793192956458260992
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.638794508,711,673,658,630,878,783,799,650,628.638794508,651,0.446932523213,0.00456417285145,0.0596738417729,0.999999858456,9.3817546651e-05,-0.000520865767629,-5.46446035344e-05,1793192956474927616
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.214203278,658,630,877.785796722,783,799,650,629,651,0.446905277692,0.0045648277111,0.0596611164138,0.999999847634,9.43257470213e-05,-0.000541140360424,-5.47896641074e-05,1793192956491594240
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.786505908,658,630,877.213494092,783,799,650,629,651,0.446860841569,0.00456495704838,0.0596400334709,0.99999982914,9.22932694895e-05,-0.000574578370878,-5.53316938641e-05,1793192956508261120
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,658,630,877.373775999,783,799.373775999,650,628.626224001,650.626224001,0.446805099119,0.00456447474868,0.0596211420357,0.999999813938,9.23522304159e-05,-0.00060042085021,-5.55812160638e-05,1793192956524927488
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,658,630,877.969951912,783,799.969951912,650,628.030048088,650.030048088,0.446742629304,0.00456362851976,0.0596035545643,0.999999800783,9.36556149164e-05,-0.000621743926842,-5.56566938232e-05,1793192956541594112
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.453869726,711,674,658,630,878,782.453869726,799.453869726,650,628.546130274,650.546130274,0.446668198756,0.00456592120478,0.0595973706949,0.999999795041,9.77632264622e-05,-0.000630305248811,-5.54577996109e-05,1793192956558260736
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.878740433,658,630,878,782.121259567,799,650,628.878740433,650.878740433,0.446589452316,0.00456789381285,0.0595934942063,0.999999791139,0.000101290224387,-0.000635946982294,-5.50804963992e-05,1793192956574927616
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.303564821,658,630,878,782.696435179,799,650,628.303564821,650.303564821,0.446496926396,0.0045680446136,0.0595959893237,0.999999792858,0.000102086634387,-0.000633195250032,-5.40898604073e-05,1793192956591594496
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.72186908,742,710.72186908,673.27813092,658,630,878,782.72186908,799,650,628,650,0.44639216223,0.00456855824653,0.0595981395463,0.999999794088,0.000104490990582,-0.000630952896262,-5.29611398827e-05,1793192956608261120
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.132886175,742,710.132886175,673.867113825,658,630,878,782.132886175,799,650,628,650,0.446273720039,0.00456947739749,0.0595999042985,0.999999794761,0.000108692461787,-0.000629279847625,-5.16780897548e-05,1793192956624927744
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.027536983,742,711,673,658,630,878.027536983,782,799,650,629,650,0.445963752488,0.00457072338897,0.0596033063945,0.999999795025,0.000113522677025,-0.000628275986977,-4.82959362327e-05,1793192956658260992
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.989674641,742,710,673,660.989674641,631,878,783,800,649.010325359,628.010325359,650.010325359,0.442219411306,0.00458897400118,0.0596744392139,0.999999847679,0.000209940404463,-0.000510405672166,-7.27100738158e-06,1793192956858260736
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.279722042,742.279722042,711,673.720277958,662.720277958,631.720277958,878.720277958,782.720277958,799,649.720277958,629,650,0.44063907958,0.00459341492728,0.0597062179185,0.999999858069,0.000246029215133,-0.00047248492967,9.44408929211e-06,1793192956908261632
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.634873529,742.365126471,711,673,663.365126471,632,877.634873529,783,799,650,629,650,0.435350609647,0.00461620081482,0.0597426348578,0.999999895073,0.000225097727627,-0.000398735491511,1.39616639748e-05,1793192957041594880
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.856065939,743,711,673,664,632,877.856065939,783,799,649,629,650,0.430559429536,0.00455966001722,0.0598265282732,0.999999959474,0.000137543574725,-0.000248034861475,2.47359082446e-05,1793192957141594112
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.561434057,743,711,673,664,631.561434057,877.561434057,783,799,649,629,650,0.429679245476,0.00456557027676,0.0598246371819,0.999999956254,0.000137489831652,-0.000260684969607,2.51285473081e-05,1793192957158260992
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.779708206,663,632,876.779708206,783,799.779708206,649.220291794,629,650.220291794,0.40227389548,0.00454297690188,0.0598440237984,0.999999961818,0.000135479330511,-0.00023797762449,3.71005022152e-05,1793192957841594368
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.192968438,663,632,876.192968438,783,799.192968438,649.807031562,629,650.807031562,0.402058526087,0.00454311709606,0.0598322341391,0.999999955534,0.000135925540873,-0.000262764118646,3.75762461047e-05,1793192957858260992
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.24605392,663.24605392,632,876,783,799,650,628,651,0.401000480499,0.00451382071933,0.0598297593522,0.999999961086,7.78470994697e-07,-0.000278461168785,1.69326713212e-05,1793192958058261504
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.573965388,663.573965388,632.573965388,876,783.426034612,799,650,629,651,0.400960685757,0.00450636565888,0.0598374210132,0.999999964158,-4.3476426384e-06,-0.000266954627295,1.99960528264e-05,1793192958224927744
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba929de815bd653f096d0567bed6d3b84beec18e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,400 @@
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+351,5.850000000,pose2_to_pose3_retreat,0.577208904865,0.0100545189436,1.05002918745,0.547779636291,0.0187272521567,1.04969847012
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+353,5.883333333,pose2_to_pose3_retreat,0.57679576524,0.0100544159458,1.05002920219,0.547366496818,0.0187271497347,1.04969848626
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+357,5.950000000,pose2_to_pose3_retreat,0.576205597954,0.0100545118208,1.05002931104,0.546776328123,0.0187272406541,1.04969859055
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+361,6.016666667,pose2_to_pose3_retreat,0.575896797741,0.0100546488726,1.05002909806,0.546467526383,0.0187273727658,1.04969838658
+362,6.033333333,pose2_to_pose3_retreat,0.575848214444,0.0100545866003,1.0500292377,0.546418944015,0.0187273136588,1.04969852697
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+366,6.100000000,pose2_to_pose3_retreat,0.575741365406,0.0100546325786,1.05002919633,0.546312094902,0.0187273595307,1.04969848685
+367,6.116666667,pose2_to_pose3_retreat,0.57573106052,0.0100545066317,1.05002930676,0.546301790883,0.0187272362221,1.04969858937
+368,6.133333333,pose2_to_pose3_retreat,0.575724626577,0.0100545455461,1.05002933165,0.546295355965,0.0187272716577,1.0496986098
+369,6.150000000,pose2_to_pose3_retreat,0.575720722746,0.0100545542804,1.05002931164,0.546291452124,0.0187272803878,1.04969859055
+370,6.166666667,pose2_to_pose3_retreat,0.575718550484,0.0100545310798,1.05002923425,0.546289280953,0.0187272611579,1.04969852018
+371,6.183333333,pose2_to_pose3_retreat,0.575716964451,0.0100545141403,1.05002917774,0.546287695718,0.0187272471176,1.04969846881
+372,6.200000000,pose2_to_pose3_retreat,0.575715766589,0.0100545013466,1.05002913507,0.546286498458,0.0187272365135,1.04969843
+373,6.216666667,pose2_to_pose3_retreat,0.575715199264,0.0100544960769,1.05002911642,0.546285931339,0.0187272319917,1.04969841266
+374,6.233333333,pose2_to_pose3_retreat,0.57571501199,0.0100544957623,1.0500291131,0.54628574399,0.0187272314019,1.04969840879
+375,6.250000000,pose2_to_pose3_retreat,0.575714687721,0.0100544952175,1.05002910734,0.54628541959,0.0187272303808,1.0496984021
+376,6.266666667,pose2_to_pose3_retreat,0.575714534966,0.0100544949609,1.05002910463,0.546285266774,0.0187272298998,1.04969839895
+377,6.283333333,pose2_to_pose3_retreat,0.575714268154,0.0100544945126,1.0500290999,0.546284999855,0.0187272290596,1.04969839344
+378,6.300000000,pose2_to_pose3_retreat,0.575714189659,0.0100544943807,1.0500290985,0.54628492133,0.0187272288124,1.04969839182
+379,6.316666667,pose2_to_pose3_retreat,0.575713800898,0.0100544937276,1.0500290916,0.546284532412,0.0187272275882,1.0496983838
+380,6.333333333,pose2_to_pose3_retreat,0.575713616763,0.0100544934183,1.05002908834,0.546284348204,0.0187272270084,1.04969838
+381,6.350000000,pose2_to_pose3_retreat,0.575713402425,0.0100544930582,1.05002908453,0.54628413378,0.0187272263334,1.04969837558
+382,6.366666667,pose2_to_pose3_retreat,0.575712936462,0.0100544922754,1.05002907626,0.54628366763,0.0187272248661,1.04969836597
+383,6.383333333,pose2_to_pose3_retreat,0.575712528671,0.0100544915903,1.05002906902,0.546283259676,0.018727223582,1.04969835755
+384,6.400000000,pose2_to_pose3_retreat,0.57571218932,0.0100544910201,1.050029063,0.546282920189,0.0187272225133,1.04969835055
+385,6.416666667,pose2_to_pose3_retreat,0.575712102735,0.0100544908747,1.05002906146,0.546282833569,0.0187272222407,1.04969834877
+386,6.433333333,pose2_to_pose3_retreat,0.575711912907,0.0100544905558,1.0500290581,0.546282643665,0.0187272216429,1.04969834485
+387,6.450000000,pose2_to_pose3_retreat,0.575711552459,0.0100544994132,1.05002905377,0.546282283209,0.018727230484,1.04969834084
+388,6.466666667,pose2_to_pose3_retreat,0.575711098016,0.01005451578,1.05002904946,0.546281828829,0.0187272471122,1.04969833768
+389,6.483333333,pose2_to_pose3_retreat,0.575710669329,0.0100545312191,1.05002904539,0.546281400203,0.018727262798,1.0496983347
+390,6.500000000,pose2_to_pose3_retreat,0.575710443243,0.0100545393616,1.05002904324,0.546281174149,0.0187272710705,1.04969833313
+391,6.516666667,pose2_to_pose3_retreat,0.575710393174,0.0100545411648,1.05002904276,0.546281124087,0.0187272729026,1.04969833278
+392,6.533333333,pose2_to_pose3_retreat,0.575710037193,0.0100545547062,1.05002903516,0.546280768052,0.0187272863257,1.04969832694
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+394,6.566666667,pose2_to_pose3_retreat,0.575709431394,0.0100545830496,1.05002899113,0.546280161389,0.018727312093,1.04969829224
+395,6.583333333,pose2_to_pose3_retreat,0.575709362417,0.0100545862768,1.05002898612,0.546280092314,0.0187273150268,1.04969828829
+396,6.600000000,pose2_to_pose3_retreat,0.575709308686,0.0100545707281,1.05002896863,0.546280038744,0.0187272999916,1.04969826993
+397,6.616666667,pose2_to_pose3_retreat,0.57570925654,0.0100545277183,1.05002893067,0.546279987121,0.0187272586268,1.0496982285
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..64a14aba6c0c8c3c644f2127819cc84f6ec647f9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a75533d4640c3d6cf6dd6113431c19e57a87ff0354a1cf4572d3ce7e95387c08
+size 25435731
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..86207dc243fe7cf3956d8e69620435e1b99a744b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
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+29,0.483333333,BASELINE,764,742.888884216,711,672,664,632.888884216,877.111115784,783.111115784,799,650,629,650.111115784,0.400956406555,0.00450099231753,0.0598401993756,0.999999964955,-5.36095425484e-06,-0.000263832169297,2.1289246555e-05,1793192959210547712
+30,0.500000000,BASELINE,764,743,711,672,663.529794019,633,877,783,799.470205981,650,629,650.470205981,0.400957016301,0.00450147231647,0.0598405722339,0.999999965122,-5.8460427192e-06,-0.000263190800788,2.12525331303e-05,1793192959227214336
+31,0.516666667,BASELINE,764,742.950039393,711,672,663,633,877,783,799.950039393,650,629,650.950039393,0.400958000657,0.00450269903439,0.0598412749003,0.999999965468,-5.33096901551e-06,-0.000261894821241,2.11308411295e-05,1793192959243880704
+32,0.533333333,BASELINE,764,742.372720976,711,672,663,633,877,783,799.372720976,650,629,650.372720976,0.400958173688,0.00450372816048,0.0598417238062,0.999999965549,-2.76715049155e-06,-0.000261629401649,2.10815729501e-05,1793192959260547328
+33,0.550000000,BASELINE,764,742,711,671.79645941,663.20354059,633,877,783.20354059,799,650.20354059,629,650.20354059,0.400958440546,0.00450437263354,0.0598420807426,0.999999965694,-1.10734946817e-06,-0.000261095974398,2.09525650785e-05,1793192959277213952
+34,0.566666667,BASELINE,764,742,711,671.222123203,663.777876797,633,877,783.777876797,799,650.777876797,629,650.777876797,0.400958878328,0.00450431637328,0.0598422701354,0.999999965966,-1.09442283598e-06,-0.000260074310087,2.06782931716e-05,1793192959293880832
+35,0.583333333,BASELINE,764,742,711,671.361746232,664,633,876.638253768,784,799,650.638253768,628.638253768,651,0.400959124642,0.00450395207254,0.0598423675475,0.999999966116,-1.66786738959e-06,-0.000259486720404,2.07860083192e-05,1793192959310547200
+36,0.600000000,BASELINE,764,742,711,671.951627856,664,633,876.048372144,784,799,650.048372144,628.048372144,651,0.400959250207,0.00450339350595,0.0598424069522,0.999999966188,-2.61110714274e-06,-0.000259172879943,2.11346237145e-05,1793192959327213824
+37,0.616666667,BASELINE,764,742,711,672,664,633,876.532071594,783.467928406,799,650,628,651,0.400959821709,0.00450389419809,0.0598424129321,0.999999966285,-4.38314605521e-06,-0.000258814649812,2.06206529606e-05,1793192959343880448
+38,0.633333333,BASELINE,763.889450628,742,711,671.889450628,664,632.889450628,876.889450628,783,799.110549372,650,628.110549372,651,0.400960116675,0.00450426018594,0.0598423785725,0.99999996632,-5.56441308936e-06,-0.000258686383792,2.02379471649e-05,1793192959360547328
+39,0.650000000,BASELINE,763.315677793,742,711,671.315677793,664,632.315677793,876.315677793,783,799.684322207,650,628.684322207,651,0.400959085981,0.00450366525272,0.0598421876932,0.999999966097,-3.96000895346e-06,-0.000259538327406,2.07281357602e-05,1793192959377214208
+40,0.666666667,BASELINE,763.264918854,742,711,671.264918854,664,632.264918854,876.264918854,783.264918854,799.735081146,650,628.735081146,651,0.400958877068,0.00450355129305,0.0598423979379,0.999999966111,-2.3764319453e-06,-0.000259484670133,2.09816011406e-05,1793192959393881088
+41,0.683333333,BASELINE,763.853861715,742,711,671.853861715,664,632.853861715,876.853861715,783.853861715,799.146138285,650,628.146138285,651,0.400959673282,0.00450402561538,0.0598430988001,0.999999966415,-8.18328831507e-07,-0.000258323366354,2.0945528757e-05,1793192959410547456
+42,0.700000000,BASELINE,764,742,711,672,664,633,877,783.564705242,799.435294758,650,628.435294758,650.564705242,0.400959031071,0.00450349029423,0.0598423995632,0.999999966234,-1.76949404281e-06,-0.000259014931437,2.09660750393e-05,1793192959427213824
+43,0.716666667,BASELINE,764,742,711,672,664,632.985753101,876.985753101,783,799.985753101,650,629,650,0.400957913222,0.00450266801596,0.0598412619465,0.999999965893,-3.45545625853e-06,-0.000260311047879,2.09954106436e-05,1793192959443880448
+44,0.733333333,BASELINE,764,742,711,672,664,632.406897491,876.406897491,783,799.406897491,650,629,650,0.40095675904,0.00450367881007,0.0598410632984,0.999999965639,-1.44256904373e-06,-0.000261331781577,2.06325462776e-05,1793192959460547072
+45,0.750000000,BASELINE,764,742,711,672,664,632.169673443,876.169673443,783,799,650,629,650.169673443,0.400956634109,0.00450409820266,0.059841317279,0.999999965647,-2.7934540171e-07,-0.000261314208548,2.04972846645e-05,1793192959477213696
+46,0.766666667,BASELINE,764,742,711,672,664,632.740838161,876.740838161,783,799,650,629,650.740838161,0.400958944652,0.00450311818603,0.0598426422959,0.999999966282,-1.12664593214e-06,-0.000258839732967,2.09005901147e-05,1793192959493880576
+47,0.783333333,BASELINE,764,742,711,672,664,632.676566048,876.676566048,783,799,650,629,651,0.400959343177,0.00450299912685,0.0598430705654,0.999999966426,-1.60637573906e-06,-0.000258267568824,2.10332629567e-05,1793192959510547200
+48,0.800000000,BASELINE,764,742,711,672,664,632.084475095,876.084475095,783,799,650,629,651,0.400958153505,0.00450359521279,0.0598427539614,0.999999966167,-1.78078689328e-06,-0.000259275539346,2.09411377207e-05,1793192959527214080
+49,0.816666667,BASELINE,764,742,711,671.503585862,663.503585862,632,876.496414138,783,799.496414138,650,628.503585862,651,0.400958123467,0.00450283166639,0.0598424943071,0.999999966125,-2.71756066518e-06,-0.000259424656589,2.09952814081e-05,1793192959543880704
+50,0.833333333,BASELINE,764,742.075113954,711,671.075113954,663,632,877,783,800,650,628.075113954,651,0.400958222406,0.00450207627682,0.0598422008116,0.999999966091,-3.49869079952e-06,-0.000259541095533,2.10564153848e-05,1793192959560547328
+51,0.850000000,BASELINE,764,742.651642674,711,671.651642674,663,632,877,783,800,650,628.651642674,651,0.40095789409,0.00450288573522,0.0598416181481,0.999999965874,-2.39394083818e-06,-0.00026039348338,2.10017239986e-05,1793192959577213952
+52,0.866666667,BASELINE,764,743,711,672,663.231590173,632,877,783.231590173,799.768409827,650,629,651,0.400958159646,0.00450304949167,0.0598415819115,0.999999965904,-1.9650481198e-06,-0.000260279721837,2.10210945941e-05,1793192959593880576
+53,0.883333333,BASELINE,764,743,711,672,663.816757207,632,877,783.816757207,799.183242793,650,629,651,0.400959331885,0.00450222743221,0.0598423799244,0.999999966312,-2.56801048254e-06,-0.000258690906003,2.11535382239e-05,1793192959610547200
+54,0.900000000,BASELINE,764,743,711,672,664,632.397506952,877,783.602493048,799,650,629,651,0.400959643192,0.0045020647462,0.0598427073849,0.999999966399,-3.29486924935e-06,-0.000258357369212,2.10460267532e-05,1793192959627213824
+55,0.916666667,BASELINE,764,743,711,672,664,632.976242779,877,783.023757221,799,650,629,651,0.400959561989,0.00450220267762,0.0598428203141,0.999999966339,-4.07821407075e-06,-0.000258596131409,2.08291164551e-05,1793192959643880448
+56,0.933333333,BASELINE,764,742.445127804,711,672,664,633,876.445127804,783,799,650,629,651,0.400959636731,0.00450413267419,0.0598427545569,0.999999966417,-1.28456038586e-06,-0.00025833499502,2.0650593094e-05,1793192959660547072
+57,0.950000000,BASELINE,764,742.132699004,711,672,664,633,876.132699004,783.132699004,798.867300996,650,629,651,0.400959715533,0.00450575103568,0.0598428431069,0.999999966476,1.10033097648e-06,-0.000258124060191,2.04873586093e-05,1793192959677213696
+58,0.966666667,BASELINE,764,742.707864691,711,672,664,633,876.707864691,783.707864691,798.292135309,650,629,651,0.400959785611,0.00450607450071,0.0598434716784,0.99999996647,1.61169462015e-06,-0.000258151868993,2.03696236471e-05,1793192959693880320
+59,0.983333333,BASELINE,764,742.711197525,711,672,664,632.711197525,877,784,798.288802475,650,629,650.711197525,0.400960071414,0.00450513588977,0.0598438260517,0.999999966604,-3.33183697771e-07,-0.00025763348578,2.04115681093e-05,1793192959710547200
+60,1.000000000,BASELINE,764,742.124301888,711,672,664,632.124301888,877,784,798.875698112,650,629,650.124301888,0.400960579884,0.00450289460228,0.0598438974059,0.999999966867,-4.81332046396e-06,-0.000256551339725,2.06183288191e-05,1793192959727213824
+61,1.016666667,BASELINE,764,742,711,672,663.542453472,632.457546528,877,783.542453472,799,650,628.542453472,650.457546528,0.400958348571,0.00450222673301,0.0598424548167,0.999999966238,-4.29737336072e-06,-0.000258975524949,2.0931070896e-05,1793192959743880448
+62,1.033333333,BASELINE,764,742,711,672,663.03781324,633,877,783,799,650,628,650.96218676,0.4009557621,0.00450205688829,0.0598408447134,0.999999965472,-2.51446464047e-06,-0.000261915794728,2.12301448419e-05,1793192959760547072
+63,1.050000000,BASELINE,764,742,711,672,663.614864944,633,877,783,799,650,628,650.385135056,0.400958609461,0.00450295996705,0.0598426470531,0.999999966296,-1.80848343981e-06,-0.00025877979435,2.09281929983e-05,1793192959777213696
+64,1.066666667,BASELINE,764,742,711,672,664,632.808541613,877,783,799,650,628.191458387,650.191458387,0.400960313424,0.00450333242499,0.0598438547696,0.99999996679,-2.08987598281e-06,-0.000256872005151,2.07731128127e-05,1793192959793880576
+65,1.083333333,BASELINE,764,742,711,672,664,632.232867835,877,783,799,650,628.767132165,650.767132165,0.400959722837,0.00450264004215,0.0598438692062,0.999999966637,-4.35271317562e-06,-0.000257428969164,2.09127721565e-05,1793192959810547712
+66,1.100000000,BASELINE,763.649128988,742,711,672,664,632.350871012,876.649128988,783,799.701742025,650,629,651,0.400959315833,0.00450185780643,0.0598436214451,0.999999966483,-6.15645359597e-06,-0.000257972155778,2.11075656766e-05,1793192959827214336
+67,1.116666667,BASELINE,763.059911567,742,711,672,664,632.940088433,876.059911567,783,800.880176866,650,629,651,0.400959033537,0.00450101453375,0.0598431955733,0.99999996633,-7.64832984079e-06,-0.000258505983394,2.13398117946e-05,1793192959843880704
+68,1.133333333,BASELINE,763.520272269,742,711,672.520272269,664,633,876,783,799.959455461,650,629,651,0.40095871025,0.00450252040974,0.0598430372161,0.999999966281,-4.26273305544e-06,-0.000258798975688,2.10539600395e-05,1793192959860547328
+69,1.150000000,BASELINE,764,742,711,672.901203924,664,633,876.098796076,783.098796076,799,650,629,651,0.400958425046,0.00450372204815,0.0598428200925,0.999999966222,-1.24508582544e-06,-0.000259077664113,2.07979568031e-05,1793192959877213696
+70,1.166666667,BASELINE,764,742,711,672.325756125,664,633,876.674243875,783.674243875,799,650,629,651,0.400958345967,0.00450217301049,0.0598421733577,0.999999966128,-2.66619675913e-06,-0.000259418860135,2.09688897667e-05,1793192959893880576
+71,1.183333333,BASELINE,763.745483371,742,711,672,664,633,877,783.745483371,799,650,629,651,0.400958383764,0.00450156525391,0.0598421114529,0.999999966124,-2.99340575534e-06,-0.000259421905127,2.10753228649e-05,1793192959910547456
+72,1.200000000,BASELINE,763.158915739,742,711,672,664,633,877,783.158915739,799,650,629,651,0.40095857404,0.00450218552424,0.0598428125368,0.999999966239,-1.8934734834e-06,-0.000258983786895,2.10976072809e-05,1793192959927214080
+73,1.216666667,BASELINE,763.42253344,742,711,672,663.57746656,632.57746656,877,783,799,650,628.57746656,651,0.400958672187,0.00450283271541,0.0598428342145,0.99999996627,-1.56985855037e-06,-0.000258883443284,2.08873003775e-05,1793192959943881216
+74,1.233333333,BASELINE,764,742,710.997928399,672,663.002071601,632,877,783,799,650,628,651,0.400958736664,0.00450348578885,0.0598426060752,0.999999966271,-1.53808334874e-06,-0.000258905891251,2.05923746071e-05,1793192959960548096
+75,1.250000000,BASELINE,764,742,710.420877514,672,663.579122486,632,877,783,799,650,628,651,0.40095895779,0.00450299493105,0.059843113651,0.999999966454,-2.43879505814e-06,-0.00025817181217,2.0800433268e-05,1793192959977214464
+76,1.266666667,BASELINE,764,742,710.155366418,671.844633582,664,632,877,783,799,650,628,651,0.40095883908,0.00450264440908,0.059843387114,0.999999966519,-3.27597537141e-06,-0.00025789793765,2.09868169091e-05,1793192959993881088
+77,1.283333333,BASELINE,764,742,710.729435626,671.270564374,664,632,877,783,799,650,628,651,0.400957804535,0.00450267208344,0.0598430296571,0.999999966264,-3.94194248746e-06,-0.000258864285717,2.11147877134e-05,1793192960010547456
+78,1.300000000,BASELINE,764,742,710.68772402,671.31227598,664,632,877,783,799,650,628.31227598,651,0.400957795743,0.00450342645075,0.0598427630525,0.999999966268,-2.80230894007e-06,-0.000258870275802,2.1048028112e-05,1793192960027213824
+79,1.316666667,BASELINE,764,742,710.097064516,671.902935484,664,632,877,783,799,650,628.902935484,651,0.400958701376,0.00450482864035,0.0598425774394,0.999999966496,-5.30431428681e-08,-0.000258020139022,2.08076729015e-05,1793192960043880448
+80,1.333333333,BASELINE,764,742,710,671.516069424,664,632,876.516069424,783,799,650,628.516069424,650.516069424,0.400959769782,0.0045048502902,0.0598430341008,0.999999966568,-3.77403308863e-07,-0.000257745855491,2.07627296274e-05,1793192960060547328
+81,1.350000000,BASELINE,764,742,710.062585583,671.062585583,664,632.062585583,876.062585583,783.062585583,799,650,628.062585583,650,0.400960545055,0.00450461817862,0.0598435176319,0.99999996658,-1.07353923774e-06,-0.000257697464798,2.0770043854e-05,1793192960077214208
+82,1.366666667,BASELINE,764,742,710.637640714,671.637640714,664,632.637640714,876.637640714,783.637640714,799,650,628.637640714,650,0.400958657976,0.00450453115638,0.0598431869805,0.999999966352,1.35308343157e-07,-0.000258571505792,2.08906032183e-05,1793192960093880832
+83,1.383333333,BASELINE,764,742.213390382,711,672,664,632.786609618,877,783.786609618,799,650,628.786609618,650.213390382,0.400957177381,0.00450424799014,0.0598423466837,0.999999966012,4.14121518202e-07,-0.000259872950499,2.1018213412e-05,1793192960110547456
+84,1.400000000,BASELINE,764,742.790323394,711,672,664,632.209676606,877,783.209676606,799,650,628.209676606,650.790323394,0.400956389293,0.00450363066308,0.0598406381291,0.999999965479,-8.9151868736e-07,-0.00026190254189,2.11578357743e-05,1793192960127213824
+85,1.416666667,BASELINE,764,742.625053228,711,672,664,632.374946772,876.625053228,783,799,650,628.374946772,651,0.4009566355,0.00450404888387,0.0598409625813,0.999999965602,-8.69748463044e-07,-0.000261453041805,2.09159999367e-05,1793192960143880448
+86,1.433333333,BASELINE,764,742.036039246,711,672,664,632.963960754,876.036039246,783,799,650,628.963960754,651,0.400957472213,0.00450505832686,0.0598424477319,0.999999966098,-9.01237993958e-08,-0.000259588161514,2.0456379332e-05,1793192960160547072
+87,1.450000000,BASELINE,764,742,711,672,664,632.45600174,876.54399826,783,799,650,629,650.45600174,0.400958088321,0.00450359033261,0.059842459121,0.999999966266,-8.78124780986e-07,-0.000258898886497,2.09588716958e-05,1793192960177213952
+88,1.466666667,BASELINE,764,742,711,672,664,632.122290644,877,783.122290644,799,650,629,650.122290644,0.400958388316,0.00450260501959,0.0598423225741,0.999999966321,-1.56485564772e-06,-0.00025864994355,2.13478513564e-05,1793192960193880576
+89,1.483333333,BASELINE,764,742,711,672,664,632.69629785,877,783.69629785,799,650,629,650.69629785,0.400957573766,0.00450399904341,0.0598419943711,0.999999966043,-1.50012964488e-06,-0.000259744485084,2.1085921972e-05,1793192960210547200
+90,1.500000000,BASELINE,764,742,711,672,664.277155417,633,877,783.722844583,799,650,629,651,0.400958029094,0.00450372499767,0.0598423639599,0.999999966128,-1.84295317526e-06,-0.000259413871968,2.11055931218e-05,1793192960227213824
+91,1.516666667,BASELINE,764,742,711,672,664.865709692,633,877,783.134290308,799,650,629,651,0.400959911199,0.00450157678694,0.0598435175549,0.999999966618,-2.64368029518e-06,-0.000257482021697,2.14416574727e-05,1793192960243880448
+92,1.533333333,BASELINE,764,742.448023555,711,672,664.551976445,632.551976445,877,783,799,650,629,651,0.40096022864,0.00450070959944,0.0598437127107,0.999999966722,-4.01182431507e-06,-0.000257072252769,2.12946758878e-05,1793192960260547072
+93,1.550000000,BASELINE,764,742.971690157,711,671.971690157,664,632.028309843,877,783,799.028309843,650,629,651,0.400960018441,0.00450030671569,0.0598435814263,0.99999996669,-5.4834645049e-06,-0.000257191871689,2.10131587767e-05,1793192960277213952
+94,1.566666667,BASELINE,764,742.394945551,711,671.394945551,664,632.605054449,877,783,799.605054449,650,629,651,0.400958547252,0.00450156223054,0.0598426150924,0.999999966264,-5.71051844831e-06,-0.000258850206326,2.08917246937e-05,1793192960293880576
+95,1.583333333,BASELINE,764,742,711,671.180826221,663.819173779,632.819173779,877,783,799.819173779,650,629,650.819173779,0.400957383205,0.00450264023756,0.0598419328277,0.999999965948,-4.75319386629e-06,-0.000260092054619,2.08037804919e-05,1793192960310547456
+96,1.600000000,BASELINE,764,742,711,671.75448469,663.24551531,632.24551531,877,783,799.24551531,650,629,650.24551531,0.400956886403,0.00450333262154,0.059841867683,0.999999965872,-1.22289027766e-06,-0.000260429115933,2.07885906784e-05,1793192960327214080
+97,1.616666667,BASELINE,764,742,711,672,663.337756407,632.337756407,877,783,799,650,629,650.337756407,0.400957059773,0.00450435579866,0.0598425317159,0.999999966025,5.64234978755e-07,-0.000259843399927,2.07682797442e-05,1793192960343880704
+98,1.633333333,BASELINE,764,742,711,672,663.92822068,632.92822068,877,783,799,650,629,650.92822068,0.400957734562,0.00450562647372,0.0598437413164,0.999999966356,1.04712161979e-06,-0.000258567265948,2.07441372108e-05,1793192960360547328
+99,1.650000000,BASELINE,763.491812034,742.508187966,711,672,664,633,877,783,799,650,628.491812034,650.491812034,0.400958810612,0.00450396319586,0.0598439718677,0.999999966576,-3.78372473906e-07,-0.000257704925158,2.09041714882e-05,1793192960377213952
+100,1.666666667,BASELINE,763.086519814,743,711,672,664,632.913480186,877,783,799,650,628.086519814,650.086519814,0.400960126563,0.00450215042379,0.059844221741,0.999999966856,-2.02867509822e-06,-0.000256596445565,2.10465277968e-05,1793192960393880576
+101,1.683333333,BASELINE,763.663814795,743,711,672,664,632.336185205,877,783,799,650,628.663814795,650.663814795,0.400962488347,0.00450179277658,0.0598453497577,0.999999967576,-3.45612721124e-06,-0.000253766945308,2.09440310798e-05,1793192960410547200
+102,1.700000000,BASELINE,764,743,711,672,664,632.240018075,876.759981925,783,799,650,628.759981925,651,0.400962119531,0.00450166283147,0.0598448168877,0.999999967427,-4.78777347984e-06,-0.000254337781235,2.08481451276e-05,1793192960427214080
+103,1.716666667,BASELINE,764,743,711,672,664,632.814699123,876.185300877,783,799,650,628.185300877,651,0.400957943373,0.00450185037693,0.0598419682036,0.999999966058,-5.9858352365e-06,-0.0002596497879,2.07614767324e-05,1793192960443880704
+104,1.733333333,BASELINE,764,743,711,671.601463145,664,632.601463145,876.398536855,783,799,650,628,651,0.400957197466,0.00450243719729,0.0598413241896,0.999999965832,-4.78548548637e-06,-0.000260526334164,2.09320033428e-05,1793192960460547328
+105,1.750000000,BASELINE,764,743,711,671.013267816,664,632.013267816,876.986732184,783,799,650,628,651,0.400958083969,0.00450321402737,0.0598417293492,0.999999966156,-2.44376318763e-06,-0.000259292103332,2.12249256838e-05,1793192960477213952
+106,1.766666667,BASELINE,764,742.434195995,711,671.565804005,664,632.565804005,877,783,799,650,628.565804005,651,0.400959345573,0.00450264021601,0.0598431259506,0.999999966721,-2.23105214338e-06,-0.000257101765436,2.12512669055e-05,1793192960493880576
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,877,784,800,651,628,651,0.4009569734,0.00450546840619,0.0598422737074,0.999999966043,-8.30530622515e-07,-0.000259783587531,2.06307963949e-05,1793192960535393536
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.411709,742,710.411709,672,663.588291,632,877,783.411709,799.411709,650.411709,628,651,0.400958689356,0.00450586219107,0.0598438031945,0.999999966583,-1.16333398105e-07,-0.000257707726322,2.0494590607e-05,1793192960552060160
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.174899602,742,710.174899602,672,663.825100398,632.174899602,877,783,799,650,628.174899602,650.825100398,0.400959428899,0.00450540135185,0.0598443389454,0.999999966784,-3.63567439943e-07,-0.000256925881263,2.04946145101e-05,1793192960568727040
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.757585734,742,710.757585734,672,663.242414266,632.757585734,877,783,799,650,628.757585734,650.242414266,0.400957891891,0.00450294791697,0.0598425577547,0.999999966197,-2.85242290682e-06,-0.000259161094433,2.08122642261e-05,1793192960585393664
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671.66480932,663.33519068,632.66480932,876.66480932,783,799,650,628.66480932,650,0.400958872992,0.00450186887557,0.0598430822794,0.999999966515,-4.18811338915e-06,-0.000257912580833,2.08294746037e-05,1793192960602060288
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671.090824314,663.909175686,632.090824314,876.090824314,783,799,650,628.090824314,650,0.400961648029,0.00450176897063,0.0598452494266,0.999999967472,-4.70227355664e-06,-0.000254182213532,2.06326479575e-05,1793192960618726912
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671.484942604,663.515057396,632.484942604,876,783.484942604,799,650,628.484942604,650.484942604,0.400961858357,0.0045023538342,0.0598448888164,0.999999967362,-5.4886295739e-06,-0.000254599147624,2.06113405294e-05,1793192960635393280
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671.937821167,663.062178833,633,876.062178833,783.937821167,799,650,629,651,0.400961643451,0.00450293234654,0.0598441808511,0.999999967091,-6.12767924469e-06,-0.000255643876067,2.06562111175e-05,1793192960652060160
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671.351013964,663.648986036,633,876.648986036,783.351013964,799,650,629,651,0.400961908452,0.00450237118664,0.0598445512853,0.99999996715,-5.09212568291e-06,-0.000255407692731,2.09810687354e-05,1793192960668726784
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.233811274,711,671.233811274,664,633,877,783,799,650,629,651,0.40096787424,0.00450152000209,0.0598474421165,0.999999968237,-4.79725818699e-06,-0.000251082305678,2.1473076259e-05,1793192960685393408
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.815686004,711,671.815686004,664,633,877,783,799,650,629,651,0.400982326511,0.00450023707204,0.0598540849401,0.999999970777,-5.60501405975e-06,-0.000240669520186,2.2213911677e-05,1793192960702060032
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.60605313,711,672,664,633,877,783,799,650,629,651,0.401013853231,0.00450102621806,0.0598674027826,0.999999976091,-3.94801033914e-06,-0.000217511838122,2.21773711766e-05,1793192960718726912
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.029467646,711,672,664,633,877,783,799,650,629,651,0.401053295875,0.00450277600394,0.0598838152465,0.999999982006,-1.14831382011e-06,-0.00018844546417,2.17804296877e-05,1793192960735393536
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.451044727,876.451044727,783.548955273,799.548955273,650,629,651,0.401110428628,0.00450225228356,0.0599007895282,0.999999986849,-3.33018746052e-06,-0.000160628410778,2.21322935081e-05,1793192960752060160
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876.129625021,783.870374979,800,650,628.870374979,651,0.401171890868,0.00450132161992,0.0599159148049,0.999999990348,-6.12768112399e-06,-0.000136970359591,2.24834328824e-05,1793192960768726784
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876.717894592,783.282105408,800,650,628.282105408,651,0.401245300708,0.00449938435237,0.0599243907961,0.999999991526,-1.01540551897e-05,-0.000127789771279,2.26893101635e-05,1793192960785393408
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.299974437,711,671.700025563,664.299974437,632,877,783,800,650,628.299974437,651,0.401328336503,0.00449737190879,0.0599302601217,0.999999992553,-1.32559602199e-05,-0.000119222139126,2.24646357082e-05,1793192960802060032
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.876350917,711,671.123649083,664.876350917,632,877,783,800,650,628.876350917,651,0.401420241828,0.00449529019672,0.0599337276163,0.999999993456,-1.55060419868e-05,-0.00011121929677,2.1843242836e-05,1793192960818726912
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.549037878,711,671.450962122,664.549037878,632,877.450962122,783,799.549037878,650,628.549037878,650.549037878,0.401531055058,0.00449573277258,0.0599377615643,0.999999994349,-1.68612794016e-05,-0.00010295548268,2.04631213429e-05,1793192960835393280
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.025687839,632.025687839,877.974312161,783,799.025687839,650,628.025687839,650.025687839,0.401647929473,0.00449675012677,0.0599417780574,0.999999995166,-1.81376843001e-05,-9.47758419386e-05,1.88738348229e-05,1793192960852059904
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664.613469336,632.613469336,877.386530664,783,799.613469336,650,628.613469336,650.613469336,0.401784432959,0.00449525860899,0.0599420272914,0.999999995536,-2.30369931723e-05,-8.99977105792e-05,1.72420804835e-05,1793192960868726528
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671.800713985,664.800713985,633,877.199286015,783,799.800713985,650,629,651,0.401933882401,0.00449295217949,0.0599424923844,0.999999995831,-2.86784918908e-05,-8.52815245722e-05,1.55898810305e-05,1793192960885393408
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671.218671082,664.218671082,633,877.781328918,783,799.218671082,650,629,651,0.402108196363,0.00448908059731,0.0599433720649,0.99999999601,-3.57454702841e-05,-8.0684313901e-05,1.3898414043e-05,1793192960902060032
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.641603981,742,711,671.358396019,664,632.641603981,877.641603981,783,799,650,629,651,0.402305996797,0.00448685533343,0.0599435608391,0.9999999962,-4.16791296136e-05,-7.56864360277e-05,1.16024951038e-05,1793192960918726912
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.067531179,742,711,671.932468821,664,632.067531179,877.067531179,783,799,650,629,651,0.402517931018,0.00448562079624,0.0599433338373,0.999999996377,-4.69307770001e-05,-7.04474428322e-05,8.94282683956e-06,1793192960935393536
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.508291332,742,711,672,664,632.508291332,877,783,799,649.491708668,629,651,0.402757927234,0.00448309056778,0.0599416872432,0.999999996109,-5.42351580984e-05,-6.9322959601e-05,5.98438929637e-06,1793192960952060160
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.086241634,711,672,664,632.913758366,877,783,799,649.086241634,629,651,0.403007154868,0.00447996863047,0.0599406411267,0.999999995746,-6.25136522015e-05,-6.77508539001e-05,3.07067253737e-06,1793192960968727040
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.675236459,711,672,664,632.324763541,877,783,799,649.675236459,629,651,0.403288388471,0.0044744042712,0.0599441988394,0.999999995374,-7.48754633203e-05,-6.03715384927e-05,6.49858714174e-07,1793192960985393664
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.739639809,711,672,664,632.260360191,876.739639809,783,799,650,628.739639809,650.739639809,0.40358359061,0.00446964895014,0.0599415579208,0.999999994246,-8.62223852448e-05,-6.37935747711e-05,-2.06317223302e-06,1793192961002060288
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.159274025,711,672,664,632.840725975,876.159274025,783,799,650,628.159274025,650.159274025,0.40389596129,0.00446588800859,0.0599312983385,0.999999992108,-9.63219182678e-05,-8.04914234624e-05,-5.13536360137e-06,1793192961018726912
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.417197445,711,672,663.582802555,632.582802555,876.417197445,783,799.417197445,650,628.417197445,650.417197445,0.404234429271,0.00446375448462,0.0599177374819,0.999999989025,-0.000105544641179,-0.000103531684723,-9.54716610137e-06,1793192961035393280
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.992195914,711,672,663.007804086,632.007804086,876.992195914,783,799.992195914,650,628.992195914,650.992195914,0.404582768303,0.00446223651618,0.0599029279496,0.999999985031,-0.000114435718594,-0.000128970903669,-1.44656638839e-05,1793192961052059904
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,743,711,672,663.578327339,632.578327339,877,783,800,650,629,651,0.404962356253,0.00446156375074,0.0598930375329,0.999999981252,-0.00012223854367,-0.000148986862653,-1.88593503826e-05,1793192961068726784
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,711,672,664,633,877,783,800,650,629,651,0.405371204504,0.00445994578037,0.0598908101882,0.999999979052,-0.000131332005537,-0.000155295497334,-2.30388607884e-05,1793192961085393664
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,711,672,664,633,877,783,800,650,629,651,0.405853904963,0.00445587676848,0.0599080393149,0.999999981285,-0.000143769937977,-0.000126682375025,-2.66882308914e-05,1793192961102061312
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632.703598176,876.703598176,783,800,650,628.703598176,651,0.406363435091,0.00445227732805,0.0599335069097,0.999999983905,-0.000156303442035,-8.2548535556e-05,-3.07336887188e-05,1793192961118728704
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632.108265879,876.108265879,783,800,650,628.108265879,651,0.406900023837,0.00444915146457,0.0599672832586,0.999999984853,-0.000168933334227,-2.27615656521e-05,-3.5178613733e-05,1793192961135396096
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632.471055371,876.471055371,783,799.528944629,650,628.471055371,651,0.40745661343,0.00444633519568,0.0599864519093,0.999999983408,-0.000178026344133,1.39068379658e-06,-3.85781074256e-05,1793192961152062208
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.952155086,711,672,664,633,877,783,799,650,629,650.952155086,0.40801528989,0.00444362676758,0.0599996232929,0.999999981639,-0.000186531377372,1.29960266932e-05,-4.19304532378e-05,1793192961168728064
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.363759224,711,672,664,633,877,783,799,650,629,650.363759224,0.408547315362,0.0044413592257,0.0599817224685,0.999999979036,-0.000197275755359,-2.76626913144e-05,-4.73755513868e-05,1793192961185394176
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.777284454,742.222715546,711,672,664,632.777284454,877,783,799,650,629,650.222715546,0.409108025378,0.00443961741827,0.0599667381422,0.999999975914,-0.000204189823429,-6.15089653702e-05,-5.19193258594e-05,1793192961202060288
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.193920588,742.806079412,711,672,664,632.193920588,877,783,799,650,629,650.806079412,0.409715184894,0.00443872694469,0.0599564765684,0.99999997394,-0.000204901383767,-8.43236924647e-05,-5.50035662837e-05,1793192961218726912
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.380640544,742.619359456,711,672.380640544,664.380640544,632,876.619359456,783,799,650,628.619359456,650.619359456,0.410371130423,0.00444411592979,0.0599604092668,0.999999989136,-0.000124275053206,-6.93956141672e-05,-3.83187974679e-05,1793192961235394048
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.950818398,742.049181602,711,672.950818398,664.950818398,632,876.049181602,783,799,650,628.049181602,650.049181602,0.411051368591,0.00445263172768,0.0599714099047,0.999999999289,-3.14708417182e-06,-3.56737669677e-05,-1.17901874591e-05,1793192961252060928
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.525905472,711,672.474094528,664.474094528,632,877.051810943,783,799.525905472,650,628,650,0.411755458889,0.00445183329308,0.0599692159266,0.999999999139,-6.72975291606e-06,-3.74904908046e-05,-1.64625659312e-05,1793192961268727552
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,711,672,664.104467219,632.104467219,877.895532781,783,799.895532781,650,628.104467219,650.104467219,0.412452290178,0.00444936964905,0.0599599904488,0.999999998023,-2.11815483617e-05,-5.4419661004e-05,-2.33114240806e-05,1793192961285394432
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,711,672,664.69710007,632.69710007,877.30289993,783,799.30289993,650,628.69710007,650.69710007,0.413104678955,0.00444323331608,0.0599237278142,0.999999991179,-3.14115956141e-05,-0.000126291170761,-2.65674354496e-05,1793192961302060800
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.71602064,711,672,664.71602064,632.71602064,877,783,799,650,629,651,0.413809121399,0.00444061109206,0.0599038983932,0.999999985544,-3.01784825522e-05,-0.000164903798055,-2.84398740628e-05,1793192961318727168
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.135156311,711,672,664.135156311,632.135156311,877,783,799,650,629,651,0.4145679832,0.00444166267698,0.0599012489985,0.999999985202,-1.69612605231e-05,-0.000168746082846,-2.88658631535e-05,1793192961335393536
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.439663639,711,672,664,632.439663639,877,783,799,650,629,650.560336361,0.415406439429,0.00443881859397,0.0599450672968,0.999999995402,-1.75206224714e-05,-8.95679414612e-05,-2.9424956751e-05,1793192961352060160
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.012980138,743,711,672,664.012980138,633,877.012980138,783.012980138,799,650,629,650.012980138,0.416267859644,0.00443482984595,0.0600018486475,0.999999999186,-2.38422034043e-05,1.26263509842e-05,-3.00116996288e-05,1793192961368726784
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.600890239,743,711,672,664.600890239,633,877.600890239,783.600890239,799,650,629,650.600890239,0.417077362107,0.00443246467931,0.0600086768346,0.99999999433,-0.000100351178484,1.91953760864e-05,-3.00353466607e-05,1793192961385393920
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.813736849,743,711,671.813736849,665,632.813736849,878,783.813736849,799,650,628.813736849,651,0.417888920668,0.00443032285191,0.0600056825516,0.999999988296,-0.000149282260964,1.27361228996e-05,-3.0999974247e-05,1793192961402060800
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.233727402,743,711,671.233727402,665,632.233727402,878,783.233727402,799,650,628.233727402,651,0.418704825613,0.00442865314701,0.0599819243046,0.999999989409,-0.000139915748363,-2.12639312358e-05,-3.39537642631e-05,1793192961418727424
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,711,671.344453472,665,632.344453472,877.655546528,783,799,650,628,651,0.419519235734,0.00442616475046,0.0599567914229,0.999999989582,-0.000127347464131,-5.80737857795e-05,-3.53091355701e-05,1793192961435394048
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,711,671.921400104,665,632.921400104,877.078599896,783,799,650,628,651,0.420332636873,0.00442312376784,0.0599307307154,0.999999988342,-0.000112618104545,-9.67801486721e-05,-3.55856341153e-05,1793192961452060672
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.494077075,711,672.505922925,664.494077075,633,877.505922925,783,799,649.494077075,628,650.494077075,0.421133302015,0.00442210468254,0.0598995309529,0.999999981373,-0.000103380359657,-0.000158919675388,-3.61948524419e-05,1793192961468727040
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.090530464,711,672.909469536,664,632.909469536,877.909469536,783,799,649.090530464,628.090530464,650,0.421946019942,0.00442095637,0.0598742216903,0.999999972495,-9.673956571e-05,-0.000210451566677,-3.68870123227e-05,1793192961485393664
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.669152148,711,672.330847852,664,632.330847852,877.330847852,783,799,649.669152148,628.669152148,650,0.422834549674,0.00441739201846,0.0598850408093,0.999999977257,-9.94303469405e-05,-0.000184866472826,-3.77434210356e-05,1793192961502060288
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.248149431,742.751850569,711,672,664.248149431,632.248149431,877.496298862,783,799,650,629,650,0.423749837717,0.00441271231689,0.0599204542776,0.999999985837,-0.000107434110076,-0.000123968421719,-3.76242766845e-05,1793192961518726912
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.827648328,742.172351672,711,672,664.827648328,632.827648328,878.655296655,783,799,650,629,650,0.424700855776,0.00440654330804,0.059988708139,0.999999991711,-0.000122532201811,-1.59176101304e-05,-3.62024937239e-05,1793192961535393792
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.596446837,742,711,672.403553163,665,632.596446837,878.192893673,782.596446837,799,650,629,650,0.425591458864,0.00440433958289,0.0600141181036,0.999999990401,-0.000131300331245,2.52514479149e-05,-3.63415168766e-05,1793192961552060672
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.022063457,742,711,672.977936543,665,632.022063457,877.044126913,782.022063457,799,650,629,650,0.426456487316,0.00440381442325,0.0600213915882,0.999999989146,-0.00013738889046,3.81084319149e-05,-3.71412532882e-05,1793192961568727552
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.5656139,711,673,664.4343861,632,877.5656139,782.5656139,799,650,629,650,0.427319562989,0.00440150406435,0.0599971972402,0.999999990096,-0.000134646673657,1.21239750483e-05,-3.91306664531e-05,1793192961585393920
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711,672.848463704,664.151536296,632,878,783,799,650,629,650,0.428171264137,0.00440312379853,0.0599731314818,0.999999990891,-0.000127816471096,-1.5541825047e-05,-4.05005208074e-05,1793192961602060288
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711,672.268996918,664.731003082,632,878,783,799,650,629,650,0.428991064471,0.00441604329255,0.0599529786745,0.999999992153,-0.00011043819418,-4.35740277878e-05,-3.99865688583e-05,1793192961618726912
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,672.618680386,665,632,878,783,799,649.690659807,629,650,0.429795451813,0.00443894232362,0.05992924264,0.999999992461,-7.69876055582e-05,-8.63172743379e-05,-4.12380865655e-05,1793192961635393536
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673.773397006,665,632,878,783,799,649.113301497,629,650,0.430586485008,0.00447048781117,0.0599024020316,0.999999988538,-2.96116667182e-05,-0.000141806442087,-4.40192400219e-05,1793192961652060160
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673.538227488,665,632,877.538227488,783,799,649.461772512,628.538227488,650,0.431454090631,0.00446646818735,0.0599308809444,0.999999994842,-3.25941800058e-05,-8.53039501628e-05,-4.44553444556e-05,1793192961668726784
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,877.037272752,783,799.037272752,650,628,650,0.432336854248,0.00445411119937,0.0599717843211,0.999999997889,-4.73441540549e-05,-4.69688954432e-06,-4.42537629388e-05,1793192961685393408
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,877.62736613,783,799.62736613,650,628,650,0.433167149533,0.00444688620905,0.0599966391092,0.999999997211,-5.426627777e-05,2.7874679193e-05,-4.30861628841e-05,1793192961702060544
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.7864688,711,673,664.7864688,632,877.7864688,783,799.7864688,650,628.2135312,650,0.433966408558,0.00444195173165,0.0600004682228,0.999999997042,-5.76924764289e-05,2.78587306609e-05,-4.25641673012e-05,1793192961718727424
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.207035099,711,673,664.207035099,632,877.207035099,783,799.207035099,650,628.792964901,650,0.434712484647,0.0044409422271,0.0599682681936,0.999999997158,-5.51281336944e-05,-2.79984859275e-05,-4.31484655327e-05,1793192961735393792
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.369105404,711,673.369105404,664.738210807,632.369105404,877.369105404,783,799,650,629,650,0.435438609781,0.00443532986182,0.0599387446555,0.999999994221,-5.90609304376e-05,-7.88851806913e-05,-4.29719198542e-05,1793192961752060416
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.943415017,711,673.943415017,665.886830035,632.943415017,877.943415017,783,799,650,629,650,0.436153643133,0.00442715853543,0.0599107091149,0.999999988819,-6.66058130512e-05,-0.000127008509587,-4.23723828102e-05,1793192961768727040
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.470174985,711,672.940349971,665.470174985,633,878,783,799,650,629,650,0.436853130573,0.00442728578633,0.0599127421396,0.999999989289,-7.03350652237e-05,-0.000120217322332,-4.49842480352e-05,1793192961785393664
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.115931408,711,672.115931408,665,632.884068592,878,783,799,650,629,650,0.437545872491,0.00442709914845,0.0599154692781,0.999999989597,-7.18802008099e-05,-0.000116061661316,-4.65817067792e-05,1793192961802060288
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.695534056,711,672.695534056,665,632.304465944,878,783,799,650,629,650,0.438218431058,0.00442202953889,0.0599078286493,0.999999986162,-6.63578241845e-05,-0.000146451695619,-4.27182125399e-05,1793192961818726912
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,673,664.725699032,632,878.274300968,783,799.274300968,650,629,650,0.438890441054,0.00441816458475,0.0599119690823,0.999999986502,-6.1293879151e-05,-0.00014704763727,-4.01946700337e-05,1793192961835393792
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,673,664.147856984,632,878.852143016,783,799.852143016,650,629,650,0.439561843957,0.00441563270103,0.059929146423,0.999999991049,-5.67372342693e-05,-0.000114673474184,-3.91539165658e-05,1793192961852060672
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664.424173911,632,878.575826089,783,799.575826089,649.575826089,629,650,0.440189365157,0.00441688857474,0.0599461682035,0.999999993751,-5.35057333922e-05,-8.96318202262e-05,-4.00257167206e-05,1793192961868727296
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,673,664.994206598,632,878.005793402,783,799.005793402,649.005793402,629,650,0.440801797008,0.00441944692737,0.0599631364936,0.999999995598,-5.07299034456e-05,-6.71115605786e-05,-4.15551779953e-05,1793192961885393664
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711,673.588244131,664.411755869,632,878,783,799.588244131,649,629,650,0.441294206021,0.0044221145548,0.0599160592004,0.99999998766,-4.68650915587e-05,-0.00014328704089,-4.41758203865e-05,1793192961902060544
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,673.822245199,663.822245199,632,878,783,799.822245199,649.177754801,629,650,0.441778041402,0.00442463066978,0.059865868013,0.999999973067,-4.43124186698e-05,-0.000222947637658,-4.68758819215e-05,1793192961918727424
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,673.243502338,663.243502338,632,878,783,799.243502338,649.756497662,629,650,0.442245316053,0.00442680246496,0.0598101357787,0.999999950274,-4.47449565615e-05,-0.000308184134383,-4.97298276906e-05,1793192961935393792
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,673,663,631.666369366,878,783,799.333630634,649.666369366,628.666369366,650,0.442707910373,0.00443290532044,0.0597774559761,0.999999935362,-3.48191308447e-05,-0.000354212647121,-5.09635933886e-05,1793192961952060160
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,673,663,631.090405772,878,783,799.909594228,649.090405772,628.090405772,650,0.443167105102,0.00444186350552,0.0597615203346,0.999999929444,-1.73694970297e-05,-0.000371762395725,-5.10205395945e-05,1793192961968726784
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,673,662.516166734,631,878,782.516166734,799.516166734,649.483833266,628.483833266,650,0.443609031563,0.00446655464503,0.0597648122582,0.999999931919,1.2989419914e-05,-0.000365106416229,-5.1863493105e-05,1793192961985394432
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.059460925,742.940539075,711,673.059460925,662,631,878,782.059460925,799.059460925,650,629,650,0.444042382293,0.00449366058103,0.0597717524092,0.999999935154,3.68005108781e-05,-0.000354305357129,-5.29740282419e-05,1793192962002061568
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.65036964,742.34963036,711,673.65036964,662,631,878,782.65036964,799.65036964,650,629,650,0.444427821615,0.00451616790768,0.0597793026207,0.999999938177,-1.93939010628e-05,-0.000346737742352,-5.5168136559e-05,1793192962018727680
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+198,3.300000000,POSE1_TO_POSE2_PRESS,763.367260866,742,711,674,661.183630433,631,878,783,800,650,628.183630433,650,0.445115472315,0.00453687283038,0.0597548599207,0.999999921192,1.07232055776e-05,-0.000394603875362,-4.22945785622e-05,1793192962052060416
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742.393557643,711,674,660.606442357,631,878,783,799.606442357,650,628.393557643,650,0.445400907769,0.00453969246518,0.059731248671,0.999999904061,2.3165334914e-05,-0.000435458604256,-4.14478467441e-05,1793192962068726784
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+203,3.383333333,POSE1_TO_POSE2_PRESS,763.280422544,742.719577456,711,673.719577456,660,630.280422544,878,782.719577456,799,650,628.280422544,650,0.446411489614,0.00453900883331,0.0597030669516,0.999999884351,1.30620956878e-05,-0.000478275204334,-4.87882059198e-05,1793192962135393792
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.298643373,742.701356627,711,673.701356627,659.701356627,630,878.298643373,782.701356627,799,650,628.298643373,650,0.44663476947,0.004541006356,0.0597109568491,0.999999890016,1.35603381003e-05,-0.000466142681003,-4.9945739484e-05,1793192962152060416
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.87649905,742.12350095,711,673.12350095,659.12350095,630,878.87649905,782.12350095,799,650,628.87649905,650,0.446838097228,0.00454217575471,0.0597161484768,0.999999893249,1.43097482336e-05,-0.000459030694631,-5.08654146031e-05,1793192962168727040
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.449919611,711,673.449919611,659,630,878.550080389,782,799.449919611,649.550080389,628.550080389,650,0.447002036495,0.00454418402109,0.0597136720634,0.999999891813,1.8556171389e-05,-0.000461893467689,-5.18078517353e-05,1793192962185396480
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.977115356,743,710.977115356,674,659,630,878.022884644,782,799.977115356,649.022884644,628,650,0.447153891293,0.00454635644174,0.0597088435117,0.999999888901,2.36156789483e-05,-0.000467824587197,-5.27359424524e-05,1793192962202066688
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.385511255,743,710.385511255,674,659,630,878.614488745,782,799.385511255,649.614488745,628,650,0.447271499669,0.00454694175442,0.0596973586907,0.999999881803,2.52590859941e-05,-0.000482628860034,-5.31537437726e-05,1793192962218729472
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.201993801,742.798006199,710.201993801,673.798006199,658.798006199,630,878.798006199,782.201993801,799.201993801,650,628.201993801,650,0.447382709095,0.00454796005465,0.0596889798381,0.999999875741,2.73651905063e-05,-0.000494913016041,-5.3199587999e-05,1793192962235393536
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.78183124,742.21816876,710.78183124,673.21816876,658.21816876,630,878.21816876,782.78183124,799.78183124,650,628.78183124,650,0.447481948819,0.00454978828856,0.0596864109194,0.999999871914,3.03368030535e-05,-0.00050248311443,-5.25496602424e-05,1793192962252059904
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.359514161,711,673,658.359514161,630,878.359514161,782.640485839,799.640485839,650,629,650,0.44756898429,0.00455163555404,0.0596845511762,0.999999869947,3.44700251526e-05,-0.000506094983954,-5.27723347425e-05,1793192962268726528
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.935897474,711,673,658.935897474,630,878.935897474,782.064102526,799.064102526,650,629,650,0.44764865782,0.00455349430009,0.0596831192275,0.999999869109,3.93039634036e-05,-0.000507319138161,-5.35213876394e-05,1793192962285393408
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711,673,658.479343334,630,878.479343334,782.520656666,799.520656666,650,628.479343334,650,0.447710660277,0.00455502297693,0.059683501893,0.999999869864,4.10732573263e-05,-0.000505672423206,-5.36715183225e-05,1793192962302060032
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711,673,658.105297808,630,878,783,799.894702192,650,628.105297808,650,0.447767340131,0.00455643699528,0.0596843577191,0.999999870948,4.26124695331e-05,-0.000503380406276,-5.3812210918e-05,1793192962318726656
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711,673,658.684688725,630,878,783,799.315311275,650,628.684688725,650,0.447810011258,0.00455752073409,0.0596863215645,0.999999872623,4.48423606591e-05,-0.000499800406879,-5.42478380105e-05,1793192962335393280
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,673,658.736587153,630,878.263412847,783,799.263412847,650,629,650,0.447844423891,0.0045594814343,0.0596864761141,0.999999872419,4.88867238648e-05,-0.000499812235507,-5.44000917131e-05,1793192962352060160
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,673,658.158659221,630,878.841340779,783,799.841340779,650,629,650,0.447868975875,0.00456248922683,0.0596844703636,0.999999869948,5.50975676109e-05,-0.000504112709002,-5.42139974022e-05,1793192962368726784
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.583126824,743,711,673.416873176,658,630,879,782.583126824,800,650,629,650,0.447887503546,0.00456412001223,0.0596829351275,0.9999998686,5.67131017297e-05,-0.000506579088324,-5.44197447578e-05,1793192962385393408
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.008500957,743,711,673.991499043,658,630,879,782.008500957,800,650,629,650,0.447903751502,0.00456522971201,0.059681577943,0.999999867688,5.65896836657e-05,-0.000508351411644,-5.4773772413e-05,1793192962402060288
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.580375771,743,711,673.419624229,658,630,878.419624229,782.580375771,799.419624229,650,629,650.580375771,0.447911626998,0.00456990441658,0.0596804422645,0.999999866325,6.24575815907e-05,-0.000510238310411,-5.5726150003e-05,1793192962418726656
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.83332207,711,673.16667793,658,630,878,782.83332207,799.16667793,650,629,651,0.447918368696,0.00457354686249,0.0596796328915,0.999999865174,6.7117470857e-05,-0.000511822414908,-5.64408503592e-05,1793192962435393536
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.253924889,711,673.746075111,658,630,878,782.253924889,799.746075111,650,629,651,0.447922614244,0.00457450072846,0.0596796232635,0.999999864645,6.85633819707e-05,-0.000512652495548,-5.65447787087e-05,1793192962452060160
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.323296439,711,673.676703561,658,630,878.323296439,782.323296439,800,650,629,650.676703561,0.447924805225,0.0045751437199,0.0596786409738,0.999999863786,7.0357137365e-05,-0.000514104067665,-5.63479629353e-05,1793192962468726784
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.898820285,711,673.101179715,658,630,878.898820285,782.898820285,800,650,629,650.101179715,0.447925393287,0.00457554417529,0.0596768998389,0.999999862665,7.24222719023e-05,-0.000516040511225,-5.59165144921e-05,1793192962485393664
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711,673,658,630,878.52576973,782.52576973,799.52576973,650,628.52576973,650,0.447927572679,0.00457633103949,0.0596771625724,0.999999862821,7.2565129858e-05,-0.000515669899052,-5.636500254e-05,1793192962502060800
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,673.050903798,658,630,878,782.050903798,799.050903798,650,628.050903798,650,0.447929986887,0.00457723377439,0.0596778659829,0.999999863248,7.26477357092e-05,-0.000514768214456,-5.69214046923e-05,1793192962518727936
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,673.641224596,658,630,878,782.641224596,799.641224596,650,628.641224596,650,0.44793129245,0.00457849095121,0.0596787097263,0.999999863658,7.64368668343e-05,-0.000513453602294,-5.66323923472e-05,1793192962535393792
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630,878,782.773644864,799.773644864,650,628.773644864,650,0.447932004355,0.00457905026152,0.0596789599808,0.999999863783,7.81942297531e-05,-0.000512951879153,-5.65661188199e-05,1793192962552060416
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630,878,782.196556569,799.196556569,650,628.196556569,650,0.447931796397,0.00457852824033,0.0596782906349,0.999999863486,7.68034046454e-05,-0.000513709712822,-5.68449750487e-05,1793192962568727552
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.619591765,743,711,673.619591765,658,629.619591765,878,782.380408235,799,650,628,650,0.447932571344,0.00457926805883,0.0596785054089,0.999999863658,7.69817918126e-05,-0.000513359628578,-5.67490447973e-05,1793192962585393920
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.042690765,743,711,673.042690765,658,629.042690765,878,782.957309235,799,650,628,650,0.447933853992,0.00458065965706,0.0596791768587,0.99999986407,7.79707262996e-05,-0.000512437270014,-5.6459525584e-05,1793192962602060544
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.543195203,743,711,673.543195203,658,629.543195203,878.543195203,782.456804797,799.543195203,650,628,650,0.44793340003,0.00458138913051,0.0596781928327,0.999999863418,7.99015441378e-05,-0.000513374246687,-5.68111572813e-05,1793192962618726912
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.871703571,711,674,658,630,878.871703571,782,799.871703571,650,628,650.128296429,0.447933255834,0.00458185235976,0.0596774615741,0.999999862981,8.11980866467e-05,-0.000513993217001,-5.70595110305e-05,1793192962635393536
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.291891186,711,674,658,630,878.291891186,782,799.291891186,650,628,650.708108814,0.447934690216,0.00458156480813,0.0596780854739,0.99999986362,7.99975147827e-05,-0.000512970098242,-5.67640781242e-05,1793192962652060416
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,711,674,658,630,878,782,799.286416341,650,628.286416341,650.713583659,0.447935055811,0.00458128214222,0.0596780740724,0.999999863502,8.0026623978e-05,-0.000513221263531,-5.65354120814e-05,1793192962668727040
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,711,674,658,630,878,782,799.863198331,650,628.863198331,650.136801669,0.447934337882,0.00458100442936,0.0596774186098,0.999999862615,8.13023697821e-05,-0.000514764283458,-5.63744334941e-05,1793192962685393408
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.56229324,742.43770676,711,674,658,630,878,782.43770676,799.56229324,649.56229324,628.56229324,650,0.4479355712,0.0045818137196,0.0596780987925,0.999999863045,8.28711954071e-05,-0.000513656696716,-5.65552956594e-05,1793192962702060032
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.011853888,743,711,674,658,629.988146112,878,782.988146112,799,649.011853888,628.011853888,650.011853888,0.447937371587,0.00458291327448,0.0596791697839,0.999999863872,8.44636477114e-05,-0.000511753669881,-5.68301071239e-05,1793192962718727168
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.602889248,743,711,674,658,629.397110752,878,782.397110752,799,649.602889248,628.602889248,650.602889248,0.447937235851,0.00458168153712,0.059679044723,0.999999864289,8.27580672577e-05,-0.00051125314196,-5.65020769754e-05,1793192962735394048
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658,629.190198878,878,782,799.190198878,650,628.809801122,650.809801122,0.447936447651,0.00458043478686,0.0596784868794,0.999999864101,8.07788115627e-05,-0.000511965927776,-5.62478370569e-05,1793192962752060928
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658,629.769879078,878,782,799.769879078,650,628.230120922,650.230120922,0.447934323361,0.00457915729388,0.0596770428017,0.999999862667,7.82391352361e-05,-0.000515163286841,-5.61447017106e-05,1793192962768727040
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.653856007,711,673.653856007,658,629.653856007,878.346143993,782,799.653856007,649.653856007,628,650,0.447933241889,0.00457923403299,0.0596759440043,0.999999861839,7.84504162848e-05,-0.000516729388621,-5.61918212059e-05,1793192962785393408
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.079839455,711,673.079839455,658,629.079839455,878.920160545,782,799.079839455,649.079839455,628,650,0.447932846922,0.00458020228649,0.059675072511,0.999999861416,8.04727000967e-05,-0.000517221605484,-5.63378560579e-05,1793192962802059776
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742,711,673,658,629.493168785,878.506831215,782,799.493168785,649.493168785,628,650,0.447935694263,0.00458172139957,0.0596767579839,0.999999862603,8.17739664915e-05,-0.000514723662012,-5.62653139716e-05,1793192962818726912
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,742.068552788,710.931447212,673,657.931447212,630,878,782,800,650,628.068552788,650.068552788,0.447938503825,0.00458317333347,0.0596785638174,0.999999863804,8.30023909991e-05,-0.000512196424935,-5.61987853901e-05,1793192962835393792
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,742.663427384,710.336572616,673,657.336572616,630,878,782,800,650,628.663427384,650.663427384,0.447937001576,0.00458342620537,0.0596781220761,0.999999863168,8.45659118742e-05,-0.000513153274597,-5.64495487191e-05,1793192962852060160
+247,4.116666667,HOLD_POSE2,764,742,711,674,658,629,878,783,799,650,629,650,0.447936472944,0.0045822123216,0.0596772698985,0.999999862726,8.20863078353e-05,-0.000514435745449,-5.62613033872e-05,1793192962890318592
+248,4.133333333,HOLD_POSE2,764,742,711,674,658,629,878.573997533,782.426002467,799.573997533,649.426002467,629,650,0.447936168197,0.00458183158408,0.0596765159057,0.999999862148,8.38362030555e-05,-0.000515258085277,-5.64352654095e-05,1793192962906984960
+249,4.150000000,HOLD_POSE2,764,742.15202868,711,674,657.84797132,629.15202868,879,782,799.84797132,649,629,650.15202868,0.447936259989,0.004581418566,0.0596761585748,0.999999861994,8.45177884177e-05,-0.000515430360415,-5.65656939891e-05,1793192962923651584
+250,4.166666667,HOLD_POSE2,764,742.741670685,711,674,657.258329315,629.741670685,879,782,799.258329315,649,629,650.741670685,0.447937493215,0.00458091262852,0.0596769430317,0.999999863068,8.21242529213e-05,-0.000513731429808,-5.65708119473e-05,1793192962940318208
+251,4.183333333,HOLD_POSE2,764,742.674256554,711,674,657.325743446,629.674256554,878.674256554,782.325743446,799.325743446,649.325743446,628.674256554,650.674256554,0.447938101239,0.0045813976652,0.0596777254259,0.9999998635,8.21649016251e-05,-0.000512876739051,-5.66181607889e-05,1793192962956985088
+252,4.200000000,HOLD_POSE2,764,742.094526248,711,674,657.905473752,629.094526248,878.094526248,782.905473752,799.905473752,649.905473752,628.094526248,650.094526248,0.447938221783,0.00458265537874,0.0596785062116,0.999999863435,8.41035189838e-05,-0.000512680314377,-5.66984376589e-05,1793192962973651712
+253,4.216666667,HOLD_POSE2,764,742.481780484,711,674,657.518219516,629.481780484,878,783,799.518219516,650,628.481780484,650,0.447938011493,0.00458325791432,0.0596780286004,0.999999863296,8.50745064276e-05,-0.000512819696167,-5.6440179784e-05,1793192962990318336
+254,4.233333333,HOLD_POSE2,764,742.941668133,711,674,657.058331867,630,878.058331867,782.941668133,799,650,628.941668133,650.058331867,0.447937789584,0.00458353513273,0.0596773387507,0.999999863164,8.54720272097e-05,-0.000513044183237,-5.61519097971e-05,1793192963006984960
+255,4.250000000,HOLD_POSE2,764,742.35688929,711,674,657.64311071,630,878.64311071,782.35688929,799,650,628.35688929,650.64311071,0.4479380445,0.0045820283096,0.059676945998,0.999999863213,8.23953131027e-05,-0.000513446321741,-5.61880029229e-05,1793192963023651840
+256,4.266666667,HOLD_POSE2,764,742.226374201,710.773625799,674,657.773625799,630,878.773625799,782.226374201,799,650,628,650.773625799,0.447938267434,0.00458121261024,0.0596769614416,0.999999863318,8.10694692999e-05,-0.000513454542291,-5.61772886508e-05,1793192963040318464
+257,4.283333333,HOLD_POSE2,764,742.807264505,710.192735495,674,657.192735495,630,878.192735495,782.807264505,799,650,628,650.192735495,0.44793844028,0.00458147925387,0.0596776161458,0.999999863519,8.24855977581e-05,-0.000512845862749,-5.60932710748e-05,1793192963056985088
+258,4.300000000,HOLD_POSE2,764,743,710,674,657.386367803,629.613632197,878,782.613632197,799,650,628.386367803,650.386367803,0.447938244586,0.00458134887493,0.059676894074,0.999999863124,8.21270912884e-05,-0.000513654635215,-5.6274809377e-05,1793192963073651712
+259,4.316666667,HOLD_POSE2,764,743,710,674,657.96458383,629.03541617,878,782.03541617,799,650,628.96458383,650.96458383,0.447937865894,0.00458102135725,0.0596754883738,0.999999862429,8.08874024199e-05,-0.000515167233481,-5.65882075803e-05,1793192963090318336
+260,4.333333333,HOLD_POSE2,764,743,710.53927219,674,658,629,878,782.53927219,799.53927219,650,629,651,0.447938397915,0.00458173377419,0.059676683606,0.99999986266,8.33345585366e-05,-0.000514370311519,-5.6207796231e-05,1793192963106985216
+261,4.350000000,HOLD_POSE2,763.88364771,743,711,674,657.88364771,629.11635229,878,782.88364771,799.88364771,649.88364771,628.88364771,650.88364771,0.447938760858,0.00458271627215,0.0596776606915,0.999999862746,8.57575720617e-05,-0.000513826374713,-5.6000384377e-05,1793192963123651584
+262,4.366666667,HOLD_POSE2,763.295945933,743,711,674,657.295945933,629.704054067,878,782.295945933,799.295945933,649.295945933,628.295945933,650.295945933,0.447938198145,0.00458451800782,0.0596770665754,0.99999986203,8.71082766912e-05,-0.000514917746631,-5.66771905251e-05,1793192963140318464
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,629,878,782,799,650,629,650,0.447938227561,0.00458276256975,0.059677404703,0.99999986271,8.32551682877e-05,-0.000514205062642,-5.6941995057e-05,1793192963178676736
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.39997472,742.60002528,711,673,658.60002528,629,878.60002528,782,799,650,628.39997472,650,0.44794006557,0.00458178526244,0.0596786985832,0.999999863639,8.32987871018e-05,-0.000512463277237,-5.62629147819e-05,1793192963195344640
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742.807537178,711,673.192462822,658.807537178,629,878.807537178,782,799.192462822,650,628.192462822,650.192462822,0.44794061927,0.00458141465947,0.0596788659786,0.99999986387,8.36017429827e-05,-0.000512004454345,-5.58721865029e-05,1793192963212011776
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742.230270216,711,673.769729784,658.230270216,629,878.230270216,782,799.769729784,650,628.769729784,650.769729784,0.447938605166,0.00458225708199,0.0596767811157,0.99999986271,8.44232092842e-05,-0.000514110746223,-5.60579800558e-05,1793192963228677632
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,657.645650244,629,878,782.354349756,800,650,628.645650244,650.645650244,0.447937453087,0.00458258141949,0.0596762418692,0.999999862042,8.55662705654e-05,-0.000515235703243,-5.59156984708e-05,1793192963245343744
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,657.056150781,629,878,782.943849219,800,650,628.056150781,650.056150781,0.447936873057,0.00458256195104,0.059676728308,0.999999861701,8.69227451375e-05,-0.000515709437443,-5.55557032431e-05,1793192963262010112
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742.523492456,711,673.476507544,657,629,878,782.476507544,800,649.476507544,628.523492456,650,0.447937035298,0.00458293374923,0.059676607863,0.999999861732,8.6105444415e-05,-0.000515782958418,-5.55859859003e-05,1793192963278676992
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.101479602,743,710.898520398,673.101479602,657,629,878,782,800,649.101479602,628.898520398,650,0.447936768351,0.00458314756387,0.0596763646112,0.999999861701,8.51310619917e-05,-0.000515994514137,-5.56854815968e-05,1793192963295343872
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.676580416,743,710.323419584,673.676580416,657,629,878,782,800,649.676580416,628.323419584,650,0.447934133602,0.004582431793,0.0596758463975,0.999999861198,8.4491653934e-05,-0.000517046947128,-5.59162397058e-05,1793192963312010752
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.742556165,742.742556165,710.257443835,673.742556165,657,629.257443835,878.257443835,782,799.742556165,650,628,650,0.447925639711,0.00458279871996,0.059671997717,0.999999858098,8.47542645485e-05,-0.000522947339076,-5.60923794109e-05,1793192963328677120
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.154287632,742.154287632,710.845712368,673.154287632,657,629.845712368,878.845712368,782,799.154287632,650,628,650,0.447909616609,0.0045845569531,0.0596638692657,0.999999851554,8.61760020249e-05,-0.000535077534586,-5.61983324554e-05,1793192963345343488
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.42723223,710.57276777,673.42723223,657,630,878.57276777,782,799.42723223,650,628.42723223,650,0.447873449444,0.00458284936883,0.05964737433,0.999999837977,8.37837907817e-05,-0.000560241317311,-5.61719324452e-05,1793192963362010112
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.006334373,742.993665627,710.006334373,674,657.006334373,629.993665627,878,782,800,650,628.993665627,650,0.447829845376,0.00457997816987,0.0596278793266,0.999999821178,8.01293938542e-05,-0.00058997766056,-5.61176463023e-05,1793192963378676480
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.583768655,742.416231345,710.583768655,674,657.583768655,629.416231345,878,782,800,650,628.416231345,650,0.447761416961,0.00458328672382,0.0596060728414,0.9999998061,8.49263701714e-05,-0.00061420487836,-5.77914973552e-05,1793192963395343360
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.160417099,711,674,657.839582901,629.160417099,878,782,799.839582901,650,628.160417099,650,0.447690005283,0.00458624203937,0.0595877620557,0.999999792282,8.94129646838e-05,-0.00063558438178,-5.89402679808e-05,1793192963412009984
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.735036607,711,674,657.264963393,629.735036607,878,782,799.264963393,650,628.735036607,650,0.447610890706,0.00458828528204,0.0595784772803,0.999999782944,9.30981439512e-05,-0.000649610995742,-5.87332635096e-05,1793192963428676608
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.683337733,657.316662267,630,878,782,799,650,629,650,0.447524645742,0.00458815679543,0.0595749624137,0.999999779877,9.46469286045e-05,-0.000654166237973,-5.79160475834e-05,1793192963445342976
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.095717155,657.904282845,630,878,782,799,650,629,650,0.447432299525,0.00458617002572,0.0595763846841,0.999999782296,9.43676648772e-05,-0.000650617113488,-5.65766922147e-05,1793192963462009856
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.485984001,657.514015999,630,878.485984001,782,799,650,629,650.485984001,0.447312052914,0.00458847470022,0.0595779660025,0.999999782839,0.000101148857364,-0.000648857701199,-5.5444829681e-05,1793192963478676736
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.933945612,743,711,673.933945612,657.066054388,630,878.933945612,782,799,650,629,650.933945612,0.447182028041,0.0045913632939,0.0595794644293,0.999999782839,0.000108593309643,-0.000647753763034,-5.42577539354e-05,1793192963495343360
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.35757533,743,711,673.35757533,657.64242467,630,878.35757533,782,799,650,629,650.35757533,0.447018402153,0.00459231171432,0.0595800833631,0.999999781905,0.000110547878036,-0.000649023331759,-5.23321926847e-05,1793192963512009984
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.780994291,711,673,658,630,878,782.219005709,799.219005709,650,629,650,0.446841939539,0.00459344230293,0.0595806031993,0.999999779783,0.000114624604512,-0.000651741716319,-5.02775457083e-05,1793192963528676352
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742.204068868,711,673,658,630,878,782.795931132,799.795931132,650,629,650,0.446644497957,0.00459487060781,0.0595809610809,0.999999775673,0.000122169560985,-0.000656827891734,-4.80119348937e-05,1793192963545342976
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.379683598,742.379683598,711,673,658,630,878,783,799.620316402,649.620316402,629,650,0.446428224537,0.00459549496576,0.059582304754,0.999999774368,0.000126445830904,-0.000658163210043,-4.57785278867e-05,1793192963562009856
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.96717264,742.96717264,711,673,658,630,878,783,799.03282736,649.03282736,629,650,0.446201644204,0.00459567931392,0.0595841879628,0.999999774622,0.000128933109673,-0.000657445639185,-4.3562746206e-05,1793192963578676480
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630,878,782.45024528,799,649.54975472,628.45024528,650,0.445929260269,0.00459850414392,0.0595881008375,0.999999776041,0.000136459895235,-0.000653947041211,-4.06139659113e-05,1793192963595343360
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.870006124,743,711,673,658.129993876,630.129993876,878,782.129993876,799.129993876,650,628,650,0.445642118565,0.00460092453241,0.0595909275792,0.999999776836,0.00014437030248,-0.000651213964494,-3.74830339099e-05,1793192963612010240
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.296765354,743,711,673,658.703234646,630.703234646,878,782.703234646,799.703234646,650,628,650,0.445313899816,0.00460143301556,0.0595896412818,0.999999775462,0.000152571772101,-0.000651652348138,-3.38789312887e-05,1793192963628676608
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.271848135,743,710.728151865,673,658.728151865,631,878,783,799.728151865,649.728151865,628.271848135,650,0.444977233336,0.00460289334947,0.0595903066415,0.999999777454,0.00016136847487,-0.000646626011278,-3.04499907788e-05,1793192963645343488
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.835494721,743,710.164505279,673,658.164505279,631,878,783,799.164505279,649.164505279,628.835494721,650,0.444631499185,0.00460537538826,0.0595930668863,0.999999782964,0.000170804093088,-0.000635733910404,-2.72090673426e-05,1793192963662009856
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,710.429654853,673.429654853,658.859309706,631,878,783,799,649.429654853,628.570345147,650,0.444262132197,0.00460726366356,0.0596114980906,0.999999801595,0.000179769370245,-0.000603289808909,-2.31141875311e-05,1793192963678676480
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.965500992,711,674,660,631,878,783,799,649.965500992,628.034499008,650,0.443879993799,0.00460882226703,0.0596364983769,0.999999824191,0.000188692196209,-0.000561842399008,-1.85882936396e-05,1793192963695343360
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.390310488,711,674,660,631,878,783,799,649.390310488,628.609689512,650,0.443450348523,0.00460904942432,0.0596632278029,0.999999845497,0.000199987853916,-0.00051850337396,-1.28233537802e-05,1793192963712009984
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.184131456,711,674,660.184131456,631,878,783,799,649.184131456,629,650,0.442991304095,0.0046097058643,0.0596816538829,0.999999857417,0.000211041435962,-0.000490484880344,-7.26603517045e-06,1793192963728676608
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.756992998,711,674,660.756992998,631,878,783,799,649.756992998,629,650,0.442470193547,0.00461126858664,0.0596825503071,0.999999853029,0.000221583957983,-0.000494810414049,-2.14703802179e-06,1793192963745344000
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,661.336165971,631,878.336165971,783,799,650,628.663834029,650,0.441934348945,0.00461180215516,0.0596828658993,0.999999849296,0.000230869033536,-0.000498095478889,2.81771531583e-06,1793192963762010624
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,661.919988697,631,878.919988697,783,799,650,628.080011303,650,0.441387649566,0.00461157753618,0.0596827535872,0.999999846048,0.000239227737094,-0.000500614020607,7.66883626441e-06,1793192963778676480
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.493802359,662.506197641,631.506197641,879,783,799.506197641,650,628.506197641,650,0.44080256628,0.00461002802507,0.0596984888078,0.999999853351,0.000245053243016,-0.000482771285629,1.33402047394e-05,1793192963795343104
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..59ec54581796c96b1b33aeecadc90e2b6aaa963a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a770951859c667e6311bee501e3d78d92d13089
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da1a0c94fc10373da0d7011c34e1aecf292ccef234e2b13d9c802e0c67ef285c
+size 24601577
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..752d287d97da124be8876952a614f021766c1e24
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/franka_data.csv
@@ -0,0 +1,390 @@
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+3,0.050000000,BASELINE,764,742,710.730925744,672,665,632.730925744,875.730925744,784,799,650,629,651,0.400931371081,0.00453972323018,0.0499222059336,0.999999974911,2.37962567091e-05,-0.000220648815672,-3.04380214103e-05,1793192966846480640
+4,0.066666667,BASELINE,764,742,710.688646722,672,665,633,876,784,799,650,629,651,0.400931348252,0.00454006410391,0.0499221415541,0.999999974927,2.43140045541e-05,-0.000220526702494,-3.03812396855e-05,1793192966863146752
+5,0.083333333,BASELINE,764,742,710.103750678,672,665,633,876,784,799,650,629,651,0.400929775384,0.00454079625886,0.0499208499353,0.999999974588,2.51601391516e-05,-0.000221949475085,-3.04887495305e-05,1793192966879813376
+6,0.100000000,BASELINE,764.479389574,742,710,672,665.479389574,633,876,783.520610426,799,650,628.520610426,651,0.400930935352,0.00454127941577,0.049921766638,0.999999974763,2.62448677973e-05,-0.00022103921671,-3.04390462432e-05,1793192966896480000
+7,0.116666667,BASELINE,764.938626681,742,710.061373319,672,665.938626681,633,876,783.061373319,799,650,628.061373319,651,0.400932293054,0.0045416177016,0.0499228932262,0.999999974987,2.70481786226e-05,-0.000219934959193,-3.03660225082e-05,1793192966913146368
+8,0.133333333,BASELINE,764.363159007,742,710.636840993,672,665.363159007,633,876,783.636840993,799,650,628.636840993,651,0.400930370884,0.00454119222582,0.0499217891419,0.999999974711,2.50632292059e-05,-0.000221419702596,-3.03816209747e-05,1793192966929813248
+9,0.150000000,BASELINE,764.212223386,742,710.787776614,672,665,633,876,784,799,650,629,651,0.400929154629,0.00454045368153,0.0499208969882,0.999999974488,2.41671988834e-05,-0.000222528660806,-3.03310690105e-05,1793192966946480128
+10,0.166666667,BASELINE,764.787459843,742,710.212540157,672,665,633,876,784,799,650,629,651,0.400929145859,0.00453917962627,0.0499203673472,0.999999974366,2.51337903809e-05,-0.000222994829492,-3.01673651838e-05,1793192966963146752
+11,0.183333333,BASELINE,764.62706321,742,710,671.62706321,665,632.62706321,876,783.62706321,799,650,629,651,0.400930589544,0.00453928489583,0.0499210902352,0.999999974742,2.45739297278e-05,-0.000221334348071,-3.03777315769e-05,1793192966979813376
+12,0.200000000,BASELINE,764.035585276,742,710,671.035585276,665,632.035585276,876,783.035585276,799,650,629,651,0.400932884369,0.00454019845029,0.0499225471058,0.999999975403,2.31195674514e-05,-0.000218427648677,-3.08073032878e-05,1793192966996480000
+13,0.216666667,BASELINE,764,742,710.542280924,671.542280924,665,632.542280924,876,783.542280924,799,650,629,651,0.400932771787,0.00453977316761,0.0499226937653,0.999999975477,2.34056216449e-05,-0.000218112757228,-3.04186302934e-05,1793192967013146624
+14,0.233333333,BASELINE,764,742,710.881035017,672,665,633,876,783.881035017,799,650,629,651,0.400932450587,0.00453919012083,0.0499225874285,0.999999975453,2.30527927358e-05,-0.00021830755145,-3.00716384754e-05,1793192967029813248
+15,0.250000000,BASELINE,764,742,710.305543444,672,665,633,876,783.305543444,799,650,629,651,0.400931920215,0.00453833054876,0.0499218320828,0.99999997519,1.98207155367e-05,-0.000219821566187,-3.00856037436e-05,1793192967046479872
+16,0.266666667,BASELINE,764,742,710,672,665,633,876,783,799,650,629,651,0.400931775921,0.00453871714855,0.0499215759281,0.999999975074,2.06260603024e-05,-0.000220274878869,-3.00944081815e-05,1793192967063146496
+17,0.283333333,BASELINE,764,742,710,672,665,633,876,783,799,650,629,651,0.400932068612,0.00454051424011,0.0499218847877,0.999999975113,2.60012005022e-05,-0.000219527625541,-3.00973712825e-05,1793192967079813120
+18,0.300000000,BASELINE,764,742,710,672,665,632.564699994,876.435300006,783.435300006,799,650.435300006,629,651,0.400931250544,0.00454099842948,0.049921594632,0.999999974888,2.65102717464e-05,-0.000220446460335,-3.04138411114e-05,1793192967096479744
+19,0.316666667,BASELINE,764,742.027006556,710,672,665,632.027006556,877,784,799,650.972993444,629,651,0.40093009998,0.00454090092718,0.0499211072219,0.999999974588,2.52250881554e-05,-0.000221899385193,-3.07863795315e-05,1793192967113146368
+20,0.333333333,BASELINE,764,742.60215768,710,672,665,632.60215768,877,784,799,650.39784232,629,651,0.400930343614,0.00453862160959,0.0499210074556,0.999999974644,2.31945741622e-05,-0.000221978834984,-2.99986726454e-05,1793192967129812992
+21,0.350000000,BASELINE,764,742.822445245,710,672,664.822445245,632.822445245,876.822445245,783.822445245,799,650,629,651,0.400930654644,0.00453710547867,0.0499211563445,0.999999974777,2.17122239923e-05,-0.000221581971807,-2.95863561457e-05,1793192967146479616
+22,0.366666667,BASELINE,764,742.246496385,710,672,664.246496385,632.246496385,876.246496385,783.246496385,799,650,629,651,0.400931116897,0.00453730177234,0.0499218631614,0.999999975094,2.14598340358e-05,-0.000220116366314,-3.00163338211e-05,1793192967163146496
+23,0.383333333,BASELINE,764,742.335977315,710,672,664.335977315,632.335977315,876,783.335977315,799,650,629,651,0.400932006552,0.00453847951958,0.0499224596319,0.999999975345,2.15599039785e-05,-0.000218924136548,-3.02873535916e-05,1793192967179813120
+24,0.400000000,BASELINE,764,742.923332962,710,672,664.923332962,632.923332962,876,783.923332962,799,650,629,651,0.400933215989,0.0045403915907,0.0499229735414,0.999999975548,2.19236845023e-05,-0.000217936446432,-3.04394410528e-05,1793192967196479744
+25,0.416666667,BASELINE,764,742.494109439,710.505890561,672,665,633,876,784,799.505890561,650.505890561,629,651,0.400932014905,0.00454022969741,0.0499216707125,0.999999975144,2.26066036682e-05,-0.000219676062137,-3.07216935804e-05,1793192967213146368
+26,0.433333333,BASELINE,764,742.086513971,710.913486029,672,665,633,876,783.913486029,799.913486029,650.913486029,629,651,0.40093078002,0.00453985864013,0.0499203705351,0.99999997474,2.32657361876e-05,-0.000221408941909,-3.0932367242e-05,1793192967229813248
+27,0.450000000,BASELINE,764,742.660300653,710.339699347,672,665,633,876,783.339699347,799.339699347,650.339699347,629,651,0.400931392965,0.00454006314495,0.0499206214308,0.999999974878,2.35210483511e-05,-0.000220797815269,-3.06298264798e-05,1793192967246480896
+28,0.466666667,BASELINE,764,742.765177635,710,672,665,633,876,783.234822365,799,650,629,651,0.400931526691,0.00453996655659,0.0499209127452,0.999999974975,2.3464248535e-05,-0.000220397868178,-3.04090007163e-05,1793192967263148032
+29,0.483333333,BASELINE,764,742.189589306,710,672,665,633,876,783.810410694,799,650,629,651,0.400930964993,0.00453943303238,0.0499212627136,0.99999997501,2.29545227684e-05,-0.000220304377465,-3.03067569049e-05,1793192967279813632
+30,0.500000000,BASELINE,764,742,710.395665015,672,665,632.604334985,876,784,799.395665015,650,628.604334985,651,0.400931828507,0.00453900841617,0.04992203501,0.999999975415,2.19204059208e-05,-0.000218553969296,-3.03896486988e-05,1793192967296480000
+31,0.516666667,BASELINE,764,742,710.985666919,672,665,632.014333081,876,784,799.985666919,650,628.014333081,651,0.400933392036,0.00453863729181,0.0499230147392,0.999999975994,2.06287264357e-05,-0.000215989740929,-3.05634726628e-05,1793192967313146624
+32,0.533333333,BASELINE,764,742,710.434862358,672,665,632,876.565137642,783.434862358,799.434862358,650,628,651,0.400932997614,0.00453774600275,0.0499217192508,0.999999975499,2.02217155026e-05,-0.000218367520644,-3.01584545841e-05,1793192967329813248
+33,0.550000000,BASELINE,764,742,710.143150131,672,665,632.143150131,876.856849869,783,799,650,628,651,0.400932721955,0.00453733237848,0.0499209253734,0.999999975168,1.99271839712e-05,-0.000219942015755,-2.98814548715e-05,1793192967346479872
+34,0.566666667,BASELINE,764,742,710.71755932,672,665,632.71755932,876.28244068,783,799,650,628,651,0.400932950951,0.00453839680099,0.049921813329,0.99999997543,1.99051537683e-05,-0.000218725812257,-3.00335461725e-05,1793192967363146752
+35,0.583333333,BASELINE,764,742.298119522,710.701880478,672,665,632.701880478,876,783.298119522,799,650,628,651,0.400932747727,0.00453927608652,0.0499220067582,0.999999975514,2.03299583235e-05,-0.000218271052476,-3.0262596885e-05,1793192967379813632
+36,0.600000000,BASELINE,764,742.884630079,710.115369921,672,665,632.115369921,876,783.884630079,799,650,628,651,0.400932126388,0.00453997627674,0.0499215283255,0.999999975426,2.11870161486e-05,-0.000218552888199,-3.0566095623e-05,1793192967396480512
+37,0.616666667,BASELINE,764,742.533597045,710,672,665,632.466402955,876,784,799,650.466402955,628.466402955,651,0.40093219472,0.00454168465648,0.0499214991613,0.999999975276,2.41982759551e-05,-0.000218909714554,-3.06903239988e-05,1793192967413146880
+38,0.633333333,BASELINE,764.046804714,742,710.046804714,672,665,633,876.046804714,784,799,650.953195286,629,651,0.400932353302,0.00454317699481,0.049921492849,0.999999975114,2.71365760052e-05,-0.000219299155199,-3.07084543224e-05,1793192967429813504
+39,0.650000000,BASELINE,764.624812392,742,710.624812392,672,665,633,876.624812392,784,799,650.375187608,629,651,0.400931619451,0.00453941548968,0.0499204973037,0.999999975112,2.32599697453e-05,-0.000219850336409,-3.00206613489e-05,1793192967446480128
+40,0.666666667,BASELINE,764.799178694,742,711,672,665,633,876.799178694,784,799,650,629,651,0.400931772789,0.00453768581832,0.0499203659819,0.999999975244,2.15027760819e-05,-0.000219460914496,-2.97739143965e-05,1793192967463146752
+41,0.683333333,BASELINE,764.226867236,742,711,672,665,633,876.226867236,784,799,650,629,651,0.400933567295,0.00453971474361,0.0499218333477,0.999999975643,2.36661871162e-05,-0.00021733151384,-3.03430383562e-05,1793192967479813376
+42,0.700000000,BASELINE,764,742,710.64344427,672,665,633,876.35655573,783.64344427,799.35655573,650,629,651,0.40093328946,0.00454109967858,0.0499217806303,0.999999975584,2.42635128113e-05,-0.000217493496119,-3.06562611449e-05,1793192967496480256
+43,0.716666667,BASELINE,764,742,710.05272395,672,665,633,876.94727605,783.05272395,799.94727605,650,629,651,0.400931650634,0.00454206167896,0.0499207296126,0.999999975226,2.38323267449e-05,-0.000219160322465,-3.0801423247e-05,1793192967513146880
+44,0.733333333,BASELINE,764.528211277,742,710.528211277,672,665,633,876.471788723,783,800,650,629,651,0.40093184403,0.00454040425462,0.0499210454838,0.999999975163,2.18467132495e-05,-0.000219715998776,-3.03682684915e-05,1793192967529813504
+45,0.750000000,BASELINE,764.892477199,742,710.892477199,672.107522801,665,632.892477199,876,783,799.892477199,650.107522801,629,651,0.400932150784,0.00453892744889,0.0499213869442,0.999999975134,2.04332638866e-05,-0.000220040167651,-2.99328611023e-05,1793192967546480128
+46,0.766666667,BASELINE,764.316064743,742,710.316064743,672.683935257,665,632.316064743,876,783,799.316064743,650.683935257,629,651,0.400932168847,0.00453935774214,0.0499212558348,0.999999975149,2.21792383981e-05,-0.000219829636014,-2.97347827038e-05,1793192967563146752
+47,0.783333333,BASELINE,764,742,710,672.741440559,665,632,876,783.258559441,799,650.741440559,629,651,0.400931628322,0.00453863858163,0.049920876439,0.999999975094,2.16060788126e-05,-0.000220156746937,-2.96147950908e-05,1793192967579813376
+48,0.800000000,BASELINE,764,742,710,672.168987278,665,632,876,783.831012722,799,650.168987278,629,651,0.400930409665,0.00453652397243,0.049920195621,0.999999974946,1.82174666513e-05,-0.000221136561467,-2.95896104737e-05,1793192967596480000
+49,0.816666667,BASELINE,764,742.417869753,710,672,665,632,876,784,799,650,629,651,0.400931529909,0.00453789567321,0.0499209698333,0.999999975273,1.96304803837e-05,-0.000219477414968,-2.99553714817e-05,1793192967613146624
+50,0.833333333,BASELINE,764,742.989511893,710,672,665,632.010488107,876,783.989511893,799,650,629,651,0.400933599316,0.00454065644533,0.0499223280994,0.99999997578,2.29727207658e-05,-0.000216758756928,-3.04686373203e-05,1793192967629813248
+51,0.850000000,BASELINE,764,742.411582122,710,672,665,632.588417878,876,783.411582122,799,650,629,651,0.40093402085,0.00453956879692,0.0499223137914,0.999999975868,2.18849201989e-05,-0.000216517380765,-3.01033518611e-05,1793192967646480128
+52,0.866666667,BASELINE,764,742,710.165964628,672,665,633,876,783.165964628,799.165964628,650,629,651,0.400934025256,0.0045386513492,0.0499220781534,0.999999975828,2.07246037354e-05,-0.000216840257145,-2.99117582053e-05,1793192967663146752
+53,0.883333333,BASELINE,764,742,710.742563663,672,665,633,876,783.742563663,799.742563663,650,629,651,0.400932997593,0.00453815501693,0.0499212948942,0.999999975474,1.93848664431e-05,-0.000218559223241,-3.01499177725e-05,1793192967679813632
+54,0.900000000,BASELINE,764,742.325005359,711,672,665.325005359,633,876.325005359,783.674994641,799.674994641,650,629,651,0.400932689743,0.00453805153505,0.0499212973259,0.999999975344,1.99572613114e-05,-0.000219116880879,-3.00236016679e-05,1793192967696480256
+55,0.916666667,BASELINE,764,742.912159714,711,672,665.912159714,633,876.912159714,783.087840286,799.087840286,650,629,651,0.400932962493,0.00453826492594,0.0499219334952,0.999999975395,2.20719801197e-05,-0.000218737828199,-2.9603299842e-05,1793192967713146624
+56,0.933333333,BASELINE,764,742.507170558,710.507170558,672,665.507170558,633,876.507170558,783.492829442,799,650.492829442,629,651,0.400933223542,0.00453848730385,0.0499215925117,0.999999975357,2.33068446824e-05,-0.000218787087767,-2.95673302949e-05,1793192967729813248
+57,0.950000000,BASELINE,764,742,710,672,665,633,876.072012143,784,799,650.927987857,629,651,0.400933127141,0.00453850327828,0.0499209634024,0.999999975247,2.38083716917e-05,-0.000219228508727,-2.96334634096e-05,1793192967746479872
+58,0.966666667,BASELINE,764,742,710,672,665,633,876.648767727,784,799,650.351232273,629,651,0.400930539753,0.00453706145933,0.0499195196686,0.999999974729,2.0254744855e-05,-0.000221890509526,-2.99413432111e-05,1793192967763146496
+59,0.983333333,BASELINE,764,742.225224057,710,672,665,632.774775943,877,784,799,650.225224057,629,651,0.40092974593,0.00453693106266,0.0499192585774,0.999999974589,1.989434698e-05,-0.000222536261172,-3.005234881e-05,1793192967779813120
+60,1.000000000,BASELINE,764,742.801214418,710,672,665,632.198785582,877,784,799,650.801214418,629,651,0.400931745423,0.00453884308856,0.0499208393461,0.999999975045,2.45071167538e-05,-0.000220041885702,-2.98567405134e-05,1793192967796480000
+61,1.016666667,BASELINE,764,742.614413347,710,672,665,632.385586653,876.614413347,784,799,650.614413347,628.614413347,651,0.40093120946,0.00453919525813,0.0499204573346,0.999999974918,2.50116605267e-05,-0.000220578970722,-2.97358946063e-05,1793192967813147136
+62,1.033333333,BASELINE,764,742.025623928,710,672,665,632.974376072,876.025623928,784,799,650.025623928,628.025623928,651,0.40092933732,0.00453872538898,0.049919040945,0.999999974487,2.33511838523e-05,-0.000222713624552,-2.96544482186e-05,1793192967829814016
+63,1.050000000,BASELINE,764,742,710,672,665,632.446483303,876.553516697,784,799.553516697,650,628.553516697,651,0.400930890095,0.00453910838247,0.0499201519777,0.999999974976,2.30558328966e-05,-0.000220496640088,-2.99717122464e-05,1793192967846480640
+64,1.066666667,BASELINE,764,742,710,672,665,632.13127123,876.86872877,783.86872877,800,650,629,651,0.400932313414,0.00453924544265,0.049921078606,0.999999975359,2.24702120735e-05,-0.000218786117825,-3.01561274101e-05,1793192967863147008
+65,1.083333333,BASELINE,764,742,710,672,665,632.705827591,876.294172409,783.294172409,800,650,629,651,0.40093277335,0.00453842097984,0.0499209941952,0.999999975261,2.06946422214e-05,-0.000219454464764,-2.98306694231e-05,1793192967879813632
+66,1.100000000,BASELINE,764,742,710.287223503,671.712776497,665.287223503,632.712776497,876,783.287223503,799.712776497,650,629,651,0.400932995643,0.00453779147618,0.0499210893663,0.99999997524,1.9479530928e-05,-0.000219684670759,-2.96453636614e-05,1793192967896480000
+67,1.116666667,BASELINE,764,742,710.875795278,671.124204722,665.875795278,632.124204722,876,783.875795278,799.124204722,650,629,651,0.400932968606,0.00453736651922,0.0499213729506,0.999999975304,1.88524399338e-05,-0.000219455189343,-2.96071024013e-05,1793192967913146624
+68,1.133333333,BASELINE,764,742,710.54277866,671,665.54277866,632.45722134,876,784,799,650,629,651,0.400932427027,0.00453711622827,0.0499209634437,0.99999997518,1.93636854543e-05,-0.000219972792387,-2.96077019536e-05,1793192967929813248
+69,1.150000000,BASELINE,764,742,710.036552532,671.036552532,665.036552532,633,876,783.963447468,799.036552532,650,629,651,0.40093188788,0.0045370175118,0.0499204670946,0.999999975052,2.01730931786e-05,-0.00022047842311,-2.96379513914e-05,1793192967946479872
+70,1.166666667,BASELINE,764,742,710.613170392,671.613170392,665.613170392,633,876,783.386829608,799.613170392,650,629,651,0.400933418091,0.00453846805364,0.0499214266734,0.999999975603,2.08892723085e-05,-0.00021785476112,-2.9952705327e-05,1793192967963146752
+71,1.183333333,BASELINE,764,742,710.80716137,672,666,633,876,783.19283863,800,650,629,651,0.400934289487,0.00453906451583,0.0499219973146,0.999999975897,2.11519190773e-05,-0.000216456796777,-3.00784872586e-05,1793192967979813376
+72,1.200000000,BASELINE,764,742,710.221275693,672,666,633,876,783.778724307,800,650,629,651,0.400933818072,0.0045379201783,0.0499217752165,0.99999997568,2.04901684397e-05,-0.000217557070195,-2.98191032265e-05,1793192967996479744
+73,1.216666667,BASELINE,764.360412497,742.360412497,710,672,665.639587503,633,876,784,799.639587503,650,629,651,0.400933474445,0.00453800713448,0.0499214600228,0.999999975537,2.02293001742e-05,-0.000218216915869,-2.99684540922e-05,1793192968013146624
+74,1.233333333,BASELINE,764.939553268,742.939553268,710,672,665.060446732,633,876,784,799.060446732,650,629,651,0.400933208369,0.00453884134215,0.049921088331,0.99999997544,2.0211720707e-05,-0.000218609473297,-3.03658592977e-05,1793192968029813248
+75,1.250000000,BASELINE,764.481201547,742.481201547,710,672,665,633,876,783.481201547,799.518798453,650.518798453,629,651,0.400932765332,0.00453846756486,0.0499208570002,0.999999975423,1.94985143648e-05,-0.000218795221027,-3.00505229477e-05,1793192968046479872
+76,1.266666667,BASELINE,764,742,710,672,665.097388354,633,876,783,799.902611646,651,629,651,0.400932349824,0.00453821877674,0.049920642317,0.999999975377,1.92694126869e-05,-0.000219062964957,-2.97786220001e-05,1793192968063146496
+77,1.283333333,BASELINE,764,742,710,672,665.672702774,633,876,783,799.327297226,651,629,651,0.40093217062,0.00453927420258,0.0499204290583,0.999999975141,2.18138430365e-05,-0.000219851372244,-3.01274894044e-05,1793192968079813120
+78,1.300000000,BASELINE,764,742,710,672.247760433,665.752239567,633,876,783.247760433,799.247760433,651,629,651,0.400931019275,0.00453942539056,0.0499197795643,0.99999997479,2.26362090017e-05,-0.00022134682548,-3.02132668707e-05,1793192968096479744
+79,1.316666667,BASELINE,764,742,710,672.822479212,665.177520788,633,876,783.822479212,799.822479212,651,629,651,0.400928585039,0.00453838329627,0.0499185543901,0.999999974289,2.11860435316e-05,-0.00022377533552,-2.99518563025e-05,1793192968113146368
+80,1.333333333,BASELINE,764.408963264,742,710,672.591036736,665,633,876,784,800,650.591036736,629,651,0.400929851424,0.00453855099381,0.0499192796448,0.999999974547,2.23417026411e-05,-0.000222510699307,-2.99369972241e-05,1793192968129813248
+81,1.350000000,BASELINE,764.999309889,742,710.000690111,672,665,633,876,783.999309889,800,650.000690111,629,651,0.400932767838,0.00453925776781,0.0499208745089,0.999999975133,2.46560849972e-05,-0.000219598851226,-3.00321202217e-05,1793192968146479872
+82,1.366666667,BASELINE,764.420600246,742,710.579399754,672,665,633,876,783.420600246,800,650.579399754,629,651,0.400932417757,0.00453860835323,0.0499207094433,0.999999975216,2.20243514399e-05,-0.000219514970072,-2.99514648658e-05,1793192968163146496
+83,1.383333333,BASELINE,764,742,711,672,665,632.843450339,876,783.156549661,799.843450339,650.843450339,629,651,0.40093159216,0.00453854123907,0.0499202621037,0.999999975123,2.06173602044e-05,-0.000220073193235,-2.99511575978e-05,1793192968179813120
+84,1.400000000,BASELINE,764,742,711,672,665,632.270449494,876,783.729550506,799.270449494,650.270449494,629,651,0.400929501606,0.00454002315209,0.0499190638625,0.999999974575,2.24684105192e-05,-0.000222339533165,-3.01645911543e-05,1793192968196479744
+85,1.416666667,BASELINE,764,742,711,672,665,632,876,783.689023021,799,650,629,651,0.400930025601,0.00453979764276,0.04991960492,0.999999974804,2.22619878081e-05,-0.0002213456716,-3.00535377908e-05,1793192968213146624
+86,1.433333333,BASELINE,764,742,711,672,665,632,876,783.100064947,799,650,629,651,0.400932886731,0.00453804587522,0.0499217007296,0.999999975716,2.02163979547e-05,-0.000217437528626,-2.96524268347e-05,1793192968229813248
+87,1.450000000,BASELINE,764,742,710.519077521,672,665,632,876,783.480922479,799,650,629,651,0.4009336631,0.00453888803263,0.0499219655986,0.999999975781,2.21515336721e-05,-0.000216930728312,-2.98214575359e-05,1793192968246479872
+88,1.466666667,BASELINE,764,742,710,672,665,632,876,784,799.059968119,650,629,651,0.400933781556,0.00454014575292,0.0499217501334,0.999999975627,2.43302235349e-05,-0.000217368310882,-3.00850654571e-05,1793192968263146752
+89,1.483333333,BASELINE,764,742,710,672,665,632,876,784,799.636340991,650,629,651,0.400931908971,0.00454041013444,0.0499206254547,0.999999975125,2.15900669193e-05,-0.000219943291401,-3.01582134035e-05,1793192968279813376
+90,1.500000000,BASELINE,764,742,710,672,665,632,876,784,799.787482623,650,629,651,0.400930727936,0.00454049941224,0.0499198163709,0.99999997483,2.03562476852e-05,-0.000221383992715,-3.02370910374e-05,1793192968296480000
+91,1.516666667,BASELINE,764,742,710,672,665,632,876,784,799.211642214,650,629,651,0.400930729184,0.00454028932998,0.0499195468334,0.99999997491,2.16976866876e-05,-0.000220885512292,-3.0325764228e-05,1793192968313146624
+92,1.533333333,BASELINE,764,742,710.37320403,672,665,632,876,783.62679597,799,650,629,651,0.400930814324,0.00453941501363,0.0499196791931,0.999999974935,2.13700400117e-05,-0.000220833013803,-3.00984993155e-05,1793192968329813248
+93,1.550000000,BASELINE,764,742,710.963283787,672,665,632,876,783.036716213,799,650,629,651,0.400930948215,0.00453815469861,0.0499200451025,0.999999974929,2.00724570778e-05,-0.000221039683571,-2.96876369691e-05,1793192968346480128
+94,1.566666667,BASELINE,764,742,711,672,665,632.542349035,876,783,799,650,629,651,0.400930685398,0.00453771034793,0.0499196245358,0.999999974842,1.80437701861e-05,-0.0002215546976,-3.00505224484e-05,1793192968363146752
+95,1.583333333,BASELINE,764,742,710.880153051,672,665,632.880153051,875.880153051,783,799,650.119846949,629,651,0.400930904909,0.00453738547542,0.049919515224,0.999999974854,1.7001904949e-05,-0.000221557490715,-3.02445100286e-05,1793192968379813376
+96,1.600000000,BASELINE,764,742,710.305827155,672,665,632.305827155,875.305827155,783,799,650.694172845,629,651,0.4009330533,0.00453730837557,0.0499207841291,0.999999975265,1.98861816053e-05,-0.000219540276101,-2.96033241849e-05,1793192968396479744
+97,1.616666667,BASELINE,764,742,710,672,665,632,875.275447486,783.275447486,799.275447486,650.724552514,629,651,0.40093407269,0.00453756189073,0.0499216728642,0.999999975606,2.13845497096e-05,-0.000217862782126,-2.94346882247e-05,1793192968413146624
+98,1.633333333,BASELINE,764,742,710,672,665,632,875.864636897,783.864636897,799.864636897,650.135363103,629,651,0.400933806118,0.00453819198509,0.0499221285757,0.999999975877,2.1304331386e-05,-0.000216572239011,-2.98042990366e-05,1793192968429813248
+99,1.650000000,BASELINE,764,742,710.446087719,672,665,632.446087719,876,783.553912281,799.553912281,650,629,651,0.400932409032,0.004537798872,0.0499207631571,0.999999975384,2.0616637121e-05,-0.000218906628295,-2.97739447812e-05,1793192968446479872
+100,1.666666667,BASELINE,764.025137161,742,711,672,665,632.974862839,876,783.025137161,799,650,628.974862839,651.025137161,0.400930769331,0.00453717275779,0.049918958656,0.999999974692,1.97841905179e-05,-0.000222139990222,-2.96430046199e-05,1793192968463146496
+101,1.683333333,BASELINE,764.602140984,742,711,672,665,632.397859016,876,783.602140984,799,650,628.397859016,651.602140984,0.400931206139,0.00453813155576,0.049919439746,0.999999974854,1.97517542148e-05,-0.000221372448256,-2.99228709461e-05,1793192968479813120
+102,1.700000000,BASELINE,764.822384919,742,710.822384919,672,665.177615081,632,876,783.822384919,799,650,628.177615081,651.822384919,0.400931855727,0.00453866519894,0.0499200145095,0.999999975072,1.97421205115e-05,-0.000220368831638,-3.00760316356e-05,1793192968496480000
+103,1.716666667,BASELINE,764.250308235,742,710.250308235,672,665.749691765,632,876,783.250308235,799,650,628.749691765,651.250308235,0.400932977873,0.00453825462468,0.0499207973105,0.99999997541,1.97831286269e-05,-0.00021884092189,-2.99477944017e-05,1793192968513146624
+104,1.733333333,BASELINE,764,742,710,672,665.666624857,632,876,783.333375143,799,650,629,651,0.400933170075,0.00453798009136,0.0499209798447,0.999999975555,1.92521100934e-05,-0.000218250716474,-2.97800226769e-05,1793192968529812992
+105,1.750000000,BASELINE,764,742,710,672,665.073912403,632,876,783.926087597,799,650,629,651,0.40093263886,0.00453781138619,0.0499206954226,0.999999975548,1.82761038214e-05,-0.000218389964556,-2.95814964905e-05,1793192968546479872
+106,1.766666667,BASELINE,764,742,710.507139013,672,665,632,876,784,799,650,629,651,0.400934236938,0.00453807645607,0.0499214337323,0.999999975737,2.08506114176e-05,-0.000217322444869,-2.93467711804e-05,1793192968563146752
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,710,672,665,633,876,784,801,651,629,651,0.400934065679,0.00453994831314,0.0499214287425,0.999999975681,2.09186592525e-05,-0.000217497227177,-2.99208553474e-05,1793192968606561536
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.422458667,710.577541333,672.577541333,665,633,876,784,799.844917334,650.422458667,629,651,0.400932516741,0.00453963311583,0.04992076264,0.999999975399,2.12899438678e-05,-0.000218778163742,-2.97553933326e-05,1793192968623228416
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.840412241,742,710.840412241,672.840412241,665,633,876,783.840412241,799,650,629,651,0.400931645426,0.00453898874641,0.0499203728342,0.999999975255,2.09900928158e-05,-0.000219472555385,-2.96964616915e-05,1793192968639895040
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.246093418,742,710.246093418,672.246093418,665,633,876,783.246093418,799,650,629,651,0.400932620012,0.00453744768318,0.0499207356848,0.999999975488,1.88620093775e-05,-0.000218569147458,-2.99277281022e-05,1793192968656561408
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.335774376,742,710,672,665,633,876,783,799,650,629,651,0.400933731746,0.00453729927561,0.0499210787448,0.999999975672,1.86955597782e-05,-0.00021775104799,-2.98426108348e-05,1793192968673228032
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.908842903,742,710,672,665,633,876,783,799,650,629,651,0.400934940402,0.00453813506783,0.0499214078185,0.999999975823,1.99154109551e-05,-0.000216993236674,-2.95339029479e-05,1793192968689894912
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,710.484487913,672,665,633,876,783.484487913,799,650.484487913,629,651,0.400939595314,0.0045394142254,0.0499225361813,0.999999976502,2.14159665853e-05,-0.000213656531698,-2.97975904506e-05,1793192968706561536
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671.937740102,665,632.937740102,876,783.937740102,799,650.937740102,629,651,0.400946499913,0.00454058375817,0.0499242757948,0.999999977493,2.27902139015e-05,-0.000208772412623,-3.01573724774e-05,1793192968723227904
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671.346024891,665,632.346024891,876,783.346024891,799,650.346024891,629,651,0.400966992146,0.0045401078558,0.0499299277317,0.999999980293,2.263880405e-05,-0.000194877526162,-3.04135909779e-05,1793192968739894528
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,710.760515014,671.239484986,665,632,876,783,799,650,629,651,0.400993018992,0.00453881551546,0.0499349526392,0.999999983348,2.03611645189e-05,-0.000178727930477,-3.07479998805e-05,1793192968756561664
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,710.183744641,671.816255359,665,632,876,783,799,650,629,651,0.401026840665,0.00453637332189,0.0499390944519,0.999999986695,1.50889898846e-05,-0.000159402853078,-3.11925304021e-05,1793192968773228288
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.394634648,710.394634648,672.394634648,665,632.394634648,876,783,799,650,629,651,0.401071348006,0.00453617511471,0.0499439656528,0.999999989906,1.42177494867e-05,-0.000137692502418,-3.20268657017e-05,1793192968789894912
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.973766176,710.973766176,672.973766176,665,632.973766176,876,783,799,650,629,651,0.401120851042,0.00453702600043,0.0499491778526,0.999999992738,1.54040031777e-05,-0.000114867003435,-3.30434398837e-05,1793192968806561536
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.547433758,742.452566242,711,672.452566242,665.547433758,633,876,783.547433758,799,650,629,651,0.401180822526,0.00453625208166,0.0499528307016,0.999999993956,1.37210639076e-05,-0.000104033561082,-3.28229949607e-05,1793192968823228160
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.875109978,742,711,672,665.875109978,632.875109978,876,784,799.124890022,650.124890022,629,651,0.401244295448,0.0045355011155,0.0499558096727,0.999999994789,1.21646781914e-05,-9.60149969074e-05,-3.24981201883e-05,1793192968839894784
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.282493605,742,711,672,665.282493605,632.282493605,876,784,799.717506395,650.717506395,629,651,0.401319021424,0.00453512483245,0.0499565419934,0.999999994774,1.15920963445e-05,-9.64074900519e-05,-3.20019595023e-05,1793192968856561664
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,710.696712175,672,665,632,876.303287825,784,799.696712175,650.696712175,629,651,0.401407222762,0.00453402351991,0.0499563445464,0.99999999474,1.04922740027e-05,-9.71195459037e-05,-3.1277208382e-05,1793192968873228032
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,710.11715679,672,665,632,876.88284321,784,799.11715679,650.11715679,629,651,0.401507698921,0.00453226177164,0.0499553001659,0.999999994686,8.91218366765e-06,-9.81226942272e-05,-3.03442322435e-05,1793192968889894656
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,710,671.542027988,665,632,876.542027988,783.542027988,799,650,629,651,0.401631553097,0.00452970856352,0.0499544059184,0.9999999945,4.46453190642e-06,-0.000100603708426,-2.93089422017e-05,1793192968906561280
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,710,671.032051824,665,632.032051824,876,783.032051824,799,650,628.967948176,650.967948176,0.401763267558,0.00452702850673,0.0499537886619,0.999999994299,-5.27576292972e-07,-0.000102988894115,-2.82084628785e-05,1793192968923227904
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,710,671.607361656,665,632.607361656,876,783.607361656,799,650,628.392638344,650.392638344,0.401927813859,0.00452559730469,0.0499572214933,0.999999994904,-2.43336719711e-06,-9.74032738749e-05,-2.64424452422e-05,1793192968939894784
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,710.188153458,672,665,633,876,784,799,650.188153458,628.188153458,650.188153458,0.402098840455,0.00452358653219,0.0499580363764,0.99999999509,-5.5522944628e-06,-9.57871545383e-05,-2.47699508122e-05,1793192968956561408
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,710.780728259,672,665,633,876,784,799,650.780728259,628.780728259,650.780728259,0.402283795921,0.00452033001789,0.0499532241813,0.999999994391,-1.12787645015e-05,-0.000102703171878,-2.32984775274e-05,1793192968973227776
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.6369268,876,784,799,650.6369268,628.6369268,651,0.402497072552,0.00451715380848,0.0499509907976,0.999999994197,-1.57001827558e-05,-0.00010436359634,-2.16428485119e-05,1793192968989894656
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.060590645,876,784,799,650.060590645,628.060590645,651,0.402726984566,0.00451402476849,0.049950272163,0.999999994317,-1.93550365814e-05,-0.000102936976592,-1.98790494478e-05,1793192969006561536
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671.486331471,665,632.513668529,876.513668529,784,799.513668529,650.513668529,628.513668529,651,0.403012751451,0.00451028292627,0.0499568415377,0.999999995707,-2.4061258342e-05,-8.77378240645e-05,-1.75659548037e-05,1793192969023228160
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671,665,633,876.909628381,784,799.909628381,650.909628381,629,651,0.403309972098,0.00450631055236,0.0499644370962,0.99999999699,-2.91037979264e-05,-7.0296604776e-05,-1.51947401686e-05,1793192969039894784
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,633,876.318016684,784,799.318016684,650.318016684,629,651,0.40363432511,0.00450145885297,0.0499729754196,0.999999998073,-3.53266277954e-05,-4.93941468685e-05,-1.28590893031e-05,1793192969056561408
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.267876806,742.267876806,711,671.267876806,665.535753612,633,876.267876806,784,799,650,629,651,0.403978628335,0.00449666520848,0.0499813536485,0.999999998623,-4.03521066514e-05,-3.20349573848e-05,-9.98184789905e-06,1793192969073228032
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.847123631,742.847123631,711,671.847123631,666.694247262,633,876.847123631,784,799,650,629,651,0.404346120925,0.00449193904512,0.0499895457892,0.999999998835,-4.39858289359e-05,-1.8794332374e-05,-6.47508197485e-06,1793192969089894656
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,742.577336646,711,672.422663354,666.154673293,633,877,784,799,650,629,651,0.404744133608,0.00448527424808,0.049994166542,0.999999998666,-5.07851662427e-05,-8.92239030219e-06,-2.90785534676e-06,1793192969106561536
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,742.003126128,711,672.996873872,665.006252257,633,877,784,799,650,629,651,0.405153089351,0.00447791434844,0.0499975067631,0.999999998276,-5.87195438616e-05,-2.58299496353e-07,6.81049565777e-07,1793192969123228160
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.4295426,742,711,672.4295426,665,633,877,783.4295426,799,650.5704574,629,651,0.405572167786,0.00447340553176,0.0499773674265,0.999999997385,-6.11857557539e-05,-3.83616660789e-05,3.89527102214e-06,1793192969139895040
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.149188724,710.850811276,672,665,633,877,783.149188724,799,651,629,651,0.406000038067,0.00446848324115,0.0499571571091,0.999999995225,-6.20667114867e-05,-7.51321426084e-05,7.20504497672e-06,1793192969156561408
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.743281717,710.256718283,672,665,633,877,783.743281717,799,651,629,651,0.406453961693,0.00446228136482,0.0499371184091,0.9999999925,-5.8309447979e-05,-0.000107164273893,1.08058874413e-05,1793192969173228032
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,710.32735429,672,665.32735429,633,876.67264571,783.67264571,799.32735429,650.67264571,629,651,0.406940367523,0.00445510488923,0.0499242913058,0.99999999108,-3.6581617495e-05,-0.000127606700308,1.47648771061e-05,1793192969189894912
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,710.903802093,672,665.903802093,633,876.096197907,783.096197907,799.903802093,650.096197907,629,651,0.407451490064,0.00444718681172,0.0499169517164,0.999999990126,-1.17945334327e-06,-0.000139230182532,1.89963918871e-05,1793192969206561536
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.520134707,710.520134707,672,665.520134707,633,876.479865293,783.479865293,799.520134707,650,629,651,0.408046611744,0.0044422402116,0.0499366726329,0.999999995072,-3.18340255851e-06,-9.68079783424e-05,2.17918545757e-05,1793192969223227904
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,710,672,665,632.942858794,877,783.942858794,799,650,628.942858794,651,0.408661309437,0.00443784193987,0.0499617653927,0.999999998584,-1.4355932687e-05,-4.53100170376e-05,2.39422070306e-05,1793192969239894528
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,710,672,665,632.35357127,877,783.35357127,799,650,628.35357127,651,0.409301620703,0.00443300705789,0.0499864056285,0.999999998844,-4.1135246606e-05,-1.01097325004e-05,2.27636209206e-05,1793192969256561152
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,710.231674564,672,665,632.231674564,876.768325436,783.231674564,799,650,628,651,0.409935602404,0.00443369713711,0.0499986419253,0.999999998432,-5.1012908086e-05,4.03180735414e-06,2.27372512728e-05,1793192969273228032
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,710.810857881,672,665,632.810857881,876.189142119,783.810857881,799,650,628,651,0.410560089803,0.00444267458468,0.0499922724777,0.99999999898,-3.55383150182e-05,-1.34144908139e-05,2.44391910516e-05,1793192969289894656
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,633,876.386775805,784,799,650,628,651,0.411177638902,0.00445524495338,0.049965589046,0.999999997208,-9.75036565157e-06,-6.9915254614e-05,2.45063810668e-05,1793192969306561536
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,633,876.961110232,784,799,650,628,651,0.411791823404,0.00446955763178,0.0499290547843,0.999999988932,2.10388239852e-05,-0.000145354641972,2.37808341084e-05,1793192969323228160
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.535894016,710.464105984,672,665.535894016,632.464105984,876.464105984,783.464105984,799,650,628.535894016,651,0.41253037251,0.0044717464043,0.0499373832764,0.999999993115,2.30737650936e-05,-0.000112833817583,2.24804732627e-05,1793192969339895296
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.885916833,710.114083167,672,666,632.114083167,876.114083167,783.114083167,799.114083167,650.114083167,628.885916833,650.885916833,0.413282763079,0.0044715326737,0.049950072818,0.999999996714,2.06507193273e-05,-7.53312874689e-05,2.17122701133e-05,1793192969356562432
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.293589128,710.706410872,672,666,632.706410872,876.706410872,783.706410872,799.706410872,650.706410872,628.293589128,650.293589128,0.414055312121,0.00446493888891,0.049967384667,0.999999998452,8.29438483954e-06,-4.98161153512e-05,2.33499248383e-05,1793192969373228544
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,672.291343485,665.708656515,633,877,783.708656515,799.708656515,650.708656515,628.291343485,650.291343485,0.414802212647,0.00446185526996,0.0499589062372,0.999999997591,1.31356125192e-06,-6.53435855191e-05,2.3387525977e-05,1793192969389894912
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,672.869008546,665.130991454,633,877,783.130991454,799.130991454,650.130991454,628.869008546,650.869008546,0.415523906853,0.00446222131109,0.0499250820797,0.999999992416,-3.84410963105e-07,-0.000121206239946,2.1852653918e-05,1793192969406561536
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.444317285,742,710.555682715,672.555682715,665,633,877,783.444317285,799.444317285,650,628.555682715,651,0.416292820836,0.00446174330419,0.049917261279,0.999999991234,-2.54921335883e-06,-0.000130801975993,2.0410456821e-05,1793192969423228160
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.981067007,742,710.018932993,672.018932993,665.018932993,633,877,783.981067007,799.981067007,650,628.018932993,650.981067007,0.417077374243,0.00446103815696,0.0499180641724,0.999999991964,-4.87195226307e-06,-0.00012523183245,1.91200700187e-05,1793192969439895040
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.406509422,742,710.593490578,672.593490578,665.593490578,633,877,783.406509422,799.406509422,650,628.593490578,650.406509422,0.41791451158,0.00446093124822,0.0499481538714,0.99999999709,-7.81197619258e-06,-7.27756659583e-05,2.14872556886e-05,1793192969456561920
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.173906827,742,711,673,666,633,877,783,799,650,629,650.173906827,0.418740135856,0.00446108966059,0.0499673269381,0.999999998754,-6.85018786488e-06,-4.31795555882e-05,2.4095061863e-05,1793192969473228544
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.768495183,742,711,673,666,633,877,783,799,650,629,650.768495183,0.419537909925,0.00446188988618,0.0499600926121,0.999999997249,3.55010499811e-06,-6.88820448999e-05,2.7284930275e-05,1793192969489894912
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.648364823,742.351635177,710.648364823,672.648364823,666,632.648364823,877,783,799.351635177,650,628.648364823,651,0.420362614532,0.00446249518062,0.0499569443522,0.999999997353,5.09530613338e-06,-6.73721030332e-05,2.69960514038e-05,1793192969506561536
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.072524415,742.927475585,710.072524415,672.072524415,666,632.072524415,877,783,799.927475585,650,628.072524415,651,0.421204490222,0.00446297618546,0.049956401399,0.999999998523,9.94433810057e-07,-4.85113094761e-05,2.44890969897e-05,1793192969523227904
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.502320836,743,710.502320836,672.502320836,666,632,877.502320836,783.502320836,800,650,628.502320836,651,0.422056152889,0.00446032238718,0.0499727332546,0.999999999548,4.63286460746e-06,-1.53888413609e-05,2.53914948655e-05,1793192969539894784
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,711,672.921239173,666,632.078760827,877.921239173,784,800,650,628.921239173,650.921239173,0.422903347531,0.004457419959,0.0499865233104,0.999999999561,7.98732429575e-06,9.98134771559e-06,2.67335751623e-05,1793192969556561152
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,711,672.333568543,666,632.666431457,877.333568543,784,800,650,628.333568543,650.333568543,0.423712559646,0.00445582968593,0.0499681782955,0.99999999922,2.30121887514e-06,-2.80178712238e-05,2.77423595547e-05,1793192969573228032
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,742.748150236,711,672,666,632.748150236,877,783.748150236,800,650,628.251849764,650.251849764,0.424537524471,0.00445441562706,0.0499595986089,0.999999998626,-1.38026751964e-06,-4.42146636034e-05,2.8114501208e-05,1793192969589895168
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,742.16568855,711,672,666,632.16568855,877,783.16568855,800,650,628.83431145,650.83431145,0.425383168536,0.00445323289045,0.0499638382048,0.999999999109,-2.43022177611e-06,-3.17906597445e-05,2.76509000353e-05,1793192969606561792
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.589653675,742,711,672,666.410346325,632.410346325,877,783,799.589653675,650.410346325,629,650.589653675,0.426218363828,0.00445110480459,0.0499820570033,0.999999999509,1.33250066555e-07,-1.09282963075e-05,2.93794854372e-05,1793192969623228160
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.016173819,742,711,672,666.983826181,632.983826181,877,783,799.016173819,650.983826181,629,650.016173819,0.42704940515,0.0044486008944,0.0500058332454,0.999999999392,4.13324260193e-06,1.32887434416e-05,3.19795764965e-05,1793192969639894528
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.560705554,711,672.560705554,666.439294446,632.439294446,877.560705554,783,799.560705554,650.439294446,628.439294446,650,0.427789163579,0.00445091330155,0.0499752569774,0.999999998251,6.20471886206e-06,-4.89673697077e-05,3.25733424796e-05,1793192969656561152
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632.141106046,877.858893954,783.141106046,800,650.141106046,628.141106046,650,0.428543662897,0.00445256703939,0.0499486403398,0.999999994599,6.64779482243e-06,-9.84088655071e-05,3.27626965116e-05,1793192969673228032
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632.732426241,877.267573759,783.732426241,800,650.732426241,628.732426241,650,0.429353647013,0.00445167324939,0.0499396901607,0.999999994594,2.07385585557e-06,-9.89568612677e-05,3.18475084098e-05,1793192969689894656
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.68412491,742.68412491,711,672.68412491,666,632.68412491,877,783.68412491,799.68412491,650.68412491,628.68412491,650,0.430150661027,0.00444940584473,0.0499448810655,0.999999996234,-1.68607453487e-06,-8.08449274479e-05,3.15041441644e-05,1793192969706561280
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.107181693,742.107181693,711,672.107181693,666,632.107181693,877,783.107181693,799.107181693,650.107181693,628.107181693,650,0.430936955319,0.00444600315904,0.0499617594587,0.999999998369,-4.7732333971e-06,-4.73107173325e-05,3.16333875861e-05,1793192969723228160
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.467639603,742.467639603,711,672.467639603,666,632,877,783,799,650,628.467639603,650,0.43165284213,0.00444664410132,0.0499471415849,0.999999996608,-3.00544527338e-06,-7.60938432574e-05,3.13906194008e-05,1793192969739895040
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632,877,783,799,650,629,650,0.432352651825,0.00444802267256,0.0499268256805,0.999999992845,-3.70481086678e-07,-0.00011551709751,3.1064761165e-05,1793192969756561664
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632,877,783,799,650,629,650,0.433052298432,0.00444705536818,0.0499253837557,0.999999993525,-7.86083188126e-07,-0.000109559217393,3.07615902577e-05,1793192969773228288
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.779363255,711,673,666,632,877.220636745,783,799,650,629,650.220636745,0.43376560617,0.00444572058436,0.0499363914357,0.999999995736,-1.08699764191e-06,-8.69679373283e-05,3.1044923571e-05,1793192969789894912
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.200380885,711,673,666,632,877.799619115,783,799,650,629,650.799619115,0.434501101649,0.00444378896126,0.0499676190538,0.99999999878,-1.20164301841e-06,-3.73616359393e-05,3.2280823515e-05,1793192969806561536
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.375480096,711,672.624519904,666.375480096,632,877.624519904,783,799.375480096,650,628.624519904,650.624519904,0.435157857456,0.00444302599532,0.0499781305861,0.999999999008,-2.33513649677e-06,-2.87346232641e-05,3.39423287965e-05,1793192969823227904
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.949688997,711,672.050311003,666.949688997,632,877.050311003,783,799.949688997,650,628.050311003,650.050311003,0.435772938996,0.00444288155986,0.0499776777991,0.999999998477,-4.00787150985e-06,-4.17965530252e-05,3.58290924125e-05,1793192969839894528
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.475656658,711,672,666.475656658,632,877,783,799.475656658,650,628.524343342,650,0.436343678353,0.00444586032041,0.0499540451236,0.999999995339,1.80464553213e-06,-8.95737814418e-05,3.59987444951e-05,1793192969856561408
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672.102090062,666,632,877,783,799.102090062,650,628.897909938,650,0.436913841214,0.00444805300632,0.0499353131092,0.99999999152,6.18667517768e-06,-0.00012503589406,3.58888551666e-05,1793192969873228288
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672.694482912,666,632,877,783,799.694482912,650,628.305517088,650,0.437501686342,0.00444503000678,0.049950808013,0.999999995738,2.46313758862e-07,-8.53418327162e-05,3.52283730465e-05,1793192969889894912
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711,673,666,632,877.279795495,783,800,650,628.279795495,650,0.438081567033,0.00444379787587,0.049969032766,0.999999998285,-2.66222684094e-06,-4.69167252201e-05,3.49621567961e-05,1793192969906561536
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,711,673,666,632,877.857567693,783,800,650,628.857567693,650,0.438652965717,0.00444447298502,0.0499901647539,0.999999999332,-2.34193747473e-06,-9.84303121382e-06,3.51158260003e-05,1793192969923227904
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711,673,666.434395994,632,877.565604006,783,799.565604006,650,629,650,0.439127875337,0.00444225862234,0.0499783314951,0.999999998902,-4.52559766804e-06,-3.04911510927e-05,3.52851485384e-05,1793192969939894784
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.010818938,711,673,666.989181062,632,877,783,799.010818938,650,629,650,0.439570297406,0.00443921392798,0.0499555649279,0.999999996886,-7.3500599108e-06,-7.01314904564e-05,3.54358242185e-05,1793192969956561408
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.582237327,711,673,666.417762673,632,877,783,799.582237327,650,629,650,0.439965111482,0.00444212975616,0.0499251345133,0.99999999276,-9.29021547338e-07,-0.000115320589923,3.43549144529e-05,1793192969973228032
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,673.160478089,666,632,877.160478089,783,800.160478089,650,629,650.160478089,0.440357464068,0.00444531232955,0.049901960323,0.999999988135,4.73998636945e-06,-0.000150265322255,3.35796494077e-05,1793192969989894912
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,673.757267806,666,632,877.757267806,783,800.757267806,650,629,650.757267806,0.440743124384,0.00444922013676,0.0498985145204,0.999999987019,8.36435752195e-06,-0.000157357437194,3.36353783952e-05,1793192970006561536
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,673.658897687,666,632,878,783,800.317795373,650,629,650.658897687,0.441116348139,0.00445259227952,0.0499019681039,0.999999987703,1.19562356132e-05,-0.00015268034797,3.37677257501e-05,1793192970023227904
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,673.083944954,666,632,878,783,799.167889907,650,629,650.083944954,0.441481045704,0.00445559718514,0.0499101517182,0.999999989512,1.55258371313e-05,-0.000139934613735,3.39526005558e-05,1793192970039894784
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.49134405,743,711,673,666.49134405,632.49134405,878,783,799.49134405,650,629,650.49134405,0.441796424049,0.00445713601238,0.0499086614666,0.999999989562,1.79610030845e-05,-0.000139291270119,3.39375308047e-05,1793192970056561408
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.93186966,742.93186966,711,673,666.86373932,632.93186966,878,783,799.93186966,650,629,650.93186966,0.442096145872,0.00445861268405,0.0499044626754,0.999999989058,2.05226056491e-05,-0.000142546256082,3.38129913663e-05,1793192970073228032
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.344101886,742.344101886,711,673,665.688203772,632.344101886,878,783,799.344101886,650,629,650.344101886,0.442340764283,0.00446152700417,0.0498922199472,0.999999986365,2.5527818699e-05,-0.000159753121559,3.3114235634e-05,1793192970089894912
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.758812217,742.241187783,711,672.758812217,665,632,878,783,799,650,629,650,0.442572018729,0.00446511796388,0.0498807556709,0.999999982972,3.06654839921e-05,-0.000179004736628,3.27682954578e-05,1793192970106561536
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.177022146,742.822977854,711,672.177022146,665,632,878,783,799,650,629,650,0.442784400733,0.00446966446507,0.0498703907152,0.999999978581,3.59901962159e-05,-0.000201143919334,3.29205969358e-05,1793192970123227904
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.798114201,743,711,672.399057101,665,632,878,783,799.399057101,650,629,650,0.442973880603,0.00447243884237,0.049858918428,0.999999974818,3.92598495443e-05,-0.000218561029148,3.24673457498e-05,1793192970139894784
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.945277622,743,711,672.972638811,665,632,878,783,799.972638811,650,629,650,0.443153344416,0.00447443819506,0.0498469618567,0.999999971272,4.16307388388e-05,-0.000233912977933,3.17492606899e-05,1793192970156561408
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,877,783,799.876744315,650,629,650,0.443437549461,0.00447665773474,0.0498304034318,0.999999963896,4.76650940804e-05,-0.000262553515539,3.16638614171e-05,1793192970189894656
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,877,783,799.283436788,650,629,650,0.443552112227,0.00447977582717,0.0498243068892,0.999999960507,5.17275823523e-05,-0.000274438916845,3.15131701607e-05,1793192970206561536
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,710.698945449,673,665,632,877.301054551,783,799.301054551,650,628.698945449,650.301054551,0.443658487115,0.00448227920621,0.0498209259464,0.999999958552,5.33453836988e-05,-0.000281210016808,3.11539917352e-05,1793192970223228160
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,710.122518256,673,665,632,877.877481744,783,799.877481744,650,628.122518256,650.877481744,0.443757372599,0.00448422031071,0.0498200289454,0.999999958011,5.27270455477e-05,-0.000283303097849,3.06041114624e-05,1793192970239894784
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.454754524,743,710.454754524,673,665,632,877.545245476,783,799.545245476,650,628.454754524,651,0.443840055586,0.00448435532863,0.0498197226548,0.999999958047,5.42568288303e-05,-0.000282869933499,3.07608515191e-05,1793192970256561152
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.967172282,743,711,673.032827718,665,631.967172282,877.032827718,783,799.032827718,650,629,650.967172282,0.443916804754,0.00448406627605,0.04981939473,0.999999958145,5.62027583602e-05,-0.000282108040073,3.10820687349e-05,1793192970273228032
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.379426935,743,711,673.620573065,665,631.379426935,877.620573065,783,799.620573065,650,629,650.379426935,0.443967175848,0.00448484935609,0.0498160058802,0.999999956712,5.53820095057e-05,-0.000287315777662,3.09595157048e-05,1793192970289894912
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.794566337,711,673.794566337,664.794566337,631,877.794566337,783,799.794566337,650,629,650,0.444012752199,0.00448617094105,0.0498134647953,0.999999955524,5.60994923118e-05,-0.0002913180327,3.06531573204e-05,1793192970306561280
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.214960026,711,673.214960026,664.214960026,631,877.214960026,783,799.214960026,650,629,650,0.444049595495,0.00448847334769,0.0498124678121,0.999999954811,5.96186787166e-05,-0.000293124646053,3.00120196588e-05,1793192970323228160
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.363177898,711,673,664,631.363177898,877.363177898,783,799,650,629,650,0.444076684934,0.00448975797954,0.0498089247188,0.99999995329,6.09729368526e-05,-0.00029802769028,2.96953412494e-05,1793192970339894784
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.940450259,711,673,664,631.940450259,877.940450259,783,799,650,629,650,0.444098024448,0.00449044263031,0.0498038806857,0.999999951261,6.10509636023e-05,-0.000304756089973,2.95699324821e-05,1793192970356561408
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.51679276,742.48320724,711,673,664,632,878,783,799,650,629,650,0.444112648661,0.00449120098515,0.0498027735702,0.999999950806,6.24771316649e-05,-0.00030602061482,2.89112203147e-05,1793192970373228032
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.904969492,742,711,672.904969492,664,631.904969492,878,783,799,650,629,650,0.444125319489,0.00449176269584,0.0498021232475,0.999999950497,6.36826672076e-05,-0.000306831241215,2.83893496178e-05,1793192970389894912
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.316331696,742,711,672.316331696,664,631.316331696,878,783,799,650,629,650,0.444131856109,0.00449125896366,0.0498014934875,0.999999950001,6.2936747865e-05,-0.000308548619031,2.88968822512e-05,1793192970406561536
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,711,672.536106583,664.268053291,631,877.731946709,783,799,650,629,650,0.444137646869,0.00449149661959,0.0498010400365,0.999999949768,6.22697190428e-05,-0.000309426520742,2.90201501861e-05,1793192970423227904
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742,711,673.694995713,664.847497856,631,877.152502144,783,799,650,629,650,0.44414257118,0.00449259552888,0.0498007913995,0.999999949843,6.16943355482e-05,-0.000309329222489,2.86970267291e-05,1793192970439894784
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742,710.577109828,673.577109828,665,631,877,783,799,650,629,650.422890172,0.444143211056,0.00449161402414,0.0497994387889,0.999999949051,6.22215532126e-05,-0.000311772540151,2.8720467796e-05,1793192970456561664
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742,710.003164973,673.003164973,665,631,877,783,799,650,629,650.996835027,0.444142320548,0.00448988940377,0.0497976918433,0.999999947938,6.31426156285e-05,-0.000315123355692,2.88677003363e-05,1793192970473228288
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+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.170695563,711,673,664.829304437,631.829304437,877,783,799.829304437,650,629,650,0.444145605498,0.00449580756946,0.0497991382022,0.999999948568,6.66432743999e-05,-0.000312488048429,2.7817316827e-05,1793192970506561280
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.750345294,711,673,664.249654706,631.249654706,877,783,799.249654706,650,629,650,0.444145521729,0.00449697351762,0.049798806495,0.999999948358,6.7414718713e-05,-0.000313031922226,2.73745425136e-05,1793192970523227904
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+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,673,664,631.905214044,877.905214044,783,799,650,629,650,0.444144813332,0.0044930305867,0.0497981577263,0.999999947664,6.36534288706e-05,-0.000315920232296,2.85469438298e-05,1793192970556561408
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664.049829869,632,877.950170131,783,800,650,629,650,0.444147026546,0.00449719054614,0.0497989677623,0.99999994793,6.70957820807e-05,-0.000314515050787,2.6803529058e-05,1793192970589896192
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+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673,664.285452999,631,878,783,800,650,629,650.714547001,0.44414619749,0.00449901503397,0.0497974629234,0.999999946586,7.16393738274e-05,-0.000317733854559,2.72148486245e-05,1793192970723228160
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664,631,878,783,799.707637444,650,629,650.707637444,0.444145784644,0.00449930781049,0.0497970067715,0.99999994632,7.16793690018e-05,-0.000318560950353,2.72217591946e-05,1793192970739895040
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673,664,631,878,783,799.131373147,650,629,650.131373147,0.444145356162,0.00449767193935,0.0497959090081,0.99999994629,6.95308027413e-05,-0.000319161089375,2.68695930327e-05,1793192970756561920
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.555510586,711,673,664.444489414,631.444489414,877.555510586,783,799,650,629,650,0.444146079316,0.00449752376633,0.0497964366142,0.999999946635,6.8399942979e-05,-0.00031832589924,2.68427465079e-05,1793192970773228800
+238,3.966666667,HOLD_POSE2,765,742,711,673,664,631,877,783,799,650,629,650,0.44414495823,0.00449516576545,0.0497955226527,0.999999946348,6.29047679945e-05,-0.000320356422462,2.68225360362e-05,1793192970818317312
+239,3.983333333,HOLD_POSE2,765,742,711,673,664,631.594925007,877,783,799.594925007,650,628.405074993,650,0.444146379134,0.00449771467026,0.0497962281737,0.999999946531,6.65440782297e-05,-0.000319047759286,2.67858137999e-05,1793192970834984448
+240,4.000000000,HOLD_POSE2,764.816466966,742.183533034,711,673,664,631.816466966,877,783,800,650,628.183533034,650.183533034,0.444147827536,0.00449874240238,0.0497969211401,0.99999994683,6.83434920114e-05,-0.000317723076799,2.68541014895e-05,1793192970851651328
+241,4.016666667,HOLD_POSE2,764.241337104,742.758662896,711,673,664,631.241337104,877,783,800,650,628.758662896,650.758662896,0.44414933461,0.00449652447184,0.0497975873194,0.999999947396,6.62171956668e-05,-0.000316364214333,2.71464444998e-05,1793192970868317696
+242,4.033333333,HOLD_POSE2,764,743,711.332625875,673.332625875,664,631,877,782.667374125,799.667374125,650,629,650.667374125,0.444149840732,0.00449700265916,0.0497979331564,0.999999947688,6.69491986397e-05,-0.000315310769384,2.68652380875e-05,1793192970884984576
+243,4.050000000,HOLD_POSE2,764,743,711.905745145,673.905745145,664,631,877,782.094254855,799.094254855,650,629,650.094254855,0.444149623151,0.00449943017943,0.0497980473813,0.999999947777,6.9747794147e-05,-0.000314478145867,2.61693469972e-05,1793192970901651456
+244,4.066666667,HOLD_POSE2,764,742.507590395,711.507590395,673.507590395,664,631.492409605,877.492409605,782.492409605,799,650,629,650,0.444148280885,0.0044991852355,0.0497970041244,0.999999946934,7.09541425207e-05,-0.000316822543205,2.68335301746e-05,1793192970918317568
+245,4.083333333,HOLD_POSE2,764,742,711,673,664.080782892,632,877.919217108,783,799,650,629,650,0.444146930522,0.00449840149685,0.0497958761999,0.999999946072,7.14125425285e-05,-0.000319371158291,2.75281384186e-05,1793192970934984192
+246,4.100000000,HOLD_POSE2,764,742,711,673,664.66321171,632,877.33678829,783,799,650,629,650,0.444146904553,0.00449753843576,0.0497956372677,0.999999946272,6.91724942353e-05,-0.000319304731308,2.67492951075e-05,1793192970951650560
+247,4.116666667,HOLD_POSE2,764,742,711,673,665,632,877,782.758342041,799,650,629,650,0.444147083279,0.00449674039021,0.0497957285589,0.99999994648,6.7373308113e-05,-0.000319050199196,2.65927123581e-05,1793192970968317184
+248,4.133333333,HOLD_POSE2,764,742,711,673,665,632,877,782.185356187,799,650,629,650,0.444147542652,0.00449603148505,0.0497962726065,0.999999946705,6.61785712703e-05,-0.000318537763414,2.72892870953e-05,1793192970984983808
+249,4.150000000,HOLD_POSE2,764,742.389559685,711,673,664.610440315,631.610440315,877,782.389559685,799.389559685,650,628.610440315,650,0.444148206557,0.00449610027554,0.0497969133628,0.999999947031,6.55970243931e-05,-0.000317644186423,2.71695145318e-05,1793192971001650432
+250,4.166666667,HOLD_POSE2,764,742.965398503,711,673,664.034601497,631.034601497,877,782.965398503,799.965398503,650,628.034601497,650,0.444148968265,0.00449654094345,0.0497976003631,0.999999947404,6.53086917713e-05,-0.000316568355791,2.66593821646e-05,1793192971018317056
+251,4.183333333,HOLD_POSE2,764,743,711,673,664,631,877,783,800,650,628.5561997,650,0.444147713087,0.00449565582705,0.0497974094874,0.999999947081,6.4884064069e-05,-0.000317663588932,2.6793616577e-05,1793192971034983936
+252,4.200000000,HOLD_POSE2,764,743,711,673,664.144759498,631,877.144759498,783,799.855240502,650,628.855240502,650,0.444146546254,0.00449507771936,0.0497967292159,0.999999946663,6.46907966157e-05,-0.000319006014847,2.68985084592e-05,1793192971051650560
+253,4.216666667,HOLD_POSE2,764,743,711,673,664.723727146,631,877.723727146,783,799.276272854,650,628.276272854,650,0.444146031171,0.00449567472082,0.0497947493362,0.999999946099,6.52176333255e-05,-0.00032067357603,2.67918232663e-05,1793192971068317184
+254,4.233333333,HOLD_POSE2,764.299286498,742.700713502,710.700713502,673.299286498,665,631.299286498,878,783,799.299286498,650,628.299286498,650,0.444147160594,0.00449619216152,0.0497951514741,0.999999946433,6.49275619827e-05,-0.000319694147703,2.67355172525e-05,1793192971084983808
+255,4.250000000,HOLD_POSE2,764.871735025,742.128264975,710.128264975,673.871735025,665,631.871735025,878,783,799.871735025,650,628.871735025,650,0.444149790977,0.00449663698621,0.0497977277055,0.999999947579,6.38918897758e-05,-0.000316298783264,2.67251928676e-05,1793192971101650432
+256,4.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632,877,783,799,650,629,650,0.444149862536,0.00449510800272,0.0497968537289,0.999999946803,6.67429626259e-05,-0.00031813127188,2.70366305608e-05,1793192971133598976
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,742.579407454,711,672.579407454,664,631.420592546,877.579407454,783,799.579407454,650,629,650,0.444148304785,0.00449661164315,0.0497961474786,0.999999946548,6.74980120817e-05,-0.000318822133453,2.6466329141e-05,1793192971150265600
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,664,631.158209388,878,783,800,650,629,650,0.444147464755,0.00449754898613,0.0497956838859,0.999999946445,6.82554997908e-05,-0.000319011179228,2.61167121319e-05,1793192971166932224
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,664,631.735407838,878,783,800,650,629,650,0.444148525479,0.00449698659267,0.0497958629279,0.99999994675,6.90194449399e-05,-0.000317871256414,2.63515379033e-05,1793192971183598848
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742.690429826,711,673.309570174,664.309570174,632,878,783,799.690429826,650,629,650,0.44414857681,0.00449781402033,0.0497963827196,0.999999946826,7.03596861247e-05,-0.00031734427346,2.62673691209e-05,1793192971200265728
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.118837312,711,673.881162688,664.881162688,632,878,783,799.118837312,650,629,650,0.444147773784,0.00449981780226,0.0497971909242,0.999999946708,7.21877082215e-05,-0.000317336087118,2.59132011241e-05,1793192971216932096
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.529990994,665,631.529990994,877.529990994,783,799.470009006,650,629,650,0.444143583623,0.00449862295893,0.0497953629481,0.999999945612,6.98058326802e-05,-0.00032126746923,2.62570114045e-05,1793192971233598464
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,631,877,782.9382138,799.9382138,650,629,650,0.44413730539,0.00449691030547,0.0497922520021,0.999999943936,6.67816748169e-05,-0.000327043960552,2.66618698461e-05,1793192971250264832
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,631,877,782.359796958,799.359796958,650,629,650,0.444121001357,0.00449788800721,0.0497841990564,0.999999939709,6.76265413349e-05,-0.000339602263803,2.60453247059e-05,1793192971266931456
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.779507667,742,710.779507667,673,665,631,877.220492333,782.220492333,799.220492333,650,629,650,0.444094463549,0.00449842519739,0.0497720780244,0.999999932783,6.79337564487e-05,-0.000359398710036,2.55064348697e-05,1793192971283598080
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.196136823,742,710.196136823,673,665,631,877.803863177,782.803863177,799.803863177,650,629,650,0.444051083357,0.00449823740908,0.04975326188,0.999999920934,6.73561237145e-05,-0.000391107435476,2.50953474446e-05,1793192971300264704
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.375421853,742,710.375421853,673,665,631,878,783,799.624578147,650,629,650,0.443991113732,0.00449987066177,0.0497337406816,0.999999908669,6.83099023404e-05,-0.000421210847796,2.40040005349e-05,1793192971316931584
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.940997632,742,710.940997632,673,665,631,878,783,799.059002368,650,629,650,0.443922741434,0.00450242628507,0.0497138623664,0.999999895817,7.00393519876e-05,-0.000450501159936,2.25680971549e-05,1793192971333598464
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.532409204,711,673,665,631.532409204,877.467590796,783,799,650,629,650,0.443847732501,0.00450368107664,0.0497052913464,0.999999891034,7.26465734922e-05,-0.000460643169745,2.14866588139e-05,1793192971350265344
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,664.87708703,631.87708703,877.12291297,783,799.12291297,650,629,650,0.443767899075,0.00450465081652,0.0497007487317,0.999999888645,7.5409685511e-05,-0.000465400244513,2.06475286011e-05,1793192971366931968
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,664.301024083,631.301024083,877.698975917,783,799.698975917,650,629,650,0.443673128734,0.00450512823012,0.0497062024014,0.999999891594,7.83706051089e-05,-0.000458526843048,2.05495182042e-05,1793192971383598336
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.725343673,711,673,664.274656327,631.274656327,877.725343673,783,799.725343673,650,628.725343673,650,0.443565888457,0.00450678281918,0.049710826681,0.999999894301,8.12321250894e-05,-0.000452095888291,2.02076307352e-05,1793192971400264960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.150081975,711,673,664.849918025,631.849918025,877.150081975,783,799.150081975,650,628.150081975,650,0.443445000111,0.00450972580113,0.0497145432108,0.999999896757,8.39848541763e-05,-0.000446149182244,1.9598825126e-05,1793192971416931584
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.436496635,711,673,664.563503365,632,877.436496635,783,799,650,628,650,0.443301594641,0.00451271988535,0.049717632326,0.999999898565,9.05159145395e-05,-0.00044080919759,1.90751600711e-05,1793192971433598464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.026515292,742.973484708,711,673,664.026515292,631.973484708,877.973484708,783,799,650,628.053030585,650.026515292,0.443148188771,0.00451566295128,0.0497203429069,0.999999899985,9.80342362516e-05,-0.00043597617868,1.85501951313e-05,1793192971450265088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.604988247,742.395011753,711,673,664.604988247,631.395011753,877.395011753,783,799,650,629.209976493,650.604988247,0.442952063109,0.00451716849587,0.0497197839026,0.999999899425,9.83410297207e-05,-0.000437238300939,1.73725635689e-05,1793192971466931968
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.817563516,742,711,673,665,631,877,783,799,650,629.817563516,650.817563516,0.442744944897,0.00451888579077,0.0497218637966,0.999999900602,0.000100723442869,-0.000434034423321,1.62570739217e-05,1793192971483598592
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.242321678,742,711,673,665,631,877,783,799,650,629.242321678,650.242321678,0.442514158567,0.00452105900663,0.0497296255223,0.999999905386,0.000107574888166,-0.000421214767852,1.52753826454e-05,1793192971500264960
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742,710.666520471,673,665,631.333479529,877,783,799,650,628.666520471,650,0.442265930061,0.00452516298884,0.049741042386,0.999999912265,0.000116047900153,-0.000402247039397,1.41758589243e-05,1793192971516931328
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742,710.090312058,673,665,631.909687942,877,783,799,650,628.090312058,650,0.442005005938,0.00453067231319,0.0497551197064,0.999999920269,0.000125701198365,-0.00037880432744,1.29905686985e-05,1793192971533597952
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.498718855,710.498718855,673,665,632,877,783,799.498718855,650,628.498718855,650,0.441708399289,0.00453439139374,0.0497688002656,0.99999992827,0.000132701770548,-0.000354567755817,1.14740760225e-05,1793192971550264576
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,710.912308682,673,665,632,877,783,800,650,629,650,0.441394476347,0.00453828399426,0.0497812334314,0.999999934775,0.000139429032992,-0.000333034625572,9.85203523723e-06,1793192971566931456
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,710.336915833,673,665,632,877,783,800,650,629,650,0.441021132946,0.0045449922366,0.049787139272,0.999999935526,0.000147378421823,-0.000327357491322,7.98534850672e-06,1793192971583598080
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.761271957,710,673,665.238728043,632,877,783,799.761271957,649.761271957,629,650,0.44062563263,0.00455211569202,0.0497916829678,0.999999936875,0.000156270042759,-0.000319061292139,5.36282880751e-06,1793192971600264704
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.185273469,710,673,665.814726531,632,877,783,799.185273469,649.185273469,629,650,0.440198829468,0.00455982575217,0.0497943022506,0.999999938994,0.000166492830822,-0.000307064928087,1.67248276009e-06,1793192971616931584
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,710,673,666,632,877,783,799.398324033,649.398324033,629,650,0.439744376935,0.00456557892083,0.049792426006,0.999999936795,0.000174110827348,-0.000309989698146,-1.16737819116e-06,1793192971633598208
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,710,673,666,632,877,783,799.985524808,649.985524808,629,650,0.439276813672,0.00457040417316,0.0497884180783,0.999999932508,0.000180493687101,-0.000319989751415,-3.6039571823e-06,1793192971650264832
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.567724425,742,710,673,666,632,877.567724425,783,799.432275575,649.432275575,629,650,0.438750590683,0.00457835657626,0.0497815262444,0.999999927682,0.000187020760778,-0.000331062275477,-7.55354011912e-06,1793192971666931456
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.852109422,742.147890578,710.147890578,673,666,632,877.852109422,783,799,649.147890578,629,650,0.43821505222,0.00458664300394,0.0497784025139,0.999999924236,0.000195276006131,-0.000336547456438,-1.14367109105e-05,1793192971683598336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.277446644,742.722553356,710.722553356,673,666,632,877.277446644,783,799,649.722553356,629,650,0.437656910235,0.00459566525737,0.0497863628483,0.999999925067,0.000208507768141,-0.000325830854628,-1.50178832349e-05,1793192971700264960
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,710,671.724012534,665,632.724012534,876,783.275987466,799,650,629,651,0.401087326242,0.00456986594932,0.0498394417916,0.999999957073,4.93854615128e-05,-0.00028506331214,-4.64120537874e-05,1793192972750264832
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.407602704,742,710.407602704,672,665,632.592397296,876,783.592397296,799.592397296,650,628.407602704,651,0.400979491393,0.00456936620709,0.0498519018787,0.999999964365,4.87989605952e-05,-0.000258617325727,-4.47948627255e-05,1793192973333598208
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41e673e75326f2b5f4172fc4d56f9d462d8fdbc2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,390 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4732cd3c6de144d0890f86eaaac03677a6b33363
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15d86a380eaf4b85d7e7b86293a6786808e93aa0fb3091e7a3990069f021c8fd
+size 24733391
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b79e3fe87540c3b5b18efb6554cd0d260d48a0f2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_02/franka_data.csv
@@ -0,0 +1,392 @@
+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,764,742,711,672,665,632,876,783,799,650,629,651,0.400978994366,0.00456681556416,0.0498511216593,0.999999964257,4.77464770525e-05,-0.000259229940268,-4.47992820807e-05,1793192973460363264
+1,0.016666667,BASELINE,764,742,710.425767482,671.425767482,665,632,876,783,799.574232518,650,629,651,0.400978255703,0.00456723026439,0.0498510649835,0.999999964184,4.74106724732e-05,-0.000259613867189,-4.45624102077e-05,1793192973477029632
+2,0.033333333,BASELINE,764.152691679,742,710.152691679,671.152691679,665,632.152691679,876,783,799.847308321,650.152691679,629,651,0.400977905196,0.00456758717415,0.0498513204676,0.999999964247,4.75255773494e-05,-0.000259379887065,-4.43890776895e-05,1793192973493696000
+3,0.050000000,BASELINE,764.743272131,742,710.743272131,671.743272131,665,632.743272131,876,783,799.256727869,650.743272131,629,651,0.400978667844,0.00456777835269,0.0498524711628,0.999999964697,4.89330254719e-05,-0.000257373874922,-4.43979631017e-05,1793192973510362880
+4,0.066666667,BASELINE,764.344650048,742,711,672,665,632.672325024,876,783.327674976,799,650.672325024,629,651,0.400978466389,0.00456838954363,0.0498526270808,0.999999964589,5.03256231808e-05,-0.00025749428124,-4.45554587651e-05,1793192973527029504
+5,0.083333333,BASELINE,763.185345413,742,711,672,665,632.092672706,876,783.907327294,799,650.092672706,629,651,0.400977523554,0.00456932371805,0.0498520180293,0.999999964053,5.1706801051e-05,-0.000259249872881,-4.48272335728e-05,1793192973543696128
+6,0.100000000,BASELINE,763.483776958,742,711,672,665,632,876.483776958,783.516223042,799,650,629,651,0.400977766761,0.004568966902,0.0498520759832,0.999999964185,5.03074383188e-05,-0.000259008950354,-4.4883048037e-05,1793192973560362752
+7,0.116666667,BASELINE,764,742,710.940528395,672,665,632,876.88105679,783,799,650,629,651,0.400978195556,0.00456835265369,0.0498522222483,0.999999964399,4.86516223459e-05,-0.000258502221093,-4.48599916285e-05,1793192973577029376
+8,0.133333333,BASELINE,764,742,710.366094038,672,665,632,875.732188077,783,799,650,629,651,0.400978276977,0.00456763661505,0.0498520340985,0.999999964255,4.93569893442e-05,-0.0002589837564,-4.45098565114e-05,1793192973593696256
+9,0.150000000,BASELINE,764,742,710,672,665,632,875.214159747,783,799,650,629,651,0.400978125352,0.00456759876058,0.0498519302386,0.999999964207,4.97495706392e-05,-0.000259113178117,-4.44057728276e-05,1793192973610362880
+10,0.166666667,BASELINE,764,742,710,672,665,632,875.804639327,783,799,650,629,651,0.400977564221,0.00456875260612,0.0498519744925,0.999999964327,4.95925272687e-05,-0.000258623868536,-4.47340488347e-05,1793192973627029504
+11,0.183333333,BASELINE,764,742,710.388678604,672,665,632.388678604,876,783.388678604,799,650,628.611321396,651,0.400977106002,0.00456971861708,0.0498516944734,0.999999964205,5.02153178528e-05,-0.000258949980027,-4.48613140818e-05,1793192973643696128
+12,0.200000000,BASELINE,764,742,710.969533621,672,665,632.969533621,876,783.969533621,799,650,628.030466379,651,0.400976698666,0.00457059175611,0.0498512541222,0.999999963964,5.12236858394e-05,-0.000259679264418,-4.48891925476e-05,1793192973660363008
+13,0.216666667,BASELINE,764,742,711,672,665,633,877.085386661,783.457306669,799,650,628,651,0.400978295451,0.00456894337929,0.0498525026622,0.99999996458,4.91260097293e-05,-0.000257763177135,-4.45429441669e-05,1793192973677029632
+14,0.233333333,BASELINE,764,742,710.884073022,672,665,633,877.652219065,783,799,650,628,651,0.400979568865,0.00456755709611,0.0498535217265,0.999999965086,4.7613207411e-05,-0.000256125303804,-4.42747524248e-05,1793192973693696256
+15,0.250000000,BASELINE,764,742,710.308858641,672,665,633,875.926575922,783,799,650,628,651,0.400979121614,0.00456776217751,0.0498532612542,0.999999964998,4.9098772765e-05,-0.00025616982393,-4.43978591142e-05,1793192973710362880
+16,0.266666667,BASELINE,764,742,710,672,665,632.725688014,875.274311986,783,799.274311986,650,628.274311986,651,0.400978550177,0.00456733491606,0.0498527822371,0.999999964898,4.851806614e-05,-0.000256669554961,-4.43971543165e-05,1793192973727029504
+17,0.283333333,BASELINE,764,742,710,672,665,632.133291584,875.866708416,783,799.866708416,650,628.866708416,651,0.400977834737,0.00456617440765,0.0498520498016,0.99999996478,4.55413687e-05,-0.000257697135717,-4.42528812017e-05,1793192973743696128
+18,0.300000000,BASELINE,764,742,710,672,665,632.447389045,876,783,799.552610955,650,629,650.552610955,0.400979294492,0.00456752683239,0.0498529763634,0.999999965046,4.64101588235e-05,-0.000256477367329,-4.44218016629e-05,1793192973760363008
+19,0.316666667,BASELINE,763.975459661,742,710,672,665,633,875.975459661,783,799,650,629,650.024540339,0.400981218993,0.00456948667559,0.0498542869887,0.999999965389,4.83059682524e-05,-0.000254741781861,-4.4668743879e-05,1793192973777029632
+20,0.333333333,BASELINE,763.40117326,742,710,672,665,633,875.40117326,783,799,650,629,650.59882674,0.400979407389,0.00456870993236,0.0498534113843,0.999999965057,4.81982041844e-05,-0.000256067486372,-4.46265355458e-05,1793192973793696256
+21,0.350000000,BASELINE,763.17792397,742.17792397,710,671.82207603,665,633,875.17792397,783.17792397,799,650,628.82207603,651,0.40097828259,0.00456796638283,0.0498528588866,0.999999964894,4.75326152231e-05,-0.00025683076021,-4.46158491996e-05,1793192973810363136
+22,0.366666667,BASELINE,763.768169757,742.768169757,710,671.231830243,665,633,875.768169757,783.768169757,799,650,628.231830243,651,0.400978749395,0.00456729975667,0.0498530551582,0.999999965121,4.55743203312e-05,-0.000256290654461,-4.46782120555e-05,1793192973827029760
+23,0.383333333,BASELINE,764,742.648401109,710,671,665,632.648401109,876,783.648401109,799,650,628,651,0.400978558777,0.00456773025192,0.04985281341,0.999999964965,4.57275189933e-05,-0.000256861790513,-4.47256807065e-05,1793192973843696128
+24,0.400000000,BASELINE,764,742.069381064,710,671,665,632.069381064,876,783.069381064,799,650,628,651,0.400977942923,0.00456887038706,0.0498522883419,0.999999964561,4.7246473481e-05,-0.000258151699809,-4.47635154958e-05,1793192973860363008
+25,0.416666667,BASELINE,764,742,710,671,665,632.507761161,876,783,799,650,628.507761161,651,0.40097847033,0.00456850257468,0.049852715405,0.999999964851,4.74182558823e-05,-0.000257027096644,-4.45781088994e-05,1793192973877029632
+26,0.433333333,BASELINE,764,742,710,671,665,632.915795936,875.915795936,783.084204064,799.084204064,650,629,651,0.400978916474,0.00456802289457,0.0498530930357,0.999999965127,4.74246819836e-05,-0.000255981351432,-4.43998870197e-05,1793192973893696512
+27,0.450000000,BASELINE,764,742,710,671,665,632.341932855,875.341932855,783.658067145,799.658067145,650,629,651,0.400977984985,0.0045680864695,0.0498524294452,0.99999996478,4.75360399101e-05,-0.000257305650539,-4.44401766412e-05,1793192973910363136
+28,0.466666667,BASELINE,764,742,710,671,665,632,875.238827905,784,799.761172095,650.238827905,628.761172095,651,0.400977533927,0.0045683634076,0.0498521937445,0.999999964648,4.74807198557e-05,-0.000257792970224,-4.46339241936e-05,1793192973927029504
+29,0.483333333,BASELINE,764,742,710,671,665,632,875.829757823,784,799.170242177,650.829757823,628.170242177,651,0.400977791165,0.00456895490523,0.0498525888783,0.999999964836,4.71796678206e-05,-0.000257046337965,-4.50539135067e-05,1793192973943696128
+30,0.500000000,BASELINE,764,742,710,671.411560084,665,632.411560084,875.588439916,784,799,650.588439916,628.411560084,651,0.400977016148,0.00456935091183,0.0498521404677,0.999999964522,4.83073006158e-05,-0.000258049423958,-4.50934533599e-05,1793192973960363008
+31,0.516666667,BASELINE,764,742,710,671.989668588,665,632.989668588,875.010331412,784,799,650.010331412,628.989668588,651,0.400975823402,0.00456966780792,0.049851350695,0.999999964,5.00130876436e-05,-0.000259760578662,-4.49790345001e-05,1793192973977029888
+32,0.533333333,BASELINE,764,742,710.564987987,672,665,632.435012013,876.129975973,783.435012013,799,650,629,651,0.400976864005,0.00456791904689,0.0498521618109,0.999999964461,4.83273808925e-05,-0.000258377239475,-4.45300229139e-05,1793192973993696512
+33,0.550000000,BASELINE,764,742,711,672,665,632,876.713814893,783,799,650,629,651,0.400977842053,0.00456687090696,0.0498528459103,0.999999964791,4.75956555876e-05,-0.000257282064884,-4.42583371563e-05,1793192974010362880
+34,0.566666667,BASELINE,764,742,711,672,665,632,875.540014525,783,799,650,629,651,0.40097850004,0.00456811235174,0.0498530457143,0.999999964667,5.00141483732e-05,-0.000257255287488,-4.45555182905e-05,1793192974027029504
+35,0.583333333,BASELINE,764,742,710.685792108,672,665,632,875.314207892,783,799.314207892,650,629,651,0.400978602999,0.00456763386672,0.0498531291355,0.999999964778,4.95909888691e-05,-0.000256941028628,-4.43333142858e-05,1793192974043696640
+36,0.600000000,BASELINE,764,742,710.103864656,672,665,632,875.896135344,783,799.896135344,650,629,651,0.400978233048,0.00456568992262,0.0498531133934,0.999999965088,4.67466113312e-05,-0.000256381822348,-4.3668570314e-05,1793192974060364032
+37,0.616666667,BASELINE,764,742,710,672,665,632,875.528932559,783,799.528932559,650,629,651,0.400978767048,0.00456640021118,0.0498534997061,0.999999965248,4.6636026394e-05,-0.000255751046011,-4.38328760067e-05,1793192974077030400
+38,0.633333333,BASELINE,764,742,710,672,665,632,875.044795602,783,799,650,628.955204398,651,0.400979439288,0.00456761693624,0.049853947809,0.99999996536,4.70947272329e-05,-0.000255170989724,-4.41554911203e-05,1793192974093696768
+39,0.650000000,BASELINE,764,742,710,672,665,632,875.622280583,783,799,650,628.377719417,651,0.400979419991,0.00456799856404,0.0498540919534,0.999999965296,4.72601565922e-05,-0.000255378980028,-4.4218737643e-05,1793192974110363136
+40,0.666666667,BASELINE,764,742,710.205135637,672,665,632,876,783,799,650,628.205135637,651,0.400979381435,0.00456829518145,0.0498540348547,0.999999965252,4.7614266937e-05,-0.000255465275799,-4.43402049816e-05,1793192974127029760
+41,0.683333333,BASELINE,764,742,710.798144461,672,665,632,876,783,799,650,628.798144461,651,0.400979306465,0.00456843106007,0.0498535972429,0.999999965244,4.8325137786e-05,-0.000255321469919,-4.45717570085e-05,1793192974143696384
+42,0.700000000,BASELINE,764,742,711,672,665,632.380558285,876.380558285,783.380558285,799.380558285,650,629,651,0.400979324696,0.00456842926799,0.0498537126434,0.999999965371,4.90849408214e-05,-0.000254698349679,-4.44643604611e-05,1793192974160363008
+43,0.716666667,BASELINE,764,742,711,672,665,632.957504518,876.957504518,783.957504518,799.957504518,650,629,651,0.400979391023,0.00456835643063,0.0498541134273,0.999999965566,4.98699953981e-05,-0.000253827878204,-4.41820487427e-05,1793192974177029632
+44,0.733333333,BASELINE,763.469299494,742,710.469299494,671.469299494,665,633,875.938598988,783.469299494,799.469299494,650,628.469299494,651,0.400979706703,0.00456855405023,0.0498534950975,0.999999965483,4.92654488485e-05,-0.000254204757172,-4.45681356439e-05,1793192974193696256
+45,0.750000000,BASELINE,763.104561853,742,710,671.104561853,665,632.895438147,875,783,799,650,628,651,0.400979768512,0.00456875638472,0.0498529320763,0.999999965338,4.88032097502e-05,-0.000254812075279,-4.48708829866e-05,1793192974210362880
+46,0.766666667,BASELINE,763.682787909,742,710,671.682787909,665,632.317212091,875,783,799,650,628,651,0.400978590478,0.00456888266158,0.0498529866774,0.999999965011,4.94861435104e-05,-0.00025601399648,-4.45553519005e-05,1793192974227029504
+47,0.783333333,BASELINE,764,742,710.267491116,672,665,632.267491116,875.267491116,783,799,650.267491116,628,651,0.400978592191,0.00456890544058,0.049853380502,0.999999965063,5.02143453391e-05,-0.000255702996989,-4.43600736827e-05,1793192974243696128
+48,0.800000000,BASELINE,764,742,710.860066128,672,665,632.860066128,875.860066128,783,799,650.860066128,628,651,0.400980027658,0.00456880243789,0.0498541865874,0.999999965573,5.09975618707e-05,-0.000253553334159,-4.43109396067e-05,1793192974260362752
+49,0.816666667,BASELINE,764.438610904,742,710.561389096,672,665,632.561389096,876,783.438610904,799,650.561389096,628.438610904,651,0.400978866694,0.004567980863,0.0498538426757,0.999999965342,4.93929497101e-05,-0.000254815222515,-4.41082590634e-05,1793192974277029376
+50,0.833333333,BASELINE,764.987209294,742,710,672,665,632,876,783.987209294,799,650,629,650.987209294,0.400976982145,0.00456699357355,0.0498531746145,0.999999964889,4.71533870474e-05,-0.000257048385787,-4.38708140096e-05,1793192974293696256
+51,0.850000000,BASELINE,764.414233703,742,710,672,665,632,876,783.414233703,799,650,629,650.414233703,0.40097856199,0.00456847778301,0.0498538805185,0.999999965129,4.94356061223e-05,-0.000255628724812,-4.4189770413e-05,1793192974310362880
+52,0.866666667,BASELINE,764,742,710,672,665,632.164787689,876,783,799,650,629,650.164787689,0.400979601668,0.00456921774198,0.0498542636942,0.999999965286,5.05012208457e-05,-0.000254769335126,-4.4377290677e-05,1793192974327029504
+53,0.883333333,BASELINE,764,742,710,672,665,632.75958544,876,783,799,650,629,650.75958544,0.400979231792,0.00456801559465,0.0498538047167,0.999999965244,4.839213156e-05,-0.000255371961863,-4.42218310368e-05,1793192974343696128
+54,0.900000000,BASELINE,764,742,710.344372067,671.655627933,665,633,876,783,799,650,629,651,0.400978408758,0.00456814088989,0.0498530836633,0.999999964948,4.82744741027e-05,-0.00025651248315,-4.44381248337e-05,1793192974360362752
+55,0.916666667,BASELINE,764,742,710.922367096,671.077632904,665,633,876,783,799,650,629,651,0.400977278302,0.00456916672589,0.0498521848169,0.99999996448,4.95078095867e-05,-0.000258017913562,-4.49066171959e-05,1793192974377029376
+56,0.933333333,BASELINE,764,742,710.501791663,671.498208337,665,632.501791663,876,783,799,650,629,651,0.400977598118,0.00456880577935,0.0498526291054,0.999999964689,4.88944898358e-05,-0.000257344504769,-4.47731891305e-05,1793192974393696000
+57,0.950000000,BASELINE,764,742,710.073384444,672,665,632,876,783,799.073384444,650.073384444,629,651,0.400978001776,0.00456844968244,0.0498531690611,0.999999964937,4.84602282427e-05,-0.000256497135988,-4.45797211023e-05,1793192974410362624
+58,0.966666667,BASELINE,764,742,710.646307348,672,665,632,876,783,799.646307348,650.646307348,629,651,0.40097744445,0.00456959125067,0.0498529416831,0.99999996473,5.11951898428e-05,-0.000256766781867,-4.46132718379e-05,1793192974427029248
+59,0.983333333,BASELINE,763.772328159,742,711,672,665,632.227671841,876,783,800,650.772328159,629,651,0.400976856697,0.00456978814206,0.0498526889777,0.999999964562,5.2178186044e-05,-0.000257237946377,-4.45233756872e-05,1793192974443695872
+60,1.000000000,BASELINE,763.177344429,742,711,672,665,632.822655571,876,783,800,650.177344429,629,651,0.400976219852,0.00456846094953,0.0498523954106,0.999999964464,5.03346683406e-05,-0.000258034228823,-4.42343178497e-05,1793192974460362752
+61,1.016666667,BASELINE,763.404463051,742,710.595536949,671.595536949,665,633,876.404463051,783.404463051,800.404463051,650,629,651,0.400977102002,0.0045681906049,0.0498529641681,0.999999964817,4.82717578039e-05,-0.000257064805157,-4.41902743675e-05,1793192974477029376
+62,1.033333333,BASELINE,763.980675393,742,710.019324607,671.019324607,665,633,876.980675393,783.980675393,800.980675393,650,629,651,0.40097862917,0.00456836903528,0.0498538990991,0.999999965357,4.61156854341e-05,-0.000255345600283,-4.42502726483e-05,1793192974493696000
+63,1.050000000,BASELINE,764,742,710,671.554370379,665,633,876.445629621,783.445629621,799.891259242,650,629,651,0.400978399613,0.00456721593347,0.0498541096436,0.999999965334,4.67185898543e-05,-0.000255334120983,-4.41916296514e-05,1793192974510362624
+64,1.066666667,BASELINE,764,742,710.131057232,672,665,632.868942768,876,783,799,650,628.868942768,651,0.400978365878,0.00456659301268,0.0498541397405,0.999999965345,4.7489325329e-05,-0.000255142473112,-4.42285462575e-05,1793192974527029248
+65,1.083333333,BASELINE,764,742,710.718466149,672,665,632.281533851,876,783,799,650,628.281533851,651,0.400979226281,0.00456797711595,0.0498536290339,0.99999996554,4.85110893537e-05,-0.000254117116202,-4.46125446451e-05,1793192974543696128
+66,1.100000000,BASELINE,764,742,710.697714257,672,665,632.302285743,876,783.302285743,799,650.302285743,628.302285743,651,0.400979544275,0.00456837094772,0.0498536876217,0.999999965669,4.82812254218e-05,-0.000253637466671,-4.47144842182e-05,1793192974560362752
+67,1.116666667,BASELINE,764,742,710.117198385,672,665,632.882801615,876,783.882801615,799,650.882801615,628.882801615,651,0.400979363024,0.00456785331278,0.0498542702001,0.999999965736,4.68993368463e-05,-0.000253660097696,-4.45568109294e-05,1793192974577029632
+68,1.133333333,BASELINE,764,742,710,672,665,632.539754209,876,783.539754209,799,650.539754209,629,651,0.40097987441,0.00456877226088,0.049854546349,0.99999996578,4.85850713556e-05,-0.000253191245202,-4.44314254134e-05,1793192974593696256
+69,1.150000000,BASELINE,764,742,710.036795711,671.963204289,665.036795711,632.036795711,876,783,799,650,629,651,0.400980453778,0.00456990236812,0.04985468777,0.999999965793,5.08390813482e-05,-0.000252712722323,-4.43284687545e-05,1793192974610362624
+70,1.166666667,BASELINE,764,742,710.611630449,671.388369551,665.611630449,632.611630449,876,783,799,650,629,651,0.40097946527,0.00456880649558,0.0498539925701,0.999999965525,5.0056110882e-05,-0.000253910690213,-4.44340487273e-05,1793192974627029504
+71,1.183333333,BASELINE,764,742,711,671.191491038,665.808508962,633,876,783.191491038,799,650,629,651,0.400978737228,0.00456828901063,0.0498535067466,0.99999996531,4.93999334537e-05,-0.000254868986906,-4.45072932163e-05,1793192974643696128
+72,1.200000000,BASELINE,764,742,711,671.781819572,665.218180428,633,876,783.781819572,799,650,629,651,0.400978551683,0.00456897619106,0.0498534570123,0.999999965212,4.90078403964e-05,-0.000255328096702,-4.4513189386e-05,1793192974660362752
+73,1.216666667,BASELINE,764,742,710.634725054,672,665,632.634725054,876,783.634725054,799,650,629,651,0.400979418321,0.00456874727605,0.0498539871221,0.999999965392,4.9382491965e-05,-0.000254576975656,-4.43532419159e-05,1793192974677029376
+74,1.233333333,BASELINE,764,742,710.055299264,672,665,632.055299264,876,783.055299264,799,650,629,651,0.400980901827,0.00456798127897,0.049854857179,0.999999965733,5.02066652406e-05,-0.000253116328897,-4.40960647949e-05,1793192974693696256
+75,1.250000000,BASELINE,764,742,710,672,665,632,876,783,799.520686322,650,629,651,0.400980163284,0.00456879008622,0.0498544336115,0.999999965652,5.12634803047e-05,-0.000253197078184,-4.42637107195e-05,1793192974710362880
+76,1.266666667,BASELINE,763.901965948,742,710,671.901965948,665,632,876,783.098034052,800,650,628.901965948,651,0.400979295669,0.00456939725336,0.0498539667957,0.999999965537,5.15463811529e-05,-0.000253566647667,-4.44123271766e-05,1793192974727029504
+77,1.283333333,BASELINE,763.316032644,742,710,671.316032644,665,632,876,783.683967356,800,650,628.316032644,651,0.400978952468,0.00456817397194,0.0498539640142,0.999999965475,4.78554803711e-05,-0.000254564250848,-4.42431654155e-05,1793192974743696128
+78,1.300000000,BASELINE,763.267157621,742,710,671.267157621,665,632.267157621,876,783.732842379,799.732842379,650,628,651,0.400978491153,0.00456722296271,0.0498535295107,0.999999965319,4.68188623664e-05,-0.000255402449342,-4.40325299811e-05,1793192974760362752
+79,1.316666667,BASELINE,763.847135959,742,710,671.847135959,665,632.847135959,876,783.152864041,799.152864041,650,628,651,0.400977891536,0.00456659076304,0.0498525894946,0.999999965065,4.88902025446e-05,-0.000256053997323,-4.37733321251e-05,1793192974777029632
+80,1.333333333,BASELINE,764,742,710.424273592,672,665,633,876.424273592,783.424273592,799,650,628.424273592,651,0.40097786314,0.00456735048612,0.0498526954592,0.999999965004,4.84836424036e-05,-0.000256343956571,-4.39238780203e-05,1793192974793696256
+81,1.350000000,BASELINE,764,742,711,672,665,633,876.999605105,784,798.999605105,650.000394895,629,651,0.400978039499,0.00456860745472,0.049853175828,0.999999965012,4.71914112183e-05,-0.0002565034721,-4.42208589503e-05,1793192974810363136
+82,1.366666667,BASELINE,764,742,711,672,665,633,876.423032028,784,798.423032028,650.576967972,629,651,0.400978674913,0.00456851742927,0.0498537264907,0.999999965337,4.76042763703e-05,-0.000255158300519,-4.42083447442e-05,1793192974827029504
+83,1.383333333,BASELINE,764,742,710.843116819,672,665,632.843116819,876,783.843116819,798.156883181,650.843116819,629,651,0.400979103506,0.00456843000358,0.0498541995855,0.999999965606,4.79016795093e-05,-0.000254038365762,-4.42548510538e-05,1793192974843696128
+84,1.400000000,BASELINE,764,742,710.253993329,672,665,632.253993329,876,783.253993329,798.746006671,650.253993329,629,651,0.400978962271,0.00456834974064,0.0498544589671,0.999999965724,4.78809649193e-05,-0.000253538997124,-4.44639690926e-05,1793192974860362752
+85,1.416666667,BASELINE,764,742.330316379,710,672,665,632.330316379,876,783.330316379,799.330316379,650,629,651,0.400979077967,0.00456766467239,0.0498546515015,0.999999965841,4.70631678814e-05,-0.000253253540036,-4.43343903436e-05,1793192974877029376
+86,1.433333333,BASELINE,764,742.910977715,710,672,665,632.910977715,876,783.910977715,799.910977715,650,629,651,0.40097938839,0.00456652122554,0.0498547933728,0.999999965955,4.56412664675e-05,-0.000253130205356,-4.39481151603e-05,1793192974893696000
+87,1.450000000,BASELINE,764,742.514239945,710,672,665,632.514239945,876,783.514239945,799.514239945,650,629,651,0.400979365737,0.00456715846399,0.0498548278285,0.999999965742,4.72447645009e-05,-0.000253663475206,-4.40293983451e-05,1793192974910362624
+88,1.466666667,BASELINE,764,742,710,672,665,632,876,783,799.060864163,650,629,651,0.400979305307,0.00456788255562,0.0498548395668,0.999999965521,4.88210924618e-05,-0.000254216035117,-4.41462441375e-05,1793192974927029248
+89,1.483333333,BASELINE,764,742,710,672,665,632,876,783,799.647954056,650,629,651,0.400979439707,0.00456656984626,0.0498548230567,0.999999965773,4.5426141891e-05,-0.000253907437703,-4.38385818385e-05,1793192974943695872
+90,1.500000000,BASELINE,764,742.232131269,710,672,665,632.232131269,876,783,799.767868731,650,629,651,0.400979574963,0.00456601835595,0.0498547630701,0.999999965827,4.43377926725e-05,-0.000253897633803,-4.37684834127e-05,1793192974960362752
+91,1.516666667,BASELINE,764,742.811945852,710,672,665,632.811945852,876,783,799.188054148,650,629,651,0.4009797115,0.00456660701014,0.0498546379651,0.999999965596,4.67042424554e-05,-0.000254335359125,-4.40542052174e-05,1793192974977029632
+92,1.533333333,BASELINE,764,742.609439969,710.390560031,672,665,633,876,783,799,650,629,651,0.40097956181,0.00456664589314,0.0498542401961,0.999999965375,4.87733391199e-05,-0.000254835481844,-4.39371243521e-05,1793192974993696512
+93,1.550000000,BASELINE,764,742.03140196,710.96859804,672,665,633,876,783,799,650,629,651,0.400979274722,0.00456642087312,0.0498537115421,0.999999965157,5.06996995223e-05,-0.000255365556814,-4.36266887816e-05,1793192975010363136
+94,1.566666667,BASELINE,764,742,710.456859973,672,665,632.456859973,876,783.543140027,799,650.543140027,629,651,0.400979088789,0.00456750185063,0.0498539249492,0.999999965335,5.01723643477e-05,-0.000254704398544,-4.40307796978e-05,1793192975027029504
+95,1.583333333,BASELINE,764,742,710,672,665,632.120467496,876.120467496,783.879532504,799,650.879532504,629,651,0.400979159111,0.00456834972281,0.049854276299,0.999999965565,4.9669326426e-05,-0.000253837418244,-4.43864911224e-05,1793192975043696128
+96,1.600000000,BASELINE,764,742,710,672,665,632.70940829,876.70940829,783.29059171,799,650.29059171,629,651,0.400980203365,0.00456799934339,0.0498549983075,0.999999965912,4.98089186577e-05,-0.000252436153769,-4.4394443144e-05,1793192975060362752
+97,1.616666667,BASELINE,764,742,710.293548254,672,665,632.706451746,876.412903492,783,799.293548254,650,629,651,0.40098094788,0.00456763979301,0.0498556514338,0.999999966128,5.00919747558e-05,-0.000251546823866,-4.42496596941e-05,1793192975077029632
+98,1.633333333,BASELINE,764,742,710.873012179,672,665,632.126987821,875.253975641,783,799.873012179,650,629,651,0.400981400449,0.00456727131016,0.0498562374692,0.999999966218,5.05147644907e-05,-0.000251156117747,-4.39561120659e-05,1793192975093696256
+99,1.650000000,BASELINE,764,742,711,672,665.450834435,632.450834435,875.450834435,783.450834435,800,650,629,651,0.400980248167,0.00456724241842,0.0498553250096,0.999999965929,5.07128238899e-05,-0.000252260938563,-4.39744012445e-05,1793192975110362624
+100,1.666666667,BASELINE,764,742.028579115,711,671.971420885,665.971420885,633,876,784,799.971420885,650,629,651,0.400978794247,0.00456724859152,0.0498540839811,0.99999996557,5.06469168383e-05,-0.000253679103556,-4.40658980537e-05,1793192975127029248
+101,1.683333333,BASELINE,764,742.613786666,711,671.386213334,665.386213334,633,876,784,799.386213334,650,629,651,0.400980237761,0.00456608145158,0.0498546345221,0.999999965937,4.66682137568e-05,-0.000253025394348,-4.38786894132e-05,1793192975143696128
+102,1.700000000,BASELINE,764,742.80289495,711,671,665.19710505,632.80289495,876,783.80289495,799,650,628.80289495,651,0.400980769345,0.00456545502673,0.0498549247482,0.999999966113,4.47887340526e-05,-0.000252677797229,-4.38472602613e-05,1793192975160362752
+103,1.716666667,BASELINE,764,742.223243182,711,671,665.776756818,632.223243182,876,783.223243182,799,650,628.223243182,651,0.400979531029,0.00456587803621,0.049854709748,0.999999965938,4.69834833219e-05,-0.000252924310672,-4.41181721026e-05,1793192975177029376
+104,1.733333333,BASELINE,764,742.354996523,711,671.354996523,665.645003477,632,876,783,799.354996523,650,628.354996523,651,0.400978431341,0.00456699127267,0.0498540036393,0.999999965592,4.71895333776e-05,-0.000254195216225,-4.44395145336e-05,1793192975193696256
+105,1.750000000,BASELINE,764,742.932351813,711,671.932351813,665.067648187,632,876,783,799.932351813,650,628.932351813,651,0.400977418486,0.00456853684587,0.0498529899156,0.999999965136,4.61499243927e-05,-0.000256107769116,-4.47924451419e-05,1793192975210362880
+106,1.766666667,BASELINE,764,742.492230011,711,672,665,632.507769989,876,783,799.492230011,650.507769989,628.492230011,651,0.4009781746,0.0045677083262,0.0498534745225,0.999999965428,4.59438881329e-05,-0.000255022569707,-4.46860327261e-05,1793192975227029504
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,710,672,665,632,875,783,800,650,628,651,0.400980126205,0.00456744763196,0.0498540588613,0.999999965759,4.80539874422e-05,-0.000253403873288,-4.42695957681e-05,1793192975269560832
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,710,672,665,632,875.579234157,783,799.420765843,650,628.579234157,651,0.400978918018,0.0045670795406,0.0498532547926,0.999999965621,4.70546494379e-05,-0.000254152778851,-4.41547565688e-05,1793192975286228736
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.842310249,742,710,671.842310249,665,632.157689751,876,783,799,650,629,651,0.40097823445,0.00456648061317,0.0498529915911,0.999999965604,4.60932739168e-05,-0.000254400725211,-4.41232861704e-05,1793192975302896128
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.265921774,742,710,671.265921774,665,632.734078226,876,783,799,650,629,651,0.400978943854,0.0045652687684,0.0498541645027,0.99999996591,4.52326963786e-05,-0.000253318522012,-4.43131770624e-05,1793192975319561984
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.308877326,742,710,671.308877326,665,632.691122674,876,783.308877326,799,650,628.691122674,651,0.400978865557,0.00456571818408,0.0498543654439,0.999999965861,4.63269027023e-05,-0.00025331190741,-4.43193968253e-05,1793192975336227840
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.882315056,742,710,671.882315056,665,632.117684944,876,783.882315056,799,650,628.117684944,651,0.400978112577,0.00456759050692,0.0498537338702,0.999999965504,4.90954255989e-05,-0.000254226558793,-4.41682981068e-05,1793192975352894464
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.532168275,742,710.467831725,672.467831725,665,632.467831725,875.532168275,784,799,650,628,651,0.400980229692,0.00456842483939,0.0498550434188,0.999999965946,4.94155540548e-05,-0.000252388877993,-4.43358186188e-05,1793192975369561088
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.055612264,742,710.944387736,672.888775472,665,633,875.055612264,784,799,650,628.055612264,651,0.400983124034,0.00456893127898,0.0498567767535,0.999999966585,4.90027964123e-05,-0.000249885711782,-4.45579978312e-05,1793192975386228224
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.635333476,742,710.364666524,671.729333048,665,633,875.635333476,784,799,650,628.635333476,651,0.400986358668,0.0045688735591,0.0498577801513,0.99999996717,4.76413919526e-05,-0.000247808757264,-4.45199193739e-05,1793192975402895360
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,710,671.213212767,665,633,876,783.786787233,799,650,629,651,0.400996352489,0.00456851596005,0.0498616252294,0.999999968975,4.7343527633e-05,-0.000240516991187,-4.4269782084e-05,1793192975419562496
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,710,671.787968667,665,633,876,783.212031333,799,650,629,651,0.401017807808,0.00456764985837,0.0498702889211,0.99999997268,4.8849099709e-05,-0.000224382512225,-4.36600583725e-05,1793192975436228864
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,710,672,665,633,876,783.371277988,799,650,629,651,0.401055738318,0.00456693014116,0.0498842094975,0.999999978482,4.79733636978e-05,-0.000197122158896,-4.33288141097e-05,1793192975452895232
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,710,672,665,633,876,783.959587282,799,650,629,651,0.401103299437,0.00456629599321,0.0499012029974,0.999999984681,4.57056292803e-05,-0.000163358151267,-4.3160355484e-05,1793192975469561344
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,710,672,665,633,876,784,799,650,629,651,0.401169686959,0.00456634542734,0.0499163582353,0.999999989185,4.5445936107e-05,-0.000133194684012,-4.27064263487e-05,1793192975486227968
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,710.118634868,672,665,632.881365132,876,783.881365132,799,650,629,651,0.401238691201,0.00456596361694,0.049929447439,0.9999999922,4.49399914397e-05,-0.000108719703954,-4.19681128222e-05,1793192975502894592
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,710.69606653,672,665,632.30393347,876,783.30393347,799,650,629,651,0.401312444854,0.00456371906145,0.0499350710366,0.999999992736,4.29089219298e-05,-0.000105216751561,-4.02114299284e-05,1793192975519560960
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,710.728162803,672,665.271837197,632,876,783.271837197,799.271837197,650,629,651,0.401395469254,0.00456117259218,0.0499371670545,0.999999992898,4.01048303913e-05,-0.000105334375097,-3.87444369723e-05,1793192975536227840
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,710.154238003,672,665.845761997,632,876,783.845761997,799.845761997,650,629,651,0.40148879606,0.00455829061189,0.0499353429386,0.999999992637,3.64416940208e-05,-0.0001094754773,-3.75993711422e-05,1793192975552894976
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,710.431917127,672,665.568082873,632,876,783.568082873,799.568082873,650,629,651,0.401600064056,0.00455727726691,0.0499349545723,0.999999992514,3.51521495545e-05,-0.000111333856732,-3.66293840117e-05,1793192975569561856
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,710.977825662,672,665,632.022174338,876,783,799.022174338,650,629,651,0.401719488495,0.00455681547138,0.0499352291628,0.99999999248,3.45431920123e-05,-0.000112128487717,-3.56922915592e-05,1793192975586228480
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,710.397452603,672,665,632.602547397,876,783,799.602547397,650,629,651,0.401878256712,0.00455295056676,0.0499389098944,0.999999993247,2.91078884902e-05,-0.000107263408202,-3.39635513097e-05,1793192975602894848
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,710.181064934,672,665,632.818935066,876,783.181064934,800,650,629,651,0.402044055224,0.0045497297709,0.0499408358794,0.999999993582,2.48954638342e-05,-0.00010573930477,-3.219327834e-05,1793192975619561216
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,710.755550687,672,665,632.244449313,876,783.755550687,800,650,629,651,0.402225129258,0.0045479085055,0.0499389491217,0.999999993054,2.33401308847e-05,-0.000111474528895,-3.03327626317e-05,1793192975636228096
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,710.669031041,672,665,632.330968959,876,783.669031041,799.669031041,650,629,651,0.402431211983,0.00454579608593,0.0499381263026,0.99999999295,1.94722651717e-05,-0.000113618504493,-2.85068994717e-05,1793192975652894720
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,710.092922017,672,665,632.907077983,876,783.092922017,799.092922017,650,629,651,0.402655818011,0.00454346801589,0.0499380915147,0.999999993151,1.38915666649e-05,-0.000113102536681,-2.67067023549e-05,1793192975669561344
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,710,672,665,633,876,783,799,650,629,651,0.402917913627,0.0045400766267,0.0499439303454,0.999999994595,8.66967848018e-06,-0.000100604250448,-2.47587993099e-05,1793192975686227968
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,710.085179341,672,665,632.914820659,876.085179341,783,799.085179341,650,629,651,0.40319386978,0.00453622201067,0.0499510283015,0.999999996094,3.51887153397e-06,-8.53658277345e-05,-2.26369475929e-05,1793192975702894848
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,710.661423673,672,665,632.338576327,876.661423673,783,799.661423673,650,629,651,0.403508168895,0.00453087574308,0.0499588732173,0.999999997519,-1.61995660807e-06,-6.76149301806e-05,-1.96760278725e-05,1793192975719561472
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,710.761929884,671.761929884,665,632.238070116,876.761929884,783,799.761929884,650,629,651,0.40384104475,0.00452544346194,0.0499658891158,0.999999998434,-7.55237495393e-06,-5.28895560076e-05,-1.66517840499e-05,1793192975736228352
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,710.184710639,671.184710639,665,632.815289361,876.184710639,783,799.184710639,650,629,651,0.404200384577,0.00451988864821,0.0499717240153,0.9999999989,-1.46153230692e-05,-4.24742728944e-05,-1.35373303724e-05,1793192975752894976
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,710,671.397866781,665,633,876.397866781,783,799,650,629,651,0.404588114788,0.00451515592108,0.0499788861332,0.999999999395,-1.74312855593e-05,-2.83148189148e-05,-1.01926509931e-05,1793192975769561344
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,710,671.982965688,665,633,876.982965688,783,799,650,629,651,0.404989205219,0.00451081005984,0.0499866728266,0.999999999734,-1.82486589037e-05,-1.23933958762e-05,-6.739629788e-06,1793192975786227968
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,710,672,665.562676575,632.437323425,877,783,799,650,629,650.437323425,0.405401865579,0.00450329711717,0.0499726808637,0.999999998861,-2.75597697731e-05,-3.88231466948e-05,-3.22528652421e-06,1793192975802894592
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.14168931,742,710.14168931,672,665.85831069,632.14168931,876.85831069,783,799,650,629,650.14168931,0.405820685463,0.00449606855417,0.0499554665147,0.99999999688,-3.54007156661e-05,-7.06106951447e-05,3.01354858623e-07,1793192975819561472
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.71905202,742,710.71905202,672,665.28094798,632.71905202,876.28094798,783,799,650,629,650.71905202,0.406257378083,0.00449000643577,0.0499303518983,0.999999992664,-3.79379642058e-05,-0.000114967706171,3.86015628829e-06,1793192975836228096
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.704146349,742,711,672,665.295853651,633,875.704146349,783.295853651,799.295853651,650,629,651,0.406731538127,0.00448350009397,0.0499143823969,0.999999988841,-4.37567802787e-05,-0.000142640497962,7.55432797348e-06,1793192975852894976
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.127876454,742,711,672,665.872123546,633,875.127876454,783.872123546,799.872123546,650,629,651,0.407241210628,0.00447657270728,0.0499070808229,0.999999986612,-5.26859346705e-05,-0.000154499645007,1.13768068243e-05,1793192975869561856
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,672,666,633,875.916189295,783.541905353,799.541905353,650.458094647,629,651,0.40781902685,0.0044689685252,0.0499221195806,0.999999992512,3.11313837331e-06,-0.000121306951928,1.58341843387e-05,1793192975886228480
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632.953900826,877,783,799.046099174,650.953900826,628.953900826,650.953900826,0.408419388612,0.00446113878344,0.0499439598723,0.999999994339,7.20707984133e-05,-7.55270742093e-05,2.05678477317e-05,1793192975902894848
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632.374380329,877,783,799.625619671,650.374380329,628.374380329,650.374380329,0.409055757551,0.00445293244378,0.049970779696,0.999999995939,7.96882403824e-05,-3.27679640822e-05,2.64033266812e-05,1793192975919561216
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665.797061282,632.202938718,876.797061282,783,799.797061282,650.202938718,628,650.202938718,0.409686113043,0.00444856173716,0.0499880200406,0.99999999682,7.37143995171e-05,-7.04559389145e-06,2.95954006768e-05,1793192975936227840
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665.223759912,632.776240088,876.223759912,783,799.223759912,650.776240088,628,650.776240088,0.410305493967,0.00445119105172,0.0499877778581,0.99999999861,4.29365011767e-05,-1.24152341379e-05,2.79632669479e-05,1793192975952894720
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.641096106,876,783,799,650.641096106,628.358903894,651,0.410925618439,0.00446372163133,0.0499662198357,0.999999997781,1.65668446434e-05,-6.09859456363e-05,2.10844667924e-05,1793192975969561344
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.052438934,876,783,799,650.052438934,628.947561066,651,0.411546218871,0.00448259053189,0.0499310164221,0.999999990503,-6.98086312362e-06,-0.000137211936826,1.0846999189e-05,1793192975986227968
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.527855524,711,672.527855524,665.527855524,632.527855524,876.527855524,783,799,650,629,651,0.412262184798,0.00448064091574,0.0499278358631,0.999999991996,6.55310516388e-07,-0.000125833330971,1.31487887429e-05,1793192976002894592
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,710.893059131,672.893059131,666,632.893059131,877,783,799,650,629,651,0.412996830747,0.00447513319816,0.0499324014871,0.999999994533,8.52420549543e-06,-0.000102851869564,1.68406443833e-05,1793192976019561216
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,710.3156952,672.3156952,666,632.3156952,877,783,799,650,629,651,0.413772623203,0.0044629295732,0.0499572660464,0.999999997554,4.0019204365e-06,-6.65168665934e-05,2.1253048082e-05,1793192976036227584
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,710.26072451,672,666,632.26072451,877,783,799.26072451,650,629,651,0.414525434349,0.00445649854614,0.0499606778212,0.999999997796,-1.57574261766e-06,-6.2358754723e-05,2.2725709604e-05,1793192976052894208
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,710.836005126,672,666,632.836005126,877,783,799.836005126,650,629,651,0.415250519355,0.00445703197931,0.0499382074743,0.999999995045,-8.42668736838e-06,-9.70210678399e-05,2.06516631691e-05,1793192976069561088
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632.578595337,877,783.421404663,799.578595337,650,629,650.578595337,0.416016337053,0.00445957731729,0.0499224910612,0.99999999239,-8.84878266777e-06,-0.000121617241972,1.8726146213e-05,1793192976086227968
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632.010645144,877,783.989354856,799.010645144,650,629,650,0.416799507362,0.00446290574971,0.049910271194,0.999999989918,-6.69310325042e-06,-0.000140827184959,1.69474753458e-05,1793192976102894336
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632.589539854,877,783.410460146,799.589539854,650,629,650,0.417641985311,0.00446521319393,0.0499409431175,0.999999996031,-3.771179466e-06,-8.67722500512e-05,1.9846151215e-05,1793192976119561216
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.167752316,743,711,672,666,633,877,783,800,650,629,650.167752316,0.418472992062,0.00446637627448,0.0499632320204,0.999999998461,-1.84588486887e-07,-5.05899389087e-05,2.27901578043e-05,1793192976136228096
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.744302162,743,711,672,666,633,877,783,800,650,629,650.744302162,0.419276044468,0.00446475064206,0.0499650922432,0.999999997974,5.02173735746e-06,-5.79616321131e-05,2.5844631289e-05,1793192976152894720
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.67363841,743,711,672,665.67363841,633,877,783,799.67363841,650,629,651,0.420078643653,0.00446302845003,0.0499567356066,0.999999997379,6.4770007512e-06,-6.72731235539e-05,2.59629769729e-05,1793192976169561088
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.087188237,743,711,672,665.087188237,633,877,783,799.087188237,650,629,651,0.420880881612,0.00446122930646,0.0499402368094,0.999999996654,4.94291544859e-06,-7.81305054159e-05,2.37414230287e-05,1793192976186227712
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,710.506647499,672.493352501,665.493352501,633,877.493352501,783,799,650,629,650.506647499,0.421780166668,0.00445812667057,0.0499625005438,0.999999999221,1.78583050194e-06,-3.1392335809e-05,2.38802775737e-05,1793192976202894336
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.072596581,743,710.072596581,672.927403419,666,633,877.927403419,783.072596581,799,650,629,650.072596581,0.422682857878,0.00445531535458,0.049985859789,0.999999999601,-9.64915389167e-07,1.39932524257e-05,2.45278527219e-05,1793192976219560960
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.649999976,743,710.649999976,672.350000024,666,633,877.350000024,783.649999976,799,650,629,650.649999976,0.423491385969,0.00445611263532,0.0499697660572,0.999999999466,1.08072052165e-06,-1.9966772564e-05,2.58465357769e-05,1793192976236227584
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,711,672.226732436,666,632.773267564,877.226732436,784,799,650.226732436,629,651,0.424313093325,0.00445715744825,0.0499591326213,0.999999998825,1.75711692012e-06,-4.05936257386e-05,2.64494910593e-05,1793192976252894208
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,711,672.802432337,666,632.197567663,877.802432337,784,799,650.802432337,629,651,0.425155085218,0.00445858324199,0.0499569032104,0.999999998835,3.26095515245e-07,-4.06991892086e-05,2.5950858683e-05,1793192976269561088
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.613599168,743,711,673,666,632,877.613599168,783.613599168,799.386400832,650.613599168,628.613599168,651,0.425989535438,0.00445490878109,0.0499693572294,0.999999999229,1.73663906605e-06,-2.78044621671e-05,2.76658344782e-05,1793192976286227968
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.025310509,743,711,673,666,632,877.025310509,783.025310509,799.974689491,650.025310509,628.025310509,651,0.426820045213,0.00444856952426,0.0499894830895,0.99999999949,4.63185180575e-06,-8.11730559962e-06,3.05373827148e-05,1793192976302894336
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.55485938,743,711,672.44514062,666,632.55485938,877.55485938,783.55485938,799.44514062,650,628.55485938,651,0.427616668254,0.00444878392142,0.0499692074361,0.999999997847,2.61263749404e-06,-5.71016306583e-05,3.22323875399e-05,1793192976319560960
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.866056454,743,710.866056454,672.133943546,666,632.866056454,877.866056454,783.866056454,799,650,629,651,0.428414667578,0.00444970286451,0.0499495700531,0.999999994606,9.35525533038e-07,-9.84323204236e-05,3.3138799903e-05,1793192976336227584
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.289354689,743,710.289354689,672.710645311,666,632.289354689,877.289354689,783.289354689,799,650,629,651,0.429222252225,0.00445197677306,0.0499380466652,0.999999994065,1.11959634541e-06,-0.00010425805613,3.16133225549e-05,1793192976352894208
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,710.285289637,673,666,632,877,783,799,650,629,651,0.430029706183,0.00445128630487,0.0499409236864,0.99999999551,2.34781201121e-06,-8.95702425381e-05,3.08615986208e-05,1793192976369560832
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,710.857862114,673,666,632,877,783,799,650,629,651,0.430837028489,0.00444761074889,0.0499583017273,0.999999998042,4.62746754137e-06,-5.42255592186e-05,3.08890340714e-05,1793192976386227456
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632,877.445345282,783,799.890690564,650,629,650.554654718,0.431574030147,0.00444614629558,0.0499459684072,0.999999996378,-8.59795557145e-07,-7.92776776916e-05,3.09555160558e-05,1793192976402894080
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.96312915,711,673,666,632.03687085,877.96312915,783,800.96312915,650,629,650,0.432290809594,0.00444533524018,0.0499251639367,0.999999992179,-8.68907775129e-06,-0.00012085091365,3.09992151751e-05,1793192976419560960
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.384553766,711,673,666,632.615446234,877.384553766,783,800.384553766,650,629,650,0.433051649895,0.00444339656025,0.0499240484596,0.99999999316,-1.32454447787e-05,-0.000112132351651,3.05187533927e-05,1793192976436227584
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.192951409,742.192951409,711,673,666,633,877,783,800.192951409,650,629,650.192951409,0.433802445282,0.00444216382782,0.0499328085134,0.99999999522,-1.13678925863e-05,-9.22780317552e-05,3.02599677024e-05,1793192976452894208
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.768335518,742.768335518,711,673,666,633,877,783,800.768335518,650,629,650.768335518,0.434533331628,0.00444233029401,0.0499611420233,0.999999998264,3.26178696883e-06,-5.0352464489e-05,3.04405473603e-05,1793192976469561088
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,742.657547427,711,673,666,632.657547427,877,783,800.315094854,650,629,650.657547427,0.435212010845,0.00444131997533,0.0499715837888,0.999999998551,3.62847249525e-06,-4.31345017206e-05,3.20018605296e-05,1793192976486227968
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,742.084284391,711,673,666,632.084284391,877,783,799.168568782,650,629,650.084284391,0.435855502806,0.00443951651246,0.0499699666511,0.999999997631,-5.61799375797e-06,-5.93092063835e-05,3.44937777297e-05,1793192976502894592
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.493296106,742.506703894,711,673,666,632,877.506703894,783,799.506703894,650,628.493296106,650,0.436460817765,0.00443821322037,0.0499494661911,0.999999994438,-9.47299291303e-06,-9.86233355562e-05,3.61606770743e-05,1793192976519561216
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,673,666.097393654,632,877.902606346,783,800,650,628.097393654,650.097393654,0.437067812208,0.00443803583484,0.0499331624284,0.999999991311,-1.07227361333e-05,-0.000125950229118,3.74103123776e-05,1793192976536228096
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666.671662009,632,877.328337991,783,800,650,628.671662009,650.671662009,0.437715250545,0.00444294916375,0.0499533443192,0.99999999648,-3.76647726326e-06,-7.50541097117e-05,3.73131681335e-05,1793192976552894976
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666.752361122,632,877.247638878,783.247638878,799.752361122,650,629,650.752361122,0.438328172083,0.00444611445837,0.0499682174154,0.99999999838,1.83120687133e-06,-4.22424069053e-05,3.81132451308e-05,1793192976569561344
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,673,666.174103288,632,877.825896712,783.825896712,799.174103288,650,629,650.174103288,0.438895010708,0.00444694597821,0.0499760028178,0.999999998616,5.61507766261e-06,-3.35749420671e-05,4.01111888763e-05,1793192976586227968
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.411707887,743,711,673,666,632,877.588292113,783.588292113,799.411707887,650,629,650,0.439391074946,0.00444690804679,0.0499610967632,0.999999997463,6.13991460932e-06,-5.78581909102e-05,4.10980674083e-05,1793192976602894336
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.999239853,743,711,673,666,632,877,783,800,650,629,650.000760147,0.439856612461,0.00444649945513,0.0499364120108,0.999999994478,5.25872660944e-06,-9.6345931698e-05,4.16478925517e-05,1793192976619561216
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.419947814,743,711,673,666,632,877,783,800,650,629,650.580052186,0.440293004812,0.00444904798921,0.0499090021889,0.999999989024,2.79036586503e-06,-0.000142330649676,4.1054021913e-05,1793192976636227840
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632,877.157982473,783,800,650,629,650.842017527,0.440730473835,0.00445041753886,0.0498897827257,0.99999998406,-1.23285102388e-05,-0.00017419712542,3.71852634932e-05,1793192976652894464
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632,877.732324025,783,800,650,629,650.267675975,0.441170780493,0.00444867990346,0.0498921487539,0.999999983592,-6.0787521416e-05,-0.000168855317545,2.46856156506e-05,1793192976669561088
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.692826847,711,673.307173153,666,632,878,783,800,650,629,650,0.441585499485,0.00444546611634,0.0498976321157,0.999999983939,-8.15450088441e-05,-0.000158271274048,2.05437547454e-05,1793192976686227712
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.117534708,711,673.882465292,666,632,878,783,800,650,629,650,0.441977884012,0.00444096385636,0.0499058364716,0.999999986427,-7.812295713e-05,-0.000143111496296,2.36970677958e-05,1793192976702894336
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.468601849,742.468601849,711,673.531398151,666,632,878,783.468601849,800,650,629,650,0.442315689889,0.00444184203084,0.049902488605,0.999999988995,-1.98715803454e-05,-0.000144879336171,2.49942961503e-05,1793192976719560960
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.943325467,742.943325467,711,673,666,632,877.943325467,783.943325467,800,650,629,650,0.442634280441,0.00444449606272,0.0498949143122,0.999999986782,4.58026610271e-05,-0.000153838904773,2.5900520663e-05,1793192976736227584
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.363089439,742.363089439,711,673,666,632,877.363089439,783.363089439,800,650,629,650,0.442904818424,0.00445079326612,0.0498756977375,0.999999980493,4.99957133596e-05,-0.000189084023298,2.75972281425e-05,1793192976752895488
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665.784938373,632,877.215061627,783,799.784938373,649.784938373,629,650.215061627,0.443162731063,0.00446231680659,0.0498565634426,0.999999973124,5.84882605856e-05,-0.000222542806054,2.83971836954e-05,1793192976769562368
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,711,673,665.210273613,632,877.789726387,783,799.210273613,649.210273613,629,650.789726387,0.443399532922,0.00448257927026,0.0498375667289,0.999999964858,7.41699645603e-05,-0.000253014665146,2.76976861059e-05,1793192976786228224
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.365275282,711,673.365275282,665,632,877.634724718,783,799.365275282,649.365275282,629,650.634724718,0.443611793064,0.00449526882711,0.0498215066453,0.999999957098,8.36078926343e-05,-0.000279446782128,2.68750469788e-05,1793192976802894336
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.941334426,711,673.941334426,665,632,877.058665574,783,799.941334426,649.941334426,629,650.058665574,0.443809891311,0.00450358840352,0.0498071411565,0.999999949592,8.94428212213e-05,-0.000303547749325,2.59813483671e-05,1793192976819560960
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.87737336,710.12262664,673,665,631.87737336,878,783,799,650.87737336,629,650,0.444161600621,0.00449610997279,0.049800157872,0.99999994721,7.54888931461e-05,-0.000314820443743,2.77232950882e-05,1793192976852894208
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.301777841,710.698222159,673,665,631.301777841,878,783,799,650.301777841,629,650,0.444318402768,0.0044945349102,0.04980224235,0.999999948968,7.02981979301e-05,-0.000310414371886,2.76424391811e-05,1793192976869561344
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711,673,664,631.394743727,877.394743727,783,800,650,629,650,0.444836967171,0.0045047535938,0.0497901651625,0.999999943026,8.85830143024e-05,-0.000324540770327,2.78369276085e-05,1793192976952894720
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664.182523876,631,877,783,799.817476124,650,629,650.182523876,0.444900686201,0.00450844419876,0.0497881860032,0.999999942253,9.24965333154e-05,-0.000325867960876,2.73674455101e-05,1793192976969561856
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,711,673,664.755418165,631,877,783,799.244581835,650,629,650.755418165,0.444952713464,0.00450958566958,0.0497855647645,0.999999941322,9.58215010367e-05,-0.000327798873502,2.68773475845e-05,1793192976986227968
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+234,3.900000000,POSE1_TO_POSE2_PRESS,764.685162464,742.314837536,711,672.314837536,664,631,877,783,799.314837536,650,629,650.314837536,0.445107232554,0.00451858713618,0.0497696043007,0.999999931721,0.000105623079278,-0.000353299194478,2.41087191232e-05,1793192977386227968
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.738345256,742.261654744,711,672.261654744,664,631,877,783,799.261654744,650,629,650.261654744,0.445108530731,0.00451806180083,0.0497705028571,0.999999932282,0.000104983405154,-0.000351912491466,2.39050200806e-05,1793192977402894592
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.161987338,742.838012662,711,672.838012662,664,631,877,783,799.838012662,650,629,650.838012662,0.445109423559,0.00451914601099,0.0497711404226,0.999999932515,0.000106709437289,-0.000350757140511,2.35152756481e-05,1793192977419560960
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.423240488,742.576759512,711,673,664,631,877.423240488,783,800,650,629,651,0.445109257987,0.00451998107716,0.0497709098257,0.999999932348,0.000107556988065,-0.000350976564446,2.34627340137e-05,1793192977436227584
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.988256347,742.011743653,711,673,664,631,877.988256347,782.988256347,800,650,629,651,0.44510867042,0.00452067899201,0.0497703406589,0.999999932023,0.000108045140578,-0.000351747148599,2.35402820729e-05,1793192977452894464
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.409035094,742.590964906,711,673,664,631,877.409035094,782.409035094,800,650,629,651,0.445107684655,0.00451945586504,0.0497698108977,0.999999931548,0.00010776115813,-0.000353181097468,2.35341888028e-05,1793192977469561600
+240,4.000000000,HOLD_POSE2,764,743,711,674,664,631,878,783,800,650,629,651,0.445109863843,0.00451911340677,0.0497707013013,0.999999932272,0.000109406072129,-0.000350565035563,2.43172092783e-05,1793192977510359808
+241,4.016666667,HOLD_POSE2,764.576093671,743,711,674,664,631,878,783,799.423906329,650,629,650.423906329,0.445109459067,0.00452085973081,0.0497702032749,0.999999931885,0.000110665659266,-0.000351336689909,2.33539030211e-05,1793192977527026944
+242,4.033333333,HOLD_POSE2,764.843630253,743,711,673.843630253,664,631,878,783,799.156369747,650,629,650.156369747,0.445108816749,0.00452191375649,0.049769660494,0.999999931555,0.000110721562345,-0.000352305267239,2.26269064907e-05,1793192977543693568
+243,4.050000000,HOLD_POSE2,764.251704267,743,711,673.251704267,664,631,878,783,799.748295733,650,629,650.748295733,0.445107512779,0.00452103943727,0.0497689930531,0.99999993138,0.000107424693777,-0.000353822358993,2.25581328143e-05,1793192977560359680
+244,4.066666667,HOLD_POSE2,764,743,711,673,664,631,878,783,800,650,629,651,0.445107470656,0.00452094956575,0.0497685894982,0.999999931182,0.000106435349456,-0.000354667821127,2.27820767429e-05,1793192977577025792
+245,4.083333333,HOLD_POSE2,764,743,711,673,664,631,878,783,800,650,629,651,0.44510836208,0.00452144004763,0.0497683811727,0.999999930971,0.000107153167421,-0.000355016395383,2.3222580219e-05,1793192977593692416
+246,4.100000000,HOLD_POSE2,764,742.51216792,711,673,664,631,877.51216792,782.51216792,800,650,629,650.51216792,0.445110110459,0.00452169632598,0.0497693795418,0.999999931482,0.000109067063916,-0.000353002915688,2.29906356672e-05,1793192977610359296
+247,4.116666667,HOLD_POSE2,764,742.063630756,711,673,664,631.063630756,877,782.063630756,799.936369244,650,629,650,0.445111807591,0.00452188497957,0.0497704975915,0.999999932071,0.000110967552848,-0.000350753640949,2.27015895421e-05,1793192977627026176
+248,4.133333333,HOLD_POSE2,764,742.648299848,711,673,664,631.648299848,877,782.648299848,799.351700152,650,629,650,0.445111835316,0.00452186144622,0.0497708358317,0.999999932319,0.000111013925752,-0.000350018322085,2.29256491459e-05,1793192977643692800
+249,4.150000000,HOLD_POSE2,764,743,711,673,664,631.767492002,877,783,799,650,629,650,0.445111233043,0.0045213205841,0.0497705520395,0.999999932232,0.000109884991731,-0.000350615006185,2.30163257288e-05,1793192977660359424
+250,4.166666667,HOLD_POSE2,764,743,711,673,664,631.18397976,877,783,799,650,629,650,0.445109679699,0.00451999873984,0.0497693292002,0.999999931632,0.000106981762969,-0.000353222540277,2.29056414497e-05,1793192977677026048
+251,4.183333333,HOLD_POSE2,764,743,710.606157155,673,664,631,877,783,799,650,629,650.393842845,0.445109561112,0.0045200098253,0.0497693691899,0.999999931552,0.000107483880233,-0.000353291496263,2.30070335602e-05,1793192977693692672
+252,4.200000000,HOLD_POSE2,764,743,710.030954507,673,664,631,877,783,799,650,629,650.969045493,0.445110103214,0.00452063470845,0.0497699906967,0.99999993171,0.000109554117359,-0.000352191468368,2.32060842396e-05,1793192977710359296
+253,4.216666667,HOLD_POSE2,764,742.45701055,710,673,664,631,877.54298945,783,799,650,629,651,0.445110354302,0.00451882522204,0.0497699111717,0.999999931836,0.000107481284076,-0.000352476074375,2.31743960512e-05,1793192977727025920
+254,4.233333333,HOLD_POSE2,764,742,710.120056002,672.879943998,664,631,877.879943998,783,799,650,629,650.879943998,0.445110660532,0.00451780684424,0.0497698398292,0.999999931918,0.000105941802292,-0.000352709964954,2.31555265481e-05,1793192977743692800
+255,4.250000000,HOLD_POSE2,764,742,710.7096142,672.2903858,664,631,877.2903858,783,799,650,629,650.2903858,0.445111247132,0.00452042370999,0.0497699564121,0.999999931855,0.000107409610187,-0.000352437548037,2.32381087265e-05,1793192977760359168
+256,4.266666667,HOLD_POSE2,764,742.29408971,711,672.29408971,664,631,877.29408971,783,799.29408971,650,629,650,0.445110399839,0.00452060333787,0.0497691907667,0.999999931518,0.000107334683781,-0.000353411403067,2.33016974692e-05,1793192977777026304
+257,4.283333333,HOLD_POSE2,764,742.873631775,711,672.873631775,664,631,877.873631775,783,799.873631775,650,629,650,0.445108160767,0.0045184173089,0.0497675688038,0.999999930911,0.000105762332789,-0.0003555949273,2.33468506046e-05,1793192977793693952
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,664,631,878,783,799,650,629,650,0.445107749306,0.00452081477424,0.0497672329503,0.999999930554,0.000107838268785,-0.000356033751482,2.2413605257e-05,1793192977826316544
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742.426735549,711,673,664,631,877.426735549,782.426735549,799,650,629,650.573264451,0.445110288337,0.00452196583696,0.0497693633672,0.99999993151,0.000109572154021,-0.000352816621821,2.22423077855e-05,1793192977842982400
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,664,631,877.151695354,782,799.151695354,650,629,650.848304646,0.44511181483,0.00452249464477,0.0497708075476,0.99999993213,0.000110218642526,-0.000350851413588,2.22489278105e-05,1793192977859648512
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664,631,877.745172635,782,799.745172635,650,629,650.254827365,0.445110392512,0.00452121126171,0.049770253204,0.999999931802,0.000107698309181,-0.000352532171656,2.27736963911e-05,1793192977876315136
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.330340768,742.330340768,711,673,664,631,878,782.330340768,800,650,629,650,0.445109415741,0.00452087833857,0.0497696230023,0.999999931585,0.00010705527183,-0.000353335108129,2.2876361495e-05,1793192977892982016
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.909256396,742.909256396,711,673,664,631,878,782.909256396,800,650,629,650,0.445108774236,0.00452126061771,0.049768935719,0.999999931457,0.000107824862543,-0.000353477501205,2.26614020932e-05,1793192977909648640
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.517654481,742.517654481,711,673.482345519,664,631,877.517654481,783,800,650,629,650.482345519,0.445106150927,0.00452125689276,0.0497679431305,0.999999930621,0.000107741360055,-0.000355864317931,2.25775506521e-05,1793192977926315520
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,631,877.056235031,783,800,650,629,650.943764969,0.445101886424,0.00452143225202,0.0497662122322,0.999999929289,0.000107781084808,-0.000359584294551,2.24475701361e-05,1793192977942981888
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,631,877.648062843,783,800,650,629,650.351937157,0.445085499465,0.00452399662312,0.0497579900466,0.999999924458,0.000110504762951,-0.000372028008181,2.16461345513e-05,1793192977959648512
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.234887312,711,674,664,631,878,783,800,650,629,650.234887312,0.445058745112,0.00452446303348,0.0497460242983,0.999999916661,0.000111642361867,-0.000392116760227,2.14184948066e-05,1793192977976314880
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.814371459,711,674,664,631,878,783,800,650,629,650.814371459,0.445016781033,0.00452185158201,0.0497285664708,0.999999904015,0.000110453066456,-0.00042342134053,2.20326555139e-05,1793192977992981504
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.610137839,664,631.389862161,878,783,799.610137839,650,629,650.610137839,0.444958481687,0.00452144554424,0.0497095051757,0.999999890538,0.00010890782556,-0.000454533448373,2.15039682174e-05,1793192978009648128
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.036529242,664,631.963470758,878,783,799.036529242,650,629,650.036529242,0.44489248334,0.00452207894261,0.0496896881468,0.999999876164,0.000107194823381,-0.000485554844301,2.04366438037e-05,1793192978026314752
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.537731481,664.537731481,631.462268519,878,783,799,650,629,650,0.44481876049,0.00452496015876,0.0496813734034,0.999999871363,0.000110689286102,-0.000494632553532,1.89828485925e-05,1793192978042981888
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.88471556,711,674,664.88471556,631,878,783,799,650,629,650,0.444741186426,0.00452784740373,0.0496756282649,0.999999867997,0.000114576584726,-0.000500564072318,1.77204146212e-05,1793192978059648512
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.293761489,711,674,664.293761489,631,878,783,799,650,629,650,0.444649889777,0.00453012871563,0.0496772575413,0.999999867977,0.000118623365631,-0.000499672344125,1.73560026853e-05,1793192978076315136
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.291687996,711,673.708312004,664,631,877.708312004,783,799,649.708312004,628.708312004,650,0.444542798027,0.00453101077462,0.0496794834883,0.999999868526,0.000121362460245,-0.000497917999751,1.72506859062e-05,1793192978092981760
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.871696414,711,673.128303586,664,631,877.128303586,783,799,649.128303586,628.128303586,650,0.44442009354,0.00453050973511,0.0496822992172,0.999999869641,0.00012280896573,-0.000495310998266,1.74014730187e-05,1793192978109648384
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.551564142,711,673,664.448435858,631.448435858,877,783,799.448435858,649.448435858,628.448435858,650,0.444270163622,0.0045330248113,0.0496849290168,0.999999871268,0.000125903698313,-0.000491272087889,1.62550396526e-05,1793192978126314752
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.024657454,742.024657454,711,673.024657454,665,632,877.024657454,783,799.975342546,650,629,650,0.444111275366,0.00453645046338,0.0496875396578,0.999999872988,0.000129685770322,-0.000486813129218,1.47659706722e-05,1793192978142981120
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.610221382,742.610221382,711,673.610221382,665,632,877.610221382,783,799.389778618,650,629,650,0.4439245175,0.00454110153487,0.0496909158438,0.999999874133,0.000138453558858,-0.000482051061414,1.38644978733e-05,1793192978159648000
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.805648234,743,711,673.805648234,664.805648234,632,878,783,799.194351766,650,629,650,0.443722087738,0.00454473889501,0.0496940020116,0.999999874513,0.0001458043867,-0.000479105155592,1.31927989643e-05,1793192978176315136
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.224371887,743,711,673.224371887,664.224371887,632,878,783,799.775628113,650,629,650,0.443488457659,0.00454635811064,0.0496965107973,0.999999873524,0.000150334261913,-0.000479774950597,1.29785447678e-05,1793192978192982528
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.353257497,664.353257497,632,878,783,800.353257497,650,629,650.353257497,0.443236008518,0.00454916717884,0.0497015038308,0.999999876571,0.00015598730847,-0.000471580050551,1.17520544061e-05,1793192978209649152
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.928594234,664.928594234,632,878,783,800.928594234,650,629,650.928594234,0.442971728543,0.00455272426121,0.0497080586145,0.999999881977,0.000162346449551,-0.000457812261724,9.88921054132e-06,1793192978226315264
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.504602856,743,711,673.495397144,665,632,878,783,799.990794287,650,629,650.495397144,0.442669236684,0.00455637889645,0.04972160543,0.999999890722,0.000169505213006,-0.000435600749908,8.74708407484e-06,1793192978242981632
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.917566311,742.917566311,710.917566311,673.082433689,665,632,877.917566311,783,799,650,629,650,0.44235808302,0.00456005913373,0.049736722447,0.999999900167,0.000176410360157,-0.000410474036935,7.56189019289e-06,1793192978259648000
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.329134448,742.329134448,710.329134448,673.670865552,665,632,877.329134448,783,799,650,629,650,0.442026996655,0.00456381167514,0.0497553962639,0.999999913357,0.000181063261024,-0.000374797227327,5.4854762481e-06,1793192978276314624
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,710.256875901,674,665.256875901,632,877.256875901,783,799.256875901,650,629,650,0.441665074414,0.00456849530903,0.0497723424975,0.999999923008,0.000187170989675,-0.000344874533643,3.68205715637e-06,1793192978292981248
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,710.839812511,674,665.839812511,632,877.839812511,783,799.839812511,650,629,650,0.441264011239,0.00457436080783,0.0497870958538,0.999999929036,0.000195125377145,-0.000322255723852,2.2251591995e-06,1793192978309647872
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.415422169,742.415422169,711,673.584577831,665.584577831,632,877.584577831,783,799.584577831,650,629,650.415422169,0.440818877294,0.00457968595778,0.0497956370327,0.999999931316,0.0002021154902,-0.000310672150941,-2.63888945041e-07,1793192978326314752
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.988255496,742.988255496,711,673.011744504,665.011744504,632,877.011744504,783,799.011744504,650,629,650.988255496,0.440357044126,0.0045848063594,0.0498018243022,0.999999932222,0.000208740221637,-0.000303270034313,-3.14403788942e-06,1793192978342981632
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.439346743,742.439346743,711,673,665.560653257,632,877,783,799.560653257,649.439346743,629,650.439346743,0.439830310485,0.00459176089581,0.0497980816159,0.999999929576,0.00021498077982,-0.000307545995198,-6.89546323928e-06,1793192978359648512
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.138715475,711,673,666,632,877,783,799.861284525,649.138715475,628.861284525,650,0.439293086686,0.00459820236247,0.0497924060246,0.999999925918,0.000221089201698,-0.000314910194027,-1.07601723626e-05,1793192978376315136
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.735513527,711,673,666,632,877,783,799.264486473,649.735513527,628.264486473,650,0.438725707263,0.00460282272767,0.0497810337547,0.999999919171,0.00022678782142,-0.000331665512422,-1.4938754594e-05,1793192978392981760
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.680035799,666,632,877,783,799.319964201,650,628.319964201,650,0.438141792776,0.00460616843045,0.0497772848518,0.999999916296,0.000230913572158,-0.00033720344819,-1.95222778133e-05,1793192978409648128
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.225249486,742,711,672,665,633,876,783,798.225249486,650,629,651,0.400981905079,0.00457388018578,0.0498523811466,0.999999964271,5.42889024255e-05,-0.000258090853016,-4.35917994929e-05,1793192979842981376
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,710.619343754,672,665,633,876,783,799.380656246,650,629,651,0.400982649549,0.00457471290201,0.0498528576533,0.999999964717,5.49996017659e-05,-0.00025616708859,-4.38028760688e-05,1793192979876314880
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,710.541674408,672,665,633,876,783,799.458325592,650.541674408,629,651,0.400985243601,0.00457412997528,0.0498544935767,0.999999965515,5.34650125083e-05,-0.000253369461276,-4.37707376304e-05,1793192979909648128
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.873165243,665,632.873165243,876,783.126834757,799.126834757,650.873165243,629,651,0.400985895896,0.00457318476,0.049854882626,0.999999965802,5.33015662837e-05,-0.000252301909649,-4.35750871161e-05,1793192979926314752
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.284802151,665,632.284802151,876,784,799.715197849,650,629,651,0.400984195389,0.00457591227985,0.0498540380996,0.999999965394,5.61911629356e-05,-0.000253163964227,-4.42955058868e-05,1793192979959648256
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.862755791,665,632.862755791,876,784,799.137244209,650,629,651,0.400982908389,0.00457658482015,0.049853219485,0.99999996471,5.71236223827e-05,-0.000255666073319,-4.41806210015e-05,1793192979976314880
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.438389782,711,672,665.438389782,632.561610218,875.561610218,783.561610218,799,650,629.438389782,651,0.400983884308,0.00457576407087,0.0498537711298,0.999999965133,5.59105350909e-05,-0.000254306143349,-4.40120768438e-05,1793192979992981504
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.986397958,710.986397958,672,666,632.013602042,875.013602042,783,799,650,629.972795916,651,0.400985499883,0.00457450198727,0.0498547157233,0.999999965865,5.40990842715e-05,-0.000251838338953,-4.38225504705e-05,1793192980009647872
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.398490345,710.398490345,672,666,632.601509655,875.601509655,783,799,650,628.79698069,651,0.400984368782,0.00457424059397,0.0498542343682,0.999999965431,5.52345235718e-05,-0.000253374375602,-4.34526583663e-05,1793192980026315520
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..08788d2dc8ff587f72f73e3cf031910992467223
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,392 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_03/fem_node.csv
new file mode 100644
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--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 24990296
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb7e7df083d445f0e1168df05f55f8f3f37cb1a2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_03/franka_data.csv
@@ -0,0 +1,396 @@
+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,764,742,710,672,665,632,875,784,799,650,629,651,0.400982050386,0.00457232994613,0.0498540229274,0.999999965219,5.10831655575e-05,-0.000255126943941,-4.31517269079e-05,1793192980181320192
+1,0.016666667,BASELINE,764,742,710,672,665,632,875.575041797,783.424958203,799,650,628.424958203,651,0.400982992822,0.00457185470847,0.0498538969296,0.999999965388,5.00037743801e-05,-0.00025464276701,-4.33569671301e-05,1793192980197986560
+2,0.033333333,BASELINE,764,742,710.153357582,672,665,632.153357582,876,783,799,650.153357582,628,651,0.400983818906,0.00457176223277,0.0498540873501,0.999999965603,5.02199061932e-05,-0.000253747839179,-4.34101776034e-05,1793192980214652928
+3,0.050000000,BASELINE,764,742,710.740943723,672,665,632.740943723,876,783,799,650.740943723,628,651,0.40098431554,0.00457275353886,0.0498551737017,0.999999965937,5.41042820799e-05,-0.000251689879268,-4.30329192956e-05,1793192980231319552
+4,0.066666667,BASELINE,764,742,710.676481088,671.676481088,665,632.676481088,875.676481088,783,799.323518912,650.676481088,628.323518912,651,0.400984140272,0.0045730371591,0.0498553390988,0.999999965982,5.35195345473e-05,-0.000251592945907,-4.3275483326e-05,1793192980247986432
+5,0.083333333,BASELINE,764,742,710.09785723,671.09785723,665,632.09785723,875.09785723,783,799.90214277,650.09785723,628.90214277,651,0.400983435189,0.0045727627465,0.049854778294,0.999999965796,4.94107408893e-05,-0.000253042344445,-4.40067969969e-05,1793192980264653312
+6,0.100000000,BASELINE,764,742.480722337,710.480722337,671.480722337,665,632.480722337,875.480722337,783,799.519277663,650,629,651,0.400983318796,0.00457263517937,0.0498544474361,0.999999965635,4.91691186923e-05,-0.000253752290708,-4.38491865905e-05,1793192980281319680
+7,0.116666667,BASELINE,764,743,711,672,665,633,876,783,799,650.058892099,628.941107901,651,0.400983356159,0.00457250485669,0.0498542064201,0.999999965508,4.96892616785e-05,-0.00025420280814,-4.3539546768e-05,1793192980297986048
+8,0.133333333,BASELINE,764,743,711,672,665,633,876,783,799,650.633551851,628.366448149,651,0.400983690681,0.00457208863348,0.0498543423193,0.999999965624,4.9987175321e-05,-0.000253699442079,-4.34830599477e-05,1793192980314652672
+9,0.150000000,BASELINE,764,742.786801536,710.786801536,672,665,633,876,783.213198464,799,650.786801536,628.213198464,651,0.400984245664,0.00457200560859,0.0498547779385,0.999999965904,4.97722091996e-05,-0.000252633958835,-4.34917650983e-05,1793192980331319296
+10,0.166666667,BASELINE,764,742.198378211,710.198378211,672,665,633,876,783.801621789,799,650.198378211,628.801621789,651,0.400985188655,0.00457250900585,0.0498557410587,0.99999996647,4.86545853368e-05,-0.000250579161101,-4.36152067668e-05,1793192980347985920
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+12,0.200000000,BASELINE,764,742.963904951,710.963904951,672,665,633,876,783.036095049,799,650,629,651,0.400982244923,0.00457375154086,0.0498537873872,0.999999965513,5.1813828724e-05,-0.000253709193366,-4.38401623571e-05,1793192980381319936
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+14,0.233333333,BASELINE,764,742,710.116480939,671.116480939,665.883519061,632.116480939,876,783,799.883519061,650,628.883519061,651,0.400984724982,0.00457313569064,0.0498556470748,0.999999966206,5.19336737899e-05,-0.00025103823171,-4.32600777185e-05,1793192980414653696
+15,0.250000000,BASELINE,764,742,710.689423557,671.689423557,665.310576443,632.689423557,876,783,799.310576443,650,628.310576443,651,0.400982915923,0.00457148306766,0.0498543640499,0.999999965763,4.94507916161e-05,-0.000253300019865,-4.32090764942e-05,1793192980431320064
+16,0.266666667,BASELINE,764,742,711,672,665,632.728867019,876,783,799,650.271132981,628.271132981,651,0.400982282587,0.0045714935008,0.0498540395641,0.999999965536,5.04723337628e-05,-0.000254004398269,-4.31633628106e-05,1793192980447986432
+17,0.283333333,BASELINE,764,742,711,672,665,632.136779908,876,783,799,650.863220092,628.863220092,651,0.400983041015,0.00457347257954,0.0498548497509,0.999999965552,5.56422443306e-05,-0.000252865190083,-4.31239082649e-05,1793192980464652800
+18,0.300000000,BASELINE,764,742,711,671.554989018,665.445010982,632,876,783.445010982,799,650.554989018,629,651,0.400982619036,0.00457388733368,0.0498546411909,0.99999996555,5.52825374784e-05,-0.000252928643537,-4.32605622821e-05,1793192980481319168
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+20,0.333333333,BASELINE,764,742,711,671.598675422,665.401324578,632.598675422,876,784,799,650.598675422,628.401324578,651,0.4009846534,0.00457186114509,0.0498559247461,0.999999966493,5.07910565961e-05,-0.000250090006573,-4.34556415632e-05,1793192980514653184
+21,0.350000000,BASELINE,764,742,711,672.177637712,665,633,876,783.822362288,799,650.822362288,628.177637712,651,0.400986400417,0.00457078137247,0.0498571144498,0.999999967045,4.93471790417e-05,-0.000248179805277,-4.33724957948e-05,1793192980531319808
+22,0.366666667,BASELINE,764,742,711,672.765487762,665,633,876,783.234512238,799,650.234512238,628.765487762,651,0.400986016584,0.00457158556122,0.049857109264,0.999999966796,5.02334205202e-05,-0.000249059265957,-4.30678707852e-05,1793192980547986176
+23,0.383333333,BASELINE,764,742,711,672.651892111,665,632.651892111,876,783,799,650,629,651,0.400985446588,0.00457308280241,0.0498563482125,0.999999966445,5.18388045829e-05,-0.000250058421599,-4.35041677075e-05,1793192980564652800
+24,0.400000000,BASELINE,764,742,711,672.072743054,665,632.072743054,876,783,799,650,629,651,0.400984753034,0.0045750400265,0.0498550854886,0.999999966024,5.39214877203e-05,-0.000251137019552,-4.4432218662e-05,1793192980581319168
+25,0.416666667,BASELINE,764,742.504539156,711,672,665.504539156,632,876,783.504539156,799,650,629,651,0.400982854283,0.00457388278342,0.0498539610602,0.999999965819,5.13004507178e-05,-0.000252530025905,-4.42546833236e-05,1793192980597986048
+26,0.433333333,BASELINE,764,743,710.918801257,672,665.918801257,632.081198743,876,784,799.081198743,650,629,651,0.400981381085,0.0045723684156,0.0498533095301,0.999999965735,4.85454640502e-05,-0.000253468623425,-4.38987231966e-05,1793192980614652672
+27,0.450000000,BASELINE,764,743,710.344294869,672,665.344294869,632.655705131,876,784,799.655705131,650,629,651,0.400983545027,0.00457140237517,0.0498554103143,0.999999966259,4.9081591184e-05,-0.000251372164601,-4.34236136185e-05,1793192980631320064
+28,0.466666667,BASELINE,764,742.76372565,710,672,665,632.76372565,876,783.76372565,799.76372565,650,629,651,0.400984462211,0.0045716997788,0.0498563999141,0.999999966484,5.09978498888e-05,-0.000250119343611,-4.32545221271e-05,1793192980647987200
+29,0.483333333,BASELINE,764,742.174089147,710,672,665,632.174089147,876,783.174089147,799.174089147,650,629,651,0.400983514797,0.00457388673724,0.0498557276723,0.999999966259,5.49781763105e-05,-0.000250128232629,-4.35430986699e-05,1793192980664653568
+30,0.500000000,BASELINE,764,742.409166289,710.409166289,672,665,632.409166289,876,783.409166289,799,650,629,651,0.400982945368,0.00457415347841,0.0498552686085,0.999999966223,5.37844231634e-05,-0.000250489354314,-4.37722059803e-05,1793192980681319936
+31,0.516666667,BASELINE,764,742.989748429,710.989748429,672,665,632.989748429,876,783.989748429,799,650,629,651,0.40098253429,0.00457361576498,0.0498548988532,0.999999966262,5.04230444771e-05,-0.000250998040117,-4.39763992825e-05,1793192980697986560
+32,0.533333333,BASELINE,764.56352774,742.43647226,710.43647226,671.43647226,665,632.43647226,875.43647226,783.43647226,799,650,629,651,0.400983967586,0.00457306668775,0.0498560091696,0.99999996662,4.91700864547e-05,-0.000249870016881,-4.36832184101e-05,1793192980714652928
+33,0.550000000,BASELINE,764.86252188,742.13747812,710,671.27495624,665,632.13747812,875.13747812,783,799.13747812,650,629,651,0.400985001157,0.00457251529983,0.0498567613069,0.999999966837,4.84078501302e-05,-0.000249188160623,-4.34464785812e-05,1793192980731319552
+34,0.566666667,BASELINE,764.287638286,742.712361714,710,672.424723427,665,632.712361714,875.712361714,783,799.712361714,650,629,651,0.400984657474,0.00457195721011,0.0498562892039,0.999999966598,4.90863333622e-05,-0.000250019448123,-4.34177581796e-05,1793192980747985920
+35,0.583333333,BASELINE,764,743,710.29550576,672.70449424,665,633,876,783.29550576,800,650,629,651,0.400984557293,0.00457202732984,0.0498563933685,0.999999966529,5.01846430391e-05,-0.000250070668401,-4.34636849233e-05,1793192980764652544
+36,0.600000000,BASELINE,764,743,710.886921631,672.113078369,665,633,876,783.886921631,800,650,629,651,0.400984700948,0.00457272651856,0.049857074589,0.999999966628,5.17033537055e-05,-0.000249340754163,-4.35843609512e-05,1793192980781319424
+37,0.616666667,BASELINE,764,742.531272547,711,672,665.468727453,633,876,784,799.531272547,650,629,651.468727453,0.400984668468,0.00457307532076,0.0498569252517,0.99999996652,5.32735117214e-05,-0.000249464477337,-4.3477784018e-05,1793192980797986048
+38,0.633333333,BASELINE,764,742,711,672.047915482,665.952084518,633,876,783.952084518,799,650,629,651.952084518,0.400984594816,0.00457321969998,0.0498566045827,0.999999966372,5.46030770136e-05,-0.000249800989073,-4.32951340229e-05,1793192980814653184
+39,0.650000000,BASELINE,764,742,711,672.6232952,665.3767048,633,876,783.3767048,799,650,629,651.3767048,0.400984526297,0.00457202556706,0.0498565592426,0.999999966354,5.31502624916e-05,-0.00025025847895,-4.28664418562e-05,1793192980831319552
+40,0.666666667,BASELINE,764,742.202728384,711,672.797271616,665,632.797271616,876,783.202728384,799,650,629,651,0.400984357649,0.0045715446373,0.0498563850055,0.999999966314,5.21012300937e-05,-0.000250664955849,-4.27052193635e-05,1793192980847986176
+41,0.683333333,BASELINE,764,742.789847251,711,672.210152749,665,632.210152749,876,783.789847251,799,650,629,651,0.400983999147,0.00457241600226,0.0498559663683,0.999999966237,5.18178034823e-05,-0.00025097470772,-4.30511424451e-05,1793192980864652800
+42,0.700000000,BASELINE,764,742.628273789,711,672,665,632.371726211,876,783.628273789,799,650,629,651,0.400984156075,0.00457266865655,0.0498557686475,0.999999966205,5.21948378445e-05,-0.000250979782299,-4.32994455912e-05,1793192980881319168
+43,0.716666667,BASELINE,764,742.049316016,711,672,665,632.950683984,876,783.049316016,799,650,629,651,0.400984600346,0.00457257638927,0.049855694084,0.999999966199,5.29400689033e-05,-0.000250815004032,-4.34933271351e-05,1793192980897985792
+44,0.733333333,BASELINE,763.472514259,742,710.472514259,672,665,632.472514259,876,783,799,650,629,651,0.400985497343,0.00457358123593,0.0498560478487,0.999999966421,5.21354019933e-05,-0.00025007589702,-4.36190588584e-05,1793192980914652672
+45,0.750000000,BASELINE,763.103892546,742,710.103892546,672,665,632.103892546,876,783,799.103892546,650,629,651,0.400986417664,0.0045741633522,0.0498565982285,0.999999966705,5.12629078105e-05,-0.000249111956867,-4.36469149653e-05,1793192980931319296
+46,0.766666667,BASELINE,763.679417585,742,710.679417585,672,665,632.679417585,876,783,799.679417585,650,629,651,0.400987252503,0.00457236269115,0.0498578601149,0.999999967181,5.07376350672e-05,-0.000247370125095,-4.32592595622e-05,1793192980947986176
+47,0.783333333,BASELINE,764,742,710.73896996,671.73896996,665,632.73896996,875.73896996,783,799.73896996,650,629,651,0.400987286739,0.00457178648695,0.0498582657707,0.999999967344,5.01820792231e-05,-0.00024684174491,-4.31616468441e-05,1793192980964652544
+48,0.800000000,BASELINE,764,742,710.149702688,671.149702688,665,632.149702688,875.149702688,783,799.149702688,650,629,651,0.400986314241,0.00457274999925,0.0498575947431,0.999999967115,4.95884432423e-05,-0.000247839242473,-4.34287538131e-05,1793192980981319168
+49,0.816666667,BASELINE,764,742,710.43288572,671.43288572,665,632.43288572,875.43288572,783.43288572,799,650,628.56711428,651,0.400984853182,0.00457434741632,0.0498567374353,0.999999966782,5.18997150023e-05,-0.000248643010607,-4.3800196627e-05,1793192980997985792
+50,0.833333333,BASELINE,764,742,710.986923424,671.986923424,665.013076576,633,876,784,799,650,628.026153153,651,0.400983222201,0.00457606350174,0.0498558170428,0.999999966399,5.50976277279e-05,-0.000249428416016,-4.41791302299e-05,1793192981014652672
+51,0.850000000,BASELINE,764,742,710.412012603,671.412012603,665.587987397,633,876,784,799,650,629.175974795,651,0.400981439461,0.00457360250407,0.0498549119745,0.999999965791,5.38837106592e-05,-0.000252259632497,-4.33532030627e-05,1793192981031319296
+52,0.866666667,BASELINE,764,742.162850998,710.162850998,671.162850998,666,632.837149002,876,783.837149002,799,650,629.837149002,651,0.400980749505,0.00457218048495,0.0498545134014,0.999999965451,5.32782235563e-05,-0.000253808757203,-4.2892342245e-05,1793192981047986176
+53,0.883333333,BASELINE,764,742.73759513,710.73759513,671.73759513,666,632.26240487,876,783.26240487,799,650,629.26240487,651,0.400982823488,0.0045733863168,0.0498553958883,0.99999996581,5.421161642e-05,-0.000252115133416,-4.3354830583e-05,1793192981064652800
+54,0.900000000,BASELINE,764.323069169,742.676930831,711,672,665.676930831,632,876.323069169,783.323069169,799,650,629,651,0.400983935857,0.00457404092758,0.0498560813315,0.999999966112,5.46476793836e-05,-0.000250784808803,-4.35601294319e-05,1793192981081319168
+55,0.916666667,BASELINE,764.917557668,742.082442332,711,672,665.082442332,632,876.917557668,783.917557668,799,650,629,651,0.400984240348,0.00457423244224,0.0498566012328,0.999999966368,5.4665921716e-05,-0.000249759701947,-4.35493562646e-05,1793192981097985792
+56,0.933333333,BASELINE,764.505123878,742,711,672.494876122,665.494876122,632.494876122,876.505123878,784,799.494876122,650,629,651,0.400982920726,0.004573482067,0.0498557519624,0.999999965966,5.4239354032e-05,-0.000251476319115,-4.34337020909e-05,1793192981114652672
+57,0.950000000,BASELINE,764,742,711,672.861351673,665.930675837,633,876,783.930675837,799.930675837,650,629,651,0.400981615296,0.00457263624499,0.049854885906,0.999999965575,5.35737869842e-05,-0.000253194424797,-4.32829302955e-05,1793192981131319040
+58,0.966666667,BASELINE,764,742,711,671.713997614,665.356998807,633,876,783.356998807,799.356998807,650,629,651,0.400982315539,0.00457219931503,0.0498555015214,0.99999996606,5.16904657229e-05,-0.000251711808344,-4.29995215422e-05,1793192981147985920
+59,0.983333333,BASELINE,764,742,711,671.224238193,665,632.775761807,876,783.224238193,799,650,629,651,0.400983343314,0.00457187480663,0.0498560781381,0.999999966462,4.99375453182e-05,-0.000250477129047,-4.29460467495e-05,1793192981164652544
+60,1.000000000,BASELINE,764,742,711,671.817931088,665,632.182068912,876,783.817931088,799,650,629,651,0.40098491073,0.00457173552383,0.0498565905006,0.99999996673,4.83994729801e-05,-0.000249650950608,-4.32714109544e-05,1793192981181319168
+61,1.016666667,BASELINE,764,742.399623978,711,672,665,632.399623978,876,783.600376022,799.399623978,650,629,651,0.400984633422,0.00457290890762,0.0498562049713,0.999999966592,4.99994117714e-05,-0.000249806779472,-4.37413789101e-05,1793192981197985792
+62,1.033333333,BASELINE,764,742.97600901,711,672,665,632.97600901,876,783.02399099,799.97600901,650,629,651,0.400983540159,0.00457466290804,0.0498554222879,0.999999966267,5.29873508363e-05,-0.000250396968319,-4.42753077509e-05,1793192981214652416
+63,1.050000000,BASELINE,763.447780017,743,711,672,665,633,876,783.552219983,800,650,629,651,0.400984283327,0.00457205040209,0.0498557632361,0.999999966456,5.00247266873e-05,-0.000250389392064,-4.34891196365e-05,1793192981231319296
+64,1.066666667,BASELINE,763.131250946,742.868749054,710.868749054,672,665,633,876.131250946,784,799.868749054,650,629,651,0.400984948138,0.00457020835871,0.0498562087462,0.999999966668,4.73633413051e-05,-0.000250147654705,-4.2983057308e-05,1793192981247985920
+65,1.083333333,BASELINE,763.720140826,742.279859174,710.279859174,672,665,633,876.720140826,784,799.279859174,650,629,651,0.400985061637,0.00457171395599,0.0498568486823,0.999999966914,4.66534096316e-05,-0.000249179977854,-4.3653631868e-05,1793192981264652800
+66,1.100000000,BASELINE,764,742,710,672,665,633,876.696161985,783.696161985,799.303838015,650,629,651,0.400985157146,0.00457296618571,0.0498573145394,0.999999966986,4.76740076979e-05,-0.000248653084597,-4.38900854727e-05,1793192981281319168
+67,1.116666667,BASELINE,764,742,710,672,665,633,876.117167345,783.117167345,799.882832655,650,629,651,0.400985236364,0.00457398896493,0.0498576227499,0.999999966898,5.02617787638e-05,-0.000248525366346,-4.37333977919e-05,1793192981297985792
+68,1.133333333,BASELINE,764,742,710.46107928,672,665,633,876,783.46107928,800,650,629,651,0.400983390707,0.00457292115204,0.0498565448277,0.999999966409,5.04635031402e-05,-0.000250535811257,-4.32069019855e-05,1793192981314652672
+69,1.150000000,BASELINE,764,742,711,672,665,633,876.038776273,784,799.961223727,650,629,651,0.400981368613,0.00457146150801,0.0498552745758,0.999999965896,5.01262329132e-05,-0.000252736381815,-4.26474582957e-05,1793192981331319296
+70,1.166666667,BASELINE,764,742,711,672,665,633,876.611517297,784,799.388482703,650,629,651,0.400983641657,0.00457190989257,0.0498561984655,0.999999966522,5.07026915127e-05,-0.000250085163212,-4.29262724125e-05,1793192981347985920
+71,1.183333333,BASELINE,764,742.190106729,710.809893271,672,665,632.809893271,876.809893271,784,799,650,629,651,0.400984679187,0.00457214896995,0.0498564748246,0.99999996682,5.11122585594e-05,-0.000248775434134,-4.31120381796e-05,1793192981364652800
+72,1.200000000,BASELINE,764,742.781026814,710.218973186,672,665,632.218973186,876.218973186,784,799,650,629,651,0.40098311181,0.00457194675258,0.0498553859565,0.999999966438,5.1169958298e-05,-0.000250294046962,-4.31016246124e-05,1793192981381319168
+73,1.216666667,BASELINE,764,742.635778982,710.364221018,672,665.364221018,632.364221018,876,784,799,650,629,651,0.400983078017,0.00457375179726,0.0498556448705,0.999999966289,5.3453791871e-05,-0.000250397567579,-4.31897680511e-05,1793192981397985792
+74,1.233333333,BASELINE,764,742.057133206,710.942866794,672,665.942866794,632.942866794,876,784,799,650,629,651,0.400983947079,0.00457673856035,0.0498566972528,0.999999966267,5.70481983753e-05,-0.000249667992839,-4.33359341219e-05,1793192981414652672
+75,1.250000000,BASELINE,764,742,711,671.48203869,666,633,876,783.48203869,799,650,629,651,0.400984333684,0.00457467103882,0.0498566096874,0.999999966458,5.41481531046e-05,-0.00024956323276,-4.32451909192e-05,1793192981431319296
+76,1.266666667,BASELINE,764,742.09266232,711,671.09266232,665.90733768,633,876,783.09266232,799,650,629,651,0.40098457795,0.00457223583593,0.0498564660039,0.999999966643,5.06673411551e-05,-0.000249580243323,-4.30767093778e-05,1793192981447986176
+77,1.283333333,BASELINE,764,742.667340143,711,671.667340143,665.332659857,633,876,783.667340143,799,650,629,651,0.400984356728,0.00457076833374,0.0498566800335,0.999999966727,4.78665112337e-05,-0.000249874618602,-4.26388539633e-05,1793192981464653824
+78,1.300000000,BASELINE,764,742.750434645,710.750434645,672,665,633,876,783.750434645,799,650,629,651,0.400984308267,0.0045706622186,0.0498568206129,0.999999966802,4.76311851317e-05,-0.000249602127726,-4.27312234041e-05,1793192981481320704
+79,1.316666667,BASELINE,764,742.157835403,710.157835403,672,665,633,876,783.157835403,799,650,629,651,0.400984497271,0.00457242736449,0.0498568602332,0.999999966866,5.09222090833e-05,-0.000248550464975,-4.35524003422e-05,1793192981497986816
+80,1.333333333,BASELINE,764,742.423277085,710,672,665,632.576722915,876,783,799,650,629,651,0.40098303546,0.0045720281567,0.0498559756445,0.999999966417,5.08165357797e-05,-0.000250400716428,-4.33950014086e-05,1793192981514653440
+81,1.350000000,BASELINE,764,742.999780766,710.000219234,671.999780766,665,632,875.999780766,783,799,650.000219234,629,651,0.400980975959,0.00457084366814,0.049854756395,0.999999965775,4.94781069482e-05,-0.000253302475006,-4.2882520182e-05,1793192981531319808
+82,1.366666667,BASELINE,764,742.423545438,710.576454562,671.423545438,665,632,875.423545438,783,799,650.576454562,629,651,0.400983165165,0.00457086780531,0.0498558007031,0.999999966386,4.91162953117e-05,-0.000250960914843,-4.28353412481e-05,1793192981547986688
+83,1.383333333,BASELINE,764.150869481,742.150869481,711,671.150869481,665,632.150869481,875.150869481,783,799.150869481,650.849130519,629,651,0.400984815521,0.00457111852639,0.0498566638475,0.999999966838,4.89802932762e-05,-0.000249174147986,-4.28718295474e-05,1793192981564653568
+84,1.400000000,BASELINE,764.720234911,742.720234911,711,671.720234911,665,632.720234911,875.720234911,783,799.720234911,650.279765089,629,651,0.400984971161,0.00457199776723,0.0498570244629,0.999999966864,4.94706630599e-05,-0.000248926318431,-4.31404018745e-05,1793192981581319936
+85,1.416666667,BASELINE,764.697099279,742.697099279,710.697099279,672,665,633,876,783,799.697099279,650,628.697099279,650.697099279,0.400985103622,0.00457274058768,0.0498570618457,0.999999966779,5.09682298198e-05,-0.000248937773931,-4.32814756537e-05,1793192981597986304
+86,1.433333333,BASELINE,764.101584825,742.101584825,710.101584825,672,665,633,876,783,799.101584825,650,628.101584825,650.101584825,0.400985213692,0.00457335162074,0.0498567869733,0.999999966584,5.34387875207e-05,-0.000249199708767,-4.32993809215e-05,1793192981614652928
+87,1.450000000,BASELINE,764,742,710.480556822,672,665,633,876.480556822,783,799.480556822,650,628.480556822,650.480556822,0.400985440224,0.00457258534709,0.0498570700671,0.999999966891,5.22752817171e-05,-0.000248229909649,-4.32025322321e-05,1793192981631319808
+88,1.466666667,BASELINE,764,742,711,672,665.059504241,633,876.880991518,783.059504241,799.940495759,650.059504241,628.940495759,651,0.400985418866,0.00457168601804,0.049857334246,0.999999967184,5.05818177917e-05,-0.000247418008648,-4.30922389374e-05,1793192981647986176
+89,1.483333333,BASELINE,764,742,711,672,665.634605452,633,875.730789097,783.634605452,799.365394548,650.634605452,628.365394548,651,0.400983042032,0.00457208824521,0.0498564401917,0.999999966491,5.07725084174e-05,-0.00025016931886,-4.30699500375e-05,1793192981664652800
+90,1.500000000,BASELINE,764.214035214,742,711,672,665.785964786,633,875.214035214,784,799,650.785964786,628,651,0.400982102387,0.00457210579375,0.0498560722751,0.999999966271,5.0252080621e-05,-0.000251150930373,-4.30715203562e-05,1793192981681319680
+91,1.516666667,BASELINE,764.801007018,742,711,672,665.198992982,633,875.801007018,784,799,650.198992982,628,651,0.400983666909,0.00457145307526,0.0498566211052,0.999999966882,4.84925946402e-05,-0.000249049005081,-4.31146631622e-05,1793192981697986560
+92,1.533333333,BASELINE,764.616971217,742,711,672,665,632.616971217,876,783.616971217,799,650,628.383028783,651,0.40098474077,0.0045715656267,0.0498570485227,0.999999967126,4.87682346364e-05,-0.000248011306251,-4.31170877905e-05,1793192981714653440
+93,1.550000000,BASELINE,764.037488259,742,711,672,665,632.037488259,876,783.037488259,799,650,628.962511741,651,0.400985562972,0.00457207068245,0.0498574136681,0.999999967184,5.00876837522e-05,-0.00024751944541,-4.3098628206e-05,1793192981731319808
+94,1.566666667,BASELINE,764,742,710.461601199,672,665,632.538398801,876,783,799,650,629,651,0.400984915735,0.00457109831327,0.0498568636625,0.999999966975,4.91059117547e-05,-0.000248592323754,-4.28899083391e-05,1793192981747986432
+95,1.583333333,BASELINE,764,742.115405656,710.115405656,672,665,633,876,783,799,650.115405656,629,651,0.400984435627,0.00457073860766,0.0498565393545,0.999999966826,4.90669990226e-05,-0.000249220237155,-4.2775704123e-05,1793192981764652800
+96,1.600000000,BASELINE,764,742.697952175,710.697952175,672,665,633,876,783,799,650.697952175,629,651,0.400985043436,0.00457327249484,0.0498573848496,0.999999966986,5.34888937669e-05,-0.000247608925075,-4.30973501427e-05,1793192981781319680
+97,1.616666667,BASELINE,764,742.719077791,711,672,665,633,876,783.280922209,799.280922209,650.719077791,629,651,0.400984572838,0.00457377014456,0.0498574714196,0.999999966879,5.37278734889e-05,-0.000247962549987,-4.32378982623e-05,1793192981797986304
+98,1.633333333,BASELINE,764,742.135651743,711,672,665,633,876,783.864348257,799.864348257,650.135651743,629,651,0.400982940985,0.00457207512429,0.0498567407608,0.999999966486,4.94625887258e-05,-0.000250432066746,-4.31834357573e-05,1793192981814652928
+99,1.650000000,BASELINE,764.443904508,742,711,672,665,632.556095492,876,784,799.556095492,650,629,651,0.400983201949,0.00457063346584,0.0498568529772,0.999999966698,4.85605216556e-05,-0.000249819295765,-4.28486190275e-05,1793192981831319808
+100,1.666666667,BASELINE,764.977874833,742,711,671.977874833,665,632,876,783.977874833,799,650,629,651,0.400984062186,0.00456932146607,0.0498572384988,0.999999967095,4.86738694002e-05,-0.00024827312528,-4.24427506474e-05,1793192981847987200
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+102,1.700000000,BASELINE,764,742,710.825121861,671.174878139,665,632.174878139,876,783,799,650,629,651,0.400986174819,0.00456938315517,0.049858401652,0.999999967649,4.82642258973e-05,-0.000246118153009,-4.2418317824e-05,1793192981881319424
+103,1.716666667,BASELINE,764,742,710.23595747,671.76404253,665,632.76404253,876,783,799,650,629,651,0.400984655219,0.00456954540838,0.0498575371236,0.999999967326,4.67292122978e-05,-0.000247677103145,-4.26776694151e-05,1793192981897985792
+104,1.733333333,BASELINE,764,742.349323126,710.349323126,672,665,633,876,783.349323126,799,650,629,651,0.400983603128,0.00457027365617,0.0498568697815,0.999999967027,4.75961275333e-05,-0.000248701194073,-4.27684009875e-05,1793192981914652416
+105,1.750000000,BASELINE,764,742.932009237,710.932009237,672,665,633,876,783.932009237,799,650,629,651,0.400982863353,0.00457138001289,0.0498563341683,0.999999966741,5.00676351673e-05,-0.000249367976026,-4.27464871056e-05,1793192981931319040
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+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742.411040454,710.588959546,672,665,633,875.588959546,783.588959546,799,650,629,651.411040454,0.400983011147,0.00457238154863,0.0498563146341,0.99999996635,5.32614562614e-05,-0.000250254322071,-4.28412315902e-05,1793192982007937536
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,671.764563639,665.235436361,632.764563639,876,783,799.764563639,650,629,651,0.401013100196,0.00457161663397,0.049869011376,0.999999972157,5.0937465907e-05,-0.000226496283381,-4.23262038941e-05,1793192982141270784
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,671.184948841,665.815051159,632.184948841,876,783,799.184948841,650,629,651,0.40104366789,0.00456978449788,0.0498796624491,0.999999977028,5.09711244598e-05,-0.000203915792558,-4.20122204318e-05,1793192982157937408
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671.391635231,665.608364769,632.391635231,876,783,799.391635231,650.391635231,629,651,0.401093602804,0.00457014961561,0.0498947267232,0.999999983192,5.03915348545e-05,-0.000171205816341,-4.20110631854e-05,1793192982174604288
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671.966799092,665.033200908,632.966799092,876,783,799.966799092,650.966799092,629,651,0.401152613613,0.00457154441322,0.0499118591183,0.999999988941,4.95245640217e-05,-0.000133748944853,-4.21565029112e-05,1793192982191270912
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,633,876,783,799.446824228,651,629,651,0.401217393686,0.00456956774698,0.0499225397433,0.999999990526,4.83922603037e-05,-0.000122314250575,-4.05619642736e-05,1793192982207937280
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,710.861600009,672,665,633,876,783.138399991,799,650.861600009,629,651,0.401286414766,0.00456732597695,0.0499309760414,0.999999991742,4.63963261397e-05,-0.000113309506916,-3.90481803684e-05,1793192982224604160
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,710.282236141,672,665,633,876,783.717763859,799,650.282236141,629,651,0.401367822292,0.00456489760498,0.0499335208586,0.999999992682,4.17005199886e-05,-0.000106967812251,-3.81313115231e-05,1793192982241270784
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.295821338,742,710,672,665.295821338,632.704178662,876,783.704178662,799,650,629,651,0.401460351527,0.00456317926468,0.0499343583665,0.999999992815,3.93039234471e-05,-0.000107011513567,-3.70712494317e-05,1793192982257937408
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.872637867,742,710,672,665.872637867,632.127362133,876,783.127362133,799,650,629,651,0.401563445064,0.00456213537042,0.0499335741331,0.999999992194,3.90913036678e-05,-0.000113120584244,-3.58751707924e-05,1793192982274604032
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.552713146,742.447286854,710.447286854,672,665.552713146,632.447286854,876,783.447286854,799,650,629,651,0.40169263472,0.0045613800104,0.0499350613506,0.999999992245,3.8255411643e-05,-0.00011338719683,-3.44815052112e-05,1793192982291270912
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.978037914,711,672,665,633,876,783.978037914,799,650,629,651,0.401830153315,0.00456064216233,0.0499371002554,0.99999999248,3.70724318887e-05,-0.000112133512079,-3.30400124079e-05,1793192982307937536
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.386759969,711,672,665,633,876,783.386759969,799,650,629,651,0.401991885485,0.00455823877865,0.0499367549266,0.999999992457,3.14703953839e-05,-0.00011438672674,-3.18101282613e-05,1793192982324604160
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.200487651,711,672,665,633,876,783,799.200487651,650.200487651,629,651,0.402165917299,0.00455565792572,0.049936500915,0.999999992462,2.69426104338e-05,-0.000115925045232,-3.01758707955e-05,1793192982341270784
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.780113535,711,672,665,633,876,783,799.780113535,650.780113535,629,651,0.402363208711,0.00455274146445,0.0499364195914,0.999999992574,2.44463219994e-05,-0.000116111437464,-2.77769110808e-05,1793192982357937408
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.643594561,711,672,665,633,876,783,800,650.643594561,629,651,0.402585240322,0.00454920153652,0.0499376515123,0.999999993022,2.02858035394e-05,-0.000113522343385,-2.56251400366e-05,1793192982374604032
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.069340458,711,672,665,633,876,783,800,650.069340458,629,651,0.402822394111,0.00454528052158,0.0499396861387,0.99999999364,1.51080436573e-05,-0.000109236765705,-2.36244599493e-05,1793192982391270656
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,710.482827802,672,665,633,876.517172198,783,799.482827802,650,629,651,0.403104956523,0.00454053838974,0.0499447831439,0.999999994888,9.36982102184e-06,-9.83918253092e-05,-2.13351289193e-05,1793192982407937536
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,710,672,665,632.896276318,876.896276318,783.103723682,799,650,629,651,0.40340194345,0.00453544186761,0.0499507141272,0.999999996166,3.47769561981e-06,-8.5430144386e-05,-1.88960678082e-05,1793192982424603904
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,710,672,665,632.31726092,876.31726092,783.68273908,799,650,629,651,0.403736452482,0.00452923814766,0.0499585395104,0.999999997631,-2.76696393839e-06,-6.68966978921e-05,-1.59525452725e-05,1793192982441270784
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.26067134,710.26067134,672,665.26067134,632,876,783.73932866,799,650,628.73932866,651,0.40408697606,0.00452383090764,0.049966769406,0.999999998625,-7.8028690289e-06,-5.02639100964e-05,-1.27443857633e-05,1793192982457937408
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.837290742,710.837290742,672,665.837290742,632,876,783.162709258,799,650,628.162709258,651,0.404456910133,0.00451938904568,0.0499754895924,0.999999999247,-1.13736965676e-05,-3.59348267475e-05,-9.2154718056e-06,1793192982474604032
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.589119557,711,672,665.589119557,632.410880443,876.410880443,783.410880443,799.410880443,650,628.410880443,651,0.404856813295,0.00451414279616,0.0499791022769,0.999999999455,-1.37094057719e-05,-2.94935860409e-05,-5.65709817071e-06,1793192982491270656
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.016720853,711,672,665.016720853,632.983279147,876.983279147,783.983279147,799.983279147,650,628.983279147,651,0.405268497383,0.00450858033972,0.0499807071878,0.999999999535,-1.55595863913e-05,-2.61530788638e-05,-2.08714393717e-06,1793192982507937536
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.575726981,742,711,672,665,632.424273019,876.424273019,783.424273019,799.424273019,650,629,651,0.405684386779,0.00450263916439,0.0499590882858,0.999999997425,-2.28160061293e-05,-6.80247004489e-05,1.27447503306e-06,1793192982524604160
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.835279514,742,711,672,665,632,876,783,799.329440971,650,628.835279514,651,0.406115445536,0.00449560663936,0.049937279546,0.999999993719,-3.10087218808e-05,-0.000107600764645,4.69525552383e-06,1793192982541270528
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.256486126,742,711,672,665,632,876,783,800.487027747,650,628.256486126,651,0.406584318738,0.00448585933712,0.0499167502992,0.999999989599,-4.1146149014e-05,-0.00013798632242,8.28051415664e-06,1793192982557937408
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,710.679449584,672,665.320550416,632,876.320550416,783,800.358899167,650,628,651,0.407087231837,0.00447753286283,0.0499084102807,0.99999998762,-4.99625452343e-05,-0.00014870299373,1.23071200128e-05,1793192982574604288
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,710.103811044,672,665.896188956,632,876.896188956,783,799.207622087,650,628,651,0.40761723331,0.00447033705624,0.0499097702236,0.99999998786,-5.77276904738e-05,-0.000143767530422,1.66849422599e-05,1793192982591270912
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,710.481224582,672,665.518775418,632.481224582,876.518775418,783,799,650,628.481224582,650.518775418,0.408224434208,0.004464285624,0.0499346074277,0.99999999374,-5.4123435155e-05,-9.56812759913e-05,2.08590380806e-05,1793192982607938304
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665.067438746,632.932561254,876,783,799,650.067438746,629,650.067438746,0.408850100424,0.00445818728402,0.049963153434,0.999999998158,-3.5897198045e-05,-4.19416332115e-05,2.52263704484e-05,1793192982624605952
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665.646903511,632.353096489,876,783,799,650.646903511,629,650.646903511,0.409487003604,0.00444982113451,0.0499806399519,0.999999996592,7.4353437575e-05,-1.73616296085e-05,3.14011682792e-05,1793192982641271552
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632.226127803,876,783.226127803,799,650.773872197,629,651,0.410116626327,0.00444981934258,0.0499857212553,0.999999988637,0.000145171695959,-1.57972551726e-05,3.74290533561e-05,1793192982657937664
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632.804976959,876,783.804976959,799,650.195023041,629,651,0.410734892725,0.00446286454273,0.0499714525084,0.999999985877,0.000154482070107,-5.01333944228e-05,4.32277793497e-05,1793192982674604032
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.37944865,711,672,666,632.62055135,876,783.62055135,799,650,629,650.62055135,0.411363495208,0.00447975179279,0.0499473353732,0.999999990333,9.25956633671e-05,-0.000100207885406,2.67914730911e-05,1793192982691270912
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.951696123,711,672,666,632.048303877,876,783.048303877,799,650,629,650.048303877,0.411997349464,0.00449859119775,0.0499182142472,0.999999987458,-5.46600974211e-06,-0.000158279070725,-9.4250995698e-07,1793192982707937536
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.459755063,711,672,666,632.540244937,876,783,799.540244937,650,629,650.540244937,0.412765614787,0.0044867462684,0.0499333285906,0.999999993336,-2.4191623843e-05,-0.000112852657604,2.81070305717e-06,1793192982724604416
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.128013133,742,711,672.128013133,666,633,876,783.128013133,799.871986867,650,629,650.871986867,0.413540978371,0.00447373795385,0.0499502384846,0.999999997149,-2.97610188421e-05,-6.87720469191e-05,9.35982612919e-06,1793192982741271040
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.707723854,742,711,672.707723854,666,633,876,783.707723854,799.292276146,650,629,650.292276146,0.414297663585,0.00446660637502,0.0499590940018,0.99999999778,-1.4716772954e-05,-6.31084309409e-05,1.5531445846e-05,1793192982757937664
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,742,711,672.714059344,665.714059344,632.714059344,876.285940656,783.714059344,799.285940656,650,629,650,0.415044351139,0.00446312621857,0.0499480391513,0.99999999614,-4.0942754245e-06,-8.58343362764e-05,1.83090719278e-05,1793192982774604288
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,742,711,672.137361556,665.137361556,632.137361556,876.862638444,783.137361556,799.862638444,650,629,650,0.415780872723,0.00446335898937,0.0499167385576,0.999999990399,2.0319942295e-06,-0.000137427964298,1.76355355716e-05,1793192982791271168
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,742,711,672,665.43513016,632,876.56486984,783,799.56486984,650,629,650.43513016,0.41656586856,0.00446315557623,0.04991630372,0.999999990977,-1.19957943381e-06,-0.00013318117113,1.75199225311e-05,1793192982807937536
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.993445791,742.006554209,711,672,666,632.006554209,876.006554209,783,799.006554209,650,629,651,0.417366779392,0.00446287872346,0.0499257670609,0.999999993649,-7.21907178267e-06,-0.000111088320546,1.76032534842e-05,1793192982824604160
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.399860944,742.600139056,711,672,666,632.600139056,876.600139056,783,799.600139056,650,629,651,0.418235690786,0.00446823878875,0.0499574232544,0.999999998327,-8.89611787908e-07,-5.43193813393e-05,1.98814174024e-05,1793192982841270784
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632.811140468,877,783,799.811140468,650.188859532,629,651,0.41907787781,0.00447208235485,0.0499724872832,0.999999999241,7.59803392e-06,-3.11957466803e-05,2.20845250188e-05,1793192982857937920
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632.232460457,877,783,799.232460457,650.767539543,629,651,0.419864903646,0.00447279575062,0.0499533038167,0.999999996493,2.05403391608e-05,-7.75185904904e-05,2.4132710647e-05,1793192982874604544
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632,877,783,799,650.656102662,629,650.656102662,0.420704827748,0.00446813083888,0.0499521837429,0.999999996956,1.49368667871e-05,-7.26702660144e-05,2.41487440475e-05,1793192982891271168
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632,877,783,799,650.081304085,629,650.081304085,0.421580269034,0.00445985479747,0.0499631918819,0.999999999175,-3.118703218e-06,-3.3464342471e-05,2.2800339725e-05,1793192982907937792
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.494908403,711,672,666,632,877,783.505091597,799,650,628.494908403,650.505091597,0.422430612431,0.0044581282581,0.0499752223273,0.999999999668,-2.5483503476e-06,-1.0407261574e-05,2.34274359436e-05,1793192982924604416
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.091924653,711,672.091924653,666,632.091924653,877.091924653,784,799,650.091924653,628.091924653,650.908075347,0.423277288447,0.00445807988867,0.0499823490837,0.999999999703,6.70992028137e-07,1.10963253254e-06,2.43198820749e-05,1793192982941270784
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.670950753,711,672.670950753,666,632.670950753,877.670950753,784,799,650.670950753,628.670950753,650.329049247,0.424126441609,0.00446120625117,0.0499625990962,0.999999999096,1.6665667772e-06,-3.44259710506e-05,2.48937712065e-05,1793192982957937664
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.248895363,742.751104637,710.751104637,673,666,632.751104637,877.751104637,784,799,650.751104637,628.751104637,650.248895363,0.424982243065,0.00446319801103,0.0499563487329,0.999999998609,4.86739056657e-06,-4.60793509835e-05,2.52065134021e-05,1793192982974604544
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.825416465,742.174583535,710.174583535,673,666,632.174583535,877.174583535,784,799,650.174583535,628.174583535,650.825416465,0.425846795916,0.00446369627209,0.0499678681813,0.999999999277,1.09710261081e-05,-2.62961067982e-05,2.51755029814e-05,1793192982991271168
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,742.400027734,710.400027734,673,666,632,877.400027734,783.599972266,799,650,628.400027734,651,0.426685723227,0.00446039813912,0.049978894357,0.999999999284,1.06765303023e-05,-2.41961363569e-05,2.70626625833e-05,1793192983007938048
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,742.973809424,710.973809424,673,666,632,877.973809424,783.026190576,799,650,628.973809424,651,0.427513519911,0.00445545102425,0.0499897062767,0.999999999084,7.60297525015e-06,-2.97769814361e-05,2.97829884912e-05,1793192983024605440
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.435319055,743,711,673,666,632.564680945,877.435319055,783.564680945,799,650,629,650.435319055,0.428281447817,0.00445563981648,0.0499544217293,0.999999996021,3.26800335631e-06,-8.40364513319e-05,2.97453082445e-05,1793192983041271808
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711,672.846861617,666,632.846861617,877,783.846861617,799.153138383,650,629,650.153138383,0.429076719216,0.00445541665858,0.0499300574763,0.999999992808,2.09553246465e-06,-0.000116268919529,2.93592208359e-05,1793192983057937920
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711,672.267400311,666,632.267400311,877,783.267400311,799.732599689,650,629,650.732599689,0.429956083866,0.00445336282071,0.0499422320775,0.999999996292,9.89512706212e-06,-8.0698683924e-05,2.8370431021e-05,1793192983074604288
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.309064701,743,711,672,666,632,877,783,800,650,629,650.690935299,0.430775309292,0.00445056031979,0.0499452798583,0.999999996829,9.31040668163e-06,-7.37160973419e-05,2.8656802637e-05,1793192983091270656
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.882962204,743,711,672,666,632,877,783,800,650,629,650.117037796,0.431543002293,0.00444711630107,0.049940507006,0.999999995386,1.54129497338e-06,-9.12298306927e-05,3.00358405951e-05,1793192983107937536
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.540313674,742.540313674,711,672,666,632,877.459686326,783,799.540313674,650,629,650,0.432300765728,0.0044490651515,0.0499266792058,0.99999999339,-4.92703513264e-06,-0.000111064658486,2.93268272061e-05,1793192983124604160
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.037914158,711,672.037914158,666,632,877.962085842,783,799,650,629,650,0.433056131874,0.00445216018017,0.0499131321108,0.999999991429,-1.06776149295e-05,-0.000127430193719,2.81059243716e-05,1793192983141271040
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.627484473,711,672.627484473,666,632,877.372515527,783,799,650,629,650,0.433813628124,0.00445183067369,0.0499374210818,0.999999995987,-1.08334050565e-05,-8.46652941621e-05,2.72200421899e-05,1793192983157937920
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632.212566108,877,783,799,650,629,650,0.434564426921,0.0044503941957,0.0499586144705,0.999999998294,-5.11809199531e-06,-5.12593125877e-05,2.75449057488e-05,1793192983174604800
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632.789944239,877,783,799,650,629,650,0.435303731478,0.00444705790155,0.0499744951364,0.999999998919,1.06733759117e-05,-3.39153664444e-05,2.99476856259e-05,1793192983191271680
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.635494548,711,673,666,633,877,783,799,650,629,650,0.435967803728,0.00444484217988,0.0499631805789,0.999999997191,1.1277062569e-05,-6.66069904179e-05,3.2456160372e-05,1793192983207938560
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.062544243,711,673,666,633,877,783,799,650,629,650,0.43658885384,0.00444326726518,0.0499363142521,0.999999991201,3.19551513823e-06,-0.000127911786779,3.50250771894e-05,1793192983224605184
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.527335836,711,673,666,633,877,783,799,650,629,650,0.437238078016,0.00444435619939,0.0499389870607,0.999999993236,-1.17787405308e-06,-0.000110800225137,3.53414499903e-05,1793192983241271040
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,673,666,633,877,783.116683071,799.116683071,650,629,650,0.437889093562,0.0044455095108,0.0499482539352,0.999999996,-3.09293559609e-06,-8.19066878167e-05,3.58066392994e-05,1793192983257937408
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666,633,877,783.695699038,799.695699038,650,629,650,0.438533527601,0.00444562451804,0.0499693062367,0.99999999829,2.93219346453e-06,-4.44031773129e-05,3.79551674501e-05,1793192983274604288
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.273143126,742.726856874,711,673,666,632.726856874,877,783.726856874,799.726856874,650,629,650,0.439130327374,0.00444717012752,0.0499695912181,0.999999998273,9.34250075682e-06,-4.25000194936e-05,3.9511573276e-05,1793192983291271168
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.84884601,742.15115399,711,673,666,632.15115399,877,783.15115399,799.15115399,650,629,650,0.439674362782,0.00445030041046,0.0499468723047,0.99999999585,1.61794683283e-05,-8.00312598162e-05,4.04120869779e-05,1793192983307938048
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.576681435,742.423318565,711,673,666,632,877.423318565,783,799.423318565,650,629,650,0.440168975998,0.00445390518658,0.0499201430994,0.999999991286,2.22478196502e-05,-0.000123441970684,4.11641773689e-05,1793192983324604928
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.002646873,742.997353127,711,673,666,632,877.997353127,783,799.997353127,650,629,650,0.440645993255,0.00445767889888,0.0498919860901,0.999999984459,2.80425176215e-05,-0.000168945978543,4.18634239578e-05,1793192983341271808
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711,672.411209001,666,632,877.411209001,783,798.822418001,650,629,650,0.441113437755,0.00446067258225,0.049892401792,0.999999984674,3.24265230015e-05,-0.000166720942494,4.2473725479e-05,1793192983357937920
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,672.176422613,666,632,877.176422613,783,798.352845226,650,629,650,0.441575591818,0.00446231352449,0.0498945806716,0.999999985659,3.09008440465e-05,-0.000161189678439,4.17821846933e-05,1793192983374604288
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,672.755190033,666,632,877.755190033,783,799.510380066,650,629,650,0.442025781873,0.00446087768178,0.0499004787536,0.999999988102,1.59125972781e-05,-0.000148622547128,3.81226360876e-05,1793192983391270912
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665.668621177,632,878,783,800,650,629,650,0.442435065239,0.00446006892646,0.0498963066233,0.999999987368,-6.11153506923e-06,-0.000155961760479,3.0033709272e-05,1793192983407937536
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665.094322704,632,878,783,800,650,629,650,0.442814361633,0.00445971986217,0.0498847524506,0.999999983448,-3.32933734497e-05,-0.000177893464732,1.86977948383e-05,1793192983424604416
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,673.492152096,665,632,877.507847904,783,799.507847904,650,629,650,0.443134742598,0.00446457633365,0.0498665502706,0.999999978485,8.16322860299e-06,-0.000206532776315,1.75363304014e-05,1793192983441271296
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711,673.920247108,665,632,877,783,799.159505785,650,629,650,0.443437639415,0.00447066356198,0.0498457543568,0.999999969674,5.61431437942e-05,-0.000239084887545,1.83995175176e-05,1793192983457938176
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,673.340587129,665,632,877,783,800.318825742,650,629,650,0.443703514058,0.00447805324775,0.0498168894072,0.99999995654,6.04637419962e-05,-0.000287900791314,1.94207505182e-05,1793192983474604800
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,877,783,800.524630578,650,629,650,0.443966547179,0.00448764189236,0.0497963227969,0.999999945603,6.76373225972e-05,-0.000322188402432,2.03311689486e-05,1793192983491271424
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,877,783,799.372042128,650,629,650,0.444225532199,0.00450036320894,0.0497875781386,0.999999940293,7.88753082233e-05,-0.000335778767519,2.10837190972e-05,1793192983507937536
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,877,783,799,650,629,650,0.444470397995,0.00450996371905,0.0497862763105,0.999999939788,8.74121776345e-05,-0.000335132924682,2.16534944597e-05,1793192983524603904
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,877,783,799,650,629,650,0.444708533979,0.00451807671858,0.0497885220574,0.99999994158,9.46615789032e-05,-0.000327701488913,2.21361514987e-05,1793192983541270784
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.552860511,743,711,673,665,631.447139489,877.552860511,783,799,650,629,650.552860511,0.444903045954,0.00451846609281,0.0497909871377,0.999999943778,9.54362983963e-05,-0.000320688691018,2.22590904271e-05,1793192983557937408
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.859449622,742.859449622,711,673,665,631,878,783,799.140550378,650,629,650.859449622,0.445084765276,0.00451792234333,0.0497913603807,0.99999994481,9.50540944604e-05,-0.00031755008185,2.25031489236e-05,1793192983574604032
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.280190683,742.280190683,711,673,665,631,878,783,799.719809317,650,629,650.280190683,0.445235797676,0.00451610254286,0.0497851577691,0.999999942185,9.24326400646e-05,-0.000326415509562,2.32014863999e-05,1793192983591270912
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.297336531,711,673,664.702663469,631,878,783,800.297336531,650,629,650.297336531,0.445371504814,0.0045161273245,0.0497771782949,0.999999939073,9.22270231463e-05,-0.000335877482103,2.30988159775e-05,1793192983607937536
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.873241295,711,673,664.126758705,631,878,783,800.873241295,650,629,650.873241295,0.445492854031,0.00451788025574,0.0497675341167,0.999999935485,9.42847528078e-05,-0.000345898344187,2.22456983574e-05,1793192983624603904
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,673,664,631,878,782.554684181,800.109368363,650,629,650.554684181,0.445596019103,0.00451830017177,0.0497616402438,0.999999933032,9.64290429278e-05,-0.000352338024708,2.22420345471e-05,1793192983641270784
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,673,664,631,878,782.016982498,799.033964995,650,629,650,0.44569333042,0.0045184146089,0.0497568052888,0.999999930896,9.85110199425e-05,-0.000357771417853,2.24526725521e-05,1793192983657937664
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664,631,878,782.611542792,800.223085583,650,629,650,0.445766093312,0.00452093447566,0.0497519873662,0.999999928982,9.76428757693e-05,-0.000363354435025,2.17983511546e-05,1793192983674604288
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,673,664,631,878,783,800.799363432,650,629,650,0.445833416389,0.00452261493365,0.0497489771481,0.999999927689,9.73426540443e-05,-0.00036699956282,2.1391147699e-05,1793192983691270912
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,673,664,631,878,783,800.220572858,650,629,650,0.44589048665,0.00452271329797,0.0497493740397,0.999999927615,9.81128362447e-05,-0.000366992212091,2.14497050761e-05,1793192983707937536
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.64344529,711,673,664,631,877.64344529,783,800,650,629,650,0.445938342296,0.00452397971243,0.0497507116294,0.999999928088,0.000101256487664,-0.000364857532103,2.12197875867e-05,1793192983724604160
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.067341662,711,673,664,631,877.067341662,783,800,650,629,650,0.445980524038,0.00452596535494,0.0497526284551,0.99999992887,0.000105861605185,-0.000361412947001,2.0812241417e-05,1793192983741271040
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.518309454,742.518309454,711,673,664,631,877,783,800,650,629,650,0.446005546546,0.00452770295785,0.0497515022712,0.999999927905,0.000107480301428,-0.000363625824598,2.03686414021e-05,1793192983757937408
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.896100581,742.896100581,711,673,664,631,877,783,800,650.103899419,629,650.103899419,0.446026918279,0.00452927239803,0.0497498558319,0.999999926697,0.000109054538427,-0.000366489782399,1.99529204307e-05,1793192983774604032
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.316575449,742.316575449,711,673,664,631,877,783,800,650.683424551,629,650.683424551,0.446041974947,0.0045302223259,0.0497476716386,0.999999925462,0.0001122348103,-0.000368906206485,1.96866686926e-05,1793192983791270656
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,710.73840844,673,664.26159156,631,877.26159156,783,800,650.73840844,628.73840844,650.73840844,0.446053552489,0.00453130227451,0.0497459465185,0.999999924428,0.000114214889345,-0.00037111022114,1.93702100954e-05,1793192983807937280
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.413502131,710.413502131,673,664.586497869,631,878,783,799.586497869,650.413502131,628.413502131,650,0.446065453774,0.00453148857213,0.0497439966127,0.999999923385,0.000114295332759,-0.000373901766511,1.90961832499e-05,1793192983841271552
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+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.422010235,711,673,664,631,878,783,799,650.422010235,629,650,0.446069877366,0.0045305890181,0.0497416067394,0.999999922081,0.000114868258471,-0.000377183194233,1.94190957124e-05,1793192983874605056
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664,631,877.835103083,783,799.164896917,650,629,650.164896917,0.44607054276,0.00453194672644,0.0497402527064,0.999999921029,0.000116188638724,-0.000379569961365,1.92065304259e-05,1793192983891271424
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742,711,673,664,631,877.255619137,783,799.744380863,650,629,650.744380863,0.446070402655,0.004533940678,0.0497399949182,0.999999920534,0.00011715718406,-0.000380615986231,1.8390523256e-05,1793192983907938048
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+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.378208872,711,673,664,630.378208872,877.621791128,782.621791128,799.621791128,650,629,650,0.446073701332,0.00453336792226,0.0497390011879,0.999999920629,0.000115351978032,-0.000380930266132,1.81167667515e-05,1793192984041271296
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.955352236,711,673,664,630.955352236,877.044647764,782.044647764,799.044647764,650,629,650,0.446074835781,0.0045368759153,0.0497390426226,0.999999920528,0.000118761981666,-0.000380194349205,1.70653749118e-05,1793192984057938176
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664,631,877,782,799.542523334,650,629,650,0.446074304376,0.00453530798842,0.0497384548492,0.999999920172,0.000117146434907,-0.000381609768897,1.74966966091e-05,1793192984074604544
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.871259917,711,673,664,631,877.128740083,782.128740083,800,650,629,650,0.446073582219,0.0045336002667,0.0497378011586,0.999999919777,0.000115639524768,-0.000383079912489,1.79714802562e-05,1793192984091270912
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.291334572,711,673,664,631,877.708665428,782.708665428,800,650,629,650,0.446072681055,0.00453289417346,0.0497371013454,0.999999919338,0.000115990100281,-0.000384109673321,1.81628869815e-05,1793192984107937536
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,711,673,664,631,877.71358604,782.71358604,800,650,629,650,0.446073221302,0.00453287829878,0.0497372119551,0.999999919529,0.000116483810868,-0.000383458180568,1.82303440475e-05,1793192984124604160
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664,631,877.138034946,782.138034946,800,650,629,650,0.446075216663,0.00453355920506,0.0497381406928,0.999999920354,0.00011712201747,-0.000381109449289,1.81726729856e-05,1793192984141270784
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.436608758,711,673,664,631,877.436608758,782.436608758,800,650,629,650,0.446076135949,0.00453432237275,0.0497388662563,0.999999920583,0.000117589324203,-0.000380366537804,1.81285579354e-05,1793192984157937664
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664,630.988728037,877.988728037,783,800,650,629,650.011271963,0.446076679765,0.00453510293854,0.0497394905863,0.999999920611,0.000117985568213,-0.00038017175669,1.80768864841e-05,1793192984174604544
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,673,664,630.398353436,877.398353436,783,800,650,629,650.601646564,0.446075375483,0.00453544398403,0.0497382072068,0.999999919941,0.000117501013598,-0.000382109024716,1.74172743625e-05,1793192984191271680
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711,673,663.811529389,630.188470611,877,783,799.811529389,650,629,651,0.446074563656,0.00453535520979,0.0497374759749,0.999999919465,0.000117593168597,-0.000383339744661,1.71178463845e-05,1793192984207938560
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711,673,663.232071105,630.767928895,877,783,799.232071105,650,629,651,0.446074773444,0.00453437476222,0.0497378901893,0.999999919395,0.000118881724218,-0.00038310471029,1.75656307558e-05,1793192984224604672
+242,4.033333333,HOLD_POSE2,764,742,711,673,664,631,877,783,800,650,629,650,0.446075920395,0.00453666355418,0.0497378504314,0.999999919516,0.000120873927172,-0.000382214553271,1.64339264566e-05,1793192984260352768
+243,4.050000000,HOLD_POSE2,764,742.589385447,711,673,664,631,877.589385447,783,799.410614553,650,629,650,0.446074868049,0.00453535614975,0.049737233321,0.999999919232,0.000118014342841,-0.000383822124613,1.69762398506e-05,1793192984277019648
+244,4.066666667,HOLD_POSE2,764,743,711,673,664,631,877.824220381,783,799,650,629,650,0.446074411942,0.00453455471782,0.0497368715182,0.999999919142,0.000116363439923,-0.000384543038546,1.73691237888e-05,1793192984293686272
+245,4.083333333,HOLD_POSE2,764,743,711,673,664,631,877.24469668,783,799,650,629,650,0.446075325325,0.00453491544199,0.0497370961251,0.999999919515,0.000117488728422,-0.000383227410203,1.74187868236e-05,1793192984310353152
+246,4.100000000,HOLD_POSE2,764,742.666291443,711,673,664,631,877,782.666291443,799,650,629,650,0.446076104159,0.00453540945637,0.0497377157039,0.999999919646,0.000118990035499,-0.000382422590976,1.73753368112e-05,1793192984327019776
+247,4.116666667,HOLD_POSE2,764,742.08870363,711,673,664,631,877,782.08870363,799,650,629,650,0.446076784662,0.0045360008812,0.0497386239341,0.9999999196,0.000120766142568,-0.00038199107885,1.72638383743e-05,1793192984343686656
+248,4.133333333,HOLD_POSE2,764,742,711,673,664,631,877,782.48434868,799.48434868,650,629,650,0.446077225728,0.0045359540238,0.0497380947406,0.999999919473,0.000120865046991,-0.00038229573938,1.71823598297e-05,1793192984360353280
+249,4.150000000,HOLD_POSE2,764,742.058454051,711,673.058454051,663.941545949,631,877.058454051,783,799.941545949,650,629,650,0.446077701706,0.00453566914661,0.0497375511389,0.999999919443,0.000120436042961,-0.000382512100657,1.71419143117e-05,1793192984377019648
+250,4.166666667,HOLD_POSE2,764,742.649657161,711,673.649657161,663.350342839,631,877.649657161,783,799.350342839,650,629,650,0.446078891827,0.00453427045689,0.0497392532179,0.999999920421,0.000117969197209,-0.000380706332723,1.74258005969e-05,1793192984393686528
+251,4.183333333,HOLD_POSE2,764,742.764010604,711,673.764010604,663.235989396,631,877.764010604,783,799,650,629,650,0.44607900697,0.00453398788802,0.0497396529284,0.999999920625,0.000117060899582,-0.000380443608458,1.75682102095e-05,1793192984410353408
+252,4.200000000,HOLD_POSE2,764,742.184763341,711,673.184763341,663.815236659,631,877.184763341,783,799,650,629,650,0.446077558507,0.00453532877044,0.0497381582814,0.999999919711,0.000118419584977,-0.000382425315188,1.75048352092e-05,1793192984427019776
+253,4.216666667,HOLD_POSE2,764,742,711,673.391906087,664,631,877.391906087,783,799.391906087,650,629.391906087,650.391906087,0.446076392237,0.00453604044413,0.0497368893967,0.99999991902,0.00011922579657,-0.000383992955557,1.71728582574e-05,1793192984443686400
+254,4.233333333,HOLD_POSE2,764,742,711,673.967368192,664,631,877.967368192,783,799.967368192,650,629.967368192,650.967368192,0.446075358138,0.00453645741712,0.0497357262515,0.999999918434,0.000119773247587,-0.000385366660933,1.67150769133e-05,1793192984460353024
+255,4.250000000,HOLD_POSE2,764,742.554190694,710.445809306,673.445809306,663.445809306,631,877.445809306,783,799.445809306,650,628.891618611,650.445809306,0.446076795143,0.00453459067147,0.0497373622669,0.999999919414,0.000118018915604,-0.000383342880281,1.70758102925e-05,1793192984477019648
+256,4.266666667,HOLD_POSE2,764,743,710,673,663.139705426,631,877,782.860294574,799,650,628.139705426,650,0.446077972993,0.00453345577425,0.0497387086517,0.999999920171,0.000116942985364,-0.000381685482114,1.72879420359e-05,1793192984493686528
+257,4.283333333,HOLD_POSE2,764,743,710,673,663.718957118,631,877,782.281042882,799,650,628.718957118,650,0.446077868112,0.00453505537218,0.0497386143763,0.999999919949,0.000118436810953,-0.000381823387541,1.68777295139e-05,1793192984510353152
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664,631,877,783,799,650,629,650,0.446077686035,0.00453601617869,0.0497384866324,0.999999919531,0.000120492557958,-0.000382260908763,1.72247676404e-05,1793192984547201792
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742.571515558,711,673,664,631,877.571515558,782.428484442,799,650,628.428484442,650,0.446075806447,0.00453584831427,0.0497372854911,0.999999918561,0.000120841942161,-0.00038468811592,1.70277623208e-05,1793192984563868672
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,663.852175744,631,877.852175744,782.147824256,799.147824256,650,628.147824256,650,0.446074603425,0.00453554128433,0.0497362605622,0.999999918013,0.000120373000619,-0.000386266286409,1.68118954586e-05,1793192984580535552
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,663.261507887,631,877.261507887,782.738492113,799.738492113,650,628.738492113,650,0.446075427223,0.00453481735013,0.0497357635202,0.999999918737,0.000117452564866,-0.000385300961142,1.65395241995e-05,1793192984597202432
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.677197501,711,673,663.322802499,631,877,782.677197501,800,650,628.677197501,650,0.446076308713,0.00453521045732,0.0497363094504,0.999999919322,0.000116239607712,-0.000384163609795,1.62226588091e-05,1793192984613869056
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.097937973,711,673,663.902062027,631,877,782.097937973,800,650,628.097937973,650,0.446077236038,0.00453649102088,0.0497376839914,0.999999919799,0.000116383191937,-0.000382889588879,1.58704441648e-05,1793192984630535680
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742,710.522526707,673,663.522526707,631,877.477473293,782.477473293,799.522526707,650,628.477473293,650.477473293,0.446076202995,0.00453636233963,0.0497370514834,0.999999919334,0.000117222196608,-0.000383833821017,1.62080132353e-05,1793192984647202048
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.053316448,710.053316448,673,663,631,878,783,799.053316448,650,628.946683552,650.946683552,0.446074285763,0.00453591623789,0.049735748885,0.999999918539,0.000117983076185,-0.000385650566985,1.66307140932e-05,1793192984663868672
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.641344124,710.641344124,673,663,631,878,783,799.641344124,650,628.358655876,650.358655876,0.446067501454,0.00453516253359,0.0497318216778,0.999999916362,0.000116541311129,-0.000391691029536,1.64995780465e-05,1793192984680535040
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.774261372,711,673,663.225738628,630.774261372,877.774261372,782.774261372,799.774261372,650,628.225738628,650.225738628,0.446055899716,0.00453470668285,0.0497264988814,0.999999912877,0.000115660148671,-0.000400748432946,1.63932781125e-05,1793192984697201664
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.195547911,711,673,663.804452089,630.195547911,877.195547911,782.195547911,799.195547911,650,628.804452089,650.804452089,0.446036765234,0.00453471656907,0.0497189938808,0.999999907264,0.00011565556918,-0.000414523256988,1.63258130256e-05,1793192984713868544
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,663.617268016,630.382731984,877,782.382731984,799,650,629,650.617268016,0.445997986182,0.00453623424085,0.049704522458,0.999999895876,0.000117809345995,-0.000440587733219,1.58743882567e-05,1793192984730535168
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,663.039209338,630.960790662,877,782.960790662,799,650,629,650.039209338,0.44594918155,0.00453852140872,0.0496864957314,0.999999880727,0.000121064636616,-0.000472924215902,1.52270102211e-05,1793192984747201792
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,663.535981688,630.464018312,877,783,798.464018312,650,629,650,0.445878617765,0.00453874425968,0.0496696390065,0.999999869499,0.000121308554755,-0.000496072839964,1.40806660359e-05,1793192984763868928
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.886303268,742.113696732,711,673,664,630.113696732,877.113696732,783,798.113696732,650,629,650,0.445805100387,0.00453918041405,0.0496550844592,0.999999859637,0.000121725061109,-0.000515500587528,1.29760296499e-05,1793192984780535808
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.297160787,742.702839213,711,673,664,630.702839213,877.702839213,783,798.702839213,650,629,650,0.445725852853,0.00454113667244,0.049649800916,0.999999855937,0.000123779584077,-0.000522164442275,1.21976284955e-05,1793192984797202176
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.288528415,743,710.711471585,673.288528415,664,631,877.711471585,782.711471585,799,650,629,650,0.445635108131,0.00454246036641,0.0496479650376,0.999999853979,0.000126926016322,-0.00052515608233,1.19177840519e-05,1793192984813868800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.870703049,743,710.129296951,673.870703049,664,631,877.129296951,782.129296951,799,650,629,650,0.445532662293,0.00454314027564,0.0496496379776,0.999999853819,0.000131183725582,-0.000524410370994,1.214533957e-05,1793192984830535168
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,710,673.554649833,664,631,877,782.445350167,799,650,629,650,0.445406491456,0.0045459227998,0.0496520713246,0.999999854263,0.000135480852247,-0.00052248155633,1.14744169726e-05,1793192984847201792
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.982038321,710,673,664,631,877,782.982038321,799,650,629,650,0.445272386436,0.00454921211975,0.0496548137769,0.999999854836,0.000139734485317,-0.000520278147147,1.05824629177e-05,1793192984863868416
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.40589922,710,673,664,631,877,782.40589922,799,650,629,650,0.44510221221,0.00454959575657,0.0496604154883,0.999999854599,0.000142286792572,-0.000520038196131,1.07932341522e-05,1793192984880535040
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.174311972,710.174311972,673.174311972,664,631,877,782.174311972,799,650,629,650,0.444923392156,0.00455077782789,0.0496656494042,0.999999854704,0.000145719937802,-0.000518883227543,1.08250114646e-05,1793192984897201920
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.764232076,710.764232076,673.764232076,664,631,877,782.764232076,799,650,629,650,0.444723958071,0.00455386358869,0.0496700063928,0.999999855613,0.000151253244926,-0.000515546603075,1.04300175464e-05,1793192984913868800
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.652211352,710.652211352,673.652211352,664,631,877.347788648,783,799,650,629,650,0.444497617575,0.00455771829853,0.0496731835969,0.999999855686,0.000157861514863,-0.000513434899553,9.6073674558e-06,1793192984930535680
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.072891083,710.072891083,673.072891083,664,631,877.927108917,783,799,650,629,650,0.444253364788,0.00456208491732,0.0496755753893,0.999999855178,0.00016518541504,-0.000512138656262,8.50001589199e-06,1793192984947202304
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742,710.502221688,673,664,631,877.497778312,783,799,650,629,650,0.443974609215,0.00456540108112,0.0496806287764,0.999999859301,0.000172206739085,-0.000501689785574,7.05107391855e-06,1793192984963868928
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.078446235,631.078446235,877,783,799.078446235,650,629,650,0.443684468655,0.00456884115242,0.0496859921699,0.999999863432,0.000179364704826,-0.000490849153943,5.53940568595e-06,1793192984980535296
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.66581246,631.66581246,877,783,799.66581246,650,629,650,0.443352685026,0.00457406594307,0.0496908814538,0.999999864274,0.000187691669003,-0.000486013282555,3.93976200436e-06,1793192984997201920
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,632,877,783,799.750624237,650,629,650,0.443010189055,0.00457906256833,0.0496993373372,0.999999869548,0.000195154293574,-0.000472030713199,2.21458369709e-06,1793192985013868544
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,632,877,783,799.1720807,650,629,650,0.442653553167,0.00458375802251,0.0497125010137,0.999999880257,0.000201476017823,-0.000445974804624,3.23703923745e-07,1793192985030535424
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.406669523,711,673,665,632,877,783,799,650,629,650,0.442270337034,0.00458718286995,0.0497328366265,0.999999894768,0.000205540827736,-0.000410138704007,-1.51523059531e-06,1793192985047202304
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.985507235,711,673,665,632,877,783,799,650,629,650,0.441875867861,0.0045900697914,0.0497562085601,0.999999909717,0.000208650146775,-0.000370162047529,-3.33217344752e-06,1793192985063869184
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,633,876.056172017,783.056172017,799.943827983,650,629,651,0.40272548983,0.00459909221774,0.0498411511986,0.999999948081,9.59019699237e-05,-0.000302810072267,-5.42769390525e-05,1793192986013868288
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,633,876.643539449,783.643539449,799.356460551,650,629,651,0.402468034058,0.00460068992885,0.0498277175901,0.999999940302,9.65170656487e-05,-0.000327046197654,-5.58660347024e-05,1793192986030534912
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,710.806831305,672,665,633,876.193168695,783.193168695,799,650,629,651,0.402034554229,0.00460001873512,0.049816791074,0.999999935451,9.42495289577e-05,-0.000341852189748,-5.79034237333e-05,1793192986063869184
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,632.27238063,876,783,799,650,629,651,0.400984283945,0.00457301708683,0.0498499674088,0.999999964231,5.14199384656e-05,-0.000259276090506,-4.08645425438e-05,1793192986463868672
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,710,671.626091392,665,632.626091392,876,783.626091392,799.626091392,650,629,651,0.40098590114,0.0045721355275,0.0498534251408,0.999999965618,5.03434724687e-05,-0.000254180503767,-4.0283980352e-05,1793192986597201920
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,710,671.047634725,665,632.047634725,876,783.047634725,799.047634725,650,629,651,0.400987257283,0.00457319543914,0.049853747333,0.999999965815,4.88673178211e-05,-0.000253664114394,-4.0459903526e-05,1793192986613868800
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,710,671.52655862,665,632.52655862,876,783,799.52655862,650,629,651,0.400986318826,0.00457263780286,0.0498530619915,0.99999996564,4.96425599587e-05,-0.00025420010991,-4.04691933005e-05,1793192986630535424
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,632.896996626,876,783,799.896996626,650.103003374,629,651,0.400985045643,0.00457212474237,0.0498522524582,0.999999965363,5.03856622803e-05,-0.000255138999363,-4.04954754058e-05,1793192986647202048
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,632.308127559,876,783,799.308127559,650.691872441,629,651,0.400983164849,0.00457250663994,0.0498512835938,0.99999996476,5.00241639579e-05,-0.000257532868932,-4.06724446451e-05,1793192986663869184
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,710.276333373,672,665,632,876,783.276333373,799,650.723666627,628.723666627,651,0.40098269716,0.0045728869967,0.0498509775846,0.999999964658,5.06444657373e-05,-0.000257790687451,-4.07818704224e-05,1793192986680535808
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,710.855956233,672,665,632,876,783.855956233,799,650.144043767,628.144043767,651,0.400983780423,0.0045732656624,0.0498513990913,0.999999965105,5.23423414393e-05,-0.000255704085033,-4.08171639455e-05,1793192986697202176
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,665,632,876,783.566263293,799.433736707,650,628.433736707,651,0.400984441615,0.00457380438932,0.0498523049069,0.999999965393,5.21539259143e-05,-0.000254635258333,-4.06788189278e-05,1793192986713868800
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.010818558,711,672,665,632,876,783,799.989181442,650,629,651,0.400984967104,0.00457436230203,0.0498533647452,0.999999965628,5.13405451941e-05,-0.000253907045417,-4.0484797714e-05,1793192986730534912
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.583263561,711,672,665,632,876,783,799.416736439,650,629,651,0.400985693733,0.00457316837148,0.0498541060598,0.999999965808,5.04659880937e-05,-0.000253388590309,-4.03813736639e-05,1793192986747201536
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.160949263,742.839050737,711,672,665,632,875.839050737,783,799.160949263,650,628.839050737,651,0.400986194333,0.004572445105,0.0498545901869,0.999999965974,5.02898026032e-05,-0.000252775586942,-4.03462394874e-05,1793192986763868416
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.75266107,742.24733893,711,672,665,632,875.24733893,783,799.75266107,650,628.24733893,651,0.400986089989,0.00457298151787,0.0498543859806,0.9999999661,5.19827299909e-05,-0.000251909535854,-4.049387546e-05,1793192986780535040
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.663343277,742,710.663343277,671.663343277,665,632,875.336656723,783.336656723,799.663343277,650,628,651,0.40098568363,0.00457328163979,0.0498539277871,0.999999966006,5.20655502735e-05,-0.000252266891879,-4.04824584413e-05,1793192986797202176
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.084889622,742,710.084889622,671.084889622,665,632,875.915110378,783.915110378,799.084889622,650,628,651,0.400985060353,0.00457341205046,0.0498532871724,0.999999965754,5.09919433847e-05,-0.000253502935535,-4.0356804799e-05,1793192986813869056
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..14a079f609e71a5152cba8597e16f93729b07d4d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,396 @@
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+263,4.383333333,pose2_to_pose3_retreat,0.619585593548,0.0100544742644,1.04002878115,0.590156324458,0.0187272097816,1.03969807823
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+380,6.333333333,pose2_to_pose3_retreat,0.575712147467,0.0100544767959,1.0400291145,0.546282879133,0.0187272109167,1.03969840008
+381,6.350000000,pose2_to_pose3_retreat,0.575711969479,0.0100544783467,1.04002912533,0.546282701162,0.018727212507,1.03969841044
+382,6.366666667,pose2_to_pose3_retreat,0.575711851605,0.0100544793737,1.0400291325,0.546282583298,0.0187272135601,1.0396984173
+383,6.383333333,pose2_to_pose3_retreat,0.575711532311,0.0100544821557,1.04002915193,0.546282264035,0.0187272164128,1.03969843589
+384,6.400000000,pose2_to_pose3_retreat,0.575711036734,0.0100544864737,1.04002918209,0.546281768505,0.0187272208405,1.03969846473
+385,6.416666667,pose2_to_pose3_retreat,0.575710517037,0.01005449261,1.04002920721,0.546281248776,0.0187272268416,1.03969848918
+386,6.433333333,pose2_to_pose3_retreat,0.575710290918,0.0100545002922,1.04002919789,0.546281022389,0.0187272336852,1.03969848174
+387,6.450000000,pose2_to_pose3_retreat,0.575710281458,0.0100545006136,1.0400291975,0.546281012917,0.0187272339715,1.03969848143
+388,6.466666667,pose2_to_pose3_retreat,0.575709976842,0.0100545109626,1.04002918493,0.54628070794,0.0187272431907,1.03969847141
+389,6.483333333,pose2_to_pose3_retreat,0.575709562363,0.0100545236232,1.04002915836,0.546280292972,0.0187272543215,1.0396984482
+390,6.500000000,pose2_to_pose3_retreat,0.575709435261,0.0100544962334,1.04002894153,0.546280165789,0.0187272266239,1.03969823047
+391,6.516666667,pose2_to_pose3_retreat,0.575709366909,0.0100544815039,1.04002882492,0.546280097394,0.018727211729,1.03969811339
+392,6.533333333,pose2_to_pose3_retreat,0.575709361777,0.010054480398,1.04002881617,0.546280092259,0.0187272106107,1.0396981046
+393,6.550000000,pose2_to_pose3_retreat,0.57570930803,0.0100544817909,1.0400288519,0.546280038484,0.0187272120244,1.03969814335
+394,6.566666667,pose2_to_pose3_retreat,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a46b75038e63f9967af6503ebad02f008f0ebed
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d980121c291254e89510a5569c76921c59e6518e12deaa13d8c5809dfc2b4d1
+size 25256592
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e267d3c99d323c32dfb2e5efcb560852a58234f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_04/franka_data.csv
@@ -0,0 +1,400 @@
+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,764,742,710,672,665,633,875,783,799,650,629,651,0.400982985737,0.00457178676881,0.049852759815,0.999999965217,5.15027036624e-05,-0.000255563632503,-3.99963643744e-05,1793192986931315968
+1,0.016666667,BASELINE,764.575630369,742.575630369,710.575630369,672,665,632.424369631,875.575630369,783.575630369,799,650,629,651,0.400984515743,0.00457318774134,0.0498534899477,0.99999996569,5.09379578046e-05,-0.00025373445713,-4.05483755759e-05,1793192986947982592
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+12,0.200000000,BASELINE,764,742,710.035586654,671.035586654,665,632.964413346,876.964413346,783,799,650,629,651,0.400986017029,0.00457403297899,0.0498539562522,0.999999966291,5.1749418774e-05,-0.000251235963567,-4.02621281824e-05,1793192987131316224
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+15,0.250000000,BASELINE,763.29165455,742,710.70834545,672,665,633,876,783.29165455,799.70834545,650,629,651,0.400985765343,0.00457251297082,0.049854977423,0.999999966645,4.8884692801e-05,-0.000250397061349,-4.02660050299e-05,1793192987181315840
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+21,0.350000000,BASELINE,764,742,710.179430105,671.358860209,665,633,875.179430105,783.179430105,799,650,629,651,0.400985738953,0.00457180368327,0.0498548779612,0.999999966673,4.95084522801e-05,-0.000250152826471,-4.03358782765e-05,1793192987281316608
+22,0.366666667,BASELINE,764,742,710.769591496,672.539182992,665,633,875.769591496,783.769591496,799,650,629,651,0.400987846063,0.00457287366848,0.0498557553019,0.999999967097,5.07974136178e-05,-0.000248139077534,-4.06580315981e-05,1793192987297982976
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+27,0.450000000,BASELINE,764,742,710,671.672197298,665,632.327802702,876,783.327802702,799.672197298,650,628.672197298,651.327802702,0.400984306337,0.00457332794613,0.0498542292237,0.999999966138,5.22821810182e-05,-0.000251667294894,-4.0661303283e-05,1793192987381315584
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+29,0.483333333,BASELINE,764,742.836053077,710.836053077,672,665,632,876,783,799.163946923,650,629,651,0.400985353655,0.00457186258143,0.0498561007946,0.999999966714,4.94487941933e-05,-0.000249997756182,-4.03593900161e-05,1793192987414648832
+30,0.500000000,BASELINE,764,742.586398842,711,672,665,632.413601158,876,783.413601158,799,650,629,651,0.400985000325,0.0045709894014,0.0498556415863,0.999999966824,4.76213546865e-05,-0.000249929418994,-4.02491889042e-05,1793192987431315456
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+33,0.550000000,BASELINE,765,742.857279933,711,671.142720067,665,632,876,783,799.857279933,650,629,651,0.400984650113,0.00457117726477,0.0498547881925,0.999999966726,4.88957216238e-05,-0.000250118879179,-3.99624977731e-05,1793192987481315840
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+47,0.783333333,BASELINE,764,742.720208486,711,672,665.720208486,633,876,783.279791514,799,650,629,651,0.400984159586,0.00456967484795,0.0498551566604,0.999999966815,4.67316482837e-05,-0.00025013420882,-4.02475749488e-05,1793192987714649088
+48,0.800000000,BASELINE,764,742.140766727,711,672,665.140766727,633,876,783.859233273,799,650,629,651,0.400985993275,0.0045718013304,0.0498562422431,0.999999967298,4.87655601714e-05,-0.000247792212469,-4.03017490818e-05,1793192987731315712
+49,0.816666667,BASELINE,764,742,710.563803359,671.563803359,665.436196641,632.563803359,876,783.563803359,799.436196641,650,629,651,0.400984469279,0.004572756747,0.0498554688161,0.999999966703,4.96628617649e-05,-0.000249980389688,-4.04575011251e-05,1793192987747982336
+50,0.833333333,BASELINE,764,742,710,671,665.987620423,632,876,783,800,650,629,651,0.400981980384,0.00457330515974,0.0498541461201,0.99999996579,5.01776604663e-05,-0.000253478975953,-4.06398691764e-05,1793192987764648960
+51,0.850000000,BASELINE,764,742,710,671,665.41075826,632,876,783,800,650,629,651,0.400984623538,0.00457243001916,0.0498549788204,0.999999966573,4.9881946938e-05,-0.000250444242589,-4.05495899267e-05,1793192987781315584
+52,0.866666667,BASELINE,764,742,710,671.169444677,665,632,875.830555323,783,799.830555323,650,629,651,0.400986533507,0.00457159085542,0.0498556979379,0.99999996714,4.91856933025e-05,-0.0002483274469,-4.04319776651e-05,1793192987797982208
+53,0.883333333,BASELINE,764,742,710,671.757908978,665,632,875.242091022,783,799.242091022,650,629,651,0.400986630385,0.00457084065879,0.0498561361763,0.999999967191,4.74989443355e-05,-0.000248480618824,-4.02467736234e-05,1793192987814648832
+54,0.900000000,BASELINE,764,742,710.340719823,672,665,632,875.340719823,783.340719823,799,650,628.659280177,651,0.400984805446,0.00457135604088,0.0498554542919,0.999999966756,4.90169676626e-05,-0.000249934475406,-4.02259880712e-05,1793192987831315712
+55,0.916666667,BASELINE,764,742,710.919579267,672,665,632,875.919579267,783.919579267,799,650,628.080420733,651,0.400981637291,0.0045727559751,0.0498539895193,0.999999965968,5.27749055316e-05,-0.000252297420712,-4.03201196934e-05,1793192987847982336
+56,0.933333333,BASELINE,764,742,710.504136905,672,665,632.495863095,876,783.504136905,799,650,628.495863095,651,0.400983362855,0.00457232704967,0.049854704608,0.999999966418,5.1368635122e-05,-0.000250807668121,-4.02527068315e-05,1793192987864649216
+57,0.950000000,BASELINE,764,742,710,672,665,633,876,783,799,650,629,651,0.400985398978,0.00457162387722,0.0498555661852,0.999999966944,4.94326131381e-05,-0.000249112172836,-4.01464485685e-05,1793192987881315584
+58,0.966666667,BASELINE,764,742,710,672,665,633,876,783,799,650,629,651,0.40098406849,0.00457106710678,0.0498549854373,0.999999966636,4.96294092595e-05,-0.000250339476521,-3.99503642177e-05,1793192987897982208
+59,0.983333333,BASELINE,764,742,710.242561886,671.757438114,665,632.757438114,876,783,799,650,629,651,0.400983699958,0.00457101993386,0.0498548292677,0.999999966476,5.00663314045e-05,-0.000250901172397,-3.98817736044e-05,1793192987914648832
+60,1.000000000,BASELINE,764,742,710.821645203,671.178354797,665,632.178354797,876,783,799,650,629,651,0.400984666009,0.0045716797577,0.0498552621425,0.999999966523,5.08363955816e-05,-0.000250539428678,-3.99900630805e-05,1793192987931315712
+61,1.016666667,BASELINE,764,742,710.598791597,671.401208403,665,632,876,783,799,650.401208403,629,651,0.400986256382,0.00457217275061,0.0498565998403,0.999999967119,5.0684472997e-05,-0.000248201550307,-3.98754347792e-05,1793192987947982336
+62,1.033333333,BASELINE,764,742,710.019014846,671.980985154,665,632,876,783,799,650.980985154,629,651,0.400988124626,0.004572591491,0.0498583402534,0.999999967949,5.01221959187e-05,-0.000244984141276,-3.96615910537e-05,1793192987964648960
+63,1.050000000,BASELINE,764,742,710,672,665,632,876.5547819,783.5547819,799,650.4452181,629,651,0.400987595734,0.0045715639135,0.0498572269233,0.999999967788,4.74876365291e-05,-0.000246129764779,-3.98673323133e-05,1793192987981315840
+64,1.066666667,BASELINE,764,742.131641086,710.131641086,672.131641086,665,632.131641086,876.868358914,783.868358914,799,650.131641086,629,651,0.400986647834,0.00457083572047,0.0498560871774,0.999999967505,4.57445856315e-05,-0.000247572585507,-4.00754475395e-05,1793192987997982208
+65,1.083333333,BASELINE,764,742.719824278,710.719824278,672.719824278,665,632.719824278,876.280175722,783.280175722,799,650.719824278,629,651,0.400984528682,0.00457131590306,0.0498551914169,0.999999966937,4.73370579833e-05,-0.000249533022232,-4.02424530841e-05,1793192988014649088
+66,1.100000000,BASELINE,764.303464403,742.696535597,710.696535597,672.696535597,665,633,876.303464403,783.303464403,799,651,629,651,0.400983999274,0.00457157072876,0.0498552967863,0.999999966884,4.8442751264e-05,-0.000249519288611,-4.03105502809e-05,1793192988031315712
+67,1.116666667,BASELINE,764.882971943,742.117028057,710.117028057,672.117028057,665,633,876.882971943,783.882971943,799,651,629,651,0.400984915959,0.00457162056095,0.049856312823,0.999999967303,4.91056510986e-05,-0.000247709772009,-4.02886765516e-05,1793192988047982336
+68,1.133333333,BASELINE,764.540455098,742.459544902,710,672,665,632.540455098,876.540455098,784,799,650.540455098,629,651,0.400984999464,0.00457199774652,0.0498562086764,0.999999967099,5.03567665057e-05,-0.000248284200819,-4.0273870559e-05,1793192988064648960
+69,1.150000000,BASELINE,764,742.965129879,710,671.965129879,665,632.034870121,875.965129879,783.965129879,799,650,629,651,0.400984886624,0.00457238627723,0.0498558300766,0.999999966761,5.16139537986e-05,-0.000249387605848,-4.02492625509e-05,1793192988081315840
+70,1.166666667,BASELINE,764,742.397523016,710,671.397523016,665,632.602476984,875.397523016,783.397523016,799,650,629,651,0.400984995105,0.00457168260253,0.0498555890276,0.999999966824,5.06898896539e-05,-0.00024935634812,-4.00475783402e-05,1793192988097982208
+71,1.183333333,BASELINE,764,742,710.179480346,671.179480346,665,632.820519654,875.179480346,783,799,650,629,651,0.400985328992,0.0045708125175,0.0498554400139,0.99999996696,4.91005784171e-05,-0.000249153676379,-3.98857258954e-05,1793192988114649088
+72,1.200000000,BASELINE,764,742,710.778445492,671.778445492,665,632.221554508,875.778445492,783,799,650,629,651,0.400986189698,0.00456955349499,0.0498555061065,0.999999967263,4.59564391245e-05,-0.000248550372618,-3.98169689541e-05,1793192988131315712
+73,1.216666667,BASELINE,764,742,710.635440725,672,665,632,875.635440725,783,799,650,628.635440725,651,0.400987307728,0.00456962729089,0.049856724919,0.999999967643,4.68641412447e-05,-0.000246851618126,-3.97703688369e-05,1793192988147982336
+74,1.233333333,BASELINE,764,742,710.056871221,672,665,632,875.056871221,783,799,650,628.056871221,651,0.400988576816,0.00457048350222,0.049858620422,0.99999996806,5.01504293504e-05,-0.000244509792212,-3.97367756259e-05,1793192988164648960
+75,1.250000000,BASELINE,764,742,710,672,665,632,875.5188154,783,799.5188154,650,628.5188154,651,0.400987623975,0.00457022609801,0.0498577377113,0.999999967853,4.93968697432e-05,-0.000245512747203,-3.97136570159e-05,1793192988181315584
+76,1.266666667,BASELINE,764,742,710,672,665,632,875.903841297,783,799.903841297,650,628.903841297,651,0.400986351786,0.00457024510463,0.0498565692439,0.999999967476,4.88913683447e-05,-0.000247138349426,-3.97468794496e-05,1793192988197982464
+77,1.283333333,BASELINE,764,742,710,672,665,632,875.31642886,783,799.31642886,650,628.31642886,651,0.400984685554,0.00457229642489,0.0498554881428,0.99999996658,5.19030015123e-05,-0.000250082154763,-4.0062102442e-05,1793192988214649088
+78,1.300000000,BASELINE,764,742,710.267368696,672,665,632.267368696,875.267368696,783,799,650,628.267368696,651,0.40098437763,0.00457265453065,0.049855201188,0.999999966422,5.17394367372e-05,-0.000250727503946,-4.01755474508e-05,1793192988231315712
+79,1.316666667,BASELINE,764,742,710.846945096,672,665,632.846945096,875.846945096,783,799,650,628.846945096,651,0.400985655807,0.00457103546161,0.0498558415615,0.999999967129,4.78681779347e-05,-0.000248688934684,-4.00533753214e-05,1793192988247982336
+80,1.333333333,BASELINE,764,742,710.575312955,672,665,633,876,783.424687045,799,650,629,651,0.400984660576,0.00457141005465,0.0498554178122,0.999999966939,4.90625144318e-05,-0.000249215067538,-4.00923447153e-05,1793192988264649216
+81,1.350000000,BASELINE,764,742.001764548,710.001764548,672,665,632.998235452,876,783.998235452,799,650,628.998235452,651,0.400982862057,0.00457249521342,0.0498546183012,0.999999966425,5.20587751424e-05,-0.000250650029744,-4.01891860845e-05,1793192988281315840
+82,1.366666667,BASELINE,764,742.576824401,710.576824401,672,665,632.423175599,876,783.423175599,799,650,628.423175599,651,0.400985129291,0.00457200492265,0.0498557984253,0.999999967104,4.99095970534e-05,-0.000248348658403,-4.03013671975e-05,1793192988297982464
+83,1.383333333,BASELINE,764,742.844426648,710.844426648,672.155573352,665,632.155573352,875.844426648,783.155573352,799,650,628.155573352,651,0.400986244,0.00457168583915,0.0498564049595,0.999999967424,4.88826615136e-05,-0.000247268785722,-4.0254511735e-05,1793192988314649088
+84,1.400000000,BASELINE,764,742.2553991,710.2553991,672.7446009,665,632.7446009,875.2553991,783.7446009,799,650,628.7446009,651,0.400984147576,0.00457184376851,0.0498554133734,0.999999966762,5.09824868203e-05,-0.000249592218508,-3.97645529653e-05,1793192988331315712
+85,1.416666667,BASELINE,764,742,710,672.671158193,665,632.671158193,875.328841807,783.671158193,799,650,628.671158193,651,0.40098348255,0.00457249516637,0.0498553678469,0.999999966558,5.11718206051e-05,-0.000250330057199,-3.99973244154e-05,1793192988347982336
+86,1.433333333,BASELINE,764,742,710,672.090581589,665,632.090581589,875.909418411,783.090581589,799,650,628.090581589,651,0.400983913288,0.00457352432395,0.0498560465474,0.99999996671,4.98986358521e-05,-0.000249854092642,-4.0783359933e-05,1793192988364648960
+87,1.450000000,BASELINE,764,742,710,672,665,632.484287838,876,783.484287838,799,650,628,651,0.400984725383,0.00457307835974,0.0498560975594,0.999999966994,4.93178481974e-05,-0.000248849428207,-4.06577773735e-05,1793192988381315840
+88,1.466666667,BASELINE,764,742,710,671.940533703,665,632.940533703,876,783.940533703,799,650,628.059466297,651,0.400985554113,0.00457240278527,0.0498560661182,0.999999967294,4.89440503002e-05,-0.000247758916262,-4.0402821714e-05,1793192988397982208
+89,1.483333333,BASELINE,764,742,710,671.353247777,665,632.353247777,876,783.353247777,799,650,628.646752223,651,0.400985904754,0.00457210962288,0.049856332757,0.999999967518,4.92713780955e-05,-0.000246773931704,-4.04953653857e-05,1793192988414648832
+90,1.500000000,BASELINE,764,742,710,671.230774191,665,632,875.769225809,783,799.230774191,650,629,650.769225809,0.400986537546,0.00457174419598,0.0498567171739,0.999999967688,4.9492544566e-05,-0.00024605311586,-4.04010739455e-05,1793192988431315712
+91,1.516666667,BASELINE,764,742,710,671.80986962,665,632,875.19013038,783,799.80986962,650,629,650.19013038,0.400987596204,0.00457126969596,0.0498572793605,0.999999967779,4.95534753933e-05,-0.000245731025685,-4.002478113e-05,1793192988447982336
+92,1.533333333,BASELINE,764.387668249,742,710,672,665,632.387668249,875.387668249,783,799.612331751,650,629,650.387668249,0.400988483194,0.00457094539076,0.0498578279648,0.999999968018,4.86647420519e-05,-0.000244942220546,-3.99986680322e-05,1793192988464649216
+93,1.550000000,BASELINE,764.964833038,742,710,672,665,632.964833038,875.964833038,783,799.035166962,650,629,650.964833038,0.40098928627,0.00457069450241,0.04985836993,0.999999968325,4.73118023346e-05,-0.000243925279927,-4.01437266312e-05,1793192988481315840
+94,1.566666667,BASELINE,764.459325418,742,710.540674582,672,665,632.459325418,875.459325418,783,799,650,629,651,0.400988033921,0.0045710825335,0.0498574091639,0.999999967883,4.84386445301e-05,-0.000245522397451,-4.00760937193e-05,1793192988497982464
+95,1.583333333,BASELINE,764,742,711,671.880901348,665,632,875.119098652,783.119098652,799,650,629,651,0.400986718389,0.0045712198435,0.0498565347852,0.999999967455,4.94950819483e-05,-0.0002470654883,-3.99811477831e-05,1793192988514649088
+96,1.600000000,BASELINE,764,742,711,671.291950148,665,632,875.708049852,783.708049852,799,650,629,651,0.40098567973,0.00457020449599,0.0498563858671,0.99999996729,4.96390138334e-05,-0.000247726315606,-3.98328930422e-05,1793192988531315712
+97,1.616666667,BASELINE,764,742.292185198,711,671.292185198,665,632,876,783.707814802,799.292185198,650,628.707814802,651,0.400985843012,0.00457085554801,0.0498567632166,0.999999967394,4.98723038977e-05,-0.000247236400068,-3.99927171913e-05,1793192988547982336
+98,1.633333333,BASELINE,764,742.871586554,711,671.871586554,665,632,876,783.128413446,799.871586554,650,628.128413446,651,0.400987187794,0.00457314466005,0.0498576578837,0.999999967759,5.01934324654e-05,-0.000245615311723,-4.04553809043e-05,1793192988564648960
+99,1.650000000,BASELINE,764,742.551773591,711,672,665,632.448226409,876,783,799.551773591,650,628.448226409,651,0.400986524522,0.0045710904974,0.0498571735365,0.999999967638,4.75474647721e-05,-0.000246673737533,-4.01853237339e-05,1793192988581315840
+100,1.666666667,BASELINE,764,742,711,672,665,632.976001737,876.023998263,783.023998263,799,650,629,651,0.400985292037,0.004567997191,0.0498562997044,0.999999967362,4.42948166405e-05,-0.00024846829294,-3.97295442912e-05,1793192988597982208
+101,1.683333333,BASELINE,764,742,711,672,665,632.402101679,876.597898321,783.597898321,799,650,629,651,0.400984118108,0.00456943063786,0.0498554985815,0.999999966965,4.64995345316e-05,-0.000249648055479,-3.97987593179e-05,1793192988614648832
+102,1.700000000,BASELINE,764,742,711,672,665,632,876.822827685,783.822827685,799,650,629,651,0.400983756429,0.00457097781798,0.0498553337974,0.999999966813,4.88264348634e-05,-0.000249787286636,-3.9944891394e-05,1793192988631315712
+103,1.716666667,BASELINE,764,742,711,672,665,632,876.230975837,783.230975837,799,650,629,651,0.400985295856,0.00457279119553,0.0498566583923,0.99999996724,5.14393082192e-05,-0.000247491108536,-4.02710511709e-05,1793192988647982336
+104,1.733333333,BASELINE,764,742.352940229,710.647059771,672,665,632.352940229,876,783.352940229,799,650,629,650.647059771,0.400985896554,0.00457257272198,0.0498569944378,0.999999967508,4.98176622066e-05,-0.000246737812856,-4.02863478056e-05,1793192988664649728
+105,1.750000000,BASELINE,764,742.931777116,710.068222884,672,665,632.931777116,876,783.931777116,799,650,629,650.068222884,0.400985896425,0.00457105377806,0.0498566977702,0.999999967664,4.54857451291e-05,-0.000246972026891,-4.01026789258e-05,1793192988681317376
+106,1.766666667,BASELINE,764,742.491285686,710,672,665.508714314,633,876,783.491285686,799,650,629,650.508714314,0.400987056239,0.00457208354706,0.049856642885,0.999999967737,4.81852890088e-05,-0.000246109737724,-4.04213305706e-05,1793192988697983232
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,877,784,799,650,629,651,0.400987085078,0.00457210240238,0.0498572040681,0.999999967625,5.11175436998e-05,-0.000245945460132,-4.05991294637e-05,1793192988740631040
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.420698679,742,711,672,665.579301321,632,876.420698679,783.420698679,799,650,629,651,0.400986225287,0.00457078953457,0.0498568135345,0.999999967548,4.81644896698e-05,-0.000246915055555,-4.02088890616e-05,1793192988757297664
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.15800708,742.15800708,710.84199292,672,665.84199292,632.15800708,876,783.15800708,799,650,629,651,0.400985453764,0.00457009444148,0.0498564709395,0.999999967433,4.64649748002e-05,-0.000247742709469,-3.99813532309e-05,1793192988773964032
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.735133217,742.735133217,710.264866783,672,665.264866783,632.735133217,876,783.735133217,799,650,629,651,0.400984916375,0.0045710380162,0.0498562555035,0.999999967236,4.8090513785e-05,-0.000248193859005,-4.01853966271e-05,1793192988790630912
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.688354867,742.688354867,710.311645133,672,665,632.688354867,876,784,799,650,629,651,0.400985732592,0.0045713369408,0.0498569313761,0.999999967447,4.924643052e-05,-0.000247109123658,-4.02167959637e-05,1793192988807297536
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.112363983,742.112363983,710.887636017,672,665,632.112363983,876,784,799,650,629,651,0.400987696975,0.00457108905583,0.0498583632805,0.999999968001,5.00040009842e-05,-0.000244721609578,-4.01017539718e-05,1793192988823964416
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.473648599,742,710.526351401,672,665,632.473648599,876,783.526351401,799,650,629,650.526351401,0.400986972437,0.00457136290152,0.0498579746385,0.99999996783,4.99339330649e-05,-0.000245457976927,-3.99683869999e-05,1793192988840631040
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.061152425,742,710.061152425,672,665.061152425,633,876,783.061152425,799.061152425,650,629,650.061152425,0.400986427837,0.00457163419095,0.0498575446947,0.999999967647,4.96570984774e-05,-0.00024627722262,-3.98519345735e-05,1793192988857297664
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.640708012,742,710.640708012,672,665.640708012,633,876,783.640708012,799.640708012,650,629,650.640708012,0.400992933076,0.00457081189913,0.0498605049923,0.999999968854,4.93278630811e-05,-0.000241380939452,-3.99165198493e-05,1793192988873964288
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.781252556,742,711,672,665.781252556,633,876,783.781252556,800,650,629,651,0.401004838572,0.00457042917716,0.0498652690965,0.999999970942,4.89947384948e-05,-0.000232658551665,-3.98240575946e-05,1793192988890630912
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.205686316,742,711,672,665.205686316,633,876,783.205686316,800,650,629,651,0.401025552916,0.00457076347755,0.0498729755529,0.999999974342,4.8655269924e-05,-0.00021769505809,-3.94754208585e-05,1793192988907297792
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.62317074,742,710.62317074,671.62317074,665,633,876.37682926,783.37682926,799.62317074,650,629,651,0.401066105932,0.00457032495347,0.0498869866638,0.999999980274,4.80570835324e-05,-0.000188705677128,-3.91549438753e-05,1793192988923964160
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.036790658,742,710.036790658,671.036790658,665,633,876.963209342,783.963209342,799.036790658,650,629,651,0.401117691028,0.00456945666981,0.0499045037281,0.999999986587,4.7315026777e-05,-0.000151916644828,-3.88501261644e-05,1793192988940630784
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.542942305,742,710.542942305,671.542942305,665,632.457057695,876.457057695,783.457057695,799,650.542942305,629,651,0.401182516477,0.00456854287132,0.0499176477076,0.999999989819,4.6545513029e-05,-0.000129444520854,-3.79478523883e-05,1793192988957297664
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665.122096503,632,876,783,799,650.877903497,629,651,0.401250419427,0.00456746519922,0.0499288100671,0.999999992085,4.52269646818e-05,-0.000111428139127,-3.69946820474e-05,1793192988973964288
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665.700750571,632,876,783,799,650.299249429,629,651,0.401326515855,0.0045657861446,0.0499336571851,0.999999992806,4.18622745864e-05,-0.00010648941025,-3.60007468945e-05,1793192988990630912
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665.722658241,632.277341759,876,783,799,650,628.722658241,651,0.401410677869,0.00456386954223,0.0499345085161,0.999999992897,4.02904023795e-05,-0.000106629364525,-3.48336498722e-05,1793192989007297792
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665.148276484,632.851723516,876,783,799,650,628.148276484,651,0.401503478322,0.00456169852036,0.0499310802585,0.999999992318,4.06386834185e-05,-0.000112208716474,-3.34810921928e-05,1793192989023964416
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,710.563360293,672,665,633,876,783,799,650,628.436639707,651,0.401617498248,0.00456129596464,0.0499315307398,0.999999992068,3.90834315325e-05,-0.000115295767325,-3.22901818205e-05,1793192989040631040
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.024903484,710.024903484,672,665,632.975096516,876,783,799.024903484,650,629,651,0.401740578984,0.00456136862174,0.0499333581353,0.999999991963,3.68131075666e-05,-0.000117254835401,-3.11321182659e-05,1793192989057297920
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.606060191,710.606060191,672,665,632.393939809,876,783,799.606060191,650,629,651,0.401901114241,0.00455831017764,0.049935792799,0.999999992581,3.33661247645e-05,-0.000113390599009,-2.9451308498e-05,1793192989073964544
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.814391876,711,671.814391876,665,632,876,783,799.814391876,650,629,651,0.402067899779,0.0045552650081,0.0499367877775,0.999999992797,2.93735693781e-05,-0.000113017304855,-2.77393906618e-05,1793192989090630912
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.238229178,711,671.238229178,665,632,876,783,799.238229178,650,629,651,0.402247837071,0.00455224777114,0.0499347533858,0.999999992171,2.42330265981e-05,-0.000119989613435,-2.59620157825e-05,1793192989107297536
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671.336843818,665,632.336843818,876,783,799,650,628.663156182,651,0.402456442963,0.00454926425619,0.049936504081,0.999999992602,1.97804846393e-05,-0.00011759509212,-2.40087612748e-05,1793192989123964416
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671.911148677,665,632.911148677,876,783,799,650,628.088851323,651,0.402685259057,0.00454630451357,0.0499409231064,0.999999993738,1.58129544444e-05,-0.000108597341575,-2.1931518678e-05,1793192989140631296
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.502012149,876,783,799,650,628.497987851,651,0.402949782492,0.00454222956204,0.0499437505252,0.999999994564,1.34535843349e-05,-0.000101547249957,-1.94887251296e-05,1793192989157297920
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.085686673,876,783.085686673,799.085686673,650.085686673,629,651,0.403228335037,0.00453773975819,0.0499473262522,0.999999995505,1.05603424414e-05,-9.26799126216e-05,-1.69859861642e-05,1793192989173964544
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.665119951,876,783.665119951,799.665119951,650.665119951,629,651,0.403550068053,0.00453203562825,0.0499568924899,0.999999997349,2.89476485915e-06,-7.12870861907e-05,-1.45233538693e-05,1793192989190630912
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,710.756972181,672,665,632.756972181,876.243027819,783.756972181,800,650.756972181,628.756972181,651,0.403885167052,0.0045263574318,0.0499651117953,0.999999998417,-3.11800170138e-06,-5.49737862044e-05,-1.15466164701e-05,1793192989207297792
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,710.181153174,672,665,632.181153174,876.818846826,783.181153174,800,650.181153174,628.181153174,651,0.404238568798,0.00452071474783,0.0499714866724,0.999999998905,-6.86748392692e-06,-4.56161588956e-05,-7.86588719214e-06,1793192989223964416
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,710.401635122,672,665,632.401635122,877,783,800,650,628.401635122,651,0.404625333251,0.00451523206507,0.04997576623,0.999999999281,-1.11586313633e-05,-3.5960696582e-05,-4.55875470189e-06,1793192989240630784
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,710.987622333,672,665,632.987622333,877,783,800,650,628.987622333,651,0.405027411307,0.00450982282364,0.0499790840275,0.999999999533,-1.56984051411e-05,-2.61685270942e-05,-1.42310469625e-06,1793192989257297664
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.56703798,742,711,672,665.56703798,633,876.43296202,783,800,650,629,651,0.405442991605,0.00450438059226,0.0499669063969,0.99999999861,-2.09334547717e-05,-4.83519325483e-05,1.85105856462e-06,1793192989273964288
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,742,711,672,665.854263376,633,876.145736624,783,799.854263376,650.145736624,629,651,0.405865108427,0.00449813272608,0.0499513681759,0.999999996668,-2.71616473761e-05,-7.68000747644e-05,5.3267094267e-06,1793192989290631168
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,742,711,672,665.277266949,633,876.722733051,783,799.277266949,650.722733051,629,651,0.406305705692,0.00448950295514,0.0499268748457,0.999999991887,-3.62843237511e-05,-0.000121744859366,9.38975153415e-06,1793192989307297792
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.701274458,742,710.701274458,672,665.298725542,632.701274458,876.701274458,783,799.298725542,651,629,651,0.406778893907,0.00448238450872,0.0499108704121,0.999999987695,-4.53419932067e-05,-0.000149614235375,1.30077973208e-05,1793192989323964416
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.126210597,742,710.126210597,672,665.873789403,632.126210597,876.126210597,783,799.873789403,651,629,651,0.407282230678,0.00447666412347,0.0499027186935,0.999999985321,-5.43395286225e-05,-0.000161687881111,1.62141963836e-05,1793192989340631296
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,710.459908622,672,665.540091378,632.459908622,876,783,799.540091378,651,629,651,0.407866839793,0.00446953107324,0.0499190054445,0.999999989934,-6.37864021119e-05,-0.000125156945762,1.99898439945e-05,1793192989357297920
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.048318849,742.048318849,711,671.951681151,665.048318849,633,876,783,799,651,629,651,0.408476331014,0.00446202783856,0.0499423548803,0.999999995006,-6.02510525007e-05,-7.60024976069e-05,2.41091870066e-05,1793192989373964544
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.627742841,742.627742841,711,671.372257159,665.627742841,633,876,783,799,651,629,651,0.409108131145,0.00445482175952,0.0499678033594,0.999999994992,8.73694463947e-05,-3.83161124641e-05,3.02469511773e-05,1793192989390631680
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.79394604,743,711,671.20605396,666,633,876.20605396,783,799.41210792,650.79394604,629,651,0.409739373906,0.00444896014162,0.0499837476337,0.99999998282,0.000181088486362,-1.59546811504e-05,3.62146426112e-05,1793192989407298304
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.217634672,743,711,671.782365328,666,633,876.782365328,783,800.564730656,650.217634672,629,651,0.410369615093,0.00444551438017,0.0499826138446,0.999999983066,0.000177952238422,-2.11305920211e-05,4.18767318153e-05,1793192989423964416
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,711,672,665.635312811,632.635312811,877,783,800.270625622,650,629,651,0.410980157723,0.00445838833488,0.0499606022167,0.999999991051,0.000109582125366,-7.20445114833e-05,2.64353703511e-05,1793192989440631040
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,711,672,665.049343977,632.049343977,877,783,799.098687955,650,629,651,0.411578747813,0.00448116462175,0.0499259225199,0.99999998864,1.62998693881e-06,-0.000150710931276,-1.81095560143e-06,1793192989457297664
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.469236158,743,711,672,665.530763842,632,877,783,799,650.530763842,629,651,0.412323504146,0.00448881470298,0.0499277054635,0.999999991831,-1.1902736944e-06,-0.000127814706363,-9.41561037007e-07,1793192989473964288
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.219818972,742.890090514,711,672,666,632,877,783,799.109909486,650.890090514,628.890090514,651,0.413084236319,0.00449096983287,0.049936036375,0.999999995371,1.51140175628e-06,-9.61358898661e-05,3.56462848483e-06,1793192989490631168
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.374509912,742.312745044,711,672,666,632,877,783,799.687254956,650.312745044,628.312745044,651,0.413855751528,0.00447567073439,0.0499579559447,0.999999997604,-1.34161143847e-05,-6.68231662533e-05,1.21516307155e-05,1793192989507298816
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.736366908,742.263633092,711,672.263633092,666,632,877.263633092,783,799.736366908,650,628.263633092,651,0.414610003988,0.00446579754316,0.0499580451827,0.999999997297,-1.60623319402e-05,-6.96287131048e-05,1.7309055299e-05,1793192989523965696
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.161132039,742.838867961,711,672.838867961,666,632,877.838867961,783,799.161132039,650,628.838867961,651,0.415343852802,0.00446233751427,0.0499323320096,0.999999993728,-4.1926405717e-06,-0.000110396524356,1.84128833194e-05,1793192989540631552
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.424133629,742.575866371,711,672.151732741,665.575866371,632,877.575866371,783,799.424133629,650,629,651,0.416103459009,0.00445964977401,0.0499179464647,0.999999991107,-6.91442770638e-06,-0.000132012755205,1.76449684073e-05,1793192989557298176
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.986919466,742.013080534,711,671.013080534,665.013080534,632.013080534,877,783,800,650,629,650.986919466,0.416875569854,0.00445749879579,0.0499089622336,0.999999989321,-1.49268204528e-05,-0.000144473881365,1.62318373621e-05,1793192989573964800
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.407575394,742.592424606,711,671.592424606,665.592424606,632.592424606,877,783,800,650,629,650.407575394,0.41775513627,0.00446557545905,0.0499429917716,0.999999996349,-6.18138879334e-06,-8.32107710537e-05,1.84161450286e-05,1793192989590631680
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.829043823,711,672,666,633,877,783,800,650,629,650.170956177,0.418611916832,0.00447167999014,0.0499660597001,0.999999998754,2.54247088978e-06,-4.53482212331e-05,2.069022156e-05,1793192989607298304
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.252440201,711,672,666,633,877,783,800,650,629,650.747559799,0.419414630717,0.00447310501521,0.0499631177512,0.999999997683,1.1215143685e-05,-6.3010885469e-05,2.31773030414e-05,1793192989623964928
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665.676597463,632.676597463,877,783,799.676597463,650,628.676597463,651,0.420243575919,0.00447182278615,0.0499566601591,0.999999997277,1.32937344534e-05,-6.87644089346e-05,2.32512468112e-05,1793192989640631552
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665.101347287,632.101347287,877,783,799.101347287,650,628.101347287,651,0.421092948551,0.00446843230032,0.0499474647826,0.999999997589,1.02372259559e-05,-6.52437649978e-05,2.14459750353e-05,1793192989657297920
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.485855206,742,710.514144794,672.485855206,665.485855206,632,877,783,799.485855206,650,628,650.514144794,0.421968283662,0.00446362624691,0.0499668608357,0.99999999943,5.42860208067e-06,-2.49588295875e-05,2.20609290388e-05,1793192989673964544
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,742,710.074401173,673,666,632,877,783,799.925598827,650,628.074401173,650,0.422845560674,0.00445944810046,0.0499865560778,0.99999999966,1.20963894472e-06,1.19024170627e-05,2.31511940037e-05,1793192989690631424
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,742,710.65470158,673,666,632,877,783,799.34529842,650,628.65470158,650,0.423698288277,0.00446159791846,0.0499667096593,0.999999999315,3.54796939406e-06,-2.79766455404e-05,2.39540361168e-05,1793192989707298304
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.768187595,742.231812405,711,672.768187595,666,632.231812405,877,783,799,650,629,650,0.424553834651,0.0044624891947,0.0499560187374,0.999999998482,4.29391976663e-06,-4.91421835385e-05,2.45416309729e-05,1793192989723964672
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.195763275,742.804236725,711,672.195763275,666,632.804236725,877,783,799,650,629,650,0.425413522893,0.00446153124184,0.0499587803764,0.999999998772,2.70011811555e-06,-4.28111427909e-05,2.48129539611e-05,1793192989740631552
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632.622057053,877,783,799.377942947,650,629,650,0.426278586134,0.0044590832729,0.0499728880371,0.999999999273,7.90793076986e-06,-2.64417120433e-05,2.63134261542e-05,1793192989757298176
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632.04768462,877,783,799.95231538,650,629,650,0.42714644289,0.00445586089323,0.0499928926016,0.999999999445,1.66507681061e-05,-4.85499736939e-06,2.84527279367e-05,1793192989773964544
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.45311484,711,672,665.45311484,632,877,783,800,650,629,650,0.427931863695,0.00445609881757,0.0499634152684,0.999999997445,7.81844430808e-06,-6.47213700667e-05,2.9323208082e-05,1793192989790631168
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665.138128404,632,877.138128404,783,799.723743192,650,629,650,0.428733615255,0.00445711674651,0.0499372194398,0.999999993207,9.63111481424e-07,-0.000112762180539,2.95007422249e-05,1793192989807297536
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665.713069197,632,877.713069197,783,798.573861606,650,629,650,0.429610612842,0.00445961061366,0.049935568105,0.999999994589,5.39169569023e-06,-0.000100085388755,2.78502054466e-05,1793192989823964160
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632,877.713228893,783,798.286771107,650,629,650,0.430451079614,0.00445826830964,0.0499369056927,0.999999995403,8.13757186299e-06,-9.1514488575e-05,2.74443797256e-05,1793192989840631296
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632,877.140761259,783,798.859238741,650,629,650,0.431255152404,0.00445310420906,0.0499412210029,0.99999999577,9.20704512223e-06,-8.70340953111e-05,2.82786010247e-05,1793192989857298176
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.446728919,711,672,666,632,877,783,799.446728919,649.553271081,629,650,0.432025578221,0.00444946710844,0.049930213684,0.999999993907,-1.36066097394e-06,-0.000106526566447,2.89135468472e-05,1793192989873964800
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.961800074,711,672,666,632,877,783,800,649.038199926,629,650,0.432787788653,0.00444650906259,0.0499163782415,0.999999991025,-1.55902313896e-05,-0.000129800905231,2.92914267622e-05,1793192989890631680
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.383305179,711,672,666,632,877,783,800,649.616694821,629,650,0.433588971335,0.00444611338724,0.0499332058917,0.999999994637,-2.79453046797e-05,-9.60093007074e-05,2.69524013743e-05,1793192989907298304
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.19410059,711,672.19410059,666,632,877,783,800,650,629,650,0.434381795343,0.00444578942155,0.0499520141641,0.999999997372,-2.40652404671e-05,-6.30933414361e-05,2.63779239989e-05,1793192989923964672
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.769367684,711,672.769367684,666,632,877,783,800,650,629,650,0.435158205083,0.00444560627618,0.0499747119013,0.999999998995,1.16966957599e-05,-3.18969312355e-05,2.92685907481e-05,1793192989940631296
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.64756815,711,673,666,632,877,783,799.64756815,650,629,650,0.435852027017,0.00444647057568,0.0499677174274,0.999999997572,2.01169526048e-05,-5.85486342108e-05,3.19767250504e-05,1793192989957298176
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.059286156,711,673,666,632,877,783,799.059286156,650,629,650,0.436490580502,0.00444803583345,0.0499408526927,0.999999991673,1.02399420939e-05,-0.000123912747565,3.45627069627e-05,1793192989973964800
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.520575768,742,711,673,666,632,877,783,799,650,629,650,0.437177563942,0.00444855156544,0.0499379427141,0.999999992756,5.66555668867e-06,-0.000115118930489,3.46996320919e-05,1793192989990631680
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,742,711,673,666,632,877.099315652,783,799,650,628.900684348,650,0.437868316646,0.0044483620888,0.049941948437,0.999999995003,2.46083823601e-06,-9.35952839534e-05,3.50488257034e-05,1793192990007298560
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,742,711,673,666,632,877.677195994,783,799,650,628.322804006,650,0.438551078,0.00444534126097,0.0499663418497,0.999999997994,2.99241175845e-06,-5.07794579978e-05,3.77434437955e-05,1793192990023965184
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.746908859,742.253091141,711,673,666,632,877.746908859,783,799,650,628.253091141,650,0.439187468436,0.0044452365938,0.0499701592706,0.999999998305,5.31175536747e-06,-4.24673379016e-05,3.948614985e-05,1793192990040631552
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.173526056,742.826473944,711,673,666,632,877.173526056,783,799,650,628.826473944,650,0.43976517554,0.00444882238376,0.0499479373798,0.999999996122,9.89355604765e-06,-7.78203183198e-05,4.00241929111e-05,1793192990057297920
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.587958365,711,673,666,632,877,783,799,650,629,650,0.440297204046,0.00445447487353,0.0499221472812,0.999999991849,1.7925746939e-05,-0.000119888125493,4.01056256446e-05,1793192990073964544
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.002842136,742,711,673,666.002842136,632,877.002842136,783,799.002842136,650,629,650,0.440809410991,0.00446099582394,0.049894946033,0.99999998527,2.74376608561e-05,-0.000164644793093,3.99929738569e-05,1793192990090631168
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.582455905,742,711,673,666.582455905,632,877.582455905,783,799.582455905,650,629,650,0.441321934769,0.00446174795423,0.0498956180324,0.999999985215,3.33686595438e-05,-0.000163704258643,4.07064715837e-05,1793192990107298048
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.839242943,742.160757057,711,673,666.678485885,632,877.839242943,783,800.160757057,650,628.839242943,650,0.441826445912,0.00446232910637,0.0498970711084,0.999999986053,2.92866236177e-05,-0.000159773176217,3.88454952882e-05,1793192990123964672
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.264323396,742.735676604,711,673,665.528646792,632,877.264323396,783,800.735676604,650,628.264323396,650,0.442310314011,0.00446246976331,0.049900536492,0.999999988567,-5.92246457102e-07,-0.000148137468784,3.03518363069e-05,1793192990140631552
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,672.689736464,665,632,877,783,800.689736464,650,628.310263536,650,0.442755459195,0.00446366435152,0.0498946937384,0.999999987212,-2.57217640455e-05,-0.000156108797529,2.33407696109e-05,1793192990157298176
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,672.115432629,665,632,877,783,800.115432629,650,628.884567371,650,0.443167650398,0.00446575585572,0.049880929579,0.999999982412,-4.68094885548e-05,-0.000180766095817,1.75914182739e-05,1793192990173964544
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.52655199,711,672.47344801,665,631.52655199,877.47344801,783,800,650,629,650,0.443510150737,0.00447215332156,0.0498496710908,0.999999971477,-3.92985576697e-05,-0.000234973539251,1.69810057451e-05,1793192990190630912
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,710.935683332,673,665,631,877.935683332,782.935683332,800,650,629,650.064316668,0.44383369524,0.00447945720426,0.0498152190102,0.999999956452,-1.78436906447e-05,-0.000294053900954,1.76321554119e-05,1793192990207297536
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,710.35820983,673,665,631,877.35820983,782.35820983,800,650,629,650.64179017,0.444145873797,0.00448535062014,0.0497903990297,0.99999994284,5.74644898186e-05,-0.00033270386597,1.8034549396e-05,1793192990223964160
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,710.218552218,673,664.781447782,631.218552218,877.218552218,782.218552218,799.781447782,649.781447782,629,650.781447782,0.444455884285,0.00448969841562,0.0497742968928,0.99999993156,0.000102958979272,-0.000354860946224,1.87791372174e-05,1793192990240631040
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,710.794151912,673,664.205848088,631.794151912,877.794151912,782.794151912,799.205848088,649.205848088,629,650.205848088,0.444762352777,0.00449152113958,0.0497724370482,0.999999933548,9.97470098611e-05,-0.000350073696799,2.00827652348e-05,1793192990257297664
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711,673,664,631.621995726,878,783,799.378004274,649.378004274,628.621995726,650,0.445047033254,0.00450289830991,0.0497757333368,0.999999936135,0.000107971222718,-0.00034006767303,2.06588371722e-05,1793192990273964544
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664,631.033548884,878,783,799.966451116,649.966451116,628.033548884,650,0.445319583934,0.00451959463252,0.0497819001479,0.999999938757,0.000122562187499,-0.000327156252264,2.08298641491e-05,1793192990290631168
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742,711,673,664.546472129,631,877.453527871,783,799.453527871,650,628.546472129,650,0.445545122516,0.00452961682124,0.0497784629829,0.999999937017,0.000129620065845,-0.000329766793898,2.04732522887e-05,1793192990307297792
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.125319319,710.874680681,673,664.874680681,631,877.125319319,783,799,650,629.125319319,650.125319319,0.445758395072,0.00453684745724,0.0497731158463,0.999999934655,0.000133507090101,-0.000335347348747,2.01958561865e-05,1793192990323964160
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.701774897,710.298225103,673,664.298225103,631,877.701774897,783,799,650,629.701774897,650.701774897,0.445937743379,0.00453548141389,0.0497629832996,0.999999931014,0.000127618938785,-0.000348241313337,2.03184678381e-05,1793192990340631040
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,710.2765155,673,664,631,878,782.7234845,799,650,629.7234845,651,0.446101251011,0.00453421489664,0.0497531472606,0.999999926966,0.000123338571599,-0.000361166655945,2.03694258808e-05,1793192990357297664
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,710.849417848,673,664,631,878,782.150582152,799,650,629.150582152,651,0.446247779591,0.00453305505786,0.049743629038,0.999999922514,0.000120781529757,-0.000374125630742,2.03435810352e-05,1793192990373964544
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,673,664,631,878,782.436730584,799,650,629,650.563269416,0.446373171023,0.00453291478232,0.0497361548606,0.999999919087,0.000118635605297,-0.000383866973132,1.99486013202e-05,1793192990390631168
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,673,664,631,878,783,799,650,629,650.028536657,0.446489460174,0.00453330639987,0.0497293819531,0.999999915889,0.000116806899096,-0.00039268454948,1.9410306355e-05,1793192990407297792
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664,631,878,783,799,650,629,650.607896442,0.446575528994,0.00453694772245,0.0497220772038,0.999999910489,0.000118271754834,-0.000405816393871,1.8646235757e-05,1793192990423964416
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,673,663.814508396,631,877.814508396,783,799,650,629,650.814508396,0.446654678888,0.00453936926096,0.0497146261471,0.99999990504,0.00011932867193,-0.000418753183598,1.80582778476e-05,1793192990440631040
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,673,663.240608324,631,877.240608324,783,799,650,629,650.240608324,0.446719340947,0.00453923664319,0.0497068687321,0.999999899695,0.000119531389429,-0.000431281538803,1.78390896092e-05,1793192990457297664
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,673,663.34175327,631,877.34175327,783,799.34175327,650,629,650,0.446775111786,0.00453905050801,0.0497003613772,0.999999895801,0.00011887435666,-0.000440414943778,1.73488959159e-05,1793192990473964544
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,673,663.930223424,631,877.930223424,783,799.930223424,650,629,650,0.446824463926,0.00453882573779,0.0496947564588,0.999999892999,0.000117596657123,-0.000447097483854,1.66630592406e-05,1793192990490631168
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.489243305,711,673,664,631,878,783,800,650,629,650,0.446860747949,0.00454107244339,0.0496921029966,0.999999890516,0.000119149601872,-0.000452215847499,1.65144529885e-05,1793192990507297792
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742,711,673,663.910079935,631,877.910079935,783,799.910079935,650,629,650.089920065,0.44689372594,0.00454360275774,0.0496900320224,0.999999888302,0.00012146950676,-0.000456480938801,1.63347180363e-05,1793192990523964416
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+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,711,673,663,630.756997802,877.243002198,783,799,650,629,650.756997802,0.446939230385,0.00454679259388,0.0496884118502,0.999999887225,0.000127494261931,-0.000457232974224,1.52879984345e-05,1793192990557297920
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+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.150177824,711,673,663.150177824,630.849822176,878.150177824,782.150177824,800.699644351,650,629,651,0.44697319706,0.00454769652192,0.0496823271511,0.999999882771,0.000126321278321,-0.000467208829358,1.46969632894e-05,1793192990640631552
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.727066803,711,673,663.727066803,630.272933197,878.727066803,782.727066803,799.545866394,650,629,651,0.446973861881,0.00454882575214,0.0496814348842,0.999999881886,0.000127991098302,-0.000468656926852,1.43601924289e-05,1793192990657298176
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.698178533,711,673,663.698178533,630,878.698178533,782.698178533,799.301821467,650,629,650.698178533,0.446974706582,0.00454943407948,0.0496808337756,0.999999881155,0.000129019463882,-0.000469939486024,1.41715111087e-05,1793192990673964800
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763.053238857,742.946761143,710.053238857,673,663,630.946761143,877.053238857,783,800,650,629,650.053238857,0.446978047832,0.00455053302401,0.049681043176,0.999999881456,0.00013087614844,-0.000468795587631,1.38191472156e-05,1793192990723964672
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.631336714,742.368663286,710.631336714,673,663,630.368663286,877.631336714,783,800,650,629,650.631336714,0.446978778688,0.00455077731094,0.0496814701839,0.999999881553,0.000130560022439,-0.000468678471716,1.37460823596e-05,1793192990740631296
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.208626404,710.791373596,673,663.208626404,630.208626404,877.791373596,783,799.791373596,650,629,650.791373596,0.446979680054,0.00455070061226,0.0496817084929,0.9999998817,0.000130826021559,-0.000468289665356,1.37540139604e-05,1793192990757298176
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.784493459,710.215506541,673,663.784493459,630.784493459,877.215506541,783,799.215506541,650,629,650.215506541,0.446980881568,0.00455005888937,0.049681614639,0.999999881934,0.000132116723254,-0.000467422608048,1.39045219176e-05,1793192990773965056
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,710.929919151,673,664,630.070080849,877,783,799,650,629,650,0.446979686425,0.00455200852927,0.0496809274192,0.999999880519,0.000132453802959,-0.000470355777107,1.35531339895e-05,1793192990807298048
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.109868723,711,672.109868723,663,630,877,782.890131277,799,650,629,650.890131277,0.446981297107,0.00455053864812,0.0496817959127,0.999999881225,0.000131478907267,-0.000469129310363,1.3489223249e-05,1793192990840631040
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.157883749,711,673,663,630,877.842116251,782,799,650,628.157883749,650,0.446980498458,0.00455049248622,0.0496797842884,0.999999880615,0.00012966520928,-0.000470931804178,1.34135021993e-05,1793192990890631680
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,710,673,663,630,877,782.988147397,800,650,628.011852603,650,0.446981595908,0.00454845321964,0.0496810721319,0.99999988135,0.000126098001819,-0.000470347396058,1.31594545205e-05,1793192990923965184
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,710,673,663,630,877,782.405892453,800,650,628.594107547,650,0.44698021835,0.00455044216413,0.0496794467489,0.999999880141,0.000128846763808,-0.000472179052499,1.27728322236e-05,1793192990940631552
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,710,673,663,630,877.174253373,782.174253373,799.825746627,650,629,650,0.446979392393,0.0045521013993,0.0496782640473,0.999999879191,0.00013137277364,-0.000473499268304,1.25508251153e-05,1793192990957297920
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,710,673,663,630,877.749545094,782.749545094,799.250454906,650,629,650,0.44697983593,0.0045530018193,0.0496781001626,0.999999878855,0.000133386126621,-0.000473642420376,1.27076744188e-05,1793192990973964544
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,710.324028468,673,663,630,877.675971532,782.675971532,799,650,629,650,0.446980555393,0.0045531853702,0.0496784687347,0.999999878986,0.000134012547497,-0.000473185520675,1.27832204159e-05,1793192990990631424
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,710.897888564,673,663,630,877.102111436,782.102111436,799,650,629,650,0.4469814876,0.00455281620243,0.0496792478405,0.99999987948,0.000133569619313,-0.000472265970529,1.2796080131e-05,1793192991007298048
+244,4.066666667,HOLD_POSE2,763,743,711,673,663,630,877,782,799,650,629,650,0.446982652679,0.00455243802942,0.0496810674792,0.999999880777,0.000130818042602,-0.000470296949838,1.23489020309e-05,1793192991038542592
+245,4.083333333,HOLD_POSE2,763.579928169,743,711,673,663,630,877,782,799.579928169,650,629,650,0.446984448012,0.00455091454422,0.0496815989244,0.999999881591,0.000130425898381,-0.000468660717164,1.278557997e-05,1793192991055209216
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+247,4.116666667,HOLD_POSE2,763.266617671,742.266617671,711,673.733382329,663,630,877,782.733382329,799.266617671,650,629,650,0.44698254731,0.0045507622417,0.0496807348701,0.999999880788,0.000130020899,-0.000470480138367,1.28919617811e-05,1793192991088542208
+248,4.133333333,HOLD_POSE2,763.314940277,742.314940277,711,673.685059723,663,630,877.314940277,783,799.314940277,650,629,650.314940277,0.446982075271,0.00455057084907,0.0496803863626,0.999999880457,0.000130199249491,-0.000471136493389,1.28537240423e-05,1793192991105208576
+249,4.150000000,HOLD_POSE2,763.902247974,742.902247974,711,673.097752026,663,630,877.902247974,783,799.902247974,650,629,650.902247974,0.446983365217,0.00454956904769,0.0496805832193,0.999999880784,0.000130613838639,-0.000470323498814,1.29247365678e-05,1793192991121874944
+250,4.166666667,HOLD_POSE2,764,743,711,673,663,630.485524062,877.514475938,783,800,650,629,650.514475938,0.4469823183,0.00454842890149,0.0496798463602,0.999999880281,0.000129959783787,-0.000471567070451,1.31204550472e-05,1793192991138541824
+251,4.183333333,HOLD_POSE2,764,742.933028237,711,673,663,630.933028237,877.066971763,782.933028237,799.933028237,650,628.933028237,650,0.446981025855,0.00454759654928,0.0496790924859,0.999999879718,0.000129285823127,-0.000472940326844,1.32883104363e-05,1793192991155208448
+252,4.200000000,HOLD_POSE2,764,742.359323754,711,673,663,630.359323754,877.640676246,782.359323754,799.359323754,650,628.359323754,650,0.446981406224,0.00454930209162,0.0496796205381,0.999999879974,0.000130075769786,-0.00047218773704,1.30569360977e-05,1793192991171875328
+253,4.216666667,HOLD_POSE2,764,742.215281359,710.784718641,673.215281359,663,630,878,782.215281359,799.215281359,650,628,650,0.446981899321,0.00455063897497,0.0496800366582,0.999999880253,0.000130576096952,-0.000471462196051,1.29085066034e-05,1793192991188541952
+254,4.233333333,HOLD_POSE2,764,742.791395959,710.208604041,673.791395959,663,630,878,782.791395959,799.791395959,650,628,650,0.446982581363,0.00455135794854,0.0496802651691,0.999999880572,0.000130590992599,-0.000470781991678,1.28991010461e-05,1793192991205208832
+255,4.250000000,HOLD_POSE2,764,742.622401457,710.377598543,673.244802913,663.377598543,630,877.622401457,782.622401457,800,650,628.377598543,650,0.44698251482,0.00455115180319,0.0496797268986,0.999999880189,0.000130664105608,-0.000471578402524,1.27690054068e-05,1793192991221875456
+256,4.266666667,HOLD_POSE2,764,742.030472738,710.969527262,672.060945477,663.969527262,630,877.030472738,782.030472738,800,650,628.969527262,650,0.44698202337,0.00455042054758,0.0496787533924,0.999999879405,0.000130770263601,-0.000473212960601,1.25704044006e-05,1793192991238541824
+257,4.283333333,HOLD_POSE2,763.451351717,742,711,672.548648283,663.451351717,630,877,782.548648283,800,650,628.451351717,650,0.446982222584,0.00455197174385,0.0496794022411,0.999999879605,0.000132684945069,-0.000472266608751,1.21877218611e-05,1793192991255208192
+258,4.300000000,HOLD_POSE2,763.125816568,742,710.874183432,673,663,630,877,782.874183432,799.874183432,650,628,650,0.446982572931,0.00455307522296,0.0496799805967,0.999999879899,0.000133916041959,-0.000471301896384,1.1922607742e-05,1793192991271874816
+259,4.316666667,HOLD_POSE2,763.698518152,742,710.301481848,673,663,630,877,782.301481848,799.301481848,650,628,650,0.446983326938,0.00455214846337,0.0496799958182,0.999999880354,0.000132370490296,-0.000470769507791,1.21105686883e-05,1793192991288541696
+260,4.333333333,HOLD_POSE2,764,742,710.271802889,673,663,630,877,782.271802889,799,650,628.271802889,650,0.446983488288,0.00455148215055,0.0496799004606,0.999999880567,0.000130589269427,-0.000470813996082,1.21326004498e-05,1793192991305208320
+261,4.350000000,HOLD_POSE2,764,742,710.845735812,673,663,630,877,782.845735812,799,650,628.845735812,650,0.446982990852,0.00455110534463,0.0496796821859,0.99999988051,0.000128546084015,-0.000471499727893,1.19701890163e-05,1793192991321875456
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,630,877,782,800,650,629,650,0.446983923285,0.0045528057007,0.0496808259179,0.999999880454,0.000133090861161,-0.000470333844433,1.28064578214e-05,1793192991354389760
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,663.423140413,630,877.576859587,782.576859587,800,650.576859587,629,650,0.446983329646,0.00455487129332,0.0496789544908,0.999999879203,0.00013593149505,-0.000472191976557,1.22824076031e-05,1793192991371055616
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.15318914,711,673.84681086,663,630,877.84681086,782.84681086,799.84681086,650.84681086,629,650.15318914,0.446982983054,0.00455551754089,0.0496779455252,0.999999878532,0.000137091187997,-0.000473284841657,1.20125971665e-05,1793192991387721984
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.728059806,711,673.271940194,663,630,877.271940194,782.271940194,799.271940194,650.271940194,629,650.728059806,0.446983316505,0.00455225677841,0.0496793106445,0.999999879475,0.000133623779836,-0.000472271167755,1.24426287716e-05,1793192991404388352
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.689973849,742.689973849,711,673,663,630,877.310026151,782,799,650,628.689973849,650.689973849,0.446983007323,0.00455052261961,0.0496797549897,0.999999879859,0.000131950728334,-0.000471921136576,1.26882017749e-05,1793192991421054976
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.101637758,742.101637758,711,673,663,630,877.898362242,782,799,650,628.101637758,650.101637758,0.446982121254,0.0045501588905,0.0496793727575,0.99999987975,0.000131888467909,-0.000472166856389,1.27681865847e-05,1793192991437721600
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.479303633,742.479303633,711,673,663,630,878,782.479303633,799.479303633,650,628.479303633,650,0.446980300527,0.00454982039808,0.0496783915885,0.999999879625,0.000130318789162,-0.000472877707701,1.23592245765e-05,1793192991454388480
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.941460827,742.941460827,711,673,663,630,877.941460827,782.941460827,800,650,629,650,0.44697700062,0.00454965203107,0.0496766985703,0.999999878923,0.000128760606748,-0.000474797856358,1.19115994043e-05,1793192991471055616
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.459125456,663,630,877,782,799.540874544,650,628.459125456,650,0.446711173599,0.00455493579297,0.0496032708163,0.999999812845,0.00013822351609,-0.000595908952173,9.85499132177e-06,1793192991571054848
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,710.422302889,672.422302889,665.422302889,632,876,784,799,650,629,651,0.404691533292,0.0045950032907,0.0497899932853,0.99999993009,9.19505184533e-05,-0.000358565459507,-5.2876294814e-05,1793192992721054976
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,632,876,783,799,650,628.516998653,651,0.403009753831,0.00460199916051,0.0498551871462,0.999999956757,0.00010249932871,-0.000270298721637,-5.40168155847e-05,1793192992804388864
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,710,671.938108211,665,632.061891789,876,783,799,650,628.061891789,651,0.40270702155,0.00460500130265,0.0498399743142,0.999999947512,0.000105990195077,-0.000301180383289,-5.50606926933e-05,1793192992821055488
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,710.215469522,671,665,632.784530478,876,783,799.215469522,650,628.784530478,651,0.402215479661,0.00460607377463,0.0498199260684,0.999999935353,0.000109842241837,-0.000337725040347,-5.63051620448e-05,1793192992854388480
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,710.802863114,671,665,632.197136886,876,783,799.802863114,650,628.197136886,651,0.40201812554,0.00460637962129,0.0498171005937,0.999999934714,0.000109496600046,-0.000339584991349,-5.71423764034e-05,1793192992871055104
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,710.03620476,671,664.03620476,632,876,783,799.03620476,650,628.96379524,651,0.401698358458,0.00460401189278,0.0498259936959,0.999999947763,3.84005063685e-05,-0.000316292610445,-5.43828430481e-05,1793192992904388352
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,710,671.541803389,664.541803389,632.541803389,876,783,799,650,629,651,0.40158295503,0.00459171071491,0.0498352410557,0.999999954219,4.5473246151e-05,-0.00029602295438,-4.31924933954e-05,1793192992921055232
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,632.307790503,876,783,799.692209497,650,629,651,0.401378033794,0.00457016835067,0.0498425009401,0.999999959961,3.86855415375e-05,-0.000278287046881,-3.37392390577e-05,1793192992954388992
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,710,671.726596964,665,632,876,783,799.726596964,650,629,651,0.40129338661,0.00456881210799,0.0498426819933,0.999999960449,3.64748926274e-05,-0.000276693797416,-3.48207000201e-05,1793192992971055360
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742.234805292,710,672,665,632.234805292,876,784,799,650,628.234805292,650.765194708,0.401034902104,0.00457656614077,0.0498480311105,0.999999963529,4.59515078779e-05,-0.000263250107277,-3.91098108108e-05,1793192993071055104
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,710,671.653163305,665,632,875.653163305,783.653163305,799,650,628.346836695,651,0.401019891105,0.00457641464195,0.0498491690007,0.999999964162,4.5389614241e-05,-0.000260914492455,-3.92255718189e-05,1793192993087721728
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,710,671.073608912,665,632,875.073608912,783.073608912,799,650,628.926391088,651,0.401007661718,0.00457561650529,0.0498500861619,0.999999964698,4.31522011117e-05,-0.000259189961478,-3.95152491197e-05,1793192993104388352
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,710,671.505424269,665,632.505424269,875.505424269,783,799,650,629,651,0.401000614289,0.00457678259682,0.0498501097356,0.999999964625,4.38405834923e-05,-0.000259293868573,-3.99423792224e-05,1793192993121054976
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,710.659700764,672,665,632.340299236,876,783,799,650,629,651,0.400995258324,0.00457733538105,0.0498514381613,0.999999965262,4.62166201028e-05,-0.00025641824917,-3.98747835398e-05,1793192993154388224
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,710.765202743,672,665,632,876,783,799,650,629,651,0.400994913718,0.00457701520119,0.0498525814172,0.999999965894,4.67741607114e-05,-0.000253867003469,-3.96859462036e-05,1793192993171054848
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,710.191096892,672,665,632,876,783,799,650,629,651,0.400994045529,0.0045770994242,0.0498535866086,0.99999996647,4.63408920892e-05,-0.000251654467332,-3.97912350509e-05,1793192993187721472
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,710,671.435124452,665,632.564875548,876,783,799,650,628.435124452,651,0.400989977229,0.0045756331462,0.0498525968019,0.999999966155,4.4828318167e-05,-0.000253141283984,-4.0008245256e-05,1793192993237722880
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,710.142231157,671.142231157,665,632.857768843,875.857768843,783,799,650,628,651,0.400989903416,0.00457449179726,0.0498531330724,0.99999996633,4.28692874202e-05,-0.000252817582149,-3.98266941167e-05,1793192993254390016
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,710.715424297,671.715424297,665,632.284575703,875.284575703,783,799,650,628,651,0.400989558368,0.00457521294137,0.0498535764517,0.999999966537,4.4283804599e-05,-0.000251736492391,-3.99103956437e-05,1793192993271055616
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,710.114107911,672,665,632.885892089,875.885892089,783,799,650,628.885892089,651,0.400988924386,0.00457518067293,0.0498543550647,0.999999966723,4.4584020626e-05,-0.000250913670814,-4.01068705754e-05,1793192993304388608
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..646e0324122a9dd595488777dd61aca42cc55f7c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,400 @@
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+350,5.833333333,pose2_to_pose3_retreat,0.57739988422,0.0100545086629,1.04002928415,0.5479706165,0.0187272449057,1.03969856996
+351,5.850000000,pose2_to_pose3_retreat,0.577146458363,0.0100547086538,1.04002921249,0.547717187151,0.0187274330438,1.03969849836
+352,5.866666667,pose2_to_pose3_retreat,0.576921277905,0.0100545878203,1.04002918028,0.547492008337,0.01872731786,1.03969846803
+353,5.883333333,pose2_to_pose3_retreat,0.576725494682,0.010054594506,1.04002912917,0.547296226603,0.0187273300731,1.03969842946
+354,5.900000000,pose2_to_pose3_retreat,0.576557487202,0.0100544554395,1.04002915692,0.547128217503,0.0187271852203,1.0396984495
+355,5.916666667,pose2_to_pose3_retreat,0.576413869616,0.0100544528024,1.04002907322,0.546984602251,0.0187271903382,1.03969836164
+356,5.933333333,pose2_to_pose3_retreat,0.576290204259,0.0100544469149,1.04002934154,0.546860937223,0.0187271856171,1.03969863119
+357,5.950000000,pose2_to_pose3_retreat,0.576182675472,0.0100544401289,1.04002905343,0.546753407364,0.018727175201,1.03969834489
+358,5.966666667,pose2_to_pose3_retreat,0.576090843846,0.0100544461767,1.0400291655,0.546661575929,0.0187271817324,1.03969845508
+359,5.983333333,pose2_to_pose3_retreat,0.576010245273,0.0100545479613,1.04002920844,0.546580977441,0.0187272839254,1.03969849992
+360,6.000000000,pose2_to_pose3_retreat,0.575940715215,0.0100545736734,1.04002915451,0.546511447108,0.0187273088378,1.0396984484
+361,6.016666667,pose2_to_pose3_retreat,0.575884059018,0.0100545568874,1.04002914811,0.546454790078,0.0187272892625,1.03969844333
+362,6.033333333,pose2_to_pose3_retreat,0.575838707576,0.0100545652668,1.04002909318,0.546409438391,0.0187272968393,1.03969838939
+363,6.050000000,pose2_to_pose3_retreat,0.575803546377,0.0100545325783,1.04002910031,0.546374277919,0.0187272664561,1.03969839169
+364,6.066666667,pose2_to_pose3_retreat,0.575776734559,0.0100544724106,1.04002920832,0.546347466536,0.0187272074187,1.0396984894
+365,6.083333333,pose2_to_pose3_retreat,0.57575777802,0.010054443195,1.04002923423,0.546328509855,0.0187271774442,1.03969850842
+366,6.100000000,pose2_to_pose3_retreat,0.575743157121,0.0100545683686,1.0400291831,0.546313887245,0.0187272973091,1.03969847033
+367,6.116666667,pose2_to_pose3_retreat,0.575732538306,0.0100545592584,1.04002902489,0.546303267758,0.018727286116,1.03969831706
+368,6.133333333,pose2_to_pose3_retreat,0.575725478227,0.0100545111205,1.04002895709,0.546296208119,0.0187272395141,1.03969825019
+369,6.150000000,pose2_to_pose3_retreat,0.575721148603,0.0100544579164,1.04002908832,0.546291880376,0.0187271926329,1.03969837994
+370,6.166666667,pose2_to_pose3_retreat,0.575718788349,0.0100544289126,1.04002915987,0.546289521147,0.0187271670761,1.03969845067
+371,6.183333333,pose2_to_pose3_retreat,0.57571745369,0.0100544822299,1.04002914617,0.546288185978,0.0187272185929,1.0396984351
+372,6.200000000,pose2_to_pose3_retreat,0.575716628046,0.0100545212361,1.04002913302,0.546287359925,0.0187272561614,1.03969842067
+373,6.216666667,pose2_to_pose3_retreat,0.575715793538,0.0100545606611,1.04002911973,0.546286525003,0.0187272941333,1.03969840608
+374,6.233333333,pose2_to_pose3_retreat,0.57571500182,0.0100545980646,1.04002910711,0.546285732893,0.0187273301581,1.03969839225
+375,6.250000000,pose2_to_pose3_retreat,0.575714292768,0.0100546315627,1.04002909582,0.54628502349,0.0187273624214,1.03969837985
+376,6.266666667,pose2_to_pose3_retreat,0.575713814381,0.0100546541633,1.0400290882,0.546284544866,0.018727384189,1.03969837149
+377,6.283333333,pose2_to_pose3_retreat,0.575713647471,0.0100546538805,1.04002908178,0.546284377937,0.0187273838454,1.03969836511
+378,6.300000000,pose2_to_pose3_retreat,0.575713591768,0.0100546528401,1.04002907921,0.546284322235,0.0187273828113,1.03969836259
+379,6.316666667,pose2_to_pose3_retreat,0.575713495622,0.0100546510445,1.04002907476,0.546284226092,0.0187273810266,1.03969835822
+380,6.333333333,pose2_to_pose3_retreat,0.575713194935,0.0100546454287,1.04002906084,0.546283925412,0.0187273754449,1.03969834457
+381,6.350000000,pose2_to_pose3_retreat,0.575712893095,0.0100546397914,1.04002904688,0.546283623579,0.0187273698418,1.03969833086
+382,6.366666667,pose2_to_pose3_retreat,0.575712814415,0.010054638322,1.04002904324,0.5462835449,0.0187273683812,1.03969832729
+383,6.383333333,pose2_to_pose3_retreat,0.575712468055,0.0100546318532,1.04002902721,0.546283198549,0.0187273619517,1.03969831157
+384,6.400000000,pose2_to_pose3_retreat,0.575711994246,0.0100546230042,1.04002900529,0.546282724751,0.0187273531564,1.03969829006
+385,6.416666667,pose2_to_pose3_retreat,0.575711515754,0.0100546140677,1.04002898315,0.546282246271,0.0187273442741,1.03969826833
+386,6.433333333,pose2_to_pose3_retreat,0.575711190479,0.0100546079927,1.0400289681,0.546281921003,0.0187273382359,1.03969825356
+387,6.450000000,pose2_to_pose3_retreat,0.575711156431,0.0100546073568,1.04002896653,0.546281886956,0.0187273376039,1.03969825202
+388,6.466666667,pose2_to_pose3_retreat,0.57571110581,0.0100546064114,1.04002896418,0.546281836336,0.0187273366642,1.03969824972
+389,6.483333333,pose2_to_pose3_retreat,0.575711078448,0.0100546059003,1.04002896292,0.546281808975,0.0187273361563,1.03969824848
+390,6.500000000,pose2_to_pose3_retreat,0.575710866427,0.0100545956241,1.04002897046,0.546281596979,0.0187273260094,1.03969825713
+391,6.516666667,pose2_to_pose3_retreat,0.575710447874,0.0100545715785,1.04002899567,0.546281178489,0.0187273022818,1.03969828509
+392,6.533333333,pose2_to_pose3_retreat,0.575710405048,0.0100545691181,1.04002899825,0.54628113567,0.018727299854,1.03969828795
+393,6.550000000,pose2_to_pose3_retreat,0.57571006429,0.0100545495417,1.04002901878,0.546280794963,0.0187272805365,1.03969831071
+394,6.566666667,pose2_to_pose3_retreat,0.57570977304,0.0100545328095,1.04002903632,0.546280503757,0.0187272640256,1.03969833016
+395,6.583333333,pose2_to_pose3_retreat,0.575709596877,0.0100545129099,1.04002896342,0.54628032752,0.0187272438157,1.03969825568
+396,6.600000000,pose2_to_pose3_retreat,0.57570948396,0.0100544972156,1.04002889159,0.546280214526,0.018727227789,1.03969818202
+397,6.616666667,pose2_to_pose3_retreat,0.575709399327,0.0100544854525,1.04002883775,0.546280129835,0.0187272157768,1.03969812681
+398,6.633333333,pose2_to_pose3_retreat,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25be012aa3dc171f20abfd06e7c6dbaab456e191
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59568cbf8287bf02ab6112ffc88d05ae8f926287ed01ab9902e3d1f29031abef
+size 25370203
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c47ee18f3da84fbbdf8c3b8abb861328197d2d6b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
+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,764,742,710.424559591,671.575440409,665,632.575440409,876,783.424559591,799,650,629,651,0.400989231511,0.00457240742362,0.0498566455293,0.999999967783,4.39448754243e-05,-0.000246911685837,-3.92208649188e-05,1793192993755047936
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+27,0.450000000,BASELINE,764,742,710,672,665,632,875.340599064,783,799,650.659400936,628,651,0.400989084282,0.00457496276108,0.0498572311318,0.999999967966,4.78498692729e-05,-0.00024535020106,-3.97674540587e-05,1793192994188380672
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+30,0.500000000,BASELINE,764.59139767,742.59139767,711,672,665,632.40860233,876,783,799.40860233,650,628.59139767,651,0.400989164799,0.00457427733304,0.049857670365,0.999999968309,4.64200540886e-05,-0.00024426366876,-3.95311092473e-05,1793192994238380544
+31,0.516666667,BASELINE,764.011870342,742.011870342,711,672,665,632.988129658,876,783,799.988129658,650,628.011870342,651,0.400991253492,0.00457467820938,0.0498586995788,0.999999968752,4.66272788945e-05,-0.000242399122575,-3.95424353487e-05,1793192994255047424
+32,0.533333333,BASELINE,764,742.565066169,711,672,665,633,876,783.565066169,799.434933831,650,628,651,0.400989318671,0.0045752312867,0.0498572856791,0.999999968075,4.77267397428e-05,-0.000244960356244,-3.9588684167e-05,1793192994271714048
+33,0.550000000,BASELINE,764,742.858192009,711,672,665,633,876,783.858192009,799,650,628,651,0.400988357887,0.00457525207356,0.0498565018177,0.999999967709,4.81285423463e-05,-0.000246367597681,-3.96174238365e-05,1793192994288381184
+34,0.566666667,BASELINE,764,742.281880825,711,672,665,633,876,783.281880825,799,650,628,651,0.400990639375,0.00457363215735,0.0498578049455,0.999999968386,4.63355351183e-05,-0.000243955408516,-3.95902774586e-05,1793192994305047552
+35,0.583333333,BASELINE,764,742.300554272,711,672,665,633,876,783,799,650,628.300554272,651,0.400991697116,0.00457372723694,0.0498585431872,0.999999968755,4.57007505179e-05,-0.000242524262212,-3.97800738599e-05,1793192994321714176
+36,0.600000000,BASELINE,764,742.888852332,711,672,665,633,876,783,799,650,628.888852332,651,0.400991583269,0.00457546421409,0.0498587406201,0.999999968837,4.61748215683e-05,-0.000242032343629,-4.01775663146e-05,1793192994338380800
+37,0.616666667,BASELINE,764,742.530590896,710.530590896,672,665,633,876,783.469409104,799,650.469409104,629,651,0.400991606755,0.00457505905704,0.0498592023636,0.999999968916,4.58590202375e-05,-0.000241824365035,-3.98198789937e-05,1793192994355047680
+38,0.633333333,BASELINE,764,742,710.047905548,671.952094452,665,633,876,783.952094452,799.047905548,651,629,651,0.400991678697,0.00457421154679,0.0498596910047,0.999999968993,4.54126309957e-05,-0.000241665881572,-3.93525588733e-05,1793192994371714304
+39,0.650000000,BASELINE,764,742,710.623570372,671.376429628,665,633,876,783.376429628,799.623570372,651,629,651,0.400991932026,0.00457398798331,0.0498597976855,0.999999969059,4.55545905186e-05,-0.000241324014623,-3.96154137833e-05,1793192994388380928
+40,0.666666667,BASELINE,764,742,711,671.201565535,665,633,876,783.201565535,800.201565535,650.798434465,629,651,0.400991672289,0.00457405695175,0.0498594270771,0.999999968912,4.59026031561e-05,-0.000241822719959,-3.98778734177e-05,1793192994405047552
+41,0.683333333,BASELINE,764,742,711,671.78396354,665,633,876,783.78396354,800.78396354,650.21603646,629,651,0.400990443176,0.00457467862212,0.0498581546914,0.999999968361,4.66399269665e-05,-0.000243909579861,-4.01395862132e-05,1793192994421714432
+42,0.700000000,BASELINE,764,742.36695782,711,672,665,633,876,784,800.63304218,650,629,651,0.400989357079,0.00457453308298,0.0498578049417,0.999999968215,4.62730055829e-05,-0.000244603709322,-3.99629547625e-05,1793192994438381056
+43,0.716666667,BASELINE,764,742.950303693,711,672,665,633,876,784,800.049696307,650,629,651,0.400988355315,0.00457393513496,0.0498579992529,0.99999996831,4.52549317708e-05,-0.000244476572039,-3.95278400321e-05,1793192994455047680
+44,0.733333333,BASELINE,764,742.470313679,710.470313679,672,665,633,876,783.470313679,799.470313679,650,629,651,0.400989987453,0.00457279271651,0.0498588469342,0.999999968769,4.28640248758e-05,-0.000243041804254,-3.94433753676e-05,1793192994471714304
+45,0.750000000,BASELINE,764,742,710.107908948,672,665,632.892091052,876,783.107908948,799,650,629,651,0.400991439618,0.00457203293546,0.0498594752947,0.999999969103,4.16016474474e-05,-0.000241894131483,-3.937731231e-05,1793192994488380928
+46,0.766666667,BASELINE,764,742,710.68270931,672,665,632.31729069,876,783.68270931,799,650,629,651,0.400991051817,0.00457314810007,0.0498588914548,0.999999968775,4.5775249199e-05,-0.000242515517512,-3.92495814175e-05,1793192994505047808
+47,0.783333333,BASELINE,764,742,711,672,665.263370386,632.263370386,876,783.736629614,799,650,629,651,0.400990658474,0.0045743104286,0.0498585125435,0.999999968501,4.7310421047e-05,-0.000243331122221,-3.93617588058e-05,1793192994521714432
+48,0.800000000,BASELINE,764,742,711,672,665.851252824,632.851252824,876,783.148747176,799,650,629,651,0.400990258302,0.00457553087034,0.0498583861351,0.999999968307,4.55946497434e-05,-0.000244386033731,-3.97695393751e-05,1793192994538381056
+49,0.816666667,BASELINE,764.432506805,742,710.567493195,672,665.567493195,632.567493195,876,783,799,650,629,651,0.400990102253,0.00457560112343,0.0498582995133,0.99999996831,4.60294679523e-05,-0.000244270343304,-3.99283794464e-05,1793192994555047680
+50,0.833333333,BASELINE,764.988514906,742,710.011485094,672,665,632.011485094,876.011485094,783,799.011485094,650,628.988514906,651,0.400990038537,0.00457530305305,0.0498582325902,0.999999968378,4.71722560277e-05,-0.000243760399328,-4.00022812285e-05,1793192994571714304
+51,0.850000000,BASELINE,764.411035568,742,710.588964432,672,665,632.588964432,876.588964432,783,799.588964432,650,628.411035568,651,0.40099045,0.00457605352943,0.0498584722828,0.999999968467,4.73050937844e-05,-0.000243361901301,-4.00458605446e-05,1793192994588380928
+52,0.866666667,BASELINE,764,742,711,672,665,632.834288576,876.834288576,783,799.834288576,650.165711424,628.165711424,651,0.400990502839,0.0045758763276,0.0498584407261,0.999999968489,4.69313185511e-05,-0.000243343150357,-4.00341226395e-05,1793192994605047552
+53,0.883333333,BASELINE,764,742,711,672,665,632.259350163,876.259350163,783,799.259350163,650.740649837,628.740649837,651,0.400989670048,0.00457340820968,0.0498577393147,0.999999968346,4.53064544955e-05,-0.00024426219088,-3.9885777976e-05,1793192994621714176
+54,0.900000000,BASELINE,764,742,711,672,665,632.323156894,876,783,799.323156894,650.676843106,629,651,0.400990142037,0.00457303585493,0.0498581816648,0.999999968594,4.44671304245e-05,-0.000243406907597,-3.98396643046e-05,1793192994638380800
+55,0.916666667,BASELINE,764,742,711,672,665,632.911883829,876,783,799.911883829,650.088116171,629,651,0.400991686291,0.00457438579656,0.0498595639571,0.999999969162,4.42733624751e-05,-0.000241093486585,-3.98775639764e-05,1793192994655047424
+56,0.933333333,BASELINE,764,742,710.508562576,672,665,633,875.508562576,783.491437424,799.508562576,650,629,651,0.400989445621,0.00457533514262,0.0498584251713,0.999999968627,4.49865537054e-05,-0.000243156888605,-3.99694716617e-05,1793192994671714304
+57,0.950000000,BASELINE,764,742,710.069226488,672,665,632.930773512,875.138452976,783.930773512,799.069226488,650.069226488,629,651,0.400987069683,0.00457596847865,0.0498571243357,0.999999968033,4.58577122102e-05,-0.000245415353481,-4.00338899498e-05,1793192994688380928
+58,0.966666667,BASELINE,764,742,710.645916674,672,665,632.354083326,876.291833347,783.354083326,799.645916674,650.645916674,629,651,0.400988585831,0.00457480219294,0.0498578885255,0.99999996848,4.67166044476e-05,-0.000243456340957,-3.98271114634e-05,1793192994705047552
+59,0.983333333,BASELINE,764,742.22642597,711,672,665.22642597,632.22642597,876.77357403,783,799.77357403,651,629,651,0.400989777484,0.00457439811085,0.0498584558193,0.999999968775,4.71207356613e-05,-0.000242169938509,-3.97920385939e-05,1793192994721714432
+60,1.000000000,BASELINE,764,742.813010117,711,672,665.813010117,632.813010117,876.186989883,783,799.186989883,651,629,651,0.400990452986,0.00457520640659,0.0498587099263,0.999999968833,4.68015140216e-05,-0.000241953404288,-4.00300844616e-05,1793192994738381056
+61,1.016666667,BASELINE,764,743,710.603391797,672,665.603391797,632.603391797,876,783,799.396608203,650.603391797,629,651,0.400990491155,0.00457525310883,0.0498587170204,0.999999968738,4.67653400486e-05,-0.000242331775204,-4.01424774946e-05,1793192994755047424
+62,1.033333333,BASELINE,764,743,710.021191071,672,665.021191071,632.021191071,876,783,799.978808929,650.021191071,629,651,0.400990231085,0.00457494342389,0.0498586085249,0.999999968572,4.68616180465e-05,-0.000242988531561,-4.01960713602e-05,1793192994771714048
+63,1.050000000,BASELINE,764,742.446617159,710.553382841,672,665.553382841,632.553382841,877.106765682,783,799.446617159,650,629,651,0.400990331054,0.00457483363789,0.0498589034957,0.999999968725,4.4903721616e-05,-0.00024277058792,-3.99473410426e-05,1793192994788380928
+64,1.066666667,BASELINE,764,742,711,672,665.871916845,632.871916845,877.743833691,783.128083155,799,650,629,651,0.400990390353,0.00457464277638,0.0498590720512,0.999999968829,4.35073465857e-05,-0.000242632637118,-3.97287476924e-05,1793192994805047552
+65,1.083333333,BASELINE,764,742,711,672,665.295766571,632.295766571,876.591533142,783.704233429,799,650,629,651,0.400990259801,0.00457414187771,0.0498587450604,0.999999968733,4.43467530745e-05,-0.000242890104102,-3.96555301115e-05,1793192994821714176
+66,1.100000000,BASELINE,764,742,710.712394436,672,665,632,876,783.712394436,799,650,629,651,0.400989908185,0.0045737185913,0.0498582262364,0.99999996865,4.53432548601e-05,-0.000243055195866,-3.95999072604e-05,1793192994838381056
+67,1.116666667,BASELINE,764,742,710.121404261,672,665,632,876,783.121404261,799,650,629,651,0.400989323377,0.00457337717526,0.0498575050545,0.999999968582,4.65054706867e-05,-0.000243122844366,-3.95628444524e-05,1793192994855047680
+68,1.133333333,BASELINE,764,742,710,672,665,632.460427743,875.539572257,783.460427743,799,650,629,650.539572257,0.400989692668,0.00457497909175,0.0498586463748,0.99999996864,4.78592831419e-05,-0.000242589568629,-3.97493235609e-05,1793192994871714304
+69,1.150000000,BASELINE,764,742,710.039500645,672,665,632.960499355,875.07900129,784,799.039500645,650,629,650.039500645,0.400990227263,0.00457678241981,0.0498600979544,0.999999968718,4.8922273867e-05,-0.000242018976549,-3.99561698176e-05,1793192994888380928
+70,1.166666667,BASELINE,764,742,710.613278991,672,665,632.386721009,876.226557982,784,799.613278991,650,629,650.613278991,0.400989661337,0.00457451438125,0.0498592330753,0.999999968648,4.53816755281e-05,-0.000243045016692,-3.96567966784e-05,1793192994905047552
+71,1.183333333,BASELINE,764,742,710.808136462,672,665.191863538,632.191863538,876.808136462,783.808136462,799.808136462,650.191863538,629,651,0.400989650992,0.00457303287164,0.0498587163665,0.999999968709,4.29128706056e-05,-0.000243268440146,-3.9499197998e-05,1793192994921714432
+72,1.200000000,BASELINE,764,742,710.219615502,672,665.780384498,632.780384498,876.219615502,783.219615502,799.219615502,650.780384498,629,651,0.400990789254,0.0045731774264,0.0498589194624,0.999999969063,4.26598837264e-05,-0.000241832539306,-3.96347028515e-05,1793192994938381056
+73,1.216666667,BASELINE,764,742,710.362709313,672,665.637290687,632.637290687,876,783,799,650.637290687,629,651,0.400989646664,0.00457381059521,0.049857980693,0.999999968606,4.47589132902e-05,-0.000243335766675,-3.96463027021e-05,1793192994955048448
+74,1.233333333,BASELINE,764,742,710.941345426,672,665.058654574,632.058654574,876,783,799,650.058654574,629,651,0.400987146246,0.00457473464398,0.0498563621524,0.999999967649,4.82581368146e-05,-0.000246588705333,-3.95841398645e-05,1793192994971716096
+75,1.250000000,BASELINE,764,742,710.481326071,672,665,632.518673929,876,783,798.481326071,650,629,651,0.400988591341,0.0045747049004,0.0498574206269,0.999999968121,4.83999792434e-05,-0.000244604608711,-3.97970150252e-05,1793192994988382208
+76,1.266666667,BASELINE,764,742,710.09571525,672,665,632.90428475,876,783,798.09571525,650,629,651,0.400990104368,0.0045745986376,0.0498585296363,0.999999968642,4.80552934361e-05,-0.000242498152032,-4.00100389029e-05,1793192995005048064
+77,1.283333333,BASELINE,764,742,710.672055157,672,665,632.327944843,876,783,798.672055157,650,629,651,0.400989723697,0.0045746483885,0.0498583760855,0.999999968623,4.71692433277e-05,-0.000242743640026,-4.00680224156e-05,1793192995021714432
+78,1.300000000,BASELINE,764,742,711,672,665,632,876,783,799,650.251258256,629,651,0.400989375149,0.00457442451782,0.0498582990171,0.999999968557,4.61987821387e-05,-0.000243217798851,-3.99484311478e-05,1793192995038380800
+79,1.316666667,BASELINE,764,742,711,672,665,632,876,783,799,650.834241452,629,651,0.400989069011,0.0045738393969,0.0498583229247,0.999999968432,4.51168768774e-05,-0.000243993861442,-3.95943959024e-05,1793192995055047424
+80,1.333333333,BASELINE,764,742,711,672,665,632,876,783,799.417664915,650.582335085,629,650.582335085,0.400989308577,0.00457404819568,0.0498583578089,0.999999968392,4.54609991319e-05,-0.000244119309004,-3.94319146522e-05,1793192995071714048
+81,1.350000000,BASELINE,763.998755996,742,711,672,665,632.001244004,875.998755996,783.001244004,799.998755996,650,629,650,0.400989766618,0.00457457049499,0.0498583989451,0.999999968387,4.63687783293e-05,-0.000243982737479,-3.9346098171e-05,1793192995088380928
+82,1.366666667,BASELINE,763.424089473,742,711,672,665,632.575910527,875.424089473,783.575910527,799.424089473,650,629,650,0.400990995977,0.00457421022799,0.0498593117844,0.999999968829,4.59455930987e-05,-0.000242215689308,-3.95196025709e-05,1793192995105047808
+83,1.383333333,BASELINE,763.150924145,742,710.849075855,672,665,632.849075855,875.301848289,783.849075855,799.150924145,650.150924145,628.849075855,650,0.400991570172,0.00457378261241,0.049859719254,0.999999969058,4.53802447798e-05,-0.000241367961506,-3.95811290685e-05,1793192995121714688
+84,1.400000000,BASELINE,763.726915461,742,710.273084539,672,665,632.273084539,876.453830922,783.273084539,799.726915461,650.726915461,628.273084539,650,0.400990299144,0.00457316531424,0.0498587033857,0.999999968689,4.44145040875e-05,-0.000243109434057,-3.93272777696e-05,1793192995138381568
+85,1.416666667,BASELINE,764,742,710.310742826,672,665.310742826,632.310742826,876.689257174,783.310742826,800,650.689257174,628.310742826,650.310742826,0.40098976696,0.00457328979372,0.0498582285183,0.999999968579,4.3525230686e-05,-0.000243702116414,-3.94566877377e-05,1793192995155048192
+86,1.433333333,BASELINE,764,742,710.901634719,672,665.901634719,632.901634719,876.098365281,783.901634719,800,650.098365281,628.901634719,650.901634719,0.400989900878,0.00457408302018,0.0498582413884,0.999999968703,4.27048961509e-05,-0.000243259111041,-3.99316255243e-05,1793192995171714304
+87,1.450000000,BASELINE,764,742,711,672,665.517851764,632.517851764,875.517851764,783.517851764,799.517851764,650,628.517851764,651,0.400990449278,0.00457447037667,0.0498586044568,0.9999999689,4.47365291166e-05,-0.000242080050425,-3.99382353853e-05,1793192995188380928
+88,1.466666667,BASELINE,764,742,710.939673399,672,665,632.060326601,875.060326601,783.060326601,799,650,628.060326601,651,0.40099086978,0.00457478529215,0.0498589890343,0.99999996904,4.70790399296e-05,-0.000241078082861,-3.98202255815e-05,1793192995205047552
+89,1.483333333,BASELINE,764,742,710.363737968,672,665,632.636262032,875.636262032,783.636262032,799,650,628.636262032,651,0.400989489639,0.00457517386174,0.0498589596732,0.999999968621,4.72104126694e-05,-0.000242846139521,-3.94365144858e-05,1793192995221714176
+90,1.500000000,BASELINE,764,742,710.216101158,671.783898842,665,633,876,783.783898842,799,650,628.783898842,651,0.400988638165,0.00457562708672,0.0498587308861,0.999999968271,4.82439024732e-05,-0.000244109469487,-3.92612746029e-05,1793192995238381056
+91,1.516666667,BASELINE,764,742,710.802631737,671.197368263,665,633,876,783.197368263,799,650,628.197368263,651,0.400988692907,0.00457619114057,0.0498581602534,0.999999968039,5.08237546469e-05,-0.000244507622894,-3.94433853236e-05,1793192995255047936
+92,1.533333333,BASELINE,764,742,710.615500157,671.384499843,665,632.615500157,876,783.384499843,799,650,628.384499843,651,0.400989957484,0.00457648449613,0.0498583155498,0.999999968459,5.02032890046e-05,-0.000242862368247,-3.97527481444e-05,1793192995271714560
+93,1.550000000,BASELINE,764,742,710.035996626,671.964003374,665,632.035996626,876,783.964003374,799,650,628.964003374,651,0.400991835642,0.00457664056387,0.0498588390099,0.999999969201,4.79597441935e-05,-0.000240180774836,-4.01266484038e-05,1793192995288381184
+94,1.566666667,BASELINE,764,742,710.541033935,672,665,632.541033935,876,783.458966065,799,650.541033935,629,651,0.400991391785,0.00457478182853,0.0498593012833,0.999999969078,4.69296818301e-05,-0.000240975891918,-3.96513599008e-05,1793192995305047552
+95,1.583333333,BASELINE,764,742,710.882422982,672,665,633,876,783,799,650.882422982,629,651,0.40099077895,0.00457328204796,0.0498595158403,0.999999968924,4.60179481897e-05,-0.000241852374042,-3.92658895296e-05,1793192995321714176
+96,1.600000000,BASELINE,764,742,710.307139805,672,665,633,876,783,799,650.307139805,629,651,0.400990106979,0.00457369907493,0.0498587818577,0.99999996888,4.52539834377e-05,-0.000242149221253,-3.94490049043e-05,1793192995338380800
+97,1.616666667,BASELINE,764,742,710,672,665,632.725557373,876,783.274442627,799,650,629,651,0.400990049314,0.00457373959414,0.0498585167845,0.999999968935,4.41559031302e-05,-0.000242088882083,-3.96686843309e-05,1793192995355047424
+98,1.633333333,BASELINE,764,742,710,672,665,632.136759614,876,783.863240386,799,650,629,651,0.400990695296,0.0045733488496,0.0498587888145,0.999999969102,4.26751165053e-05,-0.000241619410487,-3.99302453503e-05,1793192995371714304
+99,1.650000000,BASELINE,763.552777403,742,710,671.552777403,665,632.447222597,876,784,799,650,629,651,0.40098983409,0.00457251657446,0.0498583972726,0.999999968927,4.25012244657e-05,-0.000242435161297,-3.95642350332e-05,1793192995388381184
+100,1.666666667,BASELINE,763.029275288,742,710.029275288,671,665.029275288,632.970724712,876,783.970724712,799.029275288,650,628.970724712,651,0.400988616171,0.00457163070877,0.0498578643539,0.999999968664,4.27304684487e-05,-0.000243556480326,-3.90659073731e-05,1793192995405048320
+101,1.683333333,BASELINE,763.602545817,742,710.602545817,671,665.602545817,632.397454183,876,783.397454183,799.602545817,650,628.397454183,651,0.400989242916,0.00457223122387,0.049858434842,0.999999968729,4.31036892073e-05,-0.000243130602308,-3.96369415993e-05,1793192995421714688
+102,1.700000000,BASELINE,764,742,711,671.175695895,665.824304105,632.175695895,876,783.175695895,800,650,628.175695895,651,0.400989682562,0.00457288896331,0.0498587471551,0.999999968776,4.39216622921e-05,-0.000242729349864,-4.0029353862e-05,1793192995438381312
+103,1.716666667,BASELINE,764,742,711,671.748573603,665.251426397,632.748573603,876,783.748573603,800,650,628.748573603,651,0.400989699244,0.0045736760652,0.0498584758321,0.999999968778,4.57450517314e-05,-0.000242383766564,-4.00179695028e-05,1793192995455047936
+104,1.733333333,BASELINE,763.666114591,742,710.666114591,672,665,633,876,784,799.666114591,650,629,651,0.400989932981,0.0045737205583,0.0498586091456,0.999999968878,4.652979956e-05,-0.000241849837556,-3.98395451263e-05,1793192995471714304
+105,1.750000000,BASELINE,763.071077266,742,710.071077266,672,665,633,876,784,799.071077266,650,629,651,0.400990336488,0.00457318421236,0.0498590589497,0.999999969056,4.65021633375e-05,-0.000241168591973,-3.95304686765e-05,1793192995488380928
+106,1.766666667,BASELINE,763.507129754,742,710.507129754,672,665,632.492870246,876.507129754,783.492870246,799,650,629,651,0.400990461502,0.00457290773616,0.0498589018929,0.999999968992,4.57167194578e-05,-0.000241594432474,-3.94710450537e-05,1793192995505047808
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,710,672,665,633,876,784,799,650,629,651,0.400989084519,0.00457299576313,0.0498572750255,0.999999968633,4.42842259678e-05,-0.000243373721357,-3.92745847566e-05,1793192995548281344
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.41310025,710.58689975,671.41310025,665,633,876,783.41310025,799,650,628.41310025,650.41310025,0.400989480411,0.00457331820686,0.0498582060023,0.999999968702,4.49693496761e-05,-0.000242915912762,-3.9560495638e-05,1793192995564947968
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,710.827350367,671.172649633,665,632.827350367,876.172649633,783,799.172649633,650,628.172649633,650.172649633,0.400989837037,0.00457375836922,0.0498588939494,0.999999968787,4.5758158534e-05,-0.00024239759557,-3.9701490033e-05,1793192995581614336
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,710.244333461,671.755666539,665,632.244333461,876.755666539,783,799.755666539,650,628.755666539,650.755666539,0.400990100331,0.00457447833457,0.0498590042446,0.999999968907,4.67934145775e-05,-0.000241735456681,-3.94980355429e-05,1793192995598280192
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,710,672,665,632.33423821,876.331523581,783,799.66576179,650,628.66576179,651,0.400989782418,0.00457401237363,0.0498588636346,0.999999968944,4.63033432198e-05,-0.000241670481846,-3.95334598805e-05,1793192995614946560
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,710,672,665,632.909602957,875.180794087,783,799.090397043,650,628.090397043,651,0.400989045212,0.00457269086027,0.0498585420163,0.99999996892,4.47128682421e-05,-0.000242036313871,-3.97412164858e-05,1793192995631612928
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,710.483054572,672,665,633,875.483054572,783,799,650,628,651,0.40099145537,0.00457314634864,0.0498596784239,0.999999969398,4.49158685017e-05,-0.000240032293122,-3.96249014926e-05,1793192995648279808
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,710.942299142,672,665,632.942299142,875.942299142,783.057700858,798.942299142,650,628.057700858,651,0.400994449382,0.00457383362621,0.0498610754528,0.999999969948,4.53702984604e-05,-0.000237672961669,-3.94522928077e-05,1793192995664946432
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,710.35337091,672,665,632.35337091,875.35337091,783.64662909,798.35337091,650,628.64662909,651,0.400997417534,0.00457360539724,0.049862369812,0.999999970338,4.50617737145e-05,-0.000236109311039,-3.93175473463e-05,1793192995681613312
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,710.23319181,671.76680819,665,632.23319181,875.23319181,783.76680819,798.46638362,650.23319181,629,651,0.401007533163,0.00457286446127,0.0498666206173,0.999999972082,4.44477043878e-05,-0.000228779023272,-3.90051480416e-05,1793192995698279936
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,710.816205862,671.183794138,665,632.816205862,875.816205862,783.183794138,799.632411723,650.816205862,629,651,0.401028371065,0.00457135438891,0.0498753065292,0.99999997568,4.33752729709e-05,-0.000212797926099,-3.84262416737e-05,1793192995714946816
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671.785957589,665,633,876,783,799.607021206,650.607021206,628.607021206,651,0.401064114576,0.0045710800923,0.0498865124372,0.999999980417,4.28942532479e-05,-0.000189350641722,-3.83654127102e-05,1793192995731613440
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,672.933756942,665,633,876,783,799.033121529,650.033121529,628.033121529,651,0.401106720383,0.00457137472609,0.0498988785101,0.999999985149,4.26855094876e-05,-0.000162466047786,-3.85430978716e-05,1793192995748279808
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672.456966252,665,632.456966252,876,783,799,650,628.543033748,651,0.401172446728,0.00457116526225,0.04991330484,0.999999989134,4.16560957088e-05,-0.000136254318439,-3.78281331878e-05,1793192995764946176
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.122412211,875.877587789,783,799.122412211,650,629,651,0.401241229054,0.00457072296529,0.0499258739511,0.999999991921,4.06188196625e-05,-0.000114632877931,-3.69864095639e-05,1793192995781613056
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.71360506,875.28639494,783,799.71360506,650,629,651,0.401316291422,0.00456950726431,0.0499308475663,0.999999992469,3.97439231168e-05,-0.00011043223584,-3.58686306256e-05,1793192995798279680
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,710.702731912,672,665.297268088,633,875.297268088,783.297268088,799.702731912,650,628.702731912,651,0.401400231142,0.00456810505615,0.04993242152,0.999999992572,3.89899339037e-05,-0.000110173896147,-3.45940347449e-05,1793192995814946560
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,710.126144109,672,665.873855891,633,875.873855891,783.873855891,799.126144109,650,628.126144109,651,0.401492512214,0.00456652760178,0.0499308010759,0.99999999226,3.83495519658e-05,-0.000113619831842,-3.31720902397e-05,1793192995831613440
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,710.449097587,672,665.550902413,633,876,783.550902413,799,650,628.449097587,651,0.401605650195,0.00456424655688,0.0499315356157,0.999999992243,3.48739550498e-05,-0.000115247176692,-3.18589700016e-05,1793192995848280064
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.975548776,742,711,672,665,633,876,783,799,650,629,651,0.401726317302,0.00456179485196,0.0499330538139,0.999999992326,3.07192026526e-05,-0.000116062958343,-3.05671626037e-05,1793192995864946688
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.388954713,742,711,672,665,633,876,783,799,650,629,651,0.401885798453,0.00455994954892,0.0499374264731,0.999999993109,2.92044293082e-05,-0.000109929266486,-2.90646995933e-05,1793192995881613824
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.196141296,742,711,672,665,633,876,783.196141296,799.196141296,650,629,651,0.402051535362,0.00455763081646,0.0499390983798,0.999999993335,2.66324751704e-05,-0.000108954376509,-2.7373085384e-05,1793192995898280448
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.778289063,742,711,672,665,633,876,783.778289063,799.778289063,650,629,651,0.402229583598,0.00455438037413,0.0499354551996,0.999999992461,2.19799872638e-05,-0.000118132019828,-2.53092214088e-05,1793192995914946560
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.356666271,710.643333729,672,665,633,876,783.643333729,799.643333729,650,629,651,0.402432154898,0.00455120708518,0.0499345090314,0.999999992335,1.71307509965e-05,-0.000120370619317,-2.33871959703e-05,1793192995931612928
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.9327242,710.0672758,672,665,633,876,783.0672758,799.0672758,650,629,651,0.402649810782,0.00454808125429,0.0499352218422,0.999999992692,1.21604909232e-05,-0.000118340892544,-2.15524176955e-05,1793192995948279552
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.491881744,710.508118256,672,665,633,876,783,799,650,629,651,0.402910106529,0.00454407808643,0.0499397925904,0.999999993809,9.37075630983e-06,-0.000109231783341,-1.90287334978e-05,1793192995964946432
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.085360399,742,710.914639601,672,665,633,875.914639601,783,799.085360399,650.085360399,629,651,0.403183996239,0.00453962442149,0.0499455042557,0.999999995106,6.42756677247e-06,-9.73492541487e-05,-1.64323335924e-05,1793192995981613312
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.674016926,742,710.325983074,672,665,633,875.325983074,783,799.674016926,650.674016926,629,651,0.40350479411,0.00453319857193,0.0499549351173,0.999999997117,8.79560687921e-07,-7.46336425435e-05,-1.3944289931e-05,1793192995998279936
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.74096274,742.25903726,710.25903726,672,665,633,875.25903726,783,799.74096274,650.74096274,629,651,0.403840065435,0.00452816283296,0.0499632785122,0.999999998263,-3.33962221324e-06,-5.77985767976e-05,-1.10697830114e-05,1793192996014946560
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.160455031,742.839544969,710.839544969,672,665,633,875.839544969,783,799.160455031,650.160455031,629,651,0.404193298588,0.0045248522496,0.0499702723383,0.999999998788,-5.90970848964e-06,-4.82613881099e-05,-7.71566757252e-06,1793192996031613184
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.584978972,711,672,665,633,876,783,799,650,629,651,0.404575791646,0.00451925420973,0.0499752044696,0.99999999925,-1.08657661227e-05,-3.69089935389e-05,-4.53497771189e-06,1793192996048279808
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.011424955,711,672,665,633,876,783,799,650,629,651,0.404969461625,0.00451278238937,0.0499793490583,0.99999999955,-1.67332357525e-05,-2.48632125975e-05,-1.42053439049e-06,1793192996064946176
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665.576752928,632.423247072,876.576752928,783,799,650.576752928,629,651,0.405371578322,0.00450631261486,0.0499679814598,0.999999998622,-2.40018458272e-05,-4.66356612665e-05,2.3539233517e-06,1793192996081612800
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,672,666.162697286,632,876.837302714,783,799.162697286,650.837302714,628.837302714,651,0.405786576345,0.00449996159452,0.0499526972668,0.999999996633,-3.12503641812e-05,-7.56419847261e-05,6.0401808777e-06,1793192996098279680
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,672,666.742158808,632,876.257841192,783,799.742158808,650.257841192,628.257841192,651,0.406234131262,0.00449391466849,0.0499281879643,0.999999991848,-3.83744670945e-05,-0.000121417871964,9.46614246212e-06,1793192996114946560
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.320409012,711,672,666.679590988,632,876,783,799.679590988,650,628,651,0.406710588891,0.00448748758929,0.0499113171527,0.999999987422,-4.69401854921e-05,-0.00015095480914,1.28549014775e-05,1793192996131613440
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.89768817,711,672,666.10231183,632,876,783,799.10231183,650,628,651,0.407210217713,0.00448075574271,0.0499005700747,0.99999998424,-5.6661639924e-05,-0.000167473074187,1.6213835777e-05,1793192996148280832
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.526593853,710.526593853,672,665.526593853,632,876.473406147,783,799,650,628.473406147,651,0.407784264431,0.00447256265906,0.0499154433845,0.999999988448,-6.85378102654e-05,-0.000134158695508,2.01763978126e-05,1793192996164946944
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,710.049923961,672,665.049923961,632,877,783,799,650,629,651,0.408376922281,0.00446407681361,0.049936570692,0.999999992644,-7.76679350601e-05,-8.99205668783e-05,2.4385077246e-05,1793192996181612800
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,710.638705053,672,665.638705053,632,877,783,799,650,629,651,0.408997437764,0.00445582842651,0.0499656329781,0.999999997243,-5.21487118948e-05,-4.36381878907e-05,2.98467955368e-05,1793192996198279424
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,710.776685364,672,666,632,876.776685364,783,799,650.223314636,629,651,0.409629786583,0.00444835489748,0.0499844735421,0.999999999154,1.54153600235e-05,-1.44451477335e-05,3.53023977803e-05,1793192996214946304
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,710.198701033,672,666,632,876.198701033,783,799,650.801298967,629,651,0.410280929144,0.00444211200335,0.0499870799016,0.99999998788,0.00014975532122,-1.23935046533e-05,4.07482858419e-05,1793192996231613184
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.378096418,710.378096418,672,665.621903582,632,876.378096418,783,799,650.621903582,628.621903582,650.621903582,0.410899296385,0.00445034861834,0.0499631756206,0.999999990466,0.000117079520105,-6.86685272542e-05,2.53992717214e-05,1793192996248279552
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.954272063,710.954272063,672,665.045727937,632,876.954272063,783,799,650.045727937,628.045727937,650.045727937,0.411500493091,0.00446617083822,0.0499253827997,0.999999987905,-3.093420355e-06,-0.000155500042508,-8.43890277151e-07,1793192996264946432
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665.540853807,632,876.459146193,783,799,650,628,650.540853807,0.412195512902,0.00447977250532,0.049919528148,0.999999989186,-1.41417605014e-06,-0.000147048839689,-1.75860407089e-06,1793192996281613056
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.873460966,711,672,666,632,876,783.126539034,799,650,628.126539034,651,0.412918510639,0.00448767012077,0.0499237388227,0.999999992306,5.43990240911e-06,-0.000123920688117,1.19015192364e-06,1793192996298279936
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.294192947,711,672,666,632,876,783.705807053,799,650,628.705807053,651,0.413712669508,0.00447584476303,0.0499541104302,0.999999996909,-6.77413791074e-06,-7.76694192655e-05,1.01495725024e-05,1793192996314946560
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632,876.284175446,783.715824554,799.284175446,650.284175446,629,651,0.414489129197,0.0044667590893,0.0499589203248,0.999999997275,-1.52383179083e-05,-7.04635839995e-05,1.5884093073e-05,1793192996331613440
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632,876.86161551,783.13838449,799.86161551,650.86161551,629,651,0.415247323706,0.00446050072518,0.0499373509349,0.999999994275,-1.98327021657e-05,-0.000103552020269,1.82905683487e-05,1793192996348280064
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632,876.562846692,783.437153308,799.562846692,650.562846692,629,650.562846692,0.416017529981,0.00446104199382,0.0499196642992,0.999999991351,-1.08015220675e-05,-0.000129979456411,1.69584917171e-05,1793192996364946432
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.011896449,742,711,672.011896449,666,632,876,783.988103551,799,650,629,650.011896449,0.416792906112,0.00446377023415,0.0499042335655,0.999999988244,2.22909545098e-06,-0.000152627122222,1.45558480429e-05,1793192996381612800
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.577560105,742,711,672.577560105,666,632,876,783.422439895,799,650,629,650.577560105,0.417632703859,0.00446853814956,0.0499368463864,0.999999995141,1.52038009516e-06,-9.70581282389e-05,1.71700059525e-05,1793192996398279680
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.847313809,742.152686191,711,672.847313809,666,632,876.152686191,783,799.152686191,650,629,651,0.418467365351,0.00447290311643,0.0499617460737,0.999999998159,4.05191730838e-06,-5.71905197711e-05,1.98927713524e-05,1793192996414946560
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.244278229,742.755721771,711,672.244278229,666,632,876.755721771,783,799.755721771,650,629,651,0.41928687736,0.00447607958241,0.0499638957967,0.999999997582,1.61406107159e-05,-6.36343030965e-05,2.29358755687e-05,1793192996431613440
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632.343452247,877,783,800,650,629,650.656547753,0.420135421931,0.0044749430499,0.0499564733566,0.999999997162,1.75987302524e-05,-6.95839671371e-05,2.28882034259e-05,1793192996448280064
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632.92076144,877,783,800,650,629,650.07923856,0.421003734766,0.00447086979269,0.0499425332217,0.999999996888,1.18184819262e-05,-7.51971846482e-05,2.07360187394e-05,1793192996464946688
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.506822117,711,672,666,632.506822117,877,783,800,650,629,650,0.421895321236,0.00446477862176,0.049963507849,0.999999999225,6.32682793422e-06,-3.26407044359e-05,2.10931995744e-05,1793192996481613056
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.067178276,742.067178276,711,672.067178276,666,632.067178276,877.067178276,783,799.932821724,650,629,650.067178276,0.422782384428,0.00445932141589,0.04998510296,0.999999999727,1.64656753024e-06,8.001386311e-06,2.18895932878e-05,1793192996498279680
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.659650469,742.659650469,711,672.659650469,666,632.659650469,877.659650469,783,799.340349531,650,629,650.659650469,0.423605125475,0.00446133171853,0.0499681160268,0.999999999387,2.95191216676e-06,-2.62488661612e-05,2.29987268996e-05,1793192996514946304
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.753452278,742.753452278,711,672.753452278,666,632.753452278,877.753452278,783,799.246547722,650,628.753452278,650.753452278,0.424454397837,0.00446341091333,0.049958563823,0.99999999873,3.61389439549e-06,-4.42690602012e-05,2.38215159812e-05,1793192996531612928
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.174080756,742.174080756,711,672.174080756,666,632.174080756,877.174080756,783,799.825919244,650,628.174080756,650.174080756,0.425339485907,0.0044655831085,0.0499590480303,0.999999998885,3.40737833646e-06,-4.03797088493e-05,2.42577582804e-05,1793192996548279808
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632,877,783.40117458,800,650,628.40117458,650.40117458,0.426233697253,0.00446206198556,0.0499741976523,0.999999999312,7.65851024344e-06,-2.55717635581e-05,2.57610504382e-05,1793192996564946688
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632,877,783.974661896,800,650,628.974661896,650.974661896,0.427131827181,0.00445609546523,0.0499956463717,0.999999999502,1.38242936692e-05,-6.07405776472e-06,2.77226624276e-05,1793192996581613312
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.562972935,742.562972935,711,672,666,632.562972935,877,783.437027065,799.437027065,650,629,650.437027065,0.427914232614,0.00445557218859,0.0499631252299,0.99999999701,4.43781265172e-06,-7.15705805857e-05,2.896259438e-05,1793192996598280192
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.850696434,742.850696434,711,672.149303566,666,632.850696434,877,783,799,650,629,650,0.428715091382,0.00445577410371,0.0499364803766,0.999999992341,-1.47366437058e-06,-0.00012020189698,2.94522642275e-05,1793192996614946560
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.272031552,742.272031552,711,672.727968448,666,632.272031552,877,783,799,650,629,650,0.429584400921,0.00445733791796,0.0499339086209,0.999999993656,4.67552543372e-06,-0.000109034499663,2.78802941789e-05,1793192996631613184
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.306045721,742.306045721,711,672.693954279,666,632,877,783,799,650,629,650.306045721,0.430439308554,0.0044563178279,0.0499355215819,0.999999994756,7.74167975608e-06,-9.83468450971e-05,2.74910145348e-05,1793192996648279552
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.883601665,742.883601665,711,672.116398335,666,632,877,783,799,650,629,650.883601665,0.431281439409,0.0044530054122,0.0499408470387,0.999999995692,8.07270109517e-06,-8.80847976698e-05,2.81509655685e-05,1793192996664946176
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,711,672,666,632,877.458722914,783,799,650,628.541277086,651,0.432092520283,0.00445288573179,0.0499253288604,0.999999993186,-5.01966285564e-07,-0.000113265940924,2.82707043771e-05,1793192996681613056
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,711,672.034136503,666,632,877.965863497,783,799,650,628.034136503,651,0.432895865768,0.0044533192228,0.0499070929067,0.999999989342,-1.15995421882e-05,-0.000142797720815,2.81185394142e-05,1793192996698280192
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,711,672.624321342,666,632,877.375678658,783,799,650,628.624321342,651,0.433700867986,0.00444963665601,0.0499302839814,0.999999994548,-2.71777281755e-05,-9.7475303753e-05,2.57583782086e-05,1793192996714946560
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,711,673,666,632,877,783.210595931,799.210595931,650,629,650.789404069,0.434494089354,0.004447567598,0.0499519557527,0.999999997491,-2.39018388856e-05,-6.1721919391e-05,2.52428008554e-05,1793192996731612928
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,711,673,666,632,877,783.79002234,799.79002234,650,629,650.20997766,0.435266678279,0.00444832438323,0.0499709666721,0.99999999862,1.23944274021e-05,-4.2727402863e-05,2.79577639491e-05,1793192996748279552
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.633156732,743,711,673,666,632,877,783.266313463,799.633156732,650,629,650,0.435981033532,0.00445003968103,0.0499596515343,0.999999996265,1.98874634688e-05,-7.825212535e-05,3.08251204063e-05,1793192996764946176
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.057816673,743,711,673,666,632,877,782.115633346,799.057816673,650,629,650,0.436662291407,0.00445229975312,0.0499311004636,0.999999988891,1.10100700101e-05,-0.000144763069073,3.37790899641e-05,1793192996781613056
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632,877,783.036658458,799,650,629,650,0.437404255873,0.00445057994879,0.0499360053582,0.999999992504,5.60052833779e-06,-0.000117445426358,3.41507094203e-05,1793192996798279680
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.096806032,743,711,673.096806032,666,632,877.096806032,783.903193968,799,649.903193968,629,650,0.438140955278,0.00444868320994,0.0499463101546,0.999999996074,1.8424157474e-06,-8.15548164222e-05,3.45992028868e-05,1793192996814946304
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.686696786,743,711,673.686696786,666,632,877.686696786,783.313303214,799,649.313303214,629,650,0.438816292467,0.00444814995535,0.0499650817709,0.999999997775,4.52256805561e-06,-5.53896670636e-05,3.69087154557e-05,1793192996831613184
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.728507143,743,711,673.728507143,666,632.271492857,878,783,799,649.271492857,629,650,0.439453010503,0.00444853385636,0.049963671454,0.99999999746,7.72441172756e-06,-5.95047191686e-05,3.84542418436e-05,1793192996848279808
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.149482089,743,711,673.149482089,666,632.850517911,878,783,799,649.850517911,629,650,0.440045982837,0.00444995666089,0.0499394001505,0.999999994374,1.15171985383e-05,-9.79195222451e-05,3.91343664682e-05,1793192996864946432
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.573706152,711,673,666,632.573706152,877.573706152,783,799,650,629,650,0.440616070096,0.00445249512774,0.0499185817347,0.999999990748,1.55266535682e-05,-0.000129305392943,3.92916568806e-05,1793192996881613056
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711,673,666,632,877.000960993,783,799,650,629,650.000960993,0.441178163571,0.00445542492649,0.0498989993249,0.999999986524,1.96245798779e-05,-0.000158190109734,3.9266661949e-05,1793192996898279680
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711,673,666,632,877.58898329,783,799,650,629,650.58898329,0.44172207589,0.00446023519383,0.0499004275246,0.999999986965,3.17067456943e-05,-0.000153433644685,3.90354088893e-05,1793192996914946560
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.174414447,742.174414447,711,673,666,632,877.825585553,783,799,650,629,650.825585553,0.4422514334,0.00446522781482,0.0498995719021,0.999999987042,3.521529682e-05,-0.000152629155536,3.71615466769e-05,1793192996931612928
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.753828951,742.753828951,711,673,666,632,877.246171049,783,799,650,629,650.246171049,0.442746993944,0.00447064387212,0.0498934131176,0.999999986367,1.88154396173e-05,-0.000161001373567,3.14734544995e-05,1793192996948279552
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.66815118,742.66815118,711,673,665.66815118,631.66815118,877,783,799.33184882,650,628.66815118,650,0.443192254168,0.00447530590296,0.0498746470318,0.999999981184,-2.84111107169e-06,-0.000192460729171,2.41239470112e-05,1793192996964946432
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.091161579,742.091161579,711,673,665.091161579,631.091161579,877,783,799.908838421,650,628.091161579,650,0.443600356902,0.00447941092491,0.0498465677786,0.999999970442,-2.8380844532e-05,-0.000240974834682,1.55471320029e-05,1793192996981613056
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665,631,877.483390549,783,800.483390549,650,628.483390549,650,0.443969525414,0.00448476711512,0.0498098874985,0.999999953971,-2.50687760886e-05,-0.000301996284322,1.50752435053e-05,1793192996998279680
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.05915921,711,673,665,631.05915921,877.94084079,783,800.94084079,650,629,650,0.444332231514,0.00449015871707,0.0497745854997,0.99999993515,-1.6176194736e-05,-0.000359417043671,1.60356240659e-05,1793192997014946304
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.649970941,711,673,665,631.649970941,877.350029059,783,800.350029059,650,629,650,0.444702515949,0.00449375871299,0.0497661737609,0.999999933827,-5.78539829556e-06,-0.000363387966328,1.62001974959e-05,1793192997031612928
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.76392329,711,673,664.76392329,631.76392329,877,783,800,650,629,650.23607671,0.44506247635,0.00449724574852,0.0497641120841,0.999999935388,2.89551897739e-05,-0.000357922879457,1.66224599782e-05,1793192997048279808
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.184658694,711,673,664.184658694,631.184658694,877,783,800,650,629,650.815341306,0.445407428531,0.00450056857169,0.0497712815785,0.999999937566,9.90933963846e-05,-0.00033874053702,1.74193284276e-05,1793192997064946432
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.391307444,711,673,664,631,877,783,800,650,629,651,0.445713515684,0.00450679862553,0.0497729332015,0.999999936678,0.000124781236923,-0.000332761325645,1.85199427843e-05,1793192997081613056
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.965730095,711,673,664,631,877,783,800,650,629,651,0.446001415692,0.00451438913971,0.0497720026964,0.999999935966,0.00012966820687,-0.000332960615768,1.97626973796e-05,1793192997098279424
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.447561023,743,711,673,664,631,877.552438977,783,800.552438977,650,628.447561023,650.447561023,0.446242359237,0.00453098580483,0.0497600274334,0.999999929256,0.000140872154189,-0.000348295607217,1.82335099053e-05,1793192997114946304
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.13801141,743,711,673.13801141,664,631,877.86198859,783,800.86198859,650,628.13801141,650,0.446467669386,0.00454543421344,0.0497458921476,0.999999920806,0.000149912487615,-0.000368280364521,1.68697958205e-05,1793192997131612928
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.717455788,743,711,673.717455788,664,631,877.282544212,783,800.282544212,650,628.717455788,650,0.446652504656,0.00455118375638,0.0497270892834,0.999999908473,0.000150750546835,-0.000400066032478,1.65978621026e-05,1793192997148279552
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,673.70438018,664,630.70438018,877.29561982,782.70438018,800,650,628.70438018,650,0.446820159374,0.00455332554852,0.0497069438024,0.999999896001,0.000148649147792,-0.000430862307607,1.60963724039e-05,1793192997164946944
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,673.127434621,664,630.127434621,877.872565379,782.127434621,800,650,628.127434621,650,0.446971464259,0.00455203403477,0.0496855206251,0.99999988342,0.000143750421821,-0.000460717028026,1.53764264427e-05,1793192997181614848
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,673,663.551716494,630.448283506,878,782.448283506,800,650,628,650,0.44710719703,0.00455121688151,0.0496740920644,0.999999876238,0.000139940171414,-0.000477199160384,1.49104477638e-05,1793192997198280704
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,673,663,631,878,782.975773421,800,650,628.024226579,650,0.44723808399,0.00455058242653,0.0496660195812,0.999999870923,0.000136577718938,-0.000489171938431,1.45366387922e-05,1793192997214946048
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,673,663,631,878,782.386466951,800,650,628.613533049,650,0.44735891392,0.00455107266722,0.0496701376147,0.999999873265,0.000136462526371,-0.00048439105799,1.46333131294e-05,1793192997231612928
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.800794658,711,673,663,630.800794658,877.800794658,782,799.800794658,650,628.800794658,650,0.447471042203,0.00455172516371,0.0496736287113,0.999999875551,0.000136690525472,-0.000479578469969,1.47602152526e-05,1793192997248279552
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.222046572,711,673,663,630.222046572,877.222046572,782,799.222046572,650,628.222046572,650,0.447566591364,0.00455268680353,0.0496759253148,0.999999877753,0.000137572402172,-0.000474705470561,1.49447098812e-05,1793192997264946432
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.354587042,711,673,663,630,877.354587042,782.354587042,799.354587042,650,628,650,0.447645346889,0.00455288620753,0.0496771714578,0.99999987854,0.000136771230272,-0.000473276012061,1.49807142018e-05,1793192997281613312
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.929904455,711,673,663,630,877.929904455,782.929904455,799.929904455,650,628,650,0.447713648389,0.00455261111997,0.0496777636897,0.999999878453,0.000134922361007,-0.000473990156689,1.49242833503e-05,1793192997298279936
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.484440356,711,673,663,630,877.484440356,783,799.484440356,650,628.515559644,650,0.447761210509,0.00455331780058,0.0496767326452,0.999999877121,0.000135392562077,-0.000476661851471,1.48664249228e-05,1793192997314946560
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.101280593,711,673,663,630,877,783,799.101280593,650,629,650.101280593,0.447803691947,0.00455444968925,0.0496750897533,0.999999875338,0.000136345963155,-0.000480121633007,1.47199330983e-05,1793192997331613184
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.680543156,711,673,663,630,877,783,799.680543156,650,629,650.680543156,0.447835775392,0.00455694545871,0.0496716222021,0.999999872262,0.000138061296305,-0.000486018940034,1.41560809986e-05,1793192997348279808
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,710.740358816,673.259641184,663,630,877,782.740358816,799.740358816,650,629,650.740358816,0.447863034654,0.00455929802673,0.0496690884595,0.999999870228,0.000139455449953,-0.000489812725003,1.33744598254e-05,1793192997364946432
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,710.161463135,673.838536865,663,630,877,782.161463135,799.161463135,650,629,650.161463135,0.447884362104,0.00456147451425,0.0496677029269,0.99999986951,0.00014045468156,-0.000491020021365,1.23250700871e-05,1793192997381613056
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.585237618,710.414762382,673.585237618,663.414762382,630,877,782.414762382,799,650,629,650,0.447902599589,0.0045607290796,0.0496692461513,0.999999870988,0.000140049846778,-0.000488116108794,1.2322963562e-05,1793192997398279680
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.010044935,710.989955065,673.010044935,663.989955065,630,877,782.989955065,799,650,629,650,0.447919641871,0.00455885344391,0.0496719222204,0.999999873299,0.000139101918375,-0.000483621978474,1.27259467427e-05,1793192997414946304
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.576719503,711,673.576719503,663.423280497,630,878.153439007,783,799,650,629,650,0.447924358193,0.00456064116585,0.049670400562,0.999999871668,0.000141187700683,-0.00048639335425,1.23193457662e-05,1793192997431612928
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.838461013,711,673.676922026,663,629.838461013,878.676922026,783,799,650,629,650.161538987,0.447928082117,0.00456166749851,0.0496690005594,0.999999870197,0.000142171905371,-0.000489129097308,1.20662331756e-05,1793192997448279808
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.259202879,711,672.518405759,663,629.259202879,877.518405759,783,799,650,629,650.740797121,0.447929806348,0.00456055660301,0.0496681080766,0.999999869345,0.000140168137735,-0.000491438766279,1.22472315013e-05,1793192997464946432
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742,710.679823141,672.320176859,663,629.320176859,877,783,799.320176859,650,628.679823141,650.679823141,0.447931434909,0.00456029949164,0.0496676534114,0.999999868631,0.000140492706925,-0.000492794203414,1.24160944503e-05,1793192997481613056
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742,710.100344857,672.899655143,663,629.899655143,877,783,799.899655143,650,628.100344857,650.100344857,0.447932985989,0.00456073383376,0.0496675533212,0.999999868029,0.000142702924543,-0.000493376837675,1.2575129349e-05,1793192997498279680
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.473593953,710.473593953,673,663,630,877.473593953,783,799.526406047,650,628.473593953,650,0.447933425467,0.00456114474436,0.0496666602262,0.999999867821,0.00014172839538,-0.000494090505299,1.20458894478e-05,1793192997514946816
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.952303321,711,673,663,630,878,783,799,650,628.952303321,650,0.447933746635,0.00456147856753,0.0496657363904,0.999999867732,0.000140164657589,-0.000494730305932,1.14441743275e-05,1793192997531613952
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.363170024,711,673,663,630,878,783,799,650,628.363170024,650,0.447935367497,0.00456099302609,0.0496663488674,0.999999868077,0.00013948376593,-0.000494220078192,1.16560334191e-05,1793192997548280064
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.222576478,711,673,663,630,878,783,799,650,628.222576478,650,0.4479362135,0.00456134190075,0.0496665717936,0.999999868204,0.000139894596352,-0.00049384780715,1.16352608068e-05,1793192997564946432
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.802879659,711,673,663,630,878,783,799,650,628.802879659,650,0.447935814145,0.00456303185568,0.0496661686306,0.999999867978,0.000142060051315,-0.000493697261242,1.12406006385e-05,1793192997581613312
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.047852671,711,673,663,629.047852671,878.952147329,782.047852671,799,650,629,650.952147329,0.447933480622,0.00456288841122,0.0496639060584,0.999999865714,0.000141850679079,-0.000498329475736,1.09080288922e-05,1793192997614947072
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,710.461281637,673,663,629.538718363,878.461281637,782,799,650,628.461281637,650.461281637,0.447935215966,0.00456369220356,0.0496649704919,0.999999866509,0.000143651953764,-0.000496206319304,1.11735705543e-05,1793192997631613440
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742,710.124551774,673,663,630,877.875448226,782,799.124551774,650,628.124551774,650,0.44793705127,0.00456474338403,0.0496661813496,0.999999867403,0.000145274875533,-0.000493927935042,1.11934498101e-05,1793192997648279808
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742,710.703346348,673,663,630,877.296653652,782,799.703346348,650,628.703346348,650,0.447938235426,0.00456628643096,0.0496671477224,0.99999986798,0.00014546030347,-0.000492724939134,1.01895288871e-05,1793192997664946688
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.281884039,711,673,663,630,877,782,799.718115961,650,629,650,0.447937873776,0.00456586577485,0.0496665607996,0.999999867636,0.000144524302089,-0.00049370012553,1.00055227081e-05,1793192997681613312
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.860151704,711,673,663,630,877,782,799.139848296,650,629,650,0.447935886807,0.00456338040667,0.0496643406827,0.999999866315,0.000142409187187,-0.000496965535699,1.06836060287e-05,1793192997698279680
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673,663,630,877,782,799,650,628.56326564,650.43673436,0.447936510251,0.00456246781123,0.0496641028689,0.999999866523,0.000141722239129,-0.000496745957457,1.06212496264e-05,1793192997714946560
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.987302601,742.987302601,711,673,663,629.987302601,877,782,799.012697399,650,628.012697399,651,0.447937912743,0.00456209178197,0.0496644698435,0.999999867185,0.00014153697496,-0.000495470818187,1.03314966019e-05,1793192997731613184
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.414957874,742.414957874,711,673,663,629.414957874,877,782,799.585042126,650,628.585042126,651,0.447936951472,0.00456325304826,0.0496636233063,0.999999866327,0.000143384617675,-0.000496667918802,1.04292131423e-05,1793192997748279808
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.164185807,742.164185807,711,673,663,629,877,782,799.835814193,650,629,650.835814193,0.447936830012,0.00456416982286,0.0496635500603,0.999999865997,0.000144675742568,-0.000496954143191,1.05355647351e-05,1793192997764946432
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.761255219,742.761255219,711,673,663,629,877,782,799.238744781,650,629,650.238744781,0.447938922756,0.00456444198353,0.0496655156329,0.99999986707,0.000144499581939,-0.0004948387995,1.06646830436e-05,1793192997781612800
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.654913608,711,673,663,629.345086392,877,782,799,650,629,650,0.447939528142,0.00456417525404,0.0496659809821,0.999999867235,0.000144444895752,-0.000494515637833,1.09217734892e-05,1793192997798279424
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.079902839,711,673,663,629.920097161,877,782,799,650,629,650,0.447939142529,0.00456354947248,0.0496654467616,0.999999866797,0.000144471145639,-0.000495386572407,1.12641292847e-05,1793192997814946304
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.504910758,742.495089242,711,673,663,630,877,782,799.495089242,650,628.504910758,650,0.447939190087,0.00456329563445,0.0496655277781,0.9999998669,0.000143899228878,-0.000495340954036,1.1372703947e-05,1793192997831612672
+245,4.083333333,POSE1_TO_POSE2_PRESS,763.07179364,742.92820636,710.92820636,673,663,630,877.07179364,782.07179364,800,650,628.07179364,650.07179364,0.447939260956,0.00456339934694,0.0496656157126,0.999999867009,0.000143583648161,-0.000495213817815,1.1354583542e-05,1793192997848279552
+246,4.100000000,POSE1_TO_POSE2_PRESS,763.660856621,742.339143379,710.339143379,673,663,630,877.660856621,782.660856621,800,650,628.660856621,650.660856621,0.447938996108,0.00456564670787,0.0496650381129,0.99999986652,0.000145810484374,-0.000495565088412,1.06954651445e-05,1793192997864946432
+247,4.116666667,HOLD_POSE2,764,743,711,673,663,630,878,783,799,650,629,650,0.447938371339,0.004567257186,0.0496648525211,0.99999986522,0.00014904669187,-0.000497238970376,9.94907780203e-06,1793192997903286784
+248,4.133333333,HOLD_POSE2,764,742.424180739,711,673,663,630,878,783,799.575819261,650,629,650,0.447938564319,0.00456595455533,0.049664111163,0.999999865451,0.000147362904275,-0.000497270324804,1.02340325755e-05,1793192997919952896
+249,4.150000000,HOLD_POSE2,764,742,711,673.154161056,663,630,878,782.845838944,799.845838944,650,629,650.154161056,0.447938710005,0.00456497384385,0.0496636732032,0.999999865683,0.000145967765252,-0.000497211211182,1.04295966532e-05,1793192997936619008
+250,4.166666667,HOLD_POSE2,764,742,711,673.739559308,663,630,878,782.260440692,799.260440692,650,629,650.739559308,0.447938723396,0.00456489364176,0.0496640839444,0.999999865924,0.000145380067131,-0.000496899029841,1.03751067673e-05,1793192997953285632
+251,4.183333333,HOLD_POSE2,764,742.321623182,711,674,663,630,878,782,799.321623182,650,629,650.678376818,0.44793975346,0.00456619340128,0.0496650637018,0.99999986638,0.000147085112309,-0.000495482374344,1.01980003072e-05,1793192997969952512
+252,4.200000000,HOLD_POSE2,764,742.901014649,711,674,663,630,878,782,799.901014649,650,629,650.098985351,0.447941598348,0.00456859914554,0.0496664995033,0.999999866993,0.000150627700764,-0.000493180526424,9.92262150638e-06,1793192997986619136
+253,4.216666667,HOLD_POSE2,764,743,711,674,663,630,878,782,800,650,629,650,0.447941266364,0.00456676782967,0.0496658634002,0.99999986685,0.000148629168088,-0.00049407053086,1.01479303527e-05,1793192998003286016
+254,4.233333333,HOLD_POSE2,764,743,711,673.942887353,663,630,878,782.057112647,799.942887353,650,628.942887353,650.057112647,0.447940587535,0.00456432897879,0.0496649121354,0.99999986661,0.000145757246715,-0.000495403236707,1.04640167289e-05,1793192998019952896
+255,4.250000000,HOLD_POSE2,764,743,711,673.366903059,663,630,878,782.633096941,799.366903059,650,628.366903059,650.633096941,0.447940832555,0.00456430212589,0.0496649760721,0.999999866979,0.000145323140774,-0.000494782979814,1.06675689535e-05,1793192998036619520
+256,4.266666667,HOLD_POSE2,764,743,711,673.213454729,663,630,877.786545271,783,799,650,628.213454729,650.786545271,0.447940503873,0.0045645991056,0.049664773015,0.999999866698,0.000145967080872,-0.000495158966481,1.06911086041e-05,1793192998053285888
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+258,4.300000000,HOLD_POSE2,764,742.614621468,711,673.614621468,663,629.614621468,877.385378532,782.614621468,799,650,629,650,0.447939138807,0.00456499763797,0.049664106952,0.99999986513,0.000148093493514,-0.000497691864312,1.05591311612e-05,1793192998086619136
+259,4.316666667,HOLD_POSE2,764,742.032840577,711,673.032840577,663,629.032840577,877.967159423,782.032840577,799,650,629,650,0.447939774662,0.00456385209834,0.0496644575559,0.999999865638,0.000146183271958,-0.000497226223047,1.0950232319e-05,1793192998103285760
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+261,4.350000000,HOLD_POSE2,763.113219898,742.886780102,711,673,663,630,877,783,799,650,629,651,0.44794236376,0.0045623302221,0.0496671938383,0.999999868282,0.000139998576067,-0.000493678758569,1.08406454267e-05,1793192998136619008
+262,4.366666667,HOLD_POSE2,763.688163879,742.311836121,711,673,663,630,877,783,799,650,629,651,0.44794225033,0.00456421266912,0.0496665583852,0.999999867623,0.000142544731833,-0.000494292556244,1.04488340958e-05,1793192998153285888
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,663,629,878,783,800,650,629,651,0.447942101418,0.00456356579661,0.0496654834012,0.999999867133,0.000144391027571,-0.000494747969395,1.05132527871e-05,1793192998190573056
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,663,630,877.840571039,782.159428961,799.159428961,650,629,650,0.447942729731,0.00456588780587,0.0496659951525,0.999999867023,0.000146952155542,-0.000494215246146,1.04756778354e-05,1793192998223906048
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,663,630,877.266150368,782.733849632,799.733849632,650,629,650,0.447942133569,0.00456333194998,0.0496660163578,0.999999866799,0.000145582813591,-0.000495066118025,1.08480390299e-05,1793192998240572160
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.097238898,743,711,672.097238898,663,630,877,783,799.097238898,650.902761102,628.097238898,650.902761102,0.447939397786,0.00456596879782,0.0496644060516,0.999999865217,0.000147223702644,-0.000497793016379,9.70215738547e-06,1793192998273904896
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.485586936,743,711,672.485586936,663,630,877,782.514413064,799.485586936,650.514413064,628.485586936,650.514413064,0.447939660204,0.00456729526195,0.0496647715119,0.999999865301,0.000148619376576,-0.000497214775973,9.35459425047e-06,1793192998290571776
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.358137055,711,673,663,629.358137055,877.641862945,782,800,650,629,650,0.447932322779,0.00456602651675,0.0496613454789,0.99999986322,0.000147384417467,-0.000501743480438,9.56024534169e-06,1793192998323905280
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.745958455,742.372979228,710.627020772,673,663.372979228,629.372979228,877.372979228,782.372979228,799.627020772,650,629,650,0.447846294453,0.00456692711307,0.049627380753,0.999999830601,0.000149087984284,-0.000562572792228,9.09279563965e-06,1793192998373904896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.929196548,742.964598274,710.035401726,673,663.964598274,629.964598274,877.964598274,782.964598274,799.035401726,650,629,650,0.447793571912,0.00456653486623,0.0496093556005,0.999999811485,0.000148174356571,-0.000595814634536,8.91637808343e-06,1793192998390571776
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.127199263,711,673,663,630,877,783,799.872800737,650,628.127199263,650,0.447650961693,0.00456795067489,0.0495850448783,0.999999795216,0.000147510273192,-0.000622704690621,6.92515899932e-06,1793192998423904512
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,710.563032943,673,663,630,877.436967057,782.563032943,799,650,629,650,0.447241305515,0.00457836157461,0.0495848540966,0.999999791806,0.000163400031706,-0.000624238531539,3.726092646e-06,1793192998490571520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.967578133,710.032421867,673.032421867,663,630,877.967578133,782.032421867,799,650,628.967578133,650,0.447100752546,0.00458054228566,0.0495855276483,0.999999791653,0.000166898914393,-0.000623560663211,3.20702374278e-06,1793192998507238144
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742.921553158,710.078446842,672,666,632,877,783.078446842,799,649.921553158,629,650.078446842,0.424257471973,0.00458514502303,0.0498208231311,0.999999960566,0.000110445843154,-0.000253728595814,-4.78781816095e-05,1793192999140571648
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742.346038712,710.653961288,672,666,632,877,783.653961288,799,649.346038712,629,650.653961288,0.423335759808,0.00458899411246,0.0498415732837,0.999999966307,0.000114833518673,-0.000228485623504,-4.46543406794e-05,1793192999157238784
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.229313863,665.770686137,632,876.770686137,783.770686137,799,649.229313863,629,650.770686137,0.422405555705,0.00459225127486,0.0498416866109,0.999999964331,0.000116636869051,-0.000236345009764,-4.32902780857e-05,1793192999173905664
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.804422431,665.195577569,632,876.195577569,783.195577569,799,649.804422431,629,650.195577569,0.421462546012,0.00459461583924,0.0498106805624,0.999999949186,0.000114543177057,-0.000294121218459,-4.47306747047e-05,1793192999190571776
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.017640508,665,632,876,783,799,650,629,650,0.41969715828,0.00459546889342,0.0498154717242,0.999999946474,0.000125139351802,-0.000298738250516,-4.63361250062e-05,1793192999223904768
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,665.561107783,632.561107783,876.561107783,783.561107783,799,650,629,650,0.418776317005,0.0045971637952,0.0498073529144,0.999999939474,0.000110216018617,-0.000326962936257,-4.471889308e-05,1793192999240571136
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.287741475,742,710.287741475,672,665.287741475,632.287741475,877,784,799,650,629,650,0.417006515729,0.00460022599201,0.0497903689638,0.999999931117,0.000113027706997,-0.000350493542135,-4.6317057328e-05,1793192999273904896
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,710.293495382,672.293495382,665,632,877,783.706504618,799,650,629,650.293495382,0.416188886431,0.00459893950944,0.0498004591753,0.999999940007,0.000113875839845,-0.000323649398725,-4.764474659e-05,1793192999290571264
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.463601961,742,711,672.536398039,665,632,877,783,799.463601961,650,629,651,0.414603562664,0.00459320476279,0.0498242802422,0.999999955774,9.98245062395e-05,-0.000275981188231,-4.81821003828e-05,1793192999323904768
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,710.956868874,672.043131126,665.043131126,632,876.956868874,783,799.956868874,650,628.956868874,651,0.413782739816,0.00459230488114,0.0498104806296,0.999999949195,9.75522222161e-05,-0.000299584696226,-4.84044405606e-05,1793192999340571392
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.803218213,742,710.196781787,673,665.803218213,632,876,783,799.196781787,650,628,651,0.412201239112,0.00459687911152,0.0497853792859,0.999999934334,9.79287576518e-05,-0.000345413493158,-4.93043715805e-05,1793192999373904640
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.353134446,742,711,672.646865554,665,632,876,783,799.646865554,650,628.353134446,651,0.410766306111,0.00459810626891,0.0498180747967,0.999999945815,0.000112660683336,-0.00030556640731,-4.802529102e-05,1793192999407238400
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,710.476387953,671.476387953,665,632,876,783,799,650,629,651,0.409411310804,0.004597394616,0.0498021184084,0.999999940579,9.17871146613e-05,-0.000328483604143,-5.01610981923e-05,1793192999440571392
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,710.676915734,672.353831467,665,632,876,783,799.676915734,650,629,650.323084266,0.408202904331,0.00459760149673,0.0498241637456,0.999999953174,9.37822512133e-05,-0.000287181554637,-4.88197772694e-05,1793192999473904896
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,665,632.006151124,876,783,799,650,629,651,0.405942266475,0.00458597017434,0.0497887085649,0.999999927812,8.67993531741e-05,-0.000366804736158,-4.79176215601e-05,1793192999540571392
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,710,671.905720982,665,632,876,783,799.094279018,650,629,651,0.403910285363,0.00458354570843,0.0498549570805,0.999999962529,7.82945264639e-05,-0.000257522519863,-4.99326155291e-05,1793192999623905536
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,710,672.066202065,665,632,875.066202065,783,799.933797935,650,628.066202065,651,0.403258424939,0.00458915518499,0.0498687561097,0.999999965354,8.6400290453e-05,-0.000243366676977,-5.09817314043e-05,1793192999657238528
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,710,672.641588682,665,632,875.641588682,783,799.358411318,650,628.641588682,651,0.402952985314,0.00459463683055,0.0498564683854,0.999999957473,9.21611781926e-05,-0.000271864141395,-5.14844179167e-05,1793192999673904896
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,710,672.783822484,665,632,876,783,799,650,629,651,0.402664280239,0.00459833403733,0.0498433276042,0.99999994929,9.62914563509e-05,-0.000299055904939,-5.20962315032e-05,1793192999690571520
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.874057575,742,710.125942425,672,665.125942425,632,876,783,799,650.125942425,629,651,0.401680844113,0.00460262932129,0.0498300114092,0.999999951644,-4.21811387639e-06,-0.00030675138125,-5.09759081911e-05,1793192999773905152
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..092317d45d2bf9b08c946a30ec4b7b825bb5fdac
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
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+329,5.483333333,pose2_to_pose3_retreat,0.590574477043,0.0100545299179,1.04002925518,0.561145208643,0.0187272636653,1.03969853689
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+348,5.800000000,pose2_to_pose3_retreat,0.578894582106,0.0100544247287,1.04002903238,0.549465313567,0.0187271583048,1.03969832169
+349,5.816666667,pose2_to_pose3_retreat,0.578552614857,0.0100545715129,1.04002897515,0.549123345251,0.0187273014734,1.03969826456
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+353,5.883333333,pose2_to_pose3_retreat,0.577351401627,0.010054599736,1.04002926202,0.547922132792,0.0187273323412,1.03969855166
+354,5.900000000,pose2_to_pose3_retreat,0.577102306256,0.0100544704121,1.04002907681,0.547673038731,0.0187272071977,1.03969835967
+355,5.916666667,pose2_to_pose3_retreat,0.576882942108,0.0100544663971,1.04002909308,0.547453673582,0.0187271999038,1.03969837914
+356,5.933333333,pose2_to_pose3_retreat,0.576691920941,0.0100544655054,1.04002917564,0.547262652716,0.0187272001211,1.03969846379
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+360,6.000000000,pose2_to_pose3_retreat,0.576163987107,0.0100545515986,1.04002931071,0.546734717487,0.0187272812453,1.03969859293
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+366,6.100000000,pose2_to_pose3_retreat,0.575800202165,0.0100545303174,1.04002907841,0.546370932704,0.0187272605142,1.0396983619
+367,6.116666667,pose2_to_pose3_retreat,0.575774674175,0.0100545657877,1.04002927837,0.546345404028,0.0187272935165,1.0396985577
+368,6.133333333,pose2_to_pose3_retreat,0.575755626428,0.010054506496,1.0400294576,0.546326357578,0.0187272385971,1.03969873623
+369,6.150000000,pose2_to_pose3_retreat,0.57574154237,0.0100544662234,1.04002943364,0.54631227474,0.0187272025784,1.03969871505
+370,6.166666667,pose2_to_pose3_retreat,0.575731171652,0.0100545524098,1.04002920427,0.546301902605,0.0187272843476,1.03969849592
+371,6.183333333,pose2_to_pose3_retreat,0.575723959947,0.0100545889671,1.04002903045,0.546294690541,0.018727319733,1.03969832335
+372,6.200000000,pose2_to_pose3_retreat,0.575719311736,0.0100545968601,1.04002893974,0.546290042421,0.0187273279297,1.03969823244
+373,6.216666667,pose2_to_pose3_retreat,0.575717098497,0.010054573432,1.04002897426,0.546287829663,0.0187273062018,1.03969826889
+374,6.233333333,pose2_to_pose3_retreat,0.575715797603,0.0100545596614,1.04002899454,0.54628652905,0.0187272934307,1.03969829032
+375,6.250000000,pose2_to_pose3_retreat,0.575715100965,0.0100545522872,1.0400290054,0.546285832563,0.0187272865916,1.03969830179
+376,6.266666667,pose2_to_pose3_retreat,0.575714624744,0.0100545472462,1.04002901283,0.546285356445,0.0187272819164,1.03969830963
+377,6.283333333,pose2_to_pose3_retreat,0.575714043814,0.0100545241879,1.04002901105,0.546284775679,0.0187272593574,1.03969830634
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+379,6.316666667,pose2_to_pose3_retreat,0.575712665299,0.0100544367778,1.04002898585,0.546283397628,0.0187271732342,1.03969827367
+380,6.333333333,pose2_to_pose3_retreat,0.575712387429,0.0100544191584,1.04002898077,0.546283119851,0.0187271558742,1.03969826708
+381,6.350000000,pose2_to_pose3_retreat,0.575712237593,0.0100544096574,1.04002897803,0.546282970066,0.0187271465131,1.03969826353
+382,6.366666667,pose2_to_pose3_retreat,0.575712228977,0.0100544091111,1.04002897787,0.546282961452,0.0187271459748,1.03969826332
+383,6.383333333,pose2_to_pose3_retreat,0.575711987778,0.0100543938169,1.04002897346,0.546282720334,0.0187271309058,1.03969825761
+384,6.400000000,pose2_to_pose3_retreat,0.575711849978,0.0100543850792,1.04002897095,0.546282582581,0.0187271222967,1.03969825434
+385,6.416666667,pose2_to_pose3_retreat,0.575711747697,0.0100543785936,1.04002896908,0.546282480334,0.0187271159066,1.03969825192
+386,6.433333333,pose2_to_pose3_retreat,0.575711651575,0.0100543724986,1.04002896732,0.546282384244,0.0187271099014,1.03969824964
+387,6.450000000,pose2_to_pose3_retreat,0.575711420669,0.0100543712752,1.04002896769,0.546282153307,0.0187271085699,1.03969824993
+388,6.466666667,pose2_to_pose3_retreat,0.575711326692,0.0100543806128,1.04002897122,0.546282059238,0.0187271176262,1.03969825428
+389,6.483333333,pose2_to_pose3_retreat,0.575711217913,0.0100543914212,1.04002897529,0.546281950352,0.0187271281091,1.03969825931
+390,6.500000000,pose2_to_pose3_retreat,0.575711009152,0.0100544121639,1.04002898312,0.546281741387,0.018727148227,1.03969826896
+391,6.516666667,pose2_to_pose3_retreat,0.57571086308,0.0100544266777,1.04002898859,0.546281595172,0.0187271623037,1.03969827572
+392,6.533333333,pose2_to_pose3_retreat,0.575710701938,0.0100544426889,1.04002899463,0.546281433872,0.0187271778327,1.03969828317
+393,6.550000000,pose2_to_pose3_retreat,0.575710532524,0.0100544595221,1.04002900098,0.546281264292,0.0187271941588,1.039698291
+394,6.566666667,pose2_to_pose3_retreat,0.575710161346,0.0100544964026,1.04002901489,0.54628089275,0.0187272299286,1.03969830817
+395,6.583333333,pose2_to_pose3_retreat,0.575709873847,0.0100545249687,1.04002902566,0.546280604969,0.0187272576343,1.03969832146
+396,6.600000000,pose2_to_pose3_retreat,0.57570964331,0.0100545239902,1.04002904238,0.546280374613,0.0187272571204,1.03969833428
+397,6.616666667,pose2_to_pose3_retreat,0.575709371351,0.0100545041405,1.040029058,0.546280102741,0.018727237417,1.039698346
+398,6.633333333,pose2_to_pose3_retreat,0.575709343341,0.0100544748765,1.04002905262,0.546280074514,0.0187272074602,1.03969834179
+399,6.650000000,pose2_to_pose3_retreat,0.575709314748,0.0100544638455,1.04002902647,0.546280045707,0.0187271957609,1.03969831714
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be6cbc3ab39f57d99d0195521576e13cb784c1f3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5182a53ad5547282fc3425461dd52ada4dd0fa27e8e0857521b79333a0aa9eb9
+size 24889087
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff3c16241d852f17d5ed36317576936d40fcc9e3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/franka_data.csv
@@ -0,0 +1,392 @@
+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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+8,0.133333333,BASELINE,764,742.638357017,711.361642983,672,663,632.361642983,876,783.638357017,799.638357017,649,628.361642983,651,0.401019895688,0.00447536047358,0.0698507486453,0.999999986387,3.04852359203e-05,-0.000159989267894,2.64622646866e-05,1793193002258826240
+9,0.150000000,BASELINE,763.78533546,743,711,671.78533546,663,632,876,783.78533546,799.78533546,649.21466454,628,650.78533546,0.401019383677,0.00447473463254,0.069850391946,0.999999986323,2.9982338377e-05,-0.000160483817134,2.64706159359e-05,1793193002275492864
+10,0.166666667,BASELINE,763.210117128,743,711,671.210117128,663,632,876,783.210117128,799.210117128,649.789882872,628,650.210117128,0.401020318889,0.00447530874159,0.0698505545707,0.999999986376,3.30028821059e-05,-0.000159540082601,2.65591383001e-05,1793193002292159488
+11,0.183333333,BASELINE,763.374360545,742.625639455,711,671.374360545,663,632,876,783,799.374360545,649.625639455,628.374360545,650.374360545,0.401020805682,0.00447445713406,0.0698506586652,0.999999986393,3.28783398124e-05,-0.000159420187037,2.68034293566e-05,1793193002308826112
+12,0.200000000,BASELINE,763.964167061,742.035832939,711,671.964167061,663,632,876,783,799.964167061,649.035832939,628.964167061,650.964167061,0.401021034409,0.00447278502106,0.0698507290753,0.999999986389,3.09437883899e-05,-0.000159774413961,2.71373659184e-05,1793193002325492992
+13,0.216666667,BASELINE,764,742,711,672,663,632,876.544248357,783,800,649.544248357,629,651,0.401020479906,0.00447520118287,0.0698504865444,0.9999999862,3.44881733266e-05,-0.00016027607021,2.6876086123e-05,1793193002342159616
+14,0.233333333,BASELINE,764,742,711,671.87699935,663,632,876.87699935,783,799.87699935,649.87699935,628.87699935,650.87699935,0.401020125061,0.00447728838804,0.0698503923759,0.999999986064,3.74101320636e-05,-0.000160518315494,2.6593848141e-05,1793193002358825984
+15,0.250000000,BASELINE,764,742,711,671.300825697,663,632,876.300825697,783,799.300825697,649.300825697,628.300825697,650.300825697,0.401020692479,0.00447718932037,0.0698509193997,0.999999986214,3.67331698208e-05,-0.000159769675007,2.63762420753e-05,1793193002375492864
+16,0.266666667,BASELINE,763.727105948,742.272894052,711,671.272894052,663,632,876,783,799,649.272894052,628.272894052,650,0.401021424317,0.004476440827,0.0698516784471,0.999999986452,3.47042190403e-05,-0.000158733918455,2.63716126629e-05,1793193002392159488
+17,0.283333333,BASELINE,763.156067193,742.843932807,711,671.843932807,663,632,876,783,799,649.843932807,628.843932807,650,0.401022335788,0.00447498281713,0.0698526909871,0.999999986775,3.11981814381e-05,-0.000157384479285,2.65996664615e-05,1793193002408825856
+18,0.300000000,BASELINE,763,742.567265405,711,672,662.567265405,632,876,783,799,650,628.567265405,650.432734595,0.401021262759,0.00447402031758,0.0698517105444,0.999999986579,2.96182136123e-05,-0.000158893821993,2.67777372873e-05,1793193002425492480
+19,0.316666667,BASELINE,763.02730514,742.02730514,711,672,662.05461028,632,876,783,799,650,628.02730514,650.97269486,0.401019561001,0.00447335163706,0.0698500778707,0.999999986203,2.89617006283e-05,-0.000161341985928,2.69217053533e-05,1793193002442159104
+20,0.333333333,BASELINE,763.603546011,742.603546011,711,672,663.207092023,632,876,783,799,650,628.603546011,650.396453989,0.401020223957,0.00447484334337,0.0698504015394,0.999999986152,3.2307376817e-05,-0.000161049170037,2.67579936453e-05,1793193002458825728
+21,0.350000000,BASELINE,764,742.820085072,711,671.820085072,663.820085072,632,876.179914928,783,798.820085072,649.820085072,628.820085072,650,0.401020461421,0.00447599165507,0.0698506772434,0.999999986077,3.49202000708e-05,-0.000160987039298,2.66322565686e-05,1793193002475492096
+22,0.366666667,BASELINE,764,742.243433875,711,671.243433875,663.243433875,632,876.756566125,783,798.243433875,649.243433875,628.243433875,650,0.40101976062,0.00447638273594,0.0698508471791,0.999999985971,3.59169849974e-05,-0.000161433599946,2.65902586112e-05,1793193002492158720
+23,0.383333333,BASELINE,763.659536427,742,711,671.340463573,663,632,876.659536427,783,798.340463573,649,628,650.340463573,0.401019330331,0.00447696968852,0.069850620337,0.999999985947,3.65900560039e-05,-0.000161432562237,2.65707167397e-05,1793193002508825600
+24,0.400000000,BASELINE,763.070345127,742,711,671.929654873,663,632,876.070345127,783,798.929654873,649,628,650.929654873,0.401019097666,0.00447769973643,0.0698501036265,0.999999985984,3.70266359477e-05,-0.000161104528881,2.65675802936e-05,1793193002525492480
+25,0.416666667,BASELINE,763.510305258,742.510305258,711,672,663,632.510305258,876,783,799,649.510305258,628.510305258,650.489694742,0.401019567587,0.00447680136481,0.0698507357046,0.999999986058,3.51004995438e-05,-0.000161095199201,2.64818277382e-05,1793193002542158848
+26,0.433333333,BASELINE,764,743,711,672,663,632.910930245,876.089069755,783,799.089069755,650,628.910930245,650.089069755,0.40101991002,0.00447583541518,0.0698513917251,0.999999986122,3.3204343203e-05,-0.000161109672544,2.63948261695e-05,1793193002558825984
+27,0.450000000,BASELINE,764,743,711,672,663,632.336135057,876.663864943,783,799.663864943,650,628.336135057,650.663864943,0.401019037756,0.00447570492931,0.0698513289429,0.999999986137,3.32185748283e-05,-0.000161018314532,2.63620963531e-05,1793193002575492608
+28,0.466666667,BASELINE,763.760692342,743,711,672,663,632.239307658,876.760692342,783,799.760692342,650,628,651,0.401018719045,0.00447554750115,0.0698511772201,0.999999986191,3.27138058819e-05,-0.000160794898426,2.63093983297e-05,1793193002592159232
+29,0.483333333,BASELINE,763.184337667,743,711,672,663,632.815662333,876.184337667,783,799.184337667,650,628,651,0.401019179971,0.00447535212681,0.0698509002313,0.999999986299,3.14780632741e-05,-0.000160385488336,2.62285765751e-05,1793193002608825600
+30,0.500000000,BASELINE,763.399405147,742.600594853,711,672,662.600594853,632.600594853,876,783,799,650,628,650.600594853,0.401019829954,0.00447578048708,0.0698509690432,0.99999998631,3.31831869865e-05,-0.000159979005378,2.62021253259e-05,1793193002625492480
+31,0.516666667,BASELINE,763.98662206,742.01337794,711,672,662.01337794,632.01337794,876,783,799,650,628,650.01337794,0.401020568837,0.00447650214528,0.0698512004605,0.999999986267,3.62711905014e-05,-0.000159573898852,2.6201240651e-05,1793193002642159104
+32,0.533333333,BASELINE,763.433622959,742,711,672,662.566377041,632,876,783,799,649.433622959,628.566377041,650,0.401021019879,0.00447556945866,0.0698518484082,0.999999986447,3.33601165436e-05,-0.00015905162113,2.63652783805e-05,1793193002658825728
+33,0.550000000,BASELINE,763.145015414,742,711,671.854984586,662.854984586,632,876,783,799,649.145015414,629,650,0.401020948909,0.00447516331442,0.0698520717623,0.999999986484,3.14352059692e-05,-0.000159203304177,2.64159922238e-05,1793193002675492352
+34,0.566666667,BASELINE,763.720853197,742,711,671.279146803,662.279146803,632,876,783,799,649.720853197,629,650,0.401019347044,0.00447643604098,0.0698510048536,0.9999999861,3.28555589267e-05,-0.000161365354419,2.61186126245e-05,1793193002692159232
+35,0.583333333,BASELINE,764,742,711,671,662,632,876,783,799,650,628.697787835,650.302212165,0.401019695484,0.00447667839563,0.0698510003321,0.999999986104,3.31990846656e-05,-0.000161266313447,2.61491440497e-05,1793193002708825856
+36,0.600000000,BASELINE,764,742,711,671,662,632,876,783,799,650,628.111234096,650.888765904,0.401021878902,0.00447595130708,0.0698519953759,0.999999986473,3.25294589444e-05,-0.000159039885717,2.64881962333e-05,1793193002725492480
+37,0.616666667,BASELINE,764,742.469823769,711,671.469823769,662.469823769,632,876.469823769,783,799,649.530176231,628,651,0.401022126862,0.00447606280805,0.0698521146642,0.999999986602,3.3460809808e-05,-0.00015804853774,2.63839246629e-05,1793193002742159104
+38,0.633333333,BASELINE,763.950678935,742.950678935,711,671.950678935,663,632,876.950678935,783,798.950678935,649,628,650.950678935,0.401021849012,0.00447623533939,0.0698519840193,0.99999998665,3.45890756623e-05,-0.000157534216375,2.6214872125e-05,1793193002758825728
+39,0.650000000,BASELINE,763.374114873,742.374114873,711,671.374114873,663,632,876.374114873,783,798.374114873,649,628,650.374114873,0.401020792139,0.00447496240998,0.0698513724381,0.999999986433,3.38172470262e-05,-0.000159029551186,2.64623608979e-05,1793193002775492352
+40,0.666666667,BASELINE,763.202072808,742,711,671,663,632.202072808,876.202072808,783,798.202072808,649,628.202072808,650,0.40102041121,0.00447507339514,0.0698512816967,0.999999986329,3.4026995093e-05,-0.000159619657058,2.65770338711e-05,1793193002792158976
+41,0.683333333,BASELINE,763.777564922,742,711,671,663,632.777564922,876.777564922,783,798.777564922,649,628.777564922,650,0.401021279389,0.00447774177751,0.0698521534382,0.999999986433,3.60506423488e-05,-0.000158536950122,2.64462706202e-05,1793193002808825600
+42,0.700000000,BASELINE,763.63820757,742.36179243,711,671.36179243,663,632.63820757,876.63820757,783,799,649.36179243,628.63820757,650.36179243,0.401021509488,0.00447718002164,0.0698524234991,0.999999986493,3.60995887633e-05,-0.000158148785426,2.64610113627e-05,1793193002825492480
+43,0.716666667,BASELINE,763.04847656,742.95152344,711,671.95152344,663,632.04847656,876.04847656,783,799,649.95152344,628.04847656,650.95152344,0.40102133758,0.00447458319512,0.0698523144857,0.999999986525,3.49044225486e-05,-0.000158198200325,2.65674233856e-05,1793193002842159104
+44,0.733333333,BASELINE,763,742.468104761,711,672,663,632,876,783,799,650,628,651,0.401019990776,0.00447448505071,0.0698513828283,0.99999998631,3.36191905595e-05,-0.000159856276995,2.63784806514e-05,1793193002858825728
+45,0.750000000,BASELINE,763,742,711,672,663,632.110688265,876,783,799,650,628.110688265,651,0.40101902742,0.00447481542747,0.06985073351,0.999999986149,3.28863830983e-05,-0.000161040059613,2.62108796798e-05,1793193002875492352
+46,0.766666667,BASELINE,763,742,711,672,663,632.68637021,876,783,799,650,628.68637021,651,0.401020116961,0.00447600586412,0.0698515797983,0.99999998632,3.45081600882e-05,-0.000159626107526,2.62440610656e-05,1793193002892158976
+47,0.783333333,BASELINE,763.261280674,742.261280674,711,671.738719326,663,632.738719326,876,783,799.261280674,650,629,651,0.401019814694,0.00447682689486,0.0698516179047,0.999999986276,3.56983248654e-05,-0.000159664814334,2.60992674721e-05,1793193002908825856
+48,0.800000000,BASELINE,763.835267888,742.835267888,711,671.164732112,663,632.164732112,876,783,799.835267888,650,629,651,0.401017846681,0.00447720581251,0.0698506887612,0.999999985975,3.63719267294e-05,-0.000161442095537,2.57414694562e-05,1793193002925492480
+49,0.816666667,BASELINE,764,742.57793002,711,671.42206998,663,632,876.42206998,783,799.57793002,649.57793002,628.57793002,650.57793002,0.40101858715,0.00447797226259,0.0698508102541,0.999999986029,3.70990359541e-05,-0.000160932918243,2.58016212247e-05,1793193002942158848
+50,0.833333333,BASELINE,763.986303288,742,711,672,662.986303288,632,876.986303288,783,799.013696712,649,628,650.013696712,0.40102037391,0.00447886072452,0.0698513501056,0.99999998622,3.78226102296e-05,-0.000159540114297,2.60241840064e-05,1793193002958825472
+51,0.850000000,BASELINE,763.408415117,742,711,672,662.408415117,632,876.408415117,783,799.591584883,649,628,650.591584883,0.401020351601,0.004478349637,0.06985170294,0.999999986213,3.75134035868e-05,-0.000159659522627,2.60069761964e-05,1793193002975492096
+52,0.866666667,BASELINE,763.168810044,742,711,671.831189956,662.168810044,632,876,783,799.831189956,649.168810044,628.168810044,650.831189956,0.4010201364,0.00447785837513,0.0698517833594,0.999999986184,3.72797204179e-05,-0.000159897298819,2.59975998566e-05,1793193002992158976
+53,0.883333333,BASELINE,763.744437376,742,711,671.255562624,662.744437376,632,876,783,799.255562624,649.744437376,628.744437376,650.255562624,0.401019456345,0.00447741489137,0.0698512072824,0.999999986102,3.72280421656e-05,-0.00016042033109,2.60070966693e-05,1793193003008825600
+54,0.900000000,BASELINE,764,742.326897501,711,671.326897501,663,632,876.326897501,783,799,650,628.673102499,650.326897501,0.401019241925,0.00447733316318,0.0698510917996,0.999999986164,3.73385647063e-05,-0.000160008077522,2.59816604735e-05,1793193003025492480
+55,0.916666667,BASELINE,764,742.914813388,711,671.914813388,663,632,876.914813388,783,799,650,628.085186612,650.914813388,0.401019399301,0.00447754028659,0.0698513440881,0.999999986341,3.75785999844e-05,-0.000158849024697,2.59283312604e-05,1793193003042159104
+56,0.933333333,BASELINE,763.504995842,743,711,671.504995842,663,632.495004158,876.504995842,783.495004158,799.495004158,650,628,651,0.401018953806,0.00447710282689,0.0698505318938,0.999999986195,3.55094365121e-05,-0.000160248041766,2.58861072993e-05,1793193003058825728
+57,0.950000000,BASELINE,763.073765569,742.926234431,711,671.073765569,663,633,876,783.926234431,799.926234431,650,628.073765569,651,0.40101864613,0.00447669658809,0.0698498971404,0.999999986025,3.39160303006e-05,-0.000161646310833,2.58740222492e-05,1793193003075492352
+58,0.966666667,BASELINE,763.651704138,742.348295862,711,671.651704138,663,633,876,783.348295862,799.348295862,650,628.651704138,651,0.401019978634,0.00447725025903,0.0698517079863,0.999999986117,3.82487192688e-05,-0.000160076849921,2.60550691891e-05,1793193003092158976
+59,0.983333333,BASELINE,764,742,711,672,663,632.772290701,876.227709299,783,799,650,629,651,0.401020902937,0.00447730796304,0.0698528557419,0.999999986239,4.01001625194e-05,-0.000158814533951,2.62952031232e-05,1793193003108825856
+60,1.000000000,BASELINE,764,742,711,672,663,632.199217824,876.800782176,783,799,650,629,651,0.401021208129,0.00447661344085,0.0698529977977,0.999999986432,3.81883350151e-05,-0.000158018060277,2.66249535208e-05,1793193003125492480
+61,1.016666667,BASELINE,764,742.375253127,711,671.624746873,663,632,876.624746873,783,799,649.624746873,628.624746873,651,0.401021042898,0.00447628708047,0.0698530445292,0.999999986539,3.62286198292e-05,-0.000157802491748,2.66058186937e-05,1793193003142159104
+62,1.033333333,BASELINE,764,742.950469041,711,671.049530959,663,632,876.049530959,783,799,649.049530959,628.049530959,651,0.40102062699,0.00447615690413,0.0698530404649,0.9999999866,3.42433866377e-05,-0.000157896472753,2.64007718388e-05,1793193003158825728
+63,1.050000000,BASELINE,763.456362973,742.456362973,711,671.543637027,663,632,876,783,799,649.543637027,628.543637027,650.456362973,0.401020594853,0.00447595975151,0.0698524808244,0.999999986437,3.45341505593e-05,-0.000158895713153,2.61856773865e-05,1793193003175492352
+64,1.066666667,BASELINE,763,742,711,672,663.13391614,632,876,783,799,650,629,650,0.401020490958,0.00447597007278,0.0698520912839,0.999999986296,3.49670800413e-05,-0.000159710248845,2.60528555877e-05,1793193003192159232
+65,1.083333333,BASELINE,763,742,711,672,663.709102416,632,876,783,799,650,629,650,0.401020031465,0.00447668484031,0.0698524347347,0.999999986297,3.51618285325e-05,-0.000159635101856,2.61942518013e-05,1793193003208825856
+66,1.100000000,BASELINE,763,742,710.709858695,672,663.41971739,632,876,783,799.58028261,649.709858695,629,650.290141305,0.401019847038,0.00447655653835,0.0698524469382,0.999999986251,3.49476459e-05,-0.000159945635494,2.63327235189e-05,1793193003225492224
+67,1.116666667,BASELINE,763,742,710.122831174,672,662.245662348,632,876,783,800.754337652,649.122831174,629,650.877168826,0.401019944069,0.00447556556803,0.0698521201937,0.999999986157,3.43150257156e-05,-0.000160650815676,2.6468202746e-05,1793193003242158848
+68,1.133333333,BASELINE,763.458158694,742,710.458158694,672,662.458158694,632,876,783,800.083682611,649,629,651,0.401018863246,0.00447646815251,0.0698514151197,0.999999985957,3.55691517678e-05,-0.000161680950532,2.60770082735e-05,1793193003258825728
+69,1.150000000,BASELINE,764,742,711,672,663,632,876.037501583,783,799,649.037501583,628.962498417,651,0.401017639089,0.00447774769173,0.069850658982,0.999999985753,3.71837659247e-05,-0.000162649804127,2.56111932924e-05,1793193003275492096
+70,1.166666667,BASELINE,764,742,711,672,663,632,876.616131684,783,799,649.616131684,628.383868316,651,0.40101884397,0.00447723653726,0.0698506105583,0.999999985943,3.67960773169e-05,-0.000161493660342,2.60795844452e-05,1793193003292158976
+71,1.183333333,BASELINE,763.806709833,742.193290167,711.193290167,672,663,632.193290167,877,783,799,650,628,650.806709833,0.401019683741,0.00447670560811,0.0698508849035,0.999999986127,3.63320995395e-05,-0.00016042022647,2.62926179479e-05,1793193003308825856
+72,1.200000000,BASELINE,763.232451753,742.767548247,711.767548247,672,663,632.767548247,877,783,799,650,628,650.232451753,0.401019803895,0.00447613570368,0.0698517954147,0.999999986302,3.57177585038e-05,-0.000159509810638,2.60023508594e-05,1793193003325492480
+73,1.216666667,BASELINE,763,742.649666059,711.649666059,672,663,632.649666059,876.649666059,783,799,650,628,650,0.401018893407,0.00447655781306,0.0698512552278,0.999999986049,3.67611576306e-05,-0.000160856157028,2.60005112493e-05,1793193003342159104
+74,1.233333333,BASELINE,763,742.061081037,711.061081037,672,663,632.061081037,876.061081037,783,799,650,628,650,0.401017282014,0.00447765455982,0.0698497284666,0.999999985494,3.89319336704e-05,-0.000163737256386,2.61948221009e-05,1793193003358825728
+75,1.250000000,BASELINE,763.519089694,742,711,671.480910306,662.480910306,632.519089694,876.519089694,783,799,649.480910306,628,650.519089694,0.40101833535,0.00447883048511,0.0698512649099,0.999999985743,4.04332932773e-05,-0.000161819997651,2.63318538011e-05,1793193003375492352
+76,1.266666667,BASELINE,764,742,711,671.097863938,662.097863938,632.902136062,876.902136062,783,799,649.097863938,628.097863938,651,0.401019685331,0.00447968458202,0.0698529873244,0.999999986076,4.12448212052e-05,-0.000159522524145,2.64282614934e-05,1793193003392158976
+77,1.283333333,BASELINE,764,742,711,671.674572488,662.674572488,632.325427512,876.325427512,783,799,649.674572488,628.674572488,651,0.401020977027,0.00447891912456,0.0698538841731,0.999999986395,3.90602987377e-05,-0.000158083273439,2.63583499979e-05,1793193003408825600
+78,1.300000000,BASELINE,764,742,711,672,663,632,876.255317166,783,799,649.744682834,628.744682834,651,0.401021264451,0.00447844248516,0.0698539050299,0.99999998645,3.78721088948e-05,-0.000158038426277,2.62620057807e-05,1793193003425492224
+79,1.316666667,BASELINE,764,742,711,672,663,632,876.841288884,783,799,649.158711116,628.158711116,651,0.40102025127,0.00447833988649,0.0698527914125,0.99999998617,3.79742434208e-05,-0.000159799434614,2.61314292457e-05,1793193003442158848
+80,1.333333333,BASELINE,764,742,711,672,663,632,876.577576394,783,799.422423606,649.422423606,628,651,0.401017626179,0.0044780623996,0.0698511178144,0.999999985713,3.83186581325e-05,-0.000162573894523,2.60036110312e-05,1793193003458825728
+81,1.350000000,BASELINE,763.998239354,742,711,672,663,632,876.001760646,783,799.998239354,649.998239354,628,650.998239354,0.401014416257,0.00447772224999,0.069849243404,0.999999985184,3.87509517199e-05,-0.000165712410453,2.58769179393e-05,1793193003475492352
+82,1.366666667,BASELINE,763.419220334,742,711,672,663,632,876.580779666,783,799.419220334,649.419220334,628,650.419220334,0.401015774433,0.00447813674236,0.0698497294717,0.99999998535,3.84884735092e-05,-0.000164784362787,2.57831826479e-05,1793193003492158976
+83,1.383333333,BASELINE,763.158619575,742,711,672,663,632,877,783,799,649,628,650,0.401017097541,0.004477879941,0.0698502735087,0.999999985569,3.75287465274e-05,-0.000163662445363,2.58459171596e-05,1793193003508825856
+84,1.400000000,BASELINE,763.733366299,742,711,672,663,632,877,783,799,649,628,650,0.401018328656,0.00447586204848,0.0698509696244,0.999999985923,3.47398370323e-05,-0.000162031924241,2.63191390276e-05,1793193003525492224
+85,1.416666667,BASELINE,763.684925394,742.315074606,711,672,662.684925394,632,876.684925394,783,799,649.315074606,628.315074606,650.315074606,0.401019933881,0.00447593804791,0.0698523310905,0.999999986285,3.41200839199e-05,-0.0001599041692,2.63823253291e-05,1793193003542158848
+86,1.433333333,BASELINE,763.097192731,742.902807269,711,672,662.097192731,632,876.097192731,783,799,649.902807269,628.902807269,650.902807269,0.401021862853,0.00447782605166,0.069854268335,0.999999986655,3.53774672164e-05,-0.000157346119872,2.60906765946e-05,1793193003558825728
+87,1.450000000,BASELINE,763.483523902,742.516476098,711,672,662.483523902,632,876.483523902,783,799,649.516476098,629,651,0.401022490681,0.00447848016925,0.0698543133132,0.999999986664,3.65515070812e-05,-0.000157057200271,2.58664973469e-05,1793193003575492352
+88,1.466666667,BASELINE,763.93732579,742,711,672,663,632,876.93732579,783,799.06267421,649.06267421,629,651,0.40102263169,0.00447867941939,0.0698539836086,0.999999986599,3.7423921583e-05,-0.000157287991599,2.57234969814e-05,1793193003592158976
+89,1.483333333,BASELINE,763.35962348,742,711,672,663,632,876.35962348,783,799.64037652,649.64037652,629,651,0.401020890731,0.00447714976062,0.0698536558747,0.999999986515,3.59534141376e-05,-0.000158094986901,2.61377354416e-05,1793193003608825600
+90,1.500000000,BASELINE,763,742.216631872,711,671.783368128,663,632.216631872,876,783,799.783368128,650,629,651,0.401019672879,0.00447648707346,0.069853121592,0.999999986371,3.55006015928e-05,-0.000159070904714,2.63362825766e-05,1793193003625492224
+91,1.516666667,BASELINE,763,742.790501058,711,671.209498942,663,632.790501058,876,783,799.209498942,650,629,651,0.401019317657,0.00447725406807,0.0698522466995,0.999999986131,3.67260214411e-05,-0.000160325384528,2.61791433672e-05,1793193003642158848
+92,1.533333333,BASELINE,763.374279975,742.625720025,711.374279975,671.374279975,663,632.625720025,876.374279975,783,799,650,628.625720025,651,0.401018945976,0.0044766783128,0.0698517175837,0.999999986041,3.54404310069e-05,-0.000161195919178,2.60332688655e-05,1793193003658825728
+93,1.550000000,BASELINE,763.963756663,742.036243337,711.963756663,671.963756663,663,632.036243337,876.963756663,783,799,650,628.036243337,651,0.40101856483,0.00447533052762,0.0698513872762,0.999999986033,3.27111055263e-05,-0.000161845700116,2.58938711264e-05,1793193003675492352
+94,1.566666667,BASELINE,764,742,711.455956444,672,663,632,877,783,799,650,628,651,0.401018501163,0.00447558451227,0.0698509118229,0.999999986017,3.35793157709e-05,-0.000161773594518,2.58546150105e-05,1793193003692158976
+95,1.583333333,BASELINE,764,742,711,671.877161974,663,632,876.877161974,783,799,650,628,651,0.401018381578,0.00447584236689,0.0698505869964,0.999999985987,3.42121220212e-05,-0.000161818341779,2.58807112007e-05,1793193003708825600
+96,1.600000000,BASELINE,764,742,711,671.301648521,663,632,876.301648521,783,799,650,628,651,0.401017979286,0.00447572778315,0.0698508522916,0.999999985913,3.31089133049e-05,-0.000162467986368,2.61234636048e-05,1793193003725492224
+97,1.616666667,BASELINE,764,742,711,671.273741632,663,632,876,783.273741632,799,650,628.273741632,651,0.40101868274,0.00447616595207,0.0698514355331,0.999999985974,3.39228871907e-05,-0.000161914042272,2.61683163458e-05,1793193003742159104
+98,1.633333333,BASELINE,764,742,711,671.848995944,663,632,876,783.848995944,799,650,628.848995944,651,0.401020604118,0.00447721295034,0.0698523689766,0.999999986178,3.68485416303e-05,-0.000160034405561,2.59951925178e-05,1793193003758825728
+99,1.650000000,BASELINE,764,742,711,672,662.564340475,632,876,783.564340475,799,650,629,650.564340475,0.401020652148,0.00447747504553,0.0698526413712,0.999999986221,3.66764279719e-05,-0.000159826529755,2.5862248452e-05,1793193003775492352
+100,1.666666667,BASELINE,764,742,711,672,662.025865189,632,876,783,799,649.974134811,629,650,0.401020008741,0.0044774924369,0.069852620273,0.999999986196,3.55189549541e-05,-0.000160260542842,2.57447903065e-05,1793193003792158976
+101,1.683333333,BASELINE,764,742,711,672,662.604973461,632,876,783,799,649.395026539,629,650,0.40101883798,0.00447825135784,0.069851354207,0.999999985918,3.68690579936e-05,-0.000161696790942,2.56526717003e-05,1793193003808825600
+102,1.700000000,BASELINE,764,742.182518532,711,672,662.817481468,632,876,783,799,649.182518532,629,650.182518532,0.401018349439,0.00447889545402,0.0698508622953,0.999999985804,3.80589105668e-05,-0.000162139030681,2.5575485032e-05,1793193003825492224
+103,1.716666667,BASELINE,764,742.756709011,711,672,662.243290989,632,876,783,799,649.756709011,629,650.756709011,0.401019324894,0.00447929314423,0.0698520316645,0.999999986045,3.89048767253e-05,-0.000160448198133,2.55303412654e-05,1793193003842158848
+104,1.733333333,BASELINE,764,742.660846985,711,672,662.339153015,632.339153015,876.339153015,783,799.339153015,650,628.660846985,651,0.401019769155,0.0044782322535,0.0698523298973,0.999999986167,3.71603161549e-05,-0.000160079069213,2.56974391352e-05,1793193003858825728
+105,1.750000000,BASELINE,764,742.072334587,711,672,662.927665413,632.927665413,876.927665413,783,799.927665413,650,628.072334587,651,0.401019822861,0.00447609895351,0.0698519876347,0.999999986191,3.35110928192e-05,-0.000160681711522,2.6020585867e-05,1793193003875492352
+106,1.766666667,BASELINE,763.491780616,742,711,672,663,633,876.491780616,783,799.491780616,649.491780616,628.508219384,651,0.40102079621,0.00447769939553,0.0698532284884,0.999999986353,3.68233314628e-05,-0.000158967911937,2.58424990886e-05,1793193003892159232
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,672,662,632,877,783,799,649,628,651,0.401019485845,0.00447824719616,0.0698518322687,0.999999985992,3.7666478911e-05,-0.000160999871245,2.60149461153e-05,1793193003935269120
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.585274046,742.585274046,711,672,662.585274046,632,876.414725954,783,799,649,628,650.414725954,0.401019511066,0.00447784796242,0.0698522118969,0.999999986028,3.83175009152e-05,-0.000160624487766,2.59909392551e-05,1793193003951936000
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.830810835,742.830810835,711,672,663,632.169189165,876.169189165,783,799.169189165,649.169189165,628.169189165,650.169189165,0.401019624904,0.00447757206583,0.06985242048,0.999999986061,3.84736831052e-05,-0.000160373542547,2.60242134207e-05,1793193003968602624
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.250200137,742.250200137,711,672,663,632.749799863,876.749799863,783,799.749799863,649.749799863,628.749799863,650.749799863,0.401019954232,0.00447759609119,0.0698522131288,0.999999986088,3.74265510443e-05,-0.000160425196891,2.61967792886e-05,1793193003985269248
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.329347715,742,711,672,663,633,877,783.329347715,800,650,629,651,0.401020158122,0.004477767498,0.0698524735617,0.999999986167,3.6814956292e-05,-0.000160087085358,2.61188812065e-05,1793193004001935872
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.908090702,742,711,672,663,633,877,783.908090702,800,650,629,651,0.401020267024,0.00447805050794,0.0698530882195,0.999999986286,3.65331678841e-05,-0.000159453827501,2.5851321787e-05,1793193004018602752
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.515556812,742.484443188,711,672,663,632.515556812,876.515556812,783.515556812,799.515556812,649.515556812,628.515556812,651,0.401019362849,0.00447624443268,0.0698524628918,0.999999985962,3.4141073165e-05,-0.000161937578094,2.61869893097e-05,1793193004035269120
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.061413665,743,711,672.061413665,663,632.061413665,876.061413665,783,799.061413665,649.061413665,628,650.938586335,0.40101883822,0.00447450973256,0.0698519295665,0.999999985538,3.19578721278e-05,-0.000164908489977,2.65916963469e-05,1793193004051935488
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.647519764,743,711,672.647519764,663,632.647519764,876.647519764,783,799.647519764,649.647519764,628,650.352480236,0.401023190299,0.00447675440374,0.0698541822945,0.999999985088,3.49631710449e-05,-0.000167013950228,2.6613278121e-05,1793193004068602368
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.76776168,711.23223832,672.53552336,663,632.76776168,877,783,799.76776168,649.76776168,628.23223832,650.23223832,0.401034304223,0.00447685671159,0.0698594993128,0.999999985264,3.56943709478e-05,-0.000165741480061,2.69937319032e-05,1793193004085269248
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.185136615,711.814863385,671.37027323,663,632.185136615,877,783,799.185136615,649.185136615,628.814863385,650.814863385,0.401055619999,0.0044737267546,0.0698694395414,0.999999986366,3.2994551301e-05,-0.000159372598193,2.79156294681e-05,1793193004101935872
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.608062917,671.391937083,663,632,876.608062917,783,799,649.391937083,629,651,0.401091682746,0.00447340345517,0.0698805912886,0.99999998784,3.25873079602e-05,-0.000149865490095,2.82618587762e-05,1793193004118602496
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.033574808,671.966425192,663,632,876.033574808,783,799,649.966425192,629,651,0.401134614134,0.00447438740156,0.069892307321,0.9999999894,3.32478688252e-05,-0.000138896701867,2.83399613737e-05,1793193004135269120
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.540410711,711,672,663,632,876.540410711,783,799,650,628.459589289,650.459589289,0.401195441496,0.00447506233978,0.0698990243129,0.999999990399,3.24098465376e-05,-0.000131903506319,2.74439683173e-05,1793193004151936000
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.882515443,742.882515443,711,672,663,632.117484557,877,783,799,649.882515443,628,650.117484557,0.40126117572,0.00447562339501,0.0699045314671,0.999999991216,3.1468496782e-05,-0.000126047688007,2.62455786447e-05,1793193004168602880
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.292905249,742.292905249,711,672,663,632.707094751,877,783,799,649.292905249,628,650.707094751,0.401342164835,0.00447580387657,0.0699064236982,0.999999991586,3.04857166914e-05,-0.000123770889067,2.40749485042e-05,1793193004185269504
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.292291159,742.292291159,711,671.707708841,663,632.707708841,876.707708841,783,799.292291159,649.292291159,628.292291159,651,0.401436213143,0.00447557232517,0.0699070125869,0.999999991567,2.66500296476e-05,-0.000125243522944,2.16781279229e-05,1793193004201935872
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.87313027,742.87313027,711,671.12686973,663,632.12686973,876.12686973,783,799.87313027,649.87313027,628.87313027,651,0.401543153399,0.00447493401746,0.0699063148243,0.999999991114,1.99979712606e-05,-0.000130417572921,1.9058013722e-05,1793193004218602496
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.551088027,711.448911973,671.448911973,663,632.448911973,876.448911973,783,799.551088027,650,629,650.551088027,0.401672539531,0.00447287194476,0.0699069297297,0.999999990949,1.35472824687e-05,-0.000132900816464,1.60023243243e-05,1793193004235269120
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.976841017,672,663,632.976841017,877,783,799.023158983,650,629,650.023158983,0.401809510509,0.00447048618075,0.0699079509855,0.999999990843,7.21753023339e-06,-0.000134529592808,1.27850675379e-05,1793193004251936000
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.405465486,672,663,632.405465486,877,783,799.594534514,650,629,650.594534514,0.401977537886,0.00446985698402,0.069909907331,0.999999991018,2.41840596156e-06,-0.000133732617932,8.62476390432e-06,1793193004268603136
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.172522906,877,783,799.827477094,649.827477094,629,651,0.402155368934,0.00446961007304,0.069911641312,0.999999991208,-2.22166696381e-06,-0.000132524140838,4.13346818381e-06,1793193004285269760
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.766672298,877,783,799.233327702,649.233327702,629,651,0.402357159023,0.0044702974253,0.069912831859,0.999999991488,-6.47303566831e-06,-0.000130309998946,-1.1667341825e-06,1793193004301936384
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.648057339,742,711,671.648057339,662.648057339,632.648057339,877,783,799,649.351942661,629,650.648057339,0.402586862087,0.00447036285799,0.0699132898854,0.999999991349,-1.35974847983e-05,-0.000130631558821,-7.19999891177e-06,1793193004318603008
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.0685286,742,711,671.0685286,662.0685286,632.0685286,877,783,799,649.9314714,629,650.0685286,0.402834615282,0.0044700261223,0.0699132742224,0.999999990861,-2.25798310325e-05,-0.000132592846982,-1.37073038472e-05,1793193004335269376
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.506126461,742,711,671.506126461,662,632,877,783,799,649.493873539,628.493873539,650,0.403118990364,0.0044651311365,0.0699200320553,0.999999991879,-3.17088006408e-05,-0.000122199964889,-1.7447836868e-05,1793193004351936000
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.917909324,742.082090676,711,671.917909324,662.082090676,632,877,783,799,649,628.082090676,650,0.403413687124,0.00446045149576,0.0699281208415,0.999999993156,-3.64180355187e-05,-0.000109379208852,-1.99506000528e-05,1793193004368602624
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.329847337,742.670152663,711,671.329847337,662.670152663,632,877,783,799,649,628.670152663,650,0.403741731582,0.00446086688722,0.0699388142389,0.999999995545,-1.37647516573e-05,-9.18057493057e-05,-1.71112362887e-05,1793193004385269248
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.255021865,743,711,671.255021865,663,632,877,783,799,649,628.744978135,650.255021865,0.404088515484,0.00446243061093,0.0699459888098,0.999999996562,4.38864870122e-06,-8.11579002115e-05,-1.64320505445e-05,1793193004401935616
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.83581252,743,711,671.83581252,663,632,877,783,799,649,628.16418748,650.83581252,0.404459237416,0.0044654612316,0.0699486683777,0.999999996539,1.67938283887e-05,-7.93569318636e-05,-1.85123090845e-05,1793193004418602240
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.587107462,742.587107462,711,672,663,632,876.587107462,783,799,649,628,650.587107462,0.404867981525,0.00446847340691,0.0699531810062,0.999999997227,-1.61304489319e-06,-7.16602882073e-05,-2.02015876441e-05,1793193004435269120
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.011489857,742.011489857,711,672,663,632,876.011489857,783,799,649,628,650.011489857,0.405291710544,0.00447147831264,0.069958416062,0.999999997347,-3.21632558829e-05,-6.16401000862e-05,-2.17367770272e-05,1793193004451936256
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.564164618,742.564164618,711.564164618,672,663,632,876,783,799,649,628,650.564164618,0.405734899949,0.00447568114719,0.0699575070744,0.999999997701,-1.3137328802e-05,-6.2291110555e-05,-2.33612505321e-05,1793193004468602624
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.856153331,743,711.856153331,672,663,632,876,783,799,649,628,650.856153331,0.406181098691,0.00448044522342,0.0699525154453,0.99999999717,6.45839056552e-06,-7.07440520869e-05,-2.47903676204e-05,1793193004485269248
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.263919288,743,711.263919288,672,663,632,876,783,799,649,628,650.263919288,0.406635442316,0.00448688270278,0.069935187804,0.99999999408,2.46827341004e-05,-0.000102839059528,-2.56048664937e-05,1793193004501935872
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742.681438647,711,671.681438647,663,632,876,783,799,649,628,650,0.407134589848,0.00449329046772,0.0699203633983,0.999999991655,2.87265851851e-05,-0.000122912403332,-2.75180051098e-05,1793193004518602752
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742.106798317,711,671.106798317,663,632,876,783,799,649,628,650,0.407669753533,0.00449967434709,0.0699075512438,0.999999990425,2.13712966206e-05,-0.000133322006843,-3.03142972251e-05,1793193004535269632
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,711,671,663,632,876,783,799,649,628,650,0.408277764699,0.00450589014524,0.0699192614376,0.999999993298,2.73853105856e-05,-0.000107660256582,-3.26061351964e-05,1793193004551936512
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,711,671.046239765,663,632,876.046239765,783,799.046239765,649,628.046239765,650.046239765,0.408901580637,0.00451194351145,0.0699357676045,0.999999995937,3.62386940182e-05,-7.48906884277e-05,-3.47010488406e-05,1793193004568603136
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,711,671.637272359,663,632,876.637272359,783,799.637272359,649,628.637272359,650.637272359,0.409515679922,0.00451653518784,0.0699428252312,0.999999996917,4.25877674009e-05,-5.53934193221e-05,-3.58325783144e-05,1793193004585269504
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.223740335,742,711,672,663,632,877,783,799.776259665,649,628.776259665,651,0.410134784466,0.00452249787794,0.0699435467762,0.999999996764,5.02052405975e-05,-5.08371794822e-05,-3.69743569949e-05,1793193004601935872
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.802956079,742,711,672,663,632,877,783,799.197043921,649,628.197043921,651,0.410761841256,0.00453063881452,0.0699342016459,0.999999995031,5.98379286997e-05,-7.0019032016e-05,-3.81324194066e-05,1793193004618602496
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672.380346824,663.380346824,632,877,783,799,649,628.380346824,650.619653176,0.411440603797,0.00453855469664,0.0699373049937,0.999999994725,6.83126221799e-05,-6.56743034026e-05,-3.96374454623e-05,1793193004635268864
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,672.9567966,663.9567966,632,877,783,799,649,628.9567966,650.0432034,0.412146025279,0.00454635454272,0.0699468266506,0.999999995033,7.61902651071e-05,-4.91995082983e-05,-4.13213624024e-05,1793193004651935744
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.470072271,742.529927729,711,672.470072271,664,632,876.470072271,783,798.470072271,649,628.470072271,650,0.412910934866,0.00455142575099,0.0699769923251,0.999999995818,8.17760546942e-05,-2.65456829469e-06,-4.08653589914e-05,1793193004668602368
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742.893648719,711,672,664,632,876.106351281,783,798.106351281,649,628,650,0.413673148958,0.00455679222543,0.0700032341338,0.999999994625,8.78711391781e-05,3.72459116174e-05,-4.05105646516e-05,1793193004685268992
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.300939048,711,672,664,632,876.699060952,783,798.699060952,649,628,650,0.41440099484,0.00456451998576,0.0700038826976,0.99999999379,9.71444572951e-05,3.561900159e-05,-4.14114820331e-05,1793193004701935616
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.284254181,711,672,664,632,877,783,799,649.284254181,628,650,0.415112030545,0.00457191430868,0.0699750660913,0.999999993449,0.000104723073335,-1.62132811749e-05,-4.32720699544e-05,1793193004718602240
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742.861694845,711,672,664,632,877,783,799,649.861694845,628,650,0.415805727926,0.00457896471733,0.0699158584121,0.999999985646,0.000110553733889,-0.000119828572743,-4.61224845319e-05,1793193004735268864
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,711,672.436702213,663.563297787,632,876.563297787,783,799,649.563297787,628,650,0.416586104347,0.00458500246465,0.0698999810722,0.99999998155,0.000116461137755,-0.000145026973065,-4.80025268218e-05,1793193004751935488
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,743,711,673,663.01097638,632,876.01097638,783,798.98902362,649,628.01097638,650.01097638,0.417394689138,0.00459065552528,0.0698984916871,0.999999980873,0.000122276788367,-0.000144390377321,-4.95441502153e-05,1793193004768602368
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,743,711,673,663.586959316,632,876.586959316,783,798.413040684,649,628.586959316,650.586959316,0.418250062796,0.00459292412159,0.0699351513241,0.999999987694,0.000122125312734,-8.51909999092e-05,-4.93973285227e-05,1793193004785268992
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742.832221656,711,673,663.832221656,632,877,783,798.167778344,649,629,650.832221656,0.419097854642,0.00459500331345,0.0699666864991,0.999999990554,0.000123073234403,-3.66174174325e-05,-4.90257831162e-05,1793193004801935616
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742.239143702,711,673,663.239143702,632,877,783,798.760856298,649,629,650.239143702,0.419926427383,0.00459660238574,0.0699852317256,0.999999990692,0.000126808007972,-1.49790582039e-05,-4.80845882321e-05,1793193004818602240
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.34330137,742.34330137,711,673,663,632,877.34330137,783,799,649,629,650,0.420762900948,0.00459404223136,0.0700016072829,0.999999991351,0.000122044138496,8.56013094808e-06,-4.82723718738e-05,1793193004835268864
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.91856207,742.91856207,711,673,663,632,877.91856207,783,799,649,629,650,0.421604712851,0.00458867180141,0.0700165168534,0.999999992011,0.000111537968562,3.33836579188e-05,-4.92229753951e-05,1793193004851935744
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.505225623,743,711,672.505225623,663.494774377,632,878,783,799,649.494774377,629,650,0.422402291964,0.00458059543439,0.0699888819592,0.999999993436,0.000102043539764,-1.13308304575e-05,-5.08655333293e-05,1793193004868602368
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742.927578293,711,672.072421707,663.927578293,632,878,783,799,649.927578293,628.927578293,650,0.423187252832,0.00457349317377,0.0699494517852,0.999999991436,9.37386429931e-05,-7.46107784503e-05,-5.26651467816e-05,1793193004885268736
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742.340854904,711,672.659145096,663.340854904,632,878,783,799,649.340854904,628.340854904,650,0.423934407336,0.00457647752139,0.0698760826882,0.999999976476,9.26963166723e-05,-0.000188295036809,-5.47697194153e-05,1793193004901935616
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742,711.243692275,673,663.243692275,632,878,783,799,649,628.243692275,650,0.424737130639,0.0045792197991,0.0698470317682,0.999999968301,9.13337828789e-05,-0.000227744054709,-5.6465836214e-05,1793193004918602496
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,742,711.825222591,673,663.825222591,632,878,783,799,649,628.825222591,650,0.425616890772,0.00458162648831,0.0698794204798,0.99999998084,8.95273365884e-05,-0.000164278510368,-5.75956991368e-05,1793193004935268864
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.401650643,742.401650643,712,673,664,632,878,783,799,649.401650643,629,650,0.426475487358,0.0045835345978,0.0699278626924,0.999999989643,9.46442026128e-05,-9.29106107032e-05,-5.58930539199e-05,1793193004951935744
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.975886272,742.975886272,712,673,664,632,878,783,799,649.975886272,629,650,0.427324990141,0.00458522847277,0.0699832029207,0.999999993155,0.000102735941661,-1.8147156959e-05,-5.29733099719e-05,1793193004968602368
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.447361094,743,712,673.552638906,664.552638906,632,877.447361094,783,799,649.447361094,629,650,0.428149108319,0.00458528531638,0.0699995389238,0.999999993777,9.73709497579e-05,4.8259645818e-06,-5.42360312055e-05,1793193004985268992
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,743,711.86795994,673.86795994,664.86795994,632,877,783,799,649,629,650,0.428965848359,0.00458490183051,0.0700112215274,0.999999993945,9.22763624929e-05,2.29617940315e-05,-5.53831340848e-05,1793193005001935872
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,743,711.279790697,673.279790697,664.279790697,632,877,783,799,649,629,650,0.42976094454,0.00458324511892,0.070012735154,0.999999993877,9.01535204255e-05,3.22294846255e-05,-5.54975209382e-05,1793193005018602496
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.304661438,743,711,673.304661438,664.304661438,632,877.304661438,783,799,649.304661438,629,650,0.43050541726,0.00458259587961,0.0699896733756,0.999999994201,9.23742210933e-05,-5.21150463102e-06,-5.51121317284e-05,1793193005035269120
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.885741022,743,711,673.885741022,664.885741022,632,877.885741022,783,799,649.885741022,629,650,0.431203959466,0.0045828607161,0.0699443144271,0.999999990057,9.85358009941e-05,-8.50310993737e-05,-5.42732973528e-05,1793193005051935488
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.540529027,743,711,673.540529027,664.540529027,632,877.540529027,783,799,649.540529027,629,650,0.431871204938,0.00458406064504,0.0698965979711,0.999999980245,9.70366484922e-05,-0.000164241454266,-5.58496466888e-05,1793193005068602880
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.031557449,742.968442551,711,673.031557449,664,632,877.031557449,783,799,649.031557449,629,650,0.432536754101,0.00458522127373,0.0698534451686,0.999999966493,9.33529281617e-05,-0.000234393819752,-5.7946964421e-05,1793193005085270016
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.606318484,742.393681516,711,673.606318484,664,632,877.606318484,783,799,649.606318484,629,650,0.433304959625,0.00458176578758,0.0698987797501,0.999999983282,8.43412710617e-05,-0.000151196213372,-5.88364048567e-05,1793193005101936384
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.811894307,742.188105693,711,674,664,632,878,783,799.188105693,649.811894307,629,650,0.434060263622,0.00457819391827,0.0699463227373,0.999999992834,7.79446004988e-05,-6.9619898359e-05,-5.83915671727e-05,1793193005118602752
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.214831512,742.785168488,711,674,664,632,878,783,799.785168488,649.214831512,629,650,0.434787518794,0.00457436902181,0.0699986669874,0.999999995467,7.72331227809e-05,8.43161147298e-06,-5.50459008254e-05,1793193005135269632
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.367914725,743,711,674,664,632.367914725,878,783,799.632085275,649,629,650,0.435440760551,0.00457320014735,0.0700075599217,0.999999995492,7.4447434195e-05,2.23863467096e-05,-5.45270438822e-05,1793193005151936256
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.942614365,743,711,674,664,632.942614365,878,783,799.057385635,649,629,650,0.436052403337,0.00457352407908,0.0699920312247,0.99999999597,7.04959443506e-05,3.15756125724e-07,-5.55969835189e-05,1793193005168603392
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,632.483751775,877.483751775,783,799,649,628.483751775,650,0.436629776599,0.00457331811251,0.0699739683254,0.999999995552,7.18553917603e-05,-2.41987393798e-05,-5.60912590721e-05,1793193005185270016
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,632,877.185834905,783,799,649,628.092917452,650,0.437200129984,0.00457351020987,0.0699554743542,0.999999994594,7.3092511691e-05,-4.74323411275e-05,-5.67415841502e-05,1793193005201936640
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664,632,878.373163778,783,799,649,628.686581889,650,0.437753139113,0.00457616432076,0.0699361722643,0.999999993859,7.04954081358e-05,-6.23019876264e-05,-5.85770283223e-05,1793193005218603008
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.728490361,711,674,663.728490361,632,878.728490361,783,799,649,629,650,0.438267246976,0.00457875674194,0.0699127944079,0.999999991605,6.99335340294e-05,-9.08700505714e-05,-6.0354178835e-05,1793193005235269632
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.153333466,711,674,663.153333466,632,878.153333466,783,799,649,629,650,0.438737848934,0.00458128017124,0.0698848583527,0.999999986427,7.16477922215e-05,-0.000134757960951,-6.20661354815e-05,1793193005251936256
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.57653388,742.42346612,711,674,662.57653388,632,878,783,799,649,629,650,0.43916364779,0.00458503593171,0.0698509821841,0.999999975493,8.47273397734e-05,-0.000195624290066,-5.97155967248e-05,1793193005268602880
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,743,711,674.00087992,661.998240159,632,878.00087992,783,799,649,629,650,0.439573162687,0.00458923897565,0.0698149918672,0.999999958773,0.000101913781891,-0.000262570962848,-5.58953814228e-05,1793193005285269504
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,743,711,674.589683935,660.82063213,632,878.589683935,783,799,649,629,650,0.439984016645,0.00459299358874,0.0698091319637,0.999999957062,0.000102792733325,-0.000268486640435,-5.67838790143e-05,1793193005301936128
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,743,711,674.824266516,660,632,878.824266516,783,799,649,629,650,0.440393730453,0.00459687852177,0.0698089685476,0.999999957356,0.000103930146542,-0.000266764000471,-5.76526698683e-05,1793193005318602496
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,743,711,674.244548939,660,632,878.244548939,783,799,649,629,650,0.440800823317,0.00460106304089,0.0698219004736,0.999999962084,0.000105661723565,-0.000247482051282,-5.84761581473e-05,1793193005335269120
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.33193208,743,711,674,660,632,878,783,799.33193208,649,629,650.33193208,0.441169918875,0.00460403396504,0.0698316523864,0.999999964834,0.000106850838525,-0.000235475089175,-5.88710788309e-05,1793193005351935744
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.906051576,743,711,674,660,632,878,783,799.906051576,649,629,650.906051576,0.441511290456,0.0046061194143,0.0698390840673,0.999999966299,0.000107644157108,-0.000228776172982,-5.89533039413e-05,1793193005368602368
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763.348548897,743,711,674,659.651451103,631.348548897,878,783,799,649.651451103,628.651451103,650,0.442292840478,0.00461545603675,0.0697987944084,0.999999943979,0.000127990027349,-0.000304170633483,-5.60338765874e-05,1793193005418602240
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,743,711,674,659.763422712,631,878,783,799,649.763422712,629,650,0.442504963893,0.00461982257257,0.0697786698937,0.999999932429,0.000134987452246,-0.000337372643513,-5.56805797707e-05,1793193005435269376
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,743,711,674,659.183773826,631,878,783,799,649.183773826,629,650,0.442710769131,0.00462182752421,0.0697615875104,0.999999923174,0.000139561922695,-0.000362044280756,-5.56665973626e-05,1793193005451936256
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631,878,783,799,649,629,650,0.442893223177,0.00462574469883,0.0697510692347,0.9999999163,0.000144350523374,-0.000378771736358,-5.56307767211e-05,1793193005468602880
+200,3.333333333,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631,878,783,799,649,629,650,0.443064837105,0.00463054956944,0.0697435981603,0.999999910561,0.000149238528404,-0.000391811330932,-5.55848182934e-05,1793193005485269248
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631.120337533,878,782.879662467,799,649.879662467,629,650,0.443354036502,0.00464011185454,0.0697411946352,0.999999906764,0.000161283149586,-0.000396358117436,-5.79666835883e-05,1793193005518602240
+203,3.383333333,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631.712645598,878,782.287354402,799,649.287354402,629,650,0.44346832675,0.00465449937782,0.069736768601,0.999999901036,0.000176106230763,-0.000403776533348,-6.22802866991e-05,1793193005535268864
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+205,3.416666667,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631.128029517,878,782.871970483,799,649,629,650,0.443655889442,0.00468826220925,0.0697212836092,0.999999884744,0.000209602880922,-0.000426275854472,-6.97651535244e-05,1793193005568602368
+206,3.433333333,POSE1_TO_POSE2_PRESS,763,742.55158554,711,674.44841446,659,631,878,782.55158554,799,649,628.55158554,650,0.443723896239,0.00468672721666,0.0697134725669,0.999999879725,0.000208552859779,-0.000438470604648,-6.92712644714e-05,1793193005585268992
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+208,3.466666667,POSE1_TO_POSE2_PRESS,762.384687351,742.615312649,711,674.384687351,659,630.384687351,878,782.615312649,799,649,628,650,0.443833885189,0.00468118415933,0.0697037316027,0.999999874654,0.000203330675771,-0.000452447437823,-6.81221656893e-05,1793193005618602752
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+210,3.500000000,POSE1_TO_POSE2_PRESS,762.781171279,743,711,674,659,630.781171279,878,782.218828721,799.781171279,649,628.781171279,650,0.443913728289,0.00468373155464,0.069703383007,0.999999873408,0.000206822143283,-0.000453622292506,-6.80807576608e-05,1793193005651936000
+211,3.516666667,POSE1_TO_POSE2_PRESS,763,742.642289411,711,673.642289411,659,631,878,782.357710589,800,649.357710589,629,650,0.443942017791,0.00468325320335,0.0697038612928,0.999999873633,0.000206715087716,-0.000453288336636,-6.73290402037e-05,1793193005668602368
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+214,3.566666667,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631,878,782.084113824,799.915886176,649,628.084113824,650,0.443988386878,0.00468627011732,0.0697021491447,0.999999870904,0.000209362568746,-0.000458157378873,-6.67236711639e-05,1793193005718602240
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+240,4.000000000,HOLD_POSE2,763,743,711,674,658,631,879,782,799,649,629,650,0.444012077743,0.00468119166123,0.0696973169298,0.999999868522,0.000206990682754,-0.000464821308648,-6.36608533843e-05,1793193006175486976
+241,4.016666667,HOLD_POSE2,763.57943771,743,711,674,658.57943771,631,878.42056229,782.57943771,799,649,629,650.57943771,0.444012677641,0.00467884995176,0.0696982400153,0.999999869722,0.000203981633794,-0.000463592429829,-6.34750803512e-05,1793193006192153600
+242,4.033333333,HOLD_POSE2,763.842019206,742.842019206,711,674,659,631,878,783,799.157980794,649.157980794,629,651,0.444012752119,0.00467764521894,0.0696986407893,0.999999870369,0.000202130327036,-0.000463027392504,-6.33355708367e-05,1793193006208820224
+243,4.050000000,HOLD_POSE2,763.265844179,742.265844179,711,674,659,631,878,783,799.734155821,649.734155821,629,651,0.444011435749,0.00467945020011,0.069697658942,0.999999869571,0.000203343702999,-0.000464219623499,-6.33185264018e-05,1793193006225486848
+244,4.066666667,HOLD_POSE2,763.318763122,742.318763122,711,674,659,631,878.318763122,782.681236878,800,649.681236878,629,650.681236878,0.444011032446,0.00468045322713,0.0696969718015,0.999999868904,0.000204364261874,-0.000465205177067,-6.33314551316e-05,1793193006242153472
+245,4.083333333,HOLD_POSE2,763.910593876,742.910593876,711,674,659,631,878.910593876,782.089406124,800,649.089406124,629,650.089406124,0.44401141132,0.00468076926202,0.0696965371208,0.99999986835,0.000205219644399,-0.000466013680862,-6.33700602989e-05,1793193006258820096
+246,4.100000000,HOLD_POSE2,763.508814814,743,711,673.508814814,659,631,878.508814814,782,799.508814814,649,628.508814814,650,0.44401265416,0.00468076677842,0.0696973577101,0.999999868716,0.0002058990341,-0.000464924339521,-6.33908404121e-05,1793193006275486720
+247,4.116666667,HOLD_POSE2,763,742.930854715,711,673.069145285,659,631,878,782,799,649.069145285,628.069145285,650,0.444013728229,0.00468078406731,0.0696981312556,0.999999869071,0.000206499123749,-0.000463893513922,-6.34015901944e-05,1793193006292153344
+248,4.133333333,HOLD_POSE2,763,742.357497057,711,673.642502943,659,631,878,782,799,649.642502943,628.642502943,650,0.444012450515,0.00468135885441,0.0696969328926,0.999999868157,0.00020674932342,-0.000465752069633,-6.33623282194e-05,1793193006308820224
+249,4.150000000,HOLD_POSE2,763,742.220768342,711,674,659,631,878,782.220768342,799,649.779231658,629,650,0.444011093908,0.00468122683627,0.0696959414708,0.999999867441,0.000206433920757,-0.000467435622016,-6.32995970903e-05,1793193006325486848
+250,4.166666667,HOLD_POSE2,763,742.807161628,711,674,659,631,878,782.807161628,799,649.192838372,629,650,0.444009606643,0.00467992424433,0.0696952927743,0.999999867053,0.000205181797168,-0.000468829342887,-6.31979975837e-05,1793193006342153472
+251,4.183333333,HOLD_POSE2,763.388877337,743,711,674,659,631,878,783,799,649,629,650,0.444011045044,0.00467950786225,0.0696963270977,0.999999867841,0.000204987127196,-0.000467232700628,-6.31813556297e-05,1793193006358820096
+252,4.200000000,HOLD_POSE2,763.968301127,743,711,674,659,631,878,783,799,649,629,650,0.444013916996,0.00467952571504,0.0696981860859,0.999999869199,0.000205310600023,-0.000464170807025,-6.32063421153e-05,1793193006375486720
+253,4.216666667,HOLD_POSE2,763.45488032,742.45488032,711,674,658.45488032,631,878.54511968,783,799,649,629,650,0.44401377134,0.00468036791695,0.0696983946248,0.999999869013,0.000206945412944,-0.00046387936605,-6.29485170863e-05,1793193006392153344
+254,4.233333333,HOLD_POSE2,763,742.12202494,711,674,658,631,878.87797506,782.87797506,799,649.12202494,628.87797506,650,0.44401325805,0.00468071576626,0.0696982534097,0.999999868737,0.000207842967924,-0.000464098271696,-6.27722269487e-05,1793193006408819968
+255,4.250000000,HOLD_POSE2,763,742.699817368,711,674,658,631,878.300182632,782.300182632,799,649.699817368,628.300182632,650,0.444012023919,0.0046790389996,0.0696971626132,0.999999868458,0.000205703379009,-0.000465624478036,-6.29616050917e-05,1793193006425486592
+256,4.266666667,HOLD_POSE2,763,742.717807959,711,674,658,631,878,782.282192041,799,649.717807959,628.282192041,650,0.444011820472,0.00467825726024,0.0696968365051,0.999999868545,0.000204409019208,-0.000466005549353,-6.2980941253e-05,1793193006442153216
+257,4.283333333,HOLD_POSE2,763,742.130478489,711,674,658,631,878,782.869521511,799,649.130478489,628.869521511,650,0.444012731517,0.00467844332409,0.0696973372633,0.999999869032,0.000204028615289,-0.000465148373191,-6.28164090945e-05,1793193006458819840
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,631,878,782,799,649,628,650,0.444014793364,0.00467999700797,0.0696985986402,0.999999869749,0.000205352272364,-0.000462887649769,-6.37726600524e-05,1793193006491273216
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763,743,710.424849497,673.575150503,658.575150503,631,878,782,799,649,628,650,0.44401345554,0.00467958265609,0.0696974808572,0.999999869187,0.000204467953655,-0.000464579588137,-6.31285151127e-05,1793193006507939584
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,742.849929965,710.150070035,673.849929965,658.849929965,631,877.849929965,782,799,649,628.150070035,650,0.44401267463,0.00467897532348,0.0696968882926,0.999999868963,0.000203522205174,-0.000465538454127,-6.26669875921e-05,1793193006524605952
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,742.275663178,710.724336822,673.275663178,658.275663178,631,877.275663178,782,799,649,628.724336822,650,0.444013467924,0.00467782250014,0.0696977803409,0.999999869704,0.0002024028155,-0.000464425175193,-6.27216570173e-05,1793193006541272320
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742,710.690767593,673,658.309232407,631,877,782,799,649,629,650,0.44401315068,0.00467753244918,0.0696979582998,0.999999869657,0.000202751367615,-0.000464417736092,-6.24030770502e-05,1793193006557938944
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742,710.09605981,673,658.90394019,631,877,782,799,649,629,650,0.444011808219,0.00467803888748,0.0696974770296,0.99999986888,0.000204455085764,-0.000465431179846,-6.17399228748e-05,1793193006574605824
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742.482610445,710.482610445,673.482610445,658.517389555,631,877,782.482610445,799,649,629,650,0.444006794697,0.00467843455201,0.0696942453336,0.999999866584,0.000204651716719,-0.000470178704753,-6.2300703334e-05,1793193006591272448
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,658.057977352,630.942022648,877,782.942022648,799,649.057977352,629,650,0.443999432059,0.00467888250572,0.0696897680125,0.999999863351,0.000204738035981,-0.000476876486477,-6.29981097968e-05,1793193006607938816
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,658.631442725,630.368557275,877,782.368557275,799,649.631442725,629,650,0.443977470771,0.00467998510659,0.0696789265371,0.999999854447,0.000206424898491,-0.000494518632817,-6.2813923825e-05,1793193006624605696
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,658.788217558,630.211782442,877.211782442,782,799,649.788217558,628.788217558,650.211782442,0.443945716651,0.00467994785947,0.0696651675051,0.999999842401,0.000206616441351,-0.000518260248543,-6.2559994066e-05,1793193006641272576
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,658.195513388,630.804486612,877.804486612,782,799,649.195513388,628.195513388,650.804486612,0.443896348689,0.00467786042876,0.0696461608218,0.999999824345,0.000204118432639,-0.000552972650877,-6.2180619892e-05,1793193006657939200
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742.612765378,711,674,658.387234622,631,878,782.387234622,799,649,628.387234622,650.612765378,0.443833769858,0.00467818736755,0.0696301013874,0.999999806921,0.000205947530917,-0.00058306546986,-6.14615954459e-05,1793193006674605568
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742.034918141,711,674,658.965081859,631,878,782.965081859,799,649,628.965081859,650.034918141,0.443764688096,0.00467970275694,0.069615492707,0.999999789545,0.000209906606798,-0.000610884345163,-6.05753812853e-05,1793193006691272448
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.458389931,659,631,878,783,799,649,628.458389931,650,0.443690162598,0.0046799643557,0.0696125864997,0.999999789731,0.000211510257357,-0.000610119054715,-5.96397071555e-05,1793193006707939072
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.117251985,659,631,878,782.882748015,799,649,628.117251985,650,0.443609791844,0.00467960780631,0.0696112964076,0.999999791128,0.000212729683429,-0.000607518847333,-5.83983231022e-05,1793193006724605440
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.689782076,659,631,878,782.310217924,799,649,628.689782076,650,0.443508083953,0.00467716415227,0.0696133591167,0.999999792767,0.00021304541544,-0.00060493205675,-5.59822481923e-05,1793193006741272320
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,631,878,782,799.272517507,649,629,650,0.44339575581,0.00467506397151,0.06961777979,0.999999796085,0.000212908960138,-0.000599740388654,-5.30201660196e-05,1793193006757939200
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,631,878,782,799.867322029,649,629,650,0.44327086786,0.00467336999225,0.069624989059,0.999999801339,0.000212237735124,-0.000591468117863,-4.94123601481e-05,1793193006774606080
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742.447134106,711,673.552865894,659,631,878,782.447134106,799.552865894,649,629,650,0.443115291467,0.00467145060875,0.0696321343273,0.999999806105,0.000214675713142,-0.000582798729735,-4.52865396484e-05,1793193006791272448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.022622636,659,631,878,783,798.977377364,649,629,650,0.442949825174,0.00466937334182,0.0696394105169,0.99999981087,0.000217903103392,-0.0005736727509,-4.09683786364e-05,1793193006807938816
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.597643289,659,631,878,783,798.402356711,649,629,650,0.442758008159,0.00466502107547,0.0696503322077,0.999999820803,0.000218609352641,-0.000556181745541,-3.55851815748e-05,1793193006824605440
+279,4.650000000,POSE2_TO_POSE3_RETREAT,762.823500851,743,711,673.823500851,659.176499149,631,878,782.823500851,798.352998297,649,629,650,0.442553584652,0.00466051110742,0.069659375538,0.999999827961,0.000220047880983,-0.000542919024865,-2.99286949983e-05,1793193006841272064
+280,4.666666667,POSE2_TO_POSE3_RETREAT,762.235707939,743,711,673.235707939,659.764292061,631,878,782.235707939,799.528584122,649,629,650,0.442319784419,0.00465563364967,0.0696640417466,0.999999829278,0.000223192830191,-0.000539509426007,-2.36353660513e-05,1793193006857938688
+281,4.683333333,POSE2_TO_POSE3_RETREAT,762.348677169,743,711,673,659.651322831,631,878,782.348677169,800,649,628.651322831,650,0.442058764736,0.00464998146998,0.0696718018911,0.999999834609,0.000224676265998,-0.000529168690123,-1.68057283682e-05,1793193006874605568
+282,4.700000000,POSE2_TO_POSE3_RETREAT,762.930780936,743,711,673,659.069219064,631,878,782.930780936,800,649,628.069219064,650,0.441779522604,0.00464381064182,0.0696816333129,0.999999842436,0.000225047379693,-0.000514187811339,-9.61705098931e-06,1793193006891272192
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.494208602,711,673.505791398,659,631,878,783,799.494208602,649.505791398,628,650,0.441468428853,0.00463922194817,0.0696968582871,0.999999856507,0.000230278642617,-0.000483685426443,-2.27238570554e-06,1793193006907939328
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,631,877.919956448,782.919956448,799,650,628,650,0.441146560232,0.00463435083262,0.0697128377022,0.999999870216,0.000235735064729,-0.000451630920077,5.23860139969e-06,1793193006924606208
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,631,877.344472267,782.344472267,799,650,628,650,0.440784606347,0.00462640998138,0.0697289813073,0.999999882023,0.000238525193112,-0.000422935304543,1.36487582448e-05,1793193006941272832
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.236419716,742,711,674,659,631.236419716,877,782.236419716,799,649.763580284,628.236419716,650,0.440400680062,0.0046197068984,0.0697404597892,0.99999989043,0.000238936169624,-0.000402008533688,2.09493073394e-05,1793193006957939200
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.825375481,742,711,674,659,631.825375481,877,782.825375481,799,649.174624519,628.825375481,650,0.439983989764,0.0046148495077,0.0697449818956,0.999999894752,0.000235799486083,-0.000392666237908,2.65952700316e-05,1793193006974605568
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.592308624,742,711,673.592308624,659.815382752,632,877,783,799,649,628.592308624,650,0.439513249529,0.00460811993657,0.0697420943952,0.999999899954,0.000204936429616,-0.000396905900236,2.36170436083e-05,1793193006991272192
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.01279119,742,711,673.01279119,660.974417621,632,877,783,799,649,628.01279119,650,0.439019729359,0.00460060131432,0.0697360840336,0.999999903899,0.000162387785106,-0.000406869829235,1.7004056724e-05,1793193007007938816
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.56211052,661.56211052,631.43788948,877,783,799.56211052,649,628.56211052,650,0.438485553152,0.00459293140974,0.0697261534372,0.999999903734,0.000152282460474,-0.000410974111283,2.10408761434e-05,1793193007024605696
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.136806458,742,711,673.863193542,662.136806458,631,877,783,799.863193542,649,628.863193542,650,0.437950895532,0.00458587075287,0.0697245295771,0.999999906103,0.000153278980916,-0.000404601395461,2.44503704452e-05,1793193007041272320
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.711177342,742,711,673.288822658,662.711177342,631,877,783,799.288822658,649,628.288822658,650,0.437417633189,0.00458076964814,0.069749757145,0.999999915454,0.000187441798024,-0.000365141849064,2.50846126441e-05,1793193007057939456
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.703675513,742,711,673,663.296324487,631.296324487,877,783,799,649,628.296324487,650,0.436859954248,0.00457542238038,0.0697780328943,0.999999926738,0.00020014186304,-0.000325124159283,2.76008133066e-05,1793193007074606080
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.107628464,742,711,673,663.892371536,631.892371536,877,783,799,649,628.892371536,650,0.43627757865,0.00456982612611,0.0698093917828,0.999999940739,0.000191133057926,-0.000284541921198,3.20205537263e-05,1793193007091272448
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,663.528263464,632,877,783,799,649,629,650,0.435625851205,0.00456833393319,0.0698223338693,0.999999946696,0.000180421898008,-0.00026988723808,3.48858979835e-05,1793193007107939328
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742.047255235,711,673,663,632,877.047255235,783,799.047255235,649,629,650,0.434953067195,0.00456768983465,0.0698293740188,0.999999950202,0.000169007786799,-0.000263928840114,3.70558283162e-05,1793193007124605952
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,742.620878243,711,673,663,632,877.620878243,783,799.620878243,649,629,650,0.434215965855,0.00456641882988,0.0698158787497,0.99999994513,0.00015394215463,-0.0002911959927,3.52950312444e-05,1793193007141272832
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,762.206450757,743,711,673,663,632,877.206450757,783,798.412901513,649,629,650,0.432776985168,0.00456061039259,0.0698107560924,0.999999944053,0.000159799342184,-0.00029155230047,3.68222202105e-05,1793193007174606080
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,762.952756731,742.047243269,711,673,663,632,877.952756731,783,798.952756731,649,629,650,0.431259848125,0.00455741337856,0.0698233801517,0.999999949868,0.000160353972826,-0.000269939659793,4.1035035759e-05,1793193007207939328
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,663,632,878,783,798.471889202,649,629,650,0.430400463099,0.00455970144893,0.069775905507,0.999999925061,0.000165767983274,-0.000347550968381,4.00959064626e-05,1793193007224606464
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742.678867615,711,673,662.321132385,632,877.321132385,783,798.678867615,649,629,650,0.428724359609,0.00455353219451,0.0697521652121,0.999999913238,0.000161579364655,-0.000381888482861,3.97257886178e-05,1793193007257939200
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,662.525059515,632,877,783,799,649,628.737470242,650,0.427922795901,0.00454815488865,0.0697878266739,0.999999933797,0.000156278118361,-0.000326001439372,4.1315380527e-05,1793193007274606080
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.563072098,711,673,664,632,877,783,799,649,628.436927902,650,0.426310323177,0.00454071363395,0.069865968555,0.999999964835,0.000151544922423,-0.000212736346831,4.59155878728e-05,1793193007307939072
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742.166526543,711,673,663.166526543,632,876.166526543,783,799.833473457,649,629,650,0.423661318464,0.00452435787507,0.0698103709753,0.99999994411,0.000123352928165,-0.000307489250758,4.48768934892e-05,1793193007357939200
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,762.080634161,743,711,672.080634161,662.161268323,632,877,782.080634161,799,649,629,650,0.420870620528,0.00450751063034,0.0696900948912,0.999999865761,0.000103908080337,-0.000505811221258,4.28497436873e-05,1793193007407939072
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742.0701558,711,672.0701558,663.0701558,632,877,783,799.0701558,648.9298442,628,650,0.419311854668,0.00448592237708,0.069824376459,0.999999955209,8.16048606169e-05,-0.000284023768308,4.74765588371e-05,1793193007441272320
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.645460066,711,672.645460066,663.645460066,632,877,783,799.645460066,648.354539934,628,650,0.418497848198,0.00448124760684,0.0698665565688,0.999999971337,8.16792459572e-05,-0.000219639912722,4.91224873085e-05,1793193007457938944
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.774062012,711,672.774062012,663.548124023,632,877,783,799.774062012,648.225937988,628,650.225937988,0.417660989212,0.00447447488408,0.0698801517304,0.999999975746,7.56084881306e-05,-0.000200824010942,4.960185773e-05,1793193007474605568
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.977048726,632,877,783.977048726,799,649,628.977048726,650.022951274,0.415084134449,0.00445383742347,0.0697901206576,0.999999948185,3.37217769729e-05,-0.000317376164229,4.20052619542e-05,1793193007524606208
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.735381292,632,876,782.132309354,799,649,629,650.867690646,0.413407336047,0.00443952572698,0.0697426242686,0.999999908986,2.49322165929e-05,-0.00042353527979,4.50026854238e-05,1793193007557938944
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,877,783,798.638563848,649.361436152,629,650,0.407390135901,0.00445829890334,0.0697864642737,0.999999942458,3.20503856436e-05,-0.000335277692159,4.05736705221e-05,1793193007707939328
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,876.128809678,783,799.128809678,649.128809678,628.871190322,650.128809678,0.401024431596,0.00447664525869,0.0698057495312,0.999999951769,3.82549846678e-05,-0.000306659746143,3.09504930722e-05,1793193008124606208
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.280212518,711,672,662.280212518,632.719787482,877.719787482,783.280212518,799,649,629,650.280212518,0.400962251941,0.00447960065626,0.0698241895513,0.999999959536,4.45932059321e-05,-0.000279318713469,3.03520091707e-05,1793193008624605696
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.562972241,711,672,663,632.437027759,877,783.562972241,799,649.437027759,629,650.562972241,0.400962863625,0.00447811570232,0.0698236684787,0.999999959514,4.3755795758e-05,-0.000279528451141,3.03452302793e-05,1793193008657939456
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.986396456,742,711,672,662.986396456,632.986396456,877,783,799,649.986396456,628.986396456,650.013603544,0.400964812087,0.00447711334446,0.0698242161648,0.99999996027,4.02212443223e-05,-0.000277365704223,3.01644361047e-05,1793193008674606848
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.413380639,742,711,672,662.413380639,632.413380639,877,783,799,649.413380639,628.413380639,650.586619361,0.400963141535,0.00447923195975,0.0698236618288,0.999999959733,4.36481779953e-05,-0.00027877428617,3.02175815933e-05,1793193008691273216
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..598d9cb9982b082f2714f28f65a2694b3fdbee5d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,392 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a7efb0b01eede67a73f9c94bf4556d09c2d46099
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e72ad324c8960312677e9edc71c014d41dfa2ebba6168c28a2acec69a30f20be
+size 25128069
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07849c979f1df2debb58bd35af378950f68e4cf8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/franka_data.csv
@@ -0,0 +1,396 @@
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+2,0.033333333,BASELINE,764,742.841827821,711,672.158172179,662,632.158172179,877,783,799,650,628.841827821,650.158172179,0.400961818485,0.00447870788945,0.06982317719,0.999999959354,4.49662565389e-05,-0.000279920531138,3.02256516863e-05,1793193008850890240
+3,0.050000000,BASELINE,764,742.265683506,711,672.734316494,662,632.734316494,877,783,799,650,628.265683506,650.734316494,0.400962935712,0.00447984997731,0.069824266501,0.999999959662,4.67077932117e-05,-0.000278520666401,3.0337294283e-05,1793193008867557632
+4,0.066666667,BASELINE,764,742.310184817,711,672.689815183,662.310184817,632.689815183,877,783,799,650,628.310184817,650.689815183,0.400964439076,0.00447944048601,0.0698254562622,0.999999960209,4.59791457838e-05,-0.000276654486335,3.04862072819e-05,1793193008884224256
+5,0.083333333,BASELINE,764,742.885816921,711,672.114183079,662.885816921,632.114183079,877,783,799,650,628.885816921,650.114183079,0.400966272885,0.00447770319763,0.0698267319858,0.999999960955,4.31365854114e-05,-0.000274389247044,3.06670152169e-05,1793193008900890112
+6,0.100000000,BASELINE,764,742.530082067,711,672,662.530082067,632,877,783,799,650,629,650,0.400965545349,0.00447923410817,0.0698263659556,0.999999960724,4.42083017467e-05,-0.000275108750839,3.02185965533e-05,1793193008917556736
+7,0.116666667,BASELINE,763.944210055,742,711,672.055789945,662.055789945,632.055789945,877,783.055789945,799,650,629,650,0.400964431665,0.00448119099307,0.0698257802519,0.999999960353,4.57771517037e-05,-0.000276254519331,2.96916870634e-05,1793193008934223104
+8,0.133333333,BASELINE,763.361404191,742,711,672.638595809,662.638595809,632.638595809,877,783.638595809,799,650,629,650,0.400965657316,0.00447953250294,0.0698269569676,0.999999960972,4.28926410876e-05,-0.00027445022458,2.98941168164e-05,1793193008950890240
+9,0.150000000,BASELINE,763.218209768,742,711,672.781790232,663,632.781790232,876.781790232,783.781790232,799,649.781790232,629,650.218209768,0.400966162867,0.00447890232893,0.0698273701656,0.999999961275,4.20713925041e-05,-0.000273466026596,2.9928574366e-05,1793193008967557120
+10,0.166666667,BASELINE,763.792613374,742,711,672.207386626,663,632.207386626,876.207386626,783.207386626,799,649.207386626,629,650.792613374,0.400965492966,0.00447995072279,0.0698265370385,0.999999961075,4.46181016931e-05,-0.000273820510453,2.96888431442e-05,1793193008984224000
+11,0.183333333,BASELINE,764,742,711,672,663,632.368592951,876.368592951,783,798.631407049,649,629,651,0.400964305136,0.00448035679344,0.0698256582046,0.999999960523,4.61045106559e-05,-0.000275552867732,2.99921194186e-05,1793193009000890368
+12,0.200000000,BASELINE,764,742,711,672,663,632.945463101,876.945463101,783,798.054536899,649,629,651,0.400962824646,0.00448039991293,0.0698247535434,0.999999959768,4.6991786425e-05,-0.000278063806443,3.06022275817e-05,1793193009017556736
+13,0.216666667,BASELINE,763.465183722,742,711,672,662.465183722,632.465183722,877,783,798.534816278,649,628.465183722,650.465183722,0.400964206067,0.00447825834816,0.0698255947125,0.999999960412,4.26999516044e-05,-0.000276437973663,3.05799655235e-05,1793193009034223104
+14,0.233333333,BASELINE,763.122855701,742,711,672,662.122855701,632,877,783,799,649,628,650.122855701,0.400965339676,0.00447639001635,0.0698263604389,0.999999961013,3.90289959799e-05,-0.00027481296446,3.04752889678e-05,1793193009050889984
+15,0.250000000,BASELINE,763.701192493,742,711,672,662.701192493,632,877,783,799,649,628,650.701192493,0.400964446704,0.0044763803616,0.0698261706632,0.999999960999,3.96647251243e-05,-0.000274792332535,3.03098524362e-05,1793193009067556608
+16,0.266666667,BASELINE,763.722994232,742,711,672,662.722994232,632,876.722994232,783,799,649.277005768,628,651,0.400964119772,0.004477520136,0.0698260302975,0.999999960862,4.13574382273e-05,-0.000275053922575,3.01752097295e-05,1793193009084223232
+17,0.283333333,BASELINE,763.149878549,742,711,672,662.149878549,632,876.149878549,783,799,649.850121451,628,651,0.400964397919,0.00447988861176,0.0698259427494,0.999999960589,4.41800318451e-05,-0.000275617198472,3.00734846031e-05,1793193009100890112
+18,0.300000000,BASELINE,763,742,711,672,662.433561307,632.433561307,876.433561307,783,799,649.566438693,628,651,0.400963550332,0.00447906893033,0.0698253232605,0.999999960276,4.35671224307e-05,-0.000276847543569,3.00830713336e-05,1793193009117557248
+19,0.316666667,BASELINE,763.020501449,742,711,672,662.979498551,632.979498551,877,783,799,649.020501449,628.020501449,651,0.400962368061,0.00447719552896,0.0698245734839,0.999999959976,4.17417779985e-05,-0.000278204034019,3.01262317612e-05,1793193009134224384
+20,0.333333333,BASELINE,763.603170965,742,711,672,662.396829035,632.396829035,877,783,799,649.603170965,628.603170965,651,0.400962939768,0.00447738647983,0.069825416465,0.999999960511,4.00305047996e-05,-0.000276542031788,3.00091298479e-05,1793193009150890496
+21,0.350000000,BASELINE,764,742,711,672,662,632,877,783,799,650,628.816727854,651,0.400963830545,0.00447761262602,0.0698262509811,0.999999960971,3.9346303036e-05,-0.000274979590088,2.99387757138e-05,1793193009167556864
+22,0.366666667,BASELINE,764,742,711,672,662,632,877,783,799,650,628.242110961,651,0.40096540264,0.00447791392546,0.0698270674218,0.99999996128,4.08552280403e-05,-0.000273629742235,2.996824308e-05,1793193009184223232
+23,0.383333333,BASELINE,763.667100372,742.332899628,711,672,662.332899628,632,877,783,799,650,628.332899628,650.667100372,0.400964640633,0.00447844913909,0.0698265564102,0.999999960901,4.23127186583e-05,-0.00027477711949,3.0070632568e-05,1793193009200889856
+24,0.400000000,BASELINE,763.091803056,742.908196944,711,672,662.908196944,632,877,783,799,650,628.908196944,650.091803056,0.400962179072,0.00447915467513,0.069825078827,0.999999960016,4.37327579749e-05,-0.000277742827237,3.02261196062e-05,1793193009217556480
+25,0.416666667,BASELINE,763.49720718,742.50279282,711,672,662.50279282,632,877,783,799.49720718,650,629,650.49720718,0.400962870603,0.00447858987236,0.0698250424748,0.999999960326,4.3437720451e-05,-0.000276678621194,3.01587712948e-05,1793193009234223872
+26,0.433333333,BASELINE,763.913544283,742,711,672,662.086455717,632,876.913544283,783,799.913544283,649.913544283,629,651,0.400964226252,0.00447798184826,0.0698254185446,0.999999960829,4.29937429506e-05,-0.000274933386126,3.0081519541e-05,1793193009250891264
+27,0.450000000,BASELINE,763.33768557,742,711,672,662.66231443,632,876.33768557,783,799.33768557,649.33768557,629,651,0.400965952267,0.00447849455416,0.0698265801516,0.99999996115,4.35500668568e-05,-0.000273664486448,3.01877165053e-05,1793193009267557888
+28,0.466666667,BASELINE,763.23797864,742,711,672,662.76202136,632,876.23797864,783,799.23797864,649,629,650.76202136,0.400966750116,0.00447922492714,0.0698272827545,0.999999961331,4.40384907366e-05,-0.000272932824134,3.01082612386e-05,1793193009284224000
+29,0.483333333,BASELINE,763.813367044,742,711,672,662.186632956,632,876.813367044,783,799.813367044,649,629,650.186632956,0.400966231995,0.00448026391183,0.0698273345744,0.999999961316,4.44306448844e-05,-0.00027296286527,2.97655853858e-05,1793193009300890112
+30,0.500000000,BASELINE,764,742,711,672,662.399221897,632,877,783,799.600778103,649.399221897,629,650,0.400966326351,0.00448013156217,0.0698272705821,0.999999961347,4.37604680653e-05,-0.000272952548023,2.98078845111e-05,1793193009317556736
+31,0.516666667,BASELINE,764,742,711,672,662.990101444,632,877,783,799.009898556,649.990101444,629,650,0.400966714743,0.00447943688063,0.069827150991,0.999999961399,4.25802895065e-05,-0.000272922855602,3.00350016652e-05,1793193009334223104
+32,0.533333333,BASELINE,764,742,711,672,663,632.569172893,877,783,799,649.430827107,629,650.569172893,0.400964732314,0.00447959973122,0.0698264627828,0.999999961051,4.31730103241e-05,-0.00027411420508,2.99343964742e-05,1793193009350889728
+33,0.550000000,BASELINE,764,742,711,672,663,632.852506643,876.852506643,783,799.147493357,649,629,650.852506643,0.400963574078,0.00447982718164,0.0698261090994,0.999999960896,4.33062947153e-05,-0.000274669115888,2.9825296697e-05,1793193009367556352
+34,0.566666667,BASELINE,764,742,711,672,663,632.275786286,876.275786286,783,799.724213714,649,629,650.275786286,0.400964931912,0.00448020010872,0.0698267571246,0.999999961327,4.20146485536e-05,-0.000273311356134,2.97077256101e-05,1793193009384223232
+35,0.583333333,BASELINE,764,742.299528127,711,672,662.700471873,632.299528127,876.299528127,783,800,649.299528127,628.700471873,650.299528127,0.400964998533,0.00448026199143,0.0698263680477,0.999999961198,4.16580169452e-05,-0.00027384442984,2.96238399461e-05,1793193009400890624
+36,0.600000000,BASELINE,764,742.873554148,711,672,662.126445852,632.873554148,876.873554148,783,800,649.873554148,628.126445852,650.873554148,0.400963881842,0.0044800388224,0.0698250285349,0.999999960556,4.21582647381e-05,-0.000276110328318,2.95708247507e-05,1793193009417557760
+37,0.616666667,BASELINE,764,742.538720567,711,672,662.461279433,632.538720567,877,783.461279433,799.538720567,650,628.461279433,651,0.400963167474,0.00448006375553,0.0698252095898,0.99999996057,4.23653895352e-05,-0.000276004945905,2.97817342941e-05,1793193009434224128
+38,0.633333333,BASELINE,764,742.051630504,711,672,663,632,877,783.948369496,799,649.948369496,629,651,0.400962671684,0.00448035863409,0.069825810958,0.99999996075,4.29075995442e-05,-0.000275242410501,3.00144516067e-05,1793193009450890496
+39,0.650000000,BASELINE,764,742.629303354,711,672,663,632,877,783.370696646,799,649.370696646,629,651,0.400963244867,0.00448268974536,0.0698263179576,0.999999960715,4.77075768287e-05,-0.000274609855185,2.97096840214e-05,1793193009467557120
+40,0.666666667,BASELINE,764,742.793428449,711,672,662.793428449,632,877,783,799.206571551,649,629,651,0.400963638818,0.00448314735978,0.069826343218,0.99999996062,4.92811768167e-05,-0.000274690191408,2.96147843678e-05,1793193009484223488
+41,0.683333333,BASELINE,764,742.216885025,711,672,662.216885025,632,877,783,799.783114975,649,629,651,0.400963711761,0.00448024952101,0.0698255056783,0.999999960436,4.5076300002e-05,-0.000276047324104,2.98957604606e-05,1793193009500889856
+42,0.700000000,BASELINE,763.633901529,742,711,672.366098471,662.366098471,632.366098471,877,783,799.633901529,649.366098471,629,650.633901529,0.400964815802,0.00447925648196,0.0698265183207,0.999999961,4.26224518304e-05,-0.000274383780501,2.99457505133e-05,1793193009517556736
+43,0.716666667,BASELINE,763.047034493,742,711,672.952965507,662.952965507,632.952965507,877,783,799.047034493,649.952965507,629,650.047034493,0.400966541626,0.00447941209545,0.0698286466795,0.999999962012,4.12245275847e-05,-0.000270898676743,2.98564489157e-05,1793193009534223360
+44,0.733333333,BASELINE,763.533230763,742,711,672.466769237,662.466769237,633,877,783,799.533230763,650,629,650,0.40096393297,0.0044795740686,0.0698264304685,0.999999960961,4.37761556095e-05,-0.00027433416896,3.00470091147e-05,1793193009550890240
+45,0.750000000,BASELINE,764,742,711,672,662.112139895,632.887860105,877,783,799.887860105,650,628.887860105,650,0.400962164543,0.0044798076827,0.0698248391739,0.999999960169,4.61246050786e-05,-0.000276811385685,3.0158216457e-05,1793193009567557120
+46,0.766666667,BASELINE,764,742,711,672,662.687820846,632.312179154,877,783,799.312179154,650,628.312179154,650,0.400965430359,0.0044803351411,0.069827395736,0.999999961268,4.62107576987e-05,-0.000272835012941,2.98406183678e-05,1793193009584223744
+47,0.783333333,BASELINE,764,742,711,672,663,632,877,783.263499659,799,649.736500341,628.263499659,650.263499659,0.400966799076,0.00448030552663,0.069828514671,0.999999961793,4.50685231406e-05,-0.000271110859819,2.9698935342e-05,1793193009600890112
+48,0.800000000,BASELINE,764,742,711,672,663,632,877,783.839176016,799,649.160823984,628.839176016,650.839176016,0.400965920238,0.0044796159297,0.0698279304023,0.999999961648,4.24709779715e-05,-0.00027205498471,2.97656646265e-05,1793193009617556736
+49,0.816666667,BASELINE,764,742,711,671.577072349,662.577072349,632.422927651,877,783.577072349,799,649,628.577072349,650.577072349,0.400965995694,0.00447826545718,0.0698279862303,0.999999961717,4.23046849809e-05,-0.000271789213291,3.01046825229e-05,1793193009634223104
+50,0.833333333,BASELINE,764,742,711,671.009707553,662,632.990292447,877,783,799,649.009707553,628.009707553,650,0.400966418099,0.00447671003596,0.0698282684916,0.999999961859,4.30655508574e-05,-0.000271098448739,3.05371507935e-05,1793193009650889984
+51,0.850000000,BASELINE,764,742,711,671.59047511,662,632.40952489,877,783,799,649.59047511,628.59047511,650,0.40096548763,0.00447816946128,0.0698272736197,0.999999961357,4.29232052256e-05,-0.000272998513108,3.02574365637e-05,1793193009667557120
+52,0.866666667,BASELINE,764,742.169711491,711.169711491,672.169711491,662.169711491,632.169711491,877,783,799,649.830288509,629,650.169711491,0.4009645121,0.00447912334507,0.0698264156379,0.999999960912,4.34604333768e-05,-0.00027455534086,3.0111538783e-05,1793193009684223744
+53,0.883333333,BASELINE,764,742.745286044,711.745286044,672.745286044,662.745286044,632.745286044,877,783,799,649.254713956,629,650.745286044,0.40096342881,0.00447886823207,0.0698258850273,0.999999960608,4.56228543616e-05,-0.000275291322107,3.02856615056e-05,1793193009700890624
+54,0.900000000,BASELINE,764,742.682161376,711.682161376,673,663,633,876.682161376,783,799,649.317838624,628.682161376,650.682161376,0.400963510819,0.00447819139982,0.0698260843663,0.999999960814,4.3817650463e-05,-0.000274854696642,3.01212468579e-05,1793193009717557248
+55,0.916666667,BASELINE,764,742.112007807,711.112007807,673,663,633,876.112007807,783,799,649.887992193,628.112007807,650.112007807,0.400964517897,0.00447717978741,0.069826863173,0.999999961407,3.88627629922e-05,-0.000273487201891,2.96880856359e-05,1793193009734223872
+56,0.933333333,BASELINE,764,742.478214912,711,672.521785088,663,632.521785088,876.478214912,783,799,649.521785088,628.478214912,650.478214912,0.40096491516,0.00447694862029,0.0698275821776,0.999999961498,3.93192189199e-05,-0.000273067376523,2.98813688042e-05,1793193009750890240
+57,0.950000000,BASELINE,763.928480109,743,711,672,663,632.071519891,877,783,799.071519891,649,629,650.928480109,0.400965272974,0.00447700508816,0.0698281788167,0.999999961491,4.10459059501e-05,-0.000272804675701,3.01811939356e-05,1793193009767556608
+58,0.966666667,BASELINE,763.348153595,743,711,672,663,632.651846405,877,783,799.651846405,649,629,650.348153595,0.400966410792,0.00447775043208,0.0698280089365,0.999999961652,4.23974032216e-05,-0.000272011523722,3.01494146618e-05,1793193009784223232
+59,0.983333333,BASELINE,763.22986948,742.77013052,711,672,662.77013052,632.77013052,876.77013052,783,799.77013052,649.22986948,629,650,0.400967118656,0.00447789450317,0.0698279681316,0.999999961813,4.31102180459e-05,-0.000271296899281,3.02279403573e-05,1793193009800890112
+60,1.000000000,BASELINE,763.804438532,742.195561468,711,672,662.195561468,632.195561468,876.195561468,783,799.195561468,649.804438532,629,650,0.400967181786,0.00447713693886,0.069828120881,0.999999961978,4.28653001572e-05,-0.000270700030281,3.04718732867e-05,1793193009817556736
+61,1.016666667,BASELINE,764,742.379074494,711.379074494,671.620925506,662.379074494,632,876.758148988,783.379074494,799,649.620925506,628.620925506,650,0.40096687292,0.00447775666015,0.0698282114706,0.999999961974,4.25075054637e-05,-0.000270793084108,3.02787777612e-05,1793193009834223360
+62,1.033333333,BASELINE,764,742.953744946,711.953744946,671.046255054,662.953744946,632,877.907489892,783.953744946,799,649.046255054,628.046255054,650,0.400966372111,0.0044790870373,0.0698282699867,0.999999961882,4.20914682835e-05,-0.00027124212635,2.98601830104e-05,1793193009850890240
+63,1.050000000,BASELINE,764,742.455303991,711.455303991,671.544696009,662.455303991,632.544696009,877.455303991,783.455303991,799,649.544696009,628.544696009,650,0.400966383378,0.00447937544417,0.0698284553525,0.999999961795,4.41978703568e-05,-0.000271206331817,3.00624687737e-05,1793193009867556864
+64,1.066666667,BASELINE,764,742,711,672,662,633,877,783,798.865962167,649.865962167,628.865962167,650,0.400965802937,0.00447962358645,0.0698281368166,0.999999961551,4.55330899563e-05,-0.000271873324324,3.01442716426e-05,1793193009884223488
+65,1.083333333,BASELINE,764,742,711,672,662,633,877,783,798.286699438,649.286699438,628.286699438,650,0.400963108161,0.0044800409485,0.0698261076194,0.999999960794,4.35732956347e-05,-0.000275015691105,2.96453464949e-05,1793193009900889856
+66,1.100000000,BASELINE,764,742,711,672,662.289078048,632.710921952,876.710921952,783,798,649,628,650.289078048,0.400962712594,0.00448005972292,0.0698254816822,0.999999960624,4.26880302393e-05,-0.000275796573641,2.94163288046e-05,1793193009917556480
+67,1.116666667,BASELINE,764,742,711,672,662.861440111,632.138559889,876.138559889,783,798,649,628,650.861440111,0.400964570153,0.00447968789863,0.0698262308792,0.999999961038,4.28557569493e-05,-0.000274263303316,2.94518088077e-05,1793193009934223104
+68,1.133333333,BASELINE,763.552523813,742.447476187,711,672,662.552523813,632,876,783,798.447476187,649,628,650.552523813,0.40096506835,0.00448001187537,0.0698267664195,0.999999961411,4.32208846287e-05,-0.000272847562429,2.93869328808e-05,1793193009950889984
+69,1.150000000,BASELINE,763.037183891,743,711,672,662,632,876.074367783,783,799,649.037183891,628.037183891,650,0.400965166938,0.00448048467701,0.0698272392174,0.999999961757,4.37233575708e-05,-0.000271506045178,2.93164701314e-05,1793193009967556608
+70,1.166666667,BASELINE,763.616739473,743,711,672,662,632,877.233478946,783,799,649.616739473,628.616739473,650,0.400965769957,0.00447988656647,0.0698277922575,0.999999961895,4.53094944463e-05,-0.000270699606674,2.9632070168e-05,1793193009984223744
+71,1.183333333,BASELINE,764,742.805470506,711,672,662,632,877.805470506,783,799,649.805470506,629,650,0.400966082272,0.00447936358483,0.0698280347975,0.999999961886,4.5854824955e-05,-0.00027062241405,2.98292276775e-05,1793193010000890624
+72,1.200000000,BASELINE,764,742.231127589,711,672,662,632,877.231127589,783,799,649.231127589,629,650,0.400965826996,0.00447898729021,0.0698276710948,0.999999961588,4.43680102824e-05,-0.000271969053566,2.97951295052e-05,1793193010017557504
+73,1.216666667,BASELINE,764,742,711,672,662,632,877,783,799,649,629,650,0.400965387971,0.00447851245001,0.0698274343646,0.999999961413,4.35610433833e-05,-0.000272748730765,2.97382561901e-05,1793193010034223872
+74,1.233333333,BASELINE,764,742,711,672,662,632,877,783,799,649,629,650,0.400964825205,0.00447797124742,0.0698272831399,0.999999961322,4.32118986475e-05,-0.000273146604966,2.96660456741e-05,1793193010050889728
+75,1.250000000,BASELINE,764,742,711,672.519974978,662,632,876.480025022,783,798.480025022,649,629,650,0.400965254128,0.00447736092607,0.0698273831564,0.999999961462,4.17617721128e-05,-0.000272838612196,2.98338578986e-05,1793193010067556352
+76,1.266666667,BASELINE,764,742,711,672.901139617,662.098860383,632.098860383,876.197720767,783,798.098860383,649.098860383,628.901139617,650,0.400965628768,0.00447703744838,0.0698275672064,0.999999961608,4.08343565013e-05,-0.000272430196658,2.99833610845e-05,1793193010084223232
+77,1.283333333,BASELINE,764,742,711,672.324723228,662.675276772,632.675276772,877.350553543,783,798.675276772,649.675276772,628.324723228,650,0.40096519375,0.00447813775634,0.0698280184968,0.999999961654,4.30397299257e-05,-0.000271926338328,2.99119204305e-05,1793193010100889856
+78,1.300000000,BASELINE,763.749408689,742,711,672,663,633,877.498817379,783,799,650,628,650,0.400965385704,0.00447871651149,0.0698282022629,0.999999961705,4.37051367262e-05,-0.000271643202007,2.98237882615e-05,1793193010117556736
+79,1.316666667,BASELINE,763.175515751,742,711,672,663,633,876.351031503,783,799,650,628,650,0.400966386552,0.00447862238259,0.069828040881,0.999999961765,4.23837477455e-05,-0.000271644831326,2.97141214568e-05,1793193010134223360
+80,1.333333333,BASELINE,763.410565487,742,711,672,662.589434513,632.589434513,876.821130974,783,799,649.589434513,628.410565487,650,0.400966348295,0.00447799412497,0.0698278420534,0.999999961703,4.27283536273e-05,-0.000271828597013,2.96375089364e-05,1793193010150890240
+81,1.350000000,BASELINE,764,742,711,672,662.001975995,632.001975995,877.99604801,783,799,649,629,650.001975995,0.400965856686,0.00447713685091,0.0698276308829,0.999999961588,4.3804152616e-05,-0.000272086392304,2.95761321683e-05,1793193010167556608
+82,1.366666667,BASELINE,764,742,711,672,662.581501087,632.581501087,876.836997827,783,799,649,629,650.581501087,0.40096666682,0.00447812340196,0.0698286341527,0.999999961995,4.40598962143e-05,-0.000270527510926,2.97114050605e-05,1793193010184223232
+83,1.383333333,BASELINE,764,742,711,672,662.84018981,632.84018981,876,783,799,649,629,650.84018981,0.400966971204,0.00447902394583,0.0698290321978,0.999999962152,4.41253058686e-05,-0.000269931907361,2.97630114302e-05,1793193010200889856
+84,1.400000000,BASELINE,764,742,711,672,662.265040875,632.265040875,876,783,799,649,629,650.265040875,0.400965961173,0.00447970096157,0.0698278572941,0.999999961659,4.36960471118e-05,-0.000271839814649,2.95971726926e-05,1793193010217556480
+85,1.416666667,BASELINE,764,742,711,672,662.316347623,632.316347623,876.316347623,783,799,649.316347623,628.683652377,650,0.400965148168,0.00448054985318,0.0698275110775,0.999999961395,4.46637198638e-05,-0.000272670686354,2.94155583896e-05,1793193010234223104
+86,1.433333333,BASELINE,764,742,711,672,662.90306887,632.90306887,876.90306887,783,799,649.90306887,628.09693113,650,0.400964503556,0.00448154564234,0.069827873117,0.999999961327,4.68253116265e-05,-0.000272581045218,2.92204611543e-05,1793193010250889728
+87,1.450000000,BASELINE,764,742,711,672,662.516589839,632.516589839,877,783,798.516589839,649.516589839,628.483410161,650.483410161,0.40096532518,0.00447979783843,0.0698275774343,0.99999996148,4.41042390594e-05,-0.000272455744299,2.93834470441e-05,1793193010267556608
+88,1.466666667,BASELINE,764,742.062558449,711,672,662.062558449,632,877,783,798.062558449,649.062558449,629,651,0.400966256654,0.00447766874966,0.0698272342691,0.999999961651,4.08263335674e-05,-0.000272313811586,2.95931538095e-05,1793193010284223232
+89,1.483333333,BASELINE,764,742.642282242,711,672,662.642282242,632,877,783,798.642282242,649.642282242,629,651,0.40096569741,0.00447687626814,0.0698275746357,0.999999961707,4.09334230918e-05,-0.000272092726465,2.96032559999e-05,1793193010300889856
+90,1.500000000,BASELINE,764,743,711,672,662.780070579,632,877,783,799,650,629,650.780070579,0.40096549854,0.00447686286893,0.0698280929004,0.999999961784,4.15883424358e-05,-0.000271701709908,2.96597664863e-05,1793193010317556480
+91,1.516666667,BASELINE,764,743,711,672,662.2057695,632,877,783,799,650,629,650.2057695,0.400965880339,0.00447810480292,0.0698288978118,0.999999961896,4.31259784193e-05,-0.000271036883324,2.97910545288e-05,1793193010334223104
+92,1.533333333,BASELINE,763.622745772,742.622745772,711,672,662.377254228,632.377254228,877,783,799,649.622745772,629,650.377254228,0.400965391943,0.00447846921725,0.0698283170492,0.999999961603,4.37932491693e-05,-0.000271985013095,3.00170971526e-05,1793193010350889984
+93,1.550000000,BASELINE,763.0348517,742.0348517,711,672,662.9651483,632.9651483,877,783,799,649.0348517,629,650.9651483,0.400964417674,0.00447834366872,0.0698269625958,0.999999961082,4.39745517625e-05,-0.00027383373675,3.02960459951e-05,1793193010367556608
+94,1.566666667,BASELINE,763.545315621,742.545315621,711,672,663,632.454684379,877,783,799,649.545315621,629,650.454684379,0.400964572024,0.00447847905585,0.0698272280651,0.999999961205,4.47108293705e-05,-0.000273260084176,3.03275006177e-05,1793193010384222976
+95,1.583333333,BASELINE,763.875847211,742.875847211,711,672,662.875847211,632,877,783.124152789,799,649.875847211,629,650,0.400965021317,0.00447861228042,0.0698277760894,0.999999961458,4.49860302112e-05,-0.00027229297378,3.02868832206e-05,1793193010400889600
+96,1.600000000,BASELINE,763.300077204,742.300077204,711,672,662.300077204,632,877,783.699922796,799,649.300077204,629,650,0.400966284774,0.00447867782314,0.0698289805918,0.999999962033,4.34568027073e-05,-0.000270449915763,3.0040831372e-05,1793193010417556480
+97,1.616666667,BASELINE,763.276463196,742,711,672,662,632,876.723536804,784,799,649.276463196,629,650,0.400966275317,0.00447892316767,0.0698288724895,0.999999962025,4.31215823479e-05,-0.000270556186133,2.98391154802e-05,1793193010434223360
+98,1.633333333,BASELINE,763.853842092,742,711,672,662,632,876.146157908,784,799,649.853842092,629,650,0.400964880359,0.00447936421706,0.0698273356856,0.999999961382,4.40859762876e-05,-0.000272784198417,2.96856569687e-05,1793193010450889984
+99,1.650000000,BASELINE,764,742,711,672,662,632,876.439631181,783.560368819,799,649.560368819,629,650,0.400964801386,0.00447986895965,0.0698276088111,0.999999961603,4.45681354089e-05,-0.000271868775383,2.99034615467e-05,1793193010467556352
+100,1.666666667,BASELINE,763.972242905,742,711,672,662.027757095,632.027757095,876.972242905,783,799,649.027757095,629,650,0.400965175534,0.00448032706516,0.0698284653583,0.999999962089,4.48212045082e-05,-0.000269999531129,3.02203851655e-05,1793193010484223232
+101,1.683333333,BASELINE,763.394299541,742,711,672,662.605700459,632.605700459,876.394299541,783,799,649.605700459,629,650,0.400965690044,0.00447943284702,0.0698287265613,0.999999962049,4.3773163015e-05,-0.000270342634519,3.00077436973e-05,1793193010500889856
+102,1.700000000,BASELINE,763.182938371,742,711,672,663,632.817061629,876.182938371,783,799,649.817061629,629,650,0.400965836769,0.00447917854487,0.069828638894,0.999999961911,4.31110795314e-05,-0.00027098685633,2.97592051732e-05,1793193010517556480
+103,1.716666667,BASELINE,763.758661539,742,711,672,663,632.241338461,876.758661539,783,799,649.241338461,629,650,0.400965193826,0.00448029819885,0.0698278021716,0.999999961563,4.32776820308e-05,-0.000272277605875,2.9433592535e-05,1793193010534223104
+104,1.733333333,BASELINE,764,742,711,672,662.658612358,632,877.341387642,783.341387642,799,649,629,650,0.400965040737,0.0044803951377,0.069827404357,0.999999961522,4.29348313996e-05,-0.000272507341989,2.92091323863e-05,1793193010550889728
+105,1.750000000,BASELINE,764,742,711,672,662.070831905,632,877.929168095,783.929168095,799,649,629,650,0.400965241193,0.00447975394315,0.0698273233192,0.999999961702,4.22242885374e-05,-0.000271971303351,2.90576779114e-05,1793193010567556352
+106,1.766666667,BASELINE,764,742,711,672,662.509749648,632.509749648,876.980500703,784,799,649.509749648,628.490250352,650.509749648,0.400964481262,0.0044796991186,0.0698269463526,0.999999961495,4.40728682809e-05,-0.000272384612415,2.95580241901e-05,1793193010584223232
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632,877,783,799,649,628,650,0.400964877806,0.00447821354778,0.0698277685259,0.999999961649,4.01570726147e-05,-0.00027241957103,2.96043335891e-05,1793193010627502080
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.57531501,742,711,672,663,632,876.42468499,783,799,649.57531501,628.57531501,650,0.400964656189,0.00447817262771,0.0698278274083,0.999999961569,4.18331898838e-05,-0.000272455296211,2.96736020108e-05,1793193010644168704
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671.844217874,663,632,876.155782126,783,799,649.844217874,628.844217874,650,0.400964259361,0.00447849176412,0.0698276894348,0.999999961418,4.34366567797e-05,-0.000272756667989,2.96774677943e-05,1793193010660835072
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671.249224819,663,632,876.750775181,783,799,649.249224819,628.249224819,650,0.400963368542,0.004479826041,0.0698269964473,0.999999961075,4.48352941552e-05,-0.000273807001753,2.9496937898e-05,1793193010677501440
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,741.664481027,711,671.335518973,662.664481027,632,877,783,799.335518973,649,628.335518973,650,0.400963766822,0.00448037109952,0.0698269703388,0.999999961076,4.52665527035e-05,-0.000273739771596,2.94151080608e-05,1793193010694168064
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,741.087124791,711,671.912875209,662.087124791,632,877,783,799.912875209,649,628.912875209,650,0.400965094268,0.0044803473007,0.0698274249073,0.999999961327,4.50005383884e-05,-0.000272867017338,2.94044198208e-05,1793193010710834944
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,741.975827145,711,672,662,632,877,783,799.512086428,649.487913572,629,650,0.400966328152,0.00448079663357,0.0698282200856,0.999999961624,4.65420093869e-05,-0.000271510684288,2.94729992959e-05,1793193010727501824
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.93573327,711,672,662,632,877,782.93573327,799,650,629,650.06426673,0.400967846352,0.00448121125951,0.069829208264,0.999999962008,4.798710197e-05,-0.000269831223006,2.95260793733e-05,1793193010744168448
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.345241382,711,672,662,632,877,782.345241382,799,650,629,650.654758618,0.400971828721,0.00448065319372,0.0698312810964,0.999999963077,4.60127617591e-05,-0.000266209650837,2.93368969186e-05,1793193010760834560
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.240547512,672,662.240547512,632.240547512,877,782.240547512,799,650,629,651,0.400981344081,0.00447982982201,0.0698358710362,0.999999965057,4.40270088338e-05,-0.000259013386145,2.93253379486e-05,1793193010777501184
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.819715909,672,662.819715909,632.819715909,877,782.819715909,799,650,629,651,0.400998648284,0.00447863297683,0.0698440043306,0.999999968229,4.2025190291e-05,-0.000246784995065,2.95638211618e-05,1793193010794167808
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.396687354,711.603312646,672,663,633,877,783.396687354,799.396687354,650,629,651,0.401033533812,0.00447791869157,0.0698583533966,0.999999973919,4.06369589576e-05,-0.000222789833441,2.959412869e-05,1793193010810834432
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.972665891,711.027334109,672,663,633,877,783.972665891,799.972665891,650,629,651,0.40107636559,0.0044774225093,0.0698755118118,0.999999980066,3.95260510511e-05,-0.000193476431468,2.95303468448e-05,1793193010827501312
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,711,672,662.461823107,633,877,783.461823107,799.461823107,649.461823107,629.538176893,650.461823107,0.401132495119,0.00447697239556,0.0698876763235,0.999999982745,3.93705148599e-05,-0.000179155584802,2.93693289243e-05,1793193010844167936
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.890111024,742.890111024,711.109888976,671.890111024,662,632.890111024,877,783,799.109888976,649.109888976,629.890111024,650,0.401192216501,0.00447690567394,0.0698981046384,0.999999984896,3.88318434422e-05,-0.000166929746065,2.88830159329e-05,1793193010860834816
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.288305173,742.288305173,711.711694827,671.288305173,662,632.288305173,877,783,799.711694827,649.711694827,629.288305173,650,0.401265051079,0.00447854492866,0.0699018746506,0.999999986057,3.63650003002e-05,-0.000160738485268,2.69622088274e-05,1793193010877501184
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.301104441,742,711.698895559,671.301104441,662,632,877.301104441,783,799.698895559,650,629,650,0.401345848949,0.00447871552646,0.0699021450616,0.999999986223,3.33078337237e-05,-0.000160705383424,2.48542703273e-05,1793193010894167808
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.879114049,742,711.120885951,671.879114049,662,632,877.879114049,783,799.120885951,650,629,650,0.401433970109,0.00447753550082,0.0698991971285,0.99999998547,2.97077871962e-05,-0.000166335519673,2.2574239994e-05,1793193010910834432
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672,662.454828724,632,877.545171276,783,799,649.545171276,628.545171276,650,0.401545170632,0.0044770879508,0.0698986639884,0.999999985152,2.59382066708e-05,-0.000169254167848,1.94208390474e-05,1793193010927501056
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672.030634855,663,632,877.030634855,783,799,649.030634855,628.030634855,650,0.401664475204,0.00447687734804,0.0698989715504,0.999999985013,2.21655576231e-05,-0.000170958839978,1.6003719115e-05,1793193010944167680
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672.619158668,663,632,877.619158668,783,799,649.619158668,628.619158668,650,0.401820214994,0.00447745427131,0.0699029597616,0.99999998636,1.91534795048e-05,-0.000163614043033,1.19900652371e-05,1793193010960834304
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.204489309,711,672.591021382,663,632.204489309,877.795510691,783,799.204489309,650,629,650.204489309,0.401987576919,0.00447768056679,0.0699064704694,0.99999998751,1.5375408482e-05,-0.000157115730695,7.66987135391e-06,1793193010977501184
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.78396435,711,671.4320713,663,632.78396435,877.21603565,783,799.78396435,650,629,650.78396435,0.402176251112,0.00447726389256,0.0699091055472,0.999999988366,1.01926853367e-05,-0.000152169674659,2.7875549893e-06,1793193010994167808
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.640279348,711,671.359720652,663,632.640279348,877,783,799.640279348,649.640279348,629,651,0.402383870519,0.00447778970225,0.069911342082,0.999999989089,3.08803726847e-06,-0.000147658380333,-2.9503515345e-06,1793193011010834688
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.066733482,711,671.933266518,663,632.066733482,877,783,799.066733482,649.066733482,629,651,0.402602751363,0.00447887574337,0.0699133417151,0.999999989662,-5.15904224222e-06,-0.000143405516656,-9.19683857612e-06,1793193011027501568
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.509990951,711,672,663,632.509990951,877,783,799,649,629,651,0.402864066976,0.00447529088764,0.069915934002,0.999999990429,-1.37701337745e-05,-0.000136943543755,-1.41147206246e-05,1793193011044167936
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.910734192,711,672,663,632.910734192,877,783,799,649,629,650.910734192,0.40313819094,0.00446965454834,0.0699196714795,0.999999991245,-2.40792231312e-05,-0.000128790226789,-1.85156057408e-05,1793193011060834304
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.319470119,711,672,663,632.319470119,877,783,799,649,629,650.319470119,0.40345292237,0.00445594012202,0.0699294102433,0.999999992469,-4.36676910444e-05,-0.000112761208948,-2.09928971649e-05,1793193011077501184
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.734190453,742,711,672,663,632,877,783,799,649,629,650,0.403786159825,0.00444964914424,0.0699389648261,0.999999994662,-3.21290178094e-05,-9.6493937652e-05,-1.82266253108e-05,1793193011094168320
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.155944972,742,711,672,663,632,877,783,799,649,629,650,0.404141149478,0.00445208378343,0.0699483029196,0.999999996633,1.59968956035e-05,-7.99466210352e-05,-9.29700208598e-06,1793193011110835200
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.417407493,742,711,672,663,632,877,783,799,649,629,650,0.404510999786,0.0044605354596,0.0699515902614,0.99999999623,3.91327588148e-05,-7.66934612423e-05,-1.12897107189e-05,1793193011127501568
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.988953076,742,711,672,663,632,877,783,799,649,629,650,0.404886337752,0.00447120907617,0.0699526432126,0.999999995374,5.30404238579e-05,-7.83494996548e-05,-1.73157620432e-05,1793193011144168192
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711.568807007,672,663,632.568807007,877,783,798.431192993,649,629,650,0.405322225307,0.0044691788517,0.069955507668,0.999999996992,2.49530985656e-05,-7.0975384619e-05,-1.88750711171e-05,1793193011160834816
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.848204312,742,711.848204312,672,663,633,877,783,798.303591375,649,629,650.151795688,0.405764235019,0.00446993324159,0.0699560761783,0.999999997433,-1.79425813477e-06,-6.86669478452e-05,-2.03904420144e-05,1793193011177501440
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.256607799,742,711.256607799,672,663,633,877,783,799.486784403,649,629,650.743392201,0.406220524913,0.00447948098834,0.0699498891549,0.999999996184,-2.22612259114e-05,-8.15510624728e-05,-2.20335766997e-05,1793193011194167808
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.328032629,742.328032629,711,672,663,632.671967371,877,783,799.671967371,649,629,650.671967371,0.406696920233,0.00448682333593,0.0699345300358,0.999999994147,-1.35172395852e-05,-0.000104685324667,-2.37667675707e-05,1793193011210834432
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.907344622,742.907344622,711,672,663,632.092655378,877,783,799.092655378,649,629,650.092655378,0.407188716749,0.00449247630596,0.0699121449127,0.999999990315,1.76029027272e-05,-0.000135671400203,-2.55689433746e-05,1793193011227501056
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.519600273,743,711,671.519600273,663,632.480399727,877,783,799,649,629,650,0.407740254835,0.00449846792538,0.0699107686651,0.999999990691,2.77731072547e-05,-0.000130666897681,-2.7801629018e-05,1793193011244167680
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.053999171,742.946000829,711,671.053999171,663,632.946000829,877,783,799,649.053999171,628.946000829,650.053999171,0.408310008242,0.00450465335443,0.0699147388976,0.999999992158,3.37547371954e-05,-0.000116779313064,-3.01363538307e-05,1793193011260834560
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.644854168,742.355145832,711,671.644854168,663,632.355145832,877,783,799,649.644854168,628.355145832,650.644854168,0.40894777496,0.00451212461257,0.069932096579,0.999999995334,3.77491748385e-05,-8.27019043094e-05,-3.26706511047e-05,1793193011277501440
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.768848591,742,711,672,663,632,877.231151409,783,799,649.768848591,628,650.768848591,0.409576076087,0.00451905060177,0.0699394489416,0.999999996278,4.32523514016e-05,-6.61768879739e-05,-3.45546191279e-05,1793193011294168064
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.189418612,742,711,672,663,632,877.810581388,783,799,649.189418612,628,650.189418612,0.410190115255,0.00452515502735,0.0699317261704,0.999999995174,5.10287626172e-05,-7.60982718246e-05,-3.54587282397e-05,1793193011310834688
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632,877.611867075,783,799,649,628,650,0.410837231689,0.00453156029546,0.0699288821,0.999999994067,5.94787651169e-05,-8.36316214383e-05,-3.65211712434e-05,1793193011327501824
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632,877.035227869,783,799,649,628,650,0.411500412892,0.00453811167496,0.0699284074906,0.999999992911,6.82559135287e-05,-9.00051633127e-05,-3.76605129603e-05,1793193011344169728
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.539337039,742,711,672.539337039,663,632,877,783,798.460662961,649,628,650,0.412230051853,0.00454719621611,0.069952686,0.999999995288,7.68483262784e-05,-4.4412821886e-05,-3.93253624939e-05,1793193011360835840
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.11694592,711.11694592,672.88305408,663,632,877,783,798.11694592,649.11694592,628.11694592,650,0.41297036134,0.00455555480417,0.069977761825,0.999999995606,8.44915424075e-05,5.6908245146e-07,-4.06141764841e-05,1793193011377501952
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.707426755,711.707426755,672.292573245,663,632,877,783,798.707426755,649.707426755,628.707426755,650,0.41373636809,0.00456030647208,0.0699995444902,0.999999994856,8.83399620256e-05,2.93879181131e-05,-4.02419014012e-05,1793193011394168320
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.707888145,711.707888145,672,663,632,877,783,799,650,629,650,0.414472460341,0.00456730611105,0.069992624693,0.999999994484,9.62136835998e-05,1.04155866507e-05,-4.08313886205e-05,1793193011410834688
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.128894934,711.128894934,672,663,632,877,783,799,650,629,650,0.415179173827,0.0045765134699,0.0699575163767,0.999999991727,0.000108040631065,-5.54921693685e-05,-4.23654168602e-05,1793193011427501312
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,672.446800529,663,632,877,783,799,649.553199471,629,650,0.415919503494,0.00458340536733,0.0699169836564,0.999999985331,0.00011525878873,-0.000118333143757,-4.52878399965e-05,1793193011444168448
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.977954731,742,711,672.977954731,663.022045269,632,877,783,799,649,628.977954731,650,0.416672204222,0.00458967310364,0.0698775739879,0.999999975969,0.000121029020424,-0.000176237754468,-4.85261391901e-05,1793193011460835584
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.390037599,742,711,672.390037599,663.609962401,632,877,783,799,649,628.390037599,650,0.417495350493,0.00459693984874,0.0699068648517,0.999999982692,0.00012351101831,-0.000129975900545,-4.96668195403e-05,1793193011477501952
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.195044573,742.195044573,711,672,664,632,877,783,799,649,628.195044573,650,0.418332288608,0.00460278993729,0.0699362331092,0.999999986901,0.000127697546064,-8.60849058337e-05,-4.98018977163e-05,1793193011494168320
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.774538761,742.774538761,711,672,664,632,877,783,799,649,628.774538761,650,0.41919641158,0.00460584767362,0.0699657539148,0.999999988606,0.000135243848805,-4.68670814649e-05,-4.79548476525e-05,1793193011510834688
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.647737022,711,672.352262978,663.647737022,632,877.352262978,783,799,649,629,650.352262978,0.420057076408,0.00460903044104,0.0699882931224,0.999999989174,0.000138810658675,-1.10151218174e-05,-4.75544926892e-05,1793193011527501568
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.071140008,711,672.928859992,663.071140008,632,877.928859992,783,799,649,629,650.928859992,0.420915538929,0.00461229283275,0.0700063861901,0.999999988809,0.000139843180634,2.26933297291e-05,-4.80754464965e-05,1793193011544168448
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.496824421,742,711,672.496824421,663.503175579,632,878,783,799,649,629,650.496824421,0.421750349026,0.00461286741177,0.070005913141,0.999999989166,0.000136932892098,1.87124697571e-05,-5.06654679641e-05,1793193011560835072
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.07902474,742.07902474,711,672.07902474,664,632,878.07902474,783,799,649,629,650,0.422568227076,0.00460983045968,0.0699938560464,0.999999990066,0.000130501831748,-4.40066888015e-06,-5.30804156046e-05,1793193011577501696
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.666814108,742.666814108,711,672.666814108,664,632,878.666814108,783,799,649,629,650,0.423298527354,0.00458597778566,0.0699240434219,0.999999986322,0.000104976535073,-0.000116537358551,-5.24934147639e-05,1793193011594168576
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.748358142,742.748358142,711,673,663.748358142,632,878.748358142,783,799,649,628.748358142,650,0.424080383796,0.0045689171442,0.0698713754881,0.99999997635,8.2294168795e-05,-0.000194071643571,-5.35091059026e-05,1793193011610835456
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.167406021,742.167406021,711,673,663.167406021,632,878.167406021,783,799,649,628.167406021,650,0.42492970914,0.0045607448698,0.069841143886,0.99999997078,6.33321914865e-05,-0.000226323626303,-5.66221550375e-05,1793193011627501824
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742,711,673,663.409734744,632,878,783,799,649,628,650,0.425809400702,0.00456376761283,0.069880087491,0.999999982566,6.61360661393e-05,-0.000165550068989,-5.55608470544e-05,1793193011644168448
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742,711,673,663.985332614,632,878,783,799,649,628,650,0.426701384644,0.00457132216776,0.0699470336441,0.99999999333,7.7750891172e-05,-6.71192017911e-05,-5.28097331876e-05,1793193011660834816
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.559580568,711,673.559580568,664,632,878,783,798.440419432,649,628.559580568,650,0.427546976479,0.00457528032163,0.0699800166915,0.999999994234,9.00033587268e-05,-2.93676621513e-05,-5.06868266353e-05,1793193011677501440
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.137651227,743,711,673.862348773,664,632,878,783,798.137651227,649,628.862348773,650,0.42838548242,0.00457857873583,0.0700071430415,0.999999993995,9.76771985987e-05,4.80682609268e-06,-4.94479947961e-05,1793193011694168064
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.728421597,743,711,673.271578403,664,632,878,783,798.728421597,649,628.271578403,650,0.429204656217,0.00458001498384,0.0700179137299,0.9999999941,9.02242652832e-05,3.24293652977e-05,-5.10652800813e-05,1793193011710834944
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,673.31292019,664.31292019,632,878,783,799.31292019,649,628.31292019,650,0.430002482089,0.00458193386353,0.0700088822783,0.999999994542,8.7692303586e-05,2.18263536892e-05,-5.24337513111e-05,1793193011727501824
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673.892082529,664.892082529,632,878,783,799.892082529,649,628.892082529,650,0.430782144447,0.00458426338107,0.0699830025544,0.999999994346,8.93472566397e-05,-2.1300137136e-05,-5.35905237362e-05,1793193011744168448
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.53060364,711,673.53060364,664.53060364,632,878,783,799.53060364,649,629,650,0.431470261031,0.00458562097553,0.0699242623772,0.999999986496,9.5133461449e-05,-0.000122480788869,-5.43749675898e-05,1793193011760835328
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.952991228,742,711,673,664,632,877.952991228,783,799,649.047008772,628.952991228,650,0.432143620656,0.00458632811092,0.069864286807,0.999999968109,0.000100323954137,-0.000225123897261,-5.51001817227e-05,1793193011777502208
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.367103924,742,711,673,664,632,877.367103924,783,799,649.632896076,628.367103924,650,0.432888138407,0.00458213025959,0.0698764137459,0.99999997611,8.78403602767e-05,-0.000192129669232,-5.61238555426e-05,1793193011794168320
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742.216336715,711,673.216336715,664.216336715,632,877,783,799,649.783663285,628.216336715,650,0.433648758349,0.00457675387777,0.0699083620276,0.999999986694,7.74603763964e-05,-0.000132164089714,-5.60765817066e-05,1793193011810834688
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742.795672107,711,673.795672107,664.795672107,632,877,783,799,649.204327893,628.795672107,650,0.434436396818,0.00456939999921,0.069973569211,0.999999995674,7.06101082343e-05,-2.69423629398e-05,-5.42323284795e-05,1793193011827501568
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.374137513,743,711,674,665,632.374137513,877.374137513,783,799,649,629,650,0.435159072819,0.0045628224479,0.0699991691241,0.999999996636,6.15691178956e-05,1.1495700376e-05,-5.29627668654e-05,1793193011844168192
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.952128859,743,711,674,665,632.952128859,877.952128859,783,799,649,629,650,0.435846353101,0.00455666788933,0.0700031884818,0.999999997238,5.13344839277e-05,1.35457841052e-05,-5.20063339976e-05,1793193011860835072
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.475055495,743,711,673.475055495,664.475055495,633,877.475055495,783.524944505,799,649,629,650,0.436466702081,0.004554677943,0.0699830700901,0.999999997356,4.79997683143e-05,-1.32078982079e-05,-5.30031488011e-05,1793193011877501952
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.100517142,743,711,673.100517142,664,632.899482858,877.100517142,783.899482858,799,649,628.899482858,650,0.437073279149,0.00455394007184,0.0699609622809,0.999999996594,4.65908905306e-05,-4.12545292307e-05,-5.42174561166e-05,1793193011894169088
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.691833518,743,711,673.691833518,664,632.308166482,877.691833518,783.308166482,799,649,628.308166482,650,0.43764212309,0.00455747948525,0.0699397835597,0.999999995145,5.15430459953e-05,-6.29140387709e-05,-5.56324906758e-05,1793193011910835712
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.722356726,742.722356726,711,673.722356726,663.722356726,632,878,783,798.722356726,649.277643274,628.277643274,650,0.438189699289,0.00456273823829,0.069913179795,0.999999992038,5.63294017561e-05,-9.73888316347e-05,-5.71549017688e-05,1793193011927502336
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.142540146,742.142540146,711,673.142540146,663.142540146,632,878,783,798.142540146,649.857459854,628.857459854,650,0.438714128687,0.00456986823593,0.0698806716809,0.999999985785,6.09353088614e-05,-0.000145811148089,-5.879417604e-05,1793193011944168704
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742,711,673.867046599,662.5664767,632,877.5664767,783,798.867046599,649.5664767,629,650,0.439192341432,0.00457403759838,0.0698443527818,0.999999973835,6.94204795565e-05,-0.000210548332268,-5.6399470259e-05,1793193011960835072
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,742.008324425,711,674.991675575,661.975026724,632,877.008324425,782.991675575,799.991675575,649,629,650,0.439655393795,0.00457730129988,0.069807221367,0.999999956345,7.91993314507e-05,-0.000279735209585,-5.2776604519e-05,1793193011977501440
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,742.58048764,711,674.41951236,660.258537081,632,877.58048764,782.41951236,799.41951236,649,629,650,0.440112007674,0.00458459002482,0.0697991947696,0.999999952272,9.09523972173e-05,-0.00029009512683,-5.50334832523e-05,1793193011994168064
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,742.841334943,711,674,659.158665057,632,878,782.158665057,799,649.158665057,628.841334943,650.158665057,0.440566287988,0.00459122906786,0.0697990819269,0.999999951525,0.000101707043109,-0.000288764455068,-5.67536278406e-05,1793193012010834944
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,742.246629268,711,674,659.753370732,632,878,782.753370732,799,649.753370732,628.246629268,650.753370732,0.441014155341,0.00459608266778,0.0698207175284,0.999999959766,0.000109717851048,-0.000255305907033,-5.69987292472e-05,1793193012027502592
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.33914657,742.33914657,711,674,660,632,878,783,799,649.66085343,628.33914657,650.66085343,0.441433332892,0.00459989448433,0.0698360652381,0.999999963821,0.000117272281163,-0.000235306431316,-5.68851564432e-05,1793193012044169728
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.918595144,742.918595144,711,674,660,632,878,783,799,649.081404856,628.918595144,650.081404856,0.44183218228,0.00460296814592,0.0698469576663,0.999999965375,0.000124503344743,-0.000224843371552,-5.65174453553e-05,1793193012060836352
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.505927417,742.505927417,711,674,659.505927417,631.505927417,878,783,799,649,628.505927417,650,0.442156509558,0.00460924637418,0.0698286026121,0.999999955367,0.000140006467736,-0.000258004329597,-5.56672402981e-05,1793193012077502208
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742,711,673.341428761,659,631,878,783,799,649,628,650,0.442715365238,0.00462319548234,0.0697753646375,0.999999927643,0.000147511435197,-0.000345966352634,-5.71029597314e-05,1793193012110834432
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,742,711,673,659.242804727,631,878.242804727,783,799,649.242804727,628.242804727,650,0.442965408496,0.00463077294571,0.0697523938339,0.999999915371,0.000137999465477,-0.00038308306225,-5.88414813696e-05,1793193012127501312
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742,711,673,659.821711281,631,878.821711281,783,799,649.821711281,628.821711281,650,0.443210371839,0.0046389972716,0.0697382627573,0.999999907757,0.000124380956911,-0.000406683715863,-6.02011185222e-05,1793193012144167936
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742.398805425,711,673.398805425,659.601194575,631,878.601194575,782.601194575,799,649.601194575,629,650,0.443441086802,0.00465705090794,0.0697326915983,0.99999990066,0.000152599350461,-0.000414408087725,-6.04847724423e-05,1793193012160834816
+200,3.333333333,POSE1_TO_POSE2_PRESS,763,742.975093034,711,673.975093034,659.024906966,631,878.024906966,782.024906966,799,649.024906966,629,650,0.443665460764,0.00467947892755,0.0697309298972,0.999999892155,0.000199436608606,-0.000415066967382,-6.02895766899e-05,1793193012177502208
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763,742,711,674,659,631,878.87584002,783,799,649,628,650,0.444017641826,0.00469094727359,0.0697107294731,0.999999872855,0.000214498176778,-0.000451686021309,-6.5272299873e-05,1793193012210835200
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+204,3.400000000,POSE1_TO_POSE2_PRESS,763,742.303389958,711,674,658.696610042,631,878,782.696610042,799.303389958,649,628.303389958,650.303389958,0.44430369837,0.00468734627689,0.0697045535599,0.999999868976,0.000213233618385,-0.000460621462264,-6.63871504814e-05,1793193012244168448
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+206,3.433333333,POSE1_TO_POSE2_PRESS,763.456052437,742.543947563,711,674,658.456052437,631,878,782.456052437,800,649.456052437,629,650.543947563,0.444522485283,0.00469430474104,0.0696949593083,0.999999860915,0.000222317858026,-0.000473589307489,-6.67738333623e-05,1793193012277501696
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+208,3.466666667,POSE1_TO_POSE2_PRESS,763.37982951,742.62017049,711,674,659,631,878,783,799.37982951,649.37982951,629,650,0.444679608159,0.00469664079568,0.0696832996419,0.999999852746,0.000221883321895,-0.000490683166427,-6.71182188058e-05,1793193012310834944
+209,3.483333333,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631,878,782.793320542,799,649,629,650,0.444741722461,0.00469792529961,0.0696779158196,0.999999849368,0.000219127702534,-0.000498719115743,-6.72796589513e-05,1793193012327501824
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+231,3.850000000,POSE1_TO_POSE2_PRESS,763,742.039154722,711,674,658,631,878,783,799.960845278,649.960845278,629,650,0.444967229795,0.00469945718595,0.0696641092073,0.999999843183,0.000210456743044,-0.00051514903917,-6.29554091023e-05,1793193012694168320
+232,3.866666667,POSE1_TO_POSE2_PRESS,763,742,711,674,658,631,878,782.451647893,799.451647893,649.451647893,629,650,0.444965806013,0.00470138070583,0.0696628941464,0.999999841308,0.000212834753569,-0.000517826989907,-6.27812618824e-05,1793193012710835200
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742.134617557,710.865382443,673.865382443,658,631,878,782.134617557,799.134617557,649,628.865382443,650,0.444964702786,0.00470301584257,0.0696619820463,0.999999839788,0.000215399787777,-0.000519717357808,-6.26106091216e-05,1793193012727501568
+234,3.900000000,POSE1_TO_POSE2_PRESS,763,742.713635148,710.286364852,673.286364852,658,631,878,782.713635148,799.713635148,649,628.286364852,650,0.444965170888,0.00470248887407,0.0696623147468,0.999999840188,0.000217097269476,-0.000518265494684,-6.2391731388e-05,1793193012744168448
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,742.708107651,710.291892349,673.291892349,658.291892349,631,878,782.708107651,800,649.291892349,628,650,0.444965747367,0.00470191823172,0.0696624828291,0.999999840881,0.000216001581108,-0.000517388380803,-6.2369948359e-05,1793193012760835328
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,742.130594435,710.869405565,673.869405565,658.869405565,631,878,782.130594435,800,649.869405565,628,650,0.444966429895,0.00470130485384,0.0696624898302,0.999999841853,0.000212172735802,-0.000517073667158,-6.2541025311e-05,1793193012777502208
+237,3.950000000,POSE1_TO_POSE2_PRESS,763,742,711,673.556717506,658.556717506,631,878.443282494,782,799.556717506,649.556717506,628.443282494,650,0.444966543353,0.00470137546284,0.0696623743203,0.999999841971,0.000211483934429,-0.000517119414578,-6.26136369324e-05,1793193012794168832
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,742,711,673.016642356,658,630.983357644,878.983357644,782,799,649,629,650,0.444966501338,0.00470170036941,0.0696622327443,0.999999841834,0.000211791327567,-0.00051725322215,-6.26571931853e-05,1793193012810834944
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742,711,673.608869643,658,630.391130357,878.391130357,782,799,649,629,650,0.444966833397,0.00470390774351,0.0696624277846,0.999999841426,0.000214818534371,-0.000516789723306,-6.2690970517e-05,1793193012827501568
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,742.196694419,711,673.803305581,658,630.196694419,878,782,799.196694419,649,629,650,0.444967304296,0.00470428138351,0.0696626746591,0.999999841486,0.000215646738754,-0.000516341454576,-6.25712702478e-05,1793193012844168192
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,742.775956343,711,673.224043657,658,630.775956343,878,782,799.775956343,649,629,650,0.444968045234,0.00470108843981,0.0696630223503,0.999999842466,0.000212197918338,-0.000515922808209,-6.21530584921e-05,1793193012860834560
+242,4.033333333,HOLD_POSE2,763,742,711,674,658,630,878,783,799,649,629,650,0.44496696888,0.00470276038761,0.0696620361427,0.999999840512,0.000214895293595,-0.00051850733342,-6.28114389188e-05,1793193012896257536
+243,4.050000000,HOLD_POSE2,763,742,711,674,658,630,878.573503966,782.426496034,799,649.573503966,628.426496034,650,0.444969259219,0.00470301769628,0.0696635373174,0.999999841825,0.000214616917029,-0.000516102886124,-6.26726058034e-05,1793193012912924672
+244,4.066666667,HOLD_POSE2,763,742,711,674,658,630,878.847673616,782,799,650,628.152326384,650,0.444970066366,0.00470306809869,0.0696640097797,0.999999842265,0.000214504943822,-0.000515326121811,-6.24261842031e-05,1793193012929591552
+245,4.083333333,HOLD_POSE2,763,742,711,674,658,630,878.253421289,782,799,650,628.746578711,650,0.444966570509,0.00470251822931,0.0696614977647,0.999999840179,0.000214875736307,-0.000519271554896,-6.18676292321e-05,1793193012946257920
+246,4.100000000,HOLD_POSE2,763.331872356,742,711,674,658.331872356,630.331872356,878,782,799.331872356,649.668127644,629,650,0.444965671565,0.00470218098289,0.0696609555808,0.999999839623,0.000214789028424,-0.00052039867119,-6.16843998056e-05,1793193012962924288
+247,4.116666667,HOLD_POSE2,763.910504832,742,711,674,658.910504832,630.910504832,878,782,799.910504832,649.089495168,629,650,0.444966703526,0.00470200183003,0.0696618780438,0.999999840212,0.00021436215104,-0.000519430258112,-6.17802396853e-05,1793193012979590656
+248,4.133333333,HOLD_POSE2,763.516347325,742,710.516347325,674,658.516347325,630.516347325,878,782,799.516347325,649.483652675,629,650,0.444967624014,0.00470253095802,0.0696621190025,0.999999840719,0.000213922163023,-0.000518600872426,-6.20653386949e-05,1793193012996257536
+249,4.150000000,HOLD_POSE2,763,742.055587703,710.055587703,673.944412297,658,630,878.055587703,782,799,649.944412297,628.944412297,650,0.44496841122,0.00470311271048,0.0696622102301,0.999999841149,0.000213515947152,-0.000517900334061,-6.23884189774e-05,1793193013012924160
+250,4.166666667,HOLD_POSE2,763,742.625585733,710.625585733,673.374414267,658,630,878.625585733,782,799,649.374414267,628.374414267,650,0.444968153777,0.00470298221385,0.0696620697424,0.999999841009,0.000213444458214,-0.000518156756186,-6.27425318723e-05,1793193013029591040
+251,4.183333333,HOLD_POSE2,762.793715112,742.793715112,711,673.206284888,658,630.206284888,878.793715112,782,799.206284888,649,628,649.793715112,0.444967631273,0.004702374044,0.0696617404741,0.999999840779,0.000212924730469,-0.000518796491946,-6.28845084905e-05,1793193013046257920
+252,4.200000000,HOLD_POSE2,762.192530408,742.192530408,711,673.807469592,658,630.807469592,878.192530408,782,799.807469592,649,628,649.192530408,0.444966601355,0.00470085144425,0.0696610498151,0.999999840375,0.000211546920377,-0.000520170021051,-6.26203836931e-05,1793193013062924800
+253,4.216666667,HOLD_POSE2,762.391647057,742,711,673.608352943,658,631,877.608352943,782,799.608352943,649,628.391647057,649.391647057,0.444966785763,0.0047005664941,0.0696611994918,0.999999840379,0.00021203961111,-0.000519991307963,-6.23659539456e-05,1793193013079591424
+254,4.233333333,HOLD_POSE2,762.967811906,742,711,673.032188094,658,631,877.032188094,782,799.032188094,649,628.967811906,649.967811906,0.44496754228,0.00470086464119,0.0696617450782,0.999999840575,0.000213413556095,-0.000519081282717,-6.21160918312e-05,1793193013096257792
+255,4.250000000,HOLD_POSE2,763,742,711,673,658,631,877.540936397,782,799.540936397,649.540936397,629,650,0.444968503594,0.00470158752641,0.0696617570866,0.999999840817,0.000214004128226,-0.000518401949795,-6.18706399577e-05,1793193013112924160
+256,4.266666667,HOLD_POSE2,763,742,711,673,658,631,878,782,799.882881779,649.882881779,628.882881779,650,0.444969245107,0.00470220584031,0.0696618182303,0.999999841104,0.000214166058367,-0.000517795489439,-6.17535695283e-05,1793193013129590528
+257,4.283333333,HOLD_POSE2,763,742,711,673,658,631,878,782,799.293650215,649.293650215,628.293650215,650,0.444969051741,0.00470230130741,0.0696622047144,0.999999841564,0.000212786952184,-0.000517427758052,-6.21529634049e-05,1793193013146257152
+258,4.300000000,HOLD_POSE2,763,742,710.709380427,673,658,630.709380427,878.290619573,782,799.290619573,649,628.290619573,650,0.44496830385,0.00470137702891,0.0696617936197,0.999999841533,0.00021120340002,-0.000518133993892,-6.21563108218e-05,1793193013162924032
+259,4.316666667,HOLD_POSE2,763,742,710.130040036,673,658,630.130040036,878.869959964,782,799.869959964,649,628.869959964,650,0.444967005059,0.00469943966728,0.069660590157,0.999999841013,0.0002094167377,-0.000519907180248,-6.17661993115e-05,1793193013179590912
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,658,631,878,782,800,649,628,650,0.444971075246,0.00470085296427,0.0696632715328,0.999999842222,0.000212341083759,-0.000516348018596,-6.20682098332e-05,1793193013212279296
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,658,630.412721737,878,782,799.412721737,649,628,650,0.444970885377,0.00470360994941,0.0696634876269,0.999999841844,0.000214818267158,-0.000516044323973,-6.21542340371e-05,1793193013228945664
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,658,630,878,782,798.827780372,649,628.172219628,650,0.444970648395,0.00470482881954,0.0696634930253,0.999999841647,0.000215815609106,-0.000516012890765,-6.2126370382e-05,1793193013245612288
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,658,630,878,782,798.248364256,649,628.751635744,650,0.444970300014,0.00470241096753,0.0696630002546,0.999999841886,0.000213314011012,-0.000516625193015,-6.1829230028e-05,1793193013262278656
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,658,630.330321261,878,782,798.660642521,649,629,650,0.444970385999,0.00470216936398,0.0696630235008,0.999999841996,0.000213140047812,-0.000516477014556,-6.19007351656e-05,1793193013278945280
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,658,630.908458628,878,782,799.816917255,649,629,650,0.444970797856,0.00470356044209,0.0696634338771,0.999999842009,0.000214712340558,-0.00051575830249,-6.22488083204e-05,1793193013295612160
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742,710.515771931,674,658,631,878.484228069,782,799.515771931,649,629,650.484228069,0.444967721124,0.00470238063259,0.0696617242042,0.999999840671,0.000214105618327,-0.000518635761009,-6.19229592215e-05,1793193013312278528
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742,710,674.060886223,658,631,879,782,799,649,628.939113777,650.939113777,0.444963415738,0.00470093518289,0.0696592872157,0.999999838803,0.000213224130888,-0.000522630581417,-6.15345328498e-05,1793193013328944640
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742,710,674.649099557,658,631,879,782,799,649,628.350900443,650.350900443,0.444954153224,0.00470137789336,0.0696540053139,0.999999834617,0.000213513281995,-0.000530443357124,-6.17021774293e-05,1793193013345611776
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742,710,674.532304835,657.766152417,631,879,782,799.233847583,649.233847583,628,650,0.444935845394,0.00470181116153,0.0696451333588,0.999999827037,0.000213879362798,-0.000544384716574,-6.18554658487e-05,1793193013362278656
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742,710,673.373056776,657.186528388,631,879,782,799.813471612,649.813471612,628,650,0.444904162796,0.00470223046792,0.0696309530067,0.999999814139,0.00021435919486,-0.000567388045727,-6.19875266386e-05,1793193013378945536
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,710.390563636,673.390563636,657.390563636,630.609436364,878.609436364,782,799.609436364,649.609436364,628,650,0.444848707042,0.00470218852427,0.0696096229145,0.999999792236,0.000214092836236,-0.00060488397137,-6.17083089531e-05,1793193013395611904
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742,710.966454246,673.966454246,657.966454246,630.033545754,878.033545754,782,799.033545754,649.033545754,628,650,0.444781970648,0.00470192771217,0.0695849001865,0.999999764573,0.000213472401207,-0.0006492568032,-6.1233934783e-05,1793193013412278016
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.540971728,711,674,658,630,878,782,799,649,628,650,0.444710295418,0.00470087217708,0.0695761740946,0.999999757738,0.000214473439858,-0.000659487641784,-6.00096244862e-05,1793193013428944896
+274,4.566666667,POSE2_TO_POSE3_RETREAT,762.881286685,742.881286685,710.881286685,674,658,630,878,782,799,649,628,650,0.444635189487,0.00470034639772,0.0695701270275,0.999999752885,0.000216207275701,-0.000666369267366,-5.8628089457e-05,1793193013445611264
+275,4.583333333,POSE2_TO_POSE3_RETREAT,762.290383004,742.290383004,710.290383004,674,658,630,878,782,799,649,628,650,0.44454765277,0.00470212327971,0.0695708003867,0.999999750754,0.000220456939525,-0.000668328963765,-5.68056851134e-05,1793193013462278144
+276,4.600000000,POSE2_TO_POSE3_RETREAT,762,742,710.294203897,674,658,630,878,782,799,649,628.294203897,650,0.44444832789,0.00470110542952,0.0695743799228,0.999999752751,0.000222160221145,-0.000664973032732,-5.43387018448e-05,1793193013478945024
+277,4.616666667,POSE2_TO_POSE3_RETREAT,762,742,710.872687071,674,658,630,878,782,799,649,628.872687071,650,0.444337612514,0.00469738712404,0.0695807675994,0.999999758694,0.000221403019481,-0.000656480790511,-5.12488838643e-05,1793193013495612160
+278,4.633333333,POSE2_TO_POSE3_RETREAT,762,742.448382682,710.551617318,673.551617318,658,630.448382682,878.448382682,782,799,649,628.551617318,650,0.444203004948,0.00469732565255,0.0695894683684,0.999999765096,0.000226616703795,-0.000645153865604,-4.72156515507e-05,1793193013512278784
+279,4.650000000,POSE2_TO_POSE3_RETREAT,762.023855648,742.976144352,710.023855648,673,658,631,878.976144352,782,799.023855648,649,628,650,0.4440596225,0.00469815484795,0.0695984397817,0.999999771131,0.000233259381272,-0.000633630640007,-4.29076035279e-05,1793193013528945664
+280,4.666666667,POSE2_TO_POSE3_RETREAT,762.612685068,742.387314932,710.612685068,673,658,631,878.387314932,782,799.612685068,649,628,650,0.443868094965,0.00469563923463,0.0695983625577,0.999999769418,0.000233841717866,-0.00063640250277,-3.83958926151e-05,1793193013545612032
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.198168068,658.198168068,631,878,782.198168068,800,649,628.198168068,650,0.443666293399,0.00469419910012,0.0695996493808,0.999999769721,0.000236930847352,-0.000635036591935,-3.39083364966e-05,1793193013562278144
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.777219113,658.777219113,631,878,782.777219113,800,649,628.777219113,650,0.443444744961,0.00469482605762,0.0696035579293,0.999999773832,0.000244838082675,-0.000625717797381,-2.94672068919e-05,1793193013578944768
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.354863442,711,673.645136558,659,630.645136558,878,782.645136558,799.645136558,649.354863442,629,650,0.443200186294,0.00469129681943,0.0696114584239,0.999999779013,0.000249118678723,-0.00061595020512,-2.2797550692e-05,1793193013595611392
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.931628186,711,673.068371814,659,630.068371814,878,782.068371814,799.068371814,649.931628186,629,650,0.442941238973,0.00468516865132,0.0696218551413,0.999999784799,0.000251131484922,-0.000605901972141,-1.4734363769e-05,1793193013612278272
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742.493577288,711,673.506422712,659,630.506422712,878,782.506422712,799.506422712,649.493577288,628.493577288,650,0.442655013892,0.00468274392499,0.0696394161825,0.99999980026,0.000257583939289,-0.000577121568246,-7.78565651685e-06,1793193013628944896
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.083220093,711,674,659,631.083220093,878,783,800,649,628.083220093,650,0.442358262618,0.00468054164893,0.0696577506627,0.999999815541,0.00026485368485,-0.000546598866478,-7.4478862637e-07,1793193013645611520
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742.673844956,711,674,659,631.673844956,878,783,800,649,628.673844956,650,0.442019698765,0.00467665893008,0.0696749263071,0.999999826955,0.000273466147179,-0.000520813145744,7.7718511595e-06,1793193013662278144
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,631.740355973,878,782.740355973,799.740355973,649.259644027,629,650,0.441661833857,0.00466963087945,0.0696905590205,0.999999840333,0.000275632100232,-0.000493077106522,1.53438270262e-05,1793193013678944512
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,631.160508301,878,782.160508301,799.160508301,649.839491699,629,650,0.441280166116,0.00465872387712,0.0697042889273,0.9999998562,0.000269847953596,-0.000462935856279,2.17508041554e-05,1793193013695611136
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,659.415418628,631,878,782.415418628,799.415418628,649.584581372,629,650,0.440867948125,0.00463399509949,0.0697231546569,0.999999882711,0.000225443715947,-0.000428164119435,2.07053826646e-05,1793193013712278528
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,659.989844823,631,878,782.989844823,799.989844823,649.010155177,629,650,0.440444036587,0.0046039758351,0.0697439861977,0.999999909355,0.000166257071853,-0.000391619995006,1.6807446181e-05,1793193013728946176
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,659.422760555,631.577239445,878,783,799.422760555,649,629,650,0.439943585411,0.00458530851285,0.0697490062407,0.999999916107,0.000138913816147,-0.000384747625647,2.13922513698e-05,1793193013745613056
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,659.32517539,631.837412305,878,783,799.162587695,649,629,650,0.439421824093,0.0045744891768,0.069747408445,0.999999915578,0.000134434305896,-0.000387512189432,2.46107631061e-05,1793193013762279680
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.102674067,661.897325933,631.897325933,878,783,798.205348134,649,629,650,0.437709275328,0.0045727352164,0.0697307573176,0.999999904548,0.000193506295225,-0.000390892613111,2.57178642267e-05,1793193013812279808
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.951067966,663.951067966,632,877,783,799.048932034,649,629,650,0.436511668199,0.00456759620825,0.0697885306689,0.999999938059,0.00016351658091,-0.000310157616297,3.07584614786e-05,1793193013845611776
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.361506056,663.361506056,632,877,783,799.638493944,649,629,650,0.43583829204,0.00456793990297,0.0698156606286,0.999999949762,0.000156649205109,-0.00027339995991,3.44905085042e-05,1793193013862278400
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,762.826606306,742.173393694,711,672.826606306,663.653212612,632.173393694,876.826606306,783.173393694,799,649,628.173393694,650,0.418368126182,0.0044806496272,0.069875250233,0.999999974977,8.0608650665e-05,-0.000202933819102,4.86368533017e-05,1793193014212278528
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.59712398,663.194247959,632,877,783,799.40287602,649,628,650.40287602,0.417509074498,0.0044727830537,0.0698715919,0.999999973508,7.19423835357e-05,-0.000213187023601,4.85856518341e-05,1793193014228944896
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.848910388,662.151089612,632,877.848910388,782.151089612,799,649,628,650,0.414976181971,0.00444972828591,0.0697858608852,0.999999945838,3.11468053541e-05,-0.000324912393241,4.22637280887e-05,1793193014278944768
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.904539132,632,877.904539132,783,799,649,629,650.095460868,0.406735298934,0.00445824534647,0.0697980866657,0.999999945787,3.66045702185e-05,-0.00032447092199,4.24720626052e-05,1793193014478944768
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.091404004,742,711,672,662,632,876.908595996,783,798.908595996,649,628.091404004,650.091404004,0.402778821057,0.00445979741666,0.0698159719631,0.999999954037,2.01989919075e-05,-0.000300158518013,3.77182127015e-05,1793193014645611264
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.493319168,742.493319168,711,672,662,632,877,783,799,649,628.493319168,650,0.402519505915,0.00446189489965,0.0698063816471,0.999999949678,1.60259721906e-05,-0.000314669736983,3.7004773152e-05,1793193014662278144
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742.921276526,711,672,662,632,877,783,799,649,628.921276526,650,0.402273594689,0.00446419490738,0.0697966795613,0.999999945242,1.18911516128e-05,-0.000328729824932,3.62139298281e-05,1793193014678944512
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742.342058569,711,672,662,632,877,783,799,649,628.342058569,650,0.402067468652,0.00445974732133,0.0697918281416,0.999999942707,2.16232478385e-07,-0.000336572731287,3.6129051738e-05,1793193014695611136
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632,876.762885165,783.237114835,799,649.237114835,628,650.237114835,0.401879933023,0.00445637596863,0.0697899350648,0.999999941607,-7.89899408401e-06,-0.000339695037534,3.64775000091e-05,1793193014712277760
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.393442861,711,672,662,632,876.393442861,783.606557139,799,649.606557139,628,650.606557139,0.40157873235,0.00445480679607,0.06979306143,0.999999942606,2.61327353271e-05,-0.0003355657516,3.87371007312e-05,1793193014745611264
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.969783181,711,672,662,632,876.969783181,783.030216819,799,649.030216819,628,650.030216819,0.401447664808,0.00445601851082,0.0697930603687,0.999999939193,8.17371670801e-05,-0.000336630438092,4.01686314678e-05,1793193014762277888
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.279948542,877,783,799.720051458,650,629,650,0.401189346008,0.00447258627244,0.0697920841765,0.999999943827,5.10822444317e-05,-0.000329926173695,2.9750068516e-05,1793193014812278016
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.550705842,877,783,799,649,628,650,0.401039520683,0.00446991433328,0.0697963357989,0.99999994613,4.32003816982e-05,-0.000323799321622,3.20535412336e-05,1793193014862278144
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742.641797426,711,672,662,632,877.283594852,783.641797426,799,649.358202574,629,650.641797426,0.400964873449,0.00447020197631,0.0698082032669,0.999999952629,4.20005829511e-05,-0.000303147391818,3.28654921493e-05,1793193014945611264
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.006448951,632.993551049,877,783.993551049,799,649.993551049,629,650.993551049,0.40095358919,0.00446973652357,0.0698129895474,0.999999954636,3.91942058296e-05,-0.000296863323611,3.26218118147e-05,1793193015078944768
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.255270093,742,711,672,662,633,877,783.255270093,799.744729907,650,629,650,0.400956165766,0.0044678850467,0.069814394207,0.999999955662,3.53392676961e-05,-0.00029392600697,3.21542506558e-05,1793193015128944640
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.322004808,742,711,672,662,633,877,783,799.677995192,649.677995192,629,650,0.400955322007,0.00446788233152,0.0698146733191,0.999999955785,3.49048100654e-05,-0.000293560830699,3.2149141006e-05,1793193015145611264
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.897620226,742,711,672,662,633,877,783,799.102379774,649.102379774,629,650,0.400953740898,0.00446807064613,0.0698148593453,0.999999955931,3.51419124445e-05,-0.00029302283353,3.22576855641e-05,1793193015162277888
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.050346477,742,711,672,662,632,876.050346477,783.949653523,799.899307046,649.949653523,628.050346477,650,0.400955979715,0.00446865242891,0.0698152473601,0.999999956558,3.76444729288e-05,-0.000290610924097,3.18236063213e-05,1793193015195611392
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.226434389,876.773565611,783,798.226434389,649,628.773565611,650,0.40095569494,0.00446989180622,0.0698165144331,0.999999956667,3.84719265408e-05,-0.000290107488179,3.19947920426e-05,1793193015228944640
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.805564816,876.194435184,783,798.805564816,649,628.194435184,650,0.400954851725,0.00447033543689,0.0698162992221,0.999999956419,3.93835265614e-05,-0.000290817728789,3.21949929323e-05,1793193015245611264
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.381431593,633,876.381431593,783,799,649,628.381431593,650,0.400955717526,0.00447014746952,0.0698170279831,0.999999956778,3.83339986741e-05,-0.000289737329053,3.20454142538e-05,1793193015262277888
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.955648818,633,876.955648818,783,799,649,628.955648818,650,0.400957447109,0.00446964027575,0.0698182338526,0.999999957438,3.62932647632e-05,-0.000287751892225,3.17190477093e-05,1793193015278944768
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.456712124,633,877,783,799,649.543287876,629,650,0.400955869809,0.00447030323352,0.0698173368649,0.999999956846,3.70301735115e-05,-0.000289700198428,3.17744249366e-05,1793193015295611392
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.129969997,672,662,632.870030003,877,783,799,650,629,650.129969997,0.400954554729,0.00447034694563,0.0698165549669,0.999999956368,3.72387180847e-05,-0.000291307893805,3.18958045829e-05,1793193015312278016
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.712807792,742,711.712807792,672,662,632.287192208,877,783,799,649.712807792,628.712807792,650.712807792,0.400954545262,0.00446689601084,0.0698165130866,0.999999956473,3.46769465052e-05,-0.000291213625944,3.23575640259e-05,1793193015345611264
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.136833236,742,711.136833236,672,662,632.863166764,877,783,799,649.136833236,628.136833236,650.136833236,0.400952872682,0.00446731234808,0.0698157518399,0.99999995582,3.68349944528e-05,-0.000293159869365,3.25635601735e-05,1793193015362278144
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.437440732,742,711,672,662,632.562559268,876.562559268,783,799,649,628.437440732,650,0.40095334713,0.00446743198589,0.0698159894862,0.999999956048,3.64497944056e-05,-0.000292447727936,3.24102850368e-05,1793193015378944512
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632,876.011532767,783,799,649,629,650,0.400954493116,0.00446747061096,0.0698165479448,0.999999956544,3.53476201052e-05,-0.000290910055842,3.215425323e-05,1793193015395611392
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632,876.60312781,783,799,649,629,650,0.400955766885,0.00446808446297,0.0698175874658,0.999999956844,3.80420169232e-05,-0.000289513345338,3.23604311295e-05,1793193015412278016
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.190742203,632,877,783.190742203,799,649,629,650,0.400956178966,0.00446865569152,0.0698179594756,0.999999956906,3.97998344493e-05,-0.000289059220525,3.2379243567e-05,1793193015428944640
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.770243442,632,877,783.770243442,799,649,629,650,0.400954834808,0.0044691400475,0.0698169710052,0.999999956499,3.96487734594e-05,-0.000290526216029,3.20161792226e-05,1793193015445611264
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5939e43a3e8321efe0aa014c5c236194f696c092
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,396 @@
+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,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
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+4,0.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
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+378,6.300000000,pose2_to_pose3_retreat,0.575711559495,0.010054641785,1.06002921949,0.54628228901,0.0187273685697,1.05969850406
+379,6.316666667,pose2_to_pose3_retreat,0.57571150384,0.0100546426842,1.0600292215,0.546282233385,0.0187273695785,1.05969850628
+380,6.333333333,pose2_to_pose3_retreat,0.575711338065,0.0100546453623,1.06002922751,0.5462820677,0.0187273725833,1.05969851288
+381,6.350000000,pose2_to_pose3_retreat,0.575711178964,0.0100546479326,1.06002923328,0.546281908685,0.018727375467,1.05969851922
+382,6.366666667,pose2_to_pose3_retreat,0.575710959976,0.0100546514704,1.06002924122,0.546281689815,0.0187273794363,1.05969852794
+383,6.383333333,pose2_to_pose3_retreat,0.575710939408,0.0100546518026,1.06002924197,0.546281669258,0.0187273798091,1.05969852876
+384,6.400000000,pose2_to_pose3_retreat,0.575710769248,0.0100546545516,1.06002924814,0.54628149919,0.0187273828934,1.05969853554
+385,6.416666667,pose2_to_pose3_retreat,0.575710731614,0.0100546551596,1.06002924951,0.546281461576,0.0187273835755,1.05969853704
+386,6.433333333,pose2_to_pose3_retreat,0.57571055667,0.0100546579858,1.06002925585,0.546281286727,0.0187273867465,1.05969854401
+387,6.450000000,pose2_to_pose3_retreat,0.575709983022,0.0100546966323,1.0600292192,0.546280712013,0.018727421877,1.05969851005
+388,6.466666667,pose2_to_pose3_retreat,0.575709714565,0.0100547300778,1.06002917201,0.546280442337,0.0187274512481,1.05969846446
+389,6.483333333,pose2_to_pose3_retreat,0.575709708008,0.0100547308947,1.06002917086,0.54628043575,0.0187274519654,1.05969846335
+390,6.500000000,pose2_to_pose3_retreat,0.575709637455,0.0100547396845,1.06002915846,0.546280364877,0.0187274596844,1.05969845137
+391,6.516666667,pose2_to_pose3_retreat,0.575709475736,0.0100547286329,1.06002913557,0.54628020297,0.0187274480241,1.05969842921
+392,6.533333333,pose2_to_pose3_retreat,0.575709317849,0.0100546174055,1.06002913105,0.54628004666,0.0187273421439,1.05969842467
+393,6.550000000,pose2_to_pose3_retreat,0.575709247272,0.0100547246969,1.06002925179,0.546279975108,0.0187274460146,1.05969854244
+394,6.566666667,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81433e2f66a449226d2ea06dde5d09c967e78580
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07ae34a75c2aac5765e365b69b2efa9862e02524c71c627fd61aaf3037fad175
+size 25262135
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e15bdb1447e2df5af6e86218fd0a3d278b2429a2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/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
+0,0.000000000,BASELINE,764,742,711,672,662,632,877,783,799,649,628,650,0.400955967142,0.00446903555056,0.069818261506,0.999999957412,3.81031911806e-05,-0.000287587972675,3.1888650151e-05,1793193015567198720
+1,0.016666667,BASELINE,764,742,711,672,662.57617923,632,877,783,798.42382077,649,628.57617923,650,0.400955607051,0.00446984714786,0.0698183510064,0.999999957382,3.95174695895e-05,-0.000287531017126,3.16333227285e-05,1793193015583865600
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+3,0.050000000,BASELINE,764,742,711,672,663,632.743143809,877,783.743143809,798.743143809,649,629,650.743143809,0.400954691593,0.00446926546456,0.0698172461509,0.999999956977,4.03921870829e-05,-0.000288785485475,3.19040854983e-05,1793193015617198848
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+12,0.200000000,BASELINE,763,742,711,672,662.036520411,632,877,783,798.036520411,649,628,650,0.400955476986,0.00446692473107,0.0698186510439,0.99999995764,3.44513754837e-05,-0.000287251403451,3.19235160662e-05,1793193015767198464
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+21,0.350000000,BASELINE,764,742,711,672,663,632,876.827290175,783,799,650,628,650.827290175,0.400954473383,0.00446816736105,0.0698180761836,0.999999957302,3.67098405308e-05,-0.00028819473108,3.14835626669e-05,1793193015917198592
+22,0.366666667,BASELINE,764,742,711,672,663,632,876.234063509,783,799,650,628,650.234063509,0.400956243709,0.00446942267017,0.0698186539893,0.999999957608,3.95119734659e-05,-0.000286782374475,3.12717026925e-05,1793193015933865216
+23,0.383333333,BASELINE,764,742,711,672,662.649322323,632,876.350677677,783,799,650,628.350677677,650.350677677,0.400955774522,0.00446947186293,0.069818321614,0.999999957485,3.90440095306e-05,-0.000287268830171,3.13431177157e-05,1793193015950532096
+24,0.400000000,BASELINE,764,742,711,672,662.070110993,632,876.929889007,783,799,650,628.929889007,650.929889007,0.400953845864,0.00446873504006,0.0698173960816,0.999999957078,3.64449516231e-05,-0.000288992725515,3.15991406185e-05,1793193015967198720
+25,0.416666667,BASELINE,764,742,711,672,662,632,877,783,799,649.495154211,628.495154211,650.495154211,0.400955398009,0.00446823951559,0.0698183367615,0.999999957748,3.69508584574e-05,-0.000286604223178,3.15817612807e-05,1793193015983865344
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+27,0.450000000,BASELINE,764,742,711,672,662.669071545,632.669071545,877,783,799.669071545,649,628.669071545,650.669071545,0.400956710247,0.00446832497224,0.0698198748401,0.999999958309,3.75651614644e-05,-0.000284520122833,3.19368866889e-05,1793193016017198592
+28,0.466666667,BASELINE,764,742,711,672,662.74672126,632.74672126,877,783,799.74672126,649,628.74672126,650.74672126,0.400956654472,0.00446860871097,0.0698200429386,0.999999958251,3.68234555503e-05,-0.000284818089903,3.19615575412e-05,1793193016033865216
+29,0.483333333,BASELINE,764,742,711,672,662.167368946,632.167368946,877,783,799.167368946,649,628.167368946,650.167368946,0.400957023661,0.00446871016321,0.069819855454,0.999999958272,3.53423477836e-05,-0.000284975595483,3.15625371324e-05,1793193016050531840
+30,0.500000000,BASELINE,764,742,711,672,662,632,876.589651799,783,799,649,628,650,0.400955350586,0.00446985728902,0.0698188131272,0.999999957668,3.73951222352e-05,-0.000286834509796,3.14742024808e-05,1793193016067198464
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+40,0.666666667,BASELINE,763.782537266,742.782537266,711,672,662,632,877,783,799,649,628.782537266,650,0.400956594726,0.00446842897581,0.0698205571124,0.999999958309,3.62862432062e-05,-0.000284703812269,3.17684566774e-05,1793193016233865216
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+47,0.783333333,BASELINE,764,742,711,672,662,632.720973671,877.720973671,783,799,649.279026329,628.279026329,650.279026329,0.400954610443,0.00446845852812,0.0698178479045,0.999999957284,3.83351550651e-05,-0.000288050381704,3.1447483311e-05,1793193016350532096
+48,0.800000000,BASELINE,764,742,711,672,662,632.141846831,877.141846831,783,799,649.858153169,628.858153169,650.858153169,0.400954346337,0.00446890944015,0.0698183793199,0.999999957318,3.9499874104e-05,-0.000287753368771,3.16639771752e-05,1793193016367198720
+49,0.816666667,BASELINE,764,742.436001061,711,672,662,632,876.563998939,783.436001061,799,649.563998939,629,650.563998939,0.400953932064,0.00446841156396,0.0698178821724,0.999999957137,3.89093821605e-05,-0.000288462039122,3.16356157571e-05,1793193016383865344
+50,0.833333333,BASELINE,763.986682645,742.986682645,711,672,662,632,876.013317355,783.986682645,799,649.013317355,629,650,0.400953508835,0.00446764474513,0.0698171141106,0.999999956907,3.78121550277e-05,-0.000289415348789,3.15302143803e-05,1793193016400531968
+51,0.850000000,BASELINE,763.414265442,742.414265442,711,672,662,632,876.585734558,783.414265442,799,649.585734558,629,650,0.400954754662,0.00446850809555,0.0698189798595,0.999999957561,3.93442214341e-05,-0.000286943339284,3.15250376558e-05,1793193016417198592
+52,0.866666667,BASELINE,763,742,711.163577111,672,662.163577111,632,877,783,799,649.836422889,629,650.163577111,0.400955775375,0.00446886342548,0.0698204417928,0.999999958062,3.99105562078e-05,-0.000285107138354,3.15650152961e-05,1793193016433865216
+53,0.883333333,BASELINE,763,742,711.755630885,672,662.755630885,632,877,783,799,649.244369115,629,650.755630885,0.40095620642,0.00446788803786,0.0698208459646,0.999999958182,3.79472370476e-05,-0.00028493638536,3.17232710474e-05,1793193016450532096
+54,0.900000000,BASELINE,763.340384229,742,711.659615771,672,662.659615771,632,877,783,799,649,628.659615771,650.659615771,0.400956312392,0.00446850663259,0.0698206900271,0.999999958136,3.83509506384e-05,-0.000285054680844,3.16374361272e-05,1793193016467198464
+55,0.916666667,BASELINE,763.920006464,742,711.079993536,672,662.079993536,632,877,783,799,649,628.079993536,650.079993536,0.400956189887,0.00447024555295,0.0698201404184,0.999999957971,4.04183259862e-05,-0.000285376133167,3.13800428242e-05,1793193016483865344
+56,0.933333333,BASELINE,764,742,711,672,662.495873172,632,876.504126828,783,799,649,628,650,0.400957146947,0.00447013038076,0.0698206355967,0.999999958416,4.04507982754e-05,-0.000283819446138,3.12920376045e-05,1793193016500531968
+57,0.950000000,BASELINE,763.929194972,742.070805028,711,672,663,632,876.070805028,783,799,649,628,650,0.400958080213,0.00446973372966,0.0698211411002,0.999999958868,4.01597888116e-05,-0.000282268431918,3.12456235491e-05,1793193016517198592
+58,0.966666667,BASELINE,763.356627254,742.643372746,711,672,663,632,876.643372746,783,799,649,628,650,0.400957619998,0.00446944601577,0.0698205343604,0.999999958702,3.98852086919e-05,-0.000282888551229,3.13017597114e-05,1793193016533865216
+59,0.983333333,BASELINE,763.2240631,742.7759369,711,672,663,632.2240631,877,783,799,649.2240631,628.2240631,650,0.400956769465,0.00446952213552,0.069820018499,0.999999958395,4.01873690537e-05,-0.000283921092712,3.135644793e-05,1793193016550532096
+60,1.000000000,BASELINE,763.818168143,742.181831857,711,672,663,632.818168143,877,783,799,649.818168143,628.818168143,650,0.400955274319,0.0044701991293,0.0698196527241,0.999999957854,4.14420207367e-05,-0.000285634752695,3.14087448668e-05,1793193016567198720
+61,1.016666667,BASELINE,764,742.401184935,711,671.598815065,662.598815065,632.598815065,877,783,798.598815065,649.598815065,629,650.401184935,0.400954728496,0.00446998894423,0.0698193477737,0.999999957774,4.05050582546e-05,-0.000286061714968,3.1297106333e-05,1793193016583865088
+62,1.033333333,BASELINE,764,742.979311252,711,671.020688748,662.020688748,632.020688748,877,783,798.020688748,649.020688748,629,650.979311252,0.400954601369,0.00446938747162,0.06981906965,0.999999957895,3.86014910056e-05,-0.000285921183068,3.11131645605e-05,1793193016600531712
+63,1.050000000,BASELINE,764,742.446470734,711,671.553529266,662.553529266,632,877,783,798.553529266,649.553529266,629,651,0.400955471677,0.00446869552749,0.0698194932282,0.999999958001,3.76367063072e-05,-0.000285682315479,3.10854997315e-05,1793193016617198592
+64,1.066666667,BASELINE,764,742.130351479,711,671.869648521,663,632,877,783.130351479,799,650,629,650.869648521,0.400955998654,0.00446823760154,0.0698198189311,0.999999958049,3.70799585744e-05,-0.000285580145891,3.11464596511e-05,1793193016633865216
+65,1.083333333,BASELINE,764,742.716793094,711,671.283206906,663,632,877,783.716793094,799,650,629,650.283206906,0.400955194818,0.00446861023642,0.0698197110526,0.999999957899,3.7828992355e-05,-0.00028596904226,3.14972169807e-05,1793193016650532096
+66,1.100000000,BASELINE,764,743,711,671.301292509,662.698707491,632,877,783.698707491,799,649.698707491,629,650.301292509,0.400954682048,0.00446968216045,0.0698194654289,0.999999957716,3.95667336022e-05,-0.000286366549854,3.15730979994e-05,1793193016667198720
+67,1.116666667,BASELINE,764,743,711,671.883977969,662.116022031,632,877,783.116022031,799,649.116022031,629,650.883977969,0.400954441121,0.00447140718743,0.0698190911575,0.999999957497,4.22278808086e-05,-0.000286772099902,3.13922575273e-05,1793193016683865088
+68,1.133333333,BASELINE,764,742.541503173,711,672.458496827,662.458496827,632.458496827,877,783,799.458496827,649.458496827,629,650.541503173,0.400955240567,0.00447072318375,0.0698196367641,0.99999995781,4.12220134658e-05,-0.000285815757764,3.14541397508e-05,1793193016700531968
+69,1.150000000,BASELINE,763.969064788,742,711,672.969064788,663,632.969064788,877,783,799.969064788,649.969064788,628.969064788,650.030935212,0.400956197213,0.00446945431065,0.0698203194728,0.999999958218,3.93587670843e-05,-0.000284637003889,3.15667894427e-05,1793193016717198592
+70,1.166666667,BASELINE,763.397502524,742,711,672.397502524,663,632.397502524,877,783,799.397502524,649.397502524,628.397502524,650.602497476,0.400955380768,0.00446843123474,0.0698194013964,0.999999958013,3.84447456972e-05,-0.000285488667493,3.15120469596e-05,1793193016733865216
+71,1.183333333,BASELINE,763.181212328,742,711,672,663,632.181212328,877.181212328,783,799,649,628.181212328,650.818787672,0.400954985184,0.00446847997635,0.0698188526673,0.999999957846,3.8599063688e-05,-0.000286059252157,3.14323023398e-05,1793193016750532096
+72,1.200000000,BASELINE,763.776261762,742,711,672,663,632.776261762,877.776261762,783,799,649,628.776261762,650.223738238,0.40095555073,0.00447097644225,0.0698191474213,0.999999957767,4.11931629395e-05,-0.000285987933124,3.12954599834e-05,1793193016767198720
+73,1.216666667,BASELINE,764,742,711,672,663,632.638388715,878,783,799.361611285,649.361611285,629,650.361611285,0.400955545977,0.00447190897172,0.0698192889991,0.999999957837,4.21140265324e-05,-0.00028562477235,3.11611491308e-05,1793193016783865344
+74,1.233333333,BASELINE,764,742,711,672,663,632.05888403,878,783,799.94111597,649.94111597,629,650.94111597,0.400955197583,0.00447189913159,0.0698193382788,0.999999957999,4.20266609123e-05,-0.000285085758692,3.1028363676e-05,1793193016800531712
+75,1.250000000,BASELINE,764,742,711,672,663,632.515363462,877.484636538,783,799.484636538,649.484636538,629,650.484636538,0.400955588028,0.00447191089266,0.0698198184396,0.999999958291,4.06680166444e-05,-0.000284257561572,3.10029132293e-05,1793193016817198592
+76,1.266666667,BASELINE,764,742,711,672,663,632.908884399,877.091115601,783.091115601,799.091115601,649.091115601,628.908884399,650.091115601,0.400956008136,0.00447177011835,0.0698202259162,0.999999958542,3.92064118208e-05,-0.000283583737967,3.09729561879e-05,1793193016833865216
+77,1.283333333,BASELINE,764,742,711,672,663,632.321703187,877.678296813,783.678296813,799.678296813,649.678296813,628.321703187,650.678296813,0.40095613478,0.0044707855859,0.0698199723484,0.999999958496,3.79670757158e-05,-0.000283928450612,3.08523693665e-05,1793193016850531840
+78,1.300000000,BASELINE,764,742,711,672,662.735962778,632,877.735962778,784,800,650,628.264037222,651,0.400956016851,0.004469870304,0.069819485647,0.99999995835,3.76679385298e-05,-0.000284462502725,3.10216401477e-05,1793193016867198464
+79,1.316666667,BASELINE,764,742,711,672,662.151968357,632,877.151968357,784,800,650,628.848031643,651,0.400955602554,0.00446903893917,0.0698187164373,0.999999958084,3.85081234168e-05,-0.000285225994153,3.15421569691e-05,1793193016883865088
+80,1.333333333,BASELINE,763.574252868,742,711.425747132,672.425747132,662,632,877.425747132,783.574252868,799.574252868,650,629,650.574252868,0.400955592879,0.00446847451755,0.0698189864719,0.999999958073,3.72261436733e-05,-0.000285433954527,3.15495225056e-05,1793193016900531712
+81,1.350000000,BASELINE,763,742,711.99875593,672.99875593,662.00124407,632.00124407,877.99875593,783,798.99875593,650,628.99875593,650,0.400955722422,0.00446800604953,0.0698196194947,0.999999958148,3.52032621752e-05,-0.000285447471333,3.13766002649e-05,1793193016917198592
+82,1.366666667,BASELINE,763,742,711.427809239,672.427809239,662.572190761,632.572190761,877.427809239,783,798.427809239,650,628.427809239,650,0.400954427363,0.00446847835688,0.069819073907,0.999999958001,3.57381656124e-05,-0.000285904534687,3.13030445421e-05,1793193016933865216
+83,1.383333333,BASELINE,763.148612707,742,711,672,662.851387293,632.851387293,877,783,798.148612707,649.851387293,628.148612707,650.148612707,0.400953419276,0.0044688807865,0.0698186436266,0.999999957822,3.66299423146e-05,-0.000286412382562,3.13386673683e-05,1793193016950532096
+84,1.400000000,BASELINE,763.74139924,742,711,672,662.25860076,632.25860076,877,783,798.74139924,649.25860076,628.74139924,650.74139924,0.400953268889,0.00446907436558,0.0698185579766,0.999999957548,3.85883423599e-05,-0.000287072015379,3.17006031464e-05,1793193016967198464
+85,1.416666667,BASELINE,764,742,711.326497682,671.673502318,662.326497682,632,877,783,799,649,628.673502318,650.673502318,0.400954346408,0.00446918390482,0.0698191962018,0.999999957838,3.91210442393e-05,-0.000285986706479,3.16890512842e-05,1793193016983865088
+86,1.433333333,BASELINE,764,742,711.905646865,671.094353135,662.905646865,632,877,783,799,649,628.094353135,650.094353135,0.40095637411,0.00446922841207,0.0698203945785,0.999999958564,3.85505075937e-05,-0.000283551121047,3.13884859757e-05,1793193017000531968
+87,1.450000000,BASELINE,764,742.481254483,711.518745517,671.481254483,662.518745517,632.481254483,877,783,799,649,628.481254483,650.481254483,0.400955682785,0.00447002362553,0.0698194635032,0.999999958256,3.93103473045e-05,-0.000284563759145,3.10764805912e-05,1793193017017198592
+88,1.466666667,BASELINE,764,742.942593844,711,672.057406156,662.057406156,633,877,783.057406156,798.942593844,649,628.942593844,650.942593844,0.400954547176,0.00447086153624,0.0698182674983,0.999999957799,4.01035908917e-05,-0.000286079496008,3.08464690728e-05,1793193017033865216
+89,1.483333333,BASELINE,764,742.355052584,711,672.644947416,662.644947416,633,877,783.644947416,798.355052584,649,628.355052584,650.355052584,0.400954195647,0.00447074448898,0.0698184522241,0.999999957843,3.88142012839e-05,-0.00028604369539,3.13942170201e-05,1793193017050531840
+90,1.500000000,BASELINE,764,742.229250906,711,672.541498188,662.770749094,633,877,783.770749094,798.229250906,649.229250906,628.229250906,650.229250906,0.400954024656,0.00447043582734,0.0698186563051,0.999999957883,3.8163806936e-05,-0.000285966230246,3.16264367822e-05,1793193017067198464
+91,1.516666667,BASELINE,764,742.808609679,711,671.382780642,662.191390321,633,877,783.191390321,798.808609679,649.808609679,628.808609679,650.808609679,0.400954129382,0.00446983453568,0.0698188899452,0.999999957919,3.84892747914e-05,-0.000285825135793,3.13767875158e-05,1793193017083865088
+92,1.533333333,BASELINE,763.613358873,742.613358873,711,671.773282254,662.386641127,633,877,783,799.386641127,649.613358873,629,651,0.40095452726,0.00446910195005,0.0698191155579,0.999999958013,3.78514626192e-05,-0.000285594379541,3.12703963702e-05,1793193017100531712
+93,1.550000000,BASELINE,763.035982162,742.035982162,711,672.928035676,662.964017838,633,877,783,799.964017838,649.035982162,629,651,0.400955069754,0.00446830459518,0.0698193372107,0.999999958134,3.67384506946e-05,-0.000285319391834,3.12346764772e-05,1793193017117198336
+94,1.566666667,BASELINE,763,742,711,672.461363885,662.461363885,632.461363885,877,783,800,649,628.461363885,651,0.400954446233,0.00446942991029,0.0698188997475,0.999999957924,3.84274635957e-05,-0.000285829758198,3.12460912565e-05,1793193017133865216
+95,1.583333333,BASELINE,763.116190293,742,711,672,662.116190293,632.116190293,877,783,800,649.116190293,628.116190293,651,0.400954195115,0.0044703006627,0.0698187069497,0.999999957833,3.97219380933e-05,-0.000285971753261,3.12402374601e-05,1793193017150531840
+96,1.600000000,BASELINE,763.706472057,742,711,672,662.706472057,632.706472057,877,783,800,649.706472057,628.706472057,651,0.400955779721,0.00446961132354,0.069819691203,0.999999958327,3.86467102491e-05,-0.00028439770613,3.115114045e-05,1793193017167198720
+97,1.616666667,BASELINE,764,742.291171931,711,672,663,633,877,783.291171931,799.708828069,650,629,650.708828069,0.400956664102,0.00446926315474,0.0698203849822,0.99999995864,3.80322484827e-05,-0.000283376846584,3.11501912846e-05,1793193017183865344
+98,1.633333333,BASELINE,764,742.870350558,711,672,663,633,877,783.870350558,799.129649442,650,629,650.129649442,0.400956855871,0.00446925244758,0.069820791445,0.999999958778,3.7873544022e-05,-0.000282903161196,3.1236431743e-05,1793193017200531968
+99,1.650000000,BASELINE,764,742.554098116,711,671.554098116,663,632.554098116,877,783.554098116,799,650,629,650,0.400955988396,0.00446999790398,0.0698204030204,0.999999958364,3.87398496627e-05,-0.00028424064849,3.12689060378e-05,1793193017217198592
+100,1.666666667,BASELINE,764,742,711,671.020873167,663,632.020873167,877,783.020873167,799.020873167,649.979126833,629,650,0.400954817461,0.00447088104433,0.0698197720759,0.999999957802,3.98461434216e-05,-0.000286057756937,3.12943250272e-05,1793193017233865216
+101,1.683333333,BASELINE,764,742,711,671.608500748,663,632.608500748,877,783.608500748,799.608500748,649.391499252,629,650,0.400953701899,0.00446958107496,0.0698187809488,0.999999957622,3.94417732555e-05,-0.000286714320033,3.15492211373e-05,1793193017250531840
+102,1.700000000,BASELINE,764,742.193423032,711,672,663.193423032,632.806576968,877.193423032,783.806576968,799.806576968,649.193423032,629,650,0.400953777747,0.00446900985484,0.0698189124038,0.999999957835,3.9250813872e-05,-0.000285990353991,3.15993971064e-05,1793193017267198464
+103,1.716666667,BASELINE,764,742.772945101,711,672,663.772945101,632.227054899,877.772945101,783.227054899,799.227054899,649.772945101,629,650,0.400956231815,0.00446989331884,0.0698212846876,0.999999958826,3.94858518794e-05,-0.000282510661392,3.12409234206e-05,1793193017283865088
+104,1.733333333,BASELINE,764,742.648456141,711,672,663.648456141,632,877.648456141,783,799,649.648456141,628.648456141,650,0.400956682308,0.00446986507028,0.0698217733092,0.999999959001,3.85880371255e-05,-0.000282025896559,3.11555268467e-05,1793193017300531712
+105,1.750000000,BASELINE,764,742.070452112,711,672,663.070452112,632,877.070452112,783,799,649.070452112,628.070452112,650,0.400955842124,0.00446924950796,0.0698210484995,0.999999958651,3.69604527698e-05,-0.000283470426511,3.12460431085e-05,1793193017317198592
+106,1.766666667,BASELINE,764,742,711,672.505356869,663,632.505356869,878.010713737,783,799,649.505356869,628.505356869,650,0.400955967071,0.00446942706242,0.0698208191021,0.999999958693,3.67199287354e-05,-0.00028333957086,3.13587895713e-05,1793193017333865216
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,633,877,783,799,649,629,651,0.400956430682,0.00446809528028,0.0698201937292,0.999999958626,3.61194873444e-05,-0.000283673797713,3.11897066585e-05,1793193017376536576
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.420511238,877,783.579488762,799,649.579488762,628.420511238,651,0.400955820572,0.00446880168845,0.0698205281639,0.999999958596,3.77763435697e-05,-0.000283559670151,3.12274121066e-05,1793193017393203200
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.841428515,742,711,672.158571485,663,632,877.158571485,783.841428515,799,650,628.158571485,650.841428515,0.400955126361,0.0044694212264,0.0698204140292,0.999999958463,3.9002612296e-05,-0.000283863488092,3.122768345e-05,1793193017409870080
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.263419674,742,711,672.736580326,663,632,877.736580326,783.263419674,799,650,628.736580326,650.263419674,0.400954209691,0.00446981098412,0.0698191133839,0.999999958061,3.90899346114e-05,-0.000285272813445,3.11289378703e-05,1793193017426536704
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.311790658,742,711,672.688209342,662.688209342,632,877.688209342,783,799,649.688209342,629,650.311790658,0.400954050345,0.00446997083525,0.0698189407624,0.999999957982,3.94665688707e-05,-0.000285483612056,3.12675765447e-05,1793193017443203328
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.88465764,742,711,672.11534236,662.11534236,632,877.11534236,783,799,649.11534236,629,650.88465764,0.400954525139,0.00446993817524,0.0698197126858,0.999999958173,4.00854570109e-05,-0.000284690830304,3.16049877237e-05,1793193017459869952
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,672,662.472569501,632,877,783,798.527430499,649.472569501,628.527430499,651,0.400956404234,0.00446964721968,0.0698210932793,0.999999958775,3.99718381736e-05,-0.000282587055862,3.15732398516e-05,1793193017476536576
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672,662.937270511,632.062729489,877,783,798.062729489,650,628.062729489,651,0.400958886486,0.00446935291688,0.069822632844,0.999999959473,3.97829743265e-05,-0.000280146874845,3.14612701461e-05,1793193017493203200
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672,662.359786204,632.640213796,877,783,798.640213796,650,628.640213796,651,0.400963413096,0.00446956548943,0.069824217746,0.999999960138,4.04920103891e-05,-0.000277658244447,3.14546934144e-05,1793193017509869824
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672,662.216920559,632.783079441,877,783.216920559,799,649.783079441,629,651,0.400973840073,0.00446980086913,0.0698290184629,0.999999962196,4.09637268784e-05,-0.000270065694159,3.15502110426e-05,1793193017526536704
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672,662.792342233,632.207657767,877,783.792342233,799,649.207657767,629,651,0.400994018493,0.00447007394183,0.0698391339049,0.999999966384,4.10432290538e-05,-0.000254037977881,3.18144583699e-05,1793193017543203328
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.374399264,711.374399264,672,663,632.374399264,877,783.625600736,799,649.374399264,629,650.625600736,0.401030174349,0.00447000665026,0.0698546176723,0.999999972652,4.11252937948e-05,-0.000228013836308,3.1849063105e-05,1793193017559869952
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.960203002,711.960203002,672,663,632.960203002,877,783.039796998,799,649.960203002,629,650.039796998,0.401075351865,0.00446974717209,0.0698731326645,0.999999979371,4.12088054656e-05,-0.000196345213409,3.17540001953e-05,1793193017576536576
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,711.456784019,672,663,632.456784019,877.543215981,783,799,650,629,650.543215981,0.401136093933,0.00446757807419,0.0698895061988,0.999999983293,3.59659365861e-05,-0.000176404100341,3.16475267702e-05,1793193017593203200
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,711.12452838,672,663,632.12452838,877.87547162,783,798.87547162,649.87547162,629,650.87547162,0.401200787579,0.00446621917036,0.069903540161,0.999999986354,3.2024225664e-05,-0.000159054696505,3.11282577152e-05,1793193017609869824
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,711.700414393,672,663,632.700414393,877.299585607,783,798.299585607,649.299585607,629,650.299585607,0.401275691994,0.00446830133269,0.0699096600006,0.999999988039,3.42057463319e-05,-0.000148000823781,2.91158103765e-05,1793193017626536448
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,711.724175876,672,663,633,877.275824124,783,798.275824124,649.275824124,629,650.275824124,0.401356508264,0.00446925291215,0.0699112492655,0.999999988467,3.37359115646e-05,-0.000145591309022,2.70272876636e-05,1793193017643203072
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,711.1492826,672,663,633,877.8507174,783,798.8507174,649.8507174,629,650.8507174,0.401443734608,0.00446897862895,0.0699079261421,0.999999987593,3.03912787283e-05,-0.000152554654618,2.48562784602e-05,1793193017659869952
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.564732134,711,672,663,633,877.564732134,783.435267866,799,650,629,651,0.401550536863,0.00446991277274,0.0699044568366,0.999999986388,2.79302779807e-05,-0.000161158463949,2.17278967289e-05,1793193017676536832
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.977129274,742.022870726,711,672,662.977129274,633,877,783.977129274,799,649.977129274,629,651,0.401665834547,0.00447122814543,0.0699012431832,0.999999985113,2.56877197065e-05,-0.000169647870784,1.82459725357e-05,1793193017693203456
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.397675281,742.602324719,711,672,662.397675281,633,877,783.397675281,799,649.397675281,629,651,0.401820780436,0.00447150617256,0.0699054988813,0.999999986655,2.12186360249e-05,-0.000161350420525,1.43322078392e-05,1793193017709870080
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.181160089,742.818839911,711,672,662.181160089,633,877,783,799,649.181160089,629,651,0.401987065367,0.00447158593796,0.0699101993549,0.999999988218,1.61065574462e-05,-0.000152332251289,9.97718674843e-06,1793193017726536704
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.758642029,742.241357971,711,672,662.758642029,633,877,783,799,649.758642029,629,651,0.402178156572,0.00447123196839,0.069915872858,0.999999989898,9.58780688329e-06,-0.000141737374494,4.65683461269e-06,1793193017743203328
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.666844529,877,783,799.333155471,649.666844529,629,651,0.402386409726,0.00447230809374,0.0699200301824,0.999999991097,3.07141849784e-06,-0.000133395872979,-1.0938381442e-06,1793193017759869952
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.094462593,877,783,799.905537407,649.094462593,629,651,0.402606986252,0.00447441111665,0.0699230987962,0.999999991946,-3.44327436815e-06,-0.000126672434752,-7.15350856785e-06,1793193017776536832
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.494986835,711,672,663,632.494986835,877,783.494986835,800,649,628.505013165,650.505013165,0.402864767249,0.00447613129142,0.0699239465181,0.999999992201,-9.12365764782e-06,-0.00012381693866,-1.35554294248e-05,1793193017793203200
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.91453844,711,672.08546156,663,633,877,784,799.91453844,649,628.08546156,650,0.403137262098,0.00447795665384,0.0699259124792,0.999999992599,-1.39030388426e-05,-0.000119204036853,-1.9990291376e-05,1793193017809869824
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.33756826,711,672.66243174,663,633,877,784,799.33756826,649,628.66243174,650,0.40345208748,0.00448082217802,0.0699368342882,0.999999994543,-1.4448959739e-05,-0.000100087009884,-2.62255538469e-05,1793193017826536704
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.761287503,742,711,672.761287503,663,633,877,784,799.238712497,649,628.761287503,650.238712497,0.403781275051,0.0044837984832,0.0699466945504,0.99999999619,1.20302414184e-05,-8.29524984343e-05,-2.43563781764e-05,1793193017843203328
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.185978903,742,711,672.185978903,663,633,877,784,799.814021097,649,628.185978903,650.814021097,0.404130713983,0.00448693099478,0.0699550579798,0.99999999465,7.66161648491e-05,-6.86134301488e-05,-1.10595543844e-05,1793193017859869952
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.399073688,742.399073688,711.399073688,672,663,633,877,783.600926312,799.600926312,649.399073688,628.399073688,651,0.40449604698,0.00449302869236,0.0699586903811,0.999999992848,9.90330899401e-05,-6.59833680863e-05,-1.193430575e-05,1793193017876536576
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.988780868,742.988780868,711.988780868,672,663,633,877,783.011219132,799.011219132,649.988780868,628.988780868,651,0.404868972401,0.00450054282942,0.0699600628174,0.9999999923,0.000101306306374,-6.89465811852e-05,-1.9578676613e-05,1793193017893203200
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,743,711.43130323,672,663,632.43130323,877,783,799,650,628.43130323,651,0.405313076814,0.00449923773006,0.069963804746,0.999999993693,9.3027390743e-05,-5.86146927329e-05,-2.29097992822e-05,1793193017909870080
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,711,672,663,632.147498506,876.852501494,783,799.147498506,649.852501494,628,650.852501494,0.405759096214,0.00449592706159,0.0699643184883,0.999999995967,6.71068420593e-05,-5.42633330172e-05,-2.48511326804e-05,1793193017926536704
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,711,672,663,632.723614281,876.276385719,783,799.723614281,649.276385719,628,650.276385719,0.406206668889,0.00448728541624,0.069955317876,0.999999997376,-9.48400454433e-06,-6.80401190354e-05,-2.29969451365e-05,1793193017943203328
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.70218713,711,672,663,633,876.29781287,783,799.70218713,649,628.29781287,650,0.40667431429,0.00448348910527,0.0699409301124,0.99999999509,-3.22774926439e-05,-9.08908401094e-05,-2.27478915929e-05,1793193017959869952
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.129756342,711,672,663,633,876.870243658,783,799.129756342,649,628.870243658,650,0.407160469117,0.00448416075214,0.0699215747712,0.999999992242,-5.463601725e-06,-0.000122108780771,-2.39789571331e-05,1793193017976536576
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.543639666,877,783,799,649,628.543639666,650,0.407702427015,0.00449288413423,0.0699164963231,0.999999992017,1.94267547991e-05,-0.000122025123284,-2.64153120391e-05,1793193017993203200
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.954377646,742,711,672,663,632,877,783,799,649,628.045622354,650.045622354,0.4082678007,0.00450338331678,0.0699173025836,0.999999992621,4.16559708505e-05,-0.00011034325421,-2.91208105211e-05,1793193018009870080
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.375245151,742,711,672,663,632,877,783,799,649,628.624754849,650.624754849,0.40891572124,0.00450704947452,0.0699379873072,0.999999996277,3.9359087787e-05,-7.03253494215e-05,-3.08422594294e-05,1793193018026536704
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742.202363716,711,672,663,632.202363716,877,783,798.797636284,649,628.797636284,651,0.409549733912,0.00451302543106,0.0699482277618,0.999999997398,4.18866615807e-05,-4.8822385988e-05,-3.2638717198e-05,1793193018043203072
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742.777168385,711,672,663,632.777168385,877,783,798.222831615,649,628.222831615,651,0.410158149766,0.00452325246402,0.0699392460267,0.999999996098,5.32934227268e-05,-6.13953084267e-05,-3.45732252305e-05,1793193018059869696
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,743,711,672,663,632.639830959,877.360169041,783,798.360169041,649,628,650.639830959,0.410790078488,0.00453151147307,0.0699358846825,0.999999994943,6.4016428199e-05,-6.89116959114e-05,-3.56041339567e-05,1793193018076536576
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,743,711,672,663,632.051641504,877.948358496,783,798.948358496,649,628,650.051641504,0.411436893015,0.00453852454004,0.0699360815673,0.999999993908,7.43065524706e-05,-7.32268272378e-05,-3.60629804296e-05,1793193018093203200
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.531680231,742.468319769,711,672,663,632,877.468319769,783,799,649,628,650,0.412173443426,0.00454341963545,0.0699574158914,0.999999995941,7.31460508045e-05,-3.62125322921e-05,-3.81646870301e-05,1793193018109869824
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.113015296,711,672,663.113015296,632,877.113015296,783,799,649,628,650,0.412924634955,0.00454913804224,0.0699807693547,0.999999996491,7.35933529273e-05,2.90638150755e-06,-3.99135970634e-05,1793193018126536448
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.688142539,711,672,663.688142539,632,877.688142539,783,799,649,628,650,0.413700377235,0.00455905644106,0.0700040602896,0.999999995004,8.51212555405e-05,3.43657186647e-05,-3.95733970581e-05,1793193018143203072
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.736729981,711,672.263270019,664,632.263270019,877.736729981,783,799,649,628.263270019,650,0.414442550254,0.00456712070332,0.0700002371156,0.999999994403,9.54749036655e-05,2.17260675584e-05,-4.00821389316e-05,1793193018159869696
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.161602143,711,672.838397857,664,632.838397857,877.161602143,783,799,649,628.838397857,650,0.415144958737,0.00457298864016,0.0699642957912,0.99999999275,0.000104437584071,-4.31512567352e-05,-4.15964990278e-05,1793193018176536576
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,673,663.587025995,632.587025995,877.412974005,783.412974005,798.587025995,649,629,650.412974005,0.415879599931,0.00458042538027,0.0699225118801,0.999999986803,0.000111400879258,-0.000109731133032,-4.40817658171e-05,1793193018193203200
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,673,663.012665477,632.012665477,877.987334523,783.987334523,798.012665477,649,629,650.987334523,0.416626837335,0.0045884751942,0.0698784447409,0.999999976325,0.000117582831895,-0.000176976347039,-4.69464539581e-05,1793193018209869824
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.417251784,742.582748216,711,672.417251784,663.582748216,632,877.417251784,783.417251784,798.582748216,649.582748216,629,651,0.417470453305,0.00459418536149,0.0699088667013,0.999999983787,0.000117832622001,-0.000127281839432,-4.837549279e-05,1793193018226536448
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.172191229,743,711,672.172191229,664,632,877.172191229,783.172191229,799,649.827808771,628.827808771,650.827808771,0.418321562358,0.00459993792148,0.0699403413574,0.999999988313,0.000121818175905,-7.84104227898e-05,-4.88497700979e-05,1793193018243203072
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.746579321,743,711,672.746579321,664,632,877.746579321,783.746579321,799,649.253420679,628.253420679,650.253420679,0.419185097299,0.00460591272523,0.0699703516451,0.999999989089,0.000134842003003,-3.76205567043e-05,-4.71695697344e-05,1793193018259869696
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,711.32770722,673,664,632,878,783.67229278,799,649,628.32770722,650,0.420038419228,0.00461178476072,0.0699930461318,0.999999988858,0.000141713786151,-2.00793072608e-06,-4.68776843237e-05,1793193018276536576
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,711.914156526,673,664,632,878,783.085843474,799,649,628.914156526,650,0.420883677407,0.00461757565498,0.0700099644075,0.999999988099,0.000143728206468,2.95169899514e-05,-4.76819466745e-05,1793193018293203200
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.505379814,711.505379814,673,664,632,878.494620186,783.494620186,799.494620186,649.494620186,628.505379814,650,0.421729212966,0.00462067190074,0.0700133767455,0.999999987551,0.000146865462749,3.06633651026e-05,-4.88786138392e-05,1793193018309869824
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.074196928,742.074196928,711,673,664,632,878.925803072,784,800,649.925803072,628.074196928,650.074196928,0.422563318663,0.00462230868528,0.0700043065055,0.999999987577,0.000148959539137,1.10513179557e-05,-5.03391778463e-05,1793193018326536704
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.654725337,742.654725337,711,673,664,632,878.345274663,784,800,649.345274663,628.654725337,650.654725337,0.42331910019,0.00461713915593,0.0699258578529,0.999999981843,0.000142620845671,-0.000114670461441,-5.31414218309e-05,1793193018343203328
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.767824446,743,711.232175554,673,664,632,878,783.767824446,799.767824446,649,629,650.767824446,0.424115524385,0.00460212508882,0.0698697255804,0.999999971466,0.000121694751232,-0.000197912306292,-5.55782299142e-05,1793193018359869952
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.194891912,743,711.805108088,673,664,632,878,783.194891912,799.194891912,649,629,650.194891912,0.424971598698,0.00457266249309,0.0698463463669,0.999999971261,7.93591746705e-05,-0.000218807667254,-5.74787001893e-05,1793193018376536576
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.611439251,742.611439251,711.611439251,673,664,632,878,783,799,649.388560749,629,650,0.425847186303,0.00455726170185,0.0698817968962,0.9999999833,5.97863700757e-05,-0.000163956850747,-5.42607415506e-05,1793193018393203200
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.022563165,742.022563165,711.022563165,673,664,632,878,783,799,649.977436835,629,650,0.426732833574,0.00454911021665,0.069947576017,0.999999995025,5.19484953634e-05,-7.0056485569e-05,-4.84040707078e-05,1793193018409869824
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.557203368,742.557203368,711,673.557203368,664.557203368,632,878,783.557203368,799.557203368,649.442796632,629,650,0.427597965493,0.00455749992172,0.0699822384325,0.999999996037,7.01513314409e-05,-2.78775195252e-05,-4.72025066982e-05,1793193018426536704
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711.136084439,674,664.863915561,632.136084439,878,783.863915561,799.863915561,649,628.863915561,650,0.428460064243,0.00456560698017,0.0700107008599,0.9999999953,8.44065311169e-05,9.77972990913e-06,-4.6685553619e-05,1793193018443203328
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711.713271801,674,664.286728199,632.713271801,878,783.286728199,799.286728199,649,628.286728199,650,0.429314980698,0.00457066167051,0.0700230852409,0.999999994676,8.25028880774e-05,3.94598444681e-05,-4.77865125389e-05,1793193018459869696
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.71169827,673.71169827,664,632.71169827,878,783.28830173,799,649,628.28830173,650,0.430129844727,0.00457459021167,0.0700125002572,0.999999995065,8.2735798466e-05,2.56004755861e-05,-4.86816851447e-05,1793193018476536576
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711.138798093,673.138798093,664,632.138798093,878,783.861201907,799,649,628.861201907,650,0.43090517076,0.00457740706892,0.0699792409534,0.999999994674,8.50778178631e-05,-3.12391066112e-05,-4.93737146437e-05,1793193018493203200
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673.448871376,664,632,878,783.551128624,799.448871376,649.448871376,628.551128624,650,0.431606704243,0.00457924528942,0.0699201782913,0.999999985939,9.0883892707e-05,-0.000131200441214,-5.1467226935e-05,1793193018509869824
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,632.04027775,878,783,799.95972225,649.95972225,628,650,0.432293608908,0.00457992517183,0.0698595946181,0.999999966888,9.55849807437e-05,-0.000232780921919,-5.38580553319e-05,1793193018526536448
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,632.618522464,878,783,799.381477536,649.381477536,628,650,0.433100257547,0.00456931309083,0.0698888898176,0.999999981264,7.0734033305e-05,-0.000171834468582,-5.42348920828e-05,1793193018543203072
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,711,673.804091913,664.195908087,632.804091913,878,783.195908087,799,649.195908087,628.195908087,650,0.43389955263,0.00455933252251,0.0699278004337,0.999999992013,5.33113780712e-05,-0.0001014555991,-5.3281786184e-05,1793193018559869696
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711,673.228371727,664.771628273,632.228371727,878,783.771628273,799,649.771628273,628.771628273,650,0.434684591322,0.00455057628237,0.0699853527132,0.999999997416,5.02901417162e-05,-1.27898491073e-05,-4.97502860769e-05,1793193018576536320
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.647188303,711,673.352811697,665,632,878,784,799,649.647188303,629,650,0.435409262152,0.00454618343421,0.0700056417937,0.999999997316,5.0708713296e-05,1.90989354983e-05,-4.93180009987e-05,1793193018593202944
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.06241299,711,673.93758701,665,632,878,784,799,649.06241299,629,650,0.436094242788,0.00454465939222,0.0700014313813,0.999999997185,5.33888607295e-05,1.36584813329e-05,-5.09233616921e-05,1793193018609869824
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711,674,664.479262798,632,878,784,799,649.520737202,629,650.520737202,0.436752429405,0.00454291976977,0.0699815079368,0.999999998014,3.49030121819e-05,-1.06177407947e-05,-5.13978739676e-05,1793193018626536704
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,711,674,664,632,878,784,799.101844736,649.898155264,629,650.898155264,0.437395344216,0.00454289069906,0.0699584504224,0.999999997696,2.08769251244e-05,-3.82517271021e-05,-5.2054501178e-05,1793193018643203072
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711,674,664,632,878,784,799.674408682,649.325591318,629,650.325591318,0.437982470487,0.00455088673013,0.0699295847949,0.999999995245,3.91522153465e-05,-7.10032313379e-05,-5.4177348741e-05,1793193018659869952
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.750860257,742.249139743,711,674,663.750860257,632,878.249139743,783.750860257,799.750860257,649,629,650,0.438543171306,0.00455798358421,0.0698964990879,0.999999989774,5.5708394932e-05,-0.000119542723638,-5.53082921525e-05,1793193018676536576
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.173272269,742.826727731,711,674,663.173272269,632,878.826727731,783.173272269,799.173272269,649,629,650,0.439069034628,0.00456389502621,0.0698578499282,0.99999997819,6.99982188822e-05,-0.000188895981684,-5.51315788879e-05,1793193018693203200
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.411964886,743,711,674,662.176070229,632,878.588035114,783,799.823929771,649,629,650,0.439572170285,0.00456980252381,0.0698237759946,0.999999965164,7.47276084318e-05,-0.000247344544895,-5.3939150443e-05,1793193018709870080
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.999526894,743,711,674,660.999526894,631.999526894,878,783,800.999053789,649,629,650,0.440065580886,0.00457570947748,0.0697916967385,0.999999950472,7.53618002589e-05,-0.000301062811569,-5.23148023906e-05,1793193018726536704
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.419697989,743,711,674,660.419697989,631.419697989,878,783,799.839395978,649,629,650,0.440577357785,0.00458301976897,0.0698011748344,0.999999954821,7.84352392312e-05,-0.000284956453146,-5.48200833313e-05,1793193018743203328
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,743,711,674,660,631.1590368,878,783,799.3180736,649,629,650.1590368,0.441079885113,0.0045918170807,0.0698150164498,0.999999959634,8.7315040094e-05,-0.000264308308854,-5.69978941133e-05,1793193018759869952
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,743,711,674,660,631.734904069,878,783,800.469808138,649,629,650.734904069,0.441558169716,0.00460451182746,0.0698402947156,0.999999965238,0.000111413134178,-0.0002317562825,-5.83174163896e-05,1793193018776536576
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742.689374466,711,673.689374466,660,631.689374466,878,783,800.378748933,649,628.689374466,650.689374466,0.441988474927,0.0046180005136,0.0698458895212,0.999999963058,0.000135483012162,-0.000228004422488,-5.95228635352e-05,1793193018793203456
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742.113777411,711,673.113777411,660,631.113777411,878,783,799.227554822,649,628.113777411,650.113777411,0.44237785246,0.00463216644958,0.0698346938305,0.999999954482,0.000159528819663,-0.000248819842691,-6.06310016126e-05,1793193018809870080
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.473744374,742.473744374,711,673,659.526255626,631,878,783,799.473744374,649,628,650,0.442706759566,0.00464457354962,0.0698026285444,0.99999993641,0.000176727076793,-0.000303573720203,-6.15739081965e-05,1793193018826536704
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.93712088,743,711,673.06287912,659,631,878,783,800,649,628.06287912,650,0.443019633336,0.00465542064783,0.0697670877459,0.999999913917,0.000190373431669,-0.000363390112777,-6.22151526347e-05,1793193018843203328
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.358845846,743,711,673.641154154,659,631,878,783,800,649,628.641154154,650,0.443323200856,0.00465703277191,0.0697452031631,0.999999901872,0.00018873402821,-0.00039616734319,-6.07174557265e-05,1793193018859869952
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.218214773,742.781785227,711,674,659,631,878.218214773,783,799.781785227,649,628.781785227,650,0.443615254308,0.00466035376228,0.0697269914742,0.9999998914,0.000184661344846,-0.000423605624206,-6.04892288194e-05,1793193018876536576
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.793289329,742.206710671,711,674,659,631,878.793289329,783,799.206710671,649,628.206710671,650,0.443888478078,0.00466646936463,0.0697147862924,0.999999884641,0.00017660937244,-0.000442312796434,-6.23370430029e-05,1793193018893203456
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.622573233,742.377426767,711,674,659,631,878.622573233,782.622573233,799,649,628,650,0.444145215253,0.00467054588383,0.0697079247105,0.999999880776,0.000170697426464,-0.000453124316638,-6.31608247952e-05,1793193018909870080
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.033350021,742.966649979,711,674,659,631,878.033350021,782.033350021,799,649,628,650,0.444392700853,0.00467347815364,0.0697040617369,0.999999878641,0.000165986374938,-0.000459505122098,-6.34099617292e-05,1793193018926536704
+201,3.350000000,POSE1_TO_POSE2_PRESS,763,742.453492288,711,674,658.453492288,631,878,782.546507712,799.546507712,649,628.546507712,650,0.444598254452,0.00467768980037,0.0696997364958,0.999999873014,0.000183325048027,-0.000465481835155,-6.07494949428e-05,1793193018943203072
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+204,3.400000000,POSE1_TO_POSE2_PRESS,763,742,711,673.718448105,658.718448105,631,878,782.718448105,799,649,629,650,0.445109193253,0.00469442156369,0.0696761098075,0.999999852417,0.000208968317994,-0.000497151811127,-6.58605298628e-05,1793193018993203200
+205,3.416666667,POSE1_TO_POSE2_PRESS,763,742,711,673.131438855,658.131438855,631,878,782.131438855,799,649,629,650,0.445250164227,0.00469655457292,0.0696733191831,0.999999851246,0.000210845166563,-0.000498567044052,-6.6960051095e-05,1793193019009869824
+206,3.433333333,POSE1_TO_POSE2_PRESS,763,742.449958303,711,673.449958303,658,631,878,782,799.449958303,649,628.550041697,650,0.445374808995,0.0046976330755,0.0696752749856,0.999999852724,0.000211736964408,-0.000495203962912,-6.70266353883e-05,1793193019026536448
+207,3.450000000,POSE1_TO_POSE2_PRESS,763,742.970343464,711,674,658,630.970343464,878,782.029656536,799.970343464,649.029656536,628,650,0.445493108043,0.00469858597388,0.0696784330113,0.999999854755,0.000212716087082,-0.000490694363045,-6.6794544387e-05,1793193019043203072
+208,3.466666667,POSE1_TO_POSE2_PRESS,763,742.392120291,711,674,658,630.392120291,878,782.607879709,799.392120291,649.607879709,628,650,0.44558115724,0.00470284317396,0.0696784984394,0.999999853176,0.000220567460047,-0.000490477920621,-6.6550289887e-05,1793193019059869952
+209,3.483333333,POSE1_TO_POSE2_PRESS,763,742.18344576,711,674,658.18344576,630,878,782.81655424,799,649.81655424,628.18344576,650,0.445661388544,0.00470528926408,0.0696782478263,0.999999851691,0.00022574745175,-0.000491201738233,-6.61565406842e-05,1793193019076536576
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+217,3.616666667,POSE1_TO_POSE2_PRESS,763,742.813585379,711,674,657.813585379,630,879,782,799,649,628,650,0.445921048228,0.00471222691934,0.0696612097731,0.999999836715,0.000234396442083,-0.000517040045855,-6.55604336239e-05,1793193019209869824
+218,3.633333333,POSE1_TO_POSE2_PRESS,763,742.601075395,710.601075395,674,658,630,878.601075395,782.398924605,799,649.398924605,628.398924605,650,0.445929387975,0.00471155142248,0.0696615705104,0.99999983717,0.000233448786497,-0.000516619703453,-6.53143012104e-05,1793193019226536448
+219,3.650000000,POSE1_TO_POSE2_PRESS,763,742.009404409,710.009404409,674,658,630,878.009404409,782.990595591,799,649.990595591,628.990595591,650,0.445935801857,0.00471065131825,0.0696623200111,0.999999838108,0.00023137042261,-0.000515747234874,-6.52439497055e-05,1793193019243203328
+220,3.666666667,POSE1_TO_POSE2_PRESS,763,742.571104554,710.571104554,673.428895446,658,630.571104554,878.571104554,782.428895446,799,649.428895446,629,650,0.445937716719,0.00471321455269,0.0696618055146,0.999999836736,0.00023403495846,-0.000517203234875,-6.52472407685e-05,1793193019259869952
+221,3.683333333,POSE1_TO_POSE2_PRESS,762.849860173,743,711,673.150139827,658,630.849860173,878.849860173,782,799,649,628.849860173,650,0.445939203801,0.00471553208353,0.0696612464501,0.999999835365,0.000236765790942,-0.000518615667093,-6.51910308026e-05,1793193019276536576
+222,3.700000000,POSE1_TO_POSE2_PRESS,762.27448824,743,711,673.72551176,658,630.27448824,878.27448824,782,799,649,628.27448824,650,0.44593968511,0.00471699529321,0.0696606189791,0.999999834122,0.00023946742894,-0.000519798189764,-6.49629308625e-05,1793193019293203200
+223,3.716666667,POSE1_TO_POSE2_PRESS,762.613996167,743,711,674,658,630,878,782,799,649,628.306998083,650,0.445939779452,0.00471830785496,0.0696593213998,0.999999833132,0.000240763282803,-0.000521106842809,-6.49316784394e-05,1793193019309870080
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.788124944,743,711,674,658,630,878,782,799,649,628.894062472,650,0.445939520775,0.00471948298471,0.0696574124981,0.999999832376,0.000240776676952,-0.000522530561428,-6.50800048208e-05,1793193019326536704
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.525308101,742.525308101,711,673.525308101,658,630,878,782,799,649,628.525308101,650,0.445941601339,0.00472021692495,0.0696590176807,0.999999833333,0.000240539516889,-0.000520785819109,-6.5251890451e-05,1793193019343203328
+226,3.766666667,POSE1_TO_POSE2_PRESS,762.946351174,742,711,673.053648826,658,630,878,782.053648826,799,649,628,650,0.445943939338,0.0047209733791,0.0696611526237,0.999999834418,0.000240625767078,-0.000518633479349,-6.54391127533e-05,1793193019359869952
+227,3.783333333,POSE1_TO_POSE2_PRESS,762.369884849,742,711,673.630115151,658,630,878,782.630115151,799,649,628,650,0.445943766656,0.00472289592037,0.0696609098155,0.999999833134,0.000244401336355,-0.000519307768087,-6.57252414376e-05,1793193019376536576
+228,3.800000000,POSE1_TO_POSE2_PRESS,762.411917532,742,711,673.588082468,658,630,878,782.794041234,799.205958766,649,628,650,0.445943411168,0.00472454052468,0.0696600018277,0.999999831851,0.000247046717821,-0.000520488228512,-6.60157564395e-05,1793193019393203456
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.56137476,742,711,672.43862524,658,630,878,782.21931262,799.78068738,649,628,650,0.445942728368,0.00472568748185,0.0696579028335,0.999999830589,0.00024766849407,-0.000522574990978,-6.6314125142e-05,1793193019409870080
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.634363037,742.365636963,711,672.731273925,657.634363037,630,878.365636963,782,799.634363037,649,628.365636963,650,0.44594282422,0.00472626770164,0.0696576229515,0.999999830286,0.000248723619302,-0.000522655822239,-6.62913858792e-05,1793193019426536704
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.043106536,742.956893464,711,673.913786928,657.043106536,630,878.956893464,782,799.043106536,649,628.956893464,650,0.445943400548,0.00472649821106,0.0696584655687,0.999999830575,0.000250046146355,-0.000521498875738,-6.60705040805e-05,1793193019443203328
+232,3.866666667,POSE1_TO_POSE2_PRESS,763,743,711,674,657,630,878.462945062,782,799.537054938,649,629,650,0.445943175088,0.00472751085387,0.0696582745547,0.999999829763,0.000251355159154,-0.000522388752866,-6.63664984391e-05,1793193019459869696
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.115355225,743,711,674,657.115355225,630.115355225,878.115355225,782.115355225,800,649.115355225,628.884644775,650,0.445943148228,0.00472825581197,0.0696581027684,0.999999829255,0.000251750223647,-0.00052313677098,-6.66279354304e-05,1793193019476536576
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.689721319,743,711,674,657.689721319,630.689721319,878.689721319,782.689721319,800,649.689721319,628.310278681,650,0.445944162516,0.00472769088053,0.0696583309326,0.999999830306,0.000248512817847,-0.000522679830202,-6.65901254073e-05,1793193019493203200
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.729461712,743,710.729461712,674,657.729461712,631,879,782.729461712,799.729461712,650,628.270538288,650,0.445944848119,0.00472786114814,0.0696585469311,0.999999830756,0.000247564047052,-0.000522281801123,-6.64939720964e-05,1793193019509869824
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.141065476,743,710.141065476,674,657.141065476,631,879,782.141065476,799.141065476,650,628.858934524,650,0.445945147546,0.00472889520786,0.0696587486362,0.999999830506,0.000249304214366,-0.000521952987891,-6.63292707104e-05,1793193019526536448
+237,3.950000000,POSE1_TO_POSE2_PRESS,762.559599517,743,710.440400483,673.559599517,657.440400483,631,878.559599517,782,799.440400483,650,629,650,0.445945191178,0.00472936399407,0.0696588541754,0.999999830142,0.000250759329818,-0.000521964832827,-6.62458677987e-05,1793193019543203328
+238,3.966666667,POSE1_TO_POSE2_PRESS,762.019600535,742.980399465,711,673,658,630.980399465,878.019600535,782,799.980399465,649.980399465,629,650,0.445945217757,0.00472960725741,0.0696589535531,0.999999829793,0.000252031993738,-0.000522028315311,-6.61842557691e-05,1793193019559869952
+239,3.983333333,POSE1_TO_POSE2_PRESS,762.596514115,742.403485885,711,673,658,630.403485885,878.596514115,782,799.403485885,649.403485885,629,650,0.445947053067,0.00472850663074,0.0696597400117,0.99999983094,0.000250672832267,-0.00052050552378,-6.60132727665e-05,1793193019576536576
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,742.172622852,711,673.172622852,658,630,878.827377148,782.172622852,799,649.172622852,628.827377148,650,0.445948004473,0.00472849712006,0.069659798819,0.999999831322,0.000250269541132,-0.000519959612886,-6.60488811054e-05,1793193019593203200
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,742.746859054,711,673.746859054,658,630,878.253140946,782.746859054,799,649.746859054,628.253140946,650,0.445946899445,0.00473102613055,0.0696581647194,0.999999829931,0.000252090117231,-0.000521686450464,-6.6565131735e-05,1793193019609870080
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,743,711,673.669213261,657.669213261,630.330786739,878.330786739,783,799,650,628.330786739,650.330786739,0.445946700054,0.00473033227566,0.0696579514424,0.999999830068,0.000251109143657,-0.00052189130311,-6.66087162281e-05,1793193019626536704
+243,4.050000000,POSE1_TO_POSE2_PRESS,763,743,711,673.077645158,657.077645158,630.922354842,878.922354842,783,799,650,628.922354842,650.922354842,0.445947214639,0.00472709761979,0.0696588582954,0.999999831405,0.000247919520559,-0.000520896272907,-6.62796662912e-05,1793193019643203328
+244,4.066666667,HOLD_POSE2,763,743,711,674,658,631,878,782,800,649,628,651,0.445946894566,0.00473147841682,0.0696591399428,0.999999829462,0.000253021311576,-0.000522114328694,-6.67367711524e-05,1793193019674221312
+245,4.083333333,HOLD_POSE2,763,743,711,673.426754143,657.426754143,630.426754143,878.573245857,782,799.426754143,649,628,650.426754143,0.445946934799,0.00472952744274,0.0696585740802,0.999999829935,0.000251570252599,-0.000521973469225,-6.62216944901e-05,1793193019690887936
+246,4.100000000,HOLD_POSE2,763,743,711,673.149493137,657.149493137,630,878.850506863,782,799,649.149493137,628,650,0.445947324901,0.00472828852623,0.0696584139367,0.999999830387,0.00025084557732,-0.000521497496104,-6.5899764835e-05,1793193019707554560
+247,4.116666667,HOLD_POSE2,763,743,711,673.734484186,657.734484186,630,878.265515814,782,799,649.734484186,628,650,0.44594873423,0.00472912394917,0.0696594357191,0.999999830777,0.000252236975983,-0.000520045282184,-6.6140503819e-05,1793193019724221440
+248,4.133333333,HOLD_POSE2,763,742.68227601,711,673.68227601,658,630,878.31772399,782,799,649.68227601,628.31772399,650,0.445949259449,0.00472967964331,0.0696598539718,0.999999830842,0.000252760481704,-0.000519652896272,-6.6254529974e-05,1793193019740888064
+249,4.150000000,HOLD_POSE2,763,742.100491701,711,673.100491701,658,630,878.899508299,782,799,649.100491701,628.899508299,650,0.445949049883,0.00473000285487,0.069659770631,0.999999830637,0.000252562681759,-0.00052014133321,-6.62632451176e-05,1793193019757554688
+250,4.166666667,HOLD_POSE2,763,742,711,673.478769483,658,630,878.521230517,782,799,649,629,650,0.445947892717,0.00472956231824,0.0696585822129,0.999999830169,0.000252007514063,-0.000521308174836,-6.62724961051e-05,1793193019774221312
+251,4.183333333,HOLD_POSE2,763,742,711,673.942958198,658,630,878,782.057041802,799,649.057041802,628.942958198,650,0.445946819102,0.00472910040412,0.0696573817571,0.999999829734,0.000251590339837,-0.000522343773897,-6.62595337062e-05,1793193019790887936
+252,4.200000000,HOLD_POSE2,763,742,711,673.368873982,658,630,878,782.631126018,799,649.631126018,628.368873982,650,0.445948296217,0.00472989017206,0.0696581636343,0.999999830118,0.000253100322523,-0.000520905820512,-6.60442090058e-05,1793193019807554560
+253,4.216666667,HOLD_POSE2,763,742,711,673.210933272,657.789066728,630,878,782.789066728,799,649.789066728,628.210933272,650.210933272,0.44594934391,0.00473068126131,0.06965899071,0.999999830312,0.000254059783658,-0.000520068815483,-6.60187118623e-05,1793193019824221184
+254,4.233333333,HOLD_POSE2,763,742,711,673.801027862,657.198972138,630,878,782.198972138,799,649.198972138,628.801027862,650.801027862,0.445949619698,0.00473147472557,0.069659899032,0.999999830172,0.00025402965928,-0.000520312040238,-6.633443766e-05,1793193019840887808
+255,4.250000000,HOLD_POSE2,763,742,711,674,657,630,878.384191491,782,799,649.384191491,629,650.615808509,0.445949271385,0.00473040463967,0.0696597584832,0.999999830202,0.000252346319081,-0.000521078525014,-6.62953512593e-05,1793193019857554432
+256,4.266666667,HOLD_POSE2,763,742,711,674,657,630,878.963829248,782,799,649.963829248,629,650.036170752,0.445948605578,0.00472838652681,0.069659084352,0.999999830311,0.00024982195333,-0.000522111203151,-6.60757644826e-05,1793193019874221056
+257,4.283333333,HOLD_POSE2,763,742,711,674,657,630,878.458957915,782,799.541042085,649.458957915,629,650,0.445948114555,0.00472823918519,0.0696587994835,0.99999983014,0.000249764556932,-0.000522462987789,-6.61045864389e-05,1793193019890887680
+258,4.300000000,HOLD_POSE2,763,742,711,674,657,630.117540779,878,782,799.882459221,649,629,650,0.445947600892,0.00472848865953,0.0696583467669,0.999999829845,0.000249908345493,-0.000522943765765,-6.62224699734e-05,1793193019907554560
+259,4.316666667,HOLD_POSE2,763,742,711,674,657,630.691891435,878,782,799.308108565,649,629,650,0.445946954034,0.00472979642142,0.0696571410394,0.99999982914,0.000250195909046,-0.000524101983591,-6.66222282788e-05,1793193019924221184
+260,4.333333333,HOLD_POSE2,763,742.27393718,710.72606282,674,657.27393718,630.72606282,878.27393718,782,799.27393718,649,629,650,0.445946503229,0.00473023556353,0.0696567946021,0.999999828797,0.000250461834955,-0.000524650637288,-6.64570379073e-05,1793193019940887808
+261,4.350000000,HOLD_POSE2,763,742.86488803,710.13511197,674,657.86488803,630.13511197,878.86488803,782,799.86488803,649,629,650,0.445946279308,0.00472966949573,0.0696574425778,0.999999828873,0.000250702720694,-0.000524493873123,-6.56380609283e-05,1793193019957554432
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,658,631,878,783,800,650,629,650,0.445949414277,0.00472943021886,0.0696611781997,0.999999831133,0.000250937283971,-0.000519983861334,-6.61930549206e-05,1793193019990264832
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742.575129644,711,674,658,630.424870356,878,782.424870356,799.424870356,650,629,650,0.445949764444,0.00473062669354,0.0696598590397,0.999999830413,0.000252126344722,-0.00052077285383,-6.63406329411e-05,1793193020006931456
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,630,878,782.14977024,799,649.85022976,628.85022976,650,0.445949850573,0.00473100388823,0.0696588402109,0.999999829961,0.000252311280808,-0.000521545420774,-6.63901012777e-05,1793193020023598080
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,630,878,782.723028144,799,649.276971856,628.276971856,650,0.445949190118,0.00472906450167,0.069658670593,0.999999830263,0.000249656972142,-0.000522271543303,-6.61621564532e-05,1793193020040264704
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,630.308425776,878.308425776,782.691574224,799,649,628.308425776,650,0.445949565716,0.00472789198221,0.0696589471617,0.999999830822,0.000248386013791,-0.000521847886094,-6.58492513321e-05,1793193020056931584
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,630.90517174,878.90517174,782.09482826,799,649,628.90517174,650,0.445950909828,0.0047274363396,0.0696596408311,0.999999831623,0.00024840822839,-0.000520349400688,-6.54569243011e-05,1793193020073598208
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,657.516976994,630.516976994,879,782,799.483023006,649,628.516976994,650,0.445949326086,0.00472791672507,0.0696588503115,0.999999831292,0.000248453052838,-0.000520893609714,-6.60102374833e-05,1793193020090264832
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,743,710.942733681,673.942733681,657.114532637,630.057266319,879,782.057266319,799.942733681,649,628.057266319,650,0.445946350523,0.00472838372866,0.0696573268594,0.999999830348,0.00024841860638,-0.000522644444934,-6.66025555404e-05,1793193020106931712
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,743,710.368834454,673.368834454,658.262331092,630.631165546,879,782.631165546,799.368834454,649,628.631165546,650,0.445935808973,0.00472713457946,0.0696517209429,0.999999825761,0.000247630473052,-0.000531799258817,-6.59349487997e-05,1793193020123599360
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,743,710.212226644,673.212226644,658.787773356,630.787773356,879,782.787773356,799.212226644,649,628.787773356,650.212226644,0.445916980095,0.00472741633404,0.0696423939458,0.999999817449,0.00024860820769,-0.000546785148545,-6.57408419758e-05,1793193020140266496
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,743,710.806169193,673.806169193,658.193830807,630.193830807,879,782.193830807,799.806169193,649,628.193830807,650.806169193,0.445883245435,0.0047304516088,0.0696263741249,0.999999802111,0.000252762074571,-0.000572258949192,-6.63983834461e-05,1793193020156932096
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.61059544,711,673.61059544,657.61059544,630.38940456,879,782,799.22119088,649.38940456,628,650.61059544,0.445830613636,0.00473051795606,0.0696086476924,0.999999782909,0.000253698214169,-0.000604545999933,-6.5907767969e-05,1793193020173598464
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.032547027,711,673.032547027,657.032547027,630.967452973,879,782,798.065094054,649.967452973,628,650.032547027,0.445768827269,0.00472914603096,0.0695900945044,0.999999760987,0.000253075552268,-0.000640133675692,-6.48609372558e-05,1793193020190265088
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742.542143396,711,673.542143396,657.542143396,630.457856604,878.457856604,782.542143396,798.542143396,649.457856604,628.542143396,650,0.445696812077,0.00473024441189,0.0695794645018,0.999999754518,0.000254466601204,-0.000649668317631,-6.43633650993e-05,1793193020206932224
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742.883718744,711,674,657.883718744,630,878,782.883718744,799,649.116281256,629,650,0.445621575165,0.00473114993041,0.0695719080215,0.999999750062,0.000256281759076,-0.000655866902652,-6.35136216976e-05,1793193020223599104
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742.310963352,711,674,657.310963352,630,878,782.310963352,799,649.689036648,629,650,0.445536086815,0.00473071975558,0.0695745612093,0.999999749955,0.000259290151931,-0.000655071565192,-6.11527466594e-05,1793193020240265472
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.727280219,657.272719781,630.272719781,878,782,799.272719781,649.727280219,628.727280219,650.272719781,0.445435097563,0.00472943758129,0.0695772988535,0.999999750975,0.000260744401049,-0.000653169165134,-5.85941079773e-05,1793193020256931840
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.130616868,657.869383132,630.869383132,878,782,799.869383132,649.130616868,628.130616868,650.869383132,0.445315695943,0.00472714338019,0.0695801368171,0.999999753333,0.000260352598086,-0.000649951767693,-5.5800560694e-05,1793193020273598464
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742.448146082,711,673.448146082,658,631,878,782,799.551853918,649,628,650.551853918,0.445170410338,0.00472807457679,0.0695798189269,0.999999750501,0.000265568766026,-0.000652475095792,-5.2419214602e-05,1793193020290265088
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742.978132766,711,673.978132766,658,631,878.021867234,782.021867234,799,649,628,650,0.445015988912,0.0047297402367,0.0695782482473,0.999999745802,0.000272227981032,-0.000657191590211,-4.88525055331e-05,1793193020306931712
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.405039805,711,673.405039805,658,631,878.594960195,782.594960195,799,649,628,650,0.444814140738,0.00472713303727,0.0695673932238,0.999999732091,0.000275643577101,-0.000676635453708,-4.47659314079e-05,1793193020323598592
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.173557776,658,631,878.826442224,783,799,649,628.173557776,650,0.444605721245,0.00472461980882,0.0695597891736,0.999999721241,0.000279012728327,-0.00069141350668,-4.02054409793e-05,1793193020340265216
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.765422445,658,631,878.234577555,783,799,649,628.765422445,650,0.444381463669,0.00472233306851,0.0695600205818,0.999999718092,0.000282269938468,-0.000694946076251,-3.45027237293e-05,1793193020356932096
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742.350002484,711,674,658.350002484,631,878.350002484,782.649997516,799,649,628.649997516,650,0.444131018364,0.00471955618406,0.0695677608986,0.999999722872,0.000286528368627,-0.000686569190018,-2.79408546631e-05,1793193020373598976
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.929799842,711,674,658.929799842,631,878.929799842,782.070200158,799,649,628.070200158,650,0.443863379429,0.00471645749421,0.0695804312054,0.999999732613,0.000291444152169,-0.000670373125463,-2.08149070734e-05,1793193020390265856
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,658.492305871,631,878.492305871,782,799,649,628,650,0.443568580377,0.00471408845974,0.0695957271689,0.999999747694,0.000299313399433,-0.000644086588739,-1.32317733576e-05,1793193020406931968
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.084554256,742.915445744,711,674,658.084554256,631,878,782.084554256,799,649,628,650,0.443263647784,0.00471161576112,0.0696112951912,0.999999762155,0.000307305991418,-0.000617432363443,-5.51178991819e-06,1793193020423598336
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.65696041,742.34303959,711,674,658.65696041,631,878,782.65696041,799,649,628,650,0.442921834814,0.00470796501376,0.0696263460165,0.999999772793,0.000313662804923,-0.000596676693213,2.6344008204e-06,1793193020440264960
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.762800426,742.237199574,710.762800426,674,658.762800426,631,878.237199574,783,799.237199574,649,628.237199574,650,0.442564150259,0.00470287992076,0.0696422088159,0.999999785894,0.000316104304319,-0.000572878360841,1.00592341827e-05,1793193020456931584
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.170846283,742.829153717,710.170846283,674,658.170846283,631,878.829153717,783,799.829153717,649,628.829153717,650,0.442182728255,0.00469564962737,0.069659285999,0.999999802722,0.000312690077971,-0.000544529438548,1.64052083528e-05,1793193020473598208
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,710.409719784,674,658.409719784,631,878.590280216,783,799.590280216,649,629,650,0.441765998857,0.00467753370831,0.0696787980778,0.999999831599,0.000275984261021,-0.000510301672515,1.50871188025e-05,1793193020490265344
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,743,710.985665618,674,658.985665618,631,878.014334382,783,799.014334382,649,629,650,0.441334945022,0.00465500141843,0.0696992980095,0.999999862266,0.000225771822804,-0.000473688819452,1.06596672488e-05,1793193020506932480
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742.437282004,711,674,659,631,878,783,799.562717996,649,629,650,0.440871165451,0.00461900827926,0.0697268619884,0.999999894474,0.000175951922295,-0.000424090723636,1.5514277761e-05,1793193020523599104
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,659.14272039,631.14272039,878,783.14272039,799.85727961,649.14272039,629,650,0.440389140816,0.00459191066696,0.0697488398409,0.999999916337,0.000136781667353,-0.000384984677129,2.00699276436e-05,1793193020540265472
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,659.731861809,631.731861809,878,783.731861809,799.268138191,649.731861809,629,650,0.43985265949,0.00459371241675,0.0697527806426,0.999999919071,0.000130891553815,-0.000379733858997,2.29493978136e-05,1793193020556932096
+297,4.950000000,POSE2_TO_POSE3_RETREAT,762.684307682,742.315692318,711,673.684307682,660.631384637,632,877.684307682,783.684307682,799,649.684307682,628.684307682,650,0.439270668231,0.00459451690977,0.0697455007413,0.999999916395,0.000118399898936,-0.000390673928528,2.37652594886e-05,1793193020573598720
+298,4.966666667,POSE2_TO_POSE3_RETREAT,762.104913381,742.895086619,711,673.104913381,661.790173239,632,877.104913381,783.104913381,799,649.104913381,628.104913381,650,0.438650661863,0.00459448838118,0.0697288480385,0.999999908529,0.000100393888247,-0.000415138460527,2.2857361906e-05,1793193020590265344
+299,4.983333333,POSE2_TO_POSE3_RETREAT,762.470457406,742.529542594,711,673.470457406,662,632,877.470457406,783,799,649,628.470457406,650,0.438022186182,0.00458983379259,0.0697280263972,0.999999901265,0.000178452909004,-0.000406295856939,2.34097016705e-05,1793193020606932224
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763,742.045045069,711,674,662.045045069,632,877.954954931,783,799.045045069,649.045045069,629,650,0.437390672349,0.00458445168109,0.0697331368097,0.999999888538,0.000268175500512,-0.000387820700751,2.45133143057e-05,1793193020623599616
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,662.797613302,632,877.202386698,783,800,649.797613302,629,650,0.436080073365,0.00458084344481,0.0697959425834,0.999999928697,0.000221583409947,-0.000304104352922,3.20491483353e-05,1793193020656932352
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,662.205217756,632,877.794782244,783,800,649.205217756,629,650,0.435375983309,0.00457951323083,0.0698158848543,0.999999941086,0.000197512710376,-0.000278467660026,3.56856936988e-05,1793193020673598976
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742.622232147,711,673.622232147,662.377767853,632,878,783,799.622232147,649,628.622232147,650,0.434628463969,0.00457706815103,0.0698239109428,0.999999946461,0.000176234306743,-0.000273295834221,3.64626033335e-05,1793193020690265600
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,742.044234151,711,673.044234151,662.955765849,632,878,783,799.044234151,649,628.044234151,650,0.433857925617,0.00457403215348,0.0698256210384,0.999999948213,0.000156435918171,-0.000278971102838,3.57238061466e-05,1793193020706932224
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,663,632,877.470202729,783,799,649,628.529797271,650,0.433063333891,0.00457353807019,0.0698234027773,0.999999947079,0.000169217516704,-0.00027542744414,3.67089610143e-05,1793193020723598592
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.105864442,711,673,663.105864442,632.105864442,877.105864442,783,799,649,629,650,0.432262477933,0.0045719327822,0.069820579456,0.999999945954,0.000178486645294,-0.000273469992505,3.80512048916e-05,1793193020740264960
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.692673271,711,673,663.692673271,632.692673271,877.692673271,783,799,649,629,650,0.431442219517,0.004564322263,0.0698164863202,0.999999946644,0.000159532509508,-0.000282189547121,4.03666608673e-05,1793193020756931584
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.277656701,663.444686597,632.722343299,877.722343299,783,799,649,629,650,0.430572669577,0.00456043830303,0.0697840496079,0.999999929926,0.000161608875573,-0.000335153128804,4.12777198979e-05,1793193020773598208
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.860632944,662.278734111,632.139367056,877.139367056,783,799,649,629,650,0.429648917112,0.00456065217715,0.0697204454579,0.999999886341,0.000186811001449,-0.000436768753196,4.06444623779e-05,1793193020790265088
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742.563413205,711,673.563413205,662,632,877,783,799,649.436586795,628.563413205,650,0.428806821906,0.00455627067113,0.0697329258258,0.99999989809,0.000171142132177,-0.000415784566528,4.06649672444e-05,1793193020806931968
+312,5.200000000,POSE2_TO_POSE3_RETREAT,762.989625104,742,711,673,662.020749792,632,877.010374896,783,799,649.989625104,628,650.010374896,0.42798983778,0.00455049077485,0.0697697168441,0.999999925596,0.000143420883357,-0.000355758488642,4.09305430324e-05,1793193020823598848
+313,5.216666667,POSE2_TO_POSE3_RETREAT,762.413629827,742,711,673,663.172740347,632,877.586370173,783,799,649.413629827,628,650.586370173,0.42714325414,0.00454718180226,0.0698287219139,0.999999950803,0.000158654947433,-0.000267101336979,4.33594486313e-05,1793193020840265216
+314,5.233333333,POSE2_TO_POSE3_RETREAT,762.166068468,742.166068468,711,673,663.833931532,632,877.833931532,783,799,649,628,650.833931532,0.426288011424,0.00454323923225,0.0698679787284,0.999999963568,0.000164815123928,-0.000208889157429,4.54457202243e-05,1793193020856931840
+315,5.250000000,POSE2_TO_POSE3_RETREAT,762.755200252,742.755200252,711,673,663.244799748,632,877.244799748,783,799,649,628,650.244799748,0.425410709558,0.00453768255815,0.0698569263963,0.999999961934,0.00014785936093,-0.00022823626796,4.665912426e-05,1793193020873598208
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.660474004,711,673,663,632,877,783,799,649,628.339525996,650.339525996,0.424503421945,0.00453239790287,0.0698331794025,0.999999954393,0.000136849644374,-0.000265282497265,4.59486203637e-05,1793193020890264832
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.079565093,711,673,663,632,877,783,799,649,628.920434907,650.920434907,0.423574816274,0.00452730663713,0.0698004072551,0.999999940994,0.000130067215855,-0.000314911752534,4.38703315248e-05,1793193020906931456
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.495482938,742,711,673,662.504517062,632,877,783,799,649,629,650.504517062,0.422594527495,0.00452343092445,0.0697429986226,0.999999900259,0.000131574453466,-0.000424464828006,4.47195928061e-05,1793193020923598336
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.930290536,742,711,673,661.860581071,632.069709464,877,783,799,649,628.930290536,650,0.42162014252,0.00451915443728,0.0696908717153,0.999999853031,0.000131262285775,-0.000524052998894,4.55614186909e-05,1793193020940265216
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.355276811,742,711,673,660.710553622,632.644723189,877,783,799,649,628.355276811,650,0.420748009197,0.00451057448077,0.0697053723413,0.99999987683,0.000108225356277,-0.000482472117314,4.29815028136e-05,1793193020956932096
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711.226039286,673,660.904157142,632.773960714,877,783,799,649,628.226039286,650.226039286,0.419916076106,0.00450126974219,0.0697459203949,0.999999912645,9.36512698029e-05,-0.000405110159888,4.27204065551e-05,1793193020973598720
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711.817545328,673,663.27018131,632.182454672,877,783,799,649,628.817545328,650.817545328,0.419149139758,0.00449079315397,0.0698285826741,0.999999958208,9.27601445317e-05,-0.000269896328914,4.62084431114e-05,1793193020990265088
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711.600246954,672.600246954,663.600246954,632,877,783,799,649.399753046,629,650.600246954,0.418327058381,0.00448361624587,0.0698656596369,0.99999997089,8.72322367405e-05,-0.000219714879952,4.83314439576e-05,1793193021006931456
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711.022186727,672.022186727,663.022186727,632,877,783,799,649.977813273,629,650.022186727,0.417480379976,0.00447791113873,0.0698824035682,0.999999974067,7.96361235436e-05,-0.000207461567453,4.98455797598e-05,1793193021023598080
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.55258656,661.89482688,632,876.44741344,783,799,649.44741344,628.44741344,650,0.41661239356,0.00446932430705,0.0698435092739,0.999999964959,6.55348891103e-05,-0.000252188080312,4.67796383158e-05,1793193021040264960
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742.130515051,711,672.869484949,661.261030101,632,876.130515051,783,799,649,628.130515051,650.130515051,0.415743709353,0.004460970521,0.0698052133459,0.999999952862,5.13725381178e-05,-0.000299515129657,4.39083623591e-05,1793193021056931584
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742.695945138,711,672,662.695945138,632.304054862,877,783,799,649,628.695945138,650.695945138,0.414032916695,0.00444723960114,0.0697558638724,0.999999922661,3.11896090579e-05,-0.000389765162635,4.22864506196e-05,1793193021090265088
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742.116804393,711,672,662.116804393,632.883195607,877,783,799,649,628.116804393,650.116804393,0.413213343463,0.00444111673068,0.0697416055167,0.999999908068,3.0573725099e-05,-0.00042548006633,4.35345418049e-05,1793193021106932480
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632.539519938,877,783,799,649.460480062,628.460480062,650.460480062,0.412516378138,0.00443199146243,0.0697818619442,0.999999938297,1.2958480003e-05,-0.000348406389095,4.3013185392e-05,1793193021123598848
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742.037889207,711,672.037889207,662.037889207,632.037889207,877,783,799.037889207,649.962110793,629,651,0.411849538625,0.00442229685293,0.0698347787879,0.999999968783,-7.87684935989e-06,-0.00024615522565,4.21871333533e-05,1793193021140265472
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742.62388569,711,672.62388569,662.62388569,632.62388569,877,783,799.62388569,649.37611431,629,651,0.411170406861,0.00441533898297,0.0698716068982,0.999999980559,-1.31665762461e-05,-0.000191893281946,4.34201373249e-05,1793193021156932352
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742.792429237,711,672.792429237,662.792429237,632.792429237,877,783,799.792429237,649,628.792429237,650.792429237,0.410475838,0.00441507215165,0.0698824836987,0.999999982868,-1.28610679558e-05,-0.00017916796002,4.46912701164e-05,1793193021173598976
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742.21288617,711,672.21288617,662.21288617,632.21288617,877,783,799.21288617,649,628.21288617,650.21288617,0.409753605337,0.00442679583755,0.0698468550713,0.999999969926,-2.52875099534e-06,-0.000240877355325,4.60307310418e-05,1793193021190265344
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.365262352,742,711,672,661.634737648,632,877,783.365262352,799,649,628.365262352,650,0.409057254059,0.00445214132848,0.0698073677255,0.999999950513,2.91649999746e-05,-0.000310173813006,4.37703008906e-05,1793193021206931968
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.942601148,742,711,672,661.057398852,632,877,783.942601148,799,649,628.942601148,650,0.40837592992,0.00448539582971,0.0697656399559,0.999999922859,7.32614982748e-05,-0.00038387542036,3.94197232305e-05,1793193021223599104
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.518580424,662.037160848,632,877,783.481419576,799,649,629,650.518580424,0.40779198788,0.00447992015806,0.0697681115425,0.999999927476,6.59701646719e-05,-0.000372982691053,3.97583716094e-05,1793193021240265984
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.906186535,742,711.093813465,673,662.906186535,632.093813465,877.093813465,783,799,649.093813465,629,650.906186535,0.40722610328,0.00447055557106,0.0697769290996,0.999999935343,5.29396036323e-05,-0.000353357420098,4.06246801579e-05,1793193021256932608
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.333993438,742,711.666006562,673,662.333993438,632.666006562,877.666006562,783,799,649.666006562,629,650.333993438,0.406697478653,0.0044631629116,0.0697932251119,0.999999941629,3.95711675542e-05,-0.000336823647253,4.15419421728e-05,1793193021273599488
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742.248471586,711.751528414,672.751528414,661.751528414,632.751528414,877.751528414,783,799,649.751528414,629,650,0.406175734246,0.00445814076476,0.0698013414071,0.999999943821,3.16271997659e-05,-0.000331027099371,4.21817016118e-05,1793193021290266112
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742.845339419,711.154660581,672.154660581,661.154660581,632.154660581,877.154660581,783,799,649.154660581,629,650,0.405663637034,0.00445644245013,0.0697979884507,0.999999940713,3.12891909335e-05,-0.000340285831396,4.24323587293e-05,1793193021306932224
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742.572852915,711,672,661.427147085,632,877,783,799,649.427147085,629,650.427147085,0.405214103783,0.00446135045372,0.0698035575144,0.999999943726,3.55537220414e-05,-0.000330953894096,4.18806659674e-05,1793193021323598592
+343,5.716666667,POSE2_TO_POSE3_RETREAT,762.996331692,742,711,672,662,632,877,783,799,649.996331692,629,650.996331692,0.404786857658,0.00446858490799,0.0698123015499,0.999999948682,4.14850910817e-05,-0.000315008168714,4.10510178588e-05,1793193021340264704
+344,5.733333333,POSE2_TO_POSE3_RETREAT,762.422800057,742,711,672,662,632,877,783,799,649.422800057,629,650.422800057,0.404422622636,0.00447829114576,0.0698295155992,0.999999957912,5.62889511267e-05,-0.000281700902895,4.06352238666e-05,1793193021356932096
+345,5.750000000,POSE2_TO_POSE3_RETREAT,762.30974916,742,711,672,662.15487458,632,877,783,799,649,629,650.15487458,0.404061225481,0.00448387666505,0.069842683136,0.999999964397,6.47678233551e-05,-0.000255722218188,4.02131426129e-05,1793193021373599232
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.488340835,742,711,672,662.744170418,632,877,783,799,649,629,650.744170418,0.403707788428,0.00447790362284,0.06984450026,0.999999966344,5.55051875614e-05,-0.000250300104966,3.97734257033e-05,1793193021390265344
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.344274414,632,877,783,799,649,629,650.672137207,0.403370179508,0.00447060084859,0.0698377148583,0.999999964001,4.18577927122e-05,-0.000262141629759,3.90883401882e-05,1793193021406931712
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,661.185487493,632,877,783,799,649,629,650.092743747,0.40304471368,0.00446227792726,0.0698243297476,0.999999957711,2.48464870295e-05,-0.000287227519405,3.82150121205e-05,1793193021423598080
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.516370787,742,711,672,661.483629213,632.483629213,877,783.483629213,799,649.483629213,628.516370787,650.483629213,0.402756708438,0.0044599797897,0.0698128946051,0.999999951701,1.56506626509e-05,-0.000308117255224,3.76319668786e-05,1793193021440264704
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632.939580075,877.060419925,783.939580075,799.060419925,649.939580075,628.060419925,651,0.402481757143,0.00445873105868,0.0698020927768,0.999999945672,7.97873438927e-06,-0.000327430080998,3.71609988467e-05,1793193021456931072
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632.354157574,877.645842426,783.354157574,799.645842426,649.354157574,628.645842426,651,0.402258201402,0.0044566240703,0.0697935648949,0.999999941512,6.06176740176e-07,-0.000339989431611,3.71831991768e-05,1793193021473597696
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,877.541027684,783.229486158,799.770513842,649.229486158,628.770513842,650.770513842,0.4020503527,0.00445359799178,0.0697891780281,0.999999939588,-6.62043467336e-06,-0.000345480675321,3.77253377535e-05,1793193021490264576
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,876.37918832,783.81040584,799.18959416,649.81040584,628.18959416,650.18959416,0.401866557673,0.00444916442514,0.0697911326841,0.999999941294,-1.3623544348e-05,-0.00034014786765,3.90637061901e-05,1793193021506931200
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.38944611,742,711,672,662,632.38944611,876.38944611,783.61055389,799,649.61055389,628,650,0.401710082691,0.0044437451174,0.0697940478288,0.99999994285,-1.89289857299e-05,-0.000335049258684,4.10378067597e-05,1793193021523597824
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.967575871,742,711,672,662,632.967575871,876.967575871,783.032424129,799,649.032424129,628,650,0.401566844043,0.00443784822526,0.069797428323,0.999999944316,-2.34119204762e-05,-0.000330064116712,4.33199147873e-05,1793193021540264448
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.456549431,877,783.543450569,799,649.543450569,628.543450569,650.543450569,0.401449999988,0.00444079543779,0.069797105191,0.999999944145,3.12819481665e-05,-0.000329952772465,4.31470016935e-05,1793193021556931328
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.121727521,877,784,799.121727521,650,628.878272479,651,0.401341056527,0.00444771331924,0.0697959490256,0.999999941685,7.4531351908e-05,-0.000330782058636,4.07118909612e-05,1793193021573597952
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.709719446,877,784,799.709719446,650,628.290280554,651,0.401256368274,0.00446782759874,0.0697924449225,0.999999941903,6.04759045404e-05,-0.00033410510579,3.01704101234e-05,1793193021590264576
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.706643807,877,783.706643807,799.706643807,650,628.293356193,651,0.401183499018,0.00447819619131,0.0697923852795,0.999999942454,5.47201068534e-05,-0.000333783751404,2.61750395282e-05,1793193021606931200
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.127253569,877,783.127253569,799.127253569,650,628.872746431,651,0.401122153762,0.00447906234735,0.0697956841233,0.999999943544,5.70568010654e-05,-0.000329908959339,2.85623893906e-05,1793193021623597824
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.55183118,742,711,672,662,632,877,783,799,649.55183118,629,651,0.401074914805,0.00447500234948,0.0697965925828,0.999999944478,5.20737129475e-05,-0.000327759522908,3.01006281021e-05,1793193021640264448
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.023024901,742.023024901,711,672,662,632,876.976975099,783,799.023024901,649.023024901,629,651,0.401032523049,0.00446983189482,0.0697969646153,0.999999945379,4.54008075416e-05,-0.000325878034628,3.13662595542e-05,1793193021656931328
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.611396528,742.611396528,711,672,662,632,876.388603472,783,799.611396528,649.611396528,629,651,0.401011664675,0.00447143840934,0.0698006844228,0.999999947581,4.78208908119e-05,-0.000318652380677,3.18062611543e-05,1793193021673597952
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742.803264999,711,672,662,632.196735001,876,783.196735001,799.803264999,650,628.803264999,651,0.400994095595,0.0044713317639,0.0698043486777,0.999999949795,4.7491442407e-05,-0.000311633201491,3.22528534709e-05,1793193021690264832
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742.223826906,711,672,662,632.776173094,876,783.776173094,799.223826906,650,628.223826906,651,0.40098292509,0.00446789255614,0.0698079048671,0.999999952073,4.18134066946e-05,-0.000305015672749,3.27122664734e-05,1793193021706931200
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.64509508,876.35490492,783.64509508,799,649.64509508,628.35490492,651,0.400973200299,0.00446842846553,0.0698104673456,0.999999953179,4.23962295104e-05,-0.000301297371138,3.26192681237e-05,1793193021723598080
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.066807732,876.933192268,783.066807732,799,649.066807732,628.933192268,651,0.400964385461,0.00447146637238,0.0698124043681,0.99999995356,4.69197291321e-05,-0.000299403885508,3.21785739085e-05,1793193021740264704
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632,877,783,799,649,628.491456257,650.491456257,0.400960870464,0.00447068636968,0.0698127263925,0.999999953894,4.4473985494e-05,-0.000298636073071,3.24245842865e-05,1793193021756931584
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.085451768,711,672,662,632,877,783.085451768,799,649.085451768,628.085451768,650.085451768,0.400958268104,0.00446939288932,0.0698128722779,0.999999954195,4.15122807237e-05,-0.000298021189204,3.27200578299e-05,1793193021773597952
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742.673776846,711,672,662,632,877,783.673776846,799,649.673776846,628.673776846,650.673776846,0.400956962706,0.00446801234011,0.0698132229964,0.999999954392,4.08712046035e-05,-0.000297441007973,3.27787719e-05,1793193021790264832
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742.741727014,711,672,662,632,877,784,799.258272986,650,628.741727014,650.741727014,0.400956407271,0.00446751076111,0.0698140370873,0.999999954852,4.0788621022e-05,-0.00029590426812,3.27417524942e-05,1793193021806931200
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742.161996567,711,672,662,632,877,784,799.838003433,650,628.161996567,650.161996567,0.400956785269,0.00446810318563,0.069815427911,0.999999955636,4.14011608712e-05,-0.000293176955058,3.25855791594e-05,1793193021823597824
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632,877,783.584157417,799.584157417,650,628.415842583,650.415842583,0.40095628091,0.00446863984086,0.0698160777776,0.99999995564,4.30139171235e-05,-0.000292934951736,3.25562029585e-05,1793193021840264704
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.43358268,742,711,671.43358268,662,632,877,783.56641732,799,650,628.43358268,651,0.40095569402,0.0044692519171,0.0698166281235,0.999999955827,4.20361437595e-05,-0.000292453542187,3.23961589982e-05,1793193021873597952
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763,742,711.143320073,671.143320073,662,632,877,784,799,649.856679927,628.143320073,650.856679927,0.400955987504,0.00446910689608,0.0698169341321,0.999999956241,3.97885878988e-05,-0.000291366375107,3.22716155596e-05,1793193021890264576
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,763,742,711.103047041,672,662,632.896952959,877,783.103047041,799,649.896952959,629,650,0.400953168369,0.0044685947227,0.0698163291412,0.999999955383,4.04573711219e-05,-0.000294171797317,3.25573039609e-05,1793193021940264704
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,662.62344021,632,877,783.62344021,799,649.62344021,629,651,0.400956142778,0.00446751782853,0.0698183278685,0.999999956916,3.84932472147e-05,-0.000289192011782,3.24635708227e-05,1793193021990264576
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e349f40ad89172b30e95e0a602f68498b057a4e3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
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+336,5.600000000,pose2_to_pose3_retreat,0.583123282578,0.0100545750544,1.06002923197,0.553694012972,0.0187273050734,1.05969852263
+337,5.616666667,pose2_to_pose3_retreat,0.582515640899,0.0100545062288,1.06002916027,0.553086371441,0.0187272366484,1.05969844836
+338,5.633333333,pose2_to_pose3_retreat,0.581942909027,0.0100545150066,1.06002911686,0.552513638924,0.018727243306,1.059698407
+339,5.650000000,pose2_to_pose3_retreat,0.581403851244,0.0100545363628,1.06002902471,0.551974581564,0.0187272661681,1.05969831708
+340,5.666666667,pose2_to_pose3_retreat,0.580891665476,0.0100545385355,1.06002901902,0.551462396206,0.0187272695224,1.05969830512
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+342,5.700000000,pose2_to_pose3_retreat,0.579955187084,0.0100545679912,1.0600288242,0.550525917354,0.0187272978401,1.05969812149
+343,5.716666667,pose2_to_pose3_retreat,0.579535346094,0.0100547036258,1.06002909937,0.550106075998,0.0187274321394,1.05969839466
+344,5.733333333,pose2_to_pose3_retreat,0.579147162172,0.0100545500716,1.06002941992,0.549717893395,0.01872728253,1.059698701
+345,5.750000000,pose2_to_pose3_retreat,0.578781214782,0.010054702568,1.06002927325,0.549351944769,0.0187274312496,1.059698565
+346,5.766666667,pose2_to_pose3_retreat,0.578435576516,0.0100546507446,1.06002928244,0.549006307364,0.0187273820766,1.059698567
+347,5.783333333,pose2_to_pose3_retreat,0.578105223216,0.0100546433235,1.06002911609,0.548675952801,0.0187273706457,1.05969840777
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+349,5.816666667,pose2_to_pose3_retreat,0.57750506627,0.0100546145156,1.06002903847,0.548075795352,0.0187273401791,1.05969833168
+350,5.833333333,pose2_to_pose3_retreat,0.577243797817,0.0100545691078,1.06002904326,0.547814529642,0.018727304439,1.05969834599
+351,5.850000000,pose2_to_pose3_retreat,0.57701081972,0.0100545525588,1.06002898185,0.547581550873,0.0187272853468,1.05969827746
+352,5.866666667,pose2_to_pose3_retreat,0.57680400342,0.0100545528683,1.06002927929,0.547374733857,0.0187272829206,1.05969856686
+353,5.883333333,pose2_to_pose3_retreat,0.576623416735,0.010054690919,1.06002930194,0.547194145901,0.0187274167881,1.05969859296
+354,5.900000000,pose2_to_pose3_retreat,0.576464129587,0.0100545954105,1.0600293178,0.54703486027,0.0187273264294,1.05969860889
+355,5.916666667,pose2_to_pose3_retreat,0.576324507866,0.0100545881467,1.06002912959,0.546895237912,0.0187273171332,1.05969842414
+356,5.933333333,pose2_to_pose3_retreat,0.576204618213,0.0100545184308,1.06002913076,0.546775348808,0.0187272492501,1.05969842515
+357,5.950000000,pose2_to_pose3_retreat,0.57610133121,0.010054592639,1.06002922556,0.546672061191,0.0187273212165,1.05969851715
+358,5.966666667,pose2_to_pose3_retreat,0.576014473456,0.0100546693838,1.06002938742,0.546585201438,0.0187273911335,1.05969867812
+359,5.983333333,pose2_to_pose3_retreat,0.575941398056,0.0100545747348,1.06002932221,0.546512129021,0.0187273065279,1.05969861134
+360,6.000000000,pose2_to_pose3_retreat,0.575881532927,0.0100545205475,1.06002917935,0.546452264487,0.0187272541977,1.05969846475
+361,6.016666667,pose2_to_pose3_retreat,0.575834310733,0.0100545797173,1.06002916514,0.546405041324,0.0187273101824,1.05969845236
+362,6.033333333,pose2_to_pose3_retreat,0.575798023669,0.0100546237167,1.06002917203,0.546368753883,0.0187273528939,1.05969845716
+363,6.050000000,pose2_to_pose3_retreat,0.575771599635,0.0100546804006,1.06002914049,0.546342328716,0.018727405766,1.05969842688
+364,6.066666667,pose2_to_pose3_retreat,0.575752443329,0.010054601203,1.06002902203,0.546323173196,0.0187273295289,1.05969831626
+365,6.083333333,pose2_to_pose3_retreat,0.575739894216,0.0100545244447,1.06002922836,0.546310624983,0.0187272556611,1.05969851776
+366,6.100000000,pose2_to_pose3_retreat,0.575730637627,0.0100545359466,1.06002924637,0.546301368261,0.0187272664989,1.05969853008
+367,6.116666667,pose2_to_pose3_retreat,0.575724176575,0.0100545694328,1.06002920497,0.546294906898,0.0187272987689,1.05969848448
+368,6.133333333,pose2_to_pose3_retreat,0.575719680301,0.0100545712915,1.06002919203,0.546290411209,0.0187273026761,1.05969847323
+369,6.150000000,pose2_to_pose3_retreat,0.575716792271,0.0100545728551,1.06002917886,0.546287523516,0.0187273054801,1.05969846266
+370,6.166666667,pose2_to_pose3_retreat,0.57571552499,0.0100545742725,1.06002916346,0.546286256304,0.0187273072927,1.05969845144
+371,6.183333333,pose2_to_pose3_retreat,0.575714759712,0.0100545751285,1.06002915417,0.546285491068,0.0187273083872,1.05969844466
+372,6.200000000,pose2_to_pose3_retreat,0.575714287206,0.0100545756569,1.06002914843,0.546285018589,0.018727309063,1.05969844047
+373,6.216666667,pose2_to_pose3_retreat,0.575714075661,0.0100545758935,1.06002914586,0.546284807055,0.0187273093656,1.05969843859
+374,6.233333333,pose2_to_pose3_retreat,0.575714005668,0.0100545759718,1.060029145,0.546284737066,0.0187273094657,1.05969843797
+375,6.250000000,pose2_to_pose3_retreat,0.575713932002,0.0100545760542,1.06002914411,0.546284663404,0.0187273095711,1.05969843732
+376,6.266666667,pose2_to_pose3_retreat,0.575713773895,0.0100545762311,1.06002914219,0.546284505306,0.0187273097972,1.05969843592
+377,6.283333333,pose2_to_pose3_retreat,0.575713396054,0.0100545766537,1.0600291376,0.546284127485,0.0187273103376,1.05969843257
+378,6.300000000,pose2_to_pose3_retreat,0.575713099987,0.0100545769848,1.060029134,0.546283831435,0.0187273107611,1.05969842995
+379,6.316666667,pose2_to_pose3_retreat,0.575712977579,0.0100545771217,1.06002913251,0.546283709034,0.0187273109362,1.05969842887
+380,6.333333333,pose2_to_pose3_retreat,0.575712944114,0.0100545771591,1.06002913211,0.546283675571,0.018727310984,1.05969842857
+381,6.350000000,pose2_to_pose3_retreat,0.575712708623,0.0100545765447,1.06002914253,0.546283440088,0.0187273104054,1.0596984391
+382,6.366666667,pose2_to_pose3_retreat,0.575712132184,0.010054572435,1.06002920745,0.546282863661,0.0187273062711,1.05969850235
+383,6.383333333,pose2_to_pose3_retreat,0.575711756327,0.0100545697553,1.06002924978,0.546282487811,0.0187273035755,1.05969854359
+384,6.400000000,pose2_to_pose3_retreat,0.5757117446,0.0100545696717,1.0600292511,0.546282476085,0.0187273034914,1.05969854488
+385,6.416666667,pose2_to_pose3_retreat,0.575711625298,0.0100545688211,1.06002926454,0.546282356786,0.0187273026358,1.05969855797
+386,6.433333333,pose2_to_pose3_retreat,0.575711388779,0.0100545671348,1.06002929118,0.546282120271,0.0187273009395,1.05969858392
+387,6.450000000,pose2_to_pose3_retreat,0.575710973903,0.0100545641769,1.0600293379,0.546281705403,0.018727297964,1.05969862944
+388,6.466666667,pose2_to_pose3_retreat,0.575710644205,0.0100545618263,1.06002937504,0.546281375712,0.0187272955994,1.05969866562
+389,6.483333333,pose2_to_pose3_retreat,0.575710603791,0.0100545625994,1.06002937847,0.546281335274,0.0187272962897,1.05969866892
+390,6.500000000,pose2_to_pose3_retreat,0.575710494394,0.0100545816239,1.06002936996,0.546281225437,0.0187273137973,1.05969865984
+391,6.516666667,pose2_to_pose3_retreat,0.57571022199,0.0100546289964,1.06002934875,0.546280951936,0.0187273573923,1.05969863722
+392,6.533333333,pose2_to_pose3_retreat,0.5757099505,0.01005467621,1.06002932761,0.546280679352,0.0187274008411,1.05969861468
+393,6.550000000,pose2_to_pose3_retreat,0.575709803098,0.010054701844,1.06002931613,0.546280531356,0.018727424431,1.05969860244
+394,6.566666667,pose2_to_pose3_retreat,0.575709659899,0.010054726747,1.06002930498,0.546280387581,0.0187274473483,1.05969859055
+395,6.583333333,pose2_to_pose3_retreat,0.57570943682,0.0100546641994,1.06002921492,0.546280165186,0.01872738727,1.05969850438
+396,6.600000000,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a5bf415d84a9250baeadf2574279304367e3aaa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16e8e638ebeaf0379a514ac208899078ebc883ca86124a84fd6daa025796e2d1
+size 25385780
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4bdbfb34ef13c29773d1c89b02ae39ab1c6e3c93
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_04/franka_data.csv
@@ -0,0 +1,400 @@
+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,763,742,711,672,662,632,877,783,799,650,629,650.423117451,0.400955608057,0.00446683303359,0.0698205754408,0.999999957819,3.95320197484e-05,-0.000285935360883,3.22402474762e-05,1793193022390912768
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+23,0.383333333,BASELINE,763.353083747,742,711,672,662.353083747,632.353083747,877,783.353083747,799,649.646916253,629,650.646916253,0.400956754386,0.00446769826451,0.0698222042597,0.999999958848,3.76989933879e-05,-0.000282652260165,3.14850425293e-05,1793193022757577984
+24,0.400000000,BASELINE,763.931368848,742,711,672,662.931368848,632.931368848,877,783.931368848,799,649.068631152,629,650.068631152,0.400955694786,0.00446857177243,0.0698215615445,0.999999958558,3.65030293274e-05,-0.000283865396971,3.11706394449e-05,1793193022774244608
+25,0.416666667,BASELINE,763.493123169,742.506876831,711,672,663,632.493123169,877,784,799,649,629,650.506876831,0.400956411818,0.00446661224719,0.0698221112287,0.999999958731,3.63919447571e-05,-0.00028322050502,3.16057141251e-05,1793193022790911232
+26,0.433333333,BASELINE,763,742.915998899,711,672,662.915998899,632,877,783.915998899,799,649,629,651,0.400957245118,0.00446480851732,0.06982266814,0.999999958948,3.65130543393e-05,-0.000282391085901,3.2035617353e-05,1793193022807577856
+27,0.450000000,BASELINE,763,742.326907144,711,672,662.326907144,632,877,783.326907144,799,649,629,651,0.400957338962,0.00446623550837,0.0698223030071,0.999999959054,3.71518860727e-05,-0.000281956589091,3.18275646735e-05,1793193022824244736
+28,0.466666667,BASELINE,763.257820476,742,711,672,662,632,877,783,799,649.257820476,628.742179524,651,0.400957679962,0.00446728016694,0.0698223655927,0.999999959158,3.84744791831e-05,-0.000281420782863,3.17159433831e-05,1793193022840911360
+29,0.483333333,BASELINE,763.837106601,742,711,672,662,632,877,783,799,649.837106601,628.162893399,651,0.400958329131,0.00446784811091,0.0698229614828,0.999999959258,4.06496259312e-05,-0.000280758658149,3.17245584012e-05,1793193022857577984
+30,0.500000000,BASELINE,763.586701565,742,711,672,662,632,876.586701565,783,799.413298435,650,628.413298435,651,0.400956988029,0.00446806204687,0.0698224448898,0.999999958786,4.16934320252e-05,-0.000282269800877,3.18451185939e-05,1793193022874244608
+31,0.516666667,BASELINE,763.011720235,742,711,672,662,632,876.011720235,783,799.988279765,650,628.988279765,651,0.400954868329,0.00446813749442,0.0698214930919,0.999999958086,4.2294656105e-05,-0.000284631128723,3.20094718871e-05,1793193022890911232
+32,0.533333333,BASELINE,763.562657396,742.562657396,711,672.562657396,662.562657396,632.562657396,877.125314792,783,799.437342604,649.437342604,629,650.437342604,0.400956175481,0.00446721538604,0.0698220541676,0.999999958625,4.05038562076e-05,-0.000283017645066,3.1799583349e-05,1793193022907577856
+33,0.550000000,BASELINE,764,742.858517176,711,672.858517176,662.858517176,632.858517176,878.141482824,783,799,649.141482824,629,650.141482824,0.40095736183,0.00446646961083,0.069822503988,0.999999959059,3.8836689024e-05,-0.000281732546325,3.16239603558e-05,1793193022924244480
+34,0.566666667,BASELINE,764,742.265455478,711,672.265455478,662.265455478,632.265455478,878.734544522,783,799,649.734544522,629,650.734544522,0.400957935015,0.00446635289974,0.0698224982326,0.999999959096,3.77229905712e-05,-0.000281759554156,3.1582559433e-05,1793193022940911104
+35,0.583333333,BASELINE,764,742,711,672,662,632,878.360593952,783,799,650,628.680296976,651,0.40095843916,0.00446697956156,0.0698228169541,0.999999959114,3.84911102622e-05,-0.000281581433579,3.16505714292e-05,1793193022957577984
+36,0.600000000,BASELINE,764,742,711,672,662,632,877.203084556,783,799,650,628.101542278,651,0.400958887362,0.00446820856985,0.0698233985954,0.999999959115,4.0784045377e-05,-0.000281237099822,3.18072394473e-05,1793193022974244608
+37,0.616666667,BASELINE,763.527175613,742,711,672,662.472824387,632,877.472824387,783.472824387,799.472824387,649.527175613,628,651,0.400957757469,0.00446798051567,0.0698224243141,0.999999958697,4.10072848024e-05,-0.000282693978351,3.175347072e-05,1793193022990911488
+38,0.633333333,BASELINE,763,742,711,672,662.952397363,632.047602637,877.952397363,783.952397363,799.952397363,649,628.047602637,651,0.400956356555,0.00446734484778,0.0698212257582,0.999999958227,4.06263010104e-05,-0.00028441183523,3.16938226255e-05,1793193023007578112
+39,0.650000000,BASELINE,763,742,711,672,662.362287082,632.637712918,877.362287082,783.362287082,799.362287082,649,628.637712918,651,0.400955693796,0.00446559713628,0.0698212443357,0.999999958212,3.83782260631e-05,-0.00028473603383,3.20774768032e-05,1793193023024244736
+40,0.666666667,BASELINE,763.223642858,742,711,672,662,633,877,783,799,649,628.776357142,650.776357142,0.400956202546,0.00446520892153,0.0698218964066,0.99999995844,3.83466354595e-05,-0.000283909381217,3.23266819351e-05,1793193023040911360
+41,0.683333333,BASELINE,763.802925137,742,711,672,662,633,877,783,799,649,628.197074863,650.197074863,0.400958574244,0.00446698259407,0.069823555866,0.99999995905,4.18397236484e-05,-0.000281252631874,3.23620846391e-05,1793193023057577984
+42,0.700000000,BASELINE,764,742,711,672,662.38024434,633,877,783.38024434,799,649,628.38024434,650.38024434,0.400959141708,0.00446789470395,0.06982361804,0.999999959167,4.25018703432e-05,-0.000280770681178,3.20553457208e-05,1793193023074244608
+43,0.716666667,BASELINE,764,742,711,672,662.956551319,633,877,783.956551319,799,649,628.956551319,650.956551319,0.40095877887,0.00446836257244,0.0698228566174,0.999999959036,4.17043190454e-05,-0.00028141010626,3.15721907917e-05,1793193023090911232
+44,0.733333333,BASELINE,763.469184256,742.530815744,711,672,663,633,877,783.469184256,799,649,628.469184256,650.469184256,0.400958154186,0.00446918025582,0.0698226381072,0.999999959048,4.20997642027e-05,-0.000281329424984,3.13800142618e-05,1793193023107578112
+45,0.750000000,BASELINE,763.108117593,742.891882407,711,672,663,633,877,783.108117593,799,649,628,650.108117593,0.400957856227,0.00446963502243,0.0698226582859,0.999999959123,4.21093940126e-05,-0.000281069458365,3.1323881571e-05,1793193023124244736
+46,0.766666667,BASELINE,763.699747749,742.300252251,711,672,663,633,877,783.699747749,799,649,628,650.699747749,0.400959114897,0.00446833922909,0.0698235479322,0.999999959421,3.99585931004e-05,-0.00028027029682,3.17700451423e-05,1793193023140911360
+47,0.783333333,BASELINE,764,742,711,672,662.715474862,632.715474862,877,783.715474862,799,649,628.284525138,651,0.400959431925,0.00446713126226,0.0698239101873,0.999999959639,3.83568005906e-05,-0.000279692850793,3.19904567043e-05,1793193023157577984
+48,0.800000000,BASELINE,764,742,711,672,662.13775888,632.13775888,877,783.13775888,799,649,628.86224112,651,0.400958778631,0.00446601379668,0.0698237289886,0.999999959776,3.73207372211e-05,-0.000279343872919,3.19782406437e-05,1793193023174244608
+49,0.816666667,BASELINE,764,742,711,672,662,632,877,783.43959711,799,649,629,651,0.400957599906,0.00446621333963,0.0698228833103,0.999999959188,3.88057070442e-05,-0.000281244240155,3.1936485945e-05,1793193023190911488
+50,0.833333333,BASELINE,763.983267834,742,711,672,662,632.016732166,877,783.983267834,799,649,629,651,0.400956332794,0.00446679099322,0.0698218966294,0.9999999584,4.0979502188e-05,-0.000283730099676,3.18956804394e-05,1793193023207577856
+51,0.850000000,BASELINE,763.409732646,742,711,672,662,632.590267354,877,783.409732646,799,649,629,651,0.40095759929,0.00446622824432,0.0698231414794,0.999999958854,3.98069996438e-05,-0.000282261938224,3.21942477274e-05,1793193023224244480
+52,0.866666667,BASELINE,763.168268163,742,711,672,662,632.831731837,877,783.168268163,799,649.168268163,629,651,0.400958717583,0.00446672933913,0.069824129319,0.999999959243,4.00651601039e-05,-0.00028083182973,3.22883191407e-05,1793193023240911104
+53,0.883333333,BASELINE,763.757439162,742,711,672,662,632.242560838,877,783.757439162,799,649.757439162,629,651,0.400959465162,0.00446989151274,0.0698244742774,0.999999959469,4.39019543126e-05,-0.000279496906282,3.18708683798e-05,1793193023257577728
+54,0.900000000,BASELINE,763.658803627,742.341196373,711,672,662.341196373,632,877,783.658803627,799,650,629,651,0.400959306239,0.00446982160995,0.0698242291838,0.999999959396,4.41838243453e-05,-0.000279713781298,3.18630218901e-05,1793193023274244608
+55,0.916666667,BASELINE,763.078835057,742.921164943,711,672,662.921164943,632,877,783.078835057,799,650,629,651,0.400958512939,0.00446748987179,0.0698235711665,0.999999959117,4.19779272778e-05,-0.00028101661847,3.2141820059e-05,1793193023290911488
+56,0.933333333,BASELINE,763,742.50358368,711,671.50358368,662.50358368,632,877,783.49641632,799,649.50358368,629,651,0.400958023734,0.00446741286748,0.0698233078813,0.999999959105,4.00200891716e-05,-0.000281346674701,3.21415353455e-05,1793193023307577856
+57,0.950000000,BASELINE,763.072566236,742,711,671.072566236,662.072566236,632.072566236,877,783.927433764,799.072566236,649,629,651,0.400957723106,0.00446782698047,0.0698232094966,0.99999995913,3.88264708944e-05,-0.000281432723845,3.2078821091e-05,1793193023324244480
+58,0.966666667,BASELINE,763.660364517,742,711,671.660364517,662.660364517,632.660364517,877,783.339635483,799.660364517,649,629,651,0.400958421753,0.00446920967819,0.0698238410364,0.999999959132,4.27818685697e-05,-0.000280872831867,3.18845689578e-05,1793193023340911360
+59,0.983333333,BASELINE,764,742.245414401,711,672,662.754585599,632.754585599,877,783.245414401,799.754585599,649,628.754585599,651,0.400958997743,0.00446875452587,0.0698243955059,0.999999959409,4.32833292163e-05,-0.000279814394379,3.18109352588e-05,1793193023357577984
+60,1.000000000,BASELINE,764,742.826702913,711,672,662.173297087,632.173297087,877,783.826702913,799.173297087,649,628.173297087,651,0.400959405864,0.00446578409246,0.069824844497,0.999999960066,3.90577327538e-05,-0.000278073647507,3.19023799023e-05,1793193023374244608
+61,1.016666667,BASELINE,763.596817264,742.596817264,711,672,662.403182736,632,877,783.596817264,799,649,628.403182736,651,0.400959238418,0.0044658404274,0.0698244599672,0.999999959869,3.94186315449e-05,-0.00027872125858,3.19793593099e-05,1793193023390911488
+62,1.033333333,BASELINE,763.022379996,742.022379996,711,672,662.977620004,632,877,783.022379996,799,649,628.977620004,651,0.400958826496,0.00446718240237,0.0698237213939,0.999999959308,4.17276747467e-05,-0.000280383340572,3.20501945074e-05,1793193023407578112
+63,1.050000000,BASELINE,763.551068554,742,711,672,662.448931446,632.551068554,877,783,799,649.551068554,629,651,0.400959303931,0.00446679042494,0.0698241637677,0.999999959716,3.93912659386e-05,-0.000279292263107,3.18096209125e-05,1793193023424244736
+64,1.066666667,BASELINE,763.871452932,742,711,672,662.128547068,632.871452932,876.871452932,783,799,649.871452932,629,650.871452932,0.400959651389,0.00446666182479,0.0698245282037,0.999999959993,3.80512728725e-05,-0.000278502341466,3.16477917983e-05,1793193023440911360
+65,1.083333333,BASELINE,763.279295664,742,711,672,662.720704336,632.279295664,876.279295664,783,799,649.279295664,629,650.279295664,0.400959400056,0.00446773662062,0.0698244388918,0.999999959677,4.09840888905e-05,-0.000279201080364,3.1815487842e-05,1793193023457577984
+66,1.100000000,BASELINE,763.306438058,742,711,672,662.693561942,632,876.306438058,783.306438058,799,649,629,650.306438058,0.400959211189,0.00446816277834,0.0698245245837,0.999999959642,4.15347476671e-05,-0.000279251329547,3.17789724355e-05,1793193023474244608
+67,1.116666667,BASELINE,763.886437367,742,711,672,662.113562633,632,876.886437367,783.886437367,799,649,629,650.886437367,0.400959078087,0.00446800988828,0.0698247665039,0.99999995986,3.99588234545e-05,-0.000278722663468,3.15601547957e-05,1793193023490911232
+68,1.133333333,BASELINE,764,742.463122143,711,671.536877857,662.463122143,632.463122143,877,784,799,649,629,650.536877857,0.400958197413,0.00446817444954,0.0698239644118,0.99999995936,3.9922243442e-05,-0.000280504777958,3.16694878434e-05,1793193023507577856
+69,1.150000000,BASELINE,763.960307995,742.960307995,711,671.039692005,662.960307995,633,877,783.960307995,799,649,629,650,0.400957319063,0.00446836194331,0.0698230753768,0.999999958767,4.02880872004e-05,-0.000282539959567,3.18503972852e-05,1793193023524244736
+70,1.166666667,BASELINE,763.37421161,742.37421161,711,671.62578839,662.37421161,633,877,783.37421161,799,649,629,650,0.400958978267,0.00446780115415,0.069824488602,0.999999959361,4.10344528401e-05,-0.000280314045107,3.19168006362e-05,1793193023540911360
+71,1.183333333,BASELINE,763.209596063,742,711,672,662,633,877,783,799,649.209596063,629,650.209596063,0.400959061999,0.00446764871957,0.0698247016026,0.999999959418,4.19002524533e-05,-0.000279979223665,3.19282350201e-05,1793193023557577728
+72,1.200000000,BASELINE,763.789361716,742,711,672,662,633,877,783,799,649.789361716,629,650.789361716,0.400956363275,0.0044682174838,0.0698227948751,0.999999958529,4.29769856613e-05,-0.000282984279125,3.18425882018e-05,1793193023574244352
+73,1.216666667,BASELINE,763.63250499,742.36749501,711,672,662.36749501,632.63250499,877,783.36749501,799,649.63250499,628.63250499,650.63250499,0.400955649951,0.00446835608117,0.0698220628587,0.999999958285,4.15130773694e-05,-0.000284098252302,3.15409372193e-05,1793193023590911232
+74,1.233333333,BASELINE,763.055303216,742.944696784,711,672,662.944696784,632.055303216,877,783.944696784,799,649.055303216,628.055303216,650.055303216,0.400956069573,0.00446824920877,0.0698220011777,0.999999958405,3.85993814207e-05,-0.000284133101135,3.11160259717e-05,1793193023607577856
+75,1.250000000,BASELINE,763.529136535,743,711,672,663,632.529136535,877,784,799,649.529136535,628.529136535,650.529136535,0.400957319633,0.00446835111194,0.0698230057766,0.999999958999,4.02833798538e-05,-0.000281763388909,3.14432974043e-05,1793193023624244736
+76,1.266666667,BASELINE,763.88673728,742.88673728,711,672,663,632.88673728,877,783.88673728,799.11326272,650,628.88673728,650.88673728,0.400958258376,0.00446849431445,0.0698237969874,0.999999959421,4.21890948944e-05,-0.00027994439755,3.17609413345e-05,1793193023640911360
+77,1.283333333,BASELINE,763.30706077,742.30706077,711,672,663,632.30706077,877,783.30706077,799.69293923,650,628.30706077,650.30706077,0.400957552744,0.00446871648481,0.0698232441842,0.999999958968,4.3001567481e-05,-0.000281442528011,3.17107141004e-05,1793193023657577984
+78,1.300000000,BASELINE,763.271963102,742.271963102,711,672,663,632.271963102,877,783,799.728036898,649.728036898,628.271963102,650.271963102,0.40095655915,0.00446887210988,0.0698227106976,0.999999958639,4.2664912748e-05,-0.000282674612862,3.1569666203e-05,1793193023674244608
+79,1.316666667,BASELINE,763.850251835,742.850251835,711,672,663,632.850251835,877,783,799.149748165,649.149748165,628.850251835,650.850251835,0.40095524121,0.00446895278165,0.0698221989682,0.999999958451,4.10339384421e-05,-0.000283607037146,3.13263224578e-05,1793193023690911232
+80,1.333333333,BASELINE,764,742.574142088,711,672.425857912,662.574142088,632.574142088,877,783.425857912,799,649,628.574142088,650.574142088,0.400955487757,0.00446799614102,0.0698220355303,0.999999958536,4.03850294537e-05,-0.000283390600294,3.14212595183e-05,1793193023707577856
+81,1.350000000,BASELINE,764,742.000539824,711,672.999460176,662.000539824,632,877,784,799,649.000539824,628.000539824,650.000539824,0.400956280916,0.00446667782317,0.0698219945519,0.999999958716,4.00786484878e-05,-0.000282772527635,3.163416242e-05,1793193023724244736
+82,1.366666667,BASELINE,764,742.589623022,711,672.410376978,662.589623022,632,877,784,799,649.589623022,628.589623022,650.589623022,0.400956988476,0.00446623038457,0.0698227748241,0.999999958988,3.90718371679e-05,-0.000281957623782,3.1583016235e-05,1793193023740911360
+83,1.383333333,BASELINE,764,743,711,672,662.824150329,632.175849671,877,784,799,649.824150329,628.824150329,651,0.40095794601,0.00446586639984,0.0698235770953,0.99999995931,3.81645671036e-05,-0.000280937948633,3.15895799253e-05,1793193023757577984
+84,1.400000000,BASELINE,764,743,711,672,662.24448328,632.75551672,877,784,799,649.24448328,628.24448328,651,0.400959477578,0.00446569405667,0.0698244298848,0.999999959748,3.74858812256e-05,-0.000279448040952,3.1728667314e-05,1793193023774244608
+85,1.416666667,BASELINE,764,742.667099135,711,672,662,632.667099135,877,783.667099135,799,649.332900865,628,651,0.400959383419,0.00446721168557,0.0698241311451,0.999999959588,3.93509276046e-05,-0.000279787144696,3.1553897562e-05,1793193023790911232
+86,1.433333333,BASELINE,764,742.091380178,711,672,662,632.091380178,877,783.091380178,799,649.908619822,628,651,0.400958103454,0.00446996198111,0.0698229924792,0.999999958977,4.30713738762e-05,-0.000281460330571,3.11502002124e-05,1793193023807577856
+87,1.450000000,BASELINE,764,742,711,672,662,632,877,783.483267571,799,650,628.483267571,651,0.400958929239,0.00446897784501,0.0698238533443,0.999999959492,4.14777210584e-05,-0.000279840324629,3.13936292574e-05,1793193023824245504
+88,1.466666667,BASELINE,763.940872849,742,711,672,662,632.059127151,877,783.940872849,799,650,629,651,0.400960025708,0.00446743550181,0.0698248980577,0.999999960122,3.90447945734e-05,-0.000277897115109,3.16909807139e-05,1793193023840913408
+89,1.483333333,BASELINE,763.352353628,742,711,672,662,632.647646372,877,783.352353628,799,650,629,651,0.4009599886,0.00446720365706,0.069824211145,0.999999959967,3.80742995513e-05,-0.000278623133357,3.13779673664e-05,1793193023857579520
+90,1.500000000,BASELINE,763.232565291,742,711,672,662.232565291,633,877,783,799,650,629,650.767434709,0.400959648855,0.00446730320632,0.0698236407835,0.999999959798,3.76873972465e-05,-0.000279302876421,3.11894228946e-05,1793193023874246144
+91,1.516666667,BASELINE,763.812112589,742,711,672,662.812112589,633,877,783,799,650,629,650.187887411,0.400958857582,0.00446789718777,0.0698232443139,0.999999959609,3.81712017982e-05,-0.000279913577923,3.11865831207e-05,1793193023890912768
+92,1.533333333,BASELINE,764,742,711,672,663,633,877.389503773,783,799,649.610496227,629,650,0.400957423066,0.00446831815486,0.0698228236288,0.999999959186,3.98425774153e-05,-0.000281173533828,3.13511212635e-05,1793193023907579136
+93,1.550000000,BASELINE,764,742,711,672,663,633,877.965860675,783,799,649.034139325,629,650,0.400955679972,0.00446865612337,0.069822391327,0.999999958643,4.2083655821e-05,-0.000282744950741,3.15959541026e-05,1793193023924244992
+94,1.566666667,BASELINE,764,742,711.540739566,672,662.459260434,633,877.459260434,783.540739566,799.540739566,649,628.459260434,650,0.400957000323,0.00446992410448,0.0698231837804,0.999999959102,4.33693670579e-05,-0.000280966265288,3.11826030559e-05,1793193023940911616
+95,1.583333333,BASELINE,764,742,711.881322106,671.881322106,662.118677894,632.881322106,877,783.881322106,800,649.118677894,628.118677894,650,0.400958383433,0.00447058607207,0.0698240324667,0.999999959589,4.36140088416e-05,-0.00027922526281,3.08748022055e-05,1793193023957578240
+96,1.600000000,BASELINE,764,742,711.290851145,671.290851145,662.709148855,632.290851145,877,783.290851145,800,649.709148855,628.709148855,650,0.400959249255,0.00446860610565,0.0698247981446,0.999999959943,3.99591046197e-05,-0.000278472599833,3.11513505939e-05,1793193023974245120
+97,1.616666667,BASELINE,764,742.293723841,711,671.293723841,662.706276159,632,877,783.293723841,799.706276159,650,629,650,0.400959091938,0.00446842097856,0.0698244737814,0.999999959714,4.00162771654e-05,-0.000279260958473,3.13795144061e-05,1793193023990911744
+98,1.633333333,BASELINE,764,742.87257537,711,671.87257537,662.12742463,632,877,783.87257537,799.12742463,650,629,650,0.400957941428,0.00446997816295,0.0698230912784,0.999999958914,4.36768886547e-05,-0.000281545239069,3.15607096534e-05,1793193024007578624
+99,1.650000000,BASELINE,764,742.550932908,711,672,662.449067092,632.449067092,877,783.550932908,799,649.550932908,629,650,0.400957824718,0.00446934801487,0.069823004212,0.999999959068,4.27278311362e-05,-0.000281156011076,3.14694949088e-05,1793193024024245760
+100,1.666666667,BASELINE,764,742,711,672,663,633,877,783.025414637,799,649,628.974585363,650.025414637,0.40095801567,0.00446813532002,0.0698232812387,0.999999959475,4.06100745153e-05,-0.000280034448681,3.13321989806e-05,1793193024040912640
+101,1.683333333,BASELINE,764,742,711,672,663,633,877,783.613313858,799,649,628.386686142,650.613313858,0.400958557456,0.00446769445133,0.0698235235018,0.9999999596,4.14243131276e-05,-0.000279406856781,3.18768481306e-05,1793193024057579264
+102,1.700000000,BASELINE,764,742,711,671.801758399,662.801758399,632.801758399,877,783.801758399,799,649,628.198241601,651,0.400959059894,0.00446719582083,0.0698238465037,0.999999959753,4.10435404372e-05,-0.000278885512452,3.21426307205e-05,1793193024074245632
+103,1.716666667,BASELINE,764,742,711,671.222541232,662.222541232,632.222541232,877,783.222541232,799,649,628.777458768,651,0.400959486714,0.00446658618522,0.0698243246675,0.999999959956,3.83662259306e-05,-0.000278568352022,3.18724947261e-05,1793193024090912000
+104,1.733333333,BASELINE,763.645055299,742.354944701,711,671.354944701,662.354944701,632,877,783,799,649.354944701,629,650.645055299,0.400959237364,0.00446702122439,0.0698243240568,0.99999995992,3.88848319235e-05,-0.000278650109402,3.16652421358e-05,1793193024107578624
+105,1.750000000,BASELINE,763.068649482,742.931350518,711,671.931350518,662.931350518,632,877,783,799,649.931350518,629,650.068649482,0.400958566132,0.00446810806882,0.0698240247238,0.999999959732,4.13974725618e-05,-0.000278980764069,3.14972244448e-05,1793193024124245248
+106,1.766666667,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632,877,783,799,650,628,651,0.400958573146,0.00446884596754,0.0698233645624,0.999999959453,3.92694140763e-05,-0.00028030677914,3.13001020943e-05,1793193024155335168
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,672,662.4068182,632,877,783,799,649.4068182,628,650.4068182,0.400958786203,0.00446732244586,0.0698235648809,0.999999959655,3.89265447046e-05,-0.000279623690166,3.1392919896e-05,1793193024172002560
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.181772545,742,711,672,662,632.181772545,877,783,798.818227455,649,628.181772545,650.181772545,0.400958993134,0.00446638388835,0.0698240216403,0.999999959883,3.84953769219e-05,-0.000278858183716,3.14521577944e-05,1793193024188669440
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.760341462,742,711,672,662,632.760341462,877,783,798.239658538,649,628.760341462,650.760341462,0.400959186696,0.00446672226517,0.0698250381914,0.999999960171,3.78714600038e-05,-0.000277912765724,3.14380932001e-05,1793193024205335296
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.663410902,742,711,672,662,632.663410902,877,783.336589098,798,649,629,651,0.400959543287,0.00446676209209,0.0698252098754,0.99999996023,3.8290765988e-05,-0.000277643154813,3.14231188276e-05,1793193024222001664
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.088804782,742,711,672,662,632.088804782,877,783.911195218,798,649,629,651,0.400960015163,0.00446659080118,0.0698247841162,0.999999960128,3.94477810171e-05,-0.000277851437006,3.14075011113e-05,1793193024238668288
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.486257549,742,711,672,662,632,877,783.513742451,798.486257549,649,629,650.513742451,0.400958066439,0.00446719863211,0.0698235093719,0.999999959474,3.82583481084e-05,-0.000280366502067,3.13589788296e-05,1793193024255334912
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.936655927,742,711,672,662,632,876.936655927,783.063344073,799,649,629,650,0.40095641448,0.00446771543682,0.069822536213,0.999999958928,3.67429729957e-05,-0.000282511129176,3.13375882475e-05,1793193024272001536
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.343331328,742,711,672,662,632,876.343331328,783.656668672,799,649,629,650,0.400960947621,0.00446627903519,0.0698253847964,0.9999999602,3.60892830243e-05,-0.000278028336147,3.15935257772e-05,1793193024288668416
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.242636499,742,711,672.242636499,662,632.242636499,876.242636499,783.757363501,799,649,628.757363501,650,0.400969543521,0.00446603969644,0.0698298358693,0.999999962195,3.62130702221e-05,-0.000270737795835,3.16283105173e-05,1793193024305335296
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.818500763,742,711,672.818500763,662,632.818500763,876.818500763,783.181499237,799,649,628.181499237,650,0.400983719061,0.00446744435858,0.0698364877404,0.999999965115,3.74046151319e-05,-0.000259591202227,3.13593723798e-05,1793193024322002176
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.605528763,742,711,672.605528763,662.394471237,632.605528763,877,783,799,649,628.394471237,650.394471237,0.401015142864,0.00446729690465,0.069850062484,0.999999970718,3.73914554765e-05,-0.000237006523917,3.1513045599e-05,1793193024338668800
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.029509358,742,711,672.029509358,662.970490642,632.029509358,877,783,799,649,628.970490642,650.970490642,0.401054504867,0.00446643511782,0.0698668233536,0.999999976941,3.68238526723e-05,-0.000209157675315,3.18612179187e-05,1793193024355334912
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711.556695299,672,663,632,877,783.556695299,798.443304701,649.556695299,629,651,0.401111900363,0.00446542799937,0.0698841956967,0.999999982474,3.65885377589e-05,-0.000180867597563,3.16194268324e-05,1793193024372001280
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.142149884,742.142149884,711.857850116,672.142149884,662.857850116,632.142149884,877,783.857850116,798.142149884,650,629,651,0.401172113697,0.00446503278713,0.0698986210533,0.999999986222,3.63972876708e-05,-0.000158949067485,3.10780237431e-05,1793193024388667904
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.723587101,742.723587101,711.276412899,672.723587101,662.276412899,632.723587101,877,783.276412899,798.723587101,650,629,651,0.401238025896,0.00446655280571,0.0699038372769,0.999999986608,3.62867645812e-05,-0.000156794219326,2.97091703321e-05,1793193024405334528
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.698609358,711,672.698609358,662.301390642,633,877.301390642,783,799.301390642,650,628.698609358,651,0.401315989753,0.00446672247732,0.0699063879478,0.999999987148,3.36844608776e-05,-0.000154239761126,2.79009323278e-05,1793193024422001408
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.124098688,711,672.124098688,662.875901312,633,877.875901312,783,799.875901312,650,628.124098688,651,0.40140487481,0.00446566846519,0.0699065230962,0.999999987805,2.88241070085e-05,-0.00015132317666,2.56945243372e-05,1793193024438668032
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.54868723,742,711,671.54868723,662.54868723,632.54868723,877.54868723,783.45131277,800,649.54868723,628,650.54868723,0.401504133442,0.00446648110437,0.0699037022038,0.99999998682,2.62654660675e-05,-0.000158574826482,2.28893164412e-05,1793193024455335168
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.027826672,742,711,671.027826672,662,632,877,783.972173328,799.972173328,649,628,650,0.401608210278,0.00446768594661,0.069900423191,0.999999985423,2.41601036065e-05,-0.000167854037074,1.98859808843e-05,1793193024472002304
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.621718497,742,711,671.621718497,662,632,877,783.378281503,799.378281503,649,628,650,0.4017521595,0.00446640693292,0.0699043929487,0.999999986677,1.83748672195e-05,-0.000161387764931,1.62083962904e-05,1793193024488668672
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.790353105,742,711,672,662,632,877,783,798.790353105,649,628.209646895,650,0.401908624266,0.00446523356564,0.0699083706918,0.999999987953,1.16382658185e-05,-0.000154321654708,1.20014691878e-05,1793193024505334784
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.212887412,742,711,672,662,632,877,783,798.212887412,649,628.787112588,650,0.402087047142,0.00446424555178,0.0699123624447,0.999999989284,3.23252541444e-06,-0.000146203148366,6.86582790256e-06,1793193024522001152
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,711,672,662.363087952,632,877,783.363087952,798.363087952,649.363087952,629,650,0.402288273082,0.00446594983393,0.0699156034281,0.999999990176,-1.47272302257e-07,-0.000140163118256,1.50442157438e-06,1793193024538668032
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,711,672,662.938193126,632,877,783.938193126,798.938193126,649.938193126,629,650,0.402502814386,0.00446922622301,0.0699184060166,0.999999990834,-5.92282139895e-07,-0.000135336767854,-3.98881577229e-06,1793193024555334656
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.510987623,742.510987623,711,672,663,632.510987623,877,783.489012377,799.510987623,649.489012377,628.489012377,650.510987623,0.402744743757,0.00446996333092,0.0699193278154,0.999999991153,-8.14845072072e-06,-0.000132389793804,-1.00359582875e-05,1793193024572001280
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.913574843,742.913574843,711,672,663,633,877,783,799.913574843,649,628.086425157,651,0.402996749866,0.00447067558936,0.069920842746,0.999999991545,-1.58157141818e-05,-0.00012805325488,-1.61659738081e-05,1793193024588668160
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.321029642,742.321029642,711,672,663,633,877,783,799.321029642,649,628.678970358,651,0.403288454485,0.00447303289457,0.0699271573903,0.99999999304,-1.91191513938e-05,-0.000114253954116,-2.23907247518e-05,1793193024605335296
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.264749572,742,711,672,663,633,877.264749572,783,799,649,629,651,0.403602046471,0.00447565081403,0.0699351297006,0.999999994407,-2.12243007467e-05,-9.96232824961e-05,-2.84649507221e-05,1793193024622001920
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.842528906,742,711,672,663,633,877.842528906,783,799,649,629,651,0.403941517225,0.00447857687366,0.0699450619715,0.999999995641,-2.19126401922e-05,-8.40096306205e-05,-3.43612013503e-05,1793193024638668288
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.418313452,711,672.418313452,663,633,878,783,799,649,629,650.581686548,0.404310876914,0.00448317215815,0.0699503515929,0.999999996268,3.15853139885e-05,-7.63355755619e-05,-2.53023704257e-05,1793193024655334912
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.993350627,711,672.993350627,663,633,878,783,799,649,629,650.006649373,0.404691434671,0.00448839282798,0.0699539018169,0.999999991825,0.000105384498068,-7.16361395363e-05,-1.06405254487e-05,1793193024672001280
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,711,672.418093765,663,632.418093765,877.418093765,783,799,649,629,650,0.405100344053,0.00449027876306,0.0699589635089,0.999999993095,9.78131269397e-05,-6.27131056534e-05,-1.75826148291e-05,1793193024688668160
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.832110523,742.832110523,711,672,663,632.167889477,877,783,799,649,629,650,0.405519750352,0.00449149287139,0.0699612441994,0.999999995839,6.65466144462e-05,-5.79926577227e-05,-2.3022305353e-05,1793193024705334784
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.252818323,742.252818323,711,672,663,632.747181677,877,783,799,649,629,650,0.405964065886,0.00449115630609,0.0699566668886,0.999999997471,-2.04507318062e-05,-6.36914635419e-05,-2.4161143463e-05,1793193024722001664
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.324345247,742.324345247,711,672,663,632.675654753,877,783.324345247,799,649.324345247,628.675654753,650,0.406419881345,0.00449414941234,0.0699432744523,0.999999995197,-3.65341665038e-05,-8.74832440391e-05,-2.48547820878e-05,1793193024738668800
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.899860488,742.899860488,711,672,663,632.100139512,877,783.899860488,799,649.899860488,628.100139512,650,0.406884602289,0.00449972098577,0.0699230556629,0.999999991831,2.29747411881e-06,-0.000125286059383,-2.52036624701e-05,1793193024755335680
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.514682706,711,672,663,632,877.485317294,783.514682706,799,649.514682706,628.485317294,650,0.407413914493,0.00450317007804,0.0699109048747,0.99999998994,2.44356393974e-05,-0.000137038794845,-2.7277868935e-05,1793193024772002048
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.071841973,711,672,663,632.071841973,878,783.071841973,799.071841973,649.071841973,629,650.071841973,0.407966007618,0.00450696915954,0.0699037258062,0.999999989092,4.17992750598e-05,-0.000138508604438,-2.9723178185e-05,1793193024788668416
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.651117623,711,672,663,632.651117623,878,783.651117623,799.651117623,649.651117623,629,650.651117623,0.408582902635,0.00451639829262,0.0699196586837,0.999999992588,5.02774778024e-05,-0.000106107668502,-3.22225713629e-05,1793193024805335040
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.770559401,743,711,672,663,633,877.770559401,783.770559401,799.770559401,649.770559401,629,651,0.409200459817,0.00452367785446,0.0699309631275,0.999999994688,5.45225180044e-05,-8.04942221639e-05,-3.42205328966e-05,1793193024822001920
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.193679083,743,711,672,663,633,877.193679083,783.193679083,799.193679083,649.193679083,629,651,0.409819019672,0.00452770234044,0.0699352587772,0.999999995878,5.23573199443e-05,-6.51590089038e-05,-3.54591811449e-05,1793193024838669312
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742.618109286,711,672,663,632.618109286,877.381890714,783,799,649,629,650.618109286,0.410453337594,0.00453434959821,0.0699335333154,0.999999995011,6.22036848026e-05,-6.91594776602e-05,-3.64022965708e-05,1793193024855336448
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742.043201876,711,672,663,632.043201876,877.956798124,783,799,649,629,650.043201876,0.411095620002,0.00454232246742,0.0699287646398,0.999999992818,7.81209807646e-05,-8.29326628054e-05,-3.71960425949e-05,1793193024872002816
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.545324303,742,711,672,663,632.545324303,877.454675697,783,799,649.545324303,628.454675697,650,0.411807237828,0.00454801591007,0.0699393253356,0.999999994191,7.79577584462e-05,-6.32715180817e-05,-3.9198360485e-05,1793193024888669184
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,672.132721217,663.132721217,632.867278783,877.132721217,783,799,650,628.132721217,650,0.412536732036,0.00455330924053,0.0699564259295,0.999999995491,7.88184458856e-05,-3.4072459017e-05,-4.05486231889e-05,1793193024905335552
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,672.712585466,663.712585466,632.287414534,877.712585466,783,799,650,628.712585466,650,0.413307472478,0.00455787854513,0.0699913634415,0.99999999523,8.753059988e-05,1.81079077494e-05,-3.93712517792e-05,1793193024922002432
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,672.709260997,663.709260997,632,878,783,799,649.709260997,628.709260997,650,0.414056173477,0.00456186500608,0.0700028283603,0.999999994276,9.43759948203e-05,3.23292859534e-05,-3.86672635042e-05,1793193024938669056
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,672.13278865,663.13278865,632,878,783,799,649.13278865,628.13278865,650,0.414783214579,0.00456527865875,0.0699912248183,0.99999999428,9.93867719154e-05,9.24522250629e-06,-3.8428508041e-05,1793193024955335168
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,672.450438448,663,632,878,783,799,649,628,650,0.415503490335,0.00456801863574,0.0699403165537,0.999999991209,0.000101094645856,-7.57855985532e-05,-4.02380222811e-05,1793193024972001280
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.96466614,742,711,673,663,632,878,783.03533386,798.96466614,649,628.03533386,650,0.41622883103,0.00457062793599,0.0698821493151,0.99999997915,0.000101613688536,-0.000171932310213,-4.26009607294e-05,1793193024988667904
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.385210681,742,711,673,663,632,878,783.614789319,798.385210681,649,628.614789319,650,0.41706335009,0.00457432975919,0.0698933473757,0.999999982305,9.90479903074e-05,-0.000153754430571,-4.40461658562e-05,1793193025005334528
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.193757551,742,711,673,663.193757551,632,878,783.806242449,798.193757551,649.193757551,629,650,0.417904385056,0.00457927448488,0.0699128141625,0.999999986232,0.000102825516006,-0.000122330997726,-4.46922030535e-05,1793193025022001664
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.771759521,742,711,673,663.771759521,632,878,783.228240479,798.771759521,649.771759521,629,650,0.418758341793,0.00458668403477,0.0699486788225,0.999999989851,0.000119182414131,-6.46400479736e-05,-4.37533944016e-05,1793193025038668800
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,673,664,632,877.651255597,783,799,649.651255597,628.651255597,650,0.419613641028,0.00459237740793,0.0699732778327,0.999999990892,0.000124221594807,-3.00981582406e-05,-4.33389032916e-05,1793193025055335424
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664,632,877.07493445,783,799,649.07493445,628.07493445,650,0.420469816289,0.00459695087202,0.0699905253259,0.99999999158,0.000121875282138,-1.06624279231e-05,-4.32665610782e-05,1793193025072001792
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,672.488273182,663.488273182,632,877,783,799,649,628,650,0.421342092251,0.00460097272796,0.0700026593112,0.999999990796,0.000128169489723,7.68511572332e-06,-4.3833470826e-05,1793193025088668416
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.098411298,711.098411298,672.098411298,663.098411298,632,877.098411298,783,799,648.901588702,628.098411298,650.098411298,0.422201688064,0.00460319147669,0.0700026267424,0.999999990102,0.000133099055899,8.09293639984e-06,-4.48805473953e-05,1793193025105334784
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.677658319,711.677658319,672.677658319,663.677658319,632,877.677658319,783,799,648.322341681,628.677658319,650.677658319,0.422987571382,0.0045970030783,0.069946882663,0.999999987968,0.000125051428376,-7.83577650449e-05,-4.78069077038e-05,1793193025122001408
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.744756594,711.744756594,672.744756594,663.744756594,632,878,783,799,648.255243406,628.744756594,650.744756594,0.423781316919,0.00458123360855,0.0698907801956,0.999999980033,0.000103515631293,-0.00016340582265,-5.01753580818e-05,1793193025138668032
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.169256675,711.169256675,672.169256675,663.169256675,632,878,783,799,648.830743325,628.169256675,650.169256675,0.424584927371,0.00455344266964,0.0698342280476,0.999999966111,6.50560889208e-05,-0.000246693980209,-5.1843793609e-05,1793193025155334656
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.594240775,742.405759225,711,672.405759225,663.811518449,632,878,783,799,649,628.405759225,650,0.425465629734,0.00454562449209,0.0698586978751,0.999999976483,5.14586190997e-05,-0.000204376084509,-5.11487871771e-05,1793193025172001536
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.019426571,742.980573429,711,672.980573429,664.961146858,632,878,783,799,649,628.980573429,650,0.426378451519,0.00454612774072,0.0699169245932,0.999999991594,4.82196518859e-05,-0.000109725845185,-4.94690790824e-05,1793193025188668672
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.571813406,742.428186594,711,673,664.428186594,632,878,783.571813406,799.571813406,649,628.428186594,650,0.427278880423,0.00455887985702,0.0699619449801,0.999999994799,7.13985649112e-05,-5.49026665024e-05,-4.78528659408e-05,1793193025205335296
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.840212344,742.159787656,711.159787656,673,663.840212344,632,877.840212344,784,799.840212344,649,628.159787656,650,0.428171042405,0.00456805726776,0.0699987987334,0.999999995118,8.66155992654e-05,-7.03063648252e-06,-4.70299420206e-05,1793193025222001664
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.262287478,742.737712522,711.737712522,673,663.262287478,632,877.262287478,784,799.262287478,649,628.737712522,650,0.429042705552,0.00456675910915,0.0700154905977,0.999999995402,7.85796499808e-05,2.62968846336e-05,-4.82771100727e-05,1793193025238668032
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.313869863,743,711.686130137,673.313869863,663.313869863,632,877,783.686130137,799,649.313869863,629,650.313869863,0.429876893592,0.00456859523335,0.0700139542169,0.999999995628,7.51624914868e-05,2.6615332166e-05,-4.88585627421e-05,1793193025255334656
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.888558401,743,711.111441599,673.888558401,663.888558401,632,877,783.111441599,799,649.888558401,629,650.888558401,0.430679940633,0.00457303587491,0.0699972705808,0.999999995948,7.55834428841e-05,-4.96006927972e-07,-4.88868211028e-05,1793193025272001280
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.525105402,742.525105402,711,674,664,632,877.474894598,783,799,649.525105402,629,650.525105402,0.431386445833,0.00457577795833,0.069933240588,0.999999988924,8.6624148815e-05,-0.000110218937546,-5.00093870154e-05,1793193025288667904
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742.062982079,711.062982079,673.937017921,663.937017921,632.062982079,877.937017921,783,799,649,629,650,0.432085644249,0.0045773088895,0.0698666975189,0.999999969118,9.69140158998e-05,-0.000223004196788,-5.13901726334e-05,1793193025305334528
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742.642452466,711.642452466,673.357547534,663.357547534,632.642452466,877.357547534,783,799,649,629,650,0.432915378175,0.00457225857127,0.0698729497293,0.999999975814,8.00961646551e-05,-0.000197927844388,-5.27296832183e-05,1793193025322001664
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.220768748,743,711.779231252,673.220768748,663.220768748,632.779231252,877.220768748,783.220768748,799,649.220768748,628.779231252,650,0.433744439567,0.00456394493485,0.0699024941545,0.999999986565,6.57969180092e-05,-0.00014071936012,-5.23312929617e-05,1793193025338668800
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.797225702,743,711.202774298,673.797225702,663.797225702,632.202774298,877.797225702,783.797225702,799,649.797225702,628.202774298,650,0.434572417549,0.00455037365222,0.0699695654781,0.999999996746,5.55554797045e-05,-3.17416755685e-05,-4.91329100504e-05,1793193025355335680
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.627340884,743,711,674,664,632,878,784,799,650,628.372659116,650,0.435330484725,0.00454329822993,0.0699956160725,0.999999997404,5.28108777427e-05,8.23603132565e-06,-4.83156837954e-05,1793193025372002304
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.052462917,743,711,674,664,632,878,784,799,650,628.947537083,650,0.436050615619,0.00453974770658,0.0699994072724,0.999999997286,5.41343419817e-05,1.07717487227e-05,-4.8790563101e-05,1793193025388668672
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.536798822,743,711,674,664,632.536798822,877.463201178,784,799,649.463201178,629,650,0.43672523361,0.00453818624047,0.0699826755325,0.999999998196,3.21468879108e-05,-1.05494194986e-05,-4.96248966607e-05,1793193025405335040
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.874949776,742.874949776,711,673.874949776,664.125050224,632.874949776,877.125050224,784,799,649.125050224,629,650,0.437390091043,0.00453869680501,0.0699605074651,0.999999997867,1.73433125369e-05,-3.72165694605e-05,-5.0801960286e-05,1793193025422001408
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.295616251,742.295616251,711,673.295616251,664.704383749,632.295616251,877.704383749,784,799,649.704383749,629,650,0.438036094261,0.00454600900801,0.0699260774571,0.999999995118,3.71416787462e-05,-7.46011599252e-05,-5.30929598797e-05,1793193025438668032
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742.280933953,711,673.280933953,664.438132094,632,878,783.719066047,799,650,629,650,0.43863282509,0.0045531926955,0.0698877816387,0.999999988525,5.34288843845e-05,-0.000130962157439,-5.42616970859e-05,1793193025455335168
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742.85458407,711,673.85458407,663.290831861,632,878,783.14541593,799,650,629,650,0.439178217032,0.00456024247713,0.0698454578821,0.999999974902,6.60576719624e-05,-0.000207095419058,-5.42611045466e-05,1793193025472002304
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.42992335,743,711,674,662.140153301,632,878,783,799,650,629,650,0.43971377578,0.00456706434123,0.069812572836,0.999999961743,6.75254317611e-05,-0.000262777018453,-5.38770225911e-05,1793193025488669184
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,674,660.994029706,632,878,783,799,649.994029706,629,650,0.440246095858,0.00457380184004,0.0697833455779,0.999999948148,6.53730453821e-05,-0.000310776242354,-5.33783846039e-05,1793193025505336064
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,674,660.404891223,632,878,783,799,649.404891223,629,650,0.440788218518,0.00457985836053,0.0697983350879,0.999999954228,7.98079913427e-05,-0.000286729233037,-5.44099704609e-05,1793193025522002432
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711,673.818421672,660,632,878,783,799,649.181578328,629,650,0.441327091809,0.00459071942671,0.069816487846,0.999999959672,9.90416480861e-05,-0.000260140507042,-5.63276191045e-05,1793193025538668544
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,673.237817102,660,632,878,783,799,649.762182898,629,650,0.441858824573,0.00461213869137,0.0698415919817,0.999999963907,0.000128820682466,-0.000227966243974,-6.01924293203e-05,1793193025555335168
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.661336643,742.661336643,711,673,660,631.661336643,878,783,799.338663357,649.661336643,628.661336643,650,0.44231427533,0.00463093714915,0.0698377799029,0.999999956702,0.000157024275492,-0.000240935399971,-6.23623825713e-05,1793193025572001792
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.087717419,742.087717419,711,673,660,631.087717419,878,783,799.912282581,649.087717419,628.087717419,650,0.442716803573,0.00464791735772,0.0698139065019,0.999999940364,0.000184134866127,-0.000285223892511,-6.3356487651e-05,1793193025588668416
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742,711,673.996846007,659.501576997,631,878,783,799.501576997,649,628.498423003,650,0.443074617569,0.00464715534283,0.069780972356,0.999999923032,0.000183828650278,-0.000340994478034,-6.21752041805e-05,1793193025605335040
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,742.085455501,711,674.829088998,659,631,878,783,799,649.085455501,628.914544499,650,0.443422642693,0.00464529792098,0.0697473394926,0.999999903035,0.000182244404009,-0.000396248643186,-6.08603445132e-05,1793193025622001920
+195,3.250000000,POSE1_TO_POSE2_PRESS,763,742.664583312,711,673.670833376,659,631,878,783,799,649.664583312,628.335416688,650,0.443760749752,0.00465561547009,0.0697191194791,0.999999882475,0.000201869593782,-0.00043654498452,-6.1042500743e-05,1793193025638668800
+196,3.266666667,POSE1_TO_POSE2_PRESS,763,743,711,673,659,631,878.243357194,783,799,649.756642806,628,650,0.444095511388,0.00466450584029,0.0697008864902,0.999999867215,0.000217943623302,-0.000462860451097,-6.18893241462e-05,1793193025655335168
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,743,711,673,659,631,878.821643921,783,799,649.178356079,628,650,0.44442566873,0.00467143200073,0.0696963985235,0.999999861305,0.000229130233181,-0.000469934208231,-6.36509209657e-05,1793193025672001792
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742.595496841,711,673.404503159,659,631,878.595496841,783,799,649,628.404503159,650,0.444714130371,0.00467477398064,0.069692042823,0.999999858406,0.000230743652043,-0.000475168095933,-6.45063319265e-05,1793193025688668416
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742.01059836,711,673.98940164,659,631,878.01059836,783,799,649,628.98940164,650,0.444983997106,0.0046765175326,0.0696877461084,0.999999856879,0.000228087738421,-0.000479581462022,-6.49576134679e-05,1793193025705335040
+200,3.333333333,POSE1_TO_POSE2_PRESS,763,742.568832674,710.431167326,674,658.431167326,631,878,782.431167326,799,649,628.431167326,650,0.445224180431,0.00468390689723,0.0696833537391,0.999999862811,0.000191215899015,-0.000483229339457,-6.56052057197e-05,1793193025722001408
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763,742.273677481,710.726322519,674,658,631,878,782.726322519,799.726322519,649,628.726322519,650,0.445661301864,0.0046982631362,0.0696798803812,0.999999861487,0.00019363700108,-0.000485196212842,-6.41437907682e-05,1793193025755334912
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+207,3.450000000,POSE1_TO_POSE2_PRESS,763,742,710.36828626,673.63171374,657.36828626,630.63171374,878.63171374,782.36828626,799.63171374,649.36828626,628.63171374,650,0.446373252385,0.00471216667726,0.0696572233807,0.999999832212,0.000223437629077,-0.000530052340288,-6.85301656566e-05,1793193025838668288
+208,3.466666667,POSE1_TO_POSE2_PRESS,763,742,710.209965039,674,657.209965039,631,879,782,799.790034961,649.209965039,629,650,0.44646776346,0.00471479985684,0.0696532347754,0.999999826745,0.000228872621162,-0.000538003861251,-6.8404421572e-05,1793193025855334912
+209,3.483333333,POSE1_TO_POSE2_PRESS,763,742,710.786544659,674,657.786544659,631,879,782,799.213455341,649.786544659,629,650,0.446553861953,0.00471525645322,0.0696517721711,0.999999825612,0.000233347668589,-0.000538275132989,-6.77072705996e-05,1793193025872001536
+210,3.500000000,POSE1_TO_POSE2_PRESS,763,742,711,673.638672885,657.638672885,630.638672885,878.638672885,782,799,649.638672885,628.638672885,650,0.446626752279,0.00471543923628,0.0696520474856,0.999999825357,0.000234686956034,-0.000538229230595,-6.72139118307e-05,1793193025888668416
+211,3.516666667,POSE1_TO_POSE2_PRESS,763,742,711,673.064946801,657.064946801,630.064946801,878.064946801,782,799,649.064946801,628.064946801,650,0.446691878454,0.00471546106367,0.0696533444009,0.999999825625,0.000234182949681,-0.000537996883717,-6.68403481955e-05,1793193025905335296
+212,3.533333333,POSE1_TO_POSE2_PRESS,763,742,711,673.522015665,657,630,878,782,799,649,628,650,0.446736344479,0.00471922879719,0.0696529510646,0.999999823121,0.000238476916101,-0.000540778212526,-6.66809893306e-05,1793193025922002176
+213,3.550000000,POSE1_TO_POSE2_PRESS,763,742.109291775,711,674,657.109291775,630,878,782.109291775,799.109291775,649.109291775,628,650,0.446775484784,0.00472285488181,0.069651940112,0.99999982025,0.000242539837148,-0.000544283881942,-6.65527773465e-05,1793193025938668800
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,742.690624953,711,674,657.690624953,630,878,782.690624953,799.690624953,649.690624953,628,650,0.446803013628,0.0047238038981,0.0696491935233,0.999999817437,0.000242959529989,-0.000549256481754,-6.64409915658e-05,1793193025955335168
+215,3.583333333,POSE1_TO_POSE2_PRESS,763,742.730955813,711,673.730955813,658,630,878,782.730955813,799.730955813,649.730955813,628,650,0.446826836037,0.004725054211,0.0696471257449,0.999999815353,0.000243675546661,-0.000552709128836,-6.65525043013e-05,1793193025972001792
+216,3.600000000,POSE1_TO_POSE2_PRESS,763,742.155851467,711,673.155851467,658,630,878,782.155851467,799.155851467,649.155851467,628,650,0.446846442069,0.00472664727382,0.0696458301699,0.999999814117,0.000244728656338,-0.000554432702879,-6.69180376946e-05,1793193025988668416
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+218,3.633333333,POSE1_TO_POSE2_PRESS,762.012575228,743,711,674,657.987424772,630,878.012575228,782,799.012575228,649.012575228,628,650,0.446865236807,0.00472826321929,0.0696409015796,0.999999810185,0.000245990294531,-0.000560861403703,-6.74732414395e-05,1793193026022001408
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+224,3.733333333,POSE1_TO_POSE2_PRESS,763,742,710.514144008,674,657,630,878,782,799.485855992,649,628.485855992,650.514144008,0.44688040847,0.00472976843401,0.0696377116487,0.999999807135,0.000247425035882,-0.00056582394962,-6.59865941803e-05,1793193026122001664
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763,742,710.653819955,674,657,630,878,782,800,649.653819955,629,650,0.446877112873,0.00473109159382,0.0696348996961,0.999999803394,0.000247442902304,-0.000572380119387,-6.60710682067e-05,1793193026155334656
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,742.231311876,711,673.768688124,657,630,878,782,799.768688124,649.768688124,629,650,0.446877463735,0.0047316530238,0.0696345714655,0.99999980284,0.000248229078722,-0.000573004756494,-6.60939832691e-05,1793193026172001536
+228,3.800000000,POSE1_TO_POSE2_PRESS,763,742.805794584,711,673.194205416,657,630,878,782,799.194205416,649.194205416,629,650,0.446878746906,0.00473118115559,0.0696346788898,0.999999803086,0.000249473943219,-0.000572068270324,-6.57952857537e-05,1793193026188668160
+229,3.816666667,POSE1_TO_POSE2_PRESS,763,743,711,673.382791898,657,630,878,782.382791898,799.382791898,649,629,650.382791898,0.446880814136,0.00473058732769,0.0696362236596,0.999999804857,0.000247757615771,-0.000569744674707,-6.55212171972e-05,1793193026205334784
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+231,3.850000000,POSE1_TO_POSE2_PRESS,763,743,711,673.45082026,657,630,878,782.45082026,799.45082026,649,628.45082026,651,0.446883546421,0.00473109484018,0.0696382046618,0.999999806573,0.000246430667993,-0.00056731810128,-6.53952982791e-05,1793193026238668032
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+233,3.883333333,POSE1_TO_POSE2_PRESS,763,743,711,673.713876688,657,630,878.713876688,782.713876688,799.713876688,649,628,651,0.446882747588,0.00473056941419,0.0696369805395,0.99999980546,0.000246723805322,-0.00056915858601,-6.53126905736e-05,1793193026272001536
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+236,3.933333333,POSE1_TO_POSE2_PRESS,762.45160712,742,710.54839288,674,657.54839288,630,879,782,799.45160712,649,628.54839288,650,0.446883568754,0.00472991137906,0.0696366288308,0.99999980545,0.000248184933133,-0.000568658942306,-6.42676106708e-05,1793193026322001408
+237,3.950000000,POSE1_TO_POSE2_PRESS,763,742,710.038669502,674,657,630,879,782,799.961330498,649,628,650,0.446882502408,0.00473127961655,0.0696359811446,0.999999804481,0.000249257925681,-0.000569839057857,-6.47490927041e-05,1793193026338668032
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+241,4.016666667,POSE1_TO_POSE2_PRESS,763,743,710,673.348677787,657,630,878,782.348677787,799.651322213,649.348677787,628.348677787,650,0.446885926556,0.00473013345682,0.0696378905309,0.999999805957,0.00024883693701,-0.000567492936767,-6.41702305429e-05,1793193026405334528
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+254,4.233333333,HOLD_POSE2,762.352857243,742,710,673.647142757,657,630,878.352857243,782,799.647142757,649,629,650,0.446888024829,0.00473140830549,0.0696383613349,0.999999806628,0.000249114509154,-0.000566181152331,-6.42218876129e-05,1793193026643561728
+255,4.250000000,HOLD_POSE2,762.234233875,742,710.234233875,674,657,630,878.234233875,782.234233875,799.765766125,649.234233875,628.765766125,650,0.446887725975,0.00473229091443,0.0696380203318,0.999999805945,0.000250462068442,-0.000566783877371,-6.42954265756e-05,1793193026660228608
+256,4.266666667,HOLD_POSE2,762.813704463,742,710.813704463,674,657,630,878.813704463,782.813704463,799.186295537,649.813704463,628.186295537,650,0.44688670974,0.00473095710639,0.0696370112201,0.999999804935,0.000249466339036,-0.000569031913065,-6.40236678204e-05,1793193026676895232
+257,4.283333333,HOLD_POSE2,763,742.389664365,711,674,657,630,878.610335635,782.610335635,799,650,628,650,0.446887020161,0.00473154461911,0.06963710406,0.9999998049,0.000250197392619,-0.000568795357796,-6.3825440403e-05,1793193026693562112
+258,4.300000000,HOLD_POSE2,763,742.963960873,711,674,657,630,878.036039127,782.036039127,799,650,628,650,0.446887959182,0.00473304249867,0.0696377190302,0.999999805324,0.000251746636515,-0.000567381545082,-6.36620538389e-05,1793193026710228736
+259,4.316666667,HOLD_POSE2,763,742.449188736,711,674,657,630,878,782.550811264,799,649.449188736,628,650.550811264,0.446888247015,0.00473117397368,0.0696378497535,0.999999806616,0.000247765012582,-0.000566823621642,-6.39605675345e-05,1793193026726895360
+260,4.333333333,HOLD_POSE2,763,742.136542982,711,674,657,630,878,782.863457018,799,649,628,650.863457018,0.446888517137,0.00472971936408,0.0696379740844,0.99999980757,0.000244814671706,-0.000566397886729,-6.41872590186e-05,1793193026743561728
+261,4.350000000,HOLD_POSE2,763,742.715920727,711,674,657,630,878,782.284079273,799,649,628,650.284079273,0.446888871223,0.00473033816934,0.0696381828372,0.999999807288,0.000246409995088,-0.000566215009196,-6.40807166568e-05,1793193026760228352
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,657,630,878,782,800,649,628,651,0.446886599471,0.00472860694979,0.0696382570536,0.999999806597,0.000242595142454,-0.000569080871413,-6.4037886972e-05,1793193026797192192
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742.425070755,711,673,657,630,878.574929245,782,799.425070755,649.574929245,628,650.425070755,0.446887526782,0.00473082389996,0.0696377121615,0.999999806541,0.000245093734086,-0.00056807577122,-6.43114283233e-05,1793193026813858816
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742.153322983,711,673.153322983,657.153322983,630,879,782,799,649.846677017,628,650,0.446888406915,0.00473247909477,0.0696375400163,0.999999806627,0.000247203039387,-0.000566999921901,-6.44037976825e-05,1793193026830525696
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742.741543826,711,673.741543826,657.741543826,630,879,782,799,649.258456174,628,650,0.44688915323,0.00473254088122,0.0696384251612,0.999999807128,0.000248208141647,-0.00056572339375,-6.39822760369e-05,1793193026847192320
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.675400225,657.675400225,630,878.675400225,782,799,649,628.324599775,650,0.446889670573,0.00473157788352,0.0696388156962,0.999999807686,0.000247231990614,-0.000565172183837,-6.39058991169e-05,1793193026863858944
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.096392344,657.096392344,630,878.096392344,782,799,649,628.903607656,650,0.446890008458,0.00472981170167,0.0696388185759,0.999999808286,0.000244703013745,-0.000565189448944,-6.4100032625e-05,1793193026880525568
+268,4.466666667,POSE2_TO_POSE3_RETREAT,762.519601615,742.519601615,711,673.480398385,657,630,878,782.480398385,799,649,628.519601615,650,0.446890559225,0.00472895446414,0.0696392492772,0.999999808623,0.000244530680875,-0.00056471066293,-6.37179288542e-05,1793193026897192448
+269,4.483333333,POSE2_TO_POSE3_RETREAT,762.056169373,742.056169373,711,674,657,630,878.056169373,782.943830627,799,649.056169373,628,650,0.446890668641,0.00472862014636,0.0696394787106,0.999999808624,0.000245002011818,-0.000564548181475,-6.33366945271e-05,1793193026913858816
+270,4.500000000,POSE2_TO_POSE3_RETREAT,762.626657841,742.626657841,711,674,657,630,878.626657841,782.373342159,799,649.626657841,628,650,0.446886347461,0.00473141167421,0.0696370828042,0.999999806013,0.000247057188005,-0.000568189161763,-6.40172637076e-05,1793193026930525440
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,657,630,878.794094681,782.205905319,799,649.794094681,628.205905319,649.794094681,0.446877156982,0.00473323382414,0.0696319736767,0.999999801372,0.000248001445939,-0.000575832332071,-6.45617177025e-05,1793193026947192320
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,657,630,878.198260058,782.801739942,799,649.198260058,628.801739942,649.198260058,0.446858745363,0.00473322023264,0.0696217264383,0.999999792759,0.000246841923182,-0.00059105457354,-6.48484060534e-05,1793193026963858944
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.613471047,711,673.613471047,657,630,878,782.613471047,799,649,628.613471047,649.386528953,0.446822566183,0.00473232790881,0.0696056772569,0.999999776515,0.000247076317471,-0.000617887055585,-6.4330594656e-05,1793193026980525568
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.034190143,711,673.034190143,657,630,878,782.034190143,799,649,628.034190143,649.965809857,0.446777526781,0.00473099738398,0.0695867347962,0.999999755655,0.00024800582169,-0.000650509263992,-6.34116000981e-05,1793193026997192192
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742.539969374,711,673.539969374,657,630,878,782.539969374,799,649.539969374,628.539969374,650,0.446709065088,0.00473354602516,0.0695691878992,0.999999733024,0.000252832006193,-0.00068267867882,-6.30769010801e-05,1793193027013859072
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,657.116647615,630,878,782.883352385,799.116647615,649.883352385,629,650,0.446639143805,0.00473526193404,0.0695549073055,0.999999714924,0.00025638260825,-0.000707461424143,-6.25986444244e-05,1793193027030525696
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,657.704805644,630,878,782.295194356,799.704805644,649.295194356,629,650,0.446569261082,0.0047326282655,0.0695534758541,0.999999719157,0.00025378911488,-0.000702500750815,-6.13919597444e-05,1793193027047192320
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,743,710.711392733,673.711392733,657.711392733,630,878,782,799.711392733,649.288607267,628.711392733,650,0.446486210741,0.00473142719896,0.0695546020815,0.999999721445,0.000254529304824,-0.000699127969796,-5.95445283062e-05,1793193027063859200
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,743,710.131980721,673.131980721,657.131980721,630,878,782,799.131980721,649.868019279,628.131980721,650,0.446389892528,0.00473166964251,0.0695583054621,0.999999721776,0.000258628561162,-0.000697355171721,-5.70514714871e-05,1793193027080525568
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742.553542585,710.446457415,673.446457415,657.446457415,630,878,782.446457415,799,649.553542585,628,650,0.446271979822,0.0047321173143,0.0695598137353,0.99999972398,0.000260378025712,-0.000693740916521,-5.44734567875e-05,1793193027097192448
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742,710.975544375,674,657.975544375,630,878.024455625,783,799,649.024455625,628,650,0.446146118574,0.00473246395657,0.0695607092451,0.999999726637,0.000261540518677,-0.000689665249447,-5.18067958139e-05,1793193027113858816
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742,710.400979913,674,657.400979913,630,878.599020087,783,799,649.599020087,628,650,0.445984745271,0.00472917629408,0.0695623861307,0.999999727446,0.000265090914909,-0.000687428942736,-4.77098226623e-05,1793193027130525440
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742,710.177920618,673.822079382,657,630,878.822079382,783,799.177920618,650,628,650,0.445813574381,0.00472681460059,0.0695629614915,0.999999727377,0.000268794064856,-0.000686361533162,-4.363479055e-05,1793193027147192064
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742,710.766837377,673.233162623,657,630,878.233162623,783,799.766837377,650,628,650,0.445619771113,0.00472659189341,0.0695609923328,0.999999725324,0.000272850074981,-0.00068799427311,-3.96104427485e-05,1793193027163858944
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742.349442877,711,673.349442877,657.349442877,630,878,782.650557123,799.650557123,650,628,650,0.445404604514,0.00472664184002,0.0695650109666,0.99999972746,0.000278480887738,-0.000682881599697,-3.46575850513e-05,1793193027180525568
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.927912011,711,673.927912011,657.927912011,630,878,782.072087989,799.072087989,650,628,650,0.445175436282,0.00472687048497,0.0695729540233,0.999999732224,0.0002851438328,-0.000673347955512,-2.9096177857e-05,1793193027197192192
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742.502547376,711,674,658,630,878.497452624,782,799.497452624,649.502547376,628,650,0.444900582048,0.00472269999152,0.0695734211642,0.999999728878,0.000289973327565,-0.000676505462886,-2.23374382477e-05,1793193027213858816
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,658,630,878.931127242,782.068872758,799.931127242,649,628.068872758,650,0.444613050791,0.00471835966433,0.0695730132308,0.999999724552,0.000295151601234,-0.000680842793361,-1.53251988842e-05,1793193027230525696
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,658,630,878.335615774,782.664384226,799.335615774,649,628.664384226,650,0.444278315708,0.00471750940068,0.0695740519527,0.999999721997,0.000304992644253,-0.000680386671896,-7.67792153112e-06,1793193027247192320
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742.252698594,711,673.747301406,658,630,878,783,799,649,629,650,0.443930048424,0.00471527453807,0.0695805760472,0.999999727189,0.000313118144997,-0.000669012960702,5.89986716812e-08,1793193027263858944
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.831718967,711,673.168281033,658,630,878,783,799,649,629,650,0.443564306382,0.00471125167665,0.0695941836656,0.999999742007,0.000319028283255,-0.000643540843585,7.91167851442e-06,1793193027280525568
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.590692139,710.590692139,673.409307861,658,630.409307861,878,783,799,649,629,650,0.443171582344,0.00470511698155,0.0696110686176,0.999999757286,0.000319648723026,-0.000618892281355,1.50008510794e-05,1793193027297192192
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.013689739,710.013689739,673.986310261,658,630.986310261,878,783,799,649,629,650,0.442767803719,0.00469811706258,0.0696292963017,0.999999772405,0.000318101958748,-0.000594581132201,2.17772124466e-05,1793193027313858816
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742.560179529,710.560179529,673.439820471,658.560179529,631,878,783,799,649,629,650,0.442329827315,0.00467852922321,0.0696537039603,0.999999809603,0.000267690868392,-0.000555757548387,1.64196312611e-05,1793193027330525696
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,631,878,782.862257462,799.137742538,649,629,650,0.441882122085,0.00465444829193,0.0696788353526,0.999999844275,0.000216527799884,-0.00051418101899,1.35202058726e-05,1793193027347192320
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,631,878,782.272318377,799.727681623,649,629,650,0.441405206437,0.00461662123131,0.0697058496429,0.999999877912,0.000166794559504,-0.000464724656977,1.96587594581e-05,1793193027363858944
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.310155811,659,631.310155811,877.689844189,782.310155811,800,649,629,650,0.44090046497,0.00459793933743,0.069732209086,0.999999904201,0.000135227130352,-0.000415671240158,2.30038016121e-05,1793193027380525824
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.886229888,659,631.886229888,877.113770112,782.886229888,800,649,629,650,0.440371866429,0.00459567192958,0.0697580070857,0.999999925274,0.000119234516136,-0.000366963291467,2.39537717732e-05,1793193027397192448
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763,742.53640208,711,674,659.46359792,632,877.46359792,783,799.53640208,649,629,650,0.439776156737,0.00459621443809,0.0697628593919,0.999999928263,0.000111785388413,-0.000361017836561,2.5376457758e-05,1793193027413859072
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,660,632,878,783,799.041006271,649,629,650,0.439159357382,0.00459661413874,0.0697608122009,0.999999925716,0.000112938107267,-0.000367547157127,2.68615566391e-05,1793193027430525696
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,660,632,878,783,799.614801606,649,629,650,0.438483127751,0.00458617375193,0.069736093843,0.999999900138,0.000198535990953,-0.000399428077493,2.76460875441e-05,1793193027447192320
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,660.195567977,632,877.804432023,783,799.804432023,649.195567977,629,650,0.437808971305,0.00457906130843,0.0697251294043,0.999999885207,0.000246288557334,-0.00041004702798,2.80976093956e-05,1793193027463859456
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,660.790572254,632,877.209427746,783,799.209427746,649.790572254,629,650,0.43713904926,0.00457874599759,0.0697422565525,0.999999904968,0.000216744245996,-0.000377239636055,2.78689797964e-05,1793193027480526080
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742.372608422,711,673.627391578,661.745216845,632,877.372608422,783,799,649.627391578,628.627391578,650,0.436451351268,0.00457731962922,0.0697764793127,0.999999927562,0.000193852384028,-0.000326092400622,3.09976929464e-05,1793193027497192704
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,742.947600881,711,673.052399119,662.895201762,632,877.947600881,783,799,649.052399119,628.052399119,650,0.435753998208,0.00457528978469,0.0698199876354,0.999999949008,0.000174573832005,-0.000264983792205,3.59499626948e-05,1793193027513859072
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742.478851357,711,673,662.478851357,632,877.478851357,783,798.478851357,649,628.521148643,650,0.434999062126,0.00457365907536,0.0698388580441,0.999999954126,0.000166386247322,-0.000249956048111,3.98095849071e-05,1793193027530525696
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,662,632,877.671081894,783,798.671081894,649,629,650,0.433410959104,0.00457211612708,0.0698367390336,0.999999948443,0.000180461715901,-0.00026254216431,4.02353808294e-05,1793193027563859200
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,662.255635492,632,877.744364508,783,799,649,629,650,0.432585114474,0.00456975396247,0.0698322487531,0.999999947879,0.000181390037736,-0.00026415831712,3.94974480164e-05,1793193027580525824
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,662.851455183,632,877.148544817,783,799,649,629,650,0.431748769217,0.00456449347517,0.0698398493382,0.999999956574,0.000160724328871,-0.000243618615561,4.08686526196e-05,1793193027597192448
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,662.56807669,632,877,783,799,649,629,650,0.430841230641,0.0045627781651,0.0697993856893,0.999999937094,0.000163829119144,-0.000311859288249,4.14126393788e-05,1793193027613859072
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.992724934,632,877,783,799,649,628.992724934,650,0.429911006762,0.0045622084045,0.0697436588113,0.999999900557,0.000174587753592,-0.000408250654089,4.16623684194e-05,1793193027630525440
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.418768833,632,877,783,799,649,628.418768833,650,0.429055460303,0.00455915833991,0.0697424121722,0.999999905019,0.000166605707216,-0.000400714853387,4.03908837928e-05,1793193027647192064
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.480671063,632,877,783,799,649,628.160223688,650,0.4282015729,0.00455539593606,0.0697594365653,0.999999918465,0.00015767970453,-0.000369526952486,4.07110964754e-05,1793193027663858944
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,663.258420453,632,877,783,799,649,628.752806818,650,0.427352162468,0.00454971130344,0.0698257648622,0.999999950605,0.000146206459947,-0.000274514474378,4.53264626867e-05,1793193027680525824
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,663.662618247,632,876.662618247,783,799,649,629,650,0.426480947864,0.00454420775657,0.069858589387,0.999999962218,0.000147722042101,-0.000226851388102,4.77599806364e-05,1793193027697192704
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,663.083774745,632,876.083774745,783,799,649,629,650,0.425594128202,0.00453883381172,0.0698674354949,0.99999996355,0.00015853363736,-0.000213075933865,4.86319651315e-05,1793193027713859328
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,662.015798485,632,876.492100758,783,798.507899242,649,628.507899242,650,0.424684976181,0.0045340245023,0.0698506588085,0.999999961038,0.000137620802009,-0.000238311630915,4.68135889657e-05,1793193027730525952
+319,5.316666667,POSE2_TO_POSE3_RETREAT,762.930925101,742,711,673,661.138149798,632,877,783,798.069074899,649,628.069074899,650,0.423764580584,0.00452939096434,0.0698252068942,0.999999953319,0.00011641900149,-0.000278921785977,4.48371221096e-05,1793193027747192320
+320,5.333333333,POSE2_TO_POSE3_RETREAT,762.341900925,742,711,673,662.316198149,632,877,783,798.658099075,649,628.658099075,650,0.422787997517,0.00452536130671,0.0697670910674,0.999999915747,0.000133451457228,-0.000385569556436,4.50975359037e-05,1793193027763858944
+321,5.350000000,POSE2_TO_POSE3_RETREAT,762.243146207,742,711,673,662.27056138,632,877,783,799,649,629,650,0.42182334235,0.00452053005317,0.0697222174421,0.999999882666,0.000134172497636,-0.000463332268349,4.46001445207e-05,1793193027780525312
+322,5.366666667,POSE2_TO_POSE3_RETREAT,762.822691087,742,711,673,660.531926739,632,877,783,799,649,629,650,0.420875189582,0.00451458977164,0.0696956647154,0.999999867198,0.000112326303335,-0.000501131820977,4.3054311849e-05,1793193027797191936
+323,5.383333333,POSE2_TO_POSE3_RETREAT,762.599189577,742,711,672.599189577,661.202431269,632,877,783,799,649.400810423,629,650,0.420039879012,0.00450511968276,0.0697431112684,0.999999906381,0.000102232637231,-0.000418143545194,4.40688654179e-05,1793193027813859072
+324,5.400000000,POSE2_TO_POSE3_RETREAT,762.021698667,742,711,672.021698667,662.934903998,632,877,783,799,649.978301333,629,650,0.419254310257,0.00449409362652,0.0698231773059,0.99999995446,9.73195806641e-05,-0.000281911005976,4.6212057439e-05,1793193027830526208
+325,5.416666667,POSE2_TO_POSE3_RETREAT,762,742.551311712,711,672.551311712,663.551311712,632,877.551311712,783,799,650,629,650,0.418436647037,0.00448700750401,0.0698705666904,0.99999997161,9.01717856376e-05,-0.000215165534434,4.85112339763e-05,1793193027847192576
+326,5.433333333,POSE2_TO_POSE3_RETREAT,762.128243463,742.871756537,711,673,663.743513075,632,877.871756537,783.128243463,799,649.871756537,629,650.128243463,0.41760602697,0.0044797040126,0.0698979699934,0.999999979595,8.18179218409e-05,-0.000177877372214,4.97454681783e-05,1793193027863859200
+327,5.450000000,POSE2_TO_POSE3_RETREAT,762.719979871,742.280020129,711,673,662.560040259,632,877.280020129,783.719979871,799,649.280020129,629,650.719979871,0.416733107319,0.00447105898813,0.0698577510027,0.999999968337,6.94204512355e-05,-0.000237248113134,4.71088166565e-05,1793193027880525568
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.695431341,662,632,877,783.695431341,799,649,629,650.695431341,0.415857099181,0.00446175465177,0.0698239605977,0.99999995788,5.31566039811e-05,-0.000281778091595,4.48953644829e-05,1793193027897192448
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.117263415,662,632,877,783.117263415,799,649,629,650.117263415,0.414978316649,0.00445185804467,0.069795945104,0.999999949537,3.34195248136e-05,-0.000312976354852,4.30620797756e-05,1793193027913859072
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,877,783,798.541038556,649,628.541038556,650,0.41411978016,0.00444705556731,0.0697648941937,0.999999927935,3.40181501041e-05,-0.000375598459137,4.35834701994e-05,1793193027930525696
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,661.965527176,632,877,783,798,649,628,650,0.413276772871,0.00444309973388,0.0697378327546,0.999999903087,3.80453891767e-05,-0.000436336935751,4.45945366185e-05,1793193027947192064
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,661.393433801,632,877,783,798,649,628,650,0.41259561966,0.00443213520538,0.069785033057,0.999999940096,1.4855374686e-05,-0.000343015510385,4.38994436702e-05,1793193027963858944
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.186030666,742,711,672,661.372061331,632,877,783,798.186030666,649,628.186030666,650.186030666,0.411921180397,0.00442278922203,0.0698326479414,0.999999966371,-3.64674247679e-06,-0.00025565248521,4.34366044438e-05,1793193027980525824
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.781727438,742,711,672,662.563454876,632,877,783,798.781727438,649,628.781727438,650.781727438,0.411261526075,0.00441700750425,0.069881175804,0.99999998253,-1.18254441071e-05,-0.000181410695462,4.34852215601e-05,1793193027997192448
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.634619357,742,711,672,662.634619357,632,877,783,799,649,628.634619357,651,0.410554725778,0.00442154017609,0.069883438977,0.999999982494,-5.99802279646e-06,-0.000181540811935,4.49353478049e-05,1793193028013859072
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.057931242,742,711,672,662.057931242,632,877,783,799,649,628.057931242,651,0.40982065999,0.00443203788129,0.0698589462836,0.999999973614,7.92944067611e-06,-0.000224681803483,4.71959968952e-05,1793193028030525696
+337,5.616666667,POSE2_TO_POSE3_RETREAT,762.484551145,742,711.515448855,672,661.484551145,632,876.484551145,783.515448855,799,649.515448855,628.515448855,649.969102291,0.409128983033,0.00446129337832,0.0698160145073,0.999999952733,4.41453352515e-05,-0.000301069498242,4.40829788275e-05,1793193028047192320
+338,5.633333333,POSE2_TO_POSE3_RETREAT,762.090914966,742,711.909085034,672.090914966,661.090914966,632,876.090914966,783.909085034,798.909085034,649.909085034,629,649.090914966,0.408459118368,0.00448665439718,0.0697779495436,0.999999929073,7.51125905757e-05,-0.000366817762681,4.07014240655e-05,1793193028063858944
+339,5.650000000,POSE2_TO_POSE3_RETREAT,762.679831086,742,711.320168914,672.679831086,661.679831086,632,876.679831086,783.320168914,798.320168914,649.320168914,629,649.679831086,0.407882804437,0.0044792085076,0.0697778226473,0.999999934565,6.36955875965e-05,-0.00035394960457,3.9136032181e-05,1793193028080525568
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.735400583,662,632.264599417,877,783,798.264599417,649,629,650,0.40731750533,0.00446989140244,0.0697854686531,0.999999940228,5.22521442533e-05,-0.000339483931853,3.95523589353e-05,1793193028097192192
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.155573715,662,632.844426285,877,783,798.844426285,649,629,650,0.406765328646,0.0044583450468,0.0698023748157,0.999999946071,4.07772023056e-05,-0.000323115079528,4.23295833515e-05,1793193028113859328
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742.420994783,711,672.420994783,661.579005217,633,877,783,799,649,629,650.420994783,0.40622938384,0.0044540215908,0.0698024829196,0.999999943911,3.24370725346e-05,-0.00033056651102,4.30234232094e-05,1793193028130525952
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742.996368483,711,672.996368483,661.003631517,633,877,783,799,649,629,650.996368483,0.405699391223,0.00445234677339,0.0697964311716,0.99999993864,2.52464784123e-05,-0.000346752846552,4.29532855252e-05,1793193028147192576
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742.427705352,711,672.427705352,661.572294648,632.427705352,876.427705352,783,799,649,629,651,0.405268527432,0.00445782563651,0.0698062385975,0.999999945095,3.32126345466e-05,-0.000327000888169,4.21700929177e-05,1793193028163859200
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,876.151901468,783.151901468,799,649.151901468,629,651,0.40485324701,0.00446523013106,0.0698182810617,0.99999995202,4.42044238202e-05,-0.000303788666824,4.14539271696e-05,1793193028180525568
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,876.742118933,783.742118933,799,649.742118933,629,651,0.404481115913,0.00447805997892,0.0698364821288,0.999999960348,6.36489735291e-05,-0.000271250428173,4.09442379682e-05,1793193028197192192
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.325761192,742.325761192,711,672,662,632,877,783.674238808,799,650,629,650.674238808,0.404116913315,0.00448108573735,0.0698466830001,0.999999965657,6.46844844156e-05,-0.000250737842348,4.04139656225e-05,1793193028213858816
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.904301294,742.904301294,711,672,662,632,877,783.095698706,799,650,629,650.095698706,0.403758862968,0.00447650387597,0.0698506760076,0.999999969189,5.14352454326e-05,-0.00023955673056,3.98677215547e-05,1793193028230525696
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.517651932,742.517651932,711,672.482348068,662,632,877,783.482348068,799,650,629,650,0.403415427287,0.00446769958058,0.0698406857618,0.999999965677,3.55589929722e-05,-0.000256536829661,3.96206235644e-05,1793193028247192320
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.059722169,742,711,672.880555663,661.940277831,632,877,784,799,649.940277831,629,650.059722169,0.403080155752,0.00445871719473,0.0698278834443,0.999999959985,1.98730738368e-05,-0.000279429635366,3.94293548106e-05,1793193028263858944
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.632160787,742,711,671.735678427,661.367839213,632,877,784,799,649.367839213,629,650.632160787,0.402790106108,0.00445539055526,0.0698147325372,0.999999952615,1.02911506871e-05,-0.000305165644527,3.92083714814e-05,1793193028280525568
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.787975034,742.212024966,711,671.212024966,661.212024966,632,877.212024966,784,799,649.212024966,629,650.787975034,0.402520050073,0.00445232004507,0.0698034200488,0.999999946101,1.90446155263e-07,-0.000326009702005,3.89192251827e-05,1793193028297191936
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.194760868,742.805239132,711,671.805239132,661.805239132,632,877.805239132,784,799,649.805239132,629,650.194760868,0.40228593959,0.00444971001738,0.0697954127637,0.999999942058,-1.0842948724e-05,-0.000338058758985,3.85075321125e-05,1793193028313858560
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763,742.612604716,711,672,662,632,877.612604716,783.612604716,799,649.612604716,628.612604716,650.387395284,0.402082240951,0.00444614620439,0.0697932580525,0.999999941237,-1.84191794649e-05,-0.000340079018191,3.91571171391e-05,1793193028330525440
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763,742.035853583,711,672,662,632,877.035853583,783.035853583,799,649.035853583,628.035853583,650.964146417,0.401893407368,0.00444211618822,0.0697939640338,0.999999942041,-2.4305575837e-05,-0.000337197278938,4.03254467368e-05,1793193028347192320
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.540813744,632,877,783,799,649.540813744,628,651,0.401733383107,0.004441793189,0.069795294148,0.999999942652,-1.90840634436e-05,-0.000335461822592,4.23849600021e-05,1793193028363858944
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.119789464,742,711,671.880210536,662.880210536,632,877,783.119789464,799,649.880210536,628.119789464,651,0.401583597809,0.00444231540505,0.0697964634281,0.999999943365,-1.42550536289e-07,-0.00033363304838,4.42586247791e-05,1793193028380525312
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.70781008,742,711,671.29218992,662.29218992,632,877,783.70781008,799,649.29218992,628.70781008,651,0.401466370004,0.00444518091511,0.0697968423336,0.999999941733,6.95494789961e-05,-0.000331142517051,4.51749471012e-05,1793193028397191936
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,662,632,877,783.708831363,798.708831363,649.291168637,629,651,0.401360711364,0.0044563810361,0.0697957578151,0.999999939603,9.63138653584e-05,-0.000331404343313,4.10911685569e-05,1793193028413858816
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,662,632,877,783.130077523,798.130077523,649.869922477,629,651,0.401266479514,0.00447581319315,0.0697932278833,0.999999940325,8.06789185616e-05,-0.00033438465494,3.20688258821e-05,1793193028430525440
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.552039919,742,711,671,662,632,877.447960081,783,798.895920162,649.552039919,629,651,0.401195347927,0.00448380144806,0.0697934945068,0.999999942109,7.0108015875e-05,-0.00033187224673,2.69597733165e-05,1793193028447192064
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.025502085,742,711,671.025502085,662,632.025502085,877.94899583,783,800,649.025502085,628.974497915,651,0.401131586718,0.00448792941347,0.069794599158,0.999999944097,6.11187922216e-05,-0.000327911733762,2.33136291785e-05,1793193028463858688
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.232008172,742,711,672,662,632.232008172,876.767991828,783.767991828,799.232008172,649.232008172,628.767991828,651,0.401013217669,0.00447468501828,0.0698001737086,0.999999947162,4.83127962965e-05,-0.000320070950692,2.99461391321e-05,1793193028513858560
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,877,783.06941719,799.93058281,649.93058281,629,651,0.400983544499,0.00447144730362,0.069807798838,0.999999951947,4.62581262828e-05,-0.00030496175442,3.10444417081e-05,1793193028547192320
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1da65d7af258a1acc69c4c02071ec89413c20f2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,400 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ecda7ff40effd5f8dc9fa5aa55d417fb980bb6cf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d92f2be0b246dfa282a0c76e0302a8aadb80e82fd30f02ea5987758f66e1cf8
+size 25577527
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ea38e0c379a4ae43c11b215429ca84d13ad60bf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_05/franka_data.csv
@@ -0,0 +1,403 @@
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+4,0.066666667,BASELINE,763.339642862,742,711,672,662,632,877,783.339642862,799.320714276,649,628.660357138,650.660357138,0.400953165266,0.00447013462519,0.0698198560831,0.999999957071,4.22274689185e-05,-0.000288271870599,3.12170253595e-05,1793193029277080576
+5,0.083333333,BASELINE,763.914833287,742,711,672,662,632,877,783.914833287,798.170333425,649,628.085166713,650.085166713,0.400952730485,0.00446986967212,0.0698196674315,0.999999957019,4.23585198095e-05,-0.00028846145371,3.09340611659e-05,1793193029293747712
+6,0.100000000,BASELINE,764,742.500591432,711,672,662,632.500591432,877,784,798.500591432,649,628,650.500591432,0.400953122058,0.0044689752647,0.0698198772674,0.999999957157,4.0939935235e-05,-0.000288183411126,3.09826109458e-05,1793193029310413824
+7,0.116666667,BASELINE,764,743,711,672,662.08730426,633,877,784,799,649,628.08730426,650.91269574,0.400953678897,0.0044680069925,0.0698200173482,0.999999957324,3.90605442661e-05,-0.000287857252595,3.10411382807e-05,1793193029327080192
+8,0.133333333,BASELINE,764,743,711,672,662.669022229,633,877,784,799,649,628.669022229,650.330977771,0.400954358308,0.00446723995978,0.0698193701856,0.999999957482,3.60967928151e-05,-0.000287718871286,3.08298751593e-05,1793193029343746560
+9,0.150000000,BASELINE,764,742.752257355,711,671.752257355,662.752257355,632.752257355,877.247742645,783.752257355,799,649,628.752257355,650,0.400954744468,0.00446730976048,0.0698192809849,0.999999957628,3.58873082428e-05,-0.000287241797556,3.08085762818e-05,1793193029360412928
+10,0.166666667,BASELINE,764,742.177493764,711,671.177493764,662.177493764,632.177493764,877.822506236,783.177493764,799,649,628.177493764,650,0.400954743537,0.00446848418356,0.0698199282956,0.999999957757,3.93134634694e-05,-0.000286317648948,3.10380307255e-05,1793193029377079552
+11,0.183333333,BASELINE,763.606774712,742,711,671.393225288,662,632.393225288,877.606774712,783,799,649.393225288,628.393225288,650.393225288,0.400954226436,0.00446877441422,0.0698201804192,0.9999999577,4.03695736117e-05,-0.000286352046028,3.11836951252e-05,1793193029393746176
+12,0.200000000,BASELINE,763.037862645,742,711,671.962137355,662,632.962137355,877.037862645,783,799,649.962137355,628.962137355,650.962137355,0.40095347872,0.00446866960192,0.0698202559796,0.999999957564,4.03667857594e-05,-0.000286814705935,3.12919234916e-05,1793193029410412800
+13,0.216666667,BASELINE,763,742,711,672,662,632.443282,877,783.556718,799,649.443282,629,650.443282,0.40095340441,0.0044686907528,0.0698202607517,0.999999957488,4.15082318728e-05,-0.000286906398442,3.13848437896e-05,1793193029427079936
+14,0.233333333,BASELINE,763.14842578,742,711,672,662,632,877,783.85157422,799,649.14842578,628.85157422,650,0.400953576316,0.00446810056163,0.0698203731629,0.999999957596,4.14377327302e-05,-0.000286532560531,3.14600248723e-05,1793193029443746816
+15,0.250000000,BASELINE,763.726519365,742,711,672,662,632,877,783.273480635,799,649.726519365,628.273480635,650,0.400954321989,0.00446571463931,0.0698208117816,0.999999958216,3.7622690728e-05,-0.000284887655809,3.14870134256e-05,1793193029460413184
+16,0.266666667,BASELINE,763.696788136,742,711,672,662,632,877,783,799,649.696788136,628,650,0.400955205516,0.00446573487546,0.0698213744965,0.999999958505,3.76280293831e-05,-0.00028386731885,3.15133223011e-05,1793193029477079808
+17,0.283333333,BASELINE,763.121353563,742,711,672,662,632,877,783,799,649.121353563,628,650,0.400956212808,0.00446791535367,0.0698220486246,0.9999999585,4.10632946444e-05,-0.000283407717066,3.15390209628e-05,1793193029493746432
+18,0.300000000,BASELINE,763.464109411,742,711,672,662,632,877,783.464109411,799,649,628.464109411,650.464109411,0.400956632368,0.00446983344483,0.0698222915296,0.99999995856,4.25271915315e-05,-0.00028301091001,3.12343265692e-05,1793193029510413056
+19,0.316666667,BASELINE,764,742,711,672,662,632,876.948494566,783.948494566,798.948494566,649,628.948494566,651,0.40095678238,0.0044713553527,0.06982234805,0.999999958586,4.32884964465e-05,-0.000282839530227,3.09055756342e-05,1793193029527079680
+20,0.333333333,BASELINE,764,742,711,672,662,632,876.368760086,783.368760086,798.368760086,649,628.368760086,651,0.400955778864,0.00446953325584,0.0698216749746,0.999999958062,4.22474281524e-05,-0.000284807973598,3.12356701428e-05,1793193029543746304
+21,0.350000000,BASELINE,763.789773729,742,711,672,662,632,876.210226271,783,798.210226271,649,628,650.789773729,0.400955141565,0.00446867494296,0.0698213166255,0.999999957847,4.11262940116e-05,-0.000285727818965,3.12191543191e-05,1793193029560413184
+22,0.366666667,BASELINE,763.212095073,742,711,672,662,632,876.787904927,783,798.787904927,649,628,650.212095073,0.400955144371,0.00446950121862,0.0698215083835,0.999999958178,3.98652136914e-05,-0.000284814830212,3.05968017444e-05,1793193029577079808
+23,0.383333333,BASELINE,763,742,710.638648386,672,662,632,877,783.361351614,799,649.361351614,628,650,0.400955329261,0.00446922964952,0.069821648468,0.999999958441,3.8677880942e-05,-0.000284048310068,3.06304968538e-05,1793193029593746688
+24,0.400000000,BASELINE,763,742,710.067656844,672,662,632,877,783.932343156,799,649.932343156,628,650,0.400955619788,0.00446832116044,0.069821758574,0.999999958665,3.75333330916e-05,-0.000283366764327,3.10448012182e-05,1793193029610413568
+25,0.416666667,BASELINE,763,742,710.523036251,672,662,632,877,783.476963749,799,650,628,650.523036251,0.400955657394,0.00446898424222,0.0698215497562,0.999999958513,3.85636347439e-05,-0.000283777899834,3.09250977231e-05,1793193029627079936
+26,0.433333333,BASELINE,763,742,711,672,662,632,877,783,799,649.886606122,628.113393878,651,0.400955620681,0.0044694966859,0.0698213797142,0.999999958351,3.96506005448e-05,-0.000284213294632,3.07984079897e-05,1793193029643746304
+27,0.450000000,BASELINE,763,742,711,672,662,632,877,783,799,649.308476742,628.691523258,651,0.400955418712,0.00446852597692,0.0698215442861,0.999999958361,3.97716801241e-05,-0.000284146158524,3.09372694723e-05,1793193029660412928
+28,0.466666667,BASELINE,763,742,711,672,662,632,877,783.269491253,799,649.269491253,628.730508747,650.730508747,0.400955613802,0.00446892705952,0.069821874402,0.999999958417,4.03340306747e-05,-0.000283874003182,3.09142920057e-05,1793193029677079808
+29,0.483333333,BASELINE,763,742,711,672,662,632,877,783.847274593,799,649.847274593,628.152725407,650.152725407,0.400956263118,0.0044708974417,0.0698223938964,0.999999958523,4.14011855376e-05,-0.000283367310335,3.07061743201e-05,1793193029693746432
+30,0.500000000,BASELINE,763.430853605,742,711,671.569146395,662,632,877,783.569146395,799,650,628.430853605,650.430853605,0.400956124977,0.00447139800549,0.0698220380544,0.999999958383,4.21868028629e-05,-0.000283730347705,3.08465507037e-05,1793193029710414080
+31,0.516666667,BASELINE,763.983651224,742.016348776,711,671.016348776,662,632.016348776,877,783.016348776,799,650,629,651,0.400955696003,0.00447133486696,0.0698213938712,0.999999958159,4.28321722852e-05,-0.000284392664026,3.1109161518e-05,1793193029727081728
+32,0.533333333,BASELINE,763.403885202,742.596114798,711,671.596114798,662,632.596114798,877,783.596114798,799,650,629,651,0.40095499492,0.00447004523591,0.0698216516148,0.999999958125,4.21304061554e-05,-0.000284599409287,3.12690332451e-05,1793193029743748096
+33,0.550000000,BASELINE,763.175324925,742.824675075,711,672,662,632.824675075,877,784,799,650,629,651,0.400954435735,0.00446862725606,0.0698216094896,0.999999958126,4.04728562144e-05,-0.000284825835463,3.13570129718e-05,1793193029760414208
+34,0.566666667,BASELINE,763.753258444,742.246741556,711,672,662,632.246741556,877,784,799,650,629,651,0.400954202399,0.00446691454169,0.0698208787585,0.9999999582,3.66204856717e-05,-0.000285097456011,3.12799029892e-05,1793193029777080064
+35,0.583333333,BASELINE,764,742.329600738,711,672,662,632,877,784,799,650,629,651,0.40095439827,0.00446770713216,0.0698205516992,0.999999958206,3.83391288626e-05,-0.000284870312264,3.10943406177e-05,1793193029793746432
+36,0.600000000,BASELINE,764,742.904757612,711,672,662,632,877,784,799,650,629,651,0.400954913905,0.00447036620182,0.0698205253797,0.999999958142,4.42082375108e-05,-0.000284271583713,3.08279800274e-05,1793193029810412800
+37,0.616666667,BASELINE,764,742.509122557,711,672,662,632,877,783.509122557,799,650,628.509122557,651,0.40095396481,0.00446941488012,0.0698197935601,0.999999957535,4.25705170917e-05,-0.000286625272386,3.10386963934e-05,1793193029827079680
+38,0.633333333,BASELINE,763.92209586,742.07790414,711,672,662,632,877,783.07790414,799,650,628.07790414,650.92209586,0.400953315272,0.00446793259606,0.069819403112,0.999999957103,3.98313629506e-05,-0.000288490240872,3.13036770614e-05,1793193029843746560
+39,0.650000000,BASELINE,763.343227991,742.656772009,711,672,662,632,877,783.656772009,799,650,628.656772009,650.343227991,0.400956461293,0.00446764346158,0.0698221082048,0.999999958556,3.95894915787e-05,-0.00028344467054,3.13087688825e-05,1793193029860413184
+40,0.666666667,BASELINE,763,742.76560048,711,672,662.23439952,632,877,784,799.23439952,650,629,650,0.400957625309,0.00446729766476,0.0698233536571,0.999999959244,3.96712952672e-05,-0.0002809917989,3.13211168407e-05,1793193029877080064
+41,0.683333333,BASELINE,763,742.189779683,711,672,662.810220317,632,877,784,799.810220317,650,629,650,0.400955902377,0.00446686933482,0.0698224730284,0.999999958849,4.02245570736e-05,-0.000282315396492,3.13440339322e-05,1793193029893746944
+42,0.700000000,BASELINE,763.394009665,742.394009665,711,672,662.605990335,632,877,783.605990335,799.605990335,649.605990335,629,650.394009665,0.40095543392,0.00446737748252,0.0698221806095,0.999999958597,4.08262957759e-05,-0.00028312517956,3.13069144655e-05,1793193029910413568
+43,0.716666667,BASELINE,763.981716374,742.981716374,711,672,662.018283626,632,877,783.018283626,799.018283626,649.018283626,629,650.981716374,0.400955582168,0.00446834600715,0.0698221773575,0.999999958415,4.14518659365e-05,-0.000283682368902,3.1240280738e-05,1793193029927079936
+44,0.733333333,BASELINE,763.438958463,742.438958463,711,672,662.561041537,632,877,783.561041537,799,649.561041537,629,651,0.400954453996,0.00446995483733,0.0698208833292,0.999999957986,4.20574299625e-05,-0.000285138292374,3.08960169732e-05,1793193029943746560
+45,0.750000000,BASELINE,763,742,711,672,663,632,877,783.860098302,799,649.860098302,629,650.860098302,0.400954072728,0.00447070026218,0.0698203586088,0.999999957856,4.21479685775e-05,-0.000285603394416,3.06827139094e-05,1793193029960413184
+46,0.766666667,BASELINE,763,742,711,672,663,632,877,783.281851984,799,649.281851984,629,650.281851984,0.400956160103,0.00446867601858,0.0698223741683,0.999999958688,4.06268251663e-05,-0.000282873604516,3.09076723024e-05,1793193029977080064
+47,0.783333333,BASELINE,763.294474231,742,711,672,662.705525769,632,876.705525769,783,799,649,628.705525769,650.294474231,0.400957236246,0.00446843381691,0.0698232141242,0.999999959052,4.03860761816e-05,-0.000281608174598,3.10208165866e-05,1793193029993746688
+48,0.800000000,BASELINE,763.868974619,742,711,672,662.131025381,632,876.131025381,783,799,649,628.131025381,650.868974619,0.400957350771,0.00446988622288,0.0698229361566,0.999999958976,4.13629002088e-05,-0.000281735257026,3.10276328329e-05,1793193030010413312
+49,0.816666667,BASELINE,763.544822869,742,711,672,662,632,876.455177131,783,799,649,628.455177131,651,0.400956757376,0.00447051922029,0.0698224317784,0.999999958695,4.20418503508e-05,-0.000282663046106,3.07241691348e-05,1793193030027079936
+50,0.833333333,BASELINE,763,742,711,672,662.043995233,632.043995233,877,783,799,649.043995233,629,651,0.4009560357,0.00447080695617,0.0698219243144,0.999999958388,4.25816773466e-05,-0.000283701773713,3.03859523723e-05,1793193030043746816
+51,0.850000000,BASELINE,763,742,711,672,662.622584657,632.622584657,877,783,799,649.622584657,629,651,0.40095629674,0.00446984110342,0.0698221921872,0.999999958519,4.25003867777e-05,-0.000283213930734,3.07393762064e-05,1793193030060413184
+52,0.866666667,BASELINE,763.199936551,742,711,672.199936551,662.800063449,633,877,783,799.199936551,649.800063449,628.800063449,651,0.400956638256,0.004469448219,0.0698224881072,0.9999999587,4.25102407905e-05,-0.00028255173852,3.09441323535e-05,1793193030077079808
+53,0.883333333,BASELINE,763.774966727,742,711,672.774966727,662.225033273,633,877,783,799.774966727,649.225033273,628.225033273,651,0.400957130752,0.00447013025949,0.0698228366456,0.999999958974,4.26910878122e-05,-0.000281562456137,3.08699784884e-05,1793193030093746432
+54,0.900000000,BASELINE,764,742,711,672.649657796,662.350342204,633,877,783,799.299315593,649.350342204,628.350342204,650.649657796,0.400957056036,0.00447039747373,0.0698230183379,0.99999995905,4.29135230141e-05,-0.00028126537046,3.08058570204e-05,1793193030110413056
+55,0.916666667,BASELINE,764,742,711,672.074060329,662.925939671,633,877,783,798.148120658,649.925939671,628.925939671,650.074060329,0.400956616626,0.00447039797216,0.0698230927554,0.999999958999,4.31626976552e-05,-0.000281413338119,3.07481859635e-05,1793193030127079680
+56,0.933333333,BASELINE,764,742,711,672.512892454,662.487107546,633,877,783,798.512892454,649.487107546,629,650.512892454,0.400956012846,0.0044699361618,0.0698228479943,0.999999958702,4.3440684008e-05,-0.000282415213867,3.08346086298e-05,1793193030143746560
+57,0.950000000,BASELINE,763.899821667,742,711,672.899821667,662,633,877,783.100178333,799,649,628.899821667,651,0.400955441057,0.00446966121535,0.0698225382698,0.999999958385,4.38694798663e-05,-0.000283459089944,3.09200221409e-05,1793193030160413440
+58,0.966666667,BASELINE,763.318983149,742,711,672.318983149,662,633,877,783.681016851,799,649,628.318983149,651,0.400955139218,0.00447061040171,0.0698221429893,0.999999958154,4.50014530556e-05,-0.000284099481452,3.08985015864e-05,1793193030177080064
+59,0.983333333,BASELINE,763,742,711,672,662,632.740565081,877,783.740565081,799,649,628,650.740565081,0.400954844396,0.00447047858909,0.0698215750027,0.999999958071,4.48155751948e-05,-0.000284412713593,3.09701415666e-05,1793193030193746688
+60,1.000000000,BASELINE,763,742,711,672,662,632.165095445,877,783.165095445,799,649,628,650.165095445,0.400954558123,0.00446902994075,0.0698207966312,0.999999958168,4.30243365573e-05,-0.000284327411508,3.11552665105e-05,1793193030210413312
+61,1.016666667,BASELINE,763.407980978,742,711,672,662.407980978,632.407980978,877,783,799,649,628.407980978,650.407980978,0.400954727523,0.00446957001439,0.0698209023874,0.999999958166,4.30193235708e-05,-0.000284373959653,3.08064454576e-05,1793193030227079936
+62,1.033333333,BASELINE,763.980094566,742,711,672,662.980094566,632.980094566,877,783,799,649,628.980094566,650.980094566,0.400955080241,0.00447091016004,0.0698213638322,0.999999958124,4.37329174238e-05,-0.000284473551753,3.0242815482e-05,1793193030243746304
+63,1.050000000,BASELINE,763.427575451,742.572424549,711,672,662.427575451,633,877,783,799,649,628.427575451,651,0.400954549289,0.00447014830112,0.0698214599687,0.999999958044,4.38360442578e-05,-0.000284679155362,3.07785483135e-05,1793193030260412928
+64,1.066666667,BASELINE,763,742.838799661,711,672,662,632.838799661,877,783,799,649,628.161200339,650.838799661,0.400954183402,0.00446920312183,0.0698216095799,0.999999958044,4.31036142463e-05,-0.000284751279007,3.11674717563e-05,1793193030277079808
+65,1.083333333,BASELINE,763,742.261090143,711,672,662,632.261090143,877,783,799,649,628.738909857,650.261090143,0.400954326311,0.00446798005642,0.0698219313827,0.999999958245,4.02691315234e-05,-0.000284468643609,3.10746767142e-05,1793193030293747200
+66,1.100000000,BASELINE,763,742,711,672,662.315979545,632,877,783,799,649.315979545,629,650,0.400954705422,0.00446847715486,0.0698222411704,0.99999995831,4.11910144529e-05,-0.000284110163411,3.10447951771e-05,1793193030310413824
+67,1.116666667,BASELINE,763,742,711,672,662.892521588,632,877,783,799,649.892521588,629,650,0.400955279309,0.00447039273185,0.0698225410503,0.999999958256,4.52104651748e-05,-0.000283689140218,3.10667932685e-05,1793193030327080192
+68,1.133333333,BASELINE,763.478090378,742,711,672,662.521909622,632.478090378,877,783.478090378,799,649.521909622,629,650.478090378,0.400955962161,0.00447105750849,0.0698228674089,0.999999958474,4.5162009173e-05,-0.000282979288867,3.05907228878e-05,1793193030343746816
+69,1.150000000,BASELINE,764,742,711,672,662,632.934877449,877,783.934877449,799,649,628.934877449,650.934877449,0.400956536979,0.00447122137239,0.0698231018566,0.999999958716,4.42935508661e-05,-0.000282306939449,3.01344266216e-05,1793193030360413440
+70,1.166666667,BASELINE,764,742,711,672,662,632.352649231,877,783.352649231,799,649,628.352649231,650.352649231,0.400956055698,0.00446968349231,0.0698225583082,0.999999958654,4.43151701744e-05,-0.000282457879672,3.0741352013e-05,1793193030377080064
+71,1.183333333,BASELINE,763.773683778,742,711,671.773683778,662,632,877,783,799,649,628,650.226316222,0.40095581278,0.00446887756964,0.0698223598748,0.999999958674,4.35713628308e-05,-0.000282454148407,3.12097487473e-05,1793193030393746432
+72,1.200000000,BASELINE,763.199730067,742,711,671.199730067,662,632,877,783,799,649,628,650.800269933,0.400955936002,0.00446919598434,0.0698226915619,0.999999958815,4.16518068167e-05,-0.000282212830977,3.14653559038e-05,1793193030410413056
+73,1.216666667,BASELINE,763,742.373964943,711,671.373964943,662.373964943,632,876.626035057,783,799,649,628,651,0.400956067455,0.00446916713038,0.0698228483486,0.999999958901,4.1301676565e-05,-0.000281963618649,3.14282546726e-05,1793193030427079936
+74,1.233333333,BASELINE,763,742.947521847,711,671.947521847,662.947521847,632,876.052478153,783,799,649,628,651,0.400956203302,0.00446895293274,0.0698229117877,0.999999958959,4.17891777887e-05,-0.000281710192686,3.12349295825e-05,1793193030443746816
+75,1.250000000,BASELINE,763,742.462405825,711,672,662.462405825,632,876.537594175,783.537594175,799,649,628.537594175,651,0.400954990614,0.0044676135147,0.0698226403412,0.999999958564,4.20539356535e-05,-0.000283009883801,3.17517001243e-05,1793193030460413440
+76,1.266666667,BASELINE,763,742,711,672,662,632.126530528,876.873469472,783.873469472,799.126530528,649.126530528,628.873469472,650.873469472,0.400954291185,0.00446661378341,0.0698223740025,0.999999958326,4.20248795052e-05,-0.000283817050344,3.20790677986e-05,1793193030477080064
+77,1.283333333,BASELINE,763,742,711,672,662,632.705458402,876.294541598,783.294541598,799.705458402,649.705458402,628.294541598,650.294541598,0.400955912441,0.00446723373862,0.0698222465122,0.999999958815,4.10255260937e-05,-0.000282303996523,3.14735525204e-05,1793193030493746688
+78,1.300000000,BASELINE,763.283048223,742.283048223,711,672,662.283048223,633,876.283048223,783,799.716951777,649.716951777,628,650,0.400955982324,0.00446735412349,0.0698220082999,0.999999958921,4.03772981244e-05,-0.000282045856106,3.12708934331e-05,1793193030510413312
+79,1.316666667,BASELINE,763.859252173,742.859252173,711,672,662.859252173,633,876.859252173,783,799.140747827,649.140747827,628,650,0.400954445434,0.00446695709859,0.0698216554117,0.999999958631,4.00927341659e-05,-0.000283087441489,3.14854763588e-05,1793193030527079936
+80,1.333333333,BASELINE,764,742.569581815,711,672,662.569581815,633,877,783.430418185,799,649.430418185,628.430418185,650.430418185,0.400955429593,0.00446813872702,0.0698221545021,0.99999995886,4.11042645542e-05,-0.000282192568997,3.09487452817e-05,1793193030543746816
+81,1.350000000,BASELINE,764,742.000044116,711,672,662.000044116,633,877,783.999955884,799,649.999955884,628.999955884,650.999955884,0.400957228602,0.00446983060682,0.0698229289685,0.999999959252,4.25347177722e-05,-0.000280671795809,3.01691749512e-05,1793193030560413952
+82,1.366666667,BASELINE,764,742.599883971,711,672,662,633,877,783.400116029,799,650,629,651,0.400955344633,0.00446861276853,0.069822340621,0.999999958602,3.99201987042e-05,-0.000283319846966,3.05466208613e-05,1793193030577080320
+83,1.383333333,BASELINE,764,742.808606444,711,672,662,632.808606444,877,783,799,650,629,650.808606444,0.400954331159,0.00446816369868,0.0698221636585,0.999999958301,3.86510565009e-05,-0.00028452883996,3.07921337593e-05,1793193030593746688
+84,1.400000000,BASELINE,764,742.233959001,711,672,662,632.233959001,877,783,799,650,629,650.233959001,0.400955061367,0.00446925449172,0.0698228106808,0.99999995872,4.00765761498e-05,-0.000282855560836,3.07732794632e-05,1793193030610413312
+85,1.416666667,BASELINE,764,742,711,672,662.339953545,632,877.339953545,783,799,649.660046455,629,650.339953545,0.400955424649,0.00446935948486,0.0698225873807,0.999999958844,4.01751383347e-05,-0.000282408486001,3.07088724271e-05,1793193030627080192
+86,1.433333333,BASELINE,764,742,711,672,662.913361386,632,877.913361386,783,799,649.086638614,629,650.913361386,0.400955535956,0.00446878750537,0.0698217664093,0.999999958768,3.93624467491e-05,-0.000282803475317,3.06131832274e-05,1793193030643746560
+87,1.450000000,BASELINE,764,742,711,671.497847283,663,632.502152717,877.497847283,783.502152717,799,649.502152717,629,651,0.400955347509,0.00446825323979,0.0698218021783,0.999999958541,3.98974483805e-05,-0.000283477099888,3.10824195232e-05,1793193030660413184
+88,1.466666667,BASELINE,763.908201138,742,711.091798862,671.091798862,663,632.908201138,877,784,799,650,628.908201138,650.908201138,0.40095524577,0.00446781434613,0.0698221015345,0.999999958382,4.06300681185e-05,-0.000283880293672,3.15849017796e-05,1793193030677080064
+89,1.483333333,BASELINE,763.328562992,742,711.671437008,671.671437008,663,632.328562992,877,784,799,650,628.328562992,650.328562992,0.400955888339,0.00446784660764,0.0698229912938,0.999999958724,4.11381417879e-05,-0.0002825828084,3.17297187081e-05,1793193030693746432
+90,1.500000000,BASELINE,763.248448408,742,711.751551592,672,662.751551592,632,877,783.751551592,799,649.751551592,628,650,0.400955892585,0.00446836629744,0.0698230975001,0.999999958732,4.2067211361e-05,-0.000282438421788,3.15309008713e-05,1793193030710413056
+91,1.516666667,BASELINE,763.822022341,742,711.177977659,672,662.177977659,632,877,783.177977659,799,649.177977659,628,650,0.400955061507,0.00446952384756,0.0698221783303,0.999999958303,4.3547206196e-05,-0.000283803007744,3.08823943563e-05,1793193030727079936
+92,1.533333333,BASELINE,763.59402151,742,711,672,662,632.40597849,877,783,799,649.40597849,628,650.40597849,0.400954828281,0.0044692662979,0.0698219012127,0.999999958263,4.29099562219e-05,-0.000284057292767,3.07184617132e-05,1793193030743746816
+93,1.550000000,BASELINE,763.005394379,742,711,672,662,632.994605621,877,783,799,649.994605621,628,650.994605621,0.400954864028,0.00446837209873,0.0698219129525,0.999999958398,4.1320163581e-05,-0.000283812056478,3.07725375069e-05,1793193030760413440
+94,1.566666667,BASELINE,763.574907494,742,711,672,662.574907494,632.425092506,876.425092506,783.574907494,799.574907494,650,628,651,0.400954706549,0.00446852875037,0.0698216655837,0.999999958466,4.06062383428e-05,-0.000283653756912,3.09849763571e-05,1793193030777080064
+95,1.583333333,BASELINE,763.845768622,742,711,672,662.845768622,632,876.154231378,783.845768622,799.691537245,649.845768622,628.154231378,651,0.400955098206,0.00446855593871,0.0698220227694,0.999999958751,3.98639406608e-05,-0.000282737853979,3.111330405e-05,1793193030793746688
+96,1.600000000,BASELINE,763.268913487,742,711,672,662.268913487,632,876.731086513,783.268913487,798.537826975,649.268913487,628.731086513,651,0.400956999501,0.00446820173956,0.0698240431182,0.99999995963,3.90216985774e-05,-0.000279743768139,3.10071373727e-05,1793193030810413312
+97,1.616666667,BASELINE,763,742,711,671.692912697,662,632,877.307087303,783,798.307087303,649.307087303,629,651,0.400956927451,0.0044689916077,0.0698240375446,0.999999959409,4.06485632731e-05,-0.000280321199549,3.08243253626e-05,1793193030827079680
+98,1.633333333,BASELINE,763,742,711,671.117658008,662,632,877.882341992,783,798.882341992,649.882341992,629,651,0.400955132156,0.0044707805453,0.0698222628118,0.999999958213,4.44316028478e-05,-0.00028401749811,3.05745819731e-05,1793193030843746304
+99,1.650000000,BASELINE,763,742,711,671.468690918,662.468690918,632,877.531309082,783,799,649.531309082,629,651,0.400955376516,0.00447196614688,0.0698221354438,0.999999958347,4.57763875725e-05,-0.000283359600547,3.02922148473e-05,1793193030860413184
+100,1.666666667,BASELINE,763,742,711,672,663,632.056912576,877.056912576,783.056912576,799,649.056912576,629,651,0.400955950184,0.00447264299781,0.0698223467585,0.999999958734,4.61807831533e-05,-0.000281948169722,3.00665654386e-05,1793193030877080064
+101,1.683333333,BASELINE,763,742,711,672,663,632.636141806,877.636141806,783.636141806,799,649.636141806,629,651,0.400954733031,0.00447007449287,0.0698217789903,0.999999958283,4.37083816847e-05,-0.00028389594076,3.04384278949e-05,1793193030893746944
+102,1.700000000,BASELINE,763.214428533,742,711,672.214428533,662.785571467,632.785571467,877.785571467,783.785571467,799,650,628.785571467,650.785571467,0.400954317328,0.0044685511005,0.0698216739848,0.999999958246,4.15560683348e-05,-0.000284333139595,3.06043289032e-05,1793193030910413824
+103,1.716666667,BASELINE,763.791122889,742,711,672.791122889,662.208877111,632.208877111,877.208877111,783.208877111,799,650,628.208877111,650.208877111,0.400955255635,0.00446879337157,0.0698223507928,0.999999958916,3.99445274199e-05,-0.000282218305276,3.04222687486e-05,1793193030927080192
+104,1.733333333,BASELINE,763.635662612,742.364337388,711,672.635662612,662,632,877,783,799,649.635662612,628,650,0.40095545271,0.00446915072907,0.0698223808803,0.999999958855,4.05796596299e-05,-0.000282336462822,3.04700135425e-05,1793193030943746816
+105,1.750000000,BASELINE,763.064424209,742.935575791,711,672.064424209,662,632,877,783,799,649.064424209,628,650,0.400955228851,0.00446957344222,0.0698220437062,0.999999958378,4.24906391953e-05,-0.000283722698319,3.06482606463e-05,1793193030960413440
+106,1.766666667,BASELINE,763.527401212,742.472598788,711,671.472598788,662.527401212,632,877,783.527401212,799,649,628.527401212,650.527401212,0.400955585296,0.00446838580037,0.0698225205911,0.999999958616,4.03990806284e-05,-0.000283183773686,3.07189174236e-05,1793193030977080064
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,672,663,632,877,784,799,650,629,651,0.40095496379,0.00446691330453,0.0698218422861,0.999999958798,3.84081214742e-05,-0.000282792872515,3.09502149562e-05,1793193031019270400
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.57734583,742,711.42265417,672,662.42265417,632,877,783.42265417,799,649.42265417,629,651,0.400954584465,0.00446792728809,0.0698224508298,0.999999958648,3.95083065472e-05,-0.000283162426118,3.10245679829e-05,1793193031035937280
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.156368715,711,672,662,632.156368715,877,783,799,649.156368715,628.843631285,651,0.400954490773,0.00446867629874,0.0698228570717,0.999999958598,4.03665186358e-05,-0.000283214295982,3.10645690241e-05,1793193031052603648
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.739973842,711,672,662,632.739973842,877,783,799,649.739973842,628.260026158,651,0.400955177499,0.00446870134079,0.0698227105774,0.999999958822,4.05636033946e-05,-0.00028239817862,3.10107123106e-05,1793193031069269248
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.677029355,711,672,662,633,877,783,799.64594129,650,628,650.677029355,0.400955937725,0.00446868079832,0.0698226631615,0.999999958927,3.98048329095e-05,-0.00028215417291,3.0837807252e-05,1793193031085935360
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.094521432,711,672,662,633,877,783,800.810957135,650,628,650.094521432,0.400956757015,0.00446862362441,0.0698226953643,0.999999958934,3.82779428596e-05,-0.000282369912744,3.05692356589e-05,1793193031102601984
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.515790631,742.484209369,711.484209369,671.515790631,662,633,877.484209369,783.484209369,800.031581262,649.515790631,628.484209369,650,0.400957916258,0.0044672415911,0.069823936627,0.999999959407,3.73516004757e-05,-0.000280774725413,3.09221066334e-05,1793193031119268608
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742.938127014,711.938127014,671.123745972,662,632.938127014,877.938127014,783.938127014,799,649.061872986,629,650.061872986,0.400959839425,0.00446617594416,0.069825647014,0.999999960055,3.73866226416e-05,-0.000278405954016,3.13346812257e-05,1793193031135935232
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742.363245675,711.363245675,672.273508649,662,632.363245675,877.363245675,783.363245675,799,649.636754325,629,650.636754325,0.400967550557,0.00446986128167,0.0698293053056,0.999999961388,4.44281398076e-05,-0.000272531505347,3.12442397888e-05,1793193031152602112
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,711,672.78279726,662,632.21720274,877,783,799.21720274,649.78279726,629,650.78279726,0.400982485862,0.00447163162665,0.069835668917,0.999999964198,4.73366327238e-05,-0.000261542962032,3.09753426992e-05,1793193031169268992
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,711,672.192793728,662,632.807206272,877,783,799.807206272,649.192793728,629,650.192793728,0.401009820536,0.00447011513086,0.0698466758646,0.999999969379,4.31513160574e-05,-0.000241776728256,3.04001492527e-05,1793193031185935872
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,711,672,662,633,877,783,799.610339054,649,629,650.389660946,0.40105622245,0.00446901060157,0.069865184277,0.999999976738,4.05143408038e-05,-0.000209689520282,3.02287327114e-05,1793193031202602240
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711,672,662,633,877,783,799.03154832,649,629,650.96845168,0.401111879035,0.00446810602837,0.0698873336775,0.999999984069,3.86288838281e-05,-0.000171622077299,3.02532973407e-05,1793193031219268864
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,711,672,662.54266269,632.45733731,877,783,799,649,629,651,0.401172154803,0.00446862437771,0.0698977221392,0.999999985683,3.72347278322e-05,-0.000162315360373,3.00209020281e-05,1793193031235935488
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632,877.119662217,783,799,649,628.880337783,650.880337783,0.401236137968,0.00446917433363,0.0699058064808,0.999999986906,3.56292699249e-05,-0.000155108548542,2.93221498325e-05,1793193031252601856
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632,877.708633813,783,799,649,628.291366187,650.291366187,0.401313616994,0.00446952652782,0.0699075133152,0.999999987897,3.30840131519e-05,-0.000149634688009,2.68524669966e-05,1793193031269268736
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.292530165,742,711,672,662.707469835,632,877.707469835,783.292530165,799,649.292530165,628,650,0.401398959228,0.00446923626526,0.0699067449935,0.999999987868,2.98795474936e-05,-0.000150916630483,2.44146221933e-05,1793193031285935360
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.871457637,742,711,672,662.128542363,632,877.128542363,783.871457637,799,649.871457637,628,650,0.401491999817,0.00446831701494,0.0699035534069,0.999999986808,2.60296933303e-05,-0.000158812741754,2.20079480895e-05,1793193031302601984
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672,662,632.448960826,877,783.551039174,799,650,628.448960826,650,0.401610011217,0.00446715203409,0.0699030848002,0.999999986551,2.25194809822e-05,-0.000161318540616,1.91523791621e-05,1793193031319268864
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672,662,633,877,783,799,649.974101081,628.974101081,650,0.401736754278,0.00446595103624,0.0699035828442,0.999999986582,1.89484760919e-05,-0.000161920516806,1.61010190032e-05,1793193031335935744
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672,662,633,877,783,799,649.400516701,628.400516701,650,0.40189743533,0.00446547148699,0.0699080881985,0.999999987879,1.20419864051e-05,-0.000154795404159,1.16185488802e-05,1793193031352602112
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672,662,632.821502067,877,783.178497933,799,649,628,650,0.402069228517,0.00446534163863,0.0699121548986,0.999999989094,6.36350095353e-06,-0.000147385968636,7.00940693208e-06,1793193031369268736
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672,662,632.229920715,877,783.770079285,799,649,628,650,0.402266737603,0.00446602107497,0.0699152064561,0.999999990287,3.52688797291e-06,-0.000139318548551,2.10711918355e-06,1793193031385935360
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.646656045,742,711,672,662.353343955,632,877.353343955,784,799,649.353343955,628,650,0.402483679917,0.00446660830703,0.0699178631192,0.99999999102,-3.7837462341e-06,-0.000133918095612,-3.48341740714e-06,1793193031402601728
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.068678535,742,711,672,662.931321465,632,877.931321465,784,799,649.931321465,628,650,0.402712976659,0.00446713692156,0.0699202687341,0.99999999138,-1.39386781349e-05,-0.000130213129525,-9.51149920716e-06,1793193031419268608
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742.507711551,711,672,662.492288449,632,877.492288449,783.492288449,799,649.492288449,628.507711551,650,0.402979994513,0.00446834598275,0.0699225055547,0.999999992071,-1.90946971179e-05,-0.00012352174165,-1.53422499615e-05,1793193031435935488
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742.916541433,711,672,662.083458567,632.083458567,877,783.083458567,799,649.083458567,628.916541433,650,0.403258378707,0.00446951054057,0.0699257425543,0.99999999283,-2.41617874975e-05,-0.000115345502265,-2.12639751194e-05,1793193031452602624
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742.343311782,711,672,662.656688218,632.656688218,877,783.656688218,799,649.656688218,628.343311782,650,0.403573614898,0.00446987546013,0.0699349826144,0.999999993996,-3.26629144961e-05,-0.000100818821866,-2.7875738529e-05,1793193031469268992
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632.763128528,877,783.763128528,799,650,628,650.236871472,0.403906334193,0.004470589901,0.0699425357582,0.99999999547,-1.53701321621e-05,-8.99248841237e-05,-2.71641464189e-05,1793193031485935360
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632.172562237,877,783.172562237,799,650,628,650.827437763,0.40426515912,0.00447182624463,0.06994757001,0.999999995496,4.04379352002e-05,-8.44553329325e-05,-1.55173707681e-05,1793193031502601984
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632.411632124,877,783.411632124,799,649.588367876,628.411632124,651,0.404652441923,0.00447945594339,0.0699533464088,0.999999994065,7.88816801895e-05,-7.40146617065e-05,-1.30427956992e-05,1793193031519268608
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632.993195982,877,783.993195982,799,649.006804018,628.993195982,651,0.405051472819,0.00448972497433,0.0699594291838,0.999999991937,0.000110157009908,-6.15217915708e-05,-1.43547280094e-05,1793193031535934976
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.566030994,742,711,672.566030994,663,633,877,783.433969006,799,649,629,651,0.405483583221,0.00449071997987,0.0699622532253,0.999999997722,3.30084932924e-05,-5.56157014553e-05,-1.93015526763e-05,1793193031552601856
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,741.85753931,711,672.85753931,663,632.85753931,877,783.14246069,799,649.14246069,629,651,0.4059182345,0.00449257799772,0.0699612752433,0.999999997715,-2.72303906388e-05,-5.72873058289e-05,-2.33655951678e-05,1793193031569268480
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,741.26954448,711,672.26954448,663,632.26954448,877,783.73045552,799,649.73045552,629,651,0.406359607394,0.00449747836273,0.06994852739,0.999999995836,-3.0571653042e-05,-8.24136724981e-05,-2.45342355124e-05,1793193031585935360
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.686402914,741.313597086,711,672,663,632,877,783.686402914,799,650,629,650.686402914,0.406841402713,0.0045027712093,0.0699322829484,0.999999993877,-1.06077785763e-05,-0.000107124806523,-2.56296418865e-05,1793193031602602240
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.10736921,741.89263079,711,672,663,632,877,783.10736921,799,650,629,650.10736921,0.407357412656,0.00450839626288,0.0699130789034,0.999999990578,2.90821612574e-05,-0.000131484479631,-2.66630612459e-05,1793193031619269120
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.470038214,742.470038214,711,672,663,632.470038214,877.470038214,783,799,650,629,650.470038214,0.40793003035,0.00451491142267,0.0699164547397,0.999999991174,5.25490855861e-05,-0.000118480125468,-2.91975709745e-05,1793193031635935744
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,711.045626878,672,663.045626878,632.954373122,878,783,799,650,629,650.954373122,0.408517211689,0.00452175149894,0.0699251783669,0.999999992377,6.99394213881e-05,-9.65941351945e-05,-3.20102961987e-05,1793193031652602368
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711.604908529,672,663.604908529,632.395091471,878,783,799,650,629,650.395091471,0.409123278467,0.00452996832816,0.0699362405732,0.999999995105,6.04958817352e-05,-7.04737825901e-05,-3.41082579995e-05,1793193031669268992
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,711.82162426,672.17837574,663.82162426,632,877.82162426,783.17837574,799.17837574,649.82162426,629,650.17837574,0.409735453365,0.00453743976947,0.0699422090045,0.999999996084,5.85937241952e-05,-5.57781437903e-05,-3.58758041228e-05,1793193031685935616
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,711.214022314,672.785977686,663.214022314,632,877.214022314,783.785977686,799.785977686,649.214022314,629,650.785977686,0.410362326214,0.00454311758063,0.0699359202654,0.99999999417,7.48384231315e-05,-6.85738379747e-05,-3.68482696919e-05,1793193031702602240
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,711,672.625808507,662.625808507,632.374191493,877.374191493,784,799.625808507,649,629,650.625808507,0.411031099515,0.00454866918694,0.0699333387916,0.999999992731,8.46784773541e-05,-7.70422492644e-05,-3.78473585404e-05,1793193031719268864
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,711,672.048137679,662.048137679,632.951862321,877.951862321,784,799.048137679,649,629,650.048137679,0.411722657588,0.00455415216488,0.0699327732693,0.999999991644,9.10357879486e-05,-8.31575530871e-05,-3.88609246732e-05,1793193031735935488
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.473072876,743,711,672,662.526927124,632.473072876,877.473072876,784,799,649,629,650.526927124,0.412470337387,0.00456049514814,0.0699623008827,0.999999994606,9.02131518468e-05,-3.17917601793e-05,-4.0484329057e-05,1793193031752601856
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.104207466,743,711,672.104207466,663.104207466,632.104207466,877.104207466,783.895792534,799,649.104207466,629,651,0.413220936588,0.00456731002203,0.0699916445571,0.99999999479,9.12958862482e-05,1.83070134596e-05,-4.18413964838e-05,1793193031769268480
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.69288936,743,711,672.69288936,663.69288936,632.69288936,877.69288936,783.30711064,799,649.69288936,629,651,0.413961389333,0.00457595530943,0.0700074146951,0.999999992964,0.00010427143088,3.82217851083e-05,-4.17024896919e-05,1793193031785935360
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.722808553,742.722808553,711,672.722808553,663.722808553,632.722808553,878,783,799,650,628.722808553,651,0.414687765871,0.00458235760655,0.0699925519002,0.999999992627,0.000113521294698,8.81095537739e-06,-4.22078842158e-05,1793193031802601984
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.143283461,742.143283461,711,672.143283461,663.143283461,632.143283461,878,783,799,650,628.143283461,651,0.415398789535,0.00458631346771,0.069944277664,0.999999989244,0.000118707547013,-7.43994714267e-05,-4.34160201399e-05,1793193031819268608
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.433960331,742.433960331,711,672.433960331,663,632.433960331,878,783.433960331,799.433960331,649.566039669,628,651,0.416178183081,0.00458596028851,0.0699096114654,0.999999983449,0.000119349548295,-0.000130071167347,-4.40252715828e-05,1793193031835934976
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,673,663.010446948,632.989553052,878,784,799.989553052,649,628,650.989553052,0.416980976163,0.00458412003113,0.0698805948533,0.999999976741,0.00011826884837,-0.000174804573095,-4.44230441149e-05,1793193031852601856
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,673,663.58650864,632.41349136,878,784,799.41349136,649,628,650.41349136,0.417834852631,0.00457839375928,0.0699154668732,0.999999986698,0.000104727830975,-0.000117037184647,-4.40208525291e-05,1793193031869268480
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711.160646802,672.839353198,664,632,878.160646802,783.839353198,799.160646802,649,628.160646802,650.160646802,0.418687230982,0.00457673643569,0.0699477006332,0.999999991986,9.87653173136e-05,-6.61909993454e-05,-4.35049190644e-05,1793193031885935104
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,711.729892505,672.270107495,664,632,878.729892505,783.270107495,799.729892505,649,628.729892505,650.729892505,0.419535798879,0.00458542832429,0.0699732240798,0.999999992265,0.000112078435055,-3.2948629681e-05,-4.26996878753e-05,1793193031902601984
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.684688401,743,711.684688401,672.315311599,664,632.315311599,878.369376802,783.315311599,799.684688401,649.315311599,629,651,0.420401478329,0.00459174855044,0.0699954597829,0.999999991901,0.000120022335269,-5.80651527758e-07,-4.23259884195e-05,1793193031919268608
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.08466554,743,711.08466554,672.91533446,664,632.91533446,877.16933108,783.91533446,799.08466554,649.91533446,629,651,0.421282608647,0.0045959272786,0.0700147268099,0.999999991044,0.000123118088676,3.09977911813e-05,-4.23419414838e-05,1793193031935935488
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,743,711,673,664,632.507188827,878.478433518,784,799,649.507188827,629,650.507188827,0.42213640191,0.00460098406366,0.0699980363423,0.999999990588,0.000129908794564,1.00215490318e-06,-4.41273688117e-05,1793193031952602112
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742.933227216,711,673,663.933227216,632,879.866454431,783.933227216,799,649.066772784,629,650,0.42297578295,0.00460336122306,0.0699685849753,0.999999988804,0.000133597010431,-4.90761616101e-05,-4.6212928714e-05,1793193031969268736
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742.357827037,711,673,663.357827037,632,878.715654073,783.357827037,799,649.642172963,629,650,0.423739591284,0.00458422809835,0.069886927651,0.999999977561,0.000109028780032,-0.000175075757628,-4.83703511652e-05,1793193031985935360
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.225074064,742.225074064,711,673,663.225074064,632,878.225074064,783.225074064,799,650,628.774925936,650,0.424552492495,0.00456335755773,0.0698425479427,0.999999967119,8.03042508036e-05,-0.000238353657445,-5.0008360668e-05,1793193032002601728
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.820311491,742.820311491,711,673,663.820311491,632,878.820311491,783.820311491,799,650,628.179688509,650,0.425446133404,0.00453962960927,0.0698594760748,0.999999978012,4.47441496978e-05,-0.000198477652201,-5.07921298176e-05,1793193032019268608
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.600208805,742.600208805,711,673,664,632,878.200417611,783.600208805,799,650,628,650,0.426353487027,0.00454032212965,0.069907414176,0.999999989573,4.54393589836e-05,-0.00012800327276,-4.9044980149e-05,1793193032035935232
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.027542971,742.027542971,711,673,664,632,877.055085943,783.027542971,799,650,628,650,0.427266770141,0.00455157436313,0.069968761369,0.999999996041,6.18118131645e-05,-4.42977809551e-05,-4.6203429683e-05,1793193032052602112
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742,711,673,664,632,877.550066696,783.550066696,799,650,628,650,0.428182272989,0.00455999557168,0.0699996326401,0.999999995984,7.64819435795e-05,-1.62000782464e-06,-4.66828039803e-05,1793193032069268736
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.125846658,742.125846658,711.125846658,673,664,632.125846658,878,784,799,649.874153342,628.125846658,650,0.429081148945,0.00456641610986,0.0700219127148,0.99999999487,8.40957678835e-05,3.07610959894e-05,-4.73472235117e-05,1793193032085935360
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.694312719,742.694312719,711.694312719,673,664,632.694312719,878,784,799,649.305687281,628.694312719,650,0.429921151406,0.00456630311796,0.0700193922023,0.999999996002,6.71941417117e-05,3.42183680123e-05,-4.80723194714e-05,1793193032102601984
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.721515,673,664,632.721515,878,784,799,649,629,650,0.430714052013,0.00456845839227,0.0699893544484,0.999999996342,6.91567286328e-05,-1.38711943059e-05,-4.83789691614e-05,1793193032119268608
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711.11907191,673,664,632.11907191,878,784,799,649,629,650,0.431452159568,0.00457325231208,0.0699273062345,0.999999987075,9.30638174904e-05,-0.000121924539589,-4.81988451089e-05,1793193032135935232
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.539169674,711,673,663.539169674,632.460830326,878,784,798.539169674,649,629,650,0.432214852982,0.00457394777706,0.0698850060853,0.999999975887,9.79154796929e-05,-0.000190303417309,-4.92247891013e-05,1793193032152601856
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.964790623,742.035209377,711,673,663.035209377,632.964790623,878,784,798.035209377,649,629,650,0.432991153687,0.00457338118956,0.0698539536516,0.999999965753,9.66883938458e-05,-0.000237890306973,-5.05290659074e-05,1793193032169268736
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.3899609,742.6100391,711,673,663.6100391,632.3899609,878,784,798.6100391,649,629,650,0.433883178885,0.00456894548352,0.069920728121,0.999999989118,7.4239293127e-05,-0.000116603735723,-5.15457388827e-05,1793193032185935360
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+192,3.200000000,POSE1_TO_POSE2_PRESS,763,743,711,673.674088424,659,631,878.325911576,783.674088424,799.674088424,649.674088424,629,650,0.443165222408,0.00464507957835,0.0697925738621,0.999999929646,0.000179859242195,-0.000323416691868,-6.13251977204e-05,1793193032435935232
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,743,711,673.094251888,659,631,878.905748112,783.094251888,799.094251888,649.094251888,629,650,0.443566349276,0.00464523015909,0.0697536257179,0.99999990687,0.000178201150021,-0.000388508315378,-5.97124573811e-05,1793193032452601856
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763,743,711,674.628179847,659,631,878.371820153,783,799,649.628179847,629,650.628179847,0.444684506002,0.00466297946354,0.0696914096289,0.999999861173,0.000212767595291,-0.000477804532688,-6.3926064267e-05,1793193032502601984
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+198,3.300000000,POSE1_TO_POSE2_PRESS,763,743,711,674.192854443,659,630.192854443,878.807145557,783,799,649.192854443,629,651,0.445366987431,0.00467636680397,0.0696870218519,0.999999857276,0.000236071523406,-0.000474750051733,-6.58091797052e-05,1793193032535935232
+199,3.316666667,POSE1_TO_POSE2_PRESS,762.61123378,742.61123378,711,674,658.61123378,630.38876622,878.61123378,783,799.38876622,649.38876622,629,651,0.445662456085,0.00468221452735,0.0696868148295,0.999999864732,0.000203461151641,-0.000474066874426,-6.6329740545e-05,1793193032552601600
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+234,3.900000000,POSE1_TO_POSE2_PRESS,763,743,710,674,657,630,878.698003039,782.301996961,800,649,629,650.698003039,0.447856639151,0.00473824750039,0.0696305017174,0.999999793242,0.000258776856767,-0.000585018920601,-6.55950942676e-05,1793193033135935232
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,743,710,674,657,630,878.718251585,782,799.718251585,649.281748415,629,651,0.44785667749,0.0047386380607,0.0696305221674,0.999999792792,0.000259776972469,-0.000585363546117,-6.54292872499e-05,1793193033152601600
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,743,710,674,657,630,878.140747214,782,799.140747214,649.859252786,629,651,0.447856313081,0.00473905364856,0.0696307220616,0.999999792543,0.000262618142578,-0.000584598880963,-6.4729475267e-05,1793193033169268224
+237,3.950000000,POSE1_TO_POSE2_PRESS,762.567220512,742.567220512,710.432779488,674,656.567220512,630,878.432779488,782,799.432779488,650,628.567220512,650.567220512,0.447857171061,0.00473877143104,0.0696311097088,0.999999793458,0.000261088459913,-0.000583697342656,-6.49168710965e-05,1793193033185935360
+238,3.966666667,POSE1_TO_POSE2_PRESS,762.005210187,742.005210187,711,674,656.005210187,629.994789813,879,782,800,649.994789813,628,650,0.447858409486,0.00473825568755,0.0696315442399,0.999999794725,0.000258177313413,-0.000582768805117,-6.53847586285e-05,1793193033202601984
+239,3.983333333,POSE1_TO_POSE2_PRESS,762.598622851,742.598622851,711,674,656.598622851,629.401377149,879,782,800,649.401377149,628,650,0.447858126711,0.00473676288015,0.0696304410958,0.999999794112,0.000258321720065,-0.000583771758573,-6.5241265355e-05,1793193033219268608
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,742.812550946,711,674,656.812550946,629.187449054,879,782.187449054,800,649,628,650.187449054,0.447858071481,0.0047364592755,0.0696297458334,0.999999793664,0.000258707145171,-0.000584362833347,-6.52946859748e-05,1793193033235935232
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,742.233311026,711,674,656.233311026,629.766688974,879,782.766688974,800,649,628,650.766688974,0.447858491847,0.00473864124643,0.0696299030924,0.99999979356,0.000259596327562,-0.000584093032526,-6.57596801105e-05,1793193033252602112
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,742.343833176,711,674,656.343833176,630,879,783,800,649.343833176,628.343833176,650.656166824,0.447858543408,0.00473872302262,0.069630497162,0.999999793821,0.000259584680349,-0.00058367186456,-6.55843198082e-05,1793193033269268480
+243,4.050000000,POSE1_TO_POSE2_PRESS,763,742.919563902,711,674,656.919563902,630,879,783,800,649.919563902,628.919563902,650.080436098,0.447858346228,0.00473738832688,0.0696313858376,0.999999794326,0.0002589654705,-0.000583148607362,-6.49770738074e-05,1793193033285935104
+244,4.066666667,POSE1_TO_POSE2_PRESS,763,743,711,674,656.504035954,629.504035954,879,782.504035954,799.504035954,649.504035954,629,650,0.447858979701,0.00473733572134,0.0696307018399,0.999999794365,0.000258204390215,-0.000583436565807,-6.48217342545e-05,1793193033302601728
+245,4.083333333,POSE1_TO_POSE2_PRESS,763,743,711,674,656.074108794,629.074108794,878.925891206,782,799.074108794,649.074108794,629,650,0.447859707608,0.00473731355601,0.0696299866477,0.999999794429,0.000257387077759,-0.000583700163673,-6.47196037678e-05,1793193033319268352
+246,4.100000000,POSE1_TO_POSE2_PRESS,763,743,711,674,656.663630582,629.663630582,878.336369418,782,799.663630582,649.663630582,629,650,0.447860154085,0.00473605502001,0.0696308307851,0.999999795193,0.000256338919078,-0.000582878097885,-6.44771197928e-05,1793193033335935488
+247,4.116666667,HOLD_POSE2,763,743,711,674,656,629,879,783,800,650,629,651,0.447859059112,0.00473638758104,0.0696304234104,0.999999793942,0.000257227554505,-0.000584699776415,-6.38403905967e-05,1793193033374249472
+248,4.133333333,HOLD_POSE2,763,742.424666302,710.424666302,674,656.575333698,629.575333698,878.424666302,782.424666302,800,649.424666302,628.424666302,650.424666302,0.447859143092,0.00473765166582,0.0696302420348,0.999999794057,0.000258101436019,-0.000584048944342,-6.44655093259e-05,1793193033390916352
+249,4.150000000,HOLD_POSE2,763,742.150790019,710.150790019,673.849209981,657,630,878.150790019,782,800,649,628,650.150790019,0.447859042251,0.0047382678865,0.069630008101,0.999999794005,0.000258465014034,-0.000583929968092,-6.48962193328e-05,1793193033407582976
+250,4.166666667,HOLD_POSE2,763,742.726592092,710.726592092,673.273407908,657,630,878.726592092,782,800,649,628,650.726592092,0.447858420481,0.00473705805786,0.069629626028,0.999999793483,0.000257390266691,-0.000585310063964,-6.47789751098e-05,1793193033424249344
+251,4.183333333,HOLD_POSE2,763,742.689081851,711,673.310918149,656.689081851,630,878.689081851,782,800.310918149,649,628.310918149,650.689081851,0.447858343611,0.0047372462481,0.0696296668504,0.999999793006,0.000258096283578,-0.000585817640302,-6.47513101883e-05,1793193033440915968
+252,4.200000000,HOLD_POSE2,763,742.097048919,711,673.902951081,656.097048919,630,878.097048919,782,800.902951081,649,628.902951081,650.097048919,0.447858759408,0.00473869844882,0.069630090031,0.999999792566,0.000260412367845,-0.00058553633324,-6.48046378627e-05,1793193033457582592
+253,4.216666667,HOLD_POSE2,763,742.482241229,711,674,656.482241229,629.517758771,878.482241229,782.482241229,800.035517542,649.482241229,629,650,0.447857747385,0.00473861160776,0.0696285351973,0.999999791696,0.00026079400961,-0.000586862544688,-6.47094290492e-05,1793193033474249472
+254,4.233333333,HOLD_POSE2,763,743,711,673.941180124,656.941180124,629,879,782.941180124,799.058819876,649.941180124,629,650,0.447856817274,0.00473819220275,0.0696269955596,0.999999791003,0.00026069967571,-0.000588101216615,-6.45443811975e-05,1793193033490916096
+255,4.250000000,HOLD_POSE2,763,743,711,673.366470396,656.366470396,629,879,782.366470396,799.633529604,649.366470396,629,650,0.447859060892,0.00473750255491,0.0696289906342,0.999999792628,0.00025975722072,-0.000585807787714,-6.40222243037e-05,1793193033507582976
+256,4.266666667,HOLD_POSE2,763,743,711,673.208274628,656.208274628,629.208274628,879,782,800,649.208274628,629,650,0.447860359351,0.00473671477201,0.0696299533938,0.999999793523,0.000258846016894,-0.000584721784328,-6.36639609678e-05,1793193033524249856
+257,4.283333333,HOLD_POSE2,763,743,711,673.78308171,656.78308171,629.78308171,879,782,800,649.78308171,629,650,0.447859994468,0.00473575428606,0.0696290994323,0.999999793141,0.00025798981058,-0.000585760671009,-6.35941260404e-05,1793193033540916224
+258,4.300000000,HOLD_POSE2,763,743,711,674,657,630,878.629700453,782.370299547,799.629700453,650,628.629700453,650.370299547,0.44785963927,0.00473598351671,0.0696289004218,0.999999792989,0.000257338823683,-0.000586258021717,-6.40373437366e-05,1793193033557582848
+259,4.316666667,HOLD_POSE2,763,743,711,674,657,630,878.034960334,782.965039666,799.034960334,650,628.034960334,650.965039666,0.447859289941,0.00473693384099,0.0696290983806,0.999999792976,0.000256812221308,-0.000586427144624,-6.47915254137e-05,1793193033574249472
+260,4.333333333,HOLD_POSE2,763,742.458868236,711,673.458868236,656.458868236,630,878,782.458868236,799.541131764,649.458868236,628.541131764,651,0.4478589933,0.00473723971464,0.0696286278484,0.99999979288,0.000256207847483,-0.000586833134416,-6.50008828153e-05,1793193033590915840
+261,4.350000000,HOLD_POSE2,763,742,710.883801175,673.116198825,656.116198825,630,878.116198825,782.116198825,799.883801175,649.116198825,629,651,0.447859185456,0.00473727817887,0.0696285087672,0.999999793018,0.000255893746811,-0.00058673771566,-6.49783186089e-05,1793193033607582464
+262,4.366666667,HOLD_POSE2,763,742,710.308181999,673.691818001,656.691818001,630,878.691818001,782.691818001,799.308181999,649.691818001,629,651,0.44786129718,0.00473641850659,0.0696299443008,0.999999794102,0.000256746515348,-0.000584601367634,-6.41733271882e-05,1793193033624249344
+263,4.383333333,HOLD_POSE2,763,742.272890976,710.272890976,674,657,630,879,782.727109024,799,650,628.727109024,651,0.447862082256,0.004736336488,0.0696303661541,0.99999979432,0.000257797063449,-0.000583805759391,-6.38005196025e-05,1793193033640915968
+264,4.400000000,HOLD_POSE2,763,742.860248617,710.860248617,674,657,630,879,782.139751383,799,650,628.139751383,651,0.447861338566,0.00473715060085,0.0696296198902,0.999999793544,0.000259075523324,-0.00058455515645,-6.39257402944e-05,1793193033657582592
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,657,630,879,783,799,650,629,650,0.447862754923,0.0047379125549,0.0696320011448,0.999999794825,0.000259044595109,-0.000582350188791,-6.41462129579e-05,1793193033690175744
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,657,630,879,782.435525071,799.564474929,650,628.435525071,650.564474929,0.447861888805,0.00473826679224,0.0696312514113,0.999999794245,0.000258994086662,-0.000583378343108,-6.40381972011e-05,1793193033706842624
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,656.866632124,630,879,782,799.866632124,649.866632124,628.133367876,651,0.447861314261,0.00473820595907,0.0696306550876,0.999999793906,0.000258306810831,-0.000584266728872,-6.40153406711e-05,1793193033723508992
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,656.282817271,630,879,782,799.282817271,649.282817271,628.717182729,651,0.447861724504,0.00473674323478,0.0696305769014,0.999999794375,0.000255468867597,-0.000584683049794,-6.42801074676e-05,1793193033740175360
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,656,630,879,782.304818778,799,649.304818778,629,650.695181222,0.447861871744,0.00473634419322,0.0696303665316,0.999999794556,0.000254848508513,-0.000584634457898,-6.43717370263e-05,1793193033756841984
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,656,630,879,782.896045188,799,649.896045188,629,650.103954812,0.447861771868,0.00473694458771,0.0696300319622,0.99999979447,0.000256311790999,-0.000584149034034,-6.43006868726e-05,1793193033773508608
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.524419255,656,629.524419255,879,782.524419255,799.475580745,649.524419255,628.524419255,650,0.447860344055,0.00473688026027,0.0696290709325,0.999999793513,0.0002565928904,-0.000585691412604,-6.40352323283e-05,1793193033790175232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,656,629.052447655,878.947552345,782.052447655,799.947552345,649.052447655,628,650,0.447857973101,0.00473667998013,0.069627668453,0.999999792114,0.000256587198677,-0.000588107021572,-6.37619550793e-05,1793193033806841856
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,656,629.627575458,878.372424542,782.627575458,799.372424542,649.627575458,628,650,0.447849026366,0.00473653809394,0.0696231985122,0.999999788173,0.000256236856646,-0.000594913717214,-6.3824041632e-05,1793193033823508736
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,743,710.792262072,673.207737928,656,629.792262072,878,783,799.207737928,649.792262072,628,650,0.447831864384,0.00473628168093,0.0696149011951,0.999999780307,0.000255884769109,-0.000608132293525,-6.39003270481e-05,1793193033840175360
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,743,710.202849529,673.797150471,656,629.202849529,878,783,799.797150471,649.202849529,628,650,0.447799608618,0.00473581484905,0.0695995718823,0.999999764876,0.000255529474518,-0.000633131346857,-6.4002699851e-05,1793193033856841984
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742.635923753,710.364076247,674,656,629,878,783,800,649.364076247,628,650,0.447747539561,0.00473684848768,0.0695790318955,0.99999974106,0.000256933595324,-0.000669161811245,-6.39342385417e-05,1793193033873508352
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742.08079789,710.91920211,674,656,629,878,783,800,649.91920211,628,650,0.447685073443,0.00473866950067,0.0695557575975,0.999999711611,0.000259260971928,-0.000710981028353,-6.37761316794e-05,1793193033890175232
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,674.515676308,656.515676308,629.515676308,878.515676308,782.484323692,800,650,628.515676308,650,0.447614416731,0.0047396687962,0.0695411484027,0.999999697,0.000264088801763,-0.000729563767159,-6.31985549131e-05,1793193033906841856
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742,711,674.886320197,656.886320197,630,878.886320197,782,799.886320197,650,628.886320197,650.113679803,0.447539304478,0.00474045201722,0.069530002349,0.99999968623,0.000268286969539,-0.000742747921854,-6.23512726018e-05,1793193033923508480
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742,711,674.310721935,656.310721935,630,878.310721935,782,799.310721935,650,628.310721935,650.689278065,0.447451757031,0.00474092601244,0.0695269305807,0.999999680884,0.000268195913787,-0.000750079098798,-6.06984258325e-05,1793193033940175104
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742.272491933,711,674,656,630,878,782,799,649.727508067,628,651,0.447353463315,0.00474184573355,0.0695266152201,0.999999678722,0.000270799966174,-0.000752189652526,-5.86072855675e-05,1793193033956841728
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.864639501,711,674,656,630,878,782,799,649.135360499,628,651,0.447242563342,0.00474328832806,0.0695295333545,0.999999680304,0.00027656560393,-0.000748175981825,-5.60019907824e-05,1793193033973508352
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.97756099,711,674,656.02243901,630.02243901,878,782.97756099,799.02243901,649.02243901,629,651,0.446965246051,0.0047394560898,0.0695304610782,0.999999681643,0.000278425333659,-0.000746132794047,-4.97919588348e-05,1793193034006841600
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742.404235757,711,674,656.595764243,630.595764243,878,782.404235757,799.595764243,649.595764243,629,651,0.446789780655,0.00473875336483,0.0695295225901,0.9999996805,0.000282562179329,-0.000746341774033,-4.61727394768e-05,1793193034023508224
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.174427462,711,673.825572538,657,630.825572538,878,782,800.174427462,649.825572538,629,651,0.446606323009,0.00473803894739,0.0695308332698,0.999999681791,0.000287136821194,-0.000743112937875,-4.18806794865e-05,1793193034040175104
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.350039942,656.649960058,630,878.350039942,782.350039942,800.649960058,649,629,650.649960058,0.446174770015,0.00473552135721,0.0695469487729,0.999999698239,0.000298203286488,-0.000716723181298,-3.00729351338e-05,1793193034073508352
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.929485488,656.070514512,630,878.929485488,782.929485488,800.070514512,649,629,650.070514512,0.445928463738,0.00473306923824,0.0695581724074,0.999999708998,0.00030353310281,-0.000699490543379,-2.41614863494e-05,1793193034090174976
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,656.504634198,630,879,783,800,649,628.495365802,650,0.445644992964,0.00473214442415,0.0695626484559,0.999999713129,0.000310671214761,-0.00069057832802,-1.80681983101e-05,1793193034106841856
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.920641989,657.079358011,630,879,783,800,649.079358011,628.158716022,650,0.445348625255,0.00473087314053,0.069565751464,0.999999715428,0.000318030035346,-0.000684007424782,-1.16453455732e-05,1793193034123508736
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.344851673,657.655148327,630,879,783,800,649.655148327,629.310296654,650,0.445003791251,0.00472611070425,0.0695661136799,0.999999712592,0.000325202203066,-0.000684871197589,-3.31847123131e-06,1793193034140175360
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.237226652,658,630.237226652,878.762773348,783,800,650,629.525546696,650.237226652,0.444643354966,0.00472176598291,0.0695681314699,0.99999971155,0.0003316534044,-0.000683290640151,4.55871420343e-06,1793193034156841984
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.82869458,658,630.82869458,878.17130542,783,800,650,628.342610839,650.82869458,0.444259620426,0.00471804501922,0.069572621464,0.999999713254,0.000337028014436,-0.000678060060014,1.17643962915e-05,1793193034173508608
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,658.409124006,631,878,783,799.590875994,649.590875994,628.409124006,650.590875994,0.443835760157,0.00471052133878,0.0695842430634,0.999999730253,0.000326820455837,-0.00065759307991,1.59193166378e-05,1793193034190175488
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,658.985052884,631,878,783,799.014947116,649.014947116,628.985052884,650.014947116,0.443395540146,0.0047014472442,0.0695987723054,0.999999752666,0.000310259855672,-0.000630914032353,1.8830403835e-05,1793193034206842368
+297,4.950000000,POSE2_TO_POSE3_RETREAT,762.439419646,743,711,674,658.439419646,631,878,783,799,649.560580354,629,650,0.442923856457,0.00467510613857,0.0696173097169,0.999999783939,0.00025522873824,-0.000605599706467,1.51514910077e-05,1793193034223508992
+298,4.966666667,POSE2_TO_POSE3_RETREAT,762.135943142,742.864056858,711,674,658.135943142,631,878,783,799,649.864056858,629,650,0.44244649663,0.00464776693816,0.0696389734485,0.999999814225,0.000203296941252,-0.000574479689215,1.38894025033e-05,1793193034240175872
+299,4.983333333,POSE2_TO_POSE3_RETREAT,762.710808632,742.289191368,711,674,658.710808632,631,878,783,799,649.289191368,629,650,0.441953516993,0.00461869061832,0.0696703863751,0.999999848671,0.00016468153146,-0.000524497325761,2.0997487566e-05,1793193034256843520
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763,742.29453853,711,674,659,631,878,783,799,649.29453853,629,650.29453853,0.441441995486,0.00460546413185,0.0697003654034,0.999999878455,0.000140206203414,-0.00047205270836,2.44580311595e-05,1793193034273510400
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742.887242046,711,674,659,631,878,783,799,649.887242046,629,650.887242046,0.440911703758,0.00460828262365,0.0697288928827,0.999999904258,0.000130045049988,-0.000417115515334,2.42261244101e-05,1793193034290176512
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742.531376988,711,674,659,631.468623012,878,783,799,649.531376988,629,650.531376988,0.440305702956,0.00460602076082,0.0697504472644,0.999999920219,0.000117558338849,-0.000380914991626,2.54006446242e-05,1793193034306842624
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,742.046914058,711,674,659.046914058,632,878,783,799.046914058,649,629,650,0.439675664129,0.00460235871642,0.0697668261557,0.999999930235,0.000113523944561,-0.000354853127682,2.68565794217e-05,1793193034323508480
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742.620381439,711,674,659.620381439,632,878,783,799.620381439,649,629,650,0.438975464868,0.00459637774677,0.0697435038666,0.999999900167,0.000210488808204,-0.000393178557259,2.77624372951e-05,1793193034340175360
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,742.800171892,711,674,659.800171892,632,877.800171892,783,799.800171892,649,629,650,0.438280906074,0.00459063520841,0.069725189547,0.999999876926,0.000264684321822,-0.000418640169453,2.88140078841e-05,1793193034356842240
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742.209015879,711,674,659.209015879,632,877.209015879,783,799.209015879,649,629,650,0.437597393177,0.0045853595958,0.0697166824484,0.999999884161,0.000235123647863,-0.000418910281597,3.01509314015e-05,1793193034373509376
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.373041304,711,674,660.492165215,632.373041304,877.373041304,783.373041304,799.373041304,649,629,650.373041304,0.43689319796,0.00458085240611,0.0697387780351,0.999999904441,0.000206186694777,-0.000384127371535,3.24218427421e-05,1793193034390175744
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.95012176,711,674,662.80048704,632.95012176,877.95012176,783.95012176,799.95012176,649,629,650.95012176,0.436177690336,0.00457676551419,0.0697776121062,0.999999929104,0.000177590893266,-0.000330171814209,3.52036091332e-05,1793193034406842112
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742.895219045,711,673.895219045,662,632,877.104780955,783.104780955,799,649,629,651,0.434613901789,0.00457557349711,0.0698420883165,0.999999955402,0.000163232284743,-0.000246461047074,4.25135333982e-05,1793193034440175360
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742.306426097,711,673.306426097,662,632,877.693573903,783.693573903,799,649,629,651,0.433800527767,0.00457534312647,0.0698377244263,0.999999949656,0.000175329847957,-0.000261666857028,3.84366170042e-05,1793193034456841984
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.277308788,742.277308788,711,673.277308788,662,632,878,784,799,649,629,650.722691212,0.43298000964,0.00457328127069,0.06983649842,0.999999949113,0.000177486606986,-0.000262398683049,3.76644932523e-05,1793193034473508864
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,762.991220485,742.991220485,711,672.991220485,661.982440969,632,877.008779515,783,799,649,628.008779515,650,0.430298551688,0.00456679653496,0.0697686205056,0.999999918687,0.000151874768099,-0.000371070571891,4.32004312686e-05,1793193034523508992
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,762.756092501,742.756092501,711,672.756092501,662.268277504,632,877.243907499,783,799,649.756092501,629,650,0.427692983585,0.00455160142607,0.0697923894225,0.999999934812,0.000151793709588,-0.000324533742314,4.4856515549e-05,1793193034573508352
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,762.081785493,742.081785493,711,673,663,632,877.918214507,783,799,649.081785493,629,650,0.425919612949,0.00454683978736,0.0698735045807,0.999999961815,0.000182347586276,-0.00020188021058,4.86138210942e-05,1793193034606841600
+321,5.350000000,POSE2_TO_POSE3_RETREAT,762.495656298,742.495656298,711,673,662.504343702,632,878,783,799,649,629,650.495656298,0.424992289434,0.0045418341854,0.0698587202652,0.999999961772,0.000156636185703,-0.000223031084157,4.66684565406e-05,1793193034623508224
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.074039405,662.074039405,632,877.925960595,783,799,649,629,650.925960595,0.424056277023,0.00453591007899,0.0698328693317,0.999999956315,0.000128098001391,-0.000262637761117,4.45127315552e-05,1793193034640174848
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.659932888,662.659932888,632,877.340067112,783,799,649,629,650.340067112,0.423076718499,0.004528377394,0.0697869250958,0.999999929764,0.000139966123677,-0.000344789180343,4.47366568805e-05,1793193034656841728
+324,5.400000000,POSE2_TO_POSE3_RETREAT,762.757235991,743,711,673.757235991,662.271707973,632,877,783,798.757235991,649,629,650,0.422100993766,0.00452143533672,0.0697395004828,0.999999898363,0.0001390387668,-0.000426558798955,4.46072124585e-05,1793193034673508352
+325,5.416666667,POSE2_TO_POSE3_RETREAT,762.178641144,743,711,673.178641144,660.535923432,632,877,783,798.178641144,649,629,650,0.421130572418,0.0045153103311,0.0696900279637,0.999999862853,0.000120410614785,-0.000507800261025,4.39889294198e-05,1793193034690174976
+326,5.433333333,POSE2_TO_POSE3_RETREAT,762.398696937,742.601303063,711,673,660.398696937,632,877,783.398696937,798.398696937,649.398696937,628.601303063,650,0.420277287188,0.00450632402192,0.0697222385651,0.999999890349,0.000109461716654,-0.000453095934843,4.49941605159e-05,1793193034706841600
+327,5.450000000,POSE2_TO_POSE3_RETREAT,762.975473642,742.024526358,711,673,660.975473642,632,877,783.975473642,798.975473642,649.975473642,628.024526358,650,0.419476321387,0.00449605969909,0.0697909333003,0.999999936701,0.000101942791698,-0.000337670805753,4.67245410743e-05,1793193034723508224
+328,5.466666667,POSE2_TO_POSE3_RETREAT,762.447892821,742,711,673,662.104214358,632,878.104214358,783.447892821,799,649.447892821,628,650,0.41865839412,0.00449017402935,0.0698493765459,0.999999964016,9.68116149649e-05,-0.000245347261527,4.89977582015e-05,1793193034740175104
+329,5.483333333,POSE2_TO_POSE3_RETREAT,762.130787754,742,711,672.869212246,662.869212246,632,878.738424493,783,799.130787754,649,628.130787754,650.130787754,0.417825031211,0.00448352209241,0.0698879820767,0.999999977531,8.91669433138e-05,-0.000185637404392,5.02559348171e-05,1793193034756841728
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.544454523,661.455545477,632,877.544454523,783.544454523,798.455545477,649,628,651,0.414334567634,0.00445298845133,0.0697620149921,0.999999926688,4.29819718378e-05,-0.000377998630141,4.35173339388e-05,1793193034823508480
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742.968633422,711,672.031366578,661.937266845,632,877,783,799,649.031366578,628,651,0.413477293284,0.00444831915348,0.0697298825119,0.999999898014,4.7460371293e-05,-0.000446910822163,4.461351912e-05,1793193034840175360
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742.390699704,711,672.609300296,660.781399407,632,877,783,799,649.609300296,628,651,0.412767245297,0.00443784538446,0.0697671862638,0.99999992983,2.08297717696e-05,-0.000371512952928,4.34036993646e-05,1793193034856842240
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,711.190438098,672.809561902,660.761752391,632,877,783,799,650,628,651,0.412073552717,0.00442821745093,0.0698123783892,0.999999957291,6.37805228671e-07,-0.000289119737152,4.27417969941e-05,1793193034873508864
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742,711.778261941,672.221738059,663.113047763,632,877,783,799,650,628,651,0.411413988709,0.00442035451399,0.0698740311307,0.99999998059,-6.11871906877e-06,-0.000192129372509,4.32232297004e-05,1793193034890175488
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711.736017221,672.263982779,662,632,877,783.263982779,799.736017221,649,628.736017221,651,0.407427483246,0.00446803214151,0.069778666676,0.999999937088,5.11253138746e-05,-0.000348763475152,3.9674926173e-05,1793193034990175232
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711.156421472,672.843578528,662,632,877,783.843578528,799.156421472,649,628.156421472,651,0.406872739439,0.00446005157154,0.0697932158472,0.999999942091,4.49910469226e-05,-0.000334873533093,4.06552808208e-05,1793193035006842112
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.57724584,742,711,672.57724584,661.57724584,632,877,784,799,649.42275416,628.42275416,651,0.406341466579,0.00445544963796,0.0697966138125,0.999999941903,3.52669742596e-05,-0.000336490361632,4.15160033738e-05,1793193035023508736
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742.001754018,711,672.001754018,661,632,877.001754018,784,799.001754018,650,628.998245982,651,0.405819120174,0.00445212619996,0.0697959036258,0.999999939713,2.42798301737e-05,-0.000343791699089,4.23288771693e-05,1793193035040175104
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742.574075887,711,672.574075887,661,632,877.574075887,784,799.574075887,650,628.425924113,651,0.40537833598,0.0044584385749,0.0697996701562,0.9999999422,3.40657007094e-05,-0.000335677501498,4.19615260367e-05,1793193035056841728
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.151088777,743,711,672.848911223,661,632,878,784,799.848911223,650,628.151088777,651,0.404949872395,0.00446596453297,0.0698065559689,0.999999946279,4.538857552e-05,-0.000321969233576,4.14378910185e-05,1793193035073508608
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.741749684,743,711,672.258250316,661,632,878,784,799.258250316,650,628.741749684,651,0.404557253829,0.00447702124665,0.0698225169079,0.999999954682,6.11831563096e-05,-0.000291985781198,4.04595693136e-05,1793193035090175232
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.6739216,742.6739216,711,672,661.3260784,632,877.6739216,784,799,650,628.6739216,651,0.404184369088,0.00447996225578,0.0698351152457,0.999999961149,6.17798827221e-05,-0.000268869533422,3.99217399194e-05,1793193035106841856
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.094512408,742.094512408,711,672,661.905487592,632,877.094512408,784,799,650,628.094512408,651,0.403826815608,0.00447659816137,0.0698451011727,0.99999996641,5.05693726329e-05,-0.000251088428959,3.97261297244e-05,1793193035123508480
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.481744329,742,711.481744329,672,662,632,877,784,799,650,628.481744329,651,0.403490786647,0.00446858714127,0.0698379698383,0.999999964275,3.78489418092e-05,-0.000261639375615,3.95165523021e-05,1793193035140175104
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.058498722,711.941501278,672.058498722,661.941501278,632.058498722,877.058498722,784,799,650,629,651,0.403163104495,0.00445989219401,0.0698274549456,0.999999960172,2.45686316138e-05,-0.00027839618853,3.93453472766e-05,1793193035156841728
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.645296545,711.354703455,672.645296545,661.354703455,632.645296545,877.645296545,784,799,650,629,651,0.402872913525,0.00445320045939,0.0698165138687,0.99999995378,8.88990748946e-06,-0.000301326537923,3.95452673135e-05,1793193035173508352
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,661,633,877.770901417,784,799,650,629,651,0.402596505321,0.00444906903694,0.0698054005855,0.999999947502,-2.88480244324e-06,-0.000321619252814,3.93660684267e-05,1793193035190175232
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,661,633,877.191677808,784,799,650,629,651,0.402341160965,0.00444885046932,0.0697940241254,0.999999942135,-8.69311407041e-06,-0.000337880942,3.86074725899e-05,1793193035206841856
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,661,632.613895537,877.386104463,783.613895537,799.386104463,650,629,651,0.402125791258,0.00444705155298,0.069789368674,0.999999939838,-1.47235850097e-05,-0.000344356265971,3.9073140681e-05,1793193035223508480
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,661,632.03682609,877.96317391,783.03682609,799.96317391,650,629,651,0.401930192753,0.00444447100548,0.0697880373927,0.999999939122,-2.08639351518e-05,-0.000345991313091,4.01443224013e-05,1793193035240175104
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.460334734,742.460334734,711,672.460334734,661.539665266,632,877.460334734,783,800,650,628.460334734,651,0.401772729427,0.00444387296137,0.0697916325114,0.999999941016,-1.61945643234e-05,-0.00034045879682,4.23580865286e-05,1793193035256841984
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763,742.118584782,711,672,662,632.118584782,877,783.118584782,800,649.881415218,628.118584782,651,0.401624296296,0.00444394511677,0.0697948659893,0.999999942783,3.08622107431e-07,-0.000335350816945,4.44200622614e-05,1793193035273508608
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763,742.707286887,711,672,662,632.707286887,877,783.707286887,800,649.292713113,628.707286887,651,0.401501356904,0.00444613846576,0.0697953344888,0.999999941381,6.0804592474e-05,-0.000333862800883,4.55715218331e-05,1793193035290175232
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.29138855,742.70861145,711.29138855,672,661.70861145,632.70861145,877,783.70861145,799.70861145,649,629,651,0.401390010435,0.00445589586314,0.0697948658521,0.999999938389,0.000100747849024,-0.000333172137097,4.54745527745e-05,1793193035306842112
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.87094065,742.12905935,711.87094065,672,661.12905935,632.12905935,877,783.12905935,799.12905935,649,629,651,0.401290128591,0.00447313359223,0.0697934704511,0.999999936247,0.000120365859419,-0.000333270001633,4.41429723518e-05,1793193035323508736
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742.447528728,711.552471272,672,661,632.447528728,877.447528728,783.447528728,799.447528728,649,628.552471272,651,0.401213449957,0.00448212162819,0.0697922684334,0.999999939229,9.53057108451e-05,-0.000333585257487,3.43580478072e-05,1793193035340175360
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742.976290156,711,672.023709844,661.023709844,632.976290156,877.952580312,783.976290156,800,649,628.023709844,650.976290156,0.401144312387,0.0044881317035,0.0697912896228,0.999999942312,5.86106863691e-05,-0.00033380011337,2.27614767818e-05,1793193035356841728
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742.389609472,711,672.610390528,661.610390528,632.389609472,876.779218943,783.389609472,800,649,628.610390528,650.389609472,0.401096394844,0.00447954982946,0.0697942952222,0.999999943942,4.95714474484e-05,-0.00033015229317,2.56514310636e-05,1793193035373508608
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.805308318,742,711,672.805308318,661.805308318,632,876.194691682,783,799.805308318,649,629,650.194691682,0.401053919798,0.00447420450414,0.0697969943437,0.999999945385,4.5063696491e-05,-0.000326222337078,2.78820839683e-05,1793193035390175488
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.225711561,742,711,672.225711561,661.225711561,632,876.774288439,783,799.225711561,649,629,650.774288439,0.401022204563,0.00447525783034,0.0697990875589,0.999999946603,4.95146894641e-05,-0.000321734599359,2.88092989996e-05,1793193035406841856
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.351696666,742.351696666,711,672,661.351696666,632,877,783,799,649.351696666,629,651,0.400999836704,0.00447322318882,0.0698013035316,0.99999994828,4.76747418205e-05,-0.000316677414327,2.97049047765e-05,1793193035423508480
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.927709084,742.927709084,711,672,661.927709084,632,877,783,799,649.927709084,629,651,0.400983430693,0.00446921900982,0.0698035978007,0.999999950217,4.1822367989e-05,-0.000311257029492,3.05803499359e-05,1793193035440175104
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742.494962554,711,672.505037446,661.494962554,632,877,783.505037446,799,649.494962554,628.494962554,651,0.400971488326,0.00446916799699,0.0698049609814,0.999999950516,4.11363415848e-05,-0.000310361179127,3.08545618309e-05,1793193035456841728
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.916363097,742,711,673,661.083636903,632.083636903,877,784,799,649.083636903,628,651,0.400961302577,0.00446957979703,0.0698062857615,0.999999950706,4.11743535169e-05,-0.000309722796239,3.10556451029e-05,1793193035473508352
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.331274747,742,711,673,661.668725253,632.668725253,877,784,799,649.668725253,628,651,0.400957808029,0.00446936493681,0.0698081814604,0.999999951621,4.11080238984e-05,-0.000306734956526,3.1335609634e-05,1793193035490175232
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.748612548,662,632.748612548,877,784,799.251387452,650,628.251387452,651,0.400955218258,0.00446910738154,0.0698094997235,0.999999952304,4.08163527649e-05,-0.000304532004469,3.14164218548e-05,1793193035506841600
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.169116971,662,632.169116971,877,784,799.830883029,650,628.830883029,651,0.400953809391,0.0044687941012,0.0698100643238,0.999999952691,4.02305683787e-05,-0.000303353479294,3.12373026631e-05,1793193035523508224
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.409538067,742.409538067,711,672.409538067,662,632,877,784,800,649.590461933,629,651,0.400954442163,0.00446867562282,0.069811610111,0.999999953533,4.02790132583e-05,-0.000300561402745,3.12286777144e-05,1793193035540174848
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.987846705,742.987846705,711,672.987846705,662,632,877,784,800,649.012153295,629,651,0.400955916294,0.0044686374223,0.069813560245,0.999999954551,4.05888239293e-05,-0.000297104381963,3.12903134198e-05,1793193035556841472
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.439415971,742.439415971,711,672.439415971,662.560584029,632.560584029,877.560584029,783.439415971,799.439415971,649.560584029,628.439415971,651,0.400954350894,0.00446847921191,0.069813451283,0.999999954317,4.14729078365e-05,-0.000297791681802,3.10929698122e-05,1793193035573509888
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.137297961,742,711,672,662.725404077,632.862702039,878,783.137297961,799.274595923,649.862702039,628.137297961,651,0.400953189667,0.00446849663595,0.069813398536,0.999999954194,4.24655264224e-05,-0.000298071104621,3.10299502243e-05,1793193035590177280
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.727524644,742,711,672,661.544950713,632.272475356,878,783.727524644,800.455049287,649.272475356,628.727524644,651,0.400953577001,0.00446910195445,0.0698136770498,0.999999954529,4.37755200335e-05,-0.000296711512918,3.14283883126e-05,1793193035606842880
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.688629461,742,711,672,661,632,877.688629461,784,800.377258922,649.311370539,629,651,0.400954634874,0.00446911612194,0.0698150957662,0.999999955264,4.30923001824e-05,-0.000294314566975,3.15394812913e-05,1793193035623508736
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.110255098,742,711,672,661,632,877.110255098,784,799.220510196,649.889744902,629,651,0.40095626774,0.00446862337069,0.0698174922196,0.99999995633,4.06998769712e-05,-0.000291028077667,3.14041725724e-05,1793193035640175360
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.467187255,742,711,671.532812745,661.467187255,632,877,784,799,649.532812745,629,651,0.400956284138,0.00446906503017,0.0698176919806,0.999999956304,4.15033063461e-05,-0.000290990449334,3.15288936968e-05,1793193035656842496
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.044089021,662,632.044089021,877,784,799,649.044089021,629,651,0.400955883689,0.00446959046702,0.0698174017223,0.999999956048,4.27120290624e-05,-0.000291676187018,3.16845817509e-05,1793193035673509376
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.617139159,662,632.617139159,877,784,799,649.617139159,629,651,0.400955049828,0.00446848060763,0.0698174397501,0.999999956123,3.97525720216e-05,-0.000291860054427,3.14770156173e-05,1793193035690175744
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.803152098,742,711,672,662,632.803152098,877,783.803152098,799,649.803152098,629,651,0.400954792061,0.00446783522582,0.0698177501469,0.999999956317,3.854027922e-05,-0.00029137304484,3.13562158094e-05,1793193035706842112
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.210039277,742,711,672,662,632.210039277,877,783.210039277,799,649.210039277,629,651,0.400955694003,0.00446812486127,0.0698186088364,0.999999956757,4.08451177923e-05,-0.000289535525454,3.14100810768e-05,1793193035723508736
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.373647067,742,711,672,662,632,877,783.373647067,799,649.373647067,629,651,0.400955076139,0.00446924050671,0.0698184923347,0.999999956491,4.30462001812e-05,-0.000290130956219,3.14381715021e-05,1793193035740175360
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.952164853,742,711,672,662,632,877,783.952164853,799,649.952164853,629,651,0.400953624965,0.00447080905349,0.0698178411357,0.999999955835,4.51903929695e-05,-0.000292060373824,3.14521295772e-05,1793193035756841728
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,661.472536289,632.527463711,877.527463711,784,799,650,629,651,0.40095299391,0.00446965392227,0.0698170110655,0.99999995565,4.16359339566e-05,-0.00029324684984,3.11747875711e-05,1793193035773508352
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.895261527,742.104738473,711,672,661.104738473,632.895261527,877.895261527,783.895261527,799,649.895261527,629,651,0.400952760263,0.00446866062079,0.0698165230074,0.999999955645,3.877990397e-05,-0.000293679903392,3.09427338014e-05,1793193035790175232
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.307537368,742.692462632,711,672,661.692462632,632.307537368,877.307537368,783.307537368,799,649.307537368,629,651,0.400954018305,0.00446954570247,0.0698176864363,0.999999956331,4.15132880617e-05,-0.000290947475005,3.10406023589e-05,1793193035806842112
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.276130713,742.723869287,711,672,662,632,877,783.276130713,799,649,628.723869287,651,0.400954063858,0.00447012381957,0.0698177268381,0.999999956425,4.28613670923e-05,-0.000290428928083,3.10345660311e-05,1793193035823508736
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.855346854,742.144653146,711,672,662,632,877,783.855346854,799,649,628.144653146,651,0.400952778563,0.00447036500763,0.0698165345877,0.99999995588,4.26889137741e-05,-0.000292340372049,3.09144820746e-05,1793193035840175616
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.566602867,742,711.433397133,672,662,632,877,784,799,649,628.433397133,650.566602867,0.400953926557,0.00446954844353,0.0698175510528,0.999999956293,4.26045164022e-05,-0.000290926183845,3.1005549549e-05,1793193035856842240
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763,742,711.989018806,671.989018806,661.989018806,632,877.010981194,783.989018806,799,649.010981194,628.989018806,650.010981194,0.400955842175,0.00446841365283,0.0698192765478,0.99999995701,4.2522968489e-05,-0.000288445240662,3.11595686346e-05,1793193035873508608
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21a73d6817486fa62a74505f86c990a39cd839bf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,403 @@
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+356,5.933333333,pose2_to_pose3_retreat,0.57710437765,0.0100545849217,1.06002926538,0.547675109064,0.0187273184799,1.05969855826
+357,5.950000000,pose2_to_pose3_retreat,0.576886566796,0.0100546068168,1.06002927107,0.547457296553,0.018727334701,1.05969856253
+358,5.966666667,pose2_to_pose3_retreat,0.576694103731,0.0100546524858,1.06002926218,0.547264834083,0.0187273823405,1.05969855225
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+362,6.033333333,pose2_to_pose3_retreat,0.576146719512,0.0100546351231,1.06002930781,0.54671744895,0.0187273615655,1.0596985919
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+365,6.083333333,pose2_to_pose3_retreat,0.575907831031,0.0100547290108,1.0600292111,0.546478560435,0.0187274556086,1.05969850253
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+367,6.116666667,pose2_to_pose3_retreat,0.575814694669,0.0100546264251,1.06002916567,0.546385424776,0.0187273552851,1.05969845408
+368,6.133333333,pose2_to_pose3_retreat,0.575783904845,0.0100546042109,1.06002914364,0.546354635732,0.0187273359856,1.05969843688
+369,6.150000000,pose2_to_pose3_retreat,0.575760184851,0.0100545050145,1.06002914626,0.546330916599,0.0187272396368,1.05969843798
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+372,6.200000000,pose2_to_pose3_retreat,0.575723140712,0.0100545236477,1.06002924092,0.546293871508,0.0187272550647,1.05969853285
+373,6.216666667,pose2_to_pose3_retreat,0.575717979306,0.0100545334178,1.06002910297,0.546288710208,0.0187272652586,1.05969839663
+374,6.233333333,pose2_to_pose3_retreat,0.575715103424,0.0100545684653,1.06002905584,0.546285834073,0.0187272992815,1.05969834519
+375,6.250000000,pose2_to_pose3_retreat,0.575714202037,0.0100545796048,1.06002905235,0.546284932587,0.0187273100274,1.05969834025
+376,6.266666667,pose2_to_pose3_retreat,0.575713670668,0.0100545871726,1.06002912345,0.546284401029,0.0187273168941,1.05969840976
+377,6.283333333,pose2_to_pose3_retreat,0.575713358869,0.0100545916133,1.06002916516,0.546284089119,0.0187273209233,1.05969845055
+378,6.300000000,pose2_to_pose3_retreat,0.57571332315,0.0100545921221,1.06002916994,0.546284053387,0.0187273213849,1.05969845522
+379,6.316666667,pose2_to_pose3_retreat,0.57571329353,0.0100545925439,1.0600291739,0.546284023757,0.0187273217677,1.05969845909
+380,6.333333333,pose2_to_pose3_retreat,0.575713239512,0.0100545933132,1.06002918113,0.54628396972,0.0187273224657,1.05969846616
+381,6.350000000,pose2_to_pose3_retreat,0.575712942368,0.0100545975452,1.06002922088,0.54628367247,0.0187273263056,1.05969850503
+382,6.366666667,pose2_to_pose3_retreat,0.575712528291,0.0100546034426,1.06002927628,0.546283258246,0.0187273316566,1.0596985592
+383,6.383333333,pose2_to_pose3_retreat,0.575712301914,0.0100546066667,1.06002930657,0.546283031788,0.018727334582,1.05969858882
+384,6.400000000,pose2_to_pose3_retreat,0.575712277754,0.0100546070108,1.0600293098,0.54628300762,0.0187273348942,1.05969859198
+385,6.416666667,pose2_to_pose3_retreat,0.57571218957,0.0100546082668,1.0600293216,0.546282919404,0.0187273360338,1.05969860351
+386,6.433333333,pose2_to_pose3_retreat,0.575712003897,0.0100546109111,1.06002934644,0.546282733666,0.0187273384331,1.0596986278
+387,6.450000000,pose2_to_pose3_retreat,0.575711656727,0.0100546158556,1.06002939289,0.546282386371,0.0187273429195,1.05969867322
+388,6.466666667,pose2_to_pose3_retreat,0.575711340727,0.0100546203561,1.06002943516,0.54628207026,0.018727347003,1.05969871456
+389,6.483333333,pose2_to_pose3_retreat,0.575711067402,0.0100546309119,1.06002938136,0.546281796673,0.0187273567602,1.05969866306
+390,6.500000000,pose2_to_pose3_retreat,0.575710843228,0.0100546398132,1.06002933393,0.546281572279,0.0187273649905,1.05969861763
+391,6.516666667,pose2_to_pose3_retreat,0.575710707805,0.0100546451905,1.06002930527,0.546281436723,0.0187273699624,1.05969859019
+392,6.533333333,pose2_to_pose3_retreat,0.575710594574,0.0100546496865,1.06002928132,0.546281323381,0.0187273741196,1.05969856724
+393,6.550000000,pose2_to_pose3_retreat,0.575710469805,0.0100546546408,1.06002925492,0.546281198489,0.0187273787003,1.05969854195
+394,6.566666667,pose2_to_pose3_retreat,0.575710057509,0.0100546710119,1.06002916768,0.546280785788,0.0187273938373,1.0596984584
+395,6.583333333,pose2_to_pose3_retreat,0.575709849832,0.0100546817982,1.06002913617,0.546280577858,0.0187274038419,1.0596984289
+396,6.600000000,pose2_to_pose3_retreat,0.57570967234,0.0100546945503,1.06002912652,0.546280400082,0.018727415703,1.05969842119
+397,6.616666667,pose2_to_pose3_retreat,0.575709315748,0.0100547201698,1.06002910715,0.546280042919,0.0187274395325,1.0596984057
+398,6.633333333,pose2_to_pose3_retreat,0.575709257142,0.0100547338644,1.0600291963,0.546279984558,0.0187274538874,1.05969849038
+399,6.650000000,pose2_to_pose3_retreat,0.575709246638,0.0100547406026,1.06002925397,0.546279974251,0.018727461175,1.05969854495
+400,6.666666667,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628183,1.05969855726
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff692565364c1f43bca3c854262fbbbbb4b9f98e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd05037005cc59aa6e4f5ec0e5374ccc8e74e0af1bcd15fc7e9b8efdcb7c366e
+size 24853261
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..211b62d1ddef8c5d0ff351bfef58d47e64fca037
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_01/franka_data.csv
@@ -0,0 +1,392 @@
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+29,0.483333333,BASELINE,763.830720467,742,711,672.830720467,659,632.830720467,877,784,800,649.830720467,629,651,0.401014325084,0.00446904926393,0.0798556948252,0.999999983441,7.468930892e-05,-0.000161101071199,3.9820689146e-05,1793193037792578816
+30,0.500000000,BASELINE,763.586760287,742.413239713,711,672.586760287,659.413239713,633,877.413239713,784,799.586760287,649.586760287,629,651,0.40101295683,0.00446796967807,0.0798547142874,0.999999983392,7.25929858941e-05,-0.000162345440199,3.98771404946e-05,1793193037809245440
+31,0.516666667,BASELINE,763.007811021,742.992188979,711,672.007811021,659.992188979,633,877.992188979,784,799.007811021,649.007811021,629,651,0.401010747477,0.00446615541971,0.0798533244031,0.999999983238,7.02464217675e-05,-0.000164253590718,4.0129815984e-05,1793193037825912064
+32,0.533333333,BASELINE,763,742.4350046,711,672,660,633,877.4350046,784,799,649,629,651,0.401011609455,0.00446719151393,0.0798542967222,0.999999983201,7.24736772023e-05,-0.000163506830232,4.01303803829e-05,1793193037842578944
+33,0.550000000,BASELINE,763,742.138418466,711,672,660,633,877,784,799,649.138418466,629,651,0.401012319909,0.00446780057899,0.0798550072041,0.99999998316,7.41588659327e-05,-0.000162984726285,4.02076094718e-05,1793193037859245568
+34,0.566666667,BASELINE,763,742.71405456,711,672,660,633,877,784,799,649.71405456,629,651,0.401012419074,0.00446693767016,0.0798547885856,0.999999983114,7.39342639923e-05,-0.00016328692593,4.05378875311e-05,1793193037875912192
+35,0.583333333,BASELINE,763.299098712,743,711.299098712,672,660,632.700901288,877.299098712,784,799,650,629,651,0.401012122199,0.00446722638575,0.0798545271157,0.999999983009,7.42272205782e-05,-0.000163805067297,4.05068133095e-05,1793193037892578816
+36,0.600000000,BASELINE,763.893429361,743,711.893429361,672,660,632.106570639,877.893429361,784,799,650,629,651,0.401011434405,0.00446865183734,0.0798542233486,0.999999982844,7.50310446214e-05,-0.00016453635871,4.01190584408e-05,1793193037909245440
+37,0.616666667,BASELINE,763.527187753,742.527187753,711.527187753,672.472812247,659.527187753,632,877.527187753,783.527187753,799,650,628.527187753,651,0.401011669002,0.00446880319059,0.0798541024662,0.999999982826,7.5405152844e-05,-0.000164463453563,4.01619954924e-05,1793193037925912064
+38,0.633333333,BASELINE,763,742,711,672.951235009,659,632,877,783.048764991,798.951235009,650,628.048764991,651,0.40101202347,0.00446857146826,0.0798540292181,0.999999982853,7.53984614138e-05,-0.000164278394487,4.02823570964e-05,1793193037942578688
+39,0.650000000,BASELINE,763,742,711,672.377051098,659,632,877,783.622948902,798.377051098,650,628.622948902,651,0.401011498072,0.00446721167663,0.0798540386736,0.999999983001,7.23004436088e-05,-0.000164778108226,4.02230292093e-05,1793193037959245568
+40,0.666666667,BASELINE,763.203130669,742.203130669,711,672,659.203130669,632,877,784,798.203130669,650,629,651,0.40101093381,0.00446699165908,0.0798538393361,0.999999982988,7.14581705671e-05,-0.000165225020477,4.02337850083e-05,1793193037975912192
+41,0.683333333,BASELINE,763.794784355,742.794784355,711,672,659.794784355,632,877,784,798.794784355,650,629,651,0.401010295217,0.00446895165935,0.0798532406455,0.999999982671,7.49304050281e-05,-0.000165570940601,4.03785881474e-05,1793193037992578816
+42,0.700000000,BASELINE,764,743,711,672,659.622402041,632,877,784,799,649.622402041,629,651,0.401010819689,0.00446943191101,0.0798537922889,0.999999982754,7.56578020251e-05,-0.000164736869586,4.03598493378e-05,1793193038009245696
+43,0.716666667,BASELINE,764,743,711,672,659.044282929,632,877,784,799,649.044282929,629,651,0.4010119618,0.00446912635089,0.0798549548102,0.999999983053,7.49275692774e-05,-0.000163276171275,4.02542625433e-05,1793193038025912320
+44,0.733333333,BASELINE,764,742.468304512,711,672,659,632.531695488,877,784,799,649.531695488,629,651,0.401012192256,0.0044686543876,0.0798551351667,0.999999983183,7.42832789836e-05,-0.000162763582521,4.02919894938e-05,1793193038042578944
+45,0.750000000,BASELINE,763.890261316,742.109738684,711.109738684,672,659.109738684,632.890261316,877,784,799,649.890261316,629,651,0.401012084921,0.00446808640728,0.0798550423891,0.999999983215,7.36404750479e-05,-0.000162859579553,4.0301528048e-05,1793193038059245568
+46,0.766666667,BASELINE,763.302449539,742.697550461,711.697550461,672,659.697550461,632.302449539,877,784,799,649.302449539,629,651,0.40101083546,0.00446716026652,0.079854114645,0.999999982876,7.29730887681e-05,-0.000165264234499,4.01364741599e-05,1793193038075912192
+47,0.783333333,BASELINE,763.281384488,743,711.718615512,672,660,632.281384488,877,783.718615512,799,649.281384488,629,651,0.401010455203,0.00446687339623,0.079853759612,0.999999982798,7.21322139695e-05,-0.000166123090848,4.00428495549e-05,1793193038092579072
+48,0.800000000,BASELINE,763.861002652,743,711.138997348,672,660,632.861002652,877,783.138997348,799,649.861002652,629,651,0.401010996197,0.00446726407554,0.0798540115838,0.999999983002,7.11074621488e-05,-0.000165343587117,4.00249313683e-05,1793193038109245696
+49,0.816666667,BASELINE,763.562388288,743,711.437611712,672,660,632.562388288,877.437611712,783,799.437611712,649.562388288,629,651,0.401010451948,0.00446839313876,0.0798535598271,0.999999982796,7.26220862344e-05,-0.000165912866507,4.00863197949e-05,1793193038125912320
+50,0.833333333,BASELINE,763,743,712,672,659.98673738,632,877.98673738,783.01326262,799.98673738,649.01326262,629,651,0.401009640195,0.00446969004589,0.0798529428262,0.999999982478,7.48333536239e-05,-0.00016682644707,4.01653102005e-05,1793193038142578944
+51,0.850000000,BASELINE,763,743,712,672,659.411462384,632,877.411462384,783.588537616,799.411462384,649.588537616,629,651,0.401011999981,0.00446822892824,0.0798547307552,0.999999983069,7.26196298596e-05,-0.00016429983736,3.99300460825e-05,1793193038159245568
+52,0.866666667,BASELINE,763,742.831609102,711.831609102,672,659.168390898,632,877,784,799,650,628.831609102,650.831609102,0.401013738614,0.00446728159041,0.0798561204374,0.999999983472,7.13806046776e-05,-0.000162400515331,3.98324341137e-05,1793193038175912448
+53,0.883333333,BASELINE,763,742.240256177,711.240256177,672,659.759743823,632,877,784,799,650,628.240256177,650.240256177,0.401013917042,0.00446762475799,0.0798565098081,0.999999983428,7.25898146157e-05,-0.000162076806344,4.00805750044e-05,1793193038192579072
+54,0.900000000,BASELINE,763.343099988,742,711,672.343099988,660,632,877,784,799,650,628.343099988,650.343099988,0.401013929125,0.00446819544055,0.0798562804771,0.999999983346,7.29016759584e-05,-0.000162437205263,4.00859459437e-05,1793193038209246208
+55,0.916666667,BASELINE,763.920983931,742,711,672.920983931,660,632,877,784,799,650,628.920983931,650.920983931,0.401013827378,0.00446892181203,0.0798556277673,0.99999998324,7.25994799513e-05,-0.000163265740498,3.99251889471e-05,1793193038225914112
+56,0.933333333,BASELINE,763.502349746,742.497650254,711.497650254,672.502349746,660,632.497650254,877,784,799,649.502349746,629,650.502349746,0.401012256133,0.00446782906267,0.0798546918659,0.999999983164,7.06125972539e-05,-0.00016461567096,3.98486322273e-05,1793193038242580224
+57,0.950000000,BASELINE,763,743,712,672,659.926433681,632.926433681,877,784,799.073566319,649,628.926433681,650.073566319,0.401010770128,0.00446665798181,0.0798539388187,0.999999983093,6.90638644957e-05,-0.000165706413107,3.98286415149e-05,1793193038259245824
+58,0.966666667,BASELINE,763,743,712,672,659.35429547,632.35429547,877,784,799.64570453,649,628.35429547,650.64570453,0.401011439225,0.00446690875626,0.0798547289964,0.999999983056,7.22929657652e-05,-0.000164480902144,4.01016244922e-05,1793193038275912704
+59,0.983333333,BASELINE,763,742.774797446,711.774797446,672,659,632,876.774797446,784,799.774797446,649,628.225202554,651,0.401011334878,0.0044672716872,0.0798547437187,0.999999982918,7.41482560367e-05,-0.000164466957007,4.02174051997e-05,1793193038292579328
+60,1.000000000,BASELINE,763,742.183329461,711.183329461,672,659,632,876.183329461,784,799.183329461,649,628.816670539,651,0.401009972617,0.00446781702751,0.079853497254,0.999999982628,7.37692050386e-05,-0.000166423480792,4.00775149741e-05,1793193038309245952
+61,1.016666667,BASELINE,763,742.397533113,711,672,659,632,876.397533113,784,799.397533113,649,629,651,0.401009756551,0.00446872690566,0.0798534247854,0.999999982471,7.54226661115e-05,-0.000166624809564,4.00596490704e-05,1793193038325912576
+62,1.033333333,BASELINE,763,742.973631867,711,672,659,632,876.973631867,784,799.973631867,649,629,651,0.401010055337,0.00446980052845,0.0798538796573,0.999999982371,7.79890997608e-05,-0.000166037732136,4.00965945871e-05,1793193038342579200
+63,1.050000000,BASELINE,763,743,711,672,659,632,877,784,799.447936307,649,629,651,0.401011212618,0.00446881216755,0.0798547606053,0.999999982831,7.4599617419e-05,-0.000164850657702,3.996478252e-05,1793193038359245824
+64,1.066666667,BASELINE,763.132530089,742.867469911,711,672,659.132530089,632,877,784,799.132530089,649.132530089,629,651,0.401012112044,0.00446805535394,0.0798554389631,0.999999983201,7.16388964083e-05,-0.000163939031489,3.98758626374e-05,1793193038375912448
+65,1.083333333,BASELINE,763.719590493,742.280409507,711,672,659.719590493,632,877,784,799.719590493,649.719590493,629,651,0.401011985899,0.00446843186955,0.0798553524181,0.999999983212,7.11284470795e-05,-0.000164070795425,3.99618088409e-05,1793193038392579072
+66,1.100000000,BASELINE,763.697213542,742.302786458,711.302786458,672,659.697213542,632.302786458,877,783.697213542,799.697213542,649.697213542,629,651,0.401011948684,0.00446856545036,0.0798554959054,0.999999983187,7.16934403709e-05,-0.000163932405453,4.01464864547e-05,1793193038409245696
+67,1.116666667,BASELINE,763.117551351,742.882448649,711.882448649,672,659.117551351,632.882448649,877,783.117551351,799.117551351,649.117551351,629,651,0.401011992787,0.0044684768853,0.0798558497402,0.999999983127,7.32418461094e-05,-0.000163546979785,4.04214466074e-05,1793193038425912320
+68,1.133333333,BASELINE,763.459980671,743,711.540019329,672.459980671,659.459980671,633,877,783.459980671,799,649,629,651,0.401011996358,0.00446728885368,0.0798559487151,0.999999983229,7.20000355407e-05,-0.000163458408092,4.0486651034e-05,1793193038442579456
+69,1.150000000,BASELINE,764,742.963176411,711.036823589,673,660,632.963176411,877.036823589,784,799,649.036823589,629,651,0.401011998058,0.00446598268156,0.07985595616,0.999999983349,7.02736977453e-05,-0.00016347664916,4.04884730444e-05,1793193038459246592
+70,1.166666667,BASELINE,764,742.388484702,711.611515298,673,660,632.388484702,877.611515298,784,799,649.611515298,629,651,0.401012123026,0.00446703607657,0.0798555736233,0.999999983166,7.18374380493e-05,-0.000163952067295,4.0343864595e-05,1793193038475912960
+71,1.183333333,BASELINE,764,742,711.808564787,673,659.808564787,632,877.808564787,783.808564787,799,650,629,651,0.401012065906,0.00446781614583,0.0798552586732,0.999999983061,7.25247570172e-05,-0.000164340119894,4.01225010578e-05,1793193038492579328
+72,1.200000000,BASELINE,764,742,711.217737123,673,659.217737123,632,877.217737123,783.217737123,799,650,629,651,0.401011628891,0.00446802597411,0.0798550847295,0.999999983125,7.13835931132e-05,-0.000164545901337,3.97410028878e-05,1793193038509245696
+73,1.216666667,BASELINE,763.634509797,742.365490203,711.365490203,673,659.365490203,632.365490203,877,783,799,649.634509797,628.634509797,651,0.401011637244,0.00446893985233,0.0798549823659,0.999999983023,7.25038382126e-05,-0.00016467146807,3.97629718262e-05,1793193038525912576
+74,1.233333333,BASELINE,763.055718092,742.944281908,711.944281908,673,659.944281908,632.944281908,877,783,799,649.055718092,628.055718092,651,0.401011905516,0.00447026461682,0.0798549217768,0.99999998282,7.49438504579e-05,-0.000164750221174,4.00204057586e-05,1793193038542579200
+75,1.250000000,BASELINE,763,742.480765682,712,672.480765682,660,632.480765682,877.519234318,783.519234318,799,649,628,651,0.401011575591,0.00447050236856,0.0798547251568,0.999999982774,7.54104518805e-05,-0.000164836005799,3.99279792681e-05,1793193038559246080
+76,1.266666667,BASELINE,763.095998424,742.095998424,712,672,660,632,877.904001576,784,799,649,628.095998424,651,0.401011259666,0.00447052055119,0.0798546088904,0.999999982764,7.54719196208e-05,-0.000164891285474,3.98302909963e-05,1793193038575912704
+77,1.283333333,BASELINE,763.684147056,742.684147056,712,672,660,632,877.315852944,784,799,649,628.684147056,651,0.40101134218,0.00447000669068,0.0798549788544,0.999999982849,7.45340760162e-05,-0.00016478633712,3.98966839209e-05,1793193038592579072
+78,1.300000000,BASELINE,764,743,711.732312876,672,660,632,877,783.732312876,799,649,629,651,0.401011856612,0.00446881052014,0.0798553814174,0.999999983012,7.35566885153e-05,-0.000164204456088,4.00273844775e-05,1793193038609245696
+79,1.316666667,BASELINE,764,743,711.154118614,672,660,632,877,783.154118614,799,649,629,651,0.40101287205,0.00446682289533,0.0798558217942,0.999999983264,7.25334316262e-05,-0.000163069350841,4.02326794978e-05,1793193038625912320
+80,1.333333333,BASELINE,763.575307681,742.575307681,711,672,660,632,877,783,799,649,628.575307681,651,0.401012681922,0.00446777589854,0.0798559601566,0.999999983203,7.35241108767e-05,-0.000163038023248,4.00888838551e-05,1793193038642578944
+81,1.350000000,BASELINE,763,742.003682729,711,672,660,632,877,783,799,649,628,651,0.401012057097,0.00446978422916,0.0798559882899,0.999999983027,7.52290875194e-05,-0.000163406877295,3.9821154332e-05,1793193038659245824
+82,1.366666667,BASELINE,763,742.575776673,711,672,660,632,877,783,799,649,628,651,0.401011962138,0.00446973004271,0.0798559438529,0.999999983059,7.42156808656e-05,-0.000163628181106,4.00062005972e-05,1793193038675912448
+83,1.383333333,BASELINE,763,743,711.152978643,672.152978643,660,632,877,783.152978643,799.152978643,649.152978643,628.152978643,651,0.401011900948,0.00446951665306,0.0798557588874,0.999999983071,7.32913089175e-05,-0.000163940118622,4.01211313032e-05,1793193038692579328
+84,1.400000000,BASELINE,763,743,711.744835073,672.744835073,660,632,877,783.744835073,799.744835073,649.744835073,628.744835073,651,0.40101193664,0.00446884652805,0.0798551707619,0.999999983029,7.26223668621e-05,-0.000164512073659,4.00349087361e-05,1793193038709245952
+85,1.416666667,BASELINE,763,742.670936888,711.670936888,672.670936888,660,632.329063112,876.670936888,784,799.670936888,650,629,651,0.401012052039,0.00446879801952,0.0798549603095,0.999999983032,7.26705557445e-05,-0.000164514179559,3.98825227392e-05,1793193038725912320
+86,1.433333333,BASELINE,763,742.092490134,711.092490134,672.092490134,660,632.907509866,876.092490134,784,799.092490134,650,629,651,0.401012227846,0.00446922060903,0.0798550360803,0.999999983067,7.32622292398e-05,-0.00016408441978,3.96799941564e-05,1793193038742578944
+87,1.450000000,BASELINE,763,742,711.484153764,672.484153764,660,633,876.968307527,784,799.484153764,649.515846236,628.515846236,651,0.401012262184,0.00446930045697,0.0798555423317,0.999999983019,7.51352042073e-05,-0.000163477016406,3.99032455316e-05,1793193038759245568
+88,1.466666667,BASELINE,763,742,712,672.938424771,659.938424771,632.938424771,877.938424771,783.938424771,799.938424771,649,628,651,0.401012211485,0.00446920563991,0.0798560065054,0.999999982972,7.66424493449e-05,-0.000163009063943,4.0136554214e-05,1793193038775912192
+89,1.483333333,BASELINE,763,742,712,672.351440598,659.351440598,632.351440598,877.351440598,783.351440598,799.351440598,649,628,651,0.401011664935,0.00446817705839,0.0798554125335,0.999999983097,7.29481466576e-05,-0.000164019513184,3.97642079546e-05,1793193038792578816
+90,1.500000000,BASELINE,763,742.232181266,711.767818734,672,659.232181266,632,877.232181266,783,799,649.232181266,628.232181266,651,0.401011584805,0.00446748481601,0.079855183519,0.999999983136,7.15339843043e-05,-0.000164461169331,3.95351198968e-05,1793193038809245696
+91,1.516666667,BASELINE,763,742.810786377,711.189213623,672,659.810786377,632,877.810786377,783,799,649.810786377,628.810786377,651,0.401012200591,0.00446729440536,0.0798554990357,0.999999983059,7.35218839448e-05,-0.000164054163071,3.95197789075e-05,1793193038825912576
+92,1.533333333,BASELINE,763.389766174,742.610233826,711,671.610233826,660,632,877.610233826,783,799,650,628.610233826,651,0.401011870051,0.00446828077106,0.0798553315938,0.999999982912,7.49688301208e-05,-0.00016419252616,3.99469914965e-05,1793193038842578944
+93,1.550000000,BASELINE,763.968928091,742.031071909,711,671.031071909,660,632,877.031071909,783,799,650,628.031071909,651,0.401011079671,0.00446983895761,0.0798549294718,0.999999982731,7.61529155852e-05,-0.000164595895873,4.05892503581e-05,1793193038859245568
+94,1.566666667,BASELINE,763.456841043,742,711,671.543158957,660,632,877,783,799,649.456841043,628.543158957,651,0.401011419988,0.00446868879491,0.0798550909923,0.99999998296,7.40245257049e-05,-0.000164308126397,4.00309985956e-05,1793193038875912192
+95,1.583333333,BASELINE,763.120409866,742.120409866,711,672.120409866,659.879590134,632,877,783.120409866,799.120409866,649,629,651,0.401011641298,0.00446780649043,0.0798552640291,0.999999983145,7.22218832525e-05,-0.000164098032388,3.95617251427e-05,1793193038892579072
+96,1.600000000,BASELINE,763.710532474,742.710532474,711,672.710532474,659.289467526,632,877,783.710532474,799.710532474,649,629,651,0.401011148314,0.00446856803735,0.0798553573416,0.999999983085,7.2422517087e-05,-0.000164343791527,3.97050438946e-05,1793193038909245952
+97,1.616666667,BASELINE,763.705402292,742.705402292,711,672.705402292,659.294597708,632,877,784,799.705402292,649.294597708,629,650.705402292,0.4010113094,0.00446820636936,0.0798554418695,0.999999983129,7.16812973901e-05,-0.000164371802981,3.98144630338e-05,1793193038925912576
+98,1.633333333,BASELINE,763.127169069,742.127169069,711,672.127169069,659.872830931,632,877,784,799.127169069,649.872830931,629,650.127169069,0.401012100218,0.00446676328205,0.0798555179399,0.999999983273,7.0033271196e-05,-0.000164190169282,3.98912439804e-05,1793193038942579200
+99,1.650000000,BASELINE,763,742.448364245,711.448364245,672,660,632,877,784,799,649.551635755,628.551635755,650.448364245,0.401012154741,0.00446795552782,0.079855267252,0.999999983129,7.18748802682e-05,-0.000164294691143,3.97994149847e-05,1793193038959245824
+100,1.666666667,BASELINE,763,742.976846105,711.976846105,672,660,632,877,784,799,649.023153895,628.023153895,651,0.401011975731,0.00446979379943,0.0798549221059,0.999999982905,7.45443156673e-05,-0.000164500081079,3.96619277358e-05,1793193038975912448
+101,1.683333333,BASELINE,763,742.401638369,711.401638369,672,660,632,877,784,799,649.598361631,628.598361631,651,0.401011177996,0.00446932034863,0.0798545212909,0.999999982873,7.34940165707e-05,-0.000165186902366,3.95692209055e-05,1793193038992579072
+102,1.700000000,BASELINE,763.178699771,742,711,672,660,632,877,784,799,650,628.821300229,651,0.401010602829,0.00446937474532,0.0798542429555,0.999999982754,7.365700341e-05,-0.000165827938943,3.96062982253e-05,1793193039009245696
+103,1.716666667,BASELINE,763.77090955,742,711,672,660,632,877,784,799,650,628.22909045,651,0.401010542685,0.00447065057744,0.0798542480371,0.999999982428,7.66275254811e-05,-0.000166363029932,3.99436951643e-05,1793193039025912320
+104,1.733333333,BASELINE,763.644623664,742,711,672,660,632.355376336,877,784,799,650,628.355376336,650.644623664,0.401011233352,0.00447118591258,0.0798547596948,0.99999998247,7.80009596269e-05,-0.000165484545013,3.9882954462e-05,1793193039042578944
+105,1.750000000,BASELINE,763.065041842,742,711,672,660,632.934958158,877,784,799,650,628.934958158,650.065041842,0.401012397702,0.00447125407131,0.0798555909491,0.999999982745,7.83667977862e-05,-0.000163714240855,3.95710303741e-05,1793193039059245568
+106,1.766666667,BASELINE,763,742.509564015,711.509564015,672,660,632.490435985,877,784,799,650,629,650.509564015,0.401011374658,0.00446987604509,0.0798554035891,0.999999982753,7.59823277276e-05,-0.000164772171376,3.96281403079e-05,1793193039075912448
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,743,712,672,660,632,877,784,800,650,629,651,0.40100995109,0.00446726075906,0.0798538951236,0.999999982955,6.93112576734e-05,-0.00016647783342,3.96397730907e-05,1793193039118594048
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742.419558912,711.419558912,672,660,632.580441088,877,783.419558912,799.419558912,650,629,651,0.401010782686,0.00446904510849,0.0798545997033,0.999999982853,7.32351728495e-05,-0.000165379392328,3.97527660366e-05,1793193039135260928
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742.159147442,711.159147442,672,659.840852558,632.840852558,877,783.159147442,799,650,629,650.840852558,0.401011356253,0.00447042787923,0.0798550681527,0.99999998276,7.60334711503e-05,-0.000164671133687,3.97667708104e-05,1793193039151927552
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742.733329969,711.733329969,672,659.266670031,632.266670031,877,783.733329969,799,650,629,650.266670031,0.401011256916,0.00447076338727,0.0798549208063,0.99999998273,7.58963131722e-05,-0.000164980418067,3.95226277964e-05,1793193039168594176
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,743,712,672.310099814,659.310099814,632,877,783.689900186,799,649.689900186,629,650.310099814,0.401011371743,0.00446973817123,0.0798549571688,0.999999982839,7.4806703309e-05,-0.000164805983492,3.95519314677e-05,1793193039185261056
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,743,712,672.889113307,659.889113307,632,877,783.110886693,799,649.110886693,629,650.889113307,0.401011672288,0.00446753295666,0.0798551528408,0.999999983068,7.28911421654e-05,-0.000164212075432,3.98183638162e-05,1793193039201927680
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742.525285398,711.525285398,673,660,632.474714602,877,783.474714602,799,649,629,651,0.401011790045,0.00446848496121,0.0798552403566,0.999999982968,7.28247752484e-05,-0.000164880455687,3.9694974367e-05,1793193039218594048
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742.061121716,711.061121716,672.938878284,660,633,877.061121716,784,799,649,629,651,0.401012469255,0.00446990819282,0.079855595047,0.999999982803,7.32757345692e-05,-0.000165713558214,3.95495900259e-05,1793193039235260672
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742.641122403,711.641122403,672.358877597,660,633,877.641122403,784,799,649,629,651,0.401018282372,0.00446898300671,0.0798584353449,0.999999982753,7.43999076015e-05,-0.000165406721122,4.00013704206e-05,1793193039251928320
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,743,711.780724414,672.219275586,660,633,877.780724414,784,799,649,629,651,0.401031143522,0.00446884843178,0.0798639459283,0.999999983201,7.56781942891e-05,-0.000162015846927,4.02743149722e-05,1793193039268595456
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,743,711.205569743,672.794430257,660,633,877.205569743,784,799,649,629,651,0.401055443463,0.00446999700015,0.0798737903215,0.99999998441,7.72066036779e-05,-0.000153619653543,4.02570131377e-05,1793193039285261568
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.369363068,742.630636932,711.369363068,672.630636932,660,632.630636932,877,783.630636932,799,649.369363068,629,651,0.401096918792,0.00446947761142,0.079887261789,0.999999986656,7.63914674385e-05,-0.000138692449612,4.02013924881e-05,1793193039301928192
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.944172529,742.055827471,711.944172529,672.055827471,660,632.055827471,877,783.055827471,799,649.944172529,629,651,0.401147947383,0.00446803047499,0.0799027507016,0.999999989221,7.42728090205e-05,-0.000120132579129,4.01244582112e-05,1793193039318595328
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672.536663573,660,632.536663573,877,783.536663573,799,650,629,651,0.401216736868,0.00446854276131,0.0799142261451,0.99999999144,7.2212697661e-05,-0.000102232703625,3.81183939004e-05,1793193039335261696
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.87296822,742.12703178,711.87296822,672.87296822,660,632.87296822,877,783.87296822,798.87296822,649.87296822,628.87296822,651,0.401291350435,0.00446923367381,0.0799240698686,0.999999993124,7.0058255353e-05,-8.70075717147e-05,3.56864918405e-05,1793193039351928320
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.296829323,742.703170677,711.296829323,672.296829323,660,632.296829323,877,783.296829323,798.296829323,649.296829323,628.296829323,651,0.40137979986,0.00446981091971,0.0799296711721,0.999999993912,6.7548049884e-05,-8.0987701632e-05,3.24827457133e-05,1793193039368594688
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,743,711,672.27833788,660,632.27833788,877,783.27833788,798.27833788,649,628.27833788,651,0.401477490714,0.00447092547289,0.079933096883,0.999999994431,6.55800436524e-05,-7.7535196797e-05,2.87257798604e-05,1793193039385261312
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,743,711,672.852472407,660,632.852472407,877,783.852472407,798.852472407,649,628.852472407,651,0.401585002662,0.00447261103595,0.0799342105369,0.999999994693,6.41882463012e-05,-7.6811095762e-05,2.43808937238e-05,1793193039401927680
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.437449242,743,711,673,660,633,877,784,799,649,629,651,0.401715022253,0.00447358385761,0.0799387671336,0.999999995611,5.80857906211e-05,-7.09783565962e-05,1.9147524547e-05,1793193039418594304
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.974173916,711.025826084,672.974173916,660,632.974173916,877,784,799,649,629.025826084,651,0.401854468579,0.00447429195607,0.0799445008457,0.999999996637,5.03017555826e-05,-6.33351722138e-05,1.35551053264e-05,1793193039435261184
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.393306829,711.606693171,672.393306829,660,632.393306829,877,784,799,649,629.606693171,651,0.402029230337,0.00447460792821,0.0799499442073,0.999999997621,4.13881819905e-05,-5.47507579655e-05,6.84946340829e-06,1793193039451927552
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.814189166,742.185810834,711.814189166,672,660,632.185810834,877,784,799,649.185810834,629.814189166,651,0.402214441924,0.00447418907396,0.0799544986063,0.999999998348,3.14783614846e-05,-4.81041750365e-05,-1.23127098118e-07,1793193039468594176
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.238740055,742.761259945,711.238740055,672,660,632.761259945,877,784,799,649.761259945,629.238740055,651,0.402421566385,0.00447222931658,0.0799571888839,0.999999998745,1.94794500858e-05,-4.55211520384e-05,-7.6554978321e-06,1793193039485261312
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742.657103883,711.342896117,672,660,633,877,783.657103883,799,650,628.657103883,651,0.402633663956,0.00447035045304,0.079954298176,0.999999998359,5.92982962781e-06,-5.49838366465e-05,-1.49465579312e-05,1793193039501928192
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742.07108078,711.92891922,672,660,633,877,783.07108078,799,650,628.07108078,651,0.40284928768,0.00446852894624,0.0799474503277,0.999999997055,-8.7193064691e-06,-7.29874068134e-05,-2.20665199583e-05,1793193039518594816
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.508970393,742,712,672.508970393,659.491029607,632.491029607,877,783,799.508970393,650,628.508970393,651,0.403104512023,0.00447342481878,0.0799399189832,0.999999995907,-1.51197343233e-05,-8.64296799144e-05,-2.2082525537e-05,1793193039535260928
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.088123547,712,673,659.088123547,632,877.088123547,783,799.823752905,649.911876453,629,651,0.403375724365,0.0044795205978,0.079934020143,0.999999994933,-2.0650198688e-05,-9.60732030415e-05,-2.18530396416e-05,1793193039551927552
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.66686675,712,673,659.66686675,632,877.66686675,783,798.6662665,649.33313325,629,651,0.403705515239,0.00448713440879,0.0799377353861,0.999999995408,-2.76763959676e-05,-8.80729226038e-05,-2.5716226869e-05,1793193039568594176
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,711.75603814,673,660,632.24396186,878,783,798.487923721,649,628.75603814,651,0.404055359557,0.00449405797557,0.0799415679706,0.999999996107,-2.17554830164e-05,-8.07018029029e-05,-2.82729168176e-05,1793193039585261056
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,711.181178454,673,660,632.818821546,878,783,799.637643092,649,628.181178454,651,0.404432403358,0.0045000453287,0.0799455597112,0.999999996825,1.72625159374e-06,-7.41840462262e-05,-2.90575381074e-05,1793193039601927680
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.59713788,742.59713788,711.40286212,673,660,632.59713788,877.59713788,783.40286212,799.59713788,649,628.40286212,651,0.404827970942,0.00450841726534,0.0799458600357,0.999999996805,1.7666872054e-05,-7.18371753565e-05,-3.02712437126e-05,1793193039618594560
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.00887213,742.00887213,711.99112787,673,660,632.00887213,877.00887213,783.99112787,799.00887213,649,628.99112787,651,0.405232063458,0.00451788662551,0.0799444615112,0.999999996494,3.01369497812e-05,-7.1409813437e-05,-3.1682420804e-05,1793193039635261440
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,711.429318235,672.429318235,660,632,877,783.429318235,799,649,629,651,0.405672433026,0.00452767762674,0.0799380410144,0.999999995332,3.61768033321e-05,-8.2928800934e-05,-3.38993728996e-05,1793193039651928064
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,711,672,660,632,877,783,799,649,629,651,0.406126343809,0.00453737115047,0.0799316329271,0.999999993979,4.29359968659e-05,-9.4325165446e-05,-3.60809090784e-05,1793193039668594688
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742,711,672,660,632,877,783,799,649,629,651,0.40661739587,0.0045467717832,0.079925480282,0.999999992423,5.20342505141e-05,-0.000104847588762,-3.81258586208e-05,1793193039685261312
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742,711,672,660.299621137,632,877,783,799,649.299621137,628.700378863,651,0.407128512205,0.00455751353305,0.0799212834001,0.999999990608,6.50431043436e-05,-0.000113889833934,-3.97788357276e-05,1793193039701927680
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,711,672,660.872821926,632,877,783,799,649.872821926,628.127178074,651,0.407657948989,0.00456947983827,0.079918872296,0.999999988434,8.16226706902e-05,-0.000121580551415,-4.10739088011e-05,1793193039718594304
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742.460795743,711.460795743,672.460795743,661,632,877,783.460795743,799,650,628.460795743,650.539204257,0.40819944088,0.00458142687606,0.0799103774531,0.9999999851,9.19507703406e-05,-0.000139828217026,-4.23451904953e-05,1793193039735261184
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,743,712,673,660.948123708,632,877,784,799,649.948123708,628.948123708,650.051876292,0.408753347493,0.00459299765977,0.0799028849744,0.999999981781,0.000100753073654,-0.000156129071326,-4.37123817767e-05,1793193039751927808
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660.368294823,632,877,784,799,649.368294823,628.368294823,650.631705177,0.409398618293,0.00460079517081,0.0799232480486,0.999999985206,0.00011216821321,-0.00012198183258,-4.61246999228e-05,1793193039768594432
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.209273483,743,712,673,660.418546965,632,877.209273483,784,799,649.209273483,628.209273483,651,0.410062832509,0.0046059103315,0.0799488372597,0.999999988872,0.000116977833126,-7.9000408832e-05,-4.8279573444e-05,1793193039785261312
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.782905934,743,712,673,661.565811867,632,877.782905934,784,799,649.782905934,628.782905934,651,0.410760028427,0.00460635534241,0.0799835255195,0.999999992456,0.000110286805891,-2.06380869897e-05,-4.99862186826e-05,1793193039801927936
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.633719886,742.633719886,711.633719886,673,661.633719886,632,877.633719886,783.633719886,798.633719886,649.633719886,628.633719886,651,0.411433042807,0.00460014214266,0.0799858973773,0.999999993381,0.000100839573278,-2.17485406885e-05,-5.09493394122e-05,1793193039818594560
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.044414047,742.044414047,711.044414047,673,661.044414047,632,877.044414047,783.044414047,798.044414047,649.044414047,628.044414047,651,0.412091333169,0.00458987479906,0.0799685919739,0.999999992907,8.97141043123e-05,-5.90716064097e-05,-5.14597325562e-05,1793193039835261184
+151,2.516666667,POSE1_TO_POSE2_PRESS,762.464562225,742.535437775,711.535437775,673,660.464562225,632,877,783.535437775,798.535437775,649,628,651,0.41277480783,0.00458558851331,0.0799313989585,0.999999989195,8.28607970718e-05,-0.000108618267138,-5.427758784e-05,1793193039851927552
+152,2.533333333,POSE1_TO_POSE2_PRESS,762.114298256,743,711.885701744,673,660.228596512,632,877,783.885701744,799.114298256,649,628.114298256,651,0.413473872549,0.00458126541373,0.0799010355713,0.999999984859,7.51914839255e-05,-0.000146362465785,-5.66182603415e-05,1793193039868594176
+153,2.550000000,POSE1_TO_POSE2_PRESS,762.692263099,743,711.307736901,673,661.384526198,632,877,783.307736901,799.692263099,649,628.692263099,651,0.414227852968,0.00457481530266,0.0799049534766,0.999999987709,6.27993175705e-05,-0.000132186538235,-5.62601989829e-05,1793193039885261056
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,743,711,673,662,632,877,783.267977024,800,649,629,650.732022976,0.414999900294,0.0045703500974,0.0799209102706,0.999999991723,5.10215151212e-05,-0.000103357957851,-5.71678899993e-05,1793193039901927936
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,711,673,662,632,877,783.841127666,800,649,629,650.158872334,0.415792522405,0.00456814531228,0.0799505770139,0.999999995758,3.99433517978e-05,-5.78428588749e-05,-5.95170262295e-05,1793193039918594816
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,711.426582271,673,661.573417729,632.426582271,877.426582271,783.573417729,799.573417729,649,629,650.426582271,0.416558516175,0.00457307198632,0.0799463931978,0.999999994607,4.76028514382e-05,-7.1280764288e-05,-5.86505340028e-05,1793193039935261696
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.983570911,712,673,660.983570911,633,878,783,799.016429089,649,628.983570911,651,0.417317291201,0.0045804776818,0.0799303665928,0.999999990987,6.21410086021e-05,-0.000104680131992,-5.66259718318e-05,1793193039951927808
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742.404888294,712,673,660.404888294,633,878,783,799.595111706,649,628.404888294,651,0.418178497631,0.00457912795133,0.0799533070989,0.999999995048,6.61698960861e-05,-4.75071975349e-05,-5.71714618954e-05,1793193039968594432
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742,711.826971845,673,660.519084465,632.826971845,877.826971845,783,799.65394369,649,628.173028155,651,0.419025952597,0.00457851931689,0.0799700705003,0.999999995844,7.03872691865e-05,-5.81371030687e-06,-5.76568722978e-05,1793193039985261056
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742,711.250840371,673,662.247478886,632.250840371,877.250840371,783,798.501680743,649,628.749159629,651,0.419841370752,0.0045796372124,0.0799724431132,0.999999995502,7.50437570068e-05,-1.82661519482e-07,-5.80023155808e-05,1793193040001927680
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742.330888052,711.330888052,673,662.669111948,632,877.330888052,783,798.330888052,649,629,650.669111948,0.420652706063,0.00458148923474,0.0799614031244,0.999999994818,8.19092659822e-05,-1.76762296278e-05,-5.78195384122e-05,1793193040018594304
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742.9169324,711.9169324,673,662.0830676,632,877.9169324,783,798.9169324,649,629,650.0830676,0.421460892949,0.00458390736115,0.0799400203329,0.999999992865,9.04782077522e-05,-5.30017854936e-05,-5.72294367785e-05,1793193040035260672
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,743,712,673,661.500442064,632,878,783,799,649,629,650,0.422315707009,0.00458484331473,0.0799585979633,0.999999993984,9.00864180903e-05,-2.58537433379e-05,-5.70001606014e-05,1793193040051927808
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,743,711.919131083,673,661.080868917,632.080868917,878,783,799.080868917,649,629,650,0.423173599806,0.00458547851803,0.0799816113162,0.999999994533,8.75176951042e-05,7.12385623046e-06,-5.67795710988e-05,1793193040068594688
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,743,711.342418528,673,661.657581472,632.657581472,878,783,799.657581472,649,629,650,0.424003153703,0.00458577056512,0.0799913573068,0.999999995085,8.06750415675e-05,1.25830039941e-05,-5.62468645578e-05,1793193040085261568
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,743,711.233048874,673,661.766951126,632.766951126,877.766951126,783,799.766951126,649,629,650,0.424800419541,0.00458771030069,0.0799764148532,0.999999994744,8.29177405902e-05,-2.15068846133e-05,-5.63460675169e-05,1793193040101928192
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,743,711.806696582,673,661.193303418,632.193303418,877.193303418,783,799.193303418,649,629,650,0.425550496794,0.0045920581182,0.0799253904621,0.99999998708,9.84385992028e-05,-0.000113397333494,-5.73688001122e-05,1793193040118594304
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.3899926,743,711.6100074,673.3899926,661,632,877.3899926,783,799,649,629,650,0.426366784264,0.00459208940067,0.0799044532882,0.99999998522,9.28795387212e-05,-0.00013166794904,-5.99753678232e-05,1793193040135260928
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.978192171,743,711.021807829,673.978192171,661,632,877.978192171,783,799,649,629,650,0.427216721881,0.00458992687887,0.0798988074234,0.999999988726,7.66069745727e-05,-0.000112522556979,-6.3386892318e-05,1793193040151927552
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.440346217,743,711.559653783,674,661.559653783,632.559653783,878.559653783,783.559653783,799.559653783,649,628.440346217,650,0.42800861832,0.00458890244963,0.0799041793033,0.999999987191,8.57010368229e-05,-0.00012062364949,-6.10211434306e-05,1793193040168594432
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,743,712,674,661.721559077,633,878.721559077,783.860779538,799.860779538,649,628,650,0.428800399512,0.00458788419813,0.0799130597356,0.999999986615,9.32367221679e-05,-0.000120802001683,-5.9028791377e-05,1793193040185261056
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,743,712,674,660.572651636,633,877.572651636,783.286325818,799.286325818,649,628,650,0.42959880673,0.00458674826861,0.0799315824667,0.999999989637,9.28472292823e-05,-9.29325232856e-05,-5.889916311e-05,1793193040201927936
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.293202563,743,711.706797437,674,660.87960769,632.706797437,877.293202563,783,799,649,628.293202563,650,0.430390329341,0.00458631096845,0.0799607928037,0.999999993443,8.65545581197e-05,-4.75519086123e-05,-5.79745948943e-05,1793193040218594816
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.877773832,743,711.122226168,674,662.633321495,632.122226168,877.877773832,783,799,649,628.877773832,650,0.431175010356,0.00458656792809,0.080000623899,0.999999995534,7.4395630376e-05,1.52303160321e-05,-5.6260058607e-05,1793193040235261184
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.537794452,711.462205548,674,662.537794452,632,878,783,799,649.462205548,629,650.462205548,0.431930064781,0.00458629492859,0.0800079239405,0.999999994713,8.39853717395e-05,2.29526693339e-05,-5.47150677161e-05,1793193040251927808
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.954017713,742.045982287,711.954017713,674.045982287,661.908035426,632,878,783.045982287,799,649.954017713,629,650.954017713,0.432667631398,0.00458598024173,0.0800011616063,0.999999993739,9.79363982654e-05,8.47100111363e-06,-5.3473625445e-05,1793193040268594176
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.377374536,742.622625464,711.377374536,674.622625464,660.754749072,632,878,783.622625464,799,649.377374536,629,650.377374536,0.433293765465,0.00458680129945,0.079931359909,0.999999989436,9.5866564152e-05,-9.42764861505e-05,-5.521804013e-05,1793193040285260800
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,743,711,674.801614586,660.198385414,632.198385414,877.801614586,783.801614586,799,649,628.801614586,650,0.433937004119,0.00458603239644,0.0798834420356,0.999999981067,9.18636531012e-05,-0.000161876833763,-5.67777651294e-05,1793193040301927680
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,743,711,674.227527192,660.772472808,632.772472808,877.227527192,783.227527192,799,649,628.227527192,650,0.434612635523,0.00458225242846,0.0798769677008,0.999999981503,8.41998852389e-05,-0.000162915603693,-5.79877263128e-05,1793193040318594048
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,743,711,674,661.354473718,632.645526282,877.708947435,783.354473718,799.708947435,649,628.354473718,650.354473718,0.435279699495,0.00457877985074,0.079901825205,0.999999987995,7.63695147992e-05,-0.000121864555682,-5.76724164927e-05,1793193040335261184
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,743,711,674,661.941670051,632.058329949,878.883340103,783.941670051,800.883340103,649,628.941670051,650.941670051,0.435941138651,0.00457550908416,0.0799472530006,0.999999994657,6.84297649423e-05,-5.31802805519e-05,-5.63557202664e-05,1793193040351928832
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742.480559236,711.519440764,674,660.961118472,632,878.480559236,783.480559236,800.480559236,649.519440764,628.480559236,650.480559236,0.436536681439,0.0045788429461,0.079948199429,0.999999993473,7.47828057408e-05,-6.68851519582e-05,-5.46631150464e-05,1793193040368595200
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,742,711.904152821,674,660,632,878.095847179,783,799.904152821,650,628.095847179,650,0.437114051469,0.00458290686419,0.0799407300255,0.999999990848,8.31327593183e-05,-9.25338727634e-05,-5.31979671361e-05,1793193040385261568
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742,711.329369026,674,660,632,878.670630974,783,799.329369026,650,628.670630974,650,0.437636931085,0.00458697885582,0.0799157222083,0.99999998544,9.35840318123e-05,-0.000132458431246,-5.30765656908e-05,1793193040401927936
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742.247670748,711,674,660,632,878.752329252,783,799.247670748,649.752329252,629,650,0.4381445145,0.00459138449319,0.0798919794003,0.999999979231,0.000100907039403,-0.00016898048999,-5.29364088348e-05,1793193040418594304
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,742.827738206,711,674,660,632,878.172261794,783,799.827738206,649.172261794,629,650,0.438631568977,0.0045962379132,0.0798699343519,0.999999973009,0.000104031629721,-0.000200936080986,-5.27710805749e-05,1793193040435260928
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,743,711,674,660,632,878.414280696,783,799.585719304,649,629,650,0.439085858675,0.00460098607034,0.0798482016147,0.999999965728,0.000106397057421,-0.000233240597368,-5.31193325111e-05,1793193040451927552
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,743,711,673.996496831,660,632,878.996496831,783,799.003503169,649,629,650,0.439526096888,0.00460568924258,0.0798265716851,0.999999957366,0.000108473780123,-0.000265741719824,-5.36905588831e-05,1793193040468594176
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,743,711,673.416359774,660,632,878.416359774,783,799.583640226,649,629,650,0.439931553616,0.00461030664888,0.0798001494084,0.999999944844,0.00011581351841,-0.000306343533644,-5.5254714522e-05,1793193040485261056
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,743,711,673.162378986,660,632,878.162378986,783,799.837621014,649,629,650.162378986,0.440315434961,0.00461805540077,0.0797695972176,0.999999927906,0.00012684550457,-0.000353346390625,-5.69684886801e-05,1793193040501927680
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,743,711,673.737563074,660,632,878.737563074,783,799.262436926,649,629,650.737563074,0.440644466754,0.00463376476157,0.0797285458202,0.999999900625,0.00014726404419,-0.000416622195133,-5.90626282493e-05,1793193040518594560
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,743,711,674,660,631.681149591,878.681149591,783,799,649,629,650.681149591,0.440966578152,0.00465084349727,0.0797020735217,0.999999879246,0.000166824790096,-0.00045812694352,-6.16154757334e-05,1793193040535261184
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,743,711,674,660,631.094740846,878.094740846,783,799,649,629,650.094740846,0.441282882388,0.00466907132155,0.0796878350486,0.999999864825,0.00018566573089,-0.00048136284755,-6.4553240787e-05,1793193040551927552
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,743,711,674,659.515089501,631,878,783,799.484910499,649,629,650.484910499,0.441601590882,0.00467147375183,0.0796981646316,0.999999873499,0.000184797993149,-0.000463275184077,-6.50254588416e-05,1793193040568594176
+195,3.250000000,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631,878.063364243,783,800,649,629,651,0.441916533107,0.00467102211781,0.0797133826446,0.999999885576,0.000181740047273,-0.000437751273016,-6.47429006969e-05,1793193040585261056
+196,3.266666667,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631,878.642668912,783,800,649,629,651,0.442197036407,0.00467216131239,0.0797298573926,0.999999892936,0.000191771190785,-0.000416514403718,-6.21830357509e-05,1793193040601927680
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631,879,783,799.779164026,649,629,651,0.442452529335,0.00467420648437,0.0797390582134,0.999999895881,0.000200193517289,-0.000405594081636,-6.04483579408e-05,1793193040618594304
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631,879,783,799.20282833,649,629,651,0.442667760765,0.00467771009033,0.0797365495314,0.999999892398,0.000206025984107,-0.000411281244868,-6.00420590946e-05,1793193040635261184
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.382287116,743,711,674.382287116,659,631.382287116,879,783,799.382287116,649,629,650.617712884,0.442854090466,0.00468319335807,0.0797302954571,0.99999988674,0.00021244732376,-0.000421561365828,-6.06038882177e-05,1793193040651927808
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.972170348,743,711,674.972170348,659,631.972170348,879,783,799.972170348,649,629,650.027829652,0.443024725475,0.00468975165608,0.0797220074953,0.999999879752,0.000219188443763,-0.000434335634029,-6.16914467697e-05,1793193040668594176
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.448119674,743,711,675,659.551880326,631.448119674,879,783,799.448119674,649,629,650,0.44317461591,0.00469605189563,0.07971929487,0.999999876638,0.000224714867372,-0.000438489776945,-6.28786361474e-05,1793193040685261056
+202,3.366666667,POSE1_TO_POSE2_PRESS,763,743,711,674.870148585,659.870148585,631,879,782.870148585,799.129851415,649,629,650,0.44331629047,0.00470200577183,0.0797169142593,0.999999873716,0.000229989348749,-0.000442278586402,-6.37343311383e-05,1793193040701927424
+203,3.383333333,POSE1_TO_POSE2_PRESS,763,743,711,674.296399769,659.296399769,631,879,782.296399769,799.703600231,649,629,650,0.443433390397,0.00470681928587,0.0797147249335,0.999999870885,0.000234608171435,-0.000446277585017,-6.34399480555e-05,1793193040718594048
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.278456674,743,711,674,658.721543326,631,879,782.278456674,800,649.278456674,629,650.278456674,0.44353327037,0.00470983223561,0.0797090456989,0.999999866215,0.000237241157063,-0.000455258020971,-6.34520498161e-05,1793193040735260928
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.854496789,743,711,674,658.145503211,631,879,782.854496789,800,649.854496789,629,650.854496789,0.443614747567,0.00471092094275,0.0796996368391,0.999999859458,0.000237751901185,-0.000469562061366,-6.37916884104e-05,1793193040751927552
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.557151681,743,711,674,658.442848319,631,879,783,799.557151681,649.557151681,629,651,0.443683107474,0.00471195068233,0.079693778196,0.999999855049,0.000238347838297,-0.000478578368327,-6.36846521267e-05,1793193040768594176
+207,3.450000000,POSE1_TO_POSE2_PRESS,763,742.965579737,711,674,659,631,879,783,799,649,629,651,0.443746164855,0.00471293931419,0.0796893981925,0.999999851621,0.000238889888929,-0.000485451641848,-6.34519466083e-05,1793193040785260800
+208,3.466666667,POSE1_TO_POSE2_PRESS,763,742.38882365,711,674,659,631,879,783,799,649,629,651,0.443795523127,0.00471359424072,0.0796894113113,0.999999851178,0.000238129239216,-0.00048671561568,-6.3617685073e-05,1793193040801927424
+209,3.483333333,POSE1_TO_POSE2_PRESS,763,742,711,674,658.813099588,631.186900412,878.813099588,782.813099588,799.373800824,649.186900412,628.813099588,651,0.443839390145,0.00471454624734,0.079689020255,0.999999850262,0.000238431634005,-0.000488440666458,-6.36566130837e-05,1793193040818594048
+210,3.500000000,POSE1_TO_POSE2_PRESS,763,742,711,674,658.239510811,631.760489189,878.239510811,782.239510811,800.520978378,649.760489189,628.239510811,651,0.443871896006,0.00471611289894,0.0796877929789,0.999999848364,0.000240933419121,-0.0004911196641,-6.34331760703e-05,1793193040835260672
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.344221286,742.344221286,711,674.344221286,658.344221286,631.655778714,878,782,800.655778714,649.655778714,628.344221286,651,0.443899790882,0.00471680292988,0.0796881488685,0.999999848226,0.000242416623341,-0.000490721884829,-6.30394753049e-05,1793193040851927296
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.935225502,742.935225502,711,674.935225502,658.935225502,631.064774498,878,782,800.064774498,649.064774498,628.935225502,651,0.443924380004,0.00471686448439,0.0796896397788,0.99999984935,0.000243169575538,-0.000488118268904,-6.25237071444e-05,1793193040868594176
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.484306951,743,711,675,658.484306951,631,878,782.515693049,800,649,628.484306951,650.484306951,0.443938068322,0.00471545134895,0.0796894569751,0.999999849238,0.000242243101693,-0.000488910959143,-6.17136455348e-05,1793193040885260800
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,743,711,675,658,631,878,783,799.905664445,649,628,650.094335555,0.443949373318,0.00471413229686,0.0796891727014,0.999999848987,0.000241109625296,-0.000490067455117,-6.10485643078e-05,1793193040901927680
+215,3.583333333,POSE1_TO_POSE2_PRESS,763,743,711,675,658,631,878,783,799.329717655,649,628,650.670282345,0.443955361027,0.00471422029227,0.0796894221883,0.999999848812,0.000239974723167,-0.000490946982503,-6.13085908422e-05,1793193040918594304
+216,3.600000000,POSE1_TO_POSE2_PRESS,763,743,711,674.749126589,658,631,878,782.749126589,799,649,628,651,0.443960531599,0.0047148306899,0.0796893136374,0.999999848602,0.000239955623557,-0.00049138486087,-6.1306324879e-05,1793193040935260672
+217,3.616666667,POSE1_TO_POSE2_PRESS,763,743,711,674.162316556,658,631,878,782.162316556,799,649,628,651,0.443964607969,0.00471614061974,0.0796887256491,0.999999848344,0.000241430659754,-0.000491231341,-6.0952831342e-05,1793193040951927296
+218,3.633333333,POSE1_TO_POSE2_PRESS,763,743,711,674,658,631,878.419278977,782.419278977,799.419278977,649,628,651,0.443965973361,0.00471631770712,0.0796880158826,0.999999847374,0.00024278647775,-0.000492580466493,-6.05981979945e-05,1793193040968593920
+219,3.650000000,POSE1_TO_POSE2_PRESS,763,743,711,674,658,631,878.998880592,782.998880592,799.998880592,649,628,651,0.443966302137,0.00471606162157,0.0796872595509,0.999999846127,0.000244096709413,-0.00049450416901,-6.02431288175e-05,1793193040985260544
+220,3.666666667,POSE1_TO_POSE2_PRESS,763,743,710.424845578,674,658,631,879,782.424845578,800,649.575154422,628.575154422,650.424845578,0.443966728286,0.00471488805343,0.0796869177734,0.999999846407,0.000241529226412,-0.000495203920042,-6.01947242848e-05,1793193041001928448
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.150902241,743,710.150902241,674,658,631,879,782.150902241,800,649.849097759,629,650.150902241,0.443967208201,0.00471398589942,0.0796866551821,0.999999846599,0.000239828998302,-0.000495657750801,-6.00665003977e-05,1793193041018595584
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.725192199,743,710.725192199,674,658,631,879,782.725192199,800,649.274807801,629,650.725192199,0.443967838441,0.00471385023582,0.0796866125138,0.999999846553,0.000240583088276,-0.000495428245979,-5.97126617064e-05,1793193041035261440
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.693637638,743,711,674,658,631,878.693637638,782.693637638,800,649,629,650.693637638,0.443968553372,0.00471382199786,0.0796865137429,0.999999846628,0.000241051157824,-0.000495053914318,-5.96621329031e-05,1793193041051927552
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.106154062,743,711,674,658,631,878.106154062,782.106154062,800,649,629,650.106154062,0.443969346016,0.00471389233473,0.0796863634916,0.999999846816,0.000241256772214,-0.000494546688054,-5.9889924291e-05,1793193041068594176
+225,3.750000000,POSE1_TO_POSE2_PRESS,763,743,711,674,658,630.522516681,878,782,800,649,629,650,0.443969625202,0.00471327699315,0.0796861734129,0.999999846906,0.000240022803443,-0.00049501379087,-5.94905562287e-05,1793193041085261312
+226,3.766666667,POSE1_TO_POSE2_PRESS,763,742.940584917,711,674.059415083,658,630.059415083,878,782,799.940584917,649.059415083,629,650.059415083,0.443969725152,0.00471270047269,0.079685964177,0.999999846887,0.000238815368418,-0.000495690446955,-5.90341519199e-05,1793193041101928192
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,742.36608552,711,674.63391448,658,630.63391448,878,782,799.36608552,649.63391448,629,650.63391448,0.443969252964,0.00471377148252,0.0796856650102,0.999999846134,0.000240590366252,-0.000496320908394,-5.92823810523e-05,1793193041118594560
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.208553743,742.208553743,711,674.791446257,658,630.791446257,878.417107486,782,799.208553743,649.791446257,629,650.791446257,0.443969968975,0.00471395556486,0.0796863854821,0.999999846283,0.000241466326077,-0.000495582779183,-5.93759650975e-05,1793193041135261184
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.783438651,742.783438651,711,674.216561349,658,630.216561349,879.566877301,782,799.783438651,649.216561349,629,650.216561349,0.443972772094,0.00471258173127,0.0796888969815,0.999999848015,0.000240763097444,-0.000492440677697,-5.91979102006e-05,1793193041151928064
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.632871677,742.632871677,711,673.632871677,658,630.367128323,879.265743354,782,800,649,629,650.367128323,0.443973681628,0.00471199477583,0.0796885456942,0.999999848416,0.000240498383965,-0.000491743284977,-5.93083075771e-05,1793193041168594688
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.043860658,742.043860658,711,673.043860658,658,630.956139342,878.087721315,782,800,649,629,650.956139342,0.443973446729,0.00471188338889,0.0796864642138,0.999999848015,0.000240498697531,-0.000492523410012,-5.95930379232e-05,1793193041185261056
+232,3.866666667,POSE1_TO_POSE2_PRESS,763,742.537646275,711,673.537646275,658,631,878,782,800,649.537646275,629,650.462353725,0.443972055983,0.00471283020258,0.0796859829813,0.999999847088,0.000240461462932,-0.000494436180623,-5.94601977894e-05,1793193041201927680
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,743,711,674.117214883,658,631,878,782.117214883,800,650,629,650,0.443971338513,0.00471325548922,0.0796859741182,0.999999846678,0.000239868225243,-0.000495578822435,-5.92272438186e-05,1793193041218594560
+234,3.900000000,POSE1_TO_POSE2_PRESS,763,743,711,674.691578385,658,631,878,782.691578385,800,650,629,650,0.44397360957,0.00471131472464,0.0796873054032,0.999999848459,0.000237118307442,-0.000493362483697,-5.8734864643e-05,1793193041235261696
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,743,711,674.733447876,658,631,878.266552124,783,800,650,629,650.266552124,0.443974593502,0.00471057432661,0.0796879727947,0.999999849321,0.000235538658951,-0.000492381633831,-5.86509803495e-05,1793193041251928576
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,743,711,674.157766348,658,631,878.842233652,783,800,650,629,650.842233652,0.443974084713,0.00471122603352,0.0796878702468,0.999999849128,0.000235316210515,-0.000492833621399,-5.9040841153e-05,1793193041268594432
+237,3.950000000,POSE1_TO_POSE2_PRESS,763,743,711,674,658,631,879,783,800,650,628.571490216,651,0.443973547866,0.00470973520794,0.0796868513491,0.999999848606,0.000234127065824,-0.0004944863258,-5.87940539132e-05,1793193041285261056
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,742.981557678,711,674.018442322,658,631,879,782.981557678,799.981557678,649.981557678,628,651,0.443973032346,0.0047075430765,0.0796855546513,0.999999847984,0.000232653383266,-0.000496488888159,-5.83317275679e-05,1793193041301927680
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742.402063093,711,674.597936907,658,631,879,782.402063093,799.402063093,649.402063093,628,651,0.443973487896,0.00470862183487,0.0796863305796,0.999999848308,0.000233625558244,-0.000495345140922,-5.8623885978e-05,1793193041318594304
+240,4.000000000,HOLD_POSE2,763,743,711,675,659,630,879,782,800,650,629,650,0.443975732834,0.00470933360036,0.0796883298508,0.999999850304,0.000234272427594,-0.000490967189992,-5.88150935369e-05,1793193041359227648
+241,4.016666667,HOLD_POSE2,763.588438262,743,711,674.411561738,658.411561738,630.588438262,879,782,799.411561738,649.411561738,628.411561738,650,0.443976090567,0.00470906765686,0.0796885711302,0.999999850391,0.000234074019905,-0.000490906807673,-5.86318057985e-05,1793193041375895040
+242,4.033333333,HOLD_POSE2,764,743,711,674.175290022,658.175290022,631,879,782.175290022,799.175290022,649.175290022,628.175290022,650.175290022,0.443976102602,0.0047087564053,0.0796884902239,0.999999850086,0.000234333352497,-0.00049142109206,-5.84902015281e-05,1793193041392561920
+243,4.050000000,HOLD_POSE2,764,743,711,674.758450378,658.758450378,631,879,782.758450378,799.758450378,649.758450378,628.758450378,650.758450378,0.443975310256,0.00470833972944,0.0796876596454,0.999999848866,0.000235657769529,-0.000493272528998,-5.84455876251e-05,1793193041409228288
+244,4.066666667,HOLD_POSE2,764,743,711,675,658.664009426,631,879,782.664009426,800,649.664009426,628.664009426,651,0.443975509065,0.00470836865134,0.079688028956,0.999999848885,0.000236510346275,-0.000492853905673,-5.8204806433e-05,1793193041425894400
+245,4.083333333,HOLD_POSE2,764,743,711,675,658.090443226,631,879,782.090443226,800,649.090443226,628.090443226,651,0.44397640871,0.00470871265105,0.0796892466966,0.99999984978,0.000237029289323,-0.00049083014498,-5.78253172849e-05,1793193041442561024
+246,4.100000000,HOLD_POSE2,764,743,711,674.515762383,658,631,879,782.484237617,800,649,628,651,0.44397687012,0.00470890290009,0.0796887980262,0.999999849999,0.000236166551797,-0.000490763577605,-5.81295181046e-05,1793193041459227648
+247,4.116666667,HOLD_POSE2,763.938981454,742.938981454,711,674.061018546,658,631,878.938981454,782.938981454,799.938981454,649,628,650.938981454,0.443977156442,0.004708995592,0.079688042631,0.999999850075,0.000234964718363,-0.000491140057075,-5.85110402149e-05,1793193041475894272
+248,4.133333333,HOLD_POSE2,763.345701756,742.345701756,711,674.654298244,658,631,878.345701756,782.345701756,799.345701756,649,628,650.345701756,0.443976631106,0.00470848837076,0.0796873329118,0.99999985001,0.000233061230262,-0.000492185147353,-5.84505782906e-05,1793193041492560896
+249,4.150000000,HOLD_POSE2,763,742.24026211,711,674.75973789,658,631,878.24026211,782,799.24026211,649,628.24026211,650,0.443976191969,0.00470853107258,0.079687003515,0.999999849669,0.000232568438809,-0.000493126489753,-5.83096610987e-05,1793193041509227776
+250,4.166666667,HOLD_POSE2,763,742.816010577,711,674.183989423,658,631,878.816010577,782,799.816010577,649,628.816010577,650,0.443975873198,0.00470934165119,0.0796872051757,0.999999848946,0.000234045452402,-0.000493922965292,-5.80564014186e-05,1793193041525894912
+251,4.183333333,HOLD_POSE2,763,742.610574037,711,674.389425963,658,631,879,782.389425963,800.389425963,649.389425963,628.610574037,650.389425963,0.443976871825,0.00470953327621,0.0796878368693,0.999999849333,0.000234461563749,-0.000492929846701,-5.81458521421e-05,1793193041542561792
+252,4.200000000,HOLD_POSE2,763,742.038254329,711,674.961745671,658,631,879,782.961745671,800.961745671,649.961745671,628.038254329,650.961745671,0.443978489168,0.00470943421001,0.0796886705277,0.99999985024,0.000234379422923,-0.000491096246032,-5.83962566441e-05,1793193041559228416
+253,4.216666667,HOLD_POSE2,763.551352704,742.551352704,711,675,658,631,879,782.448647296,799.897294593,649.448647296,628,650.448647296,0.443978480416,0.00470978456303,0.0796882640216,0.999999850338,0.00023406436561,-0.000491011569923,-5.87045425305e-05,1793193041575894784
+254,4.233333333,HOLD_POSE2,763.859874867,742.859874867,711,675,658,631,878.859874867,782.140125133,799.140125133,649,628.140125133,650.140125133,0.443977812942,0.00470989197172,0.0796875817478,0.99999985016,0.000233630352243,-0.000491555723153,-5.89081001149e-05,1793193041592560896
+255,4.250000000,HOLD_POSE2,763.277642378,742.277642378,711,675,658,631,878.277642378,782.722357622,799.722357622,649,628.722357622,650.722357622,0.443975434626,0.00470913130313,0.0796863096727,0.999999849294,0.000232873659619,-0.000493688641992,-5.87681497228e-05,1793193041609227520
+256,4.266666667,HOLD_POSE2,763,742,711,674.698967506,658,631,878.602064988,782.698967506,799.698967506,649,628.698967506,650.698967506,0.443975174835,0.00470916639199,0.0796865028381,0.999999849236,0.000233297475963,-0.000493641709389,-5.84702347391e-05,1793193041625894144
+257,4.283333333,HOLD_POSE2,763,742,711,674.123535536,658,631,879.752928929,782.123535536,799.123535536,649,628.123535536,650.123535536,0.443976846138,0.00470992683593,0.0796880316111,0.999999849912,0.000234797359048,-0.000491607781549,-5.80283306529e-05,1793193041642561024
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763,743,711,675,658,631,878,782,800,649,628,651,0.443977171549,0.00470901368918,0.0796881886686,0.999999849537,0.000237460207433,-0.000491154880908,-5.74903476264e-05,1793193041675290880
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763,742.408707168,710.408707168,674.408707168,658,631,879.182585665,782,799.408707168,649,628,651,0.443976539085,0.00470906196052,0.0796869437564,0.999999848841,0.000235515855305,-0.000493455299556,-5.78950313473e-05,1793193041691956736
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763.179163008,742.179163008,710.179163008,674,658,631,879.820836992,782,799.179163008,649.179163008,628.179163008,651,0.443976032901,0.00470902322601,0.0796862446019,0.99999984834,0.000234507349122,-0.00049493506183,-5.80083569522e-05,1793193041708622848
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.759371882,742.759371882,710.759371882,674,658,631,879.240628118,782,799.759371882,649.759371882,628.759371882,651,0.443975809388,0.00470878973403,0.0796867670939,0.999999848293,0.000235593678725,-0.000494577833483,-5.74694946137e-05,1793193041725289216
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.663734143,742.663734143,711,674,658,631,879,782,800,649.663734143,629,650.663734143,0.443976029059,0.00470870498316,0.0796873055322,0.999999848618,0.000235624621183,-0.000493922452533,-5.73129516766e-05,1793193041741955840
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.089189151,742.089189151,711,674,658,631,879,782,800,649.089189151,629,650.089189151,0.443976562773,0.00470872563076,0.0796878552702,0.999999849208,0.00023490771264,-0.000493055799649,-5.74273216059e-05,1793193041758622464
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.495854795,742.495854795,711,674.495854795,658,631,879,782,799.504145205,649,629,650,0.443974332035,0.00470872246276,0.0796864694797,0.999999848641,0.000234100152599,-0.000494582576558,-5.74716787623e-05,1793193041775289088
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.918295398,711,675,658,631,879,782,799,649,629,650.081704602,0.443969772665,0.00470870608565,0.0796838545788,0.999999847005,0.000233662779025,-0.000498083044653,-5.74882410552e-05,1793193041791955712
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.339283514,711,675,658,631,879,782,799,649,629,650.660716486,0.443954131722,0.00470863594665,0.0796759233724,0.999999840083,0.000235579993057,-0.000510919664671,-5.74139339693e-05,1793193041808622592
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.76009081,742.23990919,711,674.76009081,658,631,879,782,799,649.23990919,629,651,0.44392691739,0.00470876176998,0.0796634780973,0.9999998291,0.000236677538675,-0.000531508479457,-5.72963807335e-05,1793193041825289216
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.180642242,742.819357758,711,674.180642242,658,631,879,782,799,649.819357758,629,651,0.44388332344,0.00470916493548,0.0796446441386,0.999999811852,0.000236615021304,-0.000563068841691,-5.71176219379e-05,1793193041841955584
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,631,879,782.395180556,799.395180556,649.604819444,629,651,0.443825159217,0.00470950545042,0.0796263625907,0.999999794383,0.000236545207385,-0.000593381112183,-5.63896389499e-05,1793193041858622464
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,631,879,782.969361085,799.969361085,649.030638915,629,651,0.443760395276,0.00470981758736,0.0796083312597,0.999999776361,0.000236472088328,-0.000623128052718,-5.5412880738e-05,1793193041875289344
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,743,711,674.557044654,658,630.442955346,879,783,799.442955346,649,629,650.442955346,0.443692096688,0.00471031015134,0.079602803884,0.99999977258,0.00024016813816,-0.000627905125456,-5.37956388273e-05,1793193041891955456
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,743,711,674.856810562,658,630.143189438,879,782.856810562,799,649,628.856810562,650.143189438,0.443618132063,0.00470966351071,0.0795996799961,0.999999770802,0.000243194153783,-0.000629745795752,-5.169041295e-05,1793193041908622336
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,743,711,674.277668005,658,630.722331995,879,782.277668005,799,649,628.277668005,650.722331995,0.443527523279,0.00470551749431,0.0796017278054,0.999999772662,0.000243533323971,-0.000626931669086,-4.82093958024e-05,1793193041925288960
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,631,879,782.300405799,799.300405799,649,628,650.699594201,0.443421878374,0.00470394327521,0.0796058246475,0.999999775573,0.000245812963403,-0.000621674598555,-4.41660839844e-05,1793193041941955584
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,631,879,782.877495212,799.877495212,649,628,650.122504788,0.443302384714,0.00470473776618,0.0796118087158,0.999999779395,0.000249879838752,-0.000614167496565,-3.96048805001e-05,1793193041958622464
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.45093867,743,711,674,658.45093867,631,879,783,800,649.45093867,628.45093867,650,0.443159499097,0.00470215241199,0.0796171768863,0.999999783484,0.000251242944909,-0.000607239250883,-3.42008765678e-05,1793193041975289088
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.975775817,743,711,674.024224183,659,631,879,783,800,649.975775817,629,650.024224183,0.443008916118,0.00469864635771,0.0796223394792,0.999999787553,0.000251952782154,-0.000600499498457,-2.85361669091e-05,1793193041991955712
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.38314138,743,711,674.61685862,659,631,879,783,800,649.38314138,629,650.61685862,0.442825634545,0.00469490859664,0.0796265728531,0.99999979066,0.000254430970979,-0.000594522315885,-2.20834750025e-05,1793193042008622336
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742.79466288,711,674.79466288,658.79466288,631,878.79466288,782.79466288,800,649,629,651,0.442623375787,0.00469145578149,0.0796292970241,0.999999792022,0.000258232257276,-0.000590801805358,-1.4989016904e-05,1793193042025288960
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742.21378523,711,674.21378523,658.21378523,631,878.21378523,782.21378523,800,649,629,651,0.442386409724,0.00468852410361,0.0796292610169,0.999999790246,0.00026445335287,-0.000591208517207,-6.7208349795e-06,1793193042041955584
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,658.36207984,631,878.36207984,782,799.63792016,649,629,651,0.442121245377,0.00468438720812,0.0796312183699,0.999999790247,0.00026751988336,-0.000589862890824,1.22760566206e-06,1793193042058622464
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,658.935025767,631,878.935025767,782,799.064974233,649,629,651,0.441839659044,0.00467954842427,0.079634336605,0.99999979127,0.000268749275983,-0.00058749674727,8.98983790051e-06,1793193042075289088
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.521144717,711,674,659,631,878.478855283,782.521144717,799.521144717,649.521144717,629,650.478855283,0.441530206264,0.00467535041929,0.0796353621398,0.999999794609,0.000264203927256,-0.0005837674004,1.39250437498e-05,1793193042091955712
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.89207939,711,674,659,631.10792061,878,783,800,650,628.89207939,650,0.441206286712,0.00467053751773,0.0796351778686,0.999999799101,0.000253050622028,-0.00058092911566,1.68578760661e-05,1793193042108622336
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742.309821638,711,674,659,631.690178362,878,783,800,650,628.309821638,650,0.440834448393,0.00466266175543,0.0796308527074,0.999999806759,0.000216100261858,-0.000582773644034,1.25791252841e-05,1793193042125288960
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.26843408,711,674,659,631.73156592,878.536868161,783,800,650,628.26843408,650,0.440437139349,0.00465431835585,0.0796248838276,0.999999808214,0.000193965592334,-0.00058803508425,1.27946708381e-05,1793193042141955584
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742.842138544,711,674,659,631.157861456,879.684277088,783,800,650,628.842138544,650,0.440010864342,0.00464544314715,0.0796170456675,0.999999803722,0.000188679723136,-0.000597182328122,1.81212501169e-05,1793193042158622464
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,631.41514164,879.58485836,783,799.58485836,649.58485836,629,650.41514164,0.439571808023,0.00463744404764,0.0796287100183,0.999999814584,0.000199723658938,-0.00057498891917,1.81502234997e-05,1793193042175289088
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,631.987878472,879.012121528,783,799.012121528,649.012121528,629,650.987878472,0.4391278997,0.00462977753504,0.0796477778712,0.999999830047,0.000216966680645,-0.00054089803698,1.61681307957e-05,1793193042191955456
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,659.583397843,632,879,783,799,649,629,650.416602157,0.438672572216,0.00462103086834,0.0796965809822,0.999999871786,0.000193065423026,-0.000467685319462,2.05990405952e-05,1793193042208622080
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,660,632,878.826777776,783,799.173222224,649,629,650,0.438197383759,0.00461306683647,0.0797423368841,0.999999904474,0.000172845718706,-0.000400728120313,2.43725881372e-05,1793193042225288960
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,660,632,878.251321492,783,799.748678508,649,629,650,0.437676650131,0.00460697437011,0.0797795240177,0.999999924989,0.000163240589786,-0.000350260890798,2.62977142019e-05,1793193042241955584
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.674663174,711,674,660,632,878,783,799.674663174,649,629,650.325336826,0.437110002066,0.00459856648173,0.0797999972374,0.999999936078,0.000157661989496,-0.000319636837609,2.86155272266e-05,1793193042258622464
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742.097072785,711,674,660,632,878,783,799.097072785,649,629,650.902927215,0.43650775367,0.00458836330421,0.0798075111401,0.999999941139,0.000155205402618,-0.00030439840926,3.12378147387e-05,1793193042275288832
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742.486868105,711,674,659.513131895,632,878,783,799.486868105,649,629,651,0.435867585103,0.00457928105403,0.0798082623364,0.999999945442,0.000136310514938,-0.000299188336179,3.19559171128e-05,1793193042291955712
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.071745979,743,711,674,659.071745979,632.071745979,878,783,799.928254021,649,629,651,0.435215011439,0.00457081315967,0.0798076195001,0.999999948667,0.000117850403566,-0.000296206246366,3.22405967429e-05,1793193042308622592
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.654161929,743,711,674,659.654161929,632.654161929,878,783,799.345838071,649,629,651,0.434528666779,0.00456510630255,0.0798067784333,0.999999948116,0.000126121666462,-0.000294662537737,3.21783237428e-05,1793193042325289216
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.766408088,742.766408088,711,674,660,632.766408088,878,783,799,649,628.766408088,650.766408088,0.433821767698,0.00455880550773,0.0798037890005,0.999999946571,0.000124875942553,-0.000300271194471,3.3176542528e-05,1793193042341955584
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.191343131,742.191343131,711,674,660,632.191343131,878,783,799,649,628.191343131,650.191343131,0.433084821468,0.0045516364738,0.079797659009,0.999999943309,0.000109717945101,-0.000316335435711,3.57250262761e-05,1793193042358622208
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763,742.384103218,711,674,660,632,878,783.384103218,799,649,628.384103218,650,0.432281318578,0.00454356259974,0.0797686129591,0.999999923711,0.000102437054326,-0.000375047882693,3.77392144842e-05,1793193042375289088
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742.95973973,711,674,660,632,878,783.95973973,799,649,628.95973973,650,0.431444627193,0.00453503752684,0.0797281398035,0.999999890787,9.90840873235e-05,-0.000455026880018,3.94869756374e-05,1793193042391955968
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.547049222,743,711,674,660,632.547049222,878.547049222,783.452950778,799,649,629,650,0.430687560621,0.00452666561027,0.0797513638349,0.999999909473,9.03123611599e-05,-0.000413942282294,3.93753337788e-05,1793193042408622336
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.866573563,743,711,674,660.133426437,632.866573563,878.866573563,783,799,649,629,650.133426437,0.429934523131,0.00451721125281,0.0797866220988,0.999999933624,7.88496280616e-05,-0.000353523085006,3.94383796704e-05,1793193042425288960
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.286259032,743,711,674,660.713740968,632.286259032,878.286259032,783,799,649,629,650.713740968,0.429174925488,0.00450409287884,0.0798461435376,0.999999963895,5.97386651229e-05,-0.000258838250345,4.05548368968e-05,1793193042441955584
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,660.707796069,632,878,783,799,649,629,651,0.428368040575,0.00449329492697,0.0798687250807,0.999999973422,4.64737915732e-05,-0.000221918654469,4.18135065221e-05,1793193042458622464
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,660.131135514,632,878,783,799,649,629,651,0.427515122046,0.00448475587347,0.0798553461358,0.999999969213,3.89000060462e-05,-0.00024123273723,4.32106184134e-05,1793193042475289088
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,660,632,878.451776356,783,799.451776356,649,629,651,0.426623274739,0.00447625759073,0.0798145070127,0.999999953552,3.66559387059e-05,-0.000299687325042,4.17199041297e-05,1793193042491955712
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.963873997,711,673.963873997,659.963873997,632,878.963873997,783,799.963873997,649,629,650.963873997,0.425720698473,0.00446762727909,0.079768173461,0.999999931507,3.48517960321e-05,-0.000366339200833,3.95733560799e-05,1793193042508622336
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,762.807098816,742,711,673,659,632,878,783.192901184,799,649,629,650.192901184,0.42393718541,0.00444674876968,0.0797533678988,0.99999992039,-2.57487886455e-07,-0.000396892721376,4.11797496683e-05,1793193042541955840
+311,5.183333333,POSE2_TO_POSE3_RETREAT,762.228340535,742,711,673,659,632,878,783.771659465,799,649,629,650.771659465,0.423044803585,0.00443807316961,0.0797463992002,0.999999917159,-1.18559420256e-05,-0.000404676887326,4.21611815637e-05,1793193042558622464
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.022459485,632,877.511229742,784,798.511229742,649,628.488770258,650,0.420591191805,0.00442083884473,0.0798641810504,0.999999979965,-2.09676902607e-05,-0.000193855727127,4.52849577269e-05,1793193042608622592
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742.097737929,711.097737929,673,661.804524141,632,878,783.902262071,799,649.097737929,628.097737929,650,0.419727254051,0.00443011271238,0.0798770519001,0.999999982991,-1.56153906181e-05,-0.000177654592848,4.70497168434e-05,1793193042625289216
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.676120562,711.676120562,673,660.647758876,632,878,783.323879438,799,649.676120562,628.676120562,650,0.418808967642,0.0044554745575,0.0798282357119,0.999999964866,1.6995786783e-05,-0.000260564533919,4.5655766703e-05,1793193042641955584
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,743,711.746466236,673,659.746466236,632,877.746466236,783.253533764,799,649.746466236,628.746466236,650.253533764,0.417921941532,0.00446681307613,0.0798016669079,0.999999951138,2.94194573687e-05,-0.000308087766699,4.40447715916e-05,1793193042658622464
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,743,711.170286647,673,659.170286647,632,877.170286647,783.829713353,799,649.170286647,628.170286647,650.829713353,0.417074697002,0.00446030558173,0.0798034100094,0.999999950752,1.61526104313e-05,-0.000310578061525,4.21575662767e-05,1793193042675289088
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.595358731,711,673,659.404641269,632,877,783.595358731,799,649,628,651,0.416232476275,0.00445455524432,0.0798028195512,0.999999947427,1.27282289385e-05,-0.000321164398087,4.28603800019e-05,1793193042691955968
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742.020955971,711,673,659.979044029,632,877,783.020955971,799,649,628,651,0.415392363263,0.00444912256176,0.0798012500813,0.999999942751,1.34331146854e-05,-0.000335147313668,4.46497995007e-05,1793193042708622592
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.429695738,632,877,783,799,649.570304262,628.570304262,651,0.414589669127,0.00444879970055,0.0797911553266,0.99999993963,5.81734093822e-07,-0.000344826043837,4.2832066909e-05,1793193042725289216
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.841123798,659.158876202,632.158876202,877,783.158876202,799,649.841123798,629,651,0.413805394128,0.00444953092488,0.0797885011168,0.999999940966,-7.44262096319e-06,-0.000341035259926,4.13277811887e-05,1793193042741955840
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.261364452,659.738635548,632.738635548,877,783.738635548,799,649.261364452,629,651,0.413066160393,0.00445254200024,0.0798064130038,0.999999953558,-1.3197755301e-06,-0.000301993773139,4.10156813491e-05,1793193042758622720
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.315002204,742,711,672.315002204,660,632.684997796,877,784,799,649.315002204,629,651,0.412316361626,0.00445410318982,0.0798084691498,0.99999995417,1.10922938368e-06,-0.000300033391852,4.04761844094e-05,1793193042775289344
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.888583835,742,711,672.888583835,660,632.111416165,877,784,799,649.888583835,629,651,0.411557890258,0.00445447419509,0.0797975096131,0.99999994525,5.06029285753e-07,-0.000328512199686,3.97500214642e-05,1793193042791955968
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.525322282,742.474677718,711,673,659.525322282,632.474677718,877,783.525322282,799,649.525322282,629,650.525322282,0.410844276433,0.00445713075152,0.0797910233308,0.999999940043,4.79158306705e-06,-0.000343913583348,4.01712179775e-05,1793193042808622592
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742.937315187,711,673,659.062684813,632.937315187,877,783,799,649.062684813,629,650,0.41014855252,0.00445954425373,0.0797890435696,0.999999938152,9.19809464866e-06,-0.000349207995961,4.08130801882e-05,1793193042825288960
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742.358393531,711,673,659.641606469,632.358393531,877,783,799,649.641606469,629,650,0.409511102297,0.00445541847412,0.0798152960013,0.999999954975,4.89484923033e-06,-0.000297230357212,4.09943087819e-05,1793193042841955840
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742.21960214,711,673,660.21960214,632,877,783.21960214,799,649.78039786,629,650,0.408883136408,0.00445309114351,0.0798356813955,0.999999965106,2.50851628855e-06,-0.000260923792541,4.12367102313e-05,1793193042858622464
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742.796093031,711,673,660.796093031,632,877,783.796093031,799,649.203906969,629,650,0.408270583983,0.00445368658074,0.0798465319155,0.999999967859,3.23747335435e-06,-0.000250085233181,4.1578527569e-05,1793193042875289088
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742.622475272,711,673,660.244950544,632,877,783.622475272,799,649,629,650,0.407659713247,0.00445628582833,0.0798234886399,0.999999955698,1.11409242368e-05,-0.000294379135607,4.26774333563e-05,1793193042891955968
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742.038339617,711,673,659.076679234,632,877,783.038339617,799,649,629,650,0.407049762898,0.00445998171693,0.0797818960395,0.999999930736,2.29708166942e-05,-0.000368845813383,4.41906766769e-05,1793193042908622592
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632,877.542906578,783.542906578,799.542906578,649,629,650.542906578,0.406511832358,0.00446043390069,0.0797700095323,0.999999926173,1.98892465696e-05,-0.000381440811815,4.19778319898e-05,1793193042925289216
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.122980389,632,877.877019611,783.877019611,799.877019611,649,629,651,0.405996030122,0.00446033678708,0.0797677845444,0.999999928057,1.56989758249e-05,-0.000376885290582,3.99735705845e-05,1793193042941955840
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.699479242,632,877.300520758,783.300520758,799.300520758,649,629,651,0.405543174698,0.00445905428114,0.0797934933931,0.9999999463,1.12828679838e-05,-0.000325110879644,3.97037353387e-05,1793193042958622720
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.723119337,632.276880663,876.723119337,783,799,649,629,651,0.405106949755,0.00445847259657,0.0798132543776,0.999999957155,1.09812339012e-05,-0.000289805812222,3.97698166912e-05,1793193042975289088
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.144735118,632.855264882,876.144735118,783,799,649,629,651,0.404688834265,0.00445865405725,0.0798265385547,0.999999961967,1.51599724638e-05,-0.000272434704748,4.02016876735e-05,1793193042991955712
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.440044823,742,711,672.559955177,659,633,876.440044823,783,799,649,629,651,0.404295563716,0.00446144140628,0.0798325662362,0.999999962154,2.25030441492e-05,-0.000270951227976,4.20881537441e-05,1793193043008622336
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.97339769,742.02660231,711,672.02660231,659,632.97339769,877,783.02660231,798.97339769,649,629,651,0.40391208064,0.00446507558252,0.0798359302719,0.999999960742,3.0769023128e-05,-0.000274959894558,4.43334441094e-05,1793193043025289216
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.394258172,742.605741828,711,672.605741828,659,632.394258172,877,783.605741828,798.394258172,649,629,651,0.403559653957,0.0044682337719,0.0798342738931,0.999999958359,3.6267901705e-05,-0.000282903966128,4.39479121136e-05,1793193043041955840
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.76226989,742.23773011,711,672.23773011,659,632,877.76226989,783.23773011,798.76226989,649,628.23773011,651,0.402923631431,0.00446805376637,0.0798298216905,0.999999954429,4.23279145047e-05,-0.000295699490686,4.37336156517e-05,1793193043075288832
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.324625891,711,672,659,632,877.675374109,783,799,649,628,651,0.402657273545,0.00446702637413,0.0798279708391,0.999999953421,4.05135645421e-05,-0.000299341911428,4.37208966224e-05,1793193043091955968
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.876177345,711,672,659,632,877.123822655,783,799,649,628,651,0.402414608828,0.00446651541478,0.0798265878146,0.999999952905,3.62034121884e-05,-0.000301616037302,4.36737672397e-05,1793193043108623616
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.522530768,711,672,659.477469232,632.477469232,877,783,799,649,628.477469232,650.522530768,0.40221335098,0.00446225290094,0.0798292015018,0.99999995537,2.58487427961e-05,-0.000294390016347,4.38944807058e-05,1793193043125289984
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,659.912346561,632.912346561,877.087653439,783,799.087653439,649,628.912346561,650.087653439,0.402028263387,0.00445631788328,0.0798338051,0.999999958609,1.3414407849e-05,-0.000283937282272,4.45111051796e-05,1793193043141956352
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659.333050591,632.333050591,877.666949409,783,799.666949409,649,628.333050591,650.666949409,0.401866640395,0.00444709338622,0.0798430804271,0.99999996223,-8.70013484624e-07,-0.000270811733418,4.69134664566e-05,1793193043158622720
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.755306171,742,711,672.244693829,659,632,877.755306171,783.244693829,799.755306171,649,628.244693829,651,0.401715586258,0.00444089999689,0.0798480383742,0.99999996404,-1.08576072991e-05,-0.000263561887083,4.83523666006e-05,1793193043175289344
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.179660295,742,711,672.820339705,659,632,877.179660295,783.820339705,799.179660295,649,628.820339705,651,0.401578826664,0.00443880622669,0.0798471569998,0.999999963795,-1.50336767455e-05,-0.000264259017078,4.84881710375e-05,1793193043191955968
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.605828842,659.394171158,632.394171158,877,783.605828842,799,649,629,651,0.401458661331,0.00444705824372,0.0798422362052,0.999999961919,-4.24330180077e-06,-0.000271755746124,4.78869934528e-05,1793193043208622592
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.032820551,659.967179449,632.967179449,877,783.032820551,799,649,629,651,0.401346024871,0.00446000418831,0.0798354827083,0.999999958952,1.33374123488e-05,-0.000282337482188,4.6951443981e-05,1793193043225289472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.55913776,742,711,672.55913776,659.44086224,632.44086224,877,783.55913776,799,649,628.44086224,651,0.401257859914,0.00446466212913,0.0798302908375,0.999999954182,6.15650848771e-05,-0.000292735078324,4.63835984346e-05,1793193043241956096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.851477435,659,632,877.148522565,783.851477435,799,649,628,651,0.401178494986,0.00446688424837,0.0798256503482,0.999999948793,9.61538719912e-05,-0.000301758040579,4.59373470006e-05,1793193043258622976
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.272878571,659,632,877.727121429,783.272878571,799,649,628,651,0.401120306841,0.00446351112458,0.0798223317453,0.999999948193,8.58566987663e-05,-0.000306832881114,4.57785031167e-05,1793193043275289856
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.698831432,742,711,672.301168568,659,632,877.698831432,783,799,649.301168568,628.301168568,651,0.401075246047,0.00446166478417,0.079821175098,0.999999948735,7.86140758869e-05,-0.000307046337689,4.55161153668e-05,1793193043291956224
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.128847087,742,711,672.871152913,659,632,877.128847087,783,799,649.871152913,628.871152913,651,0.401041902411,0.00446118121386,0.0798219481602,0.999999950355,7.40978713586e-05,-0.000302920640288,4.51613068794e-05,1793193043308622848
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.540259818,659,632.459740182,877,783.459740182,799,649.540259818,629,651,0.401014913213,0.00445983601557,0.0798227704533,0.999999950693,7.1057458795e-05,-0.000302482116471,4.54891412151e-05,1793193043325289216
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742.052409822,711,672,659,632.947590178,877,784,799,649,628.947590178,651,0.400990554139,0.00445846270993,0.0798233986089,0.999999950555,6.86593950229e-05,-0.000303419859632,4.5955428426e-05,1793193043341955840
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763,742.631501333,711,672,659,632.368498667,877,784,799,649,628.368498667,651,0.400973974468,0.00445933598783,0.079821931318,0.999999949376,6.83847509331e-05,-0.000307365554258,4.58093820782e-05,1793193043358622464
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763,742.790338054,711,672,659,632,877,783.790338054,799,649,628,651,0.400962595337,0.00446038979395,0.0798214219178,0.999999949025,6.87702187005e-05,-0.000308439360864,4.56646963215e-05,1793193043375289088
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763,742.213806402,711,672,659,632,877,783.213806402,799,649,628,651,0.400960316194,0.00446175949105,0.07982258865,0.999999950136,7.03107604029e-05,-0.000304487893121,4.55223913635e-05,1793193043391955968
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763,742.368563534,711,672,659,632,877,783.368563534,799,649,628.368563534,651,0.400959612313,0.00446166768382,0.0798241518923,0.999999951474,6.94284665089e-05,-0.000300320862359,4.51453237593e-05,1793193043408622848
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763,742.95437487,711,672,659,632,877,783.95437487,799,649,628.95437487,651,0.400959836962,0.00446071440082,0.0798259488555,0.999999952936,6.71180452941e-05,-0.00029602676875,4.46298765565e-05,1793193043425289728
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.111747559,659,632,876.888252441,783.111747559,799,650,628.111747559,650,0.400957051544,0.00446130226171,0.0798271632189,0.999999953464,6.64166528298e-05,-0.000294417187063,4.45004680405e-05,1793193043458622976
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8be9837077cbe61ecb4862119ad77ef16a74d252
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,392 @@
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+323,5.383333333,pose2_to_pose3_retreat,0.58780375913,0.0100544667008,1.07002933004,0.558374489287,0.0187271955837,1.06969861244
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+328,5.466666667,pose2_to_pose3_retreat,0.584263670926,0.0100545174032,1.07002897891,0.554834402232,0.0187272506383,1.06969827201
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+362,6.033333333,pose2_to_pose3_retreat,0.575716106603,0.0100546732105,1.07002918054,0.546286837405,0.0187274044853,1.06969846831
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+366,6.100000000,pose2_to_pose3_retreat,0.575713910941,0.0100545451133,1.07002926008,0.546284641555,0.0187272755787,1.06969854337
+367,6.116666667,pose2_to_pose3_retreat,0.575713531279,0.0100545229634,1.07002927383,0.546284261861,0.0187272532889,1.06969855635
+368,6.133333333,pose2_to_pose3_retreat,0.575713320415,0.0100545106613,1.07002928147,0.546284050979,0.0187272409091,1.06969856356
+369,6.150000000,pose2_to_pose3_retreat,0.575712966725,0.0100544900267,1.07002929428,0.546283697259,0.0187272201441,1.06969857565
+370,6.166666667,pose2_to_pose3_retreat,0.57571262797,0.0100544834594,1.07002928554,0.546283358463,0.0187272134486,1.06969856717
+371,6.183333333,pose2_to_pose3_retreat,0.575712476496,0.0100544899851,1.07002926656,0.546283206961,0.0187272199146,1.06969854899
+372,6.200000000,pose2_to_pose3_retreat,0.575712436365,0.010054491714,1.07002926153,0.546283166824,0.0187272216276,1.06969854417
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+374,6.233333333,pose2_to_pose3_retreat,0.575712073289,0.0100545073559,1.07002921605,0.546282803684,0.0187272371263,1.0696985006
+375,6.250000000,pose2_to_pose3_retreat,0.575711890288,0.0100545152398,1.07002919312,0.546282620651,0.0187272449381,1.06969847863
+376,6.266666667,pose2_to_pose3_retreat,0.575711879639,0.0100545156986,1.07002919178,0.54628261,0.0187272453927,1.06969847735
+377,6.283333333,pose2_to_pose3_retreat,0.575711753401,0.0100545211371,1.07002917597,0.54628248374,0.0187272507814,1.0696984622
+378,6.300000000,pose2_to_pose3_retreat,0.575711176635,0.010054545985,1.07002910371,0.546281906873,0.0187272754018,1.06969839298
+379,6.316666667,pose2_to_pose3_retreat,0.575711038376,0.0100545519414,1.07002908638,0.546281768589,0.0187272813037,1.06969837638
+380,6.333333333,pose2_to_pose3_retreat,0.575710490556,0.0100545755423,1.07002901775,0.546281220673,0.0187273046885,1.06969831063
+381,6.350000000,pose2_to_pose3_retreat,0.575710392736,0.0100545757539,1.07002900333,0.546281122841,0.0187273048859,1.06969829698
+382,6.366666667,pose2_to_pose3_retreat,0.575710307946,0.0100545709453,1.07002898812,0.546281038045,0.0187273000951,1.06969828275
+383,6.383333333,pose2_to_pose3_retreat,0.575710113557,0.0100545599211,1.07002895326,0.546280843643,0.0187272891119,1.06969825014
+384,6.400000000,pose2_to_pose3_retreat,0.575710001638,0.010054553574,1.07002893319,0.546280731716,0.0187272827883,1.06969823136
+385,6.416666667,pose2_to_pose3_retreat,0.575709834102,0.0100545440727,1.07002890315,0.546280564169,0.0187272733224,1.06969820325
+386,6.433333333,pose2_to_pose3_retreat,0.575709648024,0.0100545335199,1.07002886978,0.546280378079,0.0187272628088,1.06969817203
+387,6.450000000,pose2_to_pose3_retreat,0.575709382186,0.0100545717019,1.07002921677,0.54628011072,0.0187272952812,1.06969850459
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+389,6.483333333,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+390,6.500000000,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffa9d67d254f9a6754b393bb17a8c0d61c787de4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e72c0c57f3e2912ac24dd2fb67619a631acdcbab0fc6fca801a11fbe9124e222
+size 25100055
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72924f35d90833b8d3eb6518a4fb5859e0d15830
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_02/franka_data.csv
@@ -0,0 +1,396 @@
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+16,0.266666667,BASELINE,763.66764863,742.33235137,711,672.33235137,659.66764863,632.66764863,877.33235137,784,799,649.66764863,629,651,0.400954472871,0.0044649283718,0.079830968235,0.999999955369,6.8987283635e-05,-0.00028756484334,4.25435637558e-05,1793193044268968960
+17,0.283333333,BASELINE,763.088353445,742.911646555,711,672.911646555,659.088353445,632.088353445,877.911646555,784,799,649.088353445,629,651,0.400956490528,0.00446549376559,0.0798325896355,0.999999955757,7.1530425705e-05,-0.000285519491172,4.2990631015e-05,1793193044285635840
+18,0.300000000,BASELINE,763,743,711,673,659.486149073,632,877.513850927,784,799,649,629,651,0.400956430164,0.00446409144836,0.0798323994862,0.999999955837,6.93315173062e-05,-0.000285808522258,4.28162688304e-05,1793193044302302720
+19,0.316666667,BASELINE,763,742.940003864,711,672.940003864,659.940003864,632,877,784,799.059996136,649,629,650.940003864,0.400956089821,0.00446258947936,0.0798319613679,0.999999955856,6.68784676058e-05,-0.000286356946307,4.26104784591e-05,1793193044318969344
+20,0.333333333,BASELINE,763,742.364377148,711,672.364377148,659.364377148,632,877,784,799.635622852,649,629,650.364377148,0.40095655734,0.00446327454207,0.0798321940472,0.999999955889,6.95758039312e-05,-0.000285524082272,4.30957529639e-05,1793193044335635968
+21,0.350000000,BASELINE,763.216153994,742,711,672.216153994,659,632,877,783.783846006,799.783846006,649,628.783846006,650.216153994,0.400956221226,0.004463801261,0.0798321419684,0.999999955746,7.05963036925e-05,-0.000285732294869,4.3384287365e-05,1793193044352302592
+22,0.366666667,BASELINE,763.805144552,742,711,672.805144552,659,632,877,783.194855448,799.194855448,649,628.194855448,650.805144552,0.400954498957,0.00446405485814,0.0798315987199,0.999999955304,6.87244856582e-05,-0.000287736224706,4.33334715014e-05,1793193044368969216
+23,0.383333333,BASELINE,763.610260768,742,711,672.610260768,659.389739232,632.389739232,877,783.389739232,799,649,628.389739232,651,0.40095537389,0.00446421522965,0.0798321336538,0.999999955457,6.96674672892e-05,-0.00028698962019,4.32459217512e-05,1793193044385635840
+24,0.400000000,BASELINE,763.027839303,742,711,672.027839303,659.972160697,632.972160697,877,783.972160697,799,649,628.972160697,651,0.400957532847,0.0044643295116,0.0798332016278,0.999999955898,7.20020507286e-05,-0.000284883185847,4.31402112191e-05,1793193044402302464
+25,0.416666667,BASELINE,763.546451658,742,711,672,659.453548342,632.453548342,877,783.453548342,799.546451658,649,629,651,0.400956332019,0.0044640661115,0.079832014016,0.999999955743,6.97929284739e-05,-0.000285975779109,4.3129422639e-05,1793193044418969088
+26,0.433333333,BASELINE,763.877548066,742,711,672.122451934,659,632.122451934,877.122451934,783.122451934,799.877548066,649,629,651,0.40095488637,0.0044639689795,0.0798309395214,0.999999955487,6.80566869869e-05,-0.000287304837347,4.30177375908e-05,1793193044435635712
+27,0.450000000,BASELINE,763.293566803,742,711,672.706433197,659,632.706433197,877.706433197,783.706433197,799.293566803,649,629,651,0.400953153657,0.004464569981,0.079830718134,0.999999954981,6.89624422657e-05,-0.000288919884911,4.25078077292e-05,1793193044452302336
+28,0.466666667,BASELINE,763.288907048,742.288907048,711.288907048,672.711092952,659.288907048,632.711092952,877.711092952,784,799,649.288907048,628.711092952,651,0.400953601281,0.00446495068151,0.0798311114506,0.999999955081,6.99074429378e-05,-0.000288365926522,4.23740449387e-05,1793193044468968960
+29,0.483333333,BASELINE,763.869857089,742.869857089,711.869857089,672.130142911,659.869857089,632.130142911,877.130142911,784,799,649.869857089,628.130142911,651,0.400956252907,0.00446510868975,0.0798321261434,0.99999995579,7.08921149381e-05,-0.000285619418577,4.26205323598e-05,1793193044485635584
+30,0.500000000,BASELINE,764,742.550944688,712,672,659.550944688,632,877,784,798.550944688,649.550944688,628.449055312,651,0.400956094144,0.00446437390836,0.0798320224872,0.999999955857,6.80227012539e-05,-0.000286093468874,4.25292381563e-05,1793193044502302464
+31,0.516666667,BASELINE,764,742,711.972050047,672,659.027949953,632,877,783.972050047,798.027949953,649,628.972050047,651,0.40095510504,0.00446343985596,0.0798315672362,0.999999955712,6.42996624041e-05,-0.000287482662931,4.23655496148e-05,1793193044518969344
+32,0.533333333,BASELINE,764,742,711.38914149,672,659.61085851,632,877,783.38914149,798.61085851,649,628.38914149,651,0.400953738425,0.00446366669591,0.0798305413373,0.999999955289,6.57192945839e-05,-0.000288582068958,4.27006175659e-05,1793193044535635968
+33,0.550000000,BASELINE,764,742,711,672,659.807536045,632,877,783,799,649,628.192463955,651,0.400953400975,0.0044639971409,0.0798300899981,0.999999955129,6.72216905472e-05,-0.000288760834492,4.28989188241e-05,1793193044552302848
+34,0.566666667,BASELINE,764,742,711,672,659.228547701,632,877,783,799,649,628.771452299,651,0.400955130393,0.00446453565534,0.0798307925445,0.9999999555,6.88903004284e-05,-0.000287090682239,4.28225521838e-05,1793193044568970752
+35,0.583333333,BASELINE,764,742,711,672,659.351917654,632.351917654,877.351917654,783.351917654,799.351917654,649,628.648082346,650.648082346,0.400955227474,0.00446568444014,0.0798312503737,0.999999955539,7.11297227729e-05,-0.000286416854776,4.27572196231e-05,1793193044585637120
+36,0.600000000,BASELINE,764,742,711,672,659.933346332,632.933346332,877.933346332,783.933346332,799.933346332,649,628.066653668,650.066653668,0.40095425999,0.00446723122656,0.0798315486051,0.999999955359,7.37414134854e-05,-0.000286392802796,4.26990831785e-05,1793193044602303232
+37,0.616666667,BASELINE,764,742,711.509516181,672,660,632.490483819,877.490483819,784,799.490483819,649,628.509516181,650.509516181,0.400955827634,0.00446624165858,0.0798323524414,0.999999955944,7.09176595644e-05,-0.000285049930371,4.2768893474e-05,1793193044618969344
+38,0.633333333,BASELINE,764,742,711.915408393,672.084591607,660,632,877,783.915408393,799,649,628.915408393,651,0.400957291238,0.00446502020578,0.0798329779944,0.999999956466,6.79595286574e-05,-0.000283924625853,4.28497275021e-05,1793193044635635968
+39,0.650000000,BASELINE,764,742,711.342718675,672.657281325,660,632,877,783.342718675,799,649,628.342718675,651,0.400956260501,0.00446435570855,0.0798321971004,0.999999956124,6.82869267257e-05,-0.000285040007497,4.28985783888e-05,1793193044652302592
+40,0.666666667,BASELINE,763.761350443,742.238649557,711,673,660,632,877,783.238649557,799,649,628.238649557,651,0.400955496956,0.00446406675023,0.0798315342415,0.999999955865,6.76623068806e-05,-0.000286130454104,4.26665827937e-05,1793193044668969216
+41,0.683333333,BASELINE,763.167048927,742.832951073,711,673,660,632,877,783.832951073,799,649,628.832951073,651,0.400955131597,0.00446433744581,0.0798310472869,0.999999955727,6.56189245392e-05,-0.00028718374074,4.20160504808e-05,1793193044685635840
+42,0.700000000,BASELINE,763.415158126,743,711,672.584841874,659.584841874,632,877,784,799,649,629,651,0.40095570095,0.00446470415988,0.07983146748,0.99999995587,6.67220446414e-05,-0.000286419883881,4.20890002796e-05,1793193044702302464
+43,0.716666667,BASELINE,763.992636424,743,711,672.007363576,659.007363576,632,877,784,799,649,629,651,0.400956635759,0.00446510841563,0.0798322423533,0.999999956118,6.90553968096e-05,-0.000284945553017,4.2444820002e-05,1793193044718969088
+44,0.733333333,BASELINE,763.436982165,742.436982165,711,672.563017835,659,632,877,783.436982165,799,649,628.436982165,650.436982165,0.400958096831,0.00446369728174,0.0798329413137,0.999999956607,6.77388891218e-05,-0.000283517268709,4.25994078644e-05,1793193044735636224
+45,0.750000000,BASELINE,763.139108923,742,711.139108923,672.860891077,659,632,877,783,799,649,628.139108923,650.139108923,0.400958685729,0.00446282757695,0.0798331335685,0.999999956809,6.70674189676e-05,-0.000282944058565,4.27376084263e-05,1793193044752302848
+46,0.766666667,BASELINE,763.73421668,742,711.73421668,672.26578332,659,632,877,783,799,649,628.73421668,650.73421668,0.400956393359,0.00446380953705,0.0798316680568,0.999999956064,6.86649106342e-05,-0.000285171830961,4.28306112633e-05,1793193044768969472
+47,0.783333333,BASELINE,764,742.320398454,711.679601546,672,659.320398454,632,877,783.320398454,799,649,629,651,0.400955520073,0.00446393739701,0.0798314497088,0.999999955933,6.84491114567e-05,-0.000285678048905,4.2847955361e-05,1793193044785635840
+48,0.800000000,BASELINE,764,742.899376521,711.100623479,672,659.899376521,632,877,783.899376521,799,649,629,651,0.400955792067,0.00446337595011,0.0798322378922,0.999999956301,6.67698845315e-05,-0.00028479487561,4.28042386018e-05,1793193044802302464
+49,0.816666667,BASELINE,763.52469933,742.52469933,711,672,660,632,877,784,799,649.47530067,629,651,0.400956106964,0.00446366201846,0.0798323819011,0.999999956363,6.65371549523e-05,-0.000284642079357,4.27269210401e-05,1793193044818968832
+50,0.833333333,BASELINE,763.050512372,742,711.050512372,672.050512372,660,632,877,784,799,649.949487628,629,650.949487628,0.400956512767,0.0044640435249,0.079832490728,0.999999956413,6.65358953913e-05,-0.000284478028746,4.26604355507e-05,1793193044835635456
+51,0.850000000,BASELINE,763.624997867,742,711.624997867,672.624997867,660,632,877,784,799,649.375002133,629,650.375002133,0.400957767943,0.00446356572317,0.0798336402149,0.999999956989,6.57794123388e-05,-0.000282603530481,4.27796308149e-05,1793193044852302080
+52,0.866666667,BASELINE,764,742,712,672.794337416,660,632,877,783.794337416,799.205662584,649,629,650.205662584,0.400958062465,0.00446343680968,0.0798338971785,0.999999957127,6.580944186e-05,-0.000282113880924,4.27321934334e-05,1793193044868968960
+53,0.883333333,BASELINE,764,742,712,672.202056624,660,632,877,783.202056624,799.797943376,649,629,650.797943376,0.400956551086,0.00446396375955,0.0798324763175,0.999999956444,6.73180100932e-05,-0.000284227562222,4.23715089105e-05,1793193044885635328
+54,0.900000000,BASELINE,763.619293854,742,712,672,660,632,877,783.380706146,800,649,629,650.619293854,0.400957112831,0.00446494505008,0.0798328038241,0.99999995644,6.87872583391e-05,-0.000283885631945,4.23842508694e-05,1793193044902302208
+55,0.916666667,BASELINE,763.041459499,742,712,672,660,632,877,783.958540501,800,649,629,650.041459499,0.400958748031,0.00446616159646,0.079834036629,0.999999956788,7.02361467966e-05,-0.00028227219517,4.25903516663e-05,1793193044918968832
+56,0.933333333,BASELINE,763,742,711.467855313,672,660,632,877,784,799.467855313,649,628.467855313,650.532144687,0.400956964866,0.00446448407718,0.0798331334252,0.999999956493,6.82262838072e-05,-0.000283789828582,4.26867280146e-05,1793193044935636224
+57,0.950000000,BASELINE,763,742,711,672,659.89152145,632.10847855,877,784,799.10847855,649.10847855,628.10847855,650.89152145,0.40095528666,0.0044632862496,0.0798322543813,0.999999956177,6.67808518208e-05,-0.000285233435775,4.27656697096e-05,1793193044952303616
+58,0.966666667,BASELINE,763,742,711,672,659.301622539,632.698377461,877,784,799.698377461,649.698377461,628.698377461,650.301622539,0.400955246869,0.00446521002213,0.07983221528,0.999999956011,6.90267933123e-05,-0.000285274458006,4.28048767205e-05,1793193044968969472
+59,0.983333333,BASELINE,763.282600124,742,711,672,659.282600124,633,877.282600124,783.717399876,800,649.717399876,629,650.282600124,0.400955566429,0.00446585050234,0.0798324829322,0.99999995606,6.95737834513e-05,-0.000284980532251,4.27248600103e-05,1793193044985635840
+60,1.000000000,BASELINE,763.860883821,742,711,672,659.860883821,633,877.860883821,783.139116179,800,649.139116179,629,650.860883821,0.400956261976,0.00446514827828,0.0798330715394,0.999999956337,6.83431666999e-05,-0.000284336151535,4.25200999212e-05,1793193045002302464
+61,1.016666667,BASELINE,764,742.43904542,711,672.43904542,660,632.56095458,877.56095458,783.43904542,799.56095458,649,629,651,0.400955645784,0.00446446075636,0.0798321814821,0.999999956106,6.74866580105e-05,-0.000285363976413,4.24293692416e-05,1793193045018969344
+62,1.033333333,BASELINE,764,742.982613529,711,672.965227059,660,632,877,784,799,649,628.982613529,650.982613529,0.400954696622,0.00446378528099,0.0798309168224,0.999999955751,6.67798586327e-05,-0.000286779049647,4.23856628786e-05,1793193045035635968
+63,1.050000000,BASELINE,764,742.397144228,711,671.794288457,660,632,877,784,799,649,628.397144228,650.397144228,0.400956444813,0.00446335124156,0.0798327168987,0.99999995664,6.70925528134e-05,-0.00028353939907,4.26981973319e-05,1793193045052302592
+64,1.066666667,BASELINE,764,742.185949524,711.185949524,671.185949524,660,632,877,784,798.814050476,649,628.185949524,650,0.400957343332,0.00446357233677,0.0798338105186,0.999999957104,6.7543268026e-05,-0.000281774966656,4.2810575453e-05,1793193045068969216
+65,1.083333333,BASELINE,764,742.764033631,711.764033631,671.764033631,660,632,877,784,798.235966369,649,628.764033631,650,0.400956450042,0.00446517499479,0.0798334143469,0.999999956687,6.82850451096e-05,-0.000283121508033,4.2500859334e-05,1793193045085635584
+66,1.100000000,BASELINE,763.65736094,742.65736094,711.65736094,672,660,632.34263906,877,783.65736094,798.34263906,649,629,650,0.40095631415,0.0044659711959,0.0798333559507,0.999999956533,6.87906403766e-05,-0.000283560293806,4.23619488526e-05,1793193045102302208
+67,1.116666667,BASELINE,763.078395966,742.078395966,711.078395966,672,660,632.921604034,877,783.078395966,798.921604034,649,629,650,0.400956700651,0.00446621116534,0.0798335305259,0.999999956564,6.91333356699e-05,-0.000283372979945,4.23408468975e-05,1793193045118969088
+68,1.133333333,BASELINE,763.497301075,742,711.497301075,672.497301075,660,632.502698925,876.502698925,783.497301075,799,649,629,650,0.400957056995,0.00446608941249,0.0798331030238,0.999999956496,7.01498190263e-05,-0.000283374312057,4.22584220749e-05,1793193045135635712
+69,1.150000000,BASELINE,763.925912474,742,711.925912474,673,660,632.074087526,876.074087526,784,799,649,628.925912474,650.074087526,0.400957293367,0.00446588550427,0.0798326661206,0.99999995641,7.11211578081e-05,-0.000283446813658,4.21934438937e-05,1793193045152302848
+70,1.166666667,BASELINE,763.338021762,742,711.338021762,673,660,632.661978238,876.661978238,784,799,649,628.338021762,650.661978238,0.400956730477,0.00446550471892,0.0798328179531,0.999999956307,7.10475938139e-05,-0.000283807987735,4.23160642253e-05,1793193045168969216
+71,1.183333333,BASELINE,763.246345652,742,711.246345652,672.753654348,660,632.753654348,877,784,799,649,628.246345652,651,0.400956137819,0.0044652382254,0.0798328814277,0.999999956224,7.09559425408e-05,-0.000284107460424,4.24394656341e-05,1793193045185635840
+72,1.200000000,BASELINE,763.825946844,742,711.825946844,672.174053156,660,632.174053156,877,784,799,649,628.825946844,651,0.400955504891,0.00446512634539,0.079832825372,0.999999956165,7.08398228496e-05,-0.000284323463739,4.25639236985e-05,1793193045202302464
+73,1.216666667,BASELINE,763.595082728,742.404917272,712,672,660.404917272,632,877,783.595082728,799,649,629,651,0.400955952354,0.0044653736714,0.0798331630253,0.999999956316,7.04282611885e-05,-0.000283890204422,4.25915200284e-05,1793193045218969088
+74,1.233333333,BASELINE,763.016383047,742.983616953,712,672,660.983616953,632,877,783.016383047,799,649,629,651,0.400956863498,0.00446577516146,0.0798336696506,0.999999956556,6.9889901738e-05,-0.000283178294529,4.25775452277e-05,1793193045235635712
+75,1.250000000,BASELINE,763,743,711.442835729,672,659.885671458,632.557164271,877,783.557164271,799,649,628.442835729,651,0.400956137609,0.00446597230381,0.0798338788029,0.999999956533,7.00068444588e-05,-0.000283272450337,4.23000813326e-05,1793193045252302336
+76,1.266666667,BASELINE,763,742.865911352,711,672,659.134088648,632.865911352,877,783.865911352,799,649.134088648,628.134088648,651,0.400955608402,0.00446589899993,0.0798337911041,0.99999995646,7.00581029203e-05,-0.000283543352721,4.212764923e-05,1793193045268968960
+77,1.283333333,BASELINE,763,742.277023615,711,672,659.722976385,632.277023615,877,783.277023615,799,649.722976385,628.722976385,651,0.400955908072,0.00446492859558,0.0798327259481,0.999999956243,6.98218184356e-05,-0.000284334085698,4.23374995734e-05,1793193045285636096
+78,1.300000000,BASELINE,763,742,711,672,660,632,877,783.306793299,799,650,629,651,0.400955814968,0.00446431347874,0.0798322799879,0.999999956205,6.83110586735e-05,-0.000284818592936,4.24539401631e-05,1793193045302303232
+79,1.316666667,BASELINE,763,742,711,672,660,632,877,783.886105856,799,650,629,651,0.40095537297,0.00446401395779,0.0798323840488,0.99999995632,6.56682042627e-05,-0.000285031085025,4.24874064495e-05,1793193045318970112
+80,1.333333333,BASELINE,763,742,711,672,660,632,877,784,798.536690064,649.536690064,629,650.536690064,0.400956177484,0.00446360634447,0.079832580975,0.999999956472,6.60206848473e-05,-0.000284437020966,4.23391687254e-05,1793193045335636736
+81,1.350000000,BASELINE,763.040599173,742,711,672,660,632,877,783.959400827,798.081198346,649,628.959400827,650.040599173,0.40095712856,0.00446325519072,0.0798327453262,0.9999999566,6.70826640788e-05,-0.000283763781751,4.21679365381e-05,1793193045352303104
+82,1.366666667,BASELINE,763.625953736,742,711,672,660,632,877,783.374046264,799.251907471,649,628.374046264,650.625953736,0.400955953226,0.00446401653126,0.0798321676644,0.999999956285,6.78293203163e-05,-0.000284676538107,4.22847994913e-05,1793193045368969728
+83,1.383333333,BASELINE,763.791231057,742,711.208768943,672.208768943,660,632.208768943,877.208768943,783.417537886,799.791231057,649.208768943,628.208768943,650.791231057,0.400955436334,0.00446447756695,0.0798322447419,0.999999956197,6.84195869604e-05,-0.000284821698279,4.24352779323e-05,1793193045385636352
+84,1.400000000,BASELINE,763.21291078,742,711.78708922,672.78708922,660,632.78708922,877.78708922,784.57417844,799.21291078,649.78708922,628.78708922,650.21291078,0.400956084978,0.00446440701959,0.0798334808031,0.999999956512,6.87330214469e-05,-0.000283608101934,4.26452606857e-05,1793193045402302720
+85,1.416666667,BASELINE,763,742,711.63353664,672.63353664,660,633,877.63353664,784.63353664,799,649.63353664,628.63353664,650,0.400956197843,0.00446437892763,0.0798336208991,0.999999956409,6.90780482542e-05,-0.000283907433982,4.25062031531e-05,1793193045418969344
+86,1.433333333,BASELINE,763,742,711.053548487,672.053548487,660,633,877.053548487,784.053548487,799,649.053548487,628.053548487,650,0.400955998528,0.00446437557288,0.079833122416,0.999999956062,6.94414827321e-05,-0.000285088294128,4.21637726029e-05,1793193045435635968
+87,1.450000000,BASELINE,763.522723293,742,711,672,659.477276707,633,877,783.477276707,799,649,628.522723293,650.522723293,0.400956555575,0.00446354459604,0.079833421902,0.999999956476,6.8283065226e-05,-0.000283881928881,4.23863839733e-05,1793193045452302848
+88,1.466666667,BASELINE,764,742,711,672,659.100512046,632.899487954,876.899487954,783.100512046,799,649,629,651,0.400957079759,0.00446286880409,0.079833686498,0.999999956898,6.70139534198e-05,-0.00028266361281,4.26011496209e-05,1793193045468969472
+89,1.483333333,BASELINE,764,742,711,672,659.687471991,632.312528009,876.312528009,783.687471991,799,649,629,651,0.400957072542,0.00446335148627,0.0798333894094,0.999999957001,6.5958300002e-05,-0.000282562654254,4.24997825348e-05,1793193045485636096
+90,1.500000000,BASELINE,764,742,711,672,660,632,876.270687791,783.729312209,799,649,629,651,0.40095642817,0.00446409287206,0.0798329295479,0.99999995676,6.6569511086e-05,-0.000283280349051,4.24253289181e-05,1793193045502302720
+91,1.516666667,BASELINE,764,742,711,672,660,632,876.849639651,783.150360349,799,649,629,651,0.400955058194,0.00446512887409,0.0798322843176,0.999999956123,6.90789771794e-05,-0.000284930340847,4.23815248454e-05,1793193045518969088
+92,1.533333333,BASELINE,763.573516035,742.426483965,711,672.426483965,660,632.426483965,877,783.426483965,799,649,628.573516035,650.573516035,0.400955325602,0.00446564712627,0.0798326142725,0.999999956185,7.03766547039e-05,-0.000284402880556,4.23441305156e-05,1793193045535635712
+93,1.550000000,BASELINE,763,743,711,672.997415856,660,633,877,784,799,649.002584144,628.002584144,650.002584144,0.400956161272,0.00446597997686,0.0798332810439,0.999999956488,7.12346224418e-05,-0.000283123095008,4.23099948074e-05,1793193045552302592
+94,1.566666667,BASELINE,763,743,711,672.422379495,660,633,877,784,799,649.577620505,628.577620505,650.577620505,0.400955629438,0.00446547937502,0.0798327732336,0.999999956282,6.88616743191e-05,-0.000284408149604,4.24995837603e-05,1793193045568969728
+95,1.583333333,BASELINE,763,742.843300815,711,672.156699185,660,632.843300815,877,784,799.156699185,649.843300815,629,651,0.40095534293,0.00446529626296,0.0798324918479,0.999999956181,6.75629933477e-05,-0.000285062886253,4.2570120847e-05,1793193045585636864
+96,1.600000000,BASELINE,763,742.253037489,711,672.746962511,660,632.253037489,877,784,799.746962511,649.253037489,629,651,0.400955735204,0.00446599159943,0.0798328369463,0.999999956388,6.92366547631e-05,-0.000283973623964,4.23112585617e-05,1793193045602303488
+97,1.616666667,BASELINE,763,742,711.331471984,673,660,632,877,784,799.668528016,649,629,651,0.400956274074,0.00446643111608,0.0798332437539,0.999999956502,7.05837707999e-05,-0.000283248200092,4.22368950263e-05,1793193045618969856
+98,1.633333333,BASELINE,763,742,711.911664019,673,660,632,877,784,799.088335981,649,629,651,0.400956922941,0.00446667867825,0.079833696865,0.999999956549,7.1685863366e-05,-0.000282795782493,4.23009701693e-05,1793193045635636224
+99,1.650000000,BASELINE,763.485571875,742,711.514428125,673,660,632,877.485571875,784,799,649.485571875,629,650.514428125,0.400955691401,0.00446516285728,0.0798328570687,0.999999956233,6.9912785025e-05,-0.000284318044978,4.25286470887e-05,1793193045652302848
+100,1.666666667,BASELINE,763.940053251,742,711,672.940053251,660,632,877.940053251,784,799,650,629,650.059946749,0.400954574453,0.00446352375071,0.0798320828293,0.999999956002,6.76448285109e-05,-0.000285647866649,4.27149137419e-05,1793193045668969472
+101,1.683333333,BASELINE,763.351611078,742,711,672.351611078,660,632,877.351611078,784,799,650,629,650.648388922,0.400957445087,0.00446358978984,0.0798339336623,0.999999957151,6.55663695205e-05,-0.000282154517102,4.22770662686e-05,1793193045685636096
+102,1.700000000,BASELINE,763,742.234457613,711,672.234457613,660,632.234457613,877,783.765542387,799.234457613,649.765542387,629,651,0.400958459793,0.00446335619602,0.0798346316625,0.999999957568,6.48762275258e-05,-0.00028084381059,4.22116408741e-05,1793193045702302720
+103,1.716666667,BASELINE,763,742.817002464,711,672.817002464,660,632.817002464,877,783.182997536,799.817002464,649.182997536,629,651,0.400956719098,0.00446267775246,0.0798336181106,0.999999956914,6.62472490109e-05,-0.000282773562964,4.26991315469e-05,1793193045718969344
+104,1.733333333,BASELINE,763,742.60890926,711,673,660,633,877,783.39109074,800,649.39109074,629,651,0.400956698379,0.00446332009141,0.0798334503265,0.999999956855,6.76643357496e-05,-0.000282655274782,4.26300919124e-05,1793193045735636480
+105,1.750000000,BASELINE,763,742.038694147,711,673,660,633,877,783.961305853,800,649.961305853,629,651,0.40095746543,0.00446456736494,0.0798336699144,0.999999957069,6.91025210612e-05,-0.000281598958985,4.23061545895e-05,1793193045752303360
+106,1.766666667,BASELINE,763.540840535,742,711.540840535,672.459159465,660,632.459159465,877,784,798.918318931,649.459159465,628.459159465,651,0.400957766575,0.0044644376981,0.0798334161453,0.999999957005,6.94790492e-05,-0.000281725703361,4.23366001289e-05,1793193045768969728
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,673,660,633,877,783,799,649,629,651,0.400953716647,0.00446628615303,0.079830694095,0.999999955344,7.1187218286e-05,-0.000287164939343,4.2204807355e-05,1793193045810538752
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,712,673,660.581193828,633,878.162387656,783,799,649,629,650.418806172,0.400954594676,0.00446501536782,0.0798313388817,0.999999955903,6.77977643147e-05,-0.000286037701587,4.21858220137e-05,1793193045827206144
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.160698923,742,712,672.839301077,660.839301077,632.839301077,878.678602154,783.160698923,799,649,629,650.160698923,0.400955617355,0.00446407525892,0.0798322541596,0.999999956382,6.61291184623e-05,-0.000284737124002,4.22784653113e-05,1793193045843872768
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.735848811,742,712,672.264151189,660.264151189,632.264151189,877.528302378,783.735848811,799,649,629,650.735848811,0.400957013094,0.00446398798133,0.0798338670486,0.999999956675,6.88985264264e-05,-0.000282989493653,4.26590047301e-05,1793193045860538624
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.690487153,742,712,672.309512847,660,632.309512847,877,784,799,649.309512847,629,650.690487153,0.400957688415,0.00446428375361,0.0798344487874,0.999999956855,6.96367850555e-05,-0.000282183313885,4.25824734801e-05,1793193045877205248
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.118085181,742,712,672.881914819,660,632.881914819,877,784,799,649.881914819,629,650.118085181,0.400957751838,0.00446490487473,0.079834154704,0.999999956945,6.86498580345e-05,-0.000282176768623,4.2117722755e-05,1793193045893872384
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.472464014,742,711.527535986,672.527535986,660,633,877,784,799,649.527535986,628.527535986,650,0.400956229387,0.0044654711429,0.0798326406931,0.999999956415,6.84857586307e-05,-0.000284120914877,4.18911389165e-05,1793193045910539008
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.934282728,742,711,672,660,633,877,784,799,649,628,650.065717272,0.400955211817,0.00446573794759,0.0798314898463,0.999999956002,6.83621864136e-05,-0.000285611034409,4.18201718741e-05,1793193045927205120
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.356706204,742,711,672,660,633,877,784,799,649,628,650.643293796,0.400961337197,0.00446378333579,0.0798356373009,0.999999957768,6.68884970795e-05,-0.000279615744071,4.2479116657e-05,1793193045943871744
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,711.219887634,672.219887634,660,632.780112366,877,783.780112366,799,649,628.219887634,650.780112366,0.400972792534,0.00446325578721,0.0798413465717,0.999999960363,6.66483216459e-05,-0.00027021185958,4.262280892e-05,1793193045960538368
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,711.794894375,672.794894375,660,632.205105625,877,783.205105625,799,649,628.794894375,650.205105625,0.400992855765,0.00446503294968,0.0798495781797,0.999999964192,6.84002745493e-05,-0.000255303087099,4.19343669366e-05,1793193045977204992
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.377200616,742,711.622799384,673,660,632,877,783,799,649.377200616,629,650.377200616,0.40102755524,0.00446558308029,0.079862382723,0.999999969967,6.95273366071e-05,-0.00023135013527,4.13418808229e-05,1793193045993871616
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.963554396,742,711.036445604,673,660,632,877,783,799,649.963554396,629,650.963554396,0.401070370337,0.00446545283678,0.0798777229044,0.999999976217,7.03079043977e-05,-0.000202382294254,4.08026009848e-05,1793193046010538240
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,673,660,632.546509957,877,783.546509957,799.546509957,649.453490043,629,650.453490043,0.401134807667,0.00446622844604,0.0798930002407,0.999999982473,6.79218857776e-05,-0.000170080227501,3.89031255582e-05,1793193046027205120
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,673,660,633,877,784,799.872552442,649,629,650.127447558,0.401202542292,0.00446681964883,0.0799064186777,0.999999986854,6.54525484141e-05,-0.000143677357705,3.69299316588e-05,1793193046043871744
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,673,660,633,877,784,799.297905218,649,629,650.702094782,0.401276818433,0.00446655312929,0.0799133290574,0.99999998775,6.342725835e-05,-0.000138749511959,3.50143869493e-05,1793193046060538368
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.275561001,711.275561001,673.275561001,660,632.724438999,877,784,799,649,629,651,0.401361406673,0.00446634254566,0.0799188158345,0.999999988948,6.08810774449e-05,-0.000131746829468,3.22528822976e-05,1793193046077204992
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.847755866,711.847755866,673.847755866,660,632.152244134,877,784,799,649,629,651,0.401457095598,0.00446619217551,0.079922770142,0.999999990418,5.77741719481e-05,-0.000122510642391,2.85807250736e-05,1793193046093871616
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,711.563465043,673.126930086,660,632.436534957,877,783.563465043,799,649,628.563465043,651,0.401574726226,0.0044682951295,0.0799269766097,0.999999991467,5.53499987831e-05,-0.0001159233014,2.37553929009e-05,1793193046110538496
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.969656574,742.969656574,711,672,660,632.969656574,877,783,799,649,628,651,0.401701915753,0.00447109666166,0.0799313528073,0.99999999238,5.29372642214e-05,-0.000109980763272,1.8476418985e-05,1793193046127205120
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.393526892,742.393526892,711,672,660,632.393526892,877,783,799,649,628,651,0.40185796371,0.00447177004548,0.0799371376474,0.999999994013,4.62783207344e-05,-9.83637035707e-05,1.25574150498e-05,1793193046143871744
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742,711,672,660,632,877,783,799,649,628.182385785,651,0.4020238477,0.00447245945301,0.0799427195052,0.999999995434,3.829297661e-05,-8.73443715632e-05,6.10224914966e-06,1793193046160538368
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,711,672,660,632,877,783,799,649,628.757830724,651,0.402210929281,0.0044731833931,0.0799478639152,0.99999999661,2.74491106278e-05,-7.7613202552e-05,-1.50839730495e-06,1793193046177204992
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,711.342116916,672,660,632,877,783.342116916,799,649,629,651,0.402411416312,0.00447247108065,0.0799480050905,0.999999996796,1.53445663401e-05,-7.80413210124e-05,-9.10026224743e-06,1793193046193871616
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,711.932827522,672,660,632,877,783.932827522,799,649,629,651,0.402621644215,0.00447071513875,0.0799445107472,0.999999996173,2.32396955499e-06,-8.58515193587e-05,-1.66784806969e-05,1793193046210538240
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.513548161,742,711.486451839,672,660,632,877,784,799,649,629,650.486451839,0.402859355979,0.00447141714125,0.0799386753715,0.99999999519,4.56328898069e-06,-9.56449598456e-05,-2.12310462373e-05,1793193046227204864
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.907912466,742,711,672,660.092087534,632,877,784,799,649,629,650.092087534,0.403108725988,0.00447366696536,0.0799332234354,0.999999994205,1.38424968999e-05,-0.000103968550516,-2.42715567264e-05,1793193046243871488
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.334078548,742,711,672,660.665921452,632,877,784,799,649,629,650.665921452,0.40340063745,0.00448236425265,0.0799313487543,0.999999993202,4.97074913869e-05,-0.000103271599163,-2.14327686149e-05,1793193046260539136
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742.240533232,711,672,661,632,877.240533232,784,799,649,628.759466768,650.759466768,0.403714112361,0.00448946224697,0.079933154982,0.999999994082,4.04539974801e-05,-9.87782113939e-05,-2.10209941925e-05,1793193046277206016
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742.816228863,711,672,661,632,877.816228863,784,799,649,628.183771137,650.183771137,0.404057634067,0.00449433176339,0.0799400902398,0.999999995251,-3.166823705e-05,-8.89948153625e-05,-2.39910550124e-05,1793193046293872128
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.806152746,742.596923627,711,672.403076373,660.596923627,632,878,784,799,649,628.403076373,650,0.404433260741,0.00450245311003,0.0799420422306,0.999999995516,-2.93291149392e-05,-8.60679248029e-05,-2.64762114069e-05,1793193046310538496
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.990305836,742.004847082,711,672.995152918,660.004847082,632,878,784,799,649,628.995152918,650,0.404823941239,0.00451209922087,0.0799416575961,0.999999995827,7.92450721328e-06,-8.63560101891e-05,-2.87339988571e-05,1793193046327205376
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.428281927,742.571718073,711,672.428281927,660.571718073,632.571718073,877.428281927,783.428281927,799,649,629,650,0.405256184792,0.00452223137709,0.0799417128952,0.99999999592,2.901108282e-05,-7.97829963711e-05,-3.08702587191e-05,1793193046343872256
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.85149072,743,711,672,660.85149072,632.85149072,877,783,798.85149072,649,629,650,0.405695900209,0.00453214332091,0.0799395460816,0.999999995266,4.53915944262e-05,-7.96054837432e-05,-3.27231349415e-05,1793193046360539136
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.273676037,743,711,672,660.273676037,632.273676037,877,783,798.273676037,649,629,650,0.406156223225,0.00454140708324,0.0799309451652,0.999999993442,4.85537369894e-05,-9.80795737149e-05,-3.3759715108e-05,1793193046377205248
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742.698683552,711,672,660.301316448,632,877,783,798.301316448,649,629,650.301316448,0.406633703183,0.00455145595761,0.0799242673774,0.999999991485,5.94249795763e-05,-0.000110586197637,-3.5637654377e-05,1793193046393871616
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742.126230526,711,672,660.873769474,632,877,783,798.873769474,649,629,650.873769474,0.407126621695,0.00456221130821,0.0799193200966,0.999999989356,7.72331786689e-05,-0.000117723059332,-3.82726822915e-05,1793193046410538240
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742.459960553,711,672,661,632.459960553,877.459960553,783.459960553,799.459960553,649,629,651,0.407657043527,0.00457432936004,0.079914507361,0.999999986967,8.75167299513e-05,-0.000129648706806,-3.99655105994e-05,1793193046427205120
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742.950798875,711,672.049201125,660.950798875,632.950798875,877.950798875,783.950798875,799.950798875,649,628.950798875,651,0.408202315669,0.00458659577746,0.0799098152735,0.999999984392,9.61977687288e-05,-0.000142299274666,-4.13886582669e-05,1793193046443871744
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742.370589396,711,672.629410604,660.370589396,632.370589396,877.370589396,783.370589396,799.370589396,649,628.370589396,651,0.408793360816,0.00459630300911,0.0799060145115,0.999999981999,0.000110556935572,-0.000148153050143,-4.2777867951e-05,1793193046460538368
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742.207427031,711.207427031,673,660.207427031,632.207427031,877,783.207427031,799,649,628,651,0.409415703779,0.00460558266,0.0799161072903,0.999999982946,0.000122197852158,-0.000131187767294,-4.43344971576e-05,1793193046477204992
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742.781566305,711.781566305,673,660.781566305,632.781566305,877,783.781566305,799,649,628,651,0.410093378416,0.00461410638614,0.0799507625936,0.999999987879,0.000129033146908,-7.38804513486e-05,-4.61871087795e-05,1793193046493872128
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742.63507694,711.63507694,673,661,633,877.36492306,784,799,649,628,651,0.410764281919,0.00461594850096,0.0799733755103,0.999999989759,0.000129267691448,-3.7886295094e-05,-4.83384838899e-05,1793193046510538752
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742.046059884,711.046059884,673,661,633,877.953940116,784,799,649,628,651,0.41143102734,0.00461368753414,0.0799885933696,0.999999990735,0.0001254488102,-1.4980245504e-05,-5.06733253336e-05,1793193046527205120
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.536024536,742,711,673.536024536,661,632.463975464,877.463975464,783.463975464,799,649,628.536024536,650.463975464,0.412114712937,0.00459438672109,0.0799597291509,0.999999992008,9.78815902983e-05,-6.0886452102e-05,-5.19209480996e-05,1793193046543871744
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.883803881,742,711,673.883803881,660.883803881,632,877.116196119,783,799,649,629,650,0.412805089093,0.00457538832888,0.0799282540668,0.999999990247,7.032418509e-05,-0.000108409462303,-5.29955004456e-05,1793193046560538368
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.308862519,742,711,673.308862519,660.308862519,632,877.691137481,783,799,649,629,650,0.413516206011,0.00456329084172,0.0799012350656,0.999999987569,5.07592601132e-05,-0.000139269245862,-5.37508946766e-05,1793193046577204992
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742,711,673,660.264700959,632,877.735299041,783,799,649,629,650,0.414257552537,0.00455887098897,0.0798971760736,0.999999988045,4.1494934605e-05,-0.000138542238942,-5.47175159749e-05,1793193046593871616
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742,711,673,660.83666507,632,877.16333493,783,799,649,629,650,0.415033989487,0.00456336328276,0.0799197689077,0.999999992344,4.41874754875e-05,-0.000101149494955,-5.59293283863e-05,1793193046610538240
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.423091054,742,711,672.576908946,661.846182108,632,877.423091054,783,799,649,629,650.423091054,0.415802639586,0.00457110693543,0.0799359755077,0.999999993512,5.67161601392e-05,-8.25532687458e-05,-5.4264705262e-05,1793193046627205120
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.985015629,742.014984371,711,672.029968742,662.955046887,632,878,783,799,649,628.985015629,650.985015629,0.41656965065,0.00457993193304,0.0799490664553,0.999999993443,7.27530363054e-05,-7.18260603646e-05,-5.15903401728e-05,1793193046643872256
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.404935634,742.595064366,711,673.190128733,661.214806901,632,878,783,799,649,628.404935634,650.404935634,0.417392231907,0.00458052549113,0.0799409260194,0.999999993104,7.28204406725e-05,-7.45161491779e-05,-5.41960903878e-05,1793193046660538624
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.173616492,743,711.173616492,674,660.347232985,632,878,783,799,649,628.173616492,650.173616492,0.418227961914,0.00458039669802,0.079944347461,0.999999994007,7.3367394445e-05,-5.87238653388e-05,-5.61633121594e-05,1793193046677205248
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.748636134,743,711.748636134,674,661.497272268,632,878,783,799,649,628.748636134,650.748636134,0.41909409192,0.00457859782135,0.0799745000853,0.999999995581,7.50230713021e-05,-2.0014194808e-07,-5.66542492008e-05,1793193046693871872
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.669776803,743,711.669776803,674,662.330223197,632,878,783.330223197,799,649,629,650.669776803,0.419910893822,0.0045782948626,0.0799773195538,0.99999999566,7.30659365377e-05,7.5997616805e-06,-5.73035781404e-05,1793193046710538496
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.083089248,743,711.083089248,674,662.916910752,632,878,783.916910752,799,649,629,650.083089248,0.420689385532,0.00457915369279,0.079958911014,0.999999995693,6.83029497961e-05,-2.3994456244e-05,-5.80759205149e-05,1793193046727205120
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,743,711,674,662.001318207,632,878,783.500659103,799,649,629,650,0.421523770312,0.00458322503181,0.0799515222782,0.999999994445,8.01644702454e-05,-3.69988658664e-05,-5.75658312174e-05,1793193046743871744
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.080189338,743,711,673.919810662,661.160378677,632,878,783,799,649,628.919810662,650,0.422373503977,0.00458781358912,0.0799508674069,0.999999993179,9.40613531133e-05,-3.94935888151e-05,-5.68688891551e-05,1793193046760538368
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.655607397,743,711,673.344392603,662.311214793,632,878,783,799,649,628.344392603,650,0.423261076204,0.0045923229891,0.0799805706043,0.999999993041,0.000103588684134,3.9748638873e-06,-5.63247171846e-05,1793193046777205248
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.76917163,743,711.23082837,673.23082837,662.76917163,632,878,783,799,649,628,650,0.424107737845,0.00459401296776,0.0799885173386,0.999999992757,0.000106804804682,5.4069595878e-06,-5.52250825694e-05,1793193046793871872
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.194244369,743,711.805755631,673.805755631,662.194244369,632,878,783,799,649,628,650,0.424893413671,0.00459149999857,0.0799640314312,0.99999999196,0.000100612721997,-5.58250895507e-05,-5.32974123733e-05,1793193046810538240
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,743,711.607921249,674,661.215842497,632,878.392078751,783,799.392078751,649,628.392078751,650,0.425688226442,0.00459080769764,0.0799314214747,0.999999989014,9.3446333802e-05,-0.000100849036248,-5.54073761557e-05,1793193046827204864
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,743,711.015783399,674,660.031566799,632,878.984216601,783,799.984216601,649,628.984216601,650,0.426487701313,0.00459104439709,0.0798946662047,0.999999985079,8.57828043359e-05,-0.00013760275717,-5.95775522147e-05,1793193046843871744
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,711,674,661.689624885,632,878.436791705,783,799.436791705,649,629,650.563208295,0.427325891757,0.00459176732084,0.0798959716424,0.999999985572,9.00640122752e-05,-0.000130471190595,-6.1003363644e-05,1793193046860538368
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.859180266,711,674,663,632,878,783.140819734,799,649,628.859180266,650.859180266,0.428160015017,0.00459208910958,0.0799006391237,0.999999986058,9.43526505534e-05,-0.000123272001478,-6.15237653625e-05,1793193046877204992
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.284710686,711,674,663,632,878,783.715289314,799,649,628.284710686,650.284710686,0.42897834855,0.00459113461218,0.0799124502173,0.999999986314,9.76568599974e-05,-0.000119565455826,-5.94874215534e-05,1793193046893871616
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.296891263,711.296891263,674,662.406217473,632,878,784,799,649,628.296891263,650,0.429795919109,0.00459108125958,0.079935169472,0.999999989723,9.58468371732e-05,-8.96112691863e-05,-5.77634335381e-05,1793193046910538240
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,742.885501285,711.885501285,674,661.22899743,632,878,784,799,649,628.885501285,650,0.430612739938,0.0045919133519,0.0799686068428,0.999999993878,8.90116829327e-05,-3.38667336946e-05,-5.63463593688e-05,1793193046927204864
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.466550092,742.533449908,711.533449908,674,661.933100185,632,878.466550092,783.533449908,799,649,629,650.466550092,0.431406498856,0.00459215836177,0.0799951777965,0.999999993952,9.4838059542e-05,3.86615880146e-06,-5.55505206833e-05,1793193046943871488
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.954535463,742.045464537,711,673.954535463,662.954535463,632,878.954535463,783,799,649,629,650.954535463,0.432185654383,0.00459207809311,0.0800143315897,0.999999992816,0.000102752581516,2.81860426329e-05,-5.49072166659e-05,1793193046960538112
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.379214713,742.620785287,711,673.379214713,662.379214713,632,878.379214713,783,799,649,629,650.379214713,0.432859525694,0.00458985929883,0.0799663694558,0.999999992178,9.93666845474e-05,-5.31187208443e-05,-5.42931097448e-05,1793193046977204480
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,743,711,673.195405272,661.804594728,632,878,783,799,649,629,650,0.433543377895,0.00458794913799,0.0799218263127,0.999999986721,9.5437136871e-05,-0.000120127952223,-5.49443096406e-05,1793193046993871360
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,743,711,673.768670275,661.231329725,632,878,783,799,649,629,650,0.434246530491,0.00458663578844,0.0798838945434,0.999999981505,9.04563194979e-05,-0.000159493594662,-5.80422632457e-05,1793193047010537984
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742.646157336,711,673.646157336,661.707685328,632,878,783.353842664,799.353842664,649,628.646157336,650,0.434952775567,0.00458355792323,0.0798914720799,0.999999984881,8.41944423605e-05,-0.000140408095723,-5.86098957375e-05,1793193047027204608
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742.05292927,711,673.05292927,662.894141461,632,878,783.94707073,799.94707073,649,628.05292927,650,0.435661112757,0.0045792863092,0.0799298380583,0.999999992035,7.70658891758e-05,-8.17786063167e-05,-5.74656881732e-05,1793193047043871488
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742.526689814,711,673.526689814,661.419930559,632,878,783.473310186,799.473310186,649,628.526689814,650,0.43630082658,0.00457831554753,0.0799479397415,0.999999993141,7.71228552738e-05,-6.9569969995e-05,-5.41300895505e-05,1793193047060538112
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,743,711,674,660,632,878.104368554,783.104368554,799,649.104368554,629,650,0.436923045696,0.00457878043182,0.079956535061,0.999999992979,8.00531361351e-05,-7.07043422661e-05,-5.13291689116e-05,1793193047077204480
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,743,711,674,660,632,878.679309704,783.679309704,799,649.679309704,629,650,0.437496695727,0.00458426033909,0.079931219045,0.999999988135,9.27647174977e-05,-0.0001114954292,-5.1906900586e-05,1793193047093871616
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742.746413982,711.253586018,674,660.253586018,632,878.746413982,783.746413982,799.253586018,649.492827963,628.746413982,650,0.438054507801,0.00459029799404,0.0799053140767,0.999999981921,0.000101680336328,-0.000151867843155,-5.24907430144e-05,1793193047110538240
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,742.172976276,711.827023724,674,660.827023724,632,878.172976276,783.172976276,799.827023724,648.345952552,628.172976276,650,0.438592343191,0.00459703914372,0.0798786662562,0.999999974617,0.000105808052193,-0.000191712175832,-5.30822930138e-05,1793193047127204864
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742.415467185,711.584532815,674,660.584532815,632,878,783,800,648.830934369,628.415467185,650,0.439094779039,0.00460486742379,0.0798520039879,0.999999965546,0.000110525597362,-0.000232011266993,-5.35032218821e-05,1793193047143871744
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,742.989945069,711,674,660,632,878,783,799.989945069,649.989945069,629,650.010054931,0.439580941217,0.00461313963577,0.0798252353608,0.999999954698,0.000115647405593,-0.000272628692097,-5.38750183046e-05,1793193047160538112
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,742.414334263,711,674,660,632,878,783,799.414334263,649.414334263,629,650.585665737,0.440011804609,0.00461996931659,0.0797928355453,0.999999938876,0.000129177546421,-0.000320102648531,-5.56285735838e-05,1793193047177204736
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,742,711,673.838953025,660,631.838953025,878.161046975,783,799.161046975,649,629,651,0.440426330669,0.00462693447933,0.0797563979371,0.99999991819,0.000141117435019,-0.000374864213023,-5.64232093979e-05,1793193047193871616
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,742,711,673.264161445,660,631.264161445,878.735838555,783,799.735838555,649,629,651,0.440798884699,0.00463424770916,0.0797095868578,0.999999886897,0.000148971821383,-0.000448348328672,-5.47542927174e-05,1793193047210537984
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742.317936609,711,673.317936609,659.682063391,631,878.682063391,782.682063391,799.682063391,649,629,650.682063391,0.441180542036,0.00464582032676,0.0796859019643,0.999999868448,0.000158977568697,-0.000484394951771,-5.64913085334e-05,1793193047227204608
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763.645586652,743,711,674,659,631,878.645586652,783,799.645586652,649,628.645586652,651,0.442635850779,0.00470924064829,0.079741711375,0.999999886803,0.000250045752632,-0.000399815362145,-6.33904830282e-05,1793193047293871360
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.611996411,711,675,658,631,879,782.611996411,799.388003589,649,628.611996411,651,0.444643289054,0.00470423695551,0.079686006079,0.999999853811,0.000215293090606,-0.000492173711921,-6.15806978544e-05,1793193047493871360
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+246,4.100000000,HOLD_POSE2,763,742.153032424,710.846967576,674,658,630.153032424,878.153032424,782.153032424,799.846967576,649,629,650.153032424,0.444929438689,0.00470911982809,0.0796592417919,0.999999830997,0.000227097515068,-0.00053225041539,-5.60555241948e-05,1793193048141556224
+247,4.116666667,HOLD_POSE2,763,742.743084688,710.256915312,674,658,630.743084688,878.743084688,782.743084688,799.256915312,649,629,650.743084688,0.444931205955,0.00470835744104,0.0796614676917,0.999999832831,0.000225821554051,-0.000529376215072,-5.57087461757e-05,1793193048158222848
+248,4.133333333,HOLD_POSE2,763.326945801,742.673054199,710.326945801,674.326945801,658.326945801,630.673054199,879,783,799,649,628.673054199,650.673054199,0.444931591795,0.00470622390003,0.0796621123321,0.999999833705,0.000223903205836,-0.000528583322978,-5.52937676801e-05,1793193048174889472
+249,4.150000000,HOLD_POSE2,763.906032262,742.093967738,710.906032262,674.906032262,658.906032262,630.093967738,879,783,799,649,628.093967738,650.093967738,0.444930912279,0.0047030329249,0.0796615375049,0.999999833838,0.000221489448578,-0.000529395536327,-5.48261929857e-05,1793193048191556096
+250,4.166666667,HOLD_POSE2,764,742.482973139,710.517026861,674.517026861,658.517026861,630,879,783,799,649.482973139,628,650.482973139,0.444931693437,0.0047050249229,0.0796620929117,0.999999834069,0.000222403395819,-0.000528561209016,-5.49658729309e-05,1793193048208222976
+251,4.183333333,HOLD_POSE2,763.940880148,742.940880148,710,674,658,630,879,782.940880148,799,649.940880148,628,651,0.444932504049,0.00470766676869,0.0796626400666,0.99999983419,0.000223840802583,-0.000527703215588,-5.51856826043e-05,1793193048224889856
+252,4.200000000,HOLD_POSE2,763.368023051,742.368023051,710,674,658,630,879,782.368023051,799,649.368023051,628,651,0.444931111979,0.00470723159976,0.0796612130932,0.999999833206,0.000224225718896,-0.000529411043951,-5.50796628525e-05,1793193048241556224
+253,4.216666667,HOLD_POSE2,763,742.211481756,710.211481756,674.211481756,658,630,879,782.211481756,799.211481756,649.211481756,628,651,0.444930220335,0.00470719162458,0.0796603054111,0.99999983263,0.000224220462638,-0.000530497914201,-5.51010005011e-05,1793193048258222848
+254,4.233333333,HOLD_POSE2,763,742.802930368,710.802930368,674.802930368,658,630,879,782.802930368,799.802930368,649.802930368,628,651,0.444930227799,0.00470786168958,0.079660330734,0.99999983279,0.000223514187742,-0.000530469115922,-5.53511597481e-05,1793193048274889472
+255,4.250000000,HOLD_POSE2,763.386700847,742.613299153,710.613299153,675,658,630.386700847,878.613299153,782.613299153,799.613299153,649.613299153,628,651,0.444931789576,0.0047075261343,0.0796613735731,0.999999833583,0.000223781894036,-0.000528865285801,-5.52857404293e-05,1793193048291556096
+256,4.266666667,HOLD_POSE2,763.966634646,742.033365354,710.033365354,675,658,630.966634646,878.033365354,782.033365354,799.033365354,649.033365354,628,651,0.444934128036,0.00470668807445,0.0796629248612,0.999999834688,0.000224536294985,-0.000526474418215,-5.50626277161e-05,1793193048308222720
+257,4.283333333,HOLD_POSE2,763.45730474,742.54269526,710.54269526,675,658,630.45730474,878.54269526,782,799.54269526,649,628,650.45730474,0.44493300183,0.00470634595516,0.0796626947812,0.999999834457,0.000223101482359,-0.000527519184372,-5.50868722974e-05,1793193048324889600
+258,4.300000000,HOLD_POSE2,763.120608021,743,711,675,658,630.120608021,879,782,799.879391979,649,628,650.120608021,0.44493231926,0.00470623672861,0.0796624526579,0.999999834315,0.000221815570897,-0.000528321699872,-5.5178946997e-05,1793193048341556224
+259,4.316666667,HOLD_POSE2,763.706579718,743,711,675,658,630.706579718,879,782,799.293420282,649,628,650.706579718,0.444934164523,0.00470690929949,0.0796625836522,0.999999834839,0.000221619841891,-0.000527380261953,-5.54744799746e-05,1793193048358222592
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,743,710,675,657,631,879,782,800,649,629,651,0.444930879262,0.00470606392454,0.0796613012652,0.999999833168,0.000220312811525,-0.000531135738407,-5.49616466982e-05,1793193048395331584
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,743,710,675,657.577943158,630.422056842,879,782,799.422056842,649,628.422056842,651,0.444932457608,0.00470532234264,0.0796615426644,0.999999833979,0.000220888236983,-0.000529362199519,-5.50113010402e-05,1793193048411998976
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.154962917,742.845037083,710,675,658,630.154962917,879,782,799.154962917,649.154962917,628,650.845037083,0.444933433582,0.00470580274707,0.079661632603,0.999999834264,0.000222303385887,-0.000528212799327,-5.51805097538e-05,1793193048428665856
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.729482732,742.270517268,710,675,658,630.729482732,879,782,799.729482732,649.729482732,628,650.270517268,0.444932778652,0.00470959163832,0.0796613124674,0.999999833124,0.000225992057967,-0.000528753233315,-5.56734079272e-05,1793193048445331712
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742,710.311748708,674.688251292,658,630.688251292,879,782,799.688251292,649.688251292,628,650.311748708,0.444933578593,0.00470953234653,0.0796622293262,0.999999833942,0.000225354438904,-0.000527485439331,-5.55868438968e-05,1793193048461997568
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,710.900907585,674.099092415,658,630.099092415,879,782,799.099092415,649.099092415,628,650.900907585,0.444935673154,0.00470604874164,0.0796642469269,0.99999983649,0.000220867061357,-0.000524608590268,-5.49846443112e-05,1793193048478664448
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.519874367,742,711,674.480125633,658,630.480125633,879,782.480125633,799.480125633,649,628.480125633,651,0.444934075195,0.00470819036187,0.079663151674,0.999999834952,0.000223513386184,-0.00052638633066,-5.52745040873e-05,1793193048495331328
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.057435577,742.057435577,711,675,658,631,879,782.942564423,800,649,629,651,0.444931193591,0.00471102306779,0.0796611483478,0.999999832479,0.000227061486016,-0.000529512370403,-5.5695337136e-05,1793193048511998208
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.635670004,742.635670004,711,675,658,631,879,782.364329996,800,649,629,651,0.444923442634,0.00470980851768,0.0796566183708,0.999999829154,0.00022570700966,-0.000536330093065,-5.56682078441e-05,1793193048528664576
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.783010686,711,675,658,630.783010686,879,782,799.783010686,649,628.783010686,651,0.44490935594,0.00470848082959,0.0796493272226,0.999999823041,0.000225202804292,-0.000547844520386,-5.53910016408e-05,1793193048545331200
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.19643715,711,675,658,630.19643715,879,782,799.19643715,649,628.19643715,651,0.444884477988,0.00470696044082,0.079637333146,0.999999811986,0.000226146812007,-0.00056735854794,-5.46878551875e-05,1793193048561997824
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.614657162,742.385342838,711,675,658,630,878.614657162,782.385342838,799.385342838,649,628,650.614657162,0.444840477363,0.00470635321587,0.0796199219425,0.999999794858,0.000225096705942,-0.000597225616229,-5.41860171494e-05,1793193048578664448
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.035290716,742.964709284,711,675,658,630,878.035290716,782.964709284,799.964709284,649,628,650.035290716,0.444786848296,0.00470620577704,0.0795997831655,0.999999773774,0.000223042545414,-0.000632305535492,-5.37855396087e-05,1793193048595331072
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.457039971,711,675,657.457039971,630.542960029,878.542960029,782.457039971,799.457039971,649,628.542960029,650.542960029,0.44472293386,0.00470582320495,0.0795873496942,0.999999763852,0.00022429023306,-0.000647449360613,-5.28989014077e-05,1793193048611997952
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.120479315,742,711,675,657.120479315,630.879520685,879.120479315,782,799.120479315,649,628.879520685,650.879520685,0.444654764333,0.004705446057,0.0795777387678,0.999999755761,0.000225759712621,-0.000659431708386,-5.15747933606e-05,1793193048628664320
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.695512105,742,711,675,657.695512105,630.304487895,879.695512105,782,799.695512105,649,628.304487895,650.304487895,0.444573057918,0.00470514691591,0.0795768912882,0.9999997523,0.000227257950032,-0.000664365006998,-4.87191401143e-05,1793193048645330944
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.723118056,742,710.723118056,675,658,630,879.723118056,782,799.723118056,649,628,650.276881944,0.444483100934,0.00470364331142,0.0795802130749,0.999999753796,0.000228778779121,-0.000661851206917,-4.49573417571e-05,1793193048661997824
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.134616145,742,710.134616145,675,658,630,879.134616145,782,799.134616145,649,628,650.865383855,0.444383858258,0.00470078412978,0.0795882272102,0.999999760796,0.000230325034165,-0.000650955983693,-4.01757121405e-05,1793193048678664448
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742,710.446682074,675,658,630,879,782,799.446682074,649.446682074,628.446682074,650.553317926,0.444260556594,0.00469874463802,0.0795938078799,0.999999765684,0.000232792416182,-0.00064275987656,-3.60515471266e-05,1793193048695331072
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742.025699271,711,675,658,630,879,782.025699271,800,649.974300729,628.974300729,650.025699271,0.444128294134,0.00469695518131,0.0795984749243,0.999999769638,0.000235540532917,-0.000635782151343,-3.20133120109e-05,1793193048711997696
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742.601622701,711,675,658,630,879,782.601622701,800,649.398377299,628.398377299,650.601622701,0.443956953095,0.00469531402162,0.0795990335074,0.999999767879,0.000238450112749,-0.000637750894267,-2.56399850149e-05,1793193048728664320
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742.82259945,711,675,658,630.17740055,879,783,799.82259945,649,628,651,0.443774201992,0.00469389304738,0.0795990986727,0.999999765479,0.00024309250153,-0.00063998727117,-1.90972613737e-05,1793193048745330944
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.247148332,711,675,658,630.752851668,879,783,799.247148332,649,628,651,0.44356584906,0.00469296612449,0.0795980567094,0.999999761657,0.000251622958948,-0.000642824163756,-1.2174447151e-05,1793193048761997824
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.336697394,711,675,658,631,878.663302606,783,799,649,628.336697394,650.663302606,0.443335966463,0.00468946796771,0.0795995467868,0.999999760804,0.000256663967776,-0.000642259841164,-4.23777485291e-06,1793193048778664960
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.926862693,711,675,658,631,878.073137307,783,799,649,628.926862693,650.073137307,0.443089876179,0.00468403416988,0.0796029430001,0.999999762182,0.000259078098757,-0.000639135062786,4.46213687908e-06,1793193048795332352
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,711,674.495236904,658,630.495236904,878,783,799.504763096,649.504763096,629,650,0.442818811881,0.00467787619373,0.0796139549571,0.999999773731,0.000259055222668,-0.000620712306475,1.2052058371e-05,1793193048811998464
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.918783675,711,674.081216325,658.16243265,630.081216325,878,783,799.918783675,649.918783675,629,650,0.442535752582,0.00467152518774,0.0796252633026,0.999999786358,0.000255200305173,-0.000601513385045,1.84208306944e-05,1793193048828664576
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742.340569133,711,674.659430867,659.318861734,630.659430867,878,783,799.340569133,649.340569133,629,650,0.442200908964,0.00466461982142,0.0796317929055,0.999999798855,0.000230005016973,-0.000590807276133,1.82777102737e-05,1793193048845331200
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742.241513821,711,675,659.758486179,631,878.241513821,783,799.241513821,649,629,650.241513821,0.441850843264,0.00465813399118,0.0796381853794,0.99999980946,0.000209658165694,-0.000580309931607,1.90733743027e-05,1793193048861997824
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.829140552,711,675,659.170859448,631,878.829140552,783,799.829140552,649,629,650.829140552,0.441478962854,0.00465224939757,0.0796443813339,0.999999818002,0.000196259600076,-0.00057011176788,2.12144082263e-05,1793193048878664448
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742.589834765,711,674.589834765,659,631,878.589834765,783,800,649,629,651,0.441052031429,0.00464573047094,0.0796403665521,0.999999815358,0.000210306349847,-0.000569748465134,2.10270281291e-05,1793193048895330816
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.011516695,711,674.011516695,659,631,878.011516695,783,800,649,629,651,0.440602531098,0.00463895149098,0.0796321657395,0.999999807644,0.000235604681331,-0.000573417097803,1.98850828739e-05,1793193048911997440
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.5673542,711,673.4326458,659,631,878,783,799.4326458,649,629,651,0.440100337963,0.0046285538615,0.0796159209785,0.999999796759,0.000222609469741,-0.000597010750208,2.2494320093e-05,1793193048928664320
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.144677411,659,631.144677411,878,783,799,649,629,651,0.439600370503,0.00461815062286,0.0796102827644,0.9999997961,0.000205858132426,-0.000604010965029,2.43749380562e-05,1793193048945330944
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.717388402,659,631.717388402,878,783,799,649,629,651,0.43911015544,0.00460794832199,0.0796365079745,0.999999826258,0.000180296127944,-0.000560721096247,2.38744101992e-05,1793193048961997824
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,632,878.299045128,783,799,649,628.700954872,650.700954872,0.438613711576,0.00459795803338,0.0796796068606,0.99999986506,0.000159683715613,-0.000493682059373,2.56587200844e-05,1793193048978664704
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,632,878.88941676,783,799,649,628.11058324,650.11058324,0.438111199625,0.00458817428361,0.079739143901,0.999999907798,0.000143893138253,-0.000403506834537,2.96688938132e-05,1793193048995331584
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,742.52851172,711,674,659.47148828,632,878.52851172,783,799.47148828,649,628.47148828,650,0.437528969335,0.00457673002817,0.0797829760923,0.999999931932,0.000139568753436,-0.000340072719006,3.17261654798e-05,1793193049011997952
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742.051076673,711,674,660,632,878,783.051076673,800,649,628.948923327,650,0.436923140044,0.00456534125319,0.0798198358866,0.999999948924,0.000136494590708,-0.00028706028595,3.34448945199e-05,1793193049028664320
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763,742.624831613,711,674,660,632,878,783.624831613,800,649,628.375168387,650,0.436263839266,0.00455843665611,0.079822386924,0.999999953703,0.000119170230748,-0.000277623911142,3.63053320203e-05,1793193049045331968
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,743,711.792204714,674,660,632,878.792204714,783.207795286,799.207795286,649,628.792204714,650,0.434891678742,0.00454527528293,0.0798079807159,0.999999948329,0.000106643661817,-0.000300781128412,3.87260487614e-05,1793193049078664960
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742.625769368,711.625769368,674,659.625769368,632,878.625769368,783,799,649,629,650.374230632,0.434167974719,0.0045390437118,0.0798057579316,0.999999948945,0.000100228741405,-0.00030095117091,3.86412463305e-05,1793193049095331328
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,742.047282967,711.047282967,674,659.047282967,632,878.047282967,783,799,649,629,650.952717033,0.433430835524,0.00453291681167,0.0798088394892,0.999999953291,9.07984821726e-05,-0.000289322783705,3.82870211584e-05,1793193049111998208
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742.528903424,711,674,659.528903424,632,878,783,799.528903424,649,629,650.471096576,0.432580733432,0.00453162817408,0.079776893762,0.99999993163,9.08405890814e-05,-0.000356328546406,3.89526015946e-05,1793193049128664832
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,659.8948441,632,878,783,799.8948441,649,629,650,0.431728933211,0.00453114057418,0.0797471986844,0.99999990724,9.17376589574e-05,-0.000419006313833,3.92233588828e-05,1793193049145331200
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,659.317375426,632,878,783,799.317375426,649,629,650,0.430914668278,0.00453231654928,0.079741616333,0.999999902211,9.26878110057e-05,-0.000430806945173,3.73130340885e-05,1793193049161997824
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.734787156,711,673.734787156,659.265212844,632,878,783,799,649,629,650,0.430137102194,0.00452659495629,0.0797677972565,0.999999919889,8.54777844572e-05,-0.000389327079721,3.66095261567e-05,1793193049178664448
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.145951689,711,673.145951689,659.854048311,632,878,783,799,649,629,650,0.429404317307,0.00451245669307,0.0798327369141,0.999999956971,6.83104023845e-05,-0.000282832358874,3.73786207078e-05,1793193049195330816
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.435552749,742.435552749,711,673,660.435552749,632,878,783,799,649,629,650,0.428586181297,0.00449949788243,0.0798606193891,0.999999969266,5.60579020015e-05,-0.000238308637736,3.91727702058e-05,1793193049211997696
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.985486966,742.985486966,711,672.985486966,660.985486966,632,877.985486966,783,799,649,629,650,0.427737639006,0.00448705428444,0.0798745251555,0.999999974638,4.53686310881e-05,-0.000216717949832,4.12127636556e-05,1793193049228664320
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.411468516,742.411468516,711,672.411468516,660.411468516,632,877.411468516,783,799,649,629,650,0.426801236983,0.00447948846977,0.0798204034173,0.999999956076,3.25025941036e-05,-0.00029191498639,3.97074713929e-05,1793193049245331456
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.326896876,659.836551562,632,877,783,799,649,629,650,0.425875175317,0.00447012374017,0.0797777684797,0.999999936711,2.04534640888e-05,-0.000353079012353,3.8668291598e-05,1793193049261998336
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.481279554,659.259360223,632,877,783,799,649,629,650,0.424975288626,0.00445620535308,0.0797642104959,0.999999927477,1.04722011885e-05,-0.000378720773705,3.88089996049e-05,1793193049278664960
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.674352579,659,632,877,783,799.325647421,649,629,650.325647421,0.424075200696,0.00444583524279,0.0797508810672,0.999999918224,-3.1003354855e-07,-0.000402477326803,3.95352815783e-05,1793193049295331328
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.082966612,659,632,877,783,799.917033388,649,629,650.917033388,0.423174948592,0.00443836063875,0.0797377381474,0.999999908918,-1.17458860237e-05,-0.000424695489354,4.07394103309e-05,1793193049311997952
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.501840068,659,632,877,783,799.501840068,649,628.501840068,650.501840068,0.422345267473,0.0044280802417,0.0797726414406,0.999999936123,-1.92507345981e-05,-0.000354595454878,4.05583684673e-05,1793193049328664320
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.076744518,711,672.076744518,659.153489036,632,877,783,798.923255482,649,628.076744518,650,0.421523555792,0.00441922041799,0.0798156010845,0.999999962066,-2.61987044779e-05,-0.000271181181663,4.05286499637e-05,1793193049345330944
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.649717863,711,672.649717863,660.299435727,632,877,783,798.350282137,649,628.649717863,650,0.42067891147,0.00442250654769,0.0798599567833,0.999999978693,-3.36937182695e-05,-0.000199087233042,4.2938956097e-05,1793193049361997568
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.77095862,711,673,660.77095862,632,877.22904138,783,798.22904138,649,629,650.22904138,0.419813102151,0.00443594307081,0.0798722716845,0.99999998238,-1.88377126778e-05,-0.000181442904858,4.43067145707e-05,1793193049378664448
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742.181646509,711,673,660.181646509,632,877.818353491,783,798.818353491,649,629,650.818353491,0.418914001211,0.00446534565981,0.0798341880071,0.999999967433,3.11753365308e-05,-0.000249445118156,4.40345977291e-05,1793193049395331584
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,660,632,878,783,799,649,628.598777522,650.598777522,0.418032405965,0.00447512033276,0.0798097400155,0.999999955777,4.31239427199e-05,-0.000291258838837,4.18769154675e-05,1793193049411998208
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,660,632,878,783,799,649,628.018779479,650.018779479,0.41715861091,0.00447614925324,0.0797913677762,0.999999946868,3.81119002878e-05,-0.000321403562117,3.8879068431e-05,1793193049428664832
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742.556690409,711,673,660,632,877.443309591,783,799,649,628.556690409,650.556690409,0.416308700822,0.0044629685058,0.0797999897701,0.99999994614,2.43024153448e-05,-0.000324707577066,4.11681469271e-05,1793193049445331200
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742.868328794,711,673,659.868328794,632,877,783,799,649,629,650.868328794,0.415464615217,0.00445158511435,0.0798036979234,0.999999944202,9.8413379421e-06,-0.000331171679993,4.27154628938e-05,1793193049461997568
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742.294481654,711,673,659.294481654,632,877,783,799,649,629,650.294481654,0.414637405347,0.00444783433334,0.079787871123,0.999999937442,-5.81932412664e-06,-0.000351264062933,4.11777055751e-05,1793193049478664448
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.711705907,659,632.288294093,877,783,799.576588185,649,629,650,0.413873994622,0.0044489094912,0.0797867954718,0.999999939877,-1.14865191963e-05,-0.00034432288748,3.94387558189e-05,1793193049495331328
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.119518475,659,632.880481525,877,783,800.76096305,649,629,650,0.413177835191,0.00445507171393,0.0798012691377,0.99999995157,-6.61951177394e-06,-0.000308885398838,3.74877274242e-05,1793193049511997952
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.461575318,659.461575318,632.538424682,877,783,800.076849364,649,629,650,0.412409058921,0.00446094111967,0.0798026390848,0.999999951544,2.43079725333e-06,-0.00030908459671,3.70605236002e-05,1793193049528664832
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.960462289,632,877,783,799.039537711,649,629,650,0.411625692133,0.00446620022816,0.0798001633346,0.99999994831,1.16981512799e-05,-0.000319162985123,3.71124457417e-05,1793193049545331968
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.386907345,632,877,783,799.613092655,649,629,650,0.410893263096,0.00446421637464,0.0797904979612,0.999999941086,9.61002474574e-06,-0.000340966963205,3.8431464148e-05,1793193049561998592
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.808149607,659,632,877,783,799.808149607,649,629,650,0.410191583354,0.00446211032233,0.0797908493792,0.999999940548,8.33862046208e-06,-0.000342479459862,3.92750083106e-05,1793193049578665216
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.218606737,659,632,877,783,799.218606737,649,629,650,0.409553644614,0.0044597509601,0.079811964905,0.999999953615,8.76022402686e-06,-0.000301929135379,3.91329277774e-05,1793193049595332352
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.36449638,742,711,672.72899276,659,632,877,783,799,649,629,650,0.408931012901,0.00445935268181,0.0798330763912,0.999999962978,8.47112777843e-06,-0.000269106574303,3.94109064167e-05,1793193049611999232
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.943804271,742,711,673.887608541,659,632,877,783,799,649,629,650,0.408317402235,0.00446011014462,0.0798541854955,0.999999970171,7.7631892094e-06,-0.0002408382791,3.99364418318e-05,1793193049628665856
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.961138069,659,632,877,783,799,649,629,650,0.407696190203,0.00446453437811,0.0798235285504,0.999999955374,1.5779905296e-05,-0.000295533243138,4.07917086369e-05,1793193049645332736
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632,877,783,799,649,629,650,0.407086436128,0.00446857566176,0.0797896728115,0.999999936485,2.38228396358e-05,-0.000353218360398,4.12251069097e-05,1793193049661999616
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632,877,783,799,649,629,650,0.406538995882,0.00446867310413,0.0797678092613,0.999999926336,2.72407499937e-05,-0.000380838211916,3.93369933585e-05,1793193049678665984
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.7488559,742,711,672.2511441,659,632,877,783,799,649,629,650.2511441,0.406029583345,0.00446876840199,0.0797657407806,0.999999928066,2.62523340684e-05,-0.000376461665615,3.81587631452e-05,1793193049695332352
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.155621654,742,711,672.844378346,659,632,877,783,799,649,629,650.844378346,0.405571969421,0.00446886077873,0.0797906356993,0.999999945138,1.92619420521e-05,-0.000328501960906,3.79474842818e-05,1793193049711998976
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.427168567,742,711,672.572831433,659,632,877.427168567,783,799,649,629,650.572831433,0.405138783524,0.0044678057996,0.0798095269796,0.999999954162,2.27975698399e-05,-0.000299423771065,3.87556588219e-05,1793193049728665344
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711.006203692,672,659,632,877.993796308,783,798.993796308,649.006203692,628.993796308,650.006203692,0.40471463163,0.00446639696408,0.0798261719353,0.999999960319,2.99720435358e-05,-0.000277256869886,3.99161300735e-05,1793193049745331456
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711.581469733,672,659,632,877.418530267,783,798.418530267,649.581469733,628.418530267,650.581469733,0.404322315552,0.00446995628011,0.0798326035848,0.999999961513,2.75730213116e-05,-0.000273136702578,4.01376176705e-05,1793193049761998080
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.839875894,742,711.839875894,672.160124106,659,632,877,783,798.160124106,649.839875894,628.160124106,650.839875894,0.403938427747,0.00447358431744,0.0798370038299,0.999999961597,2.9477885253e-05,-0.000272585235357,4.04362436473e-05,1793193049778664704
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.252173558,742,711.252173558,672.747826442,659,632,877,783,798.747826442,649.252173558,628.747826442,650.252173558,0.403577045811,0.00447739586157,0.079835979632,0.999999958604,4.28753844541e-05,-0.000281563240971,4.09408517201e-05,1793193049795331072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632,877.330710352,783,799,649,629,650.330710352,0.403248154388,0.00447760639383,0.0798326287543,0.999999955677,4.90504267121e-05,-0.000290713736513,4.15515487759e-05,1793193049811997952
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632,877.909972839,783,799,649,629,650.909972839,0.402943681897,0.00447511051166,0.0798275292128,0.99999995287,4.97972827691e-05,-0.000299993869873,4.22419791518e-05,1793193049828664832
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.513103659,659,632,877.513103659,783,799,649.486896341,629,650.513103659,0.402683237903,0.00447466501158,0.0798273530093,0.999999952821,4.47838657129e-05,-0.000301014706821,4.17469614407e-05,1793193049845331456
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.063193557,742,711,672.063193557,659,632.063193557,877,783,798.936806443,649.936806443,629,650,0.402436662525,0.00447450010671,0.0798284948921,0.999999953587,3.85725099751e-05,-0.000299420966622,4.10434901878e-05,1793193049861998080
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711.804252137,672.195747863,659,633,877,783,798.804252137,649,628.195747863,650,0.401878074844,0.00446541571371,0.0798450510582,0.999999962629,1.14082499514e-05,-0.000269931125474,4.18209590788e-05,1793193049911997696
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.611358088,742,712,672,659,633,877,783.388641912,799,649.388641912,628.388641912,650.388641912,0.401729519696,0.00445629404103,0.0798480418851,0.999999963773,-1.04552271323e-07,-0.000265362620211,4.51194615632e-05,1793193049928664320
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.590607488,742.590607488,711,673,659.409392512,633,877,783.590607488,798.590607488,649,629,651,0.400955213745,0.00446232719575,0.0798287134823,0.999999954079,6.95245523075e-05,-0.000291951740011,4.21091067434e-05,1793193050595331072
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.240825376,711,673,659,632.240825376,877.759174624,783.240825376,799.759174624,649,629,651,0.400952810466,0.00446083147517,0.0798266639298,0.999999953384,6.70554596574e-05,-0.000294910284067,4.19928448531e-05,1793193050628664320
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25f22aeed1de3e08c66698a76de019a61fb490e2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,396 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7bc904da5b4c76778f724ced269f94543bec4f5f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c5f1987d5ecda7d2bbf4f135f22235bd3a7fed85b8812748a8ca1fefee0b342
+size 25232308
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d3517afe865ec68bbb5107a826bf7d4cafa7464
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_03/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,763,742,711,673,660,632,877,784,799,649,629,651,0.400953507772,0.004461707433,0.0798291564736,0.999999954163,6.85664941348e-05,-0.000291927051957,4.18558365907e-05,1793193050779153664
+1,0.016666667,BASELINE,763.570896879,742,711,673,659.429103121,632.570896879,877,784,799,649,628.429103121,650.429103121,0.400954086154,0.00446321393856,0.0798288804659,0.999999954175,7.07119019073e-05,-0.000291345941131,4.20369981802e-05,1793193050795821312
+2,0.033333333,BASELINE,763.852890375,742,711,672.852890375,659.147109625,632.852890375,877,783.852890375,799,649,628,650.147109625,0.400954490045,0.00446445967532,0.0798286484907,0.999999954173,7.232863501e-05,-0.000290948541984,4.20860148307e-05,1793193050812488448
+3,0.050000000,BASELINE,763.260590351,742,711,672.260590351,659.739409649,632.260590351,877,783.260590351,799,649,628,650.739409649,0.400954365882,0.00446491626107,0.0798285497694,0.99999995414,7.23454672868e-05,-0.000291107100038,4.17351279971e-05,1793193050829154560
+4,0.066666667,BASELINE,763,742,711,672,659.675063182,632,877,783,799,649,628.324936818,651,0.400954654384,0.00446525534382,0.0798288709934,0.999999954286,7.21839754127e-05,-0.00029067621021,4.15271619137e-05,1793193050845820928
+5,0.083333333,BASELINE,763,742,711,672,659.094856787,632,877,783,799,649,628.905143213,651,0.400955267077,0.00446550211646,0.0798295221254,0.999999954571,7.18823925164e-05,-0.000289782251543,4.14314740466e-05,1793193050862487296
+6,0.100000000,BASELINE,763.478343168,742.478343168,711,672.478343168,659.478343168,632,877,783,799,649,629,651,0.400957135963,0.00446504878311,0.0798305141838,0.999999955062,7.20142938046e-05,-0.000288036634382,4.15391519706e-05,1793193050879153920
+7,0.116666667,BASELINE,764,742.949281892,711,673,659.949281892,632,877,783.050718108,799,649.050718108,629,651,0.40095883105,0.0044645060156,0.0798313324615,0.999999955479,7.2135459067e-05,-0.00028653433761,4.16602338265e-05,1793193050895820288
+8,0.133333333,BASELINE,764,742.371247588,711,673,659.371247588,632,877,783.628752412,799,649.628752412,629,651,0.400956166563,0.0044644560101,0.0798296511823,0.999999954754,7.12641658823e-05,-0.00028929240543,4.15074389071e-05,1793193050912486912
+9,0.150000000,BASELINE,764,742.211608164,711,672.788391836,659,632.211608164,877.211608164,784,799,649.788391836,629,651,0.40095449749,0.00446442506815,0.0798283738181,0.99999995424,7.07840216174e-05,-0.000291188925386,4.14524482916e-05,1793193050929153536
+10,0.166666667,BASELINE,764,742.803119874,711,672.196880126,659,632.803119874,877.803119874,784,799,649.196880126,629,651,0.400954615498,0.00446442835131,0.079827821609,0.999999954118,7.10061134052e-05,-0.000291538694286,4.15730473357e-05,1793193050945820160
+11,0.183333333,BASELINE,764,742.613729307,711.386270693,672,659,632.613729307,877.613729307,784,799,649,629,651,0.400954570651,0.00446455636749,0.0798279959572,0.999999954108,7.15713884982e-05,-0.000291422224445,4.16563325052e-05,1793193050962486784
+12,0.200000000,BASELINE,764,742.034749652,711.965250348,672,659,632.034749652,877.034749652,784,799,649,629,651,0.400954444556,0.00446474661249,0.0798285327819,0.999999954154,7.23078764419e-05,-0.00029107314992,4.17210019372e-05,1793193050979153664
+13,0.216666667,BASELINE,764,742,711.462405507,672.537594493,659,632,877,784,799.537594493,649,629,651,0.400954003241,0.00446392180293,0.0798288686127,0.999999954506,7.12153016912e-05,-0.000290138457559,4.16575762078e-05,1793193050995820544
+14,0.233333333,BASELINE,763.887284952,742.112715048,711,673,659,632,877,784,799.887284952,649,629,651,0.4009537095,0.00446325555576,0.0798290602759,0.999999954774,6.99697356374e-05,-0.000289533611637,4.15491917261e-05,1793193051012486912
+15,0.250000000,BASELINE,763.298652437,742.701347563,711,673,659,632,877,784,799.298652437,649,629,651,0.40095412385,0.00446353246462,0.0798286974079,0.999999954608,6.85713058925e-05,-0.000290479359922,4.1285511879e-05,1793193051029153536
+16,0.266666667,BASELINE,763.285424639,742.714575361,711,672.714575361,659.285424639,632,877.285424639,783.714575361,799,649.285424639,629,651,0.400954287616,0.00446341434067,0.0798285404337,0.999999954472,6.82484177096e-05,-0.000291010362089,4.13712669565e-05,1793193051045820416
+17,0.283333333,BASELINE,763.864810003,742.135189997,711,672.135189997,659.864810003,632,877.864810003,783.135189997,799,649.864810003,629,651,0.400954193305,0.00446288936979,0.079828595511,0.999999954369,6.9033236981e-05,-0.00029111421443,4.18169073903e-05,1793193051062487040
+18,0.300000000,BASELINE,764,742.44489144,711.44489144,672,659.55510856,632,878,783,799,649.55510856,629,651,0.400955096024,0.00446302038558,0.0798295874681,0.999999954748,6.86631355337e-05,-0.000289909003281,4.17300357809e-05,1793193051079153664
+19,0.316666667,BASELINE,764,743,712,672.024923526,659,632,878,783,799,649,629,651,0.400956204575,0.00446332948648,0.0798307539543,0.999999955228,6.8025120866e-05,-0.000288435479967,4.14979072585e-05,1793193051095820288
+20,0.333333333,BASELINE,764,743,712,672.599198549,659,632,878,783,799,649,629,651,0.40095516161,0.00446316330358,0.0798294824665,0.999999954736,6.92294358532e-05,-0.000289829526018,4.16363421385e-05,1793193051112486912
+21,0.350000000,BASELINE,763.822603226,742.822603226,711.822603226,672.822603226,659,632.177396774,877.822603226,783.177396774,799,649,629,650.822603226,0.400954226248,0.00446313254972,0.0798285712099,0.999999954348,7.02726542981e-05,-0.000290907520448,4.17075421747e-05,1793193051129153536
+22,0.366666667,BASELINE,763.23534073,742.23534073,711.23534073,672.23534073,659,632.76465927,877.23534073,783.76465927,799,649,629,650.23534073,0.400953539497,0.00446341469739,0.0798284922488,0.999999954202,7.09436676662e-05,-0.00029125529439,4.16233996961e-05,1793193051145820160
+23,0.383333333,BASELINE,763.347278363,742,711,672.347278363,659,633,877,784,799,649,629,650.347278363,0.40095392632,0.00446338481045,0.0798288460714,0.999999954428,7.03833945993e-05,-0.000290630340924,4.15336862059e-05,1793193051162487040
+24,0.400000000,BASELINE,763.926792331,742,711,672.926792331,659,633,877,784,799,649,629,650.926792331,0.400955031075,0.00446314625649,0.0798294893097,0.999999954898,6.89997229057e-05,-0.000289354895083,4.14402472024e-05,1793193051179153920
+25,0.416666667,BASELINE,764,742,711,672.498133913,659,633,877.501866087,784,799.501866087,649,629,650.498133913,0.400955204056,0.00446394584489,0.0798299406803,0.999999954829,7.09286708622e-05,-0.000289104625255,4.15977265472e-05,1793193051195820544
+26,0.433333333,BASELINE,764,742.076491106,711.076491106,672.076491106,659.076491106,633,877.923508894,784,799.923508894,649,629,650.076491106,0.40095519219,0.0044646997245,0.0798302493279,0.999999954692,7.2775709865e-05,-0.000289092680835,4.17695614475e-05,1793193051212487168
+27,0.450000000,BASELINE,764,742.652378273,711.652378273,672.652378273,659.652378273,633,877.347621727,784,799.347621727,649,629,650.652378273,0.400954853097,0.00446417516181,0.0798298072891,0.999999954655,7.0960829779e-05,-0.000289668939963,4.17982512838e-05,1793193051229155072
+28,0.466666667,BASELINE,764,742.765665001,711.765665001,672.765665001,660,632.765665001,877,784,799,649,629,651,0.400955024043,0.00446376796927,0.0798298318802,0.999999954794,6.96502896344e-05,-0.000289523421199,4.16824675724e-05,1793193051245821952
+29,0.483333333,BASELINE,764,742.174465079,711.174465079,672.174465079,660,632.174465079,877,784,799,649,629,651,0.400955971719,0.00446353951786,0.0798305670945,0.999999955205,6.91078006193e-05,-0.000288278718695,4.13466674647e-05,1793193051262487552
+30,0.500000000,BASELINE,764,742.40745079,711,672,659.59254921,632,877.40745079,784,799,649,629,651,0.400955263833,0.00446373935273,0.0798298898522,0.999999954796,7.0406328217e-05,-0.000289372083278,4.13987655811e-05,1793193051279153664
+31,0.516666667,BASELINE,764,742.985479898,711,672,659.014520102,632,877.985479898,784,799,649,629,651,0.40095386285,0.00446411848865,0.0798286212883,0.999999954038,7.24755931102e-05,-0.000291444274188,4.16132563865e-05,1793193051295820288
+32,0.533333333,BASELINE,763.440592431,743,711.559407569,672,659,632,878,783.440592431,799,649,629,651,0.40095451969,0.00446342181123,0.0798293298333,0.999999954449,7.19385189012e-05,-0.0002901847297,4.14695669054e-05,1793193051312487168
+33,0.550000000,BASELINE,763.13708535,742.86291465,712,672.13708535,659.13708535,632.13708535,877.86291465,783.13708535,799,649,629,650.86291465,0.400955147969,0.00446323608969,0.079829852485,0.999999954754,7.17791356523e-05,-0.000289187508528,4.13445398926e-05,1793193051329153792
+34,0.566666667,BASELINE,763.727514183,742.272485817,712,672.727514183,659.727514183,632.727514183,877.272485817,783.727514183,799,649,629,650.272485817,0.400955506447,0.00446483178081,0.0798295919098,0.999999954616,7.30908762856e-05,-0.000289341701814,4.1311751564e-05,1793193051345820160
+35,0.583333333,BASELINE,764,742.311875791,711.688124209,673,660,633,877.311875791,784,799,649,628.688124209,650.311875791,0.40095615178,0.00446548486297,0.0798297012265,0.999999954661,7.36905857009e-05,-0.000289041721583,4.12710160645e-05,1793193051362486784
+36,0.600000000,BASELINE,764,742.891037688,711.108962312,673,660,633,877.891037688,784,799,649,628.108962312,650.891037688,0.400957042955,0.00446533010358,0.0798301275507,0.999999954862,7.36800649815e-05,-0.000288352502209,4.12234696179e-05,1793193051379153408
+37,0.616666667,BASELINE,764,742.532322882,711,673,659.532322882,632.532322882,877.532322882,784,799,649.467677118,628.467677118,651,0.400955696129,0.00446614542058,0.0798299465587,0.999999954805,7.28708081638e-05,-0.00028877536661,4.10909916574e-05,1793193051395820288
+38,0.633333333,BASELINE,764,742,711,672.956518491,659.043481509,632,877,783.956518491,799,649.956518491,629,651,0.400954002099,0.00446706221438,0.0798296661039,0.999999954681,7.20688710007e-05,-0.000289419448153,4.09817750116e-05,1793193051412487168
+39,0.650000000,BASELINE,764,742,711,672.383762725,659.616237275,632,877,783.383762725,799,649.383762725,629,651,0.400954394683,0.00446647784668,0.0798298880574,0.999999954494,7.36090948925e-05,-0.000289619322427,4.13952779149e-05,1793193051429153792
+40,0.666666667,BASELINE,763.804084626,742.195915374,711,672.195915374,659.804084626,632,877,783,799,649,628.804084626,651,0.40095476155,0.00446552550434,0.079830076993,0.999999954531,7.33705702136e-05,-0.000289532065645,4.15337922247e-05,1793193051445820416
+41,0.683333333,BASELINE,763.210350314,742.789649686,711,672.789649686,659.210350314,632,877,783,799,649,628.210350314,651,0.400955076195,0.00446382596553,0.0798301988837,0.999999955018,6.95201805109e-05,-0.00028886177052,4.11139242431e-05,1793193051462487040
+42,0.700000000,BASELINE,763.373608468,743,711.373608468,672.626391532,659.373608468,632.373608468,877,783.373608468,799,649,628.373608468,650.626391532,0.400955342803,0.00446327391334,0.0798301520304,0.999999955255,6.83372622162e-05,-0.000288316526668,4.11573614299e-05,1793193051479153920
+43,0.716666667,BASELINE,763.952203717,743,711.952203717,672.047796283,659.952203717,632.952203717,877,783.952203717,799,649,628.952203717,650.047796283,0.400955583054,0.00446335144971,0.0798300125929,0.999999955361,6.86178986042e-05,-0.000287839894394,4.14549990648e-05,1793193051495820544
+44,0.733333333,BASELINE,763.472816031,742.472816031,711.472816031,672,659.472816031,633,877,784,799,649,628.472816031,650.527183969,0.400956467909,0.00446385335012,0.0798309803113,0.999999955607,6.98479936884e-05,-0.000286652795397,4.16875994609e-05,1793193051512486912
+45,0.750000000,BASELINE,763,742,711.104251541,672.104251541,659,633,877,784,799,649,628.104251541,651,0.400956920287,0.00446422807648,0.0798315318241,0.999999955664,7.08403319771e-05,-0.000286189189663,4.18143090492e-05,1793193051529153536
+46,0.766666667,BASELINE,763,742,711.692521237,672.692521237,659,633,877,784,799,649,628.692521237,651,0.40095509528,0.00446383494863,0.0798296881178,0.999999954796,7.03318797643e-05,-0.000289381633435,4.14765793998e-05,1793193051545820160
+47,0.783333333,BASELINE,763.2759424,742,712,672.7240576,659.2759424,633,877,784,799,649,629,650.7240576,0.400954530345,0.00446425111667,0.0798292071038,0.999999954504,7.05298595985e-05,-0.000290381941263,4.11797907811e-05,1793193051562487040
+48,0.800000000,BASELINE,763.854054273,742,712,672.145945727,659.854054273,633,877,784,799,649,629,650.145945727,0.400955345248,0.00446555350046,0.0798302182995,0.999999954851,7.15014145786e-05,-0.00028898176097,4.09278344102e-05,1793193051579154176
+49,0.816666667,BASELINE,763.569711872,742,711.569711872,672,660,633,877,784,799.430288128,649,628.569711872,650.430288128,0.400954687547,0.00446532981875,0.0798295603294,0.999999954787,7.05725397106e-05,-0.000289439991668,4.08733913776e-05,1793193051595820544
+50,0.833333333,BASELINE,763.005893793,742,711,672,660,633,877,784,799.994106207,649,628.005893793,651,0.400953562599,0.00446459931503,0.0798283699334,0.999999954587,6.90386966537e-05,-0.000290493891115,4.08911687241e-05,1793193051612487424
+51,0.850000000,BASELINE,763.582086369,742,711,672,660,633,877,784,799.417913631,649,628.582086369,651,0.400955346466,0.0044646953213,0.0798302047018,0.999999955012,7.10677526899e-05,-0.000288458119892,4.14429454352e-05,1793193051629154048
+52,0.866666667,BASELINE,763.8379644,742,711,672,660,632.8379644,877,784,799.1620356,649,629,650.8379644,0.400956316429,0.0044645827885,0.0798312520636,0.999999955192,7.24600805786e-05,-0.000287438122264,4.17604084757e-05,1793193051645820416
+53,0.883333333,BASELINE,763.248096277,742,711,672,660,632.248096277,877,784,799.751903723,649,629,650.248096277,0.400955137388,0.00446391963724,0.0798302203875,0.999999954747,7.21712160067e-05,-0.000289100134021,4.14591987429e-05,1793193051662486784
+54,0.900000000,BASELINE,763.335886588,742.335886588,711,672,660,632.335886588,877,783.664113412,799.664113412,649,629,650,0.40095439545,0.00446372962664,0.0798293125021,0.999999954665,7.07139983551e-05,-0.000289777009863,4.12158234323e-05,1793193051679153664
+55,0.916666667,BASELINE,763.915597248,742.915597248,711,672,660,632.915597248,877,783.084402752,799.084402752,649,629,650,0.40095397081,0.00446388307451,0.0798284944779,0.999999954845,6.84086593057e-05,-0.000289738763745,4.10144308303e-05,1793193051695820544
+56,0.933333333,BASELINE,764,742.50677257,711,672.49322743,660,633,877,783.49322743,799,649,629,650.49322743,0.400954239943,0.00446418077086,0.0798291519095,0.999999954807,7.01905863713e-05,-0.000289450592564,4.09592328902e-05,1793193051712486912
+57,0.950000000,BASELINE,763.928377529,742,711,672.928377529,659.928377529,632.928377529,877,784,799,649,629,651,0.400954586241,0.00446445804386,0.0798299496106,0.999999954766,7.22011600359e-05,-0.000289102317056,4.09265011388e-05,1793193051729154048
+58,0.966666667,BASELINE,763.341936725,742,711,672.341936725,659.341936725,632.341936725,877,784,799,649,629,651,0.400954637427,0.00446441183065,0.0798299483351,0.999999955002,7.0848907397e-05,-0.000288628138092,4.08761872916e-05,1793193051745821184
+59,0.983333333,BASELINE,763,742.24107294,711,672,659.24107294,632,877,783.75892706,799,649,629,651,0.400954986539,0.00446451812381,0.0798299282096,0.999999955158,7.01027394449e-05,-0.000288289583159,4.07244159987e-05,1793193051762488064
+60,1.000000000,BASELINE,763,742.819284273,711,672,659.819284273,632,877,783.180715727,799,649,629,651,0.400955752296,0.00446483769576,0.0798298817224,0.999999955206,7.02041754143e-05,-0.000288140697179,4.04307573513e-05,1793193051779154176
+61,1.016666667,BASELINE,763.397550594,742.602449406,711,672.397550594,660,632,877,783,798.602449406,649,628.602449406,651,0.400955498862,0.00446466520795,0.0798302568318,0.999999955137,7.05969504843e-05,-0.000288236677534,4.0759309209e-05,1793193051795820544
+62,1.033333333,BASELINE,763.975841881,742.024158119,711,672.975841881,660,632,877,783,798.024158119,649,628.024158119,651,0.400954782067,0.0044642690122,0.079830823614,0.999999955015,7.11221787041e-05,-0.000288443982878,4.13707401929e-05,1793193051812486912
+63,1.050000000,BASELINE,764,742,711,672.449231184,659.449231184,632.550768816,877,783,798.550768816,649,628.550768816,651,0.400954456798,0.00446496803034,0.0798306657942,0.999999954949,7.27449845533e-05,-0.000288255483053,4.14518389008e-05,1793193051829153792
+64,1.066666667,BASELINE,764,742,711,672,659.128663191,633,877,783,799,649,629,651,0.400954182713,0.00446558599694,0.0798302898718,0.999999954795,7.39356195492e-05,-0.000288479127388,4.15032378378e-05,1793193051845820416
+65,1.083333333,BASELINE,764,742,711,672,659.717700238,633,877,783,799,649,629,651,0.400954030696,0.00446574310466,0.0798292465825,0.999999954324,7.34086756709e-05,-0.000290239220732,4.15310952382e-05,1793193051862487040
+66,1.100000000,BASELINE,763.697709259,742,711,672,660,632.697709259,877,783.302290741,799,649,628.697709259,651,0.400954468526,0.00446580918608,0.0798292658408,0.999999954472,7.25513957607e-05,-0.000289987870807,4.12163301553e-05,1793193051879153664
+67,1.116666667,BASELINE,763.117211079,742,711,672,660,632.117211079,877,783.882788921,799,649,628.117211079,651,0.400955449211,0.00446579149319,0.0798302629941,0.999999955189,7.13900974991e-05,-0.000287885327857,4.05862390921e-05,1793193051895820288
+68,1.133333333,BASELINE,763.458353729,742.458353729,711.458353729,672,659.541646271,632.458353729,877,784,799,649,628.458353729,651,0.400956262723,0.00446560497102,0.0798312516263,0.999999955777,6.99573398879e-05,-0.00028617926893,4.06682469989e-05,1793193051912487168
+69,1.150000000,BASELINE,764,742.967187435,712,672,659.032812565,633,877.032812565,783.967187435,799,649,629,650.967187435,0.400957000539,0.00446533509801,0.0798321733143,0.999999956288,6.85751431013e-05,-0.000284686303813,4.09180499262e-05,1793193051929153536
+70,1.166666667,BASELINE,764,742.390372328,712,672,659.609627672,633,877.609627672,783.390372328,799,649,629,650.390372328,0.400957184599,0.00446439149677,0.0798320208694,0.999999956138,6.9169834389e-05,-0.000285063194216,4.09628493787e-05,1793193051945820160
+71,1.183333333,BASELINE,764,742.190600083,711.809399917,672,659.809399917,632.809399917,877.809399917,783,799,649,628.809399917,650.190600083,0.400957329632,0.00446399055845,0.0798319166923,0.999999956034,6.9749927511e-05,-0.000285293436836,4.09140051752e-05,1793193051962486784
+72,1.200000000,BASELINE,764,742.780277136,711.219722864,672,659.219722864,632.219722864,877.219722864,783,799,649,628.219722864,650.780277136,0.400957392953,0.00446472584334,0.0798319135779,0.999999956028,7.02994552177e-05,-0.000285216629539,4.06690906231e-05,1793193051979153664
+73,1.216666667,BASELINE,763.63751301,742.63751301,711.36248699,672,659.36248699,632.36248699,877,783.36248699,799,649.36248699,628.36248699,651,0.400956403864,0.00446586113618,0.079831248241,0.999999955536,7.26437038062e-05,-0.000286360113987,4.06062238096e-05,1793193051995820800
+74,1.233333333,BASELINE,763.059738103,742.059738103,711.940261897,672,659.940261897,632.940261897,877,783.940261897,799,649.940261897,628.940261897,651,0.40095478973,0.0044672340013,0.0798301895974,0.999999954744,7.60538712287e-05,-0.000288228352911,4.06514786248e-05,1793193052012488192
+75,1.250000000,BASELINE,763,742,712,672.51562544,660,633,877,784,799,650,629,651,0.400954887787,0.00446609027323,0.0798302972636,0.999999955108,7.25300694414e-05,-0.000287869325411,4.0683481426e-05,1793193052029154560
+76,1.266666667,BASELINE,763,742.092907218,712,673,660,632.907092782,877.092907218,784,799.092907218,649.907092782,628.907092782,651,0.400955179953,0.00446489275299,0.0798305059242,0.999999955507,6.90638561345e-05,-0.00028732648417,4.07339681916e-05,1793193052045820928
+77,1.283333333,BASELINE,763,742.681916724,712,673,660,632.318083276,877.681916724,784,799.681916724,649.318083276,628.318083276,651,0.400955454304,0.00446495761689,0.0798305357025,0.999999955467,7.01748234406e-05,-0.000287173586704,4.08913149835e-05,1793193052062487552
+78,1.300000000,BASELINE,763,743,712,672.733289585,660,632,877.733289585,784,799.733289585,649.266710415,628.266710415,651,0.400955746866,0.00446477937184,0.0798307283381,0.999999955621,6.95797822187e-05,-0.000286800588651,4.07601438743e-05,1793193052079154176
+79,1.316666667,BASELINE,763,743,712,672.15344555,660,632,877.15344555,784,799.15344555,649.84655445,628.84655445,651,0.40095606081,0.00446431570267,0.0798311121775,0.999999955999,6.69817871645e-05,-0.000286169179649,4.02902358695e-05,1793193052095820544
+80,1.333333333,BASELINE,763,742.576278072,712,672.423721928,660,632,877,783.576278072,799,649.576278072,629,650.576278072,0.400955354119,0.00446492677456,0.0798307707126,0.999999955627,6.82889142437e-05,-0.000287160883254,4.02718169042e-05,1793193052112487168
+81,1.350000000,BASELINE,763,742.000073743,712,672.999926257,660,632,877,783.000073743,799,649.000073743,629,650.000073743,0.400954280138,0.00446592460736,0.0798301682366,0.999999954978,7.10013552032e-05,-0.000288736687108,4.04158726932e-05,1793193052129153792
+82,1.366666667,BASELINE,763.574567738,742.574567738,711.425432262,673,660,632,877,783.574567738,799,649,628.425432262,650.574567738,0.400955138806,0.00446539346366,0.079830223058,0.999999955334,6.97691975709e-05,-0.000287776163457,4.06024764613e-05,1793193052145820928
+83,1.383333333,BASELINE,763.846554608,743,711,672.846554608,660,632,877,784,799,649,628,651,0.400955736309,0.00446542858225,0.0798303421204,0.999999955553,6.95946594364e-05,-0.000287038242921,4.07367039409e-05,1793193052162487808
+84,1.400000000,BASELINE,763.255597855,743,711,672.255597855,660,632,877,784,799,649,628,651,0.400955588462,0.00446707881476,0.0798306441103,0.999999955381,7.24370994618e-05,-0.000286935945191,4.072157798e-05,1793193052179154688
+85,1.416666667,BASELINE,763.328087515,743,711,672,660,632,877,784,799,649,628.328087515,651,0.400954909988,0.00446607680109,0.0798304439505,0.999999955214,7.18280606194e-05,-0.000287649971801,4.08714543381e-05,1793193052195821312
+86,1.433333333,BASELINE,763.906230878,743,711,672,660,632,877,784,799,649,628.906230878,651,0.40095382709,0.00446305334598,0.0798298610712,0.999999955045,6.85884354395e-05,-0.000288986169837,4.11470892005e-05,1793193052212487424
+87,1.450000000,BASELINE,764,742.51774439,711,672,660,632.48225561,877,783.51774439,799,649.48225561,629,651,0.400953995224,0.00446367608752,0.0798299460969,0.999999955231,6.95696171769e-05,-0.000288128400019,4.09940535892e-05,1793193052229153792
+88,1.466666667,BASELINE,763.941682924,742,711,672.058317076,660,633,877,783,799,649.941682924,628.941682924,651,0.400954558122,0.00446487860776,0.0798302664402,0.999999955505,7.11033054387e-05,-0.000286829011762,4.07784475372e-05,1793193052245820416
+89,1.483333333,BASELINE,763.361623395,742,711,672.638376605,660,633,877,783,799,649.361623395,628.361623395,651,0.400956486093,0.00446495311815,0.0798315352996,0.999999955981,7.02697840203e-05,-0.00028537849467,4.07454881446e-05,1793193052262487296
+90,1.500000000,BASELINE,763.221520772,742,711,672.778479228,660,632.778479228,877,783,799,649,628,650.778479228,0.400957165437,0.00446519960357,0.0798320692458,0.999999956121,6.98496369983e-05,-0.000284993235961,4.07167519433e-05,1793193052279153920
+91,1.516666667,BASELINE,763.809771532,742,711,672.190228468,660,632.190228468,877,783,799,649,628,650.190228468,0.400955777666,0.00446573079545,0.0798313865354,0.99999995571,7.01138357546e-05,-0.000286371523943,4.06950072833e-05,1793193052295820800
+92,1.533333333,BASELINE,764,742,711,672.388097111,660,632,877,783.388097111,799,649.388097111,628,650.388097111,0.400955343022,0.00446516109671,0.0798309697457,0.999999955605,6.96437778997e-05,-0.000286824763251,4.08755062898e-05,1793193052312487680
+93,1.550000000,BASELINE,764,742,711,672.961679156,660,632,877,783.961679156,799,649.961679156,628,650.961679156,0.40095536391,0.00446406524459,0.0798306800486,0.999999955648,6.88227936215e-05,-0.000286835890156,4.11526644871e-05,1793193052329154048
+94,1.566666667,BASELINE,764,742,711.537786715,672.462213285,660,632,877,784,799.537786715,649.462213285,628.537786715,651,0.400957042676,0.00446426218157,0.0798315033731,0.999999956059,6.90740482066e-05,-0.000285332505495,4.11858662763e-05,1793193052345820416
+95,1.583333333,BASELINE,764,742.117032256,712,672,660,632,877,783.882967744,799.765935487,649,628.882967744,651,0.400958070667,0.00446452931155,0.0798319460439,0.999999956299,6.95074152684e-05,-0.00028439247752,4.11220137993e-05,1793193052362486784
+96,1.600000000,BASELINE,764,742.70825996,712,672,660,632,877,783.29174004,798.583480079,649,628.29174004,651,0.400955980907,0.00446470583696,0.0798305235013,0.999999955747,7.03676348014e-05,-0.000286174410527,4.07356808239e-05,1793193052379153664
+97,1.616666667,BASELINE,764,742.707288433,712,672,659.707288433,632,877.292711567,783.292711567,798.292711567,649,628.292711567,651,0.400954873653,0.00446511420566,0.0798301105923,0.999999955501,7.08925391046e-05,-0.000286920502068,4.06165154007e-05,1793193052395820288
+98,1.633333333,BASELINE,764,742.129437664,712,672,659.129437664,632,877.870562336,783.870562336,798.870562336,649,628.870562336,651,0.400954723488,0.00446574841993,0.0798306811981,0.999999955556,7.10908026358e-05,-0.00028665754896,4.07576060045e-05,1793193052412486912
+99,1.650000000,BASELINE,763.553774275,742.446225725,711.553774275,672.446225725,659.446225725,632,877.553774275,784,799,649.446225725,629,651,0.400954407595,0.00446544985835,0.0798304658996,0.999999955336,7.13933290851e-05,-0.00028732546092,4.09307403174e-05,1793193052429153792
+100,1.666666667,BASELINE,763.021194717,743,711,672.978805283,660,632.021194717,877,784,798.978805283,649.978805283,628.978805283,650.978805283,0.400954067212,0.00446491009633,0.0798300337044,0.999999955045,7.17019583003e-05,-0.000288235178617,4.10989301558e-05,1793193052445821184
+101,1.683333333,BASELINE,763.594522908,743,711,672.405477092,660,632.594522908,877,784,798.405477092,649.405477092,628.405477092,650.405477092,0.400954335064,0.00446510110394,0.079829860976,0.999999955016,7.13855450856e-05,-0.000288444263888,4.08973557792e-05,1793193052462487552
+102,1.700000000,BASELINE,764,742.82551358,711.17448642,672,660,633,877,784,798.17448642,649,628.17448642,650.17448642,0.400954343391,0.00446524986754,0.0798296500079,0.999999954933,7.13559089112e-05,-0.000288752026598,4.07883548962e-05,1793193052479153920
+103,1.716666667,BASELINE,764,742.229521245,711.770478755,672,660,633,877,784,798.770478755,649,628.770478755,650.770478755,0.400953724785,0.0044652965825,0.0798293466639,0.999999954723,7.2019038553e-05,-0.000289298163846,4.09029833384e-05,1793193052495820288
+104,1.733333333,BASELINE,763.645363414,742,712,672,659.645363414,633,877.354636586,784,799,649,629,651,0.400953707117,0.00446492453495,0.0798295266758,0.99999995478,7.22144767082e-05,-0.000289037444823,4.10065824356e-05,1793193052512486912
+105,1.750000000,BASELINE,763.068617491,742,712,672,659.068617491,633,877.931382509,784,799,649,629,651,0.400954065819,0.00446429021591,0.079830009414,0.999999955005,7.21169991643e-05,-0.00028827139076,4.11032738515e-05,1793193052529153792
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,711,673,660,633,876,784,799,649,629,650,0.400956416295,0.00446815488362,0.0798317060484,0.999999955465,7.73129446042e-05,-0.000285355764162,4.07958120747e-05,1793193052560564992
+107,1.783333333,POSE1_TO_POSE2_PRESS,763.404595754,742,711,672.404595754,660,633,877.190808492,784,799,649.595404246,628.404595754,650.595404246,0.400956721125,0.00446715177541,0.0798318402409,0.999999955814,7.42094312205e-05,-0.000284957382127,4.08038380473e-05,1793193052577233152
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.185751061,742,711,672,660.185751061,632.814248939,877.814248939,784,799,649.814248939,628.185751061,651,0.400956888638,0.00446646499522,0.0798319183254,0.999999956024,7.20253413849e-05,-0.000284789296033,4.07442021157e-05,1793193052593900544
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.765374062,742,711,672,660.765374062,632.234625938,877.234625938,784,799,649.234625938,628.765374062,651,0.400956764977,0.00446644896597,0.0798318774367,0.999999955958,7.17908233457e-05,-0.000285109536069,4.05410939207e-05,1793193052610566912
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.343126856,672,660.656873144,632,877,784,799,649,629,650.656873144,0.400956242374,0.00446548582833,0.0798315591468,0.999999955847,7.02375061723e-05,-0.000285851195168,4.07587954848e-05,1793193052627233024
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.919607722,672,660.080392278,632,877,784,799,649,629,650.080392278,0.400955448459,0.0044638785804,0.0798310522017,0.999999955701,6.77872989505e-05,-0.000286879453289,4.12626817279e-05,1793193052643898624
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.505347511,742,712,672,660,632,877.494652489,783.505347511,799,649,629,650,0.400956603066,0.00446423652685,0.079832135673,0.999999956026,6.98545612415e-05,-0.000285239467973,4.13238631468e-05,1793193052660565248
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.071213061,742.071213061,711.928786939,672,660,632.071213061,878,783.071213061,798.928786939,649,629,650.071213061,0.400957931291,0.00446473146714,0.0798332928189,0.999999956385,7.17502136612e-05,-0.000283512302642,4.12554884703e-05,1793193052677231872
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.660494007,742.660494007,711.339505993,672,660,632.660494007,878,783.660494007,798.339505993,649,629,650.660494007,0.40095822542,0.00446390622875,0.0798331109764,0.999999956507,6.70717136056e-05,-0.000284296540884,4.0766517084e-05,1793193052693898496
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.753415081,711,672,660,632.753415081,877.753415081,784,798.246584919,649,629,651,0.400963792843,0.00446416353338,0.0798354061876,0.99999995769,6.55796997523e-05,-0.000280492398042,4.05342511151e-05,1793193052710565120
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.171660264,711,672,660,632.171660264,877.171660264,784,798.828339736,649,629,651,0.400976527976,0.0044658922818,0.0798410683275,0.999999960261,6.84189092127e-05,-0.000270451510276,4.06509113431e-05,1793193052727232256
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.596154475,742,711,672,659.596154475,632.403845525,877,784,799,649,629,650.596154475,0.40100674684,0.0044654884322,0.0798538807959,0.999999966255,6.82849828631e-05,-0.000247361151182,4.04939466404e-05,1793193052743899136
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.023264401,742,711,672,659.023264401,632.976735599,877,784,799,649,629,650.023264401,0.401044284169,0.00446419190461,0.0798696863004,0.999999973014,6.69065402435e-05,-0.000218808449965,4.02224460386e-05,1793193052760565504
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711.565003729,672,659.565003729,632.434996271,877,784,799,649,629,650,0.401102817571,0.00446497303205,0.0798874221689,0.999999980061,6.81863823956e-05,-0.000183548311476,3.92329790845e-05,1793193052777231872
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,711.847702825,672,660,632.152297175,877,784,799,649,629,650.152297175,0.401165239013,0.00446590884313,0.0799027354024,0.999999985055,6.88343108569e-05,-0.000154006082927,3.78579995101e-05,1793193052793898496
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,711.265003309,672,660,632.734996691,877,784,799,649,629,650.734996691,0.40123613677,0.00446703326974,0.0799109711939,0.9999999871,6.73784212271e-05,-0.000141425406214,3.54794183982e-05,1793193052810565120
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.313581242,742,711,672.313581242,660,632.686418758,876.686418758,784,798.686418758,649,629,650.686418758,0.401316172433,0.0044675469942,0.0799158337054,0.999999988526,6.46004727185e-05,-0.000133134988849,3.24132797127e-05,1793193052827231744
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.888733299,742,711,672.888733299,660,632.111266701,876.111266701,784,798.111266701,649,629,650.111266701,0.40140383039,0.00446755130719,0.0799178824268,0.999999989496,6.07197414449e-05,-0.000128423251333,2.87736215526e-05,1793193052843898368
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.537125741,742,711,672.537125741,660,632,876.462874259,784,798.462874259,649,629,650.462874259,0.401512692853,0.00446899265658,0.0799222547757,0.999999990461,5.91735661364e-05,-0.000122374265148,2.4504135269e-05,1793193052860565248
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.037687669,742,711,672,660,632,877,783.962312331,799,649.037687669,629,650.962312331,0.401628386207,0.00447073166231,0.079927320852,0.999999991439,5.78642870605e-05,-0.000115643257215,2.00185893418e-05,1793193052877232384
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.625865817,742,711,672,660,632,877,783.374134183,799,649.625865817,629,650.374134183,0.401769565508,0.00447178373802,0.0799343790788,0.99999999318,5.18360949245e-05,-0.000103635280148,1.45837537058e-05,1793193052893899008
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.788908676,742.211091324,711,672,660,632,877,783.211091324,799,649.788908676,629,650.211091324,0.401923578397,0.00447301339509,0.079940822906,0.999999994703,4.50123137821e-05,-9.21734897455e-05,8.5210026028e-06,1793193052910565632
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.208844247,742.791155753,711,672,660,632,877,783.791155753,799,649.208844247,629,650.791155753,0.4021000235,0.00447455345203,0.0799461928045,0.999999995987,3.67978984503e-05,-8.16663973193e-05,1.36069904943e-06,1793193052927232000
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,743,711,672,660,632.367998545,877,784,799,649,628.632001455,651,0.402296408641,0.00447710354821,0.0799491371848,0.999999996703,2.79023938904e-05,-7.59699191494e-05,-6.57232870223e-06,1793193052943898624
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,743,711,672,660,632.943028934,877,784,799,649,628.056971066,651,0.402504011839,0.00448022188125,0.0799507169963,0.999999997052,1.86237154171e-05,-7.29798374857e-05,-1.49400830707e-05,1793193052960564992
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.529391814,743,711,672.529391814,660,632.470608186,877,783.470608186,799,649,628.529391814,651,0.402721062256,0.00448024197714,0.0799447960613,0.999999996075,1.33180189107e-05,-8.49451685059e-05,-2.13750347504e-05,1793193052977231872
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.884053516,742.884053516,711,673,660,632,877,783.115946484,799,649.115946484,629,651,0.402949815161,0.00448077323623,0.0799384942959,0.999999994862,1.86813015886e-05,-9.6494982359e-05,-2.48300326312e-05,1793193052993898240
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.301739922,742.301739922,711,673,660,632,877,783.698260078,799,649.698260078,629,651,0.403221459828,0.00448473096689,0.079933978525,0.999999992751,6.52006457964e-05,-9.97582722395e-05,-1.71538123256e-05,1793193053010565376
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.277492059,742.277492059,711,672.722507941,660,632,877.277492059,783.722507941,799,649.722507941,629,650.722507941,0.403519335153,0.00449060978978,0.0799328281701,0.999999993885,4.39059897751e-05,-0.000100179255984,-1.63326960943e-05,1793193053027232512
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.853409917,742.853409917,711,672.146590083,660,632,877.853409917,783.146590083,799,649.146590083,629,650.146590083,0.403845419939,0.00449855463006,0.0799352971154,0.999999993715,-5.03184938838e-05,-9.75435120157e-05,-2.2883826924e-05,1793193053043898880
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,711,672,660,632,877.570938677,783,799,648.570938677,628.570938677,650,0.404211257974,0.00450506146157,0.0799388715514,0.999999994465,-4.75283987662e-05,-9.03131750737e-05,-2.55732319292e-05,1793193053060565248
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.995284947,742.995284947,711,672,660,632.004715053,877,783.004715053,799,648.004715053,628,650.004715053,0.404590900451,0.0045110985652,0.0799427986353,0.999999996245,-1.16457924249e-05,-8.15369272302e-05,-2.69487163823e-05,1793193053077231872
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.408103756,742.408103756,711,672,660,632.591896244,877,783.591896244,799,648.591896244,628,650.591896244,0.404999086774,0.00451976289218,0.0799436606412,0.999999996521,2.02543737497e-05,-7.55860135045e-05,-2.88962572426e-05,1793193053093898496
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,711.177592824,672,660,633,877,783.822407176,799,649,628,651,0.405418844418,0.00452889250128,0.0799423405969,0.999999995671,4.57532586444e-05,-7.48569077462e-05,-3.10047476835e-05,1793193053110564864
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,711.759906012,672,660,633,877,783.240093988,799,649,628,651,0.405864972151,0.00453908245135,0.0799360478283,0.999999994134,5.66641123783e-05,-8.6027900975e-05,-3.34800296052e-05,1793193053127231744
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742.337823543,711.662176457,672,660,633,877.337823543,783.337823543,799,649,628.337823543,651,0.40633339255,0.0045486806389,0.0799284176365,0.999999992438,6.22844250836e-05,-9.9847087843e-05,-3.56993103638e-05,1793193053143898368
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742.912657231,711.087342769,672,660,633,877.912657231,783.912657231,799,649,628.912657231,651,0.406817453077,0.0045578636589,0.0799198491351,0.999999990555,6.41930026438e-05,-0.000115524194775,-3.77389861499e-05,1793193053160564992
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742.515418155,711.484581845,672.484581845,660,632.515418155,878,783.515418155,798.515418155,649,629,650.515418155,0.407342794339,0.00457012630422,0.0799189951095,0.999999988494,8.40336338845e-05,-0.000120116334199,-3.90263623957e-05,1793193053177231872
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742.058087354,711.941912646,672.941912646,660.058087354,632,878,783,798.058087354,649,629,650,0.407876817286,0.00458276030799,0.0799181746347,0.99999998589,0.000104928269617,-0.000124860502101,-4.02437392059e-05,1793193053193898240
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742.650945896,711.349054104,672.349054104,660.650945896,632,878,783,798.650945896,649,629,650,0.408422675274,0.0045937333892,0.0799049381723,0.99999998236,0.00010594788093,-0.000149288719039,-4.20575815827e-05,1793193053210564864
+146,2.433333333,POSE1_TO_POSE2_PRESS,762.762249589,743,711.237750411,672,660.762249589,632,877.762249589,783,799,649,629,650,0.409010029419,0.00460365996412,0.0799064247373,0.999999981558,0.000113653699331,-0.000148513926968,-4.3700760247e-05,1793193053227231488
+147,2.450000000,POSE1_TO_POSE2_PRESS,762.184112643,743,711.815887357,672,660.184112643,632,877.184112643,783,799,649,629,650,0.409656793448,0.00461208825857,0.0799289902161,0.999999984178,0.000130932139832,-0.000111656062536,-4.50996000663e-05,1793193053243898112
+148,2.466666667,POSE1_TO_POSE2_PRESS,762.39203743,743,711.60796257,672,660.39203743,632,877.39203743,783,799,649,629,650,0.410339728833,0.0046193981196,0.0799597732028,0.999999987722,0.00013617479199,-6.18009720315e-05,-4.6824930311e-05,1793193053260564736
+149,2.483333333,POSE1_TO_POSE2_PRESS,762.967259097,743,711.032740903,672,660.967259097,632,877.967259097,783,799,649,629,650,0.411039565702,0.00462618537884,0.079994395919,0.999999989577,0.000135793575509,-5.87277114668e-06,-4.87028170226e-05,1793193053277231360
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742.445506671,711,672.554493329,661,632,878,783,799,649,629,650,0.411702195532,0.00461305867846,0.0799776604077,0.999999990512,0.000122808350912,-3.79019565744e-05,-4.95771686413e-05,1793193053293899008
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742.140341621,711,672.859658379,661,632.140341621,877.859658379,783,799,649,629,650,0.412370217045,0.00459633426765,0.0799532976838,0.999999990216,0.000104287880032,-7.83966737069e-05,-5.04656182086e-05,1793193053310566400
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742.719588018,711,672.280411982,661,632.719588018,877.280411982,783,799,649,629,650,0.413062123276,0.00457211715748,0.079914775534,0.99999998787,7.08354914462e-05,-0.000128764432853,-5.15875762899e-05,1793193053327232512
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,743,711,672.298117089,661.298117089,632.701882911,877.298117089,783,799.298117089,649,628.701882911,650.298117089,0.413788023639,0.00455963152467,0.0798984842712,0.999999986814,4.84839308846e-05,-0.000145667815409,-5.29301928225e-05,1793193053343899136
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,743,711,672.875973121,661.875973121,632.124026879,877.875973121,783,799.875973121,649,628.124026879,650.875973121,0.414545822566,0.00455815415127,0.0799030534143,0.999999989245,3.65488573779e-05,-0.000131169819478,-5.44798650343e-05,1793193053360565760
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,711,673,662,632,878,783,799.548610647,649,628,651,0.415333147449,0.00456760065231,0.0799238766397,0.999999992544,4.92970703362e-05,-9.71589275965e-05,-5.51573965388e-05,1793193053377232384
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,711,673,661.973082782,632,878,783,799,649,628.026917218,650.973082782,0.416127646364,0.0045796313005,0.0799473625461,0.999999994283,6.80865257822e-05,-6.0912358254e-05,-5.55655694188e-05,1793193053393898496
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,743,711,673,661.381216663,632,878,783,799,649,628.618783337,650.381216663,0.416903359404,0.00458324066376,0.0799335018832,0.999999991851,7.20907849033e-05,-8.96667217148e-05,-5.53228642135e-05,1793193053410565120
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.205089591,743,711.205089591,673.205089591,660.794910409,632.205089591,878,783.205089591,799,649,629,650.205089591,0.417712520482,0.00458454463344,0.0799337346878,0.999999991824,7.47714181558e-05,-8.77213677336e-05,-5.53772479357e-05,1793193053427231744
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.781334009,743,711.781334009,673.781334009,660.218665991,632.781334009,878,783.781334009,799,649,629,650.781334009,0.418582213114,0.00458167648501,0.0799594727296,0.99999999516,7.50566582998e-05,-3.02181056834e-05,-5.59692795231e-05,1793193053443898624
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.641990213,743,712,674,661.074029361,633,878,783.641990213,799,649,629,650.641990213,0.419424374616,0.00457920516266,0.0799694944284,0.999999995629,7.42901311763e-05,-6.750237001e-06,-5.63718091089e-05,1793193053460565504
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.065050671,743,712,674,662.804847988,633,878,783.065050671,799,649,629,650.065050671,0.42024970028,0.00457697650705,0.0799699052853,0.999999995731,7.28804285721e-05,-4.09565714102e-06,-5.6658454693e-05,1793193053477232384
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,743,712,673.478976242,661.957952483,632.478976242,877.478976242,783,799,649,628.478976242,650,0.421080095861,0.00457835520932,0.0799547045628,0.99999999452,8.3123789603e-05,-2.98161126457e-05,-5.62251964785e-05,1793193053493899008
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,743,712,673.107009936,661,632,877.107009936,783.107009936,798.892990064,649,628,650,0.421919984663,0.00458111780199,0.0799457467553,0.999999993,9.3505442917e-05,-4.62453112534e-05,-5.58443605081e-05,1793193053510565376
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,743,712,673.687469441,661,632,877.687469441,783.687469441,798.312530559,649,628,650,0.422799024031,0.0045879749922,0.0799731873376,0.999999993614,9.7947068247e-05,-5.61298951962e-06,-5.61002216925e-05,1793193053527231744
+165,2.750000000,POSE1_TO_POSE2_PRESS,762.73411697,742.73411697,711.73411697,674,661.53176606,632,878,783.73411697,798.26588303,649,628,650,0.423655617736,0.00459285588391,0.0799871131893,0.999999993484,9.92837210591e-05,9.07333361461e-06,-5.56076785837e-05,1793193053543898624
+166,2.766666667,POSE1_TO_POSE2_PRESS,762.158089801,742.158089801,711.158089801,674,662.683820398,632,878,783.158089801,798.841910199,649,628,650,0.424486029401,0.00459543148688,0.0799852745391,0.999999993803,9.69985224141e-05,-6.5055240968e-06,-5.42421456625e-05,1793193053560564992
+167,2.783333333,POSE1_TO_POSE2_PRESS,762.415117581,742,711.415117581,674.415117581,661.754647256,632,878,783,799,649,628.415117581,650,0.425278824769,0.00459497315101,0.0799472126201,0.999999990735,0.000100467470468,-7.36762954082e-05,-5.48536172636e-05,1793193053577231616
+168,2.800000000,POSE1_TO_POSE2_PRESS,762.987258311,742,711.987258311,674.987258311,660.038225067,632,878,783,799,649,628.987258311,650,0.426057391276,0.00459336719164,0.0798954488202,0.999999979932,0.000106112992245,-0.000160362318523,-5.6212914001e-05,1793193053593898496
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742.579688725,711.420311275,673.84062255,661.15937745,632,878,783,799,649,628.420311275,650.579688725,0.426939983273,0.00459059962931,0.0798969738011,0.999999984213,9.59319621618e-05,-0.000137302771215,-5.93236485191e-05,1793193053610565632
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.831771232,711,673,662.168228768,632.168228768,878,783,799,649,628.168228768,650.831771232,0.427804461302,0.00458859695026,0.0799015399494,0.999999986792,9.04442091142e-05,-0.000120577246922,-6.07990025102e-05,1793193053627232768
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.253831515,711,673,662.746168485,632.746168485,878,783,799,649,628.746168485,650.253831515,0.428619053194,0.00458852153587,0.0799105565813,0.999999985718,9.726459616e-05,-0.000125365781703,-5.81943287371e-05,1793193053643899648
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.323118569,711,673.323118569,662.030644294,632.676881431,878,783,799,649,628.676881431,650,0.429451493086,0.00459035910248,0.0799293531295,0.999999988115,0.000101100495955,-0.000101516396741,-5.69563083863e-05,1793193053660566016
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.899293576,711,673.899293576,660.302119272,632.100706424,878,783,799,649,628.100706424,650,0.430297910938,0.00459369485646,0.0799558090044,0.999999991599,0.000102599037443,-5.52386811218e-05,-5.67886086252e-05,1793193053677231616
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+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711.348993824,674,662,632.651006176,878,783.651006176,799.651006176,649,629,650.651006176,0.432654772705,0.0045949180086,0.0799812202495,0.999999992491,0.000105897876286,-2.93764153403e-05,-5.42201414936e-05,1793193053727231488
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+187,3.116666667,POSE1_TO_POSE2_PRESS,763.993562391,743,711,674,659.993562391,632,878.006437609,783,799.006437609,649,629,651,0.439718356003,0.00461201207992,0.0798214018901,0.999999953311,0.00011327704128,-0.000278447032221,-5.4901556039e-05,1793193053910566400
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+192,3.200000000,POSE1_TO_POSE2_PRESS,763,743,711,674.921632433,660,631,879,783,800,649,628.921632433,650.921632433,0.441928253013,0.00465473239551,0.0796852082222,0.999999866962,0.000170131267724,-0.000483453301304,-5.83499373319e-05,1793193053993898752
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,743,711,674.503285728,659.503285728,631,878.503285728,783,800,649,628.503285728,651,0.442352179176,0.00468026808962,0.0797158566858,0.999999881592,0.000204788641761,-0.00043718464686,-6.12168561381e-05,1793193054010565120
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742.745042652,711,675,659,631.254957348,879,783,799.745042652,649,628,651,0.443422299769,0.00472938987906,0.0797495039214,0.99999988639,0.000255537411614,-0.000397028659665,-6.54862712203e-05,1793193054060566272
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+229,3.816666667,POSE1_TO_POSE2_PRESS,763.598790248,742,711,674.598790248,657.401209752,630,878.598790248,782,799.598790248,649,629,650,0.44590076884,0.00471425405637,0.0796442738464,0.999999816164,0.000241567457428,-0.000553058642541,-5.86766901064e-05,1793193054610565120
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.016425074,742,711,674.016425074,657.983574926,630,878.016425074,782,799.016425074,649,629,650,0.445901478833,0.00471351840126,0.0796444584022,0.999999816109,0.000240208886339,-0.000553787443515,-5.83269501768e-05,1793193054627231744
+231,3.850000000,POSE1_TO_POSE2_PRESS,763,742.566534871,710.433465129,674.566534871,657.433465129,630,878,782.566534871,799.566534871,649,629,650,0.445901015367,0.00471269154931,0.0796441247147,0.999999816051,0.000239398280476,-0.000554265042105,-5.81033475005e-05,1793193054643898368
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.148094125,742.851905875,710.148094125,674.851905875,657,630,878.148094125,782.851905875,800,649.148094125,628.851905875,650.148094125,0.445900518881,0.00471252321456,0.0796435362408,0.999999815681,0.000239362325612,-0.000554955704815,-5.80383195799e-05,1793193054660565248
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.725542351,742.274457649,710.725542351,674.274457649,657,630,878.725542351,782.274457649,800,649.725542351,628.274457649,650.725542351,0.445900025401,0.00471427172479,0.0796422526966,0.999999814399,0.000241526129972,-0.000556285219151,-5.84224177335e-05,1793193054677231872
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.697631968,742,711,674,657,630,879,782,799.697631968,650,628.302368032,651,0.445899750978,0.00471376499423,0.079641837339,0.999999814263,0.00024143766575,-0.000556585128241,-5.82581755671e-05,1793193054693898496
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.121370143,742,711,674,657,630,879,782,799.121370143,650,628.878629857,651,0.445899674983,0.0047112154009,0.0796422084101,0.999999815165,0.000239309031112,-0.000555952390979,-5.75972307672e-05,1793193054710565120
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.462609276,742,710.537390724,674,657,630,878.537390724,782,799.462609276,649.537390724,628.537390724,650.537390724,0.445900582524,0.00471158067722,0.0796426992714,0.999999815674,0.000239069567999,-0.000555155408983,-5.74425799973e-05,1793193054727232512
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.048232572,710,674.048232572,657,630,878.048232572,782,799.951767428,649,628.048232572,650.048232572,0.445901651846,0.00471266331879,0.0796431367283,0.999999816017,0.000239326662204,-0.00055442583418,-5.74573080657e-05,1793193054743899904
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.629269089,710,674.629269089,657,630,878.629269089,782,799.370730911,649,628.629269089,650.629269089,0.445901609465,0.00471307925412,0.0796426311866,0.999999815675,0.000239500967253,-0.000554924962094,-5.78508665828e-05,1793193054760566016
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.79182448,742.79182448,710,675,657,630,879,782,799.20817552,649,628.79182448,651,0.445901624394,0.00471373632547,0.0796423904806,0.999999815228,0.000240715946617,-0.000555188789942,-5.80088148523e-05,1793193054777231872
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.216673038,742.216673038,710,675,657,630,879,782,799.783326962,649,628.216673038,651,0.445901740347,0.00471481847613,0.0796426166322,0.999999814588,0.000243765447212,-0.00055503782615,-5.77514246975e-05,1793193054793898496
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,742.363466357,710,675.363466357,657.363466357,630.363466357,878.636533643,782,799.636533643,649,628.363466357,650.636533643,0.445902957548,0.00471434778155,0.0796437005644,0.99999981533,0.00024439282897,-0.000553448608048,-5.75082266189e-05,1793193054810565376
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,742.946620572,710,675.946620572,657.946620572,630.946620572,878.053379428,782,799.053379428,649,628.946620572,650.053379428,0.44590484037,0.00471293850971,0.0796453029598,0.999999816905,0.00024355622341,-0.000550990074258,-5.72736065834e-05,1793193054827232000
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.528824484,742.471175516,710,675.471175516,658,630.471175516,878,782.528824484,799.528824484,649,628.471175516,650,0.445904125053,0.00471382442002,0.0796439965651,0.999999815917,0.000241909914528,-0.000553500655142,-5.72955823247e-05,1793193054843898624
+244,4.066666667,HOLD_POSE2,763,742,710,675,657,629,879,782,800,649,628,650,0.445901548019,0.00471608800122,0.0796416416929,0.999999813349,0.000243516836128,-0.000557394036343,-5.75542557751e-05,1793193054886161152
+245,4.083333333,HOLD_POSE2,763.573651657,742,710.573651657,675,657,629.573651657,879,782,799.426348343,649,628,650,0.445902711526,0.00471537804896,0.0796421735991,0.999999814172,0.000242729397824,-0.000556266201524,-5.74988695482e-05,1793193054902828288
+246,4.100000000,HOLD_POSE2,763.848790359,742.151209641,711,675,657,630,879,782,799,649,628.151209641,650.151209641,0.44590346112,0.00471503795879,0.0796424630683,0.999999814472,0.000243086593847,-0.000555591065788,-5.72983152534e-05,1793193054919494912
+247,4.116666667,HOLD_POSE2,763.259925931,742.740074069,711,675,657,630,879,782,799,649,628.740074069,650.740074069,0.4459030127,0.00471576838166,0.0796420508388,0.999999813256,0.000246756770845,-0.000556226202848,-5.66775926322e-05,1793193054936161536
+248,4.133333333,HOLD_POSE2,763.324142983,743,710.675857017,675,657,630,879,782.324142983,799,649,628.675857017,650.675857017,0.445903152662,0.00471504663838,0.0796424065256,0.99999981383,0.000245320078251,-0.000555852475504,-5.64508230847e-05,1793193054952828160
+249,4.150000000,HOLD_POSE2,763.904422464,743,710.095577536,675,657,630,879,782.904422464,799,649,628.095577536,650.095577536,0.445903757562,0.00471317739911,0.0796433690166,0.999999815803,0.000239847957335,-0.000554681547459,-5.653535373e-05,1793193054969495040
+250,4.166666667,HOLD_POSE2,763.518025686,742.518025686,710,675,657,630,879,783,799.481974314,649,628,650.481974314,0.445904044587,0.00471353753045,0.0796432323453,0.999999815732,0.000240390769919,-0.000554577064293,-5.65030508113e-05,1793193054986161408
+251,4.183333333,HOLD_POSE2,763.058551709,742,710,674.941448291,657,630,879,782.941448291,799.941448291,649,628,651,0.445904376246,0.00471432847366,0.079643064009,0.999999815383,0.000241992121751,-0.000554515767557,-5.64532833871e-05,1793193055002828032
+252,4.200000000,HOLD_POSE2,763.631295002,742,710,674.368704998,657,630,879,782.368704998,799.368704998,649,628,651,0.445905650318,0.00471504219075,0.0796445209883,0.999999816113,0.000242473481629,-0.000552986990848,-5.64524633042e-05,1793193055019494656
+253,4.216666667,HOLD_POSE2,764,742,710.210749768,674,657,630,879,782,799,649,628,650.789250232,0.445905622594,0.00471531674648,0.0796448870576,0.99999981593,0.000243337908651,-0.000552934841608,-5.64791959474e-05,1793193055036161280
+254,4.233333333,HOLD_POSE2,764,742,710.802332359,674,657,630,879,782,799,649,628,650.197667641,0.445903242474,0.00471479772091,0.0796432818111,0.999999814096,0.000244894552482,-0.000555551014378,-5.65557174118e-05,1793193055052827904
+255,4.250000000,HOLD_POSE2,763.615578088,742,711,674.384421912,657,630,878.615578088,782,799,649,628.384421912,650,0.445903644477,0.00471439603682,0.0796429088515,0.999999814079,0.000244420371879,-0.000555757812599,-5.68677742512e-05,1793193055069494528
+256,4.266666667,HOLD_POSE2,763.038252117,742,711,674.961747883,657,630,878.038252117,782,799,649,628.961747883,650,0.445905442559,0.004714053235,0.079643154257,0.999999814975,0.000242927117673,-0.000554755579739,-5.72980234491e-05,1793193055086161408
+257,4.283333333,HOLD_POSE2,763.536496624,742,710.463503376,675,657,630,878.536496624,782,799.536496624,649,628.463503376,650,0.445904251003,0.00471446430515,0.0796426545196,0.999999814696,0.0002423232331,-0.000555529261172,-5.72321944751e-05,1793193055102828032
+258,4.300000000,HOLD_POSE2,764,742.111169382,710,674.888830618,657.111169382,630,878.888830618,782,799.888830618,649,628,650,0.445903305322,0.00471455473565,0.079642360837,0.999999814525,0.00024200141827,-0.000555994522251,-5.70621346402e-05,1793193055119494656
+259,4.316666667,HOLD_POSE2,764,742.686288428,710,674.313711572,657.686288428,630,878.313711572,782,799.313711572,649,628,650,0.445904271111,0.0047130837727,0.0796431477598,0.999999815156,0.000242593406006,-0.000554646720774,-5.66039892175e-05,1793193055136161280
+260,4.333333333,HOLD_POSE2,764,742.729366435,710.270633565,674.270633565,657.729366435,630,878.270633565,782.270633565,799,649,628.270633565,650,0.445904741763,0.00471299511773,0.0796434179904,0.999999815341,0.000242971914325,-0.000554146377065,-5.66111663172e-05,1793193055152827648
+261,4.350000000,HOLD_POSE2,764,742.133949228,710.866050772,674.866050772,657.133949228,630,878.866050772,782.866050772,799,649,628.866050772,650,0.445904618211,0.00471456535177,0.0796430681457,0.999999814992,0.000243094228877,-0.000554663055923,-5.71767706432e-05,1793193055169494272
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,710,675,657,630,880,782,799,649,629,650,0.445905777232,0.00471255985293,0.0796443288953,0.99999981645,0.000239138372678,-0.00055382566327,-5.64861382325e-05,1793193055202096896
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.429376687,742,710,674.429376687,657,630,879.429376687,782.570623313,799.570623313,649,628.429376687,650,0.44590414555,0.00471252256494,0.0796426920965,0.999999815069,0.000240573027296,-0.000555689049052,-5.65340352435e-05,1793193055218764288
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.142419152,742.142419152,710.142419152,674,657,630,879,782.857580848,799.857580848,649,628,650.142419152,0.445903054107,0.00471240578202,0.0796416312535,0.99999981422,0.000241246177582,-0.00055691863338,-5.65817350147e-05,1793193055235431680
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.717779504,742.717779504,710.717779504,674,657,630,879,782.282220496,799.282220496,649,628,650.717779504,0.445903604941,0.00471204734175,0.0796423212633,0.999999815,0.000239604424685,-0.000556221519704,-5.66288352069e-05,1793193055252097536
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.696860449,742.696860449,710.696860449,674,656.696860449,630,879,781.696860449,799,649,628,651,0.445904175062,0.00471266955619,0.0796429289351,0.999999815275,0.000240140279846,-0.000555503009639,-5.6561801024e-05,1793193055268763648
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.101873228,742.101873228,710.101873228,674,656.101873228,630,879,781.101873228,799,649,628,651,0.445904763753,0.00471423589618,0.079643457336,0.99999981506,0.000242772627738,-0.000554763900233,-5.63848839435e-05,1793193055285430016
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.478584168,742.478584168,710,674,656.478584168,630,878.521415832,781.478584168,799,649,628.478584168,651,0.445902629122,0.00471460354727,0.0796421788074,0.999999814155,0.000242649197286,-0.000556440808243,-5.64313016461e-05,1793193055302096640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.944364109,742.944364109,710.055635891,674.055635891,657,630,878,782,799.055635891,649,628.944364109,650.944364109,0.445898814003,0.00471462385063,0.0796399416921,0.99999981258,0.000241997738427,-0.000559536545074,-5.65390316286e-05,1793193055318763520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.371070706,742.371070706,710.628929294,674.628929294,657,630,878,782,799.628929294,649,628.371070706,650.371070706,0.445884597761,0.00471371642709,0.0796322588141,0.999999806042,0.000241730479368,-0.000571189519287,-5.67879386659e-05,1793193055335430144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.208714398,742.208714398,711,675,657,630,878.208714398,782.208714398,799.791285602,649,628,650.208714398,0.445860957628,0.00471331845328,0.0796211731813,0.999999795644,0.000241991456582,-0.000589016206549,-5.66694424848e-05,1793193055352096768
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.800411452,742.800411452,711,675,657,630,878.800411452,782.800411452,799.199588548,649,628,650.800411452,0.445820025032,0.00471385529968,0.0796038436291,0.999999777793,0.000243221726384,-0.000618171411296,-5.58767758981e-05,1793193055368763392
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,710.616668563,675,657,630,879,782.616668563,799,649,628,650.616668563,0.445763088205,0.00471341143291,0.0795860180081,0.999999758463,0.00024384421819,-0.000648537674294,-5.4887209841e-05,1793193055385430272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,710.038216174,675,657,630,879,782.038216174,799,649,628,650.038216174,0.445698005002,0.00471246836974,0.0795679398797,0.999999737873,0.000244157342657,-0.00067952038484,-5.37974191562e-05,1793193055402096896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.462257991,743,710,675,657,630,879,782,799,649,628.537742009,650.537742009,0.445623905436,0.00471220500463,0.0795634343766,0.999999735049,0.000245198042953,-0.000683445709349,-5.17878365888e-05,1793193055418763520
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742.884258819,710.115741181,675,657.115741181,630,879,782,799,649,629,651,0.445546395829,0.00471211956488,0.0795618606385,0.999999734627,0.000247146471922,-0.000683532458394,-4.94784283649e-05,1793193055435430144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742.297230306,710.702769694,675,657.702769694,630,879,782,799,649,629,651,0.445457597954,0.00471256283646,0.0795683152382,0.999999738692,0.0002525815129,-0.000675782648497,-4.62130993692e-05,1793193055452096768
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742,710.712752818,674.712752818,657.712752818,630,879,782,799,649,628.712752818,651,0.445350346359,0.00471167292073,0.079572086127,0.999999740025,0.000256446614613,-0.000672606295986,-4.22705792468e-05,1793193055468763392
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742,710.130891814,674.130891814,657.130891814,630,879,782,799,649,628.130891814,651,0.445224167791,0.0047094156272,0.0795731044791,0.999999738609,0.000258701514638,-0.000674120690637,-3.76335011912e-05,1793193055485429760
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.445400329,742,710.445400329,674.445400329,657.445400329,630,879,782,799,649,628,650.554599671,0.44507364332,0.0047081250284,0.079574416245,0.99999973967,0.000261367940878,-0.000671781576994,-3.25071668396e-05,1793193055502096640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742,710.979902621,675,657.979902621,630.020097379,878.979902621,782,799,649,628.020097379,650,0.44491449057,0.00470710863868,0.0795757582703,0.999999741242,0.000264228061481,-0.000668550266646,-2.71868052973e-05,1793193055518763264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742,710.404618505,675,657.404618505,630.595381495,878.404618505,782,799,649,628.595381495,650,0.444712188095,0.00470591628432,0.0795755836218,0.99999973807,0.000269139346651,-0.000671569544921,-2.04293228017e-05,1793193055535430144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.825265692,742,710.174734308,675,657.174734308,631,878.174734308,782,799,649,628.825265692,650,0.444502874077,0.00470413784126,0.0795762180175,0.999999735908,0.000274346633657,-0.000672860244019,-1.32769247288e-05,1793193055552096512
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.236266787,742,710.763733213,675,657.763733213,631,878.763733213,782,799,649,628.236266787,650,0.444276936937,0.00470096988418,0.0795787705164,0.99999973623,0.000280255688764,-0.000670052782734,-5.18825160106e-06,1793193055568763136
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742,711,675,658,630.652372065,879,782,799,649,628,650.347627935,0.444024753627,0.00469831251779,0.0795832203211,0.999999737996,0.000285927287939,-0.000665015058828,2.9514290335e-06,1793193055585430016
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742,711,675,658,630.071896165,879,782,799,649,628,650.928103835,0.443754990097,0.00469599715469,0.0795889409786,0.999999740669,0.000291439835077,-0.000658483461237,1.11252763001e-05,1793193055602096640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.50332537,742.50332537,710.49667463,674.49667463,658,630,878.49667463,782.50332537,799,649,628,650.49667463,0.443447819805,0.00468967101801,0.0795944388053,0.999999744989,0.000289850512665,-0.000652437141218,1.82858997461e-05,1793193055618763264
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.92217442,742.92217442,710.07782558,674.07782558,658,630,878.07782558,782.92217442,799,649,628,650.07782558,0.4431291312,0.0046831467986,0.0796003611843,0.999999751786,0.000283046040929,-0.000644793248399,2.35599930276e-05,1793193055635429632
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.347536924,742.347536924,710.652463076,674.652463076,658,630,878.652463076,782.347536924,799,649,628,650.652463076,0.442770670679,0.00467897754931,0.0796091948525,0.999999772494,0.000249358817267,-0.000626513061742,1.77054946612e-05,1793193055652096512
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742.235419628,711,675,658,630.235419628,878.764580372,782.235419628,799,649,628,650.764580372,0.442398329968,0.00467365017146,0.0796204861053,0.999999790789,0.000226401915765,-0.000605730241391,1.59990189797e-05,1793193055668763392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.831106976,711,675,658,630.831106976,878.168893024,782.831106976,799,649,628,650.168893024,0.442004748123,0.00466655048483,0.0796355382522,0.999999806768,0.000219865859353,-0.000581117588848,2.06403519775e-05,1793193055685429760
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.587409254,711,674.174818509,658,631,878.412590746,783,799,649,628.412590746,650,0.441567361522,0.00466232347707,0.0796419778516,0.999999807514,0.000244543229752,-0.000569817205744,2.18740950538e-05,1793193055702097408
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.011546204,711,673.023092407,658,631,878.988453796,783,799,649,628.988453796,650,0.441112640311,0.00465923325915,0.0796450092539,0.999999801195,0.000281572520708,-0.000563784815054,2.17593708583e-05,1793193055718765056
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.563183734,742,711,673.563183734,658,631.563183734,879,783,799,649,628.436816266,650.563183734,0.440587946693,0.00465610876966,0.0796307028012,0.999999799723,0.000253663759762,-0.000579493980508,1.98740419878e-05,1793193055735430656
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.859318416,742,711,673.859318416,658.140681584,631.859318416,878.859318416,783,799,649,628.140681584,650.859318416,0.440054009304,0.0046521360039,0.0796178534086,0.999999797743,0.000228964713824,-0.000593081528956,1.85286482141e-05,1793193055752096768
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.272978912,742,711,673.272978912,658.727021088,631.272978912,878.272978912,783,799,649,628.727021088,650.272978912,0.43949532447,0.00464547824951,0.0796107435303,0.999999796793,0.000218642573457,-0.00059853891972,1.90084504467e-05,1793193055768763392
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.310117125,659,631.310117125,878,783,799,649,628.689882875,650.310117125,0.438943696706,0.00463598780803,0.0796357534025,0.999999823558,0.000206328560133,-0.000556678211511,2.05219822564e-05,1793193055785430016
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.890387732,659,631.890387732,878,783,799,649,628.109612268,650.890387732,0.43839821653,0.00462402971657,0.0796887438714,0.999999869104,0.000192279356841,-0.00047359710955,2.29360306979e-05,1793193055802096896
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763,742.467294955,711,674,659,632,878,783,799,649,628,651,0.437821274826,0.00461431741322,0.0797480850928,0.999999907907,0.000179534679337,-0.000388903177518,2.66004754517e-05,1793193055818763776
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763,742.956846363,711,674,659,632,878,783.043153637,799,649,628,650.956846363,0.437230672412,0.00460509874311,0.079805788126,0.999999938145,0.00016771278597,-0.000307664962392,3.04068303105e-05,1793193055835430144
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742.384241427,711,674,659,632,878,783.615758573,799,649,628,650.384241427,0.436562362806,0.00459551946259,0.0798252460382,0.999999948729,0.000163485044088,-0.000273433246302,3.23814747512e-05,1793193055852096768
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,659.194995809,632,878.194995809,784,799,649,628.194995809,650,0.435867642871,0.00458616213016,0.0798345530525,0.999999954926,0.000153004391701,-0.000256104101963,3.38830689017e-05,1793193055868763648
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,659.787762193,632,878.787762193,784,799,649,628.787762193,650,0.435119048736,0.00457725754865,0.0798231533204,0.999999953654,0.000129768471803,-0.000273254396909,3.44196910329e-05,1793193055885430272
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,660,632,878.627715956,783.627715956,799,649,628.627715956,650.372284044,0.434357299113,0.00457005616509,0.0798135412384,0.999999951424,0.000123904154076,-0.000284063240387,3.32878460096e-05,1793193055902096896
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,660,632,878.047792468,783.047792468,799,649,628.047792468,650.952207532,0.433588212113,0.00456380473141,0.0798049262092,0.999999948917,0.000127728755765,-0.000291335172572,3.12254223065e-05,1793193055918763520
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,660,632.526705861,877.473294139,783,799,649.526705861,628,650.473294139,0.432748221352,0.00455489642823,0.0797771679535,0.999999931221,0.000111500680458,-0.000352060947071,3.43381481738e-05,1793193055935430400
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.103192426,711,674,659.896807574,632.896807574,877.206384851,783.103192426,799,649.896807574,628,650,0.431899401687,0.00454554756088,0.0797500114967,0.99999991004,9.70054258844e-05,-0.000411232946259,3.73759279564e-05,1793193055952097024
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.691311748,711,674,659.308688252,632.308688252,878.382623495,783.691311748,799,649.308688252,628,650,0.431039018374,0.00453524972148,0.0797337625512,0.999999897332,9.91164729881e-05,-0.000440542878694,3.78773177895e-05,1793193055968763392
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,659.275457079,632,878.449085842,783.724542921,798.724542921,649,628.275457079,650,0.430220577806,0.00452442875587,0.0797556243581,0.999999912966,8.9766368355e-05,-0.000405660913633,3.8077163129e-05,1793193055985430016
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,659.855212406,632,877.289575188,783.144787594,798.144787594,649,628.855212406,650,0.429448471405,0.0045130298899,0.0798195872235,0.999999952025,6.77550951035e-05,-0.000299865970331,3.79438911396e-05,1793193056002096384
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,660.433740281,632,877.433740281,783,798.433740281,649,629,650,0.428615969863,0.00450213672679,0.0798518282659,0.999999966166,5.95376352814e-05,-0.000250107623817,3.9604239466e-05,1793193056018764032
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,660.976639303,632,878,783,799,649,629,650,0.427762197292,0.0044914074397,0.0798720527851,0.999999973153,5.55887561238e-05,-0.000221038243284,4.17879758635e-05,1793193056035431168
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,659.837870785,632,878,783,799,649,629,650,0.426852686174,0.00448046530489,0.0798226959269,0.999999956712,3.62193146447e-05,-0.000289185814125,4.04549511386e-05,1793193056052097280
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.842906327,659.157093673,632,878,783,799,649,628.842906327,650,0.425935411483,0.0044690612786,0.0797812022907,0.999999938351,2.00332235203e-05,-0.000348345765366,3.93927209367e-05,1793193056068763392
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.248374368,659.751625632,632,878,783,799,649,628.248374368,650,0.424996518634,0.00445637108394,0.0797616043476,0.99999992601,1.27113949748e-05,-0.000382479062411,3.90845375034e-05,1793193056085430016
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,660,632,877.662724468,783,799,649,628.337275532,650,0.424060907202,0.00444604951935,0.0797451682776,0.999999914826,3.39540509808e-07,-0.000410882286575,3.90453888711e-05,1793193056102096896
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,660,632,877.08344763,783,799,649,628.91655237,650,0.423127650287,0.0044374274903,0.0797310009097,0.999999904421,-1.56557987269e-05,-0.000435174078132,3.9199277594e-05,1793193056118763776
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.507487181,632,877,783,798.507487181,649,629,650,0.422298575425,0.00442466442393,0.0797696991691,0.999999934107,-2.38030543451e-05,-0.000360090038698,3.94254674204e-05,1793193056135430912
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.069299857,742.930700143,711.069299857,673,659.138599714,632,877.069299857,783,798.069299857,649,629,650,0.421486688137,0.00441292493014,0.079817128605,0.999999962171,-3.13499617134e-05,-0.000270339459544,3.99091772235e-05,1793193056152097536
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.656433838,742.343566162,711.656433838,673,660.312867675,632,877.656433838,783,798.656433838,649,629,650,0.420672214517,0.00441404169669,0.0798633171293,0.999999978926,-4.42805406524e-05,-0.00019596952984,4.22262479083e-05,1793193056168764160
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.759592231,742,711.759592231,673,660.759592231,632,877.759592231,783,799,649,629,650,0.419801672428,0.00442930343251,0.0798737211216,0.999999982219,-2.95036108636e-05,-0.000181161181242,4.32779611817e-05,1793193056185430528
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.180075643,742,711.180075643,673,660.180075643,632,877.180075643,783,799,649,629,650,0.41885204246,0.00446451745141,0.079833649005,0.999999967456,2.43563324504e-05,-0.000250367816728,4.25448162962e-05,1793193056202096896
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742.397907555,711,672.602092445,660,632.397907555,877.397907555,783,799,649,629,650,0.417952234034,0.00447828884916,0.0798094726506,0.999999955416,4.06572403157e-05,-0.000293081632304,4.02286487596e-05,1793193056218763520
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742.975199436,711,672.024800564,660,632.975199436,877.975199436,783,799,649,629,650,0.417074886168,0.00448239350159,0.0797924624118,0.999999946067,4.00258143885e-05,-0.000323851974844,3.71988244806e-05,1793193056235430144
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.549123754,660,633,877.450876246,783,799.549123754,649,629,650,0.416228492504,0.00446946048034,0.0797997279065,0.999999945814,2.84298017127e-05,-0.00032558368315,3.94742929871e-05,1793193056252096768
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742.873399278,711,673,660,632.873399278,877,783,800,649,629,650,0.415393398841,0.00445741620035,0.079802526881,0.999999944414,1.48776126438e-05,-0.00033055291619,4.10602648686e-05,1793193056268763648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742.282334022,711,673,660,632.282334022,877,783,800,649,629,650,0.414594664254,0.00445143831665,0.0797849415401,0.999999937206,-4.04557272314e-06,-0.000352181980677,3.92429570238e-05,1793193056285430272
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.698141596,659.698141596,632,877,783,799.698141596,649,629,650,0.413813783304,0.00445002771475,0.0797860307818,0.999999940332,-1.26798516139e-05,-0.00034314347389,3.77775079258e-05,1793193056302096640
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.120234389,659.120234389,632,877,783,799.120234389,649,629,650,0.413049229506,0.00445279388169,0.0798041978865,0.999999952422,-1.19049486049e-05,-0.00030605954371,3.66338329083e-05,1793193056318763264
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.457771068,742.457771068,711,672.915542136,659,632,877,783.457771068,799,649,629,650.457771068,0.412289429103,0.00446083487919,0.0798037436952,0.99999995103,-2.25297336941e-06,-0.00031079918299,3.66027308288e-05,1793193056335430144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742.963734983,711,673.963734983,659.036265017,632.036265017,877.036265017,783.963734983,799,649,629,651,0.411534188872,0.00446955623528,0.0797982470917,0.999999945978,9.04107491191e-06,-0.000326499950973,3.68833915389e-05,1793193056352096512
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742.378234378,711,673.378234378,659.621765622,632.621765622,877.621765622,783.378234378,799,649,629,651,0.410829101097,0.00446759452514,0.0797904719897,0.999999940835,9.88492657073e-06,-0.000341802919707,3.74590895435e-05,1793193056368763392
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.215007112,742,711,673,659.215007112,632.215007112,877.215007112,783.784992888,799,649,629,651,0.409504845421,0.0044627499177,0.0798143511475,0.999999954661,6.2318713327e-06,-0.000298707398418,3.75782456086e-05,1793193056402096896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.362560521,742,711,673,659.362560521,632,877.362560521,783.637439479,799,649,629,651,0.408874567484,0.00446125709928,0.0798344566742,0.999999963447,4.05785916402e-06,-0.000267642521595,3.81590367675e-05,1793193056418763520
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.938836299,742,711,673,659.938836299,632,877.938836299,783.061163701,799,649,629,651,0.408250982005,0.00446044171173,0.0798538312329,0.999999970109,2.43002485598e-06,-0.000241331423143,3.91922141114e-05,1793193056435429888
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659.485392951,632,877.485392951,783.514607049,799,649,629,650.485392951,0.407624175582,0.00446429023845,0.0798192714073,0.999999953356,1.18482138718e-05,-0.000302565417112,4.00150413963e-05,1793193056452097536
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.907594317,659,632.092405683,877,783.907594317,799,649.092405683,629,650.092405683,0.407013260264,0.00446839119627,0.079782290267,0.99999993213,2.17196421914e-05,-0.000365560835175,4.04134767117e-05,1793193056468764672
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.318575006,659,632.681424994,877,783.318575006,799,649.681424994,629,650.681424994,0.406489803526,0.00447087258558,0.079766713685,0.999999925867,2.69780591138e-05,-0.00038215712653,3.86653450254e-05,1793193056485430528
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.265559632,659,633,877,783,799,649.734440368,629,651,0.405995209605,0.00447067908406,0.0797667600577,0.999999929006,2.53072659543e-05,-0.00037408441008,3.75330391184e-05,1793193056502096896
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.997280816,711,673,659,633,877.997280816,783,799,649,629,651,0.404669412653,0.00446592141666,0.079823230801,0.999999958976,2.34522013236e-05,-0.000282915019966,3.81676107155e-05,1793193056552097024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.415351681,742.415351681,711,672.415351681,659,632.415351681,877.415351681,783,799.584648319,649.584648319,628.415351681,650.415351681,0.404285943219,0.00447298289036,0.0798302372559,0.999999960306,2.88712617129e-05,-0.000277547092381,3.90140640175e-05,1793193056568763904
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.81014502,659,632.81014502,877.81014502,783.81014502,799.81014502,649.18985498,629.18985498,651,0.401875800956,0.00444530495312,0.0798475785294,0.999999963606,-1.35829988963e-05,-0.000265499507116,4.59794135607e-05,1793193056718764032
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,741.924411158,711.537794421,672.462205579,659.537794421,632.462205579,877,783.462205579,799,649,629,651,0.401468160449,0.00444546979744,0.0798414982678,0.999999960542,-1.65858395308e-05,-0.000276326929459,4.77975832403e-05,1793193056768763648
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,741.7054027,712,672,659.2945973,632.7054027,877.7054027,783.7054027,799,649.7054027,629,651,0.401265833443,0.00447253913282,0.0798295393192,0.999999954661,4.7026243412e-05,-0.000294442175981,4.20790346307e-05,1793193056802096896
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.774012437,742.774012437,711,672.225987563,659.225987563,632.774012437,877,783,799.774012437,649,629,650.774012437,0.400981445104,0.00446542356469,0.0798232468258,0.999999950624,7.89671498099e-05,-0.000301167378653,4.25881783008e-05,1793193056918763520
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,877.744153499,783.744153499,799.744153499,649.255846501,629,651,0.400959030181,0.00446569367035,0.0798268549727,0.999999952805,7.54249618339e-05,-0.000294808961931,4.22960804044e-05,1793193057018764032
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,877.164825452,783.164825452,799.164825452,649.835174548,629,651,0.400957280219,0.00446676971718,0.0798265178927,0.99999995265,7.53411415443e-05,-0.000295398937425,4.19900103115e-05,1793193057035430400
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.013512592,659,632,877,783,799,649.013512592,629,651,0.400957290775,0.00446576563593,0.0798266472303,0.999999952868,7.48355870801e-05,-0.000294862309873,4.14823661848e-05,1793193057068763648
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.15871708,742,711,672.15871708,659,632,877,783.84128292,799,649,629,650.15871708,0.400955578958,0.00446494625124,0.0798272292545,0.999999953219,7.20791670829e-05,-0.000294306495101,4.18429435911e-05,1793193057102096640
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.200831041,672,659.799168959,632.799168959,877.799168959,783,799,649,629,651,0.400956162788,0.00446689523235,0.0798295561926,0.999999954091,7.29457320782e-05,-0.000291201786111,4.12167446005e-05,1793193057235430400
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,659.62387322,633,877.62387322,783.37612678,798.62387322,649,629,650.62387322,0.400955108545,0.0044659551202,0.0798285758233,0.999999953735,7.21942809553e-05,-0.000292596927644,4.12927213123e-05,1793193057252097024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659.048149873,633,877.048149873,783.951850127,798.048149873,649,629,650.048149873,0.400954729251,0.00446390044746,0.0798274457246,0.999999953518,6.99530038717e-05,-0.000293880139608,4.12867842618e-05,1793193057268763904
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b64589bb4782aa77c3ac94a64906263875dfd22
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
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+353,5.883333333,pose2_to_pose3_retreat,0.576630751886,0.0100546232756,1.07002927041,0.547201481725,0.0187273514273,1.06969856139
+354,5.900000000,pose2_to_pose3_retreat,0.576480046328,0.0100546615794,1.07002911024,0.547050775566,0.0187273879127,1.06969840712
+355,5.916666667,pose2_to_pose3_retreat,0.576343786795,0.0100546539592,1.07002917032,0.546914516217,0.0187273809669,1.06969846853
+356,5.933333333,pose2_to_pose3_retreat,0.576222901687,0.0100545850355,1.07002924886,0.546793632131,0.0187273153347,1.0696985424
+357,5.950000000,pose2_to_pose3_retreat,0.576116447234,0.0100545510392,1.07002905908,0.546687177369,0.0187272801707,1.0696983501
+358,5.966666667,pose2_to_pose3_retreat,0.576025234406,0.0100545377855,1.07002896496,0.546595964159,0.0187272655996,1.06969825664
+359,5.983333333,pose2_to_pose3_retreat,0.575949047446,0.0100546689102,1.0700290889,0.546519776733,0.0187273951061,1.06969838035
+360,6.000000000,pose2_to_pose3_retreat,0.575887840616,0.0100545961935,1.07002923687,0.546458570922,0.0187273255905,1.06969852205
+361,6.016666667,pose2_to_pose3_retreat,0.57583991856,0.0100545647036,1.0700292784,0.546410649207,0.018727295374,1.06969856507
+362,6.033333333,pose2_to_pose3_retreat,0.575803085821,0.0100545636357,1.07002911046,0.54637381623,0.0187272938159,1.0696984048
+363,6.050000000,pose2_to_pose3_retreat,0.575775679555,0.0100545960937,1.07002905875,0.546346409507,0.0187273247541,1.06969835396
+364,6.066666667,pose2_to_pose3_retreat,0.575754813251,0.0100546554984,1.07002913164,0.546325542655,0.0187273822515,1.06969842513
+365,6.083333333,pose2_to_pose3_retreat,0.575739941099,0.0100546246599,1.0700291436,0.546310670615,0.0187273518197,1.06969843787
+366,6.100000000,pose2_to_pose3_retreat,0.575729670343,0.010054676758,1.07002926336,0.546300399317,0.0187274018143,1.06969855066
+367,6.116666667,pose2_to_pose3_retreat,0.57572336796,0.0100547171895,1.07002909646,0.546294097252,0.0187274435874,1.06969839061
+368,6.133333333,pose2_to_pose3_retreat,0.57571968453,0.0100547374293,1.07002897876,0.546290414056,0.0187274647968,1.06969827768
+369,6.150000000,pose2_to_pose3_retreat,0.575717663592,0.0100546890784,1.07002893794,0.546288393057,0.0187274162137,1.06969823617
+370,6.166666667,pose2_to_pose3_retreat,0.575716487702,0.0100546609452,1.07002891418,0.546287217131,0.0187273879454,1.06969821201
+371,6.183333333,pose2_to_pose3_retreat,0.575715424245,0.010054635502,1.0700288927,0.546286153643,0.0187273623801,1.06969819016
+372,6.200000000,pose2_to_pose3_retreat,0.575714487685,0.0100546130948,1.07002887378,0.546285217054,0.0187273398653,1.06969817093
+373,6.216666667,pose2_to_pose3_retreat,0.575713773826,0.0100545878057,1.07002895115,0.546284503545,0.0187273156435,1.06969824521
+374,6.233333333,pose2_to_pose3_retreat,0.575713237057,0.0100545671447,1.07002902772,0.546283967112,0.0187272960154,1.0696983189
+375,6.250000000,pose2_to_pose3_retreat,0.575712913023,0.0100545546723,1.07002907394,0.546283643282,0.0187272841665,1.06969836338
+376,6.266666667,pose2_to_pose3_retreat,0.575712567947,0.0100545413898,1.07002912317,0.546283298422,0.018727271548,1.06969841076
+377,6.283333333,pose2_to_pose3_retreat,0.57571210628,0.0100545236197,1.07002918903,0.546282837045,0.0187272546662,1.06969847413
+378,6.300000000,pose2_to_pose3_retreat,0.575711935723,0.0100545170548,1.07002921336,0.546282666595,0.0187272484295,1.06969849755
+379,6.316666667,pose2_to_pose3_retreat,0.575711779944,0.0100545110586,1.07002923558,0.546282510914,0.0187272427331,1.06969851893
+380,6.333333333,pose2_to_pose3_retreat,0.575711298983,0.0100544945047,1.07002929535,0.546282030204,0.0187272269437,1.06969857641
+381,6.350000000,pose2_to_pose3_retreat,0.575710763677,0.010054512009,1.07002919976,0.546281494246,0.0187272423461,1.06969848362
+382,6.366666667,pose2_to_pose3_retreat,0.575710498369,0.0100545206844,1.07002915238,0.546281228617,0.0187272499798,1.06969843764
+383,6.383333333,pose2_to_pose3_retreat,0.575710474319,0.0100545214708,1.07002914809,0.546281204537,0.0187272506718,1.06969843347
+384,6.400000000,pose2_to_pose3_retreat,0.575710207432,0.0100545301979,1.07002910043,0.546280937325,0.018727258351,1.06969838721
+385,6.416666667,pose2_to_pose3_retreat,0.57571001344,0.0100545365414,1.07002906579,0.546280743098,0.0187272639327,1.06969835358
+386,6.433333333,pose2_to_pose3_retreat,0.575710009455,0.0100545366717,1.07002906508,0.546280739108,0.0187272640474,1.06969835289
+387,6.450000000,pose2_to_pose3_retreat,0.57570997863,0.0100545376796,1.07002905957,0.546280708246,0.0187272649343,1.06969834755
+388,6.466666667,pose2_to_pose3_retreat,0.575709835859,0.0100545423482,1.07002903408,0.546280565301,0.0187272690423,1.0696983228
+389,6.483333333,pose2_to_pose3_retreat,0.575709572504,0.0100545615912,1.0700290123,0.546280302157,0.0187272891318,1.06969830443
+390,6.500000000,pose2_to_pose3_retreat,0.575709467679,0.0100545697435,1.0700290048,0.54628019744,0.0187272977084,1.06969829838
+391,6.516666667,pose2_to_pose3_retreat,0.575709451837,0.0100545709755,1.07002900367,0.546280181615,0.0187272990045,1.06969829747
+392,6.533333333,pose2_to_pose3_retreat,0.575709396326,0.0100545752926,1.0700289997,0.546280126162,0.0187273035462,1.06969829426
+393,6.550000000,pose2_to_pose3_retreat,0.575709372717,0.0100545747367,1.07002904453,0.546280102712,0.0187273034373,1.06969833669
+394,6.566666667,pose2_to_pose3_retreat,0.575709345614,0.0100545730529,1.07002911632,0.546280075849,0.0187273024203,1.06969840453
+395,6.583333333,pose2_to_pose3_retreat,0.575709291771,0.0100545697079,1.07002925894,0.546280022485,0.0187273003999,1.0696985393
+396,6.600000000,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001827,0.0187273070683,1.06969859147
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93f0e1d49ef138e1badd4fb79cd99b14c3c55898
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c1b0746ea44fdce0bc28da53927bb2637b31fc7b875c60c11b7f1a4fd8e6e34
+size 25409666
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7db4e535c984556c6a8335e9a293b3dadee59f3b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_04/franka_data.csv
@@ -0,0 +1,401 @@
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+31,0.516666667,BASELINE,764,742.995135603,711,672,659.995135603,632,876.004864397,784,799,649,629,651,0.400958936419,0.00446737982273,0.0798321496693,0.999999955803,7.22805376921e-05,-0.000285452444073,4.10563880385e-05,1793193058102907648
+32,0.533333333,BASELINE,764,742.418964271,711.581035729,672,659.418964271,632,876.581035729,783.418964271,799,649,629,651,0.400956886152,0.00446795255551,0.0798310115776,0.999999955163,7.32568783681e-05,-0.000287501455903,4.06250437651e-05,1793193058119574784
+33,0.550000000,BASELINE,764,742,711.834737635,672.165262365,659,632.165262365,877,783.165262365,799,649,629,651,0.400955508531,0.00446791981544,0.0798302873314,0.999999954763,7.37982178845e-05,-0.000288779342321,4.04300107457e-05,1793193058136241408
+34,0.566666667,BASELINE,764,742,711.254914842,672.745085158,659,632.745085158,877,783.745085158,799,649,629,651,0.400955902643,0.00446636754664,0.0798306328397,0.999999955,7.3205763455e-05,-0.000288052102102,4.08381360545e-05,1793193058152908288
+35,0.583333333,BASELINE,764,742.322133711,711,672.677866289,659.322133711,632.677866289,877,783.677866289,799,649,629,651,0.400956103645,0.00446582167937,0.0798309668431,0.999999955117,7.2870979786e-05,-0.000287699633135,4.10412482718e-05,1793193058169574912
+36,0.600000000,BASELINE,764,742.897005725,711,672.102994275,659.897005725,632.102994275,877,783.102994275,799,649,629,651,0.400956153138,0.00446606541019,0.0798312918201,0.999999955142,7.27383582866e-05,-0.000287641200528,4.10835122302e-05,1793193058186241536
+37,0.616666667,BASELINE,764,742.531804573,711,672,659.531804573,632.468195427,877.468195427,783.468195427,799,649,629,650.531804573,0.400956335908,0.00446555300497,0.0798317247415,0.999999955401,7.14090575128e-05,-0.000287080984466,4.1030262863e-05,1793193058202907904
+38,0.633333333,BASELINE,764,742,711,672,659,632.959723674,877.959723674,784,799,649,629,650.040276326,0.400956544045,0.00446506820379,0.0798321116256,0.999999955664,7.01105999022e-05,-0.000286494877007,4.09492187756e-05,1793193058219574528
+39,0.650000000,BASELINE,764,742,711,672,659,632.364279586,877.364279586,784,799,649,629,650.635720414,0.400956700873,0.0044672387726,0.079831539176,0.999999955314,7.28375579104e-05,-0.000287061525917,4.07724100823e-05,1793193058236241152
+40,0.666666667,BASELINE,763.773910484,742,711,672.226089516,659,632,877.226089516,784,799,649,628.773910484,651,0.400957066055,0.00446810235694,0.0798312314335,0.999999955264,7.3356094891e-05,-0.000287144595042,4.04850006173e-05,1793193058252907776
+41,0.683333333,BASELINE,763.191538812,742,711,672.808461188,659,632,877.808461188,784,799,649,628.191538812,651,0.40095775957,0.00446690633547,0.0798313408288,0.99999995569,7.03945012746e-05,-0.000286465617086,4.00233014297e-05,1793193058269574400
+42,0.700000000,BASELINE,763,742.384525734,711,672.615474266,659,632.384525734,877.615474266,783.615474266,799,649,628.384525734,651,0.400957868998,0.00446707383494,0.0798315682833,0.999999955826,7.06232219181e-05,-0.000285946119267,3.99442815276e-05,1793193058286241280
+43,0.716666667,BASELINE,763,742.957499276,711,672.042500724,659,632.957499276,877.042500724,783.042500724,799,649,628.957499276,651,0.400957692177,0.00446790956679,0.079831853596,0.999999955819,7.241544719e-05,-0.00028550477926,4.00528045429e-05,1793193058302908416
+44,0.733333333,BASELINE,763.539283126,742.460716874,711,672,659,633,877,783.539283126,798.460716874,649,629,650.460716874,0.400957835955,0.00446642358008,0.0798325124125,0.999999955966,7.15892040223e-05,-0.000285114498501,4.06482980016e-05,1793193058319574784
+45,0.750000000,BASELINE,764,742,711,672.122023649,659,632.877976351,877,783.877976351,798,649,628.877976351,650,0.400957745873,0.00446506919878,0.0798327526919,0.999999956008,7.02482203518e-05,-0.000285247894681,4.10288741581e-05,1793193058336241152
+46,0.766666667,BASELINE,764,742,711,672.705712922,659,632.294287078,877,783.294287078,798,649,628.294287078,650,0.400956673818,0.00446491649811,0.0798312962565,0.999999955603,6.77534760691e-05,-0.000287347098926,4.04487184518e-05,1793193058352907776
+47,0.783333333,BASELINE,763.713638572,742,711,672.713638572,659,632,877.286361428,783.286361428,798,649,628,650,0.400956298747,0.00446539651584,0.0798308001164,0.999999955466,6.79812792695e-05,-0.000287817818931,4.00956298231e-05,1793193058369574400
+48,0.800000000,BASELINE,763.136082089,742,711,672.136082089,659,632,877.863917911,783.863917911,798,649,628,650,0.400956632425,0.00446651993191,0.0798312804806,0.999999955603,7.09775847976e-05,-0.000286632567009,3.99734409727e-05,1793193058386241024
+49,0.816666667,BASELINE,763.440813249,742.440813249,711,672,659,632.440813249,877.559186751,784,798.440813249,649,628,650,0.400956727379,0.00446680037631,0.0798315925924,0.99999995587,7.03710668999e-05,-0.000285827134922,4.01348589207e-05,1793193058402907648
+50,0.833333333,BASELINE,763.982174275,742.982174275,711,672,659,632.982174275,877,783.982174275,799,649,628,650,0.400956784773,0.00446685236304,0.0798318734829,0.999999956167,6.87690965843e-05,-0.000285143143617,4.03708740788e-05,1793193058419574272
+51,0.850000000,BASELINE,763.394908469,742.394908469,711,672,659,632.394908469,877,783.394908469,799,649,628,650,0.400957992984,0.00446790689976,0.079832813766,0.999999956184,7.08439228223e-05,-0.000284598538383,4.01972594171e-05,1793193058436241152
+52,0.866666667,BASELINE,763.190430215,742,711,672.190430215,659.190430215,632,877,783,799,649,628.190430215,650,0.400958266958,0.00446837814753,0.0798329939181,0.999999956046,7.16472063806e-05,-0.000284892894245,4.01272805373e-05,1793193058452908032
+53,0.883333333,BASELINE,763.771812493,742,711,672.771812493,659.771812493,632,877,783,799,649,628.771812493,650,0.400956622948,0.00446765190659,0.079831613526,0.999999955592,6.98400204878e-05,-0.000286909632128,4.02700652931e-05,1793193058469574656
+54,0.900000000,BASELINE,764,742,711,672.651557019,659.651557019,632,877,783.348442981,799,649,628.651557019,650.348442981,0.400956554756,0.00446771021387,0.0798315393668,0.999999955529,6.96802636443e-05,-0.000287170528294,4.02566899701e-05,1793193058486241280
+55,0.916666667,BASELINE,764,742,711,672.077996528,659.077996528,632,877,783.922003472,799,649,628.077996528,650.922003472,0.400957504649,0.00446827539191,0.0798323091216,0.99999995572,7.05848564056e-05,-0.000286297033,4.01424247689e-05,1793193058502907904
+56,0.933333333,BASELINE,764,742,711,672,659.495137975,632,877,784,799,649,628.495137975,651,0.400955515271,0.0044680034621,0.0798311079065,0.999999955236,7.00300809679e-05,-0.0002881220116,4.01061178491e-05,1793193058519574528
+57,0.950000000,BASELINE,764,742.07056723,711,672,660,632.07056723,877,783.92943277,799,649,629,650.92943277,0.40095336451,0.0044676098164,0.0798297799383,0.999999954706,6.95042667893e-05,-0.000290087802258,4.00789566869e-05,1793193058536241152
+58,0.966666667,BASELINE,764,742.663478394,711,672,660,632.663478394,877,783.336521606,799,649,629,650.336521606,0.400953443453,0.00446729045829,0.0798298099312,0.99999995465,7.08930025727e-05,-0.000289952148569,4.00286710733e-05,1793193058552907520
+59,0.983333333,BASELINE,764,742.749739412,711,672,659.749739412,632.749739412,877,783,799,649,628.749739412,650.250260588,0.400954125524,0.00446675408512,0.0798300235356,0.999999954808,7.0538179219e-05,-0.000289485510915,4.00860689691e-05,1793193058569574400
+60,1.000000000,BASELINE,764,742.171001655,711,672,659.171001655,632.171001655,877,783,799,649,628.171001655,650.828998345,0.400955599228,0.00446593287083,0.0798304781375,0.999999955243,6.78948640033e-05,-0.000288584443369,4.02848058294e-05,1793193058586241280
+61,1.016666667,BASELINE,764,742,711.403886791,672,659,632.403886791,877,783.403886791,799,649,628.403886791,650.596113209,0.400956336284,0.00446652645329,0.0798313558119,0.999999955675,6.78809924936e-05,-0.000287078852996,4.03515158911e-05,1793193058602907904
+62,1.033333333,BASELINE,764,742,711.97716083,672,659,632.97716083,877,783.97716083,799,649,628.97716083,650.02283917,0.400956764394,0.0044677133915,0.0798324109199,0.999999956103,6.8969891131e-05,-0.000285319730102,4.03628548404e-05,1793193058619574272
+63,1.050000000,BASELINE,764,742,711.432946474,672,659.567053526,632.432946474,877,783.432946474,799,649,629,650.567053526,0.400957444916,0.00446624897308,0.0798327531061,0.999999956405,6.87252092944e-05,-0.00028425806557,4.07935186371e-05,1793193058636240896
+64,1.066666667,BASELINE,763.84540389,742.15459611,711,672,660,632,877,783,799,649,628.84540389,651,0.400957560068,0.00446542864996,0.0798326433368,0.999999956403,6.88117448629e-05,-0.00028421536442,4.09976149199e-05,1793193058652907520
+65,1.083333333,BASELINE,763.266209784,742.733790216,711,672,660,632,877,783,799,649,628.266209784,651,0.400956093668,0.00446667948327,0.0798313735174,0.999999955578,6.9959943863e-05,-0.000286891762192,4.05316574243e-05,1793193058669574144
+66,1.100000000,BASELINE,763.312341667,742.687658333,711,672,660,632,877.312341667,783.312341667,799,649,628.312341667,651,0.400955435058,0.00446810440607,0.0798306172053,0.999999955202,7.09321572563e-05,-0.000288001452731,4.0244101792e-05,1793193058686240768
+67,1.116666667,BASELINE,763.890346478,742.109653522,711,672,660,632,877.890346478,783.890346478,799,649,628.890346478,651,0.400955463516,0.00446967740115,0.0798302976586,0.999999955213,7.17546855045e-05,-0.000287778575587,4.01082864248e-05,1793193058702907648
+68,1.133333333,BASELINE,764,742,711,672,660,632,878,783.534902448,799,649,629,651,0.400955299984,0.00446828525123,0.0798301580189,0.999999955187,7.02194151365e-05,-0.000288254273723,4.00659221893e-05,1793193058719574528
+69,1.150000000,BASELINE,763.959901689,742,711,672.040098311,659.959901689,632,877.959901689,783.040098311,799,649,628.959901689,650.959901689,0.400955108091,0.00446636144091,0.0798300886277,0.999999955166,6.83099922556e-05,-0.000288786922762,4.00554508123e-05,1793193058736240896
+70,1.166666667,BASELINE,763.371059564,742,711,672.628940436,659.371059564,632,877.371059564,783.628940436,799,649,628.371059564,650.371059564,0.400955143247,0.00446666224758,0.0798304041597,0.999999955392,6.88347291084e-05,-0.000287860696981,4.01820132336e-05,1793193058752907520
+71,1.183333333,BASELINE,763,742,711,672.785031847,659,632,877,784,799,649.214968153,628.214968153,650.214968153,0.400955200627,0.00446640354857,0.079830661382,0.999999955482,6.88542735687e-05,-0.000287531086837,4.02501907547e-05,1793193058769574400
+72,1.200000000,BASELINE,763,742,711,672.203799245,659,632,877,784,799,649.796200755,628.796200755,650.796200755,0.400955295875,0.00446519155936,0.079830819256,0.999999955344,6.80130672961e-05,-0.000288217995012,4.02188916389e-05,1793193058786241024
+73,1.216666667,BASELINE,763.372289859,742,711,672,659.372289859,632,877,784,799,649.627710141,629,651,0.400956233678,0.00446573953308,0.079831184557,0.999999955584,6.873941844e-05,-0.000287224272369,4.01254741977e-05,1793193058802907648
+74,1.233333333,BASELINE,763.945601642,742,711,672,659.945601642,632,877,784,799,649.054398358,629,651,0.400957626427,0.00446723781784,0.0798316618605,0.999999956024,7.03121891638e-05,-0.000285323074952,3.99985152986e-05,1793193058819574272
+75,1.250000000,BASELINE,764,742,711,672,659.468466513,632,877,784,799,649,629,650.468466513,0.400957675368,0.0044664271985,0.07983257194,0.999999956251,6.93757760481e-05,-0.000284712779547,4.03056260606e-05,1793193058836240896
+76,1.266666667,BASELINE,763.882261597,742.117738403,711,672.117738403,659,632.117738403,877,784,798.882261597,649,629,650.117738403,0.400957639586,0.00446589100277,0.0798332311747,0.999999956399,6.86892458878e-05,-0.000284330057382,4.04910625645e-05,1793193058852907776
+77,1.283333333,BASELINE,763.300197222,742.699802778,711,672.699802778,659,632.699802778,877,784,798.300197222,649,629,650.699802778,0.400957825237,0.00446739161029,0.0798327222307,0.999999956331,7.00255382747e-05,-0.00028431112789,4.00171963889e-05,1793193058869574400
+78,1.300000000,BASELINE,763.278898719,742.721101281,711,672.721101281,659,632.721101281,877,784,798.278898719,649,629,651,0.400957264583,0.00446708971195,0.0798322874334,0.999999956208,6.91340707685e-05,-0.000284996550754,3.97703079937e-05,1793193058886241024
+79,1.316666667,BASELINE,763.854833149,742.145166851,711,672.145166851,659,632.145166851,877,784,798.854833149,649,629,651,0.400955909093,0.00446486808932,0.0798319316049,0.999999956018,6.58699703879e-05,-0.000286432130534,3.97651579439e-05,1793193058902907648
+80,1.333333333,BASELINE,764,742.437067677,711.437067677,672.437067677,659.437067677,632,877,784,799,649,629,651,0.400957039208,0.00446450152569,0.0798323104708,0.999999956296,6.67731317754e-05,-0.000285213252824,4.00318100672e-05,1793193058919574272
+81,1.350000000,BASELINE,763.978641244,742.978641244,712,672.978641244,660,632,877,784,799,649,629,651,0.400958885634,0.00446483178149,0.0798328905158,0.99999995669,6.91027698596e-05,-0.00028322460167,4.0368678317e-05,1793193058936240896
+82,1.366666667,BASELINE,763.396100059,742.396100059,712,672.396100059,660,632,877,784,799,649,629,651,0.400957544285,0.00446704516561,0.0798322511851,0.999999956127,7.20137737737e-05,-0.000284514110556,4.01438037694e-05,1793193058952907520
+83,1.383333333,BASELINE,763.184381637,742,711.815618363,672,659.815618363,632,877,784,799,649,629,651,0.40095627534,0.00446771889768,0.0798314431633,0.999999955697,7.24532116205e-05,-0.000285918955411,4.00925468569e-05,1793193058969574144
+84,1.400000000,BASELINE,763.760487993,742,711.239512007,672,659.239512007,632,877,784,799,649,629,651,0.400955160219,0.00446512158987,0.0798302767516,0.999999955548,6.76417284081e-05,-0.000287568835483,4.0410146152e-05,1793193058986241024
+85,1.416666667,BASELINE,764,742,711,672,659,632,877,784,799,649.335883278,628.664116722,651,0.400955144767,0.00446438052591,0.0798302054072,0.99999995557,6.65212341165e-05,-0.000287741541679,4.05041237586e-05,1793193059002907904
+86,1.433333333,BASELINE,764,742,711,672,659,632,877,784,799,649.910772548,628.089227452,651,0.40095591181,0.00446496031798,0.0798309132849,0.999999955723,6.80271538973e-05,-0.000286863128443,4.0438977844e-05,1793193059019574528
+87,1.450000000,BASELINE,763.503957369,742,711,672,659.496042631,632.496042631,877,784,799,649.503957369,628.496042631,651,0.400956275062,0.00446559657275,0.0798313839736,0.999999955862,6.87655458752e-05,-0.000286225223053,4.02873325594e-05,1793193059036241920
+88,1.466666667,BASELINE,763.082661488,742,711,672,660,633,877,784,799,649,629,651,0.400956628806,0.00446639251782,0.0798318048873,0.999999955997,6.94791083754e-05,-0.000285604800011,4.01179301375e-05,1793193059052909568
+89,1.483333333,BASELINE,763.665898683,742,711,672,660,633,877,784,799,649,629,651,0.400957374225,0.00446809268507,0.0798321882694,0.999999956127,7.08962460036e-05,-0.00028482266125,3.99372327068e-05,1793193059069575168
+90,1.500000000,BASELINE,763.754499988,742.245500012,711,672,659.754499988,632.754499988,877,784,799,649,629,651,0.400957182745,0.00446876019675,0.079832226462,0.999999956127,7.11993381391e-05,-0.000284747478643,3.99369555397e-05,1793193059086241280
+91,1.516666667,BASELINE,763.17977455,742.82022545,711,672,659.17977455,632.17977455,877,784,799,649,629,651,0.400955734846,0.00446804287549,0.0798318017415,0.999999955953,7.00084501854e-05,-0.00028562035284,4.01786292436e-05,1793193059102907904
+92,1.533333333,BASELINE,763.395056635,742.604943365,711.395056635,672,659,632,877.395056635,783.604943365,799,649,629,651,0.400955622963,0.00446798655554,0.0798318584791,0.999999955921,7.02561266609e-05,-0.000285662494716,4.02384487058e-05,1793193059119574528
+93,1.550000000,BASELINE,763.969936006,742.030063994,711.969936006,672,659,632,877.969936006,783.030063994,799,649,629,651,0.400956119209,0.00446823111153,0.0798321343678,0.999999955954,7.11586119044e-05,-0.000285326502132,4.02154913817e-05,1793193059136241408
+94,1.566666667,BASELINE,764,742.556922483,711.443077517,672,659,632.556922483,877.443077517,783.556922483,799,649,628.443077517,651,0.400955746609,0.00446842708041,0.0798313769245,0.999999955599,7.32438594743e-05,-0.000286038080044,4.02346460262e-05,1793193059152908032
+95,1.583333333,BASELINE,764,742.857015424,711,672,659,632.857015424,877,784,799,649,628.142984576,650.857015424,0.400955432304,0.00446859625471,0.0798308310468,0.999999955307,7.48841208276e-05,-0.000286634545533,4.02437396405e-05,1793193059169574656
+96,1.600000000,BASELINE,764,742.275833573,711,672,659,632.275833573,877,784,799,649,628.724166427,650.275833573,0.400955443588,0.00446869152982,0.0798311082932,0.999999955283,7.49606361043e-05,-0.000286701074136,4.02148780576e-05,1793193059186241536
+97,1.616666667,BASELINE,764,742,711,672.301857056,659,632,877,783.698142944,799,649,629,650.301857056,0.400955844006,0.00446864300017,0.0798314277732,0.999999955456,7.44258646817e-05,-0.000286236621444,4.02127536582e-05,1793193059202908416
+98,1.633333333,BASELINE,764,742,711,672.876393888,659,632,877,783.123606112,799,649,629,650.876393888,0.400956595945,0.00446846456582,0.0798317854046,0.999999955805,7.33388930751e-05,-0.000285292511713,4.02347820476e-05,1793193059219574528
+99,1.650000000,BASELINE,764,742,711,672.539871504,659,632,877,783.460128496,799,649.460128496,629,650.539871504,0.400956918926,0.00446807943992,0.0798321969308,0.999999956005,7.24717758869e-05,-0.000284808517294,4.02740387504e-05,1793193059236241152
+100,1.666666667,BASELINE,764,742.045853499,711.045853499,672,659.045853499,632.045853499,877,784,799,649.954146501,629,650.045853499,0.400957099014,0.00446762466548,0.079832568173,0.999999956148,7.17033810036e-05,-0.000284497612324,4.02907669968e-05,1793193059252907776
+101,1.683333333,BASELINE,764,742.625400118,711.625400118,672,659.625400118,632.625400118,877,784,799,649.374599882,629,650.625400118,0.400956984512,0.00446701868024,0.0798322985992,0.999999956116,7.13825938959e-05,-0.000284733345665,3.99903187216e-05,1793193059269574400
+102,1.700000000,BASELINE,764,742.795867647,712,672.204132353,659.795867647,632.795867647,877,784,799.204132353,649,629,651,0.400957017762,0.00446691152466,0.0798321950505,0.999999956111,7.166496388e-05,-0.000284698565169,3.98480050715e-05,1793193059286241280
+103,1.716666667,BASELINE,764,742.218623997,712,672.781376003,659.218623997,632.218623997,877,784,799.781376003,649,629,651,0.400957321069,0.00446771612556,0.0798323949612,0.999999956156,7.30497790574e-05,-0.000284169341867,3.99947285129e-05,1793193059302908160
+104,1.733333333,BASELINE,763.64194124,742.35805876,711.64194124,672.64194124,659.35805876,632,877,784,799.64194124,649,629,650.64194124,0.400957611161,0.00446778623316,0.0798324592969,0.999999956282,7.1931639034e-05,-0.0002839967053,4.00939289095e-05,1793193059319574528
+105,1.750000000,BASELINE,763.065600362,742.934399638,711.065600362,672.065600362,659.934399638,632,877,784,799.065600362,649,629,650.065600362,0.400957893195,0.00446740857425,0.0798324409825,0.999999956453,6.92876312609e-05,-0.000284041453413,4.01641580115e-05,1793193059336241152
+106,1.766666667,BASELINE,763,742.478800299,711,672,660,632,877.521199701,784,798.478800299,649,628.478800299,650.521199701,0.400957600472,0.00446814359962,0.0798325909833,0.999999956383,7.04084428628e-05,-0.000284027044255,4.00685775182e-05,1793193059352907776
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,660,633,877,784,800,649,629,650,0.40095777191,0.0044722528411,0.0798321144357,0.999999955872,7.68744115977e-05,-0.000284164175695,3.99509627306e-05,1793193059395278848
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,672.577532427,659.422467573,633,877,784,799.422467573,649,629,650.577532427,0.400956500635,0.00446905089296,0.079831700661,0.999999955795,7.26004014785e-05,-0.000285537083312,4.00867347526e-05,1793193059411944704
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.842770027,742,711,672.842770027,659,633,877,784,799,649,628.842770027,651,0.400955681606,0.00446681663709,0.0798314316917,0.999999955749,6.9792204373e-05,-0.000286387040882,4.01757702565e-05,1793193059428610560
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.257173577,742,711,672.257173577,659,633,877,784,799,649,628.257173577,651,0.400956094702,0.00446721881754,0.079831557239,0.999999955831,7.09775524743e-05,-0.000285812243276,4.01374741064e-05,1793193059445277696
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,711,672,659.325044438,632.674955562,877,783.674955562,799,649,628.325044438,650.674955562,0.400956241294,0.00446693276329,0.0798316788007,0.99999995595,7.01691046864e-05,-0.000285585127022,4.02210692497e-05,1793193059461944320
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,711,672,659.904616914,632.095383086,877,783.095383086,799,649,628.904616914,650.095383086,0.400956179197,0.00446610778261,0.0798317972414,0.999999956093,6.7799402747e-05,-0.000285630264811,4.04001121188e-05,1793193059478610688
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742,711,672,659.516989547,632,877.483010453,783.483010453,798.516989547,649,628.516989547,650,0.400957997022,0.00446737832291,0.0798329777088,0.999999956455,7.03932292079e-05,-0.000283746418519,4.02832948353e-05,1793193059495277568
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.060814057,742,711,672,659,632,877.939185943,784,798.060814057,649,628,650.060814057,0.400961267615,0.00446882789408,0.0798347330756,0.999999957064,7.33432351493e-05,-0.000280865212168,4.01023922658e-05,1793193059511943936
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.63559468,742,711,672,659,632,877.36440532,784,798.63559468,649,628,650.63559468,0.400973686328,0.00446830171104,0.0798395790092,0.999999959481,7.10397156288e-05,-0.000272766430598,3.98724527719e-05,1793193059528610560
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672.210448481,659,632,877,783.789551519,799,649,628.210448481,650.789551519,0.400994946236,0.00446772305067,0.0798481600734,0.999999963732,6.89937139085e-05,-0.000257313172941,3.95732252293e-05,1793193059545277440
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672.785428978,659,632,877,783.214571022,799,649,628.785428978,650.214571022,0.401031520574,0.00446705349084,0.0798632110092,0.999999970714,6.73937763568e-05,-0.000229120731663,3.91539791881e-05,1793193059561944320
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,672.626864,659,632,877,783,799,649,629,650,0.40108251967,0.00446715528654,0.079878941045,0.999999977395,6.84703957461e-05,-0.000197634687557,3.82481733176e-05,1793193059578610688
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,672.031580141,659,632,877,783,799,649,629,650,0.401142106601,0.00446771631146,0.0798950753869,0.999999983304,7.11405127424e-05,-0.000164187782351,3.70526922402e-05,1793193059595277312
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.544068824,672.544068824,659.544068824,632,877,783,799,649,629,650,0.40121353525,0.00446846531111,0.0799070759155,0.999999986411,6.76295486081e-05,-0.000146223663809,3.49572802213e-05,1793193059611943936
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.883613447,672.883613447,660,632,877,783.116386553,799,649,629,650,0.401287803007,0.00446905583702,0.0799169424621,0.999999988721,6.40997843722e-05,-0.000131837867776,3.26735782767e-05,1793193059628610560
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.319871769,672.319871769,660,632,877,783.680128231,799,649,629,650,0.401370433542,0.00446899676014,0.0799194967737,0.999999989467,6.18287545662e-05,-0.000127872097445,2.98599313484e-05,1793193059645277184
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.739935479,742,711,672,659.739935479,632,877,783.739935479,799,649,628.739935479,650,0.401466522087,0.00446964860728,0.079921675632,0.999999990154,5.97259339295e-05,-0.000124287098302,2.60291665612e-05,1793193059661943552
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.138757577,742,711,672,659.138757577,632,877,783.138757577,799,649,628.138757577,650,0.401580262812,0.00447123293723,0.0799233620271,0.999999990764,5.78437448255e-05,-0.000121201537563,2.08643002724e-05,1793193059678610176
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.447211118,742.447211118,711.447211118,672,659.447211118,632.447211118,877,783,799,649,628.447211118,650.447211118,0.401716489768,0.00447264092203,0.0799281735909,0.99999999213,5.33041401115e-05,-0.000112472124675,1.57623109377e-05,1793193059695277312
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.971709085,711.971709085,672.028290915,660,633,877,783.028290915,799,649.028290915,628.971709085,650.971709085,0.401861074579,0.0044739371739,0.0799340056253,0.999999993612,4.77646848424e-05,-0.000101891942859,1.05790318337e-05,1793193059711944192
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.396909214,711.396909214,672.603090786,660,633,877,783.603090786,799,649.603090786,628.396909214,650.396909214,0.402036769322,0.00447409722286,0.0799414353573,0.999999995364,3.83145031304e-05,-8.82744899322e-05,3.46096864974e-06,1793193059728610560
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,673,659.818582313,633,877.181417687,783.818582313,799,649.818582313,628.181417687,650.181417687,0.402218851592,0.00447486054384,0.0799471317471,0.999999996532,2.90512835412e-05,-7.79616350188e-05,-3.86799724363e-06,1793193059745277184
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,673,659.232385991,633,877.767614009,783.232385991,799,649.232385991,628.767614009,650.767614009,0.40241518567,0.00447696988362,0.0799489607074,0.999999996914,2.02052146014e-05,-7.50219917939e-05,-1.16675277158e-05,1793193059761943808
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672.649916498,659.350083502,632.649916498,877.649916498,783,799,649,628.649916498,650.649916498,0.402632035936,0.00447922542798,0.0799464594215,0.99999999642,1.57695316697e-05,-8.10042371796e-05,-1.86904766194e-05,1793193059778610688
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,672.069894764,659.930105236,632.069894764,877.069894764,783,799,649,628.069894764,650.069894764,0.402862361452,0.00448157700114,0.079941113988,0.999999995271,1.42306320646e-05,-9.28464650381e-05,-2.52033600081e-05,1793193059795277056
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.492817926,742,711,672,659.492817926,632.507182074,877,783.507182074,799,649,628.507182074,650,0.403124133376,0.00448778075379,0.0799358012214,0.999999993148,5.83948340648e-05,-9.96958408197e-05,-1.8837742749e-05,1793193059811943680
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742.083653347,711,672,659.083653347,632.916346653,877,784,799,649,629,650,0.403398531315,0.00449469335475,0.0799316161682,0.999999990699,8.69523848512e-05,-0.000104269573648,-1.29830432781e-05,1793193059828610560
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742.658937278,711,672,659.658937278,632.341062722,877,784,799,649,629,650,0.403721810721,0.00450266995417,0.0799340323783,0.999999994756,-1.3011984662e-05,-9.94897723241e-05,-2.05012061045e-05,1793193059845277440
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,743,711,672,659.760116991,632,877,783.760116991,799,649.239883009,629,650.239883009,0.404058905642,0.00450894791248,0.079936777606,0.999999993338,-6.10347028304e-05,-9.45975774257e-05,-2.54918762405e-05,1793193059861944064
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,743,711,672,659.17092683,632,877,783.17092683,799,649.82907317,629,650.82907317,0.404416118089,0.00451275238338,0.0799400019344,0.999999995073,-3.34222533666e-05,-8.95417213048e-05,-2.68021218039e-05,1793193059878610688
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.411467939,742.588532061,711.411467939,672.411467939,659.411467939,632,877.411467939,783.411467939,799,650,629,650.588532061,0.404822815276,0.00452193797356,0.0799407900559,0.999999996052,3.98192324284e-06,-8.39200246916e-05,-2.89425112862e-05,1793193059895277056
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.991085699,742.008914301,711.991085699,672.991085699,659.991085699,632,877.991085699,783.991085699,799,650,629,650.008914301,0.405249734807,0.00453332260313,0.0799405826009,0.999999995429,4.53875705236e-05,-7.80670926353e-05,-3.14221459683e-05,1793193059911943680
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.434544406,742.565455594,711.434544406,672.434544406,660,632.565455594,877.434544406,784,799,649.434544406,629,650,0.405689842153,0.0045407987413,0.0799361208403,0.999999994015,5.82812241384e-05,-8.64623034182e-05,-3.313568792e-05,1793193059928610304
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.143081314,742.856918686,711,672,660,632.856918686,877,783.856918686,799,649,628.856918686,650,0.406137656998,0.00454899609343,0.0799309111634,0.999999992441,6.79649312983e-05,-9.6318035912e-05,-3.49411366425e-05,1793193059945277184
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.73108608,742.26891392,711,672,660,632.26891392,877,783.26891392,799,649,628.26891392,650,0.406608798334,0.0045596259603,0.0799235824154,0.999999990876,6.90518987711e-05,-0.000110023332753,-3.7069587009e-05,1793193059961943808
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.685668961,742,711,672,660,632,877,783,798.685668961,649,628.314331039,650.314331039,0.407110042184,0.00457001993118,0.0799216312382,0.999999989044,8.31232541374e-05,-0.000116334419976,-3.83237994746e-05,1793193059978610432
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.106435267,742,711,672,660,632,877,783,798.106435267,649,628.893564733,650.893564733,0.407636654997,0.00458021510176,0.0799242120109,0.999999986623,0.000108137209554,-0.000116414034494,-3.88412476948e-05,1793193059995276800
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742.470684069,711,672,660,632,877,783.470684069,798.470684069,649,628.529315931,651,0.408192705281,0.00459137144442,0.0799126154854,0.999999983542,0.000109123014402,-0.000138992049254,-4.11010667932e-05,1793193060011943936
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.047262922,742.952737078,711,672.047262922,660,632,877,783.952737078,799,649,628,650.952737078,0.408761879166,0.00460249454695,0.0799006434843,0.99999998028,0.000106750690846,-0.000161680035042,-4.36387978585e-05,1793193060028610560
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.62312078,742.37687922,711,672.62312078,660,632,877,783.37687922,799,649,628,650.37687922,0.409403713536,0.0046108259082,0.0799201669424,0.999999982573,0.000127317386668,-0.000128952710233,-4.48978885297e-05,1793193060045277184
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.796411912,742.203588088,711,673,660.203588088,632,877,783,799,649,628.203588088,650.203588088,0.410062259403,0.00461724539399,0.0799466715185,0.999999985843,0.000138212826226,-8.42634603227e-05,-4.59339415447e-05,1793193060061944064
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.207214024,742.792785976,711,673,660.792785976,632,877,783,799,649,628.792785976,650.792785976,0.410752457955,0.00462004365604,0.0799863988097,0.999999990221,0.000130790241825,-1.69175058798e-05,-4.65475458323e-05,1793193060078610432
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.3755003,742.6244997,711.3755003,673,661,632,877,783.3755003,799,649,629,651,0.411424289063,0.00460942393472,0.0799885964838,0.999999991909,0.000117116357408,-1.77167721529e-05,-4.63959200772e-05,1793193060095277056
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.95469748,742.04530252,711.95469748,673,661,632,877,783.95469748,799,649,629,651,0.412086156397,0.00459152538736,0.079970435542,0.999999992406,0.000100051343368,-5.54826388906e-05,-4.58291815415e-05,1793193060111943680
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.468181256,673,661,632.531818744,877.531818744,783.468181256,799,649,628.468181256,651,0.412788587354,0.00456149678123,0.079932148064,0.99999999143,5.97882673713e-05,-0.00010585135985,-4.85807360193e-05,1793193060128610560
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.108220305,673,661,633,877.891779695,783.108220305,799,649.108220305,628,651,0.413503503423,0.00453814713745,0.0798999010632,0.999999987709,2.60585352955e-05,-0.000145818745247,-5.13847088816e-05,1793193060145276928
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.682281935,673,661,633,877.317718065,783.682281935,799,649.682281935,628,651,0.414257346207,0.00454797809245,0.0799010070158,0.999999988863,2.89252244798e-05,-0.000136409640027,-5.32022972465e-05,1793193060161944064
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.736948518,742,711.736948518,673,661.263051482,632.736948518,877.263051482,783.736948518,799,649.736948518,628,651,0.41502382017,0.00455995918236,0.07991516204,0.999999991573,4.03359087729e-05,-0.000110619953224,-5.46912075346e-05,1793193060178610944
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.147864946,742,711.147864946,673,661.852135054,632.147864946,877.852135054,783.147864946,799,649.147864946,628,651,0.41580594961,0.00457460520053,0.0799454903854,0.99999999442,6.23362185176e-05,-6.45277933e-05,-5.57727467598e-05,1793193060195277568
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742.434535323,711,673,661.565464677,632,878,783,799,649,628.434535323,650.565464677,0.416580854878,0.004581197324,0.0799402023964,0.99999999277,7.21020860515e-05,-7.9297381472e-05,-5.45354661437e-05,1793193060211943936
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.985440797,711,673,660.985440797,632,878,783,799,649,629,650,0.41735643562,0.00458496000831,0.0799240649827,0.999999989323,7.76349501538e-05,-0.000112055550285,-5.26326365954e-05,1793193060228610816
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742.410672468,711,673,660.410672468,632,878,783,799,649,629,650,0.418251165296,0.00458370711857,0.0799497386859,0.99999999408,7.80543745542e-05,-5.2161575079e-05,-5.50221684948e-05,1793193060245277440
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.167660092,742.167660092,711,673,660.502980277,632,878,783,799,649,629,650,0.41912409632,0.00458083854983,0.0799689612382,0.999999995476,7.59681114434e-05,-7.76477706892e-06,-5.67087045604e-05,1793193060261943808
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.754912599,742.754912599,711,673,662.264737798,632,878,783,799,649,629,650,0.419942473168,0.00457392652252,0.0799720388973,0.999999996108,6.76110216731e-05,-2.15179799271e-06,-5.6635897251e-05,1793193060278610432
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.661944907,742.661944907,711.338055093,673,662.323889813,632,878,783,799,649,629,650,0.420767224804,0.00457154559656,0.0799638809881,0.999999995865,6.99102724767e-05,-1.60531267221e-05,-5.59037322707e-05,1793193060295277056
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.081746374,742.081746374,711.918253626,673,661.163492749,632,878,783,799,649,629,650,0.421596542562,0.00457241022609,0.0799476752215,0.999999994352,7.98424893592e-05,-4.39322412434e-05,-5.4699279938e-05,1793193060311943680
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742,712,673.4966201,661.4966201,632,877.5033799,783,799,649,629,650.4966201,0.422475037836,0.00458137033648,0.0799658553099,0.999999994052,9.2480920465e-05,-1.79700264814e-05,-5.49618210938e-05,1793193060328610816
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742,711.925692362,673.925692362,662,632.074307638,877.074307638,783,799,649,629,650.925692362,0.423358693312,0.00459081010953,0.0799867714661,0.999999993073,0.00010329762123,1.12093642366e-05,-5.53031040009e-05,1793193060345277440
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742,711.35055601,673.35055601,662,632.64944399,877.64944399,783,799,649,629,650.35055601,0.424222769311,0.00459453441361,0.0799881200439,0.999999993624,9.88446503687e-05,2.55865231557e-06,-5.45535565732e-05,1793193060361944064
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742,711,673.229517098,661.540965803,632.770482902,877.770482902,783,799.229517098,649,629,650,0.425055978618,0.00459533810062,0.079968713412,0.999999993079,9.78012862989e-05,-3.61733463772e-05,-5.44918387242e-05,1793193060378610688
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,742,711,673.817296267,660.365407466,632.182703733,877.182703733,783,799.817296267,649,629,650,0.42584100705,0.0045915828846,0.0799169091751,0.999999985825,0.000102080107496,-0.000121860384322,-5.55037801447e-05,1793193060395277056
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742.399559338,711,674,660.399559338,632,877.399559338,783,799.600440662,649,628.600440662,650,0.426688281762,0.00458789857276,0.0799020106806,0.999999984781,9.54637639003e-05,-0.000133997292695,-5.80424637248e-05,1793193060411943680
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742.979334415,711,674,660.979334415,632,877.979334415,783,799.020665585,649,628.020665585,650,0.427563631753,0.00458424624149,0.0799037580163,0.999999988221,8.39333061568e-05,-0.000112960422935,-6.12697633673e-05,1793193060428610304
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,711,674,661.557057002,632,877.442942998,783,799,649,628,650,0.42839807634,0.00458357757139,0.0799107866504,0.999999987061,8.90236786572e-05,-0.000120434962993,-5.87131053211e-05,1793193060445277184
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,743,711.136373402,673.863626598,661.727253196,632,877.136373402,783,799.136373402,649,628,650,0.429238150123,0.00458472376647,0.0799234360194,0.999999987295,9.5129574243e-05,-0.000114786758111,-5.64300402243e-05,1793193060461943808
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,743,711.72118013,673.27881987,660.557639741,632,877.72118013,783,799.72118013,649,628,650,0.430101705853,0.00459147510433,0.0799539260248,0.999999991233,0.000102554694328,-6.25220758547e-05,-5.57496061086e-05,1793193060478610432
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.69671705,711.69671705,673.30328295,660.909848849,632,878,783,799.69671705,649,628,650.30328295,0.430957404479,0.00459493270128,0.0799855954707,0.999999992919,0.000104615930251,-1.1636075598e-05,-5.5524482409e-05,1793193060495277056
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,742.117078104,711.117078104,673.882921896,662.648765689,632,878,783,799.117078104,649,628,650.882921896,0.431805943547,0.00459538899149,0.0800183396389,0.999999992546,0.000101789513638,3.79936459209e-05,-5.57142444629e-05,1793193060511943680
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742.45987219,711,674,662.54012781,632,878,783.45987219,799.45987219,649,628.45987219,650.54012781,0.432550782935,0.00459378359965,0.0799923818923,0.999999993269,0.000101513119874,-1.12592441821e-05,-5.50483312801e-05,1793193060528610304
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.036034229,743,711,674,661.963965771,632,878.036034229,783.963965771,799.963965771,649,629,650,0.433269902445,0.0045913707979,0.0799508632211,0.999999989841,0.000100891237004,-8.47041357175e-05,-5.44527723617e-05,1793193060545276928
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.610585594,743,711,674,661.389414406,632,878.610585594,783.389414406,799.389414406,649,629,650,0.433996902866,0.00458469011151,0.0798988390186,0.99999998405,8.54604320721e-05,-0.000145654767873,-5.81453165451e-05,1793193060561943552
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.809774793,743,711,674,661.190225207,632,878.809774793,783.190225207,799,649,629,650,0.4347401936,0.00457951317919,0.0798752180345,0.99999998127,7.50152679184e-05,-0.00016786997365,-6.04368990751e-05,1793193060578610432
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.219432521,743,711,674,661.780567479,632,878.219432521,783.780567479,799,649,629,650,0.435517749287,0.00457749922112,0.0799113399763,0.999999989498,7.50568290287e-05,-0.000108609632336,-5.97817192334e-05,1793193060595277056
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742.635660227,711.364339773,674,661.635660227,632,878.364339773,783.635660227,799,649,628.635660227,650,0.436247912903,0.00458195467914,0.0799375018353,0.999999992221,7.65367911625e-05,-7.97135409816e-05,-5.78470530362e-05,1793193060611943936
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742.055774808,711.944225192,674,661.055774808,632,878.944225192,783.055774808,799,649,628.055774808,650,0.436950039033,0.00459023748355,0.079957771246,0.999999993003,7.88677202647e-05,-6.87811299003e-05,-5.51554349779e-05,1793193060628610560
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.520179092,742.520179092,711.479820908,674,660.479820908,632,878.479820908,783,799.520179092,649,628,650,0.43759118562,0.00459570688317,0.0799435480464,0.999999989353,9.776701832e-05,-9.34827947988e-05,-5.47494117835e-05,1793193060645277184
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711.097537942,674,660,632,878.097537942,783,800,649,628.097537942,650.097537942,0.438219062779,0.00460055744477,0.0799234996656,0.999999984249,0.000113491233747,-0.000125030791806,-5.46806486378e-05,1793193060661943552
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711.684037216,674,660,632,878.684037216,783,800,649,628.684037216,650.684037216,0.438812950999,0.00460380663613,0.079892650465,0.999999978254,0.000104459790371,-0.000171889730234,-5.50832695837e-05,1793193060678610176
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711.732769885,674,660,632,878.732769885,783,799.732769885,649,629,651,0.439382858449,0.00460734745865,0.0798578095946,0.999999968003,0.000103568752608,-0.000223755332442,-5.65853089362e-05,1793193060695277056
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711.153438581,674,660,632,878.153438581,783,799.153438581,649,629,651,0.439924758437,0.00461122888037,0.0798183068081,0.999999952333,0.000112184990735,-0.000281468272632,-5.93713719e-05,1793193060711943680
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711.425418306,674,660,631.574581694,878,783,799,649,629,650.574581694,0.440409099127,0.0046175531761,0.0797618059609,0.999999921578,0.000132766604728,-0.00036875758743,-5.68789959008e-05,1793193060728610304
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.995956415,743,712,674,660,631.004043585,878,783,799.004043585,649,629,650.004043585,0.440872710691,0.00462479146089,0.0796994660539,0.999999877528,0.000157465304477,-0.000466249435224,-5.25433624444e-05,1793193060745277184
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.425833544,743,712,674,660,631.574166456,878,783,799.574166456,649,629,650.574166456,0.441337445443,0.00463677297774,0.0796770140324,0.999999861237,0.00015504103488,-0.000500308990437,-5.63881547821e-05,1793193060761944832
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,742.849814821,711.849814821,674,659.849814821,631.849814821,878,783,800,649,629,650.849814821,0.441811885769,0.0046502194689,0.0796688794002,0.999999854134,0.000160951698004,-0.000512104680257,-5.97887404538e-05,1793193060778611712
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,742.25639584,711.25639584,674,659.25639584,631.25639584,878,783,800,649,629,650.25639584,0.442314969762,0.00466798946636,0.0797029989381,0.999999874786,0.000191460819409,-0.000458194176239,-6.18783627539e-05,1793193060795277568
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742,711,674,659,631,878.328898106,783,799.671101894,649,629,650,0.442782535589,0.00468971690654,0.0797320707526,0.99999988913,0.000215073759711,-0.000413998335306,-6.39446055485e-05,1793193060811943936
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742,711,674,659,631,878.908010765,783,799.091989235,649,629,650,0.443223080368,0.00471445503418,0.0797573024277,0.999999899438,0.000233440317033,-0.00037719308501,-6.59930619268e-05,1793193060828610560
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.484431081,742.484431081,711,674,659,631,879,783,799,649,628.515568919,650.484431081,0.443577094453,0.00472045646429,0.0797482552341,0.999999889794,0.000244445742904,-0.000395567071552,-6.46978808374e-05,1793193060845277440
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711,674.060489702,658.939510298,631,879,783,799,649.060489702,628.060489702,651,0.443909900508,0.00472362015593,0.0797315927835,0.999999875077,0.000254557005024,-0.000425509646366,-6.31461667487e-05,1793193060861944064
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,674.63780202,658.36219798,631,879,783,799,649.63780202,628.63780202,651,0.444201119429,0.00473276917787,0.0797051733172,0.99999985351,0.000268905441352,-0.000465264512963,-6.47974643784e-05,1793193060878610688
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,675,658,631,879,783,799.218860557,649.781139443,629,651,0.444487285823,0.00474142549093,0.0796846675171,0.999999837409,0.000274541586852,-0.000495517338724,-6.53545495605e-05,1793193060895277312
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,675,658,631,879,783,799.80622672,649.19377328,629,651,0.444764945017,0.00474925220643,0.0796741188317,0.999999832767,0.000265508445982,-0.000509771137511,-6.4069258803e-05,1793193060911944192
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.610323207,742.610323207,711,675,658,631,879,782.610323207,800,649,628.610323207,651,0.445026933346,0.00475551169667,0.0796733886633,0.999999832221,0.000263997188261,-0.00051161573076,-6.41262166264e-05,1793193060928610560
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.028801047,742.028801047,711,675,658,631,879,782.028801047,800,649,628.028801047,651,0.445281206632,0.00476099961252,0.0796774923382,0.999999833767,0.000266189097224,-0.000507351035212,-6.48439890836e-05,1793193060945277184
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+203,3.383333333,POSE1_TO_POSE2_PRESS,763,742.307187455,711,674.692812545,658,630,878.307187455,782,799,649,628,650,0.445874769983,0.00476928100553,0.0796766589667,0.99999982296,0.000304992467904,-0.000507237029563,-6.14046907542e-05,1793193060995277056
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.27495363,742.27495363,710.72504637,675,657.72504637,630,878.27495363,782,799.27495363,649.27495363,628,650,0.446029496268,0.00477137122322,0.0796670569705,0.999999815851,0.000307987296969,-0.000519182809511,-6.23842052829e-05,1793193061011943936
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.868415766,742.868415766,710.131584234,675,657.131584234,630,878.868415766,782,799.868415766,649.868415766,628,650,0.446166778297,0.0047724710113,0.079653199612,0.999999807427,0.000308377919469,-0.000534772991833,-6.37730117036e-05,1793193061028610560
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.551335106,710,674.551335106,657,630,879,782,800,649.551335106,628,650,0.446284651899,0.00477372473923,0.0796474979006,0.99999980339,0.000310162604349,-0.000541270522534,-6.35962133625e-05,1793193061045277440
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.975001235,742.024998765,710.024998765,674.024998765,657,630,879,782.024998765,800,649,628.024998765,650.024998765,0.446396235588,0.00477511525063,0.0796444488157,0.999999800852,0.00031236806801,-0.000544749711621,-6.30034356068e-05,1793193061061944064
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.401977592,742.598022408,710.598022408,674.598022408,657,630,879,782.598022408,800,649,628.598022408,650.598022408,0.446491144198,0.00477854292871,0.0796486157562,0.999999803191,0.000315091437645,-0.000538847583488,-6.30693103896e-05,1793193061078610688
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.176728666,743,711,674.823271334,657,630,878.823271334,783,799.823271334,649.176728666,628.823271334,650.823271334,0.446579552699,0.00478082834634,0.0796520316611,0.999999805859,0.000317219150626,-0.000532604996515,-6.31405363686e-05,1793193061095277312
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.768789626,743,711,674.231210374,657,630,878.231210374,783,799.231210374,649.768789626,628.231210374,650.231210374,0.446652685198,0.00478042932258,0.079653682547,0.999999809348,0.000317947002931,-0.000525562293732,-6.32243382556e-05,1793193061111943936
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.64681656,742.64681656,710.64681656,674.35318344,657,630,878.35318344,782.64681656,799,649.64681656,628,650.35318344,0.44671210633,0.00477909564485,0.0796534727504,0.999999810927,0.000316049182228,-0.000523719784333,-6.30635273175e-05,1793193061128610816
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.067335314,742.067335314,710.067335314,674.932664686,657,630,878.932664686,782.067335314,799,649.067335314,628,650.932664686,0.446762742083,0.00477716309939,0.0796520707453,0.999999811291,0.000312468994944,-0.000525209232157,-6.27459838254e-05,1793193061145277184
+213,3.550000000,POSE1_TO_POSE2_PRESS,763,742,710.508498073,675,657,630,878.491501927,782,799.508498073,649,628,651,0.446795117084,0.00477776403114,0.0796499957283,0.999999810049,0.000311666020443,-0.000528050546944,-6.26864101348e-05,1793193061161944064
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.085591224,742,710.914408776,675,657,630,878,782,799.914408776,649,628.085591224,651,0.446823505283,0.00477883288586,0.0796477902602,0.999999808485,0.000311460916696,-0.000531126947803,-6.26574007414e-05,1793193061178610688
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.672880041,742,710.327119959,675,657,630,878,782,799.327119959,649,628.672880041,651,0.446842597434,0.00478069205124,0.0796453388079,0.999999806308,0.000312619982086,-0.000534539491969,-6.26087390165e-05,1793193061195277056
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,710,674.743307681,657,630,878.256692319,782,799,649,628.743307681,650.743307681,0.446858693221,0.0047811887134,0.0796434531382,0.999999804607,0.000313808473356,-0.000537026465306,-6.25580566003e-05,1793193061211943680
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742,710,674.163866622,657,630,878.836133378,782,799,649,628.163866622,650.163866622,0.446871021568,0.00477997224977,0.079642278848,0.999999803513,0.000315033962806,-0.000538349684028,-6.25048334982e-05,1793193061228610304
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.585698349,742.414301651,710.414301651,674.414301651,657,630,879,782,799,649,628.414301651,650,0.446879131729,0.00477788358674,0.0796410905739,0.999999803289,0.000312300392468,-0.000540420132665,-6.19335282603e-05,1793193061245277184
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.008031966,742.991968034,710.991968034,674.991968034,657,630,879,782,799,649,628.991968034,650,0.446885578604,0.00477545100374,0.0796398967859,0.999999803388,0.000308005711399,-0.000542785224098,-6.11579362459e-05,1793193061261943808
+220,3.666666667,POSE1_TO_POSE2_PRESS,763,742.441410416,710.441410416,675,657,630,878.441410416,782,799.558589584,649,628.441410416,650.558589584,0.446889122715,0.00477358008995,0.0796402762857,0.999999804064,0.000306178104716,-0.000542603809615,-6.08924671724e-05,1793193061278610176
+221,3.683333333,POSE1_TO_POSE2_PRESS,763,742,710.132072324,675,657,630,878.132072324,782,799.867927676,649,628,650.867927676,0.446891442876,0.0047716771477,0.0796399805555,0.999999804243,0.000304514914709,-0.000543232999344,-6.06897966164e-05,1793193061295277056
+222,3.700000000,POSE1_TO_POSE2_PRESS,763,742,710.730322708,675,657,630,878.730322708,782,799.269677292,649,628,650.269677292,0.446889587311,0.00476963320022,0.0796372231515,0.999999802638,0.000303309283854,-0.000546850132401,-6.06833984709e-05,1793193061311943680
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.31838672,742,710.68161328,675,656.68161328,630,878.68161328,781.68161328,799,649,628,650.31838672,0.446890200476,0.00475915092676,0.0796367745321,0.999999805538,0.000292685033495,-0.000547279822274,-6.11897101962e-05,1793193061328610560
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.898090303,742,710.101909697,675,656.101909697,630,878.101909697,781.101909697,799,649,628,650.898090303,0.446892839858,0.00474174287152,0.0796382208543,0.999999811879,0.000274330422501,-0.000545093408776,-6.21168300812e-05,1793193061345276928
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.525135605,742,710.474864395,674.525135605,656.474864395,630,878.474864395,781.474864395,799,649,628,651,0.446893805007,0.00472800237004,0.0796381495672,0.999999815942,0.000258263882303,-0.000545553737565,-6.15432091857e-05,1793193061361943552
+226,3.766666667,POSE1_TO_POSE2_PRESS,763,742,710.949116973,674.050883027,656.949116973,630,879,782,799,649,628,651,0.446894174071,0.00471725473067,0.0796375865782,0.999999818613,0.000245188821313,-0.000546755630823,-6.0944186349e-05,1793193061378610176
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,742,710.374442563,674.625557437,656.374442563,630,879,782,799,649,628,651,0.446892083033,0.00472926308043,0.0796352941126,0.99999981361,0.000257884354801,-0.000549779929732,-6.33787550349e-05,1793193061395276800
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.20583807,742,710.20583807,675,656.20583807,629.79416193,879,782,799.20583807,649.20583807,628,651,0.446891664966,0.00474094447352,0.079634532685,0.99999980993,0.000269025924101,-0.000550850364085,-6.57923505267e-05,1793193061411943680
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.796602556,742,710.796602556,675,656.796602556,629.203397444,879,782,799.796602556,649.796602556,628,651,0.446894375427,0.00475201444225,0.0796366343672,0.999999808941,0.000277261510012,-0.000548266984083,-6.81667250735e-05,1793193061428610560
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742,710.043310538,674.043310538,656.043310538,629.956689462,879,782,800,649.043310538,628,651,0.446892704504,0.00475140250225,0.0796351941169,0.999999806327,0.000280978699525,-0.000551218969268,-6.74857928766e-05,1793193061461945344
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,710,674,656,630,878.467685683,782,798.935371366,649,628.532314317,651,0.446893576102,0.00475090838162,0.079635730303,0.999999807338,0.000279064190751,-0.000550361073253,-6.74480264468e-05,1793193061478611200
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.889756086,742.110243914,710.110243914,674.110243914,656.110243914,629.889756086,878.110243914,782,798.110243914,649,628.889756086,650.889756086,0.446894555566,0.00475066195711,0.0796362512616,0.999999808314,0.000277243254106,-0.000549501887476,-6.74996334619e-05,1793193061495277056
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.30105421,742.69894579,710.69894579,674.69894579,656.69894579,629.30105421,878.69894579,782,798.69894579,649,628.30105421,650.30105421,0.446895143549,0.00475072480554,0.0796360579779,0.999999808319,0.000276688965175,-0.000549754708645,-6.76341417411e-05,1793193061511943680
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.283015439,742.716984561,710.716984561,675,657,629.283015439,879,782,799.283015439,649,628.283015439,650,0.446895391138,0.00475099588589,0.0796361531571,0.999999808151,0.000277503594231,-0.000549642004794,-6.76939249502e-05,1793193061528610304
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.862237035,742.137762965,710.137762965,675,657,629.862237035,879,782,799.862237035,649,628.862237035,650,0.446895282471,0.00475148490338,0.0796365502439,0.999999807799,0.000279750943414,-0.000549146739646,-6.76755003368e-05,1793193061545276928
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.439820926,742,710,675,657,630,879,782,799.560179074,649,628.560179074,650.439820926,0.44689700875,0.00475193404401,0.07963697718,0.999999808104,0.000280951367949,-0.000547989113356,-6.75731490669e-05,1793193061561943808
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.98295297,742.01704703,710.01704703,675,657,630,878.98295297,782,799.01704703,649,628.01704703,651,0.446899197379,0.00475234660743,0.0796373867363,0.999999808599,0.000281761590279,-0.000546685511764,-6.74393200989e-05,1793193061578610432
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.400643038,742.599356962,710.599356962,675,657,630,878.400643038,782,799.599356962,649,628.599356962,651,0.446897729559,0.00475195894143,0.0796369111272,0.999999808595,0.000280466361635,-0.000547395429368,-6.71301697342e-05,1793193061595277056
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.818291382,710.818291382,675,657,630,878.181708618,782,800,649,628.818291382,651,0.446896713756,0.00475111786351,0.0796364709785,0.999999808731,0.000278577615865,-0.000548136227281,-6.69214767143e-05,1793193061611943936
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.235847746,710.235847746,675,657,630,878.764152254,782,800,649,628.235847746,651,0.446896694816,0.00474927684384,0.0796361090334,0.999999809172,0.000275379944378,-0.000548945127701,-6.69343294843e-05,1793193061628610560
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742,710,675,657,630,879,782,799.655738598,649,628,650.655738598,0.446896583213,0.00475060450243,0.0796360957715,0.999999808667,0.000276613032481,-0.0005492431102,-6.69592405482e-05,1793193061645277696
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+244,4.066666667,POSE1_TO_POSE2_PRESS,763.50352754,742,710.49647246,675,657,630,879,782,799.49647246,649,628,650.49647246,0.446897022942,0.00475185339638,0.0796362891445,0.999999808124,0.000278696945744,-0.000549186275321,-6.68950959877e-05,1793193061678611456
+245,4.083333333,HOLD_POSE2,764,743,711,675,657,630,879,782,800,649,629,650,0.446897689653,0.004753676537,0.0796356863814,0.999999806313,0.000283057283519,-0.000550227310186,-6.71037385411e-05,1793193061721471744
+246,4.100000000,HOLD_POSE2,764,743,711,674.420968549,657,630,879,782,800,649,628.420968549,650.579031451,0.446899223099,0.00475358310309,0.0796371896658,0.999999808012,0.000280955012099,-0.000548188013524,-6.7310928091e-05,1793193061738138368
+247,4.116666667,HOLD_POSE2,764,743,711,674.157411406,657,630,879,782,800,649.157411406,628.157411406,651,0.446899832091,0.00475276362857,0.0796377312069,0.999999809072,0.000278711183353,-0.000547395895425,-6.73336913487e-05,1793193061754804992
+248,4.133333333,HOLD_POSE2,764,743,711,674.734056358,657,630,879,782,800,649.734056358,628.734056358,651,0.446897978985,0.00475001049122,0.0796357113384,0.999999808443,0.000276090344747,-0.000549925385568,-6.6865272402e-05,1793193061771472128
+249,4.150000000,HOLD_POSE2,763.691103558,742.691103558,710.691103558,675,657,630,879,782,800,649.691103558,628.691103558,651,0.446898048138,0.00474907964115,0.0796356271763,0.999999808616,0.000275419068478,-0.000549947978811,-6.68474030849e-05,1793193061788138752
+250,4.166666667,HOLD_POSE2,763.11780838,742.11780838,710.11780838,675,657,630,879,782,800,649.11780838,628.11780838,651,0.446899762643,0.00474970857111,0.0796371998748,0.999999809482,0.000276416512844,-0.000547824803028,-6.72151800403e-05,1793193061804805120
+251,4.183333333,HOLD_POSE2,763,742,710.470515901,675,657,630,878.529484099,782,799.529484099,649,628,651,0.44690003233,0.00475030054642,0.0796371762147,0.999999809454,0.000277220250899,-0.000547480505661,-6.71267312736e-05,1793193061821471488
+252,4.200000000,HOLD_POSE2,763,742,710.938690091,674.938690091,656.938690091,630,878.061309909,782,799.061309909,649,628.061309909,651,0.44689990114,0.00475092835724,0.0796367590747,0.999999809173,0.000277901006396,-0.000547668205105,-6.69597699868e-05,1793193061838138112
+253,4.216666667,HOLD_POSE2,763,742,710.359860736,674.359860736,656.359860736,630,878.640139264,782,799.640139264,649,628.640139264,651,0.446899540466,0.00475193933708,0.0796365057473,0.999999808709,0.000277966563559,-0.000548462838357,-6.71261198754e-05,1793193061854804736
+254,4.233333333,HOLD_POSE2,763,742,710.217701807,674.217701807,656,630,879,782,800,649.217701807,628.782298193,650.782298193,0.446899292633,0.00475182602119,0.0796363070929,0.999999808603,0.000277244164999,-0.000549022085018,-6.71159926736e-05,1793193061871471616
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+256,4.266666667,HOLD_POSE2,763.376201572,742.376201572,711,675,656.376201572,630,879,782,800,650,628,650.376201572,0.446900228285,0.00474900610313,0.0796370905401,0.99999980989,0.000274157670856,-0.000548301781724,-6.65036519055e-05,1793193061904804864
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+260,4.333333333,HOLD_POSE2,763,742.699330093,711,675,656.300669907,630,879,782.699330093,799.300669907,649.699330093,628,650.300669907,0.446903311201,0.00475312538123,0.0796398594633,0.999999810616,0.000279508962138,-0.000544266959272,-6.64588206335e-05,1793193061971471360
+261,4.350000000,HOLD_POSE2,763.274317232,742.725682768,711,675,656,630,879,782.725682768,799.274317232,649.725682768,628,650.274317232,0.446904269403,0.0047524850469,0.0796405996692,0.999999811583,0.000278082802178,-0.000543215567289,-6.64850111123e-05,1793193061988138240
+262,4.366666667,HOLD_POSE2,763.847649763,742.152350237,711,675,656,630,879,782.152350237,799.847649763,649.152350237,628,650.847649763,0.446903242042,0.00475051464054,0.079639439896,0.999999811613,0.000275610928374,-0.000544394493012,-6.66809586066e-05,1793193062004804864
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,656,630,879,782,799,649,628,651,0.446901705217,0.00474965673913,0.0796377121599,0.999999810458,0.000275828747866,-0.000546419945568,-6.65383917063e-05,1793193062037476352
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742.579233271,710.420766729,674.579233271,656,630,878.420766729,782,799.579233271,649,628,651,0.446901747071,0.00475063810032,0.0796375243826,0.999999809224,0.000277989409458,-0.00054761075754,-6.63053828596e-05,1793193062054142976
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742.842262162,710,675,656,630,878.157737838,782,800,649,628.157737838,651,0.446901745331,0.00475165652337,0.0796374301403,0.99999980845,0.000279293541631,-0.000548367168628,-6.62420504109e-05,1793193062070810112
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742.265692356,710,675,656,630,878.734307644,782,800,649,628.734307644,651,0.446901627834,0.00475277335477,0.0796375842559,0.999999808913,0.000278323382277,-0.000547970140955,-6.66292496354e-05,1793193062087478016
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.31635207,742.31635207,710,675,656,630,879,782.31635207,800,649,629,651,0.44690188612,0.00475276820757,0.0796377285155,0.999999809321,0.000278255406828,-0.000547248499013,-6.67193342303e-05,1793193062104144384
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.903075362,742.903075362,710,675,656,630,879,782.903075362,800,649,629,651,0.446902465568,0.00475180415801,0.0796378643517,0.999999809682,0.000278958485546,-0.00054624942456,-6.65554889155e-05,1793193062120809984
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,710,675,656.483903674,630,878.516096326,782.516096326,799.516096326,649,629,651,0.446902056679,0.00475204442127,0.079637414596,0.999999809362,0.000279173414488,-0.000546725495363,-6.65488087812e-05,1793193062137476352
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.936669799,742.936669799,710,675,656.936669799,630,878.063330201,782,799,649,628.936669799,651,0.44690056118,0.00475228742852,0.0796365102679,0.999999808679,0.000279121465637,-0.000548001814685,-6.65323064863e-05,1793193062154142976
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.359153256,742.359153256,710,675,656.359153256,630,878.640846744,782,799,649,628.359153256,651,0.446891831281,0.00475061778323,0.0796328560581,0.999999806126,0.000277686995263,-0.000553405389033,-6.61835444195e-05,1793193062170809856
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742.216571574,710.216571574,675,656.216571574,630,879,782,799,649,628,651,0.446872715941,0.00475003049787,0.0796236196868,0.999999798347,0.000276774658854,-0.000567740183935,-6.61218056352e-05,1793193062187476736
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.789349425,710.789349425,675,656.789349425,630,879,782,799,649,628,651,0.44683651914,0.00475122342507,0.0796052020512,0.999999781435,0.000276721102712,-0.000596764610456,-6.65321486332e-05,1793193062204143360
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.373711015,742.626288985,711,675,656.626288985,630,878.626288985,782,799,649,628,650.626288985,0.446784220519,0.00475175678753,0.0795858454248,0.999999760516,0.000278399822816,-0.000630159043205,-6.6032697764e-05,1793193062220809984
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.964810958,742.035189042,711,675,656.035189042,630,878.035189042,782,799,649,628,650.035189042,0.446722555411,0.00475190647911,0.0795659425828,0.999999736541,0.000281086213511,-0.000666095525259,-6.50040167972e-05,1793193062237476864
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.546112569,711,675,656.546112569,630,878.546112569,782,799.546112569,649,628,650,0.446647898872,0.00475251861978,0.0795539713292,0.999999726735,0.000284154319868,-0.000679524180006,-6.35052029423e-05,1793193062254143488
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.874479705,656.874479705,630,879,782,800,649,628,650.125520295,0.446569529733,0.00475240069886,0.079545671801,0.999999719471,0.00028686232164,-0.000689199622877,-6.14087260652e-05,1793193062270810112
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.299631147,656.299631147,630,879,782,800,649,628,650.700368853,0.446480814284,0.0047495645686,0.0795487187753,0.999999718409,0.000288194753412,-0.000690539780451,-5.72793091251e-05,1793193062287476480
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.274828426,656.274828426,630,878.725171574,782,799.450343147,649,628,651,0.446377770202,0.00474734033195,0.0795509633218,0.999999717553,0.00028939992835,-0.000691600962212,-5.31858987645e-05,1793193062304143104
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.848864476,656.848864476,630,878.151135524,782,798.302271047,649,628,651,0.446259126442,0.00474578226829,0.0795523342595,0.999999716927,0.000290466557807,-0.000692358420985,-4.91316892658e-05,1793193062320809728
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.563267217,711,675,657,630,878.436732783,782,798.436732783,649,628,651,0.446114478012,0.00474479870425,0.0795507340873,0.999999712029,0.000293454701782,-0.00069846749486,-4.43669041771e-05,1793193062337476352
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,675,657,630,879,782,799,649,628,650.97131348,0.445958784262,0.00474391973065,0.0795482160296,0.999999705771,0.000297119413058,-0.000706141165913,-3.92707943422e-05,1793193062354142976
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,657,630,879,782,799,649,628,650.395715868,0.445769691993,0.00474112045736,0.079548441917,0.999999704235,0.000300590795925,-0.000707181055076,-3.26994192423e-05,1793193062370809600
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.820132105,742,711,675,657,630,879,782,799.179867895,649,628.179867895,650,0.445570489989,0.00473857512689,0.0795502813215,0.999999703774,0.000304711458039,-0.000706356724323,-2.57510733927e-05,1793193062387476480
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.244578884,742,711,675,657,630,879,782,799.755421116,649,628.755421116,650,0.445349047943,0.00473658843709,0.0795556702477,0.999999705705,0.00031026044726,-0.000701431358817,-1.79734431502e-05,1793193062404143104
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.330085802,711,674.669914198,657,630,879,782,799.669914198,649,628.669914198,650,0.445105726838,0.00473355664147,0.0795628867384,0.999999709462,0.000316485853231,-0.000693417133791,-9.23058907688e-06,1793193062420809728
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742.904093951,711,674.095906049,657,630,879,782,799.095906049,649,628.095906049,650,0.444846237819,0.00472975254746,0.0795714537386,0.999999714441,0.00032321110905,-0.000683120344478,2.25533877812e-07,1793193062437476352
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.494034125,743,710.505965875,674.494034125,657,630,879,782,799,649,628,650,0.44455377153,0.00472557900783,0.0795781885985,0.999999719443,0.000327347978717,-0.000673709098632,8.53166670399e-06,1793193062454142976
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.915142128,710.084857872,674.915142128,657.084857872,630.084857872,879,782,799.084857872,649,628,650.084857872,0.444245324685,0.00472106653058,0.0795836890771,0.999999724806,0.000326628280805,-0.000665933268199,1.53033987587e-05,1793193062470809600
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.337739814,710.662260186,674.337739814,657.662260186,630.662260186,879,782,799.662260186,649,628,650.662260186,0.443882517688,0.00471501689948,0.0795841580104,0.999999732484,0.000300733139491,-0.000666618880078,1.45079170907e-05,1793193062487476480
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742,710.761452548,674.238547452,658,630.761452548,878.761452548,782.238547452,799.761452548,649,628,651,0.443510519831,0.0047078653264,0.0795879504844,0.999999741912,0.000278930678771,-0.00066192851617,1.49676477208e-05,1793193062504143104
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742,710.186736677,674.813263323,658,630.186736677,878.186736677,782.813263323,799.186736677,649,628,651,0.443125569953,0.00469916086308,0.0795964265941,0.999999754265,0.000262895751315,-0.000649662161847,1.71962622417e-05,1793193062520809984
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742,710.398313856,675,658.398313856,630.398313856,878.398313856,783,799,649,628,650.601686144,0.442719051916,0.00469102917909,0.0796073542909,0.999999766137,0.000267104101633,-0.000629327285968,1.81274575048e-05,1793193062537476864
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742,710.988338505,675,658.988338505,630.988338505,878.988338505,783,799,649,628,650.011661495,0.442302153008,0.0046831731774,0.0796194619507,0.999999777255,0.000281055660514,-0.000605108983401,1.84341972011e-05,1793193062554143488
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,659,631,878.431889965,783,799,649,628,650.568110035,0.441827586255,0.00467587450653,0.0796403310526,0.999999804662,0.000254450117816,-0.000570591319695,1.88832731808e-05,1793193062570809856
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,674.853048241,658.853048241,631.146951759,878,783,799,649,628.146951759,650.853048241,0.441328553647,0.0046672727047,0.079653382529,0.999999822015,0.000237031166459,-0.000547179245927,1.95311327349e-05,1793193062587476480
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,674.276321317,658.276321317,631.723678683,878,783,799,649,628.723678683,650.276321317,0.440761368868,0.00465482690192,0.0796430539222,0.999999813773,0.00024887092114,-0.00055685393121,2.07519614502e-05,1793193062604143104
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.70312674,742,711,674,658.29687326,632,878.29687326,783,799,649,629,650.29687326,0.440172133814,0.00464350962269,0.0796254191028,0.999999802918,0.000238894824315,-0.000580199323339,2.14841251129e-05,1793193062620809984
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.133181247,742,711,674,658.866818753,632,878.866818753,783,799,649,629,650.866818753,0.439562616245,0.00463323038919,0.079601063826,0.999999788152,0.000208851904989,-0.000616119409915,2.17668012553e-05,1793193062637476608
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,659.456075121,632,878.543924879,783,799,649,628.543924879,650.543924879,0.438982185755,0.0046214866903,0.0796257473902,0.999999816736,0.00019365253311,-0.000573153704667,2.28550414317e-05,1793193062654143488
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742.04964437,711,674.04964437,659.95035563,632,878,783,799,649,628,650,0.438407292395,0.00460958865186,0.079668218878,0.999999856509,0.000182763227162,-0.000502967745407,2.45640811784e-05,1793193062670810112
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742.626482874,711,674.626482874,659.373517126,632,878,783,799,649,628,650,0.437797011478,0.00460079376351,0.0797407927479,0.999999905498,0.000169578706866,-0.000399162392773,3.02571156185e-05,1793193062687476736
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.203079073,743,711,674.796920927,659.203079073,632,878,783,799,649,628,650,0.437156397314,0.00459144616994,0.0798010302298,0.999999938597,0.000159049679758,-0.000310401370513,3.40670448423e-05,1793193062704143360
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.779230105,743,711,674.220769895,659.779230105,632,878,783,799,649,628,650,0.436460058669,0.00458108321468,0.0798386048092,0.999999956572,0.000153399002111,-0.000249277958106,3.44175642821e-05,1793193062720809984
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,659.637859829,632,878,783,799,649,628,650,0.435730989533,0.00457130307083,0.0798473816714,0.999999962633,0.000135306155888,-0.000234880083227,3.54760298496e-05,1793193062737476352
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,659.050750936,632,878,783,799,649,628,650,0.434981587586,0.00456188498148,0.079838268814,0.999999962196,0.000109483985908,-0.000249509049819,3.69742857369e-05,1793193062754142976
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.469267793,743,711,674,659.530732207,632,878,783.530732207,799.530732207,649,628.530732207,650,0.43418511764,0.00455375379927,0.0798213281063,0.99999995668,0.000111929105921,-0.000270009702341,3.47251942344e-05,1793193062770809600
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,660,632,878,783.889742269,799.889742269,649,628.889742269,650,0.43336792356,0.00454532179409,0.0798004773144,0.999999947771,0.000111964990952,-0.000301338705064,3.34294371058e-05,1793193062787476480
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,660,632,878,783.31620572,799.31620572,649,628.31620572,650,0.43248236465,0.00453511415253,0.0797663093946,0.99999992456,9.06393344745e-05,-0.000375831600443,3.7629246912e-05,1793193062804143104
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742.987969474,711,673.987969474,659.012030526,632,878,783.012030526,799,649,628.012030526,650,0.429134595183,0.0044881688675,0.0798411062798,0.999999963791,4.23643142235e-05,-0.000262608343808,4.07527260701e-05,1793193062870809600
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.827332575,659.827332575,632,878,783.827332575,799,649,629,650,0.427370803739,0.00446801504404,0.0798548681065,0.999999969724,2.79324524428e-05,-0.00024071408301,4.2756191538e-05,1793193062904143104
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.253740101,659.253740101,632,878,783.253740101,799,649,629,650,0.426429141801,0.00445765783409,0.0798032560338,0.999999950255,1.18328559968e-05,-0.000312554149597,4.07475527411e-05,1793193062920809728
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.327365055,711,672.327365055,659,632,878,783,799,649,629,650,0.42549265256,0.00444681824841,0.0797725450554,0.999999934324,-5.64593121998e-07,-0.000360165056183,4.0419850215e-05,1793193062937476352
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.914430023,711,672.914430023,659,632,878,783,799,649,629,650,0.424560266882,0.00443559599277,0.079758414995,0.999999923604,-1.00251142408e-05,-0.000388554877598,4.14256408624e-05,1793193062954143232
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.502350295,711,673,659.497649705,632,878,783,799,649,629,650,0.423615172932,0.00442569133048,0.0797434309751,0.999999913339,-2.37729576719e-05,-0.000413576146425,4.13608109055e-05,1793193062970810112
+320,5.333333333,POSE2_TO_POSE3_RETREAT,762.920888286,742.079111714,711,673,659.920888286,632,877.920888286,783,799,649,628.920888286,650,0.422687377736,0.00441566603469,0.0797374297825,0.99999990987,-3.7433067218e-05,-0.000420913154647,4.11317718434e-05,1793193062987476736
+321,5.350000000,POSE2_TO_POSE3_RETREAT,762.346325215,742.653674785,711,673,659.346325215,632,877.346325215,783,799,649,628.346325215,650,0.421881499565,0.00440347727427,0.0797885977111,0.99999994655,-4.59622897293e-05,-0.00032109891832,4.10184085681e-05,1793193063004143360
+322,5.366666667,POSE2_TO_POSE3_RETREAT,762.227935586,742.772064414,711,673,659.455871172,632,877.227935586,783,799,649,628,650,0.421057362908,0.00440433091542,0.0798348573334,0.999999969805,-4.55152271072e-05,-0.000237906758943,4.14524876026e-05,1793193063020809984
+323,5.383333333,POSE2_TO_POSE3_RETREAT,762.801737815,742.198262185,711,673,660.60347563,632,877.801737815,783,799,649,628,650,0.420205520928,0.00442497493377,0.0798736691603,0.999999982405,-3.14476620507e-05,-0.000179936721824,4.27172492162e-05,1793193063037476608
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,660.227614325,632,877.613807163,783,799,649,628,650,0.41929706324,0.00445257337518,0.0798573360847,0.999999976789,5.0784441965e-06,-0.000211000428108,4.33040907488e-05,1793193063054143488
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.047456304,632,877.023728152,783,799,649,628,650,0.418358715977,0.00448384332495,0.0798118898746,0.999999955843,5.34612842503e-05,-0.000289068501966,4.35330316617e-05,1793193063070810112
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632,877,783,799,649,628.557143843,650,0.417482872228,0.00447621718822,0.079807387508,0.99999995272,3.59474739741e-05,-0.000302652037716,4.08617620129e-05,1793193063087476736
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632,877,783,799,649,629,650.136684613,0.41661400275,0.00446689726283,0.0798039429079,0.999999949356,1.78962762493e-05,-0.000315347670472,3.90224861321e-05,1793193063104143616
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632,877,783,799,649,629,650.713183047,0.415759148418,0.00445737083547,0.0797983822028,0.999999943428,6.99955291674e-06,-0.000333879543451,4.02513218568e-05,1793193063120809984
+329,5.483333333,POSE2_TO_POSE3_RETREAT,762.711410606,742,711,673,659,632,876.711410606,783,798.711410606,648.711410606,629,650.711410606,0.41493432737,0.0044501572477,0.0797908534137,0.999999939003,-5.56764790118e-06,-0.000346942553479,3.99219923337e-05,1793193063137476608
+330,5.500000000,POSE2_TO_POSE3_RETREAT,762.13708558,742,711,673,659,632,876.13708558,783,798.13708558,648.13708558,629,650.13708558,0.414139242669,0.00444523362921,0.0797813760026,0.999999936213,-1.97888067645e-05,-0.000354590779249,3.80499056683e-05,1793193063154143232
+331,5.516666667,POSE2_TO_POSE3_RETREAT,762.449359665,742.449359665,711.449359665,673,659,632,876.449359665,783,798.449359665,648.449359665,629,650,0.413383807206,0.00444899600406,0.079796402112,0.999999947062,-2.01135199761e-05,-0.000322693439784,3.66119510578e-05,1793193063170809856
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.038834818,743,711.961165182,673,659,632,877,783,799,649,628.961165182,650,0.412639035268,0.00445548468173,0.079816775995,0.999999959136,-1.54711472173e-05,-0.000283251191905,3.54672479175e-05,1793193063187476224
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.61760258,743,711.38239742,673,659,632,877,783,799,649,628.38239742,650,0.411869689867,0.00446201541124,0.0798046898064,0.99999995088,-2.34496997656e-06,-0.000311290470331,3.65073167503e-05,1793193063204142848
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.804916291,742.804916291,711,672.804916291,659,632,877,783,799.195083709,649,628,650.195083709,0.411120935893,0.00446460313403,0.0797938279482,0.999999943258,5.78390319982e-06,-0.000334743083067,3.73732542694e-05,1793193063220809728
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.229940555,742.229940555,711,672.229940555,659,632,877,783,799.770059445,649,628,650.770059445,0.410412280051,0.0044595125294,0.0797853502612,0.99999993828,4.18138708056e-06,-0.000349263957314,3.79001011897e-05,1793193063237476608
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.352785023,742,711,672.352785023,659,632,877,783,799.647214977,649,628.352785023,651,0.409753809118,0.00445596611922,0.0797996893997,0.999999947049,-8.77764036265e-07,-0.000323183794455,3.81288011525e-05,1793193063254143488
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.940675264,742,711,672.940675264,659,632,877,783,799.059324736,649,628.940675264,651,0.40912878277,0.00445344880115,0.0798292342714,0.999999962776,-8.24050753274e-06,-0.000270046031015,3.81588080257e-05,1793193063270809856
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.47842824,742.52157176,711,673,659,632,877,783,799,649,629,651,0.408514841013,0.00445762964431,0.0798418534672,0.999999967047,1.83907591161e-06,-0.000253760498092,3.88409162242e-05,1793193063287476224
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763,742.898759534,711,673,659,632,877,783,799,649,629,650.898759534,0.407900100115,0.00446244201141,0.079843054494,0.999999966035,1.3139086376e-05,-0.000257273562334,3.96040313013e-05,1793193063304143104
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742.321174403,711,673,659,632,877,783,799,649,629,650.321174403,0.407275745605,0.0044666885489,0.0797994703043,0.999999943026,2.09702670589e-05,-0.000334479518817,4.0403925024e-05,1793193063320809728
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632,877,783.256927354,799,649,629,650.256927354,0.406706899069,0.00446725767267,0.0797720211997,0.999999927224,2.16795985851e-05,-0.000378753810006,4.03310611467e-05,1793193063337476352
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632,877,783.835676184,799,649,629,650.835676184,0.40620758063,0.00446322054966,0.0797647825462,0.999999926265,1.34682601915e-05,-0.000381778627728,3.91650007351e-05,1793193063354143232
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.418942991,742,711,672.581057009,659,632,877,784,799,649,628.581057009,650.581057009,0.405733510184,0.00446098706831,0.0797778104792,0.999999937,9.62213559014e-06,-0.000352806357559,3.78928337148e-05,1793193063370809856
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.996045211,742,711,672,659,632,877.003954789,784,799,649,628.003954789,650.003954789,0.405269814577,0.00445952377485,0.0797988541073,0.999999950856,7.59289822021e-06,-0.000311273796115,3.6596126908e-05,1793193063387476480
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742.159886038,711,672,659,632,877.840113962,784,799,649.159886038,629,650.840113962,0.40445476231,0.00447216768994,0.0798313739934,0.999999961956,2.66434872073e-05,-0.000271753933443,3.90895037411e-05,1793193063420809984
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742.736014958,711,672,659,632,877.263985042,784,799,649.736014958,629,650.263985042,0.404067972686,0.00447721459287,0.0798361663402,0.999999961528,3.03388675128e-05,-0.000272761240224,4.03195772318e-05,1793193063437476352
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763,742.68167017,711,672.31832983,659.31832983,632,877,784,799,649.68167017,629,650.31832983,0.403707268642,0.00447976981691,0.0798349246295,0.999999959078,4.02871422359e-05,-0.000280283122539,4.07697162659e-05,1793193063454142976
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742.094123773,711,672.905876227,659.905876227,632,877,784,799,649.094123773,629,650.905876227,0.403368625609,0.00448021778843,0.0798285798207,0.999999954619,5.5523588319e-05,-0.000293314484155,4.05602523225e-05,1793193063470809600
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.513541134,659.513541134,632,877.486458866,784,799,649,629,651,0.403063244435,0.00447675268128,0.0798277711153,0.999999953484,4.6181816998e-05,-0.000298767647106,4.04692585851e-05,1793193063487476480
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.065173205,742,711,672.065173205,659,632,877.934826795,784,799,649,629,651,0.402771473655,0.00447268086654,0.0798285367576,0.999999953186,3.31769235943e-05,-0.000301486746372,4.04200013904e-05,1793193063504143104
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.639668171,742,711,672.639668171,659,632,877.360331829,784,799,649,629,651,0.402536481713,0.00446970109891,0.0798333528429,0.999999955524,2.81849749609e-05,-0.000294136588504,4.05203020478e-05,1793193063520809728
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.782524027,659,632.217475973,877,784,799,649,629,651,0.402320205627,0.00446643509669,0.0798385665539,0.999999958417,2.11822573037e-05,-0.000284752217601,4.04238154458e-05,1793193063537476608
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.199142401,659,632.800857599,877,784,799,649,629,651,0.402135419195,0.004462687502,0.0798444492738,0.999999962165,1.07963997485e-05,-0.000271945262212,3.99962321608e-05,1793193063554143232
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632.614957383,877,784,799,649,629,651,0.401960426693,0.0044559308634,0.079847564461,0.999999963752,8.39289571941e-07,-0.000265921134097,4.22005030969e-05,1793193063570809600
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632.030355932,877,784,799,649,629,651,0.401790510147,0.0044476147054,0.0798492452994,0.99999996422,-8.89561153177e-06,-0.00026341238998,4.57688041995e-05,1793193063587476224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.545928914,659,632,877,783.454071086,799,649,629,651,0.401651444834,0.00443427370721,0.0798463470097,0.999999962689,-2.59842457711e-05,-0.000267634968055,4.81548160417e-05,1793193063604143104
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711.121757684,673,659,632,877,783.121757684,799.121757684,649,629,651,0.401519384345,0.00442742081808,0.0798425897691,0.999999960767,-3.67500154818e-05,-0.000273287781837,4.9278741487e-05,1793193063620809728
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711.697584464,673,659,632,877,783.697584464,799.697584464,649,629,651,0.40140714537,0.00444579026773,0.0798365645522,0.999999958677,-2.24340097243e-05,-0.000282899465614,4.59374731264e-05,1793193063637476352
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711.130098309,672.130098309,659,632,877,783.130098309,799.130098309,649,628.130098309,651,0.401226670087,0.00447364129655,0.0798299083476,0.99999995593,1.39430875435e-05,-0.000293962276769,3.91389891845e-05,1793193063670810368
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.451968275,659,632.451968275,877,783.451968275,799,649,628,650.548031725,0.401162665519,0.00447216399593,0.0798271310595,0.99999995354,5.16270452215e-05,-0.000297858235928,3.91761758931e-05,1793193063687476992
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632.968285089,877,783.968285089,799,649,628.031714911,650.031714911,0.40110499663,0.00446706448227,0.079824375455,0.999999949526,9.19385467613e-05,-0.000301466591863,4.01664076973e-05,1793193063704143360
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742.185612332,711,673,659,632,877,783.185612332,799.185612332,649,629,651,0.401033850685,0.00446606893718,0.0798248016186,0.999999950545,8.62372077922e-05,-0.000299615245275,4.12875541173e-05,1793193063737476608
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742.758843935,711,673,659,632,877,783.758843935,799.758843935,649,629,651,0.401012028822,0.00446366611194,0.0798281203816,0.999999951827,8.26508295783e-05,-0.000296246631908,4.18737316724e-05,1793193063754144000
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f3c13c493c5dd9871d3eae4e6dd4aa0330ec424
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,401 @@
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diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..76b3f630afde83584e20d7b1be136c5a7a631928
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26b6069601bc181da14453231c730346e75c3228e0c70ec1d3f1ef2365b029f3
+size 25675568
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fda4a3f1b93347b34d2590edf170a329c747f089
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_05/franka_data.csv
@@ -0,0 +1,405 @@
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+9,0.150000000,BASELINE,764,742.792673113,711.792673113,672,659,632,877,783,799,649,628.207326887,650.792673113,0.4009598533,0.00446835402634,0.0798340501899,0.999999956272,7.43673105199e-05,-0.000283401848966,4.01040422138e-05,1793193064600150528
+10,0.166666667,BASELINE,764,742.20112798,711.20112798,672,659,632,877,783,799,649,628.79887202,650.20112798,0.40095964616,0.00446727985905,0.0798330250724,0.999999956128,7.30022232312e-05,-0.000284299777026,3.98533644788e-05,1793193064616816896
+11,0.183333333,BASELINE,763.615001418,742,711,672,659,632.384998582,877.384998582,783.384998582,799,649,629,650,0.400959938348,0.004466881545,0.0798336278733,0.999999956332,7.29729542921e-05,-0.000283551650787,4.01188999908e-05,1793193064633483264
+12,0.200000000,BASELINE,763.031666244,742,711,672,659,632.968333756,877.968333756,783.968333756,799,649,629,650,0.40096048777,0.00446683140468,0.0798350693155,0.999999956713,7.36318479158e-05,-0.000281955540209,4.06503688647e-05,1793193064650150144
+13,0.216666667,BASELINE,763.539757658,742,711,672,659,633,877.460242342,784,798.460242342,649,629,650,0.400957905047,0.00446753306735,0.079833244826,0.999999955771,7.49894689331e-05,-0.000284951359902,4.0461025758e-05,1793193064666817024
+14,0.233333333,BASELINE,764,742,711,672,659.111570144,632.888429856,877.111570144,783.888429856,798.111570144,649,629,650.111570144,0.400955810562,0.00446799575796,0.0798315876065,0.999999955005,7.59769861268e-05,-0.000287392709981,4.02887962476e-05,1793193064683483904
+15,0.250000000,BASELINE,764,742,711,672,659.687849126,632.312150874,877.687849126,783.312150874,798.687849126,649,629,650.687849126,0.400956498524,0.00446728334481,0.079831407927,0.999999955334,7.52559029698e-05,-0.000286426741576,4.03601825317e-05,1793193064700150784
+16,0.266666667,BASELINE,763.728194751,742,711,672,659.728194751,632,877.728194751,783.271805249,799,649,629,650.728194751,0.400957160335,0.00446695833337,0.0798320244351,0.999999955663,7.46298515997e-05,-0.000285415972902,4.05316838056e-05,1793193064716817408
+17,0.283333333,BASELINE,763.135165691,742,711,672,659.135165691,632,877.135165691,783.864834309,799,649,629,650.135165691,0.40095779124,0.00446709115956,0.0798335818904,0.999999955992,7.41161103652e-05,-0.000284352258609,4.08215025787e-05,1793193064733483520
+18,0.300000000,BASELINE,763.446865314,742,711,672,659,632,877,783.553134686,799,649.446865314,629,650,0.400959201424,0.00446734441811,0.0798338665401,0.999999956176,7.43934711295e-05,-0.000283671969277,4.0542223853e-05,1793193064750150144
+19,0.316666667,BASELINE,764,742.025449227,711,672,659,632,877,783,799,649.974550773,629,650,0.400960708514,0.00446765484597,0.0798337871369,0.999999956303,7.49387884349e-05,-0.000283140250954,4.01250768048e-05,1793193064766816768
+20,0.333333333,BASELINE,764,742.599712556,711,672,659,632,877,783,799,649.400287444,629,650,0.400959344345,0.00446843143539,0.0798339598633,0.999999956131,7.62262800601e-05,-0.000283371509772,4.03577874931e-05,1793193064783483392
+21,0.350000000,BASELINE,764,742.821631175,711.178368825,672,659,632.178368825,877,783.178368825,799,649.178368825,629,650.178368825,0.400958165518,0.00446866993021,0.0798338881904,0.999999955946,7.64216220278e-05,-0.000283952470257,4.04735470708e-05,1793193064800150272
+22,0.366666667,BASELINE,764,742.232867617,711.767132383,672,659,632.767132383,877,783.767132383,799,649.767132383,629,650.767132383,0.400957413128,0.00446767036558,0.0798332541984,0.999999955733,7.41041229792e-05,-0.000285338031642,4.03202230479e-05,1793193064816817152
+23,0.383333333,BASELINE,763.65010802,742,712,672,659,632.65010802,876.65010802,783.65010802,799,649.65010802,629,651,0.400957831204,0.00446748092316,0.0798333327038,0.999999956012,7.29302962601e-05,-0.000284693764464,4.00809349851e-05,1793193064833483776
+24,0.400000000,BASELINE,763.071276842,742,712,672,659,632.071276842,876.071276842,783.071276842,799,649.071276842,629,651,0.400959015132,0.00446782155489,0.0798338774062,0.999999956614,7.25047900566e-05,-0.000282721352301,3.97853994377e-05,1793193064850150656
+25,0.416666667,BASELINE,763.504853669,742,712,672,659,632,876.504853669,783.504853669,799,649,629,651,0.40095854281,0.00446716875705,0.0798339367847,0.99999995645,7.24333957666e-05,-0.000283328218766,3.97400873156e-05,1793193064866817280
+26,0.433333333,BASELINE,764,742,712,672,659,632,877.080084104,783.919915896,799,649.080084104,628.919915896,651,0.400957749009,0.00446659050524,0.0798337102526,0.999999956135,7.24120396916e-05,-0.000284440917454,3.97578039351e-05,1793193064883483648
+27,0.450000000,BASELINE,764,742,712,672,659,632,877.65211547,783.34788453,799,649.65211547,628.34788453,651,0.400956409178,0.00446732716954,0.0798321460729,0.999999955559,7.23925853879e-05,-0.000286435851944,3.99468417419e-05,1793193064900150272
+28,0.466666667,BASELINE,764,742.233108768,711.766891232,672.233108768,659,632,877.766891232,783,799,649.766891232,628.233108768,650.766891232,0.400956072796,0.00446800321085,0.0798316838958,0.999999955289,7.3332340762e-05,-0.000287117717888,4.00957159064e-05,1793193064916816896
+29,0.483333333,BASELINE,764,742.828011293,711.171988707,672.828011293,659,632,877.171988707,783,799,649.171988707,628.828011293,650.171988707,0.400957293805,0.00446858516291,0.0798329320693,0.999999955493,7.57608263786e-05,-0.000285761650926,4.01822545453e-05,1793193064933483520
+30,0.500000000,BASELINE,763.59047935,743,711.40952065,673,659,632,877.40952065,783.40952065,799,649,629,650.40952065,0.400958976085,0.00446790942133,0.0798340086233,0.999999956091,7.52180613494e-05,-0.000283825529055,4.00482782322e-05,1793193064950150144
+31,0.516666667,BASELINE,763.014416682,743,711.985583318,673,659,632,877.985583318,783.985583318,799,649,629,650.985583318,0.400960845953,0.00446672220653,0.0798350153839,0.999999956844,7.34669613949e-05,-0.000281653513092,3.98246238866e-05,1793193064966816768
+32,0.533333333,BASELINE,763,742.438832491,711.438832491,673,659,632.561167509,877.438832491,784,799,649,629,651,0.400961257641,0.00446625286305,0.0798348606888,0.999999956927,7.23311404495e-05,-0.000281624058181,4.00239548202e-05,1793193064983483648
+33,0.550000000,BASELINE,763,741.860006894,711,672.860006894,659,632.860006894,877,784,799,649,629,651,0.400960839562,0.00446615336843,0.0798344734485,0.999999956789,7.17445255781e-05,-0.000282243836717,4.01550005938e-05,1793193065000150784
+34,0.566666667,BASELINE,763,741.270739476,711,672.270739476,659,632.270739476,877,784,799,649,629,651,0.400957878661,0.00446718167888,0.079833435588,0.999999955997,7.28697711223e-05,-0.00028477067593,4.00320570865e-05,1793193065016817152
+35,0.583333333,BASELINE,763.313685473,741.313685473,711,672,659,632.313685473,877,784,799,649,629,651,0.400956204436,0.00446817515893,0.0798324009822,0.999999955351,7.48415012361e-05,-0.000286524617787,4.00169351885e-05,1793193065033483776
+36,0.600000000,BASELINE,763.893994529,741.893994529,711,672,659,632.893994529,877,784,799,649,629,651,0.400955623847,0.00446913903427,0.0798313691427,0.999999954827,7.75327188826e-05,-0.000287621619519,4.0093458527e-05,1793193065050150144
+37,0.616666667,BASELINE,764,742,711,672.469372468,659,633,877.469372468,783.530627532,799,649,629,651,0.400957306296,0.00446815846473,0.0798325872345,0.999999955468,7.54179624638e-05,-0.000285945388244,4.01457623102e-05,1793193065066816512
+38,0.633333333,BASELINE,763.956318828,742,711.043681172,672.956318828,659,632.956318828,878,783.043681172,799,649.043681172,629,651,0.400959200851,0.00446695264667,0.0798340904825,0.999999956246,7.25740390829e-05,-0.000283951182886,4.01628516585e-05,1793193065083483136
+39,0.650000000,BASELINE,763.381610255,742,711.618389745,672.381610255,659,632.381610255,878,783.618389745,799,649.618389745,629,651,0.400957525222,0.0044682916211,0.0798329472145,0.999999955684,7.39236856502e-05,-0.000285626357132,3.98176481546e-05,1793193065100150016
+40,0.666666667,BASELINE,763.199407577,742.199407577,711.800592423,672,659.199407577,632.199407577,877.800592423,784,799,650,628.800592423,650.800592423,0.400957038491,0.00446882650978,0.0798325496594,0.999999955507,7.47757320811e-05,-0.000286028980788,3.97812026707e-05,1793193065116816640
+41,0.683333333,BASELINE,763.792894037,742.792894037,711.207105963,672,659.792894037,632.792894037,877.207105963,784,799,650,628.207105963,650.207105963,0.400958901317,0.00446777232526,0.0798336258182,0.999999956095,7.46443970136e-05,-0.000283916728421,4.03549397157e-05,1793193065133483776
+42,0.700000000,BASELINE,764,742.624379736,711,672.375620264,659.624379736,632.624379736,877,784,799,649.624379736,628.375620264,650.375620264,0.400959836478,0.00446702979633,0.0798344354827,0.999999956521,7.37816887088e-05,-0.000282623926386,4.04650318357e-05,1793193065150150656
+43,0.716666667,BASELINE,764,742.047421181,711,672.952578819,659.047421181,632.047421181,877,784,799,649.047421181,628.952578819,650.952578819,0.400960274397,0.00446645431967,0.079835102302,0.99999995686,7.25269529994e-05,-0.000281770362519,4.03266030598e-05,1793193065166817280
+44,0.733333333,BASELINE,763.470606795,742,711,672.470606795,659,632,877,784,799,649,628.470606795,651,0.400959249222,0.0044658786028,0.0798343772291,0.999999956813,7.05795177503e-05,-0.000282447880801,4.01951560705e-05,1793193065183483648
+45,0.750000000,BASELINE,763.105559757,742,711,672,659,632,877,784,799,649,628.105559757,651,0.400958282049,0.00446524017894,0.0798336531696,0.999999956724,6.897712049e-05,-0.000283162054317,4.01577398188e-05,1793193065200150272
+46,0.766666667,BASELINE,763.67891246,742,711,672,659,632,877,784,799,649,628.67891246,651,0.400958152552,0.00446432396171,0.0798334859797,0.999999956619,6.91786763603e-05,-0.000283431050523,4.05342544138e-05,1793193065216816896
+47,0.783333333,BASELINE,764,742.260227001,711,672.260227001,659,632,877,784,799,649,629,651,0.400958228582,0.00446491980271,0.0798333494034,0.999999956506,7.02903154331e-05,-0.000283563297891,4.04794503732e-05,1793193065233483520
+48,0.800000000,BASELINE,764,742.851675591,711,672.851675591,659,632,877,784,799,649,629,651,0.400958566209,0.0044674402184,0.0798332517926,0.99999995638,7.25603247426e-05,-0.000283521488921,3.98756562947e-05,1793193065250150144
+49,0.816666667,BASELINE,764,743,711.433352385,672.566647615,659,632,877,784,799,649,629,651,0.400957907784,0.00446838823603,0.079833327493,0.999999956052,7.45094423989e-05,-0.000284153498449,4.00249738215e-05,1793193065266816768
+50,0.833333333,BASELINE,764,742.988309772,712,672,659,632.011690228,877,784,799,649,629,651,0.40095697043,0.00446879548145,0.0798334762468,0.99999995567,7.63194931873e-05,-0.000284959235175,4.04188501465e-05,1793193065283483904
+51,0.850000000,BASELINE,764,742.413251745,712,672,659,632.586748255,877,784,799,649,629,651,0.400958658255,0.00446850624438,0.0798343498906,0.999999956127,7.66039728894e-05,-0.00028326788251,4.04500435299e-05,1793193065300150528
+52,0.866666667,BASELINE,764,742,712,672,659,632.834596799,877.165403201,784,799,649,629,651,0.400960023223,0.00446827924756,0.0798350300418,0.999999956593,7.61556348076e-05,-0.000281750500087,4.03762238662e-05,1793193065316817152
+53,0.883333333,BASELINE,764,742,712,672,659,632.246755389,877.753244611,784,799,649,629,651,0.400960563619,0.00446821121176,0.079835216015,0.999999957083,7.38356870353e-05,-0.00028067743611,4.00342018738e-05,1793193065333483776
+54,0.900000000,BASELINE,764,742,711.661581798,672,659,632,877.661581798,784,799,649,629,650.661581798,0.400959365806,0.00446807900946,0.0798347046602,0.999999956852,7.28475021496e-05,-0.000281779291736,3.9875374305e-05,1793193065350150144
+55,0.916666667,BASELINE,764,742,711.07833824,672,659,632,877.07833824,784,799,649,629,650.07833824,0.400956910503,0.00446790038652,0.0798336888303,0.999999956097,7.28227682659e-05,-0.00028445457183,3.98490769739e-05,1793193065366816768
+56,0.933333333,BASELINE,764,742,711,672,659,632,877,783.505051647,799,649.494948353,629,650,0.400957853789,0.00446764339939,0.0798335375548,0.999999956118,7.26789337691e-05,-0.00028442234552,3.98180039727e-05,1793193065383483648
+57,0.950000000,BASELINE,763.931521847,742.068478153,711.068478153,672,659,632,877,783.068478153,799,649.931521847,629,650.068478153,0.400959040292,0.00446736838589,0.0798334982295,0.999999956218,7.26053428163e-05,-0.000284085740798,3.98388918675e-05,1793193065400150016
+58,0.966666667,BASELINE,763.344451068,742.655548932,711.655548932,672,659,632,877,783.655548932,799,649.344451068,629,650.655548932,0.400958075358,0.0044670489348,0.0798332908626,0.999999956004,7.32036573887e-05,-0.00028462536715,4.02588968057e-05,1793193065416816896
+59,0.983333333,BASELINE,763.239733837,742.760266163,712,672.239733837,659.239733837,632,877.239733837,784,799,649,629,651,0.400958123521,0.00446697899905,0.0798334374915,0.999999955995,7.34375670182e-05,-0.000284574656623,4.04267378073e-05,1793193065433483776
+60,1.000000000,BASELINE,763.819821707,742.180178293,712,672.819821707,659.819821707,632,877.819821707,784,799,649,629,651,0.400959609995,0.00446726330424,0.0798340866937,0.999999956276,7.31541251033e-05,-0.000283685835293,4.02365776229e-05,1793193065450150400
+61,1.016666667,BASELINE,764,742,712,673,660,632.399522128,877.600477872,784,799.399522128,649.399522128,629,651,0.400959905848,0.0044674417534,0.0798346683188,0.999999956581,7.28435449181e-05,-0.000282723744039,3.99983726636e-05,1793193065466817024
+62,1.033333333,BASELINE,764,742,712,673,660,632.97904795,877.02095205,784,799.97904795,649.97904795,629,651,0.400959665269,0.00446757250937,0.0798352194971,0.999999956895,7.25207376701e-05,-0.000281728641256,3.97385212627e-05,1793193065483483392
+63,1.050000000,BASELINE,764,742.552292066,712,673,659.447707934,633,877,783.447707934,799.447707934,649.447707934,629,650.447707934,0.40095900456,0.00446743545007,0.0798351167086,0.999999956706,7.49063772056e-05,-0.000281689503409,4.03459566548e-05,1793193065500150016
+64,1.066666667,BASELINE,764,742.871303872,712,673,659,632.871303872,877,783,799,649,629,650.128696128,0.40095828047,0.00446724523247,0.0798348190947,0.999999956456,7.64370478689e-05,-0.000282105518232,4.07603198821e-05,1793193065516816640
+65,1.083333333,BASELINE,764,742.282767215,712,673,659,632.282767215,877,783,799,649,629,650.717232785,0.40095738622,0.00446690097055,0.0798339130041,0.999999956073,7.45498518926e-05,-0.000284019702539,4.03685837063e-05,1793193065533483520
+66,1.100000000,BASELINE,764,742,712,672.698771717,659.301228283,632,877.301228283,783.301228283,799,649,629,651,0.400957639454,0.0044667332895,0.0798336418497,0.999999955999,7.38737007354e-05,-0.000284480016902,4.01897382214e-05,1793193065550150400
+67,1.116666667,BASELINE,764,742,712,672.118975791,659.881024209,632,877.881024209,783.881024209,799,649,629,651,0.400958953852,0.0044667289056,0.0798339578669,0.999999956217,7.43174906741e-05,-0.000283595832164,4.02077682229e-05,1793193065566817280
+68,1.133333333,BASELINE,764,742,711.542692794,672.457307206,659.542692794,632,877.542692794,784,799.457307206,649,629,651,0.400959735408,0.0044665917469,0.0798346274792,0.999999956725,7.40763364634e-05,-0.000281857391194,4.02466174364e-05,1793193065583483904
+69,1.150000000,BASELINE,764,742.033346392,711,673,659.033346392,632.033346392,877,784,800,649,629,651,0.400960186406,0.00446650167008,0.0798352185528,0.999999957194,7.37368356827e-05,-0.000280272249359,4.02753504823e-05,1793193065600150528
+70,1.166666667,BASELINE,764,742.62039645,711,673,659.62039645,632.62039645,877,784,800,649,629,651,0.400957432919,0.00446776257798,0.079832989653,0.999999955826,7.47007000791e-05,-0.000284894796843,4.00468560872e-05,1793193065616817152
+71,1.183333333,BASELINE,764,743,711,673,660,633,877,784,799.7951719,649,629,650.7951719,0.400955829672,0.00446858478722,0.0798315802352,0.999999955044,7.50319148936e-05,-0.000287562192234,3.98813958042e-05,1793193065633483776
+72,1.200000000,BASELINE,764,743,711,673,660,633,877,784,799.215531542,649,629,650.215531542,0.400956331234,0.00446860422777,0.0798316703764,0.999999955369,7.42054526931e-05,-0.000286651881221,3.98312807803e-05,1793193065650150400
+73,1.216666667,BASELINE,764,742.636883012,711,672.636883012,659.636883012,632.636883012,877,784,799,649,629,650,0.400957880126,0.00446788123339,0.0798329827331,0.999999956187,7.30651113975e-05,-0.000284068118994,3.99213028457e-05,1793193065666816768
+74,1.233333333,BASELINE,764,742.058821622,711,672.058821622,659.058821622,632.058821622,877,784,799,649,629,650,0.400960048976,0.00446671876018,0.0798350185713,0.999999957285,7.17389717532e-05,-0.000280493769811,4.0094278022e-05,1793193065683483392
+75,1.250000000,BASELINE,764,742,711,672.515873457,659,632,877,784,799,649,629,650.515873457,0.400958496645,0.00446698125076,0.0798344510193,0.999999956617,7.25594580324e-05,-0.000282659160639,4.0059979924e-05,1793193065700150272
+76,1.266666667,BASELINE,763.907473844,742,711,673,659.092526156,632,877,784,799,649,629,651,0.400957026947,0.00446727841767,0.0798337430283,0.999999955955,7.33351398941e-05,-0.000284792299844,4.0055906144e-05,1793193065716817408
+77,1.283333333,BASELINE,763.31826552,742,711,673,659.68173448,632,877,784,799,649,629,651,0.400958263724,0.00446689519111,0.0798338643093,0.999999956435,7.25649232221e-05,-0.000283261910731,4.03401223079e-05,1793193065733484544
+78,1.300000000,BASELINE,763.267136458,742,711,672.732863542,660.267136458,632,877,783.732863542,799,649,629,650.732863542,0.400958837849,0.00446686414453,0.0798338161016,0.99999995658,7.23754346581e-05,-0.00028279698028,4.03359917631e-05,1793193065750150912
+79,1.316666667,BASELINE,763.848067236,742,711,672.151932764,660.848067236,632,877,783.151932764,799,649,629,650.151932764,0.400958633586,0.00446724678947,0.0798335688026,0.999999956336,7.28681038092e-05,-0.000283583600838,3.99931520614e-05,1793193065766817024
+80,1.333333333,BASELINE,764,742,711.425137898,672,660.149724205,632,877,783.425137898,799,649.425137898,629,650.425137898,0.400957988907,0.0044669291366,0.0798331894849,0.999999956278,7.18630285301e-05,-0.000284050462772,3.99298711313e-05,1793193065783483392
+81,1.350000000,BASELINE,763.999164243,742,711.999164243,672,659.000835757,632,876.999164243,784,799,649.999164243,628.999164243,651,0.400957189736,0.004466365666,0.079832765114,0.999999956286,7.03315415872e-05,-0.000284402884009,3.99649589504e-05,1793193065800149760
+82,1.366666667,BASELINE,763.42740145,742,711.42740145,672,659.57259855,632,876.42740145,784,799,649.42740145,628.42740145,651,0.400957405283,0.00446730361369,0.0798335035665,0.999999956347,7.1549998953e-05,-0.000283938367285,3.95635133414e-05,1793193065816816640
+83,1.383333333,BASELINE,763.149675767,742,711,672,659.850324233,632,876.149675767,784,799,649,628.149675767,650.850324233,0.400958137379,0.00446783321537,0.0798344235124,0.999999956504,7.2902359452e-05,-0.000283064055629,3.93913465704e-05,1793193065833483520
+84,1.400000000,BASELINE,763.7424872,742,711,672,659.2575128,632,876.7424872,784,799,649,628.7424872,650.2575128,0.400960398786,0.00446715385281,0.0798358807944,0.999999956944,7.465115886e-05,-0.000280976489672,3.98979911985e-05,1793193065850150400
+85,1.416666667,BASELINE,764,742.327714917,711,672.327714917,659.327714917,632,877,783.672285083,798.672285083,649.327714917,628.672285083,650.327714917,0.400960081383,0.00446640543027,0.0798355266789,0.999999956793,7.46606174919e-05,-0.000281487124757,4.00621665989e-05,1793193065866817024
+86,1.433333333,BASELINE,764,742.907118227,711,672.907118227,659.907118227,632,877,783.092881773,798.092881773,649.907118227,628.092881773,650.907118227,0.400957783427,0.00446560396899,0.0798337813915,0.999999956186,7.33342445944e-05,-0.000283993204821,3.99633221152e-05,1793193065883483648
+87,1.450000000,BASELINE,763.516434133,742.516434133,711,672.516434133,660,632.483565867,877,783.483565867,798.483565867,649.516434133,628,651,0.4009593742,0.00446525030888,0.0798349540792,0.999999956851,7.22183644e-05,-0.00028191128001,4.00995791789e-05,1793193065900150272
+88,1.466666667,BASELINE,763.060584285,742.060584285,711,672,659.939415715,632.939415715,877,784,799,649,628.060584285,651,0.400961301578,0.00446504091769,0.079836421972,0.99999995762,7.13109794061e-05,-0.000279384537732,4.02386505447e-05,1793193065916816896
+89,1.483333333,BASELINE,763.647462838,742.647462838,711,672,659.352537162,632.352537162,877,784,799,649,628.647462838,651,0.400959703853,0.00446534214055,0.0798356150484,0.999999957248,7.18656999418e-05,-0.000280602560158,4.00122702999e-05,1793193065933483520
+90,1.500000000,BASELINE,764,743,711.231203788,672.231203788,659,632,877,784,799,649,629,651,0.400958626905,0.00446636820758,0.0798349589189,0.999999956855,7.3166208498e-05,-0.000281688644176,3.98545654901e-05,1793193065950150144
+91,1.516666667,BASELINE,764,743,711.810224557,672.810224557,659,632,877,784,799,649,629,651,0.400958333402,0.00446848471135,0.0798345296402,0.999999956426,7.55886611599e-05,-0.000282576243367,3.98001742441e-05,1793193065966816768
+92,1.533333333,BASELINE,764,742.612492487,712,673,659.387507513,632.387507513,877,784,799,649,628.612492487,650.612492487,0.400958558731,0.00446864615197,0.0798345557236,0.999999956554,7.47818497225e-05,-0.000282337014628,3.98138198796e-05,1793193065983483648
+93,1.550000000,BASELINE,764,742.036056747,712,673,659.963943253,632.963943253,877,784,799,649,628.036056747,650.036056747,0.400959037016,0.00446785440709,0.0798348038175,0.99999995695,7.24006196179e-05,-0.000281548404092,3.98606367058e-05,1793193066000150528
+94,1.566666667,BASELINE,764,742.538412014,711.461587986,672.461587986,659.461587986,632.461587986,877,783.461587986,799,649,628.538412014,650.538412014,0.400959494668,0.00446780875595,0.0798349971748,0.999999956994,7.33382668265e-05,-0.000281148634134,3.98578655352e-05,1793193066016817152
+95,1.583333333,BASELINE,764,742.883880201,711.116119799,672,659,632.116119799,877.116119799,783.116119799,799,649,629,651,0.400959803664,0.00446806405944,0.0798351214085,0.999999957017,7.42150327291e-05,-0.000280841092383,3.98264766454e-05,1793193066033483776
+96,1.600000000,BASELINE,764,742.2923746,711.7076254,672,659,632.7076254,877.7076254,783.7076254,799,649,629,651,0.400959509715,0.00446934764063,0.0798349776083,0.999999957053,7.3935948163e-05,-0.000280804907569,3.96914747418e-05,1793193066050150400
+97,1.616666667,BASELINE,763.707062303,742,711.707062303,672.292937697,659,632.707062303,877.707062303,783.707062303,799,649,629,650.707062303,0.400958947868,0.00446934590307,0.0798347370189,0.999999956864,7.34372843626e-05,-0.000281610328279,3.96801609498e-05,1793193066066817024
+98,1.633333333,BASELINE,763.127803459,742,711.127803459,672.872196541,659,632.127803459,877.127803459,783.127803459,799,649,629,650.127803459,0.400958124174,0.00446808787802,0.0798344018266,0.999999956452,7.27240009548e-05,-0.00028323834527,3.97897415481e-05,1793193066083483648
+99,1.650000000,BASELINE,763.448589395,742,711.448589395,673,659.448589395,632,877,783.448589395,799,649,629,650.448589395,0.400958699202,0.0044684120416,0.0798349061073,0.999999956592,7.41949247984e-05,-0.000282358556231,3.98195210765e-05,1793193066100150016
+100,1.666666667,BASELINE,764,742,711.975342357,672.975342357,659.975342357,632,877,784,799.024657643,649.024657643,629,650.975342357,0.400959620306,0.00446907559191,0.0798355859837,0.999999956873,7.60758552047e-05,-0.000280855201688,3.98267876145e-05,1793193066116816896
+101,1.683333333,BASELINE,764,742,711.388170082,672.388170082,659.388170082,632,877,784,799.611829918,649.611829918,629,650.388170082,0.400959403253,0.00446726351302,0.0798348502573,0.999999956956,7.32042630481e-05,-0.000281322309956,3.98358350157e-05,1793193066133483776
+102,1.700000000,BASELINE,763.803717004,742,711,672,659,632,877,784,799.803717004,649.803717004,629,650.196282996,0.400959395935,0.00446620671025,0.0798344330065,0.999999957017,7.14766490455e-05,-0.00028154761518,3.98434974912e-05,1793193066150150656
+103,1.716666667,BASELINE,763.224568007,742,711,672,659,632,877,784,799.224568007,649.224568007,629,650.775431993,0.400959797724,0.00446662313537,0.0798346369682,0.99999995705,7.19804581123e-05,-0.000281301263781,3.98484585556e-05,1793193066166817792
+104,1.733333333,BASELINE,763,742,711.353302097,671.646697903,659.353302097,632,877,784,799,649,629,650.646697903,0.4009590809,0.00446655368615,0.0798344500936,0.999999956903,7.15218683426e-05,-0.000281925129554,3.9957694627e-05,1793193066183484416
+105,1.750000000,BASELINE,763,742,711.930362293,671.069637707,659.930362293,632,877,784,799,649,629,650.069637707,0.400957655621,0.0044661765164,0.0798340156892,0.99999995664,7.04537590761e-05,-0.0002831001331,4.01329715672e-05,1793193066200150784
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,742,712,672,659,632,877,784,799,649,629,651,0.400960328993,0.00446876561729,0.0798355044741,0.999999957087,7.51945356981e-05,-0.000280293627858,4.0097283557e-05,1793193066231128320
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.411135385,742,712,672,659.588864615,632,878.17772923,784,799,649,629,651,0.400960659668,0.00446978664357,0.0798351708347,0.999999957021,7.54712750024e-05,-0.000280486992872,3.98620327128e-05,1793193066247795712
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.825184219,672,659.825184219,632,878.825184219,783.825184219,799,649,629,651,0.40096013183,0.00446986997856,0.0798346839523,0.999999956902,7.46799297425e-05,-0.000281143662921,3.97117710688e-05,1793193066264462848
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.245972527,672,659.245972527,632,878.245972527,783.245972527,799,649,629,651,0.400957618022,0.00446778418167,0.0798338425776,0.999999956651,7.14178177252e-05,-0.000282872082133,3.97581122518e-05,1793193066281129472
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.669180421,742,711,672,659.330819579,632,877.669180421,783.330819579,799,649,629,651,0.400956787506,0.00446652834445,0.0798336200516,0.999999956474,7.01270588913e-05,-0.000283801544125,3.98884414568e-05,1793193066297796096
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.094174309,742,711,672,659.905825691,632,877.094174309,783.905825691,799,649,629,651,0.400957199473,0.00446588512217,0.0798338543141,0.999999956358,7.02914072939e-05,-0.000284141274916,4.00807644018e-05,1793193066314462720
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742.492141662,711,672,660,632,877,783.507858338,799,649,629,651,0.400957887938,0.00446587241806,0.0798337859889,0.999999956509,7.10945562554e-05,-0.0002834160915,4.00310941362e-05,1793193066331129088
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742.920586762,711,672,660,632,877,783.079413238,799,649,629,651,0.400958894369,0.00446621014729,0.0798339893953,0.999999956756,7.21490446758e-05,-0.000282294560609,3.98984506144e-05,1793193066347795456
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742.341244176,711,672,660,632,877,783.658755824,799,649,629,651,0.400961561582,0.00446797654152,0.0798362765137,0.999999957283,7.39981614325e-05,-0.000279990922241,3.95418384665e-05,1793193066364461824
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.237115342,742,711,672,659.762884658,632,877,783.762884658,799,649,629,650.762884658,0.400968047584,0.00446839472457,0.0798396135558,0.9999999587,7.40191323151e-05,-0.000274882700918,3.95039109865e-05,1793193066381128448
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.814065869,742,711,672,659.185934131,632,877,783.185934131,799,649,629,650.185934131,0.4009800067,0.00446688064283,0.0798444553549,0.99999996134,7.14199929837e-05,-0.00026575493402,3.99227243857e-05,1793193066397794816
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.611169635,742,711,672,659,632,877,783,799.388830365,649,629,650.388830365,0.401009432133,0.00446716906,0.0798561387559,0.999999966845,7.16953014388e-05,-0.000244141145326,3.95561066134e-05,1793193066414461440
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.037444578,742,711,672,659,632,877,783,799.962555422,649,629,650.962555422,0.401047163065,0.0044683145924,0.079871075442,0.999999973102,7.33374528111e-05,-0.000216590064359,3.88160045089e-05,1793193066431128320
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.552889555,742,711,672,659.552889555,632,877.552889555,783,799.447110445,649,629,651,0.401105787119,0.0044676076912,0.0798870268271,0.999999980169,7.01176580419e-05,-0.000182623773597,3.73449888604e-05,1793193066447795200
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672,660,632.14151748,877.85848252,783.14151748,799,649,628.85848252,651,0.401167726128,0.00446715964563,0.0799009617756,0.999999985217,6.71971024227e-05,-0.000154185852681,3.57440366982e-05,1793193066464462336
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,660,632.72127075,877.27872925,783.72127075,799,649,628.27872925,651,0.401235413045,0.0044679137277,0.0799084330508,0.999999986826,6.62544442694e-05,-0.000144254665331,3.38987488562e-05,1793193066481128704
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.701522221,742,711,672.298477779,660,632.701522221,877,783.701522221,799.298477779,649,628.298477779,651,0.40131300026,0.00446898930094,0.0799139581123,0.999999988081,6.54032020333e-05,-0.000136327304361,3.12387455495e-05,1793193066497794816
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.126672885,742,711,672.873327115,660,632.126672885,877,783.126672885,799.873327115,649,628.873327115,651,0.401399754523,0.00447036255463,0.0799176811025,0.999999989041,6.46366052169e-05,-0.000130255360554,2.78243673342e-05,1793193066514461440
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.446449838,742,711,672.553550162,660,632.446449838,877,783,799.553550162,649,629,651,0.401507544967,0.00447097243918,0.0799204889085,0.999999990037,6.11125709025e-05,-0.000125060899245,2.34762288694e-05,1793193066531128064
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.019660227,672,660,633,877.019660227,783.019660227,799,649,629,651,0.40162221798,0.00447139736532,0.0799231923061,0.999999991023,5.67991203743e-05,-0.00011988961971,1.88427469014e-05,1793193066547794944
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.609568477,672,660,633,877.609568477,783.609568477,799,649,629,651,0.401764065624,0.00447271567199,0.079930370037,0.999999992692,5.21941001598e-05,-0.000108197095022,1.35878304345e-05,1793193066564461568
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.803630763,742,712,672,660,633,877.803630763,784,799,649,629,650.803630763,0.401915866201,0.00447392208964,0.0799366943119,0.999999994123,4.63547333147e-05,-9.76932850077e-05,7.84140281254e-06,1793193066581128192
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.222912298,742,712,672,660,633,877.222912298,784,799,649,629,650.222912298,0.402087147418,0.00447490950918,0.0799413481352,0.999999995267,3.80994072524e-05,-8.95161217208e-05,1.13295173496e-06,1793193066597795328
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,711.645301536,672.354698464,659.645301536,632.645301536,877,783.645301536,798.645301536,649,628.645301536,650,0.402280151054,0.00447662788779,0.0799459219858,0.999999996208,2.99006573028e-05,-8.15508336964e-05,-6.30331158217e-06,1793193066614461952
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,711.069626809,672.930373191,659.069626809,632.069626809,877,783.069626809,798.069626809,649,628.069626809,650,0.402486687718,0.00447880165217,0.0799504460142,0.999999996946,2.1737153325e-05,-7.37175426327e-05,-1.41930007702e-05,1793193066631128320
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,711,672.496671373,659.503328627,632,877,783.503328627,798.503328627,649,628.503328627,650,0.402710558666,0.00447973559072,0.0799463773005,0.99999999618,1.70580349384e-05,-8.31924827496e-05,-2.06682162061e-05,1793193066647794944
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.079148718,742,711,672,659.920851282,632,877,783.920851282,799,649,629,650,0.402942243382,0.0044812592977,0.0799412030583,0.99999999507,2.03083581518e-05,-9.39418543546e-05,-2.49373691281e-05,1793193066664461568
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.676160248,742,711,672,659.323839752,632,877,783.323839752,799,649,629,650,0.403209448051,0.00448775793994,0.0799365309248,0.999999992509,7.23035248648e-05,-9.74482515924e-05,-1.60458181733e-05,1793193066681128192
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.26300733,711.26300733,672,659.26300733,632.26300733,877,783.26300733,799,649,629,650.26300733,0.403501877945,0.00449513177032,0.0799357988615,0.99999999385,5.34855344093e-05,-9.60221533871e-05,-1.4795944884e-05,1793193066697794816
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.837804624,711.837804624,672,659.837804624,632.837804624,877,783.837804624,799,649,629,650.837804624,0.403824211826,0.00450354311845,0.0799397376732,0.999999994592,-4.92800505649e-05,-8.87486791061e-05,-2.26051291212e-05,1793193066714461696
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.587042196,712,672,660,632.587042196,877,784,799,649,628.587042196,651,0.404173499024,0.00450952220814,0.079940551839,0.999999994405,-5.42293277823e-05,-8.71366475431e-05,-2.56096794452e-05,1793193066731128576
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.01174913,712,672,660,632.01174913,877,784,799,649,628.01174913,651,0.404533381665,0.00451454516771,0.0799401376948,0.999999995578,-2.07266451893e-05,-8.77501506719e-05,-2.67255100121e-05,1793193066747795200
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.424200996,742,712,672.575799004,660,632,877,783.424200996,799.575799004,649,628.575799004,651,0.404950046003,0.00452460808031,0.0799426319228,0.999999996206,1.97566592408e-05,-7.98867352432e-05,-2.85734567112e-05,1793193066764461824
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.161696244,742,711.838303756,672.838303756,660,632.161696244,877,783.161696244,799.838303756,649,629,651,0.405375121523,0.00453434946122,0.0799427833705,0.999999995218,5.2249258743e-05,-7.67606975211e-05,-3.06967315604e-05,1793193066781128448
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.74265035,742,711.25734965,672.25734965,660,632.74265035,877,783.74265035,799.25734965,649,629,651,0.405818936603,0.0045429847003,0.079936703065,0.999999993683,6.36456092688e-05,-8.63763255912e-05,-3.34943205408e-05,1793193066797795072
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,672.319341442,660.319341442,632.680658558,877.319341442,783.680658558,799,649,629,651,0.406280818644,0.00455335551588,0.0799295480129,0.999999991993,6.98542006163e-05,-9.93273606702e-05,-3.56263351206e-05,1793193066814461696
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,672.892642393,660.892642393,632.107357607,877.892642393,783.107357607,799,649,629,651,0.406757068666,0.00456510656715,0.079921538257,0.999999990115,7.19371752822e-05,-0.000114930912903,-3.72290452321e-05,1793193066831128320
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,673,660.53022355,632,877.53022355,783,799,649,629,651,0.407272996228,0.00457553757515,0.0799206451191,0.999999987682,9.38721872595e-05,-0.000119770142761,-3.84565786352e-05,1793193066847794688
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.048967571,711,672.951032429,660,632.048967571,877.048967571,783.048967571,798.951032429,649,629,651,0.407800619573,0.00458564092998,0.0799202744832,0.999999984641,0.000117462682251,-0.000123885992732,-3.9648126884e-05,1793193066864461312
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.641182169,711,672.358817831,660,632.641182169,877.641182169,783.641182169,798.358817831,649,629,651,0.408356574264,0.00459548354794,0.0799075092594,0.999999982361,0.000108674113782,-0.00014749201705,-4.13994690433e-05,1793193066881128448
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711.227177636,672.227177636,660,632.772822364,878,783.772822364,798.227177636,649,629,651,0.408946760282,0.00460642499078,0.0799071724079,0.999999981289,0.000114565820823,-0.00014975939947,-4.32345739896e-05,1793193066897795584
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,711.803611947,672.803611947,660,632.196388053,878,783.196388053,798.803611947,649,629,651,0.409589572571,0.00461905573629,0.0799259425962,0.999999981643,0.000143026581789,-0.000119221336862,-4.5198453426e-05,1793193066914461952
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,711.620703004,673,660.758593992,632,878,783.379296996,799,649,629,651,0.410268185326,0.004627150921,0.0799576850289,0.999999985788,0.000147748482526,-6.63647409678e-05,-4.67959568377e-05,1793193066931128576
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,711.045405152,673,661.909189696,632,878,783.954594848,799,649,629,651,0.41096529787,0.00463290236463,0.0799961308385,0.999999989008,0.000140203380163,-1.97509474637e-06,-4.82041360796e-05,1793193066947794944
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,711.544097072,673,661.455902928,632.544097072,878.544097072,783.455902928,799.544097072,649,629,650.455902928,0.411638019092,0.00462285684471,0.0799820672037,0.999999989544,0.000132084627817,-3.09208397846e-05,-5.0095529082e-05,1793193066964461568
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,711.867800108,673.132199892,661,632.867800108,878.867800108,783,799.867800108,649,629,650,0.412313576808,0.00460724913487,0.0799594691141,0.999999989355,0.000117197024287,-6.98906667806e-05,-5.16701768869e-05,1793193066981128192
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,711.288545658,673.711454342,661,632.288545658,878.288545658,783,799.288545658,649,629,650,0.413005794183,0.00457740942919,0.079923225862,0.999999988785,7.95857205435e-05,-0.000115713109537,-5.20336823755e-05,1793193066997794816
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.71276091,743,711.28723909,673.71276091,661,632.28723909,878,783.28723909,799,649,629,650.28723909,0.413730839306,0.00455999311234,0.0799064974102,0.999999988335,5.26067793006e-05,-0.000133374483348,-5.26709836574e-05,1793193067014461696
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.140419976,743,711.859580024,673.140419976,661,632.859580024,878,783.859580024,799,649,629,650.859580024,0.414488468002,0.0045549077426,0.0799091385515,0.999999990335,3.6181084492e-05,-0.000123084330776,-5.35800436775e-05,1793193067031128576
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,712,673,661.444908354,632.555091646,878,783.555091646,799,649,629,651,0.415266658794,0.00456182335443,0.0799308299478,0.999999993605,4.44830660167e-05,-8.84452638516e-05,-5.46689644865e-05,1793193067047795456
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742.966117195,711.966117195,673,661.966117195,632,877.966117195,783,799,649,628.966117195,651,0.416051941449,0.00457255732709,0.0799560613575,0.999999995354,6.03982828953e-05,-5.04004774914e-05,-5.57059231357e-05,1793193067064462080
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.38642331,711.38642331,673,661.38642331,632,877.38642331,783,799,649,628.38642331,651,0.416843781297,0.00458195062472,0.0799385507937,0.999999992464,6.94532050783e-05,-8.50103635078e-05,-5.49638949088e-05,1793193067081128192
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.192237463,742.192237463,711,673.192237463,661,632,877.192237463,783.192237463,799,649,628.192237463,650.807762537,0.417663584814,0.00458826897116,0.0799344158855,0.999999991471,7.76018496563e-05,-8.95530566158e-05,-5.49207714342e-05,1793193067097794816
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.768832607,742.768832607,711,673.768832607,661,632,877.768832607,783.768832607,799,649,628.768832607,650.231167393,0.418539298566,0.00458843929003,0.0799570241319,0.999999994316,8.39384912085e-05,-3.39796996431e-05,-5.62750312529e-05,1793193067114461440
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.654661746,711,673.654661746,661.345338254,632,878,784,799,649,629,650.345338254,0.419396116394,0.00458285714341,0.0799680546212,0.999999995176,7.98649628703e-05,-9.00138700863e-06,-5.6468423585e-05,1793193067131128320
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.078216017,711,673.078216017,661.921783983,632,878,784,799,649,629,650.921783983,0.420240288645,0.00457342532831,0.079971337036,0.99999999606,6.88247341763e-05,-4.49791078647e-06,-5.58849394949e-05,1793193067147794944
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.491293824,742,711.508706176,673,661.491293824,632,878,784,799,649,628.491293824,650.491293824,0.421062291577,0.00457462659457,0.0799579233283,0.999999994931,7.90145776931e-05,-2.90385500267e-05,-5.52383560407e-05,1793193067164461824
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742.095470317,711.904529683,673.095470317,661.095470317,632.095470317,878,783.904529683,799,649,628,650,0.421897121756,0.00457813962104,0.0799491346764,0.999999993303,9.10439977794e-05,-4.5915813126e-05,-5.4747302771e-05,1793193067181128960
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742.673129272,711.326870728,673.673129272,661.673129272,632.673129272,878,783.326870728,799,649,628,650,0.422814315683,0.00458489767638,0.0799769438814,0.999999993919,9.55313198863e-05,-1.05903572704e-06,-5.5091811899e-05,1793193067197795584
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742.749036729,711,674,662.250963271,633,878,783.250963271,799.250963271,649,628.250963271,650,0.423699850373,0.00459094031031,0.0799912048004,0.999999993447,9.93306744659e-05,1.56566790657e-05,-5.47260433226e-05,1793193067214461952
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742.170974502,711,674,662.829025498,633,878,783.829025498,799.829025498,649,628.829025498,650,0.424544121371,0.00459605048365,0.0799878072421,0.999999993337,0.000102233350978,-4.30592396263e-06,-5.34345175334e-05,1793193067231128320
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,742.402475941,711,673.597524059,661.792572178,633,878,783.597524059,799.597524059,649,628.597524059,650,0.425363754376,0.00459545914794,0.079950254712,0.999999990897,0.000102384625061,-6.87797875334e-05,-5.46974741868e-05,1793193067247794688
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742.973989426,711,673.026010574,660.078031723,633,878,783.026010574,799.026010574,649,628.026010574,650,0.426173039518,0.00459247321142,0.0798983572934,0.999999981691,0.000101380325424,-0.000151948119025,-5.70332983105e-05,1793193067264461568
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742.433116567,711.566883433,673.566883433,660.566883433,632.433116567,878,783,799.566883433,649,628.566883433,650,0.427047644748,0.00458721920653,0.0798991171496,0.999999984959,9.16560713818e-05,-0.000134490853018,-5.99477747016e-05,1793193067281127936
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.155503591,742.155503591,711.844496409,674,661.155503591,632,878,783,799.844496409,649,629,650,0.427920552716,0.00458378989826,0.0799038616564,0.999999987327,8.53529099371e-05,-0.000119527869608,-6.14322088886e-05,1793193067297794816
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.729865851,742.729865851,711.270134149,674,661.729865851,632,878,783,799.270134149,649,629,650,0.428780499638,0.00458556682199,0.0799125760857,0.999999986552,8.93846149026e-05,-0.000124207140256,-5.89904160564e-05,1793193067314461696
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711,674.305260939,661.389478122,632,878,783.305260939,799,649,629,650,0.429652341011,0.00458931061916,0.0799346418161,0.999999989272,9.50366539766e-05,-9.54807073144e-05,-5.75184217342e-05,1793193067331128320
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,674.881573079,660.236853842,632,878,783.881573079,799,649,629,650,0.430534743811,0.00459480086767,0.0799685626041,0.999999992478,0.000102127440396,-3.70922538525e-05,-5.69075432995e-05,1793193067347794944
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.545171231,743,711,674.545171231,661.364486306,632,878,784,799,649.454828769,629,650,0.431389411675,0.00459660252233,0.0799988928959,0.99999999291,0.000104658924625,7.88108988509e-06,-5.6259083213e-05,1793193067364461824
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,743,711,674,662.942966472,632,878,783.971483236,799,649.971483236,629,650,0.432230945805,0.00459729943902,0.0800242480285,0.999999991921,0.000105917595763,4.29706452669e-05,-5.56129403543e-05,1793193067381128192
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,711,674,661.746742788,632,878,783.373371394,799,649.373371394,629,650,0.432953425354,0.00459498578296,0.0799687778067,0.999999991679,0.000105306690536,-5.00557607039e-05,-5.52072329507e-05,1793193067397794816
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,743,711,674,660.784013375,632,878,783,799,649,629,650,0.433696128299,0.0045917156706,0.0799189464113,0.999999985693,0.000100100531891,-0.000124262687104,-5.61573155654e-05,1793193067414461440
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,743,711,674,660.209198382,632,878,783,799,649,629,650,0.434472429404,0.0045868565537,0.079878483045,0.999999980452,8.7260071537e-05,-0.000167203974781,-5.93598340674e-05,1793193067431128320
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,743,711,674,660.732140174,632,878,783.366070087,799,649,629,650,0.435254788459,0.0045830706607,0.0798911418848,0.999999984765,8.18219420639e-05,-0.000142245656497,-5.95150804246e-05,1793193067447794944
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,743,711,674,661.883195985,632,878,783.941597993,799,649,629,650,0.436040613702,0.00457989884477,0.079934196167,0.999999991996,8.06192755221e-05,-7.8436569149e-05,-5.79267396273e-05,1793193067464461568
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.532168751,743,711,674,661.467831249,632,877.467831249,783.467831249,799,649,629,650,0.436746683559,0.00458596281249,0.079947903717,0.99999999226,8.16018527465e-05,-7.50264402951e-05,-5.65032583489e-05,1793193067481127936
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.87894757,742.87894757,711,674,660.87894757,632,877.12105243,783,799,649,629,650,0.437436539495,0.00459366448934,0.0799513252556,0.999999990988,8.84527030502e-05,-8.44692643464e-05,-5.53690104619e-05,1793193067497794816
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.302793551,742.302793551,711,674,660.302793551,632,877.697206449,783,799,649,629,650,0.438099301581,0.00460360181038,0.0799285363421,0.999999984898,0.000116437741789,-0.000116588702225,-5.52521501892e-05,1793193067514461440
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+187,3.116666667,POSE1_TO_POSE2_PRESS,763,743,711,674,660,632,878.010353487,783,799.005176744,649,628.005176744,650.994823256,0.440456410194,0.00462735369988,0.0797652828575,0.999999921417,0.000147795392654,-0.000363138231268,-5.87662622921e-05,1793193067581127936
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,742.407871388,711,674,659.407871388,632,878.592128612,783,799,649,628.592128612,650.407871388,0.440938264648,0.00463357770467,0.0797029244037,0.999999880674,0.000144926250228,-0.000462846201366,-5.84888074982e-05,1793193067597794816
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+190,3.166666667,POSE1_TO_POSE2_PRESS,763,742.753775405,711,674,659,631.246224595,879,783,799,649,628.246224595,650,0.441967865926,0.00464510681855,0.0796694998307,0.99999985696,0.000157902262072,-0.000507428224176,-6.05193376738e-05,1793193067631128576
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631,878.671717254,783,799,649,628.328282746,650,0.442504937861,0.00466023857946,0.0796985282414,0.99999987621,0.000175369922454,-0.000461440408126,-6.2431021706e-05,1793193067647795200
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631,878.095438507,783,799,649,628.904561493,650,0.443045750157,0.00468262768681,0.0797442122139,0.999999900723,0.000197374420757,-0.000394252768559,-6.45082913877e-05,1793193067664461824
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,743,711,674.491898958,659,631,878,783,799,649,628.508101042,650.491898958,0.443481548323,0.00470275255406,0.0797517939171,0.999999897428,0.00022714844511,-0.000386492022948,-6.45881637828e-05,1793193067681128448
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742.763797734,711,675,658.763797734,631,879.236202266,783,800,649,628,650.236202266,0.444583592024,0.00473100590184,0.0796958529623,0.999999849073,0.000259913752955,-0.000479661300875,-6.49893036921e-05,1793193067731128064
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,742.190431994,711,675,658.190431994,631,879.809568006,783,800,649,628,650.809568006,0.444910005041,0.00474068502105,0.0796758505749,0.999999834992,0.000254099235744,-0.00051114935997,-6.46233244384e-05,1793193067747794688
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742,711,675,658,631,879.212551771,782.606275886,800,649,628.393724114,650.606275886,0.445231142041,0.00474962161398,0.0796694801166,0.999999827284,0.000267975675467,-0.000519074846368,-6.46637932227e-05,1793193067764461312
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763,742,710,674.276431973,657.723568027,630,878.276431973,782,799,649,628,650.723568027,0.446320032112,0.00476673680276,0.0796665865943,0.999999825436,0.000284787837807,-0.000513661302446,-6.4617055459e-05,1793193067831128832
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+239,3.983333333,POSE1_TO_POSE2_PRESS,763.809687975,742,710,675,656,629,879,782,799.809687975,649,628,651,0.447847059736,0.00482006207296,0.0796179676332,0.999999768874,0.00035113579138,-0.00057814708583,-6.85630806966e-05,1793193068447794688
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.236279384,742,710,675,656,629,879,782,799.236279384,649,628,651,0.447846869321,0.00481775417467,0.0796182659661,0.999999769348,0.00034952629112,-0.000578326433078,-6.83616769532e-05,1793193068464461312
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.347744919,742.347744919,710,675,656,629,878.652255081,782,799,649,628,651,0.447847790613,0.00481818234175,0.0796188701646,0.999999769763,0.000350089073405,-0.00057728360851,-6.82300098952e-05,1793193068481128192
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.939209293,742.939209293,710,675,656,629,878.060790707,782,799,649,628,651,0.447849491054,0.00482052809944,0.0796196887313,0.999999770131,0.000352174315157,-0.000575384216276,-6.81472182885e-05,1793193068497795072
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.479792456,742.479792456,710.520207544,675,656,629,878.520207544,782,799,649,628,650.479792456,0.447849140595,0.00481989058528,0.0796186737338,0.999999770106,0.000350884825378,-0.000576236050064,-6.79667427669e-05,1793193068514461696
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.099521939,742.099521939,710.900478061,675,656,629.099521939,879,782,799.099521939,649,628,650,0.447848373756,0.00481943850447,0.0796175270527,0.99999976953,0.000350347549218,-0.000577578161455,-6.7822833342e-05,1793193068531128576
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+247,4.116666667,POSE1_TO_POSE2_PRESS,764,742.17254467,710,675,656,629.17254467,879,782,800,649,628,650.82745533,0.447847152623,0.00482131321201,0.0796165362246,0.999999766976,0.000353536024934,-0.000580057718755,-6.77802378762e-05,1793193068581128192
+248,4.133333333,HOLD_POSE2,764,742,711,674,656,629,879,782,799,649,629,651,0.447848176009,0.00481838791497,0.0796175294772,0.999999769399,0.000348196252435,-0.000579146758265,-6.74533768303e-05,1793193068614385408
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+251,4.183333333,HOLD_POSE2,763,742.269848385,710,675.730151615,656,629.730151615,878,782,800.269848385,649.269848385,628,650.269848385,0.44784856004,0.00481980562403,0.0796169282625,0.999999768766,0.000349217920732,-0.000579537248373,-6.81995775719e-05,1793193068664386816
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+253,4.216666667,HOLD_POSE2,763,742.880386467,710,675.119613533,656,629.119613533,878.880386467,782,799.119613533,649,628,650.880386467,0.447849589503,0.00481736478472,0.0796176239784,0.999999770358,0.000346146501434,-0.000578691152916,-6.76938601606e-05,1793193068697719296
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+262,4.366666667,HOLD_POSE2,763.877025688,742,710,674.877025688,656,629,878.877025688,782,799,649,628,650.877025688,0.447851672828,0.00481690458968,0.0796187324155,0.999999771369,0.000347142868499,-0.000576372390484,-6.74443586423e-05,1793193068847719168
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.846222124,710,675,656,629,879,782,799,649.846222124,628.153777876,650.846222124,0.447852072624,0.00481806741901,0.0796186646107,0.999999771483,0.000346841979597,-0.000576377196743,-6.7261892608e-05,1793193068963632128
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,710,675,656,630,878,782,799,649,628,650,0.447853881105,0.00481771477421,0.0796201479058,0.999999772212,0.000348208482136,-0.000574303700849,-6.7104674111e-05,1793193069030297088
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,710,675,656,629,878.788426749,782,799.788426749,649,628,651,0.447792148058,0.00481750528371,0.0795873201039,0.999999740619,0.000351275925653,-0.000625185388075,-6.71666025252e-05,1793193069096964352
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.627799997,742,710.372200003,675,656,629,879,782,800,649,628,650.627799997,0.447743471274,0.00481759406238,0.0795689875364,0.999999720145,0.000351607749945,-0.000656997169464,-6.66071523531e-05,1793193069113630720
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.039393188,742,710.960606812,675,656,629,879,782,800,649,628,650.039393188,0.44768388811,0.00481801523403,0.0795484926089,0.999999695708,0.000352402781408,-0.000692873838337,-6.574200841e-05,1793193069130297088
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.305543212,742.305543212,710,675,656,630,879,782,800,649,628,650,0.447462254329,0.00481340983591,0.0795304396381,0.999999681741,0.000351138614527,-0.000713888550444,-5.98544435156e-05,1793193069180296960
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.606044952,742,710.606044952,674.393955048,657.393955048,630,878.393955048,782,799.393955048,649,628.393955048,650.393955048,0.443778907955,0.00470526092187,0.0795866629046,0.999999735622,0.000295600034939,-0.000664140517657,1.71447049194e-05,1793193069430297088
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.014727113,742,710.014727113,674.985272887,657.985272887,630,878.985272887,782,799.985272887,649,628.985272887,650.985272887,0.443340139111,0.00469851643807,0.0795942567456,0.999999731413,0.00032817179927,-0.000655063960787,1.91962621681e-05,1793193069446963712
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.565604109,742,710,674.434395891,658,630.565604109,879.565604109,782.565604109,799.434395891,649,628.434395891,651,0.442875322421,0.00468805077241,0.0796071997412,0.999999756975,0.000297155908266,-0.000630353185083,2.00829741499e-05,1793193069463630592
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.855929477,742.144070523,710.144070523,674.144070523,658,631,879.855929477,783,799,649,628,651,0.442399062604,0.00467817907578,0.0796217737166,0.999999782313,0.000266472915523,-0.000603261095073,2.10248762317e-05,1793193069480297216
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.28218781,742.71781219,710.71781219,674.71781219,658,631,879.28218781,783,799,649,628,651,0.441890659456,0.00467036227472,0.0796408043995,0.999999807964,0.000241626528195,-0.000570257991716,2.22201071394e-05,1793193069496963840
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,743,711,675,658,631,878.701311481,782.701311481,799,649,628.298688519,650.701311481,0.441352543343,0.00466161102617,0.0796517768867,0.999999821942,0.000230198324926,-0.000550060695666,2.36091224423e-05,1793193069513630720
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,743,711,675,658,631,878.113529618,782.113529618,799,649,628.886470382,650.113529618,0.440785668715,0.00465195534771,0.0796549500446,0.999999825805,0.000231757252634,-0.000542257825468,2.51856971105e-05,1793193069530297344
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,742.530431386,711,674.530431386,658.469568614,631.469568614,878,782,799.469568614,649,628.530431386,650,0.440122180575,0.0046420394085,0.0796278768465,0.999999806065,0.000226168046364,-0.000579743080348,2.48154419839e-05,1793193069546964224
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,631.949116808,878,782.050883192,799.949116808,649,628.050883192,650,0.439441360154,0.00463208567167,0.0795994523455,0.999999784635,0.000217331931526,-0.000618803126041,2.40817710539e-05,1793193069563631104
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,631.374618836,878,782.625381164,799.374618836,649,628.625381164,650,0.43882018004,0.00462238410049,0.079631631488,0.999999822931,0.000192692231297,-0.000562505259182,2.44042074001e-05,1793193069580297472
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,631,878,783,799,649,629,650,0.438195080916,0.00461256824258,0.079680049742,0.999999865738,0.000176224501213,-0.000486566843403,2.68561513483e-05,1793193069596963840
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,631,878,783,799,649,629,650,0.437562636718,0.00460253818602,0.0797589037697,0.999999914251,0.000175072896459,-0.000373817589423,3.32992751173e-05,1793193069613630464
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.358331919,711,674,659,631.358331919,878,783,799.358331919,649,628.641668081,650,0.436892320146,0.0045921255561,0.0798157230073,0.999999943824,0.000167268250616,-0.000288260084954,3.57589114442e-05,1793193069630297088
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,742.949546766,711,674,659,631.949546766,878,783,799.949546766,649,628.050453234,650,0.436197390024,0.00458146428891,0.0798582216462,0.999999963049,0.000155139737795,-0.000220374732525,3.56296455783e-05,1793193069646963712
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742.470364222,711,674.529635778,659,632,878,783.529635778,800,649,628.529635778,650,0.435383961663,0.00457197944642,0.0798494730024,0.999999962592,0.000134158983914,-0.000235571059851,3.63899277511e-05,1793193069663630848
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742,711,674.892078439,659,632,878,783.892078439,800,649,629,650,0.43455873525,0.00456271077604,0.0798348955587,0.999999959112,0.000116277682604,-0.000258651474278,3.67999376747e-05,1793193069680297472
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742,711,674.317104309,659,632,878,783.317104309,800,649,629,650,0.433730297355,0.00455390262495,0.0798157852302,0.999999952871,0.000115384225098,-0.00028230547452,3.53348945291e-05,1793193069696964096
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,632,878,783,800,649,629,650,0.432866117797,0.00454480969175,0.0797833362831,0.999999936257,0.000107669252398,-0.000338541426804,3.58094510182e-05,1793193069713630464
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,632,878,783,800,649,629,650,0.431957986347,0.00453536655876,0.0797344847376,0.999999900516,9.156581221e-05,-0.000434843642725,3.86691468112e-05,1793193069730296832
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,658.566929242,632,878,783,799.566929242,649,629,650,0.431081636342,0.00452387242789,0.0797276265372,0.999999894821,8.32124840914e-05,-0.000449362137338,3.88151207816e-05,1793193069746963712
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.012330776,711,673.987669224,658.024661552,632,878,783,799.012330776,649.012330776,628.987669224,650,0.430216885771,0.00451169770419,0.0797363707766,0.999999902125,7.72772639427e-05,-0.000433968166982,3.80891715242e-05,1793193069763630592
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.588736753,711,673.411263247,659.177473506,632,878,783,799.588736753,649.588736753,628.411263247,650,0.429391774222,0.00450007402382,0.0798101158842,0.999999948096,6.22308836131e-05,-0.000313661577503,3.93999697776e-05,1793193069780297984
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.835967012,711,673.164032988,660,632,878,783.164032988,799.835967012,649.835967012,628.164032988,650,0.428545779666,0.00448800837233,0.0798622447414,0.999999972068,4.72474493392e-05,-0.00022795770954,4.08229403789e-05,1793193069796964864
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.263434457,711,673.736565543,660,632,878,783.736565543,799.263434457,649.263434457,628.736565543,650,0.427647779161,0.00447484205873,0.0798605415629,0.999999972481,3.24207756172e-05,-0.000228426749129,4.25252605488e-05,1793193069813631232
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742.320867813,711,674,660,632,878,784,799,649,629,650,0.426727533767,0.0044618211668,0.0798313519881,0.999999962448,1.89731734796e-05,-0.000270226118362,4.14855982107e-05,1793193069830297600
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742.915201005,711,674,660,632,878,784,799,649,629,650,0.425788329812,0.00444892421378,0.0797787366364,0.99999993896,6.70091063208e-06,-0.000347250005083,3.81090315593e-05,1793193069846963968
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.496390777,742.503609223,711,674,659.503609223,632,877.503609223,784,799,649,629,650.496390777,0.424824709531,0.00443703399327,0.0797551891899,0.999999924192,-1.33462218645e-05,-0.000387298893011,3.79159257536e-05,1793193069863630336
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.925071377,742,711,674,659.074928623,632,877,783.925071377,799,649,628.925071377,650.925071377,0.423861799967,0.00442562923231,0.0797390244379,0.999999912126,-3.28528536175e-05,-0.000416158894737,3.84771076319e-05,1793193069880296960
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.34963681,742,711,674,659.65036319,632,877,783.34963681,799,649,628.34963681,650.34963681,0.422930781355,0.00441634807277,0.0797398602558,0.999999913756,-4.01059065184e-05,-0.000411383977442,4.05377754684e-05,1793193069896963840
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742.229912751,711,674,659.770087249,632,877.229912751,783,799,649,628.229912751,650,0.422055183017,0.00440792001624,0.0797661035561,0.999999932174,-4.67374722977e-05,-0.000362892986765,4.21575129376e-05,1793193069913630720
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742.815834266,711,674,659.184165734,632,877.815834266,783,799,649,628.815834266,650,0.42126540015,0.00440081294701,0.0798316891132,0.999999967265,-5.24066960429e-05,-0.000246709768126,4.30944910012e-05,1793193069930297344
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742.602350053,711,673.602350053,659,632.397649947,877.602350053,783,799.397649947,649,628.602350053,650.397649947,0.42041431355,0.00442329910105,0.079861779857,0.999999979361,-2.39390278423e-05,-0.000197159557388,4.28235519635e-05,1793193069946964224
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742.022416531,711,673.022416531,659,632.977583469,877.022416531,783,799.977583469,649,628.022416531,650.977583469,0.419535125237,0.00445935085154,0.0798755996995,0.999999983045,2.01770638764e-05,-0.000178154065579,4.19989012137e-05,1793193069963631104
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.554048445,659,632.445951555,877.554048445,783,799.445951555,649,628,650.445951555,0.418594780121,0.00447604145937,0.0798281628975,0.999999965023,3.93395490455e-05,-0.000258307620821,4.10196891585e-05,1793193069980297472
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.869635036,659.130364964,632,877.869635036,783,799,649,628.130364964,650.130364964,0.417667116197,0.00448469191161,0.0797924520204,0.999999946346,4.66890812682e-05,-0.000321733387115,4.01905849567e-05,1793193069996964096
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.293349314,659.706650686,632,877.293349314,783,799,649,628.706650686,650.706650686,0.416791240142,0.00446850335164,0.0798052751509,0.999999949665,1.70636831481e-05,-0.000314303156124,3.98961913985e-05,1793193070013630720
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742.28925272,711,673,659.71074728,632,877,783,799,649,629,651,0.415930605312,0.00445685535535,0.0798020211673,0.999999945363,-6.82083139987e-08,-0.000328156299482,3.98420294762e-05,1793193070030297344
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742.87840349,711,673,659.12159651,632,877,783,799,649,629,651,0.415085772682,0.00444991502952,0.0797820983849,0.999999932914,-4.246794391e-06,-0.000364076106784,4.00369404117e-05,1793193070046963968
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742.540081136,711,673,659,632.459918864,877,783,799.459918864,649,629,650.540081136,0.414303514015,0.00444815446929,0.0797828825367,0.999999936796,-1.24630219817e-05,-0.000353245430628,3.83524054111e-05,1793193070063630592
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.039114404,742,711,673,659,632.960885596,877,783.039114404,799.960885596,649,629,650,0.413539245918,0.00444853861723,0.0797899045989,0.99999994485,-2.02928590666e-05,-0.000329517185241,3.61511968628e-05,1793193070080297216
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.613735219,742,711,673,659,632.386264781,877,783.613735219,799.386264781,649,629,650,0.412798485713,0.00445984266483,0.0798086004003,0.999999955691,-8.45647868074e-06,-0.000295668695861,3.35681912599e-05,1793193070096964096
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,711.192699971,672.807300029,659,632,877.192699971,784,799,649,628.807300029,650.192699971,0.412048875128,0.00446729502276,0.0798157386888,0.999999958747,5.87983829827e-07,-0.000285359858135,3.2807447716e-05,1793193070113630976
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,711.780573016,672.219426984,659,632,877.780573016,784,799,649,628.219426984,650.780573016,0.411281114786,0.00446684865795,0.0797991757945,0.999999947083,3.90701553276e-06,-0.000323324174271,3.57836472043e-05,1793193070130297600
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.636832808,742,711.636832808,672,659,632,877.636832808,783.636832808,799,649,628.363167192,650.636832808,0.410561644957,0.00446353483608,0.0797928812551,0.999999942612,5.07212675709e-06,-0.000336716316924,3.70501581e-05,1793193070146964224
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.057382481,742,711.057382481,672,659,632,877.057382481,783.057382481,799,649,628.942617519,650.057382481,0.409870934444,0.00445851330878,0.0797927020046,0.999999943021,4.9544768913e-06,-0.000335474573131,3.72984689152e-05,1793193070163630592
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,659,632,877,783.520754049,799,649,629,650,0.409261278532,0.00445812128425,0.079823685064,0.999999959293,8.21284702868e-07,-0.000282857330351,3.74804657243e-05,1793193070180296960
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.098334368,742,711,672.098334368,659,632,877,783.901665632,799,649,629,650.098334368,0.408656315006,0.00445899466627,0.0798502459359,0.999999970787,-1.24744868957e-06,-0.00023873178356,3.7833712967e-05,1793193070196964096
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.673916038,742,711,672.673916038,659,632,877,783.326083962,799,649,629,650.673916038,0.408030886849,0.00446353987005,0.079838721142,0.999999964555,8.84535464799e-06,-0.00026322514541,3.90534673432e-05,1793193070213630464
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.745322374,742,711,672.745322374,659,632,877,783,799,649,629,650.745322374,0.407418403901,0.00446662137858,0.0798156765399,0.999999952825,1.88919502422e-05,-0.000303998760399,3.97210705353e-05,1793193070230297088
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.157790875,742,711,672.157790875,659,632,877,783,799,649,629,650.157790875,0.406822839895,0.00446778989328,0.0797775759922,0.9999999318,2.88781532611e-05,-0.000366050038201,3.96670331638e-05,1793193070246963968
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742.423959434,711,672.423959434,659,632.423959434,877,783,798.576040566,649,628.576040566,650.423959434,0.406301705562,0.00446614225389,0.0797706871794,0.999999929693,2.06638651744e-05,-0.000372443918548,3.83798376251e-05,1793193070263630848
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742.996437598,711,672.996437598,659,632.996437598,877,783,798.003562402,649,628.003562402,651,0.405808309111,0.00446347796771,0.0797753787159,0.999999935148,5.92290786885e-06,-0.000358227064024,3.66493181547e-05,1793193070280298240
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.15351688,742,711,672,659,632.15351688,877,783,799,649,629,650.84648312,0.404959033887,0.00446617722808,0.0798193243391,0.999999959124,2.43594554279e-05,-0.000282547780309,3.63968760767e-05,1793193070313630464
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.724221203,742,711,672,659,632.724221203,877,783,799,649,629,650.275778797,0.404554145103,0.00447539580779,0.0798283745596,0.99999996167,2.64091878086e-05,-0.000273142503855,3.6814883441e-05,1793193070330297088
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.307960307,659,632.692039693,877,783.307960307,799,649,629,650.307960307,0.404159763626,0.00448142706472,0.079832957143,0.999999961404,3.45627013778e-05,-0.000273069590872,3.78319597873e-05,1793193070346963968
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.903887931,659,632.096112069,877,783.903887931,799,649,629,650.903887931,0.403775207336,0.00448447792148,0.0798333621309,0.999999958367,4.84237344099e-05,-0.000281723178547,3.94092131225e-05,1793193070363630848
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.515816751,742,711,673,659,632,877,784,799,649.484183249,629,651,0.403439207795,0.00448413980236,0.0798319565765,0.999999955953,5.58711588629e-05,-0.000288695746778,4.03333248102e-05,1793193070380297984
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.061303759,742,711,673,659,632,877,784,799,650,629,651,0.403118635508,0.00448306451521,0.0798307886134,0.999999954028,6.00622126477e-05,-0.000294373537951,4.09927619521e-05,1793193070396964864
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.63700794,742,711,673,659,632,877,784,799,650,629,651,0.402849164726,0.0044812719254,0.0798345356807,0.99999995546,4.72777061914e-05,-0.000291899251388,4.04851890715e-05,1793193070413631232
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.217484072,673,659.217484072,632,877,784,799,649.782515928,629,651,0.402596299656,0.00447822200215,0.0798381636108,0.999999957284,3.62847152255e-05,-0.000287242021273,4.00808989078e-05,1793193070430297600
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711.806103448,673,659.806103448,632,877,784,799,649.193896552,629,651,0.402371772163,0.00447302644688,0.0798415882335,0.999999959923,2.83489363504e-05,-0.000278859610968,3.98528601584e-05,1793193070446963968
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711.611412331,673,659.611412331,632,877.388587669,784,799,649,629,651,0.402170554125,0.00446831756059,0.0798414991862,0.999999960893,1.81472822275e-05,-0.000276288046548,3.9373726688e-05,1793193070463630592
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711.031941784,673,659.031941784,632,877.968058216,784,799,649,629,651,0.401980786189,0.00446384773641,0.0798396841466,0.999999960979,6.83257922738e-06,-0.000276570897711,3.87712499001e-05,1793193070480296960
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.550908849,672.449091151,659,632,877,784,799,649,629,651,0.401249557021,0.00446211767856,0.0798318511623,0.999999956596,2.8089162864e-05,-0.00029068992983,3.89563536802e-05,1793193070580296960
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742.815973029,711,672,659,632.184026971,877.184026971,783.815973029,799,649.815973029,629,651,0.401077686662,0.00447329833111,0.0798262626443,0.999999950306,9.71875080276e-05,-0.000297184482735,4.03080025566e-05,1793193070630297088
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.230079176,711,672,659,632.769920824,877.769920824,783.230079176,799,649.230079176,629,651,0.40104657983,0.00447089230386,0.0798274610741,0.999999950981,9.19699322156e-05,-0.000296484086792,4.09425446291e-05,1793193070646963712
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632.647886805,878,783.352113195,799,649,629,651,0.401020594655,0.00447052597785,0.0798285338355,0.999999951171,9.02694768358e-05,-0.000296305630349,4.13795816898e-05,1793193070663630336
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632.068087854,878,783.931912146,799,649,629,651,0.400997921279,0.00447147857667,0.0798295253366,0.999999951059,9.08432845531e-05,-0.000296464673803,4.16889068201e-05,1793193070680296960
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.508803306,659,632,878,784,799,649,628.491196694,651,0.400984153989,0.0044703419727,0.0798290476329,0.99999995126,8.74314017979e-05,-0.000296801582835,4.17567660249e-05,1793193070696963584
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.915199974,742,711,672.915199974,659,632,878,784,799.084800026,649,628.084800026,650.915199974,0.400972871363,0.00446925789281,0.0798285307605,0.999999951536,8.40313680456e-05,-0.000296860341305,4.17271253988e-05,1793193070713630464
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.58602751,742,711,672.41397249,659,632,877.41397249,783.58602751,799,649,629,650.58602751,0.400965792852,0.0044705403706,0.0798335056887,0.999999954273,8.23176119021e-05,-0.000288089368255,4.10151600606e-05,1793193070780296704
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.316971229,742,711,672,659,632,877,783.316971229,799,649,629,650.316971229,0.400964705094,0.0044716043867,0.079834475168,0.999999955581,8.07427958902e-05,-0.000283969413913,4.09941162736e-05,1793193070863630336
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.896712803,742,711,672,659,632,877,783.896712803,799,649,629,650.896712803,0.400964499797,0.00446998368378,0.0798349461819,0.999999955566,8.15118501588e-05,-0.000283726738455,4.15119537763e-05,1793193070880296960
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.474062597,711,672.474062597,659,632.474062597,877,784,798.525937403,649.474062597,629,651,0.400964548373,0.00447069167039,0.0798354118837,0.999999955641,8.27616673123e-05,-0.000283164356002,4.10606701268e-05,1793193070896963584
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.949179167,742.949179167,711,673,659,632.949179167,877,783.949179167,798.101641666,649.949179167,629,650.949179167,0.400964487951,0.00447189230015,0.0798356903244,0.999999955678,8.40634739567e-05,-0.000282736448248,4.04590425916e-05,1793193070913630208
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.373175549,742.373175549,711,673,659,632.373175549,877,783.373175549,799.253648902,649.373175549,629,650.373175549,0.400962732407,0.00447296709255,0.0798340455074,0.999999955137,8.48255186438e-05,-0.00028441442169,4.04748206262e-05,1793193070930296832
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.792744207,659,632,877,783,799.792744207,649,629,650.207255793,0.400962130999,0.00447310954374,0.0798335530795,0.999999955072,8.46357201735e-05,-0.000284685161547,4.0597322392e-05,1793193070946963712
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.204166502,659,632,877,783,799.204166502,649,629,650.795833498,0.400963653042,0.00447153661635,0.0798351808879,0.999999955878,8.26946622737e-05,-0.000282366786698,4.0916181019e-05,1793193070963630336
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.378161242,742.378161242,711,672,659,632,877.378161242,783.378161242,799,649,629,651,0.400963985852,0.00447102088243,0.0798358516144,0.999999956208,8.18777014815e-05,-0.00028144371956,4.08677167449e-05,1793193070980297472
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.957169519,742.957169519,711,672,659,632,877.957169519,783.957169519,799,649,629,651,0.400963687041,0.00447106663968,0.0798360140206,0.999999956287,8.16577653726e-05,-0.000281261721087,4.06241618282e-05,1793193070996964608
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742.465725923,711,672,659,632,877.465725923,783.465725923,799,649,629,651,0.400963577813,0.00447354111396,0.0798349186655,0.999999955824,8.35335761141e-05,-0.000282386991348,4.03932899015e-05,1793193071013630976
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632,877,783.110145814,798.889854186,649,629,651,0.400963178414,0.00447528939814,0.0798339161792,0.999999955417,8.44883108454e-05,-0.000283569241004,4.01985032502e-05,1793193071030297088
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632,877,783.681492097,798.318507903,649,629,651,0.400961500606,0.00447318464289,0.079833723243,0.999999955438,8.08853544928e-05,-0.000284552822454,4.01505700801e-05,1793193071046963968
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632.262766666,877,783.737233334,798.262766666,649,629,651,0.400960709664,0.00447166584621,0.0798334479215,0.999999955439,7.91101853074e-05,-0.000285034003971,4.02334828591e-05,1793193071063630848
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632.85654827,877,783.14345173,798.85654827,649,629,651,0.400961035935,0.00447088519857,0.0798330688169,0.999999955431,7.9637533157e-05,-0.000284882297581,4.0481226142e-05,1793193071080297216
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.439400757,659,632.560599243,877,783,799,649,628.560599243,651,0.400961962675,0.0044709976886,0.079834128799,0.999999955707,8.01519645519e-05,-0.000283766000409,4.04867575042e-05,1793193071096964096
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.981437061,742,711,672.981437061,659,632,877,783,799,649,628.018562939,651,0.400963050613,0.00447139221809,0.0798356106779,0.999999956064,8.06526207911e-05,-0.00028236932448,4.04206760749e-05,1793193071113630464
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763.408511065,742,711,672.408511065,659,632,877,783,799,649,628.591488935,651,0.400963240199,0.00447171304781,0.0798360018834,0.999999956211,8.0864772819e-05,-0.000281775682497,4.05201412057e-05,1793193071130297344
+399,6.650000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.165546038,659,632,877.165546038,783,799,649,629,651,0.400963728914,0.00447195699663,0.0798364572053,0.999999956398,8.10883611043e-05,-0.00028103363785,4.06030775417e-05,1793193071146964224
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.742413497,659,632,877.742413497,783,799,649,629,651,0.400964960857,0.00447200992447,0.0798370718335,0.999999956687,8.13403642982e-05,-0.000279922866841,4.06449458561e-05,1793193071163631104
+401,6.683333333,POSE2_TO_POSE3_RETREAT,763.327584779,742,711.327584779,672.672415221,659.327584779,632,877.672415221,783.327584779,799,649,628.672415221,650.672415221,0.400963750798,0.00447180754066,0.0798364435159,0.999999956436,8.11891930323e-05,-0.000280876716325,4.05480258634e-05,1793193071180297472
+402,6.700000000,POSE2_TO_POSE3_RETREAT,763.919455312,742,711.919455312,672.080544688,659.919455312,632,877.080544688,783.919455312,799,649,628.080544688,650.080544688,0.400960570604,0.00447139917891,0.0798348124262,0.999999955744,8.07127524708e-05,-0.000283496240881,4.03391355489e-05,1793193071196963584
+403,6.716666667,POSE2_TO_POSE3_RETREAT,763.501215232,742.498784768,711.501215232,672.498784768,659.501215232,632,877,784,798.501215232,649,628.498784768,650.498784768,0.400960374475,0.00447390908026,0.0798347504512,0.999999955474,8.2668449508e-05,-0.000283973627295,3.9699550669e-05,1793193071213630464
diff --git a/Obstacle_avoidance/cylinder_0050_20/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a05554bf5c00b0940ca05c2a29b7bc3570ea77f4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0050_20/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+2,0.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+3,0.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+4,0.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
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+6,0.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
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+372,6.200000000,pose2_to_pose3_retreat,0.575737749001,0.010054568664,1.07002921806,0.546308479594,0.0187272993493,1.06969850888
+373,6.216666667,pose2_to_pose3_retreat,0.575727900855,0.0100545991081,1.0700292522,0.546298630818,0.0187273277151,1.06969854468
+374,6.233333333,pose2_to_pose3_retreat,0.575722370225,0.0100546727926,1.0700292578,0.546293098595,0.0187273959901,1.06969855016
+375,6.250000000,pose2_to_pose3_retreat,0.575719194112,0.0100546877174,1.07002929404,0.546289922204,0.0187274096138,1.06969857708
+376,6.266666667,pose2_to_pose3_retreat,0.575717634271,0.0100546950472,1.07002931184,0.546288362226,0.0187274163046,1.06969859029
+377,6.283333333,pose2_to_pose3_retreat,0.575716693874,0.0100546994662,1.07002932257,0.546287421747,0.0187274203383,1.06969859826
+378,6.300000000,pose2_to_pose3_retreat,0.575716137776,0.0100547020793,1.07002932892,0.5462868656,0.0187274227237,1.06969860297
+379,6.316666667,pose2_to_pose3_retreat,0.575715693348,0.0100547038956,1.07002930251,0.54628642125,0.0187274248549,1.06969857786
+380,6.333333333,pose2_to_pose3_retreat,0.575715512686,0.010054704603,1.07002928819,0.546286240632,0.0187274257468,1.06969856438
+381,6.350000000,pose2_to_pose3_retreat,0.575715405411,0.0100547050231,1.07002927969,0.546286133385,0.0187274262763,1.06969855637
+382,6.366666667,pose2_to_pose3_retreat,0.575715253792,0.0100547056168,1.07002926768,0.546285981803,0.0187274270249,1.06969854505
+383,6.383333333,pose2_to_pose3_retreat,0.575715119297,0.0100547061434,1.07002925702,0.546285847342,0.0187274276888,1.069698535
+384,6.400000000,pose2_to_pose3_retreat,0.575714832027,0.0100547072682,1.07002923426,0.546285560143,0.018727429107,1.06969851355
+385,6.416666667,pose2_to_pose3_retreat,0.575714404502,0.0100547089423,1.07002920039,0.546285132726,0.0187274312176,1.06969848163
+386,6.433333333,pose2_to_pose3_retreat,0.575714263867,0.0100547094929,1.07002918924,0.546284992125,0.0187274319119,1.06969847113
+387,6.450000000,pose2_to_pose3_retreat,0.575714170439,0.0100547098588,1.07002918184,0.546284898721,0.0187274323732,1.06969846416
+388,6.466666667,pose2_to_pose3_retreat,0.575714037418,0.0100547103796,1.0700291713,0.546284765734,0.0187274330299,1.06969845422
+389,6.483333333,pose2_to_pose3_retreat,0.575713897007,0.0100547109294,1.07002916017,0.546284625357,0.018727433723,1.06969844374
+390,6.500000000,pose2_to_pose3_retreat,0.575713723045,0.0100547116106,1.07002914639,0.546284451439,0.0187274345818,1.06969843075
+391,6.516666667,pose2_to_pose3_retreat,0.575713365553,0.0100547130104,1.07002911807,0.546284094036,0.0187274363467,1.06969840406
+392,6.533333333,pose2_to_pose3_retreat,0.57571282142,0.010054715141,1.07002907495,0.546283550038,0.018727439033,1.06969836343
+393,6.550000000,pose2_to_pose3_retreat,0.575712381105,0.0100547168651,1.07002904006,0.546283109833,0.0187274412067,1.06969833055
+394,6.566666667,pose2_to_pose3_retreat,0.575712120266,0.0100547137172,1.07002902623,0.546282849101,0.0187274384514,1.06969831755
+395,6.583333333,pose2_to_pose3_retreat,0.575712102145,0.0100547120421,1.07002902765,0.546282831002,0.0187274368476,1.06969831891
+396,6.600000000,pose2_to_pose3_retreat,0.575711855491,0.0100546892405,1.07002904705,0.546282584644,0.0187274150176,1.06969833739
+397,6.616666667,pose2_to_pose3_retreat,0.575711427395,0.0100546496659,1.07002908072,0.546282157063,0.0187273771292,1.06969836946
+398,6.633333333,pose2_to_pose3_retreat,0.575710870886,0.0100545982203,1.07002912449,0.546281601223,0.0187273278755,1.06969841116
+399,6.650000000,pose2_to_pose3_retreat,0.575710617351,0.0100545747826,1.07002914443,0.546281347993,0.0187273054365,1.06969843015
+400,6.666666667,pose2_to_pose3_retreat,0.575710267938,0.0100545433976,1.07002916731,0.546280998979,0.0187272753667,1.06969845203
+401,6.683333333,pose2_to_pose3_retreat,0.575709912372,0.0100545314241,1.07002909021,0.546280643353,0.0187272633994,1.0696983804
+402,6.700000000,pose2_to_pose3_retreat,0.575709496167,0.0100545174087,1.07002899997,0.54628022708,0.0187272493913,1.06969829655
+403,6.716666667,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b05d3fa718ca6de26b38dda605aa4574dfa14c1b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcc4138ffa81ff28d83d0f42d82244c224305d0943e06bd1feab2cafc6a7665e
+size 25702331
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..27edd6ab8e91ba3d69362108b204d8fec837c36a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,782,760,736,722,690,652,912,801,838,659,636,659,0.400872379874,-0.00543311715129,0.0599094140568,0.999999963258,5.20316463746e-05,-0.000263527678707,-3.64762576862e-05,1793255745784590592
+1,0.016666667,BASELINE,782,760,736,722,690,652,912,801,837.423322186,659,635.423322186,659,0.400839093572,-0.00543042963906,0.0598945158164,0.999999953617,5.4647106013e-05,-0.000297300710148,-3.73101788699e-05,1793255745801257216
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+12,0.200000000,BASELINE,782,760,736,722,690,652,912,800.038143189,837.038143189,659,635.038143189,659,0.400798553456,-0.00542901080895,0.0598760151292,0.999999940022,6.03970452436e-05,-0.000338949828688,-3.77017320703e-05,1793255745984591360
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+16,0.266666667,BASELINE,782,760,736,722,689.727196131,652,912,800,838,659,635.727196131,659,0.400794008263,-0.0054281409239,0.059873817876,0.99999993798,6.31009320548e-05,-0.0003444244488,-3.78095528657e-05,1793255746051257856
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+18,0.300000000,BASELINE,782,760,736,722,689.444972345,652,912.444972345,800.444972345,838,659,635,659,0.400795778256,-0.00542777854627,0.0598752748906,0.999999938563,6.3260715609e-05,-0.000342665654901,-3.81008275224e-05,1793255746084590848
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+22,0.366666667,BASELINE,782,760,736,722,690,652,912,800.749964077,838,659,635,659,0.400795581566,-0.00542854958898,0.0598753227234,0.999999938578,6.25240262386e-05,-0.000342848294881,-3.72818614509e-05,1793255746151258368
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+27,0.450000000,BASELINE,782,760,736,722,690,652,912.345086991,800,838,659,635.345086991,658,0.400795558084,-0.00542759908769,0.0598753309713,0.999999938256,6.6725145974e-05,-0.000342981355704,-3.74123961346e-05,1793255746234591744
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+31,0.516666667,BASELINE,782,760,736,722,689.987473108,652,912,800.012526892,837.012526892,659,635.012526892,659,0.400794652304,-0.0054286512432,0.0598745808972,0.999999938248,6.0145763339e-05,-0.000344162091022,-3.79309317762e-05,1793255746301258496
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+40,0.666666667,BASELINE,782,760,736,721.199647732,689.199647732,652,912,800.199647732,837.199647732,659,636,659,0.400793859152,-0.00542597336618,0.0598740728785,0.999999937721,6.33152632487e-05,-0.000345063862002,-3.84658279371e-05,1793255746451259136
+41,0.683333333,BASELINE,782,760,736,721.7871962,689.7871962,652,912,800.7871962,837.7871962,659,636,659,0.400791461747,-0.00542465276387,0.0598726702274,0.999999936545,6.76092470693e-05,-0.000347606354052,-3.8845177888e-05,1793255746467926016
+42,0.700000000,BASELINE,782,760,736,722,690,652,912,801,837.629982899,659,635.629982899,659,0.400792676135,-0.00542544625414,0.0598734748458,0.999999937023,6.81581045467e-05,-0.000346164003659,-3.84461617578e-05,1793255746484592640
+43,0.716666667,BASELINE,782,760,736,722,690,652,912,801,837.04984663,659,635.04984663,659,0.400795941529,-0.00542744026026,0.0598755328918,0.999999938437,6.65802417066e-05,-0.000342458807007,-3.76051400067e-05,1793255746501258496
+44,0.733333333,BASELINE,782,760,736,722,690,652,912.528873317,801,837,659,635.528873317,659,0.40079572388,-0.00542744818182,0.0598751370255,0.99999993828,6.52397700653e-05,-0.000343185057922,-3.75235942278e-05,1793255746517924864
+45,0.750000000,BASELINE,782.106724542,760,736,722,690,652,913,801,837.106724542,659,635.893275458,658.893275458,0.400794778451,-0.00542734993228,0.0598744083551,0.999999937866,6.44676026296e-05,-0.000344532562268,-3.75503349778e-05,1793255746534591488
+46,0.766666667,BASELINE,782.681350627,760,736,722,690,652,913,801,837.681350627,659,635.318649373,658.318649373,0.400792077685,-0.00542760469239,0.0598732318868,0.999999936977,6.60891626194e-05,-0.000346777521924,-3.77388379191e-05,1793255746551258112
+47,0.783333333,BASELINE,782.737946763,759.737946763,735.737946763,721.737946763,689.737946763,652,912.737946763,800.737946763,837.737946763,659,635,658,0.400791032808,-0.00542739945902,0.0598724962817,0.999999936376,6.70728169906e-05,-0.00034831174766,-3.77917054152e-05,1793255746567924992
+48,0.800000000,BASELINE,782.149679787,759.149679787,735.149679787,721.149679787,689.149679787,652,912.149679787,800.149679787,837.149679787,659,635,658,0.400792049242,-0.00542662160846,0.0598723094797,0.999999936141,6.72623826437e-05,-0.000348961225349,-3.76757288267e-05,1793255746584591616
+49,0.816666667,BASELINE,782,759.431856299,735.431856299,721.431856299,689.431856299,652,912,800.431856299,837.431856299,659,635,658,0.400792919835,-0.00542646907783,0.0598732774542,0.99999993671,6.54673969102e-05,-0.000347646124071,-3.7893512158e-05,1793255746601258496
+50,0.833333333,BASELINE,782.011013536,760,736,722,689.988986464,652,912,801,837.988986464,659,635,658,0.400793739101,-0.00542658515616,0.0598746065277,0.999999937536,6.30186326449e-05,-0.000345683305976,-3.82108547149e-05,1793255746617925376
+51,0.850000000,BASELINE,782.585986376,760,736,722,689.414013624,652,912,801,837.414013624,659,635,658,0.400794478775,-0.00542952788646,0.0598742458089,0.999999937905,6.17733822475e-05,-0.000344885372844,-3.77936269976e-05,1793255746634591744
+52,0.866666667,BASELINE,782.835479998,760,736,721.835479998,689,652,912.164520002,800.835479998,837.164520002,659,635.164520002,658,0.400794791299,-0.00543060982811,0.0598739074994,0.999999937959,6.23980435271e-05,-0.000344633009199,-3.76305946385e-05,1793255746651258112
+53,0.883333333,BASELINE,782.247787479,760,736,721.247787479,689,652,912.752212521,800.247787479,837.752212521,659,635.752212521,658,0.400794005122,-0.00542690551495,0.0598736268305,0.999999937189,6.78324254075e-05,-0.000345783940087,-3.81213945933e-05,1793255746667924992
+54,0.900000000,BASELINE,782,760,736,721.335181487,689.335181487,652,913,800.335181487,838,659,636,658,0.400793078073,-0.00542646442081,0.0598729971187,0.999999936693,6.77299596401e-05,-0.000347227550198,-3.82042685883e-05,1793255746684591360
+55,0.916666667,BASELINE,782,760,736,721.914707001,689.914707001,652,913,800.914707001,838,659,636,658,0.400792048329,-0.00542840218161,0.059872112958,0.999999936396,6.35911858086e-05,-0.000348884520552,-3.79897685235e-05,1793255746701257728
+56,0.933333333,BASELINE,782.492482695,759.507517305,736,722,690,652,912.507517305,801,838,659,635.507517305,658,0.400793203002,-0.00542787343125,0.0598730932044,0.999999937073,6.54317469553e-05,-0.000346623696383,-3.77523942075e-05,1793255746717924608
+57,0.950000000,BASELINE,782.930387415,759.069612585,736.069612585,722,690,652,912.069612585,801,838,659,635.069612585,658.069612585,0.400794490567,-0.00542715374502,0.0598742106963,0.999999937779,6.77877985307e-05,-0.000344146790161,-3.75531362116e-05,1793255746734591744
+58,0.966666667,BASELINE,782.355752197,759.644247803,736.644247803,722,690,652,912.644247803,801,838,659,635.644247803,658.644247803,0.400794007346,-0.0054281369432,0.0598739896296,0.999999937572,6.63974666805e-05,-0.000345007349956,-3.76590417361e-05,1793255746751258624
+59,0.983333333,BASELINE,782,759.775399343,736.775399343,721.775399343,690,652,913,800.775399343,838,659,636,659,0.400793540372,-0.00542857888402,0.0598738045939,0.99999993734,6.61605543457e-05,-0.000345725081665,-3.76480169965e-05,1793255746767925504
+60,1.000000000,BASELINE,782,759.185753479,736.185753479,721.185753479,690,652,913,800.185753479,838,659,636,659,0.400793099802,-0.00542814111517,0.0598736781199,0.99999993707,6.77983035623e-05,-0.000346210673902,-3.74469446002e-05,1793255746784592128
+61,1.016666667,BASELINE,782,759.39693587,736,721.39693587,690,652,913,800.39693587,838,658.60306413,635.60306413,659,0.400793101788,-0.00542837951101,0.0598737282797,0.999999937236,6.63798313746e-05,-0.000346003897213,-3.74686621654e-05,1793255746801258496
+62,1.033333333,BASELINE,782,759.976425826,736,721.976425826,690,652,913,800.976425826,838,658.023574174,635.023574174,659,0.40079330731,-0.00542892888061,0.0598738596749,0.999999937596,6.35557776187e-05,-0.000345478694307,-3.75928426865e-05,1793255746817924608
+63,1.050000000,BASELINE,782,760,736,721.448016727,689.448016727,652,912.448016727,801,838,658.551983273,635,659,0.400791535191,-0.00542969898253,0.0598728128196,0.999999936846,6.10442655163e-05,-0.000348067128115,-3.78377815379e-05,1793255746834590976
+64,1.066666667,BASELINE,782,760,736.126672761,721,689.126672761,652,912.126672761,801,838,659,635,659,0.400790380264,-0.00542990662679,0.0598720902804,0.999999936344,5.94709186587e-05,-0.000349750466696,-3.80680234941e-05,1793255746851257600
+65,1.083333333,BASELINE,782,760,736.698895876,721,689.698895876,652,912.698895876,801,838,659,635,659,0.400791691184,-0.00542810299621,0.0598726842122,0.999999936922,6.11507945274e-05,-0.00034778586542,-3.82285597143e-05,1793255746867924480
+66,1.100000000,BASELINE,782,760,736.718360013,721.281639987,690,652,912.718360013,800.718360013,838,659,635,659,0.400792904654,-0.00542744222819,0.0598735165787,0.999999937318,6.28413467951e-05,-0.000346362495056,-3.8040178464e-05,1793255746884591360
+67,1.116666667,BASELINE,782,760,736.123931348,721.876068652,690,652,912.123931348,800.123931348,838,659,635,659,0.400794009899,-0.00542805072062,0.0598746137501,0.999999937516,6.45437561337e-05,-0.000345540214551,-3.74642903167e-05,1793255746901258752
+68,1.133333333,BASELINE,782,760,736,722,689.544284947,652,912,800,838,659,635,658.544284947,0.400793977071,-0.00542863536012,0.0598747490935,0.999999937673,6.45255966744e-05,-0.000345108195449,-3.72995451772e-05,1793255746917925376
+69,1.150000000,BASELINE,782,760,736,722.031628495,689.031628495,652,912.031628495,800.031628495,837.968371505,659,635,658,0.400793653397,-0.0054290812324,0.0598745979401,0.999999937796,6.41644084788e-05,-0.000344824489788,-3.72527722091e-05,1793255746934591744
+70,1.166666667,BASELINE,782,760,736,722.610321822,689.610321822,652,912.610321822,800.610321822,837.389678178,659,635,658,0.400793484132,-0.00542723557956,0.0598738734653,0.999999937517,6.57089183854e-05,-0.000345328066745,-3.73733445251e-05,1793255746951257856
+71,1.183333333,BASELINE,782,760,736,722.809371543,689.809371543,652,913,801,837.190628457,659,635.190628457,658.190628457,0.400793077267,-0.00542639155452,0.0598733363093,0.999999937241,6.66507587871e-05,-0.000345933969724,-3.74793004615e-05,1793255746967924224
+72,1.200000000,BASELINE,782,760,736,722.225738765,689.225738765,652,913,801,837.774261235,659,635.774261235,658.774261235,0.400792180561,-0.00542761250968,0.0598731853343,0.999999936976,6.63501211815e-05,-0.000346750830646,-3.75551229323e-05,1793255746984590848
+73,1.216666667,BASELINE,782,760,736,722,689.358184041,652,913,801,838,659,635.641815959,659,0.400791723188,-0.00542816167882,0.0598730438498,0.999999936807,6.63730272246e-05,-0.000347227635156,-3.75887269982e-05,1793255747001257728
+74,1.233333333,BASELINE,782,760,736,722,689.942289747,652,913,801,838,659,635.057710253,659,0.400791542921,-0.00542828712434,0.0598729083513,0.999999936701,6.66000058041e-05,-0.000347489951807,-3.75957021451e-05,1793255747017924096
+75,1.250000000,BASELINE,782,759.482704719,736,722,690,651.482704719,912.482704719,801,838,659,635,659,0.400791672178,-0.00542870507096,0.0598733660468,0.999999936925,6.53445640423e-05,-0.000347072418545,-3.77061479746e-05,1793255747034590976
+76,1.266666667,BASELINE,782,759.091602803,736,722,690,651.091602803,912,800.908397197,838,659,635,659,0.400791765886,-0.00542902036164,0.0598736189313,0.999999937072,6.43012969539e-05,-0.000346836762031,-3.77503263988e-05,1793255747051257856
+77,1.283333333,BASELINE,782,759.667494592,736,722,690,651.667494592,912,800.332505408,838,659,635,659,0.400791492243,-0.00542862339028,0.0598724451923,0.999999936636,6.52389898434e-05,-0.000347956706591,-3.73841871689e-05,1793255747067924480
+78,1.300000000,BASELINE,782.248656295,760,736,722,690,652,912,800,838,659,635.248656295,659,0.400791389426,-0.0054275592494,0.0598719607291,0.999999936328,6.65147997749e-05,-0.000348596981343,-3.74098924235e-05,1793255747084590848
+79,1.316666667,BASELINE,782.83701751,760,736,722,690,652,912,800,838,659,635.83701751,659,0.400791519985,-0.00542558364653,0.0598724179288,0.999999936195,6.82525324736e-05,-0.000348581949069,-3.79709209727e-05,1793255747101257472
+80,1.333333333,BASELINE,782.581677451,759.581677451,736,722,690,652,912.418322549,800.418322549,837.581677451,659,635.581677451,658.581677451,0.400791055766,-0.00542647881154,0.0598720323928,0.999999936222,6.6697950828e-05,-0.000348801954804,-3.80028665728e-05,1793255747117924096
+81,1.350000000,BASELINE,782.003075915,759.003075915,736,722,690,652,912.996924085,800.996924085,837.003075915,659,635.003075915,658.003075915,0.40079036366,-0.00542847390219,0.0598713239652,0.999999936304,6.38819292996e-05,-0.00034911201462,-3.78320957287e-05,1793255747134590720
+82,1.366666667,BASELINE,782,759.576551742,736,722,690,652,912.423448258,801,837,659,635,658,0.400791740575,-0.00542757084,0.059872583858,0.999999936569,6.52723311427e-05,-0.000348081549505,-3.7949772421e-05,1793255747151257344
+83,1.383333333,BASELINE,782,760,736,721.845813138,689.845813138,652,912.154186862,800.845813138,837.154186862,659,635.154186862,658,0.400793240276,-0.00542695678844,0.0598738313651,0.999999937028,6.58396560364e-05,-0.000346643230886,-3.80401726887e-05,1793255747167923968
+84,1.400000000,BASELINE,782,760,736,721.27359492,689.27359492,652,912.72640508,800.27359492,837.72640508,659,635.72640508,658,0.400795042896,-0.00542716829667,0.0598750167715,0.999999938012,6.41145039019e-05,-0.000344118564123,-3.80524415207e-05,1793255747184590848
+85,1.416666667,BASELINE,782,759.691955494,736,721,689.308044506,652,912.691955494,800,837.691955494,659,636,658,0.400794758757,-0.00542753190044,0.059874515406,0.999999937802,6.38489313895e-05,-0.000344791439608,-3.79238405076e-05,1793255747201257984
+86,1.433333333,BASELINE,782,759.101684511,736,721,689.898315489,652,912.101684511,800,837.101684511,659,636,658,0.400792562757,-0.00542803485221,0.0598724686414,0.999999936494,6.49206073545e-05,-0.000348393862975,-3.76661763249e-05,1793255747217924352
+87,1.450000000,BASELINE,782,759.480268996,736,721,690,652.480268996,912,800,837,659,635.519731004,658,0.400791014136,-0.0054287073958,0.0598723631549,0.999999936249,6.38367780929e-05,-0.000349300319536,-3.76373258912e-05,1793255747234590720
+88,1.466666667,BASELINE,782,760,736,721.060064464,690,652.939935536,912,800,837.060064464,659,635.060064464,658.060064464,0.400789819733,-0.0054293022441,0.0598726502074,0.999999936245,6.25777590595e-05,-0.000349538341614,-3.76401384392e-05,1793255747251257088
+89,1.483333333,BASELINE,782,760,736,721.636191197,690,652.363808803,912,800,837.636191197,659,635.636191197,658.636191197,0.400790511104,-0.00542892629808,0.0598728386314,0.99999993642,6.36678560017e-05,-0.000348854029319,-3.75058456324e-05,1793255747267923712
+90,1.500000000,BASELINE,782,759.784106777,736,722,690,652,912,800.215893223,838,659,635.784106777,659,0.400791817766,-0.00542836372883,0.0598736230093,0.99999993693,6.4709602928e-05,-0.000347205575867,-3.74405043631e-05,1793255747284590592
+91,1.516666667,BASELINE,782,759.198278516,736,722,690,652,912,800.801721484,838,659,635.198278516,659,0.400794178736,-0.00542748137897,0.0598754285599,0.999999938006,6.56685015414e-05,-0.000343905057672,-3.74933122063e-05,1793255747301257216
+92,1.533333333,BASELINE,782,759,736,722,690,652,912.383105912,801,838,659,635.383105912,659,0.400795068627,-0.00542793785382,0.0598758822558,0.999999938381,6.39779205065e-05,-0.000343112012658,-3.76591815973e-05,1793255747317923840
+93,1.550000000,BASELINE,782,759,736,722,690,652,912.962216835,801,838,659,635.962216835,659,0.400795205884,-0.00542907929936,0.0598756443146,0.999999938395,6.09318102672e-05,-0.000343601843151,-3.78828956492e-05,1793255747334590464
+94,1.566666667,BASELINE,782,759.540596462,736,722,690,652,912.459403538,800.459403538,837.459403538,659,635.459403538,659,0.400792958413,-0.0054275667001,0.0598742067517,0.999999937276,6.44809852713e-05,-0.000346159313135,-3.8262615413e-05,1793255747351257344
+95,1.583333333,BASELINE,782,759.881479485,736,722,689.881479485,652,912,800,837,659,635,658.881479485,0.400791012706,-0.00542642338909,0.059873026189,0.999999936368,6.73573399832e-05,-0.000348204307902,-3.84726999874e-05,1793255747367924224
+96,1.600000000,BASELINE,782,759.305117959,736,722,689.305117959,652,912,800,837,659,635,658.305117959,0.400790875682,-0.00542742222172,0.0598731618572,0.999999936658,6.58563624533e-05,-0.000347712141819,-3.7985426346e-05,1793255747384590592
+97,1.616666667,BASELINE,782,759.276371355,736,722,689.276371355,652,912.276371355,800,837,659,635,658.276371355,0.400790554775,-0.00542829899723,0.0598726322972,0.999999936604,6.42455688481e-05,-0.000348190420424,-3.77971323643e-05,1793255747401257216
+98,1.633333333,BASELINE,782,759.863628807,736,722,689.863628807,652,912.863628807,800,837,659,635,658.863628807,0.400790027022,-0.00542903847242,0.0598713544316,0.99999993616,6.25112448344e-05,-0.000349760338104,-3.79451562608e-05,1793255747417923840
+99,1.650000000,BASELINE,782,760,736,722,690,652,912.555113266,800,837.444886734,659,635,658.555113266,0.400790746288,-0.00542911156155,0.0598719713021,0.999999936341,6.34517698293e-05,-0.000349086872953,-3.78309311206e-05,1793255747434590720
+100,1.666666667,BASELINE,782,760,736,722,690,652,912.024208667,800,838,659,635,658.024208667,0.400791811879,-0.00542895902609,0.0598731139102,0.999999936689,6.52188602298e-05,-0.000347782073507,-3.76346388723e-05,1793255747451257344
+101,1.683333333,BASELINE,782,760,736,722,690,652,912.600760329,800,838,659,635,658.600760329,0.400792173923,-0.00542825719349,0.0598731766896,0.999999936634,6.73864506132e-05,-0.000347553729654,-3.73756138976e-05,1793255747467923968
+102,1.700000000,BASELINE,782,760,736,722,690,652,912.823640205,800,837.823640205,659,635.176359795,659,0.400792653415,-0.00542733252953,0.0598733374728,0.999999936764,6.83503005712e-05,-0.000346986332003,-3.74197271888e-05,1793255747484590592
+103,1.716666667,BASELINE,782,760,736,722,690,652,912.250184802,800,837.250184802,659,635.749815198,659,0.400793397355,-0.00542590613366,0.0598737189234,0.999999937316,6.66037817066e-05,-0.000345655513363,-3.81463933302e-05,1793255747501257216
+104,1.733333333,BASELINE,782.33372947,760,736,722,690,652,912,800.33372947,837.33372947,659,635.66627053,659,0.400793356363,-0.0054267353721,0.0598737586743,0.999999937308,6.53818351122e-05,-0.000345913410979,-3.81183529219e-05,1793255747517923840
+105,1.750000000,BASELINE,782.925738107,760,736,722,690,652,912,800.925738107,837.925738107,659,635.074261893,659,0.400792707899,-0.00542931028586,0.0598735339777,0.999999936869,6.45658641328e-05,-0.000347400844191,-3.75062317824e-05,1793255747534590464
+106,1.766666667,BASELINE,782.493687292,759.493687292,736,722,690,652,912,801,838,659,635,659,0.400792082185,-0.0054295595479,0.0598738358373,0.999999936889,6.37145225783e-05,-0.000347522525373,-3.72857103601e-05,1793255747551257344
+107,1.783333333,POSE1_TO_POSE2_PRESS,782,760,736,722,689,652,913,801,838,659,635,659,0.400791860517,-0.00542773238848,0.0598730570803,0.999999936673,6.50253726323e-05,-0.0003478533034,-3.77282058682e-05,1793255747594634496
+108,1.800000000,POSE1_TO_POSE2_PRESS,782,760,736,722,689.59156277,652,912.40843723,800.40843723,838,659,635,659,0.400790742161,-0.00542893337326,0.0598722600119,0.999999936278,6.34092129759e-05,-0.000349294511899,-3.76360473253e-05,1793255747611301120
+109,1.816666667,POSE1_TO_POSE2_PRESS,782,760,735.82072974,722,689.82072974,652,912,800,838,659,635,659,0.400790668864,-0.00542931034309,0.0598721891906,0.999999936232,6.30709210869e-05,-0.000349500077783,-3.75322307403e-05,1793255747627967744
+110,1.833333333,POSE1_TO_POSE2_PRESS,782,760,735.24162083,722,689.24162083,652,912,800,838,659,635,659,0.400792926432,-0.00542784945658,0.0598737381676,0.999999936963,6.55827442666e-05,-0.000346949706195,-3.74024124134e-05,1793255747644634368
+111,1.850000000,POSE1_TO_POSE2_PRESS,782,760,735.335997228,722,689.335997228,652,912.335997228,800.335997228,838,659,635,659,0.40079360016,-0.00542736998142,0.0598742473621,0.999999937067,6.58140362584e-05,-0.000346599218397,-3.74613602116e-05,1793255747661301248
+112,1.866666667,POSE1_TO_POSE2_PRESS,782,760,735.912547892,722,689.912547892,652,912.912547892,800.912547892,838,659,635,659,0.400793139954,-0.00542759313677,0.0598740121361,0.999999936726,6.44126074477e-05,-0.000347823712808,-3.76554530018e-05,1793255747677967872
+113,1.883333333,POSE1_TO_POSE2_PRESS,782,760,736,722,690,652,912.502931492,800.502931492,838,659,635,659,0.400795369268,-0.00542781036743,0.0598749595397,0.999999937177,6.35751711362e-05,-0.000346666016428,-3.77621677786e-05,1793255747694634496
+114,1.900000000,POSE1_TO_POSE2_PRESS,782,760,736,722,690,652,912.082018472,800,838,659,635,659,0.400798760041,-0.0054280255044,0.0598762773158,0.99999993782,6.31841352409e-05,-0.00034487417239,-3.78100709777e-05,1793255747711301376
+115,1.916666667,POSE1_TO_POSE2_PRESS,782,760,736,722,690,652,912.660936111,800,838,659,635,659,0.400806273945,-0.005428234375,0.0598785578607,0.999999938767,6.48866158077e-05,-0.000341820938977,-3.75963238479e-05,1793255747727968000
+116,1.933333333,POSE1_TO_POSE2_PRESS,782,759.760398206,736,722,690,652,912.760398206,800,838,658.760398206,635,658.760398206,0.400820450903,-0.00542851776859,0.0598817789267,0.999999939743,6.60725536984e-05,-0.000338769024626,-3.71977867468e-05,1793255747744634624
+117,1.950000000,POSE1_TO_POSE2_PRESS,782,759.182088745,736,722,690,652,912.182088745,800,838,658.182088745,635,658.182088745,0.400844046938,-0.00542890650992,0.0598863295388,0.999999940766,6.65282925508e-05,-0.000335718975198,-3.65380254924e-05,1793255747761301248
+118,1.966666667,POSE1_TO_POSE2_PRESS,782.395136892,759.395136892,736,722,690,652,912.395136892,800.395136892,838,658.395136892,635,658,0.400875884189,-0.00542986948316,0.0598887163,0.999999941682,6.61403030737e-05,-0.000333036273029,-3.67086317733e-05,1793255747777968128
+119,1.983333333,POSE1_TO_POSE2_PRESS,782.971864494,759.971864494,736,722,690,652,912.971864494,800.971864494,838,658.971864494,635,658,0.40091150881,-0.00543109635277,0.0598901086336,0.999999942547,6.53645664292e-05,-0.000330522390184,-3.72608450625e-05,1793255747794634752
+120,2.000000000,POSE1_TO_POSE2_PRESS,782.441824225,759.441824225,736,722,690,651.441824225,912.441824225,801,838,659,635,658.558175775,0.400958948154,-0.00543207037961,0.0598870055756,0.999999941822,6.42789306527e-05,-0.000332851417512,-3.78575141618e-05,1793255747811301120
+121,2.016666667,POSE1_TO_POSE2_PRESS,782,759.142843183,736,722,690,651.142843183,912,801,838,659,635.142843183,659,0.401012564654,-0.00543305392568,0.0598841291371,0.999999940997,6.29616387465e-05,-0.000335487510043,-3.8604183589e-05,1793255747827967744
+122,2.033333333,POSE1_TO_POSE2_PRESS,782,759.721003107,736,722,690,651.721003107,912,801,838,659,635.721003107,659,0.401083159533,-0.00543410600062,0.0598826459414,0.999999940124,6.09868073933e-05,-0.000338302456012,-3.9801033095e-05,1793255747844634368
+123,2.050000000,POSE1_TO_POSE2_PRESS,782,759.701338105,736,721.701338105,689.701338105,652,912,801,837.701338105,659,636,659,0.401170341609,-0.0054360253639,0.0598832042847,0.99999994134,6.02745493297e-05,-0.000334704565578,-4.07516289015e-05,1793255747861300992
+124,2.066666667,POSE1_TO_POSE2_PRESS,782,759.124146706,736,721.124146706,689.124146706,652,912,801,837.124146706,659,636,659,0.401272992758,-0.00543875355274,0.0598856665496,0.999999944442,6.07397563287e-05,-0.000325126119101,-4.14725705603e-05,1793255747877967616
+125,2.083333333,POSE1_TO_POSE2_PRESS,782,759.453309754,736,721.453309754,689.453309754,652,912,800.546690246,837.453309754,659,635.546690246,659,0.40139438586,-0.00544144769191,0.0598895956536,0.999999947523,5.716222542e-05,-0.000316030735396,-4.2550767544e-05,1793255747894634496
+126,2.100000000,POSE1_TO_POSE2_PRESS,782,760,736,722,690,652,912,800.031355062,838,659,635.031355062,659,0.401522329391,-0.00544411765076,0.0598939473192,0.9999999506,5.27412990183e-05,-0.000306768098232,-4.37339430445e-05,1793255747911300864
+127,2.116666667,POSE1_TO_POSE2_PRESS,782,760,736,722,690,652,912,800.618551582,838,659,635.618551582,659,0.401675350347,-0.00544652436351,0.0598986642972,0.999999954892,5.30079358329e-05,-0.000292193892134,-4.50426413258e-05,1793255747927968000
+128,2.133333333,POSE1_TO_POSE2_PRESS,782,760,736,722,690,652,912,800.796854662,838,659,635.796854662,659,0.401839092755,-0.00544916482159,0.0599020464833,0.999999958131,5.28959918203e-05,-0.000280667176728,-4.65358542293e-05,1793255747944634880
+129,2.150000000,POSE1_TO_POSE2_PRESS,782,760,736,722,690,652,912,800.217086388,838,659,635.217086388,659,0.402022712269,-0.00545223863345,0.0599029540208,0.999999959719,5.20821748182e-05,-0.000274790382962,-4.83711493715e-05,1793255747961301504
+130,2.166666667,POSE1_TO_POSE2_PRESS,782.358875752,760,736,722,689.641124248,652,912.358875752,800.358875752,838,659,635.358875752,659,0.402229582593,-0.00545573681738,0.0599027890207,0.999999960758,4.95822531291e-05,-0.000271026685719,-5.06926619369e-05,1793255747977967872
+131,2.183333333,POSE1_TO_POSE2_PRESS,782.932559753,760,736,722,689.067440247,652,912.932559753,800.932559753,838,659,635.932559753,659,0.402450369913,-0.00545948901326,0.0599019820439,0.999999961464,4.60730985258e-05,-0.000268527800478,-5.33052044065e-05,1793255747994634496
+132,2.200000000,POSE1_TO_POSE2_PRESS,782.491938105,760,736,721.491938105,689,652,912.491938105,800.491938105,838,659,636,658.491938105,0.402701762873,-0.00546356247556,0.0599011255148,0.999999962692,4.55325589218e-05,-0.000263549312914,-5.55402101374e-05,1793255748011301120
+133,2.216666667,POSE1_TO_POSE2_PRESS,782,760,736,721.086196669,689.086196669,652,912,800.086196669,838,659,636,658.086196669,0.402961674317,-0.00546734250169,0.0599003811163,0.999999963913,4.4434407862e-05,-0.000258542400308,-5.79172759062e-05,1793255748027967744
+134,2.233333333,POSE1_TO_POSE2_PRESS,782,760,736,721.678363356,689.678363356,652,912,800.678363356,838,659,636,658.678363356,0.403247656033,-0.00546914885153,0.0599003336674,0.99999996481,3.77417186175e-05,-0.00025530762308,-6.1423452605e-05,1793255748044634368
+135,2.250000000,POSE1_TO_POSE2_PRESS,782,759.73629051,736,722,690,652,912,800.73629051,838,659,636,659,0.403548719327,-0.0054701238013,0.0598962129715,0.999999963713,3.41019789926e-05,-0.000259262894983,-6.47618378625e-05,1793255748061301248
+136,2.266666667,POSE1_TO_POSE2_PRESS,782,759.159053452,736,722,690,652,912,800.159053452,838,659,636,659,0.403867713283,-0.00547011028883,0.0598872495403,0.999999960185,3.40919303999e-05,-0.000271766507928,-6.7900733527e-05,1793255748077967872
+137,2.283333333,POSE1_TO_POSE2_PRESS,782,759,736,722,689.583862474,652,912,800,838,659,635.583862474,658.583862474,0.404211592818,-0.00545806746199,0.0598735038709,0.99999995298,4.12615889598e-05,-0.000294991534911,-7.29243372164e-05,1793255748094635008
+138,2.300000000,POSE1_TO_POSE2_PRESS,782,759,736,722,689.009449721,652,912,800,838,659,635.009449721,658.009449721,0.404564937414,-0.00544144936295,0.0598579393083,0.99999994366,5.11620028313e-05,-0.000322294382127,-7.86647773321e-05,1793255748111302912
+139,2.316666667,POSE1_TO_POSE2_PRESS,782,759.580107107,736,722,689,652,912,800.580107107,838,659,635.580107107,658.580107107,0.404961073415,-0.0054448984088,0.0598518278922,0.999999940569,5.88884440973e-06,-0.000334686187684,-8.2534667243e-05,1793255748127968768
+140,2.333333333,POSE1_TO_POSE2_PRESS,782.166812479,760,736,722,689.166812479,652,912,801,838,658.833187521,635.833187521,658.833187521,0.405381175513,-0.00545147350351,0.0598523494478,0.999999939848,-3.02287914482e-05,-0.000334785837337,-8.54952819739e-05,1793255748144635136
+141,2.350000000,POSE1_TO_POSE2_PRESS,782.745845398,760,736,722,689.745845398,652,912,801,838,658.254154602,635.254154602,658.254154602,0.40585873292,-0.00546494412561,0.0598688714134,0.999999948868,-4.14411475909e-05,-0.000305125916401,-8.62862473727e-05,1793255748161301504
+142,2.366666667,POSE1_TO_POSE2_PRESS,782.677496347,760,736.322503653,721.677496347,689.677496347,652,912,801,838,658.322503653,635,658,0.406374553633,-0.00547319559132,0.0598952823059,0.999999962013,-4.5081449044e-05,-0.000258075548715,-8.56643533964e-05,1793255748177968128
+143,2.383333333,POSE1_TO_POSE2_PRESS,782.102695747,760,736.897304253,721.102695747,689.102695747,652,912,801,838,658.897304253,635,658,0.40692030806,-0.00547736407459,0.0599294293792,0.999999976074,-4.27980783083e-05,-0.000197420504672,-8.39371691736e-05,1793255748194635008
+144,2.400000000,POSE1_TO_POSE2_PRESS,782,760,736.528289102,721.471710898,689,652,912.471710898,801,838,659,635.471710898,658,0.407477716202,-0.00547792267885,0.0599456149587,0.999999980476,-4.17321882488e-05,-0.000174680746718,-8.24153445116e-05,1793255748211301888
+145,2.416666667,POSE1_TO_POSE2_PRESS,782,760,736,722,689,652,913,801,838,659,635.952580846,658.047419154,0.408036361443,-0.00547748503589,0.0599555866364,0.999999982353,-4.08370804831e-05,-0.000164465345176,-8.10997976794e-05,1793255748227968512
+146,2.433333333,POSE1_TO_POSE2_PRESS,782,760,736,722,689,652,913,801,838,659,635.360950563,658.639049437,0.408580111575,-0.0054746258329,0.0599390842575,0.99999997524,-3.88625609134e-05,-0.00020333243496,-8.16389440852e-05,1793255748244635136
+147,2.450000000,POSE1_TO_POSE2_PRESS,782,760,736,722,689,652,912.773983621,801,838,659,635,658.773983621,0.409151381302,-0.00547087761309,0.0599268578263,0.99999996909,-3.46475857227e-05,-0.000232131045714,-8.2059896072e-05,1793255748261301760
+148,2.466666667,POSE1_TO_POSE2_PRESS,782,760,736,722,689,652,912.194313562,801,838,659,635,658.194313562,0.409765711621,-0.00546573832579,0.0599213220822,0.999999966196,-2.69269118095e-05,-0.000245175244709,-8.2295906302e-05,1793255748277968128
+149,2.483333333,POSE1_TO_POSE2_PRESS,782.382560587,760,736,721.617439413,689,652,912.382560587,801,838,659,635,658,0.410434760446,-0.00546812071406,0.0599264018578,0.99999997041,-3.02741095628e-05,-0.000226871319537,-8.24186935549e-05,1793255748294635008
+150,2.500000000,POSE1_TO_POSE2_PRESS,782.958024897,760,736,721.041975103,689,652,912.958024897,801,838,659,635,658,0.411131400708,-0.00547429585918,0.0599368344412,0.999999977251,-3.92022108792e-05,-0.000192760303038,-8.24843887611e-05,1793255748311301632
+151,2.516666667,POSE1_TO_POSE2_PRESS,782.45540773,760,736.54459227,721,689,652,913,801,838,659,635.54459227,658.54459227,0.411831260335,-0.00548052323043,0.0599354810026,0.999999976456,-4.56844716819e-05,-0.00019543672552,-8.24974418236e-05,1793255748327968000
+152,2.533333333,POSE1_TO_POSE2_PRESS,782,760,736.875951963,721,688.875951963,652,913,801,838,659,636,659,0.412524397804,-0.00548501626148,0.0599255223066,0.999999971943,-4.98829635032e-05,-0.000216254875771,-8.28213706385e-05,1793255748344634880
+153,2.550000000,POSE1_TO_POSE2_PRESS,782,760,736.324038784,721,688.324038784,652,913,801,838,659,636,659,0.413193475445,-0.00548351305041,0.0598890809805,0.999999953402,-4.68680628619e-05,-0.000289663777731,-8.42318546532e-05,1793255748361302016
+154,2.566666667,POSE1_TO_POSE2_PRESS,782,759.749795267,736,721,688,652,913,801,838,659,636,658.749795267,0.41391316772,-0.00548247686659,0.0598691817026,0.999999942267,-4.75170024186e-05,-0.00032543642293,-8.54341266483e-05,1793255748377968640
+155,2.583333333,POSE1_TO_POSE2_PRESS,782,759.143797783,736,721,688,652,913,801,838,659,636,658.143797783,0.414704834429,-0.00548210479832,0.0598728053188,0.999999947512,-5.3375946297e-05,-0.000307690079721,-8.63403205018e-05,1793255748394635264
+156,2.600000000,POSE1_TO_POSE2_PRESS,782.438662458,759,736,721,687.561337542,652,913,801,838,659,636,658.438662458,0.415566043978,-0.005485027302,0.0599188076042,0.999999970483,-5.29534782881e-05,-0.000221644279709,-8.42846822109e-05,1793255748411302144
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,759,736.01416457,721,687,652,913,801,838.01416457,658.98583543,636,659,0.416446788059,-0.00548895096537,0.0599766231734,0.999999988547,-5.07806070505e-05,-0.000117100324422,-8.13342977787e-05,1793255748427968512
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,759,736.604502598,721,687,652,913,801,838.604502598,658.395497402,636,659,0.417242056819,-0.0054919051089,0.0599786541857,0.999999987479,-5.68995854422e-05,-0.000124455089773,-7.94711414618e-05,1793255748444635136
+159,2.650000000,POSE1_TO_POSE2_PRESS,782.808704576,759.191295424,737,720.808704576,686.808704576,652,913,801,839,658.191295424,636,659,0.418066115914,-0.00549435050703,0.0599730592865,0.99999998569,-6.01322130513e-05,-0.000137155014543,-7.86899393318e-05,1793255748461301760
+160,2.666666667,POSE1_TO_POSE2_PRESS,782.229108015,759.770891985,737,720.229108015,686.229108015,652,913,801,839,658.770891985,636,659,0.41894861504,-0.00549576322781,0.0599519849261,0.999999982225,-5.75059793104e-05,-0.000160704814085,-8.01049426901e-05,1793255748477968896
+161,2.683333333,POSE1_TO_POSE2_PRESS,782.34739068,760,736.65260932,720,686,652,913,801,838.65260932,659,636,659,0.419801871988,-0.00549533461444,0.0599267847893,0.999999976028,-5.68999936281e-05,-0.000194911279925,-8.19453503958e-05,1793255748494635776
+162,2.700000000,POSE1_TO_POSE2_PRESS,782.921864335,760,736.078135665,720,686,652,913,801,838.078135665,659,636,659,0.420636013822,-0.00549370235435,0.0598988877084,0.999999966939,-5.76146074238e-05,-0.000236083813697,-8.40638370453e-05,1793255748511302912
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,759.503580598,736.496419402,720,686.496419402,652,913,801,838,659,636,659,0.421459860265,-0.00549146617216,0.0598615024601,0.999999946981,-5.59172311644e-05,-0.000309242125267,-8.5321565651e-05,1793255748527969792
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,759.0732547,737,720,686.9267453,652,913,801,838.0732547,659,636,659,0.422302706792,-0.00548988126883,0.059832537861,0.999999927393,-5.43948391431e-05,-0.00036720045135,-8.6131692287e-05,1793255748544636160
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,759.666174638,737,720,686.333825362,652,913,801,838.666174638,659,636,659,0.423291836057,-0.00549359094297,0.0598739049612,0.999999955145,-5.68073943392e-05,-0.000281610351218,-8.47278151907e-05,1793255748561302784
+166,2.766666667,POSE1_TO_POSE2_PRESS,782.747459822,760,737,720,686,652,912.747459822,801,839,659,636,659,0.424277260715,-0.00549806049651,0.0599243922586,0.999999976429,-5.99136754074e-05,-0.000191795015854,-8.2258419562e-05,1793255748577969152
+167,2.783333333,POSE1_TO_POSE2_PRESS,782.169539089,760,737,720,686,652,912.169539089,801,839,659,636,659,0.425257912377,-0.0055035091026,0.0599866303051,0.999999990223,-6.39137746542e-05,-9.65357459092e-05,-7.84161768786e-05,1793255748594635776
+168,2.800000000,POSE1_TO_POSE2_PRESS,782,759.59392925,737,720,686,652,912,801,838.59392925,659,636,659,0.426199366815,-0.00550683805703,0.0600022515324,0.999999992949,-6.52311759313e-05,-6.20037533005e-05,-7.74702679896e-05,1793255748611302144
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,759.01927881,737,720,686,652,912,801,838.01927881,659,636,659,0.427124548523,-0.00550928704079,0.0599985198504,0.999999993451,-6.54348589088e-05,-5.26826086388e-05,-7.77267683344e-05,1793255748627968512
+170,2.833333333,POSE1_TO_POSE2_PRESS,782,759.555169144,737,720,686,652,912,801,838.555169144,659,635.444830856,659,0.428033811927,-0.00551295740828,0.0599740084484,0.999999991024,-6.83074780573e-05,-8.38911238747e-05,-7.90404167812e-05,1793255748644635904
+171,2.850000000,POSE1_TO_POSE2_PRESS,782.133493742,760,737,719.866506258,686,651.866506258,912.133493742,801,839,659,635.133493742,659,0.428931696254,-0.00551487773376,0.0599465484434,0.999999986849,-6.86804337684e-05,-0.000123036320727,-8.02947453473e-05,1793255748661303040
+172,2.866666667,POSE1_TO_POSE2_PRESS,782.725147344,760,737,719.274852656,686,651.274852656,912.725147344,801,839,659,635.725147344,659,0.429792423229,-0.00551064627851,0.0599114442956,0.999999977855,-6.01563962075e-05,-0.000184592113273,-8.12195367306e-05,1793255748677969664
+173,2.883333333,POSE1_TO_POSE2_PRESS,782.690275346,760,737,718.690275346,686,651,913,801.309724654,839,659,636,658.690275346,0.43069832305,-0.00550919589763,0.0598995806073,0.999999974466,-6.72155145288e-05,-0.000199634990921,-8.18264288075e-05,1793255748694635776
+174,2.900000000,POSE1_TO_POSE2_PRESS,782.111837371,760,737,718.111837371,686,651,913,801.888162629,839,659,636,658.111837371,0.431643414237,-0.00551015834308,0.0599078800593,0.999999977577,-8.77943888216e-05,-0.000174323829645,-8.21575154197e-05,1793255748711301888
+175,2.916666667,POSE1_TO_POSE2_PRESS,782,759.534967114,737.465032886,718.465032886,686,651.465032886,912.534967114,802,839,658.534967114,636,658.465032886,0.432600679384,-0.00551642914768,0.0599507940948,0.999999987507,-8.86778207606e-05,-0.00010365377601,-7.98609464098e-05,1793255748727968000
+176,2.933333333,POSE1_TO_POSE2_PRESS,782.042261551,759.042261551,738,719,686,652,912,802,839,658.042261551,635.957738449,658.957738449,0.433555807208,-0.00552359161592,0.0599972854323,0.999999992958,-8.50400710848e-05,-2.97817445975e-05,-7.72340989796e-05,1793255748744634368
+177,2.950000000,POSE1_TO_POSE2_PRESS,782.628947413,759.628947413,738,719,686,652,912,802,839,658.628947413,635.371052587,658.371052587,0.43444581114,-0.00552585015144,0.0599829813443,0.999999991899,-8.39727177726e-05,-5.47152964461e-05,-7.8465914127e-05,1793255748761300992
+178,2.966666667,POSE1_TO_POSE2_PRESS,783,760,737.786721371,718.786721371,686,652,912.213278629,802,839,658.786721371,635,658.213278629,0.43532101592,-0.00552870527885,0.0599635176438,0.999999989092,-8.59651375534e-05,-9.01500104953e-05,-7.93699436339e-05,1793255748777967872
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,760,737.206441834,718.206441834,686,652,912.793558166,802,839,658.206441834,635,658.793558166,0.436170755086,-0.00553258699689,0.0599351754968,0.99999998216,-9.3222686098e-05,-0.000143654687398,-7.97099334896e-05,1793255748794634496
+180,3.000000000,POSE1_TO_POSE2_PRESS,782.631457507,759.631457507,737.368542493,718.368542493,686,651.631457507,912.631457507,802,839,658,635,659,0.436991887763,-0.00553259285609,0.0599139193097,0.999999975956,-9.50898557685e-05,-0.000180934878062,-7.94259989434e-05,1793255748811301120
+181,3.016666667,POSE1_TO_POSE2_PRESS,782.059397352,759.059397352,737.940602648,718.940602648,686,651.059397352,912.059397352,802,839,658,635,659,0.437797223228,-0.00553045837643,0.0598965761549,0.999999970585,-9.39803335468e-05,-0.000209255530191,-7.87975189713e-05,1793255748827967744
+182,3.033333333,POSE1_TO_POSE2_PRESS,782,759.51827603,738,718.48172397,686,651,912,802,839,658,635,659,0.438610035188,-0.0055298966335,0.0598888042763,0.99999996793,-9.2354070847e-05,-0.000222342364323,-7.85845472645e-05,1793255748844634624
+183,3.050000000,POSE1_TO_POSE2_PRESS,782.098435252,759.901564748,738,718.098435252,686,651,912,802,839.098435252,658,635,659,0.439437057814,-0.00553082561315,0.0598932408262,0.999999969549,-9.1757451051e-05,-0.000215411817673,-7.79761960825e-05,1793255748861301504
+184,3.066666667,POSE1_TO_POSE2_PRESS,782.687747681,759.312252319,738,718.687747681,686,651,912,802,839.687747681,658,635,659,0.44033062648,-0.00553827984686,0.0599530283726,0.999999985612,-9.65940156738e-05,-0.000117460234017,-7.51560954757e-05,1793255748877968128
+185,3.083333333,POSE1_TO_POSE2_PRESS,783,759,738,718.727834646,686,651,912,802,839.727834646,658,635.272165354,659,0.441160455799,-0.00554336951441,0.0599864270775,0.99999999016,-0.000100814522492,-6.45602666207e-05,-7.31293956855e-05,1793255748894634496
+186,3.100000000,POSE1_TO_POSE2_PRESS,783,759,738,718.148933501,686,651,912,802,839.148933501,658,635.851066499,659,0.44191844954,-0.00554579426817,0.0599900850268,0.999999990016,-0.000104340720341,-6.24343779983e-05,-7.19968752712e-05,1793255748911301120
+187,3.116666667,POSE1_TO_POSE2_PRESS,782.571495533,759,738,718.428504467,685.571495533,651,912,802,839,658.428504467,635.571495533,659,0.442618702239,-0.00554716546593,0.059952582297,0.999999985349,-0.000104016316426,-0.000114547429313,-7.32159776973e-05,1793255748927968000
+188,3.133333333,POSE1_TO_POSE2_PRESS,782,759.005529193,738,719,685,650.994470807,912,801.994470807,839,659,635,659,0.443298651824,-0.00554813622039,0.0599010610826,0.999999974797,-0.00010231632244,-0.000185138233436,-7.52353228342e-05,1793255748944634368
+189,3.150000000,POSE1_TO_POSE2_PRESS,782,759.592387673,738,719,685,650.407612327,912,801.407612327,839,659,635,659,0.443946781181,-0.00554537357737,0.0598746553792,0.9999999676,-9.62208870325e-05,-0.000223167585334,-7.57491511446e-05,1793255748961301248
+190,3.166666667,POSE1_TO_POSE2_PRESS,782.177842152,760,738,719,685,650,912,801,839.177842152,659,635,659,0.444598373105,-0.00554359873366,0.0598557027909,0.999999961014,-9.12333761573e-05,-0.000252842070711,-7.5620782672e-05,1793255748977968384
+191,3.183333333,POSE1_TO_POSE2_PRESS,782.760103992,760,738,719,685,650,912,801,839.760103992,659,635,659,0.445257839163,-0.00554407018188,0.0598536988591,0.999999958599,-8.87653260748e-05,-0.000263517285986,-7.40320350656e-05,1793255748994635776
+192,3.200000000,POSE1_TO_POSE2_PRESS,783,760,738,719,685,649.662972167,912.337027833,801,840,659,635,659,0.445860824003,-0.00554537368769,0.0598359807322,0.999999948807,-9.06404087065e-05,-0.000297781045158,-7.41388472238e-05,1793255749011302400
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,760,738,719,685,649.089788701,912.910211299,801,840,659,635,659,0.446424232375,-0.00554726021679,0.0598072516581,0.999999931837,-9.55587273598e-05,-0.000348573311899,-7.54337392119e-05,1793255749027969024
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,759.51420526,738,719,684.51420526,649,912.51420526,801,840,659,635,659,0.44699897537,-0.00554992632749,0.0597987724871,0.999999929824,-0.000101056945877,-0.000352561190889,-7.64218392984e-05,1793255749044635648
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,759,738,718.936790551,684,649,912,801,840,658.936790551,635,659,0.447573046419,-0.0055528273008,0.0597968416002,0.999999931912,-0.000106418452331,-0.000344838809089,-7.70513508036e-05,1793255749061302784
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,759,738,718.347852414,684,649,912,801,840,658.347852414,635,659,0.448124017909,-0.00555647731199,0.0598180904131,0.999999942472,-0.000109747005201,-0.000312027217531,-7.51723536009e-05,1793255749077969664
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,759.228737951,738,718.228737951,683.771262049,648.771262049,912,801,840,658.228737951,635,659,0.448638993813,-0.00555800736665,0.0598234840922,0.99999994498,-0.000109472246741,-0.000304300136857,-7.38670725683e-05,1793255749094636288
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,759.787512187,738,718.787512187,683.212487813,648.212487813,912,801,840,658.787512187,635,659,0.449102033167,-0.00555647862565,0.0598060010693,0.999999936532,-0.000103998422999,-0.00033276643592,-7.33895824733e-05,1793255749111302144
+199,3.316666667,POSE1_TO_POSE2_PRESS,782.628416428,759.628416428,738,719,683,648,912,800.628416428,840,658.628416428,635,659,0.449532141705,-0.00555764542122,0.0597751016175,0.999999919612,-0.000103161047616,-0.000380397871264,-7.37000493567e-05,1793255749127968256
+200,3.333333333,POSE1_TO_POSE2_PRESS,782.028822183,759.028822183,738,719,683,648,912,800.028822183,840,658.028822183,635,659,0.44994204332,-0.00556046624861,0.0597359695908,0.999999894988,-0.000105168683412,-0.000439789396716,-7.44940212402e-05,1793255749144634880
+201,3.350000000,POSE1_TO_POSE2_PRESS,782.557970168,759.557970168,738.557970168,719,683,648,912,800,840,658,635,659,0.450326069651,-0.00556244108138,0.0597203405637,0.999999887948,-0.000107694325718,-0.000454736520792,-7.56396507096e-05,1793255749161301504
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,760,738.857763153,719,682.857763153,647.857763153,912,800,840,658,635,659,0.45070762994,-0.00556414489049,0.0597117455302,0.99999988531,-0.000109484633357,-0.000459988996104,-7.61812606246e-05,1793255749177967872
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,760,738.279260226,719,682.279260226,647.279260226,912,800,840,658,635,659,0.451085634161,-0.00556514845174,0.0597210848086,0.999999893413,-0.000108939307134,-0.0004423899153,-7.48157680936e-05,1793255749194634496
+204,3.400000000,POSE1_TO_POSE2_PRESS,783,760,738,719,681.70184164,647,912,800,840,658.29815836,634.70184164,659,0.451444969194,-0.00556651843218,0.059732293603,0.999999900938,-0.000111132546926,-0.000424687975399,-7.35799849481e-05,1793255749211301632
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,760,738,719,681.12543502,647,912,800,840,658.87456498,634.12543502,659,0.451786881687,-0.00556823036339,0.0597452470723,0.99999990788,-0.000115881479732,-0.000406890046053,-7.24652496724e-05,1793255749227969280
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,759.549116328,738.450883672,719,681,647,912,800,840,659,634,659,0.452087531027,-0.00557143913592,0.059752304765,0.999999912556,-0.000121830368586,-0.00039349594144,-7.21487317347e-05,1793255749244636160
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,759.027779129,738.972220871,719,681,646.972220871,912,800,840,659,634,659,0.45237389999,-0.00557500388852,0.0597571338093,0.999999916164,-0.00012788844452,-0.000382262274043,-7.2052459432e-05,1793255749261302784
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,759.61682215,738.38317785,719,681,646.38317785,912,800,840,659,634,659,0.452603630081,-0.00557734915272,0.059750066966,0.999999913017,-0.000129409124666,-0.000389930739101,-7.19203508222e-05,1793255749277969664
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,760,738,719,681,646,912,799.796666607,840,659,634,659,0.452823919993,-0.00558080910018,0.0597438253054,0.999999909641,-0.000131280469568,-0.000397957345207,-7.15037841766e-05,1793255749294636032
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,760,738,719,681,646,912,799.214867844,840,659,634,659,0.453026638828,-0.00558634381244,0.0597391195621,0.999999905877,-0.00013380450821,-0.000406650560028,-7.05577545097e-05,1793255749311302656
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760,738,718.638141923,681,646,912,799,840,658.638141923,634,659,0.453202920307,-0.00558980360131,0.0597304682365,0.999999898822,-0.000136262802016,-0.000422929799057,-7.01335425989e-05,1793255749327969280
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,738,718.06438651,681,646,912,799,840,658.06438651,634,659,0.453363720583,-0.0055920483543,0.0597195064512,0.999999889519,-0.000138682597068,-0.00044365127299,-7.0014897316e-05,1793255749344635648
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,760,738.504992677,718.504992677,680.495007323,646,912.504992677,799,840,658.504992677,634,659,0.453496291617,-0.00559002153354,0.0597130450086,0.999999884491,-0.000137065080492,-0.000455340523877,-6.99788942706e-05,1793255749361302528
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,760,738.922461874,719,680.077538126,646,912.922461874,799,840,659,634,659,0.453624307429,-0.00558767880227,0.0597079451449,0.999999880643,-0.000134750049685,-0.000464401586405,-6.99124107759e-05,1793255749377969408
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,760,738.324974655,719,680.675025345,646,912.324974655,799,840,659,634,659,0.453745705286,-0.00558683838976,0.059708161007,0.999999881562,-0.000131179841198,-0.000463494766804,-6.95714835845e-05,1793255749394636032
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,760,738.263484701,719,680.736515299,646,912.263484701,799,840,659,634,659,0.453856261725,-0.00558848888336,0.0597095040126,0.99999988274,-0.000131741144641,-0.000460858449001,-6.90918578364e-05,1793255749411302912
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,760,738.84117818,719,680.15882182,646,912.84117818,799,840,659,634,659,0.453953889631,-0.00559310981349,0.0597121911508,0.999999884201,-0.000137229327587,-0.000456159683151,-6.84468323553e-05,1793255749427969280
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,738.582292371,718.582292371,680,646,912.582292371,799,840,659,634,659.417707629,0.454034183153,-0.00559266791086,0.0597139771579,0.999999886112,-0.000135499077664,-0.000452517066639,-6.81497223917e-05,1793255749444635392
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,738.006204296,718.006204296,680,646,912.006204296,799,840,659,634,659.993795704,0.454107904068,-0.0055903063551,0.0597154214868,0.99999988818,-0.000131031844758,-0.000449274905934,-6.79845301066e-05,1793255749461301248
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,738,718,680,645.418384455,912,799,840,659,634,659.418384455,0.454162295213,-0.0055898904023,0.0597182014049,0.999999890709,-0.000130244176533,-0.000443941449395,-6.73347699121e-05,1793255749477968128
+221,3.683333333,POSE1_TO_POSE2_PRESS,782.832871368,760,738,718.167128632,680,645.167128632,912,798.832871368,840,658.832871368,634,659,0.454211583688,-0.00558957896858,0.0597198071012,0.999999892167,-0.000129818722172,-0.000440832311337,-6.69380387075e-05,1793255749494634752
+222,3.700000000,POSE1_TO_POSE2_PRESS,782.253365259,760,738,718.746634741,680,645.746634741,912,798.253365259,840,658.253365259,634,659,0.454248800943,-0.00558947316374,0.0597184796143,0.999999891026,-0.000130188160542,-0.000443267692591,-6.71786546542e-05,1793255749511301376
+223,3.716666667,POSE1_TO_POSE2_PRESS,782.32355665,760,738.32355665,719,680,645.67644335,912,798,840,658.32355665,634,659,0.454277426066,-0.00558999842687,0.0597165703898,0.999999889891,-0.000130737282443,-0.000445687124369,-6.69961482749e-05,1793255749527968256
+224,3.733333333,POSE1_TO_POSE2_PRESS,782.89847106,760,738.89847106,719,680,645.10152894,912,798,840,658.89847106,634,659,0.454299376321,-0.00559101394055,0.0597142092375,0.999999888759,-0.000131425993075,-0.000448094165917,-6.64849357094e-05,1793255749544635392
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,760,738.524338428,718.524338428,680,645,912,798,840,659,634,659.475661572,0.454313433813,-0.00558893186055,0.0597120903804,0.99999988746,-0.00012853862397,-0.000451813312113,-6.64993906658e-05,1793255749561302272
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,760,738,718.054678242,680,645,912,798.054678242,840,659,634,659.945321758,0.454325157515,-0.005586439728,0.0597099764567,0.999999886025,-0.000125462523661,-0.000455816574322,-6.66333614197e-05,1793255749577968640
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,760,738,718.646847875,680,645,912,798.646847875,840,659,634,659.353152125,0.454330580176,-0.00558644739425,0.0597074001965,0.999999883836,-0.00012807061849,-0.000459846414851,-6.68339183656e-05,1793255749594635008
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,760,738,718.767725264,680,645,912,798.767725264,840,659,634,659.232274736,0.454335445316,-0.0055856838822,0.0597055009081,0.999999882552,-0.000127905643762,-0.000462658882916,-6.69566590535e-05,1793255749611301376
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,760,738,718.192260988,680,645,912,798.192260988,840,659,634,659.807739012,0.454339486708,-0.00558378094218,0.0597046018562,0.999999882618,-0.000123643415405,-0.000463672663962,-6.69644249971e-05,1793255749627968000
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,759.616029349,738,718.383970651,680,645,912,798,840,659,634,660,0.454341543625,-0.00558330558669,0.0597042643647,0.999999882282,-0.000123026652247,-0.000464600415614,-6.66835750058e-05,1793255749644634880
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,759.039412726,738,718.960587274,680,645,912,798,840,659,634,660,0.454342604891,-0.00558354647976,0.0597042086196,0.999999881749,-0.000124238894084,-0.000465485004523,-6.62579204645e-05,1793255749661301504
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,759,738,718.45120565,680,645,912,798.54879435,840,659,634,659.45120565,0.454344969788,-0.00558105181903,0.0597041962267,0.999999882259,-0.000122268211285,-0.000464862545871,-6.65917464582e-05,1793255749677968384
+233,3.883333333,POSE1_TO_POSE2_PRESS,782.864411318,759,738.135588682,718.135588682,680,645,912,798.864411318,840,659,634,659,0.454346666257,-0.00557923517732,0.0597036342597,0.99999988252,-0.000120428158037,-0.000464752865178,-6.67978652063e-05,1793255749694635264
+234,3.900000000,POSE1_TO_POSE2_PRESS,782.285024489,759,738.714975511,718.714975511,680,645,912,798.285024489,840,659,634,659,0.454345861829,-0.00558029468253,0.0597012630597,0.999999881725,-0.000119780010028,-0.000466683466995,-6.64036031275e-05,1793255749711302144
+235,3.916666667,POSE1_TO_POSE2_PRESS,782.292037671,759.292037671,738.707962329,718.707962329,680,645,912,798,840,659,634,659,0.454346327655,-0.00558164294737,0.0597006140586,0.999999881311,-0.000120905704531,-0.000467352603267,-6.58934186985e-05,1793255749727968768
+236,3.933333333,POSE1_TO_POSE2_PRESS,782.866848976,759.866848976,738.133151024,718.133151024,680,645,912,798,840,659,634,659,0.454348023441,-0.00558327081191,0.0597016326243,0.999999881262,-0.000123748971518,-0.000466800290513,-6.52709891689e-05,1793255749744635136
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,759.558095563,738,718,680,645,912,798,840,659,634,659,0.454347491827,-0.00558114026451,0.0597012619562,0.999999880605,-0.000123135288879,-0.000468304463168,-6.57114417526e-05,1793255749761301760
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,759.017502103,738.017502103,718.017502103,680,645,912,798.017502103,840,659,634,659,0.454346369544,-0.00557797010413,0.0597004927839,0.999999879816,-0.000121453175094,-0.000470322900465,-6.64402786517e-05,1793255749777968128
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,759.608454371,738.608454371,718.608454371,680,645,912,798.608454371,840,659,634,659,0.454347896074,-0.00557786234821,0.0597003893811,0.999999880821,-0.000118911458184,-0.000468877423436,-6.61189559813e-05,1793255749794635008
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760,739,719,680,645,912,798.806004992,840,659,634,659,0.454349489087,-0.00557832476174,0.0597009637261,0.999999881575,-0.000118436349153,-0.000467440325058,-6.57498522001e-05,1793255749811301888
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760,739,719,680,645,912,798.231090418,840,659,634,659,0.454351212646,-0.00557990673348,0.059702868865,0.999999881837,-0.0001220191353,-0.000466019678697,-6.52869276735e-05,1793255749827968512
+242,4.033333333,POSE1_TO_POSE2_PRESS,782.654632869,760,739,719,680,645,912.345367131,798.345367131,840,659,634,659,0.454350754331,-0.00557944141158,0.0597021118552,0.999999881384,-0.000121273026771,-0.000467191186496,-6.52543605682e-05,1793255749844635392
+243,4.050000000,POSE1_TO_POSE2_PRESS,782.077138283,760,739,719,680,645,912.922861717,798.922861717,840,659,634,659,0.45434882954,-0.00557760006678,0.0596995655674,0.999999880438,-0.000117617390187,-0.000470104927743,-6.55110444378e-05,1793255749861302272
+244,4.066666667,POSE1_TO_POSE2_PRESS,782.498357213,760,739,718.501642787,680,645,912.501642787,799,840,659,634,659,0.454348326658,-0.0055766402424,0.0596986310235,0.999999880142,-0.000116411380386,-0.000470986491003,-6.58452578761e-05,1793255749877968640
+245,4.083333333,HOLD_POSE2,783,760,738,719,679,645,912,799,840,658,634,660,0.454350974257,-0.00557675368492,0.0597009434092,0.999999881587,-0.00011653230097,-0.000467964782468,-6.52350484937e-05,1793255749920560640
+246,4.100000000,HOLD_POSE2,783,760,738,718.424686539,679,645,912,798.424686539,840,658.575313461,634,660,0.454352071085,-0.00557800461805,0.0597007913491,0.999999881672,-0.000116570640368,-0.00046781602638,-6.49306308918e-05,1793255749937228032
+247,4.116666667,HOLD_POSE2,783,759.849660737,738,718.150339263,679.150339263,645,912,798,840,659,634,659.849660737,0.454352467822,-0.00557812575112,0.0597004820556,0.999999881582,-0.000116008610798,-0.000468165737781,-6.47949682615e-05,1793255749953894912
+248,4.133333333,HOLD_POSE2,783,759.275445847,738,718.724554153,679.724554153,645,912,798,840,659,634,659.275445847,0.45435089068,-0.00557506145768,0.0596997294486,0.999999880996,-0.000113753864586,-0.000469920858595,-6.51351035537e-05,1793255749970561792
+249,4.150000000,HOLD_POSE2,783,759,738,719,680,645,912,798.306527039,840,659,633.693472961,659,0.454350496661,-0.0055740923284,0.0596996283727,0.999999880799,-0.000112995188049,-0.000470545090215,-6.49648708066e-05,1793255749987228160
+250,4.166666667,HOLD_POSE2,783,759,738,719,680,645,912,798.895652263,840,659,633.104347737,659,0.454351193404,-0.00557505480568,0.0597001279664,0.999999880967,-0.000113615791519,-0.000470126714742,-6.4324111582e-05,1793255750003895040
+251,4.183333333,HOLD_POSE2,783,759.478694627,738,719,679.521305373,645,912,799,840,658.521305373,633.478694627,659,0.454351676329,-0.00557511810827,0.0596995299953,0.999999880624,-0.000114899594269,-0.000470462374084,-6.49277909753e-05,1793255750020561408
+252,4.200000000,HOLD_POSE2,783,760,738.059710869,719,679,645,912,799,840,658.059710869,634,659,0.454351990374,-0.00557492470851,0.059698798403,0.999999880235,-0.00011591132652,-0.000470940309312,-6.56487666692e-05,1793255750037228032
+253,4.216666667,HOLD_POSE2,783,760,738.634543391,719,679,645,912,799,840,658.634543391,634,659,0.454351244553,-0.005574186465,0.0596989521791,0.999999880423,-0.000113344406095,-0.000471245454465,-6.50708064506e-05,1793255750053894400
+254,4.233333333,HOLD_POSE2,782.790879354,760,738.790879354,719,679,645,912,798.790879354,839.790879354,659,634,659,0.454350981696,-0.00557336506866,0.0596990368175,0.999999880582,-0.000111445722307,-0.000471399332112,-6.47922433013e-05,1793255750070561024
+255,4.250000000,HOLD_POSE2,782.21674772,760,738.21674772,719,679,645,912,798.21674772,839.21674772,659,634,659,0.454351561834,-0.00557239853277,0.059699000779,0.9999998807,-0.000110713416763,-0.000471289178883,-6.50362647708e-05,1793255750087227648
+256,4.266666667,HOLD_POSE2,782,759.632294433,738,719,679,645,912,798,839.367705567,658.632294433,634,659,0.454352140278,-0.00557222174421,0.0596991751141,0.999999881016,-0.00011158052882,-0.000470387597653,-6.52247797129e-05,1793255750103894272
+257,4.283333333,HOLD_POSE2,782,759.041581168,738,719,679,645,912,798,839.958418832,658.041581168,634,659,0.454352717693,-0.00557252392502,0.0596994770374,0.999999881448,-0.000113417662663,-0.000469006027659,-6.53796308342e-05,1793255750120560896
+258,4.300000000,HOLD_POSE2,782.53765561,759.53765561,738,719,679.53765561,645,912,798,840,658.53765561,634,659,0.454352649423,-0.00557164214993,0.0596996771093,0.999999881567,-0.000111054052358,-0.000469342480204,-6.51944031078e-05,1793255750137227776
+259,4.316666667,HOLD_POSE2,783,759.884246824,738,719,680,645,912,798,840,658.884246824,633.884246824,659,0.454352724603,-0.0055710940269,0.0596998559053,0.999999881636,-0.000109325403842,-0.000469639081335,-6.49270178218e-05,1793255750153894400
+260,4.333333333,HOLD_POSE2,783,759.307225786,738,719,680,645,912,798,840,658.307225786,633.307225786,659,0.454353566256,-0.00557223273522,0.0596999806518,0.999999881618,-0.000111394584093,-0.000469258472881,-6.44348577693e-05,1793255750170561024
+261,4.350000000,POSE2_TO_POSE3_RETREAT,782,759,738,719,680,645,912,798,840,659,634,659,0.454351568786,-0.00557046148865,0.0596981698996,0.999999880906,-0.00010808893103,-0.000471515298917,-6.46341715453e-05,1793255750207849728
+262,4.366666667,POSE2_TO_POSE3_RETREAT,782.57778041,759.57778041,738,719,679.42221959,645,912,798,840,658.42221959,634,659,0.454353483622,-0.00557117949384,0.0596994900967,0.999999881425,-0.000110219651939,-0.000469941750852,-6.4475731839e-05,1793255750224517120
+263,4.383333333,POSE2_TO_POSE3_RETREAT,783,760,738,718.844867193,679,645,912,798,840,658.155132807,633.844867193,659.155132807,0.454354388419,-0.00557151010756,0.0597001199513,0.999999881558,-0.00011141471991,-0.000469389633988,-6.43672231674e-05,1793255750241184256
+264,4.400000000,POSE2_TO_POSE3_RETREAT,783,760,738,718.26867637,679,645,912,798,840,658.73132363,633.26867637,659.73132363,0.454352551787,-0.0055707892721,0.0596988760938,0.999999880661,-0.000110070259963,-0.00047160986263,-6.43942361659e-05,1793255750257850112
+265,4.416666667,POSE2_TO_POSE3_RETREAT,783,760,738,718.307748848,679.307748848,645,912,798,840,659,633.307748848,659.692251152,0.454351867857,-0.00557068278848,0.0596985260029,0.999999880514,-0.000109232449514,-0.000472127636998,-6.43125162352e-05,1793255750274516224
+266,4.433333333,POSE2_TO_POSE3_RETREAT,783,760,738,718.884378823,679.884378823,645,912,798,840,659,633.884378823,659.115621177,0.454352191044,-0.00557111306601,0.0596989567986,0.999999881026,-0.000108837300389,-0.00047115797164,-6.41357960048e-05,1793255750291182848
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783,760,738,719,680,645,912,798.47139911,840,659,634,659,0.454353481623,-0.00557063332067,0.0596993796953,0.999999881405,-0.00011017528367,-0.000469985578217,-6.45389420719e-05,1793255750307849472
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783,760,738.060191896,719,679.939808104,645,912.060191896,798.939808104,840,659,634,659,0.454354810155,-0.0055700632736,0.0596997503448,0.999999881782,-0.000111526799966,-0.00046880275584,-6.49684903137e-05,1793255750324516096
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,760,738.641765867,719,679.358234133,645,912.641765867,798.358234133,840,659,634,659,0.454354365853,-0.00557068799617,0.0596996855897,0.999999882465,-0.000109230426632,-0.00046797001081,-6.43670139383e-05,1793255750341182720
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,738.779441003,719,679.220558997,645,912.779441003,798,840,659,634,659.220558997,0.454350629491,-0.00557100110939,0.0596979700762,0.999999881486,-0.000108067682694,-0.000470348280212,-6.41954551486e-05,1793255750357849600
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,760,738.205108358,719,679.794891642,645,912.205108358,798,840,659,634,659.794891642,0.45434161271,-0.00557081440533,0.0596936067684,0.999999877813,-0.000108723265193,-0.000477876973398,-6.47134784074e-05,1793255750374516480
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,760,738.377021939,719,679.622978061,645,912,798,839.622978061,659,634,659.622978061,0.454319434559,-0.00556937482392,0.0596834746241,0.999999869907,-0.000107499021228,-0.000494355229959,-6.51356539564e-05,1793255750391183104
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,760,738.963483977,719,679.036516023,645,912,798,839.036516023,659,634,659.036516023,0.454289945114,-0.00556723925446,0.059670137823,0.99999985929,-0.000105230511691,-0.000515805074212,-6.55045850061e-05,1793255750407849472
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,759.453623953,738.453623953,719,679,645,912,798,839.546376047,659,634,659.546376047,0.454239820196,-0.00556650416446,0.0596523247238,0.999999845461,-0.000105001655766,-0.000541889981469,-6.6386854412e-05,1793255750424516096
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,759.127706515,738.127706515,718.872293485,679,645,912,798,840,659,634,660,0.454183732392,-0.00556534959596,0.059634242741,0.999999831797,-0.000104636421469,-0.000566500725497,-6.73309429378e-05,1793255750441182720
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,759.704380499,738.704380499,718.295619501,679,645,912,798,840,659,634,660,0.454111498368,-0.00556239338026,0.0596162603843,0.999999821303,-0.000103315607196,-0.000584846897159,-6.83725333803e-05,1793255750457849344
+277,4.616666667,POSE2_TO_POSE3_RETREAT,782.720998045,760,739,718,679,645,912,798,839.720998045,659,634,659.720998045,0.454030434005,-0.00555992328386,0.0596019717339,0.999999810704,-0.000102445343863,-0.000602791175144,-6.88405907657e-05,1793255750474515968
+278,4.633333333,POSE2_TO_POSE3_RETREAT,782.148535518,760,739,718,679,645,912,798,839.148535518,659,634,659.148535518,0.453940081696,-0.00555796449894,0.0595915682087,0.999999800039,-0.000102048980295,-0.00062031273118,-6.87053930366e-05,1793255750491182592
+279,4.650000000,POSE2_TO_POSE3_RETREAT,782.436046873,760,739,718,679,645,912,798,839.436046873,659,634,659,0.453841160125,-0.00555391280689,0.0595864620364,0.999999794813,-9.90712109989e-05,-0.000629166446745,-6.86135904401e-05,1793255750507849472
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,760,739,718.024547457,679.024547457,645,912,798,839.975452543,659,634,659,0.453738178195,-0.00554920399406,0.0595833550906,0.999999791708,-9.52814808821e-05,-0.000634676250692,-6.84887358618e-05,1793255750524515840
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,760,739,718.605604033,679.605604033,645,912,798,839.394395967,659,634,659,0.453611213742,-0.00554622250592,0.0595834932412,0.999999792868,-9.35890639473e-05,-0.000633228989433,-6.72698644045e-05,1793255750541182720
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,760,738.815442555,718.815442555,680,645,912,798,839.184557445,659,634,659,0.453473432491,-0.00554251378936,0.0595827052556,0.999999793577,-9.14246282225e-05,-0.000632520937353,-6.63630664424e-05,1793255750557849600
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,738.240932998,718.240932998,680,645,912,798,839.759067002,659,634,659,0.453312796404,-0.00553726850955,0.0595799604331,0.999999793337,-8.82628624615e-05,-0.00063337476327,-6.611564988e-05,1793255750574516480
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,760,738,718.340543854,679.659456146,645,912,798,840,659,634,659,0.45314075373,-0.00553202950971,0.0595800086543,0.999999793869,-8.27792693895e-05,-0.000633398823452,-6.49254946556e-05,1793255750591182848
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,738,718.927053049,679.072946951,645,912,798,840,659,634,659,0.452960472378,-0.00552679504516,0.0595820742131,0.99999979492,-7.56186847821e-05,-0.000632823567017,-6.30544255223e-05,1793255750607849472
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,760,738,719,679.50714556,645,912,798,840,659,634,659,0.452758245981,-0.0055195971759,0.0595895274657,0.999999804227,-6.89809327713e-05,-0.000618879542663,-6.14502715865e-05,1793255750624516352
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782.913672948,760,738,718.913672948,680,645,912,798,840,659,634,659,0.452546028482,-0.00551220526904,0.0595977408773,0.999999813843,-6.26854512443e-05,-0.000603992784851,-5.98179268509e-05,1793255750641182976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,782.334488852,760,738,718.334488852,680,645,912,798,840,659,634,659,0.452294565947,-0.00550529776395,0.0596059250898,0.999999819898,-5.79200671511e-05,-0.000594565035914,-5.78081831919e-05,1793255750657849600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,782,760,738,718.242963168,680,645,912,798.242963168,840,658.757036832,634,659,0.452019504159,-0.00549895015492,0.0596101702661,0.999999823006,-5.27078635376e-05,-0.000590025477906,-5.5486964191e-05,1793255750674515968
+290,4.833333333,POSE2_TO_POSE3_RETREAT,782,760,738,718.818047471,680,645,912,798.818047471,840,658.181952529,634,659,0.451712183131,-0.00549336790229,0.0596090309338,0.999999822179,-4.68848754276e-05,-0.000592167886107,-5.27399707203e-05,1793255750691182848
+291,4.850000000,POSE2_TO_POSE3_RETREAT,782,759.598548688,738,718.598548688,680.401451312,645.401451312,912,799,839.598548688,658.401451312,634,659,0.451386843942,-0.00548575701248,0.0596093599014,0.999999822276,-4.09783339006e-05,-0.000592620043173,-5.06992482717e-05,1793255750707849216
+292,4.866666667,POSE2_TO_POSE3_RETREAT,782,759.011294345,738,718.011294345,680.988705655,645.988705655,912,799,839.011294345,658.988705655,634,659,0.451053165446,-0.00547720721211,0.0596103684398,0.999999822783,-3.50331216481e-05,-0.000592289904103,-4.89854081182e-05,1793255750724515840
+293,4.883333333,POSE2_TO_POSE3_RETREAT,782.568395214,759.568395214,738,718,680.431604786,646,912,799,839.568395214,659,634,659,0.450671998125,-0.0054702791515,0.0596037145155,0.999999819952,-2.71700074382e-05,-0.000597628296984,-4.68755727649e-05,1793255750741182720
+294,4.900000000,POSE2_TO_POSE3_RETREAT,782.853123595,759.853123595,738,718,680.146876405,646,912,799,840,659,634,659,0.450275689752,-0.0054624748543,0.0595959058451,0.999999815158,-1.90341825759e-05,-0.000606067109173,-4.47732645427e-05,1793255750757849344
+295,4.916666667,POSE2_TO_POSE3_RETREAT,782.277735136,759.277735136,738,718,680.722264864,646,912,799,840,659,634,659,0.449837924297,-0.00545202135585,0.05958516658,0.99999980483,-1.02124506781e-05,-0.000623227094154,-4.27155724039e-05,1793255750774516224
+296,4.933333333,POSE2_TO_POSE3_RETREAT,782.298763541,759,738,718,681.298763541,646.298763541,912,799,839.701236459,658.701236459,634,659,0.449377837249,-0.00544417789945,0.05957971766,0.99999980001,-3.53292799551e-06,-0.000631128586956,-4.05554234588e-05,1793255750791183104
+297,4.950000000,POSE2_TO_POSE3_RETREAT,782.87629821,759,738,718,681.87629821,646.87629821,912,799,839.12370179,658.12370179,634,659,0.448896922256,-0.00543876982723,0.059579205069,0.999999800569,1.1477370899e-06,-0.000630391141899,-3.82996735995e-05,1793255750807849472
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,759.462753729,738,718,682,647,912,799,839,658.462753729,634,659,0.448415681908,-0.00544625957343,0.0595888471287,0.999999808515,-7.47431086488e-06,-0.000617792835291,-3.52982298298e-05,1793255750824516096
+299,4.983333333,POSE2_TO_POSE3_RETREAT,782.94920348,760,738,718.05079652,682,647,912,799.05079652,839,659,634.05079652,659,0.44793167601,-0.00545701521959,0.0596027681519,0.99999982001,-1.91298469605e-05,-0.000598835982615,-3.17792688934e-05,1793255750841182720
+300,5.000000000,POSE2_TO_POSE3_RETREAT,782.369943938,760,738,718.630056062,682,647,912,799.630056062,839,659,634.630056062,659,0.447419820912,-0.00546517337874,0.0596324099321,0.999999849582,-2.46218332375e-05,-0.000547361682648,-2.49908675374e-05,1793255750857849600
+301,5.016666667,POSE2_TO_POSE3_RETREAT,782.206847692,760,738,718.793152308,682.206847692,647.206847692,911.793152308,800,839,658.793152308,635,659,0.446884481722,-0.00546459908952,0.0596598630332,0.999999871379,-2.09919940566e-05,-0.000506395803165,-1.91067297833e-05,1793255750874516480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782.779277502,760,738,718.220722498,682.779277502,647.779277502,911.220722498,800,839,658.220722498,635,659,0.446307636832,-0.00544859109136,0.059683447866,0.99999988276,-1.24026202878e-06,-0.000484002485936,-1.48207858576e-05,1793255750891183616
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783,759.637463225,738,718,683,648.362536775,911.362536775,800,839,658.362536775,635,659,0.445674796346,-0.00543696020028,0.0596793058591,0.999999874835,5.87072534088e-05,-0.000496739911995,-1.15174362816e-05,1793255750907849984
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783,759.047407681,738,718,683,648.952592319,911.952592319,800,839,658.952592319,635,659,0.445006814483,-0.0054280762698,0.0596577631988,0.999999848351,0.00014388060911,-0.000531524487963,-8.83073777056e-06,1793255750924516352
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783,759,738,718,683.53178595,649,912,800,839,659,635,659,0.444346590389,-0.00542939535479,0.0596535260409,0.999999850648,0.000142480352565,-0.000527615341411,-5.08579898299e-06,1793255750941182976
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783,759.109533288,737.890466712,718,684,649.109533288,912,800.109533288,839,658.890466712,635,659,0.443689947608,-0.00543241345349,0.0596605228498,0.999999862682,0.000133653370968,-0.000506728202742,-4.41711642497e-07,1793255750957849600
+307,5.116666667,POSE2_TO_POSE3_RETREAT,783,759.685164054,737.314835946,718,684,649.685164054,912,800.685164054,839,658.314835946,635,659,0.443045660568,-0.0054388683113,0.0597088901352,0.999999900524,0.000125407916935,-0.000427979270946,7.63511529503e-06,1793255750974516224
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783,759.739077996,737.260922004,718,684.260922004,650,912,801,839,658.260922004,635,659,0.442358287192,-0.00544111257187,0.0597441918199,0.999999920663,0.000126223436418,-0.000377522626421,1.47978871821e-05,1793255750991182848
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783,759.163166432,737.836833568,718,684.836833568,650,912,801,839,658.836833568,635,659,0.44161889916,-0.00543827372744,0.0597637204916,0.999999925023,0.000137977519569,-0.000361220912693,2.08571971104e-05,1793255751007849472
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783,759,738,718.422568441,685,650,912,801,839,659,635,659,0.440834540345,-0.00543454181133,0.0597662893545,0.99999991978,0.000155248338925,-0.000368343802659,2.57065799237e-05,1793255751024516096
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783,759.012010453,737.987989547,718.987989547,685.012010453,650,912,801,839,659,635,659,0.440032750351,-0.00543045274887,0.059762729392,0.999999910796,0.000174679039239,-0.000383395981931,3.00609529659e-05,1793255751041182720
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783,759.593104807,737.406895193,718.406895193,685.593104807,650,912,801,839,659,635,659,0.439247384209,-0.00542616953928,0.059786448747,0.999999924546,0.000193114979964,-0.000335385744949,3.36239914513e-05,1793255751057849344
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.827421267,759.827421267,737,718,686,650,912,801,839,658.827421267,635,659,0.43844266899,-0.00542341273493,0.0598031664386,0.99999993449,0.000190018894462,-0.000306437150485,3.17720022425e-05,1793255751074515968
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782.251732377,759.251732377,737,718,686,650,912,801,839,658.251732377,635,659,0.437592758158,-0.00542422131489,0.0598035296128,0.999999938671,0.000136628207596,-0.000322012827793,1.72715675979e-05,1793255751091182592
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782.330035538,759,737,718,685.669964462,650,912,801,839,658,635,659,0.436705027484,-0.00542441437138,0.0597756681828,0.999999924832,0.000117455340695,-0.000369313868286,1.21747583142e-05,1793255751107849472
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782.91652717,759,737,718,685.08347283,650,912,801,839,658,635,659,0.435787908713,-0.00542412913164,0.0597258746546,0.999999894742,0.000124871638236,-0.0004412672909,1.43850931609e-05,1793255751124516096
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,650,912,801,839,658.496561965,635,659,0.434921317526,-0.00542090556805,0.0597246209923,0.999999903238,0.000143523253014,-0.000415519396786,1.63963919604e-05,1793255751141182720
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,685.075451592,650,912,801,839,659,635,659,0.434058519041,-0.00541769388964,0.0597333987355,0.99999991589,0.000162160181938,-0.000376265371668,1.86425901042e-05,1793255751157849344
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,685.6538497,650,912,801,839,659,635,659,0.433165111303,-0.0054178116665,0.0597553515825,0.999999922554,0.000168271254837,-0.00035505435468,2.26747474245e-05,1793255751174515968
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,759,737.231052476,718,685.768947524,650,912,801,838.768947524,658.768947524,635,659,0.432274650944,-0.00541742945587,0.0597742432359,0.999999929654,0.000170643112398,-0.000333065463601,2.53240453864e-05,1793255751191182848
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,759,737.806473773,718,685.193526227,650,912,801,838.193526227,658.193526227,635,659,0.43138858333,-0.00541630204613,0.0597885723812,0.999999937622,0.000167441911505,-0.000309917198245,2.59122812311e-05,1793255751207849472
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,759,737.609749291,718,685,650,912,801,838.390250709,658,635,659,0.430488448913,-0.00541746089891,0.0598086377617,0.999999946739,0.00016744263894,-0.000278854238414,2.69183488741e-05,1793255751224516096
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,759,737.021738149,718,685,650,912,801,838.978261851,658,635,659,0.429581186165,-0.00541977832047,0.0598316099916,0.999999955598,0.000169065950871,-0.000243780490351,2.8136153671e-05,1793255751241182720
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783,759.557955641,737,718.557955641,685.557955641,650,912,801,839,658.557955641,635,659,0.42858410493,-0.00541489310354,0.0597827483773,0.999999926223,0.000176180426128,-0.000340261441996,2.71424742199e-05,1793255751257849344
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782.863402157,760,737,719,686,650.136597843,912,801,839,658.863402157,635,659,0.427608558252,-0.00541084141194,0.059742810269,0.999999898627,0.000180919256215,-0.000411516608415,2.58532214693e-05,1793255751274515968
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782.287117153,760,737,719,686,650.712882847,912,801,839,658.287117153,635,659,0.426713426456,-0.00541036270515,0.0597404717112,0.999999909756,0.000177332741973,-0.000385318307807,2.38858279708e-05,1793255751291182592
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782.289358435,760,737,719,686,651,912,801,838.710641565,658.289358435,635,659,0.425814917773,-0.00541179745522,0.0597565067568,0.999999921061,0.000172367142385,-0.000357142253421,2.48378100368e-05,1793255751307849472
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782.866023219,760,737,719,686,651,912,801,838.133976781,658.866023219,635,659,0.424913056206,-0.00541513209224,0.0597907851031,0.99999993234,0.000166032237886,-0.000327002472672,2.86884640257e-05,1793255751324516096
+329,5.483333333,POSE2_TO_POSE3_RETREAT,782.547779832,759.547779832,737,719,686,651,912,801,838,659,635,659,0.424002113027,-0.00541392582226,0.0598108512372,0.999999938634,0.000171686596812,-0.000303799477851,3.1020821503e-05,1793255751341182720
+330,5.500000000,POSE2_TO_POSE3_RETREAT,782,759.040618196,737,719,686,651,912.040618196,800.959381804,838.040618196,659,635,659,0.423090577012,-0.00541146751567,0.0598260252797,0.999999943049,0.000181059225417,-0.000282924304433,3.27633150491e-05,1793255751357849344
+331,5.516666667,POSE2_TO_POSE3_RETREAT,782,759.619946923,737,719,686,651,912.619946923,800.380053077,838.619946923,659,635,659,0.422207631999,-0.00541063046481,0.0598333629386,0.99999994597,0.000191622756088,-0.000265078986676,3.2776857718e-05,1793255751374516224
+332,5.533333333,POSE2_TO_POSE3_RETREAT,782.197673567,759.802326433,737,719,686,651,913,800.197673567,839,659,635,659,0.421296121942,-0.00540876158633,0.0598192968848,0.999999938679,0.000194869641767,-0.000289203452469,3.20709432665e-05,1793255751391183104
+333,5.550000000,POSE2_TO_POSE3_RETREAT,782.772344866,759.227655134,737,719,686,651,913,800.772344866,839,659,635,659,0.420330133243,-0.00540492483372,0.059764410245,0.999999905222,0.000184162418669,-0.000393371560127,2.99928992548e-05,1793255751407849728
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,759.942566172,737,719.942566172,686,651,913,801,839,659,635,659,0.41859244835,-0.0054041400156,0.0597044774696,0.999999877813,0.000187423971056,-0.00045681433154,2.38033615353e-05,1793255751441182976
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,782.897902033,760,736.102097967,720,686,651,913,800.897902033,838,659,635,659,0.416949156857,-0.00540705439044,0.059783603364,0.99999992328,0.000182524021222,-0.000345332130077,2.9494946054e-05,1793255751474515968
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782.320362996,760,736.679637004,720,686,651,913,800.320362996,838,659,635,659,0.416157541911,-0.00540413738462,0.0598132755126,0.999999934077,0.000187897157937,-0.00030908567276,3.1740994246e-05,1793255751491182592
+339,5.650000000,POSE2_TO_POSE3_RETREAT,782,759.739574297,737,720,686,651,913,800,838,659,635,659,0.415384037929,-0.00540261080322,0.0598291777243,0.999999938791,0.000191661567401,-0.000290853289461,3.29863682243e-05,1793255751507849472
+340,5.666666667,POSE2_TO_POSE3_RETREAT,782,759.154737553,737,720,686,651,913,800,838,659,635,659,0.414633094748,-0.00540281626703,0.0598279267896,0.999999937219,0.000193421992942,-0.000295060954274,3.29852070406e-05,1793255751524516096
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782.425940028,759.425940028,736.574059972,719.574059972,686,651,913,800.425940028,838,659,635,659,0.413869598164,-0.00540378262735,0.0598273429804,0.999999936528,0.000194642159912,-0.000296570668098,3.3224744175e-05,1793255751541182976
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782.994876773,759.994876773,736,719.005123227,686,651,913.005123227,800.994876773,838,659,635,659,0.413101194495,-0.00540495467497,0.059826532025,0.99999993591,0.000195736006426,-0.000297900698514,3.35194657613e-05,1793255751557849600
+343,5.716666667,POSE2_TO_POSE3_RETREAT,782.415478242,759.415478242,736,719.584521758,686,651,913.584521758,800.415478242,838,659,635,659,0.412289000513,-0.0053984974952,0.0597733560351,0.99999990341,0.000204457662311,-0.00038789176408,3.02931335166e-05,1793255751574516224
+344,5.733333333,POSE2_TO_POSE3_RETREAT,782,759,736,720,686,651,914,800,838,659,635,659,0.411520535611,-0.00539289709347,0.0597346328996,0.999999876595,0.000210683637678,-0.000449067677561,2.75745099687e-05,1793255751591183360
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782,759,736,720,686,651,914,800,838,659,635,659,0.410862907865,-0.00538946831132,0.0597325424868,0.99999988191,0.000210583975307,-0.0004372076776,2.61427433231e-05,1793255751607851264
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782.318116957,759,736,720,686,651,914,800,838.318116957,659,635,659,0.410247234223,-0.00538974211013,0.059756647385,0.999999898787,0.000212303844268,-0.000395714312197,2.76387720031e-05,1793255751624518144
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782.906967306,759,736,720,686,651,914,800,838.906967306,659,635,659,0.409667265654,-0.00539316699015,0.0598030457991,0.999999922143,0.000215572224411,-0.000329001474576,3.16265004852e-05,1793255751641183744
+348,5.800000000,POSE2_TO_POSE3_RETREAT,782.515269911,759,736,720,686,651,913.515269911,800,838.515269911,659,635,659,0.40907690919,-0.00539316498842,0.0598290363155,0.99999993362,0.0002191523226,-0.000289159424429,3.34556698024e-05,1793255751657850112
+349,5.816666667,POSE2_TO_POSE3_RETREAT,782,759.060254873,736,720,686.060254873,651.060254873,913.060254873,800.060254873,838,659,635,659,0.408485906434,-0.00539250244689,0.0598477375122,0.999999941096,0.000222294208357,-0.000259217962021,3.46394892371e-05,1793255751674516224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,782,759.634435604,736,720,686.634435604,651.634435604,913.634435604,800.634435604,838,659,635,659,0.407906015841,-0.00539169032714,0.059836926946,0.999999938321,0.000221199627923,-0.000270717241018,3.37734960014e-05,1793255751691182848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,782.20581064,759.79418936,736,720,686.79418936,652,913.79418936,800.79418936,838,659,635,659,0.407349425342,-0.00539081493397,0.0598251356805,0.99999993401,0.000222941436082,-0.000284951133787,3.28615305915e-05,1793255751707849728
+352,5.866666667,POSE2_TO_POSE3_RETREAT,782.772269116,759.227730884,736,720,686.227730884,652,913.227730884,800.227730884,838,659,635,659,0.406833664319,-0.00538982866508,0.0598116259087,0.999999926921,0.000229653528702,-0.000303976966776,3.1869006922e-05,1793255751724516608
+353,5.883333333,POSE2_TO_POSE3_RETREAT,782.637356613,759,736.362643387,720,686,651.637356613,913.362643387,800,838,659,635,659,0.40634810442,-0.00538883438744,0.059810161543,0.999999926186,0.000231946777699,-0.000304655253236,3.18303868982e-05,1793255751741183488
+354,5.900000000,POSE2_TO_POSE3_RETREAT,782.030903388,759,736.969096612,720,686,651.030903388,913.969096612,800,838,659,635,659,0.405882849074,-0.00538783472531,0.0598167954581,0.999999929807,0.000231269181686,-0.000292998248864,3.24330885323e-05,1793255751757850368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,782.547864099,759,736.452135901,720.547864099,686,651,914,800,838.547864099,659,635,659,0.405439259193,-0.00538013702921,0.0598134756152,0.999999927515,0.000238330070222,-0.000295281901711,3.12734020782e-05,1793255751774516992
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,759.125029808,736,721,686.125029808,651,914,800,838.874970192,659,635,659,0.40499922625,-0.00537321513072,0.0598056250656,0.999999922884,0.000244615424098,-0.000305777569685,2.99186005827e-05,1793255751791183360
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,759.701779363,736,721,686.701779363,651,914,800,838.298220637,659,635,659,0.404567841157,-0.00537039545603,0.0597833364677,0.999999910291,0.000246597667162,-0.000343238054606,2.82007534198e-05,1793255751807849728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,782.716217993,759.716217993,736,721,686.716217993,651,913.716217993,800,838,659,635,659,0.404173492807,-0.00536752512302,0.0597637310744,0.99999989818,0.000249687373429,-0.000374954829411,2.65661773242e-05,1793255751824516352
+359,5.983333333,POSE2_TO_POSE3_RETREAT,782.12859091,759.12859091,736,721,686.12859091,651,913.12859091,800,838,659,635,659,0.403818799685,-0.00536460055036,0.0597469985868,0.99999988723,0.000253962839343,-0.000400521818195,2.50207595888e-05,1793255751841183488
+360,6.000000000,POSE2_TO_POSE3_RETREAT,782,759,736.452793118,721,686,651,913.452793118,800,838,659,635,659,0.403527058716,-0.00536768059248,0.0597581582023,0.999999897246,0.000250602693077,-0.000376910991726,2.53934084072e-05,1793255751857850368
+361,6.016666667,POSE2_TO_POSE3_RETREAT,782,759.032267971,736.967732029,721,686,651,913.967732029,800,838,659,635,659,0.403254795128,-0.00537264602206,0.0597772726589,0.999999911946,0.000244890439314,-0.00033976989462,2.63130886978e-05,1793255751874516480
+362,6.033333333,POSE2_TO_POSE3_RETREAT,782,759.60903809,736.39096191,721,686,651,913.39096191,800,838,659,635,659,0.403013621584,-0.00538104201926,0.0597987724671,0.999999924818,0.000235581834841,-0.000306780389074,2.73967695138e-05,1793255751891183360
+363,6.050000000,POSE2_TO_POSE3_RETREAT,782,759.81488236,736,721,686.18511764,651.18511764,913,800,838,659,635,659,0.402778186175,-0.00538847813721,0.0598170653324,0.999999934897,0.000227229158686,-0.00027886462513,2.84106955519e-05,1793255751907849984
+364,6.066666667,POSE2_TO_POSE3_RETREAT,782,759.240255919,736,721,686.759744081,651.759744081,913,800,838,659,635,659,0.402554824493,-0.00539389455776,0.0598286104183,0.999999940952,0.000220887867251,-0.000261624601705,2.92778494293e-05,1793255751924516608
+365,6.083333333,POSE2_TO_POSE3_RETREAT,782.333433646,759.333433646,736,721,686.666566354,652,913,800,838,659,635,659,0.402342835749,-0.00539441487555,0.0598307198564,0.99999994064,0.000222061991924,-0.000261779458401,2.96540198109e-05,1793255751941183232
+366,6.100000000,POSE2_TO_POSE3_RETREAT,782.906450093,759.906450093,736,721,686.093549907,652,913,800,838,659,635,659,0.402139018807,-0.00539141718655,0.0598260494791,0.999999935766,0.000228636184211,-0.000274433094333,2.96774028439e-05,1793255751957849856
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783,760,736,721.500290653,686.500290653,652,913,800,838,659,635,659,0.401963519482,-0.00538768144928,0.0598215568506,0.999999931577,0.000232889414607,-0.000285911555135,2.93854021905e-05,1793255751974516480
+368,6.133333333,POSE2_TO_POSE3_RETREAT,782.905492119,759.905492119,736.094507881,721.905492119,686.905492119,652,913,800,838,659,635,659,0.401799590114,-0.00538430487456,0.0598180465251,0.999999928151,0.00023595946395,-0.000295254722659,2.90852192238e-05,1793255751991182848
+369,6.150000000,POSE2_TO_POSE3_RETREAT,782.330034604,759.330034604,736.669965396,721.330034604,686.330034604,652,913,800,838,659,635,659,0.401666422785,-0.00538348889978,0.0598193586363,0.999999928409,0.000235312860628,-0.000294898270132,2.90565489133e-05,1793255752007849728
+370,6.166666667,POSE2_TO_POSE3_RETREAT,782,759,736.754837619,721.245162381,686,651.754837619,913.245162381,800,838,659,635,659,0.401544111859,-0.0053823950025,0.0598202242615,0.999999928453,0.000235809285563,-0.000294358597805,2.89864827389e-05,1793255752024516864
+371,6.183333333,POSE2_TO_POSE3_RETREAT,782,759,736.179991019,721.820008981,686,651.179991019,913.820008981,800,838,659,635,659,0.40143640018,-0.00538092736662,0.0598204894708,0.999999928207,0.000237842807604,-0.0002935725391,2.88607491225e-05,1793255752041183488
+372,6.200000000,POSE2_TO_POSE3_RETREAT,782,759,736,722,686,651.403183759,914,800,838,659.403183759,635,659,0.401346983836,-0.00538081436155,0.0598209533673,0.999999927898,0.000238389200048,-0.000294193851635,2.87320701802e-05,1793255752057849856
+373,6.216666667,POSE2_TO_POSE3_RETREAT,782,759,736,722,686,651.99015484,914,800,838,659.99015484,635,659,0.401265907241,-0.00538131885156,0.0598215078333,0.99999992756,0.000238257699146,-0.000295456700423,2.86020486437e-05,1793255752074516224
+374,6.233333333,POSE2_TO_POSE3_RETREAT,782.570447451,759,736,721.429552549,686,652,914,800,838,659.429552549,635,659,0.401203413575,-0.00537975847715,0.0598206106301,0.999999927132,0.000240328486457,-0.00029526292968,2.82485502282e-05,1793255752091182848
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,759,736,721,686,652,913.850793667,800,838,659,635,659,0.401144694413,-0.00537867765002,0.0598195416565,0.999999926471,0.000241625468801,-0.00029646451401,2.80053808146e-05,1793255752107849216
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,759,736,721,686,652,913.276083846,800,838,659,635,659,0.401095835287,-0.00537906483824,0.0598180534532,0.999999925143,0.000240608592346,-0.000301716204804,2.8087717174e-05,1793255752124516096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,782.694681069,759.305318931,736,721,686,652,913,800,838,659,635,659,0.401055076977,-0.00537872137189,0.0598165788639,0.999999924061,0.000240603602435,-0.00030531115519,2.77986969677e-05,1793255752141182976
+378,6.300000000,POSE2_TO_POSE3_RETREAT,782.107090495,759.892909505,736,721,686,652,913,800,838,659,635,659,0.401021807983,-0.00537770240518,0.0598151168609,0.999999923222,0.00024153411574,-0.000307374426393,2.71663524067e-05,1793255752157849600
+379,6.316666667,POSE2_TO_POSE3_RETREAT,782,760,736,721,686,652,913,800,838,659.47345113,635,659,0.401002269603,-0.00537694120868,0.0598161095749,0.999999923458,0.000243047878695,-0.000305414956493,2.70842544322e-05,1793255752174516224
+380,6.333333333,POSE2_TO_POSE3_RETREAT,782.052453613,760,736,721,686,652,913.052453613,800,838.052453613,659.947546387,635,659,0.400986235826,-0.00537645761379,0.0598175855408,0.999999923925,0.000244434129536,-0.000302763323398,2.71370727178e-05,1793255752191182848
+381,6.350000000,POSE2_TO_POSE3_RETREAT,782.631776681,760,736,721,686,652,913.631776681,800,838.631776681,659.368223319,635,659,0.400974666005,-0.00537818532758,0.059818420285,0.999999924394,0.000243233899672,-0.000302164752697,2.73132488558e-05,1793255752207849472
+382,6.366666667,POSE2_TO_POSE3_RETREAT,782.790476534,759.790476534,736,721,686,652,914,800,838.790476534,659,635.209523466,659,0.400965827465,-0.00537915266269,0.0598200103142,0.999999925284,0.000242070493574,-0.000300133982428,2.74511952389e-05,1793255752224516096
+383,6.383333333,POSE2_TO_POSE3_RETREAT,782.21547931,759.21547931,736,721,686,652,914,800,838.21547931,659,635.78452069,659,0.400961753127,-0.00537879366201,0.0598229177941,0.999999926897,0.000240971319586,-0.00029560501296,2.75224570888e-05,1793255752241182976
+384,6.400000000,POSE2_TO_POSE3_RETREAT,782.367422691,759.367422691,736,721,686,652,913.632577309,800.367422691,838,659.367422691,635.632577309,659,0.400957898607,-0.00537803179242,0.0598236385089,0.999999926923,0.000242180653012,-0.00029454626515,2.72884701275e-05,1793255752257849344
+385,6.416666667,POSE2_TO_POSE3_RETREAT,782.955062448,759.955062448,736,721,686,652,913.044937552,800.955062448,838,659.955062448,635.044937552,659,0.400954175837,-0.00537702846086,0.0598230485724,0.999999926002,0.000244773604698,-0.000295567416353,2.68715303978e-05,1793255752274516224
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783,759.464644264,736,721,686,652,913,800.464644264,838,659.464644264,635.535355736,659,0.400954827982,-0.00537851458546,0.0598244689209,0.999999927196,0.000242678448802,-0.000293241113311,2.69199216076e-05,1793255752291182848
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783,759.114423007,736,720.885576993,686,652,913,800,838,659,635.885576993,659,0.400955553128,-0.00537993558058,0.059825833321,0.999999928243,0.000240906336962,-0.000291118474553,2.69755469913e-05,1793255752307849472
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783,759.690995247,736,720.309004753,686,652,913,800,838,659,635.309004753,659,0.400955109976,-0.00538026094954,0.0598262994301,0.999999928032,0.000242006871008,-0.000290937945796,2.69047661106e-05,1793255752324516096
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783,759.732954196,736,720.267045804,686,652,913,800,838,659,635.267045804,659,0.400955374055,-0.00538032000573,0.0598270081231,0.99999992818,0.000242901518454,-0.000289689143639,2.68289103295e-05,1793255752341182720
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783,759.157506039,736,720.842493961,686,652,913,800,838,659,635.842493961,659,0.400956454889,-0.00538007150616,0.0598279969685,0.999999928738,0.000243558394426,-0.000287206627895,2.67471937051e-05,1793255752357849344
+391,6.516666667,POSE2_TO_POSE3_RETREAT,782.571772215,759.428227785,736,721,686,652,913,800,838,659,635.571772215,659,0.400955340509,-0.00538010479301,0.0598274812436,0.999999929041,0.000241455477396,-0.000287952410157,2.6461837151e-05,1793255752374516224
+392,6.533333333,POSE2_TO_POSE3_RETREAT,782.017480524,759.982519476,736,721,686,652,913.017480524,800,838,659,635.017480524,659,0.40095351933,-0.00538021006528,0.0598264891717,0.999999929244,0.00023844733733,-0.000289781574247,2.61160251604e-05,1793255752391182848
+393,6.550000000,POSE2_TO_POSE3_RETREAT,782.595279963,759.404720037,736,721,686,652,913.595279963,800,838,659,635.595279963,659,0.400955560391,-0.00537921881054,0.0598284033164,0.99999992963,0.000239761178561,-0.00028733996354,2.62923219787e-05,1793255752407849472
+394,6.566666667,POSE2_TO_POSE3_RETREAT,782.827866194,759.172133806,736,721,686,652,913.827866194,800,838,659,635.827866194,659,0.400956888432,-0.00537906756061,0.0598297168999,0.999999930028,0.000240203491709,-0.000285575959442,2.63312495461e-05,1793255752424516352
+395,6.583333333,POSE2_TO_POSE3_RETREAT,782.253223521,759.746776479,736,721,686,652,913.253223521,800,838,659,635.253223521,659,0.400956549181,-0.0053808805349,0.0598296261617,0.999999930468,0.000238607868195,-0.000285396436049,2.60489598889e-05,1793255752441182976
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..325f1e0897a7ffe5674a9ae3cf176b0a76f8adc2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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+340,5.666666667,pose2_to_pose3_retreat,0.586482437182,0.000181807589564,1.05002048519,0.557053586211,0.0088560499852,1.04969219587
+341,5.683333333,pose2_to_pose3_retreat,0.585868577394,0.000181797223376,1.05002044574,0.556439726116,0.00885603847169,1.04969215362
+342,5.700000000,pose2_to_pose3_retreat,0.585255541312,0.000181753702866,1.05002063872,0.555826689593,0.00885599321804,1.04969234031
+343,5.716666667,pose2_to_pose3_retreat,0.584657224563,0.000181742836079,1.05002051492,0.555228372977,0.00885598315069,1.04969222579
+344,5.733333333,pose2_to_pose3_retreat,0.584082534403,0.000181684759734,1.05002048518,0.554653682612,0.00885592453133,1.04969220009
+345,5.750000000,pose2_to_pose3_retreat,0.583537767953,0.0001816951135,1.05002042682,0.554108917995,0.00885594077616,1.04969213308
+346,5.766666667,pose2_to_pose3_retreat,0.583028213001,0.000181765686679,1.05002040344,0.553599361552,0.00885600642299,1.04969211318
+347,5.783333333,pose2_to_pose3_retreat,0.582546871609,0.000181711988994,1.05002048164,0.553118019461,0.00885595018817,1.04969218694
+348,5.800000000,pose2_to_pose3_retreat,0.582077981019,0.000181708968076,1.05002055161,0.552649128382,0.00885594538561,1.04969225371
+349,5.816666667,pose2_to_pose3_retreat,0.581618544121,0.000181810112177,1.05002054091,0.552189691057,0.00885604523128,1.04969224696
+350,5.833333333,pose2_to_pose3_retreat,0.581169118535,0.000181655311736,1.05002053713,0.551740267674,0.0088558978182,1.04969224089
+351,5.850000000,pose2_to_pose3_retreat,0.580736518995,0.000181783819216,1.05002044763,0.55130766584,0.00885601848894,1.04969215005
+352,5.866666667,pose2_to_pose3_retreat,0.580323950482,0.000181811280935,1.05002066569,0.550895097539,0.00885604684815,1.04969237276
+353,5.883333333,pose2_to_pose3_retreat,0.579933110408,0.000181684114076,1.05002072438,0.55050425982,0.00885592752852,1.04969242763
+354,5.900000000,pose2_to_pose3_retreat,0.579560814531,0.000181598270424,1.05002068673,0.550131965185,0.00885584575914,1.04969238643
+355,5.916666667,pose2_to_pose3_retreat,0.579201901296,0.000181693876319,1.0500206362,0.549773050397,0.00885593623676,1.04969233953
+356,5.933333333,pose2_to_pose3_retreat,0.57885746852,0.00018186669917,1.05002055777,0.549428615529,0.00885610212465,1.04969226546
+357,5.950000000,pose2_to_pose3_retreat,0.578530809797,0.000181762192657,1.05002079226,0.549101958735,0.00885600395026,1.04969249437
+358,5.966666667,pose2_to_pose3_retreat,0.578228295256,0.00018179352998,1.05002049672,0.548799442517,0.00885602934111,1.049692192
+359,5.983333333,pose2_to_pose3_retreat,0.577952295568,0.00018169604277,1.05002051104,0.548523444116,0.00885593659913,1.04969221638
+360,6.000000000,pose2_to_pose3_retreat,0.57770655751,0.000181738701744,1.05002055194,0.548277705023,0.00885597565506,1.04969225484
+361,6.016666667,pose2_to_pose3_retreat,0.577486069393,0.000181774010637,1.05002059646,0.548057216241,0.00885600873792,1.04969230022
+362,6.033333333,pose2_to_pose3_retreat,0.577286435597,0.000181756753616,1.05002060079,0.547857582996,0.00885599361773,1.0496923117
+363,6.050000000,pose2_to_pose3_retreat,0.577099559048,0.000181789927453,1.05002041603,0.547670706401,0.00885602655525,1.04969212479
+364,6.066666667,pose2_to_pose3_retreat,0.57692358294,0.000181833762413,1.05002060781,0.547494730023,0.00885606926221,1.049692311
+365,6.083333333,pose2_to_pose3_retreat,0.576758007637,0.000181764232302,1.05002045342,0.547329156115,0.00885600455132,1.04969215887
+366,6.100000000,pose2_to_pose3_retreat,0.576603885649,0.000181739280609,1.05002049141,0.54717503439,0.00885598055963,1.04969219866
+367,6.116666667,pose2_to_pose3_retreat,0.576464162786,0.000181760010894,1.05002063203,0.547035310509,0.00885599785908,1.04969233999
+368,6.133333333,pose2_to_pose3_retreat,0.576338627381,0.000181706184895,1.05002026099,0.546909775169,0.00885594444817,1.04969197413
+369,6.150000000,pose2_to_pose3_retreat,0.576228360095,0.000181893261213,1.05002030655,0.546799505849,0.00885612428763,1.04969201075
+370,6.166666667,pose2_to_pose3_retreat,0.576131930422,0.000181752390208,1.05002059206,0.546703079844,0.00885599590424,1.04969229752
+371,6.183333333,pose2_to_pose3_retreat,0.576048486206,0.000181832841918,1.05002063627,0.546619634062,0.00885607120835,1.04969234652
+372,6.200000000,pose2_to_pose3_retreat,0.575976293535,0.000181794374417,1.05002057548,0.546547441758,0.00885603402659,1.04969228691
+373,6.216666667,pose2_to_pose3_retreat,0.575914211301,0.000181696762159,1.0500205258,0.546485361062,0.00885594153482,1.04969223454
+374,6.233333333,pose2_to_pose3_retreat,0.575861406811,0.000181705248427,1.05002051475,0.546432556023,0.00885594808103,1.04969222143
+375,6.250000000,pose2_to_pose3_retreat,0.575816410448,0.000181624633428,1.05002038349,0.546387559642,0.00885586769254,1.04969209771
+376,6.266666667,pose2_to_pose3_retreat,0.57577892972,0.000181704970961,1.05002051732,0.546350077942,0.0088559443445,1.04969222125
+377,6.283333333,pose2_to_pose3_retreat,0.575748333025,0.000181733095658,1.05002052246,0.546319481469,0.00885597342581,1.04969223175
+378,6.300000000,pose2_to_pose3_retreat,0.575724387418,0.000181757249728,1.05002053366,0.546295536354,0.00885599917076,1.04969224089
+379,6.316666667,pose2_to_pose3_retreat,0.575706306373,0.000181775364304,1.05002054658,0.546277454971,0.00885601601505,1.04969225061
+380,6.333333333,pose2_to_pose3_retreat,0.575693227418,0.000181789822949,1.050020538,0.546264374939,0.0088560268918,1.04969224396
+381,6.350000000,pose2_to_pose3_retreat,0.575684550895,0.000181823765063,1.05002052499,0.546255697577,0.0088560580896,1.04969223365
+382,6.366666667,pose2_to_pose3_retreat,0.575678408974,0.000181777052212,1.0500206346,0.546249556406,0.00885601360305,1.04969233462
+383,6.383333333,pose2_to_pose3_retreat,0.57567405085,0.000181730681096,1.05002065448,0.546245198958,0.00885596939398,1.04969235101
+384,6.400000000,pose2_to_pose3_retreat,0.575671397775,0.000181700513864,1.05002057494,0.546242546204,0.00885594042373,1.04969227453
+385,6.416666667,pose2_to_pose3_retreat,0.575670095053,0.000181688392082,1.05002051032,0.546241243704,0.00885592920988,1.04969221413
+386,6.433333333,pose2_to_pose3_retreat,0.57566930019,0.000181682883747,1.05002045295,0.546240449021,0.00885592448014,1.04969216124
+387,6.450000000,pose2_to_pose3_retreat,0.575668998123,0.000181680790452,1.05002043115,0.546240147022,0.00885592268273,1.04969214114
+388,6.466666667,pose2_to_pose3_retreat,0.575668725431,0.000181678900719,1.05002041147,0.546239874392,0.00885592106011,1.04969212299
+389,6.483333333,pose2_to_pose3_retreat,0.575668664106,0.000181678475745,1.05002040705,0.546239813081,0.0088559206952,1.04969211891
+390,6.500000000,pose2_to_pose3_retreat,0.575668420759,0.00018167678937,1.05002038949,0.546239569789,0.0088559192472,1.04969210272
+391,6.516666667,pose2_to_pose3_retreat,0.575668366866,0.000181676415898,1.0500203856,0.546239515908,0.00885591892651,1.04969209913
+392,6.533333333,pose2_to_pose3_retreat,0.575668188126,0.000181676239655,1.05002037441,0.546239337185,0.00885591883922,1.04969208883
+393,6.550000000,pose2_to_pose3_retreat,0.575668179681,0.000181677407495,1.05002037578,0.546239328714,0.00885591991591,1.04969209011
+394,6.566666667,pose2_to_pose3_retreat,0.57566812293,0.000181685255328,1.05002038496,0.546239271789,0.00885592715123,1.04969209869
+395,6.583333333,pose2_to_pose3_retreat,0.575667971206,0.00018170623642,1.05002040952,0.5462391196,0.00885594649476,1.04969212164
+396,6.600000000,pose2_to_pose3_retreat,0.575667833615,0.000181725263116,1.05002043179,0.546238981588,0.00885596403643,1.04969214245
+397,6.616666667,pose2_to_pose3_retreat,0.575667489002,0.000181772917784,1.05002048757,0.546238635919,0.00885600797168,1.04969219457
+398,6.633333333,pose2_to_pose3_retreat,0.575667239351,0.000181807440728,1.05002052798,0.546238385503,0.00885603980013,1.04969223232
+399,6.650000000,pose2_to_pose3_retreat,0.575667110225,0.00018174756997,1.05002052743,0.546238257423,0.00885598354112,1.04969223338
+400,6.666666667,pose2_to_pose3_retreat,0.575667002481,0.000181683980304,1.05002052321,0.546238150807,0.00885592384305,1.04969223102
+401,6.683333333,pose2_to_pose3_retreat,0.575666909971,0.000181634374991,1.05002051532,0.546238059221,0.0088558774382,1.0496922248
+402,6.700000000,pose2_to_pose3_retreat,0.575666775673,0.000181706658103,1.05002038056,0.54623792504,0.00885595029479,1.04969209475
+403,6.716666667,pose2_to_pose3_retreat,0.575666769333,0.00018171007081,1.0500203742,0.546237918705,0.00885595373458,1.04969208861
+404,6.733333333,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641375,1.04969208382
+405,6.750000000,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641387,1.04969208382
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b07e0dc56e6d65501410f92ecbaed3d8b4e09012
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:202c70eb138066c693c52a5681c001258c9397770e95e004b327006251c62bea
+size 25840297
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..17bebcec0786fd3ce1ada2ee6be198875ff6fca4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,782,759,736,720,687,652,914,800,838,659,636,659,0.400953346728,-0.0053820882828,0.0598299788759,0.999999930276,0.000239870835908,-0.000285000584056,2.61537994569e-05,1793255752735475200
+1,0.016666667,BASELINE,782.573907008,759.573907008,736,720.573907008,687,652,914,800,838,659,635.426092992,659,0.400953386004,-0.00538192406865,0.0598303568071,0.999999930304,0.000239875964117,-0.00028491385715,2.6008906877e-05,1793255752752141824
+2,0.033333333,BASELINE,782.847556748,760,736,721,687,652,914,800,838.152443252,659.152443252,635,659,0.400953301564,-0.00538172086961,0.0598305860999,0.999999930257,0.000240216240944,-0.000284793807986,2.59617644436e-05,1793255752768808448
+3,0.050000000,BASELINE,782.255676,760,736,721,687,652,914,800,838.744324,659.744324,635,659,0.400952860492,-0.00538140529152,0.0598303869234,0.999999929998,0.000241522627243,-0.000284577703059,2.61963994849e-05,1793255752785475072
+4,0.066666667,BASELINE,782.328947223,759.671052777,736,721,686.671052777,652,914,800.328947223,838.671052777,660,635,659,0.400952587313,-0.00538158088721,0.0598302294531,0.999999929934,0.000241756714746,-0.000284592400733,2.63268046007e-05,1793255752802141696
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+9,0.150000000,BASELINE,782.212138623,759.787861377,736,721.212138623,686.212138623,652,914,800,838,659,635,659,0.400953532397,-0.00538082671837,0.0598305092854,0.999999930256,0.000241464937137,-0.000283765987726,2.56675095973e-05,1793255752885476864
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+13,0.216666667,BASELINE,783,759.540195438,736.459804562,721,686,652,913.459804562,800,838.459804562,659,635,659,0.400954242518,-0.0053817041166,0.0598305182345,0.999999931038,0.00023925504461,-0.000282880776772,2.56973989084e-05,1793255752952143104
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+17,0.283333333,BASELINE,782.127983987,760,736,721,687,652,913.127983987,800,838,659,635.127983987,659,0.400952562494,-0.00538194793504,0.0598300448423,0.999999930309,0.000239907442543,-0.00028491685457,2.54698524262e-05,1793255753018808832
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+20,0.333333333,BASELINE,783,759.406509908,736,721,686.406509908,652,913,800,838,659,635,659,0.400955306746,-0.00538289375623,0.059831311608,0.999999931972,0.000237124721116,-0.000281346569804,2.59304294272e-05,1793255753068809728
+21,0.350000000,BASELINE,782.82827421,759,736,721,686.17172579,652,913,800,838,659,635,659,0.400954967063,-0.00538177473438,0.0598314845383,0.999999931689,0.000237807711112,-0.000281788475102,2.57852182213e-05,1793255753085476096
+22,0.366666667,BASELINE,782.234075123,759,736,721,686.765924877,652,913,800,838,659,635,659,0.400953985028,-0.00537983384802,0.0598313500817,0.999999930885,0.000240509542985,-0.00028237842218,2.54658454224e-05,1793255753102142208
+23,0.383333333,BASELINE,782,759.351470369,736,721,687,652,913.351470369,800,838,659,635.351470369,659,0.400952935668,-0.0053805799673,0.0598306677824,0.999999930715,0.00024014012272,-0.000283293809684,2.54498730037e-05,1793255753118808576
+24,0.400000000,BASELINE,782,759.931391213,736,721,687,652,913.931391213,800,838,659,635.931391213,659,0.400951842548,-0.00538307259982,0.0598296293935,0.999999930956,0.000237774434836,-0.000284420728647,2.56311062561e-05,1793255753135475200
+25,0.416666667,BASELINE,782.507624008,760,736,721,686.492375992,651.492375992,913.492375992,800,838,659,635.492375992,658.492375992,0.400952944793,-0.00538481999228,0.0598305205923,0.999999931726,0.000235490649234,-0.000283579756949,2.59748259381e-05,1793255753152142080
+26,0.433333333,BASELINE,783,760,736,721,686,651.084859163,913.084859163,800,838,659,635,658.084859163,0.400954006922,-0.00538582511303,0.0598314062307,0.999999932305,0.000234007551525,-0.00028274103761,2.62168560659e-05,1793255753168808704
+27,0.450000000,BASELINE,783,760,736,721,686,651.670937927,913.670937927,800,838,659,635,658.670937927,0.400953092176,-0.00538303665073,0.0598307297456,0.999999931361,0.000237188794948,-0.000283475259951,2.57294807133e-05,1793255753185476096
+28,0.466666667,BASELINE,782.745933642,759.745933642,736,721,686.254066358,652,914,800,838,659,635,659,0.400953336657,-0.00538121045347,0.059830710246,0.99999993119,0.000238846653109,-0.000282713315814,2.54048261127e-05,1793255753202142976
+29,0.483333333,BASELINE,782.166582597,759.166582597,736,721,686.833417403,652,914,800,838,659,635,659,0.400955065314,-0.00538061625767,0.0598315318942,0.999999932016,0.00023855409977,-0.000280035808911,2.52885051805e-05,1793255753218809600
+30,0.500000000,BASELINE,782.411135208,759.411135208,736.411135208,721,687,652,913.588864792,800,838,659,635,659,0.400955307384,-0.00538212981603,0.0598317837859,0.999999932405,0.000237208660285,-0.000279782685541,2.53552004403e-05,1793255753235476224
+31,0.516666667,BASELINE,782.988193865,759.988193865,736.988193865,721,687,652,913.011806135,800,838,659,635,659,0.400954949508,-0.00538449400902,0.0598318057388,0.999999932617,0.000235438303413,-0.000280507980215,2.5495756266e-05,1793255753252142336
+32,0.533333333,BASELINE,783,760,736.455730496,721,687,652,913.544269504,800,838,659,635,659,0.400955434065,-0.00538355041931,0.059832420651,0.999999932687,0.000236063475075,-0.000279720183857,2.5617157412e-05,1793255753268808960
+33,0.550000000,BASELINE,783,760,736,721,686.889998836,652,914,800,838,659,635,659,0.40095560203,-0.00538274274369,0.0598328411186,0.999999932653,0.000236718331082,-0.000279279568727,2.57055694641e-05,1793255753285475584
+34,0.566666667,BASELINE,783,760,736,721,686.278221751,652,914,800,838,659,635,659,0.400954245582,-0.00538287019552,0.0598323181227,0.999999932161,0.000237280360191,-0.000280566798072,2.56453250043e-05,1793255753302142208
+35,0.583333333,BASELINE,783,759.684068336,736,721,686.315931664,652,914,800,838,659.315931664,635.315931664,659,0.40095408937,-0.00538186981133,0.0598324174958,0.999999931674,0.000239444582125,-0.000280462559342,2.5678795875e-05,1793255753318809088
+36,0.600000000,BASELINE,783,759.104614933,736,721,686.895385067,652,914,800,838,659.895385067,635.895385067,659,0.400954934287,-0.00537992868791,0.059833035993,0.999999931181,0.00024294520907,-0.000279197683412,2.57904356266e-05,1793255753335475968
+37,0.616666667,BASELINE,782.529066288,759,736,721,687,652,914,800,838,659.529066288,635.529066288,659,0.400953795824,-0.0053813329705,0.0598323332709,0.999999931478,0.000240123034726,-0.000280563023527,2.58787155762e-05,1793255753352142592
+38,0.633333333,BASELINE,782,759,736,721,686.953307715,652,913.953307715,800.046692285,838,659.046692285,635.046692285,659,0.400952499468,-0.0053832180629,0.0598314736374,0.99999993188,0.000236476630157,-0.000282218389929,2.59242101349e-05,1793255753368809728
+39,0.650000000,BASELINE,782,759,736,721,686.365137731,652,913.365137731,800.634862269,838,659.634862269,635.634862269,659,0.400954439507,-0.00538213161607,0.0598321700011,0.999999931667,0.000239426321017,-0.000280517030434,2.55332174852e-05,1793255753385476096
+40,0.666666667,BASELINE,782.219772959,759,736,721,686,652,913,800.780227041,838,659.780227041,635.780227041,659,0.400955894853,-0.00538163871311,0.0598328222335,0.999999931774,0.000240541876199,-0.00027920094357,2.5270307942e-05,1793255753402142464
+41,0.683333333,BASELINE,782.799347652,759,736,721,686,652,913,800.200652348,838,659.200652348,635.200652348,659,0.400956556684,-0.00538211753172,0.0598334022163,0.999999932419,0.000238654672354,-0.000278515606662,2.52170899332e-05,1793255753418809344
+42,0.700000000,BASELINE,782.622626263,759,736,721,686,652,913.377373737,800.377373737,838,659,635,659,0.400955897786,-0.00538244309521,0.0598328535559,0.999999932367,0.000237856616386,-0.000279387640368,2.51737247674e-05,1793255753435475712
+43,0.716666667,BASELINE,782.045420237,759,736,721,686,652,913.954579763,800.954579763,838,659,635,659,0.400954539516,-0.00538268750486,0.0598317072404,0.999999931945,0.000237635301496,-0.000281084355054,2.51355770202e-05,1793255753452142336
+44,0.733333333,BASELINE,782,759.527217768,736,721.527217768,686.527217768,652,914,800.472782232,838,659,635,659,0.400954869696,-0.00538152729772,0.0598322897459,0.99999993201,0.000238494722428,-0.000280120048619,2.51408502101e-05,1793255753468808704
+45,0.750000000,BASELINE,782.103093978,759.896906022,736,721.896906022,687,652,913.896906022,800,838,659,635,659,0.400955271723,-0.00538063299554,0.0598330033525,0.999999932171,0.000239158666035,-0.000278975884692,2.51563136073e-05,1793255753485475328
+46,0.766666667,BASELINE,782.696216417,759.303783583,736,721.303783583,687,652,913.303783583,800,838,659,635,659,0.400955329778,-0.00538157283986,0.0598336382511,0.999999932594,0.000238454709303,-0.000278057130234,2.52025854386e-05,1793255753502141952
+47,0.783333333,BASELINE,782.717524067,759,736,721,687,652,913.282475933,800.282475933,838.282475933,659,635.282475933,659,0.400955584027,-0.00538252487274,0.059833679901,0.999999932932,0.000236972147017,-0.00027810183812,2.52945956402e-05,1793255753518808576
+48,0.800000000,BASELINE,782.138470024,759,736,721,687,652,913.861529976,800.861529976,838.861529976,659,635.861529976,659,0.400956044265,-0.00538348970278,0.0598330986853,0.999999933176,0.000234672108402,-0.000279158107614,2.54346276354e-05,1793255753535475200
+49,0.816666667,BASELINE,782,759.435840056,736,721,686.564159944,652,914,800.564159944,838.564159944,659,636,659,0.400955835283,-0.00538343743668,0.0598332143698,0.999999932916,0.000235839925372,-0.00027909881894,2.55275104674e-05,1793255753552141824
+50,0.833333333,BASELINE,782.008706883,760,736,721,686.008706883,652,913.991293117,800,838,659,635.991293117,659,0.400955407615,-0.0053830717787,0.059833528984,0.999999932491,0.000238071881417,-0.000278718191212,2.56034659767e-05,1793255753568808448
+51,0.850000000,BASELINE,782.584684623,760,736,721,686.584684623,652,913.415315377,800,838,659,635.415315377,659,0.400954435371,-0.0053831145348,0.0598325342101,0.999999931934,0.000238625244999,-0.000280244357293,2.55420206178e-05,1793255753585475328
+52,0.866666667,BASELINE,782.834356175,759.834356175,736,721,686.834356175,652,913.165643825,800,838,659,635,659,0.400953417091,-0.00538307038826,0.0598316605159,0.999999931602,0.000238468423988,-0.000281574783157,2.54040460292e-05,1793255753602142208
+53,0.883333333,BASELINE,782.240519833,759.240519833,736,721,686.240519833,652,913.759480167,800,838,659,635,659,0.400952279802,-0.00538280159671,0.0598310998147,0.999999931851,0.000236475761924,-0.000282399216654,2.50682418936e-05,1793255753618808832
+54,0.900000000,BASELINE,782,759.343343421,736.343343421,721,686.343343421,652,913.656656579,800,838,659,635.343343421,659,0.400952662912,-0.00538278474465,0.0598314626062,0.99999993214,0.000235818677683,-0.000281919969168,2.51171932257e-05,1793255753635475200
+55,0.916666667,BASELINE,782,759.920417484,736.920417484,721,686.920417484,652,913.079582516,800,838,659,635.920417484,659,0.40095408103,-0.00538293940012,0.0598324540642,0.999999932457,0.000236070786596,-0.000280553242314,2.54280664152e-05,1793255753652142080
+56,0.933333333,BASELINE,782,760,736.50492231,721,687,652,913.49507769,800,838,659,635.50492231,659,0.400953478235,-0.00538251187941,0.0598319317215,0.999999931922,0.000237379542767,-0.000281371701402,2.52198810162e-05,1793255753668808704
+57,0.950000000,BASELINE,782.07093685,760,736,721,687,652,914,800.07093685,838,659,635.07093685,659,0.400953044614,-0.00538228625581,0.0598315041076,0.999999931526,0.000238328164592,-0.000281990734579,2.50616570802e-05,1793255753685475328
+58,0.966666667,BASELINE,782.658336135,760,736,721,687,652,914,800.658336135,838,659,635.658336135,659,0.400956196341,-0.00538420860018,0.0598335292375,0.999999933141,0.000235424159799,-0.000278612831454,2.58717087164e-05,1793255753702141952
+59,0.983333333,BASELINE,783,759.757621572,736,721,686.757621572,652,913.757621572,800.757621572,838,659,636,659,0.400957233732,-0.00538441202886,0.0598342122431,0.999999933735,0.000234290466479,-0.000277420492843,2.601090469e-05,1793255753718808576
+60,1.000000000,BASELINE,783,759.178246667,736,721,686.178246667,652,913.178246667,800.178246667,838,659,636,659,0.400955331404,-0.00538222552344,0.0598330291952,0.999999932929,0.000235618166429,-0.000279266904148,2.52173610253e-05,1793255753735475200
+61,1.016666667,BASELINE,782.599982403,759,736,721,686.400017597,652,913,800,838,659.400017597,635.599982403,659,0.400955006293,-0.00538243787583,0.0598328234587,0.999999932829,0.000235552514786,-0.000279669728126,2.53381779124e-05,1793255753752141824
+62,1.033333333,BASELINE,782.022211702,759,736,721,686.977788298,652,913,800,838,659.977788298,635.022211702,659,0.40095538204,-0.00538371619251,0.0598330520036,0.999999933043,0.000234867708871,-0.000279431074889,2.58653030401e-05,1793255753768808448
+63,1.050000000,BASELINE,782.554158639,759.554158639,736,721,686.445841361,652,913,800.554158639,838,659.445841361,635,659,0.400954682106,-0.00538313542151,0.0598321416429,0.999999932805,0.000234859226331,-0.000280324890274,2.54704936527e-05,1793255753785475072
+64,1.066666667,BASELINE,782.866879979,760,736,721,686.133120021,652,913,800.866879979,838,659,635,659,0.400954417666,-0.00538286355048,0.059831686626,0.999999932673,0.000235154272331,-0.000280571687246,2.52262137909e-05,1793255753802142208
+65,1.083333333,BASELINE,782.278873422,760,736,721,686.721126578,652,913,800.278873422,838,659,635,659,0.400955788318,-0.00538390121332,0.0598329431676,0.999999932963,0.000236394111847,-0.000278452830469,2.56222646279e-05,1793255753818809856
+66,1.100000000,BASELINE,782,759.695337925,736,721,686.695337925,652,913.304662075,800,838,659,635,659,0.4009559959,-0.00538375874969,0.0598335670571,0.999999932573,0.000238612049635,-0.000277945490537,2.57944064939e-05,1793255753835476992
+67,1.116666667,BASELINE,782,759.115835865,736,721,686.115835865,652,913.884164135,800,838,659,635,659,0.400955154259,-0.00538255167716,0.059833620222,0.999999931565,0.000241712343695,-0.00027889192295,2.57645568763e-05,1793255753852143360
+68,1.133333333,BASELINE,782,759.459059938,736,721,686,652,913.540940062,800,838,659.459059938,635,659,0.400955812763,-0.00538179337339,0.0598342324335,0.99999993215,0.000240248468051,-0.000278072595129,2.56271870581e-05,1793255753868809728
+69,1.150000000,BASELINE,782,759.966321002,736,721,686,652,913,800,838,659.966321002,635,659,0.400956754089,-0.00538128214342,0.0598348790048,0.999999933069,0.000237719723529,-0.000276953039986,2.54578676681e-05,1793255753885476096
+70,1.166666667,BASELINE,782,759.377290478,736,721,686,652,913,800,838,659.377290478,635,659,0.400956179144,-0.00538299633896,0.0598337891504,0.999999933046,0.000236433953368,-0.000278156954289,2.5204645834e-05,1793255753902142720
+71,1.183333333,BASELINE,782.208286058,759.208286058,736,721,686.208286058,651.791713942,913.208286058,800.208286058,838,659,635,659,0.40095565041,-0.00538362196526,0.0598331750021,0.999999932859,0.000236339636486,-0.000278921391053,2.50751076028e-05,1793255753918809344
+72,1.200000000,BASELINE,782.787708177,759.787708177,736,721,686.787708177,651.212291823,913.787708177,800.787708177,838,659,635,659,0.400955204017,-0.00538230791669,0.0598334084942,0.99999993238,0.000238368319267,-0.000278902741698,2.51659558761e-05,1793255753935475968
+73,1.216666667,BASELINE,782.634826684,760,736,721,686.634826684,651.365173316,914,801,838,659,635,659,0.400954764418,-0.00538221314258,0.0598328667472,0.999999932153,0.000238540022706,-0.000279572060608,2.51533491845e-05,1793255753952142848
+74,1.233333333,BASELINE,782.058493195,760,736,721,686.058493195,651.941506805,914,801,838,659,635,659,0.400954328749,-0.00538282340968,0.0598318767207,0.99999993207,0.000237637934315,-0.000280639194725,2.50809200217e-05,1793255753968809728
+75,1.250000000,BASELINE,782.516822784,760,736,721,686.516822784,652,913.483177216,801,838,659,635,659,0.400954700271,-0.00538377842929,0.0598324659956,0.999999932939,0.000235182524123,-0.000279588660061,2.53381825281e-05,1793255753985476096
+76,1.266666667,BASELINE,782.905518174,759.905518174,736,721,686.905518174,652,913,800.905518174,838,659,635,659,0.400955001114,-0.00538434961075,0.0598331266139,0.999999933572,0.000233629587682,-0.000278602212719,2.55636512609e-05,1793255754002142976
+77,1.283333333,BASELINE,782.314953264,759.314953264,736,721,686.314953264,652,913,800.314953264,838,659,635,659,0.400954452125,-0.00538270095758,0.0598332251693,0.999999932439,0.000237736398595,-0.000279208213977,2.54266500757e-05,1793255754018809600
+78,1.300000000,BASELINE,782,759,736.27018208,721,686,652,913,800,838,659.27018208,635,659,0.400954295163,-0.00538192542629,0.0598334898543,0.99999993212,0.000239032903796,-0.0002792603923,2.52473659136e-05,1793255754035475968
+79,1.316666667,BASELINE,782,759,736.849112784,721,686,652,913,800,838,659.849112784,635,659,0.400954586186,-0.00538214764887,0.0598339443827,0.999999932743,0.000237117952115,-0.000278679693418,2.50197631937e-05,1793255754052142592
+80,1.333333333,BASELINE,782,759.424432899,736.575567101,721,686.424432899,652,913.424432899,800,838,660,635.424432899,659,0.400954308023,-0.00538279596549,0.0598336710752,0.999999932672,0.000236671079253,-0.000279293009859,2.52751498748e-05,1793255754068809216
+81,1.350000000,BASELINE,782,759.998480313,736.001519687,721,686.998480313,652,913.998480313,800,838,660,635.998480313,659,0.400953829219,-0.0053835944822,0.0598331412023,0.999999932355,0.00023674171065,-0.000280327222047,2.57007924827e-05,1793255754085475840
+82,1.366666667,BASELINE,782,760,736,721,687,652,914,800,838.572478728,659.427521272,636,659,0.40095424737,-0.00538255523027,0.0598329414744,0.999999932125,0.000238122144025,-0.000280023491776,2.5208072715e-05,1793255754102142464
+83,1.383333333,BASELINE,782.151762228,759.848237772,736,721,687,652,914,800.151762228,839,659.151762228,636,659,0.400954996394,-0.00538189898274,0.0598330863334,0.999999932195,0.000238971808617,-0.000279077322765,2.48585446332e-05,1793255754118809344
+84,1.400000000,BASELINE,782.746471787,759.253528213,736,721,687,652,914,800.746471787,839,659.746471787,636,659,0.400956704187,-0.00538237484479,0.0598342343779,0.999999933143,0.000238262175152,-0.000276266437659,2.49340637424e-05,1793255754135475712
+85,1.416666667,BASELINE,783,759,736,721,687,652,914,800.668854019,839,660,636,659,0.400956589688,-0.00538293489708,0.0598342326366,0.999999933311,0.000237943512472,-0.000275908367068,2.52145407001e-05,1793255754152142336
+86,1.433333333,BASELINE,783,759,736,721,687,652,914,800.091637033,839,660,636,659,0.400955121065,-0.00538355751021,0.0598333765017,0.999999932901,0.000237915376008,-0.000277372956643,2.56473196186e-05,1793255754168808960
+87,1.450000000,BASELINE,783,759,736,721,687,652,913.515316907,800,838.515316907,659.515316907,635.515316907,659,0.400954975983,-0.0053826363517,0.0598329822111,0.999999932154,0.000239891847697,-0.000278367480478,2.56172208612e-05,1793255754185475840
+88,1.466666667,BASELINE,782.93956669,759,736,721,686.93956669,652,913,800.06043331,838,659,635,659,0.400955174704,-0.00538162444835,0.0598328893421,0.999999931588,0.000241535685424,-0.000278987849605,2.55133058914e-05,1793255754202142464
+89,1.483333333,BASELINE,782.367210362,759,736,721,686.367210362,652,913,800.632789638,838,659,635,659,0.400956169934,-0.00538231172288,0.0598346114745,0.999999933135,0.000237157265212,-0.000277190245905,2.55240571085e-05,1793255754218809600
+90,1.500000000,BASELINE,782,759,736,721,686,652,913,800.787992839,838,659,635,659,0.400957005777,-0.00538315043971,0.0598355432228,0.999999933998,0.000234707688254,-0.000276156215926,2.55846947637e-05,1793255754235476224
+91,1.516666667,BASELINE,782,759,736,721,686,652,913,800.196493871,838,659,635,659,0.400957556319,-0.00538426023746,0.0598350601873,0.999999933666,0.000235710731983,-0.00027648897946,2.57346289041e-05,1793255754252142848
+92,1.533333333,BASELINE,782.386190188,759.386190188,736,721,686,652,913.386190188,800,838.386190188,659.386190188,635,659,0.400955163903,-0.00538357161497,0.0598333637833,0.999999932388,0.000238145342369,-0.000279032306075,2.5530754851e-05,1793255754268809472
+93,1.550000000,BASELINE,782.964489355,759.964489355,736,721,686,652,913.964489355,800,838.964489355,659.964489355,635,659,0.400951307523,-0.00538198837461,0.0598310637935,0.99999993062,0.000241292080742,-0.000282675269704,2.51508801441e-05,1793255754285476096
+94,1.566666667,BASELINE,782.463554403,760,736,721,686.536445597,651.463554403,913.463554403,800,838.463554403,659.463554403,635,659,0.400952699252,-0.00538225284267,0.0598319119722,0.999999931333,0.00024022940367,-0.000281048420922,2.52169181792e-05,1793255754302142464
+95,1.583333333,BASELINE,782,759.888104426,736,721,686.888104426,651.111895574,913,800.111895574,838,659,635,659,0.400954170151,-0.00538259999654,0.0598328524232,0.99999993207,0.000238965020243,-0.000279490694762,2.53206510458e-05,1793255754318809088
+96,1.600000000,BASELINE,782,759.295875393,736,721,686.295875393,651.704124607,913,800.704124607,838,659,635,659,0.40095450703,-0.00538278318636,0.0598333048424,0.999999932231,0.000238016941888,-0.000279709660512,2.54609665134e-05,1793255754335475712
+97,1.616666667,BASELINE,782.290402308,759,736,721,686.290402308,651.709597692,913,800.709597692,838,659,635,659,0.400954375493,-0.00538290088373,0.059833238693,0.99999993238,0.000237159407216,-0.000279909270412,2.54303982568e-05,1793255754352142592
+98,1.633333333,BASELINE,782.870738243,759,736,721,686.870738243,651.129261757,913,800.129261757,838,659,635,659,0.400953776295,-0.00538295319433,0.0598326548121,0.999999932516,0.000236392270156,-0.000280089555686,2.52292220563e-05,1793255754368809472
+99,1.650000000,BASELINE,782.551121538,759,736,721,687,651.448878462,913,800,838,659.448878462,635,659,0.400954243016,-0.00538320272931,0.0598330221872,0.999999932664,0.000236256616904,-0.000279667413138,2.53091581502e-05,1793255754385476096
+100,1.666666667,BASELINE,782,759.026222464,736,721,686.973777536,652,913,800,838,659.973777536,635,659,0.400955001586,-0.00538345228144,0.0598336576811,0.999999932798,0.000236394488831,-0.000279057994809,2.54501628152e-05,1793255754402142720
+101,1.683333333,BASELINE,782,759.600078931,736,721,686.399921069,652,913,800,838,659.399921069,635,659,0.400955476048,-0.00538252187251,0.0598341996736,0.999999932568,0.000238465491351,-0.000278142801498,2.51841734253e-05,1793255754418809088
+102,1.700000000,BASELINE,782,760,736,721,686.178793152,652,913,800.178793152,838,659,635,659,0.400955401107,-0.00538185661501,0.0598340183221,0.999999932243,0.000239854111687,-0.000278136066772,2.49740296377e-05,1793255754435475456
+103,1.716666667,BASELINE,782,760,736,721,686.768676488,652,913,800.768676488,838,659,635,659,0.400954062953,-0.00538180100714,0.0598321738214,0.999999931707,0.000239673764397,-0.000280218105727,2.48922888973e-05,1793255754452142336
+104,1.733333333,BASELINE,782,759.648135228,736,721,687,652,913.351864772,800.648135228,838,659.351864772,635.351864772,659,0.400954811292,-0.00538235544077,0.0598325730606,0.999999932268,0.000238021430272,-0.000279624541885,2.48898592204e-05,1793255754468809216
+105,1.750000000,BASELINE,782,759.069266173,736,721,687,652,913.930733827,800.069266173,838,659.930733827,635.930733827,659,0.400956905726,-0.00538330344044,0.0598344198403,0.999999933529,0.000235419449158,-0.000277304822798,2.49385967802e-05,1793255754485475840
+106,1.766666667,BASELINE,782,759,736,721,687,652,914,800,838,659.494964748,636,659,0.400955873954,-0.00538446638443,0.0598338264551,0.999999933483,0.000234341744601,-0.000278347868798,2.52888833934e-05,1793255754502142464
+107,1.783333333,POSE1_TO_POSE2_PRESS,782,760,736,721,686,652,914,800,838,659,635,659,0.400954117249,-0.00538335663072,0.059833387526,0.999999932862,0.000235364696117,-0.000279723026494,2.52063471329e-05,1793255754544807680
+108,1.800000000,POSE1_TO_POSE2_PRESS,782,759.419146502,736,721,686.580853498,652,914,800,838,659,635,659,0.400955748658,-0.00538361462938,0.0598343809927,0.999999933345,0.000235508728519,-0.000277868806234,2.51844892194e-05,1793255754561474560
+109,1.816666667,POSE1_TO_POSE2_PRESS,782,759,736,721,687,652,913.839408171,800,838,659,635,659,0.400956614136,-0.00538340843417,0.0598347130878,0.999999933409,0.000236241419235,-0.000277019125469,2.51405363532e-05,1793255754578141440
+110,1.833333333,POSE1_TO_POSE2_PRESS,782,759,736,721,687,652,913.262560243,800,838,659,635,659,0.400955494307,-0.00538199904254,0.0598333308991,0.999999932388,0.000238499919945,-0.000278773223663,2.50393130797e-05,1793255754594807808
+111,1.850000000,POSE1_TO_POSE2_PRESS,782,759,736,721,686.68083291,652,913,800,838,659.31916709,635,659,0.400955147681,-0.00538155051546,0.0598328890089,0.999999932179,0.000238818849949,-0.00027924859404,2.50732826982e-05,1793255754611473920
+112,1.866666667,POSE1_TO_POSE2_PRESS,782,759,736,721,686.09502929,652,913,800,838,659.90497071,635,659,0.400955446998,-0.00538190470779,0.0598332326569,0.99999993265,0.000237517436054,-0.000278655697689,2.52201943046e-05,1793255754628140288
+113,1.883333333,POSE1_TO_POSE2_PRESS,782,759,736,721,686.485555728,652,913,800,838,659.514444272,635,659,0.40095580589,-0.00538272885208,0.0598338866616,0.999999933142,0.000236339244244,-0.00027790898656,2.5042973423e-05,1793255754644806912
+114,1.900000000,POSE1_TO_POSE2_PRESS,782.065044617,759,736,721,687,652,913,800,838,659,635,659,0.400956116668,-0.00538347364508,0.0598345417634,0.999999933507,0.000235530457381,-0.000277292897288,2.48868684707e-05,1793255754661473536
+115,1.916666667,POSE1_TO_POSE2_PRESS,782.643857046,759,736,721,687,652,913,800,838,659,635,659,0.400955956294,-0.00538287290501,0.0598347308597,0.99999993286,0.00023745102852,-0.000277943800429,2.5393291618e-05,1793255754678140160
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,759.220050621,736,721,686.779949379,652,913.220050621,800,838,659,635,659,0.400959912296,-0.00538277276458,0.0598366947463,0.999999933327,0.000238777317822,-0.000275077951785,2.57513209368e-05,1793255754694807040
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,759.792055484,736,721,686.207944516,652,913.792055484,800,838,659,635,659,0.400970452126,-0.00538347329527,0.0598414972749,0.999999935534,0.000239153098303,-0.0002665873259,2.58720055567e-05,1793255754711474688
+118,1.966666667,POSE1_TO_POSE2_PRESS,782.635616551,759.635616551,736,721,686.364383449,652,913.635616551,800,838,659,635,659,0.400998021685,-0.00538479091274,0.0598527166088,0.99999994108,0.000237177983217,-0.000246761015898,2.63843840374e-05,1793255754728141568
+119,1.983333333,POSE1_TO_POSE2_PRESS,782.063103983,759.063103983,736,721,686.936896017,652,913.063103983,800,838,659,635,659,0.401035318313,-0.00538646099889,0.0598676011041,0.999999947986,0.000233860079756,-0.000220459970823,2.71204908396e-05,1793255754744807424
+120,2.000000000,POSE1_TO_POSE2_PRESS,782.532301097,759,736,721,686.467698903,651.467698903,913,800,838,659,635,659,0.401092264691,-0.00538818591411,0.0598857123175,0.999999954393,0.000234079559921,-0.000188778572684,2.80050243868e-05,1793255754761473792
+121,2.016666667,POSE1_TO_POSE2_PRESS,782.874531,759,736,721,686.125469,651.125469,913,800.125469,838,659,635,659,0.401154429319,-0.00539017793304,0.0599030912431,0.999999959428,0.000234019052607,-0.000159832927706,2.88599964736e-05,1793255754778140416
+122,2.033333333,POSE1_TO_POSE2_PRESS,782.299538323,759,736,721,686.700461677,651.700461677,913,800.700461677,838,659,635,659,0.401226568679,-0.0053931025832,0.0599164144901,0.999999962559,0.000231385461045,-0.000143076692707,2.95431829304e-05,1793255754794807040
+123,2.050000000,POSE1_TO_POSE2_PRESS,782,759,736,721,686.725970952,652,913.274029048,801,838,659,635,659,0.401308565661,-0.00539464811865,0.0599276756682,0.999999964914,0.000230583148512,-0.000126979555478,2.96477396789e-05,1793255754811474432
+124,2.066666667,POSE1_TO_POSE2_PRESS,782,759,736,721,686.153953539,652,913.846046461,801,838,659,635,659,0.401401282148,-0.00539469395839,0.0599366944826,0.99999996649,0.000231772230298,-0.000111599144254,2.91230750641e-05,1793255754828141568
+125,2.083333333,POSE1_TO_POSE2_PRESS,782,759.432403936,736,721,686,652,913.567596064,800.567596064,838,659,635,659,0.401511724431,-0.00539767172029,0.059943308829,0.999999968412,0.000229872703742,-9.75985166294e-05,2.84587660076e-05,1793255754844807680
+126,2.100000000,POSE1_TO_POSE2_PRESS,782,759.976382191,736,720.976382191,686,652,913,800,838,659,635,659,0.401629468599,-0.00540169215529,0.0599488663089,0.999999970312,0.000226849922425,-8.45304859939e-05,2.77343661331e-05,1793255754861473792
+127,2.116666667,POSE1_TO_POSE2_PRESS,782,759.395186999,736,720.395186999,686,652,913,800,838,659,635,659,0.401765492653,-0.00540483866105,0.0599503770286,0.999999971197,0.000224160878989,-8.14838770534e-05,2.68053702888e-05,1793255754878140416
+128,2.133333333,POSE1_TO_POSE2_PRESS,782,759.183907891,736,720.183907891,686.183907891,652,913,800,838,659,635,659,0.401908111644,-0.00540841397298,0.0599502752801,0.999999972014,0.000221434890735,-7.92678132527e-05,2.55875433589e-05,1793255754894806784
+129,2.150000000,POSE1_TO_POSE2_PRESS,782,759.758540474,736,720.758540474,686.758540474,652,913,800,838,659,635,659,0.402064742004,-0.00541290031208,0.0599467477342,0.999999972712,0.000218630411079,-7.88162988953e-05,2.37560754658e-05,1793255754911473408
+130,2.166666667,POSE1_TO_POSE2_PRESS,782,759.666578107,736,721,687,652,913,800,838,659,635.333421893,659,0.402245592847,-0.00541702208463,0.0599460359142,0.999999973501,0.000216316721044,-7.56930752551e-05,2.18086402088e-05,1793255754928140288
+131,2.183333333,POSE1_TO_POSE2_PRESS,782,759.09151629,736,721,687,652,913,800,838,659,635.90848371,659,0.40244399695,-0.00542087964634,0.0599473647272,0.999999974335,0.000214358719315,-7.06335911055e-05,1.97771600555e-05,1793255754944807168
+132,2.200000000,POSE1_TO_POSE2_PRESS,782.496680211,759,736,721,686.503319789,652,913,800,838,659,635.503319789,659,0.402679100121,-0.00542761551119,0.0599492997757,0.999999976439,0.000207180539319,-6.24487961523e-05,1.72977049338e-05,1793255754961473792
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,759,736,721,686.085774953,652,913.085774953,800.085774953,838.085774953,659,635,659,0.402926300758,-0.00543486837063,0.0599515982579,0.999999978682,0.000198885357761,-5.34928232162e-05,1.48237338683e-05,1793255754978140416
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,759,736,721,686.665723079,652,913.665723079,800.665723079,838.665723079,659,635,659,0.403203182232,-0.00544196132411,0.0599553295537,0.99999998095,0.000189846820848,-4.35016684017e-05,1.28698219501e-05,1793255754994807040
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,759.241876057,736,721,686.758123943,652,914,801,838.758123943,659,635.241876057,659,0.403485681228,-0.00544880500364,0.0599541273745,0.999999982595,0.000181210648149,-4.32205364209e-05,1.02533308596e-05,1793255755011474176
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,759.812865061,736,721,686.187134939,652,914,801,838.187134939,659,635.812865061,659,0.403775823788,-0.00545530950373,0.059946212375,0.999999983415,0.000173121960004,-5.61515198882e-05,6.73528978051e-06,1793255755028141824
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760,736,721,686.397334576,652,914,801,838,659,635.602665424,659,0.404095645238,-0.00546384481344,0.059934245438,0.999999983982,0.000161852415441,-7.63589339511e-05,2.9137601549e-06,1793255755044808192
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,736,721,686.988376035,652,914,801,838,659,635.011623965,659,0.404429935609,-0.00547337017475,0.0599203031178,0.999999983883,0.000149032153264,-0.000100113722483,-1.05572483101e-06,1793255755061473792
+139,2.316666667,POSE1_TO_POSE2_PRESS,782.430286683,760,736,721,686.430286683,652,913.430286683,801,838,659,635,658.430286683,0.404798273628,-0.00547806451795,0.0599089110805,0.999999981974,0.000143770067969,-0.000123898264659,-5.65063442953e-06,1793255755078140672
+140,2.333333333,POSE1_TO_POSE2_PRESS,782,760,736,721,686,652,913.149224695,801,838,659,635,658.149224695,0.405188761858,-0.00548356096743,0.0599029880404,0.999999981092,0.000137442889181,-0.000137213252556,-9.88220154892e-06,1793255755094807552
+141,2.350000000,POSE1_TO_POSE2_PRESS,782,760,736,721,686,652,913.724083225,801,838,659,635,658.724083225,0.405640480855,-0.00549162170254,0.0599125183009,0.999999984488,0.000127645254472,-0.000120664207446,-1.30416178913e-05,1793255755111474176
+142,2.366666667,POSE1_TO_POSE2_PRESS,782,760,736,720.700703626,686.299296374,652,914,801,838,659,635,658.700703626,0.406123128224,-0.00549856650929,0.0599332492841,0.999999989873,0.000112406678606,-8.58758331081e-05,-1.56524994261e-05,1793255755128140800
+143,2.383333333,POSE1_TO_POSE2_PRESS,782,760,736,720.125163105,686.874836895,652,914,801,838,659,635,658.125163105,0.406634321871,-0.00550448133899,0.0599643182956,0.99999999501,9.2146229152e-05,-3.4252946221e-05,-1.77570954083e-05,1793255755144807168
+144,2.400000000,POSE1_TO_POSE2_PRESS,782,759.538285794,736,720,687,652,913.538285794,800.538285794,838,659,635,658.461714206,0.40718254273,-0.00549791766026,0.0599909565641,0.999999999327,2.98831878059e-05,6.78004760076e-06,-2.01991420998e-05,1793255755161473792
+145,2.416666667,POSE1_TO_POSE2_PRESS,782,759,736,720,687,652,913,800,838,659,635,659,0.407738903375,-0.00548832427106,0.0600132240407,0.999999998333,-3.60453883465e-05,3.88541038893e-05,-2.29094511451e-05,1793255755178140160
+146,2.433333333,POSE1_TO_POSE2_PRESS,782,759,736,720,687,652,913,800,838,659,635,659,0.408272893867,-0.0054832891267,0.0600028309669,0.999999999415,-1.86721752706e-05,8.342926833e-06,-2.74349478394e-05,1793255755194807040
+147,2.450000000,POSE1_TO_POSE2_PRESS,782.206825543,759,736,720.206825543,687,652,913,800.206825543,838,659,635.206825543,659,0.408823430799,-0.00548588619155,0.059991654541,0.999999999179,-1.29139142756e-05,-2.21231238129e-05,-3.14071454952e-05,1793255755211473920
+148,2.466666667,POSE1_TO_POSE2_PRESS,782.779286261,759,736,720.779286261,687,652,913,800.779286261,838,659,635.779286261,659,0.409403219212,-0.0055019758075,0.0599790932719,0.999999997646,-2.76890709041e-05,-5.25093961825e-05,-3.44011968446e-05,1793255755228140800
+149,2.483333333,POSE1_TO_POSE2_PRESS,782.637284722,759,736,720.637284722,687,652,913.362715278,801,838.362715278,659,635.637284722,659,0.410032039412,-0.00550977319671,0.0599799140157,0.999999997855,-2.76720021117e-05,-4.77100788396e-05,-3.53305748708e-05,1793255755244807680
+150,2.500000000,POSE1_TO_POSE2_PRESS,782.046973353,759,736,720.046973353,687,652,913.953026647,801,838.953026647,659,635.046973353,659,0.410691625991,-0.00551236739014,0.0599891316873,0.999999999003,-1.8373127245e-05,-2.08325543087e-05,-3.49644143665e-05,1793255755261474304
+151,2.516666667,POSE1_TO_POSE2_PRESS,782,759,736.533412383,720,687,652,914,801,839,659,635.533412383,659,0.411407901027,-0.00550957984875,0.0599957014308,0.999999999505,-8.05926402154e-06,-5.62142155744e-06,-2.98983315245e-05,1793255755278140672
+152,2.533333333,POSE1_TO_POSE2_PRESS,782.112249125,759,737,720,686.887750875,652,914,801,838.887750875,659,635.887750875,659,0.412119574323,-0.00550606051195,0.0599956245028,0.999999999641,1.61904870349e-06,-4.23242243833e-06,-2.64072274905e-05,1793255755294807040
+153,2.550000000,POSE1_TO_POSE2_PRESS,782.688231444,759,737,720,686.311768556,652,914,801,838.311768556,659,635.311768556,659,0.4127919893,-0.00550144007777,0.0599690340173,0.999999997926,8.30920153684e-06,-5.5779802896e-05,-3.11014514014e-05,1793255755311473664
+154,2.566666667,POSE1_TO_POSE2_PRESS,782.737264166,759.262735834,736.737264166,720,686,652,913.737264166,801,838.262735834,659,635.262735834,659,0.413483562908,-0.00549855407092,0.0599431695438,0.999999993806,1.17108556784e-05,-0.00010496182739,-3.51334351061e-05,1793255755328140288
+155,2.583333333,POSE1_TO_POSE2_PRESS,782.164503637,759.835496363,736.164503637,720,686,652,913.164503637,801,838.835496363,659,635.835496363,659,0.414197743528,-0.005497714664,0.0599181617513,0.999999987746,1.12321271668e-05,-0.000151352770922,-3.83839850538e-05,1793255755344806912
+156,2.600000000,POSE1_TO_POSE2_PRESS,782.422937086,760,736.422937086,720,686.422937086,652,913.422937086,801,839,659,636,659,0.415008641618,-0.00550439440818,0.0599435288517,0.999999993958,-3.92953616046e-06,-0.000103201477901,-3.76503876218e-05,1793255755361473536
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,759.984104351,737,720,687,652,913.984104351,801,839,659,636,659,0.415858955809,-0.00551391399147,0.059988713853,0.999999998914,-2.42832930371e-05,-1.8195384709e-05,-3.53670319519e-05,1793255755378140672
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,759.405220197,737,720,687,652,913.405220197,801,839,659,636,659,0.416725019338,-0.00551670638753,0.0600168901718,0.999999998944,-1.89850683467e-05,2.28861587148e-05,-3.50536159256e-05,1793255755394807552
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,759,737,720.172523533,687,652,913,801,839,659,636,659,0.417580739416,-0.00551777663646,0.0600317578658,0.999999998171,-1.72139768768e-05,4.5697405983e-05,-3.56766909091e-05,1793255755411474176
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,759,737,720.74760621,687,652,913,801,839,659,636,659,0.418412324467,-0.00551482849969,0.0600155717736,0.999999998644,-2.36729498319e-05,2.58775115878e-05,-3.84849346855e-05,1793255755428140544
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,759.322811222,737,720.677188778,687,652,913,801,839,659,635.677188778,658.677188778,0.419250042961,-0.00551424193049,0.0599935652088,0.999999998772,-2.63439360335e-05,-9.50639723833e-06,-4.08964406507e-05,1793255755444807168
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,759.898111894,737,720.101888106,687,652,913,801,839,659,635.101888106,658.101888106,0.420092558739,-0.00551550248091,0.0599670061144,0.999999997108,-2.60521169316e-05,-5.70638268831e-05,-4.29976346837e-05,1793255755461473792
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,760,737,719.512446141,686.512446141,652,913,801,838.512446141,659,635,658.487553859,0.420911751174,-0.00551687010893,0.0599323262196,0.999999991966,-3.03396692292e-05,-0.000114368810516,-4.54714132544e-05,1793255755478140416
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,759.922128511,737.077871489,719.077871489,686,652,913,801.077871489,838.077871489,659,635.077871489,659,0.421740131783,-0.00551797844569,0.0599000407953,0.999999984273,-3.44627708986e-05,-0.000167271151792,-4.78259906952e-05,1793255755494807040
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,759.345690538,737.654309462,719.654309462,686,652,913,801.654309462,838.654309462,659,635.654309462,659,0.422659476648,-0.00551727914273,0.0598942757333,0.999999982376,-3.12229175563e-05,-0.000178554390283,-4.89039944794e-05,1793255755511473664
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,759.230630233,737.769369767,720,686,652,913,802,839,658.769369767,635.769369767,659,0.423610500466,-0.00551794678633,0.05991905906,0.999999988731,-2.89878999868e-05,-0.000139088065511,-4.85048291914e-05,1793255755528140544
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,759.806775503,737.193224497,720,686,652,913,802,839,658.193224497,635.193224497,659,0.424608983743,-0.0055206622992,0.0599896079713,0.999999998269,-2.8258260494e-05,-2.35920847671e-05,-4.58926661153e-05,1793255755544807168
+168,2.800000000,POSE1_TO_POSE2_PRESS,782.608478774,760,737,719.608478774,686,652,913,801.608478774,839,658,635,659,0.425554806394,-0.00552286120664,0.060025777315,0.99999999782,-3.42426666961e-05,3.42834032203e-05,-4.48667075582e-05,1793255755561473792
+169,2.816666667,POSE1_TO_POSE2_PRESS,782.019393239,760,737,719.019393239,686,652,913,801.019393239,839,658,635,659,0.42647405607,-0.00552479943125,0.0600445984874,0.999999996063,-4.36150267985e-05,6.30831863666e-05,-4.46411590639e-05,1793255755578140416
+170,2.833333333,POSE1_TO_POSE2_PRESS,782.560205732,760,737,719,686,652,913,801,839,658.560205732,635,659,0.427416994632,-0.00552418774425,0.0600275687674,0.999999996897,-3.41485063889e-05,5.26246190358e-05,-4.76567341275e-05,1793255755594807040
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,760,737,719,686,652,913,801,839,658.861536358,635,659,0.428349538663,-0.00552389476701,0.0600068829851,0.999999997705,-3.14449518504e-05,3.24399155218e-05,-5.04893404276e-05,1793255755611473408
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,760,737,719,686,652,913,801,839,658.286488683,635,659,0.429246765421,-0.00552488039569,0.0599785174861,0.99999999717,-5.20875028985e-05,-1.41980665391e-05,-5.23971486219e-05,1793255755628140032
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,759.710966083,737,719,686,652,913,801.289033917,839,658,635,659,0.430134427096,-0.00552438090128,0.0599502889957,0.999999994696,-6.05839221295e-05,-6.28675485473e-05,-5.46290290019e-05,1793255755644806912
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,759.134972,737,719,686,652,913,801.865028,839,658,635,659,0.431012592261,-0.00552240693913,0.0599221965328,0.999999990292,-5.70213539892e-05,-0.000113553952133,-5.71826563085e-05,1793255755661473792
+175,2.916666667,POSE1_TO_POSE2_PRESS,782.54802524,759,737.45197476,719,686,652,912.54802524,801.54802524,839,658.45197476,635.45197476,659,0.431968757478,-0.00552411008565,0.0599564195782,0.99999999574,-5.31481990154e-05,-4.9686723474e-05,-5.67958346396e-05,1793255755678140416
+176,2.933333333,POSE1_TO_POSE2_PRESS,782,759,738,718.958644935,686,652,912.041355065,801,839,659,635.958644935,659,0.432944167999,-0.00552703356435,0.0600066393701,0.999999996312,-4.97282720095e-05,4.26765410346e-05,-5.55162505756e-05,1793255755694807040
+177,2.950000000,POSE1_TO_POSE2_PRESS,782,759,738,718.381171839,686,652,912.618828161,801,839,659,635.381171839,659,0.433859605567,-0.00553118829485,0.0600170017287,0.999999995849,-5.34161506998e-05,4.99665218084e-05,-5.43292775467e-05,1793255755711473664
+178,2.966666667,POSE1_TO_POSE2_PRESS,782.194474696,759.194474696,737.805525304,718,686,652,913,801.194474696,839,659,635.194474696,659,0.434763170449,-0.00553403261289,0.0600121423231,0.999999996157,-5.84292171021e-05,3.56357888694e-05,-5.47901706319e-05,1793255755728140288
+179,2.983333333,POSE1_TO_POSE2_PRESS,782.766574571,759.766574571,737.233425429,718,686,652,913,801.766574571,839,659,635.766574571,659,0.435643681462,-0.00553433241172,0.0599777257505,0.999999995899,-6.60154941129e-05,-2.06774015298e-05,-5.84508407907e-05,1793255755744807168
+180,3.000000000,POSE1_TO_POSE2_PRESS,783,760,737.350030711,718.350030711,686,652,913,802,839,659,636,659,0.436490203755,-0.00553493397533,0.0599522475224,0.999999993493,-7.24550784098e-05,-6.41637080492e-05,-6.03859380624e-05,1793255755761473792
+181,3.016666667,POSE1_TO_POSE2_PRESS,783,760,737.941313921,718.941313921,686,652,913,802,839,659,636,659,0.437313299869,-0.00553574352498,0.0599329298928,0.9999999902,-7.81043245412e-05,-9.88093074929e-05,-6.11317144419e-05,1793255755778140160
+182,3.033333333,POSE1_TO_POSE2_PRESS,783,760,737.479293163,718.479293163,686.520706837,651.479293163,913,802,839,659,635.479293163,659,0.438111516492,-0.00553339867939,0.0599119186552,0.999999984745,-7.0078996126e-05,-0.000147893490141,-6.10369746281e-05,1793255755794807040
+183,3.050000000,POSE1_TO_POSE2_PRESS,782.901557854,759.901557854,737.098442146,718,686.901557854,651,913,802,839,658.901557854,635,659,0.438923258017,-0.00553191553757,0.0599011571793,0.999999980389,-6.3222289604e-05,-0.000177582637559,-6.07392067884e-05,1793255755811473664
+184,3.066666667,POSE1_TO_POSE2_PRESS,782.325508182,759.325508182,737.674491818,718,686.325508182,651,913,802,839,658.325508182,635,659,0.439813918199,-0.00553629941659,0.05994102943,0.999999990241,-6.93457203437e-05,-0.000105454906027,-5.99057543586e-05,1793255755828140032
+185,3.083333333,POSE1_TO_POSE2_PRESS,782,759.250507185,738,718.250507185,686,651,912.749492815,802,839,658.250507185,635,659,0.440682677522,-0.00554038256981,0.0599784381741,0.999999994485,-7.56554537792e-05,-4.2769316442e-05,-5.89635613483e-05,1793255755844806912
+186,3.100000000,POSE1_TO_POSE2_PRESS,782,759.826477939,738,718.826477939,686,651,912.173522061,802,839,658.826477939,635,659,0.441522982772,-0.00554407501418,0.0600126462818,0.999999994917,-8.22072348838e-05,7.64886167668e-06,-5.78800908379e-05,1793255755861473536
+187,3.116666667,POSE1_TO_POSE2_PRESS,782.413276938,759.586723062,738,719,686,651,912,801.586723062,839,658.586723062,635,659,0.44226118601,-0.00554421746908,0.0599920798542,0.999999994772,-8.03879977805e-05,-2.36388114975e-05,-5.86117469582e-05,1793255755878140160
+188,3.133333333,POSE1_TO_POSE2_PRESS,782.995378392,759,738,718.995378392,685.995378392,651,912,801,839,658,635,659,0.442955181755,-0.0055428423844,0.0599479230213,0.999999991322,-7.49654763983e-05,-9.01165525292e-05,-6.01246353883e-05,1793255755894806784
+189,3.150000000,POSE1_TO_POSE2_PRESS,782.41926164,759,738,718.41926164,685.41926164,651,912,801,839,658,635,659,0.443626341559,-0.00554308648239,0.0599070428122,0.999999984118,-7.02863944267e-05,-0.00015180927389,-6.14658961262e-05,1793255755911473664
+190,3.166666667,POSE1_TO_POSE2_PRESS,782.15644856,759,738,718.15644856,685,651,912.15644856,801,839,658,635,659,0.444297725624,-0.0055433440444,0.0598762939417,0.999999976035,-6.86121039845e-05,-0.000198163366733,-6.28754565645e-05,1793255755928140288
+191,3.183333333,POSE1_TO_POSE2_PRESS,782.731072208,759,738,718.731072208,685,651,912.731072208,801,839,658,635,659,0.444969709266,-0.00554363759474,0.059872625359,0.999999974402,-7.49693921009e-05,-0.000203518488369,-6.44675777378e-05,1793255755944807168
+192,3.200000000,POSE1_TO_POSE2_PRESS,782.685670058,759,738,719,685,650.685670058,912.685670058,801,839.314329942,658.314329942,635,659,0.445598161977,-0.00554350192975,0.0598555641349,0.999999966179,-7.86766358575e-05,-0.000239150103771,-6.52690734595e-05,1793255755961474048
+193,3.216666667,POSE1_TO_POSE2_PRESS,782.094816751,759,738,719,685,650.094816751,912.094816751,801,839.905183249,658.905183249,635,659,0.446188319474,-0.005542988674,0.0598267210928,0.999999949233,-8.0052573313e-05,-0.000301416654286,-6.53750372871e-05,1793255755978140672
+194,3.233333333,POSE1_TO_POSE2_PRESS,782.486288189,759,738,718.513711811,684.513711811,649.513711811,912,801,840,659,634.513711811,659,0.446787055764,-0.0055445795889,0.0598111041032,0.999999943053,-8.71221009997e-05,-0.000319055827074,-6.71422684067e-05,1793255755994807040
+195,3.250000000,POSE1_TO_POSE2_PRESS,782.934947977,759,738,718.065052023,683.934947977,648.934947977,912,801,840,658.934947977,634.065052023,659,0.447385757381,-0.00554672390386,0.0598019069613,0.999999940848,-9.43865236103e-05,-0.000323482109795,-6.89572177314e-05,1793255756011473664
+196,3.266666667,POSE1_TO_POSE2_PRESS,782.359929129,759,738,718.640070871,683.359929129,648.359929129,912,801,840,658.359929129,634.640070871,659,0.447971332016,-0.00555005345742,0.0598232183304,0.999999950765,-9.46470378738e-05,-0.000291201140517,-6.86568628357e-05,1793255756028140544
+197,3.283333333,POSE1_TO_POSE2_PRESS,782.214895214,759.214895214,738,719,683,648,912,800.785104786,840,658.214895214,634.785104786,659,0.448524743722,-0.00555101965647,0.0598321710111,0.999999954755,-9.33736796427e-05,-0.000277477948616,-6.91149144595e-05,1793255756044806912
+198,3.300000000,POSE1_TO_POSE2_PRESS,782.789394017,759.789394017,738,719,683,648,912,800.210605983,840,658.789394017,634.210605983,659,0.449024334232,-0.00554803104043,0.0598204427794,0.999999950026,-8.95335539862e-05,-0.000294809166884,-7.08420763872e-05,1793255756061473536
+199,3.316666667,POSE1_TO_POSE2_PRESS,782.624932687,760,738,718.624932687,683,648,912.375067313,800,840,659,634,659,0.4494823127,-0.00554722172989,0.0597909269769,0.99999993535,-8.96504290987e-05,-0.000340393326473,-7.34562244596e-05,1793255756078140160
+200,3.333333333,POSE1_TO_POSE2_PRESS,782.032792004,760,738,718.032792004,683,648,912.967207996,800,840,659,634,659,0.449916207894,-0.0055476737105,0.0597511164668,0.999999911896,-9.2057451133e-05,-0.000402329114667,-7.65837231835e-05,1793255756094807040
+201,3.350000000,POSE1_TO_POSE2_PRESS,782.545167469,759.454832531,738,718,683,647.454832531,912.454832531,800,840,658.454832531,634,659,0.450329705887,-0.00555176054772,0.0597286637199,0.999999899165,-9.50883802081e-05,-0.000431792237425,-7.86345700544e-05,1793255756111473920
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,759.121681561,738,718,682.878318439,646.878318439,912.121681561,800,840,658.121681561,634,659,0.450739762338,-0.00555706624921,0.0597140965248,0.999999891265,-9.68454580922e-05,-0.000449216728609,-7.93386243533e-05,1793255756128140800
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,759.695912258,738,718,682.304087742,646.304087742,912.695912258,800,840,658.695912258,634,659,0.451141466682,-0.00556611253641,0.0597250720881,0.999999900776,-9.37288895018e-05,-0.000428948212081,-7.52685350515e-05,1793255756144807424
+204,3.400000000,POSE1_TO_POSE2_PRESS,783,760,738,718,681.729983157,646,912.729983157,799.729983157,840,659,634.270016843,659,0.451524106292,-0.00557340060733,0.0597366013377,0.999999910154,-8.22409827392e-05,-0.00041011802635,-6.87871272182e-05,1793255756161473536
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,760,738,718,681.156020567,646,912.156020567,799.156020567,840,659,634.843979433,659,0.451885285569,-0.00557870953319,0.0597487538463,0.999999919156,-6.13298393942e-05,-0.000392906905667,-5.95914074058e-05,1793255756178140160
+206,3.433333333,POSE1_TO_POSE2_PRESS,782.566735857,759.566735857,738,718,681,646,912.433264143,799,840,659,634.566735857,659.433264143,0.452218000224,-0.0055797009219,0.0597552894127,0.999999921591,-9.25220936379e-05,-0.000380604971591,-5.82886291307e-05,1793255756194806784
+207,3.450000000,POSE1_TO_POSE2_PRESS,782.02742758,759,738,718.02742758,681,646,912.97257242,799,840,659,634,659.97257242,0.452537123048,-0.00557875650455,0.0597591527538,0.999999919492,-0.000140212998898,-0.000371170059173,-5.99044015413e-05,1793255756211473664
+208,3.466666667,POSE1_TO_POSE2_PRESS,782.60472828,759,738,718.60472828,681,646,912.39527172,799,840,659,634,659.39527172,0.452796787191,-0.0055713156654,0.0597514807113,0.999999916714,-0.000128723748105,-0.000382472782937,-6.0960081822e-05,1793255756228140288
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,759.174714856,738.174714856,719,681,646,912.174714856,799,840,659,634,659,0.453040378393,-0.00556153833554,0.0597418626957,0.999999912204,-0.000114333029483,-0.000398231378557,-6.27077634167e-05,1793255756244807168
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,759.72881891,738.72881891,719,681,646,912.72881891,799,840,659,634,659,0.453249067549,-0.00554668737203,0.0597280190462,0.999999903694,-9.36418432275e-05,-0.000423665793477,-6.59581094257e-05,1793255756261474304
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760,738.701259821,718.701259821,681,646,913,799,840,659,634,659,0.45344449865,-0.00554317198914,0.0597172674903,0.999999895968,-8.73722036058e-05,-0.000442548342419,-6.76879776457e-05,1793255756278140672
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,738.116177715,718.116177715,681,646,913,799,840,659,634,659,0.453627221954,-0.00555052173823,0.059709479699,0.999999889604,-9.4925588233e-05,-0.000455150942801,-6.79604710502e-05,1793255756294806784
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,759.513097287,738,718.486902713,681,645.513097287,912.513097287,799,840,658.513097287,633.513097287,659,0.453797670031,-0.00555629726922,0.0597066956248,0.999999887638,-9.90747643333e-05,-0.000458510432487,-6.83814580941e-05,1793255756311473408
+214,3.566666667,POSE1_TO_POSE2_PRESS,783.089257193,759.089257193,738,719,681,645.089257193,912.089257193,799,840,658.089257193,633.089257193,659,0.453960517038,-0.00556082513076,0.0597057978908,0.99999988715,-0.000101747418549,-0.000458924630124,-6.88174887544e-05,1793255756328140032
+215,3.583333333,POSE1_TO_POSE2_PRESS,783.663440709,759.663440709,738,719,681,645.663440709,912.663440709,799,840,658.663440709,633.663440709,659,0.45409859163,-0.00556069354269,0.0597084130673,0.999999888644,-0.000100980602169,-0.000455779292681,-6.91353657948e-05,1793255756344806912
+216,3.600000000,POSE1_TO_POSE2_PRESS,783.522121872,760,738.238939064,719,680.761060936,645.761060936,913,799,840,659,634,659,0.454228123313,-0.00556223629278,0.0597118602749,0.999999891138,-0.000102167683204,-0.000449991436709,-6.92362591443e-05,1793255756361473280
+217,3.616666667,POSE1_TO_POSE2_PRESS,782.367400681,760,738.816299659,719,680.183700341,645.183700341,913,799,840,659,634,659,0.454345555234,-0.00556615049305,0.0597164859304,0.999999894984,-0.000106122168424,-0.000440460847694,-6.90298274486e-05,1793255756378139904
+218,3.633333333,POSE1_TO_POSE2_PRESS,782.397980042,760,738.602019958,718.602019958,680,645,912.602019958,798.602019958,840,659,634,659,0.454441901736,-0.00556900306377,0.059718750352,0.999999896323,-0.000108623976962,-0.000436803134551,-6.89719678649e-05,1793255756394806784
+219,3.650000000,POSE1_TO_POSE2_PRESS,782.981676225,760,738.018323775,718.018323775,680,645,912.018323775,798.018323775,840,659,634,659,0.454528408789,-0.00557136022828,0.0597199129111,0.999999896523,-0.000110447898373,-0.000435885980813,-6.89834389996e-05,1793255756411473664
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,738,718,680,645,912,798,840,658.433563519,634,659,0.454589166742,-0.00557172971881,0.0597159373295,0.999999894485,-0.000108498661685,-0.000441065724304,-6.86942127989e-05,1793255756428140288
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,760,738,718.148273355,680,645,912.148273355,798.148273355,840,658.148273355,634,659.148273355,0.454644622759,-0.0055717669393,0.0597114755783,0.999999892186,-0.000107094442335,-0.000446609144695,-6.85537823637e-05,1793255756444806656
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,760,738,718.721630239,680,645,912.721630239,798.721630239,840,658.721630239,634,659.721630239,0.454687271202,-0.00557103626496,0.0597060974491,0.999999889403,-0.000107603316154,-0.000452628685516,-6.88678728647e-05,1793255756461473536
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,760,738.295554597,718.704445403,680,645,913,798.704445403,840,659,634,659.704445403,0.454725451795,-0.00556930681817,0.0597038918129,0.999999888721,-0.00010645090686,-0.000454351419872,-6.92105638332e-05,1793255756478140160
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,760,738.870014529,718.129985471,680,645,913,798.129985471,840,659,634,659.129985471,0.454759416225,-0.00556663486198,0.0597046799554,0.999999890038,-0.000103730798365,-0.000452019397341,-6.95802441774e-05,1793255756494806784
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,760,739,718,680,645,912.541351794,798,840,659,634,659,0.454783490459,-0.00556602772248,0.0597044653144,0.99999988981,-0.000104496444744,-0.000452352145132,-6.95503349382e-05,1793255756511473408
+226,3.766666667,POSE1_TO_POSE2_PRESS,782.949805011,760,738.949805011,718.050194989,679.949805011,645,912.050194989,798,840,659,633.949805011,659.050194989,0.454803744456,-0.00556611463578,0.0597038076462,0.999999889014,-0.000106348977894,-0.000453702753272,-6.93968443504e-05,1793255756528140032
+227,3.783333333,POSE1_TO_POSE2_PRESS,782.371226293,760,738.371226293,718.628773707,679.371226293,645,912.628773707,798,840,659,633.371226293,659.628773707,0.45481423109,-0.00556715107366,0.0597015734507,0.999999886994,-0.000108911914848,-0.0004575645384,-6.91725900064e-05,1793255756544806656
+228,3.800000000,POSE1_TO_POSE2_PRESS,782.205666453,760,738.205666453,718.794333547,679,644.794333547,912.794333547,798,840,659,633.205666453,659.794333547,0.45482290107,-0.00556765086747,0.0596992481937,0.999999885193,-0.000110283384531,-0.000461198218373,-6.88976701617e-05,1793255756561473536
+229,3.816666667,POSE1_TO_POSE2_PRESS,782.779540743,760,738.779540743,718.220459257,679,644.220459257,912.220459257,798,840,659,633.779540743,659.220459257,0.454828318665,-0.00556718989902,0.0596967599079,0.99999988381,-0.00010952175176,-0.000464423517929,-6.85320431016e-05,1793255756578140416
+230,3.833333333,POSE1_TO_POSE2_PRESS,782.637937148,760,738.637937148,718,679,644,912,798,840,658.637937148,634,659,0.454830637982,-0.00556563901307,0.0596942377254,0.999999882232,-0.00010859215536,-0.000468017035504,-6.85832899031e-05,1793255756594807040
+231,3.850000000,POSE1_TO_POSE2_PRESS,782.050020576,760,738.050020576,718,679,644,912,798,840,658.050020576,634,659,0.454831024601,-0.00556340823986,0.0596916943983,0.999999880526,-0.000107557783783,-0.000471840246247,-6.88945813811e-05,1793255756611473664
+232,3.866666667,POSE1_TO_POSE2_PRESS,782.531334178,760,738,718,679,644,912,798,839.468665822,658,633.468665822,659,0.454833370647,-0.00556382085346,0.059691610428,0.999999880682,-0.000108540970104,-0.000471277511207,-6.89348044937e-05,1793255756628140288
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,738,718,679,644,912,798,839.111471965,658.111471965,633.111471965,659,0.454835582185,-0.00556394464956,0.0596917010605,0.999999880956,-0.000108784741996,-0.000470652007461,-6.88552188617e-05,1793255756644806656
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,738,718,679,644,912,798,839.689072363,658.689072363,633.689072363,659,0.454836469329,-0.00556183283294,0.0596915654694,0.999999880992,-0.00010515205411,-0.000471469539166,-6.83800508451e-05,1793255756661473280
+235,3.916666667,POSE1_TO_POSE2_PRESS,782.735352406,759.735352406,738,718.264647594,679,644,912.264647594,798.264647594,840,659,633.735352406,659,0.454837243943,-0.00556017447199,0.0596914785764,0.999999881028,-0.00010334354515,-0.000471822637184,-6.81725208809e-05,1793255756678139904
+236,3.933333333,POSE1_TO_POSE2_PRESS,782.16213835,759.16213835,738,718.83786165,679,644,912.83786165,798.83786165,840,659,633.16213835,659,0.454837887351,-0.00555904481846,0.059691448463,0.999999881077,-0.000103661941281,-0.0004716342278,-6.82770440509e-05,1793255756694806784
+237,3.950000000,POSE1_TO_POSE2_PRESS,782,759,738,718.576089821,679.423910179,644,912.576089821,798.576089821,840,658.576089821,633.423910179,659,0.454837728142,-0.00555837343932,0.0596904406746,0.999999880355,-0.000103414480258,-0.000473230327745,-6.81758556982e-05,1793255756711473664
+238,3.966666667,POSE1_TO_POSE2_PRESS,782.01474775,759.01474775,738,718.01474775,679.98525225,644,912,798,840,658.029495501,634,659,0.454837292208,-0.00555786764831,0.0596890842149,0.999999879367,-0.000102919960393,-0.000475447368311,-6.79987214529e-05,1793255756728140288
+239,3.983333333,POSE1_TO_POSE2_PRESS,782.595109204,759.595109204,738,718.595109204,679.404890796,644,912,798,840,659.190218407,634,659,0.454838384565,-0.00555678018048,0.0596891447892,0.999999879967,-0.000101509930168,-0.000474484464593,-6.80207048304e-05,1793255756744807168
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760,738,719,679,644,912,798,840,659.826202386,634,659,0.454838638847,-0.0055554061445,0.0596889250612,0.999999880156,-9.97469905607e-05,-0.000474463107988,-6.79945105957e-05,1793255756761473536
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760,738,719,679,644,912,798,840,659.251374483,634,659,0.454836959306,-0.00555337086526,0.0596880585482,0.999999879396,-9.71697282814e-05,-0.000476614329667,-6.78571486558e-05,1793255756778140160
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,760,738,719,679,644,912,798,840,659,634,659,0.454837323549,-0.00555217511705,0.0596877258961,0.999999879334,-9.58936598008e-05,-0.000477015249204,-6.77657030201e-05,1793255756794807040
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,760,738,719,679,644,912,798,840,659,634,659,0.454839276134,-0.00555163181729,0.0596878081385,0.999999879821,-9.56288247804e-05,-0.000476055907104,-6.77099416204e-05,1793255756811473408
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,760,738,718.504341794,679,644,912,798,840,659,634,659.495658206,0.454839538247,-0.00555019606908,0.0596886813453,0.99999988042,-9.37121992326e-05,-0.000475235487158,-6.73063784307e-05,1793255756828140032
+245,4.083333333,POSE1_TO_POSE2_PRESS,783,760,738,718.074232328,679,644,912.074232328,798,840,659,634,659.925767672,0.45483923223,-0.00554900671444,0.0596892991109,0.999999880786,-9.19259212328e-05,-0.00047487316392,-6.68821966269e-05,1793255756844806912
+246,4.100000000,POSE1_TO_POSE2_PRESS,783,760,738,718.654534271,679,644,912.654534271,798,840,659,634,659.345465729,0.454836975054,-0.00555051179119,0.0596872761468,0.999999879467,-9.29062829833e-05,-0.000477475909967,-6.67128850123e-05,1793255756861473536
+247,4.116666667,HOLD_POSE2,783,760,738,719,680,644,913,798,840,659,633,659,0.454840488199,-0.00554727759323,0.0596897460084,0.999999880915,-9.31767246594e-05,-0.000474294950319,-6.73208166957e-05,1793255756900391936
+248,4.133333333,HOLD_POSE2,783,759.413141375,738,718.413141375,679.413141375,644.586858625,912.413141375,798,840,659,633,659,0.454838307931,-0.00554636009964,0.0596869978065,0.999999879736,-8.93707363359e-05,-0.000477503452883,-6.7309736363e-05,1793255756917058560
+249,4.150000000,HOLD_POSE2,783,759.171688675,738,718.171688675,679,645,912.171688675,798,840,659,633,659,0.454837164211,-0.0055455464519,0.059685463528,0.999999879077,-8.71890089113e-05,-0.000479273608806,-6.73925083474e-05,1793255756933725440
+250,4.166666667,HOLD_POSE2,783,759.751694403,738,718.751694403,679,645,912.751694403,798,840,659,633,659,0.45483848565,-0.00554497977444,0.0596868162513,0.999999879698,-8.8870164639e-05,-0.000477623030403,-6.76984837645e-05,1793255756950391808
+251,4.183333333,HOLD_POSE2,783,759.669986781,738.330013219,718.669986781,679,644.669986781,912.669986781,798,840,658.669986781,633,659,0.454838469086,-0.00554476628763,0.0596866986642,0.999999879523,-8.99862951842e-05,-0.000477760686186,-6.78253035195e-05,1793255756967058432
+252,4.200000000,HOLD_POSE2,783,759.092930796,738.907069204,718.092930796,679,644.092930796,912.092930796,798,840,658.092930796,633,659,0.454837450912,-0.00554481719386,0.0596854804254,0.999999878755,-9.06794565576e-05,-0.000479236986392,-6.78180101116e-05,1793255756983725056
+253,4.216666667,HOLD_POSE2,783,759,738.520621156,718.479378844,679,644,912,798,840,658,633.479378844,659,0.454837996448,-0.00554437359373,0.059685575686,0.999999879037,-8.75750523197e-05,-0.000479273055836,-6.74775295359e-05,1793255757000391936
+254,4.233333333,HOLD_POSE2,783,759.052715737,738,718.947284263,679,644,912,798,839.947284263,658,633.947284263,659,0.454838770136,-0.00554397533884,0.0596858582504,0.999999879409,-8.43504460319e-05,-0.000479127031626,-6.7117333988e-05,1793255757017058560
+255,4.250000000,HOLD_POSE2,783,759.64592651,738,718.35407349,679,644,912,798,839.35407349,658,633.35407349,659,0.454838805478,-0.00554501526123,0.0596854761076,0.99999987875,-8.73675029455e-05,-0.000479948558109,-6.72107556906e-05,1793255757033725184
+256,4.266666667,HOLD_POSE2,783,760,738,718.233420952,679,644,912,798,839.233420952,658.233420952,633.233420952,659,0.454839137439,-0.00554573517677,0.0596854111249,0.999999878544,-8.95903454233e-05,-0.000479971248256,-6.71839443308e-05,1793255757050391808
+257,4.283333333,HOLD_POSE2,783,760,738,718.812451579,679,644,912,798,839.812451579,658.812451579,633.812451579,659,0.454839908581,-0.00554598128101,0.0596858157383,0.999999879019,-9.06372512426e-05,-0.000478811158626,-6.69791124852e-05,1793255757067058432
+258,4.300000000,HOLD_POSE2,782.609836487,760,738,718.609836487,679,644,912,798,840,659,634,659,0.454840387989,-0.00554577401028,0.0596864046395,0.999999879306,-9.04751677446e-05,-0.00047826258534,-6.68299375354e-05,1793255757083725056
+259,4.316666667,HOLD_POSE2,782.032756251,760,738,718.032756251,679,644,912,798,840,659,634,659,0.454840727635,-0.00554534953996,0.0596870818281,0.999999879504,-8.97338904523e-05,-0.000478006972794,-6.67074262721e-05,1793255757100391936
+260,4.333333333,HOLD_POSE2,782.552462146,760,738,718,679,644,912.552462146,798,839.447537854,658.447537854,633.447537854,659,0.454841226542,-0.00554434453001,0.0596877052692,0.99999987979,-8.88944399776e-05,-0.000477560959967,-6.67403771604e-05,1793255757117058560
+261,4.350000000,HOLD_POSE2,783,760,738.13672397,718,679,644,913,798,839.13672397,658.13672397,633.13672397,659,0.454841770242,-0.00554349580516,0.0596881410021,0.999999880028,-8.80796638642e-05,-0.000477204885595,-6.67925119993e-05,1793255757133724928
+262,4.366666667,HOLD_POSE2,783,760,738.716301297,718,679,644,913,798,839.716301297,658.716301297,633.716301297,659,0.45484242799,-0.00554326645019,0.0596879792186,0.999999880098,-8.7363944312e-05,-0.000477177237116,-6.68764819094e-05,1793255757150391552
+263,4.383333333,POSE2_TO_POSE3_RETREAT,783,759,738,719,679,644,912,798,840,659,634,659,0.45484062871,-0.00554246963543,0.0596869428191,0.999999879758,-8.5607674611e-05,-0.00047819539402,-6.69610920884e-05,1793255757187373312
+264,4.400000000,POSE2_TO_POSE3_RETREAT,783,759.573110574,738,719,679,644,912,798,840,659,634,659,0.454842189446,-0.00554163679893,0.059687941061,0.999999880543,-8.53976682691e-05,-0.000476622786682,-6.67280998718e-05,1793255757204040192
+265,4.416666667,POSE2_TO_POSE3_RETREAT,782.849591083,759.849591083,738.150408917,719,679,644.150408917,912,798,840,658.849591083,634,659.150408917,0.454843049522,-0.00554106722043,0.0596884512067,0.999999880948,-8.52494880368e-05,-0.000475825000163,-6.65402853015e-05,1793255757220707328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,782.2600665,759.2600665,738.7399335,719,679,644.7399335,912,798,840,658.2600665,634,659.7399335,0.454841864036,-0.00554126621793,0.0596875363658,0.999999880251,-8.52818077796e-05,-0.000477289286338,-6.64843658639e-05,1793255757237373952
+267,4.450000000,POSE2_TO_POSE3_RETREAT,782.32384734,759.32384734,738.67615266,719,679,645,912,798,840,658.32384734,634,659.67615266,0.454841196551,-0.00554260613563,0.0596868500824,0.999999879734,-8.64315970612e-05,-0.000478153206645,-6.65601877576e-05,1793255757254040576
+268,4.466666667,POSE2_TO_POSE3_RETREAT,782.903332158,759.903332158,738.096667842,719,679,645,912,798,840,658.903332158,634,659.096667842,0.454840937962,-0.00554484666891,0.0596863442168,0.999999879358,-8.8463490526e-05,-0.000478543212157,-6.67400031645e-05,1793255757270707456
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,760,738,718.521178702,679,644.521178702,912,798,840,659,634,659,0.454841061049,-0.00554389723878,0.0596868091748,0.999999879653,-8.81482896719e-05,-0.000477958934578,-6.69299577053e-05,1793255757287373824
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,759.946347984,738,718,679,644,912.053652016,798,840,659,634,659,0.454841080777,-0.00554244660343,0.0596872732569,0.999999879961,-8.75762752395e-05,-0.000477393267178,-6.71049326227e-05,1793255757304040448
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,759.370138291,738,718,679,644,912.629861709,798,840,659,634,659,0.454839349529,-0.00554233496595,0.0596858356456,0.999999879103,-8.90799301546e-05,-0.000478908767558,-6.71142377322e-05,1793255757320706816
+272,4.533333333,POSE2_TO_POSE3_RETREAT,782.788609318,759,738,718,679,644,912.788609318,798,840,659,634,659,0.454834951388,-0.00554158016819,0.0596833392155,0.99999987749,-8.92058753498e-05,-0.00048222079405,-6.72692609006e-05,1793255757337373440
+273,4.550000000,POSE2_TO_POSE3_RETREAT,782.197526104,759,738,718,679,644,912.197526104,798,840,659,634,659,0.454825763069,-0.00553967014849,0.0596789409723,0.999999874494,-8.68572264734e-05,-0.000488759677598,-6.76860177363e-05,1793255757354040320
+274,4.566666667,POSE2_TO_POSE3_RETREAT,782.385326716,759.385326716,738,718,679,644,912,798,839.614673284,659,633.614673284,659.385326716,0.454801658919,-0.00553977321918,0.059668491435,0.999999866161,-8.56981997273e-05,-0.000505667536573,-6.80732176398e-05,1793255757370706944
+275,4.583333333,POSE2_TO_POSE3_RETREAT,782.964048757,759.964048757,738,718,679,644,912,798,839.035951243,659,633.035951243,659.964048757,0.45477006852,-0.00554088665896,0.0596550047553,0.999999854758,-8.51362436101e-05,-0.000527779580582,-6.84455829413e-05,1793255757387373312
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,760,738,718.538115986,679,644,912,798,839.538115986,659,633.538115986,659.461884014,0.454713499448,-0.005538839777,0.0596352576961,0.999999838599,-8.37766417601e-05,-0.000557647187064,-6.93704176612e-05,1793255757404040448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,760,738,719,679.114671798,644,912,798,840,659,634,659,0.454652699302,-0.00553632056119,0.0596159071311,0.999999822658,-8.2374276515e-05,-0.000585624054213,-7.02998956057e-05,1793255757420707072
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,760,738,719,679.702775016,644,912,798,840,659,634,659,0.454581261554,-0.00553271550742,0.0595999054968,0.99999981198,-8.10134853464e-05,-0.000603674012245,-7.1097464267e-05,1793255757437373952
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,760,738,718.71293886,679.71293886,644,912,798,840,659,634.28706114,659,0.454502830479,-0.00552951773125,0.0595892021932,0.999999803726,-7.88821858072e-05,-0.000617457284187,-7.12173351912e-05,1793255757454040576
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,760,738,718.132553149,679.132553149,644,912,798,840,659,634.867446851,659,0.454417253495,-0.00552673611936,0.0595839128263,0.99999979813,-7.59635661565e-05,-0.000626880773605,-7.06447215553e-05,1793255757470707200
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,759.556003903,738,718,679,644,912,798,840,658.556003903,634.556003903,659,0.454319755879,-0.00552556408737,0.0595833815912,0.999999796573,-7.48911819166e-05,-0.000629559460041,-6.99966760502e-05,1793255757487373568
+282,4.700000000,POSE2_TO_POSE3_RETREAT,782.980256227,759.019743773,738,718,679,644,912,798,840,658,634,659,0.454217793538,-0.00552475395415,0.0595842876784,0.999999796288,-7.42857876214e-05,-0.000630160081115,-6.93036387977e-05,1793255757504040192
+283,4.716666667,POSE2_TO_POSE3_RETREAT,782.394941334,759.605058666,738,718,679,644,912,798,840,658,634,659,0.45408900865,-0.00552066339345,0.05958602367,0.999999797685,-7.14038190558e-05,-0.000628420838155,-6.79613555142e-05,1793255757520706816
+284,4.733333333,POSE2_TO_POSE3_RETREAT,782,760,738,718,679,644,912.189134889,798,840,658.189134889,633.810865111,659,0.453949274782,-0.00551568110031,0.0595861477542,0.999999797479,-6.7060232692e-05,-0.000629335846334,-6.69408664434e-05,1793255757537373440
+285,4.750000000,POSE2_TO_POSE3_RETREAT,782,760,738,718,679,644,912.770641345,798,840,658.770641345,633.229358655,659,0.453786826617,-0.00550884885572,0.0595829278408,0.999999793908,-5.96844337162e-05,-0.0006357572564,-6.65879587509e-05,1793255757554040320
+286,4.766666667,POSE2_TO_POSE3_RETREAT,782,760,738,718.349845133,679,644,912.650154867,798,840,659,633,659,0.453603402118,-0.00550257967843,0.0595768730745,0.999999788973,-5.50102349961e-05,-0.000643963253518,-6.5879298933e-05,1793255757570706944
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782,760,738,718.927549219,679,644,912.072450781,798,840,659,633,659,0.453406315425,-0.00549667723396,0.0595689719292,0.999999783113,-5.20956250051e-05,-0.000653331577382,-6.49389328181e-05,1793255757587373568
+288,4.800000000,POSE2_TO_POSE3_RETREAT,782.502274462,760,738.502274462,718.497725538,679,644.502274462,912,798,840,659,633.502274462,659,0.453190683859,-0.00549178912028,0.0595686050087,0.999999784109,-4.90763977904e-05,-0.000652163046368,-6.36948595374e-05,1793255757604040448
+289,4.816666667,POSE2_TO_POSE3_RETREAT,782.921280887,759.921280887,738.921280887,718,679,644.921280887,912,798,840,659,634,659.078719113,0.452968136811,-0.00548654669464,0.0595706091343,0.999999787194,-4.54123811312e-05,-0.000647819014753,-6.22899551495e-05,1793255757620706816
+290,4.833333333,POSE2_TO_POSE3_RETREAT,782.330883218,759.330883218,738.330883218,718,679,644.330883218,912,798,840,659,634,659.669116782,0.452717923865,-0.00547805578716,0.0595810027267,0.999999797357,-3.76547074263e-05,-0.000632655194245,-6.0122717052e-05,1793255757637373696
+291,4.850000000,POSE2_TO_POSE3_RETREAT,782.254092916,759,738,718,679,644.254092916,912,798,840,659,634,659.745907084,0.452454140598,-0.00547018163182,0.0595921046775,0.999999808268,-2.92584712452e-05,-0.000615874225021,-5.7510973471e-05,1793255757654040064
+292,4.866666667,POSE2_TO_POSE3_RETREAT,782.832156511,759,738,718,679,644.832156511,912,798,840,659,634,659.167843489,0.452173055067,-0.00546309384135,0.0596041097908,0.9999998201,-2.00480628137e-05,-0.000597031377997,-5.43324816578e-05,1793255757670706688
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,759,738,718,679.407965104,645,911.592034896,798.407965104,840,658.592034896,634,659,0.451854227873,-0.00545838289901,0.0596107122653,0.999999826932,-1.46295735639e-05,-0.000585859850364,-5.18745285122e-05,1793255757687373568
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,759,738,718,679.982851038,645,911.017148962,798.982851038,840,658.017148962,634,659,0.451519958507,-0.00545464445536,0.0596151042247,0.999999831764,-1.0762566e-05,-0.00057782707941,-4.97113872112e-05,1793255757704040192
+295,4.916666667,POSE2_TO_POSE3_RETREAT,782.439797234,759.560202766,738,718.560202766,680,645.560202766,911.560202766,799,840,658,634,659,0.451128266967,-0.00545066972254,0.0596086747124,0.999999823777,-5.54426782352e-06,-0.000591812883702,-4.66122550915e-05,1793255757720706816
+296,4.933333333,POSE2_TO_POSE3_RETREAT,782.139888799,759.860111201,738,719,680.139888799,645.860111201,912,799,839.860111201,658.139888799,634,659,0.45072527431,-0.00544552559208,0.0596019850796,0.999999816206,6.71331076701e-07,-0.000604713567407,-4.36961907838e-05,1793255757737373696
+297,4.950000000,POSE2_TO_POSE3_RETREAT,782.726791711,759.273208289,738,719,680.726791711,645.273208289,912,799,839.273208289,658.726791711,634,659,0.450291810967,-0.00543666787293,0.059595527478,0.999999811829,9.94103088396e-06,-0.000611983354516,-4.14570836939e-05,1793255757754040064
+298,4.966666667,POSE2_TO_POSE3_RETREAT,782.690130402,759,738,718.690130402,681,645.309869598,912,799,839,659,634,659,0.449833332298,-0.00543130405765,0.0595876819573,0.999999806596,1.59775433519e-05,-0.000620447023518,-3.99674821063e-05,1793255757770706944
+299,4.983333333,POSE2_TO_POSE3_RETREAT,782.110383807,759,738,718.110383807,681,645.889616193,912,799,839,659,634,659,0.449353066799,-0.00542898321264,0.0595786276454,0.999999800631,1.91981533424e-05,-0.000629950489643,-3.91306525818e-05,1793255757787373824
+300,5.000000000,POSE2_TO_POSE3_RETREAT,782.467537714,759.467537714,738,718,681,646,912,799,839,658.532462286,634,659,0.448851641585,-0.00544479645941,0.0595808082442,0.99999980309,2.8588214899e-06,-0.000626614982252,-3.41430809195e-05,1793255757804040448
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,759.955478683,738,718,681.044521317,646.044521317,912,799,839,658.044521317,634,659,0.448344708747,-0.00546315152509,0.0595868812127,0.999999808508,-1.58904936642e-05,-0.000618003954964,-2.83194129315e-05,1793255757820707072
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783,759.384509851,738,718,681.615490149,646.615490149,912,799,839,658.615490149,634,659,0.447831492823,-0.00546113372827,0.0596077369154,0.999999829891,-8.74290935394e-06,-0.000582715695461,-2.4151978655e-05,1793255757837373696
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783,759,738,718,682,647,912,799,839,659,634.19348904,659,0.447300262025,-0.00545474384494,0.0596345935774,0.999999853036,3.75050671255e-06,-0.000541783868868,-1.95959188211e-05,1793255757854040320
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783,759,738,718,682,647,912,799,839,659,634.785985061,659,0.446731881556,-0.00543933798313,0.0596738252265,0.999999879862,2.72679276087e-05,-0.000489214058803,-1.42384479033e-05,1793255757870706944
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782.63042265,759.36957735,737.63042265,718.36957735,682.36957735,647.36957735,912,799.36957735,839,659,635,659,0.44611061041,-0.00542997641342,0.0596855981805,0.999999880163,8.81976039378e-05,-0.000481469085935,-9.12561419713e-06,1793255757887373824
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782.05186506,759.94813494,737.05186506,718.94813494,682.94813494,647.94813494,912,799.94813494,839,659,635,659,0.445459431859,-0.00542403263378,0.0596818444117,0.999999860958,0.00017028231483,-0.000499070647492,-4.15111254907e-06,1793255757904040192
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782,759.476631383,737.523368617,718.476631383,683.523368617,648,912,800,839.523368617,659,635,659,0.444776044515,-0.00542268554537,0.0596615572859,0.999999849697,0.000172340470295,-0.000520482310061,-1.63776712244e-06,1793255757920706816
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782.100762006,759,737.899237994,718,684,648.100762006,912,800,839.899237994,659,635,659,0.444095849792,-0.00542336454631,0.0596492133972,0.999999846645,0.000164844134842,-0.000528710986024,1.33717659927e-06,1793255757937373696
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782.690217242,759,737.309782758,718,684,648.690217242,912,800,839.309782758,659,635,659,0.443446522096,-0.00543167468661,0.05968329022,0.999999877829,0.000149228817391,-0.000471182821772,7.72628892803e-06,1793255757954040320
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,684.273895647,649,912,800.273895647,839,658.726104353,635,659,0.442757803891,-0.00543469581974,0.0597178992115,0.999999902689,0.000143595391414,-0.000416906577676,1.38445227353e-05,1793255757970706688
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,684.851175345,649,912,800.851175345,839,658.148824655,635,659,0.442025454197,-0.0054318585168,0.059753097671,0.99999992164,0.000149018534675,-0.000366232358244,1.96627152598e-05,1793255757987373568
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.994984306,759.994984306,738,718.994984306,685,650,912,801,839,658.005015694,635,659,0.440454380121,-0.00542268900256,0.0597661117738,0.999999913139,0.000177873657386,-0.000375688312875,3.06935462557e-05,1793255758020707072
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782.419210341,759.419210341,738,718.419210341,685,650,912,801,839,658.580789659,635,659,0.439658036698,-0.0054184423294,0.0597814067559,0.999999915671,0.000215980726541,-0.000347520508931,3.52056212954e-05,1793255758037373696
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782.161604517,759,738,718,685,649.838395483,912,801,839,659,635,659,0.438855273906,-0.00541616415996,0.0597976212362,0.999999918415,0.000243656556682,-0.000319680740774,4.00768708654e-05,1793255758054040064
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782.755916693,759,738,718,685,649.244083307,912,801,839,659,635,659,0.438035322846,-0.00541915680033,0.059816297738,0.999999926482,0.000243401996741,-0.000292719315252,4.59098358349e-05,1793255758070706688
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,783,759,737.087012086,718,685,649.912987914,912,801,839,659,635,659,0.436184550448,-0.00542049150434,0.0597379283417,0.999999902366,8.83708729603e-05,-0.000432956526184,2.8559925311e-06,1793255758104040192
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,650,912,801,839,658.51068577,635,659,0.435314459634,-0.00542247850197,0.0597287680963,0.999999907861,9.85046689503e-05,-0.000417809989324,2.99834844703e-06,1793255758120706816
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,685.065394666,650,912,800.934605334,839,658.065394666,635,659,0.434456042077,-0.00542408389367,0.0597303653069,0.99999991831,0.000126880002966,-0.000383681042284,8.42472935766e-06,1793255758137373440
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,685.6369909,650,912,800.3630091,839,658.6369909,635,659,0.433573931737,-0.00542008165679,0.0597530858637,0.999999925924,0.000147759791544,-0.000355095076544,1.50420930609e-05,1793255758154040320
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,685.782227427,650,912,800.217772573,839,659,635,659,0.432684425256,-0.00541530042323,0.0597724704925,0.999999931376,0.000162858739207,-0.000332125756772,2.04495982862e-05,1793255758170707200
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,685.185460018,650,912,800.814539982,839,659,635,659,0.431782046948,-0.00540916348238,0.0597860495296,0.999999934765,0.000167897154385,-0.000318931216668,2.37515588822e-05,1793255758187373824
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,685.396078418,650,912,801,839,659,635,659,0.430876665002,-0.00541002865763,0.0598077652106,0.999999945417,0.000172996850615,-0.00028034754876,2.53741049961e-05,1793255758204040448
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,685.970750019,650,912,801,839,659,635,659,0.42996992876,-0.00541405111259,0.0598331497326,0.999999957269,0.000178124178031,-0.000230315832015,2.6239396829e-05,1793255758220707072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,759.546566819,737,718,686,650.546566819,912,801,839,659,635,659,0.428979036152,-0.00541039901137,0.059797568456,0.999999935044,0.000180066257726,-0.000311171651801,2.56949437652e-05,1793255758237373440
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,760,737,718.125222266,685.874777734,650.874777734,912.125222266,801,839,659,635,659,0.428004566185,-0.00540739153076,0.0597620377771,0.99999991089,0.000179767117874,-0.000381177926346,2.46302612385e-05,1793255758254040320
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,760,737,718.714162214,685.285837786,650.285837786,912.714162214,801,839,659,635,659,0.427107624803,-0.00540829529952,0.0597388018914,0.999999910884,0.000171800964957,-0.000385013204954,2.19190544877e-05,1793255758270707200
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,759.700838871,737,719,685.299161129,650.299161129,913,801,839,659,635,659,0.426197242656,-0.00540983074777,0.0597432816561,0.999999916141,0.000169254942876,-0.000372232687318,2.26608428373e-05,1793255758287373824
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783,759.119556543,737,719,685.880443457,650.880443457,913,801,839,659,635,659,0.425274185369,-0.00541196189559,0.0597738984158,0.99999992579,0.000171820326533,-0.000343782792808,2.66589471423e-05,1793255758304040448
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783,759,737,719,686,651,913,801,839,659,635.455295894,659,0.424353819722,-0.00541049486064,0.0597997626222,0.99999993495,0.000173574515163,-0.000314812826649,2.93958581474e-05,1793255758320706816
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,759,737,719,686,651,913,800.971447629,838.971447629,659,635.971447629,659,0.423436657261,-0.00540818874803,0.0598238447708,0.999999943221,0.000175983592297,-0.000285629686595,3.16667635464e-05,1793255758337373440
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,759,737,719,686,651,913,800.396873228,838.396873228,659,635.396873228,659,0.422567424073,-0.00540765375485,0.0598373810275,0.999999948013,0.000194933267971,-0.000254945211272,3.12710874222e-05,1793255758354040064
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,759.18325487,737,719,686,651,913,800.18325487,838.18325487,659,635,659,0.421674135862,-0.0054060772706,0.0598331024286,0.999999945148,0.000203512606413,-0.000259524358169,3.05579300724e-05,1793255758370706944
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,759.775786567,737,719,686,651,913,800.775786567,838.775786567,659,635,659,0.420727123597,-0.00540217474621,0.059789036581,0.999999922951,0.000188931097069,-0.000342860387701,2.91357179733e-05,1793255758387373568
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,760,737,719,686,651,913.358365778,801,838.641634222,659,635,659,0.419806851859,-0.00539981814426,0.0597456383154,0.999999898668,0.000184471424408,-0.000409810936888,2.62459726591e-05,1793255758404040192
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,760,737,719,686,651,913.934886388,801,838.065113612,659,635,659,0.418902858449,-0.00539840262138,0.0597026464422,0.999999873472,0.000186173411254,-0.000466786835359,2.24628679808e-05,1793255758420706816
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,759.492775592,736.492775592,719.507224408,686,651,913.492775592,801,838.507224408,659,635,659,0.418077201685,-0.00540272536946,0.0597315272253,0.999999895807,0.000185940391929,-0.000416212533005,2.40658878312e-05,1793255758437373696
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,759,736,720,686,651,913,801,839,659,635,659,0.417266425546,-0.00540672349432,0.0597695227692,0.999999919913,0.000185080445965,-0.000353859691633,2.64927994292e-05,1793255758454040320
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,759,736,720,686,651,913,801,839,659,635,659,0.416486243615,-0.00540414191062,0.0598072923149,0.999999936982,0.000181847615144,-0.00030344759812,2.97809130581e-05,1793255758470706944
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782.736422672,759.263577328,736,720,686,651,913,801,838.736422672,659,635,659,0.415703907332,-0.00540128957357,0.0598287690149,0.99999994354,0.000186451834203,-0.000277771906242,3.16095685352e-05,1793255758487373568
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782.156579282,759.843420718,736,720,686,651,913,801,838.156579282,659,635,659,0.4149189861,-0.00539811236013,0.0598306959499,0.999999939707,0.000200459718889,-0.000281777391751,3.16870220848e-05,1793255758504040192
+343,5.716666667,POSE2_TO_POSE3_RETREAT,782,759.580363095,736.419636905,720,686,651.419636905,913,801,838,659,635,659,0.414152437144,-0.00540040461642,0.059833964221,0.999999940744,0.000199406015288,-0.000278759567243,3.22699789782e-05,1793255758520706560
+344,5.733333333,POSE2_TO_POSE3_RETREAT,782,759.005488682,736.994511318,720,686,651.994511318,913,801,838,659,635,659,0.413392684633,-0.00540472020939,0.0598377286966,0.999999943568,0.000192780535404,-0.000273143589433,3.30399382087e-05,1793255758537373184
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782.570710052,759,736.429289948,720,686,651.429289948,913.570710052,800.429289948,838,659,635,659,0.412575939435,-0.00539861180448,0.0597899628509,0.999999914352,0.000204840081922,-0.000358312684515,3.078565094e-05,1793255758554040064
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782.849458643,759,736,720,686,651,914,800.150541357,838,659,635,659,0.411794196975,-0.00539281491831,0.0597493541861,0.999999886048,0.000213417443871,-0.000426084966691,2.84409113272e-05,1793255758570706944
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782.259050496,759,736,720,686,651,914,800.740949504,838,659,635,659,0.411116334082,-0.00538822186076,0.0597311094855,0.999999880335,0.000211293933037,-0.000440468466134,2.59170603182e-05,1793255758587373824
+348,5.800000000,POSE2_TO_POSE3_RETREAT,782.323725166,759,736,720,686.323725166,651,914,801,838,659,635,659,0.410482612665,-0.00538677641024,0.059746784027,0.99999989225,0.000214999232564,-0.000410574362378,2.65299513869e-05,1793255758604040448
+349,5.816666667,POSE2_TO_POSE3_RETREAT,782.90053383,759,736,720,686.90053383,651,914,801,838,659,635,659,0.409883400435,-0.00538779171213,0.0597889761264,0.999999914759,0.000223261408396,-0.000346064687743,2.95951006177e-05,1793255758620707072
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,759,736,720,687,651,914,801,838,659,635,659,0.409295568123,-0.00538944130741,0.0598242660492,0.999999931218,0.000227495361534,-0.00029113757034,3.23884618738e-05,1793255758637373696
+351,5.850000000,POSE2_TO_POSE3_RETREAT,782.946660061,759,736,720.053339939,687,651,913.946660061,800.946660061,838,659,635,659,0.408710622541,-0.00539113085898,0.0598544468938,0.999999943346,0.000229644773136,-0.000243645670968,3.47655933456e-05,1793255758654040064
+352,5.866666667,POSE2_TO_POSE3_RETREAT,782.357389866,759,736,720.642610134,687,651,913.357389866,800.357389866,838,659,635,659,0.40813085581,-0.00539189389022,0.0598477451857,0.999999943946,0.000219283496701,-0.000250796357977,3.35297034954e-05,1793255758670706944
+353,5.883333333,POSE2_TO_POSE3_RETREAT,782,759,736,721,686.771889333,651,913.228110667,800,838,659,635,659,0.407562764244,-0.005391326426,0.0598360222003,0.999999939954,0.000217787209643,-0.000267586949084,3.25150738165e-05,1793255758687373568
+354,5.900000000,POSE2_TO_POSE3_RETREAT,782,759,736,721,686.192198916,651,913.807801084,800,838,659,635,659,0.407012667294,-0.00538870831118,0.0598165600797,0.999999928283,0.000229954250892,-0.000299235218374,3.18414655295e-05,1793255758704040192
+355,5.916666667,POSE2_TO_POSE3_RETREAT,782,759,736,720.614724163,686,651,913.614724163,800,838,659,635,659,0.406517654671,-0.00538727242395,0.0598131260314,0.999999925788,0.00023853845189,-0.000300880381349,3.15234159165e-05,1793255758720707072
+356,5.933333333,POSE2_TO_POSE3_RETREAT,782,759,736,720.038348346,686,651,913.038348346,800,838,659,635,659,0.406049964278,-0.00538642293107,0.059817642037,0.999999928041,0.000245345535823,-0.000287643759979,3.13817262727e-05,1793255758737373696
+357,5.950000000,POSE2_TO_POSE3_RETREAT,782,759,736.537084037,720,686,651,913.537084037,800,838,659,635,659,0.405609462385,-0.00538232678995,0.0598226784451,0.999999930905,0.000240991873727,-0.000281316658407,3.11998687231e-05,1793255758754040320
+358,5.966666667,POSE2_TO_POSE3_RETREAT,782.115392171,759,736.884607829,720.115392171,686,651,914,800,838,659,635,659,0.405172563538,-0.00537796515547,0.0598222809859,0.999999931386,0.000237353147111,-0.00028274865297,3.0733609036e-05,1793255758770706944
+359,5.983333333,POSE2_TO_POSE3_RETREAT,782.705815816,759,736.294184184,720.705815816,686,651,914,800,838,659,635,659,0.40474251948,-0.00537346319941,0.0597993613948,0.999999921465,0.000239932347082,-0.000314094898752,2.91083455878e-05,1793255758787373568
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,759.290441843,736,721,686,651,913.709558157,800,838,659,635,659,0.404332876951,-0.00536916826942,0.0597756480415,0.999999907799,0.000245527377432,-0.000351204380926,2.78238009047e-05,1793255758804040192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,759.869310441,736,721,686,651,913.130689559,800,838,659,635,659,0.403943494433,-0.00536507892943,0.0597511464343,0.999999889718,0.000254117313976,-0.000394037111977,2.68776111554e-05,1793255758820706816
+362,6.033333333,POSE2_TO_POSE3_RETREAT,782.555505233,759.555505233,736,720.555505233,686,651,913.444494767,800,838,659,635,659,0.403638775978,-0.00536474924304,0.0597566364488,0.999999896228,0.00025309657519,-0.000377789289419,2.75751079854e-05,1793255758837373696
+363,6.050000000,POSE2_TO_POSE3_RETREAT,782,759,736,720.019079352,686,651,914,800,838,659,635,659,0.40335950657,-0.00536558093004,0.059771046783,0.999999909174,0.000249265380008,-0.000344515862511,2.87710117406e-05,1793255758854040064
+364,6.066666667,POSE2_TO_POSE3_RETREAT,782,759,736,720.607834826,686,651,914,800,838,659,635,659,0.403102956251,-0.0053683550095,0.0597906741354,0.999999919138,0.000245196168557,-0.000317284477426,3.05373852399e-05,1793255758870706944
+365,6.083333333,POSE2_TO_POSE3_RETREAT,782.193656418,759,736,721,686,651.193656418,913.806343582,800,838,659,635,659,0.402858435632,-0.00537319903783,0.0598092933263,0.999999929217,0.000236885934559,-0.000290573178731,3.19176714529e-05,1793255758887374080
+366,6.100000000,POSE2_TO_POSE3_RETREAT,782.773625332,759,736,721,686,651.773625332,913.226374668,800,838,659,635,659,0.402637912303,-0.00538217227114,0.0598259013995,0.99999994016,0.000220115563326,-0.000264899369752,3.25277772547e-05,1793255758904040448
+367,6.116666667,POSE2_TO_POSE3_RETREAT,782.649027739,759.350972261,736,721,686.350972261,651.649027739,913.350972261,800,838,659,635,659,0.402426053341,-0.00538877826029,0.0598319611692,0.999999948607,0.000189033360754,-0.000257424664738,2.80221278082e-05,1793255758920707328
+368,6.133333333,POSE2_TO_POSE3_RETREAT,782.073359375,759.926640625,736,721,686.926640625,651.073359375,913.926640625,800,838,659,635,659,0.402219741376,-0.00539386871591,0.0598312678067,0.999999954509,0.000148788572607,-0.000261601213195,2.02413185092e-05,1793255758937373952
+369,6.150000000,POSE2_TO_POSE3_RETREAT,782.501776602,759.498223398,736,721,686.498223398,651,914,800,838,659,635,659,0.402036835689,-0.00538967371441,0.0598259578341,0.999999940515,0.000206112777473,-0.000275866282355,1.96528316725e-05,1793255758954040320
+370,6.166666667,POSE2_TO_POSE3_RETREAT,782.921460612,759,736,721,686,651.078539388,914,800,838,659,635.078539388,659,0.401862069884,-0.00538453530135,0.0598205021796,0.999999921689,0.000268192808419,-0.00029032218722,2.02115114207e-05,1793255758970706688
+371,6.183333333,POSE2_TO_POSE3_RETREAT,782.333644605,759,736,721,686,651.666355395,914,800,838,659,635.666355395,659,0.401717920013,-0.00538207282474,0.0598184738096,0.999999919723,0.000268713270441,-0.000296461702782,2.13976739507e-05,1793255758987373568
+372,6.200000000,POSE2_TO_POSE3_RETREAT,782,759.250464669,736,721,686,652,914,800,838,659,636,659,0.401587000463,-0.00538042092526,0.0598169182985,0.999999918782,0.000267725764331,-0.000300435889529,2.23110561655e-05,1793255759004040192
+373,6.216666667,POSE2_TO_POSE3_RETREAT,782,759.829708172,736,721,686,652,914,800,838,659,636,659,0.401473448039,-0.00537983305068,0.0598159834979,0.999999919218,0.000264758785379,-0.000301567701839,2.28663662739e-05,1793255759020706816
+374,6.233333333,POSE2_TO_POSE3_RETREAT,782.406311176,759.593688824,736,721,686,651.593688824,913.593688824,800,838,659,635.593688824,658.593688824,0.401382600883,-0.00537818443962,0.0598195271061,0.999999921201,0.000263332622388,-0.000296118564139,2.38102184528e-05,1793255759037373696
+375,6.250000000,POSE2_TO_POSE3_RETREAT,782.981814632,759.018185368,736,721,686,651.018185368,913.018185368,800,838,659,635.018185368,658.018185368,0.401301208443,-0.00537609412665,0.0598249355711,0.999999923772,0.000262548071557,-0.000287929049047,2.49158636534e-05,1793255759054040320
+376,6.266666667,POSE2_TO_POSE3_RETREAT,782.439976171,759.560023829,736,721,686,651.560023829,913.560023829,800,838,659,635,658.560023829,0.401235134336,-0.00537613500809,0.0598255935881,0.999999924504,0.00026066822084,-0.000287064633447,2.52576083327e-05,1793255759070706688
+377,6.283333333,POSE2_TO_POSE3_RETREAT,782,759.859295604,736,721,686,652,913.859295604,800,838,659,635,659,0.401171641519,-0.00537620385943,0.0598248056122,0.999999924569,0.000258618959003,-0.000288672463266,2.54098130312e-05,1793255759087373312
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,782,759,736,721,686.31257843,652,913,800,838,659,635,659,0.401070409326,-0.00537551269101,0.0598173775697,0.999999921284,0.000256407218204,-0.000301764643633,2.50168383871e-05,1793255759120706560
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,782,760,736,721,686,651.420135973,913.420135973,800,838,659,635,659,0.400961313534,-0.00537851537385,0.0598316114798,0.999999928994,0.00024993497091,-0.000280885490473,2.54505214071e-05,1793255759387373312
+396,6.600000000,POSE2_TO_POSE3_RETREAT,782.156979153,760,736,721,686,651,913.156979153,800,838,659,635,659,0.400960612475,-0.00537738131419,0.0598315118335,0.999999928482,0.000251561861792,-0.000281277544995,2.51956372614e-05,1793255759404039936
+397,6.616666667,POSE2_TO_POSE3_RETREAT,782.750912353,760,736,721,686,651,913.750912353,800,838,659,635,659,0.400961620366,-0.00537842642169,0.0598317609989,0.999999929379,0.000248869178882,-0.000280477361646,2.52526816478e-05,1793255759420706560
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,782,759.820037826,736,720.179962174,686.820037826,652,913.820037826,800,838,659.820037826,635,659,0.400962333366,-0.00537815188506,0.0598343521378,0.999999930664,0.000248369121125,-0.000276330614928,2.50267019061e-05,1793255759537373440
+405,6.750000000,POSE2_TO_POSE3_RETREAT,782,759.603072764,736,720.396927236,686.603072764,652,914,800,838,659.603072764,635,659.396927236,0.4009636364,-0.00537771862913,0.059835098504,0.999999930864,0.000249110211295,-0.000274971026328,2.4621132095e-05,1793255759554040064
+406,6.766666667,POSE2_TO_POSE3_RETREAT,782,759.027457439,736,720.972542561,686.027457439,652,914,800,838,659.027457439,635,659.972542561,0.400965152672,-0.00537703280242,0.0598360154478,0.999999930952,0.000250546060205,-0.000273396713761,2.40379711709e-05,1793255759570706944
+407,6.783333333,POSE2_TO_POSE3_RETREAT,782.546144574,759,736,721,686,652,914,800,838,659,635,659.453855426,0.40096386088,-0.005378133451,0.059835296701,0.999999931234,0.000248402289989,-0.000274272948718,2.45691000456e-05,1793255759587373568
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..427c8a9ce3fe7cba64c28dc50fa5cc7de7dd88f7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d9478c57f418b0ce307e332b58c4d805fe508097
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7536d156b9cca5232a84787840bf269fde0c820fe940397845778d6053a2af47
+size 25889922
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42c474b01f63e46e0bd5a912db46025445965d71
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_03/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,783,760,736,721,686,652,914,800,838,659,635,659,0.400962660857,-0.00538188207583,0.0598347872557,0.999999931725,0.00024557261034,-0.000274995938923,2.49438223752e-05,1793255759743597824
+1,0.016666667,BASELINE,783,759.420651981,736,721,686,652,914,800,838,659,635,659,0.400963738793,-0.00537789115258,0.0598361103638,0.99999993127,0.000249814447918,-0.000272833561646,2.4789759112e-05,1793255759760264192
+2,0.033333333,BASELINE,782.842474652,759.157525348,736,721,686,652,914,800,838,659,635,659,0.400964536993,-0.00537562256412,0.0598368848815,0.99999993101,0.000252381838162,-0.000271428548866,2.47045558413e-05,1793255759776930560
+3,0.050000000,BASELINE,782.267400314,759.732599686,736,721,686,652,914,800,838,659,635,659,0.400964593703,-0.00537791932988,0.0598362052627,0.999999931314,0.000250510808493,-0.000272031065102,2.48018782117e-05,1793255759793596928
+4,0.066666667,BASELINE,782.306506787,759.693493213,736,721,686,652,914,800,838,659,635,659,0.400964264937,-0.00537941372783,0.0598357561157,0.999999931737,0.000248200818766,-0.000272583298098,2.49155381006e-05,1793255759810263296
+5,0.083333333,BASELINE,782.879399407,759.120600593,736,721,686,652,914,800,838,659,635,659,0.400963601153,-0.00538021078572,0.0598355072725,0.999999932259,0.000245509327839,-0.000273091829765,2.50433969628e-05,1793255759826929664
+6,0.100000000,BASELINE,782.529924686,759.470075314,736,721,686,652,913.529924686,800,838,659,635,659,0.400962745711,-0.00537934112149,0.0598353488196,0.999999931812,0.000246877950786,-0.000273518002696,2.47970872678e-05,1793255759843596288
+7,0.116666667,BASELINE,782,759.936714629,736,721,686.063285371,651.936714629,913.063285371,800,838,659,635,659,0.400962006545,-0.0053783317556,0.0598353368371,0.999999931242,0.000248944855281,-0.000273752724099,2.4543355711e-05,1793255759860263168
+8,0.133333333,BASELINE,782,759.361367262,736,721,686.638632738,651.361367262,913.638632738,800,838,659,635,659,0.400962621716,-0.00537978796309,0.059836314978,0.999999931799,0.000247902103377,-0.000272616039072,2.50368381538e-05,1793255759876929792
+9,0.150000000,BASELINE,782.213977622,759.213977622,736,721,686.786022378,651.213977622,914,800,838,659,635,659,0.40096259175,-0.00538070859171,0.0598364298971,0.999999932098,0.000246614840695,-0.000272669746179,2.52216838945e-05,1793255759893596672
+10,0.166666667,BASELINE,782.789318251,759.789318251,736,721,686.210681749,651.789318251,914,800,838,659,635,659,0.400961472283,-0.00538072474058,0.059835087017,0.999999931959,0.000244914651057,-0.000274733774287,2.48853073837e-05,1793255759910263552
+11,0.183333333,BASELINE,782.627137781,759.627137781,736,721,686,652,914,800,838,659,635.372862219,659,0.400962297749,-0.00537997684012,0.0598353638116,0.999999931657,0.000246547282985,-0.000274388418761,2.47152817176e-05,1793255759926929920
+12,0.200000000,BASELINE,782.038854277,759.038854277,736,721,686,652,914,800,838,659,635.961145723,659,0.4009642469,-0.00537878750989,0.0598365763738,0.999999931251,0.000250105453638,-0.000272651041142,2.4641365281e-05,1793255759943596544
+13,0.216666667,BASELINE,782.544197206,759,736,721,686,652,913.455802794,800,838,659.544197206,636,659,0.40096376729,-0.00537906489999,0.0598365839551,0.999999931707,0.000248379528341,-0.000272562544768,2.45671893292e-05,1793255759960263168
+14,0.233333333,BASELINE,782.875225098,759.124774902,736,721,686,652,913,800,838,659.875225098,635.875225098,659,0.400963213518,-0.00537969592022,0.0598364852019,0.999999932177,0.000246400438589,-0.00027263889561,2.45239498296e-05,1793255759976929536
+15,0.250000000,BASELINE,782.302204967,759.697795033,736,721,686,652,913,800,838,659.302204967,635.302204967,659,0.400963010344,-0.00538122471521,0.0598363105721,0.999999932487,0.000244854285619,-0.000272888553984,2.45919133095e-05,1793255759993596416
+16,0.266666667,BASELINE,782,759.729402099,736,721,686,651.729402099,913.270597901,800,838,659,635,659,0.400962770968,-0.00538141971696,0.0598360676328,0.999999932436,0.000244783586909,-0.000273152922337,2.44268622262e-05,1793255760010263040
+17,0.283333333,BASELINE,782,759.156841713,736,721,686,651.156841713,913.843158287,800,838,659,635,659,0.400962491194,-0.00538012632748,0.0598357484662,0.999999931982,0.000246359360175,-0.000273433705663,2.40017882179e-05,1793255760026929920
+18,0.300000000,BASELINE,782.432813953,759,736,721,686.432813953,651.432813953,914,800,838,659,635,659,0.400961828514,-0.00538005321257,0.0598356015307,0.999999931949,0.000246034734642,-0.000273831651917,2.41951472539e-05,1793255760043596544
+19,0.316666667,BASELINE,783,759.027950378,735.972049622,721,686.972049622,652,914,800,838,659,635,658.972049622,0.400961087124,-0.00538046251128,0.0598355155426,0.999999932071,0.000245080688392,-0.000274204794466,2.4615649725e-05,1793255760060263168
+20,0.333333333,BASELINE,783,759.604083823,735.395916177,721,686.395916177,652,914,800,838,659,635,658.395916177,0.40096163533,-0.00538130388397,0.0598353504838,0.999999932144,0.000245843909839,-0.000273224526678,2.49149839579e-05,1793255760076929792
+21,0.350000000,BASELINE,782.820188168,759.820188168,735.179811832,721,686.179811832,651.820188168,914,800,838,659,635,658.179811832,0.400962478607,-0.00538158915725,0.0598355752185,0.999999932304,0.000246430715581,-0.00027210009096,2.49896115062e-05,1793255760093596160
+22,0.366666667,BASELINE,782.245350932,759.245350932,735.754649068,721,686.754649068,651.245350932,914,800,838,659,635,658.754649068,0.400963970122,-0.00538065274557,0.0598366562833,0.999999932657,0.000246629956702,-0.000270658935417,2.45705849094e-05,1793255760110263040
+23,0.383333333,BASELINE,782.336986781,759,736,721,686.663013219,651.336986781,914,800.336986781,838,659,635,659,0.400964262537,-0.00537952541871,0.0598371584324,0.999999932372,0.000247933252432,-0.000270534582846,2.44345313471e-05,1793255760126929920
+24,0.400000000,BASELINE,782.924909761,759,736,721,686.075090239,651.924909761,914,800.924909761,838,659,635,659,0.400963662046,-0.00537825592735,0.0598372294939,0.999999931608,0.000250058679149,-0.000271390783523,2.45091927659e-05,1793255760143596544
+25,0.416666667,BASELINE,782.492498175,759.507501825,736,721,686,652,914,800.492498175,838,659,635,659,0.400961928889,-0.00537892128004,0.0598360153391,0.999999931391,0.000248733814678,-0.00027340218005,2.45148191223e-05,1793255760160263168
+26,0.433333333,BASELINE,782,760,736,721,686.088244417,652,914,800,838,659,635,659,0.400960313156,-0.00537983974593,0.059834773501,0.999999931326,0.000246965825426,-0.000275236441522,2.45026572022e-05,1793255760176929792
+27,0.450000000,BASELINE,782,760,736,721,686.663092994,652,914,800,838,659,635,659,0.400960259465,-0.00538059172813,0.059834416711,0.999999931699,0.000245540136368,-0.000275161210695,2.44481456789e-05,1793255760193596416
+28,0.466666667,BASELINE,782,760,736,721,686.765162412,651.765162412,914,800.234837588,838,659,635,659,0.400960654267,-0.0053807390627,0.0598346363163,0.9999999319,0.000245307123639,-0.000274640168993,2.44545157984e-05,1793255760210262784
+29,0.483333333,BASELINE,782,760,736,721,686.197812854,651.197812854,914,800.802187146,838,659,635,659,0.400961684099,-0.00538003026269,0.0598356720527,0.999999931855,0.000246762848981,-0.00027348789337,2.45470896462e-05,1793255760226929920
+30,0.500000000,BASELINE,782,759.610505047,736,721,686,651,914,800.610505047,838,659,635.389494953,659,0.400961442918,-0.005380295638,0.0598356817518,0.999999931951,0.000246026571854,-0.000273782724003,2.47269061902e-05,1793255760243596544
+31,0.516666667,BASELINE,782,759.012513616,736,721,686,651,914,800.012513616,838,659,635.987486384,659,0.400960521363,-0.00538108248897,0.0598351422135,0.99999993212,0.000244116916722,-0.000274852190014,2.49534237082e-05,1793255760260263168
+32,0.533333333,BASELINE,782.56657985,759,736,721,686,651.56657985,914,800,838,659,635.43342015,659,0.400961782982,-0.00538011928441,0.0598361114721,0.999999932203,0.0002461002467,-0.000272788152609,2.48225629634e-05,1793255760276929792
+33,0.550000000,BASELINE,783,759.144381361,736,721,686,652,914,800.144381361,838,659,635,659,0.400962821302,-0.00537927518249,0.0598369300744,0.999999932215,0.000247904784048,-0.00027111429551,2.47186749927e-05,1793255760293596416
+34,0.566666667,BASELINE,783,759.719533234,736,721,686,652,914,800.719533234,838,659,635,659,0.40096305418,-0.00537889802934,0.0598372029702,0.999999932045,0.000248927632008,-0.000270804384599,2.47180514775e-05,1793255760310263040
+35,0.583333333,BASELINE,782.698635188,759.698635188,736,721,686,651.698635188,913.698635188,800.698635188,838,659,635,659,0.400963377045,-0.00537953312628,0.0598374375372,0.999999932208,0.000248417687087,-0.000270669369628,2.47241174336e-05,1793255760326929664
+36,0.600000000,BASELINE,782.110446128,759.110446128,736,721,686,651.110446128,913.110446128,800.110446128,838,659,635,659,0.400963785556,-0.00538113163316,0.0598376356248,0.999999932686,0.000246448905189,-0.000270700812,2.47365501001e-05,1793255760343596032
+37,0.616666667,BASELINE,782,759,736,721,686,651,913.470645748,800,838,659,635,658.529354252,0.400963991974,-0.00538002281479,0.0598377265808,0.999999932469,0.000247640038775,-0.000270441712304,2.44407642081e-05,1793255760360262656
+38,0.633333333,BASELINE,782.049731025,759,736,721,686.049731025,651,913.950268975,800,838,659,635,658.049731025,0.400964179372,-0.00537855647167,0.0598378337417,0.999999932158,0.000249310119371,-0.000270085389895,2.41268052307e-05,1793255760376929536
+39,0.650000000,BASELINE,782.624950905,759,736,721,686.624950905,651,913.375049095,800,838,659,635,658.624950905,0.40096465948,-0.00537992582035,0.0598383738368,0.99999993258,0.000248321932479,-0.00026941149518,2.4373741855e-05,1793255760393596160
+40,0.666666667,BASELINE,782.799491226,759,736,721,686.799491226,651.200508774,913.200508774,800,838,659,635,659,0.400963936238,-0.00538059208204,0.0598380508549,0.999999932588,0.000247438296628,-0.000270179816328,2.45282400861e-05,1793255760410262784
+41,0.683333333,BASELINE,782.223300118,759,736,721,686.223300118,651.776699882,913.776699882,800,838,659,635,659,0.400960958347,-0.00537994100798,0.0598361107726,0.999999931814,0.000246750552408,-0.000273650338559,2.45095415369e-05,1793255760426929408
+42,0.700000000,BASELINE,782.361830334,759,736,721,686,652,914,800,838,659,635,659,0.400961629266,-0.00537921309483,0.0598369635724,0.99999993199,0.000247129273207,-0.000272659184847,2.45602487019e-05,1793255760443595776
+43,0.716666667,BASELINE,782.952617347,759,736,721,686,652,914,800,838,659,635,659,0.400964609056,-0.00537843655997,0.0598395836345,0.99999993276,0.000248182824922,-0.000268844800317,2.46548739701e-05,1793255760460262656
+44,0.733333333,BASELINE,783,759,736,721,686,652,913.468524495,800,838,659.531475505,635.531475505,659,0.400963102678,-0.00537901740263,0.0598376111542,0.999999932216,0.000247643330216,-0.000271373508934,2.44519698325e-05,1793255760476929536
+45,0.750000000,BASELINE,783,759,736,721,686,651.891335221,913.108664779,800,838,659.891335221,635.891335221,659,0.400961779472,-0.00537981647149,0.0598357848299,0.999999931705,0.000247139282482,-0.000273718314446,2.43044859187e-05,1793255760493595904
+46,0.766666667,BASELINE,783,759,736,721,686,651.316841409,913.683158591,800,838,659.316841409,635.316841409,659,0.400962918404,-0.00538104366041,0.0598363017258,0.999999931862,0.000247382664132,-0.000272903735669,2.45057951036e-05,1793255760510262784
+47,0.783333333,BASELINE,782.742231377,759,736,721,686,651.257768623,914,800,838,659.257768623,635,659,0.400962997188,-0.00538135788793,0.0598364637599,0.999999931943,0.000247374707812,-0.00027261134594,2.45673953097e-05,1793255760526929920
+48,0.800000000,BASELINE,782.16747835,759,736,721,686,651.83252165,914,800,838,659.83252165,635,659,0.400961772281,-0.00538054942458,0.0598361894118,0.999999931928,0.000247057675056,-0.000272961104796,2.4457191982e-05,1793255760543597312
+49,0.816666667,BASELINE,782,759,736,721.421333755,686,652,913.578666245,800,838,659.578666245,635,659,0.400962775475,-0.00537940234976,0.059836712048,0.999999931708,0.000249151586858,-0.000271875197652,2.43185494062e-05,1793255760560263680
+50,0.833333333,BASELINE,782.015426472,759.015426472,736,721.984573528,686,651.984573528,913,800,838,659,635,659,0.400964659817,-0.00537820084316,0.0598375659738,0.999999931436,0.000252045758449,-0.000270213039399,2.41840714185e-05,1793255760576929792
+51,0.850000000,BASELINE,782.591328185,759.591328185,736,721.408671815,686,651.408671815,913,800,838,659,635,659,0.400965269516,-0.00538008069372,0.0598385491026,0.999999932748,0.000247994628298,-0.00026906386542,2.46257937434e-05,1793255760593596416
+52,0.866666667,BASELINE,783,760,736,721,686,651.166773325,913.166773325,800,838,659,635,659,0.400965258523,-0.00538130746392,0.0598389707642,0.99999993351,0.000245261093841,-0.000268716420034,2.4881890962e-05,1793255760610262784
+53,0.883333333,BASELINE,783,760,736,721,686,651.74110267,913.74110267,800,838,659,635,659,0.400963730698,-0.00538093825435,0.0598380203281,0.999999932961,0.000245747463398,-0.000270328216786,2.46843626764e-05,1793255760626929408
+54,0.900000000,BASELINE,782.683140127,760,736,721,686,652,914,800,838,659.316859873,635,659,0.400962504241,-0.00538078978768,0.0598374368872,0.99999993261,0.00024574334019,-0.000271650252101,2.44377624877e-05,1793255760643596032
+55,0.916666667,BASELINE,782.10621101,760,736,721,686,652,914,800,838,659.89378899,635,659,0.40096152514,-0.0053808225003,0.0598371546652,0.999999932421,0.000245336634958,-0.000272734459691,2.41508855368e-05,1793255760660262656
+56,0.933333333,BASELINE,782,759.515086563,736.484913437,721,686,652,913.515086563,800,838,659.515086563,635,659,0.400962617309,-0.00538111293245,0.05983739582,0.99999993271,0.000245281501731,-0.000271700957012,2.43938311956e-05,1793255760676929536
+57,0.950000000,BASELINE,782.076578132,759,736.923421868,721,686,652,913.076578132,800,838,659,635,659,0.400963808288,-0.00538142613819,0.0598375695917,0.999999933013,0.000245223592119,-0.000270607448663,2.47162893633e-05,1793255760693596416
+58,0.966666667,BASELINE,782.650934092,759,736.349065908,721,686,652,913.650934092,800,838,659,635,659,0.400962603631,-0.00538150938246,0.0598365377212,0.999999932716,0.000244631986838,-0.000272229920761,2.47785119403e-05,1793255760710263552
+59,0.983333333,BASELINE,783,759.223823366,736,721,686.223823366,652,914,800,838,659.223823366,635,659,0.400961869588,-0.00538087314015,0.0598359976725,0.999999932309,0.000245285556661,-0.000273148824499,2.46382267796e-05,1793255760726930432
+60,1.000000000,BASELINE,783,759.794440231,736,721,686.794440231,652,914,800,838,659.794440231,635,659,0.400961864716,-0.00537912212028,0.0598362196557,0.99999993173,0.000247868409476,-0.000272977614712,2.41841747124e-05,1793255760743596544
+61,1.016666667,BASELINE,783,759.620288521,736,721,687,652,914,800,838,659.620288521,635,659,0.400962559734,-0.00537973847738,0.0598369100067,0.999999932265,0.000247219022653,-0.000271602317393,2.41840053682e-05,1793255760760263168
+62,1.033333333,BASELINE,783,759.026765583,736,721,687,652,914,800,838,659.026765583,635,659,0.400963648852,-0.00538168787914,0.0598378640907,0.999999933422,0.000244749596211,-0.000269549011314,2.44394125427e-05,1793255760776930048
+63,1.050000000,BASELINE,782.446444633,759,736,721,686.446444633,652,914,800,838,659,635,659,0.400963452666,-0.00538039809285,0.05983773135,0.999999932841,0.000246528876374,-0.000270078820809,2.44825529874e-05,1793255760793596672
+64,1.066666667,BASELINE,782.13224888,759,736,721,686,652,913.86775112,800,838,659,635,659,0.400963109027,-0.00537930590045,0.0598375253219,0.999999932247,0.000248214498294,-0.000270727008028,2.45371884839e-05,1793255760810263040
+65,1.083333333,BASELINE,782.707578731,759,736,721,686,652,913.292421269,800,838,659,635,659,0.40096247473,-0.0053793882335,0.0598372457157,0.999999931898,0.000248914086882,-0.000271363093616,2.46639220642e-05,1793255760826929664
+66,1.100000000,BASELINE,782.71883866,759.28116134,736,721,686,652,913.28116134,800,838,659,635.28116134,659,0.400962121002,-0.00537945885559,0.0598368449385,0.999999931688,0.000249014850428,-0.000272044979768,2.46355621708e-05,1793255760843596288
+67,1.116666667,BASELINE,782.147062078,759.852937922,736,721,686,652,913.852937922,800,838,659,635.852937922,659,0.400962057277,-0.00537951737293,0.0598363189159,0.999999931623,0.000248496653711,-0.000272774206464,2.44468938591e-05,1793255760860262912
+68,1.133333333,BASELINE,782,759.55764677,736,721,686,652,914,800,838,659,635.55764677,659,0.40096199461,-0.00538055360428,0.0598362531571,0.999999932061,0.000246482606123,-0.000273014070651,2.42499632395e-05,1793255760876930048
+69,1.150000000,BASELINE,782.036611682,759,736,721,686.036611682,652,913.963388318,800,838,659,635.036611682,659,0.4009618941,-0.00538181607062,0.0598363224754,0.999999932587,0.000244245195623,-0.00027311055901,2.40826828473e-05,1793255760893597184
+70,1.166666667,BASELINE,782.612252945,759,736,721,686.612252945,652,913.387747055,800,838,659,635.612252945,659,0.400961231011,-0.0053814250189,0.0598360341108,0.999999931934,0.000246345031374,-0.000273590892584,2.43940605108e-05,1793255760910263552
+71,1.183333333,BASELINE,782.81267192,759,736,721,686.81267192,652,913.18732808,800,838,659,635.81267192,659,0.400961298365,-0.00538083922183,0.0598361627787,0.999999931664,0.000247906789633,-0.000273150802293,2.45474957765e-05,1793255760926930176
+72,1.200000000,BASELINE,782.238764971,759,736,721,686.238764971,652,913.761235029,800,838,659,635.238764971,659,0.400962873095,-0.00537985153917,0.0598371520541,0.999999932193,0.000248358146734,-0.00027081128293,2.43749938791e-05,1793255760943596800
+73,1.216666667,BASELINE,782.345785774,759,736,721,686,652,913.654214226,800,838,659,635.345785774,659,0.400963980571,-0.00538004339776,0.0598378462631,0.999999932895,0.000247071107155,-0.000269397284673,2.43144166879e-05,1793255760960263424
+74,1.233333333,BASELINE,782.937919437,759,736,721,686,652,913.062080563,800,838,659,635.937919437,659,0.400964755162,-0.00538107559607,0.059838330258,0.999999933718,0.000244545582964,-0.000268642654831,2.43335779374e-05,1793255760976929536
+75,1.250000000,BASELINE,783,759,736,721,686,652,913.519477764,800,838,659,636,659,0.400964212446,-0.00538090267279,0.0598379144121,0.999999932721,0.000247166608348,-0.000269931208659,2.45812967897e-05,1793255760993596160
+76,1.266666667,BASELINE,783,759,736,721,686,652,913.901063182,800,838,659,635.901063182,659,0.400963519851,-0.00538091555789,0.0598374189362,0.999999931885,0.000249128130588,-0.000271200167685,2.48314324691e-05,1793255761010263040
+77,1.283333333,BASELINE,783,759,736,721,686,652,913.325748266,800,838,659,635.325748266,659,0.400962848471,-0.00538250271731,0.0598370474966,0.999999932892,0.000245011836447,-0.000271222552623,2.49643131527e-05,1793255761026929664
+78,1.300000000,BASELINE,782.74960432,759,736,720.74960432,686,652,913.25039568,800,838,659,635,659,0.400962407591,-0.0053830544384,0.0598369603753,0.999999933312,0.000243189067193,-0.000271311016271,2.50169848829e-05,1793255761043596544
+79,1.316666667,BASELINE,782.172378324,759,736,720.172378324,686,652,913.827621676,800,838,659,635,659,0.400962267571,-0.0053822546479,0.059837244362,0.99999993298,0.000244359934043,-0.000271485729516,2.49649634325e-05,1793255761060263424
+80,1.333333333,BASELINE,782.412785463,759,736,720.412785463,686.412785463,651.587214537,913.587214537,800,838,659,635,659,0.400962333176,-0.00538130857897,0.0598373739974,0.999999932878,0.000244744801041,-0.000271533146808,2.47877762734e-05,1793255761076930048
+81,1.350000000,BASELINE,782.99869358,759,736,721,687,651.00130642,913,800,838,659,635.00130642,659,0.400962485806,-0.00538030584799,0.0598374387356,0.999999932873,0.000244794632139,-0.000271526201878,2.45585228288e-05,1793255761093596672
+82,1.366666667,BASELINE,782.420191135,759,736,721,687,651.579808865,913,800,838,659,635.579808865,659,0.400962405521,-0.00538178668287,0.0598378672489,0.999999932914,0.000244681673057,-0.000271447932586,2.48715950216e-05,1793255761110263040
+83,1.383333333,BASELINE,782,759,736,721,686.847137728,652,913,800,838,659,635.847137728,659,0.400962271242,-0.00538278137699,0.059837929329,0.999999932978,0.000244485777553,-0.000271372782372,2.50338568193e-05,1793255761126929408
+84,1.400000000,BASELINE,782,759,736,721,686.288547078,652,913,800,838,659,635.288547078,659,0.400961993654,-0.00538248575237,0.0598370188189,0.999999933104,0.000244069751455,-0.000271305910823,2.47958364168e-05,1793255761143596032
+85,1.416666667,BASELINE,782.292992391,759,736,721,686,652,913.292992391,800,838,659,635,659,0.400961775573,-0.0053807999526,0.0598364981811,0.99999993242,0.000246434443143,-0.00027172453821,2.44035920979e-05,1793255761160262912
+86,1.433333333,BASELINE,782.899053105,759,736,721,686,652,913.899053105,800,838,659,635,659,0.400961621077,-0.00537762872247,0.0598363941296,0.999999930849,0.000251770388301,-0.000272661931075,2.38465564045e-05,1793255761176929536
+87,1.450000000,BASELINE,783,759,736,721,686.483192043,652,914,800,838,659,635,659,0.400963247145,-0.00537900722311,0.0598376646003,0.999999932039,0.000249536777401,-0.000270306338953,2.42530179465e-05,1793255761193596672
+88,1.466666667,BASELINE,783,759.062536298,736,720.937463702,687,652,914,800.062536298,838,659,635.062536298,659,0.400964928886,-0.00538116653782,0.0598389705478,0.999999933594,0.000245989363284,-0.000267742432524,2.47972384947e-05,1793255761210263552
+89,1.483333333,BASELINE,783,759.638484825,736,720.361515175,687,652,914,800.638484825,838,659,635.638484825,659,0.400964146265,-0.00538227131089,0.0598383125308,0.999999933758,0.000244075466952,-0.000268871208624,2.48915956367e-05,1793255761226930176
+90,1.500000000,BASELINE,782.785725888,760,736,720.214274112,686.785725888,652,914,800.785725888,838,659,636,659,0.400963810099,-0.00538278062203,0.0598380817522,0.999999933873,0.000243177321034,-0.000269258044735,2.48673606491e-05,1793255761243596544
+91,1.516666667,BASELINE,782.210205123,760,736,720.789794877,686.210205123,652,914,800.210205123,838,659,636,659,0.400964226616,-0.0053822860384,0.0598385712588,0.999999933913,0.000243991638077,-0.000268394037427,2.46431901129e-05,1793255761260262912
+92,1.533333333,BASELINE,782.375002623,759.624997377,736,721,686.375002623,652,914,800,838,659.375002623,635.624997377,659,0.400964675261,-0.00538170642537,0.0598387385764,0.999999933744,0.000245110120342,-0.000267991688421,2.47536364952e-05,1793255761276929792
+93,1.550000000,BASELINE,782.965784379,759.034215621,736,721,686.965784379,652,914,800,838,659.965784379,635.034215621,659,0.400965142392,-0.00538107788578,0.0598387205043,0.999999933456,0.00024640362148,-0.000267854980749,2.50566237722e-05,1793255761293596416
+94,1.566666667,BASELINE,782.454790436,759,736,721,686.454790436,652,913.454790436,800,838,659.454790436,635,659,0.40096442689,-0.00537991747391,0.0598381987497,0.999999933096,0.000247167343265,-0.000268550148367,2.44467619872e-05,1793255761310262784
+95,1.583333333,BASELINE,782,759.123149333,736,721,686.123149333,652,913,800,838,659,635,659,0.400963393417,-0.00537957793584,0.0598376688366,0.9999999329,0.000247023815427,-0.000269443706621,2.40563780285e-05,1793255761326929664
+96,1.600000000,BASELINE,782,759.698200396,736,721,686.698200396,652,913,800,838,659,635,659,0.400961459925,-0.00538237061379,0.0598372226111,0.99999993332,0.000243670609484,-0.000270877605348,2.46773066228e-05,1793255761343596800
+97,1.616666667,BASELINE,782,759.720517424,736,721,687,652,913.279482576,800,838,659,635,659,0.40096189262,-0.0053831475253,0.0598375086297,0.99999993357,0.000243027387425,-0.000270511349308,2.49382026041e-05,1793255761360263680
+98,1.633333333,BASELINE,782,759.132353162,736,721,687,652,913.867646838,800,838,659,635,659,0.400964938709,-0.00538169807178,0.0598386033941,0.999999933633,0.000245377276646,-0.000268156866167,2.48014513116e-05,1793255761376930048
+99,1.650000000,BASELINE,782.432145514,759,736,721,686.567854486,652,914,800,838,659,635,659,0.400964825758,-0.0053824697786,0.0598382027279,0.999999934045,0.000243124917581,-0.000268691858732,2.45835656137e-05,1793255761393596416
+100,1.666666667,BASELINE,782.989772442,759,736,721,686.010227558,652,914,800,838,659,635,659,0.40096379552,-0.00538388644029,0.0598373678357,0.999999934547,0.000239536210875,-0.000270065863852,2.43421210484e-05,1793255761410263040
+101,1.683333333,BASELINE,783,759,736,721,686.588580276,651.411419724,914,800,838,659,635,659,0.400963707792,-0.00538218989412,0.0598374355773,0.999999933465,0.000244069211163,-0.000270017929924,2.43006811366e-05,1793255761426929664
+102,1.700000000,BASELINE,782.819231057,759,736,721,687,651,914,800,838,659,635.180768943,659,0.400963389161,-0.0053809790489,0.0598373128016,0.999999932645,0.00024719858934,-0.00027020284106,2.43421991159e-05,1793255761443596288
+103,1.716666667,BASELINE,782.243198134,759,736,721,687,651,914,800,838,659,635.756801866,659,0.400962527138,-0.00538095740912,0.0598367365707,0.999999932504,0.00024692704712,-0.000270954975716,2.45569394276e-05,1793255761460262912
+104,1.733333333,BASELINE,782.340523237,759,736,721,686.659476763,651.340523237,913.659476763,800,838,659,635.659476763,659,0.400963639689,-0.00538141255548,0.0598374261552,0.99999993299,0.000246544876031,-0.000269493404997,2.46803795911e-05,1793255761476929792
+105,1.750000000,BASELINE,782.929862521,759,736,721,686.070137479,651.929862521,913.070137479,800,838,659,635.070137479,659,0.400966195036,-0.00538221608349,0.0598390406551,0.999999933928,0.000246081869789,-0.000266414307675,2.47371079068e-05,1793255761493596672
+106,1.766666667,POSE1_TO_POSE2_PRESS,783,760,736,721,686,652,914,800,838,659,635,659,0.40096226352,-0.00538450836903,0.0598373389037,0.999999933743,0.000242038409037,-0.00027073937757,2.51405035293e-05,1793255761524769536
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,736,721,686.582571688,652,914,800,838,659,635,659,0.400963684957,-0.00538446068842,0.0598376998454,0.999999934008,0.00024242178159,-0.000269446049712,2.47872922992e-05,1793255761541436416
+108,1.800000000,POSE1_TO_POSE2_PRESS,782.838794011,759.838794011,736,721,686.838794011,652,914,800,838,659,635,659,0.400964621829,-0.00538420268799,0.0598379952271,0.99999993422,0.00024263490465,-0.000268487951063,2.45591780057e-05,1793255761558103040
+109,1.816666667,POSE1_TO_POSE2_PRESS,782.270112013,759.270112013,736,721,686.270112013,652,914,800,838,659,635,659,0.400964333881,-0.00538341306786,0.0598381248947,0.9999999343,0.000242417692759,-0.000268377201925,2.46472677744e-05,1793255761574769408
+110,1.833333333,POSE1_TO_POSE2_PRESS,782,759,736,721,686,652,914,800,838,659.303688853,635.303688853,659,0.400964468248,-0.00538290709589,0.0598383158073,0.999999934069,0.000243549251031,-0.000268220615042,2.45717001149e-05,1793255761591435776
+111,1.850000000,POSE1_TO_POSE2_PRESS,782,759,736,721,686,652,914,800,838,659.88212065,635.88212065,659,0.400964984678,-0.00538265773641,0.0598385621272,0.999999933552,0.000245901022315,-0.000268022559413,2.43480739246e-05,1793255761608102656
+112,1.866666667,POSE1_TO_POSE2_PRESS,782.475469689,759,736,721,686.475469689,652,914,800,838,659.524530311,635.524530311,659,0.400963694687,-0.00538272635451,0.0598377891134,0.999999933491,0.000244648206776,-0.000269392104265,2.43735880654e-05,1793255761624769280
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,759,736,721,686.929997898,652,914,800,838,659,635,659,0.400962279863,-0.00538272195108,0.0598369652968,0.999999933562,0.000242794820466,-0.00027079608672,2.44364258275e-05,1793255761641435904
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,759,736,721,686.354491516,652,914,800,838,659,635,659,0.400963302397,-0.00538160252143,0.0598376586528,0.999999933786,0.000243266905377,-0.000269551357074,2.43083016499e-05,1793255761658103040
+115,1.916666667,POSE1_TO_POSE2_PRESS,782.773197114,759,736,720.773197114,686,652,914,800.226802886,838,659,635.226802886,659,0.400965155912,-0.00538137830095,0.0598386552073,0.999999933991,0.000243851882886,-0.000268257851302,2.43317077882e-05,1793255761674769664
+116,1.933333333,POSE1_TO_POSE2_PRESS,782.182619215,759,736,720.182619215,686,652,914,800.817380785,838,659,635.817380785,659,0.400968342259,-0.00538258992972,0.0598401380697,0.999999934164,0.000244617931708,-0.000266886112358,2.45981573305e-05,1793255761691436032
+117,1.950000000,POSE1_TO_POSE2_PRESS,782.400036463,759.400036463,736,720.400036463,686.400036463,652,913.599963537,800.599963537,838,659,635.599963537,659,0.400985503626,-0.00538286290503,0.0598477884286,0.999999937482,0.000244058127343,-0.000254653276016,2.49711986952e-05,1793255761708102656
+118,1.966666667,POSE1_TO_POSE2_PRESS,782.979145877,759.979145877,736,720.979145877,686.979145877,652,913.020854123,800.020854123,838,659,635.020854123,659,0.401008920793,-0.00538271570015,0.0598581996156,0.999999941959,0.000242904815981,-0.000237558560798,2.53919550077e-05,1793255761724769280
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,759.446299473,736,721,686.446299473,652,913.553700527,800,838,659.553700527,635,659,0.401062302041,-0.0053852038376,0.0598780474227,0.999999950183,0.00024107385154,-0.000202009831559,2.66498275017e-05,1793255761741435904
+120,2.000000000,POSE1_TO_POSE2_PRESS,782.871727037,759.128272963,736,721,686.128272963,652,914,800,838,659.871727037,635,659,0.401119189512,-0.00538735612122,0.0598969610812,0.999999956264,0.000240181052353,-0.000170321930671,2.78442696726e-05,1793255761758102272
+121,2.016666667,POSE1_TO_POSE2_PRESS,782.296499612,759.703500388,736,721,686.703500388,652,914,800,838,659.296499612,635,659,0.401184393878,-0.00538799513228,0.0599113914985,0.999999958216,0.000242645402971,-0.000154488723647,2.87087341268e-05,1793255761774769152
+122,2.033333333,POSE1_TO_POSE2_PRESS,782.285163879,759.714836121,736,721,687,652,913.714836121,800,838,659,635,659,0.401261440437,-0.00539028266245,0.0599239592814,0.999999960924,0.000242561641849,-0.000135886660595,2.91742775011e-05,1793255761791436032
+123,2.050000000,POSE1_TO_POSE2_PRESS,782.873673769,759.126326231,736,721,687,652,913.126326231,800,838,659,635,659,0.401351084247,-0.00539432382176,0.0599345456669,0.999999964292,0.000239767300461,-0.000114339199389,2.92154644158e-05,1793255761808102656
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,759.456837475,736,721,686.543162525,652,913.456837475,800,838,659,635.456837475,659,0.401453829595,-0.00539691601615,0.0599411324906,0.999999966205,0.000237333500099,-0.00010215584453,2.87478645367e-05,1793255761824769280
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,759.961972565,736,721,686,652,914,800,838,659.038027435,635.961972565,659,0.401561570835,-0.00539928593275,0.0599465005488,0.999999967731,0.000234866401979,-9.26543033735e-05,2.81204678183e-05,1793255761841435648
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,759.388005448,736,721,686,652,914,800,838,659.611994552,635.388005448,659,0.401689253238,-0.00540410473864,0.0599500986589,0.999999969453,0.000230541180533,-8.48774066068e-05,2.72008730015e-05,1793255761858102528
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,759,736,721,686,651.810221415,914,800,838,659.810221415,635,659,0.401821549547,-0.00540772982567,0.0599509787999,0.999999970361,0.000228163753153,-8.09163056819e-05,2.59050507275e-05,1793255761874769152
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,759,736,721,686,651.224473532,914,800,838,659.224473532,635,659,0.401963472665,-0.0054088642411,0.0599461879513,0.999999969695,0.000229850360489,-8.49167889807e-05,2.38242373561e-05,1793255761891436032
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,759,736,721,686.357948214,651.357948214,914,800,838,659.357948214,635,659,0.402135429748,-0.00541250219003,0.059945212835,0.999999970558,0.000227131513666,-8.25742479798e-05,2.1830779223e-05,1793255761908102912
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,759,736,721,686.938303362,651.938303362,914,800,838,659.938303362,635,659,0.402326048097,-0.00541769568032,0.0599466085788,0.999999972322,0.000221675389614,-7.62905434498e-05,1.98915980415e-05,1793255761924769536
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,759,736.516876049,721,687,652,913.483123951,800,838,659.483123951,635,659,0.402552016861,-0.00542379919127,0.0599515997336,0.999999974792,0.000215209692628,-6.14888115424e-05,1.78898406052e-05,1793255761941435904
+132,2.200000000,POSE1_TO_POSE2_PRESS,782.905423461,759,736.905423461,721,687,652,913.094576539,800,838,659,635,658.905423461,0.402787107033,-0.00543001332659,0.0599563923733,0.999999977062,0.00020828252701,-4.73544731546e-05,1.58418038843e-05,1793255761958102784
+133,2.216666667,POSE1_TO_POSE2_PRESS,782.331071697,759,736.331071697,721,687,652,913.668928303,800,838,659,635,658.331071697,0.403047137211,-0.00543623950481,0.0599580083557,0.999999979111,0.000199623602381,-4.1745856784e-05,1.3596758337e-05,1793255761974769152
+134,2.233333333,POSE1_TO_POSE2_PRESS,782,759.249391875,736,721,686.750608125,652,914,800.249391875,838,659,635,658.249391875,0.403315166379,-0.00544264510218,0.0599568596871,0.999999980784,0.000191265537641,-4.15850455894e-05,1.09985026944e-05,1793255761991435520
+135,2.250000000,POSE1_TO_POSE2_PRESS,782,759.838172765,736,721,686.161827235,652,914,800.838172765,838,659,635,658.838172765,0.403594081087,-0.0054492948647,0.0599519486976,0.999999981974,0.000183316903535,-4.88379695977e-05,7.91957544617e-06,1793255762008102144
+136,2.266666667,POSE1_TO_POSE2_PRESS,782,759.579381206,736,721,686,652,914,800.579381206,838,659,635,659,0.403910830532,-0.0054564451974,0.0599417526733,0.999999982731,0.000174778793151,-6.30600694842e-05,3.82825274578e-06,1793255762024768768
+137,2.283333333,POSE1_TO_POSE2_PRESS,782.000658169,759.000658169,736,721,686,652,913.999341831,800,838,659,635,659,0.404241935992,-0.00546378635402,0.0599295519705,0.999999983023,0.000166019511616,-7.99392702679e-05,-6.45576916365e-07,1793255762041435648
+138,2.300000000,POSE1_TO_POSE2_PRESS,782.575850143,759.575850143,736,721,686,652,913.424149857,800,838,659,635,659,0.404586669825,-0.00547208262524,0.0599160379413,0.999999981217,0.000159229992789,-0.000110428311357,-4.05548871851e-06,1793255762058102528
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760,736.154040949,720.845959051,686,652,913.154040949,800.154040949,838.154040949,659,635.154040949,659,0.404946912535,-0.00547986131276,0.059905555435,0.99999997935,0.000152346936267,-0.000134282130318,-7.60544792187e-06,1793255762074769408
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760,736.740652844,720.259347156,686,652,913.740652844,800.740652844,838.740652844,659,635.740652844,659,0.405350706525,-0.00548618654336,0.0599035859186,0.999999979661,0.000145201212863,-0.000139503208487,-1.15486814486e-05,1793255762091436032
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,737,720.323615951,686,652,914,801,838.676384049,659,635.676384049,659,0.405805512239,-0.00549261303767,0.0599153996454,0.999999983194,0.000137285881615,-0.000120600564454,-1.48467192928e-05,1793255762108102656
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760,737,720.903687567,686,652,914,801,838.096312433,659,635.096312433,659,0.406300743215,-0.00549911978103,0.0599381361675,0.999999988145,0.000128760658946,-8.25806145468e-05,-1.76334598526e-05,1793255762124769280
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760,737,721,686.480666014,652,914,801,838.480666014,659,635,659,0.406854047168,-0.00549311317581,0.0599706725469,0.999999989677,0.000139857043151,-2.58601316436e-05,-2.04046785298e-05,1793255762141436160
+144,2.400000000,POSE1_TO_POSE2_PRESS,782.943280165,760,736.943280165,721,687,652,914,801,838.943280165,659,635,659,0.407415511638,-0.00548482782442,0.060001954132,0.99999998961,0.000139519903984,2.77820901214e-05,-2.32914320688e-05,1793255762158102784
+145,2.416666667,POSE1_TO_POSE2_PRESS,782.370038113,760,736.370038113,721,687,652,914,801,838.370038113,659,635,659,0.407946002051,-0.00547847813426,0.0600040413618,0.999999999438,-5.11958843855e-07,1.94871994246e-05,-2.72584538501e-05,1793255762174769152
+146,2.433333333,POSE1_TO_POSE2_PRESS,782,760,736.209820915,721,686.790179085,652,914,801,838.209820915,659,635,659,0.408483485699,-0.00547869749587,0.060000384323,0.999999995355,-9.1193603819e-05,1.50441015797e-06,-3.11630062573e-05,1793255762191435776
+147,2.450000000,POSE1_TO_POSE2_PRESS,782,760,736.801729543,721,686.198270457,652,914,801,838.801729543,659,635,659,0.409033704127,-0.00549087922092,0.0599862668662,0.999999994574,-9.20075941672e-05,-3.41202180182e-05,-3.4953801347e-05,1793255762208102144
+148,2.466666667,POSE1_TO_POSE2_PRESS,782.384971637,760,736.615028363,721,686,652,914,801,838.615028363,659,635,659,0.409646117327,-0.0054997835013,0.0599825297564,0.999999994337,-8.88190096415e-05,-4.37766862113e-05,-3.90028757643e-05,1793255762224769280
+149,2.483333333,POSE1_TO_POSE2_PRESS,782.963848493,760,736.036151507,721,686,652,914,801,838.036151507,659,635,659,0.41028985721,-0.00550703697494,0.0599840210931,0.999999994758,-8.36143800946e-05,-4.03533280868e-05,-4.31820420271e-05,1793255762241436416
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,759.462135725,736,721,686,652,914,801,838.537864275,659,635,659,0.410997384309,-0.00550675848847,0.0599949606506,0.999999995953,-7.54268106163e-05,-1.10326280963e-05,-4.77741702536e-05,1793255762258102528
+151,2.516666667,POSE1_TO_POSE2_PRESS,782.885356328,759.114643672,736.114643672,720.885356328,686,652,914,801,839,659.114643672,635,659,0.411701853022,-0.00550564555166,0.0600018097053,0.999999997336,-5.45782403513e-05,9.1923593771e-06,-4.75973234288e-05,1793255762274769408
+152,2.533333333,POSE1_TO_POSE2_PRESS,782.295787076,759.704212924,736.704212924,720.295787076,686,652,914,801,839,659.704212924,635,659,0.41237605007,-0.00550315420448,0.0599891061591,0.999999999342,1.78969620297e-05,-1.54090040911e-05,-2.75504523268e-05,1793255762291436288
+153,2.550000000,POSE1_TO_POSE2_PRESS,782.288534847,760,737,720,686.288534847,652,914,801,839,659.711465153,635.288534847,659,0.413047834318,-0.00549647348373,0.0599625839324,0.999999995811,5.44056389876e-05,-7.0420477395e-05,-2.14269376418e-05,1793255762308102656
+154,2.566666667,POSE1_TO_POSE2_PRESS,782.867573701,760,737,720,686.867573701,652,914,801,839,659.132426299,635.867573701,659,0.413717189381,-0.00548557479792,0.0599221487157,0.999999985898,5.47023387542e-05,-0.000156049602848,-2.93217995386e-05,1793255762324769280
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,760,737,720,686.554919316,652,914,801,838.554919316,659,635.554919316,659,0.414507921229,-0.00549032448818,0.0599305798897,0.999999989779,2.89695805153e-05,-0.000136044748897,-3.30991109194e-05,1793255762341435904
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,760,736.977925273,720,686,652,914,801,838.022074727,659,635,658.977925273,0.415336844937,-0.00549988488498,0.0599544464309,0.999999995868,-3.70039482429e-06,-8.36091749307e-05,-3.55069563683e-05,1793255762358102784
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,760,736.40240252,720,686,652,914,801,838.59759748,659,635,658.40240252,0.416220980045,-0.0055137266215,0.0600020272361,0.999999999269,-1.67933373192e-05,-3.37160034133e-06,-3.41901784131e-05,1793255762374769664
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,760,736.177408934,720,686,652,914,801,839,659,635.177408934,658.177408934,0.417081889209,-0.00552316847576,0.0600327205657,0.999999998075,-2.40011353907e-05,4.64608240632e-05,-3.33888890519e-05,1793255762391436032
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,760,736.767189054,720,686,652,914,801,839,659,635.767189054,658.767189054,0.417888811692,-0.00552238319674,0.0600241604674,0.999999998947,-1.7529441507e-05,2.56191938281e-05,-3.37858072966e-05,1793255762408102656
+160,2.666666667,POSE1_TO_POSE2_PRESS,782.649415389,760,737,720,686,652,913.649415389,801,839,659,635.649415389,659,0.418723290484,-0.0055209745708,0.0600081125008,0.999999999168,-1.95874698165e-05,2.27803965471e-06,-3.5707847293e-05,1793255762424769280
+161,2.683333333,POSE1_TO_POSE2_PRESS,782.070183789,760,737,720,686,652,913.070183789,801,839,659,635.070183789,659,0.41957574113,-0.00551915940566,0.0599871810384,0.999999998626,-2.72084787198e-05,-2.26932726019e-05,-3.86245529892e-05,1793255762441435904
+162,2.700000000,POSE1_TO_POSE2_PRESS,782,759.493602202,737,720,686.506397798,652,913.506397798,801,838.493602202,658.493602202,635.506397798,659,0.42042059654,-0.00551883661194,0.0599567763296,0.999999996426,-2.75771457578e-05,-6.80140155777e-05,-4.19779294814e-05,1793255762458102272
+163,2.716666667,POSE1_TO_POSE2_PRESS,782.082386253,759,737,720,686.917613747,652,914,801,838.082386253,658.082386253,635.917613747,659,0.421266602264,-0.00551884407314,0.0599247328288,0.999999991487,-2.76299447629e-05,-0.000119293563988,-4.50640661114e-05,1793255762474768896
+164,2.733333333,POSE1_TO_POSE2_PRESS,782.657013605,759,737,720,686.342986395,652,914,801,838.657013605,658.657013605,635.342986395,659,0.422125737204,-0.00551959538258,0.0598907015858,0.99999998049,-3.17696952151e-05,-0.000189412671228,-4.61937854255e-05,1793255762491436032
+165,2.750000000,POSE1_TO_POSE2_PRESS,782.761717181,759.238282819,737,720,686,652,913.761717181,801,839,659,635.238282819,659,0.423037708188,-0.00552143678531,0.0598944154508,0.999999980978,-3.25047751771e-05,-0.000186656926265,-4.63416782473e-05,1793255762508102656
+166,2.766666667,POSE1_TO_POSE2_PRESS,782.170613402,759.829386598,737,720,686,652,913.170613402,801,839,659,635.829386598,659,0.424027912655,-0.00552489226912,0.0599540177937,0.999999995701,-2.8198623063e-05,-7.59967459289e-05,-4.50357987871e-05,1793255762524769280
+167,2.783333333,POSE1_TO_POSE2_PRESS,782.412144521,760,737,719.587855479,686,651.587855479,913,801,839,659,636,659,0.424996572295,-0.0055276098,0.0600036120639,0.999999998278,-4.01917478243e-05,1.05470425831e-07,-4.27636878256e-05,1793255762541435904
+168,2.800000000,POSE1_TO_POSE2_PRESS,782.991516088,760,737,719.008483912,686,651.008483912,913,801,839,659,636,659,0.425956490092,-0.00553002790734,0.0600491455694,0.999999995534,-5.87982809317e-05,6.21858358672e-05,-4.00995298893e-05,1793255762558102272
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,760,737.565363978,719,686,651.565363978,913,801,839.565363978,659,636,659,0.426898662065,-0.00553029249301,0.0600378326255,0.999999995957,-4.6595470268e-05,6.35545749438e-05,-4.33131644768e-05,1793255762574768896
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,760,738,719,686.142614401,652,913,801.142614401,839.857385599,659,635.857385599,659,0.427832456487,-0.00553138441233,0.0600230471816,0.999999996694,-3.77642884064e-05,5.5227194114e-05,-4.62135770087e-05,1793255762591435776
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,760,738,719,686.730750601,652,913,801.730750601,839.269249399,659,635.269249399,659,0.428740903566,-0.00553516086663,0.0600000528756,0.99999999783,-4.08962645965e-05,1.9428046358e-05,-4.78626199044e-05,1793255762608102400
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,760,737.685582593,719,687,652,913,801.685582593,839,658.685582593,635.314417407,659,0.429623229561,-0.00553516577711,0.0599670166832,0.999999996762,-5.10837763841e-05,-3.74597700552e-05,-4.96320739862e-05,1793255762624769024
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,760,737.105689513,719,687,652,913,801.105689513,839,658.105689513,635.894310487,659,0.430483500393,-0.00553198621634,0.0599255017102,0.999999990125,-6.72285695173e-05,-0.000112153623199,-5.15031959654e-05,1793255762641435904
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,759.527712981,737.472287019,719,686.527712981,651.527712981,913,801.472287019,839,658.472287019,635.527712981,659,0.431442607194,-0.0055333639494,0.0599433326373,0.999999993619,-6.28664800538e-05,-7.82660659492e-05,-5.18131530187e-05,1793255762658102272
+175,2.916666667,POSE1_TO_POSE2_PRESS,783,759.049608507,738,719,686,651.049608507,913,802,839,659,635,659,0.43242119252,-0.00553583136069,0.0599746212404,0.999999996925,-5.52940062431e-05,-2.06265092375e-05,-5.16447399104e-05,1793255762674769152
+176,2.933333333,POSE1_TO_POSE2_PRESS,783,759.624516452,738,719,686,651.624516452,913,802,839,659,635,659,0.433372777178,-0.00553908190363,0.0600083535701,0.999999996295,-6.2124002824e-05,3.22649249632e-05,-5.00953138437e-05,1793255762691435776
+177,2.950000000,POSE1_TO_POSE2_PRESS,783,759.795558742,738,719,686,651.795558742,913,801.795558742,839,659,635,659,0.434303360978,-0.00554187909089,0.06002149162,0.999999995195,-6.63094093275e-05,5.21348474451e-05,-4.9948589038e-05,1793255762708102144
+178,2.966666667,POSE1_TO_POSE2_PRESS,783,759.206187906,738,719,686,651.206187906,913,801.206187906,839,659,635,659,0.435194403747,-0.00554382268383,0.0599958540025,0.99999999643,-6.55154849911e-05,9.83065296824e-06,-5.24429220505e-05,1793255762724769024
+179,2.983333333,POSE1_TO_POSE2_PRESS,782.623381758,759.376618242,738,718.623381758,686,651,913,801,839,659,635,659,0.43606018392,-0.00554619992012,0.0599680410319,0.999999995115,-7.13155313327e-05,-4.19028901601e-05,-5.41082488053e-05,1793255762741435648
+180,3.000000000,POSE1_TO_POSE2_PRESS,782.044108056,759.955891944,738,718.044108056,686,651,913,801,839,659,635,659,0.436912370425,-0.00554881049654,0.0599390575217,0.999999990344,-8.06637438969e-05,-9.87102926663e-05,-5.53274932278e-05,1793255762758102272
+181,3.016666667,POSE1_TO_POSE2_PRESS,782.530738521,760,738,718.530738521,686,651,913,801.530738521,839,658.469261479,635.530738521,659,0.437719392541,-0.00554621240638,0.0599153929269,0.999999984961,-7.87515948834e-05,-0.000144023761941,-5.59801154296e-05,1793255762774769152
+182,3.033333333,POSE1_TO_POSE2_PRESS,782.894560872,759.894560872,738,718.894560872,686,651,913,802,839.105439128,658,636,659,0.438536013294,-0.00554418667864,0.0598999794668,0.99999998036,-7.58861857108e-05,-0.000174181191828,-5.64084187388e-05,1793255762791435520
+183,3.050000000,POSE1_TO_POSE2_PRESS,782.318883993,759.318883993,738,718.318883993,686,651,913,802,839.681116007,658,636,659,0.43941204333,-0.0055466281477,0.0599194093466,0.999999985835,-7.29084463423e-05,-0.00014097054591,-5.60445801646e-05,1793255762808102144
+184,3.066666667,POSE1_TO_POSE2_PRESS,782,759.264071964,738,718.264071964,686,651,913,802,840,658.264071964,635.735928036,659,0.440289944462,-0.00555110050896,0.059954961835,0.999999991944,-7.70286064554e-05,-8.46008776667e-05,-5.49651620549e-05,1793255762824768768
+185,3.083333333,POSE1_TO_POSE2_PRESS,782,759.856066996,738,718.856066996,686,651,913,802,840,658.856066996,635.143933004,659,0.441170169046,-0.00555809482044,0.0600105352856,0.999999994549,-8.99628977799e-05,5.27531057376e-07,-5.29971411276e-05,1793255762841435392
+186,3.100000000,POSE1_TO_POSE2_PRESS,782.437863109,759.562136891,738,718.562136891,686,651,913,802,839.562136891,659,635,659,0.441949530779,-0.00555817388313,0.060001786012,0.99999999409,-9.42427542029e-05,-8.18868496326e-06,-5.35905109245e-05,1793255762858102016
+187,3.116666667,POSE1_TO_POSE2_PRESS,782.983740738,759.016259262,737.983740738,718,685.983740738,651,912.983740738,801.983740738,839.016259262,658.983740738,635,659,0.442694694927,-0.0055560012255,0.0599718055989,0.999999992788,-9.52824388718e-05,-4.81558598801e-05,-5.50198243579e-05,1793255762874768896
+188,3.133333333,POSE1_TO_POSE2_PRESS,782.409591146,759.590408854,737.409591146,718,685.409591146,651,912.409591146,801.409591146,839.590408854,658.409591146,635,659,0.443378199719,-0.0055527887962,0.0599223202492,0.999999987196,-8.05361848169e-05,-0.000126031791452,-5.68998730121e-05,1793255762891436288
+189,3.150000000,POSE1_TO_POSE2_PRESS,782.168467634,759.831532366,737.168467634,718.168467634,685,650.831532366,912.168467634,801,840,658,635,659,0.444065001296,-0.00555078351664,0.0598842396014,0.999999978542,-7.07819813923e-05,-0.000185659561849,-5.8614627463e-05,1793255762908103168
+190,3.166666667,POSE1_TO_POSE2_PRESS,782.756256629,759.243743371,737.756256629,718.756256629,685,650.243743371,912.756256629,801,840,658,635,659,0.444760008815,-0.00555178287096,0.0598745456127,0.999999975534,-7.34531504978e-05,-0.000199867090257,-5.99179604756e-05,1793255762924769280
+191,3.183333333,POSE1_TO_POSE2_PRESS,783,759.339544216,738,719,685,649.660455784,913,801,840,658,635,659,0.445409977919,-0.00555227374464,0.0598571749863,0.999999966539,-8.30704671577e-05,-0.000237306476929,-6.08894415712e-05,1793255762941436160
+192,3.200000000,POSE1_TO_POSE2_PRESS,783,759.919642691,738,719,685,649.080357309,913,801,840,658,635,659,0.446028038962,-0.00555240437891,0.0598343657523,0.999999950937,-9.76088667876e-05,-0.000291204756769,-6.16258178893e-05,1793255762958103040
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,760,738,719,684.50465638,649,913,801,840,658.49534362,635,659,0.446638217824,-0.00555280772111,0.0598124912557,0.99999994231,-0.000103771950954,-0.000317133029834,-6.35396053511e-05,1793255762974769408
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,759.929606055,738,719,683.929606055,648.929606055,912.929606055,800.929606055,840,659,635,659,0.447247244817,-0.00555343718458,0.059795707974,0.999999936845,-0.000107490869638,-0.000332374134114,-6.54420886503e-05,1793255762991436032
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,759.354150263,738,719,683.354150263,648.354150263,912.354150263,800.354150263,840,659,635,659,0.447857101005,-0.00555537440024,0.0598143746975,0.999999946522,-0.000103335938074,-0.000303205781472,-6.59050983087e-05,1793255763008102400
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,759.227510346,738,718.772489654,683,648,912,800,839.772489654,659,634.772489654,658.772489654,0.448442442436,-0.0055557670535,0.0598251650061,0.999999952037,-9.94709957234e-05,-0.000285569155519,-6.69395465285e-05,1793255763024769024
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,759.819100329,738,718.180899671,683,648,912,800,839.180899671,659,634.180899671,658.180899671,0.448988553398,-0.00555368797844,0.0598233508651,0.999999952004,-9.60701170338e-05,-0.000286386492834,-6.88884549193e-05,1793255763041435648
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,760,738,718.401280394,683,648,912,800,839.401280394,659,634,658.401280394,0.449469068241,-0.00555377641438,0.0597940853301,0.999999937042,-9.86909381146e-05,-0.000333095312172,-7.22693649373e-05,1793255763058102272
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,760,738,718.979315656,683,648,912,800,839.979315656,659,634,658.979315656,0.449920689536,-0.00555481958931,0.0597527280816,0.999999911679,-0.000103964180021,-0.000400018282142,-7.6281038925e-05,1793255763074768896
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,759.44495034,738,719,683,647.44495034,912.55504966,800,840,659,634.55504966,659,0.45035159742,-0.00555759308644,0.0597243789655,0.999999895881,-0.000106439055535,-0.000436682094959,-7.88463918731e-05,1793255763091435776
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,759,738,718.869935251,682.869935251,647,913,800,840,659,634.869935251,659,0.450780312742,-0.00556110670765,0.0597048040102,0.999999884827,-0.000109525802339,-0.000460209652434,-8.09726061285e-05,1793255763108102656
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,759,738,718.297076741,682.297076741,647,913,800,840,659,634.297076741,659,0.451204180815,-0.00556692139956,0.0597134563896,0.999999891984,-0.000115049168028,-0.000442839084489,-8.17865471659e-05,1793255763124769280
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,759.286518268,738,718,682,646.713481732,913,800,840,659,634,659,0.451619546742,-0.00557313845207,0.0597266847565,0.999999901081,-0.00012180915776,-0.000420019247744,-8.1149350205e-05,1793255763141437184
+204,3.400000000,POSE1_TO_POSE2_PRESS,783,759.881678777,738,718,682,646.118321223,913,800,840,659,634,659,0.45202575399,-0.00557978893374,0.0597448424526,0.999999911877,-0.00012990125909,-0.000391329368926,-7.89489631854e-05,1793255763158106880
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,759.539549114,738,718.460450886,681.539549114,646,913,799.539549114,840,659,634,659,0.45237573606,-0.00558149799567,0.0597507564174,0.999999918792,-0.000122153492637,-0.000378662992568,-6.41025333733e-05,1793255763174771712
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,759.035235113,738,718.964764887,681,646,912.964764887,799,840,658.964764887,634,659,0.452708128616,-0.00558188305021,0.059752980165,0.999999923708,-0.000111054859579,-0.000371496801456,-4.73442607105e-05,1793255763191435776
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,759.611226912,738,718.388773088,681,646,912.388773088,799,840,658.388773088,634,659,0.452984688565,-0.0055807662245,0.0597451960585,0.999999917691,-0.000108851133226,-0.000387722190548,-4.94030868891e-05,1793255763208102400
+208,3.466666667,POSE1_TO_POSE2_PRESS,782.809075057,760,738,718,681,645.809075057,912.190924943,799,840,658,634,659,0.453245302149,-0.00557731248216,0.0597350879377,0.999999910397,-0.000103975838869,-0.000407083115604,-5.17520937096e-05,1793255763224769280
+209,3.483333333,POSE1_TO_POSE2_PRESS,782.221680844,760,738,718,681,645.221680844,912.778319156,799,840,658,634,659,0.453472801935,-0.00556900596576,0.0597201538365,0.999999900403,-9.35528431544e-05,-0.00043295520282,-5.47036810831e-05,1793255763241436160
+210,3.500000000,POSE1_TO_POSE2_PRESS,782.362704324,760,738,718,681,645,913,799,840,658.362704324,634,659,0.45369159285,-0.00556145627757,0.0597075735183,0.999999891644,-8.66273497512e-05,-0.00045371850798,-5.78488677779e-05,1793255763258102784
+211,3.516666667,POSE1_TO_POSE2_PRESS,782.945265586,760,738,718,681,645,913,799,840,658.945265586,634,659,0.453905104815,-0.00555436534776,0.0596964199683,0.999999883683,-8.18219021712e-05,-0.00047138507512,-6.11114069693e-05,1793255763274769152
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,738.520342695,718.520342695,680.479657305,645,912.479657305,799,840,658.479657305,634,659,0.454097975006,-0.00556025142821,0.0596992504684,0.999999886406,-8.76212351893e-05,-0.000464449547848,-6.16180443908e-05,1793255763291435776
+213,3.550000000,POSE1_TO_POSE2_PRESS,782.905184081,759.905184081,738.905184081,718.905184081,680,645,912.094815919,798.905184081,840,658,634,659,0.45428523768,-0.00556684099465,0.0597050149015,0.999999890978,-9.39324377362e-05,-0.000453207904104,-6.1824976309e-05,1793255763308102400
+214,3.566666667,POSE1_TO_POSE2_PRESS,782.32983791,759.32983791,738.32983791,718.32983791,680,645,912.67016209,798.32983791,840,658,634,659,0.454454929491,-0.00557017587398,0.0597182993839,0.999999899574,-9.7264543756e-05,-0.000433072179567,-6.19613364026e-05,1793255763324769024
+215,3.583333333,POSE1_TO_POSE2_PRESS,782.25067996,759.25067996,738.25067996,718,680,644.74932004,912.74932004,798,840,658.25067996,634,659,0.454604892399,-0.00557142160562,0.059724839859,0.999999904251,-9.78314435035e-05,-0.000421978076992,-6.21438760774e-05,1793255763341435648
+216,3.600000000,POSE1_TO_POSE2_PRESS,782.838145919,759.838145919,738.838145919,718,680,644.161854081,912.161854081,798,840,658.838145919,634,659,0.454728349713,-0.00556986058818,0.0597223198276,0.999999904094,-9.46833163249e-05,-0.000423031303824,-6.2388457573e-05,1793255763358102528
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,760,738.578949461,718,680,644.421050539,912,798,840,659,634,659,0.454832511682,-0.0055699554872,0.0597172018419,0.999999901128,-9.55124098898e-05,-0.000429702054943,-6.30644154073e-05,1793255763374769408
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,738,718,680,644.997810584,912,798.002189416,840,659,633.997810584,659,0.454929222666,-0.00557067128289,0.0597110890829,0.999999897021,-9.78438044127e-05,-0.000438521375481,-6.39032842816e-05,1793255763391436800
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,738,718,680,644.42478499,912,798.57521501,840,659,633.42478499,659,0.454996408976,-0.00556908630039,0.059703201097,0.999999891671,-9.75213099847e-05,-0.000450549154457,-6.44461886164e-05,1793255763408103424
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,759.851612971,738,718,679.851612971,644,912.148387029,798.851612971,840,659,633.148387029,659,0.455060531985,-0.00556744156326,0.0596967150084,0.999999887235,-9.73957383268e-05,-0.000460247512676,-6.49325561831e-05,1793255763424769792
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,759.27802147,738,718,679.27802147,644,912.72197853,798.27802147,840,659,633.72197853,659,0.455115877064,-0.0055656255989,0.0596942460714,0.999999885775,-9.7834450871e-05,-0.000463270891171,-6.52569170213e-05,1793255763441436160
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,759.306245876,738,718,679,644,913,798.306245876,840.306245876,659,634,659,0.455164402967,-0.00556533876917,0.0596930581483,0.99999988508,-9.80592386637e-05,-0.000464757207195,-6.49976481996e-05,1793255763458102528
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,759.900555289,738,718,679,644,913,798.900555289,840.900555289,659,634,659,0.455206514567,-0.00556649028654,0.0596930751829,0.999999885111,-9.8082802832e-05,-0.000464797719108,-6.418940084e-05,1793255763474769152
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,759.517033321,738,718,679,644,912.517033321,798.517033321,840.517033321,659,634,659.482966679,0.455235587028,-0.00556465820352,0.0596918395118,0.999999884677,-9.67270138256e-05,-0.000465989474495,-6.43765132963e-05,1793255763491435776
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+226,3.766666667,POSE1_TO_POSE2_PRESS,783,759.63379846,738,718.63379846,679,644,912,798,839.36620154,659,634,659.36620154,0.455277178267,-0.00556238969795,0.0596893857499,0.999999883481,-9.43142151207e-05,-0.00046903684333,-6.43997284201e-05,1793255763524769536
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,760,738,719,679.21215726,644,912.21215726,798,839.21215726,659,634,659,0.455290087786,-0.0055617257263,0.0596872654658,0.999999882117,-9.39389569961e-05,-0.000472001141347,-6.44764404515e-05,1793255763541436672
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,760,738,719,679.802357342,644,912.802357342,798,839.802357342,659,634,659,0.455297049818,-0.00556004084119,0.0596831799468,0.999999879465,-9.44335117591e-05,-0.00047738835205,-6.5207215404e-05,1793255763558103552
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,759.612597832,738,719,679.612597832,644,912.612597832,798,840,659,634,659,0.455302691439,-0.00556023250044,0.0596813833148,0.999999878339,-9.4575298775e-05,-0.000479724610031,-6.51238569658e-05,1793255763574769664
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+231,3.850000000,POSE1_TO_POSE2_PRESS,783,759.544150187,738,719,679,644,912,798,840.544150187,659,634,659,0.455308947775,-0.00556067905563,0.0596791993673,0.999999876956,-9.37368852759e-05,-0.000482876994012,-6.42789626876e-05,1793255763608102656
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+239,3.983333333,POSE1_TO_POSE2_PRESS,783,759.818635297,738.181364703,719,679,644,912,798,840,659,634,659,0.455318781751,-0.0055599109708,0.0596789719367,0.999999877052,-9.40940655823e-05,-0.000482720475065,-6.34325855638e-05,1793255763741435904
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,759.233083939,738.766916061,719,679,644,912,798,840,659,634,659,0.455316005587,-0.00555839346025,0.0596764982408,0.999999875056,-9.4424064474e-05,-0.000486719814972,-6.38504805883e-05,1793255763758102528
+241,4.016666667,POSE1_TO_POSE2_PRESS,782.649263039,759.350736961,738.649263039,719,679,644,912,798,840,659,634,659,0.455316352884,-0.00555744653528,0.0596761261238,0.999999874944,-9.41138951015e-05,-0.000486996909726,-6.39400132121e-05,1793255763774768896
+242,4.033333333,POSE1_TO_POSE2_PRESS,782.066586502,759.933413498,738.066586502,719,679,644,912,798,840,659,634,659,0.455318765702,-0.0055568769341,0.0596771437643,0.999999876082,-9.33803875083e-05,-0.000484812513056,-6.3812402362e-05,1793255763791435520
+243,4.050000000,POSE1_TO_POSE2_PRESS,782.508730618,759.491269382,738,718.491269382,679,644,912,798,840,659,633.491269382,659,0.455317933506,-0.00555688213473,0.0596760936817,0.999999875442,-9.34514246667e-05,-0.000486155286628,-6.35270609841e-05,1793255763808102400
+244,4.066666667,POSE1_TO_POSE2_PRESS,782.91685222,759,738,718,679,644,912,798,840,659,633,659,0.455316749114,-0.00555718369328,0.0596749108186,0.999999874584,-9.38751433355e-05,-0.000487872275066,-6.32475989322e-05,1793255763824769536
+245,4.083333333,POSE1_TO_POSE2_PRESS,782.34214228,759,738,718,679,644,912,798,840,659,633,659,0.455315957737,-0.00555879885657,0.0596745201484,0.999999873807,-9.57702077506e-05,-0.000489111199145,-6.31232057535e-05,1793255763841436416
+246,4.100000000,HOLD_POSE2,782,760,738,719,679,644,912,798,841,659,634,660,0.455318271425,-0.00555456285093,0.059676487653,0.999999875081,-9.13422566844e-05,-0.000487314049638,-6.340179059e-05,1793255763879462656
+247,4.116666667,HOLD_POSE2,782.575712748,760,738,719,679,644,912,798,840.424287252,659,634,659.424287252,0.455319707631,-0.0055551934432,0.0596762239089,0.999999875309,-9.22853728498e-05,-0.000486700846848,-6.31513861251e-05,1793255763896129536
+248,4.133333333,HOLD_POSE2,783,760,738,718.848920248,679,644,912,798.151079752,840,659,634,659,0.4553205335,-0.00555528044937,0.0596759766189,0.999999875448,-9.27070732643e-05,-0.000486356453679,-6.29808132849e-05,1793255763912796416
+249,4.150000000,HOLD_POSE2,783,760,738,718.274521868,679,644,912,798.725478132,840,659,634,659,0.455319649235,-0.00555384435204,0.0596757754322,0.999999875342,-9.16677905612e-05,-0.000486765252762,-6.30339249861e-05,1793255763929462784
+250,4.166666667,HOLD_POSE2,783,759.698315148,738,718.301684852,679,644,912,798.698315148,840,659,634,659,0.455319407718,-0.00555361630637,0.0596755787693,0.999999875175,-9.1436086156e-05,-0.000487147366869,-6.30567617433e-05,1793255763946129408
+251,4.183333333,HOLD_POSE2,783,759.120453019,738,718.879546981,679,644,912,798.120453019,840,659,634,659,0.455319754604,-0.00555449417119,0.0596753862478,0.999999874955,-9.19436790425e-05,-0.000487505052203,-6.30518833121e-05,1793255763962796032
+252,4.200000000,HOLD_POSE2,783,759.469537136,738,719,679,643.530462864,912,798,840,659,634,659,0.455319875493,-0.00555350205382,0.059675419399,0.999999875029,-9.13502089867e-05,-0.000487449846428,-6.31694670418e-05,1793255763979462656
+253,4.216666667,HOLD_POSE2,783,759.93909752,738,718.93909752,679,643.06090248,912,798,840,659,634,659,0.455319847989,-0.00555239163581,0.0596754546664,0.999999875067,-9.06422177778e-05,-0.000487486848196,-6.32943306875e-05,1793255763996129024
+254,4.233333333,HOLD_POSE2,783,759.363112727,738,718.363112727,679,643.636887273,912,798,840,659,634,659,0.455319068794,-0.00555444547029,0.0596750052202,0.999999874154,-9.14179255956e-05,-0.000489223275788,-6.32080193978e-05,1793255764012795648
+255,4.250000000,HOLD_POSE2,783,759.212143898,738,718.212143898,679,644,912,798,840,659,634,659.212143898,0.455318772154,-0.0055548262609,0.0596744724087,0.999999873684,-9.13920861792e-05,-0.000490184594358,-6.32312100589e-05,1793255764029462272
+256,4.266666667,HOLD_POSE2,783,759.786158374,738,718.786158374,679,644,912,798,840,659,634,659.786158374,0.455319298646,-0.00555235320844,0.0596737973944,0.999999873974,-8.9998984355e-05,-0.000489823748165,-6.34411868419e-05,1793255764046128896
+257,4.283333333,HOLD_POSE2,783,759.630954974,738,719,679,644,912,798,840,658.630954974,634,659.630954974,0.455319123468,-0.00555174300298,0.0596735145495,0.999999873874,-8.86927771851e-05,-0.000490283327989,-6.33023283697e-05,1793255764062795520
+258,4.300000000,HOLD_POSE2,783,759.042800681,738,719,679,644,912,798,840,658.042800681,634,659.042800681,0.455318531694,-0.00555223880608,0.0596734645431,0.999999873542,-8.74381609419e-05,-0.000491230010788,-6.2956359588e-05,1793255764079462144
+259,4.316666667,HOLD_POSE2,783,759.539056649,738.539056649,718.460943351,679,644,912,798,840,658.539056649,634,659,0.455319366978,-0.00555314419869,0.0596741008361,0.99999987391,-8.98891323187e-05,-0.000490069439877,-6.27081038177e-05,1793255764096129024
+260,4.333333333,HOLD_POSE2,783,759.880944167,738.880944167,718.119055833,679,644,912,798,840,659,634,659,0.455320025355,-0.00555379456356,0.0596746122311,0.999999874221,-9.19160296389e-05,-0.000489077226934,-6.25520749487e-05,1793255764112795648
+261,4.350000000,HOLD_POSE2,783,759.30616573,738.30616573,718.69383427,679,644,912,798,840,659,634,659,0.455319577864,-0.00555334568502,0.0596744393656,0.999999874136,-9.12064385578e-05,-0.000489362506954,-6.27197181716e-05,1793255764129462272
+262,4.366666667,HOLD_POSE2,783,759.26870062,738,719,679,644,912,798,840.26870062,659,634,659.26870062,0.455319634854,-0.0055518004175,0.0596740979076,0.999999874178,-8.88971975922e-05,-0.000489652076461,-6.31083705354e-05,1793255764146128896
+263,4.383333333,HOLD_POSE2,783,759.843667138,738,719,679,644,912,798,840.843667138,659,634,659.843667138,0.455320266854,-0.00554900548205,0.0596735642874,0.999999874352,-8.47646701859e-05,-0.000489946535115,-6.37489298736e-05,1793255764162795776
+264,4.400000000,POSE2_TO_POSE3_RETREAT,783,760,738,719,679,644,912,798,840,659,633,659,0.455321451457,-0.00555089779217,0.0596744957836,0.999999874417,-9.03456920389e-05,-0.000488890228035,-6.31619902576e-05,1793255764195425792
+265,4.416666667,POSE2_TO_POSE3_RETREAT,783,760,738,719,679,643.423123541,912,798,840,659,633,659,0.455320850743,-0.00555349271305,0.059674182705,0.999999873844,-9.38199729968e-05,-0.000489434307208,-6.29637021572e-05,1793255764212092416
+266,4.433333333,POSE2_TO_POSE3_RETREAT,783,760,738.152991664,718.847008336,679,643.152991664,912,798,840,659,633.152991664,659,0.455320500197,-0.00555498848118,0.0596739982541,0.999999873552,-9.55827865055e-05,-0.000489712859207,-6.27790499549e-05,1793255764228759040
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783,760,738.727012051,718.272987949,679,643.727012051,912,798,840,659,633.727012051,659,0.455320838106,-0.00555345941267,0.0596741677825,0.99999987406,-9.26356909114e-05,-0.000489260688081,-6.26319233142e-05,1793255764245425664
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783,760,739,718.310154106,679,644,912,798,840,659,634,659.310154106,0.455320735383,-0.0055520366431,0.0596737678653,0.999999873969,-9.10637362792e-05,-0.000489722326566,-6.27741894761e-05,1793255764262092288
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,760,739,718.901568011,679,644,912,798,840,659,634,659.901568011,0.455320233077,-0.00555071026964,0.0596728515528,0.999999873341,-9.07388130952e-05,-0.000491012643148,-6.31788882882e-05,1793255764278758912
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,759.518475729,738.518475729,719,679,644,912,798,840,659,633.518475729,660,0.455319755877,-0.00555086684892,0.0596729961614,0.999999873194,-9.07426682459e-05,-0.000491298031732,-6.32769593887e-05,1793255764295425792
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,759.058931183,738,718.941068817,679,644,912,798,840,659,633.058931183,659.941068817,0.455319030737,-0.00555136209462,0.0596731438104,0.999999873044,-9.10059849515e-05,-0.000491554435583,-6.32838635736e-05,1793255764312092416
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,759.634046384,738,718.365953616,679,644,912,798,840,659,633.634046384,659.365953616,0.455316089955,-0.00555223021855,0.059671462648,0.999999872013,-9.29669508825e-05,-0.000493314476642,-6.30284886178e-05,1793255764328759040
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,759.785960942,738,718.214039058,679,644,912.214039058,798,840,659,634,659.214039058,0.455310235361,-0.00555245904607,0.0596685655957,0.999999870012,-9.34613687558e-05,-0.000497263726874,-6.3005589976e-05,1793255764345425664
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,759.1974346,738,718.8025654,679,644,912.8025654,798,840,659,634,659.8025654,0.455299282701,-0.00555156934689,0.059663541197,0.99999986628,-9.1389882769e-05,-0.0005050432638,-6.33894368589e-05,1793255764362092288
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,759.38493118,738,718.61506882,679,644,912.61506882,798,840,659,633.61506882,659.61506882,0.455268580379,-0.00555053432788,0.059650553001,0.999999855077,-9.07927360407e-05,-0.000526797943353,-6.39204659699e-05,1793255764378758912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,759.964186978,738,718.035813022,679,644,912.035813022,798,840,659,633.035813022,659.035813022,0.455227907843,-0.00554942594705,0.0596335444448,0.999999839433,-9.09398790295e-05,-0.000555607687654,-6.4525797005e-05,1793255764395425536
+277,4.616666667,POSE2_TO_POSE3_RETREAT,782.458004771,760,738,718,679,644,912,798,840,659,633.541995229,659.541995229,0.455169920546,-0.00554779239312,0.0596146142684,0.999999824865,-8.96352042248e-05,-0.000581351174177,-6.5313967104e-05,1793255764412092416
+278,4.633333333,POSE2_TO_POSE3_RETREAT,782.119352676,760,738,718.119352676,679,644,912,798,840,659,634,659.880647324,0.455107976243,-0.00554581070718,0.0595971131983,0.99999981124,-8.7980390603e-05,-0.000604492580097,-6.60939207551e-05,1793255764428758784
+279,4.650000000,POSE2_TO_POSE3_RETREAT,782.695350481,760,738,718.695350481,679,644,912,798,840,659,634,659.304649519,0.455035258025,-0.00554262947721,0.0595855644133,0.999999802885,-8.53519950295e-05,-0.000618451507191,-6.67963383118e-05,1793255764445425664
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,759.724255242,738,719,679,644,912,798,840,659,634,659,0.454956199657,-0.00553952612347,0.0595774589395,0.999999796445,-8.29401625386e-05,-0.000629071694013,-6.70744159576e-05,1793255764462092544
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,759.138924973,738,719,679,644,912,798,840,659,634,659,0.45487002305,-0.00553651020351,0.0595732193575,0.99999979229,-8.07714709869e-05,-0.000635943393169,-6.6876076577e-05,1793255764478759168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,759.441857193,738,719,679,644,912,798,840,659,633.558142807,659,0.454765618339,-0.00553129877774,0.0595729129742,0.999999791405,-7.63426102661e-05,-0.000637923934125,-6.64453453904e-05,1793255764495425792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,738,719,679,644,912,798,840,658.978830617,633.021169383,659.021169383,0.454654591132,-0.00552553107856,0.0595738412259,0.999999791546,-7.12781386833e-05,-0.000638345021426,-6.59065026403e-05,1793255764512092416
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,760,738,719,679,644,912,798,840,658.40095322,633.59904678,659.59904678,0.454518587242,-0.00552310282607,0.0595750480103,0.999999792228,-6.79959249183e-05,-0.000637785588219,-6.44264792244e-05,1793255764528759040
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,738,719,679,644,912,798,840,658.176219082,634,660,0.454373202007,-0.00551992934065,0.0595760213765,0.999999792089,-6.44746037608e-05,-0.000638514370867,-6.29677736173e-05,1793255764545425664
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,760,738,719,679,644,912,798,840,658.751793392,634,660,0.454206556385,-0.0055150669768,0.0595764657605,0.999999790094,-6.04114076406e-05,-0.000642162563521,-6.15573795426e-05,1793255764562092288
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,760,738.335087389,719,679,644,912,798,840,659,633.664912611,660,0.454024554815,-0.00550895136933,0.059577240069,0.999999789451,-5.57864640743e-05,-0.000643671622172,-6.05992522481e-05,1793255764578758912
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,738.924234431,719,679,644,912,798,840,659,633.075765569,660,0.453830910515,-0.00550188556553,0.0595782645228,0.99999978983,-5.07356092093e-05,-0.000643558812817,-5.99840286113e-05,1793255764595425792
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,760,738.49521542,719,679,644,912,798,840,659,633.50478458,659.49521542,0.453588819336,-0.00549415126927,0.0595702494666,0.999999781583,-4.58672658002e-05,-0.000656684359912,-5.91293953546e-05,1793255764612092416
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,760,738,719,679.083431962,644.083431962,912,798.083431962,840,659,634,659.083431962,0.453337060809,-0.00548635585971,0.0595621340668,0.999999773303,-4.06236289779e-05,-0.000669602257783,-5.81125021497e-05,1793255764628759040
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,760,738,719,679.658344667,644.658344667,912,798.658344667,840,659,634,659.658344667,0.453070472167,-0.0054787816096,0.0595612862587,0.99999977356,-3.30105425672e-05,-0.000669787884378,-5.63479043232e-05,1793255764645425664
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.761639745,738,719,680,644.761639745,912,799,840,659,634,659.761639745,0.452800119486,-0.00547228076895,0.0595668762631,0.999999781468,-2.68269573653e-05,-0.000658330293933,-5.42729958668e-05,1793255764662092544
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,759.17414993,738,719,680,644.17414993,912,799,840,659,634,659.17414993,0.452524253581,-0.00546735216643,0.0595818958206,0.999999800067,-2.27371827884e-05,-0.000629818722176,-5.17435712186e-05,1793255764678759168
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,759.407832689,738.407832689,719,680,644.407832689,912,799,840,659,634,659.407832689,0.452207238514,-0.00546089601708,0.0595944758856,0.999999812591,-1.42063250454e-05,-0.000610126386905,-4.8606642901e-05,1793255764695425792
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,759.98749498,738.98749498,719,680,644.98749498,912,799,840,659,634,659.98749498,0.451872886334,-0.00545379627609,0.0596060281342,0.999999822464,-3.80433354001e-06,-0.000594149806194,-4.5213758912e-05,1793255764712092416
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,760,738.435312355,719,680,645,912,799,840,659,634,660,0.451474913122,-0.0054471834792,0.0596111999307,0.999999826759,2.66156730739e-06,-0.000587062395788,-4.27989538693e-05,1793255764728759040
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,760,738,718.859289051,680,645,912,799,839.859289051,659,634,659.859289051,0.451066089966,-0.00544099991398,0.0596132901743,0.99999982833,8.95219872943e-06,-0.000584486613161,-4.04365892706e-05,1793255764745425920
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,760,738,718.286687893,680,645,912,799,839.286687893,659,634,659.286687893,0.450628270217,-0.00543610085561,0.0596063538682,0.999999822054,1.49712406663e-05,-0.000595156994556,-3.81689916554e-05,1793255764762093056
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,760,737.704489914,718.295510086,680.295510086,645.295510086,912,799,839.295510086,659,634.295510086,659.295510086,0.450169248718,-0.00543736006129,0.0595978503001,0.999999814033,1.48723574733e-05,-0.000608625780148,-3.58819004499e-05,1793255764778759680
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,760,737.112669044,718.887330956,680.887330956,645.887330956,912,799,839.887330956,659,634.887330956,659.887330956,0.449688967969,-0.00544479421655,0.0595877752226,0.999999804149,8.63897307382e-06,-0.000624900553552,-3.35752625588e-05,1793255764795426048
+301,5.016666667,POSE2_TO_POSE3_RETREAT,782.531278716,759.531278716,737.468721284,719,681.468721284,646,912,799,839.531278716,659,634.531278716,660,0.449168668036,-0.00545497350721,0.0595803368533,0.999999799506,-8.02032172275e-07,-0.000632560255806,-2.92243602803e-05,1793255764812092672
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782,759,738,719,682,646,912,799,839,659,634.047361455,659.952638545,0.448636626703,-0.00546398347291,0.059575255682,0.999999797151,-8.9898630016e-06,-0.000636409318486,-2.44984487438e-05,1793255764828759552
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782,759,738,719,682,646,912,799,839,659,634.622685759,659.377314241,0.448078598079,-0.00545276266276,0.0595895399297,0.999999807343,5.20008989696e-06,-0.000620361523624,-2.09506544857e-05,1793255764845426176
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782.197557748,759,738,718.802442252,682,646.197557748,912,799.197557748,839,658.802442252,634.802442252,659,0.447522911184,-0.00544317139875,0.0596132323989,0.999999827291,1.9749932736e-05,-0.00058716272318,-1.63387311238e-05,1793255764862093056
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782.7715678,759,738,718.2284322,682,646.7715678,912,799.7715678,839,658.2284322,634.2284322,659,0.446971686554,-0.0054366852852,0.05965485252,0.999999863473,3.49855559264e-05,-0.000521282158859,-9.69907751981e-06,1793255764878759424
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782.642626885,759,737.642626885,718,682.357373115,647.357373115,912,800,839,658,634.357373115,659,0.446374111644,-0.00543260139067,0.0596789307981,0.999999875127,9.54245119543e-05,-0.000490533470203,-4.05354914508e-06,1793255764895426048
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782.049024745,759,737.049024745,718,682.950975255,647.950975255,912,800,839,658,634.950975255,659,0.44574589852,-0.00543010539944,0.0596914136513,0.999999866101,0.000185743552284,-0.000483007482153,9.34847196016e-07,1793255764912092672
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782,759,737,718,683,648,912,800,839,658.529791735,635,659,0.445037779093,-0.00542700312945,0.0596683653288,0.999999850385,0.000187258207466,-0.000513959667527,2.96966234143e-06,1793255764928759296
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782,759,737,718,683.106905523,648,912,800.106905523,839,659,635,659,0.444326244104,-0.00542539295173,0.059651108674,0.999999841167,0.000179564254864,-0.000534222616582,5.43146992159e-06,1793255764945425920
+310,5.166666667,POSE2_TO_POSE3_RETREAT,782,759,737,718,683.68239022,648,912,800.68239022,839,659,635,659,0.443631268208,-0.00543056201401,0.0596732575756,0.999999864817,0.000166548636837,-0.000492450566925,1.09302673208e-05,1793255764962092800
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782.263821986,759,737,718,684,648.263821986,912,800.736178014,839,659,635,659,0.442938460217,-0.00543290110282,0.0597058460047,0.999999890903,0.000160155955814,-0.000438478759238,1.67757651377e-05,1793255764978759680
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782.852578494,759,737,718,684,648.852578494,912,800.147421506,839,659,635,659,0.442248322216,-0.0054317546751,0.0597512922084,0.999999918367,0.000161920367285,-0.000369481197797,2.30482748278e-05,1793255764995426560
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,759,737.43443179,718,684.43443179,649,912,800.43443179,839,658.56556821,635,659,0.441480038474,-0.00542742008545,0.0597676495916,0.999999922296,0.000167744611125,-0.000355602555173,2.85600393239e-05,1793255765012093184
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782.986131704,759,737.986131704,718,685,649,911.986131704,801,839,658.013868296,635,659,0.440684934134,-0.00542207374421,0.0597742414184,0.999999919174,0.000175911470737,-0.000359950814086,3.37901392847e-05,1793255765028759552
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782.411179452,759,737.411179452,718,685,649,911.411179452,801,839,658.588820548,635,659,0.439860813175,-0.00541888005266,0.0597788564364,0.999999910534,0.000223989707645,-0.000356823738011,3.79056842571e-05,1793255765045425920
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782.167268878,759,737,718,685,649.167268878,911.167268878,801,839.167268878,659,635,659,0.439036447528,-0.00541707206963,0.0597892101359,0.999999907338,0.000257784317404,-0.0003421745927,4.22912050494e-05,1793255765062092544
+317,5.283333333,POSE2_TO_POSE3_RETREAT,782.754494673,759,737,718,685,649.754494673,911.754494673,801,839.754494673,659,635,659,0.438211467604,-0.00541874314333,0.0598139717689,0.999999921603,0.000255717454229,-0.000298597338027,4.73545458657e-05,1793255765078759168
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783,759,737,718.337055084,685,649.662944916,911.662944916,801,839.662944916,659,635.337055084,659,0.437321574463,-0.00541749183077,0.0597979639151,0.999999926342,0.000196810553761,-0.000327921987773,3.23820547564e-05,1793255765095425792
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,759,737,718.916263677,685,649.083736323,911.083736323,801,839.083736323,659,635.916263677,659,0.436385045172,-0.00541414096197,0.0597526656721,0.999999911389,9.70675528622e-05,-0.000409622204435,3.01504051746e-06,1793255765112092416
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,759,737,718.505111728,685,649,911.494888272,801,839,659,635.505111728,659,0.435501277773,-0.00541742890811,0.0597346916971,0.999999911316,9.12615182872e-05,-0.000411134025931,2.86659117478e-06,1793255765128759552
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,649.072852745,912,801,839,658.927147255,635,659,0.434624164703,-0.00542110966255,0.0597259074013,0.999999915836,0.000105302217795,-0.000396456087361,7.86794456877e-06,1793255765145426688
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,649.64695416,912,801,839,658.35304584,635,659,0.433731484748,-0.00541977349586,0.0597485784267,0.999999923029,0.000146665270812,-0.000363630143504,1.43263795164e-05,1793255765162093312
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,650,912,801,839,658.226423967,635,659,0.432826147681,-0.00541744721392,0.0597661387987,0.999999926757,0.000170123259361,-0.000342266332492,1.99539038888e-05,1793255765178759680
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,650,912,801,839,658.814467674,635,659,0.431900595916,-0.00541353962735,0.0597755369943,0.999999928565,0.000164985232782,-0.000339208589947,2.42543892983e-05,1793255765195426048
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782.603315752,759.396684248,737,718,685,650.396684248,912.396684248,801,839,658.603315752,635,659,0.430999515042,-0.00541220335785,0.0597972536403,0.999999941228,0.000164183819976,-0.000299885241937,2.56239096659e-05,1793255765212092672
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782.023785154,759.976214846,737,718,685,650.976214846,912.976214846,801,839,658.023785154,635,659,0.430109713756,-0.00541205230313,0.0598246483123,0.999999956265,0.000165381311731,-0.000243845742794,2.56424401909e-05,1793255765228759296
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782.553347791,759.446652209,736.446652209,718,685,650.446652209,913,801,839,658.553347791,635,659,0.429125215963,-0.00540985044859,0.0597986185547,0.999999935246,0.000178229481651,-0.000311578440175,2.57071976975e-05,1793255765245425920
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782.870600769,759,736,718,685.129399231,650.129399231,913,801,839,659,635,659,0.428149023708,-0.00540814226893,0.0597699015044,0.999999913015,0.000184963728045,-0.000372999362344,2.51024990789e-05,1793255765262092544
+329,5.483333333,POSE2_TO_POSE3_RETREAT,782.29790286,759,736,718,685.70209714,650.70209714,913,801,839,659,635,659,0.427215169249,-0.00540842602078,0.0597398113887,0.999999907591,0.000169044536686,-0.000394649724471,2.21975857882e-05,1793255765278759424
+330,5.500000000,POSE2_TO_POSE3_RETREAT,782.284523812,759.284523812,736.284523812,718.284523812,686,650.715476188,913,800.715476188,838.715476188,658.715476188,635,659,0.426289332137,-0.00540779926312,0.0597390905667,0.999999910686,0.000168214636432,-0.000387100836624,2.20143406045e-05,1793255765295426560
+331,5.516666667,POSE2_TO_POSE3_RETREAT,782.877497311,759.877497311,736.877497311,718.877497311,686,650.122502689,913,800.122502689,838.122502689,658.122502689,635,659,0.425372186619,-0.00540618543036,0.0597702087321,0.999999922296,0.000183742900905,-0.000347897304674,2.47816313361e-05,1793255765312093184
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,760,737,719,686,650,913,800.459417609,838.459417609,658.459417609,635,659,0.424458652274,-0.00540432336417,0.0597977455755,0.999999932618,0.000181427758984,-0.000317930571447,2.77248726065e-05,1793255765328759552
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,759.961812727,736.961812727,719,686,650.038187273,913,801,838.961812727,659,635,659,0.423549123955,-0.00540274049124,0.0598236996222,0.999999941982,0.000176407766979,-0.000289797747029,3.05621276694e-05,1793255765345425664
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,759.386874795,736.386874795,719,686,650.613125205,913,801,838.386874795,659,635,659,0.422682687814,-0.00540599039469,0.0598405134589,0.99999994761,0.000198673825174,-0.000253636334678,3.1265706454e-05,1793255765362092544
+335,5.583333333,POSE2_TO_POSE3_RETREAT,782.812497962,759,736.187502038,719.187502038,686,651,913,801,838.187502038,659,635,659,0.421784680959,-0.00540618012818,0.0598380438117,0.999999944961,0.000209359728988,-0.000255486574626,3.12055247428e-05,1793255765378759424
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782.239275291,759,736.760724709,719.760724709,686,651,913,801,838.760724709,659,635,659,0.42082172811,-0.00540007462029,0.0597959050649,0.99999992402,0.000196223471553,-0.000335532643838,2.95741698883e-05,1793255765395426048
+337,5.616666667,POSE2_TO_POSE3_RETREAT,782.345677076,759.345677076,737,719.654322924,686,651,913,800.654322924,839,659,635,659,0.419887712602,-0.00539670377165,0.0597515807911,0.999999900902,0.000184543605549,-0.000404286923036,2.628942013e-05,1793255765412092672
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782.939033804,759.939033804,737,719.060966196,686,651,913,800.060966196,839,659,635,659,0.418974430925,-0.00539529232273,0.059705690577,0.999999876551,0.000173907253413,-0.000464950563694,2.18200033441e-05,1793255765428759808
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,760,736.480864432,719,686,651,913.519135568,800.519135568,838.480864432,659,635,659.519135568,0.418148355905,-0.00539778849702,0.0597285229889,0.999999893958,0.00018589843368,-0.000420690232529,2.33588273334e-05,1793255765445426432
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,760,736.096958973,719.096958973,686,651,913.903041027,801,838.096958973,659,635,659.903041027,0.417338093394,-0.00540027518553,0.0597610698116,0.999999913792,0.000196328528609,-0.000364974217458,2.5797913853e-05,1793255765462093312
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,760,736.671040144,719.671040144,686,651,913.328959856,801,838.671040144,659,635,659.328959856,0.416556500477,-0.00540051321733,0.0598026941789,0.999999933537,0.000186325927627,-0.000312011851979,2.92813785512e-05,1793255765478759680
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,759.749582437,736.749582437,720,686,651,913,800.749582437,839,659,635,659,0.415769391824,-0.00539935756236,0.0598276705977,0.999999941628,0.000187129601922,-0.000284147400546,3.14001080314e-05,1793255765495426048
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,759.163097348,736.163097348,720,686,651,913,800.163097348,839,659,635,659,0.414974880957,-0.00539633153988,0.0598303049904,0.999999936968,0.00020243560785,-0.000289965072275,3.16873236469e-05,1793255765512092672
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,759.420466137,736.420466137,720,686.420466137,651,913.420466137,800.420466137,839,659,635.420466137,659,0.414203797975,-0.00539668637751,0.0598334741561,0.999999938823,0.000202190318241,-0.000283638570433,3.1987393965e-05,1793255765528759552
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782.997139231,760,736.997139231,719.997139231,686.997139231,651,914,801,839,659,635.997139231,659,0.413441572165,-0.0053983172247,0.0598366090455,0.999999942973,0.000196043514182,-0.000273090675655,3.22790669846e-05,1793255765545426176
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782.423413444,760,736.423413444,719.423413444,686.423413444,651,914,801,839,659,635.423413444,659,0.412645891716,-0.00539468697482,0.0597917958109,0.999999915436,0.000207687203773,-0.000353693864166,2.99069120229e-05,1793255765562092800
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782.150281637,759.849718363,736,719.150281637,686,651,913.849718363,800.849718363,838.849718363,659,635,659,0.411878293803,-0.00539097636168,0.0597530190636,0.999999888628,0.000214820118231,-0.000419334048454,2.74777751377e-05,1793255765578759680
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,759.306950797,736,720,686,651.306950797,913.306950797,800.306950797,838,659,635.306950797,659,0.410540547439,-0.00538516052708,0.059743642601,0.999999889776,0.000213489779987,-0.000417405364092,2.53397245333e-05,1793255765612093184
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,759.898783379,736,720,686,651.898783379,913.898783379,800.898783379,838,659,635.898783379,659,0.409927711489,-0.00538519184848,0.0597877509078,0.999999913799,0.000226843649325,-0.000346591414562,2.86139117212e-05,1793255765628759808
+351,5.850000000,POSE2_TO_POSE3_RETREAT,782.518459452,760,736.481540548,720.481540548,686,651.518459452,914,801,838,659,635.518459452,659,0.40933634199,-0.00538730297579,0.0598238963827,0.999999930481,0.000230529017713,-0.000291394662091,3.13731585012e-05,1793255765645426176
+352,5.866666667,POSE2_TO_POSE3_RETREAT,782,759.938507142,736.938507142,720.938507142,686,651,914,801,838,659,635,659,0.408750397117,-0.00538953098919,0.0598539173962,0.999999942418,0.000231265245485,-0.000246065808368,3.3634217292e-05,1793255765662092544
+353,5.883333333,POSE2_TO_POSE3_RETREAT,782,759.366299921,736.366299921,720.366299921,686,651,914,801,838,659,635,659,0.408172724145,-0.00538916619354,0.0598467168136,0.999999941612,0.000224074280236,-0.000255933650863,3.26400029615e-05,1793255765678759168
+354,5.900000000,POSE2_TO_POSE3_RETREAT,782,759,736,720,686,651.211838468,914,800.788161532,838,659,635,659,0.407609609447,-0.00538879309708,0.0598351173912,0.999999937477,0.000222323811778,-0.000273143209852,3.17962686371e-05,1793255765695426048
+355,5.916666667,POSE2_TO_POSE3_RETREAT,782,759,736,720,686,651.800528076,914,800.199471924,838,659,635,659,0.407072393326,-0.00538840523387,0.0598156926306,0.999999926975,0.000230251743965,-0.000303413352291,3.12202315914e-05,1793255765712092672
+356,5.933333333,POSE2_TO_POSE3_RETREAT,782,759,736,720,686,652,914,800,838,659,635,659,0.40656840623,-0.00538607305064,0.0598137022314,0.999999926002,0.000235050014305,-0.000302975108243,3.08813626298e-05,1793255765728759808
+357,5.950000000,POSE2_TO_POSE3_RETREAT,782,759,736,720,686,652,914,800,838,659,635,659,0.406081448781,-0.00538274441377,0.0598206468473,0.999999930023,0.000238244350461,-0.000286798983432,3.06640409916e-05,1793255765745426944
+358,5.966666667,POSE2_TO_POSE3_RETREAT,782,759,736,720.542383268,686,651.457616732,914,800,838,659,635,659,0.405641073438,-0.00537781039612,0.0598238776582,0.999999931281,0.000239208515695,-0.000281606287807,3.02635348415e-05,1793255765762093312
+359,5.983333333,POSE2_TO_POSE3_RETREAT,782.113756874,759,736,721,686,651,914,800,838,659,635,659,0.40520610599,-0.0053730653493,0.0598219557761,0.999999930169,0.000240809983858,-0.000284224971712,2.98063083162e-05,1793255765778759680
+360,6.000000000,POSE2_TO_POSE3_RETREAT,782.665388811,759,736,721,686,651,914,800,838,659,635,659,0.404780675251,-0.00536943641592,0.0598010993091,0.999999920086,0.000245404581056,-0.00031425184743,2.91751085983e-05,1793255765795426560
+361,6.016666667,POSE2_TO_POSE3_RETREAT,782.758734664,759,736,721,686,651,914,800.241265336,838,659,635,659,0.404374520248,-0.00536601289001,0.0597797820217,0.999999907602,0.0002516414664,-0.000347338023851,2.87925567453e-05,1793255765812093184
+362,6.033333333,POSE2_TO_POSE3_RETREAT,782.145476912,759,736,721,686,651,914,800.854523088,838,659,635,659,0.40399808536,-0.00536290606966,0.0597577542246,0.999999891512,0.000260410496168,-0.000385141149052,2.87933800252e-05,1793255765828760064
+363,6.050000000,POSE2_TO_POSE3_RETREAT,782.443210021,759,736,721,686,651.443210021,914,800.556789979,838,659,635,659,0.403677562431,-0.00536193051809,0.0597606518847,0.999999895114,0.000262456467341,-0.000374162472365,2.98632101483e-05,1793255765845426688
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,759,736,721,686,651.975668409,914,800.024331591,838,659.024331591,635,659,0.403377132529,-0.00536178432711,0.0597718171503,0.999999904711,0.000262244392372,-0.000347599124056,3.13160378922e-05,1793255765862093056
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,759,736,721,686,651.392801847,914,800.607198153,838,659.607198153,635,659,0.403138790616,-0.00536546129887,0.0597948259919,0.999999917565,0.000258193829455,-0.000311536089298,3.39290920915e-05,1793255765878759936
+366,6.100000000,POSE2_TO_POSE3_RETREAT,782.815126792,759,736,720.815126792,686.184873208,651.184873208,914,800.815126792,838,659.815126792,635,659,0.40290369465,-0.00536878040597,0.0598156709004,0.999999928119,0.000254016884599,-0.000279144272096,3.62625180788e-05,1793255765895426560
+367,6.116666667,POSE2_TO_POSE3_RETREAT,782.248180963,759,736,720.248180963,686.751819037,651.751819037,914,800.248180963,838,659.248180963,635,659,0.402675307027,-0.00537135992305,0.0598320436622,0.999999935788,0.000249578750481,-0.000254339669253,3.80180434934e-05,1793255765912092928
+368,6.133333333,POSE2_TO_POSE3_RETREAT,782,759.333271522,736,720.333271522,687,651.666728478,913.666728478,800,838,659,635,659.333271522,0.402456133658,-0.00537478964372,0.0598363354964,0.999999938143,0.000243572407067,-0.000250745864292,3.8891946665e-05,1793255765928759552
+369,6.150000000,POSE2_TO_POSE3_RETREAT,782,759.926018525,736,720.926018525,687,651.073981475,913.073981475,800,838,659,635,659.926018525,0.402244134214,-0.00537888130836,0.0598312214746,0.999999936547,0.00023634510123,-0.000263666165005,3.90794446795e-05,1793255765945425920
+370,6.166666667,POSE2_TO_POSE3_RETREAT,782,759.493270685,736,720.493270685,686.493270685,651,913,800,838,659,635.506729315,659.493270685,0.402051950603,-0.00537910093707,0.0598230606673,0.999999941362,0.00019431429569,-0.000280865140592,2.51601381805e-05,1793255765962092544
+371,6.183333333,POSE2_TO_POSE3_RETREAT,782,759,736,720,686,651,913.084926733,800,838,659,635.915073267,659,0.40187000448,-0.0053797594366,0.0598159469071,0.999999942822,0.000162507989465,-0.000296316979437,1.19776919713e-05,1793255765978759168
+372,6.200000000,POSE2_TO_POSE3_RETREAT,782,759,736,720,686,651,913.658538983,800,838,659,635.341461017,659,0.401730705772,-0.00538612071941,0.0598173582876,0.999999931647,0.000218095601056,-0.000298204328054,1.46114700534e-05,1793255765995426048
+373,6.216666667,POSE2_TO_POSE3_RETREAT,782,759,736,720,686,651,914,800,838,659,635,658.761966037,0.401603471863,-0.005388050041,0.0598186985215,0.999999923495,0.00025274108823,-0.000298087382654,1.65801985939e-05,1793255766012092928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,782,759,736,720,686,651,914,800,838,659,635,658.173818442,0.40149398354,-0.00538346058641,0.0598199341087,0.999999923409,0.000256583728028,-0.00029502241077,1.75707350647e-05,1793255766028759808
+375,6.250000000,POSE2_TO_POSE3_RETREAT,782,759,736,720.408801852,686.408801852,651.408801852,913.591198148,800,838,659.408801852,635,658.408801852,0.401401649433,-0.00538026924331,0.0598243071894,0.999999924624,0.000258721147583,-0.000288901929018,1.87142399498e-05,1793255766045426176
+376,6.266666667,POSE2_TO_POSE3_RETREAT,782,759,736,720.989103331,686.989103331,651.989103331,913.010896669,800,838,659.989103331,635,658.989103331,0.401316511825,-0.0053776644329,0.0598299965041,0.999999926343,0.000260143196899,-0.00028149960676,1.99219177713e-05,1793255766062092800
+377,6.283333333,POSE2_TO_POSE3_RETREAT,782,759,736,721,686.432892212,651.432892212,913.567107788,800.567107788,838,659.432892212,635,659,0.401244904541,-0.0053787607245,0.0598273683716,0.999999925726,0.000258901130975,-0.000284753048095,2.08542468016e-05,1793255766078759424
+378,6.300000000,POSE2_TO_POSE3_RETREAT,782.143304973,759,736,721,686,651.143304973,914,800.856695027,837.856695027,659,635,659,0.401177930452,-0.00537921510259,0.059824463306,0.999999924848,0.00025775242813,-0.000288800679475,2.14766227236e-05,1793255766095426304
+379,6.316666667,POSE2_TO_POSE3_RETREAT,782.714240222,759,736,721,686,651.714240222,914,800.285759778,837.285759778,659,635,659,0.401124009442,-0.00537754261946,0.0598212068304,0.999999923345,0.000257034462607,-0.000294609713643,2.1189804584e-05,1793255766112092672
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,759.296125021,736,721,686,651.703874979,914,800,837.296125021,659,635.296125021,659,0.401079415875,-0.00537633609387,0.0598188939209,0.999999922005,0.000256935607805,-0.000299203013841,2.12360720074e-05,1793255766128759296
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,759.888981877,736,721,686,651.111018123,914,800,837.888981877,659,635.888981877,659,0.401044168858,-0.00537559648047,0.0598175265104,0.999999920848,0.000257457132311,-0.00030257808952,2.16161075112e-05,1793255766145425920
+382,6.366666667,POSE2_TO_POSE3_RETREAT,782.529573818,760,736,721,686,651.470426182,914,800,838,659,635.529573818,659,0.401019553367,-0.00537542537725,0.0598183090701,0.999999921302,0.000257460086057,-0.000301033489013,2.21179480055e-05,1793255766162092800
+383,6.383333333,POSE2_TO_POSE3_RETREAT,782,759.950926374,736,721,686,651.950926374,914,800,838,659,635,659,0.400998326305,-0.00537531043103,0.0598197013999,0.999999922087,0.000257510402003,-0.000298335566721,2.2610298456e-05,1793255766178759424
+384,6.400000000,POSE2_TO_POSE3_RETREAT,782,759.374078347,736,721,686,651.374078347,914,800,838,659,635,659,0.400987196536,-0.00537439070006,0.0598223241373,0.999999922472,0.000259355078165,-0.000295424665514,2.26987597222e-05,1793255766195426048
+385,6.416666667,POSE2_TO_POSE3_RETREAT,782,759,736.205868006,721,686,651,914,800,838,659,635.205868006,659,0.400978244941,-0.00537407088283,0.0598243327435,0.999999923231,0.000259815780672,-0.00029242662479,2.28066265331e-05,1793255766212092672
+386,6.433333333,POSE2_TO_POSE3_RETREAT,782,759,736.791530248,721,686,651,914,800,838,659,635.791530248,659,0.400973311736,-0.00537485781255,0.059825208374,0.999999924688,0.000257723268368,-0.000289267825477,2.295029353e-05,1793255766228759040
+387,6.450000000,POSE2_TO_POSE3_RETREAT,782,759,736.626920422,721,686,651.373079578,914,800,838,659,635.626920422,659,0.400969570096,-0.00537481661136,0.0598265083707,0.999999925537,0.000257148428809,-0.000286853069379,2.27200749316e-05,1793255766245425664
+388,6.466666667,POSE2_TO_POSE3_RETREAT,782,759,736.047644269,721,686,651.952355731,914,800,838,659,635.047644269,659,0.40096648702,-0.00537431771218,0.0598280429093,0.999999926052,0.000257412388707,-0.00028484953708,2.22832142776e-05,1793255766262092544
+389,6.483333333,POSE2_TO_POSE3_RETREAT,782,759.529789965,736,721,686,651.470210035,914,800,838,659,635,659,0.400963632798,-0.00537474898418,0.0598276304932,0.999999925903,0.000256699946978,-0.000285993958113,2.25286265722e-05,1793255766278759168
+390,6.500000000,POSE2_TO_POSE3_RETREAT,782,759.893510795,736,721,686,651,914,800,838,659,635,659,0.400961042217,-0.00537501167028,0.0598271205893,0.999999925731,0.000256012174258,-0.000287194202598,2.27026710601e-05,1793255766295426048
+391,6.516666667,POSE2_TO_POSE3_RETREAT,782,759.319314857,736,721,686,651,914,800,838,659,635,659,0.400959519488,-0.00537416779124,0.0598269488571,0.999999925731,0.000255817072318,-0.000287400556121,2.22947135134e-05,1793255766312093184
+392,6.533333333,POSE2_TO_POSE3_RETREAT,782,759,736,721,686.262502223,651.262502223,914,800,838,659,635,659,0.400958862778,-0.0053742915066,0.0598274657183,0.999999925706,0.000256331620672,-0.000287020578433,2.23738409847e-05,1793255766328759808
+393,6.550000000,POSE2_TO_POSE3_RETREAT,782,759,736,721,686.853867143,651.853867143,914,800,838,659,635,659,0.400959291016,-0.00537562742379,0.059828845249,0.999999925649,0.000257735218652,-0.000285906045227,2.30631883493e-05,1793255766345425920
+394,6.566666667,POSE2_TO_POSE3_RETREAT,782.43614013,759,736,721,686.56385987,651.56385987,914,800,838,659,635,659,0.400959945022,-0.00537637408501,0.0598295557175,0.999999926439,0.000256233944824,-0.000284481666372,2.31533050216e-05,1793255766362092544
+395,6.583333333,POSE2_TO_POSE3_RETREAT,782.984695786,759,736,721,686.015304214,651.015304214,914,800,838,659,635,659,0.400960662951,-0.00537689395873,0.0598300509593,0.999999927462,0.000253913355508,-0.000282969462577,2.30506254746e-05,1793255766378759168
+396,6.600000000,POSE2_TO_POSE3_RETREAT,782.410090304,759,736,721,686.589909696,651.589909696,914,800,838,659,635,659,0.400961008917,-0.00537619381432,0.0598307059491,0.999999927087,0.000256494020113,-0.000281964206665,2.30898027469e-05,1793255766395425792
+397,6.616666667,POSE2_TO_POSE3_RETREAT,782,759,736,721,686.831975462,652,914,800,838,659,635,659,0.400961669735,-0.00537560670286,0.059831658866,0.999999927079,0.00025821298041,-0.000280411911391,2.31947481205e-05,1793255766412092416
+398,6.633333333,POSE2_TO_POSE3_RETREAT,782,759,736,721,686.245112801,652,914,800,838,659,635,659,0.400963115388,-0.00537530135094,0.0598333544319,0.999999927996,0.000257783953005,-0.000277496000231,2.3463634952e-05,1793255766428759296
+399,6.650000000,POSE2_TO_POSE3_RETREAT,782,759,736,721,686,652,914,800,838,659,635,659,0.400962174521,-0.00537599435573,0.0598328774528,0.999999928066,0.000256412539326,-0.000278522809622,2.33603080058e-05,1793255766445426432
+400,6.666666667,POSE2_TO_POSE3_RETREAT,782,759,736,721,686,652,914,800,838,659,635,659,0.400959521974,-0.00537740341054,0.0598308422622,0.999999927516,0.000254365219264,-0.000282377451105,2.29900186782e-05,1793255766462093824
+401,6.683333333,POSE2_TO_POSE3_RETREAT,782.495989056,759,736,721,686.495989056,652,914,800,838,659,635,659,0.40096006828,-0.00537725488193,0.0598314681273,0.999999927605,0.000255544811181,-0.000280997692323,2.29805786191e-05,1793255766478759936
+402,6.700000000,POSE2_TO_POSE3_RETREAT,782.925572296,759,736,721,686.925572296,652,914,800.074427704,838,659.074427704,635,659,0.40096087476,-0.00537711344858,0.059832271421,0.999999927795,0.000256712119673,-0.000279245650891,2.30496272983e-05,1793255766495426048
+403,6.716666667,POSE2_TO_POSE3_RETREAT,782.352908848,759,736,721,686.352908848,652,914,800.647091152,838,659.647091152,635,659,0.400959825981,-0.0053787709251,0.0598312702592,0.99999992798,0.000254168723629,-0.000280887247067,2.32383430605e-05,1793255766512092416
+404,6.733333333,POSE2_TO_POSE3_RETREAT,782.226675738,759.226675738,736,721,686.226675738,652,914,800.773324262,838,659.773324262,635,659,0.400959629278,-0.00537942719051,0.0598312652475,0.999999928277,0.000252849747727,-0.000281020220615,2.32340889392e-05,1793255766528759040
+405,6.750000000,POSE2_TO_POSE3_RETREAT,782.817375227,759.817375227,736,721,686.817375227,652,914,800.182624773,838,659.182624773,635,659,0.400960800945,-0.00537847558837,0.059832859976,0.999999928762,0.000253497095732,-0.000278730462845,2.2919940099e-05,1793255766545425920
+406,6.766666667,POSE2_TO_POSE3_RETREAT,783,759.599790154,736,721,686.599790154,652,914,800,838,659,635,659,0.400960548906,-0.00537777213457,0.0598328045137,0.999999928914,0.000252912327035,-0.000278725817389,2.27655424633e-05,1793255766562092288
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783,759.020475316,736,721,686.020475316,652,914,800,838,659,635,659,0.400959659719,-0.00537717973408,0.0598320105452,0.999999928919,0.000251776151948,-0.000279743823123,2.26826379353e-05,1793255766578759168
+408,6.800000000,POSE2_TO_POSE3_RETREAT,782.445598241,759.554401759,736,721,686.554401759,652,914,800,838,659,635,659,0.400959587192,-0.0053776915253,0.0598323397143,0.999999929081,0.000251271336905,-0.000279624791359,2.25791987711e-05,1793255766595426048
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70d226237ff49b7eb39026fbc336d1e9d3db4e48
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+1,0.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+2,0.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+3,0.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+4,0.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+5,0.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+6,0.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+7,0.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+8,0.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+9,0.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+10,0.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+11,0.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
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+371,6.183333333,pose2_to_pose3_retreat,0.57641723558,0.000181792425319,1.05002047051,0.546988383215,0.00885603026496,1.0496921861
+372,6.200000000,pose2_to_pose3_retreat,0.576296179169,0.000181662653671,1.05002070772,0.546867328611,0.00885590634849,1.0496924161
+373,6.216666667,pose2_to_pose3_retreat,0.576191246476,0.000181737723058,1.05002062813,0.546762394779,0.00885597740726,1.04969233264
+374,6.233333333,pose2_to_pose3_retreat,0.576102093477,0.000181796594055,1.05002065224,0.54667324109,0.00885603388196,1.04969235564
+375,6.250000000,pose2_to_pose3_retreat,0.576024072441,0.000181764535139,1.05002072557,0.546595220619,0.00885600372466,1.04969242895
+376,6.266666667,pose2_to_pose3_retreat,0.575955901756,0.000181730112148,1.05002052921,0.546527049997,0.00885596957301,1.04969223396
+377,6.283333333,pose2_to_pose3_retreat,0.575896656751,0.000181760647213,1.05002038302,0.546467805144,0.00885600102677,1.04969209836
+378,6.300000000,pose2_to_pose3_retreat,0.575845396111,0.000181725289525,1.05002032504,0.546416542899,0.00885595987806,1.04969203117
+379,6.316666667,pose2_to_pose3_retreat,0.575802289411,0.000181701170156,1.05002045803,0.54637343671,0.00885593747798,1.04969216377
+380,6.333333333,pose2_to_pose3_retreat,0.575766777814,0.000181700952939,1.05002051669,0.546337925866,0.00885593996855,1.04969222643
+381,6.350000000,pose2_to_pose3_retreat,0.575738674556,0.000181684141843,1.05002051639,0.546309822877,0.00885592404423,1.04969222545
+382,6.366666667,pose2_to_pose3_retreat,0.575717497916,0.000181675096088,1.05002050227,0.546288646089,0.00885591435655,1.0496922077
+383,6.383333333,pose2_to_pose3_retreat,0.575702032129,0.000181737913439,1.05002042651,0.546273179677,0.00885597509236,1.04969213293
+384,6.400000000,pose2_to_pose3_retreat,0.5756913934,0.000181780389992,1.05002071995,0.546262540475,0.008856015715,1.04969241924
+385,6.416666667,pose2_to_pose3_retreat,0.57568400878,0.000181791422378,1.05002064789,0.546255156021,0.00885602733523,1.04969234797
+386,6.433333333,pose2_to_pose3_retreat,0.575679366265,0.000181788754102,1.05002045906,0.546250513868,0.0088560260123,1.04969216264
+387,6.450000000,pose2_to_pose3_retreat,0.575676031416,0.000181742190374,1.05002041954,0.546247179484,0.00885598108217,1.04969212475
+388,6.466666667,pose2_to_pose3_retreat,0.575673623601,0.000181696368076,1.05002041728,0.546244772059,0.00885593662171,1.04969212342
+389,6.483333333,pose2_to_pose3_retreat,0.575671760824,0.00018170548736,1.05002044245,0.546242909103,0.00885594512379,1.04969214833
+390,6.500000000,pose2_to_pose3_retreat,0.575670394626,0.000181766719854,1.05002049386,0.546241542184,0.00885600385892,1.04969219833
+391,6.516666667,pose2_to_pose3_retreat,0.575669476453,0.000181807872014,1.05002052841,0.546240623526,0.00885604333268,1.04969223194
+392,6.533333333,pose2_to_pose3_retreat,0.575669025585,0.000181820577165,1.05002052852,0.54624017247,0.00885605541115,1.04969223233
+393,6.550000000,pose2_to_pose3_retreat,0.575668983656,0.000181819991445,1.05002052456,0.546240130535,0.00885605481368,1.04969222858
+394,6.566666667,pose2_to_pose3_retreat,0.575668818996,0.000181817691246,1.05002050901,0.546239965853,0.0088560524673,1.04969221382
+395,6.583333333,pose2_to_pose3_retreat,0.575668508679,0.000181813356323,1.0500204797,0.546239655494,0.00885604804535,1.04969218601
+396,6.600000000,pose2_to_pose3_retreat,0.575668085884,0.000181807450155,1.05002043977,0.546239232642,0.00885604202062,1.04969214813
+397,6.616666667,pose2_to_pose3_retreat,0.575667839407,0.000181804007028,1.0500204165,0.546238986132,0.00885603850837,1.04969212604
+398,6.633333333,pose2_to_pose3_retreat,0.575667713269,0.000181802244961,1.05002040458,0.546238859977,0.00885603671093,1.04969211474
+399,6.650000000,pose2_to_pose3_retreat,0.575667609279,0.000181800792288,1.05002039476,0.546238755973,0.0088560352291,1.04969210542
+400,6.666666667,pose2_to_pose3_retreat,0.575667537203,0.000181796636058,1.05002040362,0.546238683992,0.00885603136995,1.04969211356
+401,6.683333333,pose2_to_pose3_retreat,0.575667284271,0.000181771047807,1.05002048941,0.546238431764,0.00885600793276,1.04969219313
+402,6.700000000,pose2_to_pose3_retreat,0.575667088559,0.000181751248397,1.05002055579,0.546238236597,0.00885598979777,1.0496922547
+403,6.716666667,pose2_to_pose3_retreat,0.575666979727,0.000181739046536,1.05002053099,0.546238128159,0.00885597901661,1.04969223214
+404,6.733333333,pose2_to_pose3_retreat,0.575666934366,0.000181733502537,1.05002049692,0.546238082996,0.00885597425515,1.0496922009
+405,6.750000000,pose2_to_pose3_retreat,0.575666819691,0.000181719487096,1.05002041078,0.546237968825,0.00885596221802,1.04969212191
+406,6.766666667,pose2_to_pose3_retreat,0.575666797154,0.000181716732676,1.05002039385,0.546237946387,0.00885595985239,1.04969210639
+407,6.783333333,pose2_to_pose3_retreat,0.575666793182,0.000181716247216,1.05002039087,0.546237942432,0.00885595943545,1.04969210365
+408,6.800000000,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641385,1.04969208382
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6cf5a1176f1c42ec8a28603426951ed858bd12f5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9c1e70975b1362c67f8d331cf20f04bd4d5877d453d74f6fcf95d76e55b95d8
+size 25965231
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e166a94867b00507bac63558dac18ae1a6ac6cfd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,759,736,720,686,651,914,800,837,659,635,659,0.400958846623,-0.00537833531376,0.0598321446849,0.999999929964,0.000248161510782,-0.000279288636203,2.20175105264e-05,1793255766751624704
+1,0.016666667,BASELINE,783,759,735.420012943,720.579987057,686,651,913.420012943,800,837.579987057,659,635,659,0.400959913226,-0.00537912141734,0.0598332092602,0.999999930158,0.000249864509404,-0.000277040997903,2.23523386908e-05,1793255766768291328
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+9,0.150000000,BASELINE,782.218367781,759,736,721,686,652,913.781632219,800,838,659.781632219,635,659,0.400960098344,-0.00537933621532,0.0598346358957,0.999999930135,0.000251302709175,-0.000275781807641,2.28377995737e-05,1793255766901624064
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+12,0.200000000,BASELINE,782.059989404,759,736,721,686,652,913.940010596,800,838,659,635,659,0.400960719378,-0.00537724495171,0.0598353600263,0.999999929758,0.000254000592698,-0.000274667652013,2.29021750923e-05,1793255766951624704
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+16,0.266666667,BASELINE,782,759,736,721,686,651.276163526,914,800,838.276163526,659,635,659,0.400961906869,-0.00537780428129,0.0598356237158,0.999999930094,0.000253865290491,-0.000273571831843,2.28470160684e-05,1793255767018290176
+17,0.283333333,BASELINE,782,759,736,721,686,651.850189019,914,800,838.850189019,659,635,659,0.400962831989,-0.0053755530038,0.0598363472843,0.999999929607,0.000256749916961,-0.000272668307959,2.27410154959e-05,1793255767034957312
+18,0.300000000,BASELINE,782.433880958,759,736,721,686,652,914,800,838.566119042,659,635,659,0.400961899168,-0.0053761678867,0.0598360942038,0.999999929848,0.000255057640631,-0.00027338709341,2.25456392869e-05,1793255767051623936
+19,0.316666667,BASELINE,782.979199454,759.020800546,736,721,686,652,914,800,838,659,635,659,0.400960421727,-0.00537776386837,0.0598355167205,0.999999930316,0.000251911605685,-0.000274607811684,2.23364093224e-05,1793255767068290816
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+21,0.350000000,BASELINE,782.182080206,759.817919794,736,721,686.182080206,652,914,800,838,659,635,659,0.400962333651,-0.00537901752182,0.0598353434828,0.999999930061,0.000253699027598,-0.000273859608171,2.27109607558e-05,1793255767101623808
+22,0.366666667,BASELINE,782.756029489,759.243970511,736,721,686.756029489,652,914,800,838,659,635,659,0.400960241517,-0.00537895119717,0.0598349273268,0.999999929941,0.000252759341363,-0.000275182903524,2.24675008158e-05,1793255767118290432
+23,0.383333333,BASELINE,782.668825303,759,736,721,686.668825303,652,913.668825303,800,838,659.331174697,635,659,0.400959659786,-0.00537860492865,0.0598349497724,0.999999930094,0.000252005706263,-0.000275330559012,2.23349832492e-05,1793255767134956800
+24,0.400000000,BASELINE,782.092795824,759,736,721,686.092795824,652,913.092795824,800,838,659.907204176,635,659,0.400960194776,-0.00537805168298,0.0598352964992,0.999999930448,0.000251389628404,-0.000274609002578,2.22844911582e-05,1793255767151623424
+25,0.416666667,BASELINE,782,759.496518182,736,720.503481818,686,652,913.496518182,800,837.503481818,659.503481818,635,659,0.400961135586,-0.00537817083746,0.0598356479617,0.999999930498,0.000251717270819,-0.000274119379897,2.23758340298e-05,1793255767168290560
+26,0.433333333,BASELINE,782,759.913958113,736,720.086041887,686,652,914,800,837.086041887,659.086041887,635,659,0.400961961881,-0.00537848160583,0.0598359375911,0.999999930502,0.000252099226157,-0.000273744841605,2.25084072915e-05,1793255767184957440
+27,0.450000000,BASELINE,782,759.337771812,736,720.662228188,686,652,914,800,837.662228188,659.662228188,635,659,0.400961691902,-0.00537914836627,0.059835869803,0.999999930575,0.000251758225489,-0.000273772173586,2.27206967378e-05,1793255767201624064
+28,0.466666667,BASELINE,782.23779208,759,736,721,686,652,914,800,838,659.76220792,635,658.76220792,0.400962161653,-0.00537931771493,0.0598360499182,0.999999930698,0.000252189466767,-0.000272911282904,2.29029493618e-05,1793255767218290432
+29,0.483333333,BASELINE,782.812474144,759,736,721,686,652,914,800,838,659.187525856,635,658.187525856,0.400963679409,-0.0053787823595,0.0598365812483,0.999999930885,0.000253714775516,-0.000270792010029,2.30426475507e-05,1793255767234956800
+30,0.500000000,BASELINE,783,759,736,720.612067681,686,651.612067681,914,800,838,659,635,658.387932319,0.40096390187,-0.00537864353774,0.0598370338433,0.999999930854,0.000254143445662,-0.000270494506362,2.31615695462e-05,1793255767251623424
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+32,0.533333333,BASELINE,783,759,736,720.55725564,686,651.55725564,914,800,838,659,635.55725564,659,0.400963489458,-0.00537800365798,0.059837779683,0.999999931539,0.000251923854943,-0.000270075142295,2.26995250566e-05,1793255767284956672
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+37,0.616666667,BASELINE,782.540827813,759.459172187,736,721,686,651.540827813,913.459172187,800,838,659,635,659,0.400961296769,-0.00537806594656,0.0598360277466,0.9999999303,0.000252831847161,-0.000273810878958,2.24492428476e-05,1793255767368290304
+38,0.633333333,BASELINE,782.046759877,759.953240123,736,721,686,651.046759877,914,800,837.953240123,659,635,659,0.400960964738,-0.00537778547649,0.0598359139799,0.999999929969,0.000253391141971,-0.000274494692349,2.25516104875e-05,1793255767384956672
+39,0.650000000,BASELINE,782.62671095,759.37328905,736,721,686,651.62671095,914,800,837.37328905,659,635,659,0.400961424507,-0.00537782033913,0.0598363967415,0.9999999305,0.000252169335933,-0.00027369147277,2.24349504403e-05,1793255767401623296
+40,0.666666667,BASELINE,783,759,736,721,686.205096773,652,914,800,837.205096773,659,635,659,0.40096190311,-0.00537816840867,0.0598367302746,0.999999930856,0.000251454037595,-0.000273045810962,2.2484317262e-05,1793255767418289920
+41,0.683333333,BASELINE,783,759,736,721,686.780655287,652,914,800,837.780655287,659,635,659,0.400962415734,-0.00537908221687,0.0598367942595,0.999999930896,0.000251653632922,-0.000272684742302,2.28335747306e-05,1793255767434956800
+42,0.700000000,BASELINE,783,759,736,721,686.636804902,652,914,800,838,659,635,659,0.40096185014,-0.00537876519207,0.0598362246719,0.999999930659,0.000252279568517,-0.000272997254661,2.25586492533e-05,1793255767451623680
+43,0.716666667,BASELINE,783,759,736,721,686.049966258,652,914,800,838,659,635,659,0.400960620616,-0.00537769026093,0.0598352649511,0.999999930251,0.00025316803036,-0.000273724535978,2.18993725215e-05,1793255767468290560
+44,0.733333333,BASELINE,782.469857939,759,736,720.469857939,686.530142061,652,914,800,838,659,635,659,0.4009629337,-0.00537837104725,0.0598373398752,0.999999931081,0.000252530571289,-0.000271233009575,2.23303982066e-05,1793255767484957440
+45,0.750000000,BASELINE,782.109281499,759,736,720,686.890718501,652,914,800,838,659,635,659,0.400964533612,-0.00537870359377,0.0598388417352,0.999999931543,0.00025238160487,-0.000269634745954,2.26911338291e-05,1793255767501624320
+46,0.766666667,BASELINE,782.686952807,759,736,720,686.313047193,652,914,800,838,659,635,659,0.400961663653,-0.00537684319492,0.0598366768661,0.99999992995,0.000254935053156,-0.000273149073301,2.23156759546e-05,1793255767518290944
+47,0.783333333,BASELINE,783,759.263386792,736,720.263386792,686.263386792,652,914,800,838,659.263386792,635,659,0.400960656059,-0.00537716505485,0.0598359244962,0.9999999297,0.0002546813957,-0.00027429884915,2.2319975196e-05,1793255767534957312
+48,0.800000000,BASELINE,783,759.838357113,736,720.838357113,686.838357113,652,914,800,838,659.838357113,635,659,0.40096185162,-0.00538006850144,0.0598368430962,0.999999931044,0.000251106964953,-0.000272651388385,2.27735226642e-05,1793255767551623680
+49,0.816666667,BASELINE,783,759.576526395,736,721,687,652,914,800,838,659.576526395,635,659,0.400961600186,-0.0053801889298,0.0598368449851,0.99999993088,0.00025139816759,-0.000272969816872,2.29641747255e-05,1793255767568290048
+50,0.833333333,BASELINE,783,759,736,721,687,652,914,800,838,659,635,659,0.400960785548,-0.00537923108144,0.0598364880535,0.999999930146,0.000253145975361,-0.000274032849684,2.30473890519e-05,1793255767584956672
+51,0.850000000,BASELINE,783,759,736,721,687,652,914,800,838,659,635,659,0.400960094006,-0.00537873681645,0.0598361166285,0.99999993036,0.000252361648802,-0.000273984430199,2.29182571497e-05,1793255767601623552
+52,0.866666667,BASELINE,782.830185461,759,736,721,687,652,914,800,838,659,635,659,0.400959943985,-0.00537829676295,0.0598359064399,0.999999930511,0.000251948393347,-0.000273826486852,2.27625493485e-05,1793255767618290432
+53,0.883333333,BASELINE,782.255502407,759,736,721,687,652,914,800,838,659,635,659,0.400961085047,-0.00537798595943,0.0598360806679,0.999999930512,0.000252419838433,-0.000273407418847,2.25434798145e-05,1793255767634957312
+54,0.900000000,BASELINE,782.326629144,759,736,721,686.673370856,652,914,800.326629144,838,659,635,659,0.400962216493,-0.00537824795349,0.059836787153,0.999999930863,0.000252120849901,-0.000272408790569,2.24238718612e-05,1793255767651623936
+55,0.916666667,BASELINE,782.914723148,759,736,721,686.085276852,652,914,800.914723148,838,659,635,659,0.400963340242,-0.00537896846893,0.0598379197071,0.999999931492,0.000251205133407,-0.000270946227452,2.23838823747e-05,1793255767668290304
+56,0.933333333,BASELINE,783,759,736,721,686.495201329,652,914,800.504798671,838,659,635,659,0.400961767481,-0.00537939578703,0.0598370097586,0.999999931105,0.000251242823644,-0.00027231888395,2.25592662914e-05,1793255767684956928
+57,0.950000000,BASELINE,782.925599878,759,736,721,686.925599878,652,913.925599878,800,838,659,635,659,0.400960167079,-0.00537958005026,0.0598359540878,0.99999993067,0.000251391995662,-0.00027376194182,2.27048862154e-05,1793255767701623552
+58,0.966666667,BASELINE,782.346318289,759,736,721,686.346318289,652,913.346318289,800,838,659,635,659,0.400961482522,-0.00537845237579,0.0598362602542,0.999999931092,0.000251200412355,-0.000272419695927,2.24006538597e-05,1793255767718289920
+59,0.983333333,BASELINE,782.230429739,759.230429739,736.230429739,721,686.230429739,652,913.230429739,800.230429739,838,659.230429739,635,659,0.400962001604,-0.00537807247769,0.059836527405,0.999999931336,0.000250744169867,-0.000271948763206,2.23286823875e-05,1793255767734956800
+60,1.000000000,BASELINE,782.803411515,759.803411515,736.803411515,721,686.803411515,652,913.803411515,800.803411515,838,659.803411515,635,659,0.400961336835,-0.00537880420815,0.0598367365559,0.999999931318,0.000249894490541,-0.000272773106245,2.26019850477e-05,1793255767751623680
+61,1.016666667,BASELINE,782.61261784,759.61261784,736.61261784,721,686.61261784,652,914,800.61261784,838,659.61261784,635,659,0.400961460188,-0.00537841193479,0.0598366348899,0.999999930794,0.000252008055705,-0.000272733237833,2.2814129457e-05,1793255767768290816
+62,1.033333333,BASELINE,782.022907795,759.022907795,736.022907795,721,686.022907795,652,914,800.022907795,838,659.022907795,635,659,0.400961995174,-0.00537743259945,0.0598363708858,0.999999929994,0.000255669309616,-0.00027224199578,2.29943311822e-05,1793255767784957696
+63,1.050000000,BASELINE,782.55675796,759,736,721,686.55675796,652,914,800,838,659,635,659,0.400961873162,-0.00537775491475,0.0598368579165,0.999999930571,0.000253820508552,-0.000271894820023,2.25093088562e-05,1793255767801624064
+64,1.066666667,BASELINE,782.864587288,759,736,721,687,652,914,800.135412712,838,659.135412712,635,659,0.400961952151,-0.0053781623951,0.0598372823658,0.999999931113,0.00025204566361,-0.000271578625489,2.21665105645e-05,1793255767818290432
+65,1.083333333,BASELINE,782.287904261,759,736,721,687,652,914,800.712095739,838,659.712095739,635,659,0.40096277267,-0.00537867597157,0.0598374039665,0.999999931376,0.00025123751308,-0.000271344415677,2.23747909888e-05,1793255767834957056
+66,1.100000000,BASELINE,782.293229581,759.293229581,736,721,686.706770419,651.706770419,914,801,837.706770419,659.706770419,635,659,0.400962742827,-0.00537893632603,0.0598371722266,0.999999931093,0.000252022805281,-0.000271653037817,2.24444728861e-05,1793255767851623424
+67,1.116666667,BASELINE,782.878800724,759.878800724,736,721,686.121199276,651.121199276,914,801,837.121199276,659.121199276,635,659,0.400961865196,-0.0053789442253,0.0598365882161,0.999999930262,0.000254396714668,-0.000272502848004,2.23759759764e-05,1793255767868290048
+68,1.133333333,BASELINE,783,760,736,721,686,651.459698939,914,801,837.459698939,659,635,659,0.400960228926,-0.00537901293279,0.0598357781139,0.999999930119,0.000253330154765,-0.000274017935515,2.23426024354e-05,1793255767884956672
+69,1.150000000,BASELINE,782.96076176,760,736,721,686,652,914,801,838,659,635,659,0.400958713978,-0.00537901460844,0.0598350954351,0.999999930188,0.000251611449959,-0.000275350072401,2.23275694638e-05,1793255767901623552
+70,1.166666667,BASELINE,782.383134357,760,736,721,686,652,914,801,838,659,635,659,0.400961580493,-0.00537787877527,0.0598369708036,0.999999930742,0.000253265437107,-0.00027178948704,2.24384064764e-05,1793255767918290432
+71,1.183333333,BASELINE,782.193800228,759.806199772,736,721.193800228,686.193800228,652,914,800.806199772,838,659.193800228,635.193800228,659,0.40096326167,-0.00537773906851,0.0598379390039,0.999999931208,0.000253525925021,-0.000269819285619,2.25075187593e-05,1793255767934957568
+72,1.200000000,BASELINE,782.769370125,759.230629875,736,721.769370125,686.769370125,652,914,800.230629875,838,659.769370125,635.769370125,659,0.400962607831,-0.00537956164434,0.0598371201617,0.99999993152,0.000251041340401,-0.000270982002221,2.24944369577e-05,1793255767951623936
+73,1.216666667,BASELINE,783,759.351937607,736,721.648062393,686.648062393,652,914,800,838,659.648062393,635.648062393,659,0.400962586349,-0.00538075154394,0.059837275369,0.999999931907,0.000249316917683,-0.000271130211883,2.26843159563e-05,1793255767968290560
+74,1.233333333,BASELINE,783,759.9391837,736,721.0608163,686.0608163,652,914,800,838,659.0608163,635.0608163,659,0.400962987667,-0.00538151843069,0.0598380818341,0.999999932346,0.000248100745846,-0.000270600113485,2.30098962774e-05,1793255767984957184
+75,1.250000000,BASELINE,783,760,736,721,686,651.479376485,914,800,838,659,635,659,0.400963916416,-0.00538046087373,0.0598389266318,0.999999932131,0.000250298560697,-0.00026938671873,2.27845261554e-05,1793255768001623552
+76,1.266666667,BASELINE,783,760,736,721,686.100420415,651.100420415,914,800.100420415,838,659,635.100420415,659,0.400964477868,-0.00537934453604,0.0598394001164,0.999999931806,0.000252513037318,-0.000268543831148,2.25567392154e-05,1793255768018290176
+77,1.283333333,BASELINE,783,760,736,721,686.675621104,651.675621104,914,800.675621104,838,659,635.675621104,659,0.400963014689,-0.00537894679516,0.059838097123,0.999999931351,0.00025294157643,-0.000269825889216,2.26184538355e-05,1793255768034957056
+78,1.300000000,BASELINE,783,759.748062708,736,721.251937292,687,652,914,801,838,659,636,659,0.400961521574,-0.00537882843616,0.0598368957461,0.999999930957,0.000252813737892,-0.000271404678599,2.26148831568e-05,1793255768051623936
+79,1.316666667,BASELINE,783,759.17030393,736,721.82969607,687,652,914,801,838,659,636,659,0.400959989748,-0.00537907139179,0.0598358257861,0.999999930638,0.000251966356007,-0.000273367219879,2.25268813314e-05,1793255768068291072
+80,1.333333333,BASELINE,782.58476484,759,736,722,686.58476484,652,914,800.58476484,838,659,635.58476484,659,0.400961750772,-0.00537934110036,0.0598365503379,0.99999993118,0.000251500204115,-0.000271811483278,2.24884856392e-05,1793255768084957440
+81,1.350000000,BASELINE,782.003959664,759.003959664,736,721.996040336,686.003959664,652,914,800,838,659,635,659,0.400964856117,-0.0053796074372,0.0598380124384,0.999999932064,0.000251211192893,-0.000268812649814,2.24696652906e-05,1793255768101623296
+82,1.366666667,BASELINE,782.583015417,759.583015417,736,721.416984583,686.583015417,652,914,800,838,659,635,659,0.400963315051,-0.00537776001649,0.059837658523,0.999999931223,0.000253507134422,-0.000269798906506,2.22825811849e-05,1793255768118289920
+83,1.383333333,BASELINE,783,760,736,721,686.839561759,652,914,800,838,659,635,659,0.400962134037,-0.00537684437191,0.0598373410365,0.999999930696,0.000254521863367,-0.00027080610582,2.21622638448e-05,1793255768134956800
+84,1.400000000,BASELINE,783,760,736,721,686.266340093,652,914,800,838,659,635,659,0.400961879386,-0.00537832604654,0.0598371172765,0.999999930985,0.000252240225829,-0.00027186718756,2.22137272952e-05,1793255768151623424
+85,1.416666667,BASELINE,783,760,736,721,686.307685003,652,914,800,838,659,635,659,0.400962412135,-0.00537972037945,0.059837477939,0.999999931727,0.0002500427643,-0.000271149216871,2.24162985553e-05,1793255768168290048
+86,1.433333333,BASELINE,783,760,736,721,686.882407354,652,914,800,838,659,635,659,0.400963628264,-0.00538103890908,0.0598383458173,0.999999932859,0.000247918358591,-0.000268887220767,2.27500150699e-05,1793255768184956928
+87,1.450000000,BASELINE,782.529996301,759.529996301,736,721,687,652,914,800,838,659,635,659,0.400963905698,-0.00538006968798,0.0598388000237,0.999999932421,0.000250076706653,-0.000268520271152,2.27228010481e-05,1793255768201624064
+88,1.466666667,BASELINE,782,759.05971478,736,721,687,652,914,800,838,659,635,659,0.400963685248,-0.00537877660633,0.0598389667798,0.999999931641,0.000252820687369,-0.000268865534486,2.25987102189e-05,1793255768218290944
+89,1.483333333,BASELINE,782,759.639010851,736,721,687,652,914,800,838,659,635,659,0.400961233745,-0.0053797862006,0.0598375583262,0.999999931464,0.000251074330003,-0.000271166173509,2.24395492604e-05,1793255768234957312
+90,1.500000000,BASELINE,782.217601026,760,736,721,687,652,914,800.217601026,838,659,635,659,0.400960211986,-0.00538059036586,0.0598368945334,0.999999931588,0.000249802131703,-0.000271885573321,2.2365572552e-05,1793255768251623936
+91,1.516666667,BASELINE,782.795023885,760,736,721,687,652,914,800.795023885,838,659,635,659,0.40096155443,-0.00538105483666,0.0598374621007,0.999999932222,0.000249313995983,-0.000269990259175,2.24324552736e-05,1793255768268290048
+92,1.533333333,BASELINE,783,759.622521934,736,721,687,651.622521934,914,800.622521934,838,659,635,659,0.400962289334,-0.00538024535768,0.0598377903855,0.999999932118,0.000250415202,-0.000269357104423,2.24290381805e-05,1793255768284956672
+93,1.550000000,BASELINE,783,759.03729871,736,721,687,651.03729871,914,800.03729871,838,659,635,659,0.400962689879,-0.00537873476013,0.0598379869811,0.999999931606,0.000252391102633,-0.000269418579263,2.23869315711e-05,1793255768301623552
+94,1.566666667,BASELINE,783,759,736,721,687,651.542131983,914,800,838,659,635,659,0.400962301877,-0.00537979755765,0.0598374898006,0.999999932119,0.00024960609292,-0.000270111011135,2.23200600908e-05,1793255768318290176
+95,1.583333333,BASELINE,783,759,736,721,687,652,914,800,838,659,635,659,0.400962091558,-0.00538055630331,0.0598371370423,0.999999932464,0.000247710449852,-0.000270584600675,2.2282316901e-05,1793255768334957056
+96,1.600000000,BASELINE,783,759,736,721,687,652,914,800,838,659,635,659,0.400962755504,-0.00537950414671,0.0598375084845,0.999999931931,0.000250400180373,-0.000270068932054,2.2361013304e-05,1793255768351623680
+97,1.616666667,BASELINE,782.725410302,759.274589698,735.725410302,721,686.725410302,652,913.725410302,800,838,659,635,659,0.40096271056,-0.00537912292893,0.0598375283614,0.999999931747,0.000250870698552,-0.000270313850284,2.23654504706e-05,1793255768368290304
+98,1.633333333,BASELINE,782.15134936,759.84865064,735.15134936,721,686.15134936,652,913.15134936,800,838,659,635,659,0.400961892493,-0.00537947344617,0.0598371648164,0.999999931945,0.000248920913518,-0.000271388274872,2.22888995032e-05,1793255768384957184
+99,1.650000000,BASELINE,782,760,735.434981352,721,686.434981352,652,913.434981352,800,838,659,635,659,0.400961987021,-0.00537903800122,0.0598374217217,0.999999931947,0.000249275659717,-0.000271056308512,2.22549836902e-05,1793255768401623552
+100,1.666666667,BASELINE,782.025225763,760,736,721,687,652,914,800.025225763,838,659,635,659,0.400962419043,-0.00537839751346,0.0598378919144,0.999999931877,0.00025045805116,-0.000270226171609,2.22396180728e-05,1793255768418290176
+101,1.683333333,BASELINE,782.604932437,760,736,721,687,652,914,800.604932437,838,659,635,659,0.400963087226,-0.00537943561246,0.0598381673324,0.999999931757,0.000251695869507,-0.000269514276294,2.22964577002e-05,1793255768434956800
+102,1.700000000,BASELINE,783,759.816807753,736,721,687,652,914,800.816807753,838,659,635,659,0.400963583247,-0.0053800432971,0.0598383751964,0.999999931639,0.000252765436626,-0.000268938840006,2.24509977012e-05,1793255768451623680
+103,1.716666667,BASELINE,783,759.241643832,736,721,687,652,914,800.241643832,838,659,635,659,0.400963710894,-0.00537973003522,0.0598384385167,0.999999931527,0.000253475000819,-0.000268655381629,2.28145846355e-05,1793255768468290560
+104,1.733333333,BASELINE,782.659714322,759,735.659714322,721,687,652,914,800,838,659,635,659,0.400962626184,-0.00537993157869,0.0598377035275,0.99999993168,0.000251682226387,-0.000269774027691,2.27672819584e-05,1793255768484957440
+105,1.750000000,BASELINE,782.072882911,759,735.072882911,721,687,652,914,800,838,659,635,659,0.40096066309,-0.00538050611185,0.0598363901425,0.999999932011,0.000248076443268,-0.000271908534486,2.24222792164e-05,1793255768501624320
+106,1.766666667,BASELINE,782.507669926,759.507669926,735.507669926,721,687,652,914,800.507669926,838,659,635.507669926,659,0.400961301238,-0.00538111018211,0.0598369995676,0.999999932479,0.000247172142139,-0.000271027516608,2.22000956444e-05,1793255768518290944
+107,1.783333333,POSE1_TO_POSE2_PRESS,782,759,736,721,687,652,914,801,838,659,635,659,0.400964634173,-0.00537716805085,0.0598394460617,0.999999932127,0.000252895638122,-0.000267009610737,2.22534841981e-05,1793255768561335808
+108,1.800000000,POSE1_TO_POSE2_PRESS,782.575912022,759,736,721,687,652,914,800.424087978,838,659,635,659,0.400962498175,-0.00537878337658,0.0598377076083,0.999999931702,0.000251623521172,-0.000269771201087,2.24763307038e-05,1793255768578002432
+109,1.816666667,POSE1_TO_POSE2_PRESS,782.844514136,759,736,721,687,652,914,800,838,659,635,659,0.400961419424,-0.00538004532144,0.0598366983065,0.999999931536,0.000250526259646,-0.000271396753932,2.2526055222e-05,1793255768594669056
+110,1.833333333,POSE1_TO_POSE2_PRESS,782.254711649,759,736,721,687,652,914,800,838,659,635,659,0.400963293866,-0.00538032017255,0.0598377257336,0.999999932117,0.000249917419198,-0.000269849028754,2.20922004143e-05,1793255768611335424
+111,1.850000000,POSE1_TO_POSE2_PRESS,782.329085178,759,736,721,687,652,914,800,838,659.329085178,635,659,0.400964122819,-0.00538017983577,0.0598386477244,0.999999932251,0.000250591725635,-0.000268724758035,2.21146868716e-05,1793255768628002048
+112,1.866666667,POSE1_TO_POSE2_PRESS,782.908316905,759,736,721,687,652,914,800,838,659.908316905,635,659,0.400964157067,-0.00537972390343,0.0598394895701,0.999999932043,0.000252241386774,-0.000267922366602,2.24840506986e-05,1793255768644668928
+113,1.883333333,POSE1_TO_POSE2_PRESS,782.516956866,759,736,721,686.516956866,652,913.516956866,800,838,659.516956866,635,659,0.400963011611,-0.00538062901327,0.0598387103253,0.9999999318,0.000251802949838,-0.000269223696102,2.26643886698e-05,1793255768661335552
+114,1.900000000,POSE1_TO_POSE2_PRESS,782.057050107,759,736,721,686.057050107,652,913.057050107,800,838,659,635,659,0.400962086004,-0.00538161143731,0.0598378716137,0.99999993161,0.000251121970046,-0.000270551143171,2.28055305324e-05,1793255768678001920
+115,1.916666667,POSE1_TO_POSE2_PRESS,782.632219571,759,736,721,686.632219571,652,913.632219571,800,838,659,635,659,0.400965171765,-0.00538097158703,0.0598392613816,0.999999931982,0.000251804374201,-0.000268522987548,2.29135240744e-05,1793255768694668544
+116,1.933333333,POSE1_TO_POSE2_PRESS,782.786020339,759.213979661,736,721,686.786020339,652,914,800.213979661,838,659,635,659,0.400973110469,-0.00538029264609,0.0598428442909,0.999999933524,0.000251894557377,-0.000262628211862,2.29829826808e-05,1793255768711334912
+117,1.950000000,POSE1_TO_POSE2_PRESS,782.192572601,759.807427399,736,721,686.192572601,652,914,800.807427399,838,659,635,659,0.400989655305,-0.00537954438247,0.0598503164816,0.999999937033,0.000250934505322,-0.000249876434713,2.29841040405e-05,1793255768728001536
+118,1.966666667,POSE1_TO_POSE2_PRESS,782,759.610422739,736,720.610422739,686.389577261,652,914,800.610422739,838,659,635,659,0.401025466131,-0.00538078869978,0.0598644616886,0.999999943073,0.000249670212181,-0.000225737567229,2.367485362e-05,1793255768744668416
+119,1.983333333,POSE1_TO_POSE2_PRESS,782,759.033700106,736,720.033700106,686.966299894,652,914,800.033700106,838,659,635,659,0.401070531968,-0.00538299021432,0.059881812484,0.999999949645,0.000248259767257,-0.00019612856078,2.46968872251e-05,1793255768761335296
+120,2.000000000,POSE1_TO_POSE2_PRESS,782,759.540991338,736,720.540991338,687,652,914,800,838,659,635,659,0.401135696824,-0.00538558926603,0.0598995435547,0.999999954443,0.00024713210078,-0.000171360976342,2.59778777593e-05,1793255768778002176
+121,2.016666667,POSE1_TO_POSE2_PRESS,782.118170329,760,736.118170329,721,687,652,914,800,838,659,635,658.881829671,0.401204800604,-0.00538792922131,0.0599160276375,0.99999995836,0.000246377694507,-0.00014781035332,2.70292149133e-05,1793255768794669056
+122,2.033333333,POSE1_TO_POSE2_PRESS,782.705731115,760,736.705731115,721,687,652,914,800,838,659,635,658.294268885,0.401284595741,-0.00538914200913,0.0599274647585,0.99999996094,0.00024703622597,-0.000127900206682,2.71044983004e-05,1793255768811335680
+123,2.050000000,POSE1_TO_POSE2_PRESS,782.710747246,759.710747246,736.710747246,721,686.710747246,652,914,800,838,659,635.289252754,658.289252754,0.401373113017,-0.00539191852875,0.059935663689,0.999999963055,0.000245439381423,-0.000113684131099,2.6930535769e-05,1793255768828002304
+124,2.066666667,POSE1_TO_POSE2_PRESS,782.131278244,759.131278244,736.131278244,721,686.131278244,652,914,800,838,659,635.868721756,658.868721756,0.40147038148,-0.00539626398886,0.0599406136419,0.999999964937,0.000241579648274,-0.000105181094627,2.6506497088e-05,1793255768844668672
+125,2.083333333,POSE1_TO_POSE2_PRESS,782.448154098,759,736,721,686.448154098,652,914,800,838,659,635.551845902,659,0.401591240291,-0.00539906694558,0.0599463881375,0.999999966994,0.000238425489202,-9.22638542873e-05,2.55351722581e-05,1793255768861335040
+126,2.100000000,POSE1_TO_POSE2_PRESS,782.972722389,759.027277611,736,721,686.972722389,652,914,800,838,659,635.027277611,659,0.401719721814,-0.00540153443652,0.0599520577039,0.99999996886,0.000235523127898,-7.88169257911e-05,2.44189281894e-05,1793255768878001664
+127,2.116666667,POSE1_TO_POSE2_PRESS,782.399564134,759.600435866,736,721,686.399564134,652,914,800,838,659,635.600435866,659,0.401862470606,-0.00540633021624,0.0599507942266,0.999999969203,0.000233523912499,-8.06444508173e-05,2.3610564031e-05,1793255768894668544
+128,2.133333333,POSE1_TO_POSE2_PRESS,782,759.82149963,736,721,686,652,914,800,838,659,635.82149963,659,0.402014884266,-0.00541025211901,0.05995034613,0.999999969803,0.000231673554489,-7.88859708111e-05,2.23202344439e-05,1793255768911335424
+129,2.150000000,POSE1_TO_POSE2_PRESS,782,759.232142424,736,721,686,652,914,800,838,659,635.232142424,659,0.402189543669,-0.00541216260612,0.059951774807,0.999999970942,0.000230165823911,-6.88735318302e-05,1.99205582947e-05,1793255768928002048
+130,2.166666667,POSE1_TO_POSE2_PRESS,782,759,735.651216701,721,686,652,914,800,838,659,635,659,0.402384566607,-0.00541642937591,0.0599524587641,0.999999972366,0.000225948871908,-6.24395713086e-05,1.77617047674e-05,1793255768944668928
+131,2.183333333,POSE1_TO_POSE2_PRESS,782,759,735.075770273,721,686,652,914,800,838,659,635,659,0.402592823174,-0.00542222741877,0.0599526587515,0.999999973981,0.00021997128325,-5.83311486976e-05,1.57593539361e-05,1793255768961336064
+132,2.200000000,POSE1_TO_POSE2_PRESS,782.503059241,759,735.503059241,720.496940759,686,652,914,800,838,659,635,659,0.402839152494,-0.00542797518117,0.0599533678096,0.999999975747,0.000213574886709,-5.20974467715e-05,1.33111082674e-05,1793255768978002432
+133,2.216666667,POSE1_TO_POSE2_PRESS,782.916471286,759,736,720.083528714,686.083528714,652,914,800,838,659,635,659,0.403096008598,-0.00543399792981,0.0599543299518,0.999999977587,0.000206423978503,-4.58146752862e-05,1.07875291174e-05,1793255768994668544
+134,2.233333333,POSE1_TO_POSE2_PRESS,782.329205253,759,736,720.670794747,686.670794747,652,914,800,838,659,635,659,0.40338153165,-0.00544172502365,0.0599563528315,0.999999980085,0.000195105823039,-4.11795217264e-05,8.21740064152e-06,1793255769011334912
+135,2.250000000,POSE1_TO_POSE2_PRESS,782.254425848,759,735.745574152,721,686.745574152,652,914,800,838,659,635,659,0.403676872599,-0.00544952924709,0.0599515878723,0.999999981791,0.000184672525327,-4.78438714824e-05,4.98496260777e-06,1793255769028001792
+136,2.266666667,POSE1_TO_POSE2_PRESS,782.83341987,759,735.16658013,721,686.16658013,652,914,800,838,659,635,659,0.403984738109,-0.00545743186342,0.0599381637439,0.999999982247,0.000175368031266,-6.89228699793e-05,9.07623921274e-07,1793255769044668672
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,759,735.412071149,721,686.412071149,652,914,800.412071149,838.412071149,659,635,659,0.404314087833,-0.00546518518673,0.0599253597527,0.999999981853,0.000166635177433,-9.22923760178e-05,-3.09110134322e-06,1793255769061335296
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,759,735.990583975,721,686.990583975,652,914,800.990583975,838.990583975,659,635,659,0.404652115345,-0.00547287820817,0.0599128062445,0.999999980676,0.000158133217758,-0.00011658705163,-7.05807337471e-06,1793255769078002176
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,759,736,721,686.435697207,652,914,801,838.435697207,659,635,659,0.405045859869,-0.00547926795067,0.0599051916859,0.999999979923,0.000150731641716,-0.000131563050921,-1.12260336848e-05,1793255769094669056
+140,2.333333333,POSE1_TO_POSE2_PRESS,782.858025568,759.141974432,736,720.858025568,686,652,913.858025568,800.858025568,838,659,635,659,0.405459594949,-0.00548555013069,0.0599035902794,0.999999980129,0.000144745378791,-0.000136257273506,-1.50173407222e-05,1793255769111335424
+141,2.350000000,POSE1_TO_POSE2_PRESS,782.267618342,759.732381658,736,720.267618342,686,652,913.267618342,800.267618342,838,659,635,659,0.40593355928,-0.00549156067765,0.0599207235834,0.999999983659,0.000143171943176,-0.000108963020259,-1.76084665848e-05,1793255769128001792
+142,2.366666667,POSE1_TO_POSE2_PRESS,782.316533036,759.683466964,736,720,686.316533036,652,913.316533036,800,838,659,635.316533036,659,0.406444681427,-0.00549230123512,0.0599471536702,0.999999987078,0.000146379978784,-6.3374646572e-05,-1.99915323963e-05,1793255769144668416
+143,2.383333333,POSE1_TO_POSE2_PRESS,782.895497869,759.104502131,736,720,686.895497869,652,913.895497869,800,838,659,635.895497869,659,0.406986610497,-0.00548867254062,0.0599812915528,0.999999987961,0.000153552244883,-2.61894646128e-06,-2.22020996313e-05,1793255769161335040
+144,2.400000000,POSE1_TO_POSE2_PRESS,782.528351118,759,736,720.471648882,686.528351118,652,914,800,838.471648882,659,635.528351118,659,0.407527894598,-0.00548366722681,0.0599994307229,0.999999998697,3.89257509678e-05,2.13350873621e-05,-2.52282230204e-05,1793255769178001664
+145,2.416666667,POSE1_TO_POSE2_PRESS,782.048117248,759,736,720.951882752,686,652,914,800.048117248,839,659,635,659,0.408070045508,-0.0054794574763,0.0600118781602,0.999999994836,-9.1817294026e-05,3.2946386768e-05,-2.84971419121e-05,1793255769194668288
+146,2.433333333,POSE1_TO_POSE2_PRESS,782.635080329,759,736,720.364919671,686,652,914,800.635080329,839,659,635,659,0.408623494697,-0.0054875523933,0.06000004751,0.999999994203,-0.0001026226688,-2.8911473745e-06,-3.24734421342e-05,1793255769211335424
+147,2.450000000,POSE1_TO_POSE2_PRESS,782.780906688,759.219093312,736.219093312,720,686.219093312,652,914,801,838.780906688,659,635.219093312,659,0.40919749492,-0.00549564672526,0.0599895044243,0.99999999295,-0.000108182293913,-3.22694787625e-05,-3.68158443745e-05,1793255769228002048
+148,2.466666667,POSE1_TO_POSE2_PRESS,782.201742109,759.798257891,736.798257891,720,686.798257891,652,914,801,838.201742109,659,635.798257891,659,0.409805269928,-0.00550374009525,0.059981077401,0.999999992301,-0.000105120734705,-5.10323616016e-05,-4.17599207373e-05,1793255769244668416
+149,2.483333333,POSE1_TO_POSE2_PRESS,782,759.622595515,736.622595515,720,687,652,914,801,838,659,635.622595515,659,0.410468045255,-0.00550791989853,0.0599858313895,0.999999993235,-0.000100336756717,-3.56164565101e-05,-4.6836265721e-05,1793255769261335040
+150,2.500000000,POSE1_TO_POSE2_PRESS,782,759.043458553,736.043458553,720,687,652,914,801,838,659,635.043458553,659,0.411160219658,-0.00551000779875,0.0599976309707,0.999999994169,-9.4632101272e-05,-1.93110301098e-06,-5.19833115116e-05,1793255769278001664
+151,2.516666667,POSE1_TO_POSE2_PRESS,782.531607755,759,736,720,687,652,914,801,838.531607755,659,635,659,0.411849100754,-0.00550928374082,0.0599953113341,0.999999994281,-9.08902725558e-05,-4.15914967478e-06,-5.62034272339e-05,1793255769294668544
+152,2.533333333,POSE1_TO_POSE2_PRESS,782.891205758,759.108794242,736,720,686.891205758,652,914,801,839,659,635.108794242,659,0.412535407727,-0.00550606441984,0.0599858084772,0.999999995869,-6.88669141621e-05,-2.21013838389e-05,-5.50577346448e-05,1793255769311334912
+153,2.550000000,POSE1_TO_POSE2_PRESS,782.303226528,759.696773472,736,720,686.303226528,652,914,801,839,659,635.696773472,659,0.413211553555,-0.00549285949031,0.0599497122852,0.999999994292,3.43789432651e-05,-9.64239603514e-05,-3.0609519547e-05,1793255769328001792
+154,2.566666667,POSE1_TO_POSE2_PRESS,782.280428366,759.719571634,736,720,686,652,913.719571634,801,838.719571634,659,635.719571634,659,0.413936932137,-0.0054883957295,0.0599291743924,0.999999987938,7.36152099564e-05,-0.000135093036033,-2.13261219879e-05,1793255769344668672
+155,2.583333333,POSE1_TO_POSE2_PRESS,782.859478446,759.140521554,736,720,686,652,913.140521554,801,838.140521554,659,635.140521554,659,0.41471473763,-0.0054932402365,0.0599252041698,0.999999989384,4.46891499077e-05,-0.00013579552974,-2.81913869681e-05,1793255769361335808
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,759.436074848,736.436074848,720,686,652,913.436074848,801,838,659,635,659,0.415568710513,-0.00550317603354,0.0599691457934,0.999999997817,1.73409180135e-05,-5.58484083936e-05,-3.07492764354e-05,1793255769378002432
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,759.988121327,737,720,686,652,914,801,838.011878673,659,635,659,0.416445832361,-0.00551464795284,0.0600272977837,0.999999998317,-8.95247296311e-06,4.76471525032e-05,-3.18816659292e-05,1793255769394669312
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,759.412615943,737,720,686,652,914,801,838.587384057,659,635,659,0.417263265396,-0.00552159688394,0.0600312423741,0.999999998589,-9.18508073822e-06,4.22566364461e-05,-3.08670358959e-05,1793255769411335424
+159,2.650000000,POSE1_TO_POSE2_PRESS,782.832915145,759.167084855,736.832915145,720,686.167084855,652,913.832915145,801,839,659,635,659,0.418093062198,-0.00552812605219,0.0600280153296,0.999999998894,-1.5686219538e-05,3.20957085274e-05,-3.05913339377e-05,1793255769428001792
+160,2.666666667,POSE1_TO_POSE2_PRESS,782.242586959,759.757413041,736.242586959,720,686.757413041,652,913.242586959,801,839,659,635,659,0.418954177661,-0.00553359191702,0.0600066217871,0.999999998709,-3.80661999063e-05,9.85083110434e-06,-3.21874137536e-05,1793255769444668416
+161,2.683333333,POSE1_TO_POSE2_PRESS,782.341279836,759.658720164,736.341279836,720,686.658720164,652,913.341279836,801,838.658720164,659,635.341279836,659,0.419806988124,-0.00553721914482,0.0599798668595,0.99999999793,-4.60753004058e-05,-2.85274222049e-05,-3.46956918588e-05,1793255769461335040
+162,2.700000000,POSE1_TO_POSE2_PRESS,782.920639093,759.079360907,736.920639093,720,686.079360907,652,913.920639093,801,838.079360907,659,635.920639093,659,0.420654004921,-0.00553956372515,0.0599493717896,0.999999995259,-4.40591643625e-05,-7.81604407562e-05,-3.78403263384e-05,1793255769478001664
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,759.495372271,737,720,686,652,913.504627729,801,838.495372271,659,635.504627729,659,0.421478365155,-0.00553697661165,0.0599105765542,0.999999986211,-4.7001070619e-05,-0.000154176220411,-3.9979993933e-05,1793255769494668544
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,759.930184097,737,719.930184097,686,652,913,801,839,659,635.069815903,659,0.422317172351,-0.00553434876171,0.0598795489735,0.999999974565,-4.93253974554e-05,-0.000216095469152,-4.17063507675e-05,1793255769511335424
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,759.352505761,737,719.352505761,686,652,913,801,839,659,635.647494239,659,0.423287229967,-0.00553711869445,0.0599146090628,0.999999987763,-4.14327284324e-05,-0.000145010753161,-4.15864880219e-05,1793255769528002304
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,759,737,719.230171203,686,652,913,801,839,659,635.769828797,659,0.424270404749,-0.0055411522387,0.0599601209446,0.999999996156,-4.32769715694e-05,-6.48286231385e-05,-4.01610800321e-05,1793255769544668672
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,759,737,719.820673565,686,652,913,801,839,659,635.179326435,659,0.4252741145,-0.00554716395698,0.0600219950287,0.999999997067,-6.0364270898e-05,2.95954457757e-05,-3.66918514865e-05,1793255769561335040
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,759.40308606,737,719.59691394,686,652,913,801,839,659,635,659,0.426239774069,-0.00554782858403,0.0600422116205,0.999999995086,-6.13654970614e-05,6.84911264625e-05,-3.70283596556e-05,1793255769578001664
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,759.98197028,737,719.01802972,686,652,913,801,839,659,635,659,0.427188838729,-0.00554616118067,0.060044260102,0.999999994248,-5.53510938074e-05,8.3169173013e-05,-3.90246663102e-05,1793255769594668544
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,760,737,719,686,652,913,801.555064581,839,659,635.555064581,659,0.428099811974,-0.00554841994932,0.0600181976473,0.999999996998,-4.88171093538e-05,4.37753837151e-05,-4.12768887314e-05,1793255769611335168
+171,2.850000000,POSE1_TO_POSE2_PRESS,782.868270312,759.868270312,737,719,686,652,913,801.868270312,839,659,635.868270312,659,0.428995798858,-0.00554992618914,0.0599888633956,0.999999997796,-5.00817526847e-05,-2.30116467621e-06,-4.35251934537e-05,1793255769628001792
+172,2.866666667,POSE1_TO_POSE2_PRESS,782.278543136,759.278543136,737,719,686,652,913,801.278543136,839,659,635.278543136,659,0.429843938549,-0.00554837721718,0.0599512956769,0.999999993722,-7.8518720976e-05,-6.55688016088e-05,-4.57312738586e-05,1793255769644668416
+173,2.883333333,POSE1_TO_POSE2_PRESS,782.30573755,759,737,718.69426245,686,651.69426245,913,801.30573755,839,658.69426245,635,659,0.430764566732,-0.00554747195061,0.0599378540339,0.999999991892,-8.34968887805e-05,-8.35499139967e-05,-4.75804032611e-05,1793255769661335040
+174,2.900000000,POSE1_TO_POSE2_PRESS,782.885143009,759,737,718.114856991,686,651.114856991,913,801.885143009,839,658.114856991,635,659,0.431750079845,-0.00554714286953,0.0599460078192,0.999999994657,-6.74769119064e-05,-6.09947248532e-05,-4.9110023219e-05,1793255769678001664
+175,2.916666667,POSE1_TO_POSE2_PRESS,783,759,737,718.461148662,686,651,913,802,839,658,635.461148662,659,0.432724175994,-0.00554912260498,0.0599845043855,0.999999996222,-7.24326672226e-05,1.14462261417e-08,-4.80471866429e-05,1793255769694668288
+176,2.933333333,POSE1_TO_POSE2_PRESS,783,759,737.037059411,718.962940589,686,651,913,802,839,658.037059411,635.962940589,659,0.433689996388,-0.00555159720484,0.0600268400502,0.99999999349,-8.15900263157e-05,6.47808225639e-05,-4.65508783044e-05,1793255769711334912
+177,2.950000000,POSE1_TO_POSE2_PRESS,783,759,737.624034502,718.375965498,686,651,913,802,839,658.624034502,635.375965498,659,0.434574900327,-0.00555294439076,0.0600148215386,0.999999994961,-7.61382081974e-05,4.43224712012e-05,-4.81335952303e-05,1793255769728001792
+178,2.966666667,POSE1_TO_POSE2_PRESS,783,759.208261395,738,718.208261395,686,651,913,802,839,659,635.208261395,659,0.435455333483,-0.00555567513345,0.0599956358144,0.999999995934,-7.48635947836e-05,8.95273205762e-06,-4.94700732327e-05,1793255769744668416
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,759.787591793,738,718.787591793,686,651,913,802,839,659,635.787591793,659,0.436327800987,-0.00556087102374,0.0599636799325,0.999999994045,-8.10317000064e-05,-5.29853229223e-05,-5.03678160719e-05,1793255769761335040
+180,3.000000000,POSE1_TO_POSE2_PRESS,783,759.633140931,738,718.633140931,686.366859069,651,913,801.633140931,839,659,635.633140931,659,0.437185371449,-0.00555993526465,0.0599359492089,0.999999989319,-8.76952690599e-05,-0.000104979000264,-5.14860844902e-05,1793255769778001664
+181,3.016666667,POSE1_TO_POSE2_PRESS,783,759.053910231,738,718.053910231,686.946089769,651,913,801.053910231,839,659,635.053910231,659,0.438034318086,-0.00555544994497,0.059910664396,0.999999982698,-9.4645657563e-05,-0.000151215957187,-5.2732013245e-05,1793255769794668288
+182,3.033333333,POSE1_TO_POSE2_PRESS,782.479584144,759.520415856,738,718.520415856,686.479584144,651,913,801.520415856,839.520415856,659,635,659,0.43888709888,-0.00555592559479,0.0599114907271,0.999999983581,-8.44576810394e-05,-0.000151351017103,-5.28886033595e-05,1793255769811334912
+183,3.050000000,POSE1_TO_POSE2_PRESS,782,759.903397655,738,718.903397655,686,651,913,801.903397655,840,658.903397655,635,659,0.439745195021,-0.00555801026199,0.0599238817987,0.999999987091,-7.54453878062e-05,-0.000131766536657,-5.2577430475e-05,1793255769828001536
+184,3.066666667,POSE1_TO_POSE2_PRESS,782,759.315182058,738,718.315182058,686,651,913,801.315182058,840,658.315182058,635,659,0.440628338745,-0.0055656923917,0.0599814896222,0.999999994772,-8.13667948947e-05,-3.59054711889e-05,-5.04547052268e-05,1793255769844668160
+185,3.083333333,POSE1_TO_POSE2_PRESS,782.268951249,759,737.731048751,718.268951249,686,650.731048751,913,801.268951249,839.731048751,658.268951249,635,659,0.441463742394,-0.00556935122151,0.0600066142984,0.999999994326,-9.40891342286e-05,4.56476595299e-06,-4.97361508574e-05,1793255769861334784
+186,3.100000000,POSE1_TO_POSE2_PRESS,782.848372037,759,737.151627963,718.848372037,686,650.151627963,913,801.848372037,839.151627963,658.848372037,635,659,0.442244036222,-0.00556836566981,0.0599942413652,0.999999991965,-0.000114662273182,-1.89065733699e-05,-5.06385312465e-05,1793255769878001408
+187,3.116666667,POSE1_TO_POSE2_PRESS,782.574497871,759,737,719,685.574497871,650,912.574497871,801.574497871,839,658.574497871,635,659.425502129,0.442987981661,-0.00556714458968,0.059954225433,0.999999990397,-0.000101813742612,-7.89380516457e-05,-5.10785143651e-05,1793255769894668032
+188,3.133333333,POSE1_TO_POSE2_PRESS,782.001817905,759.001817905,737.001817905,718.998182095,685,649.998182095,912.001817905,801,839,658,635,659.998182095,0.44371891844,-0.00556583950182,0.0599044999293,0.99999998418,-7.71847352319e-05,-0.000151801036839,-5.13616670211e-05,1793255769911334912
+189,3.150000000,POSE1_TO_POSE2_PRESS,782.577363097,759.577363097,737.577363097,718.422636903,685,649.422636903,912.577363097,801,839,658,635,659.422636903,0.444410309478,-0.00556436830541,0.0598826374782,0.999999978828,-7.32545665186e-05,-0.000184593811582,-5.38738930837e-05,1793255769928001536
+190,3.166666667,POSE1_TO_POSE2_PRESS,783,759.843262754,738,718.156737246,685,649,913,801,839,658.156737246,635,659,0.445085419049,-0.00556390627498,0.0598620181663,0.999999971455,-7.47135124054e-05,-0.000219978060604,-5.58428165252e-05,1793255769944668416
+191,3.183333333,POSE1_TO_POSE2_PRESS,783,759.253305272,738,718.746694728,685,649,913,801,839,658.746694728,635,659,0.445715526957,-0.00556623356925,0.0598448348744,0.999999959808,-9.10679182935e-05,-0.000262525127167,-5.63100573969e-05,1793255769961334784
+192,3.200000000,POSE1_TO_POSE2_PRESS,782.669589326,759,738,718.669589326,684.669589326,649,913,801,839.330410674,658.669589326,634.669589326,659,0.446343562831,-0.00556818041418,0.0598226428552,0.999999947378,-0.000110182809885,-0.000299538702697,-5.81408015348e-05,1793255769978001408
+193,3.216666667,POSE1_TO_POSE2_PRESS,782.090569698,759,738,718.090569698,684.090569698,649,913,801,839.909430302,658.090569698,634.090569698,659,0.446970039621,-0.0055698409997,0.05979668215,0.999999934269,-0.00013137475645,-0.000332388743601,-6.09974783586e-05,1793255769994668288
+194,3.233333333,POSE1_TO_POSE2_PRESS,782.485141801,759,738,718,684,649,913,800.514858199,839.514858199,658,634,659,0.447617212484,-0.00557213038487,0.0598063318185,0.999999940633,-0.000129866271134,-0.000313155245252,-6.16643356547e-05,1793255770011334912
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,759,738,718,683.938577102,648.938577102,913,800,839,658,634.061422898,659,0.448257278761,-0.00557421118495,0.0598207722565,0.999999949083,-0.000124103913529,-0.000287370959601,-6.20529837171e-05,1793255770028001536
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,759,738,718,683.35218511,648.35218511,913,800,839,658,634.64781489,659,0.448803807991,-0.00557351274754,0.0598197241741,0.999999949512,-0.000117959538098,-0.000288138861205,-6.35341947737e-05,1793255770044668160
+197,3.283333333,POSE1_TO_POSE2_PRESS,782.768384125,759,738,718,682.768384125,647.768384125,912.768384125,800,839,658,634.768384125,659,0.449322117286,-0.00557219997061,0.0598032262017,0.999999941871,-0.000113909527662,-0.000314536578896,-6.59568246609e-05,1793255770061335040
+198,3.300000000,POSE1_TO_POSE2_PRESS,782.188479383,759,738,718,682.188479383,647.188479383,912.188479383,800,839,658,634.188479383,659,0.449797991229,-0.00556996338998,0.0597634956909,0.999999919178,-0.000113008887122,-0.000379474743864,-6.97950985497e-05,1793255770078001664
+199,3.316666667,POSE1_TO_POSE2_PRESS,782.38972277,759,738,718,682,647,912,799.61027723,839.38972277,658,634,659,0.450261682199,-0.00557284826928,0.0597312277541,0.999999900437,-0.0001158839879,-0.000424731556015,-7.27955700219e-05,1793255770094668544
+200,3.333333333,POSE1_TO_POSE2_PRESS,782.967105141,759,738,718,682,647,912,799.032894859,839.967105141,658,634,659,0.450719506856,-0.00557819923764,0.0597025531981,0.999999883853,-0.000120577186433,-0.000460511394156,-7.53926225998e-05,1793255770111335168
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,759,738,718,682,646.457508713,912.542491287,799,840,658.542491287,634,659,0.451178933591,-0.00558162117161,0.0597094341885,0.999999890052,-0.000123673527216,-0.000445893303793,-7.60249165691e-05,1793255770128001792
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,759,738,718.120564261,681.879435739,646,913,799.120564261,840,658.879435739,634,659,0.451628967946,-0.00558485911645,0.0597204538822,0.999999898421,-0.000126429015247,-0.000425918597988,-7.59380140877e-05,1793255770144668672
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,759,738,718.709544828,681.290455172,646,913,799.709544828,840,658.290455172,634,659,0.452042135121,-0.00558783501418,0.0597392076071,0.999999910286,-0.000128235040395,-0.000396961858097,-7.35180612706e-05,1793255770161335296
+204,3.400000000,POSE1_TO_POSE2_PRESS,783,759,738,718.706441568,681,646,913,799.706441568,840,658.293558432,634,659,0.452425734069,-0.00559084554056,0.0597488891095,0.999999917736,-0.000125592272165,-0.000380512144497,-6.29678222478e-05,1793255770178001664
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,759,738,718.127260686,681,646,913,799.127260686,840,658.872739314,634,659,0.452780564107,-0.00559388975928,0.0597497436444,0.999999921199,-0.000118620978026,-0.000376231347321,-4.45070892529e-05,1793255770194668032
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,759,738,718,681,646,913,799,839.551303801,659,634,659,0.453083926469,-0.00559269180019,0.059738948942,0.999999913735,-0.000115169801993,-0.000396718179356,-4.33728702748e-05,1793255770211334912
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,759.024252196,738,718,681,645.975747804,912.975747804,799,839.024252196,658.975747804,634,659,0.453371174039,-0.00559043043433,0.0597245911801,0.999999902435,-0.000112861252926,-0.000424473571184,-4.70596886136e-05,1793255770228001536
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,759.611579348,738,718,681,645.388420652,912.388420652,799,839.611579348,658.388420652,634,659,0.453620774578,-0.00559121497205,0.0597036713314,0.999999886909,-0.000114066949862,-0.000459054862552,-4.93973993574e-05,1793255770244668416
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,760,738,718.196201244,680.803798756,645,912,799,840,658,634,659.196201244,0.453869013057,-0.0055897686065,0.0596902049031,0.999999877017,-0.000112705834067,-0.00048020322418,-5.16604758396e-05,1793255770261335040
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,760,738,718.775540301,680.224459699,645,912,799,840,658,634,659.775540301,0.454114591706,-0.00558396577814,0.0596912933653,0.999999880031,-0.000106332298456,-0.000475120029612,-5.37778078678e-05,1793255770278001664
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760,738,719,680,645,912,799,840,658.354170353,634,660,0.454342330929,-0.00558116370126,0.0596979470177,0.999999886682,-0.000102813843386,-0.00046157491728,-5.49046740833e-05,1793255770294668288
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,738,719,680,645,912,799,840,658.932352018,634,660,0.454558786813,-0.00558025958696,0.0597081206304,0.999999895373,-0.000101101214539,-0.000442677675635,-5.5405074879e-05,1793255770311334912
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,760,738.507685057,719,680,644.492314943,912.507685057,799,840,659,634,659.492314943,0.454744731483,-0.0055802589949,0.0597154675874,0.99999990115,-0.000100290265926,-0.00042961088129,-5.54612939974e-05,1793255770328001792
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,759.917359279,738.917359279,719,680,644,912.917359279,798.917359279,840,659,634,659,0.454920242592,-0.00558041129871,0.0597204077526,0.99999990505,-9.95841798675e-05,-0.000420582317894,-5.56127290948e-05,1793255770344668416
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,759.342402902,738.342402902,719,680,644,912.342402902,798.342402902,840,659,634,659,0.455057682508,-0.00558076123695,0.0597132412123,0.99999990063,-9.87910330763e-05,-0.000431008333674,-5.66820176674e-05,1793255770361335040
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,759.239964725,738,718.760035275,680,644,912.239964725,798.239964725,840,659,634,659,0.455180838657,-0.00558213759701,0.0597057156965,0.999999895644,-0.000100142563811,-0.000441996287122,-5.76518678064e-05,1793255770378001920
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+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,738,718.414253096,679.585746904,644,913,798.585746904,840,658.585746904,633.585746904,659,0.455372079768,-0.00558640878728,0.0596922877681,0.99999988623,-0.000107086266381,-0.000461089014543,-5.89002499711e-05,1793255770411334912
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+221,3.683333333,POSE1_TO_POSE2_PRESS,783,759.14483264,738.85516736,719,679,644,913,798,840,658.85516736,634,659,0.455590090566,-0.00558601160976,0.0596863592031,0.999999882756,-0.000107664473526,-0.000468357625951,-5.94736476629e-05,1793255770461335040
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+224,3.733333333,POSE1_TO_POSE2_PRESS,782.101513207,759.101513207,738,718.101513207,679,644,913,798,840,658.898486793,634,659,0.45571286257,-0.00558731078934,0.0596788331615,0.99999987748,-0.000110763733571,-0.00047876940796,-5.95930312889e-05,1793255770511334912
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+226,3.766666667,POSE1_TO_POSE2_PRESS,783,760,738,718,679,644,912,798,839,658.949713429,633,659,0.455756628499,-0.00558956914553,0.0596734737919,0.999999872319,-0.000114596455832,-0.000488568712462,-5.94211254178e-05,1793255770544668416
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,760,738,718,679,644,912,798,839,658.361640674,633,659,0.455770684754,-0.00558753618135,0.0596725187113,0.99999987243,-0.000114348045619,-0.00048836765383,-5.9675585199e-05,1793255770561335040
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+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,738,718.890806172,678.890806172,644,912.890806172,798,840,658.109193828,633.890806172,659.109193828,0.455796402121,-0.00558630302167,0.0596632879716,0.999999865601,-0.000120544856742,-0.000500742418312,-5.93705702314e-05,1793255770661335040
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+235,3.916666667,POSE1_TO_POSE2_PRESS,783,760,738,718,678.284650544,643.715349456,912,798,840,659,633.284650544,660,0.455802217445,-0.00558376989338,0.0596659418089,0.999999867728,-0.000117778613365,-0.000497189613304,-5.89389954963e-05,1793255770694668288
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,760,738,718,678.86431219,643.13568781,912,798,840,659,633.86431219,660,0.455801210162,-0.0055840203582,0.0596647763396,0.999999866627,-0.000117997788936,-0.000499389783559,-5.85922223811e-05,1793255770711334912
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+238,3.966666667,POSE1_TO_POSE2_PRESS,782.98669976,759,738,718,679,644,912.98669976,798,840,659,633.98669976,659,0.455802093244,-0.00558009439345,0.0596633742653,0.999999866591,-0.000114676461935,-0.000500155059333,-5.92612583517e-05,1793255770744668672
+239,3.983333333,POSE1_TO_POSE2_PRESS,782.411268073,759,738,718,679,644,912.411268073,798,840,659,633.411268073,659,0.4557979859,-0.00558273223747,0.0596604817942,0.999999863872,-0.000116712923256,-0.000505162908204,-5.86874961429e-05,1793255770761335296
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+241,4.016666667,POSE1_TO_POSE2_PRESS,782.761770046,759,738,718.761770046,679,644,912,798,840,659,633,659,0.455800944287,-0.00558208018413,0.0596617909903,0.999999864948,-0.00011625117443,-0.000503138166411,-5.86627546535e-05,1793255770794668544
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+245,4.083333333,POSE1_TO_POSE2_PRESS,783,759.070715425,738,718.929284575,679,643.929284575,912.929284575,798,839.929284575,658.070715425,633.929284575,659,0.455803587258,-0.00558247584673,0.0596611891188,0.999999864838,-0.000117416723578,-0.000503124815868,-5.83303740453e-05,1793255770861335296
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+247,4.116666667,HOLD_POSE2,784,759,738,718,678,644,912,798,840,659,634,659,0.455803439872,-0.00558213353242,0.0596611365761,0.99999986457,-0.000117178772927,-0.000503716780113,-5.82888438412e-05,1793255770916276992
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+249,4.150000000,HOLD_POSE2,783,760,738,719,679,643,912.848294378,797.151705622,840,658.151705622,634,659,0.455803118787,-0.00558096152235,0.0596599573106,0.999999864021,-0.000118413251437,-0.000504524699994,-5.82324409712e-05,1793255770949610240
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+252,4.200000000,HOLD_POSE2,783,760,738,719,679,643,912,798,840,658.10512167,633.10512167,659,0.455804545449,-0.00558185154091,0.0596618269146,0.999999864141,-0.000120946734347,-0.00050369252865,-5.81776771521e-05,1793255770999610112
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+256,4.266666667,HOLD_POSE2,783,759.213730785,738,718.786269215,679,643.786269215,912.213730785,797.786269215,840,659,634,659,0.455803707479,-0.00557917203926,0.0596599406207,0.999999864115,-0.000115488909868,-0.00050505155985,-5.79287268714e-05,1793255771066276864
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,760,738,719,678.037779245,643,912,797.962220755,839.037779245,659,633.037779245,659,0.455753926109,-0.0055756563326,0.0596341092455,0.999999843564,-0.000115195371767,-0.000544227428479,-5.84622084437e-05,1793255771403615232
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,782,759.876424717,738,718,679,643,912.123575283,798,840,658,634,659,0.455648639251,-0.00557189597875,0.05959673612,0.999999807177,-0.000113515780312,-0.000607545694397,-6.0394592871e-05,1793255771436948736
+278,4.633333333,POSE2_TO_POSE3_RETREAT,782,759.298158055,738,718,679,643,912.701841945,798,840,658,634,659,0.455581422973,-0.005569552429,0.059577986574,0.999999796045,-0.00011224417274,-0.000625730115094,-6.14211648243e-05,1793255771453615104
+279,4.650000000,POSE2_TO_POSE3_RETREAT,782.277242964,759,738,718,679,643,912.722757036,797.722757036,840,658.277242964,633.722757036,659,0.455506560789,-0.00556720147223,0.0595641700878,0.99999978569,-0.000110783167317,-0.000642269487756,-6.19402332568e-05,1793255771470281728
+280,4.666666667,POSE2_TO_POSE3_RETREAT,782.849593651,759,738,718,679,643,912.150406349,797.150406349,840,658.849593651,633.150406349,659,0.455423560021,-0.00556484263129,0.0595556045351,0.999999776267,-0.000109120559868,-0.000657057809076,-6.19190960083e-05,1793255771486948352
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,759.435338831,738,718.435338831,679,643,912,797.435338831,840,659,633,659,0.455332833319,-0.00556257603192,0.0595540124031,0.999999775446,-0.0001056720723,-0.000658942232399,-6.11249628453e-05,1793255771503614976
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,760,738,719,679,643,912,798,839.974604501,658.974604501,633,659,0.455238389701,-0.00556023877057,0.0595550131648,0.999999777723,-0.0001017112569,-0.000656199968367,-6.00820420389e-05,1793255771520281856
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,738,719,679,643,912,798,839.394660385,658.394660385,633,659,0.455122919052,-0.00555564050503,0.0595583536448,0.999999780057,-0.000100464001534,-0.000652868953169,-5.96233475656e-05,1793255771536948480
+284,4.733333333,POSE2_TO_POSE3_RETREAT,782.81578724,760,738,718.81578724,678.81578724,643,912,798,839.18421276,658,633.18421276,659,0.454997209023,-0.00555118878507,0.0595617749717,0.999999782308,-9.80237083534e-05,-0.00064985909207,-5.88145840098e-05,1793255771553615104
+285,4.750000000,POSE2_TO_POSE3_RETREAT,782.239195372,760,738,718.239195372,678.239195372,643,912,798,839.760804628,658,633.760804628,659,0.454849688797,-0.0055470492125,0.0595653685046,0.999999784383,-9.30422063979e-05,-0.000647533299962,-5.72601621032e-05,1793255771570281984
+286,4.766666667,POSE2_TO_POSE3_RETREAT,782.342395217,759.657604783,738,718,678.342395217,643,912,798,840,658.342395217,634,659,0.454684155446,-0.00554216791415,0.0595665965229,0.999999784703,-8.94012174592e-05,-0.000647673814713,-5.58584203441e-05,1793255771586948608
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782.927529682,759.072470318,738,718,678.927529682,643,912,798,840,658.927529682,634,659,0.454505851773,-0.00553676077289,0.0595661475227,0.999999783786,-8.67105775053e-05,-0.000649562804214,-5.45649201956e-05,1793255771603614976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,759,738,718.507369358,679,643.507369358,912,797.492630642,840,659,634,659,0.454291509805,-0.00552965482931,0.0595654221007,0.999999778605,-7.98015427821e-05,-0.00065848710193,-5.30766751111e-05,1793255771620281600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,759.086506932,738,718.913493068,679,644,912,797.086506932,840,658.913493068,633.913493068,659,0.454067895952,-0.00552231246389,0.0595648988502,0.999999773693,-7.22918334738e-05,-0.000666880406943,-5.1554861189e-05,1793255771636948224
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,759.665908948,738,718.334091052,679,644,912,797.665908948,840,658.334091052,633.334091052,659,0.453820479624,-0.00551499129817,0.0595657501624,0.999999774488,-6.47572712563e-05,-0.000666581764128,-4.99986342675e-05,1793255771653615104
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,759.757024409,738,718,679,644,912,798,839.757024409,658.242975591,633.242975591,659,0.453554906203,-0.00550670166708,0.0595651231023,0.999999774844,-5.85058136899e-05,-0.000666718138531,-4.87355556796e-05,1793255771670281728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.183138362,738,718,679,644,912,798,839.183138362,658.816861638,633.816861638,659,0.453264604504,-0.00549709307549,0.0595624826347,0.999999774653,-5.40018273499e-05,-0.000667446966508,-4.78717183126e-05,1793255771686948608
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,759,738,718,679.400765586,644,912,798,839.400765586,659,634,659,0.452954211246,-0.00549009378552,0.0595629804855,0.999999777583,-4.60204376211e-05,-0.000663802797416,-4.56375806851e-05,1793255771703615232
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,759,738,718,679.989364778,644,912,798,839.989364778,659,634,659,0.452634401344,-0.00548431744146,0.0595649492252,0.999999781869,-3.64092343805e-05,-0.000658109061517,-4.27612012092e-05,1793255771720281856
+295,4.916666667,POSE2_TO_POSE3_RETREAT,782.455546785,759,738,718,680,644,912,798,840,659,634,659.544453215,0.45229099703,-0.00547683526743,0.0595795959832,0.999999796957,-2.57939176047e-05,-0.000635459747776,-4.01506256671e-05,1793255771736948480
+296,4.933333333,POSE2_TO_POSE3_RETREAT,782.106958562,759,737.893041438,718,680,644.106958562,912,798,839.893041438,659,634,659.893041438,0.451937683721,-0.0054686976464,0.0595936934923,0.999999810692,-1.46516707717e-05,-0.000614000392021,-3.74870670541e-05,1793255771753615104
+297,4.950000000,POSE2_TO_POSE3_RETREAT,782.706457997,759,737.293542003,718,680,644.706457997,912,798,839.293542003,659,634,659.293542003,0.451540739205,-0.00545768626098,0.0596041874278,0.999999819728,-1.16801583423e-06,-0.00059945752692,-3.45570004719e-05,1793255771770281728
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,759.292636853,737,718,680,645,912,798.292636853,839,659,634,659,0.45111644269,-0.00544903370519,0.0596112204597,0.999999824512,9.09862446937e-06,-0.000591475605523,-3.24131295856e-05,1793255771786948608
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,759.866035733,737,718,680,645,912,798.866035733,839,659,634,659,0.450665904038,-0.00544264425948,0.0596149330281,0.999999825461,1.6278794037e-05,-0.000589788391615,-3.10235512497e-05,1793255771803614976
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,760,737.456616636,718.456616636,680,645,912,799,839,658.543383364,634,659,0.45016092245,-0.00544541047049,0.0596026893408,0.999999815121,1.17351580863e-05,-0.000607207971368,-3.03187701073e-05,1793255771820281600
+301,5.016666667,POSE2_TO_POSE3_RETREAT,782.949419067,759.949419067,738,719,680.050580933,645.050580933,912,799,839,658,634,659,0.449636662873,-0.00545080485304,0.0595860187104,0.999999801238,4.06528614986e-06,-0.000629789819401,-2.95174471934e-05,1793255771836948480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782.374673869,759.374673869,738,719,680.625326131,645.625326131,912,799,839,658,634,659,0.449084622802,-0.00545451024366,0.0595738809682,0.999999791334,1.0362823477e-06,-0.00064550573866,-2.55522709118e-05,1793255771853615104
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782,759,738,718.799296822,681.200703178,646,912,799,839,658.200703178,634,659,0.448529745178,-0.00545270587116,0.0595699720505,0.999999787911,4.61377309439e-06,-0.000650909260499,-2.17627339764e-05,1793255771870281984
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782,759,738,718.222736545,681.777263455,646,912,799,839,658.777263455,634,659,0.4479695537,-0.00544058335792,0.0595814732638,0.999999796736,2.05632549078e-05,-0.000637000741482,-1.83021173131e-05,1793255771886948352
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782,759,738,718,682,646.362478157,912,799.362478157,839,659,634,659,0.447400233099,-0.00543425537943,0.0596146830259,0.999999828058,3.1922539753e-05,-0.000585408452145,-1.27537242831e-05,1793255771903614976
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782,759,738,718,682,646.953140906,912,799.953140906,839,659,634,659,0.446825165622,-0.00543157513443,0.0596615585942,0.999999869069,4.03922367036e-05,-0.000510093749807,-5.89104964922e-06,1793255771920281600
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782.533602371,759,738,718,682,647,912,800,839,659,634.533602371,659,0.446175634465,-0.00542683209466,0.0596809549715,0.999999870234,0.000134566926032,-0.000491347141438,-1.14697191716e-06,1793255771936948224
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783,759,737.887958548,718.112041452,682.224082905,647.112041452,912,800,839,659,634.887958548,659,0.445506479484,-0.00542324877742,0.0596891960845,0.999999858474,0.000214261090546,-0.000486964773446,3.07770999439e-06,1793255771953614848
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783,759,737.314230983,718.685769017,683.371538035,647.685769017,912,800,839,659,634.314230983,659,0.444782901505,-0.00542517674454,0.0596612271721,0.999999843126,0.000203854051881,-0.000521686849991,5.91439102021e-06,1793255771970281472
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783,759,737,719,684,648.260272811,912,800.260272811,839,658.739727189,634.260272811,659,0.444076456834,-0.00542681281507,0.0596575220768,0.999999845654,0.000194173701134,-0.00052047109415,9.88574935941e-06,1793255771986948352
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783,759,737,719,684,648.835716637,912,800.835716637,839,658.164283363,634.835716637,659,0.44339075923,-0.0054280954208,0.0596831986556,0.999999869539,0.000185373313969,-0.000475737300937,1.52311178947e-05,1793255772003614976
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782.576253876,759,737.423746124,718.576253876,684,649,912,801,839,658.423746124,635,659,0.442665508318,-0.00542826260875,0.0597224344222,0.999999897382,0.000180300026819,-0.000415055508916,2.13639946191e-05,1793255772020281856
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.016358613,759,738,718.016358613,684.016358613,649,912,801,839,658.983641387,635,659,0.441922444222,-0.00542783173811,0.0597659275492,0.999999922623,0.000176973562648,-0.000350233869466,2.77759405959e-05,1793255772036948480
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782.593687484,759,738,718.593687484,684.593687484,649,912,801,839,658.406312516,635,659,0.441110477094,-0.00542217537555,0.0597696299472,0.999999917298,0.000182481499163,-0.000361963576355,3.29675282166e-05,1793255772053614848
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,759,737.830018364,718.830018364,685,649,912,801,839,658,635,659,0.44029569732,-0.00541733893497,0.0597748461495,0.999999912463,0.000200701680205,-0.000365173592671,3.79695199774e-05,1793255772070281472
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783,759,737.256182604,718.256182604,685,649,912,801,839,658,635,659,0.439474235113,-0.00541445052206,0.0597836589529,0.999999907463,0.000249124490295,-0.000348141937772,4.25210564232e-05,1793255772086948096
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,649,911.67302847,801,839,658,635,659,0.438644670558,-0.00541384500823,0.0597976511618,0.9999999141,0.000254237609911,-0.000324791996507,4.09031317062e-05,1793255772103614976
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,649,911.082359231,801,839,658,635,659,0.43780857162,-0.00541508061892,0.0598158204845,0.999999930318,0.000224422101817,-0.000296346451559,3.43096275124e-05,1793255772120281856
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,649,911.497897052,801,839,658,635,659,0.436859834129,-0.00541713153772,0.0597759754345,0.999999920646,0.000153999303744,-0.000366976880209,1.78885268252e-05,1793255772136948480
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,759,737,718.076191415,685,649,911.923808585,801,838.923808585,658.076191415,635.076191415,659,0.435905576465,-0.00541909495917,0.0597332498029,0.999999900512,8.88115890911e-05,-0.000437127724374,2.90147311972e-06,1793255772153615360
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,759,737,718.652681389,685,649,911.347318611,801,838.347318611,658.652681389,635.652681389,659,0.43503490974,-0.00541961642405,0.0597333316701,0.99999991536,0.00010120194191,-0.00039872105245,7.78659066148e-06,1793255772170282240
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,759,736.772057478,718.772057478,685,649.227942522,911.227942522,801,838.227942522,659,635.772057478,659,0.434152037308,-0.00541852651233,0.0597411726571,0.999999924981,0.000125639010077,-0.000366184215447,1.27601912554e-05,1793255772186948864
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,759,736.198658618,718.198658618,685,649.801341382,911.801341382,801,838.801341382,659,635.198658618,659,0.433250666487,-0.00541499449268,0.0597607729116,0.999999927004,0.000168333376488,-0.000342543350891,1.78678923178e-05,1793255772203615488
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783,759,736.386964366,718.386964366,685,650,912,801,839,659,635,659,0.432341658947,-0.00541024289037,0.059774884086,0.999999929573,0.000178702326402,-0.000329332058456,2.14235369808e-05,1793255772220281856
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783,759,736.97906761,718.97906761,685,650,912,801,839,659,635,659,0.431428603057,-0.00540484475892,0.0597860853692,0.999999933198,0.000171934813096,-0.000321649728282,2.41563998839e-05,1793255772236948480
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,759,737,719,685.555938277,650,912,801,839,659,635,659,0.430509281972,-0.00540720255269,0.0598125121876,0.999999948157,0.000168104550419,-0.000273496856625,2.50115267392e-05,1793255772253615104
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,759,737,718.867375716,686,650.132624284,912.132624284,801,839,658.867375716,635,659,0.429568839253,-0.00540875103609,0.0598228985821,0.999999952507,0.000167985486921,-0.000257155628863,2.52549207704e-05,1793255772270281728
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,759,737,718.289435338,686,650.710564662,912.710564662,801,839,658.289435338,635,659,0.42855824687,-0.00540662767346,0.0597775520429,0.999999921359,0.000179966173933,-0.000352609298902,2.36753473749e-05,1793255772286948608
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,759,737,718.293126729,685.706873271,650.706873271,913,801,838.706873271,658.293126729,635,659,0.427605016788,-0.0054054568976,0.0597473298704,0.999999904441,0.000179152119892,-0.000398160288332,2.21429085386e-05,1793255772303615232
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,782.617507644,759.382492356,736,719,685.617507644,650.382492356,913,801,839,659,635,659.382492356,0.423934421837,-0.00540414512428,0.0598084540699,0.999999936975,0.000176766475785,-0.000306643853598,2.78187100036e-05,1793255772370281728
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,759.193716836,736,719,685.806283164,650,913.193716836,800.806283164,838.806283164,659,635,659,0.423023533047,-0.00540286836073,0.059826632748,0.999999944612,0.000178944557823,-0.00027910283803,2.92563859217e-05,1793255772386948608
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,759.768847928,736,719,685.231152072,650,913.768847928,800.231152072,838.231152072,659,635,659,0.422147084785,-0.00540379086305,0.0598414280845,0.999999947888,0.00020384666005,-0.000248510896646,3.0210639328e-05,1793255772403615232
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,759.647057507,736.352942493,719,685.352942493,650.352942493,913.647057507,800.352942493,838,659,635,659,0.421224490967,-0.00540197279304,0.059816144338,0.999999935444,0.000203116146608,-0.000294956608796,2.92746457517e-05,1793255772420282112
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,759.056939573,736.943060427,719,685.943060427,650.943060427,913.056939573,800.943060427,838,659,635,659,0.420270887638,-0.00539831307322,0.0597639276643,0.9999999052,0.000185160651449,-0.000393171206152,2.70684161821e-05,1793255772436948736
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782.476587657,759,736.476587657,719,686,651,913,800.476587657,838.523412343,659,635.523412343,659,0.419369488752,-0.00539692011425,0.0597264601818,0.999999887642,0.000181840751457,-0.000437110221197,2.41685926932e-05,1793255772453615104
+339,5.650000000,POSE2_TO_POSE3_RETREAT,782.101597084,759,736.101597084,719,686,651,913,800.101597084,838.898402916,659,635.898402916,659,0.418487218021,-0.00539630868303,0.05970431571,0.999999878634,0.000181688432743,-0.000457419334604,2.21208117252e-05,1793255772470281984
+340,5.666666667,POSE2_TO_POSE3_RETREAT,782.674565785,759,736.674565785,719,686,651,913,800.674565785,838.325434215,659,635.325434215,659,0.41766782851,-0.00539820011282,0.0597459562581,0.999999903839,0.000188980873002,-0.000394987065741,2.43698424745e-05,1793255772486949120
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,759,737,719,686,651,913,801,838,659,635,659,0.416861673847,-0.00539812653684,0.0597849531577,0.999999923418,0.000192564266993,-0.000339652054642,2.68361496708e-05,1793255772503615744
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,759,737,719,686,651,913,801,838,659,635,659,0.416072919135,-0.00539546956301,0.059820474443,0.999999938155,0.000191271369078,-0.000293647830891,2.95881106045e-05,1793255772520282368
+343,5.716666667,POSE2_TO_POSE3_RETREAT,782.587762591,759,736.587762591,719.412237409,686,651,913.412237409,801,838,659,635,659,0.415300540081,-0.00539539420195,0.0598305820219,0.999999939438,0.000196428932891,-0.000285659300195,3.06268116324e-05,1793255772536948736
+344,5.733333333,POSE2_TO_POSE3_RETREAT,782.002261791,759.002261791,736,720,686,651,914,800.997738209,838,659,635,659,0.4145352535,-0.00539642665008,0.0598297298313,0.999999935421,0.000204324907076,-0.000294028929772,3.09249068225e-05,1793255772553614848
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782.574713558,759.574713558,736,720,686,651,914,800.425286442,838,659,635,659,0.41377687182,-0.00539594458046,0.0598300819054,0.999999936855,0.000200979381598,-0.000291453492444,3.08616982103e-05,1793255772570281728
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782.85069741,760,736,719.85069741,686,651,913.85069741,800,838,659,635.14930259,659,0.413002563458,-0.00539426990694,0.0598169353228,0.999999930204,0.000202134228235,-0.0003127639709,3.02024250966e-05,1793255772586948608
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782.269931856,760,736,719.269931856,686,651,913.269931856,800,838,659,635.730068144,659,0.412182229105,-0.00538914877994,0.0597647795686,0.999999894976,0.000216294499781,-0.00040310130093,2.7820611315e-05,1793255772603615232
+348,5.800000000,POSE2_TO_POSE3_RETREAT,782.315873071,760,736,719.315873071,686,651,913.315873071,800.315873071,838,659,635.684126929,659,0.411449745254,-0.00538577452778,0.059737477837,0.999999878119,0.000218725456405,-0.00044186814967,2.59415533495e-05,1793255772620281600
+349,5.816666667,POSE2_TO_POSE3_RETREAT,782.906054218,760,736,719.906054218,686,651,913.906054218,800.906054218,838,659,635.093945782,659,0.410793551912,-0.0053839172836,0.0597317596487,0.999999882463,0.000210970531435,-0.000435850552541,2.44990950275e-05,1793255772636948224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760,736,720,686,651.486945304,914,801,838,659,635,659,0.41018814804,-0.00538539528389,0.0597696334019,0.999999904268,0.000221474330072,-0.000376385869316,2.73443682033e-05,1793255772653614848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,759.93440667,736,720,686,651.93440667,914,800.93440667,838,659,635.06559333,659,0.409593415115,-0.00538727922848,0.0598137256147,0.999999924252,0.000233594138459,-0.000309806936514,3.07993870481e-05,1793255772670281472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,759.359518887,736,720,686,651.359518887,914,800.359518887,838,659,635.640481113,659,0.40900687859,-0.00538741249641,0.0598420231633,0.999999937162,0.000231422159263,-0.000266553832096,3.26860341305e-05,1793255772686948352
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,759,736,720,686.216188655,651,914,800,838,659,635.783811345,659,0.408418730505,-0.0053878718364,0.0598546680971,0.999999942904,0.000229845585807,-0.000245475455264,3.32241695189e-05,1793255772703614976
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,759,736,720,686.793264575,651,914,800,838,659,635.206735425,659,0.407827892273,-0.00538887549378,0.0598411838613,0.999999939054,0.000229262933674,-0.000261413719596,3.1511212123e-05,1793255772720281856
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,759.378538764,736,720,686.621461236,651,914,800,838,659.378538764,635,659,0.407280907798,-0.00538722637452,0.0598280514713,0.999999933592,0.000230223366724,-0.000280844598173,3.06618566999e-05,1793255772736948480
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,759.968389532,736,720,686.031610468,651,914,800,838,659.968389532,635,659,0.406758403785,-0.00538409639368,0.0598151154912,0.999999926949,0.000232045197361,-0.000302225163074,3.02945903451e-05,1793255772753615104
+357,5.950000000,POSE2_TO_POSE3_RETREAT,782.452056922,760,736,720,686,651,914,800,838,659.452056922,635,659,0.406293970019,-0.00537995580268,0.0598208758834,0.999999929554,0.000236652490317,-0.00028974756946,3.05501149344e-05,1793255772770281984
+358,5.966666667,POSE2_TO_POSE3_RETREAT,782,759.873579107,736,720.126420893,686,651,914,800.126420893,838,659,635,659,0.405836905762,-0.00537619644554,0.0598254731818,0.999999931573,0.000240690570224,-0.000279245953997,3.07100656139e-05,1793255772786948608
+359,5.983333333,POSE2_TO_POSE3_RETREAT,782,759.296855915,736,720.703144085,686,651,914,800.703144085,838,659,635,659,0.405394378573,-0.00537399885039,0.0598221566606,0.999999930287,0.000242139341174,-0.000282611649428,3.04039750776e-05,1793255772803615232
+360,6.000000000,POSE2_TO_POSE3_RETREAT,782,759,736,720.71621168,686.28378832,651,914,800.71621168,838,659,635,659,0.404961458179,-0.00537119786033,0.0598099940807,0.999999924373,0.000244945878724,-0.000300606551605,2.98624651188e-05,1793255772820281856
+361,6.016666667,POSE2_TO_POSE3_RETREAT,782,759,736,720.131408421,686.868591579,651,914,800.131408421,838,659,635,659,0.404538727761,-0.005367756848,0.0597884484657,0.999999912711,0.000249192602218,-0.000334118687443,2.90712452164e-05,1793255772836948224
+362,6.033333333,POSE2_TO_POSE3_RETREAT,782.449600166,759.449600166,736,720.449600166,686.550399834,651.449600166,914,800,838,659,635,659,0.404153494736,-0.00536387861943,0.0597677301451,0.99999990005,0.000255134327617,-0.000366046672006,2.85558501568e-05,1793255772853615104
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,759.970585167,736,721,686.029414833,651.970585167,914,800,838,659.029414833,635,659,0.403783947208,-0.00536005398066,0.0597491397125,0.999999887695,0.000261395720162,-0.000394314931916,2.82466333818e-05,1793255772870282240
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,759.392525501,736,721,686.607474499,651.392525501,914,800,838,659.607474499,635,659,0.403504256356,-0.00535959246309,0.059765766288,0.999999898729,0.000264456457236,-0.000362885932308,3.0291956152e-05,1793255772886948608
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,759,736,721,686.815399639,651,914,800,838,659.815399639,635,659,0.403235997475,-0.00536065731133,0.0597837169211,0.999999909205,0.000266076553659,-0.000331250820333,3.26448756508e-05,1793255772903615488
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783,759,736,721,686.240249453,651,914,800,838,659.240249453,635,659,0.402991924683,-0.00536495141604,0.0598044687951,0.999999919591,0.000264648758034,-0.000299179651045,3.56485620598e-05,1793255772920282112
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783,759,736,721,686.343049836,651,914,800,838,659,635,659,0.402763458298,-0.00536794268075,0.0598221120095,0.99999992781,0.000263616508369,-0.00027101609122,3.7911993339e-05,1793255772936948480
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783,759,736,721,686.932195149,651,914,800,838,659,635,659,0.402546187541,-0.00536999932066,0.0598375251505,0.999999934491,0.000262868013464,-0.000245655750603,3.96443841844e-05,1793255772953615104
+369,6.150000000,POSE2_TO_POSE3_RETREAT,782.487183247,759,735.487183247,721,687,651,914,800,838,659,635,659,0.402332040144,-0.0053710630121,0.0598320606184,0.99999993153,0.000261413005479,-0.000258771711927,4.05012301553e-05,1793255772970281984
+370,6.166666667,POSE2_TO_POSE3_RETREAT,782.091710862,759,735.091710862,721,686.908289138,651,914,800,838,659,635,659,0.402124573401,-0.00537162621332,0.0598243677176,0.999999927159,0.00026038899516,-0.000276028951908,4.10911103973e-05,1793255772986948608
+371,6.183333333,POSE2_TO_POSE3_RETREAT,782.667339461,759,735.667339461,721,686.332660539,651,914,800,838,659,635,659,0.401950214002,-0.00537022997189,0.0598192442536,0.999999923127,0.000262124022236,-0.000288733065841,4.08731840302e-05,1793255773003615744
+372,6.200000000,POSE2_TO_POSE3_RETREAT,782.758440855,759,736,721,686,651.241559145,914,800,838,659,635,659,0.401791684059,-0.00536943626451,0.0598165792413,0.999999926523,0.00024082466269,-0.000296249778612,3.45558756466e-05,1793255773020282880
+373,6.216666667,POSE2_TO_POSE3_RETREAT,782.186150227,759,736,721,686,651.813849773,914,800,838,659,635,659,0.401654827076,-0.00536946751867,0.0598172802263,0.999999938128,0.000187987697784,-0.000296664143003,1.98875786363e-05,1793255773036949248
+374,6.233333333,POSE2_TO_POSE3_RETREAT,782.40098343,759.40098343,736,720.59901657,686,651.59901657,913.59901657,800,838,659,635,659,0.401538671498,-0.0053753791168,0.0598193712464,0.999999935468,0.000205599639023,-0.0002942468779,1.45112054568e-05,1793255773053615616
+375,6.250000000,POSE2_TO_POSE3_RETREAT,782.995272584,759.995272584,736,720.004727416,686,651.004727416,913.004727416,800,838,659,635,659,0.401432495638,-0.00538412550579,0.0598221323735,0.999999924653,0.00025717352573,-0.000290464543055,1.36142748241e-05,1793255773070281728
+376,6.266666667,POSE2_TO_POSE3_RETREAT,782.427004762,760,736,720,686.572995238,651.572995238,913.572995238,800,838,659,635,659,0.401351041681,-0.00537939386981,0.0598248866537,0.999999924061,0.000262363153859,-0.000287840961949,1.38235150828e-05,1793255773086948608
+377,6.283333333,POSE2_TO_POSE3_RETREAT,782,759.850062529,736,720.149937471,686.850062529,652,914,800,838,659,635.149937471,659,0.401274050255,-0.00537543364766,0.0598267024146,0.999999923581,0.000266159147103,-0.000285995750739,1.42438240684e-05,1793255773103614976
+378,6.300000000,POSE2_TO_POSE3_RETREAT,782,759.2749567,736,720.7250433,686.2749567,652,914,800,838,659,635.7250433,659,0.401209150846,-0.00537396733488,0.0598258570297,0.999999923231,0.000267057964035,-0.000286331367761,1.52374957663e-05,1793255773120281600
+379,6.316666667,POSE2_TO_POSE3_RETREAT,782,759,736,721,686,652,914,800,838,659.307247064,636,659,0.401149992374,-0.005373823767,0.059823638166,0.999999922117,0.000266922757844,-0.000290280650007,1.60029876065e-05,1793255773136948736
+380,6.333333333,POSE2_TO_POSE3_RETREAT,782,759,736,721,686,652,914,800,838,659.895953078,636,659,0.401096092978,-0.00537489192212,0.0598201611032,0.999999920262,0.000265840317099,-0.00029754029238,1.6559451482e-05,1793255773153615616
+381,6.350000000,POSE2_TO_POSE3_RETREAT,782.476998787,759.476998787,736,721,686.476998787,652,914.476998787,800,838,660,636,659,0.401058720372,-0.00537350049547,0.0598192122601,0.999999919223,0.000266656081999,-0.000300287929628,1.66264978536e-05,1793255773170282240
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783,760,736,720.944021639,687,651.944021639,914.944021639,800,838,659.944021639,635.944021639,659,0.40102667565,-0.00537187507869,0.0598191539292,0.999999918645,0.000267634447014,-0.000301335646979,1.66732436504e-05,1793255773186948608
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783,760,736,720.36895139,687,651.36895139,914.36895139,800,838,659.36895139,635.36895139,659,0.40101113609,-0.00537297626622,0.0598223203354,0.999999920687,0.000266341762099,-0.00029560214863,1.75060489185e-05,1793255773203615488
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783,759.794395591,736,720.205604409,687,651,914,800,838,659,635,659,0.400996891818,-0.00537325178495,0.0598247247287,0.999999922061,0.000266015739813,-0.000291182192324,1.80836766105e-05,1793255773220282112
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783,759.220760692,736,720.779239308,687,651,914,800,838,659,635,659,0.400984966102,-0.00537204936209,0.0598257651239,0.999999922284,0.00026742003714,-0.000289113467683,1.82045381306e-05,1793255773236948736
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783,759,736,721,686.635382028,651.364617972,914,800,838,659,635,659,0.400976149007,-0.00537177409845,0.059826541183,0.999999922148,0.000268667894039,-0.000288422415392,1.8282408781e-05,1793255773253615360
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783,759,736,721,686.0426564,651.9573436,914,800,838,659,635,659,0.400969276689,-0.0053720788724,0.0598271518715,0.999999921788,0.000269817880618,-0.000288593245022,1.83333840262e-05,1793255773270281728
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783,759.536686038,736,721,686,652,914,800,837.463313962,659.536686038,635,659,0.400967001414,-0.00537285484869,0.0598276155807,0.999999922973,0.000267077561295,-0.000287030673416,1.83710068888e-05,1793255773286948864
+389,6.483333333,POSE2_TO_POSE3_RETREAT,782.885496926,759.885496926,736,721,686.114503074,652,914,800,837.114503074,660,635,659,0.400965287817,-0.005373501532,0.0598282753617,0.999999924018,0.000264825180303,-0.000285463492019,1.8476753237e-05,1793255773303615488
+390,6.500000000,POSE2_TO_POSE3_RETREAT,782.30964454,759.30964454,736,721,686.69035546,652,914,800,837.69035546,660,635,659,0.400964400954,-0.0053734800483,0.0598297710677,0.999999924062,0.000265754297091,-0.000284419337596,1.88611508168e-05,1793255773320282368
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7befab428e5794037e6ca7eb5b035477fd0913a6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+384,6.400000000,pose2_to_pose3_retreat,0.575696736894,0.000181701527738,1.0500203564,0.546267886045,0.00885594417769,1.04969206367
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+389,6.483333333,pose2_to_pose3_retreat,0.575672056702,0.000181819761333,1.05002049022,0.546243204803,0.00885605889704,1.04969219888
+390,6.500000000,pose2_to_pose3_retreat,0.575670760203,0.000181792288828,1.05002058586,0.546241908324,0.00885603141379,1.04969229236
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+393,6.550000000,pose2_to_pose3_retreat,0.575669327068,0.000181754948335,1.05002060705,0.54624047521,0.00885599407454,1.0496923117
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+396,6.600000000,pose2_to_pose3_retreat,0.575668805717,0.00018173185044,1.05002049943,0.546239953865,0.008855970995,1.04969220413
+397,6.616666667,pose2_to_pose3_retreat,0.575668718281,0.000181727976647,1.05002048138,0.546239866429,0.00885596712429,1.04969218609
+398,6.633333333,pose2_to_pose3_retreat,0.575668480689,0.000181717450366,1.05002043234,0.54623962884,0.00885595660637,1.04969213706
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1ecbff2c1d004a05f8d53895311d1de5c28d9e5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c693dc26554b80787acda1caac557e915d4c88845588f4d97cf715f7a12615c
+size 26087873
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4919778dde5688505be32c48e9a14a84d1dcad2b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
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+9,0.150000000,BASELINE,783,760,736.71313894,721,687,652,914.28686106,801,838,659.71313894,635,659,0.400960427762,-0.00537407724281,0.0598346032736,0.999999926588,0.000264611882539,-0.000276470020464,1.92152290586e-05,1793255773911782144
+10,0.166666667,BASELINE,783,760,736.137357516,721,687,652,914.862642484,801,838,659.137357516,635,659,0.400959094228,-0.00537565027283,0.0598331666661,0.999999926425,0.000262898901956,-0.000278653829717,1.96299216399e-05,1793255773928448768
+11,0.183333333,BASELINE,783,760,736,721,687,652,914.559341562,800.559341562,838,659,635,659,0.400960014058,-0.00537507678556,0.0598336985782,0.999999926638,0.000263367733331,-0.000277465574815,1.9331960236e-05,1793255773945115136
+12,0.200000000,BASELINE,783,759.980331585,736,721,686.980331585,652,914,800,838,659,635.019668415,659,0.400961637892,-0.00537390542106,0.0598348666372,0.999999926985,0.000264436726957,-0.000275223197,1.8849246907e-05,1793255773961781760
+13,0.216666667,BASELINE,783,759.39283662,736,721,686.39283662,652,914,800,838,659,635.60716338,659,0.400963204799,-0.00537488843006,0.0598365951394,0.999999927922,0.00026309807858,-0.000273048363919,1.94786475745e-05,1793255773978448640
+14,0.233333333,BASELINE,783,759,736,721,686.19191545,652,914,800,838,659,635.80808455,659,0.400963765696,-0.00537532852282,0.0598373896795,0.999999928387,0.000261987633478,-0.000272395579122,1.97482606693e-05,1793255773995115008
+15,0.250000000,BASELINE,783,759,736,721,686.771132235,652,914,800,838,659,635.228867765,659,0.40096229638,-0.00537467296565,0.0598362994065,0.999999927904,0.000261337721317,-0.000274814413923,1.92917926412e-05,1793255774011781888
+16,0.266666667,BASELINE,783,759.348842176,736,721,687,652,914,800.348842176,838,659,635,659,0.400961027169,-0.00537411411831,0.059835384616,0.999999927366,0.000262341397485,-0.000275814656611,1.92574593556e-05,1793255774028448768
+17,0.283333333,BASELINE,783,759.925567728,736,721,687,652,914,800.925567728,838,659,635,659,0.400959888678,-0.00537361844734,0.0598345844607,0.999999926792,0.000264425290812,-0.000275888194809,1.94988883097e-05,1793255774045115904
+18,0.300000000,BASELINE,783,759.498870863,736,721,687,652,914,800.498870863,838,659,635,659,0.400960058915,-0.00537397836623,0.0598351904513,0.99999992679,0.000264540890092,-0.000275781454177,1.95428174755e-05,1793255774061782272
+19,0.316666667,BASELINE,783,759,736,721,687,652,914,800,838,659,635,659,0.400960499185,-0.00537439219029,0.05983592299,0.999999926894,0.000264460944034,-0.000275480031458,1.95497803871e-05,1793255774078448640
+20,0.333333333,BASELINE,783,759,736,721,687,652,914,800,838,659,635,659,0.400961435594,-0.0053743308602,0.0598361220815,0.999999927134,0.000265007706475,-0.000274083519419,1.95065434862e-05,1793255774095115264
+21,0.350000000,BASELINE,783,759,736,721,687,651.746755405,914,800,838,659,635.253244595,659,0.40096179125,-0.00537447346687,0.0598362988721,0.999999927527,0.000264269230332,-0.000273367217264,1.94696968063e-05,1793255774111781888
+22,0.366666667,BASELINE,783,759,736,721,687,651.166620146,914,800,838,659,635.833379854,659,0.400961397262,-0.00537487931715,0.0598364468764,0.999999928114,0.000261871755285,-0.000273528936961,1.94410986914e-05,1793255774128448512
+23,0.383333333,BASELINE,782.590292942,759,736,720.590292942,687,651,914,800,838,659,636,659.409707058,0.400961080697,-0.00537529545341,0.0598356784962,0.999999927837,0.000262081515742,-0.00027434350471,1.93531717567e-05,1793255774145115392
+24,0.400000000,BASELINE,782.015500094,759,736,720.015500094,687,651,914,800,838,659,636,659.984499906,0.40096079533,-0.00537571573429,0.0598345408715,0.999999927212,0.000263341825475,-0.000275421128565,1.92413390925e-05,1793255774161782272
+25,0.416666667,BASELINE,782,759,736,720.571383538,686.428616462,651,914,800,838,659,635.428616462,659.428616462,0.400961059383,-0.00537524846808,0.0598350854312,0.999999927699,0.000262281633798,-0.000274649831844,1.94421159844e-05,1793255774178448896
+26,0.433333333,BASELINE,782,759.156538862,736,721,686.156538862,651.156538862,914,800,838,659,635,659,0.400961391438,-0.00537476783589,0.0598357255138,0.999999927957,0.000262145027283,-0.000273834480166,1.95357058599e-05,1793255774195115520
+27,0.450000000,BASELINE,782,759.736118084,736,721,686.736118084,651.736118084,914,800,838,659,635,659,0.400961866118,-0.00537431755568,0.059836497756,0.999999927511,0.000264678169243,-0.000273038546967,1.93162139229e-05,1793255774211781888
+28,0.466666667,BASELINE,782,759.685632665,736,721,686.685632665,652,914,800,838,659,635,659,0.400961776126,-0.00537434171326,0.0598366280236,0.999999927477,0.000264827173245,-0.000273023308656,1.9268390377e-05,1793255774228448256
+29,0.483333333,BASELINE,782,759.108495131,736,721,686.108495131,652,914,800,838,659,635,659,0.40096121414,-0.00537476243913,0.059836221684,0.999999927787,0.000262983347895,-0.000273660629767,1.93640592882e-05,1793255774245115136
+30,0.500000000,BASELINE,782.467143487,759,736,721,686.467143487,652,914,800,838,659,635,659,0.400962284957,-0.00537507615092,0.0598370309513,0.999999928032,0.000263460599808,-0.000272288628886,1.95948541287e-05,1793255774261781760
+31,0.516666667,BASELINE,782.956532116,759,736,720.956532116,687,652,913.956532116,800,838,659,635,659,0.400963581965,-0.0053752487696,0.0598380119139,0.999999928209,0.000264505723143,-0.000270601958045,1.98318104461e-05,1793255774278448128
+32,0.533333333,BASELINE,782.367238898,759,736,720.367238898,687,652,913.367238898,800,838,659,635,659,0.400962972588,-0.0053739607814,0.0598376150099,0.999999927777,0.00026593408774,-0.00027080520048,1.97533172739e-05,1793255774295115008
+33,0.550000000,BASELINE,782,759,736,720.218136108,687,651.781863892,913.218136108,800,838,659,635,659,0.400962821797,-0.00537306621383,0.0598375328159,0.999999927626,0.000266358356793,-0.000270956606234,1.95823133426e-05,1793255774311781632
+34,0.566666667,BASELINE,782,759,736,720.797031019,687,651.202968981,913.797031019,800,838,659,635,659,0.400963429427,-0.00537282229501,0.0598379710971,0.999999927943,0.000265122028059,-0.000271022283205,1.92583128746e-05,1793255774328448512
+35,0.583333333,BASELINE,782,759,736,721,687,651.374431628,914,800,838,659,635,659,0.400961906704,-0.00537376388467,0.0598367683157,0.999999927768,0.000263836494496,-0.000272913045796,1.93215925538e-05,1793255774345115392
+36,0.600000000,BASELINE,782,759,736,721,687,651.951025491,914,800,838,659,635,659,0.400959233767,-0.00537534555122,0.0598346794958,0.999999927319,0.000262524394264,-0.000275789204277,1.95939715787e-05,1793255774361782016
+37,0.616666667,BASELINE,782.523575728,759.523575728,735.476424272,721,687,652,914,800,838,659,635,659,0.400961184604,-0.00537335145794,0.0598364103508,0.999999927127,0.000265613178829,-0.000273531419614,1.93755840725e-05,1793255774378448384
+38,0.633333333,BASELINE,782.900640948,760,735,721,686.900640948,652,914,800,838,659,635.099359052,659,0.400962801346,-0.00537173592401,0.0598378545903,0.999999926949,0.000268226082855,-0.000271641830635,1.91765608736e-05,1793255774395115008
+39,0.650000000,BASELINE,782.306903068,760,735,721,686.306903068,652,914,800,838,659,635.693096932,659,0.400960620241,-0.00537365544729,0.0598361086032,0.999999926793,0.000266438606316,-0.00027395538084,1.93005491428e-05,1793255774411781888
+40,0.666666667,BASELINE,782.278592023,760,735.278592023,721,686,652,914,800,838,659,635.721407977,659,0.400960091409,-0.00537433815245,0.0598355631107,0.999999926955,0.000264710348648,-0.000275040298316,1.92781619923e-05,1793255774428448512
+41,0.683333333,BASELINE,782.855267587,760,735.855267587,721,686,652,914,800,838,659,635.144732413,659,0.400961330449,-0.00537369750616,0.0598363021047,0.999999927461,0.000263045453172,-0.000274810622393,1.90991583485e-05,1793255774445115136
+42,0.700000000,BASELINE,783,759.568579943,736,721,686.431420057,652,914,800,838,659,635,659,0.400961654599,-0.00537449574336,0.0598363619737,0.999999927775,0.000262594577531,-0.000274094090542,1.91412381104e-05,1793255774461782016
+43,0.716666667,BASELINE,782.992635655,759,736,721,687,651.992635655,914,800,838,659,635,659,0.400961666353,-0.0053757586593,0.0598361997918,0.999999928018,0.000262561259653,-0.000273228914458,1.92598870391e-05,1793255774478448896
+44,0.733333333,BASELINE,782.419219824,759,736,721,687,651.419219824,914,800,838,659,635,659,0.400961229075,-0.00537568014824,0.0598364607773,0.999999927735,0.000263355972859,-0.000273477336514,1.95699365894e-05,1793255774495115520
+45,0.750000000,BASELINE,782,759,736,721,686.839708125,651.160291875,914,800,838,659,635,659,0.400960833146,-0.0053756264616,0.0598366896246,0.999999927619,0.000263683319817,-0.000273578528218,1.97030094677e-05,1793255774511782144
+46,0.766666667,BASELINE,782,759,736,721,686.243623408,651.756376592,914,800,838,659,635,659,0.400960549635,-0.00537564026623,0.0598368310967,0.999999927956,0.000262740016676,-0.000273279437995,1.93549277305e-05,1793255774528448512
+47,0.783333333,BASELINE,782.679756898,759,736,721,686.339878449,652,914,800,838,659,635.339878449,659,0.400960614989,-0.0053758014845,0.0598368558306,0.999999928197,0.000261882996018,-0.000273229277189,1.92239297509e-05,1793255774545115136
+48,0.800000000,BASELINE,783.829366027,759,736,721,686.914683013,652,914,800,838,659,635.914683013,659,0.400960921481,-0.00537606459598,0.0598367998742,0.999999928372,0.000261085614257,-0.000273351177927,1.92429813907e-05,1793255774561781760
+49,0.816666667,BASELINE,783.020198774,759,735.510099387,721,687,651.510099387,914,800,838,659,636,659,0.400962816893,-0.00537524128277,0.0598383425173,0.999999928694,0.000262178604798,-0.000271111776801,1.92865024197e-05,1793255774578448128
+50,0.833333333,BASELINE,782,759.066656862,735.066656862,721,687,651.066656862,914,800,838,659,635.933343138,659,0.400964408384,-0.00537429702478,0.0598397595689,0.999999928928,0.000263388444626,-0.000269067985166,1.93000639155e-05,1793255774595115264
+51,0.850000000,BASELINE,782,759.654889704,735.654889704,721,687,651.654889704,914,800,838,659,635.345110296,659,0.400961454701,-0.00537388811886,0.0598380136454,0.99999992832,0.000262934422487,-0.000271775256562,1.90458257951e-05,1793255774611781888
+52,0.866666667,BASELINE,782.24009114,760,736,721,687,652,914,800,838,659,635.24009114,659,0.400960124466,-0.00537373755737,0.0598370401714,0.999999927805,0.000263400811748,-0.000273222757208,1.89448727731e-05,1793255774628448768
+53,0.883333333,BASELINE,782.820989487,760,736,721,687,652,914,800,838,659,635.820989487,659,0.400961098698,-0.00537395371349,0.0598371631823,0.999999927427,0.000265173716714,-0.000272882024487,1.90615065803e-05,1793255774645115392
+54,0.900000000,BASELINE,783,759.601312105,736,721,687,652,914,800,838,659,635.601312105,659,0.400961670535,-0.00537431673014,0.0598370312255,0.999999927519,0.000265043064862,-0.000272665416761,1.9171095244e-05,1793255774661781760
+55,0.916666667,BASELINE,783,759.025039041,736,721,687,652,914,800,838,659,635.025039041,659,0.400962063135,-0.005374745162,0.0598367856998,0.99999992782,0.000264064523018,-0.000272504097299,1.92775458286e-05,1793255774678448384
+56,0.933333333,BASELINE,783,759.547520861,736.547520861,721,687,652,914,800.547520861,838.547520861,659,635,659,0.400961978257,-0.00537525145491,0.0598366702602,0.999999927983,0.000263257105613,-0.000272676101231,1.94393665103e-05,1793255774695115008
+57,0.950000000,BASELINE,783,759.875981512,736.875981512,721,687,652,914,800.875981512,838.875981512,659,635,659,0.40096217127,-0.00537546975784,0.0598368369799,0.999999928104,0.000263047051845,-0.000272426360889,1.95630354176e-05,1793255774711781632
+58,0.966666667,BASELINE,783,759.283988878,736.283988878,721,687,652,914,800.283988878,838.283988878,659,635,659,0.400963494724,-0.00537458800724,0.0598380461092,0.999999928088,0.000265061772465,-0.000270528068732,1.9533250952e-05,1793255774728448256
+59,0.983333333,BASELINE,782.698412522,759,736,721,687,652,914,800,838,659,635,659.301587478,0.400963745501,-0.00537454652123,0.059838687931,0.999999928233,0.000265275598069,-0.000269786603033,1.94519067814e-05,1793255774745115136
+60,1.000000000,BASELINE,782.118752106,759,736,721,687,652,914,800,838,659,635,659.881247894,0.400963007239,-0.00537527978493,0.0598388066779,0.99999992853,0.000263828943262,-0.000270111766724,1.93230229723e-05,1793255774761782016
+61,1.016666667,BASELINE,782,759.45644935,736,720.54355065,687,652,914,800,838,659,635,659.54355065,0.400961950971,-0.00537520886463,0.0598378722346,0.999999928396,0.000262542233742,-0.000271859429637,1.92647089404e-05,1793255774778448384
+62,1.033333333,BASELINE,782.031258769,759.968741231,736,720,687,651.968741231,914,800,838,659,635,659,0.400960959604,-0.00537494135928,0.0598367840713,0.999999928155,0.000261484167481,-0.000273763582936,1.92430429783e-05,1793255774795115008
+63,1.050000000,BASELINE,782.619555272,759.380444728,736,720,687,651.380444728,914,800,838,659,635,659,0.400962584868,-0.00537486294989,0.0598377921376,0.999999928051,0.000263766206664,-0.000271925251164,1.95504432667e-05,1793255774811781632
+64,1.066666667,BASELINE,782.795462376,759.204537624,736,720.409075248,687,651.204537624,914,800,838,659,635,659,0.400963138549,-0.00537500183759,0.0598381222954,0.999999927996,0.000264702684085,-0.000271210587145,1.96343376776e-05,1793255774828448256
+65,1.083333333,BASELINE,782.216546165,759.783453835,736,721.566907671,687,651.783453835,914,800,838,659,635,659,0.40096173084,-0.00537553845837,0.0598372116326,0.99999992804,0.000263176291698,-0.000272552645797,1.9309134649e-05,1793255774845114880
+66,1.100000000,BASELINE,782.360307203,760,736,721.639692797,686.639692797,652,914,800.360307203,838,659,635,659,0.400962116903,-0.00537524150266,0.0598375232498,0.999999928189,0.000263000381945,-0.00027217537192,1.93388792697e-05,1793255774861781760
+67,1.116666667,BASELINE,782.93592783,760,736,721.06407217,686.06407217,652,914,800.93592783,838,659,635,659,0.400963574895,-0.00537444641588,0.0598385652806,0.999999928399,0.000263631497575,-0.000270770654271,1.95807345482e-05,1793255774878448384
+68,1.133333333,BASELINE,782.489005893,759.489005893,736,721,686,652,914,800.489005893,838,659,635,659,0.400962073402,-0.00537468347869,0.0598375188234,0.999999928086,0.000263603700605,-0.000271958372434,1.95011344213e-05,1793255774895115008
+69,1.150000000,BASELINE,782,759.088546322,736,720.911453678,686.088546322,652,914,800.088546322,838,659,635,659,0.400960563,-0.00537486412801,0.0598364548541,0.99999992778,0.000263498514324,-0.00027319210551,1.93495728174e-05,1793255774911781632
+70,1.166666667,BASELINE,782,759.680629977,736,720.319370023,686.680629977,652,914,800.680629977,838,659,635,659,0.400961109886,-0.00537398880227,0.0598367788628,0.999999927902,0.000263422560205,-0.000272841000879,1.90177497378e-05,1793255774928448256
+71,1.183333333,BASELINE,782.266934443,759.733065557,736,720.266934443,687,652,914,800.733065557,838,659,635,659,0.400961395841,-0.00537391573507,0.0598369491164,0.999999928048,0.000263063387164,-0.000272658195838,1.89503931855e-05,1793255774945114880
+72,1.200000000,BASELINE,782.846471081,759.153528919,736,720.846471081,687,652,914,800.153528919,838,659,635,659,0.400961376224,-0.00537478217853,0.0598369393099,0.999999928221,0.000262372541452,-0.000272672483416,1.91927486535e-05,1793255774961781504
+73,1.216666667,BASELINE,783,759,736,721,687,652,914,800,838,659.421562192,635,659,0.400962111681,-0.00537467066835,0.0598374981272,0.999999928646,0.000261746354346,-0.000271708500667,1.92457181326e-05,1793255774978448384
+74,1.233333333,BASELINE,783,759,736,721,687,652,914,800,838,659.995051146,635,659,0.40096311926,-0.0053742067135,0.0598382618708,0.999999929161,0.00026114346959,-0.000270391959159,1.92304347973e-05,1793255774995115008
+75,1.250000000,BASELINE,783,759,736,721,687,652,914,800.583744634,838,659.416255366,635,659,0.400961571877,-0.00537337007838,0.0598375080231,0.999999927851,0.000264653956592,-0.000271833450294,1.90705735669e-05,1793255775011782144
+76,1.266666667,BASELINE,783,759,735.830301546,721,687,652,914,800.830301546,838,659,635,659,0.400961371112,-0.00537307454028,0.0598376894215,0.999999927305,0.000266729345498,-0.000271810918006,1.90775359411e-05,1793255775028449024
+77,1.283333333,BASELINE,783,759,735.25127532,721,687,652,914,800.25127532,838,659,635,659,0.400964472149,-0.00537409200118,0.05984015858,0.999999928664,0.000265256785469,-0.000268199123159,1.94899272651e-05,1793255775045115904
+78,1.300000000,BASELINE,782.672956197,759,735.327043803,721,687,652,914,800,838,659,635,659,0.400964192626,-0.00537464382225,0.0598394020131,0.999999928627,0.000264358358605,-0.000269207982591,1.96782742978e-05,1793255775061782272
+79,1.316666667,BASELINE,782.095179212,759,735.904820788,721,687,652,914,800,838,659,635,659,0.400961321342,-0.00537483865333,0.0598361723939,0.999999927512,0.000263900099861,-0.000273759338135,1.96948542964e-05,1793255775078448384
+80,1.333333333,BASELINE,782,759,736,721,687,652,914,800,838,659.478153031,635,659,0.400962390756,-0.00537647095983,0.0598374266542,0.999999928716,0.000261652627497,-0.000271513187742,1.96540466248e-05,1793255775095115008
+81,1.350000000,BASELINE,782.052312611,759,736,721,686.947687389,652,914,800,838,659.947687389,635,659,0.40096392323,-0.00537803743666,0.0598392426408,0.999999930117,0.000259486390856,-0.000268419435077,1.95786982984e-05,1793255775111781888
+82,1.366666667,BASELINE,782.644041807,759,736,721,686.355958193,652,914,800,838,659.355958193,635,659,0.400962216534,-0.00537600180408,0.0598377322044,0.999999928985,0.000261796432183,-0.000270409413121,1.92638933157e-05,1793255775128448256
+83,1.383333333,BASELINE,782.769044779,759,736,721,686.230955221,651.769044779,914,800,838,659,635,659,0.400961535073,-0.00537464566853,0.0598372258977,0.999999928321,0.000263227824988,-0.000271483136215,1.91507437087e-05,1793255775145114624
+84,1.400000000,BASELINE,782.189401962,759,736,721,686.810598038,651.189401962,914,800,838,659,635,659,0.400962401473,-0.00537431541202,0.0598382355887,0.999999928373,0.000263332667314,-0.000271173531995,1.93420458345e-05,1793255775161781248
+85,1.416666667,BASELINE,782,759,736,721,686.613599652,651.386400348,914,800,838,659,635,659,0.400962003093,-0.00537442411415,0.0598375117865,0.999999928239,0.000263312134845,-0.000271692460632,1.92776997704e-05,1793255775178448384
+86,1.433333333,BASELINE,782,759,736,721,686.039661353,651.960338647,914,800,838,659,635,659,0.400960990857,-0.00537474586322,0.0598359466399,0.999999928014,0.000263230752185,-0.000272613514581,1.90892758105e-05,1793255775195115520
+87,1.450000000,BASELINE,782.537001011,759,736,721,686.537001011,652,914,800.537001011,838,659.537001011,635,659,0.400960999785,-0.00537452107178,0.059836372022,0.99999992782,0.000263463172479,-0.000273085480588,1.92893837135e-05,1793255775211781888
+88,1.466666667,BASELINE,782.883399326,759,736,721,687,652,914,800.883399326,838,660,635,659,0.400961077289,-0.00537439098433,0.0598368306176,0.999999927738,0.000263518268652,-0.00027331866928,1.9467553589e-05,1793255775228448512
+89,1.483333333,BASELINE,782.29267833,759,736,721,687,652,914,800.29267833,838,660,635,659,0.400961125396,-0.00537481095346,0.0598368234277,0.999999928103,0.000262757610646,-0.000272716500764,1.94392416507e-05,1793255775245115136
+90,1.500000000,BASELINE,782.289252212,759,736,721,686.710747788,652,914,800.289252212,838,659.710747788,635,659,0.400961805442,-0.00537514635238,0.0598374197856,0.999999928633,0.000261737096659,-0.000271750768569,1.94502021785e-05,1793255775261781760
+91,1.516666667,BASELINE,782.862550481,759,736,721,686.137449519,652,914,800.862550481,838,659.137449519,635,659,0.400963106053,-0.00537539870324,0.0598386088284,0.999999929324,0.000260461403796,-0.000270428016394,1.9499728322e-05,1793255775278448384
+92,1.533333333,BASELINE,783,759.439831392,736,721,686.439831392,652,914,800.560168608,838,659,635,659,0.400962815314,-0.0053755471427,0.0598381940995,0.999999929171,0.000260929768052,-0.000270541076217,1.95138079479e-05,1793255775295115008
+93,1.550000000,BASELINE,783,759.981262277,736,721,687,652,914,800.018737723,838,659,635,659,0.40096208065,-0.00537560239475,0.0598373165174,0.999999928751,0.00026197696578,-0.000271080549743,1.95061456258e-05,1793255775311781632
+94,1.566666667,BASELINE,783,759.391090311,736,721,687,652,914,800.608909689,838,659,635,659,0.4009631125,-0.00537381511595,0.0598377476354,0.999999928323,0.000263903270093,-0.000270815378543,1.91763335289e-05,1793255775328448256
+95,1.583333333,BASELINE,783,759,735.804566648,721,686.804566648,652,914,801,838,659,635,659,0.400963600042,-0.0053731638896,0.0598380945704,0.999999928159,0.000264709700352,-0.000270644808098,1.90175402005e-05,1793255775345115392
+96,1.600000000,BASELINE,783,759,735.225209869,721,686.225209869,652,914,801,838,659,635,659,0.400963018308,-0.00537474440662,0.0598382761305,0.99999992852,0.00026331616929,-0.000270660078183,1.9194708464e-05,1793255775361782016
+97,1.616666667,BASELINE,782.647822758,759,735.352177242,720.647822758,686.352177242,651.647822758,914,800.647822758,838,659,635,659,0.400961939579,-0.00537526686772,0.0598378781561,0.999999928323,0.000263221810464,-0.000271468274861,1.93081436295e-05,1793255775378448640
+98,1.633333333,BASELINE,782.071688237,759,735.928311763,720.071688237,686.928311763,651.071688237,914,800.071688237,838,659,635,659,0.400960544799,-0.00537511648761,0.0598371116431,0.999999927772,0.00026395362401,-0.000272780711052,1.93810495012e-05,1793255775395115008
+99,1.650000000,BASELINE,782.501518422,759,736,720.501518422,686.498481578,651.501518422,914,800,838,659,635,659,0.400960323104,-0.00537524552941,0.0598369594888,0.999999927719,0.000264051307203,-0.000272873264848,1.94815744413e-05,1793255775411781632
+100,1.666666667,BASELINE,782.923032438,759,736,721,686.076967562,652,914,800.076967562,838,659.076967562,635,659,0.400960369526,-0.00537558014082,0.0598369885855,0.999999927843,0.000263808650779,-0.000272644405482,1.95837891931e-05,1793255775428448256
+101,1.683333333,BASELINE,782.329749023,759,736,721,686.670250977,652,914,800.670250977,838,659.670250977,635,659,0.400961096209,-0.00537702738009,0.0598376478718,0.999999928679,0.000261887450989,-0.000271422377419,1.96710096536e-05,1793255775445114880
+102,1.700000000,BASELINE,782.255023655,759.255023655,736,721,686.744976345,652,914,801,838,659.744976345,635,659,0.400961372178,-0.00537684794821,0.0598376962986,0.999999928732,0.000261861476175,-0.000271266412157,1.94954274883e-05,1793255775461781504
+103,1.716666667,BASELINE,782.829147181,759.829147181,736,721,686.170852819,652,914,801,838,659.170852819,635,659,0.400961084187,-0.00537463313426,0.0598369803837,0.999999927804,0.000264206913062,-0.000272444364425,1.89910119633e-05,1793255775478448384
+104,1.733333333,BASELINE,783,760,736,721,686.406260778,652,914,800.593739222,838,659,635,659,0.400962733004,-0.00537491365409,0.0598380576052,0.999999928291,0.000264383948099,-0.000270464581901,1.91973213649e-05,1793255775495115264
+105,1.750000000,BASELINE,783,760,736,721,686.984641223,652,914,800.015358777,838,659,635,659,0.400965202384,-0.00537625136664,0.0598398945209,0.999999929368,0.000263642300993,-0.000267146968487,1.97047420873e-05,1793255775511781632
+106,1.766666667,BASELINE,783,759.426873207,736,721,687,651.426873207,914,800,838,659,635,659,0.400963920103,-0.00537552847741,0.0598396597753,0.99999992918,0.000263088796546,-0.000268405122713,1.95745025427e-05,1793255775528448256
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,736,721,687,652,914,801,838,659,635,659,0.400963338973,-0.00537410533024,0.0598395007973,0.999999929467,0.000262337829659,-0.000268097490289,1.91780279995e-05,1793255775569293568
+108,1.800000000,POSE1_TO_POSE2_PRESS,782.423217811,760,736,721,687,652,914,800.423217811,838,659,635.576782189,659,0.400961248105,-0.00537467809653,0.059836995035,0.999999928511,0.000261718101327,-0.00027225122574,1.89989638446e-05,1793255775585960704
+109,1.816666667,POSE1_TO_POSE2_PRESS,782.153330792,760,736,721,687,652,914,800.153330792,838,659,635.846669208,659,0.400960282317,-0.00537531514733,0.0598357582827,0.999999928186,0.000260884464977,-0.000274234416264,1.90326337674e-05,1793255775602627328
+110,1.833333333,POSE1_TO_POSE2_PRESS,782.72923577,760,736,721,687,652,914,800.72923577,838,659,635.27076423,659,0.400962417209,-0.00537612936406,0.0598380188761,0.999999929633,0.000259461305639,-0.000270235663481,1.96525911669e-05,1793255775619293952
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760,736,721.311844188,687,652,914,801,838,659.311844188,635.311844188,659,0.400963567523,-0.00537537503805,0.0598389021027,0.999999929899,0.000260249739323,-0.000268488755171,1.96453589894e-05,1793255775635960576
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760,736,721.900400818,687,652,914,801,838,659.900400818,635.900400818,659,0.40096384418,-0.00537322887816,0.0598385631339,0.999999929123,0.00026300061244,-0.000268740003249,1.90815951304e-05,1793255775652627456
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,759.518946557,736,721.518946557,687,652,914,801,838,660,635.518946557,659,0.400962531263,-0.00537307638565,0.0598381213657,0.999999928209,0.000264695067172,-0.000270461226226,1.91952769821e-05,1793255775669293824
+114,1.900000000,POSE1_TO_POSE2_PRESS,782.940302097,759.059697903,736,721,687,652,914,800.940302097,838,659.940302097,635,659,0.400961243883,-0.00537334466661,0.0598377787363,0.999999927431,0.000265941498298,-0.000272097402579,1.9419514407e-05,1793255775685960192
+115,1.916666667,POSE1_TO_POSE2_PRESS,782.365095692,759.634904308,736,721,687,652,914,800.365095692,838,659.365095692,635,659,0.400962973053,-0.0053737396214,0.059838473021,0.99999992809,0.000265177338458,-0.000270413517257,1.94068159031e-05,1793255775702626816
+116,1.933333333,POSE1_TO_POSE2_PRESS,782.210485342,759.789514658,736,721,687,652,914,800,838,659,635,659,0.400965788544,-0.00537434914567,0.0598398415637,0.999999929061,0.000263676394108,-0.0002682848287,1.93789583722e-05,1793255775719293440
+117,1.950000000,POSE1_TO_POSE2_PRESS,782.786717282,759.213282718,736,721,687,652,914,800,838,659,635,659,0.400970491665,-0.00537533151323,0.05984238172,0.999999930566,0.000260895187631,-0.000265383234853,1.93247599942e-05,1793255775735960064
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,759,736,721,686.627921308,652,914,800,838,659,635,659,0.400989971895,-0.00537705420321,0.0598504781417,0.999999934173,0.000260547417135,-0.000251722629486,2.01340080953e-05,1793255775752626944
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,759,736,721,686.037195021,652,914,800,838,659,635,659,0.401018135718,-0.0053792119349,0.0598618396365,0.999999938693,0.000261629625858,-0.000231739619243,2.14506501874e-05,1793255775769293824
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,759,736,721,686,652,913.458924221,800,838,659,635.541075779,659,0.401077421767,-0.00537920190167,0.0598817483617,0.999999946521,0.000262029905559,-0.00019447703029,2.18611147282e-05,1793255775785960704
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,759,736,721,686.117910115,652,913.117910115,800.117910115,838,659,636,659,0.4011407397,-0.00537976463437,0.0599011049576,0.999999952657,0.000261612800475,-0.000160455775441,2.2330675826e-05,1793255775802627328
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,759,736,721,686.692423058,652,913.692423058,800.692423058,838,659,636,659,0.401211572558,-0.0053831094653,0.0599160993517,0.9999999561,0.000258207849815,-0.000143482847381,2.32648863204e-05,1793255775819293696
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,759.266997324,736,721,686.733002676,652,914,800.733002676,838,659,635.733002676,659,0.40129122773,-0.00538562106405,0.0599284384171,0.999999958828,0.000256649682318,-0.000126143500136,2.37402239702e-05,1793255775835960064
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,759.841642216,736,721,686.158357784,652,914,800.158357784,838,659,635.158357784,659,0.401381048405,-0.00538717257113,0.0599377178802,0.999999960765,0.000257219470247,-0.000108381947548,2.36868255003e-05,1793255775852626688
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760,736,721,686,652,914,800.431088948,838,659,635,659,0.401485582515,-0.00538987992128,0.0599432738294,0.999999961981,0.000256506141083,-9.84906551763e-05,2.32809976484e-05,1793255775869293312
+126,2.100000000,POSE1_TO_POSE2_PRESS,782.97471769,759.97471769,736,721,686,652,914,800.97471769,838,659.02528231,635.02528231,658.97471769,0.401596814911,-0.00539308840935,0.0599473981011,0.999999963021,0.000255107498921,-9.14478292856e-05,2.2718903719e-05,1793255775885960192
+127,2.116666667,POSE1_TO_POSE2_PRESS,782.399745499,759.399745499,736,721,686,652,914,800.399745499,838,659.600254501,635.600254501,658.399745499,0.401731990112,-0.00539763293177,0.0599511911652,0.999999965359,0.000249421132476,-8.12432353005e-05,2.16741331832e-05,1793255775902627072
+128,2.133333333,POSE1_TO_POSE2_PRESS,782.17519809,759,736,721,686,652,914,800,838,659.82480191,635.82480191,658.17519809,0.40187191686,-0.00540212848923,0.0599529959475,0.999999967128,0.000244493701498,-7.44980122553e-05,2.03941157882e-05,1793255775919293952
+129,2.150000000,POSE1_TO_POSE2_PRESS,782.75007635,759,736,721,686,652,914,800,838,659.24992365,635.24992365,658.75007635,0.402022683314,-0.00540651234212,0.0599502648534,0.999999967854,0.000241297634174,-7.56446687099e-05,1.85774288508e-05,1793255775935960320
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,759.332807808,736,721,686,652,914,800.332807808,838,659,635,659,0.402198356136,-0.00541024285322,0.059949320952,0.999999968754,0.000238584872707,-7.27471711621e-05,1.6656906439e-05,1793255775952626944
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,759.921579249,736,721,686,652,914,800.921579249,838,659,635,659,0.402393184547,-0.00541347087737,0.0599497515865,0.99999996976,0.000236243823099,-6.67393009347e-05,1.46565236124e-05,1793255775969293568
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,759.495104547,736,721,686.504895453,652,914,800.495104547,838,659,635,659,0.40262168091,-0.0054182325539,0.0599518009799,0.999999972221,0.000228082681879,-5.82160080125e-05,1.20935618011e-05,1793255775985960448
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,759,736,721,686.913921916,652,914,800,838,659,635,659,0.402860578234,-0.00542404800423,0.0599543777029,0.999999974822,0.000218728224654,-4.9203129721e-05,9.61502728476e-06,1793255776002627328
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,759,736,721,686.340079028,652,914,800,838,659,635,659,0.403129097622,-0.00543449931988,0.0599585330687,0.999999977617,0.000207679481799,-3.96062305233e-05,8.10475288141e-06,1793255776019293952
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,759,736,721,686,651.766319889,914,800.233680111,838,659,635,659,0.403405734106,-0.00544236189504,0.0599591278252,0.999999979616,0.00019839541042,-3.70647565031e-05,5.72337146697e-06,1793255776035960576
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,759,736,721,686,651.192682621,914,800.807317379,838,659,635,659,0.403694179298,-0.00544645837731,0.0599545426172,0.999999980625,0.000191678578763,-4.47874954539e-05,2.07470615386e-06,1793255776052627456
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,759,736,721,686,651,914,801,838,659,635,659,0.404008995193,-0.00545197586191,0.0599424623081,0.999999980792,0.000185623348411,-6.28898489872e-05,-2.16419491208e-06,1793255776069293824
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,759,736,721,686,651,914,801,838,659,635,659,0.404337149086,-0.0054582120735,0.0599265910609,0.999999980076,0.000179902748723,-8.62420953136e-05,-6.70163051376e-06,1793255776085960192
+139,2.316666667,POSE1_TO_POSE2_PRESS,782.434156891,759.565843109,736.565843109,721,686,651.565843109,914,800.434156891,838,659,635,659,0.404691221087,-0.00546646672365,0.0599127679278,0.999999978301,0.000173186845381,-0.000115282001416,-1.07026318144e-05,1793255776102626816
+140,2.333333333,POSE1_TO_POSE2_PRESS,782.142387902,759.857612098,736.857612098,721,686.142387902,652,914,800.142387902,838,659,635,659,0.405064058561,-0.00547405264507,0.0599029543054,0.999999976513,0.000167312990035,-0.000136994123016,-1.45962764061e-05,1793255776119293440
+141,2.350000000,POSE1_TO_POSE2_PRESS,782.716130043,759.283869957,736.283869957,721,686.716130043,652,914,800.716130043,838,659,635,659,0.405492131313,-0.00547948705421,0.0599051597286,0.999999977109,0.000164052017715,-0.000136153181441,-1.81980825208e-05,1793255776135960064
+142,2.366666667,POSE1_TO_POSE2_PRESS,782.708832912,759.291167088,736,720.708832912,687,652,913.708832912,801,838,659,635.291167088,659,0.405957260183,-0.0054844684116,0.0599202690277,0.999999980402,0.00016184439588,-0.000112083075919,-2.09725808224e-05,1793255776152626944
+143,2.383333333,POSE1_TO_POSE2_PRESS,782.132527707,759.867472293,736,720.132527707,687,652,913.132527707,801,838,659,635.867472293,659,0.406458677928,-0.00548900609887,0.0599480150123,0.9999999847,0.000160668312968,-6.52647944039e-05,-2.29369021253e-05,1793255776169293568
+144,2.400000000,POSE1_TO_POSE2_PRESS,782.456561583,760,736,720,687,652,913.456561583,801,838,659,635.543438417,659,0.407011890614,-0.00548405836104,0.0599805597754,0.999999985274,0.000169471412804,-9.62925759082e-06,-2.52692878987e-05,1793255776185960192
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,759.951860506,736,720.048139494,686.951860506,652,914,801,838,659,635,659,0.407577259713,-0.00547687981107,0.0600112903179,0.999999985071,0.000165287808595,4.1981569288e-05,-2.78550468648e-05,1793255776202627072
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,759.374883694,736,720.625116306,686.374883694,652,914,801,838,659,635,659,0.408106251859,-0.00547631313567,0.0600063475414,0.999999999176,-1.42998322185e-05,2.0452442867e-05,-3.20167473599e-05,1793255776219293696
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,759,736,720.800583019,686,652,914,801,838.199416981,659,635,659,0.408648055786,-0.00548009648411,0.059998147368,0.999999990932,-0.000129571123884,-4.70628217723e-06,-3.63937692031e-05,1793255776235960320
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,759,736,720.231246622,686,652,914,801,838.768753378,659,635,659,0.409213625599,-0.00549194914678,0.0599839047088,0.999999990603,-0.00012553528332,-3.65979271038e-05,-4.1170214482e-05,1793255776252627200
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,759.352339824,736,720,686,652,914,801,838.647660176,659,635.352339824,659,0.409827288646,-0.00549948419291,0.0599815943277,0.999999990892,-0.000120010653913,-4.1267758004e-05,-4.59326240044e-05,1793255776269293824
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,759.945672992,736,720,686,652,914,801,838.054327008,659,635.945672992,659,0.410473846475,-0.00550406607579,0.0599874453851,0.999999991905,-0.000113467723116,-2.73184149173e-05,-5.06854331682e-05,1793255776285960192
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,760,736.526513355,720.526513355,686.526513355,652,914,801,838,659,635.473486645,659,0.411187518679,-0.0055034002492,0.0599964238914,0.999999993066,-0.00010353798947,-6.61494556365e-06,-5.57166765735e-05,1793255776302626816
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,759.894612509,737,721,687,652,914,801,838.105387491,659,635,659,0.411900509266,-0.00550141938386,0.0600004023052,0.999999995834,-7.29749552744e-05,4.57689124874e-06,-5.463350924e-05,1793255776319293696
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,759.318894073,737,721,687,652,914,801,838.681105927,659,635,659,0.412580268436,-0.00549593018113,0.0599806591592,0.999999998058,4.81484242284e-05,-2.9718608021e-05,-2.61372592219e-05,1793255776335960320
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,759,736.744864716,720.744864716,687,652,914,801,839,659,635.255135284,659,0.41326264904,-0.00548756978521,0.0599539801769,0.99999999058,0.000109904408746,-8.09675197846e-05,-1.43111583402e-05,1793255776352627200
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,759,736.172932578,720.172932578,687,652,914,801,839,659,635.827067422,659,0.413948284722,-0.00547564428007,0.05991868909,0.999999983189,9.79449928968e-05,-0.000153267181241,-2.31840756781e-05,1793255776369293824
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,759,736.414720581,720,686.585279419,652,914,801,838.585279419,659,635.585279419,659,0.414742126776,-0.00548070727037,0.0599333207513,0.99999998972,6.6402513686e-05,-0.000123785072486,-2.87888274226e-05,1793255776385960448
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,759,737,720,686.008915031,652,914,801,838,659,635,659,0.415583428427,-0.00549310325951,0.0599696387295,0.999999997835,2.66736361083e-05,-5.03436063319e-05,-3.29383258823e-05,1793255776402627072
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,759,737,720,686.58575599,652,914,801,838,659,635,659,0.416460489488,-0.00550358321661,0.060009080015,0.999999999294,6.13261598834e-06,1.32599222561e-05,-3.4617408577e-05,1793255776419293696
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,759,737,720,686.837299296,652,914,801,838.162700704,659,635.162700704,659,0.417325785964,-0.00551142384778,0.0600346468495,0.999999997858,-8.46176750325e-06,5.40586961907e-05,-3.592142882e-05,1793255776435960064
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,759,737,720,686.260090286,652,914,801,838.739909714,659,635.739909714,659,0.418161110058,-0.005512540337,0.0600248661075,0.999999998635,-7.90605988958e-06,3.6758392493e-05,-3.62699125452e-05,1793255776452626688
+161,2.683333333,POSE1_TO_POSE2_PRESS,782.677419957,759.322580043,737,720,686.322580043,652,914,801,838.677419957,659,635.677419957,659,0.418992796043,-0.00551239553075,0.0600077968323,0.999999999199,-9.91540337639e-06,9.05646655392e-06,-3.77126786559e-05,1793255776469293568
+162,2.700000000,POSE1_TO_POSE2_PRESS,782.090270463,759.909729537,737,720,686.909729537,652,914,801,838.090270463,659,635.090270463,659,0.419821498131,-0.00551121625173,0.0599847497445,0.99999999873,-1.40285167101e-05,-2.71765240754e-05,-4.00529388316e-05,1793255776485960448
+163,2.716666667,POSE1_TO_POSE2_PRESS,782.490578051,760,737,720,686.509421949,652,913.509421949,801,838.490578051,659,635,659,0.420663791178,-0.00551757553012,0.0599488953704,0.99999999564,-2.13483805229e-05,-8.07955088699e-05,-4.16725119558e-05,1793255776502627328
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,759.930156226,737,719.930156226,686,651.930156226,913,801,839,659,635.069843774,659,0.421514166509,-0.00552578340906,0.0599127963972,0.999999989354,-2.99707528332e-05,-0.000136242524325,-4.27971450239e-05,1793255776519293952
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,759.35406598,737,719.35406598,686,651.35406598,913,801,839,659,635.64593402,659,0.422405227005,-0.00553746344895,0.0598917895267,0.999999981618,-4.38113122327e-05,-0.000182045192641,-4.12833408251e-05,1793255776535960320
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,759.226103459,737,719,686,651,913,801,839,659,636,659,0.423336089915,-0.00554678816425,0.0599051702827,0.999999984453,-5.09547826885e-05,-0.000164094902866,-3.96412565229e-05,1793255776552626944
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,759.812778148,737,719,686,651,913,801,839,659,636,659,0.424330426587,-0.0055523568031,0.0599733895987,0.999999997172,-4.74182873578e-05,-4.44766358718e-05,-3.77946011311e-05,1793255776569293568
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,759.60584809,737,719,686.39415191,651.39415191,913,801,839,659,636,659,0.425301127266,-0.00555362726599,0.0600194300511,0.999999997185,-5.85557417573e-05,3.01689270427e-05,-3.5943535284e-05,1793255776585960192
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,759.026958883,737,719,686.973041117,651.973041117,913,801,839,659,636,659,0.426260749797,-0.00555288319208,0.0600550753618,0.999999992982,-7.65708132021e-05,8.37359707868e-05,-3.40904024538e-05,1793255776602626816
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,759,737,719,686.452180084,652,913,801,839,658.452180084,635.452180084,659,0.427208053947,-0.00555122320012,0.0600391975463,0.9999999948,-6.02154294261e-05,7.32574961303e-05,-3.75045618399e-05,1793255776619293440
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,759,737,719,686,652,913,801,839,658,635,659,0.428149004828,-0.00555051910365,0.060018170326,0.999999996551,-4.98148688972e-05,5.23943956148e-05,-4.08936714043e-05,1793255776635960064
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,759,737,719,686,652,913,801,839,658,635,659,0.429068707349,-0.00555351169034,0.059987416742,0.999999996768,-6.76155928775e-05,4.72388138836e-06,-4.323975955e-05,1793255776652626688
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,759.285054142,737,718.714945858,686,652,913.285054142,801.285054142,839,658,635,659,0.429959286211,-0.00555375618023,0.0599539041969,0.999999994604,-7.59853457831e-05,-5.45808156084e-05,-4.51623202538e-05,1793255776669293312
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,759.874922655,737,718.125077345,686,652,913.874922655,801.874922655,839,658,635,659,0.430818722472,-0.00555106207242,0.0599174414387,0.999999988176,-7.42703622857e-05,-0.00012632618499,-4.66319939534e-05,1793255776685959936
+175,2.916666667,POSE1_TO_POSE2_PRESS,783,760,737,718.456583869,686.456583869,651.543416131,914,802,839,658.456583869,635,659,0.431802125882,-0.00555315187877,0.0599491229007,0.999999994124,-7.34981992284e-05,-6.4690130695e-05,-4.65310137235e-05,1793255776702626816
+176,2.933333333,POSE1_TO_POSE2_PRESS,783,759.964285768,737,718.964285768,686.964285768,651,913.964285768,802,839,658.964285768,635.035714232,659,0.432814100147,-0.00555653406461,0.0599971458132,0.99999999587,-7.3257311847e-05,2.79585718285e-05,-4.59499571345e-05,1793255776719293440
+177,2.950000000,POSE1_TO_POSE2_PRESS,783,759.390015183,737,718.390015183,686.390015183,651,913.390015183,802,839,658.390015183,635.609984817,659,0.433753853288,-0.00555999175288,0.0600150628699,0.999999994925,-7.72019053985e-05,4.70054526531e-05,-4.45032393883e-05,1793255776735960064
+178,2.966666667,POSE1_TO_POSE2_PRESS,783,759.188714147,737,718.188714147,686,651,913,802,839,658.188714147,636,659.188714147,0.434678798311,-0.00556265717133,0.0600168024355,0.999999995013,-7.81090342519e-05,4.34642192958e-05,-4.45334240334e-05,1793255776752626944
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,759.776881454,737,718.776881454,686,651,913,802,839,658.776881454,636,659.776881454,0.435572399015,-0.00556364558482,0.0599842989443,0.999999996197,-7.25867312519e-05,-7.88950221513e-06,-4.76897827143e-05,1793255776769293312
+180,3.000000000,POSE1_TO_POSE2_PRESS,783,759.640231218,737.359768782,719,686,651,913.359768782,801.640231218,839,658.640231218,635.640231218,659.640231218,0.436447624742,-0.0055654436821,0.0599583714216,0.999999993178,-9.17564068578e-05,-5.26753229838e-05,-4.94961037976e-05,1793255776785959936
+181,3.016666667,POSE1_TO_POSE2_PRESS,783,759.060571058,737.939428942,719,686,651,913.939428942,801.060571058,839,658.060571058,635.060571058,659.060571058,0.437311619593,-0.00556773665963,0.0599364631456,0.99999998642,-0.000126017867897,-9.34468269124e-05,-5.04772790342e-05,1793255776802626560
+182,3.033333333,POSE1_TO_POSE2_PRESS,783,759,737.481807538,718.481807538,686,651,914,801.518192462,839,658,635,659,0.438135226686,-0.0055645252668,0.0599095928039,0.999999982293,-0.000104880303026,-0.000147809176503,-5.06598334183e-05,1793255776819293184
+183,3.050000000,POSE1_TO_POSE2_PRESS,783,759,737.096174174,718,686,651,913.903825826,802,839,658.096174174,635,659,0.438971623499,-0.00556181604317,0.059894332614,0.999999979009,-8.09176721804e-05,-0.000181298189061,-5.06455299366e-05,1793255776835960064
+184,3.066666667,POSE1_TO_POSE2_PRESS,783,759,737.67078709,718,686,651,913.32921291,802,839,658.67078709,635,659,0.43989508995,-0.00556480017163,0.0599397099817,0.999999990617,-7.50594681741e-05,-0.000103059094141,-5.01155035921e-05,1793255776852627200
+185,3.083333333,POSE1_TO_POSE2_PRESS,783,759,737.748537817,718.251462183,686,651,913,802,839,658.748537817,635,659,0.440787619106,-0.00556882535103,0.0599786675645,0.999999994154,-8.80156962573e-05,-3.91699382747e-05,-4.91064207444e-05,1793255776869294080
+186,3.100000000,POSE1_TO_POSE2_PRESS,783,759,737.159730141,718.840269859,686,651,913,802,839,658.159730141,635,659,0.4416386447,-0.00557424713718,0.0600090127731,0.999999990894,-0.000126212157158,5.46825550517e-06,-4.74546667473e-05,1793255776885960448
+187,3.116666667,POSE1_TO_POSE2_PRESS,783,759,737.422141316,718.577858684,686,650.577858684,913,802,839,658.422141316,635,659,0.442414742062,-0.00557536308279,0.0599861096925,0.999999991296,-0.000119595006316,-2.92536680717e-05,-4.74223356724e-05,1793255776902626816
+188,3.133333333,POSE1_TO_POSE2_PRESS,783,759,738,718.001422883,685.998577117,650,913,802,839,658.998577117,635,659,0.443162846945,-0.00557486695675,0.0599433935727,0.999999989838,-9.63185036972e-05,-9.35039513305e-05,-4.79980318338e-05,1793255776919293696
+189,3.150000000,POSE1_TO_POSE2_PRESS,783,759,738,718.577540072,685.422459928,650,913,802,839,658.422459928,635,659,0.443870783434,-0.00557067036499,0.0599044692674,0.99999998379,-8.23910255299e-05,-0.000151871784337,-5.06636403833e-05,1793255776935960576
+190,3.166666667,POSE1_TO_POSE2_PRESS,783,759,738,718.846446309,685,650,913,801.846446309,839,658.153553691,635,659,0.444574660496,-0.0055676149067,0.0598727934148,0.999999975794,-7.17927473976e-05,-0.000201115086386,-5.30182249754e-05,1793255776952627456
+191,3.183333333,POSE1_TO_POSE2_PRESS,783,759,738,718.270717314,685,650,913,801.270717314,839,658.729282686,635,659,0.445267376867,-0.00556769684112,0.0598610462028,0.999999970666,-7.03476563874e-05,-0.000225271727098,-5.45176918718e-05,1793255776969294080
+192,3.200000000,POSE1_TO_POSE2_PRESS,782.689376477,759,738,718.310623523,684.689376477,649.689376477,913.310623523,801,839.310623523,658.689376477,634.689376477,659,0.445924940189,-0.00556923658372,0.0598385418236,0.99999995831,-9.48923701642e-05,-0.000266878449044,-5.61377766197e-05,1793255776985960448
+193,3.216666667,POSE1_TO_POSE2_PRESS,782.103054809,759,738,718.896945191,684.103054809,649.103054809,913.896945191,801,839.896945191,658.103054809,634.103054809,659,0.446551302903,-0.00557207022385,0.0598064897745,0.999999935693,-0.000142504689506,-0.000323973226212,-5.78649170821e-05,1793255777002626816
+194,3.233333333,POSE1_TO_POSE2_PRESS,782,759,738,718.522024401,684,648.522024401,913.044048803,800.522024401,840,658,634.477975599,659,0.447205667033,-0.00557432511195,0.0598017190456,0.999999936378,-0.000140390730272,-0.000322511884619,-5.93319233069e-05,1793255777019293440
+195,3.250000000,POSE1_TO_POSE2_PRESS,782.057493076,759,738,718,684,648,912.057493076,800.057493076,839.942506924,658,635,659,0.447861884259,-0.00557637440081,0.0598044676892,0.999999942718,-0.000128515149522,-0.000307198680245,-6.06374481039e-05,1793255777035960320
+196,3.266666667,POSE1_TO_POSE2_PRESS,782.633541812,759,738,718,684,648,912.633541812,800.633541812,839.366458188,658,635,659,0.448480958558,-0.0055776824484,0.0598225650417,0.999999951342,-0.000124236800609,-0.000279573980302,-6.09868322008e-05,1793255777052626944
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,759.207832186,738,718.207832186,683.792167814,647.792167814,913,800.792167814,839,658.207832186,635,659.207832186,0.449058461869,-0.00557813163981,0.0598211689495,0.999999950443,-0.00012081787968,-0.000283931923818,-6.24492965925e-05,1793255777069293824
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,759.779048093,738,718.779048093,683.220951907,647.220951907,913,800.220951907,839,658.779048093,635,659.779048093,0.449563280415,-0.0055770791659,0.0597856895856,0.999999931522,-0.000118901623985,-0.000344209851626,-6.58579236259e-05,1793255777085960448
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,760,738,719,683,647,913,800,839.364968973,658.635031027,635,659.635031027,0.45005721648,-0.00557844081608,0.0597483796726,0.999999910561,-0.000119305574159,-0.000399843724439,-6.90618306985e-05,1793255777102626816
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,760,738,719,683,647,913,800,839.960166033,658.039833967,635,659.039833967,0.450544287757,-0.00558132533306,0.0597099150174,0.999999887657,-0.000121173145902,-0.000452548060949,-7.21365975312e-05,1793255777119293440
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+202,3.366666667,POSE1_TO_POSE2_PRESS,783,760,738.882590604,718.117409396,682.882590604,646,912.882590604,799.882590604,840,659,634,659,0.451489286338,-0.00558654977421,0.059709905233,0.999999891462,-0.000123635844065,-0.000443090140218,-7.38986479443e-05,1793255777152626688
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,760,738.311297199,718.688702801,682.311297199,646,912.311297199,799.311297199,840,659,634,659,0.451939789857,-0.00558952211754,0.0597311413413,0.999999906053,-0.000120126082692,-0.00041021232365,-7.20367180487e-05,1793255777169293312
+204,3.400000000,POSE1_TO_POSE2_PRESS,783,759.730816533,738,719,681.730816533,646,912.269183467,799,840,659,634,659,0.452363245177,-0.00559211398368,0.0597462502949,0.999999916949,-0.00011986368328,-0.000383740197392,-6.69159698347e-05,1793255777185959936
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,759.139335864,738,719,681.139335864,646,912.860664136,799,840,659,634,659,0.452754315276,-0.00559425029887,0.0597540231175,0.99999992411,-0.000123489396934,-0.000364937697733,-5.78933921464e-05,1793255777202626816
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,759.443017981,738,719,681,646,912.556982019,799,840,658.556982019,634,659.443017981,0.453099566518,-0.00559566046696,0.0597431368991,0.99999991616,-0.000122279269722,-0.000387651018467,-4.95516907794e-05,1793255777219293696
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,760,738,718.977546836,681,645.977546836,912.022453164,799,840,658.022453164,634,660,0.453428703528,-0.00559687792071,0.0597263681927,0.999999902465,-0.000119811868415,-0.000423042735093,-4.18427591239e-05,1793255777235960320
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,760,738,718.400730526,681,645.400730526,912.599269474,799,840,658.599269474,634,660,0.4537085995,-0.00559886223463,0.059706330621,0.999999887651,-0.000123096438248,-0.000455585586593,-4.45762706064e-05,1793255777252626944
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,760,738,718.175655819,680.824344181,645,913,799,840,659,634,659.824344181,0.453985546394,-0.0056007824074,0.0596920971006,0.99999987724,-0.000125062905734,-0.000477141186174,-4.7078524335e-05,1793255777269293568
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,760,738,718.751063587,680.248936413,645,913,799,840,659,634,659.248936413,0.454255781832,-0.00560255660951,0.0596910722592,0.999999878913,-0.000124029677453,-0.000473692342377,-4.90544887114e-05,1793255777285960192
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760,738,718.66558088,680,645,913,799,840,659,634,659.33441912,0.454515674221,-0.00559864636844,0.0596975287425,0.999999886176,-0.000118531329331,-0.000459403371578,-5.04696203379e-05,1793255777302626816
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,738,718.076165065,680,645,913,799,840,659,634,659.923834935,0.454767679999,-0.00559040170365,0.0597096897833,0.999999897248,-0.0001096282989,-0.000436848734745,-5.14571136285e-05,1793255777319293440
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,760,738,718.504525983,680,644.495474017,913,798.495474017,840,658.495474017,634,659.495474017,0.454979055455,-0.00558511601114,0.0597146181936,0.999999901817,-0.00010318249585,-0.000427781032215,-5.21704552083e-05,1793255777335960064
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,760,738,719,680,644,913,798,840,658.083312241,634,659,0.455176990838,-0.00558165622148,0.0597167150729,0.999999904062,-9.87074005479e-05,-0.000423480057793,-5.28867584847e-05,1793255777352626944
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,760,738,719,680,644,913,798,840,658.658496984,634,659,0.455331174147,-0.00558638404243,0.0597084314408,0.999999898339,-0.000103714433462,-0.000435505327511,-5.38607411044e-05,1793255777369293824
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,760,738,718.761316892,679.761316892,644,913,798,840,659,633.761316892,659,0.455473771344,-0.00559045442852,0.0597005399828,0.999999892374,-0.000107996325277,-0.000447869439459,-5.47943437212e-05,1793255777385960448
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,760,738,718.173821776,679.173821776,644,913,798,840,659,633.173821776,659,0.455599436561,-0.00559356403761,0.0596932216491,0.99999988613,-0.000111218494029,-0.000460728735485,-5.56689348602e-05,1793255777402627072
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,738,718.407887771,679,644,913,798,840,659,633,659,0.455712095467,-0.00559409464458,0.0596864491239,0.99999988158,-0.000111081023648,-0.000470437733469,-5.64654127463e-05,1793255777419293696
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,738,718.987166259,679,644,913,798,840,659,633,659,0.455819289236,-0.00559354157833,0.0596799059426,0.999999877728,-0.000109531863496,-0.000478823004646,-5.72290681336e-05,1793255777435960064
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,738,718.434137957,679,644,913,798,840,659,633.565862043,659,0.455903067858,-0.00559580983245,0.0596756426286,0.999999875804,-0.000111808278819,-0.000482257346964,-5.76108897639e-05,1793255777452626688
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,759.857086901,738,718,679,644,912.857086901,798,840,659,634,659.142913099,0.455980454519,-0.00559721827231,0.0596708824579,0.99999987323,-0.000113737048397,-0.000487059399858,-5.81079089049e-05,1793255777469293568
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,759.284936218,738,718,679,644,912.284936218,798,840,659,634,659.715063782,0.456040236371,-0.00559585228319,0.0596644748428,0.999999868562,-0.000114361341799,-0.000496306258073,-5.89769055457e-05,1793255777485960192
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,759.296622091,738,718.296622091,679,644,912,798,840,659,634,659.703377909,0.456091621173,-0.0055962350265,0.0596596771231,0.999999865347,-0.000114994581228,-0.000502568627321,-5.92253394371e-05,1793255777502626816
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,759.887513475,738,718.887513475,679,644,912,798,840,659,634,659.112486525,0.456134675538,-0.00559835263119,0.0596564765284,0.99999986363,-0.000115636695805,-0.000505870181632,-5.88581329754e-05,1793255777519293440
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,760,738.469267086,719,679,643.530732914,912.469267086,798,840,659,634,659,0.456166738653,-0.00559810493159,0.0596523574892,0.999999860532,-0.000114737747447,-0.000512161306462,-5.88394618535e-05,1793255777535960576
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,760,739,719,679,643.048493272,913,798,840,659,634,659.048493272,0.456195417656,-0.00559722274801,0.0596481770137,0.999999857257,-0.000113461732918,-0.000518787396998,-5.8924969687e-05,1793255777552626944
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,760,739,719,679,643.623605432,913,798,840,659,634,659.623605432,0.456215411597,-0.00559548988598,0.0596456745207,0.999999856032,-0.000112025878502,-0.000521417508621,-5.92518700744e-05,1793255777569293568
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,760,738.797132415,719,679,644,912.797132415,798,840,658.797132415,634,659.797132415,0.456231807241,-0.0055945665849,0.0596426725086,0.999999854201,-0.000111848968184,-0.000524933346476,-5.94398326185e-05,1793255777585959936
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,760,738.210009721,719,679,644,912.210009721,798,840,658.210009721,634,659.210009721,0.456241387285,-0.00559517668777,0.0596387243488,0.999999851216,-0.000114056646416,-0.000530126854009,-5.93646304972e-05,1793255777602626560
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+231,3.850000000,POSE1_TO_POSE2_PRESS,783.952301501,759.047698499,738,718.047698499,679,643.047698499,912.952301501,798,840,658.952301501,634,659.952301501,0.456256879041,-0.00559553851116,0.0596381627271,0.999999850699,-0.000114159773203,-0.000531250582708,-5.78081041777e-05,1793255777635960320
+232,3.866666667,POSE1_TO_POSE2_PRESS,783.468760824,759.531239176,738,718.531239176,679,643,913,798,840,659,634,659.468760824,0.456261505429,-0.00559420566938,0.059637625214,0.999999850547,-0.000114149206778,-0.000531502109942,-5.81509900588e-05,1793255777652627200
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,759.891596258,738,718.891596258,679,643,912.891596258,798,840,659,634,659,0.456265073851,-0.00559266787862,0.0596367363649,0.99999985017,-0.000113837324519,-0.000532233450534,-5.85528740263e-05,1793255777669294080
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,759.321630942,738,718.321630942,679,643,912.321630942,798,840,659,634,659,0.456265175715,-0.00559079948546,0.0596347543952,0.99999984902,-0.000112086993846,-0.000534741194167,-5.87196500648e-05,1793255777685960448
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,759.258492311,738,718.258492311,679,643,912.258492311,798,840,658.741507689,633.741507689,659,0.456264810109,-0.00559006197867,0.0596335336932,0.999999847977,-0.000112192080273,-0.000536686124567,-5.85399805307e-05,1793255777702627072
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,759.851771727,738,718.851771727,679,643,912.851771727,798,840,658.148228273,633.148228273,659,0.456263839056,-0.00559078914256,0.0596332989491,0.999999847076,-0.000114700215576,-0.000537902126039,-5.79116109796e-05,1793255777719293696
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,738,719,679,643,912.56635035,798,840,658.43364965,633,659,0.45626426144,-0.00559004115957,0.059632274142,0.999999846494,-0.000114119768664,-0.000539129511445,-5.7694090738e-05,1793255777735960320
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,759.988308324,738,718.988308324,679,643,912,798,840,659,633.011691676,659,0.456265133559,-0.0055888037945,0.0596310054243,0.999999846024,-0.00011255647808,-0.000540336081187,-5.76112352317e-05,1793255777752626944
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,759.412124672,738,718.412124672,679,643,912,798,840,659,633.587875328,659,0.45626531229,-0.00558765955194,0.0596306650005,0.999999845952,-0.000113206230108,-0.00054035458209,-5.74234970614e-05,1793255777769293568
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,759.164156995,738.164156995,718,678.835843005,643,912.164156995,798,840,659,633.835843005,659,0.45626551885,-0.00558681899153,0.0596306158744,0.999999845795,-0.000113977921221,-0.00054049733863,-5.72923278333e-05,1793255777785960448
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,759.740684843,738.740684843,718,678.259315157,643,912.740684843,798,840,659,633.259315157,659,0.456265795317,-0.00558674129643,0.0596312985032,0.999999845425,-0.000115055929571,-0.000540952231748,-5.73032627226e-05,1793255777802627328
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,760,738.674776514,718,678.325223486,643,913,798,840,658.674776514,633.325223486,659,0.456265659091,-0.00558611414341,0.0596314431963,0.999999845177,-0.000115418554162,-0.000541336069775,-5.72636754606e-05,1793255777819294208
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,760,738.083689233,718,678.916310767,643,913,798,840,658.083689233,633.916310767,659,0.456265185497,-0.00558503781936,0.0596311481374,0.999999845031,-0.000115196366563,-0.00054166182164,-5.71827873344e-05,1793255777835960576
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+245,4.083333333,POSE1_TO_POSE2_PRESS,783,759,738,718,679,643,912.072901238,797.072901238,840,658.927098762,633.072901238,659,0.456265165404,-0.00558139606874,0.0596290646854,0.999999844121,-0.000114282466108,-0.000543455127574,-5.79063272214e-05,1793255777869293568
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+247,4.116666667,POSE1_TO_POSE2_PRESS,783,759.220570034,738,718.220570034,679,643,912.779429966,798,840,658.220570034,634,659.220570034,0.456265905988,-0.00558169323892,0.0596293855842,0.999999844087,-0.000115850262648,-0.000543255624885,-5.72614139539e-05,1793255777902626816
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+249,4.150000000,HOLD_POSE2,783,760,738,718,679,643,913,798,840,658,633,659,0.456264974479,-0.00557968890924,0.0596279899549,0.999999842968,-0.00011361275487,-0.000545837134454,-5.67322148172e-05,1793255777953367808
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+251,4.183333333,HOLD_POSE2,783,759.848969389,738.151030611,718.151030611,679,643,912,797.151030611,840,658.151030611,633,659,0.456267994854,-0.00558100973742,0.0596306071392,0.999999844393,-0.000115804383655,-0.000542733098242,-5.69535834102e-05,1793255777986701056
+252,4.200000000,HOLD_POSE2,783,759.271873887,738.728126113,718.728126113,679,643,912,797.728126113,840,658.728126113,633,659,0.456267107006,-0.00558070944633,0.0596297734958,0.999999843904,-0.000115012281851,-0.000543838697803,-5.65928628575e-05,1793255778003367424
+253,4.216666667,HOLD_POSE2,783,759.311129555,738.688870445,719,679,643,912.311129555,797.688870445,840,659,633,659,0.45626620285,-0.00558066207275,0.0596286085538,0.999999843147,-0.000114593614567,-0.000545351978803,-5.62580021804e-05,1793255778020033536
+254,4.233333333,HOLD_POSE2,783,759.899395416,738.100604584,719,679,643,912.899395416,797.100604584,840,659,633,659,0.456265284169,-0.00558083998355,0.05962714851,0.99999984215,-0.000114507581314,-0.000547228398901,-5.59461760144e-05,1793255778036699904
+255,4.250000000,HOLD_POSE2,783,760,738,719,678.517575486,643,913,797.482424514,840,659,633,659,0.456266696924,-0.00558049008995,0.0596283548415,0.999999843359,-0.000113873843743,-0.000545159656726,-5.58193354816e-05,1793255778053366528
+256,4.266666667,HOLD_POSE2,783,759.936419819,738,718.936419819,678.063580181,643,912.936419819,798,840,659,633.063580181,659,0.456268336574,-0.0055800603436,0.0596298242704,0.999999844745,-0.000113364278841,-0.00054272307134,-5.57642847719e-05,1793255778070033152
+257,4.283333333,HOLD_POSE2,783,759.361640722,738,718.361640722,678.638359278,643,912.361640722,798,840,659,633.638359278,659,0.456267933357,-0.00557986403202,0.0596289863464,0.999999843949,-0.000114761566803,-0.000543872781902,-5.59796047983e-05,1793255778086699776
+258,4.300000000,HOLD_POSE2,783,759.212209636,738,718,679,643,912,797.787790364,840,658.787790364,633.787790364,659.212209636,0.456267644288,-0.00557949798461,0.0596286270578,0.999999843561,-0.000114821489373,-0.000544566204103,-5.6050237903e-05,1793255778103366656
+259,4.316666667,HOLD_POSE2,783,759.784484106,738,718,679,643,912,797.215515894,840,658.215515894,633.215515894,659.784484106,0.4562675489,-0.00557884393946,0.0596290798897,0.999999843866,-0.000112612248829,-0.000544485422924,-5.58753747235e-05,1793255778120033280
+260,4.333333333,HOLD_POSE2,783,760,738,718,679,643,912,797,840,658.369722842,633,659.630277158,0.456267928068,-0.00557974546977,0.0596287760528,0.99999984374,-0.000114582720085,-0.000544299557996,-5.59294141766e-05,1793255778136699904
+261,4.350000000,HOLD_POSE2,783,760,738,718,679,643,912,797,840,658.962793276,633,659.037206724,0.456268593913,-0.00558158671482,0.0596280151163,0.99999984334,-0.000119078132692,-0.00054405021252,-5.61217324692e-05,1793255778153366528
+262,4.366666667,HOLD_POSE2,783,760,738,718,678.458450918,643,912.541549082,797,840,658.458450918,633,659,0.456266664272,-0.0055787474221,0.0596266245311,0.999999842492,-0.000116151298361,-0.000546231903921,-5.61743418775e-05,1793255778170032896
+263,4.383333333,HOLD_POSE2,783,759.880829133,738,718,678,643,912.880829133,797,840,658,633,659,0.456265060027,-0.00557664317604,0.059625632517,0.999999841703,-0.000113816251349,-0.000548164009562,-5.61815597062e-05,1793255778186699520
+264,4.400000000,HOLD_POSE2,783,759.30388276,738,718,678,643,912.30388276,797,840,658,633,659,0.456265373085,-0.00557856595035,0.0596263334438,0.999999841307,-0.000115662864905,-0.00054851230503,-5.60503351027e-05,1793255778203366144
+265,4.416666667,POSE2_TO_POSE3_RETREAT,783,760,738,718,679,643,912,797,839,659,633,659,0.456268421484,-0.00557849119473,0.059628092584,0.999999843666,-0.000113407642244,-0.000544682016007,-5.59287439861e-05,1793255778240557568
+266,4.433333333,POSE2_TO_POSE3_RETREAT,783,759.420625095,738,718,679,643,912,797,839.579374905,659,633,659,0.456268104578,-0.00557900592298,0.059627960028,0.99999984315,-0.000114544244935,-0.000545448594535,-5.53665254018e-05,1793255778257224704
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783,759,738,718.157358784,678.842641216,643,912,797,840,659,633.157358784,659,0.456267588976,-0.00557870405115,0.0596276366159,0.99999984256,-0.000115013800741,-0.000546451220082,-5.51661630986e-05,1793255778273891328
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783,759,738,718.731657113,678.268342887,643,912,797,840,659,633.731657113,659,0.456266546908,-0.00557623850699,0.0596268075092,0.999999841775,-0.000113715942123,-0.000548079278544,-5.59245790069e-05,1793255778290557952
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,759.30658286,738,719,678,643,912.30658286,797,840,659,633.69341714,659.30658286,0.456266735907,-0.00557582901769,0.0596267703506,0.999999841796,-0.000113135263216,-0.000548144174044,-5.60971456152e-05,1793255778307224320
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,759.882058859,738,719,678,643,912.882058859,797,840,659,633.117941141,659.882058859,0.456268004631,-0.00557722282258,0.0596274277822,0.999999842524,-0.000113183597712,-0.000546838073704,-5.57558841785e-05,1793255778323890944
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,760,738,718.527225953,678.472774047,643,912.527225953,797,840,658.527225953,633.472774047,659.527225953,0.45626890386,-0.0055776434067,0.0596285960961,0.999999842952,-0.000115031553197,-0.000545662168788,-5.58197447126e-05,1793255778340557824
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,760,738,718.065187741,679,643,912,797.065187741,840,658.065187741,634,659,0.456269524699,-0.00557760074615,0.059629560851,0.999999843228,-0.000116772998999,-0.000544770029661,-5.59828739973e-05,1793255778357224448
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,760,738,718.640163899,679,643,912,797.640163899,840,658.640163899,634,659,0.456268713309,-0.00557589726661,0.0596279038324,0.999999842954,-0.000114053681968,-0.000545834568597,-5.61056376091e-05,1793255778373891072
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,760,738,718.784111041,679,643,912,797.784111041,840,659,633.784111041,659,0.456266075661,-0.00557530583025,0.0596259278452,0.999999841986,-0.000113171251231,-0.000547786553812,-5.61186200663e-05,1793255778390557440
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,760,738,718.207133451,679,643,912,797.207133451,840,659,633.207133451,659,0.456260383476,-0.00557657436019,0.0596234183616,0.999999839857,-0.000115361135175,-0.000551222851805,-5.59479862338e-05,1793255778407224320
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,760,738,718.376588942,679,643,912,797,840,659,633,659,0.456242900568,-0.00557747891724,0.0596157101116,0.999999832979,-0.000115560048766,-0.000563499628627,-5.61786236888e-05,1793255778423890944
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,760,738,718.964088857,679,643,912,797,840,659,633,659,0.456218814193,-0.00557817962912,0.0596050902599,0.999999823202,-0.000114643907237,-0.000580727570646,-5.66339955882e-05,1793255778440557568
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783.546887538,759.453112462,738,718.453112462,678.453112462,643,912.546887538,797.546887538,840,659,633,659.546887538,0.456168921277,-0.00557516353886,0.0595856181842,0.999999804443,-0.000112621489972,-0.000612506535409,-5.71578339788e-05,1793255778457224192
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783.87252186,759.12747814,738,718.12747814,678.12747814,643,913,798,840,659,633.12747814,660,0.456114917462,-0.005571975261,0.0595664212933,0.999999786832,-0.00011056667064,-0.000640907859048,-5.78558639769e-05,1793255778473891072
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783.298592262,759.701407738,738,718.701407738,678.701407738,643,913,798,840,659,633.701407738,660,0.456052400657,-0.00556903141522,0.0595502065322,0.999999778384,-0.000108650614229,-0.000654162317749,-5.91483337556e-05,1793255778490557696
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,760,738.275901698,719,678.724098302,643,912.724098302,797.724098302,840,659,634,659.724098302,0.455978860899,-0.00556643618319,0.059537508488,0.999999767554,-0.000107446846026,-0.000670654296227,-5.97423283229e-05,1793255778507224064
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,760,738.851007651,719,678.148992349,643,912.148992349,797.148992349,840,659,634,659.148992349,0.455893367198,-0.00556421900889,0.0595286241824,0.999999753995,-0.000107015525736,-0.00069065723334,-5.95788546276e-05,1793255778523890944
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,738.563401966,719,678.436598034,643,912.436598034,797.436598034,840,659,633.563401966,659,0.455799018082,-0.00556041919819,0.0595262916569,0.999999751482,-0.000103883219776,-0.000694772491728,-5.94653930118e-05,1793255778540557568
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,760,738,718.974822955,679,643,912.974822955,798,840,659,633,659.025177045,0.455700852409,-0.00555612972685,0.0595265895405,0.99999975316,-9.98783262737e-05,-0.000692955030377,-5.93039688326e-05,1793255778557223936
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,738,718.401002881,679,643,912.401002881,798,840,659,633,659.598997119,0.455586991959,-0.00555322868368,0.0595342867505,0.999999760404,-9.74385555193e-05,-0.000682910693665,-5.77163086038e-05,1793255778573890560
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,760,738,718,679,643,912,798,840,659,633,659.824505982,0.455463066442,-0.00555043043116,0.0595414847352,0.999999766904,-9.50551282071e-05,-0.00067380821884,-5.60215091133e-05,1793255778590557184
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,760,738,718,679,643,912,798,840,659,633,659.241797888,0.455315786087,-0.00554787069316,0.0595475243227,0.99999977186,-9.2802439855e-05,-0.000666891229812,-5.40781052824e-05,1793255778607224064
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,738,718,679,643,912,798,840,659,633.341575393,659.341575393,0.455154950789,-0.00554529754538,0.0595533561561,0.99999977614,-9.01379985765e-05,-0.000660978495047,-5.19937669309e-05,1793255778623890688
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,760,738,718,679,643,912,798,840,659,633.925420534,659.925420534,0.454984501339,-0.00554271488618,0.0595590406361,0.999999779937,-8.71815123839e-05,-0.00065577804866,-4.98094675182e-05,1793255778640557056
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,760,738.505694066,718,679,643,912,798,839.494305934,659,634,659.494305934,0.454769451604,-0.00553560065284,0.0595601762631,0.99999977838,-8.06436344414e-05,-0.000659078826798,-4.85028098715e-05,1793255778657223936
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,759.914618894,739,718,679,643.085381106,912,798,839.085381106,658.914618894,634,659,0.454543068296,-0.0055276642474,0.0595607131425,0.999999776037,-7.37793804472e-05,-0.000663510049011,-4.73045298291e-05,1793255778673890816
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.335298666,739,718,679,643.664701334,912,798,839.664701334,658.335298666,634,659,0.454288904347,-0.00551881063705,0.0595616399946,0.999999773996,-6.80611611734e-05,-0.000667278770215,-4.59896866496e-05,1793255778690557440
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,759.242182475,738.757817525,718,679,644,912,798,840,658.242182475,634,659.242182475,0.454020548776,-0.00551073840344,0.059563046106,0.999999773134,-6.1919982684e-05,-0.000669281925158,-4.42763335485e-05,1793255778707224064
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,759.817136577,738.182863423,718,679,644,912,798,840,658.817136577,634,659.817136577,0.453732693177,-0.00550373982366,0.0595651107449,0.999999773908,-5.51976360384e-05,-0.000668859097763,-4.20154066593e-05,1793255778723890688
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,760,738,718,679,644,912,798,840,658.599373349,634,659.599373349,0.453417357343,-0.00549888910559,0.0595613121186,0.999999771506,-4.85783240129e-05,-0.000673091515093,-3.97018959099e-05,1793255778740557312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,760,738,718,679,644,912,798,840,658.011902281,634,659.011902281,0.453089205275,-0.00549504010832,0.0595547789804,0.999999767563,-4.20070655e-05,-0.00067949504729,-3.73638611396e-05,1793255778757224192
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,759.432672204,738,718.567327796,679,644,912.567327796,798,839.432672204,658,634,659.567327796,0.45272648274,-0.00548800871775,0.059560822769,0.999999777185,-3.24940602729e-05,-0.000665835449308,-3.51823719045e-05,1793255778773890816
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,759,738,718.853912526,679.146087474,644,912.853912526,798,839,658,634,659.853912526,0.452357384849,-0.00548035142324,0.0595694685293,0.999999788272,-2.24253437623e-05,-0.000649526308175,-3.27032850818e-05,1793255778790557440
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,759,738,718,680,644.872751407,912,798,839,658,634,659.872751407,0.451118153575,-0.00545571078062,0.0596169416447,0.999999828882,1.22627826696e-05,-0.000584473120713,-2.18275883466e-05,1793255778840557568
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783,759.45969499,738,718,680,645,912,798.45969499,839,658.45969499,634,659.54030501,0.450635007027,-0.00545913163876,0.0596146082294,0.99999982667,6.79031965762e-06,-0.000588315244566,-2.23430559747e-05,1793255778857224192
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,783,759,738,718.115021312,682.230042624,647.115021312,912,800,839,659,635,659.884978688,0.44597267757,-0.00542429122394,0.0596868654486,0.999999862834,0.000188005877384,-0.000488843931365,4.22315574447e-06,1793255778990557440
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783,759,738,718.690214392,683.380428784,647.690214392,912,800,839,659,635,659.309785608,0.445234610539,-0.00542595736121,0.0596729728891,0.999999847388,0.000209674817167,-0.000511075775141,7.85245940229e-06,1793255779007224320
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783,759.264997044,737.735002956,719,684,648,912,800.264997044,839,658.735002956,635,659,0.444509392142,-0.00542573316526,0.0596666278682,0.999999843218,0.00021731384984,-0.000515959072334,1.12191917373e-05,1793255779023890944
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,759.839300716,737.160699284,719,684,648,912,800.839300716,839,658.160699284,635,659,0.443799170677,-0.00542330255778,0.0596690923919,0.999999852849,0.000208577067895,-0.000500593013159,1.42794492425e-05,1793255779040557568
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,759.573170125,737,718.573170125,684,648,912,801,839.426829875,658.426829875,635,659,0.443090719433,-0.00542287814861,0.0597020412304,0.999999880009,0.00020172918722,-0.000445946382948,2.04531151196e-05,1793255779057223936
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,684.019010742,648.019010742,912,801,839.980989258,659,635,659,0.442379849986,-0.00542304759692,0.0597459697502,0.999999909058,0.000195877915552,-0.000377817066279,2.77529110876e-05,1793255779073890560
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,684.59688104,648.59688104,912,801,839.40311896,659,635,659,0.441577672199,-0.00541776041554,0.0597644844545,0.999999914398,0.000197749466098,-0.000361989216236,3.25970620254e-05,1793255779090557440
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,649.173952135,912,801,839,658.826047865,635,659,0.440756591018,-0.00541360349479,0.0597769775556,0.999999916573,0.00020081034997,-0.000353724263831,3.75279205589e-05,1793255779107224320
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,649.749179585,912,801,839,658.250820415,635,659,0.439891903258,-0.00541205387601,0.0597755799336,0.999999911895,0.000206614805219,-0.000362905514713,4.26587971582e-05,1793255779123891200
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,649.677273426,912,801,839,658.322726574,635,659,0.439049975713,-0.00541266363579,0.0597908132457,0.999999919444,0.000210728765148,-0.000339446093189,3.84849706544e-05,1793255779140557568
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,649.105025738,912,801,839,658.894974262,635,659,0.438225645626,-0.00541494295306,0.0598189050255,0.999999934566,0.000213535691428,-0.000290750022546,2.71170666308e-05,1793255779157223936
+321,5.350000000,POSE2_TO_POSE3_RETREAT,782.513798163,759.486201837,737,718,685,649,912,801,839,659,635,659,0.437314733176,-0.005417466321,0.0597970023643,0.999999930673,0.000157305990776,-0.00033719141337,1.45264895476e-05,1793255779173890560
+322,5.366666667,POSE2_TO_POSE3_RETREAT,782.079150543,759.920849457,737,718,685,649,912,801,839,659,635,659,0.436387730565,-0.00541967418308,0.0597646307054,0.999999916296,9.80561468529e-05,-0.000397210866444,3.97479747255e-06,1793255779190557440
+323,5.383333333,POSE2_TO_POSE3_RETREAT,782.656091104,759.343908896,737,718,685,649,912,801,839,659,635,659,0.435481938477,-0.00541955275838,0.0597370962818,0.999999911352,0.000103273720307,-0.000408126679142,7.9744983149e-06,1793255779207224064
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,649.2317675,912,801,839,659,635,659,0.434569973908,-0.00541796098387,0.0597281010631,0.99999991148,0.000127479410309,-0.000400800476623,1.22024686581e-05,1793255779223890432
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,685,649.805578322,912,801,839,659,635,659,0.433648899836,-0.00541419926173,0.0597464660667,0.999999916532,0.000179707832506,-0.000366552642036,1.67673205302e-05,1793255779240557312
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,685.390865769,650.390865769,912.390865769,801,839,659,635,659.390865769,0.432730544303,-0.00541133355696,0.0597602099543,0.999999920191,0.000189204593472,-0.000351267506501,2.07305963197e-05,1793255779257224192
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,685.982034488,650.982034488,912.982034488,801,839,659,635,659.982034488,0.431813581966,-0.0054089270252,0.0597715857052,0.999999924319,0.000176803097727,-0.000345699992291,2.4385588365e-05,1793255779273890816
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,759.561002301,737,718,685.438997699,650.438997699,913,801,839,659,635,659.438997699,0.43092681807,-0.0054091973203,0.0598040388433,0.99999994614,0.000160663803868,-0.000285097340185,2.50405878211e-05,1793255779290557696
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,759.86449948,737,718.13550052,685.13550052,650,913,801,839,659,635.13550052,659,0.430019291097,-0.00540880606993,0.0598237905012,0.99999995579,0.000155483862619,-0.000252194808701,2.53566052403e-05,1793255779307224064
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783,759.30285533,737,718.69714467,685.69714467,650,913,801,839,659,635.69714467,659,0.42904348847,-0.00540607043032,0.059801518914,0.999999933932,0.000185139077947,-0.000311832865744,2.49022482413e-05,1793255779323890432
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783,759,737,718.729076401,686,650.270923599,913,801,839,659,635.729076401,659,0.428059570914,-0.0054055024418,0.0597739207521,0.999999916983,0.000191932268053,-0.000358645017224,2.38722730156e-05,1793255779340557312
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,759,737,718.141096423,686,650.858903577,913,801,839,659,635.141096423,659,0.42706615669,-0.00540747121144,0.0597400890097,0.999999908743,0.000171970493505,-0.000390447269036,2.21686635922e-05,1793255779357223936
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,759,737,718.448656118,686,650.551343882,913,801,839,659,635.448656118,659,0.426147485053,-0.00540908831152,0.0597539520484,0.999999916655,0.000173257406371,-0.000368929558623,2.37071280131e-05,1793255779373890560
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,759,737.038352964,719,686,650,913,801,839,659,635.961647036,659,0.425251178954,-0.00541020875133,0.0597828861406,0.999999928535,0.000180470676387,-0.00033116522738,2.62720038453e-05,1793255779390557440
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,759,737.619342813,719,686,650,913,801,839,659,635.380657187,659,0.424337425161,-0.00540587315792,0.0598119925265,0.999999938468,0.000176611603395,-0.000301724718935,2.88761789303e-05,1793255779407224320
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782.801477204,759.198522796,737.602954409,719,686,650.198522796,913,800.801477204,839,659,635,659,0.423432904948,-0.00540327714347,0.0598358737926,0.99999994624,0.000182227142381,-0.000270854374841,3.08305645903e-05,1793255779423890688
+337,5.616666667,POSE2_TO_POSE3_RETREAT,782.225736097,759.774263903,736.451472194,719,686,650.774263903,913,800.225736097,839,659,635,659,0.422545929538,-0.00540398654732,0.0598498266781,0.999999950168,0.000205845636633,-0.000237267157927,3.15502689743e-05,1793255779440557312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782.355680364,760,736,719,686,651,913.355680364,800.355680364,839,659,635,659,0.42161567652,-0.00540330968683,0.0598332837623,0.999999942951,0.000204892500566,-0.000266729919853,3.11680618438e-05,1793255779457223936
+339,5.650000000,POSE2_TO_POSE3_RETREAT,782.940757115,760,736,719,686,651,913.940757115,800.940757115,839,659,635,659,0.420657511619,-0.0054017387538,0.0597970725497,0.999999925122,0.000188091866196,-0.000336856826289,3.00751756913e-05,1793255779473890560
+340,5.666666667,POSE2_TO_POSE3_RETREAT,782.476826952,759.476826952,736,719,686,651,914,801,839,659,635,659,0.419724149269,-0.00539689811031,0.0597444274702,0.999999897544,0.000178647807292,-0.000415113151182,2.60255034004e-05,1793255779490557440
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782.103999277,759,736.103999277,719,686,651,914,801,839,659,635,659,0.418816531502,-0.00539312591935,0.059705554271,0.999999874491,0.000175579215023,-0.000468694314672,2.27076922014e-05,1793255779507224064
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782.678983766,759,736.678983766,719,686,651,914,801,839,659,635,659,0.418012849198,-0.00539586076639,0.0597374353012,0.999999897606,0.000197629894983,-0.000406380346507,2.42129230875e-05,1793255779523890688
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,759.254303357,737,719,686,651,913.745696643,801,839,659,635,659,0.417213792493,-0.00539758987667,0.0597757310447,0.9999999193,0.00020274461452,-0.000345804031796,2.67178673567e-05,1793255779540557568
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,759.830046474,737,719,686,651,913.169953526,801,839,659,635,659,0.416420582611,-0.00539804773425,0.0598221349913,0.999999940847,0.000186452257725,-0.000287424118666,3.0486450505e-05,1793255779557224448
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760,737,719.41707671,686,651,913.41707671,801,839,659,635,659,0.415619701542,-0.00539742265454,0.0598368606449,0.999999942336,0.000192628419316,-0.000277859562201,3.18859078279e-05,1793255779573890816
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760,736.991380105,720,686.008619895,651.008619895,914,800.991380105,839,659,635,659,0.414816312924,-0.00539635403025,0.0598383307634,0.999999936286,0.000207913016631,-0.000288369322253,3.22874151243e-05,1793255779590557440
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760,736.413983571,720,686.586016429,651.586016429,914,800.413983571,839,659,635,659,0.414059468285,-0.0053959461225,0.0598405943032,0.999999941163,0.000203278902901,-0.000274424018883,3.2312249085e-05,1793255779607224064
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,760,736,720,686.837385548,652,914,800,838.837385548,659,635,659,0.413293432912,-0.00539439685534,0.0598311964714,0.999999938043,0.000204084119692,-0.000285042997445,3.18368751491e-05,1793255779623890688
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760,736,720,686.262810315,652,914,800,838.262810315,659,635,659,0.412504113953,-0.00538995611499,0.0597922561995,0.999999911596,0.000218669111672,-0.000357892116301,3.00942949558e-05,1793255779640557312
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760,736,720,686,651.680418219,914,800.319581781,838,659,635,659,0.411753519412,-0.00538731322233,0.0597582772318,0.999999890941,0.000219147839211,-0.000411491164853,2.77160840515e-05,1793255779657223936
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,760,736,720,686,651.091436729,914,800.908563271,838,659,635,659,0.411035568664,-0.00538618587203,0.0597284805259,0.999999877377,0.000207735326796,-0.000448862866391,2.48020520109e-05,1793255779673890560
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,760,736,720,686,651,914,801,838.489204316,659,635,659,0.410411556042,-0.00538556122326,0.0597575631372,0.999999896942,0.000214669312712,-0.000399153303724,2.66351099321e-05,1793255779690557440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,760,736,720,685.931899689,651.068100311,914,800.931899689,838.931899689,658.931899689,635,659,0.409807599587,-0.00538517365242,0.059796954445,0.999999918414,0.000224269959494,-0.000334686350327,2.93336312135e-05,1793255779707224320
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,760,736,720,685.35459095,651.64540905,914,800.35459095,838.35459095,658.35459095,635,659,0.409224524342,-0.00538586800245,0.059832518093,0.999999934289,0.00022859922125,-0.000279536500108,3.19802807131e-05,1793255779723890688
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760,736,720,685.442864723,652,914,800,838.221432361,658.221432361,635,659,0.408645095779,-0.00538730144023,0.0598530526377,0.999999942322,0.000230660959061,-0.000247049593881,3.34394262189e-05,1793255779740557312
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760,736,720,686.590818159,652,914,800,838.795409079,658.795409079,635,659,0.408071473184,-0.00538991158589,0.0598496592153,0.999999941798,0.000229112553091,-0.000250644560977,3.30079363327e-05,1793255779757224192
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,759.619991929,736.380008071,720.380008071,686.619991929,652,914,800.380008071,838.619991929,659,635,659,0.407509524448,-0.00538784847747,0.0598374678234,0.999999937232,0.000227767657865,-0.000269507834841,3.19825054812e-05,1793255779773890816
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,759.029509545,736.970490455,720.970490455,686.029509545,652,914,800.970490455,838.029509545,659,635,659,0.406954041437,-0.00538319700341,0.0598204035175,0.999999929818,0.000226535480446,-0.000296827735458,3.06281096735e-05,1793255779790557440
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,759.549319248,736.450680752,720.450680752,686,652,914.549319248,800.450680752,838,659,635.549319248,659,0.406473915918,-0.0053810277336,0.0598223501122,0.999999930612,0.000233889724367,-0.000288319790662,3.07231977484e-05,1793255779807224064
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,759.873550534,736,720.126449466,686,651.873550534,914.873550534,800,838,659,635.873550534,659,0.406005967216,-0.00537878125541,0.0598250714494,0.999999931648,0.000240357203579,-0.00027923932712,3.09494902246e-05,1793255779823890688
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,759.300256249,736,720.699743751,686,651.300256249,914.300256249,800,838,659,635.300256249,659,0.405567040246,-0.00537580051748,0.0598269965862,0.999999932447,0.000242094906035,-0.000274795810041,3.13699832048e-05,1793255779840557312
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,759.275226309,736,720.724773691,686.275226309,651.275226309,914,800,838,659,635,659,0.405135822312,-0.00537218732459,0.0598199778959,0.99999992921,0.000245066661868,-0.000283808434568,3.12332198912e-05,1793255779857224192
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,759.853115247,736,720.146884753,686.853115247,651.853115247,914,800,838,659,635,659,0.404713081924,-0.00536787862978,0.0598031238004,0.999999921122,0.000249395489208,-0.000307618595102,3.04836493747e-05,1793255779873890816
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,759.55878029,736,720,687,652,914,800,838,659.44121971,635,659,0.404308405492,-0.00536378410356,0.0597807433794,0.999999906744,0.000256265761388,-0.000346308057615,3.01629446396e-05,1793255779890557440
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,759.032051434,736,720,686.967948566,651.967948566,914.032051434,800.032051434,838,659.967948566,635,659,0.403915436295,-0.00535997415423,0.0597581489825,0.99999989006,0.000263694454488,-0.000386579564453,3.00300316665e-05,1793255779907223808
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783,759.610037729,736,720,686.389962271,651.389962271,914.610037729,800.610037729,838,659.389962271,635,659,0.403617019353,-0.00535976821708,0.0597639892226,0.999999896684,0.000265882164252,-0.000367426553609,3.06063051136e-05,1793255779923890688
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783,759.812798134,736,720,686,651.187201866,914.812798134,800.812798134,838,659,635,658.812798134,0.403334659555,-0.0053610567637,0.0597749088288,0.999999904653,0.000267817001229,-0.000343445366453,3.18295862661e-05,1793255779940557312
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783,759.237339228,736,720,686,651.762660772,914.237339228,800.237339228,838,659,635,658.237339228,0.403085602343,-0.00536544487263,0.0597963630494,0.999999915287,0.00026922737924,-0.000309450534389,3.43947626085e-05,1793255779957223936
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783,759.345363692,736.345363692,720.345363692,686.345363692,651.654636308,914,800.345363692,838,659,635,658.345363692,0.402854434337,-0.00536998161935,0.0598142808845,0.999999923662,0.000268679694223,-0.000281288983414,3.69397850852e-05,1793255779973890560
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,759.933151526,736.933151526,720.933151526,686.933151526,651.066848474,914,800.933151526,838,659,635,658.933151526,0.402635823432,-0.00537462270113,0.0598297163959,0.99999993056,0.000266757569168,-0.000257222034744,3.94706610486e-05,1793255779990557184
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,759.486196652,735.972393303,720.486196652,687,651.513803348,914,800.486196652,838,659,635,659,0.402414338547,-0.00537265539071,0.0598284922141,0.999999928513,0.000268387294808,-0.00026335095282,3.98575193019e-05,1793255780007224064
+372,6.200000000,POSE2_TO_POSE3_RETREAT,782.90723721,759,735.09276279,720.09276279,686.90723721,651.90723721,914,800,838,659,635,659,0.40219900505,-0.00537008675504,0.0598251415297,0.999999925325,0.00026993978621,-0.000273640035845,4.00442384951e-05,1793255780023890688
+373,6.216666667,POSE2_TO_POSE3_RETREAT,782.33231449,759,735.66768551,720.66768551,686.33231449,651.33231449,914,800,838,659,635,659,0.402017561921,-0.00536880032108,0.0598218496738,0.999999922339,0.000268721770864,-0.000285412267258,4.06207263263e-05,1793255780040557312
+374,6.233333333,POSE2_TO_POSE3_RETREAT,782.242837938,759.242837938,736,721,686,651.242837938,914,800,838,659,635,659,0.401853298686,-0.00536736870365,0.0598207095115,0.999999921761,0.000263574109274,-0.000292225349501,4.01348687731e-05,1793255780057223936
+375,6.250000000,POSE2_TO_POSE3_RETREAT,782.818304977,759.818304977,736,721,686,651.818304977,914,800,838,659,635,659,0.401712567751,-0.00536573822012,0.0598225166479,0.999999924551,0.00025304378516,-0.00029224559903,3.8193855576e-05,1793255780073890560
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,759.595782619,736,720.595782619,686.404217381,652,914,800.404217381,838,659,635,659,0.401588674038,-0.00536906205088,0.0598217243241,0.99999993524,0.000203519818901,-0.000295574602008,2.71006465206e-05,1793255780090557440
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,759.005050511,736,720.005050511,686.994949489,652,914,800.994949489,838,659,635,659,0.40147254939,-0.0053746719105,0.0598197325526,0.999999945553,0.000136003334005,-0.000300430334902,1.17844143561e-05,1793255780107224064
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,760,736,721,687,652,913.849860685,800,838,659,635,659,0.401304389966,-0.00537468732225,0.0598295216874,0.999999950648,0.000136283610458,-0.000282753866735,1.34490894825e-05,1793255780140558080
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,782.632125974,759.632125974,736,721,687,652,914,800,838,659,635.632125974,659,0.40097798017,-0.00536780602549,0.0598251143834,0.999999944468,0.000158177684205,-0.000292839827293,1.69960819862e-05,1793255780290557696
+389,6.483333333,POSE2_TO_POSE3_RETREAT,782.04147838,759.04147838,736,721,687,652,914,800,838,659,635.04147838,659,0.400971345122,-0.00536715496519,0.0598264234457,0.999999945145,0.000158672438559,-0.000290247262562,1.69966484319e-05,1793255780307224576
+390,6.500000000,POSE2_TO_POSE3_RETREAT,782.538199453,759,736,721,686.461800547,651.461800547,914,800,838,659,635,659,0.400965009607,-0.00536789111541,0.0598255854869,0.999999944564,0.000159809878702,-0.000291603435426,1.73330419845e-05,1793255780323890944
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,759.116687745,736,721,686.116687745,651.116687745,914,800.116687745,838,659,635,659,0.400960345452,-0.00536840577986,0.059825289105,0.999999944229,0.000160954096233,-0.000292106452362,1.7619379474e-05,1793255780340557312
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,759.693751597,736,721,686.693751597,651.693751597,914,800.693751597,838,659,635,659,0.400962186175,-0.00536763322494,0.0598277692361,0.999999945243,0.000161933538175,-0.000288066766441,1.76081538237e-05,1793255780357223936
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783,760,736,721,687,652,914,800.732122563,838,659,635,659,0.400962901347,-0.00536777115049,0.0598293885339,0.99999994613,0.000161793328533,-0.000285051520147,1.75806288642e-05,1793255780373890560
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,783,759.57283449,736,721,687,652,914,800,838,659,635.42716551,659,0.400960640302,-0.0053692703874,0.0598292267785,0.999999946532,0.00016092828694,-0.000284136911209,1.74456906485e-05,1793255780407224064
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783,759,736,721,687,651.978092003,914,800,838,659,635.978092003,659,0.40095862328,-0.00536929657774,0.0598279872844,0.999999945809,0.000162140915507,-0.000285989487266,1.7366958656e-05,1793255780423890688
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783,759,736,721,687,651.401273083,914,800,838,659,635.401273083,659,0.400960095614,-0.00536992469773,0.0598303111553,0.999999946854,0.000160922443537,-0.000282972678905,1.79771584097e-05,1793255780440557312
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783,759.175281344,736,721,687,651,914.175281344,800,838,659,635.175281344,659,0.400961370693,-0.0053705813217,0.0598319409169,0.999999947572,0.000160232422707,-0.000280793459928,1.83690817053e-05,1793255780457223936
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783,759.751231145,736,721,687,651,914.751231145,800,838,659,635.751231145,659,0.400962194874,-0.0053713031017,0.0598319840423,0.999999947565,0.000160750366803,-0.000280528852456,1.82620557351e-05,1793255780473890816
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783,760,736,721,687,651.332249344,914.667750656,800.332249344,838,659,635.667750656,659,0.400962027355,-0.00537065767287,0.0598317048232,0.999999947357,0.000161154565874,-0.000281047547071,1.80738582173e-05,1793255780490557440
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783,760,736,721,687,651.917121223,914.082878777,800.917121223,838,659,635.082878777,659,0.400961105805,-0.00536897270015,0.0598311805125,0.999999946997,0.000161472280003,-0.000282161817769,1.78239427127e-05,1793255780507224064
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783,759.499438217,736,721,687,652,914,800.499438217,838,659,635,659,0.400961355316,-0.00536983386057,0.0598313620379,0.999999947306,0.000160745369485,-0.0002814716487,1.7978702335e-05,1793255780523890944
+403,6.716666667,POSE2_TO_POSE3_RETREAT,782.917430692,759.082569308,736,721,687,652,914,800,838,659,635.082569308,659,0.400961813755,-0.00537076462586,0.0598317038484,0.999999947643,0.000160396281545,-0.000280461104191,1.81176540081e-05,1793255780540557312
+404,6.733333333,POSE2_TO_POSE3_RETREAT,782.342558638,759.657441362,736,721,687,652,914,800,838,659,635.657441362,659,0.400962365129,-0.00536960405368,0.0598323065212,0.999999947495,0.000163328183542,-0.000279316626295,1.77640030884e-05,1793255780557224192
+405,6.750000000,POSE2_TO_POSE3_RETREAT,782.231668994,759.768331006,736,721,687,652,914,800.231668994,838,659,635.768331006,659,0.400962741721,-0.00536930800163,0.0598331051352,0.999999947601,0.000164532077037,-0.000278228473357,1.77588215547e-05,1793255780573891072
+406,6.766666667,POSE2_TO_POSE3_RETREAT,782.804946479,759.195053521,736,721,687,652,914,800.804946479,838,659,635.195053521,659,0.400962860588,-0.00537028673122,0.0598341926755,0.999999948092,0.000163187928754,-0.000277223374454,1.82674769688e-05,1793255780590558464
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783,759,736,721,686.610538209,652,914,800.610538209,838,659,635,659,0.400962529203,-0.00537057580119,0.0598339460081,0.999999948041,0.000163387833203,-0.000277283537697,1.83344208214e-05,1793255780607224832
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783,759,736,721,686.020227482,652,914,800.020227482,838,659,635,659,0.400961965618,-0.00537050920745,0.0598330112778,0.999999947712,0.00016438401956,-0.000277893066231,1.81735700337e-05,1793255780623890688
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783,759.561020016,736,721,686.561020016,652,914,800,838,659,635.561020016,659,0.400961611267,-0.00537100106444,0.0598334822427,0.999999947731,0.000164490392462,-0.00027775278638,1.82965688852e-05,1793255780640557312
+410,6.833333333,POSE2_TO_POSE3_RETREAT,783,759.860569277,736,721,687,652,914.139430723,800,838,659,636,659,0.400961319999,-0.0053714909886,0.0598337947667,0.999999947761,0.000164475623532,-0.000277642141588,1.84292837212e-05,1793255780657223936
+411,6.850000000,POSE2_TO_POSE3_RETREAT,783,759.289937109,736,721,687,652,914.710062891,800,838,659,636,659,0.400961200866,-0.00537191365653,0.0598334630518,0.999999947789,0.000164183852325,-0.000277705422211,1.85608992508e-05,1793255780673890560
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f5ec0a526d598a0052e5c06a77e073a6d75c3d6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+388,6.466666667,pose2_to_pose3_retreat,0.575681188635,0.000181815063641,1.0500207453,0.54625233536,0.00885604951838,1.04969245358
+389,6.483333333,pose2_to_pose3_retreat,0.57567591874,0.000181724631673,1.05002056239,0.546247067215,0.00885596504872,1.04969227136
+390,6.500000000,pose2_to_pose3_retreat,0.575672553701,0.000181666322273,1.05002052205,0.546243703349,0.00885591065957,1.04969222946
+391,6.516666667,pose2_to_pose3_retreat,0.575670480241,0.000181630125177,1.05002053348,0.546241630638,0.00885587693173,1.04969223899
+392,6.533333333,pose2_to_pose3_retreat,0.575669295562,0.000181652522029,1.05002042258,0.546240445709,0.00885589855824,1.04969213021
+393,6.550000000,pose2_to_pose3_retreat,0.575668726378,0.000181668251863,1.05002035575,0.546239876326,0.00885591366636,1.04969206476
+394,6.566666667,pose2_to_pose3_retreat,0.575668502032,0.000181674451814,1.05002032941,0.546239651902,0.00885591962127,1.04969203896
+395,6.583333333,pose2_to_pose3_retreat,0.575668229697,0.000181681977994,1.05002029743,0.546239379472,0.00885592684998,1.04969200765
+396,6.600000000,pose2_to_pose3_retreat,0.575668030301,0.000181687488466,1.05002027402,0.546239180006,0.00885593214265,1.04969198473
+397,6.616666667,pose2_to_pose3_retreat,0.575668010913,0.000181688024266,1.05002027174,0.546239160611,0.00885593265728,1.0496919825
+398,6.633333333,pose2_to_pose3_retreat,0.575667871668,0.000181712938034,1.05002029387,0.54623902085,0.00885595580058,1.04969200412
+399,6.650000000,pose2_to_pose3_retreat,0.575667654484,0.000181772925351,1.05002036699,0.546238802393,0.00885601140326,1.0496920756
+400,6.666666667,pose2_to_pose3_retreat,0.575667544279,0.000181803364579,1.05002040409,0.546238691541,0.0088560396176,1.04969211187
+401,6.683333333,pose2_to_pose3_retreat,0.575667505518,0.000181814070655,1.05002041714,0.546238652552,0.00885604954114,1.04969212463
+402,6.700000000,pose2_to_pose3_retreat,0.575667490623,0.000181818184668,1.05002042216,0.54623863757,0.00885605335445,1.04969212953
+403,6.716666667,pose2_to_pose3_retreat,0.575667428127,0.000181835446488,1.0500204432,0.546238574707,0.00885606935455,1.0496921501
+404,6.733333333,pose2_to_pose3_retreat,0.57566727461,0.00018187784877,1.05002049488,0.546238420289,0.00885610865753,1.04969220062
+405,6.750000000,pose2_to_pose3_retreat,0.575667171912,0.000181906214379,1.05002052945,0.546238316989,0.00885613494982,1.04969223442
+406,6.766666667,pose2_to_pose3_retreat,0.575667158695,0.000181909635375,1.05002053382,0.546238303698,0.00885613811549,1.04969223869
+407,6.783333333,pose2_to_pose3_retreat,0.575667108502,0.000181870968912,1.05002053135,0.546238253977,0.00885610106803,1.0496922367
+408,6.800000000,pose2_to_pose3_retreat,0.575667013842,0.00018179804713,1.0500205267,0.546238160207,0.00885603119957,1.04969223293
+409,6.816666667,pose2_to_pose3_retreat,0.575666903336,0.00018171291805,1.05002052127,0.54623805074,0.00885594963495,1.04969222854
+410,6.833333333,pose2_to_pose3_retreat,0.575666797227,0.00018170937393,1.05002040979,0.546237946116,0.00885595133313,1.04969212245
+411,6.850000000,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641385,1.04969208382
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ea34c97d58eb6f5d57783529aafb970b2404ac2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:702e021fd2fd3d39caa40dd441ce98adffdf222f4f990a24f0948fe9068e9765
+size 25840105
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5d9bed7a564fe2ab70dc4e93d2ec89f76bdbf6b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,782,760,736,722,689,652,913,800,837,659,635,659,0.400940629069,-0.00545336629484,0.0499341164721,0.999999977545,3.73223255495e-05,-0.000206766222588,-2.76543536194e-05,1793255781919277824
+1,0.016666667,BASELINE,782,760,736,722,689.63488802,652,913,800,837,659,635,659,0.400939771253,-0.00545314160087,0.0499333728904,0.999999977179,3.84830903928e-05,-0.000208383842626,-2.71603950893e-05,1793255781935944960
+2,0.033333333,BASELINE,782.246283311,760,736,722.246283311,689.753716689,652,913,800,837,659,635,659,0.400939433361,-0.00545288798277,0.0499331357692,0.999999977021,3.92721062395e-05,-0.000209024215673,-2.69306267113e-05,1793255781952611840
+3,0.050000000,BASELINE,782.825883878,760,736,722.825883878,689.174116122,652,913,800,837,659,635,659,0.400939799129,-0.00545259521903,0.0499335840862,0.999999977148,3.95580010504e-05,-0.000208341993103,-2.70584104498e-05,1793255781969277952
+4,0.066666667,BASELINE,783,760,736,722.596435122,689.403564878,652,913,800,837.403564878,659,635,659,0.400940450461,-0.00545348956256,0.0499342989272,0.99999997748,3.7874289348e-05,-0.000207070492096,-2.69703795756e-05,1793255781985944320
+5,0.083333333,BASELINE,783,760,736,722.019578425,689.980421575,652,913,800,837.980421575,659,635,659,0.400941224416,-0.00545489365309,0.0499351282143,0.999999977892,3.53448234106e-05,-0.000205545953417,-2.67896773312e-05,1793255782002611200
+6,0.100000000,BASELINE,782.448237028,760,736,722,690,652,913,800.551762972,837.448237028,659,635,659,0.400941671535,-0.00545437221107,0.0499348641569,0.999999977626,3.83823839141e-05,-0.000206314152959,-2.66263316743e-05,1793255782019278080
+7,0.116666667,BASELINE,782.127782079,760,736,722,690,652,913,800.872217921,837,659,635,659,0.400941845551,-0.00545401791355,0.0499344819046,0.999999977383,4.07884973434e-05,-0.000207050055341,-2.6469726384e-05,1793255782035944704
+8,0.133333333,BASELINE,782.721566714,760,736,722,690,652,913,800.278433286,837,659,635,659,0.400941065475,-0.00545451987083,0.0499338086939,0.999999977344,4.01785564364e-05,-0.000207374424268,-2.63354784716e-05,1793255782052611328
+9,0.150000000,BASELINE,782.692990915,760,736,722,689.692990915,652,913,800,837,659,635,658.692990915,0.400940947003,-0.00545404249385,0.0499337697572,0.999999977365,4.0081311285e-05,-0.000207276834313,-2.64389309001e-05,1793255782069277952
+10,0.166666667,BASELINE,782.114914212,760,736,722,689.114914212,652,913,800,837,659,635,658.114914212,0.40094141268,-0.00545270043297,0.0499342908403,0.99999997744,4.04367407733e-05,-0.000206806684065,-2.67522561647e-05,1793255782085944320
+11,0.183333333,BASELINE,782.461773942,760,736,722,689.461773942,652,913,800,837,659,635,658.461773942,0.400940213527,-0.00545358917208,0.0499333169986,0.999999977155,3.96833181416e-05,-0.000208343158797,-2.66272629686e-05,1793255782102610944
+12,0.200000000,BASELINE,783,760,736,722,689.961969449,652,913,800,837,659,635,658.961969449,0.400938686265,-0.00545493349312,0.049932035297,0.999999976799,3.86857687092e-05,-0.000210255905939,-2.6419902445e-05,1793255782119277568
+13,0.216666667,BASELINE,783,760,736,722,689.386942413,652,913,800,837,659,635,658.386942413,0.400938358489,-0.00545489549541,0.0499316437677,0.999999976775,3.81257754388e-05,-0.000210451828484,-2.65850720908e-05,1793255782135944192
+14,0.233333333,BASELINE,783,760,736,722,689,652,913,800,837,659,635,658.193501193,0.400938698541,-0.0054544463054,0.0499316685495,0.999999976855,3.88676047624e-05,-0.000209913633955,-2.67363932517e-05,1793255782152610816
+15,0.250000000,BASELINE,783,760,736,722,689,652,913,800,837,659,635,658.7850883,0.400940412502,-0.00545315117814,0.0499325497995,0.999999977141,4.22876460742e-05,-0.000207865155923,-2.68592242475e-05,1793255782169277952
+16,0.266666667,BASELINE,783,760,736,722,689.368522298,652,913,800.368522298,837.368522298,659.368522298,635,659,0.400940164459,-0.00545394137659,0.0499327497882,0.999999977134,4.18531174665e-05,-0.000208023251548,-2.6568826999e-05,1793255782185944832
+17,0.283333333,BASELINE,783,760,736,722,689.947304516,652,913,800.947304516,837.947304516,659.947304516,635,659,0.400938796998,-0.00545592135501,0.0499325610841,0.999999976959,3.92193687772e-05,-0.000209440305037,-2.60426629031e-05,1793255782202611456
+18,0.300000000,BASELINE,783,760,736,722,690,652,913,800.476645621,837.476645621,659.476645621,635.523354379,659,0.400940010252,-0.00545435828151,0.0499329972373,0.999999977152,4.04177175409e-05,-0.000208245420816,-2.6404877784e-05,1793255782219278080
+19,0.316666667,BASELINE,783,760,736,722,690,652.101120471,913,800,837,659,635.898879529,659,0.400941156142,-0.00545288200747,0.0499333236546,0.999999977315,4.16245183011e-05,-0.000207171980957,-2.67676609969e-05,1793255782235944448
+20,0.333333333,BASELINE,783,760,736,722,690,652.688454578,913,800,837,659,635.311545422,659,0.400940735207,-0.00545352949102,0.0499328214894,0.999999977182,4.1026345428e-05,-0.000207940437581,-2.67053162159e-05,1793255782252610816
+21,0.350000000,BASELINE,783,760,736.271939424,722,690,652.728060576,913,800,837,659,635,659,0.400940696793,-0.00545352595288,0.0499325027263,0.999999977107,4.13324096282e-05,-0.000208249268543,-2.66462421439e-05,1793255782269277184
+22,0.366666667,BASELINE,783,760,736.851075903,722,690,652.148924097,913,800,837,659,635,659,0.400941090494,-0.00545278698639,0.0499323911442,0.999999977096,4.26599475563e-05,-0.000208038882166,-2.6590862841e-05,1793255782285944064
+23,0.383333333,BASELINE,782.571632084,760,736.571632084,722,690,652,913,800,837,659,635,659,0.400941364056,-0.00545324697491,0.0499326909622,0.999999977361,4.11358506122e-05,-0.000207067457292,-2.66136107931e-05,1793255782302611200
+24,0.400000000,BASELINE,782.0050992,760,736,722,690,652,913,800,837,659,635,659,0.400941608346,-0.00545413573283,0.049933133728,0.999999977714,3.86430082435e-05,-0.000205837143434,-2.66562003515e-05,1793255782319278080
+25,0.416666667,BASELINE,782.59067703,760,736,722,690,652,913,800,837,659,635,659,0.40094325472,-0.00545658794336,0.049933637466,0.999999977896,3.82434608824e-05,-0.000205125398061,-2.58787919555e-05,1793255782335944704
+26,0.433333333,BASELINE,783,760,736,722,690,652,913,800.174429274,837,659,635,659,0.400943846929,-0.00545774335459,0.0499337076744,0.999999977899,3.8088497926e-05,-0.000205188343385,-2.54811453851e-05,1793255782352611328
+27,0.450000000,BASELINE,783,760,736,722,690,652,913,800.753942014,837,659,635,659,0.400941991015,-0.00545588716199,0.0499327710811,0.999999977487,3.85015421718e-05,-0.000207050381028,-2.59654333951e-05,1793255782369277952
+28,0.466666667,BASELINE,782.668222397,759.668222397,736,722.331777603,690,652,913,800.668222397,837,659,635,658.668222397,0.400940922376,-0.00545467658871,0.0499324120221,0.999999977219,3.97603804839e-05,-0.000208062695155,-2.62889404741e-05,1793255782385944320
+29,0.483333333,BASELINE,782.09162442,759.09162442,736,722.90837558,690,652,913,800.09162442,837,659,635,658.09162442,0.40094043467,-0.00545394242132,0.0499324791285,0.999999977057,4.16433344978e-05,-0.000208447993882,-2.64938064603e-05,1793255782402610688
+30,0.500000000,BASELINE,782.485708593,759.485708593,736,723,690,652,913,800.485708593,837,659,635.485708593,658.485708593,0.400939585158,-0.00545481652176,0.0499319225502,0.999999976917,4.03591433708e-05,-0.000209395016254,-2.62703531312e-05,1793255782419277568
+31,0.516666667,BASELINE,783,760,736,722.935714388,690,652,913,800.935714388,837,659.064285612,635.935714388,659,0.400938852228,-0.00545574364956,0.0499313574744,0.999999976808,3.87472471286e-05,-0.000210251428147,-2.60158431354e-05,1793255782435944192
+32,0.533333333,BASELINE,783,760,736,722.348141499,690,652,913,800.348141499,837,659.651858501,635.348141499,659,0.400939624694,-0.0054546291155,0.0499316823748,0.999999976937,3.93384759137e-05,-0.000209506409543,-2.61672300546e-05,1793255782452611072
+33,0.550000000,BASELINE,783,760,736,722,689.763999792,652,913,800.236000208,837.236000208,659.763999792,635,659,0.400940479572,-0.00545470793978,0.0499321581062,0.999999977133,3.95038317309e-05,-0.000208548358323,-2.61084146133e-05,1793255782469278208
+34,0.566666667,BASELINE,783,760,736,722,689.184847193,652,913,800.815152807,837.815152807,659.184847193,635,659,0.40094145428,-0.00545652194806,0.0499328531511,0.999999977424,3.90499536064e-05,-0.00020728055044,-2.57439577234e-05,1793255782485944832
+35,0.583333333,BASELINE,783,760,736.392817866,722,689.392817866,652,913,800.607182134,837.607182134,659,635,659,0.400941117239,-0.00545689834715,0.0499325639615,0.999999977402,3.76904544055e-05,-0.000207639131706,-2.5717473842e-05,1793255782502611200
+36,0.600000000,BASELINE,783,760,736.96978563,722,689.96978563,652,913,800.03021437,837.03021437,659,635,659,0.400940165261,-0.00545660080661,0.0499318133706,0.999999977231,3.59064071932e-05,-0.000208760151181,-2.58494289917e-05,1793255782519277824
+37,0.616666667,BASELINE,783,760,736.456637663,722,690,652,912.456637663,800.543362337,837,659,635,659,0.400940695952,-0.00545556148672,0.0499316581069,0.999999977326,3.68900559799e-05,-0.000208072366066,-2.63420881426e-05,1793255782535944192
+38,0.633333333,BASELINE,783,760,736,722,690,652,912.120459045,801,837,659,635,659,0.400941257825,-0.00545477328117,0.0499316508218,0.999999977441,3.78137528365e-05,-0.000207300971251,-2.67181471301e-05,1793255782552610816
+39,0.650000000,BASELINE,783,760,736,722,690,652,912.712056252,801,837,659,635,659,0.400941621197,-0.00545512755766,0.0499320936364,0.999999977588,3.7904762662e-05,-0.000206593514044,-2.65601991187e-05,1793255782569277440
+40,0.666666667,BASELINE,783,760,736,722.297248642,690,652,913,801,837,659,635,659,0.400941883976,-0.00545530051059,0.0499327455054,0.99999997778,3.7021040362e-05,-0.000205839254699,-2.64373391319e-05,1793255782585944320
+41,0.683333333,BASELINE,783,760,736,722.876367539,690,652,913,801,837,659,635,659,0.400942051367,-0.00545530152084,0.0499335956133,0.999999978012,3.52130144473e-05,-0.000205040614604,-2.63477518732e-05,1793255782602611712
+42,0.700000000,BASELINE,783,760,736,722.547333479,690,652,913,801,837,659,635,659,0.400942941883,-0.00545541655779,0.0499335839442,0.99999997804,3.64933873113e-05,-0.000204675359628,-2.63866687067e-05,1793255782619278336
+43,0.716666667,BASELINE,783,760,736,722.028126382,690,652,913,801,837,659,635.028126382,659,0.400943897698,-0.00545553164016,0.0499333175891,0.999999977992,3.85216204144e-05,-0.000204531842323,-2.64465984568e-05,1793255782635944704
+44,0.733333333,BASELINE,783,760,736,722.60215571,690,652,913,801,837,659,635.60215571,659,0.400942311377,-0.00545504689395,0.0499326480262,0.999999977601,3.87948533524e-05,-0.000206408875199,-2.6237386813e-05,1793255782652611072
+45,0.750000000,BASELINE,783,760,736,722.817981488,690,652,913,800.817981488,837,659,635.817981488,659,0.400940935288,-0.00545464894227,0.0499320099632,0.99999997728,3.9856075992e-05,-0.000207781668379,-2.60358230484e-05,1793255782669277440
+46,0.766666667,BASELINE,783,760,736,722.224946168,690,652,913,800.224946168,837,659,635.224946168,659,0.400940033924,-0.00545444698178,0.0499314430305,0.999999977119,4.26966616229e-05,-0.000208015835418,-2.58515290222e-05,1793255782685944064
+47,0.783333333,BASELINE,783,760,736,722,690,652,913,800,837.35753016,659,635,658.64246984,0.400940306878,-0.00545436539512,0.0499315323793,0.999999977198,4.18177459504e-05,-0.00020779172527,-2.6030652648e-05,1793255782702610944
+48,0.800000000,BASELINE,783,760,736,722,690,652,913,800,837.933553745,659,635,658.066446255,0.400941297481,-0.00545435737116,0.049932022794,0.999999977419,3.86657731338e-05,-0.000207287553308,-2.64318676393e-05,1793255782719277568
+49,0.816666667,BASELINE,783,760,736,722,689.492036271,652,913,800.507963729,837.492036271,659,635,658.507963729,0.400940294992,-0.00545567897131,0.0499316483562,0.999999977251,3.66704867336e-05,-0.000208471542586,-2.63153263899e-05,1793255782735944448
+50,0.833333333,BASELINE,783,759.917648012,736,722.082351988,689,652,913,800.917648012,837,659,635,659,0.400939242761,-0.00545690617698,0.0499312427055,0.999999977075,3.52753980109e-05,-0.000209578450997,-2.61410693265e-05,1793255782752611328
+51,0.850000000,BASELINE,783,759.342129591,736,722.657870409,689,652,913,800.342129591,837,659,635,659,0.400939448995,-0.00545652983397,0.0499313254742,0.999999977172,3.65713796297e-05,-0.000208905522004,-2.60254812768e-05,1793255782769277952
+52,0.866666667,BASELINE,783,759.241677315,736,723,689.241677315,652,913,800.241677315,837.241677315,659,635,659,0.400939842541,-0.00545678855275,0.0499313451605,0.999999977274,3.61575491855e-05,-0.000208492448992,-2.59817550101e-05,1793255782785944576
+53,0.883333333,BASELINE,783,759.837634452,736,723,689.837634452,652,913,800.837634452,837.837634452,659,635,659,0.400940510674,-0.00545797822187,0.0499312723729,0.999999977381,3.32372694705e-05,-0.000208460304325,-2.60433724382e-05,1793255782802610944
+54,0.900000000,BASELINE,783,760,736,722.582166405,690,652,913,801,837.582166405,659,635,658.582166405,0.400940688517,-0.00545686447262,0.0499314648651,0.999999977351,3.6472664358e-05,-0.000208060217143,-2.6046586612e-05,1793255782819277568
+55,0.916666667,BASELINE,783,760,736,722.007868116,690,652,913,801,837.007868116,659,635,658.007868116,0.400940682764,-0.00545488817027,0.0499317566957,0.999999977246,4.2013153387e-05,-0.000207522347801,-2.60279307202e-05,1793255782835944192
+56,0.933333333,BASELINE,782.432189845,760,736,722,690,652,913,800.432189845,837,659,635,658.567810155,0.400940653531,-0.00545444576613,0.0499314822877,0.999999977427,3.97102824747e-05,-0.000207043687055,-2.64842746814e-05,1793255782852610816
+57,0.950000000,BASELINE,782.146663036,760,736,722,689.853336964,652,913,800.146663036,837,659,635,659,0.400940793875,-0.00545416890183,0.0499314046254,0.999999977554,3.846027275e-05,-0.000206632997351,-2.67323692431e-05,1793255782869277696
+58,0.966666667,BASELINE,782.735018789,760,736,722,689.264981211,652,913,800.735018789,837,659,635,659,0.4009414459,-0.00545432641172,0.0499319431735,0.999999977519,4.0709191855e-05,-0.000206424533494,-2.63334256448e-05,1793255782885944576
+59,0.983333333,BASELINE,782.679777401,760,736,722.320222599,689,652,913,800.679777401,837,659,635,659,0.400941550573,-0.0054552127284,0.0499325395859,0.999999977527,4.02147431296e-05,-0.000206532621934,-2.59414262497e-05,1793255782902611456
+60,1.000000000,BASELINE,782.097156307,760,736,722.902843693,689,652,913,800.097156307,837,659,635,659,0.400941206733,-0.00545669624779,0.0499331834138,0.999999977568,3.74723096888e-05,-0.000206900101307,-2.55551170664e-05,1793255782919278336
+61,1.016666667,BASELINE,782.477617242,760,736,723,689.477617242,652,913,800,837,659,635,659,0.400942431818,-0.00545699669465,0.0499332298188,0.999999977776,3.68485809215e-05,-0.000205990819355,-2.56593427526e-05,1793255782935944704
+62,1.033333333,BASELINE,783,760,736,722.94799171,690,652,913,800,837,659,635,659,0.400943778672,-0.00545703042123,0.0499331456827,0.999999977993,3.66694264146e-05,-0.000204945226595,-2.58333995846e-05,1793255782952610816
+63,1.050000000,BASELINE,783,760,736,722.361388466,690,652,913,800,837,659,635,659,0.40094314968,-0.00545675627642,0.0499329486978,0.999999977958,3.67015763285e-05,-0.000205124976731,-2.57161503931e-05,1793255782969277696
+64,1.066666667,BASELINE,782.777571094,760,736,722.222428906,690,652,913,800.222428906,837,659,635.222428906,659,0.400942356925,-0.00545638028699,0.0499324000349,0.999999977811,3.70929295467e-05,-0.000205767674638,-2.57306104485e-05,1793255782985944576
+65,1.083333333,BASELINE,782.198224077,760,736,722.801775923,690,652,913,800.801775923,837,659,635.801775923,659,0.400941301388,-0.00545584087371,0.0499312870555,0.999999977483,3.80606744157e-05,-0.000207153236616,-2.59564163133e-05,1793255783002610944
+66,1.100000000,BASELINE,782.380219888,760,736,723,690,652,913,800.619780112,837,659,635.619780112,659,0.400941420291,-0.00545543768195,0.049931683184,0.999999977524,3.87576709663e-05,-0.00020682835294,-2.59128343583e-05,1793255783019277824
+67,1.116666667,BASELINE,782.958194151,760,736,723,690,652,913,800.041805849,837,659,635.041805849,659,0.400942150026,-0.00545510533974,0.0499328642077,0.999999977758,3.93138498534e-05,-0.000205613857387,-2.57291423655e-05,1793255783035944448
+68,1.133333333,BASELINE,783,760,736,722.466204018,690,652.533795982,913,800,837,659,635,659,0.40094257265,-0.00545477842293,0.0499325537731,0.999999977681,4.02549112581e-05,-0.000205772242385,-2.59863578115e-05,1793255783052610816
+69,1.150000000,BASELINE,783,760,736,722.111616366,690,653,913,800,837.111616366,659,635,659,0.400942925396,-0.00545486528126,0.0499321673845,0.999999977613,4.07664140766e-05,-0.000205980222046,-2.61612549014e-05,1793255783069277696
+70,1.166666667,BASELINE,783,760,736,722.699696716,690,653,913,800,837.699696716,659,635,659,0.400943082064,-0.00545671664251,0.0499319531863,0.999999977687,3.93161271408e-05,-0.000205942957383,-2.58380017558e-05,1793255783085944064
+71,1.183333333,BASELINE,783,760,736,722.714687101,690,652.714687101,913,800,837.714687101,659,635,659,0.400942484375,-0.0054575138762,0.0499319800499,0.999999977717,3.79731152278e-05,-0.000206076366338,-2.56052001044e-05,1793255783102610688
+72,1.200000000,BASELINE,783,760,736,722.131642272,690,652.131642272,913,800,837.131642272,659,635,659,0.400941099494,-0.00545721109875,0.0499322584682,0.999999977703,3.67420476003e-05,-0.000206387877945,-2.5466787058e-05,1793255783119277312
+73,1.216666667,BASELINE,782.555907281,760,736,722,690,652,913,800,837.444092719,659,635.444092719,659,0.400941192418,-0.00545644058557,0.0499322273727,0.999999977657,3.74824065209e-05,-0.000206439408962,-2.57543191803e-05,1793255783135944192
+74,1.233333333,BASELINE,782.017721275,760,736,722.017721275,690,652.017721275,913,800.017721275,838,659,635.982278725,659,0.400941676932,-0.00545556133959,0.0499320974964,0.999999977598,3.87627115549e-05,-0.000206442317468,-2.61502458217e-05,1793255783152610560
+75,1.250000000,BASELINE,782.592146659,760,736,722.592146659,690,652.592146659,913,800.592146659,838,659,635.407853341,659,0.400940924302,-0.00545555141441,0.0499317000504,0.999999977416,3.89441449278e-05,-0.000207299557014,-2.60490826396e-05,1793255783169277184
+76,1.266666667,BASELINE,783,760,736,723,690,652.828797093,913,800.828797093,837.828797093,659,635,659,0.40094073801,-0.00545591111835,0.0499316952274,0.999999977403,3.86224231498e-05,-0.000207445318222,-2.58570680009e-05,1793255783185943808
+77,1.283333333,BASELINE,783,760,736,723,690,652.238402157,913,800.238402157,837.238402157,659,635,659,0.400941938401,-0.00545717586289,0.0499326517458,0.999999977802,3.70687209499e-05,-0.000205849017566,-2.54426026697e-05,1793255783202610688
+78,1.300000000,BASELINE,783,760,736,723,689.654288983,652,913,800,837,659,635,658.654288983,0.400941858796,-0.00545725594334,0.0499324415389,0.99999997778,3.66122566061e-05,-0.000206021007403,-2.56020828065e-05,1793255783219277312
+79,1.316666667,BASELINE,783,760,736,723,689.074430423,652,913,800,837,659,635,658.074430423,0.40094091226,-0.00545653365942,0.0499314411173,0.999999977472,3.68989434988e-05,-0.000207390647518,-2.61502920269e-05,1793255783235943936
+80,1.333333333,BASELINE,783,760,736,722.499457848,689.500542152,652,913,800,837,659,635,658.500542152,0.400940588844,-0.00545565050188,0.0499312271952,0.999999977391,3.69013798238e-05,-0.000207745942116,-2.64138190648e-05,1793255783252610560
+81,1.350000000,BASELINE,783,760,736,722.076480041,690,652,913.076480041,800,837,659,635,659,0.400940533677,-0.00545496987969,0.0499312857912,0.999999977394,3.68673928867e-05,-0.000207722653385,-2.6545387139e-05,1793255783269277440
+82,1.366666667,BASELINE,783,760,736,722.663668424,690,652,913.663668424,800,837,659,635,659,0.400941657041,-0.00545579991976,0.049932390756,0.999999977728,3.68697063159e-05,-0.000206168785222,-2.60757241678e-05,1793255783285944064
+83,1.383333333,BASELINE,783,760,736,722.752259628,690,652,913.752259628,800.247740372,837,659,635,659,0.400942221219,-0.0054565434457,0.0499329805325,0.999999977931,3.67078303129e-05,-0.000205236727428,-2.58493628637e-05,1793255783302610944
+84,1.400000000,BASELINE,783,760,736,722.172365903,690,652,913.172365903,800.827634097,837,659,635,659,0.400942035677,-0.00545717097951,0.0499328795802,0.999999977963,3.63258203443e-05,-0.000205138350249,-2.5949203736e-05,1793255783319277568
+85,1.416666667,BASELINE,782.593534555,760,736,722.406465445,690,652,913,800.593534555,837,659,635,659,0.400940976875,-0.00545767309483,0.0499321887267,0.999999977749,3.519965643e-05,-0.000206394102611,-2.5776540406e-05,1793255783335944192
+86,1.433333333,BASELINE,782.015152579,760,736,722.984847421,690,652,913,800.015152579,837,659,635,659,0.400939548723,-0.00545812216376,0.0499312483717,0.999999977427,3.37587490206e-05,-0.00020822259063,-2.54886200968e-05,1793255783352610816
+87,1.450000000,BASELINE,782,760,736,723,690,652.555407892,913,800.555407892,837,659,635,659,0.400941030154,-0.00545607012631,0.0499318774093,0.999999977443,3.96162096985e-05,-0.000207068234481,-2.58496807363e-05,1793255783369277184
+88,1.466666667,BASELINE,782.130878145,760,736,722.869121855,690,652.869121855,913,800.869121855,837,659,635,659,0.400942021021,-0.0054546323826,0.0499322409028,0.999999977429,4.32688914488e-05,-0.000206360232017,-2.61697247523e-05,1793255783385944064
+89,1.483333333,BASELINE,782.724449828,760,736,722.275550172,690,652.275550172,913,800.275550172,837,659,635,659,0.400941000868,-0.00545560423279,0.0499315163527,0.999999977385,3.84328674434e-05,-0.000207513923124,-2.62830379003e-05,1793255783402610688
+90,1.500000000,BASELINE,782.690219499,760,736,722,690,652,913,800.309780501,837,659,635,659,0.400940785553,-0.00545619653301,0.0499316125854,0.999999977563,3.5783429948e-05,-0.000207147101891,-2.61557442019e-05,1793255783419277312
+91,1.516666667,BASELINE,782.112029289,760,736,722,690,652,913,800.887970711,837,659,635,659,0.40094126759,-0.00545645997162,0.0499324199866,0.999999977946,3.50285633648e-05,-0.000205462830749,-2.58199763904e-05,1793255783435944192
+92,1.533333333,BASELINE,782.464317122,760,736,722,690,652,913,801,837,659,635,659,0.400941300783,-0.00545672439645,0.0499318502342,0.999999977845,3.65313296232e-05,-0.000205701188601,-2.57289899697e-05,1793255783452610816
+93,1.550000000,BASELINE,783,760,736.040089604,722.040089604,689.959910396,652.040089604,913,801,837.040089604,659,635,659,0.400941244533,-0.00545696467338,0.0499310374806,0.999999977642,3.83446875641e-05,-0.000206364373429,-2.56955203192e-05,1793255783469277440
+94,1.566666667,BASELINE,783,760,736.614119164,722.614119164,689.385880836,652.614119164,913,801,837.614119164,659,635,659,0.400941433655,-0.00545688017573,0.0499313962471,0.999999977656,3.70685145213e-05,-0.000206531765054,-2.56446048588e-05,1793255783485943808
+95,1.583333333,BASELINE,783,760,736.805273904,722.805273904,689.194726096,652.805273904,913,801,837.805273904,659,635,659,0.400941691647,-0.00545666760591,0.0499317844031,0.999999977707,3.64819262632e-05,-0.000206386325393,-2.56947873274e-05,1793255783502610432
+96,1.600000000,BASELINE,783,760,736.211177099,722.211177099,689.788822901,652.211177099,913,801,837.211177099,659,635,659,0.400942090889,-0.00545619236829,0.0499322328352,0.999999977832,3.73096318503e-05,-0.000205599288898,-2.59523151424e-05,1793255783519277312
+97,1.616666667,BASELINE,783,760,736,722,690,652,913,801,837,659,635,659,0.400943054782,-0.00545595817844,0.0499323514663,0.999999977883,3.83572573144e-05,-0.000205164296755,-2.59018545307e-05,1793255783535943936
+98,1.633333333,BASELINE,783,760,736,722,690,652,913,801,837,659,635,659,0.400944330076,-0.00545585692449,0.0499322882148,0.999999977892,3.95261667298e-05,-0.000204923454219,-2.56815408227e-05,1793255783552610560
+99,1.650000000,BASELINE,783,760,736,722,690,652,913,800.477892541,837,659,635,659,0.400942678613,-0.00545576807643,0.0499322404392,0.999999977721,3.92736642688e-05,-0.000205798314912,-2.57283079243e-05,1793255783569277440
+100,1.666666667,BASELINE,783,760,736,722,690,652,913,800.099775781,837,659,635,659,0.400941077536,-0.00545586016887,0.0499321736329,0.999999977569,3.87152415026e-05,-0.000206635552686,-2.58034954864e-05,1793255783585944064
+101,1.683333333,BASELINE,783,760,736,722,690,652,913,800.687120671,837,659,635,659,0.40094119041,-0.00545683023239,0.0499320060702,0.999999977598,3.73747126528e-05,-0.000206729430485,-2.58836264375e-05,1793255783602610688
+102,1.700000000,BASELINE,783,760,736,722,690,652,913,801,837,659,635,659,0.400941280836,-0.00545750115998,0.0499317328876,0.999999977607,3.61924122251e-05,-0.000206914590483,-2.5723172244e-05,1793255783619277312
+103,1.716666667,BASELINE,783,760,736,722,690,652,913,801,837,659,635,659,0.400941345673,-0.00545783108502,0.0499313393027,0.999999977594,3.51904856884e-05,-0.000207203808376,-2.52884610182e-05,1793255783635943936
+104,1.733333333,BASELINE,783,760,736,722.430281763,690,652.430281763,913,800.569718237,837,659.430281763,635.430281763,659,0.400941642109,-0.00545614733832,0.0499315815793,0.999999977539,3.77619559777e-05,-0.00020696820948,-2.57109843714e-05,1793255783652610816
+105,1.750000000,BASELINE,783,760,736,722.993915946,690,653,913,800,837,659.987831892,635.993915946,659,0.400941994082,-0.00545381642383,0.0499320218941,0.999999977454,4.14939049225e-05,-0.00020657543795,-2.64154144404e-05,1793255783669277440
+106,1.766666667,BASELINE,783,760,736,722.421653502,690,653,913,800,837,658.843307003,635.421653502,659,0.400940223356,-0.00545465235743,0.0499308741421,0.999999977175,4.07260949935e-05,-0.000208077900025,-2.63675297509e-05,1793255783685944064
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,737,722,690,652,913,800,837,659,636,659,0.400942616888,-0.00545821963718,0.0499320767179,0.999999977739,3.84215893867e-05,-0.000205964537544,-2.50011407486e-05,1793255783726485760
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,760,736.419990014,722.580009986,690,652,913,800.580009986,837,659,635.419990014,659,0.400942826576,-0.0054572252288,0.049932095646,0.999999977755,3.82845448566e-05,-0.000205847526649,-2.55072016417e-05,1793255783743152128
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,760,736,722.84103133,690,652,913,800.84103133,837,659,635,659,0.400942877652,-0.00545682376241,0.0499319468367,0.999999977752,3.78014273625e-05,-0.000205918435793,-2.57666052031e-05,1793255783759818752
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,760,736,722.264831782,690,652,913,800.264831782,837,659,635,659,0.400942512432,-0.00545797853773,0.0499313577822,0.999999977698,3.64100030185e-05,-0.000206482561867,-2.53786293909e-05,1793255783776485376
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760,736.318112268,722,690,652,913,800,837,659,635,659,0.400942452293,-0.00545802822467,0.0499314904512,0.999999977718,3.67884747318e-05,-0.000206325498513,-2.53066626155e-05,1793255783793152000
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760,736.906792775,722,690,652,913,800,837,659,635,659,0.400942651637,-0.00545713798611,0.0499322369775,0.999999977801,3.86723196519e-05,-0.000205555032336,-2.55034752127e-05,1793255783809818624
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760,736.512322962,722,690,652,913,800,837.487677038,659,635,659,0.400945758113,-0.0054566193923,0.0499333157146,0.999999978304,3.94321118366e-05,-0.000202948908836,-2.54805202695e-05,1793255783826485248
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760,736,722,690,652,913,800,837.933288727,659,635,659,0.400949932111,-0.00545624876323,0.0499345316692,0.999999978922,3.9812409018e-05,-0.000199810602752,-2.54296739381e-05,1793255783843151872
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760,736,722,690,652,913,800,837.357182186,659,635,659,0.400958081619,-0.00545647412398,0.0499363181936,0.999999979858,3.89095758247e-05,-0.000195245442804,-2.54815350728e-05,1793255783859818496
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689.782644606,652,913,800.217355394,837,659,635,659,0.400973528902,-0.00545709124488,0.0499402446,0.999999981923,3.71676336186e-05,-0.00018473594378,-2.53963793331e-05,1793255783876485376
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760,736,722,689.210666892,652,913,800.789333108,837,659,635,659,0.401000882737,-0.00545834753505,0.0499476622927,0.999999985571,3.40566581288e-05,-0.000164528064625,-2.50876761408e-05,1793255783893152000
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,736,722,689.375677299,652,913,801,837,659,635,659,0.40103515414,-0.00545978077301,0.049954681824,0.99999998893,3.34880185901e-05,-0.00014280830792,-2.49872834434e-05,1793255783909818624
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689.970398106,652,913,801,837,659,635,659,0.401073458923,-0.0054613171828,0.0499614692029,0.999999991871,3.44017205969e-05,-0.000120207029507,-2.5008348838e-05,1793255783926485504
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,760,736,722.548842084,690,652,913,801,837,659,635,659,0.401125368977,-0.00546207426675,0.0499663345191,0.999999994541,3.44996887688e-05,-9.53708096285e-05,-2.51540193053e-05,1793255783943152128
+121,2.016666667,POSE1_TO_POSE2_PRESS,782.87401176,760,736,723,690,652,913,801,837,659,635,659,0.401180016791,-0.00546280982475,0.0499707584497,0.999999996309,3.44962386366e-05,-7.45209443514e-05,-2.52802872403e-05,1793255783959818752
+122,2.033333333,POSE1_TO_POSE2_PRESS,782.298454127,760,736,723,690,652,913,801,837,659,635,659,0.401241890849,-0.00546361423936,0.04997396663,0.999999996759,3.42833668506e-05,-6.83135036391e-05,-2.53140296745e-05,1793255783976485376
+123,2.050000000,POSE1_TO_POSE2_PRESS,782,760,736,722.723604239,689.723604239,652,913,800.723604239,837,659,635,659,0.401311082904,-0.0054660046546,0.049975814809,0.999999997079,3.29898227844e-05,-6.43045839453e-05,-2.48687729821e-05,1793255783993151744
+124,2.066666667,POSE1_TO_POSE2_PRESS,782,760,736,722.149516661,689.149516661,652,913,800.149516661,837,659,635,659,0.401388156797,-0.00547010327039,0.0499761981994,0.999999997285,3.05323415842e-05,-6.26635797933e-05,-2.39076106918e-05,1793255784009818368
+125,2.083333333,POSE1_TO_POSE2_PRESS,782,760.440137371,736,722,689,652,913,800,837,659,635,659,0.401482634975,-0.00547343588403,0.049976292865,0.999999997427,2.87782873e-05,-6.13250433725e-05,-2.3592435026e-05,1793255784026485248
+126,2.100000000,POSE1_TO_POSE2_PRESS,782.034133068,760.965866932,736,722,689.034133068,652,913,800,837.034133068,659,635,659,0.401584690411,-0.00547648258738,0.0499761247888,0.999999997522,2.73524174946e-05,-6.0469774187e-05,-2.34588581201e-05,1793255784043152128
+127,2.116666667,POSE1_TO_POSE2_PRESS,782.610031384,760.389968616,736,722,689.610031384,652,913,800,837.610031384,659,635,659,0.401709731496,-0.0054792728709,0.0499734002722,0.999999997223,2.72037165297e-05,-6.55943437087e-05,-2.25968837842e-05,1793255784059818752
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,760,736.185405275,722,690,652,913,800,837.814594725,659,635,659,0.401846789437,-0.00548377580182,0.0499736719231,0.999999997223,2.56610928188e-05,-6.66541876649e-05,-2.12567417438e-05,1793255784076485376
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,760,736.759679165,722,690,652,913,800,837.240320835,659,635,659,0.402009051487,-0.00549187083527,0.0499802277297,0.999999997845,2.11948586321e-05,-5.9188684535e-05,-1.89136919225e-05,1793255784093151744
+130,2.166666667,POSE1_TO_POSE2_PRESS,782.657604006,760,736.657604006,722,689.657604006,652.342395994,913,800.342395994,837,659,635.342395994,659,0.402178574358,-0.00549809231669,0.049979749339,0.99999999768,1.82894131994e-05,-6.32154128873e-05,-1.76146282836e-05,1793255784109818368
+131,2.183333333,POSE1_TO_POSE2_PRESS,782.06881137,760,736.06881137,722,689.06881137,652.93118863,913,800.93118863,837,659,635.93118863,659,0.402353322311,-0.00550296554448,0.0499742089663,0.999999996867,1.65071495691e-05,-7.55122350237e-05,-1.70668427291e-05,1793255784126484992
+132,2.200000000,POSE1_TO_POSE2_PRESS,782.511643114,760,736,722.511643114,689,652.488356886,913,801,837,659,636,659,0.402571622209,-0.00550968636442,0.0499728074885,0.999999996905,1.28558465439e-05,-7.60472270884e-05,-1.55521268457e-05,1793255784143151872
+133,2.216666667,POSE1_TO_POSE2_PRESS,782.909570131,760,736,722.909570131,689,652,913,800.909570131,837,659,635.909570131,659,0.402804329782,-0.00551715972221,0.049973027336,0.999999997162,8.90151885607e-06,-7.3535077986e-05,-1.37914512331e-05,1793255784159818240
+134,2.233333333,POSE1_TO_POSE2_PRESS,782.333811719,760,736,722.333811719,689,652,913,800.333811719,837,659,635.333811719,659,0.403083430345,-0.00552735967443,0.0499790091329,0.999999997938,4.64832498975e-06,-6.30227654997e-05,-1.13974712779e-05,1793255784176485120
+135,2.250000000,POSE1_TO_POSE2_PRESS,782,760,736,722,689,652,913,800.242199607,837,659,635,659,0.403377364916,-0.0055384810917,0.0499858440595,0.99999999876,-1.36430541728e-06,-4.89959212225e-05,-8.85305751889e-06,1793255784193151744
+136,2.266666667,POSE1_TO_POSE2_PRESS,782,760,736,722,689,652,913,800.818559842,837,659,635,659,0.403691765819,-0.00555087384544,0.0499938560413,0.99999999948,-9.80441441623e-06,-3.0120109513e-05,-6.10109172979e-06,1793255784209818368
+137,2.283333333,POSE1_TO_POSE2_PRESS,782,760,736,722,689,652.404211422,913,801,837,659,635,659,0.404029064809,-0.00555987040261,0.0500007985076,0.999999999822,-1.11323274492e-05,-1.48735013381e-05,-3.33604459739e-06,1793255784226484992
+138,2.300000000,POSE1_TO_POSE2_PRESS,782,760,736,722,689,652.994131756,913,801,837,659,635,659,0.404376883974,-0.00556730662756,0.0500072496006,0.999999999957,-9.1926478553e-06,-1.29427713677e-06,-5.64987512807e-07,1793255784243151616
+139,2.316666667,POSE1_TO_POSE2_PRESS,782,760,736,722,689,652.427446775,913,801,837,659,635,659,0.404779324815,-0.00557374206697,0.050015779254,0.999999999805,-7.41745611432e-06,1.80845766998e-05,2.94467649922e-06,1793255784259818496
+140,2.333333333,POSE1_TO_POSE2_PRESS,782,760,736,722.150021934,689,652,913,801,837,659,635,658.849978066,0.405187285808,-0.00557658432567,0.0500189128469,0.999999999608,-1.25724286603e-06,2.73164920805e-05,6.04007190971e-06,1793255784276485120
+141,2.350000000,POSE1_TO_POSE2_PRESS,782,760,736,722.725118337,689,652,913,801,837,659,635,658.274881663,0.40560933261,-0.00556927410043,0.0500066979835,0.999999999789,1.73322406563e-05,7.63280397252e-06,7.94064450534e-06,1793255784293152000
+142,2.366666667,POSE1_TO_POSE2_PRESS,782,760,736,722.692998012,689,652,913,800.692998012,837,659,635,658.307001988,0.4060307883,-0.00556095434591,0.049987167984,0.999999998841,3.81955863336e-05,-2.7815382986e-05,9.20317533433e-06,1793255784309818624
+143,2.383333333,POSE1_TO_POSE2_PRESS,782,760,736,722.104899774,689,652,913,800.104899774,837,659,635,658.895100226,0.406451702806,-0.00555171024834,0.0499609401197,0.999999995064,6.11409210001e-05,-7.76978158277e-05,9.88150445576e-06,1793255784326484992
+144,2.400000000,POSE1_TO_POSE2_PRESS,782,760,736.475555263,722,689,652,913,800.475555263,837.475555263,659,635,659,0.406937986785,-0.00555548464838,0.0499476177285,0.99999999269,6.90470416732e-05,-9.84114923254e-05,1.29859464381e-05,1793255784343151872
+145,2.416666667,POSE1_TO_POSE2_PRESS,782.054287841,760,737,722,688.945712159,652,913,800.945712159,838,659,635,659,0.407446755076,-0.0055620682522,0.0499397977194,0.999999991279,7.38868867843e-05,-0.000108176454333,1.67679047112e-05,1793255784359818752
+146,2.433333333,POSE1_TO_POSE2_PRESS,782.632411325,760,737,722,688.367588675,652,913,800.367588675,838,659,635,659,0.408035544264,-0.00556848742133,0.0499580371137,0.999999993813,8.06436161852e-05,-7.33973640438e-05,2.20051644679e-05,1793255784376485376
+147,2.450000000,POSE1_TO_POSE2_PRESS,782.791085546,760,736.791085546,722,688.208914454,652,913,800,838,659,635,658.791085546,0.40864609928,-0.00557208358615,0.0499800633426,0.99999999499,9.06461509001e-05,-3.26669492837e-05,2.71219161807e-05,1793255784393152000
+148,2.466666667,POSE1_TO_POSE2_PRESS,782.217411553,760,736.217411553,722,688.782588447,652,913,800,838,659,635,658.217411553,0.409294656868,-0.00557075085394,0.050008701291,0.999999993665,0.000106315782098,1.84543307231e-05,3.20282634654e-05,1793255784409818624
+149,2.483333333,POSE1_TO_POSE2_PRESS,782.367016549,760,736.367016549,722,689,652,913,800,838,659,635,658.367016549,0.409927570729,-0.00557004536938,0.0500226023846,0.999999992124,0.000114302661184,3.81147978715e-05,3.51183471608e-05,1793255784426485504
+150,2.500000000,POSE1_TO_POSE2_PRESS,782.958007395,760,736.958007395,722,689,652,913,800,838,659,635,658.958007395,0.410550937876,-0.00556972266694,0.0500275102131,0.999999991653,0.000117601089099,3.85760922591e-05,3.71000437451e-05,1793255784443151872
+151,2.516666667,POSE1_TO_POSE2_PRESS,782.465288457,760,736.465288457,722,688.465288457,652,913,800.534711543,838,659,635,659,0.411159601794,-0.00557051281807,0.0499928052707,0.999999993304,0.000105386920384,-3.36797990932e-05,3.3916637122e-05,1793255784459819008
+152,2.533333333,POSE1_TO_POSE2_PRESS,782.11076808,759.88923192,736,722,687.88923192,652,913,801,838,659,635.11076808,659,0.411791135918,-0.00557150820939,0.0499617821631,0.999999990598,9.44364139039e-05,-9.44400479784e-05,3.10782109886e-05,1793255784476486144
+153,2.550000000,POSE1_TO_POSE2_PRESS,782.68870198,759.31129802,736,722,687.31129802,652,913,801,838,659,635.68870198,659,0.412523868466,-0.00557301020206,0.0499590661536,0.999999991641,9.38197191845e-05,-8.32590182975e-05,3.13609853342e-05,1793255784493152512
+154,2.566666667,POSE1_TO_POSE2_PRESS,782.728543937,759.271456063,736.271456063,721.728543937,687,652,913,801,838,659,635.728543937,659,0.413285719383,-0.00557588466616,0.0499696949683,0.999999993503,9.34546843961e-05,-5.62580859637e-05,3.31088916297e-05,1793255784509818880
+155,2.583333333,POSE1_TO_POSE2_PRESS,782.1401622,759.8598378,736.8598378,721.1401622,687,652,913,801,838,659,635.1401622,659,0.414081566169,-0.00558036149447,0.0499959039001,0.999999994913,9.33834630326e-05,-1.07873738012e-05,3.65673433519e-05,1793255784526485248
+156,2.600000000,POSE1_TO_POSE2_PRESS,782.441570787,760,737,721.441570787,687.441570787,652,913,801,838,659,635,659,0.414842897042,-0.00558088176188,0.0499835644748,0.999999994311,9.43375665858e-05,-3.32309495032e-05,3.70619978527e-05,1793255784543151872
+157,2.616666667,POSE1_TO_POSE2_PRESS,782.978898928,760,737,722,687.978898928,652,913,801,838,659,635.021101072,659,0.415594969534,-0.0055801803214,0.0499593578162,0.999999991875,9.54446925436e-05,-7.61691855546e-05,3.65972657743e-05,1793255784559818496
+158,2.633333333,POSE1_TO_POSE2_PRESS,782.402619129,760,737,722,687.402619129,652,913,801,838,659,635.597380871,659,0.416387431069,-0.00557988783858,0.0499400758473,0.999999990176,9.21420411997e-05,-9.95657735353e-05,3.52753116795e-05,1793255784576485120
+159,2.650000000,POSE1_TO_POSE2_PRESS,782,760,737,722,687,652,913,801,838,659,636,659,0.417203450489,-0.00558080852138,0.0499361777109,0.999999990413,8.89791694167e-05,-0.000100122071228,3.50913228656e-05,1793255784593151744
+160,2.666666667,POSE1_TO_POSE2_PRESS,782,760,737,722,687,652,913,801,838,659,636,659,0.418074087031,-0.00558454183672,0.0499679458251,0.999999994446,8.61403660853e-05,-4.77248860375e-05,3.75456203365e-05,1793255784609818368
+161,2.683333333,POSE1_TO_POSE2_PRESS,782.330632749,760,737,721.669367251,687.330632749,652,913,801,838,659,635.669367251,659,0.418932094986,-0.00558754835356,0.049981875756,0.999999995208,8.25865605448e-05,-3.43684071618e-05,3.97900563139e-05,1793255784626485248
+162,2.700000000,POSE1_TO_POSE2_PRESS,782.922897412,760,737,721.077102588,687.922897412,652,913,801,838,659,635.077102588,659,0.419780109813,-0.00558997974968,0.0499816902111,0.999999994698,7.84669692013e-05,-5.19051039604e-05,4.18684274152e-05,1793255784643152128
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,760,737,721.503577401,686.992845198,652,913,801,838.503577401,658.496422599,635.503577401,659,0.420671719198,-0.00558994033785,0.0499770643309,0.999999995117,7.96708399635e-05,-4.13583766684e-05,4.13295401904e-05,1793255784659818496
+164,2.733333333,POSE1_TO_POSE2_PRESS,782.918086497,760,737,721.918086497,686.163827006,652,913,801,839,658.081913503,636,659,0.421573645401,-0.00558949291141,0.049975611938,0.999999995642,8.0906920502e-05,-2.28746252079e-05,4.05842890614e-05,1793255784676485120
+165,2.750000000,POSE1_TO_POSE2_PRESS,782.34342039,760,737,721.34342039,687.31315922,652,913,801,839,658.65657961,636,659,0.422498383094,-0.00558881558963,0.0499972474731,0.999999995992,7.75439217956e-05,1.80703141322e-05,4.09540301085e-05,1793255784693151744
+166,2.766666667,POSE1_TO_POSE2_PRESS,782.230162444,760,737,721,687.769837556,652,913,801,839,659,636,659,0.423408432795,-0.00558838236643,0.0500049560872,0.999999995864,7.50848220997e-05,3.04698793375e-05,4.12930781024e-05,1793255784709818624
+167,2.783333333,POSE1_TO_POSE2_PRESS,782.802136605,760,737,721,687.197863395,652,913,801,839,659,636,659,0.424296669654,-0.00558831165125,0.049991981987,0.9999999964,7.39680925034e-05,4.77029002667e-07,4.15865442914e-05,1793255784726485248
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,760,737,721,686.610077114,652,913,801,838.610077114,658.610077114,636,659,0.425231142439,-0.00559055828401,0.0499945815876,0.999999996517,7.15426204459e-05,6.19803118575e-06,4.25261817011e-05,1793255784743151872
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,760,737,721,686.013927999,652,913,801,838.013927999,658.013927999,636,659,0.426190068878,-0.00559403053842,0.0500054179601,0.999999996225,6.84249679298e-05,3.08077267676e-05,4.38075724399e-05,1793255784759818496
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,759.436377993,737,721,686,652,913,801,838.563622007,658.563622007,636,659,0.427099483975,-0.00559084333545,0.0500137938418,0.999999996143,7.29911329845e-05,1.51025937089e-05,4.64663717911e-05,1793255784776485120
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,759.140523841,737,721,686,652,913,801,839,658.859476159,636,659,0.427997435491,-0.00558739617335,0.050008713885,0.999999995821,7.67908254881e-05,-1.32325343868e-05,4.78036408838e-05,1793255784793152000
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,759.716795415,737,721,686,652,913,801,839,658.283204585,636,659,0.428863512497,-0.0055836369066,0.0499620914899,0.999999992954,7.76437928929e-05,-7.77412279691e-05,4.49408254625e-05,1793255784809818368
+173,2.883333333,POSE1_TO_POSE2_PRESS,782.702265841,760,737,720.702265841,686.297734159,652,913,801,838.702265841,658,636,658.702265841,0.429782335931,-0.00558361260399,0.0499474526375,0.999999992084,7.65538545566e-05,-8.98338670951e-05,4.36117661931e-05,1793255784826484992
+174,2.900000000,POSE1_TO_POSE2_PRESS,782.116817024,760,737,720.116817024,686.883182976,652,913,801,838.116817024,658,636,658.116817024,0.430752130693,-0.00558719757485,0.0499637210042,0.99999999502,7.3586394218e-05,-5.12743796248e-05,4.37648485921e-05,1793255784843151616
+175,2.916666667,POSE1_TO_POSE2_PRESS,782.46381209,760,737.46381209,720,686.53618791,652,913,801,838.46381209,658,636,658.46381209,0.431654063103,-0.00558746308951,0.0499543231661,0.999999993784,7.24519385652e-05,-7.24495386224e-05,4.39825314039e-05,1793255784859818496
+176,2.933333333,POSE1_TO_POSE2_PRESS,783,760,738,720,686,652,912.956930901,801,839,658.043069099,636,659,0.432541860171,-0.00558698652005,0.0499403291545,0.999999991039,7.17573984255e-05,-0.000104002894411,4.42312928349e-05,1793255784876485120
+177,2.950000000,POSE1_TO_POSE2_PRESS,783,760,738,720,686,652,912.379790994,801,839,658.620209006,636,659,0.433464140199,-0.00558756850552,0.0499486768933,0.999999993324,7.08520273011e-05,-7.96058475439e-05,4.46657557359e-05,1793255784893151744
+178,2.966666667,POSE1_TO_POSE2_PRESS,783,760,737.802763899,720,686.197236101,652,912,801,839,659,636,659,0.434378256575,-0.00558832167208,0.0499619724263,0.999999995089,6.96431550991e-05,-5.38087789162e-05,4.5568148854e-05,1793255784909818368
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,760,737.225953803,720,686.774046197,652,912,801,839,659,636,659,0.43527666245,-0.00558940427078,0.0499847898183,0.999999996256,6.78502055345e-05,-2.53174130229e-05,4.737105744e-05,1793255784926484992
+180,3.000000000,POSE1_TO_POSE2_PRESS,783,760,737.357844482,720,686.642155518,652,912,801.357844482,839,659,636,659,0.436128548668,-0.00558753561741,0.0499766315013,0.999999994973,6.88213647108e-05,-5.49538806865e-05,4.79322200854e-05,1793255784943151872
+181,3.016666667,POSE1_TO_POSE2_PRESS,783,760,737.946143171,720,686.053856829,652,912,801.946143171,839,659,636,659,0.436950475864,-0.00558376633818,0.0499485246219,0.999999988856,7.15726280415e-05,-0.000122025058311,4.76936898859e-05,1793255784959818496
+182,3.033333333,POSE1_TO_POSE2_PRESS,783,760.526527721,737.473472279,720,686.526527721,652,912,801.473472279,839,658.473472279,636,659,0.437838617304,-0.00558403279668,0.0499621210357,0.999999993149,7.16705933385e-05,-7.92363818337e-05,4.78258287094e-05,1793255784976485120
+183,3.050000000,POSE1_TO_POSE2_PRESS,783,760.894809105,737.105190895,720,687,652,912.105190895,801,839,658.105190895,636,659,0.438718719982,-0.00558495597852,0.0499770859275,0.999999995674,7.13198843092e-05,-3.53837370364e-05,4.8106805519e-05,1793255784993152000
+184,3.066666667,POSE1_TO_POSE2_PRESS,783,760.320268074,737.679731926,720,687,652,912.679731926,801,839,658.679731926,636,659,0.439533182394,-0.00558699478249,0.0499794055986,0.999999995689,7.01602537169e-05,-3.6180508127e-05,4.88852160519e-05,1793255785009819392
+185,3.083333333,POSE1_TO_POSE2_PRESS,783,760,738,720,687,652,912.746138396,801,839,658.746138396,636,659,0.440324772924,-0.00558834184601,0.0499726453105,0.999999995348,6.80662863353e-05,-4.78024561086e-05,4.88468455255e-05,1793255785026486272
+186,3.100000000,POSE1_TO_POSE2_PRESS,783,760,738,720,687,652,912.172526877,801,839,658.172526877,636,659,0.441087555243,-0.00558881763173,0.0499544484119,0.99999999409,6.47954805131e-05,-7.30591929176e-05,4.77797030612e-05,1793255785043152384
+187,3.116666667,POSE1_TO_POSE2_PRESS,783,760,738,719.584742083,686.584742083,652,912,801,839,658,636,659,0.441873610943,-0.00559183094122,0.0499638569349,0.99999999553,6.04225125273e-05,-5.44725254841e-05,4.81882454989e-05,1793255785059819008
+188,3.133333333,POSE1_TO_POSE2_PRESS,783,760,738,719,686,652,912,801,839,658,636,659,0.442668172947,-0.00559585763946,0.0499847543607,0.99999999708,5.57068353391e-05,-1.7727632924e-05,4.92209226268e-05,1793255785076486144
+189,3.150000000,POSE1_TO_POSE2_PRESS,783,760,738,719,686,652,912,801,839,658,636,659,0.443366455737,-0.0055948855907,0.0499809814308,0.999999996673,5.93973507434e-05,-2.58363366871e-05,4.95733368328e-05,1793255785093152512
+190,3.166666667,POSE1_TO_POSE2_PRESS,783,760,738.163194987,719,686,651.836805013,912,801.163194987,839,658.163194987,636,659,0.444036769795,-0.00559383634228,0.0499631198727,0.999999995072,6.28294175535e-05,-5.87403711863e-05,4.95760708998e-05,1793255785109819136
+191,3.183333333,POSE1_TO_POSE2_PRESS,783,760,738.736450308,719,686,651.263549692,912,801.736450308,839,658.736450308,636,659,0.444636806919,-0.00559259311393,0.0499098577924,0.999999984812,6.56120805477e-05,-0.000153947679208,4.87001628473e-05,1793255785126486272
+192,3.200000000,POSE1_TO_POSE2_PRESS,783,760,738.680591314,718.680591314,686,650.680591314,912.319408686,801.680591314,839,658.680591314,636,659,0.445248615637,-0.00558955899366,0.0498733848052,0.999999975868,6.8980938835e-05,-0.000203209720441,4.70288353807e-05,1793255785143152896
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,760,738.089375977,718.089375977,686,650.089375977,912.910624023,801.089375977,839,658.089375977,636,659,0.445870441572,-0.00558500088131,0.0498511988065,0.999999973584,7.28486309051e-05,-0.000213373793738,4.46806315692e-05,1793255785159819008
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,760,738,718.491690216,685.508309784,650,912.508309784,801,839,658,635.508309784,659,0.446498871772,-0.00558579857987,0.0498542194276,0.999999976787,6.90929586203e-05,-0.000199301337703,4.39550820873e-05,1793255785176485376
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,760,738,718.92960427,685,649.92960427,912,801,839,658,635,659,0.447114216756,-0.00558751998241,0.0498575451907,0.999999979234,6.41622890467e-05,-0.000188482772659,4.34582396826e-05,1793255785193152256
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,760,738,718.354861763,685,649.354861763,912,801,839,658,635,659,0.447627386536,-0.00558902538595,0.0498308943453,0.999999970374,6.05405604318e-05,-0.000231901532606,4.2529506685e-05,1793255785209819136
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,760,738,718.224815677,685,649,912.224815677,801,839,658,635,659,0.448124378724,-0.00559181057758,0.049805012885,0.999999960244,5.58355300528e-05,-0.000273236939289,4.16709886893e-05,1793255785226485504
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,760,738,718.812457465,685,649,912.812457465,801,839,658,635,659,0.448595262128,-0.0055966611968,0.0497803731248,0.999999949517,4.93821782445e-05,-0.000311210054503,4.09257896156e-05,1793255785243152384
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,760,738,718.605221779,685,648.605221779,913,800.605221779,839.394778221,658.394778221,635,659,0.449079593421,-0.00559832530475,0.049782630956,0.999999950632,4.56406485958e-05,-0.000308151233168,4.11679045008e-05,1793255785259819008
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,760,738,718.025395153,685,648.025395153,913,800.025395153,839.974604847,658.974604847,635,659,0.449570228321,-0.00559849576733,0.0497974967663,0.999999957334,4.31702583272e-05,-0.000285859098792,4.18728130221e-05,1793255785276485376
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,760,738,718.548595817,685,648,912.451404183,800,839.451404183,659,635,659,0.450034121578,-0.00559646937262,0.0498160732417,0.999999964073,4.77569233692e-05,-0.000260200314389,4.32265242824e-05,1793255785293152256
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,759.876848842,738,719,684.876848842,647.876848842,912.123151158,800.123151158,839,659,634.876848842,659,0.45047764404,-0.00559493676393,0.0498299798836,0.999999968204,5.12974168393e-05,-0.000242880669883,4.43765714572e-05,1793255785309818624
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,759.299224182,738,719,684.299224182,647.299224182,912.700775818,800.700775818,839,659,634.299224182,659,0.450850511073,-0.00559559775111,0.0498260258843,0.999999964763,4.97842707718e-05,-0.000256904618435,4.4665353547e-05,1793255785326485504
+204,3.400000000,POSE1_TO_POSE2_PRESS,783,759.275778065,738,719,684,647,913,801,839,659,634,659,0.451198756611,-0.00559801862366,0.0498190438545,0.999999960034,4.62835149396e-05,-0.000275273138648,4.48747678104e-05,1793255785343152384
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,759.847961712,738,719,684,647,913,801,839,659,634,659,0.451520539004,-0.00560233101663,0.0498088073053,0.999999953667,4.06464811145e-05,-0.000298311192851,4.49988777008e-05,1793255785359819264
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,760,738,719,684,647,912.56171668,801,839,659,634,659,0.451797890333,-0.00560244941969,0.0497859763877,0.999999939596,3.94447700084e-05,-0.00034250486088,4.40845897636e-05,1793255785376485632
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,760,738,718.966104237,684,646.966104237,912.033895763,800.966104237,839,659,634.033895763,659,0.452060190782,-0.00560113731049,0.0497600463874,0.999999921757,3.99675688093e-05,-0.000391212683315,4.2907220551e-05,1793255785393152256
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,760,738,718.390820339,684,646.390820339,912.609179661,800.390820339,839,659,634.609179661,659,0.45233890139,-0.00560121748866,0.0497574109563,0.999999922203,4.23989872832e-05,-0.00038974495716,4.35296651988e-05,1793255785409818624
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,760,738.184343046,718,683.815656954,646,913,800,839.184343046,659,634.815656954,659,0.452606989496,-0.00560139141026,0.0497595927595,0.999999925481,4.28376401439e-05,-0.000381142039837,4.39751214547e-05,1793255785426485248
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,760,738.759251031,718,683.240748969,646,913,800,839.759251031,659,634.240748969,659,0.452852571829,-0.00560176394471,0.0497719807674,0.999999934392,3.90542490613e-05,-0.000357421896458,4.40455948752e-05,1793255785443151872
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760,739,718.344294061,683,645.655705939,913,800,839.655705939,659,634,659.344294061,0.453068707158,-0.00560209077379,0.0497788216966,0.999999938656,3.80484691936e-05,-0.000345372520986,4.42480399233e-05,1793255785459818496
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,739,718.936639071,683,645.063360929,913,800,839.063360929,659,634,659.936639071,0.453263627051,-0.0056023846739,0.0497816661652,0.999999939855,3.90438535672e-05,-0.000341731493372,4.45455655953e-05,1793255785476485120
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,760,739,719,683.515560643,645,913,800.515560643,839,659,634,659.484439357,0.453426684331,-0.00560172853735,0.0497746280755,0.999999936329,4.03429275508e-05,-0.000351767553122,4.44274595452e-05,1793255785493151744
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,759.907572603,738.907572603,719,683.907572603,645,912.907572603,800.907572603,839,659,634,659.092427397,0.453581286315,-0.00560136469646,0.0497662578294,0.99999993223,4.10531460187e-05,-0.00036318385226,4.41736530904e-05,1793255785509818624
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,759.333037103,738.333037103,719,683.333037103,645,912.333037103,800.333037103,839,659,634,659.666962897,0.453711691828,-0.00560311904874,0.0497571133155,0.999999928654,3.85021140744e-05,-0.000373254503565,4.34716990145e-05,1793255785526485504
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,759.240658592,738.240658592,719,683,645,912,800,839,658.759341408,634,659.759341408,0.453829520629,-0.00560434904538,0.0497493408489,0.99999992541,3.57082878998e-05,-0.000382190275794,4.28449390617e-05,1793255785543152128
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,759.813196123,738.813196123,719,683,645,912,800,839,658.186803877,634,659.186803877,0.453930005576,-0.00560485593209,0.0497434604974,0.999999922695,3.25796378014e-05,-0.00038956099855,4.23218752063e-05,1793255785559818752
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,739,719,683,644.611593448,912,800,839,658.388406552,634,659,0.454016257387,-0.00560531372537,0.0497398836037,0.999999921039,3.27347470098e-05,-0.000393779888585,4.22917146553e-05,1793255785576485632
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,739,719,683,644.035088598,912,800,839,658.964911402,634,659,0.454095616343,-0.00560574774357,0.0497374222333,0.999999919907,3.44801217958e-05,-0.000396472402595,4.25002583123e-05,1793255785593152256
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,738.439404068,718.439404068,683,644,912.560595932,800,839,659,634,659.560595932,0.454159166866,-0.00560396275665,0.0497363235945,0.999999919296,3.68917361219e-05,-0.000397803163309,4.24194550821e-05,1793255785609818624
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,759.84838329,738,718,683,644,912.84838329,800,839,659,634,659.84838329,0.454216604307,-0.00560294437515,0.0497348183029,0.999999918392,3.78918917582e-05,-0.000399984418517,4.23419637872e-05,1793255785626485504
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,759.273839254,738,718,683,644,912.273839254,800,839,659,634,659.273839254,0.454259847459,-0.00560446555652,0.0497319323172,0.999999916572,3.483440901e-05,-0.000404784265371,4.2326019485e-05,1793255785643152384
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,759.307299007,738.307299007,718,683,644,912.307299007,800,839,659,634,659,0.454294990445,-0.00560456832561,0.0497299263497,0.99999991497,3.32135336563e-05,-0.000408930472748,4.16143094841e-05,1793255785659819008
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,759.89444242,738.89444242,718,683,644,912.89444242,800,839,659,634,659,0.454322756951,-0.00560337940591,0.0497287217777,0.999999913577,3.29009164627e-05,-0.000412481438435,4.02689946432e-05,1793255785676485888
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,760,739,718,683,644,913,800,839,659,634,659,0.45434471764,-0.00560090455335,0.0497273459316,0.999999913156,3.43901990752e-05,-0.00041342042632,3.98614604254e-05,1793255785693152512
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,760,739,718,683,644,912.941825765,800,839,659,633.941825765,659,0.454364483838,-0.00559857999953,0.0497258798163,0.999999912878,3.59045639291e-05,-0.000413976908734,3.97331732565e-05,1793255785709818880
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,760,739,718,683,644,912.365844481,800,839,659,633.365844481,659,0.454376043993,-0.0056001020788,0.0497239443693,0.999999911986,3.41267142018e-05,-0.000416224640685,4.02608632162e-05,1793255785726485504
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,760,738.790313829,718.209686171,683,644,912,800,839,659,633.209686171,659,0.454384915966,-0.00560165254052,0.0497222475772,0.999999911025,3.3006997933e-05,-0.000418580675505,4.06343157172e-05,1793255785743151872
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,760,738.215567754,718.784432246,683,644,912,800,839,659,633.784432246,659,0.454389107862,-0.0056032524155,0.0497209662794,0.999999909951,3.30330804492e-05,-0.00042112526357,4.07392435072e-05,1793255785759818496
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,738.37038922,718.62961078,683,644,912,800,839,659,634,659.37038922,0.454391096072,-0.00560202131228,0.0497193567829,0.999999908701,3.41358558838e-05,-0.000424047954793,4.01993731458e-05,1793255785776485120
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,738.96307461,718.03692539,683,644,912,800,839,659,634,659.96307461,0.454391761697,-0.00559909114332,0.0497175503118,0.999999907336,3.58848291503e-05,-0.000427197571759,3.92725148461e-05,1793255785793152256
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,760,739,718.538595936,683,644,912,800,839,659,634,659.461404064,0.454392621468,-0.00559771660975,0.0497168143361,0.999999906714,3.73047820973e-05,-0.00042851876072,3.94067220588e-05,1793255785809818880
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,759.886983299,739,719,683,644,912.113016701,800,839,659,634,659,0.454393671397,-0.00559662784035,0.0497161937798,0.999999906355,3.8205426991e-05,-0.000429263327742,3.95303659539e-05,1793255785826485760
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,759.312399964,739,719,683,644,912.687600036,800,839,659,634,659,0.454395445268,-0.00559628402702,0.0497157541242,0.999999906884,3.70744675216e-05,-0.000428149081335,3.93229486424e-05,1793255785843152384
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,759.270563054,739,718.729436946,683,644,913,800,839,659,634,659,0.454396109876,-0.00559686761233,0.0497149499347,0.999999906682,3.60258073265e-05,-0.000428715510773,3.92451092211e-05,1793255785859819008
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,759.863510816,739,718.136489184,683,644,913,800,839,659,634,659,0.454395452759,-0.0055985562233,0.0497137113911,0.999999905609,3.50752092535e-05,-0.000431284520168,3.93216660561e-05,1793255785876485632
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,739,718,683,644,913,800,839,659,633.554133331,659,0.454395785149,-0.0055980143677,0.049713058083,0.999999905262,3.67136645844e-05,-0.000431953706315,3.9293994391e-05,1793255785893152000
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,760,739,718,683,644,912.975146497,800,839,659,633,659,0.454396399219,-0.00559683846989,0.0497125895231,0.999999905135,3.90196027567e-05,-0.000432052677867,3.92160785753e-05,1793255785909818624
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760,739,718,683,644,912.400623098,800,839,659,633,659,0.454396699249,-0.00559639034866,0.0497123366529,0.999999905134,3.89659483531e-05,-0.000432104456281,3.87162263831e-05,1793255785926485504
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,759.825516629,738.825516629,718,683,644,912,800,839,658.825516629,633.174483371,659,0.454396838228,-0.00559596731186,0.049712313062,0.999999904995,3.86812262552e-05,-0.000432481171507,3.83997094986e-05,1793255785943152384
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,759.249066947,738.249066947,718,683,644,912,800,839,658.249066947,633.750933053,659,0.45439660618,-0.00559560206336,0.0497128176738,0.999999904535,3.78641816338e-05,-0.000433606460369,3.85055516172e-05,1793255785959819520
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,759.334049547,738,718.334049547,683,644,912,800,839.334049547,658.334049547,634,659,0.45439522335,-0.00559616848505,0.0497117082219,0.999999903675,3.65056179364e-05,-0.00043569057413,3.86032780641e-05,1793255785976486144
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,759.922238005,738,718.922238005,683,644,912,800,839.922238005,658.922238005,634,659,0.454392965026,-0.00559744370475,0.0497093708192,0.999999902505,3.47350762633e-05,-0.000438504144647,3.86948302483e-05,1793255785993152512
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,760,738.504772859,719,683,644,912,800,839.495227141,659,633.495227141,659,0.454394067003,-0.00559571592327,0.049709002961,0.999999902739,3.6819626945e-05,-0.00043784140741,3.82386047772e-05,1793255786009818880
+245,4.083333333,HOLD_POSE2,783,760,738,719,683,644,912,800,839,659,634,659,0.454397435867,-0.00559412216754,0.0497105197273,0.99999990343,3.94801878035e-05,-0.000436010242848,3.84134778598e-05,1793255786053079808
+246,4.100000000,HOLD_POSE2,783,760,738,719,682.426643925,643.426643925,912.573356075,800,839,658.426643925,633.426643925,659,0.454396882587,-0.00559361909198,0.0497105619067,0.999999903132,4.1010736235e-05,-0.00043653739822,3.85826851775e-05,1793255786069746944
+247,4.116666667,HOLD_POSE2,783,760,738,718.848339677,682.151660323,643.151660323,912.848339677,800,839,658,633,659,0.454396443796,-0.00559306489522,0.0497105682493,0.999999902896,4.19281789236e-05,-0.000436990307671,3.85944370071e-05,1793255786086413824
+248,4.133333333,HOLD_POSE2,783,760,738,718.255645835,682.744354165,643.744354165,912.255645835,800,839,658,633,659,0.454396337938,-0.00559236203611,0.0497104703766,0.999999902845,4.10626890421e-05,-0.000437227307516,3.81483028138e-05,1793255786103080448
+249,4.150000000,HOLD_POSE2,783,759.67142444,738.32857556,718,683,644,912,799.67142444,839,658.32857556,633,659.32857556,0.454396302894,-0.00559210151794,0.0497096481876,0.999999902533,4.1478715218e-05,-0.000437912393045,3.8026999267e-05,1793255786119747072
+250,4.166666667,HOLD_POSE2,783,759.093629302,738.906370698,718,683,644,912,799.093629302,839,658.906370698,633,659.906370698,0.45439632156,-0.00559217650871,0.0497082766157,0.99999990202,4.28667519352e-05,-0.000438937344754,3.81520748648e-05,1793255786136413696
+251,4.183333333,HOLD_POSE2,783,759.483284457,739,718,683,644,912,799.483284457,839,659,633,659.516715543,0.454396406248,-0.00559193424753,0.0497088618911,0.999999902358,4.20117604127e-05,-0.000438264276388,3.80019103393e-05,1793255786153079808
+252,4.200000000,HOLD_POSE2,783,759.938860677,738.938860677,718,683.061139323,644,912,800,839,659,633,659,0.454396462361,-0.00559172378827,0.0497096944346,0.999999902769,4.08201476938e-05,-0.000437451161298,3.78393467021e-05,1793255786169746176
+253,4.216666667,HOLD_POSE2,783,759.351437619,738.351437619,718,683.648562381,644,912,800,839,659,633,659,0.45439616259,-0.00559231518417,0.0497093980259,0.999999902423,4.0464724911e-05,-0.000438259102425,3.80282243991e-05,1793255786186413056
+254,4.233333333,HOLD_POSE2,783,759.232539498,738.232539498,718.232539498,683.767460502,644,912.232539498,800,839,659,633.232539498,659.232539498,0.454396189551,-0.0055924997789,0.0497092274317,0.99999990232,4.06184228166e-05,-0.000438476438072,3.80488959444e-05,1793255786203079936
+255,4.250000000,HOLD_POSE2,783,759.811384749,738.811384749,718.811384749,683.188615251,644,912.811384749,800,839,659,633.811384749,659.811384749,0.454396703095,-0.0055920785514,0.0497092442049,0.999999902582,4.15303206507e-05,-0.000437814223823,3.78190691341e-05,1793255786219746816
+256,4.266666667,HOLD_POSE2,783,759.612105033,738.612105033,718.612105033,683,644,912.612105033,800,839,659,633.612105033,659.612105033,0.454396917476,-0.00559295086982,0.0497087668576,0.999999902304,4.04134283005e-05,-0.000438551898251,3.78400122024e-05,1793255786236413952
+257,4.283333333,HOLD_POSE2,783,759.036723388,738.036723388,718.036723388,683,644,912.036723388,800,839,659,633.036723388,659.036723388,0.454396987259,-0.00559444841577,0.0497080506802,0.999999901759,3.83159326066e-05,-0.000439966200316,3.79821633491e-05,1793255786253081088
+258,4.300000000,HOLD_POSE2,783,759,738.550297839,718,683,644,912,800,839,659,633,659,0.454396215078,-0.00559354111131,0.0497081830383,0.999999901499,3.95220863251e-05,-0.000440458281938,3.78969381135e-05,1793255786269747456
+259,4.316666667,HOLD_POSE2,783,759.136101709,739,718,683,644,912,800,839,659,633,659,0.454395635311,-0.00559260093433,0.0497081777931,0.999999901306,4.07872197723e-05,-0.000440789267276,3.78044128782e-05,1793255786286413568
+260,4.333333333,HOLD_POSE2,783,759.715358151,739,718,683,644,912,800,839,659,633,659,0.454395868958,-0.00559208756013,0.049707536143,0.999999901274,4.15110383006e-05,-0.000440800432245,3.77385922797e-05,1793255786303079936
+261,4.350000000,HOLD_POSE2,783,759.706305202,738.706305202,718,683,644,912,800,839,659,633,659,0.454395804659,-0.00559169681449,0.0497071466971,0.999999901156,4.16236391237e-05,-0.000441076691287,3.75172505115e-05,1793255786319746560
+262,4.366666667,HOLD_POSE2,783,759.12885725,738.12885725,718,683,644,912,800,839,659,633,659,0.454395452501,-0.00559142454644,0.049707000918,0.999999900954,4.11457120749e-05,-0.0004416090709,3.71456520095e-05,1793255786336413184
+263,4.383333333,POSE2_TO_POSE3_RETREAT,783,760,739,718,683,644,912,800,839,659,633,659,0.454395839202,-0.0055921294758,0.0497066293902,0.999999901045,3.94205753132e-05,-0.000441503499971,3.78362319369e-05,1793255786369259520
+264,4.400000000,POSE2_TO_POSE3_RETREAT,783,760,738.407808317,718,683,644,912,800,839,658.407808317,633,659,0.45439568874,-0.00559239684137,0.0497068700762,0.999999900993,4.04412083649e-05,-0.000441551784809,3.75531943915e-05,1793255786385925376
+265,4.416666667,POSE2_TO_POSE3_RETREAT,783,759.8198672,738,718.1801328,683,644,912,800,839,658.1801328,633,659,0.454395286662,-0.00559229016268,0.0497067697679,0.999999900641,4.18693277559e-05,-0.000442222572346,3.74596121637e-05,1793255786402591488
+266,4.433333333,POSE2_TO_POSE3_RETREAT,783,759.241327123,738,718.758672877,683,644,912,800,839,658.758672877,633,659,0.454394328075,-0.00559135619463,0.0497059152684,0.999999899621,4.41987019894e-05,-0.000444270175244,3.77850561622e-05,1793255786419258368
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783,759.335848372,738.335848372,718.664151628,683,643.664151628,912.335848372,800,839,659,633.335848372,659,0.45439443202,-0.00559155462109,0.0497060567015,0.999999899602,4.34023022154e-05,-0.000444380949611,3.79261032334e-05,1793255786435924992
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783,759.912047268,738.912047268,718.087952732,683,643.087952732,912.912047268,800,839,659,633.912047268,659,0.454395296368,-0.00559256344788,0.0497069108756,0.999999900294,4.03689362166e-05,-0.000443105628849,3.79351862751e-05,1793255786452591616
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,760,739,718.498381654,683,643.498381654,912.501618346,800,839,659,634,659,0.454396257577,-0.00559248133742,0.0497075724157,0.999999901092,4.02098352605e-05,-0.000441328434398,3.77925151262e-05,1793255786469257472
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,759.914791221,738.914791221,718.914791221,683,643.914791221,912,800,839,658.914791221,633.914791221,659,0.454396884756,-0.00559236542835,0.0497080380036,0.999999901746,4.02996937848e-05,-0.000439846361781,3.76800572227e-05,1793255786485923584
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,759.335690897,738.335690897,718.335690897,683,643.335690897,912,800,839,658.335690897,633.335690897,659,0.454395474671,-0.00559319270262,0.0497075689401,0.999999901464,3.88314559151e-05,-0.000440598914852,3.79011751602e-05,1793255786502589952
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,759.242396376,738.242396376,718,683,643.242396376,912,800,839,658.242396376,633.242396376,659,0.454388654954,-0.00559190460571,0.0497042837035,0.999999899185,3.99757479992e-05,-0.000445660464573,3.76742009061e-05,1793255786519256832
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,759.819086481,738.819086481,718,683,643.819086481,912,800,839,658.819086481,633.819086481,659,0.454374374703,-0.00558769915768,0.0496971146262,0.99999989405,4.47230329453e-05,-0.000456664638359,3.68292536521e-05,1793255786535923712
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,759.604813345,738.604813345,718.395186655,683,644,912,800,839,659,634,659.395186655,0.454341932788,-0.00558765121661,0.0496828909861,0.999999882972,4.29755461563e-05,-0.00048053437528,3.59980951163e-05,1793255786552590592
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,759.028982784,738.028982784,718.971017216,683,644,912,800,839,659,634,659.971017216,0.454301188988,-0.00558950371457,0.0496654426319,0.999999868454,3.82592324553e-05,-0.000510285094714,3.51732394462e-05,1793255786569257216
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,759.560169177,738.560169177,719,683,644,912,800,839,659,634,659.439830823,0.454239055445,-0.00558787665671,0.0496440206033,0.999999851422,4.00189374578e-05,-0.00054258365046,3.40310552755e-05,1793255786585923584
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,760,738.852633757,718.852633757,682.852633757,644,912,800,839,659,633.852633757,659,0.454172117299,-0.00558478714035,0.0496237696003,0.999999835239,4.28200292854e-05,-0.000571513524709,3.2562438236e-05,1793255786602590208
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,760,738.273237523,718.273237523,682.273237523,644,912,800,839,659,633.273237523,659,0.454094417096,-0.00557795081633,0.0496075690807,0.999999824257,4.76678990166e-05,-0.000590171649388,3.01861316515e-05,1793255786619256832
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,760,738.303743197,718.303743197,682.303743197,644,912,800,839,659,633,659,0.454007769752,-0.00557424869034,0.049595613506,0.999999815314,4.94588333177e-05,-0.000605065584235,2.86664447933e-05,1793255786635923456
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,760,738.878568106,718.878568106,682.878568106,644,912,800,839,659,633,659,0.45391313736,-0.00557334374273,0.0495874464186,0.999999808335,4.85215439479e-05,-0.000616600091273,2.79112655518e-05,1793255786652590080
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,759.53656953,739,718.53656953,683,644,912,800,839,659,633,659,0.453810641231,-0.00557023245185,0.0495874166657,0.999999807909,5.05301107112e-05,-0.000617144984355,2.75649577828e-05,1793255786669256704
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,759.050297861,739,718,683,644,912,800,839,659,633.050297861,659,0.453703383135,-0.00556637772005,0.0495896144626,0.999999809196,5.35137445414e-05,-0.000614817104311,2.7296761955e-05,1793255786685923584
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,759.629973706,739,718,683,644,912,800,839,659,633.629973706,659,0.453568172805,-0.00556091775955,0.0495923188646,0.999999809908,5.8455852621e-05,-0.000613231926548,2.669812986e-05,1793255786702590464
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,759.79104323,738.79104323,718,683,644.20895677,912,800,839,659,634,659,0.453421925037,-0.00555494520393,0.0495958462995,0.999999810791,6.3589009309e-05,-0.000611303823999,2.61068099677e-05,1793255786719257088
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,759.213282969,738.213282969,718,683,644.786717031,912,800,839,659,634,659,0.453256196478,-0.00554806793126,0.0496008263667,0.999999811989,6.90593615069e-05,-0.000608770467927,2.55283959951e-05,1793255786735923712
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,759.363144135,738.363144135,718,683,644.636855865,912,800,839,659,633.636855865,659,0.453066167626,-0.00554197531325,0.0496045290835,0.999999812376,7.4314511737e-05,-0.000607524970558,2.52535726878e-05,1793255786752590080
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,759.938791165,738.938791165,718,683,644.061208835,912,800,839,659,633.061208835,659,0.452861918831,-0.00553634185493,0.0496074843271,0.999999812283,7.94437316607e-05,-0.000607033095749,2.51564030139e-05,1793255786769256704
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,738.477060831,718,683,644,912,800,839,658.477060831,633.522939169,659.522939169,0.452640029367,-0.00553127112397,0.049612921451,0.999999814832,8.15617844974e-05,-0.000602540448497,2.50680857568e-05,1793255786785923328
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,760,738,718,683,644.107646868,912,800,839,658.107646868,634,659.892353132,0.452407217568,-0.00552468033072,0.0496182417568,0.999999817272,8.50951134935e-05,-0.000598002441611,2.46698148433e-05,1793255786802589952
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,760,738,718,683,644.690361012,912,800,839,658.690361012,634,659.309638988,0.452135466198,-0.00551108571219,0.0496217433098,0.999999817856,9.64554783119e-05,-0.000595365021791,2.28990077566e-05,1793255786819256576
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,760,738.26901684,718,683,645,912,800,839,659,634,659,0.451840334092,-0.00549924017302,0.0496209927441,0.999999815469,0.000104529355713,-0.00059808197593,2.07994678485e-05,1793255786835923968
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,760,738.843070921,718,683,645,912,800,839,659,634,659,0.451518690667,-0.00548937790956,0.049615420716,0.999999809759,0.000108876695988,-0.000606870235932,1.83271790653e-05,1793255786852591616
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,760,738.581474769,718,683,645,912,800,839,659,634,659,0.451175395696,-0.00548327772829,0.0496128856619,0.99999981273,0.000110288375216,-0.000601759918475,1.61685961706e-05,1793255786869258496
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,760,738.005493684,718,683,645,912,800,839,659,634,659,0.450823955076,-0.00547859290244,0.0496114931658,0.999999818895,0.000110595611923,-0.000591420734702,1.41280344795e-05,1793255786885924864
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,760,738,718.58270708,683,645.58270708,912,800.58270708,839,659,634,659,0.450469604552,-0.00547433233056,0.0496323039734,0.999999839335,0.000109701546217,-0.00055599007154,1.30777649779e-05,1793255786902590976
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,759.83122628,738,718.83122628,683,646,912,800.83122628,839,659,634,659,0.450097341245,-0.00547060767412,0.0496511966049,0.99999985725,0.000108097180056,-0.000523144625359,1.15944061182e-05,1793255786919257600
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,759.250653989,738,718.250653989,683,646,912,800.250653989,839,659,634,659,0.449681440161,-0.00546818065412,0.0496648872957,0.999999870867,0.000104787946369,-0.000497196527026,9.0310651831e-06,1793255786935923968
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,759.327249198,738,718,683.327249198,646.327249198,912,800,839,659,634,659,0.44922721542,-0.00547008607121,0.049672373116,0.999999877134,9.60116604527e-05,-0.000486274986701,7.07918798704e-06,1793255786952590336
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,759.903124605,738,718,683.903124605,646.903124605,912,800,839,659,634,659,0.448743874397,-0.005475283039,0.0496751448132,0.999999878061,8.30818041589e-05,-0.00048676980832,5.5918675394e-06,1793255786969257216
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,760,738,718,684,647,912,800,839,659,634,659,0.44821624254,-0.00547423100307,0.0496625372229,0.999999870981,7.57295765811e-05,-0.000502292902782,2.20203777426e-06,1793255786985924352
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,759.928387924,738,718,684,647.071612076,912,800,839,659,634,659,0.447673776537,-0.0054711523854,0.0496471276638,0.9999998619,7.04350544726e-05,-0.000520803421739,-1.64605527396e-06,1793255787002591232
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783,759.345477559,738,718,684,647.654522441,912,800,839,659,634,659,0.447089352739,-0.00546262784797,0.0496339201391,0.999999852176,7.17781292701e-05,-0.000538942895771,-6.01885751066e-06,1793255787019257856
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783,759.234200679,738,718,684.234200679,648,912,800.234200679,839,659,634.234200679,659,0.446502947119,-0.00545448871881,0.0496278950388,0.999999847564,7.25424652029e-05,-0.000547275840969,-9.95631694295e-06,1793255787035924480
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783,759.809175964,738,718,684.809175964,648,912,800.809175964,839,659,634.809175964,659,0.445913657876,-0.00544691037997,0.0496323207538,0.999999850762,7.24647048524e-05,-0.00054133975747,-1.32603288793e-05,1793255787052590848
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783,759.615143842,738,718,685,648.384856158,912,801,839,659,635,659,0.445315211262,-0.00544579368137,0.0496639180962,0.999999873324,6.46632587391e-05,-0.000498958445993,-1.45332502545e-05,1793255787069257472
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783,759.039113507,738,718,685,648.960886493,912,801,839,659,635,659,0.444712215814,-0.00544788675039,0.0497090127241,0.999999902355,5.30251341406e-05,-0.000438473261599,-1.47972437167e-05,1793255787085924096
+307,5.116666667,POSE2_TO_POSE3_RETREAT,783,759.547238373,738,718.547238373,685,649.547238373,912,801,839,659,635,659,0.444042586344,-0.00544909545853,0.0497328487536,0.999999917245,4.06732292107e-05,-0.00040445825915,-1.64150354676e-05,1793255787102590464
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783,759.866974503,738,718.866974503,685.133025497,650,912,801,839,659,635,659,0.443354737756,-0.0054487928253,0.0497478770243,0.999999926093,3.02444816365e-05,-0.000382816691899,-1.87422477804e-05,1793255787119257088
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783,759.285624941,738,718.285624941,685.714375059,650,912,801,839,659,635,659,0.442621846636,-0.00544361377507,0.0497384405707,0.999999920825,2.64724272981e-05,-0.000396377416904,-2.31279802031e-05,1793255787135924480
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783,759,737.707780507,718.292219493,686,650.292219493,912.292219493,801,839,659,635,659,0.441903625121,-0.00543766899413,0.0497499903499,0.999999929169,2.2693296479e-05,-0.000374754661585,-2.65620555328e-05,1793255787152591360
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783,759,737.133321426,718.866678574,686,650.866678574,912.866678574,801,839,659,635,659,0.441199572129,-0.00543098463317,0.0497818096371,0.99999994847,1.89073303596e-05,-0.000319150015916,-2.90769753037e-05,1793255787169257984
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783,759.441705849,737.441705849,719,686,650.558294151,913,801,839.441705849,659,635,659,0.44044093437,-0.00543092197556,0.0498066399947,0.999999960855,1.14646891896e-05,-0.000277895379225,-3.05341669733e-05,1793255787185924096
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,760,737.982558076,719,686,650,912.982558076,801,839.982558076,659,635,659,0.439662593836,-0.00543283349008,0.049827566713,0.999999969703,2.78821668236e-06,-0.00024408141682,-3.17822971028e-05,1793255787202590208
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,760,737.389083373,719,686,650,912.389083373,801,839.389083373,659,635,659,0.438778368915,-0.0054338516245,0.0497893300722,0.999999950362,-1.01388315777e-05,-0.000312772350383,-3.66833093419e-05,1793255787219256832
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,760,737,719,686,650,912.198965559,800.801034441,839,659,635,659,0.437902166689,-0.00543418238064,0.0497619930541,0.999999932976,-2.08687093361e-05,-0.000363255849399,-4.07055867603e-05,1793255787235923456
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783,760,737,719,686,650,912.776685852,800.223314148,839,659,635,659,0.437041236677,-0.00543320462996,0.0497554047732,0.999999926847,-2.74160096287e-05,-0.000379079317913,-4.30550873587e-05,1793255787252590080
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783,759.648459141,737,719,686,650,913,800.351540859,839,659,635,659,0.436182452854,-0.00543054100226,0.0497651678785,0.999999932477,6.67691322571e-06,-0.000365843387545,-3.40605210937e-05,1793255787269256704
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783,759.075409594,737,719,686,650,913,800.924590406,839,659,635,659,0.435325021394,-0.00542681509011,0.0497852341222,0.999999941759,6.63775637444e-05,-0.000334296897133,-1.79179679666e-05,1793255787285923584
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,759.498550466,737.498550466,719,686,650,913,801,839,659,635.498550466,659.498550466,0.434431242396,-0.00541913279079,0.0497722162893,0.99999993396,6.76117850852e-05,-0.000356431512255,-2.15847818517e-05,1793255787302590208
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,760,737.924519813,719.075480187,686,650.075480187,913,801,839,659,635.924519813,660,0.433533950036,-0.00541263576006,0.0497598419038,0.999999926406,5.85635822391e-05,-0.000378147971617,-2.76223459958e-05,1793255787319256576
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,760,737.328044915,719.671955085,686,650.671955085,913,801,839,659,635.328044915,660,0.432650425237,-0.00541845812617,0.0497865132135,0.9999999407,3.96950139747e-05,-0.000340830283556,-2.93041371465e-05,1793255787335923200
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,760,737,720,686.258533128,651,913,801,839,659,635,660,0.431752238338,-0.00542099277183,0.049799214731,0.999999947421,2.60978789375e-05,-0.00032166033009,-3.18053563622e-05,1793255787352590080
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,760,737,720,686.833016425,651,913,801,839,659,635,660,0.430836132951,-0.00541950953536,0.0497948439397,0.999999946492,1.89428954504e-05,-0.000324668496442,-3.53079888547e-05,1793255787369256704
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782.591706026,760,737,719.591706026,686.591706026,651,913,801,839,659,635.408293974,660,0.429897871276,-0.00541961559619,0.0497729920556,0.999999935078,1.44199477374e-05,-0.000358069178411,-3.77293782377e-05,1793255787385923072
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782.016103047,760,737,719.016103047,686.016103047,651,913,801,839,659,635.983896953,660,0.428950530546,-0.00542037291272,0.0497439768422,0.999999917574,1.09755450906e-05,-0.00040392397809,-3.97077000425e-05,1793255787402589696
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782.575457195,759.424542805,737,719.575457195,686.575457195,651,913,801,839,659,636,660,0.428014836077,-0.00541821316164,0.0497620739235,0.999999924737,2.16541090001e-05,-0.00038561848894,-3.68233226525e-05,1793255787419256576
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,759.163209809,737,720,686.836790191,651,913,801,838.836790191,659,635.836790191,659.836790191,0.42707751845,-0.00541477514329,0.0497711856195,0.999999927969,3.17455686471e-05,-0.000376565259391,-3.53830645904e-05,1793255787435923200
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,759.740146081,737,720,686.259853919,651,913,801,838.259853919,659,635.259853919,659.259853919,0.426135236579,-0.00540830962347,0.0497540826993,0.999999920238,3.93183673431e-05,-0.000395646949098,-3.79583317434e-05,1793255787452589824
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,760,737,720,686,651,913,801,838,659,635,659,0.425240155979,-0.00540783612979,0.0497631893025,0.999999931186,3.72098964764e-05,-0.000366993952557,-3.94702530498e-05,1793255787469256704
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783,760,737,720,686,651,913,801,838,659,635,659,0.424383757597,-0.00541227319448,0.0497937750163,0.99999995406,2.71674750254e-05,-0.000299221640434,-4.01107457355e-05,1793255787485923328
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783,760,737,720,686.475752297,651.475752297,913.475752297,801,838.475752297,659,635,659,0.423514034716,-0.00541404375691,0.0498136010057,0.999999963848,2.28672037308e-05,-0.000264933690335,-3.99015528806e-05,1793255787502589952
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,760,737,720.061368631,686.938631369,651.938631369,913.938631369,801,838.938631369,659,635,659,0.422630672426,-0.0054147888925,0.0498257058423,0.999999968312,2.09183038799e-05,-0.000247726336411,-3.96287964855e-05,1793255787519256576
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760,737,720.644119511,686.355880489,651.355880489,913.355880489,801,838.355880489,659,635,659,0.421657653557,-0.00541206965592,0.0497933871344,0.999999950829,2.7646139359e-05,-0.000309738403117,-4.04881544808e-05,1793255787535923200
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,760,736.776294986,720.776294986,686.223705014,651,913,801,838,659,635.223705014,659,0.42072664431,-0.0054097453188,0.0497792972828,0.999999939725,3.27916256491e-05,-0.000343222761086,-4.09118469167e-05,1793255787552589824
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,760,736.201674765,720.201674765,686.798325235,651,913,801,838,659,635.798325235,659,0.41986153337,-0.0054080404409,0.049793802149,0.999999943447,3.54549586849e-05,-0.000331957097042,-4.06521322477e-05,1793255787569256448
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,760,736.373648859,720,686.626351141,651,913,801,838,659,635.626351141,659,0.418978308472,-0.00540662094924,0.0497893913425,0.999999937363,3.76617302477e-05,-0.000349565295064,-4.07405799637e-05,1793255787585923072
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,760,736.949352822,720,686.050647178,651,913,801,838,659,635.050647178,659,0.418085288284,-0.00540535578372,0.0497747516581,0.999999925111,3.96216105228e-05,-0.000382787380873,-4.1017300648e-05,1793255787602589696
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,760,737,720,686.535923756,651.535923756,913.535923756,801,838,659,635,659,0.417277219,-0.00540629609602,0.0497661692848,0.999999923094,3.85716191933e-05,-0.00038793801131,-4.27490288541e-05,1793255787619256576
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,760,736.877480133,720.122519867,687,651.877480133,914,800.877480133,838,659,635,659,0.416478099304,-0.00540789239603,0.0497658562969,0.99999992655,3.69001437522e-05,-0.000378950332507,-4.39972671769e-05,1793255787635923456
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,760,736.294727047,720.705272953,687,651.294727047,914,800.294727047,838,659,635,659,0.415681816445,-0.00541115370554,0.0497944115737,0.99999994503,3.39847347353e-05,-0.000327025063425,-4.2902113105e-05,1793255787652589824
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,760,736.283322796,721,687.283322796,651,914,800,838,659,635,659,0.41488960666,-0.00541168534678,0.0498013530452,0.999999949339,3.36347574269e-05,-0.000313584511974,-4.30833682721e-05,1793255787669256448
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,760,736.856559939,721,687.856559939,651,914,800,838,659,635,659,0.414101564761,-0.00540942381338,0.0497861778612,0.999999940724,3.59098972415e-05,-0.00033952403501,-4.45707286797e-05,1793255787685923072
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,760,736.56108468,721,688,651.43891532,914,800.43891532,838,659,635,659,0.413347242836,-0.00540898110577,0.0497686702595,0.999999930314,3.68409339489e-05,-0.000368629313599,-4.61153944763e-05,1793255787702589696
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,760,736,721,688,652,914,801,838,659,635,659,0.412606594543,-0.00540923118856,0.0497523374568,0.999999919777,3.73352314886e-05,-0.000395971184232,-4.75251999666e-05,1793255787719256576
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760,736,721,688,652,914,801,838,659,635,659,0.411921792445,-0.00541146073,0.0497810785856,0.999999934077,3.8102768804e-05,-0.000358237881648,-4.53815230311e-05,1793255787735924224
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782.818182461,760,736,721,687.818182461,652,914,801,838,659,635,659,0.411231530084,-0.00541107694655,0.0498013904779,0.99999994322,4.29526984851e-05,-0.000331366657466,-4.37249377313e-05,1793255787752591360
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782.237847339,760,736,721,687.237847339,652,914,801,838,659,635,659,0.41052929949,-0.00540496513576,0.049803226716,0.999999943568,5.67506382881e-05,-0.000328303521858,-4.31359861043e-05,1793255787769257728
+348,5.800000000,POSE2_TO_POSE3_RETREAT,782.343901647,760,736,721,687.343901647,651.656098353,914,801,838,659,635,659,0.409876761344,-0.00540287072171,0.0497947136929,0.999999938701,6.03390857278e-05,-0.000342090268134,-4.39404226679e-05,1793255787785924096
+349,5.816666667,POSE2_TO_POSE3_RETREAT,782.926632483,760,736,721,687.926632483,651.073367517,914,801,838,659,635,659,0.409258733126,-0.00540356626735,0.049779013424,0.999999929783,5.6837351718e-05,-0.000367578742733,-4.5712524785e-05,1793255787802590464
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783.506315069,760,736,721,688,651.506315069,914,801,837.493684931,659,635,659,0.408689884932,-0.00540985133109,0.0497888748256,0.999999937257,5.06118325429e-05,-0.000347680334524,-4.51932478683e-05,1793255787819257088
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.914437508,759.914437508,736,721,687.914437508,651.914437508,914,800.914437508,837,659,635,659,0.408131127945,-0.00541553966254,0.0498022290072,0.999999945693,4.54686323069e-05,-0.000323386055125,-4.43734239055e-05,1793255787835923712
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783.335167592,759.335167592,736,721,687.335167592,651.335167592,914,800.335167592,837,659,635,659,0.407589724251,-0.00541313921999,0.0498144922636,0.999999949352,4.88343477942e-05,-0.000311448820929,-4.37238070732e-05,1793255787852590592
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,759.243242561,736,721.243242561,687.486485122,651.243242561,914,800.243242561,837.243242561,659,635,659,0.407046365082,-0.00541100100655,0.0498130676155,0.99999994664,5.37156481705e-05,-0.000319239213205,-4.38277172978e-05,1793255787869257216
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,759.820472156,736,721.820472156,688.640944312,651.820472156,914,800.820472156,837.820472156,659,635,659,0.406500320967,-0.00540922285002,0.0497928486294,0.999999934449,6.06779397339e-05,-0.000354116853778,-4.49662666555e-05,1793255787885923840
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760,736,721.60320851,688.60320851,652,914,800.60320851,838,659,635,659,0.405996864552,-0.00540987364775,0.0497730903073,0.999999922723,6.16751198246e-05,-0.000385541676877,-4.59061839824e-05,1793255787902590464
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760,736,721.027300031,688.027300031,652,914,800.027300031,838,659,635,659,0.405512632748,-0.00541162090779,0.0497535399333,0.999999910826,5.99795693291e-05,-0.000415407854833,-4.6756436233e-05,1793255787919257088
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,760,736,721,687.438871903,651.438871903,914,800.561128097,838,659,635,659,0.405111144532,-0.00541304958223,0.0497632525973,0.999999915894,5.79576375379e-05,-0.000403344620709,-4.65501919169e-05,1793255787935923968
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,760,736,721.147693543,687.147693543,651.147693543,914,800.852306457,838,659,635,659,0.40472818253,-0.00541461085592,0.0497792147941,0.999999924766,5.59844739186e-05,-0.000381084455057,-4.59209615324e-05,1793255787952590336
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,760,736,721.726995146,687.726995146,651.726995146,914,800.273004854,838,659,635,659,0.404387327293,-0.00541660595686,0.0498091846637,0.9999999414,5.42012889258e-05,-0.000335123009419,-4.42092669788e-05,1793255787969257216
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.304388252,652,914,800,837.695611748,659,635,659,0.404053875337,-0.00541969845705,0.0498318660938,0.999999952614,5.08469880851e-05,-0.000300590000226,-4.27946455954e-05,1793255787985923840
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.880080263,652,914,800,837.119919737,659,635,659,0.403727022009,-0.0054237690781,0.0498480512759,0.999999959915,4.6092338884e-05,-0.000276243253791,-4.16448081231e-05,1793255788002590720
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,759.535738997,736,722,689,652,914,800,837,659,635,659,0.403419513217,-0.00542622281381,0.0498443773587,0.99999995686,4.52254935057e-05,-0.000287226940223,-4.16634305647e-05,1793255788019257600
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,759.050065019,735.949934981,722,688.949934981,652,914,800,837,659,635,658.949934981,0.40311930066,-0.00542781488655,0.0498353263152,0.999999950741,4.58722284409e-05,-0.000307656273803,-4.19745332714e-05,1793255788035923968
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,759.629417836,735.370582164,722,688.370582164,652,914,800,837,659,635,658.370582164,0.402842414476,-0.00542479503746,0.0498246690267,0.999999943435,5.17060930889e-05,-0.000329668675539,-4.21275100458e-05,1793255788052590592
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,759.791912626,735.208087374,721.791912626,688,652,914,800,837,659,635,658.208087374,0.402582033531,-0.00542246656603,0.0498151873878,0.999999936813,5.81453837697e-05,-0.000348201007008,-4.18315660087e-05,1793255788069256960
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783,759.214456016,735.785543984,721.214456016,688,652,914,800,837,659,635,658.785543984,0.402350950533,-0.00542136533726,0.0498077926077,0.999999932014,6.56593462254e-05,-0.000360555975034,-4.07387570233e-05,1793255788085923328
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783,759.3616145,736,721.3616145,687.6383855,652,914,800,837,659,635,659,0.402152421228,-0.00542092548736,0.0498071048629,0.999999932493,7.18621204491e-05,-0.000358145619142,-3.97569305809e-05,1793255788102590208
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783,759.936866186,736,721.936866186,687.063133814,652,914,800,837,659,635,659,0.401973124202,-0.00542087637146,0.0498103795474,0.99999993605,7.72902622814e-05,-0.000347012101377,-3.88406710884e-05,1793255788119256832
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783,759.475777793,736,722,688.048444414,652,914,800,837,659,635.524222207,659,0.401829385799,-0.00541910077785,0.049815612148,0.999999940037,7.88551504735e-05,-0.000334953494248,-3.89208106736e-05,1793255788135923968
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,759.111259163,735.888740837,722,688.888740837,652,914,800,837,659,635.888740837,659,0.401695193074,-0.00541778945018,0.0498212160137,0.999999944047,7.94631816481e-05,-0.000322587646122,-3.90961107121e-05,1793255788152590848
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,759.690674775,735.309325225,722,688.309325225,652,914,800,837,659,635.309325225,659,0.401582721044,-0.00541932724871,0.0498273664472,0.999999948321,7.80489620253e-05,-0.000309408863444,-3.9154957934e-05,1793255788169257472
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,760,735.268639342,722,688,652,914,800,837,659,635,659,0.401478266682,-0.00542219761236,0.0498308210193,0.999999950687,7.47980844855e-05,-0.000302481364294,-3.92021806316e-05,1793255788185924096
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783,760,735.844942041,722,688,652,914,800,837,659,635,659,0.401382994686,-0.00542659411671,0.0498311881141,0.999999951001,6.94437461766e-05,-0.000302713245048,-3.92360901649e-05,1793255788202590464
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783,760,736,722,688,652,914,800,837.428650502,659,635,659,0.401303131285,-0.00543434913292,0.0498309120457,0.999999952174,5.87897096556e-05,-0.000301115932823,-3.90413147376e-05,1793255788219257088
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.014912323,760,736,722,688,652,914,800,837.985087677,659,635,659,0.401229486707,-0.00544314378584,0.0498304223783,0.999999953508,4.64525818396e-05,-0.000298870197017,-3.87772294184e-05,1793255788235923712
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783.594635007,760,736,722,688,652,914,800,837.405364993,659,635,659,0.40117655996,-0.0054444916203,0.0498308093731,0.999999953984,4.42546752496e-05,-0.000297567281073,-3.90762692941e-05,1793255788252590336
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783.826563744,760,736,722,688,652,914,800,837,659.173436256,635,659,0.401129287199,-0.00544462378537,0.0498320785503,0.999999954944,4.36078690243e-05,-0.000294381238514,-3.93684727026e-05,1793255788269256960
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783.249904825,760,736,722,688,652,914,800,837,659.750095175,635,659,0.40109515942,-0.00544192963551,0.0498353987169,0.999999956998,4.6567222707e-05,-0.000286817107335,-3.96447819377e-05,1793255788285923840
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.325811676,652,914,800,837.325811676,659.674188324,635.325811676,659,0.401066012984,-0.00544102735369,0.0498376357283,0.999999958107,4.86391068496e-05,-0.000282595050869,-3.94957690693e-05,1793255788302590720
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.900807467,652,914,800,837.900807467,659.099192533,635.900807467,659,0.401040676326,-0.00544149551067,0.0498390443318,0.999999958526,5.00322454885e-05,-0.000280929046671,-3.90214655186e-05,1793255788319257600
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.511693959,652,914,800,837.511693959,659,635.511693959,659,0.401023052288,-0.00544209837347,0.0498392414817,0.999999958655,4.87051503356e-05,-0.000280708787779,-3.89832798982e-05,1793255788335924224
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.076989364,652,914,800.076989364,837.076989364,659,635.076989364,659,0.401008077238,-0.00544253903624,0.0498391602932,0.999999958749,4.72127522181e-05,-0.000280623281333,-3.90422828184e-05,1793255788352590848
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.656394885,652,914,800.656394885,837.656394885,659,635.656394885,659,0.400999896237,-0.00544173795513,0.0498389108564,0.999999959019,4.83423791995e-05,-0.000279450268068,-3.91421982668e-05,1793255788369257216
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783,759.765047381,736,722,688.765047381,652,913.765047381,800.765047381,837.765047381,659,635.765047381,659,0.400993769318,-0.00544205747777,0.049839426193,0.999999959556,4.8463195255e-05,-0.000277516478134,-3.90283368525e-05,1793255788385923584
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783,759.187725065,736,722,688.187725065,652,913.187725065,800.187725065,837.187725065,659,635.187725065,659,0.400990635578,-0.00544400992868,0.0498410559469,0.999999960477,4.7113985949e-05,-0.000274474095055,-3.86029627519e-05,1793255788402590208
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783,759.394514819,736,722,688,652,913.394514819,800,837,659,635,659,0.400988573526,-0.00544398377282,0.049841998357,0.999999960974,4.79385650556e-05,-0.000272544118355,-3.83975016807e-05,1793255788419257344
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783,759.979124185,736,722,688,652,913.979124185,800,837,659,635,659,0.400987027861,-0.00544300423736,0.0498426095746,0.999999961265,4.98105708253e-05,-0.000271150147936,-3.82980043673e-05,1793255788435924224
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.55925622,759.44074378,736,722,688,652,914,800,837.55925622,659,635,659,0.400985738866,-0.00544434048598,0.0498430229919,0.999999961533,4.86305164147e-05,-0.000270432490317,-3.7873021162e-05,1793255788452590848
+389,6.483333333,POSE2_TO_POSE3_RETREAT,784,759.138527085,736,722,688.138527085,652,914,800,837.861472915,659,635,659,0.400984815082,-0.00544534967011,0.0498434115103,0.999999961767,4.80242153232e-05,-0.000269707612323,-3.76392199688e-05,1793255788469257728
+390,6.500000000,POSE2_TO_POSE3_RETREAT,784,759.715596471,736,722,688.715596471,652,914,800,837.284403529,659,635,659,0.400985017376,-0.00544505196498,0.0498437443937,0.999999961898,4.95920740926e-05,-0.000268880591022,-3.80488109485e-05,1793255788485924352
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783.708545293,760,736,722,689,652,914,800,837.291454707,659.291454707,635.291454707,659,0.400984535707,-0.00544470689432,0.0498440195577,0.99999996204,5.01886093769e-05,-0.000268219834792,-3.8197559655e-05,1793255788502591232
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783.133863948,760,736,722,689,652,914,800,837.866136052,659.866136052,635.866136052,659,0.400983389385,-0.00544431579528,0.0498442386317,0.999999962195,4.9841242832e-05,-0.000267720649701,-3.80928299849e-05,1793255788519257600
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.446100243,760,736,722,688.553899757,652,914,800.446100243,837.553899757,659.553899757,635.553899757,659,0.400983171636,-0.00544402250494,0.0498449435462,0.999999962337,5.01693833314e-05,-0.000267140083975,-3.80261203142e-05,1793255788535924224
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.972023853,760,736,722,688,652,914,800.972023853,837,659,635,659,0.400983291843,-0.00544385218915,0.0498457811326,0.999999962484,5.0629184312e-05,-0.000266513040777,-3.79448620358e-05,1793255788552590848
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783.383992179,760,736,722,688,652,914,800.383992179,837,659,635,659,0.400984532624,-0.0054455491041,0.0498463211509,0.99999996284,4.96181439491e-05,-0.000265450293672,-3.73412225145e-05,1793255788569257472
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.200199059,652,913.799800941,800,837.200199059,659,635.200199059,659,0.400984989648,-0.00544629379942,0.0498464408558,0.999999962972,4.90535529824e-05,-0.000265085712114,-3.71514990819e-05,1793255788585923840
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.777162754,652,913.222837246,800,837.777162754,659,635.777162754,659,0.400983971682,-0.00544524646488,0.049845769552,0.999999962684,4.93291575513e-05,-0.000266035043325,-3.77407450997e-05,1793255788602590464
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783,759.648171734,735.648171734,721.648171734,688.648171734,652,913.351828266,800.351828266,837.648171734,659,635.648171734,659,0.400982271867,-0.00544548571066,0.049844947244,0.999999962236,4.9547101034e-05,-0.000267659350588,-3.78421088386e-05,1793255788619257088
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa50e083f84efa6811cab052419af62697840ecf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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+265,4.416666667,pose2_to_pose3_retreat,0.617629573386,0.000181850471771,1.04002029551,0.58820071945,0.00885608688888,1.03969201094
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+268,4.466666667,pose2_to_pose3_retreat,0.617629385827,0.000181812171274,1.0400204403,0.58820053187,0.00885604830258,1.0396921499
+269,4.483333333,pose2_to_pose3_retreat,0.617629306464,0.000181795964999,1.04002050156,0.588200452499,0.00885603197537,1.0396922087
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+342,5.700000000,pose2_to_pose3_retreat,0.585972934912,0.000181792041445,1.04002041796,0.556544082728,0.00885603036895,1.0396921298
+343,5.716666667,pose2_to_pose3_retreat,0.585381153133,0.000181744247671,1.04002052229,0.555952301075,0.0088559827169,1.03969222658
+344,5.733333333,pose2_to_pose3_retreat,0.584805605277,0.000181852612993,1.04002054878,0.55537675101,0.00885608360094,1.03969225337
+345,5.750000000,pose2_to_pose3_retreat,0.584243601768,0.000181844803075,1.0400206195,0.554814748517,0.00885607909492,1.03969232033
+346,5.766666667,pose2_to_pose3_retreat,0.583697578771,0.000181738438746,1.04002067412,0.554268727781,0.00885598004021,1.03969236541
+347,5.783333333,pose2_to_pose3_retreat,0.583170883816,0.000181806566631,1.04002050706,0.553742029204,0.00885603581082,1.03969219652
+348,5.800000000,pose2_to_pose3_retreat,0.582662534173,0.000181578776522,1.04002058089,0.553233683747,0.00885582241741,1.03969227549
+349,5.816666667,pose2_to_pose3_retreat,0.582174862706,0.000181726382268,1.0400205654,0.552746010833,0.00885596537574,1.03969226694
+350,5.833333333,pose2_to_pose3_retreat,0.581712597328,0.000181750648989,1.04002042198,0.552283745814,0.00885599087543,1.03969212394
+351,5.850000000,pose2_to_pose3_retreat,0.581267556658,0.000181735935149,1.04002053418,0.551838705246,0.00885597649026,1.03969223568
+352,5.866666667,pose2_to_pose3_retreat,0.580833888581,0.000181722136033,1.04002068328,0.551405036914,0.00885596196512,1.03969238834
+353,5.883333333,pose2_to_pose3_retreat,0.580410595522,0.000181715116956,1.04002037861,0.550981744399,0.00885595708733,1.03969209157
+354,5.900000000,pose2_to_pose3_retreat,0.579999084512,0.000181875686579,1.04002027318,0.550570231639,0.00885611174435,1.03969198685
+355,5.916666667,pose2_to_pose3_retreat,0.579609732764,0.000181674086324,1.04002052793,0.550180881523,0.00885591533286,1.03969223239
+356,5.933333333,pose2_to_pose3_retreat,0.579245557032,0.000181854516131,1.04002063457,0.549816703657,0.0088560886411,1.03969234208
+357,5.950000000,pose2_to_pose3_retreat,0.578913782953,0.000181846436371,1.04002058195,0.549484930517,0.00885608377232,1.03969229043
+358,5.966666667,pose2_to_pose3_retreat,0.578608762858,0.000181774959382,1.04002059351,0.549179911788,0.00885601678574,1.03969229831
+359,5.983333333,pose2_to_pose3_retreat,0.578328490367,0.000181790029576,1.04002064747,0.548899639041,0.00885603087609,1.03969234927
+360,6.000000000,pose2_to_pose3_retreat,0.578063103396,0.000181959948188,1.04002052826,0.548634249852,0.00885619351937,1.0396922366
+361,6.016666667,pose2_to_pose3_retreat,0.577810881392,0.00018172405689,1.04002043842,0.548382029555,0.00885596335738,1.03969214529
+362,6.033333333,pose2_to_pose3_retreat,0.577568752833,0.000181650470216,1.04002046063,0.54813990236,0.00885589404009,1.0396921579
+363,6.050000000,pose2_to_pose3_retreat,0.577338189926,0.000181618924734,1.04002051828,0.547909339697,0.00885586343001,1.03969221835
+364,6.066666667,pose2_to_pose3_retreat,0.577122731253,0.000181678056637,1.04002053425,0.547693880037,0.0088559195417,1.03969224299
+365,6.083333333,pose2_to_pose3_retreat,0.57692444381,0.000181773751173,1.04002051569,0.547495591598,0.00885601199062,1.03969222803
+366,6.100000000,pose2_to_pose3_retreat,0.576745236053,0.00018175502845,1.04002042913,0.547316384091,0.00885599411034,1.03969214137
+367,6.116666667,pose2_to_pose3_retreat,0.5765870437,0.000181681262156,1.04002018435,0.547158192337,0.00885592238686,1.03969189689
+368,6.133333333,pose2_to_pose3_retreat,0.576448822954,0.000181809565986,1.04002041838,0.547019969846,0.00885604446299,1.03969212287
+369,6.150000000,pose2_to_pose3_retreat,0.576329136184,0.000181666074042,1.04002064072,0.546900285516,0.00885590907167,1.03969234059
+370,6.166666667,pose2_to_pose3_retreat,0.576224290734,0.000181689824986,1.04002060424,0.546795440848,0.00885593561148,1.03969230765
+371,6.183333333,pose2_to_pose3_retreat,0.576132637649,0.000181769271142,1.04002060861,0.546703786349,0.00885601025732,1.03969231194
+372,6.200000000,pose2_to_pose3_retreat,0.576051045492,0.000181810934987,1.04002067344,0.546622192337,0.00885604545864,1.0396923725
+373,6.216666667,pose2_to_pose3_retreat,0.575979073901,0.000181756522273,1.04002057853,0.546550221887,0.00885599492648,1.03969227816
+374,6.233333333,pose2_to_pose3_retreat,0.575916477296,0.000181757075515,1.04002067236,0.546487627305,0.00885600232711,1.0396923716
+375,6.250000000,pose2_to_pose3_retreat,0.575862832472,0.000181765285059,1.04002057762,0.54643398096,0.0088560056806,1.03969228487
+376,6.266666667,pose2_to_pose3_retreat,0.575818783743,0.000181769390677,1.0400205778,0.546389933111,0.00885601304821,1.03969229229
+377,6.283333333,pose2_to_pose3_retreat,0.575782709482,0.000181744386943,1.04002059931,0.546353859681,0.0088559908121,1.03969231231
+378,6.300000000,pose2_to_pose3_retreat,0.575754163771,0.000181704112617,1.040020555,0.546325312508,0.00885594522686,1.03969225873
+379,6.316666667,pose2_to_pose3_retreat,0.575731046717,0.000181804562128,1.04002053512,0.546302194575,0.00885604294015,1.03969224545
+380,6.333333333,pose2_to_pose3_retreat,0.575713128454,0.000181832311053,1.04002064001,0.546284275455,0.00885606746895,1.03969234206
+381,6.350000000,pose2_to_pose3_retreat,0.575699174719,0.000181864837483,1.04002063343,0.546270321262,0.00885609841478,1.03969233479
+382,6.366666667,pose2_to_pose3_retreat,0.575688679109,0.000181877122382,1.04002053921,0.546259825691,0.00885611107089,1.03969224687
+383,6.383333333,pose2_to_pose3_retreat,0.575681567465,0.000181734525867,1.04002054011,0.546252714842,0.00885597116281,1.03969224755
+384,6.400000000,pose2_to_pose3_retreat,0.575676797801,0.000181745189831,1.04002048511,0.54624794498,0.00885598118569,1.03969219336
+385,6.416666667,pose2_to_pose3_retreat,0.575673942871,0.000181799293949,1.04002042723,0.546245089605,0.00885603380884,1.0396921364
+386,6.433333333,pose2_to_pose3_retreat,0.575672127736,0.00018179243334,1.04002051253,0.54624327443,0.00885602667199,1.03969221786
+387,6.450000000,pose2_to_pose3_retreat,0.575671044104,0.000181761574206,1.04002064264,0.546242190933,0.00885599607953,1.03969234283
+388,6.466666667,pose2_to_pose3_retreat,0.575670364195,0.000181742212102,1.04002072428,0.546241511109,0.00885597688474,1.03969242123
+389,6.483333333,pose2_to_pose3_retreat,0.575669875543,0.000181728296498,1.04002078296,0.546241022517,0.00885596308939,1.03969247759
+390,6.500000000,pose2_to_pose3_retreat,0.575669436997,0.000181716600059,1.04002083351,0.546240584049,0.00885595158601,1.0396925262
+391,6.516666667,pose2_to_pose3_retreat,0.575669159061,0.000181723273585,1.040020828,0.546240306581,0.00885595989581,1.03969252216
+392,6.533333333,pose2_to_pose3_retreat,0.575668994151,0.000181727233252,1.04002082473,0.546240141947,0.00885596482634,1.03969251976
+393,6.550000000,pose2_to_pose3_retreat,0.575668941671,0.000181728493367,1.04002082369,0.546240089555,0.00885596639542,1.039692519
+394,6.566666667,pose2_to_pose3_retreat,0.575668892526,0.000181729673389,1.04002082272,0.546240040493,0.00885596786477,1.03969251829
+395,6.583333333,pose2_to_pose3_retreat,0.575668829485,0.000181731187072,1.04002082147,0.546239977557,0.00885596974959,1.03969251737
+396,6.600000000,pose2_to_pose3_retreat,0.575668732074,0.000181733526026,1.04002081954,0.546239880309,0.00885597266202,1.03969251595
+397,6.616666667,pose2_to_pose3_retreat,0.575668391171,0.000181741711476,1.04002081279,0.546239539979,0.00885598285445,1.039692511
+398,6.633333333,pose2_to_pose3_retreat,0.575667995973,0.000181751200604,1.04002080496,0.546239145444,0.00885599467019,1.03969250525
+399,6.650000000,pose2_to_pose3_retreat,0.575667646157,0.000181761150851,1.04002077324,0.546238796081,0.00885600622894,1.0396924756
+400,6.666666667,pose2_to_pose3_retreat,0.575667354792,0.00018177870717,1.04002059868,0.546238504282,0.00885602242987,1.03969230406
+401,6.683333333,pose2_to_pose3_retreat,0.575667244296,0.000181785365143,1.04002053248,0.546238393622,0.00885602857382,1.039692239
+402,6.700000000,pose2_to_pose3_retreat,0.575667064861,0.000181796177071,1.04002042498,0.54623821392,0.00885603855104,1.03969213336
+403,6.716666667,pose2_to_pose3_retreat,0.575666896054,0.00018180634861,1.04002032385,0.546238044862,0.00885604793731,1.03969203397
+404,6.733333333,pose2_to_pose3_retreat,0.575666801176,0.000181819483819,1.04002031423,0.546237949413,0.00885605910626,1.03969202365
+405,6.750000000,pose2_to_pose3_retreat,0.575666737354,0.000181842800668,1.04002039995,0.546237884366,0.00885607812373,1.0396921056
+406,6.766666667,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.008856095796,1.03969213895
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3f75a21b1ab8317067e7a016902dbd9e19465c9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ac5da6797ae55ac4f0dc8605b0aaaca290ca5ce1231acfca08d8964862e5fef
+size 25774379
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78582c557cdd0db5ce9a3466b2431385ef339d8f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+21,0.350000000,BASELINE,783,760,736,722,688,652,913.178217384,801,837.178217384,659.821782616,635.178217384,659.821782616,0.400982691508,-0.0054506364641,0.0498485208391,0.999999964266,4.51910984298e-05,-0.000261086504765,-3.55006681688e-05,1793255789246177024
+22,0.366666667,BASELINE,783,760,736,722,688,652,913.751433766,801,837.751433766,659.248566234,635.751433766,659.248566234,0.400980963276,-0.00544982054119,0.0498479859039,0.999999963875,4.57324968297e-05,-0.000262440369929,-3.58135052396e-05,1793255789262843392
+23,0.383333333,BASELINE,783,760,736,722,688,652,913.665366883,801,837.665366883,659,635.665366883,659,0.4009820061,-0.00544931300494,0.0498486098771,0.999999964205,4.63622002813e-05,-0.00026104531768,-3.6001845425e-05,1793255789279510016
+24,0.400000000,BASELINE,783,760,736,722,688,652,913.074524077,801,837.074524077,659,635.074524077,659,0.400985170563,-0.00544904158285,0.0498501211609,0.999999965076,4.70595139838e-05,-0.000257545574664,-3.6094865405e-05,1793255789296176640
+25,0.416666667,BASELINE,783,760,736,722,688.506182832,652,913,801,837,659.506182832,635,659,0.400984055058,-0.00544947734146,0.0498495373358,0.999999964674,4.80772196945e-05,-0.000258920749452,-3.60730583877e-05,1793255789312843520
+26,0.433333333,BASELINE,783,760,736,722,689,652,913.084982527,800.915017473,837.084982527,659.915017473,635.084982527,659,0.400982537247,-0.00544986489475,0.0498488047305,0.999999964178,4.88255725784e-05,-0.000260692614642,-3.60433577001e-05,1793255789329510400
+27,0.450000000,BASELINE,783,760,736,722,689,652,913.661214567,800.338785433,837.661214567,659.338785433,635.661214567,659,0.400982264875,-0.00544938375271,0.0498489601533,0.99999996423,4.77495855806e-05,-0.000260690171668,-3.60638334474e-05,1793255789346177024
+28,0.466666667,BASELINE,783,759.758258195,736,722,688.758258195,652,914,800,837.758258195,659.241741805,635.758258195,659,0.400981954725,-0.00544942830622,0.0498487578047,0.999999964205,4.69017975474e-05,-0.000260942527196,-3.60580740286e-05,1793255789362843392
+29,0.483333333,BASELINE,783,759.171602663,736,722,688.171602663,652,914,800,837.171602663,659.828397337,635.171602663,659,0.400981590673,-0.00545022291462,0.049848044993,0.99999996407,4.6379600575e-05,-0.00026155842556,-3.60148826514e-05,1793255789379510016
+30,0.500000000,BASELINE,783,759.409858467,736,722,688.409858467,652,914,800,837,659.590141533,635,659,0.400981852938,-0.00545050660005,0.0498481899138,0.999999964095,4.63998911179e-05,-0.000261474922312,-3.58748516189e-05,1793255789396176896
+31,0.516666667,BASELINE,783,759.98917197,736,722,688.98917197,652,914,800,837,659.01082803,635,659,0.400982374152,-0.00545057904554,0.0498486894622,0.999999964188,4.66444718828e-05,-0.00026110225307,-3.5694782456e-05,1793255789412843520
+32,0.533333333,BASELINE,783,760,736,722,689,652,914,800,837.565908706,659.565908706,635,659,0.400983946525,-0.0054500276391,0.0498501362302,0.999999964751,4.66403947273e-05,-0.000258915564136,-3.58607101476e-05,1793255789429509888
+33,0.550000000,BASELINE,783,760,736,722,688.858426051,652,914,800,838,659.858426051,635,659,0.400984507964,-0.00544935735404,0.0498506593818,0.999999964941,4.70527740535e-05,-0.000258075366102,-3.60601997589e-05,1793255789446176512
+34,0.566666667,BASELINE,783,760,736,722,688.285873341,652,914,800,838,659.285873341,635,659,0.400981930974,-0.00544836135225,0.0498483159416,0.999999963976,4.8747346271e-05,-0.000261439332611,-3.63417963556e-05,1793255789462843136
+35,0.583333333,BASELINE,783,760,736,722,688.296720719,652,914,800,837.703279281,659,635,659,0.400981316918,-0.00544803750441,0.0498478135682,0.999999963745,4.90674838131e-05,-0.000262260230505,-3.63576363041e-05,1793255789479510016
+36,0.600000000,BASELINE,783,760,736,722,688.889327967,652,914,800,837.110672033,659,635,659,0.400982660275,-0.00544838392074,0.0498491470854,0.999999964253,4.80170509175e-05,-0.000260545209679,-3.61084667767e-05,1793255789496176640
+37,0.616666667,BASELINE,783,760,735.529161823,722,689,652,913.529161823,800,837.470838177,659,635.470838177,659.470838177,0.400984571552,-0.00544919626884,0.0498505116092,0.999999964952,4.83334799063e-05,-0.000257809006225,-3.59814808835e-05,1793255789512843264
+38,0.633333333,BASELINE,783,760,735.049433379,722,689,652,913.049433379,800,838,659,635.950566621,659.950566621,0.400986255646,-0.00544999512944,0.0498516336672,0.999999965555,4.89188471812e-05,-0.000255358761873,-3.590267972e-05,1793255789529509888
+39,0.650000000,BASELINE,783,760,735.624132796,722,689,652,913.624132796,800,838,659,635.375867204,659.375867204,0.400984139988,-0.00544951375438,0.0498501036893,0.999999964754,4.90265976693e-05,-0.000258438832762,-3.60377359992e-05,1793255789546176512
+40,0.666666667,BASELINE,783,759.80195078,736.19804922,722,689,652.19804922,914,800.19804922,837.80195078,659,635,659,0.400982891887,-0.00544853369524,0.0498491176693,0.999999964292,4.9403878881e-05,-0.000260124356678,-3.61920237844e-05,1793255789562843392
+41,0.683333333,BASELINE,783,759.229514541,736.770485459,722,689,652.770485459,914,800.770485459,837.229514541,659,635,659,0.400983283794,-0.00544661093688,0.0498491599329,0.999999964488,5.02906738556e-05,-0.000259173665607,-3.63826662933e-05,1793255789579510016
+42,0.700000000,BASELINE,783.35699287,759.35699287,736.64300713,722,689,652.64300713,913.64300713,801,837.35699287,659,635,659,0.400984225904,-0.00544709120052,0.0498496209498,0.99999996473,4.97480488334e-05,-0.000258354511371,-3.63151813343e-05,1793255789596176640
+43,0.716666667,BASELINE,783.952917973,759.952917973,736.047082027,722,689,652.047082027,913.047082027,801,837.952917973,659,635,659,0.40098553626,-0.005449179786,0.0498503622345,0.999999965,4.82487253695e-05,-0.000257623393634,-3.60749338921e-05,1793255789612843264
+44,0.733333333,BASELINE,783.468652154,760,736,722,689,652,913.531347846,801,838,659,635,659,0.400984259908,-0.00544867296061,0.0498501290766,0.999999964767,4.85100209257e-05,-0.00025847594329,-3.60898148992e-05,1793255789629510144
+45,0.750000000,BASELINE,783,760,736,722,689,652,914,800.891899226,837.891899226,659,635,659,0.400983083298,-0.00544821221142,0.0498499327587,0.999999964557,4.8884962956e-05,-0.000259222546522,-3.60575248411e-05,1793255789646176768
+46,0.766666667,BASELINE,783,760,736,722,689,652,914,800.315908806,837.315908806,659,635,659,0.400983298836,-0.00544891456149,0.0498502577018,0.999999964636,4.90980850252e-05,-0.000258922573282,-3.57263370701e-05,1793255789662843392
+47,0.783333333,BASELINE,783,760,736,722,688.734195614,652,914,800,837,659,635,659,0.400982715524,-0.00544881958393,0.0498497517549,0.999999964408,4.91600403044e-05,-0.000259780771048,-3.57909619773e-05,1793255789679510016
+48,0.800000000,BASELINE,783,760,736,722,688.145531165,652,914,800,837,659,635,659,0.400981161885,-0.0054477561302,0.049848236565,0.999999963803,4.90383804351e-05,-0.000262045744519,-3.63363618495e-05,1793255789696176640
+49,0.816666667,BASELINE,783,759.563936726,736,722,688,652,914,800.436063274,837,659.436063274,635,659,0.400981490425,-0.00544910463071,0.0498487398846,0.999999964132,4.72151426062e-05,-0.000261162157536,-3.60692117432e-05,1793255789712843264
+50,0.833333333,BASELINE,783,759.015171562,736,722,688,652,914,800.984828438,837,660,635,659,0.400982410402,-0.00545116503252,0.0498498610143,0.999999964735,4.49489293912e-05,-0.000259316296693,-3.55589017885e-05,1793255789729510144
+51,0.850000000,BASELINE,783,759.588240852,736,722,688,652,914,800.411759148,837,660,635,659,0.400982348658,-0.0054502756082,0.0498493238311,0.999999964425,4.6942691006e-05,-0.000260109137538,-3.59198408711e-05,1793255789746176768
+52,0.866666667,BASELINE,783,760,736,721.838271907,688,652,914,800,837,659.838271907,635,659,0.400982369089,-0.00544968123743,0.0498489339591,0.999999964284,4.82201002331e-05,-0.000260392198528,-3.61040842057e-05,1793255789762843392
+53,0.883333333,BASELINE,783,760,736,721.263717844,688,652,914,800,837,659.263717844,635,659,0.400982599277,-0.00544984001833,0.0498489201124,0.999999964584,4.7668953369e-05,-0.000259373999062,-3.58372952184e-05,1793255789779510272
+54,0.900000000,BASELINE,783,759.67807245,736,721.32192755,688,652,914,800.32192755,837,659,635,659,0.400983029431,-0.00545018291453,0.049849315561,0.99999996484,4.67503624578e-05,-0.000258570900546,-3.57091298141e-05,1793255789796176640
+55,0.916666667,BASELINE,783,759.083017047,736,721.916982953,688,652,914,800.916982953,837,659,635,659,0.400983629239,-0.00545068201673,0.0498500582614,0.999999965058,4.55200268848e-05,-0.000257950296751,-3.5698574618e-05,1793255789812843264
+56,0.933333333,BASELINE,783,759.496743874,736,722,688,652,914,800.503256126,837.496743874,659,635,659,0.400983963318,-0.00544994451264,0.0498502676989,0.999999964946,4.74134905248e-05,-0.00025803351615,-3.57523954449e-05,1793255789829509888
+57,0.950000000,BASELINE,783,759.926341566,736,722,688.073658434,652,914,800,838,659,635,659,0.40098388611,-0.00544905895818,0.0498502678207,0.99999996472,4.95629615997e-05,-0.000258499747584,-3.57958075304e-05,1793255789846176512
+58,0.966666667,BASELINE,783,759.351919984,736,722,688.648080016,652,914,800,838,659,635,659,0.400981305681,-0.00544852992335,0.0498494327019,0.999999964106,5.0009720662e-05,-0.000260794087545,-3.56974987018e-05,1793255789862843392
+59,0.983333333,BASELINE,783,759.227163151,736,721.772836849,689,652,914,800,837.772836849,659,635,659,0.400980236622,-0.00544825343302,0.049849033978,0.999999963888,5.0580165701e-05,-0.000261510923362,-3.57541926322e-05,1793255789879510272
+60,1.000000000,BASELINE,783,759.813619328,736,721.186380672,689,652,914,800,837.186380672,659,635,659,0.400981558021,-0.00544837638007,0.0498493254788,0.999999964301,5.13462389681e-05,-0.000259732697122,-3.60560469541e-05,1793255789896176896
+61,1.016666667,BASELINE,783,760,736.397672451,721.397672451,688.602327549,652,914,800,837.397672451,659,635,659,0.400982466086,-0.00544815455862,0.0498496402955,0.999999964478,5.12120193187e-05,-0.000259086558329,-3.60000911152e-05,1793255789912843776
+62,1.033333333,BASELINE,783,760,736.980606043,721.980606043,688.019393957,652,914,800,837.980606043,659,635,659,0.400983181594,-0.00544777212205,0.0498499659742,0.999999964545,5.06583858749e-05,-0.000258967818038,-3.5777444509e-05,1793255789929510400
+63,1.050000000,BASELINE,783,760,736.445056694,722,688,652,914,800,838,659,635,659,0.400984091274,-0.00544846895256,0.0498505976,0.999999964914,5.10143205178e-05,-0.000257469012295,-3.5769605277e-05,1793255789946176768
+64,1.066666667,BASELINE,783,760,736,722,688.128548016,652,914,800,837.871451984,659.128548016,635,659,0.400984460774,-0.00544903163216,0.0498508884693,0.999999965095,5.09557930604e-05,-0.00025677677812,-3.57652794314e-05,1793255789962843392
+65,1.083333333,BASELINE,783,760,736,722,688.700645834,652,914,800,837.299354166,659.700645834,635,659,0.400982943348,-0.00544900327073,0.0498499672417,0.999999964594,4.93591730766e-05,-0.000259031464288,-3.57475688707e-05,1793255789979510016
+66,1.100000000,BASELINE,783,760,736,722,688.715842582,652,913.715842582,800.284157418,837.284157418,659.715842582,635.284157418,659,0.400982330765,-0.00544930120843,0.0498494069471,0.999999964347,4.85274390855e-05,-0.000260141732764,-3.57533849295e-05,1793255789996176640
+67,1.116666667,BASELINE,783,760,736,722,688.119803675,652,913.119803675,800.880196325,837.880196325,659.119803675,635.880196325,659,0.400982711308,-0.00544995728092,0.0498492428003,0.999999964383,4.85352179707e-05,-0.000259995927279,-3.57850230045e-05,1793255790012843264
+68,1.133333333,BASELINE,783,760,736,722,688.461523298,652,913.461523298,800.538476702,837.538476702,659,635.538476702,659,0.400983900871,-0.00545059614676,0.049850160175,0.999999964904,4.8636584994e-05,-0.000257994647968,-3.55825427675e-05,1793255790029509888
+69,1.150000000,BASELINE,783,760,736,722,689,652,914,800,837,659,635.038849258,659,0.40098507025,-0.00545114260374,0.0498512134726,0.999999965475,4.86233089178e-05,-0.000255805553887,-3.53591232887e-05,1793255790046176768
+70,1.166666667,BASELINE,783,760,736,722,689,652,914,800,837,659,635.612048056,659,0.400983162697,-0.00545047756568,0.0498503941163,0.999999965132,4.67093555296e-05,-0.000257453341119,-3.56577744319e-05,1793255790062844416
+71,1.183333333,BASELINE,783,760,736,722,688.810109908,652,914,800,837,659,635.810109908,659,0.400982512859,-0.00545016385746,0.0498501168478,0.999999964999,4.64475272585e-05,-0.000258000223881,-3.57730532625e-05,1793255790079511552
+72,1.200000000,BASELINE,783,760,736,722,688.222543695,652,914,800,837,659,635.222543695,659,0.400984496982,-0.00545058591944,0.049850974843,0.999999965308,4.96456511964e-05,-0.000256241544735,-3.55043058442e-05,1793255790096177664
+73,1.216666667,BASELINE,783,760,736,722,688.362180346,652,914,800,837,659,635,659,0.400983662864,-0.00544912352517,0.0498500665653,0.999999964759,5.17381784739e-05,-0.000257938837637,-3.56875826823e-05,1793255790112844032
+74,1.233333333,BASELINE,783,760,736,722,688.945171563,652,914,800,837,659,635,659,0.400981110546,-0.00544651223247,0.0498480814422,0.999999963679,5.31566552869e-05,-0.000261743136734,-3.61464456371e-05,1793255790129510400
+75,1.250000000,BASELINE,783,760,736,722,689,652,914,800,837,659.521767627,635,659,0.400981219737,-0.0054477401447,0.0498480459279,0.999999963966,5.09081066137e-05,-0.000261115269568,-3.59879858197e-05,1793255790146176768
+76,1.266666667,BASELINE,783,760,736,722,689,652,914,800,837.09718074,659.90281926,635,659,0.400981472495,-0.00544910732178,0.0498482026394,0.999999964314,4.85645085562e-05,-0.00026025176998,-3.58255589321e-05,1793255790162843392
+77,1.283333333,BASELINE,783,760,736,722,689,652,914,800,837.670053018,659.329946982,635,659,0.400981075582,-0.00544920533525,0.0498483096063,0.999999964293,4.76190138254e-05,-0.000260487030111,-3.59573999126e-05,1793255790179510016
+78,1.300000000,BASELINE,783,760,736,722,688.750250519,652,913.750250519,800,838,659,635.249749481,659,0.400981461107,-0.00544905557844,0.0498487731279,0.999999964431,4.77112669211e-05,-0.000259930266017,-3.60369094218e-05,1793255790196176640
+79,1.316666667,BASELINE,783,760,736,722,688.161285333,652,913.161285333,800,838,659,635.838714667,659,0.400982909356,-0.00544856929412,0.0498497209305,0.999999964781,4.92130139598e-05,-0.000258297755699,-3.60453410673e-05,1793255790212843520
+80,1.333333333,BASELINE,783,760,736,722,688,652,913.42128429,800,838,659,635.57871571,659,0.400983235057,-0.0054498351476,0.0498497172005,0.999999964908,4.74169807805e-05,-0.000258168136668,-3.58351985494e-05,1793255790229510400
+81,1.350000000,BASELINE,783,760,736,722,688,652,914,800,837.998568503,659,635.001431497,659,0.400983137871,-0.0054517539695,0.0498493549144,0.999999964945,4.43896432439e-05,-0.000258604154684,-3.55433765197e-05,1793255790246177024
+82,1.366666667,BASELINE,783,760,736,722,688,652,914,800,837.422670789,659,635.577329211,659,0.400983219392,-0.00545054556568,0.049849106204,0.999999964862,4.63163281149e-05,-0.000258587178717,-3.55519470112e-05,1793255790262843648
+83,1.383333333,BASELINE,783,760,736,722,688.152423819,652,914,800,837,659,636,659,0.400983504843,-0.00544940515261,0.0498491802654,0.999999964872,4.77950252445e-05,-0.000258266710246,-3.5636931184e-05,1793255790279510016
+84,1.400000000,BASELINE,783,760,736,722,688.725303221,652,914,800,837,659,636,659,0.400984352826,-0.00544845228928,0.0498501446808,0.999999965148,4.80379648592e-05,-0.000257109068696,-3.59326997293e-05,1793255790296176640
+85,1.416666667,BASELINE,783,760,736,722,688.69048208,652,913.69048208,800.30951792,837,659,635.69048208,659,0.400984207896,-0.00544780026158,0.0498504420588,0.999999965098,4.96740482188e-05,-0.000256980264273,-3.60323634015e-05,1793255790312843520
+86,1.433333333,BASELINE,783,760,736,722,688.095824925,652,913.095824925,800.904175075,837,659,635.095824925,659,0.400983148258,-0.00544742537472,0.0498501249374,0.99999996474,5.25935465663e-05,-0.00025779926233,-3.595136807e-05,1793255790329510144
+87,1.450000000,BASELINE,783,760,736,722,688.484194343,652.484194343,913.484194343,800.515805657,837.484194343,659,635,659,0.400983425725,-0.00544843065741,0.0498498831032,0.999999964742,5.12929312392e-05,-0.000258060894188,-3.59178721871e-05,1793255790346177024
+88,1.466666667,BASELINE,783,760,736,722,688.939525289,652.939525289,914,800,838,659,635,659,0.400983851121,-0.0054495922484,0.0498497242158,0.999999964812,4.94199409055e-05,-0.000258161080678,-3.58655784937e-05,1793255790362844160
+89,1.483333333,BASELINE,783,760,736,722,688.371032043,652.371032043,914,800,838,659,635,659,0.400983361469,-0.00544983969392,0.0498501406325,0.999999964908,4.95488136463e-05,-0.000257804479643,-3.55787224819e-05,1793255790379510528
+90,1.500000000,BASELINE,783,760,736,722,688.206374211,652,913.793625789,800,838,659,635.206374211,659,0.400983015553,-0.0054498725434,0.0498503864357,0.999999964994,4.95099264029e-05,-0.000257493924139,-3.54620908849e-05,1793255790396176896
+91,1.516666667,BASELINE,783,760,736,722,688.800528051,652,913.199471949,800,838,659,635.800528051,659,0.40098293972,-0.00544950216427,0.0498503116543,0.999999965062,4.9155816112e-05,-0.000257269888782,-3.56653130474e-05,1793255790412843520
+92,1.533333333,BASELINE,783,759.612894774,736,722,688.612894774,652,913,800,837.612894774,659,635.612894774,659,0.40098311108,-0.00544885678288,0.0498504956611,0.999999965074,4.9829783306e-05,-0.000257085057369,-3.57138622914e-05,1793255790429510144
+93,1.550000000,BASELINE,783,759.030146788,736,722,688.030146788,652,913,800,837.030146788,659,635.030146788,659,0.400983407371,-0.00544807241548,0.0498508104593,0.999999965058,5.10233402438e-05,-0.000256920039587,-3.56842399487e-05,1793255790446176768
+94,1.566666667,BASELINE,783,759.544954492,736,722,688.544954492,652,913.544954492,800,837.544954492,659.544954492,635,659,0.400982057021,-0.00544849702275,0.049850168009,0.999999964807,4.87344411415e-05,-0.000258305954101,-3.59129640389e-05,1793255790462843392
+95,1.583333333,BASELINE,783,760,736,722,689,652,914,800,837.880780525,659.880780525,635,659,0.400981378889,-0.00544892739148,0.0498498603064,0.999999964709,4.69958614263e-05,-0.000258990760265,-3.60271860539e-05,1793255790479510272
+96,1.600000000,BASELINE,783,760,736,722,689,652,914,800,837.30810956,659.30810956,635,659,0.40098359921,-0.00544912881486,0.0498510244437,0.999999965265,4.80730226816e-05,-0.000256687085417,-3.5652293052e-05,1793255790496176896
+97,1.616666667,BASELINE,783,760,736,722,689,652,913.725298526,800,837,659,635.274701474,659,0.400984337197,-0.00545013341178,0.049851335891,0.999999965452,4.81949219798e-05,-0.000255964161111,-3.54476029756e-05,1793255790512843776
+98,1.633333333,BASELINE,783,760,736,722,689,652,913.130678349,800,837,659,635.869321651,659,0.400983348851,-0.00545207338858,0.0498506542914,0.999999965212,4.72043183936e-05,-0.00025708218688,-3.54411320941e-05,1793255790529510400
+99,1.650000000,BASELINE,783,760,736,722,689,652,913,800.450308435,837,659.450308435,635.549691565,659,0.400983497144,-0.00545022954935,0.0498507489661,0.999999965111,4.93448216839e-05,-0.000257049680038,-3.5618193306e-05,1793255790546176768
+100,1.666666667,BASELINE,783,760,736,722,689,652,913.027322445,800.972677555,837,659.972677555,635,659,0.400983862991,-0.00544748916248,0.0498509757288,0.999999965021,5.21847068813e-05,-0.000256807714733,-3.58384923871e-05,1793255790562843392
+101,1.683333333,BASELINE,783,760,736,722,689,652,913.601680528,800.398319472,837,659.398319472,635,659,0.40098217457,-0.00544813718176,0.0498494693296,0.999999964532,5.13695528238e-05,-0.000258860444619,-3.58894587458e-05,1793255790579510016
+102,1.700000000,BASELINE,783,760,736,722,689,652,914,800,837.180750189,659.180750189,635.180750189,659,0.400981373868,-0.00544869380736,0.0498487231225,0.999999964338,5.00126819639e-05,-0.000259872327129,-3.59129056662e-05,1793255790596176640
+103,1.716666667,BASELINE,783,760,736,722,689,652,914,800,837.770480572,659.770480572,635.770480572,659,0.400982581792,-0.00544904363801,0.0498496969883,0.999999964813,4.74300783683e-05,-0.000258529102759,-3.58740848427e-05,1793255790612843264
+104,1.733333333,BASELINE,783,760,736,722,689,652,913.64683447,800,837.64683447,659.64683447,635.64683447,659,0.400982757376,-0.00544875544457,0.0498501381704,0.999999964896,4.80558502743e-05,-0.000258093824478,-3.58718736334e-05,1793255790629510144
+105,1.750000000,BASELINE,783,760,736,722,689,652,913.068638664,800,837.068638664,659.068638664,635.068638664,659,0.400982275173,-0.00544806071448,0.0498502399366,0.999999964726,5.07259370266e-05,-0.000258237071832,-3.58929893615e-05,1793255790646177536
+106,1.766666667,BASELINE,783,760,736,722,689,652,913.506806719,800,837,659,635.506806719,659,0.400981141177,-0.00544920850485,0.0498491297329,0.999999964363,4.94100768168e-05,-0.000259919189024,-3.57009088462e-05,1793255790662844160
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,913,800,837,659,635,659,0.400982736345,-0.00544838764869,0.0498497451883,0.999999964791,5.07320894524e-05,-0.000257992378434,-3.58305693013e-05,1793255790706051840
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,913.591782352,800,837,659,635,659,0.400983049747,-0.00544995080058,0.0498495489318,0.999999964865,4.85140672276e-05,-0.000258143777818,-3.57569002217e-05,1793255790722718464
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,760,735.820664767,722,689,652,913.820664767,800,837.179335233,659,635,659,0.400983026309,-0.00545068835386,0.0498494954906,0.999999964867,4.74946587697e-05,-0.000258331375469,-3.57225020334e-05,1793255790739384832
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,760,735.242517418,722,689,652,913.242517418,800,837.757482582,659,635,659,0.40098225379,-0.00544958991166,0.0498497596469,0.999999964716,4.91407701077e-05,-0.000258599472151,-3.57754358454e-05,1793255790756051200
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760,735.3332921,722,688.6667079,652,913.3332921,800.3332921,837.6667079,659,635,659,0.400982091208,-0.00544986109057,0.0498497794522,0.99999996476,4.84401286918e-05,-0.00025856287914,-3.57713262967e-05,1793255790772717568
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760,735.907412328,722,688.092587672,652,913.907412328,800.907412328,837.092587672,659,635,659,0.40098236935,-0.00545112192182,0.0498496226959,0.999999964941,4.60437852037e-05,-0.000258306125333,-3.57259987089e-05,1793255790789384192
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760,736,722,688.49412781,652,914,800.50587219,837.49412781,659,635,659,0.400983193267,-0.00545120578406,0.049850238049,0.999999965083,4.70358094061e-05,-0.000257594417008,-3.56005205379e-05,1793255790806050560
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760,736.081880369,722,689,652,914,800,837.918119631,659.081880369,635.081880369,659,0.400984086655,-0.00545089790952,0.0498508754962,0.999999965184,4.85664614261e-05,-0.000256931738852,-3.54991311099e-05,1793255790822716928
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760,736.661220257,722,689,652,914,800,837.338779743,659.661220257,635.661220257,659,0.40098476456,-0.0054495849585,0.049850745221,0.999999965094,4.94113319175e-05,-0.0002570984042,-3.56377208493e-05,1793255790839383808
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760,736.760708428,722,689,652,913.760708428,800,837,660,635.760708428,659,0.400991476478,-0.00544920643875,0.0498528773222,0.999999966167,4.97939378959e-05,-0.000252830836827,-3.55292737554e-05,1793255790856050688
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760,736.184423688,722,689,652,913.184423688,800,837,660,635.184423688,659,0.401006686067,-0.00545014387415,0.049858195517,0.999999968799,4.95255389132e-05,-0.00024231856085,-3.50729258655e-05,1793255790872717568
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,736,722,688.601693025,652,913,800.398306975,837,659.601693025,635,659,0.401042676704,-0.00545051393822,0.0498702970824,0.999999974612,5.0411746644e-05,-0.000216887532818,-3.45704639139e-05,1793255790889384192
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,736,722,688.015928632,652,913,800.984071368,837,659.015928632,635,659,0.401088447641,-0.00545061697724,0.0498855911436,0.999999981068,5.18413532636e-05,-0.000184435208724,-3.40462989762e-05,1793255790906050816
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,913.563604837,801,837,659,635,659,0.401158229386,-0.00545386514533,0.0499056362651,0.999999987528,4.9646068477e-05,-0.000146409947298,-3.23163436269e-05,1793255790922717440
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,759.857265264,736,722,688,652,913.857265264,800.857265264,837,659,635,659,0.401231103919,-0.00545712259642,0.0499238056857,0.999999991855,4.73345753729e-05,-0.000114526236889,-3.05447255009e-05,1793255790939384064
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,759.27883546,736,722,688,652,913.27883546,800.27883546,837,659,635,659,0.401311370404,-0.00546014002298,0.0499358441806,0.999999993387,4.49776559595e-05,-0.000101865002413,-2.87488175911e-05,1793255790956050944
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,759.298071939,736,722,688,652,913.298071939,800.298071939,837.298071939,659,635.298071939,659,0.401398287257,-0.00546319965155,0.0499434526472,0.999999994473,4.35991359481e-05,-9.16465699672e-05,-2.74609270474e-05,1793255790972717568
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,759.873562385,736,722,688,652,913.873562385,800.873562385,837.873562385,659,635.873562385,659,0.401491393669,-0.00546629855778,0.0499469380421,0.999999995212,4.31312220982e-05,-8.37016783404e-05,-2.66458534095e-05,1793255790989383680
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,913.552303698,801,838,659,635.552303698,659,0.401599594408,-0.00547129508033,0.0499468882063,0.999999995158,4.1057184036e-05,-8.56948578341e-05,-2.55902701368e-05,1793255791006050304
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,913.022166484,801,838,659,635,659,0.40171333225,-0.00547673775688,0.0499459919686,0.999999994886,3.86042554041e-05,-9.02099655065e-05,-2.44730472567e-05,1793255791022716928
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,913.615131298,801,838,659,635,659,0.401860212726,-0.00547991056432,0.0499489324492,0.999999995162,3.80398167157e-05,-8.7610567875e-05,-2.35123746599e-05,1793255791039383552
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,760,736,722.201869309,688.201869309,652,914,801,838,659,635.201869309,659,0.402016488027,-0.00548453721865,0.049950917067,0.999999995376,3.59921952329e-05,-8.63402696405e-05,-2.23221504786e-05,1793255791056050176
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,760,736,722.777090936,688.777090936,652,914,801,838,659,635.777090936,659,0.402190138807,-0.00549185272666,0.0499511338396,0.999999995468,3.12014637458e-05,-8.75281083107e-05,-2.07073763996e-05,1793255791072717312
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,760,736,722.647036456,688.647036456,652,914,801,838,659,636,659,0.402385451633,-0.00549889827783,0.0499525722679,0.999999995734,2.71899972086e-05,-8.61931624941e-05,-1.90437006999e-05,1793255791089384192
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,760,736,722.070751915,688.070751915,652,914,801,838,659,636,659,0.402594470111,-0.00550577302728,0.0499547836411,0.999999996103,2.36715732616e-05,-8.3262044166e-05,-1.73490846532e-05,1793255791106050816
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,760,736,722.517825532,688,652,913.482174468,801,837.482174468,659,635.482174468,659,0.402836851639,-0.00551512587247,0.0499554660238,0.999999996153,1.9156705666e-05,-8.41853180891e-05,-1.54556101185e-05,1793255791122716928
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,760,736.106106831,722.893893169,688,652.106106831,913.106106831,800.893893169,837.106106831,659,635.106106831,659,0.403093104765,-0.0055248401488,0.0499569829702,0.999999996358,1.46200417979e-05,-8.30039652105e-05,-1.34037039365e-05,1793255791139383552
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,760,736.685395306,722.314604694,688,652.685395306,913.685395306,800.314604694,837.685395306,659,635.685395306,659,0.403390395332,-0.00553461957588,0.0499631759256,0.999999997434,1.0608084517e-05,-7.00314311761e-05,-1.07693869554e-05,1793255791156050944
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,760,736.737553736,722,688,652.737553736,914,800.262446264,838,659.262446264,636,659,0.403707176879,-0.0055440392981,0.0499711117413,0.99999999847,8.04027101734e-06,-5.41442882958e-05,-8.03981970535e-06,1793255791172717824
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,760,736.163162339,722,688,652.163162339,914,800.836837661,838,659.836837661,636,659,0.4040471255,-0.00555303147249,0.0499811191304,0.999999999355,7.18897533517e-06,-3.47928254057e-05,-5.19703759675e-06,1793255791189384192
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652.411472179,914,801,838,659.588527821,636,659,0.4044103298,-0.00556121564008,0.0499884887409,0.999999999744,5.87050056983e-06,-2.17492181773e-05,-2.29333831062e-06,1793255791206050560
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652.986203147,914,801,838,659.013796853,636,659,0.404782761188,-0.00556907921663,0.0499948117664,0.999999999927,4.36666434786e-06,-1.12083635322e-05,6.34530863945e-07,1793255791222717184
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652.421416589,913.421416589,801,838,659.578583411,635.421416589,659.578583411,0.405204306476,-0.00557185501089,0.0499957945537,0.999999999893,1.25670794949e-05,-5.96187213702e-06,4.5469912208e-06,1793255791239384320
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760,736.167394383,722,687.832605617,652,913,801,838,660,635.167394383,659.832605617,0.405624867443,-0.005568557651,0.0499894370357,0.99999999948,2.75663942077e-05,-1.50297849735e-05,7.31709940991e-06,1793255791256050944
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,736.746362091,722,687.253637909,652,913,801,838,660,635.746362091,659.253637909,0.40604003804,-0.00555063588182,0.0499653548254,0.999999996512,5.86953299358e-05,-5.89724133701e-05,7.21895758338e-06,1793255791272717312
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652,913,801,838,659.678611408,636,659,0.406486683314,-0.00554063919678,0.0499449192051,0.99999999233,8.0519823025e-05,-9.38016709051e-05,7.58253037821e-06,1793255791289383936
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652,913,801,838,659.106657543,636,659,0.406957867339,-0.00553682116996,0.0499273265856,0.99999998806,9.5090265446e-05,-0.000121525845073,8.30607129831e-06,1793255791306050560
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652.480799139,913.480799139,801,838,659,636,659,0.4074832388,-0.00553533777507,0.0499283165782,0.999999986861,0.000109244190056,-0.000119336984454,1.01043084302e-05,1793255791322717184
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,760,736.929642552,722,687,652.929642552,913.929642552,801,838,659,636,659,0.408033466155,-0.00553398418011,0.0499365725736,0.999999986769,0.000124138497799,-0.000104386406832,1.24788724495e-05,1793255791339383808
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,760,736.350582332,722,687,652.350582332,913.350582332,801,838,659,636,659,0.408673600496,-0.00552969975434,0.0499665656584,0.999999988235,0.000145076294805,-4.67418368338e-05,1.72392768299e-05,1793255791356050944
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,760,736,722,687,652,913,800.77266464,838,659,635.77266464,659,0.409313347643,-0.00552715617184,0.0499908901706,0.999999986468,0.000162984348256,-2.96447930478e-06,2.2168650543e-05,1793255791372717824
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,760,736,722,687,652,913,800.196500105,838,659,635.196500105,659,0.409952500631,-0.00552728378389,0.0500065166787,0.999999983904,0.000176243485265,1.95346700404e-05,2.73572948977e-05,1793255791389384192
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,760,736.378564287,721.621435713,687,652,913,800.378564287,838,659,635,659,0.410575851271,-0.00552733125376,0.0499997073384,0.999999982063,0.000186787980459,-3.46844231491e-06,3.11931333795e-05,1793255791406050560
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,760,736.953059268,721.046940732,687,652,913,800.953059268,838,659,635,659,0.411191023188,-0.00552733724502,0.0499812860429,0.999999978966,0.000195927478026,-5.00218214333e-05,3.43288100077e-05,1793255791422716672
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,760,737,721.543314249,687,652.543314249,913,801,838,659,635,659,0.411850562663,-0.00552699764319,0.0499577339358,0.999999975645,0.000198208856487,-9.08514153863e-05,3.41954334151e-05,1793255791439383296
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652.868220949,913,801,838,659,635,659,0.412547681702,-0.00552875949898,0.0499453734876,0.999999976469,0.000185472536426,-0.000108054519732,3.14038157743e-05,1793255791456050176
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652.29055823,913,801,838,659,635,659,0.41335859624,-0.00553773582962,0.0499724255076,0.999999990995,0.000123987507285,-4.70389511158e-05,2.06020452194e-05,1793255791472716800
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652,913,801,838,659,635,659,0.414141608144,-0.00554304479679,0.0499847213532,0.999999994651,9.9448103042e-05,-2.24264095465e-05,1.74548088347e-05,1793255791489383424
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652,913,801,838,659,635,659,0.414896381849,-0.0055446422839,0.0499820835137,0.999999992851,0.000112298765557,-3.46548091719e-05,2.20541879725e-05,1793255791506050304
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652,913,801,838,659,635,659,0.415658102468,-0.0055425523569,0.0499579276409,0.999999989453,0.000122333019294,-7.48002728741e-05,2.31118339221e-05,1793255791522717440
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,760,737,721.991941486,687,652.008058514,913,801,838,659,635.008058514,659,0.416423090201,-0.00553935070315,0.0499276068427,0.999999983597,0.000131286880304,-0.000122631040672,2.30516821763e-05,1793255791539384320
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,760,737,721.399979087,687,652.600020913,913,801,838,659,635.600020913,659,0.417264449952,-0.0055407143451,0.0499473015145,0.999999988221,0.000126970567176,-8.28973413871e-05,2.37541143594e-05,1793255791556050688
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652.812244089,913,801,838,659,636,659,0.418122379843,-0.0055428588265,0.0499672735909,0.99999999108,0.000122603166437,-4.67130903733e-05,2.50297406737e-05,1793255791572717056
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652.233316517,913,801,838,659,636,659,0.419014832001,-0.00554663011288,0.0499878236123,0.999999992484,0.000118129330039,-1.79237813362e-05,2.74995626975e-05,1793255791589383680
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,759.656893885,737,721,687,652.343106115,913,801,838,659,636,659,0.41987405865,-0.00554787833042,0.0499824601573,0.999999992233,0.000117914751256,-2.86984935864e-05,2.8399920968e-05,1793255791606050304
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,759.082162324,737,721,687,652.917837676,913,801,838,659,636,659,0.420710855253,-0.00554742326441,0.0499596029284,0.999999990142,0.000120575529223,-6.61822446115e-05,2.82407592541e-05,1793255791622717184
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,759.503589139,737.503589139,721,687,652.496410861,913,801,838,659,636,659,0.421627856482,-0.0055473416958,0.0499812830273,0.999999992165,0.000120673808028,-1.65298629046e-05,2.89006796622e-05,1793255791639383808
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,760,737.912762428,721,687,652,913,801,838,659,635.912762428,659,0.422554189813,-0.00554764513353,0.0500048255337,0.99999999182,0.00011948337019,3.4685065731e-05,2.96710764052e-05,1793255791656050688
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,760,737.35057149,721,687,652,913,801,838,659,635.35057149,659,0.423458493139,-0.0055497054991,0.0499980615279,0.999999992971,0.000113603796304,1.52752374668e-05,3.02991058165e-05,1793255791672717312
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,913,801,838.223459944,659,635,659,0.424377442584,-0.00555199286713,0.049991760342,0.999999993546,0.000109291691311,2.62787686586e-06,3.09291540392e-05,1793255791689383680
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,913,801,838.81710659,659,635,659,0.425320655127,-0.00555465629076,0.0499862258685,0.999999993715,0.000107576275176,1.18330668009e-06,3.15625467682e-05,1793255791706050304
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,760,737,720.602229674,687,652,913,801,839,659,635,659,0.42625838778,-0.00555628659771,0.0499979803302,0.999999993861,0.000105148176128,1.12325402139e-05,3.31159923333e-05,1793255791722716928
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,760,737,720.027346789,687,652,913,801,839,659,635,659,0.427193680382,-0.00555745689547,0.0500174329219,0.999999993793,0.000102402745557,2.63995437127e-05,3.50791036881e-05,1793255791739383552
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,760,737,720,687,652,912.437240001,801,839,658.437240001,635,659,0.428039358347,-0.00555273683962,0.0499852216714,0.999999992296,0.000110417395843,-4.46392279323e-05,3.49864603913e-05,1793255791756050176
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,760,737.150851048,720.150851048,687,652,912.150851048,801,839,658,635.150851048,659,0.428914307339,-0.0055486169828,0.0499587343253,0.99999998816,0.000116357080841,-9.46505460931e-05,3.43895334933e-05,1793255791772716800
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,760,737.731040982,720.731040982,687,652,912.731040982,801,839,658,635.731040982,659,0.429885303573,-0.00554704267061,0.0499558818421,0.999999990238,0.000114861643953,-7.25612743869e-05,3.26495843706e-05,1793255791789383424
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,760,738,720.693417885,687,652,913,801.306582115,839,658,636,659,0.430830194295,-0.00554658958731,0.0499520320024,0.999999990749,0.000112485183126,-6.95079895724e-05,3.19020592545e-05,1793255791806050048
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,760,738,720.121894174,687,652,913,801.878105826,839,658,636,659,0.431752525151,-0.0055471054457,0.049947320269,0.999999990073,0.00010934736067,-8.29051917482e-05,3.2012165475e-05,1793255791822716928
+175,2.916666667,POSE1_TO_POSE2_PRESS,783,760,738,720,686.535666186,652,912.535666186,802,839,658,635.535666186,659,0.432649792474,-0.00555009570333,0.0499378335882,0.999999989347,0.000105976615285,-9.49990858075e-05,3.24167346272e-05,1793255791839383808
+176,2.933333333,POSE1_TO_POSE2_PRESS,783,760,738,720.053886091,686.053886091,652,912,801.946113909,839,658,635.053886091,659,0.433544331416,-0.00555348719056,0.0499309597892,0.999999989004,0.000102818967567,-0.000101626611583,3.30407474263e-05,1793255791856050432
+177,2.950000000,POSE1_TO_POSE2_PRESS,783,760,738,720.636936773,686.636936773,652,912,801.363063227,839,658,635.636936773,659,0.434478801212,-0.00555423140462,0.0499624565615,0.999999992461,0.00010237404369,-5.80437488071e-05,3.50357874239e-05,1793255791872717056
+178,2.966666667,POSE1_TO_POSE2_PRESS,783.216599992,760,738,720.783400008,686.783400008,652,912,801,839,658.216599992,636,659,0.435379499845,-0.00555318933774,0.0499777289187,0.999999992983,0.000103649085223,-4.43453477987e-05,3.63916229639e-05,1793255791889383680
+179,2.983333333,POSE1_TO_POSE2_PRESS,783.790672694,760,738,720.209327306,686.209327306,652,912,801,839,658.790672694,636,659,0.436224463306,-0.00554919922522,0.0499662247994,0.999999990323,0.000107762726678,-7.99677155201e-05,3.66925273951e-05,1793255791906050048
+180,3.000000000,POSE1_TO_POSE2_PRESS,783.636309359,760,738,719.636309359,686.363690641,652,912,801.363690641,839,658.636309359,636,659,0.437097703467,-0.00554742062601,0.0499596737979,0.999999989606,0.000107574506389,-8.88970635143e-05,3.62267575298e-05,1793255791922716672
+181,3.016666667,POSE1_TO_POSE2_PRESS,783.063896771,760,738,719.063896771,686.936103229,652,912,801.936103229,839,658.063896771,636,659,0.437987171568,-0.00554691121385,0.0499559653898,0.999999990469,0.00010491744877,-8.25072935886e-05,3.532099352e-05,1793255791939383296
+182,3.033333333,POSE1_TO_POSE2_PRESS,783,760,738,719.52521853,687,652,912.52521853,801.47478147,839,658,636,659,0.438842736862,-0.00555024921091,0.0499705750964,0.999999992447,0.000104625369577,-5.28708397474e-05,3.6929850142e-05,1793255791956050176
+183,3.050000000,POSE1_TO_POSE2_PRESS,783,760,738.114739366,719.885260634,687,652,912.885260634,801.114739366,839,658,635.885260634,659,0.439681936886,-0.00555345841074,0.0499806730346,0.999999993316,0.000104114162889,-3.25401522515e-05,3.83250032318e-05,1793255791972717056
+184,3.066666667,POSE1_TO_POSE2_PRESS,783,760,738.697355679,719.302644321,687,652,912.302644321,801.697355679,839,658,635.302644321,659,0.440471774799,-0.00555417106705,0.0499629873002,0.999999992218,0.000101497640481,-6.20671092447e-05,3.756028389e-05,1793255791989383680
+185,3.083333333,POSE1_TO_POSE2_PRESS,783,760,738.723326496,719,687,652,912.276673504,801.723326496,839,658,635,659,0.441265756496,-0.00555513940507,0.0499592198652,0.999999992406,9.64737405578e-05,-6.73011843403e-05,3.67659295448e-05,1793255792006050304
+186,3.100000000,POSE1_TO_POSE2_PRESS,783,760,738.14757431,719,687,652,912.85242569,801.14757431,839,658,635,659,0.442064217493,-0.00555638412998,0.0499704978424,0.999999994337,8.88475125308e-05,-4.62751243108e-05,3.59395403997e-05,1793255792022716928
+187,3.116666667,POSE1_TO_POSE2_PRESS,783.423191537,760,738,719,686.576808463,651.576808463,913,801.423191537,839,658.423191537,635.423191537,659,0.442834367823,-0.00555712836392,0.0499827283742,0.99999999497,8.97897613017e-05,-2.46797470531e-05,3.72732911844e-05,1793255792039383552
+188,3.133333333,POSE1_TO_POSE2_PRESS,783.992238855,760,738,719,686.007761145,651.007761145,913,801.992238855,839,658.992238855,635.992238855,659,0.443594760758,-0.0055577001004,0.0499952872112,0.999999994833,9.3685192022e-05,-2.88814911773e-06,3.93515485035e-05,1793255792056050432
+189,3.150000000,POSE1_TO_POSE2_PRESS,783.413634776,760,738,719,686,651,913,802,839,659,636,659.586365224,0.444208870333,-0.00555372642572,0.049943386779,0.999999989351,0.000100290827671,-9.87005708663e-05,3.87094524038e-05,1793255792072717056
+190,3.166666667,POSE1_TO_POSE2_PRESS,783,760,738,719,686,651,912.824700767,801.824700767,839,658.824700767,636,659.824700767,0.444827323062,-0.00554982131096,0.0498955578966,0.999999977805,0.00010633622032,-0.000178005447079,3.73612613142e-05,1793255792089383936
+191,3.183333333,POSE1_TO_POSE2_PRESS,783,760,738,719,686,651,912.24843641,801.24843641,839,658.24843641,636,659.24843641,0.445460336697,-0.00554621677477,0.049859080634,0.999999969951,0.000111014444387,-0.000215832786827,3.4484045466e-05,1793255792106050560
+192,3.200000000,POSE1_TO_POSE2_PRESS,783,760,738,719,685.671147825,650.671147825,912.328852175,801,839,658,635.671147825,659.328852175,0.446102524746,-0.00554773460886,0.0498467710824,0.999999969237,0.000110035670675,-0.000219673318014,3.40972757085e-05,1793255792122717184
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,760,738,719,685.093083086,650.093083086,912.906916914,801,839,658,635.093083086,659.906916914,0.446751665363,-0.00555313430597,0.0498527764407,0.999999974324,0.000104769879578,-0.000197757776944,3.55978296821e-05,1793255792139383808
+194,3.233333333,POSE1_TO_POSE2_PRESS,783.492465421,760,738,719,685,650,913,801,839,658,635,660,0.447317861091,-0.00555267951581,0.0498359426139,0.999999968978,0.000107718225193,-0.000221789889316,3.5363272165e-05,1793255792156050688
+195,3.250000000,POSE1_TO_POSE2_PRESS,783.921231623,760,738,719,685,649.921231623,913,801,839.078768377,658.078768377,635,660,0.44786360927,-0.00555170327182,0.0498139940423,0.999999960492,0.000111314909447,-0.000255754609052,3.48524851695e-05,1793255792172717056
+196,3.266666667,POSE1_TO_POSE2_PRESS,783.339284822,760,738,719,685,649.339284822,913,801,839.660715178,658.660715178,635,660,0.448380433262,-0.00555457395726,0.0497873745497,0.999999949404,0.000108982117232,-0.000296834506628,3.47044929543e-05,1793255792189383680
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,760,738,719,685,649,913,801,839.759781879,658.759781879,635,659.759781879,0.448890668155,-0.00555712071801,0.0497751364437,0.999999943868,0.000107048496655,-0.000315536983137,3.52279003964e-05,1793255792206050304
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,760,738,719,685,649,913,801,839.183695934,658.183695934,635,659.183695934,0.449391690267,-0.00555921457397,0.0497830060862,0.999999947854,0.000105672989686,-0.0003029518267,3.66900445079e-05,1793255792222716928
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,760,738.389963902,718.610036098,685,648.610036098,913,801,839.389963902,658,635,659,0.449879912178,-0.00555975296431,0.0498006627043,0.999999955406,9.88809829362e-05,-0.000279514242284,3.58046657572e-05,1793255792239383808
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,760,738.962488015,718.037511985,685,648.037511985,913,801,839.962488015,658,635,659,0.450362141765,-0.00555956316914,0.0498229010609,0.999999963919,8.95532609327e-05,-0.00025099613109,3.38203026508e-05,1793255792256050432
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,760,738.44809388,718.55190612,685,647.44809388,913,800.44809388,839.44809388,658.55190612,634.44809388,659,0.450780064442,-0.00556158848621,0.0498250844055,0.999999965864,5.86501995639e-05,-0.000253240990769,2.64755695941e-05,1793255792272717056
+202,3.366666667,POSE1_TO_POSE2_PRESS,783.140029453,760,738,719,684.859970547,647,913,800,839,659,634.140029453,659,0.451176237334,-0.00556402740162,0.0498215388626,0.99999996379,3.45297133575e-05,-0.000266052396833,2.10497367769e-05,1793255792289383680
+203,3.383333333,POSE1_TO_POSE2_PRESS,783.72035726,760,738,719,684.27964274,647,913,800,839,659,634.72035726,659,0.451518199143,-0.00556727845744,0.0498044011975,0.999999952467,3.64923980932e-05,-0.000305306407459,2.28393102963e-05,1793255792306050048
+204,3.400000000,POSE1_TO_POSE2_PRESS,783.698548841,760,738,718.698548841,684,647,913,800.301451159,839,659,634.698548841,659,0.451831271061,-0.0055666679258,0.0497830539361,0.999999938618,4.22861201524e-05,-0.000347004024754,2.37636363559e-05,1793255792322716928
+205,3.416666667,POSE1_TO_POSE2_PRESS,783.116742496,760,738,718.116742496,684,647,913,800.883257504,839,659,634.116742496,659,0.452117474824,-0.0055624660458,0.0497577916728,0.999999921951,5.16427780526e-05,-0.000390974239173,2.38832660624e-05,1793255792339383808
+206,3.433333333,POSE1_TO_POSE2_PRESS,783.452456735,760,738,718.452456735,684,646.547543265,913,801,839,659,634,659,0.452419459722,-0.00556351661517,0.0497519626821,0.999999919936,5.40959218691e-05,-0.000395740054746,2.43008857684e-05,1793255792356050176
+207,3.450000000,POSE1_TO_POSE2_PRESS,783.980507679,760,738.019492321,719,684,646,913,800.980507679,839.019492321,659,634,659,0.452724458771,-0.00556579777788,0.0497514858762,0.999999922126,5.48985948935e-05,-0.000390023641118,2.48268270984e-05,1793255792372717056
+208,3.466666667,POSE1_TO_POSE2_PRESS,783.383829824,760,738.616170176,719,684,646,913,800.383829824,839.616170176,659,634,659,0.453001407442,-0.00556547611205,0.0497650432865,0.99999993123,5.81436211358e-05,-0.000365327862134,2.63452904278e-05,1793255792389383936
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,760,738.794822883,718.794822883,683.794822883,645.794822883,913,800.205177117,840,659,634,659.205177117,0.453259013481,-0.00556544164972,0.0497743670522,0.999999937084,6.00528660859e-05,-0.000348516275934,2.76174666999e-05,1793255792406050560
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,760,738.219648998,718.219648998,683.219648998,645.219648998,913,800.780351002,840,659,634,659.780351002,0.453481738843,-0.00556592510272,0.0497760562672,0.999999937991,5.95532906504e-05,-0.000345922291136,2.84455123338e-05,1793255792422717184
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760,738,718.355522657,683,645,913,801,839.644477343,659,634,659.644477343,0.453672867733,-0.00556600606018,0.0497697365036,0.999999935037,5.97775822121e-05,-0.00035429469487,2.87831689088e-05,1793255792439383808
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,738,718.930692989,683,645,913,801,839.069307011,659,634,659.069307011,0.45384447583,-0.00556583834941,0.0497584686631,0.999999929514,6.044909051e-05,-0.000369442311359,2.88178552282e-05,1793255792456050432
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,759.483226464,738,719,683,645,913,800.483226464,839,659,634,659,0.453993664107,-0.00556559865898,0.0497469860301,0.999999924288,6.03500069586e-05,-0.000383389637523,2.81983136637e-05,1793255792472717056
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,759,738.103290497,719,683,645,913,800.103290497,839.103290497,659,634,659,0.454135175105,-0.00556512277399,0.0497365604233,0.999999919307,6.05066208223e-05,-0.000396187610478,2.75845198118e-05,1793255792489383424
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,759,738.684906493,719,683,645,913,800.684906493,839.684906493,659,634,659,0.454255358203,-0.00556359876968,0.0497311660478,0.999999915902,6.23362506827e-05,-0.000404424617265,2.74124268785e-05,1793255792506050304
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,759.262737405,739,719,683,644.737262595,913,800.737262595,839.737262595,659,634,659.262737405,0.454364736438,-0.00556325011796,0.0497275582669,0.999999913635,6.42852576861e-05,-0.000409689067419,2.74322260929e-05,1793255792522717184
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,759.836093406,739,719,683,644.163906594,913,800.163906594,839.163906594,659,634,659.836093406,0.454461340729,-0.00556429101485,0.0497260626694,0.999999912773,6.63753969835e-05,-0.000411439242586,2.76788878381e-05,1793255792539384064
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,739,719,683,644,913,800,839.421119528,659,633.578880472,659.578880472,0.454536729514,-0.00556426056269,0.0497224055133,0.999999910329,6.61079784461e-05,-0.000417387932767,2.75569469818e-05,1793255792556050688
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,739,719,683,644,913,800,840,659,633.010630553,659,0.454603410331,-0.00556383768795,0.0497178898989,0.999999907215,6.48854340387e-05,-0.000424989025789,2.72886665745e-05,1793255792572717056
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,739,719,683,644,913,800,840,659,633.590148033,659,0.454658575299,-0.00556536535098,0.0497137400332,0.999999904732,6.30542987854e-05,-0.000431075475975,2.70854415486e-05,1793255792589383680
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,760,739,719,683,644,913,800,839.831439338,659,634,659,0.454706546984,-0.00556639665563,0.0497085151947,0.999999901474,6.15369481463e-05,-0.000438804595376,2.67620005614e-05,1793255792606050304
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,760,739,719,683,644,913,800,839.255695725,659,634,659,0.454737142236,-0.00556622893374,0.0497006936029,0.999999896335,6.07775904396e-05,-0.000450501821842,2.61481603515e-05,1793255792622716672
+223,3.716666667,POSE1_TO_POSE2_PRESS,783.319886331,760,739,718.680113669,683,644,912.680113669,800,839,659,633.680113669,659,0.454764482518,-0.00556532048463,0.0496957782644,0.999999893397,6.17907605447e-05,-0.000456857577194,2.58802164273e-05,1793255792639383552
+224,3.733333333,POSE1_TO_POSE2_PRESS,783.895339376,760,739,718.104660624,683,644,912.104660624,800,839,659,633.104660624,659,0.454789222311,-0.0055638202465,0.0496931848173,0.999999892287,6.42200558156e-05,-0.000458945873532,2.588861928e-05,1793255792656050176
+225,3.750000000,POSE1_TO_POSE2_PRESS,783.517054917,759.517054917,739,718.482945083,683.482945083,644,912.482945083,800,839.482945083,659,633,659.482945083,0.454806261275,-0.00556141696037,0.0496914953339,0.999999891364,6.73366316079e-05,-0.000460516290776,2.57316820632e-05,1793255792672717056
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,759.071887405,739,719,683.928112595,644,913,800,839.928112595,659,633,659.928112595,0.454820853714,-0.00555938348101,0.0496901975481,0.999999890522,6.99056145715e-05,-0.000461968467187,2.55959738336e-05,1793255792689383936
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,759.651195029,739,719,683.348804971,644,913,800,839.348804971,659,633,659.348804971,0.454830261135,-0.00556137732871,0.0496902461055,0.999999890016,6.7530935494e-05,-0.000463398674659,2.58695571653e-05,1793255792706050816
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,760,738.771342229,718.771342229,683,644,913,800,839,658.771342229,633,659,0.454836640126,-0.00556132173869,0.0496889358437,0.999999888742,6.69081907176e-05,-0.00046624113541,2.56689144979e-05,1793255792722717184
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,760,738.196671262,718.196671262,683,644,913,800,839,658.196671262,633,659,0.454838436386,-0.00555816486538,0.0496855693677,0.999999886293,6.89365363285e-05,-0.000471220668726,2.4750655908e-05,1793255792739383552
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,738.385319942,718.385319942,683,644,913,800,839,658.385319942,633.385319942,659,0.454839588212,-0.00555702350089,0.0496834449431,0.999999884456,6.97176596098e-05,-0.000475001324954,2.451428415e-05,1793255792756050176
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,738.971119809,718.971119809,683,644,913,800,839,658.971119809,633.971119809,659,0.454840404742,-0.00555693079507,0.0496819667513,0.999999882939,6.98498596574e-05,-0.00047815821163,2.46326945269e-05,1793255792772716800
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,760,739,718.447837713,683,644,913,800,839.552162287,659,634,659.552162287,0.454840343058,-0.00555763194168,0.0496807300927,0.999999882378,6.8323816105e-05,-0.000479533877858,2.4976056639e-05,1793255792789383680
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,739,718.131977022,683,643.868022978,913,800,840,659,634,659.868022978,0.454840331002,-0.00555781848637,0.0496795160724,0.99999988189,6.72473858791e-05,-0.000480695289742,2.50770704699e-05,1793255792806050304
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,739,718.708487236,683,643.291512764,913,800,840,659,634,659.291512764,0.454840639505,-0.00555613305611,0.049678336116,0.999999881499,6.79750136033e-05,-0.000481446158817,2.43224998376e-05,1793255792822717184
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,760,738.71454149,718.71454149,683,643.28545851,913,800,839.71454149,659,634,659,0.454840784353,-0.00555524667263,0.0496778326847,0.999999881177,6.83044739617e-05,-0.000482087684697,2.3903094871e-05,1793255792839384064
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,760,738.137098545,718.137098545,683,643.862901455,913,800,839.137098545,659,634,659,0.454840761806,-0.00555517760289,0.0496780212446,0.999999880929,6.82266644574e-05,-0.000482617367755,2.3826517769e-05,1793255792856050432
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,738,718,683,643.551910828,913,800,839.448089172,659,633.551910828,659.448089172,0.454841552155,-0.00555537593525,0.0496781678309,0.999999880957,6.87641210782e-05,-0.000482476715822,2.39541120618e-05,1793255792872717056
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,760,738,718.035179036,683,643.035179036,912.964820964,800,839.964820964,658.964820964,633,659.964820964,0.454842495316,-0.00555561741685,0.0496782519355,0.999999881017,6.94836482623e-05,-0.000482239449608,2.41473740741e-05,1793255792889383680
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760,738,718.6143957,683,643.6143957,912.3856043,800,839.3856043,658.3856043,633,659.3856043,0.454841887697,-0.00555523868568,0.0496775718692,0.999999880249,7.00564336076e-05,-0.000483735641952,2.43731154968e-05,1793255792906050304
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760,738.192275493,719,683,644,912.192275493,800,839,658.192275493,633,659,0.454841642997,-0.00555518221077,0.0496768961288,0.999999879671,6.99266589121e-05,-0.000484938504654,2.45410529699e-05,1793255792922716672
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760,738.767492698,719,683,644,912.767492698,800,839,658.767492698,633,659,0.454842121096,-0.00555576755124,0.0496762290041,0.999999879476,6.83976442649e-05,-0.00048555716304,2.45938663275e-05,1793255792939383552
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643.662642467,913,800,839,659,633.337357533,659.337357533,0.454843137257,-0.00555497636463,0.0496764598367,0.999999879752,6.8220593095e-05,-0.000485023504901,2.43952557086e-05,1793255792956050688
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643.096408906,913,800,839,659,633.903591094,659.903591094,0.454844518459,-0.00555325129029,0.0496772998774,0.999999880347,6.89607648206e-05,-0.000483708071899,2.40260696128e-05,1793255792972717824
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,759.501417572,739,718.501417572,683,643.498582428,913,800,839,659,633.501417572,659.501417572,0.454845399888,-0.00555311556805,0.0496775347312,0.999999880568,7.0351400624e-05,-0.000483063595903,2.37534701942e-05,1793255792989384192
+245,4.083333333,HOLD_POSE2,783,759,738,718,683,643,913,800,839,659,634,660,0.454844233127,-0.00555159541411,0.0496772269909,0.99999987929,7.13664306786e-05,-0.000485568056128,2.34617509465e-05,1793255793032276736
+246,4.100000000,HOLD_POSE2,783,759.578157998,738,718,683,643,913,800,839,659,634,659.421842002,0.454844012162,-0.00555146087204,0.0496762298163,0.999999879188,7.20062832851e-05,-0.000485670019652,2.37364556313e-05,1793255793048942848
+247,4.116666667,HOLD_POSE2,783,760,738.158983293,718.158983293,683,643,913,800,839,659,634,659.158983293,0.454843741384,-0.00555135366844,0.0496754610083,0.999999878996,7.24542144368e-05,-0.000485992923604,2.38499502988e-05,1793255793065608960
+248,4.133333333,HOLD_POSE2,783,760,738.747006813,718.747006813,683,643,913,800,839,659,634,659.747006813,0.454843336174,-0.00555132024173,0.0496753084813,0.999999878562,7.23842169389e-05,-0.000486912068413,2.35283956493e-05,1793255793082275328
+249,4.150000000,HOLD_POSE2,783,760,739,718.669969849,683,643,913,800,839,658.669969849,633.669969849,660,0.454843600691,-0.00555222110522,0.0496752311868,0.99999987873,7.10273070951e-05,-0.000486767853692,2.34828113017e-05,1793255793098942208
+250,4.166666667,HOLD_POSE2,783,760,739,718.090722359,683,643,913,800,839,658.090722359,633.090722359,660,0.454844370943,-0.005553827484,0.0496752107031,0.99999987935,6.86986046236e-05,-0.000485820658848,2.36456218239e-05,1793255793115608832
+251,4.183333333,HOLD_POSE2,783,760,739,718.484765393,683,643.484765393,913,800,839,658.484765393,633,659.515234607,0.454844770578,-0.00555283547267,0.0496756350179,0.999999879287,7.05962576129e-05,-0.00048567071212,2.37854164359e-05,1793255793132275456
+252,4.200000000,HOLD_POSE2,783,760,738.94045587,718.94045587,683,643.94045587,913,800,839,659,633.05954413,659,0.454845112555,-0.00555145376492,0.0496760532134,0.999999879133,7.30260874753e-05,-0.000485623500403,2.38993514999e-05,1793255793148942336
+253,4.216666667,HOLD_POSE2,783,760,738.365770616,718.365770616,683,643.365770616,913,800,839,659,633.634229384,659,0.454845551147,-0.00555087527089,0.0496757038443,0.99999987933,7.32698306506e-05,-0.000485184212901,2.38265427758e-05,1793255793165608704
+254,4.233333333,HOLD_POSE2,783,760,738.215302642,718,683,643,913,800,839,659,634,659.215302642,0.454845885775,-0.00555055183709,0.0496755179628,0.999999879388,7.31401578412e-05,-0.000485086642593,2.37842740497e-05,1793255793182275328
+255,4.250000000,HOLD_POSE2,783,760,738.807560045,718,683,643,913,800,839,659,634,659.807560045,0.454846038382,-0.00555067496624,0.0496756183175,0.999999879202,7.23567032801e-05,-0.000485587355385,2.379547517e-05,1793255793198941952
+256,4.266666667,HOLD_POSE2,783,760,739,718,683,643,913,800,839,659,634,659.610318977,0.454845146119,-0.00554960332743,0.0496746971647,0.999999878327,7.38256301972e-05,-0.000487185993417,2.33681423606e-05,1793255793215608576
+257,4.283333333,HOLD_POSE2,783,760,739,718,683,643,913,800,839,659,634,659.033076807,0.454843750939,-0.0055479566233,0.0496732843402,0.999999877111,7.63786725877e-05,-0.000489313084521,2.27297345389e-05,1793255793232274944
+258,4.300000000,HOLD_POSE2,783,760,739,718,683,643,913,800,839,659,634,659,0.454844825586,-0.00555022187241,0.0496739724937,0.999999877896,7.3755579319e-05,-0.000488100167791,2.29380882906e-05,1793255793248941824
+259,4.316666667,HOLD_POSE2,783,760,739,718,683,643,912.879978959,800,839,659,633.879978959,659,0.454845754239,-0.00555170656451,0.0496746000115,0.999999878521,7.18695267881e-05,-0.000487092399243,2.30888632526e-05,1793255793265608704
+260,4.333333333,HOLD_POSE2,783,760,739,718,683,643,912.304973864,800,839,659,633.304973864,659,0.454845560336,-0.00554933085219,0.0496745135477,0.999999878111,7.39702145641e-05,-0.000487631944824,2.28262487589e-05,1793255793282275072
+261,4.350000000,POSE2_TO_POSE3_RETREAT,783,760,739,718,683,644,913,800,839,659,633,659,0.454845878392,-0.00554911586176,0.0496751355106,0.999999878237,7.36549890831e-05,-0.000487390721745,2.3466056274e-05,1793255793319270912
+262,4.366666667,POSE2_TO_POSE3_RETREAT,783,760,739,718,683,643.422887392,913,800,839,659,633,659,0.454846043896,-0.00555037984335,0.0496751968512,0.999999878577,7.22314491398e-05,-0.000486906613809,2.34513399963e-05,1793255793335937536
+263,4.383333333,POSE2_TO_POSE3_RETREAT,783,760,739,718,683,643,913,800,839.153393271,659,633,659,0.454846011373,-0.00555112237053,0.0496749892119,0.999999878662,7.15980621764e-05,-0.000486829908854,2.33849030737e-05,1793255793352604416
+264,4.400000000,POSE2_TO_POSE3_RETREAT,783,760,739,718,683,643,913,800,839.72739286,659,633,659,0.454845435853,-0.00555043506335,0.0496740440266,0.999999878049,7.31312845117e-05,-0.000487870307997,2.31766474754e-05,1793255793369271040
+265,4.416666667,POSE2_TO_POSE3_RETREAT,783,760,739,718.310448523,683,643,913,800,839.689551477,659,633.310448523,659.310448523,0.454844847191,-0.00554922360713,0.049673277513,0.999999877496,7.44961646408e-05,-0.000488809640133,2.28882191001e-05,1793255793385937664
+266,4.433333333,POSE2_TO_POSE3_RETREAT,783,760,739,718.901695299,683,643,913,800,839.098304701,659,633.901695299,659.901695299,0.45484424664,-0.00554753806227,0.0496726726066,0.999999876998,7.57087804737e-05,-0.000489657557892,2.25272750898e-05,1793255793402604288
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783,760,739,719,682.519220151,643,913,800,839,659,633.519220151,660,0.454845697456,-0.00554957893145,0.0496735769029,0.999999877851,7.31424444266e-05,-0.000488273562611,2.31710718868e-05,1793255793419270912
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783,760,739,719,682.0575179,643,913,800,839,659,633,659.9424821,0.45484733076,-0.00555196551379,0.049674658043,0.999999878857,7.03873160705e-05,-0.0004865809843,2.38888288029e-05,1793255793435937792
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,760,739,719,682.634969613,643,913,800,839,659,633,659.365030387,0.454846915675,-0.00555075956865,0.0496746171258,0.999999878922,7.2737913266e-05,-0.000486122435087,2.34639030543e-05,1793255793452604416
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,739,719,683,643,913,800,839.210670238,659,633,659,0.454844080869,-0.00554938598741,0.0496733719242,0.999999877951,7.49823032629e-05,-0.000487803782331,2.28618145799e-05,1793255793469271040
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,760,739,719,683,643,913,800,839.783361687,659,633,659,0.454837087952,-0.00554772433608,0.0496700572491,0.999999875187,7.70441838065e-05,-0.000493162383292,2.1955285117e-05,1793255793485937920
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,760,739,719,682.630212274,643,913,800,839.630212274,659,633,659,0.454818018226,-0.00554759723813,0.0496609649977,0.999999868013,7.58371812454e-05,-0.000507697101175,2.15904415832e-05,1793255793502604544
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,760,739,719,682.035429451,643,913,800,839.035429451,659,633,659,0.454791600438,-0.00554840382971,0.0496483574147,0.999999857835,7.26412467921e-05,-0.000527814972008,2.15551834679e-05,1793255793519271168
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,760,738.458359026,718.458359026,682,643,913,800,839,659,633,659.541640974,0.454739373439,-0.0055458044061,0.0496284217146,0.99999983892,7.42684342175e-05,-0.000562338875541,2.04861693767e-05,1793255793535937792
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,759.88271788,738.11728212,718,682.11728212,643,913,800,839,659,633,660,0.45468342905,-0.00554298557508,0.0496088568352,0.999999820514,7.62796496808e-05,-0.000593955519321,1.92394560599e-05,1793255793552604416
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,759.308274698,738.691725302,718,682.691725302,643,913,800,839,659,633,660,0.454619366612,-0.00554015243632,0.0495925466831,0.99999981029,7.8596978381e-05,-0.000610682987949,1.75553090659e-05,1793255793569271296
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,759,739,718,683,643,913,800,839,659,633,659.726114852,0.45454703692,-0.00553744120966,0.0495796406814,0.999999800728,7.99654698436e-05,-0.000626009552753,1.61799699878e-05,1793255793585937920
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,759,739,718,683,643,913,800,839,659,633,659.135017648,0.454465132152,-0.00553487118099,0.0495706773462,0.999999792049,8.02350238601e-05,-0.00063971359863,1.51622903973e-05,1793255793602604544
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,759.446446571,738.553553429,718.446446571,683,643,912.553553429,800,839,659,633,659,0.454375970976,-0.00553036880216,0.0495705558452,0.999999792381,8.37856759833e-05,-0.000638750904309,1.46356090655e-05,1793255793619271168
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,760,738.024958309,719,683,643,912.024958309,800,839,659,633.024958309,659,0.454283558314,-0.00552541824891,0.0495732314874,0.999999795449,8.82128931524e-05,-0.00063333730447,1.42762893399e-05,1793255793635937792
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,760,738.601245008,719,683,643,912.601245008,800,839,659,633.601245008,659,0.454166773744,-0.00552320415402,0.0495798746953,0.999999800161,9.05466404732e-05,-0.000625516594948,1.44030954868e-05,1793255793652604672
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,760,739,719,683,643,913,800,839,658.82413966,633.82413966,659,0.454039719691,-0.00551954963889,0.0495844787742,0.999999802838,9.38651872345e-05,-0.000620735750157,1.41388378404e-05,1793255793669271552
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,739,719,683,643,913,800,839,658.253278467,633.253278467,659,0.453889599314,-0.00551265978845,0.0495845027538,0.999999801047,9.93956969881e-05,-0.000622782762936,1.29962096985e-05,1793255793685937920
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,760,739,718.668778292,683,643.331221708,913,800,839,658.331221708,633.331221708,659,0.453718136545,-0.0055066939028,0.049584817903,0.99999979965,0.000102895649124,-0.000624473521902,1.20497668618e-05,1793255793702604544
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,739,718.073400697,683,643.926599303,913,800,839,658.926599303,633.926599303,659,0.453529652779,-0.00550146489669,0.0495853652656,0.999999798585,0.000104776191843,-0.000625880161609,1.1259785578e-05,1793255793719271424
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,759.493404326,739,718,683,644,913,800,839,659,633.493404326,659,0.453318207605,-0.00549499770114,0.0495906740461,0.999999799608,0.00011041585708,-0.000623275268781,1.10033391483e-05,1793255793735938048
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783.083839235,759.083839235,739,718.083839235,683,644,913,800,839,659,633,659.083839235,0.453098707511,-0.00548786779259,0.0495968301588,0.999999801246,0.000116582844739,-0.000619516367789,1.07550272428e-05,1793255793752604672
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783.657635696,759.657635696,739,718.657635696,683,644,913,800,839,659,633,659.657635696,0.452851003722,-0.00547788250982,0.0496040252154,0.999999804954,0.000122742310295,-0.00061231006081,1.01158009942e-05,1793255793769271040
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783.772559067,760,739,718.772559067,683,644,912.772559067,800,839,659,633.227440933,659.772559067,0.452589338358,-0.00546929315124,0.0496108568851,0.99999980744,0.000127778170213,-0.000607209186817,9.41964210121e-06,1793255793785937664
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783.208658195,760,739,718.208658195,683,644,912.208658195,800,839,659,633.791341805,659.208658195,0.45230701925,-0.00546276882423,0.0496171509857,0.999999808215,0.000131151847518,-0.000605222941112,8.6392611434e-06,1793255793802604288
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,760,739,718.382676837,683,644,912,800,839,659,634,659.382676837,0.45198299855,-0.00545591572604,0.0496191154564,0.999999807761,0.00013464787187,-0.000605221254702,7.47830188592e-06,1793255793819270912
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,760,739,718.990125796,683,644,912,800,839,659,634,659.990125796,0.451634483679,-0.00544886951841,0.0496185368408,0.999999806578,0.00013821575884,-0.000606385234954,6.09380314646e-06,1793255793835937536
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,760,738.434638397,719,683,644.565361603,912.565361603,800,839,659,634,659.434638397,0.451263680794,-0.0054418629676,0.0496143850738,0.999999808446,0.00013906051761,-0.00060312681154,2.88795981945e-06,1793255793852604672
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783.140323014,760,738,719,683,645.140323014,913,800,839,659,634,659,0.450889541815,-0.00543574426319,0.0496152380284,0.999999815094,0.00013922764294,-0.000591969099676,-1.5114323931e-07,1793255793869271296
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783.716084568,760,738,719,683,645.716084568,913,800,839,659,634,659,0.450506193444,-0.00543237861675,0.049631804428,0.999999835692,0.000137431622175,-0.000556525742312,-2.57944144537e-06,1793255793885937664
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783.700581961,760,738.299418039,718.700581961,683.299418039,646,912.700581961,800,839,659,634,659,0.45009869287,-0.00543531569643,0.0496479486614,0.999999853246,0.000128710817075,-0.00052623839739,-3.94097125971e-06,1793255793902604288
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783.109882263,760,738.890117737,718.109882263,683.890117737,646,912.109882263,800,839,659,634,659,0.449667696357,-0.00544438423169,0.0496636822024,0.999999868094,0.000113253401424,-0.000500966951482,-4.26472131437e-06,1793255793919271680
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,760,738.529416113,718,684,646.470583887,912,800,839,659,634,659,0.449174375296,-0.00544291639113,0.0496725434763,0.999999874396,0.000107293170503,-0.000489547646612,-6.27012480299e-06,1793255793935938048
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,760,738,718.048360018,684,647,912,800,839,659,634.048360018,659.048360018,0.448662700172,-0.00543872400832,0.0496779465275,0.999999877594,0.000103728776972,-0.000483708512048,-8.80846372518e-06,1793255793952604672
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,760,738,718.622318215,684,647,912,800,839,659,634.622318215,659.622318215,0.448106345636,-0.0054310902255,0.0496628333471,0.999999867587,0.000102614399152,-0.000504111341212,-1.29621104953e-05,1793255793969271552
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783.194754725,760,738,719,684.194754725,647.194754725,912.194754725,800.194754725,839,659,635,659.805245275,0.447536155445,-0.00542425735363,0.0496469936675,0.999999856648,0.000100561249421,-0.000525639035621,-1.71802099016e-05,1793255793985938432
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783.764263119,760,738,719,684.764263119,647.764263119,912.764263119,800.764263119,839,659,635,659.235736881,0.446939342249,-0.00541896562234,0.0496297560341,0.99999984421,9.67016829305e-05,-0.00054933123293,-2.15223310176e-05,1793255794002605056
+303,5.050000000,POSE2_TO_POSE3_RETREAT,784,760,738,719,684.647376402,648.352623598,912.647376402,801,839,659,635,659,0.446330652836,-0.00541369292202,0.0496237682481,0.999999839702,9.39809565549e-05,-0.000557785318953,-2.52732325576e-05,1793255794019271680
+304,5.066666667,POSE2_TO_POSE3_RETREAT,784,760,738,719,684.045701056,648.954298944,912.045701056,801,839,659,635,659,0.44571357549,-0.00540843366316,0.0496257260289,0.999999841076,9.20645727971e-05,-0.000555476998357,-2.86065660957e-05,1793255794035938304
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783.46775994,759.46775994,738,718.46775994,684.53224006,649,912,801,839,659,635,659,0.445083841097,-0.00541121718171,0.0496712130231,0.999999875345,8.09037487718e-05,-0.00049189113888,-2.84357401051e-05,1793255794052604672
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783,759.1078933,738,718,685.1078933,649,912.1078933,801,839,659,635,659,0.444441809944,-0.00541353533641,0.049715130368,0.99999990425,7.0237319371e-05,-0.000430997129009,-2.8441064256e-05,1793255794069271040
+307,5.116666667,POSE2_TO_POSE3_RETREAT,783,759.682090227,738,718,685.682090227,649,912.682090227,801,839,659,635,659,0.443751130188,-0.00541098496191,0.0497367996658,0.999999916016,6.49917932526e-05,-0.000403506476416,-3.04525780182e-05,1793255794085937664
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783,759.734724037,738,718,686,649.265275963,913,801,839.265275963,659,635,659,0.443044515558,-0.00540715588929,0.0497458106222,0.999999920783,5.99674343377e-05,-0.000392079623977,-3.33266180928e-05,1793255794102604544
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783,759.14038811,738,718,686,649.85961189,913,801,839.85961189,659,635,659,0.442318134518,-0.005401740663,0.0497391196186,0.999999917549,5.52174202802e-05,-0.000400579011774,-3.72705740014e-05,1793255794119271168
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783,759.439677039,737.560322961,718.439677039,686,650,913,801,839.560322961,659,635,659.439677039,0.441595414317,-0.00540128122557,0.0497669127505,0.999999937551,4.50305441738e-05,-0.000348279412273,-3.96399775853e-05,1793255794135937792
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783,759.984705271,737.015294729,719,686,650,912.984705271,801,839,659,635,660,0.440871115323,-0.00540232296589,0.0498046303916,0.999999959741,3.32212490616e-05,-0.000278730285949,-4.15285490049e-05,1793255794152604672
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783,759.410331714,737.589668286,719,686,650,912.410331714,801,839,659,635,660,0.440047719658,-0.0054022150296,0.0498152958082,0.999999963404,2.35681436812e-05,-0.000265956103322,-4.36406427771e-05,1793255794169271040
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,759,737.836224497,719,686,650,912.163775503,801,839,659,635,660,0.439207712347,-0.00540098895038,0.049811712972,0.999999960696,1.49136242904e-05,-0.000276036115274,-4.67877485761e-05,1793255794185937664
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,759,737.262783531,719,686,650,912.737216469,801,839,659,635,660,0.438326152976,-0.00539696596609,0.0497724897801,0.999999939661,8.75695269325e-06,-0.00034328324949,-5.25238169121e-05,1793255794202604544
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,759.322311091,737,719,686,650,913,801,839,659,635.322311091,659.677688909,0.437456843836,-0.00539484839645,0.0497542079499,0.999999926382,-3.14606694029e-07,-0.000379465297915,-5.69461963599e-05,1793255794219271168
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783,759.917263451,737,719,686,650,913,801,839,659,635.917263451,659.082736549,0.436597897144,-0.00539434260732,0.0497536403103,0.99999992231,-1.18518541043e-05,-0.000389369550088,-6.02573330913e-05,1793255794235937536
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783,760,737,719,686,650,913,801,839,659,636,659.49651909,0.43571463307,-0.0053911750464,0.04976648915,0.999999927888,-1.97932995721e-05,-0.000373963345862,-6.31204916022e-05,1793255794252604160
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783,760,737.072851368,719,686,650,913,801,839,659,635.927148632,659.927148632,0.434824941792,-0.00538800448866,0.0497782834177,0.999999934043,-1.49458550412e-05,-0.000357478577921,-6.245408444e-05,1793255794269270784
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,760,737.646516629,719,686,650,913,801,839,659,635.353483371,659.353483371,0.43391806963,-0.00538776898721,0.0497679302804,0.999999931144,7.38255082018e-05,-0.000361684239588,-3.80212530037e-05,1793255794285937664
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,760,737.772884322,719,686.227115678,650.227115678,913,801,839,659.227115678,635.227115678,659,0.433023951553,-0.00538533780044,0.049770852597,0.999999929023,0.000125814693789,-0.000354291606459,-2.45321546302e-05,1793255794302604544
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,760,737.181153572,719,686.818846428,650.818846428,913,801,839,659.818846428,635.818846428,659,0.432150308945,-0.00537938162596,0.0497950875338,0.999999938656,0.000118753209006,-0.000328278893351,-2.86122935752e-05,1793255794319271168
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,760,737,719.399622394,686.600377606,651,913,801,839,660,636,659.399622394,0.431236049132,-0.00537699471139,0.0497915527595,0.999999938201,0.000104421213555,-0.000333977072121,-3.3957926324e-05,1793255794335937792
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,760,737,719.97556489,686.02443511,651,913,801,839,660,636,659.97556489,0.43030386838,-0.00537618261451,0.0497757655215,0.999999932891,8.68813472395e-05,-0.00035366662967,-3.98619159048e-05,1793255794352604672
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783,760,737,720,686.55037235,651,913,801,839,659.44962765,635.44962765,659.44962765,0.429353561116,-0.00537613496487,0.0497551345954,0.999999922307,7.52705752171e-05,-0.00038435170539,-4.46445804983e-05,1793255794369271296
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783,760,737,720,686.874250545,651,913,801,839,659,635.125749455,659,0.428399575901,-0.00537609953109,0.0497418699166,0.999999913499,6.70293226018e-05,-0.00040768530917,-4.79770918724e-05,1793255794385937664
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,760,737,720,686.296645858,651,913,801,839,659,635.703354142,659,0.427435260584,-0.00537598628889,0.0497558454973,0.999999915338,6.99518169717e-05,-0.000402852345885,-4.62772912079e-05,1793255794402604544
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,760,737,720,686,651,913,801,838.711997537,659,635.711997537,659,0.426495536768,-0.00537472056064,0.0497565091654,0.999999916127,7.21412623509e-05,-0.000400451624516,-4.668156456e-05,1793255794419271168
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,760,737,720,686,651,913,801,838.119912347,659,635.119912347,659,0.425581777548,-0.00537223799871,0.0497431176657,0.999999915831,7.35567296657e-05,-0.000400618946615,-4.93073904251e-05,1793255794435938048
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,759.536948512,737,720,686,651,913,801,838,659,635,659,0.42470552763,-0.00537544313781,0.049768596511,0.999999934774,6.57048024615e-05,-0.000351662199208,-4.96862818512e-05,1793255794452604672
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783,759.04336213,736.95663787,720,686.04336213,651,913.04336213,800.95663787,838.04336213,659,635.04336213,659,0.423835836403,-0.00537952709706,0.0498018519401,0.999999954035,5.65623399564e-05,-0.000293732510574,-4.95124604956e-05,1793255794469271552
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783,759.619534468,736.380465532,720,686.619534468,651,913.619534468,800.380465532,838.619534468,659,635.619534468,659,0.422929687645,-0.00537666101761,0.0498093666678,0.999999958067,6.04814427161e-05,-0.000278840168992,-4.95587773312e-05,1793255794485937664
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,760,736.198620631,720.198620631,687,651,914,800.198620631,839,659,635.801379369,659.198620631,0.422016709667,-0.00537426460516,0.0498055962853,0.999999955845,6.51410513045e-05,-0.000285634588726,-4.97855449659e-05,1793255794502604288
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760,736.783371544,720.783371544,687,651,914,800.783371544,839,659,635.216628456,659.783371544,0.421090455117,-0.0053727812527,0.0497798869805,0.999999940219,7.12402477365e-05,-0.000334589355156,-5.03631195978e-05,1793255794519270912
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,759.633484623,737,720.633484623,687.366515377,651,914,801,839,659,635.366515377,659.633484623,0.420197735103,-0.00537339299035,0.0497834946147,0.999999937953,7.24746928521e-05,-0.000341122712502,-4.97600671521e-05,1793255794535937792
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,759.051286541,737,720.051286541,687.948713459,651,914,801,839,659,635.948713459,659.051286541,0.419324749159,-0.00537523762236,0.0498043543417,0.999999944251,7.08463853888e-05,-0.000322692409818,-4.84622530186e-05,1793255794552604672
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,759.524626009,737,720.524626009,687.475373991,651.524626009,914,801,838.475373991,659,635.475373991,659,0.418436155081,-0.00537148540873,0.0497820839969,0.999999928558,7.73029644808e-05,-0.000366658772934,-4.97024967032e-05,1793255794569271296
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,760,736.900072396,721,687,651.900072396,913.900072396,801,838,659,635.099927604,659,0.417561922589,-0.00536838708737,0.0497615227116,0.999999913902,8.22778290933e-05,-0.00040350092444,-5.11267111433e-05,1793255794585937920
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,760,736.324788737,721,687,651.324788737,913.324788737,801,838,659,635.675211263,659,0.416763180671,-0.00537097125854,0.0497689110352,0.99999992435,7.64889159958e-05,-0.000377779970335,-5.22597595192e-05,1793255794602604544
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,760,736.256140383,721,687.256140383,651.256140383,913.256140383,801,838,659.256140383,635.743859617,659,0.4159728393,-0.00537317682794,0.0497810652483,0.999999935198,7.32864984657e-05,-0.000348528685034,-5.25419265985e-05,1793255794619270912
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,760,736.844389295,721,687.844389295,651.844389295,913.844389295,801,838,659.844389295,635.155610705,659,0.415193390039,-0.00537489150667,0.0497993988557,0.999999946448,7.34377003054e-05,-0.000314700016901,-5.17208511666e-05,1793255794635937792
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,760,736.573354257,721,688,652,914,801,838,659.573354257,635.426645743,659,0.414392712933,-0.00537439807285,0.0497854327716,0.999999938388,7.36356123e-05,-0.00033907708081,-5.31756438473e-05,1793255794652604416
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,760,736,721,688,652,914,801,838,659,635.993313437,659,0.413585236271,-0.00537311548486,0.0497600674614,0.999999922012,7.38671692427e-05,-0.000383988503491,-5.54336382192e-05,1793255794669271040
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,760,736,721,688,652,914,801,838,659,635.418398173,659,0.412848778785,-0.0053722626239,0.0497532520573,0.999999917616,7.55301746388e-05,-0.00039482261445,-5.63846745315e-05,1793255794685937664
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,760,736,721,687.842873834,652,914,801,838,659.157126166,635,659,0.412130721234,-0.00537191565416,0.0497573371481,0.9999999194,7.84877662239e-05,-0.000389717952908,-5.62122834064e-05,1793255794702604288
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760,736,721,687.265721196,652,914,801,838,659.734278804,635,659,0.411461849851,-0.00537292102239,0.0497905612182,0.999999936505,8.49060195471e-05,-0.000342006090885,-5.30367690524e-05,1793255794719271168
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783.319406404,760,736,721,687,652,914,801,838,659.680593596,635,659,0.410781254429,-0.00537147230037,0.0497999090016,0.999999939726,9.04853622186e-05,-0.000331167400463,-5.18420454334e-05,1793255794735938048
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783.911338408,760,736,721,687,652,914,801,838,659.088661592,635,659,0.410090655802,-0.0053679296866,0.0497888849328,0.999999932207,9.53489248713e-05,-0.000351789833349,-5.23373826807e-05,1793255794752604672
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783.512266331,760,736,721,687.487733669,652,914,801,838,659,635,659,0.409471433391,-0.00536967286809,0.0497808936789,0.99999992971,9.39572524517e-05,-0.000359041800982,-5.33100152427e-05,1793255794769271040
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760,736,721,688,652,914,801,838,659,635,659,0.40887037798,-0.00537232141593,0.0497760121341,0.999999929089,9.16505787344e-05,-0.000361234107661,-5.41401565554e-05,1793255794785937664
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760,736,721,688,652,914,801,838,659,635,659,0.408315988307,-0.00537475437566,0.0497926204047,0.999999936366,9.09041807943e-05,-0.00034086220686,-5.30796928384e-05,1793255794802604544
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,760,736,721.218488329,688,652,914,801,838,659,635,659,0.407767093242,-0.00537662732352,0.0498064082977,0.999999941915,9.15763546615e-05,-0.000324159286366,-5.20030475232e-05,1793255794819271424
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,760,736,721.811183583,688,652,914,801,838,659,635,659,0.407227608897,-0.0053775411338,0.0498153657031,0.999999945006,9.46781293342e-05,-0.000313740263679,-5.08986879749e-05,1793255794835938048
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,760,736.392264763,722,688.392264763,652,914.392264763,801,838,659.392264763,635,659,0.406694679652,-0.0053748764885,0.0497986786776,0.999999934862,9.94703490918e-05,-0.000343010734456,-5.21969969777e-05,1793255794852604672
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,760,736.967916326,722,688.967916326,652,914.967916326,801,838,659.967916326,635,659,0.406164814919,-0.00537053888773,0.0497700026837,0.999999916614,0.000105052865038,-0.000390836347745,-5.46185718485e-05,1793255794869271552
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783.543796525,760,736.456203475,721.456203475,689,651.456203475,914.456203475,801,838,659.456203475,635,659,0.40569168871,-0.00537387013559,0.0497564353881,0.999999908729,0.000101155549799,-0.000411373769673,-5.55046220981e-05,1793255794885938176
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783.880318103,760,736,721,688.880318103,651.119681897,914,800.880318103,837.880318103,659,635.119681897,659,0.40523998721,-0.00537679847954,0.0497500526974,0.999999905076,9.73890256447e-05,-0.00042096651474,-5.61247418984e-05,1793255794902604544
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783.304464285,760,736,721,688.304464285,651.695535715,914,800.304464285,837.304464285,659,635.695535715,659,0.404857181996,-0.00537646585773,0.0497676553381,0.99999991579,9.62537213035e-05,-0.000394982335891,-5.60767099108e-05,1793255794919271168
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,760,736,721.279810614,688,652,914,800.279810614,837,659,635.720189386,659,0.404496744066,-0.00537775318044,0.0497917984888,0.999999929264,9.32965297679e-05,-0.000360150698618,-5.53042643037e-05,1793255794935937536
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,760,736,721.873532848,688,652,914,800.873532848,837,659,635.126467152,659,0.404161399381,-0.00538085787317,0.0498232792517,0.999999944923,8.82954144476e-05,-0.00031539334895,-5.37191194773e-05,1793255794952604160
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.452187537,651.547812463,914,800.547812463,837,659,635.452187537,659,0.403842608265,-0.00538519250649,0.0498368578863,0.999999951971,7.97545685711e-05,-0.00029463619735,-5.37204632862e-05,1793255794969271040
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,759.973192472,736,722,689,651.026807528,914,800,837,659.026807528,635.973192472,659,0.403528958335,-0.00538976543972,0.0498448414147,0.999999956319,7.04799931954e-05,-0.000281887409746,-5.4165021779e-05,1793255794985937920
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,759.397682333,736,722,689,651.602317667,914,800,837,659.602317667,635.397682333,659,0.403228833737,-0.00539240217145,0.0498374794971,0.9999999513,6.57971171255e-05,-0.000300096322199,-5.48923701856e-05,1793255795002604544
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,759.178554517,736,722,689,652,914,800.178554517,837,660,635,659,0.402939259294,-0.00539376882527,0.0498287261039,0.999999945594,6.20454151056e-05,-0.000319141243649,-5.57704536232e-05,1793255795019271168
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,759.75641646,736,722,689,652,914,800.75641646,837,660,635,659,0.402673278553,-0.00539229516113,0.0498168609086,0.999999938735,6.03761293406e-05,-0.000340055757582,-5.69856307641e-05,1793255795035937792
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.657114309,652,914,800.657114309,837.342885691,659.657114309,635,659,0.402431977777,-0.00539107644053,0.0498084226519,0.999999933302,6.65345125385e-05,-0.000354629303076,-5.66391542286e-05,1793255795052604416
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.064373019,652,914,800.064373019,837.935626981,659.064373019,635,659,0.402208660888,-0.00539004349327,0.0498024815522,0.999999928946,7.83967991438e-05,-0.00036458228328,-5.51547244871e-05,1793255795069270784
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783,759.48806938,736,722,688,652,914,800.51193062,837.48806938,659.51193062,635,659,0.402036195166,-0.00538502373846,0.0498040927381,0.999999928207,0.000116973538198,-0.000357235411773,-4.78092797955e-05,1793255795085937664
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783,759,736,722,688.086327592,652,914,800.913672408,837,660,635,659,0.401874602213,-0.00538012886073,0.049807070216,0.999999927357,0.000151955791497,-0.000347136266708,-4.11306585732e-05,1793255795102604288
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783,759,736,722,688.661268102,652,914,800.338731898,837,660,635,659,0.401739483147,-0.00537868999213,0.0498125730087,0.999999932555,0.000148171666231,-0.000333388864206,-4.22678640179e-05,1793255795119270912
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,759,736,722,689,652,914,800,837,660,635,659,0.401616934109,-0.00537890491593,0.0498182353004,0.99999993714,0.000144139348722,-0.000321091982167,-4.29374033138e-05,1793255795135937792
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,759,736,722,689,652,914,800,837,660,635,659,0.401512410962,-0.0053814914391,0.0498241263193,0.999999940991,0.000139751114627,-0.000310875200861,-4.29362920376e-05,1793255795152604416
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,759.414369065,736,721.585630935,688.585630935,652,914,800,837,660,635,659,0.401416597371,-0.00538459148989,0.0498258063233,0.999999943181,0.000134177590493,-0.000306130244516,-4.37914374639e-05,1793255795169271296
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783,759.993889582,736,721.006110418,688.006110418,652,914,800,837,660,635,659,0.401324255073,-0.00538789621282,0.0498258079799,0.999999944703,0.000128131655783,-0.000303566145808,-4.49878536312e-05,1793255795185937920
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783,760,736,721.56868239,688.56868239,652,914,800,837,659.43131761,635,658.43131761,0.401254185418,-0.00539676581308,0.0498257544644,0.999999946405,0.000114868737557,-0.000303278303576,-4.49173453595e-05,1793255795202604288
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,759.857402135,736,721.857402135,689,652,914,800.142597865,837,659,635,658.142597865,0.401190210253,-0.00540431815872,0.0498260820888,0.999999947997,0.000103826995887,-0.000302021559327,-4.48308394133e-05,1793255795219270912
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,759.285973638,736,721.285973638,689,652,914,800.714026362,837,659,635,658.714026362,0.401143849138,-0.00540773082522,0.0498275576728,0.999999949694,9.96962176912e-05,-0.000297778117221,-4.47368244197e-05,1793255795235937536
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,759.898692679,736,721.898692679,689,652,914,800.101307321,837.898692679,659.898692679,635,659,0.401073077196,-0.00540786269172,0.049831991568,0.999999952406,9.94039592341e-05,-0.000288507825701,-4.54895446956e-05,1793255795269271040
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,783,760,736,721.592350243,688.407649757,652,914,800.407649757,837,659,635,659,0.400984118091,-0.00540919503977,0.0498411169806,0.999999957674,0.000101059601577,-0.000269213837117,-4.43002677551e-05,1793255795519270912
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783,760,736,722,688,652,914,800,837,659,635,659,0.400983029641,-0.00540914832495,0.0498402292771,0.99999995722,0.000102964133874,-0.000270178996079,-4.42882128023e-05,1793255795535937792
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783,760,736,722,688,652,914,800,837,659,635,659,0.400982143951,-0.00540800781502,0.0498402421839,0.999999957086,0.000103544805418,-0.000270407438924,-4.45781344718e-05,1793255795552604416
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,688,652,914,800,837,659,635,659,0.400982949409,-0.00540867901238,0.0498410489263,0.999999957584,0.000102478238421,-0.000269001856721,-4.4370501001e-05,1793255795569271296
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,689,652.178276028,914,800,837.178276028,659,635.178276028,658.178276028,0.40098528332,-0.00540992394074,0.0498453074576,0.999999959507,9.94075017502e-05,-0.000263014337465,-4.39136164951e-05,1793255795669270784
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783.40431906,760,736,722,688.59568094,652,914,800,837,659,635,658.40431906,0.400985506928,-0.0054099618981,0.0498449348705,0.999999959507,9.90570588481e-05,-0.000263127109966,-4.40181518673e-05,1793255795685937664
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,783.444079897,760,736,722,688.555920103,652,914,800,837,659.555920103,635,659,0.40098426891,-0.00541134792237,0.049844337556,0.999999959469,9.64662060333e-05,-0.000264267402055,-4.38131308554e-05,1793255795719271424
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9010f1702ca7d7d2b2e7b078d67708cf6d96b206
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6dde5f65821aa8c4117c1ec467fd2c616c297935
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fa57beb91582e8fd0bcf1cd7c77e66382e327bdcb385f9bc20dd6916a250a70
+size 25916120
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e53cacf2aaaa67e89e7e1bba249e4a0702cf4d08
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+2,0.033333333,BASELINE,783,760,736,722,689,652,914,800,837,659.158781202,635,659.158781202,0.400984687609,-0.0054105208222,0.0498462481494,0.999999959535,0.000101510149301,-0.000262176523611,-4.34731885575e-05,1793255795908687872
+3,0.050000000,BASELINE,783,760,736,722,689,652,914,800,837,659.734911814,635,659.734911814,0.400983501624,-0.00541000409724,0.0498453593953,0.999999959228,0.000101450084151,-0.000263387567476,-4.33421821046e-05,1793255795925354496
+4,0.066666667,BASELINE,783,760,736,722,689,652,914,800,837,659.683396737,635.316603263,659.683396737,0.400983307562,-0.00541072460736,0.0498451042614,0.999999959232,0.000100897922654,-0.000263614861667,-4.31666611981e-05,1793255795942021120
+5,0.083333333,BASELINE,783,760,736,722,689,652,914,800,837,659.096966059,635.903033941,659.096966059,0.400983958872,-0.00541249956006,0.049845389135,0.999999959499,9.99263684989e-05,-0.000263003748026,-4.29532025355e-05,1793255795958687744
+6,0.100000000,BASELINE,783,760,736,722,689,652,914,800,837.484058256,659,635.515941744,658.515941744,0.400984207097,-0.00541149435901,0.0498457674734,0.999999959552,9.972069562e-05,-0.000262826988383,-4.32933913479e-05,1793255795975354368
+7,0.116666667,BASELINE,783,760,736,722,689,652,914,800.063444064,837.936555936,659,635,658.063444064,0.400984299525,-0.00541003413614,0.0498460605085,0.99999995954,9.98748282794e-05,-0.00026274824139,-4.3687951874e-05,1793255795992020992
+8,0.133333333,BASELINE,783,760,736,722,689,652,914,800.638255988,837.361744012,659,635,658.638255988,0.400983779841,-0.00540934562575,0.0498455167471,0.999999959353,0.0001017061109,-0.000262765928768,-4.36367112467e-05,1793255796008687616
+9,0.150000000,BASELINE,783,760,736,721.78724926,689,652,914,801,837.21275074,659,635,659,0.400983683076,-0.00540974492817,0.0498454970609,0.999999959431,0.000102142948788,-0.000262326887691,-4.34612569521e-05,1793255796025354240
+10,0.166666667,BASELINE,783,760,736,721.21329306,689,652,914,801,837.78670694,659,635,659,0.400984304339,-0.00541199110522,0.0498463671428,0.999999959961,0.000100212316212,-0.000261112418937,-4.30749143013e-05,1793255796042021120
+11,0.183333333,BASELINE,783,760,736,721.372693051,689,652,914.372693051,801,837.627306949,659,635,659,0.400984674679,-0.00541238721613,0.04984679806,0.999999960146,9.91088797816e-05,-0.00026082163981,-4.31039099333e-05,1793255796058687488
+12,0.200000000,BASELINE,783,760,736,721.965793603,689,652,914.965793603,801,837.034206397,659,635,659,0.400984896625,-0.00541168921387,0.0498469692588,0.999999960128,9.84946399316e-05,-0.000261077122757,-4.33785330567e-05,1793255796075354112
+13,0.216666667,BASELINE,783,760,736,722,689,652,914.455498302,800.455498302,837.544501698,659,635,659,0.400985852693,-0.00541214744171,0.0498472232722,0.999999960406,9.911587081e-05,-0.000259803429383,-4.32057724509e-05,1793255796092020992
+14,0.233333333,BASELINE,783,760,736,722,689,652,914,800.12198314,837.87801686,659,635,659,0.400986293683,-0.00541237036283,0.0498472773419,0.999999960544,9.98666820151e-05,-0.000258997030504,-4.31068954177e-05,1793255796108687616
+15,0.250000000,BASELINE,783,760,736,722,689,652,914,800.69817721,837.30182279,659,635,659,0.400984649453,-0.0054114536071,0.0498465680374,0.999999960104,0.000100818434804,-0.000260279120225,-4.33850845632e-05,1793255796125354240
+16,0.266666667,BASELINE,783,760,736,722,689,652,914,801,837,659,635.27362796,659,0.400983975522,-0.00541166445597,0.0498462666698,0.999999960025,0.000100598537607,-0.000260669320531,-4.33834315728e-05,1793255796142020864
+17,0.283333333,BASELINE,783,760,736,722,689,652,914,801,837,659,635.848260984,659,0.400984368972,-0.00541311572892,0.0498464140542,0.999999960343,9.90897640973e-05,-0.000260078395763,-4.30739375823e-05,1793255796158687488
+18,0.300000000,BASELINE,783,760,736,722,689,652,914,801,837,659.436482323,636,659,0.400984965155,-0.00541294704287,0.049846474196,0.999999960449,9.86322139729e-05,-0.000259855825211,-4.29987325467e-05,1793255796175354112
+19,0.316666667,BASELINE,783,760,736,722,688.97115742,652,914,801,837.02884258,660,636,659,0.400985624942,-0.00541228370826,0.0498465418165,0.999999960496,9.85062603913e-05,-0.000259722129037,-4.30094133455e-05,1793255796192020736
+20,0.333333333,BASELINE,783,760,736,722,688.392832261,652,914,801,837.607167739,660,636,659,0.400986110635,-0.00541327039807,0.0498473482802,0.99999996084,9.75116922412e-05,-0.000258763612863,-4.30547744371e-05,1793255796208687360
+21,0.350000000,BASELINE,783,759.815403772,736,722,688.184596228,652,914,801,838,659.815403772,636,659,0.400985957305,-0.00541370522644,0.0498474104273,0.999999960929,9.6574274454e-05,-0.000258740523009,-4.32388449455e-05,1793255796225354240
+22,0.366666667,BASELINE,783,759.239874302,736,722,688.760125698,652,914,801,838,659.239874302,636,659,0.400984450668,-0.00541297133642,0.0498458962792,0.999999960478,9.57578883927e-05,-0.000260698455581,-4.37166707582e-05,1793255796242020864
+23,0.383333333,BASELINE,783,759.333847777,736,722,689,652,914,801,837.666152223,659,636,659,0.400983874019,-0.00541268936595,0.0498458044538,0.999999960158,9.69453175384e-05,-0.000261499421412,-4.36393137516e-05,1793255796258688000
+24,0.400000000,BASELINE,783,759.90627827,736,722,689,652,914,801,837.09372173,659,636,659,0.400983961983,-0.00541273035757,0.0498467290844,0.999999959928,9.95647635526e-05,-0.000261473566698,-4.3165198048e-05,1793255796275355648
+25,0.416666667,BASELINE,783,760,736,722,689,652,914,800.502477972,837,659,635.502477972,658.502477972,0.400984297375,-0.00541337238518,0.0498473969602,0.999999960339,9.81894337673e-05,-0.000260462449075,-4.29077936433e-05,1793255796292022016
+26,0.433333333,BASELINE,783,760,736,722,689,652,914,800,837,659,635,658.089480973,0.400984841032,-0.00541376547902,0.0498479411798,0.999999960805,9.68841462728e-05,-0.000259175284343,-4.2788427647e-05,1793255796308688384
+27,0.450000000,BASELINE,783,760,736,722,689,652,914,800,837,659,635,658.665308072,0.400986253358,-0.00541216600644,0.049848086518,0.99999996091,0.000100210404211,-0.000257436171801,-4.31887234526e-05,1793255796325355264
+28,0.466666667,BASELINE,783,760,736,721.75897579,689,652,914,800.24102421,837,659,635.24102421,659,0.400985548891,-0.00541149876522,0.0498472649635,0.99999996052,0.000101762548103,-0.000258315447162,-4.33254880878e-05,1793255796342022144
+29,0.483333333,BASELINE,783,760,736,721.1834137,689,652,914,800.8165863,837,659,635.8165863,659,0.400981906351,-0.00541212544683,0.0498451013769,0.999999959446,0.000100852248894,-0.000262829004606,-4.3096475504e-05,1793255796358688512
+30,0.500000000,BASELINE,783,760,736,721.399876609,689,652,914.399876609,801,837,659,635.600123391,659,0.400982819247,-0.00541218572371,0.0498454939783,0.999999959731,9.99881366639e-05,-0.000262087253275,-4.30158796171e-05,1793255796375354624
+31,0.516666667,BASELINE,783,760,736,721.986781505,689,652,914.986781505,801,837,659,635.013218495,659,0.400985862789,-0.00541198108459,0.0498470821472,0.999999960649,9.91456268019e-05,-0.000258887515092,-4.30047004514e-05,1793255796392021504
+32,0.533333333,BASELINE,783,760,736,722,689,652,914.430272178,801,837,659,635,659,0.400986460738,-0.00541232695974,0.0498478400021,0.999999961034,9.85550007305e-05,-0.00025761026577,-4.30892062566e-05,1793255796408687616
+33,0.550000000,BASELINE,783,760,736,722,689,652,914,801,837.150528559,659.150528559,635,659,0.400986075982,-0.00541249419938,0.0498480315274,0.999999961071,9.84444975896e-05,-0.000257500175586,-4.31399340792e-05,1793255796425354240
+34,0.566666667,BASELINE,783,760,736,722,689,652,914,801,837.725536034,659.725536034,635,659,0.400983078976,-0.00541212193105,0.0498466799966,0.99999996016,9.96715380634e-05,-0.000260556471036,-4.30891934755e-05,1793255796442021120
+35,0.583333333,BASELINE,783,759.699556955,736,722,689,652,914,801,837.699556955,659.699556955,635,659,0.400982215696,-0.00541219863671,0.0498462585983,0.999999959888,9.95979564709e-05,-0.00026164187216,-4.29796644947e-05,1793255796458688256
+36,0.600000000,BASELINE,783,759.124741626,736,722,689,652,914,801,837.124741626,659.124741626,635,659,0.40098330099,-0.00541268535688,0.0498466866207,0.999999960207,9.83366136329e-05,-0.000260927402452,-4.28164484564e-05,1793255796475354880
+37,0.616666667,BASELINE,783,759.460537166,735.539462834,722,689,652,914,800.539462834,837,659,635.460537166,659,0.400984095959,-0.0054144310831,0.0498467379025,0.999999960486,9.72228699165e-05,-0.000260302489289,-4.26409782412e-05,1793255796492021504
+38,0.633333333,BASELINE,783,760,735.048074565,722,689,652,914,800.048074565,837,659.048074565,636,659,0.400984632537,-0.00541614921601,0.049846621322,0.999999960679,9.64184053692e-05,-0.000259883384695,-4.24957842392e-05,1793255796508687616
+39,0.650000000,BASELINE,783,760,735.628509447,722,689,652,914,800.628509447,837,659.628509447,636,659,0.400983198847,-0.00541369771404,0.0498458021679,0.999999960045,9.85857817457e-05,-0.000261468466795,-4.27234678316e-05,1793255796525354240
+40,0.666666667,BASELINE,783,760,736,721.79287849,689,652,914,800.79287849,837.20712151,659.79287849,636,659,0.400982856903,-0.00541217900309,0.0498458792445,0.999999959847,9.98624410139e-05,-0.000261710145438,-4.29091850664e-05,1793255796542020864
+41,0.683333333,BASELINE,783,760,736,721.217507328,689,652,914,800.217507328,837.782492672,659.217507328,636,659,0.400984456019,-0.00541231873892,0.0498475497656,0.999999960432,9.95554584202e-05,-0.000259563333009,-4.30202886144e-05,1793255796558687232
+42,0.700000000,BASELINE,783,760,736,721.358149667,689,652,914,800.358149667,838,659,635.641850333,659,0.400985369071,-0.00541283952178,0.0498482072938,0.999999960702,9.94672363353e-05,-0.000258578054646,-4.28920933113e-05,1793255796575353856
+43,0.716666667,BASELINE,783,760,736,721.933980367,689,652,914,800.933980367,838,659,635.066019633,659,0.400985865138,-0.00541359190254,0.0498482491315,0.999999960781,9.9511975473e-05,-0.000258298749198,-4.26184537219e-05,1793255796592020736
+44,0.733333333,BASELINE,783,760,736,722,689,652,914,801,837.475175891,659,635.524824109,659,0.400984973174,-0.00541248553869,0.049847807063,0.999999960402,0.000101331098569,-0.000259008759229,-4.29346878373e-05,1793255796608687872
+45,0.750000000,BASELINE,783,760.114195475,736,722,689,652,914,800.885804525,837.114195475,659.114195475,636,659,0.400984124275,-0.00541146724973,0.0498472963349,0.999999960101,0.000102563662399,-0.000259629236436,-4.32686213412e-05,1793255796625354752
+46,0.766666667,BASELINE,783,760.689763185,736,722,689,652,914,800.310236815,837.689763185,659.689763185,636,659,0.400984175578,-0.0054117772932,0.0498467613872,0.999999960373,0.000100498055721,-0.000259370374884,-4.3365442777e-05,1793255796642021120
+47,0.783333333,BASELINE,783,760.735064589,736,722,689,652,914,800.264935411,837.735064589,659.735064589,636,659,0.400984313211,-0.00541255397109,0.049846806886,0.999999960701,9.87271920967e-05,-0.000258801183514,-4.32674971866e-05,1793255796658687488
+48,0.800000000,BASELINE,783,760.160354709,736,722,689,652,914,800.839645291,837.160354709,659.160354709,636,659,0.400984551783,-0.00541387625909,0.049847531069,0.999999961096,9.73009551177e-05,-0.000257869140444,-4.29418211888e-05,1793255796675354112
+49,0.816666667,BASELINE,783,760,736,722,689,652,914,800.575987642,837,659,635.575987642,659,0.400983973782,-0.00541323606355,0.0498470773602,0.999999960547,9.9162958188e-05,-0.000259267972936,-4.30550362089e-05,1793255796692020736
+50,0.833333333,BASELINE,783,760,736,722,689,652,914,800.011968518,837.011968518,659.011968518,635,659,0.400983119684,-0.00541185064792,0.049846209815,0.999999959651,0.000102213071675,-0.000261479665479,-4.33357031143e-05,1793255796708687104
+51,0.850000000,BASELINE,783,760,736,722,689,652,914,800.592880526,837.592880526,659.592880526,635,659,0.400984163098,-0.00541114298258,0.0498473390739,0.99999996027,0.000101249550481,-0.000259451825541,-4.3502370725e-05,1793255796725353984
+52,0.866666667,BASELINE,783,760,736,722,689,652,914,801,838,659.827953304,635.172046696,659,0.400984971896,-0.00541118200741,0.0498481645919,0.999999960731,0.000100133102853,-0.000258108619297,-4.34881380984e-05,1793255796742021120
+53,0.883333333,BASELINE,783,760,736,722,689,652,914,801,838,659.252876897,635.747123103,659,0.400985231094,-0.00541297019881,0.0498482785782,0.999999960829,9.86584159381e-05,-0.000258369208689,-4.30501358016e-05,1793255796758688000
+54,0.900000000,BASELINE,783,760,736,722,689,652,914,800.679417151,837.679417151,659,635.679417151,659,0.400985681635,-0.00541365965423,0.0498484728645,0.999999961001,9.76531702225e-05,-0.000258120669897,-4.28324518021e-05,1793255796775354880
+55,0.916666667,BASELINE,783,760,736,722,689,652,914,800.107226259,837.107226259,659,635.107226259,659,0.40098628235,-0.00541348677146,0.0498487301739,0.999999961232,9.70163634423e-05,-0.000257472544076,-4.27876836719e-05,1793255796792021504
+56,0.933333333,BASELINE,783,760,736,722,689,652,914,800.484344421,837,659,635,659,0.400985860523,-0.00541239515904,0.0498487714414,0.999999961181,9.97324075847e-05,-0.000256629619538,-4.28157992585e-05,1793255796808687616
+57,0.950000000,BASELINE,783,760,736,722,689,652,914,801,837,659,635,659,0.400985175039,-0.00541139182616,0.0498487158778,0.999999961035,0.000102404014492,-0.000256137135039,-4.28648922372e-05,1793255796825353984
+58,0.966666667,BASELINE,783,760,736,722,689,652,914,801,837,659,635,659,0.400984310912,-0.00541231391406,0.0498483587558,0.999999960766,9.98305374612e-05,-0.000258180854565,-4.29407323929e-05,1793255796842020608
+59,0.983333333,BASELINE,783,760,736,722,688.772489882,652,914.227510118,800.772489882,837,659,635,659,0.400983507213,-0.00541335819695,0.0498476756806,0.999999960537,9.78917510564e-05,-0.000259805267367,-4.29511782888e-05,1793255796858687488
+60,1.000000000,BASELINE,783,760,736,722,688.2051028,652,914.7948972,800.2051028,837,659,635,659,0.400982793784,-0.00541458502686,0.0498465056647,0.999999960377,9.69011274709e-05,-0.000260803278909,-4.28639318276e-05,1793255796875354112
+61,1.016666667,BASELINE,783,760,736,722,688.37921306,652,914.62078694,800,837,659,635,659,0.400983201972,-0.00541291813721,0.049847149615,0.999999960309,9.98093943201e-05,-0.000259970966314,-4.28363004249e-05,1793255796892020992
+62,1.033333333,BASELINE,783,760,736,722,688.973112906,652,914.026887094,800,837,659,635,659,0.400984245151,-0.00540961300395,0.0498488205199,0.999999960269,0.000104924969835,-0.000258102438274,-4.28424193547e-05,1793255796908687616
+63,1.050000000,BASELINE,783,760,736,722,689,652,914,800,837,659,635.556280764,659,0.400984523147,-0.00541102693535,0.0498480002078,0.999999960342,0.000102011350569,-0.000258954697764,-4.30254904156e-05,1793255796925354240
+64,1.066666667,BASELINE,783,760,736,722,689,652,914,800.137099664,837.137099664,659,635.862900336,659,0.40098455566,-0.00541224948707,0.0498473209654,0.999999960399,9.95289541637e-05,-0.000259684129513,-4.31366590547e-05,1793255796942020864
+65,1.083333333,BASELINE,783,760,736,722,689,652,914,800.712042103,837.712042103,659,635.287957897,659,0.400983920073,-0.00541214620434,0.0498474695074,0.999999960413,9.9639634838e-05,-0.000259609268698,-4.29914022837e-05,1793255796958687232
+66,1.100000000,BASELINE,783,760,736,722,689,652,914,800.712604601,837.712604601,659.287395399,635.287395399,659,0.400983892191,-0.00541145790244,0.0498478458797,0.999999960424,0.000100635011935,-0.000259185976103,-4.29738663803e-05,1793255796975353856
+67,1.116666667,BASELINE,783,760,736,722,689,652,914,800.136839089,837.136839089,659.863160911,635.863160911,659,0.400984474076,-0.00541018259726,0.049848450855,0.999999960428,0.000102518085931,-0.000258413070012,-4.30844845237e-05,1793255796992020480
+68,1.133333333,BASELINE,783,760,736,722,688.549576815,652,914,800,837,659.549576815,636,659,0.400984839877,-0.00541103214188,0.0498486411393,0.999999960652,0.000101359283854,-0.000258029126162,-4.29321577799e-05,1793255797008687104
+69,1.150000000,BASELINE,783,760,736,722,688.040262613,652.040262613,914,800,837.040262613,659,636,659,0.400985077129,-0.00541240930928,0.0498486196013,0.999999960909,9.93576931491e-05,-0.000257844215863,-4.27378228323e-05,1793255797025353984
+70,1.166666667,BASELINE,783,760,736,722,688.616690699,652.616690699,914,800,837.616690699,659,636,659,0.400984499615,-0.00541199115073,0.0498474989179,0.999999960734,9.8761582115e-05,-0.000258694962546,-4.30757187018e-05,1793255797042021120
+71,1.183333333,BASELINE,783,760,736,722,689,652.806664677,914,800.193335323,837.806664677,659,636,659,0.400984212009,-0.00541132875574,0.0498468413077,0.999999960577,9.92360491207e-05,-0.000259071108026,-4.33610248691e-05,1793255797058688000
+72,1.200000000,BASELINE,783,760,736,722,689,652.229590156,914,800.770409844,837.229590156,659,636,659,0.400984499823,-0.00541018159104,0.0498471028223,0.999999960454,0.000101835439464,-0.00025850524739,-4.35419490834e-05,1793255797075354368
+73,1.216666667,BASELINE,783,759.645972027,736,722,689,652,914,801,837.354027973,659.354027973,635.645972027,659,0.400984852299,-0.00541119852994,0.0498478043399,0.999999960656,0.000101353140493,-0.000257967375846,-4.3233501762e-05,1793255797092020736
+74,1.233333333,BASELINE,783,759.058030437,736,722,689,652,914,801,837.941969563,659.941969563,635.058030437,659,0.400985247499,-0.00541364533699,0.0498487965767,0.999999961069,9.88347053791e-05,-0.000257447997309,-4.26017165154e-05,1793255797108687616
+75,1.250000000,BASELINE,783,759.52181407,736,722,689,652,914,801,837.47818593,659.47818593,635,659,0.400984343476,-0.00541417947854,0.0498476422564,0.999999960754,9.80587481958e-05,-0.000258942249807,-4.27145773648e-05,1793255797125354496
+76,1.266666667,BASELINE,783,760,736,722,689,652,914,800.899649921,837,659,635.100350079,659,0.400983454094,-0.00541423680196,0.0498465866704,0.999999960426,9.76785842206e-05,-0.000260328596476,-4.28437772459e-05,1793255797142021120
+77,1.283333333,BASELINE,783,760,736,722,689,652,914,800.323115412,837,659,635.676884588,659,0.400983309329,-0.00541302542769,0.0498471150585,0.999999960421,9.82710737165e-05,-0.000260156523139,-4.26635548817e-05,1793255797158687488
+78,1.300000000,BASELINE,783,760,736,722,689,652,914.251750665,800,837,659,635.748249335,659,0.400983647566,-0.00541291861055,0.0498475910451,0.999999960602,9.86752243158e-05,-0.000259331549751,-4.25037509231e-05,1793255797175354112
+79,1.316666667,BASELINE,783,760,736,722,689,652,914.824489405,800,837,659,635.175510595,659,0.400984601642,-0.00541422013009,0.0498480002184,0.99999996102,9.88392383044e-05,-0.000257674113307,-4.236998093e-05,1793255797192020992
+80,1.333333333,BASELINE,783,759.589716138,736,722,689,652,914.589716138,800.410283862,837,659,635,659,0.400985049959,-0.00541397681979,0.0498482060237,0.999999961149,9.90552029102e-05,-0.000257085063631,-4.23923151003e-05,1793255797208688128
+81,1.350000000,BASELINE,783,759.001805019,736,722,689,652,914,801,837.001805019,659,635,659,0.40098527372,-0.00541305313995,0.0498483224145,0.999999961151,9.92921136486e-05,-0.000256970283178,-4.24842353468e-05,1793255797225355008
+82,1.366666667,BASELINE,783,759.579958766,736,722,689,652,914,801,837.579958766,659,635,659,0.40098514838,-0.00541283048094,0.0498485797177,0.999999961027,9.88879721013e-05,-0.000257562784741,-4.27719766133e-05,1793255797242021376
+83,1.383333333,BASELINE,783,760,736.157965014,722,689,652.157965014,914,801,838,659,635,659,0.400984845483,-0.00541292431267,0.0498486634566,0.999999960918,9.81958674189e-05,-0.000258227917694,-4.29007293516e-05,1793255797258687744
+84,1.400000000,BASELINE,783,760,736.735579545,722,689,652.735579545,914,801,838,659,635,659,0.400984070889,-0.00541385893298,0.0498482861045,0.99999996085,9.67387603996e-05,-0.000259086003174,-4.26071135692e-05,1793255797275354368
+85,1.416666667,BASELINE,783,760,736.691214235,722,689,652.691214235,914,801,837.691214235,659,635.308785765,659,0.4009845144,-0.00541435240284,0.0498483056619,0.999999961015,9.67507758081e-05,-0.000258456218122,-4.25336470714e-05,1793255797292020992
+86,1.433333333,BASELINE,783,760,736.121729854,722,689,652.121729854,914,801,837.121729854,659,635.878270146,659,0.40098598632,-0.00541447342246,0.0498486603182,0.999999961374,9.8003127572e-05,-0.000256570268287,-4.26460460688e-05,1793255797308687872
+87,1.450000000,BASELINE,783,760,736,722,688.531759049,652,914,801,837.468240951,659,635.531759049,659.468240951,0.400985495821,-0.00541411208074,0.0498486675803,0.999999961178,9.94173023461e-05,-0.000256807876153,-4.25349530759e-05,1793255797325354496
+88,1.466666667,BASELINE,783,760,736,722,688.061548067,652,914,801,837.938451933,659.061548067,635,659.938451933,0.400984616328,-0.00541363096033,0.0498485391534,0.999999960867,0.000100605738913,-0.000257579004315,-4.24033362665e-05,1793255797342021376
+89,1.483333333,BASELINE,783,760,736,722,688.636235877,652,914,801,837.363764123,659.636235877,635,659.363764123,0.400984941761,-0.00541324454756,0.0498480668691,0.99999996086,9.95453556519e-05,-0.000257984914038,-4.26071788687e-05,1793255797358687744
+90,1.500000000,BASELINE,783,760,736,722,689,652,914,801,837,659.787400635,635.212599365,659,0.400985462196,-0.00541304097615,0.0498481041058,0.999999960934,9.94193018451e-05,-0.000257735373049,-4.26629665326e-05,1793255797375354368
+91,1.516666667,BASELINE,783,760,736,722,689,652,914,801,837,659.208147293,635.791852707,659,0.400986318938,-0.00541315273739,0.0498490200746,0.999999961149,0.000100904615197,-0.000256355425956,-4.24634150679e-05,1793255797392020992
+92,1.533333333,BASELINE,783,760,736,722,689,652,914,800.632580254,837.367419746,659,635.632580254,659,0.400984520979,-0.00541346098729,0.0498480750406,0.999999960643,0.000100376499449,-0.000258492634258,-4.26558218697e-05,1793255797408687360
+93,1.550000000,BASELINE,783,760,736,722,689,652,914,800.059080748,837.940919252,659,635.059080748,659,0.400981234041,-0.0054138794445,0.0498460862004,0.99999995972,9.87190842044e-05,-0.000262602557684,-4.30680716691e-05,1793255797425353984
+94,1.566666667,BASELINE,783,760,736,722,689,652,914,800.532847061,837.467152939,659,635,659,0.400982767524,-0.00541425672592,0.0498474414131,0.999999960457,9.75435982465e-05,-0.000260292451598,-4.26424609166e-05,1793255797442020608
+95,1.583333333,BASELINE,783,760,736,722,689,652,914,800.876463113,837,659,635.123536887,659,0.400984549029,-0.00541433504325,0.0498487693264,0.999999961186,9.70596249127e-05,-0.000257722721944,-4.22663078893e-05,1793255797458687488
+96,1.600000000,BASELINE,783,760,736,722,689,652,914,800.298122648,837,659,635.701877352,659,0.400985205462,-0.00541333012826,0.0498485828014,0.999999961206,9.8917699394e-05,-0.000256911704388,-4.24264992665e-05,1793255797475354624
+97,1.616666667,BASELINE,783,760,736,722,689,652,914,800.276778022,837.276778022,659,635.723221978,659,0.40098596937,-0.00541256924721,0.0498487799368,0.99999996127,0.000100518567771,-0.000256019273833,-4.25438028334e-05,1793255797492021504
+98,1.633333333,BASELINE,783,760,736,722,689,652,914,800.848019073,837.848019073,659,635.151980927,659,0.400986847621,-0.00541206799293,0.0498493852469,0.999999961383,0.000101845795492,-0.000255040228363,-4.26154782215e-05,1793255797508688384
+99,1.650000000,BASELINE,783,760,736,721.56575779,689,652,914,800.56575779,838,659,635.43424221,659,0.400987184449,-0.0054127290699,0.049849416657,0.999999961441,0.000101097131968,-0.000255097805647,-4.26848661206e-05,1793255797525354752
+100,1.666666667,BASELINE,783,760,736,721.025474813,689,652,914,800.025474813,838,659,635.974525187,659,0.400987275355,-0.00541378252974,0.0498492287833,0.999999961475,9.96398915622e-05,-0.000255529142284,-4.27464843822e-05,1793255797542020864
+101,1.683333333,BASELINE,783,760,736,721.607498941,689,652,914,800.607498941,838,659,635.392501059,659,0.400986281396,-0.00541420330435,0.0498487952137,0.999999961429,9.91423779459e-05,-0.000255916473748,-4.26564748603e-05,1793255797558687232
+102,1.700000000,BASELINE,783,760,736,722,689,652.187186768,914,800.812813232,837.812813232,659,635.187186768,659,0.400985277913,-0.00541443696115,0.0498483643342,0.999999961286,9.90218895984e-05,-0.000256528331615,-4.26020603467e-05,1793255797575354112
+103,1.716666667,BASELINE,783,760,736,722,689,652.762036059,914,800.237963941,837.237963941,659,635.762036059,659,0.400984254704,-0.00541428309821,0.0498479390258,0.999999960943,9.96822180777e-05,-0.000257605182084,-4.2621362864e-05,1793255797592020736
+104,1.733333333,BASELINE,783,760,736,722,688.664953579,652.664953579,913.664953579,800.335046421,837,659,635.664953579,659,0.400984465772,-0.00541470751824,0.0498481676276,0.999999961031,9.94373749412e-05,-0.000257424107378,-4.2220550028e-05,1793255797608687616
+105,1.750000000,BASELINE,783,760,736,722,688.093242113,652.093242113,913.093242113,800.906757887,837,659,635.093242113,659,0.40098554869,-0.00541554041707,0.0498488581287,0.999999961423,9.85531503792e-05,-0.00025635447854,-4.15229824379e-05,1793255797625354496
+106,1.766666667,BASELINE,783,760,736,722,688.498218252,652,913.498218252,801,837,659.498218252,635,659,0.400985625107,-0.00541555182782,0.0498491217789,0.999999961529,9.76303397547e-05,-0.000256214714121,-4.19950360463e-05,1793255797642021120
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,914,800,838,660,635,659,0.400984664056,-0.00541291237366,0.0498475669615,0.999999960663,0.000102315973018,-0.000257609345949,-4.29257141411e-05,1793255797684992000
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,914,800.574403883,837.425596117,659.425596117,635.574403883,659,0.400985559917,-0.00541312861262,0.0498486782284,0.999999961063,9.94557662704e-05,-0.000257165199346,-4.29841667489e-05,1793255797701658112
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,759.846981304,736,722,688.846981304,652,914,801,837,659,635.846981304,659,0.400986174701,-0.00541338709108,0.0498495656389,0.999999961404,9.76550265549e-05,-0.000256536885551,-4.2950195273e-05,1793255797718324480
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,759.25632293,736,722,688.25632293,652,914,801,837,659,635.25632293,659,0.400985985592,-0.00541376637628,0.0498498128111,0.999999961591,9.88844048692e-05,-0.000255381846016,-4.26518871828e-05,1793255797734990848
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,759.327813652,736,722,688.327813652,652,914,801,837.327813652,659,635.327813652,659.327813652,0.400985157321,-0.00541442428133,0.0498491602626,0.999999961351,9.87033132008e-05,-0.000256422108017,-4.24618821789e-05,1793255797751657472
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,759.906950177,736,722,688.906950177,652,914,801,837.906950177,659,635.906950177,659.906950177,0.40098383903,-0.00541529579413,0.0498478179308,0.999999960777,9.74408651299e-05,-0.000259145428384,-4.23549092523e-05,1793255797768324352
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,914,800.516454331,838,659,636,659.516454331,0.400984491088,-0.00541437462952,0.049847778989,0.999999960757,9.81486874271e-05,-0.000258930352265,-4.25265992032e-05,1793255797784991232
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652.059416659,914,800.059416659,838,659.059416659,636,659,0.40098568568,-0.00541329041064,0.0498481541981,0.999999960893,9.9055332754e-05,-0.000258032450704,-4.26880842346e-05,1793255797801657856
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652.633226519,914,800.633226519,838,659.633226519,636,659,0.400988311819,-0.0054137654871,0.0498499548256,0.999999961471,9.84180302857e-05,-0.000256092729107,-4.22994064301e-05,1793255797818323968
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652.786559981,914,801,838,659.786559981,635.786559981,659,0.400996267402,-0.00541426154647,0.0498531879992,0.999999962907,9.86613989849e-05,-0.000250410432656,-4.17948133732e-05,1793255797834990336
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652.195002229,914,801,838,659.195002229,635.195002229,659,0.401013664311,-0.00541479477785,0.0498589589868,0.999999965764,0.000100464912772,-0.000238098011802,-4.1084871738e-05,1793255797851657216
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652.388306709,914,801,837.611693291,659,635,659,0.401053226567,-0.00541511835796,0.0498725685954,0.999999972037,0.000100899669563,-0.000210022051116,-4.04488994913e-05,1793255797868323840
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652.967559427,914,801,837.032440573,659,635,659,0.401103688418,-0.00541533884417,0.0498900327694,0.999999978968,0.000100661353607,-0.000174194523276,-3.98493008599e-05,1793255797884990720
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,760,735.458643489,722,689,652.458643489,914,801,837.541356511,659,635.541356511,659,0.401175050058,-0.00541975033956,0.0499100900722,0.999999984479,9.75581359758e-05,-0.000141781583329,-3.7713989939e-05,1793255797901657600
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,760,735.117892069,722,689,652,914,801,837.882107931,659,635.882107931,659,0.401249334167,-0.00542399947474,0.0499286961497,0.999999988538,9.48433203706e-05,-0.000112513305845,-3.56216678349e-05,1793255797918324480
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,760,735.706658332,722,689,652,914,801,837.293341668,659,635.293341668,659,0.401330338604,-0.00542660703483,0.0499408914147,0.999999990456,9.43586857626e-05,-9.49960423718e-05,-3.40649460745e-05,1793255797934990848
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,914,801,837,659,635,659,0.401418821442,-0.00542918095935,0.0499483194501,0.999999991579,9.33884832804e-05,-8.37460265398e-05,-3.32775142882e-05,1793255797951657728
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,914,801,837,659,635,659,0.40151472995,-0.00543172148529,0.0499510138674,0.999999992123,9.19361365837e-05,-7.87190707109e-05,-3.3253948516e-05,1793255797968324608
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,914,801,837.444706119,659,635.444706119,659,0.401627627116,-0.00543540819929,0.0499506990957,0.999999992078,9.09335338646e-05,-8.08201376099e-05,-3.23103028877e-05,1793255797984991232
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760,736.018784721,722,689,652,914,801,838,659,635.981215279,659,0.401746540601,-0.00543948536814,0.0499496513673,0.99999999188,8.99460797588e-05,-8.47482078374e-05,-3.10957030104e-05,1793255798001657344
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760,736.593232581,722,689,652,914,801,838,659,635.406767419,659,0.401897238778,-0.00544524986398,0.049952815394,0.999999992586,8.55368357863e-05,-8.13858974271e-05,-2.97830912826e-05,1793255798018323968
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,760,736.826759404,722,688.826759404,652,914,801,837.826759404,659.173240596,635.173240596,659,0.402055599485,-0.0054515630059,0.0499554878471,0.999999993241,8.07109514746e-05,-7.87622641324e-05,-2.83046024415e-05,1793255798034990848
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,760,736.233263377,722,688.233263377,652,914,801,837.233263377,659.766736623,635.766736623,659,0.40223254831,-0.00545920707918,0.0499569678162,0.999999993811,7.48743614928e-05,-7.79305500568e-05,-2.6423721057e-05,1793255798051657472
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,760,736.350351222,722,688.350351222,652.350351222,914,801,837.350351222,659.649648778,636,659.350351222,0.402428598727,-0.00546536127807,0.0499573475493,0.999999993872,7.27592968727e-05,-7.9652279959e-05,-2.48664266443e-05,1793255798068324096
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,760,736.927567303,722,688.927567303,652.927567303,914,801,837.927567303,659.072432697,636,659.927567303,0.402637018122,-0.00547055073112,0.0499570148406,0.999999993608,7.30540515276e-05,-8.30274554475e-05,-2.35186661033e-05,1793255798084990720
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,760,736.498689752,722,688.498689752,652.498689752,914,801,838,659,636,659.498689752,0.402887392625,-0.00548074184609,0.049957916294,0.999999993918,6.89429035654e-05,-8.33974977988e-05,-2.13512098778e-05,1793255798101657344
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,914,801,837.923074633,659,635.923074633,659,0.403149049109,-0.00549124271627,0.0499600148002,0.999999994468,6.43901142304e-05,-8.09593431811e-05,-1.9085667639e-05,1793255798118323968
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,914,801,837.331602912,659,635.331602912,659,0.403445900936,-0.0054990148773,0.0499689357184,0.999999996028,6.1112048428e-05,-6.26217821191e-05,-1.69507872544e-05,1793255798134990592
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,914,801,837.25408445,659,635,659,0.403763229334,-0.0055076904377,0.0499779171095,0.999999997184,5.83318568938e-05,-4.50125825282e-05,-1.42382078916e-05,1793255798151656960
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,914,801,837.832390706,659,635,659,0.404106686629,-0.00551751877096,0.0499869756659,0.999999997962,5.61869728189e-05,-2.83328020871e-05,-1.0788461919e-05,1793255798168323584
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,914,801,838,659.407268469,635,659,0.40447502793,-0.0055265074053,0.0499930522534,0.999999998238,5.66815720617e-05,-1.6048592271e-05,-7.27904825265e-06,1793255798184990464
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,914,801,838,659.980747018,635,659,0.404853524618,-0.0055351533504,0.0499979118712,0.999999998281,5.82533692421e-05,-5.55825644357e-06,-3.74528372538e-06,1793255798201657344
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,914,801,838,659.444829036,635,659,0.405274319251,-0.00552876549178,0.0499935901687,0.999999997013,7.66389802636e-05,-9.89117168416e-06,-1.35733048053e-06,1793255798218323968
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760,736,722,687.865774083,652,914,801,838,659,635,659,0.405696323743,-0.00552076148185,0.0499858023807,0.999999995142,9.61315133586e-05,-2.1764494771e-05,6.39822475676e-07,1793255798234990848
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,736,722,687.27094025,652,914,801,838,659,635,659,0.406117437614,-0.00550900366362,0.0499672149089,0.999999991438,0.000117418195799,-5.77463280942e-05,1.43249993699e-06,1793255798251657216
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760,736,722,687.314506417,652,914,801,838,659,635,659,0.406573510105,-0.00550917634863,0.0499516645103,0.999999988262,0.000127744547614,-8.45224389879e-05,3.54660540922e-06,1793255798268323840
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760,736,722,687.89210069,652,914,801,838,659,635,659,0.407058825888,-0.00551932902113,0.0499386546525,0.999999986303,0.000128902472476,-0.000103597872316,6.76609910365e-06,1793255798284990720
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,760,736.467142343,722,687.532857657,652,914,800.532857657,838,659,635.467142343,659,0.407595502664,-0.00552362958606,0.0499379157799,0.999999985323,0.000137072246359,-0.000102279092895,1.025318786e-05,1793255798301657344
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,760,736.957305714,722,687,652,914,800.042694286,838,659,636,659,0.408149970836,-0.00552648450105,0.0499420148433,0.999999984823,0.000146922878727,-9.2587232985e-05,1.39482431964e-05,1793255798318323968
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,760,736.367704969,722,687,652,914,800.632295031,838,659,636,659,0.408781204161,-0.0055280418913,0.0499719772027,0.999999986744,0.000157671255599,-3.56517072467e-05,1.95198654503e-05,1793255798334990592
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,760,736,722,687,652,914,801,838,659,635.782049092,659,0.409412553553,-0.00552760616563,0.0499938069931,0.999999985053,0.000171118744965,2.33723629988e-06,2.46435231175e-05,1793255798351657216
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,760,736,722,687,652,914,801,838,659,635.202930316,659,0.410044095243,-0.00552386763451,0.0500021602489,0.999999981671,0.00018903895123,8.92967172008e-06,2.90248555053e-05,1793255798368324352
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,760,736,721.626052925,687,652,913.626052925,801,838,659,635,659,0.410667641919,-0.00552270768012,0.0499927949702,0.999999978655,0.000203176080859,-1.80234176164e-05,3.29382868443e-05,1793255798384990976
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,760,736,721.05038464,687,652,913.05038464,801,838,659,635,659,0.411286875763,-0.00552293870775,0.0499738716431,0.99999997417,0.000215272474817,-6.30722331271e-05,3.65993144479e-05,1793255798401657344
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,760,736.520702638,721,687,652,913.520702638,801,838,659,635.520702638,659,0.411967166726,-0.00552319958691,0.0499565797358,0.999999969541,0.000226435788521,-8.99200325965e-05,3.94782398251e-05,1793255798418323968
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,760,737,721.095371308,687,652.095371308,914,801,838,659,636,659,0.412673210012,-0.00552407672024,0.04994681653,0.999999965907,0.000237013870588,-0.000100989056732,4.25547089117e-05,1793255798434990336
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,760,737,721.691136071,687,652.691136071,914,801,838,659,636,659,0.413483642134,-0.00552817218793,0.0499757338254,0.999999968144,0.000244990948235,-3.84300783305e-05,4.70612538636e-05,1793255798451656960
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652.721035126,913.721035126,801,838,659,636,659,0.414269532962,-0.00553359225093,0.0499870290623,0.99999997925,0.000199269638161,-1.79933160978e-05,3.83152094467e-05,1793255798468323840
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652.141749731,913.141749731,801,838,659,636,659,0.415029003883,-0.00554043831171,0.04997935322,0.99999999438,9.57391584237e-05,-4.2903351375e-05,1.53020482744e-05,1793255798484990464
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,760,737,721.566711653,687,652.433288347,913,801,838.433288347,659,636,659,0.415802443369,-0.00554460308389,0.0499597925699,0.99999999429,7.86829767639e-05,-7.12747035337e-05,1.21723469165e-05,1793255798501657344
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652.993045246,913,801,838.993045246,659,635.993045246,659,0.416581332001,-0.00554783329406,0.0499369156889,0.999999990861,8.97132406099e-05,-9.99498989886e-05,1.55031969867e-05,1793255798518324224
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652.419021716,913,801,838.419021716,659,635.419021716,659,0.417435540734,-0.00554569049068,0.0499575896161,0.999999992197,0.000106541618707,-6.19664233938e-05,2.03708505183e-05,1793255798534990592
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,913,801,838,659,635.160545608,659,0.418292641821,-0.00554421869475,0.0499755393757,0.999999991982,0.000120029551438,-3.19352866323e-05,2.46897474908e-05,1793255798551657216
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,913,801,838,659,635.755099624,659,0.419157561857,-0.00554456085621,0.0499861247993,0.999999991599,0.000124487143902,-2.34019807056e-05,2.75251719642e-05,1793255798568323840
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,913,801,838.338513792,659,635.661486208,659,0.420015319541,-0.00554330867113,0.0499780349552,0.999999990946,0.000126774816989,-3.5568136713e-05,2.77637546933e-05,1793255798584990464
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,913,801,838.914125494,659,635.085874506,659,0.420868060618,-0.0055409397923,0.0499568647959,0.999999989587,0.000127542660033,-6.22323703717e-05,2.61834874806e-05,1793255798601657088
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,760,737.490061191,721,687,652.490061191,913,801,838.509938809,659,635.490061191,659,0.421810972451,-0.00554437680486,0.0499841984156,0.999999992201,0.000121647641592,-5.49463870535e-06,2.77379284295e-05,1793255798618323712
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,760,737.934142226,721,687,652.934142226,913,801,838,659,635.934142226,659,0.422761437308,-0.00554834302933,0.0500140922148,0.999999991466,0.000115371141522,5.36854754184e-05,2.95792423483e-05,1793255798634990592
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,760,737.359858521,721,687,652.359858521,913,801,838,659,635.359858521,659,0.423648147465,-0.00554853537487,0.0499980912609,0.999999992759,0.000115169091192,1.88198092936e-05,2.93917840517e-05,1793255798651657216
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,759.777568145,737,721,687,652,913,801,838,659,635.222431855,659,0.424558593492,-0.00554955563099,0.049988830157,0.999999993165,0.000113095567484,9.27970131255e-08,2.96682407295e-05,1793255798668323584
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,759.181840499,737,721,687,652,913,801,838,659,635.818159501,659,0.425508874335,-0.00555196532632,0.0499908801895,0.999999993673,0.000107881247674,8.45044095512e-06,3.07232617515e-05,1793255798684990464
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,759.399516598,737,721,687,652,913,801,838,659,636,659,0.426451777346,-0.00555359635731,0.0500041987866,0.999999993423,0.000108110743583,1.95804464825e-05,3.29139233584e-05,1793255798701657088
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,759.974559987,737,721,687,652,913,801,838,659,636,659,0.427391438864,-0.00555488528359,0.0500224682042,0.999999992726,0.000110731968981,3.19284828405e-05,3.5603526243e-05,1793255798718323712
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,913,801.550580723,838.550580723,659,636,659,0.428261737702,-0.00555145030455,0.0499876497251,0.999999992346,0.000113890277523,-3.32538773857e-05,3.50763724571e-05,1793255798734990336
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,760,737.12903939,720.87096061,687,652,913,801.87096061,839,659,636,659,0.429151622116,-0.00554862800526,0.0499589592589,0.99999998938,0.000115401238054,-8.22080326845e-05,3.41327205145e-05,1793255798751656960
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,760,737.715988751,720.284011249,687,652,913,801.284011249,839,659,636,659,0.430122401331,-0.00554875580305,0.049960734794,0.999999991471,0.000110978190756,-6.08397130896e-05,3.22394582348e-05,1793255798768323840
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,760,738,720,687,652,913,801.299779711,839,658.700220289,636,659,0.431062257522,-0.00554878485845,0.0499563139303,0.999999991657,0.00010887441388,-6.19348585048e-05,3.15649094461e-05,1793255798784990464
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,760,738,720,687,652,913,801.880609566,839,658.119390434,636,659,0.431973122634,-0.00554872134065,0.0499460838049,0.999999990017,0.000108945004838,-8.4090002998e-05,3.20329317564e-05,1793255798801657088
+175,2.916666667,POSE1_TO_POSE2_PRESS,783,760,738,720,687,652,913,801.542915888,839,658,636,659,0.432895430206,-0.0055509912676,0.0499442060956,0.999999990691,0.000104717117489,-8.13604277547e-05,3.21486647513e-05,1793255798818323712
+176,2.933333333,POSE1_TO_POSE2_PRESS,783,760,738,720,687,652,913,801.032502247,839,658,636,659,0.433821102177,-0.00555380519023,0.049946434716,0.999999992056,9.95870674374e-05,-7.01816694586e-05,3.23103273014e-05,1793255798834990592
+177,2.950000000,POSE1_TO_POSE2_PRESS,783,760,738,720,687,652,913,801.609099142,839,658,636,659,0.434753533319,-0.00555561892034,0.0499812275593,0.999999994275,9.79725230458e-05,-2.53443710861e-05,3.47667228782e-05,1793255798851657216
+178,2.966666667,POSE1_TO_POSE2_PRESS,783.189462255,759.810537745,738,720,687,652,913,801.810537745,839,658,636,659,0.435654760993,-0.00555532652102,0.0499963262691,0.999999994268,9.94393204438e-05,-1.50755756818e-05,3.67339408175e-05,1793255798868323840
+179,2.983333333,POSE1_TO_POSE2_PRESS,783.777753587,759.222246413,738,720,687,652,913,801.222246413,839,658,636,659,0.436490303722,-0.00555060059697,0.049969967688,0.999999990515,0.000107392521482,-7.75754831558e-05,3.76714118397e-05,1793255798884990464
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,759.361660235,738,720,687,652,913,801.361660235,839,658,636,659,0.437369909827,-0.0055486733557,0.0499646204861,0.999999990044,0.000109731060359,-8.03151560972e-05,3.7679275371e-05,1793255798901657088
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,759.94290466,738,720,687,652,913,801.94290466,839,658,636,659,0.438276269226,-0.00554844535182,0.0499720304714,0.999999992314,0.000108660622891,-4.67710390306e-05,3.71227220873e-05,1793255798918323712
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,652,913,802,839,658.518010179,636,659,0.439133750402,-0.00555189072841,0.0499817642755,0.999999993521,0.000103197099421,-3.00235947196e-05,3.74968627372e-05,1793255798934990336
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,760,738,719.905712456,687,651.905712456,913,802,839,658.905712456,636,659,0.439972637143,-0.00555485702091,0.0499864798448,0.999999994216,9.80884597207e-05,-2.31205719824e-05,3.75766352768e-05,1793255798951657216
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,760,738,719.319839027,687,651.319839027,913,802,839,658.319839027,636,659,0.440742337429,-0.00555323931391,0.0499637121451,0.999999992948,9.73250165628e-05,-5.80040485611e-05,3.55930999136e-05,1793255798968323840
+185,3.083333333,POSE1_TO_POSE2_PRESS,783.735289574,760,738,719,687,651,913,801.735289574,839,658,636,659,0.441541535181,-0.00555362585227,0.0499593905232,0.999999992952,9.48996044211e-05,-6.20236201739e-05,3.52577125889e-05,1793255798984990720
+186,3.100000000,POSE1_TO_POSE2_PRESS,783.152331907,760,738,719,687,651,913,801.152331907,839,658,636,659,0.442376196108,-0.00555642198813,0.0499772456394,0.999999994807,9.04760956166e-05,-2.89371609453e-05,3.69038059832e-05,1793255799001657344
+187,3.116666667,POSE1_TO_POSE2_PRESS,783,760,738,719,686.575609364,651,913,801.424390636,839,658.424390636,636,659,0.44313421806,-0.00555553233889,0.0499824662171,0.999999994789,9.27830570733e-05,-1.94343770477e-05,3.78997118535e-05,1793255799018323968
+188,3.133333333,POSE1_TO_POSE2_PRESS,783,760,738,719,686.001092421,651,913,801.998907579,839,658.998907579,636,659,0.443865129382,-0.00555333885973,0.0499832173842,0.999999994335,9.74708922222e-05,-1.82742111121e-05,3.86656169104e-05,1793255799034990336
+189,3.150000000,POSE1_TO_POSE2_PRESS,783.575868171,760,738,719,686,651,913,801.424131829,839,659,636,659,0.444484410177,-0.00554997337488,0.0499192012017,0.999999984948,0.000105532073177,-0.00013255114273,3.7385000824e-05,1793255799051657216
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,760,738,718.844677426,686,650.844677426,913,801.155322574,839.155322574,658.844677426,636,659,0.445114320976,-0.00554800284307,0.0498677709518,0.999999969896,0.000110586814276,-0.000216036814422,3.6147668438e-05,1793255799068323840
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,760,738,718.258315168,686,650.258315168,913,801.741684832,839.741684832,658.258315168,636,659,0.445774321683,-0.00554990967686,0.0498516106488,0.999999970848,0.000107280477382,-0.000213462598496,3.50412742958e-05,1793255799084990464
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,760,738,718.325715002,686,650,913,801.674284998,839.674284998,658,636,659,0.446432424305,-0.00555090878001,0.0498458274461,0.999999971931,0.00010784116779,-0.000207999218342,3.52818519314e-05,1793255799101657088
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,760,738,718.907908772,686,650,913,801.092091228,839.092091228,658,636,659,0.44708903227,-0.00555119310591,0.0498482155164,0.999999973068,0.000111446883638,-0.000200260814826,3.65830797762e-05,1793255799118323712
+194,3.233333333,POSE1_TO_POSE2_PRESS,783.517969428,760,738,719,685.517969428,649.517969428,913,801,839,658.482030572,635.517969428,659,0.447649834197,-0.00555347798385,0.0498231884694,0.999999964937,0.000111320073112,-0.000237409552546,3.7019287572e-05,1793255799134990592
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,760,738,718.945099207,685,648.945099207,913,801,839,658.945099207,635,659.054900793,0.448191408708,-0.0055559675396,0.0497945344971,0.999999953746,0.000110824873318,-0.000280771317335,3.7315155601e-05,1793255799151657216
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,760,738,718.369715113,685,648.369715113,913,801,839,658.369715113,635,659.630284887,0.448721367126,-0.00555683376245,0.0497803327712,0.999999946918,0.000113486277996,-0.0003030736834,3.78214822526e-05,1793255799168324864
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,760,738,718.212462384,684.787537616,648,913,801,839,658.212462384,635,659.787537616,0.449244146511,-0.00555787441232,0.0497764203878,0.999999944474,0.000115788666818,-0.000310050950753,3.89027596323e-05,1793255799184992000
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,760,738,718.806851788,684.193148212,648,913,801,839,658.806851788,635,659.193148212,0.449754020649,-0.00555922861591,0.0497910043527,0.999999950363,0.000117445680665,-0.000289479483831,4.10175809548e-05,1793255799201657856
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,760,738,719,684,648,913,800.611535095,839,659,635,659,0.450255247157,-0.0055591662888,0.0498080056125,0.999999956131,0.000121246521795,-0.000266780885078,4.31920820617e-05,1793255799218324480
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,760,738,719,684,648,913,800.036072135,839,659,635,659,0.450752310941,-0.00555842207658,0.0498261705037,0.999999961483,0.000126079352089,-0.000243058332151,4.53953118141e-05,1793255799234991104
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,760,738,718.462535162,684,647.462535162,913,800.537464838,839,658.462535162,634.462535162,659,0.451154281864,-0.00555965037177,0.0498208340627,0.999999956909,0.000125271713226,-0.000261473924764,4.60383698503e-05,1793255799251657984
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,760,738,718,684,647,913,800.886045826,839,658.113954174,634,659,0.451536195148,-0.00556076956694,0.0498096709323,0.99999995076,0.000112060444327,-0.000290005929401,4.26456600314e-05,1793255799268324608
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,760,738,718,684,647,913,800.296702436,839,658.703297564,634,659,0.451860962822,-0.00556088331547,0.0497807568809,0.999999937659,4.86778642171e-05,-0.00034898507325,2.28519752374e-05,1793255799284990720
+204,3.400000000,POSE1_TO_POSE2_PRESS,783,760,738.289131176,718,684,646.710868824,913,800.289131176,839,659,634,659.289131176,0.452188622732,-0.00556316565118,0.04975784918,0.999999924396,1.61772663008e-05,-0.000388294385513,1.32047603889e-05,1793255799301657088
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,760,738.871406265,718,684,646.128593735,913,800.871406265,839,659,634,659.871406265,0.452519214998,-0.00556764667104,0.0497410311911,0.999999916698,1.49872534179e-05,-0.000407660874892,1.38448356292e-05,1793255799318323712
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,760,739,718.448088763,684,645.551911237,913,800.551911237,839,659,634,660,0.452843478588,-0.00556949739347,0.0497466956673,0.999999922948,1.7734722804e-05,-0.000391845636605,1.57211588793e-05,1793255799334990336
+207,3.450000000,POSE1_TO_POSE2_PRESS,783.022989128,760,739,719,684,645,913,800.022989128,839,659,634,659.977010872,0.453163726917,-0.00557053409524,0.0497585964164,0.99999993239,2.17188159699e-05,-0.000366642291669,1.79455528041e-05,1793255799351656960
+208,3.466666667,POSE1_TO_POSE2_PRESS,783.593201788,760,739,719,684,645,913,800.593201788,839,659,634,659.406798212,0.453431097371,-0.00556994082657,0.0497672534425,0.999999936256,2.8572763374e-05,-0.000355339756633,2.01143019049e-05,1793255799368323840
+209,3.483333333,POSE1_TO_POSE2_PRESS,783.828924417,760,738.828924417,719,684,645,913,801,839,659,633.828924417,659.171075583,0.453683853956,-0.00556990929358,0.0497709489517,0.999999937969,3.37915369933e-05,-0.000349925987686,2.17322814513e-05,1793255799384990720
+210,3.500000000,POSE1_TO_POSE2_PRESS,783.231979345,760,738.231979345,719,684,645,913,801,839,659,633.231979345,659.768020655,0.453900231255,-0.00557127612553,0.0497622934356,0.999999934646,3.49397659912e-05,-0.000359171505924,2.19791944918e-05,1793255799401657088
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760,738.351295955,718.648704045,683.648704045,645,913,800.648704045,839,659,633.351295955,660,0.454093226049,-0.00557113736598,0.0497512091024,0.999999929258,3.64940066822e-05,-0.00037369803405,2.23954925605e-05,1793255799418323712
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,738.925882538,718.074117462,683.074117462,645,913,800.074117462,839,659,633.925882538,660,0.454271358483,-0.00557004162296,0.0497385809644,0.999999922336,3.8306316506e-05,-0.000391581276887,2.29194551081e-05,1793255799434990336
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,760,739,718,683,644.498303479,913,800.501696521,839,659,633.498303479,660,0.454425617192,-0.00556784016662,0.0497287875893,0.999999917049,4.40630239731e-05,-0.000404270934546,2.29388920739e-05,1793255799451657216
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,760,739,718.07967496,683,644.07967496,913.07967496,800.92032504,839.07967496,658.92032504,633,660,0.454571480674,-0.00556581291505,0.0497195642468,0.999999911869,4.97848329488e-05,-0.000416243267536,2.29320482392e-05,1793255799468323840
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,760,739,718.67037022,683,644.67037022,913.67037022,800.32962978,839.67037022,658.32962978,633,660,0.454686175505,-0.00556595325196,0.0497113043551,0.999999906575,5.15361872516e-05,-0.000428547998054,2.32358728705e-05,1793255799484990464
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,760,739,719,683,644.74404954,913.74404954,800,839.74404954,658,633.25595046,660,0.454789844878,-0.00556587286011,0.0497024697709,0.999999900732,5.19571124036e-05,-0.000441921288668,2.32704200691e-05,1793255799501657088
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,760,739,719,683,644.164927726,913.164927726,800,839.164927726,658,633.835072274,660,0.454879593143,-0.00556551376896,0.049692909562,0.999999894189,5.06981944356e-05,-0.000456643777186,2.29649688254e-05,1793255799518323712
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,739,718.589873565,683,644,913,800.410126435,839,658.410126435,633.589873565,659.589873565,0.454957135646,-0.00556461098576,0.0496855846733,0.999999888961,5.24230848071e-05,-0.000467771852981,2.28047968949e-05,1793255799534990592
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,739,718.016439115,683,644,913,800.983560885,839,658.983560885,633.016439115,659.016439115,0.455029817941,-0.00556349171013,0.0496791498657,0.999999884223,5.53360961779e-05,-0.000477468671221,2.27024736593e-05,1793255799551657216
+220,3.666666667,POSE1_TO_POSE2_PRESS,783.559279069,760,739,718.559279069,683,644,913,800.440720931,839,659,633,659,0.455085999362,-0.00556380865008,0.0496757962794,0.999999881058,5.47014139019e-05,-0.000484122494337,2.27556493178e-05,1793255799568324096
+221,3.683333333,POSE1_TO_POSE2_PRESS,784,760,739,719,683,644,913,800,839,659,633,659.139188803,0.455138109674,-0.00556432032106,0.0496733103034,0.999999878541,5.36452590714e-05,-0.000489406980991,2.28120009384e-05,1793255799584990720
+222,3.700000000,POSE1_TO_POSE2_PRESS,784,760,739,719,683,644,913,800,839,659,633,659.732555664,0.455178524914,-0.0055653290916,0.0496733586346,0.999999878106,5.15554848858e-05,-0.00049051632796,2.28637405103e-05,1793255799601657088
+223,3.716666667,POSE1_TO_POSE2_PRESS,783.683229462,760,739.316770538,718.683229462,683,643.683229462,913,800,839,659,633,659.683229462,0.455213339628,-0.00556425542404,0.0496736269144,0.999999877855,5.33342352578e-05,-0.000490842996811,2.27666614742e-05,1793255799618323712
+224,3.733333333,POSE1_TO_POSE2_PRESS,783.10652443,760,739.89347557,718.10652443,683,643.10652443,913,800,839,659,633,659.10652443,0.455243558686,-0.0055614729566,0.0496740756787,0.999999877739,5.828740616e-05,-0.000490527418423,2.25474653748e-05,1793255799634990592
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,760,739.530525434,718.469474566,683,643,913,800,839,659,633,659,0.455263254975,-0.00556109075886,0.0496728734679,0.999999876327,5.88411051678e-05,-0.000493318114793,2.2814255901e-05,1793255799651656960
+226,3.766666667,POSE1_TO_POSE2_PRESS,783.046348315,760,739,719,683,643,913,800,839.046348315,659,633.046348315,659.046348315,0.455279895927,-0.00556129253812,0.0496713416526,0.999999874669,5.83486965707e-05,-0.000496709541917,2.31583825106e-05,1793255799668323584
+227,3.783333333,POSE1_TO_POSE2_PRESS,783.635336792,760,739,719,683,643,913,800,839.635336792,659,633.635336792,659.635336792,0.455288677486,-0.00556196462608,0.0496703301528,0.999999873644,5.72783832445e-05,-0.000498894722262,2.3118849808e-05,1793255799684990464
+228,3.800000000,POSE1_TO_POSE2_PRESS,783.779695728,759.779695728,739,719,683,643.220304272,913,800,839.779695728,659,634,660,0.455295747629,-0.00556135052944,0.049668897561,0.999999872483,5.72586767824e-05,-0.000501231298855,2.2858700981e-05,1793255799701657344
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+231,3.850000000,POSE1_TO_POSE2_PRESS,783,759.94903719,738.05096281,719,683,643.05096281,913,800,839,659,633.05096281,659.05096281,0.45530423982,-0.00555555994572,0.0496646592072,0.99999986953,5.92914384008e-05,-0.000506935955212,2.09851728801e-05,1793255799751656960
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,759.476593002,738.523406998,719,683,643.523406998,913,800,839.523406998,659,633,659,0.45530521888,-0.00555604705476,0.0496639924914,0.999999868679,5.95996589334e-05,-0.000508558832384,2.14174407836e-05,1793255799768323584
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,759.101077856,739,719,683,643.898922144,913,800.101077856,840,659,633,659,0.455306020896,-0.00555636738563,0.0496632707874,0.999999867902,5.9934974813e-05,-0.000510025720176,2.18323671329e-05,1793255799784990208
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,759.694883154,739,719,683,643.305116846,913,800.694883154,840,659,633,659,0.45530627431,-0.00555502754213,0.0496621996985,0.999999867598,6.01863611478e-05,-0.000510600710646,2.16590379603e-05,1793255799801657088
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913,800.721057905,839.721057905,659,633,659,0.455305995363,-0.00555461170162,0.0496609979027,0.999999866862,6.04093865811e-05,-0.000512017601376,2.15554432083e-05,1793255799818323968
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913,800.147299884,839.147299884,659,633,659,0.455305153762,-0.0055551724464,0.0496596579619,0.999999865667,6.06024372025e-05,-0.000514324302675,2.152555125e-05,1793255799834990592
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913,800,839,659,633,659.431184786,0.455305972472,-0.00555537047816,0.0496597106713,0.999999865779,6.06186502011e-05,-0.000514109319414,2.1412836369e-05,1793255799851657472
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913,800,839,659,633,659.988831281,0.455307346205,-0.00555544568935,0.0496602185891,0.999999866324,6.0575622155e-05,-0.000513059319724,2.12776795049e-05,1793255799868323840
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913,800,839,659,633,659.415556104,0.455307791152,-0.00555564478841,0.0496594271733,0.999999865927,6.06251576969e-05,-0.000513820180054,2.14528131809e-05,1793255799884990464
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,759.836627036,739,719,683,643,913,800,839.163372964,659,633,659.163372964,0.455307672845,-0.0055550524884,0.0496585676699,0.999999865318,6.13327613668e-05,-0.000514920657391,2.14431348623e-05,1793255799901657088
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,759.24280121,739,719,683,643,913,800,839.75719879,659,633,659.75719879,0.455306070485,-0.00555237502087,0.0496575287702,0.999999864146,6.37742339813e-05,-0.000516915952945,2.09465164052e-05,1793255799918323712
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,759.339719105,739,719,683,643,913,800,839.660280895,659,633,659.660280895,0.455305853221,-0.00555138498077,0.049657141551,0.999999863659,6.46194616956e-05,-0.000517759499105,2.07835631098e-05,1793255799934990336
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,759.914419453,739,719,683,643,913,800,839.085580547,659,633,659.085580547,0.455306594018,-0.00555156212213,0.0496572050944,0.99999986365,6.43605782734e-05,-0.000517806388472,2.08514036109e-05,1793255799951657216
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,760,739,718.509576512,683,643,913,800,839,659,633,659,0.455306159275,-0.00555130064638,0.0496566076997,0.999999863219,6.50492782112e-05,-0.000518547900227,2.09501265492e-05,1793255799968324096
+245,4.083333333,HOLD_POSE2,783,760,739,719,683,643,913,800,839,659,633,660,0.455306531692,-0.00555062378626,0.0496572203702,0.99999986321,6.82612264535e-05,-0.000518153724755,2.0883451093e-05,1793255800011273216
+246,4.100000000,HOLD_POSE2,783,760,739,719,683,643,913,800,839,659,633,659.422232609,0.45530808754,-0.00555044890914,0.0496579608886,0.999999864126,6.75011035617e-05,-0.000516477604948,2.10308859256e-05,1793255800027940096
+247,4.116666667,HOLD_POSE2,783,760,739,718.844923659,683,643,913,800,839,659,633,659,0.455308741608,-0.00555039746353,0.0496579580699,0.999999864426,6.6615804319e-05,-0.000516007039552,2.11272260685e-05,1793255800044606720
+248,4.133333333,HOLD_POSE2,783,760,739,718.26885912,683,643,913,800,839,659,633,659,0.455306947601,-0.00555068109936,0.0496559373023,0.999999863058,6.53906866843e-05,-0.000518809211447,2.10848586811e-05,1793255800061273088
+249,4.150000000,HOLD_POSE2,783.304435662,760,739,718,683,643,913,800,839,659,633,659.304435662,0.455306410266,-0.0055499871097,0.0496552268783,0.999999862468,6.55706300575e-05,-0.000519934926134,2.07725697988e-05,1793255800077939712
+250,4.166666667,HOLD_POSE2,783.875306382,760,739,718,683,643,913,800,839,659,633,659.875306382,0.455306972742,-0.00554843752479,0.0496556632367,0.999999862564,6.69802504343e-05,-0.00051959344404,2.02240518635e-05,1793255800094606336
+251,4.183333333,HOLD_POSE2,783.534059186,759.534059186,739,718.465940814,683,643,913,800,839,659,633,659.534059186,0.455308797453,-0.00554775871758,0.0496569024002,0.999999863336,6.7718474232e-05,-0.000518003642092,2.03569424388e-05,1793255800111273216
+252,4.200000000,HOLD_POSE2,783,759.060065374,739,718.939934626,683,643,913,800,839,658.939934626,633,659.060065374,0.455310555836,-0.00554730687487,0.0496580919679,0.999999864075,6.84497893801e-05,-0.000516467160638,2.06300186145e-05,1793255800127940096
+253,4.216666667,HOLD_POSE2,783,759.636703609,739,718.363296391,683,643,913,800,839,658.363296391,633,659.636703609,0.455308709994,-0.00554671405178,0.0496569254615,0.999999862925,7.07353914606e-05,-0.000518389583013,2.04709496348e-05,1793255800144606720
+254,4.233333333,HOLD_POSE2,783,760,739,718.212480646,683,643,913,800,839,658.212480646,633,659.787519354,0.455308293057,-0.00554656243588,0.0496565442911,0.999999862757,7.14020592992e-05,-0.000518625753384,2.03685496105e-05,1793255800161273344
+255,4.250000000,HOLD_POSE2,783,760,739,718.786791105,683,643,913,800,839,658.786791105,633,659.213208895,0.45531030938,-0.00554716214454,0.0496575004566,0.999999864268,6.9311870285e-05,-0.000515990432628,2.03626502393e-05,1793255800177939712
+256,4.266666667,HOLD_POSE2,783,760,739,719,683,643,913,800,839,659,633,659,0.455309557182,-0.00554733434514,0.049656905363,0.999999863791,6.77754890318e-05,-0.000517121515824,2.02437939962e-05,1793255800194606080
+257,4.283333333,HOLD_POSE2,783,760,739,719,683,643,913,800,839,659,633,659,0.455307170339,-0.00554725412779,0.0496553943434,0.999999862135,6.65660980498e-05,-0.000520476435788,2.00582434528e-05,1793255800211272704
+258,4.300000000,HOLD_POSE2,783,760,739,719,683,643,913,799.468299796,839,659,633,659.531700204,0.455307731855,-0.00554696340395,0.049655266997,0.999999861927,6.83880525341e-05,-0.000520648971741,1.98300547648e-05,1793255800227939584
+259,4.316666667,HOLD_POSE2,783,760,739,718.87935534,683,643,913,799.12064466,839.12064466,659,633,659.87935534,0.455308070957,-0.00554679742064,0.0496551944875,0.999999861783,6.9653110972e-05,-0.000520763983197,1.96843635588e-05,1793255800244606464
+260,4.333333333,HOLD_POSE2,783,760,739,718.304440712,683,643,913,799.695559288,839.695559288,659,633,659.304440712,0.455306299566,-0.0055471920211,0.0496547310227,0.999999861263,6.75123991356e-05,-0.000522036468736,1.98677146819e-05,1793255800261273088
+261,4.350000000,HOLD_POSE2,783.270692928,760,739,718.270692928,683,643,913,800,839.729307072,659,633,659,0.455306599109,-0.0055474342564,0.0496547493113,0.999999861364,6.72442654779e-05,-0.000521867611743,2.0103989138e-05,1793255800277939712
+262,4.366666667,HOLD_POSE2,783.84607305,760,739,718.84607305,683,643,913,800,839.15392695,659,633,659,0.45530922966,-0.00554750499213,0.049655309853,0.999999862166,6.90838729673e-05,-0.000520076404905,2.03998331549e-05,1793255800294606336
+263,4.383333333,POSE2_TO_POSE3_RETREAT,783,760,739,718,683,643,913,800,840,659,633,659,0.455309874894,-0.00554487137945,0.049657795017,0.999999863136,7.18741881996e-05,-0.000517811928692,2.07930982572e-05,1793255800327211264
+264,4.400000000,POSE2_TO_POSE3_RETREAT,783,759.423394528,739,718.576605472,683,643,912.423394528,800,839.423394528,659,633,659,0.455310121259,-0.00554566394122,0.0496574444894,0.999999862843,7.0016833938e-05,-0.000518645543747,2.04642976764e-05,1793255800343877888
+265,4.416666667,POSE2_TO_POSE3_RETREAT,783,759.152953889,739,718.847046111,683,643,912.152953889,800,839,659,633,659.152953889,0.455310064305,-0.00554634028254,0.0496569755049,0.99999986259,6.8519361903e-05,-0.000519343323467,2.01691833562e-05,1793255800360544512
+266,4.433333333,POSE2_TO_POSE3_RETREAT,783,759.728592071,739,718.271407929,683,643,912.728592071,800,839,659,633,659.728592071,0.455309169137,-0.00554669545169,0.0496561791676,0.999999862461,6.8016415091e-05,-0.00051966572579,1.9967160111e-05,1793255800377210880
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783,760,739,718.311541248,683,643,913,800,839,659,633,659.688458752,0.455308810515,-0.00554652291807,0.0496559979457,0.999999862229,6.83156082889e-05,-0.000520074498841,1.996039605e-05,1793255800393877504
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783,760,739,718.901012626,683,643,913,800,839,659,633,659.098987374,0.455308930554,-0.00554587961368,0.0496563654765,0.999999861903,6.93304013913e-05,-0.000520560324358,2.01278253413e-05,1793255800410544128
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,760,739,719,683,643,913,800,839,659,633,659.482202444,0.455308879293,-0.00554611648291,0.0496558121847,0.999999861871,6.99139327024e-05,-0.000520539209553,2.02290173029e-05,1793255800427210752
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,739,719,683,643,913,799.938745499,839,659,633,659.938745499,0.455308566835,-0.00554648044489,0.0496550290736,0.999999861817,7.03933675946e-05,-0.000520574037612,2.03444071308e-05,1793255800443877376
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,760,739,719,683,643,913,799.363606304,839,659,633,659.363606304,0.455306353145,-0.00554642040885,0.0496538769763,0.999999861076,7.07296718742e-05,-0.000521936489966,2.06910540889e-05,1793255800460544000
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,760,739,718.791514474,683,643,913,799.208485526,839,659,633,659,0.45529844336,-0.00554634333073,0.0496502321433,0.999999858132,7.02150110947e-05,-0.000527619892483,2.05778110371e-05,1793255800477210880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,760,739,718.224660853,683,643,913,799.775339147,839,659,633,659,0.455280742493,-0.00554623695881,0.0496423025193,0.999999851283,6.8237616951e-05,-0.00054073062418,1.96740578858e-05,1793255800493877504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,759.637500718,739,718,683,643,913,800,839,659,633,659,0.455246819888,-0.00554399034172,0.0496283606881,0.999999838128,6.9736796158e-05,-0.000564387510163,1.86200816078e-05,1793255800510544128
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,759.037008627,739,718,683,643,913,800,839,659,633,659,0.455202247171,-0.00554033858263,0.0496104716424,0.999999820151,7.35184609114e-05,-0.000594968297374,1.74674787588e-05,1793255800527211008
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,759.540837646,739,718,683,643,913,800,839,659,633,659,0.455138425948,-0.00553991855786,0.0495913398091,0.999999803804,7.25955182007e-05,-0.000621971923755,1.64991208515e-05,1793255800543877632
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783.11737031,760,739,718,683,643,913,800,839,659,633,659,0.455070474922,-0.00553885373036,0.0495730035475,0.999999788174,7.20899732711e-05,-0.000646700799717,1.52808361362e-05,1793255800560544256
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783.694583792,760,739,718,683,643,913,800,839,659,633,659,0.45499129682,-0.00553443105165,0.0495581040312,0.99999977707,7.44303327947e-05,-0.000663437952824,1.30359572375e-05,1793255800577210880
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783.723019804,760,739,718,683,643,913,800,839,659,633.276980196,659,0.454907900103,-0.00553045969248,0.0495484933099,0.999999770122,7.66749114283e-05,-0.0006736043701,1.153600328e-05,1793255800593877248
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783.134799433,760,739,718,683,643,913,800,839,659,633.865200567,659,0.454819762972,-0.00552699547734,0.0495448255611,0.999999768085,7.88118618077e-05,-0.000676387309294,1.08731149708e-05,1793255800610544128
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,760,738.55339228,718.44660772,683,643,913,800,839,659,633.55339228,659.44660772,0.454715284591,-0.00552353519363,0.0495451443937,0.999999768695,8.08979076383e-05,-0.000675245429191,1.04269325753e-05,1793255800627210496
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,760,738.025762407,719,683,643,913,800,839,659,633,659.974237593,0.454604747886,-0.00552000258488,0.0495467610727,0.999999770102,8.30461524981e-05,-0.000672902737398,1.00477522008e-05,1793255800643877120
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,738.600085122,719,683,643,913,800,839,659,633,659.399914878,0.454468655981,-0.00551490506701,0.0495507766,0.999999771842,8.68410464816e-05,-0.000669836389384,9.72343542458e-06,1793255800660544000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,759.825298275,738.825298275,719,683,643,913,800,839,659,633,659.174701725,0.454324757365,-0.00550963911024,0.0495570755678,0.999999776037,9.08842226664e-05,-0.000663005514395,9.48688554058e-06,1793255800677210880
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,759.25000787,738.25000787,719,683,643,913,800,839,659,633,659.74999213,0.454162958087,-0.00550398692604,0.0495686104328,0.99999978574,9.54967060325e-05,-0.000647542630542,9.45158399136e-06,1793255800693877760
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,759.334496961,738,718.665503039,683,643.334496961,913,800,839,659,633,660,0.453981300736,-0.00549660054767,0.0495770671088,0.999999792036,0.000101049555395,-0.000636896448718,8.95812913122e-06,1793255800710544640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,759.926083941,738,718.073916059,683,643.926083941,913,800,839,659,633,660,0.453784380712,-0.00548788128959,0.0495831579301,0.999999795788,0.000107325158342,-0.000629952319908,8.11254358517e-06,1793255800727211264
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,738.507255733,718.507255733,683,644,913,800,839,659,633.507255733,659.492744267,0.453546689262,-0.00547934268669,0.0495853289366,0.999999793722,0.000114161308647,-0.000632038002733,7.18814127368e-06,1793255800743877632
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783.086389544,760,739,719,683,644,913,800,839.086389544,659,634,659.086389544,0.453298450713,-0.00547144309579,0.0495878896434,0.999999792,0.000120180113299,-0.00063365410999,6.30808503767e-06,1793255800760544000
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783.662401643,760,739,719,683,644,913,800,839.662401643,659,634,659.662401643,0.453023429649,-0.00546701897846,0.0495958311501,0.999999797148,0.000121112895787,-0.000625301427795,5.74314769214e-06,1793255800777210624
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783.762398034,760,739,718.762398034,683,644,913,800,839.762398034,659,634,659.762398034,0.452728827858,-0.00546181930959,0.0496028751376,0.999999800653,0.000123448737619,-0.000619215656911,5.10606842796e-06,1793255800793876992
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783.188347234,760,739,718.188347234,683,644,913,800,839.188347234,659,634,659.188347234,0.452406499407,-0.00545552144551,0.0496086482205,0.99999980189,0.00012777133771,-0.000616339875434,4.36683489019e-06,1793255800810543616
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,760,738.602824911,718.397175089,683,644.397175089,913,800,839,659,634,659,0.452064875001,-0.00544794528943,0.0496127352999,0.999999803823,0.000130597086776,-0.000612611362903,2.29335912247e-06,1793255800827210496
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,760,738.011700816,718.988299184,683,644.988299184,913,800,839,659,634,659,0.451713827982,-0.00543974491649,0.049615999068,0.999999806081,0.000132691891666,-0.000608466443817,-4.31655355399e-07,1793255800843877120
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,760,738.565840597,718.434159403,683,645,913,800,839,659,634,659.565840597,0.451305374261,-0.0054365720612,0.0496070571513,0.999999801894,0.000130784492755,-0.000615708067213,-3.16844299129e-06,1793255800860544256
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783.142641289,760,738.857358711,718.142641289,683.142641289,645,913,800,839,659,634,660,0.450896047039,-0.00543548443096,0.0496046325712,0.999999804626,0.000126671152141,-0.000612105087336,-5.49553643283e-06,1793255800877211136
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783.718026808,760,738.281973192,718.718026808,683.718026808,645,913,800,839,659,634,660,0.450487586842,-0.00544041493718,0.0496227280177,0.99999982798,0.000116110631525,-0.000574904231111,-6.57898046949e-06,1793255800893877760
+298,4.966666667,POSE2_TO_POSE3_RETREAT,784,760,738,719,684,645.29373639,913,800,839,659,634.29373639,659.70626361,0.45004768618,-0.0054414563298,0.0496423197539,0.999999849029,0.000107730191572,-0.000538769829617,-7.91397016435e-06,1793255800910544128
+299,4.983333333,POSE2_TO_POSE3_RETREAT,784,760,738,719,684,645.869757467,913,800,839,659,634.869757467,659.130242533,0.449577570751,-0.00543876023164,0.0496633494469,0.999999867973,0.000101444837725,-0.000503660301408,-9.49069880446e-06,1793255800927210752
+300,5.000000000,POSE2_TO_POSE3_RETREAT,784,760,738,718.53992481,684,646.46007519,912.53992481,800,839,659,635,659,0.449066979813,-0.00543338764068,0.0496714659385,0.999999872578,0.00010126286397,-0.000494419008668,-1.17890447136e-05,1793255800943877632
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783.947210681,760,738,718,684,647,912.052789319,800,839,659,635,659.052789319,0.44853873408,-0.00542734670896,0.0496737438596,0.999999872202,0.000102215489006,-0.000494912463347,-1.44971747959e-05,1793255800960544000
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783.372114,760,738,718,684,647,912.627886,800,839,659,635,659.627886,0.447952813616,-0.0054224302141,0.0496555829929,0.99999986152,9.67505697313e-05,-0.000516944163637,-1.91737568415e-05,1793255800977210624
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783,760,738,718.202318925,684,647.202318925,912.797681075,800.202318925,839,659,635,660,0.447354330303,-0.0054180140757,0.0496396236931,0.99999985131,9.12045557829e-05,-0.000537125923244,-2.36243355558e-05,1793255800993877504
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783,760,738,718.775534997,684,647.775534997,912.224465003,800.775534997,839,659,635,660,0.446732816431,-0.00541451520611,0.0496277003732,0.99999984255,8.55098770225e-05,-0.000553916314852,-2.76605978867e-05,1793255801010544384
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783,760,738,718.640177437,684.359822563,648,912,801,839,659,635,660,0.446100998446,-0.00541201549652,0.0496293066395,0.99999984505,7.83367959767e-05,-0.00055028620675,-3.07860755025e-05,1793255801027211008
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783,760,738,718.048764,684.951236,648,912,801,839,659,635,660,0.445462548499,-0.00541015887163,0.0496396208891,0.999999854662,7.02121781574e-05,-0.000533512949482,-3.33253489535e-05,1793255801043877632
+307,5.116666667,POSE2_TO_POSE3_RETREAT,783.532015611,760,738,718,685,648.532015611,912.532015611,801,839,659,635,659.467984389,0.444820246274,-0.00541096511523,0.0496887540531,0.999999888474,6.29724970685e-05,-0.000466887270667,-3.31970404341e-05,1793255801060544000
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783.888921019,760,738,718,685.111078981,649.111078981,913,801,839,659.111078981,635,659,0.444160215858,-0.00541126141976,0.0497322033195,0.999999914289,5.60512334915e-05,-0.000408858867533,-3.33980494107e-05,1793255801077210624
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783.313040717,760,738,718,685.686959283,649.686959283,913,801,839,659.686959283,635,659,0.443427451928,-0.00540842262162,0.0497372719073,0.99999991586,5.01296088902e-05,-0.00040555082259,-3.598013699e-05,1793255801093876992
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783,759.734462613,737.734462613,718.265537387,685.734462613,650,912.734462613,801,839,659.734462613,635,659.265537387,0.442692926019,-0.00540443399128,0.0497433842072,0.99999991988,4.53470325815e-05,-0.000395803455313,-3.9029380523e-05,1793255801110543872
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783,759.152671364,737.152671364,718.847328636,685.152671364,650,912.152671364,801,839,659.152671364,635,659.847328636,0.441956301502,-0.00539907591548,0.0497507395646,0.999999926624,4.19210570047e-05,-0.000378386882876,-4.26350050796e-05,1793255801127210496
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783,759,737,719,685.430019533,650,912,801,839,659,635,660,0.441203490799,-0.00540083295455,0.0497810301666,0.999999945936,2.93308199766e-05,-0.000324532833491,-4.41079240717e-05,1793255801143877376
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,759,737.012872982,719,686,650,912.012872982,801,839,659,635,660,0.440442926632,-0.00540492108622,0.0498184207947,0.999999965187,1.36904619961e-05,-0.000259657450254,-4.49039462017e-05,1793255801160544000
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,759,737.588837605,719,686,650,912.588837605,801,839,659,635,660,0.439595104697,-0.00540024733453,0.0498094524481,0.999999959631,7.249936949e-06,-0.000279742919391,-4.9281260186e-05,1793255801177210624
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,759.16449673,738,719,686.16449673,650,913,801,839,659,635,660,0.438731382328,-0.00539549998324,0.049791292437,0.999999948997,8.80644489628e-07,-0.000314785701081,-5.39885181414e-05,1793255801193877248
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783,759.739393635,738,719,686.739393635,650,913,801,839,659,635,660,0.437827990279,-0.00539056900982,0.0497502002945,0.999999923274,-5.31093058183e-06,-0.000387145233031,-5.9518947474e-05,1793255801210544128
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783,760,738,719,686.676852673,650,913,801,839,659,635,659.676852673,0.436947934646,-0.00539048872706,0.0497494828057,0.999999920761,-1.58785049302e-05,-0.000392791714643,-6.27662064857e-05,1793255801227210496
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783,760,738,719,686.085755057,650,913,801,839,659,635,659.085755057,0.436087229364,-0.0053944305851,0.0497822435477,0.999999938626,-3.00746105244e-05,-0.000343120448938,-6.41202850018e-05,1793255801243877120
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,760,737.504969773,719,686,650,913,801,839,659,635,659,0.43516553792,-0.00539079935413,0.0497733689336,0.99999992883,-3.33494822514e-05,-0.000369915695731,-6.62521785661e-05,1793255801260544000
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,760,737,719,686,650.073617464,913,801,838.926382536,659,635,659,0.434240750194,-0.00538564174494,0.0497600884076,0.999999917217,-2.1490650616e-05,-0.000401080477539,-6.51109289152e-05,1793255801277211136
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,760,737,719,686,650.649149498,913,801,838.350850502,659,635,659,0.43336541213,-0.00537883933543,0.0497649398767,0.99999992612,8.09122995631e-05,-0.000373566570469,-4.0753890862e-05,1793255801293877504
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,760,737,719.224812773,686,651,913.224812773,801,838.224812773,659,635,659.224812773,0.432482274883,-0.0053742171291,0.0497769932667,0.999999930488,0.000137285639364,-0.000345602829118,-2.71005123404e-05,1793255801310544128
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,760,737,719.800681077,686,651,913.800681077,801,838.800681077,659,635,659.800681077,0.431586958716,-0.00537299940969,0.0498002927894,0.999999941905,0.000121781633376,-0.000316936651774,-3.01613894006e-05,1793255801327210752
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783,759.614157678,736.614157678,720,686,651,914,801,839,659,635.385842322,659.614157678,0.430634153226,-0.0053735875063,0.0497856527455,0.999999935074,0.000104443254161,-0.000343049164576,-3.54980854783e-05,1793255801343877376
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783,759.024077435,736.024077435,720,686,651,914,801,839,659,635.975922565,659.024077435,0.429650916964,-0.00537513147559,0.049750930149,0.999999916142,8.61338868203e-05,-0.000398157682973,-4.20394405929e-05,1793255801360543744
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,759.557214479,736.557214479,720,686,651,914,801,839,659,635.442785521,659,0.428716946788,-0.00537558602924,0.0497525252561,0.99999991998,7.54477084124e-05,-0.000390200287962,-4.57224237076e-05,1793255801377210624
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,760,737,720,686.135876302,651,913.864123698,801,838.864123698,659,635.135876302,659,0.42777817332,-0.00537546059209,0.0497538427005,0.999999921281,6.89410206191e-05,-0.000387767014221,-4.81887816682e-05,1793255801393877248
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,760,737,720,686.707305686,651,913.292694314,801,838.292694314,659,635.707305686,659,0.426817284939,-0.00537362454097,0.0497493177885,0.999999911368,7.47922368399e-05,-0.000411641084438,-4.7145002612e-05,1793255801410543872
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,759.721594439,737,720,686.721594439,651,913,801,838,659,635.721594439,659,0.42590006679,-0.0053714026389,0.0497508543766,0.999999914105,7.6695820734e-05,-0.000404475043164,-4.80387953773e-05,1793255801427210496
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783,759.150840611,737,720,686.150840611,651,913,801,838,659,635.150840611,659,0.425028705963,-0.00536877556237,0.0497587560283,0.999999929421,7.44540722567e-05,-0.000364714382566,-5.09671946706e-05,1793255801443877376
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783,759.442218472,737,720,686,651,913.442218472,801,838.442218472,659,635,659,0.424141705856,-0.00537148999006,0.0497945448529,0.999999951164,6.89700634544e-05,-0.000300689411265,-5.00047914883e-05,1793255801460544000
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,760,737,720,686.082548687,651,914,801,838.958725656,659,635.041274344,659,0.423246431072,-0.00537536994411,0.0498354468798,0.999999968978,6.35189226899e-05,-0.000236031838733,-4.79311987078e-05,1793255801477210624
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760,737,720,687.228716312,651,914,801,838.385641844,659,635.614358156,659,0.422316925554,-0.00536954457422,0.0498131570702,0.999999958113,7.34978958787e-05,-0.000275529355209,-4.95485597007e-05,1793255801493877248
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,760,737,720,688,651,914,801,838,659,636,659,0.421394462312,-0.00536670121538,0.049794565722,0.999999947492,7.92335546302e-05,-0.000310119928784,-5.06410174202e-05,1793255801510543872
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,760,737,720,688,651,914,801,838,659,636,659,0.420486487638,-0.00536999302662,0.0497835835615,0.999999939827,7.62390464766e-05,-0.000334614996265,-5.06535428052e-05,1793255801527210752
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,760,737,720,687.650997279,651,914,801,838.349002721,659,635.650997279,659,0.419601054317,-0.00537098118958,0.0497830047929,0.999999935162,7.65191376191e-05,-0.000348294388591,-5.01202395417e-05,1793255801543877376
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,760,737,720,687.060415942,651,914,801,838.939584058,659,635.060415942,659,0.418731224107,-0.00537037477404,0.0497896272212,0.999999932833,7.90658965881e-05,-0.000354487202239,-4.92091153677e-05,1793255801560544000
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,760,736.481342924,720.518657076,687,651.518657076,914,801,838.481342924,659,635.518657076,659,0.417851992653,-0.00536945462757,0.0497704942924,0.999999922429,7.92474829644e-05,-0.000382448631163,-5.09469456199e-05,1793255801577211136
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,759.903516086,736,721,687,652,914,801,838,659,636,659,0.416989375337,-0.00536889810045,0.0497565607838,0.999999915785,7.89338964338e-05,-0.000399297016938,-5.25520858588e-05,1793255801593877760
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,759.325363418,736,721,687,652,914,801,838,659,636,659,0.416215047784,-0.0053703353211,0.0497832360646,0.999999934996,7.74938387515e-05,-0.000348282563233,-5.19878261122e-05,1793255801610544128
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,759.256137017,736.256137017,721,687.256137017,651.743862983,914,801,838,659,635.743862983,659,0.415442094515,-0.00537150998331,0.049797323487,0.999999944221,7.69221760672e-05,-0.000320871988145,-5.179607113e-05,1793255801627210496
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,759.841946294,736.841946294,721,687.841946294,651.158053706,914,801,838,659,635.158053706,659,0.414670910136,-0.00537234670817,0.0497952091579,0.999999943206,7.74682191517e-05,-0.000323841813873,-5.20837647449e-05,1793255801643877120
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,760,736.574614264,721,688,651.425385736,914,801,838,659,635,659,0.41387641982,-0.00537214608455,0.0497758736029,0.99999993101,7.81785907153e-05,-0.000359198223232,-5.33454324479e-05,1793255801660544000
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,760,736,721,688,652,914,801,838,659,635,659,0.413074524499,-0.00537156101666,0.0497507260064,0.999999913138,7.89774885179e-05,-0.000405546380386,-5.49400182233e-05,1793255801677210624
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760,736,721,688,652,914,801,838,659,635,659,0.41235983756,-0.00537089291413,0.0497654149157,0.999999922424,8.17863917443e-05,-0.000381423025136,-5.45858093506e-05,1793255801693877504
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760,736,721,687.844158142,652,914,801,838,659,635,659,0.411659120516,-0.00537047260494,0.0497821214901,0.999999932012,8.5540328727e-05,-0.000354649977828,-5.36870878607e-05,1793255801710544384
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760,736,721,687.27110099,652,914,801,838,659,635,659,0.410995803109,-0.0053707156807,0.0498042297023,0.999999943016,9.18242832941e-05,-0.000320783246839,-5.1330612967e-05,1793255801727211264
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,760,736,721,687,652,914,801,838,659,635,659,0.410335077794,-0.00537010918272,0.0498030310861,0.999999940387,9.67219985791e-05,-0.000327532814932,-5.09317533549e-05,1793255801743877888
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760,736,721,687,652,914,801,838,659,635,659,0.40967667974,-0.00536873992418,0.0497809072345,0.999999924868,0.000100375126161,-0.000370748332038,-5.22904714028e-05,1793255801760544256
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783.485124056,760,736,721,687.485124056,652,914,801,838,659,635,659,0.409079581868,-0.00536909668529,0.0497820781628,0.999999929004,0.000100694215649,-0.000359244276644,-5.2886938993e-05,1793255801777210880
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.93543783,760,736.06456217,721.06456217,688,652,914.06456217,801,838,659,635,659,0.408498089769,-0.00537009649721,0.0497895549,0.999999936794,0.000100163407338,-0.000336981570269,-5.31312808989e-05,1793255801793877504
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783.362737009,760,736.637262991,721.637262991,688,652,914.637262991,801,838,659,635,659,0.40794477494,-0.00537349245998,0.049810694206,0.999999944384,9.80912581403e-05,-0.000314530431524,-5.17811329516e-05,1793255801810544128
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,760,736.78887957,722,688,652,914.78887957,801,838,659,635,659,0.407400944925,-0.00537545105331,0.0498204760107,0.999999947269,9.70459746761e-05,-0.000305669984602,-5.10813653896e-05,1793255801827210752
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,760,736.213024001,722,688,652,914.213024001,801,838,659,635,659,0.406873501088,-0.00537492642315,0.0498106364062,0.999999942601,9.77747216789e-05,-0.000320289043776,-5.150520589e-05,1793255801843877632
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760,736,722,688,652,914,801,838,659,635.373112733,659,0.406354533756,-0.00537336894234,0.0497867199882,0.999999928319,0.000100414866544,-0.000361160232674,-5.33157885165e-05,1793255801860544512
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760,736,722,688,652,914,801,838,659,635.965285752,659,0.405840543061,-0.0053712050588,0.0497545388531,0.999999905879,0.000104177222634,-0.00041744445561,-5.5940548914e-05,1793255801877211392
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,688,652,914.540810453,801,837.459189547,659,635.459189547,659,0.40540467371,-0.00537271908784,0.0497584315561,0.999999907954,0.000100722269863,-0.000413275104099,-5.61282712394e-05,1793255801893878016
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,760,736,722,688,652,914.884007387,801,837,659,635,659,0.404987373949,-0.00537452599543,0.0497682441437,0.999999914474,9.6559980333e-05,-0.000398220299867,-5.61072377927e-05,1793255801910544384
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,760,736,722,688,652,914.30606036,801,837,659,635,659,0.404624655028,-0.00537658717958,0.0497926868182,0.999999931322,9.13705790292e-05,-0.000354805783855,-5.58592118246e-05,1793255801927210752
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783.277328879,760,736,721.722671121,688.277328879,652,914.277328879,801,837,659,635,659,0.404282609281,-0.0053796018869,0.0498174031989,0.999999945049,8.58947493018e-05,-0.000315412464221,-5.51347499997e-05,1793255801943877376
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.866844335,760,736,721.133155665,688.866844335,652,914.866844335,801,837,659,635,659,0.403963835158,-0.00538368996637,0.0498424276864,0.999999955988,8.00964901044e-05,-0.000280545771349,-5.38739687561e-05,1793255801960544000
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.551461959,760,736,721.448538041,689,652,914.551461959,800.551461959,837,659,635,659,0.403647987778,-0.00538850204527,0.0498473968599,0.999999957441,7.08506472219e-05,-0.000277738032446,-5.44087852908e-05,1793255801977210624
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,689,651.972284455,914,800,837.027715545,659,635.027715545,659,0.403334173609,-0.00539320675833,0.0498461532598,0.999999956002,6.10297602323e-05,-0.000284944214903,-5.54761512466e-05,1793255801993877248
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,760,736,722,689,651.397723518,914,800,837.602276482,659,635.602276482,659,0.40304362679,-0.00539162503883,0.0498377853657,0.999999950045,5.97104932753e-05,-0.000305169258354,-5.67138680552e-05,1793255802010544128
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,760,736,721.822517428,688.822517428,651.177482572,914.177482572,800,838,659,635.822517428,659.177482572,0.402765406247,-0.00539043126303,0.0498291197482,0.99999994423,5.80982068707e-05,-0.000323733515467,-5.79764951744e-05,1793255802027211008
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783,760,736,721.245860404,688.245860404,651.754139596,914.754139596,800,838,659,635.245860404,659.754139596,0.402514908661,-0.00539011000811,0.0498197845248,0.999999939371,5.58268932889e-05,-0.000338562510488,-5.9295147717e-05,1793255802043877632
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.338706293,760,736,721.338706293,688,652,915,800.338706293,837.661293707,659,635,659.661293707,0.40229613025,-0.00538917490145,0.0498125673384,0.999999936275,5.48832117737e-05,-0.000347529448727,-6.05063407302e-05,1793255802060544256
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.929151817,760,736,721.929151817,688,652,915,800.929151817,837.070848183,659,635,659.070848183,0.402100926695,-0.0053877835571,0.0498069243555,0.999999934591,5.49262760142e-05,-0.000352139487906,-6.16376659316e-05,1793255802077210880
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.490869026,760,736,721.490869026,688.509130974,652,914.490869026,801,837,659,635.509130974,659.509130974,0.401937461498,-0.00538722583649,0.0498082656138,0.999999936697,5.58480427944e-05,-0.000345915448329,-6.18881145256e-05,1793255802093877760
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,760,736,721.087509416,689,652,914.087509416,801,837,659.087509416,635.912490584,659.912490584,0.401784644033,-0.00538597380834,0.0498113765887,0.999999939331,6.76020612504e-05,-0.000336451142234,-5.97316494625e-05,1793255802110544384
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,760,736,721.664916212,689,652,914.664916212,801,837,659.664916212,635.335083788,659.335083788,0.401667208065,-0.00538019856067,0.0498190635577,0.99999993901,0.000139326719619,-0.000317117065282,-4.47731398942e-05,1793255802127211008
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.245504367,760,736,722,689,652,914.754495633,800.754495633,837.245504367,660,635,659,0.401556425793,-0.0053776213819,0.0498262501878,0.999999937469,0.000178949818195,-0.000302875049315,-3.61336609428e-05,1793255802143877632
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.830491664,760,736,722,689,652,914.169508336,800.169508336,837.830491664,660,635,659,0.401454844248,-0.00537946648654,0.0498327449498,0.999999940462,0.000174182942875,-0.000295674327867,-3.62321256292e-05,1793255802160544512
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.586334831,760,736,722,689,652,914,800.413665169,838,659.586334831,635,659,0.401366403005,-0.005385108372,0.0498332595793,0.999999942835,0.000165008097237,-0.00029282708509,-3.6792835041e-05,1793255802177211392
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.003901337,760,736,722,689,652,914,800.996098663,838,659.003901337,635,659,0.401283322783,-0.00539229927914,0.0498313344168,0.999999944871,0.00015403487508,-0.000291755987428,-3.75421324025e-05,1793255802193878016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783.570748221,760,736,722,688.429251779,652,914.570748221,801,837.429251779,659,635,659,0.401219706579,-0.00539536153474,0.0498292646371,0.999999944774,0.000148031731711,-0.000295068166819,-3.83823033726e-05,1793255802210544384
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,783.892272798,760,736.892272798,722,688.107727202,652,914.107727202,800.107727202,837.107727202,659.107727202,635.892272798,659,0.401064743594,-0.00540052672682,0.0498403608573,0.999999952482,0.000137911387257,-0.000272977075142,-3.87246495115e-05,1793255802277210624
+381,6.350000000,POSE2_TO_POSE3_RETREAT,784,760,736.52644465,722,688.47355535,652,914.47355535,800,837,659,635.52644465,659,0.401042832756,-0.00540049349986,0.0498410363632,0.999999953056,0.000135345400537,-0.000272098652957,-3.91361781653e-05,1793255802293877248
+382,6.366666667,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,914.946844318,800,837,659,635,659,0.401022755864,-0.00540036589942,0.0498410047072,0.999999953313,0.000132530587676,-0.000272466661235,-3.9644978098e-05,1793255802310544128
+383,6.383333333,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,914.36969212,800,837,659,635,659,0.401011969901,-0.00540112661604,0.0498419094776,0.999999953954,0.000131324837993,-0.000270671852818,-3.97758856898e-05,1793255802327210752
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.793941715,760,736,722,688.793941715,652,914,800.206058285,837,659,635,659,0.401002755528,-0.00540158183347,0.0498424930641,0.999999954269,0.000130708987675,-0.000269793199886,-3.9858220757e-05,1793255802343877376
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783.220689326,760,736,722,688.220689326,652,914,800.779310674,837,659,635,659,0.400996341712,-0.00540149265393,0.0498425043038,0.999999954009,0.000131144333058,-0.000270547128315,-3.98539999926e-05,1793255802360544000
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.364889278,652,914.364889278,801,837.364889278,659,635.364889278,659,0.400992603914,-0.00540152236373,0.0498427771392,0.99999995429,0.00013167237041,-0.000269282763652,-3.96150422838e-05,1793255802377210624
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.958183541,652,914.958183541,801,837.958183541,659,635.958183541,659,0.400990541187,-0.00540162649315,0.0498432137224,0.999999954905,0.000132258428928,-0.000266755034343,-3.92291493494e-05,1793255802393877248
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783,760,736,722,689,652,915,800.463569763,838,659.536430237,636,659,0.400988927873,-0.00540208237692,0.0498433175327,0.999999955071,0.000131314605612,-0.000266548705745,-3.95750514695e-05,1793255802410543872
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783,760,736,722.112617235,689,652,914.887382765,800.112617235,837.887382765,659.887382765,636,659,0.400987739409,-0.0054026937383,0.0498435801137,0.999999955334,0.000130044946457,-0.000266136540993,-3.98948653785e-05,1793255802427210496
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783,760,736,722.685053017,689,652,914.314946983,800.685053017,837.314946983,659.314946983,636,659,0.400988146482,-0.00540383101479,0.0498445939851,0.999999956132,0.000127918544267,-0.00026416523743,-3.98815967764e-05,1793255802443877120
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783.266295263,760,736,722.733704737,689,652,914.266295263,801,837.266295263,659.266295263,635.733704737,659,0.400988885362,-0.00540425326537,0.0498455190258,0.999999956713,0.000127091477303,-0.000262364491658,-3.98214001428e-05,1793255802460543744
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783.858309199,760,736,722.141690801,689,652,914.858309199,801,837.858309199,659.858309199,635.141690801,659,0.400990030092,-0.00540380093318,0.0498463354135,0.999999957037,0.000127853690092,-0.000260772363145,-3.97038035529e-05,1793255802477210624
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.559129038,760,736,722,689,652,915,801,837.559129038,660,635,659,0.400989793157,-0.00540474118949,0.0498472480074,0.999999957501,0.000126153581401,-0.000259833958047,-3.96168373525e-05,1793255802493877248
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783,760,736,722,689,652,915,801,837.020240567,659.979759433,635,659,0.400989084067,-0.00540600609506,0.0498481109076,0.99999995796,0.000123848073834,-0.000259185856085,-3.95553543156e-05,1793255802510543872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783,760,736,722,689,652,915,801,837.593650474,659.406349526,635,659,0.400987352168,-0.00540416857842,0.0498467884103,0.999999957222,0.000126170911162,-0.000260850230074,-3.99269255956e-05,1793255802527210496
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.168186505,760,736,722,689,652,915,800.831813495,837.831813495,659.168186505,635,659,0.400986371463,-0.00540296751571,0.0498461027963,0.99999995681,0.000127571350047,-0.000261716065661,-4.01371114483e-05,1793255802543877120
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783.74546163,760,736,722,689,652,915,800.25453837,837.25453837,659.74546163,635,659,0.400987217927,-0.00540331453249,0.0498469663061,0.999999957205,0.000126728191988,-0.000260639575443,-3.99547512683e-05,1793255802560543744
+398,6.633333333,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,915,800,837,659.669669197,635.330330803,659,0.400987872513,-0.00540369000847,0.0498476342213,0.999999957532,0.000126423634172,-0.00025953597622,-3.99364886043e-05,1793255802577210624
+399,6.650000000,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,915,800,837,659.078810722,635.921189278,659,0.400988375766,-0.00540408792986,0.0498481478735,0.999999957803,0.000126543863504,-0.000258410996523,-4.00476475568e-05,1793255802593877504
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.500827576,760,736,721.500827576,689,652,915,800.499172424,837,659,635.500827576,659,0.400987672955,-0.00540563763452,0.0498478697209,0.999999957887,0.000124860106846,-0.000258943571144,-3.98101338301e-05,1793255802610544128
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.075203697,760,736,721.075203697,689,652,915,800.924796303,837,659,635.075203697,659,0.400986993596,-0.00540689430464,0.0498475758178,0.99999995793,0.000123334587543,-0.00025954251868,-3.95765201313e-05,1793255802627211008
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783.651433266,760,736,721.651433266,689,652,915,800.348566734,837,659,635.651433266,659,0.400987707185,-0.00540501765902,0.0498479889027,0.999999957924,0.000124713103921,-0.000258883992875,-3.97264205528e-05,1793255802643877376
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783.773634029,760,736,722,689,652,915,800.226365971,837,659.226365971,636,659,0.400987988743,-0.00540413262101,0.0498483987087,0.999999958008,0.000125381539151,-0.000258212582414,-3.98675889527e-05,1793255802660544000
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783.200686822,760,736,722,689,652,915,800.799313178,837,659.799313178,636,659,0.400987608832,-0.00540476579937,0.0498488034945,0.999999958234,0.000124962793502,-0.000257521444594,-3.9995388074e-05,1793255802677210624
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,689,652,915,801,837,660,635.6126314,659,0.400987635372,-0.00540450358979,0.0498487880465,0.999999958234,0.000125152415055,-0.000257423955752,-4.00137468931e-05,1793255802693877248
+406,6.766666667,POSE2_TO_POSE3_RETREAT,783,760,736,722,689,652,915,801,837,660,635.016431125,659,0.400987881032,-0.00540375867362,0.0498485460491,0.999999958114,0.000125670009375,-0.000257646505052,-3.99731060809e-05,1793255802710543872
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783,760,736.559081895,722.559081895,689,652,915,800.440918105,837,659.440918105,635.559081895,659,0.400989391712,-0.00540492315835,0.0498493651861,0.999999958758,0.000124226130845,-0.00025587119993,-3.97681880009e-05,1793255802727210496
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9cc6bbe550f3305ed08e4118ca64f7e5bea51a43
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+1,0.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+2,0.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+3,0.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+4,0.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+5,0.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+6,0.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
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+8,0.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
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+15,0.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+16,0.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+17,0.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+18,0.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
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+20,0.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
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+382,6.366666667,pose2_to_pose3_retreat,0.575696878849,0.00018165583041,1.04002081057,0.546268028906,0.008855901115,1.0396925053
+383,6.383333333,pose2_to_pose3_retreat,0.575686760814,0.000181771565391,1.04002057247,0.546257909011,0.00885601123313,1.03969228633
+384,6.400000000,pose2_to_pose3_retreat,0.575679535391,0.000181711939041,1.04002051176,0.546250684291,0.00885595398313,1.03969222557
+385,6.416666667,pose2_to_pose3_retreat,0.575675015732,0.00018165661415,1.04002056165,0.546246165033,0.00885589973268,1.03969226802
+386,6.433333333,pose2_to_pose3_retreat,0.575671864062,0.000181850490885,1.04002065304,0.546243008991,0.00885607869704,1.03969235732
+387,6.450000000,pose2_to_pose3_retreat,0.5756698933,0.000181872005731,1.04002053861,0.546241037912,0.00885609920884,1.03969224474
+388,6.466666667,pose2_to_pose3_retreat,0.575668863976,0.000181825431266,1.04002037937,0.546240009826,0.00885605693506,1.0396920883
+389,6.483333333,pose2_to_pose3_retreat,0.575668396925,0.000181804298294,1.04002030712,0.546239543336,0.00885603775351,1.03969201731
+390,6.500000000,pose2_to_pose3_retreat,0.575668332732,0.000181801393681,1.04002029719,0.546239479219,0.0088560351171,1.03969200756
+391,6.516666667,pose2_to_pose3_retreat,0.575668225127,0.000181796608133,1.04002028166,0.546239371742,0.00885603077388,1.0396919923
+392,6.533333333,pose2_to_pose3_retreat,0.575668092546,0.000181793424033,1.04002029893,0.546239239255,0.00885602789801,1.03969200937
+393,6.550000000,pose2_to_pose3_retreat,0.575668014229,0.000181791543127,1.04002030913,0.546239160992,0.00885602619919,1.03969201945
+394,6.566666667,pose2_to_pose3_retreat,0.575667766365,0.000181785590308,1.04002034142,0.546238913302,0.00885602082263,1.03969205135
+395,6.583333333,pose2_to_pose3_retreat,0.575667489092,0.000181778931206,1.04002037753,0.546238636223,0.00885601480816,1.03969208704
+396,6.600000000,pose2_to_pose3_retreat,0.575667299721,0.000181774383193,1.0400204022,0.546238446985,0.00885601070041,1.03969211141
+397,6.616666667,pose2_to_pose3_retreat,0.575667229884,0.000181772705963,1.04002041129,0.546238377198,0.00885600918555,1.0396921204
+398,6.633333333,pose2_to_pose3_retreat,0.575667198255,0.000181771946351,1.04002041541,0.546238345591,0.00885600849947,1.03969212447
+399,6.650000000,pose2_to_pose3_retreat,0.575667142213,0.000181776363748,1.04002041738,0.546238289486,0.00885601268951,1.03969212612
+400,6.666666667,pose2_to_pose3_retreat,0.575667107545,0.00018179029283,1.04002040825,0.546238254579,0.00885602578315,1.03969211633
+401,6.683333333,pose2_to_pose3_retreat,0.57566709931,0.000181793601875,1.04002040608,0.546238246286,0.00885602889373,1.03969211401
+402,6.700000000,pose2_to_pose3_retreat,0.575667044966,0.000181815436339,1.04002039177,0.546238191568,0.0088560494186,1.03969209866
+403,6.716666667,pose2_to_pose3_retreat,0.575667042303,0.00018181650632,1.04002039107,0.546238188887,0.0088560504244,1.03969209791
+404,6.733333333,pose2_to_pose3_retreat,0.575666979421,0.000181841771452,1.04002037451,0.546238125572,0.00885607417418,1.03969208015
+405,6.750000000,pose2_to_pose3_retreat,0.575666860059,0.000181889729612,1.04002034307,0.546238005387,0.00885611925589,1.03969204645
+406,6.766666667,pose2_to_pose3_retreat,0.575666773398,0.000181897355816,1.04002036109,0.546237918762,0.00885612699088,1.0396920641
+407,6.783333333,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579598,1.03969213895
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..71821ba65ffb0b0782c4713a5da6ca663e7fc938
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ad39c3d6fe02477b5b4c8aae127ab9008a7ffa51fd6ae50e10531030a77a7fb
+size 26038376
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b7dd50ed0275f2cbf25621e07b83a706d84a6be
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,760,736,722,689,652,914,801,837,659,635,659,0.400989142405,-0.00540725927349,0.0498494183305,0.999999959054,0.000120645943688,-0.000256474543373,-3.94711643884e-05,1793255802854964480
+1,0.016666667,BASELINE,783.570820799,760,736,722,689,652,914,801,837,659,635.570820799,659,0.400987624886,-0.00540796654428,0.0498488758579,0.999999958831,0.000120135443268,-0.000257606306292,-3.93069757714e-05,1793255802871631616
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+4,0.066666667,BASELINE,783.673898111,760,736,722,689,652,914.326101889,801,837,659,635.673898111,659,0.40099012843,-0.00540554206032,0.049851277493,0.999999959487,0.000123436328471,-0.000253371001805,-3.9904335458e-05,1793255802921630976
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+12,0.200000000,BASELINE,783.039339849,760,736,722,689,652,914.039339849,801,837.039339849,659,635.039339849,659.039339849,0.400990753322,-0.00540665299333,0.0498509591375,0.999999959616,0.000125536530087,-0.000251900345133,-3.94326542825e-05,1793255803054964480
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+14,0.233333333,BASELINE,783,760,736,722,689,652,914.117883078,801,837.882116922,659,635.882116922,659,0.400987820934,-0.00540789154597,0.0498496193097,0.999999959258,0.000121444422233,-0.00025529831196,-3.94598975358e-05,1793255803088297728
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+16,0.266666667,BASELINE,783.294624823,760,736,722,689,652,915,801,837.294624823,659.294624823,635,659,0.400986126186,-0.00540621756428,0.0498485139703,0.999999958069,0.000126400283789,-0.000257513211243,-3.96485409721e-05,1793255803121630720
+17,0.283333333,BASELINE,783.873203989,760,736,722,689,652,915,801,837.873203989,659.873203989,635,659,0.400987093568,-0.00540518612454,0.0498498458047,0.999999958746,0.000124615941803,-0.000255705909351,-3.99097811558e-05,1793255803138297344
+18,0.300000000,BASELINE,783.55127835,760,736,722,689,652,914.55127835,801,837.55127835,660,635.44872165,659,0.40098686517,-0.00540595524093,0.049849419514,0.999999958758,0.000124341526376,-0.000255820450488,-3.9725644848e-05,1793255803154964224
+19,0.316666667,BASELINE,783,760,736,722,689,652,914.023938831,801,837.023938831,660,635.976061169,659.023938831,0.400986363804,-0.00540714283303,0.0498485675219,0.999999958598,0.000124489896101,-0.000256419528374,-3.94332014556e-05,1793255803171630848
+20,0.333333333,BASELINE,783,760,736,722,689,652,914.612331023,801,837.612331023,660,635.387668977,659.612331023,0.400987339323,-0.00540628229335,0.0498493124963,0.999999958756,0.00012461501714,-0.000255725498351,-3.95343113405e-05,1793255803188297728
+21,0.350000000,BASELINE,783,760,736,722,689,652,915,801,837.802298297,659.802298297,635,659.802298297,0.400988365843,-0.00540651778423,0.0498500820633,0.999999959115,0.000123790143806,-0.000254721390204,-3.95262225525e-05,1793255803204964096
+22,0.366666667,BASELINE,783,760,736,722,689,652,915,801,837.222763311,659.222763311,635,659.222763311,0.400989490863,-0.00540887010544,0.0498508991277,0.999999959857,0.000121130488741,-0.000253118409461,-3.93072317368e-05,1793255803221630720
+23,0.383333333,BASELINE,783,760,736,722,689,652,914.644979655,800.644979655,837,659,635.355020345,659,0.400988617641,-0.00540848819037,0.0498504545306,0.999999959623,0.000120934762767,-0.00025410419405,-3.95026159681e-05,1793255803238297600
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+25,0.416666667,BASELINE,783,760,736,722,689,652,914,800,837.50472028,659,636,659,0.400986521133,-0.00540820653648,0.0498499047934,0.99999995915,0.000120551735689,-0.000256128996718,-3.9571148222e-05,1793255803271630848
+26,0.433333333,BASELINE,783.077615155,760,736,722,689,652,914,800.077615155,838,659,635.922384845,659,0.400986886767,-0.00540991986481,0.049850760306,0.999999959574,0.000119161662778,-0.000255184410607,-3.91664162762e-05,1793255803288297728
+27,0.450000000,BASELINE,783.652943948,760,736,722,689,652,914,800.652943948,838,659,635.347056052,659,0.400987592815,-0.00540767307783,0.0498510750044,0.999999959297,0.000122567135825,-0.000254623736597,-3.93621578333e-05,1793255803304964352
+28,0.466666667,BASELINE,783.765021999,760,736,722,689,652,914,801,838,659.234978001,635,658.765021999,0.400988048053,-0.00540684404055,0.0498512753838,0.999999959247,0.00012388773053,-0.000254177689977,-3.9379943286e-05,1793255803321630720
+29,0.483333333,BASELINE,783.17279359,760,736,722,689,652,914,801,838,659.82720641,635,658.17279359,0.400988121971,-0.0054081704888,0.0498513019575,0.999999959554,0.000122038566023,-0.000253905917925,-3.91271719501e-05,1793255803338297600
+30,0.500000000,BASELINE,783,760,736,722.408458224,689,652.408458224,914.408458224,801,838,660,635,658.408458224,0.400988493446,-0.00540768449247,0.0498518821788,0.999999959788,0.000122617684419,-0.000252692380153,-3.91815383869e-05,1793255803354964480
+31,0.516666667,BASELINE,783,760,736,722.985188022,689,652.985188022,914.985188022,801,838,660,635,658.985188022,0.400988987504,-0.00540645182758,0.0498526904848,0.99999995999,0.000124197176849,-0.00025109086538,-3.93624356551e-05,1793255803371631360
+32,0.533333333,BASELINE,783,760,736,722.44103784,689,653,914.44103784,801,838,660,635.55896216,659.55896216,0.400987578363,-0.00540848352634,0.0498511873375,0.999999959719,0.000121162317005,-0.000253672076879,-3.91471357284e-05,1793255803388297984
+33,0.550000000,BASELINE,783.136955603,760,736,722,689,652.863044397,914,801,837.863044397,660,635.863044397,659.863044397,0.400986677055,-0.00540997015314,0.0498500845516,0.999999959574,0.000118772568429,-0.000255383377209,-3.90327685615e-05,1793255803404964352
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+39,0.650000000,BASELINE,783.378177888,760,736,722,688,652,915,800,837.621822112,659,635,659,0.400987967891,-0.00540846917262,0.0498513318826,0.999999959839,0.000119297199318,-0.000254066509884,-3.9257885368e-05,1793255803504964608
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+41,0.683333333,BASELINE,783.738635417,760,736,722,688.738635417,652,915,800,838,659,635,659,0.400987881936,-0.00540766606562,0.0498509230262,0.999999959491,0.000121825353802,-0.000254231892372,-3.92804065858e-05,1793255803538297600
+42,0.700000000,BASELINE,783.674352948,760,736,722,689,652,915,800.325647052,838,659,635,659,0.400988346893,-0.0054080273349,0.0498510395437,0.9999999596,0.000121919285114,-0.00025377029708,-3.91934107322e-05,1793255803554964224
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+44,0.733333333,BASELINE,783.524837984,760,736,722,689,652,915,801,838,659.524837984,635.524837984,659.524837984,0.400988139538,-0.00541023337158,0.049851626368,0.999999959804,0.000120665800157,-0.000253620273078,-3.88372537276e-05,1793255803588297216
+45,0.750000000,BASELINE,783.898568639,760,736,722,689,652,915,801,838,659.898568639,635.898568639,659.898568639,0.400987173243,-0.00541081659115,0.0498515496816,0.999999959583,0.000121053505007,-0.000254332446387,-3.86649978779e-05,1793255803604963840
+46,0.766666667,BASELINE,783.307635878,760,736,722,689,652,915,801,838,659.307635878,635.307635878,659.307635878,0.400989249492,-0.00541003463249,0.0498528861729,0.999999960559,0.000119861178027,-0.000251030815248,-3.87109422467e-05,1793255803621630720
+47,0.783333333,BASELINE,783,760,736.277488643,722,688.722511357,652,914.722511357,801,837.722511357,659,635.277488643,659,0.400990196544,-0.00540899977761,0.0498535075079,0.999999960909,0.000120043365631,-0.000249528311948,-3.88135363187e-05,1793255803638297600
+48,0.800000000,BASELINE,783,760,736.856305991,722,688.143694009,652,914.143694009,801,837.143694009,659,635.856305991,659,0.400989917385,-0.00540769029918,0.049853352245,0.999999960588,0.000121718157236,-0.000249979505714,-3.89776470829e-05,1793255803654964224
+49,0.816666667,BASELINE,783,760,736.567009048,722,688,652,914,800.567009048,837,659,635.567009048,659,0.400989858053,-0.005409060975,0.0498526369819,0.999999960553,0.000120729837358,-0.000250616574602,-3.88472802235e-05,1793255803671630848
+50,0.833333333,BASELINE,783,760,736,722,688.00886534,652,914,800,837.00886534,659,635,659,0.400989875635,-0.00541125699666,0.0498517556172,0.999999960609,0.000118913738559,-0.000251295624343,-3.86285029459e-05,1793255803688297472
+51,0.850000000,BASELINE,783,760,736,722,688.578018877,652,914,800,837.578018877,659,635,659,0.400990166098,-0.00540967737984,0.0498520643937,0.99999996056,0.000120363809787,-0.00025074846908,-3.89682289784e-05,1793255803704964096
+52,0.866666667,BASELINE,783,760,736,722,689,652,914,800,837.846285434,659,635,659,0.400990414105,-0.00540812257756,0.0498522506211,0.999999960465,0.000121733607451,-0.000250402516007,-3.93521834567e-05,1793255803721630976
+53,0.883333333,BASELINE,783,760,736,722,689,652,914,800,837.251831744,659,635,659,0.40099054038,-0.00540663892506,0.049852085469,0.999999960248,0.00012287324011,-0.000250633461302,-3.98629522235e-05,1793255803738297856
+54,0.900000000,BASELINE,783,759.665397176,736,722,689,652,914.334602824,800.334602824,837.334602824,659,635,659,0.40098994522,-0.00540652508147,0.0498518550696,0.999999960032,0.000123705589988,-0.00025110671757,-3.97283950003e-05,1793255803754964480
+55,0.916666667,BASELINE,783,759.084856796,736,722,689,652,914.915143204,800.915143204,837.915143204,659,635,659,0.400988819795,-0.00540741806583,0.0498515767125,0.999999959817,0.000124312082861,-0.000251758075637,-3.91195145123e-05,1793255803771631104
+56,0.933333333,BASELINE,783,759.490840385,736,722,688.509159615,652,915,801,837.509159615,659.490840385,635,659,0.400988378841,-0.00540753519167,0.0498512118761,0.999999959803,0.00012304642616,-0.000252403275103,-3.93326450819e-05,1793255803788297984
+57,0.950000000,BASELINE,783,760,736,722,688.06775693,652,915,801,837,659.93224307,635,659,0.400988108376,-0.00540752382979,0.0498508885165,0.999999959832,0.000121592871736,-0.000252937616465,-3.96700517187e-05,1793255803804964608
+58,0.966666667,BASELINE,783,760,736,722,688.66054633,652,915,801,837,659.33945367,635,659,0.400988251033,-0.00540754604034,0.0498510012668,0.999999959955,0.000121166791108,-0.000252621113705,-3.98800281445e-05,1793255803821630976
+59,0.983333333,BASELINE,783,760,736,722,688.752533829,652,914.752533829,800.752533829,837,659,635.247466171,659,0.40098855314,-0.00540816911576,0.0498514344182,0.999999960195,0.000120388590121,-0.000252056850291,-3.97912624573e-05,1793255803838297344
+60,1.000000000,BASELINE,783,760,736,722,688.17347874,652,914.17347874,800.17347874,837,659,635.82652126,659,0.400989068902,-0.00540959731184,0.0498522968866,0.99999996059,0.000119138570206,-0.000251160603325,-3.93022013821e-05,1793255803854963968
+61,1.016666667,BASELINE,783,760,736,722,688,652,914,800,837,659,635.596874378,659,0.400989737102,-0.0054101048835,0.0498527406533,0.999999960829,0.000118827208138,-0.00025037640177,-3.91532098181e-05,1793255803871630592
+62,1.033333333,BASELINE,783,760,736,722,688,652,914,800,837,659,635.02131831,659,0.400990470506,-0.00541021867291,0.049853005327,0.999999961003,0.000118917341818,-0.000249640125877,-3.91496775014e-05,1793255803888297472
+63,1.050000000,BASELINE,783,760,736,721.447718113,688.552281887,652,914,800,837,659,635,659,0.400990950492,-0.00540915828032,0.049853164505,0.999999960925,0.000120072708867,-0.000249389155055,-3.9208433533e-05,1793255803904964608
+64,1.066666667,BASELINE,783,760,736,721.129765605,689,652,914,800.129765605,837.129765605,659.129765605,635.129765605,659,0.400991150402,-0.00540840971991,0.0498532355806,0.999999960846,0.000120715629423,-0.000249383058487,-3.92817272088e-05,1793255803921631488
+65,1.083333333,BASELINE,783,760,736,721.721337599,689,652,914,800.721337599,837.721337599,659.721337599,635.721337599,659,0.400990388278,-0.00540893162797,0.0498530075604,0.999999960802,0.000119389054093,-0.000250181982759,-3.93982307004e-05,1793255803938298112
+66,1.100000000,BASELINE,783,760,736,722,689,652,914.306059468,801,837.693940532,659.693940532,636,659,0.400989259262,-0.00540894843151,0.0498522485131,0.999999960629,0.000118719115327,-0.000251180503873,-3.94501283518e-05,1793255803954964480
+67,1.116666667,BASELINE,783,760,736,722,689,652,914.884680911,801,837.115319089,659.115319089,636,659,0.400987803509,-0.00540851541304,0.0498510165583,0.999999960343,0.000118633945859,-0.000252356776379,-3.94444911152e-05,1793255803971631104
+68,1.133333333,BASELINE,783,760,736,722,688.5399273,652,915,801,837,659,635.5399273,659,0.400988753758,-0.00540777361907,0.0498518330658,0.999999960542,0.000120250890343,-0.000250802915546,-3.94097816943e-05,1793255803988297728
+69,1.150000000,BASELINE,783,760,736,721.96446344,688.03553656,652,914.96446344,800.96446344,837,659,635.03553656,659,0.400990153214,-0.00540710906745,0.0498530722043,0.999999960829,0.000122063722927,-0.000248782485377,-3.93537989433e-05,1793255804004964352
+70,1.166666667,BASELINE,783,760,736,721.375355069,688.624644931,652,914.375355069,800.375355069,837,659,635.624644931,659,0.400989221293,-0.00540884499293,0.0498529522767,0.999999960727,0.000120328310084,-0.000250079749484,-3.90791534216e-05,1793255804021630976
+71,1.183333333,BASELINE,783,760,736,721.210042346,689,652,914,800.210042346,837.210042346,659,636,659,0.400989290771,-0.00540950801734,0.0498530640323,0.999999960777,0.000119346194637,-0.000250362476185,-3.90110511204e-05,1793255804038297600
+72,1.200000000,BASELINE,783,760,736,721.788923344,689,652,914,800.788923344,837.788923344,659,636,659,0.400991118725,-0.00540828700583,0.0498535826287,0.999999961098,0.000119686884519,-0.000248863654692,-3.93056428886e-05,1793255804054964224
+73,1.216666667,BASELINE,783,760,735.633580398,721.633580398,689,652,914,800.633580398,837.633580398,659,635.633580398,659,0.400991017405,-0.00540737583276,0.0498530595608,0.999999960857,0.000120683130428,-0.000249336513207,-3.94049836549e-05,1793255804071631104
+74,1.233333333,BASELINE,783,760,735.056878853,721.056878853,689,652,914,800.056878853,837.056878853,659,635.056878853,659,0.400989808906,-0.00540664247074,0.0498519386995,0.99999996029,0.000122055588707,-0.000250940885251,-3.93922731923e-05,1793255804088297984
+75,1.250000000,BASELINE,783,760,735.517854252,721.517854252,689,652,914.517854252,800,837.517854252,659,635,659,0.400989328944,-0.00540786109731,0.0498521006,0.999999960419,0.000120263997904,-0.000251285415296,-3.9427333616e-05,1793255804104964608
+76,1.266666667,BASELINE,783.094905043,760,736,722,689,652,915,800,837.905094957,659,635,659,0.400989166384,-0.00540910007605,0.0498524920151,0.999999960651,0.000118448574455,-0.000251226563924,-3.94162047129e-05,1793255804121630976
+77,1.283333333,BASELINE,783.685177469,760,736,722,689,652,915,800,837.314822531,659,635,659,0.400990244446,-0.00540933044921,0.0498533487855,0.999999961039,0.00011831583203,-0.000249781750048,-3.91367021959e-05,1793255804138297600
+78,1.300000000,BASELINE,783.729741,760,736,722,689,652,914.729741,800,837,659.270259,635,659,0.400990794366,-0.0054094854151,0.0498538013089,0.999999961236,0.000118698362741,-0.000248819475053,-3.90797602916e-05,1793255804154964224
+79,1.316666667,BASELINE,783.150592386,760,736,722,689,652,914.150592386,800,837,659.849407614,635,659,0.400990740654,-0.00540955419506,0.0498537918025,0.999999961215,0.000119669819342,-0.000248408712775,-3.9277191662e-05,1793255804171630592
+80,1.333333333,BASELINE,783,760,736,722,689,652,914,800.424417216,837,659.575582784,635,659,0.400990352333,-0.00540926428203,0.0498536285432,0.999999961069,0.000119781050361,-0.000248950639512,-3.92158682828e-05,1793255804188297472
+81,1.350000000,BASELINE,783,760,736,722,689,652,914,800.997972436,837,659.002027564,635,659,0.400989846433,-0.00540884832617,0.0498534112559,0.999999960879,0.000119590002656,-0.000249827336187,-3.90636198448e-05,1793255804204964352
+82,1.366666667,BASELINE,783,760,736,722,689,652.586712513,914.586712513,801,837.586712513,659,635.586712513,659,0.400989663477,-0.00540869147328,0.0498530529543,0.99999996071,0.000120414629987,-0.0002500926466,-3.9159467717e-05,1793255804221630976
+83,1.383333333,BASELINE,783.172723729,760,736,722,689,652.827276271,914.827276271,801,837.827276271,659.172723729,635.827276271,659,0.400989900776,-0.00540841861402,0.0498528748465,0.999999960676,0.000120765792656,-0.000250035069434,-3.93192292289e-05,1793255804238297600
+84,1.400000000,BASELINE,783.752182209,760,736,722,689,652.247817791,914.247817791,801,837.247817791,659.752182209,635.247817791,659,0.400991125005,-0.00540787041507,0.0498531222423,0.99999996096,0.000119993542442,-0.000249222255003,-3.96274238119e-05,1793255804254964224
+85,1.416666667,BASELINE,783.670844665,760,736,722,689,652,914.329155335,801,837.329155335,659.670844665,635,659,0.400990825945,-0.00540732065295,0.0498528513296,0.999999960832,0.000120187595162,-0.000249617808975,-3.97826201646e-05,1793255804271631104
+86,1.433333333,BASELINE,783.09572875,760,736,722,689,652,914.90427125,801,837.90427125,659.09572875,635,659,0.40098938861,-0.00540676972279,0.0498521931118,0.999999960394,0.000121103715617,-0.000250916313557,-3.98234889163e-05,1793255804288297984
+87,1.450000000,BASELINE,783,760,736,722,689,652,915,801,837.523375461,659.476624539,635.476624539,659,0.400989626019,-0.0054075122935,0.0498522897032,0.999999960474,0.000120946562087,-0.000250706950587,-3.96328327904e-05,1793255804304964352
+88,1.466666667,BASELINE,783,760,736,722,689,652,915,801,837,659.949588597,635.949588597,659,0.400990209033,-0.0054084624858,0.0498525712681,0.999999960683,0.000120538715502,-0.00025009952044,-3.94171670445e-05,1793255804321630976
+89,1.483333333,BASELINE,783,760,736,722,689,652,915,801,837,659.354345763,635.354345763,659,0.400990912823,-0.00540886497196,0.0498532229506,0.999999961192,0.000119737780453,-0.00024844416101,-3.94308790615e-05,1793255804338297600
+90,1.500000000,BASELINE,783,760,736,722,689,652.233041618,915,801,837.233041618,659.233041618,635,659,0.400991028412,-0.00540875388659,0.0498533414361,0.999999961174,0.000120508736824,-0.000248162324233,-3.93003422142e-05,1793255804354964480
+91,1.516666667,BASELINE,783,760,736,722,689,652.808874029,915,801,837.808874029,659.808874029,635,659,0.400990278788,-0.00540788736704,0.0498526756194,0.999999960378,0.000123591854977,-0.000249900860285,-3.8957623597e-05,1793255804371631360
+92,1.533333333,BASELINE,783,760,736,722,689,652.614805174,915,800.614805174,837.614805174,660,635.385194826,659,0.400990051317,-0.00540799761421,0.0498524899998,0.999999960458,0.000122335115341,-0.000250193206114,-3.90036397065e-05,1793255804388297728
+93,1.550000000,BASELINE,783,760,736,722,689,652.038241691,915,800.038241691,837.038241691,660,635.961758309,659,0.400990083257,-0.00540859312882,0.0498525429467,0.999999960967,0.000118922291045,-0.000249767070267,-3.92427831014e-05,1793255804404964608
+94,1.566666667,BASELINE,783,760,736,722.550026821,688.449973179,652,915,800.550026821,837.550026821,659.449973179,635.449973179,659,0.400989758346,-0.00540936704466,0.0498526728557,0.999999960806,0.000119755857921,-0.000250060505502,-3.8941910396e-05,1793255804421631232
+95,1.583333333,BASELINE,783,760,736,722.863125094,688.136874906,652,914.863125094,801,837.863125094,659,635,659,0.400989495869,-0.00540978563202,0.0498527789685,0.999999960619,0.000120822629383,-0.000250320685704,-3.87700581323e-05,1793255804438297856
+96,1.600000000,BASELINE,783,760,736,722.283560222,688.716439778,652,914.283560222,801,837.283560222,659,635,659,0.400989517312,-0.0054090140033,0.0498527904353,0.999999960505,0.000121668003909,-0.000250307983005,-3.91395654283e-05,1793255804454964224
+97,1.616666667,BASELINE,783,760,736,722,689,652.294736402,914,801,837,659,635,659,0.400989759225,-0.00540867650026,0.0498527276768,0.999999960607,0.000121248157541,-0.000250092981272,-3.92307692346e-05,1793255804471630592
+98,1.633333333,BASELINE,783,760,736,722,689,652.871818062,914,801,837,659,635,659,0.400990212342,-0.00540875487168,0.0498525938136,0.999999960912,0.000119616281943,-0.000249684185449,-3.90553698097e-05,1793255804488297472
+99,1.650000000,BASELINE,783.446915321,760,736,722,689,652.553084679,914,801,837.446915321,659,635.446915321,659,0.40099042724,-0.00540816628272,0.0498528690112,0.999999960916,0.000119916883579,-0.000249501692199,-3.92096278969e-05,1793255804504964352
+100,1.666666667,BASELINE,783.977959292,760,736,722,689,652,914,801,837.977959292,659,636,659,0.400990498382,-0.00540741868496,0.0498532161111,0.999999960824,0.000120730829604,-0.000249440107016,-3.94493988996e-05,1793255804521630976
+101,1.683333333,BASELINE,783.387494747,760,736,722,689,652,914,801,837.387494747,659,636,659,0.400988616391,-0.00540748190793,0.0498524051578,0.999999960497,0.000120552682494,-0.000250830175552,-3.94668683593e-05,1793255804538297856
+102,1.700000000,BASELINE,783,760,736,722,688.800822139,652,914,801,837.199177861,659,636,659,0.400987837028,-0.00540750549226,0.0498520671185,0.999999960332,0.000120803593634,-0.000251387769941,-3.93257166273e-05,1793255804554964480
+103,1.716666667,BASELINE,783,760,736,722,688.221388881,652,914,801,837.778611119,659,636,659,0.400989162722,-0.00540745340146,0.0498526319312,0.999999960478,0.000121873630545,-0.000250356067115,-3.88817372396e-05,1793255804571630848
+104,1.733333333,BASELINE,783,760,736,722,688.356319452,652.356319452,914.356319452,801,838,659.356319452,636,659,0.400989413974,-0.00540800317589,0.0498528946511,0.999999960577,0.00012174738092,-0.000250024963689,-3.88697618203e-05,1793255804588297472
+105,1.750000000,BASELINE,783,760,736,722,688.932961273,652.932961273,914.932961273,801,838,659.932961273,636,659,0.400989000868,-0.00540892510055,0.0498529705786,0.999999960647,0.000120881433688,-0.000250127060533,-3.91249065975e-05,1793255804604964096
+106,1.766666667,BASELINE,783,760,736,722,689,652.493417388,914.493417388,801,838,660,635.493417388,659,0.400988385089,-0.00540878207712,0.0498522308857,0.999999960516,0.000119766900192,-0.000251182828782,-3.91404205656e-05,1793255804621630720
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,736,722,689,653,914,801,837,660,636,659,0.400989046236,-0.00540692861177,0.0498520255796,0.999999960459,0.000120347903336,-0.000251132156584,-3.91365359204e-05,1793255804664147456
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.421483399,759.578516601,736,722,688.421483399,652.421483399,914,801,837.578516601,659.421483399,635.421483399,659,0.400989695833,-0.0054083441121,0.0498523063334,0.999999960627,0.000120385262237,-0.000250454530833,-3.9060060618e-05,1793255804680814592
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,760,736,722,688.156049884,652,914.156049884,801,838,659,635,659,0.400989847353,-0.00540913117804,0.0498523724512,0.999999960704,0.000120271464283,-0.000250198629518,-3.90761855846e-05,1793255804697481472
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,760,736,722,688.730944027,652,914.730944027,801,838,659,635,659,0.400988662015,-0.00540823150074,0.0498518624769,0.999999960537,0.000119751955164,-0.000251074653653,-3.9340853436e-05,1793255804714147840
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.312922281,760,736,722,689,652,915,801,838,659.312922281,635.312922281,659,0.400988191206,-0.00540821890767,0.0498519853444,0.999999960521,0.000119444016036,-0.000251290152271,-3.92881806364e-05,1793255804730814208
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.901132625,760,736,722,689,652,915,801,838,659.901132625,635.901132625,659,0.400988348992,-0.00540898671196,0.0498526649439,0.999999960641,0.000119322202048,-0.000250924564726,-3.89563327709e-05,1793255804747480576
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.517883284,760,736,722,689,652,914.517883284,801,837.517883284,659.517883284,635.517883284,659,0.400989284761,-0.00540775512953,0.0498527967879,0.999999960658,0.000120664088609,-0.000250167730603,-3.92371616735e-05,1793255804764147200
+114,1.900000000,POSE1_TO_POSE2_PRESS,783.061150684,760,736,722,689,652,914,801,837,659,635.061150684,659,0.400990204459,-0.00540636065983,0.0498527936803,0.99999996064,0.000122103972943,-0.000249482589827,-3.9600087616e-05,1793255804780813568
+115,1.916666667,POSE1_TO_POSE2_PRESS,783.636066845,760,736,722,689,652,914,801,837,659,635.636066845,659,0.400989668518,-0.00540699157914,0.0498525865586,0.999999960522,0.00012188260414,-0.000250063921136,-3.96127594354e-05,1793255804797480704
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.788499234,760,736,722,689,652,914,801,837.211500766,659,636,659,0.400992280069,-0.00540758406283,0.0498538885632,0.999999961,0.000121533856949,-0.000248334998298,-3.94812183894e-05,1793255804814147840
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.212172267,760,736,722,689,652,914,801,837.787827733,659,636,659,0.401000320857,-0.00540811024729,0.0498577937205,0.999999962487,0.00012096538966,-0.000242621024841,-3.91009187531e-05,1793255804830814464
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,914,800.626939954,837.626939954,659,636,659,0.401021304332,-0.00540899144881,0.0498653441213,0.999999966037,0.000120324492607,-0.000227936663546,-3.86337440549e-05,1793255804847480832
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,914,800.036518944,837.036518944,659,636,659,0.401049828779,-0.00541007949873,0.0498750183994,0.999999970479,0.000119641394741,-0.000208025764619,-3.81159521293e-05,1793255804864146944
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,914.543292101,800,837,659,636,659,0.401105489631,-0.00541225801289,0.0498918901947,0.999999977147,0.000120373765313,-0.000172841696201,-3.6625166e-05,1793255804880813568
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.121493128,760,736,722,689,652,914.878506872,800,837,659.121493128,636,659,0.401166118526,-0.00541452248257,0.0499086585118,0.999999982139,0.0001209561176,-0.000140945005012,-3.50149956934e-05,1793255804897480448
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.696297098,760,736,722,689,652,914.303702902,800,837,659.696297098,636,659,0.401238608553,-0.00541683941621,0.0499232701732,0.999999984352,0.000120630526874,-0.000125071201503,-3.31987366418e-05,1793255804914147072
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.722989269,760,736,722,689,652.277010731,914,800.277010731,837,660,635.722989269,659,0.401319394933,-0.00541925446744,0.0499350806883,0.999999986553,0.000119352548861,-0.000107850779466,-3.18866616685e-05,1793255804930813440
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.135655328,760,736,722,689,652.864344672,914,800.864344672,837,660,635.135655328,659,0.401409475354,-0.00542177943546,0.0499437531989,0.999999988698,0.00011700765234,-8.91217995496e-05,-3.1139402544e-05,1793255804947480576
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,759.554342766,736,721.554342766,689,652.554342766,914.445657234,801,837.445657234,659.554342766,635,659,0.401509934986,-0.00542577846106,0.0499468531246,0.999999989343,0.000113946932668,-8.62146726934e-05,-2.99499529522e-05,1793255804964147456
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,759.025078773,736,721.025078773,689,652,915,801,837.974921227,659,635,659,0.401614635578,-0.00543025899875,0.0499482166545,0.99999998959,0.000110715654177,-8.79844846885e-05,-2.86456132904e-05,1793255804980814336
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,759.602680978,736,721.602680978,689,652,915,801,837.397319022,659,635,659,0.401744093221,-0.0054355943518,0.0499481977451,0.999999989852,0.000108463204173,-8.81034206058e-05,-2.77359815917e-05,1793255804997480704
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,914.820690809,801,837,659.179309191,635,659,0.401882630591,-0.00544092803168,0.0499486518689,0.999999990162,0.000106219156336,-8.76346489647e-05,-2.67034293656e-05,1793255805014147072
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,914.246209214,801,837,659.753790786,635,659,0.402041178396,-0.00544625802341,0.0499501484918,0.999999990583,0.000103993625995,-8.58706519645e-05,-2.53999775914e-05,1793255805030813696
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,760,736,722,688.663093614,652,914,801,837.336906386,659.663093614,635,659,0.402215599334,-0.00545225595289,0.0499493034509,0.999999990512,0.000101302899717,-9.02061604626e-05,-2.40127077616e-05,1793255805047480320
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,760,736,722,688.073502317,652,914,801,837.926497683,659.073502317,635,659,0.402401925379,-0.0054587548464,0.0499467021268,0.999999990006,9.82632691759e-05,-9.91163905989e-05,-2.25625729778e-05,1793255805064146688
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,760,736.506863978,721.493136022,688,652,914,801,837.493136022,659,635,659,0.402624567046,-0.00546716700917,0.0499482111281,0.999999990543,9.4362955318e-05,-9.78951182421e-05,-2.06219409619e-05,1793255805080813824
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,759.914430304,737,721.085569696,688,652,914,801,837,659,635,659,0.402859832573,-0.00547592128852,0.0499513606475,0.999999991374,9.03132085291e-05,-9.35549020849e-05,-1.85155989585e-05,1793255805097480960
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,759.337714516,737,721.662285484,688,652,914,801,837,659,635,659,0.403137869003,-0.00548507520144,0.0499605662513,0.999999992999,8.6109332152e-05,-7.95949310494e-05,-1.5859089674e-05,1793255805114147840
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,759.23717809,736.76282191,722,688,652,914,801,837.23717809,659.23717809,635,659,0.403430424557,-0.00549461003765,0.0499691235806,0.999999994541,8.14605916387e-05,-6.40755552445e-05,-1.32810092223e-05,1793255805130814464
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,759.809494461,736.190505539,722,688,652,914,801,837.809494461,659.809494461,635,659,0.403743495965,-0.00550468312699,0.0499767648819,0.999999995965,7.61832477726e-05,-4.63527042494e-05,-1.08137507363e-05,1793255805147481088
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,914,801,838,660,635.395397625,659,0.404090338009,-0.00551305619291,0.0499834814965,0.999999996554,7.5894547413e-05,-3.26515219995e-05,-8.13261905848e-06,1793255805164147200
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,914,801,838,660,635.988079938,659,0.404454029991,-0.00552058102735,0.0499897367359,0.999999996717,7.80949440424e-05,-2.09569625054e-05,-5.34477486163e-06,1793255805180813568
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760,736,721.432694434,688,652,914,801,838,659.432694434,636,659,0.404852866367,-0.00552855739225,0.0499958269839,0.999999996884,7.87023253e-05,-5.9918444211e-06,-1.42504757376e-06,1793255805197480192
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760,736,721.14551621,687.85448379,652,914,801,838,659,636,659,0.405255122592,-0.00553160673077,0.0499969599037,0.99999999637,8.51740027599e-05,-9.75486857971e-07,1.94715361201e-06,1793255805214146816
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,736,721.72154105,687.27845895,652,914,801,838,659,636,659,0.405665362285,-0.00552005207868,0.0499834366223,0.999999993715,0.000109091889084,-2.55910632861e-05,3.63077123841e-06,1793255805230813696
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760,736,722,687,652,914.302724167,801,838,659.302724167,636,659,0.406086637068,-0.00551083499839,0.0499662545636,0.999999989803,0.000130687548155,-5.73405431746e-05,5.10760815672e-06,1793255805247481088
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760,736,722,687,652,914.888734413,801,838,659.888734413,636,659,0.406518238421,-0.00550380539176,0.0499456486581,0.999999984128,0.000150110094179,-9.57658574001e-05,6.39094206411e-06,1793255805264147968
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,760,736,722,687,652,914.530564284,801,838,659.530564284,636,659,0.40702027557,-0.00551030931672,0.0499328812198,0.999999981364,0.00015312195425,-0.000117224452717,9.21255246465e-06,1793255805280814592
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,760,736,722,687,652,914,801,838,659,635.951164051,659,0.407545112723,-0.00551945854795,0.0499245624111,0.999999979789,0.000153024940485,-0.000129801781146,1.25136708567e-05,1793255805297480704
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,760,736,722,687,652,914,801,838,659,635.372379949,659,0.408138228653,-0.00552289400178,0.0499445829073,0.99999998293,0.000160928675881,-8.91543242599e-05,1.71059490922e-05,1793255805314147840
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,760,736,722,687,652,914,801,838,659,635,659,0.408745998382,-0.00552461389247,0.0499672281428,0.999999983948,0.000171816563401,-4.57943947252e-05,2.20404304148e-05,1793255805330814720
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,760,736,722,687,652,914,801,838,659,635,659,0.409380205435,-0.00552323868411,0.0499946087478,0.999999981928,0.000188088248777,2.45918539661e-06,2.7592290309e-05,1793255805347481088
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,760,736.359705202,722,687.359705202,652.359705202,914,801,838,659,635.359705202,659,0.41000544669,-0.00552104301317,0.0500051771296,0.999999978404,0.000204575318051,1.78267696203e-05,3.19834478883e-05,1793255805364147968
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,760,736.949613655,722,687.949613655,652.949613655,914,801,838,659,635.949613655,659,0.41062495001,-0.00551832226467,0.0500049860652,0.999999974827,0.00022120022773,1.21480532049e-05,3.56317818666e-05,1793255805380815104
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,760,736.470715076,721.470715076,687.470715076,653,914,801,838,659,635.470715076,659,0.411262105409,-0.00551952944689,0.0499734983881,0.999999971295,0.000228900434991,-5.94202679053e-05,3.8524699173e-05,1793255805397481984
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,760,736.108359645,721.108359645,687,652.891640355,914,801,838,659,635.108359645,659,0.411915797725,-0.00552115933597,0.0499464115959,0.999999964383,0.000236035855758,-0.000117557497264,4.12423833905e-05,1793255805414148608
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,760,736.68900111,721.68900111,687,652.31099889,914,801,838,659,635.68900111,659,0.41263438034,-0.00552303275248,0.0499512448983,0.999999965122,0.000244342389369,-9.03360341663e-05,4.35038051442e-05,1793255805430814720
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652,914,801,838,659,636,659,0.413393078093,-0.0055266277638,0.0499634736427,0.999999977233,0.000201642427112,-6.06436185872e-05,3.45848331599e-05,1793255805447481088
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652,914,801,838,659,636,659,0.414198043728,-0.00553220841953,0.0499842321044,0.999999994512,0.000100112854427,-2.81012644892e-05,1.27706761603e-05,1793255805464147456
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,760,737,722,687,652.42005068,914,801,838.42005068,659,636,659,0.414958807267,-0.00553971603054,0.0499719384401,0.9999999958,7.55472444045e-05,-5.10180932227e-05,9.49957914968e-06,1793255805480813824
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,760,737,721.986910249,687,652.986910249,914,801,839,659,636,659.013089751,0.41570338163,-0.00554770931275,0.0499464033081,0.999999991849,8.30807307755e-05,-9.59557669273e-05,1.38568317533e-05,1793255805497480192
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,760,737,721.411637198,687,652.411637198,914,801,839,659,636,659.588362802,0.416536345322,-0.00554239723175,0.0499381701385,0.999999989032,0.000104676631753,-0.000103382984297,1.70779541493e-05,1793255805514147072
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,913.836645971,801,838.836645971,659,635.836645971,660,0.417380599727,-0.00553907613629,0.0499412707841,0.999999988025,0.000121840873615,-9.31579951639e-05,2.06626199911e-05,1793255805530813952
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,913.262363726,801,838.262363726,659,635.262363726,660,0.418253256641,-0.00554076350127,0.0499728824161,0.999999990768,0.000127856972848,-3.85276742225e-05,2.51618039943e-05,1793255805547481088
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652.321477885,913,801.321477885,838,659,635,659.678522115,0.41909546485,-0.00554246057069,0.0499820634906,0.999999990805,0.000128997974891,-3.12514295403e-05,2.77923682749e-05,1793255805564147456
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652.913360125,913,801.913360125,838,659,635,659.086639875,0.419912061729,-0.00554416580271,0.0499723775722,0.999999989605,0.000126038391385,-6.38060720459e-05,2.88511822106e-05,1793255805580813824
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652.505385931,913,801.505385931,838,658.505385931,635,659,0.420819954179,-0.00554349796926,0.0499728954969,0.999999990649,0.000125816699643,-4.55923747983e-05,2.81812062249e-05,1793255805597480192
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.073397723,760,737,721.073397723,687,652,913.073397723,801,838.073397723,658.073397723,635.073397723,659,0.421747099171,-0.00554315343992,0.0499769793917,0.999999991612,0.00012526471917,-1.80856648105e-05,2.7536811094e-05,1793255805614146816
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.647760116,760,737,721.647760116,687,652,913.647760116,801,838.647760116,658.647760116,635.647760116,659,0.422698794558,-0.00554779306141,0.0499934594514,0.999999992376,0.00011925391549,1.3428642047e-05,2.9090428815e-05,1793255805630813696
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.777688561,760,737,721.777688561,687,652,914,801.222311439,838.777688561,659,636,659,0.423627759136,-0.00555071764259,0.0499965780139,0.999999992712,0.000115461172323,1.84383791906e-05,3.00847414561e-05,1793255805647480320
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.202837545,760,737,721.202837545,687,652,914,801.797162455,838.202837545,659,636,659,0.42452067754,-0.00555092252824,0.0499785080314,0.999999992738,0.000115185809645,-1.85825985127e-05,3.01921131414e-05,1793255805664146944
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,760,737,720.616943958,687,652,914,801.616943958,838,659,636,659.383056042,0.425423178124,-0.00555231522424,0.0499830207006,0.999999993044,0.00011318107885,-1.16229923687e-05,3.10816986658e-05,1793255805680813568
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,760,737,720.025029529,687,652,914,801.025029529,838,659,636,659.974970471,0.426330903265,-0.00555435556477,0.0499998463896,0.999999993213,0.000110233423249,1.93166942387e-05,3.23977803104e-05,1793255805697480448
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,760,737,720.549989036,687,652,913.450010964,801.549989036,838.549989036,659,636,659.450010964,0.427260830039,-0.0055512450254,0.0499950038089,0.99999999267,0.000114864097485,-1.70324482221e-05,3.43061731504e-05,1793255805714146816
+171,2.850000000,POSE1_TO_POSE2_PRESS,783.124635577,760,737,721,687,652,913,802,838.875364423,659,636,659.124635577,0.428193168061,-0.00554787176625,0.049983960901,0.999999990734,0.000119316639117,-5.51930719653e-05,3.5338011142e-05,1793255805730813440
+172,2.866666667,POSE1_TO_POSE2_PRESS,783.700636434,760,737,721,687,652,913,802,838.299363566,659,636,659.700636434,0.429130688317,-0.00554437068983,0.0499539283512,0.999999988047,0.000121912315053,-8.91545666425e-05,3.31007135545e-05,1793255805747480320
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,760,737,720.724494807,687,652,913.275505193,802,838,659,636,659.724494807,0.430075256675,-0.0055453910181,0.0499427688361,0.99999998795,0.000117779974579,-9.58844917513e-05,3.21487501454e-05,1793255805764146944
+174,2.900000000,POSE1_TO_POSE2_PRESS,784,760,737,720.150851186,687,652,913.849148814,802,838,659,636,659.150851186,0.431027452087,-0.0055513041926,0.0499520328106,0.999999991137,0.000106366899237,-7.31457239293e-05,3.25877135326e-05,1793255805780813568
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,760,737.440295649,720,687,652,913.559704351,801.559704351,838.440295649,659,636,659,0.431940374402,-0.00555185888549,0.0499426391336,0.999999990256,0.000104332905184,-8.69896025657e-05,3.2185394157e-05,1793255805797480192
+176,2.933333333,POSE1_TO_POSE2_PRESS,783.963528943,760,738,720,686.963528943,652,913,801,839,659,636,659,0.43284266329,-0.00555064564935,0.0499287736266,0.999999987915,0.000105323366579,-0.000109909131383,3.15678403505e-05,1793255805814146816
+177,2.950000000,POSE1_TO_POSE2_PRESS,783.385421061,760,738,720,686.385421061,652,913,801,839,659,636,659,0.433795134712,-0.00555157042349,0.0499473603958,0.999999991606,0.00010153212858,-7.3766556164e-05,3.22116390331e-05,1793255805830813696
+178,2.966666667,POSE1_TO_POSE2_PRESS,783.191441488,760,738,720,686.191441488,652,913,801,839,658.808558512,636,659,0.434735217757,-0.00555210770264,0.0499639812498,0.999999993297,0.000100049073118,-4.77697100802e-05,3.33894279198e-05,1793255805847480320
+179,2.983333333,POSE1_TO_POSE2_PRESS,783.765813164,760,738,720,686.765813164,652,913,801,839,658.234186836,636,659,0.435650521165,-0.00555186989642,0.0499766697919,0.999999993157,0.000103182951509,-4.20668180585e-05,3.56353290933e-05,1793255805864146944
+180,3.000000000,POSE1_TO_POSE2_PRESS,783.65127941,760,738,720,687,652,913,801.34872059,839,658.34872059,636,659,0.436514994848,-0.00554997095782,0.0499656555102,0.99999999084,0.000107022871593,-7.44648130022e-05,3.63517714604e-05,1793255805880813824
+181,3.016666667,POSE1_TO_POSE2_PRESS,783.06249592,760,738,720,687,652,913,801.93750408,839,658.93750408,636,659,0.437344476762,-0.00554692847832,0.049938323956,0.999999984295,0.000111348837683,-0.000133091857085,3.60153181586e-05,1793255805897480448
+182,3.033333333,POSE1_TO_POSE2_PRESS,783.520672839,760,738,719.479327161,687,652,913,802,839,659,636,659.520672839,0.438261090228,-0.00554864188994,0.0499588890862,0.999999990501,0.000106336603773,-7.98529738653e-05,3.62583108215e-05,1793255805914147328
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,760,738,719,687,651.898596326,913.101403674,802,839,659,636,659.898596326,0.439169446744,-0.0055508598514,0.0499789113803,0.999999993856,0.000100734228096,-2.85250307998e-05,3.64325499849e-05,1793255805930813952
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,760,738,719,687,651.326094018,913.673905982,802,839,659,636,659.326094018,0.439991374636,-0.00555279811095,0.0499699881688,0.999999993454,9.75418804126e-05,-4.77890072892e-05,3.59677081059e-05,1793255805947480576
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,760,738,719,687,651.245802058,914,802,839,659,636,659,0.440814523606,-0.00555427579281,0.0499639731679,0.999999993116,9.48120181236e-05,-5.91333415069e-05,3.57943207877e-05,1793255805964147200
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,760,738,719,687,651.816895811,914,802,839,659,636,659,0.441639288474,-0.00555514395118,0.0499618068611,0.999999993256,9.26942041224e-05,-5.99969082441e-05,3.60066412252e-05,1793255805980813824
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,760,738,719,687,651.595550085,913.595550085,801.595550085,839,658.595550085,636,659,0.44241737603,-0.00555587097135,0.0499735651392,0.999999994337,9.25981933912e-05,-3.69204666973e-05,3.72588232475e-05,1793255805997480448
+188,3.133333333,POSE1_TO_POSE2_PRESS,784,760,738,719,687,651.000227782,913.000227782,801.000227782,839,658.000227782,636,659,0.443173435196,-0.00555653138414,0.049991894858,0.999999994869,9.34563336939e-05,-2.54599699996e-06,3.90017480014e-05,1793255806014147072
+189,3.150000000,POSE1_TO_POSE2_PRESS,783.420531324,760,738,719,686.420531324,651,913.579468676,801.579468676,839,658.579468676,635.420531324,659,0.443883532037,-0.00555266022063,0.0499551143046,0.999999991516,0.000100999782616,-7.25562496416e-05,3.8773228816e-05,1793255806030813696
+190,3.166666667,POSE1_TO_POSE2_PRESS,783.157636701,759.842363299,738,718.842363299,686,651,913.842363299,802,839,658.842363299,635,659.157636701,0.44457956128,-0.00554955033132,0.0499150161932,0.999999983702,0.000106788237336,-0.000140558449619,3.78861371524e-05,1793255806047480320
+191,3.183333333,POSE1_TO_POSE2_PRESS,783.73178222,759.26821778,738,718.26821778,686,651,913.26821778,802,839,658.26821778,635,659.73178222,0.445238467656,-0.00554845646829,0.049866208134,0.999999972919,0.000107932875208,-0.000203149405068,3.52609546963e-05,1793255806064146944
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,759.313013528,738,718.313013528,686,650.686986472,913,802,839,658.313013528,635.313013528,660,0.445912666829,-0.00555062809533,0.0498441204419,0.999999968917,0.000108230218266,-0.00022188737992,3.49121675763e-05,1793255806080813568
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,759.900457166,738,718.900457166,686,650.099542834,913,802,839,658.900457166,635.900457166,660,0.446600273704,-0.00555566269392,0.0498454594504,0.999999973085,0.000107784707951,-0.000202177881203,3.65591775762e-05,1793255806097480192
+194,3.233333333,POSE1_TO_POSE2_PRESS,784,760,738,718.517946596,685.517946596,649.517946596,913,801.517946596,839.482053404,659,636,659.517946596,0.447209874226,-0.00555390154966,0.0498284327089,0.999999967214,0.000110677281619,-0.000228046951112,3.62930560344e-05,1793255806114146816
+195,3.250000000,POSE1_TO_POSE2_PRESS,783.937983665,760,738,718.062016335,685,649,913,801,839.937983665,659,635.937983665,659,0.447798489946,-0.00555115703165,0.0498069354451,0.999999958035,0.000114089728126,-0.000263887734769,3.57324756431e-05,1793255806130813696
+196,3.266666667,POSE1_TO_POSE2_PRESS,783.361672118,760,738,718.638327882,685,649,913,801,839.361672118,659,635.361672118,659,0.448345062881,-0.00555175548033,0.0497794383289,0.999999946,0.000116165592233,-0.000305306753987,3.59668809327e-05,1793255806147480320
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,760,738,718.785953244,685,649,913,801,839,659,635,659,0.448893990564,-0.0055527475225,0.0497656087075,0.999999939475,0.000117493249086,-0.000325440170008,3.651976264e-05,1793255806164146944
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,760,738,718.211233098,685,649,913,801,839,659,635,659,0.449446885994,-0.00555440277812,0.0497748091118,0.999999944423,0.000117560160652,-0.000309706882913,3.76092840218e-05,1793255806180813568
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,759.627192827,738,718,684.627192827,648.627192827,913,801,839,659,634.627192827,659,0.449986085181,-0.00555701503959,0.049794350676,0.999999951992,0.000119571761458,-0.000282976247744,4.05374067866e-05,1793255806197480448
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,759.037736299,738,718,684.037736299,648.037736299,913,801,839,659,634.037736299,659,0.450517325124,-0.00556018344582,0.0498199017972,0.999999960265,0.000122713479026,-0.000249854724255,4.45339956604e-05,1793255806214147072
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,759.544660509,738.544660509,718.544660509,684,647.455339491,913,801,839.544660509,659,634.544660509,659,0.450973848118,-0.00555907038032,0.0498205533566,0.99999995807,0.000123315424847,-0.000258050202896,4.54200473863e-05,1793255806230813696
+202,3.366666667,POSE1_TO_POSE2_PRESS,783.124327321,760,739,719,684,647,913.124327321,801,839.875672679,659,634.875672679,659,0.451405980417,-0.00555806422902,0.0498139207936,0.999999952457,0.000123086314214,-0.000279016869192,4.56708601983e-05,1793255806247480320
+203,3.383333333,POSE1_TO_POSE2_PRESS,783.69591046,760,739,719,684,647,913.69591046,801,839.30408954,659,634.30408954,659,0.451768753988,-0.00555849616285,0.0497872109149,0.999999935387,0.000120492476339,-0.000335760482562,4.44018200291e-05,1793255806264147200
+204,3.400000000,POSE1_TO_POSE2_PRESS,783.730633421,760,739,718.730633421,684,646.730633421,913.730633421,800.730633421,839.269366579,658.730633421,634,659.269366579,0.452127126883,-0.0055588348046,0.0497622232447,0.999999922955,9.20711598713e-05,-0.00037998483231,3.49869488657e-05,1793255806280813824
+205,3.416666667,POSE1_TO_POSE2_PRESS,783.155048114,760,739,718.155048114,684,646.155048114,913.155048114,800.155048114,839.844951886,658.155048114,634,659.844951886,0.452480497021,-0.00555906739092,0.0497391934008,0.999999915238,3.42888971976e-05,-0.000409977149259,1.63118123551e-05,1793255806297480448
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,760,739,718.435072924,684,646,913.435072924,800,839.564927076,658.435072924,634,659.564927076,0.452833218062,-0.00556419981657,0.0497389556706,0.999999918224,1.6577709026e-05,-0.000403870714546,1.28327278559e-05,1793255806314146816
+207,3.450000000,POSE1_TO_POSE2_PRESS,783.029451036,759.970548964,739,719,684,645.970548964,913.970548964,800.029451036,839,659.029451036,634,659.029451036,0.453183420446,-0.00557077914073,0.0497472674249,0.999999925837,1.40838050734e-05,-0.000384583632163,1.49376634737e-05,1793255806330813184
+208,3.466666667,POSE1_TO_POSE2_PRESS,783.603451303,759.396548697,739,719,684,645.396548697,913.396548697,800.603451303,839,659.603451303,634,659.603451303,0.453491478009,-0.00557070898337,0.0497582832709,0.999999932072,1.97893825054e-05,-0.000367674776064,1.66982872891e-05,1793255806347480064
+209,3.483333333,POSE1_TO_POSE2_PRESS,783.821744447,759.178255553,739,719,684,645,913.178255553,801,839.178255553,659.821744447,634,660,0.45378273122,-0.00557097213407,0.0497641849335,0.999999935783,2.43798644723e-05,-0.000357076654255,1.83307235685e-05,1793255806364146944
+210,3.500000000,POSE1_TO_POSE2_PRESS,783.245143623,759.754856377,739,719,684,645,913.754856377,801,839.754856377,659.245143623,634,660,0.454036431936,-0.00557198012375,0.0497586579983,0.999999934447,2.64784569478e-05,-0.000360581047409,1.96767006709e-05,1793255806380813568
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760,739,719,684,645,914,800.660353888,839.660353888,659,634,660,0.454264193242,-0.00557092022225,0.0497487510409,0.999999929342,2.98321095275e-05,-0.000374179075049,2.03909841844e-05,1793255806397480192
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,739,719,684,645,914,800.069507626,839.069507626,659,634,660,0.454472769948,-0.0055683309214,0.0497356046457,0.999999921097,3.41139969577e-05,-0.000395242292169,2.06380711843e-05,1793255806414146816
+213,3.550000000,POSE1_TO_POSE2_PRESS,783.510873227,760,739,719,683.489126773,644.489126773,914,800,839.510873227,659,633.489126773,660,0.454644098247,-0.00556694798521,0.0497211142778,0.99999991276,3.89169028225e-05,-0.000415371074759,2.08097929728e-05,1793255806430813696
+214,3.566666667,POSE1_TO_POSE2_PRESS,784,760,739,719,683,644,913.911258102,800,840,659,633.088741898,660,0.454806173437,-0.00556588855399,0.049707004393,0.999999904224,4.35246145467e-05,-0.000434989439312,2.09991700348e-05,1793255806447480064
+215,3.583333333,POSE1_TO_POSE2_PRESS,784,760,739,719,683,644,913.339468691,800,840,659,633.660531309,660,0.45494491358,-0.00556571456008,0.0496959409399,0.999999896301,4.669171323e-05,-0.000452507606013,2.13393445117e-05,1793255806464146944
+216,3.600000000,POSE1_TO_POSE2_PRESS,784,760,739,719,683,644,913.24013218,800.24013218,839.75986782,659,633.75986782,660,0.455071477851,-0.00556477985754,0.0496848983149,0.999999888067,4.91194837597e-05,-0.000470110140909,2.12236026483e-05,1793255806480813568
+217,3.616666667,POSE1_TO_POSE2_PRESS,784,760,739,719,683,644,913.831147175,800.831147175,839.168852825,659,633.168852825,660,0.455180250643,-0.00556273360227,0.0496738861249,0.999999879526,5.04669426545e-05,-0.000487835954215,2.04416726325e-05,1793255806497480192
+218,3.633333333,POSE1_TO_POSE2_PRESS,783.586317142,760,739,719,683,644,914,800.586317142,839,659,633,659.586317142,0.455282110399,-0.00556279964375,0.0496696859488,0.999999875278,5.06167367597e-05,-0.000496433798023,2.08696480285e-05,1793255806514146816
+219,3.650000000,POSE1_TO_POSE2_PRESS,783.007172955,760,739,719,683,644,914,800.007172955,839,659,633,659.007172955,0.455381205134,-0.00556371054366,0.0496682103839,0.999999872807,5.02874991247e-05,-0.000501380714324,2.1781551055e-05,1793255806530813696
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,739,719,683,644,914,800,839.568089456,659,633,659.568089456,0.45546427257,-0.00556484760373,0.0496717285659,0.999999876443,4.92511089053e-05,-0.000494169917505,2.20119191238e-05,1793255806547480320
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,759.857574858,739,719,683,644,914,800,840,659,633.142425142,660,0.455540113291,-0.00556532727579,0.0496741606785,0.999999878812,4.92228673486e-05,-0.00048934935533,2.21369676217e-05,1793255806564147200
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,759.28588567,739,719,683,644,914,800,840,659,633.71411433,660,0.455594778742,-0.00556381705655,0.0496731306675,0.999999877266,5.22598768439e-05,-0.000492192402129,2.19703470793e-05,1793255806580813824
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,759.297218314,739,719,683,643.702781686,913.702781686,800,840,659,634,660,0.455639977905,-0.00556253291568,0.0496704988576,0.99999987429,5.39224197947e-05,-0.000498028706089,2.19149515058e-05,1793255806597480448
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,759.891740447,739,719,683,643.108259553,913.108259553,800,840,659,634,660,0.455675708064,-0.00556147491801,0.0496662647879,0.999999869836,5.42101011545e-05,-0.000506859128636,2.19708128775e-05,1793255806614147328
+225,3.750000000,POSE1_TO_POSE2_PRESS,783.473572586,760,739,718.526427414,683,643,913,800,839.526427414,659,633.526427414,660,0.455705467101,-0.00556316480973,0.0496650752328,0.999999868744,5.25864157784e-05,-0.000509151543323,2.26118314162e-05,1793255806630813952
+226,3.766666667,POSE1_TO_POSE2_PRESS,783.947622931,760,739,718,683,643,913,800,839,659,633,660,0.4557326887,-0.00556524763159,0.049664420543,0.999999868325,5.06446476402e-05,-0.000510140372001,2.32664107927e-05,1793255806647480320
+227,3.783333333,POSE1_TO_POSE2_PRESS,783.370844574,760,739,718,683,643,913,800,839,659,633,660,0.455747815258,-0.00556513933079,0.0496623345993,0.999999867097,4.97787346104e-05,-0.000512651130119,2.27524233491e-05,1793255806664146944
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,760,739,718.209189202,683,643,913,800,839,659,633,660,0.455760151499,-0.00556441211555,0.0496601429429,0.999999865625,5.00744181818e-05,-0.000515510111986,2.21851198684e-05,1793255806680813568
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,760,739,718.795085285,683,643,913,800,839,659,633,660,0.45576746295,-0.00556257036227,0.0496577609198,0.999999863714,5.24618992343e-05,-0.000518996173313,2.15218051618e-05,1793255806697480192
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913,800,839,659,633,660,0.455772412308,-0.00556028786581,0.0496558225775,0.999999861977,5.51240756652e-05,-0.000522060017144,2.14530975131e-05,1793255806714147072
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913,800,839,659,633,660,0.455776091191,-0.00555776831122,0.0496541228735,0.999999860328,5.79339997152e-05,-0.000524896766894,2.17042053257e-05,1793255806730813696
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913.529665611,800,839,659,633,660,0.455780046118,-0.00555629320719,0.049654424594,0.999999860911,5.93472920741e-05,-0.000523653814643,2.10195185472e-05,1793255806747480576
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913.889871648,800,839.110128352,659,633,660,0.455783462388,-0.00555561800751,0.0496546830609,0.999999861389,6.00049867897e-05,-0.000522684952014,2.05524526355e-05,1793255806764146944
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913.314790902,800,839.685209098,659,633,660,0.455784489916,-0.0055578864258,0.0496539282041,0.999999860501,5.80522988676e-05,-0.000524566593073,2.13925742173e-05,1793255806780813568
+235,3.916666667,POSE1_TO_POSE2_PRESS,783.266569426,760,739,719,683,643,913.266569426,800,839.733430574,659,633,660,0.455785071098,-0.00555866845846,0.0496532763312,0.999999859815,5.76563835872e-05,-0.000525901954374,2.17344948179e-05,1793255806797480192
+236,3.933333333,POSE1_TO_POSE2_PRESS,783.855524268,760,739,719,683,643,913.855524268,800,839.144475732,659,633,660,0.455785112474,-0.00555765287699,0.0496527490054,0.999999859379,5.91432075868e-05,-0.000526576652664,2.14738980779e-05,1793255806814146816
+237,3.950000000,POSE1_TO_POSE2_PRESS,784,760,739,718.562912589,683,643,913.562912589,800,839,659,633,660,0.455787457166,-0.00555759907246,0.0496536086256,0.999999860381,5.90480558382e-05,-0.000524685205373,2.13649250908e-05,1793255806830813696
+238,3.966666667,POSE1_TO_POSE2_PRESS,784,760,739,718.016126004,683,643,913,800,839.016126004,659,633,659.983873996,0.455790408711,-0.00555782775581,0.0496548204588,0.99999986176,5.84212574927e-05,-0.000522124201228,2.13004278474e-05,1793255806847480320
+239,3.983333333,POSE1_TO_POSE2_PRESS,784,760,739,718.590942067,683,643,913,800,839.590942067,659,633,659.409057933,0.455788446553,-0.0055570124749,0.0496526160334,0.999999860191,5.71904789418e-05,-0.000525264282933,2.10693280237e-05,1793255806864146944
+240,4.000000000,POSE1_TO_POSE2_PRESS,783.833438082,760,739,719,683,643,913,800.166561918,840,658.833438082,633,659.166561918,0.455787180168,-0.00555601144391,0.0496511670951,0.999999859043,5.6653261038e-05,-0.00052751188171,2.08880361143e-05,1793255806880813824
+241,4.016666667,POSE1_TO_POSE2_PRESS,783.255834675,760,739,719,683,643,913,800.744165325,840,658.255834675,633,659.744165325,0.455787630813,-0.00555455201893,0.0496515825476,0.999999858953,5.78276121156e-05,-0.000527557011014,2.08296601862e-05,1793255806897480704
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,759.672045694,739,718.672045694,683,643,913,800.672045694,839.672045694,658.327954306,633,659.672045694,0.455787547243,-0.00555330431251,0.0496512097753,0.999999858467,5.99871948334e-05,-0.00052823601365,2.08314805418e-05,1793255806914147072
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,759.083338661,739,718.083338661,683,643,913,800.083338661,839.083338661,658.916661339,633,659.083338661,0.455787038923,-0.00555222494118,0.0496502102946,0.99999985766,6.29301239347e-05,-0.000529419001733,2.08811622787e-05,1793255806930813440
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,759,739,718.497792806,683,643,913.497792806,800,839,659,633,659.497792806,0.455788121694,-0.00555396650239,0.0496507378973,0.999999857958,6.10937413742e-05,-0.000529057235793,2.12323880159e-05,1793255806947480320
+245,4.083333333,POSE1_TO_POSE2_PRESS,783,759.07684824,739,719,683,643,913.92315176,800,839.07684824,659,633.07684824,660,0.455789115348,-0.00555576093285,0.0496512758707,0.999999858321,5.87759122567e-05,-0.000528620901874,2.15201119548e-05,1793255806964147200
+246,4.100000000,POSE1_TO_POSE2_PRESS,783,759.650557932,739,719,683,643,913.349442068,800,839.650557932,659,633.650557932,660,0.455787836397,-0.00555488950154,0.0496502527146,0.999999857965,5.84410126248e-05,-0.000529349470948,2.1075758456e-05,1793255806980813824
+247,4.116666667,HOLD_POSE2,783,760,739,719,683,643,913,800,840,659,633,660,0.455787009988,-0.00555083386321,0.0496503200991,0.999999856889,6.26147760282e-05,-0.000530943329629,2.00300798041e-05,1793255807019333632
+248,4.133333333,HOLD_POSE2,783,760,739,718.417479847,683,643,913,800,840,659,633,659.417479847,0.455787061509,-0.00555129845082,0.0496499853631,0.99999985652,6.3991869077e-05,-0.000531450018452,2.06187228383e-05,1793255807036000256
+249,4.150000000,HOLD_POSE2,783.162923855,760,739,718,683,643,913,800,839.837076145,659,633,659,0.455787230995,-0.00555153975712,0.049649560083,0.999999856302,6.43342154558e-05,-0.000531810713422,2.08635219561e-05,1793255807052666624
+250,4.166666667,HOLD_POSE2,783.737973985,760,739,718,683,643,913,800,839.262026015,659,633,659,0.455787698881,-0.00555121625922,0.0496489057659,0.999999856463,6.20591044788e-05,-0.000531802107743,2.02385460984e-05,1793255807069333248
+251,4.183333333,HOLD_POSE2,784,760,739,718.31278861,683,643,913.31278861,800,839,659,633,659,0.455787891927,-0.00555154434614,0.0496485844582,0.99999985651,6.10703381065e-05,-0.000531827434552,2.02674699538e-05,1793255807086000128
+252,4.200000000,HOLD_POSE2,784,760,739,718.887406062,683,643,913.887406062,800,839,659,633,659,0.455787854909,-0.00555241786119,0.0496485419056,0.999999856464,6.11583441983e-05,-0.000531881165545,2.08437597029e-05,1793255807102667008
+253,4.216666667,HOLD_POSE2,784,760,739,719,683,643,913.523813074,800,839,659,633,659.476186926,0.455786804099,-0.00555207225486,0.049648021772,0.999999855917,6.14711114798e-05,-0.000532879845284,2.06704054613e-05,1793255807119333376
+254,4.233333333,HOLD_POSE2,783.933328239,760,739,719,683,643,913,800,839,659,633,660,0.455785815844,-0.00555152721653,0.0496475428496,0.999999855355,6.17440928657e-05,-0.000533912650472,2.03621791434e-05,1793255807136000000
+255,4.250000000,HOLD_POSE2,783.356222979,760,739,719,683,643,913,800,839,659,633,660,0.455787197961,-0.00555172989136,0.0496482704723,0.999999855632,6.12931336487e-05,-0.00053344370066,2.04200146046e-05,1793255807152666624
+256,4.266666667,HOLD_POSE2,783,760,739,719,683,643,913,800,839.220188274,659,633,660,0.455787651497,-0.00555144291199,0.0496486271264,0.999999855587,6.12018015156e-05,-0.000533545575274,2.02408285971e-05,1793255807169333504
+257,4.283333333,HOLD_POSE2,783,760,739,719,683,643,913,800,839.795480228,659,633,660,0.455786607487,-0.00555036625384,0.049648385509,0.999999855022,6.1690449908e-05,-0.000534568034173,1.96793915473e-05,1793255807186000128
+258,4.300000000,HOLD_POSE2,783,760,739,719,683,643,913.369724581,800,840,659,633,659.630275419,0.455785936621,-0.00555037034286,0.0496476038568,0.999999854537,6.12369548159e-05,-0.000535521849016,1.98088636132e-05,1793255807202666752
+259,4.316666667,HOLD_POSE2,783,760,739,719,683,643,913.943391126,800,840,659,633,659.056608874,0.455785471583,-0.00555097057744,0.0496465243185,0.999999854095,6.02637686217e-05,-0.000536437799542,2.03194446162e-05,1793255807219333632
+260,4.333333333,HOLD_POSE2,783.536417331,759.463582669,739,719,683,643,913.463582669,800,840,659,633,659.536417331,0.455786041298,-0.00555231913838,0.0496467648415,0.999999854396,5.92291674677e-05,-0.00053597007562,2.08732614596e-05,1793255807236000000
+261,4.350000000,HOLD_POSE2,783.872527223,759,739,718.872527223,683,643,913,800,839.872527223,658.872527223,633,660,0.455786840898,-0.00555316202259,0.0496471862176,0.999999854788,5.89366610799e-05,-0.000535254216499,2.13090089621e-05,1793255807252666880
+262,4.366666667,HOLD_POSE2,783.295884445,759,739,718.295884445,683,643,913,800,839.295884445,658.295884445,633,660,0.455788051351,-0.00555193438844,0.0496477356051,0.999999855211,6.12827324559e-05,-0.000534197807385,2.13120415844e-05,1793255807269333504
+263,4.383333333,HOLD_POSE2,783.27883272,759,739,718,683,643,913.27883272,800,839,658,633,660,0.455788822141,-0.00555103422332,0.0496480983125,0.999999855504,6.24933548015e-05,-0.00053352082595,2.10429331007e-05,1793255807286000128
+264,4.400000000,HOLD_POSE2,783.851520495,759,739,718,683,643,913.851520495,800,839,658,633,660,0.455789129582,-0.00555047916996,0.0496482642822,0.999999855662,6.25073547592e-05,-0.000533243714226,2.04870216932e-05,1793255807302666752
+265,4.416666667,POSE2_TO_POSE3_RETREAT,784,760,739,718,683,643,913,800,840,659,633,660,0.455789556228,-0.00554933026859,0.0496478312329,0.999999855523,6.3727945513e-05,-0.000533371078548,2.02049107822e-05,1793255807336019456
+266,4.433333333,POSE2_TO_POSE3_RETREAT,784,760,739,718,683,643,913,800,840,659,633,660,0.455788434209,-0.00554804755037,0.0496469112707,0.999999854599,6.40419604618e-05,-0.000535068837226,2.0038954603e-05,1793255807352685824
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783.812105773,760,739,718.187894227,683,643,913.187894227,800,839.812105773,659,633,659.812105773,0.45578788156,-0.0055472304226,0.0496464026061,0.999999854109,6.44331090613e-05,-0.000535940684043,1.99414723836e-05,1793255807369352448
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783.237095996,760,739,718.762904004,683,643,913.762904004,800,839.237095996,659,633,659.237095996,0.455788501975,-0.00554737254334,0.0496467413314,0.999999854517,6.49831749767e-05,-0.000535110917841,1.99850659664e-05,1793255807386019072
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783.337873133,760,739,719,683,643,913.662126867,800,839,659,633,659.337873133,0.455789186998,-0.0055481013634,0.0496474950595,0.999999855118,6.4260935325e-05,-0.000534069523852,2.01091107356e-05,1793255807402685952
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783.912813708,760,739,719,683,643,913.087186292,800,839,659,633,659.912813708,0.455789917352,-0.00554924183886,0.0496485399729,0.999999855852,6.2645987118e-05,-0.000532879642054,2.02896037811e-05,1793255807419352576
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783.497566036,760,739,719,683,642.497566036,913,800,839,659,633,660,0.45578905948,-0.00554804195024,0.0496476290807,0.999999855243,6.30802836643e-05,-0.000533989396053,1.97329053431e-05,1793255807436018944
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783.092225031,760,739,718.907774969,683,642.092225031,913.092225031,800,839,659,633,660,0.455787670063,-0.00554708907778,0.0496464044872,0.999999854357,6.35958717841e-05,-0.000535601567348,1.92856369881e-05,1793255807452685824
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783.669123759,760,739,718.330876241,683,642.669123759,913.669123759,800,839,659,633,660,0.455784979174,-0.00554963288258,0.049645368559,0.99999985328,6.26136264548e-05,-0.000537693847327,2.0105973921e-05,1793255807469352448
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783.754904536,759.754904536,739,718.245095464,683,643,913.754904536,800,839,659,633,660,0.455777918739,-0.00555021542155,0.0496419277162,0.999999850462,6.28913578369e-05,-0.000542871533238,2.02916202162e-05,1793255807486018816
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783.180179633,759.180179633,739,718.819820367,683,643,913.180179633,800,839,659,633,660,0.455764981695,-0.00554816024951,0.0496352524982,0.999999845242,6.48636347917e-05,-0.000552198788291,1.96236695863e-05,1793255807502685696
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,759.393504678,739,719,683,643,913.393504678,800,839,659,633,659.606495322,0.455734868211,-0.00554655744312,0.0496223238811,0.999999832689,6.59094205148e-05,-0.000574385885993,1.89458157465e-05,1793255807519352320
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,759.966713826,739,719,683,643,913.966713826,800,839,659,633,659.033286174,0.455696910645,-0.00554516122146,0.049606539481,0.999999816149,6.65320992901e-05,-0.000602445776316,1.82634392698e-05,1793255807536018944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,760,739,718.43849385,683,643,913.43849385,800,839,659,633,659.56150615,0.455635809779,-0.00554293769113,0.0495855044734,0.999999797099,6.67858781932e-05,-0.000633299263702,1.65681908701e-05,1793255807552685568
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,759.848023279,739,718,682.848023279,643,913.151976721,800,839,659,633,660,0.455570243316,-0.00554035739636,0.0495657922055,0.999999779679,6.74414142738e-05,-0.000660206842221,1.48698586021e-05,1793255807569352192
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,759.273276337,739,718,682.273276337,643,913.726723663,800,839,659,633,660,0.45549622343,-0.00553692653245,0.0495506600118,0.999999769254,6.92778279371e-05,-0.00067565856735,1.33366528784e-05,1793255807586018816
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,759.302343878,739,718,682.302343878,643,913.697656122,800,839,659,633,660,0.455414733086,-0.00553385172766,0.0495407040571,0.999999760869,7.11967409696e-05,-0.000687783237517,1.21439241007e-05,1793255807602685696
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,759.878755662,739,718,682.878755662,643,913.121244338,800,839,659,633,660,0.455326470944,-0.00553109968266,0.0495354402472,0.999999754429,7.31904377155e-05,-0.000696892006556,1.12598300867e-05,1793255807619352576
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,738.533915828,718.466084172,683,643,913,800,839,659,633,660,0.4552229577,-0.00552818730471,0.0495345712622,0.999999754378,7.61979467591e-05,-0.000696650851709,1.06993210095e-05,1793255807636019200
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,760,738.055246531,718.944753469,683,643,913,800,839.055246531,659,633,659.944753469,0.455113136831,-0.00552496198556,0.0495350721075,0.999999756063,7.95513431574e-05,-0.000693859403041,1.02200228032e-05,1793255807652685824
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,738.634226795,718.365773205,683,643,913,800,839.634226795,659,633,659.365773205,0.454982032138,-0.00551917487548,0.0495374610459,0.99999975806,8.36236518297e-05,-0.000690501754127,9.69348190433e-06,1793255807669352448
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,759.788834503,739,718,683,643,913,800,839.788834503,659,633,659,0.45484071734,-0.00551363167049,0.0495393739425,0.999999759883,8.67103408336e-05,-0.000687483225463,9.10933552224e-06,1793255807686019072
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,759.215398316,739,718,683,643,913,800,839.215398316,659,633,659,0.454681886335,-0.00550850690407,0.0495404701522,0.999999761439,8.81061229007e-05,-0.000685046484096,8.42636254748e-06,1793255807702685952
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,759.367681953,739,718.367681953,683,643,913,800,839,659,633,659.367681953,0.454507791175,-0.00550164547806,0.049544515105,0.999999764295,9.38071965517e-05,-0.000680109819166,7.7474671895e-06,1793255807719352320
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,759.956564232,739,718.956564232,683,643,913,800,839,659,633,659.956564232,0.454324512965,-0.00549373926361,0.0495503340447,0.999999767848,0.000102098367283,-0.000673669180455,7.07102489125e-06,1793255807736019200
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783.536411749,760,739,719,683,643,913,800,839,659,633.536411749,659.463588251,0.454102057113,-0.00548520626719,0.0495623700519,0.99999977676,0.000108256572383,-0.000659328996423,6.71922540948e-06,1793255807752685824
+291,4.850000000,POSE2_TO_POSE3_RETREAT,784,760,739,718.88477513,683,643,913,800,839,659,633.88477513,659.11522487,0.453870319646,-0.00547734201541,0.0495751351117,0.999999786236,0.000113524969573,-0.000643892881253,6.42245426532e-06,1793255807769352448
+292,4.866666667,POSE2_TO_POSE3_RETREAT,784,760,739,718.307225431,683,643,913,800,839,659,633.307225431,659.692774569,0.453613858823,-0.00547236128069,0.0495888389352,0.99999979696,0.000115904652435,-0.000626583533369,6.24274762567e-06,1793255807786019072
+293,4.883333333,POSE2_TO_POSE3_RETREAT,784,760,738.732126767,718,683,643.267873233,913,800,839.267873233,659,633.267873233,659.732126767,0.45333484626,-0.00546637154717,0.049599538897,0.999999803937,0.000118646086082,-0.000614832437152,5.55625886291e-06,1793255807802685696
+294,4.900000000,POSE2_TO_POSE3_RETREAT,784,760,738.159813756,718,683,643.840186244,913,800,839.840186244,659,633.840186244,659.159813756,0.453030203503,-0.00545923507985,0.0496068249485,0.99999980689,0.000121798651875,-0.000609398333499,4.29380873231e-06,1793255807819352576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,784,760,738.426441146,718.426441146,683,644,913,800,839.573558854,659,634,659.426441146,0.452695955301,-0.00545433423641,0.049610046341,0.999999806688,0.00012251158243,-0.000609593639051,3.19704503257e-06,1793255807836019200
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783.982307893,759.982307893,739,718.982307893,683,644,913,800,839,659,634,660,0.452348399399,-0.00545027400633,0.0496116534222,0.99999980526,0.000122301864412,-0.000611978513333,2.12497457245e-06,1793255807852685824
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783.403905404,759.403905404,739,718.403905404,683,644,913,800,839,659,634,660,0.451942600951,-0.00544540466273,0.0496120071008,0.999999803571,0.000122806321796,-0.00061463525061,-1.98904470894e-07,1793255807869352704
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,759.172569824,739,718,683.172569824,644.172569824,913,800,839.172569824,659,634,660,0.451528496225,-0.00544156833037,0.0496102995448,0.999999802125,0.000121237088235,-0.000617287186953,-2.67360951893e-06,1793255807886019328
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,759.744583973,739,718,683.744583973,644.744583973,913,800,839.744583973,659,634,660,0.451095165163,-0.0054401230916,0.0496038208852,0.999999801232,0.000114867918784,-0.000619928010284,-5.49742853447e-06,1793255807902685952
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,760,738.672817547,718,683.672817547,645.327182453,913,800,839.672817547,659,634,660,0.450664321865,-0.00544017254903,0.0496118837999,0.999999814603,0.000107280194733,-0.000599353891473,-7.7677903318e-06,1793255807919352576
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,760,738.081680076,718,683.081680076,645.918319924,913,800,839.081680076,659,634,660,0.450235485528,-0.00544142785509,0.0496316781545,0.999999838254,9.87093988018e-05,-0.000560051076968,-9.59164984569e-06,1793255807936018944
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783.49917026,760,738,718.49917026,683.49917026,646,913,800,839,659,634,659.50082974,0.449757709786,-0.00543706358911,0.0496572802094,0.999999861394,0.000100501746749,-0.00051671161583,-1.10075567487e-05,1793255807952685568
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783.922161857,760,738.077838143,718.922161857,684,646.077838143,913,800,839,659,634,659,0.449260354732,-0.00543208192114,0.0496804418924,0.999999880156,0.000102559782034,-0.000478551141267,-1.25464004237e-05,1793255807969352448
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783.34690074,760,738.65309926,718.34690074,684,646.65309926,913,800,839,659,634,659,0.448688020138,-0.0054289124017,0.0496820580471,0.999999881242,9.56979227686e-05,-0.000477622681259,-1.52888456001e-05,1793255807986019328
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783.220492618,760,738.779507382,718.220492618,684.220492618,647,913,800.220492618,839,659,634.220492618,659.220492618,0.448094649147,-0.00542510483715,0.0496750626644,0.99999987715,8.96466524128e-05,-0.000487143394136,-1.88469585708e-05,1793255808002685696
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783.775934082,760,738.224065918,718.775934082,684.775934082,647,913,800.775934082,839,659,634.775934082,659.775934082,0.447469321942,-0.0054203280228,0.0496549855533,0.999999864775,8.48267425649e-05,-0.00051253737478,-2.3644146803e-05,1793255808019352576
+307,5.116666667,POSE2_TO_POSE3_RETREAT,784,760,738,719,685,647.344986049,913,801,839,659,635,660,0.446838104512,-0.00541588804872,0.0496368626966,0.99999985148,7.93303035964e-05,-0.000538471016773,-2.82158684095e-05,1793255808036019200
+308,5.133333333,POSE2_TO_POSE3_RETREAT,784,760,738,719,685,647.923240994,913,801,839,659,635,660,0.446202904318,-0.0054116758358,0.0496200612472,0.999999837293,7.33764167368e-05,-0.000564769559899,-3.26351362548e-05,1793255808052686080
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783.471544444,760,738,718.471544444,685,648.528455556,913,801,839,659,635,660,0.44555321532,-0.00540982064826,0.0496428681605,0.999999856901,6.59433891021e-05,-0.000529739852067,-3.5011801864e-05,1793255808069352704
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783.130577688,760,738,718.130577688,685,649,913,801,839,659,635,660,0.444890786246,-0.00540832852129,0.0496760386176,0.999999882188,5.90040629879e-05,-0.000480421954512,-3.6581736202e-05,1793255808086019328
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783.707996466,760,738,718.707996466,685,649,913,801,839,659,635,660,0.444192349271,-0.00540684424515,0.0497239275204,0.999999912013,5.4528940775e-05,-0.000414331718935,-3.64608766651e-05,1793255808102685952
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783.714944349,760,737.714944349,719,685,649.285055651,913,801,839,659,635.285055651,659.714944349,0.443462639587,-0.0054046986459,0.0497471145899,0.999999923288,4.85759104055e-05,-0.000386843940686,-3.76244796727e-05,1793255808119352576
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783.138252986,760,737.138252986,719,685,649.861747014,913,801,839,659,635.861747014,659.138252986,0.442700935228,-0.00540187645778,0.049745029629,0.99999991881,4.11108563321e-05,-0.000398849689842,-4.01021951184e-05,1793255808136018944
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783.452451111,759.547548889,737.452451111,719,685.452451111,650,913,801,839,659,635.547548889,659.452451111,0.441962495141,-0.00540004169031,0.0497633525931,0.999999933235,3.22597140447e-05,-0.000361409881459,-4.32590510162e-05,1793255808152685824
+315,5.250000000,POSE2_TO_POSE3_RETREAT,784,759.046043149,737.953956851,719,686,650,913,801.046043149,839,659,635.046043149,660,0.44122655175,-0.00539882522907,0.0497887504968,0.999999951107,2.28244146791e-05,-0.000308393626242,-4.64535877414e-05,1793255808169352448
+316,5.266666667,POSE2_TO_POSE3_RETREAT,784,759.622018103,737.377981897,719,686,650,913,801.622018103,839,659,635.622018103,660,0.440434910797,-0.00540114150815,0.0498215110073,0.999999966144,1.16962838017e-05,-0.000255552799748,-4.76170207032e-05,1793255808186019328
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784,760,737,719,686,650,913,801.802450651,839,659,635.802450651,660,0.43960020601,-0.00540111789806,0.0498307515899,0.999999969302,1.29542626155e-06,-0.000242618800504,-5.0296162298e-05,1793255808202686464
+318,5.300000000,POSE2_TO_POSE3_RETREAT,784,760,737,719,686,650,913,801.227766507,839,659,635.227766507,660,0.438683289556,-0.0053966272844,0.0497950910701,0.999999951631,-7.71701759158e-06,-0.000305869582074,-5.58688921078e-05,1793255808219353088
+319,5.316666667,POSE2_TO_POSE3_RETREAT,784,760,737.347569908,719,686,650.347569908,913,801,839,659,635,659.652430092,0.437782125574,-0.00539565600073,0.0497727513077,0.999999937424,-1.92124121219e-05,-0.000348061791286,-6.03026834585e-05,1793255808236019456
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784,760,737.923334545,719,686,650.923334545,913,801,839,659,635,659.076665455,0.43689130381,-0.0053969953101,0.049759157202,0.999999926581,-3.23379711775e-05,-0.000376428131709,-6.39887121255e-05,1793255808252686080
+321,5.350000000,POSE2_TO_POSE3_RETREAT,784,760,737.485207304,719,686,651,913,801,839,659,635,659.514792696,0.436015829451,-0.00539438755685,0.0497764102894,0.999999935794,-3.81014223631e-05,-0.000350065470955,-6.643636429e-05,1793255808269352448
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783.894783591,760,737.105216409,719.105216409,686,651,913,801,839,659,635.105216409,660,0.435133228853,-0.00539165925795,0.049790814389,0.999999943808,-2.76834952732e-05,-0.000327862495584,-6.42218484816e-05,1793255808286019072
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783.319743421,760,737.680256579,719.680256579,686,651,913,801,839,659,635.680256579,660,0.434208280803,-0.00539109999888,0.0497713386083,0.99999993243,4.99395737495e-05,-0.00036177274051,-4.20387214355e-05,1793255808302685952
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783.255029521,760,737.744970479,719.744970479,686,651,913,801,839,659,635.744970479,660,0.433290652549,-0.00538595503334,0.0497709475177,0.99999992768,0.000104881162426,-0.00036446420336,-2.8402342651e-05,1793255808319352832
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783.829467852,760,737.170532148,719.170532148,686,651,913,801,839,659,635.170532148,660,0.432382191764,-0.00537506675203,0.0497944588267,0.99999993723,0.000131415600893,-0.000328056065893,-2.5470238366e-05,1793255808336019712
+326,5.433333333,POSE2_TO_POSE3_RETREAT,784,760,737,719.417514293,686,651,913.417514293,801,839,659,635,660,0.431459253101,-0.00537182321866,0.0497965201118,0.9999999395,0.000126375437549,-0.000322793288945,-2.88843457767e-05,1793255808352686336
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783.989029434,760,737,720,686.010970566,651,913.989029434,801,839,659,635.010970566,659.989029434,0.430529609371,-0.00537189902449,0.0497891224859,0.999999938655,0.000107966845989,-0.000331376211483,-3.49725420244e-05,1793255808369352960
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783.412861797,760,737,720,686.587138203,651,913.412861797,801,839,659,635.587138203,659.412861797,0.429569442527,-0.00537669764713,0.0497609855038,0.999999924711,8.76313634121e-05,-0.000375811522759,-4.07862507785e-05,1793255808386019328
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.162997441,760,737,720,686.837002559,651,913.162997441,801,839,659,635.837002559,659.162997441,0.428616251421,-0.00537987225052,0.0497465620753,0.999999915608,7.18923504807e-05,-0.00040198535939,-4.4988290275e-05,1793255808402685952
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.738076962,760,737,720,686.261923038,651,913.738076962,801,839,659,635.261923038,659.738076962,0.427680696086,-0.00537894108839,0.0497668085774,0.999999923727,6.7773906796e-05,-0.000381991436759,-4.51157869909e-05,1793255808419352320
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.68709456,760,737,720,686.31290544,651,914,801,839,659,635.31290544,659.68709456,0.426727079128,-0.00537457788166,0.0497678789714,0.999999924447,7.10682608102e-05,-0.000379368190132,-4.62071591715e-05,1793255808436019200
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.112476083,760,737,720,686.887523917,651,914,801,839,659,635.887523917,659.112476083,0.425758355537,-0.00536734412464,0.0497529105333,0.99999991905,8.05626536147e-05,-0.000391273718386,-4.81047134827e-05,1793255808452686080
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760,737,720,687,651,914,801,839,659,636,659,0.424884758736,-0.00536853353384,0.0497791312851,0.999999939524,7.6958331781e-05,-0.000335658202871,-4.86175012934e-05,1793255808469352960
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,760,737,720.066706079,687.066706079,651,914,801,839,659.066706079,635.933293921,659.066706079,0.424028480168,-0.00537139037024,0.0498125188559,0.999999959929,7.0901268577e-05,-0.000269695144302,-4.87776262481e-05,1793255808486019840
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,760,737,720.643983398,687.643983398,651,914,801,839,659.643983398,635.356016602,659.643983398,0.423127550701,-0.00537131876327,0.0498240327236,0.999999964997,7.04716180196e-05,-0.000250312421682,-4.88180527886e-05,1793255808502686208
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,759.779326208,737,720.779326208,688,651.220673792,914,801,839,660,635,660,0.422208590057,-0.00537129377785,0.0498189991813,0.999999962091,7.14359786987e-05,-0.000261372948729,-4.89741196641e-05,1793255808519352832
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,759.203580109,737,720.203580109,688,651.796419891,914,801,839,660,635,660,0.42126061644,-0.00537134380822,0.0497873402448,0.999999944343,7.46433549068e-05,-0.000321417789115,-4.9316256032e-05,1793255808536019200
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783.38197676,759.38197676,737,720,688,651.61802324,914,801,838.61802324,660,635,659.61802324,0.420357790557,-0.0053721586163,0.0497883831669,0.99999994088,7.48640661143e-05,-0.000332022287424,-4.89628993807e-05,1793255808552685824
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.972900225,759.972900225,737,720,688,651.027099775,914,801,838.027099775,660,635,659.027099775,0.419479661182,-0.00537339176863,0.0498073144711,0.999999946343,7.34510291061e-05,-0.00031558221431,-4.822909822e-05,1793255808569352448
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,783.298801862,760,737,720.701198138,686.298801862,651.298801862,914,801,838,659.701198138,636,659,0.416905525387,-0.00536985680197,0.04977601489,0.999999927858,8.17873254331e-05,-0.000367459884097,-5.06847488897e-05,1793255808619353088
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783.275245189,760,737,721,686.275245189,651,914.275245189,801,838,660,635.724754811,659,0.416121700023,-0.00537179812533,0.0497886900488,0.999999938515,8.01255312314e-05,-0.00033761523725,-5.06598562284e-05,1793255808636019712
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783.851442964,760,737,721,686.851442964,651,914.851442964,801,838,660,635.148557036,659,0.415346163936,-0.00537402549355,0.0498097745681,0.999999952003,7.72351246922e-05,-0.000295787381264,-5.03917569472e-05,1793255808652686336
+345,5.750000000,POSE2_TO_POSE3_RETREAT,784,760,736.559725985,721,687.440274015,651.440274015,914.559725985,801,838,660,635,659,0.414541071432,-0.00537530047218,0.0497994817287,0.999999946625,7.6998068767e-05,-0.00031337290822,-5.11650474256e-05,1793255808669352448
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783.967699557,760,736.032300443,721,688,652,914,801,838,660,635.032300443,659,0.413729438996,-0.00537598233088,0.049778686363,0.999999934129,7.7786029689e-05,-0.000350645243993,-5.23469875453e-05,1793255808686019072
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783.395614999,760,736.604385001,721,688,652,914,801,838,660,635.604385001,659,0.412980100858,-0.00537228127297,0.0497645350427,0.99999992611,8.02998738557e-05,-0.000371997358422,-5.43124199999e-05,1793255808702685440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,760,737,721,688,652,914.178268725,801,838.178268725,659.821731275,635.821731275,659,0.412254335208,-0.00537051760364,0.049763775857,0.999999924706,8.29470811862e-05,-0.000375123235785,-5.46872765119e-05,1793255808719352320
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760,737,721,688,652,914.756185992,801,838.756185992,659.243814008,635.243814008,659,0.411581414972,-0.0053730972334,0.0497930395849,0.99999993807,8.5893266814e-05,-0.000337388954996,-5.14963292878e-05,1793255808736019200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783.342481987,760,736.657518013,721,688,652,915,801,838.657518013,659,635.342481987,659.342481987,0.410896991514,-0.0053725807045,0.0498037199185,0.999999941997,9.12741437843e-05,-0.000324249170445,-5.03738211603e-05,1793255808752685824
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.934892377,760,736.065107623,721,688,652,915,801,838.065107623,659,635.934892377,659.934892377,0.410204173546,-0.005369804734,0.0498008389003,0.999999939728,9.84317521034e-05,-0.000329057378169,-5.07607698231e-05,1793255808769352704
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,760.511965131,736,721,688,652,915,801,838,659.511965131,635.488034869,659.488034869,0.409575844244,-0.00536926176438,0.0497890912334,0.999999934439,0.000100401580208,-0.000344019439875,-5.18913480227e-05,1793255808786019584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784,760.917291764,736.082708236,721.082708236,688,652,915,801,838,659.917291764,635,659,0.408967184993,-0.00536930541704,0.0497814212031,0.999999931161,0.000101456476268,-0.000352990616249,-5.27443201111e-05,1793255808802685952
+354,5.900000000,POSE2_TO_POSE3_RETREAT,784,760.371390942,736.628609058,721.628609058,688,652,915,801,838,659.371390942,635,659,0.408424091205,-0.00537109024901,0.0498027184236,0.999999941929,0.000100974747755,-0.000321389649835,-5.1528398282e-05,1793255808819352320
+355,5.916666667,POSE2_TO_POSE3_RETREAT,784,760,736.805022268,722,688,652,915,801,838,659,635,659,0.407881593003,-0.00537294641212,0.04981878583,0.999999948963,0.000100696050917,-0.000298977524652,-5.04652907235e-05,1793255808836018944
+356,5.933333333,POSE2_TO_POSE3_RETREAT,784,760,736.195094106,722,688,652,915,801,838,659,635,659,0.407340362393,-0.00537495438153,0.0498237231753,0.999999949834,0.000100849445108,-0.00029612104037,-4.97274018183e-05,1793255808852685824
+357,5.950000000,POSE2_TO_POSE3_RETREAT,784,760,736.40373278,722,688.40373278,652,915,801,838,659,635,659,0.406794105552,-0.00537526759715,0.0498063713209,0.99999993959,0.000100279088128,-0.000328881778781,-5.10035291752e-05,1793255808869352704
+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,760,736.997338852,722,688.997338852,652,915,801,838,659,635,659,0.406245484854,-0.00537478377961,0.0497785369797,0.999999922056,9.93683547865e-05,-0.000378393098965,-5.32268370631e-05,1793255808886019328
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783.425783486,760,736.425783486,721.425783486,688.425783486,652,915,801,837.425783486,659,635,659,0.40577327914,-0.00537472004574,0.0497662572969,0.999999915247,9.80745556442e-05,-0.000396085863103,-5.48027727124e-05,1793255808902685952
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,760,736,721.14980137,688,652,915,801,837.14980137,659,635.14980137,659,0.405323041024,-0.005374720998,0.0497611341938,0.999999912598,9.65107357069e-05,-0.000402928025293,-5.60241058033e-05,1793255808919353088
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,760,736,721.721953801,688,652,915,801,837.721953801,659,635.721953801,659,0.404933768211,-0.00537489899326,0.0497759909126,0.999999921941,9.41904804852e-05,-0.000379581906751,-5.62538895511e-05,1793255808936019712
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.296382791,652,915,801,838,659,635.703617209,659,0.404571652575,-0.00537746110441,0.0497965616948,0.999999933272,8.99532791944e-05,-0.000349705857876,-5.54168938242e-05,1793255808952686080
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.872963992,652,915,801,838,659,635.127036008,659,0.404235211185,-0.0053822771436,0.0498225345155,0.999999945855,8.39038093377e-05,-0.000313656455487,-5.35713715034e-05,1793255808969352448
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783.464647999,760,736,722,689,652,915,801,838,659.464647999,635,659,0.403908366616,-0.0053862430231,0.0498405011432,0.999999953997,7.6668717351e-05,-0.000288608934914,-5.32200866538e-05,1793255808986019328
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.941682769,760,736,722,689,652,915,801,837.941682769,659.941682769,635,659,0.403586996728,-0.00538991980221,0.0498541531472,0.999999959721,6.92472740473e-05,-0.000270031508882,-5.3351309015e-05,1793255809002686208
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.368178837,760,736,722,689,652,915,801,837.368178837,659.368178837,635,659,0.40329003341,-0.00539316498093,0.049849675844,0.999999957026,6.31393985649e-05,-0.000281146715178,-5.40148267914e-05,1793255809019352576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783,760,736.205813936,722,689,652,915,801,837.205813936,659,635.205813936,659,0.403003073848,-0.00539505738348,0.0498426200959,0.999999953104,5.83460301079e-05,-0.000295579740511,-5.4958714714e-05,1793255809036019200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783,760,736.780683213,722,689,652,915,801,837.780683213,659,635.780683213,659,0.402734052555,-0.00539452405458,0.0498309408086,0.99999994693,5.59097711068e-05,-0.00031596211317,-5.64053484027e-05,1793255809052685824
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.367156484,759.632843516,736.632843516,722,688.632843516,652,915,801,838,659,635.632843516,659.367156484,0.402489445506,-0.00539252950828,0.049818913744,0.9999999403,5.60199901303e-05,-0.00033605557053,-5.76981543545e-05,1793255809069352704
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.960787547,759.039212453,736.039212453,722,688.039212453,652,915,801,838,659,635.039212453,659.960787547,0.402259897965,-0.00538963363344,0.0498066721574,0.999999933243,5.77009629768e-05,-0.000355970817056,-5.88960742696e-05,1793255809086019584
+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,759.538006069,736,721.461993931,688.538006069,652,915,801,838,659.538006069,635.538006069,659.461993931,0.402078424948,-0.00538882741338,0.0498060765119,0.999999934439,6.01958088082e-05,-0.000352146368851,-5.90952967088e-05,1793255809102686208
+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,760,736.113212321,721.113212321,689,652,915,800.886787679,838,660,636,659,0.401908257325,-0.00538714313316,0.0498071473389,0.999999935955,7.6466800529e-05,-0.000345061951544,-5.63482244351e-05,1793255809119352320
+373,6.216666667,POSE2_TO_POSE3_RETREAT,784,760,736.684970073,721.684970073,689,652,915,800.315029927,838,660,636,659,0.401770108265,-0.00538130381605,0.0498116317227,0.999999933152,0.000148302359514,-0.000331574277148,-4.19538277667e-05,1793255809136019200
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.739585857,759.739585857,736.739585857,722,689,652,915,800.260414143,837.739585857,659.739585857,635.739585857,659,0.401645621988,-0.00537706968073,0.0498183380664,0.999999931634,0.000186935408144,-0.000317169412129,-3.45049343542e-05,1793255809152686080
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.15961835,759.15961835,736.15961835,722,689,652,915,800.84038165,837.15961835,659.15961835,635.15961835,659,0.401537901276,-0.00537480525921,0.0498277709699,0.999999936794,0.000184825758987,-0.000301639067919,-3.5578846845e-05,1793255809169352704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,759.428932363,736,722,689,652,915,800.571067637,837,659,635,659,0.401443885723,-0.00537926986165,0.0498312482607,0.999999939992,0.000176886547978,-0.000295710290241,-3.58002366894e-05,1793255809186019072
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783.020197233,760,736,722,689,652,915,800.020197233,837,659,635,659,0.401355535364,-0.00538624331964,0.0498324000933,0.999999942407,0.000166714922773,-0.000293452461684,-3.57330321539e-05,1793255809202685952
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783.596454263,760,736,722,689,652,915,800.596454263,837,659,635,659,0.401279875929,-0.00539194088014,0.0498317914234,0.999999944559,0.000156026629233,-0.000291881964588,-3.66330733427e-05,1793255809219352576
+379,6.316666667,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,915,800.827803329,837.172196671,659,635,659,0.401211490138,-0.00539645750504,0.0498313140352,0.999999946159,0.000147257258304,-0.000290848736358,-3.74706633405e-05,1793255809236019200
+380,6.333333333,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,915,800.253263433,837.746736567,659,635,659,0.40116009947,-0.00539821483394,0.0498311433913,0.99999994669,0.00014297151517,-0.000291070854915,-3.81623339431e-05,1793255809252685824
+381,6.350000000,POSE2_TO_POSE3_RETREAT,784,760,736.331045087,722,689,651.668954913,915,800,837.668954913,659.331045087,635,659,0.401120092765,-0.00539858126433,0.0498329495875,0.999999948303,0.000141471876753,-0.000286152334911,-3.86802556171e-05,1793255809269352704
+382,6.366666667,POSE2_TO_POSE3_RETREAT,784,760,736.923054313,722,689,651.076945687,915,800,837.076945687,659.923054313,635,659,0.401089060076,-0.00539785124417,0.0498363141344,0.999999950716,0.00014216853512,-0.000277181429421,-3.90612104028e-05,1793255809286019328
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.496051877,760,736.496051877,721.496051877,689,651.503948123,915,800.503948123,837.503948123,660,635,659,0.401065257038,-0.00539775597411,0.0498392987313,0.999999952227,0.000140701647689,-0.000272446908406,-3.90118447207e-05,1793255809302685952
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.082229076,760,736,721.082229076,689,652,915,800.917770924,837.917770924,659.917770924,635,659,0.40104339696,-0.00539808791348,0.0498418568981,0.999999953455,0.000138798198909,-0.000268907010268,-3.8908305865e-05,1793255809319352576
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783.65483112,760,736,721.65483112,689,652,915,800.34516888,837.34516888,659.34516888,635,659,0.40102668288,-0.00540040202237,0.0498422105453,0.999999953863,0.000136218800005,-0.000268717085192,-3.88650739728e-05,1793255809336019456
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783.771717505,760,736.228282495,722,689,652,915,800,837,659.228282495,635,659,0.401013164639,-0.00540139861676,0.049842723752,0.999999954132,0.000134911657292,-0.00026836763536,-3.89028043029e-05,1793255809352686336
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783.196977158,760,736.803022842,722,689,652,915,800,837,659.803022842,635,659,0.401004496633,-0.00540039565671,0.0498434791176,0.9999999542,0.000135535381779,-0.000267776079355,-3.90634086983e-05,1793255809369352960
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.39082897,760,736.60917103,722,689,652,915,800.39082897,837,660,635,659,0.400998328836,-0.00540000168103,0.0498439357749,0.99999995437,0.000135063601014,-0.000267337579964,-3.93532304527e-05,1793255809386019584
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.985447973,760,736.014552027,722,689,652,915,800.985447973,837,660,635,659,0.400993464723,-0.00539992524824,0.0498442366767,0.999999954592,0.000134020590694,-0.000266978888935,-3.97104300368e-05,1793255809402685952
+390,6.500000000,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,915,801,837.543877375,659.456122625,635,659,0.400993580204,-0.00540122945724,0.0498457192713,0.99999995554,0.000132694513808,-0.000264160094502,-3.91342145238e-05,1793255809419352576
+391,6.516666667,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,915,801,837.891843168,659,635,659,0.400993132421,-0.0054024150207,0.0498467239707,0.999999956245,0.000131387900749,-0.000262203052781,-3.86869271213e-05,1793255809436019200
+392,6.533333333,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,915,801,837.297164654,659,635,659,0.400989588973,-0.00540291107814,0.0498454456031,0.999999955813,0.000130200785638,-0.000264400050132,-3.89249309406e-05,1793255809452685824
+393,6.550000000,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,915,801,837,659,635.295515121,659,0.400989026722,-0.00540360245695,0.0498458935218,0.999999956173,0.000128746045447,-0.000263748002523,-3.8940563447e-05,1793255809469352448
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,915,801,837,659.467397466,636,659,0.400989282541,-0.00540395022994,0.0498466717931,0.999999956852,0.00012752135131,-0.000261767674102,-3.88809229632e-05,1793255809502685696
+396,6.600000000,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,915,800.95403697,837.04596303,660,635.95403697,659,0.400986471809,-0.00540308866463,0.049844761827,0.999999956101,0.000128664322607,-0.000264039012305,-3.90876648842e-05,1793255809519352320
+397,6.616666667,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,915,800.379723779,837.620276221,660,635.379723779,659,0.400988726705,-0.00540242515916,0.0498467020322,0.999999956522,0.00013114052452,-0.000261219346498,-3.90138194828e-05,1793255809536019200
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,784,760,736,722,689,652,915,801,837.357176152,659.642823848,636,659,0.40099142321,-0.00540265532413,0.049848964716,0.999999957496,0.000132303284957,-0.000256873226465,-3.89848798827e-05,1793255809586019072
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f6bbe11e5aed53aed6784a69daa9d517ed0c7a4a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+375,6.250000000,pose2_to_pose3_retreat,0.576115144046,0.000181856179911,1.04002048375,0.546686292015,0.00885609431269,1.03969217738
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+379,6.316666667,pose2_to_pose3_retreat,0.575852929517,0.000181766334705,1.04002065939,0.546424079386,0.00885601115406,1.03969235971
+380,6.333333333,pose2_to_pose3_retreat,0.575810363821,0.000181719401948,1.04002054193,0.546381512902,0.00885596153095,1.03969224181
+381,6.350000000,pose2_to_pose3_retreat,0.575776202119,0.000181800266885,1.04002078648,0.546347349369,0.00885603637435,1.03969249126
+382,6.366666667,pose2_to_pose3_retreat,0.575749658125,0.000181733728567,1.04002068026,0.546320806201,0.0088559727018,1.0396923868
+383,6.383333333,pose2_to_pose3_retreat,0.575728747594,0.00018179096048,1.04002059638,0.546299895053,0.00885602779532,1.03969230168
+384,6.400000000,pose2_to_pose3_retreat,0.575712125183,0.00018182796549,1.04002049904,0.546283272382,0.00885606402054,1.03969220704
+385,6.416666667,pose2_to_pose3_retreat,0.575699111413,0.000181787268583,1.04002037499,0.54627025942,0.00885602641254,1.03969209222
+386,6.433333333,pose2_to_pose3_retreat,0.575689072365,0.000181859116735,1.04002066925,0.546260220076,0.00885609706845,1.03969238087
+387,6.450000000,pose2_to_pose3_retreat,0.575681730369,0.000181885856791,1.04002072685,0.546252877285,0.00885612094999,1.03969243448
+388,6.466666667,pose2_to_pose3_retreat,0.57567694473,0.000181885929971,1.04002066783,0.546248090834,0.008856118163,1.0396923731
+389,6.483333333,pose2_to_pose3_retreat,0.575674173535,0.000181827227839,1.04002061497,0.546245320735,0.00885606310475,1.03969231824
+390,6.500000000,pose2_to_pose3_retreat,0.575672111255,0.00018178354264,1.04002057564,0.546243259272,0.00885602213127,1.03969227741
+391,6.516666667,pose2_to_pose3_retreat,0.575670849948,0.000181801551033,1.040020493,0.546241997469,0.00885603851417,1.03969219633
+392,6.533333333,pose2_to_pose3_retreat,0.57567057845,0.000181810339178,1.04002046878,0.546241725755,0.00885604659178,1.03969217272
+393,6.550000000,pose2_to_pose3_retreat,0.575670001551,0.000181829012847,1.04002041732,0.546241148397,0.00885606375565,1.03969212255
+394,6.566666667,pose2_to_pose3_retreat,0.575669107461,0.000181857953706,1.04002033756,0.546240253594,0.00885609035659,1.03969204479
+395,6.583333333,pose2_to_pose3_retreat,0.575668991714,0.000181861700326,1.04002032723,0.546240137755,0.00885609380029,1.03969203472
+396,6.600000000,pose2_to_pose3_retreat,0.57566879534,0.000181868056754,1.04002030972,0.546239941225,0.00885609964279,1.03969201764
+397,6.616666667,pose2_to_pose3_retreat,0.575668775249,0.000181868707085,1.04002030792,0.546239921118,0.00885610024054,1.03969201589
+398,6.633333333,pose2_to_pose3_retreat,0.575668512598,0.000181868977784,1.04002031241,0.546239658418,0.0088561003564,1.03969202076
+399,6.650000000,pose2_to_pose3_retreat,0.57566800782,0.000181845896317,1.04002040111,0.546239154001,0.00885607850435,1.03969210955
+400,6.666666667,pose2_to_pose3_retreat,0.575667730697,0.000181833224586,1.0400204498,0.546238877076,0.00885606650757,1.0396921583
+401,6.683333333,pose2_to_pose3_retreat,0.575667613787,0.000181827878745,1.04002047034,0.546238760249,0.00885606144647,1.03969217886
+402,6.700000000,pose2_to_pose3_retreat,0.575667513125,0.000181823275862,1.04002048803,0.546238659659,0.00885605708875,1.03969219657
+403,6.716666667,pose2_to_pose3_retreat,0.575667446808,0.000181820243456,1.04002049968,0.546238593389,0.00885605421787,1.03969220824
+404,6.733333333,pose2_to_pose3_retreat,0.575667414754,0.000181818777757,1.04002050532,0.546238561358,0.00885605283024,1.03969221388
+405,6.750000000,pose2_to_pose3_retreat,0.575667246632,0.000181810181053,1.04002051578,0.546238393446,0.00885604493963,1.03969222417
+406,6.766666667,pose2_to_pose3_retreat,0.575667006084,0.000181791605596,1.0400203991,0.546238153818,0.00885602942183,1.0396921058
+407,6.783333333,pose2_to_pose3_retreat,0.575666829245,0.000181777949828,1.04002031332,0.546237977656,0.0088560180139,1.03969201879
+408,6.800000000,pose2_to_pose3_retreat,0.575666721902,0.000181854422271,1.04002042224,0.546237868434,0.00885608808015,1.03969212693
+409,6.816666667,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1a6ca32db0060f4bd77c4b6b40b99cfe2b0de0e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d42a9045df4a57a60ce0e55689d66624c5ac62181f725fdb336e14245803520
+size 26161967
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f74250770fdd4e4722d4dd241f08a0353681952
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
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+19,0.316666667,BASELINE,783.964869234,760,736,722,689,652.964869234,914,801,837.035130766,659,635.035130766,659,0.400992463509,-0.00540669520861,0.0498531904678,0.999999959835,0.000127821318373,-0.000250017970332,-3.85016724394e-05,1793255810208993792
+20,0.333333333,BASELINE,783.369352396,760,736,722,689,652.369352396,914,801,837.630647604,659,635.630647604,659,0.400991994999,-0.00540657520887,0.0498526444249,0.999999959721,0.000127060613619,-0.000250882523359,-3.83643657489e-05,1793255810225660160
+21,0.350000000,BASELINE,783.219386545,760,736,722,689,652,914.219386545,801,837.780613455,659.219386545,635.780613455,659,0.400991615968,-0.00540574628091,0.0498526193773,0.99999995968,0.000126900012666,-0.000251120246233,-3.83963704301e-05,1793255810242326528
+22,0.366666667,BASELINE,783.797056352,760,736,722,689,652,914.797056352,801,837.202943648,659.797056352,635.202943648,659,0.40099138307,-0.00540375959225,0.0498534451745,0.999999959761,0.00012771944977,-0.000250334283852,-3.87048799144e-05,1793255810258993408
+23,0.383333333,BASELINE,784,760,736.373292963,722,689,652,915,801,837,660,635,659,0.400992681856,-0.00540399296242,0.0498541568354,0.999999960076,0.000127634639721,-0.000249108933749,-3.8753873136e-05,1793255810275660032
+24,0.400000000,BASELINE,784,760,736.948753439,722,689,652,915,801,837,660,635,659,0.40099481017,-0.00540542866896,0.0498548066824,0.999999960516,0.000127060108763,-0.000247645620546,-3.86623179088e-05,1793255810292326656
+25,0.416666667,BASELINE,784,760,736.466947601,722,688.466947601,652,914.466947601,801,837,659.466947601,635,659,0.40099324165,-0.00540568709576,0.0498539261654,0.999999960002,0.000128407102623,-0.000249082342636,-3.82793551957e-05,1793255810308993536
+26,0.433333333,BASELINE,783.882294769,760,736,722,688.117705231,652,914.117705231,801,837,659,635,659,0.400991655154,-0.00540562380051,0.0498530172761,0.999999959535,0.000129312662146,-0.000250521995418,-3.80359959033e-05,1793255810325659904
+27,0.450000000,BASELINE,783.299656913,760,736,722,688.700343087,652,914.700343087,801,837,659,635,659,0.40099142517,-0.00540474431217,0.049852587259,0.999999959639,0.000127732580655,-0.00025085339067,-3.84565919458e-05,1793255810342326528
+28,0.466666667,BASELINE,783,759.72068156,736,722,689,652,915,801,837,659,635,659,0.400991614746,-0.0054048736425,0.0498526771536,0.999999959784,0.000126655943156,-0.00025081030742,-3.8528890476e-05,1793255810358993152
+29,0.483333333,BASELINE,783,759.145584577,736,722,689,652,915,801,837,659,635,659,0.400992248608,-0.00540607124077,0.0498533175979,0.999999959974,0.000126112417464,-0.000250370677806,-3.823236646e-05,1793255810375659776
+30,0.500000000,BASELINE,783,759.430369271,736,722,689,652,915,801,837,659,635,659,0.400993240054,-0.00540510361917,0.0498538306881,0.999999960131,0.000127642774276,-0.000248939439236,-3.84051906302e-05,1793255810392326400
+31,0.516666667,BASELINE,783,760,736,722,689,652,914.993221256,801,837.006778744,659.006778744,635.006778744,659.006778744,0.400994319719,-0.00540342968948,0.04985429042,0.999999960264,0.000129841952115,-0.000247210839067,-3.87311665177e-05,1793255810408993280
+32,0.533333333,BASELINE,783,760,736,722,689,652,914.402582949,801,837.597417051,659.597417051,635.597417051,659.597417051,0.400992558256,-0.0054041329675,0.0498538723864,0.999999959968,0.000129101661895,-0.000248819582734,-3.85459282158e-05,1793255810425659904
+33,0.550000000,BASELINE,783,759.815844636,736,722,689,652,914.184155364,801,837.815844636,659.815844636,635.815844636,659.815844636,0.400991412757,-0.00540504870844,0.0498535084598,0.999999959895,0.000127632052634,-0.000249887832392,-3.84304316618e-05,1793255810442326528
+34,0.566666667,BASELINE,783,759.237455379,736,722,689,652,914.762544621,801,837.237455379,659.237455379,635.237455379,659.237455379,0.400991585894,-0.00540641928309,0.0498532603636,0.999999960298,0.000124601140681,-0.000249799009621,-3.84642360267e-05,1793255810458993152
+35,0.583333333,BASELINE,783,759.33766887,736,722,689,652,914.66233113,800.66233113,837,659.33766887,635,659,0.400991668077,-0.00540628129708,0.0498533527055,0.999999960168,0.000125476574157,-0.000249872531032,-3.85051934296e-05,1793255810475660288
+36,0.600000000,BASELINE,783,759.91051915,736,722,689,652,914.08948085,800.08948085,837,659.91051915,635,659,0.400991686914,-0.00540509262089,0.0498536821576,0.999999959662,0.000129072719544,-0.00025005912277,-3.85511328217e-05,1793255810492327680
+37,0.616666667,BASELINE,783.48639182,760,736,722,689,652,914.48639182,800.48639182,837.48639182,660,635.48639182,659,0.400991607413,-0.00540464722219,0.0498534205601,0.999999959477,0.000129760819792,-0.000250438864188,-3.85761290887e-05,1793255810508994048
+38,0.633333333,BASELINE,783.935477695,760,736,722,689,652.064522305,915,800.935477695,838,660,636,659,0.400991523786,-0.00540446174682,0.0498531261891,0.999999959425,0.000129631212207,-0.00025071568486,-3.85768017933e-05,1793255810525660160
+39,0.650000000,BASELINE,783.343462581,760,736,722,689,652.656537419,915,800.343462581,838,660,636,659,0.400991555245,-0.00540527635093,0.0498534583852,0.999999959955,0.000127217626776,-0.000249858776696,-3.84103163361e-05,1793255810542326784
+40,0.666666667,BASELINE,783.242128301,760,736,722,689,653,915,800.242128301,838,660,636,659,0.400991592482,-0.00540553292223,0.0498535311491,0.999999960194,0.000125951658854,-0.000249542937105,-3.84367511505e-05,1793255810558993664
+41,0.683333333,BASELINE,783.81884182,760,736,722,689,653,915,800.81884182,838,660,636,659,0.400991637704,-0.00540501837533,0.0498532454162,0.999999960034,0.000126271527394,-0.000249974773673,-3.87297730306e-05,1793255810575661312
+42,0.700000000,BASELINE,784,760,736,721.606269207,689,652.606269207,915,801,837.606269207,660,636,659,0.400991819375,-0.00540489631837,0.0498534425944,0.999999959887,0.000127387355459,-0.000250000601615,-3.87038209541e-05,1793255810592327936
+43,0.716666667,BASELINE,784,760,736,721.032215862,689,652.032215862,915,801,837.032215862,660,636,659,0.400992063537,-0.00540495401569,0.0498538609384,0.999999959744,0.000128867720541,-0.000249840483939,-3.85317837812e-05,1793255810608993792
+44,0.733333333,BASELINE,784,760,736,721.559743977,689,652.559743977,915,801,837.559743977,660,635.440256023,659,0.400991747566,-0.0054059393622,0.0498534395565,0.999999959813,0.00012724139274,-0.000250387323198,-3.85925540494e-05,1793255810625660416
+45,0.750000000,BASELINE,784,760,736,722,689,652.851907271,915,801,837.851907271,659.851907271,635,659,0.400991838941,-0.00540647159004,0.049853321572,0.999999959956,0.000126314958179,-0.000250275398815,-3.86657030321e-05,1793255810642327040
+46,0.766666667,BASELINE,784,760,736,722,689,652.277033433,915,801,837.277033433,659.277033433,635,659,0.400993200201,-0.00540553904906,0.0498542218165,0.999999960278,0.00012793782883,-0.000248143882241,-3.87346351488e-05,1793255810658993664
+47,0.783333333,BASELINE,784,760,736,722,689,652,915,801,837,659,635,659,0.400993184789,-0.00540527431586,0.0498543927786,0.999999960361,0.000128117008049,-0.000247716013993,-3.87316381561e-05,1793255810675660544
+48,0.800000000,BASELINE,784,760,736,722,689,652,915,801,837,659,635,659,0.40099188888,-0.0054056307378,0.0498538854056,0.999999960225,0.000126953351215,-0.000248872778244,-3.86617369754e-05,1793255810692327424
+49,0.816666667,BASELINE,783.540611691,760,736,722,688.540611691,652,914.540611691,801,837,659,635.459388309,659,0.400990804802,-0.00540574622283,0.0498531359864,0.999999959761,0.000127519318177,-0.000250450633957,-3.86181819403e-05,1793255810708994048
+50,0.833333333,BASELINE,783,760,736,722,688.047023581,652,914,801,837,659,636,659,0.400990004506,-0.00540579522833,0.0498524714569,0.999999959303,0.000128426158702,-0.000251815580351,-3.85834784136e-05,1793255810725660416
+51,0.850000000,BASELINE,783,760,736,722,688.626438428,652,914,801,837,659,636,659,0.400991743809,-0.00540585740569,0.0498535373953,0.999999959995,0.000127694537502,-0.000249431536188,-3.85652462514e-05,1793255810742326784
+52,0.866666667,BASELINE,783.200142279,760,736,722,689,652,914,801,837,659,635.799857721,659,0.400992925768,-0.00540615396703,0.0498542547143,0.999999960451,0.00012684636852,-0.000248047103863,-3.84734971834e-05,1793255810758993408
+53,0.883333333,BASELINE,783.763482365,760,736,722,689,652,914,801,837,659,635.236517635,659,0.400993096314,-0.00540687586454,0.0498543393943,0.999999960487,0.000125786700552,-0.000248476665347,-3.82483371307e-05,1793255810775660288
+54,0.900000000,BASELINE,783.660192647,760,736,722,689.339807353,652,914.339807353,801,837.339807353,659,635.339807353,659,0.400993162671,-0.00540646815474,0.0498543805303,0.99999996041,0.00012632167792,-0.000248503892826,-3.83113061461e-05,1793255810792326912
+55,0.916666667,BASELINE,783.07447066,760,736,722,689.92552934,652,914.92552934,801,837.92552934,659,635.92552934,659,0.400993153627,-0.00540524296122,0.049854390154,0.999999960251,0.000128010681633,-0.000248239955844,-3.85827908297e-05,1793255810808994048
+56,0.933333333,BASELINE,783.517752725,760,736,722.517752725,689.482247275,652,915,801,837.482247275,659,636,659,0.400991440958,-0.00540624635643,0.0498533458444,0.99999996012,0.000126300875052,-0.000249654391522,-3.84785277777e-05,1793255810825660416
+57,0.950000000,BASELINE,783.891640947,760,736,722.891640947,689,652,915,801,837.108359053,659.108359053,636,659,0.400990083813,-0.00540723713752,0.0498525365522,0.999999960036,0.000124958916195,-0.000250685815949,-3.83318833991e-05,1793255810842327040
+58,0.966666667,BASELINE,783.312182305,760,736,722.312182305,689,652,915,801,837.687817695,659.687817695,636,659,0.400991351213,-0.00540676174846,0.0498534164555,0.99999996016,0.000127368616167,-0.000248989182107,-3.82389377833e-05,1793255810858993664
+59,0.983333333,BASELINE,783.265132325,760,736,722,689,652.265132325,915,801,838,659.734867675,635.734867675,659,0.400992337145,-0.00540657349477,0.0498540998843,0.999999960428,0.000127454214163,-0.000247868748615,-3.82143162697e-05,1793255810875660288
+60,1.000000000,BASELINE,783.839942797,760,736,722,689,652.839942797,915,801,838,659.160057203,635.160057203,659,0.400992994321,-0.00540672061901,0.0498545538284,0.999999960868,0.000124825229881,-0.000247421324716,-3.82694982207e-05,1793255810892326912
+61,1.016666667,BASELINE,783.585714696,760,736,722,689,652.585714696,915,801,838,659,635.414285304,659,0.40099313287,-0.0054060363122,0.0498544143756,0.999999960479,0.000126969291094,-0.000247871480598,-3.84669212775e-05,1793255810908993536
+62,1.033333333,BASELINE,783.011552815,760,736,722,689,652.011552815,915,801,838,659,635.988447185,659,0.400993071276,-0.00540503114834,0.0498540459254,0.999999959758,0.000130955315392,-0.000248668020943,-3.87192365045e-05,1793255810925660160
+63,1.050000000,BASELINE,783.579328731,760,736,722,689,652,915,801,838,659.579328731,636,659,0.400992903023,-0.00540614066625,0.049854033246,0.999999960348,0.000127226996735,-0.000248273103581,-3.84345577636e-05,1793255810942327040
+64,1.066666667,BASELINE,784,760,736,722,689,652,915,801,837.832498173,660,636,659,0.400992570339,-0.00540636924228,0.0498538717255,0.999999960552,0.000125559964173,-0.00024831513284,-3.83436177221e-05,1793255810958993920
+65,1.083333333,BASELINE,784,760,736,722,689,652,915,801,837.251852333,660,636,659,0.400991837489,-0.00540431786656,0.0498533250685,0.999999959757,0.00012936781998,-0.000249495237992,-3.87577327906e-05,1793255810975660544
+66,1.100000000,BASELINE,783.675844897,760,736,722,689,652,915,801,837.324155103,659.675844897,636,659,0.40099125368,-0.00540405014508,0.0498531070572,0.999999959437,0.000131103261488,-0.000249880611561,-3.86887170373e-05,1793255810992326912
+67,1.116666667,BASELINE,783.103390456,760,736,722,689,652,915,801,837.896609544,659.103390456,636,659,0.400990784035,-0.00540514868374,0.0498531407851,0.999999959491,0.00013125125566,-0.000249657229196,-3.82496282287e-05,1793255811008993536
+68,1.133333333,BASELINE,783,760,736,722,689,652,915,801,838,659.483478568,636,659,0.400992862791,-0.00540473797649,0.049854547961,0.999999960244,0.000130219414919,-0.000247145117453,-3.83893894604e-05,1793255811025660416
+69,1.150000000,BASELINE,783.072191934,760.072191934,736,722,689,652,915,801,838,659.927808066,636,659,0.400994925126,-0.00540419838349,0.049855899166,0.999999960987,0.000128934599342,-0.000244764266035,-3.86266717799e-05,1793255811042327040
+70,1.166666667,BASELINE,783.651541202,760.651541202,736,722,689,652,915,801,838,659.348458798,636,659,0.400992925982,-0.00540509037234,0.0498547304267,0.999999960632,0.000127699541969,-0.000246849561823,-3.86527206615e-05,1793255811058993664
+71,1.183333333,BASELINE,784,760.770995823,736,722,689,652,915,801,837.770995823,659,635.770995823,659,0.400991958328,-0.00540569447588,0.0498542642322,0.999999960533,0.000126571276103,-0.000247835952723,-3.86230106595e-05,1793255811075660288
+72,1.200000000,BASELINE,784,760.196379545,736,722,689,652,915,801,837.196379545,659,635.196379545,659,0.400992547392,-0.00540586410431,0.0498548583149,0.999999960825,0.000125604179327,-0.000247163881495,-3.85091495984e-05,1793255811092327168
+73,1.216666667,BASELINE,784,760,736,722,689,652,915,801,837,659.378679636,635.378679636,659,0.400992571963,-0.00540523884543,0.0498549856311,0.999999960821,0.00012578088929,-0.000247073200519,-3.86292996412e-05,1793255811108993792
+74,1.233333333,BASELINE,784,760,736,722,689,652,915,801,837,659.953968736,635.953968736,659,0.40099230345,-0.00540420088314,0.0498548706032,0.999999960662,0.000126551460745,-0.000247284375866,-3.88709476366e-05,1793255811125660416
+75,1.250000000,BASELINE,783.455411261,760,736,722,689,652,915,801,837.544588739,660,636,659,0.400992501564,-0.0054057340006,0.049854919647,0.999999960806,0.000125797513249,-0.000247149631415,-3.84628373218e-05,1793255811142327040
+76,1.266666667,BASELINE,783,760.133109812,736,722,689,652,914.866890188,801,837.866890188,660,636,659.133109812,0.400992418219,-0.00540701248968,0.049854790521,0.99999996085,0.000125287738579,-0.000247280598266,-3.81550853521e-05,1793255811158993664
+77,1.283333333,BASELINE,783,760.71018302,736,722,689,652,914.28981698,801,837.28981698,660,636,659.71018302,0.400991260761,-0.00540669588509,0.0498540195481,0.999999960471,0.000126034595143,-0.000248398142055,-3.83705443038e-05,1793255811175660288
+78,1.300000000,BASELINE,783.286641264,760.713358736,736,722,689,652,914.286641264,800.713358736,837.286641264,659.713358736,635.713358736,659.713358736,0.400991522466,-0.0054068027591,0.049854150436,0.999999960624,0.000125323841394,-0.000248149339187,-3.83218799728e-05,1793255811192327168
+79,1.316666667,BASELINE,783.862479027,760.137520973,736,722,689,652,914.862479027,800.137520973,837.862479027,659.137520973,635.137520973,659.137520973,0.400993215985,-0.00540733688678,0.0498551912242,0.999999961309,0.00012314248357,-0.000246522009438,-3.80067378464e-05,1793255811208993792
+80,1.333333333,BASELINE,784,760,736,722,689,652,915,800.447836658,837.552163342,659.447836658,635,659,0.400994297776,-0.00540682437689,0.0498557297633,0.999999961284,0.000125489862188,-0.000245435779546,-3.80085829735e-05,1793255811225660416
+81,1.350000000,BASELINE,784,760,736,722,689,652,915,801,837.035582617,660,635.035582617,659,0.400995074468,-0.00540603417165,0.0498560423459,0.999999961038,0.0001289344497,-0.000244635239365,-3.81167549226e-05,1793255811242327552
+82,1.366666667,BASELINE,784,760,736,722,689,652,915,801,837.614193935,660,635.614193935,659,0.400994124037,-0.00540601747463,0.0498553114243,0.999999960984,0.000127439442496,-0.000245603774915,-3.83298120494e-05,1793255811258994176
+83,1.383333333,BASELINE,784,760,736,722,689,652,915,801,838,660,636,659,0.400993433782,-0.0054060091577,0.0498546166106,0.999999960795,0.000126933203554,-0.000246625743588,-3.8400832444e-05,1793255811275660544
+84,1.400000000,BASELINE,784,760,736,722,689,652,915,801,838,660,636,659,0.400993264142,-0.00540601760942,0.0498539940496,0.999999960336,0.00012840550429,-0.000247754632904,-3.81876352704e-05,1793255811292327168
+85,1.416666667,BASELINE,784,760,736,722.34506863,689,652.34506863,915,801,838,659.65493137,636,659,0.400993589746,-0.00540641551324,0.0498544374208,0.999999960551,0.000127641895259,-0.000247276807284,-3.82117933452e-05,1793255811308993792
+86,1.433333333,BASELINE,784,760,736,722.919832385,689,652.919832385,915,801,838,659.080167615,636,659,0.400994245009,-0.00540707265605,0.0498555903303,0.99999996121,0.000125389951569,-0.000245729470908,-3.83939470851e-05,1793255811325660160
+87,1.450000000,BASELINE,783.491456715,760,736,722.491456715,689,652.491456715,915,801,838,659.508543285,636,659,0.400994693317,-0.00540687286075,0.0498558975952,0.999999961311,0.00012585800713,-0.000245094065164,-3.82966763806e-05,1793255811342327040
+88,1.466666667,BASELINE,783,760,736,722,689.097579177,652,915,801,838,660,636,659.097579177,0.40099487253,-0.00540664657306,0.0498559521786,0.999999961257,0.000126771327249,-0.000244869083514,-3.81291454119e-05,1793255811358993920
+89,1.483333333,BASELINE,783,760,736,722,689.677055755,652,915,801,838,660,636,659.677055755,0.40099388847,-0.00540697540618,0.0498554358026,0.999999960886,0.000127706317527,-0.000245941018185,-3.78383034348e-05,1793255811375660544
+90,1.500000000,BASELINE,783,760,736,722,689.74582227,652,915,801,838,659.74582227,636,659.74582227,0.400992996347,-0.00540660736457,0.0498547806598,0.999999960643,0.000127652710601,-0.000246940725142,-3.79439611067e-05,1793255811392327168
+91,1.516666667,BASELINE,783,760,736,722,689.171664509,652,915,801,838,659.171664509,636,659.171664509,0.400992219961,-0.00540536203916,0.0498539508259,0.99999996056,0.000126354575356,-0.000247849505772,-3.85487654818e-05,1793255811408993792
+92,1.533333333,BASELINE,783,760,736,721.600455901,689,652,915,801,838,659,636,659,0.400992551626,-0.00540509409073,0.0498543601868,0.999999960577,0.000127063463221,-0.000247407152608,-3.86168185478e-05,1793255811425660672
+93,1.550000000,BASELINE,783,760,736,721.030505068,689,652,915,801,838,659,636,659,0.400993355877,-0.00540524299635,0.0498552980679,0.999999960634,0.000128628352243,-0.000246388536979,-3.84559456507e-05,1793255811442327296
+94,1.566666667,BASELINE,783,760,736,721.565704572,689,652.565704572,915,801,837.434295428,659,636,659,0.400995161553,-0.00540505945009,0.0498566879385,0.999999961237,0.00012884490709,-0.000243844675858,-3.82841272407e-05,1793255811458993664
+95,1.583333333,BASELINE,783,760,736,722,689,652.841906676,914.841906676,801,837,659,636,659,0.400996381667,-0.00540492482887,0.0498574076585,0.999999961635,0.000128598984932,-0.000242343134202,-3.82354128606e-05,1793255811475660288
+96,1.600000000,BASELINE,783,760,736,722,689,652.26361997,914.26361997,801,837,659,636,659,0.400995894912,-0.00540497021219,0.0498562782636,0.999999961423,0.0001273265086,-0.000243841198885,-3.85155395298e-05,1793255811492326912
+97,1.616666667,BASELINE,783.312724187,760,736,721.687275813,689,652,914.312724187,801,837.312724187,659,636,659,0.400994608606,-0.00540542862685,0.0498551537375,0.999999961022,0.000126914031596,-0.000245696353411,-3.85043203758e-05,1793255811508993536
+98,1.633333333,BASELINE,783.88744089,760,736,721.11255911,689,652,914.88744089,801,837.88744089,659,636,659,0.400992652457,-0.00540623306884,0.0498540332903,0.999999960461,0.000127222040635,-0.000247850668802,-3.82490189481e-05,1793255811525660416
+99,1.650000000,BASELINE,784,760,736,721.473472375,689,652,915,801,838,659,636,659,0.40099264564,-0.00540587046296,0.0498541269346,0.999999960333,0.000128299603846,-0.000247803427924,-3.83097216545e-05,1793255811542327296
+100,1.666666667,BASELINE,783.93871576,760,736,721.93871576,689,652,915,801,837.93871576,659.06128424,636,659,0.400993094456,-0.00540538199574,0.0498544989188,0.999999960345,0.000129269477007,-0.000247229241175,-3.84336783044e-05,1793255811558994432
+101,1.683333333,BASELINE,783.359152373,760,736,721.359152373,689,652,915,801,837.359152373,659.640847627,636,659,0.400993381486,-0.00540623289938,0.0498547241431,0.999999960663,0.000127743562186,-0.000246733248815,-3.84416958464e-05,1793255811575660800
+102,1.700000000,BASELINE,783,760,736,721.219144583,689,652,915,800.780855417,837,659.780855417,635.780855417,659,0.400993553459,-0.00540663216767,0.0498549819697,0.999999960891,0.000126667018794,-0.000246377500412,-3.8351008929e-05,1793255811592327424
+103,1.716666667,BASELINE,783,760,736,721.795377878,689,652,915,800.204622122,837,659.204622122,635.204622122,659,0.400993537948,-0.00540629551127,0.0498552929209,0.999999960976,0.00012632271115,-0.000246250274859,-3.80994864214e-05,1793255811608994048
+104,1.733333333,BASELINE,783,760,736,722,689,652,915,800.370954147,837,659.370954147,635,659,0.400993535202,-0.00540625105552,0.0498551939463,0.999999960938,0.000126316740111,-0.000246402042494,-3.81455472131e-05,1793255811625660416
+105,1.750000000,BASELINE,783,760,736,722,689,652,915,800.946168686,837,659.946168686,635,659,0.400993539486,-0.00540636749569,0.0498548692524,0.999999960831,0.000126497069071,-0.000246707433575,-3.83554678068e-05,1793255811642327040
+106,1.766666667,BASELINE,783.535396857,760,736,722,689,652,915,801,837.535396857,659.464603143,635.535396857,659,0.400993002058,-0.00540656590228,0.0498543544493,0.999999960566,0.000126914315803,-0.000247561706335,-3.83876874143e-05,1793255811658993664
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,760,736,722,689,652,915,801,837,659,636,659,0.400991615665,-0.00540749916497,0.0498540466781,0.99999996045,0.00012659896468,-0.000248280356413,-3.78115464583e-05,1793255811701035520
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.425191332,760,736,722,689,652.574808668,915,801,837,659.574808668,635.425191332,659.574808668,0.400991209983,-0.00540666735967,0.0498538687334,0.99999996046,0.000126246234775,-0.000248341016641,-3.83231344154e-05,1793255811717701888
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.153723649,760,736,722,689,652.846276351,915,801,837,659.846276351,635.153723649,659.846276351,0.400991071406,-0.00540610450833,0.049853891305,0.999999960441,0.000126388535302,-0.000248297158411,-3.86291474796e-05,1793255811734368512
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.744308329,760,736,722,689,652.255691671,915,801,837,659.255691671,635.744308329,659.255691671,0.400991691901,-0.0054063059862,0.0498544837153,0.999999960339,0.000127937642736,-0.000247956273418,-3.83509456766e-05,1793255811751035136
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.671546939,760,736,722,689,652,915,801,837.328453061,659,635.671546939,659,0.400992755596,-0.00540769467256,0.0498552389427,0.999999960824,0.000126243013433,-0.000246891231302,-3.81947039046e-05,1793255811767701504
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.092319158,760,736,722,689,652,915,801,837.907680842,659,635.092319158,659,0.400994157676,-0.00540998979552,0.0498561184813,0.999999961743,0.000122071783059,-0.000245273293458,-3.81315789324e-05,1793255811784368128
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,915,801,837.514915294,659,635.485084706,659,0.400993308053,-0.00540798615309,0.0498561673372,0.999999961312,0.000124720130617,-0.000245633466015,-3.85396811784e-05,1793255811801034752
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,915,801,837.061810767,659,636,659,0.400992226193,-0.00540557812839,0.0498560287562,0.999999960698,0.000128040616592,-0.000246360481915,-3.89451992349e-05,1793255811817701376
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,915,801,837.635786027,659,636,659,0.400992757546,-0.00540657295942,0.0498556421155,0.999999960781,0.000126216556417,-0.000247019456486,-3.85889836956e-05,1793255811834368512
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,915,800.784299902,838,659,636,659,0.400997113397,-0.00540730925764,0.049856921543,0.999999961498,0.000125260815926,-0.000244641932063,-3.82689954491e-05,1793255811851035392
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,915,800.194074181,838,659,636,659,0.401008109822,-0.00540759665856,0.0498610938072,0.999999963281,0.000125812761394,-0.000236992056348,-3.80119096179e-05,1793255811867702016
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,915,800.388891728,838,659,635.611108272,659,0.401037823869,-0.00540874513251,0.0498711555705,0.999999968151,0.000125069537054,-0.000216053481886,-3.7108931893e-05,1793255811884368640
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,915,800.968301116,838,659,635.031698884,659,0.401076707661,-0.00541031544528,0.0498841025937,0.99999997392,0.000123691810323,-0.000188604786688,-3.58895323444e-05,1793255811901035008
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,760,736.545237943,722.545237943,689,652.545237943,915,801,838,659,635.545237943,659.545237943,0.401142394505,-0.00541125712129,0.0499026321229,0.999999980217,0.000123289452157,-0.000152115292669,-3.50117513391e-05,1793255811917701376
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.116502203,760,736.883497797,722.883497797,689,652.883497797,914.883497797,801,838,659.116502203,635.883497797,659.883497797,0.401211317219,-0.00541289954658,0.0499197556326,0.999999984619,0.000122500291995,-0.000120838523524,-3.39563726214e-05,1793255811934368000
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.667160563,760,736.332839437,722.332839437,689,652.332839437,914.332839437,801,838,659.667160563,635.332839437,659.332839437,0.401286517906,-0.00541728896142,0.0499304354658,0.999999986122,0.000120059314105,-0.000110937338794,-3.21654802141e-05,1793255811951034624
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.755554325,760,736,722,689,652,914.244445675,801,838,659.755554325,635.244445675,659,0.401367384381,-0.00542072766229,0.0499381138367,0.999999987349,0.000118742678877,-0.000101258381343,-3.08174061438e-05,1793255811967701504
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.137582093,760,736,722,689,652,914.862417907,801,838,659.137582093,635.862417907,659,0.40145690849,-0.0054227136192,0.0499412058058,0.999999988223,0.000119144101789,-9.19190001126e-05,-3.01459831795e-05,1793255811984368384
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760,736.4481892,722,689,652,915,801,837.5518108,659.4481892,635.5518108,659,0.401562577951,-0.00542688313331,0.04994210534,0.999999988454,0.000116778671996,-9.28256340537e-05,-2.89576505773e-05,1793255812001035264
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.024708125,760,736.975291875,722,688.975291875,652,914.975291875,801,837.024708125,659.975291875,635.024708125,659,0.401674300411,-0.00543165672615,0.0499424595485,0.999999988516,0.000113718796511,-9.62946955525e-05,-2.76450000614e-05,1793255812017701632
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.600555204,760,736.399444796,722,688.399444796,652,914.399444796,801,837.600555204,659.399444796,635.600555204,659,0.401817898715,-0.00543595554704,0.0499446557877,0.999999989089,0.000112844269484,-9.1466019647e-05,-2.68615192132e-05,1793255812034368256
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,760,736,722,688.18034992,652,914.18034992,801,838,659,635.81965008,659,0.401967776097,-0.0054403398809,0.0499462939705,0.999999989466,0.000111560226501,-8.91702221142e-05,-2.59202823911e-05,1793255812051035136
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,760,736,722,688.769083571,652,914.769083571,801,838,659,635.230916429,659,0.402131871779,-0.00544491784947,0.049946668492,0.99999998943,0.00010934887713,-9.26098662305e-05,-2.46218235973e-05,1793255812067701760
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.647726304,760,736,722,689,652,915,801,837.647726304,659.352273696,635,659,0.402318120264,-0.00545233102922,0.0499468320561,0.999999989855,0.000104682255068,-9.37822476284e-05,-2.31611340046e-05,1793255812084368384
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.068113623,760,736,722,689,652,915,801,837.068113623,659.931886377,635,659,0.402518665025,-0.00546157390615,0.0499468594793,0.999999990552,9.84311284417e-05,-9.34914568045e-05,-2.15957490261e-05,1793255812101035008
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,760,736,722,689,652,915,801,837.509173438,659.490826562,635.509173438,659,0.402750486602,-0.00546912738561,0.0499490534194,0.999999990755,9.6965379372e-05,-9.33203698266e-05,-1.94517857027e-05,1793255812117701632
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,760,736,721.91411084,688.91411084,652,915,801,838,659,636,659,0.402995103226,-0.00547685789346,0.0499521099507,0.999999991126,9.54262517078e-05,-9.13550273287e-05,-1.72169224e-05,1793255812134368256
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,760,736,721.33888558,688.33888558,652,915,801,838,659,636,659,0.403288888071,-0.00548687869793,0.0499584372311,0.999999992727,8.98384986791e-05,-7.90764603707e-05,-1.49031291986e-05,1793255812151034880
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,760,736,721.241740858,688,652,915,801,838,659.241740858,636,659,0.403597227084,-0.00549681236227,0.0499670532374,0.999999994331,8.5520269134e-05,-6.22430087531e-05,-1.22103033773e-05,1793255812167701504
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,760,736,721.830111966,688,652,915,801,838,659.830111966,636,659,0.403926435181,-0.00550662107651,0.0499789510291,0.999999995758,8.30223993083e-05,-3.88783457892e-05,-8.97398590151e-06,1793255812184368128
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,915,801,837.586616775,659.586616775,635.586616775,659,0.404282977483,-0.00551627289126,0.0499866182594,0.99999999636,8.11483542167e-05,-2.57267555508e-05,-5.74630308005e-06,1793255812201034752
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652,915,801,837.005415874,659.005415874,635.005415874,659,0.404650616412,-0.00552586101062,0.0499925680444,0.999999996695,7.9527558021e-05,-1.67212802811e-05,-2.52212567537e-06,1793255812217701376
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760,736.568921962,722,688,652,914.431078038,801,837.568921962,659,635,659,0.405059632414,-0.00552751808592,0.0499946697719,0.999999996301,8.57406883559e-05,-6.79738127333e-06,4.10306486329e-07,1793255812234368512
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760,736.856416125,721.856416125,688,652,914,801,837.856416125,659,635.143583875,659,0.405471272146,-0.00552552943043,0.0499911192446,0.999999995187,9.76003155113e-05,-9.55764672739e-06,2.97893118926e-06,1793255812251035648
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,736.28058437,721.28058437,688,652,914,801,837.28058437,659,635.71941563,659,0.405889638693,-0.00551279016824,0.049970662014,0.999999990746,0.000126236445415,-5.05285922909e-05,4.4606029536e-06,1793255812267702528
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760,736,721.303789089,688,652.303789089,914,801,837.303789089,659,636,659,0.406328922872,-0.00550604786269,0.0499516450443,0.999999985741,0.000146050144816,-8.45496508897e-05,6.1420468118e-06,1793255812284369408
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760,736,721.896280112,688,652.896280112,914,801,837.896280112,659,636,659,0.406788085895,-0.00550500468389,0.0499339968052,0.9999999813,0.000157479567834,-0.000111965981393,8.01334160907e-06,1793255812301036032
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,760,736,722,688,652.524864398,914,801,838,659.475135602,636,659,0.407299698209,-0.00551281655672,0.049929127711,0.999999979989,0.000159721923941,-0.000119920248914,1.13683887247e-05,1793255812317702144
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,759.948994166,736.051005834,722,687.948994166,652,914,801,838,659.948994166,636,659.051005834,0.407830320733,-0.00552190272524,0.0499293905072,0.999999979883,0.000160817323124,-0.000118923826757,1.51583582421e-05,1793255812334368512
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,759.374065714,736.625934286,722,687.374065714,652,914,801,838,659.374065714,636,659.625934286,0.408441887446,-0.00552477656319,0.049954511987,0.99999998298,0.000170156765223,-6.84097050162e-05,2.01815862228e-05,1793255812351035136
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,759.200634475,736.799365525,722,687,652,914,801,838,659,636,660,0.409067587252,-0.00552533721106,0.049978028238,0.999999982727,0.000182513379317,-2.44929964944e-05,2.51862628759e-05,1793255812367701504
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,759.774909538,736.225090462,722,687,652,914,801,838,659,636,660,0.409719607011,-0.00552159001635,0.0499985550778,0.999999979422,0.000200488857827,7.13737887088e-06,3.01563912453e-05,1793255812384368128
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,760,736.361861672,721.638138328,687.361861672,652,914,801,838,659,636,660,0.41035244274,-0.00552026714401,0.0500012842395,0.999999976427,0.000214334277696,5.01853195038e-06,3.43777676194e-05,1793255812401035008
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,760,736.956985642,721.043014358,687.956985642,652,914,801,838,659,636,660,0.410972912084,-0.00552050703199,0.0499925407089,0.999999973667,0.000225517389557,-1.88556492615e-05,3.81164853001e-05,1793255812417701888
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,760,737,721.533967064,687.466032936,652,914.533967064,801,838,659,636,659.466032936,0.411610014216,-0.00552141310668,0.0499614402334,0.999999967606,0.000236923200487,-8.34696630924e-05,4.10764938098e-05,1793255812434369024
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,760,737,721.89156035,687,652,914.89156035,801.10843965,838,659,636,659,0.412274873083,-0.00552277266299,0.0499393818291,0.999999961155,0.000244509731244,-0.00012657726539,4.33976454917e-05,1793255812451035904
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,760,737,721.321748314,687,652,914.321748314,801.678251686,838,659,636,659,0.413052313509,-0.00552584079839,0.0499632050334,0.999999969178,0.00023577275576,-6.46784076254e-05,4.32588100951e-05,1793255812467702272
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,914,802,838,659,635.740381968,659,0.413831454881,-0.00553097614915,0.0499794655191,0.999999981149,0.000188979123353,-2.85305160308e-05,3.42780419297e-05,1793255812484368640
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,914,802,838,659,635.14402915,659,0.414612802557,-0.00553879275986,0.049985916865,0.999999995264,9.28245100621e-05,-2.57826306983e-05,1.38289394755e-05,1793255812501035264
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,760,736.560558867,721,687,652,914,801.560558867,838.439441133,659,635.439441133,659,0.415383877502,-0.00554409172579,0.0499649510361,0.999999994926,7.69584080892e-05,-6.39536330058e-05,1.16172178638e-05,1793255812517701632
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,760,736.018641451,721,687,652,914,801.018641451,838.981358549,659,636,659,0.416153610929,-0.00554829694454,0.0499364074402,0.999999989712,8.70072941843e-05,-0.000113019899642,1.52142934984e-05,1793255812534368256
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,760,736.592839051,721,687,652,914,801.592839051,838.407160949,659,636,659,0.416980849974,-0.00554379762559,0.0499422085755,0.999999989198,0.000107471363646,-9.84839029807e-05,1.8860265703e-05,1793255812551035136
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,760,737.171037233,721,687,652,914,801.828962767,838.171037233,659,636,659,0.41782633719,-0.00554102794284,0.0499539367484,0.999999989425,0.000123134923661,-7.40356129628e-05,2.25086644362e-05,1793255812567702016
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,760,737.758987016,721,687,652,914,801.241012984,838.758987016,659,636,659,0.418716305265,-0.00554247434261,0.0499801123967,0.999999991258,0.000127096979731,-2.54255700338e-05,2.6162977739e-05,1793255812584368640
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,760,737.658133524,721,687,652.341866476,914,801,838.658133524,659,635.658133524,659,0.419573164785,-0.00554340946617,0.049978486902,0.999999991072,0.000126442094482,-3.32416922546e-05,2.76120188914e-05,1793255812601035008
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,760,737.078776382,721,687,652.921223618,914,801,838.078776382,659,635.078776382,659,0.42040702414,-0.00554398941201,0.0499575482752,0.999999988888,0.000122579873543,-8.02564172867e-05,2.75290829541e-05,1793255812617701632
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652.501856269,913.501856269,801,838,659,635.498143731,659,0.421348002814,-0.00554642455593,0.0499747499244,0.999999992152,0.000118200457872,-3.09276393701e-05,2.77241696868e-05,1793255812634368256
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,913,801.074665773,838,659,636,659,0.422298331568,-0.00554906703621,0.0499948813122,0.999999992833,0.000113816441557,2.43873053211e-05,2.80201767252e-05,1793255812651034880
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,760,737,721,687,652,913,801.651089732,838,659,636,659,0.423198210496,-0.00555114089014,0.0499943660172,0.999999993381,0.000109948465008,1.80429624618e-05,2.87003556817e-05,1793255812667701504
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.231930268,760,737,721,687,652,913,801.768069732,838.231930268,659,636,659,0.424109631997,-0.0055527270783,0.0499895863859,0.999999993762,0.000107530897071,7.13390369413e-06,2.93642955411e-05,1793255812684368384
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.819544065,760,737,721,687,652,913,801.180455935,838.819544065,659,636,659,0.425038755091,-0.00555356539252,0.0499782670554,0.999999993731,0.000107337645601,-1.07755112705e-05,3.00033315514e-05,1793255812701035520
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.598356447,760,737,720.598356447,687,652,913,801,839,659,636,659,0.425992293315,-0.00555447960476,0.0499923522221,0.999999993631,0.000108141695341,3.43404978436e-06,3.21057778394e-05,1793255812717702400
+169,2.816666667,POSE1_TO_POSE2_PRESS,783.018700984,760,737,720.018700984,687,652,913,801,839,659,636,659,0.42695665248,-0.0055554274556,0.0500176968833,0.999999992902,0.000109387757583,3.18790209562e-05,3.48568202106e-05,1793255812734369024
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,760,737,720,687,652,913,801,838.442918245,659,636,659,0.427830299407,-0.00555237113207,0.0499868431765,0.99999999225,0.000112448404156,-4.04572218431e-05,3.49021203459e-05,1793255812751035392
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,760,737.132133436,720.132133436,687,652,913.132133436,801,838,659,636,659,0.428720129497,-0.00554960391432,0.0499601446664,0.999999988293,0.000114412592965,-9.56034388711e-05,3.44048600986e-05,1793255812767701760
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,760,737.705176466,720.705176466,687,652,913.705176466,801,838,659,636,659,0.429674051471,-0.00554824683708,0.049953563119,0.999999989769,0.00011251620697,-8.21778673734e-05,3.23981528112e-05,1793255812784368128
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,760,738,720.711913464,687,652,913.711913464,801,838.288086536,658.711913464,636,659,0.430627620258,-0.00554825350003,0.0499489999512,0.999999990362,0.000110395404789,-7.80510974368e-05,3.15632136606e-05,1793255812801035008
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,760,738,720.118547533,687,652,913.118547533,801,838.881452467,658.118547533,636,659,0.431580814717,-0.0055497052906,0.0499465756192,0.999999990144,0.00010803679351,-8.37780777591e-05,3.19699733154e-05,1793255812817701888
+175,2.916666667,POSE1_TO_POSE2_PRESS,783.462992871,760,738,720.462992871,687,652,913,801,839,658.462992871,636,659,0.432509585749,-0.00555101898352,0.0499368737984,0.999999989203,0.000106073311247,-9.6537172189e-05,3.19713323138e-05,1793255812834368768
+176,2.933333333,POSE1_TO_POSE2_PRESS,783.958692653,760,737.958692653,720.958692653,687,652,913,801.041307347,838.958692653,658.958692653,635.958692653,659,0.433434152356,-0.00555248049309,0.0499282845431,0.99999998837,0.000103954686552,-0.000106910994007,3.19958551802e-05,1793255812851035904
+177,2.950000000,POSE1_TO_POSE2_PRESS,783.383910389,760,737.383910389,720.383910389,687,652,913,801.616089611,838.383910389,658.383910389,635.383910389,659,0.434383170274,-0.00555629630456,0.0499575295115,0.999999992542,9.85583727229e-05,-6.38050600126e-05,3.36267164304e-05,1793255812867702528
+178,2.966666667,POSE1_TO_POSE2_PRESS,783,760,737.195253316,720,687,652,913,801.804746684,838.195253316,658,635.195253316,659,0.435301068657,-0.0055569658663,0.0499755281417,0.999999993741,9.71626603426e-05,-4.29033937568e-05,3.5181133318e-05,1793255812884368896
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,760,737.783229746,720,687,652,913,801.216770254,838.783229746,658,635.783229746,659,0.436156374874,-0.00555130721357,0.0499709064342,0.99999999172,0.000103813564315,-6.6662314496e-05,3.65817940843e-05,1793255812901035520
+180,3.000000000,POSE1_TO_POSE2_PRESS,783,760,738,719.634266013,687,652,913,801,839,658,636,659,0.437053266875,-0.00554607074809,0.0499646204434,0.99999999038,0.000109133730764,-7.75819564714e-05,3.61988457702e-05,1793255812917701888
+181,3.016666667,POSE1_TO_POSE2_PRESS,783,760,738,719.054957358,687,652,913,801,839,658,636,659,0.437974443334,-0.00554108082417,0.049957362575,0.999999989653,0.000113676796989,-8.1003948981e-05,3.477433785e-05,1793255812934368512
+182,3.033333333,POSE1_TO_POSE2_PRESS,783.522625103,760,738,719,687,652,913,801.522625103,839,658.522625103,636,659,0.43887056351,-0.00554641316676,0.0499719587263,0.999999992416,0.00010644814817,-5.07917146726e-05,3.54438123346e-05,1793255812951035136
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,760,738,719.099595322,687,652,913.099595322,802,839,659,636,659,0.439750433334,-0.00555225379803,0.0499824344004,0.999999994128,9.82384736991e-05,-2.81396208422e-05,3.60826750571e-05,1793255812967702016
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,760,738,719.67450706,687,652,913.67450706,802,839,659,636,659,0.44056528195,-0.00555535698381,0.0499623137169,0.999999993502,9.12351390588e-05,-5.83921102567e-05,3.55280250884e-05,1793255812984368896
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,760,738,719.74472916,687,652,913.74472916,802,839,658.74472916,636,659,0.441378949731,-0.00555727080332,0.0499564186009,0.999999993286,8.84534199668e-05,-6.5853092461e-05,3.55894031837e-05,1793255813001036032
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,760,738,719.156328479,687,652,913.156328479,802,839,658.156328479,636,659,0.442191076451,-0.00555763249309,0.0499690879299,0.999999994229,9.11809328298e-05,-4.3571030933e-05,3.64547013329e-05,1793255813017702912
+187,3.116666667,POSE1_TO_POSE2_PRESS,783.574054214,760,738,719.425945786,686.574054214,651.574054214,913.425945786,802,839,658.425945786,636,659,0.442994759439,-0.00555698244174,0.0499778331106,0.999999994399,9.50474520882e-05,-2.6757915848e-05,3.810056474e-05,1793255813034369280
+188,3.133333333,POSE1_TO_POSE2_PRESS,783.005960364,760,738,719.994039636,686,651,914,801.994039636,839,658.994039636,635.994039636,659,0.443793792795,-0.00555593643141,0.0499844327044,0.99999999418,9.93224375685e-05,-1.32415027512e-05,3.99895943447e-05,1793255813051035392
+189,3.150000000,POSE1_TO_POSE2_PRESS,783.581850933,760,738,719.418149067,686,651,914,801.418149067,839,658.418149067,635.418149067,659,0.444440344495,-0.00555203139766,0.0499216324799,0.999999986036,0.000103249444886,-0.000125750216234,3.81254359349e-05,1793255813067701760
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,760,738,719,686,650.842533221,914,801,839,658,635,659,0.445100381217,-0.00554926554598,0.0498699431171,0.999999971635,0.000107068312381,-0.000209606764773,3.64906384068e-05,1793255813084368640
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,760,738,719,686,650.267645503,914,801,839,658,635,659,0.445796164861,-0.00554951949517,0.0498477069774,0.999999969599,0.000110600521192,-0.000217510726807,3.54638430541e-05,1793255813101035008
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,760,738,719,686,650,913.684389244,801.315610756,839,658.315610756,635,659,0.446470341266,-0.00555183305452,0.0498370362642,0.999999969295,0.000110901283532,-0.000218692698655,3.58467245927e-05,1793255813117701632
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,760,738,719,686,650,913.093842999,801.906157001,839,658.906157001,635,659,0.447125695084,-0.00555594078566,0.0498364404504,0.999999970523,0.000108387061394,-0.000214018996177,3.74576068142e-05,1793255813134368512
+194,3.233333333,POSE1_TO_POSE2_PRESS,783.515802192,760,738,719,685.515802192,649.515802192,913,801.515802192,839,659,635,659,0.447728169035,-0.00555603765212,0.0498101467352,0.999999960863,0.000110298827246,-0.000254469198968,3.68044030257e-05,1793255813151035136
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,760,738,718.940310896,685,649,913,801,839,658.940310896,635,659,0.448317730481,-0.00555551157065,0.0497812122811,0.999999947908,0.000112847863018,-0.000300264078152,3.59237620465e-05,1793255813167701760
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,760,738,718.366429098,685,649,913,801,839,658.366429098,635,659,0.448882121889,-0.00555614699832,0.0497713538935,0.99999994209,0.000113683132584,-0.000318659113959,3.67687854604e-05,1793255813184368640
+197,3.283333333,POSE1_TO_POSE2_PRESS,783.214095052,760,738,718,685,648.785904948,913,801,839,658,635,659,0.449441825807,-0.00555689976037,0.0497723852155,0.999999941622,0.000115166073408,-0.000319431161495,3.81594852597e-05,1793255813201035008
+198,3.300000000,POSE1_TO_POSE2_PRESS,783.806351697,760,738,718,685,648.193648303,913,801,839,658,635,659,0.449993250032,-0.00555785977308,0.0497926513127,0.999999950459,0.000117793012521,-0.000289075269831,4.05140271906e-05,1793255813217701632
+199,3.316666667,POSE1_TO_POSE2_PRESS,783.60986195,760,738,718.39013805,685,647.60986195,913,801,839,658.39013805,634.60986195,659.39013805,0.450519448999,-0.00556066052665,0.0498068006275,0.999999955299,0.000118376051514,-0.000271151677383,4.31963272536e-05,1793255813234368000
+200,3.333333333,POSE1_TO_POSE2_PRESS,783.030190506,760,738,718.969809494,685,647.030190506,913,801,839,658.969809494,634.030190506,659.969809494,0.451033393305,-0.00556435553262,0.0498179783433,0.999999958372,0.000117966141399,-0.000259267831218,4.60378560718e-05,1793255813251034880
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,760,738,718.454309318,684.454309318,647,913.545690682,801,839,659,634,660,0.451467852746,-0.00556323247758,0.0498038237695,0.999999947922,0.000113972228711,-0.000298604634354,4.4736587475e-05,1793255813267701504
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,760,738,718.123085236,684,647,913.876914764,801,839,659,634,660,0.451883999825,-0.00556204553627,0.0497850618899,0.999999935472,0.000103066140166,-0.000341706293295,4.08707957495e-05,1793255813284368384
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,760,738,718.706924609,684,647,913.293075391,801,839,659,634,660,0.45224794503,-0.00556161039795,0.0497542633479,0.999999921941,6.70223267299e-05,-0.000388366434978,2.82571021281e-05,1793255813301035264
+204,3.400000000,POSE1_TO_POSE2_PRESS,783,760,738.291109725,719,684,646.708890275,913.291109725,800.708890275,839.291109725,658.708890275,634,660,0.452619049924,-0.00556278791119,0.0497373697671,0.999999914918,3.79240899721e-05,-0.000410330933562,1.87971344341e-05,1793255813317701888
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,760,738.875643295,719,684,646.124356705,913.875643295,800.124356705,839.875643295,658.124356705,634,660,0.452997371401,-0.00556559089548,0.0497344916841,0.999999916808,1.58266447513e-05,-0.00040740347383,1.25159634347e-05,1793255813334368768
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,760,738.546827551,719,683.546827551,645.546827551,914,800.453172449,839.546827551,658,634,660,0.453360449178,-0.00557008301272,0.0497467425282,0.999999926132,1.13707897936e-05,-0.000383955152589,1.3585905142e-05,1793255813351035392
+207,3.450000000,POSE1_TO_POSE2_PRESS,783.028799902,760,738.028799902,719,683.028799902,645,913.971200098,801,839.028799902,658.028799902,634,660,0.453716455505,-0.00557473525446,0.0497621825147,0.999999936286,1.19612179248e-05,-0.000356386457283,1.65393899795e-05,1793255813367702016
+208,3.466666667,POSE1_TO_POSE2_PRESS,783.604259529,760,738.604259529,719,683.604259529,645,913.395740471,801,839.604259529,658.604259529,634,660,0.454016428336,-0.00557376255244,0.0497605535687,0.999999936366,1.78450940423e-05,-0.000355868340181,1.75378442557e-05,1793255813384368640
+209,3.483333333,POSE1_TO_POSE2_PRESS,783.815506433,760,738.815506433,718.815506433,683.815506433,645,913.184493567,801,839.815506433,659,634,660,0.454295977621,-0.00557314724639,0.0497549577368,0.999999933941,2.28473899543e-05,-0.000362287010678,1.85404577275e-05,1793255813401035264
+210,3.500000000,POSE1_TO_POSE2_PRESS,783.224759249,760,738.224759249,718.224759249,683.224759249,645,913.775240751,801,839.224759249,659,634,660,0.454530554352,-0.00557331892406,0.0497406268485,0.999999925753,2.59084512943e-05,-0.000383980441626,1.95522295846e-05,1793255813417701888
+211,3.516666667,POSE1_TO_POSE2_PRESS,783.356061406,760,738.356061406,718.356061406,683.356061406,644.643938594,913.643938594,800.643938594,839.356061406,659,633.643938594,660,0.454737479111,-0.00557222955528,0.0497231181071,0.999999915367,2.96109643902e-05,-0.000409879686225,1.97000792573e-05,1793255813434368768
+212,3.533333333,POSE1_TO_POSE2_PRESS,783.930786071,760,738.930786071,718.930786071,683.930786071,644.069213929,913.069213929,800.069213929,839.930786071,659,633.069213929,660,0.454927422353,-0.00557036575683,0.0497036577915,0.999999903165,3.37074040101e-05,-0.000438361793173,1.93173799699e-05,1793255813451035648
+213,3.550000000,POSE1_TO_POSE2_PRESS,784,760,739,719,683.491571666,644,913.508428334,800,839.491571666,659,633,659.491571666,0.455093413092,-0.00556815560819,0.0496856566744,0.999999889631,3.79180704436e-05,-0.000467897998411,1.92885004908e-05,1793255813467702016
+214,3.566666667,POSE1_TO_POSE2_PRESS,783.91413018,760,739,719,683,644,913.91413018,800,839.08586982,658.91413018,633.08586982,659,0.455254446384,-0.00556635603503,0.0496699990367,0.999999876916,4.17985666948e-05,-0.000494005983372,1.94544745808e-05,1793255813484368640
+215,3.583333333,POSE1_TO_POSE2_PRESS,783.340100818,760,739,719,683,644,913.340100818,800,839.659899182,658.340100818,633.659899182,659,0.455405941083,-0.00556716012039,0.0496665279971,0.999999873933,4.37131768619e-05,-0.000499804489172,2.04527661132e-05,1793255813501035008
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,760,738.757767702,719,683,643.757767702,913.242232298,800,839.757767702,658.242232298,633.757767702,659,0.455545948434,-0.00556674013918,0.0496656305586,0.999999872714,4.5603190185e-05,-0.000502047666112,2.09860330984e-05,1793255813517701376
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,760,738.163362074,719,683,643.163362074,913.836637926,800,839.163362074,658.836637926,633.163362074,659,0.455669254711,-0.00556454052901,0.0496684747916,0.999999874095,4.7457442877e-05,-0.00049912187057,2.08432165935e-05,1793255813534368000
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,738.418002976,719,683,643,913.581997024,800,839,659,633,659.418002976,0.455777546851,-0.00556495798036,0.0496713544688,0.99999987618,4.84611993999e-05,-0.000494803486989,2.14808512739e-05,1793255813551034880
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,738.994425738,719,683,643,913.005574262,800,839,659,633,659.994425738,0.45588014875,-0.00556636727716,0.0496742475789,0.999999878512,4.91426246306e-05,-0.000489957323731,2.24142707173e-05,1793255813567701760
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,759.432283833,739,718.432283833,683,643,913,800,839,658.432283833,633,660,0.455953215123,-0.00556732005898,0.0496704000569,0.999999875424,4.83543022544e-05,-0.000496287557981,2.26581826285e-05,1793255813584369152
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,759.145569731,739,718,683,643,913,800,839,658.145569731,633,660,0.456020275233,-0.00556793811561,0.0496662477786,0.99999987167,4.80397698104e-05,-0.000503813769093,2.28688687242e-05,1793255813601036032
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,759.737509213,739,718,683,643,913,800,839,658.737509213,633,660,0.456069802315,-0.00556754345207,0.0496613628396,0.99999986608,4.92220579402e-05,-0.000514672628266,2.29983180192e-05,1793255813617702656
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,760,739,718.322183049,683,643,913,800,839.322183049,659,633,659.677816951,0.45611262585,-0.00556672728818,0.0496564057302,0.999999862189,4.95803594015e-05,-0.000522158063003,2.26715911291e-05,1793255813634369280
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,760,739,718.901067987,683,643,913,800,839.901067987,659,633,659.098932013,0.456150108287,-0.00556557529051,0.049651391118,0.999999859703,4.92821431042e-05,-0.000526955696362,2.19814022742e-05,1793255813651035648
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913,800,839.524172485,659,633,659.475827515,0.456178271109,-0.00556526264455,0.049648733096,0.999999857582,5.08348043429e-05,-0.000530812964296,2.21422855911e-05,1793255813667701760
+226,3.766666667,POSE1_TO_POSE2_PRESS,783.049804873,760,739,718.950195127,683,643,913,800,839,659,633,660,0.456203668649,-0.00556502453662,0.04964671953,0.999999855631,5.25374703696e-05,-0.0005343002236,2.23988156421e-05,1793255813684368384
+227,3.783333333,POSE1_TO_POSE2_PRESS,783.624501337,760,739,718.375498663,683,643,913,800,839,659,633,660,0.456220168765,-0.00556374859036,0.0496463784482,0.99999985481,5.18002212176e-05,-0.000535930811071,2.18145101293e-05,1793255813701035008
+228,3.800000000,POSE1_TO_POSE2_PRESS,783.794497422,760,738.794497422,718.205502578,683,643,913.205502578,800,839.205502578,659,633,660,0.456234145088,-0.005563109708,0.0496455718121,0.999999854094,5.10080527744e-05,-0.000537354144109,2.14565031322e-05,1793255813717701632
+229,3.816666667,POSE1_TO_POSE2_PRESS,783.201611372,760,738.201611372,718.798388628,683,643,913.798388628,800,839.798388628,659,633,660,0.456243363924,-0.0055636717256,0.0496438875812,0.999999853583,5.0112358542e-05,-0.000538386791243,2.15250811096e-05,1793255813734368512
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,738.382120446,719,683,643,913.617879554,800,839.617879554,659,633,660,0.456251582628,-0.00556329823125,0.049644208713,0.999999853873,5.11211793484e-05,-0.000537749785725,2.15668329205e-05,1793255813751035136
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,738.961135362,719,683,643,913.038864638,800,839.038864638,659,633,660,0.456259285995,-0.00556244269743,0.0496455631442,0.999999854573,5.31113359961e-05,-0.000536252461452,2.15947620617e-05,1793255813767702016
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,760,739,718.465493505,683,643,913.534506495,800,839,659,633,659.465493505,0.456259044185,-0.00555923449545,0.0496426462526,0.999999851974,5.73137175199e-05,-0.000540660256077,2.12887706544e-05,1793255813784368384
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,739,718.110553769,683,643,914,800,839.110553769,659,633,659,0.456258468796,-0.0055567223812,0.0496396893786,0.999999849493,6.04868349299e-05,-0.000544896285362,2.10481328035e-05,1793255813801035008
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,739,718.69995095,683,643,914,800,839.69995095,659,633,659,0.456258924651,-0.00555795844137,0.0496378904653,0.999999848706,5.85124535139e-05,-0.000546548043213,2.11946266402e-05,1793255813817701376
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913.715807749,800,839.715807749,659,633,659,0.456259443541,-0.00555775038232,0.0496371649107,0.999999848171,5.79015420408e-05,-0.000547590792162,2.12091820203e-05,1793255813834368000
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913.136912939,800,839.136912939,659,633,659,0.456260027798,-0.00555604479619,0.049637552411,0.999999847901,5.87045256116e-05,-0.000548002009375,2.10869194686e-05,1793255813851034880
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913,800,839.440071621,659,633,659.440071621,0.456259286407,-0.00555459826714,0.0496359486908,0.999999846809,5.96877289249e-05,-0.000549894489875,2.08493274142e-05,1793255813867701504
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913,800,839.98357401,659,633,660,0.456258184073,-0.00555331677992,0.0496338032413,0.999999845502,6.06677949213e-05,-0.00055216933648,2.06041669059e-05,1793255813884368640
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760,739,719,683,643,913,800,839.408526122,659,633,660,0.456258772091,-0.00555491898534,0.049634211553,0.999999845729,5.96425883089e-05,-0.000551843035978,2.13165883689e-05,1793255813901035264
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,759.829151797,738.829151797,719,683,643,913.170848203,800,839,659,633,660,0.456259789234,-0.00555561857913,0.0496346347362,0.999999846097,5.92935978183e-05,-0.000551198032213,2.16872113863e-05,1793255813917702144
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,759.239163505,738.239163505,719,683,643,913.760836495,800,839,659,633,660,0.456261859144,-0.00555410380525,0.0496350944034,0.999999846814,6.06035612486e-05,-0.000549771157122,2.12193038492e-05,1793255813934368768
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,759.3447766,738.3447766,719,683,642.6552234,914,800,839.3447766,659,633,659.6552234,0.45626282668,-0.00555302326226,0.0496355325816,0.999999847141,6.13053900176e-05,-0.000549109748152,2.09163336968e-05,1793255813951035392
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,759.924593523,738.924593523,719,683,642.075406477,914,800,839.924593523,659,633,659.075406477,0.456263042707,-0.00555223874223,0.0496359561102,0.999999847204,6.15926425476e-05,-0.000548970171075,2.07258043043e-05,1793255813967702016
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,760,739,718.500943566,683,642,914,800,840,659,633,659,0.456261901046,-0.00555378373375,0.0496344149351,0.999999846092,5.99233002204e-05,-0.000551175315931,2.07599392657e-05,1793255813984368640
+245,4.083333333,POSE1_TO_POSE2_PRESS,783,760,739,718.074510173,683,642.074510173,914,800,839.925489827,658.925489827,633,659,0.456260769063,-0.00555522016112,0.0496328727463,0.99999984498,5.85156398241e-05,-0.000553337677609,2.07938203059e-05,1793255814001035264
+246,4.100000000,POSE1_TO_POSE2_PRESS,783,760,739,718.66230294,683,642.66230294,914,800,839.33769706,658.33769706,633,659,0.456261101935,-0.00555350971452,0.0496333468861,0.999999845143,6.09256040942e-05,-0.000552790650132,2.0594586021e-05,1793255814017701888
+247,4.116666667,HOLD_POSE2,783,760,739,719,683,643,913,800,839,659,633,660,0.456262237565,-0.00555130148652,0.049634567286,0.99999984499,6.23331503271e-05,-0.000552906090921,2.0721008381e-05,1793255814055880960
+248,4.133333333,HOLD_POSE2,783,760,739,718.425064805,683,643,913,800,839.574935195,659,633,660,0.456262425793,-0.00555005835426,0.0496336464774,0.999999844906,6.28691039269e-05,-0.000553010190885,2.03647264799e-05,1793255814072548608
+249,4.150000000,HOLD_POSE2,783,759.850250488,739,718,683,643,913,800,839.850250488,659,633,660,0.456262396314,-0.00554914694952,0.0496329027213,0.999999844727,6.34719614539e-05,-0.000553272938595,2.01477091868e-05,1793255814089215744
+250,4.166666667,HOLD_POSE2,783,759.275778873,739,718,683,643,913,800,839.275778873,659,633,660,0.456261749372,-0.00554917639568,0.0496326611243,0.999999844278,6.42645731564e-05,-0.00055398564575,2.0325676452e-05,1793255814105882368
+251,4.183333333,HOLD_POSE2,783,759.306173854,739,718.306173854,682.693826146,643,913,800,839,659,633,660,0.456261354628,-0.00555002954873,0.0496323823855,0.999999844039,6.4590090994e-05,-0.000554371157512,2.05629811135e-05,1793255814122548480
+252,4.200000000,HOLD_POSE2,783,759.895033752,739,718.895033752,682.104966248,643,913,800,839,659,633,660,0.456261192732,-0.00555164321885,0.049632069354,0.999999843993,6.44843475388e-05,-0.000554454574293,2.0855071154e-05,1793255814139214336
+253,4.216666667,HOLD_POSE2,783,760,739,718.521969048,682.478030952,642.521969048,913.478030952,800,839,659,633,660,0.456261619829,-0.00555059105096,0.0496325259077,0.999999843944,6.5840544484e-05,-0.000554388244549,2.07584110861e-05,1793255814155881472
+254,4.233333333,HOLD_POSE2,783.059059569,760,739,718.059059569,683,642,913.940940431,800,839,659,633,660,0.456262214185,-0.00554918227997,0.0496330985197,0.999999843966,6.71558975282e-05,-0.000554196694315,2.05752745282e-05,1793255814172548864
+255,4.250000000,HOLD_POSE2,783.634001294,760,739,718.634001294,683,642,913.365998706,800,839,659,633,660,0.456263153525,-0.00554970979033,0.049633226697,0.999999844645,6.53444183437e-05,-0.000553195087342,2.03733684256e-05,1793255814189215488
+256,4.266666667,HOLD_POSE2,783.791622213,760,738.791622213,719,683,642,913.208377787,800,839,659,633,660,0.456263629277,-0.00554981334183,0.0496332621393,0.999999844895,6.43361452951e-05,-0.000552867366507,2.02275686823e-05,1793255814205882368
+257,4.283333333,HOLD_POSE2,783.21823588,760,738.21823588,719,683,642,913.78176412,800,839,659,633,660,0.456263292977,-0.00554917425841,0.0496331351407,0.999999844398,6.47348223309e-05,-0.000553720070066,2.01800486333e-05,1793255814222548736
+258,4.300000000,HOLD_POSE2,783,759.631881176,738.368118824,718.631881176,683,642,914,800,839,659,633,660,0.456263987454,-0.00554841611139,0.0496339151036,0.999999844795,6.57496217076e-05,-0.000552878740861,2.02885877032e-05,1793255814239215104
+259,4.316666667,HOLD_POSE2,783,759.037557499,738.962442501,718.037557499,683,642,914,800,839,659,633,660,0.456265315333,-0.00554758480106,0.0496352523841,0.999999845737,6.71430213304e-05,-0.000550996447768,2.04930233317e-05,1793255814255881728
+260,4.333333333,HOLD_POSE2,783,759.539804959,739,718,683,642,913.460195041,800,839,659,633,660,0.456263446363,-0.00554876819742,0.0496335630293,0.99999984451,6.53742984335e-05,-0.000553427292826,2.05934118826e-05,1793255814272548352
+261,4.350000000,HOLD_POSE2,783,760,739,718.115682795,683,642,913.115682795,800,839,659,633,660,0.456262117501,-0.00554954890907,0.0496320757851,0.999999843508,6.41870410125e-05,-0.000555374077615,2.05707496505e-05,1793255814289214720
+262,4.366666667,HOLD_POSE2,783,760,739,718.690210334,683,642,913.690210334,800,839,659,633,660,0.456263786268,-0.00554819335631,0.049632199998,0.999999844015,6.61521669738e-05,-0.00055424686222,2.00878570963e-05,1793255814305881600
+263,4.383333333,HOLD_POSE2,783.27030627,760,738.72969373,719,683,642,913.72969373,800,839.27030627,659,633,660,0.456264769956,-0.00554780899319,0.0496326806678,0.999999844489,6.65156321487e-05,-0.000553350257891,2.00453032727e-05,1793255814322548480
+264,4.400000000,HOLD_POSE2,783.856918171,760,738.143081829,719,683,642,913.143081829,800,839.856918171,659,633,660,0.456264951981,-0.00554856109197,0.0496335784545,0.999999844925,6.50048738405e-05,-0.00055272350893,2.05180228397e-05,1793255814339215872
+265,4.416666667,POSE2_TO_POSE3_RETREAT,783,760,739,718,683,642,913,800,839,659,633,659,0.456262737928,-0.00554814832476,0.0496318472945,0.999999843508,6.42124796721e-05,-0.000555394490056,1.9928452226e-05,1793255814371883776
+266,4.433333333,POSE2_TO_POSE3_RETREAT,783.575245531,760,739,718.575245531,683.575245531,642,913.575245531,800,839.575245531,659,633,659.575245531,0.456263471958,-0.00554866815443,0.0496322119198,0.99999984387,6.42781108503e-05,-0.000554726866617,2.01380931361e-05,1793255814388550144
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783.847286341,760,739,718.847286341,683.847286341,642,913.847286341,800,839.847286341,659,633,660,0.456263589235,-0.00554874002327,0.0496322730308,0.999999843925,6.43530329312e-05,-0.000554617884567,2.01765112585e-05,1793255814405216512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783.263544897,760,739,718.263544897,683.263544897,642,913.263544897,800,839.263544897,659,633,660,0.456261965755,-0.00554754754191,0.0496314774861,0.999999843113,6.44541782035e-05,-0.000556085643843,1.97316604159e-05,1793255814421882624
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,760,739,718.319491029,683,642,913,800,839.319491029,659,633,660,0.456261514073,-0.00554643042781,0.049630721273,0.999999842388,6.60299696114e-05,-0.000557208599218,1.95415320935e-05,1793255814438549504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,739,718.901946226,683,642,913,800,839.901946226,659,633,660,0.456262026865,-0.00554537534649,0.0496299974328,0.999999841732,6.88195011824e-05,-0.000558047756012,1.95610588106e-05,1793255814455216640
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,759.519873644,739,719,683,642,913,800,839.519873644,659,633,660,0.456263299221,-0.00554646929616,0.0496307319113,0.999999842508,6.70947510386e-05,-0.00055686827772,1.95084787343e-05,1793255814471883520
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783.057278069,759.057278069,739,719,683,642,913,800,839,659,633,660,0.456264535177,-0.00554771578242,0.0496317798879,0.999999843506,6.48872977673e-05,-0.000555335789656,1.94683474242e-05,1793255814488550656
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783.632954153,759.632954153,739,719,683,642,913,800,839,659,633,660,0.456264050141,-0.00554640570784,0.0496329935029,0.999999843962,6.65814396472e-05,-0.000554306579969,1.96729864912e-05,1793255814505217024
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783.786665118,760,739,719,682.786665118,642.213334882,913,800,839,659,633,659.786665118,0.456258612068,-0.00554524187272,0.0496309572925,0.999999841858,6.78530114595e-05,-0.000557942195603,1.95057301754e-05,1793255814521883136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783.198007509,760,739,719,682.198007509,642.801992491,913,800,839,659,633,659.198007509,0.456244460057,-0.00554433531864,0.0496232036233,0.99999983516,6.83811502794e-05,-0.000569784696856,1.86841936355e-05,1793255814538549248
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,760,739,718.615977,682.384023,642.615977,913,800,839,659,633,659.384023,0.456212343206,-0.00554454966696,0.0496082187934,0.999999821202,6.62955217403e-05,-0.000594031752286,1.80632543077e-05,1793255814555215616
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,760,739,718.037305493,682.962694507,642.037305493,913,800,839,659,633,659.962694507,0.456171120573,-0.00554533216339,0.0495895687276,0.999999802827,6.2885061324e-05,-0.000624566264927,1.75439909577e-05,1793255814571882496
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,760,739,718,683,642,913.538090941,800,839,659,633,660,0.456108772796,-0.00554336905923,0.0495671607458,0.999999780059,6.33887140498e-05,-0.000660009102283,1.58929423719e-05,1793255814588549376
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,760,739,718.112625413,683,642,913.887374587,800,839,659,633,659.887374587,0.456044346706,-0.00554092376541,0.0495464996824,0.999999759267,6.48189544208e-05,-0.000690696602578,1.4208613379e-05,1793255814605216000
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,760,739,718.684565166,683,642,913.315434834,800,839,659,633,659.315434834,0.455977381557,-0.00553728358305,0.0495340190717,0.999999752116,6.89280591963e-05,-0.000700611278725,1.27066257796e-05,1793255814621882880
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,759.733067667,739,718.733067667,682.733067667,642,913,800,839,659,633,659.266932333,0.455900174001,-0.00553308957607,0.0495256336231,0.999999745769,7.2518100961e-05,-0.00070927182263,1.17265434502e-05,1793255814638549504
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,759.137877508,739,718.137877508,682.137877508,642,913,800,839,659,633,659.862122492,0.455810370934,-0.00552821450807,0.0495222841668,0.99999974048,7.54698290473e-05,-0.000716390107259,1.1388269893e-05,1793255814655215872
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,759.444791094,738.555208906,718,682,642,913,800,839,659,633,660,0.455711225499,-0.0055261711768,0.049524488495,0.999999741955,7.73534893226e-05,-0.000714122697616,1.16047320128e-05,1793255814671882496
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,759.976513049,738,718.023486951,682.023486951,642,913,800,839,659,632.976513049,660,0.455608199913,-0.00552479849302,0.0495283877414,0.999999745451,7.90253475626e-05,-0.000709020403725,1.19411272089e-05,1793255814688549376
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,759.402448073,738,718.597551927,682.597551927,642,913,800,839,659,632.402448073,660,0.455480244499,-0.00551913343481,0.049532767065,0.999999748804,8.32808552695e-05,-0.000703797529539,1.1168323792e-05,1793255814705215744
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,759.172209847,738,718.827790153,683,642.172209847,913,800,839,659,632.172209847,659.827790153,0.45534039083,-0.00551303116698,0.0495351875744,0.999999750248,8.78019735007e-05,-0.000701205178712,1.03088503824e-05,1793255814721882368
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,759.74825816,738,718.25174184,683,642.74825816,913,800,839,659,632.74825816,659.25174184,0.455172635329,-0.0055059036272,0.0495330145912,0.999999747279,9.294595765e-05,-0.000704781503317,9.24613274113e-06,1793255814738549248
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,738.333180007,718.333180007,683,643,913,800,839.333180007,659.333180007,633,659.333180007,0.454991368606,-0.00549921072456,0.049531418147,0.999999745445,9.69674378338e-05,-0.00070685325795,8.16774923826e-06,1793255814755216128
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,760,738.924989971,718.924989971,683,643,913,800,839.924989971,659.924989971,633,659.924989971,0.454799613819,-0.00549285520689,0.0495302692392,0.999999744503,0.000100117578315,-0.00070775709516,7.07720504536e-06,1793255814771883264
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,760,738.495915973,718.495915973,683,643,913,800,839.495915973,659.495915973,633,660,0.454583429782,-0.00548560132943,0.0495334359691,0.999999747631,0.000105582988469,-0.000702532324981,6.17323358817e-06,1793255814788549632
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,760,738.081135568,718.081135568,683,643,913,800,839,659,633,660,0.454359763525,-0.00547818828968,0.0495390304034,0.999999752921,0.000111355213818,-0.000694066829456,5.38027254209e-06,1793255814805216000
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,760,738.65698686,718.65698686,683,643,913,800,839,659,633,660,0.454112094908,-0.00547059981603,0.0495556081927,0.99999976785,0.000116949211075,-0.000671265137369,5.09906947908e-06,1793255814821882368
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,760,738.761864629,718.761864629,683,643,913,800,839,659,633,659.761864629,0.453847484014,-0.00546449033989,0.0495737102571,0.999999783708,0.000120467121706,-0.000646567505341,4.77896723411e-06,1793255814838548992
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,760,738.172912382,718.172912382,683,643,913,800,839,659,633,659.172912382,0.453557914071,-0.00546055969753,0.049594057856,0.999999801051,0.000120926577395,-0.000619076809109,4.40155941013e-06,1793255814855215616
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,760,738.409077876,718,683,643,913,800,839,659,633.409077876,659.409077876,0.453227320823,-0.00545414037195,0.0496030426262,0.999999806523,0.000123147825641,-0.000609736465349,3.09460721981e-06,1793255814871882240
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,760,738.988174613,718,683,643,913,800,839,659,633.988174613,659.988174613,0.452879677686,-0.00544668671265,0.0496073048349,0.999999807253,0.000126101301136,-0.000607939679322,1.40132255068e-06,1793255814888549120
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,760,739,718.563679453,683,643.563679453,913,800,839,659,633.436320547,660,0.452490507373,-0.0054478767812,0.0496099697098,0.999999804857,0.000121333602054,-0.000612832235117,6.36302189249e-07,1793255814905216000
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,759.858045264,738.858045264,719,683,644,913,800,839,659,633.141954736,660,0.452088049911,-0.00544823327414,0.0496112596989,0.999999802424,0.000116864445611,-0.000617651668476,-6.33218789727e-07,1793255814921882880
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,759.270845667,738.270845667,719,683,644,913,800,839,659,633.729154333,660,0.451646632245,-0.00544541007027,0.0496083417618,0.999999800194,0.00011383652082,-0.000621804372456,-3.54581334327e-06,1793255814938549504
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,759.31202421,738,719,683,644.31202421,913,800,839,659,634,660,0.451192389002,-0.00544198234126,0.0496058241455,0.999999802298,0.000109938650035,-0.00061909086426,-6.67229226415e-06,1793255814955216128
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,759.891187274,738,719,683,644.891187274,913,800,839,659,634,660,0.450727165119,-0.00543803704904,0.0496036492627,0.999999808052,0.000105295976521,-0.000610498863767,-9.98188814809e-06,1793255814971882752
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783,760,738,718.531425698,683.468574302,645,913,800,839,659,634,659.531425698,0.45025409945,-0.0054367408077,0.0496246792626,0.999999831126,0.000100732053803,-0.000572250228764,-1.14146858894e-05,1793255814988549120
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783,760,738,718,684,645.045382533,913,800,839,658.954617467,634.045382533,659,0.449774863766,-0.00543567922064,0.0496505101752,0.999999855708,9.63685800495e-05,-0.000528338451617,-1.25120491243e-05,1793255815005216000
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783,760,738,718,684,645.620232101,913,800,839,658.379767899,634.620232101,659,0.449244808908,-0.00543020540818,0.0496697214194,0.999999871259,9.41311433658e-05,-0.000498400419362,-1.4761522876e-05,1793255815021882624
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783,760,738.200058822,718,684,646.200058822,913,800,839,658.200058822,634.799941178,659,0.448685284522,-0.00542526926753,0.0496797501725,0.999999879598,9.09845993487e-05,-0.000481890057193,-1.7564239502e-05,1793255815038549248
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783,760,738.78957459,718,684,646.78957459,913,800,839,658.78957459,634.21042541,659,0.448068391477,-0.00542137981947,0.0496719032572,0.99999987527,8.6068285272e-05,-0.000491519506478,-2.14439606581e-05,1793255815055215872
+307,5.116666667,POSE2_TO_POSE3_RETREAT,783,760,738.627441033,718,684,647,913,800.372558967,839,659,634.372558967,659.372558967,0.447420579456,-0.00541890924327,0.0496547185153,0.99999986365,7.82938507006e-05,-0.000515667527829,-2.56255755534e-05,1793255815071882752
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783,760,738.048082119,718,684,647,913,800.951917881,839,659,634.951917881,659.951917881,0.446755604957,-0.00541722625428,0.049632350535,0.999999847092,6.89329313455e-05,-0.000547874514101,-2.99747654053e-05,1793255815088549376
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783,760,738,718,684,647.526177793,913,801,839,658.473822207,635,659.473822207,0.446082732833,-0.0054141937706,0.0496287620103,0.999999844176,6.25208219677e-05,-0.000553730392011,-3.349448106e-05,1793255815105216000
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783,759.899855611,738,718.100144389,684.100144389,648.100144389,913,801,839,658,635,659.100144389,0.445411675567,-0.00541108911838,0.0496361115894,0.999999849701,5.64093772652e-05,-0.000544140018839,-3.64428940909e-05,1793255815121882112
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783,759.325092238,738,718.674907762,684.674907762,648.674907762,913,801,839,658,635,659.674907762,0.444752607234,-0.0054082212673,0.0496872456602,0.999999886343,5.04580704726e-05,-0.000472647148716,-3.70394868232e-05,1793255815138548736
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783,759,738,719,685,649,913,801,839,658.257628985,635,660,0.444048990512,-0.00540554332569,0.0497246115935,0.999999909445,4.5510999488e-05,-0.000421418448592,-3.8003686893e-05,1793255815155215616
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,759,738,719,685,649,913,801,839,658.850712061,635,660,0.44328736804,-0.00540311266142,0.0497440502882,0.999999919709,4.18715253982e-05,-0.000396575354019,-3.94465421605e-05,1793255815171882240
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,759.431976291,738,719,685.431976291,649.431976291,913,801,839,659,635,660,0.442528324338,-0.00540046004977,0.0497564583007,0.999999928155,3.49367937364e-05,-0.000375081307586,-4.22412613316e-05,1793255815188549120
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783.0092038,759.9907962,737.9907962,719,686,650,913,801,839,659,635.0092038,660,0.441769862724,-0.00539778524909,0.0497668940569,0.999999935927,2.68560752744e-05,-0.000354059016722,-4.54703933997e-05,1793255815205215744
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783.582694287,759.417305713,737.417305713,719,686,650,913,801,839,659,635.582694287,660,0.440993901418,-0.00539832748755,0.049801411885,0.999999955846,1.64763554915e-05,-0.000292889001533,-4.74525095157e-05,1793255815221882368
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783.838967877,759.161032123,737,719,686,650,913,801,838.838967877,659,636,660,0.440198300618,-0.0053980837435,0.0498249765425,0.999999966991,6.11593601223e-06,-0.000251969604539,-4.99277324653e-05,1793255815238548992
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783.247678583,759.752321417,737,719,686,650,913,801,838.247678583,659,636,660,0.439350225657,-0.00539573995501,0.0498192757315,0.999999963394,-4.19291476561e-06,-0.000265157267265,-5.37204738987e-05,1793255815255215616
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,760,737,719,686,650,913,801,838.322480847,659,635.677519153,659.677519153,0.438458978768,-0.00539412696731,0.0497957503679,0.999999950994,-1.41768066246e-05,-0.000307292707649,-5.81530530692e-05,1793255815271882240
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,760,737,719,686,650,913,801,838.877409603,659,635.122590397,659.122590397,0.437536613093,-0.00539304074935,0.0497593768616,0.999999929167,-2.39264638684e-05,-0.000370294038116,-6.30468343101e-05,1793255815288548864
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,760,737,719,686,650,913,801,839,659,635,659,0.436629747049,-0.00539443379736,0.0497712061075,0.999999934142,-3.5963948415e-05,-0.000355097412053,-6.57899403293e-05,1793255815305215744
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783.068366023,759.931633977,737,719.068366023,686,650.068366023,913,801,839,659,635.068366023,659,0.435723357307,-0.00539539446626,0.0497916843542,0.9999999434,-4.12673784437e-05,-0.000327267520881,-6.62798280729e-05,1793255815321882112
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783.640007034,759.359992966,737,719.640007034,686,650.640007034,913,801,839,659,635.640007034,659,0.434788121021,-0.00538799705978,0.0497752154382,0.999999930149,7.77731759227e-06,-0.000369665565578,-5.46719345244e-05,1793255815338548736
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783.780106226,759.219893774,737,720,686,651,913,801,839,659,635.780106226,659.219893774,0.433874389839,-0.00538130848675,0.0497688678555,0.999999923529,6.25632843688e-05,-0.000383739059031,-4.20945497122e-05,1793255815355215616
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783.186194197,759.813805803,737,720,686,651,913,801,839,659,635.186194197,659.813805803,0.43299723663,-0.00537582557033,0.0497797356886,0.99999993041,0.000127114610798,-0.000349635210623,-2.78681513554e-05,1793255815371882240
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783.396012452,760,737,719.603987548,686,651,913,801,839,659,635,659.603987548,0.432072642526,-0.00537293479249,0.0497931602224,0.999999937592,0.000136133079448,-0.000324931918167,-2.65108698559e-05,1793255815388548864
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783.972873522,760,737,719.027126478,686,651,913,801,839,659,635,659.027126478,0.431126383449,-0.00537122777743,0.0498077523344,0.999999945977,0.000119791128292,-0.00030452161826,-3.10305811865e-05,1793255815405216000
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783.451334068,760,737,719.548665932,686.548665932,651,913,801,839,659,635,659,0.43014763391,-0.00537373409367,0.0497741281738,0.999999930124,9.71067058003e-05,-0.000359020965894,-3.77686177204e-05,1793255815421882368
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,760,737,720,687,651,913.123997834,801,838.876002166,659,635,659.123997834,0.429179388945,-0.00537599674077,0.0497489967031,0.99999991621,7.72318771258e-05,-0.00039963961359,-4.36298781745e-05,1793255815438549248
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783,760,737,720,687,651,913.697850329,801,838.302149671,659,635,659.697850329,0.428255070224,-0.00537662110952,0.0497633076792,0.999999925715,6.86854634448e-05,-0.000376489914988,-4.59131404134e-05,1793255815455215616
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783,760,737,720,687,651,913.718853239,801,838.281146761,659,635,660,0.427310553469,-0.00537523886595,0.0497647583869,0.999999924292,6.92344986717e-05,-0.000380042882983,-4.679273246e-05,1793255815471882240
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,760,737,720,687,651,913.125054627,801,838.874945373,659,635,660,0.426343575366,-0.00537162515059,0.0497519077134,0.99999991034,7.98982123397e-05,-0.000413290799197,-4.61113599449e-05,1793255815488549120
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760,737,720,686.544631874,651,913.455368126,801,838.544631874,659,635.455368126,660,0.425431658493,-0.00537128988056,0.0497654964291,0.999999927473,7.56887833373e-05,-0.000370175120323,-4.7906330419e-05,1793255815505215744
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.032146377,760,737,720,686.032146377,651,914,801,838.032146377,659,635.967853623,660,0.424534915045,-0.00537186226274,0.0497865902258,0.999999949059,6.79883605741e-05,-0.000307809627118,-5.01245128145e-05,1793255815521882624
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.607639281,760,737,720,686.607639281,651,914,801,838.607639281,659,635.392360719,660,0.423646350484,-0.00537299253457,0.0498153137726,0.999999961536,6.83496863595e-05,-0.000264424997244,-4.83293660609e-05,1793255815538549248
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783.817492092,759.817492092,737,720.182507908,687.182507908,651.182507908,914,801,839,659,635.182507908,659.817492092,0.422741580916,-0.00537274182479,0.0498264422282,0.999999965057,7.00822152037e-05,-0.000250443507142,-4.74508586574e-05,1793255815555215616
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783.243960871,759.243960871,737,720.756039129,687.756039129,651.756039129,914,801,839,659,635.756039129,659.243960871,0.421802091946,-0.00536953236122,0.0497998731949,0.999999951191,7.47525476822e-05,-0.000299458255418,-4.85362514065e-05,1793255815571882240
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783.34364443,759.34364443,737,720.65635557,688,652,914,801,839,659.34364443,635.65635557,659,0.420892245537,-0.00536918312303,0.049790586928,0.999999943922,7.67288202053e-05,-0.000322271573052,-4.90925283155e-05,1793255815588548864
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.941667881,759.941667881,737,720.058332119,688,652,914,801,839,659.941667881,635.058332119,659,0.420004341766,-0.0053709511355,0.049794094041,0.999999942808,7.67108442072e-05,-0.000325689566447,-4.92571330234e-05,1793255815605215744
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783.484419969,760,737,720.515580031,687.484419969,652,914,801,838.484419969,659.484419969,635.515580031,659.515580031,0.419094795809,-0.00536878633943,0.0497893299415,0.999999935338,7.96487636901e-05,-0.00034721308775,-4.92239673264e-05,1793255815621882624
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,759.912355578,737,720.912355578,687,652,914,801,838.087644422,659,636,659.912355578,0.418194977927,-0.00536660955605,0.0497826759881,0.999999927364,8.24724471273e-05,-0.000368827670193,-4.9356458072e-05,1793255815638549248
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,759.33606346,737,720.33606346,687,652,914,801,838.66393654,659,636,659.33606346,0.41736243915,-0.00536673587572,0.0497704697381,0.999999923074,8.28779834696e-05,-0.000380039439512,-5.05317181521e-05,1793255815655215872
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783.246610819,759.246610819,737,720.246610819,687,652,914,801,838.753389181,659,636,659.246610819,0.416560538294,-0.00536894918691,0.0497735919293,0.99999992827,8.12271523047e-05,-0.00036643255735,-5.08877672509e-05,1793255815671882496
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783.838213255,759.838213255,737,720.838213255,687,652,914,801,838.161786745,659,636,659.838213255,0.415801497859,-0.00537408205605,0.049798157559,0.999999945208,7.66996039221e-05,-0.000318106083018,-5.00977962151e-05,1793255815688549120
+345,5.750000000,POSE2_TO_POSE3_RETREAT,784,760,736.57668687,721,687.42331313,652,914,801,838,659,636,659.57668687,0.415019027942,-0.00537298376539,0.0498028243396,0.999999948139,7.79732264678e-05,-0.000308340967418,-5.06839927727e-05,1793255815705215744
+346,5.766666667,POSE2_TO_POSE3_RETREAT,784,760,736.005831953,721,688,652,914,801,838,659,635.994168047,659,0.41422759023,-0.00536956303804,0.0497997602925,0.999999946203,8.14265119419e-05,-0.000313498469218,-5.1796548902e-05,1793255815721882368
+347,5.783333333,POSE2_TO_POSE3_RETREAT,784,760,736.575447668,721,688,652,914,801,838,659,635.424552332,659,0.413421782454,-0.00536836883655,0.0497734264416,0.999999930879,8.44975837306e-05,-0.00035807395739,-5.37169677269e-05,1793255815738548992
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783.853013955,760,736.853013955,721,688,652,914,801,838,659.146986045,635,659,0.412646893746,-0.00536826589241,0.0497594900725,0.999999921434,8.65205735156e-05,-0.000382965259466,-5.46316797002e-05,1793255815755215872
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783.275848446,760,736.275848446,721,688,652,914,801,838,659.724151554,635,659,0.411962494715,-0.0053713566968,0.04978183702,0.999999933627,8.54761755444e-05,-0.000350247481184,-5.26030215424e-05,1793255815771882240
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783.310392927,760,736.310392927,721,687.689607073,652,914,801,838,659.689607073,635,659,0.411288458447,-0.00537196032625,0.0498003184111,0.999999942549,8.85649249112e-05,-0.000323224113526,-5.08406049821e-05,1793255815788548864
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.904942998,760,736.904942998,721,687.095057002,652,914,801,838,659.095057002,635,659,0.410623909078,-0.00537028700761,0.0498152609785,0.999999948804,9.54374698079e-05,-0.000301413841797,-4.93219262405e-05,1793255815805215744
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783.517126934,760,736.517126934,721,687.482873066,652,914,801,838,659,635.482873066,659,0.409961591244,-0.00536863178233,0.0497969491262,0.999999937628,0.000100484880039,-0.000334815668197,-5.04582818432e-05,1793255815821882368
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,760,736,721.057170792,688,652,914,801,838,659,635.942829208,659,0.409308934029,-0.0053673057483,0.0497764776194,0.999999924417,0.000104637813551,-0.000370841757173,-5.18892158325e-05,1793255815838548992
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,760,736,721.627256908,688,652,914,801,838,659,635.372743092,659,0.408739138264,-0.00536890220515,0.0497934078829,0.999999936785,0.000103882001631,-0.000336144624392,-5.14298895824e-05,1793255815855215616
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783.206554983,760,736,721.793445017,688.206554983,652,914,801,838,659,635.206554983,659,0.408181388961,-0.0053711093729,0.0498101726808,0.999999946237,0.000102654718633,-0.000307272748661,-5.0709828666e-05,1793255815871882240
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783.803252613,760,736,721.196747387,688.803252613,652,914,801,838,659,635.803252613,659,0.407646393177,-0.00537447005595,0.0498266249439,0.999999951844,0.000100536917686,-0.000289403667868,-4.94972902386e-05,1793255815888548864
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783.615428039,760,736,721,689,652,914.384571961,801,838,659,635.615428039,659,0.407110514364,-0.00537458631944,0.0498182715171,0.999999946273,9.96571175195e-05,-0.000308221168785,-5.02239265382e-05,1793255815905215744
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783.041673672,760,736,721,689,652,914.958326328,801,838,659,635.041673672,659,0.406574201114,-0.0053731065566,0.049797715434,0.999999934172,9.93863265284e-05,-0.000345085890362,-5.19045005014e-05,1793255815921882624
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783.535352362,760,736,721.535352362,689,652,915,801,838,659,635,659,0.406074539454,-0.00537279910419,0.0497772683134,0.999999922512,0.000101333469239,-0.0003765731459,-5.38590224713e-05,1793255815938549248
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783.884834915,760,736,722,688.884834915,652,914.884834915,801,838,659,635,659,0.405591983029,-0.00537283955293,0.049762255821,0.99999991321,0.000102128413882,-0.000400090290293,-5.54761946431e-05,1793255815955215872
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.294583254,760,736,722,688.294583254,652,914.294583254,801,838,659,635,659,0.405168147984,-0.0053739364135,0.0497696274016,0.99999991669,9.74536232143e-05,-0.000392466075588,-5.56131975998e-05,1793255815971882496
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.290039696,652,914,801,838,659,635,659.290039696,0.404782327355,-0.00537586535374,0.049786072798,0.999999926569,9.27818048138e-05,-0.000367713648667,-5.51451800496e-05,1793255815988549120
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,760,736,722,688.869054556,652,914,801,838,659,635,659.869054556,0.404434381643,-0.0053786233196,0.0498115587063,0.999999941552,8.81129479329e-05,-0.000325895875053,-5.40743625165e-05,1793255816005215744
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783.445249077,760,736,722,689,652,914.445249077,801,838,659,635,659.554750923,0.40410851041,-0.00538411150607,0.0498356871752,0.999999952953,8.15579073405e-05,-0.000290892292562,-5.31359294327e-05,1793255816021882368
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.979492891,760,736,722,689,652,915,801,838,659.020507109,635,659,0.403789515224,-0.00539026555856,0.0498584612341,0.999999962224,7.44416647401e-05,-0.000259380512284,-5.22791451245e-05,1793255816038548992
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.407254943,760,736,722,689,652,915,801,838,659.592745057,635,659,0.403481952091,-0.00539286760111,0.0498554688019,0.999999960394,6.70570014355e-05,-0.000268235988491,-5.25781801261e-05,1793255816055215872
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.17122832,760,736,721.82877168,689.17122832,652,915,801,838,659.82877168,635,659,0.403179458084,-0.0053940218419,0.0498490067642,0.999999956648,6.20299980032e-05,-0.000282860730884,-5.33402472895e-05,1793255816071882496
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.765127841,760,736,721.234872159,689.765127841,652,915,801,838,659.234872159,635,659,0.402889477085,-0.0053916022336,0.0498339801253,0.999999947914,6.28227977287e-05,-0.00031172670649,-5.52452933163e-05,1793255816088548864
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.649994932,760,736,721.350005068,689.649994932,652,914.649994932,800.649994932,837.649994932,659,635.350005068,659,0.402627479818,-0.00538874798692,0.0498214588814,0.999999940401,6.58626643483e-05,-0.000334135059727,-5.66842970192e-05,1793255816105215488
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.071019942,760,736,721.928980058,689.071019942,652,914.071019942,800.071019942,837.071019942,659,635.928980058,659,0.402383789209,-0.00538560940379,0.049810576641,0.999999933788,7.0372540419e-05,-0.000352318901938,-5.78184205486e-05,1793255816121882368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783.504751842,760,736,722,689,652,914.504751842,800.504751842,837.504751842,659.504751842,635.495248158,659,0.402188154454,-0.00538628210793,0.0498063291463,0.999999932675,7.16449518237e-05,-0.000355255638075,-5.75347348272e-05,1793255816138548992
+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,760,736,721.919653732,689,652,914.919653732,801,837.919653732,659.919653732,635,659,0.402004839665,-0.00538690463234,0.0498042761689,0.999999932548,8.13623810077e-05,-0.000353895917396,-5.51527070857e-05,1793255816155215616
+373,6.216666667,POSE2_TO_POSE3_RETREAT,784,760,736,721.34238609,689,652,914.34238609,801,837.34238609,659.34238609,635,659,0.401856165676,-0.00538392110052,0.049810058508,0.999999930974,0.000146109622665,-0.000339148218929,-4.10189757743e-05,1793255816171882240
+374,6.233333333,POSE2_TO_POSE3_RETREAT,784,760,736,721.239435721,689,652,914.239435721,801,837.239435721,659.239435721,635,659,0.401720944594,-0.00537994818885,0.0498171060234,0.99999992991,0.00018535689346,-0.000323594370888,-3.33067504678e-05,1793255816188549120
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+411,6.850000000,POSE2_TO_POSE3_RETREAT,783.719225894,760,736,722,689.280774106,652,914.719225894,801,837.719225894,659.280774106,635.280774106,659,0.400995115958,-0.00540300184297,0.0498543800099,0.99999995942,0.000131039249971,-0.000250089922874,-3.79956727056e-05,1793255816805215744
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7908f5efcace236bf5b4b164e27b4dbe721d9543
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+402,6.700000000,pose2_to_pose3_retreat,0.575668293694,0.000181800367378,1.04002060128,0.546239441375,0.00885603800845,1.03969230791
+403,6.716666667,pose2_to_pose3_retreat,0.575667927436,0.00018176761673,1.04002062637,0.546239075627,0.00885600701146,1.03969233376
+404,6.733333333,pose2_to_pose3_retreat,0.575667539903,0.000181732963571,1.04002065292,0.546238688632,0.00885597421382,1.03969236111
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+406,6.766666667,pose2_to_pose3_retreat,0.575667267529,0.000181721483779,1.04002060878,0.546238416604,0.00885596390576,1.03969231695
+407,6.783333333,pose2_to_pose3_retreat,0.575667086042,0.00018171484273,1.04002057444,0.546238235344,0.0088559580351,1.03969228257
+408,6.800000000,pose2_to_pose3_retreat,0.575666906747,0.000181708281932,1.04002054052,0.546238056275,0.00885595223537,1.0396922486
+409,6.816666667,pose2_to_pose3_retreat,0.575666797774,0.000181779675361,1.04002048663,0.546237945806,0.0088560184769,1.03969219271
+410,6.833333333,pose2_to_pose3_retreat,0.57566671024,0.000181854423328,1.04002043606,0.546237856702,0.00885608782605,1.03969214021
+411,6.850000000,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579605,1.03969213895
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44f0175de168085cc6107a936e6983a97045de6d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9a81ea2af2ffd993d9a5def0875b6ceac585ca3fe904fa1720c0bc8593ed8ac
+size 25816220
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32a3760769d24c1ffa7deded44b3b66428bc9c81
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+53,0.883333333,BASELINE,784.252857589,759.747142411,736,719,687,652,915,801,839,659,635.252857589,659.747142411,0.401020761122,-0.0055077737209,0.0698452529084,0.999999985515,3.65745463764e-05,-0.000165650589403,1.38801435208e-05,1793255819247486976
+54,0.900000000,BASELINE,784,759.676283281,736,719,687,652,915,801,839,659.323716719,635.323716719,659.676283281,0.40102090722,-0.00550781086176,0.0698452929213,0.999999985608,3.57107747711e-05,-0.000165278328486,1.3814901427e-05,1793255819264153856
+55,0.916666667,BASELINE,784,759.100102717,736,719,687,652,915,801,839,659.899897283,635.899897283,659.100102717,0.401020226047,-0.00550736978751,0.0698448223369,0.999999985539,3.45123443899e-05,-0.000165990464694,1.33547728222e-05,1793255819280820480
+56,0.933333333,BASELINE,783.514153737,759,736,719,687,651.514153737,915,801,839,660,636,659,0.401020659447,-0.00550732472903,0.0698450256444,0.999999985476,3.51308196744e-05,-0.000166243160084,1.33097280366e-05,1793255819297486848
+57,0.950000000,BASELINE,783.073043866,759,736,719,687,651.073043866,915,800.926956134,839,659.926956134,635.926956134,659,0.401021367294,-0.00550722290673,0.0698454537664,0.999999985461,3.61190819633e-05,-0.00016612077846,1.33402098078e-05,1793255819314153728
+58,0.966666667,BASELINE,783.654634248,759,736,719,687,651.654634248,915,800.345365752,839,659.345365752,635.345365752,659,0.401022354272,-0.00550614615082,0.0698464605749,0.999999985769,3.70220883174e-05,-0.000164059613623,1.32888771046e-05,1793255819330820096
+59,0.983333333,BASELINE,784,759,736,719,687,652,915,800.233071809,839,659,635.233071809,659,0.401022397932,-0.00550597299991,0.0698463872393,0.999999985841,3.71502183113e-05,-0.000163585373282,1.33086723638e-05,1793255819347486720
+60,1.000000000,BASELINE,784,759,736,719,687,652,915,800.806899957,839,659,635.806899957,659,0.401021062443,-0.00550712094015,0.0698447347085,0.999999985573,3.61454613965e-05,-0.000165431252711,1.34324583304e-05,1793255819364153600
+61,1.016666667,BASELINE,784,759,736,719,687,652,915,801,839,659,635.618193795,659,0.401020201477,-0.00550767365149,0.0698444687685,0.999999985503,3.53499098432e-05,-0.000166013450534,1.35249971371e-05,1793255819380820224
+62,1.033333333,BASELINE,784,759,736,719,687,652,915,801,839,659,635.042740784,659,0.401019581181,-0.00550792447094,0.0698449060883,0.999999985536,3.46604644045e-05,-0.000165954726485,1.36016878107e-05,1793255819397486848
+63,1.050000000,BASELINE,783.454486,759,736,719,687,652,915,801,839,659,635.545514,659,0.401019452971,-0.00550844930285,0.0698446477686,0.99999998545,3.4833682702e-05,-0.000166414047306,1.3862744402e-05,1793255819414153728
+64,1.066666667,BASELINE,783.132620686,759,736,719,687,652,915,801,839,659,635.867379314,659,0.401019605322,-0.00550842140918,0.0698445067703,0.999999985411,3.52394447255e-05,-0.000166557515449,1.39704649581e-05,1793255819430820096
+65,1.083333333,BASELINE,783.712393262,759,736,719,687,652,915,801,839,659,635.287606738,659,0.401020570514,-0.00550645578773,0.0698449495221,0.999999985559,3.61959004642e-05,-0.000165495896024,1.35113144867e-05,1793255819447486976
+66,1.100000000,BASELINE,784,759,736,719,687,652,915,801,839,659,635.289308286,659,0.401020859635,-0.0055057455047,0.0698451491951,0.99999998557,3.6457242325e-05,-0.000165395197218,1.32415321792e-05,1793255819464153856
+67,1.116666667,BASELINE,784,759,736,719,687,652,915,801,839,659,635.863410314,659,0.401020483233,-0.00550627097116,0.0698451095823,0.999999985446,3.60343172328e-05,-0.000166240424301,1.31581630459e-05,1793255819480820480
+68,1.133333333,BASELINE,783.551842557,759,736,719,687,652,915,801,839,659,636,659.448157443,0.401020008492,-0.00550690243169,0.0698451199465,0.99999998545,3.57652275217e-05,-0.000166271341356,1.32194021475e-05,1793255819497486848
+69,1.150000000,BASELINE,783.03584535,759,736,719,687,652,915,801,839,659,636,659.96415465,0.401019587671,-0.00550745538932,0.06984516336,0.999999985484,3.57965676692e-05,-0.000166048656598,1.33348173078e-05,1793255819514153728
+70,1.166666667,BASELINE,783.617704865,759,736,719,687,652,915,801,839,659,636,659.382295135,0.401020455856,-0.00550630849315,0.0698454725316,0.99999998537,3.96726364629e-05,-0.000165835456968,1.35877805471e-05,1793255819530820352
+71,1.183333333,BASELINE,784,759,736,719,687,652,915,801,839,659,636,659,0.401021264144,-0.0055061519043,0.0698458955817,0.999999985416,4.02776848779e-05,-0.000165400517165,1.37353512743e-05,1793255819547486720
+72,1.200000000,BASELINE,784,759,736,719,687,652,915,801,839,659,636,659,0.401021957691,-0.00550789239615,0.0698465367831,0.99999998577,3.46166081872e-05,-0.000164540801057,1.36810270218e-05,1793255819564153344
+73,1.216666667,BASELINE,784,759,736,719,687,652,915,801,839,659,635.654323123,659,0.401022207826,-0.00550795672733,0.0698465871419,0.999999985834,3.41732217488e-05,-0.000164254969008,1.35924098191e-05,1793255819580821248
+74,1.233333333,BASELINE,784,759,736,719,687,652,915,801,839,659,635.083221852,659,0.401022168802,-0.00550692799281,0.0698462521977,0.999999985715,3.71324198152e-05,-0.000164343380923,1.34814293435e-05,1793255819597489152
+75,1.250000000,BASELINE,784,759,736,718.494067847,687,652,915,801,839,659.505932153,635.505932153,659,0.401021501518,-0.00550672344305,0.0698461427371,0.999999985591,3.71290041776e-05,-0.000165099875742,1.34418189457e-05,1793255819614155008
+76,1.266666667,BASELINE,784,759,736,718.192074738,687,652,915,800.903962631,839,660,635.903962631,659,0.401020830124,-0.00550681371208,0.0698461040479,0.999999985498,3.65723646851e-05,-0.000165789432283,1.34168899728e-05,1793255819630820608
+77,1.283333333,BASELINE,784,759,736,719.350862667,687,652,915,800.324568667,839,660,635.324568667,659,0.401020677423,-0.00550768022354,0.0698462279687,0.999999985564,3.57748205255e-05,-0.000165568523139,1.34045797908e-05,1793255819647487232
+78,1.300000000,BASELINE,784,759,736.25346662,719.74653338,687,652,915,800.25346662,839,659.74653338,635,659,0.401020073304,-0.00550788029052,0.0698459170802,0.999999985493,3.50039289858e-05,-0.000166173282123,1.32707318117e-05,1793255819664153856
+79,1.316666667,BASELINE,784,759,736.829771327,719.170228673,687,652,915,800.829771327,839,659.170228673,635,659,0.401018894219,-0.00550723151328,0.0698450523791,0.999999985245,3.42669847021e-05,-0.000167829686972,1.29820822666e-05,1793255819680820480
+80,1.333333333,BASELINE,784,759,736.587493395,719,687,652,915,801,839,659,635.412506605,659,0.401018747232,-0.00550774950931,0.0698445781174,0.999999985219,3.31593850239e-05,-0.000168194305909,1.31552719842e-05,1793255819697487104
+81,1.350000000,BASELINE,784,759,736.002062345,719,687,652,915,801,839,659,635.997937655,659,0.401019032904,-0.00550875662138,0.0698442675294,0.999999985285,3.18964050359e-05,-0.000168017403085,1.3522066572e-05,1793255819714153984
+82,1.366666667,BASELINE,784,759,736,719,687,652,915,801,839,659,636,659,0.401020938251,-0.00550849133807,0.0698454302581,0.999999985607,3.40055833138e-05,-0.000165670231738,1.3538805125e-05,1793255819730820608
+83,1.383333333,BASELINE,784,759,736,719.155048979,687,652,914.844951021,801,839,659,635.844951021,659,0.401021826996,-0.00550834847264,0.0698461250107,0.999999985752,3.52967965682e-05,-0.000164524711597,1.35097080476e-05,1793255819747487232
+84,1.400000000,BASELINE,784,759,736,719.70909722,687,652,914.29090278,801,839,659,635.29090278,659,0.401020084905,-0.00550853220993,0.069845602082,0.999999985458,3.44524008689e-05,-0.000166491234856,1.33658433095e-05,1793255819764153856
+85,1.416666667,BASELINE,784,759,736,719.72710848,686.72710848,652,914.27289152,801,839,659.27289152,635,659,0.401020314076,-0.00550782212955,0.0698459259165,0.999999985576,3.37681519595e-05,-0.000165939523783,1.31359124254e-05,1793255819780820736
+86,1.433333333,BASELINE,784,759,736,719.152540116,686.152540116,652,914.847459884,801,839,659.847459884,635,659,0.401022722443,-0.0055061239492,0.069847185833,0.999999986145,3.32609426007e-05,-0.000162603948194,1.28108369178e-05,1793255819797487360
+87,1.450000000,BASELINE,784,759,736,719,686.452525311,652,915,801,839,659.547474689,635,659,0.401021996753,-0.00550720806964,0.0698465588046,0.999999985865,3.43043238098e-05,-0.000164077099395,1.3096623658e-05,1793255819814153728
+88,1.466666667,BASELINE,784,759,736,719,687,652,915,801,839,659,635,659,0.401020463884,-0.00550896604731,0.0698454736808,0.999999985363,3.5749864585e-05,-0.000166772018519,1.34992801621e-05,1793255819830820352
+89,1.483333333,BASELINE,784,759,736,719,687,652,915,801,839,659,635,659,0.401021529085,-0.0055080766279,0.0698461753269,0.999999985599,3.59323642757e-05,-0.00016534714951,1.307272257e-05,1793255819847487232
+90,1.500000000,BASELINE,784,759,736,719,687,652,915,801,839,659.221529533,635.221529533,659,0.401021864471,-0.00550733637314,0.069846374801,0.999999985727,3.62213066055e-05,-0.000164519794702,1.28998211028e-05,1793255819864154368
+91,1.516666667,BASELINE,784,759,736,719,687,652,915,801,839,659.796295464,635.796295464,659,0.401021036142,-0.00550683396658,0.0698457735445,0.999999985687,3.66799753366e-05,-0.000164645196807,1.31313830184e-05,1793255819880820736
+92,1.533333333,BASELINE,784,759,736,719,687,652,915,801,839,659.620711236,636,659,0.401020326567,-0.00550719134612,0.0698456553536,0.999999985592,3.5283210781e-05,-0.000165513106816,1.32664874806e-05,1793255819897487360
+93,1.550000000,BASELINE,784,759,736,719,687,652,915,801,839,659.033201235,636,659,0.401019682187,-0.00550802072937,0.0698458023552,0.999999985462,3.28678539719e-05,-0.000166788637437,1.33486389318e-05,1793255819914153728
+94,1.566666667,BASELINE,784,759,736,719,687,652,915,801,839,659,636,659.546044543,0.401019538616,-0.00550726316169,0.0698451819329,0.999999985331,3.45904136361e-05,-0.000167216941351,1.33800214075e-05,1793255819930820352
+95,1.583333333,BASELINE,784,759,736,719,687,652,915,801,839,659,635.875392811,659.875392811,0.401020235966,-0.00550652636798,0.0698451423329,0.99999998536,3.61634185958e-05,-0.000166708978247,1.34005864887e-05,1793255819947486720
+96,1.600000000,BASELINE,784,759,736,719,687,652,915,801,839,659,635.297514359,659.297514359,0.401023883128,-0.00550621090655,0.0698473827391,0.999999985971,3.62908340304e-05,-0.000162979843029,1.33928637602e-05,1793255819964153600
+97,1.616666667,BASELINE,783.722007062,759,736,719,687,652,915,801,839,659,635,659.277992938,0.401024048716,-0.0055056673428,0.0698477971715,0.999999985975,3.75945076784e-05,-0.000162663025041,1.33419345833e-05,1793255819980820480
+98,1.633333333,BASELINE,783.149016003,759,736,719,687,652,915,801,839,659,635,659.850983997,0.401020519758,-0.00550488172343,0.0698462739328,0.999999985334,4.01463927512e-05,-0.000165967260315,1.32451559645e-05,1793255819997487616
+99,1.650000000,BASELINE,783.437120676,759,736,719,687,652,915,801,839,659,635,659.562879324,0.401019938116,-0.00550522525738,0.0698460447874,0.999999985272,3.98406305346e-05,-0.000166409772498,1.32517738228e-05,1793255820014154240
+100,1.666666667,BASELINE,784,759,736.027322364,719,687,652,915,801,839,659,635.027322364,659.027322364,0.401020311458,-0.00550595068759,0.069846231321,0.999999985401,3.86039016638e-05,-0.000165923163484,1.32944300359e-05,1793255820030820608
+101,1.683333333,BASELINE,784,759,736.606311599,719,687,652,915,801,839,659,635.606311599,659.606311599,0.401019050934,-0.00550637383321,0.0698456271625,0.999999985214,3.88496120194e-05,-0.000166985180042,1.33309730578e-05,1793255820047486976
+102,1.700000000,BASELINE,784,759,736.815637188,719,687,652,915,801,839,659.184362812,635.815637188,659.815637188,0.401018716969,-0.00550700471388,0.0698455025839,0.999999985195,3.84902819795e-05,-0.000167172091083,1.3462386544e-05,1793255820064153600
+103,1.716666667,BASELINE,784,759,736.23957896,719,687,652,915,801,839,659.76042104,635.23957896,659.23957896,0.401020351562,-0.00550807694634,0.0698463969161,0.999999985531,3.68454890409e-05,-0.000165499761423,1.379536088e-05,1793255820080820224
+104,1.733333333,BASELINE,784,759,736.342291126,719,687,652,915,801,839,659.657708874,635,659,0.401020494914,-0.00550767669563,0.0698462847763,0.999999985537,3.60905340513e-05,-0.00016564454533,1.36373552226e-05,1793255820097486848
+105,1.750000000,BASELINE,784,759,736.928299414,719,687,652,915,801,839,659.071700586,635,659,0.401019576478,-0.00550622801171,0.0698454560113,0.999999985309,3.5969158799e-05,-0.00016708314514,1.31297634094e-05,1793255820114153728
+106,1.766666667,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,635,659,0.401021299293,-0.00550514460912,0.0698461748085,0.999999985419,3.88299897831e-05,-0.000165793495724,1.29331526917e-05,1793255820144962816
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,635,659.577663119,0.401020578216,-0.00550747236956,0.0698461268875,0.999999985537,3.61317900082e-05,-0.000165644767684,1.34731305503e-05,1793255820161630464
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686.845406132,652.154593868,915,801,839,659,635.154593868,659.845406132,0.401020118022,-0.00550884499934,0.0698461234454,0.999999985608,3.4309719834e-05,-0.000165580428448,1.37883921658e-05,1793255820178297856
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686.270466594,652.729533406,915,801,839,659,635.729533406,659.270466594,0.401020367175,-0.00550762059882,0.0698462409429,0.999999985565,3.48698734569e-05,-0.000165745545031,1.34926432517e-05,1793255820194963456
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652.688169336,915,801,839,659,635.688169336,659.311830664,0.401020309198,-0.00550625268976,0.0698459538939,0.99999998542,3.68528165231e-05,-0.000166219155159,1.31713981569e-05,1793255820211629568
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652.099336171,915,801,839,659,635.099336171,659.900663829,0.401019978395,-0.00550475730063,0.069845307482,0.999999985175,4.00996385711e-05,-0.000166966803376,1.28275045509e-05,1793255820228295680
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,915,801,839,659,635,659.518618368,0.401020940605,-0.00550557110572,0.0698464814955,0.999999985477,3.89091827587e-05,-0.000165414452192,1.30785582785e-05,1793255820244962304
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686.060248914,652,915,801,839,659,635,659,0.401021816164,-0.00550669860233,0.0698477274321,0.999999985784,3.69485909896e-05,-0.000163973388257,1.33690970576e-05,1793255820261629440
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686.637369321,652,915,801,839,659,635,659,0.401019697255,-0.00550649700532,0.0698464210912,0.999999985237,3.61062110498e-05,-0.000167491275155,1.29625913746e-05,1793255820278295808
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686.787065765,652,915,801,839,659.212934235,635,659,0.401019056495,-0.00550641214813,0.0698458948272,0.999999984561,3.61672535862e-05,-0.00017147403239,1.28725784084e-05,1793255820294962176
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686.21413073,652,915,801,839,659.78586927,635,659,0.401020914793,-0.00550652465907,0.0698466874135,0.999999983668,3.7755682419e-05,-0.000176242730021,1.33176491504e-05,1793255820311628800
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,915,801,839,659.629269962,635.370730038,659,0.401031844786,-0.00550733753378,0.0698518880117,0.99999998347,3.74042990375e-05,-0.000177385995687,1.39718913891e-05,1793255820328295424
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,915,801,839,659.037291984,635.962708016,659,0.401048188676,-0.00550856837852,0.0698597192671,0.999999983695,3.58952554775e-05,-0.000176365640643,1.47509651065e-05,1793255820344962048
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686.542082334,652,914.457917666,800.457917666,839,659,636,659,0.401088455186,-0.00550834850368,0.0698728654144,0.999999985663,3.67772499463e-05,-0.000164585376892,1.5267267977e-05,1793255820361628672
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.880083344,759,736,719,687,652,914.119916656,800.119916656,839,659,636,659,0.401135289051,-0.00550886587345,0.0698862026006,0.999999987821,3.68385012306e-05,-0.000150849578601,1.56833220566e-05,1793255820378295552
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.304878611,759,736,719,687,652,914.695121389,800.695121389,839,659,636,659,0.40120095085,-0.0055125526469,0.0698989084536,0.999999990556,3.31733081501e-05,-0.000132435715964,1.57858349677e-05,1793255820394962176
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.269024386,759,736,719,687,652,915,801,839,659,635.730975614,659,0.401275391059,-0.00551497189794,0.0699097957687,0.99999999253,3.16022494875e-05,-0.000117091410289,1.52159658945e-05,1793255820411628800
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.841459229,759,736,719,687,652,915,801,839,659,635.158540771,659,0.40135973171,-0.00551596161455,0.0699186321037,0.999999993844,3.23929928559e-05,-0.000105209006332,1.38877725335e-05,1793255820428295424
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,635,659,0.401455072133,-0.00551629276972,0.0699194177415,0.999999993835,3.19106342998e-05,-0.000105700057847,1.18039380951e-05,1793255820444962304
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686.975895649,652,915,801,839,659,635.024104351,659,0.401555634111,-0.00551649126903,0.0699172096499,0.999999993335,3.08907245883e-05,-0.000110846035841,9.42225616437e-06,1793255820461628928
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686.397130012,652,915,801,839,659,635.602869988,659,0.401679394027,-0.00551944195549,0.0699170739994,0.999999993061,2.87227202968e-05,-0.000114043339842,6.84724412812e-06,1793255820478295552
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686.180782725,652,915,801,839,659,636,659,0.401814414127,-0.00552194510271,0.0699182476073,0.999999993011,2.63085905041e-05,-0.000115189454885,4.04358999365e-06,1793255820494962176
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686.7568306,652,915,801,839,659,636,659,0.401974053589,-0.00552346974529,0.069922283791,0.999999993472,2.33563297516e-05,-0.000111850829563,7.40030838794e-07,1793255820511628800
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,635.661292166,659,0.402150516715,-0.005524429835,0.0699266431146,0.999999994115,2.19283789467e-05,-0.000106208798683,-2.89580790348e-06,1793255820528295168
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,635.075156495,659,0.402339269633,-0.00552497751607,0.0699312384939,0.999999994854,2.16139441929e-05,-9.88841176886e-05,-6.77437895849e-06,1793255820544961792
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,635,659,0.402562854769,-0.00552736239365,0.0699313205827,0.999999994767,1.54783142032e-05,-0.000100438296203,-1.17714820286e-05,1793255820561628672
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,635,659,0.40279669964,-0.00552952093214,0.0699311288096,0.999999994562,9.18601042162e-06,-0.000102493163532,-1.69426673341e-05,1793255820578295296
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,635,659,0.403058513455,-0.00552897564187,0.0699330604581,0.999999994716,6.70271235426e-06,-0.00010016338556,-2.21659365505e-05,1793255820594961920
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686.764324455,652,915,801,839,659,635.235675545,659,0.403341739569,-0.00553034108925,0.0699386884595,0.999999995507,-1.10474427312e-05,-9.02638596603e-05,-2.67569009747e-05,1793255820611628800
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686.195535186,652,915,801,839,659,635.804464814,659,0.403655230713,-0.0055344072536,0.0699495410414,0.999999995841,-5.03764152368e-05,-6.96649337954e-05,-3.04541388736e-05,1793255820628295424
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,759,736.392854668,719,686.392854668,651.607145332,915,801,839,659,636,659,0.403985447908,-0.00553624720247,0.0699564286496,0.999999996047,-5.74502802068e-05,-6.06639188621e-05,-3.04260268804e-05,1793255820644962048
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,759,736.991512587,719,686.991512587,651.008487413,915,801,839,659,636,659,0.404324427306,-0.00553692091234,0.069961239142,0.999999996794,-4.76267859405e-05,-5.77386572155e-05,-2.84463301963e-05,1793255820661628672
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,759,736.432539937,719,686.432539937,651,915,801,839,659,635.432539937,659,0.404724500192,-0.00553625189854,0.0699688413103,0.999999997834,-3.60401087813e-05,-4.6795160041e-05,-2.90298218412e-05,1793255820678295552
+139,2.316666667,POSE1_TO_POSE2_PRESS,783.857609257,759,736.142390743,718.857609257,686.142390743,651.142390743,915,801,839,659,635,659,0.405129092437,-0.00553526043884,0.0699743786278,0.999999998419,-2.81107974081e-05,-3.86664530068e-05,-2.96251755798e-05,1793255820694962432
+140,2.333333333,POSE1_TO_POSE2_PRESS,783.28476516,759,736.71523484,718.28476516,686.71523484,651.71523484,915,801,839,659,635,659,0.405544690769,-0.00553335258668,0.0699735524421,0.999999998279,-3.13145174482e-05,-3.93955748126e-05,-3.01449535743e-05,1793255820711629056
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,759,736.701750425,718.298249575,686.701750425,651.701750425,915,801,838.701750425,659,635.298249575,659,0.405975115668,-0.0055313226471,0.0699689057981,0.999999998043,-3.09763338584e-05,-4.46677589693e-05,-3.09682152768e-05,1793255820728295680
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,759,736.108681974,718.891318026,686.108681974,651.108681974,915,801,838.108681974,659,635.891318026,659,0.406420196637,-0.00552917202424,0.0699604826414,0.999999997636,-2.7136988757e-05,-5.44307477135e-05,-3.20914698408e-05,1793255820744962304
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,759,736,719,686,651.469219898,915,801,838.469219898,659,635.530780102,659,0.406902499062,-0.00553043108178,0.0699451423528,0.99999999607,-2.84537070508e-05,-7.68756886792e-05,-3.37567687067e-05,1793255820761628928
+144,2.400000000,POSE1_TO_POSE2_PRESS,783.043985715,759,736,718.956014285,686.043985715,652,915,801,839,659,635,659,0.407400443797,-0.00553299284111,0.0699298232184,0.999999993932,-3.19697233728e-05,-9.92756283488e-05,-3.54671231157e-05,1793255820778295808
+145,2.416666667,POSE1_TO_POSE2_PRESS,783.621992049,759,736,718.378007951,686.621992049,652,915,801,839,659,635,659,0.40798690631,-0.00554208233844,0.0699336033753,0.999999994436,-4.81416508539e-05,-8.65832199985e-05,-3.6247943394e-05,1793255820794962944
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,759,736,718.19796969,687,652,915,801,839,658.80203031,635,659,0.408585619495,-0.00554963003033,0.0699420295345,0.999999995319,-6.01267488e-05,-6.62298088087e-05,-3.68927790766e-05,1793255820811629824
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,759,736,718.770112953,687,652,915,801,839,658.229887047,635,659,0.409207487089,-0.00555426362484,0.0699592368928,0.999999996751,-6.41985082808e-05,-3.1396682778e-05,-3.72805963612e-05,1793255820828296192
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686.643494357,652,915,801,839,658.356505643,635.356505643,659.356505643,0.409820310674,-0.00555581402664,0.0699612316592,0.999999996975,-6.32340864969e-05,-2.55074772583e-05,-3.74273511436e-05,1793255820844962816
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686.047530622,652,915,801,839,658.952469378,635.952469378,659.952469378,0.410427059545,-0.00555529350607,0.069953008415,0.999999996804,-5.88869569333e-05,-3.90593567804e-05,-3.74121888055e-05,1793255820861629184
+150,2.500000000,POSE1_TO_POSE2_PRESS,783.470115517,759,736.529884483,719,686.529884483,652,915,801,839,659,635.470115517,659.470115517,0.411089132975,-0.00555093314613,0.0699496814215,0.999999996216,-6.1142928251e-05,-4.81861549485e-05,-3.88205698877e-05,1793255820878295808
+151,2.516666667,POSE1_TO_POSE2_PRESS,783.106198809,759,737,719,686.893801191,651.893801191,915.106198809,801,839,659,635,659,0.41177633777,-0.00554631920672,0.0699528553064,0.999999996248,-6.19337456761e-05,-4.54839048231e-05,-4.00012015592e-05,1793255820894962432
+152,2.533333333,POSE1_TO_POSE2_PRESS,783.684767022,759,737,719,686.315232978,651.315232978,915.684767022,801,839,659,635,659,0.412553998994,-0.00554205756979,0.0699830574714,0.999999997742,-5.36621751313e-05,8.12781221578e-06,-3.96200492875e-05,1793255820911629056
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,759,736.732773707,718.732773707,686,651.267226293,916,801,839,659,635,659,0.413320611226,-0.00554047206171,0.0700104117742,0.999999996565,-5.11224984875e-05,5.20410843919e-05,-3.93543192937e-05,1793255820928295680
+154,2.566666667,POSE1_TO_POSE2_PRESS,784,759,736.145656459,718.145656459,686,651.854343541,916,801,839,659,635,659,0.414073997045,-0.00554209009043,0.0700343569653,0.999999994137,-5.54443500783e-05,8.4344559983e-05,-3.92267588998e-05,1793255820944962304
+155,2.583333333,POSE1_TO_POSE2_PRESS,784,759,736.435593661,718,686,652,916,801,839,659,635,659,0.414800539986,-0.00554010597971,0.0700101868359,0.999999997042,-5.37650718393e-05,3.65173698187e-05,-4.11347146129e-05,1793255820961629184
+156,2.600000000,POSE1_TO_POSE2_PRESS,783.985151896,759,737,718,686,652,915.985151896,801,839,658.985151896,635,659,0.415520072273,-0.00553694689433,0.0699701299053,0.999999997076,-5.0415541859e-05,-3.73047362805e-05,-4.37492682481e-05,1793255820978295552
+157,2.616666667,POSE1_TO_POSE2_PRESS,783.40816258,759,737,718,686,652,915.40816258,801,839,658.40816258,635,659,0.416309492455,-0.00553429975425,0.0699296361413,0.999999992685,-5.879385424e-05,-9.43341881279e-05,-4.76887513886e-05,1793255820994962432
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,759,737,718.167979707,686,652,915.167979707,801.167979707,839,658.167979707,635,659,0.41712708156,-0.00553375978955,0.0699095033976,0.999999988984,-6.68299732408e-05,-0.000122516474629,-5.05436608894e-05,1793255821011629312
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,759,737,718.742074147,686,652,915.742074147,801.742074147,839,658.742074147,635,659,0.418012772979,-0.00553831421997,0.0699385963066,0.999999992693,-7.40387911097e-05,-8.09566502336e-05,-5.07764600384e-05,1793255821028295936
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,759.325283536,737,719,686,652,916,801.674716464,839,658.674716464,635,659.325283536,0.418890110415,-0.00554088043324,0.069966475319,0.999999995066,-7.59153299366e-05,-4.02163077305e-05,-4.98669842987e-05,1793255821044962560
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,759.915928744,737,719,686,652,916,801.084071256,839,658.084071256,635,659.915928744,0.419760632748,-0.00554182468706,0.0699933640506,0.99999999615,-7.34418711712e-05,-1.44488922217e-07,-4.80256569687e-05,1793255821061629184
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,759.504150887,737,719,686.495849113,652,916,801.495849113,839,658,635,660,0.420670130181,-0.00554366290688,0.0700187734242,0.999999995171,-7.51648775858e-05,4.17202048934e-05,-4.76177031162e-05,1793255821078295808
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,759,737,719,687,652,916,802,839,658,635,660,0.421580978559,-0.00554525422118,0.0700383186618,0.999999993057,-7.83629511356e-05,7.38621768563e-05,-4.78518143154e-05,1793255821094962176
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,759,737,719,687,652,916,802,839,658,635,660,0.422456957663,-0.00554415225164,0.0700195796971,0.999999994223,-8.68663876562e-05,3.77279721041e-05,-5.08399414392e-05,1793255821111628800
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.225448648,759,737,719,686.774551352,652,916,802,839,658.225448648,635,659.774551352,0.423313114637,-0.00554210734126,0.0699728564257,0.999999993931,-8.82259334124e-05,-3.75658837346e-05,-5.42518785191e-05,1793255821128295424
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.799869418,759,737,719,686.200130582,652,916,802,839,658.799869418,635,659.200130582,0.424138589057,-0.00553860285191,0.0698828162233,0.999999980169,-7.85274458438e-05,-0.000173474996916,-5.83198311927e-05,1793255821144962304
+167,2.783333333,POSE1_TO_POSE2_PRESS,784,759,737,719,686.385234957,652,915.614765043,802,839,658.614765043,635,659,0.425041572752,-0.00553686014491,0.06986458967,0.999999976074,-8.25505102633e-05,-0.000193143097916,-6.10946698945e-05,1793255821161629184
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,759,737,719,686.976452559,652,915.023547441,802,839,658.023547441,635,659,0.425986000106,-0.00553605945177,0.0698847614169,0.999999982246,-9.39104009031e-05,-0.000150657873143,-6.3178088963e-05,1793255821178295808
+169,2.816666667,POSE1_TO_POSE2_PRESS,783.443762731,759,737.556237269,718.443762731,686.443762731,652,915,802,839.556237269,658.556237269,635.556237269,659,0.426958496607,-0.00553917019103,0.069947219319,0.999999992645,-8.54421187542e-05,-6.37880043959e-05,-5.77908251395e-05,1793255821194962432
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,759,737.865879331,718,686,651.865879331,914.865879331,802,839.865879331,659,636,659.134120669,0.427931929847,-0.00554295947253,0.0700048695464,0.999999995141,-8.11810386709e-05,1.71781248711e-05,-5.32227674188e-05,1793255821211629312
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,759,737.292667951,718,686,651.292667951,914.292667951,802,839.292667951,659,636,659.707332049,0.428904617933,-0.00554843901775,0.0700410376281,0.99999999162,-9.33864074521e-05,7.27887774352e-05,-5.23512013531e-05,1793255821228295936
+172,2.866666667,POSE1_TO_POSE2_PRESS,783.281203329,759,737.281203329,718.281203329,686,651,914.281203329,802,839.281203329,658.718796671,635.718796671,660,0.429856767761,-0.005550619131,0.0700524965407,0.999999989459,-0.00010033076656,9.05989023191e-05,-5.29843080523e-05,1793255821244962304
+173,2.883333333,POSE1_TO_POSE2_PRESS,783.855762993,759,737.855762993,718.855762993,686,651,914.855762993,802,839.855762993,658.144237007,635.144237007,660,0.430787491649,-0.00554935721756,0.0700381784043,0.999999990918,-0.000101786745877,6.89748384199e-05,-5.51871164185e-05,1793255821261628928
+174,2.900000000,POSE1_TO_POSE2_PRESS,784,759.446228255,738,719,686,651,915,802,839.553771745,658,635,659.553771745,0.431607522316,-0.00554515153588,0.0699678921022,0.999999992456,-9.58065518823e-05,-5.09942248864e-05,-5.75293619901e-05,1793255821278295552
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,759.959338211,738,719,686,651,914.959338211,802,839.040661789,658,635,659.040661789,0.432400855809,-0.00554030882205,0.0698862169708,0.999999976191,-8.81428118052e-05,-0.000190445892824,-5.98329844693e-05,1793255821294962176
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+235,3.916666667,POSE1_TO_POSE2_PRESS,784,759.144066259,738,719,678.855933741,644.144066259,913,797.855933741,840.855933741,659,633.144066259,660,0.454259499614,-0.00558357236731,0.069603171733,0.999999809987,-0.00012592394236,-0.000600702207791,-5.76683775454e-05,1793255822294962176
+236,3.933333333,POSE1_TO_POSE2_PRESS,784,759,738,719,679,644,913.437390796,798,840.562609204,658.562609204,633.437390796,660,0.454259442137,-0.00558400580125,0.0696028981311,0.999999809187,-0.000127175621566,-0.000601770543139,-5.76608392757e-05,1793255822311629056
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,784,759.431851414,737.431851414,719,679,644.431851414,913,798,840,658.568148586,634,660,0.451367842502,-0.0055086584943,0.0695007077539,0.999999700283,-3.52085104559e-05,-0.000773281589567,-1.51685310971e-05,1793255823288435968
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,784,759.765413601,737.234586399,719.765413601,679.765413601,645,913,798,840,658.765413601,634,659.234586399,0.449906522384,-0.00548177301807,0.0695381404987,0.999999729487,2.65688454257e-05,-0.000735007678557,9.13737451166e-06,1793255823355102976
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,784,759,737,719,685,649,912.849990265,801,839,658.150009735,635,659.849990265,0.43175573362,-0.00541760421833,0.0698354700958,0.999999957451,0.000133272916298,-0.000257746620143,3.00412458288e-05,1793255823788436224
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,759.893727635,736,719,687.78745527,651.106272365,915,800.893727635,838.893727635,659,635.893727635,659,0.408609396335,-0.00538644853775,0.0697588024842,0.999999905204,0.00018571715478,-0.000393033170293,2.50295363544e-05,1793255824255102720
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,759,736,719,686,651.735966914,915,800.264033086,838,659,635.264033086,659,0.407486781104,-0.00538368273576,0.0697719805812,0.999999917053,0.000196079907254,-0.000356145717646,2.46291599641e-05,1793255824288435968
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,759,736,719,686,651.158208316,915,800.841791684,838,659,635.841791684,659,0.406971414393,-0.00538224248189,0.0697927758881,0.99999992621,0.000195165742716,-0.000329908849905,2.54955790604e-05,1793255824305102592
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,759,736,719.992970422,686.992970422,651,915,801,838.992970422,659,635.007029578,659,0.405976940248,-0.00538114415006,0.0697969194211,0.999999923179,0.000196281039044,-0.000338244956156,2.65739425788e-05,1793255824338436096
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783.581750825,759,736,719.418249175,687,651.581750825,915,801,838.418249175,659,635,659,0.405546766293,-0.00538021791998,0.069795870873,0.99999992267,0.000194888859566,-0.000340651995184,2.5186249218e-05,1793255824355102464
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,759,736,719,687,652,914.252835458,801,838.747164542,659,635,659,0.404743420044,-0.00538112422589,0.0698143072187,0.999999933229,0.000199317125293,-0.000305198006823,2.58662443028e-05,1793255824388435968
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,759,736,720,687,652,914,801,838,659,635.804787809,659.195212191,0.402586931903,-0.00537761564764,0.0698036110771,0.999999928938,0.000201757856287,-0.000317658851145,2.26055138051e-05,1793255824505102592
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,783,759,736,720,686.046610281,651.046610281,914,800.046610281,838,659,635.046610281,659,0.402154342536,-0.00537525936881,0.0697922182982,0.999999923029,0.000200279465561,-0.000336633921369,2.25247924189e-05,1793255824538435840
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,783,759,735.867325414,720,687,651.867325414,914,801,839,659,635.132674586,660,0.401825213864,-0.00537382659768,0.0697936445354,0.999999923643,0.000198276888873,-0.00033605502219,2.15952336824e-05,1793255824571768832
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,759,735.288174103,720,687,651.288174103,914,801,839,659,635.711825897,660,0.401683869682,-0.00537413091322,0.069794195309,0.999999925389,0.000193659183804,-0.000333586100293,2.0942982641e-05,1793255824588435712
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,759,735.288699473,720,687,651.288699473,914,801,839,659,635.711300527,659.711300527,0.401558280274,-0.00537427121342,0.0697946093752,0.999999926257,0.000193635903404,-0.000331062397402,1.97435891761e-05,1793255824605102336
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,759,735.863317222,720,687,651.863317222,914,801,839,659,635.136682778,659.136682778,0.401448293874,-0.0053742490783,0.0697948880509,0.999999926253,0.000198162787405,-0.000328484441398,1.80023242413e-05,1793255824621768960
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,783.806615656,759,735.193384344,720,686.806615656,652,915,801,839,659,635,659.193384344,0.401144562948,-0.00537390763319,0.0697912659779,0.999999922276,0.000210698008034,-0.000332958217252,1.39092134153e-05,1793255824688435712
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783.228808084,759,735.771191916,720,686.228808084,652,915,801,839,659,635,659.771191916,0.401098219423,-0.00537435185059,0.0697930240221,0.999999923153,0.000209711279156,-0.000330918201502,1.44663418561e-05,1793255824705102336
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783.347091744,759,736,720,686.347091744,652,915,801,839,659,635,659.652908256,0.401063124712,-0.00537461837345,0.0697960164816,0.999999925484,0.000207662375644,-0.000325101440512,1.47682355165e-05,1793255824721768960
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.92174089,759,736,720,686.92174089,652,915,801,839,659,635,659.07825911,0.40103540485,-0.00537476839773,0.0697998182385,0.99999992871,0.000204917097919,-0.000316808600994,1.49027943269e-05,1793255824738435584
+380,6.333333333,POSE2_TO_POSE3_RETREAT,784,759.495347957,736,720,687,652,914.504652043,801,839,659,635.495347957,659.495347957,0.401016898811,-0.0053730545178,0.0698039134062,0.99999992957,0.000208244663607,-0.000311884239591,1.48947783652e-05,1793255824755102464
+381,6.350000000,POSE2_TO_POSE3_RETREAT,784,760,736,719.928744945,687,652,914.071255055,801,839,659,635.928744945,660,0.401000763517,-0.00537163554371,0.0698078300354,0.999999930271,0.000211532993405,-0.000307391300229,1.48995393958e-05,1793255824771769344
+382,6.366666667,POSE2_TO_POSE3_RETREAT,784,760,736,719.334759172,687,652,914.665240828,801,839,659,635.334759172,660,0.40099136363,-0.00537453575977,0.0698100975474,0.999999932702,0.000207509783693,-0.000302167391754,1.51629316471e-05,1793255824788435968
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.171844565,759.171844565,736,719.828155435,687,652,915,801,839,659,635,659.171844565,0.400976036646,-0.00537369778757,0.0698116270942,0.999999933632,0.000206819460388,-0.000299553060422,1.51759647007e-05,1793255824821769216
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783.403220217,759.403220217,736,720,687,651.596779783,914.596779783,801,839,659,635,659,0.40097240741,-0.00537269677077,0.0698123793712,0.999999933767,0.000208021362567,-0.000298282756268,1.48813395237e-05,1793255824838435840
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783.977657835,759.977657835,736,720,687,651.022342165,914.022342165,801,839,659,635,659,0.400970201931,-0.00537200159584,0.0698133767017,0.999999934079,0.000209267415575,-0.000296375566142,1.45016381212e-05,1793255824855102208
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783.431761885,759.431761885,736,720,687,651.568238115,914,801,838.431761885,659,635.568238115,659,0.400970579958,-0.00537382705663,0.0698153584467,0.999999935552,0.00020633034295,-0.00029342798099,1.49579680417e-05,1793255824871768832
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.155809795,759,736,720,687,652,914,801,838.155809795,659,636,659,0.400971026641,-0.00537528763381,0.0698168496303,0.999999936612,0.000204682677249,-0.000290942778741,1.52790592396e-05,1793255824888435712
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.733467068,759,736,720,687,652,914,801,838.733467068,659,636,659,0.400971376146,-0.00537548413253,0.0698169047851,0.999999936465,0.000206984343017,-0.000289823447203,1.51423983e-05,1793255824905102336
+390,6.500000000,POSE2_TO_POSE3_RETREAT,784,759,736,720,687,652,914.312803027,801,839,659,636,659,0.400971373784,-0.00537578854175,0.0698174743712,0.999999936869,0.000206694616027,-0.000288637071953,1.51160222797e-05,1793255824921769216
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,783.523957375,759,736,720,687,652,914.523957375,801,839,659,636,659.476042625,0.400970682451,-0.00537582365776,0.0698191878297,0.999999937657,0.000205412281399,-0.000286815111033,1.51086008847e-05,1793255824955102464
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.058516697,759.058516697,736,720,687,651.941483303,914.058516697,801,839,659,636,659.941483303,0.400970298982,-0.00537538277173,0.0698197619758,0.999999937412,0.000207156241059,-0.000286419521882,1.50083315561e-05,1793255824971769088
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,783.783521033,759.783521033,736,720,687,651.216478967,915,801,838.783521033,659.216478967,635.783521033,659,0.400969988099,-0.00537591257055,0.0698197747149,0.999999937774,0.000205616444512,-0.000286268103827,1.49530992046e-05,1793255825005102592
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.205379375,759.205379375,736,720,687,651.794620625,915,801,838.205379375,659.794620625,635.205379375,659,0.400969939714,-0.00537572468736,0.0698196385337,0.999999937612,0.000206365342901,-0.000286297980222,1.49520470097e-05,1793255825021769216
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783.369835285,759,736,720,687,652,914.630164715,801,838.369835285,659.630164715,635.369835285,659,0.400970455671,-0.00537600182307,0.0698201602583,0.999999937787,0.000206176644445,-0.000285825915349,1.48425120058e-05,1793255825038436096
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783.943437249,759,736,720,687,652,914.056562751,801,838.943437249,659.056562751,635.943437249,659,0.400971282562,-0.00537653516838,0.0698210444667,0.999999938149,0.000205471361952,-0.000285077297886,1.46732066596e-05,1793255825055102720
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.881185304,759.881185304,736,720,687,652,914.881185304,801,838.881185304,659,636,659.118814696,0.400969470157,-0.00537448100564,0.0698195035482,0.999999937097,0.000207924785981,-0.000286980204619,1.46640854745e-05,1793255825088435968
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,783.27405075,759,736,720,687,652,914,801,838.27405075,659,636,659.72594925,0.4009708549,-0.00537642711549,0.0698207173913,0.999999937896,0.000207076513562,-0.000284778799108,1.51152242944e-05,1793255825121769216
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783.854011106,759,736,720,687,652,914,801,838.854011106,659,636,659.145988894,0.400970208717,-0.0053755290728,0.0698206099643,0.999999937839,0.000206600491345,-0.000285364965933,1.42914544886e-05,1793255825138435840
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783.562583802,759,736,720,687,652,914,801,838.562583802,659,636,659,0.400971051596,-0.00537567082139,0.0698215056471,0.999999938157,0.000207013167987,-0.000283955769699,1.4180580263e-05,1793255825155102208
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783.021781633,759.021781633,736,720,687,652,914,801,838.021781633,659,636,659,0.400972260236,-0.00537615551068,0.0698226528864,0.99999993858,0.000207588748409,-0.000282032645032,1.43062840161e-05,1793255825171769088
+406,6.766666667,POSE2_TO_POSE3_RETREAT,783.601068074,759.601068074,736,720,687,652,914,801,838.601068074,659,636,659,0.40097000941,-0.00537646494454,0.069821601712,0.999999938583,0.000204681943377,-0.000284136043498,1.43490195938e-05,1793255825188435712
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da0aa6e3b304bb517a52c9e0523ffabd23a72d65
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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+359,5.983333333,pose2_to_pose3_retreat,0.578396098955,0.000181671635621,1.06002039386,0.548967248111,0.00885591429344,1.05969210006
+360,6.000000000,pose2_to_pose3_retreat,0.578120626645,0.000181789210003,1.06002050592,0.548691773872,0.00885602518011,1.05969220835
+361,6.016666667,pose2_to_pose3_retreat,0.577860958178,0.000181841117455,1.06002062235,0.548432104383,0.00885607348597,1.05969232137
+362,6.033333333,pose2_to_pose3_retreat,0.577614415053,0.000181817278164,1.0600206377,0.548185563135,0.00885605594176,1.05969233495
+363,6.050000000,pose2_to_pose3_retreat,0.577380423231,0.000181823655678,1.06002055008,0.547951573186,0.00885606873143,1.05969224888
+364,6.066666667,pose2_to_pose3_retreat,0.577162415279,0.000181959186468,1.06002052561,0.547733561405,0.00885619153375,1.05969223127
+365,6.083333333,pose2_to_pose3_retreat,0.576962186799,0.000181866253203,1.0600204908,0.547533334365,0.00885610384114,1.05969220586
+366,6.100000000,pose2_to_pose3_retreat,0.576781277509,0.000181643036646,1.06002053755,0.547352426731,0.00885588575689,1.05969223975
+367,6.116666667,pose2_to_pose3_retreat,0.576618980372,0.000181793845265,1.06002074386,0.547190127778,0.00885603029975,1.05969244327
+368,6.133333333,pose2_to_pose3_retreat,0.576475256127,0.000181929005966,1.06002052256,0.547046401518,0.00885615887297,1.05969222867
+369,6.150000000,pose2_to_pose3_retreat,0.576347457331,0.00018185427077,1.06002038215,0.54691860318,0.00885608589814,1.05969209373
+370,6.166666667,pose2_to_pose3_retreat,0.576235389379,0.000181730787448,1.06002032171,0.546806536987,0.00885596848669,1.05969203603
+371,6.183333333,pose2_to_pose3_retreat,0.576135482746,0.000181718969235,1.06002030395,0.546706631761,0.00885596150212,1.05969202021
+372,6.200000000,pose2_to_pose3_retreat,0.576047231053,0.000181782098829,1.06002047096,0.546618380565,0.00885602624746,1.05969218573
+373,6.216666667,pose2_to_pose3_retreat,0.575971392237,0.00018177004861,1.06002043896,0.546542540151,0.00885600813651,1.05969213675
+374,6.233333333,pose2_to_pose3_retreat,0.575906334809,0.00018177414245,1.0600204134,0.546477483497,0.00885601512843,1.0596921183
+375,6.250000000,pose2_to_pose3_retreat,0.575851434982,0.00018171920347,1.06002058189,0.546422583856,0.00885596092444,1.05969228948
+376,6.266666667,pose2_to_pose3_retreat,0.57580597009,0.000181790167779,1.06002072684,0.546377118726,0.00885603104371,1.05969243342
+377,6.283333333,pose2_to_pose3_retreat,0.575770088069,0.00018182577277,1.06002054631,0.546341235927,0.00885606417207,1.05969225712
+378,6.300000000,pose2_to_pose3_retreat,0.575741494316,0.000181823451269,1.06002042839,0.546312642085,0.00885606164718,1.05969214178
+379,6.316666667,pose2_to_pose3_retreat,0.575719581895,0.000181795931772,1.06002044909,0.546290730321,0.00885603627711,1.05969216043
+380,6.333333333,pose2_to_pose3_retreat,0.575703480665,0.0001817169104,1.06002026758,0.546274629259,0.00885595780327,1.05969197834
+381,6.350000000,pose2_to_pose3_retreat,0.575691601036,0.000181856754656,1.06002044275,0.546262749093,0.00885609598966,1.05969215793
+382,6.366666667,pose2_to_pose3_retreat,0.575683038476,0.000181770299336,1.06002060305,0.546254186317,0.00885600838662,1.0596923069
+383,6.383333333,pose2_to_pose3_retreat,0.575676829506,0.000181667329775,1.06002069886,0.546247977806,0.0088559065567,1.05969239166
+384,6.400000000,pose2_to_pose3_retreat,0.575672725059,0.000181632011172,1.06002071267,0.546243874333,0.00885587438999,1.05969240182
+385,6.416666667,pose2_to_pose3_retreat,0.575669991131,0.000181616055526,1.06002055476,0.546241140011,0.00885585763463,1.05969225811
+386,6.433333333,pose2_to_pose3_retreat,0.575668524839,0.000181669139622,1.06002046524,0.546239672611,0.008855907097,1.05969217232
+387,6.450000000,pose2_to_pose3_retreat,0.57566799432,0.000181711797806,1.06002043102,0.546239141349,0.00885594723008,1.05969213797
+388,6.466666667,pose2_to_pose3_retreat,0.575667876659,0.000181721258724,1.06002042343,0.546239023523,0.00885595613097,1.05969213035
+389,6.483333333,pose2_to_pose3_retreat,0.575667777846,0.000181729204167,1.06002041705,0.546238924571,0.00885596360609,1.05969212395
+390,6.500000000,pose2_to_pose3_retreat,0.575667766179,0.000181730142299,1.0600204163,0.546238912888,0.00885596448869,1.0596921232
+391,6.516666667,pose2_to_pose3_retreat,0.575667683347,0.00018173680266,1.06002041096,0.54623882994,0.0088559707548,1.05969211783
+392,6.533333333,pose2_to_pose3_retreat,0.575667540229,0.000181748310575,1.06002040172,0.546238686622,0.00885598158152,1.05969210856
+393,6.550000000,pose2_to_pose3_retreat,0.575667439444,0.000181747731242,1.060020429,0.546238586409,0.00885598286378,1.05969213381
+394,6.566666667,pose2_to_pose3_retreat,0.575667366249,0.000181745160127,1.06002045718,0.546238513804,0.00885598222449,1.05969216002
+395,6.583333333,pose2_to_pose3_retreat,0.575667351563,0.000181744644255,1.06002046283,0.546238499237,0.00885598209622,1.05969216528
+396,6.600000000,pose2_to_pose3_retreat,0.575667287867,0.000181742406836,1.06002048735,0.546238436056,0.0088559815399,1.05969218808
+397,6.616666667,pose2_to_pose3_retreat,0.575667280281,0.000181742140379,1.06002049027,0.546238428531,0.00885598147364,1.0596921908
+398,6.633333333,pose2_to_pose3_retreat,0.575667246739,0.000181740962179,1.06002050318,0.546238395261,0.00885598118069,1.05969220281
+399,6.650000000,pose2_to_pose3_retreat,0.575667205494,0.000181739513364,1.06002051906,0.546238354348,0.00885598082045,1.05969221758
+400,6.666666667,pose2_to_pose3_retreat,0.57566717964,0.00018173860521,1.06002052901,0.546238328703,0.00885598059464,1.05969222683
+401,6.683333333,pose2_to_pose3_retreat,0.575667110098,0.000181736162459,1.06002055578,0.546238259724,0.00885597998727,1.05969225173
+402,6.700000000,pose2_to_pose3_retreat,0.575667057282,0.000181734307204,1.06002057611,0.546238207334,0.00885597952597,1.05969227064
+403,6.716666667,pose2_to_pose3_retreat,0.57566684757,0.000181737678887,1.0600205763,0.546237995916,0.00885597708724,1.05969227023
+404,6.733333333,pose2_to_pose3_retreat,0.575666804065,0.000181738655907,1.06002057426,0.54623795197,0.00885597656563,1.0596922682
+405,6.750000000,pose2_to_pose3_retreat,0.575666845658,0.000181711570595,1.06002059023,0.546237994002,0.00885595085356,1.05969228107
+406,6.766666667,pose2_to_pose3_retreat,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424532,1.05969228445
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..08bba73607684dcca0d7c585c9be2caa14499f07
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:585d5e80cf9659671f9fd7bd6926175b05fecda9ce14fae21a01c3916e66dff0
+size 25943791
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb011ad2e6d31ca9046acc084923cbdc1ff62494
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_02/franka_data.csv
@@ -0,0 +1,410 @@
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+32,0.533333333,BASELINE,784,759.562310355,736,720,687,652,914,801,839,659,636,659.437689645,0.400973550813,-0.00537738115134,0.0698270268051,0.999999940845,0.000204936082636,-0.000275852701685,1.47019837788e-05,1793255825877072128
+33,0.550000000,BASELINE,783.858013877,759.858013877,736,720,687,652,914.141986123,801,839,659,635.858013877,659.141986123,0.40097416804,-0.0053777271755,0.0698273157867,0.999999941262,0.000203797761355,-0.000275184401905,1.47015474621e-05,1793255825893738752
+34,0.566666667,BASELINE,783.267545657,759.267545657,736,720,687,652,914.732454343,801,839,659,635.267545657,659.732454343,0.400973968084,-0.00537585253111,0.069826925494,0.999999940867,0.000204446669344,-0.000276156906594,1.42852013312e-05,1793255825910405376
+35,0.583333333,BASELINE,783,759,736,720,687,652,914.684247706,801,839,659,635.315752294,659.684247706,0.400974076865,-0.00537580751456,0.0698268639362,0.999999940907,0.000204137816903,-0.00027624695731,1.41751313032e-05,1793255825927072000
+36,0.600000000,BASELINE,783,759,736,720,687,652,914.106890356,801,839,659,635.893109644,659.106890356,0.400974441437,-0.00537727836928,0.0698270747398,0.999999941306,0.000203035447034,-0.000275605883055,1.43188151322e-05,1793255825943739136
+37,0.616666667,BASELINE,783,759.469282585,736,720,687,652,914,801,839,659,636,659,0.400973610415,-0.00537735305069,0.0698266970891,0.999999940898,0.000203788319698,-0.000276516259352,1.45819741843e-05,1793255825960406016
+38,0.633333333,BASELINE,783,759.953831129,736,720,687,652,914,801,839,659,635.953831129,659.046168871,0.400972616946,-0.00537706299399,0.0698261790684,0.999999940347,0.000204923036258,-0.000277656596497,1.48206488606e-05,1793255825977072896
+39,0.650000000,BASELINE,783,759.36540554,736,720,687,652,914,801,839,659,635.36540554,659.63459446,0.400972905968,-0.00537621473181,0.0698255826748,0.999999940298,0.000205591847697,-0.000277357816147,1.44529349527e-05,1793255825993739008
+40,0.666666667,BASELINE,783.219303267,759,736,720,687,652,914.219303267,801,839,659,635.219303267,660,0.400973340098,-0.00537549272877,0.0698256585416,0.999999940402,0.000206069815894,-0.000276640040556,1.41985494269e-05,1793255826010405376
+41,0.683333333,BASELINE,783.797922304,759,736,720,687,652,914.797922304,801,839,659,635.797922304,660,0.40097401198,-0.00537497759412,0.0698268358684,0.999999940756,0.000206235098392,-0.000275235765413,1.41298459498e-05,1793255826027072256
+42,0.700000000,BASELINE,784,759.37632711,736,720,687,652,915,801,839,659,636,660,0.400973270924,-0.00537475174603,0.069826382347,0.99999994026,0.000207121804283,-0.000276361464451,1.43366068529e-05,1793255826043738880
+43,0.716666667,BASELINE,784,759.954616926,736,720,687,652,915,801,839,659,636,660,0.400971771589,-0.0053746811488,0.0698250536014,0.9999999393,0.000208395674997,-0.000278844919642,1.4691200668e-05,1793255826060405248
+44,0.733333333,BASELINE,784,760,736,720,687,652,914.469045163,801,839,659,636,659.469045163,0.400970752581,-0.00537620483975,0.0698247421584,0.999999939545,0.000206422619727,-0.000279451675481,1.43906739267e-05,1793255826077072128
+45,0.750000000,BASELINE,784,759.890850346,736,720,687,652,914,801,839,659,635.890850346,659.109149654,0.400970083084,-0.00537756597946,0.0698245294575,0.999999939901,0.000204399817172,-0.000279679235155,1.40519112371e-05,1793255826093739520
+46,0.766666667,BASELINE,784,759.303797558,736,720,687,652,914,801,839,659,635.303797558,659.696202442,0.400970764792,-0.00537762093502,0.0698243697673,0.99999994032,0.000203369889696,-0.000278946283605,1.37900119264e-05,1793255826110406144
+47,0.783333333,BASELINE,784,759.279260499,736,720,687,652,914,801,838.720739501,659,635,660,0.40097114391,-0.00537749385121,0.0698246452671,0.999999940519,0.000203448459591,-0.000278171500972,1.38508351413e-05,1793255826127072768
+48,0.800000000,BASELINE,784,759.85803419,736,720,687,652,914,801,838.14196581,659,635,660,0.400971198493,-0.00537717152609,0.0698253875179,0.999999940482,0.000204715917814,-0.000277351853466,1.42577855192e-05,1793255826143739136
+49,0.816666667,BASELINE,783.564919883,760,736,720,687,652,914.435080117,801,838.435080117,659,635.435080117,659.564919883,0.400971903361,-0.00537694011835,0.0698261604498,0.999999940884,0.000203159473776,-0.000277052988226,1.41474035785e-05,1793255826160405504
+50,0.833333333,BASELINE,783.011510305,759.988489695,736,720,687,652,914.988489695,801,839,659,636,659.011510305,0.400972811388,-0.00537674463871,0.0698269235324,0.999999941408,0.000200767561981,-0.000276917506404,1.38784087532e-05,1793255826177072128
+51,0.850000000,BASELINE,783.585294479,759.414705521,736,720,687,652,914.414705521,801,839,659,636,659.585294479,0.400973319402,-0.00537686078405,0.0698267183724,0.999999941194,0.000202397014681,-0.000276495047828,1.40746550965e-05,1793255826193739264
+52,0.866666667,BASELINE,784,759.164000975,736.164000975,720,687,652,914,801,838.835999025,659,636,659.835999025,0.400973694948,-0.005377352996,0.0698266824717,0.999999941138,0.000203470209144,-0.000275900720229,1.42515920401e-05,1793255826210406400
+53,0.883333333,BASELINE,784,759.755539543,736.755539543,720,687,652,914,801,838.244460457,659,636,659.244460457,0.400973725159,-0.00537882558387,0.0698270878165,0.9999999415,0.000203093282199,-0.000274858343675,1.43781908911e-05,1793255826227073024
+54,0.900000000,BASELINE,783.659872368,759.659872368,736.659872368,720,687,652,914.340127632,801,838.340127632,659,635.659872368,659,0.400973323075,-0.00537975391477,0.0698267109033,0.999999941698,0.000201527889761,-0.00027529355941,1.43105786035e-05,1793255826243739392
+55,0.916666667,BASELINE,783.080179794,759.080179794,736.080179794,720,687,652,914.919820206,801,838.919820206,659,635.080179794,659,0.400972616509,-0.00538029890452,0.0698257830157,0.999999941774,0.000199125415485,-0.000276769500133,1.4106175953e-05,1793255826260405760
+56,0.933333333,BASELINE,783.495349643,759.495349643,736,720,687,652,914.504650357,801,838.504650357,659,635,659.495349643,0.400971525963,-0.00537830398683,0.0698252237346,0.999999941008,0.00020164412434,-0.000277725374711,1.38984710478e-05,1793255826277072384
+57,0.950000000,BASELINE,784,759.928237736,736,720,687,652,914.071762264,801,838.071762264,659,635.071762264,660,0.400970617493,-0.00537628031329,0.0698248359527,0.999999940258,0.000204331419317,-0.000278468666814,1.37054632062e-05,1793255826293738752
+58,0.966666667,BASELINE,784,759.340674257,736,720,687,652,914.659325743,801,838.659325743,659,635.659325743,660,0.400971460729,-0.00537698032419,0.0698252555732,0.999999940672,0.000202552727225,-0.000278284008933,1.36219025646e-05,1793255826310405376
+59,0.983333333,BASELINE,784,759,736,720,687,652,914.756594279,801,839,659,636,660,0.400972088609,-0.00537754437144,0.0698257868232,0.999999940934,0.000202214176487,-0.000277585908811,1.36974846446e-05,1793255826327072000
+60,1.000000000,BASELINE,784,759,736,720,687,652,914.177320985,801,839,659,636,660,0.400972419326,-0.00537792080701,0.0698264721071,0.999999940985,0.000203862829331,-0.00027617932655,1.39926625359e-05,1793255826343738624
+61,1.016666667,BASELINE,783.598889765,759,736,720,687,652,914,801,839,659,636,659.598889765,0.40097245233,-0.00537814500631,0.0698264795782,0.999999940866,0.000203991421916,-0.000276498474955,1.42663070453e-05,1793255826360405760
+62,1.033333333,BASELINE,783.020830059,759,736,720,687,652,914,801,839,659,636,659.020830059,0.400972353999,-0.00537830204667,0.0698261880326,0.999999940674,0.000203449440991,-0.000277578928196,1.45304521023e-05,1793255826377072896
+63,1.050000000,BASELINE,783,759,736,720,687,652,914,801,839,659,636,659.552561745,0.400971773863,-0.00537727203452,0.0698257427392,0.999999940698,0.000203344587627,-0.000277585901228,1.42085144679e-05,1793255826393739520
+64,1.066666667,BASELINE,783,759,736,720,687,652,914,801.12950998,839,659.12950998,636,660,0.400971625037,-0.00537641487771,0.0698256324452,0.9999999408,0.000203450138189,-0.000277152783995,1.39461354561e-05,1793255826410405888
+65,1.083333333,BASELINE,783,759,736,720,687,652,914,801.719730335,839,659.719730335,636,660,0.400973074591,-0.00537633047765,0.0698267343007,0.99999994115,0.000204246037467,-0.000275296867956,1.39735627556e-05,1793255826427072512
+66,1.100000000,BASELINE,783.305127901,759,736,720,687,652,914,801.694872099,838.694872099,659.694872099,636,659.694872099,0.400973146729,-0.00537634389657,0.0698268337965,0.999999940964,0.000204985831951,-0.000275419514648,1.4002945988e-05,1793255826443738880
+67,1.116666667,BASELINE,783.886164478,759,736,720,687,652,914,801.113835522,838.113835522,659.113835522,636,659.113835522,0.400971973353,-0.00537644576728,0.0698260269189,0.999999940294,0.000205674894228,-0.000277331255855,1.40340978506e-05,1793255826460405248
+68,1.133333333,BASELINE,783.538154525,759.461845475,736,720,687,652,914,801,838,659,636,659.461845475,0.400971403684,-0.0053768221006,0.069825233334,0.999999940252,0.000204871889197,-0.000278078252643,1.39713311332e-05,1793255826477072128
+69,1.150000000,BASELINE,783.036951342,759.963048658,736,720,687,652,914,801,838,659,636,659.963048658,0.400971028061,-0.0053772225561,0.0698245400451,0.999999940372,0.000203760811905,-0.000278467107449,1.38943466351e-05,1793255826493739008
+70,1.166666667,BASELINE,783.6228991,759.3771009,736,720,687,652,914,801,838,659,636,659.3771009,0.400971349989,-0.00537698783574,0.0698252887603,0.999999940629,0.000203473962472,-0.000277751366729,1.39461136397e-05,1793255826510405632
+71,1.183333333,BASELINE,784,759.206350683,736,720,687,652,914,801,838.206350683,659,635.793649317,659,0.400972361202,-0.00537673315207,0.0698263628539,0.999999940949,0.000203844711099,-0.000276322441476,1.39744230353e-05,1793255826527072256
+72,1.200000000,BASELINE,784,759.785295183,736,720,687,652,914,801,838.785295183,659,635.214704817,659,0.40097461701,-0.00537644242196,0.0698280244616,0.999999941377,0.000205402841117,-0.000273605765833,1.39603765825e-05,1793255826543738880
+73,1.216666667,BASELINE,784,760,736,720,687,652,914.365069712,801.365069712,838.634930288,659,635.365069712,659,0.400975182398,-0.00537724985022,0.0698281691522,0.999999941825,0.000203682324734,-0.000273259871786,1.38651920774e-05,1793255826560405760
+74,1.233333333,BASELINE,784,760,736,720,687,652,914.945333476,801.945333476,838.054666524,659,635.945333476,659,0.400974751352,-0.0053787045991,0.0698274196803,0.999999942277,0.000200029176817,-0.000274311459203,1.37221799236e-05,1793255826577072128
+75,1.250000000,BASELINE,784,759.480744916,736,720,687,652,914.480744916,801.480744916,838,659,636,659.519255084,0.400973365306,-0.00537858369533,0.06982665357,0.99999994179,0.000200953225906,-0.000275405197119,1.37481279056e-05,1793255826593738752
+76,1.266666667,BASELINE,783.905123131,759,736,720,687,652,914,801,838,659,636,659.905123131,0.400972112228,-0.00537816305222,0.0698259630188,0.999999941239,0.000202295083558,-0.000276420617191,1.37967823457e-05,1793255826610405632
+77,1.283333333,BASELINE,783.31723909,759,736,720,687,652,914,801,838,659,636,659.31723909,0.40097206623,-0.00537703645114,0.0698256740864,0.999999940865,0.000203334214302,-0.000277006294923,1.38721102781e-05,1793255826627072256
+78,1.300000000,BASELINE,783.267865148,759,736,720,687.267865148,652,914.267865148,801,838.267865148,659,636,659.267865148,0.400972598143,-0.0053765907943,0.0698261701868,0.999999940805,0.000204784560602,-0.000276153698202,1.38891254219e-05,1793255826643738880
+79,1.316666667,BASELINE,783.849710972,759,736,720,687.849710972,652,914.849710972,801,838.849710972,659,636,659.849710972,0.40097380746,-0.0053769433128,0.0698275864707,0.999999941106,0.000206716917045,-0.000273615214383,1.38377886717e-05,1793255826660405504
+80,1.333333333,BASELINE,784,759,736,720,687.573454529,652,915,801.426545471,838.573454529,659,636,659.573454529,0.400972815113,-0.00537785990099,0.06982692029,0.999999941282,0.000203871936792,-0.00027510241958,1.38504025522e-05,1793255826677072128
+81,1.350000000,BASELINE,784,759,736,720,687,652,915,801.998367833,838.001632167,659.001632167,636,659.001632167,0.400971061833,-0.00537896722825,0.0698255339951,0.999999941389,0.000199384985309,-0.000277981846307,1.38859557802e-05,1793255826693738752
+82,1.366666667,BASELINE,784,759,736,720,687,652,915,801.424214937,838.575785063,659.575785063,636,659.575785063,0.400971341285,-0.00537807603044,0.069825937075,0.999999940903,0.000202520235829,-0.000277452088551,1.41560468136e-05,1793255826710405632
+83,1.383333333,BASELINE,784,759.153825479,736,720,687.153825479,652,914.846174521,801,839,659.846174521,636,659.846174521,0.400971770547,-0.00537721581901,0.069826370131,0.999999940606,0.000204685759564,-0.000276922475481,1.43166502958e-05,1793255826727072256
+84,1.400000000,BASELINE,784,759.742864872,736,720,687.742864872,652,914.257135128,801,839,659.257135128,636,659.257135128,0.400972623661,-0.00537644327624,0.0698268879981,0.999999940873,0.000204107664472,-0.000276393271648,1.41674839225e-05,1793255826743738880
+85,1.416666667,BASELINE,784,759.671836646,736,720,688,652,914,801,839,659,635.671836646,659,0.400972662111,-0.00537648243505,0.0698267899298,0.999999940965,0.000204083128756,-0.00027608550501,1.40145982515e-05,1793255826760405760
+86,1.433333333,BASELINE,784,759.089436382,736,720,688,652,914,801,839,659,635.089436382,659,0.40097206942,-0.00537715044077,0.0698262146799,0.999999940922,0.000204487450297,-0.000275949291713,1.385883115e-05,1793255826777072384
+87,1.450000000,BASELINE,784,759,736,720,687.51522599,652,914,801,839,659,635,659,0.400972187219,-0.00537651580439,0.0698266326108,0.999999940902,0.000205006963427,-0.000275645641974,1.3672139992e-05,1793255826793739008
+88,1.466666667,BASELINE,783.941112768,759.058887232,736,720,687.058887232,652,914,801,839,659,635.058887232,659,0.400972478452,-0.00537589205717,0.0698272179244,0.999999940931,0.000205360739288,-0.000275283167464,1.35472848649e-05,1793255826810405632
+89,1.483333333,BASELINE,783.354555968,759.645444032,736,720,687.645444032,652,914,801,839,659,635.645444032,659,0.400973168731,-0.00537748358767,0.0698276884864,0.999999941364,0.000204042129912,-0.000274665784226,1.40267957368e-05,1793255826827072256
+90,1.500000000,BASELINE,783.229875893,760,736,720,687.770124107,652,914.229875893,801,839,659,636,659.229875893,0.400973372981,-0.00537791741391,0.0698277388816,0.999999941367,0.000203890246207,-0.000274755494633,1.42706856704e-05,1793255826843738880
+91,1.516666667,BASELINE,783.811060257,760,736,720,687.188939743,652,914.811060257,801,839,659,636,659.811060257,0.400972834453,-0.00537658197527,0.0698271471556,0.999999940713,0.000205521414361,-0.000275925822916,1.41544872082e-05,1793255826860405504
+92,1.533333333,BASELINE,784,759.610068172,736,720,687,652,914.610068172,801,839,659,636,660,0.400972040239,-0.0053767969916,0.0698265784528,0.999999940651,0.00020506943309,-0.000276500124874,1.38753661204e-05,1793255826877072384
+93,1.550000000,BASELINE,784,759.032310595,736,720,687,652,914.032310595,801,839,659,636,660,0.400971122863,-0.00537775884443,0.0698260208399,0.999999940874,0.000203614022459,-0.0002767873278,1.35177670371e-05,1793255826893739008
+94,1.566666667,BASELINE,784,759,736,720,687.541670743,652,914.541670743,801,839,659,636,659.458329257,0.400971609,-0.00537867303441,0.0698260851723,0.999999941224,0.000202687958138,-0.00027617908325,1.39509364523e-05,1793255826910405632
+95,1.583333333,BASELINE,784,759.11892488,736,720,687.88107512,652,915,801,839,659.11892488,636,659,0.400972293845,-0.00537900543679,0.0698263126752,0.999999941485,0.000202516025155,-0.000275341504053,1.42900601813e-05,1793255826927072256
+96,1.600000000,BASELINE,784,759.710062645,736,720,687.289937355,652,915,801,839,659.710062645,636,659,0.400973437574,-0.00537703895669,0.0698270417878,0.99999994136,0.000205213999603,-0.000273803928743,1.40697611341e-05,1793255826943738880
+97,1.616666667,BASELINE,783.705117366,759.705117366,736,720,687.294882634,652,915,801,838.705117366,659.705117366,635.705117366,659.294882634,0.400973458472,-0.00537607779817,0.0698270544247,0.99999994113,0.000206144792017,-0.00027395247471,1.39696273181e-05,1793255826960405504
+98,1.633333333,BASELINE,783.126378941,759.126378941,736,720,687.873621059,652,915,801,838.126378941,659.126378941,635.126378941,659.873621059,0.400972398526,-0.00537608436835,0.0698263773776,0.999999940801,0.00020537448425,-0.000275724091221,1.39851652872e-05,1793255826977072128
+99,1.650000000,BASELINE,783,759,736,720,687.550572129,652,915,801,838.449427871,659,635,659.550572129,0.400972310466,-0.00537724193929,0.0698267908823,0.999999941164,0.000203276319922,-0.000275965035456,1.39505269066e-05,1793255826993739008
+100,1.666666667,BASELINE,783.024947825,759.024947825,736,720.024947825,687,652,915,801,838.975052175,659.024947825,635,659,0.400972488156,-0.00537861661493,0.0698274797641,0.999999941686,0.000200988504361,-0.000275751258024,1.39059312535e-05,1793255827010405632
+101,1.683333333,BASELINE,783.612468311,759.612468311,736,720.612468311,687,652,915,801,838.387531689,659.612468311,635,659,0.400972535673,-0.00537763575044,0.0698275079715,0.999999941549,0.000202789485734,-0.000274926676729,1.39529077924e-05,1793255827027072256
+102,1.700000000,BASELINE,783.802827265,759.802827265,736,720.802827265,687,652,915,801,838.197172735,659.802827265,635.197172735,659,0.400971568662,-0.00537681630703,0.0698267084042,0.999999941065,0.000204146057035,-0.000275688881797,1.38146501573e-05,1793255827043738880
+103,1.716666667,BASELINE,783.223579781,759.223579781,736,720.223579781,687,652,915,801,838.776420219,659.223579781,635.776420219,659,0.400968635731,-0.0053763096601,0.0698243048027,0.999999939905,0.000204641465114,-0.000279525908647,1.33174519124e-05,1793255827060405504
+104,1.733333333,BASELINE,783,759,736,720,687,652,914.644367002,801,839,659,636,659,0.400969181229,-0.00537687632333,0.0698246473312,0.9999999402,0.000203781394649,-0.000279092503024,1.34715789145e-05,1793255827077072384
+105,1.750000000,BASELINE,783,759,736,720,687,652,914.065175982,801,839,659,636,659,0.400971913338,-0.00537811769077,0.0698267161317,0.999999941405,0.000202069243283,-0.000275974618432,1.40351419572e-05,1793255827093739008
+106,1.766666667,POSE1_TO_POSE2_PRESS,784,759,735,720,688,652,914,801,839,659,636,660,0.400972124144,-0.00537663928236,0.06982707404,0.999999941333,0.000204399089944,-0.000274520178978,1.38934367775e-05,1793255827124942080
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,735.59406593,720,687.40593407,652,914.59406593,801,838.40593407,659,636,660,0.400970555931,-0.00537695082705,0.0698260655984,0.999999940725,0.00020393466951,-0.000277075975039,1.37380962201e-05,1793255827141608704
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.816885056,759,736,720,687,652,914.816885056,801,838.183114944,659,636,659.816885056,0.400969940027,-0.00537771719187,0.069825710035,0.999999940543,0.000203435090718,-0.000278093860731,1.38836798575e-05,1793255827158275328
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.238660986,759,736,720,687,652,914.238660986,801,838.761339014,659,636,659.238660986,0.400971378932,-0.00537946492714,0.0698267631939,0.999999941285,0.000202859650264,-0.000275793380808,1.46785709074e-05,1793255827174941952
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,759,736,720,687.338537708,652,914,801,839,659,635.661462292,659,0.400972135965,-0.00537904278978,0.0698272402498,0.999999941263,0.000203530719466,-0.000275382494249,1.4604861871e-05,1793255827191608576
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,759,736,720,687.915015683,652,914,801,839,659,635.084984317,659,0.400972413746,-0.0053770955635,0.0698273123932,0.999999940704,0.000205077894478,-0.000276299703162,1.39206596796e-05,1793255827208275200
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,759,736,720,687.499848948,652,914,801,838.499848948,659,635.500151052,659.500151052,0.400972903354,-0.00537681423983,0.0698269490457,0.999999941098,0.000203882365119,-0.000275751270189,1.40136767179e-05,1793255827224941824
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,759,736,720,687,652,914,801,838.085696177,659,635.914303823,659.914303823,0.40097333011,-0.00537705844146,0.0698267084566,0.999999941579,0.000202476435315,-0.000275031988636,1.42151217732e-05,1793255827241608704
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,759,736,720,687,652,914,801,838.664979342,659,635.335020658,659.335020658,0.400973183892,-0.00537867042721,0.0698276086363,0.999999941623,0.000202590161171,-0.000274788322702,1.42670373082e-05,1793255827258275328
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,759.243855954,736,720,687,652,914,801,838.756144046,659,635,659,0.400974542825,-0.00537912807026,0.0698288114465,0.999999941734,0.000203002384173,-0.000274082951795,1.41750258672e-05,1793255827274941952
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,759.822174906,736,720,687,652,914,801,838.177825094,659,635,659,0.400977966161,-0.00537800246326,0.0698304293324,0.999999941937,0.00020382401382,-0.000272744324975,1.38856099821e-05,1793255827291608832
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.398111674,759.601888326,736,720,687,651.601888326,914.398111674,801,838.398111674,659,635.398111674,659.398111674,0.400994029311,-0.00537822823507,0.0698370739109,0.999999944703,0.000203581321408,-0.000262579919771,1.41914658925e-05,1793255827308275456
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.972990767,759.027009233,736,720,687,651.027009233,914.972990767,801,838.972990767,659,635.972990767,659.972990767,0.401015704723,-0.00537905403879,0.0698459504148,0.999999948438,0.000202866054437,-0.000248496739439,1.47616311781e-05,1793255827324942080
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,759,736,720,687,651.560105073,915,801,839,659,635.439894927,659.439894927,0.40106503126,-0.00538108151901,0.0698630947242,0.999999955896,0.000201183566445,-0.000217944385558,1.52949927001e-05,1793255827341608704
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,915,801,839,659,635.145696667,659.145696667,0.40111905227,-0.00538291786819,0.0698794735491,0.999999961659,0.000199871598354,-0.000191014441326,1.56907002282e-05,1793255827358275328
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,915,801,839,659,635.724962109,659.724962109,0.401182986712,-0.00538400915282,0.0698923615015,0.999999964202,0.000199804130844,-0.000177280272651,1.56821720621e-05,1793255827374941952
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,914.697185922,801,839,659,636,660,0.401256833042,-0.00538494168373,0.069901897504,0.999999966597,0.000199361514472,-0.00016383490208,1.48084670846e-05,1793255827391608832
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,914.120611842,801,839,659,636,660,0.401339640241,-0.00538573069281,0.069908403165,0.999999968849,0.000198579743616,-0.00015065062115,1.31525963415e-05,1793255827408276224
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,914.453504086,801,839,659,636,660,0.401435253808,-0.00538795488226,0.0699089750553,0.999999969344,0.000196487002882,-0.000150250412501,1.13886522129e-05,1793255827424943104
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,914.972170444,801,839,659,636,660,0.401535301106,-0.00539058361987,0.0699079510847,0.9999999694,0.000194004105783,-0.000153201236706,9.5442558507e-06,1793255827441609984
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,914.380422922,801,839,659,636,660,0.401656547266,-0.00539371715727,0.0699063951902,0.999999969711,0.000190642256548,-0.000155531400437,6.64891447613e-06,1793255827458275840
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.792944506,759,736,720,687,652,914,801,838.792944506,659,636,660,0.401791095569,-0.00539607319032,0.069907254988,0.999999970445,0.000188097535846,-0.000153999665078,3.59285574683e-06,1793255827474942464
+128,2.133333333,POSE1_TO_POSE2_PRESS,783.213151323,759,736,720,687,652,914,801,838.213151323,659,636,660,0.401949590143,-0.00539702957325,0.0699124634732,0.999999971924,0.000187023796035,-0.000145515806073,2.47476750983e-07,1793255827491610112
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.363945332,759,736,720,687,652,914.363945332,801,838.363945332,659,636,660,0.402127772768,-0.00539952578866,0.0699164088573,0.999999973701,0.000182110377199,-0.000139354742533,-3.68225579527e-06,1793255827508276480
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.939474385,759,736,720,687,652,914.939474385,801,838.939474385,659,636,660,0.402317401277,-0.00540291720312,0.0699196199238,0.999999975611,0.000174964717567,-0.00013454406151,-7.95170918271e-06,1793255827524942080
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,759.51285122,736,720,687,652,914.48714878,801,839,659,635.48714878,659.48714878,0.402541847778,-0.00540741949348,0.0699223119362,0.999999977779,0.00016621257592,-0.000129014900763,-1.30793206201e-05,1793255827541609216
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,759.911118315,736,720,687,652,914.088881685,801,839,659,635.088881685,659,0.40277542261,-0.00541216477093,0.0699252771498,0.99999997992,0.000157418013891,-0.000122664008683,-1.82423186374e-05,1793255827558275840
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,759.31861853,736,720,687,652,914.68138147,801,839,659,635.68138147,659,0.403037534352,-0.00541754710682,0.0699301360129,0.999999982279,0.000149452866435,-0.000112135496576,-2.30343654301e-05,1793255827574942720
+134,2.233333333,POSE1_TO_POSE2_PRESS,783.732177815,759,736,719.732177815,687,652,914.732177815,801,839,659,636,659,0.403322691989,-0.00542383485639,0.0699378223809,0.999999984747,0.000142266770269,-9.75210211068e-05,-2.74966729794e-05,1793255827591609344
+135,2.250000000,POSE1_TO_POSE2_PRESS,783.152785925,759,736,719.152785925,687,652,914.152785925,801,839,659,636,659,0.403634659945,-0.00543117591446,0.0699487981134,0.999999987201,0.000135986980288,-7.81531596145e-05,-3.15753796084e-05,1793255827608275968
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,759,736,719.422612847,687,652,914.422612847,801,839,659,635.577387153,659,0.403964533428,-0.00543639964414,0.0699528260457,0.999999994402,6.57692724677e-05,-7.44328333579e-05,-3.64773734049e-05,1793255827624942592
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,759,736,719.9965815,687,652,914.9965815,801,839,659,635.0034185,659,0.404300819641,-0.00544086506746,0.0699543656722,0.999999995846,-2.73473494068e-05,-7.63165611933e-05,-4.16742213262e-05,1793255827641608960
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,759,736,720,687,652,915,801,839,659,635.584422118,659.584422118,0.404692226827,-0.00544888141203,0.0699639292894,0.999999997451,2.67647223869e-05,-5.9847616863e-05,-2.82756786191e-05,1793255827658275584
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,759,736,720,687,652,915,801,839,659,636,659.829531517,0.405092744108,-0.00546063996597,0.0699707549095,0.999999996904,5.8944926798e-05,-4.83075975532e-05,-1.96121836781e-05,1793255827674942208
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,759,736,720,687,652,915,801,839,659,636,659.248012137,0.405514432156,-0.00548137081152,0.069970862465,0.999999997895,3.61136911719e-05,-4.89178555369e-05,-2.26349755508e-05,1793255827691609600
+141,2.350000000,POSE1_TO_POSE2_PRESS,783.329828414,759,736,719.670171586,687,652,915,801,838.670171586,659,636,659,0.405950254639,-0.00549589758137,0.0699664196447,0.999999998057,1.53039195347e-05,-5.46609792709e-05,-2.57638468119e-05,1793255827708276224
+142,2.366666667,POSE1_TO_POSE2_PRESS,783.904933271,759,736,719.095066729,687,652,915,801,838.095066729,659,636,659,0.406396588219,-0.00550581070113,0.0699585929438,0.99999999751,-4.00259560024e-06,-6.42211515529e-05,-2.89716041765e-05,1793255827724942592
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.522664086,759,736,719.477335914,686.522664086,652,915,801,838.477335914,658.522664086,636,659.477335914,0.406877493854,-0.0055028778848,0.0699441522954,0.999999995882,1.59341503344e-07,-8.55754066086e-05,-3.02063410132e-05,1793255827741608704
+144,2.400000000,POSE1_TO_POSE2_PRESS,783.051149547,759,736,720,686.051149547,652,915,801,839,658.051149547,636,659.948850453,0.407372813267,-0.00549912104158,0.069929923353,0.999999993846,6.32228803652e-06,-0.000106270695861,-3.12141959341e-05,1793255827758275328
+145,2.416666667,POSE1_TO_POSE2_PRESS,783.645636478,759,736,720,686.645636478,652,915,801,839,658.645636478,636,659.354363522,0.407948515064,-0.00551363474441,0.0699318569117,0.999999994774,-1.56292044441e-05,-9.51550917301e-05,-3.39626053183e-05,1793255827774941952
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,915,801,839,659,636,659,0.408543506628,-0.00552471306717,0.0699395257003,0.999999995954,-3.22473989482e-05,-7.60276980305e-05,-3.56719878731e-05,1793255827791608576
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,915,801,839,659,636,659,0.40916696514,-0.00553072160734,0.0699556582867,0.999999997501,-4.09949472861e-05,-4.50768609523e-05,-3.5848020505e-05,1793255827808275456
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,914.613751677,801.386248323,839,659,635.613751677,659,0.409780702775,-0.00553406549118,0.0699564045044,0.999999997636,-4.14694038381e-05,-4.07244482607e-05,-3.67491649349e-05,1793255827824942336
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,914.039016785,801.960983215,839,659,635.039016785,659,0.410389696669,-0.00553610904059,0.0699496422777,0.999999997342,-3.79066473297e-05,-4.935188762e-05,-3.80041590204e-05,1793255827841609728
+150,2.500000000,POSE1_TO_POSE2_PRESS,783.450720391,759,736,719.450720391,686.450720391,652,914.549279609,801.450720391,839,659,635.549279609,659,0.411058538524,-0.00554293690844,0.0699466154829,0.999999996127,-5.40711119868e-05,-5.77197314665e-05,-3.86031109433e-05,1793255827858276352
+151,2.516666667,POSE1_TO_POSE2_PRESS,783.136073714,759.136073714,736,719,686.136073714,652,915,801,839,659,635.863926286,659.136073714,0.411750412472,-0.00554333995328,0.0699512266033,0.999999995985,-6.1316124888e-05,-5.23778115793e-05,-3.90829904018e-05,1793255827874942464
+152,2.533333333,POSE1_TO_POSE2_PRESS,783.714768266,759.714768266,736,719,686.714768266,652,915,801,839,659,635.285231734,659.714768266,0.41250302688,-0.00552171089476,0.0699797974101,0.999999998615,-3.48744623012e-05,-2.50224309028e-06,-3.93309697162e-05,1793255827891608832
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,759.706792913,736.293207087,719,687,652,915,801,839,659,635,659.706792913,0.413264652371,-0.00550458787415,0.0700052180898,0.999999998469,-1.29161985714e-05,3.69282056578e-05,-3.91413298777e-05,1793255827908275200
+154,2.566666667,POSE1_TO_POSE2_PRESS,784,759.128602582,736.871397418,719,687,652,915,801,839,659,635,659.128602582,0.414035036291,-0.00549184450398,0.0700275770002,0.999999997055,4.68441931176e-06,6.62065042591e-05,-3.85263452714e-05,1793255827924941824
+155,2.583333333,POSE1_TO_POSE2_PRESS,783.553978082,759,737,719,687,652,915,801.446021918,839,659,635.446021918,659.446021918,0.41476295615,-0.00550205895113,0.0700057993136,0.999999998876,-9.98847996597e-06,2.30840763198e-05,-4.01945264268e-05,1793255827941608704
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,759,736.979836014,719,686.979836014,652,915,802,839,659,635.979836014,659.979836014,0.415481285794,-0.00551822652999,0.0699710860253,0.999999997708,-3.33626036159e-05,-4.0720281935e-05,-4.25723233509e-05,1793255827958275328
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,759,736.390519757,719,686.390519757,652,915,802,839,659,635.390519757,659.390519757,0.416271775286,-0.00551706749302,0.0699276077773,0.999999992664,-4.17635683116e-05,-0.000103735077825,-4.6545650761e-05,1793255827974942720
+158,2.633333333,POSE1_TO_POSE2_PRESS,783.195581722,759,736,719,686,652,915,802,839,658.804418278,635,659,0.417089232857,-0.00551722384556,0.0699083194016,0.999999988844,-4.90575477835e-05,-0.000132193844958,-4.92965099762e-05,1793255827991609856
+159,2.650000000,POSE1_TO_POSE2_PRESS,783.775367993,759,736,719,686,652,915,802,839,658.224632007,635,659,0.417959667002,-0.00551996417497,0.0699365500851,0.999999992997,-5.41769436271e-05,-9.27700723208e-05,-4.96459288576e-05,1793255828008276480
+160,2.666666667,POSE1_TO_POSE2_PRESS,783.647955684,759,736.352044316,719.352044316,686,652,915,802,839,658.352044316,635.352044316,659,0.418836996792,-0.00552064375357,0.0699638703394,0.999999995988,-5.38100609652e-05,-5.2432029364e-05,-4.87870395435e-05,1793255828024942848
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.073246398,759,736.926753602,719.926753602,686,652,915,802,839,658.926753602,635.926753602,659,0.419718687983,-0.00552001992507,0.0699906147541,0.999999997573,-4.99731545913e-05,-1.15157198472e-05,-4.71639057497e-05,1793255828041609216
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,759.500472631,737,719.499527369,686.500472631,652,915,801.499527369,839,658.499527369,636,659,0.420626883405,-0.00551739872093,0.0700163839828,0.999999997262,-4.69642915168e-05,3.21613694208e-05,-4.72802384821e-05,1793255828058275584
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,759.923425644,737,719,686.923425644,652,915,801.076574356,839,658,636,659,0.421536021351,-0.00551477824852,0.0700362659625,0.999999995656,-4.54140414073e-05,6.5798609802e-05,-4.7909335909e-05,1793255828074942208
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,759.33027456,737,719,686.33027456,652,915,801.66972544,839,658,636,659,0.422425400754,-0.00551413086617,0.0700173929966,0.999999996917,-5.28877844457e-05,2.89858196465e-05,-5.02835686014e-05,1793255828091608576
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,759,737,719,686,652,915,802,839,658.256612378,635.743387622,659.256612378,0.42327906424,-0.00551341023422,0.0699667135067,0.999999995737,-5.41736908072e-05,-5.23181247635e-05,-5.34188960873e-05,1793255828108275456
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,759,737,719,686,652,915,802,839,658.835629204,635.164370796,659.835629204,0.424087854831,-0.00551259757236,0.0698760727117,0.99999997925,-4.76852800941e-05,-0.000189520180604,-5.75104528369e-05,1793255828124942336
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.41081109,759,737,719,686,652,915,802,839,658.58918891,635.41081109,659.58918891,0.425001162616,-0.00551448013982,0.0698619217009,0.999999975717,-5.91293034771e-05,-0.000203477532728,-6.05459451065e-05,1793255828141609216
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.984472723,759,737,719,686,652,915,802,839,658.015527277,635.984472723,659.015527277,0.425955902245,-0.00551743112922,0.069878092182,0.999999980779,-7.76819637005e-05,-0.000168579168849,-6.31628004513e-05,1793255828158276352
+169,2.816666667,POSE1_TO_POSE2_PRESS,783.42775637,759,737,719,686,652,915,802,839.57224363,658,636,659,0.426916280779,-0.00552104656832,0.0699406299837,0.999999992997,-6.57346936323e-05,-7.9686517845e-05,-5.77433748578e-05,1793255828174942464
+170,2.833333333,POSE1_TO_POSE2_PRESS,783.158525231,759,737,719,686,652,914.841474769,802,839.841474769,658.158525231,635.841474769,659.158525231,0.427890319963,-0.00552399485381,0.0699979223191,0.999999996868,-5.84662493246e-05,1.60655808749e-06,-5.3325457946e-05,1793255828191609088
+171,2.850000000,POSE1_TO_POSE2_PRESS,783.739788549,759,737,719,686,652,914.260211451,802,839.260211451,658.739788549,635.260211451,659.739788549,0.428900369518,-0.00552511475165,0.0700377867378,0.999999994746,-6.59375049961e-05,5.86282055611e-05,-5.21744482275e-05,1793255828208275712
+172,2.866666667,POSE1_TO_POSE2_PRESS,783.681461959,759,737.318538041,719,686,652,914.318538041,802,839.318538041,658.681461959,635,660,0.429860612948,-0.00552687455828,0.0700496150671,0.999999993118,-7.25615092187e-05,7.58030820594e-05,-5.2464084252e-05,1793255828224942080
+173,2.883333333,POSE1_TO_POSE2_PRESS,783.104749943,759,737.895250057,719,686,652,914.895250057,802,839.895250057,658.104749943,635,660,0.430780488638,-0.0055291530087,0.0700387202415,0.999999993624,-7.84988188383e-05,6.06822864163e-05,-5.3921358794e-05,1793255828241608704
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,759.467234507,737.532765493,719,686,652,915,802,839.532765493,658.467234507,635,659.532765493,0.431594356194,-0.0055275447677,0.069964242147,0.999999993434,-7.59826886997e-05,-6.43759735652e-05,-5.67034789152e-05,1793255828258275584
+175,2.916666667,POSE1_TO_POSE2_PRESS,783,759.960379978,737,719,686,652,915,802,839.039620022,658.960379978,635,659,0.432393813429,-0.00552529688876,0.0698824455656,0.999999975272,-7.21336429219e-05,-0.000201731815508,-5.96419915632e-05,1793255828274942464
+176,2.933333333,POSE1_TO_POSE2_PRESS,783,759.367751679,737,719,686,652,915,802,839.632248321,658.367751679,635,659,0.43332053326,-0.00552616155159,0.0698954720053,0.999999980805,-7.58677377677e-05,-0.000170162384048,-6.06592084545e-05,1793255828291609344
+177,2.950000000,POSE1_TO_POSE2_PRESS,783.220207681,759,737.220207681,719,686,651.559584637,914.779792319,802,840,658,635.220207681,659.220207681,0.434271302319,-0.00552847345414,0.0699282497372,0.999999989035,-7.78819786823e-05,-0.000110724363122,-6.00322153989e-05,1793255828308275968
+178,2.966666667,POSE1_TO_POSE2_PRESS,783.80053179,759,737.80053179,719,686,650.398936419,914.19946821,802,840,658,635.80053179,659.80053179,0.435261400409,-0.00553315209896,0.0699933277288,0.999999995404,-7.7083658159e-05,-5.7114643085e-06,-5.67163649046e-05,1793255828324942336
+179,2.983333333,POSE1_TO_POSE2_PRESS,784,759,738,719,686,650.377040983,914,802,840,658,635.622959017,659.622959017,0.436191163526,-0.00553636242294,0.0700251130612,0.999999994243,-7.86244514912e-05,4.75435708309e-05,-5.54251295596e-05,1793255828341608960
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,759,738,719,686,650.951552128,914,802,840,658,635.048447872,659.048447872,0.437089326948,-0.00553880373326,0.0700394618056,0.999999992449,-8.13903246671e-05,7.36911121221e-05,-5.51942596561e-05,1793255828358275584
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,758.46269845,737.46269845,719,686,650.46269845,914,802,840,658.53730155,635,659.53730155,0.437908008429,-0.00553932442442,0.0700150803302,0.999999993299,-8.59622760221e-05,5.21754861264e-05,-5.73580554627e-05,1793255828374942208
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,758.122545436,737.122545436,719,686,650.122545436,914,802,840,659,635,659.877454564,0.438702098406,-0.00553962480477,0.069976928197,0.999999994214,-8.92580212167e-05,4.46852710773e-06,-5.98773638864e-05,1793255828391608832
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,758.702044902,737.702044902,719,686,650.702044902,914,802,840,659,635,659.297955098,0.439431785066,-0.00553976323681,0.0699007276121,0.999999986468,-8.71747550272e-05,-0.000124534110249,-6.28999758161e-05,1793255828408275456
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,759,738,719,686,651,914,802,840,659,635,659.280244832,0.440193259052,-0.00553868228333,0.0698516532722,0.999999973471,-8.43046002172e-05,-0.000204365511962,-6.46945048804e-05,1793255828424942336
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,759,738,719,686,651,914,802,840,659,635,659.857069441,0.44098837314,-0.00553631086863,0.0698312863203,0.999999967678,-8.06016917643e-05,-0.00023215957262,-6.51893690501e-05,1793255828441609216
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,759,738,718.567877051,686,650.567877051,914,802,840.432122949,659,635,659.567877051,0.441798289835,-0.0055381410148,0.069865849856,0.999999978457,-8.06990615962e-05,-0.000180425350495,-6.34012639371e-05,1793255828458275840
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,759,738,718.006811999,685.993188001,650,913.993188001,802,840.993188001,658.993188001,635,659,0.442611722113,-0.00554135497344,0.0699178725235,0.999999989415,-8.20751629741e-05,-0.000103576267654,-6.08694932938e-05,1793255828474942208
+188,3.133333333,POSE1_TO_POSE2_PRESS,784,759,738,718.600357146,685.399642854,650,913.399642854,802,840.399642854,658.399642854,635,659,0.443307957612,-0.00554454837486,0.0699151394357,0.999999987379,-8.57655415411e-05,-0.000119994408783,-5.90591590135e-05,1793255828491609088
+189,3.150000000,POSE1_TO_POSE2_PRESS,784,759,738,719,684.811340755,649.811340755,913,802,840,658,635,659.188659245,0.443987112556,-0.00554657321825,0.0698964651324,0.999999981574,-8.89692510644e-05,-0.000159533091947,-5.90407604735e-05,1793255828508275712
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,759,738,719,684.233844749,649.233844749,913,802,840,658,635,659.766155251,0.444631063693,-0.00554618960183,0.0698449351336,0.999999963441,-9.11699100146e-05,-0.000246724447471,-6.27156364452e-05,1793255828524942336
+191,3.183333333,POSE1_TO_POSE2_PRESS,783.657093435,759,737.657093435,719,684,649,913,801.657093435,840,658,635,659.657093435,0.445275929608,-0.0055441426649,0.0698045297859,0.999999947609,-9.11583533699e-05,-0.00030366672647,-6.52530072469e-05,1793255828541609216
+192,3.200000000,POSE1_TO_POSE2_PRESS,783.080848898,759,737.080848898,719,684,649,913,801.080848898,840,658,635,659.080848898,0.445921417965,-0.00554096388661,0.0697716944437,0.999999935928,-8.96414482794e-05,-0.000340025381664,-6.70163387151e-05,1793255828558275840
+193,3.216666667,POSE1_TO_POSE2_PRESS,783.492240528,759,737.492240528,719,683.507759472,648.507759472,913,801,840,658,635,659.492240528,0.446508784416,-0.00554182247274,0.0697571340367,0.999999928338,-8.08551934101e-05,-0.000364071822635,-6.51051153837e-05,1793255828574942720
+194,3.233333333,POSE1_TO_POSE2_PRESS,784,759,738,719,683,648,913,800.932690065,840,658,635,660,0.447080691168,-0.00554358566781,0.0697446083121,0.999999919857,-7.33842179001e-05,-0.000388503118583,-6.29720337268e-05,1793255828591609600
+195,3.250000000,POSE1_TO_POSE2_PRESS,784,759,738,719,683,648,913,800.338075681,840,658,635,660,0.44760579646,-0.00554727373657,0.0697246575502,0.99999990113,-8.55110477733e-05,-0.000431690651787,-6.37988749812e-05,1793255828608275968
+196,3.266666667,POSE1_TO_POSE2_PRESS,784,759.247537268,738,719,683,647.752462732,913,800.247537268,840,658,635,660,0.448136846502,-0.00555181243805,0.0697141363616,0.999999890366,-9.65880840124e-05,-0.000453636157251,-6.44411817116e-05,1793255828624942336
+197,3.283333333,POSE1_TO_POSE2_PRESS,784,759.821287763,738,719,683,647.178712237,913,800.821287763,840,658,635,660,0.448675730702,-0.00555747213261,0.0697160417944,0.999999892082,-0.000106281664874,-0.000447588176645,-6.48403024846e-05,1793255828641608960
+198,3.300000000,POSE1_TO_POSE2_PRESS,784,759.603292521,738,719,682.603292521,647,913,800.603292521,840,658,635,660,0.449206863824,-0.00556086261583,0.0697312754066,0.999999902437,-0.000107793508164,-0.000423508124631,-6.43951106529e-05,1793255828658275584
+199,3.316666667,POSE1_TO_POSE2_PRESS,784,759.027117614,738,719,682.027117614,647,913,800.027117614,840,658,635,660,0.449734490463,-0.00556322652568,0.0697525385854,0.999999915857,-0.000105603996709,-0.000391270500541,-6.35679582367e-05,1793255828674942208
+200,3.333333333,POSE1_TO_POSE2_PRESS,783.436441375,759,738,718.436441375,681.436441375,647,913,800,840,658,635,659.436441375,0.45016638496,-0.00556367654279,0.0697496284991,0.999999914254,-0.000109792683563,-0.000394508721078,-6.16531341502e-05,1793255828691608832
+201,3.350000000,POSE1_TO_POSE2_PRESS,783.151266549,759,738,718.151266549,681,646.848733451,913,800,840,658,635,659.151266549,0.450575022476,-0.00556380647168,0.0697374842678,0.999999906951,-0.000113155948835,-0.000411890384582,-6.03372650989e-05,1793255828708275456
+202,3.366666667,POSE1_TO_POSE2_PRESS,783.72859662,759,738,718.72859662,681,646.27140338,913,800,840,658,635,659.72859662,0.45093147104,-0.00556330107301,0.0697026935632,0.999999884,-0.000113307013625,-0.000464173922706,-6.08597450514e-05,1793255828724942592
+203,3.383333333,POSE1_TO_POSE2_PRESS,784,759.305515625,738,719,681,646,913,799.694484375,840.305515625,658,635,660,0.451278087194,-0.00556322487226,0.0696716128113,0.999999862989,-0.000111614394827,-0.00050765490251,-6.20505852194e-05,1793255828741609472
+204,3.400000000,POSE1_TO_POSE2_PRESS,784,759.882069919,738,719,681,646,913,799.117930081,840.882069919,658,635,660,0.451615980488,-0.00556352943516,0.069643823352,0.999999844498,-0.00010828614931,-0.00054332667604,-6.38343622231e-05,1793255828758276096
+205,3.416666667,POSE1_TO_POSE2_PRESS,784,759.544157135,738,719,680.544157135,646,913,799,840.544157135,658.455842865,634.544157135,659.544157135,0.451945525531,-0.00556355306824,0.0696339735562,0.999999839692,-0.000105926161961,-0.000552373725605,-6.5414019556e-05,1793255828774942720
+206,3.433333333,POSE1_TO_POSE2_PRESS,784,759,738,719,680,645.970063452,913,799,840.029936548,658.970063452,634,659.029936548,0.452270300413,-0.00556373924356,0.0696288987444,0.999999838543,-0.000104254580938,-0.000554587176468,-6.69163128767e-05,1793255828791608832
+207,3.450000000,POSE1_TO_POSE2_PRESS,784,759,738,719,680,645.376464541,913,799,840.623535459,658.376464541,634,659.623535459,0.452545678564,-0.00556834599401,0.0696268741676,0.999999836401,-0.000110856829406,-0.000557038824225,-6.7950209417e-05,1793255828808275456
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+209,3.483333333,POSE1_TO_POSE2_PRESS,784,759.788852929,738,719,680,645.788852929,912.211147071,799,840.211147071,658,634,660,0.453048754974,-0.00557510046468,0.0696229631364,0.999999828632,-0.000133202202387,-0.000565951822966,-6.84913052501e-05,1793255828841608704
+210,3.500000000,POSE1_TO_POSE2_PRESS,784,760,738,719,679.635363048,645.635363048,912.364636952,799,840,658,634,660,0.453272489657,-0.00557661756376,0.0696238855078,0.999999829307,-0.000133474991684,-0.00056535295718,-6.28174476551e-05,1793255828858275840
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,784,759.810861971,738,719,677.189138029,644,913,797,840,658,634,660,0.454698996354,-0.00557499331391,0.0695731849005,0.999999774332,-0.00012377449417,-0.000657923563732,-5.61549259893e-05,1793255829962388224
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,784,759.615384494,737.615384494,719,677.615384494,644,912.384615506,797,840,659,634,659,0.453906947782,-0.0055542133108,0.0695112082464,0.999999717046,-0.000102800536908,-0.000743645529427,-4.82834791797e-05,1793255830129054464
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,784,759,737.645506604,719,677.645506604,644,913,797,840,658,634,660,0.453398215539,-0.00554313908487,0.0695191912393,0.999999724509,-8.96790932312e-05,-0.000735843826915,-3.83836705385e-05,1793255830179055360
+288,4.800000000,POSE2_TO_POSE3_RETREAT,784,759,737.067280347,719,677.067280347,644,913,797,840,658,634,660,0.453190344798,-0.00553741171876,0.0695156377399,0.999999720873,-8.31226266644e-05,-0.000741694851378,-3.51265331469e-05,1793255830195721984
+289,4.816666667,POSE2_TO_POSE3_RETREAT,784,759,737.507666431,719,677.507666431,644,912.492333569,797,840,658.507666431,634,660,0.452945961099,-0.0055324560812,0.0695119770157,0.999999717001,-7.58112208222e-05,-0.000747830339527,-3.16421260528e-05,1793255830212388352
+290,4.833333333,POSE2_TO_POSE3_RETREAT,784,759,737.917954326,719,678,644,912.082045674,797.082045674,840,658.917954326,634,660,0.452690723315,-0.00552717280327,0.0695082566081,0.999999713009,-6.76425049535e-05,-0.000754072443935,-2.79590593614e-05,1793255830229054720
+291,4.850000000,POSE2_TO_POSE3_RETREAT,784,759,737.344387796,719,678,644,912.655612204,797.655612204,840,658.344387796,634,660,0.452399264147,-0.00551931790349,0.0695042632313,0.999999708866,-5.49333368974e-05,-0.000760728868203,-2.32651411559e-05,1793255830245721344
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783.771885495,759.228114505,737.228114505,719,678,644.228114505,912.771885495,798,840,658,634,660,0.452101251674,-0.00551240052094,0.0695003788255,0.999999704976,-4.32196344829e-05,-0.000766708329846,-1.84098447165e-05,1793255830262387968
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783.200982451,759.799017549,737.799017549,719,678,644.799017549,912.200982451,798,840,658,634,660,0.45179339154,-0.00550689194956,0.0694966581713,0.999999701629,-3.30018228639e-05,-0.000771670516888,-1.33120448741e-05,1793255830279054592
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,783.98806819,759.01193181,737.01193181,719,678.98806819,644.01193181,912,798,840,658.98806819,634,660,0.451067335687,-0.00549796880685,0.0695038691648,0.999999704481,-1.52526443007e-05,-0.000768637036473,-1.24708571912e-06,1793255830312388352
+296,4.933333333,POSE2_TO_POSE3_RETREAT,784,759.564382017,737,719,679,644.564382017,912,798,840,658.435617983,634,659.435617983,0.450673453309,-0.00549382046538,0.0695166871668,0.999999715923,-2.23034942884e-06,-0.000753735468235,5.70054600159e-06,1793255830329054720
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,784,759,737,719,680.197015078,646.197015078,912,799.197015078,840,659,635,660,0.44670577015,-0.00548853531172,0.0695844899383,0.999999781769,3.34214039569e-05,-0.000659545685526,1.85686940874e-05,1793255830462388736
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,784,759,737,718.284580575,683.284580575,648,912,801,839.715419425,658,635,659.715419425,0.442061531432,-0.00547355829369,0.0697269118952,0.999999906375,6.9472702261e-05,-0.00042598485042,3.09839151008e-05,1793255830579054336
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,759,737,719,685,650.729188814,914,801,839,658.729188814,635,659.729188814,0.426423893082,-0.00540948601393,0.0698473074064,0.999999959084,0.0001441712964,-0.000245006035198,3.19138108159e-05,1793255830879054848
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.307907297,759,737,719,685,651,913.692092703,801,839,658.692092703,635,659.692092703,0.425497546813,-0.00541017036918,0.0698598426135,0.999999963224,0.000145666263468,-0.000226451134576,3.24524136562e-05,1793255830895721472
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.886468401,759,737,719,685,651,913.113531599,801,839,658.113531599,635,659.113531599,0.424534000171,-0.00540860930162,0.069836107885,0.999999953744,0.000149548799748,-0.000263144789355,3.00492182607e-05,1793255830912388352
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.538363491,759,736.538363491,719,685.461636509,651,913,801,838.538363491,658,635,659,0.423570374946,-0.00540247958293,0.0697944343751,0.999999932419,0.00015478433895,-0.000332255366451,2.84799617915e-05,1793255830929054976
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,759,736,719,685.96309927,651,913.03690073,801,838.03690073,658.03690073,635,659,0.422609140651,-0.00539548391631,0.0697476587256,0.999999902498,0.000159834753641,-0.000410764838233,2.70124392558e-05,1793255830945721600
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,759,736,719,685.374001497,651,913.625998503,801,838.625998503,658.625998503,635,659,0.421683973332,-0.00539222091063,0.0696900699686,0.999999856548,0.000157171857147,-0.000511491528823,2.40206074249e-05,1793255830962387968
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,759,736,718.788415069,685,651,914,801,839,658.788415069,635,659,0.420789139806,-0.00539252608638,0.0696756336162,0.999999844008,0.000155778223777,-0.000535909361658,2.27686331011e-05,1793255830979054336
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,759,736,718.208933944,685,651,914,801,839,658.208933944,635,659,0.419947049426,-0.00539903548587,0.0697362290888,0.999999895999,0.000156591539624,-0.000427644142976,2.45418595086e-05,1793255830995720960
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,759,736,718.36812217,685,651,914,801,839,658.36812217,635,659.36812217,0.419129942263,-0.00540316631746,0.0698027600843,0.999999935929,0.000155099699044,-0.000321428407315,2.7755159668e-05,1793255831012388096
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,759,736,718.943810901,685,651,914,801,839,658.943810901,635,659.943810901,0.418326921995,-0.00540595598749,0.0698726378349,0.999999964489,0.000152308089781,-0.00021636828276,3.17804485937e-05,1793255831029054976
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.510522036,759,736,718.489477964,685.510522036,651,914,801,839,659,635.510522036,659.489477964,0.417487041624,-0.0054044934591,0.0698557550183,0.999999956992,0.000153954068137,-0.000247592807763,3.18260524618e-05,1793255831045722112
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783.918931846,759,736,718,685.918931846,651,914,801,838.918931846,659,635.918931846,659,0.416645713147,-0.00540237582433,0.0698288831292,0.999999945073,0.000156419004832,-0.000290556393887,3.10406725152e-05,1793255831062388736
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783.317539099,759,736,718,685.317539099,651,914,801,838.317539099,659,635.317539099,659,0.415820678876,-0.00539900539988,0.0697981278343,0.999999937268,0.000161059694133,-0.000314255328405,2.76844769326e-05,1793255831079055104
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,759,736,718.272582118,685,651,914,801,838.272582118,659,635,659.272582118,0.414982151308,-0.00539539585886,0.0697677914437,0.9999999215,0.000165098640222,-0.000359260179952,2.59686627097e-05,1793255831095721728
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,759,736,718.850094153,685,651,914,801,838.850094153,659,635,659.850094153,0.414128529224,-0.00539151882509,0.0697379236715,0.999999893835,0.000168464432371,-0.000428099356591,2.60878969391e-05,1793255831112388096
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,759,736,718.57456052,685.42543948,651,914,801,838.57456052,658.57456052,635.42543948,659.57456052,0.413371272552,-0.00538933397268,0.0697456220979,0.999999898576,0.000170916660426,-0.000415878122688,2.60908951386e-05,1793255831129054464
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,759,736,718.000025923,685.999974077,651,914,801,838.000025923,658.000025923,635.999974077,659,0.412647803389,-0.0053877422248,0.0697664917577,0.999999914286,0.000173049119049,-0.000375236794952,2.60532921758e-05,1793255831145721088
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,759,736,718.589449284,685.410550716,651,914,801,838.589449284,658.589449284,635.410550716,659,0.412032479379,-0.005383350853,0.0698249708049,0.99999994518,0.000186516009515,-0.000272010731061,2.93739077232e-05,1793255831162387456
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783.175389334,759,736,719,685.350778667,651.175389334,914,801,839,659,635,659,0.411400943123,-0.00537861154929,0.0698670231272,0.999999959985,0.000198013864536,-0.000199530516192,3.17508214261e-05,1793255831179054080
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783.753334556,759,736,719,686.506669112,651.753334556,914,801,839,659,635,659,0.410732196189,-0.00537307366683,0.0698713726278,0.999999958952,0.000204992370293,-0.000197618560783,3.19617396096e-05,1793255831195720704
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783.667574083,759,736,719,687.332425917,652,914,801,839,659,635.332425917,659,0.410050342411,-0.00536931995968,0.069848208212,0.999999948549,0.000210120079933,-0.000240418892792,3.08127185084e-05,1793255831212387584
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783.087629361,759,736,719,687.912370639,652,914,801,839,659,635.912370639,659,0.409358729537,-0.00536689472009,0.0698045573917,0.99999992663,0.000213869716216,-0.000316511248908,2.8651109096e-05,1793255831229054208
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,759,736,719,687.028401471,651.514200735,914,801,838.514200735,659,635.514200735,659.485799265,0.408725511481,-0.00536220640898,0.0697750188602,0.999999910447,0.000219472596162,-0.000360924385425,2.59033750541e-05,1793255831245720832
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783.059942513,759,736,719,686,651.059942513,914,801,838,659,635.059942513,659.940057487,0.408112985788,-0.0053577950104,0.0697524986462,0.999999897315,0.000224901069309,-0.000392738830331,2.33498410301e-05,1793255831262387456
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783.650684301,759,736,719,686,651.650684301,914,801,838,659,635.650684301,659.349315699,0.407591653963,-0.00535940268441,0.0697698833146,0.999999908362,0.000225864130076,-0.000362921786719,2.34398042319e-05,1793255831279054080
+354,5.900000000,POSE2_TO_POSE3_RETREAT,784,759,736,719,686,652,914,801,838,659,635.763559824,659.236440176,0.407079551814,-0.00536649003581,0.0697866220176,0.999999918558,0.000218488000844,-0.000338468680942,2.41885549015e-05,1793255831295720704
+355,5.916666667,POSE2_TO_POSE3_RETREAT,784,759,736,719,686,652,914,801,838,659,635.185018041,659.814981959,0.406580803982,-0.00538150584694,0.069802426082,0.999999928085,0.000199046027497,-0.000321776576094,2.58904949053e-05,1793255831312387584
+356,5.933333333,POSE2_TO_POSE3_RETREAT,784,759.391328751,736,719.391328751,686.391328751,652,914,801,838.391328751,659,635,660,0.406093649538,-0.00539205584547,0.0698017084717,0.99999992838,0.000183955021043,-0.0003297381326,2.59437965176e-05,1793255831329054208
+357,5.950000000,POSE2_TO_POSE3_RETREAT,784,759.966643602,736,719.966643602,686.966643602,652,914,801,838.966643602,659,635,660,0.405611945767,-0.00540050621056,0.0697932230755,0.999999924075,0.000170909652017,-0.000349290788351,2.52219787683e-05,1793255831345721088
+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,760,736,719.446321245,686.446321245,652,914,801,839,659,635.553678755,659.446321245,0.40520714224,-0.00539083287802,0.0697999974632,0.999999926508,0.00018484928047,-0.000334968281906,2.47168732119e-05,1793255831362387968
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783.860688166,759.860688166,736,719,686,652,914,801,838.860688166,659,636,659.139311834,0.404818916616,-0.0053836818344,0.0698105905324,0.999999931272,0.000196174612389,-0.000313627286049,2.46941973486e-05,1793255831379054848
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783.281755773,759.281755773,736,719,686,652,914,801,838.281755773,659,636,659.718244227,0.404468069208,-0.00538801032938,0.0698302702401,0.999999942552,0.000194008984382,-0.000276717704264,2.61518139612e-05,1793255831395721472
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,759,736,719,686,652,914.293530188,801,838.293530188,659,635.706469812,659.706469812,0.404128212713,-0.00538682361221,0.0698407077792,0.999999947185,0.000197124906694,-0.000257035043178,2.65310221558e-05,1793255831412388096
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,759,736,719,686,652,914.865358899,801,838.865358899,659,635.134641101,659.134641101,0.403798776819,-0.0053804078742,0.0698423827366,0.999999946423,0.000205248313086,-0.000253685377838,2.58877818897e-05,1793255831429054208
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,759,736,719,686.443181474,652,914.556818526,801,839,659,635,659,0.403480052144,-0.00537771906408,0.0698332222065,0.999999943206,0.000202329715302,-0.000268480204922,2.38412249274e-05,1793255831445720832
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,759,736,719,686.976750818,651.976750818,914,801,838.976750818,659,635,659,0.403166265568,-0.00537629081992,0.0698208259058,0.999999938822,0.000196249006554,-0.000288757710783,2.14724871343e-05,1793255831462387456
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,759,736,719,686.386955086,651.386955086,914,801,838.386955086,659,635,659,0.402892427422,-0.00537761085602,0.0698108967888,0.999999933597,0.000195980318668,-0.000306469265313,2.17842781747e-05,1793255831479054592
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.199260117,759,736,719,686,651.199260117,914,801,838,659,635.199260117,659.199260117,0.402634950796,-0.00537596532055,0.0698034260498,0.999999929011,0.000198638399768,-0.000319433373471,2.19929588664e-05,1793255831495721728
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.77864475,759,736,719,686,651.77864475,914,801,838,659,635.77864475,659.77864475,0.402408686743,-0.00536866242368,0.0698006451101,0.999999926084,0.000206879819309,-0.00032334087178,2.20049379938e-05,1793255831512388608
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.643722984,759,736,719,686,652,914,800.643722984,838,659,635.643722984,659.643722984,0.402205994636,-0.00536621451991,0.069798032534,0.999999924252,0.000208890959377,-0.000327652371614,2.2461341331e-05,1793255831529055232
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.06717408,759,736,719,686,652,914,800.06717408,838,659,635.06717408,659.06717408,0.402017876103,-0.00536676826428,0.06979552405,0.999999923113,0.000207050166607,-0.000332213649883,2.31925144568e-05,1793255831545721600
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.501655278,759,736,719.501655278,686.501655278,652,914,800.501655278,838.501655278,659,635.501655278,659.501655278,0.401859724135,-0.00536563896272,0.0697949721923,0.999999922707,0.000206563270039,-0.000333695970312,2.37484285992e-05,1793255831562388224
+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,759.073178749,736,719.926821251,686.926821251,652,914,801,838.926821251,659,636,659.926821251,0.40170888201,-0.00536430612722,0.0697945339966,0.999999922445,0.000206401933212,-0.00033455336872,2.41245928227e-05,1793255831579054848
+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,759.671332879,736,719.328667121,686.328667121,652,914,801,838.328667121,659,636,659.328667121,0.40158212958,-0.00536310542419,0.0697930601146,0.999999922516,0.000207295256282,-0.000333840529336,2.33770587444e-05,1793255831595721472
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.73982924,759.73982924,736,719,686,651.73982924,914,801,838.26017076,659,636,659,0.401468273948,-0.00536368767903,0.0697920717387,0.999999921299,0.000213460489547,-0.000333893618865,1.87425249017e-05,1793255831612388096
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.162353518,759.162353518,736,719,686,651.162353518,914,801,838.837646482,659,636,659,0.401370147294,-0.0053664444342,0.0697916754874,0.999999918333,0.000226055358658,-0.000334880837352,9.36739566846e-06,1793255831629055232
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,759.413619358,736,719.413619358,686,651.413619358,914,801,839,659,635.586380642,659,0.40129013804,-0.00536629077742,0.069792265824,0.999999918384,0.000229898932828,-0.000332135718465,8.01609022147e-06,1793255831645721856
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,759.98900446,736,719.98900446,686,651.98900446,914,801,839,659,635.01099554,659,0.40121721447,-0.00536499886401,0.0697932420132,0.999999919659,0.000230319891922,-0.000327930889527,9.80288720305e-06,1793255831662388480
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783.571906958,759.428093042,736,720,686,651.428093042,914,801,838.428093042,659,635.571906958,659,0.401162076002,-0.00536392772726,0.0697952378656,0.999999920412,0.000230053048974,-0.000325779092219,1.09237523924e-05,1793255831679054848
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783.844789469,759.155210531,736,720,686.155210531,651.155210531,914,801,838,659,635.844789469,659,0.401113075586,-0.00536322343692,0.0697977252095,0.999999921903,0.000228505173825,-0.000322244629985,1.17525502636e-05,1793255831695721216
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.260782566,759.739217434,736,720,686.739217434,651.739217434,914,801,838,659,635.260782566,659,0.401080075376,-0.00536352074159,0.0698015155033,0.999999925421,0.000223455241622,-0.000314779812978,1.18103030566e-05,1793255831712387584
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,759.680609948,735.680609948,720,686.680609948,652,914,801,838,659,635.319390052,659,0.401051065064,-0.00536377008995,0.0698041996556,0.999999927243,0.000222004429629,-0.000309961941194,1.22834135906e-05,1793255831729054208
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,759.103530831,735.103530831,720,686.103530831,652,914,801,838,659,635.896469169,659,0.401025273861,-0.00536398074642,0.0698059913554,0.999999927737,0.000223457445562,-0.000307279666879,1.30916414823e-05,1793255831745720832
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.471979927,759,735.471979927,720,686,652,914,801,838.471979927,659,636,659.471979927,0.401008119519,-0.00536449315204,0.0698073881886,0.99999992861,0.000222738030774,-0.000304936664041,1.34393547236e-05,1793255831762387456
+383,6.383333333,POSE2_TO_POSE3_RETREAT,784,759,736,719.951707604,686,652,914,801,838.951707604,659,635.951707604,660,0.400993602559,-0.00536498413167,0.0698088299845,0.999999929611,0.000221646451309,-0.000302431964755,1.36544755617e-05,1793255831779054336
+384,6.400000000,POSE2_TO_POSE3_RETREAT,784,759,736,719.362576055,686,652,914,801,838.362576055,659,635.362576055,660,0.400987475223,-0.00536449633279,0.0698117421505,0.999999931143,0.000221706033184,-0.00029728568704,1.35122159788e-05,1793255831795720960
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783.77703629,759.22296371,736,719.22296371,686,652,914,801,838,659,635.22296371,660,0.400982220603,-0.00536418042529,0.0698137152866,0.999999932204,0.000221709104891,-0.000293696897363,1.33974701064e-05,1793255831812387328
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..898521fae3f42b8d1f171ffcc8959e83cd670963
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,410 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.575670320145,0.000181809355436,1.06002076243,0.546241467208,0.00885604464892,1.05969246245
+396,6.600000000,pose2_to_pose3_retreat,0.575670084616,0.000181814338994,1.06002077804,0.546241231632,0.00885604946262,1.05969247773
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fdce61d0b15ff83662ab1787d33f24c81e949f9d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b97efd444093b7de35828bcc12871afd2c4d6e5d5ea4a79b34199755a94390a
+size 25999782
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9411d7580e7549797f570f899a1c8aedd32f1188
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+5,0.083333333,BASELINE,783,759,736,719.115549078,687,652,914,801,838,659,635.884450922,659.115549078,0.40097245118,-0.00536493644078,0.0698236847551,0.999999936254,0.000221602955258,-0.000279685095023,1.26737771466e-05,1793255832406332672
+6,0.100000000,BASELINE,783,759.474628661,736,719.474628661,686.525371339,652,914.474628661,801,838.474628661,659,636,659.474628661,0.400972859288,-0.00536647732374,0.0698240922376,0.999999936823,0.000219604954367,-0.000279222620607,1.27485299098e-05,1793255832422999296
+7,0.116666667,BASELINE,783.066327667,759.933672333,736,720,686.066327667,652,915,801,838.933672333,659,636,660,0.400973350245,-0.00536836327591,0.0698245597961,0.99999993745,0.000217272375899,-0.000278796495837,1.28893104416e-05,1793255832439665664
+8,0.133333333,BASELINE,783.641989096,759.358010904,736,720,686.641989096,652,915,801,838.358010904,659,636,660,0.400971822176,-0.00536763735861,0.0698237374292,0.999999936755,0.000218228734361,-0.00028053697493,1.28287899527e-05,1793255832456332288
+9,0.150000000,BASELINE,783.782406137,759,736,719.782406137,686.782406137,652,914.782406137,801,838.217593863,659,635.782406137,659.782406137,0.400971314888,-0.005367196211,0.0698236354432,0.99999993645,0.000219206358203,-0.000280861168301,1.2861445294e-05,1793255832472998912
+10,0.166666667,BASELINE,783.206894632,759,736,719.206894632,686.206894632,652,914.206894632,801,838.793105368,659,635.206894632,659.206894632,0.400972486674,-0.00536722347784,0.0698247184035,0.999999936786,0.00022021896113,-0.00027885572941,1.30473644929e-05,1793255832489665536
+11,0.183333333,BASELINE,783.376013409,759,736,719,686.376013409,652,914.376013409,801,838.623986591,659,635.376013409,659,0.400973948863,-0.00536723143244,0.0698258292589,0.999999937174,0.000220561508493,-0.000277187666041,1.3118985766e-05,1793255832506332416
+12,0.200000000,BASELINE,783.963072979,759,736,719,686.963072979,652,914.963072979,801,838.036927021,659,635.963072979,659,0.400975574049,-0.0053672285476,0.0698269557711,0.99999993759,0.000220527971876,-0.000275708962245,1.31264547205e-05,1793255832522999040
+13,0.216666667,BASELINE,783.453839215,759.546160785,735.453839215,719,686.453839215,652,914.453839215,801,838,659,635.453839215,659,0.400975311394,-0.00536720904407,0.0698263405939,0.999999937887,0.000218265175229,-0.000276439678901,1.29715323539e-05,1793255832539665664
+14,0.233333333,BASELINE,783,759.873100513,735.126899487,719,686,651.873100513,914,801,838,659,635.126899487,659.126899487,0.400974806259,-0.00536700648389,0.0698256589863,0.99999993792,0.000216979520246,-0.000277335512389,1.28737013027e-05,1793255832556332544
+15,0.250000000,BASELINE,783,759.299689205,735.700310795,719,686,651.299689205,914,801,838,659,635.700310795,659.700310795,0.400973893811,-0.00536616374089,0.0698251549938,0.999999937068,0.000219658575591,-0.000278290501255,1.30151073802e-05,1793255832572999168
+16,0.266666667,BASELINE,783.274667446,759,736,719.274667446,686,651.274667446,914,801,838.274667446,659,636,659.725332554,0.400974114227,-0.00536643260493,0.0698256668674,0.999999937132,0.00022006329823,-0.000277739244462,1.30160517606e-05,1793255832589665792
+17,0.283333333,BASELINE,783.850059089,759,736,719.850059089,686,651.850059089,914,801,838.850059089,659,636,659.149940911,0.400975574979,-0.00536791853034,0.069827290979,0.999999938199,0.000217977929931,-0.000275538849646,1.28632093207e-05,1793255832606332416
+18,0.300000000,BASELINE,784,759,736,720,686.437714171,652,914,801,838.562285829,659,635.562285829,659,0.400974376934,-0.00536794328594,0.069826349695,0.999999937876,0.000217587851807,-0.000277021176449,1.27326090113e-05,1793255832622999296
+19,0.316666667,BASELINE,784,759,736,720,687,652,914,801,838.028946242,659,635.028946242,659,0.400972391791,-0.00536745466213,0.0698246419273,0.99999993712,0.000217798502146,-0.000279579747219,1.26224731155e-05,1793255832639665920
+20,0.333333333,BASELINE,784,759,736,720,687,652,914,801,838.606069966,659,635.606069966,659,0.400973246114,-0.0053669959276,0.0698255406494,0.999999937516,0.000218070891553,-0.000277940729528,1.27514390362e-05,1793255832656332288
+21,0.350000000,BASELINE,784,759.182734043,736,720,686.817265957,652,914,801,839,659,635.817265957,659.182734043,0.400973279005,-0.00536712900025,0.0698255697096,0.999999937656,0.000217739052405,-0.000277696947695,1.27488200065e-05,1793255832672998912
+22,0.366666667,BASELINE,784,759.758409645,736,720,686.241590355,652,914,801,839,659,635.241590355,659.758409645,0.400971545533,-0.00536853466358,0.0698237286951,0.999999937244,0.000216107912298,-0.000280453406994,1.24632476878e-05,1793255832689665792
+23,0.383333333,BASELINE,784,760,736,720,686.334390132,652,914.334390132,801,839,659,635.334390132,660,0.400971991966,-0.00536851378913,0.0698236751604,0.999999937337,0.000215676566903,-0.000280462820993,1.22959740831e-05,1793255832706332160
+24,0.400000000,BASELINE,784,760,736,720,686.910591154,652,914.910591154,801,839,659,635.910591154,660,0.400974014775,-0.00536746132826,0.0698249142236,0.999999937796,0.000216112840923,-0.000278485736858,1.22142469847e-05,1793255832722999040
+25,0.416666667,BASELINE,784,760,736,719.500135541,687,652,914.500135541,801,838.500135541,659,635.500135541,660,0.400972588884,-0.0053671812657,0.0698247224441,0.99999993753,0.000216407083348,-0.000279199568833,1.24557330888e-05,1793255832739666944
+26,0.433333333,BASELINE,784,759.911284367,736,719,687,652,914,801,838.088715633,659,635.088715633,660,0.400971254195,-0.00536718073987,0.0698244536889,0.999999937255,0.000216709407712,-0.000279938498175,1.27401783687e-05,1793255832756334592
+27,0.450000000,BASELINE,784,759.337857454,736,719,687,652,914,801,838.662142546,659,635.662142546,660,0.400973878595,-0.00536793239904,0.0698252002244,0.999999937655,0.000217198418601,-0.000278114201426,1.29349914099e-05,1793255832773000192
+28,0.466666667,BASELINE,784,759,736,719.236639748,687,652,914,801,839,659,635.763360252,660,0.400975373475,-0.00536833450032,0.0698259847374,0.999999938108,0.000216844653497,-0.000276756716208,1.29839405159e-05,1793255832789666304
+29,0.483333333,BASELINE,784,759,736,719.812671939,687,652,914,801,839,659,635.187328061,660,0.400975248379,-0.00536823526013,0.0698268237182,0.999999938638,0.000215282165797,-0.000276068739528,1.28236892632e-05,1793255832806332672
+30,0.500000000,BASELINE,783.599875095,759,736,720,687,652,914.400124905,801,839,659,635.400124905,659.599875095,0.400974732373,-0.00536782762737,0.0698263793085,0.999999938247,0.000216008277342,-0.000276925930144,1.25627377067e-05,1793255832822999296
+31,0.516666667,BASELINE,783.006918135,759,736,720,687,652,914.993081865,801,839,659,635.993081865,659.006918135,0.400974027976,-0.0053672713711,0.0698253163949,0.99999993741,0.000217837332756,-0.000278527782708,1.22532556927e-05,1793255832839665920
+32,0.533333333,BASELINE,783,759,736,720,687,652,914.427768004,801,838.427768004,659,636,659.572231996,0.40097390219,-0.00536715369145,0.0698253399756,0.999999937474,0.00021793419034,-0.000278200535081,1.26617519589e-05,1793255832856332544
+33,0.550000000,BASELINE,783.150378252,759,736,719.849621748,687,652,914.150378252,801,838,659,635.849621748,659.849621748,0.400973733403,-0.00536715996402,0.0698253434499,0.999999937449,0.000218403932764,-0.00027790713174,1.29850213838e-05,1793255832872999168
+34,0.566666667,BASELINE,783.726145713,759,736,719.273854287,687,652,914.726145713,801,838,659,635.273854287,659.273854287,0.400973423651,-0.00536750222636,0.069825253765,0.999999937139,0.000219986334286,-0.000277773886724,1.30432255677e-05,1793255832889665792
+35,0.583333333,BASELINE,784,759,736,719.299746838,687,652,914.700253162,801.299746838,838,659,635,659,0.400973359421,-0.00536751429057,0.0698255230218,0.999999937365,0.000219208628606,-0.00027758548049,1.28109831697e-05,1793255832906332672
+36,0.600000000,BASELINE,784,759,736,719.871383026,687,652,914.128616974,801.871383026,838,659,635,659,0.400973517895,-0.00536722684423,0.0698261178613,0.999999938073,0.00021629015653,-0.000277347039523,1.23152873493e-05,1793255832922999296
+37,0.616666667,BASELINE,783.540512823,759,736,719.540512823,686.540512823,652,914,801.540512823,838,659,635.459487177,659.459487177,0.40097400353,-0.00536728352117,0.0698265174247,0.999999938513,0.000215869213088,-0.000276080631896,1.23918021344e-05,1793255832939666688
+38,0.633333333,BASELINE,783.051073271,759,736,719,686.051073271,652,914,801,838,659,636,660,0.400974538468,-0.00536742702652,0.0698267938857,0.999999938772,0.000216376322284,-0.00027473036945,1.26369500256e-05,1793255832956334080
+39,0.650000000,BASELINE,783.629253091,759,736,719,686.629253091,652,914,801,838,659,636,660,0.400974601973,-0.00536743556765,0.0698263849556,0.999999937965,0.000218978225397,-0.000275594736547,1.29079965229e-05,1793255832972999936
+40,0.666666667,BASELINE,784,759,736,719.206698998,687,652,914,801,838.206698998,659,636,659.793301002,0.400975023969,-0.00536727672688,0.069826495329,0.999999937651,0.000220494848859,-0.000275523766155,1.29446444287e-05,1793255832989666048
+41,0.683333333,BASELINE,784,759,736,719.78283314,687,652,914,801,838.78283314,659,636,659.21716686,0.400976086701,-0.00536681872278,0.0698275338586,0.999999938227,0.000220071741206,-0.000273781057852,1.25623494185e-05,1793255833006332672
+42,0.700000000,BASELINE,783.633043291,759,736,719.633043291,687,652,914.366956709,801,839,659,635.633043291,659,0.400975477775,-0.00536686060941,0.0698267321025,0.999999938213,0.000219091472497,-0.000274616469,1.25611500768e-05,1793255833022999296
+43,0.716666667,BASELINE,783.044086326,759,736,719.044086326,687,652,914.955913674,801,839,659,635.044086326,659,0.400973857537,-0.0053672049183,0.0698248170164,0.999999937838,0.000217774134348,-0.000277011582386,1.2790504746e-05,1793255833039665920
+44,0.733333333,BASELINE,783.530874346,759,736,719.530874346,687,652,914.469125654,801,839,659,635,659.530874346,0.400973867837,-0.0053663834305,0.0698253809891,0.999999937601,0.000219724115778,-0.000276329872001,1.26540683538e-05,1793255833056332544
+45,0.750000000,BASELINE,783.894696173,759,736,719.894696173,687,652,914,801,839,659,635.105303827,659.894696173,0.400974042834,-0.00536562427409,0.0698260034729,0.999999937425,0.000221481776232,-0.00027557116573,1.24836305448e-05,1793255833072998912
+46,0.766666667,BASELINE,783.317572834,759,736,719.317572834,687,652,914,801,839,659,635.682427166,659.317572834,0.40097436464,-0.00536556703169,0.069825989389,0.999999937488,0.000221193234774,-0.000275582912025,1.22934573031e-05,1793255833089666048
+47,0.783333333,BASELINE,783,759,736,719,686.734382883,652,914,801,839,659.265617117,636,659,0.40097520106,-0.00536559883373,0.0698263837832,0.999999937747,0.00022085293791,-0.000274916542052,1.2242872749e-05,1793255833106332928
+48,0.800000000,BASELINE,783,759,736,719,686.143770055,652,914,801,839,659.856229945,636,659,0.400976667135,-0.00536573958604,0.0698272779709,0.999999938245,0.000220449315701,-0.000273420463206,1.23630818493e-05,1793255833122999296
+49,0.816666667,BASELINE,783.437936132,759,736,719.437936132,686.437936132,651.562063868,914,801,838.562063868,659.562063868,635.562063868,659.437936132,0.400976296639,-0.00536650966489,0.0698269285892,0.99999993827,0.000219718318254,-0.000273917437623,1.23605359547e-05,1793255833139665920
+50,0.833333333,BASELINE,783.983340814,759,736,719.983340814,687,651.016659186,914,801,838.016659186,659,635,659.983340814,0.400975341059,-0.00536743114837,0.0698262194931,0.999999938149,0.000218906230317,-0.000275010415437,1.23237751832e-05,1793255833156332544
+51,0.850000000,BASELINE,783.408551554,759,736,719.408551554,687,651.591448446,914,801,838.591448446,659,635,659.408551554,0.400974580637,-0.00536664134508,0.0698268638967,0.999999938263,0.000218906293622,-0.000274587247213,1.24639462214e-05,1793255833172998912
+52,0.866666667,BASELINE,783,759,736,719,687,652,914,801,839,659,635.166318394,659,0.400974278872,-0.00536625407679,0.0698271379911,0.999999938322,0.000218867475523,-0.000274397825744,1.25913451477e-05,1793255833189665536
+53,0.883333333,BASELINE,783,759,736,719,687,652,914,801,839,659,635.741386605,659,0.400975104316,-0.00536685609241,0.0698265020007,0.999999938245,0.00021873310115,-0.000274782868383,1.26873548827e-05,1793255833206332416
+54,0.900000000,BASELINE,783,759,736,719.325530587,687,652,914,801,838.674469413,659,636,659.325530587,0.40097470213,-0.00536726409205,0.0698260161281,0.999999938076,0.000218202405112,-0.000275815659128,1.27188534703e-05,1793255833222999040
+55,0.916666667,BASELINE,783,759,736,719.917091446,687,652,914,801,838.082908554,659,636,659.917091446,0.400973296701,-0.00536751353782,0.0698256529348,0.99999993783,0.000217347826886,-0.000277377802895,1.26976322203e-05,1793255833239665920
+56,0.933333333,BASELINE,783,759,735.5029085,720,687,651.5029085,914,801,838,659,636,659.5029085,0.400974389051,-0.00536711382321,0.0698259989877,0.999999937834,0.000219041677906,-0.000276027689913,1.27074952112e-05,1793255833256332544
+57,0.950000000,BASELINE,783,759,735.075321193,719.924678807,687,651,914.075321193,801,838,659,635.924678807,659,0.400975575159,-0.005366791837,0.0698264111691,0.999999937884,0.000220716210507,-0.000274509618373,1.27072281513e-05,1793255833272999168
+58,0.966666667,BASELINE,783,759,735.654312997,719.345687003,687,651,914.654312997,801,838,659,635.345687003,659,0.400974665746,-0.00536769717289,0.0698264925042,0.99999993801,0.000219483892499,-0.000275042636531,1.26053413716e-05,1793255833289665792
+59,0.983333333,BASELINE,783.228651006,759,736,719,687,651.228651006,914.771348994,801,838,659,635.228651006,659,0.400973722705,-0.0053681281497,0.0698263091419,0.999999938077,0.000218099831313,-0.000275899499123,1.25946826291e-05,1793255833306332416
+60,1.000000000,BASELINE,783.796093587,759,736,719,687,651.796093587,914.203906413,801,838,659,635.796093587,659,0.400972729835,-0.00536785627011,0.0698257335778,0.999999938055,0.000216490932491,-0.000277236201211,1.27191962063e-05,1793255833322999040
+61,1.016666667,BASELINE,783.617798222,759,736,719.382201778,687,652,914,801,838.382201778,659,635.617798222,659,0.400973775686,-0.00536789654875,0.0698265926674,0.999999938477,0.000216377678001,-0.000275795127534,1.28066602028e-05,1793255833339665664
+62,1.033333333,BASELINE,783.021220578,759,736,719.978779422,687,652,914,801,838.978779422,659,635.021220578,659,0.400975965051,-0.00536811191604,0.06982825645,0.999999939141,0.000217103326162,-0.000272796007429,1.28733431897e-05,1793255833356332288
+63,1.050000000,BASELINE,783.552196482,759,736,719.447803518,686.447803518,652,914,801,839,659,635.552196482,659,0.400975309309,-0.00536772991733,0.0698282642814,0.999999938675,0.000219074781235,-0.000272937134446,1.26901431895e-05,1793255833372999168
+64,1.066666667,BASELINE,783.873423865,759,736,719.126576135,686.126576135,652,914.126576135,801,838.873423865,659,635.873423865,659.126576135,0.400974721514,-0.0053673285444,0.0698280964832,0.999999938266,0.000220547615278,-0.000273254309563,1.25720745185e-05,1793255833389666048
+65,1.083333333,BASELINE,783.292523089,759,736,719.707476911,686.707476911,652,914.707476911,801,838.292523089,659,635.292523089,659.707476911,0.400974754254,-0.00536693671234,0.069827517512,0.999999938225,0.000220065804957,-0.000273787663708,1.27208646807e-05,1793255833406332416
+66,1.100000000,BASELINE,783.291920131,759,736,719.708079869,687,652,915,801,838.291920131,659,635,660,0.400974867453,-0.00536625689261,0.0698275788371,0.999999938225,0.000219837500616,-0.000273966454647,1.27808534394e-05,1793255833422999040
+67,1.116666667,BASELINE,783.879956681,759,736,719.120043319,687,652,915,801,838.879956681,659,635,660,0.400975062267,-0.00536528494547,0.0698282896628,0.999999938269,0.000219866346377,-0.000273785585579,1.27507642848e-05,1793255833439665664
+68,1.133333333,BASELINE,783.539042756,759,735.539042756,719.460957244,687,652,914.539042756,801,838.539042756,659,635.460957244,659.539042756,0.400974490792,-0.00536632753481,0.0698278907956,0.999999938431,0.000218538284332,-0.000274269424297,1.24362600154e-05,1793255833456332288
+69,1.150000000,BASELINE,783,759,735.039882947,720,687,652,914,801,838,659,635.960117053,659.039882947,0.400973800432,-0.00536764142196,0.0698272270773,0.999999938574,0.000217139624462,-0.000274873457145,1.20884893876e-05,1793255833472998912
+70,1.166666667,BASELINE,783,759,735.615182268,720,687,652,914,801,838,659,635.384817732,659.615182268,0.400974152812,-0.00536566029743,0.0698268290663,0.999999938084,0.000219465753637,-0.000274802123079,1.22735180985e-05,1793255833489665792
+71,1.183333333,BASELINE,783,759.190644934,736,720,687,652,914,801,838.190644934,659,635.190644934,659.809355066,0.400974285383,-0.00536504778363,0.069826803875,0.99999993796,0.000220232188986,-0.000274634754272,1.2396435603e-05,1793255833506332416
+72,1.200000000,BASELINE,783,759.766437697,736,720,687,652,914,801,838.766437697,659,635.766437697,659.233562303,0.400973973887,-0.00536720018662,0.0698275318677,0.999999938581,0.000217847674567,-0.000274273372578,1.23938738229e-05,1793255833522999040
+73,1.216666667,BASELINE,783.350619721,759.649380279,736,720,687,652,914,801,838.649380279,659,636,659,0.400974172434,-0.00536717281693,0.0698276169287,0.999999938783,0.000217481521422,-0.000273827880475,1.24071923886e-05,1793255833539665408
+74,1.233333333,BASELINE,783.940527137,759.059472863,736,720,687,652,914,801,838.059472863,659,636,659,0.400974719072,-0.00536565781608,0.0698272632076,0.9999999387,0.000218492840892,-0.000273324985504,1.24313488257e-05,1793255833556332032
+75,1.250000000,BASELINE,783.476959946,759,736,720,687,652,914,801,838.523040054,659,636,659,0.40097465433,-0.00536697606597,0.0698271803271,0.99999993905,0.000216150675,-0.000273905284255,1.24410060582e-05,1793255833572998912
+76,1.266666667,BASELINE,783,759.103825684,736,720,687,652,914,801,839,659.103825684,636,659.103825684,0.400974313036,-0.00536814530141,0.069827026787,0.999999939215,0.000214384975371,-0.000274687963455,1.24806996076e-05,1793255833589665536
+77,1.283333333,BASELINE,783,759.680520444,736,720,687,652,914,801,839,659.680520444,636,659.680520444,0.400973024397,-0.00536718905879,0.0698264131268,0.999999938341,0.000216957220254,-0.000275839241997,1.26645961321e-05,1793255833606332160
+78,1.300000000,BASELINE,783.254977235,760,736,720,687,652,914,801,839,659.745022765,636,659.745022765,0.400972714924,-0.00536681911781,0.0698263864028,0.999999938031,0.000218178925295,-0.000276000790263,1.26146146061e-05,1793255833622998784
+79,1.316666667,BASELINE,783.826654265,760,736,720,687,652,914,801,839,659.173345735,636,659.173345735,0.400973621643,-0.00536717740509,0.0698270886949,0.999999938429,0.000217723163946,-0.000274933023297,1.22741399523e-05,1793255833639665920
+80,1.333333333,BASELINE,783.588632022,759.588632022,736,719.588632022,687,652,914,801,839,659,635.588632022,659,0.400973836064,-0.005367064972,0.0698270699162,0.9999999383,0.000218650974951,-0.000274664703148,1.23121638022e-05,1793255833656333056
+81,1.350000000,BASELINE,783,759,735.998275802,719.001724198,687,652,914,801,838.998275802,659,635,659,0.400973746768,-0.00536675273212,0.0698267365406,0.999999937941,0.000220169723843,-0.000274747542693,1.25147826769e-05,1793255833672999680
+82,1.366666667,BASELINE,783,759,735.41826515,719.58173485,687,652,914,801,838.41826515,659,635,659,0.400972838512,-0.00536813129417,0.0698261343538,0.999999938103,0.000217943796618,-0.000275922621143,1.26771886908e-05,1793255833689666048
+83,1.383333333,BASELINE,783,759,735.160059444,720,687,652,914,801,838.160059444,659,635.160059444,659,0.400972346675,-0.00536852298762,0.0698259192802,0.999999938171,0.000216939304306,-0.000276467309214,1.27263552182e-05,1793255833706332672
+84,1.400000000,BASELINE,783,759,735.734024104,720,687,652,914,801,838.734024104,659,635.734024104,659,0.40097293168,-0.00536636269164,0.0698267052609,0.999999938004,0.000219093377303,-0.000275381841523,1.24826904863e-05,1793255833722999296
+85,1.416666667,BASELINE,783,759,736,720,687,652,914,801,838.691717134,659,636,659,0.40097348319,-0.00536638984061,0.0698273416764,0.999999938216,0.000219255703722,-0.000274479348056,1.25073427127e-05,1793255833739665920
+86,1.433333333,BASELINE,783,759,736,720,687,652,914,801,838.117204424,659,636,659,0.400974005776,-0.00536830604419,0.069827848929,0.999999938757,0.0002176979786,-0.000273734869271,1.27637106596e-05,1793255833756332544
+87,1.450000000,BASELINE,783.474110323,759,736,720,687,652,914,801,838.474110323,659,636,659.474110323,0.400974067831,-0.00536768104549,0.0698275487811,0.999999938775,0.000217434781101,-0.000273884043619,1.26003130693e-05,1793255833772999424
+88,1.466666667,BASELINE,784,759,736,719.932535237,687,652,914,801,839,659,636,660,0.400974085915,-0.0053667401405,0.0698271510913,0.999999938632,0.000217738133685,-0.000274174513325,1.24315742757e-05,1793255833789665792
+89,1.483333333,BASELINE,784,759,736,719.356274183,687,652,914,801,839,659,636,660,0.400974662529,-0.00536832858258,0.0698275783703,0.999999938272,0.000219812065106,-0.00027380327233,1.30339046967e-05,1793255833806332672
+90,1.500000000,BASELINE,783.78077947,759,735.78077947,719.21922053,687,652,914.21922053,801,838.78077947,659,636,659.78077947,0.400974776031,-0.00536862491442,0.0698277248554,0.999999938092,0.000220627473826,-0.000273799395138,1.31482409944e-05,1793255833822999808
+91,1.516666667,BASELINE,783.206525921,759,735.206525921,719.793474079,687,652,914.793474079,801,838.206525921,659,636,659.206525921,0.400974139513,-0.00536682864192,0.0698274165881,0.999999938208,0.000219404673997,-0.000274390472661,1.24722587954e-05,1793255833839666432
+92,1.533333333,BASELINE,783.378594786,759.378594786,735.378594786,720,687,652,914.621405214,801,838.378594786,659,636,659.378594786,0.400973862141,-0.0053656565542,0.0698272888576,0.999999937915,0.000220329267555,-0.000274734709086,1.20609917665e-05,1793255833856332800
+93,1.550000000,BASELINE,783.96981884,759.96981884,735.96981884,720,687,652,914.03018116,801,838.96981884,659,636,659.96981884,0.400973786474,-0.00536483502569,0.0698272625216,0.99999993739,0.000222459896328,-0.000274940312798,1.1798396012e-05,1793255833872999168
+94,1.566666667,BASELINE,784,759.452100959,736,719.452100959,687,652,914,801,839,659.547899041,635.452100959,659.452100959,0.400973073674,-0.00536515792447,0.0698269037926,0.99999993747,0.000221818425667,-0.000275158849496,1.19995028111e-05,1793255833889665792
+95,1.583333333,BASELINE,783.87533513,759,736,719.12466487,687,652,914,801,839,659.87533513,635.12466487,659,0.400972794195,-0.00536601077494,0.0698266438674,0.999999937748,0.000220422147647,-0.000275260511375,1.223636419e-05,1793255833906332416
+96,1.600000000,BASELINE,783.300760868,759,736,719.699239132,687,652,914,801,839,659.300760868,635.699239132,659,0.400974202243,-0.00536855401301,0.0698268050516,0.999999938617,0.000216839989287,-0.000274937866983,1.25122377371e-05,1793255833922999040
+97,1.616666667,BASELINE,783,759,736,720,687,652,914,801,838.726141865,659,635.726141865,659,0.40097519435,-0.00536965933705,0.0698271617882,0.999999939074,0.000215586061787,-0.00027425060369,1.27030759629e-05,1793255833939665920
+98,1.633333333,BASELINE,783,759,736,720,687,652,914,801,838.151473751,659,635.151473751,659,0.40097572958,-0.0053691852341,0.0698277333224,0.999999939089,0.000216889499018,-0.00027316283742,1.28005100703e-05,1793255833956333056
+99,1.650000000,BASELINE,783.436555343,759,736,719.563444657,687,652,914,801,838.436555343,659,635,659,0.400975028246,-0.00536872499833,0.0698276272602,0.999999939149,0.000216518230373,-0.000273243964986,1.26708462387e-05,1793255833972999936
+100,1.666666667,BASELINE,784,759,736,719.028616572,687,652,914,801,839,659,635.028616572,659.028616572,0.400973955195,-0.00536825369684,0.0698272902722,0.999999939191,0.000215694254781,-0.000273750222915,1.24672413133e-05,1793255833989666304
+101,1.683333333,BASELINE,784,759,736,719.606285183,687,652,914,801,839,659,635.606285183,659.606285183,0.400974242194,-0.00536747485106,0.0698271759628,0.999999938586,0.000217685317456,-0.00027438596623,1.24045412598e-05,1793255834006332672
+102,1.700000000,BASELINE,783.81615872,759,736,719.81615872,687,652,914,801,838.81615872,659,636,659.81615872,0.400974581746,-0.00536691590462,0.0698272466756,0.99999993825,0.000219113153574,-0.000274470917651,1.24203955873e-05,1793255834022999296
+103,1.716666667,BASELINE,783.238843508,759,736,719.238843508,687,652,914,801,838.238843508,659,636,659.238843508,0.400975033775,-0.00536682760696,0.0698277133898,0.999999938499,0.000219335520419,-0.000273377013773,1.26043791982e-05,1793255834039665920
+104,1.733333333,BASELINE,783.34373195,759,736,719.34373195,687,652,914,801,838.34373195,659,635.65626805,659.34373195,0.400974623455,-0.00536770047622,0.0698276387806,0.999999938728,0.000218079318503,-0.000273535954429,1.2758011362e-05,1793255834056332544
+105,1.750000000,BASELINE,783.930019374,759,736,719.930019374,687,652,914,801,838.930019374,659,635.069980626,659.930019374,0.400973604616,-0.00536925159578,0.069827182185,0.99999993894,0.000215779760158,-0.000274578968453,1.28902259557e-05,1793255834072999168
+106,1.766666667,BASELINE,784,759,736,719.490077717,687,652,914,801,838.490077717,659,635.509922283,659.490077717,0.400974328357,-0.00536784072524,0.0698278238137,0.999999939193,0.000216424931357,-0.000273176433771,1.21708583683e-05,1793255834089666048
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,759,736,720,687,652,914,801,839,659,635,659,0.400973001343,-0.00536748630924,0.0698268679918,0.999999938081,0.000219012297986,-0.000275169397343,1.23815228827e-05,1793255834132737024
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,759,736,720,686.424811466,651.424811466,914,801,839,659,635,659,0.400972195161,-0.00536814164745,0.0698268003972,0.999999938418,0.000217174244989,-0.000275397770764,1.24892340831e-05,1793255834149403392
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,759.154300481,736,719.845699519,686.154300481,651.154300481,914,801,838.845699519,659,635.154300481,659,0.400972395361,-0.00536838739194,0.069826962055,0.999999938746,0.00021635415738,-0.00027484607086,1.25648790107e-05,1793255834166069760
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,759.744496104,736,719.255503896,686.744496104,651.744496104,914,801,838.255503896,659,635.744496104,659,0.400975438565,-0.00536747604423,0.0698277713454,0.999999939053,0.000218409797052,-0.000272090682664,1.25499375147e-05,1793255834182736128
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.329421791,759.670578209,736,719.329421791,687,652,914.329421791,801,838.329421791,659,636,659.329421791,0.400975609685,-0.00536746922958,0.0698277238478,0.999999939141,0.00021776674612,-0.00027228016011,1.25780841239e-05,1793255834199402752
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.910324369,759.089675631,736,719.910324369,687,652,914.910324369,801,838.910324369,659,636,659.910324369,0.400973588253,-0.00536815293603,0.0698270222779,0.999999939059,0.000215063513077,-0.000274717749871,1.26391242183e-05,1793255834216068864
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.514922788,759,736,719.514922788,687,652,914.514922788,801,838.514922788,659,635.514922788,660,0.400972065428,-0.00536719583661,0.0698264591936,0.999999938331,0.000216683667129,-0.000276107344569,1.23133935695e-05,1793255834232735744
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,759,736,719,687,652,914.058868239,801,838,659,635,659.941131761,0.400971045855,-0.00536613077158,0.0698260608477,0.99999993765,0.000218649393237,-0.000277034968814,1.19913086367e-05,1793255834249402880
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,759,736,719,687,652,914.634070059,801,838,659,635,659.365929941,0.400973641928,-0.00536674597398,0.0698268856805,0.999999938465,0.000216723589746,-0.000275588682509,1.23204918955e-05,1793255834266069760
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,759,736,719,687,652,914.783901181,801,838.216098819,659,635,659.216098819,0.400979225191,-0.00536681261887,0.0698294177604,0.99999993951,0.000216521887836,-0.000271917204991,1.26435679966e-05,1793255834282736128
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,759,736,719,687,652,914.189934989,801,838.810065011,659,635,659.810065011,0.400990031811,-0.00536592006371,0.0698349351087,0.99999994092,0.000219334926034,-0.000264354789372,1.29559651717e-05,1793255834299402240
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.390150333,759,736,719,687,652,914,801,839,659,635,659.609849667,0.401017537517,-0.00536791249565,0.0698462564659,0.999999946112,0.000217580372148,-0.000245472448308,1.33578782999e-05,1793255834316068864
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.96371031,759,736,719,687,652,914,801,839,659,635,659.03628969,0.401052893463,-0.00537126115975,0.0698603062878,0.999999952596,0.000213678593675,-0.000221268610273,1.38018728925e-05,1793255834332735488
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,759,736,719.541453666,687,652,914,801,839,659,635,659.541453666,0.401107431663,-0.00537170087958,0.0698752821567,0.999999956821,0.00021388367926,-0.0002010367961,1.40332710236e-05,1793255834349402112
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,759,736,719.878178595,687,652,914,801,839,659,635.121821405,659.878178595,0.401167141751,-0.00537221488641,0.0698894095564,0.999999960404,0.00021413702654,-0.000182045559661,1.40387449689e-05,1793255834366068736
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,759,736,719.288823097,687,652,914,801,839,659,635.711176903,659.288823097,0.401241728301,-0.00537376807349,0.0699000405947,0.99999996321,0.000213510986318,-0.000166785831812,1.32322632243e-05,1793255834382735616
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,759,735.70509205,719,687,652,914.29490795,801,839,659,636,659,0.401324789886,-0.00537552034029,0.0699064773054,0.99999996521,0.000212263752427,-0.000156139436634,1.20298234241e-05,1793255834399402496
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,759,735.12676635,719,687,652,914.87323365,801,839,659,636,659,0.401415996296,-0.00537746393018,0.0699088831074,0.999999966568,0.000210419527869,-0.000149926630476,1.04468529295e-05,1793255834416069376
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.550277188,759,735.449722812,719,687,652,914.550277188,801,838.550277188,659,636,659.449722812,0.401518400039,-0.00537864827404,0.069907842164,0.999999966393,0.000210049880159,-0.000151753139024,7.97376157079e-06,1793255834432735744
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.025594686,759,736,719,687,652,914,801,838,659,636,659.974405314,0.401625384074,-0.00537977657719,0.0699059863041,0.999999965876,0.000209816296796,-0.000155554847169,5.25266902487e-06,1793255834449402112
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.599288526,759,736,719,687,652,914,801,838,659,636,659.400711474,0.401763137961,-0.00538426916444,0.0699074002092,0.99999996751,0.000203631735248,-0.000153324524943,2.57189130701e-06,1793255834466068480
+128,2.133333333,POSE1_TO_POSE2_PRESS,783.821401893,759,736,719.178598107,686.821401893,652,914.178598107,801,838,659,636,659,0.40191220665,-0.00538772315875,0.0699096885975,0.999999969044,0.000198484256568,-0.000150054667879,-5.12534306785e-07,1793255834482735360
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.229083598,759,736,719.770916402,686.229083598,652,914.770916402,801,838,659,636,659,0.402087485914,-0.00538877126543,0.0699140027146,0.99999997041,0.000195739167712,-0.000144376742222,-4.53200464028e-06,1793255834499401984
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.35494122,759,736,720,686.35494122,652,914.64505878,801,838.35494122,659,636,659.35494122,0.402282345796,-0.00539079020456,0.0699181786363,0.999999972375,0.000190889645189,-0.000136863877071,-8.9064788727e-06,1793255834516068608
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.933735593,759,736,720,686.933735593,652,914.066264407,801,838.933735593,659,636,659.933735593,0.402489554734,-0.00539342142518,0.0699222674019,0.999999974633,0.000184712905128,-0.00012819375779,-1.35048461805e-05,1793255834532735488
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,759,735.491509441,719.491509441,687,652,914.508490559,801,839,659,636,659.491509441,0.402729304253,-0.00539800156162,0.0699270898004,0.9999999771,0.000176292942332,-0.00011991853298,-1.8434463959e-05,1793255834549402368
+133,2.216666667,POSE1_TO_POSE2_PRESS,783.915345021,759,735.084654979,719,687,652,914.915345021,801,838.915345021,659,635.915345021,659.084654979,0.402978072963,-0.00540293181155,0.0699321555052,0.999999979506,0.000167676862458,-0.000111014457137,-2.34108686896e-05,1793255834566069248
+134,2.233333333,POSE1_TO_POSE2_PRESS,783.327702923,759,735.672297077,719,687,652,914.327702923,801,838.327702923,659,635.327702923,659.672297077,0.403255433157,-0.00540844517591,0.0699381032789,0.999999982048,0.000159618735734,-9.80706367739e-05,-2.84108040618e-05,1793255834582735360
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,759,736,719.257668927,686.742331073,652.257668927,914,801,838.257668927,659,635.257668927,659.742331073,0.403558216441,-0.0054134042227,0.0699448050001,0.999999984082,0.00015265261305,-8.6022077927e-05,-3.36642446943e-05,1793255834599401984
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,759,736,719.840178662,686.159821338,652.840178662,914,801,838.840178662,659,635.840178662,659.159821338,0.40389305036,-0.00541766444617,0.0699524572155,0.999999985596,0.00014706317015,-7.51021676909e-05,-3.92372767409e-05,1793255834616068864
+137,2.283333333,POSE1_TO_POSE2_PRESS,783.416257453,759,736,719.583742547,686.416257453,652.583742547,914.416257453,801,839,659,636,659,0.404243399057,-0.00542354539133,0.0699564811833,0.999999994406,6.38371808599e-05,-7.12822161386e-05,-4.50697655863e-05,1793255834632735488
+138,2.300000000,POSE1_TO_POSE2_PRESS,783.989904647,759,736,719.010095353,686.989904647,652.010095353,914.989904647,801,839,659,636,659,0.404599613988,-0.00543003914217,0.0699591332862,0.999999995051,-4.87437092758e-05,-7.01468061768e-05,-5.10003561743e-05,1793255834649402112
+139,2.316666667,POSE1_TO_POSE2_PRESS,783.433376841,759,736,719,687,652,914.433376841,801,839,659,635.433376841,659.566623159,0.405008013624,-0.00543470685588,0.0699663030072,0.999999997448,3.26147305041e-05,-5.44809796919e-05,-3.27369137364e-05,1793255834666068736
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,759,736,719,686.853362805,652,914.146637195,801,839,659,635.146637195,659.853362805,0.405421879513,-0.00543849743185,0.0699719572874,0.999999994382,9.49022159709e-05,-4.23321389694e-05,-2.09417076819e-05,1793255834682735616
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,759,736,719,686.26355535,652,914.73644465,801,839,659,635.73644465,659.26355535,0.405849440307,-0.0054397359621,0.0699727869846,0.999999994719,8.90532406309e-05,-4.15990856988e-05,-3.0004808962e-05,1793255834699402752
+142,2.366666667,POSE1_TO_POSE2_PRESS,783.320422836,759,736,719,686.320422836,652,915,801,838.679577164,659,636,659,0.406300619551,-0.00544555500756,0.0699628003462,0.999999994612,7.76072314596e-05,-5.89575491327e-05,-3.57315046194e-05,1793255834716069376
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.899692043,759,736,719,686.899692043,652,915,801,838.100307957,659,636,659,0.406770878475,-0.00545507431918,0.0699440759749,0.999999993215,6.16397838807e-05,-9.09308366655e-05,-3.87629611028e-05,1793255834732735488
+144,2.400000000,POSE1_TO_POSE2_PRESS,783.52515491,759,736,719,686.52515491,652,914.52515491,801,838,659,635.52515491,659,0.407281641043,-0.00547458741283,0.069931906653,0.999999993123,3.70212924991e-05,-0.000105217641665,-3.62413725638e-05,1793255834749402624
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,759,736,719,686,652,914.050326624,801,838,659,635.050326624,659.050326624,0.407806657321,-0.00549639463921,0.0699232854947,0.999999993091,9.79172218617e-06,-0.000112409816346,-3.29634637785e-05,1793255834766069504
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,759,736,719,686,652,914.638532644,801,838,659,635.638532644,659.638532644,0.408393354241,-0.00552035176511,0.0699379139899,0.999999995609,-2.59806765904e-05,-8.33642219189e-05,-3.40316656158e-05,1793255834782736128
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,759,736,719,686,652,914.77678475,801,838,659,635.77678475,659.77678475,0.408996359351,-0.00553283569292,0.0699497847073,0.999999996798,-4.3952305817e-05,-5.6740927564e-05,-3.53878280698e-05,1793255834799402752
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,759,736,719,686,652,914.197719214,801,838,659,635.197719214,659.197719214,0.409625362982,-0.00552702901944,0.069957258968,0.999999998168,-3.3545903538e-05,-3.39792717167e-05,-3.72030580422e-05,1793255834816069888
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,759,736,719,686.379581755,652,914,801,838.379581755,658.620418245,635.379581755,659,0.410265321999,-0.00553270434964,0.0699535498046,0.999999997708,-3.96973935571e-05,-3.91405101926e-05,-3.84258102314e-05,1793255834832736512
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,759,736,719,686.955967818,652,914,801,838.955967818,658.044032182,635.955967818,659,0.410910961111,-0.00554433283177,0.0699440422957,0.999999996017,-5.44337657979e-05,-5.87791203995e-05,-3.93413764076e-05,1793255834849403648
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,759,736,719,686.470422153,652,914.529577847,801,838.470422153,658.529577847,636,659,0.411603790964,-0.00555243577767,0.0699515985891,0.999999995438,-7.19912260459e-05,-4.82482581725e-05,-4.01716805101e-05,1793255834866070016
+152,2.533333333,POSE1_TO_POSE2_PRESS,783.106181575,759,736,719,686.106181575,652,915,801,838,659,636,659.106181575,0.412311915968,-0.00555915568249,0.0699658413062,0.999999995082,-8.65192129592e-05,-2.68766469816e-05,-4.03521036297e-05,1793255834882736128
+153,2.550000000,POSE1_TO_POSE2_PRESS,783.69751261,759,736,719,686.69751261,652,915,801,838,659,636,659.69751261,0.413072090983,-0.00556088875349,0.0700041859618,0.999999995051,-8.61392275822e-05,3.26253892946e-05,-3.75954064683e-05,1793255834899402752
+154,2.566666667,POSE1_TO_POSE2_PRESS,783.717343817,759,736,719,687,652,915,801,838,659,636,659.717343817,0.413835238665,-0.00554497683877,0.0700263054339,0.999999994729,-6.94283895744e-05,6.57494751159e-05,-3.74094074284e-05,1793255834916068864
+155,2.583333333,POSE1_TO_POSE2_PRESS,783.138679905,759,736,719,687,652,915,801,838,659,636,659.138679905,0.414601499523,-0.00551058646005,0.0700314333144,0.999999996031,-3.56152949397e-05,7.12496290392e-05,-3.99155357348e-05,1793255834932735488
+156,2.600000000,POSE1_TO_POSE2_PRESS,783.438087992,759.438087992,736,719,687,652,915,801.438087992,838.438087992,659,636,659,0.415343762729,-0.00549433114121,0.0699830717694,0.999999998941,-9.31519520975e-06,-1.20644887285e-05,-4.34226003737e-05,1793255834949402368
+157,2.616666667,POSE1_TO_POSE2_PRESS,783.985800047,759.985800047,736,718.985800047,686.985800047,652,915,801.985800047,839,659,635.985800047,659,0.41608089586,-0.00548437505302,0.0699193817379,0.999999991505,1.31262544341e-05,-0.000120781922622,-4.72183652987e-05,1793255834966069504
+158,2.633333333,POSE1_TO_POSE2_PRESS,783.411985274,759.411985274,736,718.411985274,686.411985274,652,915,801.411985274,839,659,635.411985274,659,0.416913946574,-0.00549740206644,0.0699160280449,0.999999990366,-2.31764746645e-05,-0.000127415858372,-4.99584572783e-05,1793255834982735872
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,759,736.166800693,718.166800693,686,652,915,801.166800693,839,659,635,659,0.417753878019,-0.00550945963367,0.0699228887921,0.999999990572,-5.02820514939e-05,-0.000117043544868,-5.1274465546e-05,1793255834999402496
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,759,736.75824228,718.75824228,686,652,915,801.75824228,839,659,635,659,0.418611326367,-0.00551904918579,0.069955753442,0.999999995336,-5.3973533047e-05,-6.33767534855e-05,-4.89650440462e-05,1793255835016068864
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,759,736.656915461,719,686,652,915,802,839,659,635.343084539,659,0.419505048438,-0.00552682041781,0.0699857595379,0.999999996922,-6.03417296941e-05,-1.59835418152e-05,-4.75348707918e-05,1793255835032735488
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,759,736.076635742,719,686,652,915,802,839,659,635.923364258,659,0.4204238487,-0.00553333453432,0.0700137893405,0.999999996192,-6.8560501892e-05,2.70723609076e-05,-4.67125753424e-05,1793255835049402112
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,759,736.4979969,719,686,652,914.5020031,801.5020031,839,659,636,659.4979969,0.421349018155,-0.00552894708831,0.0700277584266,0.999999996032,-6.17172310447e-05,4.42884753878e-05,-4.65316709718e-05,1793255835066068480
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,759,736.928031555,719,685.928031555,652,914.071968445,801,839,658.928031555,635.928031555,660,0.422262693548,-0.00552182011756,0.0700306353715,0.99999999653,-5.26511545299e-05,4.41296033265e-05,-4.7122503919e-05,1793255835082735360
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,759,736.352674123,719,685.352674123,652,914.647325877,801,839,658.352674123,635.352674123,660,0.423089193553,-0.00550713400034,0.0699708924527,0.999999996402,-4.40682181574e-05,-5.00583758298e-05,-5.24286737123e-05,1793255835099402240
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,759,736.229436824,719,685.229436824,652,915,801.229436824,839,658,635,660,0.423926631342,-0.0055003934815,0.0699114627379,0.999999987928,-4.29790658674e-05,-0.000137906330994,-5.72640315341e-05,1793255835116069120
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,759,736.822243725,719,685.822243725,652,915,801.822243725,839,658,635,660,0.424781391949,-0.00550623678471,0.0698525290501,0.999999973407,-5.37581769533e-05,-0.000215713301649,-6.13537431016e-05,1793255835132735744
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,759,737,719,686,652,915,802,839,658,635.403944576,659.596055424,0.425734148246,-0.00551659665197,0.0698763821809,0.99999998048,-6.48841467661e-05,-0.000176332333176,-6.11302996124e-05,1793255835149402368
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,759,737,719,686,652,915,802,839,658,635.980888937,659.019111063,0.426728873697,-0.00552889085506,0.0699356909265,0.999999991592,-7.61586668684e-05,-8.67625721514e-05,-5.90596345736e-05,1793255835166068992
+170,2.833333333,POSE1_TO_POSE2_PRESS,783.566674354,759,737,719,686,651.433325646,914.433325646,802,839,658,636,659,0.427709769578,-0.00552856019361,0.0699879319868,0.999999996046,-6.71471193073e-05,-2.18737257583e-05,-5.40486179041e-05,1793255835182735616
+171,2.850000000,POSE1_TO_POSE2_PRESS,783.849029809,759,737,719,686,651,914,802,839,658,636,659.150970191,0.428689820508,-0.00552710659051,0.0700321212028,0.99999999611,-6.17239356326e-05,3.7516875136e-05,-5.06161298204e-05,1793255835199401984
+172,2.866666667,POSE1_TO_POSE2_PRESS,783.269818515,759,737,719,686,651,914,802,839,658,636,659.730181485,0.429668818567,-0.00552369454435,0.070054157443,0.999999992804,-6.84508868697e-05,8.37096783127e-05,-5.19470306653e-05,1793255835216068352
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,759,737,719,686,651,914,802,839,658,635.69168508,659.69168508,0.430577901377,-0.00552247192415,0.0700346842891,0.999999994843,-6.76009721721e-05,5.36366235624e-05,-5.35539638423e-05,1793255835232735232
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,759,737,719,686,651,914,802,839,658,635.114491667,659.114491667,0.431426011716,-0.00552315868158,0.0699790111883,0.999999995734,-6.01433444172e-05,-4.29471591765e-05,-5.54016217958e-05,1793255835249402112
+175,2.916666667,POSE1_TO_POSE2_PRESS,783,759,737,719,685.539406037,651,914,802,839.460593963,658,635,659,0.43227521976,-0.00552332971695,0.069918893026,0.999999985993,-6.49083721417e-05,-0.000142659385109,-5.8721551103e-05,1793255835266069248
+176,2.933333333,POSE1_TO_POSE2_PRESS,783,759,737,718.963946107,685.036053893,650.963946107,913.963946107,802,839.963946107,658,635,659.036053893,0.433133706298,-0.00552371299743,0.0698653409707,0.999999969058,-7.22580978256e-05,-0.000229812877132,-6.20399058949e-05,1793255835282736128
+177,2.950000000,POSE1_TO_POSE2_PRESS,783,759,737,718.374742393,685.625257607,650.374742393,913.374742393,802,839.374742393,658,635,659.625257607,0.434130378106,-0.00552931045538,0.0699294030988,0.999999989243,-7.28618767365e-05,-0.000112409757429,-5.97448859294e-05,1793255835299402496
+178,2.966666667,POSE1_TO_POSE2_PRESS,783,759,737,718.210377758,686,650,913,802,839.210377758,658,635,659.789622242,0.435106649111,-0.00553316862244,0.0699850422878,0.999999995408,-7.52850979775e-05,-1.40491621202e-05,-5.76173554843e-05,1793255835316068864
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,759,737,718.788362524,686,650,913,802,839.788362524,658,635,659.211637476,0.436047272603,-0.00553398761207,0.0700259635272,0.99999999387,-8.08875527898e-05,5.10371848112e-05,-5.57824912124e-05,1793255835332735232
+180,3.000000000,POSE1_TO_POSE2_PRESS,783.367082032,759,737,719,686,650,913,802,840,658,635,659,0.436950978979,-0.00553600524697,0.0700367735764,0.99999999239,-8.08677761836e-05,7.48405637262e-05,-5.54877956798e-05,1793255835349401856
+181,3.016666667,POSE1_TO_POSE2_PRESS,783.946225963,759,737,719,686,650,913,802,840,658,635,659,0.43783335842,-0.00553871533464,0.0700301885027,0.999999992619,-7.76000576052e-05,7.4794924751e-05,-5.60828499913e-05,1793255835366068480
+182,3.033333333,POSE1_TO_POSE2_PRESS,783.480478164,759,737,719,685.480478164,650,913.519521836,802,839.480478164,658,635,659,0.438625296849,-0.00553681441248,0.0699774939116,0.999999994776,-8.27024597519e-05,1.32602771627e-06,-6.0054261069e-05,1793255835382735104
+183,3.050000000,POSE1_TO_POSE2_PRESS,783.095041433,759,737,719,685.095041433,650,914,802,839.095041433,658,635,659.095041433,0.439399867935,-0.00553478161049,0.069919029168,0.99999999064,-8.63553353853e-05,-8.4741266957e-05,-6.38863124682e-05,1793255835399402240
+184,3.066666667,POSE1_TO_POSE2_PRESS,783.685265696,759,737,719,685.685265696,650,914,802,839.685265696,658,635,659.685265696,0.440132182946,-0.00553452067751,0.0698550904542,0.999999975371,-7.7992253722e-05,-0.0001972928748,-6.51917129622e-05,1793255835416069120
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,759,737.271217184,719,685.728782816,650,913.728782816,802,840,658,635,659.728782816,0.440915796217,-0.00553602953946,0.0698350064081,0.999999967684,-7.50012152824e-05,-0.000234028572708,-6.51008102957e-05,1793255835432736000
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+244,4.066666667,POSE1_TO_POSE2_PRESS,784,759.501303126,738,719,677.498696874,644,913,797,840,658,634,659.498696874,0.455189984843,-0.00557491763197,0.069574624751,0.999999769529,-0.000123087108459,-0.000665198165117,-5.7477833791e-05,1793255836416069120
+245,4.083333333,POSE1_TO_POSE2_PRESS,784,759.072969826,737.927030174,719,677.927030174,644,912.927030174,797,840,658,634,660,0.455188721155,-0.00557509511377,0.0695731518712,0.999999768552,-0.000123860134782,-0.000666522429653,-5.7460276963e-05,1793255836432736256
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+247,4.116666667,HOLD_POSE2,784,759,738,719,677,644,913,797,840,658,634,659,0.4551906793,-0.00557579974102,0.0695733657608,0.999999768147,-0.000125169216769,-0.000666866910047,-5.76804962598e-05,1793255836487745792
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+256,4.266666667,HOLD_POSE2,784,759,737.216663222,719,677,643.216663222,912.216663222,797,840,658,634,659.216663222,0.455194719295,-0.00557426754114,0.0695749784315,0.999999771189,-0.000122906715457,-0.000662765759669,-5.70678266839e-05,1793255836637744896
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+259,4.316666667,HOLD_POSE2,784,759.96496014,737.03503986,718.03503986,677,643.03503986,913,797,840,658,634,660,0.455190833549,-0.00557373503085,0.0695729527573,0.999999767494,-0.000121884958362,-0.000668503099218,-5.70871491002e-05,1793255836687744256
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+262,4.366666667,HOLD_POSE2,784,759.307373426,737,719,677,643.307373426,912.692626574,797,840,658,633.307373426,659.692626574,0.455191848399,-0.00557406171005,0.0695719709065,0.999999767213,-0.000122397202782,-0.000668922337948,-5.60006676757e-05,1793255836737744896
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,783.268477418,760,737.268477418,719,677,644,913,796.268477418,840.731522582,658,634,660,0.455193807871,-0.00557225955351,0.0695725044332,0.999999767842,-0.000121802664206,-0.000668022701318,-5.68007975814e-05,1793255836824903424
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783.303991581,760,737.303991581,719,677,644,912.696008419,796.303991581,840.696008419,658.303991581,634,660,0.455194243707,-0.00557297483505,0.0695729225501,0.999999768118,-0.000122891655508,-0.000667437827477,-5.64732669624e-05,1793255836841569792
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783.877596965,760,737.877596965,719,677,644,912.122403035,796.877596965,840.122403035,658.877596965,634,660,0.455193432023,-0.00557432383475,0.0695731249351,0.999999767586,-0.000125418483018,-0.000667789913011,-5.61749552502e-05,1793255836858236160
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,784,759.783079881,737.216920119,719,677,644,913,797,840,658.216920119,634,660,0.455192320966,-0.00557271662742,0.0695726154851,0.9999997685,-0.000120761618925,-0.000667268271191,-5.6307325632e-05,1793255836924903424
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,784,759.37469864,738,719,677,644,912.62530136,797,840,659,634,660,0.455172947582,-0.00557240385491,0.0695633857251,0.999999759403,-0.00012023832011,-0.00068079098463,-5.70976117683e-05,1793255836958236160
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,784,760,738,719,676.455991439,644,912.544008561,797,840,659,634,660,0.455103597958,-0.00557136709843,0.0695356854004,0.999999727522,-0.000121992502355,-0.000725795204508,-5.74029965539e-05,1793255836991569408
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,784,759,737,719,680.199257657,646.199257657,913,799.199257657,840.199257657,658.199257657,635,660,0.448061238857,-0.00548618880154,0.0696151982937,0.99999981283,-4.55293197477e-06,-0.000611800491688,4.35434872913e-06,1793255837441569536
+304,5.066666667,POSE2_TO_POSE3_RETREAT,784,759,737,719,680.774530077,646.774530077,913,799.774530077,840.774530077,658.774530077,635,660,0.447477591062,-0.00549521597443,0.0696154016509,0.999999812036,5.01995349839e-06,-0.000612938282962,1.44518664062e-05,1793255837458235904
+305,5.083333333,POSE2_TO_POSE3_RETREAT,784,759,737,719,681,646.638988906,913,800,840.638988906,659,635,659.638988906,0.446853787911,-0.00549346036555,0.0695947432507,0.999999791428,3.875387206e-05,-0.000644393378099,1.997032352e-05,1793255837474902528
+306,5.100000000,POSE2_TO_POSE3_RETREAT,784,759,737,719,681,646.045283259,913,800,840.045283259,659,635,659.045283259,0.446204102108,-0.00548475456942,0.0695606381245,0.999999754085,8.80611086748e-05,-0.000695389896277,2.25372851431e-05,1793255837491569152
+307,5.116666667,POSE2_TO_POSE3_RETREAT,784,759,737,719,681.535408982,646.535408982,912.464591018,800,840,658.464591018,635,659.535408982,0.44557067938,-0.00547571883978,0.0695720020783,0.999999772884,8.2468578464e-05,-0.000668536219603,2.21483717234e-05,1793255837508235520
+308,5.133333333,POSE2_TO_POSE3_RETREAT,784,759,737.114031829,719,682.114031829,647.114031829,912.114031829,800,840,658.114031829,635,660,0.44493191067,-0.00546804153308,0.0695931099395,0.999999800532,7.16777004609e-05,-0.00062716717514,2.14474192057e-05,1793255837524902400
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,784,759,737.731126912,719,683.268873088,648,913,800.268873088,840,659,635,660,0.443584446046,-0.00546543595563,0.06967705449,0.999999876332,6.017254104e-05,-0.000493194034291,2.17899325129e-05,1793255837558236160
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,783.255541291,759,737,719,684.744458709,648.744458709,912,801.744458709,839,658,635,660,0.438961144442,-0.00540496823774,0.0697789159697,0.999999935276,0.000140808049007,-0.000330369566131,2.18200101289e-05,1793255837658236416
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,783.924650595,759,737,719,685,649,912.075349405,802,839,658.924650595,635,660,0.435497719108,-0.00541750485172,0.0697520028454,0.99999992283,0.000130991529079,-0.000369618403912,2.37452051936e-05,1793255837724902400
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,759,737,719,685,649,913,801.772941445,839.227058555,658.227058555,635,660,0.43375116492,-0.00541289212095,0.0698305823044,0.999999954094,0.000137348380675,-0.000268542075883,2.88413820072e-05,1793255837758236416
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,759,737,719,685,649,913,801.200632331,839.799367669,658.799367669,635,660,0.432841518867,-0.00541031077237,0.069838497757,0.999999956978,0.000145149660534,-0.000253092122517,3.03461431534e-05,1793255837774903552
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783,759,737,719,685,649.385175276,913,801,839.614824724,659,635.385175276,660,0.431910675637,-0.00540885763037,0.0698311667071,0.999999954052,0.000147695673915,-0.000262964716144,3.05236365943e-05,1793255837791570176
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783,759,737,719,685,649.978269375,913,801,839.021730625,659,635.978269375,660,0.430968390159,-0.005408013498,0.0698156055468,0.999999947643,0.000147404877417,-0.00028650650106,2.99846666555e-05,1793255837808236544
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.540265052,759.540265052,736,719,685,650.459734948,913,801,839,658.540265052,635,659.540265052,0.425445583433,-0.00541035776805,0.0698521373186,0.999999961764,0.00014536839504,-0.000232961630201,3.26946230171e-05,1793255837908236544
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.805621506,758.194378494,737,719,686,651,914,801,839,659,635.805621506,659.805621506,0.422542229392,-0.00539913310363,0.0697458065846,0.999999902449,0.000156048703794,-0.000412331193386,2.71059144989e-05,1793255837958236416
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.229989149,758.770010851,737,719,686,651,914,801,839,659,635.229989149,659.229989149,0.421543934251,-0.00539151363372,0.0696778909977,0.999999847511,0.000156719189177,-0.000529012754836,2.37092747845e-05,1793255837974903296
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,759,736.647007679,719,686,651,914,801,839,659,635.352992321,659.352992321,0.42065740579,-0.00539228180873,0.0696849063504,0.999999854743,0.000158758479219,-0.000514546381186,2.3490730227e-05,1793255837991569920
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,759,736.059136183,719,686,651,914,801,839,659,635.940863817,659.940863817,0.419845246331,-0.00539863107759,0.0697417803476,0.999999901395,0.000161708564093,-0.000412814875694,2.53868730889e-05,1793255838008236032
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.901570833,759.098429167,736,718.901570833,686,651,914,801,839,659,635,659.901570833,0.418258620151,-0.00541234338201,0.0698708162712,0.999999966149,0.000139028438417,-0.000217430263829,3.31117538639e-05,1793255838041569792
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,784,759,736,719,686,651,915,801,839,659,635.269645748,659.730354252,0.411972767529,-0.00538166690391,0.0698311498455,0.99999994793,0.00019229577554,-0.000257279027957,3.11510444563e-05,1793255838174903040
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,783.301191783,759,736,719,686,651.698808217,914,801,839,659,635.698808217,659.698808217,0.405155856316,-0.00538970931608,0.0697999962019,0.999999926855,0.000185991562004,-0.000333293339097,2.47481797758e-05,1793255838374903296
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,759,736,719.274857113,686,651.725142887,914,801,838.725142887,659,635.725142887,660,0.404780642452,-0.00538498016287,0.0698136670918,0.999999933789,0.000195731306441,-0.000305738798612,2.51881977109e-05,1793255838391569920
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,759,736,719.84970512,686,651.15029488,914,801,838.15029488,659,635.15029488,660,0.404437844813,-0.005389307886,0.0698339597902,0.999999945139,0.000195430168191,-0.000266078362831,2.70490763053e-05,1793255838408236288
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.43745716,759.43745716,736,720,686,651.43745716,914.43745716,801,838,659,635.43745716,659.56254284,0.404093773529,-0.00538601744397,0.0698420120084,0.999999947942,0.000200289242227,-0.000251554022247,2.6847789363e-05,1793255838424903168
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784,759.970949433,736,720,686.029050567,652,915,801,838.029050567,659.029050567,636,659.029050567,0.403750680009,-0.00538023465133,0.0698448133321,0.999999947786,0.000206235912514,-0.000247442883374,2.58286304025e-05,1793255838441570048
+364,6.066666667,POSE2_TO_POSE3_RETREAT,784,759.393085401,736,720,686.606914599,652,915,801,838.606914599,659.606914599,636,659.606914599,0.403434575831,-0.00537831586244,0.0698302782373,0.999999943108,0.000198218694546,-0.000271949624809,2.31498291947e-05,1793255838458236416
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.816280913,759.183719087,736,719.816280913,686.816280913,652,914.816280913,801,839,659.816280913,636,660,0.403133877917,-0.00537685769269,0.0698188634721,0.999999938568,0.00019321302656,-0.000291666823726,2.15215686814e-05,1793255838474903040
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.241730499,759.758269501,736,719.241730499,686.241730499,652,914.241730499,801,839,659.241730499,636,660,0.402865954265,-0.00537637941257,0.0698140866832,0.999999935459,0.000194613923753,-0.000301195077088,2.21281564245e-05,1793255838491569664
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.341656849,760,736,719.341656849,686,652,914,801,839,659,636,660,0.402621336133,-0.00537270780788,0.0698085989714,0.999999931526,0.000201276871341,-0.000309710152288,2.26930603439e-05,1793255838508236544
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.931462613,760,736,719.931462613,686,652,914,801,839,659,636,660,0.402393645014,-0.00536671685835,0.0698025949084,0.999999926909,0.000211761700872,-0.000317489346635,2.32276889306e-05,1793255838524903168
+369,6.150000000,POSE2_TO_POSE3_RETREAT,784,760,736,720,686,652,914,801,838.488146641,659,635.488146641,659.488146641,0.402187519558,-0.00536697332442,0.0697966635965,0.999999923575,0.000210312789116,-0.00032867987031,2.42406504921e-05,1793255838541569536
+370,6.166666667,POSE2_TO_POSE3_RETREAT,784,760,736,720,686,652,914.090420205,801,838.090420205,659.090420205,635.090420205,659.090420205,0.401992325228,-0.00536759670933,0.0697921307122,0.99999992104,0.000208352640206,-0.0003374447128,2.53098088913e-05,1793255838558236160
+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,760,736,720,686,652,914.665844064,801,838.665844064,659.665844064,635.665844064,659.665844064,0.401840554855,-0.00536578218928,0.0697950475234,0.999999922455,0.000212066593799,-0.000330792628593,2.63430547931e-05,1793255838574902784
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.759192032,759.759192032,736,720,686,652,914.759192032,801,839,659.759192032,635.759192032,659.759192032,0.401699113573,-0.00536436681543,0.0697965132016,0.999999922906,0.000215295036577,-0.000327255971268,2.71944977826e-05,1793255838591569408
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.184865201,759.184865201,736,720,686,652,914.184865201,801,839,659.184865201,635.184865201,659.184865201,0.401571978083,-0.00536350425891,0.0697959690616,0.999999922081,0.000217851047009,-0.000328034178379,2.77941438073e-05,1793255838608236032
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.401197269,759,735.598802731,719.598802731,686,652,914,801,839,659,635.401197269,659,0.401462352675,-0.00536263815365,0.069794177807,0.999999917478,0.000235694631918,-0.000329834081523,2.64892365675e-05,1793255838624903168
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.99283026,759,735.00716974,719.00716974,686,652,914,801,839,659,635.99283026,659,0.401361038757,-0.00536177036394,0.0697917945864,0.999999910547,0.000260794747321,-0.000332118951434,2.42802977746e-05,1793255838641570304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,784,759,735.57150318,719.57150318,686.57150318,652,914,801,839,659,636,659,0.401279409867,-0.00536492242612,0.0697905874453,0.999999916503,0.000236838696355,-0.000332736337558,1.37329747414e-05,1793255838658236672
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,784,759,736,719.948029985,686.948029985,652,914.948029985,801,839,659,636,659.948029985,0.401023380979,-0.00536884274884,0.0698061574082,0.999999929657,0.000216916333717,-0.000305765334747,1.18329296969e-05,1793255838758236160
+383,6.383333333,POSE2_TO_POSE3_RETREAT,784,759,736,719.371505114,686.371505114,652,914.371505114,801,839,659,636,659.371505114,0.401007958793,-0.00536613399489,0.0698080650096,0.999999930232,0.000219925859487,-0.000301701966308,1.20296121483e-05,1793255838774903296
+384,6.400000000,POSE2_TO_POSE3_RETREAT,784,759.204707183,736,719.204707183,686.204707183,652,914,801,839,659,636,659,0.400995187084,-0.00536535309633,0.0698099698221,0.999999931265,0.000220295598011,-0.000297971346014,1.23572398126e-05,1793255838791570432
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,784,759.465548223,736,720,686.534451777,652,915,801,839,659,635.534451777,659.534451777,0.400977368057,-0.00536562242825,0.0698168079436,0.999999934489,0.000218552952837,-0.000288266827066,1.25795566535e-05,1793255838858236672
+389,6.483333333,POSE2_TO_POSE3_RETREAT,784,759,736,720,687,652,914.887134485,801,839,659,636,660,0.400975163968,-0.00536692559724,0.0698173348965,0.99999993506,0.000216342413667,-0.000287947221734,1.27296369387e-05,1793255838874902784
+390,6.500000000,POSE2_TO_POSE3_RETREAT,784,759,736,720,687,652,914.311811908,801,839,659,636,660,0.400972564665,-0.00536870862315,0.0698160587926,0.999999934969,0.000213951898922,-0.000290046258548,1.26227600436e-05,1793255838891569408
+391,6.516666667,POSE2_TO_POSE3_RETREAT,784,759,736,719.731367062,687,651.731367062,914,801,839,659,636,659.731367062,0.400970546293,-0.00536878619585,0.0698155990891,0.999999934893,0.000213363448108,-0.000290751150451,1.24003888084e-05,1793255838908236288
+392,6.533333333,POSE2_TO_POSE3_RETREAT,784,759,736,719.144860963,687,651.144860963,914,801,839,659,636,659.144860963,0.400969215336,-0.00536684570722,0.0698161054313,0.999999934841,0.000214907377935,-0.000289806351963,1.20413531899e-05,1793255838924903424
+393,6.550000000,POSE2_TO_POSE3_RETREAT,784,759,736,719.435448884,687,651.435448884,914.435448884,801,839,659,636,659.435448884,0.400970975184,-0.00536682005912,0.0698175812728,0.999999935279,0.000215749517572,-0.000287654664846,1.22339691361e-05,1793255838941570048
+394,6.566666667,POSE2_TO_POSE3_RETREAT,784,759,736,719.986273016,686.986273016,652,914.986273016,801,839,659,635.986273016,660,0.400973649365,-0.00536740387099,0.0698193274098,0.999999935854,0.000216368712627,-0.000285162444319,1.25949973988e-05,1793255838958236672
+395,6.583333333,POSE2_TO_POSE3_RETREAT,784,759,736,719.407966987,686.407966987,652,914.407966987,801,839,659,635.407966987,660,0.400972232814,-0.00536722212233,0.0698191115589,0.999999935719,0.000217285880007,-0.000284945883313,1.24406335499e-05,1793255838974903296
+396,6.600000000,POSE2_TO_POSE3_RETREAT,784,759,736,719.16919818,686,652,914.16919818,801,839,659,635,660,0.400971348004,-0.0053674788399,0.0698190634957,0.999999935773,0.000217449895991,-0.000284630820833,1.24638290564e-05,1793255838991569920
+397,6.616666667,POSE2_TO_POSE3_RETREAT,784,759,736,719.743630914,686,652,914.743630914,801,839,659,635,660,0.400971736733,-0.0053687856968,0.069819417289,0.999999936279,0.000215810092465,-0.00028407984448,1.29122843824e-05,1793255839008236544
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783.673561211,759,736,720,686.326438789,652,914.673561211,801,838.673561211,659,635,660,0.400971342935,-0.00536890119055,0.0698195739714,0.999999936367,0.000215409841045,-0.000284074925098,1.28589006078e-05,1793255839024902912
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.084002742,759,736,720,686.915997258,652,914.084002742,801,838.084002742,659,635,660,0.400970318396,-0.00536805640898,0.0698195717764,0.99999993612,0.000216008706736,-0.000284510144417,1.24010190988e-05,1793255839041569280
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.49645258,759,736,719.50354742,687,652,914,801,838.49645258,659,635.49645258,660,0.400971603091,-0.00536714501097,0.0698205633455,0.999999936216,0.000217683651059,-0.000282903353892,1.21426028538e-05,1793255839058236416
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.924857741,759,736,719,687,652,914,800.924857741,839,659,635.924857741,659.924857741,0.400972841468,-0.00536649723444,0.0698215103501,0.99999993634,0.000219065599041,-0.000281402561935,1.19874038115e-05,1793255839074903296
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783.347858538,759,736,719,687,652,914,800.347858538,839,659,635.347858538,659.347858538,0.400971207858,-0.00536768404911,0.0698210569014,0.999999936306,0.000217296530151,-0.00028287580382,1.23002135603e-05,1793255839091570176
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783,759,736,719.227226014,687,652,914,800.227226014,839,659,635.227226014,659.227226014,0.400970580071,-0.00536855934421,0.0698208364569,0.999999936465,0.000216021696325,-0.000283285637382,1.2392496383e-05,1793255839108236800
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783,759,736,719.799404019,687,652,914,800.799404019,839,659,635.799404019,659.799404019,0.400971479226,-0.00536896172137,0.0698209697364,0.999999936922,0.000215497160872,-0.000282081110157,1.21499971527e-05,1793255839124902912
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783.385040925,759.385040925,736,720,686.614959075,652,914.385040925,801,838.614959075,659,636,659.614959075,0.400972527999,-0.00536870788278,0.0698217799614,0.999999937485,0.000214801951624,-0.000280611601999,1.21359241948e-05,1793255839141569536
+406,6.766666667,POSE2_TO_POSE3_RETREAT,783.97794349,759.97794349,736,720,686.02205651,652,914.97794349,801,838.02205651,659,636,659.02205651,0.400973657541,-0.00536809979071,0.0698229556306,0.999999938104,0.000214014605361,-0.000278999045818,1.22451655705e-05,1793255839158235904
+407,6.783333333,POSE2_TO_POSE3_RETREAT,784,759.44176308,736,720,686.55823692,652,915,801,838.55823692,659,636,659.55823692,0.400974120713,-0.00536867978338,0.0698231952768,0.9999999382,0.000214185573197,-0.000278523629205,1.22078930534e-05,1793255839174902784
+408,6.800000000,POSE2_TO_POSE3_RETREAT,784,759.137153729,736,720,687,652,914.862846271,801,839,659,636,660,0.40097437508,-0.00536906010353,0.0698235071988,0.9999999383,0.000214388512467,-0.000278007833137,1.22261789142e-05,1793255839191569408
+409,6.816666667,POSE2_TO_POSE3_RETREAT,784,759.713224188,736,720,687,652,914.286775812,801,839,659,636,660,0.400974043632,-0.00536865452939,0.0698241661549,0.999999938475,0.000214575271057,-0.000277222208816,1.24403779983e-05,1793255839208236288
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..195ceef3cc4ae8db6523cde3c3a8bcbe530d9782
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+2,0.033333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+3,0.050000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+4,0.066666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+5,0.083333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+6,0.100000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+7,0.116666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
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+371,6.183333333,pose2_to_pose3_retreat,0.576382795949,0.000181726374311,1.06002069678,0.546953943668,0.00885596386613,1.0596923957
+372,6.200000000,pose2_to_pose3_retreat,0.576264326193,0.000181744092942,1.06002066199,0.546835473317,0.00885597973068,1.05969236532
+373,6.216666667,pose2_to_pose3_retreat,0.576161371144,0.000181713258785,1.06002048048,0.54673251885,0.00885595104208,1.05969218827
+374,6.233333333,pose2_to_pose3_retreat,0.576069970645,0.000181699257696,1.06002043342,0.546641119139,0.00885593963675,1.05969213941
+375,6.250000000,pose2_to_pose3_retreat,0.575989887386,0.000181646934062,1.06002053535,0.546561037471,0.00885589267867,1.05969224092
+376,6.266666667,pose2_to_pose3_retreat,0.575922339801,0.000181938531475,1.06002063259,0.546493484798,0.00885616711279,1.05969234062
+377,6.283333333,pose2_to_pose3_retreat,0.575865758919,0.000181823981679,1.06002064477,0.546436904403,0.00885605415862,1.05969235129
+378,6.300000000,pose2_to_pose3_retreat,0.575819985205,0.00018181999562,1.06002033144,0.546391133117,0.00885605876706,1.05969204732
+379,6.316666667,pose2_to_pose3_retreat,0.575783113647,0.000181868116587,1.06002021936,0.546354261922,0.00885610834797,1.05969194126
+380,6.333333333,pose2_to_pose3_retreat,0.57575418979,0.000181931305435,1.06002039593,0.546325336705,0.00885616665074,1.05969211064
+381,6.350000000,pose2_to_pose3_retreat,0.575731080319,0.00018192544836,1.06002065347,0.546302225901,0.00885615575846,1.05969235466
+382,6.366666667,pose2_to_pose3_retreat,0.575712825807,0.00018167174286,1.06002053913,0.546283972905,0.00885590731196,1.05969224333
+383,6.383333333,pose2_to_pose3_retreat,0.575699022093,0.000181798117728,1.06002044951,0.546270167914,0.00885602928751,1.05969215205
+384,6.400000000,pose2_to_pose3_retreat,0.575688938791,0.00018183848214,1.06002045792,0.546260084943,0.00885607088559,1.05969216338
+385,6.416666667,pose2_to_pose3_retreat,0.575682348982,0.000181815661193,1.06002050371,0.546253496237,0.00885605197948,1.05969221367
+386,6.433333333,pose2_to_pose3_retreat,0.575677948332,0.00018169290948,1.06002042189,0.546249097216,0.00885593482554,1.05969213375
+387,6.450000000,pose2_to_pose3_retreat,0.575675067894,0.000181612562548,1.06002036834,0.546246217845,0.00885585814262,1.05969208144
+388,6.466666667,pose2_to_pose3_retreat,0.575673074196,0.000181629422045,1.06002049446,0.546244223876,0.00885587383084,1.05969220084
+389,6.483333333,pose2_to_pose3_retreat,0.575671467475,0.000181647365464,1.06002060591,0.546242616875,0.00885589060747,1.05969230641
+390,6.500000000,pose2_to_pose3_retreat,0.575670113902,0.000181668167662,1.06002065757,0.546241263023,0.00885591033975,1.05969235485
+391,6.516666667,pose2_to_pose3_retreat,0.575669346332,0.000181689281719,1.06002061767,0.546240495222,0.00885593070457,1.05969231595
+392,6.533333333,pose2_to_pose3_retreat,0.575669164479,0.000181694284073,1.06002060821,0.546240313315,0.00885593552941,1.05969230673
+393,6.550000000,pose2_to_pose3_retreat,0.575669124635,0.000181695380094,1.06002060614,0.546240273458,0.00885593658654,1.05969230471
+394,6.566666667,pose2_to_pose3_retreat,0.575669028376,0.000181698027944,1.06002060114,0.546240177171,0.00885593914043,1.05969229983
+395,6.583333333,pose2_to_pose3_retreat,0.575668725641,0.000181706355486,1.0600205854,0.546239874344,0.00885594717247,1.05969228449
+396,6.600000000,pose2_to_pose3_retreat,0.575668681486,0.000181707570075,1.0600205831,0.546239830177,0.00885594834396,1.05969228225
+397,6.616666667,pose2_to_pose3_retreat,0.575668281548,0.000181718571431,1.06002056231,0.546239430119,0.00885595895494,1.05969226198
+398,6.633333333,pose2_to_pose3_retreat,0.57566820594,0.000181720651248,1.06002055838,0.546239354487,0.00885596096095,1.05969225815
+399,6.650000000,pose2_to_pose3_retreat,0.575668052048,0.000181733223116,1.06002055826,0.546239200393,0.0088559728232,1.05969225747
+400,6.666666667,pose2_to_pose3_retreat,0.575667999953,0.000181738396639,1.06002055909,0.546239148211,0.00885597769494,1.05969225803
+401,6.683333333,pose2_to_pose3_retreat,0.575667924808,0.000181745859072,1.06002056028,0.546239072943,0.00885598472208,1.05969225883
+402,6.700000000,pose2_to_pose3_retreat,0.575667810463,0.000181757214459,1.0600205621,0.546238958409,0.00885599541509,1.05969226005
+403,6.716666667,pose2_to_pose3_retreat,0.575667719357,0.000181766262027,1.06002056354,0.546238867152,0.00885600393489,1.05969226102
+404,6.733333333,pose2_to_pose3_retreat,0.575667638971,0.000181774244958,1.06002056482,0.546238786634,0.00885601145216,1.05969226187
+405,6.750000000,pose2_to_pose3_retreat,0.575667352046,0.000181802738878,1.06002056937,0.546238499235,0.00885603828398,1.05969226493
+406,6.766666667,pose2_to_pose3_retreat,0.575667073887,0.000181743380378,1.06002058008,0.54623822178,0.00885598122799,1.05969227343
+407,6.783333333,pose2_to_pose3_retreat,0.575666936884,0.000181663175079,1.06002058974,0.546238085818,0.00885590449071,1.05969228139
+408,6.800000000,pose2_to_pose3_retreat,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424526,1.05969228445
+409,6.816666667,pose2_to_pose3_retreat,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424532,1.05969228445
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fbcc8d0817dbedbe3304496ff78055a53c8d5b65
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc71969e2514986b34fb942cb03721c2e19d7fcb86626f1532154e2d218f6f0c
+size 26128905
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e37b381033c78ac89426703b012f37794bfdd74
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
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+35,0.583333333,BASELINE,783.319923564,759.319923564,735.680076436,720,687,652,914,801,839,659,635.319923564,660,0.400973374248,-0.00536877314276,0.0698251471679,0.999999938788,0.000216021045074,-0.000274966663366,1.23015489609e-05,1793255839914964480
+36,0.600000000,BASELINE,783.892293529,759.892293529,735.107706471,720,687,652,914,801,839,659,635.892293529,660,0.400974977532,-0.00536922200651,0.0698253925311,0.999999939325,0.000215325908008,-0.00027355084158,1.24257118452e-05,1793255839931631360
+37,0.616666667,BASELINE,784,759.531340409,735.468659591,719.531340409,687,652,914,801,839,659,636,660,0.400974511638,-0.00536787635826,0.069825154491,0.999999938962,0.000216785879259,-0.000273733058321,1.2238856148e-05,1793255839948298240
+38,0.633333333,BASELINE,784,759,735.952756733,719.047243267,687,652,914.047243267,801,839,659,636,659.952756733,0.400973626235,-0.00536631759393,0.0698248423764,0.999999938424,0.00021857869099,-0.000274281442542,1.20214987936e-05,1793255839964964352
+39,0.650000000,BASELINE,784,759,735.359240881,719.640759119,687,652,914.640759119,801,839,659,636,659.359240881,0.400973435959,-0.00536710428534,0.0698249693753,0.999999938313,0.00021844393467,-0.00027478069428,1.22850540328e-05,1793255839981631232
+40,0.666666667,BASELINE,784,759,735.228131305,720,687,652,915,801,839,659,636,659.228131305,0.400973350541,-0.00536782858235,0.0698251728358,0.999999938282,0.00021824698399,-0.000275044190446,1.24135864893e-05,1793255839998297856
+41,0.683333333,BASELINE,784,759,735.806082666,720,687,652,915,801,839,659,636,659.806082666,0.400973425914,-0.00536845720277,0.0698254935436,0.999999938374,0.00021795466353,-0.00027494617536,1.23350729164e-05,1793255840014964480
+42,0.700000000,BASELINE,783.617927188,759,735.617927188,720,687,652,915,801,839,659,635.617927188,659.617927188,0.400974085771,-0.00536888822026,0.0698256812405,0.999999938547,0.000217665955965,-0.00027455043281,1.22533390974e-05,1793255840031631104
+43,0.716666667,BASELINE,783.04292737,759,735.04292737,720,687,652,915,801,839,659,635.04292737,659.04292737,0.400975040761,-0.00536921945847,0.0698258017737,0.99999993876,0.000217379072735,-0.000274004353295,1.21699792232e-05,1793255840048297984
+44,0.733333333,BASELINE,783.544533124,759,735.544533124,720,687,652,915,801,839,659,635,659.544533124,0.400974790645,-0.00536884625459,0.0698256800769,0.999999938987,0.000216400333182,-0.000273947952249,1.22242159006e-05,1793255840064964352
+45,0.750000000,BASELINE,784,759.13096116,736,720,687,652,914.86903884,801,839,659,635.13096116,660,0.400974418174,-0.00536841757678,0.0698255964617,0.999999939121,0.000215725947398,-0.000273993185375,1.21844074808e-05,1793255840081630976
+46,0.766666667,BASELINE,784,759.710410514,736,720,687,652,914.289589486,801,839,659,635.710410514,660,0.400973959648,-0.00536799355703,0.0698257101874,0.999999938934,0.00021628500451,-0.000274251178415,1.17845160592e-05,1793255840098297600
+47,0.783333333,BASELINE,784,759.712358907,736,719.712358907,687,652,914,801,838.712358907,659,636,659.712358907,0.400973959186,-0.00536780154939,0.0698259010243,0.999999938782,0.000216895060691,-0.000274327640431,1.17341341989e-05,1793255840114964224
+48,0.800000000,BASELINE,784,759.137344964,736,719.137344964,687,652,914,801,838.137344964,659,636,659.137344964,0.40097441636,-0.00536784133743,0.0698261689006,0.999999938663,0.000217556068449,-0.000274222740746,1.20329359113e-05,1793255840131631104
+49,0.816666667,BASELINE,783.562086281,759,735.562086281,719,687,652,914,801,838.437913719,659,636,659,0.400974043518,-0.00536849416113,0.0698256764556,0.999999938403,0.00021846889608,-0.000274436516776,1.22423313651e-05,1793255840148297728
+50,0.833333333,BASELINE,783,759,735.013568344,719,687,652,914.013568344,801,839,659,636,659.013568344,0.400973446771,-0.00536930430136,0.0698249817837,0.999999938115,0.000219419906242,-0.000274718229377,1.24126694575e-05,1793255840164964608
+51,0.850000000,BASELINE,783,759,735.602763684,719,687,652,914.602763684,801,839,659,636,659.602763684,0.400974401151,-0.00536862703709,0.0698258300643,0.999999938586,0.000218638265379,-0.00027363951965,1.21163084176e-05,1793255840181631232
+52,0.866666667,BASELINE,783.189090004,759,736,719.189090004,687,652,914.810909996,801,839,659,635.810909996,660,0.400974989826,-0.00536870221533,0.0698263935984,0.999999939046,0.000217280581239,-0.00027304087551,1.20593842917e-05,1793255840198298112
+53,0.883333333,BASELINE,783.769479191,759,736,719.769479191,687,652,914.230520809,801,839,659,635.230520809,660,0.400974821716,-0.00537033448351,0.0698263678839,0.999999939484,0.000214730844369,-0.000273435669843,1.24979462856e-05,1793255840214964736
+54,0.900000000,BASELINE,784,759,736,719.653568641,687,652,914,801,838.653568641,659,635.346431359,659.653568641,0.400974711593,-0.00537013528293,0.0698261413802,0.999999939397,0.000214872680517,-0.00027364042535,1.2491838811e-05,1793255840231631360
+55,0.916666667,BASELINE,784,759,736,719.078881074,687,652,914,801,838.078881074,659,635.921118926,659.078881074,0.400974639676,-0.00536872936672,0.0698257825808,0.999999938966,0.000216787936616,-0.000273719968325,1.21927481236e-05,1793255840248297984
+56,0.933333333,BASELINE,784,759,735.504219594,719.495780406,687,652,914,801,838,659,635.504219594,659,0.400975076302,-0.00536849856443,0.0698264129805,0.999999939307,0.000216264627008,-0.00027288363615,1.22692646841e-05,1793255840264965632
+57,0.950000000,BASELINE,784,759,735,719.927445339,687,652,914.072554661,801,838.072554661,659,635.072554661,659.072554661,0.400975415113,-0.00536831250813,0.0698270143428,0.999999939596,0.000215832732577,-0.000272158967452,1.23847611125e-05,1793255840281633024
+58,0.966666667,BASELINE,784,759,735,719.335517629,687,652,914.664482371,801,838.664482371,659,635.664482371,659.664482371,0.400974474559,-0.00536710845645,0.0698262812725,0.99999993864,0.000218832434932,-0.000273276691666,1.23515213982e-05,1793255840298298624
+59,0.983333333,BASELINE,784,759,735.250493223,719.250493223,687,652,914.749506777,801,838.749506777,659,636,660,0.400974490818,-0.00536721830484,0.0698262574541,0.99999993857,0.000218959662191,-0.000273432842156,1.2271997595e-05,1793255840314964736
+60,1.000000000,BASELINE,784,759,735.828761831,719.828761831,687,652,914.171238169,801,838.171238169,659,636,660,0.400975759086,-0.00536904741754,0.0698271617058,0.999999939661,0.00021532819882,-0.000272330754374,1.2131910132e-05,1793255840331631360
+61,1.016666667,BASELINE,784,759,736,720,687,652,914.403770538,801,838.403770538,659,636,660,0.400974841711,-0.00536878912313,0.0698264507821,0.999999939298,0.000215343854166,-0.000273649961659,1.21196273604e-05,1793255840348297728
+62,1.033333333,BASELINE,784,759,736,720,687,652,914.977407767,801,838.977407767,659,636,660,0.400973004835,-0.00536765265425,0.0698250603525,0.99999993832,0.000216893856412,-0.000275987810392,1.21611121651e-05,1793255840364964352
+63,1.050000000,BASELINE,784,759,736,720,687,652,915,801,839,659.565821023,636,660,0.400975021111,-0.00536771782392,0.0698265468398,0.999999938812,0.000218337808747,-0.000273034430884,1.25103808724e-05,1793255840381631232
+64,1.066666667,BASELINE,784,759.152768375,735.847231625,720,687,652,914.847231625,801,838.847231625,659.847231625,636,660,0.400976452451,-0.00536808588644,0.0698276312811,0.999999939324,0.000218636136691,-0.000270904583472,1.27240072441e-05,1793255840398298112
+65,1.083333333,BASELINE,784,759.73390654,735.26609346,720,687,652,914.26609346,801,838.26609346,659.26609346,636,660,0.40097580063,-0.00536916513117,0.0698272576275,0.999999939743,0.000215734271073,-0.000271692254005,1.2521902325e-05,1793255840414964992
+66,1.100000000,BASELINE,784,759.687624356,735.312375644,720,687,652,914.312375644,801,838.312375644,659,635.687624356,660,0.400975029725,-0.0053682950371,0.0698267155134,0.999999939446,0.000215969586427,-0.000272616386981,1.20427411358e-05,1793255840431631616
+67,1.116666667,BASELINE,784,759.111409629,735.888590371,720,687,652,914.888590371,801,838.888590371,659,635.111409629,660,0.400974158238,-0.00536577849014,0.069826031114,0.999999938543,0.000218854631418,-0.000273655778986,1.13295723631e-05,1793255840448297984
+68,1.133333333,BASELINE,784,759.462656869,736,720,687,652,915,801,839,659,635.462656869,660,0.400973737556,-0.00536729856528,0.0698255622416,0.999999938443,0.000218506049214,-0.000274286816301,1.16252091149e-05,1793255840464964608
+69,1.150000000,BASELINE,784,760,736,720,687,652,914.962746316,801,839,659,636,660,0.400973521614,-0.00536954272002,0.069825227974,0.999999938555,0.000217470693698,-0.00027468062307,1.21068202158e-05,1793255840481631232
+70,1.166666667,BASELINE,784,760,736,720,687,652,914.372638668,801,839,659,636,660,0.400974740517,-0.00536817382554,0.0698261246315,0.999999938958,0.000217745707213,-0.000273006417109,1.17599393571e-05,1793255840498297856
+71,1.183333333,BASELINE,784,759.786473022,736,720,687,652,914.213526978,801,839,659,636,660,0.400975154424,-0.00536738755439,0.0698265629079,0.999999938996,0.000218289913677,-0.000272432925481,1.17133912438e-05,1793255840514964736
+72,1.200000000,BASELINE,784,759.207062003,736,720,687,652,914.792937997,801,839,659,636,660,0.40097418895,-0.0053675996233,0.0698262157364,0.999999938412,0.000219295389323,-0.000273745536272,1.21814710596e-05,1793255840531631616
+73,1.216666667,BASELINE,784,759.368800118,736,720,687,652,914.631199882,801,839,659,636,659.631199882,0.400974386069,-0.00536716757163,0.0698264389164,0.999999938465,0.000219220494373,-0.000273619553714,1.20093845425e-05,1793255840548298496
+74,1.233333333,BASELINE,784,759.942688674,736,720,687,652,914.057311326,801,839,659,636,659.057311326,0.400975229702,-0.00536637732679,0.0698269792669,0.999999938872,0.000218544809103,-0.000272693574415,1.14813037692e-05,1793255840564964864
+75,1.250000000,BASELINE,784,759.468205595,736,719.468205595,687,652,914.531794405,801,838.468205595,659.531794405,636,659.531794405,0.400976328319,-0.00536712882213,0.0698276019562,0.999999939195,0.000219206141675,-0.000270969564299,1.16098862376e-05,1793255840581631488
+76,1.266666667,BASELINE,784,759.12005806,735.87994194,719.12005806,687,652,915,801,838.12005806,659.87994194,636,660,0.40097691669,-0.00536817667811,0.0698279332264,0.999999939562,0.000218892731916,-0.00026985653624,1.18056577229e-05,1793255840598298368
+77,1.283333333,BASELINE,784,759.698657513,735.301342487,719.698657513,687,652,915,801,838.698657513,659.301342487,636,660,0.400975448217,-0.00536970314681,0.0698271165817,0.999999940135,0.000214289920422,-0.00027141520264,1.19797962843e-05,1793255840614964992
+78,1.300000000,BASELINE,784,760,735.276199404,719.723800596,687,652,915,801,839,659,636,659.723800596,0.400974050077,-0.00536900641872,0.0698261230028,0.999999939855,0.00021370523092,-0.000272909595264,1.18768722935e-05,1793255840631631360
+79,1.316666667,BASELINE,784,760,735.852591826,719.147408174,687,652,915,801,839,659,636,659.147408174,0.40097272838,-0.00536589336325,0.0698249371194,0.999999938654,0.000217487720461,-0.000274334130507,1.14728171431e-05,1793255840648298240
+80,1.333333333,BASELINE,784,759.574323846,736,719.425676154,687,652,915,801,839,659,636,659.425676154,0.40097369186,-0.00536542798538,0.0698254592966,0.999999938577,0.000218781679095,-0.000273589997791,1.13466705661e-05,1793255840664964864
+81,1.350000000,BASELINE,784,759.002376202,736,719.997623798,687,652,915,801,839,659,636,659.997623798,0.400975440577,-0.00536587240627,0.0698265684,0.999999938888,0.000219220525254,-0.000272100664203,1.13160193239e-05,1793255840681631744
+82,1.366666667,BASELINE,784,759,736,720,687,652,915,801,838.410190687,659,636,660,0.400974885898,-0.00536811964704,0.0698263695275,0.999999939479,0.000216206450739,-0.000272310241562,1.1973833755e-05,1793255840698298368
+83,1.383333333,BASELINE,784,759,736,720,687,652,915,801,838.178255814,659,635.821744186,660,0.400974887827,-0.00536953743107,0.069826584669,0.999999939986,0.000213979403595,-0.000272193968136,1.23167792898e-05,1793255840714964992
+84,1.400000000,BASELINE,784,759,736,720,687,652,915,801,838.758088915,659,635.241911085,660,0.400976165336,-0.00536906965945,0.0698277448007,0.999999940316,0.000213557834992,-0.00027132764608,1.19439131537e-05,1793255840731631616
+85,1.416666667,BASELINE,784,759,736,720,687,652,914.665352831,801,839,659,635,659.665352831,0.400976231315,-0.00536913354317,0.0698277598871,0.999999940056,0.000214629961878,-0.000271439256283,1.19205627653e-05,1793255840748298240
+86,1.433333333,BASELINE,784,759,736,720,687,652,914.091139004,801,839,659,635,659.091139004,0.400975429984,-0.00536957802745,0.0698269552603,0.999999939371,0.000216771393025,-0.000272250947053,1.21474231504e-05,1793255840764965120
+87,1.450000000,BASELINE,783.506021244,759,736,720,687,652,914,801,839,659,635.493978756,659,0.400975624892,-0.00536950495987,0.0698268439667,0.999999939501,0.000216206066856,-0.000272226397587,1.20809966463e-05,1793255840781631744
+88,1.466666667,BASELINE,783.080142078,759,736,719.919857922,687,652,914.080142078,801,839,659,635.919857922,659,0.400975611077,-0.00536948394505,0.0698267038974,0.999999939637,0.000215207300226,-0.000272521200096,1.20324666322e-05,1793255840798298368
+89,1.483333333,BASELINE,783.659997597,759,736,719.340002403,687,652,914.659997597,801,839,659,635.340002403,659,0.400973123841,-0.00537039633845,0.0698255687742,0.999999938846,0.000214690077895,-0.000275791014433,1.24405463482e-05,1793255840814964992
+90,1.500000000,BASELINE,784,759.238666916,736,719.238666916,687,652,915,801,839,659,635,659.238666916,0.400972459932,-0.0053705486421,0.0698252864914,0.999999938703,0.000214299132753,-0.000276610219839,1.25051630067e-05,1793255840831631616
+91,1.516666667,BASELINE,784,759.815654694,736,719.815654694,687,652,915,801,839,659,635,659.815654694,0.400974380671,-0.00536962348499,0.0698262131476,0.999999939485,0.000214087191132,-0.000273955578911,1.20829056241e-05,1793255840848298240
+92,1.533333333,BASELINE,784,759.611392106,736,719.611392106,687,652,915,801,839,659,635.388607894,660,0.400973578737,-0.00536804083927,0.069825788587,0.99999993889,0.00021652445795,-0.000274218866614,1.18449443463e-05,1793255840864964864
+93,1.550000000,BASELINE,784,759.040333087,736,719.040333087,687,652,915,801,839,659,635.959666913,660,0.40097149851,-0.00536614950305,0.0698247296313,0.999999937639,0.000220205526198,-0.000275852119469,1.16935099194e-05,1793255840881631232
+94,1.566666667,BASELINE,784,759,736,719.551172887,687,652,915,801,838.448827113,659,635.448827113,660,0.400972246072,-0.0053676374343,0.069825414442,0.999999938073,0.000218953608183,-0.000275268138565,1.18643046038e-05,1793255840898298112
+95,1.583333333,BASELINE,784,759.140554703,736,720,687,652,915,801,838.140554703,659,635.140554703,659.859445297,0.400973170951,-0.00536888814324,0.0698261070911,0.999999938624,0.00021742989133,-0.000274467196797,1.19832053717e-05,1793255840914964736
+96,1.600000000,BASELINE,784,759.718491228,736,720,687,652,915,801,838.718491228,659,635.718491228,659.281508772,0.400973978875,-0.00536860150656,0.0698264117547,0.999999939147,0.000216226968354,-0.000273515456352,1.18644184741e-05,1793255840931631616
+97,1.616666667,BASELINE,783.703882112,759.703882112,736,720,687,652,915,801,839,659,636,659.296117888,0.400974689228,-0.00536841940168,0.0698268729952,0.99999993962,0.000215584608592,-0.000272289050861,1.18759387027e-05,1793255840948298496
+98,1.633333333,BASELINE,783.126549756,759.126549756,736,720,687,652,915,801,839,659,636,659.873450244,0.400975306922,-0.00536833656761,0.0698274829323,0.999999940046,0.000215474599336,-0.000270801804093,1.20112077921e-05,1793255840964965376
+99,1.650000000,BASELINE,783,759,736,720,687,652,914.550783533,801,838.550783533,659,636,660,0.40097594941,-0.00536779738155,0.0698276196732,0.999999939674,0.000217280162985,-0.00027074739229,1.17407555215e-05,1793255840981632256
+100,1.666666667,BASELINE,783.02515778,759.02515778,736,719.97484222,687,652,914.02515778,801,838.02515778,659,636,659.97484222,0.400976525746,-0.00536716179541,0.0698275954077,0.999999939083,0.000219508021064,-0.000271146566743,1.13770390546e-05,1793255840998298624
+101,1.683333333,BASELINE,783.614895327,759.614895327,736,719.385104673,687,652,914.614895327,801,838.614895327,659,636,659.385104673,0.400975461319,-0.0053672379022,0.0698269390868,0.99999993874,0.000219144531551,-0.000272697925592,1.1476412139e-05,1793255841014964992
+102,1.700000000,BASELINE,784,759.79881934,736,719.20118066,687,652,914.79881934,801,839,659,636,659,0.400974986786,-0.00536758188324,0.0698268228834,0.999999938703,0.000218599812769,-0.000273264713175,1.15852002409e-05,1793255841031631616
+103,1.716666667,BASELINE,784,759.219030897,736,719.780969103,687,652,914.219030897,801,839,659,636,659,0.400975622392,-0.00536842998469,0.0698277231432,0.999999939246,0.000217714033358,-0.000271978607054,1.17117067288e-05,1793255841048298240
+104,1.733333333,BASELINE,783.643053282,759.356946718,736,719.643053282,687,652,914.356946718,801,839,659.356946718,635.643053282,659.356946718,0.400975498828,-0.00536870697822,0.0698273490667,0.999999939468,0.000216463796699,-0.00027214729147,1.19290773557e-05,1793255841064964864
+105,1.750000000,BASELINE,783.069389324,759.930610676,736,719.069389324,687,652,914.930610676,801,839,659.930610676,635.069389324,659.930610676,0.40097491434,-0.00536863722839,0.0698262012875,0.999999939496,0.00021499228276,-0.000273199239771,1.22016154031e-05,1793255841081631488
+106,1.766666667,BASELINE,783.519440564,759.480559436,735.480559436,719.519440564,687,652,915,801,838.480559436,659.480559436,635.519440564,660,0.400974393099,-0.00536908071867,0.069825742817,0.99999993933,0.000214967561848,-0.000273830285889,1.20868359995e-05,1793255841098298368
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,760,736,720,687,652,915,801,839,659,635,659,0.400976068708,-0.00536736107888,0.0698280075431,0.999999940171,0.000214844460841,-0.000270853897318,1.17469355718e-05,1793255841140642304
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,759.424712672,736,719.424712672,687,652,915,801,839,659,635.575287328,659.575287328,0.400974732957,-0.00536897533959,0.0698270208863,0.999999939947,0.000213899009685,-0.000272421978056,1.18217496521e-05,1793255841157308672
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,636,660,0.400974119864,-0.00536986795158,0.0698265761084,0.999999939862,0.000213412457003,-0.000273111072818,1.18904105256e-05,1793255841173974784
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,636,660,0.400975545112,-0.00536872507228,0.0698276597608,0.999999940176,0.000214220279031,-0.000271320888815,1.19417156022e-05,1793255841190640640
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.691058789,759,736,719.308941211,687,652,915,801,839,659,636,659.691058789,0.400974960567,-0.00536898836963,0.0698272075513,0.999999940034,0.000213906663309,-0.000272087408517,1.1995779109e-05,1793255841207307008
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.10046682,759,736,719.89953318,687,652,915,801,839,659,636,659.10046682,0.400972543767,-0.00537053362848,0.0698253551508,0.999999939471,0.000212570672466,-0.000275184784526,1.20523573755e-05,1793255841223973632
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.479143813,759,736,720,687,652,915,801,839,659,636,659,0.40097281469,-0.00537012979921,0.0698255316007,0.999999939452,0.000213145585717,-0.000274819629771,1.17769570567e-05,1793255841240640768
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652.056343522,915,801,839,659,636,659.056343522,0.400973591331,-0.00536941577714,0.0698261381629,0.999999939509,0.000214062461189,-0.000273910188738,1.14930421061e-05,1793255841257307392
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652.632068844,915,801,839,659,636,659.632068844,0.400973951151,-0.00536952525775,0.0698268759395,0.999999939239,0.000214520839248,-0.000274526072326,1.17579283349e-05,1793255841273974016
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.787624402,759,736,720,687,652.787624402,915,801,839,659,636,660,0.40097739002,-0.00536920232796,0.0698289439719,0.999999939535,0.000215772174091,-0.000272443146868,1.20912230344e-05,1793255841290640640
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.199205585,759,736,720,687,652.199205585,915,801,839,659,636,660,0.400986280815,-0.00536811374995,0.0698333674237,0.999999940799,0.000218427559166,-0.000265581570466,1.25456452812e-05,1793255841307307264
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.382985065,759,736,720,687,652,915,801,839,659.382985065,636,660,0.401010777136,-0.00536976089759,0.0698432861278,0.999999945551,0.000216208324093,-0.000248970166041,1.28808155378e-05,1793255841323973632
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.961988093,759,736,720,687,652,915,801,839,659.961988093,636,660,0.401043260621,-0.00537280823384,0.0698560173913,0.9999999517,0.000211494179597,-0.000227368640929,1.31549507297e-05,1793255841340640256
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652.540353193,914.459646807,801,839,659.459646807,636,660,0.401098876072,-0.00537347657561,0.0698730567047,0.999999956587,0.000212177319374,-0.00020400526465,1.37347525496e-05,1793255841357306880
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,759.117708728,736,720,687,652.882291272,914.117708728,801,839,659,636,660,0.401158586726,-0.00537415474911,0.0698888301796,0.999999960547,0.0002129212309,-0.0001826798307,1.40973347313e-05,1793255841373973760
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,759.691327789,736,720,687,652.308672211,914.691327789,801,839,659,636,660,0.401227863722,-0.00537551843445,0.0698985283902,0.999999962941,0.000212431680993,-0.000169727242706,1.35353947438e-05,1793255841390640640
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,760,736,720,687,652,914.727993561,801,838.727993561,659,636,659.727993561,0.401303942961,-0.00537652402971,0.0699050380047,0.999999964649,0.000211755698315,-0.000160343847045,1.22793612349e-05,1793255841407307520
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,760,736,720,687,652,914.13909028,801,838.13909028,659,636,659.13909028,0.401387947041,-0.00537711243764,0.0699078327948,0.999999965685,0.000210862515111,-0.000155118683809,1.02146849746e-05,1793255841423974144
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,759.558178138,736,719.558178138,687,652,914.441821862,801,838.441821862,659,636,659,0.401489168194,-0.00537906443834,0.0699077349168,0.999999966117,0.000208993992972,-0.000154993553891,8.05084742848e-06,1793255841440640768
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,759.020190313,736,719,687,652,914.979809687,801,838.979809687,659,635.979809687,659.020190313,0.401596811529,-0.00538138135551,0.0699068478565,0.999999966378,0.000206824844368,-0.000156314110598,5.82265805281e-06,1793255841457307392
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,759.596556748,736,719,687,652,914.403443252,801,838.403443252,659,635.403443252,659.596556748,0.401734710862,-0.00538213552363,0.0699088609885,0.999999967188,0.000204682302111,-0.000154016810312,2.66643722016e-06,1793255841473973760
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,760,736,719.166850026,687,652,914.166850026,801,838.166850026,659,635.166850026,660,0.40188216635,-0.0053839232751,0.0699111123335,0.999999968379,0.000201195132626,-0.000150871983861,-6.70621509738e-07,1793255841490640640
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,760,736,719.722974082,687,652,914.722974082,801,838.722974082,659,635.722974082,660,0.402051917068,-0.00538812245644,0.0699139194479,0.99999997044,0.000194570844013,-0.000145749813572,-4.42958861241e-06,1793255841507307264
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,760,736,719.691593431,687,652,914.691593431,801,839,659,636,660,0.40223728164,-0.00539221187614,0.0699187580012,0.999999972926,0.00018784491327,-0.000137094161839,-8.25635123474e-06,1793255841523973888
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,760,736,719.077070043,687,652,914.077070043,801,839,659,636,660,0.402438144163,-0.00539619234962,0.0699256129115,0.999999975738,0.000181018094224,-0.000124931262215,-1.21504064804e-05,1793255841540641024
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,759.49503744,736,719,686.49503744,652,914.50496256,801,838.49503744,659,636,660,0.402669531204,-0.00540087838491,0.0699278749473,0.999999977425,0.0001739719805,-0.000120832844713,-1.68289450794e-05,1793255841557307904
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,915,801,838,659,636,659.918179228,0.402911901724,-0.00540564945702,0.0699299570096,0.999999979056,0.000166586656821,-0.000116885873421,-2.17667967266e-05,1793255841573974528
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,915,801,838,659,636,659.344418719,0.403193992147,-0.00541032349252,0.0699349168395,0.999999981526,0.000157350931481,-0.00010689649833,-2.75873874243e-05,1793255841590640896
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,915,801,838,659,635.763736444,659,0.403491632875,-0.00541570423811,0.0699423420674,0.999999984059,0.00014859054422,-9.33756964486e-05,-3.29213679663e-05,1793255841607307520
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,915,801,838,659,635.172659303,659,0.403812626571,-0.00542214629963,0.0699534697562,0.999999986641,0.000140544006106,-7.4551503369e-05,-3.75245714881e-05,1793255841623974400
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686.409942334,652,915,801,838.409942334,659,635.409942334,659,0.404149736122,-0.00542764959016,0.0699559171116,0.999999994783,5.63077607704e-05,-7.3266167016e-05,-4.35433603066e-05,1793255841640640768
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686.989046557,652,915,801,838.989046557,659,635.989046557,659,0.40449349584,-0.00543276549854,0.0699547825444,0.999999993843,-5.93680159424e-05,-7.92182045882e-05,-5.01462869695e-05,1793255841657307136
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,636,659,0.404898472446,-0.00543849616992,0.0699629204363,0.99999999518,-5.22575081823e-05,-6.27762527949e-05,-5.44799953799e-05,1793255841673974016
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,759,736,719.133932616,686.866067384,652,915,801,839,659,636,659,0.405309412014,-0.00544403618884,0.0699692186237,0.99999999699,-2.56104420956e-05,-5.0445753662e-05,-5.30989735186e-05,1793255841690640896
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,759,736,719.684173152,686.315826848,652,915,801,839,659,636,659,0.405735217927,-0.00544894675393,0.0699692427233,0.999999996575,5.44047685752e-05,-5.22370271246e-05,-3.40906190472e-05,1793255841707307520
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,759,736,719.736688789,686.263311211,652,915,801,839,659,635.736688789,659.263311211,0.406175918673,-0.00546314179829,0.0699631580914,0.999999994577,7.91271573136e-05,-6.32031589508e-05,-2.42790210589e-05,1793255841723973888
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,759,736,719.118616853,686.881383147,652,915,801,839,659,635.118616853,659.881383147,0.406636687374,-0.00548984587623,0.0699488431302,0.999999995465,2.93532173232e-05,-8.65306312756e-05,-2.68582640126e-05,1793255841740640512
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,759.465864848,736.465864848,719,686.534135152,652,915,801,839,659,635,659.534135152,0.407138273179,-0.0055020265099,0.069936364309,0.999999994425,4.40937606464e-06,-0.000101388839467,-2.91859860704e-05,1793255841757307392
+145,2.416666667,POSE1_TO_POSE2_PRESS,783.95772592,759.95772592,736.95772592,719,686,652,915,801,839,659,635.04227408,659.04227408,0.407655496957,-0.00551013806151,0.0699260443085,0.999999993209,-1.29278375322e-05,-0.00011147502089,-3.1446150813e-05,1793255841773974272
+146,2.433333333,POSE1_TO_POSE2_PRESS,783.382514358,759.382514358,736.382514358,719,686,652,915,801,839,659,635.617485642,659.617485642,0.408247658215,-0.00551043506169,0.0699374425394,0.999999995634,-8.71180394754e-06,-8.67586007034e-05,-3.36076952937e-05,1793255841790640896
+147,2.450000000,POSE1_TO_POSE2_PRESS,783.197866691,759.197866691,736.197866691,719,686.197866691,652,915,801,838.802133309,659,636,659.802133309,0.408851920382,-0.00551569126931,0.0699478945372,0.999999997336,-1.44835739083e-05,-6.22428826369e-05,-3.52771528543e-05,1793255841807307264
+148,2.466666667,POSE1_TO_POSE2_PRESS,783.788509414,759.788509414,736.788509414,719,686.788509414,652,915,801,838.211490586,659,636,659.211490586,0.409480203467,-0.00553079177068,0.0699564682106,0.999999997823,-4.00816718563e-05,-3.81255705979e-05,-3.59697912634e-05,1793255841823973888
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,759.628510972,736.628510972,719,686.628510972,652,915,801,838.371489028,659,636,659,0.41010714037,-0.0055368884708,0.0699539227736,0.999999997305,-4.7514563935e-05,-4.1883087359e-05,-3.71351886227e-05,1793255841840641024
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,759.04980585,736.04980585,719,686.04980585,652,915,801,838.95019415,659,636,659,0.410733326354,-0.00553796286187,0.0699451751111,0.99999999638,-4.48149270882e-05,-6.11891479774e-05,-3.85642902883e-05,1793255841857308928
+151,2.516666667,POSE1_TO_POSE2_PRESS,783.472524675,759,736,719,686.527475325,652,915,801,839,659,635.472524675,659,0.411415803937,-0.00554706677244,0.0699495930056,0.999999995576,-6.51987666823e-05,-5.51543267124e-05,-3.94425634939e-05,1793255841873975296
+152,2.533333333,POSE1_TO_POSE2_PRESS,783.104345251,759,736,719,686.895654749,652,915,801,839,659,635.104345251,659.104345251,0.412118568523,-0.00555706436796,0.0699606717436,0.999999994814,-8.55807671656e-05,-3.80296404653e-05,-4.00167719927e-05,1793255841890641152
+153,2.550000000,POSE1_TO_POSE2_PRESS,783.679963235,759,736,719,686.320036765,652,915,801,839,659,635.679963235,659.679963235,0.412889017195,-0.00556768322027,0.0699962345527,0.999999994431,-9.61367892488e-05,1.8404376911e-05,-3.94519531883e-05,1793255841907307520
+154,2.566666667,POSE1_TO_POSE2_PRESS,783.738493675,759,736,718.738493675,686.261506325,652,915,801,838.738493675,659,636,660,0.41365872738,-0.00556760355529,0.0700213439101,0.999999992791,-9.82033365675e-05,5.74307963826e-05,-3.84163361639e-05,1793255841923973888
+155,2.583333333,POSE1_TO_POSE2_PRESS,783.149531132,759,736,718.149531132,686.850468868,652,915,801,838.149531132,659,636,660,0.414427512941,-0.00555412729034,0.0700333635402,0.999999992519,-8.96394303274e-05,7.46595627989e-05,-3.67911892543e-05,1793255841940640512
+156,2.600000000,POSE1_TO_POSE2_PRESS,783.434007474,759,736.434007474,718.434007474,686.565992526,652,915,801,838,659,635.565992526,659.565992526,0.415160379985,-0.00552078814217,0.0699925736918,0.999999998461,-3.80582955065e-05,3.13781843308e-07,-4.03758053863e-05,1793255841957307136
+157,2.616666667,POSE1_TO_POSE2_PRESS,783.984538504,759,736.984538504,719,686,652,914.984538504,801.015461496,838.015461496,658.984538504,635.015461496,659.015461496,0.415883518317,-0.00548202049753,0.0699349408909,0.999999993334,2.54026493195e-05,-0.00010296394478,-4.56690202743e-05,1793255841973973760
+158,2.633333333,POSE1_TO_POSE2_PRESS,783.411695726,759,736.411695726,719,686,652,914.411695726,801.588304274,838.588304274,658.411695726,635.588304274,659.588304274,0.416696557247,-0.0054912171345,0.0699179440665,0.999999990839,-1.05694844723e-05,-0.00012587518092,-4.86480189778e-05,1793255841990640640
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,759.161644675,736.161644675,719,686,652,914.161644675,802,839,658.161644675,635.838355325,660,0.417527434211,-0.00550100694934,0.0699151744612,0.999999989824,-3.84711663636e-05,-0.000127822439131,-5.03266694646e-05,1793255842007307520
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,759.736256362,736.736256362,719,686,652,914.736256362,802,839,658.736256362,635.263743638,660,0.418403883422,-0.00551231220416,0.0699487523097,0.999999994864,-4.57545955809e-05,-7.62112891063e-05,-4.86832128153e-05,1793255842023974144
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.319540046,760,737,719,686,652,915,802,839,659,635,660,0.419299652177,-0.00552071354969,0.0699788205099,0.999999997091,-5.17210105448e-05,-2.97516680023e-05,-4.75186209603e-05,1793255842040640512
+162,2.700000000,POSE1_TO_POSE2_PRESS,783.910181109,760,737,719,686,652,915,802,839,659,635,660,0.420211811783,-0.00552665118854,0.070005911087,0.999999997231,-5.65700568885e-05,1.23373410002e-05,-4.67603029557e-05,1793255842057306880
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.508427235,759.508427235,737,719,686,652,915,802,839,659,635.491572765,659.508427235,0.421131853736,-0.00552935300858,0.0700243520258,0.999999996323,-6.10352914434e-05,3.82329727119e-05,-4.65608226724e-05,1793255842073973760
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,759,737,719,686.070833741,652,915,802,839,658.929166259,635.929166259,659.070833741,0.422042853683,-0.00552967548586,0.0700333261636,0.999999995642,-6.41077911222e-05,4.89948254688e-05,-4.69730175841e-05,1793255842090640384
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,759,737,719,686.646729902,652,915,802,839,658.353270098,635.353270098,659.646729902,0.422879301751,-0.0055171704839,0.0699858604267,0.999999996654,-5.77405409872e-05,-2.74435492211e-05,-5.10319914904e-05,1793255842107307008
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,759,737,719,686.773592327,652,915,802,839,658.226407673,635.226407673,660,0.423725012161,-0.00550842047153,0.0699285447607,0.999999990585,-5.22013796809e-05,-0.000114197342718,-5.53476636602e-05,1793255842123973632
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,759,737,719,686.187913688,652,915,802,839,658.812086312,635.812086312,660,0.424585420483,-0.00550562899526,0.0698555989038,0.999999973431,-4.79762553669e-05,-0.000217319985592,-6.00706734989e-05,1793255842140640512
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,759,737,719.395880732,686,652,915,802,839,658.604119268,636,659.604119268,0.425535892864,-0.00551458756096,0.069866133704,0.999999977131,-5.8713901616e-05,-0.000196506628326,-6.0621782111e-05,1793255842157307392
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,759,737,719.978784966,686,652,915,802,839,658.021215034,636,659.021215034,0.426528913605,-0.00552909712695,0.0699161067627,0.999999988459,-7.65203177155e-05,-0.000117142941544,-5.92019846444e-05,1793255842173974272
+170,2.833333333,POSE1_TO_POSE2_PRESS,783.553500609,759,737,719.446499391,686,652,915,802,839,658,636,659.553500609,0.427511291068,-0.00553019752861,0.0699712949963,0.999999994665,-7.31854007275e-05,-4.81707483871e-05,-5.47193612337e-05,1793255842190640640
+171,2.850000000,POSE1_TO_POSE2_PRESS,783.872779892,759,737,719,686,652,915,802,839,658,636,660,0.428491445963,-0.00553060621774,0.0700211527782,0.999999995956,-7.1731083618e-05,1.79264391681e-05,-5.12076954109e-05,1793255842207307008
+172,2.866666667,POSE1_TO_POSE2_PRESS,783.301458125,759,737,719,686,652,915,802,839,658,636,660,0.429465245539,-0.00553036824191,0.0700517153334,0.999999992665,-7.9629038111e-05,7.53576143799e-05,-5.14892904178e-05,1793255842223973632
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,759,737,719,686,651.718518968,915,802,839,658.281481032,635.718518968,660,0.430400983699,-0.00552759611204,0.0700448389872,0.999999993503,-7.61496380743e-05,6.65411307321e-05,-5.2602116518e-05,1793255842240640256
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,759,737,719,686,651.122602346,915,802,839,658.877397654,635.122602346,660,0.431294204317,-0.00552199314058,0.0699961405561,0.999999996577,-5.99608722963e-05,-1.62789995836e-05,-5.46434904377e-05,1793255842257306880
+175,2.916666667,POSE1_TO_POSE2_PRESS,783.45829757,759,737,719,686.45829757,651,914.54170243,802,839.45829757,659,635,660,0.432143385083,-0.00552192775232,0.0699296391996,0.999999988252,-6.26262668323e-05,-0.000127617195882,-5.73447401139e-05,1793255842273973760
+176,2.933333333,POSE1_TO_POSE2_PRESS,784,759,737,719,686.964789699,651,914.035210301,802,839.964789699,659,635,659.964789699,0.432990630871,-0.00552360421761,0.0698663962205,0.999999968726,-6.99253858799e-05,-0.000232517222815,-5.99513824353e-05,1793255842290640896
+177,2.950000000,POSE1_TO_POSE2_PRESS,784,759,737,719,686.389372217,651,914.610627783,802,839.389372217,659,635,659.389372217,0.433983207832,-0.00552999776982,0.0699238951086,0.999999987746,-7.33880308421e-05,-0.000125306869982,-5.84841177591e-05,1793255842307307520
+178,2.966666667,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651,914.809638167,802,839.190361833,658.809638167,635,659.190361833,0.434954296859,-0.00553425622616,0.0699760640893,0.999999994932,-7.66918312763e-05,-3.18156299529e-05,-5.69335035082e-05,1793255842323973888
+179,2.983333333,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651,914.220869908,802,839.779130092,658.220869908,635,659.779130092,0.435880414185,-0.00553404616232,0.0700170781693,0.99999999476,-7.96631894641e-05,3.29630302271e-05,-5.52084484908e-05,1793255842340640512
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,759,737,718.63895202,686,651,914,802,840,658,635,660,0.436803177862,-0.00553648219875,0.07003036333,0.99999999337,-8.16506885698e-05,5.95916020763e-05,-5.51619420664e-05,1793255842357307136
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,759,737,718.061146826,686,651,914,802,840,658,635,660,0.437723928102,-0.00554050683659,0.0700270012736,0.999999992972,-8.30475222266e-05,6.33165470904e-05,-5.61231620577e-05,1793255842373973760
+182,3.033333333,POSE1_TO_POSE2_PRESS,783.481542252,759,737,718.518457748,686,651,914,802,840,658,635,660,0.438544608229,-0.00554086333571,0.0699813337077,0.999999994448,-8.70781368489e-05,2.58115972027e-06,-5.92791065384e-05,1793255842390640384
+183,3.050000000,POSE1_TO_POSE2_PRESS,783.096807879,759,737,719,685.903192121,651,914,802,840,658,635,660,0.43933952354,-0.00554026402875,0.0699278427747,0.999999991301,-8.93406360813e-05,-7.43010474211e-05,-6.24209051673e-05,1793255842407307008
+184,3.066666667,POSE1_TO_POSE2_PRESS,783.667967826,759,737,719,685.332032174,651,914,802,840,658,635,660,0.440066224627,-0.00553710852658,0.0698605512575,0.999999976015,-8.14121344992e-05,-0.000192920391648,-6.42206481393e-05,1793255842423973632
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,759,737,719,685,650.752376317,914,802,840,658,635,660,0.440836883157,-0.00553599973656,0.0698323911882,0.999999965406,-7.63155857267e-05,-0.000243282464393,-6.46275521431e-05,1793255842440640512
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,759,737,719,685,650.160923823,914,802,840,658,635,660,0.441668577126,-0.00553773283413,0.0698585656658,0.999999975411,-7.51512432828e-05,-0.000198868391477,-6.31004812826e-05,1793255842457307136
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,759,737,719,685,649.578591771,913.578591771,802,839.578591771,658,635,659.578591771,0.442488177575,-0.00554160165159,0.0698913256244,0.999999982807,-8.21032898394e-05,-0.000154689994545,-6.09662341845e-05,1793255842473973504
+188,3.133333333,POSE1_TO_POSE2_PRESS,784,759,737.000329824,718.999670176,685,649,913,801.999670176,839.000329824,658,635,659.000329824,0.443303190175,-0.00554626514395,0.0699265089769,0.999999987921,-9.20798520442e-05,-0.000110655998897,-5.86073852638e-05,1793255842490640128
+189,3.150000000,POSE1_TO_POSE2_PRESS,784,759,737.57672404,718.42327596,685,649,913,801.42327596,839.57672404,658,635,659.57672404,0.444000174258,-0.00554460794313,0.0698950731359,0.99999998088,-8.59104615982e-05,-0.000164978348886,-6.03528856029e-05,1793255842507306752
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,759,737.848952761,718.151047239,684.848952761,649,912.848952761,801,840,658,635,660,0.444683842186,-0.00554346868967,0.0698596847663,0.999999969718,-8.33945729742e-05,-0.000223069008312,-6.20378379957e-05,1793255842523973376
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,759,737.280354498,718.719645502,684.280354498,649,912.280354498,801,840,658,635,660,0.445330699443,-0.00554376123594,0.0698133701235,0.999999951333,-9.0978327945e-05,-0.000291576696392,-6.35554138764e-05,1793255842540640000
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,759,737,719,683.697643266,648.697643266,912.302356734,801,840,658,635,660,0.44596913452,-0.00554449641889,0.0697796350723,0.999999936363,-9.18911774307e-05,-0.00033856788552,-6.48189788743e-05,1793255842557306880
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,759,737,719,683.101205375,648.101205375,912.898794625,801,840,658,635,660,0.446599377893,-0.00554566212344,0.0697581353089,0.99999992763,-8.63157055253e-05,-0.000364631484194,-6.5835485423e-05,1793255842573973760
+194,3.233333333,POSE1_TO_POSE2_PRESS,784,759,737,719,683,648,913,801,840,658.480347802,635,660,0.447196663578,-0.00554590802309,0.0697374514354,0.999999911356,-8.15692779288e-05,-0.000408016338725,-6.44745938645e-05,1793255842590641152
+195,3.250000000,POSE1_TO_POSE2_PRESS,784,759.058558322,737.058558322,719,683,648,913,800.941441678,840.058558322,658.941441678,635,660,0.447786122568,-0.00554628230432,0.0697186319985,0.999999893457,-7.92628083172e-05,-0.000450366429756,-6.30380690604e-05,1793255842607308288
+196,3.266666667,POSE1_TO_POSE2_PRESS,784,759.634112939,737.634112939,719,683,648,913,800.365887061,840.634112939,658.365887061,635,660,0.448365945145,-0.00554944957804,0.0697148011323,0.999999890867,-9.70023072502e-05,-0.00045232924464,-6.52231849717e-05,1793255842623974912
+197,3.283333333,POSE1_TO_POSE2_PRESS,784,759.78577217,737.78577217,719,682.78577217,647.78577217,913,800,841,658,634.78577217,659.78577217,0.448936345166,-0.00555353613931,0.0697210347014,0.999999894877,-0.000107182571877,-0.00044083773331,-6.64778751957e-05,1793255842640641536
+198,3.300000000,POSE1_TO_POSE2_PRESS,784,759.19769929,737.19769929,719,682.19769929,647.19769929,913,800,841,658,634.19769929,659.19769929,0.449490301997,-0.00555922693207,0.0697448315318,0.999999910025,-0.000104171353722,-0.000405867324171,-6.61088963954e-05,1793255842657307904
+199,3.316666667,POSE1_TO_POSE2_PRESS,784,759,737,719,682,647,913,799.616138176,841,658.383861824,634,659.383861824,0.450007258084,-0.00556486292819,0.0697523779752,0.999999914744,-0.000109994085652,-0.00039286187929,-6.38224721451e-05,1793255842673974016
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+204,3.400000000,POSE1_TO_POSE2_PRESS,784,760,737,719,680,646,913,799,840,658,634,660,0.452082161435,-0.00556917939932,0.0696282362013,0.999999830535,-0.000120880739929,-0.000565501054052,-6.72823474593e-05,1793255842757307136
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+206,3.433333333,POSE1_TO_POSE2_PRESS,784,759.554800651,737.445199349,719,679.554800651,645.554800651,912.554800651,799,840.445199349,658,634.445199349,660,0.452784811947,-0.00556701987116,0.0696220575351,0.999999827116,-0.000124448146022,-0.000570149525204,-7.21879866219e-05,1793255842790640384
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.618176588,758.618176588,736,718.381823412,685.381823412,650,913.618176588,801,839,659,635.381823412,659.618176588,0.423248800031,-0.00540520999368,0.0697785923187,0.999999924922,0.000152058052841,-0.000355153576836,3.00139764438e-05,1793255844978534400
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,783.231409338,759,736,718,685,650.768590662,914,801,839,658.231409338,635,660,0.421306144145,-0.00539882002773,0.0696749346071,0.999999846661,0.000146415754571,-0.000533518125257,2.44817707428e-05,1793255845011867392
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783.352056482,759,736,718,685,651,914.352056482,801,838.647943518,658.352056482,635.352056482,660,0.42045041805,-0.00540245354233,0.0696940021086,0.999999864348,0.000143720223209,-0.000500051133755,2.4451330386e-05,1793255845028534016
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,783.324625122,759,736,719,685.675374878,651,914,801,839,658.675374878,635,659.675374878,0.417168625436,-0.00540704171801,0.0698441636158,0.999999953418,0.000153376281852,-0.000261832381806,3.2921580648e-05,1793255845095201024
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783.250759951,759,736,718.749240049,686,651,914,801,839,659,635,660,0.416321627947,-0.00540426324689,0.0698149177023,0.999999941849,0.000157125993478,-0.000301065972279,3.11952120532e-05,1793255845111867392
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783.827154744,759,736,718.172845256,686,651,914,801,839,659,635,660,0.415491956527,-0.00540323785562,0.0697857950851,0.999999934253,0.000156639218254,-0.000325849530896,2.79264424807e-05,1793255845128534016
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,783.004564342,759,736,718.004564342,685.995435658,651,914.004564342,801,838,659,636,659.004564342,0.413830577865,-0.00539345404604,0.0697303949612,0.999999887303,0.000167294381725,-0.000443466794005,2.72700232647e-05,1793255845161867264
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783.580747914,759,736,718.580747914,685.419252086,651,914.580747914,801,838,659,636,659.580747914,0.41310672234,-0.00538559761436,0.0697509023585,0.999999902089,0.000179566210958,-0.00040352921844,2.72376041581e-05,1793255845178534144
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,784,759,736,719,685,651,915,800.265856422,838,659,635.265856422,660,0.41178607906,-0.00537925225965,0.069843917325,0.99999995273,0.000192540381123,-0.000237585154881,3.19465136905e-05,1793255845211867904
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,759,736,718.48743565,687,651.51256435,914,801,839,659,635.48743565,660,0.409802170828,-0.00536652425181,0.0698337443666,0.999999941236,0.000214471930255,-0.000265656706833,3.09098120081e-05,1793255845261867776
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784,759,736,719,686.932745861,651.067254139,914.067254139,800.932745861,839,659,635.932745861,660,0.409121450698,-0.00536103484704,0.0697921455238,0.999999918207,0.000222872148979,-0.000336311860133,2.84478072691e-05,1793255845278534400
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,759,736,719,686.031954008,651.031954008,914.968045992,801,839,659,635.968045992,659.031954008,0.403682136365,-0.00537865452272,0.0698423917653,0.999999945673,0.000211878782538,-0.000251244054706,2.52550691844e-05,1793255845478534144
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783,759,736,719,686.608154119,651.608154119,914.391845881,801,839,659,635.391845881,659.608154119,0.403367791507,-0.00537947788845,0.0698278173824,0.999999942267,0.000198659228665,-0.000274673310593,2.35406944995e-05,1793255845495201280
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.182977948,759,736,719,686.817022052,652,914,801,838.817022052,659,635.182977948,660,0.403068554786,-0.00537845798763,0.0698163336632,0.999999937974,0.000192690585108,-0.000293967090132,2.25080573429e-05,1793255845511868416
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,784,759,736,719.333703712,686,652,914.666296288,801,839,659,635.666296288,660,0.401803431361,-0.00536506683121,0.0697897539961,0.999999918587,0.000215828537808,-0.000339845478269,2.73791556887e-05,1793255845611867136
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..258265cc0f31bd291f1665216f71d67b489a822d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1bba5af0eed78df531a7c80fa9317057f10df29f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5133ebfc7627cf4c9c7eb6fe64e2577477c560be875acdb33565592a3d60d4e
+size 26134829
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b49caac3f0f2ab86c9490a305d3181bc955e1632
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
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+7,0.116666667,BASELINE,783.174552042,759,736,719.087276021,686.087276021,652,915,801,838.087276021,659,635.087276021,660,0.400976851354,-0.00536794858641,0.0698246433464,0.999999939364,0.000212882226485,-0.000275364658715,1.12500940247e-05,1793255846485353984
+8,0.133333333,BASELINE,784.334026166,759,736,719.667013083,686.667013083,652,915,801,838.667013083,659,635.667013083,660,0.400977278168,-0.00536748312769,0.0698256083607,0.999999939104,0.000215521034082,-0.000274252936209,1.13007184855e-05,1793255846502020608
+9,0.150000000,BASELINE,784.754956655,759.245043345,736,719.754956655,686.754956655,652,914.754956655,801,839,659,635.754956655,660,0.400977888593,-0.00536697688483,0.0698262893709,0.99999993913,0.000216567365514,-0.00027333636978,1.12444795519e-05,1793255846518687232
+10,0.166666667,BASELINE,784.179229747,759.820770253,736,719.179229747,686.179229747,652,914.179229747,801,839,659,635.179229747,660,0.400978746799,-0.00536641560421,0.0698265871203,0.999999939548,0.000215464665961,-0.000272683164631,1.10440295248e-05,1793255846535354112
+11,0.183333333,BASELINE,784,759.59642174,736,719.40357826,686.40357826,652,914.40357826,801,839,659,635.40357826,660,0.400978849558,-0.00536696789943,0.0698263986263,0.999999939566,0.000215375364617,-0.000272685586608,1.11241754565e-05,1793255846552020736
+12,0.200000000,BASELINE,784,759.010412793,736,719.989587207,686.989587207,652,914.989587207,801,839,659,635.989587207,660,0.400978610829,-0.00536802356762,0.0698259903343,0.999999939403,0.000215744152598,-0.000272984373618,1.13311600015e-05,1793255846568687104
+13,0.216666667,BASELINE,784,759.568989383,736,719.431010617,687,652,914.431010617,801,839,659,635.431010617,660,0.400978522762,-0.00536872826876,0.0698260880509,0.999999940118,0.000212086178074,-0.000273235046707,1.12201104775e-05,1793255846585353472
+14,0.233333333,BASELINE,784,759.851743383,736,719.148256617,686.851743383,652,914.148256617,801,839,659,635.148256617,660,0.400978141589,-0.00536923406762,0.0698262384787,0.999999940605,0.000209487330168,-0.000273459025761,1.11882473749e-05,1793255846602020096
+15,0.250000000,BASELINE,784,759.272520841,736,719.727479159,686.272520841,652,914.727479159,801,839,659,635.727479159,660,0.400976900464,-0.00536918013562,0.0698265155233,0.999999940417,0.000210179002994,-0.000273607938385,1.14032950432e-05,1793255846618686720
+16,0.266666667,BASELINE,784,759,736,720,686.304939826,652.304939826,915,801,839,659,636,660,0.400976848425,-0.00536874425053,0.069826418513,0.999999940164,0.000211807231311,-0.000273276988142,1.13751292021e-05,1793255846635353600
+17,0.283333333,BASELINE,784,759,736,720,686.880834938,652.880834938,915,801,839,659,636,660,0.400977852953,-0.00536796897975,0.069825989135,0.999999939849,0.000214267639047,-0.000272519654159,1.1130855183e-05,1793255846652020480
+18,0.300000000,BASELINE,784,759.46432487,736,720,687,652.53567513,915,801,839,659,636,660,0.400978264254,-0.00536889935454,0.0698267364772,0.999999939807,0.000214574053578,-0.000272418733753,1.14847883649e-05,1793255846668687104
+19,0.316666667,BASELINE,784,760,736,720,687,652,915,801,839,659,636,659.95076384,0.400978487748,-0.00537012460221,0.069827647442,0.999999939855,0.000214236567515,-0.000272489678158,1.19453715489e-05,1793255846685353984
+20,0.333333333,BASELINE,784,760,736,720,687,652,915,801,839,659,636,659.371878735,0.400978355949,-0.00536973468525,0.0698270158686,0.999999940095,0.000213018014226,-0.00027256708218,1.18742448766e-05,1793255846702020352
+21,0.350000000,BASELINE,784,760,736,719.793023775,687,652,915,801,839,659,636,659.206976225,0.400977792385,-0.0053689263391,0.0698263233947,0.99999993984,0.000213335565385,-0.000273263093487,1.16697362045e-05,1793255846718686720
+22,0.366666667,BASELINE,784,760,736,719.21422303,687,652,915,801,839,659,636,659.78577697,0.400976453172,-0.00536736630169,0.0698255215154,0.999999938688,0.000216412666946,-0.000275070408057,1.1225612106e-05,1793255846735353344
+23,0.383333333,BASELINE,784,760,736,719,687,652,915,801,839,659,636,660,0.400976347659,-0.00536840303666,0.0698253239525,0.999999939038,0.00021452759116,-0.000275273991432,1.12301639386e-05,1793255846752020224
+24,0.400000000,BASELINE,784,760,736,719,687,652,915,801,839,659,636,660,0.400976967057,-0.00537096561515,0.0698254814813,0.999999940256,0.000209726778091,-0.000274535234755,1.14983542849e-05,1793255846768686848
+25,0.416666667,BASELINE,784,759.475955759,736,719,687,652,915,801,838.475955759,659,636,660,0.400977909526,-0.00537020726696,0.0698265785795,0.999999940614,0.000211017881805,-0.000272237041834,1.14459462193e-05,1793255846785353472
+26,0.433333333,BASELINE,784,759,736,719,687,652,915,801,838.110898333,659,636,659.889101667,0.400978596589,-0.00536916862446,0.0698275410306,0.999999940766,0.000212753993375,-0.000270324070188,1.13783977733e-05,1793255846802020096
+27,0.450000000,BASELINE,784,759,736,719,687,652,915,801,838.693002405,659,636,659.306997595,0.400978030978,-0.00536866035459,0.0698274443604,0.999999940521,0.000213223307604,-0.000270856203177,1.14126941936e-05,1793255846818687488
+28,0.466666667,BASELINE,784,759,736,719.270588894,687,652,915,801,839,659,636,659.270588894,0.400977594901,-0.00536866527361,0.0698271805833,0.999999940246,0.000213405166624,-0.000271727335344,1.14454661022e-05,1793255846835354624
+29,0.483333333,BASELINE,784,759,736,719.843134076,687,652,915,801,839,659,636,659.843134076,0.400977303376,-0.0053692428718,0.069826730328,0.999999939935,0.000213266247824,-0.000272976764353,1.14765367713e-05,1793255846852021504
+30,0.500000000,BASELINE,784,759,736,720,687,652,914.574200785,801,838.574200785,659,636,660,0.400977192989,-0.00537074585935,0.0698266446318,0.999999940413,0.000211314605323,-0.000272729445627,1.1792136976e-05,1793255846868687872
+31,0.516666667,BASELINE,784,759,736,720,686.987862133,652,914.012137867,801,838.012137867,659,636,660,0.400977140766,-0.00537253194096,0.0698266973716,0.999999941149,0.000208773388337,-0.000271968025975,1.22018220697e-05,1793255846885353728
+32,0.533333333,BASELINE,784,759,736,720,686.408323615,652,914.591676385,801,838.591676385,659,636,660,0.400976612109,-0.00537122704283,0.0698267903762,0.999999940319,0.000210649584286,-0.000273578070967,1.1990308074e-05,1793255846902020352
+33,0.550000000,BASELINE,784,759,736,720,686.171450867,652,915,801,839,659,636,660,0.400976409238,-0.00537024175431,0.0698268826496,0.9999999398,0.000212030037975,-0.000274416360592,1.17963165001e-05,1793255846918686976
+34,0.566666667,BASELINE,784,759,736,720,686.75178801,652,915,801,839,659,636,660,0.400976983325,-0.00537001869007,0.0698269731793,0.999999940034,0.000212228215633,-0.000273414121668,1.16441134747e-05,1793255846935353600
+35,0.583333333,BASELINE,784,759.327600662,736,720,687,652,915,801,839,659,636,660,0.400976858499,-0.00536897852823,0.0698265633645,0.99999993966,0.00021425775924,-0.000273205309975,1.14763656316e-05,1793255846952020480
+36,0.600000000,BASELINE,784,759.900032021,736,720,687,652,915,801,839,659,636,660,0.400976211346,-0.00536732771262,0.0698257796197,0.999999938824,0.000217655964932,-0.000273589461998,1.12970004318e-05,1793255846968687872
+37,0.616666667,BASELINE,784,760,736,720,687,652,915,801,839,659,636,660,0.400976037678,-0.00536844164358,0.0698260366192,0.999999939025,0.000215983654133,-0.000274175534076,1.13809916382e-05,1793255846985354752
+38,0.633333333,BASELINE,784,760,736,720,687,652,915,801,839,659,636,660,0.400976141595,-0.00536980099774,0.0698264888486,0.999999939404,0.000213736684253,-0.000274547518381,1.15036055937e-05,1793255847002021632
+39,0.650000000,BASELINE,784,760,736,720,687,652,915,801,839,659,636,660,0.400977471801,-0.00536881306628,0.0698267684019,0.999999939532,0.000214933609697,-0.000273144265543,1.15080104927e-05,1793255847018687488
+40,0.666666667,BASELINE,784,759.765188213,736,720,687,652,915,801,839,659,636,660,0.40097859549,-0.00536864098327,0.0698272188655,0.999999939828,0.000215201356753,-0.000271841117799,1.16396875609e-05,1793255847035353856
+41,0.683333333,BASELINE,784,759.191173574,736,720,687,652,915,801,839,659,636,660,0.400979420847,-0.00536964745328,0.0698279162216,0.999999940369,0.000214126837395,-0.000270682579291,1.19552186137e-05,1793255847052020480
+42,0.700000000,BASELINE,784.383220753,759,736,719.616779247,687,652,915,801,839,659,636,660,0.400978648464,-0.00536968805231,0.0698276688904,0.99999994021,0.000213780073452,-0.000271545876831,1.1880586185e-05,1793255847068687360
+43,0.716666667,BASELINE,784.957804662,759,736,719.042195338,687,652,915,801,839,659,636,660,0.400977078242,-0.00536924633892,0.0698269498249,0.999999939699,0.000213796717766,-0.000273418788116,1.16111237056e-05,1793255847085353984
+44,0.733333333,BASELINE,783.903635931,759,736,720.096364069,687,652,915,801,839,659,636,660,0.400977152897,-0.00536733524999,0.0698269848356,0.999999939225,0.000215999620271,-0.000273436880491,1.12192146779e-05,1793255847102021120
+45,0.750000000,BASELINE,783.136933898,759,736,720.726132205,687,652,914.863066102,801,839,659,636,660,0.400977467938,-0.00536646709956,0.0698271893735,0.999999939176,0.00021690789137,-0.000272905227272,1.09965731418e-05,1793255847118688000
+46,0.766666667,BASELINE,783.716387442,759,736,719.567225116,687,652,914.283612558,801,839,659,636,660,0.400978138519,-0.00536934568903,0.0698277486207,0.999999940496,0.000213072430406,-0.000271072071273,1.13523035471e-05,1793255847135354624
+47,0.783333333,BASELINE,784,759.293167722,736,719.293167722,687,652,914.293167722,801,839,659,636,660,0.400978112965,-0.00537051184396,0.0698277313915,0.999999940808,0.000211722899024,-0.000270973599008,1.14275397308e-05,1793255847152020992
+48,0.800000000,BASELINE,784,759.867385302,736,719.867385302,687,652,914.867385302,801,839,659,636,660,0.400977420052,-0.00537003634686,0.0698271615144,0.999999940166,0.000212756542785,-0.000272538108442,1.12338757483e-05,1793255847168687104
+49,0.816666667,BASELINE,784,759.547400582,736,720,687,652,915,801,839,659.452599418,636,659.547400582,0.400977266352,-0.00536966606147,0.0698269799577,0.999999939941,0.000213296344896,-0.000272936194563,1.13130765433e-05,1793255847185353472
+50,0.833333333,BASELINE,784,759.04045963,736,719.95954037,687,652,915,801,839,659.95954037,636,659.04045963,0.400977338109,-0.00536937100787,0.0698269746344,0.999999939874,0.000213617484299,-0.000272924107456,1.14856081525e-05,1793255847202020096
+51,0.850000000,BASELINE,784,759.619583974,736,719.380416026,687,652,915,801,839,659.380416026,636,659.619583974,0.400978255686,-0.00536965691284,0.0698277630635,0.999999940222,0.000213001869428,-0.000272114630405,1.18097647029e-05,1793255847218686976
+52,0.866666667,BASELINE,784,760,736,719.1976194,687,652,915,801,838.8023806,659,636,660,0.400979062599,-0.00536977743366,0.0698283725989,0.999999940545,0.000212549954971,-0.000271279110186,1.18060837739e-05,1793255847235353856
+53,0.883333333,BASELINE,784,760,736,719.773570116,687,652,915,801,838.226429884,659,636,660,0.400979657652,-0.00536958133573,0.0698286396525,0.999999940822,0.000212411435859,-0.000270393731821,1.11747762602e-05,1793255847252020736
+54,0.900000000,BASELINE,784,759.648651183,735.648651183,720,687,652,914.648651183,801,838,659,636,660,0.400978781374,-0.00536974706002,0.0698282153583,0.999999940588,0.000212831749037,-0.000270929473901,1.11229761121e-05,1793255847268687616
+55,0.916666667,BASELINE,784,759.069688281,735.069688281,720,687,652,914.069688281,801,838,659,636,660,0.400976951924,-0.0053701471834,0.0698273431888,0.999999940022,0.000213614090192,-0.000272385859584,1.14465978821e-05,1793255847285354240
+56,0.933333333,BASELINE,784,759,735.516247388,719.483752612,687,652,914.516247388,801,838,659,636,659.483752612,0.400976705065,-0.00537074757877,0.0698274485187,0.999999940222,0.000212258422302,-0.000272701354825,1.16593636598e-05,1793255847302020608
+57,0.950000000,BASELINE,784,759,736,719,686.898416384,652,915,801,838.101583616,659,636,659.101583616,0.400976722372,-0.00537123197807,0.0698275726213,0.999999940524,0.000210740523138,-0.000272768576014,1.17429300669e-05,1793255847318687232
+58,0.966666667,BASELINE,784,759,736,719,686.320367229,652,915,801,838.679632771,659,636,659.679632771,0.400976962978,-0.00537104377251,0.0698271573929,0.999999940819,0.000209833922753,-0.000272403548235,1.12916525214e-05,1793255847335353600
+59,0.983333333,BASELINE,784,759.256102037,736,719.256102037,686.256102037,652,915,801,839,659,636,660,0.400977692488,-0.00537061675415,0.0698276161146,0.999999941159,0.00020994350209,-0.000271072542985,1.11616897712e-05,1793255847352020480
+60,1.000000000,BASELINE,784,759.830607157,736,719.830607157,686.830607157,652,915,801,839,659,636,660,0.400979029835,-0.00536989282782,0.0698291613893,0.99999994155,0.000211316463511,-0.000268540570253,1.14312068807e-05,1793255847368687104
+61,1.016666667,BASELINE,784,759.59593514,736,720,687,652,915,801,839,659,636,660,0.400978459729,-0.00536990334154,0.0698289159812,0.99999994128,0.000211381227238,-0.000269493910486,1.14099127135e-05,1793255847385353984
+62,1.033333333,BASELINE,784,759.022915437,736,720,687,652,915,801,839,659,636,660,0.400977092044,-0.00537022095255,0.0698279218207,0.999999940731,0.000210898983808,-0.000271904592409,1.12670193053e-05,1793255847402021120
+63,1.050000000,BASELINE,784,759,736,720,687,652,914.429784347,801.570215653,839,659,636,660,0.400977015839,-0.00537052625743,0.0698278634772,0.999999940302,0.000212700386252,-0.000272067741982,1.1543561126e-05,1793255847418688000
+64,1.066666667,BASELINE,784,759.160002276,736,720,687,652,914.160002276,802,839,659.160002276,636,660,0.400977135543,-0.00537024968002,0.0698278410119,0.999999939954,0.000214338700876,-0.000272057981616,1.16019176369e-05,1793255847435354368
+65,1.083333333,BASELINE,784,759.738841059,736,720,687,652,914.738841059,802,839,659.738841059,636,660,0.400977627247,-0.00536845125651,0.0698278104194,0.999999939813,0.000215301084163,-0.00027184067624,1.1043395556e-05,1793255847452020480
+66,1.100000000,BASELINE,784,759.679668135,736,720,687,652,914.679668135,801.679668135,839,659.679668135,636,660,0.400977621713,-0.00536868395601,0.0698273413785,0.999999939907,0.000214549454043,-0.000272091935731,1.10050529919e-05,1793255847468686848
+67,1.116666667,BASELINE,784,759.095997178,736,720,687,652,914.095997178,801.095997178,839,659.095997178,636,660,0.400977207407,-0.00537058640547,0.0698265118972,0.99999994019,0.000212388764129,-0.000272728394022,1.13943407271e-05,1793255847485353472
+68,1.133333333,BASELINE,784,759.483971465,736,719.516028535,686.516028535,652,914.483971465,801,839,659,636,660,0.400976952306,-0.0053703336218,0.0698263126051,0.999999939795,0.000213396636982,-0.000273386784874,1.14452667856e-05,1793255847502019840
+69,1.150000000,BASELINE,784,759.936838894,736,719.063161106,686.063161106,652,915,801,839,659,636,660,0.400976892961,-0.00536966681856,0.0698264149131,0.999999939427,0.000214737877605,-0.000273683040083,1.1439402249e-05,1793255847518686720
+70,1.166666667,BASELINE,784,759.358059495,736,719.641940505,686.641940505,652,915,801,839,659,636,660,0.400978175842,-0.00536908354408,0.0698279666511,0.999999940381,0.000213708794916,-0.000270987740718,1.15136622682e-05,1793255847535353600
+71,1.183333333,BASELINE,784,759,736,719.779699697,687,652,915,801,839,659,636,660,0.400978357591,-0.0053688535817,0.0698284285772,0.999999940716,0.000213376881111,-0.000270010905609,1.1517952954e-05,1793255847552020480
+72,1.200000000,BASELINE,784,759,736,719.2020205,687,652,915,801,839,659,636,660,0.400976753046,-0.00536919677453,0.0698271225723,0.999999940056,0.000214175939014,-0.000271821823192,1.14087369394e-05,1793255847568687616
+73,1.216666667,BASELINE,784,759.373228816,736,719,687,652,915,801,839,659,636,659.626771184,0.40097840817,-0.00536939453621,0.0698282041771,0.99999994068,0.000213637101559,-0.000269944072009,1.13555039486e-05,1793255847585354240
+74,1.233333333,BASELINE,784,759.947171364,736,719,687,652,915,801,839,659,636,659.052828636,0.400981816269,-0.0053695140884,0.0698305697826,0.999999941983,0.000212378775208,-0.000266082640885,1.13323773258e-05,1793255847602020608
+75,1.250000000,BASELINE,784,759.46513938,736,719.53486062,687,652,915,801,839,659,636,659.53486062,0.400979981687,-0.00537113607142,0.0698289767608,0.999999941574,0.00021136837026,-0.00026840448167,1.15749161902e-05,1793255847618686976
+76,1.266666667,BASELINE,784,759,736,720,687,652,915,801,839,659,636,660,0.400978238843,-0.0053721101718,0.0698275194784,0.999999941052,0.000210971604812,-0.000270642155501,1.17824172127e-05,1793255847635353600
+77,1.283333333,BASELINE,784,759,736,720,687,652,915,801,839,659,636,660,0.400978834853,-0.00537008127764,0.0698280776585,0.999999940785,0.000212783405692,-0.000270211546406,1.17573548872e-05,1793255847652020224
+78,1.300000000,BASELINE,784,759,736,720,687,652,915,801,839,659,636,659.71984886,0.400978861682,-0.00536956831894,0.0698281503852,0.999999940673,0.000213346151706,-0.000270187989214,1.16878383599e-05,1793255847668687104
+79,1.316666667,BASELINE,784,759,736,720,687,652,915,801,839,659,636,659.144554205,0.400978288869,-0.00537065242159,0.0698277116792,0.999999940725,0.000212592999187,-0.000270593267458,1.15714886523e-05,1793255847685354496
+80,1.333333333,BASELINE,784,759,736,720,687,652,915,801,839,659,636,659.430832946,0.400976953231,-0.00537151081619,0.0698269091106,0.999999940709,0.000210886045848,-0.000271983543307,1.15600013437e-05,1793255847702021376
+81,1.350000000,BASELINE,784,759.006413182,736,720,687,652,915,801,839,659,636,660,0.400975408896,-0.00537227143226,0.0698260241255,0.999999940674,0.000208893002018,-0.000273644332854,1.15807909041e-05,1793255847718688256
+82,1.366666667,BASELINE,784,759.596743389,736,720,687,652,915,801,839,659,636,660,0.400978171605,-0.00537102602986,0.069828753263,0.99999994148,0.000209995655301,-0.000269837927858,1.1336226116e-05,1793255847735354368
+83,1.383333333,BASELINE,784,760,736,720,687,652,915,801,839,659,636,660,0.40097982057,-0.0053700086036,0.0698302903916,0.999999941777,0.000211311794564,-0.000267707330203,1.12700718706e-05,1793255847752020480
+84,1.400000000,BASELINE,784,760,736,720,687,652,915,801,839,659,636,660,0.400979068745,-0.00536948260353,0.0698292580206,0.999999940998,0.000213088125426,-0.000269189110004,1.15885001828e-05,1793255847768686848
+85,1.416666667,BASELINE,784,760,736,719.660606222,687,652,914.660606222,801,839,659.339393778,636,660,0.400978249154,-0.00536901811188,0.0698283846193,0.999999940542,0.000213864126107,-0.000270269819894,1.15297968907e-05,1793255847785353472
+86,1.433333333,BASELINE,784,760,736,719.087334549,687,652,914.087334549,801,839,659.912665451,636,660,0.400977382866,-0.00536859600601,0.0698276207649,0.999999940309,0.000213950794315,-0.000271074150481,1.12112103668e-05,1793255847802020352
+87,1.450000000,BASELINE,784,760,736,719,687,652.501196175,914.501196175,801.501196175,839,659.498803825,636,659.498803825,0.400977283949,-0.00536783548352,0.0698275537347,0.999999939801,0.000216074829494,-0.000271257228274,1.13912642488e-05,1793255847818687488
+88,1.466666667,BASELINE,784,759.909428306,736,719.090571694,687,652.909428306,915,801.909428306,839,659,636,659.090571694,0.400977319434,-0.00536737995645,0.0698275514349,0.999999939464,0.000217563844716,-0.000271297960442,1.16079444867e-05,1793255847835354880
+89,1.483333333,BASELINE,784,759.330289065,736,719.669710935,687,652.330289065,915,801.330289065,839,659,636,659.669710935,0.400977335976,-0.00536889774261,0.0698272227518,0.999999940342,0.000213652211968,-0.000271173134011,1.15387758301e-05,1793255847852021504
+90,1.500000000,BASELINE,784,759,735.753534628,720,687,652,915,801,839,659,636,660,0.400977194646,-0.0053702269286,0.0698270781623,0.999999940858,0.000211129930511,-0.000271245725277,1.15517149087e-05,1793255847868687872
+91,1.516666667,BASELINE,784,759,735.179945496,720,687,652,915,801,839,659,636,660,0.400976843778,-0.00537130579288,0.069827177913,0.999999940909,0.000210451680505,-0.000271580341275,1.16736323495e-05,1793255847885353984
+92,1.533333333,BASELINE,784,759,735.404204945,720,687,652,915,801,839,659,636,660,0.400977825042,-0.0053703774968,0.0698281421071,0.999999940942,0.000212182684599,-0.00027010744482,1.17231426277e-05,1793255847902020352
+93,1.550000000,BASELINE,784,759,735.993183306,720,687,652,915,801,839,659,636,660,0.400979415261,-0.00536853167151,0.0698295014625,0.999999940955,0.000215015026246,-0.000267808283759,1.1739553572e-05,1793255847918686976
+94,1.566666667,BASELINE,784,759,736,720,687,652,915,801,838.42770402,659,635.42770402,660,0.400980488219,-0.00536910541341,0.0698301822015,0.999999940987,0.000216430053694,-0.000266538676083,1.18650551508e-05,1793255847935353600
+95,1.583333333,BASELINE,784,759,736,720,687,652,915,801,838.150484255,659,635.150484255,660,0.400980973695,-0.00536914638543,0.0698305338341,0.999999940886,0.000217608114076,-0.00026595724519,1.18764935124e-05,1793255847952020480
+96,1.600000000,BASELINE,784,759,736,720,687,652,915,801,838.726385968,659,635.726385968,660,0.400979815489,-0.00536760112997,0.0698299775501,0.999999940414,0.000218163187251,-0.000267287202486,1.15618652283e-05,1793255847968688384
+97,1.616666667,BASELINE,784,759.302857521,736,720,687,652,915,801,839,659,636,660,0.400978515125,-0.00536787299629,0.0698292226638,0.999999940379,0.000216422363656,-0.000268831884027,1.15120570914e-05,1793255847985355264
+98,1.633333333,BASELINE,784,759.879844824,736,720,687,652,915,801,839,659,636,660,0.40097708609,-0.00536978962027,0.0698282880138,0.999999940727,0.000212603421965,-0.000270570921928,1.17019494416e-05,1793255848002021888
+99,1.650000000,BASELINE,784,759.534884268,736,719.534884268,687,652,915,801,839,659,635.534884268,660,0.400978447087,-0.00537070732508,0.0698287939658,0.999999941264,0.000211682091772,-0.000269309202808,1.16655789812e-05,1793255848018688000
+100,1.666666667,BASELINE,784,759.051856719,736,719,687,652,915,801,839,659,635.051856719,660,0.400980297602,-0.00537124370773,0.0698295693272,0.999999941763,0.000211620080301,-0.000267500613886,1.15714784251e-05,1793255848035353856
+101,1.683333333,BASELINE,784,759.631386733,736,719,687,652,915,801,839,659,635.631386733,660,0.400979662106,-0.00537057338416,0.0698292305101,0.999999941391,0.000212547077101,-0.00026815842761,1.14955021036e-05,1793255848052020224
+102,1.700000000,BASELINE,784,759.789945897,735.789945897,719.210054103,687,652,914.789945897,801,839,659,636,660,0.400978775884,-0.00537002396722,0.0698288514939,0.999999941085,0.000212634676332,-0.000269231251776,1.14843435707e-05,1793255848068686848
+103,1.716666667,BASELINE,784,759.212786204,735.212786204,719.787213796,687,652,914.212786204,801,839,659,636,660,0.400977451476,-0.00536968585544,0.0698284022226,0.99999994089,0.000211255284179,-0.000271029377839,1.15864652539e-05,1793255848085353472
+104,1.733333333,BASELINE,784,759,735.363452057,719.636547943,687,652,914.363452057,801,839,659,636,660,0.400977950214,-0.00536974206128,0.0698288645942,0.999999941123,0.000211097016148,-0.000270293907267,1.15685937662e-05,1793255848102020352
+105,1.750000000,BASELINE,784,759,735.939152276,719.060847724,687,652,914.939152276,801,839,659,636,660,0.400979513631,-0.00537002854006,0.0698298593456,0.999999941603,0.000211651858135,-0.000268078871075,1.14806488644e-05,1793255848118687232
+106,1.766666667,BASELINE,784,759.526318726,736,719,687,652,915,801,839,659,636,660,0.400977356022,-0.00536978694241,0.0698283580327,0.999999940903,0.000212060796386,-0.000270360648646,1.13944817227e-05,1793255848135353600
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,735,720,687,652,915,801,839,659,636,660,0.400978185524,-0.0053705595478,0.0698292641546,0.999999941316,0.000211066903069,-0.000269587082851,1.18608892095e-05,1793255848177545728
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,759.576203313,735.576203313,719.423796687,687,652,915,801,839,659,636,660,0.400977635125,-0.00536889379382,0.0698287495147,0.999999940053,0.000215347937024,-0.000270894162086,1.1681878127e-05,1793255848194212096
+109,1.816666667,POSE1_TO_POSE2_PRESS,784.151340681,760,736,719.151340681,687,652,915,801,839,659,636,660,0.400977574216,-0.00536750723447,0.0698285135888,0.999999939302,0.000218309419475,-0.000271302972646,1.14555115458e-05,1793255848210878976
+110,1.833333333,POSE1_TO_POSE2_PRESS,784.72351411,760,736,719.72351411,687,652,915,801,839,659,636,660,0.40097887443,-0.00536689703072,0.0698290526822,0.999999940025,0.00021760162853,-0.000269213969507,1.1097463579e-05,1793255848227546368
+111,1.850000000,POSE1_TO_POSE2_PRESS,784.694101268,760,736,720,687,652,915,801,839,659.305898732,636,660,0.400979518994,-0.00536779648806,0.0698294261194,0.999999940814,0.000215502296231,-0.000267973685022,1.09542180607e-05,1793255848244213248
+112,1.866666667,POSE1_TO_POSE2_PRESS,784.10216859,760,736,720,687,652,915,801,839,659.89783141,636,660,0.400979550485,-0.00537010757049,0.0698296446579,0.99999994166,0.000212101788061,-0.000267527004291,1.10118259349e-05,1793255848260879616
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,759.521296633,736,720,687,652,915,801,839,660,636,660,0.400978937965,-0.00536931886927,0.0698295676834,0.99999994105,0.000213702314332,-0.000268518017958,1.13513487171e-05,1793255848277546240
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,915,801,839,659.94298142,636,660,0.400978326965,-0.00536802064142,0.0698294644603,0.999999940215,0.000216066012189,-0.000269720045847,1.17019014591e-05,1793255848294212864
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,759,736,720,687,652,915,801,839,659.366936348,636,660,0.400978952707,-0.00536797051391,0.0698296834541,0.99999994015,0.000215880181436,-0.000270112838485,1.16175272379e-05,1793255848310879232
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,759.213247555,736,720,687,652,915,801,839,659,636,659.786752445,0.400982320943,-0.00536836691527,0.0698311586852,0.999999940707,0.000215173762868,-0.000268611306028,1.15641034599e-05,1793255848327545856
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,759.800694066,736,720,687,652,915,801,839,659,636,659.199305934,0.400990501607,-0.00536954686906,0.069834838315,0.999999942339,0.000213553835997,-0.000263785681627,1.15649903881e-05,1793255848344212224
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,760,736,720,687,652,915,801,839,659,636,659.384197528,0.401017712796,-0.00537104702203,0.06984563285,0.9999999472,0.000212905172172,-0.000245210641487,1.19911878013e-05,1793255848360878848
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,760,736,720,687,652,915,801,839,659,636,659.96567633,0.401054695955,-0.00537271159393,0.0698600808121,0.999999953181,0.000212755241153,-0.000219575424508,1.26357775418e-05,1793255848377545472
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,760,736,720,687,652,915,801,839,659,636,660,0.401110171331,-0.0053739829789,0.0698765394335,0.999999957988,0.000211454393202,-0.000197835634052,1.31290909531e-05,1793255848394212096
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,760,736,720,687,652,915,801,839,659.116684168,636,660,0.401169965302,-0.0053751902788,0.0698919082878,0.999999961892,0.000210651334381,-0.000177932245333,1.34627506507e-05,1793255848410878976
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,760,736,720,687,652,915,801,839,659.688976284,636,660,0.401242092273,-0.00537624365868,0.0699025295203,0.999999963937,0.000212073862916,-0.000164245159046,1.32100764575e-05,1793255848427546112
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,760,736,720,687,652,915,801.271446714,838.728553286,659.728553286,636,660,0.40132350034,-0.00537757045579,0.0699098696067,0.999999965808,0.000211480899752,-0.000153351381945,1.20008263825e-05,1793255848444212992
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,760,736,720,687,652,915,801.866033755,838.133966245,659.133966245,636,660,0.401415956967,-0.00537922273896,0.0699133036935,0.999999967593,0.000208488619781,-0.000145782865481,9.6528325937e-06,1793255848460879616
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,759.55250023,736,719.55250023,687,652,915,801.55250023,838.44749977,659,636,660,0.40151691932,-0.00538127470737,0.0699108031668,0.999999967388,0.000206130910969,-0.000150604003704,7.31147883054e-06,1793255848477546240
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,636,660,0.401621994323,-0.005383372668,0.0699069116475,0.999999966654,0.000203943131797,-0.000158353207396,4.92506904283e-06,1793255848494212352
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,636,660,0.401763072563,-0.00538392730784,0.0699103800391,0.99999996827,0.000201433995866,-0.000151266599472,1.50642103246e-06,1793255848510878976
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,636,660,0.401914286747,-0.00538596255568,0.0699140047403,0.999999970092,0.000197473334471,-0.000144279721824,-2.0058984801e-06,1793255848527545600
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,636,660,0.402088888216,-0.00539141410401,0.0699179901043,0.999999972446,0.000190163476823,-0.000137522959149,-5.73435170761e-06,1793255848544211968
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+131,2.183333333,POSE1_TO_POSE2_PRESS,784,759,736,719.929443187,687,652,915,801,839,659,636,659.070556813,0.402483327712,-0.00539745134658,0.0699245067366,0.999999976034,0.000176966062897,-0.000128084818195,-1.44786126988e-05,1793255848577545984
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,759.505222589,736,720,687,652.505222589,915,801,838.494777411,659,635.494777411,659.505222589,0.402718356093,-0.00540108338343,0.0699267969666,0.999999977615,0.000171245345196,-0.00012277145055,-1.92672400359e-05,1793255848594212864
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,760,736,720,687,652.919972469,915,801.080027531,838.080027531,659,635.080027531,660,0.402963803629,-0.00540524496202,0.0699299423866,0.999999979421,0.000164864352129,-0.000115740573166,-2.41118249601e-05,1793255848610879488
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,736,720,687,652.347184559,915,801.652815441,838.652815441,659,635.652815441,660,0.403245991367,-0.00541162825862,0.0699390241082,0.999999982839,0.000153820612358,-9.90730475175e-05,-2.90826771622e-05,1793255848627545600
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,759.766343381,736,719.766343381,687,652,915,801.766343381,839,659,636,660,0.403548012594,-0.00541744008224,0.069948502118,0.99999998576,0.000143177084124,-8.24684783549e-05,-3.43323420955e-05,1793255848644211712
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,759.173108938,736,719.173108938,687,652,915,801.173108938,839,659,636,660,0.403880555872,-0.00542237245679,0.0699585899812,0.99999998816,0.000133149448385,-6.59607949379e-05,-4.00110760087e-05,1793255848660878336
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,759.410661644,736,719,687,652,915,801,839,659,636,659.589338356,0.404227797523,-0.00542908481567,0.0699605218671,0.999999995589,5.00566047776e-05,-6.49515767122e-05,-4.58076265909e-05,1793255848677545216
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,759.990532712,736,719,687,652,915,801,839,659,636,659.009467288,0.404581095498,-0.00543653060092,0.0699590931558,0.999999994199,-6.31420986889e-05,-7.03283609092e-05,-5.16527218297e-05,1793255848694212096
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,760,736,719,686.43489647,652,915,801,839,658.43489647,636,659.56510353,0.404983351324,-0.0054426163823,0.0699654246835,0.999999994969,-5.80543670567e-05,-5.91896308462e-05,-5.64609693134e-05,1793255848710878976
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,759.857204262,736,719,686,652,915,801,839,658.285591475,636,660,0.405392085692,-0.00544790717788,0.0699709094409,0.999999996864,-2.9623637448e-05,-4.94032012599e-05,-5.43442619297e-05,1793255848727545856
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,759.269513055,736,719,686,652,915,801,839,659.46097389,636,660,0.405818472899,-0.00545079143624,0.0699733547003,0.99999999639,6.54179586544e-05,-4.46840506935e-05,-3.0705728778e-05,1793255848744212224
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,759,736.313824696,719.313824696,686.313824696,652,915,801,839,659.686175304,636,660,0.406267181401,-0.00546611302877,0.0699647776615,0.999999994861,7.91458060121e-05,-5.92128082967e-05,-2.25189714727e-05,1793255848760878592
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,759,736.893474911,719.893474911,686.893474911,652,915,801,839,659.106525089,636,660,0.406734797226,-0.0054919696779,0.0699468641743,0.999999995282,2.39967725411e-05,-9.00455251962e-05,-2.7420653702e-05,1793255848777545216
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,759,737,719.547234551,687,652.452765449,915.452765449,801,839,659,636,659.547234551,0.407248500323,-0.00550182109774,0.069934493174,0.999999994216,4.07994659418e-06,-0.00010324763161,-2.9864365472e-05,1793255848794212096
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,759,736.991970834,719.008029166,686.991970834,652.991970834,915.991970834,801,839,659,636,659.008029166,0.407773546629,-0.00550801543957,0.0699237200858,0.9999999932,-7.76057091324e-06,-0.000111944796599,-3.17589462589e-05,1793255848810878976
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,759,736.395895816,719.604104184,686.395895816,652.395895816,915.395895816,801,839,659,636,659.604104184,0.408369385367,-0.00551029388587,0.0699385812155,0.999999996066,-9.07637479607e-06,-8.14319326307e-05,-3.39674422265e-05,1793255848827545856
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,759.198680353,736,720,686,652,915,801,839,659,636,660,0.408970668875,-0.00551624989923,0.0699507715605,0.999999997699,-1.79062281512e-05,-5.47557629715e-05,-3.58113474782e-05,1793255848844212736
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,759.790292203,736,720,686,652,915,801,839,659,636,660,0.409582720508,-0.00552947906205,0.0699576798753,0.999999997817,-4.15966686286e-05,-3.5667451888e-05,-3.69341990678e-05,1793255848860879872
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,760,736,719.625984879,686.374015121,652,915,801,839,659,636,660,0.410217000964,-0.00553436256947,0.0699538642048,0.999999997313,-4.67307976772e-05,-4.16775522795e-05,-3.81198630914e-05,1793255848877546496
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,760,736,719.046593881,686.953406119,652,915,801,839,659,636,660,0.410863487495,-0.00553466338393,0.069944159874,0.999999996469,-4.16754482465e-05,-6.14694711431e-05,-3.93400180861e-05,1793255848894213120
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760,736,719,686.470027251,652,915,801.529972749,839,659,636,660,0.41156229496,-0.00554499156894,0.0699550891384,0.999999996251,-6.19816777689e-05,-4.55611945162e-05,-3.97613748656e-05,1793255848910879488
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,759.894172571,736,719,686.105827429,652,915,801.894172571,839,659,636,660,0.412277525276,-0.00555633994153,0.069971969785,0.999999995608,-8.24751915224e-05,-1.97502329163e-05,-3.98849200498e-05,1793255848927545856
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,759.320374095,736,719,686.679625905,652,915,801.320374095,839,659,636,660,0.413045144439,-0.00556832189565,0.0700071882997,0.999999994173,-9.39892440539e-05,3.60448999667e-05,-3.90004411867e-05,1793255848944212224
+154,2.566666667,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,636,659.739110277,0.413803523511,-0.00556652637797,0.0700280077429,0.999999992505,-9.39442150349e-05,6.84927015416e-05,-3.83872518423e-05,1793255848960878848
+155,2.583333333,POSE1_TO_POSE2_PRESS,784,759,736,719,687,652,915,801,839,659,636,659.148408842,0.414550221546,-0.00554731365003,0.0700306241648,0.99999999358,-7.92864217853e-05,7.14252686716e-05,-3.8117021429e-05,1793255848977545472
+156,2.600000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686.566721128,652,915,801,838.566721128,659,636,659.433278872,0.415292290696,-0.00551625566576,0.0699854882293,0.999999998549,-3.32949268435e-05,-8.0325316019e-06,-4.15857548732e-05,1793255848994212352
+157,2.616666667,POSE1_TO_POSE2_PRESS,783.988131851,759,736.011868149,718.988131851,686,652,915,801.011868149,838.011868149,658.988131851,636,660,0.416034722216,-0.00548216025187,0.0699254664292,0.999999992301,2.12910917993e-05,-0.000113150863658,-4.62765277416e-05,1793255849010879232
+158,2.633333333,POSE1_TO_POSE2_PRESS,783.413049398,759,736.586950602,718.413049398,686,652,915,801.586950602,838.586950602,658.413049398,636,660,0.416868060937,-0.00549253954568,0.0699194102071,0.999999990967,-1.52062435887e-05,-0.000124064615214,-4.9422681866e-05,1793255849027545856
+159,2.650000000,POSE1_TO_POSE2_PRESS,783.165321603,759.165321603,736.834678397,718.165321603,686,652,915.165321603,802,839,658.165321603,635.834678397,660,0.417706193911,-0.00550373704223,0.0699240000533,0.999999990918,-4.3699837797e-05,-0.000116858626766,-5.09723404971e-05,1793255849044212480
+160,2.666666667,POSE1_TO_POSE2_PRESS,783.752075631,759.752075631,736.247924369,718.752075631,686,652,915.752075631,802,839,658.752075631,635.247924369,660,0.418556548189,-0.00551702027384,0.0699557285091,0.999999995471,-5.17905545712e-05,-6.34623892644e-05,-4.84522649087e-05,1793255849060878848
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.66342023,759.66342023,736,719,686,652,915.66342023,802,839,659,635.33657977,659.66342023,0.419450470006,-0.00552605668545,0.0699851668534,0.999999996968,-5.99578917366e-05,-1.6494780133e-05,-4.68614104049e-05,1793255849077545472
+162,2.700000000,POSE1_TO_POSE2_PRESS,783.080562378,759.080562378,736,719,686,652,915.080562378,802,839,659,635.919437622,659.080562378,0.4203762705,-0.00553198566466,0.0700129295034,0.999999996288,-6.81812922896e-05,2.57689483345e-05,-4.59504744405e-05,1793255849094212096
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.495361169,759,736.495361169,719,686,652,915,802,839,659,636,659.495361169,0.421306610659,-0.00553154418917,0.0700277297357,0.999999995856,-6.60507399908e-05,4.27579252101e-05,-4.57909675244e-05,1793255849110878720
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.929797371,759,737,719,686,652,915,802,839,658.929797371,635.929797371,659.929797371,0.422225480716,-0.00552885015773,0.0700317386212,0.999999996079,-6.21909743401e-05,4.26858140351e-05,-4.63943150598e-05,1793255849127545344
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.35473976,759,737,719,686,652,915,802,839,658.35473976,635.35473976,659.35473976,0.42305662812,-0.00551730489235,0.0699730937115,0.999999995698,-5.78381737311e-05,-5.09270392513e-05,-5.1616940765e-05,1793255849144212480
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,759,737,719,686,652,915,802,839,658,635,659.226665377,0.423896331687,-0.00550920777993,0.0699128027344,0.999999986845,-5.53057596716e-05,-0.000141669190884,-5.64092283933e-05,1793255849160879360
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,759,737,719,686,652,915,802,839,658,635,659.818290934,0.424749811901,-0.00550666263195,0.0698498613696,0.999999970674,-5.57043999253e-05,-0.000227789161341,-6.05086179415e-05,1793255849177545728
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.400477032,759,737,719,686,652,915,802,839,658,635,659.599522968,0.425707494591,-0.00551365053153,0.0698711796778,0.999999978047,-6.21618570006e-05,-0.000190757703438,-6.0449640808e-05,1793255849194212352
+169,2.816666667,POSE1_TO_POSE2_PRESS,783.978478741,759,737,719,686,652,915,802,839,658,635,659.021521259,0.426711368419,-0.0055248642696,0.0699298488741,0.99999999083,-7.13050844932e-05,-9.91352994792e-05,-5.85473296864e-05,1793255849210878720
+170,2.833333333,POSE1_TO_POSE2_PRESS,783.447265251,759,737,719,686,651.447265251,914.447265251,802,839,658.552734749,635.552734749,659.552734749,0.427723247907,-0.00552934726372,0.0699852128568,0.999999995652,-7.05719144376e-05,-2.92614494598e-05,-5.34822371976e-05,1793255849227545344
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,759,737,719,686,651,914,802,839,659,636,660,0.428725198949,-0.00553184377765,0.0700336986344,0.999999995624,-7.07486024524e-05,3.56130704054e-05,-4.97887554083e-05,1793255849244211968
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,759,737,719,686,651,914,802,839,659,636,660,0.429691050022,-0.00552825370431,0.0700583822197,0.999999992149,-7.54803042481e-05,8.58254539855e-05,-5.13629414258e-05,1793255849260878592
+173,2.883333333,POSE1_TO_POSE2_PRESS,783.302015832,759,737,718.697984168,686,651,914,802,839,658.697984168,635.697984168,660,0.430598315032,-0.00552467901579,0.0700377689127,0.999999994521,-7.16969594896e-05,5.45532685451e-05,-5.33077297003e-05,1793255849277545472
+174,2.900000000,POSE1_TO_POSE2_PRESS,783.881769667,759,737,718.118230333,686,651,914,802,839,658.118230333,635.118230333,660,0.431451703421,-0.00552111847556,0.0699754999456,0.999999995316,-6.00830574981e-05,-5.16532748215e-05,-5.55933285616e-05,1793255849294212352
+175,2.916666667,POSE1_TO_POSE2_PRESS,783.541111312,759,737.458888688,718.458888688,686,651,914,802,839,658,635.458888688,660,0.432320451914,-0.00552304717158,0.0699192624501,0.999999985604,-6.72862881531e-05,-0.000144444005126,-5.83200592127e-05,1793255849310879232
+176,2.933333333,POSE1_TO_POSE2_PRESS,783.035199809,759,737.964800191,719,686,651,914,802,839.035199809,658,635.964800191,660,0.433202043008,-0.00552637010858,0.0698716374762,0.99999997055,-7.83723681898e-05,-0.000221479953541,-6.08620013366e-05,1793255849327545856
+177,2.950000000,POSE1_TO_POSE2_PRESS,783.60947447,759,737.39052553,719,686,651,914,802,839.60947447,658,635.39052553,660,0.434220052574,-0.00552950989649,0.0699322479775,0.999999989413,-7.50991954806e-05,-0.00010986922932,-5.88433000278e-05,1793255849344212224
+178,2.966666667,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651,914,802,840,658,635,660,0.435209395867,-0.00553274081459,0.0699844801053,0.999999995434,-7.48271810979e-05,-1.74408573826e-05,-5.68176745812e-05,1793255849360878592
+179,2.983333333,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651,914,802,840,658,635,660,0.436137814356,-0.00553616541404,0.0700189055226,0.999999994639,-8.09335883325e-05,3.42189034631e-05,-5.47773339545e-05,1793255849377545472
+180,3.000000000,POSE1_TO_POSE2_PRESS,783.635766631,759,737.364233369,719,686,651,914,802,840,658,635,660,0.437048966912,-0.00553975536188,0.0700294508693,0.999999993646,-8.13769606983e-05,5.62354560032e-05,-5.40717611482e-05,1793255849394211840
+181,3.016666667,POSE1_TO_POSE2_PRESS,783.056087378,759,737.943912622,719,686,651,914,802,840,658,635,660,0.437949906525,-0.00554344311393,0.0700258710312,0.999999993611,-7.84706189638e-05,6.07178975646e-05,-5.41557104526e-05,1793255849410878464
+182,3.033333333,POSE1_TO_POSE2_PRESS,783.518032072,759,738,719,686,651,914,802,840,658.518032072,635.518032072,660.518032072,0.438756775336,-0.00554318448394,0.069970876574,0.999999994462,-8.60640357896e-05,-1.55307991784e-05,-5.85541078793e-05,1793255849427545344
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,759,737.906148229,719.093851771,686,650.906148229,914,802,840,658.906148229,635.906148229,660.906148229,0.439546794042,-0.00554191299118,0.06991046646,0.9999999885,-9.16378430729e-05,-0.00010322010831,-6.28269025348e-05,1793255849444212224
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,759,737.318242933,719.681757067,686,650.318242933,914,802,840,658.318242933,635.318242933,660.318242933,0.440301157314,-0.00553753497004,0.069850540119,0.999999973561,-8.0659207888e-05,-0.000205610504379,-6.40055751183e-05,1793255849460878848
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,759,737,719.73490315,686,650,914,802,840,658,635,660,0.441107520786,-0.00553578114565,0.0698374959974,0.999999968417,-7.51429376573e-05,-0.000231182821916,-6.38294106953e-05,1793255849477545472
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,759,737,719.156951414,686,650,914,802,840,658,635,660,0.441975252404,-0.00553712427564,0.0698797800793,0.999999981387,-7.60730959911e-05,-0.000166098035507,-6.20543314355e-05,1793255849494211840
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,759,737.422555395,719,685.577444605,649.577444605,913.577444605,802,840,658.422555395,635,660,0.442778425782,-0.00554216480386,0.0699053420631,0.999999985473,-8.50136120109e-05,-0.000134903774181,-6.0226278641e-05,1793255849510878464
+188,3.133333333,POSE1_TO_POSE2_PRESS,784,759,738,719,684.997391269,649,913,802,840,658.997391269,635,660,0.443557157766,-0.00554854844971,0.0699243993901,0.999999986789,-9.68524677269e-05,-0.000116749872751,-5.83961769506e-05,1793255849527545344
+189,3.150000000,POSE1_TO_POSE2_PRESS,784,759,738,719,684.424607729,649,913,802,840,658.424607729,635,660,0.444254198415,-0.00554721791073,0.0698843217838,0.999999976634,-8.94642184783e-05,-0.000187283323909,-6.04346734323e-05,1793255849544212224
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+191,3.183333333,POSE1_TO_POSE2_PRESS,784,759,738,719,684,648.276318178,913,801.276318178,840.723681822,658,635,660,0.445635240126,-0.00554264994327,0.0698017547456,0.999999947081,-9.28743205598e-05,-0.000304937660701,-6.50099287295e-05,1793255849577545216
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,784,759,736,719.324785662,686,652,915,801,838.675214338,659,635.324785662,660,0.400970567459,-0.00536760134375,0.0698204345333,0.99999993652,0.00021232351849,-0.000285953568017,1.04234647794e-05,1793255853098702080
+401,6.683333333,POSE2_TO_POSE3_RETREAT,784,759,736,719.922071349,686,652,915,801,838.077928651,659,635.922071349,660,0.400970931252,-0.00536706258284,0.0698201048421,0.999999936601,0.000211903125279,-0.000285981149982,1.04653343323e-05,1793255853115368704
+402,6.700000000,POSE2_TO_POSE3_RETREAT,784,759,736,719.498944222,686.501055778,652,914.498944222,801,838.501055778,659,636,660,0.400972660226,-0.00536845613467,0.0698211316754,0.999999937784,0.000209735509157,-0.000283433023621,1.04751293674e-05,1793255853132035072
+403,6.716666667,POSE2_TO_POSE3_RETREAT,784,759.077014784,736,719,686.922985216,652,914.077014784,801,839,659,636,660,0.400974081151,-0.00536982409029,0.0698221017409,0.999999938826,0.000207893875279,-0.000281104757178,1.04436395265e-05,1793255853148701696
+404,6.733333333,POSE2_TO_POSE3_RETREAT,784,759.65117029,736,719,686.34882971,652,914.65117029,801,839,659,636,660,0.400972191285,-0.00536915521488,0.0698213914573,0.999999937973,0.000209848830042,-0.000282690501836,1.01767170911e-05,1793255853165368320
+405,6.750000000,POSE2_TO_POSE3_RETREAT,784,759.768447075,736,719,686,652,915,801,839,659,636,660,0.400972158057,-0.0053686564736,0.0698221306154,0.999999938056,0.00021073115653,-0.000281740652756,1.01548722627e-05,1793255853182034944
+406,6.766666667,POSE2_TO_POSE3_RETREAT,784,759.178424055,736,719,686,652,915,801,839,659,636,660,0.400974999115,-0.00536842111905,0.0698251136731,0.999999939577,0.000209952933522,-0.000276865418263,1.05124352255e-05,1793255853198701824
+407,6.783333333,POSE2_TO_POSE3_RETREAT,784,759,736,719.401343616,686,652,915,801,839,659,635.598656384,660,0.400974383156,-0.00536869801038,0.0698245395849,0.999999939288,0.000209822025897,-0.000278006945129,1.05535192718e-05,1793255853215368448
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,784,759,736,720,686,652,915,801,839,659,635.554926569,660,0.400972293504,-0.00536883994983,0.0698229575142,0.999999938697,0.000208628049634,-0.000281018720017,1.03841516074e-05,1793255853248701696
+410,6.833333333,POSE2_TO_POSE3_RETREAT,784,759.135566756,736,719.864433244,686,652,915,801,839,659,636,659.864433244,0.400972285048,-0.00536899351029,0.0698234881626,0.999999939177,0.000207416915573,-0.000280205806662,1.04413833877e-05,1793255853265368320
+411,6.850000000,POSE2_TO_POSE3_RETREAT,784,759.723735585,736,719.276264415,686,652,915,801,839,659,636,659.276264415,0.400971863322,-0.00537097244469,0.0698236335913,0.999999939408,0.000206859040624,-0.000279776010254,1.09310539507e-05,1793255853282034944
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1fcdb35715e159555ae36294ddd7878dfcf26fe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+387,6.450000000,pose2_to_pose3_retreat,0.575691261882,0.000181819143602,1.06002042535,0.546262409906,0.00885605807398,1.05969213547
+388,6.466666667,pose2_to_pose3_retreat,0.575683443684,0.000181795294872,1.06002043126,0.546254591302,0.00885603273564,1.05969213836
+389,6.483333333,pose2_to_pose3_retreat,0.57567824723,0.000181780417567,1.06002053462,0.546249393257,0.00885601222336,1.05969223555
+390,6.500000000,pose2_to_pose3_retreat,0.575675162213,0.000181745808367,1.06002059842,0.546246308893,0.00885597980596,1.05969229862
+391,6.516666667,pose2_to_pose3_retreat,0.575673372452,0.000181719889467,1.060020636,0.546244519872,0.00885595641322,1.05969233644
+392,6.533333333,pose2_to_pose3_retreat,0.575672500467,0.000181707261582,1.0600206543,0.546243648248,0.0088559450161,1.05969235486
+393,6.550000000,pose2_to_pose3_retreat,0.575671743226,0.000181701455049,1.06002066231,0.546242891179,0.00885593980223,1.05969236308
+394,6.566666667,pose2_to_pose3_retreat,0.575670990305,0.000181722687688,1.06002062902,0.546242137689,0.00885595913191,1.05969233058
+395,6.583333333,pose2_to_pose3_retreat,0.575670407194,0.000181739131621,1.06002060324,0.546241554138,0.00885597410208,1.05969230541
+396,6.600000000,pose2_to_pose3_retreat,0.575669938969,0.000181752335701,1.06002058254,0.54624108556,0.00885598612276,1.0596922852
+397,6.616666667,pose2_to_pose3_retreat,0.575669491796,0.000181764946153,1.06002056276,0.546240638049,0.00885599760301,1.0596922659
+398,6.633333333,pose2_to_pose3_retreat,0.575669328229,0.000181769558788,1.06002055553,0.546240474359,0.00885600180224,1.05969225884
+399,6.650000000,pose2_to_pose3_retreat,0.575669121029,0.000181775401896,1.06002054637,0.546240267002,0.00885600712167,1.05969224989
+400,6.666666667,pose2_to_pose3_retreat,0.575668770825,0.000181779410899,1.06002053254,0.546239916746,0.00885601097864,1.05969223679
+401,6.683333333,pose2_to_pose3_retreat,0.575668331357,0.000181761845239,1.06002052155,0.546239478028,0.00885599604569,1.0596922281
+402,6.700000000,pose2_to_pose3_retreat,0.57566811668,0.000181753264521,1.06002051618,0.546239263717,0.00885598875103,1.05969222386
+403,6.716666667,pose2_to_pose3_retreat,0.575667930799,0.000181745834827,1.06002051154,0.546239078154,0.00885598243489,1.05969222019
+404,6.733333333,pose2_to_pose3_retreat,0.575667455421,0.000181726833813,1.06002049965,0.546238603587,0.00885596628172,1.05969221079
+405,6.750000000,pose2_to_pose3_retreat,0.575667305486,0.000181719503965,1.06002049013,0.546238453714,0.00885595904433,1.05969219815
+406,6.766666667,pose2_to_pose3_retreat,0.575667172475,0.000181712138151,1.06002047796,0.546238320633,0.00885595124025,1.05969218068
+407,6.783333333,pose2_to_pose3_retreat,0.575667164974,0.000181711722751,1.06002047727,0.546238313127,0.00885595080014,1.05969217969
+408,6.800000000,pose2_to_pose3_retreat,0.575667155654,0.000181711206683,1.06002047642,0.546238303803,0.00885595025336,1.05969217847
+409,6.816666667,pose2_to_pose3_retreat,0.575666929402,0.000181704393894,1.06002047144,0.546238077419,0.00885594267691,1.05969216522
+410,6.833333333,pose2_to_pose3_retreat,0.575666826126,0.00018172285051,1.0600205835,0.546237974265,0.00885596148532,1.05969227562
+411,6.850000000,pose2_to_pose3_retreat,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424533,1.05969228445
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d8bba75bc009fbc9bd006a2a3ca6a5c345b03a1b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1a1ea57b5500544eb995751f6f585318270b769bbd38a9e3e9ba29b692bf418
+size 25907202
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b18b54c2a044042b711c4445080d69f8a5ec9853
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,784,759,736,718,686,652,915,802,839,659,636,660,0.401032052142,-0.00550315264649,0.0798512976711,0.999999978148,0.000124659531955,-0.000161066734455,4.71402531106e-05,1793255854553759232
+1,0.016666667,BASELINE,784,759,736,718.575632456,686,652,915.575632456,801.424367544,838.424367544,658.424367544,635.424367544,660,0.40103011179,-0.00550240808879,0.0798509126701,0.999999977619,0.000127149113329,-0.000162386088336,4.71770921117e-05,1793255854570426112
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+18,0.300000000,BASELINE,783.434554071,759.565445929,736,719,686,652,916,802,839.565445929,659,635.565445929,660,0.401029122969,-0.00549855371452,0.0798515167514,0.999999976808,0.000133164503223,-0.000162766442173,4.64489554508e-05,1793255854853758976
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+21,0.350000000,BASELINE,784,759,735.179064932,718.820935068,685.820935068,652,915.179064932,801.179064932,839,659,635.820935068,660,0.401028818166,-0.00550215144899,0.079851344814,0.99999997708,0.000129758670013,-0.000163780966522,4.66817172819e-05,1793255854903759104
+22,0.366666667,BASELINE,784,759,735.754506632,718.245493368,685.245493368,652,915.754506632,801.754506632,839,659,635.245493368,660,0.40102895921,-0.0055017255731,0.0798513435527,0.999999977096,0.000129277807775,-0.000164165046524,4.63210768613e-05,1793255854920425728
+23,0.383333333,BASELINE,783.66125263,759,736,718.33874737,685.33874737,652,916,801.66125263,839,659,635.33874737,660,0.401028823903,-0.00550175409031,0.0798512570673,0.999999977087,0.000128960899483,-0.000164454153865,4.636291441e-05,1793255854937092352
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+27,0.450000000,BASELINE,783.663899198,759,736,718,686,651.336100802,915.663899198,801.336100802,839,659,635.336100802,660,0.401029737545,-0.00550107101311,0.0798522015352,0.999999977148,0.000130792248669,-0.000162510215591,4.6768592258e-05,1793255855003759104
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+30,0.500000000,BASELINE,783.599558313,759,735.400441687,719,685.400441687,652,915.599558313,801,839,658.599558313,636,660,0.401030455992,-0.00550030437272,0.0798529472646,0.99999997718,0.000131613997953,-0.000161593084218,4.69651795457e-05,1793255855053759232
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+43,0.716666667,BASELINE,784,759,736,719,686,652,916,802,839,659,636,660,0.401027574095,-0.00550022171646,0.0798514604981,0.999999976894,0.000130289328062,-0.000164587196265,4.63378394478e-05,1793255855270425344
+44,0.733333333,BASELINE,784,759,736,719,686,652,916,802,839,659,635.466834493,660,0.401028418695,-0.00550051175393,0.0798523836012,0.999999977124,0.000129790057072,-0.000163570552167,4.63813356912e-05,1793255855287092224
+45,0.750000000,BASELINE,784,759,736,718.889123432,686,652,916,801.889123432,839,659,635,660,0.401029255182,-0.00550077960755,0.0798532569953,0.999999977357,0.000129300832887,-0.000162514803095,4.64323054862e-05,1793255855303758848
+46,0.766666667,BASELINE,784,759,736,718.315481114,686,652,916,801.315481114,839,659,635,660,0.401029450083,-0.0055007632699,0.0798533321396,0.999999977537,0.000128614000478,-0.000161934928423,4.64991656642e-05,1793255855320425472
+47,0.783333333,BASELINE,784,759,736,718.258753805,686,652,915.741246195,801,839,659,635.258753805,660,0.401029557792,-0.00550038424655,0.0798533754262,0.999999977484,0.000129339086541,-0.000161679292566,4.65080048381e-05,1793255855337092096
+48,0.800000000,BASELINE,784,759,736,718.833712979,686,652,915.166287021,801,839,659,635.833712979,660,0.40102955895,-0.00549956200974,0.0798533797815,0.999999977144,0.00013178958173,-0.000161819886762,4.64459405107e-05,1793255855353758720
+49,0.816666667,BASELINE,784,759,736,718.578304074,686,652,915.421695926,801.421695926,839,659,636,660,0.401029410619,-0.00549967103765,0.0798533176067,0.999999976845,0.000133508102323,-0.000162191566487,4.66743745709e-05,1793255855370425344
+50,0.833333333,BASELINE,784,759,736,718.014533376,686,652,916,802,839,659,635.985466624,660,0.401029184762,-0.00550014837543,0.0798532126774,0.999999976576,0.000134827126632,-0.000162668640479,4.69997494554e-05,1793255855387092224
+51,0.850000000,BASELINE,784,759,736,718.590197882,686,652,916,802,839,659,635.409802118,660,0.401028314146,-0.0055002157579,0.0798525022035,0.999999976798,0.000132221124514,-0.000163584574645,4.65042116075e-05,1793255855403758848
+52,0.866666667,BASELINE,784,759.165536787,736,719,686,652,916,802,839,659,635.165536787,660,0.401027586398,-0.00550038287166,0.079852032103,0.999999976988,0.000130046798109,-0.000164244626284,4.62050771122e-05,1793255855420425472
+53,0.883333333,BASELINE,784,759.740071183,736,719,686,652,916,802,839,659,635.740071183,660,0.401027211642,-0.00550079639502,0.0798521559018,0.999999977119,0.000128939028348,-0.000164272459835,4.63912033738e-05,1793255855437092352
+54,0.900000000,BASELINE,784,759.676659648,736,719,686,652,916,802,839,659,636,660,0.401027525315,-0.00550055070425,0.0798524129839,0.999999977161,0.000129322235386,-0.000163731984509,4.63218161089e-05,1793255855453758976
+55,0.916666667,BASELINE,784,759.086173792,736,719,686,652,916,802,839,659,636,660,0.40102840777,-0.00549976036728,0.0798527801853,0.999999977129,0.00013093729537,-0.000162721969389,4.60413222121e-05,1793255855470425600
+56,0.933333333,BASELINE,784,759,736,718.504164865,686,652,915.504164865,802,839,659,635.504164865,660,0.401029008237,-0.00549994318043,0.0798526352604,0.999999977132,0.000130778266112,-0.000162839095845,4.60093241101e-05,1793255855487092480
+57,0.950000000,BASELINE,784,759,736,718.075597376,686,652,915.075597376,802,839,658.924402624,635.075597376,660,0.401029649019,-0.00550042976913,0.0798526289985,0.999999977207,0.000130179700735,-0.000162845295457,4.60520273143e-05,1793255855503759360
+58,0.966666667,BASELINE,784,759,736,718.650091724,686,652,915.650091724,802,839,658.349908276,635.650091724,660,0.401030873845,-0.00550182370551,0.0798541153348,0.999999977712,0.000128681040808,-0.000160848407059,4.63074940262e-05,1793255855520425984
+59,0.983333333,BASELINE,784,759,736,719,686,652,916,801.774929796,839,658.225070204,636,660,0.401030788472,-0.00550192889485,0.0798543722286,0.999999977787,0.000128230970839,-0.000160750926205,4.62874715774e-05,1793255855537092352
+60,1.000000000,BASELINE,784,759,736,719,686,652,916,801.199196942,839,658.800803058,636,660,0.401028661791,-0.00550002619777,0.0798527136332,0.999999977191,0.000129414619043,-0.000163612749617,4.58382330497e-05,1793255855553758976
+61,1.016666667,BASELINE,784,759,736,719,686,652,916,801.388183849,839,659,635.611816151,660,0.401027931213,-0.0055006474799,0.0798519563054,0.999999977186,0.000128273565668,-0.000164544045479,4.5806645652e-05,1793255855570425600
+62,1.033333333,BASELINE,784,759,736,719,686,652,916,801.981726656,839,659,635.018273344,660,0.401027939209,-0.00550260401022,0.0798516757708,0.999999977494,0.000125902686985,-0.000164454043845,4.59960061674e-05,1793255855587092224
+63,1.050000000,BASELINE,784,759,736,718.443373637,686,652,916,802,839,659,635.556626363,660,0.401028821356,-0.00550140210355,0.0798520976277,0.999999977265,0.000128678283297,-0.00016367123181,4.60830244916e-05,1793255855603758848
+64,1.066666667,BASELINE,784,759,736,718.131083945,686,652,916,802,839,659,635.868916055,660,0.401029260088,-0.00550048331684,0.0798523077582,0.999999977083,0.000130587729609,-0.000163255939746,4.61262221874e-05,1793255855620425472
+65,1.083333333,BASELINE,784,759,736,718.70604967,686,652,916,802,839,659,635.29395033,660,0.401028103278,-0.00550086297472,0.0798517253806,0.999999977144,0.00012901061112,-0.00016415967982,4.60320409626e-05,1793255855637092352
+66,1.100000000,BASELINE,784,759,736,719,686,652,916,802,839,659,635,660,0.401028209839,-0.00550134797494,0.0798519196972,0.999999977337,0.000127817742442,-0.000163920261959,4.60409157811e-05,1793255855653758976
+67,1.116666667,BASELINE,784,759,736,719,686,652,916,802,839,659,635,660,0.401029637922,-0.00550194316627,0.0798529264587,0.999999977666,0.000127026810365,-0.000162485067522,4.61575902308e-05,1793255855670425600
+68,1.133333333,BASELINE,783.537887747,759,736,718.537887747,686,652,916,802,839,659,635,660,0.401029041244,-0.00550233435273,0.0798526956713,0.999999977561,0.000126932981845,-0.000163198849684,4.61809236456e-05,1793255855687092224
+69,1.150000000,BASELINE,783.040338787,759,736,718.040338787,686,652,916,801.959661213,839,659,635,660,0.401028085085,-0.00550252326184,0.0798522260148,0.999999977361,0.000127112833211,-0.000164283672272,4.61649844284e-05,1793255855703759104
+70,1.166666667,BASELINE,783.61614259,759,736,718.61614259,686,652,916,801.38385741,839,659,635,660,0.401029121082,-0.00550070860599,0.0798527197573,0.999999977373,0.000128596800275,-0.000163114821857,4.59395504028e-05,1793255855720425728
+71,1.183333333,BASELINE,784,759,736,719,686,652,916,801,839,659,635.19066938,659.80933062,0.401029905263,-0.00549950129421,0.0798532926898,0.999999977416,0.000129731197474,-0.00016196225317,4.58911362807e-05,1793255855737092608
+72,1.200000000,BASELINE,784,759,736,719,686,652,916,801,839,659,635.762642481,659.237357519,0.401030185859,-0.00549950855864,0.0798540239879,0.999999977526,0.000130166519448,-0.000160842244738,4.61967293948e-05,1793255855753759488
+73,1.216666667,BASELINE,784,759,736,719,686,652,916,801.347459935,839,659,636,659.347459935,0.401030398798,-0.00550037242447,0.0798542125745,0.999999977612,0.000129936435009,-0.000160448191624,4.63531593137e-05,1793255855770425856
+74,1.233333333,BASELINE,784,759,736,719,686,652,916,801.941388415,839,659,636,659.941388415,0.401030563744,-0.00550184391518,0.0798540161922,0.999999977681,0.000129234348639,-0.000160569090471,4.64037812284e-05,1793255855787092224
+75,1.250000000,BASELINE,784,759,736,718.478680956,686,652,915.478680956,802,839,659,635.478680956,660,0.401030487168,-0.00550077111811,0.0798546279765,0.999999977798,0.000128815552932,-0.000160280036214,4.60459778415e-05,1793255855803758592
+76,1.266666667,BASELINE,783.901277005,759,736,718.098722995,686,652,915.098722995,801.901277005,839,659,635,660,0.401030455572,-0.00549960543849,0.0798551740957,0.999999977839,0.00012889837465,-0.000160035447838,4.57756752579e-05,1793255855820425216
+77,1.283333333,BASELINE,783.328644954,759,736,718.671355046,686,652,915.671355046,801.328644954,839,659,635,660,0.401030766843,-0.00549933114494,0.0798549802306,0.999999977488,0.000131240261089,-0.000160219781426,4.61400761209e-05,1793255855837092352
+78,1.300000000,BASELINE,783,759,736,719,686,652,916,801.251536591,839,659,635,660,0.401030439967,-0.00549964852121,0.0798544531331,0.999999977326,0.000131576050801,-0.000160940683554,4.61934846745e-05,1793255855853759488
+79,1.316666667,BASELINE,783,759,736,719,686,652,916,801.841887081,839,659,635,660,0.40102925352,-0.0055007628629,0.0798534771793,0.999999977418,0.000129209674998,-0.000162384330931,4.58279938383e-05,1793255855870426112
+80,1.333333333,BASELINE,783.424092303,759,736,719,686,652,916,802,839,658.575907697,635,660,0.401029094108,-0.00550009123511,0.0798531142314,0.999999977316,0.000129689198925,-0.000162603263066,4.59213924984e-05,1793255855887092480
+81,1.350000000,BASELINE,783.996739447,759,736,719,686,652,916,801.996739447,839,658.003260553,635.003260553,660,0.401029310543,-0.00549877932144,0.0798529800112,0.999999977144,0.000131202936947,-0.000162372852915,4.61816568536e-05,1793255855903758848
+82,1.366666667,BASELINE,783.42754653,759,736,719,686,652,916,801.42754653,839,658.57245347,635.57245347,660,0.401029554129,-0.00549972790204,0.0798536250509,0.999999977172,0.000131533124688,-0.000161909815715,4.62689514079e-05,1793255855920425472
+83,1.383333333,BASELINE,783,759,736,719,686,652,916,801.145871066,839,659,635.854128934,660,0.401029149685,-0.00550063038069,0.0798537984049,0.999999977127,0.000131311200602,-0.000162347144474,4.63227793451e-05,1793255855937091840
+84,1.400000000,BASELINE,783,759,736,719,686,652,916,801.732040607,839,659,635.267959393,660,0.401026789227,-0.00550139370507,0.0798525480186,0.999999976859,0.000129422777529,-0.000165502145449,4.62755913791e-05,1793255855953758720
+85,1.416666667,BASELINE,783.317497271,759,736,719,686,652,916,802,839,659,635.317497271,660,0.401026308689,-0.00550067577338,0.0798519034449,0.999999976604,0.000130118350418,-0.00016654709863,4.60789059726e-05,1793255855970425600
+86,1.433333333,BASELINE,783.9023536,759,736,719,686,652,916,802,839,659,635.9023536,660,0.401027411202,-0.00549871050107,0.0798517690159,0.999999976363,0.000132989862509,-0.000165815216233,4.57563313147e-05,1793255855987092480
+87,1.450000000,BASELINE,784,759,736.482994154,719,686,652,916,802,839,659,636,660,0.401027880255,-0.00549912496434,0.0798527877762,0.999999976635,0.000132544143948,-0.000164489704102,4.58928425923e-05,1793255856003759360
+88,1.466666667,BASELINE,783.937413002,759,736.937413002,719,686,652,916,802,839,659,636,660,0.401028245919,-0.00550009527309,0.0798538833525,0.999999977021,0.000131221114281,-0.000163129356811,4.61321422101e-05,1793255856020426240
+89,1.483333333,BASELINE,783.359489858,759,736.359489858,719,686,652,916,802,839,659,636,660,0.401028805647,-0.00550171523712,0.0798537083892,0.999999977513,0.000128148597938,-0.00016246180999,4.64601914277e-05,1793255856037092608
+90,1.500000000,BASELINE,783,759,736.218018185,719,686,652,916,802,839,659,636,660,0.401028679017,-0.00550211317031,0.0798531921726,0.999999977594,0.000127216317878,-0.000162649937684,4.66053329781e-05,1793255856053758976
+91,1.516666667,BASELINE,783,759,736.794843013,719,686,652,916,802,839,659,636,660,0.401027422805,-0.00550049992805,0.0798521143333,0.999999977008,0.000129806363567,-0.000164246304403,4.64494515042e-05,1793255856070425600
+92,1.533333333,BASELINE,783.379854545,759,736.620145455,719,686,652,916,802,839,659,636,660,0.401027484144,-0.00550112991905,0.0798518975876,0.999999977077,0.00012915573856,-0.000164378358865,4.63040040049e-05,1793255856087092224
+93,1.550000000,BASELINE,783.969385112,759,736.030614888,719,686,652,916,802,839,659,636,660,0.401028272759,-0.00550299815289,0.0798521561571,0.999999977507,0.000126716295029,-0.000163702127323,4.61643159434e-05,1793255856103758848
+94,1.566666667,BASELINE,783.452768192,759,736,718.452768192,686,652,916,802,839,659,636,660,0.401028307208,-0.00550213964043,0.0798524531667,0.999999977287,0.000128832130688,-0.000163330729466,4.63739669315e-05,1793255856120425728
+95,1.583333333,BASELINE,783,759,736,718,686,652,916,802,839,659,636,660,0.401028589403,-0.00550114837092,0.0798528348924,0.999999977071,0.000131039580837,-0.000162856835591,4.65270685345e-05,1793255856137092608
+96,1.600000000,BASELINE,783,759,736,718,686,652,916,802,839,659,636,660,0.401029923326,-0.00550021750682,0.0798535171952,0.999999977009,0.000132672502263,-0.000161949257432,4.64047924752e-05,1793255856153758976
+97,1.616666667,BASELINE,783.280642263,759,736,718.280642263,686,652,916,802,839,659,635.719357737,660,0.401030369381,-0.00549977857796,0.079854010244,0.999999977113,0.000132608855394,-0.000161389980927,4.629099287e-05,1793255856170425856
+98,1.633333333,BASELINE,783.869725633,759,736,718.869725633,686,652,916,802,839,659,635.130274367,660,0.401029839623,-0.00549988031274,0.0798542952923,0.9999999774,0.000130680587608,-0.000161213506934,4.61865093563e-05,1793255856187092224
+99,1.650000000,BASELINE,784,759,736,719,686,652,916,801.548876183,839,659,635.451123817,660,0.401029939617,-0.00550025562202,0.0798542944791,0.999999977417,0.000129589136285,-0.00016195491942,4.62986717707e-05,1793255856203759104
+100,1.666666667,BASELINE,784,759,736,719,686,652,915.96972514,801.03027486,839,659,636,660,0.401030154221,-0.00550069028668,0.0798541864285,0.999999977358,0.000128805304003,-0.000162894841867,4.6468185022e-05,1793255856220425472
+101,1.683333333,BASELINE,784,759,736,719,686,652,915.391749989,801.608250011,839,659,636,660,0.40102920735,-0.00550079346357,0.07985360675,0.999999977321,0.000129288073799,-0.000162711046535,4.65623736046e-05,1793255856237092096
+102,1.700000000,BASELINE,784,759,736,719,686,652,915,801.815250694,839,659,635.815250694,660,0.401028731587,-0.00550085641885,0.0798534026241,0.999999977286,0.000129939320952,-0.000162394718158,4.6598117379e-05,1793255856253758976
+103,1.716666667,BASELINE,784,759,736,719,686,652,915,801.241856135,839,659,635.241856135,660,0.401029246867,-0.00550083476249,0.0798539885242,0.999999977256,0.000130944983043,-0.00016179958854,4.65109145506e-05,1793255856270425600
+104,1.733333333,BASELINE,784,759,736,719,686,652,915.340672328,801.340672328,839,659,635.340672328,660,0.401029703408,-0.00550054984367,0.0798543483853,0.999999977339,0.000131010293949,-0.000161257520109,4.64196677921e-05,1793255856287092480
+105,1.750000000,BASELINE,784,759,736,719,686,652,915.929864003,801.929864003,839,659,635.929864003,660,0.401030117099,-0.00550007287574,0.0798545433516,0.999999977505,0.000130389621849,-0.000160754159577,4.6325470991e-05,1793255856303759104
+106,1.766666667,BASELINE,784,759,736,719,686,652,916,802,839,659,635.489201241,660,0.401029394877,-0.00549972185384,0.0798539373713,0.99999997729,0.000131088245788,-0.000161532045605,4.62951891574e-05,1793255856320425472
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,801,839,659,635,660,0.401029259419,-0.00550087385114,0.079853902418,0.999999977441,0.000128510908263,-0.000162753363184,4.59792804652e-05,1793255856363480064
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.424402831,759,736,719,686,652,916,801.575597169,839,659,635.575597169,660,0.40102849435,-0.00550118947058,0.0798531148128,0.999999977061,0.000130580961467,-0.000163366595078,4.62454693001e-05,1793255856380146432
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.155018506,759,736,719,686,652,916,802,839,659,635.844981494,660,0.401028000377,-0.00550135910768,0.0798525540656,0.999999976846,0.000131794276874,-0.000163669294347,4.63736541312e-05,1793255856396813056
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.745174422,759,736,719,686,652,916,802,839,659,635.254825578,660,0.401028267372,-0.00550111897199,0.079852630109,0.999999977107,0.000130602727193,-0.000163100327749,4.6114461372e-05,1793255856413479680
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,759,736,718.670785704,686,652,916,801.670785704,839,659,635.329214296,659.670785704,0.401028352559,-0.00550039834649,0.0798527812467,0.999999977011,0.000131140897029,-0.000163257029406,4.61270995931e-05,1793255856430146304
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,759,736,718.091393593,686,652,916,801.091393593,839,659,635.908606407,659.091393593,0.401028299585,-0.00549931258532,0.0798529894503,0.99999997664,0.00013299352216,-0.000163965183755,4.63463086914e-05,1793255856446812928
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,759.484871155,736,718,686,652,916,801.484871155,839,659,636,659.484871155,0.401026926908,-0.00549966694755,0.0798526374169,0.999999976638,0.000131765183008,-0.000165000118731,4.62244440142e-05,1793255856463479552
+114,1.900000000,POSE1_TO_POSE2_PRESS,783.938433401,759.938433401,736,718,686,652,915.938433401,802,839,659,636,660,0.401025522906,-0.00550023966166,0.0798522464534,0.999999976611,0.000130301819,-0.000166368673858,4.60639192138e-05,1793255856480146176
+115,1.916666667,POSE1_TO_POSE2_PRESS,783.353090982,759.353090982,736,718,686,652,915.353090982,802,839,659,636,660,0.401025955079,-0.00550037544873,0.0798524169182,0.999999975798,0.000131747888797,-0.000170054831946,4.61179274938e-05,1793255856496812800
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.23115571,759,736,718.23115571,686,652,915.23115571,802,839,659,636,660,0.401029295905,-0.00550027164408,0.0798539091459,0.999999975177,0.000132730404864,-0.000172849046783,4.63841627027e-05,1793255856513479680
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.813736521,759,736,718.813736521,686,652,915.813736521,802,839,659,636,660,0.401037058741,-0.00549980358909,0.0798574108442,0.999999974863,0.000133008181923,-0.000174287243532,4.69730456573e-05,1793255856530146304
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.608892541,759,736,719,686,652,916,802,839,659,635.608892541,660,0.401061261514,-0.00550082675541,0.0798660869076,0.999999975939,0.000131304441122,-0.000169326062683,4.70016482251e-05,1793255856546812928
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.033970119,759,736,719,686,652,916,802,839,659,635.033970119,660,0.401093190825,-0.00550255077458,0.0798771948494,0.99999997761,0.000128669415022,-0.000161357265161,4.67669269996e-05,1793255856563479552
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,759,736,718.461803876,686,652,915.461803876,802,839,659,635.538196124,660,0.401154259006,-0.00550332522977,0.0798937207381,0.999999980853,0.000128695550428,-0.000139850162169,4.661476471e-05,1793255856580146432
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.114540235,759,736,718,686,652,915.114540235,802,839,659,635.885459765,660,0.401221288679,-0.00550432980686,0.0799098933937,0.999999983803,0.000128156823276,-0.00011763407354,4.61660691891e-05,1793255856596813056
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.709119379,759,736,718,686,652,915.709119379,802,839,659,635.290880621,660,0.401305634192,-0.00550654873498,0.0799231597455,0.999999986647,0.000124550383296,-9.60096550666e-05,4.44528728567e-05,1793255856613479424
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,759,736,718.295699096,686,652,916,802,839,659,635,660,0.401398735943,-0.0055077013431,0.0799327996856,0.999999988221,0.00012276021957,-8.17858909012e-05,4.24048818873e-05,1793255856630146304
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,759,736,718.874616976,686,652,916,802,839,659,635,660,0.401500224362,-0.00550783263635,0.0799389662698,0.999999988883,0.000122709674375,-7.46504294494e-05,4.00362267803e-05,1793255856646812928
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,659,635,660,0.401619273061,-0.0055086443538,0.0799439195318,0.999999989691,0.000121551689865,-6.7282624864e-05,3.62937255485e-05,1793255856663479552
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,759,736,718.976423136,686,652,916,802,839,659,635,660,0.401744240514,-0.00550961788263,0.0799485465145,0.999999990474,0.000120150641343,-5.98462409695e-05,3.21674830377e-05,1793255856680146176
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,759,736,718.404548395,686,652,916,802,839,659,635,660,0.401893954116,-0.00550997985808,0.0799533863459,0.999999991015,0.000120216930357,-5.2308777003e-05,2.79498095998e-05,1793255856696812800
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,759.173970451,736,718.173970451,686,652,916,802,839,659,635,660,0.402052851473,-0.00551152095557,0.0799591393437,0.999999991863,0.00011742369778,-4.40372718777e-05,2.3395594845e-05,1793255856713479424
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,759.768552797,736,718.768552797,686,652,916,802,839,659,635,660,0.402233952563,-0.00551591284033,0.0799671001218,0.999999993458,0.000107716941705,-3.39910616126e-05,1.80277179178e-05,1793255856730146304
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.645490212,759.645490212,736,719,686,652,916,802,839,659,635.354509788,660,0.402432962144,-0.0055188691249,0.0799688750437,0.999999994557,9.85281087327e-05,-3.24211961808e-05,1.13082642767e-05,1793255856746812928
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.065030606,759.065030606,736,719,686,652,916,802,839,659,635.934969394,660,0.402643385871,-0.00552091041795,0.0799667073585,0.999999995316,8.96693774828e-05,-3.62537999738e-05,3.72737123603e-06,1793255856763479552
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,759,736,719,686,652.504451249,916,802,839,659,636,660,0.40286699065,-0.00552144662136,0.0799595133251,0.999999995599,7.76370263146e-05,-5.24554828205e-05,-4.8347849657e-06,1793255856780146176
+133,2.216666667,POSE1_TO_POSE2_PRESS,783.075733942,759,736,719,686,652.924266058,916,802,839,659,635.924266058,660,0.403098070255,-0.00552193099902,0.0799522752765,0.999999995824,5.84530135691e-05,-6.89303438046e-05,-1.35328257948e-05,1793255856796812544
+134,2.233333333,POSE1_TO_POSE2_PRESS,783.668778463,759,736,719,686,652.331221537,916,802,839,659,635.331221537,660,0.403368848221,-0.00552335847017,0.0799490683117,0.999999996793,-6.84631662258e-06,-7.66114397416e-05,-2.23133894429e-05,1793255856813479424
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,801.743146717,839,659,635.256853283,660,0.403668332802,-0.00552561029411,0.0799492302904,0.999999996078,-3.33927917579e-05,-7.7666609491e-05,-2.64102384621e-05,1793255856830146048
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,801.161358894,839,659,635.838641106,660,0.404004132927,-0.0055289049728,0.0799536541811,0.999999997164,-1.09146177591e-05,-7.03395920053e-05,-2.4581912039e-05,1793255856846812416
+137,2.283333333,POSE1_TO_POSE2_PRESS,783.584799113,759.415200887,736,719,686,652,916,801.415200887,839,659,635.584799113,660,0.404375939385,-0.00552948018009,0.0799598757634,0.999999997908,6.37546146617e-07,-5.96219977977e-05,-2.50896627315e-05,1793255856863479296
+138,2.300000000,POSE1_TO_POSE2_PRESS,783.010245847,759.989754153,736,719,686,652,916,801.989754153,839,659,635.010245847,660,0.404761564916,-0.00552901166545,0.0799667872921,0.999999998484,7.99635213796e-06,-4.76031144623e-05,-2.64939901812e-05,1793255856880146176
+139,2.316666667,POSE1_TO_POSE2_PRESS,783.563695497,759.436304503,736,719,686,652,916,801.436304503,839,659,635.563695497,660,0.405172925772,-0.00553349254828,0.0799624114865,0.999999998202,-1.31200549198e-05,-5.054389328e-05,-2.94879640085e-05,1793255856896813056
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,801.14235716,839,658.85764284,636,660,0.405591266227,-0.00553948466477,0.0799572603687,0.999999997482,-3.02181079039e-05,-5.59308597849e-05,-3.15500228841e-05,1793255856913479680
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,801.736018397,839,658.263981603,636,660,0.406030252164,-0.00554998284137,0.0799503010394,0.999999996664,-3.29380363015e-05,-6.8211707839e-05,-3.05662017955e-05,1793255856930146304
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,658.320036498,636,660,0.40649784905,-0.00556018917913,0.0799442861216,0.999999995274,-4.56684479955e-05,-7.98621191392e-05,-3.14238234118e-05,1793255856946812928
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,658.896333194,636,660,0.406988355393,-0.0055701618363,0.0799390274142,0.999999993084,-6.6414472113e-05,-9.10077272901e-05,-3.37559282175e-05,1793255856963479808
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,658.528214129,636,660,0.407513329422,-0.005566945946,0.0799339398328,0.999999992498,-5.88897794859e-05,-0.000102341171445,-3.25907714312e-05,1793255856980146432
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,658.048177383,635.951822617,660,0.408047634315,-0.00556111867688,0.0799284969276,0.999999991945,-4.55821122716e-05,-0.000114342446291,-3.09666422844e-05,1793255856996813312
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,658.637186737,635.362813263,660,0.408601817334,-0.00555845037715,0.079918643848,0.999999989884,-3.69661028004e-05,-0.000133378190296,-3.28014001303e-05,1793255857013479680
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,659,635,660,0.409197023524,-0.00555842059376,0.079922645925,0.999999990455,-3.68920948274e-05,-0.000128661095811,-3.42894297739e-05,1793255857030146304
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,659,635,660,0.409858029886,-0.00556262292887,0.0799488713489,0.999999994419,-5.05192574712e-05,-8.58450040414e-05,-3.52213153716e-05,1793255857046813184
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,659,635,660,0.41054836719,-0.00556444634454,0.0799804738238,0.999999997266,-5.51721609915e-05,-3.42850619444e-05,-3.53258591032e-05,1793255857063480064
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,659,635,660,0.411253898177,-0.00556503745743,0.0800148616609,0.999999997628,-5.51763133533e-05,2.18042755806e-05,-3.50018318706e-05,1793255857080146432
+151,2.516666667,POSE1_TO_POSE2_PRESS,783.460458376,759,736,719,686,652,916,802,839,659,635,660,0.411917107491,-0.00556204282052,0.0799908935516,0.999999997211,-6.04059898291e-05,-2.10719683827e-05,-3.85360725941e-05,1793255857096812800
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,759,736,719,686,652,916,802,839,659,635,660,0.412588530365,-0.0055585467007,0.0799608854323,0.999999994665,-6.30413101698e-05,-7.01633926984e-05,-4.21014791445e-05,1793255857113479424
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,759,736,719,686,652,916,802,839,659,635,660,0.413303551945,-0.00555428889368,0.0799263750681,0.999999991264,-5.44131954648e-05,-0.000111901202631,-4.45945186239e-05,1793255857130146304
+154,2.566666667,POSE1_TO_POSE2_PRESS,783.283198868,759,736,719,686,652,916,802,839,658.716801132,635.283198868,660,0.414052921813,-0.00555142283687,0.0799154806757,0.999999990473,-5.0867948391e-05,-0.000119619141343,-4.64432515851e-05,1793255857146813184
+155,2.583333333,POSE1_TO_POSE2_PRESS,783.861196142,759,736,719,686,652,916,802,839,658.138803858,635.861196142,660,0.414838046927,-0.00555000553443,0.0799291695372,0.999999993257,-5.26137570351e-05,-9.19237946658e-05,-4.76212882305e-05,1793255857163479808
+156,2.600000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,658.43703187,635.56296813,660,0.415638575419,-0.00555191807909,0.0799468990955,0.999999994955,-5.72769973738e-05,-6.78197085813e-05,-4.70092188298e-05,1793255857180146432
+157,2.616666667,POSE1_TO_POSE2_PRESS,783.987841518,759,736.012158482,719,686,652,916,802,839,658.987841518,635,660,0.416444497299,-0.0055547170509,0.0799652513023,0.999999995943,-6.26407421153e-05,-4.56625432467e-05,-4.58846600811e-05,1793255857196812800
+158,2.633333333,POSE1_TO_POSE2_PRESS,783.413913442,759,736.586086558,719,686,652,916,802,839,658.413913442,635,660,0.41727469066,-0.00554984864697,0.0799533684501,0.999999995355,-5.77690183405e-05,-6.10196278376e-05,-4.72209445271e-05,1793255857213479680
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,759,737,719,686,652,916.165289206,802,839,658,635,660.165289206,0.41812496038,-0.00554691693122,0.0799543591891,0.999999995847,-5.64210586041e-05,-5.27480212488e-05,-4.83721800592e-05,1793255857230146304
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,759,737,719,686,652,916.758135671,802,839,658,635,660.758135671,0.419027162018,-0.00554899489013,0.0799886503327,0.999999996599,-6.41880977359e-05,1.66444467953e-05,-4.9044745253e-05,1793255857246813184
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.340455888,759,736.659544112,718.659544112,686,652,916.659544112,802,839.340455888,658.340455888,635,660.659544112,0.419895782544,-0.00554960515819,0.0799942999741,0.999999995998,-6.80616898987e-05,2.97336532653e-05,-4.98790873357e-05,1793255857263479552
+162,2.700000000,POSE1_TO_POSE2_PRESS,783.915522368,759,736.084477632,718.084477632,686,652,916.084477632,802,839.915522368,658.915522368,635,660.084477632,0.420741262049,-0.00554920402989,0.0799802125497,0.999999996302,-6.92522796615e-05,4.02387600823e-06,-5.08249110942e-05,1793255857280146176
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.507188992,759,736.492811008,718.492811008,686,651.507188992,915.507188992,802,840,659,635.492811008,660,0.421633630359,-0.00555039308052,0.0799756025115,0.999999996212,-7.0040496091e-05,-4.08535434991e-06,-5.15041485648e-05,1793255857296812800
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.071856846,759,736.928143154,719,686,651,915,802,840,659,636,660,0.422538216254,-0.00555205449634,0.0799764209754,0.999999996163,-7.06826234075e-05,-3.73249999846e-06,-5.16090335251e-05,1793255857313479424
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.660793624,759,736.339206376,719,686,651,915,802,840,659,636,660,0.423472618218,-0.0055551446151,0.080004559171,0.999999995711,-7.07720860535e-05,3.57040898095e-05,-4.79112254664e-05,1793255857330146048
+166,2.766666667,POSE1_TO_POSE2_PRESS,784,759,736.245466627,719,686,651,915,802,840,659,635.754533373,660,0.424372011386,-0.00555529153561,0.0800026433534,0.999999996341,-6.89324073777e-05,2.00722695913e-05,-4.65210972683e-05,1793255857346812416
+167,2.783333333,POSE1_TO_POSE2_PRESS,784,759,736.824348268,719,686,651,915,802,840,659,635.175651732,660,0.425223852569,-0.005551440738,0.0799599054563,0.999999994282,-6.44723938931e-05,-7.03584491425e-05,-4.82654682286e-05,1793255857363479040
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651,915,802,840,658.597883778,635,660,0.426130245274,-0.00555105055509,0.0799310249488,0.999999991206,-6.70165793296e-05,-0.000102273463278,-5.13546967941e-05,1793255857380145920
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651,915,802,840,658.020600995,635,660,0.427060401213,-0.00555216785693,0.0799081808859,0.999999989942,-7.26118767035e-05,-0.00010869834225,-5.50297611748e-05,1793255857396812800
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651,915,802,840,658.552760256,635,660,0.427975863382,-0.00555139610503,0.0799085640789,0.999999988925,-7.35596548512e-05,-0.000116541937355,-5.61842638902e-05,1793255857413479680
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+172,2.866666667,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651,915,802,840,658.280741433,635,660,0.42985212226,-0.00555005886472,0.0799438802187,0.999999992057,-8.30348081562e-05,-7.67796097717e-05,-5.56432720431e-05,1793255857446812928
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,759.305238587,737,718.694761413,686,651,915,802.305238587,840,658,635,660,0.430819878943,-0.00555212484079,0.0799826252681,0.999999994582,-8.64386034402e-05,-2.10726525279e-05,-5.40435444505e-05,1793255857463479552
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+230,3.833333333,POSE1_TO_POSE2_PRESS,784.622993348,759,737,719,677.377006652,645,914,797,841,658,634,660.622993348,0.454178391499,-0.00559433406804,0.0795371944004,0.999999738323,-0.000161960364914,-0.000701656828132,-6.92923044875e-05,1793255858413479168
+231,3.850000000,POSE1_TO_POSE2_PRESS,784.049322973,759,737,719,677.950677027,645,914,797,841,658,634,660.049322973,0.454180728895,-0.00559276421542,0.0795364056936,0.999999737416,-0.000161674640652,-0.000702994713734,-6.9482354367e-05,1793255858430146048
+232,3.866666667,POSE1_TO_POSE2_PRESS,784.529768338,759.529768338,737.529768338,719,678,645,914,797.529768338,841,658,634.529768338,660,0.45418224836,-0.0055913818237,0.0795357821583,0.999999737346,-0.000161497692953,-0.000703089736997,-6.99337798228e-05,1793255858446812928
+233,3.883333333,POSE1_TO_POSE2_PRESS,785,759.888663559,737.888663559,719,678,645,914,797.888663559,841,658,634.888663559,660,0.454183542064,-0.00559077185132,0.0795353762485,0.999999737402,-0.000161582360095,-0.000702976603908,-7.00801355459e-05,1793255858463479808
+234,3.900000000,POSE1_TO_POSE2_PRESS,785,759.298639118,737.298639118,719,678,645,914,797.298639118,841,658,634.298639118,660,0.454184195915,-0.00559340706008,0.0795358392135,0.999999737656,-0.000162747840474,-0.000702471161346,-6.88091435203e-05,1793255858480146432
+235,3.916666667,POSE1_TO_POSE2_PRESS,784.715657813,759.284342187,737,718.715657813,678,645,914,797,841,658.284342187,634,660.284342187,0.454185263868,-0.00559360492409,0.0795361741427,0.999999738242,-0.000161573084836,-0.000701948438892,-6.8399279621e-05,1793255858496812800
+236,3.933333333,POSE1_TO_POSE2_PRESS,784.139894907,759.860105093,737,718.139894907,678,645,914,797,841,658.860105093,634,660.860105093,0.454186756234,-0.0055913047674,0.0795363778489,0.99999973916,-0.000157999834511,-0.000701408006307,-6.88719809748e-05,1793255858513479424
+237,3.950000000,POSE1_TO_POSE2_PRESS,784.436356874,759.563643126,737,718.436356874,677.563643126,645,914,797.436356874,841,658.563643126,634.436356874,660.563643126,0.454186433027,-0.00559114615931,0.0795349445643,0.999999737814,-0.000159081145702,-0.000703062169042,-6.90561446179e-05,1793255858530146304
+238,3.966666667,POSE1_TO_POSE2_PRESS,785,759.013044326,737,719,677.013044326,645,914,797.986955674,841,658,634.986955674,660,0.454185589197,-0.00559169827941,0.0795330626867,0.999999735803,-0.000161626222941,-0.000705330668017,-6.9135889082e-05,1793255858546812928
+239,3.983333333,POSE1_TO_POSE2_PRESS,785,759.602041795,737,719,677.602041795,645,914,797.397958205,841,658,634.397958205,660,0.454187487235,-0.00559328284526,0.0795345722647,0.999999736839,-0.000162840154007,-0.000703623827661,-6.86941378774e-05,1793255858563479552
+240,4.000000000,POSE1_TO_POSE2_PRESS,785,759.812120361,737,719,677.812120361,645,914,797,841,658,634.187879639,660.187879639,0.45418815798,-0.00559391836221,0.0795351290405,0.999999737287,-0.00016258992593,-0.000703076632393,-6.83650724731e-05,1793255858580145920
+241,4.016666667,POSE1_TO_POSE2_PRESS,785,759.232864436,737,719,677.232864436,645,914,797,841,658,634.767135564,660.767135564,0.454186272121,-0.00559257689406,0.079533701013,0.999999736509,-0.000159289675068,-0.000704945119882,-6.82707454098e-05,1793255858596812800
+242,4.033333333,POSE1_TO_POSE2_PRESS,784.657017224,759.342982776,737,719,677.342982776,645,914,797.342982776,841,658.342982776,634.657017224,661,0.454185376479,-0.00559203511543,0.0795323842422,0.999999735105,-0.000159120131921,-0.000706958430893,-6.8416409388e-05,1793255858613479680
+243,4.050000000,POSE1_TO_POSE2_PRESS,784.083461569,759.916538431,737,719,677.916538431,645,914,797.916538431,841,658.916538431,634.083461569,661,0.454185146518,-0.00559203093446,0.0795311422647,0.99999973328,-0.000161055231883,-0.000709069100586,-6.8723409242e-05,1793255858630146304
+244,4.066666667,POSE1_TO_POSE2_PRESS,784.49422041,759.50577959,737,719,677.50577959,645,914,797.50577959,841,658.50577959,634,660.50577959,0.454186451984,-0.0055922221535,0.0795322360492,0.999999734452,-0.000160030857611,-0.00070768478961,-6.83301824294e-05,1793255858646812672
+245,4.083333333,HOLD_POSE2,785,760,737,719,677,645,914,797,841,659,635,660,0.454188325032,-0.0055936124439,0.0795344484047,0.999999736378,-0.000160330836052,-0.000704951531333,-6.76860519047e-05,1793255858689680384
+246,4.100000000,HOLD_POSE2,784.420769869,759.420769869,737,719,677,645,914,797,841,658.420769869,634.420769869,660,0.45418935377,-0.00559282110746,0.0795344710299,0.999999736619,-0.000160470402615,-0.000704524824688,-6.82378077412e-05,1793255858706347520
+247,4.116666667,HOLD_POSE2,784.156118923,759.156118923,737,719,677,645,914,797,841,658,634,660.156118923,0.454189631093,-0.00559264634617,0.0795340852145,0.99999973634,-0.000160942647818,-0.000704791936113,-6.84542028964e-05,1793255858723014400
+248,4.133333333,HOLD_POSE2,784.72679073,759.72679073,737,719,677,645,914,797,841,658,634,660.72679073,0.454187913132,-0.0055941088174,0.0795326148396,0.999999734678,-0.000162298276612,-0.000706901388381,-6.77800928117e-05,1793255858739681024
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+250,4.166666667,HOLD_POSE2,785,759.11801226,737,719,677,645,914,797,841,658,634,660.11801226,0.454188245011,-0.00559219405295,0.0795322523996,0.999999735663,-0.000157368646337,-0.000706655537076,-6.74306420193e-05,1793255858773013760
+251,4.183333333,HOLD_POSE2,784.529342858,759.470657142,737,719,677,645,914,797,841,658.470657142,634.470657142,660,0.454189412379,-0.00559252372851,0.0795331410475,0.999999736159,-0.000158072228434,-0.000705816281516,-6.72260358503e-05,1793255858789680384
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+253,4.216666667,HOLD_POSE2,784.638684311,760,737.638684311,719,677,645,914,797,841,659,634.361315689,660.638684311,0.454189685406,-0.00559304546242,0.0795328202711,0.999999735319,-0.000158618169538,-0.000706902296223,-6.70111343817e-05,1793255858823015680
+254,4.233333333,HOLD_POSE2,785,760,737.784260689,719,677,645,914,797,841,658.784260689,634,660.784260689,0.454189707931,-0.00559209681273,0.0795324149833,0.999999735346,-0.000157032033299,-0.000707200578409,-6.71981350946e-05,1793255858839682816
+255,4.250000000,HOLD_POSE2,785,760,737.209433643,719,677,645,914,797,841,658.209433643,634,660.209433643,0.454191073574,-0.00558993479713,0.0795332476703,0.999999737116,-0.000154441119763,-0.000705220428094,-6.7679513815e-05,1793255858856347648
+256,4.266666667,HOLD_POSE2,785,760,737.373680493,719,677,645,914,797,841,658,634,660,0.454190454074,-0.00559008904252,0.0795329923048,0.999999736755,-0.00015562078252,-0.000705483459291,-6.75724123514e-05,1793255858873013504
+257,4.283333333,HOLD_POSE2,785,760,737.961544622,719,677,645,914,797,841,658,634,660,0.454188696745,-0.00559157090638,0.0795321132969,0.999999735165,-0.000158961638218,-0.000707032221769,-6.7128009877e-05,1793255858889680128
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+259,4.316666667,HOLD_POSE2,784,760,737,719,677,645,913.879618124,797,841,658,635,660,0.454189238734,-0.00559233023155,0.0795319279356,0.999999735234,-0.00015710923897,-0.000707343063479,-6.71930085658e-05,1793255858923013632
+260,4.333333333,HOLD_POSE2,784,760,737,719,677,645,913.30175578,797,841,658,635,660,0.45419029882,-0.00559028373133,0.0795328704774,0.999999735692,-0.00015658631484,-0.000706781700101,-6.74976527833e-05,1793255858939680000
+261,4.350000000,HOLD_POSE2,784.273719715,760,737,719,677,645,913.273719715,797,841,658.273719715,634.726280285,660,0.454190841193,-0.00558988247217,0.0795332134249,0.999999735734,-0.000156962497111,-0.000706633339746,-6.75564054223e-05,1793255858956346880
+262,4.366666667,HOLD_POSE2,784.846586598,760,737,719,677,645,913.846586598,797,841,658.846586598,634.153413402,660,0.454190817761,-0.00559127929045,0.0795329010783,0.99999973532,-0.000158321309159,-0.000706936348755,-6.73464241317e-05,1793255858973014272
+263,4.383333333,POSE2_TO_POSE3_RETREAT,785,759,737,719,677,645,914,797,841,658,634,660,0.454192316798,-0.0055886818972,0.0795342524097,0.999999736786,-0.000156657427984,-0.000705141179068,-6.82838321844e-05,1793255859005745152
+264,4.400000000,POSE2_TO_POSE3_RETREAT,784.423236194,759.576763806,737,719,677,644.423236194,914,797,841,658,634,660,0.454190794297,-0.00558956310979,0.0795330463753,0.999999735932,-0.000154804624299,-0.000706848508404,-6.73575078085e-05,1793255859022411776
+265,4.416666667,POSE2_TO_POSE3_RETREAT,784,759.846659666,737,719,677.153340334,644.153340334,914,797,840.846659666,658,634,660,0.454189861156,-0.00559019587822,0.079532263494,0.999999735348,-0.000153885052878,-0.000707931977403,-6.67452547205e-05,1793255859039078400
+266,4.433333333,POSE2_TO_POSE3_RETREAT,784,759.270599288,737,719,677.729400712,644.729400712,914,797,840.270599288,658,634,660,0.454190552729,-0.00559014374988,0.0795326471372,0.999999735526,-0.000155538163487,-0.00070729562356,-6.69988155608e-05,1793255859055744768
+267,4.450000000,POSE2_TO_POSE3_RETREAT,784,759.303871539,737.303871539,719.303871539,677.696128461,644.696128461,914,797,840.303871539,658,634.303871539,660,0.454190747382,-0.00559009996951,0.0795327932793,0.999999735349,-0.000155754415031,-0.000707488478398,-6.71029010303e-05,1793255859072411392
+268,4.466666667,POSE2_TO_POSE3_RETREAT,784,759.876934194,737.876934194,719.876934194,677.123065806,644.123065806,914,797,840.876934194,658,634.876934194,660,0.454190501827,-0.00559006358438,0.0795327290258,0.999999734858,-0.00015469779408,-0.00070841590556,-6.70745705243e-05,1793255859089077760
+269,4.483333333,POSE2_TO_POSE3_RETREAT,784.471113887,759.528886113,737.528886113,719.528886113,677,644.471113887,914,797,841,658,634.528886113,660,0.454191195346,-0.00559058655761,0.0795334381547,0.999999735493,-0.000156421139998,-0.000707150620345,-6.69694063191e-05,1793255859105744640
+270,4.500000000,POSE2_TO_POSE3_RETREAT,785,759.068082443,737,719.068082443,677,644.931917557,914,797,841,658,634,660,0.454191627394,-0.00559116862561,0.0795339855967,0.999999736113,-0.000158466763131,-0.000705827229436,-6.68652926241e-05,1793255859122411008
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785,759.642827626,737,719.642827626,677,644.357172374,914,797,841,658,634,660,0.454188202372,-0.00559105205254,0.0795317557761,0.999999734386,-0.000157252891887,-0.000708534077864,-6.69253703399e-05,1793255859139077632
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785,760,737,719.782184233,677,644.217815767,914,797,841,658,634,660,0.454179403509,-0.00558997067935,0.0795268059212,0.99999972945,-0.000155930362143,-0.000715728478189,-6.72251382549e-05,1793255859155744512
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785,760,737,719.206797303,677,644.793202697,914,797,841,658,634,660,0.454161782828,-0.00558730546902,0.0795173907983,0.999999719108,-0.000154429456307,-0.000730289742203,-6.79183868665e-05,1793255859172411392
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785,759.623279674,737,719,677,645,914,797,841,658,634,660,0.454128862872,-0.00558700788993,0.079503125976,0.999999700798,-0.00015520762755,-0.000754761329566,-6.81902349025e-05,1793255859189078016
+275,4.583333333,POSE2_TO_POSE3_RETREAT,785,759.035200257,737,719,677,645,914,797,841,658,634,660,0.454087359251,-0.00558803867105,0.079486140227,0.999999677356,-0.000157264475657,-0.000784793108681,-6.82256559965e-05,1793255859205744384
+276,4.600000000,POSE2_TO_POSE3_RETREAT,785,759.547364252,737,719,677,645,914,797,841,658.547364252,634,660,0.454022892339,-0.00558563774748,0.0794660652063,0.999999651348,-0.000155366704061,-0.000817639095409,-6.80500990288e-05,1793255859222411008
+277,4.616666667,POSE2_TO_POSE3_RETREAT,785,759.872422979,737,719,677,645,913.872422979,797,841,658.872422979,634,660,0.453955240709,-0.00558315671381,0.079447975127,0.99999962854,-0.00015302560119,-0.000845528543736,-6.77056673943e-05,1793255859239077888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,785,759.299198553,737,719,677,645,913.299198553,797,841,658.299198553,634,660,0.453881571354,-0.00558115905246,0.0794375058209,0.999999620594,-0.000150015376484,-0.000855478124524,-6.68182505755e-05,1793255859255744512
+279,4.650000000,POSE2_TO_POSE3_RETREAT,784.725573946,759.274426054,737,719,677.274426054,644.725573946,913.274426054,797,841,658,634,660.274426054,0.453799823428,-0.00557948294309,0.07943146362,0.999999614434,-0.000148227538507,-0.000863062554838,-6.54549576099e-05,1793255859272411136
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,784,759.562406549,737,719,677.562406549,644.437593451,914,797,841,658.437593451,634,660.562406549,0.453607108254,-0.00557709798111,0.079433599685,0.999999613025,-0.000145343877665,-0.00086555570766,-6.03234802134e-05,1793255859305744384
+282,4.700000000,POSE2_TO_POSE3_RETREAT,784.031081171,759.031081171,737,719,677,645,914,797,841,658.968918829,634,660,0.453499183063,-0.00557613527936,0.0794387022665,0.999999618461,-0.000142275712076,-0.000860022366231,-5.65406447425e-05,1793255859322411264
+283,4.716666667,POSE2_TO_POSE3_RETREAT,784.60682471,759.60682471,737,719,677,645,914,797,841,658.39317529,634,660,0.453362743984,-0.00557521102342,0.0794460056287,0.999999628654,-0.000140457803935,-0.000848682869132,-5.19772406697e-05,1793255859339077888
+284,4.733333333,POSE2_TO_POSE3_RETREAT,784.817657515,759.817657515,737,719,677,645,914,797.182342485,841,658,634,660,0.453215767254,-0.00557309398711,0.0794518772473,0.999999636875,-0.000137342951121,-0.000839709818015,-4.76906353667e-05,1793255859355744512
+285,4.750000000,POSE2_TO_POSE3_RETREAT,784.242626015,759.242626015,737,719,677,645,914,797.757373985,841,658,634,660,0.453046096875,-0.00556840820374,0.0794546654914,0.999999641086,-0.00013143502528,-0.000835833097827,-4.40001387874e-05,1793255859372411136
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,784,759,736.841041362,718.841041362,685,651,915,801,839,658,635.841041362,660,0.41107190362,-0.00541223685117,0.0797773812327,0.999999909167,0.000224309618593,-0.000358761817725,5.14006418556e-05,1793255860389078016
+347,5.783333333,POSE2_TO_POSE3_RETREAT,784,759,736.269486096,718.269486096,685,651,915,801,839,658,635.269486096,660,0.410409972767,-0.00541122591948,0.0797757906537,0.999999908573,0.000220135509691,-0.000362972009148,5.14319650001e-05,1793255860405744640
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,759,736,719,685.638653322,651,915.361346678,801,839,659,635,660,0.407436623746,-0.00540745888611,0.0797941160415,0.999999915013,0.000226601087819,-0.000340605575455,5.11209080228e-05,1793255860489078528
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784,759,736,718.784467373,685.784467373,651,915.215532627,801.215532627,839,659,635,660,0.406879144357,-0.00540428036908,0.0797648520873,0.999999896929,0.000228946868215,-0.000389001785833,4.90223339456e-05,1793255860505745408
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,784,759,736,718.96801395,685,651,916,801.03198605,839,659,635,660,0.405529766558,-0.00540859982824,0.0797880922349,0.999999920524,0.00023216246548,-0.000320066879692,5.1077207998e-05,1793255860555744768
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,759,736,718.127299738,685,651,915.127299738,801,839,659,635,660,0.404710594165,-0.00540603870396,0.0798189564867,0.999999924898,0.000252519024336,-0.00028883617001,5.48842313962e-05,1793255860589078016
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,784,759,736,719,685,651.559689709,915.440310291,801,839,659,635.440310291,660.440310291,0.403346725175,-0.00540570031859,0.079821315891,0.999999928158,0.000224717307223,-0.000301194159578,4.96885407513e-05,1793255860655747840
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.090755822,759,736,719,685.909244178,651,915,801,839,659,635,660,0.401725845375,-0.00540510412113,0.0798381003331,0.999999935032,0.000226665500095,-0.000275677078225,5.06130136439e-05,1793255860789078016
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,784,759,736,718,686,652,915.522611299,801,839,659,635.522611299,660.522611299,0.40100823769,-0.00540657337264,0.0798144465925,0.999999921257,0.000242680111356,-0.000310543309918,4.64233481705e-05,1793255860972411136
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,784,759,736,718,685.367056855,652,915.632943145,801,839,659,635.632943145,660.632943145,0.400982459419,-0.00540610576142,0.0798128555312,0.999999920482,0.000242718750275,-0.000313042545756,4.61262604403e-05,1793255861005744384
+384,6.400000000,POSE2_TO_POSE3_RETREAT,784,759,736,718.210232535,685,652,916,801,839,659,636,660.789767465,0.400974243188,-0.00540563563032,0.0798127017218,0.999999920277,0.00024307514311,-0.000313446738196,4.59575983858e-05,1793255861022411008
+385,6.416666667,POSE2_TO_POSE3_RETREAT,784,759,736,718.788612764,685,652,916,801,839,659,636,660.211387236,0.400972683265,-0.00540511871253,0.0798153825667,0.99999992205,0.000241748524682,-0.000308795049068,4.58705873269e-05,1793255861039077888
+386,6.433333333,POSE2_TO_POSE3_RETREAT,784,759,736,718.628779146,685,652,916,801,839,659,635.628779146,660.371220854,0.400972767228,-0.00540541843054,0.0798180442531,0.999999923426,0.000241870841871,-0.000304218742063,4.58082346519e-05,1793255861055745280
+387,6.450000000,POSE2_TO_POSE3_RETREAT,784,759,736,718.043735836,685,652,916,801,839,659,635.043735836,660.956264164,0.400973798065,-0.00540618852911,0.0798206949042,0.999999924565,0.000242827743066,-0.000299685855163,4.57600851584e-05,1793255861072412928
+388,6.466666667,POSE2_TO_POSE3_RETREAT,784,759,736,718,685.536069195,652,916,801,839,659,635,661,0.400973898533,-0.00540675482333,0.079821224007,0.999999925364,0.00024155355161,-0.000298048773243,4.5720300216e-05,1793255861089079296
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,784,759,735.307952717,718.692047283,686,652,915.307952717,801,839,659,635,661,0.400972704415,-0.00540830775649,0.0798209566431,0.999999925682,0.000240337809609,-0.000297961613806,4.57378132587e-05,1793255861122411520
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,784,759,735.858900944,718.141099056,685.141099056,651.141099056,915.858900944,801,839,659,635,660.141099056,0.400971387129,-0.00540920580772,0.0798215415914,0.999999926411,0.000237383334487,-0.00029791567467,4.55342325799e-05,1793255861155744512
+393,6.550000000,POSE2_TO_POSE3_RETREAT,784,759,736,718,685,651.442177979,916,801,839,659,635,660,0.400971034216,-0.00540990957738,0.0798215844267,0.999999926784,0.000236257679648,-0.000297555801858,4.55485939528e-05,1793255861172411136
+394,6.566666667,POSE2_TO_POSE3_RETREAT,784,759,736,718.024386434,685.024386434,652,916,801,839,659,635,660.024386434,0.400970787763,-0.00541065015367,0.0798215036229,0.999999927063,0.00023557530784,-0.00029714938858,4.561037628e-05,1793255861189078016
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,784,759,736,718.509745672,686,652,915.490254328,801,839,659,635,660,0.400972964764,-0.00540904125879,0.0798246514126,0.999999927627,0.000238618282668,-0.000292883519819,4.50143265367e-05,1793255861289077760
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10fdfdb6e38f6b4d605db2107925e1b4ed028496
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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+265,4.416666667,pose2_to_pose3_retreat,0.618754554915,0.000181855699321,1.07002061957,0.589325701264,0.00885609325963,1.06969232479
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+268,4.466666667,pose2_to_pose3_retreat,0.618754216984,0.000181793500154,1.07002054679,0.589325363434,0.00885603123626,1.06969224778
+269,4.483333333,pose2_to_pose3_retreat,0.618753977893,0.000181785438169,1.07002059486,0.589325124344,0.00885602319058,1.06969229614
+270,4.500000000,pose2_to_pose3_retreat,0.618752778636,0.000181763579543,1.07002076248,0.589323924876,0.00885600067583,1.06969246555
+271,4.516666667,pose2_to_pose3_retreat,0.618749157516,0.000181881783091,1.07002059481,0.589320301869,0.00885611265278,1.06969230296
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+274,4.566666667,pose2_to_pose3_retreat,0.618700073065,0.000181763559684,1.07002054132,0.589271219081,0.00885599965978,1.06969224234
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+347,5.783333333,pose2_to_pose3_retreat,0.583320620018,0.000181705640452,1.07002050045,0.553891770779,0.00885595386692,1.0696922098
+348,5.800000000,pose2_to_pose3_retreat,0.582808673693,0.000181901754713,1.07002048382,0.553379819383,0.00885613287121,1.06969219565
+349,5.816666667,pose2_to_pose3_retreat,0.58231566078,0.000181777556736,1.07002039895,0.552886807337,0.0088560115398,1.06969210877
+350,5.833333333,pose2_to_pose3_retreat,0.581833828959,0.000181695263055,1.07002030595,0.552404976219,0.00885593160232,1.06969201495
+351,5.850000000,pose2_to_pose3_retreat,0.581361638396,0.00018170489228,1.07002047638,0.551932786717,0.00885594461659,1.06969217976
+352,5.866666667,pose2_to_pose3_retreat,0.58090208074,0.000181791225317,1.07002064435,0.551473229516,0.00885603246044,1.06969234688
+353,5.883333333,pose2_to_pose3_retreat,0.580467016585,0.000181824621213,1.07002059418,0.55103816455,0.00885606324985,1.06969230047
+354,5.900000000,pose2_to_pose3_retreat,0.580062213009,0.000181750231678,1.07002055417,0.550633359814,0.00885598475997,1.06969225614
+355,5.916666667,pose2_to_pose3_retreat,0.579686276474,0.000181938578804,1.07002063972,0.550257422127,0.00885616933912,1.06969234531
+356,5.933333333,pose2_to_pose3_retreat,0.579335219018,0.00018185736898,1.07002032375,0.549906365095,0.00885608967156,1.06969203262
+357,5.950000000,pose2_to_pose3_retreat,0.579005653072,0.000181753923276,1.07002036433,0.549576801007,0.00885599226996,1.0696920664
+358,5.966666667,pose2_to_pose3_retreat,0.578690167206,0.000181741158905,1.07002047399,0.549261316386,0.00885598370314,1.06969217537
+359,5.983333333,pose2_to_pose3_retreat,0.578385562005,0.000181737200619,1.07002058218,0.548956711206,0.00885597978958,1.06969228301
+360,6.000000000,pose2_to_pose3_retreat,0.578099679842,0.000181665475502,1.07002068408,0.548670828504,0.00885590598999,1.06969237846
+361,6.016666667,pose2_to_pose3_retreat,0.577833594231,0.000181722328949,1.07002063361,0.548404742832,0.00885596303503,1.06969233816
+362,6.033333333,pose2_to_pose3_retreat,0.577585419597,0.000181839589964,1.0700205168,0.548156566972,0.00885607627422,1.06969222497
+363,6.050000000,pose2_to_pose3_retreat,0.577356269415,0.000181759434139,1.07002045434,0.547927416342,0.00885599422775,1.06969215274
+364,6.066666667,pose2_to_pose3_retreat,0.577149405545,0.000181687765017,1.07002057642,0.547720554141,0.00885592824034,1.06969227536
+365,6.083333333,pose2_to_pose3_retreat,0.576961639035,0.000181650399837,1.07002052774,0.547532787943,0.00885589215095,1.0696922325
+366,6.100000000,pose2_to_pose3_retreat,0.576792861935,0.000181665128478,1.07002042979,0.547364009816,0.00885590346383,1.06969213645
+367,6.116666667,pose2_to_pose3_retreat,0.576641496024,0.000181725622379,1.07002052565,0.547212643624,0.00885596284294,1.06969222802
+368,6.133333333,pose2_to_pose3_retreat,0.576505755502,0.000181710507096,1.07002047992,0.547076905281,0.00885595549145,1.06969219206
+369,6.150000000,pose2_to_pose3_retreat,0.576382851715,0.00018185334452,1.07002064214,0.546953999454,0.00885609159184,1.06969235913
+370,6.166666667,pose2_to_pose3_retreat,0.576270857016,0.000181848263419,1.07002069349,0.546842003563,0.00885608204178,1.06969239939
+371,6.183333333,pose2_to_pose3_retreat,0.576169726387,0.000181734341496,1.07002070913,0.546740874518,0.00885597328641,1.06969240965
+372,6.200000000,pose2_to_pose3_retreat,0.576079254181,0.000181647253911,1.07002065173,0.546650404335,0.00885589334229,1.06969235983
+373,6.216666667,pose2_to_pose3_retreat,0.575999763854,0.000181704031978,1.07002040301,0.54657091173,0.008855942439,1.0696921127
+374,6.233333333,pose2_to_pose3_retreat,0.575931673257,0.000181800620343,1.07002064465,0.546502821611,0.00885604044604,1.06969234882
+375,6.250000000,pose2_to_pose3_retreat,0.575873993365,0.000181593061588,1.07002055468,0.54644514317,0.00885583773893,1.06969225696
+376,6.266666667,pose2_to_pose3_retreat,0.575826004001,0.00018169909456,1.07002049898,0.546397152319,0.00885593896446,1.0696922075
+377,6.283333333,pose2_to_pose3_retreat,0.57578619074,0.000181859412843,1.07002056609,0.546357337282,0.00885609336064,1.06969227733
+378,6.300000000,pose2_to_pose3_retreat,0.575754482717,0.000181841535657,1.07002071173,0.546325629183,0.00885607489622,1.06969241426
+379,6.316666667,pose2_to_pose3_retreat,0.575729338398,0.000181769019671,1.07002067423,0.546300485597,0.00885600475181,1.06969237363
+380,6.333333333,pose2_to_pose3_retreat,0.575710285119,0.000181839807178,1.070020395,0.546281431937,0.00885607477632,1.06969210846
+381,6.350000000,pose2_to_pose3_retreat,0.575695412499,0.000181835705463,1.07002065415,0.546266557687,0.0088560646096,1.06969235354
+382,6.366666667,pose2_to_pose3_retreat,0.575684428507,0.000181802369668,1.07002065946,0.546255575963,0.00885603901488,1.06969236008
+383,6.383333333,pose2_to_pose3_retreat,0.57567702331,0.000181826463624,1.07002073278,0.546248171569,0.0088560660385,1.06969243878
+384,6.400000000,pose2_to_pose3_retreat,0.575672154137,0.000181767469009,1.07002069134,0.546243301765,0.00885600477473,1.06969239408
+385,6.416666667,pose2_to_pose3_retreat,0.575669488026,0.000181758938582,1.07002060328,0.546240635681,0.00885599628526,1.0696923046
+386,6.433333333,pose2_to_pose3_retreat,0.575668439741,0.000181784079023,1.07002055037,0.546239587811,0.00885602286931,1.06969225272
+387,6.450000000,pose2_to_pose3_retreat,0.57566837531,0.000181785624219,1.07002054712,0.546239523406,0.00885602450323,1.06969224953
+388,6.466666667,pose2_to_pose3_retreat,0.57566837272,0.000181785686329,1.07002054699,0.546239520817,0.00885602456891,1.06969224941
+389,6.483333333,pose2_to_pose3_retreat,0.575668268604,0.000181788183298,1.07002054173,0.546239416742,0.00885602720925,1.06969224425
+390,6.500000000,pose2_to_pose3_retreat,0.575668010908,0.00018179707594,1.07002053528,0.546239159139,0.00885603641528,1.06969223775
+391,6.516666667,pose2_to_pose3_retreat,0.575667739835,0.000181809335393,1.0700205355,0.546238888154,0.00885604895993,1.06969223759
+392,6.533333333,pose2_to_pose3_retreat,0.575667462616,0.000181821872767,1.07002053572,0.546238611025,0.00885606178898,1.06969223743
+393,6.550000000,pose2_to_pose3_retreat,0.575667365576,0.000181826261439,1.0700205358,0.546238514017,0.00885606627975,1.06969223737
+394,6.566666667,pose2_to_pose3_retreat,0.575667316011,0.000181828503061,1.07002053584,0.546238464468,0.00885606857352,1.06969223735
+395,6.583333333,pose2_to_pose3_retreat,0.575667172111,0.000181835011006,1.07002053595,0.546238320615,0.00885607523287,1.06969223726
+396,6.600000000,pose2_to_pose3_retreat,0.575667041682,0.000181851974009,1.07002058581,0.546238188956,0.00885608799129,1.06969228629
+397,6.616666667,pose2_to_pose3_retreat,0.575666911707,0.000181870582904,1.07002064315,0.546238057559,0.00885610174118,1.06969234271
+398,6.633333333,pose2_to_pose3_retreat,0.57566685279,0.000181894826683,1.07002066161,0.546237998177,0.00885612443835,1.06969236194
+399,6.650000000,pose2_to_pose3_retreat,0.57566684148,0.000181917510429,1.07002065655,0.546237986984,0.0088561475734,1.06969235838
+400,6.666666667,pose2_to_pose3_retreat,0.575666840325,0.000181919828095,1.07002065604,0.54623798584,0.00885614993717,1.06969235802
+401,6.683333333,pose2_to_pose3_retreat,0.575666836755,0.000181926988699,1.07002065444,0.546237982307,0.00885615724024,1.0696923569
+402,6.700000000,pose2_to_pose3_retreat,0.57566683229,0.000181935943372,1.07002065245,0.546237977889,0.00885616637307,1.06969235549
+403,6.716666667,pose2_to_pose3_retreat,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947913,1.06969235502
+404,6.733333333,pose2_to_pose3_retreat,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947913,1.06969235502
+405,6.750000000,pose2_to_pose3_retreat,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+406,6.766666667,pose2_to_pose3_retreat,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947916,1.06969235502
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1a54203afa986c78da8176e59f06763f00f575f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dadf081914666cae9c0dfdccc8292576c60a85eb7c4af942890593535bf6b226
+size 25968220
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d4aab302465f926c07e67e5839bb0bcb7507279e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+26,0.433333333,BASELINE,784,759,736,719,686,652,916,801.083481989,839,659,636,660.083481989,0.400975397752,-0.00540969376408,0.0798288579735,0.999999929717,0.000238473083622,-0.000285825930543,4.47287515968e-05,1793255861966790912
+27,0.450000000,BASELINE,784,759,736,719,686,652,916,801.673714085,839,659,636,660.673714085,0.400974436697,-0.00540903213427,0.079828072501,0.999999929387,0.000238976942677,-0.000286560433322,4.47026544449e-05,1793255861983457280
+28,0.466666667,BASELINE,783.739836668,759,736,719,686,652,915.739836668,801.739836668,839,659,635.739836668,661,0.400973297631,-0.00540854973469,0.0798276930635,0.999999928861,0.00023977559682,-0.00028772838537,4.47098079372e-05,1793255862000123904
+29,0.483333333,BASELINE,783.158063752,759,736,719,686,652,915.158063752,801.158063752,839,659,635.158063752,661,0.400971938512,-0.00540828889655,0.0798278155599,0.999999928087,0.000240938671716,-0.000289432160156,4.47580653246e-05,1793255862016790528
+30,0.500000000,BASELINE,783.41814183,759,736,719,686,652,915.41814183,801,839,659,635,660.58185817,0.400973438812,-0.00540880723925,0.0798289890822,0.999999928814,0.000240147570816,-0.000287557405639,4.48449795451e-05,1793255862033457152
+31,0.516666667,BASELINE,783.992270517,759,736,719,686,652,915.992270517,801,839,659,635,660.007729483,0.400976005811,-0.00540961625358,0.0798305546874,0.999999930092,0.000238627469058,-0.000284347688877,4.49463146075e-05,1793255862050123776
+32,0.533333333,BASELINE,784,759,735.432227964,719,686,651.432227964,916,801,839,659,635.567772036,660,0.400975591305,-0.00540803474883,0.0798298140916,0.999999929437,0.000240395279406,-0.000285226048441,4.45290339826e-05,1793255862066790400
+33,0.550000000,BASELINE,784,759,735,719,686,651.146326681,916,801,839,659,635.853673319,660,0.400975508436,-0.00540710097071,0.0798294879816,0.999999929135,0.000241380783573,-0.000285486538545,4.43072811644e-05,1793255862083457536
+34,0.566666667,BASELINE,784,759,735,719,686,651.734034177,916,801,839,659,635.265965823,660,0.40097654865,-0.00540821940334,0.079830507062,0.999999929985,0.000239871189951,-0.000283715001114,4.46966681625e-05,1793255862100124160
+35,0.583333333,BASELINE,784,759,735.317422856,719,686,652,916,801,839,659,635,660,0.400976312407,-0.00540907156907,0.079830223202,0.999999930119,0.000238877153655,-0.000284078272471,4.47184360467e-05,1793255862116790784
+36,0.600000000,BASELINE,784,759,735.897241474,719,686,652,916,801,839,659,635,660,0.400975020989,-0.00540970362691,0.079828862274,0.99999992966,0.000238309299671,-0.000286206270933,4.44363137658e-05,1793255862133457408
+37,0.616666667,BASELINE,784,759,736,718.526613384,686,652,916,801.473386616,839,659.473386616,635,660,0.400973385634,-0.0054094999688,0.0798280373522,0.999999929131,0.000238993359699,-0.000287488747484,4.43785673591e-05,1793255862150124032
+38,0.633333333,BASELINE,784,759,736,718,686,651.950013889,916,802,839,659.950013889,635,660,0.400971916917,-0.00540914866837,0.0798274196711,0.999999928705,0.000239628769668,-0.000288449180311,4.43275218847e-05,1793255862166790400
+39,0.650000000,BASELINE,784,759,736,718,686,651.359955775,916,802,839,659.359955775,635,660,0.400973049053,-0.0054091471131,0.0798277936767,0.999999929554,0.000236824999528,-0.000287897870652,4.38266926052e-05,1793255862183457024
+40,0.666666667,BASELINE,784,759,736,718.22582027,686,651.22582027,916,802,839,659,635,660.22582027,0.400973890046,-0.00540931274974,0.0798281988656,0.999999930152,0.000235132195392,-0.000287239740758,4.36242869034e-05,1793255862200123904
+41,0.683333333,BASELINE,784,759,736,718.804897717,686,651.804897717,916,802,839,659,635,660.804897717,0.400974275596,-0.00540973992952,0.0798286528354,0.999999930366,0.000235177307666,-0.000286414508916,4.38887138625e-05,1793255862216790784
+42,0.700000000,BASELINE,784,759,736,719,686,652,915.618339292,801.618339292,839,659,635,660.618339292,0.400973788791,-0.00540912889685,0.0798283195296,0.999999929711,0.000237229178665,-0.000286967229623,4.41604177991e-05,1793255862233457664
+43,0.716666667,BASELINE,784,759,736,719,686,652,915.04275232,801.04275232,839,659,635,660.04275232,0.400972858733,-0.0054079903363,0.0798275861998,0.999999928605,0.000240300707208,-0.000288220104138,4.44358192446e-05,1793255862250124288
+44,0.733333333,BASELINE,783.467868883,759,735.467868883,719,686,652,915,801,839,659,635,660,0.400975118299,-0.00540813179252,0.0798291244891,0.999999929502,0.000240166149394,-0.000285187247516,4.45513180425e-05,1793255862266790656
+45,0.750000000,BASELINE,783.109931475,759,735.109931475,718.890068525,686,652,915.109931475,801,839,659,635,660,0.400976543106,-0.0054083955284,0.0798301264806,0.999999930252,0.00023938459637,-0.000283210436354,4.45364508426e-05,1793255862283457280
+46,0.766666667,BASELINE,783.700738131,759,735.700738131,718.299261869,686,652,915.700738131,801,839,659,635,660,0.400973196932,-0.00540874489898,0.0798279852504,0.999999929684,0.000236898140628,-0.000287357293519,4.40074433486e-05,1793255862300123904
+47,0.783333333,BASELINE,784,759,736,718.285154941,686,652,916,801,839,659,635,660,0.400973148472,-0.00540922729687,0.079828122359,0.999999929896,0.000236268535196,-0.000287149033339,4.39478511975e-05,1793255862316790528
+48,0.800000000,BASELINE,784,759,736,718.863012837,686,652,916,801,839,659,635,660,0.400976485019,-0.00540984624332,0.0798305981133,0.999999930907,0.000237544930357,-0.000282470376922,4.43700996885e-05,1793255862333457152
+49,0.816666667,BASELINE,784,759,736,719,686,652,915.563126498,801,839,659,635,660,0.400975883952,-0.00540960176112,0.0798300455579,0.999999930541,0.000238375128595,-0.000283054349349,4.44553899504e-05,1793255862350123776
+50,0.833333333,BASELINE,784,759,736,719,686,651.990214787,915.009785213,801,839,659,635,660,0.400974088168,-0.00540909078301,0.0798285812167,0.999999929755,0.000239064245285,-0.000285243296096,4.44338121493e-05,1793255862366790656
+51,0.850000000,BASELINE,784,759,736,719,686,651.399914834,915.600085166,801,839,659,635,660,0.400973999517,-0.00540868589378,0.0798288473588,0.999999929519,0.000239608643411,-0.000285638986582,4.42835836375e-05,1793255862383457536
+52,0.866666667,BASELINE,784,759,736,718.812902753,686,651.187097247,916,801.187097247,839,659,635,660.187097247,0.400974240754,-0.00540804833486,0.0798291648011,0.999999929462,0.000240085876569,-0.000285448503976,4.41995646675e-05,1793255862400124160
+53,0.883333333,BASELINE,784,759,736,718.23279707,686,651.76720293,916,801.76720293,839,659,635,660.76720293,0.400975174938,-0.00540692203999,0.0798295900024,0.999999929784,0.000240422025848,-0.000284026731342,4.42546226248e-05,1793255862416790784
+54,0.900000000,BASELINE,784,759,736,718.34389448,686,652,916,801.65610552,839,659,635,661,0.400974903454,-0.00540734997983,0.0798291206098,0.999999929872,0.000239666843506,-0.000284343239694,4.43244067278e-05,1793255862433457408
+55,0.916666667,BASELINE,784,759,736,718.918297552,686,652,916,801.081702448,839,659,635,661,0.400973823825,-0.00540881970571,0.0798280515809,0.999999929801,0.000238180153874,-0.000285824898241,4.44040615978e-05,1793255862450124032
+56,0.933333333,BASELINE,784,759,735.505121087,719,686,652,916,801.494878913,839,659,635.494878913,660.505121087,0.400974484783,-0.00540947930453,0.0798285820625,0.99999993055,0.000235028587716,-0.000285857723765,4.41179081119e-05,1793255862466790656
+57,0.950000000,BASELINE,784,759,735.073438341,719,686,652,916,801.926561659,839,659,635.926561659,660,0.400975360601,-0.00540982309373,0.079829372379,0.999999931206,0.000232756781102,-0.000285463702309,4.38538256809e-05,1793255862483457280
+58,0.966666667,BASELINE,784,759,735.663368802,719,686,652,916,801.336631198,839,659,635.336631198,660,0.400975717559,-0.00540889060569,0.079830124681,0.999999930297,0.000238613995568,-0.000283757370566,4.41715943456e-05,1793255862500124160
+59,0.983333333,BASELINE,784,759,736,718.751275531,686,652,915.751275531,801,839,659,635.248724469,660,0.400975150742,-0.00540788132478,0.0798300221564,0.999999929576,0.000241739572266,-0.000283625973595,4.4349287515e-05,1793255862516790784
+60,1.000000000,BASELINE,784,759,736,718.17199962,686,652,915.17199962,801,839,659,635.82800038,660,0.40097335624,-0.00540676998705,0.0798287835789,0.99999992914,0.000241234840293,-0.000285587643321,4.43408222992e-05,1793255862533457408
+61,1.016666667,BASELINE,784,759,736,718.404339361,686,652,915.404339361,801,839,659,635.595660639,660,0.400973578028,-0.00540750526326,0.0798286073505,0.999999929454,0.000240001876032,-0.000285552433591,4.41801380395e-05,1793255862550124032
+62,1.033333333,BASELINE,784,759,736,718.979437992,686,652,915.979437992,801,839,659,635.020562008,660,0.400974651327,-0.00540902039548,0.0798288797701,0.999999930082,0.000238461367134,-0.000284673908173,4.39551691338e-05,1793255862566790400
+63,1.050000000,BASELINE,784,759,736,718.448053975,686,652,916,801,839,659,635,660,0.400973718801,-0.00540773648848,0.0798284186074,0.999999929415,0.000240054617369,-0.000285663631657,4.40381768527e-05,1793255862583457280
+64,1.066666667,BASELINE,784,759,736,718.128997141,686,652,916,801.128997141,839,659,635.128997141,660.128997141,0.400972975562,-0.00540677407793,0.0798279941688,0.99999992884,0.000241427493012,-0.000286516658847,4.40570554043e-05,1793255862600124160
+65,1.083333333,BASELINE,784,759,736,718.722762759,686,652,916,801.722762759,839,659,635.722762759,660.722762759,0.400973182285,-0.00540734393773,0.0798278000481,0.999999928781,0.000241587716805,-0.000286627588284,4.38037363545e-05,1793255862616790528
+66,1.100000000,BASELINE,784,759,736,719,686,652,915.691287784,801.691287784,839,659,636,660.691287784,0.400974387023,-0.00540785178999,0.0798287471872,0.999999929351,0.000241018492898,-0.00028511164026,4.38152329802e-05,1793255862633457152
+67,1.116666667,BASELINE,784,759,736,719,686,652,915.112184286,801.112184286,839,659,636,660.112184286,0.400976465892,-0.00540830533176,0.0798306939197,0.999999930465,0.000239810368774,-0.000282170761627,4.40586733073e-05,1793255862650123776
+68,1.133333333,BASELINE,784,759,736,719,686,651.540327928,915.459672072,801,839,659,635.540327928,660,0.400976310288,-0.00540837479393,0.0798304964382,0.999999930392,0.00023980224742,-0.00028239656891,4.43169031105e-05,1793255862666790912
+69,1.150000000,BASELINE,784.030813977,759,735.969186023,718.969186023,685.969186023,651,915.969186023,801.030813977,839,659,635.030813977,660,0.400975538931,-0.0054083478795,0.0798297351739,0.999999930042,0.000239949699805,-0.000283472309381,4.45376311251e-05,1793255862683457792
+70,1.166666667,BASELINE,784.620580463,759,735.379419537,718.379419537,685.379419537,651,915.379419537,801.620580463,839,659,635.620580463,660,0.400973336585,-0.0054082466698,0.0798280922626,0.999999929838,0.000237689217697,-0.000286164099568,4.40136351864e-05,1793255862700124160
+71,1.183333333,BASELINE,784.791787117,759,735.208212883,718.208212883,685.208212883,651,915,801.791787117,839,659,635.791787117,660,0.400972468145,-0.00540782956744,0.0798274476427,0.999999929587,0.000237405119294,-0.00028731730286,4.37425704656e-05,1793255862716790784
+72,1.200000000,BASELINE,784.208003982,759,735.791996018,718.791996018,685.791996018,651,915,801.208003982,839,659,635.208003982,660,0.400974005781,-0.00540684266415,0.0798286037206,0.999999929259,0.000240685982087,-0.000285695234198,4.39277379519e-05,1793255862733457152
+73,1.216666667,BASELINE,784,759,736,719,686,651.366421056,915.366421056,801,839,659,635,660,0.400974135707,-0.00540776527459,0.0798291561805,0.999999929669,0.000239723768323,-0.000285053769681,4.40299906668e-05,1793255862750124032
+74,1.233333333,BASELINE,784,759,736,719,686,651.935666097,915.935666097,801,839,659,635,660,0.400973486428,-0.00540974485268,0.0798293745215,0.999999930483,0.000236412896476,-0.000284955096235,4.40863477973e-05,1793255862766790912
+75,1.250000000,BASELINE,784,759,736,719,686,652,916,801,839,659,635,660.513155421,0.400973143473,-0.00540923506736,0.0798290583722,0.999999930188,0.000236984221257,-0.000285512612696,4.41094154659e-05,1793255862783457536
+76,1.266666667,BASELINE,784,759,735.905768758,718.905768758,686,652,916,801,839,659,635.094231242,660.905768758,0.400972992822,-0.00540869194528,0.0798287866503,0.999999929921,0.000237596755423,-0.000285935746185,4.41179604336e-05,1793255862800124160
+77,1.283333333,BASELINE,784,759,735.311228146,718.311228146,686,652,916,801,839,659,635.688771854,660.311228146,0.400973655949,-0.00540965588341,0.0798291123932,0.999999930558,0.000235801774558,-0.000285201476182,4.40719192443e-05,1793255862816790784
+78,1.300000000,BASELINE,784,759,735.27454843,718,686,651.72545157,916,801,839,659,635.72545157,660,0.400973090641,-0.00540951357085,0.0798287007112,0.999999930337,0.000236154159141,-0.000285689574581,4.40217978188e-05,1793255862833457152
+79,1.316666667,BASELINE,784,759,735.850697385,718,686,651.149302615,916,801,839,659,635.149302615,660,0.400971175854,-0.00540815600529,0.0798274789439,0.999999929171,0.000238865495758,-0.000287520485118,4.39671941218e-05,1793255862850123776
+80,1.333333333,BASELINE,784,759,735.572934062,718,686,651,915.572934062,801,839,659,635,660,0.400972411909,-0.00540907054505,0.0798284785157,0.999999929911,0.000237586824201,-0.000285982437515,4.40928731466e-05,1793255862866790912
+81,1.350000000,BASELINE,783.99641515,759,735,718,686,651.00358485,915,801,839,659,635,660,0.400974734643,-0.00541075033313,0.0798302379077,0.999999931294,0.000234951204485,-0.000283283973934,4.42784784549e-05,1793255862883457536
+82,1.366666667,BASELINE,783.407903209,759,735,718,686,651.592096791,915,801,839,659,635,660,0.400974540821,-0.00540761827483,0.0798291970944,0.999999930371,0.000238626852438,-0.0002835193742,4.39528589954e-05,1793255862900123904
+83,1.383333333,BASELINE,783.177497343,759,735,718.177497343,686,651.822502657,915.177497343,801.177497343,839,659,635.177497343,660,0.400974323922,-0.00540578521185,0.079828547298,0.999999929625,0.00024133530706,-0.000283866934563,4.38949117639e-05,1793255862916790784
+84,1.400000000,BASELINE,783.755870964,759,735,718.755870964,686,651.244129036,915.755870964,801.755870964,839,659,635.755870964,660,0.400974054902,-0.0054068859184,0.0798287806099,0.999999929304,0.000241859364283,-0.000284467807621,4.44414999779e-05,1793255862933457408
+85,1.416666667,BASELINE,784.332136799,759,735.332136799,718.667863201,686,651,915.667863201,801.667863201,839,659,636,660,0.400974301557,-0.00540691115713,0.0798292330146,0.999999929557,0.000240911925457,-0.000284403816705,4.42840341345e-05,1793255862950124032
+86,1.433333333,BASELINE,784.906863094,759,735.906863094,718.093136906,686,651,915.093136906,801.093136906,839,659,636,660,0.400974924856,-0.00540615088453,0.0798298454424,0.999999930228,0.00023888972016,-0.000283854215555,4.36123340042e-05,1793255862966790912
+87,1.450000000,BASELINE,784.517591577,759,735.517591577,718,686,651,915.482408423,801,839,659,635.517591577,660,0.400973912044,-0.00540772059041,0.0798296016983,0.999999930243,0.000238239213633,-0.000284339464926,4.36619464178e-05,1793255862983457536
+88,1.466666667,BASELINE,784,759,735.059751409,718.059751409,686,651,916,801,839,659,635.059751409,660,0.400972759678,-0.00540947407631,0.0798292267327,0.999999930123,0.000237986651586,-0.000284947655319,4.38230084519e-05,1793255863000124160
+89,1.483333333,BASELINE,784,759,735.651694934,718.651694934,686,651,916,801,839,659,635.651694934,660,0.400973182572,-0.00540885100594,0.0798291577851,0.999999929928,0.000238915706354,-0.000284868298835,4.37342488614e-05,1793255863016790784
+90,1.500000000,BASELINE,784,759,735.762189847,718.762189847,686,651.237810153,915.762189847,801,839,659,635.762189847,660,0.400973043311,-0.0054086399589,0.0798289341589,0.99999992985,0.000238697916109,-0.00028533323984,4.36889439393e-05,1793255863033457408
+91,1.516666667,BASELINE,784,759,735.184406813,718.184406813,686,651.815593187,915.184406813,801,839,659,635.184406813,660,0.400972100394,-0.00540901793955,0.0798284894046,0.999999929935,0.000236840598632,-0.000286576307365,4.37057617249e-05,1793255863050124032
+92,1.533333333,BASELINE,784,759,735.390707216,718,686,652,915.390707216,801,839,659,635,660,0.400972259904,-0.00540877110288,0.0798287406773,0.999999929984,0.000237250545914,-0.000286062188936,4.37386503805e-05,1793255863066790656
+93,1.550000000,BASELINE,784,759,735.964570118,718,686,652,915.964570118,801,839,659,635,660,0.400972936208,-0.00540823136444,0.0798293182333,0.999999930013,0.000238723341166,-0.000284724337171,4.37790727384e-05,1793255863083457536
+94,1.566666667,BASELINE,784,759,736,718,686,652,916,801,839,659.552927781,635.552927781,660.552927781,0.40097233418,-0.00540713745058,0.0798285217746,0.999999929654,0.000238907555053,-0.000285867782452,4.35300220258e-05,1793255863100124160
+95,1.583333333,BASELINE,783.860159718,759,736,718.139840282,686,652,915.860159718,801,839,659.860159718,636,661,0.400972533611,-0.0054067197277,0.0798284194749,0.999999929762,0.000238443535606,-0.000285895709862,4.34163259107e-05,1793255863116791040
+96,1.600000000,BASELINE,783.280787189,759,736,718.719212811,686,652,915.280787189,801,839,659.280787189,636,661,0.400975516494,-0.00540854195727,0.0798307831638,0.999999931409,0.000236208559618,-0.000281904264839,4.37879323737e-05,1793255863133457408
+97,1.616666667,BASELINE,783.298500199,759,735.701499801,719,686,652,915,801.298500199,839,659,635.701499801,660.701499801,0.4009757563,-0.00540974125081,0.0798313258101,0.999999931759,0.000235326279405,-0.000281362955787,4.40302991886e-05,1793255863150123776
+98,1.633333333,BASELINE,783.877707489,759,735.122292511,719,686,652,915,801.877707489,839,659,635.122292511,660.122292511,0.400973416539,-0.00541035474041,0.0798301559631,0.999999930898,0.000235716063116,-0.000284066125976,4.41511300978e-05,1793255863166790400
+99,1.650000000,BASELINE,784,759,735.448727684,718.551272316,686,652,915.448727684,801.551272316,839,659,635,660.448727684,0.400972945262,-0.00540856570225,0.0798294458091,0.999999929971,0.000238552629813,-0.000284967309866,4.40873767222e-05,1793255863183457280
+100,1.666666667,BASELINE,784,759,735.981684597,718.018315403,686,652,916,801,839,659,635,660.981684597,0.400972961569,-0.00540621801917,0.0798288803104,0.999999929046,0.000241932268624,-0.000285383423331,4.39725155309e-05,1793255863200123648
+101,1.683333333,BASELINE,784,759,735.388270997,718.611729003,686,652,916,801,839,659,635,660.388270997,0.400972584976,-0.00540652008682,0.0798289936512,0.999999928991,0.000241801251309,-0.000285712507585,4.38041452398e-05,1793255863216790784
+102,1.700000000,BASELINE,784,759,735.200351091,719,686,652,915.799648909,801,839,659,635,660,0.400972643215,-0.00540709942004,0.0798292139518,0.999999929312,0.000240691031543,-0.000285536678611,4.37290298204e-05,1793255863233457408
+103,1.716666667,BASELINE,784,759,735.779904274,719,686,652,915.220095726,801,839,659,635,660,0.400973524457,-0.00540820353041,0.0798296366937,0.999999930339,0.000237727487133,-0.000284405206428,4.383041679e-05,1793255863250124288
+104,1.733333333,BASELINE,784,759,736,718.642876378,686,652,915.357123622,801,839,659,635,660,0.40097405678,-0.00540891495642,0.0798300889193,0.999999930854,0.000236552151427,-0.00028355904215,4.39184923386e-05,1793255863266790656
+105,1.750000000,BASELINE,784,759,736,718.067085983,686,652,915.932914017,801,839,659,635,660,0.400974375462,-0.00540938594195,0.0798305591977,0.99999993106,0.00023647173553,-0.000282887571778,4.39984173147e-05,1793255863283457280
+106,1.766666667,BASELINE,784,759,736,718,686,652,915.493024916,801,839,659,635.506975084,660.506975084,0.400974215389,-0.0054100590383,0.07983030201,0.999999931304,0.000235054504484,-0.000283193594376,4.40838210894e-05,1793255863300123904
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,736,718,686,651,916,801,839,659,635,660,0.400973530587,-0.00540907448705,0.0798296580219,0.999999929574,0.0002406355539,-0.000284643981299,4.38642395885e-05,1793255863342614016
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,759,736,718.57850879,686,651.57850879,916,801,839,659,635,660,0.4009728724,-0.00540914532369,0.0798293084834,0.999999930113,0.000238289264026,-0.000284740506943,4.37724272181e-05,1793255863359281152
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,801,839.155624612,659,635.155624612,660,0.400972918096,-0.00540908882297,0.0798293205189,0.999999930558,0.000236741939128,-0.000284472390287,4.37365565115e-05,1793255863375948032
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,801,839.729001339,659,635.729001339,660,0.400974853263,-0.00540869050322,0.0798303031483,0.999999930765,0.00023733932144,-0.000283225443318,4.38508532169e-05,1793255863392614656
+111,1.850000000,POSE1_TO_POSE2_PRESS,784.30362593,759,735.69637407,718.69637407,686,652,915.69637407,801.30362593,839.69637407,659,635.69637407,660,0.400974919899,-0.00540862171082,0.0798303213491,0.999999930628,0.00023800460189,-0.000283151541234,4.38479581038e-05,1793255863409281280
+112,1.866666667,POSE1_TO_POSE2_PRESS,784.879368853,759,735.120631147,718.120631147,686,652,915.120631147,801.879368853,839.120631147,659,635.120631147,660,0.400973311909,-0.00540884824892,0.0798294752055,0.999999930183,0.000238730734279,-0.000284128950773,4.37400328066e-05,1793255863425947392
+113,1.883333333,POSE1_TO_POSE2_PRESS,784.52866171,759,735.47133829,718,686,652,915.47133829,801.52866171,839,659,635,660.47133829,0.400974189118,-0.00540864053129,0.0798297723344,0.999999930357,0.000238968414196,-0.000283308603757,4.37708405077e-05,1793255863442614016
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,759,736,718,686,652,916,801,839,659,635,660.934802908,0.400975425,-0.00540848445142,0.0798302755361,0.999999930681,0.000238739304642,-0.000282353283729,4.37965943978e-05,1793255863459280640
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,759,736,718,686,652,916,801,839,659,635,660.359801478,0.400974314671,-0.00540963219055,0.0798300205585,0.999999930889,0.000235872535147,-0.000284068591584,4.34952915485e-05,1793255863475947264
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.784939094,759,736,718,686,652,916,801,838.784939094,659,635,660,0.400978837808,-0.00541002219058,0.079832292966,0.999999931897,0.000234788599172,-0.000281395229724,4.35528889092e-05,1793255863492613888
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.210309245,759,736,718,686,652,916,801,838.210309245,659,635,660,0.400992779759,-0.00540914529612,0.07983879101,0.999999934188,0.000236685454252,-0.000271384274968,4.42105459371e-05,1793255863509280768
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.375034325,759,735.624965675,718,686,651.624965675,916,801,838,659,635,660,0.401022855858,-0.00540860465464,0.0798501154732,0.999999939049,0.000238513140862,-0.000251046229525,4.45900540341e-05,1793255863525947392
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.966562599,759,735.033437401,718,686,651.033437401,916,801,838,659,635,660,0.401062245625,-0.00540825811994,0.0798642260566,0.999999944868,0.000240300899033,-0.00022474672161,4.48089967053e-05,1793255863542614016
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,759,735,718,686,651.542849715,916,801,838.542849715,659,635.542849715,660,0.401129827744,-0.00541157517957,0.0798834997871,0.999999952918,0.000237878988919,-0.000188676780538,4.44739416991e-05,1793255863559280384
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,759,735,718.118438295,686,651.881561705,915.881561705,801,839,659,636,660,0.401201754351,-0.00541450155143,0.0799019087316,0.999999959101,0.000235612459998,-0.000156073576171,4.38799837853e-05,1793255863575946752
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,759,735,718.694856951,686,651.305143049,915.305143049,801,839,659,636,660,0.401283948853,-0.00541506843309,0.0799157775235,0.999999961827,0.000234922045377,-0.00013913921332,4.24132416181e-05,1793255863592613376
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,759,735.268994728,718.731005272,686,651.268994728,915,801,839,659,636,660,0.40137453407,-0.00541529681847,0.0799255005524,0.999999964091,0.000233918432584,-0.000124450240793,4.01575796856e-05,1793255863609280256
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,759,735.840566836,718.159433164,686,651.840566836,915,801,839,659,636,660,0.401474557538,-0.00541514444798,0.0799305602395,0.999999965968,0.000232562520463,-0.000112286985424,3.70145053784e-05,1793255863625947136
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,759,736,718,686,652,915,801,839,659,636,660,0.401590282945,-0.00541799852825,0.0799350050245,0.999999967819,0.000228685440967,-0.000104482178056,3.38881661459e-05,1793255863642614016
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,759,736,718.027072936,686,652,915,801.027072936,838.972927064,659,635.972927064,660,0.401713441911,-0.00542186904921,0.0799392908841,0.999999969649,0.000223914086501,-9.80932229073e-05,3.06836848266e-05,1793255863659280640
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,759,736,718.599974536,686,652,915,801.599974536,838.400025464,659,635.400025464,660,0.401864007772,-0.00542278422161,0.0799451683964,0.999999971577,0.000220776239792,-8.62569754341e-05,2.57732253196e-05,1793255863675947520
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,759,736,718.825871536,686,652,915,801.825871536,838.174128464,659,635,660.174128464,0.402023199002,-0.00542361362946,0.0799509563641,0.999999973374,0.000217003407678,-7.57489408764e-05,2.05832497809e-05,1793255863692614144
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,759,736,718.248819872,686,652,915,801.248819872,838.751180128,659,635,660.751180128,0.402202348815,-0.005424244583,0.0799565371295,0.999999975136,0.000211761256532,-6.83143158993e-05,1.47464909898e-05,1793255863709280768
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,759,736,718.336325069,686,652,915,801,839,659,635,660.663674931,0.402398368269,-0.00542606830333,0.0799603017509,0.99999997695,0.000205355096568,-6.21211535863e-05,8.3823458945e-06,1793255863725947136
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,759,736,718.927605273,686,652,915,801,839,659,635,660.072394727,0.402607175969,-0.00542879621448,0.0799626896237,0.999999978766,0.000198066545607,-5.68690957152e-05,1.61840885457e-06,1793255863742613760
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,759.507694872,736,719,686,652,915.507694872,801,839,659.507694872,635,660,0.402836159327,-0.00543122344363,0.0799583858,0.999999980378,0.000186923324122,-6.52481834023e-05,-6.73589756629e-06,1793255863759280384
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,759.91443288,736,719,686,652,916,801.08556712,839,659.91443288,635,660,0.403073944962,-0.00543351241494,0.0799533403687,0.999999981829,0.000174664562485,-7.48297471009e-05,-1.53392213393e-05,1793255863775946752
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,759.340306171,736,719,686,652,916,801.659693829,839,659.340306171,635,660,0.403345916591,-0.0054352515077,0.0799493912801,0.999999983819,0.000159107106959,-8.04183360777e-05,-2.40974492334e-05,1793255863792613632
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.765488025,916,801.765488025,839,659,635,660.234511975,0.403643709987,-0.00543768220903,0.0799505760344,0.999999988213,0.00012865885126,-7.87692757207e-05,-2.85589200201e-05,1793255863809280768
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.189663587,916,801.189663587,839,659,635,660.810336413,0.403979084776,-0.0054411194884,0.0799592326657,0.999999994496,7.65382884728e-05,-6.65864247523e-05,-2.67668214882e-05,1793255863825947392
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.396491583,916,801.396491583,839,659,635,660.603508417,0.404334235332,-0.00544061855465,0.0799603634394,0.999999993966,8.54066913682e-05,-6.44166188153e-05,-2.49869703119e-05,1793255863842614016
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.987720692,916,801.987720692,839,659,635,660.012279308,0.404699098781,-0.00543818336062,0.079957797875,0.999999989758,0.000124229931719,-6.71647375979e-05,-2.32131344909e-05,1793255863859280640
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,759,736,718.432779088,686,651.432779088,916,802,839,659,635.567220912,660,0.405117725674,-0.00544404795018,0.079957307599,0.999999991972,0.000106944516934,-6.21266989172e-05,-2.75665061306e-05,1793255863875947008
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,759,736,718.145019568,686,651.145019568,916,802,839,659,635.854980432,660,0.405542414491,-0.00544928004071,0.0799558190703,0.99999999341,9.22313468885e-05,-6.07381021931e-05,-3.13682988532e-05,1793255863892613632
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,759,736,718.718525567,686,651.718525567,916,802,839,659,635.281474433,660,0.405981645047,-0.00545212316987,0.0799512509707,0.999999993029,8.86345384676e-05,-7.06203801501e-05,-3.31563738209e-05,1793255863909280256
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686.301307443,652,915.698692557,802,839,659,635,660,0.406448137263,-0.00545439425424,0.0799447821367,0.999999992121,8.7146498032e-05,-8.34716391421e-05,-3.45935242961e-05,1793255863925947648
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+144,2.400000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686.529688242,652,915.470311758,802,839,659,635,660.470311758,0.4074544566,-0.00546184618087,0.0799324160956,0.99999999064,7.67403015033e-05,-0.000107731536843,-3.50010672838e-05,1793255863959282176
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+146,2.433333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,659,635,660.374376654,0.408544039955,-0.00549268210646,0.0799199344895,0.999999989828,4.25751138056e-05,-0.000132180959351,-3.25396411261e-05,1793255863992614912
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.796889314,916,802,839,659,635,660,0.409138954322,-0.00550875249552,0.0799218562052,0.999999990698,2.3668315028e-05,-0.00013036605656,-3.23741742642e-05,1793255864009281280
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.225240592,916,802,839,659,635,660,0.409783395428,-0.00551233169163,0.0799434217204,0.999999994881,7.03831288831e-06,-9.49046021219e-05,-3.43657685495e-05,1793255864025947392
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.359985971,916,802,839,659,635,660.359985971,0.410473395805,-0.00551358485776,0.0799737871666,0.999999998386,6.55841966551e-06,-4.47319250774e-05,-3.44055826255e-05,1793255864042614016
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.95404106,916,802,839,659,635,660.95404106,0.411193019584,-0.00551332559876,0.0800098744796,0.9999999992,1.65796078328e-05,1.50062426088e-05,-3.31763152235e-05,1793255864059280384
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.467218892,916,802,839,659,635,660.467218892,0.41185952495,-0.0055210338238,0.0799892570375,0.999999999099,-3.00256573039e-06,-2.26305616782e-05,-3.57790905104e-05,1793255864075947520
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.109781761,916,802,839,659,635,660,0.412529818782,-0.00552742620611,0.0799619561309,0.999999996724,-2.03579718235e-05,-6.80913110275e-05,-3.87378200749e-05,1793255864092614912
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.684852983,916,802,839,659,635,660,0.41323504694,-0.00552541006167,0.0799264809698,0.999999992683,-1.77548696674e-05,-0.000112106198744,-4.18433217135e-05,1793255864109283072
+154,2.566666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,659,635,660,0.413971638975,-0.00552773877656,0.0799139939725,0.999999991327,-1.96340006021e-05,-0.000122547990498,-4.4065211136e-05,1793255864125949952
+155,2.583333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,916,802,839,659,635,660,0.414746258477,-0.00553533544915,0.0799293791458,0.999999994357,-2.69476490484e-05,-9.22838309016e-05,-4.52157586193e-05,1793255864142614528
+156,2.600000000,POSE1_TO_POSE2_PRESS,784,759,736,718.563910243,686,652,916,802,839,659,635,660,0.415560867408,-0.00554051534497,0.0799480757002,0.999999996079,-3.71794910766e-05,-6.65652798443e-05,-4.50353307991e-05,1793255864159280640
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,759,736,718,686,652,916.016072901,802,839,659,635.016072901,660.016072901,0.416388004116,-0.00554480135038,0.079966852099,0.999999996893,-4.81888124759e-05,-4.37236514362e-05,-4.45002488721e-05,1793255864175946752
+158,2.633333333,POSE1_TO_POSE2_PRESS,784,759,736,718,686,652,916.593760208,802,839,659,635.593760208,660.593760208,0.417191617228,-0.0055457301775,0.0799502225627,0.999999995131,-5.27040417546e-05,-6.8974175076e-05,-4.69253862817e-05,1793255864192613376
+159,2.650000000,POSE1_TO_POSE2_PRESS,784,759,736,718.170252124,686,652,916.829747876,802,839,659,635.829747876,660.829747876,0.418027415024,-0.00554554545065,0.0799489059456,0.999999995164,-5.51492449845e-05,-6.55605987838e-05,-4.82848675103e-05,1793255864209280256
+160,2.666666667,POSE1_TO_POSE2_PRESS,784,759,736,718.743911566,686,652,916.256088434,802,839,659,635.256088434,660.256088434,0.418939473415,-0.00554272219094,0.0799838728337,0.999999997485,-5.26895830138e-05,5.77170677937e-06,-4.71193080449e-05,1793255864225947136
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.673336169,759,736,719,686,652,916,802,839,658.673336169,635,660,0.419810703789,-0.00552926388033,0.0799920309483,0.999999997859,-3.77281748845e-05,2.43386242177e-05,-4.76030029827e-05,1793255864242614016
+162,2.700000000,POSE1_TO_POSE2_PRESS,783.083251503,759,736,719,686,652,916,802,839,658.083251503,635,660,0.420649010517,-0.00550722949339,0.0799785705383,0.999999998698,-1.26853924846e-05,3.55671076598e-07,-4.94166523902e-05,1793255864259280640
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.495488165,759,736,719,686,652,916,802,839.495488165,658,635,660,0.421550048184,-0.00550791439317,0.0799721968443,0.999999998622,-1.19383236513e-05,-1.3221161552e-05,-4.93759868628e-05,1793255864275947264
+164,2.733333333,POSE1_TO_POSE2_PRESS,784,759,736.072259469,719,686,652,916,802,840,658.072259469,635,660,0.422463872799,-0.0055133363566,0.0799711408105,0.999999998499,-1.66121017273e-05,-1.85362343635e-05,-4.88189506485e-05,1793255864292613888
+165,2.750000000,POSE1_TO_POSE2_PRESS,784,759,736.648299459,719,686,652,916,802,840,658.648299459,635,660,0.423395007152,-0.00552576663897,0.0799990430222,0.999999998179,-3.12561257973e-05,2.18313807916e-05,-4.67853913703e-05,1793255864309280256
+166,2.766666667,POSE1_TO_POSE2_PRESS,784,759,737,719,686,652,916,802,839.771396174,659,635,660,0.42428766569,-0.00553217717124,0.0800018091699,0.999999998111,-3.82662033225e-05,1.50907039939e-05,-4.56769090054e-05,1793255864325946880
+167,2.783333333,POSE1_TO_POSE2_PRESS,784,759,737,719,686,652,916,802,839.184406384,659,635,660,0.425120005204,-0.00552915044458,0.0799651691028,0.999999996241,-3.33084199587e-05,-6.5502407629e-05,-4.60186844594e-05,1793255864342613760
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,759,737,718.601428176,686,652,916,802,839.398571824,659,635,660.398571824,0.426031463495,-0.00553277944602,0.0799361381593,0.999999993178,-3.98934792013e-05,-9.82910500811e-05,-4.88931567649e-05,1793255864359280384
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,759,737,718.020287539,686,652,916,802,839.979712461,659,635,660.979712461,0.426979162684,-0.00553945715382,0.0799105926342,0.999999991299,-5.17658244398e-05,-0.000109182492149,-5.29277499213e-05,1793255864375947008
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,759,737,718.555232416,686,652,916,802,840,659,635,661,0.427918853748,-0.005540406424,0.0799099613996,0.999999989954,-5.68017403615e-05,-0.000118046562034,-5.41345692308e-05,1793255864392613888
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,759,736.869157632,719,686,652,916,802,840,659,635,661,0.42885988399,-0.00553976496574,0.079915962878,0.999999989797,-6.00160305983e-05,-0.000117589998328,-5.45557810292e-05,1793255864409280768
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,759,736.292548425,719,686,652,916,802,840,659,635,661,0.42980646352,-0.005534410008,0.0799414909931,0.999999993274,-5.7866722441e-05,-8.56288155027e-05,-5.26489918092e-05,1793255864425947392
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.710343103,915.420686205,802.289656897,840,658.710343103,635,660.710343103,0.430756008907,-0.00553029012585,0.0799774606897,0.999999996687,-5.33628997853e-05,-3.42049733843e-05,-5.1075415316e-05,1793255864442613760
+174,2.900000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.122374492,914.244748985,802.877625508,840,658.122374492,635,660.122374492,0.43170860871,-0.00552744222313,0.0800241839557,0.999999996985,-4.6434210784e-05,3.7263061526e-05,-4.9845007755e-05,1793255864459280384
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,759,736.458964864,719,686,651,914.458964864,803,840,658,635.458964864,660.458964864,0.432594756662,-0.00553028145815,0.0800066757992,0.999999997697,-4.53796205381e-05,4.89033014858e-06,-5.02286565239e-05,1793255864475947008
+176,2.933333333,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651,914.961671208,803,840,658.038328792,636,661,0.433465262589,-0.00553454063671,0.0799713316748,0.999999996099,-4.66908461654e-05,-5.46987177272e-05,-5.12821446211e-05,1793255864492613888
+177,2.950000000,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651,914.385577338,803,840,658.614422662,636,661,0.434361356853,-0.00553774983685,0.0799226069669,0.999999990264,-5.9533538393e-05,-0.00011321178478,-5.57815999748e-05,1793255864509280512
+178,2.966666667,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651,914.190398206,803,840,658.809601794,635.809601794,660.809601794,0.435258945504,-0.00554123728961,0.0799002814356,0.999999986321,-6.99573866594e-05,-0.00013802816442,-5.84084777621e-05,1793255864525947136
+179,2.983333333,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651,914.766134381,803,840,658.233865619,635.233865619,660.233865619,0.43615955874,-0.00554528788532,0.0799313839464,0.999999991033,-7.54858530812e-05,-9.46474153822e-05,-5.72455350236e-05,1793255864542614016
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,759,737,719,686,650.649966316,915,803,840,658.350033684,635.350033684,660.350033684,0.437045611136,-0.00554897095136,0.0799651275223,0.99999999411,-7.97197297658e-05,-4.8363115641e-05,-5.55524760285e-05,1793255864559280640
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,759,737,719,686,650.060482846,915,803,840,658.939517154,635.939517154,660.939517154,0.437921702752,-0.00555240259878,0.0800006777866,0.999999995119,-8.3068007737e-05,-9.25679250399e-08,-5.34967770232e-05,1793255864575947264
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,759,737,719,686,650.521274013,915,802.478725987,840,659,636,660.478725987,0.438780644838,-0.00555054471465,0.080009782597,0.999999994635,-8.69159886111e-05,1.55247826845e-05,-5.41703867342e-05,1793255864592613888
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,759,737,719,685.899101829,651,915,802,840,658.899101829,635.899101829,660.100898171,0.439615537526,-0.00554704266775,0.0800015740377,0.999999994687,-8.68936601085e-05,4.19565589035e-06,-5.53033941603e-05,1793255864609280512
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,759,737,719,685.325332603,651,915,802,840,658.325332603,635.325332603,660.674667397,0.440346909295,-0.00553866940504,0.0799263948943,0.999999989305,-6.84649131443e-05,-0.000115924379791,-5.71269481707e-05,1793255864625946880
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,759,737.248220837,719,685.248220837,650.751779163,915,802.248220837,840,658.248220837,635.248220837,661,0.441042807256,-0.00553366513419,0.0798384037036,0.999999964275,-6.18644510637e-05,-0.000252762084029,-6.11094526379e-05,1793255864642613760
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,759,737.821491657,719,685.821491657,650.178508343,915,802.821491657,840,658.821491657,635.821491657,661,0.441692251519,-0.00553307262396,0.0797336348953,0.999999910528,-7.07533579933e-05,-0.000411491887274,-6.79191441094e-05,1793255864659280384
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,759,737.589658287,719,685.589658287,649.589658287,914.589658287,802.589658287,840.410341713,658.589658287,635.589658287,660.589658287,0.442417803716,-0.00553615816181,0.0797162945564,0.999999902006,-7.35972395494e-05,-0.000431183234527,-6.82063694914e-05,1793255864675947264
+188,3.133333333,POSE1_TO_POSE2_PRESS,784.00604097,759,737,719,684.99395903,649,914,802,840.99395903,658.00604097,635.00604097,660,0.443177671049,-0.0055409114822,0.0797388213873,0.999999919988,-7.36442083319e-05,-0.000387690167465,-6.55569279562e-05,1793255864692613888
+189,3.150000000,POSE1_TO_POSE2_PRESS,784.583241619,759,737,719,684.416758381,649,914,802,840.416758381,658.583241619,635.583241619,660,0.443928054244,-0.005546099633,0.0797928073824,0.999999946147,-6.76966184319e-05,-0.00031466345143,-6.41118707355e-05,1793255864709280768
+190,3.166666667,POSE1_TO_POSE2_PRESS,784.840344775,759,737,719,684,649,914,802,840.159655225,659,635.840344775,660,0.444657869335,-0.00555105753205,0.0798316423669,0.999999960968,-7.17345926723e-05,-0.000262675833449,-6.26046720565e-05,1793255864725947392
+191,3.183333333,POSE1_TO_POSE2_PRESS,784.265975434,759,737,719,684,649,914,802,840.734024566,659,635.265975434,660,0.445334257694,-0.00555541733932,0.0798311216955,0.999999957769,-0.000101710673907,-0.000265338534483,-6.0936057598e-05,1793255864742614016
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,759,737,719,683.683272155,648.683272155,914,801.683272155,840.683272155,658.683272155,635,660,0.44596618048,-0.00555745151762,0.0798164007662,0.999999951735,-0.000109007266185,-0.000284457055191,-6.10825723958e-05,1793255864759280640
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,759,737,719,683.093381275,648.093381275,914,801.093381275,840.093381275,658.093381275,635,660,0.446559753737,-0.00555747994883,0.079789432775,0.99999994286,-9.67438523595e-05,-0.000317767954629,-6.27945518202e-05,1793255864775947008
+194,3.233333333,POSE1_TO_POSE2_PRESS,784,759,737,719,683,648,914,800.512585056,840.487414944,658.487414944,635,660.487414944,0.44712925357,-0.00555776565706,0.0797637138328,0.999999933033,-9.39987028682e-05,-0.000347630595027,-6.52006363239e-05,1793255864792613888
+195,3.250000000,POSE1_TO_POSE2_PRESS,784,759,737,719,682.934031512,647.934031512,914,800,841,659,635,661,0.447687219251,-0.00555786725563,0.0797382187293,0.999999921495,-9.44063550423e-05,-0.000378853649707,-6.75831086499e-05,1793255864809280768
+196,3.266666667,POSE1_TO_POSE2_PRESS,784,759,737,719,682.359580089,647.359580089,914,800,841,659,635,661,0.448191178825,-0.00555617677387,0.0797126382463,0.999999901538,-0.000105317266347,-0.000425561605474,-6.87773494562e-05,1793255864825948160
+197,3.283333333,POSE1_TO_POSE2_PRESS,784,759,737,719,682,647,914,800,841,659,635,661,0.448683640924,-0.00555362829783,0.0796871637446,0.999999882178,-0.000109140385899,-0.000467787700492,-7.00510160731e-05,1793255864842615040
+198,3.300000000,POSE1_TO_POSE2_PRESS,784,759,737,719,682,647,914,800,841,659,635,661,0.449156862331,-0.00554964399708,0.079661866602,0.999999866076,-0.000101102320862,-0.000502513546895,-7.14575991766e-05,1793255864859280896
+199,3.316666667,POSE1_TO_POSE2_PRESS,784.388661656,759,737,719,681.611338344,647,914,800,840.611338344,659,635,661,0.449635012899,-0.00555027299801,0.0796614325533,0.999999867853,-0.000100591319389,-0.000499217110443,-7.04109686538e-05,1793255864875947264
+200,3.333333333,POSE1_TO_POSE2_PRESS,784.967681882,759,737,719,681.032318118,647,914,800,840.032318118,659,635,661,0.450115577712,-0.00555316149986,0.0796731759397,0.999999878386,-0.000103766919755,-0.000477298136716,-6.81628041463e-05,1793255864892613888
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+202,3.366666667,POSE1_TO_POSE2_PRESS,785,759,737,719,680,646.877833954,914,799,841,659,634.122166046,660,0.450991615789,-0.00556637893756,0.0797158168387,0.999999903782,-0.000116484097484,-0.000417464521604,-6.77514341696e-05,1793255864925946880
+203,3.383333333,POSE1_TO_POSE2_PRESS,785,759,737,719,680,646.307709035,914,799,841,659,634.692290965,660,0.451359131764,-0.00557047560433,0.0797121771017,0.999999898596,-0.000123949207149,-0.000427611349953,-6.77778532175e-05,1793255864942613760
+204,3.400000000,POSE1_TO_POSE2_PRESS,785,759.272668874,737.272668874,719,680,646,914,799,841,659,635,660.272668874,0.451688470001,-0.00557350857658,0.0796930802821,0.999999882567,-0.000130706533461,-0.000461629984026,-6.84117854977e-05,1793255864959280384
+205,3.416666667,POSE1_TO_POSE2_PRESS,785,759.86506941,737.86506941,719,680,646,914,799,841,659,635,660.86506941,0.45197304098,-0.00557529425983,0.0796558584797,0.999999851133,-0.000136633911849,-0.000523640708013,-6.9758087923e-05,1793255864975947008
+206,3.433333333,POSE1_TO_POSE2_PRESS,784.552456319,759.552456319,737.552456319,719,679.552456319,646,914,799,841,659,635,661,0.452248723082,-0.00557618138882,0.079627817589,0.999999827761,-0.000138936749127,-0.000565648937054,-7.22166385803e-05,1793255864992613632
+207,3.450000000,POSE1_TO_POSE2_PRESS,784.026975766,759,737,718.973024234,679,646,914.026975766,798.973024234,840.973024234,659,634.973024234,661,0.452520847682,-0.00557690669478,0.0796034183572,0.999999807201,-0.000140176182928,-0.000600285945791,-7.48749620568e-05,1793255865009280256
+208,3.466666667,POSE1_TO_POSE2_PRESS,784.604074251,759,737,718.395925749,679,646,914.604074251,798.395925749,840.395925749,659,634.395925749,661,0.452773889765,-0.00557973668761,0.0795980613385,0.999999804217,-0.000141530912806,-0.000604914512917,-7.49171554474e-05,1793255865025946880
+209,3.483333333,POSE1_TO_POSE2_PRESS,785,759,737,718.180390592,678.819609408,646,914.819609408,798,840.180390592,659,634,661,0.453017109352,-0.00558231400263,0.0795942091659,0.999999801194,-0.000142235118615,-0.000609824682488,-7.41224874697e-05,1793255865042613760
+210,3.500000000,POSE1_TO_POSE2_PRESS,785,759,737,718.754997598,678.245002402,646,914.245002402,798,840.754997598,659,634,661,0.453238863322,-0.00558433912804,0.0795936456085,0.999999798102,-0.000141517702063,-0.000615350251109,-7.14989852591e-05,1793255865059280384
+211,3.516666667,POSE1_TO_POSE2_PRESS,785,759,737,719,678,646,914.337880337,798,841,659,634.337880337,661,0.45344169712,-0.00558556764462,0.0795931817019,0.999999796065,-0.000146755552694,-0.000617793310254,-6.82981559467e-05,1793255865075946752
+212,3.533333333,POSE1_TO_POSE2_PRESS,785,759,737,719,678,646,914.926914671,798,841,659,634.926914671,661,0.453630467154,-0.00558620402428,0.0795927918679,0.999999794747,-0.000156420086295,-0.000617945071824,-6.46681862312e-05,1793255865092613632
+213,3.550000000,POSE1_TO_POSE2_PRESS,785,759,737.508745063,719,678,645.491254937,914.491254937,797.491254937,841,659,634.491254937,661,0.453782425953,-0.00558793845046,0.0795854288418,0.999999787901,-0.000157614139445,-0.000628529924954,-6.56188711874e-05,1793255865109280256
+214,3.566666667,POSE1_TO_POSE2_PRESS,784.91125027,759.08874973,737.91125027,719,678,645,914.08874973,797.08874973,841,659,634,661,0.453923529421,-0.00558974522178,0.0795762944024,0.999999779193,-0.000157673016402,-0.000642053069194,-6.72340544332e-05,1793255865125946880
+215,3.583333333,POSE1_TO_POSE2_PRESS,784.335662702,759.664337298,737.335662702,719,678,645,914.664337298,797.664337298,841,659,634,661,0.454033689506,-0.00559109562326,0.0795628612636,0.999999764954,-0.000158086730875,-0.00066358737403,-6.89350225685e-05,1793255865142613760
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+221,3.683333333,POSE1_TO_POSE2_PRESS,784.148133041,759.851866959,737,719,677,645,914.148133041,797,841,659,634.851866959,661,0.454516947937,-0.00559084431948,0.0795513868842,0.999999753548,-0.000154148412213,-0.000681198617969,-7.14850871038e-05,1793255865242615552
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+224,3.733333333,POSE1_TO_POSE2_PRESS,785,759,737,719,677,644.132250038,914.132250038,797,841,658.132250038,634,660.132250038,0.454615709285,-0.00559126806535,0.0795459081392,0.999999746367,-0.00015490982521,-0.00069160291923,-7.03847387892e-05,1793255865292614656
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+226,3.766666667,POSE1_TO_POSE2_PRESS,785,759.94673257,737,719,677,645,914,797,841,658.94673257,634.05326743,660.94673257,0.45465175426,-0.00558915436319,0.0795429787743,0.999999744227,-0.000154338178779,-0.000694769023236,-7.08691774978e-05,1793255865325947392
+227,3.783333333,POSE1_TO_POSE2_PRESS,785,759.37095037,737,719,677,645,914,797,841,658.37095037,634.62904963,660.37095037,0.454662531538,-0.00558859306733,0.0795440413335,0.999999744722,-0.000152004308707,-0.00069467079192,-6.98859409469e-05,1793255865342613760
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+232,3.866666667,POSE1_TO_POSE2_PRESS,785,759,737,719.46574211,677,645,914,797,840.53425789,659,634,661,0.454680922018,-0.00558825799488,0.079538961199,0.999999740149,-0.000152676379454,-0.000701170009838,-6.89372726324e-05,1793255865425947392
+233,3.883333333,POSE1_TO_POSE2_PRESS,785,759,737,719,677,645,914,797,841,659,634,661,0.454680628869,-0.00558773438751,0.0795377617395,0.999999739067,-0.000152573329244,-0.000702712631599,-6.91602373408e-05,1793255865442614016
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+239,3.983333333,POSE1_TO_POSE2_PRESS,785,759,737.589811263,719,677,645,914.589811263,797,840.589811263,658.589811263,634,661,0.454682567019,-0.00558525786966,0.0795354898189,0.999999737093,-0.000147626479973,-0.000706668736364,-6.8120880695e-05,1793255865542614016
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+241,4.016666667,POSE1_TO_POSE2_PRESS,784.256709035,759.743290965,737.256709035,719,677,645,914.256709035,797,840.256709035,659,634,661,0.454683474373,-0.00558699340288,0.0795349730693,0.99999973607,-0.000152144123846,-0.000707155802517,-6.81398470236e-05,1793255865575947264
+242,4.033333333,POSE1_TO_POSE2_PRESS,784.3261087,759.6738913,737,719,676.6738913,645,914,797,840.3261087,659,634,661,0.454683279695,-0.00558830879511,0.0795346888182,0.999999735361,-0.000153113704741,-0.000708002274364,-6.75767162294e-05,1793255865592613632
+243,4.050000000,POSE1_TO_POSE2_PRESS,784.913174701,759.086825299,737,719,676.086825299,645,914,797,840.913174701,659,634,661,0.454683217172,-0.00558830876814,0.0795350865878,0.999999735503,-0.00015050884743,-0.000708433605945,-6.67974972228e-05,1793255865609280256
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+247,4.116666667,HOLD_POSE2,784,759,737,719,677,644,914,797,840,658,634,661,0.454688960008,-0.00558255059323,0.0795372842622,0.999999739351,-0.000146035418911,-0.000703874758077,-6.73251952585e-05,1793255865698448384
+248,4.133333333,HOLD_POSE2,784,759,737,719,677,644,914,797,840.594649659,658,634,661,0.454686622921,-0.00558411101211,0.0795354215517,0.999999737275,-0.000146817418095,-0.000706669152303,-6.71774034557e-05,1793255865715114240
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+250,4.166666667,HOLD_POSE2,784.760294181,759,737,719,676.239705819,644.760294181,914,797,841,658.760294181,634,661,0.454686466166,-0.00558649912541,0.0795349090873,0.999999736593,-0.000147372504806,-0.000707551160204,-6.68398606107e-05,1793255865748446720
+251,4.183333333,HOLD_POSE2,785,759.335257821,737,719,676.335257821,644.664742179,914,797,841,658.664742179,634,661,0.454687231865,-0.00558601862541,0.0795353414481,0.999999737053,-0.000147268890938,-0.000706926594155,-6.67820987012e-05,1793255865765113344
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+256,4.266666667,HOLD_POSE2,784.75621382,759.75621382,737,719,676.24378618,644,914,797,841,659,634,661,0.454688240211,-0.00558502201586,0.0795358764369,0.999999736569,-0.000149463385895,-0.000707139553491,-6.69031198366e-05,1793255865848447232
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,785,760,737,719,676.914860685,644,914.085139315,797,841,659,634.085139315,661,0.454689965452,-0.00558439943547,0.0795341329281,0.999999737541,-0.000146584791953,-0.000706408393521,-6.64722637253e-05,1793255866068846080
+269,4.483333333,POSE2_TO_POSE3_RETREAT,785,759.512360093,737,719,676.512360093,644,914,797,841,659,634,661,0.454688330057,-0.00558392133234,0.079533111568,0.999999735789,-0.000146618579555,-0.000708877735212,-6.64694934969e-05,1793255866085512448
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,785,759.651579073,737,719,676,644.651579073,914,797,841,659,634,661,0.454687682472,-0.00558336059794,0.0795327019825,0.999999735264,-0.000147317096676,-0.000709457813257,-6.66288381458e-05,1793255866118846208
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785,759.762311256,737,719,676.237688744,644.762311256,914,797,841,658.762311256,634.237688744,661,0.45468404999,-0.00558316289757,0.0795307673993,0.999999733637,-0.000147468164746,-0.000711698326381,-6.68239408025e-05,1793255866135513088
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..601e9c6b691fd6d928fbc3108c7945689508f476
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0186af91bc21d598ab7671960f7af9799ec804c4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02ebdbc9aeb4fe0055ba2e0cc68e7aedd8fa6c008c0574087a6009409d79f110
+size 26103877
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9d145cf0b1bc22c18cc27aa327e227990710cf7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+7,0.116666667,BASELINE,784,759,736,719,685.13372591,652,916.13372591,801.13372591,839.86627409,660,636,661,0.400972894581,-0.0054114198093,0.0798289150954,0.999999929998,0.000234277633018,-0.000288496487767,4.34389233131e-05,1793255868631266560
+8,0.133333333,BASELINE,784,759,736,719,685.709088274,652,916.709088274,801.709088274,839.290911726,660,636,661,0.400973303091,-0.00541302974638,0.0798298417527,0.999999930782,0.000231799745146,-0.000287737203181,4.37363676154e-05,1793255868647933184
+9,0.150000000,BASELINE,784,759,736,719,686,652,917,801.715505644,839,660,636,661,0.400973821782,-0.00541374422133,0.0798304908582,0.999999931208,0.000230797015909,-0.000287047513307,4.38190072983e-05,1793255868664599808
+10,0.166666667,BASELINE,784,759,736,719,686,652,917,801.140054884,839,660,636,661,0.400974453156,-0.00541354289439,0.0798308561074,0.999999931275,0.000231302952433,-0.000286428998978,4.36819632396e-05,1793255868681266688
+11,0.183333333,BASELINE,784.446780927,759,736,719.446780927,686,652,916.553219073,801,839,660,635.553219073,661,0.400973914712,-0.00541283338911,0.0798298606143,0.999999930812,0.000232552149315,-0.00028701521895,4.37996066611e-05,1793255868697933312
+12,0.200000000,BASELINE,784.96348434,759,736,719.926968679,685.96348434,652,916,801.03651566,839,660,635,661,0.400973046068,-0.00541198542438,0.0798285233318,0.999999930209,0.000233951146875,-0.000287951523422,4.39712879773e-05,1793255868714599936
+13,0.216666667,BASELINE,784.385078162,759,736,718.770156324,685.385078162,652,916,801.614921838,839,660,635,661,0.400972861515,-0.00541150857154,0.079828609558,0.999999930092,0.0002340251468,-0.000288332138884,4.37291116016e-05,1793255868731266560
+14,0.233333333,BASELINE,784,759,736,718.192076572,685.192076572,652,916,801.807923428,839,660,635.192076572,661.192076572,0.400973155694,-0.00541130174535,0.0798289159596,0.999999930184,0.000234144200957,-0.000287937603866,4.35867310148e-05,1793255868747933440
+15,0.250000000,BASELINE,784,759,736,718.766738736,685.766738736,652,916,801.233261264,839,660,635.766738736,661.766738736,0.40097440343,-0.00541163276865,0.0798296609153,0.999999930689,0.000234352995895,-0.000285999094023,4.36431275209e-05,1793255868764600064
+16,0.266666667,BASELINE,784,759,736,719,686,652,916,801,839.342329689,660,635.657670311,661.657670311,0.400974349479,-0.00541186623886,0.0798298779493,0.999999930697,0.000234197399781,-0.000286096880513,4.36670872151e-05,1793255868781266688
+17,0.283333333,BASELINE,784,759,736,719,686,652,916,801,839.9185552,660,635.0814448,661.0814448,0.400973406154,-0.00541203305618,0.0798297342821,0.999999930364,0.000233792834465,-0.000287585961009,4.36688845432e-05,1793255868797933312
+18,0.300000000,BASELINE,784,759,736,719,686,652,916.509748339,801.509748339,839.490251661,660,635,661,0.400973502584,-0.00541204977014,0.0798298348099,0.999999929882,0.000235687203799,-0.000287709043985,4.37051684316e-05,1793255868814599936
+19,0.316666667,BASELINE,784,759,736,719,686,652,916.899437565,802,839,660.100562435,635,661,0.400973750533,-0.00541205960095,0.0798299138012,0.999999929593,0.000237053066561,-0.000287593456055,4.37068084908e-05,1793255868831266560
+20,0.333333333,BASELINE,784,759,736,719,686,652,916.322101549,802,839,660.677898451,635,661,0.400973905408,-0.00541215394153,0.0798297001129,0.999999930344,0.000234119113603,-0.000287412360949,4.35172858019e-05,1793255868847933184
+21,0.350000000,BASELINE,784,759,736,719,686,652,916,802,839,660.746722532,635.253277468,661,0.400973445944,-0.00541236489615,0.0798293100853,0.999999930473,0.000233072518985,-0.000287811721542,4.35493763001e-05,1793255868864600064
+22,0.366666667,BASELINE,784,759,736,719,686,652,916,802,839,660.173813257,635.826186743,661,0.400972211196,-0.00541272301569,0.0798286975209,0.99999992982,0.00023440773835,-0.000288943607257,4.38611388424e-05,1793255868881266688
+23,0.383333333,BASELINE,784,759,735.590111736,719,686,652,916.409888264,802,839,660.409888264,636,661,0.400972954834,-0.00541269141904,0.0798288525939,0.999999930265,0.000233690018162,-0.000288019873654,4.36334659428e-05,1793255868897933056
+24,0.400000000,BASELINE,784,759,735.001709954,719,686,652,916.998290046,802,839,660.998290046,636,661,0.400974560092,-0.0054124900942,0.0798293419863,0.999999931183,0.000232078206954,-0.000286200881928,4.31708594859e-05,1793255868914599680
+25,0.416666667,BASELINE,784,759,735.578605274,719,686,652,917,801.421394726,839,660.421394726,636,661.578605274,0.400974605034,-0.00541341326263,0.0798303660995,0.999999931639,0.000231244194566,-0.000285239730132,4.34382848301e-05,1793255868931266304
+26,0.433333333,BASELINE,784,759,736,719,686,652,917,801.157854208,839,660,635.842145792,661.842145792,0.400974543436,-0.00541391042498,0.0798309390747,0.999999931771,0.000231283089917,-0.000284712021287,4.3659729467e-05,1793255868947933184
+27,0.450000000,BASELINE,784,759,736,719,686,652,917,801.73433796,839,660,635.26566204,661.26566204,0.400974211352,-0.00541326912721,0.0798303114981,0.999999931045,0.000233630925483,-0.000285327172821,4.37535905342e-05,1793255868964599808
+28,0.466666667,BASELINE,784,759,736,719,686,652,917,802,839,660,635.310109737,661,0.400973416456,-0.00541275719496,0.0798298304659,0.999999930277,0.00023540740156,-0.000286570681035,4.36619327149e-05,1793255868981266432
+29,0.483333333,BASELINE,784,759,736,719,686,652,917,802,839,660,635.885272949,661,0.40097222599,-0.0054123558326,0.0798294746864,0.999999929472,0.000236695531596,-0.000288351251099,4.34117102933e-05,1793255868997933312
+30,0.500000000,BASELINE,784,759,736,719,685.526084788,652,917,802,839,660,635.526084788,661,0.400972075455,-0.00541331950194,0.079829577607,0.999999930243,0.000234151407146,-0.000287719272126,4.36440277342e-05,1793255869014599936
+31,0.516666667,BASELINE,784.064105884,759,736,719,685,652,916.935894116,801.935894116,839,660,635,661,0.400972231106,-0.00541444836798,0.079829818246,0.999999931269,0.000231176376651,-0.00028651188394,4.3939234384e-05,1793255869031266560
+32,0.533333333,BASELINE,784.639849363,759,736,719,685,652,916.360150637,801.360150637,839,660,635,661,0.400972762409,-0.00541418110436,0.0798302458333,0.999999931283,0.000232383286121,-0.000285509822644,4.37767595467e-05,1793255869047933184
+33,0.550000000,BASELINE,784.784441882,759,736,719,685.215558118,652,916.215558118,801,839,660,635.215558118,661,0.400973468784,-0.00541379088543,0.0798306772753,0.999999931378,0.000232917700886,-0.000284758568596,4.3653064827e-05,1793255869064600064
+34,0.566666667,BASELINE,784.208791194,759,736,719,685.791208806,652,916.791208806,801,839,660,635.791208806,661,0.40097446762,-0.00541319526813,0.0798311151564,0.999999931612,0.000232328704595,-0.000284426291336,4.35941528024e-05,1793255869081266688
+35,0.583333333,BASELINE,784.37591827,759,736,719,686,652,917,801.37591827,839,660,635.62408173,661,0.400974978241,-0.00541262852641,0.0798309939182,0.999999931261,0.00023398095343,-0.000284323005932,4.34789165571e-05,1793255869097933056
+36,0.600000000,BASELINE,784.965783421,759,736,719,686,652,917,801.965783421,839,660,635.034216579,661,0.400975211003,-0.00541207821862,0.0798305544677,0.999999930571,0.00023690876513,-0.000284350046947,4.33316244245e-05,1793255869114599680
+37,0.616666667,BASELINE,784.454237145,759,736,719,686,652,917,802,839,660,635,661,0.400973527694,-0.00541312124618,0.0798296552001,0.999999930791,0.000234089229911,-0.000285903197133,4.33560157038e-05,1793255869131266560
+38,0.633333333,BASELINE,784,759.124189474,736,718.875810526,686,652,916.875810526,801.875810526,839,660,635.124189474,661,0.400972635801,-0.00541411272009,0.079829307077,0.999999931158,0.000231745227879,-0.000286513252597,4.3443469983e-05,1793255869147933184
+39,0.650000000,BASELINE,784,759.699189312,736,718.300810688,686,652,916.300810688,801.300810688,839,660,635.699189312,661,0.400975045076,-0.00541456088727,0.0798310624045,0.99999993189,0.000232412153318,-0.000283358716391,4.37214670214e-05,1793255869164599808
+40,0.666666667,BASELINE,784,759.725736525,736,718,686,652,916.274263475,801,839,660,636,661,0.400975815943,-0.00541364306312,0.0798316179416,0.999999932001,0.000232922465559,-0.000282557085364,4.36593105743e-05,1793255869181266432
+41,0.683333333,BASELINE,784,759.150580856,736,718,686,652,916.849419144,801,839,660,636,661,0.400974789326,-0.00541122662111,0.0798308571986,0.999999931437,0.000233260958716,-0.000284336807374,4.32239745297e-05,1793255869197933056
+42,0.700000000,BASELINE,784,759,736,718,686,652,916.563561176,801,839,660,635.563561176,661,0.400974766033,-0.00541129340549,0.0798307884512,0.999999931208,0.000233801984709,-0.000284696119116,4.32223352313e-05,1793255869214599680
+43,0.716666667,BASELINE,784,759,736,718.027040601,685.972959399,652,916,801,839,660,635.027040601,661,0.400975060395,-0.0054121925903,0.0798309477436,0.9999999311,0.000234404452002,-0.000284559913767,4.33687146172e-05,1793255869231266560
+44,0.733333333,BASELINE,784,759,736,718.604898623,685.395101377,652,916,801,839,660,635.604898623,661,0.400974576902,-0.00541210775336,0.0798307528991,0.999999930998,0.000234795284331,-0.000284591750183,4.33970013245e-05,1793255869247933184
+45,0.750000000,BASELINE,784.181808044,759,736,719,685.181808044,652,916.181808044,801,839,660,635.818191956,661,0.400974605929,-0.00541167368873,0.0798309618073,0.999999931078,0.000235011356752,-0.000284140132989,4.33261633933e-05,1793255869264599808
+46,0.766666667,BASELINE,784.756666615,759,736,719,685.756666615,652,916.756666615,801,839,660,635.243333385,661,0.400975742971,-0.00541048462929,0.0798320435883,0.999999931553,0.000234849615956,-0.000282643338187,4.3041028058e-05,1793255869281266432
+47,0.783333333,BASELINE,784.660673628,759,736,719,685.660673628,652,916.660673628,801.339326372,839,660,635.339326372,661,0.400974662758,-0.00541074413341,0.0798313940612,0.999999931463,0.000233714764306,-0.000283917634407,4.29231754996e-05,1793255869297933056
+48,0.800000000,BASELINE,784.072287883,759,736,719,685.072287883,652,916.072287883,801.927712117,839,660,635.927712117,661,0.40097195512,-0.00541206685668,0.0798294737856,0.999999930948,0.000231865667001,-0.000287225860786,4.29281054216e-05,1793255869314599680
+49,0.816666667,BASELINE,784,759,736,719,685.507711173,652,916,802,839,660.507711173,635.492288827,661,0.400971725784,-0.00541176883178,0.0798295153853,0.999999930444,0.000234000520168,-0.000287191870505,4.33260160372e-05,1793255869331266304
+50,0.833333333,BASELINE,784,759,736,719,685.913913562,651.913913562,916,801.913913562,839,660.913913562,635.086086438,661,0.400972101381,-0.00541139689584,0.0798299698883,0.999999930194,0.000235890731956,-0.000286468735585,4.36220986733e-05,1793255869347933440
+51,0.850000000,BASELINE,784,759,736,719,685.338092928,651.338092928,916,801.338092928,839,660.338092928,635.661907072,661,0.40097394361,-0.00541189593112,0.0798312100853,0.999999931413,0.000233214729437,-0.000284488287488,4.30257616937e-05,1793255869364601088
+52,0.866666667,BASELINE,784.237673501,759,736,719.237673501,685.237673501,651.237673501,916.237673501,801.237673501,839,660,636,661.237673501,0.400975004626,-0.00541229042285,0.0798319250946,0.999999931912,0.000232524508199,-0.000283315595987,4.29110867672e-05,1793255869381267968
+53,0.883333333,BASELINE,784.813362809,759,736,719.813362809,685.813362809,651.813362809,916.813362809,801.813362809,839,660,636,661.813362809,0.400974954609,-0.00541253623426,0.0798318931894,0.999999931395,0.00023465843646,-0.000283291684325,4.34814246624e-05,1793255869397933824
+54,0.900000000,BASELINE,785,759,736.398375109,719.601624891,686,651.601624891,916.601624891,801.601624891,839.398375109,660.398375109,636,661.601624891,0.400974863993,-0.00541273486407,0.0798316337737,0.999999931457,0.000233914711581,-0.000283664234959,4.36360441686e-05,1793255869414600192
+55,0.916666667,BASELINE,785,759,736.987859845,719.012140155,686,651.012140155,916.012140155,801.012140155,839.987859845,660.987859845,636,661.012140155,0.4009747539,-0.0054129108598,0.0798312652161,0.999999931794,0.000231790510787,-0.000284226977599,4.35912340642e-05,1793255869431266816
+56,0.933333333,BASELINE,785,759,736.432558656,719,685.432558656,651.567441344,916,801.567441344,839.432558656,660.432558656,636,661,0.400974037959,-0.00541438191601,0.0798312315494,0.999999932041,0.000230115722326,-0.00028476461525,4.32987813183e-05,1793255869447933440
+57,0.950000000,BASELINE,784.854269931,759,736,719,685.145730069,652,916,802,839,660,636,661,0.400973399332,-0.00541487522516,0.0798309484463,0.999999931996,0.000229632531395,-0.000285343333489,4.30847324192e-05,1793255869464600320
+58,0.966666667,BASELINE,784.279176663,759,736,719,685.720823337,652,916,802,839,660,636,661,0.40097302603,-0.00541240757329,0.0798299096833,0.999999931101,0.000232632291314,-0.000286044642343,4.31170264176e-05,1793255869481266944
+59,0.983333333,BASELINE,784,759,736,719,686,652,916.295806028,802,839,660,635.704193972,661,0.400973132154,-0.00541244055349,0.0798298272181,0.999999930898,0.000233326840058,-0.000286170796965,4.32219080747e-05,1793255869497933568
+60,1.000000000,BASELINE,784,759,736,719,686,652,916.870684467,802,839,660,635.129315533,661,0.400973690582,-0.00541483270582,0.0798306469534,0.999999931354,0.000231846582775,-0.000285754333664,4.33952711418e-05,1793255869514600192
+61,1.016666667,BASELINE,784,759,736,719,686,652,917,801.539114479,839,660,635.460885521,661.460885521,0.400974276561,-0.00541395430011,0.0798307906291,0.999999931553,0.000232487180968,-0.000284527381453,4.34544331801e-05,1793255869531266816
+62,1.033333333,BASELINE,784,759,736,719,686,652,917,801.053765622,839,660.053765622,636,661.946234378,0.4009746728,-0.00541233711531,0.0798307154087,0.999999931665,0.000233495040817,-0.000283305879252,4.3458773619e-05,1793255869547933440
+63,1.050000000,BASELINE,784,759,736,719,686,652,917,801.629482247,839,660.629482247,636,661.370517753,0.400973149434,-0.00541276279653,0.0798304199783,0.999999931683,0.000232092690084,-0.000284420851531,4.32526752323e-05,1793255869564599808
+64,1.066666667,BASELINE,784,759,736,719,685.795038964,652,917,802,839,660.795038964,636,661.204961036,0.400972748855,-0.00541322242151,0.0798303996448,0.999999931812,0.000231260101479,-0.000284662043172,4.31507842242e-05,1793255869581266688
+65,1.083333333,BASELINE,784,759,736,719,685.219989662,652,917,802,839,660.219989662,636,661.780010338,0.400974375636,-0.00541374333707,0.0798308760408,0.999999932143,0.000231456304978,-0.000283325491153,4.32370554715e-05,1793255869597933568
+66,1.100000000,BASELINE,784,759,736,718.635632214,685,652,916.635632214,801.635632214,839,660,636,662,0.400973787558,-0.00541319458875,0.0798309542182,0.999999931542,0.00023297384374,-0.000284196132581,4.32700861916e-05,1793255869614600448
+67,1.116666667,BASELINE,784,759,736,718.0455076,685,652,916.0455076,801.0455076,839,660,636,662,0.400971827186,-0.00541198309268,0.0798307856653,0.999999930356,0.00023531006205,-0.000286434318094,4.32701298739e-05,1793255869631267328
+68,1.133333333,BASELINE,784,759,736,718,685.534589938,652,916,801.534589938,839,660.534589938,635.465410062,662,0.40097240137,-0.00541160898242,0.0798310364256,0.99999993078,0.0002345169832,-0.000285644964146,4.3005086677e-05,1793255869647933952
+69,1.150000000,BASELINE,784.113065678,759,736,718.113065678,686,652,916.113065678,802,839,660.886934322,635.113065678,661.886934322,0.400972879295,-0.00541172314455,0.0798311535125,0.999999931169,0.000233688703576,-0.000284978101454,4.28926564372e-05,1793255869664600576
+70,1.166666667,BASELINE,784.688336544,759,736,718.688336544,686,652,916.688336544,802,839,660.311663456,635.688336544,661.311663456,0.400972097953,-0.00541354729566,0.0798305809209,0.999999930872,0.000233785441712,-0.000285846132587,4.349464746e-05,1793255869681266944
+71,1.183333333,BASELINE,784.737038268,759.262961732,735.737038268,719,686,652,917,801.737038268,839,660.262961732,635.737038268,661,0.400972217604,-0.00541393528619,0.0798305016887,0.999999930943,0.000233436714393,-0.000285872974074,4.35660895777e-05,1793255869697933312
+72,1.200000000,BASELINE,784.163176393,759.836823607,735.163176393,719,686,652,917,801.163176393,839,660.836823607,635.163176393,661,0.400973402499,-0.00541262530167,0.0798310057564,0.999999931447,0.000232561312452,-0.000284905275598,4.30102628193e-05,1793255869714599936
+73,1.216666667,BASELINE,784.423817479,759.576182521,735.423817479,719,686,652,916.576182521,801,839.423817479,661,635.423817479,661.423817479,0.400973676688,-0.00541237663132,0.079831303354,0.999999931187,0.000234245830888,-0.000284410922757,4.31948110563e-05,1793255869731266560
+74,1.233333333,BASELINE,784.984329444,759,736,719,686,652,916.015670556,801,839.984329444,660.984329444,636,661.984329444,0.40097360865,-0.00541256078857,0.0798315134539,0.999999930642,0.000236838806974,-0.000284106954455,4.36631358727e-05,1793255869747933184
+75,1.250000000,BASELINE,784.405361434,759,736,719,686,652,916.594638566,801,839.405361434,660.405361434,636,661.405361434,0.400974245864,-0.00541314534803,0.079831527235,0.999999931011,0.000235525598381,-0.000283886078095,4.37578248206e-05,1793255869764600064
+76,1.266666667,BASELINE,784,759,736,719,685.827787415,652,916.827787415,801,839,660,635.827787415,661.172212585,0.400974282936,-0.00541343836451,0.0798312898706,0.999999931173,0.000234581678854,-0.000284115392269,4.36422364874e-05,1793255869781266944
+77,1.283333333,BASELINE,784,759,736,719,685.253468322,652,916.253468322,801,839,660,635.253468322,661.746531678,0.400972918709,-0.00541305064481,0.0798304660959,0.999999930853,0.000234500028193,-0.000285395875529,4.30356627583e-05,1793255869797933568
+78,1.300000000,BASELINE,784,759.328466729,736,719,685,652,916.328466729,801,839,660.328466729,635,661.671533271,0.400972500065,-0.0054129345036,0.0798306957373,0.999999931038,0.000233818752233,-0.000285295520439,4.31135191932e-05,1793255869814600192
+79,1.316666667,BASELINE,784,759.916418269,736,719,685,652,916.916418269,801,839,660.916418269,635,661.083581731,0.400972828418,-0.00541303290619,0.0798317575648,0.99999993162,0.00023266377942,-0.00028410431941,4.37320673485e-05,1793255869831266560
+80,1.333333333,BASELINE,784,759.503575969,736,719,685.496424031,651.503575969,917,801.496424031,839,660.503575969,635,661.496424031,0.400973734658,-0.00541427647528,0.0798322248191,0.9999999322,0.000231659249252,-0.000282917229148,4.34849583316e-05,1793255869847933696
+81,1.350000000,BASELINE,784.074758506,759,736,719,686,651.074758506,916.925241494,801.925241494,839,660.074758506,635.074758506,661.925241494,0.400974609268,-0.00541534860093,0.0798325497117,0.999999932653,0.000230943947798,-0.000281955297715,4.31370378531e-05,1793255869864600320
+82,1.366666667,BASELINE,784.650715705,759,736,719,686,651.650715705,916.349284295,801.349284295,839,660.650715705,635.650715705,661.349284295,0.400974629796,-0.00541399905582,0.0798325807453,0.999999932257,0.000232000563633,-0.000282498317825,4.30749933597e-05,1793255869881267200
+83,1.383333333,BASELINE,784.773128556,759,735.773128556,719,685.773128556,652,916.226871444,801.226871444,839,660.773128556,635.773128556,661,0.40097465843,-0.00541279962735,0.0798325605272,0.999999931831,0.000233549198824,-0.000282740676907,4.30232110597e-05,1793255869897933824
+84,1.400000000,BASELINE,784.196666797,759,735.196666797,719,685.196666797,652,916.803333203,801.803333203,839,660.196666797,635.196666797,661,0.400974699554,-0.00541183151612,0.0798324613344,0.999999931353,0.000235855995709,-0.00028251974205,4.29872419499e-05,1793255869914600192
+85,1.416666667,BASELINE,784,759,735.388307987,718.611692013,685,652,917,801.611692013,839,660,635.388307987,661,0.400974877886,-0.00541236737833,0.0798323865039,0.99999993155,0.000234886542457,-0.000282619703376,4.30560647621e-05,1793255869931266816
+86,1.433333333,BASELINE,784,759,735.977690981,718.022309019,685,652,917,801.022309019,839,660,635.977690981,661,0.400975127267,-0.00541368203341,0.0798323242888,0.999999932092,0.000232220569706,-0.000282885832301,4.31791512977e-05,1793255869947933440
+87,1.450000000,BASELINE,784,759,736,718.56001164,685,652,917,801.56001164,839,660,636,661,0.400973982723,-0.00541284064213,0.0798314517984,0.999999931354,0.00023427964567,-0.000283795243742,4.31948839446e-05,1793255869964600064
+88,1.466666667,BASELINE,784,759,736,719,685.139940545,652,917,802,839,660.139940545,636,661.139940545,0.40097361939,-0.00541216075903,0.0798310328833,0.999999931035,0.000235525052091,-0.000283893324289,4.31626838082e-05,1793255869981266432
+89,1.483333333,BASELINE,784,759,736,719,685.713321932,652,917,802,839,660.713321932,636,661.713321932,0.400975845569,-0.00541224383387,0.0798321175695,0.999999932181,0.000233674513147,-0.000281400068023,4.29951015535e-05,1793255869997933312
+90,1.500000000,BASELINE,784,759,736,719,686,652,917,802,839,660.71442691,635.71442691,661.71442691,0.400975602648,-0.00541226926787,0.0798321417912,0.999999932096,0.000233787747131,-0.000281615507639,4.29520751382e-05,1793255870014599936
+91,1.516666667,BASELINE,784,759,736,719,686,652,917,802,839,660.143305917,635.143305917,661.143305917,0.400972890844,-0.00541223706609,0.0798311056419,0.999999930777,0.000235864580957,-0.000284539404389,4.30335935872e-05,1793255870031266560
+92,1.533333333,BASELINE,784,759,736,719,686,652,916.554689557,802,839.445310443,660.445310443,635.445310443,661.445310443,0.400972530023,-0.00541258711511,0.079831009585,0.999999930795,0.000235084197071,-0.000285100068824,4.31569242193e-05,1793255870047933184
+93,1.550000000,BASELINE,784.038732335,759,736,719,686,652,916.038732335,802,840,661,635.961267665,662,0.400972922897,-0.00541306509967,0.079831172903,0.999999931254,0.000233364647342,-0.000284887230122,4.32725256514e-05,1793255870064599808
+94,1.566666667,BASELINE,784.61744656,759,736,719,686,652,916.61744656,802,840,661,635.38255344,662,0.400972844308,-0.00541354158304,0.0798305620636,0.999999931593,0.000231894943593,-0.000284926907002,4.30851098816e-05,1793255870081266432
+95,1.583333333,BASELINE,785,759,736,719,686,652,917,802,839.805584271,660.805584271,635,661.805584271,0.400973157553,-0.00541361763777,0.0798305250473,0.999999931962,0.000230859435721,-0.000284491999808,4.29452173721e-05,1793255870097933312
+96,1.600000000,BASELINE,785,759,736,719,686,652,917,802,839.232018214,660.232018214,635,661.232018214,0.400974234952,-0.00541291277507,0.0798316071033,0.999999932394,0.000230670698114,-0.000283131556874,4.28980048808e-05,1793255870114599936
+97,1.616666667,BASELINE,784.649185455,759,736,719,686,652,917,802,839,660,635.350814545,661,0.400974297769,-0.0054122211018,0.0798313399771,0.999999931789,0.000232475323817,-0.000283793816801,4.28758902858e-05,1793255870131266560
+98,1.633333333,BASELINE,784.060057733,759,736,719,686,652,917,802,839,660,635.939942267,661,0.400973671364,-0.00541153838834,0.0798301563325,0.99999993047,0.00023563406883,-0.000285830126873,4.28708250415e-05,1793255870147933184
+99,1.650000000,BASELINE,784,759,736,719,686,652,917,801.478443941,839,660.521556059,635.478443941,661,0.400973916692,-0.00541081297676,0.0798309783108,0.999999930388,0.000237150782841,-0.000284852864161,4.29258503199e-05,1793255870164600064
+100,1.666666667,BASELINE,784,759,736,719,686,652,917,801.101566397,839,661,635,661,0.400974346852,-0.00541049933583,0.0798319120639,0.999999930572,0.000237912862184,-0.000283557737954,4.29879033031e-05,1793255870181266688
+101,1.683333333,BASELINE,784,759,736,719,686,652,917,801.678067283,839,661,635,661,0.40097517858,-0.00541213383966,0.0798323038815,0.999999931353,0.000236017802565,-0.000282375886667,4.30509218477e-05,1793255870197933312
+102,1.700000000,BASELINE,784,759,736,719,685.742333374,652,916.742333374,802,839,660.742333374,635,661,0.400974989928,-0.00541314097735,0.0798320775578,0.99999993172,0.000234432631247,-0.000282396608251,4.30628135695e-05,1793255870214599680
+103,1.716666667,BASELINE,784,759,736,719,685.158815699,652,916.158815699,802,839,660.158815699,635,661,0.400973510879,-0.0054133547335,0.0798310695186,0.999999931564,0.000233239351836,-0.00028393813081,4.30100491489e-05,1793255870231266560
+104,1.733333333,BASELINE,784,759,736,718.578254972,685.421745028,652,916,801.578254972,839,660.421745028,635,661,0.400973793265,-0.00541294572128,0.0798316786791,0.999999931554,0.000234002023897,-0.000283331106582,4.31026687611e-05,1793255870247933184
+105,1.750000000,BASELINE,784,759,736,718.00119963,686,652,916.00119963,801,839,660.99880037,635.00119963,661,0.400974727673,-0.0054123052555,0.0798328857945,0.999999931594,0.000235492587417,-0.000281930412144,4.3249345541e-05,1793255870264600064
+106,1.766666667,BASELINE,784,759,736,718.580445826,686,652,916.580445826,801,839,660.419554174,635.580445826,661,0.400972452296,-0.00541235305646,0.0798308206716,0.999999930706,0.000235282532155,-0.000285237844952,4.32472961294e-05,1793255870281266688
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917,801,839,660,636,662,0.400971083907,-0.00541295659528,0.0798308729325,0.999999931137,0.000232291864301,-0.000286217069687,4.29667567085e-05,1793255870322581760
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917,801,839,660.579436864,636,662,0.400972254951,-0.0054142041047,0.0798314992919,0.999999931945,0.000230414219229,-0.000284892504604,4.30699316215e-05,1793255870339248384
+109,1.816666667,POSE1_TO_POSE2_PRESS,784.16325778,759,736.16325778,719,686,652,917,801.16325778,839,660.83674222,636,661.83674222,0.400973121627,-0.00541464749127,0.0798318531092,0.999999932305,0.000229970946261,-0.000283986086337,4.30693030888e-05,1793255870355915008
+110,1.833333333,POSE1_TO_POSE2_PRESS,784.758684084,759,736.758684084,719,686,652,917,801.758684084,839,660.241315916,636,661.241315916,0.400973182597,-0.0054129622409,0.0798314854659,0.999999931483,0.000233324677085,-0.000284186566896,4.2793890847e-05,1793255870372581632
+111,1.850000000,POSE1_TO_POSE2_PRESS,784.657851329,759,736.657851329,719,686,652,917,801.657851329,839,660.342148671,636,661,0.400972466172,-0.00541275724643,0.0798313212849,0.999999931325,0.000233521684321,-0.000284593664436,4.26992329852e-05,1793255870389248256
+112,1.866666667,POSE1_TO_POSE2_PRESS,784.08253834,759,736.08253834,719,686,652,917,801.08253834,839,660.91746166,636,661,0.400971219977,-0.00541356100319,0.0798312957574,0.999999931623,0.000231567476492,-0.000285141565398,4.27277539669e-05,1793255870405914880
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917,801,839.491925244,661,636,661.491925244,0.400972923705,-0.00541419689749,0.0798320570673,0.999999932129,0.000231373022992,-0.000283478218745,4.30047279565e-05,1793255870422581504
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,759,735.931705584,719,686,652,917,801,839.931705584,661,636,662,0.400974908777,-0.00541460890334,0.0798329227467,0.999999932584,0.000231635907936,-0.000281609653556,4.32870201354e-05,1793255870439248128
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,759,735.33963042,719,686,652,917,801,839.33963042,661,636,662,0.400975262105,-0.00541351944545,0.0798335781019,0.999999932402,0.000233145727997,-0.000281007768072,4.32909344016e-05,1793255870455914752
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,759,735.246904776,719,686,652,916.753095224,801.246904776,839,661,635.753095224,662,0.400977639999,-0.00541287426146,0.0798348472397,0.999999932742,0.000233720600701,-0.000279326949802,4.31989415125e-05,1793255870472581376
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,759,735.825986643,719,686,652,916.174013357,801.825986643,839,661,635.174013357,662,0.400982741674,-0.0054128267882,0.079836942139,0.999999933781,0.000233037627646,-0.00027619457296,4.29779184741e-05,1793255870489248000
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,759,735.598245581,719,686,652,916.401754419,801.598245581,839,660.598245581,635,662,0.40100044455,-0.00541335946409,0.0798439998594,0.999999936845,0.000233238230771,-0.00026466313614,4.31699080958e-05,1793255870505914880
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,759,735.023901457,719,686,652,916.976098543,801.023901457,839,660.023901457,635,662,0.401023560777,-0.00541414136628,0.0798531895587,0.999999940586,0.000233818409337,-0.000249523546317,4.35393238238e-05,1793255870522581504
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,759,735,719,686,652,917,801.550016527,839.550016527,660.550016527,635.550016527,662,0.401077301626,-0.00541551856558,0.079869790457,0.999999948838,0.000232288214205,-0.000215603545995,4.33755306139e-05,1793255870539248128
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,759,735.128152164,719,686,652,917,801.871847836,839.871847836,660.871847836,635.871847836,661.871847836,0.401136753135,-0.00541664184652,0.0798866162363,0.999999955519,0.000231456598295,-0.000183128553785,4.3065580299e-05,1793255870555914752
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,759,735.721670974,719,686,652,917,801.278329026,839.278329026,660.278329026,635.278329026,661.278329026,0.401212113177,-0.00541674919136,0.0799030900329,0.999999959227,0.000233494542955,-0.000158862226469,4.23089583589e-05,1793255870572581376
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,759.306871715,736,719,685.693128285,652,917,801.306871715,839,660.306871715,635.306871715,661,0.401296088281,-0.00541792038193,0.0799162749203,0.999999962678,0.000231953558113,-0.000138486482995,4.07713817422e-05,1793255870589248256
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,759.884727132,736,719,685.115272868,652,917,801.884727132,839,660.884727132,635.884727132,661,0.401387670927,-0.00542003100365,0.0799265555287,0.999999966049,0.000227252192083,-0.000121546329112,3.85441815356e-05,1793255870605914880
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,759.539836673,736,719.460163327,685.460163327,652,916.539836673,802,839,661,635.539836673,661.460163327,0.401491524514,-0.00542107928915,0.0799309450797,0.999999967363,0.000226204503125,-0.000113305024527,3.55952159365e-05,1793255870622581504
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,759,736,719.96417577,686,652,916.03582423,802,839,661,635.03582423,661.96417577,0.401599880839,-0.00542185323753,0.0799339569459,0.999999968226,0.000225897801745,-0.00010709609253,3.23898422833e-05,1793255870639248384
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,759,736,719.375749282,686,652,916.624250718,802,839,661,635.624250718,661.375749282,0.401730525189,-0.00542247896145,0.0799383622228,0.999999969868,0.000222976693232,-9.87996457575e-05,2.80036811388e-05,1793255870655915008
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,759.209470248,735.790529752,719,685.790529752,652,917,801.790529752,839,661,635.790529752,661.209470248,0.401876142309,-0.00542353324986,0.0799440822345,0.999999971816,0.000219034689022,-8.85982066796e-05,2.33021180448e-05,1793255870672581632
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,759.789023794,735.210976206,719,685.210976206,652,917,801.210976206,839,661,635.210976206,661.789023794,0.40204821268,-0.00542534470804,0.0799521250641,0.999999974276,0.000213289009174,-7.50311075192e-05,1.80433164042e-05,1793255870689248256
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,759.633911134,735.366088866,719,685,652,916.633911134,801.366088866,839,661,635,662,0.402233267559,-0.00542729790597,0.0799576305654,0.999999976448,0.000206615444037,-6.52958698859e-05,1.22624587818e-05,1793255870705914880
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,759.058270427,735.941729573,719,685,652,916.058270427,801.941729573,839,661,635,662,0.402425754878,-0.00542933223688,0.0799616836829,0.999999978431,0.00019941075029,-5.7754015451e-05,6.18277214879e-06,1793255870722581504
+132,2.200000000,POSE1_TO_POSE2_PRESS,784.516455997,759,736,719,685.516455997,652,916.516455997,802,839,660.483544003,635,661.483544003,0.402635352472,-0.00543140005606,0.0799587529514,0.999999979446,0.000192019566992,-6.50791165826e-05,-1.06195798381e-06,1793255870739248128
+133,2.216666667,POSE1_TO_POSE2_PRESS,784.906388758,759,736,719,685.906388758,652,917,802,839,660.093611242,635,661.093611242,0.402852297692,-0.00543382530225,0.0799549620803,0.999999980382,0.000183617836258,-7.37979480721e-05,-8.62773898289e-06,1793255870755914752
+134,2.233333333,POSE1_TO_POSE2_PRESS,784.315791898,759,736,719,685.315791898,652,917,802,839,660.684208102,635,661.684208102,0.403098020788,-0.00543812811846,0.0799507806648,0.999999982126,0.000169962579186,-8.10265018294e-05,-1.72013599273e-05,1793255870772581376
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,759,736,719,685.269629778,652,917,802,839,660.730370222,635,662,0.403375064958,-0.00544072412143,0.079948882031,0.999999988279,0.000125967360138,-8.31408780292e-05,-2.57383189834e-05,1793255870789248256
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,759,736,719,685.849104361,652,917,802,839,660.150895639,635,662,0.403688101694,-0.00544135874131,0.079949606654,0.999999995154,4.71070025117e-05,-7.93783010992e-05,-3.42331474471e-05,1793255870805914880
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,759,735.5752107,719,686,652,917,802,839,660.4247893,635.4247893,661.5752107,0.404024089152,-0.00544264353293,0.0799537985845,0.999999995022,6.16783970154e-05,-7.38241293163e-05,-2.64724472779e-05,1793255870822581504
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,759,735.000860044,719,686,652,917,802,839,660.999139956,635.999139956,661.000860044,0.404368157176,-0.00544415723936,0.0799592112972,0.999999991672,0.000109145582861,-6.76391663558e-05,-1.29884415103e-05,1793255870839248128
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,759,735.586514085,719,686,652,917,801.413485915,839,660.413485915,636,661.586514085,0.404749339886,-0.00544480800479,0.0799605269389,0.999999991784,0.00011051992294,-6.14567262263e-05,-2.09960206334e-05,1793255870855916032
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917,801.171449193,839,660,635.828550807,661.828550807,0.405145493417,-0.0054466899476,0.0799605307076,0.999999992253,0.000107112169688,-5.70938132503e-05,-2.75977153811e-05,1793255870872582912
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917,801.750538727,839,660,635.249461273,661.249461273,0.405577109421,-0.00545150223421,0.0799574299545,0.999999993621,9.24987847613e-05,-5.70570289884e-05,-3.07801248193e-05,1793255870889248768
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,759,736,718.670790298,685.670790298,652,917,802,839,660,635,661,0.406037723153,-0.00545389489996,0.0799526655209,0.999999993631,8.63789318635e-05,-6.42442155048e-05,-3.38949372609e-05,1793255870905915392
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,759,736,718.092436025,685.092436025,652,917,802,839,660,635,661,0.406520282293,-0.00545445640694,0.0799466420203,0.999999992603,8.66869481015e-05,-7.68984738743e-05,-3.69585929038e-05,1793255870922582528
+144,2.400000000,POSE1_TO_POSE2_PRESS,784.480663317,759,736,718.480663317,685.480663317,651.519336683,917,802,839,660,635,661,0.407008186189,-0.00545849921821,0.0799395024218,0.999999991179,8.9857838583e-05,-9.15497462223e-05,-3.44415425023e-05,1793255870939249664
+145,2.416666667,POSE1_TO_POSE2_PRESS,784.945512513,759,736,718.945512513,685.945512513,651.054487487,917,802,839,660,635,661,0.407499870631,-0.00546308147496,0.0799319614497,0.999999989538,9.20368868406e-05,-0.000107034711474,-3.15622312946e-05,1793255870955916800
+146,2.433333333,POSE1_TO_POSE2_PRESS,784.354714297,759,736,718.354714297,685.354714297,651.645285703,917,802,839,660,635,661,0.408018759136,-0.0054664550203,0.079922559601,0.999999988177,7.90929745094e-05,-0.000126986377478,-3.55665415778e-05,1793255870972583424
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,758.768397775,736,718.231602225,685.231602225,652,917,802,839,660.231602225,635,661.231602225,0.408575907757,-0.00547428099667,0.0799186203308,0.999999988211,6.2179673832e-05,-0.000135339984396,-3.7356467139e-05,1793255870989249792
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,758.188815,736,718.811185,685.811185,652,917,802,839,660.811185,635,661.811185,0.409190541874,-0.00548879671598,0.0799228885433,0.999999990614,3.93023987003e-05,-0.000126267596169,-3.58192965694e-05,1793255871005916160
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,758.38716291,736,719,686,652,917,802,839,661,635.38716291,661.61283709,0.409866837637,-0.00550923493244,0.0799508141165,0.99999999609,1.49797290114e-05,-8.02308905754e-05,-3.40270595713e-05,1793255871022582528
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,758.961398969,736,719,686,652,917,802,839,661,635.961398969,661.038601031,0.410572927657,-0.00553253483841,0.0799901706838,0.999999999301,-1.00413399092e-05,-1.63334056607e-05,-3.2111577006e-05,1793255871039248640
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.464299355,917,802,839,660.464299355,635.464299355,661.535700645,0.41124976724,-0.00552953649735,0.0799984466543,0.999999999396,-8.16886864268e-06,-6.66739344117e-06,-3.31093371406e-05,1793255871055915264
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.113559225,917,802,839.113559225,660,635,662,0.41192189505,-0.00552676871491,0.0799962404718,0.999999999291,-7.55428821181e-06,-1.29369393095e-05,-3.45421913653e-05,1793255871072582144
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.70641007,917,802,839.70641007,660,635,662,0.412583032939,-0.00553297300832,0.0799592465737,0.999999996662,-2.04288403561e-05,-6.99693575419e-05,-3.69253142861e-05,1793255871089249280
+154,2.566666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917.292430543,802,840,660,635,661.707569457,0.413290428332,-0.00553743483952,0.0799314025166,0.999999993232,-2.66016376706e-05,-0.000106128337618,-3.95615553017e-05,1793255871105916160
+155,2.583333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917.871750147,802,840,660,635,661.128249853,0.414043204742,-0.00554018722845,0.079912534909,0.999999991337,-2.61996782223e-05,-0.000121809432641,-4.24461182604e-05,1793255871122582272
+156,2.600000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.552959988,917.552959988,802,839.552959988,660,635,661.447040012,0.414850265813,-0.00554261030278,0.0799291530391,0.999999994162,-3.61941636839e-05,-9.21473456574e-05,-4.33102403649e-05,1793255871139248896
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.021683539,917,802,839.021683539,660,635,662,0.415670718821,-0.00554521846352,0.0799547796359,0.999999996487,-4.92321436122e-05,-5.1968626792e-05,-4.36085387073e-05,1793255871155915264
+158,2.633333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,651.609363992,917,802,839.609363992,660,635,662,0.416437859027,-0.00555510190431,0.0799521900867,0.999999994219,-6.45551175442e-05,-7.37969147642e-05,-4.41322510586e-05,1793255871172581632
+159,2.650000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917,802,839.804656076,660,635,662,0.417240445147,-0.00556194400845,0.0799531039462,0.999999993438,-7.16720248696e-05,-7.73492095531e-05,-4.47619439858e-05,1793255871189248256
+160,2.666666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917,802,839.22204742,660,635,662,0.41811330191,-0.00556275673367,0.0799609632309,0.999999996008,-6.25205974266e-05,-4.46697768021e-05,-4.56017408953e-05,1793255871205914880
+161,2.683333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917,802,839,660,635,662,0.419002340385,-0.00556547071952,0.0799765178292,0.999999996418,-6.98702881198e-05,-8.37722584964e-06,-4.70236914151e-05,1793255871222581760
+162,2.700000000,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917,802,839,660,635,662,0.419901344144,-0.00556935557436,0.0799968114956,0.999999994537,-8.7381998729e-05,3.01404202729e-05,-4.88041543168e-05,1793255871239248896
+163,2.716666667,POSE1_TO_POSE2_PRESS,784,759,736.504223774,719,686,652,917,802,839.504223774,660,635,662,0.420784182201,-0.00556497114768,0.0799799890762,0.999999995526,-8.16790526338e-05,2.31081561356e-06,-4.76476767869e-05,1793255871255915776
+164,2.733333333,POSE1_TO_POSE2_PRESS,784,759,736.918290263,719,686,652,917,802,839.918290263,660,635,662,0.42166909463,-0.00555663621803,0.0799637077449,0.999999996211,-6.90667474616e-05,-2.55470078855e-05,-4.642481907e-05,1793255871272582656
+165,2.750000000,POSE1_TO_POSE2_PRESS,784,759,736.325859979,719,686,652,917,802,839.325859979,660,635,662,0.422581174424,-0.00553087377374,0.079983416013,0.999999998301,-3.36627684255e-05,4.7067902553e-06,-4.73672453594e-05,1793255871289249536
+166,2.766666667,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917,802.259877654,839.259877654,660,635,662,0.423491748069,-0.00551858240095,0.0799985839388,0.999999998537,-1.26951638381e-05,2.41342959867e-05,-4.67067038397e-05,1793255871305915904
+167,2.783333333,POSE1_TO_POSE2_PRESS,784,759,736,719,686,652,917,802.837434158,839.837434158,660,635,662,0.424400480695,-0.00552275829088,0.080008201676,0.999999998524,-9.37482341686e-06,3.03275624186e-05,-4.40866675205e-05,1793255871322581760
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,759,736.41300843,719,686,652,917,803,840,660,635,662,0.425280203421,-0.00553170898874,0.0799729619929,0.999999998018,-2.33983058939e-05,-3.68414789898e-05,-4.53812849131e-05,1793255871339248384
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,759,736.98780616,719,686,652,917,803,840,660,635,662,0.426148561938,-0.0055425301393,0.0799201501483,0.999999989049,-4.4215947479e-05,-0.000132749005316,-4.82094036864e-05,1793255871355915008
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,759,737,719,686,652,917,802.445129399,840,660,635,662,0.427104582623,-0.00554459986106,0.0799121093653,0.999999989618,-5.54309981224e-05,-0.000122813083325,-5.10791328297e-05,1793255871372581632
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,759,737,719,686,652,917,802.129395199,840,660,635,662,0.428054320164,-0.00554667833012,0.0799079574741,0.999999989954,-6.46170396203e-05,-0.00011443848126,-5.31145848097e-05,1793255871389248000
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,759,737,719,686,652,917,802.731803609,840,660,635,662,0.428974143659,-0.00554948215629,0.0799144744621,0.99999998917,-6.71467144371e-05,-0.000120157432673,-5.20969812538e-05,1793255871405914880
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,759,737,719,686,651.36128166,916.36128166,802.68064083,840,660,635,662,0.429927754156,-0.00554488410361,0.0799445140347,0.999999993345,-6.10669401224e-05,-8.36332550839e-05,-5.08502763577e-05,1793255871422581248
+174,2.900000000,POSE1_TO_POSE2_PRESS,784,759,737,719,686,650.210008636,915.210008636,802.105004318,840,660,635,662,0.43090847779,-0.00553434623754,0.079993429863,0.999999997536,-4.80783087447e-05,-1.32100758735e-05,-4.94197235029e-05,1793255871439247872
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,759.470109175,737,719,686,650,915,802.470109175,840,660,635.470109175,662,0.431858295783,-0.00552581674125,0.0800192818429,0.999999997682,-3.86504506253e-05,2.74258317407e-05,-4.88915488385e-05,1793255871455914496
+176,2.933333333,POSE1_TO_POSE2_PRESS,784,759.953659305,737,719,685.953659305,650,915,803,840.046340695,660,635.953659305,662,0.432792953757,-0.00551934303861,0.0800323077811,0.999999997053,-3.22184806088e-05,4.9699587364e-05,-4.88535331255e-05,1793255871472581376
+177,2.950000000,POSE1_TO_POSE2_PRESS,784,759.362923198,737,719,685.362923198,650,915,803,840.637076802,660,635.362923198,662,0.433630521561,-0.00553175607459,0.0799551093311,0.999999995147,-5.16482266321e-05,-6.56649654758e-05,-5.22085555585e-05,1793255871489248000
+178,2.966666667,POSE1_TO_POSE2_PRESS,784,759,737,719,685.223005737,650,915,803,840.776994263,660,635,662,0.434499799081,-0.00554225817203,0.0799082301799,0.999999987386,-6.79409139312e-05,-0.000132496032116,-5.52868350581e-05,1793255871505914880
+179,2.983333333,POSE1_TO_POSE2_PRESS,784,759,737,719,685.801276572,650,915,803,840.198723428,660,635,662,0.435419592724,-0.00554971600096,0.0799096519658,0.99999998774,-7.92360320539e-05,-0.000122009583441,-5.79242434552e-05,1793255871522581504
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,759,737,719,686,650,915,803,840.377172215,660,635,662,0.436322510307,-0.00555125287356,0.0799348845432,0.999999991345,-7.84057247274e-05,-8.92775843213e-05,-5.65052663547e-05,1793255871539248128
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,759,737,719,686,650,915,803,840.95182422,660,635,662,0.437216591869,-0.00554968965199,0.0799725839723,0.999999995053,-7.12267875709e-05,-4.48982626397e-05,-5.29624470983e-05,1793255871555914752
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,759,737,719,686,650,915,803,841,660,635,662,0.438117100787,-0.00554972252643,0.0799971935653,0.999999995875,-7.42697252646e-05,-2.58870439653e-06,-5.22248759564e-05,1793255871572581376
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,759,737,719,685.874618099,650,915,803,840.874618099,660,635,662,0.438995065305,-0.00554901790299,0.0800085891821,0.999999995547,-7.63860046142e-05,1.80708812891e-05,-5.23931405348e-05,1793255871589248000
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+245,4.083333333,POSE1_TO_POSE2_PRESS,785,760,737.082103838,719,676.082103838,645,915,797.082103838,841.082103838,661,634,662.082103838,0.455164789507,-0.00558580717619,0.0795250263325,0.999999722867,-0.000156261517833,-0.000724724945321,-6.79831707036e-05,1793255872622581504
+246,4.100000000,POSE1_TO_POSE2_PRESS,785,760,737.675129029,719,676.675129029,645,915,797.675129029,841.675129029,661,634,662.675129029,0.455167507778,-0.00558364307809,0.0795263903218,0.999999725023,-0.000154211267507,-0.000722134698147,-6.85209999143e-05,1793255872639248128
+247,4.116666667,POSE1_TO_POSE2_PRESS,785,760,737.739041132,719.260958868,677,645,915,797.739041132,841.739041132,661,634,662.739041132,0.455168429394,-0.00558241550695,0.0795269554035,0.999999725943,-0.000152737401375,-0.000721155761301,-6.86930159961e-05,1793255872655914752
+248,4.133333333,POSE1_TO_POSE2_PRESS,785,760,737.161928445,719.838071555,677,645,915,797.161928445,841.161928445,661,634,662.161928445,0.455167174347,-0.00558232254567,0.0795265526024,0.999999725378,-0.000151961829172,-0.000722128939867,-6.84218465276e-05,1793255872672581376
+249,4.150000000,HOLD_POSE2,785,760,737,719,677,645,915,797,841,661,634,663,0.455169607651,-0.00558449424389,0.0795272009526,0.999999725592,-0.000153994933902,-0.00072150471937,-6.73207118101e-05,1793255872706338816
+250,4.166666667,HOLD_POSE2,785,759.409394978,737,719,676.409394978,645,915,797,841,661,634,662.409394978,0.455167821271,-0.00558375153222,0.0795260461152,0.999999724186,-0.000153618133062,-0.000723524485237,-6.73993922003e-05,1793255872723005440
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+253,4.216666667,HOLD_POSE2,785,759.665743122,737.665743122,719.334256878,676,644.665743122,915,797,841,660.665743122,634,662,0.455170745975,-0.00558134104581,0.0795271484761,0.999999726754,-0.000148566749758,-0.000721048279799,-6.71547555274e-05,1793255872773005824
+254,4.233333333,HOLD_POSE2,785,759.089895227,737.089895227,719.910104773,676,644.089895227,915,797,841,660.089895227,634,662,0.455169745258,-0.00558038665629,0.0795266124112,0.999999725068,-0.000149877383803,-0.000723068342149,-6.7628861305e-05,1793255872789672448
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+256,4.266666667,HOLD_POSE2,784,760,737,719,676,644.062513676,915,797,841,661,634,663,0.455167526642,-0.00558334492093,0.0795243284597,0.999999723708,-0.000152937777747,-0.000724381147449,-6.68215359293e-05,1793255872823005440
+257,4.283333333,HOLD_POSE2,784,760,737,719,676,644.652332972,915,797,841,661,634,663,0.455168925998,-0.00558060748381,0.0795245145314,0.999999724746,-0.000149775855936,-0.000723571485889,-6.72300378462e-05,1793255872839672320
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+259,4.316666667,HOLD_POSE2,784,760,737,719.817771809,676,645,915,797,841,661,634,663,0.455170188803,-0.00558149259772,0.0795252219203,0.999999725356,-0.000151487438335,-0.000722387724199,-6.70451495399e-05,1793255872873005824
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+262,4.366666667,HOLD_POSE2,785,760,737.445738962,719.554261038,676,645,915,797,841,661,634,662,0.455169152032,-0.00558124095826,0.0795246981919,0.999999724095,-0.000150369110732,-0.000724359084492,-6.70978787923e-05,1793255872923005696
+263,4.383333333,HOLD_POSE2,785,760,737,720,676,645,915,797,841,661,634,662,0.45516964611,-0.0055802389417,0.0795244124502,0.999999724399,-0.000150302319313,-0.000723934088617,-6.73044540194e-05,1793255872939672064
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,785,760,737,720,676,645,915,797,841,661,634,662,0.455170348013,-0.00557921470522,0.0795260625647,0.999999724588,-0.000151245876346,-0.000723437950698,-6.77283726957e-05,1793255872993332992
+266,4.433333333,POSE2_TO_POSE3_RETREAT,785,759.423530086,737,720,676,645,915,797,841,661,633.423530086,662,0.45517181717,-0.00557996862382,0.0795265095961,0.999999725562,-0.000150776666708,-0.000722237662065,-6.71886456572e-05,1793255873009999616
+267,4.450000000,POSE2_TO_POSE3_RETREAT,785,759.155856077,737,719.844143923,676,645,915,797,841,661,633.155856077,662,0.455172522671,-0.00558053152825,0.0795265032159,0.999999726042,-0.000150188104691,-0.00072173010925,-6.68237753675e-05,1793255873026665984
+268,4.466666667,POSE2_TO_POSE3_RETREAT,785,759.74331822,737,719.25668178,676,645,915,797,841,661,633.74331822,662,0.45517111341,-0.0055805654649,0.0795252412211,0.999999725152,-0.000149269024748,-0.000723140922059,-6.69431288317e-05,1793255873043332864
+269,4.483333333,POSE2_TO_POSE3_RETREAT,785,760,737,719,676.326859177,645,915,797,841,661,634,662,0.455170450438,-0.00558034159577,0.079524939563,0.999999724658,-0.000149004121577,-0.000723889573219,-6.68301908723e-05,1793255873060000000
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,784.517235954,760,737.482764046,719,676.517235954,645,915,797,841,661,634,662.482764046,0.455169697681,-0.00558072049136,0.0795249969099,0.999999723985,-0.000149512650078,-0.000724737688481,-6.65699308897e-05,1793255873093333504
+272,4.533333333,POSE2_TO_POSE3_RETREAT,784.057123756,760,737.942876244,719.057123756,676,645,915.057123756,797,841.057123756,661,634,662.942876244,0.455169097172,-0.00558158412548,0.0795245234259,0.999999723579,-0.000149837997972,-0.000725221980207,-6.66578055827e-05,1793255873109999872
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,784.788788052,760,737,719.788788052,676.211211948,645,916,797,841.788788052,661,634,662.211211948,0.455166962506,-0.00558006666474,0.0795227778593,0.999999722704,-0.000151166362341,-0.000726136242168,-6.68345762087e-05,1793255873143333376
+275,4.583333333,POSE2_TO_POSE3_RETREAT,784.196016024,760,737,719.196016024,676.803983976,645,916,797,841.196016024,661,634,662.803983976,0.455156255302,-0.00557900404874,0.0795171312057,0.999999716327,-0.000151092429447,-0.000734846722396,-6.72168584743e-05,1793255873159999744
+276,4.600000000,POSE2_TO_POSE3_RETREAT,784.386334863,760,737,719,677,645,915.613665137,797,841,661,634.386334863,662.613665137,0.455131087504,-0.00557755154883,0.0795059049488,0.999999702958,-0.00014883513683,-0.000753242168224,-6.7512283794e-05,1793255873176666112
+277,4.616666667,POSE2_TO_POSE3_RETREAT,784.96353727,760,737,719,677,645,915.03646273,797,841,661,634.96353727,662.03646273,0.455098775495,-0.0055759064279,0.0794919221059,0.999999685703,-0.000145499162016,-0.000776422441839,-6.77647977128e-05,1793255873193332736
+278,4.633333333,POSE2_TO_POSE3_RETREAT,784.459431208,759.459431208,737,719,676.459431208,645,915,797,841,661,635,662,0.455046928253,-0.00557717972502,0.0794750746525,0.999999661508,-0.000147024308736,-0.00080675446872,-6.71992564836e-05,1793255873209999360
+279,4.650000000,POSE2_TO_POSE3_RETREAT,784.119699897,759,737,719,676,645,915,797,841,661,634.880300103,662,0.454990936224,-0.00557774178951,0.0794588457307,0.999999638937,-0.000148206233253,-0.000834090518256,-6.67297068063e-05,1793255873226666240
+280,4.666666667,POSE2_TO_POSE3_RETREAT,784.707079473,759,737,719,676,645,915,797,841,661,634.292920527,662,0.454923896842,-0.00557475610798,0.0794457881816,0.999999627582,-0.000146766440711,-0.000847836785707,-6.68507312093e-05,1793255873243333120
+281,4.683333333,POSE2_TO_POSE3_RETREAT,785,759.290155386,737.290155386,719,676,645,915.290155386,797,841,661,634,662.290155386,0.454847007849,-0.00557200392672,0.0794373759768,0.999999618045,-0.000143844979047,-0.000859578011754,-6.59059973454e-05,1793255873259999744
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785,759.868950086,737.868950086,719,676,645,915.868950086,797,841,661,634,662.868950086,0.454760320713,-0.00556948402584,0.0794335848451,0.999999610372,-0.000139449590124,-0.000869324672026,-6.39010738339e-05,1793255873276666624
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,784.82310662,760,737.17689338,719,676,645,915,797,841,661,634.17689338,663,0.454297914782,-0.00556202505531,0.0794442339406,0.999999623109,-0.000130678266996,-0.000856789368084,-5.11615676483e-05,1793255873343333376
+287,4.783333333,POSE2_TO_POSE3_RETREAT,784.232432818,760,737.767567182,719,676,645,915,797,841,661,634.767567182,663,0.454136463746,-0.005558271344,0.0794400051927,0.999999618746,-0.000127950365611,-0.000862475104309,-4.76791248742e-05,1793255873359999744
+288,4.800000000,POSE2_TO_POSE3_RETREAT,784,760,737.647918722,719,676,645,915,797,841,661,634.647918722,662.647918722,0.453949850413,-0.00555578121137,0.0794348398785,0.999999612986,-0.000123472990316,-0.000870004609131,-4.33021188019e-05,1793255873376666368
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,784.343562774,760,737,719,677,644.656437226,915,797,841,661,634,662,0.453049872835,-0.00554079900561,0.0794428912318,0.999999626821,-8.76298061249e-05,-0.000859256402925,-1.88892801588e-05,1793255873443332608
+293,4.883333333,POSE2_TO_POSE3_RETREAT,784,759.761372103,737,719.238627897,677,645,915,797.238627897,841,661,634,662,0.452781917396,-0.00553650131039,0.0794525376758,0.999999640664,-7.60434743839e-05,-0.000844249182574,-1.14737708215e-05,1793255873459999488
+294,4.900000000,POSE2_TO_POSE3_RETREAT,784,759.165787274,737,719.834212726,677,645,915,797.834212726,841,661,634,662,0.452491749545,-0.00553082757799,0.0794627247492,0.999999652935,-6.36206524963e-05,-0.000830702385811,-4.04622374425e-06,1793255873476666112
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,784,759.99370345,737,719.00629655,677,645,915,798,841,661,634,662.99370345,0.451820057028,-0.00552067819037,0.0794825672736,0.999999678786,-1.38104917895e-05,-0.00080131612734,1.1396387786e-05,1793255873509999360
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,784.800123087,760,737,719,679.800123087,647,915,799.800123087,841,661,634.800123087,663,0.447060128031,-0.00547086445776,0.0795290492145,0.999999741217,5.07388653344e-05,-0.000717370842272,1.92657523347e-05,1793255873676665856
+307,5.116666667,POSE2_TO_POSE3_RETREAT,784.621884295,760,737,719.378115705,680.378115705,647.378115705,915,800,841,661.378115705,635,663,0.446470986488,-0.00546476464662,0.0795538929236,0.999999767841,6.31946192461e-05,-0.000678256219488,1.71151944023e-05,1793255873693332480
+308,5.133333333,POSE2_TO_POSE3_RETREAT,784.044429466,760,737,719.955570534,680.955570534,647.955570534,915,800,841,661.955570534,635,663,0.445876542127,-0.00545813100575,0.079593563118,0.999999803126,8.5099579881e-05,-0.000621518261741,1.49001151244e-05,1793255873709999104
+309,5.150000000,POSE2_TO_POSE3_RETREAT,784,759.467893377,737,720,681.532106623,647.467893377,915,800,841,661.467893377,635,663,0.445222140217,-0.00545113393235,0.0796372825942,0.999999838313,8.69947386792e-05,-0.000561686370711,1.77062158737e-05,1793255873726665984
+310,5.166666667,POSE2_TO_POSE3_RETREAT,784,759,737,719.889434388,682,647.110565612,915,800.110565612,841,661,635,663,0.4445565371,-0.00544498557633,0.0796742562605,0.999999864454,8.85044155672e-05,-0.00051266752097,2.07778395285e-05,1793255873743332352
+311,5.183333333,POSE2_TO_POSE3_RETREAT,784,759,737,719.302358295,682,647.697641705,915,800.697641705,841,661,635,663,0.443864198426,-0.00544262554136,0.079680702506,0.999999864422,9.55409325233e-05,-0.000511361674132,2.31900296737e-05,1793255873759999232
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,784,759,737,719,682.859850773,648.859850773,915,801,841,661.859850773,635,663,0.442416988203,-0.00542891486689,0.0796814996536,0.999999868942,0.000109634779099,-0.000499424890231,2.58857954114e-05,1793255873793332480
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,784,759,736.412298781,719,683.587701219,649.587701219,915,802,840.412298781,661,635,662,0.440025423466,-0.00543247505115,0.0796771264387,0.999999868112,0.000126766854136,-0.000496866213256,2.87976550632e-05,1793255873843332352
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,784,759,737,720,684.344355825,650,915,802,840.655644175,662,635,663,0.437599063049,-0.00544554975399,0.0797401292834,0.99999991738,0.000114554662466,-0.000388565096547,3.36871530826e-05,1793255873893332480
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784,759,737,720,684.920148528,650,915,802,840.079851472,662,635,663,0.436823099378,-0.00544666191783,0.0798238115183,0.99999995594,0.000119354068955,-0.000268835768075,4.00122639809e-05,1793255873909999360
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,784,760,737,719,685,650,915,802,840,661.927720187,635,663,0.435088625366,-0.00543841745346,0.0798728821356,0.99999997199,0.000127673116895,-0.000194394582323,4.39384005772e-05,1793255873943332608
+323,5.383333333,POSE2_TO_POSE3_RETREAT,784,760,737,719,685,650,915,802,840,661.354124679,635,663,0.434137905343,-0.00543691879299,0.0798355394755,0.999999959091,0.00014029314422,-0.000245491814645,4.32432179005e-05,1793255873959999488
+324,5.400000000,POSE2_TO_POSE3_RETREAT,784,760,737,719,685,650,915,802,840,661.227584833,635,663,0.4331681244,-0.00543313605116,0.0797911449633,0.999999936857,0.000150260537319,-0.0003192168838,4.25209344679e-05,1793255873976666112
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784,760,737,719,685,650,915,802,840,661.822386695,635,663,0.432167587765,-0.00542566785448,0.079735372006,0.999999894754,0.000155947802575,-0.000429452859285,4.17549225924e-05,1793255873993332736
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,784,759.554184838,736,719.554184838,685,650,915.445815162,802,840,661.554184838,635,663,0.429445588378,-0.00543044415369,0.0797766993019,0.999999920879,0.000151784251989,-0.000364930862643,4.50453089023e-05,1793255874043332864
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,759.867984778,736.132015222,719.867984778,685,650.132015222,915,802,840,662,635,663,0.42859434827,-0.0054416176216,0.0798425948767,0.999999957919,0.000142389091551,-0.000248120067708,4.81995701071e-05,1793255874059999232
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.113137724,759,736.113137724,719,685,650.113137724,915,802,840,662,635.886862276,663,0.425715028708,-0.00544083197808,0.0797717684082,0.999999921859,0.00015351866615,-0.000361300551264,4.66415825674e-05,1793255874109999104
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.03768734,759,736,719,685,650,915,802,840,661.96231266,635.03768734,662,0.423796411485,-0.00542285607151,0.0797229113414,0.999999890499,0.000177289464985,-0.000430609980103,4.6314567343e-05,1793255874143332608
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,783.789583467,759,736,719,685,650,915,802,839.789583467,661.210416533,636,662.210416533,0.422049652217,-0.00541073314929,0.0797504779267,0.999999902901,0.000203334129794,-0.000387914023201,4.87410844419e-05,1793255874176665856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783.210384074,759,736,719,685,650,915,802,839.210384074,661.789615926,636,662.789615926,0.421204935259,-0.00541177929964,0.0798183070576,0.999999942001,0.000203362908351,-0.000268393728159,5.10451766441e-05,1793255874193332480
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,759,736,719,685,650,915.367577871,802,839.367577871,662,636,663,0.420342932165,-0.00540749836185,0.0798470925446,0.999999952655,0.000209650359341,-0.000219199105557,5.1850637566e-05,1793255874209999104
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,759,736,719,685,650,915.944833902,802,839.944833902,662,636,663,0.419471068558,-0.00540017868274,0.0798536062858,0.999999952491,0.000219507958112,-0.000210120501376,5.18012314758e-05,1793255874226665984
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,759,736,719,685,650,915.480882994,802,839.480882994,662,636,663,0.418571451844,-0.00539736623454,0.0798125716556,0.999999934827,0.000219320751302,-0.000282441292092,4.97077618348e-05,1793255874243332352
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,759,736,719,685,650,915.095678628,802,839.095678628,662,636,663,0.417679132376,-0.00539478022868,0.0797764856615,0.999999914311,0.000218671838628,-0.00034824025309,4.78463381478e-05,1793255874259999488
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,759,736,719,685,650,915.685633882,802,839.685633882,662,636,663,0.416839659906,-0.00539090370423,0.0797919191686,0.999999917967,0.000221120823736,-0.000335914634467,4.82994420133e-05,1793255874276666112
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,759,736,719,685,650,916,802,840,662,636,663,0.416002567305,-0.00538768368071,0.0797906112169,0.999999913393,0.000227870452181,-0.000344811863105,4.89208076294e-05,1793255874293332736
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,759,736,719,685,650,916,802,840,662,636,663,0.415168189491,-0.00538521253177,0.0797702061878,0.999999898666,0.000239525848325,-0.000377918113553,4.97341103023e-05,1793255874309999360
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,759,736,719,685,650,915.572731871,802,840,662,635.572731871,663,0.414402365813,-0.00538607293144,0.0797668473395,0.999999900378,0.00023589066995,-0.000375865967856,4.82206327443e-05,1793255874326665984
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,759,736,719,685.004080282,650,915.004080282,802,840,662,635.004080282,663,0.413660783401,-0.00538822926744,0.0797695509972,0.999999907901,0.000226863856765,-0.000361415730154,4.59241012982e-05,1793255874343332352
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,759,736,719,685.578492777,650,915.578492777,802,840,662,635.578492777,663,0.41295339074,-0.00540852304935,0.079785624736,0.999999920453,0.000212341837919,-0.000334213762274,4.801848776e-05,1793255874359998976
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,759,736,719.746982036,685.253017964,650,916,802,840,662,636,663,0.411498803337,-0.0054401859589,0.0797813123678,0.999999921208,0.000179943773953,-0.000350370674396,4.94531499968e-05,1793255874393332480
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,782.090111024,759,736,719.090111024,685,650,916,802,839.090111024,662,636,663,0.410129350683,-0.00542453239976,0.0797694014565,0.999999908414,0.000200930844567,-0.000374592932447,4.97885436847e-05,1793255874426665728
+352,5.866666667,POSE2_TO_POSE3_RETREAT,782.48385475,759,736,719.48385475,685,650.48385475,916,802,839.48385475,662,636,663,0.409541421452,-0.00542644729441,0.0797967476339,0.999999925226,0.000202850738813,-0.000325339765102,5.05357501206e-05,1793255874443332608
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,758.123895953,736,719,685,650.123895953,916,802,840,662.123895953,636,663,0.40419331627,-0.0054151379453,0.0798232998997,0.999999930619,0.00022706839438,-0.000290726196958,5.17779521124e-05,1793255874626666752
+364,6.066666667,POSE2_TO_POSE3_RETREAT,782.548330787,758.451669213,736,719,685,650.451669213,916,802,840,662.451669213,636,663,0.403849161817,-0.00541398339968,0.0798226145028,0.999999930207,0.000221588329132,-0.000296527708523,5.05533923075e-05,1793255874643333120
+365,6.083333333,POSE2_TO_POSE3_RETREAT,782.025754777,759,735.974245223,719,685,651,916.025754777,802,840,663,636,663,0.403519908,-0.00541329414444,0.0798218834081,0.999999929686,0.000216575940689,-0.000302127907858,4.94076812868e-05,1793255874659999232
+366,6.100000000,POSE2_TO_POSE3_RETREAT,782.601090229,759,735.398909771,719,685,651,916.601090229,802,840,663,636,663,0.403238838196,-0.00541506196064,0.0798250305069,0.999999929424,0.000222519108184,-0.000298405666849,5.09095738942e-05,1793255874676666112
+367,6.116666667,POSE2_TO_POSE3_RETREAT,782.818081418,759,735.181918582,719.181918582,685,650.818081418,917,802,839.818081418,662.818081418,636,663,0.402968711707,-0.00541522464381,0.0798276442063,0.999999928937,0.000227069358932,-0.000296416281205,5.19816637411e-05,1793255874693333248
+368,6.133333333,POSE2_TO_POSE3_RETREAT,782.22483334,759,735.77516666,719.77516666,685,650.22483334,917,802,839.22483334,662.22483334,636,663,0.402723328791,-0.00541175801875,0.0798290518555,0.99999992804,0.000228470135448,-0.000298344992394,5.20819419841e-05,1793255874710000384
+369,6.150000000,POSE2_TO_POSE3_RETREAT,782,759,736,720,685,650.357115994,917,802,839.357115994,662.357115994,636,663,0.402499406862,-0.00541083708472,0.079827980094,0.999999928425,0.000225798048095,-0.000299150266569,5.1721186022e-05,1793255874726667008
+370,6.166666667,POSE2_TO_POSE3_RETREAT,782,759,736,720,685,650.932170073,917,802,839.932170073,662.932170073,636,663,0.40228858196,-0.00541146971568,0.0798253952162,0.999999929573,0.000220640403895,-0.000299269938164,5.10790735532e-05,1793255874743333632
+371,6.183333333,POSE2_TO_POSE3_RETREAT,782,759,736,719.492806368,685,651,917,802,840,662.492806368,636,663,0.402116617405,-0.00541196765782,0.0798283630594,0.99999993236,0.000215327162894,-0.000293814807065,5.08685753219e-05,1793255874759999744
+372,6.200000000,POSE2_TO_POSE3_RETREAT,782.084545114,759,736,719.084545114,685,651,917,802,840,662.084545114,636,663.084545114,0.401953727804,-0.00541255046649,0.0798320485948,0.999999935206,0.000210321375296,-0.000287688954564,5.08637746328e-05,1793255874776666368
+373,6.216666667,POSE2_TO_POSE3_RETREAT,782.675875478,759,736,719.675875478,685,651,917,802,840,662.675875478,636,663.675875478,0.40181408536,-0.00541374995351,0.0798355851109,0.999999937413,0.000207283266792,-0.000282011375554,5.17459967762e-05,1793255874793332992
+374,6.233333333,POSE2_TO_POSE3_RETREAT,782.738225137,759,736,719.738225137,685,651,917,801.738225137,840,663,636,663.738225137,0.401682052339,-0.00541437639819,0.0798357945702,0.999999938256,0.000204608294753,-0.000281040850489,5.13780279803e-05,1793255874809999616
+375,6.250000000,POSE2_TO_POSE3_RETREAT,782.158913642,759,736,719.158913642,685,651,917,801.158913642,840,663,636,663.158913642,0.401559249665,-0.00541430773431,0.0798319682618,0.999999937462,0.000202373812597,-0.000285780049156,4.94935597408e-05,1793255874826665984
+376,6.266666667,POSE2_TO_POSE3_RETREAT,782,759,736,719,685,651,916.582476645,801.417523355,840,663,636,663,0.401450483984,-0.00541466678347,0.0798283818203,0.999999932152,0.000217970749776,-0.000293528316009,4.50176419581e-05,1793255874843332864
+377,6.283333333,POSE2_TO_POSE3_RETREAT,782,759,736,719,685,651,916.007126244,801.992873756,840,663,636,663,0.401347024396,-0.00541518751145,0.0798248860505,0.999999924616,0.000240308100855,-0.000302414033572,3.95621362913e-05,1793255874859999744
+378,6.300000000,POSE2_TO_POSE3_RETREAT,782,759,736,719.565538407,685,651,916.565538407,802,840,663,636.565538407,663,0.401273910364,-0.00541542115731,0.0798223890755,0.999999924814,0.000237463197938,-0.000303865096475,4.06215654422e-05,1793255874876666880
+379,6.316666667,POSE2_TO_POSE3_RETREAT,782,758.856718474,735.856718474,719.856718474,685,650.856718474,917,802,839.856718474,663,637,663,0.40120611132,-0.00541565766457,0.0798203268486,0.999999924943,0.000234929667588,-0.00030525684673,4.17281005247e-05,1793255874893333760
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,782,758,735.321353302,719.321353302,685,650.321353302,917,802,839.321353302,663,636.678646698,663,0.401109097632,-0.00541597168429,0.0798188230628,0.99999992436,0.000233600065893,-0.000307911088511,4.36016640628e-05,1793255874926666496
+382,6.366666667,POSE2_TO_POSE3_RETREAT,782,758,735.898009467,719.898009467,685,650.898009467,917,802,839.898009467,663,636.101990533,663,0.401070367451,-0.00541587027877,0.0798180263659,0.999999924271,0.000232667534368,-0.000308794700142,4.4380630556e-05,1793255874943332864
+383,6.383333333,POSE2_TO_POSE3_RETREAT,782.47245501,758.47245501,736,720,685.47245501,651,917,802,840,663,636.47245501,663.47245501,0.401044243737,-0.00541560568328,0.0798192441278,0.999999925068,0.000232069086874,-0.000306628538006,4.45855583887e-05,1793255874959999488
+384,6.400000000,POSE2_TO_POSE3_RETREAT,782.952195155,758.952195155,736,720,685.952195155,651,917,802,840,663,637,664,0.40102158456,-0.00541531059271,0.0798208038125,0.999999925969,0.000231666348006,-0.000303965391161,4.46882131733e-05,1793255874976666368
+385,6.416666667,POSE2_TO_POSE3_RETREAT,782.361171741,758.361171741,736,720,685.361171741,651,917,802,840,663,637,664,0.401007513798,-0.00541506742349,0.0798213303466,0.999999925983,0.000232671795448,-0.000303101210964,4.50302870541e-05,1793255874993332992
+386,6.433333333,POSE2_TO_POSE3_RETREAT,782.224656051,758.224656051,736,720,685,651,917,802,840,663,637,664,0.400996514367,-0.00541513369543,0.0798222421345,0.999999926503,0.000232148284348,-0.000301774328898,4.50986559553e-05,1793255875009999872
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,783,759,736,719.621166049,685.378833951,651,917,802,839.621166049,663,637,663.621166049,0.400984515019,-0.00541579808908,0.0798241265559,0.999999927809,0.000229687539327,-0.000299389825231,4.46244501828e-05,1793255875043334400
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783,759,736,719.045249968,685.954750032,651,917,802,839.045249968,663,637,663.045249968,0.400978869769,-0.00541568075503,0.0798238956281,0.999999927124,0.00023191704333,-0.00029995581386,4.46416053056e-05,1793255875060000768
+390,6.500000000,POSE2_TO_POSE3_RETREAT,782.469396351,759,736.530603649,719.530603649,686,651,917,802,839.530603649,663,637,663,0.400977240353,-0.00541573809986,0.0798247407685,0.999999928101,0.000230385511489,-0.00029792807431,4.42663709828e-05,1793255875076666880
+391,6.516666667,POSE2_TO_POSE3_RETREAT,782,759,736.781065618,719.890532809,686,651,917,802,840,663,637,663.109467191,0.400976218897,-0.00541575566549,0.079825582813,0.999999929049,0.000228929431134,-0.000295912898245,4.39185550681e-05,1793255875093332992
+392,6.533333333,POSE2_TO_POSE3_RETREAT,782,759,735.596747562,719.298373781,686,651,917,802,840,663,637,663.701626219,0.400976368281,-0.00541553214759,0.0798260066088,0.999999929277,0.000229220185424,-0.000294928351779,4.3839176556e-05,1793255875109999616
+393,6.550000000,POSE2_TO_POSE3_RETREAT,782,759,735.286014827,719,686,651,917,802,840,663,637,664,0.400976807022,-0.0054156713282,0.0798270165646,0.999999929783,0.000229119963595,-0.000293282838796,4.38431142671e-05,1793255875126666240
+394,6.566666667,POSE2_TO_POSE3_RETREAT,782,759,735.86251172,719,686,651,917,802,840,663,637,664,0.400977539641,-0.00541617887227,0.0798286218357,0.99999993057,0.00022862265906,-0.0002909660356,4.39316694999e-05,1793255875143333376
+395,6.583333333,POSE2_TO_POSE3_RETREAT,782,759,736,719,686,651,917,802,840,663.437751757,637,664,0.400976365824,-0.00541639230075,0.0798283446085,0.999999930604,0.000227862983355,-0.000291481433894,4.37009664254e-05,1793255875160000512
+396,6.600000000,POSE2_TO_POSE3_RETREAT,782.012865796,759.012865796,736,719.012865796,686,651,917,802,840,663.987134204,637,664,0.400974636352,-0.0054165126964,0.0798275220885,0.9999999304,0.0002270780225,-0.000292837248095,4.33877780168e-05,1793255875176667392
+397,6.616666667,POSE2_TO_POSE3_RETREAT,782.599925305,759.599925305,736,719.599925305,686,651,917,802,840,663.400074695,637,664,0.400974754588,-0.0054165919436,0.0798286751316,0.999999930191,0.000228831761909,-0.000292114665533,4.38555895161e-05,1793255875193333760
+398,6.633333333,POSE2_TO_POSE3_RETREAT,782.814338221,759.814338221,736,719.814338221,685.814338221,651,917,802,840,663,637,664,0.400974484279,-0.00541639974677,0.0798291028784,0.999999929825,0.000230497603422,-0.000292018462382,4.41198614163e-05,1793255875210000128
+399,6.650000000,POSE2_TO_POSE3_RETREAT,782.23143256,759.23143256,736,719.23143256,685.23143256,651,917,802,840,663,637,664,0.400973382637,-0.00541562676548,0.0798279787735,0.999999929127,0.000231975377575,-0.000293262467203,4.39486378367e-05,1793255875226666240
+400,6.666666667,POSE2_TO_POSE3_RETREAT,782,759.346663955,736,719.346663955,685.346663955,651,917,802,840,663.346663955,637,664,0.40097311308,-0.00541559439448,0.0798278233966,0.999999929059,0.000232114585667,-0.000293399788025,4.38373024013e-05,1793255875243332864
+401,6.683333333,POSE2_TO_POSE3_RETREAT,782,759.921593795,736,719.921593795,685.921593795,651,917,802,840,663.921593795,637,664,0.400973391422,-0.00541604968905,0.0798283058926,0.999999929407,0.000231372395562,-0.000292808396747,4.37654011854e-05,1793255875259999232
+402,6.700000000,POSE2_TO_POSE3_RETREAT,782,759.50365753,736,720,686,651,917,802,840,663.50365753,637,664,0.400974528209,-0.00541497503176,0.0798297061284,0.999999929884,0.000232767142282,-0.000290036935873,4.39308703386e-05,1793255875276666368
+403,6.716666667,POSE2_TO_POSE3_RETREAT,782,759,736,719.927286107,686,651,917,802,840,663.072713893,637,663.927286107,0.400975653869,-0.00541404231617,0.079831029309,0.999999930456,0.000233730608791,-0.000287255680019,4.40594866266e-05,1793255875293333248
+404,6.733333333,POSE2_TO_POSE3_RETREAT,782,759,736,719.339210945,686,651,917,802,840,663.660789055,637,663.339210945,0.400975739895,-0.00541582792713,0.0798307792305,0.99999993163,0.000229245722547,-0.000286844921674,4.36612441524e-05,1793255875310000128
+405,6.750000000,POSE2_TO_POSE3_RETREAT,782,759,736,719.245951578,685.754048422,651,917,802,840,663.754048422,637.245951578,663.245951578,0.400975846324,-0.00541674696084,0.0798305545951,0.999999932048,0.000227428063832,-0.000286862396243,4.34765594602e-05,1793255875326667008
+406,6.766666667,POSE2_TO_POSE3_RETREAT,782,759,736,719.82714415,685.17285585,651,917,802,840,663.17285585,637.82714415,663.82714415,0.400975980564,-0.00541648481833,0.0798303646395,0.999999931456,0.000229245933125,-0.000287463567876,4.35829617772e-05,1793255875343333632
+407,6.783333333,POSE2_TO_POSE3_RETREAT,782.405100499,759,736,719.594899501,685.405100499,651,917,802,840,663.405100499,637.594899501,664,0.400975303125,-0.00541779970924,0.0798300215972,0.999999931502,0.000227956933169,-0.00028830690723,4.37195024085e-05,1793255875360000000
+408,6.800000000,POSE2_TO_POSE3_RETREAT,782.981686867,759,736,719.018313133,685.981686867,651,917,802,840,663.981686867,637.018313133,664,0.40097428209,-0.005419782185,0.0798296137507,0.999999931812,0.000225352742993,-0.000289252760225,4.38688010894e-05,1793255875376666112
+409,6.816666667,POSE2_TO_POSE3_RETREAT,782.448418204,759,736,719,685.448418204,651,917,802,840,664,637,664,0.400975724338,-0.00541796731195,0.0798309948119,0.999999931891,0.000227514815432,-0.000287310299199,4.36686162334e-05,1793255875393332736
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ac0c262417d9317afeb5a54c7796ed4112134d2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+2,0.033333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+3,0.050000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+4,0.066666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+5,0.083333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+6,0.100000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
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+16,0.266666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
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+381,6.350000000,pose2_to_pose3_retreat,0.575777993485,0.000181795873213,1.0700206847,0.546349140607,0.0088560312498,1.06969238176
+382,6.366666667,pose2_to_pose3_retreat,0.57574835244,0.0001816801705,1.07002063651,0.54631950086,0.00885592030778,1.06969234289
+383,6.383333333,pose2_to_pose3_retreat,0.575725235901,0.000181740496137,1.07002051971,0.546296383577,0.00885597822856,1.06969222931
+384,6.400000000,pose2_to_pose3_retreat,0.575707572336,0.000181844232522,1.07002050778,0.546278719075,0.00885607872916,1.06969221589
+385,6.416666667,pose2_to_pose3_retreat,0.575695151612,0.000181847662416,1.07002040192,0.546266298579,0.00885608297213,1.06969211099
+386,6.433333333,pose2_to_pose3_retreat,0.57568601433,0.00018178865407,1.07002032004,0.546257162121,0.00885602684477,1.06969203136
+387,6.450000000,pose2_to_pose3_retreat,0.575679704422,0.000181753632376,1.07002064887,0.54625085239,0.00885599237741,1.06969235871
+388,6.466666667,pose2_to_pose3_retreat,0.575675343751,0.000181748098488,1.07002063188,0.546246490874,0.00885598392208,1.0696923405
+389,6.483333333,pose2_to_pose3_retreat,0.57567246752,0.000181752559324,1.07002051457,0.546243613664,0.0088559850203,1.06969222228
+390,6.500000000,pose2_to_pose3_retreat,0.575670596277,0.000181788460408,1.07002055812,0.546241742974,0.00885602287246,1.0696922677
+391,6.516666667,pose2_to_pose3_retreat,0.575669572454,0.000181810808914,1.07002059177,0.546240719551,0.00885604662783,1.06969230258
+392,6.533333333,pose2_to_pose3_retreat,0.575669395778,0.000181814665477,1.07002059758,0.546240542944,0.00885605072717,1.0696923086
+393,6.550000000,pose2_to_pose3_retreat,0.575669279617,0.000181817201079,1.0700206014,0.54624042683,0.00885605342239,1.06969231256
+394,6.566666667,pose2_to_pose3_retreat,0.575669069414,0.000181821789498,1.07002060831,0.546240216708,0.00885605829966,1.06969231972
+395,6.583333333,pose2_to_pose3_retreat,0.575668872718,0.00018182855864,1.07002061321,0.54624002003,0.00885606511693,1.0696923244
+396,6.600000000,pose2_to_pose3_retreat,0.575668610282,0.000181840752864,1.07002061775,0.546239757539,0.00885607709156,1.06969232805
+397,6.616666667,pose2_to_pose3_retreat,0.5756681406,0.000181862576818,1.07002062587,0.546239287759,0.0088560985225,1.06969233457
+398,6.633333333,pose2_to_pose3_retreat,0.575667773087,0.000181879653475,1.07002063223,0.54623892017,0.00885611529164,1.06969233968
+399,6.650000000,pose2_to_pose3_retreat,0.575667632427,0.000181886189263,1.07002063466,0.546238779482,0.00885612170973,1.06969234164
+400,6.666666667,pose2_to_pose3_retreat,0.57566760685,0.000181887377735,1.07002063511,0.546238753899,0.0088561228768,1.06969234199
+401,6.683333333,pose2_to_pose3_retreat,0.575667474703,0.000181893517993,1.07002063739,0.546238621724,0.00885612890648,1.06969234383
+402,6.700000000,pose2_to_pose3_retreat,0.575667286459,0.000181909727786,1.07002064914,0.546238432986,0.00885614333142,1.06969235272
+403,6.716666667,pose2_to_pose3_retreat,0.575667075676,0.000181928890653,1.07002066345,0.546238221589,0.00885616027501,1.06969236353
+404,6.733333333,pose2_to_pose3_retreat,0.575666907254,0.000181939807172,1.07002066466,0.546238052825,0.00885617002679,1.06969236455
+405,6.750000000,pose2_to_pose3_retreat,0.575666872558,0.000181939435927,1.07002065881,0.546238018149,0.00885616977838,1.06969236023
+406,6.766666667,pose2_to_pose3_retreat,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947917,1.06969235502
+407,6.783333333,pose2_to_pose3_retreat,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947917,1.06969235502
+408,6.800000000,pose2_to_pose3_retreat,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947916,1.06969235502
+409,6.816666667,pose2_to_pose3_retreat,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947915,1.06969235502
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10c8c06aad638cf87c8ce0d46a14eb2fbc9c9ce4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5156bfce145e12ca87ac151aa7aa1a854ee44b2359a7378c234d9258d03b69c4
+size 26095909
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ea7dae39c980eff1ebeb00a43c46e43549e24e1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,759,737,720,686,651,917,802,840,664,637,664,0.400977609573,-0.00541710466975,0.0798327792491,0.999999932182,0.000230222190774,-0.000284181613222,4.32899876256e-05,1793255875549494272
+1,0.016666667,BASELINE,782.425997762,759,736.425997762,719.425997762,686,651,917,802,840,664,637,664,0.400977085682,-0.00541658185058,0.07983245712,0.999999931912,0.000230209631542,-0.000285114839334,4.34689849065e-05,1793255875566160896
+2,0.033333333,BASELINE,782,759,736,719,686,651,917,802,840,664,637,664.14970222,0.400976643713,-0.00541626454566,0.079831987438,0.999999931739,0.000229925727529,-0.000285935431503,4.35565606644e-05,1793255875582827776
+3,0.050000000,BASELINE,782,759,736,719,686,651,917,802,840,664,637,664.730288911,0.400976437535,-0.00541653876755,0.0798310930577,0.999999931849,0.000228860818039,-0.000286431832189,4.33809999876e-05,1793255875599494400
+4,0.066666667,BASELINE,782.315086139,759,736,719.315086139,686,651,917,802,840,664,637,665,0.400977075342,-0.00541687542862,0.0798314543211,0.999999932222,0.00022827595622,-0.000285596826499,4.33624999339e-05,1793255875616160768
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+6,0.100000000,BASELINE,783,759,736,720,686,651,917,802,840,664,637,665,0.400977376044,-0.00541830944027,0.0798323242202,0.99999993295,0.000226299595467,-0.000284613808102,4.3394526595e-05,1793255875649493504
+7,0.116666667,BASELINE,782.935667155,759,736,720,686,651,917,802,840,664,637,664.935667155,0.400976059867,-0.00541923705302,0.0798315874772,0.999999932981,0.000224564219352,-0.00028589417643,4.32892191181e-05,1793255875666159616
+8,0.133333333,BASELINE,782.36376598,759,736,720,686,651,917,802,840,664,637,664.36376598,0.400976569684,-0.0054182437389,0.0798327623483,0.999999933011,0.000225938036066,-0.000284694098602,4.33443058267e-05,1793255875682826240
+9,0.150000000,BASELINE,782,759,736,719.789934174,686,651,917,802.210065826,840,664,637.210065826,664,0.400976935313,-0.00541724178236,0.0798333054048,0.999999932917,0.00022751293803,-0.000283765798447,4.33675006345e-05,1793255875699492864
+10,0.166666667,BASELINE,782,759,736,719.212728188,686,651,917,802.787271812,840,664,637.787271812,664,0.400977048938,-0.00541622472126,0.0798327442143,0.999999932607,0.000229439284309,-0.000283312494757,4.33349567295e-05,1793255875716159232
+11,0.183333333,BASELINE,782,759,736,719,686,651,917,802.624910876,839.624910876,664,637.624910876,664,0.400977808928,-0.00541654877127,0.0798329361615,0.999999932826,0.00022929602436,-0.000282656393488,4.33141278699e-05,1793255875732826112
+12,0.200000000,BASELINE,782,759,736,719,686,651,917,802.030900186,839.030900186,664,637.030900186,664,0.400978946171,-0.00541765556353,0.079833567679,0.999999933354,0.000227944834512,-0.000281881928938,4.33001365184e-05,1793255875749492992
+13,0.216666667,BASELINE,782,759,736,719,686,651,917,802,839,664.545071025,637.545071025,664,0.400977647463,-0.00541817227031,0.0798328722976,0.999999933229,0.000226790229382,-0.000283248246666,4.33351713441e-05,1793255875766159616
+14,0.233333333,BASELINE,782,759,736,719.119721714,686,651,917,802,839.119721714,665,638,664.119721714,0.400976240889,-0.00541835538581,0.0798320841801,0.999999932978,0.000226102056447,-0.000284683331451,4.33223087286e-05,1793255875782826240
+15,0.250000000,BASELINE,782,759,736,719.693119706,686,651,917,802,839.693119706,665,638,664.693119706,0.400974932101,-0.0054173970859,0.0798312205632,0.999999932395,0.000227140514247,-0.000285933847262,4.3117747871e-05,1793255875799492608
+16,0.266666667,BASELINE,782,759,736,719.723708264,686,651,917,802,840,665,638,665,0.400974643483,-0.00541710570984,0.0798312143754,0.999999932275,0.00022769737573,-0.000285915123343,4.30870263893e-05,1793255875816159232
+17,0.283333333,BASELINE,782,759,736,719.129282009,686,651,917,802,840,665,638,665,0.400975529533,-0.00541758225945,0.0798321954696,0.999999932689,0.000227699705862,-0.000284434940614,4.32564712625e-05,1793255875832825856
+18,0.300000000,BASELINE,782,759,736,719,686,651,917,802,840,665,638,665,0.400975957663,-0.0054173613839,0.0798325362603,0.999999932846,0.000227536822869,-0.00028400382409,4.33170828497e-05,1793255875849492736
+19,0.316666667,BASELINE,782,759,736,719.029692931,686,651,917,802,840,665,638,665,0.400976320878,-0.00541699111481,0.0798327341314,0.999999932963,0.000227306517387,-0.00028377312491,4.33462461271e-05,1793255875866159360
+20,0.333333333,BASELINE,782,759,736,719.603444084,686,651,917,802,840,665,638,665,0.400977826702,-0.00541743526839,0.0798335741463,0.999999933642,0.00022668221225,-0.00028187212287,4.33534361542e-05,1793255875882825984
+21,0.350000000,BASELINE,782,759,736,719.818097504,686,651,917,802,840,665,638,665,0.400978857387,-0.00541743247612,0.0798341668144,0.999999934031,0.000226500217726,-0.000280651274525,4.32566726388e-05,1793255875899492864
+22,0.366666667,BASELINE,782,759,736,719.229104511,686,651,917,802,840,665,638,665,0.400978824727,-0.0054164294369,0.0798342059299,0.999999933777,0.000227308096719,-0.000280952583158,4.29272652589e-05,1793255875916160512
+23,0.383333333,BASELINE,782,759,736,719,686,651,917,802,840,665,638.354219916,665,0.400979024759,-0.00541692807374,0.0798345035323,0.999999933831,0.000227499915118,-0.000280596584186,4.29831715746e-05,1793255875932826624
+24,0.400000000,BASELINE,782,759,736,719,686,651,917,802,840,665,638.9339358,665,0.400979372923,-0.00541838267562,0.079834965687,0.99999993408,0.000227299550176,-0.000279822144022,4.32843680866e-05,1793255875949492480
+25,0.416666667,BASELINE,782,759,736,719,686,651,917,802,840,665,638.489358503,665,0.400976984167,-0.00541795957276,0.0798332680366,0.999999933392,0.000226743720765,-0.000282732278263,4.32028113051e-05,1793255875966159360
+26,0.433333333,BASELINE,782,759,736,719,686,651,917,802.08664598,840,665.08664598,638.08664598,665,0.400975018218,-0.00541743960247,0.0798318189655,0.999999932789,0.00022638992772,-0.000285152276387,4.31067756588e-05,1793255875982825728
+27,0.450000000,BASELINE,782,759,736,719,686,651,917,802.660883384,840,665.660883384,638.660883384,665,0.400977412495,-0.00541773356083,0.0798333319666,0.999999933401,0.00022743035073,-0.000282147272555,4.32062898676e-05,1793255875999492352
+28,0.466666667,BASELINE,782,759.241834332,736,719.241834332,686,651,917,802.758165668,840,665.758165668,638.758165668,665,0.400978261872,-0.0054173560378,0.0798338224954,0.999999933521,0.000228349359849,-0.000280975330581,4.32251212038e-05,1793255876016159232
+29,0.483333333,BASELINE,782,759.832468244,736,719.832468244,686,651,917,802.167531756,840,665.167531756,638.167531756,665,0.400976883027,-0.00541601003182,0.0798328383042,0.99999993294,0.000229093252688,-0.000282447228472,4.31275829861e-05,1793255876032826368
+30,0.500000000,BASELINE,782,759.584901841,736,719.584901841,686,651,917,802,840,665.415098159,638,664.584901841,0.400976243176,-0.00541649717277,0.07983245853,0.99999993273,0.000228714956025,-0.000283493768433,4.31265333599e-05,1793255876049492736
+31,0.516666667,BASELINE,782,759.005441205,736,719.005441205,686,651,917,802,840,665.994558795,638,664.005441205,0.400975895939,-0.00541771016754,0.0798323180811,0.999999932667,0.000227892316623,-0.000284371883421,4.31636894071e-05,1793255876066159104
+32,0.533333333,BASELINE,782,759,736,719,686,651,917,802,840,665.429412653,638.570587347,664.570587347,0.400976382641,-0.00541574734622,0.079833394655,0.999999932444,0.000230855029318,-0.000282757190603,4.31897344439e-05,1793255876082826496
+33,0.550000000,BASELINE,782,759,736,719,686,651,917,802,840,665.146081188,639,665,0.400977105664,-0.00541491729473,0.0798342652972,0.99999993261,0.000231862656754,-0.000281338766993,4.32205925317e-05,1793255876099493632
+34,0.566666667,BASELINE,782,759,736,719,686,651,917,802,840,665.720103809,639,665,0.400978497826,-0.00541749385528,0.079834498872,0.999999933933,0.000227037791999,-0.000280564532244,4.32658588762e-05,1793255876116159744
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+38,0.633333333,BASELINE,782,759,736,719,686,651,917,802,840,665.946360629,639,665,0.400975304207,-0.00541824575705,0.0798330531237,0.99999993251,0.000229844531059,-0.000283327510031,4.33304891778e-05,1793255876182826752
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+40,0.666666667,BASELINE,782,759,736,719,686,651,917,802.2089885,840,665.2089885,639,665,0.400979104884,-0.00541512872514,0.0798348484945,0.999999933078,0.000231764945388,-0.00027976900206,4.31017209773e-05,1793255876216160000
+41,0.683333333,BASELINE,782,759,736,719,686,651,917,802.796608083,840,665.796608083,639,665,0.40097818597,-0.00541594308618,0.0798340423711,0.999999933411,0.000228673956954,-0.000281135633509,4.29970213895e-05,1793255876232826112
+42,0.700000000,BASELINE,782,759,736,719,686.37880451,651,917.37880451,803,840,666,639,665,0.400977784729,-0.00541722085312,0.0798337331632,0.999999933533,0.000227317987123,-0.000281774907794,4.31588598783e-05,1793255876249492480
+43,0.716666667,BASELINE,782,759,736,719,686.958130155,651,917.958130155,803,840,666,639,665,0.400977657519,-0.00541874392513,0.0798336869988,0.999999933548,0.000226880453926,-0.00028202915366,4.34617909833e-05,1793255876266159104
+44,0.733333333,BASELINE,782,759.535137433,736,718.464862567,686.464862567,651,917.464862567,803,840,666,639.535137433,665,0.400977806457,-0.00541761724608,0.0798339204002,0.999999932997,0.00022964542495,-0.000281758033461,4.33674819006e-05,1793255876282825984
+45,0.750000000,BASELINE,782,759.888321219,736,718.111678781,686,651,917,802.888321219,840,666,640,665,0.400977822282,-0.00541649710559,0.0798340510358,0.999999932563,0.000231719240295,-0.000281631627209,4.31802793947e-05,1793255876299492352
+46,0.766666667,BASELINE,782,759.312964641,736,718.687035359,686,651,917,802.312964641,840,666,640,665,0.400977196115,-0.00541626116911,0.0798336645752,0.999999932823,0.000229887610797,-0.000282275985671,4.27358803027e-05,1793255876316158976
+47,0.783333333,BASELINE,782,759,736,719,686,651,917,802,840,665.731286362,639.731286362,665,0.400977072235,-0.0054163731312,0.0798334958673,0.999999933173,0.000228626125278,-0.000282080115635,4.2606333363e-05,1793255876332825856
+48,0.800000000,BASELINE,782,759,736,719,686,651,917,802,840,665.14206788,639.14206788,665,0.400977547451,-0.00541690004496,0.0798335868813,0.999999933632,0.00022804467165,-0.000280882073607,4.28523223491e-05,1793255876349492992
+49,0.816666667,BASELINE,782,759.43681846,736,719,686.43681846,651,917,802,840,665.43681846,639.43681846,665,0.400977169611,-0.00541717781111,0.079833629002,0.999999933272,0.000229316711297,-0.000281105504446,4.30054600658e-05,1793255876366159616
+50,0.833333333,BASELINE,782,760,736,719,686.987498334,651,917,802.012501666,840,666,640,665.012501666,0.400976518076,-0.00541738544391,0.0798336413467,0.999999932662,0.000231091049869,-0.000281802234399,4.31269160718e-05,1793255876382826240
+51,0.850000000,BASELINE,782,760,736,719,686.408205792,651,917,802.591794208,840,666,640,665.591794208,0.400975745793,-0.0054180022631,0.0798330080141,0.999999932681,0.000228939660966,-0.000283481484191,4.31494840717e-05,1793255876399492864
+52,0.866666667,BASELINE,782,759.826667387,735.826667387,719,686.173332613,651,917,802.826667387,840,666,640,666,0.400975636364,-0.00541789807656,0.0798328839808,0.999999932885,0.000227530907837,-0.000283896356105,4.3147648781e-05,1793255876416159488
+53,0.883333333,BASELINE,782,759.239770483,735.239770483,719,686.760229517,651,917,802.239770483,840,666,640,666,0.400977108476,-0.00541607360077,0.0798339751142,0.999999933541,0.000227894052419,-0.000281294475719,4.30875882685e-05,1793255876432825856
+54,0.900000000,BASELINE,782.342570541,759,735.342570541,719,687,651,917,802.342570541,840,666,640,666,0.400977768557,-0.00541561021146,0.0798345836832,0.999999933575,0.000229082497722,-0.000280202764782,4.30938960041e-05,1793255876449492736
+55,0.916666667,BASELINE,782.921764661,759,735.921764661,719,687,651,917,802.921764661,840,666,640,666,0.400977867745,-0.00541608696481,0.0798348589307,0.999999933182,0.000230841002567,-0.000280154172541,4.31460462491e-05,1793255876466159616
+56,0.933333333,BASELINE,783,759.499108589,736,719,687,651,917.499108589,802.500891411,840,666,640,666,0.400977506253,-0.00541724672831,0.0798345848134,0.999999933546,0.000228037842212,-0.000281142090016,4.31860822577e-05,1793255876482825984
+57,0.950000000,BASELINE,782.923937921,759.923937921,736,719,687,651,917.923937921,802,840,666,640,666,0.400977108032,-0.00541831452607,0.0798343044228,0.999999933923,0.000225207478055,-0.000282080971896,4.31900848616e-05,1793255876499492608
+58,0.966666667,BASELINE,782.347652144,759.347652144,736,719,687,651,917.347652144,802,840,666,640,666,0.400976941411,-0.00541807601454,0.0798345470075,0.99999993368,0.000226883326321,-0.000281632809074,4.29695551699e-05,1793255876516159232
+59,0.983333333,BASELINE,782,759,736,719,687,651.233377536,917,802.233377536,840,666,640,666,0.400977745891,-0.0054180931365,0.0798350690315,0.999999933899,0.000227551319363,-0.000280319890856,4.29363975343e-05,1793255876532825600
+60,1.000000000,BASELINE,782,759,736,719,687,651.821620718,917,802.821620718,840,666,640,666,0.400980026991,-0.0054184989657,0.0798360159611,0.999999934817,0.00022668680357,-0.000277692056035,4.31881512007e-05,1793255876549492480
+61,1.016666667,BASELINE,782,759,736,719,687,651.596607533,917.403392467,802.596607533,840,666,640,666,0.400979229873,-0.005418453022,0.0798358706757,0.999999934632,0.000226782191893,-0.000278291899501,4.31218203902e-05,1793255876566159360
+62,1.033333333,BASELINE,782,759,736,719,687,651.017652288,917.982347712,802.017652288,840,666,640,666,0.400977093067,-0.00541821045956,0.079835250041,0.999999933964,0.000227295345708,-0.00028029647973,4.29170541727e-05,1793255876582825728
+63,1.050000000,BASELINE,782.557211763,759.557211763,736,719,687,651,918,802.557211763,840,666.557211763,640,666,0.400976553991,-0.00541861409445,0.0798339073681,0.999999933814,0.000226103282933,-0.000281792177303,4.29356236572e-05,1793255876599492608
+64,1.066666667,BASELINE,782.867762422,759.867762422,736,719,687,651,918,802.867762422,840,667,640,666,0.400976159453,-0.0054188057089,0.0798330497229,0.999999933684,0.000225320136131,-0.000282879645088,4.29088669414e-05,1793255876616159232
+65,1.083333333,BASELINE,782.291762024,759.291762024,736,719,687,651,918,802.291762024,840,667,640,666,0.40097608134,-0.00541821762831,0.0798338959346,0.999999933584,0.000226089190847,-0.000282650880736,4.27064346689e-05,1793255876632825856
+66,1.100000000,BASELINE,782,759.291753456,736,719,687,651,918,802,840,666.708246544,640,666.291753456,0.400976926457,-0.0054184136674,0.0798344506926,0.999999933857,0.000226071400179,-0.000281699828269,4.2705135915e-05,1793255876649492736
+67,1.116666667,BASELINE,782,759.882982901,736,719,687,651,918,802,840,666.117017099,640,666.882982901,0.400978719242,-0.00541941458137,0.0798347062823,0.999999934509,0.000225245936772,-0.000280007369185,4.2910294571e-05,1793255876666159360
+68,1.133333333,BASELINE,782.467379447,760,736,719,687,651.467379447,918,802.467379447,840,666,640,667,0.400977947934,-0.00541975765962,0.0798344161063,0.999999934056,0.000226663699503,-0.000280462657615,4.30421242787e-05,1793255876682825984
+69,1.150000000,BASELINE,782.951047837,759.951047837,736,719,687.048952163,651.951047837,918,802.951047837,840,666.048952163,640,666.951047837,0.400976595731,-0.00541986277133,0.0798339414021,0.999999933384,0.000228349373444,-0.000281473486424,4.31313472106e-05,1793255876699492352
+70,1.166666667,BASELINE,782.381573482,759.381573482,736,719,687.618426518,651.381573482,918,802.381573482,840,666.618426518,640,666.381573482,0.400975794572,-0.00541916359873,0.0798329365809,0.999999933338,0.000226997867074,-0.000282756102421,4.29599264603e-05,1793255876716159232
+71,1.183333333,BASELINE,782.194355278,759,736,719,687.805644722,651,917.805644722,802.194355278,840,667,640,666.194355278,0.400975426013,-0.00541855903759,0.0798325545485,0.999999933242,0.000226716975136,-0.000283319887654,4.29608556507e-05,1793255876732825856
+72,1.200000000,BASELINE,782.783391216,759,736,719,687.216608784,651,917.216608784,802.783391216,840,667,640,666.783391216,0.400975935938,-0.00541814660547,0.0798334372238,0.999999933049,0.000228610198386,-0.000282423930928,4.33117788461e-05,1793255876749492736
+73,1.216666667,BASELINE,782.63358396,759.36641604,736,719.36641604,687,651.36641604,917.36641604,803,840,666.63358396,640,667,0.400976414589,-0.00541799313132,0.0798338955698,0.999999933363,0.00022799253479,-0.00028183699194,4.31449435591e-05,1793255876766159104
+74,1.233333333,BASELINE,782.054055316,759.945944684,736,719.945944684,687,651.945944684,917.945944684,803,840,666.054055316,640,667,0.400976875049,-0.00541799027071,0.07983410712,0.999999933969,0.00022591450479,-0.000281429781969,4.26769728037e-05,1793255876782825728
+75,1.250000000,BASELINE,782.504240641,760,736,719.495759359,687,651.495759359,918,802.495759359,840,666.504240641,640,667,0.400976313109,-0.00541744102246,0.079833324486,0.999999933199,0.000227761730343,-0.000282700706036,4.25178941131e-05,1793255876799492608
+76,1.266666667,BASELINE,782.93521276,760,736,719,687,651.06478724,918,802.06478724,840,667,640,667,0.400975911724,-0.005417017358,0.0798326631432,0.999999932512,0.000229599002526,-0.000283650461961,4.24465906702e-05,1793255876816159232
+77,1.283333333,BASELINE,782.33823655,760,736,719,687,651.66176345,918,802.66176345,840,667,640,667,0.40097769316,-0.0054180869957,0.0798338382372,0.99999993373,0.000228037616026,-0.000280543963496,4.28352908744e-05,1793255876832827136
+78,1.300000000,BASELINE,782,760,736,719.255502327,687,652,918,803,840,667,640,667,0.400978633334,-0.00541826048791,0.0798347346431,0.999999934276,0.000227821225629,-0.000278738735318,4.30097100479e-05,1793255876849494272
+79,1.316666667,BASELINE,782,760,736,719.845009164,687,652,918,803,840,667,640,667,0.400978473773,-0.005417262497,0.0798352667349,0.999999933957,0.00022936307674,-0.000278634588352,4.29040110743e-05,1793255876866159872
+80,1.333333333,BASELINE,782.426858616,760,736,720,687,652,918,803,840,667,640,667,0.40097800116,-0.00541719823705,0.0798347527188,0.999999933847,0.000229032644357,-0.000279307597118,4.28619223673e-05,1793255876882825984
+81,1.350000000,BASELINE,782.994051935,760,736,719.994051935,687,651.994051935,918,803,840,667,640,667,0.40097742061,-0.00541745819873,0.0798338797108,0.999999933811,0.000228043368613,-0.000280246033017,4.2842076448e-05,1793255876899492352
+82,1.366666667,BASELINE,782.417712452,760,736,719.417712452,687,651.417712452,918,803,840,667,640,667,0.400977197393,-0.00541687063625,0.0798343638551,0.999999933897,0.00022791675101,-0.000280054576409,4.27793803647e-05,1793255876916159232
+83,1.383333333,BASELINE,782.15749451,760,736,719.15749451,687.15749451,651,918,802.84250549,840,667,640,666.84250549,0.400977309696,-0.00541654194731,0.079834764765,0.999999933951,0.000228094199256,-0.000279727972085,4.26983472648e-05,1793255876932826368
+84,1.400000000,BASELINE,782.729719329,760,736,719.729719329,687.729719329,651,918,802.270280671,840,667,640,666.270280671,0.400978305528,-0.00541689494999,0.0798349464941,0.999999933924,0.000229072344106,-0.000279045483219,4.2569027283e-05,1793255876949492992
+85,1.416666667,BASELINE,783,760,736,719.684962335,688,651,918,802.315037665,840,667,640,666,0.400979168175,-0.00541680030613,0.079835224927,0.999999933758,0.000230573838085,-0.000278371597243,4.27683164393e-05,1793255876966159360
+86,1.433333333,BASELINE,783,760,736,719.087923573,688,651,918,802.912076427,840,667,640,666,0.400979911604,-0.00541630495837,0.079835589923,0.999999933466,0.000232543799889,-0.000277705412053,4.32617549946e-05,1793255876982825728
+87,1.450000000,BASELINE,783,760,736.491104016,719,688,651.491104016,918,803,840,667,640,666.491104016,0.400978165141,-0.00541671508307,0.0798347355439,0.999999933396,0.000230644369427,-0.00027955507219,4.31187591277e-05,1793255876999492352
+88,1.466666667,BASELINE,783,760,737,719,687.933242492,652,918,803,840,667,640,667,0.400976368308,-0.0054171498068,0.0798338915987,0.99999993339,0.000228480099947,-0.000281386216767,4.28754138357e-05,1793255877016158976
+89,1.483333333,BASELINE,783,760,737,719,687.359590455,652,918,803,840,667,640,667,0.400977454048,-0.00541658395395,0.0798347258631,0.999999933643,0.000229378877885,-0.000279777707719,4.27046736837e-05,1793255877032825600
+90,1.500000000,BASELINE,783,760,736.779252575,719,687.220747425,651.779252575,918,803,840.220747425,667,640,667,0.4009780743,-0.00541643218651,0.0798353372652,0.999999933725,0.000230031848397,-0.000278952436069,4.2662404085e-05,1793255877049492480
+91,1.516666667,BASELINE,783,760,736.187683569,719,687.812316431,651.187683569,918,803,840.812316431,667,640,667,0.400977912605,-0.00541697601869,0.0798355742932,0.999999933526,0.00023027190031,-0.00027944288245,4.28359451922e-05,1793255877066159360
+92,1.533333333,BASELINE,783,760.394611172,736,719.394611172,688,651,917.605388828,803,840.605388828,666.605388828,640,667,0.400976490738,-0.00541740964718,0.0798343783026,0.999999933133,0.000229620786481,-0.000281383572818,4.2798144063e-05,1793255877082825984
+93,1.550000000,BASELINE,783,760.972596259,736,719.972596259,688,651,917.027403741,803,840.027403741,666.027403741,640,667,0.400974483277,-0.00541779206461,0.0798325163952,0.999999932644,0.000228555552235,-0.000283998184637,4.26621332277e-05,1793255877099492608
+94,1.566666667,BASELINE,783,760.451626671,736,720,688,651,917.548373329,803,840,666,640,667,0.40097629768,-0.0054180633337,0.079834196851,0.999999933639,0.000227159388828,-0.000281593450203,4.27383932622e-05,1793255877116159232
+95,1.583333333,BASELINE,783,760,736,720,688,651.126603096,918,803,840,666,640,667,0.400977805792,-0.00541822844541,0.0798355234208,0.999999934364,0.000226381383736,-0.000279630174784,4.27911979147e-05,1793255877132825856
+96,1.600000000,BASELINE,783,760,736,720,688,651.714163344,918,803,840,666,640,667,0.40097750612,-0.00541802718434,0.0798349195603,0.999999933864,0.000227914040387,-0.000280183837144,4.2720134831e-05,1793255877149492736
+97,1.616666667,BASELINE,782.702529594,760,736,719.702529594,688,652,918,803,840.297470406,666.297470406,640,667,0.400976956004,-0.00541816032316,0.0798343730397,0.99999993377,0.000227351744919,-0.000280969583694,4.27363292641e-05,1793255877166159360
+98,1.633333333,BASELINE,782.123251805,760,736,719.123251805,688,652,918,803,840.876748195,666.876748195,640,667,0.400976168633,-0.00541861025439,0.0798338808398,0.999999934059,0.000224804804966,-0.000281975194225,4.28351867559e-05,1793255877182826240
+99,1.650000000,BASELINE,782.454355113,760,736,719.454355113,688,652,918,803,840.545644887,667,640,667,0.400977010638,-0.00541800475269,0.0798344938173,0.99999993387,0.000226768678906,-0.00028107171214,4.28389731575e-05,1793255877199492864
+100,1.666666667,BASELINE,783,760,736,720,688,651.968579115,917.968579115,803,840,667,640,667,0.400978208645,-0.00541714284832,0.079835329489,0.999999933575,0.000229717944436,-0.000279726958914,4.28053437117e-05,1793255877216159488
+101,1.683333333,BASELINE,783,760,736,720,688,651.393063948,917.393063948,803,840,667,640,667,0.400977945579,-0.00541678057231,0.0798348490177,0.999999933851,0.000228619302712,-0.00027967584366,4.25687558932e-05,1793255877232826112
+102,1.700000000,BASELINE,783,760,736,720,688,651,917,803,840,667,640,667,0.400977432681,-0.00541663198142,0.0798344577615,0.999999934043,0.000227596462832,-0.00027983816458,4.2476902129e-05,1793255877249492736
+103,1.716666667,BASELINE,783,760,736,720,688,651,917,803,840,667,640,667,0.400976381559,-0.00541694374326,0.079834258706,0.999999934055,0.000226736926829,-0.00028046030184,4.26968562781e-05,1793255877266159360
+104,1.733333333,BASELINE,783,760,736,720,688,651,917,802.642010303,840,667,640,667,0.400976869399,-0.00541708627112,0.079835071333,0.999999934344,0.000226680772223,-0.000279459647053,4.27760207021e-05,1793255877282825728
+105,1.750000000,BASELINE,783,760,736,720,688,651,917,802.062782688,840,667,640,667,0.400978308317,-0.00541712421227,0.0798365091805,0.999999934802,0.000227121107876,-0.00027745610555,4.27681769852e-05,1793255877299492608
+106,1.766666667,BASELINE,783,760,736,719.485650461,688,651.514349539,917,802.514349539,840,667,640,667,0.40097803568,-0.00541677699557,0.0798355276294,0.999999934253,0.000228228860515,-0.000278536487444,4.26961898322e-05,1793255877316158976
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,736,720,688,651,918,803,840,667,640,667,0.400977323087,-0.00541611708238,0.0798343329451,0.999999933438,0.000229454864165,-0.000280500382015,4.23449002455e-05,1793255877359508736
+108,1.800000000,POSE1_TO_POSE2_PRESS,782.403816857,760,736,719.403816857,688,651,917.403816857,803,840,667,640,667,0.400978313467,-0.00541663316005,0.0798351506772,0.999999933671,0.000229864959333,-0.000279266180701,4.27730572344e-05,1793255877376175360
+109,1.816666667,POSE1_TO_POSE2_PRESS,782,760,736,719.18687398,688,651,917,803,840,667,640,667,0.400978466459,-0.00541695123122,0.07983543914,0.999999933675,0.000230425742335,-0.000278765494416,4.29453891155e-05,1793255877392841984
+110,1.833333333,POSE1_TO_POSE2_PRESS,782,760,736,719.766035434,688,651,917,803,840,667,640,667,0.400976861599,-0.00541685364552,0.0798346165565,0.999999933198,0.000231302850617,-0.000279804608989,4.25806907989e-05,1793255877409508352
+111,1.850000000,POSE1_TO_POSE2_PRESS,782,760,736,720,688,651,917.342723764,803,840,667,640,667,0.400976876461,-0.00541719612959,0.0798345860605,0.999999933373,0.000230728709293,-0.000279653305418,4.25608247477e-05,1793255877426174720
+112,1.866666667,POSE1_TO_POSE2_PRESS,782,760,736,720,688,651,917.917735847,803,840,667,640,667,0.400977989124,-0.00541783688031,0.0798350924187,0.99999993399,0.000229170952638,-0.000278695170574,4.2774676119e-05,1793255877442841344
+113,1.883333333,POSE1_TO_POSE2_PRESS,782.503271064,760,736,720,688,651,917.496728936,803,840.503271064,666.496728936,640,667,0.400978823482,-0.00541668703582,0.0798358956294,0.999999933818,0.000230098786101,-0.000278536451305,4.28579716115e-05,1793255877459508224
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760.089426462,736,720,688,651,917,802.910573538,840.910573538,666,640,667,0.400979443036,-0.00541578692837,0.0798365418603,0.999999933642,0.000230806134396,-0.000278574236602,4.29055480146e-05,1793255877476174592
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760.669347433,736,720,688,651,917,802.330652567,840.330652567,666,640,667,0.400979139254,-0.00541789625244,0.0798360552455,0.999999934174,0.000228028086694,-0.000278957802234,4.28767592744e-05,1793255877492841216
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760.751705248,736,720,688,651,917,802.248294752,840,666,640,667,0.400984828879,-0.00541916642087,0.0798384195866,0.999999935605,0.000226667476254,-0.000274902642301,4.2888963405e-05,1793255877509508096
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760.174049517,736,720,688,651,917,802.825950483,840,666,640,667,0.40099846871,-0.00541932345598,0.0798445656978,0.999999938169,0.000227187085084,-0.000264959548756,4.29555442465e-05,1793255877526174720
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,736,720,688,651,917,803,840,666,640,667.400401249,0.401033438136,-0.0054184828156,0.0798574282038,0.999999943741,0.000228927385982,-0.000241399202,4.28537601816e-05,1793255877542841600
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,736,720,688,651,917,803,840,666,640,667.973469968,0.401077605653,-0.00541721194156,0.079873187062,0.999999949899,0.000231194093239,-0.000211966603163,4.26793710678e-05,1793255877559508224
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,760,736,720,688,651,917,803,840,666.56231981,640,667.43768019,0.401146171603,-0.00541977778542,0.0798918812686,0.999999957699,0.000227509829148,-0.000176189359579,4.24038004623e-05,1793255877576174848
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.149888049,760,736,720,688,651,917,803,840,666.850111951,640,667.149888049,0.401218314358,-0.00542199889974,0.0799085553678,0.999999963231,0.000224129370113,-0.000146822304529,4.17891079142e-05,1793255877592841472
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.731557775,760,736,720,688,651,917,803,840,666.268442225,640,667.731557775,0.401297349072,-0.005422690449,0.0799189996964,0.99999996509,0.000222456231018,-0.000136808236123,4.02116573738e-05,1793255877609508096
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.690879457,760,736,720,688.309120543,651,917,803,840.309120543,666.309120543,640,668,0.401388571502,-0.00542392005207,0.079926714308,0.999999967079,0.000221102279426,-0.000124583165481,3.7873261392e-05,1793255877626174720
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.116836467,760,736,720,688.883163533,651,917,803,840.883163533,666.883163533,640,668,0.401490239042,-0.00542561077789,0.0799320894973,0.999999969086,0.000220021877947,-0.000110463222593,3.48827201427e-05,1793255877642841600
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760.462376094,736,720,688.537623906,651,917,803,840.537623906,666.537623906,640,667.537623906,0.401606808973,-0.00542599750411,0.0799359698696,0.999999969967,0.000219609475855,-0.000104179717998,3.13828340579e-05,1793255877659508224
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760.956502918,736,720,688,651,917,803,840,666.043497082,640,667.043497082,0.40172988783,-0.00542626347555,0.0799396010085,0.999999970714,0.000218938670699,-9.93595097587e-05,2.7653700622e-05,1793255877676174848
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760.368022535,736,720,688,651,917,803,840,666.631977465,640,667.631977465,0.401886804354,-0.00542919158375,0.079944895501,0.999999973228,0.00021289150866,-8.77828105283e-05,2.26830836042e-05,1793255877692841472
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,760.214359761,736,720,688,651.214359761,917,803,840.214359761,666.785640239,640,668,0.402052720536,-0.00543200973295,0.079950895091,0.999999975593,0.000206693629123,-7.60273668652e-05,1.76524087383e-05,1793255877709508096
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,760.786562125,736,720,688,651.786562125,917,803,840.786562125,666.213437875,640,668,0.40223366033,-0.00543464432123,0.0799580717386,0.999999977826,0.000200244149164,-6.39735364084e-05,1.25214764866e-05,1793255877726174720
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,760.637389352,736,720,688.362610648,651.637389352,917,803,840.637389352,666.362610648,640,668,0.402431896078,-0.00543591438335,0.0799612275664,0.99999997957,0.000193572562419,-5.79181905229e-05,5.95942948753e-06,1793255877742841600
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,760.0590526,736,720,688.9409474,651.0590526,917,803,840.0590526,666.9409474,640,668,0.402640421638,-0.00543637265512,0.079961991309,0.999999981021,0.000186768838201,-5.54314913441e-05,-1.45402380642e-06,1793255877759508224
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,760,736,720.52991364,689,651,917,803,840.52991364,667,640,668,0.402868069796,-0.00543877692407,0.0799558501953,0.999999982054,0.000176426765108,-6.8346218357e-05,-9.75695443707e-06,1793255877776174848
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,760,736,720.882280405,688.882280405,651,917,803,841,666.882280405,640,668,0.403107972007,-0.00544125179672,0.0799502152137,0.999999982846,0.000166028645624,-8.00805613676e-05,-1.81750798255e-05,1793255877792841472
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,760,736,720.30374796,688.30374796,651,917,803,841,666.30374796,640,668,0.403387330231,-0.00544313678064,0.0799496352027,0.999999984095,0.000156986238154,-8.03383021051e-05,-2.66481831561e-05,1793255877809508352
+135,2.250000000,POSE1_TO_POSE2_PRESS,783.273363596,760,736,720,688,651,917,803,841,666,640,668,0.40369052381,-0.00544650406527,0.0799515692672,0.999999990567,0.000109011332594,-7.70479892056e-05,-3.23560411743e-05,1793255877826174720
+136,2.266666667,POSE1_TO_POSE2_PRESS,783.84890446,760,736,720,688,651,917,803,841,666,640,668,0.404020065071,-0.00545150989121,0.0799562824013,0.999999996787,1.80002797862e-05,-6.98356424153e-05,-3.50071847042e-05,1793255877842841344
+137,2.283333333,POSE1_TO_POSE2_PRESS,783.566941862,760,736,720,688.433058138,651,917,803,841,666,640,667.566941862,0.404383224925,-0.00545109934488,0.0799586553829,0.999999996568,4.3016349957e-05,-6.44073237168e-05,-2.94222582709e-05,1793255877859508224
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,736,720,688.979993227,650.979993227,916.979993227,803,841,666,640,667.020006773,0.404759627137,-0.0054489446682,0.0799600644299,0.999999992273,0.000106867590245,-5.97993366198e-05,-2.13666357712e-05,1793255877876174848
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760,736,720,688.400622828,650.400622828,916.400622828,803,841,666,640,667.599377172,0.405171668357,-0.00545193464328,0.0799578142736,0.999999992663,0.000101700732313,-6.0370618094e-05,-2.62058231356e-05,1793255877892841472
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760.178135945,736.178135945,719.821864055,688.178135945,650,916,803,841,666,640,668,0.405595062099,-0.00545510984037,0.0799545576002,0.99999999308,9.40058647392e-05,-6.39273116927e-05,-3.02798604376e-05,1793255877909508096
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760.755523818,736.755523818,719.244476182,688.755523818,650,916,803,841,666,640,668,0.406043899928,-0.00545870017084,0.0799490450436,0.999999993465,8.06450289802e-05,-7.41751395649e-05,-3.26389841502e-05,1793255877926174720
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760.671317636,737,719,688.671317636,650.328682364,916,803,841,666,639.671317636,668,0.406510959726,-0.0054616227741,0.0799436509703,0.999999992735,7.98042028425e-05,-8.39215282242e-05,-3.34385864054e-05,1793255877942841600
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760.101264867,737,719,688.101264867,650.898735133,916,803,841,666,639.101264867,668,0.406991401014,-0.00546405502717,0.0799383439056,0.999999991214,8.81575400098e-05,-9.32996822354e-05,-3.30929424129e-05,1793255877959508224
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,760.488162696,737,719.488162696,688.488162696,650.511837304,916,803,841,666,639.488162696,668,0.407510923907,-0.00547079443265,0.0799332334095,0.999999991239,7.25969731557e-05,-0.000105663125212,-3.2955820899e-05,1793255877976175872
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,761,737,719.920168846,688.920168846,650.079831154,916,803,840.920168846,666,640,668,0.40804445557,-0.0054799345025,0.0799278028386,0.99999999099,5.32446375582e-05,-0.00011880189627,-3.27273528138e-05,1793255877992843520
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,761,737,719.340669848,688.340669848,650.659330152,916,803,840.340669848,666,640,668,0.408612829049,-0.00549827700651,0.0799201031283,0.999999989784,4.24920846262e-05,-0.000132757249578,-3.16452093397e-05,1793255878009509376
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,737,719,688,651,916,803,840.237434804,666,639.762565196,667.762565196,0.409219744383,-0.00551428594682,0.0799270302452,0.999999991683,2.32072256697e-05,-0.000122882454831,-3.15643214718e-05,1793255878026175488
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,737,719,688,651,916,803,840.813550505,666,639.186449495,667.186449495,0.409881636419,-0.0055269662525,0.0799548213085,0.999999996303,-8.24825390779e-06,-7.90159451017e-05,-3.29116410297e-05,1793255878042842368
+149,2.483333333,POSE1_TO_POSE2_PRESS,783.388287755,761,736.611712245,719,688.388287755,651.388287755,916.388287755,803.388287755,841,666,639,667.388287755,0.410562589849,-0.00552936440317,0.0799830910251,0.999999998886,-1.05568585806e-05,-3.22316587559e-05,-3.28419800157e-05,1793255878059508480
+150,2.500000000,POSE1_TO_POSE2_PRESS,783.962365421,761,736.037634579,719,688.962365421,651.962365421,916.962365421,803.962365421,841,666,639,667.962365421,0.411252663855,-0.00552684269536,0.0800115897693,0.999999999357,1.08088343265e-06,1.5948739026e-05,-3.20943148147e-05,1793255878076174848
+151,2.516666667,POSE1_TO_POSE2_PRESS,783.447500516,761,736.552499484,719,689.552499484,652,917,804,841,666,639,668,0.41193023112,-0.00553308334794,0.079989287673,0.999999998897,-1.90413677237e-05,-2.45220671655e-05,-3.52329105261e-05,1793255878092841472
+152,2.533333333,POSE1_TO_POSE2_PRESS,783.140792755,761,737,719,689.859207245,652,917.140792755,804,841,666,639,668,0.4126149845,-0.00553861975328,0.0799608252252,0.999999996129,-3.51895878539e-05,-7.08339193689e-05,-3.85446346674e-05,1793255878109508096
+153,2.550000000,POSE1_TO_POSE2_PRESS,783.719849393,761,737,719,689.280150607,652,917.719849393,804,841,666,639,668,0.413324838159,-0.00554005040503,0.0799242806953,0.9999999919,-3.20314794232e-05,-0.000115968030408,-4.15465844187e-05,1793255878126174720
+154,2.566666667,POSE1_TO_POSE2_PRESS,783.703372278,761,736.703372278,719,688.703372278,652,918,804,840.703372278,665.703372278,639,668,0.414075235619,-0.00554282734277,0.0799140609933,0.999999990886,-3.41774918399e-05,-0.000123175516651,-4.34554916289e-05,1793255878142841344
+155,2.583333333,POSE1_TO_POSE2_PRESS,783.128729234,761,736.128729234,719,688.128729234,652,918,804,840.128729234,665.128729234,639,668,0.414863632974,-0.00554686609168,0.0799285143197,0.999999993667,-4.12948088632e-05,-9.48361526855e-05,-4.43399414539e-05,1793255878159507968
+156,2.600000000,POSE1_TO_POSE2_PRESS,783.455879384,761,736.455879384,719,688.455879384,652,918,804,840.455879384,665,639,668,0.415653640948,-0.00555479656395,0.0799482446178,0.999999995243,-5.55093485554e-05,-6.72745110787e-05,-4.36650675432e-05,1793255878176175872
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,761,736.956998422,719,689,652,918,804,841.043001578,665,639,668,0.416447695815,-0.00556300765476,0.0799669229484,0.999999995651,-7.05223822516e-05,-4.35275130434e-05,-4.27887821703e-05,1793255878192843520
+158,2.633333333,POSE1_TO_POSE2_PRESS,784,761,736.37443488,719,689,652,918,804,841.62556512,665,639,668,0.417286695538,-0.00556064286182,0.0799532870219,0.999999994445,-6.9846329361e-05,-6.48275686089e-05,-4.50336100356e-05,1793255878209509376
+159,2.650000000,POSE1_TO_POSE2_PRESS,783.795848271,761.204151729,736.204151729,718.795848271,689,652,918,804,841.795848271,664.795848271,639,668,0.418149592079,-0.00556254491292,0.0799558943537,0.999999994732,-7.31300836438e-05,-5.51045219774e-05,-4.63815272765e-05,1793255878226175488
+160,2.666666667,POSE1_TO_POSE2_PRESS,783.224416418,761.775583582,736.775583582,718.224416418,689,652,918,804,841.224416418,664.224416418,639,668,0.419055480253,-0.00557212324989,0.079987724196,0.999999995393,-8.35377474384e-05,1.04307833499e-05,-4.61158530172e-05,1793255878242842112
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.351085201,761.648914799,737,718,688.648914799,652,918,804,841,664.351085201,639,667.648914799,0.419934522669,-0.0055784332831,0.0799919847454,0.999999994501,-9.14751987718e-05,2.18970134147e-05,-4.63755172009e-05,1793255878259508736
+162,2.700000000,POSE1_TO_POSE2_PRESS,783.929218732,761.070781268,737,718,688.070781268,652,918,804,841,664.929218732,639,667.070781268,0.420796203783,-0.00558262968964,0.0799784161114,0.999999994111,-9.78151526578e-05,-1.60346581362e-06,-4.69749201263e-05,1793255878276175104
+163,2.716666667,POSE1_TO_POSE2_PRESS,784,761.519458663,737,718.519458663,688.519458663,652,917.480541337,804,841.519458663,664.480541337,639,667.519458663,0.421682024014,-0.00557545895577,0.0799761000434,0.999999994789,-9.0830179039e-05,-5.77750936019e-06,-4.62344446593e-05,1793255878292841472
+164,2.733333333,POSE1_TO_POSE2_PRESS,784,762,737,718.891438856,689,652,917,804,842,664,638.891438856,668,0.422585396847,-0.00556269120807,0.0799807912516,0.999999996147,-7.52687244093e-05,4.79515344469e-07,-4.51699941892e-05,1793255878309508096
+165,2.750000000,POSE1_TO_POSE2_PRESS,784,762,737,718.314530148,689,652,917,804,842,664,638.314530148,668,0.423549965127,-0.00553261872198,0.0800089402244,0.999999997777,-3.07270369577e-05,4.0105590888e-05,-4.35143040194e-05,1793255878326174720
+166,2.766666667,POSE1_TO_POSE2_PRESS,784,762,737,718.261100435,689,652,916.738899565,804,842,664,638,667.738899565,0.424461008727,-0.00551874345964,0.0800042665729,0.999999998799,-1.24810469122e-05,1.92152954189e-05,-4.33253628248e-05,1793255878342841344
+167,2.783333333,POSE1_TO_POSE2_PRESS,784,762,737,718.835198924,689,652,916.164801076,804,842,664,638,667.164801076,0.425307888942,-0.00552428485766,0.079960246313,0.999999995906,-2.57574117241e-05,-7.4219900194e-05,-4.48947085567e-05,1793255878359507968
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,761.579283531,737,718.579283531,689,652.420716469,916.841432938,804.420716469,842,664,638,667,0.426210479372,-0.00553183659961,0.0799303718531,0.999999992349,-4.01126776704e-05,-0.000106516431723,-4.84475934124e-05,1793255878376174592
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,761,737,718,688.989371954,653,918,805,842,663.989371954,638,667,0.427135652399,-0.00554000923389,0.079906656385,0.999999990597,-5.4566512708e-05,-0.000114237065822,-5.27161168113e-05,1793255878392841216
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,761,737,718,688.410356657,653,918,805,842,663.410356657,638,667,0.428068915815,-0.00553809770434,0.0799077166421,0.999999989608,-5.10594866241e-05,-0.00012416152534,-5.25446784468e-05,1793255878409507840
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,761.167714425,737,718.167714425,688,653,918,805,842,663,638,667,0.429018256978,-0.00553795997105,0.0799171295975,0.999999990248,-5.16591582099e-05,-0.000118820669928,-5.21206494677e-05,1793255878426174464
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,761.743488137,737,718.743488137,688,653,918,805,842,663,638,667,0.430006716208,-0.00554213799092,0.0799468651706,0.999999993844,-6.22506724685e-05,-7.63383841246e-05,-5.10820522833e-05,1793255878442841088
+173,2.883333333,POSE1_TO_POSE2_PRESS,784.319176054,761.680823946,737,718.680823946,688,653,918,804.680823946,842,663,638,667,0.43098983452,-0.00554291651853,0.079986182114,0.999999996558,-6.34672234686e-05,-1.98576567076e-05,-4.96153787617e-05,1793255878459507968
+174,2.900000000,POSE1_TO_POSE2_PRESS,784.894795012,761.105204988,737,718.105204988,688,653,918,804.105204988,842,663,638,667,0.431968661609,-0.00554096371429,0.0800331972351,0.999999996078,-5.71514330769e-05,4.78701561769e-05,-4.78047660242e-05,1793255878476174592
+175,2.916666667,POSE1_TO_POSE2_PRESS,784.517936137,761.482063863,737,718.482063863,688,653,918,804,842,663,638,667,0.432833226251,-0.00553309050745,0.0800030098769,0.999999997792,-4.42632042925e-05,-9.23797681213e-07,-4.95570537009e-05,1793255878492841216
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.070636265,762,737.070636265,718.929363735,688,652.929363735,917.929363735,804,842,663,637.929363735,666.929363735,0.433679771457,-0.00552595865683,0.0799560806913,0.999999995393,-3.38781869579e-05,-7.30790180733e-05,-5.22114121495e-05,1793255878509508096
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.649835215,762,737.649835215,718.350164785,688,652.350164785,917.350164785,804,842,663,637.350164785,666.350164785,0.434580563442,-0.00553369726264,0.0799129241877,0.999999989182,-5.20984196156e-05,-0.000125808872626,-5.5623554377e-05,1793255878526174720
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,762,737.772281287,718.227718713,688,652.227718713,917.227718713,804.227718713,842,662.772281287,637,666,0.435497044348,-0.00554087068258,0.0799015312901,0.999999986652,-6.55831369049e-05,-0.000138441617403,-5.68293714515e-05,1793255878542841344
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,762,737.196408864,718.803591136,688,652.803591136,917.803591136,804.803591136,842,662.196408864,637,666,0.43643751181,-0.00554718000451,0.0799387010054,0.999999991897,-7.18278405612e-05,-8.97708556571e-05,-5.46619912587e-05,1793255878559508224
+180,3.000000000,POSE1_TO_POSE2_PRESS,785,762,737.386046203,719,688,653,918,805,842,662.386046203,637,666.386046203,0.437346171985,-0.00555041801819,0.079972929167,0.999999994982,-7.55548449112e-05,-3.82463919304e-05,-5.35196589601e-05,1793255878576175360
+181,3.016666667,POSE1_TO_POSE2_PRESS,785,762,737.971908388,719,688,653,918,805,842,662.971908388,637,666.971908388,0.438238368778,-0.00555206633455,0.0800056347897,0.999999995451,-7.79786976175e-05,1.47551337163e-05,-5.2907887428e-05,1793255878592843008
+182,3.033333333,POSE1_TO_POSE2_PRESS,785,762,738,719,688,652.44818737,918,805,842,662.44818737,637,666.44818737,0.439087313129,-0.00555219208244,0.0800055637925,0.999999995026,-8.39589550327e-05,8.79069356786e-06,-5.31132830107e-05,1793255878609508864
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,762,738,719,688,652,917.868929445,805,842,662.131070555,637,666,0.439904304541,-0.00555050003301,0.0799828668485,0.999999994444,-8.49627143434e-05,-3.12230111307e-05,-5.40227077981e-05,1793255878626174720
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,762,738,719,688,652,917.290852416,805,842,662.709147584,637,666,0.44061975193,-0.00554287004066,0.0798886355921,0.999999980321,-6.83836329085e-05,-0.000177231050898,-5.71928125204e-05,1793255878642841856
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,762,737.714718578,719,687.714718578,652,917,804.714718578,842,662.714718578,637,666,0.441331554878,-0.00553807408723,0.0797959721809,0.999999945877,-6.31262505749e-05,-0.00031687558682,-6.20580241375e-05,1793255878659508736
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,762,737.140552509,719,687.140552509,652,917,804.140552509,842,662.140552509,637,666,0.44203966731,-0.00553614796829,0.0797048964232,0.999999893956,-6.93335664389e-05,-0.000450076235949,-6.86397525194e-05,1793255878676175616
+187,3.116666667,POSE1_TO_POSE2_PRESS,785,762,737.444715932,719,687,651.555284068,916.555284068,804,842,662,637,666,0.442815960145,-0.00553762315831,0.079721098735,0.999999906621,-7.04916511574e-05,-0.000420994688235,-6.74683839605e-05,1793255878692842240
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.033066162,762,738,719,687,651.066132324,916.099198486,804,842.033066162,662,637,666,0.443611533859,-0.00554020189927,0.0797714109846,0.999999937385,-7.04803850641e-05,-0.000340844082315,-6.39367956828e-05,1793255878709508864
+189,3.150000000,POSE1_TO_POSE2_PRESS,785.612867897,762,738,719,687,652.225735794,917.83860369,804,842.612867897,662,637,666,0.444360490952,-0.00554279787814,0.0798107536956,0.99999995405,-7.81960474755e-05,-0.000286048913917,-6.29331417349e-05,1793255878726174976
+190,3.166666667,POSE1_TO_POSE2_PRESS,785.808393093,762,737.808393093,719,686.808393093,653,919.191606907,804,842.808393093,662,636.808393093,666,0.445085660222,-0.00554565335893,0.0798342670571,0.999999961888,-8.46062174247e-05,-0.000255429078862,-6.18222067091e-05,1793255878742841344
+191,3.183333333,POSE1_TO_POSE2_PRESS,785.231789316,762,737.231789316,719,686.231789316,653,919.768210684,804,842.231789316,662,636.231789316,666,0.445763032614,-0.00554903025888,0.0798259744218,0.999999956894,-8.83932555806e-05,-0.000273384872728,-6.04957113187e-05,1793255878759508224
+192,3.200000000,POSE1_TO_POSE2_PRESS,785,762,737.349919528,719,685.650080472,652.650080472,920,803.650080472,842,661.650080472,636,666,0.446412277821,-0.0055535998564,0.0798076603439,0.99999995049,-8.88734290763e-05,-0.000295637461208,-6.09884205996e-05,1793255878776175360
+193,3.216666667,POSE1_TO_POSE2_PRESS,785,762,737.935060039,719,685.064939961,652.064939961,920,803.064939961,842,661.064939961,636,666,0.447042615488,-0.00555897120233,0.0797826097073,0.999999942789,-8.71306799195e-05,-0.000320778416176,-6.27040257081e-05,1793255878792842496
+194,3.233333333,POSE1_TO_POSE2_PRESS,785,762,738,719.514312598,685,652,920,803,842.514312598,661.514312598,636,665.485687402,0.447625756299,-0.00556434949229,0.0797536557024,0.999999928338,-0.000103217284126,-0.00035826642146,-6.56962376952e-05,1793255878809509632
+195,3.250000000,POSE1_TO_POSE2_PRESS,785.093022803,762,738,719.906977197,684.906977197,652,920.093022803,803,842.906977197,661.906977197,636,665.093022803,0.44819077065,-0.00556937100984,0.0797223363985,0.999999909574,-0.000119043171058,-0.000402487749662,-6.84411089232e-05,1793255878826176256
+196,3.266666667,POSE1_TO_POSE2_PRESS,785.672741071,762,738,719.327258929,684.327258929,652,920.672741071,803,842.327258929,661.327258929,636,665.672741071,0.44869177367,-0.00557252135786,0.0796811913094,0.999999877913,-0.000121859845495,-0.00047387343133,-6.90580847202e-05,1793255878842842368
+197,3.283333333,POSE1_TO_POSE2_PRESS,786,762,738,719,684,652,921.250539102,802.749460898,842.250539102,661.250539102,636,666,0.449206390963,-0.00557338221574,0.0796574964288,0.999999859469,-0.000124078530763,-0.000510695307144,-6.96971642784e-05,1793255878859508736
+198,3.300000000,POSE1_TO_POSE2_PRESS,786,762,738,719,684,652,921.825847916,802.174152084,842.825847916,661.825847916,636,666,0.449738656175,-0.00557127524498,0.0796564219695,0.999999863286,-0.000125522052922,-0.000502712687489,-7.03648968847e-05,1793255878876175616
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,762,737.590846911,719.409153089,683.590846911,651.590846911,921.590846911,802,843,661.590846911,635.590846911,665.590846911,0.45025876411,-0.00556796159439,0.0796772912023,0.999999879214,-0.000120587228908,-0.000471449256645,-6.90381276169e-05,1793255878892842240
+200,3.333333333,POSE1_TO_POSE2_PRESS,786,762,737.00407027,719.99592973,683.00407027,651.00407027,921.00407027,802,843,661.00407027,635.00407027,665.00407027,0.450773594314,-0.00556412409384,0.0797076867386,0.999999898911,-0.000112883405806,-0.000430079044083,-6.68454953341e-05,1793255878909509120
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+202,3.366666667,POSE1_TO_POSE2_PRESS,785.845511361,762,737.154488639,719.845511361,682.845511361,650.845511361,921.845511361,801.845511361,843,662,635.845511361,665,0.451645582279,-0.00556224056766,0.0797123551951,0.999999897809,-0.000114263940392,-0.000432173397081,-6.74643579477e-05,1793255878942842112
+203,3.383333333,POSE1_TO_POSE2_PRESS,785.267901154,762,737.732098846,719.267901154,682.267901154,650.267901154,921.267901154,801.267901154,843,662,635.267901154,665,0.451990719114,-0.00556580396462,0.0796796943931,0.999999870368,-0.000125135140893,-0.000488713214225,-6.90318330831e-05,1793255878959508992
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.307995957,761.692004043,738,719.307995957,682,650,921.307995957,800.692004043,843,661.692004043,635.307995957,665.307995957,0.45232148357,-0.00556971597041,0.0796456668664,0.999999840639,-0.000134549135268,-0.000543584185628,-7.16533758396e-05,1793255878976175616
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+207,3.450000000,POSE1_TO_POSE2_PRESS,786,762,737,719.05740578,681,650,921,800.94259422,843,661.94259422,635,665,0.453263018777,-0.00557902385006,0.0795866008511,0.999999793281,-0.0001348045381,-0.000624603336391,-7.16750743099e-05,1793255879026175232
+208,3.466666667,POSE1_TO_POSE2_PRESS,786,762,737,719.637232957,681,650,921,800.362767043,843,661.362767043,635,665,0.453541344335,-0.00558126485005,0.079586731124,0.999999791996,-0.000133773648462,-0.000627144742188,-6.92942415402e-05,1793255879042841600
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,791,761,737,728.451617247,678,650,921,798,843,661,634,664.451617247,0.455111505635,-0.00557062896638,0.079432784459,0.999999603635,-0.000147173327213,-0.000876002155234,-6.07466125604e-05,1793255880330234368
+284,4.733333333,POSE2_TO_POSE3_RETREAT,790.977436929,761,737,729,677.977436929,650.022563071,921,798.022563071,842.977436929,661,634.022563071,664.977436929,0.455006647435,-0.00556825637944,0.0794363262255,0.999999611075,-0.000144205411672,-0.000868172360659,-5.77248260437e-05,1793255880346900992
+285,4.750000000,POSE2_TO_POSE3_RETREAT,790.388902455,761,737,729,677.388902455,650.611097545,921,798.611097545,842.388902455,661,634.611097545,664.388902455,0.45487452625,-0.00556567795067,0.0794385222587,0.999999613456,-0.000140575212844,-0.000866263439339,-5.39891780733e-05,1793255880363567616
+286,4.766666667,POSE2_TO_POSE3_RETREAT,790.197662759,761,737,729,677.197662759,651,921,799,842.197662759,661,635,664.197662759,0.454730511568,-0.00556316932516,0.0794398151186,0.999999614837,-0.0001373508532,-0.00086541258092,-5.02189249809e-05,1793255880380234240
+287,4.783333333,POSE2_TO_POSE3_RETREAT,790.780391592,761,737,729,677.780391592,651,921,799,842.780391592,661,635,664.780391592,0.454563327225,-0.00556079668338,0.0794393485096,0.999999614305,-0.00013491710777,-0.000866622931101,-4.63812582192e-05,1793255880396901120
+288,4.800000000,POSE2_TO_POSE3_RETREAT,791,761,737,729,678,651,921,799,842.643771599,661,634.643771599,664.643771599,0.454380446293,-0.00555691861488,0.0794403282814,0.999999616266,-0.000130027302104,-0.00086533549544,-4.19029626868e-05,1793255880413567744
+289,4.816666667,POSE2_TO_POSE3_RETREAT,791,761,737,729,678,651,921,799,842.072102902,661,634.072102902,664.072102902,0.454188072341,-0.00555213009212,0.0794421827971,0.999999619684,-0.000123652116755,-0.000862537445545,-3.70372264462e-05,1793255880430234624
+290,4.833333333,POSE2_TO_POSE3_RETREAT,790.495200898,761,737,729,678,651,921,799,842.504799102,661,634.504799102,664.504799102,0.45395428372,-0.0055470322768,0.0794383552011,0.999999617004,-0.000113026279119,-0.000867318843633,-3.12086171019e-05,1793255880446901248
+291,4.850000000,POSE2_TO_POSE3_RETREAT,790,761,737,729.084502286,678.084502286,651,921,799,843,661,635,665,0.453710534039,-0.00554230786756,0.0794347451044,0.99999961421,-0.000102139965383,-0.000872078031426,-2.50333430879e-05,1793255880463567872
+292,4.866666667,POSE2_TO_POSE3_RETREAT,790,761,737,729.676492292,678.676492292,651,921,799,843,661,635,665,0.453442860109,-0.00554009408092,0.0794373664555,0.999999616919,-9.33737796921e-05,-0.000870133997397,-1.76107490009e-05,1793255880480234496
+293,4.883333333,POSE2_TO_POSE3_RETREAT,790.262039943,761.262039943,737,729.737960057,678.737960057,651,921,799,842.737960057,661,634.737960057,665,0.453159086434,-0.00553664579797,0.0794426258749,0.999999625225,-8.16478183615e-05,-0.000861849410612,-9.96588028535e-06,1793255880496901120
+294,4.900000000,POSE2_TO_POSE3_RETREAT,790.839824845,761.839824845,737,729.160175155,678.160175155,651,921,799,842.160175155,661,634.160175155,665,0.452855913391,-0.00553171000917,0.0794510640338,0.999999640002,-6.63554766664e-05,-0.000845924776355,-2.05318225801e-06,1793255880513568000
+295,4.916666667,POSE2_TO_POSE3_RETREAT,791,761.584782736,737,729,678.415217264,651,921,799.415217264,842.415217264,661,634.415217264,665,0.452527818561,-0.00552598721995,0.0794615172025,0.999999654469,-2.40756291118e-05,-0.000830938189309,4.88302240973e-06,1793255880530234624
+296,4.933333333,POSE2_TO_POSE3_RETREAT,791,761.010307973,737,729,678.989692027,651,921,799.989692027,842.989692027,661,634.989692027,665,0.45219016493,-0.00551996257511,0.0794727432325,0.999999666345,2.85553356603e-05,-0.000816311390656,1.14446906971e-05,1793255880546901248
+297,4.950000000,POSE2_TO_POSE3_RETREAT,791,761,737,729,679,651,921,799.421547923,842.421547923,661,635,665,0.451808959331,-0.00551516156198,0.0794866992191,0.999999684826,3.06200964383e-05,-0.000793210210022,1.50644072873e-05,1793255880563567616
+298,4.966666667,POSE2_TO_POSE3_RETREAT,791,761,737,729,679.16469529,651,921,799.16469529,842,661,635,665,0.45141937004,-0.00551101367268,0.0795016019176,0.999999704069,2.55086322044e-05,-0.00076872596362,1.64551238739e-05,1793255880580234496
+299,4.983333333,POSE2_TO_POSE3_RETREAT,791,761,737,729,679.743946277,651,921,799.743946277,842,661,635,665,0.451010681132,-0.00550845349143,0.0795187620371,0.999999725261,4.65940171978e-06,-0.000741150136759,1.23705096339e-05,1793255880596901120
+300,5.000000000,POSE2_TO_POSE3_RETREAT,790.678369998,761,737,729,680,651,921,800,842.321630002,661.321630002,635,665,0.450579125065,-0.00550473411767,0.0795374183281,0.999999749025,1.01236025564e-05,-0.00070827520933,1.39510372301e-05,1793255880613567744
+301,5.016666667,POSE2_TO_POSE3_RETREAT,790.101927877,761,737,729,680,651,921,800,842.898072123,661.898072123,635,665,0.450129452395,-0.00550009637066,0.0795572599661,0.99999977388,3.64346784133e-05,-0.000671202053499,2.0019786193e-05,1793255880630234368
+302,5.033333333,POSE2_TO_POSE3_RETREAT,790.473015295,761,737,729,680.473015295,651.473015295,921,800.473015295,842.526984705,661.526984705,635,665,0.449636266483,-0.00549129214078,0.0795735566431,0.999999790082,3.01157665043e-05,-0.000647031217074,1.67484069389e-05,1793255880646900992
+303,5.050000000,POSE2_TO_POSE3_RETREAT,790.951079488,761,737,729,681,652,921,801,842.048920512,661,635,665,0.449125940728,-0.00548074245251,0.0795862095771,0.999999801049,2.08567137448e-05,-0.000630338025816,1.18803983769e-05,1793255880663567616
+304,5.066666667,POSE2_TO_POSE3_RETREAT,790.360969144,761,737,729,681,652,921,801,842.639030856,661,635,665,0.448529403532,-0.0054607842242,0.0795669770318,0.999999776748,5.66107771346e-05,-0.000665707430071,1.15444591708e-05,1793255880680234496
+305,5.083333333,POSE2_TO_POSE3_RETREAT,790,761,737,729,681.224820994,652.224820994,920.775179006,801,842.775179006,661,634.775179006,665,0.447926061498,-0.00544280774963,0.0795478126967,0.999999754287,8.35318302218e-05,-0.000695946666757,1.03109598159e-05,1793255880696901376
+306,5.100000000,POSE2_TO_POSE3_RETREAT,790,761,737,729,681.803805422,652.803805422,920.196194578,801,842.196194578,661,634.196194578,665,0.44731199975,-0.00542795315866,0.0795287558151,0.999999737474,9.65381253852e-05,-0.000718104283499,7.66352234496e-06,1793255880713568000
+307,5.116666667,POSE2_TO_POSE3_RETREAT,790.379278003,761,737,729,682,653,920.379278003,801.379278003,842,661,634.379278003,665,0.446705736144,-0.00543435788962,0.0795416416369,0.999999751973,9.67953435352e-05,-0.000697557821146,9.90966655318e-06,1793255880730234624
+308,5.133333333,POSE2_TO_POSE3_RETREAT,790.952950609,761,737,729,682,653,920.952950609,801.952950609,842,661,634.952950609,665,0.446103469405,-0.00545165884342,0.0795708993266,0.999999781202,9.05181675036e-05,-0.000655123869719,1.46639601676e-05,1793255880746900992
+309,5.150000000,POSE2_TO_POSE3_RETREAT,791,761,737,729,682.540894626,653.540894626,921,802.540894626,842.540894626,661.540894626,635.540894626,665,0.445473047926,-0.00545185050981,0.0796137048184,0.999999819612,8.31142961478e-05,-0.000594623914928,1.70151558044e-05,1793255880763567616
+310,5.166666667,POSE2_TO_POSE3_RETREAT,790.87209131,761,737,729,683.12790869,654,921,803.12790869,843,662,636,664.87209131,0.444819215951,-0.00544846973704,0.0796523491769,0.999999849668,8.18349648283e-05,-0.000541841281498,1.93553782341e-05,1793255880780234496
+311,5.183333333,POSE2_TO_POSE3_RETREAT,790.292857656,761,737,729,683.707142344,654,921,803.707142344,843,662,636,664.292857656,0.444091655885,-0.00543787719318,0.0796720401651,0.99999985826,0.000102521216127,-0.000521984339149,2.24144375457e-05,1793255880796901120
+312,5.200000000,POSE2_TO_POSE3_RETREAT,790,761,737,729,684,654.28532128,921,804,843,662,635.71467872,664.28532128,0.443354812565,-0.00543304698696,0.0796821863836,0.999999863739,0.000109510464343,-0.000509813111359,2.48859024537e-05,1793255880813567744
+313,5.216666667,POSE2_TO_POSE3_RETREAT,790,761,737,729,684,654.862421698,921,804,843,662,635.137578302,664.862421698,0.442608475789,-0.00543410953975,0.079682571802,0.999999866624,0.000102492699096,-0.000505501551676,2.67564739461e-05,1793255880830234368
+314,5.233333333,POSE2_TO_POSE3_RETREAT,790,761,737,729,684.437458805,655,921,804,843,662,635,664.562541195,0.441856750954,-0.00543407889849,0.0796981972359,0.999999881676,0.000111122407391,-0.000472783883942,2.78549593597e-05,1793255880846901248
+315,5.250000000,POSE2_TO_POSE3_RETREAT,790,761,737,729.012164221,685.012164221,655,921,804,842.987835779,662,635,664.012164221,0.441101380176,-0.00543376781923,0.0797174836649,0.999999898062,0.000124263081329,-0.000433140539886,2.87092137867e-05,1793255880863567616
+316,5.266666667,POSE2_TO_POSE3_RETREAT,790,761,737,729.601785136,685.601785136,655,921,804,842.398214864,662,635,664.601785136,0.440252991874,-0.00543638818147,0.0796841048701,0.999999873983,0.000119033471965,-0.000486823919275,2.94422203928e-05,1793255880880234240
+317,5.283333333,POSE2_TO_POSE3_RETREAT,790.188075129,761,737,730,686,655.188075129,921,804.188075129,842,662,635.188075129,665,0.439403038792,-0.0054386675612,0.0796630883549,0.999999858995,0.000116013283702,-0.00051735692895,2.98811736202e-05,1793255880896901120
+318,5.300000000,POSE2_TO_POSE3_RETREAT,790.767435196,761,737,730,686,655.767435196,921,804.767435196,842,662,635.767435196,665,0.43854983028,-0.00544023753642,0.0796677912117,0.999999867782,0.000117589733895,-0.000499726254118,2.97083572822e-05,1793255880913567744
+319,5.316666667,POSE2_TO_POSE3_RETREAT,790.655445648,761,737,729.655445648,686,656,921,805,842.344554352,662,635.655445648,664.655445648,0.437738406229,-0.00544211876785,0.0797210510786,0.99999990415,0.000118735777437,-0.000420115257211,3.3239006391e-05,1793255880930234368
+320,5.333333333,POSE2_TO_POSE3_RETREAT,790.079829295,761,737,729.079829295,686,656,921,805,842.920170705,662,635.079829295,664.079829295,0.43695500334,-0.00544420873112,0.0798068738191,0.999999947396,0.000119593184026,-0.000298939559019,3.92532404633e-05,1793255880946900992
+321,5.350000000,POSE2_TO_POSE3_RETREAT,790,761,737,729.493444962,686,656,921,805.493444962,842.506555038,662,635.493444962,664.493444962,0.436115910135,-0.00544069603698,0.0798504672318,0.999999965106,0.000122411365336,-0.000230332733972,4.18297174325e-05,1793255880963567616
+322,5.366666667,POSE2_TO_POSE3_RETREAT,790,761,737,729.931341014,686,656,921,805.931341014,842.068658986,662,636,665,0.435259336347,-0.00543640989104,0.0798791727485,0.999999974319,0.000126929141217,-0.000182622876215,4.35980429728e-05,1793255880980234496
+323,5.383333333,POSE2_TO_POSE3_RETREAT,790,761,737,729.338436768,686,656,921,805.338436768,842.661563232,662,636,665,0.434337757538,-0.00543310614298,0.0798461198628,0.99999996256,0.000142013523076,-0.000229841903413,4.34222186271e-05,1793255880996901120
+324,5.400000000,POSE2_TO_POSE3_RETREAT,790,761,737,729.248773597,686.248773597,656,921,805,842.751226403,662,636,665,0.433367203653,-0.0054312327745,0.0798042546687,0.99999994273,0.000149272604412,-0.000300703782561,4.283425182e-05,1793255881013567744
+325,5.416666667,POSE2_TO_POSE3_RETREAT,790,761,737,729.828411294,686.828411294,656,921,805,842.171588706,662,636,665,0.432331513728,-0.00543126178287,0.079750669269,0.999999907246,0.000146124187882,-0.000403010205346,4.16981432277e-05,1793255881030234624
+326,5.433333333,POSE2_TO_POSE3_RETREAT,790,761,737,730,687,656,921,805,842,662,636,665,0.431349096781,-0.00543284429748,0.0797172112572,0.999999879988,0.000142602720657,-0.000466914869466,4.09721675163e-05,1793255881046900992
+327,5.450000000,POSE2_TO_POSE3_RETREAT,790,761,737,730,687,656,921,805,842,662,636,665,0.430389081715,-0.00543508007697,0.0796922170159,0.99999985709,0.000138924382213,-0.000514671205151,4.0418656879e-05,1793255881063567616
+328,5.466666667,POSE2_TO_POSE3_RETREAT,790,761,737,730,687,656.565221802,921,805,842.565221802,662.565221802,636,665,0.429575122585,-0.00543839098862,0.0797669343252,0.999999916587,0.000140757644168,-0.000380894473206,4.39577848091e-05,1793255881080234496
+329,5.483333333,POSE2_TO_POSE3_RETREAT,790.150237382,760.849762618,737,730.150237382,687,656.849762618,921,805,843,662.849762618,635.849762618,665,0.428736033708,-0.0054410030309,0.0798308648528,0.999999952318,0.000144178813299,-0.000268935145,4.74475688983e-05,1793255881096900864
+330,5.500000000,POSE2_TO_POSE3_RETREAT,790.729534117,760.270465883,737,730.729534117,687,656.270465883,921,805,843,662.270465883,635.270465883,665,0.427809092414,-0.00544150078525,0.0798530085159,0.999999958626,0.000151527867385,-0.000239275726628,5.03457161953e-05,1793255881113567744
+331,5.516666667,POSE2_TO_POSE3_RETREAT,790.692236989,760.307763011,737,730.692236989,687,656,921,805,842.692236989,662,635.307763011,665,0.426839574934,-0.00543990735886,0.0798343863135,0.99999995056,0.000155310134194,-0.000268843463964,4.98138292311e-05,1793255881130234624
+332,5.533333333,POSE2_TO_POSE3_RETREAT,790.114943313,760.885056687,737,730.114943313,687,656,921,805,842.114943313,662,635.885056687,665,0.425832770411,-0.00543648253197,0.0797800624485,0.999999925418,0.000155968702429,-0.000350280770356,4.62780090565e-05,1793255881146901248
+333,5.550000000,POSE2_TO_POSE3_RETREAT,790,761,737,730,687,656.460645942,921,805,842,662.460645942,636,665,0.42485861142,-0.00542970164231,0.0797509158699,0.999999909007,0.000165122560845,-0.000390718934115,4.53759321441e-05,1793255881163567872
+334,5.566666667,POSE2_TO_POSE3_RETREAT,790,761,737,730.036699821,687,657,921,805,842,663,636,665,0.423896537695,-0.00542229347099,0.0797290642822,0.999999895171,0.000176502005022,-0.000420073173039,4.52076878467e-05,1793255881180234496
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,790,760.207373818,737,731,687,656.207373818,921,805.792626182,842.792626182,662.207373818,636,665,0.421306214046,-0.00541421973893,0.0798133941137,0.999999939811,0.000199996445477,-0.000278917706027,5.08419310389e-05,1793255881230234368
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f6ce24e0d83a88f1ce7204ad27f0b00e8fd94192
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.585807643647,0.000181734990978,1.07002070548,0.556378791976,0.00885597459171,1.06969240492
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+381,6.350000000,pose2_to_pose3_retreat,0.575783578102,0.000181770074122,1.07002033148,0.546354725306,0.00885600598678,1.0696920353
+382,6.366666667,pose2_to_pose3_retreat,0.575752501264,0.00018175887942,1.07002049334,0.546323649284,0.00885599790993,1.06969220634
+383,6.383333333,pose2_to_pose3_retreat,0.575728622324,0.000181741547314,1.07002047276,0.5462997715,0.00885598464402,1.06969218961
+384,6.400000000,pose2_to_pose3_retreat,0.575710520344,0.00018179956103,1.07002051734,0.546281667528,0.00885603548366,1.06969222322
+385,6.416666667,pose2_to_pose3_retreat,0.575697259217,0.000181831109817,1.07002058311,0.546268405651,0.00885606437987,1.06969228618
+386,6.433333333,pose2_to_pose3_retreat,0.575687267977,0.000181856848342,1.07002063475,0.546258414479,0.00885609045842,1.06969234068
+387,6.450000000,pose2_to_pose3_retreat,0.57567999985,0.000181925690112,1.07002063604,0.546251145837,0.00885615759855,1.06969234319
+388,6.466666667,pose2_to_pose3_retreat,0.575674833346,0.000181833924992,1.07002043646,0.546245980255,0.00885606919677,1.06969214992
+389,6.483333333,pose2_to_pose3_retreat,0.575671634292,0.00018177680819,1.07002036792,0.546242782478,0.0088560164018,1.06969208108
+390,6.500000000,pose2_to_pose3_retreat,0.575670067268,0.000181756529118,1.07002038195,0.546241216475,0.00885599946282,1.06969209189
+391,6.516666667,pose2_to_pose3_retreat,0.575669606947,0.000181750572046,1.07002038608,0.546240756454,0.00885599448691,1.06969209506
+392,6.533333333,pose2_to_pose3_retreat,0.575669282675,0.000181770050295,1.07002038495,0.54624043167,0.0088560122395,1.06969209418
+393,6.550000000,pose2_to_pose3_retreat,0.57566914826,0.000181782502224,1.07002038374,0.54624029691,0.00885602352919,1.06969209324
+394,6.566666667,pose2_to_pose3_retreat,0.575668948713,0.000181800987925,1.07002038194,0.546240096849,0.00885604028948,1.06969209184
+395,6.583333333,pose2_to_pose3_retreat,0.575668619112,0.000181831521553,1.07002037896,0.546239766401,0.00885606797317,1.06969208953
+396,6.600000000,pose2_to_pose3_retreat,0.575668307597,0.000181860379672,1.07002037615,0.546239454085,0.00885609413774,1.06969208735
+397,6.616666667,pose2_to_pose3_retreat,0.575668056326,0.000181883656952,1.07002037389,0.546239202168,0.00885611524237,1.06969208559
+398,6.633333333,pose2_to_pose3_retreat,0.575668028378,0.000181886246,1.07002037364,0.546239174149,0.00885611758976,1.0696920854
+399,6.650000000,pose2_to_pose3_retreat,0.575667754459,0.000181911621422,1.07002037117,0.546238899524,0.0088561405967,1.06969208348
+400,6.666666667,pose2_to_pose3_retreat,0.575667681299,0.000181918267723,1.07002037768,0.546238826227,0.00885614676723,1.06969208969
+401,6.683333333,pose2_to_pose3_retreat,0.575667463293,0.000181936375242,1.07002048993,0.546238608477,0.00885616548709,1.06969219525
+402,6.700000000,pose2_to_pose3_retreat,0.575667381484,0.000181943170351,1.07002053206,0.546238526764,0.00885617251199,1.06969223487
+403,6.716666667,pose2_to_pose3_retreat,0.575667320986,0.000181948195269,1.07002056321,0.546238466337,0.00885617770684,1.06969226416
+404,6.733333333,pose2_to_pose3_retreat,0.575667181317,0.000181959796211,1.07002063513,0.546238326831,0.00885618970009,1.06969233179
+405,6.750000000,pose2_to_pose3_retreat,0.575667171699,0.000181960595069,1.07002064008,0.546238317224,0.00885619052596,1.06969233645
+406,6.766666667,pose2_to_pose3_retreat,0.575666990556,0.000181959054404,1.07002067891,0.54623813619,0.00885618936183,1.06969237548
+407,6.783333333,pose2_to_pose3_retreat,0.575666903035,0.000181948063535,1.07002066404,0.546238048658,0.00885617847117,1.06969236427
+408,6.800000000,pose2_to_pose3_retreat,0.575666832703,0.000181939231354,1.0700206521,0.546237978317,0.00885616971952,1.06969235527
+409,6.816666667,pose2_to_pose3_retreat,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947915,1.06969235502
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6d3c44536d14e4308694f233d9d5554e4758888
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d6c404fce810263d902ce6aab440520a0bb98f67ac1df2306d2799dc51007ab
+size 26221287
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07068bb17a914673eee81bc8da94d091eaf9a49c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
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+18,0.300000000,BASELINE,789,760,736.554172924,731,688,657,921,806,842,663,636,665.445827076,0.400978468878,-0.00541820948349,0.0798349672426,0.999999933631,0.000227293836326,-0.00028146344509,4.30471661752e-05,1793255882886237696
+19,0.316666667,BASELINE,789.023451658,759.976548342,736,731,688,657.023451658,921,806,842,663,636,665.976548342,0.400979352731,-0.00541801049227,0.0798354286522,0.999999933946,0.000227774622791,-0.000279985491811,4.28341350747e-05,1793255882902904576
+20,0.333333333,BASELINE,789.598550785,759.401449215,736,731,688,657.598550785,921,806,842,663,636,665.401449215,0.400977618512,-0.00541758573817,0.0798346358061,0.999999933299,0.000227749623828,-0.000282312306774,4.27896842849e-05,1793255882919570944
+21,0.350000000,BASELINE,790,759.355722524,736,731,688,657.822138738,921,806,842,663,636,665,0.40097675078,-0.00541701027757,0.0798342820688,0.999999932797,0.000228600330126,-0.000283403794231,4.27917253723e-05,1793255882936237312
+22,0.366666667,BASELINE,790,760.533815176,736,731,688,657.233092412,921,806,842,663,636,665,0.400977886223,-0.00541608640917,0.0798349434765,0.999999932629,0.000231475518426,-0.000281639413745,4.2901247799e-05,1793255882952903936
+23,0.383333333,BASELINE,789.649255891,760.649255891,736,731,688,657,921,806,842,663,636,665,0.400978055765,-0.00541679355764,0.079835163196,0.999999932962,0.000230654217957,-0.000281094806952,4.3120656023e-05,1793255882969570816
+24,0.400000000,BASELINE,789.068830893,760.068830893,736,731,688,657,921,806,842,663,636,665,0.400977592799,-0.00541856875931,0.079835093681,0.999999933621,0.000227412313116,-0.000281348955251,4.34120217529e-05,1793255882986237696
+25,0.416666667,BASELINE,789,760,736,731,688,657,921,805.493629721,842,663,636,665,0.400978567217,-0.00541786116511,0.0798353633641,0.999999933751,0.000227900346481,-0.000280486015247,4.34482651648e-05,1793255883002904320
+26,0.433333333,BASELINE,789.080606923,760,736,731,688,657,920.919393077,805.080606923,842,663,636,665.080606923,0.400979517603,-0.00541715694212,0.0798356424836,0.999999933793,0.000228784526718,-0.00027961077819,4.34710571831e-05,1793255883019570944
+27,0.450000000,BASELINE,789.653246347,760,736,731,688,657,920.346753653,805.653246347,842,663,636,665.653246347,0.400979140838,-0.00541851231148,0.0798357006345,0.999999933741,0.000229023586912,-0.000279577895381,4.36212616895e-05,1793255883036237568
+28,0.466666667,BASELINE,790,760,736.235303533,731,688,657,920.235303533,806,842,663,636,665.764696467,0.400979147575,-0.00541926065114,0.0798361089717,0.99999993411,0.000228188177016,-0.00027895812808,4.35135787022e-05,1793255883052904192
+29,0.483333333,BASELINE,790,760,736.83181774,731,688,657,920.83181774,806,842,663,636,665.16818226,0.400979743019,-0.00541907714918,0.079837054874,0.999999935118,0.000225703365324,-0.000277437443823,4.30100167555e-05,1793255883069570816
+30,0.500000000,BASELINE,789.586549747,760,737,731,688,657,921,806,842,663,636,665.413450253,0.400979676122,-0.00541873600537,0.0798371985383,0.999999935005,0.000226063887539,-0.000277550907695,4.30101695541e-05,1793255883086237184
+31,0.516666667,BASELINE,789.010760465,760,737,731,688,657,921,806,842,663,636,665.989239535,0.400979349161,-0.00541833296435,0.079837027208,0.999999934452,0.000227541614942,-0.000278306011118,4.32081032629e-05,1793255883102903808
+32,0.533333333,BASELINE,789,760,736.438984373,731,688,657,921,806,842,663,636,665.438984373,0.400980282617,-0.00541666741836,0.0798376250745,0.999999934228,0.000229568744213,-0.00027749029183,4.29176680202e-05,1793255883119570432
+33,0.550000000,BASELINE,789.13720554,760,736,731.13720554,688,657,921,806,841.86279446,663,636,665,0.400980848,-0.00541588152181,0.0798380148165,0.999999934072,0.000230872775419,-0.000276990780731,4.27753288356e-05,1793255883136237056
+34,0.566666667,BASELINE,789.728247795,760,736,731.728247795,688,657,921,806,841.271752205,663,636,665,0.400980116507,-0.00541808478278,0.0798376676885,0.999999934135,0.000229750396286,-0.000277636146091,4.31536127036e-05,1793255883152903936
+35,0.583333333,BASELINE,789.68574373,760,736,732,688,657,921,806,841.31425627,663,636,665,0.400979435078,-0.00541856235667,0.0798370028685,0.99999993397,0.000229516145789,-0.000278412715072,4.32388330564e-05,1793255883169570816
+36,0.600000000,BASELINE,789.104019513,760,736,732,688,657,921,806,841.895980487,663,636,665,0.40097879626,-0.00541757117416,0.0798360676565,0.999999933609,0.000230037793987,-0.000279300953378,4.30746229564e-05,1793255883186237952
+37,0.616666667,BASELINE,789,760,736,732,688,657,921,806,842,663,636,665,0.400978512856,-0.00541748827652,0.0798356438053,0.999999933308,0.000230042252398,-0.000280388134125,4.29791417987e-05,1793255883202904320
+38,0.633333333,BASELINE,789.046779881,760,736,731.953220119,688,657,920.953220119,805.953220119,842,663,636,665,0.400978382861,-0.00541765758807,0.0798354530767,0.99999993311,0.000229866997505,-0.000281246906831,4.29218408791e-05,1793255883219571200
+39,0.650000000,BASELINE,789.621718229,760,736,731.378281771,688,657,920.378281771,805.378281771,842,663,636,665,0.400979111147,-0.00541844144696,0.0798366372154,0.999999933934,0.000228934209489,-0.000279037798146,4.31266395977e-05,1793255883236237568
+40,0.666666667,BASELINE,789.797223238,760,736,731,688,657,920.202776762,805.202776762,842,663,636,665,0.400979423744,-0.00541871330448,0.0798372445314,0.999999934356,0.000228546476258,-0.000277831077113,4.31822965178e-05,1793255883252903936
+41,0.683333333,BASELINE,789.204392167,760,736,731,688,657,920.795607833,805.795607833,842,663,636,665,0.400978936738,-0.00541800029398,0.0798367422909,0.999999934014,0.000229207191468,-0.000278552514154,4.29510694612e-05,1793255883269570560
+42,0.700000000,BASELINE,789,760,736,731,688,657,921,806,842,663,636,665,0.400977886513,-0.00541710862615,0.0798359108689,0.999999933631,0.000229266538515,-0.000279893816466,4.28299729612e-05,1793255883286237184
+43,0.716666667,BASELINE,789,760,736,731,688,657,921,806,842,663,636,665,0.400976539929,-0.00541612295088,0.0798349062355,0.999999933224,0.000229009452431,-0.000281561284834,4.27668259189e-05,1793255883302903808
+44,0.733333333,BASELINE,789.53001411,760,736,731,688,657,920.46998589,806,842,663,636,665,0.400976278569,-0.00541691690393,0.07983471565,0.999999933694,0.000227427020523,-0.000281181736262,4.27188500644e-05,1793255883319570944
+45,0.750000000,BASELINE,789.892319326,760,736.107680674,731.107680674,688,657,920,806,842,663,636,665,0.400976458668,-0.00541773487754,0.0798348956566,0.999999934171,0.000226151925638,-0.000280513461764,4.27206082816e-05,1793255883336238080
+46,0.766666667,BASELINE,789.303186028,760,736.696813972,731.696813972,688,657,920,806,842,663,636,665,0.400978199815,-0.00541798336186,0.0798364229977,0.999999934356,0.000226755070088,-0.000279332850662,4.29389628274e-05,1793255883352904704
+47,0.783333333,BASELINE,789,760,737,731.718817429,688,657,920.281182571,806,842,663,636,665,0.400979141615,-0.00541796878253,0.079837082975,0.999999934455,0.000227273598124,-0.000278546896727,4.29973483222e-05,1793255883369570816
+48,0.800000000,BASELINE,789,760,737,731.139500704,688,657,920.860499296,806,842,663,636,665,0.400979235878,-0.00541767528035,0.0798368232982,0.999999934464,0.000227702408574,-0.000278179392408,4.2886120779e-05,1793255883386237440
+49,0.816666667,BASELINE,789.436995658,760,736.563004342,731,688,657,921,806,842,663,636,665,0.400978650319,-0.00541679713994,0.0798364638706,0.999999934081,0.000228640763511,-0.000278818277773,4.26758025972e-05,1793255883402904064
+50,0.833333333,BASELINE,790,760,736.012570684,731,688,657,921,806,842,663.012570684,636,665,0.400977856589,-0.00541576858965,0.0798360824058,0.999999933591,0.000229674296042,-0.000279759868561,4.24435792483e-05,1793255883419570688
+51,0.850000000,BASELINE,790,760,736.586950614,731,688,657,921,806,842,663.586950614,636,665,0.400977396092,-0.0054163053965,0.0798361300555,0.999999933969,0.000227738513261,-0.000279964001962,4.26370185707e-05,1793255883436237312
+52,0.866666667,BASELINE,790,760,737,731,688.166064489,657,921,806,841.833935511,663.833935511,636,665,0.400977391849,-0.0054172732068,0.0798362483426,0.999999934444,0.000225753935018,-0.000279851138983,4.27802791981e-05,1793255883452904448
+53,0.883333333,BASELINE,790,760,737,731,688.757298491,657,921,806,841.242701509,663.242701509,636,665,0.400978555735,-0.0054193445012,0.0798365474801,0.999999935176,0.000223644427459,-0.000278926680462,4.27950689327e-05,1793255883469571584
+54,0.900000000,BASELINE,790,760,736.658670075,731,689,657,921,806,841.341329925,663,636,665,0.400978706746,-0.00541911090329,0.0798366685781,0.999999934907,0.000225053328713,-0.000278771598007,4.27102070612e-05,1793255883486237952
+55,0.916666667,BASELINE,790,760,736.079654194,731,689,657,921,806,841.920345806,663,636,665,0.400978152439,-0.00541727228771,0.0798366656977,0.999999933931,0.000228912282932,-0.000279152272559,4.25559525406e-05,1793255883502904320
+56,0.933333333,BASELINE,789.504991527,760,736.495008473,731,688.504991527,657,921,806,842,663,636,665,0.400977736874,-0.0054174393267,0.0798356823032,0.999999934105,0.000227401443854,-0.000279795076307,4.23433093914e-05,1793255883519570944
+57,0.950000000,BASELINE,789.070670855,760,737,731.070670855,688,657,920.929329145,805.929329145,842,663,636,665,0.400977441833,-0.00541796460657,0.079834830546,0.999999934475,0.000225145521199,-0.000280318027234,4.21991394685e-05,1793255883536237568
+58,0.966666667,BASELINE,789.658735788,760,737,731.658735788,688,657,920.341264212,805.341264212,842,663,636,665,0.400977867145,-0.00541877039622,0.0798360875908,0.999999934965,0.00022370564071,-0.000279657394936,4.26244616987e-05,1793255883552904192
+59,0.983333333,BASELINE,789.756775837,759.756775837,737,732,688,657,920,805,842,663,636,665,0.400978537908,-0.00541945532312,0.0798368754881,0.999999935329,0.000223097575157,-0.00027879222852,4.29452401261e-05,1793255883569570816
+60,1.000000000,BASELINE,789.177232871,759.177232871,737,732,688,657,920,805,842,663,636,665,0.400979548068,-0.00541997312687,0.0798370146705,0.99999993552,0.000223639703518,-0.00027764424196,4.31214604171e-05,1793255883586237440
+61,1.016666667,BASELINE,789,759.400069905,736.599930095,731.599930095,688,657,920.400069905,805.400069905,841.599930095,663,635.599930095,665,0.400979561144,-0.00541877873376,0.0798373430074,0.999999935292,0.000225202561428,-0.000277238069501,4.28724627457e-05,1793255883602904320
+62,1.033333333,BASELINE,789,759.976385757,736.023614243,731.023614243,688,657,920.976385757,805.976385757,841.023614243,663,635.023614243,665,0.400979134965,-0.00541683005306,0.079837754674,0.999999934878,0.000227215089334,-0.000277158694319,4.24361404445e-05,1793255883619571456
+63,1.050000000,BASELINE,789.552118812,759.447881188,736,731.552118812,688,657,921,806,841.552118812,663,635.552118812,665,0.40097817229,-0.00541687726073,0.0798364154048,0.999999934293,0.000227320439577,-0.000279173472615,4.2452542707e-05,1793255883636237824
+64,1.066666667,BASELINE,790,759.130813417,736.130813417,731.869186583,688,657,920.869186583,806,842,663,636,665,0.400977869075,-0.00541731793733,0.0798357545989,0.999999933989,0.000227341291286,-0.000280218141823,4.26004000227e-05,1793255883652904448
+65,1.083333333,BASELINE,790,759.719971941,736.719971941,731.280028059,688,657,920.280028059,806,842,663,636,665,0.400979956796,-0.00541883846781,0.0798377331142,0.999999934708,0.000227351582044,-0.000277550238805,4.31410774618e-05,1793255883669570816
+66,1.100000000,BASELINE,790,760,736.696312475,731,688,657,920,805.696312475,842,663.303687525,636,665,0.400980499314,-0.00541871890183,0.079838282665,0.999999934862,0.000227661600817,-0.000276744116223,4.31186329038e-05,1793255883686237440
+67,1.116666667,BASELINE,790,760,736.117527448,731,688,657,920,805.117527448,842,663.882472552,636,665,0.400979642099,-0.00541711364273,0.0798375377778,0.999999934508,0.000228243130342,-0.000277624500819,4.25860802558e-05,1793255883702904320
+68,1.133333333,BASELINE,789.540764001,760,736.459235999,731,688,657,920.459235999,805.459235999,842,663.540764001,635.540764001,665,0.400978243578,-0.00541665906242,0.0798365570412,0.999999933817,0.000229385251411,-0.000279170260234,4.25808311688e-05,1793255883719570944
+69,1.150000000,BASELINE,789.035485208,760,737,731,688,657,921,806,842,663,635.035485208,665,0.400976804633,-0.00541662071426,0.0798355972,0.999999933137,0.000230433769344,-0.000280716220429,4.27075123615e-05,1793255883736237824
+70,1.166666667,BASELINE,789.611746795,760,737,731,688,657,921,806,842,663,635.611746795,665,0.400976851536,-0.00541845745804,0.0798358715975,0.999999934009,0.000227879051257,-0.000279681595427,4.27972293531e-05,1793255883752904704
+71,1.183333333,BASELINE,789.807653088,760,737,731,688,657,921,806,842,663,636,665,0.400977149043,-0.0054197320844,0.0798361497884,0.99999993474,0.000225559769503,-0.000278943815439,4.28237397703e-05,1793255883769571328
+72,1.200000000,BASELINE,789.21809343,760,737,731,688,657,921,806,842,663,636,665,0.400977964069,-0.00541984589078,0.0798364358132,0.999999935191,0.000223726683353,-0.00027881904548,4.27197232477e-05,1793255883786237952
+73,1.216666667,BASELINE,789.364551068,759.635448932,736.635448932,731,688,657,921,806,842,663,635.635448932,665,0.400978727222,-0.00541919535703,0.0798370823682,0.999999935029,0.000225240163885,-0.000278164752721,4.28249816071e-05,1793255883802904320
+74,1.233333333,BASELINE,789.943135536,759.056864464,736.056864464,731,688,657,921,806,842,663,635.056864464,665,0.400979459918,-0.0054180960677,0.0798379405958,0.999999934497,0.000228718464021,-0.000277199569189,4.30531083945e-05,1793255883819570688
+75,1.250000000,BASELINE,790,759.51826225,736,731,688,657,921,806,842,663,635.51826225,665,0.400979442083,-0.00541839601594,0.0798374386324,0.999999934532,0.000228205866745,-0.000277522723292,4.28968636321e-05,1793255883836237312
+76,1.266666667,BASELINE,789.904963472,760,736,731,688,657,920.904963472,806,842,663,636,665,0.400979203351,-0.00541864121225,0.0798368723804,0.999999934591,0.00022739612116,-0.000277998211079,4.27407376438e-05,1793255883852903936
+77,1.283333333,BASELINE,789.317704033,760,736,731,688,657,920.317704033,806,842,663,636,665,0.400978244212,-0.00541781294251,0.0798367410054,0.99999993446,0.000227300272166,-0.000278535396406,4.2802209953e-05,1793255883869570816
+78,1.300000000,BASELINE,789,760,736,731,688,657,920,806,842,663,635.733930867,665,0.400977879345,-0.00541778701323,0.0798367199662,0.999999934468,0.000227350250274,-0.000278459126156,4.28537660497e-05,1793255883886237696
+79,1.316666667,BASELINE,789,760,736,731,688,657,920,806,842,663,635.154266741,665,0.4009782149,-0.0054187067403,0.0798368289714,0.999999934638,0.000227572103448,-0.00027765982349,4.28936346731e-05,1793255883902904576
+80,1.333333333,BASELINE,789,759.57635754,736,731,688,657,920,806,841.57635754,663,635.42364246,665,0.400978177257,-0.00541861741099,0.0798371316792,0.999999934541,0.000227767663782,-0.000277845749446,4.29163871285e-05,1793255883919570944
+81,1.350000000,BASELINE,789,759.000911393,736,731,688,657,920,805.999088607,841.000911393,663,636,665,0.400978003451,-0.00541816306563,0.079837503377,0.999999934346,0.000227954613819,-0.000278389106012,4.29329620581e-05,1793255883936237568
+82,1.366666667,BASELINE,789,759.575719605,736,731,688,657,920,805.424280395,841.575719605,663,636,665,0.400977309837,-0.00541828155691,0.0798370849457,0.999999933992,0.000228723754806,-0.000279024265313,4.29681164454e-05,1793255883952904192
+83,1.383333333,BASELINE,789.154227169,760,736.154227169,731.154227169,688,657,920.154227169,805.154227169,842,663,636,665,0.40097693859,-0.00541832139698,0.0798368640422,0.999999933916,0.000228715556928,-0.000279304776189,4.29716743351e-05,1793255883969571072
+84,1.400000000,BASELINE,789.743161929,760,736.743161929,731.743161929,688,657,920.743161929,805.743161929,842,663,636,665,0.400977475972,-0.00541813954933,0.079837199894,0.999999934621,0.000226516337331,-0.000278585668513,4.2886173753e-05,1793255883986238464
+85,1.416666667,BASELINE,790,759.67267565,736.67267565,731.67267565,688,657,920.67267565,806,842,663,636,665,0.400977466472,-0.00541781239782,0.0798365044813,0.999999934511,0.000226138656254,-0.000279336606909,4.25527913516e-05,1793255884002904832
+86,1.433333333,BASELINE,790,759.092204111,736.092204111,731.092204111,688,657,920.092204111,806,842,663,636,665,0.400977034022,-0.00541737287074,0.0798350115058,0.99999993377,0.000227169722797,-0.000281224454442,4.20277012933e-05,1793255884019570944
+87,1.450000000,BASELINE,789.516445013,759,736,731,688,657,920.483554987,806,842,663,636,665,0.400976634676,-0.00541737631575,0.079835307246,0.999999933743,0.000227343355962,-0.000281131245419,4.23506305045e-05,1793255884036238080
+88,1.466666667,BASELINE,789,759,736,731.05820777,688,657,921,805.94179223,841.94179223,663,635.94179223,665,0.400976359786,-0.00541739727226,0.0798359319723,0.999999933836,0.000227496367743,-0.000280610514211,4.27894228969e-05,1793255884052904960
+89,1.483333333,BASELINE,789,759,736,731.6309475,688,657,921,805.3690525,841.3690525,663,635.3690525,665,0.400977129773,-0.0054168335875,0.0798364789647,0.999999933792,0.000228898374301,-0.000279617566505,4.28368321594e-05,1793255884069571584
+90,1.500000000,BASELINE,789.212018651,759.212018651,736.212018651,731.787981349,688,657,921,805.212018651,841.212018651,663,635.212018651,665,0.400977204028,-0.00541666511649,0.0798365767633,0.999999933821,0.000229128261116,-0.000279326780868,4.28452663735e-05,1793255884086237952
+91,1.516666667,BASELINE,789.808185096,759.808185096,736.808185096,731.191814904,688,657,921,805.808185096,841.808185096,663,635.808185096,665,0.400976017714,-0.00541721271691,0.0798358606862,0.999999933981,0.000227234432663,-0.000280308213649,4.27830833097e-05,1793255884102904320
+92,1.533333333,BASELINE,789.609337272,759.609337272,736.609337272,731,688,657,921,806,842,663,635.609337272,665,0.40097688544,-0.00541778150965,0.0798365352218,0.999999934288,0.000226852269328,-0.000279545219544,4.26108786575e-05,1793255884119570688
+93,1.550000000,BASELINE,789.033353242,759.033353242,736.033353242,731,688,657,921,806,842,663,635.033353242,665,0.400978727556,-0.00541836035558,0.0798378694316,0.999999934665,0.000227187204563,-0.000277954710023,4.23864823195e-05,1793255884136237312
+94,1.566666667,BASELINE,789,759.541310586,736,731.541310586,688,657,921,806,842,663,635.541310586,665,0.400977451593,-0.00541755311997,0.0798365668857,0.999999934211,0.000227196661694,-0.000279600928671,4.22284235852e-05,1793255884152903936
+95,1.583333333,BASELINE,789.119120436,759.880879564,736,731.880879564,688,657,920.880879564,806,842,663,635.880879564,665,0.400976764674,-0.005417251764,0.07983573252,0.999999934027,0.000226842324753,-0.000280545609823,4.22179171603e-05,1793255884169570816
+96,1.600000000,BASELINE,789.709703149,759.290296851,736,731.290296851,688,657,920.290296851,806,842,663,635.290296851,665,0.40097916765,-0.0054192898062,0.079837392599,0.999999935122,0.00022512732109,-0.000277926293499,4.27752642411e-05,1793255884186238208
+97,1.616666667,BASELINE,790,759.294337117,736.294337117,731,688,657,920.294337117,806,842,663,635,665,0.400979677871,-0.00541946255691,0.079837559904,0.999999935166,0.00022555920264,-0.000277384684032,4.29896369551e-05,1793255884202905088
+98,1.633333333,BASELINE,790,759.873220191,736.873220191,731,688,657,920.873220191,806,842,663,635,665,0.400978358297,-0.00541783206516,0.0798362840923,0.999999934195,0.000228066553113,-0.000278851666411,4.28724443518e-05,1793255884219571456
+99,1.650000000,BASELINE,789.55140932,759.55140932,736.55140932,731,688,657,920.55140932,805.55140932,842,663,635.44859068,665,0.400978506281,-0.00541783117428,0.0798366832295,0.999999934112,0.000229084016854,-0.000278287038608,4.30511408159e-05,1793255884236237824
+100,1.666666667,BASELINE,789,759,736,731.023522709,688,657,920.023522709,805.023522709,842,663,635.976477291,665,0.400979091806,-0.00541827321495,0.0798375517835,0.9999999343,0.000229620635014,-0.000277129558155,4.32816120202e-05,1793255884252904192
+101,1.683333333,BASELINE,789,759,736,731.611571589,688,657,920.611571589,805.611571589,842,663,635.388428411,665,0.400980301434,-0.00541837819264,0.0798384137127,0.999999935019,0.000228644146827,-0.000275416640463,4.27633290792e-05,1793255884269571072
+102,1.700000000,BASELINE,789,759,736,731.803387908,688,657,921,806,842,663,635.196612092,665,0.400980481038,-0.00541810942845,0.0798385834938,0.999999935144,0.000228547620307,-0.000275090001488,4.24594996761e-05,1793255884286237440
+103,1.716666667,BASELINE,789,759,736,731.224201276,688,657,921,806,842,663,635.775798724,665,0.400978656384,-0.00541711342446,0.0798374064694,0.999999934114,0.000230163353443,-0.000277460831308,4.25729613705e-05,1793255884302904064
+104,1.733333333,BASELINE,789.353815784,759.353815784,736,731.353815784,688.353815784,657,921,806,842,663,636,665,0.400977872391,-0.00541721109645,0.0798369322019,0.999999933828,0.000230077358712,-0.000278548427537,4.26593864865e-05,1793255884319570688
+105,1.750000000,BASELINE,789.931094223,759.931094223,736,731.931094223,688.931094223,657,921,806,842,663,636,665,0.400977745657,-0.00541799951122,0.0798369017807,0.999999934014,0.000228916588384,-0.000278825560481,4.27287358761e-05,1793255884336237568
+106,1.766666667,BASELINE,789.493537403,759.493537403,736.506462597,732,688.493537403,657,921,806,842,663,636,665,0.400978421416,-0.00541795980109,0.0798369246153,0.999999934311,0.000228791086878,-0.00027786276605,4.27260993905e-05,1793255884352904704
+107,1.783333333,POSE1_TO_POSE2_PRESS,790,759,736,731,688,657,920,806,842,663,635,665,0.400978612019,-0.00541837977875,0.0798373188006,0.99999993451,0.00022740467915,-0.000278212216451,4.31880723866e-05,1793255884395542528
+108,1.800000000,POSE1_TO_POSE2_PRESS,790,759.578747543,736,731.578747543,688,657,920.578747543,806,842,663.578747543,635.578747543,665.578747543,0.400979180496,-0.00541857755796,0.0798382007763,0.999999934791,0.000227582899048,-0.000277082159127,4.30168446317e-05,1793255884412209408
+109,1.816666667,POSE1_TO_POSE2_PRESS,789.842868255,760,736,732,688,657,920.842868255,806,841.842868255,663.842868255,635.842868255,665.842868255,0.400979206567,-0.00541854871281,0.0798385460276,0.999999934846,0.00022789474054,-0.000276654025373,4.28338735325e-05,1793255884428875776
+110,1.833333333,POSE1_TO_POSE2_PRESS,789.265455759,760,736,732,688,657,920.265455759,806,841.265455759,663.265455759,635.265455759,665.265455759,0.400977781859,-0.00541791371484,0.0798374557007,0.9999999343,0.000228563980154,-0.000278103328469,4.2619492437e-05,1793255884445541888
+111,1.850000000,POSE1_TO_POSE2_PRESS,789,759.691135746,736,731.691135746,688,657,920,805.691135746,841.308864254,663,635.308864254,665,0.400977502317,-0.00541796369102,0.0798370951646,0.999999934385,0.000227468677491,-0.000278718277223,4.24797000977e-05,1793255884462208512
+112,1.866666667,POSE1_TO_POSE2_PRESS,789,759.119447278,736,731.119447278,688,657,920,805.119447278,841.880552722,663,635.880552722,665,0.40097819724,-0.00541859653753,0.079837355635,0.999999935002,0.000224871859381,-0.000278623242391,4.24033781501e-05,1793255884478875136
+113,1.883333333,POSE1_TO_POSE2_PRESS,789,759,736,731,688,657,920.469065815,805.469065815,842,663,635.530934185,665,0.400978073853,-0.00541788655541,0.079837392646,0.999999934944,0.000224721710011,-0.000278971443688,4.22732378537e-05,1793255884495541504
+114,1.900000000,POSE1_TO_POSE2_PRESS,789,759,736,731,688,657,920.939314977,806,842,663,635,665,0.400977735401,-0.00541692992697,0.0798373359889,0.999999934658,0.000225336439763,-0.000279518216263,4.21441549594e-05,1793255884512208128
+115,1.916666667,POSE1_TO_POSE2_PRESS,789,759,736,731,688,657,920.359146492,806,842,663,635,665,0.400977406104,-0.00541689803206,0.0798369827393,0.999999933941,0.000226966918369,-0.000280762676204,4.21458058659e-05,1793255884528874752
+116,1.933333333,POSE1_TO_POSE2_PRESS,789,759,736,731,688,657,920.218945001,806,842,663,635,665,0.400982449779,-0.00541735840637,0.0798391817966,0.999999934849,0.000227144892509,-0.000277337001228,4.23297007713e-05,1793255884545541376
+117,1.950000000,POSE1_TO_POSE2_PRESS,789,759,736,731,688,657,920.793661461,806,842,663,635,665,0.400996224185,-0.00541861868633,0.0798455281876,0.999999938316,0.000224962640707,-0.000266322659076,4.28097303782e-05,1793255884562208000
+118,1.966666667,POSE1_TO_POSE2_PRESS,789,759,736,731,688,657,921,806,842,663,635.375501364,665,0.401026367449,-0.00541895750453,0.0798574975942,0.999999944016,0.00022476171575,-0.000244173863626,4.27700049818e-05,1793255884578874624
+119,1.983333333,POSE1_TO_POSE2_PRESS,789,759,736,731,688,657,921,806,842,663,635.961331355,665,0.401065679361,-0.00541878018682,0.0798726166069,0.999999950354,0.000225670586037,-0.000215788353868,4.24391505504e-05,1793255884595541504
+120,2.000000000,POSE1_TO_POSE2_PRESS,789.544138692,759,736,731,688,657,921,806,841.455861308,663,636,665,0.401134119539,-0.00542114908326,0.0798907208652,0.999999957695,0.000225085702031,-0.000179362744768,4.21253144029e-05,1793255884612208128
+121,2.016666667,POSE1_TO_POSE2_PRESS,789.874809855,759,736.125190145,731,688,657,920.874809855,806,841.125190145,663,636,665,0.401205889238,-0.00542324473705,0.0799071447444,0.999999962993,0.000224065141302,-0.000148590136098,4.15971609162e-05,1793255884628874752
+122,2.033333333,POSE1_TO_POSE2_PRESS,789.299305842,759,736.700694158,731,688,657,920.299305842,806,841.700694158,663,636,665,0.401282230744,-0.00542371025971,0.0799167653665,0.999999964751,0.000221857158882,-0.000140195437753,4.02937734504e-05,1793255884645541376
+123,2.050000000,POSE1_TO_POSE2_PRESS,789,759.276116013,736.723883987,731,688,657,920.276116013,805.723883987,842,663,635.723883987,665,0.401369959683,-0.00542426508536,0.0799242973097,0.999999966612,0.000220385244919,-0.00012937111607,3.83228497257e-05,1793255884662208000
+124,2.066666667,POSE1_TO_POSE2_PRESS,789,759.851448803,736.148551197,731,688,657,920.851448803,805.148551197,842,663,635.148551197,665,0.401470028759,-0.00542491668533,0.0799295658278,0.999999968511,0.000219710981412,-0.000115913901356,3.56285415645e-05,1793255884678874624
+125,2.083333333,POSE1_TO_POSE2_PRESS,789,760,736,731,688,657,921,805.43805543,842,663,635,665,0.401583386857,-0.0054265410461,0.0799340981231,0.999999969766,0.000218797788448,-0.000107503854046,3.22234348331e-05,1793255884695541248
+126,2.100000000,POSE1_TO_POSE2_PRESS,789.027967566,760,736,731,688,657,921,806,842,663,635.027967566,665,0.401703078968,-0.00542850059545,0.0799384186483,0.999999970854,0.000217607816606,-0.000100627153702,2.85176403857e-05,1793255884712208128
+127,2.116666667,POSE1_TO_POSE2_PRESS,789.605719341,760,736,731,688,657,921,806,842,663,635.605719341,665,0.401856355904,-0.00543039324372,0.0799436137413,0.999999973123,0.000212611796543,-8.93581579749e-05,2.37645129727e-05,1793255884728874752
+128,2.133333333,POSE1_TO_POSE2_PRESS,790,759.817302644,736,731,688,657,921,806,842,663,635.817302644,665,0.402017653063,-0.00543216794398,0.0799490912978,0.999999975259,0.000207218617618,-7.87133647338e-05,1.86261544431e-05,1793255884745541120
+129,2.150000000,POSE1_TO_POSE2_PRESS,790,759.241987514,736,731,688,657,921,806,842,663,635.241987514,665,0.40219618571,-0.00543368917296,0.0799551758693,0.999999977316,0.000200971942478,-6.94099880498e-05,1.2659932429e-05,1793255884762207744
+130,2.166666667,POSE1_TO_POSE2_PRESS,790,759,736,731.340697849,688,657,921,806,842,663,635.340697849,665,0.402386049531,-0.0054358901323,0.0799585065792,0.999999979284,0.000193303035594,-6.34305319663e-05,6.52491409274e-06,1793255884778874624
+131,2.183333333,POSE1_TO_POSE2_PRESS,790,759,736,731.92873388,688,657,921,806,842,663,635.92873388,665,0.402584139519,-0.00543858455915,0.0799598380545,0.999999981169,0.000184601623118,-5.98641587642e-05,2.67353198756e-07,1793255884795541248
+132,2.200000000,POSE1_TO_POSE2_PRESS,790,759,736.509235002,731.490764998,688,657,920.490764998,806,842,663,635.490764998,665,0.402806812327,-0.00543990647798,0.0799538988976,0.999999981912,0.000176072552463,-7.14705926604e-05,-8.13925964814e-06,1793255884812207872
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+134,2.233333333,POSE1_TO_POSE2_PRESS,790,759,736.334347732,731.665652268,687.334347732,657,920.665652268,806,842,663,635.665652268,665,0.403321858801,-0.00544348772338,0.0799466626745,0.999999983502,0.00015839291059,-8.527717863e-05,-2.52210271269e-05,1793255884845541120
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+136,2.266666667,POSE1_TO_POSE2_PRESS,789.183830335,759.816169665,736.816169665,731.183830335,687.816169665,657,921,806,842,663,636,665,0.403951843319,-0.00544983704576,0.0799552505913,0.999999996684,3.40977777735e-06,-7.09588504606e-05,-3.98174623595e-05,1793255884878874624
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+139,2.316666667,POSE1_TO_POSE2_PRESS,789.570215858,759.570215858,737,731,688,657,920.429784142,806,842,662.429784142,635.570215858,665,0.40506409982,-0.00545031988237,0.0799557596039,0.999999991905,0.000108495957758,-6.23687481519e-05,-2.29827455108e-05,1793255884928874496
+140,2.333333333,POSE1_TO_POSE2_PRESS,789.851306886,760,737,731,688,657,920.148693114,806,842,662.148693114,636,665,0.40548795444,-0.00545393752537,0.0799537663762,0.999999992667,9.84590601351e-05,-6.42410240512e-05,-2.90756551594e-05,1793255884945541120
+141,2.350000000,POSE1_TO_POSE2_PRESS,789.276631505,760,737,731,688,657,920.723368495,806,842,662.723368495,636,665,0.405936848155,-0.00546117143952,0.0799469450397,0.999999993556,7.92246639139e-05,-7.52385601265e-05,-3.08174723662e-05,1793255884962207744
+142,2.366666667,POSE1_TO_POSE2_PRESS,789,760,737,731.298514691,687.701485309,657,920.701485309,806,842,663,636,665,0.40640493885,-0.0054670650502,0.079941470994,0.999999993302,7.18049416318e-05,-8.48633023074e-05,-3.22254702098e-05,1793255884978874368
+143,2.383333333,POSE1_TO_POSE2_PRESS,789,760,737,731.874097946,687.125902054,657,920.125902054,806,842,663,636,665,0.406890847411,-0.00547171464938,0.0799372474453,0.999999992261,7.53510919554e-05,-9.32138772302e-05,-3.33236314145e-05,1793255884995540992
+144,2.400000000,POSE1_TO_POSE2_PRESS,789,760,737,732,687.45974697,657,920.45974697,806,842,663,635.54025303,665,0.407388043054,-0.00547993698673,0.0799311749191,0.99999999214,5.84898347032e-05,-0.000105965372357,-3.27112672877e-05,1793255885012207616
+145,2.416666667,POSE1_TO_POSE2_PRESS,789,759.952498949,736.952498949,731.952498949,687.952498949,657,921,806,842,663,635,665,0.407893342133,-0.00548968415701,0.0799243447458,0.999999991555,3.72864559583e-05,-0.00012040403386,-3.16731665036e-05,1793255885028874496
+146,2.433333333,POSE1_TO_POSE2_PRESS,789,759.372735636,736.372735636,731.372735636,687.372735636,657,921,806,842,663,635,665,0.408454032274,-0.00550530889479,0.0799148256494,0.999999989226,3.14517503678e-05,-0.000139941034935,-3.12309325494e-05,1793255885045542144
+147,2.450000000,POSE1_TO_POSE2_PRESS,789.205059235,759,736,731,687,657,921,806,842,663,635,665,0.409053326236,-0.00551719795585,0.0799179360771,0.999999989889,2.0718903902e-05,-0.000137123656054,-3.14511160635e-05,1793255885062209280
+148,2.466666667,POSE1_TO_POSE2_PRESS,789.779310059,759,736,731,687,657,921,806,842,663,635,665,0.409722123038,-0.00552236124999,0.0799437848819,0.999999995036,1.16737464543e-06,-9.40591294117e-05,-3.28639254913e-05,1793255885078875648
+149,2.483333333,POSE1_TO_POSE2_PRESS,790,759.363223638,736.363223638,731,687.363223638,657,921,806,842,663,635,665,0.410403193423,-0.00552573662839,0.0799745879029,0.999999998539,-4.85621433909e-06,-4.25855463231e-05,-3.29377321055e-05,1793255885095542016
+150,2.500000000,POSE1_TO_POSE2_PRESS,790,759.953168611,736.953168611,731,687.953168611,657,921,806,842,663,635,665,0.411091924857,-0.00552799600367,0.0800084833058,0.999999999379,-2.4357687735e-06,1.41369020272e-05,-3.21757435991e-05,1793255885112208384
+151,2.516666667,POSE1_TO_POSE2_PRESS,789.466514401,759.466514401,737,731.533485599,688,657,921,806,842,663,635,665,0.411758769804,-0.00553329515087,0.0799922125638,0.999999999115,-1.51841116501e-05,-1.84247611489e-05,-3.4634853598e-05,1793255885128875008
+152,2.533333333,POSE1_TO_POSE2_PRESS,789.112221782,759.112221782,737.112221782,731.887778218,688,657,921,806,842,663,635,665,0.412430988041,-0.00553757868403,0.079968076858,0.999999997092,-2.66575035327e-05,-6.07553331254e-05,-3.7603274549e-05,1793255885145541376
+153,2.550000000,POSE1_TO_POSE2_PRESS,789.687858215,759.687858215,737.687858215,731.312141785,688,657,921,806,842,663,635,665,0.413133188041,-0.00553658590403,0.0799293259607,0.999999992529,-2.74648456046e-05,-0.000111634494852,-4.1527924888e-05,1793255885162208256
+154,2.566666667,POSE1_TO_POSE2_PRESS,790,760,737.737630252,731.262369748,688,657,921,806,842,663,635,664.737630252,0.41388065781,-0.00553894217961,0.0799135774852,0.9999999905,-3.18139598716e-05,-0.000126647548373,-4.41468699375e-05,1793255885178875136
+155,2.583333333,POSE1_TO_POSE2_PRESS,790,760,737.164451227,731.835548773,688,657,921,806,842,663,635,664.164451227,0.414681755287,-0.00554526582384,0.0799250782059,0.999999993246,-4.03587396427e-05,-9.91727865308e-05,-4.52190468565e-05,1793255885195542016
+156,2.600000000,POSE1_TO_POSE2_PRESS,789.577533869,759.577533869,737,731.577533869,688,657,921,806,842,662.577533869,635,664,0.415480232015,-0.00555058751818,0.0799451837598,0.999999995403,-4.93558308236e-05,-6.91730686714e-05,-4.44089666721e-05,1793255885212208640
+157,2.616666667,POSE1_TO_POSE2_PRESS,789,759.014571508,737,731,688,657,921,806,842,662,635,664,0.416277663863,-0.00555544709087,0.0799677311002,0.999999996579,-5.85306393741e-05,-3.96682793093e-05,-4.29266719173e-05,1793255885228875520
+158,2.633333333,POSE1_TO_POSE2_PRESS,789,759.59352552,737,731,688,657,921,806,842,662,635,664,0.417075468515,-0.00555802195273,0.079950758007,0.99999999436,-6.75400982074e-05,-6.86812337967e-05,-4.47408374587e-05,1793255885245541632
+159,2.650000000,POSE1_TO_POSE2_PRESS,789.171445016,759.828554984,737,731,687.828554984,657,921,806,842,662,635,664,0.4179100028,-0.00556251509254,0.0799483341123,0.999999993811,-7.48050635931e-05,-6.84544367116e-05,-4.5784743518e-05,1793255885262208000
+160,2.666666667,POSE1_TO_POSE2_PRESS,789.74692648,759.25307352,737,731,687.25307352,657,921,806,842,662,635,664,0.418831096044,-0.00557152894812,0.0799801976339,0.999999995948,-7.79588622487e-05,6.80316769885e-07,-4.50134149253e-05,1793255885278874624
+161,2.683333333,POSE1_TO_POSE2_PRESS,790,759,737,731,687.328929124,657,921,806,842,662,635,664,0.419721752696,-0.00557758184905,0.0799906823629,0.999999994923,-8.63316231857e-05,2.41534005707e-05,-4.60157832112e-05,1793255885295541248
+162,2.700000000,POSE1_TO_POSE2_PRESS,790,759,737,731,687.91605053,657,921,806,842,662,635,664,0.42058851816,-0.00558131055392,0.0799843858483,0.999999993878,-9.88009985305e-05,1.17844417363e-05,-4.84104115828e-05,1793255885312207872
+163,2.716666667,POSE1_TO_POSE2_PRESS,789.503730951,759.496269049,737,731,688,657,921,805.503730951,842,662,634.503730951,664,0.421480574064,-0.00556680270685,0.0799765906929,0.999999995327,-8.37633932094e-05,-4.86784902077e-06,-4.80147866774e-05,1793255885328874752
+164,2.733333333,POSE1_TO_POSE2_PRESS,789,759.924935977,737,731,688,657.075064023,921,805.075064023,842,662,634.075064023,664.075064023,0.422382421661,-0.00554819636501,0.0799735157581,0.999999996907,-6.14513204678e-05,-1.41096332259e-05,-4.70179150063e-05,1793255885345541632
+165,2.750000000,POSE1_TO_POSE2_PRESS,789,759.347959086,737,731,688,657.652040914,921,805.652040914,842,662,634.652040914,664.652040914,0.423321527306,-0.00552252980202,0.0800036742554,0.999999998278,-2.11848427673e-05,3.09770443376e-05,-4.51135606916e-05,1793255885362208512
+166,2.766666667,POSE1_TO_POSE2_PRESS,789.228058143,759.228058143,737,731,688,657.771941857,921,806,842,661.771941857,635,664.771941857,0.424233762852,-0.00551148396928,0.0800094905004,0.999999998598,-3.67355151223e-06,2.92979460808e-05,-4.39644255083e-05,1793255885378875648
+167,2.783333333,POSE1_TO_POSE2_PRESS,789.802617391,759.802617391,737,731,688,657.197382609,921,806,842,661.197382609,635,664.197382609,0.425105173341,-0.00552265220109,0.0799783222457,0.999999997875,-2.07354431007e-05,-4.34349248643e-05,-4.39627354501e-05,1793255885395542016
+168,2.800000000,POSE1_TO_POSE2_PRESS,790,760,737,731.387238618,687.612761382,657,921,806,842,661.387238618,635,664,0.426024905461,-0.00552937144116,0.0799467895746,0.999999994932,-3.30774994929e-05,-8.27450317474e-05,-4.68553969898e-05,1793255885412208384
+169,2.816666667,POSE1_TO_POSE2_PRESS,790,760,737,731.977125405,687.022874595,657,921,806,842,661.977125405,635,664,0.42696992501,-0.00553376245194,0.0799150662002,0.999999992297,-4.29495895627e-05,-0.000104564466738,-5.1262719131e-05,1793255885428874752
+170,2.833333333,POSE1_TO_POSE2_PRESS,790,760,737,732,687.556574846,657.556574846,921.556574846,806,842,661.443425154,634.443425154,664,0.427902388125,-0.00553781970652,0.0799121410168,0.999999990623,-5.10056545527e-05,-0.000115879911683,-5.21945247401e-05,1793255885445541120
+171,2.850000000,POSE1_TO_POSE2_PRESS,790,760,737,731.865188158,688,658,922,806.134811842,842,661,634,664,0.428839520707,-0.00554136756093,0.0799166692077,0.99999999008,-5.84048132839e-05,-0.000116910432206,-5.25390292236e-05,1793255885462208000
+172,2.866666667,POSE1_TO_POSE2_PRESS,790,760,737,731.289539016,688,658,922,806.710460984,842,661,634,664,0.429793578932,-0.00554329369605,0.0799417710121,0.999999992965,-6.38954459686e-05,-8.56947412413e-05,-5.14215386027e-05,1793255885478875136
+173,2.883333333,POSE1_TO_POSE2_PRESS,790,760,737,731.284436531,688,658,921.715563469,807,842,661,634.284436531,664,0.430766283489,-0.00554292479804,0.0799786389951,0.999999996098,-6.44128991081e-05,-3.36017061108e-05,-5.02497348769e-05,1793255885495541760
+174,2.900000000,POSE1_TO_POSE2_PRESS,790,760,737,731.856718389,688,658,921.143281611,807,842,661,634.856718389,664,0.431757857786,-0.00554023336224,0.0800274141654,0.99999999622,-5.98975716579e-05,3.96188735644e-05,-4.90229670403e-05,1793255885512208128
+175,2.916666667,POSE1_TO_POSE2_PRESS,790,760,737,732,688,658,921.445003066,807,842,661,635,664,0.432667626401,-0.00553307278014,0.0800086673529,0.99999999757,-4.82770412711e-05,6.83989906398e-06,-4.98336881809e-05,1793255885528874752
+176,2.933333333,POSE1_TO_POSE2_PRESS,790,760,737.037683366,732,688,658,922,807,842,661,635,664,0.433551034957,-0.00552528929311,0.0799668742273,0.99999999618,-3.59788665755e-05,-6.07895086917e-05,-5.14765405254e-05,1793255885545541120
+177,2.950000000,POSE1_TO_POSE2_PRESS,790,760,737.616727451,732,688,658,922,807,842,661,635,664,0.434448265311,-0.00553000058298,0.0799179746357,0.999999990059,-4.80371717199e-05,-0.000120484289757,-5.52977318882e-05,1793255885562207744
+178,2.966666667,POSE1_TO_POSE2_PRESS,790,760,738,732,688,658,921.805471679,807,842,661,634.805471679,664,0.4353524016,-0.00553663545084,0.0798966131036,0.99999998611,-5.83454500186e-05,-0.000145414883013,-5.68428462688e-05,1793255885578874624
+179,2.983333333,POSE1_TO_POSE2_PRESS,790,760,738,732,688,658,921.230104613,807,842,661,634.230104613,664,0.436270058174,-0.00554703621346,0.0799291643293,0.999999991187,-6.52276073208e-05,-0.000102285733779,-5.39319610781e-05,1793255885595542016
+180,3.000000000,POSE1_TO_POSE2_PRESS,790.352071998,760,738,732,687.647928002,658,921.352071998,807,842,661,634.352071998,664,0.437200942022,-0.00555072332492,0.0799670107385,0.999999994988,-7.07416933857e-05,-4.73537648693e-05,-5.27079540503e-05,1793255885612208896
+181,3.016666667,POSE1_TO_POSE2_PRESS,790.938786884,760,738,732,687.061213116,658,921.938786884,807,842,661,634.938786884,664,0.438140641299,-0.00554993603708,0.0800083861884,0.999999995659,-7.5344010299e-05,1.54443416943e-05,-5.26081886065e-05,1793255885628875520
+182,3.033333333,POSE1_TO_POSE2_PRESS,791,759.478708823,738,732,687,658,922,807,842,661,634.478708823,664,0.439017051334,-0.00555057764786,0.0800144925649,0.999999994884,-8.32383521599e-05,2.17311143132e-05,-5.32016623942e-05,1793255885645541888
+183,3.050000000,POSE1_TO_POSE2_PRESS,790.897986309,759.102013691,737.897986309,731.897986309,687,658,922,807,842,661,634,664,0.439858974333,-0.00555003191462,0.0799994394671,0.999999994728,-8.70591550459e-05,-4.64227935025e-06,-5.42440879081e-05,1793255885662208768
+184,3.066666667,POSE1_TO_POSE2_PRESS,790.323247646,759.676752354,737.323247646,731.323247646,687,658,922,807,842,661,634,664,0.440575249123,-0.00554321280719,0.0799053724071,0.99999998438,-7.02264513387e-05,-0.000151856871156,-5.69927267069e-05,1793255885678875392
+185,3.083333333,POSE1_TO_POSE2_PRESS,790,760,737.25167809,731.25167809,686.74832191,657.74832191,922,807,842,661,634,664,0.441282083532,-0.00553875167413,0.0798112028065,0.999999952609,-6.27413164464e-05,-0.000295126573073,-6.12095428698e-05,1793255885695542016
+186,3.100000000,POSE1_TO_POSE2_PRESS,790,760,737.826844234,731.826844234,686.173155766,657.173155766,922,807,842,661,634,664,0.441976783929,-0.00553732130419,0.0797169014154,0.999999901586,-6.72708441139e-05,-0.00043332579985,-6.73134438286e-05,1793255885712208384
+187,3.116666667,POSE1_TO_POSE2_PRESS,790,760,737.586516891,731.586516891,685.586516891,657.413483109,922,806.586516891,842.413483109,661,634,664,0.442768845229,-0.00553832016124,0.0797202370935,0.999999905303,-6.96475461009e-05,-0.000424297314549,-6.71878540745e-05,1793255885728875008
+188,3.133333333,POSE1_TO_POSE2_PRESS,790,760,737.004952389,731.004952389,685,657.995047611,922,806,843,661,634,664,0.44360226783,-0.00554037542006,0.0797656232007,0.999999933466,-7.11511367394e-05,-0.000351936399289,-6.43877153784e-05,1793255885745541120
+189,3.150000000,POSE1_TO_POSE2_PRESS,790,760,737.583537716,731.583537716,685,657.416462284,922,806,843,661,634,664,0.444369145387,-0.00554359751578,0.0798105154202,0.999999953139,-7.89284575495e-05,-0.000289093801847,-6.2589063768e-05,1793255885762208000
+190,3.166666667,POSE1_TO_POSE2_PRESS,790,760,738,732,685,657,922,805.839204219,842.839204219,661,634,664,0.445114424562,-0.0055462223321,0.0798411033569,0.999999963941,-8.5119755689e-05,-0.000247272929363,-6.10713505054e-05,1793255885778874880
+191,3.183333333,POSE1_TO_POSE2_PRESS,790,760,738,732,685,657,922,805.265355503,842.265355503,661,634,664,0.445804221879,-0.00554731285505,0.0798349463966,0.99999996072,-8.72368739297e-05,-0.000259452748715,-6.02753131127e-05,1793255885795541760
+192,3.200000000,POSE1_TO_POSE2_PRESS,790,760,737.683444723,731.683444723,684.683444723,657,922,805,842,661,633.683444723,664,0.44646202038,-0.00554929799352,0.0798172545145,0.999999955081,-8.59860483755e-05,-0.000280633984191,-6.07301485572e-05,1793255885812208896
+193,3.216666667,POSE1_TO_POSE2_PRESS,790,760,737.094599264,731.094599264,684.094599264,657,922,805,842,661,633.094599264,664,0.447092294536,-0.00555205265005,0.0797896406814,0.9999999468,-8.1838230867e-05,-0.000309557933651,-6.2260942686e-05,1793255885828875520
+194,3.233333333,POSE1_TO_POSE2_PRESS,790,760,737,731.48613248,684,656.51386752,922,805,842,661,633,664,0.447697284497,-0.00555537068224,0.0797567685087,0.99999993126,-9.2793874495e-05,-0.000352943584326,-6.55724907406e-05,1793255885845541888
+195,3.250000000,POSE1_TO_POSE2_PRESS,790,760,737.065062069,732,683.934937931,655.934937931,922,804.934937931,842,661,633,664,0.448287994711,-0.0055588829953,0.0797220647558,0.99999991125,-0.0001055595728,-0.000402001676682,-6.89392237242e-05,1793255885862208256
+196,3.266666667,POSE1_TO_POSE2_PRESS,790,760,737.642031137,732,683.357968863,655.357968863,922,804.357968863,842,661,633,664,0.448804428672,-0.00556307549631,0.0796808689099,0.999999879219,-0.000109821841549,-0.000473911975397,-7.00584432597e-05,1793255885878875136
+197,3.283333333,POSE1_TO_POSE2_PRESS,790.217906331,760,738,732,683,655,922,804,842,661,633,664,0.449334537875,-0.00556668390107,0.079657655149,0.99999986032,-0.000115500202877,-0.000510932626374,-7.04791620848e-05,1793255885895542016
+198,3.300000000,POSE1_TO_POSE2_PRESS,790.791993469,760,738,732,683,655,922,804,842,661,633,664,0.44988700002,-0.00556933756547,0.0796638341756,0.999999869438,-0.000123493251724,-0.000490924077316,-6.97581404688e-05,1793255885912209152
+199,3.316666667,POSE1_TO_POSE2_PRESS,791,760,737.624420108,732,682.624420108,655,922,803.624420108,842,660.624420108,633,663.624420108,0.450422303706,-0.00557316659974,0.0796883699558,0.999999886339,-0.00012754073287,-0.000454249022145,-6.86503265044e-05,1793255885928876032
+200,3.333333333,POSE1_TO_POSE2_PRESS,791,760,737.035436149,732,682.035436149,655,922,803.035436149,842,660.035436149,633,663.035436149,0.450947858027,-0.00557766347808,0.0797233360232,0.999999906094,-0.000129346347475,-0.000408104074506,-6.73227373905e-05,1793255885945542400
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+202,3.366666667,POSE1_TO_POSE2_PRESS,790.875911374,760,737,732,681.875911374,654,921.875911374,803.875911374,842,660,632,663.124088626,0.451852772561,-0.00557448827423,0.0797128473327,0.999999895213,-0.000130633518968,-0.000433598040712,-6.71010273253e-05,1793255885978875648
+203,3.383333333,POSE1_TO_POSE2_PRESS,790.299820809,760,737,732,681.299820809,654,921.299820809,803.299820809,842,660,632,663.700179191,0.452206908756,-0.00557062098231,0.0796722715538,0.999999862031,-0.000133991881601,-0.000502883533172,-7.13563638752e-05,1793255885995542016
+204,3.400000000,POSE1_TO_POSE2_PRESS,790,760,737,732,680.726712947,654,921.273287053,803,842,660,632,664,0.452553661518,-0.00556840450401,0.0796377668977,0.999999832993,-0.000135432369803,-0.000556885334985,-7.45029506843e-05,1793255886012208384
+205,3.416666667,POSE1_TO_POSE2_PRESS,790,760,737,732,680.156842087,654,921.843157913,803,842,660,632,664,0.452892401413,-0.00556797956557,0.0796098509084,0.999999811397,-0.000134791491754,-0.000594300562912,-7.64462707138e-05,1793255886028875008
+206,3.433333333,POSE1_TO_POSE2_PRESS,790,760,737,732,680,653.565945226,922,802.565945226,842,660,632,663.565945226,0.453218809024,-0.00557141751118,0.0795939305065,0.999999798302,-0.00013051303915,-0.000617406513054,-7.19088075579e-05,1793255886045541632
+207,3.450000000,POSE1_TO_POSE2_PRESS,790,760,737,732,680,653,922,802,842,660,632,663.031672414,0.453539142551,-0.00557600428824,0.0795831608187,0.999999788968,-0.000125307982645,-0.000634095650884,-6.54613655322e-05,1793255886062208000
+208,3.466666667,POSE1_TO_POSE2_PRESS,790,760,737,732,680,653,922,802,842,660,632,663.607578232,0.453835573212,-0.00557512601086,0.0795826246177,0.999999788564,-0.000127916396586,-0.000633892717536,-6.84820502118e-05,1793255886078874880
+209,3.483333333,POSE1_TO_POSE2_PRESS,790.183149687,760,737,732,679.816850313,653,922,802,842,660,632,664,0.454113054397,-0.00557520225348,0.0795789730986,0.999999784043,-0.000130635479693,-0.000640182815639,-7.08186263206e-05,1793255886095542016
+210,3.500000000,POSE1_TO_POSE2_PRESS,790.758005957,760,737,732,679.241994043,653,922,802,842,660,632,664,0.454350007851,-0.00557731995079,0.0795686587749,0.999999770469,-0.000133591253207,-0.000660359714121,-7.16920827832e-05,1793255886112208896
+211,3.516666667,POSE1_TO_POSE2_PRESS,791,760,737,732,679,653,922,802,842,660,632,664,0.454572253718,-0.0055792161933,0.0795641672565,0.999999765378,-0.000134577160319,-0.000667866616142,-7.1318151627e-05,1793255886128875520
+212,3.533333333,POSE1_TO_POSE2_PRESS,791,760,737,732,679,653,922,802,842,660,632,664,0.45478380705,-0.00558095143623,0.0795639089736,0.999999766666,-0.00013413095558,-0.000666162308749,-7.0037357548e-05,1793255886145541632
+213,3.550000000,POSE1_TO_POSE2_PRESS,791,760,737,732,679,653,922,802,842,660,632,664,0.454974591011,-0.00558306596311,0.0795649059098,0.99999976628,-0.000147113653519,-0.000664128282479,-6.87875067105e-05,1793255886162208000
+214,3.566666667,POSE1_TO_POSE2_PRESS,791,760,737,732,679,653,922,801.908816376,842.091183624,660,632,664,0.455155608831,-0.00558513905038,0.0795647104239,0.999999764156,-0.00015976196283,-0.000664494461112,-6.79045692241e-05,1793255886178874880
+215,3.583333333,POSE1_TO_POSE2_PRESS,791,760,737,732,679,653,922,801.333834729,842.666165271,660,632,664,0.455300627137,-0.00558670342141,0.0795572323092,0.99999975502,-0.000160409139687,-0.000677846641889,-6.89448186789e-05,1793255886195541248
+216,3.600000000,POSE1_TO_POSE2_PRESS,791,760.240910442,737,732.240910442,678.759089558,653,921.759089558,801,842.759089558,660,632,664,0.455428630006,-0.00558714621199,0.0795488762359,0.999999744279,-0.000160859971419,-0.000693288918012,-7.01200806344e-05,1793255886212208128
+217,3.616666667,POSE1_TO_POSE2_PRESS,791,760.815328208,737,732.815328208,678.184671792,653,921.184671792,801,842.184671792,660,632,664,0.455533077338,-0.00558603632882,0.0795393047502,0.999999731274,-0.000161038990323,-0.00071162464243,-7.14822487352e-05,1793255886228875008
+218,3.633333333,POSE1_TO_POSE2_PRESS,791,760.598424056,737,732.598424056,678,653,921.401575944,801,842,660,632,664,0.455627454887,-0.00558665650469,0.079533731702,0.999999723821,-0.000162485385252,-0.000721622031526,-7.22352174875e-05,1793255886245541632
+219,3.650000000,POSE1_TO_POSE2_PRESS,791,760.006570989,737,732.006570989,678,653,921.993429011,801,842,660,632,664,0.455717061106,-0.00558809642755,0.0795300532178,0.999999719071,-0.000164532295898,-0.000727668500076,-7.26995317153e-05,1793255886262208256
+220,3.666666667,POSE1_TO_POSE2_PRESS,790.427653274,760,737,732,678,653,922,801,842.572346726,660,632,664,0.455791056638,-0.00558834553853,0.0795280184774,0.999999717309,-0.000164077251586,-0.000730199544882,-7.25891706551e-05,1793255886278874880
+221,3.683333333,POSE1_TO_POSE2_PRESS,790.14980376,760,737.14980376,732,678,653,922,801,842.85019624,660,632,664,0.455859430492,-0.00558806823972,0.0795256535388,0.99999971514,-0.000162640595857,-0.000733492000675,-7.25017744944e-05,1793255886295541504
+222,3.700000000,POSE1_TO_POSE2_PRESS,790.72353808,760,737.72353808,732,678,653,922,801,842.27646192,660,632,664,0.455912391487,-0.00558633908451,0.0795223019471,0.999999711712,-0.000158505563009,-0.000739050867782,-7.24976251483e-05,1793255886312208128
+223,3.716666667,POSE1_TO_POSE2_PRESS,791,760,738,732,678,652.695088594,922,801,842,660,632,664,0.455956062289,-0.00558561056465,0.0795196466589,0.999999707569,-0.000158379913568,-0.000744638150993,-7.27503834254e-05,1793255886328875008
+224,3.733333333,POSE1_TO_POSE2_PRESS,791,760,738,732,678,652.10661096,922,801,842,660,632,664,0.455991093258,-0.00558581263095,0.0795176389293,0.99999970276,-0.000161982972075,-0.000750251861697,-7.32420646289e-05,1793255886345541376
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+226,3.766666667,POSE1_TO_POSE2_PRESS,791,760.946411653,737,732,678,652,922,801,842.053588347,660,632,663.946411653,0.456042989777,-0.00558622047191,0.0795122131337,0.999999700382,-0.000158669073419,-0.000754220556799,-7.21905856867e-05,1793255886378875392
+227,3.783333333,POSE1_TO_POSE2_PRESS,791,760.37037459,737,732,678,652,922,801,842.62962541,660,632,663.37037459,0.456057763835,-0.00558480811847,0.0795103817176,0.999999697037,-0.0001585472841,-0.000758601399001,-7.28878426346e-05,1793255886395541760
+228,3.800000000,POSE1_TO_POSE2_PRESS,791,760,737,732,677.794651666,652,922,801,842.794651666,660,632,663.205348334,0.456069637398,-0.00558409058393,0.0795084332283,0.999999693809,-0.000158148725438,-0.000762928101548,-7.28739840344e-05,1793255886412208384
+229,3.816666667,POSE1_TO_POSE2_PRESS,791,760,737,732,677.219494509,652,922,801,842.219494509,660,632,663.780505491,0.456076287497,-0.00558462433871,0.0795062739038,0.999999690809,-0.000157251736911,-0.000767157304526,-7.15794877579e-05,1793255886428874752
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+231,3.850000000,POSE1_TO_POSE2_PRESS,791,760,737,732,677,652,922,801,842,660,631.045350206,664,0.456086730907,-0.00558470369127,0.0795021062432,0.999999686586,-0.000158430726374,-0.00077241032626,-7.14897281316e-05,1793255886462208000
+232,3.866666667,POSE1_TO_POSE2_PRESS,791,760,737,732,677,652.534623616,922,801,842,660,631.534623616,664,0.456088941176,-0.00558414666598,0.0795021182057,0.99999968658,-0.000156775782417,-0.000772769761947,-7.13272917097e-05,1793255886478874624
+233,3.883333333,POSE1_TO_POSE2_PRESS,791,760,737,732,677.113051708,652.886948292,922,801,842,660,632,664,0.456090828271,-0.00558364754584,0.0795021842293,0.999999686545,-0.000155358295857,-0.000773116225573,-7.11644704461e-05,1793255886495541504
+234,3.900000000,POSE1_TO_POSE2_PRESS,791,760,737,732,677.688532233,652.311467767,922,801,842,660,632,664,0.456092304588,-0.00558354886606,0.0795017634922,0.999999685754,-0.000155796115738,-0.000774053189294,-7.11405048301e-05,1793255886512208384
+235,3.916666667,POSE1_TO_POSE2_PRESS,791,760,737,732,678,652.268956413,921.731043587,801,842,660,632,664,0.456093451128,-0.00558311798285,0.0795011083657,0.999999685446,-0.000155601055819,-0.000774486585356,-7.11862015096e-05,1793255886528875264
+236,3.933333333,POSE1_TO_POSE2_PRESS,791,760,737,732,678,652.855212924,921.144787076,801,842,660,632,664,0.456094208615,-0.00558229518415,0.0795001767194,0.999999685707,-0.000154659358911,-0.000774325899899,-7.13140819602e-05,1793255886545541888
+237,3.950000000,POSE1_TO_POSE2_PRESS,791,760,737,732,677.563651454,653,921.436348546,801,842,660,632,664,0.456093624461,-0.00558162486514,0.0794993973335,0.999999684538,-0.000152792413879,-0.000776216552242,-7.11729848064e-05,1793255886562208512
+238,3.966666667,POSE1_TO_POSE2_PRESS,791,760,737,732,677,652.984220568,922,801,842.015779432,660,631.984220568,664,0.456092662127,-0.00558103389433,0.0794986851533,0.999999682958,-0.000150737697327,-0.000778671080676,-7.09428795589e-05,1793255886578874880
+239,3.983333333,POSE1_TO_POSE2_PRESS,791,760,737,732,677,652.405689187,922,801,842.594310813,660,631.405689187,664,0.456093904991,-0.00558148929356,0.0794985888586,0.999999683774,-0.000152808497207,-0.000777242077277,-7.06845097893e-05,1793255886595541504
+240,4.000000000,POSE1_TO_POSE2_PRESS,791,760,737,732.171705946,677.171705946,652,921.828294054,800.828294054,842.828294054,660,631.171705946,664,0.456094797324,-0.00558181521,0.0794987430354,0.999999684384,-0.000154077049644,-0.00077622647266,-7.04558328137e-05,1793255886612208384
+241,4.016666667,POSE1_TO_POSE2_PRESS,791,760,737,732.746434085,677.746434085,652,921.253565915,800.253565915,842.253565915,660,631.746434085,664,0.456094866904,-0.00558183720891,0.0794994851102,0.999999684525,-0.000153462594824,-0.000776181183303,-7.02968497424e-05,1793255886628875008
+242,4.033333333,POSE1_TO_POSE2_PRESS,791,760.328700214,737,732.671299786,677.671299786,652,921.328700214,800.328700214,842,660,632,664.328700214,0.456095764415,-0.00558186462538,0.0795000092772,0.999999685016,-0.000152055920205,-0.000775832132919,-7.02180019528e-05,1793255886645541632
+243,4.050000000,POSE1_TO_POSE2_PRESS,791,760.916917756,737,732.083082244,677.083082244,652,921.916917756,800.916917756,842,660,632,664.916917756,0.456097315599,-0.00558189631914,0.0795003614004,0.999999685781,-0.000150023767578,-0.00077524325534,-7.02024230496e-05,1793255886662208256
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+247,4.116666667,POSE1_TO_POSE2_PRESS,791,760.771942428,737.771942428,732,677,652.228057572,921.228057572,801,842,660,632,664.228057572,0.456097001451,-0.00558091337662,0.0794984847334,0.999999682628,-0.000153083062508,-0.000778725304682,-6.9978194177e-05,1793255886728874752
+248,4.133333333,POSE1_TO_POSE2_PRESS,791,760.196015022,737.196015022,732,677,652.803984978,921.803984978,801,842,660,632,664.803984978,0.456096699063,-0.00557899687272,0.0794975845486,0.999999682549,-0.000150693613394,-0.000779277805359,-7.01398696288e-05,1793255886745541376
+249,4.150000000,HOLD_POSE2,791,760,737,732,677,652,921,801,842,660,632,663,0.456094397904,-0.00558113195772,0.0794960450724,0.999999680792,-0.00015093403397,-0.000781551357531,-6.93647280244e-05,1793255886779331072
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+259,4.316666667,HOLD_POSE2,791,760,737,732,677,652.215439508,921.215439508,800,842,660,631,664,0.456097539097,-0.00557750049234,0.0794964156527,0.999999681068,-0.000150450932286,-0.00078125880283,-6.97313453777e-05,1793255886945998080
+260,4.333333333,HOLD_POSE2,791,760,737,732,677,652,921,800,842,660,631.36949777,664,0.456097038553,-0.00557667924584,0.079495950385,0.999999680517,-0.00014855599849,-0.000782331098533,-6.967699727e-05,1793255886962664960
+261,4.350000000,HOLD_POSE2,791,760,737,732,677,652,921,800,842,660,631.960724446,664,0.45609670078,-0.00557583042112,0.0794961616254,0.999999680683,-0.000146053278181,-0.00078260787421,-6.94757021843e-05,1793255886979331584
+262,4.366666667,HOLD_POSE2,790.459008653,760,737,732,677,652,921,800,842,659.459008653,631.459008653,663.459008653,0.45609650562,-0.00557741649236,0.0794956920236,0.999999680245,-0.00014840759321,-0.00078272909033,-6.94314031541e-05,1793255886995997952
+263,4.383333333,HOLD_POSE2,790.119237291,760,737,732,677,652,921,800.119237291,842,659.119237291,631.119237291,663,0.456096320736,-0.00557866130321,0.0794952014561,0.999999679792,-0.000150119479153,-0.000782985220376,-6.93892615091e-05,1793255887012664320
+264,4.400000000,HOLD_POSE2,790.692755012,760,737,732,677,652,921,800.692755012,842,659.692755012,631.692755012,663,0.456096136337,-0.00557794584499,0.0794948155901,0.999999679467,-0.000148067029869,-0.000783797529674,-6.93127772126e-05,1793255887029330944
+265,4.416666667,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652,921,801,842,660,631,664,0.45609665857,-0.00557522047118,0.0794945560925,0.999999679823,-0.000146921489144,-0.000783501258499,-6.99572413352e-05,1793255887066595328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652,921,801,842,660,631,664,0.456096769153,-0.00557681701577,0.0794947500419,0.999999679801,-0.000147600221596,-0.000783451514984,-6.93908153017e-05,1793255887083262464
+267,4.450000000,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652,921,800.842112008,842,660,631,664,0.456096949264,-0.00557802859796,0.0794948491297,0.999999679817,-0.000147778201508,-0.000783437050513,-6.89420470856e-05,1793255887099929600
+268,4.466666667,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652,921,800.265189341,842,660,631,664,0.456097313897,-0.00557821849041,0.0794946964546,0.999999679934,-0.000146627184503,-0.000783516216602,-6.88055425502e-05,1793255887116596224
+269,4.483333333,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652,921.309671654,800,842,660,631,664,0.456098170823,-0.00557750840685,0.0794955973014,0.999999680875,-0.000145308142552,-0.000782548731406,-6.89356109107e-05,1793255887133262592
+270,4.500000000,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652,921.882778764,800,842,660,631,664,0.456099446539,-0.00557603272013,0.0794973943716,0.999999682514,-0.000143846163052,-0.000780690867459,-6.92924509307e-05,1793255887149928704
+271,4.516666667,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652,922,800,842,660,631,664,0.456096868737,-0.00557707138456,0.079495117741,0.99999967964,-0.00014721338686,-0.000783757420707,-6.908593228e-05,1793255887166595328
+272,4.533333333,POSE2_TO_POSE3_RETREAT,791,760,737,731.939719641,677,652,921.939719641,800,842,660,631.060280359,664,0.456093967774,-0.00557848491698,0.0794923914541,0.99999967633,-0.000150994937572,-0.000787283632077,-6.87313773076e-05,1793255887183261952
+273,4.550000000,POSE2_TO_POSE3_RETREAT,791,760,737,731.360201355,677,652,921.360201355,800,842,660,631.639798645,664,0.45609681809,-0.00557755859142,0.0794948145173,0.999999679544,-0.000147649510448,-0.000783862453264,-6.83494240676e-05,1793255887199928832
+274,4.566666667,POSE2_TO_POSE3_RETREAT,791,760,737,731.217983266,677,652,921,800,842,660,631.782016734,664,0.45609639447,-0.00557693638572,0.0794951819884,0.999999680128,-0.000145968612007,-0.000783429227545,-6.83810721218e-05,1793255887216595456
+275,4.583333333,POSE2_TO_POSE3_RETREAT,791,760,737,731.793977449,677,652,921,800,842,660,631.206022551,664,0.456090593805,-0.00557681365986,0.0794921734,0.99999967641,-0.000147021499157,-0.000787903350549,-6.90920098736e-05,1793255887233262336
+276,4.600000000,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652.36711666,921,800,842,660,631,663.63288334,0.456075865901,-0.0055767439485,0.0794848759051,0.999999667639,-0.00014721282508,-0.00079888363286,-6.95298643396e-05,1793255887249928960
+277,4.616666667,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652.938666104,921,800,842,660,631,663.061333896,0.456056166768,-0.0055767037588,0.0794751900872,0.999999655889,-0.00014692438162,-0.000813486938887,-6.98156495525e-05,1793255887266595584
+278,4.633333333,POSE2_TO_POSE3_RETREAT,790.469801038,760.530198962,737,732,677,652.469801038,921.530198962,800,842.530198962,660,631.530198962,663.530198962,0.456013022829,-0.00557724242463,0.0794585288234,0.999999631679,-0.000150008000414,-0.000842193068376,-6.9640616808e-05,1793255887283262208
+279,4.650000000,POSE2_TO_POSE3_RETREAT,790.121138562,760.878861438,737,732,677,652.121138562,921.878861438,800,843,660,631.878861438,664,0.45596328487,-0.00557668417889,0.0794415059218,0.999999607075,-0.000151068814533,-0.000870753250573,-6.93988141035e-05,1793255887299928576
+280,4.666666667,POSE2_TO_POSE3_RETREAT,790.700741487,760.299258513,737,732,677,652.700741487,921.299258513,800,843,660,631.299258513,664,0.455899257356,-0.00557171117724,0.0794262878759,0.999999589256,-0.000142939925181,-0.000892344914047,-6.91139642713e-05,1793255887316595200
+281,4.683333333,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652.721976735,921,800,842.721976735,660,631.278023265,664,0.455829718036,-0.00556947449817,0.079415594176,0.999999577191,-0.000139265377833,-0.000906397899889,-6.83137360047e-05,1793255887333262080
+282,4.700000000,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652.14717274,921,800,842.14717274,660,631.85282726,664,0.455754295049,-0.00557015875415,0.079409730068,0.999999571669,-0.000140345695229,-0.00091240359333,-6.69633581839e-05,1793255887349928448
+283,4.716666667,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652,921,800,842,660,631.563903852,664,0.45567030996,-0.00556841739963,0.0794115727161,0.999999572702,-0.000139612297915,-0.000911515797483,-6.51346829172e-05,1793255887366595072
+284,4.733333333,POSE2_TO_POSE3_RETREAT,790.977894938,760,737,732,677,652,921.022105062,800.022105062,842,660,631,664,0.455582477049,-0.00556588258584,0.0794161230589,0.999999576235,-0.000138223974951,-0.000907989536959,-6.30775854789e-05,1793255887383261696
+285,4.750000000,POSE2_TO_POSE3_RETREAT,790.396270655,760,737,732,677,652,921.603729345,800.603729345,842,660,631,664,0.455471835507,-0.0055643940127,0.079422074476,0.99999958602,-0.000136058043877,-0.00089772995728,-5.94052832338e-05,1793255887399928832
+286,4.766666667,POSE2_TO_POSE3_RETREAT,790.183200221,760,737,732,677,652,921.816799779,800.816799779,842,660,631.183200221,664,0.455351833936,-0.00556257676899,0.0794279035684,0.999999595305,-0.000132832828516,-0.00088806425902,-5.55635831068e-05,1793255887416595456
+287,4.783333333,POSE2_TO_POSE3_RETREAT,790.758067218,760,737,732,677,652,921.241932782,800.241932782,842,660,631.758067218,664,0.455211821416,-0.00556005685526,0.0794334711402,0.999999603665,-0.00012734295208,-0.0008796682311,-5.13597249307e-05,1793255887433262080
+288,4.800000000,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652,921.333039713,800,842,660,631.666960287,664,0.455053028199,-0.00555731327993,0.0794362943554,0.999999609594,-0.000122637175993,-0.000873817945505,-4.70585019546e-05,1793255887449928960
+289,4.816666667,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652,921.908088931,800,842,660,631.091911069,664,0.454880587623,-0.00555440717649,0.0794371233334,0.999999613776,-0.000118501180447,-0.000869817570086,-4.26865266005e-05,1793255887466595584
+290,4.833333333,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652,921.502279476,800,842,660,631,664,0.454678312507,-0.00554979402276,0.0794380016841,0.99999961344,-0.000113518448965,-0.000871095320891,-3.77607387287e-05,1793255887483262208
+291,4.850000000,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652.087734855,921.087734855,800.087734855,842,659.912265145,631,664,0.454464572881,-0.00554489825943,0.0794387508638,0.999999612921,-0.000107333596689,-0.000872685390895,-3.25314863213e-05,1793255887499929088
+292,4.866666667,POSE2_TO_POSE3_RETREAT,791,760,737,732,677,652.664422108,921.664422108,800.664422108,842,659.335577892,631,664,0.454218571471,-0.00554023731909,0.0794387278197,0.999999616296,-9.53469562059e-05,-0.000870420128934,-2.61981593854e-05,1793255887516595968
+293,4.883333333,POSE2_TO_POSE3_RETREAT,791,760,737,732,677.240444211,653,922,801,842,659.240444211,631,664,0.453951570466,-0.00553575740407,0.0794369629017,0.999999616785,-8.41913349903e-05,-0.000871189654609,-1.92348172673e-05,1793255887533262592
+294,4.900000000,POSE2_TO_POSE3_RETREAT,791,760,737,732,677.81554052,653,922,801,842,659.81554052,631,664,0.453655342078,-0.00553152944178,0.0794327736303,0.999999613334,-7.41923334971e-05,-0.000876183021207,-1.13946155649e-05,1793255887549929216
+295,4.916666667,POSE2_TO_POSE3_RETREAT,790.59976441,760,737,732,678,653,921.59976441,801,842,660,631,664,0.453347698881,-0.00552569169137,0.0794340203581,0.999999617695,-6.24786243195e-05,-0.000872173122243,-4.40983025083e-06,1793255887566595584
+296,4.933333333,POSE2_TO_POSE3_RETREAT,790.010536804,760,737,732,678,653,921.010536804,801,842,660,631,664,0.453034665598,-0.00551909379601,0.0794378339752,0.999999625578,-4.99552271408e-05,-0.000863911863633,2.171025574e-06,1793255887583261952
+297,4.950000000,POSE2_TO_POSE3_RETREAT,790,760,737,732,678,653,921.569122575,801,842,660,631,664,0.452677722167,-0.00551389865849,0.0794470529097,0.999999639064,-1.93306464089e-05,-0.00084936824577,8.46159512439e-06,1793255887599928832
+298,4.966666667,POSE2_TO_POSE3_RETREAT,790.14216159,760,737,732,678.14216159,653,921.85783841,801,842,660,631.14216159,664,0.452311933785,-0.00550849197831,0.0794589055233,0.999999654744,6.53325949001e-06,-0.000830858514597,1.19808367462e-05,1793255887616595456
+299,4.983333333,POSE2_TO_POSE3_RETREAT,790.696510377,760,737,732,678.696510377,653,921.303489623,801,842,660,631.696510377,664,0.451922818316,-0.00550239789103,0.0794781089346,0.999999678871,1.76383174873e-05,-0.00080118099405,7.48013843972e-06,1793255887633262080
+300,5.000000000,POSE2_TO_POSE3_RETREAT,791,760,737,732,679,653,921.269640017,801.269640017,842,660,632,664,0.451508613842,-0.00549728626403,0.0794953869778,0.999999698899,2.06989878621e-05,-0.000775710717665,6.76749190599e-06,1793255887649928704
+301,5.016666667,POSE2_TO_POSE3_RETREAT,791,760,737,732,679,653,921.865490829,801.865490829,842,660,632,664,0.451064056611,-0.00549336321779,0.0795103357108,0.999999714583,1.40275505509e-05,-0.000755330366544,1.06376340639e-05,1793255887666595328
+302,5.033333333,POSE2_TO_POSE3_RETREAT,790.541644212,760,737,732,679,653,921.541644212,802,842,660,632,664,0.45061298399,-0.00548512552841,0.0795306104772,0.999999741494,3.3743613353e-05,-0.000718088135061,1.49393770746e-05,1793255887683261952
+303,5.050000000,POSE2_TO_POSE3_RETREAT,790,760,737,732,679.049284354,653.049284354,921,802.049284354,842,660,632,664,0.450154897463,-0.00547435759734,0.0795523448592,0.999999769106,5.9278228533e-05,-0.000676718291529,1.80748547534e-05,1793255887699928576
+304,5.066666667,POSE2_TO_POSE3_RETREAT,790,760,737,732,679.628747568,653.628747568,921,802.628747568,842,660,632,664,0.449641793574,-0.00544990325384,0.0795730761444,0.999999790624,6.46423497182e-05,-0.000643832401688,7.31047152499e-06,1793255887716595200
+305,5.083333333,POSE2_TO_POSE3_RETREAT,790,760,737,732,680.206375,654,921,802.793625,842,660,632,664,0.449096259497,-0.00543248796913,0.0795808289684,0.999999796194,7.4067153057e-05,-0.000634131169947,2.02411915104e-06,1793255887733261824
+306,5.100000000,POSE2_TO_POSE3_RETREAT,790,760,737,732,680.780729085,654,921,802.219270915,842,660,632,664,0.448492900469,-0.00542762375273,0.0795654404113,0.999999774238,9.07323975913e-05,-0.000665769586042,6.50542720627e-06,1793255887749928448
+307,5.116666667,POSE2_TO_POSE3_RETREAT,790.355483327,759.644516673,737,732,681,654.355483327,921.355483327,802.355483327,842,660.355483327,632,664,0.447858990453,-0.00543498573534,0.0795433712695,0.999999751112,8.76528464137e-05,-0.000700009835098,8.86956788208e-06,1793255887766595328
+308,5.133333333,POSE2_TO_POSE3_RETREAT,790.930484653,759.069515347,737,732,681,654.930484653,921.930484653,802.930484653,842,660.930484653,632,664,0.44720621462,-0.0054498976383,0.079517176735,0.999999726589,7.23804919442e-05,-0.000735856765914,9.92631557471e-06,1793255887783261952
+309,5.150000000,POSE2_TO_POSE3_RETREAT,790.479676675,759.520323325,737,732,681.520323325,655,921.479676675,803.520323325,842,660.479676675,632,664,0.446590446849,-0.0054519828524,0.0795371609747,0.999999748546,7.5135799145e-05,-0.000705074216289,1.15707918804e-05,1793255887799928576
+310,5.166666667,POSE2_TO_POSE3_RETREAT,790.109759416,760,737,732,682.109759416,655.109759416,921,804,842,660.109759416,632,664,0.445972254131,-0.00545062824947,0.0795685618226,0.999999779812,8.10305910926e-05,-0.000658500013871,1.37324846021e-05,1793255887816595200
+311,5.183333333,POSE2_TO_POSE3_RETREAT,790.6887511,760,737,732,682.6887511,655.6887511,921,804,842,660.6887511,632,664,0.445321936948,-0.00544210914839,0.0796216203931,0.999999825528,8.97481778517e-05,-0.000583587713152,1.77597907804e-05,1793255887833261824
+312,5.200000000,POSE2_TO_POSE3_RETREAT,790.73492638,760,737,731.73492638,683,656,921,804.26507362,842,661,632,664,0.444641194164,-0.00543634548878,0.0796613295595,0.999999853912,0.000100800858473,-0.000530608681676,2.16726093854e-05,1793255887849928448
+313,5.216666667,POSE2_TO_POSE3_RETREAT,790.161706665,760,737,731.161706665,683,656,921,804.838293335,842,661,632,664,0.443925081762,-0.00543378500809,0.0796855201507,0.999999866545,0.000114568069712,-0.000503126903867,2.54523376484e-05,1793255887866595072
+314,5.233333333,POSE2_TO_POSE3_RETREAT,790,760,737,731,683.423502788,656,921,805,842,661,632,664,0.443172083332,-0.00543084736933,0.0796907114476,0.999999871263,0.000114913417678,-0.000493487530402,2.71758505344e-05,1793255887883261696
+315,5.250000000,POSE2_TO_POSE3_RETREAT,790,760,737,731,684.01317768,656,921,805.01317768,842,661,632.01317768,664,0.442404316567,-0.00542800163501,0.0796888068805,0.999999873392,0.000110122409862,-0.000490204955343,2.80758407343e-05,1793255887899928320
+316,5.266666667,POSE2_TO_POSE3_RETREAT,790,760,737,731,684.592289085,656,921,805.592289085,842,661,632.592289085,664,0.441624791858,-0.00543546779629,0.0797027937283,0.999999888155,0.000111251573423,-0.000458814488473,2.83093138279e-05,1793255887916595200
+317,5.283333333,POSE2_TO_POSE3_RETREAT,790,759.829152217,737,731,685,656,920.829152217,806,842,661,633,664,0.440817249278,-0.00544150723182,0.0797018021721,0.999999890262,0.000111153922361,-0.000454201214863,2.86741706553e-05,1793255887933261824
+318,5.300000000,POSE2_TO_POSE3_RETREAT,790,759.251908282,737,731,685,656,920.251908282,806,842,661,633,664,0.439943060548,-0.00544415290993,0.079665181439,0.999999861993,0.000108138043448,-0.000513282935728,2.93515503559e-05,1793255887949928448
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,790,759,737,731,685.894149677,656.894149677,920.894149677,806,842,661,633,664,0.438268130231,-0.00543430693461,0.0796687322439,0.999999870921,0.000130171156732,-0.00049021704945,3.00193638262e-05,1793255887983261696
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efbe1cf156598ffb972474cb5394b900cba6be81
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+407,6.783333333,pose2_to_pose3_retreat,0.575667432213,0.000181938493706,1.0700205799,0.546238579289,0.0088561739907,1.06969228438
+408,6.800000000,pose2_to_pose3_retreat,0.575667194687,0.000181997594017,1.07002054098,0.546238341523,0.00885623234163,1.06969224713
+409,6.816666667,pose2_to_pose3_retreat,0.575666969386,0.000182004131786,1.07002058197,0.546238115712,0.00885623711628,1.06969228726
+410,6.833333333,pose2_to_pose3_retreat,0.575666873983,0.000181904278088,1.07002076077,0.546238019508,0.0088561343353,1.06969246061
+411,6.850000000,pose2_to_pose3_retreat,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947918,1.06969235502
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52ace19b9e7bc99eb4f18ff2f0459d35181fff46
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d12a74098dcebea97c160d446a5ae8ecf9fc88a5e77e839240c7e4767d7035ea
+size 25781435
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cb5e18a66b4df39564538364c6928560d8f101a2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+27,0.450000000,BASELINE,791,761,735,732.341106784,687,659,921.341106784,807,840.658893216,663,634,664,0.400924180739,-0.0154470999454,0.0599309154994,0.999999972601,-9.92843680061e-05,-0.000208383488791,-3.89399938055e-05,1793255891566326272
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+30,0.500000000,BASELINE,790.607240737,760.392759263,736,733,687,659,921,807,840.392759263,663,634.607240737,664,0.400926082047,-0.0154479356246,0.0599318899649,0.999999972857,-0.000100086129697,-0.000206799120533,-3.87669376051e-05,1793255891616326912
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+55,0.916666667,BASELINE,791,761,735.088903981,733,687,659,921,807,840.088903981,663.911096019,634,664,0.400926341069,-0.0154495538402,0.0599309658769,0.999999973086,-9.96857123978e-05,-0.000205928565202,-3.85353080527e-05,1793255892032993536
+56,0.933333333,BASELINE,791,761,735.49183816,733,687,659,921,807,840.49183816,663.50816184,634,664,0.400925989503,-0.0154483159831,0.0599308001771,0.999999973109,-9.8301518034e-05,-0.000206478698208,-3.85400744066e-05,1793255892049660928
+57,0.950000000,BASELINE,791,761,736,733,687,659,921,807,841,663,634,664,0.40092540768,-0.0154469452496,0.0599306647132,0.999999973103,-9.70368574887e-05,-0.000207100705196,-3.85587988585e-05,1793255892066328320
+58,0.966666667,BASELINE,791,761,736,733,687,659,921,807,841,663,634,664,0.400925134056,-0.0154465661421,0.0599310500397,0.999999973189,-9.71210614609e-05,-0.000206571281067,-3.89471337365e-05,1793255892082993920
+59,0.983333333,BASELINE,791,760.778516537,735.778516537,733,687,659,921,807,841,663,634.221483463,664,0.400924411843,-0.0154465105126,0.0599305166506,0.999999973047,-9.70490810168e-05,-0.000207260814095,-3.91156755793e-05,1793255892099659776
+60,1.000000000,BASELINE,791,760.206175446,735.206175446,733,687,659,921,807,841,663,634.793824554,664,0.400922979009,-0.0154469673128,0.0599285279004,0.999999972539,-9.67296848511e-05,-0.000209881328297,-3.89360377054e-05,1793255892116326400
+61,1.016666667,BASELINE,791,760.381204346,735.381204346,733,687,659,921,807,841,663,635,664,0.400923107575,-0.0154476600719,0.0599287656725,0.999999972682,-9.73640178489e-05,-0.000208947871346,-3.86891182937e-05,1793255892132993280
+62,1.033333333,BASELINE,791,760.977051884,735.977051884,733,687,659,921,807,841,663,635,664,0.400924115312,-0.0154484856914,0.0599302571237,0.999999973187,-9.85353632952e-05,-0.000206013294046,-3.84043149488e-05,1793255892149660160
+63,1.050000000,BASELINE,790.446020162,761,736,733,687,659,921,807,840.446020162,663,635,664,0.400925553334,-0.0154499022341,0.0599313179725,0.999999973128,-0.000100396721855,-0.000205480275013,-3.79835947707e-05,1793255892166326784
+64,1.066666667,BASELINE,790.129851678,761,735.870148322,733,687,659,921.129851678,807,840.129851678,663,635,664,0.400926888232,-0.015450578061,0.0599322029467,0.999999973138,-0.000101533021602,-0.000204910388687,-3.77751982911e-05,1793255892182993408
+65,1.083333333,BASELINE,790.704701331,761,735.295298669,733,687,659,921.704701331,807,840.704701331,663,635,664,0.400927810662,-0.0154486343596,0.0599325443124,0.999999973473,-0.000100089846651,-0.00020388449468,-3.83130865098e-05,1793255892199660288
+66,1.100000000,BASELINE,791,761,735.287470835,733,687,659.287470835,921.712529165,807,840.712529165,663,634.712529165,664,0.400928259295,-0.0154482934588,0.0599325952804,0.999999973657,-9.90407233228e-05,-0.000203481392455,-3.83699699892e-05,1793255892216327680
+67,1.116666667,BASELINE,791,761,735.878606293,733,687,659.878606293,921.121393707,807,840.121393707,663,634.121393707,664,0.40092820744,-0.0154496456476,0.0599323394921,0.999999973685,-9.84078494016e-05,-0.000203736165143,-3.79187527663e-05,1793255892232995584
+68,1.133333333,BASELINE,791,761,736,733,687,659.539821797,921,807,840.460178203,663,634.460178203,664,0.400926625564,-0.0154503468831,0.0599317251054,0.999999973358,-9.900522533e-05,-0.000205025928429,-3.80261409312e-05,1793255892249661184
+69,1.150000000,BASELINE,790.961020829,760.961020829,736,733,687,659.038979171,921,807,840.961020829,663,635,664,0.400924796521,-0.0154507977213,0.0599310367572,0.999999972959,-9.98536178123e-05,-0.000206515106498,-3.82520756364e-05,1793255892266326272
+70,1.166666667,BASELINE,790.386336155,760.386336155,736,733,687,659.613663845,921,807,840.386336155,663,635,664,0.400925004683,-0.0154501192134,0.0599306055458,0.999999972856,-9.9782404375e-05,-0.000207068988416,-3.81232675946e-05,1793255892282992896
+71,1.183333333,BASELINE,790.188303852,760.188303852,736,733,687,659.811696148,921,807,840.188303852,663,634.811696148,664,0.400925175481,-0.0154493350842,0.0599305309935,0.999999972915,-9.90366145171e-05,-0.000207153675047,-3.80616630438e-05,1793255892299659520
+72,1.200000000,BASELINE,790.762852345,760.762852345,736,733,687,659.237147655,921,807,840.762852345,663,634.237147655,664,0.400925269637,-0.0154483343066,0.0599311880119,0.999999973302,-9.69071486129e-05,-0.000206275958922,-3.81379047634e-05,1793255892316326144
+73,1.216666667,BASELINE,790.651977774,761,736,733,687.348022226,659,921,807.348022226,841,663,634.348022226,664.348022226,0.400924841226,-0.0154483760674,0.0599309800055,0.999999973239,-9.66952191354e-05,-0.000206653491614,-3.82896157484e-05,1793255892332993024
+74,1.233333333,BASELINE,790.059342515,761,736,733,687.940657485,659,921,807.940657485,841,663,634.940657485,664.940657485,0.400924045521,-0.0154491505931,0.0599301640024,0.99999997286,-9.78310611896e-05,-0.000207913296237,-3.84943715192e-05,1793255892349659648
+75,1.250000000,BASELINE,790.519409628,761,736,733,687.480590372,659,921,808,841,663,635,664.480590372,0.400923981395,-0.0154479672917,0.0599299112927,0.999999972885,-9.73847030343e-05,-0.000207964215435,-3.86932897488e-05,1793255892366326272
+76,1.266666667,BASELINE,791,761,736,733,687,659,921.096179638,807.903820362,841,663,635,664,0.400923993934,-0.0154468243382,0.059929740351,0.999999972945,-9.6739734521e-05,-0.000207951785456,-3.88139215579e-05,1793255892382992896
+77,1.283333333,BASELINE,791,761,736,733,687,659,921.670774526,807.329225474,841,663,635,664,0.400923982891,-0.0154469657508,0.0599296643527,0.999999972958,-9.59825984249e-05,-0.000208293370039,-3.85483733862e-05,1793255892399659520
+78,1.300000000,BASELINE,791,761,736,733,687.251815606,659,921.748184394,807,841,663,635,664,0.400924367892,-0.0154476019346,0.0599299281238,0.999999972987,-9.63558719033e-05,-0.000208025693259,-3.83061615039e-05,1793255892416325888
+79,1.316666667,BASELINE,791,761,736,733,687.841505844,659,921.158494156,807,841,663,635,664,0.400925284288,-0.0154489019799,0.0599306477818,0.999999973036,-9.82458771691e-05,-0.000206940537492,-3.80952612058e-05,1793255892432992512
+80,1.333333333,BASELINE,791,761,736,733,687.576718228,659.423281772,921.423281772,807,841,663,635,664,0.400925078062,-0.015448950458,0.0599307294033,0.999999973051,-9.83920460599e-05,-0.000206800661924,-3.80857122258e-05,1793255892449659392
+81,1.350000000,BASELINE,791,761,736,733,687,659.997861845,921.997861845,807,840.997861845,663,635,664,0.400924465065,-0.0154485421565,0.059930579788,0.999999973055,-9.78975822861e-05,-0.000207003509035,-3.81495969321e-05,1793255892466326272
+82,1.366666667,BASELINE,791,761,736,733,687,659.421834776,921.421834776,807,840.421834776,663,635,664,0.400925427047,-0.0154490081491,0.0599313119943,0.999999973318,-9.74962367242e-05,-0.000205936083487,-3.80586802554e-05,1793255892482992896
+83,1.383333333,BASELINE,791,760.843155186,736,733,687,659,921.156844814,807,840.156844814,663,635,664,0.400926443794,-0.0154492123747,0.0599319568432,0.999999973516,-9.76392041974e-05,-0.000204909058536,-3.80334697827e-05,1793255892499659520
+84,1.400000000,BASELINE,791,760.257218777,736,733,687,659,921.742781223,807,840.742781223,663,635,664,0.400927610366,-0.015448700466,0.0599323627022,0.999999973537,-9.92712877467e-05,-0.000203992560149,-3.81880164595e-05,1793255892516326400
+85,1.416666667,BASELINE,791,760.324755972,736,733,687,659,922,807,840.675244028,663,635,664,0.400927439854,-0.015449275655,0.0599319760356,0.999999973308,-0.000100700655999,-0.000204419482849,-3.816209203e-05,1793255892532993024
+86,1.433333333,BASELINE,791,760.903630722,736,733,687,659,922,807,840.096369278,663,635,664,0.400926223088,-0.0154507014886,0.0599309692244,0.999999972882,-0.000101971401163,-0.000205897621143,-3.79949504898e-05,1793255892549659648
+87,1.450000000,BASELINE,791,761,736,733,687,659,922,807.483050307,840.483050307,663,635,664,0.400926571528,-0.0154485696941,0.05993124252,0.999999973406,-9.72962869599e-05,-0.000205609967279,-3.80195439126e-05,1793255892566326272
+88,1.466666667,BASELINE,790.937979579,761,736,733,687.062020421,659,921.937979579,807.937979579,841,663,634.937979579,664,0.400927105357,-0.0154461267496,0.0599316778094,0.999999973978,-9.23406125618e-05,-0.000205099976431,-3.80902055184e-05,1793255892582992640
+89,1.483333333,BASELINE,790.363621357,761,736,733,687.636378643,659,921.363621357,807.363621357,841,663,634.363621357,664,0.400926588204,-0.0154469831957,0.0599313392453,0.999999973619,-9.48773715806e-05,-0.000205666689363,-3.82250829907e-05,1793255892599659520
+90,1.500000000,BASELINE,790,761,736,733,687.784233488,659,921,807,841,663,634,664,0.400926587171,-0.0154474834612,0.0599312659289,0.999999973461,-9.655347047e-05,-0.00020563480758,-3.83449676646e-05,1793255892616326144
+91,1.516666667,BASELINE,790,761,736,733,687.196167144,659,921,807,841,663,634,664,0.400927476692,-0.0154473691456,0.0599316502909,0.999999973657,-9.67445211273e-05,-0.000204570065221,-3.84389826187e-05,1793255892632993024
+92,1.533333333,BASELINE,790,761,736,733,687,659,921,807,841,663,634.385883159,664,0.400927266343,-0.0154475861602,0.0599313408009,0.999999973565,-9.68880794824e-05,-0.000204948355211,-3.84529919478e-05,1793255892649659648
+93,1.550000000,BASELINE,790,761,736,733,687,659,921,807,841,663,634.964922154,664,0.400926505448,-0.015447969024,0.0599306839997,0.999999973328,-9.70078653341e-05,-0.000206048962502,-3.84269540511e-05,1793255892666326272
+94,1.566666667,BASELINE,790.542351805,761,736,733,687,659,921.542351805,807,841,663,635,664,0.400927788326,-0.0154480394775,0.0599322301076,0.999999973755,-9.63383383521e-05,-0.000204316439384,-3.8248554817e-05,1793255892682992896
+95,1.583333333,BASELINE,791,761,736,733,687,659,921.880839822,807,841,663,635,664,0.400928688158,-0.0154483166963,0.0599333124278,0.99999997401,-9.62504621213e-05,-0.000203136007127,-3.81014831333e-05,1793255892699659520
+96,1.600000000,BASELINE,791,761,736,733,687,659,921.306010199,807,841,663,635,664,0.400927619234,-0.0154494616254,0.0599320779953,0.99999997345,-9.8581463055e-05,-0.000204765409097,-3.81117796938e-05,1793255892716326144
+97,1.616666667,BASELINE,790.724714435,761,736,733,687,659,921.275285565,807,841,663.275285565,635,664,0.40092771149,-0.0154503320693,0.0599319209717,0.999999973371,-9.96373420364e-05,-0.000204646864502,-3.80720700366e-05,1793255892732992768
+98,1.633333333,BASELINE,790.136057984,761,736,733,687,659,921.863942016,807,841,663.863942016,635,664,0.400929125575,-0.0154508900533,0.059932990415,0.999999973844,-9.92416878304e-05,-0.00020253854762,-3.79754358804e-05,1793255892749659648
+99,1.650000000,BASELINE,790,761,736,733,687,659,922,807,840.555859214,663.555859214,634.555859214,664,0.400927964721,-0.0154504663083,0.0599322202835,0.99999997362,-9.86542220635e-05,-0.000203905149197,-3.80887756518e-05,1793255892766326272
+100,1.666666667,BASELINE,790.021804913,761,736,733,687.021804913,659,922,807,840.021804913,663,634.021804913,664,0.400926077357,-0.01544979203,0.0599309256073,0.999999973187,-9.81161618534e-05,-0.000206240854943,-3.82585124028e-05,1793255892782992896
+101,1.683333333,BASELINE,790.599669826,761,736,733,687.599669826,659,922,807,840.599669826,663,634.599669826,664,0.40092540274,-0.0154502548511,0.059930356693,0.999999972885,-0.000100308481157,-0.000206650957324,-3.82567669018e-05,1793255892799659520
+102,1.700000000,BASELINE,791,761,736,733,687.82354001,659,921.82354001,807,841,663,635,664,0.400924187215,-0.0154501196476,0.0599295248973,0.999999972482,-0.00010165371054,-0.000207915772841,-3.83833666707e-05,1793255892816326400
+103,1.716666667,BASELINE,791,761,736,733,687.24917342,659,921.24917342,807,841,663,635,664,0.400921751976,-0.0154486359347,0.0599281003197,0.999999971855,-0.000101088803119,-0.000211107914697,-3.87993772565e-05,1793255892832993024
+104,1.733333333,BASELINE,791,761,736,733,687,659,921,807,840.66579026,663,635,664,0.40092308286,-0.0154484424991,0.059928901468,0.999999972216,-0.000100442692118,-0.000209696808233,-3.88015378883e-05,1793255892849659648
+105,1.750000000,BASELINE,791,761,736,733,687,659,921,807,840.075498252,663,635,664,0.40092729947,-0.0154492377152,0.0599314080388,0.999999973323,-9.97343602558e-05,-0.000204758544962,-3.84865933976e-05,1793255892866326272
+106,1.766666667,BASELINE,790.494216655,761,736,733,687,659,921,807,840.505783345,663,634.494216655,664,0.400927000124,-0.0154488735547,0.0599313466629,0.999999973465,-9.77789936695e-05,-0.000205050967159,-3.82428693219e-05,1793255892882992896
+107,1.783333333,POSE1_TO_POSE2_PRESS,790,761,736,733,687,659,921,807,841,663,635,664,0.400924215641,-0.015448148516,0.059929047928,0.999999972779,-9.76951536515e-05,-0.000208401910971,-3.82855131418e-05,1793255892926206720
+108,1.800000000,POSE1_TO_POSE2_PRESS,790.587662052,760.412337948,735.412337948,733,687,659,921,807,841,663,635,664,0.400925006018,-0.0154487507697,0.0599292852799,0.999999972954,-9.69514849819e-05,-0.000207950426469,-3.80619841074e-05,1793255892942873344
+109,1.816666667,POSE1_TO_POSE2_PRESS,791,760.173682276,735,733,687,659,921,807,840.826317724,663,634.826317724,664,0.400925251088,-0.0154491863311,0.0599294837095,0.999999973041,-9.65586250558e-05,-0.000207729891442,-3.79756202671e-05,1793255892959539712
+110,1.833333333,POSE1_TO_POSE2_PRESS,791,760.755841267,735,733,687,659,921,807,840.244158733,663,634.244158733,664,0.400924213673,-0.015449229855,0.0599295905991,0.999999972923,-9.69908186717e-05,-0.000208052517574,-3.82118499658e-05,1793255892976206592
+111,1.850000000,POSE1_TO_POSE2_PRESS,791,761,735.333807254,733,687,659,921,807,840,663,634,664,0.400925566362,-0.015449117415,0.059930510632,0.99999997316,-9.76667495621e-05,-0.00020658340341,-3.82751640007e-05,1793255892992872960
+112,1.866666667,POSE1_TO_POSE2_PRESS,791,761,735.908744338,733,687,659,921,807,840,663,634,664,0.400928645573,-0.0154488923125,0.0599320180492,0.999999973646,-9.85187470837e-05,-0.00020382000329,-3.82135702363e-05,1793255893009539584
+113,1.883333333,POSE1_TO_POSE2_PRESS,791,761,736,733,687,659,921.482022005,807,840,663,634.482022005,664,0.400932742424,-0.0154502991957,0.0599331834334,0.999999974192,-9.9661323333e-05,-0.000200573928687,-3.81215612379e-05,1793255893026206464
+114,1.900000000,POSE1_TO_POSE2_PRESS,791,760.942990221,736,733,687,659,921.942990221,807.057009779,840,663,635,664,0.400938359307,-0.0154517580026,0.059934708048,0.999999974942,-0.000100539558182,-0.00019638155552,-3.79724642839e-05,1793255893042873344
+115,1.916666667,POSE1_TO_POSE2_PRESS,791,760.348943828,736,733,687,659,921.348943828,807.651056172,840,663,635,664,0.400956486365,-0.0154508054439,0.0599402245293,0.999999977508,-9.84112375736e-05,-0.000184132821054,-3.73396505606e-05,1793255893059539968
+116,1.933333333,POSE1_TO_POSE2_PRESS,790.761649947,760.238350053,736,733,687,659,921.238350053,808,840.238350053,663,635,664,0.400979945957,-0.0154507447376,0.0599461795429,0.999999980286,-9.76478398187e-05,-0.000168892550437,-3.69852653266e-05,1793255893076206592
+117,1.950000000,POSE1_TO_POSE2_PRESS,790.183969428,760.816030572,736,733,687,659,921.816030572,808,840.816030572,663,635,664,0.401010997284,-0.0154519537297,0.0599527588788,0.999999983272,-9.88276342008e-05,-0.000149393337578,-3.70272688484e-05,1793255893092873216
+118,1.966666667,POSE1_TO_POSE2_PRESS,790.391483572,761,736,733,687.391483572,659,921.608516428,808,840.608516428,663,635,664,0.401048989883,-0.0154534955741,0.0599575800504,0.999999985782,-9.93751912438e-05,-0.000131112646701,-3.70151011145e-05,1793255893109539840
+119,1.983333333,POSE1_TO_POSE2_PRESS,790.96589577,761,736,733,687.96589577,659,921.03410423,808,840.03410423,663,635,664,0.401090225935,-0.0154551929506,0.0599615796846,0.999999987924,-9.96273226776e-05,-0.000113401333159,-3.69776207626e-05,1793255893126206464
+120,2.000000000,POSE1_TO_POSE2_PRESS,790.446519092,761,736,733,687.446519092,659,921,807.446519092,840.553480908,663,635,664,0.40114019617,-0.0154581111947,0.0599619647467,0.999999988539,-0.000100452390565,-0.000107039624959,-3.70761825865e-05,1793255893142873088
+121,2.016666667,POSE1_TO_POSE2_PRESS,790,761,735.860276541,733,687,659,921,807,841,663,634.860276541,664,0.40119630659,-0.0154615277449,0.0599631835011,0.999999989074,-0.000101816281597,-0.000100504997604,-3.71996402569e-05,1793255893159539712
+122,2.033333333,POSE1_TO_POSE2_PRESS,790,761,735.28087513,733,687,659,921,807,841,663,634.28087513,664,0.401270003966,-0.0154662698579,0.0599677436371,0.999999989658,-0.000104761927694,-9.11719248945e-05,-3.73744182483e-05,1793255893176206336
+123,2.050000000,POSE1_TO_POSE2_PRESS,790,760.70347217,735,733,687,659,921,807,841,663,634,664,0.401355703638,-0.0154694271228,0.0599725131507,0.999999990482,-0.000105619098203,-8.03198811969e-05,-3.78020365745e-05,1793255893192873216
+124,2.066666667,POSE1_TO_POSE2_PRESS,790,760.127949531,735,733,687,659,921,807,841,663,634,664,0.401452695934,-0.0154710932477,0.0599774796618,0.999999991484,-0.000104511279791,-6.80386803953e-05,-3.84675453447e-05,1793255893209539840
+125,2.083333333,POSE1_TO_POSE2_PRESS,790,760.445857728,735.445857728,732.554142272,687,659,921,807,841,663.445857728,634,664,0.401560205531,-0.0154776778677,0.0599779721005,0.999999991382,-0.000107822858925,-6.38367382692e-05,-3.91730513666e-05,1793255893226206208
+126,2.100000000,POSE1_TO_POSE2_PRESS,790,761,736,732.019807397,687,659,921,807,840.980192603,663.980192603,634.019807397,664,0.401671705189,-0.0154856358716,0.0599771099227,0.999999990969,-0.000112368764624,-6.19890546728e-05,-3.99153577967e-05,1793255893242873088
+127,2.116666667,POSE1_TO_POSE2_PRESS,790,761,736,732.612044939,687,659,921,807,840.387955061,663.387955061,634.612044939,664,0.401811626057,-0.015492649253,0.0599740630532,0.99999999052,-0.00011607471516,-6.14305404645e-05,-4.13907439954e-05,1793255893259539712
+128,2.133333333,POSE1_TO_POSE2_PRESS,790,761,736,733,687,659,921.199725646,807.199725646,840.199725646,663,634.800274354,664,0.401963540903,-0.0155002152957,0.0599723166495,0.999999990233,-0.000119243642347,-5.93302141407e-05,-4.23632030293e-05,1793255893276206592
+129,2.150000000,POSE1_TO_POSE2_PRESS,790,761,736,733,687,659,921.778752349,807.778752349,840.778752349,663,634.221247651,664,0.402138233623,-0.0155088309023,0.0599730399745,0.99999999026,-0.000121392702466,-5.43018164005e-05,-4.23805476673e-05,1793255893292873216
+130,2.166666667,POSE1_TO_POSE2_PRESS,790,761,736,733,687,659,921.644568215,807.644568215,840.644568215,663,634,664,0.402339230293,-0.0155179948357,0.0599760243373,0.999999990229,-0.000125670121823,-4.37838410124e-05,-4.27975563099e-05,1793255893309539840
+131,2.183333333,POSE1_TO_POSE2_PRESS,790,761,736,733,687,659,921.069340255,807.069340255,840.069340255,663,634,664,0.402556493132,-0.0155274978508,0.0599804069079,0.999999989994,-0.000131263701712,-2.98711541814e-05,-4.34617139736e-05,1793255893326206464
+132,2.200000000,POSE1_TO_POSE2_PRESS,790.515557724,761,735.484442276,733,687,659,921,807,840.515557724,663,634.515557724,664,0.402793182115,-0.0155354212619,0.0599813380758,0.999999988793,-0.000141202051157,-2.31383672946e-05,-4.40573687611e-05,1793255893342873344
+133,2.216666667,POSE1_TO_POSE2_PRESS,791,760.899444531,735.100555469,733,687,659,921,807,840.899444531,663,635,664,0.403040136781,-0.0155437336939,0.0599813718869,0.999999986718,-0.000155656457663,-1.859750745e-05,-4.45913813291e-05,1793255893359539968
+134,2.233333333,POSE1_TO_POSE2_PRESS,791,760.32028034,735.67971966,733,687,659,921,807,840.32028034,663,635,664,0.403323279183,-0.0155549282472,0.05997938625,0.99999998098,-0.000188771236291,-1.98053652671e-05,-4.48766892559e-05,1793255893376206592
+135,2.250000000,POSE1_TO_POSE2_PRESS,790.741719883,760.258280117,736,733,687,659,921,807.258280117,840.258280117,663,634.741719883,664,0.40361831381,-0.0155616790935,0.0599733686159,0.999999978228,-0.000201884870398,-2.66552545399e-05,-4.55664706467e-05,1793255893392873216
+136,2.266666667,POSE1_TO_POSE2_PRESS,790.163906376,760.836093624,736,733,687,659,921,807.836093624,840.836093624,663,634.163906376,664,0.403928060985,-0.0155629323701,0.059962362763,0.999999979989,-0.000190253920781,-4.04852297832e-05,-4.67566497585e-05,1793255893409539840
+137,2.283333333,POSE1_TO_POSE2_PRESS,790,761,736,733,687,659,921.4115116,807.5884884,841,663,634,664.4115116,0.404253780702,-0.0155548032837,0.059948469789,0.999999981767,-0.000172695160506,-6.53271628696e-05,-4.87288147969e-05,1793255893426206464
+138,2.300000000,POSE1_TO_POSE2_PRESS,790,761,736,733,687,659,921.985980938,807.014019062,841,663,634,664.985980938,0.404585825504,-0.0155429588011,0.0599334335214,0.999999982559,-0.000152788999648,-9.45298079599e-05,-5.10106445588e-05,1793255893442873344
+139,2.316666667,POSE1_TO_POSE2_PRESS,790.573870414,760.426129586,736,733,686.426129586,659,921.426129586,807,841,663,634.573870414,664.426129586,0.404977488386,-0.0155457030841,0.0599296603192,0.999999982643,-0.000148120686317,-0.00010080464235,-5.11140920101e-05,1793255893459539712
+140,2.333333333,POSE1_TO_POSE2_PRESS,790.839977729,760.160022271,736,733,686,659,921,807.160022271,841,663,634.839977729,664,0.405397204812,-0.0155503908664,0.059933791061,0.999999983279,-0.000148281625834,-9.42976294016e-05,-5.06167884521e-05,1793255893476206592
+141,2.350000000,POSE1_TO_POSE2_PRESS,790.259276442,760.740723558,736,733,686,659,921,807.740723558,841,663,634.259276442,664,0.405886750118,-0.0155592285343,0.0599579596645,0.999999984442,-0.000160136063212,-5.56963988961e-05,-4.86834310521e-05,1793255893492873216
+142,2.366666667,POSE1_TO_POSE2_PRESS,790,761,736,733,686.317765544,659,921,807.682234456,841,663,634.317765544,664,0.406398292766,-0.0155644209197,0.059985624646,0.999999984557,-0.000169268766018,-8.2451104902e-06,-4.65344847752e-05,1793255893509539840
+143,2.383333333,POSE1_TO_POSE2_PRESS,790,761,736,733,686.891855826,659,921,807.108144174,841,663,634.891855826,664,0.406927579563,-0.0155666728485,0.0600161099743,0.999999982424,-0.000176205989853,4.6345057975e-05,-4.42116340249e-05,1793255893526206464
+144,2.400000000,POSE1_TO_POSE2_PRESS,790.466398394,761,736,733,687,659,921,807.466398394,841,663,634.533601606,664,0.407449686853,-0.0155665111251,0.0600229580696,0.999999984566,-0.000162429179169,5.11570594054e-05,-4.32100147377e-05,1793255893542873344
+145,2.416666667,POSE1_TO_POSE2_PRESS,790.957560642,761,736,733,687,659,921,807.957560642,841,662.957560642,634.042439358,664,0.407971353356,-0.0155658988538,0.0600231280851,0.999999987609,-0.000145545747643,4.21638469026e-05,-4.26692666038e-05,1793255893559539968
+146,2.433333333,POSE1_TO_POSE2_PRESS,790.363404536,761,736,733,687,659,921,807.363404536,841,662.363404536,634.636595464,664,0.408508952541,-0.0155667120555,0.0600078022807,0.999999987652,-0.000150775781827,3.89557753374e-06,-4.41333803076e-05,1793255893576206592
+147,2.450000000,POSE1_TO_POSE2_PRESS,790,761,736,732.776335806,686.776335806,659,921,807,841,662.223664194,634.776335806,664,0.409082812156,-0.0155678321913,0.0599978338795,0.999999986612,-0.000155699697499,-2.10494462714e-05,-4.57296049617e-05,1793255893592872960
+148,2.466666667,POSE1_TO_POSE2_PRESS,790,761,736,732.200428834,686.200428834,659,921,807,841,662.799571166,634.200428834,664,0.409713777324,-0.0155694357093,0.0599963027108,0.999999985735,-0.000160141515252,-2.50120433391e-05,-4.75338876259e-05,1793255893609539584
+149,2.483333333,POSE1_TO_POSE2_PRESS,790,761,736,732.374266972,686.374266972,659,921,807.374266972,841,663,634,664,0.410373824552,-0.0155710746609,0.0600014636087,0.999999985892,-0.000160756360561,-7.83658617765e-06,-4.80818789279e-05,1793255893626206720
+150,2.500000000,POSE1_TO_POSE2_PRESS,790,761,736,732.948316244,686.948316244,659,921,807.948316244,841,663,634,664,0.411049395653,-0.0155727325269,0.0600101967066,0.999999985945,-0.000159328382149,2.06222848386e-05,-4.79592665439e-05,1793255893642873856
+151,2.516666667,POSE1_TO_POSE2_PRESS,790,761,736,733,687,659,921,808,841,663,634.53804545,664,0.411723298439,-0.0155744381678,0.0600071468949,0.999999985608,-0.000162145379673,1.47601204835e-05,-4.76941520008e-05,1793255893659540480
+152,2.533333333,POSE1_TO_POSE2_PRESS,790,761,736,733,687,659,921.126682175,808,841,663,634.873317825,664,0.412395749504,-0.0155743900734,0.0599950073703,0.999999985542,-0.000162689027046,-1.02796504475e-05,-4.83956240521e-05,1793255893676207104
+153,2.550000000,POSE1_TO_POSE2_PRESS,790,761,736,733,687,659,921.705874785,808,841,663,634.294125215,664,0.413063604464,-0.0155680607278,0.0599545636008,0.999999982615,-0.00015361197096,-9.16923050796e-05,-5.26001196042e-05,1793255893692873728
+154,2.566666667,POSE1_TO_POSE2_PRESS,790,761,736.283310102,733,687,659.283310102,921.716689898,808,841,663,634,664,0.413796765984,-0.0155658699998,0.0599370550268,0.999999979442,-0.000150987090652,-0.000123948040674,-5.43726449245e-05,1793255893709540352
+155,2.583333333,POSE1_TO_POSE2_PRESS,790,761,736.85893236,733,687,659.85893236,921.14106764,808,841,663,634,664,0.414597309234,-0.0155679493914,0.0599432103991,0.999999980983,-0.000155019400788,-0.00010548492842,-5.36359260168e-05,1793255893726206976
+156,2.600000000,POSE1_TO_POSE2_PRESS,790,761,737,733,687,659.565379516,921,808,841,663,634.434620484,664,0.415447445159,-0.0155735634943,0.0599878403819,0.999999986479,-0.000154737107282,-2.4602597713e-05,-4.99294590545e-05,1793255893742873344
+157,2.616666667,POSE1_TO_POSE2_PRESS,790,761,737,733,687,659,921.010577126,808,841,662.989422874,634.989422874,664,0.416312340635,-0.0155802131895,0.0600438736052,0.999999984486,-0.000153085983176,7.4412211436e-05,-4.53432720124e-05,1793255893759539712
+158,2.633333333,POSE1_TO_POSE2_PRESS,790,761,737,733,687,659,921.600061924,808,841,662.399938076,634.399938076,664,0.417103924905,-0.0155807402458,0.0600404345938,0.999999985625,-0.000153175465016,5.68256437077e-05,-4.5373016394e-05,1793255893776206336
+159,2.650000000,POSE1_TO_POSE2_PRESS,790,761,737,733,687,659,922,808,841.186455696,662,634,664,0.417913103843,-0.0155798299377,0.0600303570046,0.999999986712,-0.00015210428925,3.5543817426e-05,-4.66617462029e-05,1793255893792873216
+160,2.666666667,POSE1_TO_POSE2_PRESS,790,761,737,733,687,659,922,808,841.766327456,662,634,664,0.418759406967,-0.0155758868333,0.0600062722107,0.99999998766,-0.000148584159879,6.46510475322e-06,-5.0606898432e-05,1793255893809539840
+161,2.683333333,POSE1_TO_POSE2_PRESS,790,761,737,733,687,659,922,808,842,662.343614358,634,664,0.41961386101,-0.0155743135893,0.0599797382883,0.999999987661,-0.000144414116413,-3.09813419289e-05,-5.35028976702e-05,1793255893826206464
+162,2.700000000,POSE1_TO_POSE2_PRESS,790,761,737,733,687,659,922,808,842,662.919156548,634,664,0.42047381661,-0.0155743399194,0.0599515512895,0.999999985933,-0.000139805403349,-7.40757190327e-05,-5.56907546339e-05,1793255893842873088
+163,2.716666667,POSE1_TO_POSE2_PRESS,790,760.507137781,737,732.507137781,686.507137781,659,922,808,841.507137781,662.507137781,634,664,0.421294970732,-0.0155699836049,0.0599186882137,0.999999978427,-0.000138793961861,-0.000142923019336,-5.87780513546e-05,1793255893859539712
+164,2.733333333,POSE1_TO_POSE2_PRESS,790,760.068723652,737,732.068723652,686,659,922,808,841,662,634,664,0.422126123316,-0.0155659050319,0.0598931266904,0.999999968793,-0.000138439340024,-0.000198696152316,-6.13802671641e-05,1793255893876206592
+165,2.750000000,POSE1_TO_POSE2_PRESS,790,760.663379315,737,732.663379315,686,659,922,808,841,662,634,664,0.423082318347,-0.0155694330252,0.0599292909173,0.999999981177,-0.000138612425986,-0.00012220729594,-5.91453674595e-05,1793255893892873216
+166,2.766666667,POSE1_TO_POSE2_PRESS,790,761,737,733,686.249940911,659,922,808,841,662,634,664,0.424047979382,-0.0155738716145,0.0599762925738,0.99999998765,-0.000141300680284,-4.02959898408e-05,-5.57791138517e-05,1793255893909539840
+167,2.783333333,POSE1_TO_POSE2_PRESS,790,761,737,733,686.825943434,659,922,808,841,662,634,664,0.42502598947,-0.0155794981265,0.0600374322559,0.999999986673,-0.000147270109537,4.8689209307e-05,-5.09369468047e-05,1793255893926206720
+168,2.800000000,POSE1_TO_POSE2_PRESS,790,761,737,733,687,659.400236969,922,808,841,662,634,664,0.425980278976,-0.0155818775554,0.0600490559852,0.99999998434,-0.000151894810407,7.55662739924e-05,-5.03730777119e-05,1793255893942873344
+169,2.816666667,POSE1_TO_POSE2_PRESS,790,761,737,733,687,659.973790419,922,808,841,662,634,664,0.42692429659,-0.0155828508844,0.0600392375869,0.999999983654,-0.000155937197256,7.55483586291e-05,-5.16618603197e-05,1793255893959539968
+170,2.833333333,POSE1_TO_POSE2_PRESS,790.564367505,760.435632495,737.564367505,732.435632495,686.435632495,659.435632495,922,808,841,662,634,664,0.427816193726,-0.015584374437,0.0600143769925,0.99999998535,-0.000157608762923,3.86729071604e-05,-5.44451537778e-05,1793255893976206592
+171,2.850000000,POSE1_TO_POSE2_PRESS,790.847490363,760,737.847490363,732.152509637,686,659,922,808,841,662,634,663.847490363,0.428694692079,-0.0155848513828,0.0599856762984,0.999999985877,-0.000157810069735,-6.99315463341e-06,-5.73906724757e-05,1793255893992873216
+172,2.866666667,POSE1_TO_POSE2_PRESS,790.268438307,760,737.268438307,732.731561693,686,659,922,808,841,662,634,663.268438307,0.429542696651,-0.0155823274656,0.0599482500682,0.999999983659,-0.000154216837693,-7.23088123219e-05,-6.05897525072e-05,1793255894009539840
+173,2.883333333,POSE1_TO_POSE2_PRESS,790,760,737,733,686,659,922.308708689,808,841,661.691291311,634,663.308708689,0.43044282256,-0.0155815865633,0.0599350841559,0.99999998219,-0.00015340776013,-9.07147082051e-05,-6.21035742188e-05,1793255894026206464
+174,2.900000000,POSE1_TO_POSE2_PRESS,790,760,737,733,686,659,922.884209264,808,841,661.115790736,634,663.884209264,0.43138799267,-0.0155823865763,0.059942884471,0.999999983703,-0.000155004802061,-6.85802976927e-05,-6.21609637993e-05,1793255894042873088
+175,2.916666667,POSE1_TO_POSE2_PRESS,790,759.543924807,737,733,686.456075193,658.543924807,922.543924807,808.456075193,841,661,633.543924807,664,0.432365248216,-0.0155868304875,0.0599848361219,0.999999985783,-0.000158209666302,-1.71045039748e-07,-5.83422934087e-05,1793255894059540224
+176,2.933333333,POSE1_TO_POSE2_PRESS,790,759.028161664,737,733,687.028161664,658.028161664,922.028161664,809,841,661,633,664,0.433345560132,-0.0155919341312,0.0600325332823,0.999999982672,-0.000161573672992,7.5171771056e-05,-5.38360110759e-05,1793255894076207104
+177,2.950000000,POSE1_TO_POSE2_PRESS,790,759.623111242,737,733,687.623111242,658.623111242,922.623111242,809,841,661,633,664,0.434224731421,-0.0155918434933,0.060022740693,0.999999984143,-0.000159990014072,5.54775307131e-05,-5.51398166192e-05,1793255894092873472
+178,2.966666667,POSE1_TO_POSE2_PRESS,790,760,737.210877619,733,687.789122381,659,922.789122381,809,841,661,633,664,0.435087088511,-0.0155922348845,0.060002630983,0.999999984826,-0.000163492000022,1.76426853547e-05,-5.75021593722e-05,1793255894109540096
+179,2.983333333,POSE1_TO_POSE2_PRESS,790,760,737.786228894,733,687.213771106,659,922.213771106,809,841,661,633,664,0.435920384661,-0.015593459398,0.0599646895133,0.999999981318,-0.000175783839749,-5.15457640121e-05,-6.16940416539e-05,1793255894126206720
+180,3.000000000,POSE1_TO_POSE2_PRESS,790,760,737.636623383,733,686.636623383,659,922,809,841,661,633,664,0.436747189912,-0.0155926002106,0.0599387162299,0.999999977574,-0.000177249366419,-9.68861518126e-05,-6.36290948008e-05,1793255894142873600
+181,3.016666667,POSE1_TO_POSE2_PRESS,790,760,737.05841361,733,686.05841361,659,922,809,841,661,633,664,0.437570157607,-0.0155905091112,0.0599198187018,0.999999974883,-0.000172314230301,-0.000128127239968,-6.42298799553e-05,1793255894159539968
+182,3.033333333,POSE1_TO_POSE2_PRESS,790,759.471905337,737,732.471905337,686.528094663,659,922.528094663,808.471905337,841,661,633,664,0.438390552041,-0.0155891812126,0.0599126334432,0.999999973131,-0.000168720048958,-0.000145539866862,-6.39438656135e-05,1793255894176206592
+183,3.050000000,POSE1_TO_POSE2_PRESS,790,759,737,732.113865701,686.886134299,658.886134299,923,808.113865701,840.886134299,661,633,664,0.439225313312,-0.0155891258395,0.0599196526065,0.999999974391,-0.000167002326064,-0.000139215686331,-6.28206734246e-05,1793255894192873472
+184,3.066666667,POSE1_TO_POSE2_PRESS,790,759,737,732.6928164,686.3071836,658.3071836,923,808.6928164,840.3071836,661,633,664,0.440119937116,-0.0155939177878,0.0599793137723,0.999999982535,-0.000172333496818,-4.22857772266e-05,-5.86850721929e-05,1793255894209540352
+185,3.083333333,POSE1_TO_POSE2_PRESS,790,759,737,733,686.270493534,658,923,809,840.270493534,661,633,664,0.440957145404,-0.0155968153147,0.0600159238894,0.999999983036,-0.000174779818593,1.56309919284e-05,-5.59993016438e-05,1793255894226206976
+186,3.100000000,POSE1_TO_POSE2_PRESS,790,759,737,733,686.846731093,658,923,809,840.846731093,661,633,664,0.441729455776,-0.0155975715404,0.0600264789604,0.999999982924,-0.000173965341318,2.94504546693e-05,-5.4952303242e-05,1793255894242873344
+187,3.116666667,POSE1_TO_POSE2_PRESS,790,759.422717061,737.422717061,733,686.577282939,658,922.577282939,808.577282939,841,661,633,664,0.442442338924,-0.0155977398254,0.0599950509514,0.999999982962,-0.000174841564439,-1.53581972861e-05,-5.71928555919e-05,1793255894259540224
+188,3.133333333,POSE1_TO_POSE2_PRESS,790,759.998611909,737.998611909,733,686.001388091,658,922.001388091,808.001388091,841,661,633,664,0.443133687801,-0.0155976950615,0.0599484097526,0.999999979302,-0.000176330437163,-8.14116136446e-05,-6.06247003423e-05,1793255894276206848
+189,3.150000000,POSE1_TO_POSE2_PRESS,790,760,737.412202865,733,686,658,922,808,841,661,633,663.412202865,0.443806265681,-0.015601834031,0.0599169943934,0.99999997303,-0.000182735029254,-0.000128558868224,-6.34137730586e-05,1793255894292873472
+190,3.166666667,POSE1_TO_POSE2_PRESS,790,760,737.174521271,732.825478729,686,658,922.174521271,808,841,661,633,663.174521271,0.444468252911,-0.0156063488851,0.0598917172372,0.999999965383,-0.00019005174592,-0.000169746055735,-6.55807617901e-05,1793255894309540352
+191,3.183333333,POSE1_TO_POSE2_PRESS,790,760,737.755439758,732.244560242,686,658,922.755439758,808,841,661,633,663.755439758,0.445105684075,-0.0156117155011,0.0598806480746,0.999999958473,-0.000199464816916,-0.00019716077474,-6.63027581108e-05,1793255894326206976
+192,3.200000000,POSE1_TO_POSE2_PRESS,790,760,738,732,686,657.667449621,922.667449621,807.667449621,841,661,633,663.667449621,0.445700050995,-0.0156171531451,0.0598554399403,0.99999994548,-0.000210784869454,-0.000244946471742,-6.79008218886e-05,1793255894342873600
+193,3.216666667,POSE1_TO_POSE2_PRESS,790,760,738,732,686,657.093107669,922.093107669,807.093107669,841,661,633,663.093107669,0.446263106616,-0.0156226424322,0.0598199516073,0.999999925275,-0.00022349145382,-0.000307543548812,-7.01358587838e-05,1793255894359540480
+194,3.233333333,POSE1_TO_POSE2_PRESS,790,759.522645747,737.522645747,732,686,657.477354253,922.477354253,807,841,661,633,663.477354253,0.446844606004,-0.0156319432892,0.0598115108311,0.999999921316,-0.00023342921554,-0.000312896100193,-7.05394607448e-05,1793255894376206848
+195,3.250000000,POSE1_TO_POSE2_PRESS,790,759.049558494,737,732.049558494,685.950441506,657.950441506,923,806.950441506,841,661,632.950441506,664,0.447429426372,-0.0156418984325,0.0598103727255,0.999999921545,-0.000242699818242,-0.000305042049348,-7.03983793303e-05,1793255894392873472
+196,3.266666667,POSE1_TO_POSE2_PRESS,790,759.649446835,737,732.649446835,685.350553165,657.350553165,923,806.350553165,841,661,632.350553165,664,0.448011498822,-0.0156509300674,0.0598322167621,0.999999928893,-0.000250510646542,-0.000273522709314,-6.81436024395e-05,1793255894409540352
+197,3.283333333,POSE1_TO_POSE2_PRESS,790,760,737,732.760935139,685,657,923,806,841,661,632,664,0.448541225649,-0.015658451114,0.0598347845411,0.999999927574,-0.000256995209383,-0.000272598068946,-6.70535805871e-05,1793255894426206720
+198,3.300000000,POSE1_TO_POSE2_PRESS,790,760,737,732.185756728,685,657,923,806,841,661,632,664,0.448997357028,-0.0156638483464,0.0598102508388,0.99999991398,-0.000261615106901,-0.000314688088799,-6.7601147773e-05,1793255894442873344
+199,3.316666667,POSE1_TO_POSE2_PRESS,790,760,737.389547318,732,685,657,922.610452682,805.610452682,841,661,632,663.610452682,0.449421729637,-0.0156665017322,0.0597763240233,0.999999893826,-0.000269792268524,-0.000366910847617,-7.02548115627e-05,1793255894459539968
+200,3.333333333,POSE1_TO_POSE2_PRESS,790,760,737.964911345,732,685,657,922.035088655,805.035088655,841,661,632,663.035088655,0.449830953138,-0.0156678462851,0.059737916627,0.999999868288,-0.000279666269014,-0.000423966994426,-7.39130975829e-05,1793255894476206848
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+203,3.383333333,POSE1_TO_POSE2_PRESS,790,760,738,732,684.279921885,656,923,804.279921885,841,661,631.279921885,664,0.451023936944,-0.0156778635544,0.0597288799284,0.99999986623,-0.000288679783,-0.000422869223407,-7.33893697915e-05,1793255894526206720
+204,3.400000000,POSE1_TO_POSE2_PRESS,790,760,737.702536476,732,684,656,923,804,841,661,631,663.702536476,0.45138889973,-0.0156830922309,0.0597428067789,0.99999987449,-0.000292978804076,-0.000400032021466,-7.18176726215e-05,1793255894542873600
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+206,3.433333333,POSE1_TO_POSE2_PRESS,790,760,737,732,684,656,923,804,841,661,631,663.457026528,0.452035097552,-0.0156919229218,0.0597633631931,0.999999885437,-0.000299062772632,-0.000367254001963,-6.93691022785e-05,1793255894576206848
+207,3.450000000,POSE1_TO_POSE2_PRESS,790,760,737.042787651,732,684.042787651,656,923,804,841,661,631,664,0.452315589164,-0.0156936865723,0.0597652169475,0.999999886444,-0.000299262657764,-0.000364409707372,-6.89939213863e-05,1793255894592873472
+208,3.466666667,POSE1_TO_POSE2_PRESS,790,760,737.622334754,732,684.622334754,656,923,804,841,661,631,664,0.452557915812,-0.0156942288239,0.0597527653612,0.999999878808,-0.000302634206971,-0.000382088421607,-6.93167138607e-05,1793255894609540096
+209,3.483333333,POSE1_TO_POSE2_PRESS,790,760,738,732,684.798537537,656,923,803.798537537,841,661,631,664,0.452784821279,-0.0156948954553,0.0597415850747,0.99999987103,-0.000305142658631,-0.000399986501344,-6.95559273961e-05,1793255894626206720
+210,3.500000000,POSE1_TO_POSE2_PRESS,790,760,738,732,684.220194463,656,923,803.220194463,841,661,631,664,0.452982877946,-0.015695794767,0.0597327830402,0.999999863261,-0.000306036492931,-0.000418294951449,-6.96387878091e-05,1793255894642873344
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+237,3.950000000,POSE1_TO_POSE2_PRESS,790,760,738,732,684,655,922.435733896,801,841,661,630,663.435733896,0.454372128963,-0.0156986799255,0.0597025189393,0.999999843226,-0.000311856894691,-0.00046029641804,-6.64800249629e-05,1793255895092873216
+238,3.966666667,POSE1_TO_POSE2_PRESS,789.989907625,760,738,732,684,655,923,801,841,661,630.010092375,664,0.454371349784,-0.0156993596828,0.0597014129606,0.99999984293,-0.000311022789197,-0.000461580428307,-6.59449469151e-05,1793255895109540352
+239,3.983333333,POSE1_TO_POSE2_PRESS,789.396093188,760,738,732,684,655,923,801,841,661,630.603906812,664,0.454372031834,-0.0157002105796,0.0597016447013,0.999999842772,-0.00031185127179,-0.000461380200841,-6.58263742339e-05,1793255895126206976
+240,4.000000000,POSE1_TO_POSE2_PRESS,789.192049589,759.807950411,737.807950411,732,684,655,923,801,841,661,630.807950411,663.807950411,0.454372206424,-0.0157004001663,0.0597012473715,0.999999842532,-0.00031200749425,-0.000461797802357,-6.57977445193e-05,1793255895142873600
+241,4.016666667,POSE1_TO_POSE2_PRESS,789.768830347,759.231169653,737.231169653,732,684,655,923,801,841,661,630.231169653,663.231169653,0.454371364421,-0.0156992649566,0.0596995898304,0.999999842127,-0.000310816984142,-0.000463453094977,-6.59492967259e-05,1793255895159539968
+242,4.033333333,POSE1_TO_POSE2_PRESS,790,759.344455065,737.344455065,732.344455065,684,655,923,801,841,661,630.344455065,663.344455065,0.454371840611,-0.015698055679,0.059699506921,0.999999842083,-0.000310745061506,-0.000463570304987,-6.61339102739e-05,1793255895176206592
+243,4.050000000,POSE1_TO_POSE2_PRESS,790,759.919306517,737.919306517,732.919306517,684,655,923,801,841,661,630.919306517,663.919306517,0.454373198502,-0.0156967968593,0.0597004772389,0.999999842281,-0.000311421330884,-0.000462658734361,-6.63406376249e-05,1793255895192873216
+244,4.066666667,POSE1_TO_POSE2_PRESS,790,760,738,732.49367264,684,655,923,801.50632736,841,661,630.49367264,664,0.454373043895,-0.015697520974,0.0597009899507,0.99999984226,-0.000311052700935,-0.000463034563076,-6.57605623432e-05,1793255895209539840
+245,4.083333333,HOLD_POSE2,790,760,738,732,684,655,923,801,841,661,630,664,0.454374060801,-0.0156962909184,0.0597007705082,0.999999842858,-0.00030884911017,-0.000463104104122,-6.65700768958e-05,1793255895252347136
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+247,4.116666667,HOLD_POSE2,790,760,737,732,684.846238621,655,922.153761379,801,841.153761379,661,630.153761379,664,0.454372405552,-0.0156985384225,0.0596989199442,0.999999841961,-0.000308213156074,-0.00046558018708,-6.57162209827e-05,1793255895285680128
+248,4.133333333,HOLD_POSE2,790,760,737,732,684.272005669,655,922.727994331,801,841.727994331,661,630.727994331,664,0.454373586126,-0.0156971170047,0.0597001802716,0.99999984273,-0.000308361418985,-0.000463867357675,-6.54282873607e-05,1793255895302346752
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+250,4.166666667,HOLD_POSE2,790,760,737,732,684,655,923,801,841.098967257,661,630.098967257,664,0.454374669458,-0.0156979120182,0.0596999749605,0.999999842503,-0.000310069973555,-0.000463195360067,-6.55853174766e-05,1793255895335679488
+251,4.183333333,HOLD_POSE2,789.517981654,760,737,732,684,655,923,801,841,661,630,663.517981654,0.454375521107,-0.0156978083726,0.0597008330883,0.999999842993,-0.000310349152888,-0.000461974546847,-6.53950396985e-05,1793255895352346112
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+253,4.216666667,HOLD_POSE2,789.635980341,760,737,732,684,655,922.364019659,801,841,661,630,663,0.454374425881,-0.0156963725541,0.0597001372614,0.999999842639,-0.000309051721577,-0.000463590541852,-6.55158615637e-05,1793255895385679616
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+256,4.266666667,HOLD_POSE2,790,760,737,732,684,655,922.384239724,801,841,661,630,664,0.454373654276,-0.0156952447467,0.0596987396886,0.999999842352,-0.000306987597975,-0.000465537297017,-6.5792784057e-05,1793255895435679744
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,790.553915147,760,737.446084853,732,684,655,922.553915147,800.553915147,841,661,630,664,0.45437635138,-0.0156950778955,0.0597008720897,0.99999984444,-0.000304826187601,-0.000462575657649,-6.50017152734e-05,1793255895556296960
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,790,759.066266696,738,732,684,655,922,801,841.867466608,661,630,664,0.454372704562,-0.0156929362642,0.0596973900197,0.999999841985,-0.000304638132705,-0.000467868915093,-6.57574726938e-05,1793255895656296448
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,790,760,738,732,684,655,922,801,840.791291605,661,630,664,0.454366506897,-0.0156952339738,0.0596939547856,0.999999839679,-0.00030470164925,-0.000472843212326,-6.49533422154e-05,1793255895706297088
+272,4.533333333,POSE2_TO_POSE3_RETREAT,790,760,738,732,683.623964806,655,922.376035194,801,841,661,630,664,0.454351986367,-0.0156942069144,0.0596873559814,0.9999998347,-0.000304940125356,-0.000483013196192,-6.56536781068e-05,1793255895722963456
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,790,760.12626434,735,733,687,659,921,807,840.87373566,663,633.87373566,664,0.405210247166,-0.0153648547485,0.059818598675,0.999999933208,0.000224428278802,-0.000287689783359,2.12352286583e-05,1793255897122963456
+357,5.950000000,POSE2_TO_POSE3_RETREAT,790,760.699425132,735,733,687,659,921,807,840.300574868,663,633.300574868,664,0.404799880259,-0.0153627089147,0.0598086267204,0.999999928343,0.000229030889841,-0.000300742159784,2.03055058965e-05,1793255897139630592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,790,761,735.280961039,733,686.719038961,659,921,807,840,663,633,664.280961039,0.404399535938,-0.0153597431656,0.0597910621679,0.999999919881,0.000227563965277,-0.00032880459886,1.84452251064e-05,1793255897156297472
+359,5.983333333,POSE2_TO_POSE3_RETREAT,790,761,735.871731975,733,686.128268025,659,921,807,840,663,633,664.871731975,0.404010243339,-0.015355873313,0.0597651254159,0.999999906089,0.000219404289383,-0.000373418320783,1.5558837352e-05,1793255897172964096
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,789,760.032910779,735,732.032910779,686.967089221,659.967089221,921,807.032910779,840,663,633.967089221,664,0.403350065281,-0.0153576532917,0.0597536829807,0.999999903393,0.000211299841496,-0.000385242906595,1.24216629817e-05,1793255897206297088
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,789.183818043,761,735,732.816181957,686.183818043,659,921,808,840,663,633.183818043,664,0.402870763513,-0.0153632514003,0.059794468768,0.999999919965,0.000248198069677,-0.000313361629366,1.64923932035e-05,1793255897239630080
+364,6.066666667,POSE2_TO_POSE3_RETREAT,789.758714388,761,735,732.241285612,686.758714388,659,921,808,840,663,633.758714388,664,0.402658611528,-0.0153657689461,0.0598152004424,0.999999932978,0.000233377555228,-0.000281459534552,1.8970775886e-05,1793255897256296704
+365,6.083333333,POSE2_TO_POSE3_RETREAT,789.656974344,761,735,732,687,659,921,807.656974344,840.343025656,663,634,664,0.402455218306,-0.015363903674,0.059827130798,0.999999938891,0.00022900095271,-0.000263379688062,2.0186106919e-05,1793255897272963328
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,789.514281224,761,735,732,687.514281224,659,921,807,840.485718776,663,634,664,0.40206303054,-0.0153572894857,0.0598247019724,0.999999935481,0.000233220126567,-0.000272506196124,1.96887283098e-05,1793255897306297344
+368,6.133333333,POSE2_TO_POSE3_RETREAT,790,761,735,732,687.90757595,659,921,807,840,663,634,664,0.401876198182,-0.0153566951561,0.0598162908508,0.999999930368,0.000233436159551,-0.000290545902673,1.88081531516e-05,1793255897322963968
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,790,761,735,732.836215271,687,659,921,807,840,663,634,664,0.401494943942,-0.0153675456987,0.0598188456914,0.999999931727,0.000220190038202,-0.000296163895931,1.86835569187e-05,1793255897372963328
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,789.204455486,761,735,732,687,659,921,807.204455486,840,663,634,664,0.400986830231,-0.0153696092351,0.0598262125037,0.999999930987,0.000234714465648,-0.00028743428421,1.77900548127e-05,1793255897556296704
+383,6.383333333,POSE2_TO_POSE3_RETREAT,789.780869103,761,735,732,687,659,921,807.780869103,840,663,634,664,0.400983763311,-0.0153701267935,0.0598293637876,0.999999931981,0.000236121155489,-0.000282758388754,1.82122455869e-05,1793255897572963584
+384,6.400000000,POSE2_TO_POSE3_RETREAT,789.63241552,761,735,732,687,659,921,807.63241552,840,663,634,664,0.400980418308,-0.0153710236786,0.0598306941658,0.999999932959,0.000234930365875,-0.000280276555049,1.82701943351e-05,1793255897589630464
+385,6.416666667,POSE2_TO_POSE3_RETREAT,789.039381825,761,735,732,687,659,921,807.039381825,840,663,634,664,0.400976902749,-0.0153721532147,0.0598309077345,0.99999993393,0.000232146473847,-0.000279140397209,1.81047438674e-05,1793255897606297344
+386,6.433333333,POSE2_TO_POSE3_RETREAT,789.538897711,760.461102289,735,732,687,659,921,807,840,663,634,664,0.400977093305,-0.0153733979192,0.0598323548557,0.999999934719,0.000231920102493,-0.000276475976128,1.83174787735e-05,1793255897622963968
+387,6.450000000,POSE2_TO_POSE3_RETREAT,790,760.115363436,735,732,687,659,921,807,840,663,634,664,0.40097672425,-0.0153741076959,0.0598335035308,0.999999935185,0.000232055551899,-0.000274662491373,1.84708572123e-05,1793255897639630336
+388,6.466666667,POSE2_TO_POSE3_RETREAT,790,760.688794118,735,732,687,659,921,807,840,663,634,664,0.400973086435,-0.0153726609357,0.0598331187826,0.99999993444,0.000232905327071,-0.000276659409995,1.82817389495e-05,1793255897656296704
+389,6.483333333,POSE2_TO_POSE3_RETREAT,789.736618406,760.736618406,735,732,687,659,921,807,840,663,634,664,0.400971937544,-0.0153719349301,0.0598335177008,0.99999993435,0.000233435873108,-0.000276549181455,1.81192107966e-05,1793255897672963072
+390,6.500000000,POSE2_TO_POSE3_RETREAT,789.160657983,760.160657983,735,732,687,659,921,807,840,663,634,664,0.400973742483,-0.0153720643092,0.059834846667,0.999999935036,0.000233587561082,-0.000273938210484,1.7988239514e-05,1793255897689629696
+391,6.516666667,POSE2_TO_POSE3_RETREAT,789,760.427444027,735,732,687,659,921,807,840,663,633.572555973,664,0.400972833534,-0.0153720155479,0.0598343329262,0.999999934641,0.000234698912407,-0.000274432119625,1.79286408164e-05,1793255897706296320
+392,6.533333333,POSE2_TO_POSE3_RETREAT,789,760.980275535,735,732,687,659,921,807.019724465,840,663,633.019724465,664,0.400971016787,-0.0153719373422,0.0598332298273,0.999999933903,0.000236050430292,-0.000275958099941,1.79008722661e-05,1793255897722963200
+393,6.550000000,POSE2_TO_POSE3_RETREAT,789,760.402659223,735,732,687,659,921,807.597340777,840,663,633.597340777,664,0.400973218048,-0.0153729754732,0.0598356194172,0.999999935348,0.000233694588119,-0.000272702955081,1.79924622801e-05,1793255897739630080
+394,6.566666667,POSE2_TO_POSE3_RETREAT,789,760.174258545,735.174258545,732,687,659,921,807.825741455,840.174258545,663,634,664,0.400974041803,-0.0153738065071,0.0598368817463,0.999999936234,0.00023173579284,-0.000271117795168,1.80578342592e-05,1793255897756297216
+395,6.583333333,POSE2_TO_POSE3_RETREAT,789,760.749568595,735.749568595,732,687,659,921,807.250431405,840.749568595,663,634,664,0.400971695263,-0.015374160912,0.059835549714,0.999999935861,0.000230690790801,-0.000273376062349,1.8062866108e-05,1793255897772963584
+396,6.600000000,POSE2_TO_POSE3_RETREAT,789,761,735.666319775,732,687,659,921,807,840.666319775,663,634,664,0.400970538324,-0.01537486375,0.0598347574807,0.999999935833,0.000229438174724,-0.00027453345965,1.796379448e-05,1793255897789629952
+397,6.616666667,POSE2_TO_POSE3_RETREAT,789,761,735.07542351,732,687,659,921,807,840.07542351,663,634,664,0.400970298384,-0.0153758351761,0.0598343813492,0.999999936075,0.00022802552026,-0.000274842255792,1.77844751113e-05,1793255897806296320
+398,6.633333333,POSE2_TO_POSE3_RETREAT,789.505090073,761,735,732.505090073,687,659,921,807.505090073,840.505090073,663,634,664.505090073,0.400970590765,-0.0153749976769,0.0598342620485,0.99999993556,0.000230295321478,-0.000274835452787,1.76137764282e-05,1793255897822963200
+399,6.650000000,POSE2_TO_POSE3_RETREAT,789.916516664,761,735,733,687,659,921,807.916516664,840.916516664,663,634,664.916516664,0.40097103769,-0.0153740625584,0.0598343169746,0.999999935082,0.000232749995186,-0.000274510929019,1.75162610483e-05,1793255897839630080
+400,6.666666667,POSE2_TO_POSE3_RETREAT,789.341661841,761,735,733,687,659,921,807.341661841,840.341661841,663,634,664.341661841,0.400971935789,-0.0153741107379,0.0598351761895,0.999999935516,0.000233121418798,-0.000272588142832,1.78420683845e-05,1793255897856296704
+401,6.683333333,POSE2_TO_POSE3_RETREAT,789.22901723,761,735,732.77098277,687,659,921,807,840,663,633.77098277,664,0.400972028264,-0.0153742488513,0.059835603076,0.999999935687,0.000233151685947,-0.000271928365728,1.79469789599e-05,1793255897872963584
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,789.61877941,760.61877941,735,732,687,659,921,807,840,663,633,664,0.400970828873,-0.0153748093361,0.059835525617,0.999999935875,0.000231245872981,-0.000272886744282,1.75341887396e-05,1793255897906297344
+404,6.733333333,POSE2_TO_POSE3_RETREAT,789.017833772,760.017833772,735,732,687,659,921,807,840,663,633,664,0.400971280116,-0.0153751118872,0.0598358481358,0.999999936624,0.000229252481567,-0.000271834197515,1.73543594308e-05,1793255897922963968
+405,6.750000000,POSE2_TO_POSE3_RETREAT,789,760.562840539,735,732,687,659,921,807.562840539,840,663,633.562840539,664,0.400970949407,-0.0153732678447,0.0598361670745,0.999999935958,0.000232828393068,-0.000271262250188,1.70595036899e-05,1793255897939630336
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b0017533188428fe416d55019c62fae9bb647a5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+377,6.283333333,pose2_to_pose3_retreat,0.57576338741,-0.00981833034847,1.05002029264,0.546334536254,-0.00114408878537,1.04969199874
+378,6.300000000,pose2_to_pose3_retreat,0.575737172159,-0.00981826837104,1.05002038496,0.546308319697,-0.0011440312049,1.04969209194
+379,6.316666667,pose2_to_pose3_retreat,0.575716179949,-0.00981835005821,1.05002034144,0.546287328486,-0.0011441095272,1.04969204779
+380,6.333333333,pose2_to_pose3_retreat,0.575700031972,-0.009818360629,1.05002043771,0.546271181001,-0.00114411866824,1.04969213784
+381,6.350000000,pose2_to_pose3_retreat,0.575688756082,-0.00981825138341,1.05002057001,0.546259904215,-0.00114401257233,1.04969226715
+382,6.366666667,pose2_to_pose3_retreat,0.575680883,-0.00981808879835,1.05002053362,0.546252029549,-0.00114385504292,1.04969223918
+383,6.383333333,pose2_to_pose3_retreat,0.575676119514,-0.00981809928335,1.05002063776,0.546247265927,-0.00114386622238,1.04969233719
+384,6.400000000,pose2_to_pose3_retreat,0.575673398735,-0.00981811602432,1.05002066671,0.546244545148,-0.00114388305651,1.04969236378
+385,6.416666667,pose2_to_pose3_retreat,0.575672109219,-0.00981814664489,1.05002057938,0.54624325579,-0.0011439130213,1.04969227968
+386,6.433333333,pose2_to_pose3_retreat,0.575670746857,-0.00981817899524,1.05002048712,0.546241893595,-0.00114394467884,1.04969219083
+387,6.450000000,pose2_to_pose3_retreat,0.575669679096,-0.00981820367025,1.05002043434,0.546240826019,-0.00114396863882,1.04969214031
+388,6.466666667,pose2_to_pose3_retreat,0.575669326462,-0.00981820965054,1.05002047921,0.546240473622,-0.00114397383422,1.04969218463
+389,6.483333333,pose2_to_pose3_retreat,0.575668851142,-0.00981821771148,1.05002053971,0.546239998622,-0.00114398083718,1.04969224437
+390,6.500000000,pose2_to_pose3_retreat,0.575668214283,-0.00981822851193,1.05002062076,0.546239362191,-0.00114399022011,1.04969232441
+391,6.516666667,pose2_to_pose3_retreat,0.575668199597,-0.00981822876099,1.05002062263,0.546239347515,-0.00114399043648,1.04969232625
+392,6.533333333,pose2_to_pose3_retreat,0.575667964796,-0.00981823274296,1.05002065251,0.546239112873,-0.00114399389583,1.04969235576
+393,6.550000000,pose2_to_pose3_retreat,0.575667754741,-0.00981823975689,1.05002066156,0.546238902875,-0.00114400071333,1.04969236482
+394,6.566666667,pose2_to_pose3_retreat,0.575667561911,-0.00981825490963,1.05002062522,0.546238709887,-0.00114401637022,1.04969232937
+395,6.583333333,pose2_to_pose3_retreat,0.575667501556,-0.00981825965245,1.05002061385,0.546238649482,-0.00114402127084,1.04969231828
+396,6.600000000,pose2_to_pose3_retreat,0.575667280828,-0.0098182769975,1.05002057226,0.546238428572,-0.00114403919297,1.0496922777
+397,6.616666667,pose2_to_pose3_retreat,0.575667034421,-0.00981829670755,1.05002051461,0.546238182001,-0.0011440594038,1.04969222167
+398,6.633333333,pose2_to_pose3_retreat,0.575667017433,-0.00981829822939,1.05002050538,0.546238165018,-0.00114406089284,1.04969221278
+399,6.650000000,pose2_to_pose3_retreat,0.575666912198,-0.0098183076564,1.05002044816,0.54623805982,-0.00114407011671,1.04969215767
+400,6.666666667,pose2_to_pose3_retreat,0.575666866853,-0.00981831171839,1.05002042351,0.546238014491,-0.00114407409117,1.04969213393
+401,6.683333333,pose2_to_pose3_retreat,0.575666850036,-0.00981831322493,1.05002041436,0.546237997679,-0.00114407556524,1.04969212512
+402,6.700000000,pose2_to_pose3_retreat,0.575666832913,-0.00981831475878,1.05002040505,0.546237980562,-0.00114407706604,1.04969211616
+403,6.716666667,pose2_to_pose3_retreat,0.575666797544,-0.00981829200159,1.05002045167,0.546237945182,-0.00114405448399,1.04969215922
+404,6.733333333,pose2_to_pose3_retreat,0.575666798508,-0.00981824811799,1.05002056343,0.546237946105,-0.00114401101347,1.04969226376
+405,6.750000000,pose2_to_pose3_retreat,0.575666798508,-0.00981824811799,1.05002056343,0.546237946105,-0.00114401101348,1.04969226376
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68515e42036381b0b973341397d07c9622315139
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13be3b5db5399a6ae2ff4f78ac9cd3eb31b35fbb395e88a76591ff8babad7576
+size 25907871
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efdce8f55f373d46924fc9acefc5ec0cfe036feb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+41,0.683333333,BASELINE,789.165288589,761,735,732.834711411,687,659,921,807,840,663,634,664.834711411,0.400974152657,-0.0153786234636,0.0598400057671,0.999999938868,0.000227659898986,-0.000264817381458,1.75018427748e-05,1793255898751650816
+42,0.700000000,BASELINE,789.414851927,761,735,732.585148073,687,659,921,807,840,663,634,664.585148073,0.400973808921,-0.0153791086082,0.0598401260164,0.999999939077,0.000227084745867,-0.000264534965395,1.732332776e-05,1793255898768317440
+43,0.716666667,BASELINE,789.989637818,761,735,732.010362182,687,659,921,807,840,663,634,664.010362182,0.400972873288,-0.0153795475945,0.0598399725677,0.999999938968,0.00022743767689,-0.000264657139773,1.71369780554e-05,1793255898784984064
+44,0.733333333,BASELINE,789.435318,760.435318,735.564682,732,687,659,921,807,840,663,633.435318,664,0.400973431652,-0.0153795895119,0.0598399577928,0.99999993892,0.000227270706944,-0.00026497865449,1.71530857755e-05,1793255898801650688
+45,0.750000000,BASELINE,789.142844702,760,735.857155298,732,687,659,921,807,840,663,633.142844702,664.142844702,0.400974010232,-0.0153793525896,0.0598400485636,0.999999938879,0.000227389871552,-0.000265031811291,1.7168261512e-05,1793255898818317568
+46,0.766666667,BASELINE,789.73070796,760,735.26929204,732,687,659,921,807,840,663,633.73070796,664.73070796,0.400974566342,-0.0153782696799,0.0598404602203,0.999999938852,0.000228430195993,-0.000264237524142,1.71689541386e-05,1793255898834984192
+47,0.783333333,BASELINE,790,760,735,732,687,659,921,807,840,663,634,664.684789094,0.400974279731,-0.0153783227833,0.0598405738609,0.999999938857,0.000228555641956,-0.000264111363602,1.71609861344e-05,1793255898851651072
+48,0.800000000,BASELINE,790,760,735,732,687,659,921,807,840,663,634,664.103126595,0.400973280757,-0.0153793361722,0.0598404355848,0.999999938889,0.000227907730182,-0.000264549978484,1.71456971945e-05,1793255898868317440
+49,0.816666667,BASELINE,789.527305083,760.472694917,735,732,687,659,921,807,840,663,634,664,0.400973069033,-0.0153794407122,0.0598399793207,0.99999993878,0.000227513699705,-0.000265294698487,1.7214601985e-05,1793255898884984320
+50,0.833333333,BASELINE,789.047373594,760.952626406,735,732,687,659,921,807,840,663,634,664,0.400973014772,-0.0153793851483,0.0598394761883,0.999999938654,0.000227160094583,-0.000266065450285,1.72908877342e-05,1793255898901651200
+51,0.850000000,BASELINE,789.62334618,760.37665382,735,732,687,659,921,807,840,663,634,664,0.40097282445,-0.015379728565,0.0598392147346,0.999999938685,0.000226647071507,-0.000266390601917,1.72470771909e-05,1793255898918317824
+52,0.866666667,BASELINE,789.795069502,760.204930498,735,732,687,659,921,807,840.204930498,663,634,664,0.400973145633,-0.0153799016398,0.0598393807661,0.999999938808,0.000226578275535,-0.000265979942474,1.73706734181e-05,1793255898934984192
+53,0.883333333,BASELINE,789.202880695,760.797119305,735,732,687,659,921,807,840.797119305,663,634,664,0.400974433408,-0.0153797528186,0.0598403546188,0.999999939102,0.000227348938039,-0.000264178816711,1.78106191592e-05,1793255898951650816
+54,0.900000000,BASELINE,789.379122014,761,735,732,687,659.379122014,921,807,840.620877986,663,634,664.379122014,0.400974572823,-0.0153793200628,0.059840745831,0.999999938945,0.00022851264968,-0.000263757481637,1.79847880387e-05,1793255898968317696
+55,0.916666667,BASELINE,789.95581641,761,735,732,687,659.95581641,921,807,840.04418359,663,634,664.95581641,0.40097411379,-0.0153787393397,0.0598408334109,0.999999938552,0.00022988119154,-0.000264055198859,1.80204522391e-05,1793255898984984320
+56,0.933333333,BASELINE,789.469211168,760.469211168,735,732.530788832,687,659.469211168,921,807,840,663,634,664.469211168,0.400973231185,-0.0153775935916,0.0598400601143,0.999999938276,0.000229974418627,-0.000265055752703,1.74592268209e-05,1793255899001650944
+57,0.950000000,BASELINE,789,760,735.108410371,732.891589629,687.108410371,659,921,807.108410371,840,663,634,664,0.400972555431,-0.0153768631801,0.0598395105828,0.999999938143,0.000229781846299,-0.000265754038917,1.69998109862e-05,1793255899018317568
+58,0.966666667,BASELINE,789,760,735.698435208,732.301564792,687.698435208,659,921,807.698435208,840,663,634,664,0.400972954747,-0.0153781861778,0.0598402724548,0.999999938607,0.00022878969385,-0.000264850427862,1.72127022347e-05,1793255899034984192
+59,0.983333333,BASELINE,789,760,735.716798656,732.283201344,687.716798656,659,921,808,840,663,634,664,0.400973527923,-0.0153788355224,0.059840830262,0.999999938731,0.000229126494424,-0.000264079065311,1.73302013795e-05,1793255899051650816
+60,1.000000000,BASELINE,789,760,735.137530053,732.862469947,687.137530053,659,921,808,840,663,634,664,0.400974282859,-0.0153787806097,0.0598411747339,0.999999938501,0.000230852622596,-0.000263445959238,1.73479747575e-05,1793255899068317440
+61,1.016666667,BASELINE,789.439321207,760.439321207,735.439321207,733,687,659,921,808,840,663,634,664,0.400975108653,-0.0153790727114,0.0598413082987,0.99999993908,0.000228783849726,-0.000263042826583,1.75051345062e-05,1793255899084984064
+62,1.033333333,BASELINE,789.98432001,761,735.98432001,733,687,659,921,808,840,663,634,664.01567999,0.400975900069,-0.0153794518761,0.059841352487,0.999999939866,0.000225653222005,-0.000262746302245,1.76938564542e-05,1793255899101650944
+63,1.050000000,BASELINE,789.398501241,761,735.398501241,733,687,659,921,808,840,663,634,664.601498759,0.40097463928,-0.0153790683465,0.0598405344432,0.999999939337,0.000226872899211,-0.000263722730228,1.7452280429e-05,1793255899118317568
+64,1.066666667,BASELINE,789.185272254,761,735,732.814727746,687.185272254,659,921,808,840,663,634,664.814727746,0.400974272314,-0.0153792995892,0.0598401967106,0.999999939198,0.000227046572314,-0.00026410835666,1.73195637989e-05,1793255899134984192
+65,1.083333333,BASELINE,789.76469458,761,735,732.23530542,687.76469458,659,921,808,840,663,634,664.23530542,0.400975806872,-0.0153808387049,0.0598408807968,0.99999993989,0.000224994965612,-0.000263237105834,1.74184357634e-05,1793255899151650816
+66,1.100000000,BASELINE,790,761,735,732,688,659,921,807.657582844,840,663,634,664.342417156,0.400974438866,-0.0153802483049,0.0598402435283,0.999999939186,0.000226544943027,-0.000264591249722,1.72324883978e-05,1793255899168317440
+67,1.116666667,BASELINE,790,761,735,732,688,659,921,807.081022572,840,663,634,664.918977428,0.400971086103,-0.015378201753,0.0598387027242,0.99999993751,0.000230557665502,-0.000267467107277,1.68517830123e-05,1793255899184984320
+68,1.133333333,BASELINE,789.505420711,761,735,732,687.505420711,659,921,807,840,663,634,664.505420711,0.400973004561,-0.0153776409177,0.0598393351699,0.99999993769,0.000231786280693,-0.000265718246579,1.70065871355e-05,1793255899201651968
+69,1.150000000,BASELINE,789.071733818,761,735,732.071733818,687,659,921,807.071733818,840,663,634,664,0.400975232939,-0.0153775776456,0.0598401626801,0.999999938202,0.000231877011144,-0.000263689088293,1.72086926297e-05,1793255899218319104
+70,1.166666667,BASELINE,789.661225914,761,735,732.661225914,687,659,921,807.661225914,840,663,634,664,0.400973477491,-0.0153793523218,0.0598398333872,0.999999938942,0.000227040377654,-0.000265094608608,1.71202338815e-05,1793255899234985216
+71,1.183333333,BASELINE,789.753604798,761,735,733,687.246395202,659,921,808,840.246395202,663,633.753604798,664.246395202,0.400972385745,-0.0153796997277,0.0598395470234,0.999999939065,0.000225333473209,-0.000266097438695,1.69507176576e-05,1793255899251651584
+72,1.200000000,BASELINE,789.174276474,761,735,733,687.825723526,659,921,808,840.825723526,663,633.174276474,664.825723526,0.400972190803,-0.0153781185834,0.0598393186662,0.999999938376,0.000227855507824,-0.000266556147536,1.6671675269e-05,1793255899268318208
+73,1.216666667,BASELINE,789.402705045,760.597294955,735.402705045,733,688,659,921,808,840.597294955,663.402705045,633.402705045,664.597294955,0.400974095648,-0.0153790097107,0.0598405464261,0.999999939058,0.000227640161003,-0.000264156036287,1.69185732505e-05,1793255899284984832
+74,1.233333333,BASELINE,789.978676799,760.021323201,735.978676799,733,688,659,921,808,840.021323201,663.978676799,633.978676799,664.021323201,0.40097690394,-0.0153809645505,0.0598424006909,0.999999940318,0.000226247036192,-0.000260525897328,1.73917608339e-05,1793255899301651456
+75,1.250000000,BASELINE,789.447420353,760.552579647,736,732.447420353,687.447420353,659,921,807.447420353,840,663.447420353,634,664,0.400976091133,-0.0153802763803,0.0598419279053,0.999999939995,0.000226439031771,-0.000261600429595,1.73419665293e-05,1793255899318318592
+76,1.266666667,BASELINE,789.130284091,760.869715909,735.869715909,732,687.130284091,659,921,807,840,663,634,664,0.400975496039,-0.0153796681661,0.0598415512862,0.999999939707,0.000226731575607,-0.000262448777157,1.73062950329e-05,1793255899334985216
+77,1.283333333,BASELINE,789.721726308,760.278273692,735.278273692,732,687.721726308,659,921,807,840,663,634,664,0.400976164327,-0.0153797026273,0.0598418317253,0.999999939763,0.000227164321023,-0.00026185630363,1.73917802866e-05,1793255899351651840
+78,1.300000000,BASELINE,789.693335687,760.306664313,735,732,687.693335687,659,921,807.306664313,840,663,634,664,0.400975970666,-0.0153794267374,0.0598419822885,0.999999939664,0.000227591102779,-0.00026186737279,1.72967054865e-05,1793255899368318464
+79,1.316666667,BASELINE,789.114177192,760.885822808,735,732,687.114177192,659,921,807.885822808,840,663,634,664,0.400975011101,-0.0153788750774,0.0598420174471,0.999999939429,0.000228012585354,-0.000262414734807,1.7041189567e-05,1793255899384985088
+80,1.333333333,BASELINE,789.461298242,761,735.461298242,732,687.461298242,659,921,808,840,663,634,664.461298242,0.400974196286,-0.0153785636466,0.0598415960485,0.999999939379,0.000227241765983,-0.000263265573389,1.71434545043e-05,1793255899401651456
+81,1.350000000,BASELINE,790,761,736,732,688,659,921,807.963310741,840,663,634,665,0.400973401554,-0.0153784157761,0.0598410443945,0.999999939356,0.000226233474022,-0.000264209452152,1.73297566841e-05,1793255899418318080
+82,1.366666667,BASELINE,790,761,736,732,688,659,921,807.375605731,840,663,634,665,0.400972374621,-0.0153798384062,0.0598402202057,0.99999993907,0.000226055700456,-0.000265431484124,1.74587386234e-05,1793255899434984960
+83,1.383333333,BASELINE,790,761,735.791117714,732,687.791117714,659,921,807.208882286,840.208882286,663,634,665,0.400972228624,-0.0153805345955,0.0598397984287,0.999999938953,0.000226129581739,-0.000265808316679,1.74763824154e-05,1793255899451651584
+84,1.400000000,BASELINE,790,761,735.212326557,732,687.212326557,659,921,807.787673443,840.787673443,663,634,665,0.40097364267,-0.0153799443335,0.0598400892811,0.999999939136,0.000226649117633,-0.00026468838891,1.72968579145e-05,1793255899468318208
+85,1.416666667,BASELINE,790,761,735,732,687,659,921,807.633404653,840.633404653,663,634,664.633404653,0.400973503506,-0.0153799489633,0.0598399154622,0.999999939255,0.000225809868948,-0.00026496318508,1.71357427796e-05,1793255899484985088
+86,1.433333333,BASELINE,790,761,735,732,687,659,921,807.054407031,840.054407031,663,634,664.054407031,0.400972464424,-0.0153802982685,0.0598394724166,0.999999939336,0.000224183351818,-0.000266046072691,1.69852938881e-05,1793255899501651968
+87,1.450000000,BASELINE,790,761,735.516393947,732,687,659,921,807.516393947,840,663,634,664.516393947,0.400972261137,-0.0153803248327,0.0598396369897,0.999999939111,0.000225196336053,-0.000266010320064,1.73921414387e-05,1793255899518318592
+88,1.466666667,BASELINE,789.910141809,761,735.910141809,732.089858191,687,659,921,808,840,663,634,664.910141809,0.400972546284,-0.0153802125808,0.059840024277,0.999999939024,0.000226238516586,-0.000265432961075,1.77186205238e-05,1793255899534984960
+89,1.483333333,BASELINE,789.316999669,761,735.316999669,732.683000331,687,659,921,808,840,663,634,664.316999669,0.400975081584,-0.0153795103137,0.0598413060007,0.999999939887,0.000225910975776,-0.000262471936837,1.72712413781e-05,1793255899551651328
+90,1.500000000,BASELINE,789.269647678,761,735,733,687.269647678,659,921,808,840,663,634,664,0.400975741568,-0.0153791034646,0.0598416853526,0.999999939913,0.00022646828853,-0.000261900028366,1.71507130985e-05,1793255899568317952
+91,1.516666667,BASELINE,789.848839241,761,735,733,687.848839241,659,921,808,840,663,634,664,0.400974248771,-0.0153790357427,0.0598410288203,0.99999993898,0.000228041374975,-0.000264070721798,1.74053955251e-05,1793255899584984576
+92,1.533333333,BASELINE,790,761,735.425825723,732.574174277,688,659,921,807.574174277,840,663,634,664,0.400972946573,-0.0153782339886,0.0598402271668,0.999999938623,0.000228128032396,-0.000265375274947,1.69411835103e-05,1793255899601651200
+93,1.550000000,BASELINE,790,761,735.997975394,732,688,659.002024606,921,807,840.002024606,663,634,664,0.400971719811,-0.015377181262,0.059839380922,0.999999938471,0.000227692179665,-0.000266365172568,1.62279985609e-05,1793255899618318080
+94,1.566666667,BASELINE,790,761,735.424292974,732,688,659.575707026,921,807,840.575707026,663,634,664,0.400972787271,-0.0153784590608,0.0598404148615,0.999999938798,0.000227941921407,-0.000264877469385,1.69004765975e-05,1793255899634984960
+95,1.583333333,BASELINE,790,761,735.15402313,732.15402313,688,659.84597687,921,807,841,663,634,664,0.400973763229,-0.0153795743499,0.0598411615471,0.999999939094,0.000228165898035,-0.000263531342535,1.74257620723e-05,1793255899651651840
+96,1.600000000,BASELINE,790,761,735.745499868,732.745499868,688,659.254500132,921,807,841,663,634,664,0.400974479308,-0.0153802280822,0.0598410923797,0.999999939306,0.000228316697128,-0.000262587317792,1.75329941465e-05,1793255899668318208
+97,1.616666667,BASELINE,790,761,736,733,687.669931715,659.330068285,921,807.330068285,841,663,634,664,0.400974746915,-0.015379442104,0.0598411651279,0.999999939138,0.000229301460641,-0.000262384364996,1.73082765569e-05,1793255899684984576
+98,1.633333333,BASELINE,790,761,736,733,687.090580811,659.909419189,921,807.909419189,841,663,634,664,0.400974675817,-0.0153775687907,0.0598413450571,0.999999938681,0.000230916072102,-0.000262741103582,1.68328554393e-05,1793255899701651200
+99,1.650000000,BASELINE,790,760.514412424,735.514412424,733,687.485587576,660,921,808,841,663,634,664.485587576,0.400974438059,-0.0153786631471,0.0598410543648,0.999999939165,0.000228294747052,-0.000263180779539,1.69229103654e-05,1793255899718318080
+100,1.666666667,BASELINE,789.937665109,760.062334891,735,732.937665109,687.937665109,659.937665109,921,808,840.937665109,663,634,664.937665109,0.400974259642,-0.0153801132959,0.0598407626206,0.999999939733,0.000225351706519,-0.000263549270173,1.71104799703e-05,1793255899734984960
+101,1.683333333,BASELINE,789.351088697,760.648911303,735,732.351088697,687.351088697,659.351088697,921,808,840.351088697,663,634,664.351088697,0.400974840036,-0.0153799303097,0.0598411955351,0.99999993961,0.000226305099227,-0.00026318982114,1.72368108807e-05,1793255899751652096
+102,1.700000000,BASELINE,789,761,735,732,687.232568434,659,921,807.767431566,840,663,634,664,0.400975128781,-0.015379698384,0.0598414233803,0.999999939468,0.000227104539251,-0.000263033595826,1.73459245382e-05,1793255899768318976
+103,1.716666667,BASELINE,789,761,735,732,687.811873158,659,921,807.188126842,840,663,634,664,0.400974982704,-0.0153793934947,0.0598413454876,0.999999939298,0.000227674451125,-0.000263180356792,1.74293689816e-05,1793255899784985600
+104,1.733333333,BASELINE,789.389489201,761,735,732,687.610510799,659,921,807,840,663,634,664,0.400975161919,-0.015379363436,0.0598414258284,0.999999939502,0.000227091333489,-0.000262912465883,1.7366213146e-05,1793255899801651968
+105,1.750000000,BASELINE,789.966293169,761,735,732,687.033706831,659,921,807,840,663,634,664,0.400975497576,-0.01537946555,0.0598415822676,0.999999939885,0.000225953696158,-0.000262445158882,1.72325537023e-05,1793255899818318592
+106,1.766666667,BASELINE,789.458390176,760.458390176,735,732.541609824,687,659,921,807,840,663,634,664.541609824,0.400976334822,-0.0153784194229,0.0598422651342,0.999999939936,0.000226902734688,-0.00026143159834,1.72528547132e-05,1793255899834984960
+107,1.783333333,POSE1_TO_POSE2_PRESS,789,761,736,732,688,659,921,808,841,663,634,664,0.400974869742,-0.0153794969238,0.0598408286355,0.999999939424,0.000226561804537,-0.000263705259942,1.67606770856e-05,1793255899877625088
+108,1.800000000,POSE1_TO_POSE2_PRESS,789.602220727,761,735.397779273,732,687.397779273,659,921,808,840.397779273,663,634,664,0.400975320991,-0.0153796222238,0.059841304857,0.999999939622,0.000227195158604,-0.000262382979219,1.71353444242e-05,1793255899894292224
+109,1.816666667,POSE1_TO_POSE2_PRESS,790,761,735,732,687,659,921,807.804415444,840,663,634,664,0.400975612184,-0.0153797432237,0.0598418513201,0.999999939833,0.000227471708911,-0.000261316437484,1.741979416e-05,1793255899910959104
+110,1.833333333,POSE1_TO_POSE2_PRESS,790,761,735,732,687,659,921,807.228284274,840,663,634,664,0.400975591959,-0.0153798558571,0.0598425344514,0.999999940075,0.000227054030373,-0.000260747483914,1.75287086135e-05,1793255899927625728
+111,1.850000000,POSE1_TO_POSE2_PRESS,789.652815991,760.652815991,735,732,687,659,921,807,840.347184009,663,634,664,0.400974953977,-0.0153801779262,0.0598418615239,0.9999999398,0.000226679330138,-0.000262124835183,1.75360178345e-05,1793255899944292096
+112,1.866666667,POSE1_TO_POSE2_PRESS,789.077782779,760.077782779,735,732,687,659,921,807,840.922217221,663,634,664,0.400973910576,-0.0153806374434,0.0598402986449,0.99999993918,0.000226332835641,-0.000264779503392,1.74766457774e-05,1793255899960958720
+113,1.883333333,POSE1_TO_POSE2_PRESS,789.510423101,760.510423101,735,732,687.510423101,659,921,807.510423101,840.489576899,663,634,664,0.400974759018,-0.0153795040435,0.0598412118137,0.999999939179,0.000227805358896,-0.000263525200941,1.73472209902e-05,1793255899977624832
+114,1.900000000,POSE1_TO_POSE2_PRESS,789.901238861,761,735,732.098761139,687.901238861,659,921,808,840,663,634,664,0.400975182981,-0.0153785588437,0.059841901294,0.999999939225,0.000228726289907,-0.000262561009469,1.71943254058e-05,1793255899994291456
+115,1.916666667,POSE1_TO_POSE2_PRESS,789.322277121,761,735,732.677722879,687.322277121,659,921,808,840,663,634,664,0.400972104128,-0.0153797402587,0.0598396199134,0.999999939039,0.000225581737164,-0.000265980492815,1.69805898218e-05,1793255900010958080
+116,1.933333333,POSE1_TO_POSE2_PRESS,789,761,735,732.745160928,687.254839072,659,921,808,840,663,634,664,0.400973487815,-0.0153806665571,0.0598401247632,0.999999939388,0.000224284806853,-0.000265755001398,1.717336123e-05,1793255900027624960
+117,1.950000000,POSE1_TO_POSE2_PRESS,789,761,735,732.170361934,687.829638066,659,921,808,840,663,634,664,0.400980474385,-0.0153812725472,0.0598441278288,0.99999994041,0.000225307635389,-0.000260953108494,1.78765172857e-05,1793255900044291840
+118,1.966666667,POSE1_TO_POSE2_PRESS,789.412856273,761,735,732.412856273,688,659,921,808,840,663,634,664.412856273,0.401000695301,-0.0153827504906,0.0598525229583,0.999999944009,0.000225700154696,-0.000246348826337,1.87910602798e-05,1793255900060958464
+119,1.983333333,POSE1_TO_POSE2_PRESS,789.999620973,761,735,732.999620973,688,659,921,808,840,663,634,664.999620973,0.401026490954,-0.0153845957289,0.0598627681678,0.999999948401,0.000225827167367,-0.000227615459988,1.97946463509e-05,1793255900077625344
+120,2.000000000,POSE1_TO_POSE2_PRESS,789.420280529,761,735,733,687.420280529,659,921,808,840.579719471,663,634,665,0.401083608748,-0.0153858033425,0.059881802998,0.99999995511,0.000226724523685,-0.000194742144997,2.12355614233e-05,1793255900094291968
+121,2.016666667,POSE1_TO_POSE2_PRESS,789.159207759,761,735,733,687,659,921,807.840792241,840.840792241,663,634,665,0.401146741936,-0.0153883485362,0.0599007015244,0.999999960541,0.000226538254868,-0.000164557747835,2.28008021916e-05,1793255900110958592
+122,2.033333333,POSE1_TO_POSE2_PRESS,789.737102762,761,735,733,687,659,921,807.262897238,840.262897238,663,634,665,0.401225641272,-0.015394412405,0.05991922666,0.999999964712,0.000223500941626,-0.000141468741175,2.46922537314e-05,1793255900127625984
+123,2.050000000,POSE1_TO_POSE2_PRESS,790,761,735.313448397,732.686551603,687.313448397,659,921,807.313448397,840.313448397,663,634,665,0.401312782748,-0.0154001678484,0.0599334867251,0.999999968232,0.000220496090425,-0.000119417607952,2.56182149263e-05,1793255900144292608
+124,2.066666667,POSE1_TO_POSE2_PRESS,790,761,735.888500893,732.111499107,687.888500893,659,921,807.888500893,840.888500893,663,634,665,0.401406803111,-0.0154056658794,0.0599441871604,0.999999971187,0.000217518332229,-9.82326855096e-05,2.57383775564e-05,1793255900160958208
+125,2.083333333,POSE1_TO_POSE2_PRESS,790,761,735.526060141,732,687.526060141,659,921,808,841,663,634,665,0.401509714667,-0.0154091967469,0.0599484407232,0.99999997203,0.000217916187074,-8.84391819755e-05,2.51009216588e-05,1793255900177624832
+126,2.100000000,POSE1_TO_POSE2_PRESS,790,761,735,732,687,659,921,808,841,663,634,664.938846203,0.401617152359,-0.015412921017,0.0599506522507,0.999999972457,0.000218515213419,-8.21440170933e-05,2.42730219286e-05,1793255900194291456
+127,2.116666667,POSE1_TO_POSE2_PRESS,790,761,735,732,687,659,921,808,841,663,634,664.357781504,0.401744888074,-0.0154223122371,0.0599486863816,0.999999973459,0.000213921667019,-8.22960751075e-05,2.33752989875e-05,1793255900210958848
+128,2.133333333,POSE1_TO_POSE2_PRESS,789.779132187,761,735,732.220867813,687,659,921.220867813,808,841,663,634,664,0.401887027549,-0.015430791718,0.0599475627655,0.999999974548,0.000209650039667,-8.03870482036e-05,2.20998009378e-05,1793255900227625728
+129,2.150000000,POSE1_TO_POSE2_PRESS,789.204353254,761,735,732.795646746,687,659,921.795646746,808,841,663,634,664,0.40205224711,-0.0154378102577,0.0599477887473,0.999999975774,0.000205894244961,-7.51754084629e-05,2.0218968907e-05,1793255900244292352
+130,2.166666667,POSE1_TO_POSE2_PRESS,789,761,735.369899714,732.630100286,687,659,921.630100286,808,841,663,634,664,0.402232731388,-0.0154453391093,0.0599491821711,0.999999977215,0.000201140228593,-6.9087998173e-05,1.84203855785e-05,1793255900260958720
+131,2.183333333,POSE1_TO_POSE2_PRESS,789,761,735.943862576,732.056137424,687,659,921.056137424,808,841,663,634,664,0.402421636791,-0.0154531494861,0.0599512196395,0.999999978731,0.000195835521379,-6.25174497022e-05,1.66671763428e-05,1793255900277624832
+132,2.200000000,POSE1_TO_POSE2_PRESS,789,761,735.466715342,732,687,659,921,808,840.466715342,663,634,664,0.402652975739,-0.0154638995534,0.0599515396554,0.999999980484,0.000188758869648,-5.6462589861e-05,1.46013666691e-05,1793255900294291456
+133,2.216666667,POSE1_TO_POSE2_PRESS,789.121892785,761,735,732,686.878107215,659,921,807.878107215,840,663,634,664.121892785,0.402896077305,-0.0154751907972,0.0599522680087,0.9999999823,0.000181020314287,-4.97376028712e-05,1.25356794516e-05,1793255900310958080
+134,2.233333333,POSE1_TO_POSE2_PRESS,789.701158388,761,735,732,686.298841612,659,921,807.298841612,840,663,634,664.701158388,0.403166054085,-0.0154873168635,0.0599552271771,0.999999984423,0.000171518920311,-4.02883534765e-05,1.05976112758e-05,1793255900327624704
+135,2.250000000,POSE1_TO_POSE2_PRESS,789.721698696,761,735,732,686.278301304,659,921,807,840.278301304,663,634,665,0.403448365195,-0.0154963463591,0.0599514222288,0.999999985545,0.000163696364376,-4.53033266102e-05,7.76780820438e-06,1793255900344291328
+136,2.266666667,POSE1_TO_POSE2_PRESS,789.146817912,761,735,732,686.853182088,659,921,807,840.853182088,663,634,665,0.403743820709,-0.0155020759079,0.0599404089124,0.999999985403,0.000157662909148,-6.57324989027e-05,3.98770330433e-06,1793255900360957696
+137,2.283333333,POSE1_TO_POSE2_PRESS,789,760.562035429,735,732,687,659,921,807,840.562035429,663,634,664.562035429,0.404055398105,-0.0154963264943,0.0599288597125,0.999999989169,0.000119163095916,-8.6387840274e-05,2.77829779159e-07,1793255900377624320
+138,2.300000000,POSE1_TO_POSE2_PRESS,789.025871363,760.025871363,735.025871363,732,687,659.025871363,921,807,840,663,634,664,0.404375280483,-0.015486991904,0.0599174335282,0.999999991679,7.2523382372e-05,-0.000106632820418,-3.42317387171e-06,1793255900394291200
+139,2.316666667,POSE1_TO_POSE2_PRESS,789.607935148,760.607935148,735.607935148,732,687,659.607935148,921,807,840,663,634,664,0.404754831005,-0.0154852226358,0.0599126033457,0.999999989124,9.02816294082e-05,-0.000116388039287,-7.45134627332e-06,1793255900410957824
+140,2.333333333,POSE1_TO_POSE2_PRESS,789.812444567,761,735.812444567,732,686.812444567,659.812444567,921,807.187555433,840,663,634,664,0.405154870656,-0.0154880124713,0.0599125753373,0.999999988165,9.84658994853e-05,-0.00011770850295,-1.09253038732e-05,1793255900427624960
+141,2.350000000,POSE1_TO_POSE2_PRESS,789.237866541,761,735.237866541,732,686.237866541,659.237866541,921,807.762133459,840,663,634,664,0.405597189791,-0.0155002100653,0.0599224566657,0.999999990973,8.68941660917e-05,-0.000101623760115,-1.32556329535e-05,1793255900444291584
+142,2.366666667,POSE1_TO_POSE2_PRESS,789.336754126,761,735,732,686,659,921,808,840,663,634,664,0.406088528493,-0.0155094556493,0.0599466093732,0.999999996545,5.38477372657e-05,-6.16259169687e-05,-1.45754126031e-05,1793255900460957952
+143,2.383333333,POSE1_TO_POSE2_PRESS,789.911404977,761,735,732,686,659,921,808,840,663,634,664,0.406614496643,-0.0155166158153,0.0599808439605,0.999999999858,5.63071428765e-06,-4.73489142192e-06,-1.5181299473e-05,1793255900477624576
+144,2.400000000,POSE1_TO_POSE2_PRESS,789.501823027,761,735,732,686,659,921,807.501823027,840.498176973,663,634,664.498176973,0.407140483166,-0.0155186379561,0.0600011160848,0.999999999497,5.78714747911e-06,2.57094228204e-05,-1.76696133146e-05,1793255900494291200
+145,2.416666667,POSE1_TO_POSE2_PRESS,789.085862472,761,735.085862472,732.085862472,686.085862472,659,921,807.085862472,841,663,634,664.914137528,0.407666692237,-0.0155202685831,0.0600148033054,0.999999998831,9.68207595668e-06,4.26572858387e-05,-2.06237384479e-05,1793255900510957824
+146,2.433333333,POSE1_TO_POSE2_PRESS,789.666087161,761,735.666087161,732.666087161,686.666087161,659,921,807.666087161,841,663,634,664.333912839,0.408194163586,-0.0155250371708,0.0600052302755,0.999999999536,-1.56641217269e-05,9.65263323269e-06,-2.42842942391e-05,1793255900527624704
+147,2.450000000,POSE1_TO_POSE2_PRESS,789.755738476,760.755738476,736,732.755738476,686.755738476,659,921,808,841,663,634,664,0.408745132763,-0.0155284708036,0.0599943087512,0.999999998856,-3.24609573088e-05,-2.06993851477e-05,-2.83918715488e-05,1793255900544291328
+148,2.466666667,POSE1_TO_POSE2_PRESS,789.180343675,760.180343675,736,732.180343675,686.180343675,659,921,808,841,663,634,664,0.40932795675,-0.0155300947036,0.0599815591403,0.999999997617,-3.76678437029e-05,-4.74553564074e-05,-3.31054536512e-05,1793255900560957952
+149,2.483333333,POSE1_TO_POSE2_PRESS,789,760,736,732.400155804,686,659,921,808,841,663,633.599844196,664,0.409969458237,-0.0155321035977,0.0599853750045,0.999999998687,-2.5184283488e-05,-3.33677574303e-05,-2.96498699376e-05,1793255900577624832
+150,2.500000000,POSE1_TO_POSE2_PRESS,789,760,736,732.98298559,686,659,921,808,841,663,633.01701441,664,0.410637746404,-0.0155342882441,0.0599967531267,0.999999999737,-4.62490793292e-06,-6.34776284446e-07,-2.24650035475e-05,1793255900594291456
+151,2.516666667,POSE1_TO_POSE2_PRESS,789.568555475,760.568555475,736,732.431444525,686.568555475,659,921,808,841,663,633.568555475,664,0.411336877447,-0.0155328415146,0.0599999370061,0.999999999717,-2.11131255874e-06,6.19857298695e-06,-2.28694573517e-05,1793255900610957824
+152,2.533333333,POSE1_TO_POSE2_PRESS,789.848508664,760.848508664,736,732,687,659.151491336,921,808,841,663,634,664,0.412028271537,-0.0155312073068,0.0599957126512,0.999999999681,-3.6049067385e-06,-2.20973939757e-06,-2.48871707052e-05,1793255900627624704
+153,2.550000000,POSE1_TO_POSE2_PRESS,789.27317294,760.27317294,736,732,687,659.72682706,921,808,841,663,634,664,0.412695424094,-0.0155293540847,0.0599714508405,0.999999998112,-1.47916411444e-05,-5.10823822474e-05,-3.0779977969e-05,1793255900644291328
+154,2.566666667,POSE1_TO_POSE2_PRESS,789.301991782,760.301991782,736,732,686.698008218,659.698008218,921,808,841,663,634,664,0.413388548032,-0.0155291980289,0.0599463331428,0.999999994264,-2.4572173448e-05,-9.80072604334e-05,-3.55290535106e-05,1793255900660957952
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+157,2.616666667,POSE1_TO_POSE2_PRESS,789.945023808,761,736,732,686.054976192,659,921.945023808,808,841,663,634,664,0.415816318229,-0.0155425110383,0.0600092256108,0.999999998381,-4.24184850298e-05,1.98804783546e-05,-3.22989409241e-05,1793255900710957824
+158,2.633333333,POSE1_TO_POSE2_PRESS,789.366561098,761,736,732,686.633438902,659,921.366561098,808,841,663,634,664,0.416650639454,-0.0155423348763,0.060032376252,0.999999997365,-4.07964919745e-05,5.10824628378e-05,-3.15705049578e-05,1793255900727624704
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+160,2.666666667,POSE1_TO_POSE2_PRESS,789,760.214930709,736,732,687,659,921,808,841.785069291,663,634,664,0.41829967831,-0.015542324751,0.0600180765475,0.999999998243,-3.54899139031e-05,3.3765486224e-05,-3.33784241302e-05,1793255900760957952
+161,2.683333333,POSE1_TO_POSE2_PRESS,789.368065404,760.368065404,736.368065404,732,687,659,921,808,841.631934596,663,634,664.368065404,0.419136315837,-0.0155424172686,0.0599929312425,0.999999998606,-3.6579269597e-05,-8.47701579647e-06,-3.7127989193e-05,1793255900777624576
+162,2.700000000,POSE1_TO_POSE2_PRESS,789.956086601,760.956086601,736.956086601,732,687,659,921,808,841.043913399,663,634,664.956086601,0.419982911776,-0.0155425206784,0.0599654299235,0.999999996521,-4.01910621121e-05,-5.97416145592e-05,-4.21256536472e-05,1793255900794291200
+163,2.716666667,POSE1_TO_POSE2_PRESS,789.463877858,761,737,732,686.463877858,659,921,808,841,663,634,665,0.420811527757,-0.0155386711597,0.0599300764535,0.99999999092,-4.22543724378e-05,-0.000119527319273,-4.56961921305e-05,1793255900810957824
+164,2.733333333,POSE1_TO_POSE2_PRESS,789.115067408,761,737,732,686,659,921,808.115067408,841,662.884932592,634,664.884932592,0.421655917657,-0.0155354219844,0.0599020063463,0.999999984014,-4.42190935204e-05,-0.000166278676633,-4.86726535505e-05,1793255900827624704
+165,2.750000000,POSE1_TO_POSE2_PRESS,789.692222384,761,737,732,686,659,921,808.692222384,841,662.307777616,634,664.307777616,0.422569479594,-0.0155358648277,0.0599057296796,0.999999985222,-4.62897689235e-05,-0.000157924980062,-4.97259575088e-05,1793255900844291328
+166,2.766666667,POSE1_TO_POSE2_PRESS,790,761,737,732.266974349,686.266974349,659,921.266974349,809,840.733025651,662,634,664,0.423517905533,-0.0155407948469,0.0599408350726,0.999999992655,-5.14013421985e-05,-9.88544529257e-05,-4.76962628269e-05,1793255900860957952
+167,2.783333333,POSE1_TO_POSE2_PRESS,790,761,737,732.838980822,686.838980822,659,921.838980822,809,840.161019178,662,634,664,0.42450616553,-0.0155508516988,0.0600117961068,0.999999997148,-5.99872997338e-05,1.81627018362e-05,-4.21440809737e-05,1793255900877624832
+168,2.800000000,POSE1_TO_POSE2_PRESS,789.574484088,760.574484088,737,732.574484088,687,659,922,808.574484088,840,662,633.574484088,664,0.425466932572,-0.015554324512,0.06004095783,0.999999994719,-6.74972585941e-05,6.63369850548e-05,-4.00730143525e-05,1793255900894291200
+169,2.816666667,POSE1_TO_POSE2_PRESS,789.017359205,760,737,732,687,659,922,808.017359205,840.017359205,662,633.017359205,664,0.426416202347,-0.0155551727539,0.0600526422176,0.99999999275,-7.43238606846e-05,8.61110804668e-05,-3.95142937477e-05,1793255900910958080
+170,2.833333333,POSE1_TO_POSE2_PRESS,789.596773488,760,737,732,687,659,922,808.596773488,840.596773488,662,633.596773488,664,0.427341970681,-0.0155545628406,0.0600286804869,0.999999994624,-7.26740827446e-05,5.96334685721e-05,-4.37634591743e-05,1793255900927624704
+171,2.850000000,POSE1_TO_POSE2_PRESS,790,760,737,732,687,659,922,808.825223858,841,662,633.825223858,664,0.428250312364,-0.015553886313,0.0600025743468,0.999999995942,-7.21038184543e-05,2.56781135251e-05,-4.7520697658e-05,1793255900944291328
+172,2.866666667,POSE1_TO_POSE2_PRESS,790,760,737,732,687,659,922,808.250451917,841,662,633.250451917,664,0.429118771044,-0.0155530573304,0.0599715604744,0.999999995682,-7.40041484655e-05,-2.53909364852e-05,-5.01521030805e-05,1793255900960958208
+173,2.883333333,POSE1_TO_POSE2_PRESS,789.668560586,760,737,732,686.668560586,659,922,808.331439414,840.668560586,661.668560586,633,664,0.429987435711,-0.0155512392783,0.059944154449,0.99999999317,-7.52505142651e-05,-7.20734699784e-05,-5.29482128005e-05,1793255900977624576
+174,2.900000000,POSE1_TO_POSE2_PRESS,789.081171424,760,737,732,686.081171424,659,922,808.918828576,840.081171424,661.081171424,633,664,0.430856259408,-0.0155486574302,0.0599195345377,0.999999988897,-7.59918646768e-05,-0.000115368571138,-5.58715131316e-05,1793255900994291200
+175,2.916666667,POSE1_TO_POSE2_PRESS,789,760,737,732,686.499035664,659,922.499035664,809,840,661,633,664,0.431866411267,-0.0155548564764,0.0599647063302,0.99999999481,-8.12806956098e-05,-3.14739502258e-05,-5.27564784217e-05,1793255901010957824
+176,2.933333333,POSE1_TO_POSE2_PRESS,789.077976095,760,737,732.077976095,687.077976095,659,922.922023905,808.922023905,840.077976095,661,633,664,0.432882034225,-0.0155614972387,0.06001421927,0.999999993272,-8.71774932321e-05,5.85337238744e-05,-4.92952203406e-05,1793255901027624448
+177,2.950000000,POSE1_TO_POSE2_PRESS,789.656178401,760,737,732.656178401,687.656178401,659,922.343821599,808.343821599,840.656178401,661,633,664,0.433787376228,-0.0155619391283,0.0600197894222,0.999999992879,-9.22966742237e-05,5.69226829056e-05,-4.98242800355e-05,1793255901044291072
+178,2.966666667,POSE1_TO_POSE2_PRESS,790,760,737.233011886,732.766988114,687.766988114,659,922,808.233011886,841,661.233011886,633,664,0.434677159591,-0.0155634702692,0.0600101532303,0.999999993208,-9.87343356242e-05,3.43103374883e-05,-5.15565243468e-05,1793255901060957952
+179,2.983333333,POSE1_TO_POSE2_PRESS,790,760,737.807837485,732.192162515,687.192162515,659,922,808.807837485,841,661.807837485,633,664,0.435544119548,-0.015566599273,0.0599782102936,0.999999992566,-0.000107106125027,-1.91095947446e-05,-5.50537644328e-05,1793255901077624576
+180,3.000000000,POSE1_TO_POSE2_PRESS,789.608507871,760,737.608507871,732,687,659,922.391492129,809,840.608507871,662,633,664,0.436379627787,-0.0155662030958,0.0599541102679,0.999999990492,-0.000110126851361,-5.96946795808e-05,-5.76599454693e-05,1793255901094291200
+181,3.016666667,POSE1_TO_POSE2_PRESS,789.020419568,760,737.020419568,732,687,659,922.979580432,809,840.020419568,662,633,664,0.437199341819,-0.0155640366731,0.0599339487303,0.999999987708,-0.000110460426015,-9.38344670866e-05,-5.98186618679e-05,1793255901110957824
+182,3.033333333,POSE1_TO_POSE2_PRESS,789,759.440710152,737.559289848,732,687,659,923,809,840.559289848,662,633,664,0.438028032244,-0.0155586507077,0.0599116718567,0.999999982499,-0.000104115339253,-0.000142964039799,-6.102315109e-05,1793255901127624704
+183,3.050000000,POSE1_TO_POSE2_PRESS,789.137771218,759.137771218,737.862228782,732,686.862228782,659,923,809,841,661.862228782,633.137771218,664,0.438872704377,-0.0155557914234,0.0599062381401,0.999999980024,-0.000101678481322,-0.000160817768894,-6.12545178159e-05,1793255901144291072
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+185,3.083333333,POSE1_TO_POSE2_PRESS,790,760,737,732.287837724,686.575675447,659,923,809,841,661.287837724,633.712162276,664,0.44062154631,-0.015565601414,0.059994246681,0.999999991461,-0.000117392519487,-1.38169134479e-05,-5.57317178669e-05,1793255901177624320
+186,3.100000000,POSE1_TO_POSE2_PRESS,790,760,737,732.861367424,687.722734849,659,923,809,841,661.861367424,633.138632576,664,0.441436245249,-0.0155686192627,0.0600253474872,0.999999991329,-0.000116629177646,3.06159028999e-05,-5.29412081393e-05,1793255901194290944
+187,3.116666667,POSE1_TO_POSE2_PRESS,790,759.551123563,737,732.551123563,687.551123563,659,923,809,841,661.551123563,633,664,0.442174580812,-0.0155714099072,0.0600042102263,0.99999999116,-0.000121167366076,6.03749447205e-08,-5.47620215178e-05,1793255901210957824
+188,3.133333333,POSE1_TO_POSE2_PRESS,790,759.039889661,737,732.039889661,686.960110339,658.960110339,922.960110339,809,840.960110339,661,633,664,0.442887771947,-0.0155739841921,0.0599664494424,0.999999988723,-0.000127244813594,-5.46761395556e-05,-5.80807507195e-05,1793255901227624448
+189,3.150000000,POSE1_TO_POSE2_PRESS,790,759.618056003,737,732.618056003,686.381943997,658.381943997,922.381943997,809,840.381943997,661,633,664,0.443590140025,-0.0155746162135,0.059929072686,0.999999983072,-0.000131288490791,-0.000113148850748,-6.17767729108e-05,1793255901244291072
+190,3.166666667,POSE1_TO_POSE2_PRESS,790,760,737,732.804749036,686,658,922.195250964,808.804749036,840.195250964,661,633,664,0.444276790961,-0.0155771887863,0.0598997338602,0.999999975713,-0.000136927097078,-0.000160187227641,-6.45347531646e-05,1793255901260957696
+191,3.183333333,POSE1_TO_POSE2_PRESS,790,760,737,732.229444749,686,658,922.770555251,808.229444749,840.770555251,661,633,664,0.444932848824,-0.0155835386158,0.059886040749,0.99999997014,-0.000145670212333,-0.000184968840722,-6.54668486346e-05,1793255901277624320
+192,3.200000000,POSE1_TO_POSE2_PRESS,790,760,737.353423186,732,686,658,923,808,841,661,632.646576814,664,0.445543383614,-0.0155893642558,0.0598625196469,0.999999959346,-0.000155845658004,-0.000229367400626,-6.64205107071e-05,1793255901294291200
+193,3.216666667,POSE1_TO_POSE2_PRESS,790,760,737.941308844,732,686,658,923,808,841,661,632.058691156,664,0.446123718161,-0.0155948421457,0.0598324786136,0.999999942668,-0.000166971316976,-0.000286779925984,-6.73884799405e-05,1793255901310958080
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+195,3.250000000,POSE1_TO_POSE2_PRESS,790,760,737.89991122,732,686,657.89991122,923,806.89991122,841,661,632,664,0.447324486951,-0.0156179175766,0.0598030274873,0.999999927799,-0.000193067497379,-0.000320008094234,-6.87177370583e-05,1793255901344291072
+196,3.266666667,POSE1_TO_POSE2_PRESS,790,760,737.32261388,732,686,657.32261388,923,806.32261388,841,661,632,664,0.447936100372,-0.0156382496349,0.059825569094,0.999999932774,-0.000221084294173,-0.000285099263051,-6.5513738643e-05,1793255901360957952
+197,3.283333333,POSE1_TO_POSE2_PRESS,790,760,737.253073511,732,686,657,922.746926489,806,841,661,632,664,0.448492893779,-0.0156537616418,0.0598294962548,0.999999929296,-0.000242370869571,-0.00028017718951,-6.45370073684e-05,1793255901377624576
+198,3.300000000,POSE1_TO_POSE2_PRESS,790,760,737.826721495,732,686,657,922.173278505,806,841,661,632,664,0.448980245272,-0.0156631679687,0.0598098440351,0.999999916191,-0.000255132105245,-0.000313240086171,-6.63816107579e-05,1793255901394291200
+199,3.316666667,POSE1_TO_POSE2_PRESS,789.587643502,760,738,732,685.587643502,657,922,806,841,661,632,664,0.449423011206,-0.0156674583751,0.0597744355112,0.999999895034,-0.0002643248897,-0.000367685863258,-6.97972064054e-05,1793255901410957824
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+223,3.716666667,POSE1_TO_POSE2_PRESS,789.657394953,760,738,732,684,655,922,801,841,661,630,664.657394953,0.454741485238,-0.0157060312718,0.0597038572716,0.999999850991,-0.000302969203094,-0.000449596639479,-6.39518774063e-05,1793255901810958080
+224,3.733333333,POSE1_TO_POSE2_PRESS,789.088055605,760,738,732,684,655,922,801,841,661,630,664.088055605,0.454770808853,-0.0157054261087,0.0596996926553,0.99999984819,-0.0003017303635,-0.000456547442206,-6.4367448049e-05,1793255901827624704
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+226,3.766666667,POSE1_TO_POSE2_PRESS,789.092743992,760,738,732,684,655,923,801,841,661,630,664,0.454811195483,-0.0157028216767,0.0596970914759,0.999999846805,-0.000300583587711,-0.000460361155371,-6.40934718805e-05,1793255901860957952
+227,3.783333333,POSE1_TO_POSE2_PRESS,789.668842024,760,738,732,684,655,923,801,841,661,630,664,0.454823731063,-0.0157023271649,0.0596956199352,0.999999845778,-0.000298828979092,-0.000463724091941,-6.40663296819e-05,1793255901877624576
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+229,3.816666667,POSE1_TO_POSE2_PRESS,789.181006581,760.818993419,738,732,684,655,922.181006581,801,841,661,630,664,0.454841614577,-0.0157041807603,0.0596945746189,0.999999844227,-0.000300493111501,-0.000466125537945,-6.30680869046e-05,1793255901910957824
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+236,3.933333333,POSE1_TO_POSE2_PRESS,789.896165875,760,738,732,684,655,922,801,841,661,630,664,0.454850673322,-0.0157003222824,0.059688494638,0.999999841486,-0.000298269615272,-0.000473427179517,-6.26939345171e-05,1793255902027624448
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+239,3.983333333,POSE1_TO_POSE2_PRESS,789.366596022,760,738,732,684,655,922.366596022,800.366596022,841,661,630,664,0.454853224957,-0.0156962213962,0.0596888181396,0.999999842372,-0.000294164420871,-0.000474064220648,-6.31314846992e-05,1793255902077624576
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+241,4.016666667,POSE1_TO_POSE2_PRESS,789.783699835,760.783699835,738,732.783699835,684,655,922,800,841,661,630,664,0.454854231963,-0.0156952508742,0.0596883849638,0.999999842868,-0.000293989265551,-0.000473141881885,-6.30184445073e-05,1793255902110957824
+242,4.033333333,POSE1_TO_POSE2_PRESS,790,760.632570463,737.632570463,732.632570463,684,655,922,800.367429537,841,661,630,664,0.454854102099,-0.0156953983595,0.0596879858959,0.999999842363,-0.00029483996832,-0.0004736791998,-6.30257436342e-05,1793255902127624448
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,789,760.281316456,736,732.281316456,687,659,920.718683544,806.718683544,840,662.281316456,633,665,0.415670432753,-0.0153777795595,0.0598195641398,0.999999936363,0.000196770563313,-0.00029666653953,2.33229898536e-05,1793255903819497472
+342,5.700000000,POSE2_TO_POSE3_RETREAT,789,760.858100003,736,732.858100003,687,659,920.141899997,806.141899997,840,662.858100003,633,665,0.414865946554,-0.0153785665636,0.0598283970253,0.99999993674,0.000193405094046,-0.000297483552744,2.48744496178e-05,1793255903836164096
+343,5.716666667,POSE2_TO_POSE3_RETREAT,789.433003726,760.566996274,736,732.566996274,687,659,920.433003726,806.433003726,840,663,633,665,0.414107178868,-0.0153801185446,0.0598329204269,0.99999993996,0.000190474966824,-0.000288424221221,2.4727225987e-05,1793255903852830720
+344,5.733333333,POSE2_TO_POSE3_RETREAT,789.992503114,760.007496886,736,732,687,659,920.992503114,807,840,662.992503114,633,664.992503114,0.413363009627,-0.0153818341477,0.0598355825427,0.999999943687,0.000187793251881,-0.000277099875391,2.40042783704e-05,1793255903869497600
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,789.184576507,760.815423493,735.815423493,732.184576507,686.815423493,659,920.184576507,807,840,662.184576507,633,664,0.411837823719,-0.0153725944982,0.0597683021537,0.999999900156,0.000197685044342,-0.000400323271453,1.86957802443e-05,1793255903902831360
+347,5.783333333,POSE2_TO_POSE3_RETREAT,789.764062428,760.235937572,735.235937572,732.764062428,686.235937572,659,920.764062428,807,840,662.764062428,633,664,0.411108950322,-0.0153698145686,0.0597297849382,0.999999876977,0.000199250564932,-0.000454016710512,1.46496304495e-05,1793255903919497728
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,789.0843083,760,735,733,686,659,920.0843083,807,840,663,633,664.9156917,0.409832235298,-0.0153776706039,0.0597742160291,0.999999910434,0.000204461009475,-0.000370100643201,1.88043440691e-05,1793255903952830976
+350,5.833333333,POSE2_TO_POSE3_RETREAT,789,760,735,732.5114975,686.4885025,659,920.4885025,807,840,663,633,665,0.409254620702,-0.0153796522341,0.0598112623387,0.999999929483,0.000203614645588,-0.000314724643451,2.2860770697e-05,1793255903969497856
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,789.657743905,760,735.657743905,732,687.657743905,659,920.342256095,807,840,663,633,665,0.408119034837,-0.0153795961561,0.0598450866954,0.999999943323,0.000207553213226,-0.000263787152549,2.63051983959e-05,1793255904002831616
+353,5.883333333,POSE2_TO_POSE3_RETREAT,790,760,736,732,688,659,920,807,840,663,633,665,0.407561696258,-0.0153786545795,0.0598386955897,0.999999940597,0.000209679987408,-0.000272367631978,2.56273308536e-05,1793255904019498752
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,790,760.393371175,735.606628825,732.393371175,687.606628825,659,920,807,840.393371175,663,633,665,0.406512394752,-0.0153786389401,0.059816529233,0.999999933182,0.000205746042192,-0.000301268521713,2.32912025737e-05,1793255904052832256
+356,5.933333333,POSE2_TO_POSE3_RETREAT,790,760.962590315,735.037409685,732.962590315,687.037409685,659,920,807,840.962590315,663,633,665,0.406029755317,-0.0153798824069,0.0598149142014,0.999999934947,0.000202791146749,-0.000297457749326,2.23712406644e-05,1793255904069498624
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,789,760.148210292,735.148210292,732.148210292,687.148210292,659,921,807,840,663,633,664,0.405169750697,-0.015375654164,0.0598199083102,0.999999936607,0.000210586294668,-0.000286214874231,2.28228537193e-05,1793255904102831360
+359,5.983333333,POSE2_TO_POSE3_RETREAT,789,760.726778787,735.726778787,732.726778787,687.726778787,659,921,807,840,663,633,664,0.404758355975,-0.0153732779767,0.0598083505529,0.999999930796,0.000217111658755,-0.000301285829776,2.22854084074e-05,1793255904119498496
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,789,760.549147282,735.549147282,732.450852718,687.549147282,659,921,807,840,663,633,664.549147282,0.403637608595,-0.0153672533631,0.0597604199138,0.999999904054,0.00021956516602,-0.000378557390523,1.9430185495e-05,1793255904169497600
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,790,761,735.792207316,733,687.207792684,659,920,807,840,663,633,664,0.402846853952,-0.0153700342505,0.0597950756593,0.999999919548,0.000250747578968,-0.000312281697908,2.25592920511e-05,1793255904219497728
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,789.992973856,760.992973856,735,732.992973856,687.992973856,659,921,807,840,663,633,664.007026144,0.401306496488,-0.0153834012864,0.0598256695008,0.999999930575,0.000237493306844,-0.000286577791185,1.79156950592e-05,1793255904386164480
+376,6.266666667,POSE2_TO_POSE3_RETREAT,790,761,735,733,688,659,920.416736586,807,840,663,633,664.583263414,0.40124281549,-0.0153824365505,0.0598268191772,0.999999932143,0.000235020934564,-0.000283121061558,1.79613095649e-05,1793255904402831104
+377,6.283333333,POSE2_TO_POSE3_RETREAT,789.829784056,761,735,733,687.829784056,659,920,807,840,663,633,664.829784056,0.401182791595,-0.015381312592,0.0598276284813,0.999999933092,0.000232819199927,-0.000281570812004,1.81309900852e-05,1793255904419497472
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,789.325053777,761,735,732.674946223,687,659,920,807,840,663,633,664,0.401089070105,-0.0153786959857,0.0598275062291,0.999999932014,0.000231314287645,-0.000286559894169,1.86803205997e-05,1793255904452830720
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,789.524853462,760.524853462,735,732.475146538,687.475146538,659,920,807,840,663,633,664.475146538,0.401028296854,-0.0153776058854,0.0598245413312,0.999999931517,0.000228044595932,-0.000290920403209,1.80884429973e-05,1793255904486164480
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,790,760,735,732.615897989,687.384102011,659,920.384102011,807,840,663,633,665,0.400973387161,-0.0153795595593,0.059825419602,0.999999932779,0.000227379009039,-0.00028704882385,1.85153648006e-05,1793255904569497856
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,790,760,735,732.549484555,688,659,920.450515445,807,840,663,633,664.450515445,0.400970223868,-0.0153799834049,0.0598272848999,0.999999934415,0.00022434111213,-0.000283746662298,1.81113061924e-05,1793255904602831360
+389,6.483333333,POSE2_TO_POSE3_RETREAT,790,760,735.137952478,733,688,659,920,807,840,663,633,664,0.400968932292,-0.0153793067362,0.059827357693,0.999999934461,0.000224510751286,-0.000283474026558,1.77426399189e-05,1793255904619497984
+390,6.500000000,POSE2_TO_POSE3_RETREAT,790,760,735.716939837,733,688,659,920,807,840,663,633,664,0.400967893702,-0.0153798401738,0.0598279250489,0.999999934568,0.000224542800655,-0.000283070409021,1.7757768351e-05,1793255904636164864
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8bf92389c7553a73297731b2a70c77609716b5a6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3391a2c199547631e1e9adba742d583a9e3e8317
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:198abc6f98aed005b783694e8c821b974fa3f469874ca33e12302eab5830ad96
+size 25901770
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..71abe2f7071262fca47286497619cb99dc8cf71b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+19,0.316666667,BASELINE,790,761,735.979066967,733,688,659,920.020933033,807,840,663,633,664.979066967,0.40096883989,-0.0153829461202,0.0598351180227,0.999999937492,0.000223556755156,-0.000273380143244,1.73944120117e-05,1793255905391918592
+20,0.333333333,BASELINE,790,761,735.403789603,733,688,659,920.596210397,807,840,663,633,664.403789603,0.400968229465,-0.0153849434858,0.0598350218928,0.999999938042,0.000220600611378,-0.000273744779013,1.77274159376e-05,1793255905408585216
+21,0.350000000,BASELINE,790,761,735,733,688,659,921,807,840,663,633.176287222,664.176287222,0.400967687995,-0.0153858092877,0.0598349863544,0.999999938266,0.000219421883813,-0.00027386818668,1.78525617025e-05,1793255905425251840
+22,0.366666667,BASELINE,790,761,735,733,688,659,921,807,840,663,633.7676649,664.7676649,0.400967308887,-0.0153840106803,0.0598350934865,0.99999993773,0.000222428306886,-0.000273423592369,1.74882792149e-05,1793255905441918464
+23,0.383333333,BASELINE,790,761,735.351746373,733,688,659,920.648253627,807,840,663,633.648253627,665,0.400968383685,-0.0153835916608,0.0598357176633,0.999999937992,0.000223073102085,-0.000271942274376,1.73815798819e-05,1793255905458585088
+24,0.400000000,BASELINE,790,761,735.931106556,733,688,659,920.068893444,807,840,663,633.068893444,665,0.4009703993,-0.0153840653676,0.0598366764179,0.99999993877,0.000222189696699,-0.000269790096183,1.74415616437e-05,1793255905475251712
+25,0.416666667,BASELINE,790,760.493763216,735.493763216,733,687.493763216,659,920.506236784,807,840,663,633,665,0.400969240023,-0.0153848287799,0.0598359258542,0.99999993863,0.000221481175023,-0.000270885890726,1.75392830673e-05,1793255905491918592
+26,0.433333333,BASELINE,790,760,735,733,687.082663127,659,921,807,840,663,633,665,0.40096798256,-0.0153854397168,0.0598351695442,0.999999938467,0.000220727894982,-0.000272095149025,1.76038669905e-05,1793255905508585728
+27,0.450000000,BASELINE,790,760,735,733,687.670499347,659,921,807,840,663,633,665,0.400968743656,-0.015384879899,0.0598357879309,0.999999938938,0.000219556845332,-0.000271318943344,1.74348132167e-05,1793255905525252352
+28,0.466666667,BASELINE,790,760.254656638,735,732.745343362,687.745343362,659,921,807,840,663,633,665,0.40096881984,-0.0153840702146,0.059835867785,0.999999938799,0.000220292124076,-0.000271241409627,1.73461049873e-05,1793255905541918720
+29,0.483333333,BASELINE,790,760.83412151,735,732.16587849,687.16587849,659,921,807,840,663,633,665,0.400968022433,-0.0153829418313,0.0598352607541,0.999999937875,0.000223458877545,-0.000272055014741,1.73598755197e-05,1793255905558585088
+30,0.500000000,BASELINE,789.589024737,761,735,732.410975263,687.410975263,659,921,807.410975263,840,663,633,665,0.400967933336,-0.0153835181266,0.0598355503452,0.999999938139,0.000223243396327,-0.000271246894214,1.7617890114e-05,1793255905575251968
+31,0.516666667,BASELINE,789.013218248,761,735,732.986781752,687.986781752,659,921,807.986781752,840,663,633,665,0.400968128321,-0.0153847781231,0.0598361995474,0.999999938876,0.000221671390831,-0.00026978834273,1.79738644923e-05,1793255905591918592
+32,0.533333333,BASELINE,789.561085396,761,735,733,688,659,921,807.438914604,840,663,633.561085396,665,0.400966339742,-0.0153855116276,0.0598345308168,0.999999938257,0.000220560711736,-0.000272999133711,1.7600783381e-05,1793255905608585472
+33,0.550000000,BASELINE,790,760.860598493,735,732.860598493,688,659,921,807,840,663.139401507,633.860598493,665,0.400965492368,-0.0153861617845,0.0598336353774,0.999999938005,0.000219413068214,-0.000274860713767,1.73122052034e-05,1793255905625252096
+34,0.566666667,BASELINE,790,760.269156682,735,732.269156682,688,659,921,807,840,663.730843318,633.269156682,665,0.400967848187,-0.0153865817809,0.0598354241078,0.999999939074,0.000218110411519,-0.00027199142444,1.73531927011e-05,1793255905641918720
+35,0.583333333,BASELINE,789.68427407,760.31572593,735,732.31572593,688,659,921,807.31572593,840,664,633,665,0.400968512669,-0.0153859155814,0.0598360074785,0.999999939081,0.000219103287913,-0.000271159587927,1.74604515915e-05,1793255905658585344
+36,0.600000000,BASELINE,789.104869315,760.895130685,735,732.895130685,688,659,921,807.895130685,840,664,633,665,0.40096776463,-0.0153843422441,0.0598355841921,0.9999999382,0.00022201328091,-0.000272029331844,1.76230571058e-05,1793255905675251712
+37,0.616666667,BASELINE,789.471315503,761,735,733,688,659,921,807.528684497,840,663.528684497,633,665,0.400968268102,-0.0153841270859,0.0598362700503,0.999999938306,0.00022286318084,-0.000270939250509,1.7681392102e-05,1793255905691918336
+38,0.633333333,BASELINE,789.953177949,760.953177949,735,733,688,659,921,807,840,663,633,665,0.400969071207,-0.0153842133922,0.0598371524621,0.99999993866,0.000223128433323,-0.000269410311215,1.76789034217e-05,1793255905708585216
+39,0.650000000,BASELINE,789.377294523,760.377294523,735,733,688,659,921,807,840,663,633,665,0.400970134841,-0.0153843145648,0.059837486172,0.999999939362,0.000221931769202,-0.000267816410104,1.7249516934e-05,1793255905725252096
+40,0.666666667,BASELINE,789.203363595,760.203363595,735.203363595,732.796636405,687.796636405,659,920.796636405,807,840,663,633,665,0.400969872166,-0.0153843301162,0.0598370070252,0.999999939369,0.00022139453069,-0.000268248615362,1.70172843278e-05,1793255905741918976
+41,0.683333333,BASELINE,789.793093004,760.793093004,735.793093004,732.206906996,687.206906996,659,920.206906996,807,840,663,633,665,0.400967089667,-0.0153841829976,0.0598349835506,0.99999993805,0.000222110119786,-0.000272530173575,1.71596198695e-05,1793255905758585600
+42,0.700000000,BASELINE,789.624009181,760.624009181,735.624009181,732,687,659,920.375990819,807,840,663,633,665,0.400967418679,-0.0153846093516,0.0598353405712,0.999999938125,0.000221979298105,-0.000272344801,1.74130926325e-05,1793255905775252224
+43,0.716666667,BASELINE,789.044803709,760.044803709,735.044803709,732,687,659,920.955196291,807,840,663,633,665,0.400969429393,-0.0153853456547,0.0598369841964,0.999999938955,0.000221391010251,-0.000269745151811,1.77266325805e-05,1793255905791918848
+44,0.733333333,BASELINE,789.53057807,760,735.53057807,732.53057807,687.53057807,659,920.46942193,807,840,663,633,665,0.400969388486,-0.0153859225314,0.05983694156,0.999999939192,0.000220116499341,-0.000269908007953,1.7725724016e-05,1793255905808585472
+45,0.750000000,BASELINE,790,760,735.891927683,732.891927683,687.891927683,659,920.108072317,807,840,663,633,665,0.400969007135,-0.0153861390595,0.0598365892759,0.999999939256,0.000219185836141,-0.000270434199783,1.76157572823e-05,1793255905825252096
+46,0.766666667,BASELINE,790,760,735.303622065,732.303622065,687.303622065,659,920.696377935,807,840,663,633,665,0.400967877307,-0.0153848137256,0.0598354892481,0.999999938776,0.000220038757052,-0.000271545750815,1.71383241022e-05,1793255905841918720
+47,0.783333333,BASELINE,789.72017751,760,735.27982249,732.27982249,687.27982249,659,921,807,840,663,633,665,0.400967685501,-0.0153840004429,0.0598355229841,0.999999938482,0.000221321038678,-0.000271594835808,1.70116025171e-05,1793255905858585856
+48,0.800000000,BASELINE,789.141917328,760,735.858082672,732.858082672,687.858082672,659,921,807,840,663,633,665,0.400968494121,-0.0153837332755,0.0598367659074,0.999999938385,0.000223061244363,-0.000270510774307,1.72589235686e-05,1793255905875253248
+49,0.816666667,BASELINE,789,760,735.565145607,733,688,659,920.565145607,807,840,663,633,665,0.400968305576,-0.0153842104805,0.0598365290992,0.999999938421,0.000222409804523,-0.000270916249973,1.71859486422e-05,1793255905891919360
+50,0.833333333,BASELINE,789,760.011121886,735,733,688,659,920,807,840,663,633.011121886,665,0.400967809582,-0.0153849319978,0.0598358343345,0.999999938501,0.000221012671279,-0.000271774149224,1.70216771457e-05,1793255905908585216
+51,0.850000000,BASELINE,789,760.586370852,735,733,688,659,920,807,840,663,633.586370852,665,0.400968169376,-0.0153857656511,0.0598363221768,0.999999938649,0.000221247361964,-0.000271007036952,1.75105736888e-05,1793255905925252096
+52,0.866666667,BASELINE,789.166056241,760.833943759,735.166056241,732.833943759,688,659,920,807,840,663,633.833943759,665,0.400968331943,-0.0153860239327,0.0598364515605,0.999999938642,0.000221726542572,-0.000270624498259,1.77602658984e-05,1793255905941918720
+53,0.883333333,BASELINE,789.757095611,760.242904389,735.757095611,732.242904389,688,659,920,807,840,663,633.242904389,665,0.400967989752,-0.0153848096817,0.0598356635511,0.99999993824,0.000222831439442,-0.000271226188101,1.73977690673e-05,1793255905958585344
+54,0.900000000,BASELINE,790,760,735.662123967,732.337876033,688,659,920.337876033,807.337876033,840,663,633.337876033,665,0.40096850852,-0.0153842135427,0.0598359993034,0.999999938362,0.000222893988606,-0.000270732335049,1.72980937035e-05,1793255905975251968
+55,0.916666667,BASELINE,790,760,735.088501551,732.911498449,688,659,920.911498449,807.911498449,840,663,633.911498449,665,0.400969628005,-0.0153840486791,0.0598371191384,0.999999938848,0.000222229260028,-0.000269474088377,1.73817968859e-05,1793255905991918592
+56,0.933333333,BASELINE,790,760.490993003,735,733,688,659,921,808,840,663.490993003,633.509006997,665,0.400969732557,-0.0153850800404,0.0598369780673,0.999999939093,0.000221126230906,-0.000269456922416,1.76113204316e-05,1793255906008585216
+57,0.950000000,BASELINE,789.927609911,761,735.072390089,733,688,659,921,808,840.072390089,663.927609911,633.072390089,665,0.400969458589,-0.0153861778912,0.0598364720381,0.999999939162,0.000220249276454,-0.000269902759884,1.78419337808e-05,1793255906025252096
+58,0.966666667,BASELINE,789.340300212,761,735.659699788,733,688,659,921,808,840.659699788,663.340300212,633.659699788,665,0.400967809197,-0.0153861963954,0.059835006246,0.999999938297,0.000221549185069,-0.000272031495588,1.7891073511e-05,1793255906041918976
+59,0.983333333,BASELINE,789,760.756282675,735.756282675,733,687.756282675,659,921,808,840.756282675,663,634,665,0.400967577872,-0.0153863522647,0.0598348121118,0.999999938114,0.000222021729353,-0.000272316971116,1.7922471482e-05,1793255906058585600
+60,1.000000000,BASELINE,789,760.176800603,735.176800603,733,687.176800603,659,921,808,840.176800603,663,634,665,0.400969300191,-0.015386697379,0.0598363699163,0.999999938873,0.000221354429641,-0.000270063022274,1.79294269742e-05,1793255906075252224
+61,1.016666667,BASELINE,789.397152357,760.794304713,735,733,687.397152357,659,921,807.602847643,840,663,633.602847643,665,0.400969500228,-0.015385942463,0.059836689185,0.999999938818,0.000222058725171,-0.000269703634992,1.77429394408e-05,1793255906091918592
+62,1.033333333,BASELINE,789.968677679,761.937355358,735,733,687.968677679,659,921,807.031322321,840,663,633.031322321,665,0.400969031894,-0.0153847045697,0.0598364646644,0.999999938404,0.000223365230765,-0.000270176070476,1.74715191765e-05,1793255906108585216
+63,1.050000000,BASELINE,790,761.452598193,735,733,688,659,921,807.547401807,840,663,633.547401807,665,0.400968943897,-0.0153838621233,0.0598364048085,0.999999938396,0.00022391072133,-0.000269762104511,1.73356870337e-05,1793255906125251840
+64,1.066666667,BASELINE,790,760.870940457,735,733,688,659,921,808,840,663,633.870940457,665,0.400968859729,-0.0153833330901,0.0598364177991,0.999999938449,0.000223995598591,-0.000269499837546,1.72432826259e-05,1793255906141918464
+65,1.083333333,BASELINE,790,760.280283228,735,733,688,659,921,808,840,663,633.280283228,665,0.400968710381,-0.0153838430102,0.0598366571854,0.999999938637,0.000222590855003,-0.000269963964596,1.72780844838e-05,1793255906158585344
+66,1.100000000,BASELINE,789.695483585,760.304516415,735.304516415,733,687.695483585,659,921,807.695483585,840,663,633.304516415,665,0.400968388144,-0.0153840405777,0.0598366532689,0.999999938467,0.000222592465412,-0.000270588694542,1.73019814519e-05,1793255906175251968
+67,1.116666667,BASELINE,789.115973667,760.884026333,735.884026333,733,687.115973667,659,921,807.115973667,840,663,633.884026333,665,0.40096790978,-0.0153839560753,0.0598364296377,0.999999937975,0.000223864083662,-0.000271358456882,1.73160307588e-05,1793255906191919104
+68,1.133333333,BASELINE,789.459725141,761,735.540274859,732.540274859,687.459725141,659.459725141,921,807.459725141,840,663,633.540274859,665,0.400966718357,-0.0153846507817,0.0598363663607,0.999999938406,0.000221947532843,-0.000271343553887,1.73198819262e-05,1793255906208585984
+69,1.150000000,BASELINE,790,761,735,732.035224885,687.964775115,659.964775115,921,807.964775115,840,663,633,665,0.400965464369,-0.0153855642922,0.0598362887436,0.999999939029,0.000219281436646,-0.000271216350975,1.73178212614e-05,1793255906225252608
+70,1.166666667,BASELINE,790,761,735,732.622548886,687.377451114,659.377451114,921,807.377451114,840,663,633,665,0.400966025956,-0.0153868516348,0.0598353575508,0.999999939124,0.000217369448118,-0.00027240601047,1.72630923463e-05,1793255906241918976
+71,1.183333333,BASELINE,789.792845008,761,735,733,687.207154992,659,921,807.207154992,840,663,633.207154992,665,0.400966705371,-0.0153876294549,0.0598352117505,0.999999939235,0.000216674931759,-0.000272546985866,1.7350536966e-05,1793255906258585344
+72,1.200000000,BASELINE,789.213126866,761,735,733,687.786873134,659,921,807.786873134,840,663,633.786873134,665,0.400967596697,-0.0153874909115,0.0598364784594,0.999999939378,0.00021817000878,-0.000270801928955,1.7693677175e-05,1793255906275251712
+73,1.216666667,BASELINE,789.365396229,761,735,732.634603771,688,659,921,807.634603771,840,663,633.634603771,665,0.400968084112,-0.0153864892799,0.0598366348907,0.999999939158,0.000219815628187,-0.000270280384446,1.76847181715e-05,1793255906291918336
+74,1.233333333,BASELINE,789.94322452,761,735,732.05677548,688,659,921,807.05677548,840,663,633.05677548,665,0.400968336702,-0.0153849858709,0.0598361458349,0.999999938728,0.000221548769014,-0.00027047015899,1.74710576324e-05,1793255906308584960
+75,1.250000000,BASELINE,789.483099828,761,735.516900172,732.516900172,687.483099828,659,921,807.516900172,840,663,633,665,0.400968444977,-0.0153859121055,0.0598363668814,0.999999938849,0.000221209801198,-0.000270277457071,1.78373482627e-05,1793255906325252096
+76,1.266666667,BASELINE,789,760.907269746,736,732.907269746,687.092730254,659,921,807.907269746,840,663,633.092730254,665,0.400968443165,-0.0153867521493,0.0598366356459,0.999999938993,0.000220849175062,-0.000270018537545,1.81512663896e-05,1793255906341919232
+77,1.283333333,BASELINE,789,760.317465499,736,732.317465499,687.682534501,659,921,807.317465499,840,663,633.682534501,665,0.400967935531,-0.0153857110464,0.0598367454372,0.999999938942,0.000221582745896,-0.000269628063338,1.78457025763e-05,1793255906358586112
+78,1.300000000,BASELINE,789.267406667,760,735.732593333,732,688,659,921,807.267406667,840,663,634,665,0.400967419892,-0.0153852982062,0.0598365741473,0.999999938735,0.000221890223387,-0.00027015313353,1.76721362875e-05,1793255906375252992
+79,1.316666667,BASELINE,789.846529463,760,735.153470537,732,688,659,921,807.846529463,840,663,634,665,0.40096689492,-0.0153856177323,0.0598360752007,0.999999938346,0.000221701003536,-0.00027174545446,1.7652439621e-05,1793255906391919616
+80,1.333333333,BASELINE,790,760.423658335,735.423658335,732.423658335,687.576341665,659,921,807.576341665,840,663,634,665,0.400966626152,-0.0153864160251,0.0598358964997,0.999999938364,0.000221255130466,-0.00027203498952,1.77347280323e-05,1793255906408586752
+81,1.350000000,BASELINE,790,760.999931948,736,733,687.000068052,659,921,807.000068052,840,663,634,665,0.400966449904,-0.0153873865187,0.0598358333556,0.99999993853,0.000220716912472,-0.000271854687236,1.78537066304e-05,1793255906425253888
+82,1.366666667,BASELINE,790,760.425940602,736,733,687.574059398,659,921,807.574059398,840,663,634,665,0.400967506864,-0.0153848117526,0.0598365392161,0.999999938607,0.000221801416039,-0.000270721908994,1.72901591684e-05,1793255906441920512
+83,1.383333333,BASELINE,790,760.152406522,736,733,688,659,921,807.847593478,840,663,634,665,0.400968467887,-0.0153834949319,0.0598371945953,0.999999938727,0.000222504045683,-0.000269718764376,1.70494971578e-05,1793255906458587136
+84,1.400000000,BASELINE,790,760.743285316,736,733,688,659,921,807.256714684,840,663,634,665,0.400969152901,-0.0153857972088,0.0598377047406,0.999999938972,0.000222108027542,-0.00026908857434,1.77377737202e-05,1793255906475254016
+85,1.416666667,BASELINE,790,761,735.672386494,733,687.672386494,659,921,807,840,663,634,665,0.400968703427,-0.0153859531965,0.0598372057673,0.999999938793,0.000222000750315,-0.000269839460453,1.77745425165e-05,1793255906491920128
+86,1.433333333,BASELINE,790,761,735.093090705,733,687.093090705,659,921,807,840,663,634,665,0.400967382406,-0.0153844603417,0.0598359315595,0.999999938285,0.000222115292332,-0.000271651329719,1.73108039368e-05,1793255906508585984
+87,1.450000000,BASELINE,790,760.517756409,735,732.517756409,687,659,921,807.482243591,840,663,634,665,0.400967382027,-0.0153856428596,0.0598361157252,0.99999993869,0.000220506046447,-0.000271467328996,1.74226884823e-05,1793255906525252864
+88,1.466666667,BASELINE,790,760.058090846,735.058090846,732.058090846,687.058090846,659,921,808,840,663,633.941909154,665,0.400967615587,-0.0153870115467,0.0598365500373,0.999999939185,0.000218916243024,-0.000270916751825,1.75867269513e-05,1793255906541920000
+89,1.483333333,BASELINE,790,760.645523904,735.645523904,732.645523904,687.645523904,659,921,808,840,663,633.354476096,665,0.400967676783,-0.0153854089991,0.0598367193689,0.999999938952,0.00022051106275,-0.00027050796719,1.72217306739e-05,1793255906558587136
+90,1.500000000,BASELINE,790,761,735.770436903,732.770436903,688,659,921,808,840,663,633,664.770436903,0.400967595747,-0.0153850791139,0.059836844109,0.999999938907,0.000220965726964,-0.000270309629029,1.71160812617e-05,1793255906575254016
+91,1.516666667,BASELINE,790,761,735.191561998,732.191561998,688,659,921,808,840,663,633,664.191561998,0.400967298284,-0.0153866857597,0.0598369009967,0.999999939151,0.000219685487692,-0.000270431514145,1.7405063789e-05,1793255906591920384
+92,1.533333333,BASELINE,790,760.613280434,735,732.386719566,688,659,921,808,840,663,633.386719566,664.386719566,0.40096799499,-0.0153871246551,0.0598373723087,0.99999993959,0.000218569701147,-0.000269700519169,1.75583099867e-05,1793255906608586752
+93,1.550000000,BASELINE,790,760.03529228,735,732.96470772,688,659,921,808,840,663,633.96470772,664.96470772,0.400969183404,-0.01538698599,0.059838048592,0.999999940125,0.000217535251569,-0.000268547696129,1.76444220432e-05,1793255906625253120
+94,1.566666667,BASELINE,790,760,735,732.460190427,687.460190427,659,921,808,840,663,634,665,0.400968298409,-0.0153854498657,0.0598370851121,0.9999999394,0.000219436184033,-0.000269727294483,1.71569067928e-05,1793255906641920000
+95,1.583333333,BASELINE,790,760.117334084,735,732.117334084,687,659,921,807.882665916,840,663,634,665,0.400967731761,-0.0153845371847,0.0598363441005,0.999999938929,0.000220751735276,-0.000270417849968,1.68659031333e-05,1793255906658586624
+96,1.600000000,BASELINE,790,760.705329681,735,732.705329681,687,659,921,807.294670319,840,663,634,665,0.400968982972,-0.0153864898586,0.0598369232227,0.99999993982,0.000218953426818,-0.000268538275387,1.75128015816e-05,1793255906675253248
+97,1.616666667,BASELINE,790,761,735.289827569,733,687.289827569,659,920.710172431,807.289827569,840,663,634,665,0.400968869433,-0.0153874371304,0.0598368814559,0.999999940065,0.000217973782788,-0.000268412936635,1.76881523817e-05,1793255906691920128
+98,1.633333333,BASELINE,790,761,735.870811672,733,687.870811672,659,920.129188328,807.870811672,840,663,634,665,0.400967384886,-0.0153873743899,0.059836215953,0.999999939663,0.00021781655717,-0.000270049877643,1.73897932749e-05,1793255906708587008
+99,1.650000000,BASELINE,790,760.552485357,735.552485357,733,688,659,920.447514643,807.552485357,840,663,634,665,0.400967904285,-0.0153881623502,0.0598364615223,0.999999939579,0.000218620440139,-0.000269692511191,1.76729254491e-05,1793255906725253376
+100,1.666666667,BASELINE,790,760,735,733,688,659,921,807,840,663,633.977045938,665,0.400968939871,-0.0153890430336,0.0598369293488,0.999999939555,0.000219744695422,-0.000268840184344,1.80781645722e-05,1793255906741919488
+101,1.683333333,BASELINE,790,760,735,733,688,659,921,807,840,663,633.402552715,665,0.400968609948,-0.0153863067955,0.0598364779014,0.999999938819,0.000221963400552,-0.000269797162629,1.74221601755e-05,1793255906758586624
+102,1.700000000,BASELINE,790,760.17767421,735.17767421,732.82232579,688,659,921,807.17767421,840,663,633.17767421,665,0.400968540494,-0.0153844960238,0.0598365566123,0.999999938424,0.000223473447958,-0.000270037548849,1.70704704264e-05,1793255906775253504
+103,1.716666667,BASELINE,790,760.77132498,735.77132498,732.22867502,688,659,921,807.77132498,840,663,633.77132498,665,0.400969080863,-0.0153848519839,0.0598378765467,0.999999938838,0.000223324362862,-0.000268600226617,1.74312519828e-05,1793255906791919872
+104,1.733333333,BASELINE,790,761,735.645426688,732,688,659,921,808,840,663,634,665,0.40096932485,-0.0153855379666,0.0598378286555,0.999999939098,0.00022203721143,-0.000268696534867,1.74559310051e-05,1793255906808586752
+105,1.750000000,BASELINE,790,761,735.068695933,732,688,659,921,808,840,663,634,665,0.40096938314,-0.0153864307245,0.0598369237549,0.999999939259,0.000220037006014,-0.000269753737146,1.72700254603e-05,1793255906825253120
+106,1.766666667,BASELINE,790,760.49340921,735,732.50659079,688,659,921,808,840,663,634,665,0.40096833545,-0.0153866119808,0.0598359878478,0.999999938897,0.000220141974709,-0.000270992141803,1.75054578839e-05,1793255906841919744
+107,1.783333333,POSE1_TO_POSE2_PRESS,789,761,735,732,688,659,921,808,840,663,634,665,0.400969233404,-0.0153870892053,0.0598381445815,0.999999939885,0.000219782215228,-0.000267605710828,1.7712281549e-05,1793255906884736256
+108,1.800000000,POSE1_TO_POSE2_PRESS,789.583974879,761,735.583974879,732.583974879,688,659,921,808,840,663,634,665,0.400970098101,-0.0153869144899,0.0598382450972,0.999999940511,0.000217464951517,-0.000267167120944,1.75561084783e-05,1793255906901402624
+109,1.816666667,POSE1_TO_POSE2_PRESS,789.834379716,760.834379716,735.834379716,733,688,659,921,808,840.165620284,663,634,665,0.400971131043,-0.0153868634949,0.0598385862755,0.999999940939,0.00021630629995,-0.000266503298183,1.75744715706e-05,1793255906918068992
+110,1.833333333,POSE1_TO_POSE2_PRESS,789.258504488,760.258504488,735.258504488,733,688,659,921,808,840.741495512,663,634,665,0.400972580743,-0.0153871189658,0.0598395235944,0.999999940885,0.000218017624624,-0.000265281555142,1.80251749328e-05,1793255906934735616
+111,1.850000000,POSE1_TO_POSE2_PRESS,789.316356319,760.316356319,735,733,688,659,921,808,840.683643681,663,633.683643681,665,0.400971330794,-0.0153865675572,0.0598384639578,0.999999939842,0.000220519736173,-0.000267137331244,1.80141174696e-05,1793255906951402496
+112,1.866666667,POSE1_TO_POSE2_PRESS,789.890390827,760.890390827,735,733,688,659,921,808,840.109609173,663,633.109609173,665,0.40096788193,-0.0153853589301,0.0598357777631,0.999999937975,0.000223665958436,-0.000271499804793,1.76269470787e-05,1793255906968069376
+113,1.883333333,POSE1_TO_POSE2_PRESS,790,761,735,733,688,659,921,808,840.477998961,663,633.477998961,665,0.400967301557,-0.0153848851328,0.0598355030384,0.99999993779,0.000223962076363,-0.000271949852607,1.7442262669e-05,1793255906984736000
+114,1.900000000,POSE1_TO_POSE2_PRESS,789.932621215,761,735.067378785,732.932621215,688,659,921,808,840.932621215,663,634,665,0.400967877534,-0.0153847831965,0.0598360618553,0.999999938171,0.000223201209257,-0.000271180690172,1.73455390283e-05,1793255907001402880
+115,1.916666667,POSE1_TO_POSE2_PRESS,789.354103263,761,735.645896737,732.354103263,688,659,921,808,840.354103263,663,634,665,0.400972089935,-0.0153861865883,0.0598386264991,0.999999939794,0.000219524786109,-0.000268167288982,1.75535622826e-05,1793255907018069504
+116,1.933333333,POSE1_TO_POSE2_PRESS,789,761,736,732.223282819,687.776717181,659,921,807.776717181,840,663.223282819,634,665,0.400981947866,-0.0153869589442,0.0598434860146,0.99999994189,0.00021854777003,-0.000261027037971,1.79631229638e-05,1793255907034735872
+117,1.950000000,POSE1_TO_POSE2_PRESS,789,761,736,732.798882871,687.201117129,659,921,807.201117129,840,663.798882871,634,665,0.401000713861,-0.0153867355902,0.0598519666005,0.999999944624,0.000221830139898,-0.00024737504433,1.86906888725e-05,1793255907051402240
+118,1.966666667,POSE1_TO_POSE2_PRESS,789.374086558,761,736,733,687,659,921,807,840,663.625913442,634,665,0.401038696054,-0.0153897510902,0.0598665417363,0.999999951043,0.000220501901705,-0.000221104394884,2.0129780736e-05,1793255907068068864
+119,1.983333333,POSE1_TO_POSE2_PRESS,789.949077429,761,736,733,687,659,921,807,840,663.050922571,634,665,0.401086998367,-0.0153945060264,0.0598843899694,0.999999958597,0.000216697522674,-0.000188056856861,2.19509998083e-05,1793255907084735488
+120,2.000000000,POSE1_TO_POSE2_PRESS,790,760.460136761,736,732.460136761,687.539863239,659.539863239,921,807.539863239,840,663.539863239,634,665,0.401153987905,-0.0153975962215,0.0599032101791,0.999999962646,0.000216830446697,-0.000164717517437,2.36628917812e-05,1793255907101402624
+121,2.016666667,POSE1_TO_POSE2_PRESS,790,760,735.871509738,732.128490262,688,659.871509738,921,807.871509738,840,663.871509738,634,665,0.401227328194,-0.0154009463868,0.0599212019077,0.99999996625,0.000216811456297,-0.000140910035886,2.52464888938e-05,1793255907118069760
+122,2.033333333,POSE1_TO_POSE2_PRESS,790,760,735.29573993,732.70426007,688,659.29573993,921,807.29573993,840,663.29573993,634,665,0.401316454848,-0.015405764609,0.0599359809011,0.99999997026,0.000214931873585,-0.000112189179054,2.64204664688e-05,1793255907134736128
+123,2.050000000,POSE1_TO_POSE2_PRESS,790,760.280111115,735,733,688,659.280111115,921,807,840.280111115,663,634,665,0.401411346199,-0.0154106327279,0.0599470052058,0.999999972598,0.00021379587181,-9.14652062482e-05,2.70212734508e-05,1793255907151402496
+124,2.066666667,POSE1_TO_POSE2_PRESS,790,760.856047919,735,733,688,659.856047919,921,807,840.856047919,663,634,665,0.401512325647,-0.0154155535424,0.0599540641782,0.99999997372,0.000213445166997,-7.91867541796e-05,2.70167542159e-05,1793255907168069120
+125,2.083333333,POSE1_TO_POSE2_PRESS,790,761,735,732.557206647,688,659.557206647,921,807.442793353,840.557206647,663,634,665,0.401622726677,-0.015421710275,0.0599514119092,0.999999974219,0.000210492276189,-8.1246542567e-05,2.5585899591e-05,1793255907184735744
+126,2.100000000,POSE1_TO_POSE2_PRESS,789.967509879,761,735.032490121,732,687.967509879,659.032490121,921,808,840,663,634,665,0.401738112543,-0.0154281770217,0.059945850861,0.999999974487,0.000206909358191,-8.74814854508e-05,2.36892438218e-05,1793255907201402368
+127,2.116666667,POSE1_TO_POSE2_PRESS,789.388749608,761,735.611250392,732,687.388749608,659.611250392,921,808,840,663,634,665,0.401884523295,-0.0154329315555,0.0599457934913,0.999999974777,0.000207313072658,-8.35806683294e-05,2.19523584318e-05,1793255907218068992
+128,2.133333333,POSE1_TO_POSE2_PRESS,789.188587462,761,735.811412538,732.188587462,687.188587462,659.811412538,921,808,840,663,634,665,0.402043281076,-0.0154397205534,0.0599465177962,0.999999975795,0.000204590421802,-7.83417953828e-05,2.03764146646e-05,1793255907234735616
+129,2.150000000,POSE1_TO_POSE2_PRESS,789.763012687,761,735.236987313,732.763012687,687.763012687,659.236987313,921,808,840,663,634,665,0.402227300064,-0.0154506719328,0.059948841357,0.999999978237,0.00019547142944,-7.03653471493e-05,1.91297472702e-05,1793255907251402496
+130,2.166666667,POSE1_TO_POSE2_PRESS,790,761,735,732.661888125,687.661888125,659,921,808,840,663,634,665,0.402430355856,-0.0154612124781,0.0599496393521,0.9999999803,0.000186927843198,-6.45047501742e-05,1.72393241315e-05,1793255907268069632
+131,2.183333333,POSE1_TO_POSE2_PRESS,790,761,735,732.086315545,687.086315545,659,921,808,840,663,634,665,0.402646781482,-0.0154714644899,0.0599493659213,0.999999982099,0.000178788371803,-6.01301443592e-05,1.48967821895e-05,1793255907284736256
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+140,2.333333333,POSE1_TO_POSE2_PRESS,789.847442221,761,735.847442221,733,687,659,921,808,841,663,633.847442221,665,0.405585166852,-0.0154950801935,0.0599189212285,0.999999991012,7.00818972383e-05,-0.000113241133702,-1.54917920468e-05,1793255907434736128
+141,2.350000000,POSE1_TO_POSE2_PRESS,789.27164353,761,735.27164353,733,687,659,921,808,841,663,633.27164353,665,0.40607205174,-0.0155043794974,0.0599462182741,0.999999996925,3.80808715067e-05,-6.65029541679e-05,-1.66740802757e-05,1793255907451402496
+142,2.366666667,POSE1_TO_POSE2_PRESS,789.303655572,761,735,732.696344428,687,659,921,807.696344428,841,663,633.303655572,665,0.406584827926,-0.0155098628987,0.0599739261066,0.99999999945,2.02506751001e-05,-1.91148201602e-05,-1.80332524131e-05,1793255907468069120
+143,2.383333333,POSE1_TO_POSE2_PRESS,789.87850855,761,735,732.12149145,687,659,921,807.12149145,841,663,633.87850855,665,0.40712072791,-0.0155119382855,0.0600020008197,0.999999999279,1.50765648392e-05,2.88537990337e-05,-1.95504012317e-05,1793255907484735744
+144,2.400000000,POSE1_TO_POSE2_PRESS,790,761,735.465634541,732.465634541,687.465634541,659,921,807,841,663,634,665,0.40763903446,-0.0155126365058,0.0600064821705,0.999999999274,1.1324913282e-05,2.81000075231e-05,-2.31094744142e-05,1793255907501402368
+145,2.416666667,POSE1_TO_POSE2_PRESS,790,761,736,732.945026712,687.945026712,659,921,807,841,663,634,665,0.408158022948,-0.0155133006879,0.0600032603017,0.999999999538,5.57132696199e-06,1.20121946683e-05,-2.73634096754e-05,1793255907518069248
+146,2.433333333,POSE1_TO_POSE2_PRESS,790,761,736,732.36594748,687.36594748,659,921,807,841,663,634,665,0.408728462132,-0.0155171588334,0.059986875171,0.99999999886,-2.29025599035e-05,-2.57882543697e-05,-3.3025197261e-05,1793255907534736128
+147,2.450000000,POSE1_TO_POSE2_PRESS,790,761,736,732.211603469,686.788396531,659,921,807.211603469,841,663,633.788396531,665,0.409322774161,-0.0155203177296,0.0599783352844,0.999999997242,-4.42525752711e-05,-4.58456810552e-05,-3.81496477848e-05,1793255907551403264
+148,2.466666667,POSE1_TO_POSE2_PRESS,790,761,736,732.786530319,686.213469681,659,921,807.786530319,841,663,633.213469681,665,0.409958075853,-0.0155222760139,0.0599832656916,0.999999997051,-5.33708940234e-05,-3.54383171995e-05,-4.23514897606e-05,1793255907568070400
+149,2.483333333,POSE1_TO_POSE2_PRESS,790,760.629962892,736,733,686,659,921,807.629962892,841,663,633,665,0.410615852458,-0.0155242708982,0.0599914074632,0.999999996473,-6.82309140734e-05,-1.61227821736e-05,-4.6242776694e-05,1793255907584737024
+150,2.500000000,POSE1_TO_POSE2_PRESS,790,760.041388976,736,733,686,659,921,807.041388976,841,663,633,665,0.411286902293,-0.0155262873977,0.0600014458049,0.999999994977,-8.64818722457e-05,8.45374726815e-06,-4.99506556042e-05,1793255907601403136
+151,2.516666667,POSE1_TO_POSE2_PRESS,790,760,736,733,686.538677418,659,921,807.538677418,841,663,633.538677418,665,0.411974763975,-0.0155261579154,0.0599917701362,0.999999999253,-1.90336296705e-05,-1.03693335544e-05,-3.20035894459e-05,1793255907618069504
+152,2.533333333,POSE1_TO_POSE2_PRESS,789.882349682,760.117650318,736.117650318,733,687,659,921,807.882349682,841,663,634,665,0.412664095171,-0.0155233361551,0.0599744996539,0.999999998114,3.78829441146e-05,-4.45941053555e-05,-1.86534858459e-05,1793255907634736128
+153,2.550000000,POSE1_TO_POSE2_PRESS,789.30513466,760.69486534,736.69486534,733,687,659,921,807.30513466,841,663,634,665,0.413354199111,-0.0155106319008,0.0599333871503,0.999999991201,2.8339779591e-05,-0.000126157821438,-2.96582548223e-05,1793255907651402496
+154,2.566666667,POSE1_TO_POSE2_PRESS,789,760.729176998,736.729176998,733,687,659,921,807.270823002,841,663,633.729176998,665,0.414105272003,-0.015508522792,0.0599252387101,0.999999989306,1.24605941033e-05,-0.000141244861699,-3.58124798212e-05,1793255907668068864
+155,2.583333333,POSE1_TO_POSE2_PRESS,789,760.154629377,736.154629377,733,687,659,921,807.845370623,841,663,633.154629377,665,0.414924720905,-0.0155182960052,0.0599540590506,0.999999995934,-1.0524361018e-05,-8.17791495611e-05,-3.65268817043e-05,1793255907684735744
+156,2.600000000,POSE1_TO_POSE2_PRESS,789,760,736,733,687,659,921,808,841,662.568714644,633,665,0.415759170595,-0.0155264470357,0.0599952886441,0.99999999916,-1.9956174768e-05,-8.64779372667e-06,-3.47300902117e-05,1793255907701402368
+157,2.616666667,POSE1_TO_POSE2_PRESS,789,760,736,732.978991229,687,659,921,808,841,662.021008771,633.021008771,665,0.416598481823,-0.015533571785,0.0600389871954,0.999999997035,-2.4114165435e-05,6.56779527743e-05,-3.21557858216e-05,1793255907718068736
+158,2.633333333,POSE1_TO_POSE2_PRESS,789,760,736,732.399295308,687,659,921,808,841,662.600704692,633.600704692,665,0.417420181725,-0.0155292898935,0.0600268248302,0.999999998504,-2.07448236542e-05,3.79449661361e-05,-3.34960052767e-05,1793255907734735360
+159,2.650000000,POSE1_TO_POSE2_PRESS,789.178722485,760.178722485,736,732,687,659,920.821277515,807.821277515,841,662.821277515,634,665,0.418255387458,-0.0155261602768,0.0600117536587,0.999999999158,-1.80173336231e-05,9.8677190553e-06,-3.55256686364e-05,1793255907751401984
+160,2.666666667,POSE1_TO_POSE2_PRESS,789.753025904,760.753025904,736,732,687,659,920.246974096,807.246974096,841,662.246974096,634,665,0.419120486686,-0.0155255810831,0.0599902441913,0.999999998917,-1.67105062202e-05,-1.89715058094e-05,-3.9081333919e-05,1793255907768069376
+161,2.683333333,POSE1_TO_POSE2_PRESS,789.672554436,761,736,732,686.672554436,659,920.327445564,807.327445564,841,662.327445564,633.672554436,664.672554436,0.41996883749,-0.0155243527514,0.0599638768484,0.999999997317,-1.8691401626e-05,-5.61754229979e-05,-4.31435591879e-05,1793255907784736256
+162,2.700000000,POSE1_TO_POSE2_PRESS,789.098047098,761,736,732,686.098047098,659,920.901952902,807.901952902,841,662.901952902,633.098047098,664.098047098,0.420804551357,-0.0155226346369,0.0599338441787,0.999999993631,-2.31529250583e-05,-9.96906038167e-05,-4.75879900963e-05,1793255907801402368
+163,2.716666667,POSE1_TO_POSE2_PRESS,789.490830549,761,736.490830549,732.490830549,686,659,921,808,841,662.509169451,633,664.490830549,0.421628803678,-0.0155196932617,0.059903103323,0.999999985105,-2.26117427461e-05,-0.000163371410533,-5.08747027766e-05,1793255907818068736
+164,2.733333333,POSE1_TO_POSE2_PRESS,789.919347017,760.919347017,736.919347017,733,686,659,921.080652983,808,841,662,633,664.919347017,0.422477101692,-0.0155180538831,0.059885248167,0.999999977191,-2.25931270833e-05,-0.000205691452945,-5.29017291226e-05,1793255907834735616
+165,2.750000000,POSE1_TO_POSE2_PRESS,789.341919837,760.341919837,736.341919837,733,686,659,921.658080163,808,841,662,633,664.341919837,0.42348803392,-0.0155259845052,0.0599476588612,0.999999994171,-3.21341215622e-05,-9.08820634957e-05,-4.86372429604e-05,1793255907851402496
+166,2.766666667,POSE1_TO_POSE2_PRESS,789.234930378,760,736,732.765069622,686.234930378,659,922,808,840.765069622,662,633,664.234930378,0.424487487785,-0.0155318792382,0.0600018760649,0.999999998192,-3.98784657186e-05,2.44301107886e-06,-4.49507928117e-05,1793255907868069120
+167,2.783333333,POSE1_TO_POSE2_PRESS,789.810943014,760,736,732.189056986,686.810943014,659,922,808,840.189056986,662,633,664.810943014,0.425470277006,-0.0155348181788,0.0600441976076,0.999999996015,-4.50143557059e-05,6.45762279042e-05,-4.21035607629e-05,1793255907884735744
+168,2.800000000,POSE1_TO_POSE2_PRESS,789.604638759,760.395361241,736.395361241,732.395361241,687,659,922,808,840.395361241,662,633.395361241,664.604638759,0.426406961453,-0.0155352691379,0.0600466765422,0.999999994842,-4.69874350871e-05,7.89805025168e-05,-4.32482075474e-05,1793255907901402368
+169,2.816666667,POSE1_TO_POSE2_PRESS,789.016113802,760.983886198,736.983886198,732.983886198,687,659,922,808,840.983886198,662,633.983886198,664.016113802,0.427321120188,-0.0155345045307,0.0600296893622,0.999999995347,-4.74152432524e-05,7.00655939177e-05,-4.63431877266e-05,1793255907918068992
+170,2.833333333,POSE1_TO_POSE2_PRESS,789.562699681,760.437300319,737,732.437300319,687,659,922,808,841,662,633.437300319,664,0.42822473533,-0.0155374077364,0.0600059882939,0.99999999669,-5.46758053098e-05,3.44294151242e-05,-4.94526936786e-05,1793255907934735360
+171,2.850000000,POSE1_TO_POSE2_PRESS,790,760,737,732,686.859040774,659,922,808,840.859040774,662,633,664.140959226,0.429117131554,-0.0155388952865,0.0599775513829,0.999999996761,-5.95941104191e-05,-1.26746438852e-05,-5.258425242e-05,1793255907951402240
+172,2.866666667,POSE1_TO_POSE2_PRESS,790,760,737,732,686.281649896,659,922,808,840.281649896,662,633,664.718350104,0.429975711185,-0.0155356800634,0.0599350367451,0.999999992518,-5.6664887261e-05,-9.29560372739e-05,-5.57828237764e-05,1793255907968069120
+173,2.883333333,POSE1_TO_POSE2_PRESS,790,760,737,732,686,659,922,808,840,661.706763938,633,664.706763938,0.43091398943,-0.0155367521241,0.0599334689999,0.999999992393,-5.74640041988e-05,-9.33076105156e-05,-5.66193122089e-05,1793255907984735744
+174,2.900000000,POSE1_TO_POSE2_PRESS,790,760,737,732,686,659,922,808,840,661.134263582,633,664.134263582,0.431928168855,-0.0155419071933,0.05997089716,0.999999996412,-6.18138178356e-05,-1.75377613527e-05,-5.52062633016e-05,1793255908001402624
+175,2.916666667,POSE1_TO_POSE2_PRESS,789.54656387,760,737,732.45343613,686.906872261,659,922,808,840.45343613,661,633,664,0.4328803495,-0.0155437448162,0.0600038870513,0.99999999587,-6.46635822334e-05,3.54638325094e-05,-5.31105013895e-05,1793255908018069248
+176,2.933333333,POSE1_TO_POSE2_PRESS,789,760,737,733,688,659,922,808,841,661.044793466,633,664,0.433809816521,-0.0155446524067,0.0600311412655,0.999999993632,-6.73449791746e-05,7.46692586956e-05,-5.1237629517e-05,1793255908034735616
+177,2.950000000,POSE1_TO_POSE2_PRESS,789,760,737,733,688,659,922,808,841,661.624226079,633,664,0.434694894955,-0.0155465905333,0.0600061660601,0.999999995285,-7.35021072355e-05,3.24662706729e-05,-5.45216098541e-05,1793255908051402240
+178,2.966666667,POSE1_TO_POSE2_PRESS,789.20204607,760,737.20204607,733,687.79795393,659,922,808,841,661.79795393,633,664.20204607,0.435568419871,-0.0155484487069,0.0599793503006,0.999999994936,-8.11031914071e-05,-1.54140622322e-05,-5.75629750557e-05,1793255908068069120
+179,2.983333333,POSE1_TO_POSE2_PRESS,789.776890681,760,737.776890681,733,687.223109319,659,922,808,841,661.223109319,633,664.776890681,0.436420627353,-0.0155501593579,0.0599491384999,0.999999991295,-9.1368543934e-05,-7.37697651409e-05,-6.01566876399e-05,1793255908084735744
+180,3.000000000,POSE1_TO_POSE2_PRESS,789.640707851,759.640707851,737.640707851,733,687,659,922,808,841,661.359292149,633,665,0.437249994414,-0.0155476076739,0.0599234459378,0.999999986493,-8.88584383175e-05,-0.000123649159603,-6.18818150384e-05,1793255908101402112
+181,3.016666667,POSE1_TO_POSE2_PRESS,789.053513028,759.053513028,737.053513028,733,687,659,922,808,841,661.946486972,633,665,0.438064873513,-0.0155423523473,0.0599006199766,0.999999980813,-7.82447286732e-05,-0.000168151941602,-6.30559898291e-05,1793255908118068736
+182,3.033333333,POSE1_TO_POSE2_PRESS,789,759.526448554,737,732.473551446,687,659,922,808,841,661.473551446,633,664.473551446,0.438939961509,-0.0155427379873,0.0599145475516,0.999999984095,-8.36785154641e-05,-0.000144431991624,-6.28268070128e-05,1793255908134735616
+183,3.050000000,POSE1_TO_POSE2_PRESS,789,759.894590465,737.105409535,732.105409535,687.105409535,659,922,808,841,661,633,664,0.43982054348,-0.0155447322343,0.0599394097029,0.999999988728,-8.98942589881e-05,-0.000103235456418,-6.16868022459e-05,1793255908151402752
+184,3.066666667,POSE1_TO_POSE2_PRESS,789,759.316863123,737.683136877,732.683136877,687.683136877,659,922,808,841,661,633,664,0.440698691205,-0.01555139985,0.0599967541955,0.999999993997,-9.24037252905e-05,-1.43821744518e-05,-5.70961186164e-05,1793255908168069376
+185,3.083333333,POSE1_TO_POSE2_PRESS,789,759.258414957,737.741585043,733,687.741585043,658.741585043,922,808,841,661,632.741585043,664,0.441522043441,-0.0155544997684,0.0600191719895,0.999999993788,-9.4239549118e-05,2.15623368917e-05,-5.54730008007e-05,1793255908184736256
+186,3.100000000,POSE1_TO_POSE2_PRESS,789,759.83071796,737.16928204,733,687.16928204,658.16928204,922,808,841,661,632.16928204,664,0.44227883736,-0.0155532661234,0.0599991654812,0.99999999379,-9.5257122311e-05,-6.75968057259e-06,-5.74544871099e-05,1793255908201402624
+187,3.116666667,POSE1_TO_POSE2_PRESS,789,759.583380651,737.416619349,732.583380651,686.583380651,658.416619349,922,808,841,661,632.416619349,664,0.443000325246,-0.0155541607054,0.0599594770603,0.999999990983,-9.92556707751e-05,-6.68899213178e-05,-6.08952250401e-05,1793255908218068992
+188,3.133333333,POSE1_TO_POSE2_PRESS,789,759.008059343,738,732,686,658.991940657,922,807.991940657,841,661,632.991940657,664,0.443706772098,-0.0155560110041,0.0599119668628,0.999999982672,-0.000104568344404,-0.000139667403518,-6.49125348044e-05,1793255908234735616
+189,3.150000000,POSE1_TO_POSE2_PRESS,789,759.587224842,738,732,686,658.412775158,922,807.412775158,841,661,632.412775158,664,0.444398238349,-0.015562239994,0.0598960101696,0.999999978163,-0.000114275750861,-0.00016190120767,-6.63531486993e-05,1793255908251402240
+190,3.166666667,POSE1_TO_POSE2_PRESS,789,760,738,732.165401634,686,658,922,807,841,661,632,664,0.44506555299,-0.0155682242503,0.0598755158743,0.999999970419,-0.000124634017978,-0.000197492379547,-6.80132667378e-05,1793255908268069120
+191,3.183333333,POSE1_TO_POSE2_PRESS,789,760,738,732.741125797,686,658,922,807,841,661,632,664,0.445672953312,-0.0155736013815,0.0598437648523,0.999999952767,-0.000136606919019,-0.000266220041666,-7.02179230739e-05,1793255908284736256
+192,3.200000000,POSE1_TO_POSE2_PRESS,789,760,737.685324093,733,686,658,922,806.685324093,841,661,632,664,0.446286786364,-0.0155789439134,0.059817871048,0.999999939224,-0.000145782798299,-0.000308254657274,-7.26591990924e-05,1793255908301403136
+193,3.216666667,POSE1_TO_POSE2_PRESS,789,760,737.113550272,733,686,658,922,806.113550272,841,661,632,664,0.446905875075,-0.0155842581766,0.0597967627356,0.999999931561,-0.000152673442002,-0.0003284803974,-7.52937992266e-05,1793255908318069504
+194,3.233333333,POSE1_TO_POSE2_PRESS,789,760,737,732.524012254,686,658,922,806,841,661,632,664,0.447532897686,-0.01559652562,0.0598083099814,0.999999933897,-0.00017443547738,-0.000310128152954,-7.48239104856e-05,1793255908334736128
+195,3.250000000,POSE1_TO_POSE2_PRESS,789,760,737.068090636,732.068090636,685.931909364,657.931909364,922,805.931909364,841,661,631.931909364,664,0.448151231353,-0.0156110135993,0.0598246816492,0.999999936301,-0.000199468170327,-0.000286728275609,-7.34727111847e-05,1793255908351402496
+196,3.266666667,POSE1_TO_POSE2_PRESS,789,760,737.64642635,732.64642635,685.35357365,657.35357365,922,805.35357365,841,661,631.35357365,664,0.448689720517,-0.0156292296565,0.0598165656674,0.999999928805,-0.000221394360164,-0.000297141094581,-7.12822166309e-05,1793255908368069120
+197,3.283333333,POSE1_TO_POSE2_PRESS,789,760,737.776226289,732.776226289,685,657,922,805,841,661,631,664,0.449196350951,-0.0156479372765,0.0597960801024,0.999999913449,-0.000244921110002,-0.000328817459409,-7.06773846965e-05,1793255908384735744
+198,3.300000000,POSE1_TO_POSE2_PRESS,789,760,737.200433765,732.200433765,685,657,922,805,841,661,631,664,0.449652864312,-0.0156674181731,0.0597561359251,0.99999988306,-0.000270965700858,-0.000393943543459,-7.25669614112e-05,1793255908401402368
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c69b6884ce5de0bbc51f71c4dfc4cdbb533990ea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_04/fem_node.csv
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--- /dev/null
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0c70d1e53043ef9e00affe840f40a5c82956eefb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,789,760,735,732,688,658,921,807,840,663,633,665,0.400967966185,-0.0153814256034,0.0598344578666,0.99999993757,0.000222824830484,-0.000273791636318,1.57208280864e-05,1793255912083268352
+1,0.016666667,BASELINE,789,760,735,732,688,658.575271998,921,807,840,663.575271998,633,665.575271998,0.400967898493,-0.0153827698556,0.059833938927,0.999999938247,0.000218793470443,-0.000274575753575,1.56255384956e-05,1793255912099934976
+2,0.033333333,BASELINE,789,760,735,732.150471011,688,659,921,807,840,663.849528989,632.849528989,665.849528989,0.400967751345,-0.0153838999745,0.0598335509287,0.999999938741,0.00021582533518,-0.000275126540067,1.55667923032e-05,1793255912116601600
+3,0.050000000,BASELINE,789,760,735,732.725464243,688,659,921,807,840,663.274535757,632.274535757,665.274535757,0.400967380024,-0.0153844259617,0.0598335323537,0.999999938763,0.000215856863467,-0.000275019033205,1.56111455808e-05,1793255912133268480
+4,0.066666667,BASELINE,789,760,735,733,688,659,921,807,840,663,632.308957266,665,0.400967376889,-0.0153846303539,0.0598335847373,0.99999993858,0.000216758653165,-0.000274979433134,1.55529503405e-05,1793255912149935360
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+6,0.100000000,BASELINE,789,760,735,732.519271828,688,659,921,807,840,663,633,665,0.400967406839,-0.0153846218359,0.0598336713247,0.99999993812,0.000218533912017,-0.000275243111717,1.56140060216e-05,1793255912183268608
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+8,0.133333333,BASELINE,789,760,735,732.633578161,688,659,921,807,840,663.633578161,633,665,0.400966729189,-0.0153833569409,0.0598334103639,0.999999937715,0.000219851857379,-0.00027566621612,1.55771520297e-05,1793255912216601088
+9,0.150000000,BASELINE,789,760,735.207850222,733,688,659,921.207850222,807,840,663.792149778,633,665,0.400965836745,-0.0153829059834,0.0598327460207,0.999999937224,0.000220853327956,-0.000276657070298,1.53756894345e-05,1793255912233267968
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+18,0.300000000,BASELINE,789,760,735.555977391,733,688,659,921,807,840.555977391,663,633,665,0.400966761457,-0.0153849549582,0.0598339146045,0.999999938529,0.000217625694872,-0.000274489856265,1.53824715551e-05,1793255912383268096
+19,0.316666667,BASELINE,789,760,735.022782744,733,688,659,921,807,840,663,633,665,0.400965647493,-0.0153847086087,0.0598337023858,0.999999938373,0.000216897795841,-0.000275629067002,1.54026020973e-05,1793255912399935232
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+23,0.383333333,BASELINE,789,760,735,733,688,659,921,807,840,663,632.347378869,665,0.400966540758,-0.015383702736,0.0598337374829,0.999999938781,0.00021605717967,-0.000274814387969,1.53183395307e-05,1793255912466601728
+24,0.400000000,BASELINE,789,760,735,733,688,659,921,807,840,663,632.926998806,665,0.400967741112,-0.0153844447511,0.0598345598729,0.999999939218,0.000216205445088,-0.000273093229261,1.54560330812e-05,1793255912483268352
+25,0.416666667,BASELINE,789,760.505100656,735,733,688,659,921.505100656,807,840,663,633,665,0.400967995452,-0.0153854938951,0.0598348113219,0.99999993946,0.000215787250167,-0.000272536792554,1.54898789616e-05,1793255912499935232
+26,0.433333333,BASELINE,789,760.91768647,735,733,688,659,921.91768647,807.08231353,840,663,633,665,0.400968017524,-0.0153864176608,0.0598348671373,0.999999939561,0.000215534962199,-0.000272363939594,1.55133458617e-05,1793255912516602112
+27,0.450000000,BASELINE,789,760.344470462,735,733,688,659,921.344470462,807.655529538,840,663,633,665,0.400967467357,-0.0153863297607,0.0598342468716,0.999999938992,0.000216758902645,-0.000273477798196,1.55641565105e-05,1793255912533268736
+28,0.466666667,BASELINE,789,760,735,733,688,659,921,807.764306895,840,663,633,665,0.400966809621,-0.0153857391657,0.0598337371838,0.999999938724,0.000216802882394,-0.000274428882624,1.5420815632e-05,1793255912549935104
+29,0.483333333,BASELINE,789,760,735,733,688,659,921,807.173680958,840,663,633,665,0.400965989892,-0.0153843915569,0.0598333940166,0.999999938911,0.000215069946314,-0.000275134843571,1.49850998358e-05,1793255912566601472
+30,0.500000000,BASELINE,789,760,735,733,688,659,921,807,840,663,632.594179375,665,0.40096632573,-0.0153845278073,0.0598337119695,0.999999938892,0.000216242092135,-0.000274276218342,1.51180099262e-05,1793255912583267840
+31,0.516666667,BASELINE,789,760,735,733,688,659,921,807,840,663,632.019311724,665,0.400967142927,-0.0153852821682,0.059834305316,0.999999938781,0.000218624367371,-0.000272765855294,1.54877845674e-05,1793255912599934464
+32,0.533333333,BASELINE,789,760,735.554316146,733,688,659,921,807,840,663,632.554316146,665,0.400967164067,-0.015386946746,0.05983452571,0.999999939546,0.000215257698116,-0.000272640410724,1.54783241706e-05,1793255912616600832
+33,0.550000000,BASELINE,789,760,736,732.870633312,688,659,921,807,840,663,633,665.129366688,0.400967147076,-0.0153881260814,0.0598346434609,0.999999940086,0.000212500667984,-0.000272827424112,1.54026725546e-05,1793255912633267200
+34,0.566666667,BASELINE,789,760,736,732.290475273,688,659,921,807,840,663,633,665.709524727,0.400967093638,-0.015387504287,0.0598344487169,0.999999939773,0.000212564349083,-0.00027393547588,1.51423071004e-05,1793255912649933824
+35,0.583333333,BASELINE,789,760,735.705299614,732.294700386,688,659,921,807,840,663,633,665.705299614,0.400967476552,-0.0153867834159,0.0598346884853,0.999999939572,0.000213912553523,-0.000273620735577,1.5145456384e-05,1793255912666600448
+36,0.600000000,BASELINE,789,760,735.115092538,732.884907462,688,659,921,807,840,663,633,665.115092538,0.400968297013,-0.0153859631971,0.0598353639551,0.999999939475,0.00021654879579,-0.00027187931055,1.54128413548e-05,1793255912683267072
+37,0.616666667,BASELINE,789,760,735.467230743,733,688,659,921,807.467230743,840,663,633,665,0.400967538359,-0.0153854557538,0.0598345989842,0.999999939162,0.000216848798447,-0.000272797420293,1.52944982304e-05,1793255912699933952
+38,0.633333333,BASELINE,789,760,736,733,688,659,921,807.952859793,840,663,633,665,0.400966442494,-0.0153850894302,0.0598335888048,0.999999938805,0.000216685762266,-0.000274242941356,1.51241147356e-05,1793255912716600320
+39,0.650000000,BASELINE,789,760,736,733,688,659,921,807.378586121,840,663,633,665,0.400965853365,-0.0153854538924,0.059833738518,0.999999938548,0.000217673331512,-0.000274381942978,1.54166654728e-05,1793255912733267200
+40,0.666666667,BASELINE,789,760,735.799918379,732.799918379,688,659,921,807,840,663,633,665,0.400966017436,-0.0153858292575,0.0598342999985,0.999999938747,0.000217556692337,-0.000273732125625,1.56832029338e-05,1793255912749934592
+41,0.683333333,BASELINE,789,760,735.212749704,732.212749704,688,659,921,807,840,663,633,665,0.400967638682,-0.0153862257161,0.0598356581027,0.999999939824,0.000215303800995,-0.000271556222997,1.58994139039e-05,1793255912766602240
+42,0.700000000,BASELINE,789,760,735,732,688,659,921,807,840,663,633,665,0.4009674288,-0.0153852159322,0.0598355876757,0.999999939609,0.000216057081425,-0.000271771386271,1.55473379283e-05,1793255912783268864
+43,0.716666667,BASELINE,789,760,735,732,688,659,921,807,840,663,633,665,0.400966178446,-0.0153834071032,0.0598347055389,0.999999938655,0.000218518507464,-0.00027334518407,1.4872353981e-05,1793255912799935232
+44,0.733333333,BASELINE,789,760,735,732,688,659,921,807,840,663,633,665,0.400967055618,-0.0153841610347,0.059835271373,0.999999939161,0.000217340939873,-0.000272420590859,1.5125720806e-05,1793255912816601856
+45,0.750000000,BASELINE,789,760,735,732,688,659,921,807,840,663,633,665,0.400967864413,-0.0153850594734,0.0598357860212,0.999999939688,0.00021607191905,-0.000271477787262,1.54143354496e-05,1793255912833268736
+46,0.766666667,BASELINE,789,760,735,732,688,659,921,807,840,663,633,665,0.40096740441,-0.0153854542541,0.0598354161419,0.999999939668,0.000216031789762,-0.000271580034421,1.54432699429e-05,1793255912849935360
+47,0.783333333,BASELINE,789,760,735,732.260599074,688,659,921,807,840,663,633,665,0.400967369543,-0.0153862232985,0.0598354480918,0.999999939853,0.000215250540954,-0.00027151485266,1.54882838791e-05,1793255912866602240
+48,0.800000000,BASELINE,789,760,735,732.849670674,688,659,921,807,840,663,633,665,0.400967870541,-0.0153874640841,0.059835986528,0.999999940295,0.000213535146835,-0.000271238634857,1.55535651791e-05,1793255912883268352
+49,0.816666667,BASELINE,789,760.431205482,735,733,688,659,921,807,840,663,633,665,0.40096670074,-0.0153867104978,0.0598350996809,0.999999939717,0.000214364283975,-0.000272723509137,1.537246631e-05,1793255912899934976
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+51,0.850000000,BASELINE,789,760.41340236,735.58659764,733,687.41340236,659,921,807,840,663,633,665,0.400965487045,-0.015386232446,0.0598340023408,0.999999938994,0.000215749497816,-0.000274291771742,1.50975039291e-05,1793255912933267712
+52,0.866666667,BASELINE,789,760,735.837518315,733,687.162481685,659,921,807,839.837518315,663,633,665,0.400965958543,-0.0153865490003,0.0598343030405,0.999999939331,0.000215173727754,-0.000273519911406,1.5024952402e-05,1793255912949934080
+53,0.883333333,BASELINE,789,760,735.263152869,733,687.736847131,659,921,807,839.263152869,663,633,665,0.400966384588,-0.0153853420082,0.059834733888,0.999999940034,0.000213850726869,-0.000271995656115,1.48036204296e-05,1793255912966600960
+54,0.900000000,BASELINE,789,760,735,733,688,659,921,807,839.320414822,663,633,665,0.400966688122,-0.0153854133403,0.0598349927832,0.999999939996,0.000214581716653,-0.000271544634323,1.50096342095e-05,1793255912983268096
+55,0.916666667,BASELINE,789,760,735,733,688,659,921,807,839.911763649,663,633,665,0.400966888066,-0.0153865655885,0.0598351062801,0.999999939331,0.000217049504804,-0.000272001109486,1.55769998749e-05,1793255912999935488
+56,0.933333333,BASELINE,789,760,735,733,688,659,921,807,840,663,633,665,0.400966176331,-0.0153862388865,0.059834786125,0.999999939087,0.000216928656086,-0.000272989823632,1.56169880641e-05,1793255913016601600
+57,0.950000000,BASELINE,789,760,735.069532237,733,688,659,921,807,840,663,633,665.069532237,0.400965484346,-0.0153857228561,0.059834471738,0.999999938953,0.000216434134443,-0.000273874727682,1.55613508991e-05,1793255913033267456
+58,0.966666667,BASELINE,789,760,735.644695245,733,688,659,921,807,840,663,633,665.644695245,0.400966098691,-0.0153857162315,0.0598347523555,0.999999939085,0.000216523725512,-0.000273325944024,1.54829281374e-05,1793255913049934080
+59,0.983333333,BASELINE,789,760,735.775041056,733,688,659,921,807,840,663,633,665.550082113,0.400966641774,-0.0153855709422,0.059834934779,0.999999939202,0.000216517578755,-0.000272905163052,1.54747576979e-05,1793255913066600448
+60,1.000000000,BASELINE,789,760,735.186534227,733,688,659,921,807,840,663,633,664.373068454,0.400967069692,-0.0153852015621,0.0598349585147,0.999999939293,0.000216356713629,-0.000272691242431,1.55801194432e-05,1793255913083267072
+61,1.016666667,BASELINE,789.395573519,760,735,733,688,659,921,807,840,663,633,664.395573519,0.400968090994,-0.015385778429,0.0598356756262,0.999999939873,0.000215260942127,-0.000271432330729,1.55063467722e-05,1793255913099933952
+62,1.033333333,BASELINE,789.974711754,760,735,733,688,659,921,807,840,663,633,664.974711754,0.400969387654,-0.015386794399,0.0598367144968,0.999999940676,0.000213731330108,-0.000269688494032,1.5349447301e-05,1793255913116600832
+63,1.050000000,BASELINE,789.448782064,760,735,733,688,659,921,807.551217936,840,663,633,665,0.400968547125,-0.0153866187518,0.0598360894467,0.999999940299,0.000214292315305,-0.000270643008931,1.52834165126e-05,1793255913133267456
+64,1.066666667,BASELINE,789,760,735.126865293,733,688,659,921,807.873134707,840.126865293,663,633,665.126865293,0.400967968031,-0.0153863678171,0.0598356112525,0.999999939903,0.000215237615265,-0.000271353233816,1.52976016593e-05,1793255913149934592
+65,1.083333333,BASELINE,789,760,735.699914806,733,688,659,921,807.300085194,840.699914806,663,633,665.699914806,0.400968651596,-0.0153860434494,0.0598359167461,0.999999939633,0.000217198834027,-0.000270770984868,1.55793136987e-05,1793255913166601472
+66,1.100000000,BASELINE,789,760,736,732.717832161,688,659,921.282167839,807,840.717832161,663,633,665.717832161,0.400968819352,-0.0153860623577,0.0598358568341,0.999999939591,0.000217406445616,-0.000270754422066,1.56136118921e-05,1793255913183268352
+67,1.116666667,BASELINE,789,760,736,732.125461214,688,659,921.874538786,807,840.125461214,663,633,665.125461214,0.40096842005,-0.0153864586489,0.0598353952111,0.999999939803,0.000215686217256,-0.000271359750168,1.53759139943e-05,1793255913199934976
+68,1.133333333,BASELINE,789,760,736,732.454068474,688,659,921.545931526,807,840,663,633,665,0.400969458559,-0.0153866569224,0.0598360287999,0.999999939923,0.000216167190118,-0.000270524573644,1.55462570303e-05,1793255913216601344
+69,1.150000000,BASELINE,789,760,735.969753024,732.969753024,688,659,921,807,840,663,633,665,0.400970753034,-0.0153867943415,0.0598369134349,0.999999940029,0.00021710464164,-0.000269363951228,1.58058091829e-05,1793255913233267968
+70,1.166666667,BASELINE,789,760,735.391776556,732.391776556,688,659,921,807,840,663,633,665,0.400969686492,-0.0153867932999,0.0598370149981,0.999999940369,0.000215597503166,-0.00026931928249,1.56953353604e-05,1793255913249934848
+71,1.183333333,BASELINE,789,760,735,732.189272999,688,659,921,807,840,663,633,665,0.400968822979,-0.0153867962696,0.0598370211753,0.999999940474,0.000214872623402,-0.000269513552554,1.56581931167e-05,1793255913266601472
+72,1.200000000,BASELINE,789,760,735,732.776788633,688,659,921,807,840,663,633,665,0.400968386651,-0.0153868076793,0.0598368266543,0.999999940085,0.000215793666294,-0.000270210565308,1.5775345239e-05,1793255913283268608
+73,1.216666667,BASELINE,789,760,735,732.640600189,688,659,921,807,840,663,633,665,0.400968405502,-0.0153872177227,0.0598364722709,0.999999940298,0.000214279569042,-0.000270642306573,1.55238144296e-05,1793255913299935488
+74,1.233333333,BASELINE,789,760,735,732.060994033,688,659,921,807,840,663,633,665,0.400968703244,-0.0153878720114,0.0598360199388,0.999999940872,0.000211273447273,-0.000270911514416,1.50463894472e-05,1793255913316602112
+75,1.250000000,BASELINE,789,760,735.516985625,732.516985625,688,659,921,807,840,663,633,665,0.40096745029,-0.0153894659902,0.0598354108755,0.999999940507,0.000211502987163,-0.000272039855444,1.56782611434e-05,1793255913333268480
+76,1.266666667,BASELINE,788.906018499,760,735.906018499,732.906018499,688,659,921,807,840,663,633,665,0.400966445709,-0.0153905012376,0.0598350214034,0.999999940123,0.000212259572306,-0.000272829239605,1.62431910329e-05,1793255913349934592
+77,1.283333333,BASELINE,788.333061557,760,735.333061557,732.333061557,688,659,921,807,840,663,633,665,0.400967636441,-0.0153881256689,0.0598358450202,0.999999940205,0.000213762786073,-0.000271376171638,1.58020422733e-05,1793255913366600704
+78,1.300000000,BASELINE,788.247570508,760,735,732,688,659,921,807,840,663,633,665.247570508,0.400968546176,-0.015386820731,0.059836351916,0.999999940196,0.000215053327509,-0.000270404699115,1.55511762367e-05,1793255913383267328
+79,1.316666667,BASELINE,788.838858368,760,735,732,688,659,921,807,840,663,633,665.838858368,0.400969065786,-0.0153870022156,0.0598364190882,0.999999940063,0.000216048602751,-0.000270101855272,1.55644914373e-05,1793255913399933952
+80,1.333333333,BASELINE,789,760,735,732.421578625,688,659,921,807,840,663,633,665.578421375,0.400969152489,-0.0153869259898,0.0598363173481,0.999999940369,0.000215535517736,-0.000269380830039,1.55353660102e-05,1793255913416600832
+81,1.350000000,BASELINE,789,760,735.001080163,733,688,659,921,807,840,663,633,665.001080163,0.400969073658,-0.0153867554558,0.0598361505279,0.999999940835,0.000214458617154,-0.000268510080873,1.54908006751e-05,1793255913433267968
+82,1.366666667,BASELINE,789,760,735.57571447,733,688,659,921,807,840,663,633,665.57571447,0.400967211997,-0.0153877719602,0.059835026878,0.999999940162,0.000214044030373,-0.000271322000067,1.56900803118e-05,1793255913449934848
+83,1.383333333,BASELINE,789,760,736,733,688,659,921,807.153845752,840,663,633,665.846154248,0.400966176523,-0.0153884099735,0.0598344960107,0.999999939751,0.000213765049082,-0.000273045165771,1.57753957792e-05,1793255913466601472
+84,1.400000000,BASELINE,789,760,736,733,688,659,921,807.741845664,840,663,633,665.258154336,0.400967472556,-0.0153879798818,0.0598356379814,0.9999999401,0.000213868747662,-0.000271695859539,1.55391033349e-05,1793255913483268352
+85,1.416666667,BASELINE,789,760,735.674934438,733,688,659,921,807.674934438,840.325065562,663,633,665,0.400967631401,-0.0153866821553,0.0598358760116,0.999999940046,0.000214436149364,-0.000271462957602,1.52488447106e-05,1793255913499934720
+86,1.433333333,BASELINE,789,760,735.095455665,733,688,659,921,807.095455665,840.904544335,663,633,665,0.400966900223,-0.0153847053727,0.0598354065707,0.999999939677,0.000215366469235,-0.000272103811799,1.49163493617e-05,1793255913516600832
+87,1.450000000,BASELINE,789,760,735,733,688,659,921.482169034,807,840.517830966,663,633,665,0.400966803873,-0.0153871001774,0.0598349937641,0.999999940058,0.000213869081453,-0.000271864749721,1.52587163234e-05,1793255913533267456
+88,1.466666667,BASELINE,789,760,735,733,688,659,921.940951218,807.059048782,840,663,633,665,0.400966812224,-0.0153899332788,0.0598346547265,0.999999940508,0.000212099042389,-0.000271574950149,1.56515598807e-05,1793255913549934080
+89,1.483333333,BASELINE,789,760,735,733,688,659,921.36737653,807.63262347,840,663,633,665,0.400966641984,-0.0153890732439,0.0598348611584,0.999999940295,0.000212125082493,-0.000272355120433,1.5324531177e-05,1793255913566600960
+90,1.500000000,BASELINE,789,760,735,733,688,659,921.212384606,807.787615394,840,663,633,665.212384606,0.400967226063,-0.0153882389654,0.0598355316424,0.999999940309,0.000212471583181,-0.000272041885802,1.51700029196e-05,1793255913583268096
+91,1.516666667,BASELINE,789,760,735,733,688,659,921.80316787,807.19683213,840,663,633,665.80316787,0.400969154083,-0.0153874505759,0.0598370289128,0.999999940724,0.000213389037935,-0.000269780567559,1.53228130616e-05,1793255913599935232
+92,1.533333333,BASELINE,789,760.386507477,735.386507477,733,688,659,921.613492523,807,840,663.386507477,633,665.613492523,0.400969962033,-0.0153871527971,0.059837447418,0.999999940555,0.000214991116744,-0.000269119341475,1.56032363808e-05,1793255913616601344
+93,1.550000000,BASELINE,789,760.96612802,735.96612802,733,688,659,921.03387198,807,840,663.96612802,633,665.03387198,0.400970210356,-0.0153871001449,0.0598373269335,0.999999940093,0.000216935258485,-0.000269257578895,1.5947419856e-05,1793255913633267200
+94,1.566666667,BASELINE,789,760.458431456,736,733,688,659,921,807,840,663.458431456,633,665,0.400968138894,-0.0153873279932,0.0598359841267,0.999999940113,0.000214460724156,-0.000271178726798,1.55560179129e-05,1793255913649933824
+95,1.583333333,BASELINE,788.880956083,760,735.880956083,733,688,659,921,807,840,663,633,665,0.400966794124,-0.0153873499257,0.0598349899346,0.999999940135,0.000212687091567,-0.000272508339834,1.5277983123e-05,1793255913666600704
+96,1.600000000,BASELINE,788.294471757,760,735.294471757,733,688,659,921,807,840,663,633,665,0.400968868148,-0.015386494945,0.059835662508,0.999999940078,0.00021474249392,-0.000271080713156,1.56243650227e-05,1793255913683267328
+97,1.616666667,BASELINE,788.288616487,760.288616487,735,733,688,659,921,807,840,663,633,665,0.400969380249,-0.0153862734911,0.0598362864247,0.999999940262,0.000214928596853,-0.000270255709005,1.55977737627e-05,1793255913699934208
+98,1.633333333,BASELINE,788.868280014,760.868280014,735,733,688,659,921,807,840,663,633,665,0.400968317274,-0.015386690899,0.059836861275,0.999999940691,0.000213229658139,-0.000270038402389,1.51950683696e-05,1793255913716601344
+99,1.650000000,BASELINE,789,760.553203534,735.446796466,733,688,659,921,807,840,663,633,665,0.400968289331,-0.0153867995998,0.0598366470799,0.999999940575,0.000213438626015,-0.000270303264176,1.52009589068e-05,1793255913733267968
+100,1.666666667,BASELINE,789,760,735.97519465,733,688,659,921,807,840,663,633,665,0.400968497674,-0.0153868330026,0.059836193426,0.999999940293,0.000214196631927,-0.00027073861163,1.53253051463e-05,1793255913749934336
+101,1.683333333,BASELINE,789,760,735.400956885,733,688,659,921,807,840,663,633,665,0.400967198295,-0.0153872092609,0.059835575066,0.999999939895,0.000214689035647,-0.000271809694663,1.54121313661e-05,1793255913766601728
+102,1.700000000,BASELINE,789,760,735.177787417,733,688,659,921,807,840,663,633,665,0.400966671374,-0.0153872457488,0.0598354096161,0.999999939649,0.000215355252288,-0.000272187909618,1.5439563259e-05,1793255913783268608
+103,1.716666667,BASELINE,789,760,735.766959367,733,688,659,921,807,840,663,633,665,0.400967931858,-0.0153864960375,0.0598362921608,0.999999939752,0.000216423656764,-0.000270962888283,1.53295618621e-05,1793255913799935232
+104,1.733333333,BASELINE,789,760,735.6497204,733,688,659,921,807,840,663,633,665.3502796,0.400968031088,-0.0153871072061,0.0598363480763,0.999999940229,0.000214827829696,-0.000270469889018,1.5382479056e-05,1793255913816601856
+105,1.750000000,BASELINE,789,760,735.070229281,733,688,659,921,807,840,663,633,665.929770719,0.400967370432,-0.01538860889,0.0598358630729,0.999999940942,0.000211488616713,-0.000270455900941,1.55420048381e-05,1793255913833268480
+106,1.766666667,BASELINE,788.493785845,760,735.506214155,733,688,659,921.506214155,807,840,663,633,665.493785845,0.400967917417,-0.015387816925,0.0598357375088,0.999999940678,0.000212690004876,-0.000270500939157,1.53962782321e-05,1793255913849935104
+107,1.783333333,POSE1_TO_POSE2_PRESS,789,760,736,733,688,659,921,807,840,663,633,665,0.400966531648,-0.0153866719988,0.0598363134808,0.999999939625,0.00021677666654,-0.000271137226483,1.5554132502e-05,1793255913893263616
+108,1.800000000,POSE1_TO_POSE2_PRESS,789.590580243,760.590580243,735.409419757,733,688,659,921,807,840,663,633,665,0.400969053229,-0.0153872898521,0.0598371699454,0.999999940319,0.000216017086899,-0.000269161772671,1.58120260912e-05,1793255913909929984
+109,1.816666667,POSE1_TO_POSE2_PRESS,789.822076953,760.822076953,735,732.822076953,688,659,921,807,840,663,633,665,0.40097054348,-0.0153875541007,0.0598376900311,0.99999994078,0.000215116877771,-0.000268163016547,1.5910852004e-05,1793255913926596352
+110,1.833333333,POSE1_TO_POSE2_PRESS,789.242050597,760.242050597,735,732.242050597,688,659,921,807,840,663,633,665,0.400969702945,-0.0153870192086,0.0598374499062,0.999999940721,0.000213898848049,-0.000269371581584,1.56501875e-05,1793255913943263488
+111,1.850000000,POSE1_TO_POSE2_PRESS,789,760,735,732.334710846,688,659,921,807,840,663,633,665,0.40096890298,-0.015387902339,0.0598370197554,0.999999940869,0.000212142624776,-0.000270212530036,1.55981391295e-05,1793255913959929856
+112,1.866666667,POSE1_TO_POSE2_PRESS,789,760,735,732.909133997,688,659,921,807,840,663,633,665,0.40096813207,-0.015389801025,0.0598364535124,0.999999941163,0.000210000959577,-0.000270790199768,1.56954969109e-05,1793255913976596224
+113,1.883333333,POSE1_TO_POSE2_PRESS,789,760,735.494841615,733,688,659,921,807,840,663,633,665,0.400968472527,-0.015388308339,0.0598364131401,0.999999940511,0.000213246521903,-0.000270666438746,1.56142551482e-05,1793255913993263104
+114,1.900000000,POSE1_TO_POSE2_PRESS,789,760.081490416,735.918509584,732.918509584,688,659,921,807,840,663,633,665,0.400969301889,-0.0153866651301,0.0598367128501,0.999999939895,0.000216601462869,-0.000270282013217,1.55424318206e-05,1793255914009930240
+115,1.916666667,POSE1_TO_POSE2_PRESS,789,760.660933047,735.339066953,732.339066953,688,659,921,807,840,663,633,665,0.400971842606,-0.0153879962692,0.0598384868253,0.999999940674,0.000214438909082,-0.000269110195851,1.57332365432e-05,1793255914026596352
+116,1.933333333,POSE1_TO_POSE2_PRESS,789,760.760979279,735,732,687.760979279,659,921,807,840,663,633,665,0.400981455359,-0.0153884114426,0.0598431586066,0.999999942679,0.000213729692031,-0.000262109619397,1.61499197245e-05,1793255914043262720
+117,1.950000000,POSE1_TO_POSE2_PRESS,789,760.184802918,735,732,687.184802918,659,921,807,840,663,633,665,0.40100104372,-0.0153875345816,0.0598519179481,0.999999946253,0.000215070509447,-0.000246887165819,1.68852204381e-05,1793255914059929088
+118,1.966666667,POSE1_TO_POSE2_PRESS,789,760,735.39120406,732.39120406,687,659,921,807,840,663,633,665,0.401039881863,-0.0153899857834,0.0598664426305,0.999999952595,0.000214916882922,-0.000219731751201,1.83810256709e-05,1793255914076595456
+119,1.983333333,POSE1_TO_POSE2_PRESS,789,760,735.967131107,732.967131107,687,659,921,807,840,663,633,665,0.401087809578,-0.0153940084661,0.0598836896552,0.999999959411,0.000214057593546,-0.000186941699749,2.0235934247e-05,1793255914093261824
+120,2.000000000,POSE1_TO_POSE2_PRESS,789,760,735.444074247,733,687,658.444074247,921,807,840,663.555925753,633,665,0.401153074217,-0.0153992970071,0.0599034081943,0.999999964809,0.000209476010019,-0.000161301450401,2.19903679248e-05,1793255914109928192
+121,2.016666667,POSE1_TO_POSE2_PRESS,789,760,735,733,687,658.142877896,921.142877896,807,840,663.857122104,633,665.142877896,0.401224265527,-0.0154040398227,0.0599216821284,0.99999996915,0.000206247428373,-0.000136413706239,2.35133951075e-05,1793255914126595072
+122,2.033333333,POSE1_TO_POSE2_PRESS,789,760,735,733,687,658.721829716,921.721829716,807,840,663.278170284,633,665.721829716,0.401310342874,-0.0154068832048,0.0599350904666,0.999999971777,0.000207835921481,-0.000112501885794,2.43487135462e-05,1793255914143261696
+123,2.050000000,POSE1_TO_POSE2_PRESS,789,760,735,733,687.298550337,659,921.701449663,807,840,663,633,665.701449663,0.401405519589,-0.01541096793,0.0599450870034,0.999999973505,0.000208574619855,-9.42015912882e-05,2.47376315444e-05,1793255914159928576
+124,2.066666667,POSE1_TO_POSE2_PRESS,789,760,735,733,687.873207453,659,921.126792547,807,840,663,633,665.126792547,0.40150911162,-0.0154162006802,0.0599519282208,0.999999974665,0.000208527406871,-8.10909770698e-05,2.47137072636e-05,1793255914176595712
+125,2.083333333,POSE1_TO_POSE2_PRESS,789,760,735.457824208,733,688,659,921,807,840,663,633,665.457824208,0.401615804887,-0.0154210772654,0.0599504638511,0.999999974979,0.00020671564195,-8.2206996689e-05,2.35093618234e-05,1793255914193263104
+126,2.100000000,POSE1_TO_POSE2_PRESS,789,760,736,732.955343065,687.955343065,659,921,807,840,663.044656935,633,665.955343065,0.401726268159,-0.0154260092713,0.0599469678085,0.999999975109,0.000204481619923,-8.65188153097e-05,2.19917942083e-05,1793255914209930240
+127,2.116666667,POSE1_TO_POSE2_PRESS,789,760,736,732.375741344,687.375741344,659,921,807,840,663.624258656,633,665.375741344,0.401871375055,-0.0154328130266,0.0599473011769,0.999999975876,0.000203173522493,-8.08661869615e-05,2.07253125713e-05,1793255914226596608
+128,2.133333333,POSE1_TO_POSE2_PRESS,789,760,735.796677623,732,687.203322377,659,921,807,840,663.796677623,633,665,0.402030587511,-0.0154415159128,0.0599487155472,0.999999977383,0.00019866445838,-7.33978973134e-05,1.94526252868e-05,1793255914243263488
+129,2.150000000,POSE1_TO_POSE2_PRESS,789,760,735.218605572,732,687.781394428,659,921,807,840,663.218605572,633,665,0.402215798337,-0.0154537191444,0.0599521223454,0.999999980157,0.000188255595053,-6.25831075543e-05,1.81685003222e-05,1793255914259930880
+130,2.166666667,POSE1_TO_POSE2_PRESS,789,760,735.357317493,732.357317493,688,659,921,807,840,663,633,665,0.402420824132,-0.0154634485806,0.0599523937264,0.999999981867,0.000180694428487,-5.79346188775e-05,1.61103419752e-05,1793255914276597504
+131,2.183333333,POSE1_TO_POSE2_PRESS,789,760,735.931933731,732.931933731,688,659,921,807,840,663,633,665,0.402637900201,-0.0154716736062,0.0599507583379,0.999999982992,0.000174865056728,-5.70360980746e-05,1.35814635255e-05,1793255914293263616
+132,2.200000000,POSE1_TO_POSE2_PRESS,789,760.518904205,736,733,688,659,921,807,840,663,633.518904205,665,0.402879844117,-0.0154811239595,0.0599534713842,0.999999984403,0.000169185042248,-4.93856525753e-05,1.14475516196e-05,1793255914309929728
+133,2.216666667,POSE1_TO_POSE2_PRESS,789,761,736,733,687.894141319,659,921,807,840,663,633.894141319,665,0.403130843441,-0.0154902053557,0.0599550994015,0.999999985464,0.000164517512097,-4.38383064562e-05,9.20877644946e-06,1793255914326596352
+134,2.233333333,POSE1_TO_POSE2_PRESS,789,761,736,733,687.314685136,659,921,807,840,663,633.314685136,665,0.403407405882,-0.0154968994687,0.0599492590257,0.999999985145,0.000164289910739,-5.17589517615e-05,6.26341700318e-06,1793255914343262976
+135,2.250000000,POSE1_TO_POSE2_PRESS,789,760.737241604,736,733,687,659.262758396,921,807.262758396,840,663,633,665,0.40369987946,-0.0154971311656,0.0599414178562,0.999999983683,0.000169380474759,-6.27344725506e-05,2.76560015995e-06,1793255914359929600
+136,2.266666667,POSE1_TO_POSE2_PRESS,789,760.162190179,736,733,687,659.837809821,921,807.837809821,840,663,633,665,0.404011263688,-0.0154896821656,0.0599311987082,0.999999980665,0.000180791772932,-7.73407667174e-05,-1.38882195289e-06,1793255914376596480
+137,2.283333333,POSE1_TO_POSE2_PRESS,789,760,735.587979906,733,687,659.175959812,921,807.587979906,840,663,633,665,0.40434781747,-0.0154815828777,0.0599180674082,0.999999986005,0.000131190549026,-0.000103600485635,-6.84837197172e-06,1793255914393262848
+138,2.300000000,POSE1_TO_POSE2_PRESS,789,760,735.014100089,733,687,658.028200178,921,807.014100089,840,663,633,665,0.404694258958,-0.0154732281281,0.0599037920862,0.999999989221,5.76209058975e-05,-0.000134438184511,-1.28206338444e-05,1793255914409929216
+139,2.316666667,POSE1_TO_POSE2_PRESS,789,760,735,733,687.578236764,658.578236764,921,807,840.578236764,663,633,665,0.405098839242,-0.0154847401395,0.0599063526842,0.999999989031,6.00509442865e-05,-0.000134540342937,-1.52107053647e-05,1793255914426595840
+140,2.333333333,POSE1_TO_POSE2_PRESS,789,760,735.166897856,733,687.833102144,659,921,807,840.833102144,663,633,665,0.405528131745,-0.0154948585637,0.0599164655467,0.999999990856,5.99993115618e-05,-0.000119960455158,-1.72237274759e-05,1793255914443262464
+141,2.350000000,POSE1_TO_POSE2_PRESS,789,760,735.745348399,733,687.254651601,659,921,807,840.254651601,663,633,665,0.406014750792,-0.0155003065703,0.0599441557831,0.999999996096,4.91076020515e-05,-7.10852371243e-05,-1.8529483719e-05,1793255914459930112
+142,2.366666667,POSE1_TO_POSE2_PRESS,789,760.32205228,736,733,687,659,921,807,840.32205228,663,632.67794772,665,0.406528211058,-0.0155044324671,0.0599713207048,0.999999998959,3.36255928387e-05,-2.35695366566e-05,-1.98988419299e-05,1793255914476596736
+143,2.383333333,POSE1_TO_POSE2_PRESS,789,760.897382563,736,733,687,659,921,807,840.897382563,663,632.102617437,665,0.40706278065,-0.0155075185911,0.0599980724958,0.999999999405,1.45335414516e-05,2.28769765018e-05,-2.13182200339e-05,1793255914493263104
+144,2.400000000,POSE1_TO_POSE2_PRESS,789,761,736,733,687.48303954,659,921,807,841,663,632.48303954,665,0.407586816242,-0.0155099462159,0.0600028993793,0.999999999382,1.17152487641e-05,2.20273430394e-05,-2.47610492819e-05,1793255914509929472
+145,2.416666667,POSE1_TO_POSE2_PRESS,789,760.930100674,736,733,687.930100674,659,921,807,841,663,633,665,0.408112730968,-0.0155120351149,0.0600011148689,0.999999999519,7.93233464895e-06,8.00127002073e-06,-2.88940150788e-05,1793255914526595840
+146,2.433333333,POSE1_TO_POSE2_PRESS,789,760.350811777,736,733,687.350811777,659,921,807,841,663,633,665,0.408669004671,-0.0155126972921,0.0599858347444,0.999999998612,-2.86249845789e-05,-2.72262494055e-05,-3.48552773798e-05,1793255914543262720
+147,2.450000000,POSE1_TO_POSE2_PRESS,789,760,736,733,686.773898061,659,921,807,841,663,633,665,0.409251013612,-0.0155147761589,0.059977522911,0.99999999672,-5.25047722572e-05,-4.66664286856e-05,-4.03097852811e-05,1793255914559929856
+148,2.466666667,POSE1_TO_POSE2_PRESS,789,760,736,733,686.200631318,659,921,807,841,663,633,665,0.409872537302,-0.0155190302605,0.0599799104358,0.999999996492,-5.69190336572e-05,-4.18661731589e-05,-4.49862045546e-05,1793255914576596480
+149,2.483333333,POSE1_TO_POSE2_PRESS,789,760,736,732.624233322,686.375766678,659,921,807,841,663,633,665,0.410542194721,-0.0155224343866,0.0599894049757,0.999999995783,-7.50823393937e-05,-1.92785794592e-05,-4.92488387244e-05,1793255914593262592
+150,2.500000000,POSE1_TO_POSE2_PRESS,789,760,736,732.046149441,686.953850559,659,921,807,841,663,633,665,0.411237767887,-0.0155253808757,0.0600027260161,0.999999993432,-0.000100648292211,1.28859263805e-05,-5.32886859047e-05,1793255914609928448
+151,2.516666667,POSE1_TO_POSE2_PRESS,789,760,736,732.543148564,687,659,921,807,840.456851436,663,633,665,0.41192630773,-0.0155275201448,0.0599927721887,0.999999994298,-9.35261445274e-05,-6.04790996995e-06,-5.11812503588e-05,1793255914626594816
+152,2.533333333,POSE1_TO_POSE2_PRESS,789.131007581,760,736,733,687,659,921,807,840.131007581,663,633,665,0.412610128491,-0.0155262225813,0.0599743098408,0.999999995808,-6.68328550546e-05,-4.24981063634e-05,-4.59585093791e-05,1793255914643261440
+153,2.550000000,POSE1_TO_POSE2_PRESS,789.710607704,760,736,733,687,659,921,807,840.710607704,663,633,665,0.413279879564,-0.0155133965138,0.0599336272021,0.999999991687,1.71646268226e-05,-0.000123747368981,-3.18946207636e-05,1793255914659928064
+154,2.566666667,POSE1_TO_POSE2_PRESS,789.711664877,760.288335123,736,733,686.711664877,659,921,807,841.288335123,662.711664877,633,665,0.414017833766,-0.01550661799,0.0599241609441,0.999999988508,4.63229821412e-05,-0.000141684198012,-2.76425502268e-05,1793255914676594688
+155,2.583333333,POSE1_TO_POSE2_PRESS,789.13580483,760.86419517,736,733,686.13580483,659,921,807,841.86419517,662.13580483,633,665,0.41482379953,-0.0155058700154,0.0599458233465,0.999999994579,2.07963151513e-05,-9.64865076367e-05,-3.31747258389e-05,1793255914693261312
+156,2.600000000,POSE1_TO_POSE2_PRESS,789,760.552063847,736,733,686.447936153,659,921,807,841.552063847,662,632.552063847,665,0.415680038267,-0.0155154355478,0.0599900761188,0.999999999299,2.65624477824e-06,-1.76560956235e-05,-3.29092180623e-05,1793255914709927936
+157,2.616666667,POSE1_TO_POSE2_PRESS,789,760,736,733,687,659,921,807,841,662.033706758,632.033706758,665,0.416548676986,-0.0155273627822,0.060037843589,0.999999997323,-1.23489522102e-05,6.50950608753e-05,-3.10571226095e-05,1793255914726594560
+158,2.633333333,POSE1_TO_POSE2_PRESS,789,760,736,733,687,659,921,807,841,662.612963402,632.612963402,665,0.417366904795,-0.0155259998113,0.0600296608144,0.999999998443,-1.35108845835e-05,4.33126657377e-05,-3.24845883294e-05,1793255914743261184
+159,2.650000000,POSE1_TO_POSE2_PRESS,789,760.191921516,736,733,687,659,921,807,841,662.808078484,633,665,0.418196569488,-0.015524969742,0.0600173235797,0.999999999091,-1.4234456503e-05,2.02262004221e-05,-3.47356168795e-05,1793255914759928064
+160,2.666666667,POSE1_TO_POSE2_PRESS,789,760.770278504,736,733,687,659,921,807,841,662.229721496,633,665,0.419049262386,-0.0155246099729,0.0599966213076,0.999999999139,-1.40753861612e-05,-5.48601905267e-06,-3.86448955443e-05,1793255914776595968
+161,2.683333333,POSE1_TO_POSE2_PRESS,789,760.653996249,736,733,687,659,921,807,841.346003751,662,632.653996249,665,0.41988705506,-0.0155226534074,0.0599690130145,0.999999997904,-1.57983707882e-05,-4.57273878487e-05,-4.30221109703e-05,1793255914793262848
+162,2.700000000,POSE1_TO_POSE2_PRESS,789,760.08000512,736,733,687,659,921,807,841.91999488,662,632.08000512,665,0.420715029706,-0.0155196446874,0.0599368542351,0.999999994122,-1.87614713631e-05,-9.55422432458e-05,-4.7707657147e-05,1793255914809928960
+163,2.716666667,POSE1_TO_POSE2_PRESS,789,760,736,733,687,659,921,807,841.492466739,662,632,665,0.421558121785,-0.0155167741391,0.0599021494703,0.999999984725,-1.76696949214e-05,-0.000166327228395,-5.07267695306e-05,1793255914826595584
+164,2.733333333,POSE1_TO_POSE2_PRESS,789,760,736.095523233,733,687,659,921.095523233,807.095523233,840.904476767,662,632.095523233,665,0.42243036133,-0.0155156289819,0.0598827644617,0.999999976447,-1.75908428867e-05,-0.000209888099347,-5.23769934089e-05,1793255914843262464
+165,2.750000000,POSE1_TO_POSE2_PRESS,789,760,736.674690543,733,687,659,921.674690543,807.674690543,840.325309457,662,632.674690543,665,0.423437780761,-0.0155231063585,0.0599430327256,0.999999993646,-2.59655797848e-05,-9.84146697263e-05,-4.84628869967e-05,1793255914859928832
+166,2.766666667,POSE1_TO_POSE2_PRESS,789.252508449,760,737,733,687,659,922,807.747491551,840,662,632.747491551,665,0.424428035992,-0.0155293048905,0.0599972127284,0.999999998431,-3.30938830402e-05,-5.62436125307e-06,-4.48551260614e-05,1793255914876595200
+167,2.783333333,POSE1_TO_POSE2_PRESS,789.828597221,760,737,733,687,659,922,807.171402779,840,662,632.171402779,665,0.425396296069,-0.015533864631,0.0600435908559,0.999999996388,-3.86249286418e-05,6.32242265064e-05,-4.16399355335e-05,1793255914893262080
+168,2.800000000,POSE1_TO_POSE2_PRESS,789.599827036,760,737,733,687,659,921.599827036,807,840.400172964,662,632,665,0.426332861772,-0.0155362626036,0.0600478413708,0.999999994927,-4.22556191338e-05,8.08409831105e-05,-4.27155758044e-05,1793255914909928704
+169,2.816666667,POSE1_TO_POSE2_PRESS,789.0301628,760,737,733,687,659,921.0301628,807,840.9698372,662,632,665,0.427256003423,-0.01553774497,0.0600342489415,0.999999994998,-4.50814233708e-05,7.67587478685e-05,-4.56085764105e-05,1793255914926595584
+170,2.833333333,POSE1_TO_POSE2_PRESS,789,760,737,733,687,659,921.564566249,807.564566249,841,662,632.564566249,665,0.428184388512,-0.0155396608853,0.0600070859267,0.999999996854,-5.12766354748e-05,3.54727269941e-05,-4.90409896873e-05,1793255914943261952
+171,2.850000000,POSE1_TO_POSE2_PRESS,789,759.84380584,736.84380584,732.84380584,686.84380584,658.84380584,922,808,841,661.84380584,632.84380584,665,0.429094375143,-0.0155396324328,0.0599753575647,0.999999996995,-5.44786393835e-05,-1.7238361359e-05,-5.23848796732e-05,1793255914959928576
+172,2.866666667,POSE1_TO_POSE2_PRESS,789,759.264378157,736.264378157,732.264378157,686.264378157,658.264378157,922,808,841,661.264378157,632.264378157,665,0.429953713759,-0.0155342697186,0.0599333145091,0.999999992723,-4.90596139446e-05,-9.5271393391e-05,-5.54071836481e-05,1793255914976594944
+173,2.883333333,POSE1_TO_POSE2_PRESS,789.312106029,759,736.312106029,732,686.312106029,658.312106029,922,808,841,661,632,665,0.430884937105,-0.0155343682827,0.059931509748,0.999999992653,-4.96362567911e-05,-9.5314478107e-05,-5.60807543293e-05,1793255914993261568
+174,2.900000000,POSE1_TO_POSE2_PRESS,789.886120109,759,736.886120109,732,686.886120109,658.886120109,922,808,841,661,632,665,0.431876483465,-0.0155390497534,0.0599634715052,0.999999996526,-5.52442471266e-05,-2.99112259941e-05,-5.47833531537e-05,1793255915009928448
+175,2.916666667,POSE1_TO_POSE2_PRESS,789.528466028,759.471533972,737,732.471533972,687,659,922,808,840.528466028,661,632,665,0.432828208734,-0.0155416801346,0.0599988015949,0.999999996433,-6.0356464079e-05,2.74137298641e-05,-5.2344685934e-05,1793255915026595328
+176,2.933333333,POSE1_TO_POSE2_PRESS,789,760,737.056543578,733,687.113087155,658.943456422,922,808,840.056543578,661,632,665,0.433765425826,-0.0155437092098,0.0600286070622,0.999999993953,-6.52409715491e-05,7.28536874881e-05,-5.03029576213e-05,1793255915043261696
+177,2.950000000,POSE1_TO_POSE2_PRESS,789,760,737.61303258,733,688.226065161,658.38696742,922,808,840.61303258,661,632,665,0.434661503781,-0.0155449100206,0.0600021942168,0.999999995656,-6.91970097768e-05,3.08866955555e-05,-5.42682790053e-05,1793255915059928832
+178,2.966666667,POSE1_TO_POSE2_PRESS,789,759.816656418,737.816656418,732.816656418,688.633312836,658,922,808,840.816656418,661,632,665,0.43555283088,-0.0155459050495,0.0599748153814,0.999999995397,-7.46852393305e-05,-1.67350590589e-05,-5.78663822295e-05,1793255915076595456
+179,2.983333333,POSE1_TO_POSE2_PRESS,789,759.214793781,737.214793781,732.214793781,687.429587562,658,922,808,840.214793781,661,632,665,0.436433313357,-0.0155464303395,0.0599452314719,0.999999991677,-8.3671008395e-05,-7.72649690215e-05,-6.06262360677e-05,1793255915093262080
+180,3.000000000,POSE1_TO_POSE2_PRESS,789,759,737,732.368914673,687,658,922,808,840.368914673,661,632,665,0.43727608675,-0.0155441402136,0.0599209327958,0.999999987073,-7.97127323523e-05,-0.000125204017505,-6.1837694749e-05,1793255915109928704
+181,3.016666667,POSE1_TO_POSE2_PRESS,789,759,737,732.942548901,687,658,922,808,840.942548901,661,632,665,0.438097934419,-0.015540287746,0.0598995670237,0.999999981911,-6.85714962653e-05,-0.00016615609283,-6.21899118388e-05,1793255915126595072
+182,3.033333333,POSE1_TO_POSE2_PRESS,789,759,737,733,686.468194246,658.531805754,922.531805754,808,841,661,632,665,0.438965917223,-0.015541381425,0.0599146452642,0.999999984849,-7.83533842094e-05,-0.000142445253995,-6.22320235396e-05,1793255915143261952
+183,3.050000000,POSE1_TO_POSE2_PRESS,789,759,737,733,686.240607485,659,922.879696257,808,841,661,632,665,0.439848737709,-0.0155440229662,0.059942168184,0.999999989337,-8.85987560255e-05,-9.85589804153e-05,-6.13462635447e-05,1793255915159929088
+184,3.066666667,POSE1_TO_POSE2_PRESS,789,759,737,733,687.398558198,659,922.300720901,808,841,661,632,665,0.440768551375,-0.0155504670428,0.0600016730799,0.999999994151,-9.17326261138e-05,-5.19085147416e-06,-5.70544788264e-05,1793255915176595456
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+186,3.100000000,POSE1_TO_POSE2_PRESS,789,759,737,733,688.852063686,659,922,807.147936314,841,661,631.147936314,665,0.442380467857,-0.0155520139174,0.060002075593,0.999999994212,-9.13886552135e-05,5.99140920252e-08,-5.67810223031e-05,1793255915209928448
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7582f245aac587ffea257deecc4ca7b6c3d047d6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+380,6.333333333,pose2_to_pose3_retreat,0.575769150154,-0.00981833485181,1.05002046639,0.546340299554,-0.0011440914913,1.04969217011
+381,6.350000000,pose2_to_pose3_retreat,0.575741128302,-0.00981827537951,1.05002054888,0.546312276158,-0.00114403735111,1.0496922501
+382,6.366666667,pose2_to_pose3_retreat,0.575719127173,-0.00981819656062,1.0500205069,0.546290274337,-0.00114396054241,1.04969221707
+383,6.383333333,pose2_to_pose3_retreat,0.575703338258,-0.00981828659223,1.05002042175,0.546274486442,-0.00114404724679,1.0496921284
+384,6.400000000,pose2_to_pose3_retreat,0.575691722416,-0.00981830990508,1.0500205602,0.546262870441,-0.00114407108715,1.04969226725
+385,6.416666667,pose2_to_pose3_retreat,0.575683790948,-0.00981827444776,1.05002055545,0.546254938638,-0.00114403674602,1.04969226305
+386,6.433333333,pose2_to_pose3_retreat,0.575678331246,-0.0098182054247,1.05002041193,0.546249478646,-0.00114396870208,1.04969211964
+387,6.450000000,pose2_to_pose3_retreat,0.575674681562,-0.00981820675192,1.05002047112,0.54624582882,-0.00114397051485,1.04969217875
+388,6.466666667,pose2_to_pose3_retreat,0.575672011493,-0.00981822437799,1.05002052895,0.546243158871,-0.00114398775662,1.04969223597
+389,6.483333333,pose2_to_pose3_retreat,0.575670277406,-0.00981834133116,1.05002055476,0.546241426818,-0.00114409800598,1.04969225667
+390,6.500000000,pose2_to_pose3_retreat,0.575669239532,-0.00981841132919,1.05002057021,0.546240390161,-0.00114416399169,1.04969226905
+391,6.516666667,pose2_to_pose3_retreat,0.575668671806,-0.00981835679001,1.050020501,0.54623982136,-0.00114411299014,1.04969220267
+392,6.533333333,pose2_to_pose3_retreat,0.575668415972,-0.00981830763446,1.05002044925,0.546239564581,-0.00114406694653,1.04969215339
+393,6.550000000,pose2_to_pose3_retreat,0.575668376146,-0.00981829998236,1.05002044119,0.546239524608,-0.00114405977887,1.04969214572
+394,6.566666667,pose2_to_pose3_retreat,0.575668289703,-0.00981828337332,1.05002042371,0.546239437846,-0.00114404422131,1.04969212907
+395,6.583333333,pose2_to_pose3_retreat,0.575668255654,-0.00981827683124,1.05002041682,0.546239403671,-0.0011440380934,1.04969212251
+396,6.600000000,pose2_to_pose3_retreat,0.57566823496,-0.00981827285512,1.05002041263,0.546239382901,-0.001144034369,1.04969211852
+397,6.616666667,pose2_to_pose3_retreat,0.575668131741,-0.0098182530228,1.05002039176,0.546239279301,-0.00114401579222,1.04969209864
+398,6.633333333,pose2_to_pose3_retreat,0.575667990367,-0.00981822585938,1.05002036316,0.546239137405,-0.00114399034847,1.04969207141
+399,6.650000000,pose2_to_pose3_retreat,0.5756678963,-0.00981820778556,1.05002034413,0.546239042991,-0.00114397341887,1.04969205329
+400,6.666666667,pose2_to_pose3_retreat,0.575667869726,-0.0098182026796,1.05002033876,0.546239016318,-0.00114396863616,1.04969204817
+401,6.683333333,pose2_to_pose3_retreat,0.575667714469,-0.00981817284875,1.05002030735,0.546238860488,-0.00114394069384,1.04969201826
+402,6.700000000,pose2_to_pose3_retreat,0.575667467841,-0.00981813402147,1.0500202716,0.546238613105,-0.0011439043664,1.04969198412
+403,6.716666667,pose2_to_pose3_retreat,0.575667448032,-0.00981813969473,1.05002028325,0.546238593396,-0.00114390972674,1.04969199511
+404,6.733333333,pose2_to_pose3_retreat,0.57566725774,-0.00981819419384,1.05002039514,0.54623840406,-0.0011439612199,1.04969210071
+405,6.750000000,pose2_to_pose3_retreat,0.575667109218,-0.0098182367303,1.05002048247,0.546238256284,-0.00114400141021,1.04969218312
+406,6.766666667,pose2_to_pose3_retreat,0.575667039005,-0.00981825683895,1.05002052375,0.546238186424,-0.00114402040975,1.04969222208
+407,6.783333333,pose2_to_pose3_retreat,0.575667013044,-0.00981826427417,1.05002053902,0.546238160594,-0.00114402743487,1.04969223649
+408,6.800000000,pose2_to_pose3_retreat,0.575666911444,-0.00981827464257,1.0500205742,0.546238059255,-0.00114403695232,1.04969227071
+409,6.816666667,pose2_to_pose3_retreat,0.575666798508,-0.00981824811799,1.05002056343,0.546237946105,-0.00114401101347,1.04969226376
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ebe29c7b891fd0b2ec7fbcea4e6a3031710aeedd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec123d9f579a71692fa56cb306447a5b13a3505ec8fba7fb9e6a5ceb5bc9b1aa
+size 33427589
diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..658d611ccc08894785a3f0f8c278c6e6f210286b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_05/franka_data.csv
@@ -0,0 +1,527 @@
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+40,0.666666667,BASELINE,788.269072523,760.730927477,736,733,689,659,921,807,840,663,631,665.269072523,0.400965874502,-0.0153867480016,0.0598334205728,0.999999940697,0.000206885970361,-0.000275037353591,1.26070222592e-05,1793255919760130816
+41,0.683333333,BASELINE,788.843148553,760.156851447,736,733,689,659,921,807,840,663,631,665.843148553,0.400966073784,-0.0153861358899,0.0598337682385,0.999999941038,0.000206755237399,-0.0002739040397,1.23841257746e-05,1793255919776797696
+42,0.700000000,BASELINE,789,760.430325032,736,733,689,659,921,807,840,663,631,665.569674968,0.400967146748,-0.0153853976682,0.0598345258283,0.999999941435,0.000206365781199,-0.000272744800649,1.24059875317e-05,1793255919793464064
+43,0.716666667,BASELINE,788.978091751,761,736,733,689,659,921.021908249,807,840,663,631,665.021908249,0.40096846184,-0.0153847078399,0.0598353577697,0.999999941837,0.000205819798431,-0.000271676460779,1.25114187959e-05,1793255919810130688
+44,0.733333333,BASELINE,788.39967264,761,736,733,689,659,921.60032736,807,840,663,631,665.60032736,0.40096758413,-0.0153864515951,0.0598341637795,0.999999941853,0.000203768445488,-0.000273164705534,1.24023330049e-05,1793255919826797312
+45,0.750000000,BASELINE,788.17747953,761,735.82252047,733,688.82252047,659,921.82252047,807,840,663.17747953,631,665.82252047,0.400967308833,-0.0153878262302,0.0598337404571,0.999999941999,0.000202559706445,-0.000273527914514,1.23950294131e-05,1793255919843463936
+46,0.766666667,BASELINE,788.751798776,761,735.248201224,733,688.248201224,659,921.248201224,807,840,663.751798776,631,665.248201224,0.400968380516,-0.0153883755219,0.0598350403283,0.999999942446,0.000203235030934,-0.000271375571906,1.26153082459e-05,1793255919860130560
+47,0.783333333,BASELINE,789,761,735.321803998,733,688.321803998,659,921,807,840.321803998,663.678196002,631,665,0.400968779041,-0.0153876275888,0.0598355600321,0.999999942365,0.000204547189807,-0.000270687191413,1.25999993909e-05,1793255919876797440
+48,0.800000000,BASELINE,789,761,735.888525971,733,688.888525971,659,921,807,840.888525971,663.111474029,631,665,0.400968665241,-0.0153858923662,0.0598354859677,0.999999941883,0.000206344029454,-0.000271113000188,1.24053899301e-05,1793255919893464320
+49,0.816666667,BASELINE,788.513542668,760.513542668,736,733,689,659,921,807,840.513542668,663,631,665,0.400967686261,-0.0153866443392,0.0598343306929,0.999999941715,0.000204769595395,-0.000272930547464,1.22044759629e-05,1793255919910130944
+50,0.833333333,BASELINE,788.087505733,760.087505733,736,733,689,659,921.087505733,807,840,663,631.087505733,665,0.40096679243,-0.0153877351245,0.0598332571365,0.99999994166,0.000202880072223,-0.000274542389305,1.20868714023e-05,1793255919926797568
+51,0.850000000,BASELINE,788.663304165,760.663304165,736,733,689,659,921.663304165,807,840,663,631.663304165,665,0.400967555895,-0.0153873180863,0.0598341169158,0.999999941854,0.000203838731324,-0.000273104735921,1.24427577595e-05,1793255919943464192
+52,0.866666667,BASELINE,788.762778281,760.762778281,736,733,689,658.762778281,921.762778281,807,840.237221719,663,631.762778281,665.237221719,0.400967868477,-0.0153868463878,0.0598346951038,0.99999994176,0.000205414610801,-0.000272258407659,1.26693152025e-05,1793255919960130816
+53,0.883333333,BASELINE,788.191509348,760.191509348,736,733,689,658.191509348,921.191509348,807,840.808490652,663,631.191509348,665.808490652,0.400967546141,-0.0153862977187,0.059834876765,0.999999941258,0.000207859638072,-0.000272244762556,1.27137562324e-05,1793255919976797440
+54,0.900000000,BASELINE,788.395265053,760.395265053,736,733,689,658.395265053,921,807.395265053,841,663,631.395265053,665.604734947,0.400967003753,-0.0153851391846,0.0598346483031,0.999999941026,0.000208369120138,-0.000272720775225,1.23937003419e-05,1793255919993464832
+55,0.916666667,BASELINE,788.989858706,760.989858706,736,733,689,658.989858706,921,807.989858706,841,663,631.989858706,665.010141294,0.400966350396,-0.0153836731011,0.0598342130199,0.999999940932,0.000207902524152,-0.000273443717889,1.18898319428e-05,1793255920010132736
+56,0.933333333,BASELINE,789,761,736,733,689,659,921,807.431992791,840.431992791,663,632,665,0.400966205565,-0.0153845891755,0.0598340012332,0.999999941277,0.000206086665571,-0.000273556246997,1.18817308509e-05,1793255920026798336
+57,0.950000000,BASELINE,789,761,736,733,689,659,921,807,840,663,631.85466329,665,0.400966365778,-0.0153858174625,0.0598342762151,0.999999941767,0.000204241153786,-0.000273141634073,1.20814068083e-05,1793255920043463936
+58,0.966666667,BASELINE,789,761,736,733,689,659,921,807,840,663,631.278914287,665,0.400967403242,-0.0153878479494,0.0598359812695,0.999999942665,0.000202377159466,-0.000271197265953,1.28709350928e-05,1793255920060130816
+59,0.983333333,BASELINE,789,761,736,733,689,659,921.302985311,807,840.302985311,663,631.302985311,665,0.40096761621,-0.0153874911096,0.0598360471335,0.999999942556,0.000202914267309,-0.000271193630765,1.29272752533e-05,1793255920076797440
+60,1.000000000,BASELINE,789,761,736,733,689,659,921.890664251,807,840.890664251,663,631.890664251,665,0.400967054459,-0.0153848910698,0.0598345727676,0.999999941498,0.000205707518917,-0.000273013563291,1.22946910611e-05,1793255920093464064
+61,1.016666667,BASELINE,789,761,736,733,689,659,921.528543559,807,840.528543559,663,632,665.471456441,0.400967234219,-0.0153857043466,0.0598342298754,0.999999941456,0.000205592500717,-0.000273264173773,1.21074130892e-05,1793255920110130944
+62,1.033333333,BASELINE,789,761,736,733,689,659,921,807,840,663,632,665.949781415,0.400967611234,-0.0153871690966,0.0598342252375,0.999999941655,0.000204901955998,-0.000273055802429,1.207994136e-05,1793255920126798080
+63,1.050000000,BASELINE,789,761,736,733,689,659,921,807,840,663,632,665.375774294,0.400968277867,-0.0153872913319,0.0598350511672,0.99999994194,0.000205142010094,-0.000271801502481,1.26576471265e-05,1793255920143464448
+64,1.066666667,BASELINE,789,760.800840827,736,733,689,659,921,807.199159173,840.199159173,663,631.800840827,665,0.400968029348,-0.0153869413002,0.0598351727903,0.999999941796,0.000205888098977,-0.000271756973914,1.29305825521e-05,1793255920160130816
+65,1.083333333,BASELINE,789,760.224151395,736,733,689,659,921,807.775848605,840.775848605,663,631.224151395,665,0.40096604605,-0.0153856960292,0.059833959315,0.999999940833,0.000207593437883,-0.000274005713146,1.26257889625e-05,1793255920176797440
+66,1.100000000,BASELINE,789,760.36101365,736,733,689,659,921,807.63898635,840.63898635,663,631.36101365,665,0.400966348146,-0.015385842022,0.0598338394122,0.99999994077,0.000207992961275,-0.000273942354443,1.23980818277e-05,1793255920193464320
+67,1.116666667,BASELINE,789,760.951567652,736,733,689,659,921,807.048432348,840.048432348,663,631.951567652,665,0.400968103344,-0.0153868726108,0.0598344148266,0.999999941281,0.000207562218622,-0.000272408913369,1.22193879533e-05,1793255920210131200
+68,1.133333333,BASELINE,789,761,736,733,689,659,921,807,840,663,632,665,0.400967880671,-0.0153859494123,0.0598347372338,0.999999941417,0.000207232636289,-0.000272161476712,1.21643773143e-05,1793255920226797568
+69,1.150000000,BASELINE,789,761,736,733,688.889721824,659,921,807,840.110278176,663,632,665,0.40096774478,-0.0153851200715,0.0598351402303,0.999999941561,0.000206974223898,-0.000271829897464,1.21734628188e-05,1793255920243464192
+70,1.166666667,BASELINE,789,761,736,733,688.313357228,659,921,807,840.686642772,663,632,665,0.400968722482,-0.0153854251395,0.0598359793662,0.999999941875,0.000206978411894,-0.000270657115854,1.24067471583e-05,1793255920260130816
+71,1.183333333,BASELINE,789,761,736,733,688.265075299,659,921.265075299,807,840.734924701,663.265075299,632,665,0.400968150846,-0.0153852718622,0.0598353588764,0.999999941428,0.000207990923921,-0.000271532233819,1.24242585377e-05,1793255920276797440
+72,1.200000000,BASELINE,789,761,736,733,688.845971716,659,921.845971716,807,840.154028284,663.845971716,632,665,0.400965733268,-0.0153845724944,0.0598329993313,0.999999940062,0.000210204792792,-0.000274847299592,1.21846895707e-05,1793255920293464320
+73,1.216666667,BASELINE,788.570862806,761,736,733,689,659,922,807,840,664,632,665,0.400966172432,-0.0153848009262,0.0598334405715,0.999999940493,0.000208668334134,-0.000274450995712,1.21833296767e-05,1793255920310130688
+74,1.233333333,BASELINE,788.013003801,761,736,733,689,659,921.986996199,807,840,663.986996199,631.986996199,665,0.400967599264,-0.0153853602937,0.0598348515206,0.999999941537,0.000205854286666,-0.000272763405263,1.22685153213e-05,1793255920326797568
+75,1.250000000,BASELINE,788.591754579,761,736,733,689,659,921.408245421,807,840,663.408245421,631.408245421,665,0.400967149182,-0.0153857523651,0.059834482717,0.999999941329,0.000206331684007,-0.000273159743197,1.23794458968e-05,1793255920343464192
+76,1.266666667,BASELINE,788.830630877,761,736.169369123,733,689,659,921.169369123,807,840,663,631,665.169369123,0.400966778013,-0.0153860358489,0.0598342727982,0.999999941216,0.000206612392216,-0.000273352648278,1.25371870999e-05,1793255920360130816
+77,1.283333333,BASELINE,788.255736887,761,736.744263113,733,689,659,921.744263113,807,840,663,631,665.744263113,0.400966595786,-0.0153860593387,0.0598344433011,0.999999941332,0.000206422162523,-0.000273058468803,1.2807008192e-05,1793255920376797440
+78,1.300000000,BASELINE,788.326404109,761,736.673595891,733,689,659,921.673595891,807,840,663,631.326404109,665.673595891,0.400967602809,-0.0153858760672,0.0598350928954,0.999999941782,0.000206030107165,-0.00027170737332,1.2723160183e-05,1793255920393464064
+79,1.316666667,BASELINE,788.914352019,761,736.085647981,733,689,659,921.085647981,807,840,663,631.914352019,665.085647981,0.400969562765,-0.0153855271204,0.05983612638,0.999999942496,0.000205476331266,-0.00026950938339,1.23559212396e-05,1793255920410130688
+80,1.333333333,BASELINE,788.505114989,761,736,733,689,659,921,807,840.494885011,663,632,665,0.400969616851,-0.0153860204339,0.0598364511813,0.999999941949,0.000208153926745,-0.000269470268587,1.26290937659e-05,1793255920426797568
+81,1.350000000,BASELINE,788.073810517,760.926189483,735.926189483,733,689,659,921,807,841,663,632,665,0.4009691511,-0.0153866969365,0.0598364447172,0.999999941348,0.000210237499572,-0.000270071135806,1.28923644967e-05,1793255920443464192
+82,1.366666667,BASELINE,788.650398255,760.349601745,735.349601745,733,689,659,921,807,841,663,632,665,0.400967357996,-0.0153876430055,0.0598350048838,0.999999941875,0.000204521579696,-0.000272523898693,1.23443622292e-05,1793255920460131840
+83,1.383333333,BASELINE,788.774509939,760.225490061,735.225490061,733,689,659,921,807,840.774509939,663,631.774509939,665,0.400966585879,-0.0153876532587,0.0598345162576,0.999999942121,0.000202066059717,-0.000273462640606,1.20982698115e-05,1793255920476799232
+84,1.400000000,BASELINE,788.201722068,760.798277932,735.798277932,733,689,659,921,807,840.201722068,663,631.201722068,665,0.400967386277,-0.015386222177,0.059835492672,0.999999941976,0.000204632178138,-0.000272069501106,1.23171762075e-05,1793255920493465856
+85,1.416666667,BASELINE,788.383410039,761,736,733,689,659,921.383410039,807,840,663,631.383410039,665,0.400967328827,-0.0153861413452,0.0598352581868,0.999999941928,0.000204750796274,-0.000272157679706,1.22815118923e-05,1793255920510132224
+86,1.433333333,BASELINE,788.975252793,761,736,733,689,659,921.975252793,807,840,663,631.975252793,665,0.400966805025,-0.015386794548,0.0598343654218,0.999999941934,0.000203538882765,-0.00027305114548,1.21074556092e-05,1793255920526798592
+87,1.450000000,BASELINE,789,761,736,733,689,659,921.444120206,807,840,663.555879794,632,665.555879794,0.400967864698,-0.0153862728474,0.059835045521,0.999999942007,0.000204685041396,-0.000271934659558,1.19221118978e-05,1793255920543464704
+88,1.466666667,BASELINE,789,761,736.134897152,733,688.865102848,659,921.134897152,807.134897152,840.134897152,664,631.865102848,666,0.400968422896,-0.0153860634724,0.0598355815747,0.999999942068,0.000205377197273,-0.000271185346802,1.19062330301e-05,1793255920560131072
+89,1.483333333,BASELINE,789,761,736.710256814,733,688.289743186,659,921.710256814,807.710256814,840.710256814,664,631.289743186,666,0.400967118063,-0.0153870413032,0.0598354231819,0.999999942093,0.000204250960331,-0.000271921310515,1.24452944854e-05,1793255920576797696
+90,1.500000000,BASELINE,789,761,736.716184465,733,688.283815535,659,921.716184465,807.716184465,840.716184465,664,631.283815535,666,0.400966315855,-0.015387969422,0.0598349853867,0.999999942024,0.00020352532326,-0.000272692266119,1.29891535442e-05,1793255920593464320
+91,1.516666667,BASELINE,789,761,736.14445274,733,688.85554726,659,921.14445274,807.14445274,840.14445274,664,631.85554726,666,0.400966023535,-0.0153888471105,0.0598342641521,0.999999941861,0.000203206074119,-0.00027349871914,1.35378794911e-05,1793255920610131200
+92,1.533333333,BASELINE,788.553804678,761,736,733,689,659,921.446195322,807,840,663.553804678,631.553804678,665.553804678,0.400966238825,-0.0153886028554,0.0598342777797,0.999999941697,0.000204037707013,-0.000273501719724,1.30704379009e-05,1793255920626798080
+93,1.550000000,BASELINE,788.041704992,761,736,733,689,659,922,807,840,663.041704992,631,665.041704992,0.400966611247,-0.0153879630464,0.0598344933828,0.999999941575,0.000205031171902,-0.000273240638801,1.22912944788e-05,1793255920643465216
+94,1.566666667,BASELINE,788.617572182,761,736,733,689,659,922,807,840,663.617572182,631,665.617572182,0.400966798229,-0.0153871150821,0.0598341138742,0.999999942016,0.000203113947078,-0.000273076213599,1.19199615591e-05,1793255920660131584
+95,1.583333333,BASELINE,789,761,736,733,689,659,922,807,840,663.806991011,631,665.806991011,0.40096721014,-0.0153863519347,0.0598343170587,0.999999942213,0.000202714518495,-0.000272656686573,1.17614518729e-05,1793255920676798208
+96,1.600000000,BASELINE,789,761,736,733,689,659,922,807,840,663.232404963,631,665.232404963,0.400968066734,-0.0153857564697,0.0598356722223,0.999999941931,0.000205315759278,-0.000271732825477,1.20236917662e-05,1793255920693464832
+97,1.616666667,BASELINE,789,761,736,733,689,659,922,807.349586504,840.349586504,663,631.349586504,665.349586504,0.400968141571,-0.0153864558108,0.0598359983788,0.999999941948,0.000205750507981,-0.000271327654982,1.23444727211e-05,1793255920710131200
+98,1.633333333,BASELINE,789,761,736,733,689,659,922,807.936607601,840.936607601,663,631.936607601,665.936607601,0.400967685449,-0.0153880345674,0.059835625647,0.99999994217,0.000204713803372,-0.000271274772431,1.27050139859e-05,1793255920726798080
+99,1.650000000,BASELINE,789,761,736,733,689,659,921.480207709,807.480207709,840.480207709,663.519792291,632,665.480207709,0.400966740678,-0.0153885182244,0.0598348891559,0.999999941984,0.000203712656749,-0.000272720239955,1.25467481977e-05,1793255920743464448
+100,1.666666667,BASELINE,789,761,736,733,689,659,921,807,840.100772366,664,632,665.100772366,0.400966094295,-0.0153888860096,0.0598344146266,0.999999941904,0.000202859616542,-0.000273653939378,1.24293911675e-05,1793255920760131072
+101,1.683333333,BASELINE,789,761,736,733,689,659,921,807,840.673600836,664,632,665.673600836,0.400967122785,-0.0153893320473,0.0598353735167,0.999999942566,0.000202680197945,-0.000271340595693,1.27978860492e-05,1793255920776798208
+102,1.700000000,BASELINE,789,761,736,733,689,659,921,807,840.751932559,664,631.751932559,666,0.400967038645,-0.0153890970787,0.0598353940929,0.999999942368,0.000203951261183,-0.000271108132925,1.29514447796e-05,1793255920793465600
+103,1.716666667,BASELINE,789,761,736,733,689,659,921,807,840.175296265,664,631.175296265,666,0.400965480811,-0.0153879601077,0.0598341718588,0.999999941026,0.000207143508251,-0.000273631826707,1.28203174921e-05,1793255920810132736
+104,1.733333333,BASELINE,788.587663005,761,736,733,689,659,921,807,840.412336995,663.587663005,631,665.587663005,0.400965481438,-0.0153881484073,0.0598342211876,0.999999941408,0.000205258141834,-0.000273674543984,1.2493969318e-05,1793255920826799360
+105,1.750000000,BASELINE,788,761,736,733,689,659,921,807,840.995347989,663,631.004652011,665.004652011,0.400966154546,-0.0153889019757,0.0598348219171,0.999999942517,0.00020120821972,-0.000272643734091,1.20892729411e-05,1793255920843465984
+106,1.766666667,BASELINE,788,761,736,733,689,659,921,807,840.417993419,663,631.582006581,665.582006581,0.400965815742,-0.0153879837767,0.0598349315197,0.999999941947,0.000203711566202,-0.000272857238827,1.25364768409e-05,1793255920860132096
+107,1.783333333,POSE1_TO_POSE2_PRESS,788,760,736,732,689,659,921,807,840,663,632,666,0.400968889124,-0.0153865288487,0.0598360244549,0.999999942353,0.000204823298288,-0.00027053755234,1.22708492502e-05,1793255920901254400
+108,1.800000000,POSE1_TO_POSE2_PRESS,788,760.589759265,736,732.589759265,689,659,921,807,840.589759265,663,631.410240735,666,0.40096689384,-0.015386570901,0.0598348232697,0.99999994135,0.00020804865559,-0.000271769286274,1.25381175494e-05,1793255920917921024
+109,1.816666667,POSE1_TO_POSE2_PRESS,788,761,736,733,689,659,921,807,841,663.176544525,631.176544525,666,0.400966051264,-0.015386618645,0.0598343227126,0.99999994078,0.000210066092906,-0.000272306386017,1.2743087682e-05,1793255920934587904
+110,1.833333333,POSE1_TO_POSE2_PRESS,788,761,736,733,689,659,921,807,841,663.756533621,631.756533621,666,0.40096784289,-0.0153866793957,0.0598354232504,0.99999994122,0.000209323157739,-0.000271256088193,1.28056923246e-05,1793255920951254528
+111,1.850000000,POSE1_TO_POSE2_PRESS,788,761,736,733,689,659,921,807,840.666295972,663.666295972,632,666,0.40096799304,-0.0153863860177,0.0598356018713,0.999999941338,0.000208635290343,-0.000271358258261,1.26656983142e-05,1793255920967920640
+112,1.866666667,POSE1_TO_POSE2_PRESS,788,761,736,733,689,659,921,807,840.091164854,663.091164854,632,666,0.400966955621,-0.0153858364358,0.0598351135068,0.999999941222,0.000207987263242,-0.000272294212061,1.23791288948e-05,1793255920984586496
+113,1.883333333,POSE1_TO_POSE2_PRESS,788,761,736.483760901,733,689,659,921.483760901,807,840.483760901,663,632,666,0.400967318596,-0.0153862530894,0.0598358647678,0.999999941793,0.000206389393693,-0.000271419755502,1.22136926264e-05,1793255921001253376
+114,1.900000000,POSE1_TO_POSE2_PRESS,788,761,736.939664539,733,689,659,922,807,841,663,632,665.939664539,0.400967897395,-0.0153868284907,0.0598366686361,0.999999942382,0.000204892907794,-0.000270384466694,1.21253402888e-05,1793255921017920512
+115,1.916666667,POSE1_TO_POSE2_PRESS,788,761,736.348236112,733,689,659,922,807,841,663,632,665.348236112,0.400968053961,-0.015387199129,0.0598358801506,0.999999942029,0.000205863766878,-0.000270935316729,1.25146558984e-05,1793255921034586624
+116,1.933333333,POSE1_TO_POSE2_PRESS,788,761,736,733,688.762216793,659,921.762216793,807,841,663,632,665,0.400970605087,-0.0153877595319,0.0598366590331,0.999999942281,0.000206039288876,-0.000269858075628,1.27633305036e-05,1793255921051253248
+117,1.950000000,POSE1_TO_POSE2_PRESS,788,761,736,733,688.183943029,659,921.183943029,807,841,663,632,665,0.400976585075,-0.0153885916658,0.0598396822879,0.999999943392,0.000205075938237,-0.00026644951063,1.28106160248e-05,1793255921067920384
+118,1.966666667,POSE1_TO_POSE2_PRESS,788.391996627,761,736,733,688.391996627,659,921,807,840.608003373,663,631.608003373,665,0.400999292318,-0.0153901633437,0.0598495932627,0.999999948184,0.000203551744136,-0.000249012078186,1.38534021482e-05,1793255921084586752
+119,1.983333333,POSE1_TO_POSE2_PRESS,788.966847544,761,736,733,688.966847544,659,921,807,840.033152456,663,631.033152456,665,0.401029802307,-0.015392079996,0.059862717146,0.999999954208,0.000201765933741,-0.000225030612998,1.53605584787e-05,1793255921101253120
+120,2.000000000,POSE1_TO_POSE2_PRESS,789,761,736,733,689,659,921.553889775,807,840,663,631.553889775,665,0.401085933829,-0.0153947297011,0.0598822719496,0.999999961465,0.000201593731345,-0.000190088464762,1.7208332205e-05,1793255921117920000
+121,2.016666667,POSE1_TO_POSE2_PRESS,789,761,736,733,689,659,922,807,840.139713627,663,631.860286373,665,0.40114786477,-0.0153980161135,0.05990178942,0.999999967079,0.000201311872549,-0.000157958570152,1.90757335807e-05,1793255921134586624
+122,2.033333333,POSE1_TO_POSE2_PRESS,789,761,736,733,689,659,922,807,840.719351888,663,631.280648112,665,0.401223119249,-0.0154031661008,0.0599199500582,0.999999970349,0.000200373779049,-0.000136795979063,2.09392988467e-05,1793255921151253248
+123,2.050000000,POSE1_TO_POSE2_PRESS,788.702556365,761,736,733,689,659,922,807,840.702556365,663,631.297443635,665,0.401307453851,-0.0154075913697,0.0599348115217,0.99999997307,0.000200438877364,-0.00011489539878,2.20017613761e-05,1793255921167919872
+124,2.066666667,POSE1_TO_POSE2_PRESS,788.125916296,761,736,733,689,659,922,807,840.125916296,663,631.874083704,665,0.401400311535,-0.0154113363791,0.0599465762028,0.999999975201,0.000201445624984,-9.23021038055e-05,2.23122661013e-05,1793255921184586240
+125,2.083333333,POSE1_TO_POSE2_PRESS,788.448299773,760.551700227,736,733,689,659,921.551700227,807,840.448299773,663,632,665,0.401499568686,-0.0154154553004,0.0599502267849,0.999999976232,0.000199956394535,-8.41581884715e-05,2.17163696359e-05,1793255921201253632
+126,2.100000000,POSE1_TO_POSE2_PRESS,788.977518109,760,736,733,689,659,921,807,840.977518109,663,631.977518109,665,0.401601548409,-0.0154198331917,0.059951444987,0.999999977018,0.000197693080432,-8.02860843371e-05,2.08496533155e-05,1793255921217921536
+127,2.116666667,POSE1_TO_POSE2_PRESS,788.387086133,760,736,733,689,659,921,807,840.387086133,663,631.387086133,665,0.401727143282,-0.0154281144564,0.0599484800267,0.999999977699,0.000193489712318,-8.23548511434e-05,1.95382299392e-05,1793255921234587648
+128,2.133333333,POSE1_TO_POSE2_PRESS,788,760.199904534,736,732.800095466,689,659,921.199904534,807,840,663,631.199904534,665.199904534,0.401864381801,-0.0154355508292,0.0599469118873,0.99999997839,0.000190208963997,-8.1923078891e-05,1.81160186705e-05,1793255921251253504
+129,2.150000000,POSE1_TO_POSE2_PRESS,788,760.780344308,736,732.219655692,689,659,921.780344308,807,840,663,631.780344308,665.780344308,0.402023784974,-0.0154413788778,0.0599480027152,0.999999979119,0.000188684501211,-7.67313181558e-05,1.64829133997e-05,1793255921267919616
+130,2.166666667,POSE1_TO_POSE2_PRESS,788.355316303,761,736,732.355316303,689,659,921.644683697,807,840.355316303,663.355316303,632,665.644683697,0.402204552672,-0.0154501389014,0.0599500776873,0.999999980632,0.000183579064104,-6.93925184812e-05,1.47942815929e-05,1793255921284586240
+131,2.183333333,POSE1_TO_POSE2_PRESS,788.926959412,761,736,732.926959412,689,659,921.073040588,807,840.926959412,663.926959412,632,665.073040588,0.402398327724,-0.0154606839964,0.0599527518349,0.99999998253,0.000176293426458,-6.07465391121e-05,1.30718434715e-05,1793255921301252608
+132,2.200000000,POSE1_TO_POSE2_PRESS,788.48518762,761,736,733.51481238,689,659,921,807,840.48518762,663.48518762,632,665.51481238,0.402617732573,-0.0154708485002,0.0599527903907,0.999999983965,0.000169854698947,-5.56562281031e-05,1.1028709805e-05,1793255921317919488
+133,2.216666667,POSE1_TO_POSE2_PRESS,788,761,736,733.896952626,688.896952626,659,921,807,840,663,632,665.896952626,0.402849425808,-0.0154806555319,0.0599528209186,0.999999985284,0.000163613154864,-5.08262367572e-05,8.87907942434e-06,1793255921334586368
+134,2.233333333,POSE1_TO_POSE2_PRESS,788,761,736,733.317921256,688.317921256,659,921,807,840,663,632,665.317921256,0.403120537702,-0.0154890689031,0.0599545977426,0.99999998654,0.000157709351346,-4.47927318236e-05,6.45453076973e-06,1793255921351253248
+135,2.250000000,POSE1_TO_POSE2_PRESS,788.260973326,760.739026674,736,733,688,659,921,807,840.260973326,663,632,665,0.4033984758,-0.0154952389862,0.0599511300967,0.999999986753,0.000155216827787,-4.8880550841e-05,3.61010340235e-06,1793255921367920128
+136,2.266666667,POSE1_TO_POSE2_PRESS,788.839701321,760.160298679,736,733,688,659,921,807,840.839701321,663,632,665,0.403684725298,-0.0154986776965,0.0599412769137,0.999999985563,0.000156877794707,-6.52918440404e-05,2.54442239446e-07,1793255921384586752
+137,2.283333333,POSE1_TO_POSE2_PRESS,789,760.41540234,736,733,688,659,921,807,841,663,632,665,0.403991568567,-0.015489191345,0.0599281205851,0.999999989751,0.000112306534534,-8.86748232531e-05,-4.78270562194e-06,1793255921401253376
+138,2.300000000,POSE1_TO_POSE2_PRESS,789,760.989943722,736,733,688,659,921,807,841,663,632,665,0.404306301224,-0.0154747534517,0.0599136988342,0.999999992113,5.00238850259e-05,-0.000114728627914,-1.0464024492e-05,1793255921417919744
+139,2.316666667,POSE1_TO_POSE2_PRESS,788.421654628,760.421654628,736,733,688,659,921,807,840.421654628,663,631.421654628,665,0.404666660295,-0.0154762113325,0.0599063447075,0.999999990306,5.1198059333e-05,-0.000128715896901,-1.41398871792e-05,1793255921434586112
+140,2.333333333,POSE1_TO_POSE2_PRESS,788.164238227,760.164238227,736,733,688,659,921,807,840,663,631,665,0.405053623969,-0.0154809175161,0.0599042342019,0.999999989556,5.27819409785e-05,-0.000133406186988,-1.74574863284e-05,1793255921451252992
+141,2.350000000,POSE1_TO_POSE2_PRESS,788.743172893,760.743172893,736,733,688,659,921,807,840,663,631,665,0.405505711008,-0.0154931105363,0.0599150457609,0.999999991789,5.25458920815e-05,-0.000115164670522,-1.99606904361e-05,1793255921467919616
+142,2.366666667,POSE1_TO_POSE2_PRESS,789,760.679392615,736,733,688,659,921,807,840,663,631.320607385,665,0.405989523878,-0.0154999411146,0.0599376988055,0.999999996094,3.93819666118e-05,-7.61099196612e-05,-2.16328894814e-05,1793255921484587008
+143,2.383333333,POSE1_TO_POSE2_PRESS,789,760.1031542,736,733,688,659,921,807,840,663,631.8968458,665,0.406498632867,-0.0155024960393,0.0599697934651,0.999999999408,1.59102110303e-05,-2.04600761385e-05,-2.26425005073e-05,1793255921501254656
+144,2.400000000,POSE1_TO_POSE2_PRESS,789,760.471819059,736,733,688.471819059,659,921,807,840.471819059,663,631.528180941,665,0.407025395681,-0.015503962592,0.0599917439293,0.99999999954,1.34328671994e-05,1.21807928321e-05,-2.43341005564e-05,1793255921517920768
+145,2.416666667,POSE1_TO_POSE2_PRESS,789,761,736,733,688.952228812,659,921,807,841,663,631,665,0.40755469949,-0.0155052031794,0.0600089859331,0.999999998939,1.39800401527e-05,3.50158694028e-05,-2.64576626144e-05,1793255921534586624
+146,2.433333333,POSE1_TO_POSE2_PRESS,789,761,736,733,688.362029114,659,921,807,841,663,631,665,0.408069147687,-0.0155065726442,0.0599978802394,0.999999999484,-3.1093267493e-06,3.47577690641e-06,-3.17975293619e-05,1793255921551252992
+147,2.450000000,POSE1_TO_POSE2_PRESS,789,761,736,732.776275645,688,659,921,807,841,663,631.223724355,665,0.408613836599,-0.0155088020717,0.0599862522817,0.999999998677,-2.29941935748e-05,-2.68543250136e-05,-3.73639586242e-05,1793255921567919616
+148,2.466666667,POSE1_TO_POSE2_PRESS,789,761,736,732.197576868,688,659,921,807,841,663,631.802423132,665,0.409206507206,-0.0155123959675,0.0599737956693,0.999999996417,-4.7314566511e-05,-5.5264581706e-05,-4.32898652028e-05,1793255921584586240
+149,2.483333333,POSE1_TO_POSE2_PRESS,788.620475419,761,736,732,688,659,921,807,841,663,631.620475419,665,0.409845536987,-0.0155157753105,0.0599777547173,0.999999995799,-6.43717855591e-05,-4.42449257361e-05,-4.79576048771e-05,1793255921601253120
+150,2.500000000,POSE1_TO_POSE2_PRESS,788.044202056,761,736,732,688,659,921,807,841,663,631.044202056,665,0.410508599741,-0.0155190434276,0.0599902237842,0.999999995552,-7.76637228738e-05,-1.27844657394e-05,-5.19730998855e-05,1793255921617919744
+151,2.516666667,POSE1_TO_POSE2_PRESS,788.541777268,761,736,732.541777268,688,659,921,807,841,663,631,665,0.411177640765,-0.015522897864,0.059994989763,0.999999993374,-0.000100485729492,-2.18830208383e-06,-5.61171265099e-05,1793255921634586368
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+156,2.600000000,POSE1_TO_POSE2_PRESS,789,761,736,733,687.563083363,659,921,807,841.436916637,662.563083363,631,665,0.414782371069,-0.0155061772118,0.0599460161632,0.999999994504,3.03741259423e-05,-9.53543782569e-05,-3.12431999563e-05,1793255921717920512
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+159,2.650000000,POSE1_TO_POSE2_PRESS,789,760.186240838,736.186240838,733,688,659,921,807,841,662.813759162,631,665,0.417279301412,-0.0155273625774,0.0600352807603,0.999999997884,-1.3026692527e-05,5.47672688454e-05,-3.2595079791e-05,1793255921767920896
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+162,2.700000000,POSE1_TO_POSE2_PRESS,789,761,736.081048317,733,687.081048317,659,921,807,841,662,631,665,0.419834754603,-0.0155173932627,0.0599678027919,0.999999997437,-2.78804166545e-06,-5.65585107793e-05,-4.38027353057e-05,1793255921817920256
+163,2.716666667,POSE1_TO_POSE2_PRESS,789,761,736.492587311,733,687,659,921,807,841,662,631,665,0.420664052917,-0.0155166912076,0.0599335691815,0.999999992446,-9.01650296788e-06,-0.000113035528767,-4.7431537461e-05,1793255921834587392
+164,2.733333333,POSE1_TO_POSE2_PRESS,789,760.931552564,737,733,687,659,921.068447436,807,841,662,631,664.931552564,0.421495177451,-0.0155162434202,0.059901621877,0.999999984921,-1.55561198779e-05,-0.000165380621516,-5.064219548e-05,1793255921851254528
+165,2.750000000,POSE1_TO_POSE2_PRESS,789,760.336128919,737,733,687,659,921.663871081,807,841,662,631,664.336128919,0.422383305422,-0.0155151002297,0.059896415912,0.999999983209,-1.23989660745e-05,-0.000175232247921,-5.21757716873e-05,1793255921867920896
+166,2.766666667,POSE1_TO_POSE2_PRESS,789,760,736.749158264,733,687,659,922,807.250841736,840.749158264,661.749158264,631,664,0.423326331781,-0.0155170072839,0.0599237571601,0.999999990119,-1.51613392068e-05,-0.000130082979073,-5.10880551267e-05,1793255921884587264
+167,2.783333333,POSE1_TO_POSE2_PRESS,789,760,736.173145309,733,687,659,922,807.826854691,840.173145309,661.173145309,631,664,0.424340524152,-0.0155228684318,0.0599932900183,0.999999998494,-2.55973143311e-05,-1.36349365653e-05,-4.66023034133e-05,1793255921901253632
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+172,2.866666667,POSE1_TO_POSE2_PRESS,788.267053939,760,736.267053939,733,687.267053939,659,922,807,841,661.267053939,631,664,0.429022454623,-0.0155352976273,0.0599768522443,0.999999997351,-4.94817173438e-05,-1.28176861928e-05,-5.18150350799e-05,1793255921984587520
+173,2.883333333,POSE1_TO_POSE2_PRESS,788.30981571,760,736.30981571,733,686.69018429,659,922,807.30981571,840.69018429,661,631,664,0.429916847169,-0.0155329925978,0.0599484389146,0.999999995386,-4.89871096867e-05,-6.18126237784e-05,-5.48346276155e-05,1793255922001254144
+174,2.900000000,POSE1_TO_POSE2_PRESS,788.884903104,760,736.884903104,733,686.115096896,659,922,807.884903104,840.115096896,661,631,664,0.430817391375,-0.0155286009499,0.0599199692472,0.999999990961,-4.46445781102e-05,-0.000112594937187,-5.83656950886e-05,1793255922017920256
+175,2.916666667,POSE1_TO_POSE2_PRESS,789,760,737,733,686.469895294,659,922,808,840.469895294,661,631,664,0.431815725834,-0.0155348229544,0.0599588222328,0.999999996291,-5.10733922188e-05,-4.10648708966e-05,-5.58845045422e-05,1793255922034586880
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+177,2.950000000,POSE1_TO_POSE2_PRESS,789,760,737,733,688.26419471,659,922,808,840.367902645,661,631,664,0.433755189319,-0.0155415652641,0.060016885638,0.999999995326,-6.04702930866e-05,5.4176300647e-05,-5.25007246606e-05,1793255922067920896
+178,2.966666667,POSE1_TO_POSE2_PRESS,789,760,737,733,689,659,922,808,840.210067973,661,631,664,0.434669358069,-0.0155410265455,0.0600096214417,0.999999995878,-6.33252873537e-05,3.6158906378e-05,-5.41000196646e-05,1793255922084587776
+179,2.983333333,POSE1_TO_POSE2_PRESS,789,760,737,733,689,659,922,808,840.791764091,661,631,664,0.435562414348,-0.0155415792349,0.0599769283805,0.999999995727,-6.93551928653e-05,-1.86967381519e-05,-5.81859739992e-05,1793255922101254656
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+181,3.016666667,POSE1_TO_POSE2_PRESS,788.056025609,760,737,733,687.112051219,659,922,808,841,661,631,664,0.437288865884,-0.015539465648,0.0599275550852,0.999999990065,-7.59663501486e-05,-0.000100806070191,-6.27542865798e-05,1793255922134587648
+182,3.033333333,POSE1_TO_POSE2_PRESS,788.530753291,759.469246709,737,733,686.469246709,659,922,808,841,661,630.469246709,664,0.43812444053,-0.0155374034456,0.05990704917,0.999999984231,-7.37843573203e-05,-0.000148309115963,-6.40234906329e-05,1793255922151254272
+183,3.050000000,POSE1_TO_POSE2_PRESS,788.882933346,759.117066654,737.117066654,733,686.117066654,659,922,808,841,661,630,664,0.438980442584,-0.0155367851412,0.0599024958934,0.999999981399,-7.32730665333e-05,-0.000166417109303,-6.43309367958e-05,1793255922167920896
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+190,3.166666667,POSE1_TO_POSE2_PRESS,788.177585948,759.822414052,737,733,686.822414052,658,922,807,841,661,630,664,0.44460028468,-0.0155601128227,0.0598913956669,0.999999977108,-0.000110494802994,-0.000170663823484,-6.66995635026e-05,1793255922284586752
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+192,3.200000000,POSE1_TO_POSE2_PRESS,789,759.333664021,737,733,686,658,922,807,841,661,630,664,0.44592927975,-0.0155700929434,0.0598414857593,0.999999952688,-0.000133131815201,-0.000267828550582,-7.18941735177e-05,1793255922317920256
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diff --git a/Obstacle_avoidance/cylinder_15A_10/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa7f1255a280b750162d7c30ce4c9d763120f7af
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_15A_10/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,527 @@
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